diff --git a/.clang-tidy b/.clang-tidy deleted file mode 100644 index cc55fefd258a8d..00000000000000 --- a/.clang-tidy +++ /dev/null @@ -1,19 +0,0 @@ ---- -Checks: ' -bugprone-*, --bugprone-integer-division, --bugprone-narrowing-conversions, -performance-*, -clang-analyzer-*, -misc-*, --misc-unused-parameters, -modernize-*, --modernize-avoid-c-arrays, --modernize-deprecated-headers, --modernize-use-auto, --modernize-use-using, --modernize-use-nullptr, --modernize-use-trailing-return-type, -' -CheckOptions: -... diff --git a/.devcontainer/.gitignore b/.devcontainer/.gitignore deleted file mode 100644 index 5682fe1190e970..00000000000000 --- a/.devcontainer/.gitignore +++ /dev/null @@ -1,3 +0,0 @@ -.Xauthority -.env -.host/ \ No newline at end of file diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile deleted file mode 100644 index af67bdbe5d86d5..00000000000000 --- a/.devcontainer/Dockerfile +++ /dev/null @@ -1,17 +0,0 @@ -FROM ghcr.io/commaai/openpilot-base:latest - -RUN apt update && apt install -y vim net-tools usbutils htop ripgrep tmux wget mesa-utils xvfb libxtst6 libxv1 libglu1-mesa libegl1-mesa gdb bash-completion -RUN pip install ipython jupyter jupyterlab - -RUN cd /tmp && \ - ARCH=$(arch | sed s/aarch64/arm64/ | sed s/x86_64/amd64/) && \ - curl -L -o virtualgl.deb "https://downloads.sourceforge.net/project/virtualgl/3.1/virtualgl_3.1_$ARCH.deb" && \ - dpkg -i virtualgl.deb - -RUN usermod -aG video batman - -USER batman - -RUN cd $HOME && \ - curl -O https://raw.githubusercontent.com/commaai/agnos-builder/master/userspace/home/.tmux.conf && \ - curl -O https://raw.githubusercontent.com/commaai/agnos-builder/master/userspace/home/.vimrc diff --git a/.devcontainer/container_post_create.sh b/.devcontainer/container_post_create.sh deleted file mode 100644 index dee1c611018bad..00000000000000 --- a/.devcontainer/container_post_create.sh +++ /dev/null @@ -1,38 +0,0 @@ -#!/usr/bin/env bash - -TARGET_USER=batman -source .devcontainer/.host/.env - -# override display flag for mac hosts -if [[ $HOST_OS == darwin ]]; then - echo "Setting up DISPLAY override for macOS..." - cat <> /home/$TARGET_USER/.bashrc -source .devcontainer/.host/.env -if [ -n "\$HOST_DISPLAY" ]; then - DISPLAY_NUM=\$(echo "\$HOST_DISPLAY" | awk -F: '{print \$NF}') - export DISPLAY=host.docker.internal:\$DISPLAY_NUM -fi -EOF -fi - -# setup virtualgl for mac hosts -if [[ $HOST_OS == darwin ]]; then - echo "Setting up virtualgl for macOS..." - cat <> /home/$TARGET_USER/.bashrc -if [ -n "\$HOST_DISPLAY" ]; then - export VGL_PORT=10000 - export VGL_CLIENT=host.docker.internal - export VGL_COMPRESS=rgb - export VGL_DISPLAY=:99 - export VGL_FPS=60 - # prevent vglrun from running exec - alias exec=:; source vglrun :; unalias exec -fi -EOF -fi - -# These lines are temporary, to remain backwards compatible with old devcontainers -# that were running as root and therefore had their caches written as root -sudo chown -R $TARGET_USER: /tmp/scons_cache -sudo chown -R $TARGET_USER: /tmp/comma_download_cache -sudo chown -R $TARGET_USER: /home/batman/.comma diff --git a/.devcontainer/container_post_start.sh b/.devcontainer/container_post_start.sh deleted file mode 100644 index 1521b9c3fb4c30..00000000000000 --- a/.devcontainer/container_post_start.sh +++ /dev/null @@ -1,15 +0,0 @@ -#!/usr/bin/env bash - -source .devcontainer/.host/.env - -# setup safe directories for submodules -SUBMODULE_DIRS=$(git config --file .gitmodules --get-regexp path | awk '{ print $2 }') -for DIR in $SUBMODULE_DIRS; do - git config --global --add safe.directory "$PWD/$DIR" -done - -# virtual display for virtualgl -if [[ "$HOST_OS" == "darwin" ]] && [[ -n "$HOST_DISPLAY" ]]; then - echo "Starting virtual display at :99 ..." - tmux new-session -d -s fakedisplay Xvfb :99 -screen 0 1920x1080x24 -fi diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json deleted file mode 100644 index 3f5b38d12ea0d1..00000000000000 --- a/.devcontainer/devcontainer.json +++ /dev/null @@ -1,53 +0,0 @@ -{ - "name": "openpilot devcontainer", - "build": { - "dockerfile": "Dockerfile" - }, - "postCreateCommand": ".devcontainer/container_post_create.sh", - "postStartCommand": ".devcontainer/container_post_start.sh", - "initializeCommand": [".devcontainer/host_setup"], - "privileged": true, - "containerEnv": { - "DISPLAY": "${localEnv:DISPLAY}", - "PYTHONPATH": "${containerWorkspaceFolder}", - "TERM": "xterm-256color", - "force_color_prompt": "1" - }, - "runArgs": [ - "--volume=/dev:/dev", - "--volume=/tmp/.X11-unix:/tmp/.X11-unix", - "--volume=${localWorkspaceFolder}/.devcontainer/.host/.Xauthority:/home/batman/.Xauthority", - "--volume=${localEnv:HOME}/.comma:/home/batman/.comma", - "--volume=${localEnv:HOME}/.azure:/home/batman/.azure", - "--volume=/tmp/comma_download_cache:/tmp/comma_download_cache", - "--shm-size=1G", - "--add-host=host.docker.internal:host-gateway", // required to use host.docker.internal on linux - "--publish=0.0.0.0:8070-8079:8070-8079" // body ZMQ services - ], - "features": { - "ghcr.io/devcontainers/features/common-utils:2": { - "installZsh": false, - "installOhMyZsh": false, - "upgradePackages": false, - "username": "batman" - }, - "ghcr.io/devcontainers-contrib/features/gh-cli:1": {}, - "ghcr.io/devcontainers/features/azure-cli:1": {} - }, - "containerUser": "batman", - "remoteUser": "batman", - "customizations": { - "vscode": { - "extensions": [ - "ms-python.python", - "ms-vscode.cpptools", - "ms-toolsai.jupyter", - "guyskk.language-cython", - "lharri73.dbc" - ] - } - }, - "mounts": [ - "type=volume,source=scons_cache,target=/tmp/scons_cache" - ] -} diff --git a/.devcontainer/host_setup b/.devcontainer/host_setup deleted file mode 100644 index 8ff81ebe421b6b..00000000000000 --- a/.devcontainer/host_setup +++ /dev/null @@ -1,47 +0,0 @@ -#!/usr/bin/env bash - -# pull base image -if [[ -z $USE_LOCAL_IMAGE ]]; then - echo "Updating openpilot_base image if needed..." - docker pull ghcr.io/commaai/openpilot-base:latest -fi - -# setup .host dir -mkdir -p .devcontainer/.host - -# setup links to Xauthority -XAUTHORITY_LINK=".devcontainer/.host/.Xauthority" -rm -f $XAUTHORITY_LINK -if [[ -z $XAUTHORITY ]]; then - echo "XAUTHORITY not set. Fallback to ~/.Xauthority ..." - if ! [[ -f $HOME/.Xauthority ]]; then - echo "~/.XAuthority file does not exist. GUI tools may not work properly." - touch $XAUTHORITY_LINK # dummy file to satisfy container volume mount - else - ln -sf $HOME/.Xauthority $XAUTHORITY_LINK - fi -else - ln -sf $XAUTHORITY $XAUTHORITY_LINK -fi - -# setup host env file -HOST_INFO_FILE=".devcontainer/.host/.env" -SYSTEM=$(uname -s | tr '[:upper:]' '[:lower:]') -echo "HOST_OS=\"$SYSTEM\"" > $HOST_INFO_FILE -echo "HOST_DISPLAY=\"$DISPLAY\"" >> $HOST_INFO_FILE - -# run virtualgl if macos -if [[ $SYSTEM == "darwin" ]]; then - echo - if [[ -f /opt/VirtualGL/bin/vglclient ]]; then - echo "Starting VirtualGL client at port 10000..." - VGL_LOG_FILE=".devcontainer/.host/.vgl/vglclient.log" - mkdir -p "$(dirname $VGL_LOG_FILE)" - /opt/VirtualGL/bin/vglclient -l "$VGL_LOG_FILE" -display "$DISPLAY" -port 10000 -detach - else - echo "VirtualGL not found. GUI tools may not work properly. Some GUI tools require OpenGL to work properly. To use them with XQuartz on mac, VirtualGL needs to be installed. To install it run:" - echo - echo " brew install --cask virtualgl" - echo - fi -fi diff --git a/.devcontainer/host_setup.cmd b/.devcontainer/host_setup.cmd deleted file mode 100644 index 885bd27f2568ec..00000000000000 --- a/.devcontainer/host_setup.cmd +++ /dev/null @@ -1,10 +0,0 @@ -:: pull base image -IF NOT DEFINED USE_LOCAL_IMAGE ^ -echo "Updating openpilot_base image if needed..." && ^ -docker pull ghcr.io/commaai/openpilot-base:latest - -:: setup .host dir -mkdir .devcontainer\.host - -:: setup host env file -echo "" > .devcontainer\.host\.env \ No newline at end of file diff --git a/.dockerignore b/.dockerignore deleted file mode 100644 index cfc34e5848ad0b..00000000000000 --- a/.dockerignore +++ /dev/null @@ -1,39 +0,0 @@ -**/.git -.DS_Store -*.dylib -*.DSYM -*.d -*.pyc -*.pyo -.*.swp -.*.swo -.*.un~ -*.tmp -*.o -*.o-* -*.os -*.os-* -*.so -*.a - -venv/ -.venv/ - -notebooks -phone -massivemap -neos -installer -chffr/app2 -chffr/backend/env -selfdrive/nav -selfdrive/baseui -selfdrive/test/simulator2 -**/cache_data -xx/plus -xx/community -xx/projects -!xx/projects/eon_testing_master -!xx/projects/map3d -xx/ops -xx/junk diff --git a/.editorconfig b/.editorconfig deleted file mode 100644 index 879e6eebca7498..00000000000000 --- a/.editorconfig +++ /dev/null @@ -1,11 +0,0 @@ -root = true - -[*] -end_of_line = lf -insert_final_newline = true -trim_trailing_whitespace = true - -[{*.py, *.pyx, *.pxd}] -charset = utf-8 -indent_style = space -indent_size = 2 diff --git a/.github/ISSUE_TEMPLATE/bug_report.yml b/.github/ISSUE_TEMPLATE/bug_report.yml deleted file mode 100644 index 47eb6c216fb852..00000000000000 --- a/.github/ISSUE_TEMPLATE/bug_report.yml +++ /dev/null @@ -1,47 +0,0 @@ -name: Bug report -description: For issues with running openpilot on your comma device -labels: ["bug"] -body: - - - type: markdown - attributes: - value: > - Before creating a **bug report**, please check the following: - * If the issue likely only affects your car model or make, go back and open a **car bug report** instead. - * If the issue is related to the driving or driver monitoring models, you should open a [discussion](https://github.com/commaai/openpilot/discussions/categories/model-feedback) instead. - * Ensure you're running the latest openpilot release. - * Ensure you're using officially supported hardware. Issues running on PCs have a different issue template. - * Ensure there isn't an existing issue for your bug. If there is, leave a comment on the existing issue. - * Ensure you're running stock openpilot. We cannot look into bug reports from forks. - - If you're unsure whether you've hit a bug, check out the #installation-help channel in the [community Discord server](https://discord.comma.ai). - - - type: textarea - attributes: - label: Describe the bug - description: Also include a description of how to reproduce the bug - validations: - required: true - - - type: input - id: route - attributes: - label: Provide a route where the issue occurs - description: Ensure the route is fully uploaded at https://useradmin.comma.ai. We cannot look into issues without routes, or at least a Dongle ID. - placeholder: 77611a1fac303767|2020-05-11--16-37-07 - validations: - required: true - - - type: input - id: version - attributes: - label: openpilot version - description: If you're not on release, provide the commit hash - placeholder: 0.8.10 - validations: - required: true - - - type: textarea - attributes: - label: Additional info - diff --git a/.github/ISSUE_TEMPLATE/car_bug_report.yml b/.github/ISSUE_TEMPLATE/car_bug_report.yml deleted file mode 100644 index 7f368f11b49a76..00000000000000 --- a/.github/ISSUE_TEMPLATE/car_bug_report.yml +++ /dev/null @@ -1,53 +0,0 @@ -name: Car bug report -description: For issues with a particular car make or model -labels: ["car", "bug"] -body: - - - type: markdown - attributes: - value: > - Before creating a **bug report**, please check the following: - * Ensure you're running the latest openpilot release. - * Ensure you're using officially supported hardware. Issues running on PCs have a different issue template. - * Ensure there isn't an existing issue for your bug. If there is, leave a comment on the existing issue. - * Ensure you're running stock openpilot. We cannot look into bug reports from forks. - - If you're unsure whether you've hit a bug, check out the #installation-help channel in the [community Discord server](https://discord.comma.ai). - - - type: textarea - attributes: - label: Describe the bug - description: Also include a description of how to reproduce the bug - validations: - required: true - - - type: input - id: car - attributes: - label: Which car does this affect? - placeholder: Toyota Prius 2017 - validations: - required: true - - - type: input - id: route - attributes: - label: Provide a route where the issue occurs - description: Ensure the route is fully uploaded at https://useradmin.comma.ai - placeholder: 77611a1fac303767|2020-05-11--16-37-07 - validations: - required: true - - - type: input - id: version - attributes: - label: openpilot version - description: If you're not on release, provide the commit hash - placeholder: 0.8.10 - validations: - required: true - - - type: textarea - attributes: - label: Additional info - diff --git a/.github/ISSUE_TEMPLATE/config.yml b/.github/ISSUE_TEMPLATE/config.yml deleted file mode 100644 index 45a8af0aaf6e61..00000000000000 --- a/.github/ISSUE_TEMPLATE/config.yml +++ /dev/null @@ -1,14 +0,0 @@ -blank_issues_enabled: false -contact_links: - - name: Report model bugs - url: https://github.com/commaai/openpilot/discussions/categories/model-feedback - about: Provide feedback for the driving or driver monitoring models - - name: Discussions - url: https://github.com/commaai/openpilot/discussions - about: For questions and general discussion about openpilot - - name: Community Wiki - url: https://github.com/commaai/openpilot/wiki - about: Check out our community wiki - - name: Community Discord - url: https://discord.comma.ai - about: Check out our community discord diff --git a/.github/ISSUE_TEMPLATE/enhancement.md b/.github/ISSUE_TEMPLATE/enhancement.md deleted file mode 100644 index 330b9b110154fe..00000000000000 --- a/.github/ISSUE_TEMPLATE/enhancement.md +++ /dev/null @@ -1,8 +0,0 @@ ---- -name: Enhancement -about: For openpilot enhancement suggestions -title: '' -labels: 'enhancement' -assignees: '' ---- - diff --git a/.github/ISSUE_TEMPLATE/pc_bug_report.yml b/.github/ISSUE_TEMPLATE/pc_bug_report.yml deleted file mode 100644 index 761c8b1a0ae923..00000000000000 --- a/.github/ISSUE_TEMPLATE/pc_bug_report.yml +++ /dev/null @@ -1,42 +0,0 @@ -name: PC bug report -description: For issues with running openpilot on PC -labels: ["PC"] -body: - - - type: markdown - attributes: - value: > - Before creating a **bug report**, please check the following: - * Ensure you're running the latest openpilot release. - * Ensure there isn't an existing issue for your bug. If there is, leave a comment on the existing issue. - * Ensure you're running stock openpilot. We cannot look into bug reports from forks. - - If you're unsure whether you've hit a bug, check out the #installation-help channel in the [community Discord server](https://discord.comma.ai). - - - type: textarea - attributes: - label: Describe the bug - description: Also include a description of how to reproduce the bug - validations: - required: true - - - type: input - id: os-version - attributes: - label: OS Version - placeholder: Ubuntu 24.04 - validations: - required: true - - - type: input - id: version - attributes: - label: openpilot version or commit - placeholder: bd36f2ec8d3559909678eff2690c10a520938367 - validations: - required: false - - - type: textarea - attributes: - label: Additional info - diff --git a/.github/PULL_REQUEST_TEMPLATE/bugfix.md b/.github/PULL_REQUEST_TEMPLATE/bugfix.md deleted file mode 100644 index e28661db3b7ab3..00000000000000 --- a/.github/PULL_REQUEST_TEMPLATE/bugfix.md +++ /dev/null @@ -1,15 +0,0 @@ ---- -name: Bug fix -about: For openpilot bug fixes -title: '' -labels: 'bugfix' -assignees: '' ---- - -**Description** - - - -**Verification** - - diff --git a/.github/PULL_REQUEST_TEMPLATE/car_bugfix.md b/.github/PULL_REQUEST_TEMPLATE/car_bugfix.md deleted file mode 100644 index 76c86346c85491..00000000000000 --- a/.github/PULL_REQUEST_TEMPLATE/car_bugfix.md +++ /dev/null @@ -1,19 +0,0 @@ ---- -name: Car Bug fix -about: For vehicle/brand specific bug fixes -title: '' -labels: 'car bug fix' -assignees: '' ---- - -**Description** - - - -**Verification** - - - -**Route** - -Route: [a route with the bug fix] diff --git a/.github/PULL_REQUEST_TEMPLATE/car_port.md b/.github/PULL_REQUEST_TEMPLATE/car_port.md deleted file mode 100644 index c7aa2b96c25a06..00000000000000 --- a/.github/PULL_REQUEST_TEMPLATE/car_port.md +++ /dev/null @@ -1,15 +0,0 @@ ---- -name: Car port -about: For new car ports -title: '' -labels: 'car port' -assignees: '' ---- - -**Checklist** - -- [ ] added entry to CAR in selfdrive/car/*/values.py and ran `selfdrive/car/docs.py` to generate new docs -- [ ] test route added to [routes.py](https://github.com/commaai/openpilot/blob/master/selfdrive/car/tests/routes.py) -- [ ] route with openpilot: -- [ ] route with stock system: -- [ ] car harness used (if comma doesn't sell it, put N/A): diff --git a/.github/PULL_REQUEST_TEMPLATE/fingerprint.md b/.github/PULL_REQUEST_TEMPLATE/fingerprint.md deleted file mode 100644 index b94f7dc53f4209..00000000000000 --- a/.github/PULL_REQUEST_TEMPLATE/fingerprint.md +++ /dev/null @@ -1,13 +0,0 @@ ---- -name: Fingerprint -about: For adding fingerprints to existing cars -title: '' -labels: 'fingerprint' -assignees: '' ---- - -**Car** -Which car (make, model, year) this fingerprint is for - -**Route** -A route with the fingerprint \ No newline at end of file diff --git a/.github/PULL_REQUEST_TEMPLATE/refactor.md b/.github/PULL_REQUEST_TEMPLATE/refactor.md deleted file mode 100644 index 1ee21c1bba1151..00000000000000 --- a/.github/PULL_REQUEST_TEMPLATE/refactor.md +++ /dev/null @@ -1,15 +0,0 @@ ---- -name: Refactor -about: For code refactors -title: '' -labels: 'refactor' -assignees: '' ---- - -**Description** - - - -**Verification** - - diff --git a/.github/PULL_REQUEST_TEMPLATE/tuning.md b/.github/PULL_REQUEST_TEMPLATE/tuning.md deleted file mode 100644 index 4397e5ad20fed0..00000000000000 --- a/.github/PULL_REQUEST_TEMPLATE/tuning.md +++ /dev/null @@ -1,31 +0,0 @@ ---- -name: Tuning -about: For openpilot tuning changes -title: '' -labels: 'tuning' -assignees: '' ---- - -**Description** - - - -**Verification** - - \ No newline at end of file diff --git a/.github/build.py b/.github/build.py deleted file mode 100644 index e141ea05df87d6..00000000000000 --- a/.github/build.py +++ /dev/null @@ -1,30 +0,0 @@ -import pathlib - -GITHUB_FOLDER = pathlib.Path(__file__).parent - -PULL_REQUEST_TEMPLATES = (GITHUB_FOLDER / "PULL_REQUEST_TEMPLATE") - -order = ["fingerprint", "car_bugfix", "bugfix", "car_port", "refactor"] - -def create_pull_request_template(): - with open(GITHUB_FOLDER / "pull_request_template.md", "w") as f: - f.write("\n\n") - - for t in order: - template = PULL_REQUEST_TEMPLATES / f"{t}.md" - text = template.read_text() - - # Remove metadata for GitHub - start = text.find("---") - end = text.find("---", start+1) - text = text[end + 4:] - - # Remove comments - text = text.replace("", "") - - f.write(f"\n\n") - -create_pull_request_template() diff --git a/.github/labeler.yaml b/.github/labeler.yaml deleted file mode 100644 index 47d0d480a91d21..00000000000000 --- a/.github/labeler.yaml +++ /dev/null @@ -1,79 +0,0 @@ -CI / testing: - - changed-files: - - any-glob-to-all-files: "{.github/**,**/test_*,Jenkinsfile}" - -car: - - changed-files: - - any-glob-to-all-files: 'selfdrive/car/**' - -body: - - changed-files: - - any-glob-to-all-files: 'selfdrive/car/body/*' - -chrysler: - - changed-files: - - any-glob-to-all-files: 'selfdrive/car/chrysler/*' - -ford: - - changed-files: - - any-glob-to-all-files: 'selfdrive/car/ford/*' - -gm: - - changed-files: - - any-glob-to-all-files: 'selfdrive/car/gm/*' - -honda: - - changed-files: - - any-glob-to-all-files: 'selfdrive/car/honda/*' - -hyundai: - - changed-files: - - any-glob-to-all-files: 'selfdrive/car/hyundai/*' - -mazda: - - changed-files: - - any-glob-to-all-files: 'selfdrive/car/mazda/*' - -nissan: - - changed-files: - - any-glob-to-all-files: 'selfdrive/car/nissan/*' - -subaru: - - changed-files: - - any-glob-to-all-files: 'selfdrive/car/subaru/*' - -tesla: - - changed-files: - - any-glob-to-all-files: 'selfdrive/car/telsa/*' - -toyota: - - changed-files: - - any-glob-to-all-files: 'selfdrive/car/toyota/*' - -volkswagen: - - changed-files: - - any-glob-to-all-files: 'selfdrive/car/volkswagen/*' - -fingerprint: - - changed-files: - - any-glob-to-all-files: 'selfdrive/car/*/fingerprints.py' - -simulation: - - changed-files: - - any-glob-to-all-files: 'tools/sim/**' - -ui: - - changed-files: - - any-glob-to-all-files: 'selfdrive/ui/**' - -tools: - - changed-files: - - any-glob-to-all-files: 'tools/**' - -multilanguage: - - changed-files: - - any-glob-to-all-files: 'selfdrive/ui/translations/**' - -research: - - changed-files: - - any-glob-to-all-files: "{selfdrive/modeld/models/**,selfdrive/test/process_replay/model_replay_ref_commit}" diff --git a/.github/pull_request_template.md b/.github/pull_request_template.md deleted file mode 100644 index 2b4a5ed48f1b14..00000000000000 --- a/.github/pull_request_template.md +++ /dev/null @@ -1,68 +0,0 @@ - - - - - - - - - - - - diff --git a/.github/workflows/auto-cache/action.yaml b/.github/workflows/auto-cache/action.yaml deleted file mode 100644 index e99c46e3c3f533..00000000000000 --- a/.github/workflows/auto-cache/action.yaml +++ /dev/null @@ -1,49 +0,0 @@ -name: 'automatically cache based on current runner' - -inputs: - path: - description: 'path to cache' - required: true - key: - description: 'key' - required: true - restore-keys: - description: 'restore-keys' - required: true - save: - description: 'whether to save the cache' - default: 'false' - required: false - -runs: - using: "composite" - steps: - - name: setup namespace cache - if: ${{ contains(runner.name, 'nsc') }} - uses: namespacelabs/nscloud-cache-action@v1 - with: - path: ${{ inputs.path }} - - - name: setup github cache - if: ${{ !contains(runner.name, 'nsc') && inputs.save != 'false' }} - uses: 'actions/cache@v4' - with: - path: ${{ inputs.path }} - key: ${{ inputs.key }} - restore-keys: ${{ inputs.restore-keys }} - - - name: setup github cache - if: ${{ !contains(runner.name, 'nsc') && inputs.save == 'false' }} - uses: 'actions/cache/restore@v4' - with: - path: ${{ inputs.path }} - key: ${{ inputs.key }} - restore-keys: ${{ inputs.restore-keys }} - - # make the directory manually in case we didn't get a hit, so it doesn't fail on future steps - - id: scons-cache-setup - shell: bash - run: | - mkdir -p ${{ inputs.path }} - sudo chmod -R 777 ${{ inputs.path }} - sudo chown -R $USER ${{ inputs.path }} diff --git a/.github/workflows/badges.yaml b/.github/workflows/badges.yaml deleted file mode 100644 index cf8bdc71097165..00000000000000 --- a/.github/workflows/badges.yaml +++ /dev/null @@ -1,37 +0,0 @@ -name: badges -on: - schedule: - - cron: '0 * * * *' - workflow_dispatch: - -env: - BASE_IMAGE: openpilot-base - DOCKER_REGISTRY: ghcr.io/commaai - RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $DOCKER_REGISTRY/$BASE_IMAGE:latest /bin/bash -c - -jobs: - badges: - name: create badges - runs-on: ubuntu-latest - if: github.repository == 'commaai/openpilot' - permissions: - contents: write - steps: - - uses: actions/checkout@v4 - with: - submodules: true - - uses: ./.github/workflows/setup-with-retry - - name: Push badges - run: | - ${{ env.RUN }} "scons -j$(nproc) && python selfdrive/ui/translations/create_badges.py" - - rm .gitattributes - - git checkout --orphan badges - git rm -rf --cached . - git config user.email "badge-researcher@comma.ai" - git config user.name "Badge Researcher" - - git add translation_badge.svg - git commit -m "Add/Update badges" - git push -f origin HEAD diff --git a/.github/workflows/compile-openpilot/action.yaml b/.github/workflows/compile-openpilot/action.yaml deleted file mode 100644 index 4015746c0e3680..00000000000000 --- a/.github/workflows/compile-openpilot/action.yaml +++ /dev/null @@ -1,21 +0,0 @@ -name: 'compile openpilot' - -runs: - using: "composite" - steps: - - shell: bash - name: Build openpilot with all flags - run: | - ${{ env.RUN }} "scons -j$(nproc)" - ${{ env.RUN }} "release/check-dirty.sh" - - shell: bash - name: Cleanup scons cache and rebuild - run: | - ${{ env.RUN }} "rm -rf /tmp/scons_cache/* && \ - scons -j$(nproc) --cache-populate" - - name: Save scons cache - uses: actions/cache/save@v4 - if: github.ref == 'refs/heads/master' - with: - path: .ci_cache/scons_cache - key: scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }} diff --git a/.github/workflows/docs.yaml b/.github/workflows/docs.yaml deleted file mode 100644 index a32989f7d08852..00000000000000 --- a/.github/workflows/docs.yaml +++ /dev/null @@ -1,64 +0,0 @@ -name: docs - -on: - push: - branches: - - master - pull_request: - -concurrency: - group: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }} - cancel-in-progress: true - -env: - BASE_IMAGE: openpilot-base - - BUILD: selfdrive/test/docker_build.sh base - - RUN: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c - -jobs: - docs: - name: build docs - runs-on: ubuntu-latest - timeout-minutes: 45 - steps: - - uses: actions/checkout@v4 - with: - submodules: true - - uses: ./.github/workflows/setup-with-retry - - name: Build openpilot - run: | - ${{ env.RUN }} "scons -j$(nproc)" - - name: Build docs - run: | - ${{ env.RUN }} "apt update && apt install -y doxygen && cd docs && make -j$(nproc) html" - - - uses: actions/checkout@v4 - if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot' - with: - path: openpilot-docs - ssh-key: ${{ secrets.OPENPILOT_DOCS_KEY }} - repository: commaai/openpilot-docs - - name: Push - if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot' - run: | - set -x - - source release/identity.sh - - cd openpilot-docs - - git checkout --orphan tmp - git rm -rf . - - cp -r ../build/docs/html/ docs/ - cp -r ../docs/README.md . - touch docs/.nojekyll - echo -n docs.comma.ai > docs/CNAME - git add -f . - - git commit -m "build docs" - - # docs live in different repo to not bloat openpilot's full clone size - git push -f origin tmp:gh-pages diff --git a/.github/workflows/prebuilt.yaml b/.github/workflows/prebuilt.yaml deleted file mode 100644 index d8963ec89f4f93..00000000000000 --- a/.github/workflows/prebuilt.yaml +++ /dev/null @@ -1,39 +0,0 @@ -name: prebuilt -on: - schedule: - - cron: '0 * * * *' - workflow_dispatch: - -env: - DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }} - BUILD: selfdrive/test/docker_build.sh prebuilt - -jobs: - build_prebuilt: - name: build prebuilt - runs-on: ubuntu-latest - if: github.repository == 'commaai/openpilot' - env: - PUSH_IMAGE: true - permissions: - checks: read - contents: read - packages: write - steps: - - name: Wait for green check mark - if: ${{ github.event_name != 'workflow_dispatch' }} - uses: lewagon/wait-on-check-action@ccfb013c15c8afb7bf2b7c028fb74dc5a068cccc - with: - ref: master - wait-interval: 30 - running-workflow-name: 'build prebuilt' - repo-token: ${{ secrets.GITHUB_TOKEN }} - check-regexp: ^((?!.*(build master-ci).*).)*$ - - uses: actions/checkout@v4 - with: - submodules: true - - run: git lfs pull - - name: Build and Push docker image - run: | - $DOCKER_LOGIN - eval "$BUILD" diff --git a/.github/workflows/release.yaml b/.github/workflows/release.yaml deleted file mode 100644 index 34e333bb59eec9..00000000000000 --- a/.github/workflows/release.yaml +++ /dev/null @@ -1,54 +0,0 @@ -name: release -on: - schedule: - - cron: '0 10 * * *' - workflow_dispatch: - -jobs: - build_masterci: - name: build master-ci - env: - TARGET_DIR: /tmp/openpilot - ImageOS: ubuntu20 - container: - image: ghcr.io/commaai/openpilot-base:latest - runs-on: ubuntu-latest - if: github.repository == 'commaai/openpilot' - permissions: - checks: read - contents: write - steps: - - name: Install wait-on-check-action dependencies - run: | - sudo apt-get update - sudo apt-get install -y libyaml-dev - - name: Wait for green check mark - if: ${{ github.event_name != 'workflow_dispatch' }} - uses: lewagon/wait-on-check-action@ccfb013c15c8afb7bf2b7c028fb74dc5a068cccc - with: - ref: master - wait-interval: 30 - running-workflow-name: 'build master-ci' - repo-token: ${{ secrets.GITHUB_TOKEN }} - check-regexp: ^((?!.*(build prebuilt).*).)*$ - - uses: actions/checkout@v4 - with: - submodules: true - fetch-depth: 0 - - name: Pull LFS - run: | - git config --global --add safe.directory '*' - git lfs pull - - name: Build master-ci - run: | - release/build_devel.sh - - name: Run tests - run: | - export PYTHONPATH=$TARGET_DIR - cd $TARGET_DIR - scons -j$(nproc) - pytest -n logical selfdrive/car/tests/test_car_interfaces.py - - name: Push master-ci - run: | - unset TARGET_DIR - BRANCH=master-ci release/build_devel.sh diff --git a/.github/workflows/repo-maintenance.yaml b/.github/workflows/repo-maintenance.yaml deleted file mode 100644 index 0e6606112bfe68..00000000000000 --- a/.github/workflows/repo-maintenance.yaml +++ /dev/null @@ -1,63 +0,0 @@ -name: repo maintenance - -on: - schedule: - - cron: "0 14 * * 1" # every Monday at 2am UTC (6am PST) - workflow_dispatch: - -jobs: - bump_submodules: - name: bump_submodules - runs-on: ubuntu-latest - container: - image: ghcr.io/commaai/openpilot-base:latest - if: github.repository == 'commaai/openpilot' - steps: - - uses: actions/checkout@v4 - with: - submodules: true - - name: bump submodules - run: | - git config --global --add safe.directory '*' - git -c submodule."tinygrad".update=none submodule update --remote - git add . - - name: Create Pull Request - uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83 - with: - author: Vehicle Researcher - token: ${{ secrets.ACTIONS_CREATE_PR_PAT }} - commit-message: bump submodules - title: '[bot] Bump submodules' - branch: auto-bump-submodules - base: master - delete-branch: true - body: 'Automatic PR from repo-maintenance -> bump_submodules' - labels: bot - package_updates: - name: package_updates - runs-on: ubuntu-latest - container: - image: ghcr.io/commaai/openpilot-base:latest - if: github.repository == 'commaai/openpilot' - steps: - - uses: actions/checkout@v4 - - name: poetry lock - run: | - pip install poetry - poetry lock - - name: pre-commit autoupdate - run: | - git config --global --add safe.directory '*' - pre-commit autoupdate - - name: Create Pull Request - uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83 - with: - author: Vehicle Researcher - token: ${{ secrets.ACTIONS_CREATE_PR_PAT }} - commit-message: Update Python packages and pre-commit hooks - title: '[bot] Update Python packages and pre-commit hooks' - branch: auto-package-updates - base: master - delete-branch: true - body: 'Automatic PR from repo-maintenance -> package_updates' - labels: bot diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml deleted file mode 100644 index 417fe204493c09..00000000000000 --- a/.github/workflows/selfdrive_tests.yaml +++ /dev/null @@ -1,330 +0,0 @@ -name: selfdrive - -on: - push: - branches: - - master - pull_request: - workflow_dispatch: - -concurrency: - group: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }} - cancel-in-progress: true - -env: - PYTHONWARNINGS: error - BASE_IMAGE: openpilot-base - AZURE_TOKEN: ${{ secrets.AZURE_COMMADATACI_OPENPILOTCI_TOKEN }} - - DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }} - BUILD: selfdrive/test/docker_build.sh base - - RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PRE_COMMIT_HOME=/tmp/pre-commit -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/pre-commit:/tmp/pre-commit -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c - - PYTEST: pytest --continue-on-collection-errors --cov --cov-report=xml --cov-append --durations=0 --durations-min=5 --hypothesis-seed 0 -n logical - -jobs: - build_release: - name: build release - runs-on: ${{ ((github.repository == 'commaai/openpilot') && - ((github.event_name != 'pull_request') || - (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }} - env: - STRIPPED_DIR: /tmp/releasepilot - steps: - - uses: actions/checkout@v4 - with: - submodules: true - - run: git lfs pull - - name: Build devel - timeout-minutes: 1 - run: TARGET_DIR=$STRIPPED_DIR release/build_devel.sh - - uses: ./.github/workflows/setup-pre-commit - - uses: ./.github/workflows/setup-with-retry - - name: Check submodules - if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot' - timeout-minutes: 1 - run: release/check-submodules.sh - - name: Build openpilot and run checks - timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache - run: | - cd $STRIPPED_DIR - ${{ env.RUN }} "python system/manager/build.py" - - name: Run tests - timeout-minutes: 3 - run: | - cd $STRIPPED_DIR - ${{ env.RUN }} "release/check-dirty.sh && \ - MAX_EXAMPLES=5 $PYTEST -m 'not slow' selfdrive/car" - - name: pre-commit - timeout-minutes: 3 - run: | - cd $GITHUB_WORKSPACE - cp .pre-commit-config.yaml $STRIPPED_DIR - cp pyproject.toml $STRIPPED_DIR - cp poetry.lock $STRIPPED_DIR - cd $STRIPPED_DIR - ${{ env.RUN }} "unset PYTHONWARNINGS && SKIP=check-added-large-files,check-hooks-apply,check-useless-excludes pre-commit run --all && chmod -R 777 /tmp/pre-commit" - - build: - strategy: - matrix: - arch: ${{ fromJson( - ((github.repository == 'commaai/openpilot') && - ((github.event_name != 'pull_request') || - (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && '["x86_64", "aarch64"]' || '["x86_64"]' ) }} - runs-on: ${{ (matrix.arch == 'aarch64') && 'namespace-profile-arm64-2x8' || 'ubuntu-latest' }} - steps: - - uses: actions/checkout@v4 - with: - submodules: true - - name: Setup docker push - if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot' - run: | - echo "PUSH_IMAGE=true" >> "$GITHUB_ENV" - echo "TARGET_ARCHITECTURE=${{ matrix.arch }}" >> "$GITHUB_ENV" - $DOCKER_LOGIN - - uses: ./.github/workflows/setup-with-retry - with: - docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }} - - uses: ./.github/workflows/compile-openpilot - timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 15 || 30) }} # allow more time when we missed the scons cache - - docker_push_multiarch: - name: docker push multiarch tag - runs-on: ubuntu-latest - if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot' - needs: [build] - steps: - - uses: actions/checkout@v4 - with: - submodules: false - - name: Setup docker - run: | - $DOCKER_LOGIN - - name: Merge x64 and arm64 tags - run: | - export PUSH_IMAGE=true - scripts/retry.sh selfdrive/test/docker_tag_multiarch.sh base x86_64 aarch64 - - static_analysis: - name: static analysis - runs-on: ${{ ((github.repository == 'commaai/openpilot') && - ((github.event_name != 'pull_request') || - (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }} - steps: - - uses: actions/checkout@v4 - with: - submodules: true - - uses: ./.github/workflows/setup-pre-commit - - uses: ./.github/workflows/setup-with-retry - - name: Build openpilot - run: ${{ env.RUN }} "scons -j$(nproc)" - - name: pre-commit - timeout-minutes: 4 - run: ${{ env.RUN }} "unset PYTHONWARNINGS && pre-commit run --all && chmod -R 777 /tmp/pre-commit" - - unit_tests: - name: unit tests - runs-on: ${{ ((github.repository == 'commaai/openpilot') && - ((github.event_name != 'pull_request') || - (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }} - steps: - - uses: actions/checkout@v4 - with: - submodules: true - - uses: ./.github/workflows/setup-with-retry - with: - docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }} - - name: Build openpilot - timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache - run: ${{ env.RUN }} "scons -j$(nproc)" - - name: Run unit tests - timeout-minutes: 15 - run: | - ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \ - export MAPBOX_TOKEN='pk.eyJ1Ijoiam5ld2IiLCJhIjoiY2xxNW8zZXprMGw1ZzJwbzZneHd2NHljbSJ9.gV7VPRfbXFetD-1OVF0XZg' && \ - $PYTEST --timeout 60 -m 'not slow' && \ - ./selfdrive/ui/tests/create_test_translations.sh && \ - QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \ - pytest ./selfdrive/ui/tests/test_translations.py" - - name: "Upload coverage to Codecov" - uses: codecov/codecov-action@v4 - with: - name: ${{ github.job }} - env: - CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }} - - process_replay: - name: process replay - runs-on: ${{ ((github.repository == 'commaai/openpilot') && - ((github.event_name != 'pull_request') || - (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }} - steps: - - uses: actions/checkout@v4 - with: - submodules: true - - uses: ./.github/workflows/setup-with-retry - with: - docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }} - - name: Cache test routes - id: dependency-cache - uses: actions/cache@v4 - with: - path: .ci_cache/comma_download_cache - key: proc-replay-${{ hashFiles('.github/workflows/selfdrive_tests.yaml', 'selfdrive/test/process_replay/ref_commit', 'selfdrive/test/process_replay/test_regen.py') }} - - name: Build openpilot - run: | - ${{ env.RUN }} "scons -j$(nproc)" - - name: Run replay - timeout-minutes: 30 - run: | - ${{ env.RUN }} "coverage run selfdrive/test/process_replay/test_processes.py -j$(nproc) && \ - chmod -R 777 /tmp/comma_download_cache && \ - coverage combine && \ - coverage xml" - - name: Print diff - id: print-diff - if: always() - run: cat selfdrive/test/process_replay/diff.txt - - uses: actions/upload-artifact@v4 - if: always() - continue-on-error: true - with: - name: process_replay_diff.txt - path: selfdrive/test/process_replay/diff.txt - - name: Upload reference logs - if: ${{ failure() && steps.print-diff.outcome == 'success' && github.repository == 'commaai/openpilot' && env.AZURE_TOKEN != '' }} - run: | - ${{ env.RUN }} "unset PYTHONWARNINGS && AZURE_TOKEN='$AZURE_TOKEN' python selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only" - # PYTHONWARNINGS triggers a SyntaxError in onnxruntime - - name: Run model replay with ONNX - timeout-minutes: 4 - run: | - ${{ env.RUN }} "unset PYTHONWARNINGS && \ - ONNXCPU=1 NO_NAV=1 coverage run selfdrive/test/process_replay/model_replay.py && \ - coverage combine && coverage xml" - - name: Run regen - timeout-minutes: 4 - run: | - ${{ env.RUN }} "ONNXCPU=1 $PYTEST selfdrive/test/process_replay/test_regen.py && \ - chmod -R 777 /tmp/comma_download_cache" - - name: "Upload coverage to Codecov" - uses: codecov/codecov-action@v4 - with: - name: ${{ github.job }} - env: - CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }} - - test_cars: - name: cars - runs-on: ${{ ((github.repository == 'commaai/openpilot') && - ((github.event_name != 'pull_request') || - (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }} - strategy: - fail-fast: false - matrix: - job: [0, 1] - steps: - - uses: actions/checkout@v4 - with: - submodules: true - - uses: ./.github/workflows/setup-with-retry - - name: Cache test routes - id: dependency-cache - uses: ./.github/workflows/auto-cache - with: - path: .ci_cache/comma_download_cache - key: car_models-${{ hashFiles('selfdrive/car/tests/test_models.py', 'selfdrive/car/tests/routes.py') }}-${{ matrix.job }} - - name: Build openpilot - run: ${{ env.RUN }} "scons -j$(nproc)" - - name: Test car models - timeout-minutes: 20 - run: | - ${{ env.RUN }} "$PYTEST selfdrive/car/tests/test_models.py && \ - chmod -R 777 /tmp/comma_download_cache" - env: - NUM_JOBS: 2 - JOB_ID: ${{ matrix.job }} - - name: "Upload coverage to Codecov" - uses: codecov/codecov-action@v4 - with: - name: ${{ github.job }}-${{ matrix.job }} - env: - CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }} - - car_docs_diff: - name: PR comments - runs-on: ubuntu-latest - if: github.event_name == 'pull_request' - steps: - - uses: actions/checkout@v4 - with: - submodules: true - ref: ${{ github.event.pull_request.base.ref }} - - run: git lfs pull - - uses: ./.github/workflows/setup-with-retry - - name: Get base car info - run: | - ${{ env.RUN }} "scons -j$(nproc) && python selfdrive/debug/dump_car_docs.py --path /tmp/openpilot_cache/base_car_docs" - sudo chown -R $USER:$USER ${{ github.workspace }} - - uses: actions/checkout@v4 - with: - submodules: true - path: current - - run: cd current && git lfs pull - - name: Save car docs diff - id: save_diff - run: | - cd current - ${{ env.RUN }} "scons -j$(nproc)" - output=$(${{ env.RUN }} "python selfdrive/debug/print_docs_diff.py --path /tmp/openpilot_cache/base_car_docs") - output="${output//$'\n'/'%0A'}" - echo "::set-output name=diff::$output" - - name: Find comment - if: ${{ env.AZURE_TOKEN != '' }} - uses: peter-evans/find-comment@3eae4d37986fb5a8592848f6a574fdf654e61f9e - id: fc - with: - issue-number: ${{ github.event.pull_request.number }} - body-includes: This PR makes changes to - - name: Update comment - if: ${{ steps.save_diff.outputs.diff != '' && env.AZURE_TOKEN != '' }} - uses: peter-evans/create-or-update-comment@71345be0265236311c031f5c7866368bd1eff043 - with: - comment-id: ${{ steps.fc.outputs.comment-id }} - issue-number: ${{ github.event.pull_request.number }} - body: "${{ steps.save_diff.outputs.diff }}" - edit-mode: replace - - name: Delete comment - if: ${{ steps.fc.outputs.comment-id != '' && steps.save_diff.outputs.diff == '' && env.AZURE_TOKEN != '' }} - uses: actions/github-script@v7 - with: - script: | - github.rest.issues.deleteComment({ - owner: context.repo.owner, - repo: context.repo.repo, - comment_id: ${{ steps.fc.outputs.comment-id }} - }) - - create_ui_report: - name: Create UI Report - runs-on: ubuntu-latest - steps: - - uses: actions/checkout@v4 - with: - submodules: true - - uses: ./.github/workflows/setup-with-retry - - name: Build openpilot - run: ${{ env.RUN }} "scons -j$(nproc)" - - name: Create Test Report - run: > - ${{ env.RUN }} "PYTHONWARNINGS=ignore && - source selfdrive/test/setup_xvfb.sh && - export MAPBOX_TOKEN='pk.eyJ1Ijoiam5ld2IiLCJhIjoiY2xxNW8zZXprMGw1ZzJwbzZneHd2NHljbSJ9.gV7VPRfbXFetD-1OVF0XZg' && - python selfdrive/ui/tests/test_ui/run.py" - - name: Upload Test Report - uses: actions/upload-artifact@v4 - with: - name: report - path: selfdrive/ui/tests/test_ui/report diff --git a/.github/workflows/setup-pre-commit/action.yaml b/.github/workflows/setup-pre-commit/action.yaml deleted file mode 100644 index f07a106861f729..00000000000000 --- a/.github/workflows/setup-pre-commit/action.yaml +++ /dev/null @@ -1,12 +0,0 @@ -name: 'set up pre-commit environment' - -runs: - using: "composite" - steps: - - uses: ./.github/workflows/auto-cache - with: - path: .ci_cache/pre-commit - key: pre-commit-${{ hashFiles('**/.pre-commit-config.yaml') }} - restore-keys: | - pre-commit- - save: ${{ github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot' }} diff --git a/.github/workflows/setup-with-retry/action.yaml b/.github/workflows/setup-with-retry/action.yaml deleted file mode 100644 index 369ac45c9a81f6..00000000000000 --- a/.github/workflows/setup-with-retry/action.yaml +++ /dev/null @@ -1,40 +0,0 @@ -name: 'openpilot env setup, with retry on failure' - -inputs: - docker_hub_pat: - description: 'Auth token for Docker Hub, required for BuildJet jobs' - required: false - default: '' - sleep_time: - description: 'Time to sleep between retries' - required: false - default: 30 - -runs: - using: "composite" - steps: - - id: setup1 - uses: ./.github/workflows/setup - continue-on-error: true - with: - docker_hub_pat: ${{ inputs.docker_hub_pat }} - is_retried: true - - if: steps.setup1.outcome == 'failure' - shell: bash - run: sleep ${{ inputs.sleep_time }} - - id: setup2 - if: steps.setup1.outcome == 'failure' - uses: ./.github/workflows/setup - continue-on-error: true - with: - docker_hub_pat: ${{ inputs.docker_hub_pat }} - is_retried: true - - if: steps.setup2.outcome == 'failure' - shell: bash - run: sleep ${{ inputs.sleep_time }} - - id: setup3 - if: steps.setup2.outcome == 'failure' - uses: ./.github/workflows/setup - with: - docker_hub_pat: ${{ inputs.docker_hub_pat }} - is_retried: true diff --git a/.github/workflows/setup/action.yaml b/.github/workflows/setup/action.yaml deleted file mode 100644 index 970d62030d56f1..00000000000000 --- a/.github/workflows/setup/action.yaml +++ /dev/null @@ -1,63 +0,0 @@ -name: 'openpilot env setup' - -inputs: - docker_hub_pat: - description: 'Auth token for Docker Hub, required for BuildJet jobs' - required: true - default: '' - is_retried: - description: 'A mock param that asserts that we use the setup-with-retry instead of this action directly' - required: false - default: 'false' - -runs: - using: "composite" - steps: - # assert that this action is retried using the setup-with-retry - - shell: bash - if: ${{ inputs.is_retried == 'false' }} - run: | - echo "You should not run this action directly. Use setup-with-retry instead" - exit 1 - - # do this after checkout to ensure our custom LFS config is used to pull from GitLab - - shell: bash - run: git lfs pull - - # on BuildJet runners, must be logged into DockerHub to avoid rate limiting - # https://buildjet.com/for-github-actions/docs/guides/docker - - shell: bash - if: ${{ contains(runner.name, 'buildjet') && inputs.docker_hub_pat == '' }} - run: | - echo "Need to set the Docker Hub PAT secret as an input to this action" - exit 1 - - name: Login to Docker Hub - if: contains(runner.name, 'buildjet') - shell: bash - run: | - docker login -u adeebshihadeh -p ${{ inputs.docker_hub_pat }} - - # build cache - - id: date - shell: bash - run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV - - shell: bash - run: echo "$CACHE_COMMIT_DATE" - - id: scons-cache - uses: ./.github/workflows/auto-cache - with: - path: .ci_cache/scons_cache - key: scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }} - restore-keys: | - scons-${{ runner.arch }}-${{ env.CACHE_COMMIT_DATE }} - scons-${{ runner.arch }} - # as suggested here: https://github.com/moby/moby/issues/32816#issuecomment-910030001 - - id: normalize-file-permissions - shell: bash - name: Normalize file permissions to ensure a consistent docker build cache - run: | - find . -type f -executable -not -perm 755 -exec chmod 755 {} \; - find . -type f -not -executable -not -perm 644 -exec chmod 644 {} \; - # build our docker image - - shell: bash - run: eval ${{ env.BUILD }} \ No newline at end of file diff --git a/.github/workflows/stale.yaml b/.github/workflows/stale.yaml deleted file mode 100644 index 3c86b8e8549da6..00000000000000 --- a/.github/workflows/stale.yaml +++ /dev/null @@ -1,29 +0,0 @@ -name: stale -on: - schedule: - - cron: '30 1 * * *' - workflow_dispatch: - -env: - DAYS_BEFORE_PR_CLOSE: 3 - DAYS_BEFORE_PR_STALE: 14 - -jobs: - stale: - runs-on: ubuntu-latest - steps: - - uses: actions/stale@v9 - with: - exempt-milestones: true - - # pull request config - stale-pr-message: 'This PR has had no activity for ${{ env.DAYS_BEFORE_PR_STALE }} days. It will be automatically closed in ${{ env.DAYS_BEFORE_PR_CLOSE }} days if there is no activity.' - close-pr-message: 'This PR has been automatically closed due to inactivity. Feel free to re-open once activity resumes.' - stale-pr-label: stale - delete-branch: ${{ github.event.pull_request.head.repo.full_name == 'commaai/openpilot' }} # only delete branches on the main repo - exempt-pr-labels: "ignore stale,needs testing,car port,car" # if wip or it needs testing from the community, don't mark as stale - days-before-pr-stale: ${{ env.DAYS_BEFORE_PR_STALE }} - days-before-pr-close: ${{ env.DAYS_BEFORE_PR_CLOSE }} - - # issue config - days-before-issue-stale: -1 # ignore issues for now diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml deleted file mode 100644 index ba597f7000edbe..00000000000000 --- a/.github/workflows/tools_tests.yaml +++ /dev/null @@ -1,67 +0,0 @@ -name: tools - -on: - push: - branches: - - master - pull_request: - -concurrency: - group: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }} - cancel-in-progress: true - -env: - BASE_IMAGE: openpilot-base - DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }} - - BUILD: selfdrive/test/docker_build.sh base - - RUN: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c - - -jobs: - simulator_driving: - name: simulator driving - runs-on: ubuntu-latest - timeout-minutes: 20 - steps: - - uses: actions/checkout@v4 - with: - submodules: true - - uses: ./.github/workflows/setup-with-retry - - name: Build openpilot - run: | - ${{ env.RUN }} "scons -j$(nproc)" - - name: Run bridge test - run: | - ${{ env.RUN }} "export MAPBOX_TOKEN='pk.eyJ1Ijoiam5ld2IiLCJhIjoiY2xxNW8zZXprMGw1ZzJwbzZneHd2NHljbSJ9.gV7VPRfbXFetD-1OVF0XZg' && \ - source selfdrive/test/setup_xvfb.sh && \ - source selfdrive/test/setup_vsound.sh && \ - CI=1 pytest tools/sim/tests/test_metadrive_bridge.py" - - devcontainer: - name: devcontainer - runs-on: ubuntu-latest - steps: - - uses: actions/checkout@v4 - with: - submodules: true - - uses: ./.github/workflows/setup-with-retry - - name: Use local image for testing devcontainer with latest base image - run: | - echo "USE_LOCAL_IMAGE=true" >> "$GITHUB_ENV" - - name: Setup Dev Container CLI - run: npm install -g @devcontainers/cli - - name: Build dev container image - run: ./scripts/retry.sh devcontainer build --workspace-folder . - - name: Run dev container - run: | - mkdir -p /tmp/devcontainer_scons_cache/ - cp -r $GITHUB_WORKSPACE/.ci_cache/scons_cache/. /tmp/devcontainer_scons_cache/ - devcontainer up --workspace-folder . - - name: Test environment - run: | - devcontainer exec --workspace-folder . scons -j$(nproc) cereal/ common/ - devcontainer exec --workspace-folder . pip install pip-install-test - devcontainer exec --workspace-folder . touch /home/batman/.comma/auth.json - devcontainer exec --workspace-folder . sudo touch /root/test.txt diff --git a/.gitmodules b/.gitmodules deleted file mode 100644 index e33902db52e476..00000000000000 --- a/.gitmodules +++ /dev/null @@ -1,21 +0,0 @@ -[submodule "panda"] - path = panda - url = ../../commaai/panda.git -[submodule "opendbc"] - path = opendbc - url = ../../commaai/opendbc.git -[submodule "msgq"] - path = msgq_repo - url = ../../commaai/msgq.git -[submodule "rednose_repo"] - path = rednose_repo - url = ../../commaai/rednose.git -[submodule "body"] - path = body - url = ../../commaai/body.git -[submodule "teleoprtc_repo"] - path = teleoprtc_repo - url = ../../commaai/teleoprtc -[submodule "tinygrad"] - path = tinygrad_repo - url = https://github.com/geohot/tinygrad.git diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml deleted file mode 100644 index 61b78236449c37..00000000000000 --- a/.pre-commit-config.yaml +++ /dev/null @@ -1,103 +0,0 @@ -exclude: '^(tinygrad_repo)' -repos: -- repo: meta - hooks: - - id: check-hooks-apply - - id: check-useless-excludes -- repo: https://github.com/pre-commit/pre-commit-hooks - rev: v4.6.0 - hooks: - - id: check-ast - exclude: '^(third_party)/' - - id: check-json - exclude: '.devcontainer/devcontainer.json|.vscode/' # these support JSON with comments - - id: check-toml - - id: check-xml - - id: check-yaml - - id: check-merge-conflict - - id: check-symlinks - - id: check-executables-have-shebangs - - id: check-shebang-scripts-are-executable - - id: check-added-large-files - exclude: '(docs/CARS.md)|(poetry.lock)|(third_party/acados/include/blasfeo/include/blasfeo_d_kernel.h)' - args: - - --maxkb=120 - - --enforce-all -- repo: https://github.com/codespell-project/codespell - rev: v2.3.0 - hooks: - - id: codespell - exclude: '^(third_party/)|(body/)|(msgq/)|(panda/)|(opendbc/)|(rednose/)|(rednose_repo/)|(teleoprtc/)|(teleoprtc_repo/)|(selfdrive/ui/translations/.*.ts)|(poetry.lock)' - args: - # if you've got a short variable name that's getting flagged, add it here - - -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn - - --builtins clear,rare,informal,usage,code,names,en-GB_to_en-US -- repo: https://github.com/astral-sh/ruff-pre-commit - rev: v0.4.8 - hooks: - - id: ruff - exclude: '^(third_party/)|(msgq/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)' -- repo: local - hooks: - - id: mypy - name: mypy - entry: mypy - language: system - types: [python] - args: - - --local-partial-types - - --explicit-package-bases - exclude: '^(third_party/)|(body/)|(msgq/)|(opendbc/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)' -- repo: local - hooks: - - id: cppcheck - name: cppcheck - entry: cppcheck - language: system - types: [c++] - exclude: '^(third_party/)|(msgq/)|(body/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(tools/)|(selfdrive/modeld/thneed/debug/)|(selfdrive/modeld/test/)|(selfdrive/camerad/test/)|(installer/)' - args: - - --error-exitcode=1 - - --language=c++ - - --quiet - - --force - - -j8 -- repo: https://github.com/cpplint/cpplint - rev: 1.6.1 - hooks: - - id: cpplint - exclude: '^(third_party/)|(msgq/)|(body/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(generated/)' - args: - - --quiet - - --counting=total - - --linelength=240 - # https://google.github.io/styleguide/cppguide.html - # relevant rules are whitelisted, see all options with: cpplint --filter= - - --filter=-build,-legal,-readability,-runtime,-whitespace,+build/include_subdir,+build/forward_decl,+build/include_what_you_use,+build/deprecated,+whitespace/comma,+whitespace/line_length,+whitespace/empty_if_body,+whitespace/empty_loop_body,+whitespace/empty_conditional_body,+whitespace/forcolon,+whitespace/parens,+whitespace/semicolon,+whitespace/tab,+readability/braces -- repo: https://github.com/MarcoGorelli/cython-lint - rev: v0.16.2 - hooks: - - id: cython-lint - exclude: '^(third_party/)|(msgq/)|(body/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(generated/)' - args: - - --max-line-length=240 - - --ignore=E111, E302, E305 -- repo: local - hooks: - - id: test_translations - name: test translations - entry: pytest selfdrive/ui/tests/test_translations.py - language: system - pass_filenames: false - files: '^selfdrive/ui/translations/' -- repo: https://github.com/python-poetry/poetry - rev: '1.8.0' - hooks: - - id: poetry-check - name: validate poetry lock - args: - - --lock -- repo: https://github.com/python-jsonschema/check-jsonschema - rev: 0.28.4 - hooks: - - id: check-github-workflows diff --git a/.python-version b/.python-version deleted file mode 100644 index 0c7d5f5f5d7616..00000000000000 --- a/.python-version +++ /dev/null @@ -1 +0,0 @@ -3.11.4 diff --git a/.vscode/extensions.json b/.vscode/extensions.json deleted file mode 100644 index 458312fc88af81..00000000000000 --- a/.vscode/extensions.json +++ /dev/null @@ -1,8 +0,0 @@ -{ - "recommendations": [ - "ms-python.python", - "ms-vscode.cpptools", - "elagil.pre-commit-helper", - "charliermarsh.ruff", - ] -} diff --git a/.vscode/launch.json b/.vscode/launch.json deleted file mode 100644 index 3b3953c3f4bf56..00000000000000 --- a/.vscode/launch.json +++ /dev/null @@ -1,47 +0,0 @@ -{ - "version": "0.2.0", - "inputs": [ - { - "id": "python_process", - "type": "pickString", - "description": "Select the process to debug", - "options": [ - "selfdrive/controls/controlsd.py", - "selfdrive/navd/navd.py", - "system/timed/timed.py", - "tools/sim/run_bridge.py" - ] - }, - { - "id": "cpp_process", - "type": "pickString", - "description": "Select the process to debug", - "options": [ - "selfdrive/ui/ui" - ] - }, - { - "id": "args", - "description": "Arguments to pass to the process", - "type": "promptString" - } - ], - "configurations": [ - { - "name": "Python: openpilot Process", - "type": "debugpy", - "request": "launch", - "program": "${input:python_process}", - "console": "integratedTerminal", - "justMyCode": true, - "args": "${input:args}" - }, - { - "name": "C++: openpilot Process", - "type": "cppdbg", - "request": "launch", - "program": "${workspaceFolder}/${input:cpp_process}", - "cwd": "${workspaceFolder}", - } - ] -} \ No newline at end of file diff --git a/.vscode/settings.json b/.vscode/settings.json deleted file mode 100644 index f0731c362d9a5c..00000000000000 --- a/.vscode/settings.json +++ /dev/null @@ -1,27 +0,0 @@ -{ - "editor.tabSize": 2, - "editor.insertSpaces": true, - "editor.renderWhitespace": "trailing", - "files.trimTrailingWhitespace": true, - "search.exclude": { - "**/.git": true, - "**/.venv": true, - "**/__pycache__": true - }, - "files.exclude": { - "**/.git": true, - "**/.venv": true, - "**/__pycache__": true - }, - "python.analysis.exclude": [ - "**/.git", - "**/.venv", - "**/__pycache__", - // exclude directories that should be using the symlinked version - "common/**", - "selfdrive/**", - "system/**", - "third_party/**", - "tools/**", - ] -} diff --git a/Dockerfile.openpilot b/Dockerfile.openpilot deleted file mode 100644 index 5d8f958c48017d..00000000000000 --- a/Dockerfile.openpilot +++ /dev/null @@ -1,30 +0,0 @@ -FROM ghcr.io/commaai/openpilot-base:latest - -ENV PYTHONUNBUFFERED 1 - -ENV OPENPILOT_PATH /home/batman/openpilot -ENV PYTHONPATH ${OPENPILOT_PATH}:${PYTHONPATH} - -RUN mkdir -p ${OPENPILOT_PATH} -WORKDIR ${OPENPILOT_PATH} - -COPY SConstruct ${OPENPILOT_PATH} - -COPY ./openpilot ${OPENPILOT_PATH}/openpilot -COPY ./third_party ${OPENPILOT_PATH}/third_party -COPY ./site_scons ${OPENPILOT_PATH}/site_scons -COPY ./rednose ${OPENPILOT_PATH}/rednose -COPY ./rednose_repo/site_scons ${OPENPILOT_PATH}/rednose_repo/site_scons -COPY ./tools ${OPENPILOT_PATH}/tools -COPY ./release ${OPENPILOT_PATH}/release -COPY ./common ${OPENPILOT_PATH}/common -COPY ./opendbc ${OPENPILOT_PATH}/opendbc -COPY ./cereal ${OPENPILOT_PATH}/cereal -COPY ./msgq_repo ${OPENPILOT_PATH}/msgq_repo -COPY ./msgq ${OPENPILOT_PATH}/msgq -COPY ./panda ${OPENPILOT_PATH}/panda -COPY ./selfdrive ${OPENPILOT_PATH}/selfdrive -COPY ./system ${OPENPILOT_PATH}/system -COPY ./body ${OPENPILOT_PATH}/body - -RUN scons --cache-readonly -j$(nproc) diff --git a/Dockerfile.openpilot_base b/Dockerfile.openpilot_base deleted file mode 100644 index 0789a39c3e8b48..00000000000000 --- a/Dockerfile.openpilot_base +++ /dev/null @@ -1,82 +0,0 @@ -FROM ubuntu:20.04 - -ENV PYTHONUNBUFFERED 1 - -ENV DEBIAN_FRONTEND=noninteractive -RUN apt-get update && \ - apt-get install -y --no-install-recommends sudo tzdata locales ssh pulseaudio xvfb x11-xserver-utils gnome-screenshot && \ - rm -rf /var/lib/apt/lists/* - -RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen -ENV LANG en_US.UTF-8 -ENV LANGUAGE en_US:en -ENV LC_ALL en_US.UTF-8 - -COPY tools/install_ubuntu_dependencies.sh /tmp/tools/ -RUN INSTALL_EXTRA_PACKAGES=no /tmp/tools/install_ubuntu_dependencies.sh && \ - rm -rf /var/lib/apt/lists/* /tmp/* && \ - cd /usr/lib/gcc/arm-none-eabi/9.2.1 && \ - rm -rf arm/ thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp - -# Add OpenCL -RUN apt-get update && apt-get install -y --no-install-recommends \ - apt-utils \ - alien \ - unzip \ - tar \ - curl \ - xz-utils \ - dbus \ - gcc-arm-none-eabi \ - tmux \ - vim \ - lsb-core \ - libx11-6 \ - && rm -rf /var/lib/apt/lists/* - -ARG INTEL_DRIVER=l_opencl_p_18.1.0.015.tgz -ARG INTEL_DRIVER_URL=https://registrationcenter-download.intel.com/akdlm/irc_nas/vcp/15532 -RUN mkdir -p /tmp/opencl-driver-intel - -RUN cd /tmp/opencl-driver-intel && \ - echo INTEL_DRIVER is $INTEL_DRIVER && \ - curl -O $INTEL_DRIVER_URL/$INTEL_DRIVER && \ - tar -xzf $INTEL_DRIVER && \ - for i in $(basename $INTEL_DRIVER .tgz)/rpm/*.rpm; do alien --to-deb $i; done && \ - dpkg -i *.deb && \ - rm -rf $INTEL_DRIVER $(basename $INTEL_DRIVER .tgz) *.deb && \ - mkdir -p /etc/OpenCL/vendors && \ - echo /opt/intel/opencl_compilers_and_libraries_18.1.0.015/linux/compiler/lib/intel64_lin/libintelocl.so > /etc/OpenCL/vendors/intel.icd && \ - cd / && \ - rm -rf /tmp/opencl-driver-intel - -ENV NVIDIA_VISIBLE_DEVICES all -ENV NVIDIA_DRIVER_CAPABILITIES graphics,utility,compute -ENV QTWEBENGINE_DISABLE_SANDBOX 1 - -RUN dbus-uuidgen > /etc/machine-id - -ARG USER=batman -ARG USER_UID=1000 -RUN useradd -m -s /bin/bash -u $USER_UID $USER -RUN usermod -aG sudo $USER -RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers -USER $USER - -ENV POETRY_VIRTUALENVS_CREATE=false -ENV PYENV_VERSION=3.11.4 -ENV PYENV_ROOT="/home/$USER/pyenv" -ENV PATH="$PYENV_ROOT/bin:$PYENV_ROOT/shims:$PATH" - -COPY --chown=$USER pyproject.toml poetry.lock .python-version /tmp/ -COPY --chown=$USER tools/install_python_dependencies.sh /tmp/tools/ - -RUN cd /tmp && \ - tools/install_python_dependencies.sh && \ - rm -rf /tmp/* && \ - rm -rf /home/$USER/.cache && \ - find /home/$USER/pyenv -type d -name ".git" | xargs rm -rf && \ - rm -rf /home/$USER/pyenv/versions/3.11.4/lib/python3.11/test - -USER root -RUN sudo git config --global --add safe.directory /tmp/openpilot diff --git a/Jenkinsfile b/Jenkinsfile deleted file mode 100644 index 321237716b291d..00000000000000 --- a/Jenkinsfile +++ /dev/null @@ -1,254 +0,0 @@ -def retryWithDelay(int maxRetries, int delay, Closure body) { - for (int i = 0; i < maxRetries; i++) { - try { - return body() - } catch (Exception e) { - sleep(delay) - } - } - throw Exception("Failed after ${maxRetries} retries") -} - -def device(String ip, String step_label, String cmd) { - withCredentials([file(credentialsId: 'id_rsa', variable: 'key_file')]) { - def ssh_cmd = """ -ssh -tt -o ConnectTimeout=5 -o ServerAliveInterval=5 -o ServerAliveCountMax=2 -o BatchMode=yes -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' /usr/bin/bash <<'END' - -set -e - -shopt -s huponexit # kill all child processes when the shell exits - -export CI=1 -export PYTHONWARNINGS=error -export LOGPRINT=debug -export TEST_DIR=${env.TEST_DIR} -export SOURCE_DIR=${env.SOURCE_DIR} -export GIT_BRANCH=${env.GIT_BRANCH} -export GIT_COMMIT=${env.GIT_COMMIT} -export AZURE_TOKEN='${env.AZURE_TOKEN}' -export MAPBOX_TOKEN='${env.MAPBOX_TOKEN}' -# only use 1 thread for tici tests since most require HIL -export PYTEST_ADDOPTS="-n 0" - - -export GIT_SSH_COMMAND="ssh -i /data/gitkey" - -source ~/.bash_profile -if [ -f /TICI ]; then - source /etc/profile - - rm -rf /tmp/tmp* - rm -rf ~/.commacache - rm -rf /dev/shm/* - rm -rf /dev/tmp/tmp* - - if ! systemctl is-active --quiet systemd-resolved; then - echo "restarting resolved" - sudo systemctl start systemd-resolved - sleep 3 - fi - - # restart aux USB - if [ -e /sys/bus/usb/drivers/hub/3-0:1.0 ]; then - echo "restarting aux usb" - echo "3-0:1.0" | sudo tee /sys/bus/usb/drivers/hub/unbind - sleep 0.5 - echo "3-0:1.0" | sudo tee /sys/bus/usb/drivers/hub/bind - fi -fi -if [ -f /data/openpilot/launch_env.sh ]; then - source /data/openpilot/launch_env.sh -fi - -ln -snf ${env.TEST_DIR} /data/pythonpath - -cd ${env.TEST_DIR} || true -${cmd} -exit 0 - -END""" - - sh script: ssh_cmd, label: step_label - } -} - -def deviceStage(String stageName, String deviceType, List extra_env, def steps) { - stage(stageName) { - if (currentBuild.result != null) { - return - } - - def extra = extra_env.collect { "export ${it}" }.join('\n'); - def branch = env.BRANCH_NAME ?: 'master'; - - lock(resource: "", label: deviceType, inversePrecedence: true, variable: 'device_ip', quantity: 1, resourceSelectStrategy: 'random') { - docker.image('ghcr.io/commaai/alpine-ssh').inside('--user=root') { - timeout(time: 20, unit: 'MINUTES') { - retry (3) { - device(device_ip, "git checkout", extra + "\n" + readFile("selfdrive/test/setup_device_ci.sh")) - } - steps.each { item -> - device(device_ip, item[0], item[1]) - } - } - } - } - } -} - -def pcStage(String stageName, Closure body) { - node { - stage(stageName) { - if (currentBuild.result != null) { - return - } - - checkout scm - - def dockerArgs = "--user=batman -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/scons_cache:/tmp/scons_cache -e PYTHONPATH=${env.WORKSPACE} --cpus=8 --memory 16g -e PYTEST_ADDOPTS='-n8'"; - - def openpilot_base = retryWithDelay (3, 15) { - return docker.build("openpilot-base:build-${env.GIT_COMMIT}", "-f Dockerfile.openpilot_base .") - } - - lock(resource: "", label: 'pc', inversePrecedence: true, quantity: 1) { - openpilot_base.inside(dockerArgs) { - timeout(time: 20, unit: 'MINUTES') { - try { - retryWithDelay (3, 15) { - sh "git config --global --add safe.directory '*'" - sh "git submodule update --init --recursive" - sh "git lfs pull" - } - body() - } finally { - sh "rm -rf ${env.WORKSPACE}/* || true" - sh "rm -rf .* || true" - } - } - } - } - } - } -} - -def setupCredentials() { - withCredentials([ - string(credentialsId: 'azure_token', variable: 'AZURE_TOKEN'), - string(credentialsId: 'mapbox_token', variable: 'MAPBOX_TOKEN') - ]) { - env.AZURE_TOKEN = "${AZURE_TOKEN}" - env.MAPBOX_TOKEN = "${MAPBOX_TOKEN}" - } -} - - -node { - env.CI = "1" - env.PYTHONWARNINGS = "error" - env.TEST_DIR = "/data/openpilot" - env.SOURCE_DIR = "/data/openpilot_source/" - setupCredentials() - - env.GIT_BRANCH = checkout(scm).GIT_BRANCH - env.GIT_COMMIT = checkout(scm).GIT_COMMIT - - def excludeBranches = ['master-ci', 'devel', 'devel-staging', 'release3', 'release3-staging', - 'testing-closet*', 'hotfix-*'] - def excludeRegex = excludeBranches.join('|').replaceAll('\\*', '.*') - - if (env.BRANCH_NAME != 'master') { - properties([ - disableConcurrentBuilds(abortPrevious: true) - ]) - } - - try { - if (env.BRANCH_NAME == 'devel-staging') { - deviceStage("build release3-staging", "tici-needs-can", [], [ - ["build release3-staging", "RELEASE_BRANCH=release3-staging $SOURCE_DIR/release/build_release.sh"], - ]) - } - - if (env.BRANCH_NAME == 'master-ci') { - deviceStage("build nightly", "tici-needs-can", [], [ - ["build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/release/build_release.sh"], - ]) - } - - if (!env.BRANCH_NAME.matches(excludeRegex)) { - parallel ( - // tici tests - 'onroad tests': { - deviceStage("onroad", "tici-needs-can", [], [ - // TODO: ideally, this test runs in master-ci, but it takes 5+m to build it - //["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR $SOURCE_DIR/scripts/retry.sh ./build_devel.sh"], - ["build openpilot", "cd system/manager && ./build.py"], - ["check dirty", "release/check-dirty.sh"], - ["onroad tests", "pytest selfdrive/test/test_onroad.py -s"], - ["time to onroad", "pytest selfdrive/test/test_time_to_onroad.py"], - ]) - }, - 'HW + Unit Tests': { - deviceStage("tici-hardware", "tici-common", ["UNSAFE=1"], [ - ["build", "cd system/manager && ./build.py"], - ["test pandad", "pytest selfdrive/pandad/tests/test_pandad.py"], - ["test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"], - ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py"], - ["test pigeond", "pytest system/ubloxd/tests/test_pigeond.py"], - ["test manager", "pytest system/manager/test/test_manager.py"], - ]) - }, - 'loopback': { - deviceStage("loopback", "tici-loopback", ["UNSAFE=1"], [ - ["build openpilot", "cd system/manager && ./build.py"], - ["test pandad loopback", "pytest selfdrive/pandad/tests/test_pandad_loopback.py"], - ]) - }, - 'camerad': { - deviceStage("AR0231", "tici-ar0231", ["UNSAFE=1"], [ - ["build", "cd system/manager && ./build.py"], - ["test camerad", "pytest system/camerad/test/test_camerad.py"], - ["test exposure", "pytest system/camerad/test/test_exposure.py"], - ]) - deviceStage("OX03C10", "tici-ox03c10", ["UNSAFE=1"], [ - ["build", "cd system/manager && ./build.py"], - ["test camerad", "pytest system/camerad/test/test_camerad.py"], - ["test exposure", "pytest system/camerad/test/test_exposure.py"], - ]) - }, - 'sensord': { - deviceStage("LSM + MMC", "tici-lsmc", ["UNSAFE=1"], [ - ["build", "cd system/manager && ./build.py"], - ["test sensord", "pytest system/sensord/tests/test_sensord.py"], - ]) - deviceStage("BMX + LSM", "tici-bmx-lsm", ["UNSAFE=1"], [ - ["build", "cd system/manager && ./build.py"], - ["test sensord", "pytest system/sensord/tests/test_sensord.py"], - ]) - }, - 'replay': { - deviceStage("model-replay", "tici-replay", ["UNSAFE=1"], [ - ["build", "cd system/manager && ./build.py"], - ["model replay", "selfdrive/test/process_replay/model_replay.py"], - ]) - }, - 'tizi': { - deviceStage("tizi", "tizi", ["UNSAFE=1"], [ - ["build openpilot", "cd system/manager && ./build.py"], - ["test pandad loopback", "SINGLE_PANDA=1 pytest selfdrive/pandad/tests/test_pandad_loopback.py"], - ["test pandad spi", "pytest selfdrive/pandad/tests/test_pandad_spi.py"], - ["test pandad", "pytest selfdrive/pandad/tests/test_pandad.py"], - ["test amp", "pytest system/hardware/tici/tests/test_amplifier.py"], - ["test hw", "pytest system/hardware/tici/tests/test_hardware.py"], - ["test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py"], - ]) - }, - - ) - } - } catch (Exception e) { - currentBuild.result = 'FAILED' - throw e - } -} diff --git a/LICENSE b/LICENSE deleted file mode 100644 index 7dafa9443b1545..00000000000000 --- a/LICENSE +++ /dev/null @@ -1,7 +0,0 @@ -Copyright (c) 2018, Comma.ai, Inc. - -Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: - -The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. - -THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. diff --git a/SECURITY.md b/SECURITY.md deleted file mode 100644 index 8b66082bf241e6..00000000000000 --- a/SECURITY.md +++ /dev/null @@ -1,5 +0,0 @@ -# Security Policy - -## Reporting a Vulnerability - -Suspected vulnerabilities can be reported to both `adeeb@comma.ai` and `security@comma.ai`. diff --git a/body/.github/workflows/test.yaml b/body/.github/workflows/test.yaml deleted file mode 100644 index d7a98ff0f569a1..00000000000000 --- a/body/.github/workflows/test.yaml +++ /dev/null @@ -1,50 +0,0 @@ -name: tests -on: [push, pull_request] - -env: - RUN: docker run --rm body /bin/bash -c - PERSIST: docker run --name body body /bin/sh -c - BUILD: | - docker pull $(grep -ioP '(?<=^from)\s+\S+' Dockerfile) || true - docker pull ghcr.io/commaai/body:latest || true - docker build --cache-from ghcr.io/commaai/body:latest -t body -f Dockerfile . - -jobs: - docker_push: - name: docker push - runs-on: ubuntu-latest - timeout-minutes: 20 - if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/body' - steps: - - uses: actions/checkout@v2 - - name: Build Docker image - run: eval "$BUILD" - - name: Login to dockerhub - run: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }} - - name: Tag image - run: docker tag body ghcr.io/commaai/body:latest - - name: Push image - run: docker push ghcr.io/commaai/body:latest - - build: - name: build - runs-on: ubuntu-latest - timeout-minutes: 45 - steps: - - uses: actions/checkout@v2 - - name: Build Docker image - run: eval "$BUILD" - - name: Build firmware - run: $RUN "cd /tmp/openpilot/body && scons" - - python_linter: - name: python linter - runs-on: ubuntu-latest - timeout-minutes: 45 - steps: - - uses: actions/checkout@v2 - - name: Build Docker image - run: eval "$BUILD" - - name: Run static analysis - run: | - $RUN "cd /tmp/openpilot/body && git init && git add -A && pre-commit run --all" diff --git a/body/.gitignore b/body/.gitignore deleted file mode 100644 index cd74bc6017249c..00000000000000 --- a/body/.gitignore +++ /dev/null @@ -1,15 +0,0 @@ -*.pyc -.*.swp -.*.swo -*.o -*.so -*.os -*.d -*.dump -a.out -*~ -.#* -.vscode* -.DS_Store -board/obj/ -.sconsign.dblite diff --git a/body/.pre-commit-config.yaml b/body/.pre-commit-config.yaml deleted file mode 100644 index 010c7622b3f5f6..00000000000000 --- a/body/.pre-commit-config.yaml +++ /dev/null @@ -1,20 +0,0 @@ -repos: -- repo: https://github.com/pre-commit/pre-commit-hooks - rev: v4.3.0 - hooks: - - id: check-ast - - id: check-yaml - - id: check-merge-conflict - - id: check-symlinks - - id: check-executables-have-shebangs - - id: check-shebang-scripts-are-executable -- repo: https://github.com/pre-commit/mirrors-mypy - rev: v1.4.0 - hooks: - - id: mypy - additional_dependencies: ['git+https://github.com/numpy/numpy-stubs', 'types-requests', 'types-atomicwrites', - 'types-pycurl'] -- repo: https://github.com/astral-sh/ruff-pre-commit - rev: v0.0.282 - hooks: - - id: ruff diff --git a/body/Dockerfile b/body/Dockerfile deleted file mode 100644 index 09b1a2edcecd85..00000000000000 --- a/body/Dockerfile +++ /dev/null @@ -1,36 +0,0 @@ -FROM ubuntu:24.04 -ENV PYTHONUNBUFFERED 1 -ENV PYTHONPATH /tmp/openpilot:$PYTHONPATH - -ENV DEBIAN_FRONTEND=noninteractive -RUN apt-get update && apt-get install -y --no-install-recommends \ - autoconf \ - automake \ - ca-certificates \ - clang \ - curl \ - g++ \ - gcc-arm-none-eabi libnewlib-arm-none-eabi \ - git \ - libtool \ - libssl-dev \ - libsqlite3-dev \ - libffi-dev \ - locales \ - make \ - patch \ - pkg-config \ - python3-pip \ - zlib1g-dev \ - && rm -rf /var/lib/apt/lists/* - -RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen -ENV LANG en_US.UTF-8 -ENV LANGUAGE en_US:en -ENV LC_ALL en_US.UTF-8 - -COPY requirements.txt /tmp/ -RUN pip3 install --break-system-packages --no-cache-dir -r /tmp/requirements.txt - -COPY . /tmp/openpilot/body -RUN rm -rf /tmp/openpilot/body/.git diff --git a/body/LICENSE b/body/LICENSE deleted file mode 100644 index 94a9ed024d3859..00000000000000 --- a/body/LICENSE +++ /dev/null @@ -1,674 +0,0 @@ - GNU GENERAL PUBLIC LICENSE - Version 3, 29 June 2007 - - Copyright (C) 2007 Free Software Foundation, Inc. - Everyone is permitted to copy and distribute verbatim copies - of this license document, but changing it is not allowed. - - Preamble - - The GNU General Public License is a free, copyleft license for -software and other kinds of works. - - The licenses for most software and other practical works are designed -to take away your freedom to share and change the works. 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If your program is a subroutine library, you -may consider it more useful to permit linking proprietary applications with -the library. If this is what you want to do, use the GNU Lesser General -Public License instead of this License. But first, please read -. diff --git a/body/README.md b/body/README.md deleted file mode 100644 index 641aaa41eefb63..00000000000000 --- a/body/README.md +++ /dev/null @@ -1,18 +0,0 @@ -# comma body - -This the firmware for the comma body robotics dev kit. - - -Learn more at [commabody.com](https://commabody.com/). - -## building - -Compile: `scons` - -Flash bootstub and app: `board/recover.sh` # STM flasher should be connected to debug port, needs openocd - -Flash app through CAN bus with panda: - -`board/flash_base.sh` # base motherboard - -`board/flash_knee.sh` # knee motherboard diff --git a/body/SConstruct b/body/SConstruct deleted file mode 100644 index 4c48fe59234af7..00000000000000 --- a/body/SConstruct +++ /dev/null @@ -1 +0,0 @@ -SConscript('board/SConscript') diff --git a/body/STL/device_holder.stl b/body/STL/device_holder.stl deleted file mode 100644 index c2330a68fdd867..00000000000000 Binary files a/body/STL/device_holder.stl and /dev/null differ diff --git a/body/STL/training_stand.stl b/body/STL/training_stand.stl deleted file mode 100644 index ecc0fd072f28a0..00000000000000 Binary files a/body/STL/training_stand.stl and /dev/null differ diff --git a/body/board/SConscript b/body/board/SConscript deleted file mode 100644 index 39927c8be1fdd6..00000000000000 --- a/body/board/SConscript +++ /dev/null @@ -1,197 +0,0 @@ -import os -import subprocess - -PREFIX = "arm-none-eabi-" -BUILDER = "DEV" - -common_flags = [] -build_projects = {} - -build_projects["body"] = { - "MAIN": "main.c", - "STARTUP_FILE": "startup_stm32f413xx.s", - "LINKER_SCRIPT": "stm32fx_flash.ld", - "APP_START_ADDRESS": "0x08004000", - "PROJECT_FLAGS": [ - "-mcpu=cortex-m4", - "-mhard-float", - "-DSTM32F4", - "-DSTM32F413xx", - "-mfpu=fpv4-sp-d16", - "-fsingle-precision-constant", - "-Os", - "-g", - ], -} - -if os.getenv("RELEASE"): - BUILD_TYPE = "RELEASE" - cert_fn = os.getenv("CERT") - assert cert_fn is not None, 'No certificate file specified. Please set CERT env variable' - assert os.path.exists(cert_fn), 'Certificate file not found. Please specify absolute path' -else: - BUILD_TYPE = "DEBUG" - cert_fn = File("../certs/debug").srcnode().relpath - common_flags += ["-DALLOW_DEBUG"] - -if os.getenv("DEBUG"): - common_flags += ["-DDEBUG"] - -includes = [ - "inc/STM32F4xx_HAL_Driver/Inc", - "inc", - "..", - ".", -] - -c_sources = [ - ["hal_flash", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c"], - ["hal_pwr", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c"], - ["hal_rcc", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c"], - ["hal_i2c", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c.c"], - ["hal_i2c_ex", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c_ex.c"], - ["hal_tim", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c"], - ["hal_tim_ex", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c"], - ["hal_adc_ex", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c"], - ["hal_cortex", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c"], - ["hal_flash_ex", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c"], - ["hal_gpio", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c"], - ["hal_rcc_ex", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c"], - ["hal", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c"], - ["hal_adc", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c"], - ["hal_dma", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c"], - ["system", "inc/system_stm32f4xx.c"], - ["it", "inc/stm32f4xx_it.c"], - ["bldc", "bldc/bldc.c"], - ["bldc_data", "bldc/BLDC_controller_data.c"], - ["bldc_con", "bldc/BLDC_controller.c"], - ["util", "util.c"], -] - -c_bstub_sources = [ - ["hal_pwr", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c"], - ["hal_rcc", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c"], - ["hal_cortex", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c"], - ["hal_gpio", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c"], - ["hal_rcc_ex", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c"], - ["hal", "inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c"], - ["system", "inc/system_stm32f4xx.c"], - ["it", "inc/stm32f4xx_it.c"], - ["util", "util.c"], -] - -def get_version(builder, build_type): - try: - git = subprocess.check_output(["git", "rev-parse", "--short=8", "HEAD"], encoding='utf8').strip() - except subprocess.CalledProcessError: - git = "00000000" - return f"{git}" - - -def to_c_uint32(x): - nums = [] - for _ in range(0x20): - nums.append(x % (2**32)) - x //= (2**32) - return "{" + 'U,'.join(map(str, nums)) + "U}" - - -def get_key_header(name): - from Crypto.PublicKey import RSA - - public_fn = f'../certs/{name}.pub' - rsa = RSA.importKey(open(public_fn).read()) - assert(rsa.size_in_bits() == 1024) - - rr = pow(2**1024, 2, rsa.n) - n0inv = 2**32 - pow(rsa.n, -1, 2**32) - - r = [ - f"RSAPublicKey {name}_rsa_key = {{", - f" .len = 0x20,", - f" .n0inv = {n0inv}U,", - f" .n = {to_c_uint32(rsa.n)},", - f" .rr = {to_c_uint32(rr)},", - f" .exponent = {rsa.e},", - f"}};", - ] - return r - -def objcopy(source, target, env, for_signature): - return '$OBJCOPY -O binary %s %s' % (source[0], target[0]) - -# Common autogenerated includes -git_ver = get_version(BUILDER, BUILD_TYPE) -with open("obj/gitversion.h", "w") as f: - f.write(f'const uint8_t gitversion[8] = "{git_ver}";\n') - -certs = [get_key_header(n) for n in ["debug", "release"]] -with open("obj/cert.h", "w") as f: - for cert in certs: - f.write("\n".join(cert) + "\n") - -for project_name in build_projects: - project = build_projects[project_name] - linkerscript_fn = File(project["LINKER_SCRIPT"]).srcnode().relpath - - flags = [ - "-Wall", - "-Wextra", - "-Wstrict-prototypes", - "-Werror", - "-mlittle-endian", - "-mthumb", - "-nostdlib", - "-fno-builtin", - f"-T{linkerscript_fn}", - "-std=gnu11", - "-fdata-sections", - "-ffunction-sections", - "-Wl,--gc-sections", - ] + project["PROJECT_FLAGS"] + common_flags - - project_env = Environment( - ENV=os.environ, - CC=PREFIX + 'gcc', - AS=PREFIX + 'gcc', - OBJCOPY=PREFIX + 'objcopy', - OBJDUMP=PREFIX + 'objdump', - ASCOM="$AS $ASFLAGS -o $TARGET -c $SOURCES", - CFLAGS=flags, - ASFLAGS=flags, - LINKFLAGS=flags, - LIBS = ['gcc',], - CPPPATH=includes, - BUILDERS={ - 'Objcopy': Builder(generator=objcopy, suffix='.bin', src_suffix='.elf') - } - ) - startup = project_env.Object(project["STARTUP_FILE"]) - - c_bstub_obj_list = [] - for c in c_bstub_sources: - c_bstub_obj_list.append(project_env.Object(f"{c[0]}-{project_name}", c[1])) - - # Bootstub - crypto_obj = [ - project_env.Object(f"rsa-{project_name}", "../crypto/rsa.c"), - project_env.Object(f"sha-{project_name}", "../crypto/sha.c") - ] - bootstub_obj = project_env.Object(f"bootstub-{project_name}", "bootstub.c") - bootstub_elf = project_env.Program(f"obj/bootstub.{project_name}.elf", [startup] + crypto_obj + c_bstub_obj_list + [bootstub_obj]) - bootstub_bin = project_env.Objcopy(f"obj/bootstub.{project_name}.bin", bootstub_elf) - - c_obj_list = [] - for c in c_sources: - c_obj_list.append(project_env.Object(f"{c[0]}-{project_name}", c[1])) - - # Build main - main_obj = project_env.Object(f"main-{project_name}", project["MAIN"]) - obj_list = [startup, main_obj] + c_obj_list - main_elf = project_env.Program(f"obj/{project_name}.elf", obj_list, - LINKFLAGS=[f"-Wl,--section-start,.isr_vector={project['APP_START_ADDRESS']}"] + flags) - main_bin = project_env.Objcopy(f"obj/{project_name}.bin", main_elf) - - # Sign main - sign_py = File("../crypto/sign.py").srcnode().relpath - panda_bin_signed = project_env.Command(f"obj/{project_name}.bin.signed", main_bin, f"SETLEN=1 {sign_py} $SOURCE $TARGET {cert_fn}") diff --git a/body/board/bldc/BLDC_controller.c b/body/board/bldc/BLDC_controller.c deleted file mode 100644 index ae63bd4053ebb5..00000000000000 --- a/body/board/bldc/BLDC_controller.c +++ /dev/null @@ -1,3376 +0,0 @@ -/* - * File: BLDC_controller.c - * - * Code generated for Simulink model 'BLDC_controller'. - * - * Model version : 1.1297 - * Simulink Coder version : 8.13 (R2017b) 24-Jul-2017 - * C/C++ source code generated on : Sun Mar 6 11:02:11 2022 - * - * Target selection: ert.tlc - * Embedded hardware selection: ARM Compatible->ARM Cortex - * Emulation hardware selection: - * Differs from embedded hardware (MATLAB Host) - * Code generation objectives: - * 1. Execution efficiency - * 2. RAM efficiency - * Validation result: Not run - */ - -#include "BLDC_controller.h" - -/* Named constants for Chart: '/F03_02_Control_Mode_Manager' */ -#define IN_ACTIVE ((uint8_T)1U) -#define IN_NO_ACTIVE_CHILD ((uint8_T)0U) -#define IN_OPEN ((uint8_T)2U) -#define IN_SPEED_MODE ((uint8_T)1U) -#define IN_TORQUE_MODE ((uint8_T)2U) -#define IN_VOLTAGE_MODE ((uint8_T)3U) -#define OPEN_MODE ((uint8_T)0U) -#define SPD_MODE ((uint8_T)2U) -#define TRQ_MODE ((uint8_T)3U) -#define VLT_MODE ((uint8_T)1U) -#ifndef UCHAR_MAX -#include -#endif - -#if ( UCHAR_MAX != (0xFFU) ) || ( SCHAR_MAX != (0x7F) ) -#error Code was generated for compiler with different sized uchar/char. \ -Consider adjusting Test hardware word size settings on the \ -Hardware Implementation pane to match your compiler word sizes as \ -defined in limits.h of the compiler. Alternatively, you can \ -select the Test hardware is the same as production hardware option and \ -select the Enable portable word sizes option on the Code Generation > \ -Verification pane for ERT based targets, which will disable the \ -preprocessor word size checks. -#endif - -#if ( USHRT_MAX != (0xFFFFU) ) || ( SHRT_MAX != (0x7FFF) ) -#error Code was generated for compiler with different sized ushort/short. \ -Consider adjusting Test hardware word size settings on the \ -Hardware Implementation pane to match your compiler word sizes as \ -defined in limits.h of the compiler. Alternatively, you can \ -select the Test hardware is the same as production hardware option and \ -select the Enable portable word sizes option on the Code Generation > \ -Verification pane for ERT based targets, which will disable the \ -preprocessor word size checks. -#endif - -#if ( UINT_MAX != (0xFFFFFFFFU) ) || ( INT_MAX != (0x7FFFFFFF) ) -#error Code was generated for compiler with different sized uint/int. \ -Consider adjusting Test hardware word size settings on the \ -Hardware Implementation pane to match your compiler word sizes as \ -defined in limits.h of the compiler. Alternatively, you can \ -select the Test hardware is the same as production hardware option and \ -select the Enable portable word sizes option on the Code Generation > \ -Verification pane for ERT based targets, which will disable the \ -preprocessor word size checks. -#endif - -#if ( ULONG_MAX != (0xFFFFFFFFU) ) || ( LONG_MAX != (0x7FFFFFFF) ) -#error Code was generated for compiler with different sized ulong/long. \ -Consider adjusting Test hardware word size settings on the \ -Hardware Implementation pane to match your compiler word sizes as \ -defined in limits.h of the compiler. Alternatively, you can \ -select the Test hardware is the same as production hardware option and \ -select the Enable portable word sizes option on the Code Generation > \ -Verification pane for ERT based targets, which will disable the \ -preprocessor word size checks. -#endif - -#if 0 - -/* Skip this size verification because of preprocessor limitation */ -#if ( ULLONG_MAX != (0xFFFFFFFFFFFFFFFFULL) ) || ( LLONG_MAX != (0x7FFFFFFFFFFFFFFFLL) ) -#error Code was generated for compiler with different sized ulong_long/long_long. \ -Consider adjusting Test hardware word size settings on the \ -Hardware Implementation pane to match your compiler word sizes as \ -defined in limits.h of the compiler. Alternatively, you can \ -select the Test hardware is the same as production hardware option and \ -select the Enable portable word sizes option on the Code Generation > \ -Verification pane for ERT based targets, which will disable the \ -preprocessor word size checks. -#endif -#endif - -uint8_T plook_u8s16_evencka(int16_T u, int16_T bp0, uint16_T bpSpace, uint32_T - maxIndex); -uint8_T plook_u8u16_evencka(uint16_T u, uint16_T bp0, uint16_T bpSpace, uint32_T - maxIndex); -int32_T div_nde_s32_floor(int32_T numerator, int32_T denominator); -extern void Counter_Init(DW_Counter *localDW, int16_T rtp_z_cntInit); -extern int16_T Counter(int16_T rtu_inc, int16_T rtu_max, boolean_T rtu_rst, - DW_Counter *localDW); -extern void Low_Pass_Filter_Reset(DW_Low_Pass_Filter *localDW); -extern void Low_Pass_Filter(const int16_T rtu_u[2], uint16_T rtu_coef, int16_T - rty_y[2], DW_Low_Pass_Filter *localDW); -extern void Counter_b_Init(DW_Counter_b *localDW, uint16_T rtp_z_cntInit); -extern void Counter_n(uint16_T rtu_inc, uint16_T rtu_max, boolean_T rtu_rst, - uint16_T *rty_cnt, DW_Counter_b *localDW); -extern void either_edge(boolean_T rtu_u, boolean_T *rty_y, DW_either_edge - *localDW); -extern void Debounce_Filter_Init(DW_Debounce_Filter *localDW); -extern void Debounce_Filter(boolean_T rtu_u, uint16_T rtu_tAcv, uint16_T - rtu_tDeacv, boolean_T *rty_y, DW_Debounce_Filter *localDW); -extern void I_backCalc_fixdt_Init(DW_I_backCalc_fixdt *localDW, int32_T - rtp_yInit); -extern void I_backCalc_fixdt_Reset(DW_I_backCalc_fixdt *localDW, int32_T - rtp_yInit); -extern void I_backCalc_fixdt(int16_T rtu_err, uint16_T rtu_I, uint16_T rtu_Kb, - int16_T rtu_satMax, int16_T rtu_satMin, int16_T *rty_out, DW_I_backCalc_fixdt * - localDW); -extern void PI_clamp_fixdt_Init(DW_PI_clamp_fixdt *localDW); -extern void PI_clamp_fixdt_Reset(DW_PI_clamp_fixdt *localDW); -extern void PI_clamp_fixdt(int16_T rtu_err, uint16_T rtu_P, uint16_T rtu_I, - int32_T rtu_init, int16_T rtu_satMax, int16_T rtu_satMin, int32_T - rtu_ext_limProt, int16_T *rty_out, DW_PI_clamp_fixdt *localDW); -extern void PI_clamp_fixdt_d_Init(DW_PI_clamp_fixdt_m *localDW); -extern void PI_clamp_fixdt_b_Reset(DW_PI_clamp_fixdt_m *localDW); -extern void PI_clamp_fixdt_l(int16_T rtu_err, uint16_T rtu_P, uint16_T rtu_I, - int16_T rtu_init, int16_T rtu_satMax, int16_T rtu_satMin, int32_T - rtu_ext_limProt, int16_T *rty_out, DW_PI_clamp_fixdt_m *localDW); -extern void PI_clamp_fixdt_f_Init(DW_PI_clamp_fixdt_g *localDW); -extern void PI_clamp_fixdt_g_Reset(DW_PI_clamp_fixdt_g *localDW); -extern void PI_clamp_fixdt_k(int16_T rtu_err, uint16_T rtu_P, uint16_T rtu_I, - int16_T rtu_init, int16_T rtu_satMax, int16_T rtu_satMin, int32_T - rtu_ext_limProt, int16_T *rty_out, DW_PI_clamp_fixdt_g *localDW); -uint8_T plook_u8s16_evencka(int16_T u, int16_T bp0, uint16_T bpSpace, uint32_T - maxIndex) -{ - uint8_T bpIndex; - uint16_T fbpIndex; - - /* Prelookup - Index only - Index Search method: 'even' - Extrapolation method: 'Clip' - Use previous index: 'off' - Use last breakpoint for index at or above upper limit: 'on' - Remove protection against out-of-range input in generated code: 'off' - */ - if (u <= bp0) { - bpIndex = 0U; - } else { - fbpIndex = (uint16_T)((uint32_T)(uint16_T)(u - bp0) / bpSpace); - if (fbpIndex < maxIndex) { - bpIndex = (uint8_T)fbpIndex; - } else { - bpIndex = (uint8_T)maxIndex; - } - } - - return bpIndex; -} - -uint8_T plook_u8u16_evencka(uint16_T u, uint16_T bp0, uint16_T bpSpace, uint32_T - maxIndex) -{ - uint8_T bpIndex; - uint16_T fbpIndex; - - /* Prelookup - Index only - Index Search method: 'even' - Extrapolation method: 'Clip' - Use previous index: 'off' - Use last breakpoint for index at or above upper limit: 'on' - Remove protection against out-of-range input in generated code: 'off' - */ - if (u <= bp0) { - bpIndex = 0U; - } else { - fbpIndex = (uint16_T)((uint32_T)(uint16_T)((uint32_T)u - bp0) / bpSpace); - if (fbpIndex < maxIndex) { - bpIndex = (uint8_T)fbpIndex; - } else { - bpIndex = (uint8_T)maxIndex; - } - } - - return bpIndex; -} - -int32_T div_nde_s32_floor(int32_T numerator, int32_T denominator) -{ - return (((numerator < 0) != (denominator < 0)) && (numerator % denominator != - 0) ? -1 : 0) + numerator / denominator; -} - -/* System initialize for atomic system: '/Counter' */ -void Counter_Init(DW_Counter *localDW, int16_T rtp_z_cntInit) -{ - /* InitializeConditions for UnitDelay: '/UnitDelay' */ - localDW->UnitDelay_DSTATE = rtp_z_cntInit; -} - -/* Output and update for atomic system: '/Counter' */ -int16_T Counter(int16_T rtu_inc, int16_T rtu_max, boolean_T rtu_rst, DW_Counter * - localDW) -{ - int16_T rtu_rst_0; - int16_T rty_cnt_0; - - /* Switch: '/Switch1' incorporates: - * Constant: '/Constant23' - * UnitDelay: '/UnitDelay' - */ - if (rtu_rst) { - rtu_rst_0 = 0; - } else { - rtu_rst_0 = localDW->UnitDelay_DSTATE; - } - - /* End of Switch: '/Switch1' */ - - /* Sum: '/Sum1' */ - rty_cnt_0 = (int16_T)(rtu_inc + rtu_rst_0); - - /* MinMax: '/MinMax' */ - if (rty_cnt_0 < rtu_max) { - /* Update for UnitDelay: '/UnitDelay' */ - localDW->UnitDelay_DSTATE = rty_cnt_0; - } else { - /* Update for UnitDelay: '/UnitDelay' */ - localDW->UnitDelay_DSTATE = rtu_max; - } - - /* End of MinMax: '/MinMax' */ - return rty_cnt_0; -} - -/* System reset for atomic system: '/Low_Pass_Filter' */ -void Low_Pass_Filter_Reset(DW_Low_Pass_Filter *localDW) -{ - /* InitializeConditions for UnitDelay: '/UnitDelay1' */ - localDW->UnitDelay1_DSTATE[0] = 0; - localDW->UnitDelay1_DSTATE[1] = 0; -} - -/* Output and update for atomic system: '/Low_Pass_Filter' */ -void Low_Pass_Filter(const int16_T rtu_u[2], uint16_T rtu_coef, int16_T rty_y[2], - DW_Low_Pass_Filter *localDW) -{ - int32_T rtb_Sum3_g; - - /* Sum: '/Sum2' incorporates: - * UnitDelay: '/UnitDelay1' - */ - rtb_Sum3_g = rtu_u[0] - (localDW->UnitDelay1_DSTATE[0] >> 16); - if (rtb_Sum3_g > 32767) { - rtb_Sum3_g = 32767; - } else { - if (rtb_Sum3_g < -32768) { - rtb_Sum3_g = -32768; - } - } - - /* Sum: '/Sum3' incorporates: - * Product: '/Divide3' - * Sum: '/Sum2' - * UnitDelay: '/UnitDelay1' - */ - rtb_Sum3_g = rtu_coef * rtb_Sum3_g + localDW->UnitDelay1_DSTATE[0]; - - /* DataTypeConversion: '/Data Type Conversion' */ - rty_y[0] = (int16_T)(rtb_Sum3_g >> 16); - - /* Update for UnitDelay: '/UnitDelay1' */ - localDW->UnitDelay1_DSTATE[0] = rtb_Sum3_g; - - /* Sum: '/Sum2' incorporates: - * UnitDelay: '/UnitDelay1' - */ - rtb_Sum3_g = rtu_u[1] - (localDW->UnitDelay1_DSTATE[1] >> 16); - if (rtb_Sum3_g > 32767) { - rtb_Sum3_g = 32767; - } else { - if (rtb_Sum3_g < -32768) { - rtb_Sum3_g = -32768; - } - } - - /* Sum: '/Sum3' incorporates: - * Product: '/Divide3' - * Sum: '/Sum2' - * UnitDelay: '/UnitDelay1' - */ - rtb_Sum3_g = rtu_coef * rtb_Sum3_g + localDW->UnitDelay1_DSTATE[1]; - - /* DataTypeConversion: '/Data Type Conversion' */ - rty_y[1] = (int16_T)(rtb_Sum3_g >> 16); - - /* Update for UnitDelay: '/UnitDelay1' */ - localDW->UnitDelay1_DSTATE[1] = rtb_Sum3_g; -} - -/* - * System initialize for atomic system: - * '/Counter' - * '/Counter' - */ -void Counter_b_Init(DW_Counter_b *localDW, uint16_T rtp_z_cntInit) -{ - /* InitializeConditions for UnitDelay: '/UnitDelay' */ - localDW->UnitDelay_DSTATE = rtp_z_cntInit; -} - -/* - * Output and update for atomic system: - * '/Counter' - * '/Counter' - */ -void Counter_n(uint16_T rtu_inc, uint16_T rtu_max, boolean_T rtu_rst, uint16_T - *rty_cnt, DW_Counter_b *localDW) -{ - uint16_T rtu_rst_0; - - /* Switch: '/Switch1' incorporates: - * Constant: '/Constant23' - * UnitDelay: '/UnitDelay' - */ - if (rtu_rst) { - rtu_rst_0 = 0U; - } else { - rtu_rst_0 = localDW->UnitDelay_DSTATE; - } - - /* End of Switch: '/Switch1' */ - - /* Sum: '/Sum1' */ - *rty_cnt = (uint16_T)((uint32_T)rtu_inc + rtu_rst_0); - - /* MinMax: '/MinMax' */ - if (*rty_cnt < rtu_max) { - /* Update for UnitDelay: '/UnitDelay' */ - localDW->UnitDelay_DSTATE = *rty_cnt; - } else { - /* Update for UnitDelay: '/UnitDelay' */ - localDW->UnitDelay_DSTATE = rtu_max; - } - - /* End of MinMax: '/MinMax' */ -} - -/* - * Output and update for atomic system: - * '/either_edge' - * '/either_edge' - */ -void either_edge(boolean_T rtu_u, boolean_T *rty_y, DW_either_edge *localDW) -{ - /* RelationalOperator: '/Relational Operator' incorporates: - * UnitDelay: '/UnitDelay' - */ - *rty_y = (rtu_u != localDW->UnitDelay_DSTATE); - - /* Update for UnitDelay: '/UnitDelay' */ - localDW->UnitDelay_DSTATE = rtu_u; -} - -/* System initialize for atomic system: '/Debounce_Filter' */ -void Debounce_Filter_Init(DW_Debounce_Filter *localDW) -{ - /* SystemInitialize for IfAction SubSystem: '/Qualification' */ - - /* SystemInitialize for Atomic SubSystem: '/Counter' */ - Counter_b_Init(&localDW->Counter_n1, 0U); - - /* End of SystemInitialize for SubSystem: '/Counter' */ - - /* End of SystemInitialize for SubSystem: '/Qualification' */ - - /* SystemInitialize for IfAction SubSystem: '/Dequalification' */ - - /* SystemInitialize for Atomic SubSystem: '/Counter' */ - Counter_b_Init(&localDW->Counter_e, 0U); - - /* End of SystemInitialize for SubSystem: '/Counter' */ - - /* End of SystemInitialize for SubSystem: '/Dequalification' */ -} - -/* Output and update for atomic system: '/Debounce_Filter' */ -void Debounce_Filter(boolean_T rtu_u, uint16_T rtu_tAcv, uint16_T rtu_tDeacv, - boolean_T *rty_y, DW_Debounce_Filter *localDW) -{ - uint16_T rtb_Sum1_n; - boolean_T rtb_RelationalOperator_g; - - /* Outputs for Atomic SubSystem: '/either_edge' */ - either_edge(rtu_u, &rtb_RelationalOperator_g, &localDW->either_edge_p); - - /* End of Outputs for SubSystem: '/either_edge' */ - - /* If: '/If2' incorporates: - * Constant: '/Constant6' - * Constant: '/Constant6' - * Inport: '/yPrev' - * Logic: '/Logical Operator1' - * Logic: '/Logical Operator2' - * Logic: '/Logical Operator3' - * Logic: '/Logical Operator4' - * UnitDelay: '/UnitDelay' - */ - if (rtu_u && (!localDW->UnitDelay_DSTATE)) { - /* Outputs for IfAction SubSystem: '/Qualification' incorporates: - * ActionPort: '/Action Port' - */ - - /* Outputs for Atomic SubSystem: '/Counter' */ - Counter_n(1U, rtu_tAcv, rtb_RelationalOperator_g, &rtb_Sum1_n, - &localDW->Counter_n1); - - /* End of Outputs for SubSystem: '/Counter' */ - - /* Switch: '/Switch2' incorporates: - * Constant: '/Constant6' - * RelationalOperator: '/Relational Operator2' - */ - *rty_y = ((rtb_Sum1_n > rtu_tAcv) || localDW->UnitDelay_DSTATE); - - /* End of Outputs for SubSystem: '/Qualification' */ - } else if ((!rtu_u) && localDW->UnitDelay_DSTATE) { - /* Outputs for IfAction SubSystem: '/Dequalification' incorporates: - * ActionPort: '/Action Port' - */ - - /* Outputs for Atomic SubSystem: '/Counter' */ - Counter_n(1U, rtu_tDeacv, rtb_RelationalOperator_g, &rtb_Sum1_n, - &localDW->Counter_e); - - /* End of Outputs for SubSystem: '/Counter' */ - - /* Switch: '/Switch2' incorporates: - * Constant: '/Constant6' - * RelationalOperator: '/Relational Operator2' - */ - *rty_y = ((!(rtb_Sum1_n > rtu_tDeacv)) && localDW->UnitDelay_DSTATE); - - /* End of Outputs for SubSystem: '/Dequalification' */ - } else { - /* Outputs for IfAction SubSystem: '/Default' incorporates: - * ActionPort: '/Action Port' - */ - *rty_y = localDW->UnitDelay_DSTATE; - - /* End of Outputs for SubSystem: '/Default' */ - } - - /* End of If: '/If2' */ - - /* Update for UnitDelay: '/UnitDelay' */ - localDW->UnitDelay_DSTATE = *rty_y; -} - -/* - * System initialize for atomic system: - * '/I_backCalc_fixdt' - * '/I_backCalc_fixdt1' - * '/I_backCalc_fixdt' - */ -void I_backCalc_fixdt_Init(DW_I_backCalc_fixdt *localDW, int32_T rtp_yInit) -{ - /* InitializeConditions for UnitDelay: '/UnitDelay' */ - localDW->UnitDelay_DSTATE_m = rtp_yInit; -} - -/* - * System reset for atomic system: - * '/I_backCalc_fixdt' - * '/I_backCalc_fixdt1' - * '/I_backCalc_fixdt' - */ -void I_backCalc_fixdt_Reset(DW_I_backCalc_fixdt *localDW, int32_T rtp_yInit) -{ - /* InitializeConditions for UnitDelay: '/UnitDelay' */ - localDW->UnitDelay_DSTATE = 0; - - /* InitializeConditions for UnitDelay: '/UnitDelay' */ - localDW->UnitDelay_DSTATE_m = rtp_yInit; -} - -/* - * Output and update for atomic system: - * '/I_backCalc_fixdt' - * '/I_backCalc_fixdt1' - * '/I_backCalc_fixdt' - */ -void I_backCalc_fixdt(int16_T rtu_err, uint16_T rtu_I, uint16_T rtu_Kb, int16_T - rtu_satMax, int16_T rtu_satMin, int16_T *rty_out, - DW_I_backCalc_fixdt *localDW) -{ - int32_T rtb_Sum1_o; - int16_T rtb_DataTypeConversion1_gf; - - /* Sum: '/Sum2' incorporates: - * Product: '/Divide2' - * UnitDelay: '/UnitDelay' - */ - rtb_Sum1_o = (rtu_err * rtu_I) >> 4; - if ((rtb_Sum1_o < 0) && (localDW->UnitDelay_DSTATE < MIN_int32_T - rtb_Sum1_o)) - { - rtb_Sum1_o = MIN_int32_T; - } else if ((rtb_Sum1_o > 0) && (localDW->UnitDelay_DSTATE > MAX_int32_T - - rtb_Sum1_o)) { - rtb_Sum1_o = MAX_int32_T; - } else { - rtb_Sum1_o += localDW->UnitDelay_DSTATE; - } - - /* End of Sum: '/Sum2' */ - - /* Sum: '/Sum1' incorporates: - * UnitDelay: '/UnitDelay' - */ - rtb_Sum1_o += localDW->UnitDelay_DSTATE_m; - - /* DataTypeConversion: '/Data Type Conversion1' */ - rtb_DataTypeConversion1_gf = (int16_T)(rtb_Sum1_o >> 12); - - /* Switch: '/Switch2' incorporates: - * RelationalOperator: '/LowerRelop1' - * RelationalOperator: '/UpperRelop' - * Switch: '/Switch' - */ - if (rtb_DataTypeConversion1_gf > rtu_satMax) { - *rty_out = rtu_satMax; - } else if (rtb_DataTypeConversion1_gf < rtu_satMin) { - /* Switch: '/Switch' */ - *rty_out = rtu_satMin; - } else { - *rty_out = rtb_DataTypeConversion1_gf; - } - - /* End of Switch: '/Switch2' */ - - /* Update for UnitDelay: '/UnitDelay' incorporates: - * Product: '/Divide1' - * Sum: '/Sum3' - */ - localDW->UnitDelay_DSTATE = (int16_T)(*rty_out - rtb_DataTypeConversion1_gf) * - rtu_Kb; - - /* Update for UnitDelay: '/UnitDelay' */ - localDW->UnitDelay_DSTATE_m = rtb_Sum1_o; -} - -/* System initialize for atomic system: '/PI_clamp_fixdt' */ -void PI_clamp_fixdt_Init(DW_PI_clamp_fixdt *localDW) -{ - /* InitializeConditions for Delay: '/Resettable Delay' */ - localDW->icLoad = 1U; -} - -/* System reset for atomic system: '/PI_clamp_fixdt' */ -void PI_clamp_fixdt_Reset(DW_PI_clamp_fixdt *localDW) -{ - /* InitializeConditions for UnitDelay: '/UnitDelay1' */ - localDW->UnitDelay1_DSTATE = false; - - /* InitializeConditions for Delay: '/Resettable Delay' */ - localDW->icLoad = 1U; -} - -/* Output and update for atomic system: '/PI_clamp_fixdt' */ -void PI_clamp_fixdt(int16_T rtu_err, uint16_T rtu_P, uint16_T rtu_I, int32_T - rtu_init, int16_T rtu_satMax, int16_T rtu_satMin, int32_T - rtu_ext_limProt, int16_T *rty_out, DW_PI_clamp_fixdt - *localDW) -{ - boolean_T rtb_LowerRelop1_c0; - boolean_T rtb_UpperRelop_f; - int32_T rtb_Sum1_p0; - int32_T q0; - int32_T tmp; - int16_T tmp_0; - - /* Sum: '/Sum2' incorporates: - * Product: '/Divide2' - */ - q0 = rtu_err * rtu_I; - if ((q0 < 0) && (rtu_ext_limProt < MIN_int32_T - q0)) { - q0 = MIN_int32_T; - } else if ((q0 > 0) && (rtu_ext_limProt > MAX_int32_T - q0)) { - q0 = MAX_int32_T; - } else { - q0 += rtu_ext_limProt; - } - - /* Delay: '/Resettable Delay' */ - if (localDW->icLoad != 0) { - localDW->ResettableDelay_DSTATE = rtu_init; - } - - /* Switch: '/Switch1' incorporates: - * Constant: '/Constant' - * Sum: '/Sum2' - * UnitDelay: '/UnitDelay1' - */ - if (localDW->UnitDelay1_DSTATE) { - tmp = 0; - } else { - tmp = q0; - } - - /* End of Switch: '/Switch1' */ - - /* Sum: '/Sum1' incorporates: - * Delay: '/Resettable Delay' - */ - rtb_Sum1_p0 = tmp + localDW->ResettableDelay_DSTATE; - - /* Product: '/Divide5' */ - tmp = (rtu_err * rtu_P) >> 11; - if (tmp > 32767) { - tmp = 32767; - } else { - if (tmp < -32768) { - tmp = -32768; - } - } - - /* Sum: '/Sum1' incorporates: - * DataTypeConversion: '/Data Type Conversion1' - * Product: '/Divide5' - */ - tmp = (((rtb_Sum1_p0 >> 16) << 1) + tmp) >> 1; - if (tmp > 32767) { - tmp = 32767; - } else { - if (tmp < -32768) { - tmp = -32768; - } - } - - /* RelationalOperator: '/LowerRelop1' incorporates: - * Sum: '/Sum1' - */ - rtb_LowerRelop1_c0 = ((int16_T)tmp > rtu_satMax); - - /* RelationalOperator: '/UpperRelop' incorporates: - * Sum: '/Sum1' - */ - rtb_UpperRelop_f = ((int16_T)tmp < rtu_satMin); - - /* Switch: '/Switch1' incorporates: - * Sum: '/Sum1' - * Switch: '/Switch3' - */ - if (rtb_LowerRelop1_c0) { - *rty_out = rtu_satMax; - } else if (rtb_UpperRelop_f) { - /* Switch: '/Switch3' */ - *rty_out = rtu_satMin; - } else { - *rty_out = (int16_T)tmp; - } - - /* End of Switch: '/Switch1' */ - - /* Signum: '/SignDeltaU2' incorporates: - * Sum: '/Sum2' - */ - if (q0 < 0) { - q0 = -1; - } else { - q0 = (q0 > 0); - } - - /* End of Signum: '/SignDeltaU2' */ - - /* Signum: '/SignDeltaU3' incorporates: - * Sum: '/Sum1' - */ - if ((int16_T)tmp < 0) { - tmp_0 = -1; - } else { - tmp_0 = (int16_T)((int16_T)tmp > 0); - } - - /* End of Signum: '/SignDeltaU3' */ - - /* Update for UnitDelay: '/UnitDelay1' incorporates: - * DataTypeConversion: '/DataTypeConv4' - * Logic: '/AND1' - * Logic: '/AND1' - * RelationalOperator: '/Equal1' - */ - localDW->UnitDelay1_DSTATE = ((q0 == tmp_0) && (rtb_LowerRelop1_c0 || - rtb_UpperRelop_f)); - - /* Update for Delay: '/Resettable Delay' */ - localDW->icLoad = 0U; - localDW->ResettableDelay_DSTATE = rtb_Sum1_p0; -} - -/* System initialize for atomic system: '/PI_clamp_fixdt' */ -void PI_clamp_fixdt_d_Init(DW_PI_clamp_fixdt_m *localDW) -{ - /* InitializeConditions for Delay: '/Resettable Delay' */ - localDW->icLoad = 1U; -} - -/* System reset for atomic system: '/PI_clamp_fixdt' */ -void PI_clamp_fixdt_b_Reset(DW_PI_clamp_fixdt_m *localDW) -{ - /* InitializeConditions for UnitDelay: '/UnitDelay1' */ - localDW->UnitDelay1_DSTATE = false; - - /* InitializeConditions for Delay: '/Resettable Delay' */ - localDW->icLoad = 1U; -} - -/* Output and update for atomic system: '/PI_clamp_fixdt' */ -void PI_clamp_fixdt_l(int16_T rtu_err, uint16_T rtu_P, uint16_T rtu_I, int16_T - rtu_init, int16_T rtu_satMax, int16_T rtu_satMin, int32_T - rtu_ext_limProt, int16_T *rty_out, DW_PI_clamp_fixdt_m - *localDW) -{ - boolean_T rtb_LowerRelop1_l; - boolean_T rtb_UpperRelop_l; - int32_T rtb_Sum1_ni; - int32_T q0; - int32_T tmp; - int16_T tmp_0; - - /* Sum: '/Sum2' incorporates: - * Product: '/Divide2' - */ - q0 = rtu_err * rtu_I; - if ((q0 < 0) && (rtu_ext_limProt < MIN_int32_T - q0)) { - q0 = MIN_int32_T; - } else if ((q0 > 0) && (rtu_ext_limProt > MAX_int32_T - q0)) { - q0 = MAX_int32_T; - } else { - q0 += rtu_ext_limProt; - } - - /* Delay: '/Resettable Delay' */ - if (localDW->icLoad != 0) { - localDW->ResettableDelay_DSTATE = rtu_init << 16; - } - - /* Switch: '/Switch1' incorporates: - * Constant: '/Constant' - * Sum: '/Sum2' - * UnitDelay: '/UnitDelay1' - */ - if (localDW->UnitDelay1_DSTATE) { - tmp = 0; - } else { - tmp = q0; - } - - /* End of Switch: '/Switch1' */ - - /* Sum: '/Sum1' incorporates: - * Delay: '/Resettable Delay' - */ - rtb_Sum1_ni = tmp + localDW->ResettableDelay_DSTATE; - - /* Product: '/Divide5' */ - tmp = (rtu_err * rtu_P) >> 11; - if (tmp > 32767) { - tmp = 32767; - } else { - if (tmp < -32768) { - tmp = -32768; - } - } - - /* Sum: '/Sum1' incorporates: - * DataTypeConversion: '/Data Type Conversion1' - * Product: '/Divide5' - */ - tmp = (((rtb_Sum1_ni >> 16) << 1) + tmp) >> 1; - if (tmp > 32767) { - tmp = 32767; - } else { - if (tmp < -32768) { - tmp = -32768; - } - } - - /* RelationalOperator: '/LowerRelop1' incorporates: - * Sum: '/Sum1' - */ - rtb_LowerRelop1_l = ((int16_T)tmp > rtu_satMax); - - /* RelationalOperator: '/UpperRelop' incorporates: - * Sum: '/Sum1' - */ - rtb_UpperRelop_l = ((int16_T)tmp < rtu_satMin); - - /* Switch: '/Switch1' incorporates: - * Sum: '/Sum1' - * Switch: '/Switch3' - */ - if (rtb_LowerRelop1_l) { - *rty_out = rtu_satMax; - } else if (rtb_UpperRelop_l) { - /* Switch: '/Switch3' */ - *rty_out = rtu_satMin; - } else { - *rty_out = (int16_T)tmp; - } - - /* End of Switch: '/Switch1' */ - - /* Signum: '/SignDeltaU2' incorporates: - * Sum: '/Sum2' - */ - if (q0 < 0) { - q0 = -1; - } else { - q0 = (q0 > 0); - } - - /* End of Signum: '/SignDeltaU2' */ - - /* Signum: '/SignDeltaU3' incorporates: - * Sum: '/Sum1' - */ - if ((int16_T)tmp < 0) { - tmp_0 = -1; - } else { - tmp_0 = (int16_T)((int16_T)tmp > 0); - } - - /* End of Signum: '/SignDeltaU3' */ - - /* Update for UnitDelay: '/UnitDelay1' incorporates: - * DataTypeConversion: '/DataTypeConv4' - * Logic: '/AND1' - * Logic: '/AND1' - * RelationalOperator: '/Equal1' - */ - localDW->UnitDelay1_DSTATE = ((q0 == tmp_0) && (rtb_LowerRelop1_l || - rtb_UpperRelop_l)); - - /* Update for Delay: '/Resettable Delay' */ - localDW->icLoad = 0U; - localDW->ResettableDelay_DSTATE = rtb_Sum1_ni; -} - -/* System initialize for atomic system: '/PI_clamp_fixdt' */ -void PI_clamp_fixdt_f_Init(DW_PI_clamp_fixdt_g *localDW) -{ - /* InitializeConditions for Delay: '/Resettable Delay' */ - localDW->icLoad = 1U; -} - -/* System reset for atomic system: '/PI_clamp_fixdt' */ -void PI_clamp_fixdt_g_Reset(DW_PI_clamp_fixdt_g *localDW) -{ - /* InitializeConditions for UnitDelay: '/UnitDelay1' */ - localDW->UnitDelay1_DSTATE = false; - - /* InitializeConditions for Delay: '/Resettable Delay' */ - localDW->icLoad = 1U; -} - -/* Output and update for atomic system: '/PI_clamp_fixdt' */ -void PI_clamp_fixdt_k(int16_T rtu_err, uint16_T rtu_P, uint16_T rtu_I, int16_T - rtu_init, int16_T rtu_satMax, int16_T rtu_satMin, int32_T - rtu_ext_limProt, int16_T *rty_out, DW_PI_clamp_fixdt_g - *localDW) -{ - boolean_T rtb_LowerRelop1_i3; - boolean_T rtb_UpperRelop_i; - int16_T rtb_Sum1_bm; - int16_T tmp; - int32_T tmp_0; - int32_T q0; - - /* Sum: '/Sum2' incorporates: - * Product: '/Divide2' - */ - q0 = rtu_err * rtu_I; - if ((q0 < 0) && (rtu_ext_limProt < MIN_int32_T - q0)) { - q0 = MIN_int32_T; - } else if ((q0 > 0) && (rtu_ext_limProt > MAX_int32_T - q0)) { - q0 = MAX_int32_T; - } else { - q0 += rtu_ext_limProt; - } - - /* Delay: '/Resettable Delay' */ - if (localDW->icLoad != 0) { - localDW->ResettableDelay_DSTATE = rtu_init; - } - - /* Switch: '/Switch1' incorporates: - * Constant: '/Constant' - * Sum: '/Sum2' - * UnitDelay: '/UnitDelay1' - */ - if (localDW->UnitDelay1_DSTATE) { - tmp = 0; - } else { - tmp = (int16_T)(((q0 < 0 ? 65535 : 0) + q0) >> 16); - } - - /* End of Switch: '/Switch1' */ - - /* Sum: '/Sum1' incorporates: - * Delay: '/Resettable Delay' - */ - rtb_Sum1_bm = (int16_T)(tmp + localDW->ResettableDelay_DSTATE); - - /* Product: '/Divide5' */ - tmp_0 = (rtu_err * rtu_P) >> 11; - if (tmp_0 > 32767) { - tmp_0 = 32767; - } else { - if (tmp_0 < -32768) { - tmp_0 = -32768; - } - } - - /* Sum: '/Sum1' incorporates: - * Product: '/Divide5' - */ - tmp_0 = ((rtb_Sum1_bm << 1) + tmp_0) >> 1; - if (tmp_0 > 32767) { - tmp_0 = 32767; - } else { - if (tmp_0 < -32768) { - tmp_0 = -32768; - } - } - - /* RelationalOperator: '/LowerRelop1' incorporates: - * Sum: '/Sum1' - */ - rtb_LowerRelop1_i3 = ((int16_T)tmp_0 > rtu_satMax); - - /* RelationalOperator: '/UpperRelop' incorporates: - * Sum: '/Sum1' - */ - rtb_UpperRelop_i = ((int16_T)tmp_0 < rtu_satMin); - - /* Switch: '/Switch1' incorporates: - * Sum: '/Sum1' - * Switch: '/Switch3' - */ - if (rtb_LowerRelop1_i3) { - *rty_out = rtu_satMax; - } else if (rtb_UpperRelop_i) { - /* Switch: '/Switch3' */ - *rty_out = rtu_satMin; - } else { - *rty_out = (int16_T)tmp_0; - } - - /* End of Switch: '/Switch1' */ - - /* Signum: '/SignDeltaU2' incorporates: - * Sum: '/Sum2' - */ - if (q0 < 0) { - q0 = -1; - } else { - q0 = (q0 > 0); - } - - /* End of Signum: '/SignDeltaU2' */ - - /* Signum: '/SignDeltaU3' incorporates: - * Sum: '/Sum1' - */ - if ((int16_T)tmp_0 < 0) { - tmp = -1; - } else { - tmp = (int16_T)((int16_T)tmp_0 > 0); - } - - /* End of Signum: '/SignDeltaU3' */ - - /* Update for UnitDelay: '/UnitDelay1' incorporates: - * DataTypeConversion: '/DataTypeConv4' - * Logic: '/AND1' - * Logic: '/AND1' - * RelationalOperator: '/Equal1' - */ - localDW->UnitDelay1_DSTATE = ((q0 == tmp) && (rtb_LowerRelop1_i3 || - rtb_UpperRelop_i)); - - /* Update for Delay: '/Resettable Delay' */ - localDW->icLoad = 0U; - localDW->ResettableDelay_DSTATE = rtb_Sum1_bm; -} - -/* Model step function */ -void BLDC_controller_step(RT_MODEL *const rtM) -{ - P *rtP = ((P *) rtM->defaultParam); - DW *rtDW = ((DW *) rtM->dwork); - ExtU *rtU = (ExtU *) rtM->inputs; - ExtY *rtY = (ExtY *) rtM->outputs; - boolean_T rtb_LogicalOperator; - int8_T rtb_Sum2_h; - boolean_T rtb_RelationalOperator4_d; - boolean_T rtb_UnitDelay5_e; - uint8_T rtb_a_elecAngle_XA_g; - boolean_T rtb_LogicalOperator1_j; - boolean_T rtb_LogicalOperator2_p; - boolean_T rtb_RelationalOperator1_mv; - int16_T rtb_Switch1_l; - int16_T rtb_Saturation; - int16_T rtb_Saturation1; - int32_T rtb_Sum1_jt; - int16_T rtb_Merge_m; - int16_T rtb_Merge1; - uint16_T rtb_Divide14_e; - uint16_T rtb_Divide1_f; - int16_T rtb_TmpSignalConversionAtLow_Pa[2]; - int32_T rtb_Switch1; - int32_T rtb_Sum1; - int32_T rtb_Gain3; - uint8_T Sum; - int16_T Switch2; - int16_T Abs5; - int16_T DataTypeConversion2; - int16_T tmp[4]; - int8_T UnitDelay3; - - /* Outputs for Atomic SubSystem: '/BLDC_controller' */ - /* Sum: '/Sum' incorporates: - * Gain: '/g_Ha' - * Gain: '/g_Hb' - * Inport: '/b_hallA ' - * Inport: '/b_hallB' - * Inport: '/b_hallC' - */ - Sum = (uint8_T)((uint32_T)(uint8_T)((uint32_T)(uint8_T)(rtU->b_hallA << 2) + - (uint8_T)(rtU->b_hallB << 1)) + rtU->b_hallC); - - /* Logic: '/Logical Operator' incorporates: - * Inport: '/b_hallA ' - * Inport: '/b_hallB' - * Inport: '/b_hallC' - * UnitDelay: '/UnitDelay1' - * UnitDelay: '/UnitDelay2' - * UnitDelay: '/UnitDelay3' - */ - rtb_LogicalOperator = (boolean_T)((rtU->b_hallA != 0) ^ (rtU->b_hallB != 0) ^ - (rtU->b_hallC != 0) ^ (rtDW->UnitDelay3_DSTATE_fy != 0) ^ - (rtDW->UnitDelay1_DSTATE != 0)) ^ (rtDW->UnitDelay2_DSTATE_f != 0); - - /* If: '/If2' incorporates: - * If: '/If2' - * Inport: '/z_counterRawPrev' - * UnitDelay: '/UnitDelay3' - */ - if (rtb_LogicalOperator) { - /* Outputs for IfAction SubSystem: '/F01_03_Direction_Detection' incorporates: - * ActionPort: '/Action Port' - */ - /* UnitDelay: '/UnitDelay3' */ - UnitDelay3 = rtDW->Switch2_e; - - /* Sum: '/Sum2' incorporates: - * Constant: '/vec_hallToPos' - * Selector: '/Selector' - * UnitDelay: '/UnitDelay2' - */ - rtb_Sum2_h = (int8_T)(rtConstP.vec_hallToPos_Value[Sum] - - rtDW->UnitDelay2_DSTATE_b); - - /* Switch: '/Switch2' incorporates: - * Constant: '/Constant20' - * Constant: '/Constant23' - * Constant: '/Constant24' - * Constant: '/Constant8' - * Logic: '/Logical Operator3' - * RelationalOperator: '/Relational Operator1' - * RelationalOperator: '/Relational Operator6' - */ - if ((rtb_Sum2_h == 1) || (rtb_Sum2_h == -5)) { - rtDW->Switch2_e = 1; - } else { - rtDW->Switch2_e = -1; - } - - /* End of Switch: '/Switch2' */ - - /* Update for UnitDelay: '/UnitDelay2' incorporates: - * Constant: '/vec_hallToPos' - * Selector: '/Selector' - */ - rtDW->UnitDelay2_DSTATE_b = rtConstP.vec_hallToPos_Value[Sum]; - - /* End of Outputs for SubSystem: '/F01_03_Direction_Detection' */ - - /* Outputs for IfAction SubSystem: '/Raw_Motor_Speed_Estimation' incorporates: - * ActionPort: '/Action Port' - */ - rtDW->z_counterRawPrev = rtDW->UnitDelay3_DSTATE; - - /* Sum: '/Sum7' incorporates: - * Inport: '/z_counterRawPrev' - * UnitDelay: '/UnitDelay3' - * UnitDelay: '/UnitDelay4' - */ - Switch2 = (int16_T)(rtDW->z_counterRawPrev - rtDW->UnitDelay4_DSTATE); - - /* Abs: '/Abs2' */ - if (Switch2 < 0) { - rtb_Switch1_l = (int16_T)-Switch2; - } else { - rtb_Switch1_l = Switch2; - } - - /* End of Abs: '/Abs2' */ - - /* Relay: '/dz_cntTrnsDet' */ - if (rtb_Switch1_l >= rtP->dz_cntTrnsDetHi) { - rtDW->dz_cntTrnsDet_Mode = true; - } else { - if (rtb_Switch1_l <= rtP->dz_cntTrnsDetLo) { - rtDW->dz_cntTrnsDet_Mode = false; - } - } - - rtDW->dz_cntTrnsDet = rtDW->dz_cntTrnsDet_Mode; - - /* End of Relay: '/dz_cntTrnsDet' */ - - /* RelationalOperator: '/Relational Operator4' */ - rtb_RelationalOperator4_d = (rtDW->Switch2_e != UnitDelay3); - - /* Switch: '/Switch3' incorporates: - * Constant: '/Constant4' - * Logic: '/Logical Operator1' - * Switch: '/Switch1' - * Switch: '/Switch2' - * UnitDelay: '/UnitDelay1' - */ - if (rtb_RelationalOperator4_d && rtDW->UnitDelay1_DSTATE_n) { - rtb_Switch1_l = 0; - } else if (rtb_RelationalOperator4_d) { - /* Switch: '/Switch2' incorporates: - * UnitDelay: '/UnitDelay4' - */ - rtb_Switch1_l = rtDW->UnitDelay4_DSTATE_e; - } else if (rtDW->dz_cntTrnsDet) { - /* Switch: '/Switch1' incorporates: - * Constant: '/cf_speedCoef' - * Product: '/Divide14' - * Switch: '/Switch2' - */ - rtb_Switch1_l = (int16_T)((rtP->cf_speedCoef << 4) / - rtDW->z_counterRawPrev); - } else { - /* Switch: '/Switch1' incorporates: - * Constant: '/cf_speedCoef' - * Gain: '/g_Ha' - * Product: '/Divide13' - * Sum: '/Sum13' - * Switch: '/Switch2' - * UnitDelay: '/UnitDelay2' - * UnitDelay: '/UnitDelay3' - * UnitDelay: '/UnitDelay5' - */ - rtb_Switch1_l = (int16_T)(((uint16_T)(rtP->cf_speedCoef << 2) << 4) / - (int16_T)(((rtDW->UnitDelay2_DSTATE + rtDW->UnitDelay3_DSTATE_o) + - rtDW->UnitDelay5_DSTATE) + rtDW->z_counterRawPrev)); - } - - /* End of Switch: '/Switch3' */ - - /* Product: '/Divide11' */ - rtDW->Divide11 = (int16_T)(rtb_Switch1_l * rtDW->Switch2_e); - - /* Update for UnitDelay: '/UnitDelay4' */ - rtDW->UnitDelay4_DSTATE = rtDW->z_counterRawPrev; - - /* Update for UnitDelay: '/UnitDelay2' incorporates: - * UnitDelay: '/UnitDelay3' - */ - rtDW->UnitDelay2_DSTATE = rtDW->UnitDelay3_DSTATE_o; - - /* Update for UnitDelay: '/UnitDelay3' incorporates: - * UnitDelay: '/UnitDelay5' - */ - rtDW->UnitDelay3_DSTATE_o = rtDW->UnitDelay5_DSTATE; - - /* Update for UnitDelay: '/UnitDelay5' */ - rtDW->UnitDelay5_DSTATE = rtDW->z_counterRawPrev; - - /* Update for UnitDelay: '/UnitDelay1' */ - rtDW->UnitDelay1_DSTATE_n = rtb_RelationalOperator4_d; - - /* End of Outputs for SubSystem: '/Raw_Motor_Speed_Estimation' */ - } - - /* End of If: '/If2' */ - - /* Outputs for Atomic SubSystem: '/Counter' */ - - /* Constant: '/Constant6' incorporates: - * Constant: '/z_maxCntRst2' - */ - rtb_Switch1_l = (int16_T) Counter(1, rtP->z_maxCntRst, rtb_LogicalOperator, - &rtDW->Counter_e); - - /* End of Outputs for SubSystem: '/Counter' */ - - /* Switch: '/Switch2' incorporates: - * Constant: '/Constant4' - * Constant: '/z_maxCntRst' - * RelationalOperator: '/Relational Operator2' - */ - if (rtb_Switch1_l > rtP->z_maxCntRst) { - Switch2 = 0; - } else { - Switch2 = rtDW->Divide11; - } - - /* End of Switch: '/Switch2' */ - - /* Abs: '/Abs5' */ - if (Switch2 < 0) { - Abs5 = (int16_T)-Switch2; - } else { - Abs5 = Switch2; - } - - /* End of Abs: '/Abs5' */ - - /* Relay: '/n_commDeacv' */ - if (Abs5 >= rtP->n_commDeacvHi) { - rtDW->n_commDeacv_Mode = true; - } else { - if (Abs5 <= rtP->n_commAcvLo) { - rtDW->n_commDeacv_Mode = false; - } - } - - /* Logic: '/Logical Operator3' incorporates: - * Constant: '/b_angleMeasEna' - * Logic: '/Logical Operator1' - * Logic: '/Logical Operator2' - * Relay: '/n_commDeacv' - */ - rtb_LogicalOperator = (rtP->b_angleMeasEna || (rtDW->n_commDeacv_Mode && - (!rtDW->dz_cntTrnsDet))); - - /* UnitDelay: '/UnitDelay2' */ - rtb_RelationalOperator4_d = rtDW->UnitDelay2_DSTATE_c; - - /* UnitDelay: '/UnitDelay5' */ - rtb_UnitDelay5_e = rtDW->UnitDelay5_DSTATE_m; - - /* DataTypeConversion: '/Data Type Conversion2' incorporates: - * Inport: '/r_inpTgt' - */ - DataTypeConversion2 = (int16_T)(rtU->r_inpTgt << 4); - - /* Saturate: '/Saturation' incorporates: - * Inport: '/i_phaAB' - */ - rtb_Gain3 = rtU->i_phaAB << 4; - if (rtb_Gain3 >= 27200) { - rtb_Saturation = 27200; - } else if (rtb_Gain3 <= -27200) { - rtb_Saturation = -27200; - } else { - rtb_Saturation = (int16_T)(rtU->i_phaAB << 4); - } - - /* End of Saturate: '/Saturation' */ - - /* Saturate: '/Saturation1' incorporates: - * Inport: '/i_phaBC' - */ - rtb_Gain3 = rtU->i_phaBC << 4; - if (rtb_Gain3 >= 27200) { - rtb_Saturation1 = 27200; - } else if (rtb_Gain3 <= -27200) { - rtb_Saturation1 = -27200; - } else { - rtb_Saturation1 = (int16_T)(rtU->i_phaBC << 4); - } - - /* End of Saturate: '/Saturation1' */ - - /* If: '/If1' incorporates: - * Constant: '/b_angleMeasEna' - */ - if (!rtP->b_angleMeasEna) { - /* Outputs for IfAction SubSystem: '/F01_05_Electrical_Angle_Estimation' incorporates: - * ActionPort: '/Action Port' - */ - /* Switch: '/Switch2' incorporates: - * Constant: '/Constant16' - * Product: '/Divide1' - * Product: '/Divide3' - * RelationalOperator: '/Relational Operator7' - * Sum: '/Sum3' - * Switch: '/Switch3' - */ - if (rtb_LogicalOperator) { - /* MinMax: '/MinMax' */ - rtb_Merge_m = rtb_Switch1_l; - if (!(rtb_Merge_m < rtDW->z_counterRawPrev)) { - rtb_Merge_m = rtDW->z_counterRawPrev; - } - - /* End of MinMax: '/MinMax' */ - - /* Switch: '/Switch3' incorporates: - * Constant: '/vec_hallToPos' - * Constant: '/Constant16' - * RelationalOperator: '/Relational Operator7' - * Selector: '/Selector' - * Sum: '/Sum1' - */ - if (rtDW->Switch2_e == 1) { - rtb_Sum2_h = rtConstP.vec_hallToPos_Value[Sum]; - } else { - rtb_Sum2_h = (int8_T)(rtConstP.vec_hallToPos_Value[Sum] + 1); - } - - rtb_Merge_m = (int16_T)(((int16_T)((int16_T)((rtb_Merge_m << 14) / - rtDW->z_counterRawPrev) * rtDW->Switch2_e) + (rtb_Sum2_h << 14)) >> 2); - } else { - if (rtDW->Switch2_e == 1) { - /* Switch: '/Switch3' incorporates: - * Constant: '/vec_hallToPos' - * Selector: '/Selector' - */ - rtb_Sum2_h = rtConstP.vec_hallToPos_Value[Sum]; - } else { - /* Switch: '/Switch3' incorporates: - * Constant: '/vec_hallToPos' - * Selector: '/Selector' - * Sum: '/Sum1' - */ - rtb_Sum2_h = (int8_T)(rtConstP.vec_hallToPos_Value[Sum] + 1); - } - - rtb_Merge_m = (int16_T)(rtb_Sum2_h << 12); - } - - /* End of Switch: '/Switch2' */ - - /* MinMax: '/MinMax1' incorporates: - * Constant: '/Constant1' - */ - if (!(rtb_Merge_m > 0)) { - rtb_Merge_m = 0; - } - - /* End of MinMax: '/MinMax1' */ - - /* SignalConversion: '/Signal Conversion2' incorporates: - * Product: '/Divide2' - */ - rtb_Merge_m = (int16_T)((15 * rtb_Merge_m) >> 4); - - /* End of Outputs for SubSystem: '/F01_05_Electrical_Angle_Estimation' */ - } else { - /* Outputs for IfAction SubSystem: '/F01_06_Electrical_Angle_Measurement' incorporates: - * ActionPort: '/Action Port' - */ - /* Sum: '/Sum1' incorporates: - * Constant: '/Constant2' - * Constant: '/n_polePairs' - * Inport: '/a_mechAngle' - * Product: '/Divide' - */ - rtb_Sum1_jt = rtU->a_mechAngle * rtP->n_polePairs - 480; - - /* DataTypeConversion: '/Data Type Conversion20' incorporates: - * Constant: '/a_elecPeriod' - * Product: '/Divide2' - * Product: '/Divide3' - * Sum: '/Sum3' - */ - rtb_Merge_m = (int16_T)((int16_T)(rtb_Sum1_jt - ((int16_T)((int16_T) - div_nde_s32_floor(rtb_Sum1_jt, 5760) * 360) << 4)) << 2); - - /* End of Outputs for SubSystem: '/F01_06_Electrical_Angle_Measurement' */ - } - - /* End of If: '/If1' */ - - /* If: '/If1' incorporates: - * Constant: '/z_ctrlTypSel' - */ - rtb_Sum2_h = rtDW->If1_ActiveSubsystem; - UnitDelay3 = -1; - if (rtP->z_ctrlTypSel == 2) { - UnitDelay3 = 0; - } - - rtDW->If1_ActiveSubsystem = UnitDelay3; - if ((rtb_Sum2_h != UnitDelay3) && (rtb_Sum2_h == 0)) { - /* Disable for If: '/If2' */ - if (rtDW->If2_ActiveSubsystem_a == 0) { - /* Disable for Outport: '/iq' */ - rtDW->DataTypeConversion[0] = 0; - - /* Disable for Outport: '/iqAbs' */ - rtDW->Abs5_h = 0; - - /* Disable for Outport: '/id' */ - rtDW->DataTypeConversion[1] = 0; - } - - rtDW->If2_ActiveSubsystem_a = -1; - - /* End of Disable for If: '/If2' */ - - /* Disable for Outport: '/r_sin' */ - rtDW->r_sin_M1 = 0; - - /* Disable for Outport: '/r_cos' */ - rtDW->r_cos_M1 = 0; - - /* Disable for Outport: '/iq' */ - rtDW->DataTypeConversion[0] = 0; - - /* Disable for Outport: '/id' */ - rtDW->DataTypeConversion[1] = 0; - - /* Disable for Outport: '/iqAbs' */ - rtDW->Abs5_h = 0; - } - - if (UnitDelay3 == 0) { - /* Outputs for IfAction SubSystem: '/Clarke_Park_Transform_Forward' incorporates: - * ActionPort: '/Action Port' - */ - /* If: '/If1' incorporates: - * Constant: '/z_selPhaCurMeasABC' - */ - if (rtP->z_selPhaCurMeasABC == 0) { - /* Outputs for IfAction SubSystem: '/Clarke_PhasesAB' incorporates: - * ActionPort: '/Action Port' - */ - /* Gain: '/Gain4' */ - rtb_Gain3 = 18919 * rtb_Saturation; - - /* Gain: '/Gain2' */ - rtb_Sum1_jt = 18919 * rtb_Saturation1; - - /* Sum: '/Sum1' incorporates: - * Gain: '/Gain2' - * Gain: '/Gain4' - */ - rtb_Gain3 = (((rtb_Gain3 < 0 ? 32767 : 0) + rtb_Gain3) >> 15) + (int16_T) - (((rtb_Sum1_jt < 0 ? 16383 : 0) + rtb_Sum1_jt) >> 14); - if (rtb_Gain3 > 32767) { - rtb_Gain3 = 32767; - } else { - if (rtb_Gain3 < -32768) { - rtb_Gain3 = -32768; - } - } - - rtb_Merge1 = (int16_T)rtb_Gain3; - - /* End of Sum: '/Sum1' */ - /* End of Outputs for SubSystem: '/Clarke_PhasesAB' */ - } else if (rtP->z_selPhaCurMeasABC == 1) { - /* Outputs for IfAction SubSystem: '/Clarke_PhasesBC' incorporates: - * ActionPort: '/Action Port' - */ - /* Sum: '/Sum3' */ - rtb_Gain3 = rtb_Saturation - rtb_Saturation1; - if (rtb_Gain3 > 32767) { - rtb_Gain3 = 32767; - } else { - if (rtb_Gain3 < -32768) { - rtb_Gain3 = -32768; - } - } - - /* Gain: '/Gain2' incorporates: - * Sum: '/Sum3' - */ - rtb_Gain3 *= 18919; - rtb_Merge1 = (int16_T)(((rtb_Gain3 < 0 ? 32767 : 0) + rtb_Gain3) >> 15); - - /* Sum: '/Sum1' */ - rtb_Gain3 = -rtb_Saturation - rtb_Saturation1; - if (rtb_Gain3 > 32767) { - rtb_Gain3 = 32767; - } else { - if (rtb_Gain3 < -32768) { - rtb_Gain3 = -32768; - } - } - - rtb_Saturation = (int16_T)rtb_Gain3; - - /* End of Sum: '/Sum1' */ - /* End of Outputs for SubSystem: '/Clarke_PhasesBC' */ - } else { - /* Outputs for IfAction SubSystem: '/Clarke_PhasesAC' incorporates: - * ActionPort: '/Action Port' - */ - /* Gain: '/Gain4' */ - rtb_Gain3 = 18919 * rtb_Saturation; - - /* Gain: '/Gain2' */ - rtb_Sum1_jt = 18919 * rtb_Saturation1; - - /* Sum: '/Sum1' incorporates: - * Gain: '/Gain2' - * Gain: '/Gain4' - */ - rtb_Gain3 = -(((rtb_Gain3 < 0 ? 32767 : 0) + rtb_Gain3) >> 15) - (int16_T) - (((rtb_Sum1_jt < 0 ? 16383 : 0) + rtb_Sum1_jt) >> 14); - if (rtb_Gain3 > 32767) { - rtb_Gain3 = 32767; - } else { - if (rtb_Gain3 < -32768) { - rtb_Gain3 = -32768; - } - } - - rtb_Merge1 = (int16_T)rtb_Gain3; - - /* End of Sum: '/Sum1' */ - /* End of Outputs for SubSystem: '/Clarke_PhasesAC' */ - } - - /* End of If: '/If1' */ - - /* PreLookup: '/a_elecAngle_XA' */ - rtb_a_elecAngle_XA_g = plook_u8s16_evencka(rtb_Merge_m, 0, 128U, 180U); - - /* Interpolation_n-D: '/r_sin_M1' */ - rtDW->r_sin_M1 = rtConstP.r_sin_M1_Table[rtb_a_elecAngle_XA_g]; - - /* Interpolation_n-D: '/r_cos_M1' */ - rtDW->r_cos_M1 = rtConstP.r_cos_M1_Table[rtb_a_elecAngle_XA_g]; - - /* If: '/If2' incorporates: - * Constant: '/cf_currFilt' - * Inport: '/b_motEna' - */ - rtb_Sum2_h = rtDW->If2_ActiveSubsystem_a; - UnitDelay3 = -1; - if (rtU->b_motEna) { - UnitDelay3 = 0; - } - - rtDW->If2_ActiveSubsystem_a = UnitDelay3; - if ((rtb_Sum2_h != UnitDelay3) && (rtb_Sum2_h == 0)) { - /* Disable for Outport: '/iq' */ - rtDW->DataTypeConversion[0] = 0; - - /* Disable for Outport: '/iqAbs' */ - rtDW->Abs5_h = 0; - - /* Disable for Outport: '/id' */ - rtDW->DataTypeConversion[1] = 0; - } - - if (UnitDelay3 == 0) { - if (0 != rtb_Sum2_h) { - /* SystemReset for IfAction SubSystem: '/Current_Filtering' incorporates: - * ActionPort: '/Action Port' - */ - - /* SystemReset for Atomic SubSystem: '/Low_Pass_Filter' */ - - /* SystemReset for If: '/If2' */ - Low_Pass_Filter_Reset(&rtDW->Low_Pass_Filter_m); - - /* End of SystemReset for SubSystem: '/Low_Pass_Filter' */ - - /* End of SystemReset for SubSystem: '/Current_Filtering' */ - } - - /* Sum: '/Sum6' incorporates: - * Product: '/Divide1' - * Product: '/Divide4' - */ - rtb_Gain3 = (int16_T)((rtb_Merge1 * rtDW->r_cos_M1) >> 14) - (int16_T) - ((rtb_Saturation * rtDW->r_sin_M1) >> 14); - if (rtb_Gain3 > 32767) { - rtb_Gain3 = 32767; - } else { - if (rtb_Gain3 < -32768) { - rtb_Gain3 = -32768; - } - } - - /* Outputs for IfAction SubSystem: '/Current_Filtering' incorporates: - * ActionPort: '/Action Port' - */ - /* SignalConversion: '/TmpSignal ConversionAtLow_Pass_FilterInport1' incorporates: - * Sum: '/Sum6' - */ - rtb_TmpSignalConversionAtLow_Pa[0] = (int16_T)rtb_Gain3; - - /* End of Outputs for SubSystem: '/Current_Filtering' */ - - /* Sum: '/Sum1' incorporates: - * Product: '/Divide2' - * Product: '/Divide3' - */ - rtb_Gain3 = (int16_T)((rtb_Saturation * rtDW->r_cos_M1) >> 14) + (int16_T) - ((rtb_Merge1 * rtDW->r_sin_M1) >> 14); - if (rtb_Gain3 > 32767) { - rtb_Gain3 = 32767; - } else { - if (rtb_Gain3 < -32768) { - rtb_Gain3 = -32768; - } - } - - /* Outputs for IfAction SubSystem: '/Current_Filtering' incorporates: - * ActionPort: '/Action Port' - */ - /* SignalConversion: '/TmpSignal ConversionAtLow_Pass_FilterInport1' incorporates: - * Sum: '/Sum1' - */ - rtb_TmpSignalConversionAtLow_Pa[1] = (int16_T)rtb_Gain3; - - /* Outputs for Atomic SubSystem: '/Low_Pass_Filter' */ - Low_Pass_Filter(rtb_TmpSignalConversionAtLow_Pa, rtP->cf_currFilt, - rtDW->DataTypeConversion, &rtDW->Low_Pass_Filter_m); - - /* End of Outputs for SubSystem: '/Low_Pass_Filter' */ - - /* Abs: '/Abs5' incorporates: - * Constant: '/cf_currFilt' - */ - if (rtDW->DataTypeConversion[0] < 0) { - rtDW->Abs5_h = (int16_T)-rtDW->DataTypeConversion[0]; - } else { - rtDW->Abs5_h = rtDW->DataTypeConversion[0]; - } - - /* End of Abs: '/Abs5' */ - /* End of Outputs for SubSystem: '/Current_Filtering' */ - } - - /* End of If: '/If2' */ - /* End of Outputs for SubSystem: '/Clarke_Park_Transform_Forward' */ - } - - /* End of If: '/If1' */ - - /* Chart: '/Task_Scheduler' incorporates: - * UnitDelay: '/UnitDelay2' - * UnitDelay: '/UnitDelay5' - * UnitDelay: '/UnitDelay6' - */ - if (rtDW->UnitDelay2_DSTATE_c) { - /* Outputs for Function Call SubSystem: '/F02_Diagnostics' */ - /* If: '/If2' incorporates: - * Constant: '/CTRL_COMM2' - * Constant: '/t_errDequal' - * Constant: '/t_errQual' - * Constant: '/b_diagEna' - * RelationalOperator: '/Relational Operator2' - */ - if (rtP->b_diagEna) { - /* Outputs for IfAction SubSystem: '/Diagnostics_Enabled' incorporates: - * ActionPort: '/Action Port' - */ - /* Switch: '/Switch3' incorporates: - * Abs: '/Abs4' - * Constant: '/n_stdStillDet' - * Constant: '/CTRL_COMM4' - * Constant: '/r_errInpTgtThres' - * Inport: '/b_motEna' - * Logic: '/Logical Operator1' - * RelationalOperator: '/Relational Operator9' - * RelationalOperator: '/Relational Operator7' - * S-Function (sfix_bitop): '/Bitwise Operator1' - * UnitDelay: '/UnitDelay' - * UnitDelay: '/UnitDelay4' - */ - if ((rtDW->UnitDelay_DSTATE_e & 4) != 0) { - rtb_RelationalOperator1_mv = true; - } else { - if (rtDW->UnitDelay4_DSTATE_eu < 0) { - /* Abs: '/Abs4' incorporates: - * UnitDelay: '/UnitDelay4' - */ - rtb_Saturation1 = (int16_T)-rtDW->UnitDelay4_DSTATE_eu; - } else { - /* Abs: '/Abs4' incorporates: - * UnitDelay: '/UnitDelay4' - */ - rtb_Saturation1 = rtDW->UnitDelay4_DSTATE_eu; - } - - rtb_RelationalOperator1_mv = (rtU->b_motEna && (Abs5 < - rtP->n_stdStillDet) && (rtb_Saturation1 > rtP->r_errInpTgtThres)); - } - - /* End of Switch: '/Switch3' */ - - /* Sum: '/Sum' incorporates: - * Constant: '/CTRL_COMM' - * Constant: '/CTRL_COMM1' - * DataTypeConversion: '/Data Type Conversion3' - * Gain: '/g_Hb' - * Gain: '/g_Hb1' - * RelationalOperator: '/Relational Operator1' - * RelationalOperator: '/Relational Operator3' - */ - rtb_a_elecAngle_XA_g = (uint8_T)(((uint32_T)((Sum == 7) << 1) + (Sum == 0)) - + (rtb_RelationalOperator1_mv << 2)); - - /* Outputs for Atomic SubSystem: '/Debounce_Filter' */ - Debounce_Filter(rtb_a_elecAngle_XA_g != 0, rtP->t_errQual, - rtP->t_errDequal, &rtDW->Merge_p, &rtDW->Debounce_Filter_k); - - /* End of Outputs for SubSystem: '/Debounce_Filter' */ - - /* Outputs for Atomic SubSystem: '/either_edge' */ - either_edge(rtDW->Merge_p, &rtb_RelationalOperator1_mv, - &rtDW->either_edge_i); - - /* End of Outputs for SubSystem: '/either_edge' */ - - /* Switch: '/Switch1' incorporates: - * Constant: '/CTRL_COMM2' - * Constant: '/t_errDequal' - * Constant: '/t_errQual' - * RelationalOperator: '/Relational Operator2' - */ - if (rtb_RelationalOperator1_mv) { - /* Outport: '/z_errCode' */ - rtY->z_errCode = rtb_a_elecAngle_XA_g; - } else { - /* Outport: '/z_errCode' incorporates: - * UnitDelay: '/UnitDelay' - */ - rtY->z_errCode = rtDW->UnitDelay_DSTATE_e; - } - - /* End of Switch: '/Switch1' */ - - /* Update for UnitDelay: '/UnitDelay' incorporates: - * Outport: '/z_errCode' - */ - rtDW->UnitDelay_DSTATE_e = rtY->z_errCode; - - /* End of Outputs for SubSystem: '/Diagnostics_Enabled' */ - } - - /* End of If: '/If2' */ - /* End of Outputs for SubSystem: '/F02_Diagnostics' */ - - /* Outputs for Function Call SubSystem: '/F03_Control_Mode_Manager' */ - /* Logic: '/Logical Operator4' incorporates: - * Constant: '/constant8' - * Inport: '/b_motEna' - * Inport: '/z_ctrlModReq' - * Logic: '/Logical Operator7' - * RelationalOperator: '/Relational Operator10' - */ - rtb_RelationalOperator1_mv = (rtDW->Merge_p || (!rtU->b_motEna) || - (rtU->z_ctrlModReq == 0)); - - /* Logic: '/Logical Operator1' incorporates: - * Constant: '/b_cruiseCtrlEna' - * Constant: '/constant1' - * Inport: '/z_ctrlModReq' - * RelationalOperator: '/Relational Operator1' - */ - rtb_LogicalOperator1_j = ((rtU->z_ctrlModReq == 2) || rtP->b_cruiseCtrlEna); - - /* Logic: '/Logical Operator2' incorporates: - * Constant: '/b_cruiseCtrlEna' - * Constant: '/constant' - * Inport: '/z_ctrlModReq' - * Logic: '/Logical Operator5' - * RelationalOperator: '/Relational Operator4' - */ - rtb_LogicalOperator2_p = ((rtU->z_ctrlModReq == 3) && (!rtP->b_cruiseCtrlEna)); - - /* Chart: '/F03_02_Control_Mode_Manager' incorporates: - * Constant: '/constant5' - * Inport: '/z_ctrlModReq' - * Logic: '/Logical Operator3' - * Logic: '/Logical Operator6' - * Logic: '/Logical Operator9' - * RelationalOperator: '/Relational Operator5' - */ - if (rtDW->is_active_c1_BLDC_controller == 0U) { - rtDW->is_active_c1_BLDC_controller = 1U; - rtDW->is_c1_BLDC_controller = IN_OPEN; - rtDW->z_ctrlMod = OPEN_MODE; - } else if (rtDW->is_c1_BLDC_controller == IN_ACTIVE) { - if (rtb_RelationalOperator1_mv) { - rtDW->is_ACTIVE = IN_NO_ACTIVE_CHILD; - rtDW->is_c1_BLDC_controller = IN_OPEN; - rtDW->z_ctrlMod = OPEN_MODE; - } else { - switch (rtDW->is_ACTIVE) { - case IN_SPEED_MODE: - rtDW->z_ctrlMod = SPD_MODE; - if (!rtb_LogicalOperator1_j) { - rtDW->is_ACTIVE = IN_NO_ACTIVE_CHILD; - if (rtb_LogicalOperator2_p) { - rtDW->is_ACTIVE = IN_TORQUE_MODE; - rtDW->z_ctrlMod = TRQ_MODE; - } else { - rtDW->is_ACTIVE = IN_VOLTAGE_MODE; - rtDW->z_ctrlMod = VLT_MODE; - } - } - break; - - case IN_TORQUE_MODE: - rtDW->z_ctrlMod = TRQ_MODE; - if (!rtb_LogicalOperator2_p) { - rtDW->is_ACTIVE = IN_NO_ACTIVE_CHILD; - if (rtb_LogicalOperator1_j) { - rtDW->is_ACTIVE = IN_SPEED_MODE; - rtDW->z_ctrlMod = SPD_MODE; - } else { - rtDW->is_ACTIVE = IN_VOLTAGE_MODE; - rtDW->z_ctrlMod = VLT_MODE; - } - } - break; - - default: - rtDW->z_ctrlMod = VLT_MODE; - if (rtb_LogicalOperator2_p || rtb_LogicalOperator1_j) { - rtDW->is_ACTIVE = IN_NO_ACTIVE_CHILD; - if (rtb_LogicalOperator2_p) { - rtDW->is_ACTIVE = IN_TORQUE_MODE; - rtDW->z_ctrlMod = TRQ_MODE; - } else if (rtb_LogicalOperator1_j) { - rtDW->is_ACTIVE = IN_SPEED_MODE; - rtDW->z_ctrlMod = SPD_MODE; - } else { - rtDW->is_ACTIVE = IN_VOLTAGE_MODE; - rtDW->z_ctrlMod = VLT_MODE; - } - } - break; - } - } - } else { - rtDW->z_ctrlMod = OPEN_MODE; - if ((!rtb_RelationalOperator1_mv) && ((rtU->z_ctrlModReq == 1) || - rtb_LogicalOperator1_j || rtb_LogicalOperator2_p)) { - rtDW->is_c1_BLDC_controller = IN_ACTIVE; - if (rtb_LogicalOperator2_p) { - rtDW->is_ACTIVE = IN_TORQUE_MODE; - rtDW->z_ctrlMod = TRQ_MODE; - } else if (rtb_LogicalOperator1_j) { - rtDW->is_ACTIVE = IN_SPEED_MODE; - rtDW->z_ctrlMod = SPD_MODE; - } else { - rtDW->is_ACTIVE = IN_VOLTAGE_MODE; - rtDW->z_ctrlMod = VLT_MODE; - } - } - } - - /* End of Chart: '/F03_02_Control_Mode_Manager' */ - - /* If: '/If1' incorporates: - * Constant: '/z_ctrlTypSel' - * Inport: '/r_inpTgt' - * Saturate: '/Saturation' - */ - if (rtP->z_ctrlTypSel == 2) { - /* Outputs for IfAction SubSystem: '/FOC_Control_Type' incorporates: - * ActionPort: '/Action Port' - */ - /* SignalConversion: '/TmpSignal ConversionAtSelectorInport1' incorporates: - * Constant: '/Vd_max' - * Constant: '/constant1' - * Constant: '/i_max' - * Constant: '/n_max' - */ - tmp[0] = 0; - tmp[1] = rtP->Vd_max; - tmp[2] = rtP->n_max; - tmp[3] = rtP->i_max; - - /* End of Outputs for SubSystem: '/FOC_Control_Type' */ - - /* Saturate: '/Saturation' */ - if (DataTypeConversion2 > 16000) { - DataTypeConversion2 = 16000; - } else { - if (DataTypeConversion2 < -16000) { - DataTypeConversion2 = -16000; - } - } - - /* Outputs for IfAction SubSystem: '/FOC_Control_Type' incorporates: - * ActionPort: '/Action Port' - */ - /* Product: '/Divide1' incorporates: - * Inport: '/z_ctrlModReq' - * Product: '/Divide4' - * Selector: '/Selector' - */ - rtb_Saturation = (int16_T)(((uint16_T)((tmp[rtU->z_ctrlModReq] << 5) / 125) - * DataTypeConversion2) >> 12); - - /* End of Outputs for SubSystem: '/FOC_Control_Type' */ - } else if (DataTypeConversion2 > 16000) { - /* Outputs for IfAction SubSystem: '/Default_Control_Type' incorporates: - * ActionPort: '/Action Port' - */ - /* Saturate: '/Saturation' incorporates: - * Inport: '/r_inpTgt' - */ - rtb_Saturation = 16000; - - /* End of Outputs for SubSystem: '/Default_Control_Type' */ - } else if (DataTypeConversion2 < -16000) { - /* Outputs for IfAction SubSystem: '/Default_Control_Type' incorporates: - * ActionPort: '/Action Port' - */ - /* Saturate: '/Saturation' incorporates: - * Inport: '/r_inpTgt' - */ - rtb_Saturation = -16000; - - /* End of Outputs for SubSystem: '/Default_Control_Type' */ - } else { - /* Outputs for IfAction SubSystem: '/Default_Control_Type' incorporates: - * ActionPort: '/Action Port' - */ - rtb_Saturation = DataTypeConversion2; - - /* End of Outputs for SubSystem: '/Default_Control_Type' */ - } - - /* End of If: '/If1' */ - - /* If: '/If2' incorporates: - * Inport: '/r_inpTgtScaRaw' - */ - rtb_Sum2_h = rtDW->If2_ActiveSubsystem_f; - UnitDelay3 = (int8_T)!(rtDW->z_ctrlMod == 0); - rtDW->If2_ActiveSubsystem_f = UnitDelay3; - switch (UnitDelay3) { - case 0: - if (UnitDelay3 != rtb_Sum2_h) { - /* SystemReset for IfAction SubSystem: '/Open_Mode' incorporates: - * ActionPort: '/Action Port' - */ - /* SystemReset for Atomic SubSystem: '/rising_edge_init' */ - /* SystemReset for If: '/If2' incorporates: - * UnitDelay: '/UnitDelay' - * UnitDelay: '/UnitDelay' - */ - rtDW->UnitDelay_DSTATE_b = true; - - /* End of SystemReset for SubSystem: '/rising_edge_init' */ - - /* SystemReset for Atomic SubSystem: '/Rate_Limiter' */ - rtDW->UnitDelay_DSTATE = 0; - - /* End of SystemReset for SubSystem: '/Rate_Limiter' */ - /* End of SystemReset for SubSystem: '/Open_Mode' */ - } - - /* Outputs for IfAction SubSystem: '/Open_Mode' incorporates: - * ActionPort: '/Action Port' - */ - /* DataTypeConversion: '/Data Type Conversion' incorporates: - * UnitDelay: '/UnitDelay4' - */ - rtb_Gain3 = rtDW->UnitDelay4_DSTATE_eu << 12; - rtb_Sum1_jt = (rtb_Gain3 & 134217728) != 0 ? rtb_Gain3 | -134217728 : - rtb_Gain3 & 134217727; - - /* Outputs for Atomic SubSystem: '/rising_edge_init' */ - /* UnitDelay: '/UnitDelay' */ - rtb_RelationalOperator1_mv = rtDW->UnitDelay_DSTATE_b; - - /* Update for UnitDelay: '/UnitDelay' incorporates: - * Constant: '/Constant' - */ - rtDW->UnitDelay_DSTATE_b = false; - - /* End of Outputs for SubSystem: '/rising_edge_init' */ - - /* Outputs for Atomic SubSystem: '/Rate_Limiter' */ - /* Switch: '/Switch1' incorporates: - * UnitDelay: '/UnitDelay' - */ - if (rtb_RelationalOperator1_mv) { - rtb_Switch1 = rtb_Sum1_jt; - } else { - rtb_Switch1 = rtDW->UnitDelay_DSTATE; - } - - /* End of Switch: '/Switch1' */ - - /* Sum: '/Sum1' */ - rtb_Gain3 = -rtb_Switch1; - rtb_Sum1 = (rtb_Gain3 & 134217728) != 0 ? rtb_Gain3 | -134217728 : - rtb_Gain3 & 134217727; - - /* Switch: '/Switch2' incorporates: - * Constant: '/dV_openRate' - * RelationalOperator: '/LowerRelop1' - */ - if (rtb_Sum1 > rtP->dV_openRate) { - rtb_Sum1 = rtP->dV_openRate; - } else { - /* Gain: '/Gain3' */ - rtb_Gain3 = -rtP->dV_openRate; - rtb_Gain3 = (rtb_Gain3 & 134217728) != 0 ? rtb_Gain3 | -134217728 : - rtb_Gain3 & 134217727; - - /* Switch: '/Switch' incorporates: - * RelationalOperator: '/UpperRelop' - */ - if (rtb_Sum1 < rtb_Gain3) { - rtb_Sum1 = rtb_Gain3; - } - - /* End of Switch: '/Switch' */ - } - - /* End of Switch: '/Switch2' */ - - /* Sum: '/Sum2' */ - rtb_Gain3 = rtb_Sum1 + rtb_Switch1; - rtb_Switch1 = (rtb_Gain3 & 134217728) != 0 ? rtb_Gain3 | -134217728 : - rtb_Gain3 & 134217727; - - /* Switch: '/Switch2' */ - if (rtb_RelationalOperator1_mv) { - /* Update for UnitDelay: '/UnitDelay' */ - rtDW->UnitDelay_DSTATE = rtb_Sum1_jt; - } else { - /* Update for UnitDelay: '/UnitDelay' */ - rtDW->UnitDelay_DSTATE = rtb_Switch1; - } - - /* End of Switch: '/Switch2' */ - /* End of Outputs for SubSystem: '/Rate_Limiter' */ - - /* DataTypeConversion: '/Data Type Conversion1' */ - rtDW->Merge1 = (int16_T)(rtb_Switch1 >> 12); - - /* End of Outputs for SubSystem: '/Open_Mode' */ - break; - - case 1: - /* Outputs for IfAction SubSystem: '/Default_Mode' incorporates: - * ActionPort: '/Action Port' - */ - rtDW->Merge1 = rtb_Saturation; - - /* End of Outputs for SubSystem: '/Default_Mode' */ - break; - } - - /* End of If: '/If2' */ - - /* Abs: '/Abs1' */ - if (rtDW->Merge1 < 0) { - rtDW->Abs1 = (int16_T)-rtDW->Merge1; - } else { - rtDW->Abs1 = rtDW->Merge1; - } - - /* End of Abs: '/Abs1' */ - /* End of Outputs for SubSystem: '/F03_Control_Mode_Manager' */ - } else if (rtDW->UnitDelay5_DSTATE_m) { - /* Outputs for Function Call SubSystem: '/F04_Field_Weakening' */ - /* If: '/If3' incorporates: - * Constant: '/b_fieldWeakEna' - */ - if (rtP->b_fieldWeakEna) { - /* Outputs for IfAction SubSystem: '/Field_Weakening_Enabled' incorporates: - * ActionPort: '/Action Port' - */ - /* Abs: '/Abs5' */ - if (DataTypeConversion2 < 0) { - DataTypeConversion2 = (int16_T)-DataTypeConversion2; - } - - /* End of Abs: '/Abs5' */ - - /* Switch: '/Switch2' incorporates: - * Constant: '/r_fieldWeakHi' - * Constant: '/r_fieldWeakLo' - * RelationalOperator: '/LowerRelop1' - * RelationalOperator: '/UpperRelop' - * Switch: '/Switch' - */ - if (DataTypeConversion2 > rtP->r_fieldWeakHi) { - DataTypeConversion2 = rtP->r_fieldWeakHi; - } else { - if (DataTypeConversion2 < rtP->r_fieldWeakLo) { - /* Switch: '/Switch' incorporates: - * Constant: '/r_fieldWeakLo' - */ - DataTypeConversion2 = rtP->r_fieldWeakLo; - } - } - - /* End of Switch: '/Switch2' */ - - /* Product: '/Divide14' incorporates: - * Constant: '/r_fieldWeakHi' - * Constant: '/r_fieldWeakLo' - * Sum: '/Sum1' - * Sum: '/Sum3' - */ - rtb_Divide14_e = (uint16_T)(((int16_T)(DataTypeConversion2 - - rtP->r_fieldWeakLo) << 15) / (int16_T)(rtP->r_fieldWeakHi - - rtP->r_fieldWeakLo)); - - /* Switch: '/Switch2' incorporates: - * Constant: '/n_fieldWeakAuthHi' - * Constant: '/n_fieldWeakAuthLo' - * RelationalOperator: '/LowerRelop1' - * RelationalOperator: '/UpperRelop' - * Switch: '/Switch' - */ - if (Abs5 > rtP->n_fieldWeakAuthHi) { - rtb_Saturation = rtP->n_fieldWeakAuthHi; - } else if (Abs5 < rtP->n_fieldWeakAuthLo) { - /* Switch: '/Switch' incorporates: - * Constant: '/n_fieldWeakAuthLo' - */ - rtb_Saturation = rtP->n_fieldWeakAuthLo; - } else { - rtb_Saturation = Abs5; - } - - /* End of Switch: '/Switch2' */ - - /* Product: '/Divide1' incorporates: - * Constant: '/n_fieldWeakAuthHi' - * Constant: '/n_fieldWeakAuthLo' - * Sum: '/Sum2' - * Sum: '/Sum4' - */ - rtb_Divide1_f = (uint16_T)(((int16_T)(rtb_Saturation - - rtP->n_fieldWeakAuthLo) << 15) / (int16_T)(rtP->n_fieldWeakAuthHi - - rtP->n_fieldWeakAuthLo)); - - /* Switch: '/Switch1' incorporates: - * MinMax: '/MinMax1' - * RelationalOperator: '/Relational Operator6' - */ - if (rtb_Divide14_e < rtb_Divide1_f) { - /* MinMax: '/MinMax' */ - if (!(rtb_Divide14_e > rtb_Divide1_f)) { - rtb_Divide14_e = rtb_Divide1_f; - } - - /* End of MinMax: '/MinMax' */ - } else { - if (rtb_Divide1_f < rtb_Divide14_e) { - /* MinMax: '/MinMax1' */ - rtb_Divide14_e = rtb_Divide1_f; - } - } - - /* End of Switch: '/Switch1' */ - - /* Switch: '/Switch2' incorporates: - * Constant: '/z_ctrlTypSel' - * Constant: '/CTRL_COMM2' - * Constant: '/a_phaAdvMax' - * Constant: '/id_fieldWeakMax' - * RelationalOperator: '/Relational Operator1' - */ - if (rtP->z_ctrlTypSel == 2) { - rtb_Saturation1 = rtP->id_fieldWeakMax; - } else { - rtb_Saturation1 = rtP->a_phaAdvMax; - } - - /* End of Switch: '/Switch2' */ - - /* Product: '/Divide3' */ - rtDW->Divide3 = (int16_T)((rtb_Saturation1 * rtb_Divide14_e) >> 15); - - /* End of Outputs for SubSystem: '/Field_Weakening_Enabled' */ - } - - /* End of If: '/If3' */ - /* End of Outputs for SubSystem: '/F04_Field_Weakening' */ - - /* Outputs for Function Call SubSystem: '/Motor_Limitations' */ - /* If: '/If1' incorporates: - * Constant: '/z_ctrlTypSel' - * Constant: '/Vd_max1' - * Constant: '/i_max' - */ - rtb_Sum2_h = rtDW->If1_ActiveSubsystem_o; - UnitDelay3 = -1; - if (rtP->z_ctrlTypSel == 2) { - UnitDelay3 = 0; - } - - rtDW->If1_ActiveSubsystem_o = UnitDelay3; - if ((rtb_Sum2_h != UnitDelay3) && (rtb_Sum2_h == 0)) { - /* Disable for SwitchCase: '/Switch Case' */ - rtDW->SwitchCase_ActiveSubsystem_d = -1; - } - - if (UnitDelay3 == 0) { - /* Outputs for IfAction SubSystem: '/Motor_Limitations_Enabled' incorporates: - * ActionPort: '/Action Port' - */ - rtDW->Vd_max1 = rtP->Vd_max; - - /* Gain: '/Gain3' incorporates: - * Constant: '/Vd_max1' - */ - rtDW->Gain3 = (int16_T)-rtDW->Vd_max1; - - /* Interpolation_n-D: '/Vq_max_M1' incorporates: - * Abs: '/Abs5' - * PreLookup: '/Vq_max_XA' - * UnitDelay: '/UnitDelay4' - */ - if (rtDW->Switch1 < 0) { - rtb_Saturation1 = (int16_T)-rtDW->Switch1; - } else { - rtb_Saturation1 = rtDW->Switch1; - } - - rtDW->Vq_max_M1 = rtP->Vq_max_M1[plook_u8s16_evencka(rtb_Saturation1, - rtP->Vq_max_XA[0], (uint16_T)(rtP->Vq_max_XA[1] - rtP->Vq_max_XA[0]), - 45U)]; - - /* End of Interpolation_n-D: '/Vq_max_M1' */ - - /* Gain: '/Gain5' */ - rtDW->Gain5 = (int16_T)-rtDW->Vq_max_M1; - rtDW->i_max = rtP->i_max; - - /* Interpolation_n-D: '/iq_maxSca_M1' incorporates: - * Constant: '/i_max' - * Product: '/Divide4' - */ - rtb_Gain3 = rtDW->Divide3 << 16; - rtb_Gain3 = (rtb_Gain3 == MIN_int32_T) && (rtDW->i_max == -1) ? - MAX_int32_T : rtb_Gain3 / rtDW->i_max; - if (rtb_Gain3 < 0) { - rtb_Gain3 = 0; - } else { - if (rtb_Gain3 > 65535) { - rtb_Gain3 = 65535; - } - } - - /* Product: '/Divide1' incorporates: - * Interpolation_n-D: '/iq_maxSca_M1' - * PreLookup: '/iq_maxSca_XA' - * Product: '/Divide4' - */ - rtDW->Divide1_n = (int16_T) - ((rtConstP.iq_maxSca_M1_Table[plook_u8u16_evencka((uint16_T)rtb_Gain3, - 0U, 1311U, 49U)] * rtDW->i_max) >> 16); - - /* Gain: '/Gain1' */ - rtDW->Gain1 = (int16_T)-rtDW->Divide1_n; - - /* SwitchCase: '/Switch Case' incorporates: - * Constant: '/n_max1' - * Constant: '/Constant1' - * Constant: '/cf_KbLimProt' - * Constant: '/cf_nKiLimProt' - * Constant: '/Constant' - * Constant: '/Constant1' - * Constant: '/cf_KbLimProt' - * Constant: '/cf_iqKiLimProt' - * Constant: '/cf_nKiLimProt' - * Sum: '/Sum1' - * Sum: '/Sum1' - * Sum: '/Sum2' - */ - rtb_Sum2_h = rtDW->SwitchCase_ActiveSubsystem_d; - UnitDelay3 = -1; - switch (rtDW->z_ctrlMod) { - case 1: - UnitDelay3 = 0; - break; - - case 2: - UnitDelay3 = 1; - break; - - case 3: - UnitDelay3 = 2; - break; - } - - rtDW->SwitchCase_ActiveSubsystem_d = UnitDelay3; - switch (UnitDelay3) { - case 0: - if (UnitDelay3 != rtb_Sum2_h) { - /* SystemReset for IfAction SubSystem: '/Voltage_Mode_Protection' incorporates: - * ActionPort: '/Action Port' - */ - - /* SystemReset for Atomic SubSystem: '/I_backCalc_fixdt' */ - - /* SystemReset for SwitchCase: '/Switch Case' */ - I_backCalc_fixdt_Reset(&rtDW->I_backCalc_fixdt_i, 65536000); - - /* End of SystemReset for SubSystem: '/I_backCalc_fixdt' */ - - /* SystemReset for Atomic SubSystem: '/I_backCalc_fixdt1' */ - I_backCalc_fixdt_Reset(&rtDW->I_backCalc_fixdt1, 65536000); - - /* End of SystemReset for SubSystem: '/I_backCalc_fixdt1' */ - - /* End of SystemReset for SubSystem: '/Voltage_Mode_Protection' */ - } - - /* Outputs for IfAction SubSystem: '/Voltage_Mode_Protection' incorporates: - * ActionPort: '/Action Port' - */ - - /* Outputs for Atomic SubSystem: '/I_backCalc_fixdt' */ - I_backCalc_fixdt((int16_T)(rtDW->Divide1_n - rtDW->Abs5_h), - rtP->cf_iqKiLimProt, rtP->cf_KbLimProt, rtDW->Abs1, 0, - &rtDW->Switch2_a, &rtDW->I_backCalc_fixdt_i); - - /* End of Outputs for SubSystem: '/I_backCalc_fixdt' */ - - /* Outputs for Atomic SubSystem: '/I_backCalc_fixdt1' */ - I_backCalc_fixdt((int16_T)(rtP->n_max - Abs5), rtP->cf_nKiLimProt, - rtP->cf_KbLimProt, rtDW->Abs1, 0, &rtDW->Switch2_o, - &rtDW->I_backCalc_fixdt1); - - /* End of Outputs for SubSystem: '/I_backCalc_fixdt1' */ - - /* End of Outputs for SubSystem: '/Voltage_Mode_Protection' */ - break; - - case 1: - /* Outputs for IfAction SubSystem: '/Speed_Mode_Protection' incorporates: - * ActionPort: '/Action Port' - */ - /* Switch: '/Switch2' incorporates: - * RelationalOperator: '/LowerRelop1' - * RelationalOperator: '/UpperRelop' - * Switch: '/Switch' - */ - if (rtDW->DataTypeConversion[0] > rtDW->Divide1_n) { - rtb_Saturation1 = rtDW->Divide1_n; - } else if (rtDW->DataTypeConversion[0] < rtDW->Gain1) { - /* Switch: '/Switch' */ - rtb_Saturation1 = rtDW->Gain1; - } else { - rtb_Saturation1 = rtDW->DataTypeConversion[0]; - } - - /* End of Switch: '/Switch2' */ - - /* Product: '/Divide1' incorporates: - * Constant: '/cf_iqKiLimProt' - * Sum: '/Sum3' - */ - rtDW->Divide1 = (int16_T)(rtb_Saturation1 - rtDW->DataTypeConversion[0]) - * rtP->cf_iqKiLimProt; - - /* End of Outputs for SubSystem: '/Speed_Mode_Protection' */ - break; - - case 2: - if (UnitDelay3 != rtb_Sum2_h) { - /* SystemReset for IfAction SubSystem: '/Torque_Mode_Protection' incorporates: - * ActionPort: '/Action Port' - */ - - /* SystemReset for Atomic SubSystem: '/I_backCalc_fixdt' */ - - /* SystemReset for SwitchCase: '/Switch Case' */ - I_backCalc_fixdt_Reset(&rtDW->I_backCalc_fixdt_j, 58982400); - - /* End of SystemReset for SubSystem: '/I_backCalc_fixdt' */ - - /* End of SystemReset for SubSystem: '/Torque_Mode_Protection' */ - } - - /* Outputs for IfAction SubSystem: '/Torque_Mode_Protection' incorporates: - * ActionPort: '/Action Port' - */ - - /* Outputs for Atomic SubSystem: '/I_backCalc_fixdt' */ - I_backCalc_fixdt((int16_T)(rtP->n_max - Abs5), rtP->cf_nKiLimProt, - rtP->cf_KbLimProt, rtDW->Vq_max_M1, 0, &rtDW->Switch2_i, - &rtDW->I_backCalc_fixdt_j); - - /* End of Outputs for SubSystem: '/I_backCalc_fixdt' */ - - /* End of Outputs for SubSystem: '/Torque_Mode_Protection' */ - break; - } - - /* End of SwitchCase: '/Switch Case' */ - - /* Gain: '/Gain4' */ - rtDW->Gain4 = (int16_T)-rtDW->i_max; - - /* End of Outputs for SubSystem: '/Motor_Limitations_Enabled' */ - } - - /* End of If: '/If1' */ - /* End of Outputs for SubSystem: '/Motor_Limitations' */ - } else { - if (rtDW->UnitDelay6_DSTATE) { - /* Outputs for Function Call SubSystem: '/FOC' */ - /* If: '/If1' incorporates: - * Constant: '/z_ctrlTypSel' - */ - rtb_Sum2_h = rtDW->If1_ActiveSubsystem_j; - UnitDelay3 = -1; - if (rtP->z_ctrlTypSel == 2) { - UnitDelay3 = 0; - } - - rtDW->If1_ActiveSubsystem_j = UnitDelay3; - if ((rtb_Sum2_h != UnitDelay3) && (rtb_Sum2_h == 0)) { - /* Disable for SwitchCase: '/Switch Case' */ - rtDW->SwitchCase_ActiveSubsystem = -1; - - /* Disable for If: '/If1' */ - rtDW->If1_ActiveSubsystem_a = -1; - } - - if (UnitDelay3 == 0) { - /* Outputs for IfAction SubSystem: '/FOC_Enabled' incorporates: - * ActionPort: '/Action Port' - */ - /* SwitchCase: '/Switch Case' incorporates: - * Constant: '/cf_nKi' - * Constant: '/cf_nKp' - * Inport: '/r_inpTgtSca' - * Sum: '/Sum3' - * UnitDelay: '/UnitDelay4' - */ - rtb_Sum2_h = rtDW->SwitchCase_ActiveSubsystem; - switch (rtDW->z_ctrlMod) { - case 1: - break; - - case 2: - UnitDelay3 = 1; - break; - - case 3: - UnitDelay3 = 2; - break; - - default: - UnitDelay3 = 3; - break; - } - - rtDW->SwitchCase_ActiveSubsystem = UnitDelay3; - switch (UnitDelay3) { - case 0: - /* Outputs for IfAction SubSystem: '/Voltage_Mode' incorporates: - * ActionPort: '/Action Port' - */ - /* MinMax: '/MinMax' */ - if (rtDW->Abs1 < rtDW->Switch2_a) { - DataTypeConversion2 = rtDW->Abs1; - } else { - DataTypeConversion2 = rtDW->Switch2_a; - } - - if (!(DataTypeConversion2 < rtDW->Switch2_o)) { - DataTypeConversion2 = rtDW->Switch2_o; - } - - /* End of MinMax: '/MinMax' */ - - /* Signum: '/SignDeltaU2' */ - if (rtDW->Merge1 < 0) { - rtb_Saturation1 = -1; - } else { - rtb_Saturation1 = (int16_T)(rtDW->Merge1 > 0); - } - - /* End of Signum: '/SignDeltaU2' */ - - /* Product: '/Divide1' */ - rtb_Saturation = (int16_T)(DataTypeConversion2 * rtb_Saturation1); - - /* Switch: '/Switch2' incorporates: - * RelationalOperator: '/LowerRelop1' - * RelationalOperator: '/UpperRelop' - * Switch: '/Switch' - */ - if (rtb_Saturation > rtDW->Vq_max_M1) { - /* SignalConversion: '/Signal Conversion2' */ - rtDW->Merge = rtDW->Vq_max_M1; - } else if (rtb_Saturation < rtDW->Gain5) { - /* Switch: '/Switch' incorporates: - * SignalConversion: '/Signal Conversion2' - */ - rtDW->Merge = rtDW->Gain5; - } else { - /* SignalConversion: '/Signal Conversion2' incorporates: - * Switch: '/Switch' - */ - rtDW->Merge = rtb_Saturation; - } - - /* End of Switch: '/Switch2' */ - /* End of Outputs for SubSystem: '/Voltage_Mode' */ - break; - - case 1: - if (UnitDelay3 != rtb_Sum2_h) { - /* SystemReset for IfAction SubSystem: '/Speed_Mode' incorporates: - * ActionPort: '/Action Port' - */ - - /* SystemReset for Atomic SubSystem: '/PI_clamp_fixdt' */ - - /* SystemReset for SwitchCase: '/Switch Case' */ - PI_clamp_fixdt_b_Reset(&rtDW->PI_clamp_fixdt_l4); - - /* End of SystemReset for SubSystem: '/PI_clamp_fixdt' */ - - /* End of SystemReset for SubSystem: '/Speed_Mode' */ - } - - /* Outputs for IfAction SubSystem: '/Speed_Mode' incorporates: - * ActionPort: '/Action Port' - */ - /* DataTypeConversion: '/Data Type Conversion2' incorporates: - * Constant: '/n_cruiseMotTgt' - */ - rtb_Saturation = (int16_T)(rtP->n_cruiseMotTgt << 4); - - /* Switch: '/Switch4' incorporates: - * Constant: '/b_cruiseCtrlEna' - * Logic: '/Logical Operator1' - * RelationalOperator: '/Relational Operator3' - */ - if (rtP->b_cruiseCtrlEna && (rtb_Saturation != 0)) { - /* Switch: '/Switch3' incorporates: - * MinMax: '/MinMax4' - */ - if (rtb_Saturation > 0) { - rtb_TmpSignalConversionAtLow_Pa[0] = rtDW->Vq_max_M1; - - /* MinMax: '/MinMax3' */ - if (rtDW->Merge1 > rtDW->Gain5) { - rtb_TmpSignalConversionAtLow_Pa[1] = rtDW->Merge1; - } else { - rtb_TmpSignalConversionAtLow_Pa[1] = rtDW->Gain5; - } - - /* End of MinMax: '/MinMax3' */ - } else { - if (rtDW->Vq_max_M1 < rtDW->Merge1) { - /* MinMax: '/MinMax4' */ - rtb_TmpSignalConversionAtLow_Pa[0] = rtDW->Vq_max_M1; - } else { - rtb_TmpSignalConversionAtLow_Pa[0] = rtDW->Merge1; - } - - rtb_TmpSignalConversionAtLow_Pa[1] = rtDW->Gain5; - } - - /* End of Switch: '/Switch3' */ - } else { - rtb_TmpSignalConversionAtLow_Pa[0] = rtDW->Vq_max_M1; - rtb_TmpSignalConversionAtLow_Pa[1] = rtDW->Gain5; - } - - /* End of Switch: '/Switch4' */ - - /* Switch: '/Switch2' incorporates: - * Constant: '/b_cruiseCtrlEna' - */ - if (!rtP->b_cruiseCtrlEna) { - rtb_Saturation = rtDW->Merge1; - } - - /* End of Switch: '/Switch2' */ - - /* Sum: '/Sum3' */ - rtb_Gain3 = rtb_Saturation - Switch2; - if (rtb_Gain3 > 32767) { - rtb_Gain3 = 32767; - } else { - if (rtb_Gain3 < -32768) { - rtb_Gain3 = -32768; - } - } - - /* Outputs for Atomic SubSystem: '/PI_clamp_fixdt' */ - PI_clamp_fixdt_l((int16_T)rtb_Gain3, rtP->cf_nKp, rtP->cf_nKi, - rtDW->UnitDelay4_DSTATE_eu, - rtb_TmpSignalConversionAtLow_Pa[0], - rtb_TmpSignalConversionAtLow_Pa[1], rtDW->Divide1, - &rtDW->Merge, &rtDW->PI_clamp_fixdt_l4); - - /* End of Outputs for SubSystem: '/PI_clamp_fixdt' */ - - /* End of Outputs for SubSystem: '/Speed_Mode' */ - break; - - case 2: - if (UnitDelay3 != rtb_Sum2_h) { - /* SystemReset for IfAction SubSystem: '/Torque_Mode' incorporates: - * ActionPort: '/Action Port' - */ - - /* SystemReset for Atomic SubSystem: '/PI_clamp_fixdt' */ - - /* SystemReset for SwitchCase: '/Switch Case' */ - PI_clamp_fixdt_g_Reset(&rtDW->PI_clamp_fixdt_kh); - - /* End of SystemReset for SubSystem: '/PI_clamp_fixdt' */ - - /* End of SystemReset for SubSystem: '/Torque_Mode' */ - } - - /* Outputs for IfAction SubSystem: '/Torque_Mode' incorporates: - * ActionPort: '/Action Port' - */ - /* Gain: '/Gain4' */ - rtb_Saturation = (int16_T)-rtDW->Switch2_i; - - /* Switch: '/Switch2' incorporates: - * RelationalOperator: '/LowerRelop1' - * RelationalOperator: '/UpperRelop' - * Switch: '/Switch' - */ - if (rtDW->Merge1 > rtDW->Divide1_n) { - rtb_Saturation1 = rtDW->Divide1_n; - } else if (rtDW->Merge1 < rtDW->Gain1) { - /* Switch: '/Switch' */ - rtb_Saturation1 = rtDW->Gain1; - } else { - rtb_Saturation1 = rtDW->Merge1; - } - - /* End of Switch: '/Switch2' */ - - /* Sum: '/Sum2' */ - rtb_Gain3 = rtb_Saturation1 - rtDW->DataTypeConversion[0]; - if (rtb_Gain3 > 32767) { - rtb_Gain3 = 32767; - } else { - if (rtb_Gain3 < -32768) { - rtb_Gain3 = -32768; - } - } - - /* MinMax: '/MinMax1' */ - if (rtDW->Vq_max_M1 < rtDW->Switch2_i) { - rtb_Saturation1 = rtDW->Vq_max_M1; - } else { - rtb_Saturation1 = rtDW->Switch2_i; - } - - /* End of MinMax: '/MinMax1' */ - - /* MinMax: '/MinMax2' */ - if (!(rtb_Saturation > rtDW->Gain5)) { - rtb_Saturation = rtDW->Gain5; - } - - /* End of MinMax: '/MinMax2' */ - - /* Outputs for Atomic SubSystem: '/PI_clamp_fixdt' */ - - /* SignalConversion: '/Signal Conversion2' incorporates: - * Constant: '/cf_iqKi' - * Constant: '/cf_iqKp' - * Constant: '/constant2' - * Sum: '/Sum2' - * UnitDelay: '/UnitDelay4' - */ - PI_clamp_fixdt_k((int16_T)rtb_Gain3, rtP->cf_iqKp, rtP->cf_iqKi, - rtDW->UnitDelay4_DSTATE_eu, rtb_Saturation1, - rtb_Saturation, 0, &rtDW->Merge, - &rtDW->PI_clamp_fixdt_kh); - - /* End of Outputs for SubSystem: '/PI_clamp_fixdt' */ - - /* End of Outputs for SubSystem: '/Torque_Mode' */ - break; - - case 3: - /* Outputs for IfAction SubSystem: '/Open_Mode' incorporates: - * ActionPort: '/Action Port' - */ - rtDW->Merge = rtDW->Merge1; - - /* End of Outputs for SubSystem: '/Open_Mode' */ - break; - } - - /* End of SwitchCase: '/Switch Case' */ - - /* If: '/If1' incorporates: - * Constant: '/cf_idKi1' - * Constant: '/cf_idKp1' - * Constant: '/constant1' - * Constant: '/constant2' - * Sum: '/Sum3' - */ - rtb_Sum2_h = rtDW->If1_ActiveSubsystem_a; - UnitDelay3 = -1; - if (rtb_LogicalOperator) { - UnitDelay3 = 0; - } - - rtDW->If1_ActiveSubsystem_a = UnitDelay3; - if (UnitDelay3 == 0) { - if (0 != rtb_Sum2_h) { - /* SystemReset for IfAction SubSystem: '/Vd_Calculation' incorporates: - * ActionPort: '/Action Port' - */ - - /* SystemReset for Atomic SubSystem: '/PI_clamp_fixdt' */ - - /* SystemReset for If: '/If1' */ - PI_clamp_fixdt_Reset(&rtDW->PI_clamp_fixdt_i); - - /* End of SystemReset for SubSystem: '/PI_clamp_fixdt' */ - - /* End of SystemReset for SubSystem: '/Vd_Calculation' */ - } - - /* Outputs for IfAction SubSystem: '/Vd_Calculation' incorporates: - * ActionPort: '/Action Port' - */ - /* Gain: '/toNegative' */ - rtb_Saturation = (int16_T)-rtDW->Divide3; - - /* Switch: '/Switch2' incorporates: - * RelationalOperator: '/LowerRelop1' - * RelationalOperator: '/UpperRelop' - * Switch: '/Switch' - */ - if (rtb_Saturation > rtDW->i_max) { - rtb_Saturation = rtDW->i_max; - } else { - if (rtb_Saturation < rtDW->Gain4) { - /* Switch: '/Switch' */ - rtb_Saturation = rtDW->Gain4; - } - } - - /* End of Switch: '/Switch2' */ - - /* Sum: '/Sum3' */ - rtb_Gain3 = rtb_Saturation - rtDW->DataTypeConversion[1]; - if (rtb_Gain3 > 32767) { - rtb_Gain3 = 32767; - } else { - if (rtb_Gain3 < -32768) { - rtb_Gain3 = -32768; - } - } - - /* Outputs for Atomic SubSystem: '/PI_clamp_fixdt' */ - PI_clamp_fixdt((int16_T)rtb_Gain3, rtP->cf_idKp, rtP->cf_idKi, 0, - rtDW->Vd_max1, rtDW->Gain3, 0, &rtDW->Switch1, - &rtDW->PI_clamp_fixdt_i); - - /* End of Outputs for SubSystem: '/PI_clamp_fixdt' */ - - /* End of Outputs for SubSystem: '/Vd_Calculation' */ - } - - /* End of If: '/If1' */ - /* End of Outputs for SubSystem: '/FOC_Enabled' */ - } - - /* End of If: '/If1' */ - /* End of Outputs for SubSystem: '/FOC' */ - } - } - - /* End of Chart: '/Task_Scheduler' */ - - /* If: '/If2' incorporates: - * Constant: '/z_ctrlTypSel' - * Constant: '/CTRL_COMM1' - * RelationalOperator: '/Relational Operator6' - * Switch: '/Switch2' - */ - rtb_Sum2_h = rtDW->If2_ActiveSubsystem; - UnitDelay3 = -1; - if (rtP->z_ctrlTypSel == 2) { - rtb_Saturation = rtDW->Merge; - UnitDelay3 = 0; - } else { - rtb_Saturation = rtDW->Merge1; - } - - rtDW->If2_ActiveSubsystem = UnitDelay3; - if ((rtb_Sum2_h != UnitDelay3) && (rtb_Sum2_h == 0)) { - /* Disable for Outport: '/V_phaABC_FOC' */ - rtDW->Gain4_e[0] = 0; - rtDW->Gain4_e[1] = 0; - rtDW->Gain4_e[2] = 0; - } - - if (UnitDelay3 == 0) { - /* Outputs for IfAction SubSystem: '/Clarke_Park_Transform_Inverse' incorporates: - * ActionPort: '/Action Port' - */ - /* Sum: '/Sum6' incorporates: - * Product: '/Divide1' - * Product: '/Divide4' - */ - rtb_Gain3 = (int16_T)((rtDW->Switch1 * rtDW->r_cos_M1) >> 14) - (int16_T) - ((rtDW->Merge * rtDW->r_sin_M1) >> 14); - if (rtb_Gain3 > 32767) { - rtb_Gain3 = 32767; - } else { - if (rtb_Gain3 < -32768) { - rtb_Gain3 = -32768; - } - } - - /* Sum: '/Sum1' incorporates: - * Product: '/Divide2' - * Product: '/Divide3' - */ - rtb_Sum1_jt = (int16_T)((rtDW->Switch1 * rtDW->r_sin_M1) >> 14) + (int16_T) - ((rtDW->Merge * rtDW->r_cos_M1) >> 14); - if (rtb_Sum1_jt > 32767) { - rtb_Sum1_jt = 32767; - } else { - if (rtb_Sum1_jt < -32768) { - rtb_Sum1_jt = -32768; - } - } - - /* Gain: '/Gain1' incorporates: - * Sum: '/Sum1' - */ - rtb_Sum1_jt *= 14189; - - /* Sum: '/Sum6' incorporates: - * Gain: '/Gain1' - * Gain: '/Gain3' - * Sum: '/Sum6' - */ - rtb_Sum1_jt = (((rtb_Sum1_jt < 0 ? 16383 : 0) + rtb_Sum1_jt) >> 14) - - ((int16_T)(((int16_T)rtb_Gain3 < 0) + (int16_T)rtb_Gain3) >> 1); - if (rtb_Sum1_jt > 32767) { - rtb_Sum1_jt = 32767; - } else { - if (rtb_Sum1_jt < -32768) { - rtb_Sum1_jt = -32768; - } - } - - /* Sum: '/Sum2' incorporates: - * Sum: '/Sum6' - * Sum: '/Sum6' - */ - rtb_Switch1 = -(int16_T)rtb_Gain3 - (int16_T)rtb_Sum1_jt; - if (rtb_Switch1 > 32767) { - rtb_Switch1 = 32767; - } else { - if (rtb_Switch1 < -32768) { - rtb_Switch1 = -32768; - } - } - - /* MinMax: '/MinMax1' incorporates: - * Sum: '/Sum2' - * Sum: '/Sum6' - * Sum: '/Sum6' - */ - DataTypeConversion2 = (int16_T)rtb_Gain3; - if (!((int16_T)rtb_Gain3 < (int16_T)rtb_Sum1_jt)) { - DataTypeConversion2 = (int16_T)rtb_Sum1_jt; - } - - if (!(DataTypeConversion2 < (int16_T)rtb_Switch1)) { - DataTypeConversion2 = (int16_T)rtb_Switch1; - } - - /* MinMax: '/MinMax2' incorporates: - * Sum: '/Sum2' - * Sum: '/Sum6' - * Sum: '/Sum6' - */ - rtb_Saturation1 = (int16_T)rtb_Gain3; - if (!((int16_T)rtb_Gain3 > (int16_T)rtb_Sum1_jt)) { - rtb_Saturation1 = (int16_T)rtb_Sum1_jt; - } - - if (!(rtb_Saturation1 > (int16_T)rtb_Switch1)) { - rtb_Saturation1 = (int16_T)rtb_Switch1; - } - - /* Sum: '/Add' incorporates: - * MinMax: '/MinMax1' - * MinMax: '/MinMax2' - */ - rtb_Sum1 = DataTypeConversion2 + rtb_Saturation1; - if (rtb_Sum1 > 32767) { - rtb_Sum1 = 32767; - } else { - if (rtb_Sum1 < -32768) { - rtb_Sum1 = -32768; - } - } - - /* Gain: '/Gain2' incorporates: - * Sum: '/Add' - */ - rtb_Merge1 = (int16_T)(rtb_Sum1 >> 1); - - /* Sum: '/Add1' incorporates: - * Sum: '/Sum6' - */ - rtb_Gain3 = (int16_T)rtb_Gain3 - rtb_Merge1; - if (rtb_Gain3 > 32767) { - rtb_Gain3 = 32767; - } else { - if (rtb_Gain3 < -32768) { - rtb_Gain3 = -32768; - } - } - - /* Gain: '/Gain4' incorporates: - * Sum: '/Add1' - */ - rtDW->Gain4_e[0] = (int16_T)((18919 * rtb_Gain3) >> 14); - - /* Sum: '/Add1' incorporates: - * Sum: '/Sum6' - */ - rtb_Gain3 = (int16_T)rtb_Sum1_jt - rtb_Merge1; - if (rtb_Gain3 > 32767) { - rtb_Gain3 = 32767; - } else { - if (rtb_Gain3 < -32768) { - rtb_Gain3 = -32768; - } - } - - /* Gain: '/Gain4' incorporates: - * Sum: '/Add1' - */ - rtDW->Gain4_e[1] = (int16_T)((18919 * rtb_Gain3) >> 14); - - /* Sum: '/Add1' incorporates: - * Sum: '/Sum2' - */ - rtb_Gain3 = (int16_T)rtb_Switch1 - rtb_Merge1; - if (rtb_Gain3 > 32767) { - rtb_Gain3 = 32767; - } else { - if (rtb_Gain3 < -32768) { - rtb_Gain3 = -32768; - } - } - - /* Gain: '/Gain4' incorporates: - * Sum: '/Add1' - */ - rtDW->Gain4_e[2] = (int16_T)((18919 * rtb_Gain3) >> 14); - - /* End of Outputs for SubSystem: '/Clarke_Park_Transform_Inverse' */ - } - - /* End of If: '/If2' */ - - /* If: '/If' incorporates: - * Constant: '/vec_hallToPos' - * Constant: '/z_ctrlTypSel' - * Constant: '/CTRL_COMM2' - * Constant: '/CTRL_COMM3' - * Inport: '/V_phaABC_FOC_in' - * Logic: '/Logical Operator1' - * Logic: '/Logical Operator2' - * LookupNDDirect: '/z_commutMap_M1' - * RelationalOperator: '/Relational Operator1' - * RelationalOperator: '/Relational Operator2' - * Selector: '/Selector' - * - * About '/z_commutMap_M1': - * 2-dimensional Direct Look-Up returning a Column - */ - if (rtb_LogicalOperator && (rtP->z_ctrlTypSel == 2)) { - /* Outputs for IfAction SubSystem: '/FOC_Method' incorporates: - * ActionPort: '/Action Port' - */ - DataTypeConversion2 = rtDW->Gain4_e[0]; - rtb_Saturation1 = rtDW->Gain4_e[1]; - rtb_Merge1 = rtDW->Gain4_e[2]; - - /* End of Outputs for SubSystem: '/FOC_Method' */ - } else if (rtb_LogicalOperator && (rtP->z_ctrlTypSel == 1)) { - /* Outputs for IfAction SubSystem: '/SIN_Method' incorporates: - * ActionPort: '/Action Port' - */ - /* Switch: '/Switch_PhaAdv' incorporates: - * Constant: '/b_fieldWeakEna' - * Product: '/Divide2' - * Product: '/Divide3' - * Sum: '/Sum3' - */ - if (rtP->b_fieldWeakEna) { - /* Sum: '/Sum3' incorporates: - * Product: '/Product2' - */ - DataTypeConversion2 = (int16_T)((int16_T)((int16_T)(rtDW->Divide3 * - rtDW->Switch2_e) << 2) + rtb_Merge_m); - DataTypeConversion2 -= (int16_T)((int16_T)((int16_T)div_nde_s32_floor - (DataTypeConversion2, 23040) * 360) << 6); - } else { - DataTypeConversion2 = rtb_Merge_m; - } - - /* End of Switch: '/Switch_PhaAdv' */ - - /* PreLookup: '/a_elecAngle_XA' */ - Sum = plook_u8s16_evencka(DataTypeConversion2, 0, 128U, 180U); - - /* Product: '/Divide2' incorporates: - * Interpolation_n-D: '/r_sin3PhaA_M1' - * Interpolation_n-D: '/r_sin3PhaB_M1' - * Interpolation_n-D: '/r_sin3PhaC_M1' - */ - DataTypeConversion2 = (int16_T)((rtb_Saturation * - rtConstP.r_sin3PhaA_M1_Table[Sum]) >> 14); - rtb_Saturation1 = (int16_T)((rtb_Saturation * - rtConstP.r_sin3PhaB_M1_Table[Sum]) >> 14); - rtb_Merge1 = (int16_T)((rtb_Saturation * rtConstP.r_sin3PhaC_M1_Table[Sum]) >> - 14); - - /* End of Outputs for SubSystem: '/SIN_Method' */ - } else { - /* Outputs for IfAction SubSystem: '/COM_Method' incorporates: - * ActionPort: '/Action Port' - */ - if (rtConstP.vec_hallToPos_Value[Sum] > 5) { - /* LookupNDDirect: '/z_commutMap_M1' - * - * About '/z_commutMap_M1': - * 2-dimensional Direct Look-Up returning a Column - */ - rtb_Sum2_h = 5; - } else if (rtConstP.vec_hallToPos_Value[Sum] < 0) { - /* LookupNDDirect: '/z_commutMap_M1' - * - * About '/z_commutMap_M1': - * 2-dimensional Direct Look-Up returning a Column - */ - rtb_Sum2_h = 0; - } else { - /* LookupNDDirect: '/z_commutMap_M1' incorporates: - * Constant: '/vec_hallToPos' - * Selector: '/Selector' - * - * About '/z_commutMap_M1': - * 2-dimensional Direct Look-Up returning a Column - */ - rtb_Sum2_h = rtConstP.vec_hallToPos_Value[Sum]; - } - - /* LookupNDDirect: '/z_commutMap_M1' incorporates: - * Constant: '/vec_hallToPos' - * Selector: '/Selector' - * - * About '/z_commutMap_M1': - * 2-dimensional Direct Look-Up returning a Column - */ - rtb_Sum1_jt = rtb_Sum2_h * 3; - - /* Product: '/Divide2' incorporates: - * LookupNDDirect: '/z_commutMap_M1' - * - * About '/z_commutMap_M1': - * 2-dimensional Direct Look-Up returning a Column - */ - DataTypeConversion2 = (int16_T)(rtb_Saturation * - rtConstP.z_commutMap_M1_table[rtb_Sum1_jt]); - rtb_Saturation1 = (int16_T)(rtConstP.z_commutMap_M1_table[1 + rtb_Sum1_jt] * - rtb_Saturation); - rtb_Merge1 = (int16_T)(rtConstP.z_commutMap_M1_table[2 + rtb_Sum1_jt] * - rtb_Saturation); - - /* End of Outputs for SubSystem: '/COM_Method' */ - } - - /* End of If: '/If' */ - - /* Outport: '/DC_phaA' incorporates: - * DataTypeConversion: '/Data Type Conversion6' - */ - rtY->DC_phaA = (int16_T)(DataTypeConversion2 >> 4); - - /* Outport: '/DC_phaB' incorporates: - * DataTypeConversion: '/Data Type Conversion6' - */ - rtY->DC_phaB = (int16_T)(rtb_Saturation1 >> 4); - - /* Update for UnitDelay: '/UnitDelay3' incorporates: - * Inport: '/b_hallA ' - */ - rtDW->UnitDelay3_DSTATE_fy = rtU->b_hallA; - - /* Update for UnitDelay: '/UnitDelay1' incorporates: - * Inport: '/b_hallB' - */ - rtDW->UnitDelay1_DSTATE = rtU->b_hallB; - - /* Update for UnitDelay: '/UnitDelay2' incorporates: - * Inport: '/b_hallC' - */ - rtDW->UnitDelay2_DSTATE_f = rtU->b_hallC; - - /* Update for UnitDelay: '/UnitDelay3' */ - rtDW->UnitDelay3_DSTATE = rtb_Switch1_l; - - /* Update for UnitDelay: '/UnitDelay4' */ - rtDW->UnitDelay4_DSTATE_e = Abs5; - - /* Update for UnitDelay: '/UnitDelay2' incorporates: - * UnitDelay: '/UnitDelay6' - */ - rtDW->UnitDelay2_DSTATE_c = rtDW->UnitDelay6_DSTATE; - - /* Update for UnitDelay: '/UnitDelay5' */ - rtDW->UnitDelay5_DSTATE_m = rtb_RelationalOperator4_d; - - /* Update for UnitDelay: '/UnitDelay6' */ - rtDW->UnitDelay6_DSTATE = rtb_UnitDelay5_e; - - /* Update for UnitDelay: '/UnitDelay4' */ - rtDW->UnitDelay4_DSTATE_eu = rtb_Saturation; - - /* Outport: '/DC_phaC' incorporates: - * DataTypeConversion: '/Data Type Conversion6' - */ - rtY->DC_phaC = (int16_T)(rtb_Merge1 >> 4); - - /* Outport: '/n_mot' incorporates: - * DataTypeConversion: '/Data Type Conversion1' - */ - rtY->n_mot = (int16_T)(Switch2 >> 4); - - /* Outport: '/a_elecAngle' incorporates: - * DataTypeConversion: '/Data Type Conversion3' - */ - rtY->a_elecAngle = (int16_T)(rtb_Merge_m >> 6); - - /* End of Outputs for SubSystem: '/BLDC_controller' */ - - /* Outport: '/iq' */ - rtY->iq = rtDW->DataTypeConversion[0]; - - /* Outport: '/id' */ - rtY->id = rtDW->DataTypeConversion[1]; -} - -/* Model initialize function */ -void BLDC_controller_initialize(RT_MODEL *const rtM) -{ - P *rtP = ((P *) rtM->defaultParam); - DW *rtDW = ((DW *) rtM->dwork); - - /* Start for Atomic SubSystem: '/BLDC_controller' */ - /* Start for If: '/If1' */ - rtDW->If1_ActiveSubsystem = -1; - - /* Start for IfAction SubSystem: '/Clarke_Park_Transform_Forward' */ - /* Start for If: '/If2' */ - rtDW->If2_ActiveSubsystem_a = -1; - - /* End of Start for SubSystem: '/Clarke_Park_Transform_Forward' */ - - /* Start for Chart: '/Task_Scheduler' incorporates: - * SubSystem: '/F03_Control_Mode_Manager' - */ - /* Start for If: '/If2' */ - rtDW->If2_ActiveSubsystem_f = -1; - - /* Start for Chart: '/Task_Scheduler' incorporates: - * SubSystem: '/Motor_Limitations' - */ - /* Start for If: '/If1' */ - rtDW->If1_ActiveSubsystem_o = -1; - - /* Start for IfAction SubSystem: '/Motor_Limitations_Enabled' */ - /* Start for SwitchCase: '/Switch Case' */ - rtDW->SwitchCase_ActiveSubsystem_d = -1; - - /* End of Start for SubSystem: '/Motor_Limitations_Enabled' */ - - /* Start for Chart: '/Task_Scheduler' incorporates: - * SubSystem: '/FOC' - */ - /* Start for If: '/If1' */ - rtDW->If1_ActiveSubsystem_j = -1; - - /* Start for IfAction SubSystem: '/FOC_Enabled' */ - /* Start for SwitchCase: '/Switch Case' */ - rtDW->SwitchCase_ActiveSubsystem = -1; - - /* Start for If: '/If1' */ - rtDW->If1_ActiveSubsystem_a = -1; - - /* End of Start for SubSystem: '/FOC_Enabled' */ - - /* Start for If: '/If2' */ - rtDW->If2_ActiveSubsystem = -1; - - /* End of Start for SubSystem: '/BLDC_controller' */ - - /* SystemInitialize for Atomic SubSystem: '/BLDC_controller' */ - /* InitializeConditions for UnitDelay: '/UnitDelay3' */ - rtDW->UnitDelay3_DSTATE = rtP->z_maxCntRst; - - /* InitializeConditions for UnitDelay: '/UnitDelay2' */ - rtDW->UnitDelay2_DSTATE_c = true; - - /* SystemInitialize for IfAction SubSystem: '/Raw_Motor_Speed_Estimation' */ - /* SystemInitialize for Outport: '/z_counter' */ - rtDW->z_counterRawPrev = rtP->z_maxCntRst; - - /* End of SystemInitialize for SubSystem: '/Raw_Motor_Speed_Estimation' */ - - /* SystemInitialize for Atomic SubSystem: '/Counter' */ - Counter_Init(&rtDW->Counter_e, rtP->z_maxCntRst); - - /* End of SystemInitialize for SubSystem: '/Counter' */ - - /* SystemInitialize for Chart: '/Task_Scheduler' incorporates: - * SubSystem: '/F02_Diagnostics' - */ - - /* SystemInitialize for IfAction SubSystem: '/Diagnostics_Enabled' */ - - /* SystemInitialize for Atomic SubSystem: '/Debounce_Filter' */ - Debounce_Filter_Init(&rtDW->Debounce_Filter_k); - - /* End of SystemInitialize for SubSystem: '/Debounce_Filter' */ - - /* End of SystemInitialize for SubSystem: '/Diagnostics_Enabled' */ - - /* SystemInitialize for Chart: '/Task_Scheduler' incorporates: - * SubSystem: '/F03_Control_Mode_Manager' - */ - /* SystemInitialize for IfAction SubSystem: '/Open_Mode' */ - /* SystemInitialize for Atomic SubSystem: '/rising_edge_init' */ - /* InitializeConditions for UnitDelay: '/UnitDelay' */ - rtDW->UnitDelay_DSTATE_b = true; - - /* End of SystemInitialize for SubSystem: '/rising_edge_init' */ - /* End of SystemInitialize for SubSystem: '/Open_Mode' */ - - /* SystemInitialize for Chart: '/Task_Scheduler' incorporates: - * SubSystem: '/Motor_Limitations' - */ - /* SystemInitialize for IfAction SubSystem: '/Motor_Limitations_Enabled' */ - - /* SystemInitialize for IfAction SubSystem: '/Voltage_Mode_Protection' */ - - /* SystemInitialize for Atomic SubSystem: '/I_backCalc_fixdt' */ - I_backCalc_fixdt_Init(&rtDW->I_backCalc_fixdt_i, 65536000); - - /* End of SystemInitialize for SubSystem: '/I_backCalc_fixdt' */ - - /* SystemInitialize for Atomic SubSystem: '/I_backCalc_fixdt1' */ - I_backCalc_fixdt_Init(&rtDW->I_backCalc_fixdt1, 65536000); - - /* End of SystemInitialize for SubSystem: '/I_backCalc_fixdt1' */ - - /* End of SystemInitialize for SubSystem: '/Voltage_Mode_Protection' */ - - /* SystemInitialize for IfAction SubSystem: '/Torque_Mode_Protection' */ - - /* SystemInitialize for Atomic SubSystem: '/I_backCalc_fixdt' */ - I_backCalc_fixdt_Init(&rtDW->I_backCalc_fixdt_j, 58982400); - - /* End of SystemInitialize for SubSystem: '/I_backCalc_fixdt' */ - - /* End of SystemInitialize for SubSystem: '/Torque_Mode_Protection' */ - - /* SystemInitialize for Outport: '/Vd_max' */ - rtDW->Vd_max1 = 14400; - - /* SystemInitialize for Outport: '/Vd_min' */ - rtDW->Gain3 = -14400; - - /* SystemInitialize for Outport: '/Vq_max' */ - rtDW->Vq_max_M1 = 14400; - - /* SystemInitialize for Outport: '/Vq_min' */ - rtDW->Gain5 = -14400; - - /* SystemInitialize for Outport: '/id_max' */ - rtDW->i_max = 12000; - - /* SystemInitialize for Outport: '/id_min' */ - rtDW->Gain4 = -12000; - - /* SystemInitialize for Outport: '/iq_max' */ - rtDW->Divide1_n = 12000; - - /* SystemInitialize for Outport: '/iq_min' */ - rtDW->Gain1 = -12000; - - /* End of SystemInitialize for SubSystem: '/Motor_Limitations_Enabled' */ - - /* SystemInitialize for Chart: '/Task_Scheduler' incorporates: - * SubSystem: '/FOC' - */ - - /* SystemInitialize for IfAction SubSystem: '/FOC_Enabled' */ - - /* SystemInitialize for IfAction SubSystem: '/Speed_Mode' */ - - /* SystemInitialize for Atomic SubSystem: '/PI_clamp_fixdt' */ - PI_clamp_fixdt_d_Init(&rtDW->PI_clamp_fixdt_l4); - - /* End of SystemInitialize for SubSystem: '/PI_clamp_fixdt' */ - - /* End of SystemInitialize for SubSystem: '/Speed_Mode' */ - - /* SystemInitialize for IfAction SubSystem: '/Torque_Mode' */ - - /* SystemInitialize for Atomic SubSystem: '/PI_clamp_fixdt' */ - PI_clamp_fixdt_f_Init(&rtDW->PI_clamp_fixdt_kh); - - /* End of SystemInitialize for SubSystem: '/PI_clamp_fixdt' */ - - /* End of SystemInitialize for SubSystem: '/Torque_Mode' */ - - /* SystemInitialize for IfAction SubSystem: '/Vd_Calculation' */ - - /* SystemInitialize for Atomic SubSystem: '/PI_clamp_fixdt' */ - PI_clamp_fixdt_Init(&rtDW->PI_clamp_fixdt_i); - - /* End of SystemInitialize for SubSystem: '/PI_clamp_fixdt' */ - - /* End of SystemInitialize for SubSystem: '/Vd_Calculation' */ - - /* End of SystemInitialize for SubSystem: '/FOC_Enabled' */ - - /* End of SystemInitialize for SubSystem: '/BLDC_controller' */ -} - -/* - * File trailer for generated code. - * - * [EOF] - */ diff --git a/body/board/bldc/BLDC_controller.h b/body/board/bldc/BLDC_controller.h deleted file mode 100644 index 9d663c24c08a64..00000000000000 --- a/body/board/bldc/BLDC_controller.h +++ /dev/null @@ -1,550 +0,0 @@ -/* - * File: BLDC_controller.h - * - * Code generated for Simulink model 'BLDC_controller'. - * - * Model version : 1.1297 - * Simulink Coder version : 8.13 (R2017b) 24-Jul-2017 - * C/C++ source code generated on : Sun Mar 6 11:02:11 2022 - * - * Target selection: ert.tlc - * Embedded hardware selection: ARM Compatible->ARM Cortex - * Emulation hardware selection: - * Differs from embedded hardware (MATLAB Host) - * Code generation objectives: - * 1. Execution efficiency - * 2. RAM efficiency - * Validation result: Not run - */ - -#ifndef RTW_HEADER_BLDC_controller_h_ -#define RTW_HEADER_BLDC_controller_h_ -#include "rtwtypes.h" -#ifndef BLDC_controller_COMMON_INCLUDES_ -# define BLDC_controller_COMMON_INCLUDES_ -#include "rtwtypes.h" -#endif /* BLDC_controller_COMMON_INCLUDES_ */ - -/* Macros for accessing real-time model data structure */ - -/* Forward declaration for rtModel */ -typedef struct tag_RTM RT_MODEL; - -/* Block signals and states (auto storage) for system '/Counter' */ -typedef struct { - int16_T UnitDelay_DSTATE; /* '/UnitDelay' */ -} DW_Counter; - -/* Block signals and states (auto storage) for system '/Low_Pass_Filter' */ -typedef struct { - int32_T UnitDelay1_DSTATE[2]; /* '/UnitDelay1' */ -} DW_Low_Pass_Filter; - -/* Block signals and states (auto storage) for system '/Counter' */ -typedef struct { - uint16_T UnitDelay_DSTATE; /* '/UnitDelay' */ -} DW_Counter_b; - -/* Block signals and states (auto storage) for system '/either_edge' */ -typedef struct { - boolean_T UnitDelay_DSTATE; /* '/UnitDelay' */ -} DW_either_edge; - -/* Block signals and states (auto storage) for system '/Debounce_Filter' */ -typedef struct { - DW_either_edge either_edge_p; /* '/either_edge' */ - DW_Counter_b Counter_e; /* '/Counter' */ - DW_Counter_b Counter_n1; /* '/Counter' */ - boolean_T UnitDelay_DSTATE; /* '/UnitDelay' */ -} DW_Debounce_Filter; - -/* Block signals and states (auto storage) for system '/I_backCalc_fixdt' */ -typedef struct { - int32_T UnitDelay_DSTATE; /* '/UnitDelay' */ - int32_T UnitDelay_DSTATE_m; /* '/UnitDelay' */ -} DW_I_backCalc_fixdt; - -/* Block signals and states (auto storage) for system '/PI_clamp_fixdt' */ -typedef struct { - int32_T ResettableDelay_DSTATE; /* '/Resettable Delay' */ - uint8_T icLoad; /* '/Resettable Delay' */ - boolean_T UnitDelay1_DSTATE; /* '/UnitDelay1' */ -} DW_PI_clamp_fixdt; - -/* Block signals and states (auto storage) for system '/PI_clamp_fixdt' */ -typedef struct { - int32_T ResettableDelay_DSTATE; /* '/Resettable Delay' */ - uint8_T icLoad; /* '/Resettable Delay' */ - boolean_T UnitDelay1_DSTATE; /* '/UnitDelay1' */ -} DW_PI_clamp_fixdt_m; - -/* Block signals and states (auto storage) for system '/PI_clamp_fixdt' */ -typedef struct { - int16_T ResettableDelay_DSTATE; /* '/Resettable Delay' */ - uint8_T icLoad; /* '/Resettable Delay' */ - boolean_T UnitDelay1_DSTATE; /* '/UnitDelay1' */ -} DW_PI_clamp_fixdt_g; - -/* Block signals and states (auto storage) for system '' */ -typedef struct { - DW_PI_clamp_fixdt_g PI_clamp_fixdt_kh;/* '/PI_clamp_fixdt' */ - DW_PI_clamp_fixdt_m PI_clamp_fixdt_l4;/* '/PI_clamp_fixdt' */ - DW_PI_clamp_fixdt PI_clamp_fixdt_i; /* '/PI_clamp_fixdt' */ - DW_I_backCalc_fixdt I_backCalc_fixdt_j;/* '/I_backCalc_fixdt' */ - DW_I_backCalc_fixdt I_backCalc_fixdt1;/* '/I_backCalc_fixdt1' */ - DW_I_backCalc_fixdt I_backCalc_fixdt_i;/* '/I_backCalc_fixdt' */ - DW_either_edge either_edge_i; /* '/either_edge' */ - DW_Debounce_Filter Debounce_Filter_k;/* '/Debounce_Filter' */ - DW_Low_Pass_Filter Low_Pass_Filter_m;/* '/Low_Pass_Filter' */ - DW_Counter Counter_e; /* '/Counter' */ - int32_T Divide1; /* '/Divide1' */ - int32_T UnitDelay_DSTATE; /* '/UnitDelay' */ - int16_T Gain4_e[3]; /* '/Gain4' */ - int16_T DataTypeConversion[2]; /* '/Data Type Conversion' */ - int16_T z_counterRawPrev; /* '/z_counterRawPrev' */ - int16_T Merge; /* '/Merge' */ - int16_T Switch1; /* '/Switch1' */ - int16_T Vd_max1; /* '/Vd_max1' */ - int16_T Gain3; /* '/Gain3' */ - int16_T Vq_max_M1; /* '/Vq_max_M1' */ - int16_T Gain5; /* '/Gain5' */ - int16_T i_max; /* '/i_max' */ - int16_T Divide1_n; /* '/Divide1' */ - int16_T Gain1; /* '/Gain1' */ - int16_T Gain4; /* '/Gain4' */ - int16_T Switch2_i; /* '/Switch2' */ - int16_T Switch2_o; /* '/Switch2' */ - int16_T Switch2_a; /* '/Switch2' */ - int16_T Divide3; /* '/Divide3' */ - int16_T Merge1; /* '/Merge1' */ - int16_T Abs1; /* '/Abs1' */ - int16_T Abs5_h; /* '/Abs5' */ - int16_T Divide11; /* '/Divide11' */ - int16_T r_sin_M1; /* '/r_sin_M1' */ - int16_T r_cos_M1; /* '/r_cos_M1' */ - int16_T UnitDelay3_DSTATE; /* '/UnitDelay3' */ - int16_T UnitDelay4_DSTATE; /* '/UnitDelay4' */ - int16_T UnitDelay2_DSTATE; /* '/UnitDelay2' */ - int16_T UnitDelay3_DSTATE_o; /* '/UnitDelay3' */ - int16_T UnitDelay5_DSTATE; /* '/UnitDelay5' */ - int16_T UnitDelay4_DSTATE_e; /* '/UnitDelay4' */ - int16_T UnitDelay4_DSTATE_eu; /* '/UnitDelay4' */ - int8_T Switch2_e; /* '/Switch2' */ - int8_T UnitDelay2_DSTATE_b; /* '/UnitDelay2' */ - int8_T If1_ActiveSubsystem; /* '/If1' */ - int8_T If2_ActiveSubsystem; /* '/If2' */ - int8_T If1_ActiveSubsystem_j; /* '/If1' */ - int8_T SwitchCase_ActiveSubsystem; /* '/Switch Case' */ - int8_T If1_ActiveSubsystem_a; /* '/If1' */ - int8_T If1_ActiveSubsystem_o; /* '/If1' */ - int8_T SwitchCase_ActiveSubsystem_d; /* '/Switch Case' */ - int8_T If2_ActiveSubsystem_f; /* '/If2' */ - int8_T If2_ActiveSubsystem_a; /* '/If2' */ - uint8_T z_ctrlMod; /* '/F03_02_Control_Mode_Manager' */ - uint8_T UnitDelay3_DSTATE_fy; /* '/UnitDelay3' */ - uint8_T UnitDelay1_DSTATE; /* '/UnitDelay1' */ - uint8_T UnitDelay2_DSTATE_f; /* '/UnitDelay2' */ - uint8_T UnitDelay_DSTATE_e; /* '/UnitDelay' */ - uint8_T is_active_c1_BLDC_controller;/* '/F03_02_Control_Mode_Manager' */ - uint8_T is_c1_BLDC_controller; /* '/F03_02_Control_Mode_Manager' */ - uint8_T is_ACTIVE; /* '/F03_02_Control_Mode_Manager' */ - boolean_T Merge_p; /* '/Merge' */ - boolean_T dz_cntTrnsDet; /* '/dz_cntTrnsDet' */ - boolean_T UnitDelay2_DSTATE_c; /* '/UnitDelay2' */ - boolean_T UnitDelay5_DSTATE_m; /* '/UnitDelay5' */ - boolean_T UnitDelay6_DSTATE; /* '/UnitDelay6' */ - boolean_T UnitDelay_DSTATE_b; /* '/UnitDelay' */ - boolean_T UnitDelay1_DSTATE_n; /* '/UnitDelay1' */ - boolean_T n_commDeacv_Mode; /* '/n_commDeacv' */ - boolean_T dz_cntTrnsDet_Mode; /* '/dz_cntTrnsDet' */ -} DW; - -/* Constant parameters (auto storage) */ -typedef struct { - /* Computed Parameter: r_sin_M1_Table - * Referenced by: '/r_sin_M1' - */ - int16_T r_sin_M1_Table[181]; - - /* Computed Parameter: r_cos_M1_Table - * Referenced by: '/r_cos_M1' - */ - int16_T r_cos_M1_Table[181]; - - /* Computed Parameter: r_sin3PhaA_M1_Table - * Referenced by: '/r_sin3PhaA_M1' - */ - int16_T r_sin3PhaA_M1_Table[181]; - - /* Computed Parameter: r_sin3PhaB_M1_Table - * Referenced by: '/r_sin3PhaB_M1' - */ - int16_T r_sin3PhaB_M1_Table[181]; - - /* Computed Parameter: r_sin3PhaC_M1_Table - * Referenced by: '/r_sin3PhaC_M1' - */ - int16_T r_sin3PhaC_M1_Table[181]; - - /* Computed Parameter: iq_maxSca_M1_Table - * Referenced by: '/iq_maxSca_M1' - */ - uint16_T iq_maxSca_M1_Table[50]; - - /* Computed Parameter: z_commutMap_M1_table - * Referenced by: '/z_commutMap_M1' - */ - int8_T z_commutMap_M1_table[18]; - - /* Computed Parameter: vec_hallToPos_Value - * Referenced by: '/vec_hallToPos' - */ - int8_T vec_hallToPos_Value[8]; -} ConstP; - -/* External inputs (root inport signals with auto storage) */ -typedef struct { - boolean_T b_motEna; /* '/b_motEna' */ - uint8_T z_ctrlModReq; /* '/z_ctrlModReq' */ - int16_T r_inpTgt; /* '/r_inpTgt' */ - uint8_T b_hallA; /* '/b_hallA ' */ - uint8_T b_hallB; /* '/b_hallB' */ - uint8_T b_hallC; /* '/b_hallC' */ - int16_T i_phaAB; /* '/i_phaAB' */ - int16_T i_phaBC; /* '/i_phaBC' */ - int16_T i_DCLink; /* '/i_DCLink' */ - int16_T a_mechAngle; /* '/a_mechAngle' */ -} ExtU; - -/* External outputs (root outports fed by signals with auto storage) */ -typedef struct { - int16_T DC_phaA; /* '/DC_phaA' */ - int16_T DC_phaB; /* '/DC_phaB' */ - int16_T DC_phaC; /* '/DC_phaC' */ - uint8_T z_errCode; /* '/z_errCode' */ - int16_T n_mot; /* '/n_mot' */ - int16_T a_elecAngle; /* '/a_elecAngle' */ - int16_T iq; /* '/iq' */ - int16_T id; /* '/id' */ -} ExtY; - -/* Parameters (auto storage) */ -struct P_ { - int32_T dV_openRate; /* Variable: dV_openRate - * Referenced by: '/dV_openRate' - */ - int16_T dz_cntTrnsDetHi; /* Variable: dz_cntTrnsDetHi - * Referenced by: '/dz_cntTrnsDet' - */ - int16_T dz_cntTrnsDetLo; /* Variable: dz_cntTrnsDetLo - * Referenced by: '/dz_cntTrnsDet' - */ - int16_T n_cruiseMotTgt; /* Variable: n_cruiseMotTgt - * Referenced by: '/n_cruiseMotTgt' - */ - int16_T z_maxCntRst; /* Variable: z_maxCntRst - * Referenced by: - * '/Counter' - * '/z_maxCntRst' - * '/z_maxCntRst2' - * '/UnitDelay3' - * '/z_counter' - */ - uint16_T cf_speedCoef; /* Variable: cf_speedCoef - * Referenced by: '/cf_speedCoef' - */ - uint16_T t_errDequal; /* Variable: t_errDequal - * Referenced by: '/t_errDequal' - */ - uint16_T t_errQual; /* Variable: t_errQual - * Referenced by: '/t_errQual' - */ - int16_T Vd_max; /* Variable: Vd_max - * Referenced by: - * '/Vd_max' - * '/Vd_max1' - */ - int16_T Vq_max_M1[46]; /* Variable: Vq_max_M1 - * Referenced by: '/Vq_max_M1' - */ - int16_T Vq_max_XA[46]; /* Variable: Vq_max_XA - * Referenced by: '/Vq_max_XA' - */ - int16_T a_phaAdvMax; /* Variable: a_phaAdvMax - * Referenced by: '/a_phaAdvMax' - */ - int16_T i_max; /* Variable: i_max - * Referenced by: - * '/i_max' - * '/i_max' - */ - int16_T id_fieldWeakMax; /* Variable: id_fieldWeakMax - * Referenced by: '/id_fieldWeakMax' - */ - int16_T n_commAcvLo; /* Variable: n_commAcvLo - * Referenced by: '/n_commDeacv' - */ - int16_T n_commDeacvHi; /* Variable: n_commDeacvHi - * Referenced by: '/n_commDeacv' - */ - int16_T n_fieldWeakAuthHi; /* Variable: n_fieldWeakAuthHi - * Referenced by: '/n_fieldWeakAuthHi' - */ - int16_T n_fieldWeakAuthLo; /* Variable: n_fieldWeakAuthLo - * Referenced by: '/n_fieldWeakAuthLo' - */ - int16_T n_max; /* Variable: n_max - * Referenced by: - * '/n_max' - * '/n_max1' - */ - int16_T n_stdStillDet; /* Variable: n_stdStillDet - * Referenced by: '/n_stdStillDet' - */ - int16_T r_errInpTgtThres; /* Variable: r_errInpTgtThres - * Referenced by: '/r_errInpTgtThres' - */ - int16_T r_fieldWeakHi; /* Variable: r_fieldWeakHi - * Referenced by: '/r_fieldWeakHi' - */ - int16_T r_fieldWeakLo; /* Variable: r_fieldWeakLo - * Referenced by: '/r_fieldWeakLo' - */ - uint16_T cf_KbLimProt; /* Variable: cf_KbLimProt - * Referenced by: - * '/cf_KbLimProt' - * '/cf_KbLimProt' - */ - uint16_T cf_idKp; /* Variable: cf_idKp - * Referenced by: '/cf_idKp1' - */ - uint16_T cf_iqKp; /* Variable: cf_iqKp - * Referenced by: '/cf_iqKp' - */ - uint16_T cf_nKp; /* Variable: cf_nKp - * Referenced by: '/cf_nKp' - */ - uint16_T cf_currFilt; /* Variable: cf_currFilt - * Referenced by: '/cf_currFilt' - */ - uint16_T cf_idKi; /* Variable: cf_idKi - * Referenced by: '/cf_idKi1' - */ - uint16_T cf_iqKi; /* Variable: cf_iqKi - * Referenced by: '/cf_iqKi' - */ - uint16_T cf_iqKiLimProt; /* Variable: cf_iqKiLimProt - * Referenced by: - * '/cf_iqKiLimProt' - * '/cf_iqKiLimProt' - */ - uint16_T cf_nKi; /* Variable: cf_nKi - * Referenced by: '/cf_nKi' - */ - uint16_T cf_nKiLimProt; /* Variable: cf_nKiLimProt - * Referenced by: - * '/cf_nKiLimProt' - * '/cf_nKiLimProt' - */ - uint8_T n_polePairs; /* Variable: n_polePairs - * Referenced by: '/n_polePairs' - */ - uint8_T z_ctrlTypSel; /* Variable: z_ctrlTypSel - * Referenced by: '/z_ctrlTypSel' - */ - uint8_T z_selPhaCurMeasABC; /* Variable: z_selPhaCurMeasABC - * Referenced by: '/z_selPhaCurMeasABC' - */ - boolean_T b_angleMeasEna; /* Variable: b_angleMeasEna - * Referenced by: - * '/b_angleMeasEna' - * '/b_angleMeasEna' - */ - boolean_T b_cruiseCtrlEna; /* Variable: b_cruiseCtrlEna - * Referenced by: '/b_cruiseCtrlEna' - */ - boolean_T b_diagEna; /* Variable: b_diagEna - * Referenced by: '/b_diagEna' - */ - boolean_T b_fieldWeakEna; /* Variable: b_fieldWeakEna - * Referenced by: - * '/b_fieldWeakEna' - * '/b_fieldWeakEna' - */ -}; - -/* Parameters (auto storage) */ -typedef struct P_ P; - -/* Real-time Model Data Structure */ -struct tag_RTM { - P *defaultParam; - ExtU *inputs; - ExtY *outputs; - DW *dwork; -}; - -/* Constant parameters (auto storage) */ -extern const ConstP rtConstP; - -/* Model entry point functions */ -extern void BLDC_controller_initialize(RT_MODEL *const rtM); -extern void BLDC_controller_step(RT_MODEL *const rtM); - -/*- - * These blocks were eliminated from the model due to optimizations: - * - * Block '/Scope2' : Unused code path elimination - * Block '/Scope' : Unused code path elimination - * Block '/Data Type Duplicate' : Unused code path elimination - * Block '/Data Type Propagation' : Unused code path elimination - * Block '/Data Type Duplicate' : Unused code path elimination - * Block '/Data Type Propagation' : Unused code path elimination - * Block '/Data Type Duplicate' : Unused code path elimination - * Block '/Data Type Propagation' : Unused code path elimination - * Block '/Data Type Duplicate' : Unused code path elimination - * Block '/Data Type Propagation' : Unused code path elimination - * Block '/Data Type Duplicate' : Unused code path elimination - * Block '/Data Type Propagation' : Unused code path elimination - * Block '/Data Type Duplicate' : Unused code path elimination - * Block '/Data Type Propagation' : Unused code path elimination - * Block '/Data Type Duplicate' : Unused code path elimination - * Block '/Data Type Propagation' : Unused code path elimination - * Block '/Data Type Duplicate' : Unused code path elimination - * Block '/Data Type Propagation' : Unused code path elimination - * Block '/Data Type Duplicate' : Unused code path elimination - * Block '/Data Type Propagation' : Unused code path elimination - * Block '/Data Type Duplicate' : Unused code path elimination - * Block '/Data Type Propagation' : Unused code path elimination - * Block '/Scope12' : Unused code path elimination - * Block '/Scope8' : Unused code path elimination - * Block '/toNegative' : Unused code path elimination - * Block '/Scope' : Unused code path elimination - * Block '/Data Type Conversion' : Eliminate redundant data type conversion - * Block '/Data Type Conversion1' : Eliminate redundant data type conversion - */ - -/*- - * The generated code includes comments that allow you to trace directly - * back to the appropriate location in the model. The basic format - * is /block_name, where system is the system number (uniquely - * assigned by Simulink) and block_name is the name of the block. - * - * Note that this particular code originates from a subsystem build, - * and has its own system numbers different from the parent model. - * Refer to the system hierarchy for this subsystem below, and use the - * MATLAB hilite_system command to trace the generated code back - * to the parent model. For example, - * - * hilite_system('BLDCmotor_FOC_R2017b_fixdt/BLDC_controller') - opens subsystem BLDCmotor_FOC_R2017b_fixdt/BLDC_controller - * hilite_system('BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/Kp') - opens and selects block Kp - * - * Here is the system hierarchy for this model - * - * '' : 'BLDCmotor_FOC_R2017b_fixdt' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/Call_Scheduler' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F03_Control_Mode_Manager' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Weakening' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F06_Control_Type_Management' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/Task_Scheduler' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations/F01_01_Edge_Detector' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations/F01_02_Position_Calculation' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations/F01_03_Direction_Detection' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations/F01_04_Speed_Estimation' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations/F01_05_Electrical_Angle_Estimation' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations/F01_06_Electrical_Angle_Measurement' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations/F01_04_Speed_Estimation/Counter' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations/F01_04_Speed_Estimation/Raw_Motor_Speed_Estimation' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations/F01_04_Speed_Estimation/Counter/rst_Delay' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F01_Estimations/F01_06_Electrical_Angle_Measurement/Modulo_fixdt' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics/Diagnostics_Enabled' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics/Diagnostics_Enabled/Debounce_Filter' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics/Diagnostics_Enabled/either_edge' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics/Diagnostics_Enabled/Debounce_Filter/Default' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics/Diagnostics_Enabled/Debounce_Filter/Dequalification' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics/Diagnostics_Enabled/Debounce_Filter/Qualification' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics/Diagnostics_Enabled/Debounce_Filter/either_edge' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics/Diagnostics_Enabled/Debounce_Filter/Dequalification/Counter' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics/Diagnostics_Enabled/Debounce_Filter/Dequalification/Counter/rst_Delay' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics/Diagnostics_Enabled/Debounce_Filter/Qualification/Counter' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F02_Diagnostics/Diagnostics_Enabled/Debounce_Filter/Qualification/Counter/rst_Delay' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F03_Control_Mode_Manager/F03_01_Mode_Transition_Calculation' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F03_Control_Mode_Manager/F03_02_Control_Mode_Manager' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F03_Control_Mode_Manager/F03_03_Input_Target_Synthesis' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F03_Control_Mode_Manager/F03_03_Input_Target_Synthesis/Default_Control_Type' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F03_Control_Mode_Manager/F03_03_Input_Target_Synthesis/Default_Mode' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F03_Control_Mode_Manager/F03_03_Input_Target_Synthesis/FOC_Control_Type' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F03_Control_Mode_Manager/F03_03_Input_Target_Synthesis/Open_Mode' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F03_Control_Mode_Manager/F03_03_Input_Target_Synthesis/Open_Mode/Rate_Limiter' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F03_Control_Mode_Manager/F03_03_Input_Target_Synthesis/Open_Mode/rising_edge_init' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F03_Control_Mode_Manager/F03_03_Input_Target_Synthesis/Open_Mode/Rate_Limiter/Delay_Init1' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F03_Control_Mode_Manager/F03_03_Input_Target_Synthesis/Open_Mode/Rate_Limiter/Saturation Dynamic' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Weakening/Field_Weakening_Enabled' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Weakening/Field_Weakening_Enabled/Saturation Dynamic' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F04_Field_Weakening/Field_Weakening_Enabled/Saturation Dynamic1' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Clarke_Park_Transform_Forward' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Clarke_Park_Transform_Inverse' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Clarke_Park_Transform_Forward/Clarke_Transform' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Clarke_Park_Transform_Forward/Current_Filtering' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Clarke_Park_Transform_Forward/Park_Transform' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Clarke_Park_Transform_Forward/Sine_Cosine_Approximation' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Clarke_Park_Transform_Forward/Clarke_Transform/Clarke_PhasesAB' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Clarke_Park_Transform_Forward/Clarke_Transform/Clarke_PhasesAC' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Clarke_Park_Transform_Forward/Clarke_Transform/Clarke_PhasesBC' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Clarke_Park_Transform_Forward/Current_Filtering/Low_Pass_Filter' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Clarke_Park_Transform_Inverse/Inv_Clarke_Transform' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Clarke_Park_Transform_Inverse/Inv_Park_Transform' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/FOC_Enabled' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/FOC_Enabled/Open_Mode' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/FOC_Enabled/Speed_Mode' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/FOC_Enabled/Torque_Mode' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/FOC_Enabled/Vd_Calculation' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/FOC_Enabled/Voltage_Mode' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/FOC_Enabled/Speed_Mode/PI_clamp_fixdt' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/FOC_Enabled/Speed_Mode/PI_clamp_fixdt/Clamping_circuit' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/FOC_Enabled/Speed_Mode/PI_clamp_fixdt/Integrator' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/FOC_Enabled/Speed_Mode/PI_clamp_fixdt/Saturation_hit' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/FOC_Enabled/Torque_Mode/PI_clamp_fixdt' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/FOC_Enabled/Torque_Mode/Saturation Dynamic1' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/FOC_Enabled/Torque_Mode/PI_clamp_fixdt/Clamping_circuit' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/FOC_Enabled/Torque_Mode/PI_clamp_fixdt/Integrator' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/FOC_Enabled/Torque_Mode/PI_clamp_fixdt/Saturation_hit' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/FOC_Enabled/Vd_Calculation/PI_clamp_fixdt' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/FOC_Enabled/Vd_Calculation/Saturation Dynamic' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/FOC_Enabled/Vd_Calculation/PI_clamp_fixdt/Clamping_circuit' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/FOC_Enabled/Vd_Calculation/PI_clamp_fixdt/Integrator' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/FOC_Enabled/Vd_Calculation/PI_clamp_fixdt/Saturation_hit' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/FOC/FOC_Enabled/Voltage_Mode/Saturation Dynamic1' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Motor_Limitations_Enabled' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Motor_Limitations_Enabled/Speed_Mode_Protection' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Motor_Limitations_Enabled/Torque_Mode_Protection' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Motor_Limitations_Enabled/Voltage_Mode_Protection' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Motor_Limitations_Enabled/Speed_Mode_Protection/Saturation Dynamic' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Motor_Limitations_Enabled/Torque_Mode_Protection/I_backCalc_fixdt' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Motor_Limitations_Enabled/Torque_Mode_Protection/I_backCalc_fixdt/Integrator' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Motor_Limitations_Enabled/Torque_Mode_Protection/I_backCalc_fixdt/Saturation Dynamic1' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Motor_Limitations_Enabled/Voltage_Mode_Protection/I_backCalc_fixdt' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Motor_Limitations_Enabled/Voltage_Mode_Protection/I_backCalc_fixdt1' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Motor_Limitations_Enabled/Voltage_Mode_Protection/I_backCalc_fixdt/Integrator' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Motor_Limitations_Enabled/Voltage_Mode_Protection/I_backCalc_fixdt/Saturation Dynamic1' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Motor_Limitations_Enabled/Voltage_Mode_Protection/I_backCalc_fixdt1/Integrator' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F05_Field_Oriented_Control/Motor_Limitations/Motor_Limitations_Enabled/Voltage_Mode_Protection/I_backCalc_fixdt1/Saturation Dynamic1' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F06_Control_Type_Management/COM_Method' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F06_Control_Type_Management/FOC_Method' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F06_Control_Type_Management/SIN_Method' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F06_Control_Type_Management/SIN_Method/Final_Phase_Advance_Calculation' - * '' : 'BLDCmotor_FOC_R2017b_fixdt/BLDC_controller/F06_Control_Type_Management/SIN_Method/Final_Phase_Advance_Calculation/Modulo_fixdt' - */ -#endif /* RTW_HEADER_BLDC_controller_h_ */ - -/* - * File trailer for generated code. - * - * [EOF] - */ diff --git a/body/board/bldc/BLDC_controller_data.c b/body/board/bldc/BLDC_controller_data.c deleted file mode 100644 index 626c5371980b89..00000000000000 --- a/body/board/bldc/BLDC_controller_data.c +++ /dev/null @@ -1,386 +0,0 @@ -/* - * File: BLDC_controller_data.c - * - * Code generated for Simulink model 'BLDC_controller'. - * - * Model version : 1.1297 - * Simulink Coder version : 8.13 (R2017b) 24-Jul-2017 - * C/C++ source code generated on : Sun Mar 6 11:02:11 2022 - * - * Target selection: ert.tlc - * Embedded hardware selection: ARM Compatible->ARM Cortex - * Emulation hardware selection: - * Differs from embedded hardware (MATLAB Host) - * Code generation objectives: - * 1. Execution efficiency - * 2. RAM efficiency - * Validation result: Not run - */ - -#include "BLDC_controller.h" - -/* Constant parameters (auto storage) */ -const ConstP rtConstP = { - /* Computed Parameter: r_sin_M1_Table - * Referenced by: '/r_sin_M1' - */ - { 8192, 8682, 9162, 9630, 10087, 10531, 10963, 11381, 11786, 12176, 12551, - 12911, 13255, 13583, 13894, 14189, 14466, 14726, 14968, 15191, 15396, 15582, - 15749, 15897, 16026, 16135, 16225, 16294, 16344, 16374, 16384, 16374, 16344, - 16294, 16225, 16135, 16026, 15897, 15749, 15582, 15396, 15191, 14968, 14726, - 14466, 14189, 13894, 13583, 13255, 12911, 12551, 12176, 11786, 11381, 10963, - 10531, 10087, 9630, 9162, 8682, 8192, 7692, 7182, 6664, 6138, 5604, 5063, - 4516, 3964, 3406, 2845, 2280, 1713, 1143, 572, 0, -572, -1143, -1713, -2280, - -2845, -3406, -3964, -4516, -5063, -5604, -6138, -6664, -7182, -7692, -8192, - -8682, -9162, -9630, -10087, -10531, -10963, -11381, -11786, -12176, -12551, - -12911, -13255, -13583, -13894, -14189, -14466, -14726, -14968, -15191, - -15396, -15582, -15749, -15897, -16026, -16135, -16225, -16294, -16344, - -16374, -16384, -16374, -16344, -16294, -16225, -16135, -16026, -15897, - -15749, -15582, -15396, -15191, -14968, -14726, -14466, -14189, -13894, - -13583, -13255, -12911, -12551, -12176, -11786, -11381, -10963, -10531, - -10087, -9630, -9162, -8682, -8192, -7692, -7182, -6664, -6138, -5604, -5063, - -4516, -3964, -3406, -2845, -2280, -1713, -1143, -572, 0, 572, 1143, 1713, - 2280, 2845, 3406, 3964, 4516, 5063, 5604, 6138, 6664, 7182, 7692, 8192 }, - - /* Computed Parameter: r_cos_M1_Table - * Referenced by: '/r_cos_M1' - */ - { 14189, 13894, 13583, 13255, 12911, 12551, 12176, 11786, 11381, 10963, 10531, - 10087, 9630, 9162, 8682, 8192, 7692, 7182, 6664, 6138, 5604, 5063, 4516, - 3964, 3406, 2845, 2280, 1713, 1143, 572, 0, -572, -1143, -1713, -2280, -2845, - -3406, -3964, -4516, -5063, -5604, -6138, -6664, -7182, -7692, -8192, -8682, - -9162, -9630, -10087, -10531, -10963, -11381, -11786, -12176, -12551, -12911, - -13255, -13583, -13894, -14189, -14466, -14726, -14968, -15191, -15396, - -15582, -15749, -15897, -16026, -16135, -16225, -16294, -16344, -16374, - -16384, -16374, -16344, -16294, -16225, -16135, -16026, -15897, -15749, - -15582, -15396, -15191, -14968, -14726, -14466, -14189, -13894, -13583, - -13255, -12911, -12551, -12176, -11786, -11381, -10963, -10531, -10087, - -9630, -9162, -8682, -8192, -7692, -7182, -6664, -6138, -5604, -5063, -4516, - -3964, -3406, -2845, -2280, -1713, -1143, -572, 0, 572, 1143, 1713, 2280, - 2845, 3406, 3964, 4516, 5063, 5604, 6138, 6664, 7182, 7692, 8192, 8682, 9162, - 9630, 10087, 10531, 10963, 11381, 11786, 12176, 12551, 12911, 13255, 13583, - 13894, 14189, 14466, 14726, 14968, 15191, 15396, 15582, 15749, 15897, 16026, - 16135, 16225, 16294, 16344, 16374, 16384, 16374, 16344, 16294, 16225, 16135, - 16026, 15897, 15749, 15582, 15396, 15191, 14968, 14726, 14466, 14189 }, - - /* Computed Parameter: r_sin3PhaA_M1_Table - * Referenced by: '/r_sin3PhaA_M1' - */ - { -13091, -13634, -14126, -14565, -14953, -15289, -15577, -15816, -16009, - -16159, -16269, -16340, -16377, -16383, -16362, -16317, -16253, -16172, - -16079, -15977, -15870, -15762, -15656, -15555, -15461, -15377, -15306, - -15248, -15206, -15180, -15172, -15180, -15206, -15248, -15306, -15377, - -15461, -15555, -15656, -15762, -15870, -15977, -16079, -16172, -16253, - -16317, -16362, -16383, -16377, -16340, -16269, -16159, -16009, -15816, - -15577, -15289, -14953, -14565, -14126, -13634, -13091, -12496, -11849, - -11154, -10411, -9623, -8791, -7921, -7014, -6075, -5107, -4115, -3104, - -2077, -1041, 0, 1041, 2077, 3104, 4115, 5107, 6075, 7014, 7921, 8791, 9623, - 10411, 11154, 11849, 12496, 13091, 13634, 14126, 14565, 14953, 15289, 15577, - 15816, 16009, 16159, 16269, 16340, 16377, 16383, 16362, 16317, 16253, 16172, - 16079, 15977, 15870, 15762, 15656, 15555, 15461, 15377, 15306, 15248, 15206, - 15180, 15172, 15180, 15206, 15248, 15306, 15377, 15461, 15555, 15656, 15762, - 15870, 15977, 16079, 16172, 16253, 16317, 16362, 16383, 16377, 16340, 16269, - 16159, 16009, 15816, 15577, 15289, 14953, 14565, 14126, 13634, 13091, 12496, - 11849, 11154, 10411, 9623, 8791, 7921, 7014, 6075, 5107, 4115, 3104, 2077, - 1041, 0, -1041, -2077, -3104, -4115, -5107, -6075, -7014, -7921, -8791, - -9623, -10411, -11154, -11849, -12496, -13091 }, - - /* Computed Parameter: r_sin3PhaB_M1_Table - * Referenced by: '/r_sin3PhaB_M1' - */ - { 15172, 15180, 15206, 15248, 15306, 15377, 15461, 15555, 15656, 15762, 15870, - 15977, 16079, 16172, 16253, 16317, 16362, 16383, 16377, 16340, 16269, 16159, - 16009, 15816, 15577, 15289, 14953, 14565, 14126, 13634, 13091, 12496, 11849, - 11154, 10411, 9623, 8791, 7921, 7014, 6075, 5107, 4115, 3104, 2077, 1041, 0, - -1041, -2077, -3104, -4115, -5107, -6075, -7014, -7921, -8791, -9623, -10411, - -11154, -11849, -12496, -13091, -13634, -14126, -14565, -14953, -15289, - -15577, -15816, -16009, -16159, -16269, -16340, -16377, -16383, -16362, - -16317, -16253, -16172, -16079, -15977, -15870, -15762, -15656, -15555, - -15461, -15377, -15306, -15248, -15206, -15180, -15172, -15180, -15206, - -15248, -15306, -15377, -15461, -15555, -15656, -15762, -15870, -15977, - -16079, -16172, -16253, -16317, -16362, -16383, -16377, -16340, -16269, - -16159, -16009, -15816, -15577, -15289, -14953, -14565, -14126, -13634, - -13091, -12496, -11849, -11154, -10411, -9623, -8791, -7921, -7014, -6075, - -5107, -4115, -3104, -2077, -1041, 0, 1041, 2077, 3104, 4115, 5107, 6075, - 7014, 7921, 8791, 9623, 10411, 11154, 11849, 12496, 13091, 13634, 14126, - 14565, 14953, 15289, 15577, 15816, 16009, 16159, 16269, 16340, 16377, 16383, - 16362, 16317, 16253, 16172, 16079, 15977, 15870, 15762, 15656, 15555, 15461, - 15377, 15306, 15248, 15206, 15180, 15172 }, - - /* Computed Parameter: r_sin3PhaC_M1_Table - * Referenced by: '/r_sin3PhaC_M1' - */ - { -13091, -12496, -11849, -11154, -10411, -9623, -8791, -7921, -7014, -6075, - -5107, -4115, -3104, -2077, -1041, 0, 1041, 2077, 3104, 4115, 5107, 6075, - 7014, 7921, 8791, 9623, 10411, 11154, 11849, 12496, 13091, 13634, 14126, - 14565, 14953, 15289, 15577, 15816, 16009, 16159, 16269, 16340, 16377, 16383, - 16362, 16317, 16253, 16172, 16079, 15977, 15870, 15762, 15656, 15555, 15461, - 15377, 15306, 15248, 15206, 15180, 15172, 15180, 15206, 15248, 15306, 15377, - 15461, 15555, 15656, 15762, 15870, 15977, 16079, 16172, 16253, 16317, 16362, - 16383, 16377, 16340, 16269, 16159, 16009, 15816, 15577, 15289, 14953, 14565, - 14126, 13634, 13091, 12496, 11849, 11154, 10411, 9623, 8791, 7921, 7014, - 6075, 5107, 4115, 3104, 2077, 1041, 0, -1041, -2077, -3104, -4115, -5107, - -6075, -7014, -7921, -8791, -9623, -10411, -11154, -11849, -12496, -13091, - -13634, -14126, -14565, -14953, -15289, -15577, -15816, -16009, -16159, - -16269, -16340, -16377, -16383, -16362, -16317, -16253, -16172, -16079, - -15977, -15870, -15762, -15656, -15555, -15461, -15377, -15306, -15248, - -15206, -15180, -15172, -15180, -15206, -15248, -15306, -15377, -15461, - -15555, -15656, -15762, -15870, -15977, -16079, -16172, -16253, -16317, - -16362, -16383, -16377, -16340, -16269, -16159, -16009, -15816, -15577, - -15289, -14953, -14565, -14126, -13634, -13091 }, - - /* Computed Parameter: iq_maxSca_M1_Table - * Referenced by: '/iq_maxSca_M1' - */ - { 65535U, 65523U, 65484U, 65418U, 65326U, 65207U, 65062U, 64890U, 64691U, - 64465U, 64211U, 63930U, 63620U, 63281U, 62913U, 62516U, 62088U, 61630U, - 61140U, 60618U, 60062U, 59473U, 58848U, 58187U, 57489U, 56752U, 55974U, - 55155U, 54291U, 53381U, 52422U, 51413U, 50349U, 49227U, 48043U, 46792U, - 45470U, 44069U, 42581U, 40997U, 39307U, 37494U, 35541U, 33422U, 31105U, - 28540U, 25655U, 22323U, 18304U, 12974U }, - - /* Computed Parameter: z_commutMap_M1_table - * Referenced by: '/z_commutMap_M1' - */ - { -1, 1, 0, -1, 0, 1, 0, -1, 1, 1, -1, 0, 1, 0, -1, 0, 1, -1 }, - - /* Computed Parameter: vec_hallToPos_Value - * Referenced by: '/vec_hallToPos' - */ - { 0, 2, 0, 1, 4, 3, 5, 0 } -}; - -P rtP_Left = { - /* Variable: dV_openRate - * Referenced by: '/dV_openRate' - */ - 12288, - - /* Variable: dz_cntTrnsDetHi - * Referenced by: '/dz_cntTrnsDet' - */ - 40, - - /* Variable: dz_cntTrnsDetLo - * Referenced by: '/dz_cntTrnsDet' - */ - 20, - - /* Variable: n_cruiseMotTgt - * Referenced by: '/n_cruiseMotTgt' - */ - 0, - - /* Variable: z_maxCntRst - * Referenced by: - * '/Counter' - * '/z_maxCntRst' - * '/z_maxCntRst2' - * '/UnitDelay3' - * '/z_counter' - */ - 2000, - - /* Variable: cf_speedCoef - * Referenced by: '/cf_speedCoef' - */ - 10667U, - - /* Variable: t_errDequal - * Referenced by: '/t_errDequal' - */ - 9600U, - - /* Variable: t_errQual - * Referenced by: '/t_errQual' - */ - 1280U, - - /* Variable: Vd_max - * Referenced by: - * '/Vd_max' - * '/Vd_max1' - */ - 14400, - - /* Variable: Vq_max_M1 - * Referenced by: '/Vq_max_M1' - */ - { 14400, 14396, 14386, 14368, 14343, 14311, 14271, 14225, 14171, 14109, 14040, - 13963, 13879, 13786, 13685, 13576, 13459, 13333, 13198, 13053, 12900, 12736, - 12562, 12377, 12181, 11973, 11753, 11520, 11273, 11011, 10733, 10438, 10124, - 9790, 9433, 9051, 8640, 8196, 7713, 7184, 6597, 5935, 5170, 4245, 3019, 0 }, - - /* Variable: Vq_max_XA - * Referenced by: '/Vq_max_XA' - */ - { 0, 320, 640, 960, 1280, 1600, 1920, 2240, 2560, 2880, 3200, 3520, 3840, 4160, - 4480, 4800, 5120, 5440, 5760, 6080, 6400, 6720, 7040, 7360, 7680, 8000, 8320, - 8640, 8960, 9280, 9600, 9920, 10240, 10560, 10880, 11200, 11520, 11840, - 12160, 12480, 12800, 13120, 13440, 13760, 14080, 14400 }, - - /* Variable: a_phaAdvMax - * Referenced by: '/a_phaAdvMax' - */ - 400, - - /* Variable: i_max - * Referenced by: - * '/i_max' - * '/i_max' - */ - 12000, - - /* Variable: id_fieldWeakMax - * Referenced by: '/id_fieldWeakMax' - */ - 4000, - - /* Variable: n_commAcvLo - * Referenced by: '/n_commDeacv' - */ - 240, - - /* Variable: n_commDeacvHi - * Referenced by: '/n_commDeacv' - */ - 480, - - /* Variable: n_fieldWeakAuthHi - * Referenced by: '/n_fieldWeakAuthHi' - */ - 6400, - - /* Variable: n_fieldWeakAuthLo - * Referenced by: '/n_fieldWeakAuthLo' - */ - 4800, - - /* Variable: n_max - * Referenced by: - * '/n_max' - * '/n_max1' - */ - 16000, - - /* Variable: n_stdStillDet - * Referenced by: '/n_stdStillDet' - */ - 48, - - /* Variable: r_errInpTgtThres - * Referenced by: '/r_errInpTgtThres' - */ - 9600, - - /* Variable: r_fieldWeakHi - * Referenced by: '/r_fieldWeakHi' - */ - 16000, - - /* Variable: r_fieldWeakLo - * Referenced by: '/r_fieldWeakLo' - */ - 12000, - - /* Variable: cf_KbLimProt - * Referenced by: - * '/cf_KbLimProt' - * '/cf_KbLimProt' - */ - 768U, - - /* Variable: cf_idKp - * Referenced by: '/cf_idKp1' - */ - 819U, - - /* Variable: cf_iqKp - * Referenced by: '/cf_iqKp' - */ - 1229U, - - /* Variable: cf_nKp - * Referenced by: '/cf_nKp' - */ - 4833U, - - /* Variable: cf_currFilt - * Referenced by: '/cf_currFilt' - */ - 7864U, - - /* Variable: cf_idKi - * Referenced by: '/cf_idKi1' - */ - 737U, - - /* Variable: cf_iqKi - * Referenced by: '/cf_iqKi' - */ - 1229U, - - /* Variable: cf_iqKiLimProt - * Referenced by: - * '/cf_iqKiLimProt' - * '/cf_iqKiLimProt' - */ - 737U, - - /* Variable: cf_nKi - * Referenced by: '/cf_nKi' - */ - 251U, - - /* Variable: cf_nKiLimProt - * Referenced by: - * '/cf_nKiLimProt' - * '/cf_nKiLimProt' - */ - 246U, - - /* Variable: n_polePairs - * Referenced by: '/n_polePairs' - */ - 15U, - - /* Variable: z_ctrlTypSel - * Referenced by: '/z_ctrlTypSel' - */ - 2U, - - /* Variable: z_selPhaCurMeasABC - * Referenced by: '/z_selPhaCurMeasABC' - */ - 0U, - - /* Variable: b_angleMeasEna - * Referenced by: - * '/b_angleMeasEna' - * '/b_angleMeasEna' - */ - 0, - - /* Variable: b_cruiseCtrlEna - * Referenced by: '/b_cruiseCtrlEna' - */ - 0, - - /* Variable: b_diagEna - * Referenced by: '/b_diagEna' - */ - 1, - - /* Variable: b_fieldWeakEna - * Referenced by: - * '/b_fieldWeakEna' - * '/b_fieldWeakEna' - */ - 0 -}; /* Modifiable parameters */ - -/* - * File trailer for generated code. - * - * [EOF] - */ diff --git a/body/board/bldc/bldc.c b/body/board/bldc/bldc.c deleted file mode 100644 index 1c5ea11f50a54b..00000000000000 --- a/body/board/bldc/bldc.c +++ /dev/null @@ -1,270 +0,0 @@ -/* -* This file implements FOC motor control. -* This control method offers superior performanace -* compared to previous cummutation method. The new method features: -* ► reduced noise and vibrations -* ► smooth torque output -* ► improved motor efficiency -> lower energy consumption -* -* Copyright (C) 2019-2020 Emanuel FERU -* -* This program is free software: you can redistribute it and/or modify -* it under the terms of the GNU General Public License as published by -* the Free Software Foundation, either version 3 of the License, or -* (at your option) any later version. -* -* This program is distributed in the hope that it will be useful, -* but WITHOUT ANY WARRANTY; without even the implied warranty of -* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -* GNU General Public License for more details. -* -* You should have received a copy of the GNU General Public License -* along with this program. If not, see . -*/ - -#include "stm32f4xx_hal.h" -#include "defines.h" -#include "config.h" -#include "util.h" - -// Matlab includes and defines - from auto-code generation -// ############################################################################### -#include "BLDC_controller.h" /* Model's header file */ -#include "rtwtypes.h" - -extern board_t board; - -extern RT_MODEL *const rtM_Left; -extern RT_MODEL *const rtM_Right; - -extern DW rtDW_Left; /* Observable states */ -extern ExtU rtU_Left; /* External inputs */ -extern ExtY rtY_Left; /* External outputs */ -extern P rtP_Left; - -extern DW rtDW_Right; /* Observable states */ -extern ExtU rtU_Right; /* External inputs */ -extern ExtY rtY_Right; /* External outputs */ -// ############################################################################### - -static int16_t pwm_margin; /* This margin allows to have a window in the PWM signal for proper FOC Phase currents measurement */ - -extern uint8_t ctrlModReq; -static int16_t curDC_max = (I_DC_MAX * A2BIT_CONV); -int16_t curL_phaA = 0, curL_phaB = 0, curL_DC = 0; -int16_t curR_phaB = 0, curR_phaC = 0, curR_DC = 0; - -volatile int pwml = 0; -volatile int pwmr = 0; - -extern volatile adc_buf_t adc_buffer; - -uint8_t buzzerFreq = 0; -uint8_t buzzerPattern = 0; -uint8_t buzzerCount = 0; -volatile uint32_t buzzerTimer = 0; -static uint8_t buzzerPrev = 0; -static uint8_t buzzerIdx = 0; - -uint8_t enable_motors = 0; // initially motors are disabled for SAFETY -static uint8_t enableFin = 0; - -static const uint16_t pwm_res = CORE_FREQ / 2 / PWM_FREQ; - -static uint16_t offsetcount = 0; -static int16_t offsetrlA = 2000; -static int16_t offsetrlB = 2000; -static int16_t offsetrrB = 2000; -static int16_t offsetrrC = 2000; -static int16_t offsetdcl = 2000; -static int16_t offsetdcr = 2000; - -int16_t batVoltage = (400 * BAT_CELLS * BAT_CALIB_ADC) / BAT_CALIB_REAL_VOLTAGE; -static int32_t batVoltageFixdt = (400 * BAT_CELLS * BAT_CALIB_ADC) / BAT_CALIB_REAL_VOLTAGE << 16; // Fixed-point filter output initialized at 400 V*100/cell = 4 V/cell converted to fixed-point - -int32_t motPosL = 0; -int32_t motPosR = 0; - -// DMA interrupt frequency =~ 16 kHz -void DMA2_Stream0_IRQHandler(void) { - DMA2->LIFCR = DMA_LIFCR_CTCIF0; - - if(offsetcount < 2000) { // calibrate ADC offsets - offsetcount++; - offsetrlA = (adc_buffer.rlA + offsetrlA) / 2; - offsetrlB = (adc_buffer.rlB + offsetrlB) / 2; - offsetrrB = (adc_buffer.rrB + offsetrrB) / 2; - offsetrrC = (adc_buffer.rrC + offsetrrC) / 2; - offsetdcl = (adc_buffer.dcl + offsetdcl) / 2; - offsetdcr = (adc_buffer.dcr + offsetdcr) / 2; - return; - } - - if (buzzerTimer % 1000 == 0) { // Filter battery voltage at a slower sampling rate - filtLowPass32(adc_buffer.batt1, BAT_FILT_COEF, &batVoltageFixdt); - batVoltage = (int16_t)(batVoltageFixdt >> 16); // convert fixed-point to integer - } - - // Get Left motor currents - curL_phaA = (int16_t)(offsetrlA - adc_buffer.rlA); - curL_phaB = (int16_t)(offsetrlB - adc_buffer.rlB); - curL_DC = (int16_t)(offsetdcl - adc_buffer.dcl); - - // Get Right motor currents - curR_phaB = (int16_t)(offsetrrB - adc_buffer.rrB); - curR_phaC = (int16_t)(offsetrrC - adc_buffer.rrC); - curR_DC = (int16_t)(offsetdcr - adc_buffer.dcr); - - // Disable PWM when current limit is reached (current chopping) - // This is the Level 2 of current protection. The Level 1 should kick in first given by I_MOT_MAX - if(ABS(curL_DC) > curDC_max || enable_motors == 0) { - LEFT_TIM->BDTR &= ~TIM_BDTR_MOE; - } else { - LEFT_TIM->BDTR |= TIM_BDTR_MOE; - } - - if(ABS(curR_DC) > curDC_max || enable_motors == 0) { - RIGHT_TIM->BDTR &= ~TIM_BDTR_MOE; - } else { - RIGHT_TIM->BDTR |= TIM_BDTR_MOE; - } - - // Create square wave for buzzer - buzzerTimer++; - if (buzzerFreq != 0 && (buzzerTimer / 5000) % (buzzerPattern + 1) == 0) { - if (buzzerPrev == 0) { - buzzerPrev = 1; - if (++buzzerIdx > (buzzerCount + 2)) { // pause 2 periods - buzzerIdx = 1; - } - } - if (buzzerTimer % buzzerFreq == 0 && (buzzerIdx <= buzzerCount || buzzerCount == 0)) { - HAL_GPIO_TogglePin(BUZZER_PORT, BUZZER_PIN); - } - } else if (buzzerPrev) { - HAL_GPIO_WritePin(BUZZER_PORT, BUZZER_PIN, GPIO_PIN_RESET); - buzzerPrev = 0; - } - - // Adjust pwm_margin depending on the selected Control Type - if (rtP_Left.z_ctrlTypSel == FOC_CTRL) { - pwm_margin = 110; - } else { - pwm_margin = 0; - } - - // ############################### MOTOR CONTROL ############################### - - int ul, vl, wl; - int ur, vr, wr; - static boolean_T OverrunFlag = false; - - if (OverrunFlag) { - return; - } - OverrunFlag = true; - - /* Make sure to stop BOTH motors in case of an error */ - enableFin = enable_motors && !rtY_Left.z_errCode && !rtY_Right.z_errCode; - - // ========================= LEFT MOTOR ============================ - uint8_t hall_ul = !(board.hall_left.hall_portA->IDR & board.hall_left.hall_pinA); - uint8_t hall_vl = !(board.hall_left.hall_portB->IDR & board.hall_left.hall_pinB); - uint8_t hall_wl = !(board.hall_left.hall_portC->IDR & board.hall_left.hall_pinC); - - rtU_Left.b_motEna = enableFin; - rtU_Left.z_ctrlModReq = ctrlModReq; - rtU_Left.r_inpTgt = pwml; - rtU_Left.b_hallA = hall_wl; - rtU_Left.b_hallB = hall_vl; - rtU_Left.b_hallC = hall_ul; - rtU_Left.i_phaAB = curL_phaA; - rtU_Left.i_phaBC = curL_phaB; - rtU_Left.i_DCLink = curL_DC; - - #ifdef MOTOR_LEFT_ENA - BLDC_controller_step(rtM_Left); - #endif - - ul = rtY_Left.DC_phaA; - vl = rtY_Left.DC_phaB; - wl = rtY_Left.DC_phaC; - - /* Apply commands */ - LEFT_TIM->LEFT_TIM_U = (uint16_t)CLAMP(ul + pwm_res / 2, pwm_margin, pwm_res-pwm_margin); - LEFT_TIM->LEFT_TIM_V = (uint16_t)CLAMP(vl + pwm_res / 2, pwm_margin, pwm_res-pwm_margin); - LEFT_TIM->LEFT_TIM_W = (uint16_t)CLAMP(wl + pwm_res / 2, pwm_margin, pwm_res-pwm_margin); - // ================================================================= - - - // ========================= RIGHT MOTOR =========================== - uint8_t hall_ur = !(board.hall_right.hall_portA->IDR & board.hall_right.hall_pinA); - uint8_t hall_vr = !(board.hall_right.hall_portB->IDR & board.hall_right.hall_pinB); - uint8_t hall_wr = !(board.hall_right.hall_portC->IDR & board.hall_right.hall_pinC); - - rtU_Right.b_motEna = enableFin; - rtU_Right.z_ctrlModReq = ctrlModReq; - rtU_Right.r_inpTgt = pwmr; - rtU_Right.b_hallA = hall_ur; - rtU_Right.b_hallB = hall_vr; - rtU_Right.b_hallC = hall_wr; - rtU_Right.i_phaAB = curR_phaB; - rtU_Right.i_phaBC = curR_phaC; - rtU_Right.i_DCLink = curR_DC; - - #ifdef MOTOR_RIGHT_ENA - BLDC_controller_step(rtM_Right); - #endif - - ur = rtY_Right.DC_phaA; - vr = rtY_Right.DC_phaB; - wr = rtY_Right.DC_phaC; - - /* Apply commands */ - RIGHT_TIM->RIGHT_TIM_U = (uint16_t)CLAMP(ur + pwm_res / 2, pwm_margin, pwm_res-pwm_margin); - RIGHT_TIM->RIGHT_TIM_V = (uint16_t)CLAMP(vr + pwm_res / 2, pwm_margin, pwm_res-pwm_margin); - RIGHT_TIM->RIGHT_TIM_W = (uint16_t)CLAMP(wr + pwm_res / 2, pwm_margin, pwm_res-pwm_margin); - // ================================================================= - - OverrunFlag = false; - - static int16_t motAngleLeftLast = 0; - static int16_t motAngleRightLast = 0; - static int32_t cycleDegsL = 0; // wheel encoder roll over count in deg - static int32_t cycleDegsR = 0; // wheel encoder roll over count in deg - int16_t diffL = 0; - int16_t diffR = 0; - static int16_t cnt = 0; - - if (enable_motors == 0) { // Reset everything if motors are disabled - cycleDegsL = 0; - cycleDegsR = 0; - diffL = 0; - diffR = 0; - cnt = 0; - } - if (cnt == 0) { - motAngleLeftLast = rtY_Left.a_elecAngle; - motAngleRightLast = rtY_Right.a_elecAngle; - } - - diffL = rtY_Left.a_elecAngle - motAngleLeftLast; - if (diffL < -180) { - cycleDegsL = cycleDegsL - 360; - } else if (diffL > 180) { - cycleDegsL = cycleDegsL + 360; - } - motPosL = cycleDegsL + (360 - rtY_Left.a_elecAngle); - - diffR = rtY_Right.a_elecAngle - motAngleRightLast; - if (diffR < -180) { - cycleDegsR = cycleDegsR - 360; - } else if (diffR > 180) { - cycleDegsR = cycleDegsR + 360; - } - motPosR = cycleDegsR + (360 - rtY_Right.a_elecAngle); - - motAngleLeftLast = rtY_Left.a_elecAngle; - motAngleRightLast = rtY_Right.a_elecAngle; - cnt++; -} diff --git a/body/board/bldc/rtwtypes.h b/body/board/bldc/rtwtypes.h deleted file mode 100644 index 3f68038730a617..00000000000000 --- a/body/board/bldc/rtwtypes.h +++ /dev/null @@ -1,104 +0,0 @@ -/* - * File: rtwtypes.h - * - * Code generated for Simulink model 'BLDC_controller'. - * - * Model version : 1.1297 - * Simulink Coder version : 8.13 (R2017b) 24-Jul-2017 - * C/C++ source code generated on : Sun Mar 6 11:02:11 2022 - * - * Target selection: ert.tlc - * Embedded hardware selection: ARM Compatible->ARM Cortex - * Emulation hardware selection: - * Differs from embedded hardware (MATLAB Host) - * Code generation objectives: - * 1. Execution efficiency - * 2. RAM efficiency - * Validation result: Not run - */ - -#ifndef RTWTYPES_H -#define RTWTYPES_H - -/* Logical type definitions */ -#if (!defined(__cplusplus)) -# ifndef false -# define false (0U) -# endif - -# ifndef true -# define true (1U) -# endif -#endif - -/*=======================================================================* - * Target hardware information - * Device type: MATLAB Host - * Number of bits: char: 8 short: 16 int: 32 - * long: 32 long long: 64 - * native word size: 64 - * Byte ordering: LittleEndian - * Signed integer division rounds to: Zero - * Shift right on a signed integer as arithmetic shift: on - *=======================================================================*/ - -/*=======================================================================* - * Fixed width word size data types: * - * int8_T, int16_T, int32_T - signed 8, 16, or 32 bit integers * - * uint8_T, uint16_T, uint32_T - unsigned 8, 16, or 32 bit integers * - * real32_T, real64_T - 32 and 64 bit floating point numbers * - *=======================================================================*/ -typedef signed char int8_T; -typedef unsigned char uint8_T; -typedef short int16_T; -typedef unsigned short uint16_T; -typedef int int32_T; -typedef unsigned int uint32_T; -typedef long long int64_T; -typedef unsigned long long uint64_T; -typedef float real32_T; -typedef double real64_T; - -/*===========================================================================* - * Generic type definitions: boolean_T, char_T, byte_T, int_T, uint_T, * - * real_T, time_T, ulong_T, ulonglong_T. * - *===========================================================================*/ -typedef double real_T; -typedef double time_T; -typedef unsigned char boolean_T; -typedef int int_T; -typedef unsigned int uint_T; -typedef unsigned long ulong_T; -typedef unsigned long long ulonglong_T; -typedef char char_T; -typedef unsigned char uchar_T; -typedef char_T byte_T; - -/*=======================================================================* - * Min and Max: * - * int8_T, int16_T, int32_T - signed 8, 16, or 32 bit integers * - * uint8_T, uint16_T, uint32_T - unsigned 8, 16, or 32 bit integers * - *=======================================================================*/ -#define MAX_int8_T ((int8_T)(127)) -#define MIN_int8_T ((int8_T)(-128)) -#define MAX_uint8_T ((uint8_T)(255U)) -#define MAX_int16_T ((int16_T)(32767)) -#define MIN_int16_T ((int16_T)(-32768)) -#define MAX_uint16_T ((uint16_T)(65535U)) -#define MAX_int32_T ((int32_T)(2147483647)) -#define MIN_int32_T ((int32_T)(-2147483647-1)) -#define MAX_uint32_T ((uint32_T)(0xFFFFFFFFU)) -#define MAX_int64_T ((int64_T)(9223372036854775807LL)) -#define MIN_int64_T ((int64_T)(-9223372036854775807LL-1LL)) -#define MAX_uint64_T ((uint64_T)(0xFFFFFFFFFFFFFFFFULL)) - -/* Block D-Work pointer type */ -typedef void * pointer_T; - -#endif /* RTWTYPES_H */ - -/* - * File trailer for generated code. - * - * [EOF] - */ diff --git a/body/board/boards.h b/body/board/boards.h deleted file mode 100644 index 777232540dbbcf..00000000000000 --- a/body/board/boards.h +++ /dev/null @@ -1,90 +0,0 @@ -extern uint8_t hw_type; -board_t board; - -void board_detect(void) { - hw_type = board_id(); - // 0 = base, 3 = knee - if (hw_type == HW_TYPE_BASE) { - board.hall_left.hall_portA = GPIOC; - board.hall_left.hall_pinA = GPIO_PIN_13; - board.hall_left.hall_portB = GPIOC; - board.hall_left.hall_pinB = GPIO_PIN_14; - board.hall_left.hall_portC = GPIOC; - board.hall_left.hall_pinC = GPIO_PIN_15; - - board.hall_right.hall_portA = GPIOC; - board.hall_right.hall_pinA = GPIO_PIN_10; - board.hall_right.hall_portB = GPIOC; - board.hall_right.hall_pinB = GPIO_PIN_11; - board.hall_right.hall_portC = GPIOC; - board.hall_right.hall_pinC = GPIO_PIN_12; - - board.CAN = CAN2; - board.can_alt_tx = GPIO_AF9_CAN2; - board.can_alt_rx = GPIO_AF9_CAN2; - board.can_pinRX = GPIO_PIN_5; - board.can_portRX = GPIOB; - board.can_pinTX = GPIO_PIN_6; - board.can_portTX = GPIOB; - board.can_pinEN = GPIO_PIN_7; - board.can_portEN = GPIOB; - - board.ignition_pin = GPIO_PIN_9; - board.ignition_port = GPIOB; - - board.led_pinR = GPIO_PIN_2; - board.led_portR = GPIOD; - board.led_pinG = GPIO_PIN_15; - board.led_portG = GPIOA; - board.led_pinB = GPIO_PIN_1; - board.led_portB = GPIOC; - - board.can_addr_offset = 0x0U; - board.uds_offset = 0x0U; - - } else if (hw_type == HW_TYPE_KNEE) { - board.hall_left.hall_portA = GPIOC; - board.hall_left.hall_pinA = GPIO_PIN_14; - board.hall_left.hall_portB = GPIOC; - board.hall_left.hall_pinB = GPIO_PIN_15; - board.hall_left.hall_portC = GPIOC; - board.hall_left.hall_pinC = GPIO_PIN_13; - - board.hall_right.hall_portA = GPIOD; - board.hall_right.hall_pinA = GPIO_PIN_2; - board.hall_right.hall_portB = GPIOC; - board.hall_right.hall_pinB = GPIO_PIN_0; - board.hall_right.hall_portC = GPIOC; - board.hall_right.hall_pinC = GPIO_PIN_1; - - board.CAN = CAN1; - board.can_alt_tx = GPIO_AF8_CAN1; - board.can_alt_rx = GPIO_AF9_CAN1; - board.can_pinRX = GPIO_PIN_11; - board.can_portRX = GPIOA; - board.can_pinTX = GPIO_PIN_9; - board.can_portTX = GPIOB; - board.can_pinEN = 0; // No pin, pulled down with 10k resistor - board.can_portEN = GPIOB; - - board.ignition_pin = 0; // No pin, always enabled - board.ignition_port = GPIOB; - - board.led_pinR = GPIO_PIN_2; - board.led_portR = GPIOB; - board.led_pinG = GPIO_PIN_15; - board.led_portG = GPIOA; - board.led_pinB = GPIO_PIN_5; - board.led_portB = GPIOB; - - board.can_addr_offset = KNEE_ADDR_OFFSET; - board.uds_offset = 0x10U; - - #ifndef BOOTSTUB - MX_I2C_Init(); - #endif - } else { - // Fail to detect, halt - while(1) {} - } -} diff --git a/body/board/bootstub.c b/body/board/bootstub.c deleted file mode 100644 index f75a93924ae933..00000000000000 --- a/body/board/bootstub.c +++ /dev/null @@ -1,119 +0,0 @@ -#define BOOTSTUB - -#define VERS_TAG 0x53524556 -#define MIN_VERSION 2 - -#define RECOVERY_MODE_DELAY 5 - -// ********************* Includes ********************* -#include -#include -#include "libc.h" -#include "stm32f4xx_hal.h" -#include "defines.h" -#include "setup.h" -#include "drivers/clock.h" -#include "early_init.h" - -#include "crypto/rsa.h" -#include "crypto/sha.h" - -#include "obj/cert.h" -#include "obj/gitversion.h" - -#include "drivers/llbxcan.h" -#include "drivers/llflash.h" -#include "provision.h" -#include "util.h" -#include "boards.h" - -#include "flasher.h" - -uint8_t hw_type; // type of the board detected(0 - base, 3 - knee) - -void __initialize_hardware_early(void) { - early_initialization(); -} - -void fail(void) { - soft_flasher_start(); -} - -// know where to sig check -extern void *_app_start[]; - -int main(void) { - HAL_Init(); - HAL_NVIC_SetPriorityGrouping(NVIC_PRIORITYGROUP_4); - HAL_NVIC_SetPriority(MemoryManagement_IRQn, 0, 0); - HAL_NVIC_SetPriority(BusFault_IRQn, 0, 0); - HAL_NVIC_SetPriority(UsageFault_IRQn, 0, 0); - HAL_NVIC_SetPriority(SVCall_IRQn, 0, 0); - HAL_NVIC_SetPriority(DebugMonitor_IRQn, 0, 0); - HAL_NVIC_SetPriority(PendSV_IRQn, 0, 0); - HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0); - - SystemClock_Config(); - MX_GPIO_Clocks_Init(); - - board_detect(); - MX_GPIO_Common_Init(); - - out_enable(POWERSWITCH, true); - out_enable(LED_RED, false); - out_enable(LED_GREEN, false); - out_enable(LED_BLUE, false); - - if(HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN) && (hw_type == HW_TYPE_BASE)) { - uint16_t cnt_press = 0; - while(HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) { - HAL_Delay(10); - cnt_press++; - if (cnt_press == (RECOVERY_MODE_DELAY * 100)) { - out_enable(LED_GREEN, true); - soft_flasher_start(); - } - } - } - - if (enter_bootloader_mode == ENTER_SOFTLOADER_MAGIC) { - enter_bootloader_mode = 0; - soft_flasher_start(); - } - - // validate length - int len = (int)_app_start[0]; - if ((len < 8) || (len > (0x1000000 - 0x4000 - 4 - RSANUMBYTES))) goto fail; - - // compute SHA hash - uint8_t digest[SHA_DIGEST_SIZE]; - SHA_hash(&_app_start[1], len-4, digest); - - // verify version, last bytes in the signed area - uint32_t vers[2] = {0}; - memcpy(&vers, ((void*)&_app_start[0]) + len - sizeof(vers), sizeof(vers)); - if (vers[0] != VERS_TAG || vers[1] < MIN_VERSION) { - goto fail; - } - - // verify RSA signature - if (RSA_verify(&release_rsa_key, ((void*)&_app_start[0]) + len, RSANUMBYTES, digest, SHA_DIGEST_SIZE)) { - goto good; - } - - // allow debug if built from source -#ifdef ALLOW_DEBUG - if (RSA_verify(&debug_rsa_key, ((void*)&_app_start[0]) + len, RSANUMBYTES, digest, SHA_DIGEST_SIZE)) { - goto good; - } -#endif - -// here is a failure -fail: - fail(); - return 0; -good: - // jump to flash - ((void(*)(void)) _app_start[1])(); - return 0; -} diff --git a/body/board/canloader.py b/body/board/canloader.py deleted file mode 100755 index 624e6bf7a4159e..00000000000000 --- a/body/board/canloader.py +++ /dev/null @@ -1,59 +0,0 @@ -#!/usr/bin/env python3 -import os -import time -import argparse -import _thread -from panda import Panda, MCU_TYPE_F4 # pylint: disable=import-error -from panda.tests.pedal.canhandle import CanHandle # pylint: disable=import-error - - -def heartbeat_thread(p): - while True: - try: - p.send_heartbeat() - time.sleep(0.5) - except Exception: - continue - -def flush_panda(): - while(1): - if len(p.can_recv()) == 0: - break - -def flasher(p, addr, file): - p.can_send(addr, b"\xce\xfa\xad\xde\x1e\x0b\xb0\x0a", 0) - time.sleep(0.1) - print("flashing", file) - flush_panda() - code = open(file, "rb").read() - retries = 3 # How many times to retry on timeout error - while(retries+1>0): - try: - Panda.flash_static(CanHandle(p, 0), code, MCU_TYPE_F4) - except TimeoutError: - print("Timeout, trying again...") - retries -= 1 - else: - print("Successfully flashed") - break - - -if __name__ == "__main__": - parser = argparse.ArgumentParser(description='Flash body over can') - parser.add_argument("board", type=str, nargs='?', help="choose base or knee") - parser.add_argument("fn", type=str, nargs='?', help="flash file") - args = parser.parse_args() - - assert args.board in ["base", "knee"] - assert os.path.isfile(args.fn) - - addr = 0x250 if args.board == "base" else 0x350 - - p = Panda() - _thread.start_new_thread(heartbeat_thread, (p,)) - p.set_safety_mode(Panda.SAFETY_BODY) - - print("Flashing motherboard") - flasher(p, addr, args.fn) - - print("CAN flashing done") diff --git a/body/board/comms.h b/body/board/comms.h deleted file mode 100644 index 342163c8832498..00000000000000 --- a/body/board/comms.h +++ /dev/null @@ -1,190 +0,0 @@ -// Define to prevent recursive inclusion -#ifndef COMMS_H -#define COMMS_H - -#define OFFSET 0x8U -#define BROADCAST_ADDR 0x7DFU -#define FALLBACK_ADDR 0x7E0U -#define FALLBACK_R_ADDR (FALLBACK_ADDR + OFFSET) -#define ENGINE_ADDR 0x720U -#define ENGINE_R_ADDR (ENGINE_ADDR + OFFSET) -#define DEBUG_ADDR 0x721U -#define DEBUG_R_ADDR (DEBUG_ADDR + OFFSET) - -#include "drivers/llbxcan.h" -#include "uds.h" - -extern P rtP_Left; -extern P rtP_Right; -extern volatile int16_t cmdL; // global variable for Left Command -extern volatile int16_t cmdR; // global variable for Right Command -extern uint8_t hw_type; -extern board_t board; - -extern uint32_t enter_bootloader_mode; -extern volatile uint32_t torque_cmd_timeout; - -extern volatile uint32_t ignition_off_counter; - -const uint8_t crc_poly = 0xD5U; // standard crc8 -uint32_t current_idx = 0; - -typedef struct { - volatile uint32_t w_ptr; - volatile uint32_t r_ptr; - uint32_t fifo_size; - CAN_FIFOMailBox_TypeDef *elems; -} can_ring; - -#define can_buffer(x, size) \ - CAN_FIFOMailBox_TypeDef elems_##x[size]; \ - can_ring can_##x = { .w_ptr = 0, .r_ptr = 0, .fifo_size = (size), .elems = (CAN_FIFOMailBox_TypeDef *)&(elems_##x) }; - -can_buffer(tx_q, 0x1A0) - -bool can_pop(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) { - bool ret = 0; - - if (q->w_ptr != q->r_ptr) { - *elem = q->elems[q->r_ptr]; - if ((q->r_ptr + 1U) == q->fifo_size) { - q->r_ptr = 0; - } else { - q->r_ptr += 1U; - } - ret = 1; - } - return ret; -} - -bool can_push(can_ring *q, CAN_FIFOMailBox_TypeDef *elem) { - bool ret = false; - uint32_t next_w_ptr; - - if ((q->w_ptr + 1U) == q->fifo_size) { - next_w_ptr = 0; - } else { - next_w_ptr = q->w_ptr + 1U; - } - if (next_w_ptr != q->r_ptr) { - q->elems[q->w_ptr] = *elem; - q->w_ptr = next_w_ptr; - ret = true; - } - return ret; -} - -void can_send_msg(uint32_t addr, uint32_t dhr, uint32_t dlr, uint8_t len) { - CAN_FIFOMailBox_TypeDef to_push; - - to_push.RDHR = dhr; - to_push.RDLR = dlr; - to_push.RDTR = len; - to_push.RIR = ((addr >= 0x800U) ? ((addr << 3) | (1U << 2)) : (addr << 21)) | 1; - - can_push(&can_tx_q, &to_push); -} - -void process_can(void) { - __disable_irq(); - CAN_FIFOMailBox_TypeDef to_send; - if ((board.CAN->TSR & CAN_TSR_TME0) == CAN_TSR_TME0) { - if (can_pop(&can_tx_q, &to_send)) { - board.CAN->sTxMailBox[0].TDLR = to_send.RDLR; - board.CAN->sTxMailBox[0].TDHR = to_send.RDHR; - board.CAN->sTxMailBox[0].TDTR = to_send.RDTR; - board.CAN->sTxMailBox[0].TIR = to_send.RIR; - } - } - __enable_irq(); -} - -void can_rx(void) { - while ((board.CAN->RF0R & CAN_RF0R_FMP0) != 0) { - uint32_t address = board.CAN->sFIFOMailBox[0].RIR >> 21; - if (address == (0x250U + board.can_addr_offset)) { - if ((GET_MAILBOX_BYTES_04(&board.CAN->sFIFOMailBox[0]) == 0xdeadface) && (GET_MAILBOX_BYTES_48(&board.CAN->sFIFOMailBox[0]) == 0x0ab00b1e)) { - enter_bootloader_mode = ENTER_SOFTLOADER_MAGIC; - NVIC_SystemReset(); - } - #define MSG_TRQ_LEN 6 - uint8_t dat[MSG_TRQ_LEN]; - for (int i=0; isFIFOMailBox[0], i); - } - uint16_t valueL = ((dat[0] << 8U) | dat[1]); - uint16_t valueR = ((dat[2] << 8U) | dat[3]); - - uint8_t idx = dat[4] & 0xFU; - if (crc_checksum(dat, 5, crc_poly) == dat[5]) { - if (((current_idx + 1U) & 0xFU) == idx) { - cmdL = valueL; - cmdR = valueR; - torque_cmd_timeout = 0; - } - current_idx = idx; - } - out_enable(LED_BLUE, true); - } else if (address == (0x251U + board.can_addr_offset)) { - #define MSG_SPD_LEN 5 - uint8_t dat[MSG_TRQ_LEN]; - for (int i=0; isFIFOMailBox[0], i); - } - uint16_t valueL = ((dat[0] << 8U) | dat[1]); - uint16_t valueR = ((dat[2] << 8U) | dat[3]); - - if (crc_checksum(dat, 4, crc_poly) == dat[4]) { - if ((valueL == 0) || (valueR == 0)) { - rtP_Left.n_max = rtP_Right.n_max = N_MOT_MAX << 4; - } else { - rtP_Left.n_max = valueL << 4; - rtP_Right.n_max = valueR << 4; - } - } - out_enable(LED_BLUE, true); - } else if ((address == BROADCAST_ADDR) || // Process UBS and OBD2 requests - (address == FALLBACK_ADDR) || - (address == (ENGINE_ADDR + board.uds_offset)) || - (address == (DEBUG_ADDR + board.uds_offset))) { - process_uds(address, GET_MAILBOX_BYTES_04(&board.CAN->sFIFOMailBox[0])); - out_enable(LED_BLUE, true); - } else if ((hw_type == HW_TYPE_BASE) && (address == 0x203U + KNEE_ADDR_OFFSET)) { // detect knee by body and set flag for use with UDS message - knee_detected = 1; - } else if ((hw_type == HW_TYPE_KNEE) && (address == 0x202U)) { // CAN based ignition for knee - ignition_off_counter = 0; - } - // next - board.CAN->RF0R |= CAN_RF0R_RFOM0; - } -} - -void CAN1_TX_IRQHandler(void) { - // clear interrupt - board.CAN->TSR |= CAN_TSR_RQCP0; - process_can(); -} - -void CAN1_SCE_IRQHandler(void) { - llcan_clear_send(board.CAN); -} - -void CAN1_RX0_IRQHandler(void) { - can_rx(); -} - -void CAN2_TX_IRQHandler(void) { - // clear interrupt - board.CAN->TSR |= CAN_TSR_RQCP0; - process_can(); -} - -void CAN2_SCE_IRQHandler(void) { - llcan_clear_send(board.CAN); -} - -void CAN2_RX0_IRQHandler(void) { - can_rx(); -} - -#endif diff --git a/body/board/config.h b/body/board/config.h deleted file mode 100644 index a6271ec749c873..00000000000000 --- a/body/board/config.h +++ /dev/null @@ -1,79 +0,0 @@ -// Define to prevent recursive inclusion -#ifndef CONFIG_H -#define CONFIG_H - -#include "stm32f4xx_hal.h" - -#define CORE_FREQ 96000000U // MCU frequency in hertz -#define I2C_CLOCKSPEED 100 // I2C clock in kHz -#define PWM_FREQ 16000 // PWM frequency in Hz / is also used for buzzer -#define DEAD_TIME 48 // PWM deadtime -#define DELAY_IN_MAIN_LOOP 5 // in ms. default 5. it is independent of all the timing critical stuff. do not touch if you do not know what you are doing. -#define A2BIT_CONV 50 // A to bit for current conversion on ADC. Example: 1 A = 50, 2 A = 100, etc - -#define IGNITION_OFF_DELAY 5 // Stop sending CAN messages after 5 seconds - -#define ADC_CONV_CLOCK_CYCLES (ADC_SAMPLETIME_15CYCLES) -#define ADC_CLOCK_DIV (4) -#define ADC_TOTAL_CONV_TIME (ADC_CLOCK_DIV * ADC_CONV_CLOCK_CYCLES) // = ((SystemCoreClock / ADC_CLOCK_HZ) * ADC_CONV_CLOCK_CYCLES), where ADC_CLOCK_HZ = SystemCoreClock/ADC_CLOCK_DIV - -#define KNEE_ADDR_OFFSET 0x100U -#define ANGLE_TO_DEGREES 0.021972656 // Convert 14 bit angle sensor output to degrees -#define GEARBOX_RATIO_LEFT 19 -#define GEARBOX_RATIO_RIGHT 19 -#define TRQ_LIMIT_LEFT 400 // Torque limit for knee gearbox(left) -#define TRQ_LIMIT_RIGHT 200 // Torque limit for hip gearbox(right) - -#define BAT_FILT_COEF 655 // battery voltage filter coefficient in fixed-point. coef_fixedPoint = coef_floatingPoint * 2^16. In this case 655 = 0.01 * 2^16 -#define BAT_CALIB_REAL_VOLTAGE 3192 // input voltage measured by multimeter (multiplied by 100). In this case 43.00 V * 100 = 4300 -#define BAT_CALIB_ADC 1275 // adc-value measured by mainboard (value nr 5 on UART debug output) -#define BAT_CELLS 7 // battery number of cells. Normal Hoverboard battery: 10s -#define VOLTS_PER_PERCENT 0.00814 // Volts per percent, for conversion of volts to percentage -#define BAT_LVL2 (358 * BAT_CELLS * BAT_CALIB_ADC) / BAT_CALIB_REAL_VOLTAGE // 24% -#define BAT_LVL1 (351 * BAT_CELLS * BAT_CALIB_ADC) / BAT_CALIB_REAL_VOLTAGE // 15% -#define BAT_DEAD (339 * BAT_CELLS * BAT_CALIB_ADC) / BAT_CALIB_REAL_VOLTAGE // 0% - -#define TEMP_FILT_COEF 655 // temperature filter coefficient in fixed-point. coef_fixedPoint = coef_floatingPoint * 2^16. In this case 655 = 0.01 * 2^16 -#define TEMP_CAL_LOW_ADC 945 // temperature 1: ADC value -#define TEMP_CAL_LOW_DEG_C 250 // temperature 1: measured temperature [°C * 10]. Here 35.8 °C -#define TEMP_CAL_HIGH_ADC 949 // temperature 2: ADC value -#define TEMP_CAL_HIGH_DEG_C 251 // temperature 2: measured temperature [°C * 10]. Here 48.9 °C -#define TEMP_WARNING_ENABLE 0 // to beep or not to beep, 1 or 0, DO NOT ACTIVITE WITHOUT CALIBRATION! -#define TEMP_WARNING 600 // annoying fast beeps [°C * 10]. Here 60.0 °C -#define TEMP_POWEROFF_ENABLE 0 // to poweroff or not to poweroff, 1 or 0, DO NOT ACTIVITE WITHOUT CALIBRATION! -#define TEMP_POWEROFF 650 // overheat poweroff. (while not driving) [°C * 10]. Here 65.0 °C - -#define COM_CTRL 0 // [-] Commutation Control Type -#define SIN_CTRL 1 // [-] Sinusoidal Control Type -#define FOC_CTRL 2 // [-] Field Oriented Control (FOC) Type - -#define OPEN_MODE 0 // [-] OPEN mode -#define VLT_MODE 1 // [-] VOLTAGE mode -#define SPD_MODE 2 // [-] SPEED mode -#define TRQ_MODE 3 // [-] TORQUE mode - -// Enable/Disable Motor -#define MOTOR_LEFT_ENA // [-] Enable LEFT motor. Comment-out if this motor is not needed to be operational -#define MOTOR_RIGHT_ENA // [-] Enable RIGHT motor. Comment-out if this motor is not needed to be operational - -// Control selections -#define CTRL_TYP_SEL FOC_CTRL // [-] Control type selection: COM_CTRL, SIN_CTRL, FOC_CTRL (default) -#define CTRL_MOD_REQ TRQ_MODE // [-] Control mode request: OPEN_MODE, VLT_MODE (default), SPD_MODE, TRQ_MODE. Note: SPD_MODE and TRQ_MODE are only available for CTRL_FOC! -#define DIAG_ENA 1 // [-] Motor Diagnostics enable flag: 0 = Disabled, 1 = Enabled (default) - -// Limitation settings -#define I_MOT_MAX 15 // [A] Maximum single motor current limit -#define I_DC_MAX 17 // [A] Maximum stage2 DC Link current limit for Commutation and Sinusoidal types (This is the final current protection. Above this value, current chopping is applied. To avoid this make sure that I_DC_MAX = I_MOT_MAX + 2A) -#define N_MOT_MAX 100 // [rpm] Maximum motor speed limit // 100 ~= 52m/m -#define TORQUE_BASE_MAX 1000 - -// Field Weakening / Phase Advance -#define FIELD_WEAK_ENA 0 // [-] Field Weakening / Phase Advance enable flag: 0 = Disabled (default), 1 = Enabled -#define FIELD_WEAK_MAX 5 // [A] Maximum Field Weakening D axis current (only for FOC). Higher current results in higher maximum speed. Up to 10A has been tested using 10" wheels. -#define PHASE_ADV_MAX 25 // [deg] Maximum Phase Advance angle (only for SIN). Higher angle results in higher maximum speed. -#define FIELD_WEAK_HI 1000 // (1000, 1500] Input target High threshold for reaching maximum Field Weakening / Phase Advance. Do NOT set this higher than 1500. -#define FIELD_WEAK_LO 750 // ( 500, 1000] Input target Low threshold for starting Field Weakening / Phase Advance. Do NOT set this higher than 1000. - -#define SPEED_COEFFICIENT 16384 // Default for SPEED_COEFFICIENT 1.0f [-] higher value == stronger. [0, 65535] = [-2.0 - 2.0]. In this case 16384 = 1.0 * 2^14 - -#endif diff --git a/body/board/defines.h b/body/board/defines.h deleted file mode 100644 index bc7459a51f736a..00000000000000 --- a/body/board/defines.h +++ /dev/null @@ -1,188 +0,0 @@ -// Define to prevent recursive inclusion -#ifndef DEFINES_H -#define DEFINES_H - -#include "stm32f4xx_hal.h" -#include "config.h" - -#define LEFT_TIM TIM8 -#define LEFT_TIM_U CCR1 -#define LEFT_TIM_UH_PIN GPIO_PIN_6 -#define LEFT_TIM_UH_PORT GPIOC -#define LEFT_TIM_UL_PIN GPIO_PIN_7 -#define LEFT_TIM_UL_PORT GPIOA -#define LEFT_TIM_V CCR2 -#define LEFT_TIM_VH_PIN GPIO_PIN_7 -#define LEFT_TIM_VH_PORT GPIOC -#define LEFT_TIM_VL_PIN GPIO_PIN_0 -#define LEFT_TIM_VL_PORT GPIOB -#define LEFT_TIM_W CCR3 -#define LEFT_TIM_WH_PIN GPIO_PIN_8 -#define LEFT_TIM_WH_PORT GPIOC -#define LEFT_TIM_WL_PIN GPIO_PIN_1 -#define LEFT_TIM_WL_PORT GPIOB - -#define RIGHT_TIM TIM1 -#define RIGHT_TIM_U CCR1 -#define RIGHT_TIM_UH_PIN GPIO_PIN_8 -#define RIGHT_TIM_UH_PORT GPIOA -#define RIGHT_TIM_UL_PIN GPIO_PIN_13 -#define RIGHT_TIM_UL_PORT GPIOB -#define RIGHT_TIM_V CCR2 -#define RIGHT_TIM_VH_PIN GPIO_PIN_9 -#define RIGHT_TIM_VH_PORT GPIOA -#define RIGHT_TIM_VL_PIN GPIO_PIN_14 -#define RIGHT_TIM_VL_PORT GPIOB -#define RIGHT_TIM_W CCR3 -#define RIGHT_TIM_WH_PIN GPIO_PIN_10 -#define RIGHT_TIM_WH_PORT GPIOA -#define RIGHT_TIM_WL_PIN GPIO_PIN_15 -#define RIGHT_TIM_WL_PORT GPIOB - -#define LEFT_DC_CUR_PIN GPIO_PIN_3 -#define LEFT_U_CUR_PIN GPIO_PIN_5 -#define LEFT_V_CUR_PIN GPIO_PIN_6 - -#define LEFT_DC_CUR_PORT GPIOA -#define LEFT_U_CUR_PORT GPIOA -#define LEFT_V_CUR_PORT GPIOA - -#define RIGHT_DC_CUR_PIN GPIO_PIN_2 -#define RIGHT_U_CUR_PIN GPIO_PIN_0 -#define RIGHT_V_CUR_PIN GPIO_PIN_1 - -#define RIGHT_DC_CUR_PORT GPIOA -#define RIGHT_U_CUR_PORT GPIOA -#define RIGHT_V_CUR_PORT GPIOA - -#define BATT_PIN GPIO_PIN_4 -#define BATT_PORT GPIOA - -#define BUZZER_PIN GPIO_PIN_2 -#define BUZZER_PORT GPIOC - -#define OFF_PIN GPIO_PIN_4 -#define OFF_PORT GPIOC - -#define BUTTON_PIN GPIO_PIN_8 -#define BUTTON_PORT GPIOB - -#define CHARGER_PIN GPIO_PIN_12 -#define CHARGER_PORT GPIOA - -#define SW_I2C1_SCL_GPIO GPIOB -#define SW_I2C1_SDA_GPIO GPIOB -#define SW_I2C1_SCL_PIN GPIO_PIN_3 -#define SW_I2C1_SDA_PIN GPIO_PIN_4 - -// UID pins -#define KEY1_PIN GPIO_PIN_10 -#define KEY1_PORT GPIOB -#define KEY2_PIN GPIO_PIN_9 -#define KEY2_PORT GPIOC - -#define DELAY_TIM_FREQUENCY_US 1000000 - -#define MILLI_R (R * 1000) -#define MILLI_PSI (PSI * 1000) -#define MILLI_V (V * 1000) - -#define NO 0 -#define YES 1 -#define ABS(a) (((a) < 0) ? -(a) : (a)) -#define LIMIT(x, lowhigh) (((x) > (lowhigh)) ? (lowhigh) : (((x) < (-lowhigh)) ? (-lowhigh) : (x))) -#define SAT(x, lowhigh) (((x) > (lowhigh)) ? (1.0f) : (((x) < (-lowhigh)) ? (-1.0f) : (0.0f))) -#define SAT2(x, low, high) (((x) > (high)) ? (1.0f) : (((x) < (low)) ? (-1.0f) : (0.0f))) -#define STEP(from, to, step) (((from) < (to)) ? (MIN((from) + (step), (to))) : (MAX((from) - (step), (to)))) -#define DEG(a) ((a)*M_PI / 180.0f) -#define RAD(a) ((a)*180.0f / M_PI) -#define SIGN(a) (((a) < 0) ? (-1) : (((a) > 0) ? (1) : (0))) -#define CLAMP(x, low, high) (((x) > (high)) ? (high) : (((x) < (low)) ? (low) : (x))) -#define IN_RANGE(x, low, high) (((x) >= (low)) && ((x) <= (high))) -#define SCALE(value, high, max) MIN(MAX(((max) - (value)) / ((max) - (high)), 0.0f), 1.0f) -#define MIN(a, b) (((a) < (b)) ? (a) : (b)) -#define MAX(a, b) (((a) > (b)) ? (a) : (b)) -#define MIN3(a, b, c) MIN(a, MIN(b, c)) -#define MAX3(a, b, c) MAX(a, MAX(b, c)) -#define ARRAY_LEN(x) (uint32_t)(sizeof(x) / sizeof(*(x))) -#define MAP(x, in_min, in_max, out_min, out_max) (((((x) - (in_min)) * ((out_max) - (out_min))) / ((in_max) - (in_min))) + (out_min)) - -#define GET_MAILBOX_BYTE(msg, b) (((int)(b) > 3) ? (((msg)->RDHR >> (8U * ((unsigned int)(b) % 4U))) & 0xFFU) : (((msg)->RDLR >> (8U * (unsigned int)(b))) & 0xFFU)) -#define GET_MAILBOX_BYTES_04(msg) ((msg)->RDLR) -#define GET_MAILBOX_BYTES_48(msg) ((msg)->RDHR) - -#define BOOT_NORMAL 0xdeadb111U -#define ENTER_SOFTLOADER_MAGIC 0xdeadc0deU - -#define APP_START_ADDRESS 0x8004000U -#define DEVICE_SERIAL_NUMBER_ADDRESS 0x1FFF79C0U - -#define COMPILE_TIME_ASSERT(pred) ((void)sizeof(char[1 - (2 * ((int)(!(pred))))])) - -#define LED_RED 0 -#define LED_GREEN 1 -#define LED_BLUE 2 -#define IGNITION 3 -#define POWERSWITCH 4 -#define TRANSCEIVER 5 - -#define HW_TYPE_BASE 0 -#define HW_TYPE_KNEE 3 - -typedef struct { - uint32_t rrB; - uint32_t rrC; - uint32_t rlA; - uint32_t rlB; - uint32_t dcr; - uint32_t dcl; - uint32_t batt1; - uint32_t temp; -} adc_buf_t; - -typedef struct { - GPIO_TypeDef* hall_portA; - uint16_t hall_pinA; - GPIO_TypeDef* hall_portB; - uint16_t hall_pinB; - GPIO_TypeDef* hall_portC; - uint16_t hall_pinC; -} hall_sensor; - -typedef struct { - hall_sensor hall_left; - hall_sensor hall_right; - - CAN_TypeDef* CAN; - uint8_t can_alt_tx; - uint8_t can_alt_rx; - GPIO_TypeDef* can_portTX; - uint16_t can_pinTX; - GPIO_TypeDef* can_portRX; - uint16_t can_pinRX; - GPIO_TypeDef* can_portEN; - uint16_t can_pinEN; - - GPIO_TypeDef* ignition_port; - uint16_t ignition_pin; - - uint16_t can_addr_offset; - uint8_t uds_offset; - - GPIO_TypeDef* led_portR; - uint16_t led_pinR; - GPIO_TypeDef* led_portG; - uint16_t led_pinG; - GPIO_TypeDef* led_portB; - uint16_t led_pinB; - -} board_t; - -typedef struct { - uint8_t left_i2c : 1; - uint8_t left_angle : 1; - uint8_t right_i2c : 1; - uint8_t right_angle : 1; -} fault_status_t; - -#endif // DEFINES_H diff --git a/body/board/drivers/angle_sensor.h b/body/board/drivers/angle_sensor.h deleted file mode 100644 index 72f0a857e0e18b..00000000000000 --- a/body/board/drivers/angle_sensor.h +++ /dev/null @@ -1,69 +0,0 @@ -// Default addresses for AS5048B -#define AS5048_ADDRESS_LEFT 0x40 -#define AS5048_ADDRESS_RIGHT 0x41 -#define UNKNOWN_IMU 0x68 - -#define AS5048B_PROG_REG 0x03 -#define AS5048B_ADDR_REG 0x15 -#define AS5048B_ZEROMSB_REG 0x16 //bits 0..7 -#define AS5048B_ZEROLSB_REG 0x17 //bits 0..5 -#define AS5048B_GAIN_REG 0xFA -#define AS5048B_DIAG_REG 0xFB -#define AS5048B_MAGNMSB_REG 0xFC //bits 0..7 -#define AS5048B_MAGNLSB_REG 0xFD //bits 0..5 -#define AS5048B_ANGLMSB_REG 0xFE //bits 0..7 -#define AS5048B_ANGLLSB_REG 0xFF //bits 0..5 - -extern I2C_HandleTypeDef hi2c1; - -const uint8_t init_imu_regaddr[] = {0x76, 0x4c, 0x4e, 0x4f, 0x50, 0x51, 0x52, 0x53}; -const uint8_t init_imu_data[] = {0x00, 0x12, 0x2f, 0x26, 0x67, 0x04, 0x00, 0x00}; - -fault_status_t fault_status = {0}; - -void angle_sensor_read(uint16_t *sensor_angle) { - - if (fault_status.left_i2c && fault_status.right_i2c) { // Try to reinitialize halted I2C - if (HAL_I2C_Init(&hi2c1) == HAL_OK) { - fault_status.left_i2c = 0; - fault_status.right_i2c = 0; - } - } - - uint8_t buf[2]; - if (HAL_I2C_Mem_Read(&hi2c1, (AS5048_ADDRESS_LEFT<<1), AS5048B_ANGLMSB_REG, I2C_MEMADD_SIZE_8BIT, buf, 2, 10) == HAL_OK) { - sensor_angle[0] = (buf[0] << 6) | (buf[1] & 0x3F); - fault_status.left_i2c = 0; - } else { - fault_status.left_i2c = 1; - } - if (HAL_I2C_Mem_Read(&hi2c1, (AS5048_ADDRESS_RIGHT<<1), AS5048B_ANGLMSB_REG, I2C_MEMADD_SIZE_8BIT, buf, 2, 10) == HAL_OK) { - sensor_angle[1] = (buf[0] << 6) | (buf[1] & 0x3F); - fault_status.right_i2c = 0; - } else { - fault_status.right_i2c = 1; - } -} - -void IMU_soft_init(void) { - i2c_port_init(); - - for (int8_t i = 3; i > 0; i--) { - SW_I2C_WriteControl_8Bit((UNKNOWN_IMU<<1), 0x75, 0x00); - } - for (int8_t i = sizeof(init_imu_regaddr)-1; i >= 0; i--) { - SW_I2C_WriteControl_8Bit((UNKNOWN_IMU<<1), init_imu_regaddr[i], init_imu_data[i]); - } -} - -void IMU_soft_sensor_read(uint16_t *unknown_imu_data) { - static uint8_t buf[12]; - - SW_I2C_WriteControl_8Bit((UNKNOWN_IMU<<1), 0x76, 0x00); - SW_I2C_Multi_ReadnControl_8Bit((UNKNOWN_IMU<<1), 0x1F, 6, buf); - SW_I2C_Multi_ReadnControl_8Bit((UNKNOWN_IMU<<1), 0x25, 6, &buf[6]); - - for (int8_t i = 5; i >= 0; i--) { - unknown_imu_data[i] = (buf[i*2] << 8) | (buf[(i*2)+1]); - } -} diff --git a/body/board/drivers/clock.h b/body/board/drivers/clock.h deleted file mode 100644 index 39a301f9288ede..00000000000000 --- a/body/board/drivers/clock.h +++ /dev/null @@ -1,63 +0,0 @@ -void Error_Handler(void) -{ - /* USER CODE BEGIN Error_Handler_Debug */ - /* User can add his own implementation to report the HAL error return state */ - __disable_irq(); - while (1) - { - } - /* USER CODE END Error_Handler_Debug */ -} -/** System Clock Configuration -*/ -void SystemClock_Config(void) { - RCC_OscInitTypeDef RCC_OscInitStruct; - RCC_ClkInitTypeDef RCC_ClkInitStruct; - - /** Configure the main internal regulator output voltage - */ - __HAL_RCC_SYSCFG_CLK_ENABLE(); - __HAL_RCC_PWR_CLK_ENABLE(); - __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1); - - /**Initializes the CPU, AHB and APB busses clocks - */ - RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI; - RCC_OscInitStruct.HSIState = RCC_HSI_ON; - RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT; - RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON; - RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI; - - RCC_OscInitStruct.PLL.PLLM = 8; - RCC_OscInitStruct.PLL.PLLN = 96; // Gives 96 Mhz core clock - RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2; - RCC_OscInitStruct.PLL.PLLQ = 2; - RCC_OscInitStruct.PLL.PLLR = 2; - if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) { - Error_Handler(); - } - - /**Initializes the CPU, AHB and APB busses clocks - */ - RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK - |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2; - RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK; - RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1; - RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2; - RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1; - - if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK) { - Error_Handler(); - } - - /**Configure the Systick interrupt time - */ - HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq() / 1000); - - /**Configure the Systick - */ - HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK); - - /* SysTick_IRQn interrupt configuration */ - HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0); -} diff --git a/body/board/drivers/i2c_soft.h b/body/board/drivers/i2c_soft.h deleted file mode 100644 index aa6280bd9a56c1..00000000000000 --- a/body/board/drivers/i2c_soft.h +++ /dev/null @@ -1,305 +0,0 @@ -#define SW_I2C_WAIT_TIME 22 - -#define I2C_READ 0x01 -#define READ_CMD 1 -#define WRITE_CMD 0 - - -void SW_I2C_init(void) -{ - GPIO_InitTypeDef GPIO_InitStructure = { 0 }; - - GPIO_InitStructure.Speed = GPIO_SPEED_FREQ_HIGH; - GPIO_InitStructure.Mode = GPIO_MODE_OUTPUT_PP; - - GPIO_InitStructure.Pin = SW_I2C1_SCL_PIN; - HAL_GPIO_Init(SW_I2C1_SCL_GPIO, &GPIO_InitStructure); - GPIO_InitStructure.Pin = SW_I2C1_SDA_PIN; - HAL_GPIO_Init(SW_I2C1_SDA_GPIO, &GPIO_InitStructure); -} - -uint8_t SW_I2C_ReadVal_SDA(void) -{ - uint8_t ret; - ret = (uint16_t)HAL_GPIO_ReadPin(SW_I2C1_SDA_GPIO, SW_I2C1_SDA_PIN); - return ret; -} - -void sda_high(void) -{ - HAL_GPIO_WritePin(SW_I2C1_SDA_GPIO, SW_I2C1_SDA_PIN, GPIO_PIN_SET); -} - - -void sda_low(void) -{ - HAL_GPIO_WritePin(SW_I2C1_SDA_GPIO, SW_I2C1_SDA_PIN, GPIO_PIN_RESET); -} - - -void scl_high(void) -{ - HAL_GPIO_WritePin(SW_I2C1_SCL_GPIO, SW_I2C1_SCL_PIN, GPIO_PIN_SET); -} - - -void scl_low(void) -{ - HAL_GPIO_WritePin(SW_I2C1_SCL_GPIO, SW_I2C1_SCL_PIN, GPIO_PIN_RESET); -} - -void sda_out(uint8_t out) -{ - if (out) { - sda_high(); - } else { - sda_low(); - } -} - -void sda_in_mode(void) -{ - GPIO_InitTypeDef GPIO_InitStructure = { 0 }; - - GPIO_InitStructure.Speed = GPIO_SPEED_FREQ_HIGH; - GPIO_InitStructure.Mode = GPIO_MODE_INPUT; - - GPIO_InitStructure.Pin = SW_I2C1_SDA_PIN; - HAL_GPIO_Init(SW_I2C1_SDA_GPIO, &GPIO_InitStructure); -} - -void sda_out_mode(void) -{ - GPIO_InitTypeDef GPIO_InitStructure = { 0 }; - - GPIO_InitStructure.Speed = GPIO_SPEED_FREQ_HIGH; - GPIO_InitStructure.Mode = GPIO_MODE_OUTPUT_OD; - - GPIO_InitStructure.Pin = SW_I2C1_SDA_PIN; - HAL_GPIO_Init(SW_I2C1_SDA_GPIO, &GPIO_InitStructure); -} - -void i2c_clk_data_out(void) -{ - scl_high(); - delay(SW_I2C_WAIT_TIME); - scl_low(); -} - -void i2c_port_init(void) -{ - sda_high(); - scl_high(); -} - -void i2c_start_condition(void) -{ - sda_high(); - scl_high(); - - delay(SW_I2C_WAIT_TIME); - sda_low(); - delay(SW_I2C_WAIT_TIME); - scl_low(); - - delay(SW_I2C_WAIT_TIME << 1); -} - -void i2c_stop_condition(void) -{ - sda_low(); - scl_high(); - - delay(SW_I2C_WAIT_TIME); - sda_high(); - delay(SW_I2C_WAIT_TIME); -} - -uint8_t i2c_check_ack(void) -{ - uint8_t ack; - int i; - unsigned int temp; - - sda_in_mode(); - - scl_high(); - - ack = 0; - delay(SW_I2C_WAIT_TIME); - - for (i = 10; i > 0; i--) { - temp = !(SW_I2C_ReadVal_SDA()); - if (temp) - { - ack = 1; - break; - } - } - scl_low(); - sda_out_mode(); - - delay(SW_I2C_WAIT_TIME); - return ack; -} - -void i2c_check_not_ack(void) -{ - sda_in_mode(); - i2c_clk_data_out(); - sda_out_mode(); - delay(SW_I2C_WAIT_TIME); -} - -void i2c_slave_address(uint8_t IICID, uint8_t readwrite) -{ - int x; - - if (readwrite) { - IICID |= I2C_READ; - } else { - IICID &= ~I2C_READ; - } - - scl_low(); - - for (x = 7; x >= 0; x--) { - sda_out(IICID & (1 << x)); - delay(SW_I2C_WAIT_TIME); - i2c_clk_data_out(); - } -} - -void i2c_register_address(uint8_t addr) -{ - int x; - - scl_low(); - - for (x = 7; x >= 0; x--) { - sda_out(addr & (1 << x)); - delay(SW_I2C_WAIT_TIME); - i2c_clk_data_out(); - } -} - -void i2c_send_ack(void) -{ - sda_out_mode(); - sda_low(); - - delay(SW_I2C_WAIT_TIME); - scl_high(); - - delay(SW_I2C_WAIT_TIME << 1); - - sda_low(); - delay(SW_I2C_WAIT_TIME << 1); - - scl_low(); - - sda_out_mode(); - - delay(SW_I2C_WAIT_TIME); -} - -void SW_I2C_Write_Data(uint8_t data) -{ - int x; - - scl_low(); - - for (x = 7; x >= 0; x--) { - sda_out(data & (1 << x)); - delay(SW_I2C_WAIT_TIME); - i2c_clk_data_out(); - } -} - -uint8_t SW_I2C_Read_Data(void) -{ - int x; - uint8_t readdata = 0; - - sda_in_mode(); - - for (x = 8; x--;) { - scl_high(); - - readdata <<= 1; - if (SW_I2C_ReadVal_SDA()) { readdata |= 0x01; } - - delay(SW_I2C_WAIT_TIME); - scl_low(); - - delay(SW_I2C_WAIT_TIME); - } - - sda_out_mode(); - return readdata; -} - -uint8_t SW_I2C_WriteControl_8Bit(uint8_t IICID, uint8_t regaddr, uint8_t data) -{ - uint8_t returnack = true; - - i2c_start_condition(); - - i2c_slave_address(IICID, WRITE_CMD); - if (!i2c_check_ack()) { returnack = false; } - - delay(SW_I2C_WAIT_TIME); - - i2c_register_address(regaddr); - if (!i2c_check_ack()) { returnack = false; } - - delay(SW_I2C_WAIT_TIME); - - SW_I2C_Write_Data(data); - if (!i2c_check_ack()) { returnack = false; } - - delay(SW_I2C_WAIT_TIME); - - i2c_stop_condition(); - - return returnack; -} - -uint8_t SW_I2C_Multi_ReadnControl_8Bit(uint8_t IICID, uint8_t regaddr, uint8_t rcnt, uint8_t (*pdata)) -{ - uint8_t returnack = true; - uint8_t index; - - i2c_port_init(); - - i2c_start_condition(); - - i2c_slave_address(IICID, WRITE_CMD); - if (!i2c_check_ack()) { returnack = false; } - - delay(SW_I2C_WAIT_TIME); - - i2c_register_address(regaddr); - if (!i2c_check_ack()) { returnack = false; } - - delay(SW_I2C_WAIT_TIME); - - i2c_start_condition(); - - i2c_slave_address(IICID, READ_CMD); - if (!i2c_check_ack()) { returnack = false; } - - for ( index = 0 ; index < (rcnt-1) ; index++) { - delay(SW_I2C_WAIT_TIME); - pdata[index] = SW_I2C_Read_Data(); - i2c_send_ack(); - } - - pdata[rcnt-1] = SW_I2C_Read_Data(); - - i2c_check_not_ack(); - - i2c_stop_condition(); - - return returnack; -} diff --git a/body/board/drivers/llbxcan.h b/body/board/drivers/llbxcan.h deleted file mode 100644 index 15ebb27ed8f333..00000000000000 --- a/body/board/drivers/llbxcan.h +++ /dev/null @@ -1,125 +0,0 @@ -// SAE 2284-3 : minimum 16 tq, SJW 3, sample point at 81.3% -#define CAN_QUANTA 16U -#define CAN_SEQ1 12U -#define CAN_SEQ2 3U -#define CAN_SJW 3U - -#define CAN_PCLK (CORE_FREQ / 2U / 1000U) -#define can_speed_to_prescaler(x) (CAN_PCLK / CAN_QUANTA * 10U / (x)) -#define CAN_INIT_TIMEOUT_MS 500 - -bool llcan_set_speed(CAN_TypeDef *CAN_obj, uint32_t speed, bool loopback, bool silent) { - bool ret = true; - - // initialization mode - CAN1->MCR = CAN_MCR_INRQ; // When we want to use only CAN2 - need to do that - CAN_obj->MCR = CAN_MCR_INRQ; - uint32_t timeout_counter = 0U; - while((CAN_obj->MSR & CAN_MSR_INAK) != CAN_MSR_INAK){ - // Delay for about 1ms - delay(10000); - timeout_counter++; - - if(timeout_counter >= CAN_INIT_TIMEOUT_MS){ - ret = false; - break; - } - } - - if(ret){ - // set time quanta from defines - CAN_obj->BTR = ((CAN_BTR_TS1_0 * (CAN_SEQ1-1)) | - (CAN_BTR_TS2_0 * (CAN_SEQ2-1)) | - (CAN_BTR_SJW_0 * (CAN_SJW-1)) | - (can_speed_to_prescaler(speed) - 1U)); - - // silent loopback mode for debugging - if (loopback) { - CAN_obj->BTR |= CAN_BTR_SILM | CAN_BTR_LBKM; - } - if (silent) { - CAN_obj->BTR |= CAN_BTR_SILM; - } - - CAN_obj->MCR |= CAN_MCR_AWUM; // Automatic wakeup mode - CAN_obj->MCR |= CAN_MCR_ABOM; // Automatic bus-off management - CAN_obj->MCR &= ~CAN_MCR_NART; // Automatic retransmission - CAN_obj->MCR |= CAN_MCR_TXFP; // Priority driven by the request order (chronologically) - CAN_obj->MCR &= ~CAN_MCR_INRQ; - - timeout_counter = 0U; - while(((CAN_obj->MSR & CAN_MSR_INAK) == CAN_MSR_INAK)) { - // Delay for about 1ms - delay(10000); - timeout_counter++; - - if(timeout_counter >= CAN_INIT_TIMEOUT_MS){ - ret = false; - break; - } - } - } - - return ret; -} - -bool llcan_init(CAN_TypeDef *CAN_obj) { - bool ret = true; - - // Enter init mode - CAN_obj->FMR |= CAN_FMR_FINIT; - - // Wait for INAK bit to be set - uint32_t timeout_counter = 0U; - while(((CAN_obj->MSR & CAN_MSR_INAK) == CAN_MSR_INAK)) { - // Delay for about 1ms - delay(10000); - timeout_counter++; - - if(timeout_counter >= CAN_INIT_TIMEOUT_MS){ - ret = false; - break; - } - } - - if(ret){ - // no mask - // For some weird reason some of these registers do not want to set properly on CAN2 and CAN3. Probably something to do with the single/dual mode and their different filters. - // Filters MUST be set always through CAN1(Master) as CAN2/3 are Slave - CAN1->sFilterRegister[0].FR1 = 0U; - CAN1->sFilterRegister[0].FR2 = 0U; - CAN1->sFilterRegister[14].FR1 = 0U; - CAN1->sFilterRegister[14].FR2 = 0U; - CAN1->FA1R |= 1U | (1U << 14); - - // Exit init mode, do not wait - CAN_obj->FMR &= ~CAN_FMR_FINIT; - - // enable certain CAN interrupts - CAN1->IER = 0U; // When we want to use only CAN2 - need to do that - CAN_obj->IER = CAN_IER_FMPIE0 | CAN_IER_TMEIE | CAN_IER_WKUIE; - - if (CAN_obj == CAN1) { - HAL_NVIC_EnableIRQ(CAN1_TX_IRQn); - HAL_NVIC_SetPriority(CAN1_RX0_IRQn, 0, 0); - HAL_NVIC_EnableIRQ(CAN1_RX0_IRQn); - HAL_NVIC_SetPriority(CAN1_SCE_IRQn, 0, 0); - HAL_NVIC_EnableIRQ(CAN1_SCE_IRQn); - } else { - HAL_NVIC_SetPriority(CAN2_TX_IRQn, 0, 0); - HAL_NVIC_EnableIRQ(CAN2_TX_IRQn); - HAL_NVIC_SetPriority(CAN2_RX0_IRQn, 0, 0); - HAL_NVIC_EnableIRQ(CAN2_RX0_IRQn); - HAL_NVIC_SetPriority(CAN2_SCE_IRQn, 0, 0); - HAL_NVIC_EnableIRQ(CAN2_SCE_IRQn); - } - } - return ret; -} - -void llcan_clear_send(CAN_TypeDef *CAN_obj) { - CAN_obj->TSR |= CAN_TSR_ABRQ0; - CAN_obj->MSR &= ~CAN_MSR_ERRI; - // cppcheck-suppress selfAssignment ; needed to clear the register - CAN_obj->MSR = CAN_obj->MSR; -} diff --git a/body/board/drivers/llflash.h b/body/board/drivers/llflash.h deleted file mode 100644 index 7ce5a25f0b166b..00000000000000 --- a/body/board/drivers/llflash.h +++ /dev/null @@ -1,26 +0,0 @@ -bool flash_is_locked(void) { - return (FLASH->CR & FLASH_CR_LOCK); -} - -void flash_unlock(void) { - FLASH->KEYR = 0x45670123; - FLASH->KEYR = 0xCDEF89AB; -} - -bool flash_erase_sector(uint8_t sector, bool unlocked) { - // don't erase the bootloader(sector 0) - if (sector != 0 && sector < 12 && unlocked) { - FLASH->CR = (sector << 3) | FLASH_CR_SER; - FLASH->CR |= FLASH_CR_STRT; - while (FLASH->SR & FLASH_SR_BSY); - return true; - } - return false; -} - -void flash_write_word(void *prog_ptr, uint32_t data) { - uint32_t *pp = prog_ptr; - FLASH->CR = FLASH_CR_PSIZE_1 | FLASH_CR_PG; - *pp = data; - while (FLASH->SR & FLASH_SR_BSY); -} diff --git a/body/board/early_init.h b/body/board/early_init.h deleted file mode 100644 index ccfe0a07aa7fc2..00000000000000 --- a/body/board/early_init.h +++ /dev/null @@ -1,15 +0,0 @@ -// Early bringup -extern void *g_pfnVectors; -extern uint32_t enter_bootloader_mode; - -void early_initialization(void) { - SystemInit(); - // after it's been in the bootloader, things are initted differently, so we reset - if ((enter_bootloader_mode != BOOT_NORMAL) && - (enter_bootloader_mode != ENTER_SOFTLOADER_MAGIC)) { - enter_bootloader_mode = BOOT_NORMAL; - NVIC_SystemReset(); - } - // setup interrupt table - SCB->VTOR = (uint32_t)&g_pfnVectors; // TODO: check if SystemInit is enough! -} diff --git a/body/board/flash_base.sh b/body/board/flash_base.sh deleted file mode 100755 index b06818a5cb98e3..00000000000000 --- a/body/board/flash_base.sh +++ /dev/null @@ -1,6 +0,0 @@ -#!/usr/bin/env sh -set -e - -scons -u - -./canloader.py base obj/body.bin.signed diff --git a/body/board/flash_knee.sh b/body/board/flash_knee.sh deleted file mode 100755 index c6a2c05ddcd385..00000000000000 --- a/body/board/flash_knee.sh +++ /dev/null @@ -1,6 +0,0 @@ -#!/usr/bin/env sh -set -e - -scons -u - -./canloader.py knee obj/body.bin.signed diff --git a/body/board/flasher.h b/body/board/flasher.h deleted file mode 100644 index 43cfa47ff94161..00000000000000 --- a/body/board/flasher.h +++ /dev/null @@ -1,288 +0,0 @@ -typedef union { - uint16_t w; - struct BW { - uint8_t msb; - uint8_t lsb; - } - bw; -} -uint16_t_uint8_t; - -typedef union _USB_Setup { - uint32_t d8[2]; - struct _SetupPkt_Struc - { - uint8_t bmRequestType; - uint8_t bRequest; - uint16_t_uint8_t wValue; - uint16_t_uint8_t wIndex; - uint16_t_uint8_t wLength; - } b; -} -USB_Setup_TypeDef; - -uint32_t *prog_ptr = NULL; -bool unlocked = false; -extern uint8_t hw_type; - -#define CAN_BL_INPUT 0x1 -#define CAN_BL_OUTPUT 0x2 - -int can_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp) { - int resp_len = 0; - - // flasher machine - memset(resp, 0, 4); - memcpy(resp+4, "\xde\xad\xd0\x0d", 4); - resp[0] = 0xff; - resp[2] = setup->b.bRequest; - resp[3] = ~setup->b.bRequest; - *((uint32_t **)&resp[8]) = prog_ptr; - resp_len = 0xc; - - int sec; - switch (setup->b.bRequest) { - // **** 0xb0: flasher echo - case 0xb0: - resp[1] = 0xff; - break; - // **** 0xb1: unlock flash - case 0xb1: - if (flash_is_locked()) { - flash_unlock(); - resp[1] = 0xff; - } - out_enable(LED_BLUE, true); - unlocked = true; - prog_ptr = (uint32_t *)APP_START_ADDRESS; - break; - // **** 0xb2: erase sector - case 0xb2: - sec = setup->b.wValue.w; - if (flash_erase_sector(sec, unlocked)) { - resp[1] = 0xff; - } - break; - // **** 0xd0: fetch serial number - case 0xd0: - // addresses are OTP - if (setup->b.wValue.w == 1) { - memcpy(resp, (void *)DEVICE_SERIAL_NUMBER_ADDRESS, 0x10); - resp_len = 0x10; - } else { - get_provision_chunk(resp); - resp_len = PROVISION_CHUNK_LEN; - } - break; - // **** 0xd1: enter bootloader mode - case 0xd1: - switch (setup->b.wValue.w) { - case 1: - enter_bootloader_mode = ENTER_SOFTLOADER_MAGIC; - NVIC_SystemReset(); - break; - } - break; - // **** 0xd6: get version - case 0xd6: - COMPILE_TIME_ASSERT(sizeof(gitversion) <= 0x40U); - memcpy(resp, gitversion, sizeof(gitversion)); - resp_len = sizeof(gitversion); - break; - // **** 0xd8: reset ST - case 0xd8: - NVIC_SystemReset(); - break; - } - return resp_len; -} - -void flash_data(void *data, int len) { - out_enable(LED_RED, false); - for (int i = 0; i < len/4; i++) { - flash_write_word(prog_ptr, *(uint32_t*)(data+(i*4))); - prog_ptr++; - } - out_enable(LED_RED, true); -} - -int prep_data(uint8_t *data, uint8_t *data_out) { - int resp_len = 0; - switch (data[0]) { - case 0: - // control transfer - resp_len = can_control_msg((USB_Setup_TypeDef *)(data+4), data_out); - break; - case 2: - // ep 2, flash! - flash_data(data+4, data[2]); - break; - } - return resp_len; -} - -void CAN2_TX_IRQHandler(void) { - // clear interrupt - board.CAN->TSR |= CAN_TSR_RQCP0; -} - -#define ISOTP_BUF_SIZE 0x110 - -uint8_t isotp_buf[ISOTP_BUF_SIZE]; -uint8_t *isotp_buf_ptr = NULL; -int isotp_buf_remain = 0; - -uint8_t isotp_buf_out[ISOTP_BUF_SIZE]; -uint8_t *isotp_buf_out_ptr = NULL; -int isotp_buf_out_remain = 0; -int isotp_buf_out_idx = 0; - -void bl_can_send(uint8_t *odat) { - // wait for send - while (!(board.CAN->TSR & CAN_TSR_TME0)); - - // send continue - board.CAN->sTxMailBox[0].TDLR = ((uint32_t*)odat)[0]; - board.CAN->sTxMailBox[0].TDHR = ((uint32_t*)odat)[1]; - board.CAN->sTxMailBox[0].TDTR = 8; - board.CAN->sTxMailBox[0].TIR = (CAN_BL_OUTPUT << 21) | 1; -} - -void CAN2_RX0_IRQHandler(void) { - while (board.CAN->RF0R & CAN_RF0R_FMP0) { - if ((board.CAN->sFIFOMailBox[0].RIR>>21) == CAN_BL_INPUT) { - uint8_t dat[8]; - for (int i = 0; i < 8; i++) { - dat[i] = GET_MAILBOX_BYTE(&board.CAN->sFIFOMailBox[0], i); - } - uint8_t odat[8]; - uint8_t type = dat[0] & 0xF0; - if (type == 0x30) { - // continue - while (isotp_buf_out_remain > 0) { - // wait for send - while (!(board.CAN->TSR & CAN_TSR_TME0)); - - odat[0] = 0x20 | isotp_buf_out_idx; - memcpy(odat+1, isotp_buf_out_ptr, 7); - isotp_buf_out_remain -= 7; - isotp_buf_out_ptr += 7; - isotp_buf_out_idx++; - - bl_can_send(odat); - } - } else if (type == 0x20) { - if (isotp_buf_remain > 0) { - memcpy(isotp_buf_ptr, dat+1, 7); - isotp_buf_ptr += 7; - isotp_buf_remain -= 7; - } - if (isotp_buf_remain <= 0) { - // call the function - memset(isotp_buf_out, 0, ISOTP_BUF_SIZE); - isotp_buf_out_remain = prep_data(isotp_buf, isotp_buf_out); - isotp_buf_out_ptr = isotp_buf_out; - isotp_buf_out_idx = 0; - - // send initial - if (isotp_buf_out_remain <= 7) { - odat[0] = isotp_buf_out_remain; - memcpy(odat+1, isotp_buf_out_ptr, isotp_buf_out_remain); - } else { - odat[0] = 0x10 | (isotp_buf_out_remain>>8); - odat[1] = isotp_buf_out_remain & 0xFF; - memcpy(odat+2, isotp_buf_out_ptr, 6); - isotp_buf_out_remain -= 6; - isotp_buf_out_ptr += 6; - isotp_buf_out_idx++; - } - - bl_can_send(odat); - } - } else if (type == 0x10) { - int len = ((dat[0]&0xF)<<8) | dat[1]; - - // setup buffer - isotp_buf_ptr = isotp_buf; - memcpy(isotp_buf_ptr, dat+2, 6); - - if (len < (ISOTP_BUF_SIZE-0x10)) { - isotp_buf_ptr += 6; - isotp_buf_remain = len-6; - } - - memset(odat, 0, 8); - odat[0] = 0x30; - bl_can_send(odat); - } - } - // next - board.CAN->RF0R |= CAN_RF0R_RFOM0; - } -} - -void CAN2_SCE_IRQHandler(void) { - llcan_clear_send(board.CAN); -} - -void CAN1_TX_IRQHandler(void) { - CAN2_TX_IRQHandler(); -} - -void CAN1_RX0_IRQHandler(void) { - CAN2_RX0_IRQHandler(); -} - -void CAN1_SCE_IRQHandler(void) { - CAN2_SCE_IRQHandler(); -} - -void check_powerdown(void) { - if(HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN) && (hw_type == HW_TYPE_BASE)) { - uint16_t cnt_press = 0; - while(HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) { - HAL_Delay(10); - cnt_press++; - if (cnt_press == (2 * 100)) { - out_enable(POWERSWITCH, false); - while(1) { - // Temporarily, to see that we went to power off but can't switch the latch - HAL_GPIO_TogglePin(board.led_portR, board.led_pinR); - HAL_Delay(100); - } - } - } - } -} - - -void soft_flasher_start(void) { - enter_bootloader_mode = 0; - - out_enable(TRANSCEIVER, true); - - __HAL_RCC_CAN1_CLK_ENABLE(); // Also needed for CAN2, dumb... - __HAL_RCC_CAN2_CLK_ENABLE(); - - // init can - llcan_set_speed(board.CAN, 5000, false, false); - llcan_init(board.CAN); - - out_enable(LED_BLUE, true); - // Wait for power button release, only for the base - if (hw_type == HW_TYPE_BASE) { - while(HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) {} - } - out_enable(LED_GREEN, false); - - uint64_t cnt = 0; - - for (cnt=0;;cnt++) { - // blink the green LED fast - out_enable(LED_BLUE, false); - delay(500000); - out_enable(LED_BLUE, true); - delay(500000); - check_powerdown(); - } -} diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h deleted file mode 100644 index ae83378c19e46e..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h +++ /dev/null @@ -1,3840 +0,0 @@ -/** - ****************************************************************************** - * @file stm32_hal_legacy.h - * @author MCD Application Team - * @brief This file contains aliases definition for the STM32Cube HAL constants - * macros and functions maintained for legacy purpose. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2019 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef STM32_HAL_LEGACY -#define STM32_HAL_LEGACY - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -/* Exported types ------------------------------------------------------------*/ -/* Exported constants --------------------------------------------------------*/ - -/** @defgroup HAL_AES_Aliased_Defines HAL CRYP Aliased Defines maintained for legacy purpose - * @{ - */ -#define AES_FLAG_RDERR CRYP_FLAG_RDERR -#define AES_FLAG_WRERR CRYP_FLAG_WRERR -#define AES_CLEARFLAG_CCF CRYP_CLEARFLAG_CCF -#define AES_CLEARFLAG_RDERR CRYP_CLEARFLAG_RDERR -#define AES_CLEARFLAG_WRERR CRYP_CLEARFLAG_WRERR -#if defined(STM32U5) -#define CRYP_DATATYPE_32B CRYP_NO_SWAP -#define CRYP_DATATYPE_16B CRYP_HALFWORD_SWAP -#define CRYP_DATATYPE_8B CRYP_BYTE_SWAP -#define CRYP_DATATYPE_1B CRYP_BIT_SWAP -#define CRYP_CCF_CLEAR CRYP_CLEAR_CCF -#define CRYP_ERR_CLEAR CRYP_CLEAR_RWEIF -#endif /* STM32U5 */ -/** - * @} - */ - -/** @defgroup HAL_ADC_Aliased_Defines HAL ADC Aliased Defines maintained for legacy purpose - * @{ - */ -#define ADC_RESOLUTION12b ADC_RESOLUTION_12B -#define ADC_RESOLUTION10b ADC_RESOLUTION_10B -#define ADC_RESOLUTION8b ADC_RESOLUTION_8B -#define ADC_RESOLUTION6b ADC_RESOLUTION_6B -#define OVR_DATA_OVERWRITTEN ADC_OVR_DATA_OVERWRITTEN -#define OVR_DATA_PRESERVED ADC_OVR_DATA_PRESERVED -#define EOC_SINGLE_CONV ADC_EOC_SINGLE_CONV -#define EOC_SEQ_CONV ADC_EOC_SEQ_CONV -#define EOC_SINGLE_SEQ_CONV ADC_EOC_SINGLE_SEQ_CONV -#define REGULAR_GROUP ADC_REGULAR_GROUP -#define INJECTED_GROUP ADC_INJECTED_GROUP -#define REGULAR_INJECTED_GROUP ADC_REGULAR_INJECTED_GROUP -#define AWD_EVENT ADC_AWD_EVENT -#define AWD1_EVENT ADC_AWD1_EVENT -#define AWD2_EVENT ADC_AWD2_EVENT -#define AWD3_EVENT ADC_AWD3_EVENT -#define OVR_EVENT ADC_OVR_EVENT -#define JQOVF_EVENT ADC_JQOVF_EVENT -#define ALL_CHANNELS ADC_ALL_CHANNELS -#define REGULAR_CHANNELS ADC_REGULAR_CHANNELS -#define INJECTED_CHANNELS ADC_INJECTED_CHANNELS -#define SYSCFG_FLAG_SENSOR_ADC ADC_FLAG_SENSOR -#define SYSCFG_FLAG_VREF_ADC ADC_FLAG_VREFINT -#define ADC_CLOCKPRESCALER_PCLK_DIV1 ADC_CLOCK_SYNC_PCLK_DIV1 -#define ADC_CLOCKPRESCALER_PCLK_DIV2 ADC_CLOCK_SYNC_PCLK_DIV2 -#define ADC_CLOCKPRESCALER_PCLK_DIV4 ADC_CLOCK_SYNC_PCLK_DIV4 -#define ADC_CLOCKPRESCALER_PCLK_DIV6 ADC_CLOCK_SYNC_PCLK_DIV6 -#define ADC_CLOCKPRESCALER_PCLK_DIV8 ADC_CLOCK_SYNC_PCLK_DIV8 -#define ADC_EXTERNALTRIG0_T6_TRGO ADC_EXTERNALTRIGCONV_T6_TRGO -#define ADC_EXTERNALTRIG1_T21_CC2 ADC_EXTERNALTRIGCONV_T21_CC2 -#define ADC_EXTERNALTRIG2_T2_TRGO ADC_EXTERNALTRIGCONV_T2_TRGO -#define ADC_EXTERNALTRIG3_T2_CC4 ADC_EXTERNALTRIGCONV_T2_CC4 -#define ADC_EXTERNALTRIG4_T22_TRGO ADC_EXTERNALTRIGCONV_T22_TRGO -#define ADC_EXTERNALTRIG7_EXT_IT11 ADC_EXTERNALTRIGCONV_EXT_IT11 -#define ADC_CLOCK_ASYNC ADC_CLOCK_ASYNC_DIV1 -#define ADC_EXTERNALTRIG_EDGE_NONE ADC_EXTERNALTRIGCONVEDGE_NONE -#define ADC_EXTERNALTRIG_EDGE_RISING ADC_EXTERNALTRIGCONVEDGE_RISING -#define ADC_EXTERNALTRIG_EDGE_FALLING ADC_EXTERNALTRIGCONVEDGE_FALLING -#define ADC_EXTERNALTRIG_EDGE_RISINGFALLING ADC_EXTERNALTRIGCONVEDGE_RISINGFALLING -#define ADC_SAMPLETIME_2CYCLE_5 ADC_SAMPLETIME_2CYCLES_5 - -#define HAL_ADC_STATE_BUSY_REG HAL_ADC_STATE_REG_BUSY -#define HAL_ADC_STATE_BUSY_INJ HAL_ADC_STATE_INJ_BUSY -#define HAL_ADC_STATE_EOC_REG HAL_ADC_STATE_REG_EOC -#define HAL_ADC_STATE_EOC_INJ HAL_ADC_STATE_INJ_EOC -#define HAL_ADC_STATE_ERROR HAL_ADC_STATE_ERROR_INTERNAL -#define HAL_ADC_STATE_BUSY HAL_ADC_STATE_BUSY_INTERNAL -#define HAL_ADC_STATE_AWD HAL_ADC_STATE_AWD1 - -#if defined(STM32H7) -#define ADC_CHANNEL_VBAT_DIV4 ADC_CHANNEL_VBAT -#endif /* STM32H7 */ -/** - * @} - */ - -/** @defgroup HAL_CEC_Aliased_Defines HAL CEC Aliased Defines maintained for legacy purpose - * @{ - */ - -#define __HAL_CEC_GET_IT __HAL_CEC_GET_FLAG - -/** - * @} - */ - -/** @defgroup HAL_COMP_Aliased_Defines HAL COMP Aliased Defines maintained for legacy purpose - * @{ - */ -#define COMP_WINDOWMODE_DISABLED COMP_WINDOWMODE_DISABLE -#define COMP_WINDOWMODE_ENABLED COMP_WINDOWMODE_ENABLE -#define COMP_EXTI_LINE_COMP1_EVENT COMP_EXTI_LINE_COMP1 -#define COMP_EXTI_LINE_COMP2_EVENT COMP_EXTI_LINE_COMP2 -#define COMP_EXTI_LINE_COMP3_EVENT COMP_EXTI_LINE_COMP3 -#define COMP_EXTI_LINE_COMP4_EVENT COMP_EXTI_LINE_COMP4 -#define COMP_EXTI_LINE_COMP5_EVENT COMP_EXTI_LINE_COMP5 -#define COMP_EXTI_LINE_COMP6_EVENT COMP_EXTI_LINE_COMP6 -#define COMP_EXTI_LINE_COMP7_EVENT COMP_EXTI_LINE_COMP7 -#if defined(STM32L0) -#define COMP_LPTIMCONNECTION_ENABLED ((uint32_t)0x00000003U) /*!< COMPX output generic naming: connected to LPTIM input 1 for COMP1, LPTIM input 2 for COMP2 */ -#endif -#define COMP_OUTPUT_COMP6TIM2OCREFCLR COMP_OUTPUT_COMP6_TIM2OCREFCLR -#if defined(STM32F373xC) || defined(STM32F378xx) -#define COMP_OUTPUT_TIM3IC1 COMP_OUTPUT_COMP1_TIM3IC1 -#define COMP_OUTPUT_TIM3OCREFCLR COMP_OUTPUT_COMP1_TIM3OCREFCLR -#endif /* STM32F373xC || STM32F378xx */ - -#if defined(STM32L0) || defined(STM32L4) -#define COMP_WINDOWMODE_ENABLE COMP_WINDOWMODE_COMP1_INPUT_PLUS_COMMON - -#define COMP_NONINVERTINGINPUT_IO1 COMP_INPUT_PLUS_IO1 -#define COMP_NONINVERTINGINPUT_IO2 COMP_INPUT_PLUS_IO2 -#define COMP_NONINVERTINGINPUT_IO3 COMP_INPUT_PLUS_IO3 -#define COMP_NONINVERTINGINPUT_IO4 COMP_INPUT_PLUS_IO4 -#define COMP_NONINVERTINGINPUT_IO5 COMP_INPUT_PLUS_IO5 -#define COMP_NONINVERTINGINPUT_IO6 COMP_INPUT_PLUS_IO6 - -#define COMP_INVERTINGINPUT_1_4VREFINT COMP_INPUT_MINUS_1_4VREFINT -#define COMP_INVERTINGINPUT_1_2VREFINT COMP_INPUT_MINUS_1_2VREFINT -#define COMP_INVERTINGINPUT_3_4VREFINT COMP_INPUT_MINUS_3_4VREFINT -#define COMP_INVERTINGINPUT_VREFINT COMP_INPUT_MINUS_VREFINT -#define COMP_INVERTINGINPUT_DAC1_CH1 COMP_INPUT_MINUS_DAC1_CH1 -#define COMP_INVERTINGINPUT_DAC1_CH2 COMP_INPUT_MINUS_DAC1_CH2 -#define COMP_INVERTINGINPUT_DAC1 COMP_INPUT_MINUS_DAC1_CH1 -#define COMP_INVERTINGINPUT_DAC2 COMP_INPUT_MINUS_DAC1_CH2 -#define COMP_INVERTINGINPUT_IO1 COMP_INPUT_MINUS_IO1 -#if defined(STM32L0) -/* Issue fixed on STM32L0 COMP driver: only 2 dedicated IO (IO1 and IO2), */ -/* IO2 was wrongly assigned to IO shared with DAC and IO3 was corresponding */ -/* to the second dedicated IO (only for COMP2). */ -#define COMP_INVERTINGINPUT_IO2 COMP_INPUT_MINUS_DAC1_CH2 -#define COMP_INVERTINGINPUT_IO3 COMP_INPUT_MINUS_IO2 -#else -#define COMP_INVERTINGINPUT_IO2 COMP_INPUT_MINUS_IO2 -#define COMP_INVERTINGINPUT_IO3 COMP_INPUT_MINUS_IO3 -#endif -#define COMP_INVERTINGINPUT_IO4 COMP_INPUT_MINUS_IO4 -#define COMP_INVERTINGINPUT_IO5 COMP_INPUT_MINUS_IO5 - -#define COMP_OUTPUTLEVEL_LOW COMP_OUTPUT_LEVEL_LOW -#define COMP_OUTPUTLEVEL_HIGH COMP_OUTPUT_LEVEL_HIGH - -/* Note: Literal "COMP_FLAG_LOCK" kept for legacy purpose. */ -/* To check COMP lock state, use macro "__HAL_COMP_IS_LOCKED()". */ -#if defined(COMP_CSR_LOCK) -#define COMP_FLAG_LOCK COMP_CSR_LOCK -#elif defined(COMP_CSR_COMP1LOCK) -#define COMP_FLAG_LOCK COMP_CSR_COMP1LOCK -#elif defined(COMP_CSR_COMPxLOCK) -#define COMP_FLAG_LOCK COMP_CSR_COMPxLOCK -#endif - -#if defined(STM32L4) -#define COMP_BLANKINGSRCE_TIM1OC5 COMP_BLANKINGSRC_TIM1_OC5_COMP1 -#define COMP_BLANKINGSRCE_TIM2OC3 COMP_BLANKINGSRC_TIM2_OC3_COMP1 -#define COMP_BLANKINGSRCE_TIM3OC3 COMP_BLANKINGSRC_TIM3_OC3_COMP1 -#define COMP_BLANKINGSRCE_TIM3OC4 COMP_BLANKINGSRC_TIM3_OC4_COMP2 -#define COMP_BLANKINGSRCE_TIM8OC5 COMP_BLANKINGSRC_TIM8_OC5_COMP2 -#define COMP_BLANKINGSRCE_TIM15OC1 COMP_BLANKINGSRC_TIM15_OC1_COMP2 -#define COMP_BLANKINGSRCE_NONE COMP_BLANKINGSRC_NONE -#endif - -#if defined(STM32L0) -#define COMP_MODE_HIGHSPEED COMP_POWERMODE_MEDIUMSPEED -#define COMP_MODE_LOWSPEED COMP_POWERMODE_ULTRALOWPOWER -#else -#define COMP_MODE_HIGHSPEED COMP_POWERMODE_HIGHSPEED -#define COMP_MODE_MEDIUMSPEED COMP_POWERMODE_MEDIUMSPEED -#define COMP_MODE_LOWPOWER COMP_POWERMODE_LOWPOWER -#define COMP_MODE_ULTRALOWPOWER COMP_POWERMODE_ULTRALOWPOWER -#endif - -#endif -/** - * @} - */ - -/** @defgroup HAL_CORTEX_Aliased_Defines HAL CORTEX Aliased Defines maintained for legacy purpose - * @{ - */ -#define __HAL_CORTEX_SYSTICKCLK_CONFIG HAL_SYSTICK_CLKSourceConfig -/** - * @} - */ - -/** - * @} - */ - -/** @defgroup HAL_CRC_Aliased_Defines HAL CRC Aliased Defines maintained for legacy purpose - * @{ - */ - -#define CRC_OUTPUTDATA_INVERSION_DISABLED CRC_OUTPUTDATA_INVERSION_DISABLE -#define CRC_OUTPUTDATA_INVERSION_ENABLED CRC_OUTPUTDATA_INVERSION_ENABLE - -/** - * @} - */ - -/** @defgroup HAL_DAC_Aliased_Defines HAL DAC Aliased Defines maintained for legacy purpose - * @{ - */ - -#define DAC1_CHANNEL_1 DAC_CHANNEL_1 -#define DAC1_CHANNEL_2 DAC_CHANNEL_2 -#define DAC2_CHANNEL_1 DAC_CHANNEL_1 -#define DAC_WAVE_NONE 0x00000000U -#define DAC_WAVE_NOISE DAC_CR_WAVE1_0 -#define DAC_WAVE_TRIANGLE DAC_CR_WAVE1_1 -#define DAC_WAVEGENERATION_NONE DAC_WAVE_NONE -#define DAC_WAVEGENERATION_NOISE DAC_WAVE_NOISE -#define DAC_WAVEGENERATION_TRIANGLE DAC_WAVE_TRIANGLE - -#if defined(STM32G4) || defined(STM32H7) || defined (STM32U5) -#define DAC_CHIPCONNECT_DISABLE DAC_CHIPCONNECT_EXTERNAL -#define DAC_CHIPCONNECT_ENABLE DAC_CHIPCONNECT_INTERNAL -#endif - -#if defined(STM32L1) || defined(STM32L4) || defined(STM32G0) || defined(STM32L5) || defined(STM32H7) || defined(STM32F4) || defined(STM32G4) -#define HAL_DAC_MSP_INIT_CB_ID HAL_DAC_MSPINIT_CB_ID -#define HAL_DAC_MSP_DEINIT_CB_ID HAL_DAC_MSPDEINIT_CB_ID -#endif - -/** - * @} - */ - -/** @defgroup HAL_DMA_Aliased_Defines HAL DMA Aliased Defines maintained for legacy purpose - * @{ - */ -#define HAL_REMAPDMA_ADC_DMA_CH2 DMA_REMAP_ADC_DMA_CH2 -#define HAL_REMAPDMA_USART1_TX_DMA_CH4 DMA_REMAP_USART1_TX_DMA_CH4 -#define HAL_REMAPDMA_USART1_RX_DMA_CH5 DMA_REMAP_USART1_RX_DMA_CH5 -#define HAL_REMAPDMA_TIM16_DMA_CH4 DMA_REMAP_TIM16_DMA_CH4 -#define HAL_REMAPDMA_TIM17_DMA_CH2 DMA_REMAP_TIM17_DMA_CH2 -#define HAL_REMAPDMA_USART3_DMA_CH32 DMA_REMAP_USART3_DMA_CH32 -#define HAL_REMAPDMA_TIM16_DMA_CH6 DMA_REMAP_TIM16_DMA_CH6 -#define HAL_REMAPDMA_TIM17_DMA_CH7 DMA_REMAP_TIM17_DMA_CH7 -#define HAL_REMAPDMA_SPI2_DMA_CH67 DMA_REMAP_SPI2_DMA_CH67 -#define HAL_REMAPDMA_USART2_DMA_CH67 DMA_REMAP_USART2_DMA_CH67 -#define HAL_REMAPDMA_I2C1_DMA_CH76 DMA_REMAP_I2C1_DMA_CH76 -#define HAL_REMAPDMA_TIM1_DMA_CH6 DMA_REMAP_TIM1_DMA_CH6 -#define HAL_REMAPDMA_TIM2_DMA_CH7 DMA_REMAP_TIM2_DMA_CH7 -#define HAL_REMAPDMA_TIM3_DMA_CH6 DMA_REMAP_TIM3_DMA_CH6 - -#define IS_HAL_REMAPDMA IS_DMA_REMAP -#define __HAL_REMAPDMA_CHANNEL_ENABLE __HAL_DMA_REMAP_CHANNEL_ENABLE -#define __HAL_REMAPDMA_CHANNEL_DISABLE __HAL_DMA_REMAP_CHANNEL_DISABLE - -#if defined(STM32L4) - -#define HAL_DMAMUX1_REQUEST_GEN_EXTI0 HAL_DMAMUX1_REQ_GEN_EXTI0 -#define HAL_DMAMUX1_REQUEST_GEN_EXTI1 HAL_DMAMUX1_REQ_GEN_EXTI1 -#define HAL_DMAMUX1_REQUEST_GEN_EXTI2 HAL_DMAMUX1_REQ_GEN_EXTI2 -#define HAL_DMAMUX1_REQUEST_GEN_EXTI3 HAL_DMAMUX1_REQ_GEN_EXTI3 -#define HAL_DMAMUX1_REQUEST_GEN_EXTI4 HAL_DMAMUX1_REQ_GEN_EXTI4 -#define HAL_DMAMUX1_REQUEST_GEN_EXTI5 HAL_DMAMUX1_REQ_GEN_EXTI5 -#define HAL_DMAMUX1_REQUEST_GEN_EXTI6 HAL_DMAMUX1_REQ_GEN_EXTI6 -#define HAL_DMAMUX1_REQUEST_GEN_EXTI7 HAL_DMAMUX1_REQ_GEN_EXTI7 -#define HAL_DMAMUX1_REQUEST_GEN_EXTI8 HAL_DMAMUX1_REQ_GEN_EXTI8 -#define HAL_DMAMUX1_REQUEST_GEN_EXTI9 HAL_DMAMUX1_REQ_GEN_EXTI9 -#define HAL_DMAMUX1_REQUEST_GEN_EXTI10 HAL_DMAMUX1_REQ_GEN_EXTI10 -#define HAL_DMAMUX1_REQUEST_GEN_EXTI11 HAL_DMAMUX1_REQ_GEN_EXTI11 -#define HAL_DMAMUX1_REQUEST_GEN_EXTI12 HAL_DMAMUX1_REQ_GEN_EXTI12 -#define HAL_DMAMUX1_REQUEST_GEN_EXTI13 HAL_DMAMUX1_REQ_GEN_EXTI13 -#define HAL_DMAMUX1_REQUEST_GEN_EXTI14 HAL_DMAMUX1_REQ_GEN_EXTI14 -#define HAL_DMAMUX1_REQUEST_GEN_EXTI15 HAL_DMAMUX1_REQ_GEN_EXTI15 -#define HAL_DMAMUX1_REQUEST_GEN_DMAMUX1_CH0_EVT HAL_DMAMUX1_REQ_GEN_DMAMUX1_CH0_EVT -#define HAL_DMAMUX1_REQUEST_GEN_DMAMUX1_CH1_EVT HAL_DMAMUX1_REQ_GEN_DMAMUX1_CH1_EVT -#define HAL_DMAMUX1_REQUEST_GEN_DMAMUX1_CH2_EVT HAL_DMAMUX1_REQ_GEN_DMAMUX1_CH2_EVT -#define HAL_DMAMUX1_REQUEST_GEN_DMAMUX1_CH3_EVT HAL_DMAMUX1_REQ_GEN_DMAMUX1_CH3_EVT -#define HAL_DMAMUX1_REQUEST_GEN_LPTIM1_OUT HAL_DMAMUX1_REQ_GEN_LPTIM1_OUT -#define HAL_DMAMUX1_REQUEST_GEN_LPTIM2_OUT HAL_DMAMUX1_REQ_GEN_LPTIM2_OUT -#define HAL_DMAMUX1_REQUEST_GEN_DSI_TE HAL_DMAMUX1_REQ_GEN_DSI_TE -#define HAL_DMAMUX1_REQUEST_GEN_DSI_EOT HAL_DMAMUX1_REQ_GEN_DSI_EOT -#define HAL_DMAMUX1_REQUEST_GEN_DMA2D_EOT HAL_DMAMUX1_REQ_GEN_DMA2D_EOT -#define HAL_DMAMUX1_REQUEST_GEN_LTDC_IT HAL_DMAMUX1_REQ_GEN_LTDC_IT - -#define HAL_DMAMUX_REQUEST_GEN_NO_EVENT HAL_DMAMUX_REQ_GEN_NO_EVENT -#define HAL_DMAMUX_REQUEST_GEN_RISING HAL_DMAMUX_REQ_GEN_RISING -#define HAL_DMAMUX_REQUEST_GEN_FALLING HAL_DMAMUX_REQ_GEN_FALLING -#define HAL_DMAMUX_REQUEST_GEN_RISING_FALLING HAL_DMAMUX_REQ_GEN_RISING_FALLING - -#if defined(STM32L4R5xx) || defined(STM32L4R9xx) || defined(STM32L4R9xx) || defined(STM32L4S5xx) || defined(STM32L4S7xx) || defined(STM32L4S9xx) -#define DMA_REQUEST_DCMI_PSSI DMA_REQUEST_DCMI -#endif - -#endif /* STM32L4 */ - -#if defined(STM32G0) -#define DMA_REQUEST_DAC1_CHANNEL1 DMA_REQUEST_DAC1_CH1 -#define DMA_REQUEST_DAC1_CHANNEL2 DMA_REQUEST_DAC1_CH2 -#define DMA_REQUEST_TIM16_TRIG_COM DMA_REQUEST_TIM16_COM -#define DMA_REQUEST_TIM17_TRIG_COM DMA_REQUEST_TIM17_COM - -#define LL_DMAMUX_REQ_TIM16_TRIG_COM LL_DMAMUX_REQ_TIM16_COM -#define LL_DMAMUX_REQ_TIM17_TRIG_COM LL_DMAMUX_REQ_TIM17_COM -#endif - -#if defined(STM32H7) - -#define DMA_REQUEST_DAC1 DMA_REQUEST_DAC1_CH1 -#define DMA_REQUEST_DAC2 DMA_REQUEST_DAC1_CH2 - -#define BDMA_REQUEST_LP_UART1_RX BDMA_REQUEST_LPUART1_RX -#define BDMA_REQUEST_LP_UART1_TX BDMA_REQUEST_LPUART1_TX - -#define HAL_DMAMUX1_REQUEST_GEN_DMAMUX1_CH0_EVT HAL_DMAMUX1_REQ_GEN_DMAMUX1_CH0_EVT -#define HAL_DMAMUX1_REQUEST_GEN_DMAMUX1_CH1_EVT HAL_DMAMUX1_REQ_GEN_DMAMUX1_CH1_EVT -#define HAL_DMAMUX1_REQUEST_GEN_DMAMUX1_CH2_EVT HAL_DMAMUX1_REQ_GEN_DMAMUX1_CH2_EVT -#define HAL_DMAMUX1_REQUEST_GEN_LPTIM1_OUT HAL_DMAMUX1_REQ_GEN_LPTIM1_OUT -#define HAL_DMAMUX1_REQUEST_GEN_LPTIM2_OUT HAL_DMAMUX1_REQ_GEN_LPTIM2_OUT -#define HAL_DMAMUX1_REQUEST_GEN_LPTIM3_OUT HAL_DMAMUX1_REQ_GEN_LPTIM3_OUT -#define HAL_DMAMUX1_REQUEST_GEN_EXTI0 HAL_DMAMUX1_REQ_GEN_EXTI0 -#define HAL_DMAMUX1_REQUEST_GEN_TIM12_TRGO HAL_DMAMUX1_REQ_GEN_TIM12_TRGO - -#define HAL_DMAMUX2_REQUEST_GEN_DMAMUX2_CH0_EVT HAL_DMAMUX2_REQ_GEN_DMAMUX2_CH0_EVT -#define HAL_DMAMUX2_REQUEST_GEN_DMAMUX2_CH1_EVT HAL_DMAMUX2_REQ_GEN_DMAMUX2_CH1_EVT -#define HAL_DMAMUX2_REQUEST_GEN_DMAMUX2_CH2_EVT HAL_DMAMUX2_REQ_GEN_DMAMUX2_CH2_EVT -#define HAL_DMAMUX2_REQUEST_GEN_DMAMUX2_CH3_EVT HAL_DMAMUX2_REQ_GEN_DMAMUX2_CH3_EVT -#define HAL_DMAMUX2_REQUEST_GEN_DMAMUX2_CH4_EVT HAL_DMAMUX2_REQ_GEN_DMAMUX2_CH4_EVT -#define HAL_DMAMUX2_REQUEST_GEN_DMAMUX2_CH5_EVT HAL_DMAMUX2_REQ_GEN_DMAMUX2_CH5_EVT -#define HAL_DMAMUX2_REQUEST_GEN_DMAMUX2_CH6_EVT HAL_DMAMUX2_REQ_GEN_DMAMUX2_CH6_EVT -#define HAL_DMAMUX2_REQUEST_GEN_LPUART1_RX_WKUP HAL_DMAMUX2_REQ_GEN_LPUART1_RX_WKUP -#define HAL_DMAMUX2_REQUEST_GEN_LPUART1_TX_WKUP HAL_DMAMUX2_REQ_GEN_LPUART1_TX_WKUP -#define HAL_DMAMUX2_REQUEST_GEN_LPTIM2_WKUP HAL_DMAMUX2_REQ_GEN_LPTIM2_WKUP -#define HAL_DMAMUX2_REQUEST_GEN_LPTIM2_OUT HAL_DMAMUX2_REQ_GEN_LPTIM2_OUT -#define HAL_DMAMUX2_REQUEST_GEN_LPTIM3_WKUP HAL_DMAMUX2_REQ_GEN_LPTIM3_WKUP -#define HAL_DMAMUX2_REQUEST_GEN_LPTIM3_OUT HAL_DMAMUX2_REQ_GEN_LPTIM3_OUT -#define HAL_DMAMUX2_REQUEST_GEN_LPTIM4_WKUP HAL_DMAMUX2_REQ_GEN_LPTIM4_WKUP -#define HAL_DMAMUX2_REQUEST_GEN_LPTIM5_WKUP HAL_DMAMUX2_REQ_GEN_LPTIM5_WKUP -#define HAL_DMAMUX2_REQUEST_GEN_I2C4_WKUP HAL_DMAMUX2_REQ_GEN_I2C4_WKUP -#define HAL_DMAMUX2_REQUEST_GEN_SPI6_WKUP HAL_DMAMUX2_REQ_GEN_SPI6_WKUP -#define HAL_DMAMUX2_REQUEST_GEN_COMP1_OUT HAL_DMAMUX2_REQ_GEN_COMP1_OUT -#define HAL_DMAMUX2_REQUEST_GEN_COMP2_OUT HAL_DMAMUX2_REQ_GEN_COMP2_OUT -#define HAL_DMAMUX2_REQUEST_GEN_RTC_WKUP HAL_DMAMUX2_REQ_GEN_RTC_WKUP -#define HAL_DMAMUX2_REQUEST_GEN_EXTI0 HAL_DMAMUX2_REQ_GEN_EXTI0 -#define HAL_DMAMUX2_REQUEST_GEN_EXTI2 HAL_DMAMUX2_REQ_GEN_EXTI2 -#define HAL_DMAMUX2_REQUEST_GEN_I2C4_IT_EVT HAL_DMAMUX2_REQ_GEN_I2C4_IT_EVT -#define HAL_DMAMUX2_REQUEST_GEN_SPI6_IT HAL_DMAMUX2_REQ_GEN_SPI6_IT -#define HAL_DMAMUX2_REQUEST_GEN_LPUART1_TX_IT HAL_DMAMUX2_REQ_GEN_LPUART1_TX_IT -#define HAL_DMAMUX2_REQUEST_GEN_LPUART1_RX_IT HAL_DMAMUX2_REQ_GEN_LPUART1_RX_IT -#define HAL_DMAMUX2_REQUEST_GEN_ADC3_IT HAL_DMAMUX2_REQ_GEN_ADC3_IT -#define HAL_DMAMUX2_REQUEST_GEN_ADC3_AWD1_OUT HAL_DMAMUX2_REQ_GEN_ADC3_AWD1_OUT -#define HAL_DMAMUX2_REQUEST_GEN_BDMA_CH0_IT HAL_DMAMUX2_REQ_GEN_BDMA_CH0_IT -#define HAL_DMAMUX2_REQUEST_GEN_BDMA_CH1_IT HAL_DMAMUX2_REQ_GEN_BDMA_CH1_IT - -#define HAL_DMAMUX_REQUEST_GEN_NO_EVENT HAL_DMAMUX_REQ_GEN_NO_EVENT -#define HAL_DMAMUX_REQUEST_GEN_RISING HAL_DMAMUX_REQ_GEN_RISING -#define HAL_DMAMUX_REQUEST_GEN_FALLING HAL_DMAMUX_REQ_GEN_FALLING -#define HAL_DMAMUX_REQUEST_GEN_RISING_FALLING HAL_DMAMUX_REQ_GEN_RISING_FALLING - -#define DFSDM_FILTER_EXT_TRIG_LPTIM1 DFSDM_FILTER_EXT_TRIG_LPTIM1_OUT -#define DFSDM_FILTER_EXT_TRIG_LPTIM2 DFSDM_FILTER_EXT_TRIG_LPTIM2_OUT -#define DFSDM_FILTER_EXT_TRIG_LPTIM3 DFSDM_FILTER_EXT_TRIG_LPTIM3_OUT - -#define DAC_TRIGGER_LP1_OUT DAC_TRIGGER_LPTIM1_OUT -#define DAC_TRIGGER_LP2_OUT DAC_TRIGGER_LPTIM2_OUT - -#endif /* STM32H7 */ -/** - * @} - */ - -/** @defgroup HAL_FLASH_Aliased_Defines HAL FLASH Aliased Defines maintained for legacy purpose - * @{ - */ - -#define TYPEPROGRAM_BYTE FLASH_TYPEPROGRAM_BYTE -#define TYPEPROGRAM_HALFWORD FLASH_TYPEPROGRAM_HALFWORD -#define TYPEPROGRAM_WORD FLASH_TYPEPROGRAM_WORD -#define TYPEPROGRAM_DOUBLEWORD FLASH_TYPEPROGRAM_DOUBLEWORD -#define TYPEERASE_SECTORS FLASH_TYPEERASE_SECTORS -#define TYPEERASE_PAGES FLASH_TYPEERASE_PAGES -#define TYPEERASE_PAGEERASE FLASH_TYPEERASE_PAGES -#define TYPEERASE_MASSERASE FLASH_TYPEERASE_MASSERASE -#define WRPSTATE_DISABLE OB_WRPSTATE_DISABLE -#define WRPSTATE_ENABLE OB_WRPSTATE_ENABLE -#define HAL_FLASH_TIMEOUT_VALUE FLASH_TIMEOUT_VALUE -#define OBEX_PCROP OPTIONBYTE_PCROP -#define OBEX_BOOTCONFIG OPTIONBYTE_BOOTCONFIG -#define PCROPSTATE_DISABLE OB_PCROP_STATE_DISABLE -#define PCROPSTATE_ENABLE OB_PCROP_STATE_ENABLE -#define TYPEERASEDATA_BYTE FLASH_TYPEERASEDATA_BYTE -#define TYPEERASEDATA_HALFWORD FLASH_TYPEERASEDATA_HALFWORD -#define TYPEERASEDATA_WORD FLASH_TYPEERASEDATA_WORD -#define TYPEPROGRAMDATA_BYTE FLASH_TYPEPROGRAMDATA_BYTE -#define TYPEPROGRAMDATA_HALFWORD FLASH_TYPEPROGRAMDATA_HALFWORD -#define TYPEPROGRAMDATA_WORD FLASH_TYPEPROGRAMDATA_WORD -#define TYPEPROGRAMDATA_FASTBYTE FLASH_TYPEPROGRAMDATA_FASTBYTE -#define TYPEPROGRAMDATA_FASTHALFWORD FLASH_TYPEPROGRAMDATA_FASTHALFWORD -#define TYPEPROGRAMDATA_FASTWORD FLASH_TYPEPROGRAMDATA_FASTWORD -#define PAGESIZE FLASH_PAGE_SIZE -#define TYPEPROGRAM_FASTBYTE FLASH_TYPEPROGRAM_BYTE -#define TYPEPROGRAM_FASTHALFWORD FLASH_TYPEPROGRAM_HALFWORD -#define TYPEPROGRAM_FASTWORD FLASH_TYPEPROGRAM_WORD -#define VOLTAGE_RANGE_1 FLASH_VOLTAGE_RANGE_1 -#define VOLTAGE_RANGE_2 FLASH_VOLTAGE_RANGE_2 -#define VOLTAGE_RANGE_3 FLASH_VOLTAGE_RANGE_3 -#define VOLTAGE_RANGE_4 FLASH_VOLTAGE_RANGE_4 -#define TYPEPROGRAM_FAST FLASH_TYPEPROGRAM_FAST -#define TYPEPROGRAM_FAST_AND_LAST FLASH_TYPEPROGRAM_FAST_AND_LAST -#define WRPAREA_BANK1_AREAA OB_WRPAREA_BANK1_AREAA -#define WRPAREA_BANK1_AREAB OB_WRPAREA_BANK1_AREAB -#define WRPAREA_BANK2_AREAA OB_WRPAREA_BANK2_AREAA -#define WRPAREA_BANK2_AREAB OB_WRPAREA_BANK2_AREAB -#define IWDG_STDBY_FREEZE OB_IWDG_STDBY_FREEZE -#define IWDG_STDBY_ACTIVE OB_IWDG_STDBY_RUN -#define IWDG_STOP_FREEZE OB_IWDG_STOP_FREEZE -#define IWDG_STOP_ACTIVE OB_IWDG_STOP_RUN -#define FLASH_ERROR_NONE HAL_FLASH_ERROR_NONE -#define FLASH_ERROR_RD HAL_FLASH_ERROR_RD -#define FLASH_ERROR_PG HAL_FLASH_ERROR_PROG -#define FLASH_ERROR_PGP HAL_FLASH_ERROR_PGS -#define FLASH_ERROR_WRP HAL_FLASH_ERROR_WRP -#define FLASH_ERROR_OPTV HAL_FLASH_ERROR_OPTV -#define FLASH_ERROR_OPTVUSR HAL_FLASH_ERROR_OPTVUSR -#define FLASH_ERROR_PROG HAL_FLASH_ERROR_PROG -#define FLASH_ERROR_OP HAL_FLASH_ERROR_OPERATION -#define FLASH_ERROR_PGA HAL_FLASH_ERROR_PGA -#define FLASH_ERROR_SIZE HAL_FLASH_ERROR_SIZE -#define FLASH_ERROR_SIZ HAL_FLASH_ERROR_SIZE -#define FLASH_ERROR_PGS HAL_FLASH_ERROR_PGS -#define FLASH_ERROR_MIS HAL_FLASH_ERROR_MIS -#define FLASH_ERROR_FAST HAL_FLASH_ERROR_FAST -#define FLASH_ERROR_FWWERR HAL_FLASH_ERROR_FWWERR -#define FLASH_ERROR_NOTZERO HAL_FLASH_ERROR_NOTZERO -#define FLASH_ERROR_OPERATION HAL_FLASH_ERROR_OPERATION -#define FLASH_ERROR_ERS HAL_FLASH_ERROR_ERS -#define OB_WDG_SW OB_IWDG_SW -#define OB_WDG_HW OB_IWDG_HW -#define OB_SDADC12_VDD_MONITOR_SET OB_SDACD_VDD_MONITOR_SET -#define OB_SDADC12_VDD_MONITOR_RESET OB_SDACD_VDD_MONITOR_RESET -#define OB_RAM_PARITY_CHECK_SET OB_SRAM_PARITY_SET -#define OB_RAM_PARITY_CHECK_RESET OB_SRAM_PARITY_RESET -#define IS_OB_SDADC12_VDD_MONITOR IS_OB_SDACD_VDD_MONITOR -#define OB_RDP_LEVEL0 OB_RDP_LEVEL_0 -#define OB_RDP_LEVEL1 OB_RDP_LEVEL_1 -#define OB_RDP_LEVEL2 OB_RDP_LEVEL_2 -#if defined(STM32G0) -#define OB_BOOT_LOCK_DISABLE OB_BOOT_ENTRY_FORCED_NONE -#define OB_BOOT_LOCK_ENABLE OB_BOOT_ENTRY_FORCED_FLASH -#else -#define OB_BOOT_ENTRY_FORCED_NONE OB_BOOT_LOCK_DISABLE -#define OB_BOOT_ENTRY_FORCED_FLASH OB_BOOT_LOCK_ENABLE -#endif -#if defined(STM32H7) -#define FLASH_FLAG_SNECCE_BANK1RR FLASH_FLAG_SNECCERR_BANK1 -#define FLASH_FLAG_DBECCE_BANK1RR FLASH_FLAG_DBECCERR_BANK1 -#define FLASH_FLAG_STRBER_BANK1R FLASH_FLAG_STRBERR_BANK1 -#define FLASH_FLAG_SNECCE_BANK2RR FLASH_FLAG_SNECCERR_BANK2 -#define FLASH_FLAG_DBECCE_BANK2RR FLASH_FLAG_DBECCERR_BANK2 -#define FLASH_FLAG_STRBER_BANK2R FLASH_FLAG_STRBERR_BANK2 -#define FLASH_FLAG_WDW FLASH_FLAG_WBNE -#define OB_WRP_SECTOR_All OB_WRP_SECTOR_ALL -#endif /* STM32H7 */ -#if defined(STM32U5) -#define OB_USER_nRST_STOP OB_USER_NRST_STOP -#define OB_USER_nRST_STDBY OB_USER_NRST_STDBY -#define OB_USER_nRST_SHDW OB_USER_NRST_SHDW -#define OB_USER_nSWBOOT0 OB_USER_NSWBOOT0 -#define OB_USER_nBOOT0 OB_USER_NBOOT0 -#define OB_nBOOT0_RESET OB_NBOOT0_RESET -#define OB_nBOOT0_SET OB_NBOOT0_SET -#endif /* STM32U5 */ - -/** - * @} - */ - -/** @defgroup HAL_JPEG_Aliased_Macros HAL JPEG Aliased Macros maintained for legacy purpose - * @{ - */ - -#if defined(STM32H7) -#define __HAL_RCC_JPEG_CLK_ENABLE __HAL_RCC_JPGDECEN_CLK_ENABLE -#define __HAL_RCC_JPEG_CLK_DISABLE __HAL_RCC_JPGDECEN_CLK_DISABLE -#define __HAL_RCC_JPEG_FORCE_RESET __HAL_RCC_JPGDECRST_FORCE_RESET -#define __HAL_RCC_JPEG_RELEASE_RESET __HAL_RCC_JPGDECRST_RELEASE_RESET -#define __HAL_RCC_JPEG_CLK_SLEEP_ENABLE __HAL_RCC_JPGDEC_CLK_SLEEP_ENABLE -#define __HAL_RCC_JPEG_CLK_SLEEP_DISABLE __HAL_RCC_JPGDEC_CLK_SLEEP_DISABLE -#endif /* STM32H7 */ - -/** - * @} - */ - -/** @defgroup HAL_SYSCFG_Aliased_Defines HAL SYSCFG Aliased Defines maintained for legacy purpose - * @{ - */ - -#define HAL_SYSCFG_FASTMODEPLUS_I2C_PA9 I2C_FASTMODEPLUS_PA9 -#define HAL_SYSCFG_FASTMODEPLUS_I2C_PA10 I2C_FASTMODEPLUS_PA10 -#define HAL_SYSCFG_FASTMODEPLUS_I2C_PB6 I2C_FASTMODEPLUS_PB6 -#define HAL_SYSCFG_FASTMODEPLUS_I2C_PB7 I2C_FASTMODEPLUS_PB7 -#define HAL_SYSCFG_FASTMODEPLUS_I2C_PB8 I2C_FASTMODEPLUS_PB8 -#define HAL_SYSCFG_FASTMODEPLUS_I2C_PB9 I2C_FASTMODEPLUS_PB9 -#define HAL_SYSCFG_FASTMODEPLUS_I2C1 I2C_FASTMODEPLUS_I2C1 -#define HAL_SYSCFG_FASTMODEPLUS_I2C2 I2C_FASTMODEPLUS_I2C2 -#define HAL_SYSCFG_FASTMODEPLUS_I2C3 I2C_FASTMODEPLUS_I2C3 -#if defined(STM32G4) - -#define HAL_SYSCFG_EnableIOAnalogSwitchBooster HAL_SYSCFG_EnableIOSwitchBooster -#define HAL_SYSCFG_DisableIOAnalogSwitchBooster HAL_SYSCFG_DisableIOSwitchBooster -#define HAL_SYSCFG_EnableIOAnalogSwitchVDD HAL_SYSCFG_EnableIOSwitchVDD -#define HAL_SYSCFG_DisableIOAnalogSwitchVDD HAL_SYSCFG_DisableIOSwitchVDD -#endif /* STM32G4 */ - -/** - * @} - */ - - -/** @defgroup LL_FMC_Aliased_Defines LL FMC Aliased Defines maintained for compatibility purpose - * @{ - */ -#if defined(STM32L4) || defined(STM32F7) || defined(STM32H7) || defined(STM32G4) -#define FMC_NAND_PCC_WAIT_FEATURE_DISABLE FMC_NAND_WAIT_FEATURE_DISABLE -#define FMC_NAND_PCC_WAIT_FEATURE_ENABLE FMC_NAND_WAIT_FEATURE_ENABLE -#define FMC_NAND_PCC_MEM_BUS_WIDTH_8 FMC_NAND_MEM_BUS_WIDTH_8 -#define FMC_NAND_PCC_MEM_BUS_WIDTH_16 FMC_NAND_MEM_BUS_WIDTH_16 -#elif defined(STM32F1) || defined(STM32F2) || defined(STM32F3) || defined(STM32F4) -#define FMC_NAND_WAIT_FEATURE_DISABLE FMC_NAND_PCC_WAIT_FEATURE_DISABLE -#define FMC_NAND_WAIT_FEATURE_ENABLE FMC_NAND_PCC_WAIT_FEATURE_ENABLE -#define FMC_NAND_MEM_BUS_WIDTH_8 FMC_NAND_PCC_MEM_BUS_WIDTH_8 -#define FMC_NAND_MEM_BUS_WIDTH_16 FMC_NAND_PCC_MEM_BUS_WIDTH_16 -#endif -/** - * @} - */ - -/** @defgroup LL_FSMC_Aliased_Defines LL FSMC Aliased Defines maintained for legacy purpose - * @{ - */ - -#define FSMC_NORSRAM_TYPEDEF FSMC_NORSRAM_TypeDef -#define FSMC_NORSRAM_EXTENDED_TYPEDEF FSMC_NORSRAM_EXTENDED_TypeDef -/** - * @} - */ - -/** @defgroup HAL_GPIO_Aliased_Macros HAL GPIO Aliased Macros maintained for legacy purpose - * @{ - */ -#define GET_GPIO_SOURCE GPIO_GET_INDEX -#define GET_GPIO_INDEX GPIO_GET_INDEX - -#if defined(STM32F4) -#define GPIO_AF12_SDMMC GPIO_AF12_SDIO -#define GPIO_AF12_SDMMC1 GPIO_AF12_SDIO -#endif - -#if defined(STM32F7) -#define GPIO_AF12_SDIO GPIO_AF12_SDMMC1 -#define GPIO_AF12_SDMMC GPIO_AF12_SDMMC1 -#endif - -#if defined(STM32L4) -#define GPIO_AF12_SDIO GPIO_AF12_SDMMC1 -#define GPIO_AF12_SDMMC GPIO_AF12_SDMMC1 -#endif - -#if defined(STM32H7) -#define GPIO_AF7_SDIO1 GPIO_AF7_SDMMC1 -#define GPIO_AF8_SDIO1 GPIO_AF8_SDMMC1 -#define GPIO_AF12_SDIO1 GPIO_AF12_SDMMC1 -#define GPIO_AF9_SDIO2 GPIO_AF9_SDMMC2 -#define GPIO_AF10_SDIO2 GPIO_AF10_SDMMC2 -#define GPIO_AF11_SDIO2 GPIO_AF11_SDMMC2 - -#if defined (STM32H743xx) || defined (STM32H753xx) || defined (STM32H750xx) || defined (STM32H742xx) || \ - defined (STM32H745xx) || defined (STM32H755xx) || defined (STM32H747xx) || defined (STM32H757xx) -#define GPIO_AF10_OTG2_HS GPIO_AF10_OTG2_FS -#define GPIO_AF10_OTG1_FS GPIO_AF10_OTG1_HS -#define GPIO_AF12_OTG2_FS GPIO_AF12_OTG1_FS -#endif /*STM32H743xx || STM32H753xx || STM32H750xx || STM32H742xx || STM32H745xx || STM32H755xx || STM32H747xx || STM32H757xx */ -#endif /* STM32H7 */ - -#define GPIO_AF0_LPTIM GPIO_AF0_LPTIM1 -#define GPIO_AF1_LPTIM GPIO_AF1_LPTIM1 -#define GPIO_AF2_LPTIM GPIO_AF2_LPTIM1 - -#if defined(STM32L0) || defined(STM32L4) || defined(STM32F4) || defined(STM32F2) || defined(STM32F7) || defined(STM32G4) || defined(STM32H7) || defined(STM32WB) || defined(STM32U5) -#define GPIO_SPEED_LOW GPIO_SPEED_FREQ_LOW -#define GPIO_SPEED_MEDIUM GPIO_SPEED_FREQ_MEDIUM -#define GPIO_SPEED_FAST GPIO_SPEED_FREQ_HIGH -#define GPIO_SPEED_HIGH GPIO_SPEED_FREQ_VERY_HIGH -#endif /* STM32L0 || STM32L4 || STM32F4 || STM32F2 || STM32F7 || STM32G4 || STM32H7 || STM32WB || STM32U5*/ - -#if defined(STM32L1) -#define GPIO_SPEED_VERY_LOW GPIO_SPEED_FREQ_LOW -#define GPIO_SPEED_LOW GPIO_SPEED_FREQ_MEDIUM -#define GPIO_SPEED_MEDIUM GPIO_SPEED_FREQ_HIGH -#define GPIO_SPEED_HIGH GPIO_SPEED_FREQ_VERY_HIGH -#endif /* STM32L1 */ - -#if defined(STM32F0) || defined(STM32F3) || defined(STM32F1) -#define GPIO_SPEED_LOW GPIO_SPEED_FREQ_LOW -#define GPIO_SPEED_MEDIUM GPIO_SPEED_FREQ_MEDIUM -#define GPIO_SPEED_HIGH GPIO_SPEED_FREQ_HIGH -#endif /* STM32F0 || STM32F3 || STM32F1 */ - -#define GPIO_AF6_DFSDM GPIO_AF6_DFSDM1 -/** - * @} - */ - -/** @defgroup HAL_HRTIM_Aliased_Macros HAL HRTIM Aliased Macros maintained for legacy purpose - * @{ - */ -#define HRTIM_TIMDELAYEDPROTECTION_DISABLED HRTIM_TIMER_A_B_C_DELAYEDPROTECTION_DISABLED -#define HRTIM_TIMDELAYEDPROTECTION_DELAYEDOUT1_EEV68 HRTIM_TIMER_A_B_C_DELAYEDPROTECTION_DELAYEDOUT1_EEV6 -#define HRTIM_TIMDELAYEDPROTECTION_DELAYEDOUT2_EEV68 HRTIM_TIMER_A_B_C_DELAYEDPROTECTION_DELAYEDOUT2_EEV6 -#define HRTIM_TIMDELAYEDPROTECTION_DELAYEDBOTH_EEV68 HRTIM_TIMER_A_B_C_DELAYEDPROTECTION_DELAYEDBOTH_EEV6 -#define HRTIM_TIMDELAYEDPROTECTION_BALANCED_EEV68 HRTIM_TIMER_A_B_C_DELAYEDPROTECTION_BALANCED_EEV6 -#define HRTIM_TIMDELAYEDPROTECTION_DELAYEDOUT1_DEEV79 HRTIM_TIMER_A_B_C_DELAYEDPROTECTION_DELAYEDOUT1_DEEV7 -#define HRTIM_TIMDELAYEDPROTECTION_DELAYEDOUT2_DEEV79 HRTIM_TIMER_A_B_C_DELAYEDPROTECTION_DELAYEDOUT2_DEEV7 -#define HRTIM_TIMDELAYEDPROTECTION_DELAYEDBOTH_EEV79 HRTIM_TIMER_A_B_C_DELAYEDPROTECTION_DELAYEDBOTH_EEV7 -#define HRTIM_TIMDELAYEDPROTECTION_BALANCED_EEV79 HRTIM_TIMER_A_B_C_DELAYEDPROTECTION_BALANCED_EEV7 - -#define __HAL_HRTIM_SetCounter __HAL_HRTIM_SETCOUNTER -#define __HAL_HRTIM_GetCounter __HAL_HRTIM_GETCOUNTER -#define __HAL_HRTIM_SetPeriod __HAL_HRTIM_SETPERIOD -#define __HAL_HRTIM_GetPeriod __HAL_HRTIM_GETPERIOD -#define __HAL_HRTIM_SetClockPrescaler __HAL_HRTIM_SETCLOCKPRESCALER -#define __HAL_HRTIM_GetClockPrescaler __HAL_HRTIM_GETCLOCKPRESCALER -#define __HAL_HRTIM_SetCompare __HAL_HRTIM_SETCOMPARE -#define __HAL_HRTIM_GetCompare __HAL_HRTIM_GETCOMPARE - -#if defined(STM32G4) -#define HAL_HRTIM_ExternalEventCounterConfig HAL_HRTIM_ExtEventCounterConfig -#define HAL_HRTIM_ExternalEventCounterEnable HAL_HRTIM_ExtEventCounterEnable -#define HAL_HRTIM_ExternalEventCounterDisable HAL_HRTIM_ExtEventCounterDisable -#define HAL_HRTIM_ExternalEventCounterReset HAL_HRTIM_ExtEventCounterReset -#define HRTIM_TIMEEVENT_A HRTIM_EVENTCOUNTER_A -#define HRTIM_TIMEEVENT_B HRTIM_EVENTCOUNTER_B -#define HRTIM_TIMEEVENTRESETMODE_UNCONDITIONAL HRTIM_EVENTCOUNTER_RSTMODE_UNCONDITIONAL -#define HRTIM_TIMEEVENTRESETMODE_CONDITIONAL HRTIM_EVENTCOUNTER_RSTMODE_CONDITIONAL -#endif /* STM32G4 */ - -#if defined(STM32H7) -#define HRTIM_OUTPUTSET_TIMAEV1_TIMBCMP1 HRTIM_OUTPUTSET_TIMEV_1 -#define HRTIM_OUTPUTSET_TIMAEV2_TIMBCMP2 HRTIM_OUTPUTSET_TIMEV_2 -#define HRTIM_OUTPUTSET_TIMAEV3_TIMCCMP2 HRTIM_OUTPUTSET_TIMEV_3 -#define HRTIM_OUTPUTSET_TIMAEV4_TIMCCMP3 HRTIM_OUTPUTSET_TIMEV_4 -#define HRTIM_OUTPUTSET_TIMAEV5_TIMDCMP1 HRTIM_OUTPUTSET_TIMEV_5 -#define HRTIM_OUTPUTSET_TIMAEV6_TIMDCMP2 HRTIM_OUTPUTSET_TIMEV_6 -#define HRTIM_OUTPUTSET_TIMAEV7_TIMECMP3 HRTIM_OUTPUTSET_TIMEV_7 -#define HRTIM_OUTPUTSET_TIMAEV8_TIMECMP4 HRTIM_OUTPUTSET_TIMEV_8 -#define HRTIM_OUTPUTSET_TIMAEV9_TIMFCMP4 HRTIM_OUTPUTSET_TIMEV_9 -#define HRTIM_OUTPUTSET_TIMBEV1_TIMACMP1 HRTIM_OUTPUTSET_TIMEV_1 -#define HRTIM_OUTPUTSET_TIMBEV2_TIMACMP2 HRTIM_OUTPUTSET_TIMEV_2 -#define HRTIM_OUTPUTSET_TIMBEV3_TIMCCMP3 HRTIM_OUTPUTSET_TIMEV_3 -#define HRTIM_OUTPUTSET_TIMBEV4_TIMCCMP4 HRTIM_OUTPUTSET_TIMEV_4 -#define HRTIM_OUTPUTSET_TIMBEV5_TIMDCMP3 HRTIM_OUTPUTSET_TIMEV_5 -#define HRTIM_OUTPUTSET_TIMBEV6_TIMDCMP4 HRTIM_OUTPUTSET_TIMEV_6 -#define HRTIM_OUTPUTSET_TIMBEV7_TIMECMP1 HRTIM_OUTPUTSET_TIMEV_7 -#define HRTIM_OUTPUTSET_TIMBEV8_TIMECMP2 HRTIM_OUTPUTSET_TIMEV_8 -#define HRTIM_OUTPUTSET_TIMBEV9_TIMFCMP3 HRTIM_OUTPUTSET_TIMEV_9 -#define HRTIM_OUTPUTSET_TIMCEV1_TIMACMP1 HRTIM_OUTPUTSET_TIMEV_1 -#define HRTIM_OUTPUTSET_TIMCEV2_TIMACMP2 HRTIM_OUTPUTSET_TIMEV_2 -#define HRTIM_OUTPUTSET_TIMCEV3_TIMBCMP2 HRTIM_OUTPUTSET_TIMEV_3 -#define HRTIM_OUTPUTSET_TIMCEV4_TIMBCMP3 HRTIM_OUTPUTSET_TIMEV_4 -#define HRTIM_OUTPUTSET_TIMCEV5_TIMDCMP2 HRTIM_OUTPUTSET_TIMEV_5 -#define HRTIM_OUTPUTSET_TIMCEV6_TIMDCMP4 HRTIM_OUTPUTSET_TIMEV_6 -#define HRTIM_OUTPUTSET_TIMCEV7_TIMECMP3 HRTIM_OUTPUTSET_TIMEV_7 -#define HRTIM_OUTPUTSET_TIMCEV8_TIMECMP4 HRTIM_OUTPUTSET_TIMEV_8 -#define HRTIM_OUTPUTSET_TIMCEV9_TIMFCMP2 HRTIM_OUTPUTSET_TIMEV_9 -#define HRTIM_OUTPUTSET_TIMDEV1_TIMACMP1 HRTIM_OUTPUTSET_TIMEV_1 -#define HRTIM_OUTPUTSET_TIMDEV2_TIMACMP4 HRTIM_OUTPUTSET_TIMEV_2 -#define HRTIM_OUTPUTSET_TIMDEV3_TIMBCMP2 HRTIM_OUTPUTSET_TIMEV_3 -#define HRTIM_OUTPUTSET_TIMDEV4_TIMBCMP4 HRTIM_OUTPUTSET_TIMEV_4 -#define HRTIM_OUTPUTSET_TIMDEV5_TIMCCMP4 HRTIM_OUTPUTSET_TIMEV_5 -#define HRTIM_OUTPUTSET_TIMDEV6_TIMECMP1 HRTIM_OUTPUTSET_TIMEV_6 -#define HRTIM_OUTPUTSET_TIMDEV7_TIMECMP4 HRTIM_OUTPUTSET_TIMEV_7 -#define HRTIM_OUTPUTSET_TIMDEV8_TIMFCMP1 HRTIM_OUTPUTSET_TIMEV_8 -#define HRTIM_OUTPUTSET_TIMDEV9_TIMFCMP3 HRTIM_OUTPUTSET_TIMEV_9 -#define HRTIM_OUTPUTSET_TIMEEV1_TIMACMP4 HRTIM_OUTPUTSET_TIMEV_1 -#define HRTIM_OUTPUTSET_TIMEEV2_TIMBCMP3 HRTIM_OUTPUTSET_TIMEV_2 -#define HRTIM_OUTPUTSET_TIMEEV3_TIMBCMP4 HRTIM_OUTPUTSET_TIMEV_3 -#define HRTIM_OUTPUTSET_TIMEEV4_TIMCCMP1 HRTIM_OUTPUTSET_TIMEV_4 -#define HRTIM_OUTPUTSET_TIMEEV5_TIMDCMP2 HRTIM_OUTPUTSET_TIMEV_5 -#define HRTIM_OUTPUTSET_TIMEEV6_TIMDCMP1 HRTIM_OUTPUTSET_TIMEV_6 -#define HRTIM_OUTPUTSET_TIMEEV7_TIMDCMP2 HRTIM_OUTPUTSET_TIMEV_7 -#define HRTIM_OUTPUTSET_TIMEEV8_TIMFCMP3 HRTIM_OUTPUTSET_TIMEV_8 -#define HRTIM_OUTPUTSET_TIMEEV9_TIMFCMP4 HRTIM_OUTPUTSET_TIMEV_9 -#define HRTIM_OUTPUTSET_TIMFEV1_TIMACMP3 HRTIM_OUTPUTSET_TIMEV_1 -#define HRTIM_OUTPUTSET_TIMFEV2_TIMBCMP1 HRTIM_OUTPUTSET_TIMEV_2 -#define HRTIM_OUTPUTSET_TIMFEV3_TIMBCMP4 HRTIM_OUTPUTSET_TIMEV_3 -#define HRTIM_OUTPUTSET_TIMFEV4_TIMCCMP1 HRTIM_OUTPUTSET_TIMEV_4 -#define HRTIM_OUTPUTSET_TIMFEV5_TIMCCMP4 HRTIM_OUTPUTSET_TIMEV_5 -#define HRTIM_OUTPUTSET_TIMFEV6_TIMDCMP3 HRTIM_OUTPUTSET_TIMEV_6 -#define HRTIM_OUTPUTSET_TIMFEV7_TIMDCMP4 HRTIM_OUTPUTSET_TIMEV_7 -#define HRTIM_OUTPUTSET_TIMFEV8_TIMECMP2 HRTIM_OUTPUTSET_TIMEV_8 -#define HRTIM_OUTPUTSET_TIMFEV9_TIMECMP3 HRTIM_OUTPUTSET_TIMEV_9 - -#define HRTIM_OUTPUTRESET_TIMAEV1_TIMBCMP1 HRTIM_OUTPUTSET_TIMEV_1 -#define HRTIM_OUTPUTRESET_TIMAEV2_TIMBCMP2 HRTIM_OUTPUTSET_TIMEV_2 -#define HRTIM_OUTPUTRESET_TIMAEV3_TIMCCMP2 HRTIM_OUTPUTSET_TIMEV_3 -#define HRTIM_OUTPUTRESET_TIMAEV4_TIMCCMP3 HRTIM_OUTPUTSET_TIMEV_4 -#define HRTIM_OUTPUTRESET_TIMAEV5_TIMDCMP1 HRTIM_OUTPUTSET_TIMEV_5 -#define HRTIM_OUTPUTRESET_TIMAEV6_TIMDCMP2 HRTIM_OUTPUTSET_TIMEV_6 -#define HRTIM_OUTPUTRESET_TIMAEV7_TIMECMP3 HRTIM_OUTPUTSET_TIMEV_7 -#define HRTIM_OUTPUTRESET_TIMAEV8_TIMECMP4 HRTIM_OUTPUTSET_TIMEV_8 -#define HRTIM_OUTPUTRESET_TIMAEV9_TIMFCMP4 HRTIM_OUTPUTSET_TIMEV_9 -#define HRTIM_OUTPUTRESET_TIMBEV1_TIMACMP1 HRTIM_OUTPUTSET_TIMEV_1 -#define HRTIM_OUTPUTRESET_TIMBEV2_TIMACMP2 HRTIM_OUTPUTSET_TIMEV_2 -#define HRTIM_OUTPUTRESET_TIMBEV3_TIMCCMP3 HRTIM_OUTPUTSET_TIMEV_3 -#define HRTIM_OUTPUTRESET_TIMBEV4_TIMCCMP4 HRTIM_OUTPUTSET_TIMEV_4 -#define HRTIM_OUTPUTRESET_TIMBEV5_TIMDCMP3 HRTIM_OUTPUTSET_TIMEV_5 -#define HRTIM_OUTPUTRESET_TIMBEV6_TIMDCMP4 HRTIM_OUTPUTSET_TIMEV_6 -#define HRTIM_OUTPUTRESET_TIMBEV7_TIMECMP1 HRTIM_OUTPUTSET_TIMEV_7 -#define HRTIM_OUTPUTRESET_TIMBEV8_TIMECMP2 HRTIM_OUTPUTSET_TIMEV_8 -#define HRTIM_OUTPUTRESET_TIMBEV9_TIMFCMP3 HRTIM_OUTPUTSET_TIMEV_9 -#define HRTIM_OUTPUTRESET_TIMCEV1_TIMACMP1 HRTIM_OUTPUTSET_TIMEV_1 -#define HRTIM_OUTPUTRESET_TIMCEV2_TIMACMP2 HRTIM_OUTPUTSET_TIMEV_2 -#define HRTIM_OUTPUTRESET_TIMCEV3_TIMBCMP2 HRTIM_OUTPUTSET_TIMEV_3 -#define HRTIM_OUTPUTRESET_TIMCEV4_TIMBCMP3 HRTIM_OUTPUTSET_TIMEV_4 -#define HRTIM_OUTPUTRESET_TIMCEV5_TIMDCMP2 HRTIM_OUTPUTSET_TIMEV_5 -#define HRTIM_OUTPUTRESET_TIMCEV6_TIMDCMP4 HRTIM_OUTPUTSET_TIMEV_6 -#define HRTIM_OUTPUTRESET_TIMCEV7_TIMECMP3 HRTIM_OUTPUTSET_TIMEV_7 -#define HRTIM_OUTPUTRESET_TIMCEV8_TIMECMP4 HRTIM_OUTPUTSET_TIMEV_8 -#define HRTIM_OUTPUTRESET_TIMCEV9_TIMFCMP2 HRTIM_OUTPUTSET_TIMEV_9 -#define HRTIM_OUTPUTRESET_TIMDEV1_TIMACMP1 HRTIM_OUTPUTSET_TIMEV_1 -#define HRTIM_OUTPUTRESET_TIMDEV2_TIMACMP4 HRTIM_OUTPUTSET_TIMEV_2 -#define HRTIM_OUTPUTRESET_TIMDEV3_TIMBCMP2 HRTIM_OUTPUTSET_TIMEV_3 -#define HRTIM_OUTPUTRESET_TIMDEV4_TIMBCMP4 HRTIM_OUTPUTSET_TIMEV_4 -#define HRTIM_OUTPUTRESET_TIMDEV5_TIMCCMP4 HRTIM_OUTPUTSET_TIMEV_5 -#define HRTIM_OUTPUTRESET_TIMDEV6_TIMECMP1 HRTIM_OUTPUTSET_TIMEV_6 -#define HRTIM_OUTPUTRESET_TIMDEV7_TIMECMP4 HRTIM_OUTPUTSET_TIMEV_7 -#define HRTIM_OUTPUTRESET_TIMDEV8_TIMFCMP1 HRTIM_OUTPUTSET_TIMEV_8 -#define HRTIM_OUTPUTRESET_TIMDEV9_TIMFCMP3 HRTIM_OUTPUTSET_TIMEV_9 -#define HRTIM_OUTPUTRESET_TIMEEV1_TIMACMP4 HRTIM_OUTPUTSET_TIMEV_1 -#define HRTIM_OUTPUTRESET_TIMEEV2_TIMBCMP3 HRTIM_OUTPUTSET_TIMEV_2 -#define HRTIM_OUTPUTRESET_TIMEEV3_TIMBCMP4 HRTIM_OUTPUTSET_TIMEV_3 -#define HRTIM_OUTPUTRESET_TIMEEV4_TIMCCMP1 HRTIM_OUTPUTSET_TIMEV_4 -#define HRTIM_OUTPUTRESET_TIMEEV5_TIMDCMP2 HRTIM_OUTPUTSET_TIMEV_5 -#define HRTIM_OUTPUTRESET_TIMEEV6_TIMDCMP1 HRTIM_OUTPUTSET_TIMEV_6 -#define HRTIM_OUTPUTRESET_TIMEEV7_TIMDCMP2 HRTIM_OUTPUTSET_TIMEV_7 -#define HRTIM_OUTPUTRESET_TIMEEV8_TIMFCMP3 HRTIM_OUTPUTSET_TIMEV_8 -#define HRTIM_OUTPUTRESET_TIMEEV9_TIMFCMP4 HRTIM_OUTPUTSET_TIMEV_9 -#define HRTIM_OUTPUTRESET_TIMFEV1_TIMACMP3 HRTIM_OUTPUTSET_TIMEV_1 -#define HRTIM_OUTPUTRESET_TIMFEV2_TIMBCMP1 HRTIM_OUTPUTSET_TIMEV_2 -#define HRTIM_OUTPUTRESET_TIMFEV3_TIMBCMP4 HRTIM_OUTPUTSET_TIMEV_3 -#define HRTIM_OUTPUTRESET_TIMFEV4_TIMCCMP1 HRTIM_OUTPUTSET_TIMEV_4 -#define HRTIM_OUTPUTRESET_TIMFEV5_TIMCCMP4 HRTIM_OUTPUTSET_TIMEV_5 -#define HRTIM_OUTPUTRESET_TIMFEV6_TIMDCMP3 HRTIM_OUTPUTSET_TIMEV_6 -#define HRTIM_OUTPUTRESET_TIMFEV7_TIMDCMP4 HRTIM_OUTPUTSET_TIMEV_7 -#define HRTIM_OUTPUTRESET_TIMFEV8_TIMECMP2 HRTIM_OUTPUTSET_TIMEV_8 -#define HRTIM_OUTPUTRESET_TIMFEV9_TIMECMP3 HRTIM_OUTPUTSET_TIMEV_9 -#endif /* STM32H7 */ - -#if defined(STM32F3) -/** @brief Constants defining available sources associated to external events. - */ -#define HRTIM_EVENTSRC_1 (0x00000000U) -#define HRTIM_EVENTSRC_2 (HRTIM_EECR1_EE1SRC_0) -#define HRTIM_EVENTSRC_3 (HRTIM_EECR1_EE1SRC_1) -#define HRTIM_EVENTSRC_4 (HRTIM_EECR1_EE1SRC_1 | HRTIM_EECR1_EE1SRC_0) - -/** @brief Constants defining the DLL calibration periods (in micro seconds) - */ -#define HRTIM_CALIBRATIONRATE_7300 0x00000000U -#define HRTIM_CALIBRATIONRATE_910 (HRTIM_DLLCR_CALRTE_0) -#define HRTIM_CALIBRATIONRATE_114 (HRTIM_DLLCR_CALRTE_1) -#define HRTIM_CALIBRATIONRATE_14 (HRTIM_DLLCR_CALRTE_1 | HRTIM_DLLCR_CALRTE_0) - -#endif /* STM32F3 */ -/** - * @} - */ - -/** @defgroup HAL_I2C_Aliased_Defines HAL I2C Aliased Defines maintained for legacy purpose - * @{ - */ -#define I2C_DUALADDRESS_DISABLED I2C_DUALADDRESS_DISABLE -#define I2C_DUALADDRESS_ENABLED I2C_DUALADDRESS_ENABLE -#define I2C_GENERALCALL_DISABLED I2C_GENERALCALL_DISABLE -#define I2C_GENERALCALL_ENABLED I2C_GENERALCALL_ENABLE -#define I2C_NOSTRETCH_DISABLED I2C_NOSTRETCH_DISABLE -#define I2C_NOSTRETCH_ENABLED I2C_NOSTRETCH_ENABLE -#define I2C_ANALOGFILTER_ENABLED I2C_ANALOGFILTER_ENABLE -#define I2C_ANALOGFILTER_DISABLED I2C_ANALOGFILTER_DISABLE -#if defined(STM32F0) || defined(STM32F1) || defined(STM32F3) || defined(STM32G0) || defined(STM32L4) || defined(STM32L1) || defined(STM32F7) -#define HAL_I2C_STATE_MEM_BUSY_TX HAL_I2C_STATE_BUSY_TX -#define HAL_I2C_STATE_MEM_BUSY_RX HAL_I2C_STATE_BUSY_RX -#define HAL_I2C_STATE_MASTER_BUSY_TX HAL_I2C_STATE_BUSY_TX -#define HAL_I2C_STATE_MASTER_BUSY_RX HAL_I2C_STATE_BUSY_RX -#define HAL_I2C_STATE_SLAVE_BUSY_TX HAL_I2C_STATE_BUSY_TX -#define HAL_I2C_STATE_SLAVE_BUSY_RX HAL_I2C_STATE_BUSY_RX -#endif -/** - * @} - */ - -/** @defgroup HAL_IRDA_Aliased_Defines HAL IRDA Aliased Defines maintained for legacy purpose - * @{ - */ -#define IRDA_ONE_BIT_SAMPLE_DISABLED IRDA_ONE_BIT_SAMPLE_DISABLE -#define IRDA_ONE_BIT_SAMPLE_ENABLED IRDA_ONE_BIT_SAMPLE_ENABLE - -/** - * @} - */ - -/** @defgroup HAL_IWDG_Aliased_Defines HAL IWDG Aliased Defines maintained for legacy purpose - * @{ - */ -#define KR_KEY_RELOAD IWDG_KEY_RELOAD -#define KR_KEY_ENABLE IWDG_KEY_ENABLE -#define KR_KEY_EWA IWDG_KEY_WRITE_ACCESS_ENABLE -#define KR_KEY_DWA IWDG_KEY_WRITE_ACCESS_DISABLE -/** - * @} - */ - -/** @defgroup HAL_LPTIM_Aliased_Defines HAL LPTIM Aliased Defines maintained for legacy purpose - * @{ - */ - -#define LPTIM_CLOCKSAMPLETIME_DIRECTTRANSISTION LPTIM_CLOCKSAMPLETIME_DIRECTTRANSITION -#define LPTIM_CLOCKSAMPLETIME_2TRANSISTIONS LPTIM_CLOCKSAMPLETIME_2TRANSITIONS -#define LPTIM_CLOCKSAMPLETIME_4TRANSISTIONS LPTIM_CLOCKSAMPLETIME_4TRANSITIONS -#define LPTIM_CLOCKSAMPLETIME_8TRANSISTIONS LPTIM_CLOCKSAMPLETIME_8TRANSITIONS - -#define LPTIM_CLOCKPOLARITY_RISINGEDGE LPTIM_CLOCKPOLARITY_RISING -#define LPTIM_CLOCKPOLARITY_FALLINGEDGE LPTIM_CLOCKPOLARITY_FALLING -#define LPTIM_CLOCKPOLARITY_BOTHEDGES LPTIM_CLOCKPOLARITY_RISING_FALLING - -#define LPTIM_TRIGSAMPLETIME_DIRECTTRANSISTION LPTIM_TRIGSAMPLETIME_DIRECTTRANSITION -#define LPTIM_TRIGSAMPLETIME_2TRANSISTIONS LPTIM_TRIGSAMPLETIME_2TRANSITIONS -#define LPTIM_TRIGSAMPLETIME_4TRANSISTIONS LPTIM_TRIGSAMPLETIME_4TRANSITIONS -#define LPTIM_TRIGSAMPLETIME_8TRANSISTIONS LPTIM_TRIGSAMPLETIME_8TRANSITIONS - -/* The following 3 definition have also been present in a temporary version of lptim.h */ -/* They need to be renamed also to the right name, just in case */ -#define LPTIM_TRIGSAMPLETIME_2TRANSITION LPTIM_TRIGSAMPLETIME_2TRANSITIONS -#define LPTIM_TRIGSAMPLETIME_4TRANSITION LPTIM_TRIGSAMPLETIME_4TRANSITIONS -#define LPTIM_TRIGSAMPLETIME_8TRANSITION LPTIM_TRIGSAMPLETIME_8TRANSITIONS - -#if defined(STM32U5) -#define LPTIM_ISR_CC1 LPTIM_ISR_CC1IF -#define LPTIM_ISR_CC2 LPTIM_ISR_CC2IF -#endif /* STM32U5 */ -/** - * @} - */ - -/** @defgroup HAL_NAND_Aliased_Defines HAL NAND Aliased Defines maintained for legacy purpose - * @{ - */ -#define HAL_NAND_Read_Page HAL_NAND_Read_Page_8b -#define HAL_NAND_Write_Page HAL_NAND_Write_Page_8b -#define HAL_NAND_Read_SpareArea HAL_NAND_Read_SpareArea_8b -#define HAL_NAND_Write_SpareArea HAL_NAND_Write_SpareArea_8b - -#define NAND_AddressTypedef NAND_AddressTypeDef - -#define __ARRAY_ADDRESS ARRAY_ADDRESS -#define __ADDR_1st_CYCLE ADDR_1ST_CYCLE -#define __ADDR_2nd_CYCLE ADDR_2ND_CYCLE -#define __ADDR_3rd_CYCLE ADDR_3RD_CYCLE -#define __ADDR_4th_CYCLE ADDR_4TH_CYCLE -/** - * @} - */ - -/** @defgroup HAL_NOR_Aliased_Defines HAL NOR Aliased Defines maintained for legacy purpose - * @{ - */ -#define NOR_StatusTypedef HAL_NOR_StatusTypeDef -#define NOR_SUCCESS HAL_NOR_STATUS_SUCCESS -#define NOR_ONGOING HAL_NOR_STATUS_ONGOING -#define NOR_ERROR HAL_NOR_STATUS_ERROR -#define NOR_TIMEOUT HAL_NOR_STATUS_TIMEOUT - -#define __NOR_WRITE NOR_WRITE -#define __NOR_ADDR_SHIFT NOR_ADDR_SHIFT -/** - * @} - */ - -/** @defgroup HAL_OPAMP_Aliased_Defines HAL OPAMP Aliased Defines maintained for legacy purpose - * @{ - */ - -#define OPAMP_NONINVERTINGINPUT_VP0 OPAMP_NONINVERTINGINPUT_IO0 -#define OPAMP_NONINVERTINGINPUT_VP1 OPAMP_NONINVERTINGINPUT_IO1 -#define OPAMP_NONINVERTINGINPUT_VP2 OPAMP_NONINVERTINGINPUT_IO2 -#define OPAMP_NONINVERTINGINPUT_VP3 OPAMP_NONINVERTINGINPUT_IO3 - -#define OPAMP_SEC_NONINVERTINGINPUT_VP0 OPAMP_SEC_NONINVERTINGINPUT_IO0 -#define OPAMP_SEC_NONINVERTINGINPUT_VP1 OPAMP_SEC_NONINVERTINGINPUT_IO1 -#define OPAMP_SEC_NONINVERTINGINPUT_VP2 OPAMP_SEC_NONINVERTINGINPUT_IO2 -#define OPAMP_SEC_NONINVERTINGINPUT_VP3 OPAMP_SEC_NONINVERTINGINPUT_IO3 - -#define OPAMP_INVERTINGINPUT_VM0 OPAMP_INVERTINGINPUT_IO0 -#define OPAMP_INVERTINGINPUT_VM1 OPAMP_INVERTINGINPUT_IO1 - -#define IOPAMP_INVERTINGINPUT_VM0 OPAMP_INVERTINGINPUT_IO0 -#define IOPAMP_INVERTINGINPUT_VM1 OPAMP_INVERTINGINPUT_IO1 - -#define OPAMP_SEC_INVERTINGINPUT_VM0 OPAMP_SEC_INVERTINGINPUT_IO0 -#define OPAMP_SEC_INVERTINGINPUT_VM1 OPAMP_SEC_INVERTINGINPUT_IO1 - -#define OPAMP_INVERTINGINPUT_VINM OPAMP_SEC_INVERTINGINPUT_IO1 - -#define OPAMP_PGACONNECT_NO OPAMP_PGA_CONNECT_INVERTINGINPUT_NO -#define OPAMP_PGACONNECT_VM0 OPAMP_PGA_CONNECT_INVERTINGINPUT_IO0 -#define OPAMP_PGACONNECT_VM1 OPAMP_PGA_CONNECT_INVERTINGINPUT_IO1 - -#if defined(STM32L1) || defined(STM32L4) || defined(STM32L5) || defined(STM32H7) || defined(STM32G4) -#define HAL_OPAMP_MSP_INIT_CB_ID HAL_OPAMP_MSPINIT_CB_ID -#define HAL_OPAMP_MSP_DEINIT_CB_ID HAL_OPAMP_MSPDEINIT_CB_ID -#endif - -#if defined(STM32L4) || defined(STM32L5) -#define OPAMP_POWERMODE_NORMAL OPAMP_POWERMODE_NORMALPOWER -#elif defined(STM32G4) -#define OPAMP_POWERMODE_NORMAL OPAMP_POWERMODE_NORMALSPEED -#endif - -/** - * @} - */ - -/** @defgroup HAL_I2S_Aliased_Defines HAL I2S Aliased Defines maintained for legacy purpose - * @{ - */ -#define I2S_STANDARD_PHILLIPS I2S_STANDARD_PHILIPS - -#if defined(STM32H7) -#define I2S_IT_TXE I2S_IT_TXP -#define I2S_IT_RXNE I2S_IT_RXP - -#define I2S_FLAG_TXE I2S_FLAG_TXP -#define I2S_FLAG_RXNE I2S_FLAG_RXP -#endif - -#if defined(STM32F7) -#define I2S_CLOCK_SYSCLK I2S_CLOCK_PLL -#endif -/** - * @} - */ - -/** @defgroup HAL_PCCARD_Aliased_Defines HAL PCCARD Aliased Defines maintained for legacy purpose - * @{ - */ - -/* Compact Flash-ATA registers description */ -#define CF_DATA ATA_DATA -#define CF_SECTOR_COUNT ATA_SECTOR_COUNT -#define CF_SECTOR_NUMBER ATA_SECTOR_NUMBER -#define CF_CYLINDER_LOW ATA_CYLINDER_LOW -#define CF_CYLINDER_HIGH ATA_CYLINDER_HIGH -#define CF_CARD_HEAD ATA_CARD_HEAD -#define CF_STATUS_CMD ATA_STATUS_CMD -#define CF_STATUS_CMD_ALTERNATE ATA_STATUS_CMD_ALTERNATE -#define CF_COMMON_DATA_AREA ATA_COMMON_DATA_AREA - -/* Compact Flash-ATA commands */ -#define CF_READ_SECTOR_CMD ATA_READ_SECTOR_CMD -#define CF_WRITE_SECTOR_CMD ATA_WRITE_SECTOR_CMD -#define CF_ERASE_SECTOR_CMD ATA_ERASE_SECTOR_CMD -#define CF_IDENTIFY_CMD ATA_IDENTIFY_CMD - -#define PCCARD_StatusTypedef HAL_PCCARD_StatusTypeDef -#define PCCARD_SUCCESS HAL_PCCARD_STATUS_SUCCESS -#define PCCARD_ONGOING HAL_PCCARD_STATUS_ONGOING -#define PCCARD_ERROR HAL_PCCARD_STATUS_ERROR -#define PCCARD_TIMEOUT HAL_PCCARD_STATUS_TIMEOUT -/** - * @} - */ - -/** @defgroup HAL_RTC_Aliased_Defines HAL RTC Aliased Defines maintained for legacy purpose - * @{ - */ - -#define FORMAT_BIN RTC_FORMAT_BIN -#define FORMAT_BCD RTC_FORMAT_BCD - -#define RTC_ALARMSUBSECONDMASK_None RTC_ALARMSUBSECONDMASK_NONE -#define RTC_TAMPERERASEBACKUP_DISABLED RTC_TAMPER_ERASE_BACKUP_DISABLE -#define RTC_TAMPERMASK_FLAG_DISABLED RTC_TAMPERMASK_FLAG_DISABLE -#define RTC_TAMPERMASK_FLAG_ENABLED RTC_TAMPERMASK_FLAG_ENABLE - -#define RTC_MASKTAMPERFLAG_DISABLED RTC_TAMPERMASK_FLAG_DISABLE -#define RTC_MASKTAMPERFLAG_ENABLED RTC_TAMPERMASK_FLAG_ENABLE -#define RTC_TAMPERERASEBACKUP_ENABLED RTC_TAMPER_ERASE_BACKUP_ENABLE -#define RTC_TAMPER1_2_INTERRUPT RTC_ALL_TAMPER_INTERRUPT -#define RTC_TAMPER1_2_3_INTERRUPT RTC_ALL_TAMPER_INTERRUPT - -#define RTC_TIMESTAMPPIN_PC13 RTC_TIMESTAMPPIN_DEFAULT -#define RTC_TIMESTAMPPIN_PA0 RTC_TIMESTAMPPIN_POS1 -#define RTC_TIMESTAMPPIN_PI8 RTC_TIMESTAMPPIN_POS1 -#define RTC_TIMESTAMPPIN_PC1 RTC_TIMESTAMPPIN_POS2 - -#define RTC_OUTPUT_REMAP_PC13 RTC_OUTPUT_REMAP_NONE -#define RTC_OUTPUT_REMAP_PB14 RTC_OUTPUT_REMAP_POS1 -#define RTC_OUTPUT_REMAP_PB2 RTC_OUTPUT_REMAP_POS1 - -#define RTC_TAMPERPIN_PC13 RTC_TAMPERPIN_DEFAULT -#define RTC_TAMPERPIN_PA0 RTC_TAMPERPIN_POS1 -#define RTC_TAMPERPIN_PI8 RTC_TAMPERPIN_POS1 - -#if defined(STM32H7) -#define RTC_TAMPCR_TAMPXE RTC_TAMPER_X -#define RTC_TAMPCR_TAMPXIE RTC_TAMPER_X_INTERRUPT - -#define RTC_TAMPER1_INTERRUPT RTC_IT_TAMP1 -#define RTC_TAMPER2_INTERRUPT RTC_IT_TAMP2 -#define RTC_TAMPER3_INTERRUPT RTC_IT_TAMP3 -#define RTC_ALL_TAMPER_INTERRUPT RTC_IT_TAMPALL -#endif /* STM32H7 */ - -/** - * @} - */ - - -/** @defgroup HAL_SMARTCARD_Aliased_Defines HAL SMARTCARD Aliased Defines maintained for legacy purpose - * @{ - */ -#define SMARTCARD_NACK_ENABLED SMARTCARD_NACK_ENABLE -#define SMARTCARD_NACK_DISABLED SMARTCARD_NACK_DISABLE - -#define SMARTCARD_ONEBIT_SAMPLING_DISABLED SMARTCARD_ONE_BIT_SAMPLE_DISABLE -#define SMARTCARD_ONEBIT_SAMPLING_ENABLED SMARTCARD_ONE_BIT_SAMPLE_ENABLE -#define SMARTCARD_ONEBIT_SAMPLING_DISABLE SMARTCARD_ONE_BIT_SAMPLE_DISABLE -#define SMARTCARD_ONEBIT_SAMPLING_ENABLE SMARTCARD_ONE_BIT_SAMPLE_ENABLE - -#define SMARTCARD_TIMEOUT_DISABLED SMARTCARD_TIMEOUT_DISABLE -#define SMARTCARD_TIMEOUT_ENABLED SMARTCARD_TIMEOUT_ENABLE - -#define SMARTCARD_LASTBIT_DISABLED SMARTCARD_LASTBIT_DISABLE -#define SMARTCARD_LASTBIT_ENABLED SMARTCARD_LASTBIT_ENABLE -/** - * @} - */ - - -/** @defgroup HAL_SMBUS_Aliased_Defines HAL SMBUS Aliased Defines maintained for legacy purpose - * @{ - */ -#define SMBUS_DUALADDRESS_DISABLED SMBUS_DUALADDRESS_DISABLE -#define SMBUS_DUALADDRESS_ENABLED SMBUS_DUALADDRESS_ENABLE -#define SMBUS_GENERALCALL_DISABLED SMBUS_GENERALCALL_DISABLE -#define SMBUS_GENERALCALL_ENABLED SMBUS_GENERALCALL_ENABLE -#define SMBUS_NOSTRETCH_DISABLED SMBUS_NOSTRETCH_DISABLE -#define SMBUS_NOSTRETCH_ENABLED SMBUS_NOSTRETCH_ENABLE -#define SMBUS_ANALOGFILTER_ENABLED SMBUS_ANALOGFILTER_ENABLE -#define SMBUS_ANALOGFILTER_DISABLED SMBUS_ANALOGFILTER_DISABLE -#define SMBUS_PEC_DISABLED SMBUS_PEC_DISABLE -#define SMBUS_PEC_ENABLED SMBUS_PEC_ENABLE -#define HAL_SMBUS_STATE_SLAVE_LISTEN HAL_SMBUS_STATE_LISTEN -/** - * @} - */ - -/** @defgroup HAL_SPI_Aliased_Defines HAL SPI Aliased Defines maintained for legacy purpose - * @{ - */ -#define SPI_TIMODE_DISABLED SPI_TIMODE_DISABLE -#define SPI_TIMODE_ENABLED SPI_TIMODE_ENABLE - -#define SPI_CRCCALCULATION_DISABLED SPI_CRCCALCULATION_DISABLE -#define SPI_CRCCALCULATION_ENABLED SPI_CRCCALCULATION_ENABLE - -#define SPI_NSS_PULSE_DISABLED SPI_NSS_PULSE_DISABLE -#define SPI_NSS_PULSE_ENABLED SPI_NSS_PULSE_ENABLE - -#if defined(STM32H7) - -#define SPI_FLAG_TXE SPI_FLAG_TXP -#define SPI_FLAG_RXNE SPI_FLAG_RXP - -#define SPI_IT_TXE SPI_IT_TXP -#define SPI_IT_RXNE SPI_IT_RXP - -#define SPI_FRLVL_EMPTY SPI_RX_FIFO_0PACKET -#define SPI_FRLVL_QUARTER_FULL SPI_RX_FIFO_1PACKET -#define SPI_FRLVL_HALF_FULL SPI_RX_FIFO_2PACKET -#define SPI_FRLVL_FULL SPI_RX_FIFO_3PACKET - -#endif /* STM32H7 */ - -/** - * @} - */ - -/** @defgroup HAL_TIM_Aliased_Defines HAL TIM Aliased Defines maintained for legacy purpose - * @{ - */ -#define CCER_CCxE_MASK TIM_CCER_CCxE_MASK -#define CCER_CCxNE_MASK TIM_CCER_CCxNE_MASK - -#define TIM_DMABase_CR1 TIM_DMABASE_CR1 -#define TIM_DMABase_CR2 TIM_DMABASE_CR2 -#define TIM_DMABase_SMCR TIM_DMABASE_SMCR -#define TIM_DMABase_DIER TIM_DMABASE_DIER -#define TIM_DMABase_SR TIM_DMABASE_SR -#define TIM_DMABase_EGR TIM_DMABASE_EGR -#define TIM_DMABase_CCMR1 TIM_DMABASE_CCMR1 -#define TIM_DMABase_CCMR2 TIM_DMABASE_CCMR2 -#define TIM_DMABase_CCER TIM_DMABASE_CCER -#define TIM_DMABase_CNT TIM_DMABASE_CNT -#define TIM_DMABase_PSC TIM_DMABASE_PSC -#define TIM_DMABase_ARR TIM_DMABASE_ARR -#define TIM_DMABase_RCR TIM_DMABASE_RCR -#define TIM_DMABase_CCR1 TIM_DMABASE_CCR1 -#define TIM_DMABase_CCR2 TIM_DMABASE_CCR2 -#define TIM_DMABase_CCR3 TIM_DMABASE_CCR3 -#define TIM_DMABase_CCR4 TIM_DMABASE_CCR4 -#define TIM_DMABase_BDTR TIM_DMABASE_BDTR -#define TIM_DMABase_DCR TIM_DMABASE_DCR -#define TIM_DMABase_DMAR TIM_DMABASE_DMAR -#define TIM_DMABase_OR1 TIM_DMABASE_OR1 -#define TIM_DMABase_CCMR3 TIM_DMABASE_CCMR3 -#define TIM_DMABase_CCR5 TIM_DMABASE_CCR5 -#define TIM_DMABase_CCR6 TIM_DMABASE_CCR6 -#define TIM_DMABase_OR2 TIM_DMABASE_OR2 -#define TIM_DMABase_OR3 TIM_DMABASE_OR3 -#define TIM_DMABase_OR TIM_DMABASE_OR - -#define TIM_EventSource_Update TIM_EVENTSOURCE_UPDATE -#define TIM_EventSource_CC1 TIM_EVENTSOURCE_CC1 -#define TIM_EventSource_CC2 TIM_EVENTSOURCE_CC2 -#define TIM_EventSource_CC3 TIM_EVENTSOURCE_CC3 -#define TIM_EventSource_CC4 TIM_EVENTSOURCE_CC4 -#define TIM_EventSource_COM TIM_EVENTSOURCE_COM -#define TIM_EventSource_Trigger TIM_EVENTSOURCE_TRIGGER -#define TIM_EventSource_Break TIM_EVENTSOURCE_BREAK -#define TIM_EventSource_Break2 TIM_EVENTSOURCE_BREAK2 - -#define TIM_DMABurstLength_1Transfer TIM_DMABURSTLENGTH_1TRANSFER -#define TIM_DMABurstLength_2Transfers TIM_DMABURSTLENGTH_2TRANSFERS -#define TIM_DMABurstLength_3Transfers TIM_DMABURSTLENGTH_3TRANSFERS -#define TIM_DMABurstLength_4Transfers TIM_DMABURSTLENGTH_4TRANSFERS -#define TIM_DMABurstLength_5Transfers TIM_DMABURSTLENGTH_5TRANSFERS -#define TIM_DMABurstLength_6Transfers TIM_DMABURSTLENGTH_6TRANSFERS -#define TIM_DMABurstLength_7Transfers TIM_DMABURSTLENGTH_7TRANSFERS -#define TIM_DMABurstLength_8Transfers TIM_DMABURSTLENGTH_8TRANSFERS -#define TIM_DMABurstLength_9Transfers TIM_DMABURSTLENGTH_9TRANSFERS -#define TIM_DMABurstLength_10Transfers TIM_DMABURSTLENGTH_10TRANSFERS -#define TIM_DMABurstLength_11Transfers TIM_DMABURSTLENGTH_11TRANSFERS -#define TIM_DMABurstLength_12Transfers TIM_DMABURSTLENGTH_12TRANSFERS -#define TIM_DMABurstLength_13Transfers TIM_DMABURSTLENGTH_13TRANSFERS -#define TIM_DMABurstLength_14Transfers TIM_DMABURSTLENGTH_14TRANSFERS -#define TIM_DMABurstLength_15Transfers TIM_DMABURSTLENGTH_15TRANSFERS -#define TIM_DMABurstLength_16Transfers TIM_DMABURSTLENGTH_16TRANSFERS -#define TIM_DMABurstLength_17Transfers TIM_DMABURSTLENGTH_17TRANSFERS -#define TIM_DMABurstLength_18Transfers TIM_DMABURSTLENGTH_18TRANSFERS - -#if defined(STM32L0) -#define TIM22_TI1_GPIO1 TIM22_TI1_GPIO -#define TIM22_TI1_GPIO2 TIM22_TI1_GPIO -#endif - -#if defined(STM32F3) -#define IS_TIM_HALL_INTERFACE_INSTANCE IS_TIM_HALL_SENSOR_INTERFACE_INSTANCE -#endif - -#if defined(STM32H7) -#define TIM_TIM1_ETR_COMP1_OUT TIM_TIM1_ETR_COMP1 -#define TIM_TIM1_ETR_COMP2_OUT TIM_TIM1_ETR_COMP2 -#define TIM_TIM8_ETR_COMP1_OUT TIM_TIM8_ETR_COMP1 -#define TIM_TIM8_ETR_COMP2_OUT TIM_TIM8_ETR_COMP2 -#define TIM_TIM2_ETR_COMP1_OUT TIM_TIM2_ETR_COMP1 -#define TIM_TIM2_ETR_COMP2_OUT TIM_TIM2_ETR_COMP2 -#define TIM_TIM3_ETR_COMP1_OUT TIM_TIM3_ETR_COMP1 -#define TIM_TIM1_TI1_COMP1_OUT TIM_TIM1_TI1_COMP1 -#define TIM_TIM8_TI1_COMP2_OUT TIM_TIM8_TI1_COMP2 -#define TIM_TIM2_TI4_COMP1_OUT TIM_TIM2_TI4_COMP1 -#define TIM_TIM2_TI4_COMP2_OUT TIM_TIM2_TI4_COMP2 -#define TIM_TIM2_TI4_COMP1COMP2_OUT TIM_TIM2_TI4_COMP1_COMP2 -#define TIM_TIM3_TI1_COMP1_OUT TIM_TIM3_TI1_COMP1 -#define TIM_TIM3_TI1_COMP2_OUT TIM_TIM3_TI1_COMP2 -#define TIM_TIM3_TI1_COMP1COMP2_OUT TIM_TIM3_TI1_COMP1_COMP2 -#endif - -/** - * @} - */ - -/** @defgroup HAL_TSC_Aliased_Defines HAL TSC Aliased Defines maintained for legacy purpose - * @{ - */ -#define TSC_SYNC_POL_FALL TSC_SYNC_POLARITY_FALLING -#define TSC_SYNC_POL_RISE_HIGH TSC_SYNC_POLARITY_RISING -/** - * @} - */ - -/** @defgroup HAL_UART_Aliased_Defines HAL UART Aliased Defines maintained for legacy purpose - * @{ - */ -#define UART_ONEBIT_SAMPLING_DISABLED UART_ONE_BIT_SAMPLE_DISABLE -#define UART_ONEBIT_SAMPLING_ENABLED UART_ONE_BIT_SAMPLE_ENABLE -#define UART_ONE_BIT_SAMPLE_DISABLED UART_ONE_BIT_SAMPLE_DISABLE -#define UART_ONE_BIT_SAMPLE_ENABLED UART_ONE_BIT_SAMPLE_ENABLE - -#define __HAL_UART_ONEBIT_ENABLE __HAL_UART_ONE_BIT_SAMPLE_ENABLE -#define __HAL_UART_ONEBIT_DISABLE __HAL_UART_ONE_BIT_SAMPLE_DISABLE - -#define __DIV_SAMPLING16 UART_DIV_SAMPLING16 -#define __DIVMANT_SAMPLING16 UART_DIVMANT_SAMPLING16 -#define __DIVFRAQ_SAMPLING16 UART_DIVFRAQ_SAMPLING16 -#define __UART_BRR_SAMPLING16 UART_BRR_SAMPLING16 - -#define __DIV_SAMPLING8 UART_DIV_SAMPLING8 -#define __DIVMANT_SAMPLING8 UART_DIVMANT_SAMPLING8 -#define __DIVFRAQ_SAMPLING8 UART_DIVFRAQ_SAMPLING8 -#define __UART_BRR_SAMPLING8 UART_BRR_SAMPLING8 - -#define __DIV_LPUART UART_DIV_LPUART - -#define UART_WAKEUPMETHODE_IDLELINE UART_WAKEUPMETHOD_IDLELINE -#define UART_WAKEUPMETHODE_ADDRESSMARK UART_WAKEUPMETHOD_ADDRESSMARK - -/** - * @} - */ - - -/** @defgroup HAL_USART_Aliased_Defines HAL USART Aliased Defines maintained for legacy purpose - * @{ - */ - -#define USART_CLOCK_DISABLED USART_CLOCK_DISABLE -#define USART_CLOCK_ENABLED USART_CLOCK_ENABLE - -#define USARTNACK_ENABLED USART_NACK_ENABLE -#define USARTNACK_DISABLED USART_NACK_DISABLE -/** - * @} - */ - -/** @defgroup HAL_WWDG_Aliased_Defines HAL WWDG Aliased Defines maintained for legacy purpose - * @{ - */ -#define CFR_BASE WWDG_CFR_BASE - -/** - * @} - */ - -/** @defgroup HAL_CAN_Aliased_Defines HAL CAN Aliased Defines maintained for legacy purpose - * @{ - */ -#define CAN_FilterFIFO0 CAN_FILTER_FIFO0 -#define CAN_FilterFIFO1 CAN_FILTER_FIFO1 -#define CAN_IT_RQCP0 CAN_IT_TME -#define CAN_IT_RQCP1 CAN_IT_TME -#define CAN_IT_RQCP2 CAN_IT_TME -#define INAK_TIMEOUT CAN_TIMEOUT_VALUE -#define SLAK_TIMEOUT CAN_TIMEOUT_VALUE -#define CAN_TXSTATUS_FAILED ((uint8_t)0x00U) -#define CAN_TXSTATUS_OK ((uint8_t)0x01U) -#define CAN_TXSTATUS_PENDING ((uint8_t)0x02U) - -/** - * @} - */ - -/** @defgroup HAL_ETH_Aliased_Defines HAL ETH Aliased Defines maintained for legacy purpose - * @{ - */ - -#define VLAN_TAG ETH_VLAN_TAG -#define MIN_ETH_PAYLOAD ETH_MIN_ETH_PAYLOAD -#define MAX_ETH_PAYLOAD ETH_MAX_ETH_PAYLOAD -#define JUMBO_FRAME_PAYLOAD ETH_JUMBO_FRAME_PAYLOAD -#define MACMIIAR_CR_MASK ETH_MACMIIAR_CR_MASK -#define MACCR_CLEAR_MASK ETH_MACCR_CLEAR_MASK -#define MACFCR_CLEAR_MASK ETH_MACFCR_CLEAR_MASK -#define DMAOMR_CLEAR_MASK ETH_DMAOMR_CLEAR_MASK - -#define ETH_MMCCR 0x00000100U -#define ETH_MMCRIR 0x00000104U -#define ETH_MMCTIR 0x00000108U -#define ETH_MMCRIMR 0x0000010CU -#define ETH_MMCTIMR 0x00000110U -#define ETH_MMCTGFSCCR 0x0000014CU -#define ETH_MMCTGFMSCCR 0x00000150U -#define ETH_MMCTGFCR 0x00000168U -#define ETH_MMCRFCECR 0x00000194U -#define ETH_MMCRFAECR 0x00000198U -#define ETH_MMCRGUFCR 0x000001C4U - -#define ETH_MAC_TXFIFO_FULL 0x02000000U /* Tx FIFO full */ -#define ETH_MAC_TXFIFONOT_EMPTY 0x01000000U /* Tx FIFO not empty */ -#define ETH_MAC_TXFIFO_WRITE_ACTIVE 0x00400000U /* Tx FIFO write active */ -#define ETH_MAC_TXFIFO_IDLE 0x00000000U /* Tx FIFO read status: Idle */ -#define ETH_MAC_TXFIFO_READ 0x00100000U /* Tx FIFO read status: Read (transferring data to the MAC transmitter) */ -#define ETH_MAC_TXFIFO_WAITING 0x00200000U /* Tx FIFO read status: Waiting for TxStatus from MAC transmitter */ -#define ETH_MAC_TXFIFO_WRITING 0x00300000U /* Tx FIFO read status: Writing the received TxStatus or flushing the TxFIFO */ -#define ETH_MAC_TRANSMISSION_PAUSE 0x00080000U /* MAC transmitter in pause */ -#define ETH_MAC_TRANSMITFRAMECONTROLLER_IDLE 0x00000000U /* MAC transmit frame controller: Idle */ -#define ETH_MAC_TRANSMITFRAMECONTROLLER_WAITING 0x00020000U /* MAC transmit frame controller: Waiting for Status of previous frame or IFG/backoff period to be over */ -#define ETH_MAC_TRANSMITFRAMECONTROLLER_GENRATING_PCF 0x00040000U /* MAC transmit frame controller: Generating and transmitting a Pause control frame (in full duplex mode) */ -#define ETH_MAC_TRANSMITFRAMECONTROLLER_TRANSFERRING 0x00060000U /* MAC transmit frame controller: Transferring input frame for transmission */ -#define ETH_MAC_MII_TRANSMIT_ACTIVE 0x00010000U /* MAC MII transmit engine active */ -#define ETH_MAC_RXFIFO_EMPTY 0x00000000U /* Rx FIFO fill level: empty */ -#define ETH_MAC_RXFIFO_BELOW_THRESHOLD 0x00000100U /* Rx FIFO fill level: fill-level below flow-control de-activate threshold */ -#define ETH_MAC_RXFIFO_ABOVE_THRESHOLD 0x00000200U /* Rx FIFO fill level: fill-level above flow-control activate threshold */ -#define ETH_MAC_RXFIFO_FULL 0x00000300U /* Rx FIFO fill level: full */ -#if defined(STM32F1) -#else -#define ETH_MAC_READCONTROLLER_IDLE 0x00000000U /* Rx FIFO read controller IDLE state */ -#define ETH_MAC_READCONTROLLER_READING_DATA 0x00000020U /* Rx FIFO read controller Reading frame data */ -#define ETH_MAC_READCONTROLLER_READING_STATUS 0x00000040U /* Rx FIFO read controller Reading frame status (or time-stamp) */ -#endif -#define ETH_MAC_READCONTROLLER_FLUSHING 0x00000060U /* Rx FIFO read controller Flushing the frame data and status */ -#define ETH_MAC_RXFIFO_WRITE_ACTIVE 0x00000010U /* Rx FIFO write controller active */ -#define ETH_MAC_SMALL_FIFO_NOTACTIVE 0x00000000U /* MAC small FIFO read / write controllers not active */ -#define ETH_MAC_SMALL_FIFO_READ_ACTIVE 0x00000002U /* MAC small FIFO read controller active */ -#define ETH_MAC_SMALL_FIFO_WRITE_ACTIVE 0x00000004U /* MAC small FIFO write controller active */ -#define ETH_MAC_SMALL_FIFO_RW_ACTIVE 0x00000006U /* MAC small FIFO read / write controllers active */ -#define ETH_MAC_MII_RECEIVE_PROTOCOL_ACTIVE 0x00000001U /* MAC MII receive protocol engine active */ - -/** - * @} - */ - -/** @defgroup HAL_DCMI_Aliased_Defines HAL DCMI Aliased Defines maintained for legacy purpose - * @{ - */ -#define HAL_DCMI_ERROR_OVF HAL_DCMI_ERROR_OVR -#define DCMI_IT_OVF DCMI_IT_OVR -#define DCMI_FLAG_OVFRI DCMI_FLAG_OVRRI -#define DCMI_FLAG_OVFMI DCMI_FLAG_OVRMI - -#define HAL_DCMI_ConfigCROP HAL_DCMI_ConfigCrop -#define HAL_DCMI_EnableCROP HAL_DCMI_EnableCrop -#define HAL_DCMI_DisableCROP HAL_DCMI_DisableCrop - -/** - * @} - */ - -#if defined(STM32L4) || defined(STM32F7) || defined(STM32F427xx) || defined(STM32F437xx) \ - || defined(STM32F429xx) || defined(STM32F439xx) || defined(STM32F469xx) || defined(STM32F479xx) \ - || defined(STM32H7) -/** @defgroup HAL_DMA2D_Aliased_Defines HAL DMA2D Aliased Defines maintained for legacy purpose - * @{ - */ -#define DMA2D_ARGB8888 DMA2D_OUTPUT_ARGB8888 -#define DMA2D_RGB888 DMA2D_OUTPUT_RGB888 -#define DMA2D_RGB565 DMA2D_OUTPUT_RGB565 -#define DMA2D_ARGB1555 DMA2D_OUTPUT_ARGB1555 -#define DMA2D_ARGB4444 DMA2D_OUTPUT_ARGB4444 - -#define CM_ARGB8888 DMA2D_INPUT_ARGB8888 -#define CM_RGB888 DMA2D_INPUT_RGB888 -#define CM_RGB565 DMA2D_INPUT_RGB565 -#define CM_ARGB1555 DMA2D_INPUT_ARGB1555 -#define CM_ARGB4444 DMA2D_INPUT_ARGB4444 -#define CM_L8 DMA2D_INPUT_L8 -#define CM_AL44 DMA2D_INPUT_AL44 -#define CM_AL88 DMA2D_INPUT_AL88 -#define CM_L4 DMA2D_INPUT_L4 -#define CM_A8 DMA2D_INPUT_A8 -#define CM_A4 DMA2D_INPUT_A4 -/** - * @} - */ -#endif /* STM32L4 || STM32F7 || STM32F4 || STM32H7 */ - -#if defined(STM32L4) || defined(STM32F7) || defined(STM32F427xx) || defined(STM32F437xx) \ - || defined(STM32F429xx) || defined(STM32F439xx) || defined(STM32F469xx) || defined(STM32F479xx) \ - || defined(STM32H7) || defined(STM32U5) -/** @defgroup DMA2D_Aliases DMA2D API Aliases - * @{ - */ -#define HAL_DMA2D_DisableCLUT HAL_DMA2D_CLUTLoading_Abort /*!< Aliased to HAL_DMA2D_CLUTLoading_Abort - for compatibility with legacy code */ -/** - * @} - */ - -#endif /* STM32L4 || STM32F7 || STM32F4 || STM32H7 || STM32U5 */ - -/** @defgroup HAL_PPP_Aliased_Defines HAL PPP Aliased Defines maintained for legacy purpose - * @{ - */ - -/** - * @} - */ - -/* Exported functions --------------------------------------------------------*/ - -/** @defgroup HAL_CRYP_Aliased_Functions HAL CRYP Aliased Functions maintained for legacy purpose - * @{ - */ -#define HAL_CRYP_ComputationCpltCallback HAL_CRYPEx_ComputationCpltCallback -/** - * @} - */ - -/** @defgroup HAL_DCACHE_Aliased_Functions HAL DCACHE Aliased Functions maintained for legacy purpose - * @{ - */ - -#if defined(STM32U5) -#define HAL_DCACHE_CleanInvalidateByAddr HAL_DCACHE_CleanInvalidByAddr -#define HAL_DCACHE_CleanInvalidateByAddr_IT HAL_DCACHE_CleanInvalidByAddr_IT -#endif /* STM32U5 */ - -/** - * @} - */ - -#if !defined(STM32F2) -/** @defgroup HASH_alias HASH API alias - * @{ - */ -#define HAL_HASHEx_IRQHandler HAL_HASH_IRQHandler /*!< Redirection for compatibility with legacy code */ -/** - * - * @} - */ -#endif /* STM32F2 */ -/** @defgroup HAL_HASH_Aliased_Functions HAL HASH Aliased Functions maintained for legacy purpose - * @{ - */ -#define HAL_HASH_STATETypeDef HAL_HASH_StateTypeDef -#define HAL_HASHPhaseTypeDef HAL_HASH_PhaseTypeDef -#define HAL_HMAC_MD5_Finish HAL_HASH_MD5_Finish -#define HAL_HMAC_SHA1_Finish HAL_HASH_SHA1_Finish -#define HAL_HMAC_SHA224_Finish HAL_HASH_SHA224_Finish -#define HAL_HMAC_SHA256_Finish HAL_HASH_SHA256_Finish - -/*HASH Algorithm Selection*/ - -#define HASH_AlgoSelection_SHA1 HASH_ALGOSELECTION_SHA1 -#define HASH_AlgoSelection_SHA224 HASH_ALGOSELECTION_SHA224 -#define HASH_AlgoSelection_SHA256 HASH_ALGOSELECTION_SHA256 -#define HASH_AlgoSelection_MD5 HASH_ALGOSELECTION_MD5 - -#define HASH_AlgoMode_HASH HASH_ALGOMODE_HASH -#define HASH_AlgoMode_HMAC HASH_ALGOMODE_HMAC - -#define HASH_HMACKeyType_ShortKey HASH_HMAC_KEYTYPE_SHORTKEY -#define HASH_HMACKeyType_LongKey HASH_HMAC_KEYTYPE_LONGKEY - -#if defined(STM32L4) || defined(STM32L5) || defined(STM32F2) || defined(STM32F4) || defined(STM32F7) || defined(STM32H7) - -#define HAL_HASH_MD5_Accumulate HAL_HASH_MD5_Accmlt -#define HAL_HASH_MD5_Accumulate_End HAL_HASH_MD5_Accmlt_End -#define HAL_HASH_MD5_Accumulate_IT HAL_HASH_MD5_Accmlt_IT -#define HAL_HASH_MD5_Accumulate_End_IT HAL_HASH_MD5_Accmlt_End_IT - -#define HAL_HASH_SHA1_Accumulate HAL_HASH_SHA1_Accmlt -#define HAL_HASH_SHA1_Accumulate_End HAL_HASH_SHA1_Accmlt_End -#define HAL_HASH_SHA1_Accumulate_IT HAL_HASH_SHA1_Accmlt_IT -#define HAL_HASH_SHA1_Accumulate_End_IT HAL_HASH_SHA1_Accmlt_End_IT - -#define HAL_HASHEx_SHA224_Accumulate HAL_HASHEx_SHA224_Accmlt -#define HAL_HASHEx_SHA224_Accumulate_End HAL_HASHEx_SHA224_Accmlt_End -#define HAL_HASHEx_SHA224_Accumulate_IT HAL_HASHEx_SHA224_Accmlt_IT -#define HAL_HASHEx_SHA224_Accumulate_End_IT HAL_HASHEx_SHA224_Accmlt_End_IT - -#define HAL_HASHEx_SHA256_Accumulate HAL_HASHEx_SHA256_Accmlt -#define HAL_HASHEx_SHA256_Accumulate_End HAL_HASHEx_SHA256_Accmlt_End -#define HAL_HASHEx_SHA256_Accumulate_IT HAL_HASHEx_SHA256_Accmlt_IT -#define HAL_HASHEx_SHA256_Accumulate_End_IT HAL_HASHEx_SHA256_Accmlt_End_IT - -#endif /* STM32L4 || STM32L5 || STM32F2 || STM32F4 || STM32F7 || STM32H7 */ -/** - * @} - */ - -/** @defgroup HAL_Aliased_Functions HAL Generic Aliased Functions maintained for legacy purpose - * @{ - */ -#define HAL_EnableDBGSleepMode HAL_DBGMCU_EnableDBGSleepMode -#define HAL_DisableDBGSleepMode HAL_DBGMCU_DisableDBGSleepMode -#define HAL_EnableDBGStopMode HAL_DBGMCU_EnableDBGStopMode -#define HAL_DisableDBGStopMode HAL_DBGMCU_DisableDBGStopMode -#define HAL_EnableDBGStandbyMode HAL_DBGMCU_EnableDBGStandbyMode -#define HAL_DisableDBGStandbyMode HAL_DBGMCU_DisableDBGStandbyMode -#define HAL_DBG_LowPowerConfig(Periph, cmd) (((cmd\ - )==ENABLE)? HAL_DBGMCU_DBG_EnableLowPowerConfig(Periph) : HAL_DBGMCU_DBG_DisableLowPowerConfig(Periph)) -#define HAL_VREFINT_OutputSelect HAL_SYSCFG_VREFINT_OutputSelect -#define HAL_Lock_Cmd(cmd) (((cmd)==ENABLE) ? HAL_SYSCFG_Enable_Lock_VREFINT() : HAL_SYSCFG_Disable_Lock_VREFINT()) -#if defined(STM32L0) -#else -#define HAL_VREFINT_Cmd(cmd) (((cmd)==ENABLE)? HAL_SYSCFG_EnableVREFINT() : HAL_SYSCFG_DisableVREFINT()) -#endif -#define HAL_ADC_EnableBuffer_Cmd(cmd) (((cmd)==ENABLE) ? HAL_ADCEx_EnableVREFINT() : HAL_ADCEx_DisableVREFINT()) -#define HAL_ADC_EnableBufferSensor_Cmd(cmd) (((cmd\ - )==ENABLE) ? HAL_ADCEx_EnableVREFINTTempSensor() : HAL_ADCEx_DisableVREFINTTempSensor()) -#if defined(STM32H7A3xx) || defined(STM32H7B3xx) || defined(STM32H7B0xx) || defined(STM32H7A3xxQ) || defined(STM32H7B3xxQ) || defined(STM32H7B0xxQ) -#define HAL_EnableSRDomainDBGStopMode HAL_EnableDomain3DBGStopMode -#define HAL_DisableSRDomainDBGStopMode HAL_DisableDomain3DBGStopMode -#define HAL_EnableSRDomainDBGStandbyMode HAL_EnableDomain3DBGStandbyMode -#define HAL_DisableSRDomainDBGStandbyMode HAL_DisableDomain3DBGStandbyMode -#endif /* STM32H7A3xx || STM32H7B3xx || STM32H7B0xx || STM32H7A3xxQ || STM32H7B3xxQ || STM32H7B0xxQ */ - -/** - * @} - */ - -/** @defgroup HAL_FLASH_Aliased_Functions HAL FLASH Aliased Functions maintained for legacy purpose - * @{ - */ -#define FLASH_HalfPageProgram HAL_FLASHEx_HalfPageProgram -#define FLASH_EnableRunPowerDown HAL_FLASHEx_EnableRunPowerDown -#define FLASH_DisableRunPowerDown HAL_FLASHEx_DisableRunPowerDown -#define HAL_DATA_EEPROMEx_Unlock HAL_FLASHEx_DATAEEPROM_Unlock -#define HAL_DATA_EEPROMEx_Lock HAL_FLASHEx_DATAEEPROM_Lock -#define HAL_DATA_EEPROMEx_Erase HAL_FLASHEx_DATAEEPROM_Erase -#define HAL_DATA_EEPROMEx_Program HAL_FLASHEx_DATAEEPROM_Program - -/** - * @} - */ - -/** @defgroup HAL_I2C_Aliased_Functions HAL I2C Aliased Functions maintained for legacy purpose - * @{ - */ -#define HAL_I2CEx_AnalogFilter_Config HAL_I2CEx_ConfigAnalogFilter -#define HAL_I2CEx_DigitalFilter_Config HAL_I2CEx_ConfigDigitalFilter -#define HAL_FMPI2CEx_AnalogFilter_Config HAL_FMPI2CEx_ConfigAnalogFilter -#define HAL_FMPI2CEx_DigitalFilter_Config HAL_FMPI2CEx_ConfigDigitalFilter - -#define HAL_I2CFastModePlusConfig(SYSCFG_I2CFastModePlus, cmd) (((cmd\ - )==ENABLE)? HAL_I2CEx_EnableFastModePlus(SYSCFG_I2CFastModePlus): HAL_I2CEx_DisableFastModePlus(SYSCFG_I2CFastModePlus)) - -#if defined(STM32H7) || defined(STM32WB) || defined(STM32G0) || defined(STM32F0) || defined(STM32F1) || defined(STM32F2) || defined(STM32F3) || defined(STM32F4) || defined(STM32F7) || defined(STM32L0) || defined(STM32L4) || defined(STM32L5) || defined(STM32G4) || defined(STM32L1) -#define HAL_I2C_Master_Sequential_Transmit_IT HAL_I2C_Master_Seq_Transmit_IT -#define HAL_I2C_Master_Sequential_Receive_IT HAL_I2C_Master_Seq_Receive_IT -#define HAL_I2C_Slave_Sequential_Transmit_IT HAL_I2C_Slave_Seq_Transmit_IT -#define HAL_I2C_Slave_Sequential_Receive_IT HAL_I2C_Slave_Seq_Receive_IT -#endif /* STM32H7 || STM32WB || STM32G0 || STM32F0 || STM32F1 || STM32F2 || STM32F3 || STM32F4 || STM32F7 || STM32L0 || STM32L4 || STM32L5 || STM32G4 || STM32L1 */ -#if defined(STM32H7) || defined(STM32WB) || defined(STM32G0) || defined(STM32F4) || defined(STM32F7) || defined(STM32L0) || defined(STM32L4) || defined(STM32L5) || defined(STM32G4)|| defined(STM32L1) -#define HAL_I2C_Master_Sequential_Transmit_DMA HAL_I2C_Master_Seq_Transmit_DMA -#define HAL_I2C_Master_Sequential_Receive_DMA HAL_I2C_Master_Seq_Receive_DMA -#define HAL_I2C_Slave_Sequential_Transmit_DMA HAL_I2C_Slave_Seq_Transmit_DMA -#define HAL_I2C_Slave_Sequential_Receive_DMA HAL_I2C_Slave_Seq_Receive_DMA -#endif /* STM32H7 || STM32WB || STM32G0 || STM32F4 || STM32F7 || STM32L0 || STM32L4 || STM32L5 || STM32G4 || STM32L1 */ - -#if defined(STM32F4) -#define HAL_FMPI2C_Master_Sequential_Transmit_IT HAL_FMPI2C_Master_Seq_Transmit_IT -#define HAL_FMPI2C_Master_Sequential_Receive_IT HAL_FMPI2C_Master_Seq_Receive_IT -#define HAL_FMPI2C_Slave_Sequential_Transmit_IT HAL_FMPI2C_Slave_Seq_Transmit_IT -#define HAL_FMPI2C_Slave_Sequential_Receive_IT HAL_FMPI2C_Slave_Seq_Receive_IT -#define HAL_FMPI2C_Master_Sequential_Transmit_DMA HAL_FMPI2C_Master_Seq_Transmit_DMA -#define HAL_FMPI2C_Master_Sequential_Receive_DMA HAL_FMPI2C_Master_Seq_Receive_DMA -#define HAL_FMPI2C_Slave_Sequential_Transmit_DMA HAL_FMPI2C_Slave_Seq_Transmit_DMA -#define HAL_FMPI2C_Slave_Sequential_Receive_DMA HAL_FMPI2C_Slave_Seq_Receive_DMA -#endif /* STM32F4 */ -/** - * @} - */ - -/** @defgroup HAL_PWR_Aliased HAL PWR Aliased maintained for legacy purpose - * @{ - */ - -#if defined(STM32G0) -#define HAL_PWR_ConfigPVD HAL_PWREx_ConfigPVD -#define HAL_PWR_EnablePVD HAL_PWREx_EnablePVD -#define HAL_PWR_DisablePVD HAL_PWREx_DisablePVD -#define HAL_PWR_PVD_IRQHandler HAL_PWREx_PVD_IRQHandler -#endif -#define HAL_PWR_PVDConfig HAL_PWR_ConfigPVD -#define HAL_PWR_DisableBkUpReg HAL_PWREx_DisableBkUpReg -#define HAL_PWR_DisableFlashPowerDown HAL_PWREx_DisableFlashPowerDown -#define HAL_PWR_DisableVddio2Monitor HAL_PWREx_DisableVddio2Monitor -#define HAL_PWR_EnableBkUpReg HAL_PWREx_EnableBkUpReg -#define HAL_PWR_EnableFlashPowerDown HAL_PWREx_EnableFlashPowerDown -#define HAL_PWR_EnableVddio2Monitor HAL_PWREx_EnableVddio2Monitor -#define HAL_PWR_PVD_PVM_IRQHandler HAL_PWREx_PVD_PVM_IRQHandler -#define HAL_PWR_PVDLevelConfig HAL_PWR_ConfigPVD -#define HAL_PWR_Vddio2Monitor_IRQHandler HAL_PWREx_Vddio2Monitor_IRQHandler -#define HAL_PWR_Vddio2MonitorCallback HAL_PWREx_Vddio2MonitorCallback -#define HAL_PWREx_ActivateOverDrive HAL_PWREx_EnableOverDrive -#define HAL_PWREx_DeactivateOverDrive HAL_PWREx_DisableOverDrive -#define HAL_PWREx_DisableSDADCAnalog HAL_PWREx_DisableSDADC -#define HAL_PWREx_EnableSDADCAnalog HAL_PWREx_EnableSDADC -#define HAL_PWREx_PVMConfig HAL_PWREx_ConfigPVM - -#define PWR_MODE_NORMAL PWR_PVD_MODE_NORMAL -#define PWR_MODE_IT_RISING PWR_PVD_MODE_IT_RISING -#define PWR_MODE_IT_FALLING PWR_PVD_MODE_IT_FALLING -#define PWR_MODE_IT_RISING_FALLING PWR_PVD_MODE_IT_RISING_FALLING -#define PWR_MODE_EVENT_RISING PWR_PVD_MODE_EVENT_RISING -#define PWR_MODE_EVENT_FALLING PWR_PVD_MODE_EVENT_FALLING -#define PWR_MODE_EVENT_RISING_FALLING PWR_PVD_MODE_EVENT_RISING_FALLING - -#define CR_OFFSET_BB PWR_CR_OFFSET_BB -#define CSR_OFFSET_BB PWR_CSR_OFFSET_BB -#define PMODE_BIT_NUMBER VOS_BIT_NUMBER -#define CR_PMODE_BB CR_VOS_BB - -#define DBP_BitNumber DBP_BIT_NUMBER -#define PVDE_BitNumber PVDE_BIT_NUMBER -#define PMODE_BitNumber PMODE_BIT_NUMBER -#define EWUP_BitNumber EWUP_BIT_NUMBER -#define FPDS_BitNumber FPDS_BIT_NUMBER -#define ODEN_BitNumber ODEN_BIT_NUMBER -#define ODSWEN_BitNumber ODSWEN_BIT_NUMBER -#define MRLVDS_BitNumber MRLVDS_BIT_NUMBER -#define LPLVDS_BitNumber LPLVDS_BIT_NUMBER -#define BRE_BitNumber BRE_BIT_NUMBER - -#define PWR_MODE_EVT PWR_PVD_MODE_NORMAL - -/** - * @} - */ - -/** @defgroup HAL_SMBUS_Aliased_Functions HAL SMBUS Aliased Functions maintained for legacy purpose - * @{ - */ -#define HAL_SMBUS_Slave_Listen_IT HAL_SMBUS_EnableListen_IT -#define HAL_SMBUS_SlaveAddrCallback HAL_SMBUS_AddrCallback -#define HAL_SMBUS_SlaveListenCpltCallback HAL_SMBUS_ListenCpltCallback -/** - * @} - */ - -/** @defgroup HAL_SPI_Aliased_Functions HAL SPI Aliased Functions maintained for legacy purpose - * @{ - */ -#define HAL_SPI_FlushRxFifo HAL_SPIEx_FlushRxFifo -/** - * @} - */ - -/** @defgroup HAL_TIM_Aliased_Functions HAL TIM Aliased Functions maintained for legacy purpose - * @{ - */ -#define HAL_TIM_DMADelayPulseCplt TIM_DMADelayPulseCplt -#define HAL_TIM_DMAError TIM_DMAError -#define HAL_TIM_DMACaptureCplt TIM_DMACaptureCplt -#define HAL_TIMEx_DMACommutationCplt TIMEx_DMACommutationCplt -#if defined(STM32H7) || defined(STM32G0) || defined(STM32F0) || defined(STM32F1) || defined(STM32F2) || defined(STM32F3) || defined(STM32F4) || defined(STM32F7) || defined(STM32L0) || defined(STM32L4) -#define HAL_TIM_SlaveConfigSynchronization HAL_TIM_SlaveConfigSynchro -#define HAL_TIM_SlaveConfigSynchronization_IT HAL_TIM_SlaveConfigSynchro_IT -#define HAL_TIMEx_CommutationCallback HAL_TIMEx_CommutCallback -#define HAL_TIMEx_ConfigCommutationEvent HAL_TIMEx_ConfigCommutEvent -#define HAL_TIMEx_ConfigCommutationEvent_IT HAL_TIMEx_ConfigCommutEvent_IT -#define HAL_TIMEx_ConfigCommutationEvent_DMA HAL_TIMEx_ConfigCommutEvent_DMA -#endif /* STM32H7 || STM32G0 || STM32F0 || STM32F1 || STM32F2 || STM32F3 || STM32F4 || STM32F7 || STM32L0 */ -/** - * @} - */ - -/** @defgroup HAL_UART_Aliased_Functions HAL UART Aliased Functions maintained for legacy purpose - * @{ - */ -#define HAL_UART_WakeupCallback HAL_UARTEx_WakeupCallback -/** - * @} - */ - -/** @defgroup HAL_LTDC_Aliased_Functions HAL LTDC Aliased Functions maintained for legacy purpose - * @{ - */ -#define HAL_LTDC_LineEvenCallback HAL_LTDC_LineEventCallback -#define HAL_LTDC_Relaod HAL_LTDC_Reload -#define HAL_LTDC_StructInitFromVideoConfig HAL_LTDCEx_StructInitFromVideoConfig -#define HAL_LTDC_StructInitFromAdaptedCommandConfig HAL_LTDCEx_StructInitFromAdaptedCommandConfig -/** - * @} - */ - - -/** @defgroup HAL_PPP_Aliased_Functions HAL PPP Aliased Functions maintained for legacy purpose - * @{ - */ - -/** - * @} - */ - -/* Exported macros ------------------------------------------------------------*/ - -/** @defgroup HAL_AES_Aliased_Macros HAL CRYP Aliased Macros maintained for legacy purpose - * @{ - */ -#define AES_IT_CC CRYP_IT_CC -#define AES_IT_ERR CRYP_IT_ERR -#define AES_FLAG_CCF CRYP_FLAG_CCF -/** - * @} - */ - -/** @defgroup HAL_Aliased_Macros HAL Generic Aliased Macros maintained for legacy purpose - * @{ - */ -#define __HAL_GET_BOOT_MODE __HAL_SYSCFG_GET_BOOT_MODE -#define __HAL_REMAPMEMORY_FLASH __HAL_SYSCFG_REMAPMEMORY_FLASH -#define __HAL_REMAPMEMORY_SYSTEMFLASH __HAL_SYSCFG_REMAPMEMORY_SYSTEMFLASH -#define __HAL_REMAPMEMORY_SRAM __HAL_SYSCFG_REMAPMEMORY_SRAM -#define __HAL_REMAPMEMORY_FMC __HAL_SYSCFG_REMAPMEMORY_FMC -#define __HAL_REMAPMEMORY_FMC_SDRAM __HAL_SYSCFG_REMAPMEMORY_FMC_SDRAM -#define __HAL_REMAPMEMORY_FSMC __HAL_SYSCFG_REMAPMEMORY_FSMC -#define __HAL_REMAPMEMORY_QUADSPI __HAL_SYSCFG_REMAPMEMORY_QUADSPI -#define __HAL_FMC_BANK __HAL_SYSCFG_FMC_BANK -#define __HAL_GET_FLAG __HAL_SYSCFG_GET_FLAG -#define __HAL_CLEAR_FLAG __HAL_SYSCFG_CLEAR_FLAG -#define __HAL_VREFINT_OUT_ENABLE __HAL_SYSCFG_VREFINT_OUT_ENABLE -#define __HAL_VREFINT_OUT_DISABLE __HAL_SYSCFG_VREFINT_OUT_DISABLE -#define __HAL_SYSCFG_SRAM2_WRP_ENABLE __HAL_SYSCFG_SRAM2_WRP_0_31_ENABLE - -#define SYSCFG_FLAG_VREF_READY SYSCFG_FLAG_VREFINT_READY -#define SYSCFG_FLAG_RC48 RCC_FLAG_HSI48 -#define IS_SYSCFG_FASTMODEPLUS_CONFIG IS_I2C_FASTMODEPLUS -#define UFB_MODE_BitNumber UFB_MODE_BIT_NUMBER -#define CMP_PD_BitNumber CMP_PD_BIT_NUMBER - -/** - * @} - */ - - -/** @defgroup HAL_ADC_Aliased_Macros HAL ADC Aliased Macros maintained for legacy purpose - * @{ - */ -#define __ADC_ENABLE __HAL_ADC_ENABLE -#define __ADC_DISABLE __HAL_ADC_DISABLE -#define __HAL_ADC_ENABLING_CONDITIONS ADC_ENABLING_CONDITIONS -#define __HAL_ADC_DISABLING_CONDITIONS ADC_DISABLING_CONDITIONS -#define __HAL_ADC_IS_ENABLED ADC_IS_ENABLE -#define __ADC_IS_ENABLED ADC_IS_ENABLE -#define __HAL_ADC_IS_SOFTWARE_START_REGULAR ADC_IS_SOFTWARE_START_REGULAR -#define __HAL_ADC_IS_SOFTWARE_START_INJECTED ADC_IS_SOFTWARE_START_INJECTED -#define __HAL_ADC_IS_CONVERSION_ONGOING_REGULAR_INJECTED ADC_IS_CONVERSION_ONGOING_REGULAR_INJECTED -#define __HAL_ADC_IS_CONVERSION_ONGOING_REGULAR ADC_IS_CONVERSION_ONGOING_REGULAR -#define __HAL_ADC_IS_CONVERSION_ONGOING_INJECTED ADC_IS_CONVERSION_ONGOING_INJECTED -#define __HAL_ADC_IS_CONVERSION_ONGOING ADC_IS_CONVERSION_ONGOING -#define __HAL_ADC_CLEAR_ERRORCODE ADC_CLEAR_ERRORCODE - -#define __HAL_ADC_GET_RESOLUTION ADC_GET_RESOLUTION -#define __HAL_ADC_JSQR_RK ADC_JSQR_RK -#define __HAL_ADC_CFGR_AWD1CH ADC_CFGR_AWD1CH_SHIFT -#define __HAL_ADC_CFGR_AWD23CR ADC_CFGR_AWD23CR -#define __HAL_ADC_CFGR_INJECT_AUTO_CONVERSION ADC_CFGR_INJECT_AUTO_CONVERSION -#define __HAL_ADC_CFGR_INJECT_CONTEXT_QUEUE ADC_CFGR_INJECT_CONTEXT_QUEUE -#define __HAL_ADC_CFGR_INJECT_DISCCONTINUOUS ADC_CFGR_INJECT_DISCCONTINUOUS -#define __HAL_ADC_CFGR_REG_DISCCONTINUOUS ADC_CFGR_REG_DISCCONTINUOUS -#define __HAL_ADC_CFGR_DISCONTINUOUS_NUM ADC_CFGR_DISCONTINUOUS_NUM -#define __HAL_ADC_CFGR_AUTOWAIT ADC_CFGR_AUTOWAIT -#define __HAL_ADC_CFGR_CONTINUOUS ADC_CFGR_CONTINUOUS -#define __HAL_ADC_CFGR_OVERRUN ADC_CFGR_OVERRUN -#define __HAL_ADC_CFGR_DMACONTREQ ADC_CFGR_DMACONTREQ -#define __HAL_ADC_CFGR_EXTSEL ADC_CFGR_EXTSEL_SET -#define __HAL_ADC_JSQR_JEXTSEL ADC_JSQR_JEXTSEL_SET -#define __HAL_ADC_OFR_CHANNEL ADC_OFR_CHANNEL -#define __HAL_ADC_DIFSEL_CHANNEL ADC_DIFSEL_CHANNEL -#define __HAL_ADC_CALFACT_DIFF_SET ADC_CALFACT_DIFF_SET -#define __HAL_ADC_CALFACT_DIFF_GET ADC_CALFACT_DIFF_GET -#define __HAL_ADC_TRX_HIGHTHRESHOLD ADC_TRX_HIGHTHRESHOLD - -#define __HAL_ADC_OFFSET_SHIFT_RESOLUTION ADC_OFFSET_SHIFT_RESOLUTION -#define __HAL_ADC_AWD1THRESHOLD_SHIFT_RESOLUTION ADC_AWD1THRESHOLD_SHIFT_RESOLUTION -#define __HAL_ADC_AWD23THRESHOLD_SHIFT_RESOLUTION ADC_AWD23THRESHOLD_SHIFT_RESOLUTION -#define __HAL_ADC_COMMON_REGISTER ADC_COMMON_REGISTER -#define __HAL_ADC_COMMON_CCR_MULTI ADC_COMMON_CCR_MULTI -#define __HAL_ADC_MULTIMODE_IS_ENABLED ADC_MULTIMODE_IS_ENABLE -#define __ADC_MULTIMODE_IS_ENABLED ADC_MULTIMODE_IS_ENABLE -#define __HAL_ADC_NONMULTIMODE_OR_MULTIMODEMASTER ADC_NONMULTIMODE_OR_MULTIMODEMASTER -#define __HAL_ADC_COMMON_ADC_OTHER ADC_COMMON_ADC_OTHER -#define __HAL_ADC_MULTI_SLAVE ADC_MULTI_SLAVE - -#define __HAL_ADC_SQR1_L ADC_SQR1_L_SHIFT -#define __HAL_ADC_JSQR_JL ADC_JSQR_JL_SHIFT -#define __HAL_ADC_JSQR_RK_JL ADC_JSQR_RK_JL -#define __HAL_ADC_CR1_DISCONTINUOUS_NUM ADC_CR1_DISCONTINUOUS_NUM -#define __HAL_ADC_CR1_SCAN ADC_CR1_SCAN_SET -#define __HAL_ADC_CONVCYCLES_MAX_RANGE ADC_CONVCYCLES_MAX_RANGE -#define __HAL_ADC_CLOCK_PRESCALER_RANGE ADC_CLOCK_PRESCALER_RANGE -#define __HAL_ADC_GET_CLOCK_PRESCALER ADC_GET_CLOCK_PRESCALER - -#define __HAL_ADC_SQR1 ADC_SQR1 -#define __HAL_ADC_SMPR1 ADC_SMPR1 -#define __HAL_ADC_SMPR2 ADC_SMPR2 -#define __HAL_ADC_SQR3_RK ADC_SQR3_RK -#define __HAL_ADC_SQR2_RK ADC_SQR2_RK -#define __HAL_ADC_SQR1_RK ADC_SQR1_RK -#define __HAL_ADC_CR2_CONTINUOUS ADC_CR2_CONTINUOUS -#define __HAL_ADC_CR1_DISCONTINUOUS ADC_CR1_DISCONTINUOUS -#define __HAL_ADC_CR1_SCANCONV ADC_CR1_SCANCONV -#define __HAL_ADC_CR2_EOCSelection ADC_CR2_EOCSelection -#define __HAL_ADC_CR2_DMAContReq ADC_CR2_DMAContReq -#define __HAL_ADC_JSQR ADC_JSQR - -#define __HAL_ADC_CHSELR_CHANNEL ADC_CHSELR_CHANNEL -#define __HAL_ADC_CFGR1_REG_DISCCONTINUOUS ADC_CFGR1_REG_DISCCONTINUOUS -#define __HAL_ADC_CFGR1_AUTOOFF ADC_CFGR1_AUTOOFF -#define __HAL_ADC_CFGR1_AUTOWAIT ADC_CFGR1_AUTOWAIT -#define __HAL_ADC_CFGR1_CONTINUOUS ADC_CFGR1_CONTINUOUS -#define __HAL_ADC_CFGR1_OVERRUN ADC_CFGR1_OVERRUN -#define __HAL_ADC_CFGR1_SCANDIR ADC_CFGR1_SCANDIR -#define __HAL_ADC_CFGR1_DMACONTREQ ADC_CFGR1_DMACONTREQ - -/** - * @} - */ - -/** @defgroup HAL_DAC_Aliased_Macros HAL DAC Aliased Macros maintained for legacy purpose - * @{ - */ -#define __HAL_DHR12R1_ALIGNEMENT DAC_DHR12R1_ALIGNMENT -#define __HAL_DHR12R2_ALIGNEMENT DAC_DHR12R2_ALIGNMENT -#define __HAL_DHR12RD_ALIGNEMENT DAC_DHR12RD_ALIGNMENT -#define IS_DAC_GENERATE_WAVE IS_DAC_WAVE - -/** - * @} - */ - -/** @defgroup HAL_DBGMCU_Aliased_Macros HAL DBGMCU Aliased Macros maintained for legacy purpose - * @{ - */ -#define __HAL_FREEZE_TIM1_DBGMCU __HAL_DBGMCU_FREEZE_TIM1 -#define __HAL_UNFREEZE_TIM1_DBGMCU __HAL_DBGMCU_UNFREEZE_TIM1 -#define __HAL_FREEZE_TIM2_DBGMCU __HAL_DBGMCU_FREEZE_TIM2 -#define __HAL_UNFREEZE_TIM2_DBGMCU __HAL_DBGMCU_UNFREEZE_TIM2 -#define __HAL_FREEZE_TIM3_DBGMCU __HAL_DBGMCU_FREEZE_TIM3 -#define __HAL_UNFREEZE_TIM3_DBGMCU __HAL_DBGMCU_UNFREEZE_TIM3 -#define __HAL_FREEZE_TIM4_DBGMCU __HAL_DBGMCU_FREEZE_TIM4 -#define __HAL_UNFREEZE_TIM4_DBGMCU __HAL_DBGMCU_UNFREEZE_TIM4 -#define __HAL_FREEZE_TIM5_DBGMCU __HAL_DBGMCU_FREEZE_TIM5 -#define __HAL_UNFREEZE_TIM5_DBGMCU __HAL_DBGMCU_UNFREEZE_TIM5 -#define __HAL_FREEZE_TIM6_DBGMCU __HAL_DBGMCU_FREEZE_TIM6 -#define __HAL_UNFREEZE_TIM6_DBGMCU __HAL_DBGMCU_UNFREEZE_TIM6 -#define __HAL_FREEZE_TIM7_DBGMCU __HAL_DBGMCU_FREEZE_TIM7 -#define __HAL_UNFREEZE_TIM7_DBGMCU __HAL_DBGMCU_UNFREEZE_TIM7 -#define __HAL_FREEZE_TIM8_DBGMCU __HAL_DBGMCU_FREEZE_TIM8 -#define __HAL_UNFREEZE_TIM8_DBGMCU __HAL_DBGMCU_UNFREEZE_TIM8 - -#define __HAL_FREEZE_TIM9_DBGMCU __HAL_DBGMCU_FREEZE_TIM9 -#define __HAL_UNFREEZE_TIM9_DBGMCU __HAL_DBGMCU_UNFREEZE_TIM9 -#define __HAL_FREEZE_TIM10_DBGMCU __HAL_DBGMCU_FREEZE_TIM10 -#define __HAL_UNFREEZE_TIM10_DBGMCU __HAL_DBGMCU_UNFREEZE_TIM10 -#define __HAL_FREEZE_TIM11_DBGMCU __HAL_DBGMCU_FREEZE_TIM11 -#define __HAL_UNFREEZE_TIM11_DBGMCU __HAL_DBGMCU_UNFREEZE_TIM11 -#define __HAL_FREEZE_TIM12_DBGMCU __HAL_DBGMCU_FREEZE_TIM12 -#define __HAL_UNFREEZE_TIM12_DBGMCU __HAL_DBGMCU_UNFREEZE_TIM12 -#define __HAL_FREEZE_TIM13_DBGMCU __HAL_DBGMCU_FREEZE_TIM13 -#define __HAL_UNFREEZE_TIM13_DBGMCU __HAL_DBGMCU_UNFREEZE_TIM13 -#define __HAL_FREEZE_TIM14_DBGMCU __HAL_DBGMCU_FREEZE_TIM14 -#define __HAL_UNFREEZE_TIM14_DBGMCU __HAL_DBGMCU_UNFREEZE_TIM14 -#define __HAL_FREEZE_CAN2_DBGMCU __HAL_DBGMCU_FREEZE_CAN2 -#define __HAL_UNFREEZE_CAN2_DBGMCU __HAL_DBGMCU_UNFREEZE_CAN2 - - -#define __HAL_FREEZE_TIM15_DBGMCU __HAL_DBGMCU_FREEZE_TIM15 -#define __HAL_UNFREEZE_TIM15_DBGMCU __HAL_DBGMCU_UNFREEZE_TIM15 -#define __HAL_FREEZE_TIM16_DBGMCU __HAL_DBGMCU_FREEZE_TIM16 -#define __HAL_UNFREEZE_TIM16_DBGMCU __HAL_DBGMCU_UNFREEZE_TIM16 -#define __HAL_FREEZE_TIM17_DBGMCU __HAL_DBGMCU_FREEZE_TIM17 -#define __HAL_UNFREEZE_TIM17_DBGMCU __HAL_DBGMCU_UNFREEZE_TIM17 -#define __HAL_FREEZE_RTC_DBGMCU __HAL_DBGMCU_FREEZE_RTC -#define __HAL_UNFREEZE_RTC_DBGMCU __HAL_DBGMCU_UNFREEZE_RTC -#if defined(STM32H7) -#define __HAL_FREEZE_WWDG_DBGMCU __HAL_DBGMCU_FREEZE_WWDG1 -#define __HAL_UNFREEZE_WWDG_DBGMCU __HAL_DBGMCU_UnFreeze_WWDG1 -#define __HAL_FREEZE_IWDG_DBGMCU __HAL_DBGMCU_FREEZE_IWDG1 -#define __HAL_UNFREEZE_IWDG_DBGMCU __HAL_DBGMCU_UnFreeze_IWDG1 -#else -#define __HAL_FREEZE_WWDG_DBGMCU __HAL_DBGMCU_FREEZE_WWDG -#define __HAL_UNFREEZE_WWDG_DBGMCU __HAL_DBGMCU_UNFREEZE_WWDG -#define __HAL_FREEZE_IWDG_DBGMCU __HAL_DBGMCU_FREEZE_IWDG -#define __HAL_UNFREEZE_IWDG_DBGMCU __HAL_DBGMCU_UNFREEZE_IWDG -#endif /* STM32H7 */ -#define __HAL_FREEZE_I2C1_TIMEOUT_DBGMCU __HAL_DBGMCU_FREEZE_I2C1_TIMEOUT -#define __HAL_UNFREEZE_I2C1_TIMEOUT_DBGMCU __HAL_DBGMCU_UNFREEZE_I2C1_TIMEOUT -#define __HAL_FREEZE_I2C2_TIMEOUT_DBGMCU __HAL_DBGMCU_FREEZE_I2C2_TIMEOUT -#define __HAL_UNFREEZE_I2C2_TIMEOUT_DBGMCU __HAL_DBGMCU_UNFREEZE_I2C2_TIMEOUT -#define __HAL_FREEZE_I2C3_TIMEOUT_DBGMCU __HAL_DBGMCU_FREEZE_I2C3_TIMEOUT -#define __HAL_UNFREEZE_I2C3_TIMEOUT_DBGMCU __HAL_DBGMCU_UNFREEZE_I2C3_TIMEOUT -#define __HAL_FREEZE_CAN1_DBGMCU __HAL_DBGMCU_FREEZE_CAN1 -#define __HAL_UNFREEZE_CAN1_DBGMCU __HAL_DBGMCU_UNFREEZE_CAN1 -#define __HAL_FREEZE_LPTIM1_DBGMCU __HAL_DBGMCU_FREEZE_LPTIM1 -#define __HAL_UNFREEZE_LPTIM1_DBGMCU __HAL_DBGMCU_UNFREEZE_LPTIM1 -#define __HAL_FREEZE_LPTIM2_DBGMCU __HAL_DBGMCU_FREEZE_LPTIM2 -#define __HAL_UNFREEZE_LPTIM2_DBGMCU __HAL_DBGMCU_UNFREEZE_LPTIM2 - -/** - * @} - */ - -/** @defgroup HAL_COMP_Aliased_Macros HAL COMP Aliased Macros maintained for legacy purpose - * @{ - */ -#if defined(STM32F3) -#define COMP_START __HAL_COMP_ENABLE -#define COMP_STOP __HAL_COMP_DISABLE -#define COMP_LOCK __HAL_COMP_LOCK - -#if defined(STM32F301x8) || defined(STM32F302x8) || defined(STM32F318xx) || defined(STM32F303x8) || defined(STM32F334x8) || defined(STM32F328xx) -#define __HAL_COMP_EXTI_RISING_IT_ENABLE(__EXTILINE__) (((__EXTILINE__) == COMP_EXTI_LINE_COMP2) ? __HAL_COMP_COMP2_EXTI_ENABLE_RISING_EDGE() : \ - ((__EXTILINE__) == COMP_EXTI_LINE_COMP4) ? __HAL_COMP_COMP4_EXTI_ENABLE_RISING_EDGE() : \ - __HAL_COMP_COMP6_EXTI_ENABLE_RISING_EDGE()) -#define __HAL_COMP_EXTI_RISING_IT_DISABLE(__EXTILINE__) (((__EXTILINE__) == COMP_EXTI_LINE_COMP2) ? __HAL_COMP_COMP2_EXTI_DISABLE_RISING_EDGE() : \ - ((__EXTILINE__) == COMP_EXTI_LINE_COMP4) ? __HAL_COMP_COMP4_EXTI_DISABLE_RISING_EDGE() : \ - __HAL_COMP_COMP6_EXTI_DISABLE_RISING_EDGE()) -#define __HAL_COMP_EXTI_FALLING_IT_ENABLE(__EXTILINE__) (((__EXTILINE__) == COMP_EXTI_LINE_COMP2) ? __HAL_COMP_COMP2_EXTI_ENABLE_FALLING_EDGE() : \ - ((__EXTILINE__) == COMP_EXTI_LINE_COMP4) ? __HAL_COMP_COMP4_EXTI_ENABLE_FALLING_EDGE() : \ - __HAL_COMP_COMP6_EXTI_ENABLE_FALLING_EDGE()) -#define __HAL_COMP_EXTI_FALLING_IT_DISABLE(__EXTILINE__) (((__EXTILINE__) == COMP_EXTI_LINE_COMP2) ? __HAL_COMP_COMP2_EXTI_DISABLE_FALLING_EDGE() : \ - ((__EXTILINE__) == COMP_EXTI_LINE_COMP4) ? __HAL_COMP_COMP4_EXTI_DISABLE_FALLING_EDGE() : \ - __HAL_COMP_COMP6_EXTI_DISABLE_FALLING_EDGE()) -#define __HAL_COMP_EXTI_ENABLE_IT(__EXTILINE__) (((__EXTILINE__) == COMP_EXTI_LINE_COMP2) ? __HAL_COMP_COMP2_EXTI_ENABLE_IT() : \ - ((__EXTILINE__) == COMP_EXTI_LINE_COMP4) ? __HAL_COMP_COMP4_EXTI_ENABLE_IT() : \ - __HAL_COMP_COMP6_EXTI_ENABLE_IT()) -#define __HAL_COMP_EXTI_DISABLE_IT(__EXTILINE__) (((__EXTILINE__) == COMP_EXTI_LINE_COMP2) ? __HAL_COMP_COMP2_EXTI_DISABLE_IT() : \ - ((__EXTILINE__) == COMP_EXTI_LINE_COMP4) ? __HAL_COMP_COMP4_EXTI_DISABLE_IT() : \ - __HAL_COMP_COMP6_EXTI_DISABLE_IT()) -#define __HAL_COMP_EXTI_GET_FLAG(__FLAG__) (((__FLAG__) == COMP_EXTI_LINE_COMP2) ? __HAL_COMP_COMP2_EXTI_GET_FLAG() : \ - ((__FLAG__) == COMP_EXTI_LINE_COMP4) ? __HAL_COMP_COMP4_EXTI_GET_FLAG() : \ - __HAL_COMP_COMP6_EXTI_GET_FLAG()) -#define __HAL_COMP_EXTI_CLEAR_FLAG(__FLAG__) (((__FLAG__) == COMP_EXTI_LINE_COMP2) ? __HAL_COMP_COMP2_EXTI_CLEAR_FLAG() : \ - ((__FLAG__) == COMP_EXTI_LINE_COMP4) ? __HAL_COMP_COMP4_EXTI_CLEAR_FLAG() : \ - __HAL_COMP_COMP6_EXTI_CLEAR_FLAG()) -# endif -# if defined(STM32F302xE) || defined(STM32F302xC) -#define __HAL_COMP_EXTI_RISING_IT_ENABLE(__EXTILINE__) (((__EXTILINE__) == COMP_EXTI_LINE_COMP1) ? __HAL_COMP_COMP1_EXTI_ENABLE_RISING_EDGE() : \ - ((__EXTILINE__) == COMP_EXTI_LINE_COMP2) ? __HAL_COMP_COMP2_EXTI_ENABLE_RISING_EDGE() : \ - ((__EXTILINE__) == COMP_EXTI_LINE_COMP4) ? __HAL_COMP_COMP4_EXTI_ENABLE_RISING_EDGE() : \ - __HAL_COMP_COMP6_EXTI_ENABLE_RISING_EDGE()) -#define __HAL_COMP_EXTI_RISING_IT_DISABLE(__EXTILINE__) (((__EXTILINE__) == COMP_EXTI_LINE_COMP1) ? __HAL_COMP_COMP1_EXTI_DISABLE_RISING_EDGE() : \ - ((__EXTILINE__) == COMP_EXTI_LINE_COMP2) ? __HAL_COMP_COMP2_EXTI_DISABLE_RISING_EDGE() : \ - ((__EXTILINE__) == COMP_EXTI_LINE_COMP4) ? __HAL_COMP_COMP4_EXTI_DISABLE_RISING_EDGE() : \ - __HAL_COMP_COMP6_EXTI_DISABLE_RISING_EDGE()) -#define __HAL_COMP_EXTI_FALLING_IT_ENABLE(__EXTILINE__) (((__EXTILINE__) == COMP_EXTI_LINE_COMP1) ? __HAL_COMP_COMP1_EXTI_ENABLE_FALLING_EDGE() : \ - ((__EXTILINE__) == COMP_EXTI_LINE_COMP2) ? __HAL_COMP_COMP2_EXTI_ENABLE_FALLING_EDGE() : \ - ((__EXTILINE__) == COMP_EXTI_LINE_COMP4) ? __HAL_COMP_COMP4_EXTI_ENABLE_FALLING_EDGE() : \ - __HAL_COMP_COMP6_EXTI_ENABLE_FALLING_EDGE()) -#define __HAL_COMP_EXTI_FALLING_IT_DISABLE(__EXTILINE__) (((__EXTILINE__) == COMP_EXTI_LINE_COMP1) ? __HAL_COMP_COMP1_EXTI_DISABLE_FALLING_EDGE() : \ - ((__EXTILINE__) == COMP_EXTI_LINE_COMP2) ? __HAL_COMP_COMP2_EXTI_DISABLE_FALLING_EDGE() : \ - ((__EXTILINE__) == COMP_EXTI_LINE_COMP4) ? __HAL_COMP_COMP4_EXTI_DISABLE_FALLING_EDGE() : \ - __HAL_COMP_COMP6_EXTI_DISABLE_FALLING_EDGE()) -#define __HAL_COMP_EXTI_ENABLE_IT(__EXTILINE__) (((__EXTILINE__) == COMP_EXTI_LINE_COMP1) ? __HAL_COMP_COMP1_EXTI_ENABLE_IT() : \ - ((__EXTILINE__) == COMP_EXTI_LINE_COMP2) ? __HAL_COMP_COMP2_EXTI_ENABLE_IT() : \ - ((__EXTILINE__) == COMP_EXTI_LINE_COMP4) ? __HAL_COMP_COMP4_EXTI_ENABLE_IT() : \ - __HAL_COMP_COMP6_EXTI_ENABLE_IT()) -#define __HAL_COMP_EXTI_DISABLE_IT(__EXTILINE__) (((__EXTILINE__) == COMP_EXTI_LINE_COMP1) ? __HAL_COMP_COMP1_EXTI_DISABLE_IT() : \ - ((__EXTILINE__) == COMP_EXTI_LINE_COMP2) ? __HAL_COMP_COMP2_EXTI_DISABLE_IT() : \ - ((__EXTILINE__) == COMP_EXTI_LINE_COMP4) ? __HAL_COMP_COMP4_EXTI_DISABLE_IT() : \ - __HAL_COMP_COMP6_EXTI_DISABLE_IT()) -#define __HAL_COMP_EXTI_GET_FLAG(__FLAG__) (((__FLAG__) == COMP_EXTI_LINE_COMP1) ? __HAL_COMP_COMP1_EXTI_GET_FLAG() : \ - ((__FLAG__) == COMP_EXTI_LINE_COMP2) ? __HAL_COMP_COMP2_EXTI_GET_FLAG() : \ - ((__FLAG__) == COMP_EXTI_LINE_COMP4) ? __HAL_COMP_COMP4_EXTI_GET_FLAG() : \ - __HAL_COMP_COMP6_EXTI_GET_FLAG()) -#define __HAL_COMP_EXTI_CLEAR_FLAG(__FLAG__) (((__FLAG__) == COMP_EXTI_LINE_COMP1) ? __HAL_COMP_COMP1_EXTI_CLEAR_FLAG() : \ - ((__FLAG__) == COMP_EXTI_LINE_COMP2) ? __HAL_COMP_COMP2_EXTI_CLEAR_FLAG() : \ - ((__FLAG__) == COMP_EXTI_LINE_COMP4) ? __HAL_COMP_COMP4_EXTI_CLEAR_FLAG() : \ - __HAL_COMP_COMP6_EXTI_CLEAR_FLAG()) -# endif -# if defined(STM32F303xE) || defined(STM32F398xx) || defined(STM32F303xC) || defined(STM32F358xx) -#define __HAL_COMP_EXTI_RISING_IT_ENABLE(__EXTILINE__) (((__EXTILINE__) == COMP_EXTI_LINE_COMP1) ? __HAL_COMP_COMP1_EXTI_ENABLE_RISING_EDGE() : \ - ((__EXTILINE__) == COMP_EXTI_LINE_COMP2) ? __HAL_COMP_COMP2_EXTI_ENABLE_RISING_EDGE() : \ - ((__EXTILINE__) == COMP_EXTI_LINE_COMP3) ? __HAL_COMP_COMP3_EXTI_ENABLE_RISING_EDGE() : \ - ((__EXTILINE__) == COMP_EXTI_LINE_COMP4) ? __HAL_COMP_COMP4_EXTI_ENABLE_RISING_EDGE() : \ - ((__EXTILINE__) == COMP_EXTI_LINE_COMP5) ? __HAL_COMP_COMP5_EXTI_ENABLE_RISING_EDGE() : \ - ((__EXTILINE__) == COMP_EXTI_LINE_COMP6) ? __HAL_COMP_COMP6_EXTI_ENABLE_RISING_EDGE() : \ - __HAL_COMP_COMP7_EXTI_ENABLE_RISING_EDGE()) -#define __HAL_COMP_EXTI_RISING_IT_DISABLE(__EXTILINE__) (((__EXTILINE__) == COMP_EXTI_LINE_COMP1) ? __HAL_COMP_COMP1_EXTI_DISABLE_RISING_EDGE() : \ - ((__EXTILINE__) == COMP_EXTI_LINE_COMP2) ? __HAL_COMP_COMP2_EXTI_DISABLE_RISING_EDGE() : \ - ((__EXTILINE__) == COMP_EXTI_LINE_COMP3) ? __HAL_COMP_COMP3_EXTI_DISABLE_RISING_EDGE() : \ - ((__EXTILINE__) == COMP_EXTI_LINE_COMP4) ? __HAL_COMP_COMP4_EXTI_DISABLE_RISING_EDGE() : \ - ((__EXTILINE__) == COMP_EXTI_LINE_COMP5) ? __HAL_COMP_COMP5_EXTI_DISABLE_RISING_EDGE() : \ - ((__EXTILINE__) == COMP_EXTI_LINE_COMP6) ? __HAL_COMP_COMP6_EXTI_DISABLE_RISING_EDGE() : \ - __HAL_COMP_COMP7_EXTI_DISABLE_RISING_EDGE()) -#define __HAL_COMP_EXTI_FALLING_IT_ENABLE(__EXTILINE__) (((__EXTILINE__) == COMP_EXTI_LINE_COMP1) ? __HAL_COMP_COMP1_EXTI_ENABLE_FALLING_EDGE() : \ - ((__EXTILINE__) == COMP_EXTI_LINE_COMP2) ? __HAL_COMP_COMP2_EXTI_ENABLE_FALLING_EDGE() : \ - ((__EXTILINE__) == COMP_EXTI_LINE_COMP3) ? __HAL_COMP_COMP3_EXTI_ENABLE_FALLING_EDGE() : \ - ((__EXTILINE__) == COMP_EXTI_LINE_COMP4) ? __HAL_COMP_COMP4_EXTI_ENABLE_FALLING_EDGE() : \ - ((__EXTILINE__) == COMP_EXTI_LINE_COMP5) ? __HAL_COMP_COMP5_EXTI_ENABLE_FALLING_EDGE() : \ - ((__EXTILINE__) == COMP_EXTI_LINE_COMP6) ? __HAL_COMP_COMP6_EXTI_ENABLE_FALLING_EDGE() : \ - __HAL_COMP_COMP7_EXTI_ENABLE_FALLING_EDGE()) -#define __HAL_COMP_EXTI_FALLING_IT_DISABLE(__EXTILINE__) (((__EXTILINE__) == COMP_EXTI_LINE_COMP1) ? __HAL_COMP_COMP1_EXTI_DISABLE_FALLING_EDGE() : \ - ((__EXTILINE__) == COMP_EXTI_LINE_COMP2) ? __HAL_COMP_COMP2_EXTI_DISABLE_FALLING_EDGE() : \ - ((__EXTILINE__) == COMP_EXTI_LINE_COMP3) ? __HAL_COMP_COMP3_EXTI_DISABLE_FALLING_EDGE() : \ - ((__EXTILINE__) == COMP_EXTI_LINE_COMP4) ? __HAL_COMP_COMP4_EXTI_DISABLE_FALLING_EDGE() : \ - ((__EXTILINE__) == COMP_EXTI_LINE_COMP5) ? __HAL_COMP_COMP5_EXTI_DISABLE_FALLING_EDGE() : \ - ((__EXTILINE__) == COMP_EXTI_LINE_COMP6) ? __HAL_COMP_COMP6_EXTI_DISABLE_FALLING_EDGE() : \ - __HAL_COMP_COMP7_EXTI_DISABLE_FALLING_EDGE()) -#define __HAL_COMP_EXTI_ENABLE_IT(__EXTILINE__) (((__EXTILINE__) == COMP_EXTI_LINE_COMP1) ? __HAL_COMP_COMP1_EXTI_ENABLE_IT() : \ - ((__EXTILINE__) == COMP_EXTI_LINE_COMP2) ? __HAL_COMP_COMP2_EXTI_ENABLE_IT() : \ - ((__EXTILINE__) == COMP_EXTI_LINE_COMP3) ? __HAL_COMP_COMP3_EXTI_ENABLE_IT() : \ - ((__EXTILINE__) == COMP_EXTI_LINE_COMP4) ? __HAL_COMP_COMP4_EXTI_ENABLE_IT() : \ - ((__EXTILINE__) == COMP_EXTI_LINE_COMP5) ? __HAL_COMP_COMP5_EXTI_ENABLE_IT() : \ - ((__EXTILINE__) == COMP_EXTI_LINE_COMP6) ? __HAL_COMP_COMP6_EXTI_ENABLE_IT() : \ - __HAL_COMP_COMP7_EXTI_ENABLE_IT()) -#define __HAL_COMP_EXTI_DISABLE_IT(__EXTILINE__) (((__EXTILINE__) == COMP_EXTI_LINE_COMP1) ? __HAL_COMP_COMP1_EXTI_DISABLE_IT() : \ - ((__EXTILINE__) == COMP_EXTI_LINE_COMP2) ? __HAL_COMP_COMP2_EXTI_DISABLE_IT() : \ - ((__EXTILINE__) == COMP_EXTI_LINE_COMP3) ? __HAL_COMP_COMP3_EXTI_DISABLE_IT() : \ - ((__EXTILINE__) == COMP_EXTI_LINE_COMP4) ? __HAL_COMP_COMP4_EXTI_DISABLE_IT() : \ - ((__EXTILINE__) == COMP_EXTI_LINE_COMP5) ? __HAL_COMP_COMP5_EXTI_DISABLE_IT() : \ - ((__EXTILINE__) == COMP_EXTI_LINE_COMP6) ? __HAL_COMP_COMP6_EXTI_DISABLE_IT() : \ - __HAL_COMP_COMP7_EXTI_DISABLE_IT()) -#define __HAL_COMP_EXTI_GET_FLAG(__FLAG__) (((__FLAG__) == COMP_EXTI_LINE_COMP1) ? __HAL_COMP_COMP1_EXTI_GET_FLAG() : \ - ((__FLAG__) == COMP_EXTI_LINE_COMP2) ? __HAL_COMP_COMP2_EXTI_GET_FLAG() : \ - ((__FLAG__) == COMP_EXTI_LINE_COMP3) ? __HAL_COMP_COMP3_EXTI_GET_FLAG() : \ - ((__FLAG__) == COMP_EXTI_LINE_COMP4) ? __HAL_COMP_COMP4_EXTI_GET_FLAG() : \ - ((__FLAG__) == COMP_EXTI_LINE_COMP5) ? __HAL_COMP_COMP5_EXTI_GET_FLAG() : \ - ((__FLAG__) == COMP_EXTI_LINE_COMP6) ? __HAL_COMP_COMP6_EXTI_GET_FLAG() : \ - __HAL_COMP_COMP7_EXTI_GET_FLAG()) -#define __HAL_COMP_EXTI_CLEAR_FLAG(__FLAG__) (((__FLAG__) == COMP_EXTI_LINE_COMP1) ? __HAL_COMP_COMP1_EXTI_CLEAR_FLAG() : \ - ((__FLAG__) == COMP_EXTI_LINE_COMP2) ? __HAL_COMP_COMP2_EXTI_CLEAR_FLAG() : \ - ((__FLAG__) == COMP_EXTI_LINE_COMP3) ? __HAL_COMP_COMP3_EXTI_CLEAR_FLAG() : \ - ((__FLAG__) == COMP_EXTI_LINE_COMP4) ? __HAL_COMP_COMP4_EXTI_CLEAR_FLAG() : \ - ((__FLAG__) == COMP_EXTI_LINE_COMP5) ? __HAL_COMP_COMP5_EXTI_CLEAR_FLAG() : \ - ((__FLAG__) == COMP_EXTI_LINE_COMP6) ? __HAL_COMP_COMP6_EXTI_CLEAR_FLAG() : \ - __HAL_COMP_COMP7_EXTI_CLEAR_FLAG()) -# endif -# if defined(STM32F373xC) ||defined(STM32F378xx) -#define __HAL_COMP_EXTI_RISING_IT_ENABLE(__EXTILINE__) (((__EXTILINE__) == COMP_EXTI_LINE_COMP1) ? __HAL_COMP_COMP1_EXTI_ENABLE_RISING_EDGE() : \ - __HAL_COMP_COMP2_EXTI_ENABLE_RISING_EDGE()) -#define __HAL_COMP_EXTI_RISING_IT_DISABLE(__EXTILINE__) (((__EXTILINE__) == COMP_EXTI_LINE_COMP1) ? __HAL_COMP_COMP1_EXTI_DISABLE_RISING_EDGE() : \ - __HAL_COMP_COMP2_EXTI_DISABLE_RISING_EDGE()) -#define __HAL_COMP_EXTI_FALLING_IT_ENABLE(__EXTILINE__) (((__EXTILINE__) == COMP_EXTI_LINE_COMP1) ? __HAL_COMP_COMP1_EXTI_ENABLE_FALLING_EDGE() : \ - __HAL_COMP_COMP2_EXTI_ENABLE_FALLING_EDGE()) -#define __HAL_COMP_EXTI_FALLING_IT_DISABLE(__EXTILINE__) (((__EXTILINE__) == COMP_EXTI_LINE_COMP1) ? __HAL_COMP_COMP1_EXTI_DISABLE_FALLING_EDGE() : \ - __HAL_COMP_COMP2_EXTI_DISABLE_FALLING_EDGE()) -#define __HAL_COMP_EXTI_ENABLE_IT(__EXTILINE__) (((__EXTILINE__) == COMP_EXTI_LINE_COMP1) ? __HAL_COMP_COMP1_EXTI_ENABLE_IT() : \ - __HAL_COMP_COMP2_EXTI_ENABLE_IT()) -#define __HAL_COMP_EXTI_DISABLE_IT(__EXTILINE__) (((__EXTILINE__) == COMP_EXTI_LINE_COMP1) ? __HAL_COMP_COMP1_EXTI_DISABLE_IT() : \ - __HAL_COMP_COMP2_EXTI_DISABLE_IT()) -#define __HAL_COMP_EXTI_GET_FLAG(__FLAG__) (((__FLAG__) == COMP_EXTI_LINE_COMP1) ? __HAL_COMP_COMP1_EXTI_GET_FLAG() : \ - __HAL_COMP_COMP2_EXTI_GET_FLAG()) -#define __HAL_COMP_EXTI_CLEAR_FLAG(__FLAG__) (((__FLAG__) == COMP_EXTI_LINE_COMP1) ? __HAL_COMP_COMP1_EXTI_CLEAR_FLAG() : \ - __HAL_COMP_COMP2_EXTI_CLEAR_FLAG()) -# endif -#else -#define __HAL_COMP_EXTI_RISING_IT_ENABLE(__EXTILINE__) (((__EXTILINE__) == COMP_EXTI_LINE_COMP1) ? __HAL_COMP_COMP1_EXTI_ENABLE_RISING_EDGE() : \ - __HAL_COMP_COMP2_EXTI_ENABLE_RISING_EDGE()) -#define __HAL_COMP_EXTI_RISING_IT_DISABLE(__EXTILINE__) (((__EXTILINE__) == COMP_EXTI_LINE_COMP1) ? __HAL_COMP_COMP1_EXTI_DISABLE_RISING_EDGE() : \ - __HAL_COMP_COMP2_EXTI_DISABLE_RISING_EDGE()) -#define __HAL_COMP_EXTI_FALLING_IT_ENABLE(__EXTILINE__) (((__EXTILINE__) == COMP_EXTI_LINE_COMP1) ? __HAL_COMP_COMP1_EXTI_ENABLE_FALLING_EDGE() : \ - __HAL_COMP_COMP2_EXTI_ENABLE_FALLING_EDGE()) -#define __HAL_COMP_EXTI_FALLING_IT_DISABLE(__EXTILINE__) (((__EXTILINE__) == COMP_EXTI_LINE_COMP1) ? __HAL_COMP_COMP1_EXTI_DISABLE_FALLING_EDGE() : \ - __HAL_COMP_COMP2_EXTI_DISABLE_FALLING_EDGE()) -#define __HAL_COMP_EXTI_ENABLE_IT(__EXTILINE__) (((__EXTILINE__) == COMP_EXTI_LINE_COMP1) ? __HAL_COMP_COMP1_EXTI_ENABLE_IT() : \ - __HAL_COMP_COMP2_EXTI_ENABLE_IT()) -#define __HAL_COMP_EXTI_DISABLE_IT(__EXTILINE__) (((__EXTILINE__) == COMP_EXTI_LINE_COMP1) ? __HAL_COMP_COMP1_EXTI_DISABLE_IT() : \ - __HAL_COMP_COMP2_EXTI_DISABLE_IT()) -#define __HAL_COMP_EXTI_GET_FLAG(__FLAG__) (((__FLAG__) == COMP_EXTI_LINE_COMP1) ? __HAL_COMP_COMP1_EXTI_GET_FLAG() : \ - __HAL_COMP_COMP2_EXTI_GET_FLAG()) -#define __HAL_COMP_EXTI_CLEAR_FLAG(__FLAG__) (((__FLAG__) == COMP_EXTI_LINE_COMP1) ? __HAL_COMP_COMP1_EXTI_CLEAR_FLAG() : \ - __HAL_COMP_COMP2_EXTI_CLEAR_FLAG()) -#endif - -#define __HAL_COMP_GET_EXTI_LINE COMP_GET_EXTI_LINE - -#if defined(STM32L0) || defined(STM32L4) -/* Note: On these STM32 families, the only argument of this macro */ -/* is COMP_FLAG_LOCK. */ -/* This macro is replaced by __HAL_COMP_IS_LOCKED with only HAL handle */ -/* argument. */ -#define __HAL_COMP_GET_FLAG(__HANDLE__, __FLAG__) (__HAL_COMP_IS_LOCKED(__HANDLE__)) -#endif -/** - * @} - */ - -#if defined(STM32L0) || defined(STM32L4) -/** @defgroup HAL_COMP_Aliased_Functions HAL COMP Aliased Functions maintained for legacy purpose - * @{ - */ -#define HAL_COMP_Start_IT HAL_COMP_Start /* Function considered as legacy as EXTI event or IT configuration is done into HAL_COMP_Init() */ -#define HAL_COMP_Stop_IT HAL_COMP_Stop /* Function considered as legacy as EXTI event or IT configuration is done into HAL_COMP_Init() */ -/** - * @} - */ -#endif - -/** @defgroup HAL_DAC_Aliased_Macros HAL DAC Aliased Macros maintained for legacy purpose - * @{ - */ - -#define IS_DAC_WAVE(WAVE) (((WAVE) == DAC_WAVE_NONE) || \ - ((WAVE) == DAC_WAVE_NOISE)|| \ - ((WAVE) == DAC_WAVE_TRIANGLE)) - -/** - * @} - */ - -/** @defgroup HAL_FLASH_Aliased_Macros HAL FLASH Aliased Macros maintained for legacy purpose - * @{ - */ - -#define IS_WRPAREA IS_OB_WRPAREA -#define IS_TYPEPROGRAM IS_FLASH_TYPEPROGRAM -#define IS_TYPEPROGRAMFLASH IS_FLASH_TYPEPROGRAM -#define IS_TYPEERASE IS_FLASH_TYPEERASE -#define IS_NBSECTORS IS_FLASH_NBSECTORS -#define IS_OB_WDG_SOURCE IS_OB_IWDG_SOURCE - -/** - * @} - */ - -/** @defgroup HAL_I2C_Aliased_Macros HAL I2C Aliased Macros maintained for legacy purpose - * @{ - */ - -#define __HAL_I2C_RESET_CR2 I2C_RESET_CR2 -#define __HAL_I2C_GENERATE_START I2C_GENERATE_START -#if defined(STM32F1) -#define __HAL_I2C_FREQ_RANGE I2C_FREQRANGE -#else -#define __HAL_I2C_FREQ_RANGE I2C_FREQ_RANGE -#endif /* STM32F1 */ -#define __HAL_I2C_RISE_TIME I2C_RISE_TIME -#define __HAL_I2C_SPEED_STANDARD I2C_SPEED_STANDARD -#define __HAL_I2C_SPEED_FAST I2C_SPEED_FAST -#define __HAL_I2C_SPEED I2C_SPEED -#define __HAL_I2C_7BIT_ADD_WRITE I2C_7BIT_ADD_WRITE -#define __HAL_I2C_7BIT_ADD_READ I2C_7BIT_ADD_READ -#define __HAL_I2C_10BIT_ADDRESS I2C_10BIT_ADDRESS -#define __HAL_I2C_10BIT_HEADER_WRITE I2C_10BIT_HEADER_WRITE -#define __HAL_I2C_10BIT_HEADER_READ I2C_10BIT_HEADER_READ -#define __HAL_I2C_MEM_ADD_MSB I2C_MEM_ADD_MSB -#define __HAL_I2C_MEM_ADD_LSB I2C_MEM_ADD_LSB -#define __HAL_I2C_FREQRANGE I2C_FREQRANGE -/** - * @} - */ - -/** @defgroup HAL_I2S_Aliased_Macros HAL I2S Aliased Macros maintained for legacy purpose - * @{ - */ - -#define IS_I2S_INSTANCE IS_I2S_ALL_INSTANCE -#define IS_I2S_INSTANCE_EXT IS_I2S_ALL_INSTANCE_EXT - -#if defined(STM32H7) -#define __HAL_I2S_CLEAR_FREFLAG __HAL_I2S_CLEAR_TIFREFLAG -#endif - -/** - * @} - */ - -/** @defgroup HAL_IRDA_Aliased_Macros HAL IRDA Aliased Macros maintained for legacy purpose - * @{ - */ - -#define __IRDA_DISABLE __HAL_IRDA_DISABLE -#define __IRDA_ENABLE __HAL_IRDA_ENABLE - -#define __HAL_IRDA_GETCLOCKSOURCE IRDA_GETCLOCKSOURCE -#define __HAL_IRDA_MASK_COMPUTATION IRDA_MASK_COMPUTATION -#define __IRDA_GETCLOCKSOURCE IRDA_GETCLOCKSOURCE -#define __IRDA_MASK_COMPUTATION IRDA_MASK_COMPUTATION - -#define IS_IRDA_ONEBIT_SAMPLE IS_IRDA_ONE_BIT_SAMPLE - - -/** - * @} - */ - - -/** @defgroup HAL_IWDG_Aliased_Macros HAL IWDG Aliased Macros maintained for legacy purpose - * @{ - */ -#define __HAL_IWDG_ENABLE_WRITE_ACCESS IWDG_ENABLE_WRITE_ACCESS -#define __HAL_IWDG_DISABLE_WRITE_ACCESS IWDG_DISABLE_WRITE_ACCESS -/** - * @} - */ - - -/** @defgroup HAL_LPTIM_Aliased_Macros HAL LPTIM Aliased Macros maintained for legacy purpose - * @{ - */ - -#define __HAL_LPTIM_ENABLE_INTERRUPT __HAL_LPTIM_ENABLE_IT -#define __HAL_LPTIM_DISABLE_INTERRUPT __HAL_LPTIM_DISABLE_IT -#define __HAL_LPTIM_GET_ITSTATUS __HAL_LPTIM_GET_IT_SOURCE - -/** - * @} - */ - - -/** @defgroup HAL_OPAMP_Aliased_Macros HAL OPAMP Aliased Macros maintained for legacy purpose - * @{ - */ -#define __OPAMP_CSR_OPAXPD OPAMP_CSR_OPAXPD -#define __OPAMP_CSR_S3SELX OPAMP_CSR_S3SELX -#define __OPAMP_CSR_S4SELX OPAMP_CSR_S4SELX -#define __OPAMP_CSR_S5SELX OPAMP_CSR_S5SELX -#define __OPAMP_CSR_S6SELX OPAMP_CSR_S6SELX -#define __OPAMP_CSR_OPAXCAL_L OPAMP_CSR_OPAXCAL_L -#define __OPAMP_CSR_OPAXCAL_H OPAMP_CSR_OPAXCAL_H -#define __OPAMP_CSR_OPAXLPM OPAMP_CSR_OPAXLPM -#define __OPAMP_CSR_ALL_SWITCHES OPAMP_CSR_ALL_SWITCHES -#define __OPAMP_CSR_ANAWSELX OPAMP_CSR_ANAWSELX -#define __OPAMP_CSR_OPAXCALOUT OPAMP_CSR_OPAXCALOUT -#define __OPAMP_OFFSET_TRIM_BITSPOSITION OPAMP_OFFSET_TRIM_BITSPOSITION -#define __OPAMP_OFFSET_TRIM_SET OPAMP_OFFSET_TRIM_SET - -/** - * @} - */ - - -/** @defgroup HAL_PWR_Aliased_Macros HAL PWR Aliased Macros maintained for legacy purpose - * @{ - */ -#define __HAL_PVD_EVENT_DISABLE __HAL_PWR_PVD_EXTI_DISABLE_EVENT -#define __HAL_PVD_EVENT_ENABLE __HAL_PWR_PVD_EXTI_ENABLE_EVENT -#define __HAL_PVD_EXTI_FALLINGTRIGGER_DISABLE __HAL_PWR_PVD_EXTI_DISABLE_FALLING_EDGE -#define __HAL_PVD_EXTI_FALLINGTRIGGER_ENABLE __HAL_PWR_PVD_EXTI_ENABLE_FALLING_EDGE -#define __HAL_PVD_EXTI_RISINGTRIGGER_DISABLE __HAL_PWR_PVD_EXTI_DISABLE_RISING_EDGE -#define __HAL_PVD_EXTI_RISINGTRIGGER_ENABLE __HAL_PWR_PVD_EXTI_ENABLE_RISING_EDGE -#define __HAL_PVM_EVENT_DISABLE __HAL_PWR_PVM_EVENT_DISABLE -#define __HAL_PVM_EVENT_ENABLE __HAL_PWR_PVM_EVENT_ENABLE -#define __HAL_PVM_EXTI_FALLINGTRIGGER_DISABLE __HAL_PWR_PVM_EXTI_FALLINGTRIGGER_DISABLE -#define __HAL_PVM_EXTI_FALLINGTRIGGER_ENABLE __HAL_PWR_PVM_EXTI_FALLINGTRIGGER_ENABLE -#define __HAL_PVM_EXTI_RISINGTRIGGER_DISABLE __HAL_PWR_PVM_EXTI_RISINGTRIGGER_DISABLE -#define __HAL_PVM_EXTI_RISINGTRIGGER_ENABLE __HAL_PWR_PVM_EXTI_RISINGTRIGGER_ENABLE -#define __HAL_PWR_INTERNALWAKEUP_DISABLE HAL_PWREx_DisableInternalWakeUpLine -#define __HAL_PWR_INTERNALWAKEUP_ENABLE HAL_PWREx_EnableInternalWakeUpLine -#define __HAL_PWR_PULL_UP_DOWN_CONFIG_DISABLE HAL_PWREx_DisablePullUpPullDownConfig -#define __HAL_PWR_PULL_UP_DOWN_CONFIG_ENABLE HAL_PWREx_EnablePullUpPullDownConfig -#define __HAL_PWR_PVD_EXTI_CLEAR_EGDE_TRIGGER() do { __HAL_PWR_PVD_EXTI_DISABLE_RISING_EDGE();__HAL_PWR_PVD_EXTI_DISABLE_FALLING_EDGE(); } while(0) -#define __HAL_PWR_PVD_EXTI_EVENT_DISABLE __HAL_PWR_PVD_EXTI_DISABLE_EVENT -#define __HAL_PWR_PVD_EXTI_EVENT_ENABLE __HAL_PWR_PVD_EXTI_ENABLE_EVENT -#define __HAL_PWR_PVD_EXTI_FALLINGTRIGGER_DISABLE __HAL_PWR_PVD_EXTI_DISABLE_FALLING_EDGE -#define __HAL_PWR_PVD_EXTI_FALLINGTRIGGER_ENABLE __HAL_PWR_PVD_EXTI_ENABLE_FALLING_EDGE -#define __HAL_PWR_PVD_EXTI_RISINGTRIGGER_DISABLE __HAL_PWR_PVD_EXTI_DISABLE_RISING_EDGE -#define __HAL_PWR_PVD_EXTI_RISINGTRIGGER_ENABLE __HAL_PWR_PVD_EXTI_ENABLE_RISING_EDGE -#define __HAL_PWR_PVD_EXTI_SET_FALLING_EGDE_TRIGGER __HAL_PWR_PVD_EXTI_ENABLE_FALLING_EDGE -#define __HAL_PWR_PVD_EXTI_SET_RISING_EDGE_TRIGGER __HAL_PWR_PVD_EXTI_ENABLE_RISING_EDGE -#define __HAL_PWR_PVM_DISABLE() do { HAL_PWREx_DisablePVM1();HAL_PWREx_DisablePVM2();HAL_PWREx_DisablePVM3();HAL_PWREx_DisablePVM4(); } while(0) -#define __HAL_PWR_PVM_ENABLE() do { HAL_PWREx_EnablePVM1();HAL_PWREx_EnablePVM2();HAL_PWREx_EnablePVM3();HAL_PWREx_EnablePVM4(); } while(0) -#define __HAL_PWR_SRAM2CONTENT_PRESERVE_DISABLE HAL_PWREx_DisableSRAM2ContentRetention -#define __HAL_PWR_SRAM2CONTENT_PRESERVE_ENABLE HAL_PWREx_EnableSRAM2ContentRetention -#define __HAL_PWR_VDDIO2_DISABLE HAL_PWREx_DisableVddIO2 -#define __HAL_PWR_VDDIO2_ENABLE HAL_PWREx_EnableVddIO2 -#define __HAL_PWR_VDDIO2_EXTI_CLEAR_EGDE_TRIGGER __HAL_PWR_VDDIO2_EXTI_DISABLE_FALLING_EDGE -#define __HAL_PWR_VDDIO2_EXTI_SET_FALLING_EGDE_TRIGGER __HAL_PWR_VDDIO2_EXTI_ENABLE_FALLING_EDGE -#define __HAL_PWR_VDDUSB_DISABLE HAL_PWREx_DisableVddUSB -#define __HAL_PWR_VDDUSB_ENABLE HAL_PWREx_EnableVddUSB - -#if defined (STM32F4) -#define __HAL_PVD_EXTI_ENABLE_IT(PWR_EXTI_LINE_PVD) __HAL_PWR_PVD_EXTI_ENABLE_IT() -#define __HAL_PVD_EXTI_DISABLE_IT(PWR_EXTI_LINE_PVD) __HAL_PWR_PVD_EXTI_DISABLE_IT() -#define __HAL_PVD_EXTI_GET_FLAG(PWR_EXTI_LINE_PVD) __HAL_PWR_PVD_EXTI_GET_FLAG() -#define __HAL_PVD_EXTI_CLEAR_FLAG(PWR_EXTI_LINE_PVD) __HAL_PWR_PVD_EXTI_CLEAR_FLAG() -#define __HAL_PVD_EXTI_GENERATE_SWIT(PWR_EXTI_LINE_PVD) __HAL_PWR_PVD_EXTI_GENERATE_SWIT() -#else -#define __HAL_PVD_EXTI_CLEAR_FLAG __HAL_PWR_PVD_EXTI_CLEAR_FLAG -#define __HAL_PVD_EXTI_DISABLE_IT __HAL_PWR_PVD_EXTI_DISABLE_IT -#define __HAL_PVD_EXTI_ENABLE_IT __HAL_PWR_PVD_EXTI_ENABLE_IT -#define __HAL_PVD_EXTI_GENERATE_SWIT __HAL_PWR_PVD_EXTI_GENERATE_SWIT -#define __HAL_PVD_EXTI_GET_FLAG __HAL_PWR_PVD_EXTI_GET_FLAG -#endif /* STM32F4 */ -/** - * @} - */ - - -/** @defgroup HAL_RCC_Aliased HAL RCC Aliased maintained for legacy purpose - * @{ - */ - -#define RCC_StopWakeUpClock_MSI RCC_STOP_WAKEUPCLOCK_MSI -#define RCC_StopWakeUpClock_HSI RCC_STOP_WAKEUPCLOCK_HSI - -#define HAL_RCC_CCSCallback HAL_RCC_CSSCallback -#define HAL_RC48_EnableBuffer_Cmd(cmd) (((cmd\ - )==ENABLE) ? HAL_RCCEx_EnableHSI48_VREFINT() : HAL_RCCEx_DisableHSI48_VREFINT()) - -#define __ADC_CLK_DISABLE __HAL_RCC_ADC_CLK_DISABLE -#define __ADC_CLK_ENABLE __HAL_RCC_ADC_CLK_ENABLE -#define __ADC_CLK_SLEEP_DISABLE __HAL_RCC_ADC_CLK_SLEEP_DISABLE -#define __ADC_CLK_SLEEP_ENABLE __HAL_RCC_ADC_CLK_SLEEP_ENABLE -#define __ADC_FORCE_RESET __HAL_RCC_ADC_FORCE_RESET -#define __ADC_RELEASE_RESET __HAL_RCC_ADC_RELEASE_RESET -#define __ADC1_CLK_DISABLE __HAL_RCC_ADC1_CLK_DISABLE -#define __ADC1_CLK_ENABLE __HAL_RCC_ADC1_CLK_ENABLE -#define __ADC1_FORCE_RESET __HAL_RCC_ADC1_FORCE_RESET -#define __ADC1_RELEASE_RESET __HAL_RCC_ADC1_RELEASE_RESET -#define __ADC1_CLK_SLEEP_ENABLE __HAL_RCC_ADC1_CLK_SLEEP_ENABLE -#define __ADC1_CLK_SLEEP_DISABLE __HAL_RCC_ADC1_CLK_SLEEP_DISABLE -#define __ADC2_CLK_DISABLE __HAL_RCC_ADC2_CLK_DISABLE -#define __ADC2_CLK_ENABLE __HAL_RCC_ADC2_CLK_ENABLE -#define __ADC2_FORCE_RESET __HAL_RCC_ADC2_FORCE_RESET -#define __ADC2_RELEASE_RESET __HAL_RCC_ADC2_RELEASE_RESET -#define __ADC3_CLK_DISABLE __HAL_RCC_ADC3_CLK_DISABLE -#define __ADC3_CLK_ENABLE __HAL_RCC_ADC3_CLK_ENABLE -#define __ADC3_FORCE_RESET __HAL_RCC_ADC3_FORCE_RESET -#define __ADC3_RELEASE_RESET __HAL_RCC_ADC3_RELEASE_RESET -#define __AES_CLK_DISABLE __HAL_RCC_AES_CLK_DISABLE -#define __AES_CLK_ENABLE __HAL_RCC_AES_CLK_ENABLE -#define __AES_CLK_SLEEP_DISABLE __HAL_RCC_AES_CLK_SLEEP_DISABLE -#define __AES_CLK_SLEEP_ENABLE __HAL_RCC_AES_CLK_SLEEP_ENABLE -#define __AES_FORCE_RESET __HAL_RCC_AES_FORCE_RESET -#define __AES_RELEASE_RESET __HAL_RCC_AES_RELEASE_RESET -#define __CRYP_CLK_SLEEP_ENABLE __HAL_RCC_CRYP_CLK_SLEEP_ENABLE -#define __CRYP_CLK_SLEEP_DISABLE __HAL_RCC_CRYP_CLK_SLEEP_DISABLE -#define __CRYP_CLK_ENABLE __HAL_RCC_CRYP_CLK_ENABLE -#define __CRYP_CLK_DISABLE __HAL_RCC_CRYP_CLK_DISABLE -#define __CRYP_FORCE_RESET __HAL_RCC_CRYP_FORCE_RESET -#define __CRYP_RELEASE_RESET __HAL_RCC_CRYP_RELEASE_RESET -#define __AFIO_CLK_DISABLE __HAL_RCC_AFIO_CLK_DISABLE -#define __AFIO_CLK_ENABLE __HAL_RCC_AFIO_CLK_ENABLE -#define __AFIO_FORCE_RESET __HAL_RCC_AFIO_FORCE_RESET -#define __AFIO_RELEASE_RESET __HAL_RCC_AFIO_RELEASE_RESET -#define __AHB_FORCE_RESET __HAL_RCC_AHB_FORCE_RESET -#define __AHB_RELEASE_RESET __HAL_RCC_AHB_RELEASE_RESET -#define __AHB1_FORCE_RESET __HAL_RCC_AHB1_FORCE_RESET -#define __AHB1_RELEASE_RESET __HAL_RCC_AHB1_RELEASE_RESET -#define __AHB2_FORCE_RESET __HAL_RCC_AHB2_FORCE_RESET -#define __AHB2_RELEASE_RESET __HAL_RCC_AHB2_RELEASE_RESET -#define __AHB3_FORCE_RESET __HAL_RCC_AHB3_FORCE_RESET -#define __AHB3_RELEASE_RESET __HAL_RCC_AHB3_RELEASE_RESET -#define __APB1_FORCE_RESET __HAL_RCC_APB1_FORCE_RESET -#define __APB1_RELEASE_RESET __HAL_RCC_APB1_RELEASE_RESET -#define __APB2_FORCE_RESET __HAL_RCC_APB2_FORCE_RESET -#define __APB2_RELEASE_RESET __HAL_RCC_APB2_RELEASE_RESET -#define __BKP_CLK_DISABLE __HAL_RCC_BKP_CLK_DISABLE -#define __BKP_CLK_ENABLE __HAL_RCC_BKP_CLK_ENABLE -#define __BKP_FORCE_RESET __HAL_RCC_BKP_FORCE_RESET -#define __BKP_RELEASE_RESET __HAL_RCC_BKP_RELEASE_RESET -#define __CAN1_CLK_DISABLE __HAL_RCC_CAN1_CLK_DISABLE -#define __CAN1_CLK_ENABLE __HAL_RCC_CAN1_CLK_ENABLE -#define __CAN1_CLK_SLEEP_DISABLE __HAL_RCC_CAN1_CLK_SLEEP_DISABLE -#define __CAN1_CLK_SLEEP_ENABLE __HAL_RCC_CAN1_CLK_SLEEP_ENABLE -#define __CAN1_FORCE_RESET __HAL_RCC_CAN1_FORCE_RESET -#define __CAN1_RELEASE_RESET __HAL_RCC_CAN1_RELEASE_RESET -#define __CAN_CLK_DISABLE __HAL_RCC_CAN1_CLK_DISABLE -#define __CAN_CLK_ENABLE __HAL_RCC_CAN1_CLK_ENABLE -#define __CAN_FORCE_RESET __HAL_RCC_CAN1_FORCE_RESET -#define __CAN_RELEASE_RESET __HAL_RCC_CAN1_RELEASE_RESET -#define __CAN2_CLK_DISABLE __HAL_RCC_CAN2_CLK_DISABLE -#define __CAN2_CLK_ENABLE __HAL_RCC_CAN2_CLK_ENABLE -#define __CAN2_FORCE_RESET __HAL_RCC_CAN2_FORCE_RESET -#define __CAN2_RELEASE_RESET __HAL_RCC_CAN2_RELEASE_RESET -#define __CEC_CLK_DISABLE __HAL_RCC_CEC_CLK_DISABLE -#define __CEC_CLK_ENABLE __HAL_RCC_CEC_CLK_ENABLE -#define __COMP_CLK_DISABLE __HAL_RCC_COMP_CLK_DISABLE -#define __COMP_CLK_ENABLE __HAL_RCC_COMP_CLK_ENABLE -#define __COMP_FORCE_RESET __HAL_RCC_COMP_FORCE_RESET -#define __COMP_RELEASE_RESET __HAL_RCC_COMP_RELEASE_RESET -#define __COMP_CLK_SLEEP_ENABLE __HAL_RCC_COMP_CLK_SLEEP_ENABLE -#define __COMP_CLK_SLEEP_DISABLE __HAL_RCC_COMP_CLK_SLEEP_DISABLE -#define __CEC_FORCE_RESET __HAL_RCC_CEC_FORCE_RESET -#define __CEC_RELEASE_RESET __HAL_RCC_CEC_RELEASE_RESET -#define __CRC_CLK_DISABLE __HAL_RCC_CRC_CLK_DISABLE -#define __CRC_CLK_ENABLE __HAL_RCC_CRC_CLK_ENABLE -#define __CRC_CLK_SLEEP_DISABLE __HAL_RCC_CRC_CLK_SLEEP_DISABLE -#define __CRC_CLK_SLEEP_ENABLE __HAL_RCC_CRC_CLK_SLEEP_ENABLE -#define __CRC_FORCE_RESET __HAL_RCC_CRC_FORCE_RESET -#define __CRC_RELEASE_RESET __HAL_RCC_CRC_RELEASE_RESET -#define __DAC_CLK_DISABLE __HAL_RCC_DAC_CLK_DISABLE -#define __DAC_CLK_ENABLE __HAL_RCC_DAC_CLK_ENABLE -#define __DAC_FORCE_RESET __HAL_RCC_DAC_FORCE_RESET -#define __DAC_RELEASE_RESET __HAL_RCC_DAC_RELEASE_RESET -#define __DAC1_CLK_DISABLE __HAL_RCC_DAC1_CLK_DISABLE -#define __DAC1_CLK_ENABLE __HAL_RCC_DAC1_CLK_ENABLE -#define __DAC1_CLK_SLEEP_DISABLE __HAL_RCC_DAC1_CLK_SLEEP_DISABLE -#define __DAC1_CLK_SLEEP_ENABLE __HAL_RCC_DAC1_CLK_SLEEP_ENABLE -#define __DAC1_FORCE_RESET __HAL_RCC_DAC1_FORCE_RESET -#define __DAC1_RELEASE_RESET __HAL_RCC_DAC1_RELEASE_RESET -#define __DBGMCU_CLK_ENABLE __HAL_RCC_DBGMCU_CLK_ENABLE -#define __DBGMCU_CLK_DISABLE __HAL_RCC_DBGMCU_CLK_DISABLE -#define __DBGMCU_FORCE_RESET __HAL_RCC_DBGMCU_FORCE_RESET -#define __DBGMCU_RELEASE_RESET __HAL_RCC_DBGMCU_RELEASE_RESET -#define __DFSDM_CLK_DISABLE __HAL_RCC_DFSDM_CLK_DISABLE -#define __DFSDM_CLK_ENABLE __HAL_RCC_DFSDM_CLK_ENABLE -#define __DFSDM_CLK_SLEEP_DISABLE __HAL_RCC_DFSDM_CLK_SLEEP_DISABLE -#define __DFSDM_CLK_SLEEP_ENABLE __HAL_RCC_DFSDM_CLK_SLEEP_ENABLE -#define __DFSDM_FORCE_RESET __HAL_RCC_DFSDM_FORCE_RESET -#define __DFSDM_RELEASE_RESET __HAL_RCC_DFSDM_RELEASE_RESET -#define __DMA1_CLK_DISABLE __HAL_RCC_DMA1_CLK_DISABLE -#define __DMA1_CLK_ENABLE __HAL_RCC_DMA1_CLK_ENABLE -#define __DMA1_CLK_SLEEP_DISABLE __HAL_RCC_DMA1_CLK_SLEEP_DISABLE -#define __DMA1_CLK_SLEEP_ENABLE __HAL_RCC_DMA1_CLK_SLEEP_ENABLE -#define __DMA1_FORCE_RESET __HAL_RCC_DMA1_FORCE_RESET -#define __DMA1_RELEASE_RESET __HAL_RCC_DMA1_RELEASE_RESET -#define __DMA2_CLK_DISABLE __HAL_RCC_DMA2_CLK_DISABLE -#define __DMA2_CLK_ENABLE __HAL_RCC_DMA2_CLK_ENABLE -#define __DMA2_CLK_SLEEP_DISABLE __HAL_RCC_DMA2_CLK_SLEEP_DISABLE -#define __DMA2_CLK_SLEEP_ENABLE __HAL_RCC_DMA2_CLK_SLEEP_ENABLE -#define __DMA2_FORCE_RESET __HAL_RCC_DMA2_FORCE_RESET -#define __DMA2_RELEASE_RESET __HAL_RCC_DMA2_RELEASE_RESET -#define __ETHMAC_CLK_DISABLE __HAL_RCC_ETHMAC_CLK_DISABLE -#define __ETHMAC_CLK_ENABLE __HAL_RCC_ETHMAC_CLK_ENABLE -#define __ETHMAC_FORCE_RESET __HAL_RCC_ETHMAC_FORCE_RESET -#define __ETHMAC_RELEASE_RESET __HAL_RCC_ETHMAC_RELEASE_RESET -#define __ETHMACRX_CLK_DISABLE __HAL_RCC_ETHMACRX_CLK_DISABLE -#define __ETHMACRX_CLK_ENABLE __HAL_RCC_ETHMACRX_CLK_ENABLE -#define __ETHMACTX_CLK_DISABLE __HAL_RCC_ETHMACTX_CLK_DISABLE -#define __ETHMACTX_CLK_ENABLE __HAL_RCC_ETHMACTX_CLK_ENABLE -#define __FIREWALL_CLK_DISABLE __HAL_RCC_FIREWALL_CLK_DISABLE -#define __FIREWALL_CLK_ENABLE __HAL_RCC_FIREWALL_CLK_ENABLE -#define __FLASH_CLK_DISABLE __HAL_RCC_FLASH_CLK_DISABLE -#define __FLASH_CLK_ENABLE __HAL_RCC_FLASH_CLK_ENABLE -#define __FLASH_CLK_SLEEP_DISABLE __HAL_RCC_FLASH_CLK_SLEEP_DISABLE -#define __FLASH_CLK_SLEEP_ENABLE __HAL_RCC_FLASH_CLK_SLEEP_ENABLE -#define __FLASH_FORCE_RESET __HAL_RCC_FLASH_FORCE_RESET -#define __FLASH_RELEASE_RESET __HAL_RCC_FLASH_RELEASE_RESET -#define __FLITF_CLK_DISABLE __HAL_RCC_FLITF_CLK_DISABLE -#define __FLITF_CLK_ENABLE __HAL_RCC_FLITF_CLK_ENABLE -#define __FLITF_FORCE_RESET __HAL_RCC_FLITF_FORCE_RESET -#define __FLITF_RELEASE_RESET __HAL_RCC_FLITF_RELEASE_RESET -#define __FLITF_CLK_SLEEP_ENABLE __HAL_RCC_FLITF_CLK_SLEEP_ENABLE -#define __FLITF_CLK_SLEEP_DISABLE __HAL_RCC_FLITF_CLK_SLEEP_DISABLE -#define __FMC_CLK_DISABLE __HAL_RCC_FMC_CLK_DISABLE -#define __FMC_CLK_ENABLE __HAL_RCC_FMC_CLK_ENABLE -#define __FMC_CLK_SLEEP_DISABLE __HAL_RCC_FMC_CLK_SLEEP_DISABLE -#define __FMC_CLK_SLEEP_ENABLE __HAL_RCC_FMC_CLK_SLEEP_ENABLE -#define __FMC_FORCE_RESET __HAL_RCC_FMC_FORCE_RESET -#define __FMC_RELEASE_RESET __HAL_RCC_FMC_RELEASE_RESET -#define __FSMC_CLK_DISABLE __HAL_RCC_FSMC_CLK_DISABLE -#define __FSMC_CLK_ENABLE __HAL_RCC_FSMC_CLK_ENABLE -#define __GPIOA_CLK_DISABLE __HAL_RCC_GPIOA_CLK_DISABLE -#define __GPIOA_CLK_ENABLE __HAL_RCC_GPIOA_CLK_ENABLE -#define __GPIOA_CLK_SLEEP_DISABLE __HAL_RCC_GPIOA_CLK_SLEEP_DISABLE -#define __GPIOA_CLK_SLEEP_ENABLE __HAL_RCC_GPIOA_CLK_SLEEP_ENABLE -#define __GPIOA_FORCE_RESET __HAL_RCC_GPIOA_FORCE_RESET -#define __GPIOA_RELEASE_RESET __HAL_RCC_GPIOA_RELEASE_RESET -#define __GPIOB_CLK_DISABLE __HAL_RCC_GPIOB_CLK_DISABLE -#define __GPIOB_CLK_ENABLE __HAL_RCC_GPIOB_CLK_ENABLE -#define __GPIOB_CLK_SLEEP_DISABLE __HAL_RCC_GPIOB_CLK_SLEEP_DISABLE -#define __GPIOB_CLK_SLEEP_ENABLE __HAL_RCC_GPIOB_CLK_SLEEP_ENABLE -#define __GPIOB_FORCE_RESET __HAL_RCC_GPIOB_FORCE_RESET -#define __GPIOB_RELEASE_RESET __HAL_RCC_GPIOB_RELEASE_RESET -#define __GPIOC_CLK_DISABLE __HAL_RCC_GPIOC_CLK_DISABLE -#define __GPIOC_CLK_ENABLE __HAL_RCC_GPIOC_CLK_ENABLE -#define __GPIOC_CLK_SLEEP_DISABLE __HAL_RCC_GPIOC_CLK_SLEEP_DISABLE -#define __GPIOC_CLK_SLEEP_ENABLE __HAL_RCC_GPIOC_CLK_SLEEP_ENABLE -#define __GPIOC_FORCE_RESET __HAL_RCC_GPIOC_FORCE_RESET -#define __GPIOC_RELEASE_RESET __HAL_RCC_GPIOC_RELEASE_RESET -#define __GPIOD_CLK_DISABLE __HAL_RCC_GPIOD_CLK_DISABLE -#define __GPIOD_CLK_ENABLE __HAL_RCC_GPIOD_CLK_ENABLE -#define __GPIOD_CLK_SLEEP_DISABLE __HAL_RCC_GPIOD_CLK_SLEEP_DISABLE -#define __GPIOD_CLK_SLEEP_ENABLE __HAL_RCC_GPIOD_CLK_SLEEP_ENABLE -#define __GPIOD_FORCE_RESET __HAL_RCC_GPIOD_FORCE_RESET -#define __GPIOD_RELEASE_RESET __HAL_RCC_GPIOD_RELEASE_RESET -#define __GPIOE_CLK_DISABLE __HAL_RCC_GPIOE_CLK_DISABLE -#define __GPIOE_CLK_ENABLE __HAL_RCC_GPIOE_CLK_ENABLE -#define __GPIOE_CLK_SLEEP_DISABLE __HAL_RCC_GPIOE_CLK_SLEEP_DISABLE -#define __GPIOE_CLK_SLEEP_ENABLE __HAL_RCC_GPIOE_CLK_SLEEP_ENABLE -#define __GPIOE_FORCE_RESET __HAL_RCC_GPIOE_FORCE_RESET -#define __GPIOE_RELEASE_RESET __HAL_RCC_GPIOE_RELEASE_RESET -#define __GPIOF_CLK_DISABLE __HAL_RCC_GPIOF_CLK_DISABLE -#define __GPIOF_CLK_ENABLE __HAL_RCC_GPIOF_CLK_ENABLE -#define __GPIOF_CLK_SLEEP_DISABLE __HAL_RCC_GPIOF_CLK_SLEEP_DISABLE -#define __GPIOF_CLK_SLEEP_ENABLE __HAL_RCC_GPIOF_CLK_SLEEP_ENABLE -#define __GPIOF_FORCE_RESET __HAL_RCC_GPIOF_FORCE_RESET -#define __GPIOF_RELEASE_RESET __HAL_RCC_GPIOF_RELEASE_RESET -#define __GPIOG_CLK_DISABLE __HAL_RCC_GPIOG_CLK_DISABLE -#define __GPIOG_CLK_ENABLE __HAL_RCC_GPIOG_CLK_ENABLE -#define __GPIOG_CLK_SLEEP_DISABLE __HAL_RCC_GPIOG_CLK_SLEEP_DISABLE -#define __GPIOG_CLK_SLEEP_ENABLE __HAL_RCC_GPIOG_CLK_SLEEP_ENABLE -#define __GPIOG_FORCE_RESET __HAL_RCC_GPIOG_FORCE_RESET -#define __GPIOG_RELEASE_RESET __HAL_RCC_GPIOG_RELEASE_RESET -#define __GPIOH_CLK_DISABLE __HAL_RCC_GPIOH_CLK_DISABLE -#define __GPIOH_CLK_ENABLE __HAL_RCC_GPIOH_CLK_ENABLE -#define __GPIOH_CLK_SLEEP_DISABLE __HAL_RCC_GPIOH_CLK_SLEEP_DISABLE -#define __GPIOH_CLK_SLEEP_ENABLE __HAL_RCC_GPIOH_CLK_SLEEP_ENABLE -#define __GPIOH_FORCE_RESET __HAL_RCC_GPIOH_FORCE_RESET -#define __GPIOH_RELEASE_RESET __HAL_RCC_GPIOH_RELEASE_RESET -#define __I2C1_CLK_DISABLE __HAL_RCC_I2C1_CLK_DISABLE -#define __I2C1_CLK_ENABLE __HAL_RCC_I2C1_CLK_ENABLE -#define __I2C1_CLK_SLEEP_DISABLE __HAL_RCC_I2C1_CLK_SLEEP_DISABLE -#define __I2C1_CLK_SLEEP_ENABLE __HAL_RCC_I2C1_CLK_SLEEP_ENABLE -#define __I2C1_FORCE_RESET __HAL_RCC_I2C1_FORCE_RESET -#define __I2C1_RELEASE_RESET __HAL_RCC_I2C1_RELEASE_RESET -#define __I2C2_CLK_DISABLE __HAL_RCC_I2C2_CLK_DISABLE -#define __I2C2_CLK_ENABLE __HAL_RCC_I2C2_CLK_ENABLE -#define __I2C2_CLK_SLEEP_DISABLE __HAL_RCC_I2C2_CLK_SLEEP_DISABLE -#define __I2C2_CLK_SLEEP_ENABLE __HAL_RCC_I2C2_CLK_SLEEP_ENABLE -#define __I2C2_FORCE_RESET __HAL_RCC_I2C2_FORCE_RESET -#define __I2C2_RELEASE_RESET __HAL_RCC_I2C2_RELEASE_RESET -#define __I2C3_CLK_DISABLE __HAL_RCC_I2C3_CLK_DISABLE -#define __I2C3_CLK_ENABLE __HAL_RCC_I2C3_CLK_ENABLE -#define __I2C3_CLK_SLEEP_DISABLE __HAL_RCC_I2C3_CLK_SLEEP_DISABLE -#define __I2C3_CLK_SLEEP_ENABLE __HAL_RCC_I2C3_CLK_SLEEP_ENABLE -#define __I2C3_FORCE_RESET __HAL_RCC_I2C3_FORCE_RESET -#define __I2C3_RELEASE_RESET __HAL_RCC_I2C3_RELEASE_RESET -#define __LCD_CLK_DISABLE __HAL_RCC_LCD_CLK_DISABLE -#define __LCD_CLK_ENABLE __HAL_RCC_LCD_CLK_ENABLE -#define __LCD_CLK_SLEEP_DISABLE __HAL_RCC_LCD_CLK_SLEEP_DISABLE -#define __LCD_CLK_SLEEP_ENABLE __HAL_RCC_LCD_CLK_SLEEP_ENABLE -#define __LCD_FORCE_RESET __HAL_RCC_LCD_FORCE_RESET -#define __LCD_RELEASE_RESET __HAL_RCC_LCD_RELEASE_RESET -#define __LPTIM1_CLK_DISABLE __HAL_RCC_LPTIM1_CLK_DISABLE -#define __LPTIM1_CLK_ENABLE __HAL_RCC_LPTIM1_CLK_ENABLE -#define __LPTIM1_CLK_SLEEP_DISABLE __HAL_RCC_LPTIM1_CLK_SLEEP_DISABLE -#define __LPTIM1_CLK_SLEEP_ENABLE __HAL_RCC_LPTIM1_CLK_SLEEP_ENABLE -#define __LPTIM1_FORCE_RESET __HAL_RCC_LPTIM1_FORCE_RESET -#define __LPTIM1_RELEASE_RESET __HAL_RCC_LPTIM1_RELEASE_RESET -#define __LPTIM2_CLK_DISABLE __HAL_RCC_LPTIM2_CLK_DISABLE -#define __LPTIM2_CLK_ENABLE __HAL_RCC_LPTIM2_CLK_ENABLE -#define __LPTIM2_CLK_SLEEP_DISABLE __HAL_RCC_LPTIM2_CLK_SLEEP_DISABLE -#define __LPTIM2_CLK_SLEEP_ENABLE __HAL_RCC_LPTIM2_CLK_SLEEP_ENABLE -#define __LPTIM2_FORCE_RESET __HAL_RCC_LPTIM2_FORCE_RESET -#define __LPTIM2_RELEASE_RESET __HAL_RCC_LPTIM2_RELEASE_RESET -#define __LPUART1_CLK_DISABLE __HAL_RCC_LPUART1_CLK_DISABLE -#define __LPUART1_CLK_ENABLE __HAL_RCC_LPUART1_CLK_ENABLE -#define __LPUART1_CLK_SLEEP_DISABLE __HAL_RCC_LPUART1_CLK_SLEEP_DISABLE -#define __LPUART1_CLK_SLEEP_ENABLE __HAL_RCC_LPUART1_CLK_SLEEP_ENABLE -#define __LPUART1_FORCE_RESET __HAL_RCC_LPUART1_FORCE_RESET -#define __LPUART1_RELEASE_RESET __HAL_RCC_LPUART1_RELEASE_RESET -#define __OPAMP_CLK_DISABLE __HAL_RCC_OPAMP_CLK_DISABLE -#define __OPAMP_CLK_ENABLE __HAL_RCC_OPAMP_CLK_ENABLE -#define __OPAMP_CLK_SLEEP_DISABLE __HAL_RCC_OPAMP_CLK_SLEEP_DISABLE -#define __OPAMP_CLK_SLEEP_ENABLE __HAL_RCC_OPAMP_CLK_SLEEP_ENABLE -#define __OPAMP_FORCE_RESET __HAL_RCC_OPAMP_FORCE_RESET -#define __OPAMP_RELEASE_RESET __HAL_RCC_OPAMP_RELEASE_RESET -#define __OTGFS_CLK_DISABLE __HAL_RCC_OTGFS_CLK_DISABLE -#define __OTGFS_CLK_ENABLE __HAL_RCC_OTGFS_CLK_ENABLE -#define __OTGFS_CLK_SLEEP_DISABLE __HAL_RCC_OTGFS_CLK_SLEEP_DISABLE -#define __OTGFS_CLK_SLEEP_ENABLE __HAL_RCC_OTGFS_CLK_SLEEP_ENABLE -#define __OTGFS_FORCE_RESET __HAL_RCC_OTGFS_FORCE_RESET -#define __OTGFS_RELEASE_RESET __HAL_RCC_OTGFS_RELEASE_RESET -#define __PWR_CLK_DISABLE __HAL_RCC_PWR_CLK_DISABLE -#define __PWR_CLK_ENABLE __HAL_RCC_PWR_CLK_ENABLE -#define __PWR_CLK_SLEEP_DISABLE __HAL_RCC_PWR_CLK_SLEEP_DISABLE -#define __PWR_CLK_SLEEP_ENABLE __HAL_RCC_PWR_CLK_SLEEP_ENABLE -#define __PWR_FORCE_RESET __HAL_RCC_PWR_FORCE_RESET -#define __PWR_RELEASE_RESET __HAL_RCC_PWR_RELEASE_RESET -#define __QSPI_CLK_DISABLE __HAL_RCC_QSPI_CLK_DISABLE -#define __QSPI_CLK_ENABLE __HAL_RCC_QSPI_CLK_ENABLE -#define __QSPI_CLK_SLEEP_DISABLE __HAL_RCC_QSPI_CLK_SLEEP_DISABLE -#define __QSPI_CLK_SLEEP_ENABLE __HAL_RCC_QSPI_CLK_SLEEP_ENABLE -#define __QSPI_FORCE_RESET __HAL_RCC_QSPI_FORCE_RESET -#define __QSPI_RELEASE_RESET __HAL_RCC_QSPI_RELEASE_RESET - -#if defined(STM32WB) -#define __HAL_RCC_QSPI_CLK_DISABLE __HAL_RCC_QUADSPI_CLK_DISABLE -#define __HAL_RCC_QSPI_CLK_ENABLE __HAL_RCC_QUADSPI_CLK_ENABLE -#define __HAL_RCC_QSPI_CLK_SLEEP_DISABLE __HAL_RCC_QUADSPI_CLK_SLEEP_DISABLE -#define __HAL_RCC_QSPI_CLK_SLEEP_ENABLE __HAL_RCC_QUADSPI_CLK_SLEEP_ENABLE -#define __HAL_RCC_QSPI_FORCE_RESET __HAL_RCC_QUADSPI_FORCE_RESET -#define __HAL_RCC_QSPI_RELEASE_RESET __HAL_RCC_QUADSPI_RELEASE_RESET -#define __HAL_RCC_QSPI_IS_CLK_ENABLED __HAL_RCC_QUADSPI_IS_CLK_ENABLED -#define __HAL_RCC_QSPI_IS_CLK_DISABLED __HAL_RCC_QUADSPI_IS_CLK_DISABLED -#define __HAL_RCC_QSPI_IS_CLK_SLEEP_ENABLED __HAL_RCC_QUADSPI_IS_CLK_SLEEP_ENABLED -#define __HAL_RCC_QSPI_IS_CLK_SLEEP_DISABLED __HAL_RCC_QUADSPI_IS_CLK_SLEEP_DISABLED -#define QSPI_IRQHandler QUADSPI_IRQHandler -#endif /* __HAL_RCC_QUADSPI_CLK_ENABLE */ - -#define __RNG_CLK_DISABLE __HAL_RCC_RNG_CLK_DISABLE -#define __RNG_CLK_ENABLE __HAL_RCC_RNG_CLK_ENABLE -#define __RNG_CLK_SLEEP_DISABLE __HAL_RCC_RNG_CLK_SLEEP_DISABLE -#define __RNG_CLK_SLEEP_ENABLE __HAL_RCC_RNG_CLK_SLEEP_ENABLE -#define __RNG_FORCE_RESET __HAL_RCC_RNG_FORCE_RESET -#define __RNG_RELEASE_RESET __HAL_RCC_RNG_RELEASE_RESET -#define __SAI1_CLK_DISABLE __HAL_RCC_SAI1_CLK_DISABLE -#define __SAI1_CLK_ENABLE __HAL_RCC_SAI1_CLK_ENABLE -#define __SAI1_CLK_SLEEP_DISABLE __HAL_RCC_SAI1_CLK_SLEEP_DISABLE -#define __SAI1_CLK_SLEEP_ENABLE __HAL_RCC_SAI1_CLK_SLEEP_ENABLE -#define __SAI1_FORCE_RESET __HAL_RCC_SAI1_FORCE_RESET -#define __SAI1_RELEASE_RESET __HAL_RCC_SAI1_RELEASE_RESET -#define __SAI2_CLK_DISABLE __HAL_RCC_SAI2_CLK_DISABLE -#define __SAI2_CLK_ENABLE __HAL_RCC_SAI2_CLK_ENABLE -#define __SAI2_CLK_SLEEP_DISABLE __HAL_RCC_SAI2_CLK_SLEEP_DISABLE -#define __SAI2_CLK_SLEEP_ENABLE __HAL_RCC_SAI2_CLK_SLEEP_ENABLE -#define __SAI2_FORCE_RESET __HAL_RCC_SAI2_FORCE_RESET -#define __SAI2_RELEASE_RESET __HAL_RCC_SAI2_RELEASE_RESET -#define __SDIO_CLK_DISABLE __HAL_RCC_SDIO_CLK_DISABLE -#define __SDIO_CLK_ENABLE __HAL_RCC_SDIO_CLK_ENABLE -#define __SDMMC_CLK_DISABLE __HAL_RCC_SDMMC_CLK_DISABLE -#define __SDMMC_CLK_ENABLE __HAL_RCC_SDMMC_CLK_ENABLE -#define __SDMMC_CLK_SLEEP_DISABLE __HAL_RCC_SDMMC_CLK_SLEEP_DISABLE -#define __SDMMC_CLK_SLEEP_ENABLE __HAL_RCC_SDMMC_CLK_SLEEP_ENABLE -#define __SDMMC_FORCE_RESET __HAL_RCC_SDMMC_FORCE_RESET -#define __SDMMC_RELEASE_RESET __HAL_RCC_SDMMC_RELEASE_RESET -#define __SPI1_CLK_DISABLE __HAL_RCC_SPI1_CLK_DISABLE -#define __SPI1_CLK_ENABLE __HAL_RCC_SPI1_CLK_ENABLE -#define __SPI1_CLK_SLEEP_DISABLE __HAL_RCC_SPI1_CLK_SLEEP_DISABLE -#define __SPI1_CLK_SLEEP_ENABLE __HAL_RCC_SPI1_CLK_SLEEP_ENABLE -#define __SPI1_FORCE_RESET __HAL_RCC_SPI1_FORCE_RESET -#define __SPI1_RELEASE_RESET __HAL_RCC_SPI1_RELEASE_RESET -#define __SPI2_CLK_DISABLE __HAL_RCC_SPI2_CLK_DISABLE -#define __SPI2_CLK_ENABLE __HAL_RCC_SPI2_CLK_ENABLE -#define __SPI2_CLK_SLEEP_DISABLE __HAL_RCC_SPI2_CLK_SLEEP_DISABLE -#define __SPI2_CLK_SLEEP_ENABLE __HAL_RCC_SPI2_CLK_SLEEP_ENABLE -#define __SPI2_FORCE_RESET __HAL_RCC_SPI2_FORCE_RESET -#define __SPI2_RELEASE_RESET __HAL_RCC_SPI2_RELEASE_RESET -#define __SPI3_CLK_DISABLE __HAL_RCC_SPI3_CLK_DISABLE -#define __SPI3_CLK_ENABLE __HAL_RCC_SPI3_CLK_ENABLE -#define __SPI3_CLK_SLEEP_DISABLE __HAL_RCC_SPI3_CLK_SLEEP_DISABLE -#define __SPI3_CLK_SLEEP_ENABLE __HAL_RCC_SPI3_CLK_SLEEP_ENABLE -#define __SPI3_FORCE_RESET __HAL_RCC_SPI3_FORCE_RESET -#define __SPI3_RELEASE_RESET __HAL_RCC_SPI3_RELEASE_RESET -#define __SRAM_CLK_DISABLE __HAL_RCC_SRAM_CLK_DISABLE -#define __SRAM_CLK_ENABLE __HAL_RCC_SRAM_CLK_ENABLE -#define __SRAM1_CLK_SLEEP_DISABLE __HAL_RCC_SRAM1_CLK_SLEEP_DISABLE -#define __SRAM1_CLK_SLEEP_ENABLE __HAL_RCC_SRAM1_CLK_SLEEP_ENABLE -#define __SRAM2_CLK_SLEEP_DISABLE __HAL_RCC_SRAM2_CLK_SLEEP_DISABLE -#define __SRAM2_CLK_SLEEP_ENABLE __HAL_RCC_SRAM2_CLK_SLEEP_ENABLE -#define __SWPMI1_CLK_DISABLE __HAL_RCC_SWPMI1_CLK_DISABLE -#define __SWPMI1_CLK_ENABLE __HAL_RCC_SWPMI1_CLK_ENABLE -#define __SWPMI1_CLK_SLEEP_DISABLE __HAL_RCC_SWPMI1_CLK_SLEEP_DISABLE -#define __SWPMI1_CLK_SLEEP_ENABLE __HAL_RCC_SWPMI1_CLK_SLEEP_ENABLE -#define __SWPMI1_FORCE_RESET __HAL_RCC_SWPMI1_FORCE_RESET -#define __SWPMI1_RELEASE_RESET __HAL_RCC_SWPMI1_RELEASE_RESET -#define __SYSCFG_CLK_DISABLE __HAL_RCC_SYSCFG_CLK_DISABLE -#define __SYSCFG_CLK_ENABLE __HAL_RCC_SYSCFG_CLK_ENABLE -#define __SYSCFG_CLK_SLEEP_DISABLE __HAL_RCC_SYSCFG_CLK_SLEEP_DISABLE -#define __SYSCFG_CLK_SLEEP_ENABLE __HAL_RCC_SYSCFG_CLK_SLEEP_ENABLE -#define __SYSCFG_FORCE_RESET __HAL_RCC_SYSCFG_FORCE_RESET -#define __SYSCFG_RELEASE_RESET __HAL_RCC_SYSCFG_RELEASE_RESET -#define __TIM1_CLK_DISABLE __HAL_RCC_TIM1_CLK_DISABLE -#define __TIM1_CLK_ENABLE __HAL_RCC_TIM1_CLK_ENABLE -#define __TIM1_CLK_SLEEP_DISABLE __HAL_RCC_TIM1_CLK_SLEEP_DISABLE -#define __TIM1_CLK_SLEEP_ENABLE __HAL_RCC_TIM1_CLK_SLEEP_ENABLE -#define __TIM1_FORCE_RESET __HAL_RCC_TIM1_FORCE_RESET -#define __TIM1_RELEASE_RESET __HAL_RCC_TIM1_RELEASE_RESET -#define __TIM10_CLK_DISABLE __HAL_RCC_TIM10_CLK_DISABLE -#define __TIM10_CLK_ENABLE __HAL_RCC_TIM10_CLK_ENABLE -#define __TIM10_FORCE_RESET __HAL_RCC_TIM10_FORCE_RESET -#define __TIM10_RELEASE_RESET __HAL_RCC_TIM10_RELEASE_RESET -#define __TIM11_CLK_DISABLE __HAL_RCC_TIM11_CLK_DISABLE -#define __TIM11_CLK_ENABLE __HAL_RCC_TIM11_CLK_ENABLE -#define __TIM11_FORCE_RESET __HAL_RCC_TIM11_FORCE_RESET -#define __TIM11_RELEASE_RESET __HAL_RCC_TIM11_RELEASE_RESET -#define __TIM12_CLK_DISABLE __HAL_RCC_TIM12_CLK_DISABLE -#define __TIM12_CLK_ENABLE __HAL_RCC_TIM12_CLK_ENABLE -#define __TIM12_FORCE_RESET __HAL_RCC_TIM12_FORCE_RESET -#define __TIM12_RELEASE_RESET __HAL_RCC_TIM12_RELEASE_RESET -#define __TIM13_CLK_DISABLE __HAL_RCC_TIM13_CLK_DISABLE -#define __TIM13_CLK_ENABLE __HAL_RCC_TIM13_CLK_ENABLE -#define __TIM13_FORCE_RESET __HAL_RCC_TIM13_FORCE_RESET -#define __TIM13_RELEASE_RESET __HAL_RCC_TIM13_RELEASE_RESET -#define __TIM14_CLK_DISABLE __HAL_RCC_TIM14_CLK_DISABLE -#define __TIM14_CLK_ENABLE __HAL_RCC_TIM14_CLK_ENABLE -#define __TIM14_FORCE_RESET __HAL_RCC_TIM14_FORCE_RESET -#define __TIM14_RELEASE_RESET __HAL_RCC_TIM14_RELEASE_RESET -#define __TIM15_CLK_DISABLE __HAL_RCC_TIM15_CLK_DISABLE -#define __TIM15_CLK_ENABLE __HAL_RCC_TIM15_CLK_ENABLE -#define __TIM15_CLK_SLEEP_DISABLE __HAL_RCC_TIM15_CLK_SLEEP_DISABLE -#define __TIM15_CLK_SLEEP_ENABLE __HAL_RCC_TIM15_CLK_SLEEP_ENABLE -#define __TIM15_FORCE_RESET __HAL_RCC_TIM15_FORCE_RESET -#define __TIM15_RELEASE_RESET __HAL_RCC_TIM15_RELEASE_RESET -#define __TIM16_CLK_DISABLE __HAL_RCC_TIM16_CLK_DISABLE -#define __TIM16_CLK_ENABLE __HAL_RCC_TIM16_CLK_ENABLE -#define __TIM16_CLK_SLEEP_DISABLE __HAL_RCC_TIM16_CLK_SLEEP_DISABLE -#define __TIM16_CLK_SLEEP_ENABLE __HAL_RCC_TIM16_CLK_SLEEP_ENABLE -#define __TIM16_FORCE_RESET __HAL_RCC_TIM16_FORCE_RESET -#define __TIM16_RELEASE_RESET __HAL_RCC_TIM16_RELEASE_RESET -#define __TIM17_CLK_DISABLE __HAL_RCC_TIM17_CLK_DISABLE -#define __TIM17_CLK_ENABLE __HAL_RCC_TIM17_CLK_ENABLE -#define __TIM17_CLK_SLEEP_DISABLE __HAL_RCC_TIM17_CLK_SLEEP_DISABLE -#define __TIM17_CLK_SLEEP_ENABLE __HAL_RCC_TIM17_CLK_SLEEP_ENABLE -#define __TIM17_FORCE_RESET __HAL_RCC_TIM17_FORCE_RESET -#define __TIM17_RELEASE_RESET __HAL_RCC_TIM17_RELEASE_RESET -#define __TIM2_CLK_DISABLE __HAL_RCC_TIM2_CLK_DISABLE -#define __TIM2_CLK_ENABLE __HAL_RCC_TIM2_CLK_ENABLE -#define __TIM2_CLK_SLEEP_DISABLE __HAL_RCC_TIM2_CLK_SLEEP_DISABLE -#define __TIM2_CLK_SLEEP_ENABLE __HAL_RCC_TIM2_CLK_SLEEP_ENABLE -#define __TIM2_FORCE_RESET __HAL_RCC_TIM2_FORCE_RESET -#define __TIM2_RELEASE_RESET __HAL_RCC_TIM2_RELEASE_RESET -#define __TIM3_CLK_DISABLE __HAL_RCC_TIM3_CLK_DISABLE -#define __TIM3_CLK_ENABLE __HAL_RCC_TIM3_CLK_ENABLE -#define __TIM3_CLK_SLEEP_DISABLE __HAL_RCC_TIM3_CLK_SLEEP_DISABLE -#define __TIM3_CLK_SLEEP_ENABLE __HAL_RCC_TIM3_CLK_SLEEP_ENABLE -#define __TIM3_FORCE_RESET __HAL_RCC_TIM3_FORCE_RESET -#define __TIM3_RELEASE_RESET __HAL_RCC_TIM3_RELEASE_RESET -#define __TIM4_CLK_DISABLE __HAL_RCC_TIM4_CLK_DISABLE -#define __TIM4_CLK_ENABLE __HAL_RCC_TIM4_CLK_ENABLE -#define __TIM4_CLK_SLEEP_DISABLE __HAL_RCC_TIM4_CLK_SLEEP_DISABLE -#define __TIM4_CLK_SLEEP_ENABLE __HAL_RCC_TIM4_CLK_SLEEP_ENABLE -#define __TIM4_FORCE_RESET __HAL_RCC_TIM4_FORCE_RESET -#define __TIM4_RELEASE_RESET __HAL_RCC_TIM4_RELEASE_RESET -#define __TIM5_CLK_DISABLE __HAL_RCC_TIM5_CLK_DISABLE -#define __TIM5_CLK_ENABLE __HAL_RCC_TIM5_CLK_ENABLE -#define __TIM5_CLK_SLEEP_DISABLE __HAL_RCC_TIM5_CLK_SLEEP_DISABLE -#define __TIM5_CLK_SLEEP_ENABLE __HAL_RCC_TIM5_CLK_SLEEP_ENABLE -#define __TIM5_FORCE_RESET __HAL_RCC_TIM5_FORCE_RESET -#define __TIM5_RELEASE_RESET __HAL_RCC_TIM5_RELEASE_RESET -#define __TIM6_CLK_DISABLE __HAL_RCC_TIM6_CLK_DISABLE -#define __TIM6_CLK_ENABLE __HAL_RCC_TIM6_CLK_ENABLE -#define __TIM6_CLK_SLEEP_DISABLE __HAL_RCC_TIM6_CLK_SLEEP_DISABLE -#define __TIM6_CLK_SLEEP_ENABLE __HAL_RCC_TIM6_CLK_SLEEP_ENABLE -#define __TIM6_FORCE_RESET __HAL_RCC_TIM6_FORCE_RESET -#define __TIM6_RELEASE_RESET __HAL_RCC_TIM6_RELEASE_RESET -#define __TIM7_CLK_DISABLE __HAL_RCC_TIM7_CLK_DISABLE -#define __TIM7_CLK_ENABLE __HAL_RCC_TIM7_CLK_ENABLE -#define __TIM7_CLK_SLEEP_DISABLE __HAL_RCC_TIM7_CLK_SLEEP_DISABLE -#define __TIM7_CLK_SLEEP_ENABLE __HAL_RCC_TIM7_CLK_SLEEP_ENABLE -#define __TIM7_FORCE_RESET __HAL_RCC_TIM7_FORCE_RESET -#define __TIM7_RELEASE_RESET __HAL_RCC_TIM7_RELEASE_RESET -#define __TIM8_CLK_DISABLE __HAL_RCC_TIM8_CLK_DISABLE -#define __TIM8_CLK_ENABLE __HAL_RCC_TIM8_CLK_ENABLE -#define __TIM8_CLK_SLEEP_DISABLE __HAL_RCC_TIM8_CLK_SLEEP_DISABLE -#define __TIM8_CLK_SLEEP_ENABLE __HAL_RCC_TIM8_CLK_SLEEP_ENABLE -#define __TIM8_FORCE_RESET __HAL_RCC_TIM8_FORCE_RESET -#define __TIM8_RELEASE_RESET __HAL_RCC_TIM8_RELEASE_RESET -#define __TIM9_CLK_DISABLE __HAL_RCC_TIM9_CLK_DISABLE -#define __TIM9_CLK_ENABLE __HAL_RCC_TIM9_CLK_ENABLE -#define __TIM9_FORCE_RESET __HAL_RCC_TIM9_FORCE_RESET -#define __TIM9_RELEASE_RESET __HAL_RCC_TIM9_RELEASE_RESET -#define __TSC_CLK_DISABLE __HAL_RCC_TSC_CLK_DISABLE -#define __TSC_CLK_ENABLE __HAL_RCC_TSC_CLK_ENABLE -#define __TSC_CLK_SLEEP_DISABLE __HAL_RCC_TSC_CLK_SLEEP_DISABLE -#define __TSC_CLK_SLEEP_ENABLE __HAL_RCC_TSC_CLK_SLEEP_ENABLE -#define __TSC_FORCE_RESET __HAL_RCC_TSC_FORCE_RESET -#define __TSC_RELEASE_RESET __HAL_RCC_TSC_RELEASE_RESET -#define __UART4_CLK_DISABLE __HAL_RCC_UART4_CLK_DISABLE -#define __UART4_CLK_ENABLE __HAL_RCC_UART4_CLK_ENABLE -#define __UART4_CLK_SLEEP_DISABLE __HAL_RCC_UART4_CLK_SLEEP_DISABLE -#define __UART4_CLK_SLEEP_ENABLE __HAL_RCC_UART4_CLK_SLEEP_ENABLE -#define __UART4_FORCE_RESET __HAL_RCC_UART4_FORCE_RESET -#define __UART4_RELEASE_RESET __HAL_RCC_UART4_RELEASE_RESET -#define __UART5_CLK_DISABLE __HAL_RCC_UART5_CLK_DISABLE -#define __UART5_CLK_ENABLE __HAL_RCC_UART5_CLK_ENABLE -#define __UART5_CLK_SLEEP_DISABLE __HAL_RCC_UART5_CLK_SLEEP_DISABLE -#define __UART5_CLK_SLEEP_ENABLE __HAL_RCC_UART5_CLK_SLEEP_ENABLE -#define __UART5_FORCE_RESET __HAL_RCC_UART5_FORCE_RESET -#define __UART5_RELEASE_RESET __HAL_RCC_UART5_RELEASE_RESET -#define __USART1_CLK_DISABLE __HAL_RCC_USART1_CLK_DISABLE -#define __USART1_CLK_ENABLE __HAL_RCC_USART1_CLK_ENABLE -#define __USART1_CLK_SLEEP_DISABLE __HAL_RCC_USART1_CLK_SLEEP_DISABLE -#define __USART1_CLK_SLEEP_ENABLE __HAL_RCC_USART1_CLK_SLEEP_ENABLE -#define __USART1_FORCE_RESET __HAL_RCC_USART1_FORCE_RESET -#define __USART1_RELEASE_RESET __HAL_RCC_USART1_RELEASE_RESET -#define __USART2_CLK_DISABLE __HAL_RCC_USART2_CLK_DISABLE -#define __USART2_CLK_ENABLE __HAL_RCC_USART2_CLK_ENABLE -#define __USART2_CLK_SLEEP_DISABLE __HAL_RCC_USART2_CLK_SLEEP_DISABLE -#define __USART2_CLK_SLEEP_ENABLE __HAL_RCC_USART2_CLK_SLEEP_ENABLE -#define __USART2_FORCE_RESET __HAL_RCC_USART2_FORCE_RESET -#define __USART2_RELEASE_RESET __HAL_RCC_USART2_RELEASE_RESET -#define __USART3_CLK_DISABLE __HAL_RCC_USART3_CLK_DISABLE -#define __USART3_CLK_ENABLE __HAL_RCC_USART3_CLK_ENABLE -#define __USART3_CLK_SLEEP_DISABLE __HAL_RCC_USART3_CLK_SLEEP_DISABLE -#define __USART3_CLK_SLEEP_ENABLE __HAL_RCC_USART3_CLK_SLEEP_ENABLE -#define __USART3_FORCE_RESET __HAL_RCC_USART3_FORCE_RESET -#define __USART3_RELEASE_RESET __HAL_RCC_USART3_RELEASE_RESET -#define __USART4_CLK_DISABLE __HAL_RCC_UART4_CLK_DISABLE -#define __USART4_CLK_ENABLE __HAL_RCC_UART4_CLK_ENABLE -#define __USART4_CLK_SLEEP_ENABLE __HAL_RCC_UART4_CLK_SLEEP_ENABLE -#define __USART4_CLK_SLEEP_DISABLE __HAL_RCC_UART4_CLK_SLEEP_DISABLE -#define __USART4_FORCE_RESET __HAL_RCC_UART4_FORCE_RESET -#define __USART4_RELEASE_RESET __HAL_RCC_UART4_RELEASE_RESET -#define __USART5_CLK_DISABLE __HAL_RCC_UART5_CLK_DISABLE -#define __USART5_CLK_ENABLE __HAL_RCC_UART5_CLK_ENABLE -#define __USART5_CLK_SLEEP_ENABLE __HAL_RCC_UART5_CLK_SLEEP_ENABLE -#define __USART5_CLK_SLEEP_DISABLE __HAL_RCC_UART5_CLK_SLEEP_DISABLE -#define __USART5_FORCE_RESET __HAL_RCC_UART5_FORCE_RESET -#define __USART5_RELEASE_RESET __HAL_RCC_UART5_RELEASE_RESET -#define __USART7_CLK_DISABLE __HAL_RCC_UART7_CLK_DISABLE -#define __USART7_CLK_ENABLE __HAL_RCC_UART7_CLK_ENABLE -#define __USART7_FORCE_RESET __HAL_RCC_UART7_FORCE_RESET -#define __USART7_RELEASE_RESET __HAL_RCC_UART7_RELEASE_RESET -#define __USART8_CLK_DISABLE __HAL_RCC_UART8_CLK_DISABLE -#define __USART8_CLK_ENABLE __HAL_RCC_UART8_CLK_ENABLE -#define __USART8_FORCE_RESET __HAL_RCC_UART8_FORCE_RESET -#define __USART8_RELEASE_RESET __HAL_RCC_UART8_RELEASE_RESET -#define __USB_CLK_DISABLE __HAL_RCC_USB_CLK_DISABLE -#define __USB_CLK_ENABLE __HAL_RCC_USB_CLK_ENABLE -#define __USB_FORCE_RESET __HAL_RCC_USB_FORCE_RESET -#define __USB_CLK_SLEEP_ENABLE __HAL_RCC_USB_CLK_SLEEP_ENABLE -#define __USB_CLK_SLEEP_DISABLE __HAL_RCC_USB_CLK_SLEEP_DISABLE -#define __USB_OTG_FS_CLK_DISABLE __HAL_RCC_USB_OTG_FS_CLK_DISABLE -#define __USB_OTG_FS_CLK_ENABLE __HAL_RCC_USB_OTG_FS_CLK_ENABLE -#define __USB_RELEASE_RESET __HAL_RCC_USB_RELEASE_RESET - -#if defined(STM32H7) -#define __HAL_RCC_WWDG_CLK_DISABLE __HAL_RCC_WWDG1_CLK_DISABLE -#define __HAL_RCC_WWDG_CLK_ENABLE __HAL_RCC_WWDG1_CLK_ENABLE -#define __HAL_RCC_WWDG_CLK_SLEEP_DISABLE __HAL_RCC_WWDG1_CLK_SLEEP_DISABLE -#define __HAL_RCC_WWDG_CLK_SLEEP_ENABLE __HAL_RCC_WWDG1_CLK_SLEEP_ENABLE - -#define __HAL_RCC_WWDG_FORCE_RESET ((void)0U) /* Not available on the STM32H7*/ -#define __HAL_RCC_WWDG_RELEASE_RESET ((void)0U) /* Not available on the STM32H7*/ - - -#define __HAL_RCC_WWDG_IS_CLK_ENABLED __HAL_RCC_WWDG1_IS_CLK_ENABLED -#define __HAL_RCC_WWDG_IS_CLK_DISABLED __HAL_RCC_WWDG1_IS_CLK_DISABLED -#endif - -#define __WWDG_CLK_DISABLE __HAL_RCC_WWDG_CLK_DISABLE -#define __WWDG_CLK_ENABLE __HAL_RCC_WWDG_CLK_ENABLE -#define __WWDG_CLK_SLEEP_DISABLE __HAL_RCC_WWDG_CLK_SLEEP_DISABLE -#define __WWDG_CLK_SLEEP_ENABLE __HAL_RCC_WWDG_CLK_SLEEP_ENABLE -#define __WWDG_FORCE_RESET __HAL_RCC_WWDG_FORCE_RESET -#define __WWDG_RELEASE_RESET __HAL_RCC_WWDG_RELEASE_RESET - -#define __TIM21_CLK_ENABLE __HAL_RCC_TIM21_CLK_ENABLE -#define __TIM21_CLK_DISABLE __HAL_RCC_TIM21_CLK_DISABLE -#define __TIM21_FORCE_RESET __HAL_RCC_TIM21_FORCE_RESET -#define __TIM21_RELEASE_RESET __HAL_RCC_TIM21_RELEASE_RESET -#define __TIM21_CLK_SLEEP_ENABLE __HAL_RCC_TIM21_CLK_SLEEP_ENABLE -#define __TIM21_CLK_SLEEP_DISABLE __HAL_RCC_TIM21_CLK_SLEEP_DISABLE -#define __TIM22_CLK_ENABLE __HAL_RCC_TIM22_CLK_ENABLE -#define __TIM22_CLK_DISABLE __HAL_RCC_TIM22_CLK_DISABLE -#define __TIM22_FORCE_RESET __HAL_RCC_TIM22_FORCE_RESET -#define __TIM22_RELEASE_RESET __HAL_RCC_TIM22_RELEASE_RESET -#define __TIM22_CLK_SLEEP_ENABLE __HAL_RCC_TIM22_CLK_SLEEP_ENABLE -#define __TIM22_CLK_SLEEP_DISABLE __HAL_RCC_TIM22_CLK_SLEEP_DISABLE -#define __CRS_CLK_DISABLE __HAL_RCC_CRS_CLK_DISABLE -#define __CRS_CLK_ENABLE __HAL_RCC_CRS_CLK_ENABLE -#define __CRS_CLK_SLEEP_DISABLE __HAL_RCC_CRS_CLK_SLEEP_DISABLE -#define __CRS_CLK_SLEEP_ENABLE __HAL_RCC_CRS_CLK_SLEEP_ENABLE -#define __CRS_FORCE_RESET __HAL_RCC_CRS_FORCE_RESET -#define __CRS_RELEASE_RESET __HAL_RCC_CRS_RELEASE_RESET -#define __RCC_BACKUPRESET_FORCE __HAL_RCC_BACKUPRESET_FORCE -#define __RCC_BACKUPRESET_RELEASE __HAL_RCC_BACKUPRESET_RELEASE - -#define __USB_OTG_FS_FORCE_RESET __HAL_RCC_USB_OTG_FS_FORCE_RESET -#define __USB_OTG_FS_RELEASE_RESET __HAL_RCC_USB_OTG_FS_RELEASE_RESET -#define __USB_OTG_FS_CLK_SLEEP_ENABLE __HAL_RCC_USB_OTG_FS_CLK_SLEEP_ENABLE -#define __USB_OTG_FS_CLK_SLEEP_DISABLE __HAL_RCC_USB_OTG_FS_CLK_SLEEP_DISABLE -#define __USB_OTG_HS_CLK_DISABLE __HAL_RCC_USB_OTG_HS_CLK_DISABLE -#define __USB_OTG_HS_CLK_ENABLE __HAL_RCC_USB_OTG_HS_CLK_ENABLE -#define __USB_OTG_HS_ULPI_CLK_ENABLE __HAL_RCC_USB_OTG_HS_ULPI_CLK_ENABLE -#define __USB_OTG_HS_ULPI_CLK_DISABLE __HAL_RCC_USB_OTG_HS_ULPI_CLK_DISABLE -#define __TIM9_CLK_SLEEP_ENABLE __HAL_RCC_TIM9_CLK_SLEEP_ENABLE -#define __TIM9_CLK_SLEEP_DISABLE __HAL_RCC_TIM9_CLK_SLEEP_DISABLE -#define __TIM10_CLK_SLEEP_ENABLE __HAL_RCC_TIM10_CLK_SLEEP_ENABLE -#define __TIM10_CLK_SLEEP_DISABLE __HAL_RCC_TIM10_CLK_SLEEP_DISABLE -#define __TIM11_CLK_SLEEP_ENABLE __HAL_RCC_TIM11_CLK_SLEEP_ENABLE -#define __TIM11_CLK_SLEEP_DISABLE __HAL_RCC_TIM11_CLK_SLEEP_DISABLE -#define __ETHMACPTP_CLK_SLEEP_ENABLE __HAL_RCC_ETHMACPTP_CLK_SLEEP_ENABLE -#define __ETHMACPTP_CLK_SLEEP_DISABLE __HAL_RCC_ETHMACPTP_CLK_SLEEP_DISABLE -#define __ETHMACPTP_CLK_ENABLE __HAL_RCC_ETHMACPTP_CLK_ENABLE -#define __ETHMACPTP_CLK_DISABLE __HAL_RCC_ETHMACPTP_CLK_DISABLE -#define __HASH_CLK_ENABLE __HAL_RCC_HASH_CLK_ENABLE -#define __HASH_FORCE_RESET __HAL_RCC_HASH_FORCE_RESET -#define __HASH_RELEASE_RESET __HAL_RCC_HASH_RELEASE_RESET -#define __HASH_CLK_SLEEP_ENABLE __HAL_RCC_HASH_CLK_SLEEP_ENABLE -#define __HASH_CLK_SLEEP_DISABLE __HAL_RCC_HASH_CLK_SLEEP_DISABLE -#define __HASH_CLK_DISABLE __HAL_RCC_HASH_CLK_DISABLE -#define __SPI5_CLK_ENABLE __HAL_RCC_SPI5_CLK_ENABLE -#define __SPI5_CLK_DISABLE __HAL_RCC_SPI5_CLK_DISABLE -#define __SPI5_FORCE_RESET __HAL_RCC_SPI5_FORCE_RESET -#define __SPI5_RELEASE_RESET __HAL_RCC_SPI5_RELEASE_RESET -#define __SPI5_CLK_SLEEP_ENABLE __HAL_RCC_SPI5_CLK_SLEEP_ENABLE -#define __SPI5_CLK_SLEEP_DISABLE __HAL_RCC_SPI5_CLK_SLEEP_DISABLE -#define __SPI6_CLK_ENABLE __HAL_RCC_SPI6_CLK_ENABLE -#define __SPI6_CLK_DISABLE __HAL_RCC_SPI6_CLK_DISABLE -#define __SPI6_FORCE_RESET __HAL_RCC_SPI6_FORCE_RESET -#define __SPI6_RELEASE_RESET __HAL_RCC_SPI6_RELEASE_RESET -#define __SPI6_CLK_SLEEP_ENABLE __HAL_RCC_SPI6_CLK_SLEEP_ENABLE -#define __SPI6_CLK_SLEEP_DISABLE __HAL_RCC_SPI6_CLK_SLEEP_DISABLE -#define __LTDC_CLK_ENABLE __HAL_RCC_LTDC_CLK_ENABLE -#define __LTDC_CLK_DISABLE __HAL_RCC_LTDC_CLK_DISABLE -#define __LTDC_FORCE_RESET __HAL_RCC_LTDC_FORCE_RESET -#define __LTDC_RELEASE_RESET __HAL_RCC_LTDC_RELEASE_RESET -#define __LTDC_CLK_SLEEP_ENABLE __HAL_RCC_LTDC_CLK_SLEEP_ENABLE -#define __ETHMAC_CLK_SLEEP_ENABLE __HAL_RCC_ETHMAC_CLK_SLEEP_ENABLE -#define __ETHMAC_CLK_SLEEP_DISABLE __HAL_RCC_ETHMAC_CLK_SLEEP_DISABLE -#define __ETHMACTX_CLK_SLEEP_ENABLE __HAL_RCC_ETHMACTX_CLK_SLEEP_ENABLE -#define __ETHMACTX_CLK_SLEEP_DISABLE __HAL_RCC_ETHMACTX_CLK_SLEEP_DISABLE -#define __ETHMACRX_CLK_SLEEP_ENABLE __HAL_RCC_ETHMACRX_CLK_SLEEP_ENABLE -#define __ETHMACRX_CLK_SLEEP_DISABLE __HAL_RCC_ETHMACRX_CLK_SLEEP_DISABLE -#define __TIM12_CLK_SLEEP_ENABLE __HAL_RCC_TIM12_CLK_SLEEP_ENABLE -#define __TIM12_CLK_SLEEP_DISABLE __HAL_RCC_TIM12_CLK_SLEEP_DISABLE -#define __TIM13_CLK_SLEEP_ENABLE __HAL_RCC_TIM13_CLK_SLEEP_ENABLE -#define __TIM13_CLK_SLEEP_DISABLE __HAL_RCC_TIM13_CLK_SLEEP_DISABLE -#define __TIM14_CLK_SLEEP_ENABLE __HAL_RCC_TIM14_CLK_SLEEP_ENABLE -#define __TIM14_CLK_SLEEP_DISABLE __HAL_RCC_TIM14_CLK_SLEEP_DISABLE -#define __BKPSRAM_CLK_ENABLE __HAL_RCC_BKPSRAM_CLK_ENABLE -#define __BKPSRAM_CLK_DISABLE __HAL_RCC_BKPSRAM_CLK_DISABLE -#define __BKPSRAM_CLK_SLEEP_ENABLE __HAL_RCC_BKPSRAM_CLK_SLEEP_ENABLE -#define __BKPSRAM_CLK_SLEEP_DISABLE __HAL_RCC_BKPSRAM_CLK_SLEEP_DISABLE -#define __CCMDATARAMEN_CLK_ENABLE __HAL_RCC_CCMDATARAMEN_CLK_ENABLE -#define __CCMDATARAMEN_CLK_DISABLE __HAL_RCC_CCMDATARAMEN_CLK_DISABLE -#define __USART6_CLK_ENABLE __HAL_RCC_USART6_CLK_ENABLE -#define __USART6_CLK_DISABLE __HAL_RCC_USART6_CLK_DISABLE -#define __USART6_FORCE_RESET __HAL_RCC_USART6_FORCE_RESET -#define __USART6_RELEASE_RESET __HAL_RCC_USART6_RELEASE_RESET -#define __USART6_CLK_SLEEP_ENABLE __HAL_RCC_USART6_CLK_SLEEP_ENABLE -#define __USART6_CLK_SLEEP_DISABLE __HAL_RCC_USART6_CLK_SLEEP_DISABLE -#define __SPI4_CLK_ENABLE __HAL_RCC_SPI4_CLK_ENABLE -#define __SPI4_CLK_DISABLE __HAL_RCC_SPI4_CLK_DISABLE -#define __SPI4_FORCE_RESET __HAL_RCC_SPI4_FORCE_RESET -#define __SPI4_RELEASE_RESET __HAL_RCC_SPI4_RELEASE_RESET -#define __SPI4_CLK_SLEEP_ENABLE __HAL_RCC_SPI4_CLK_SLEEP_ENABLE -#define __SPI4_CLK_SLEEP_DISABLE __HAL_RCC_SPI4_CLK_SLEEP_DISABLE -#define __GPIOI_CLK_ENABLE __HAL_RCC_GPIOI_CLK_ENABLE -#define __GPIOI_CLK_DISABLE __HAL_RCC_GPIOI_CLK_DISABLE -#define __GPIOI_FORCE_RESET __HAL_RCC_GPIOI_FORCE_RESET -#define __GPIOI_RELEASE_RESET __HAL_RCC_GPIOI_RELEASE_RESET -#define __GPIOI_CLK_SLEEP_ENABLE __HAL_RCC_GPIOI_CLK_SLEEP_ENABLE -#define __GPIOI_CLK_SLEEP_DISABLE __HAL_RCC_GPIOI_CLK_SLEEP_DISABLE -#define __GPIOJ_CLK_ENABLE __HAL_RCC_GPIOJ_CLK_ENABLE -#define __GPIOJ_CLK_DISABLE __HAL_RCC_GPIOJ_CLK_DISABLE -#define __GPIOJ_FORCE_RESET __HAL_RCC_GPIOJ_FORCE_RESET -#define __GPIOJ_RELEASE_RESET __HAL_RCC_GPIOJ_RELEASE_RESET -#define __GPIOJ_CLK_SLEEP_ENABLE __HAL_RCC_GPIOJ_CLK_SLEEP_ENABLE -#define __GPIOJ_CLK_SLEEP_DISABLE __HAL_RCC_GPIOJ_CLK_SLEEP_DISABLE -#define __GPIOK_CLK_ENABLE __HAL_RCC_GPIOK_CLK_ENABLE -#define __GPIOK_CLK_DISABLE __HAL_RCC_GPIOK_CLK_DISABLE -#define __GPIOK_RELEASE_RESET __HAL_RCC_GPIOK_RELEASE_RESET -#define __GPIOK_CLK_SLEEP_ENABLE __HAL_RCC_GPIOK_CLK_SLEEP_ENABLE -#define __GPIOK_CLK_SLEEP_DISABLE __HAL_RCC_GPIOK_CLK_SLEEP_DISABLE -#define __ETH_CLK_ENABLE __HAL_RCC_ETH_CLK_ENABLE -#define __ETH_CLK_DISABLE __HAL_RCC_ETH_CLK_DISABLE -#define __DCMI_CLK_ENABLE __HAL_RCC_DCMI_CLK_ENABLE -#define __DCMI_CLK_DISABLE __HAL_RCC_DCMI_CLK_DISABLE -#define __DCMI_FORCE_RESET __HAL_RCC_DCMI_FORCE_RESET -#define __DCMI_RELEASE_RESET __HAL_RCC_DCMI_RELEASE_RESET -#define __DCMI_CLK_SLEEP_ENABLE __HAL_RCC_DCMI_CLK_SLEEP_ENABLE -#define __DCMI_CLK_SLEEP_DISABLE __HAL_RCC_DCMI_CLK_SLEEP_DISABLE -#define __UART7_CLK_ENABLE __HAL_RCC_UART7_CLK_ENABLE -#define __UART7_CLK_DISABLE __HAL_RCC_UART7_CLK_DISABLE -#define __UART7_RELEASE_RESET __HAL_RCC_UART7_RELEASE_RESET -#define __UART7_FORCE_RESET __HAL_RCC_UART7_FORCE_RESET -#define __UART7_CLK_SLEEP_ENABLE __HAL_RCC_UART7_CLK_SLEEP_ENABLE -#define __UART7_CLK_SLEEP_DISABLE __HAL_RCC_UART7_CLK_SLEEP_DISABLE -#define __UART8_CLK_ENABLE __HAL_RCC_UART8_CLK_ENABLE -#define __UART8_CLK_DISABLE __HAL_RCC_UART8_CLK_DISABLE -#define __UART8_FORCE_RESET __HAL_RCC_UART8_FORCE_RESET -#define __UART8_RELEASE_RESET __HAL_RCC_UART8_RELEASE_RESET -#define __UART8_CLK_SLEEP_ENABLE __HAL_RCC_UART8_CLK_SLEEP_ENABLE -#define __UART8_CLK_SLEEP_DISABLE __HAL_RCC_UART8_CLK_SLEEP_DISABLE -#define __OTGHS_CLK_SLEEP_ENABLE __HAL_RCC_USB_OTG_HS_CLK_SLEEP_ENABLE -#define __OTGHS_CLK_SLEEP_DISABLE __HAL_RCC_USB_OTG_HS_CLK_SLEEP_DISABLE -#define __OTGHS_FORCE_RESET __HAL_RCC_USB_OTG_HS_FORCE_RESET -#define __OTGHS_RELEASE_RESET __HAL_RCC_USB_OTG_HS_RELEASE_RESET -#define __OTGHSULPI_CLK_SLEEP_ENABLE __HAL_RCC_USB_OTG_HS_ULPI_CLK_SLEEP_ENABLE -#define __OTGHSULPI_CLK_SLEEP_DISABLE __HAL_RCC_USB_OTG_HS_ULPI_CLK_SLEEP_DISABLE -#define __HAL_RCC_OTGHS_CLK_SLEEP_ENABLE __HAL_RCC_USB_OTG_HS_CLK_SLEEP_ENABLE -#define __HAL_RCC_OTGHS_CLK_SLEEP_DISABLE __HAL_RCC_USB_OTG_HS_CLK_SLEEP_DISABLE -#define __HAL_RCC_OTGHS_IS_CLK_SLEEP_ENABLED __HAL_RCC_USB_OTG_HS_IS_CLK_SLEEP_ENABLED -#define __HAL_RCC_OTGHS_IS_CLK_SLEEP_DISABLED __HAL_RCC_USB_OTG_HS_IS_CLK_SLEEP_DISABLED -#define __HAL_RCC_OTGHS_FORCE_RESET __HAL_RCC_USB_OTG_HS_FORCE_RESET -#define __HAL_RCC_OTGHS_RELEASE_RESET __HAL_RCC_USB_OTG_HS_RELEASE_RESET -#define __HAL_RCC_OTGHSULPI_CLK_SLEEP_ENABLE __HAL_RCC_USB_OTG_HS_ULPI_CLK_SLEEP_ENABLE -#define __HAL_RCC_OTGHSULPI_CLK_SLEEP_DISABLE __HAL_RCC_USB_OTG_HS_ULPI_CLK_SLEEP_DISABLE -#define __HAL_RCC_OTGHSULPI_IS_CLK_SLEEP_ENABLED __HAL_RCC_USB_OTG_HS_ULPI_IS_CLK_SLEEP_ENABLED -#define __HAL_RCC_OTGHSULPI_IS_CLK_SLEEP_DISABLED __HAL_RCC_USB_OTG_HS_ULPI_IS_CLK_SLEEP_DISABLED -#define __SRAM3_CLK_SLEEP_ENABLE __HAL_RCC_SRAM3_CLK_SLEEP_ENABLE -#define __CAN2_CLK_SLEEP_ENABLE __HAL_RCC_CAN2_CLK_SLEEP_ENABLE -#define __CAN2_CLK_SLEEP_DISABLE __HAL_RCC_CAN2_CLK_SLEEP_DISABLE -#define __DAC_CLK_SLEEP_ENABLE __HAL_RCC_DAC_CLK_SLEEP_ENABLE -#define __DAC_CLK_SLEEP_DISABLE __HAL_RCC_DAC_CLK_SLEEP_DISABLE -#define __ADC2_CLK_SLEEP_ENABLE __HAL_RCC_ADC2_CLK_SLEEP_ENABLE -#define __ADC2_CLK_SLEEP_DISABLE __HAL_RCC_ADC2_CLK_SLEEP_DISABLE -#define __ADC3_CLK_SLEEP_ENABLE __HAL_RCC_ADC3_CLK_SLEEP_ENABLE -#define __ADC3_CLK_SLEEP_DISABLE __HAL_RCC_ADC3_CLK_SLEEP_DISABLE -#define __FSMC_FORCE_RESET __HAL_RCC_FSMC_FORCE_RESET -#define __FSMC_RELEASE_RESET __HAL_RCC_FSMC_RELEASE_RESET -#define __FSMC_CLK_SLEEP_ENABLE __HAL_RCC_FSMC_CLK_SLEEP_ENABLE -#define __FSMC_CLK_SLEEP_DISABLE __HAL_RCC_FSMC_CLK_SLEEP_DISABLE -#define __SDIO_FORCE_RESET __HAL_RCC_SDIO_FORCE_RESET -#define __SDIO_RELEASE_RESET __HAL_RCC_SDIO_RELEASE_RESET -#define __SDIO_CLK_SLEEP_DISABLE __HAL_RCC_SDIO_CLK_SLEEP_DISABLE -#define __SDIO_CLK_SLEEP_ENABLE __HAL_RCC_SDIO_CLK_SLEEP_ENABLE -#define __DMA2D_CLK_ENABLE __HAL_RCC_DMA2D_CLK_ENABLE -#define __DMA2D_CLK_DISABLE __HAL_RCC_DMA2D_CLK_DISABLE -#define __DMA2D_FORCE_RESET __HAL_RCC_DMA2D_FORCE_RESET -#define __DMA2D_RELEASE_RESET __HAL_RCC_DMA2D_RELEASE_RESET -#define __DMA2D_CLK_SLEEP_ENABLE __HAL_RCC_DMA2D_CLK_SLEEP_ENABLE -#define __DMA2D_CLK_SLEEP_DISABLE __HAL_RCC_DMA2D_CLK_SLEEP_DISABLE - -/* alias define maintained for legacy */ -#define __HAL_RCC_OTGFS_FORCE_RESET __HAL_RCC_USB_OTG_FS_FORCE_RESET -#define __HAL_RCC_OTGFS_RELEASE_RESET __HAL_RCC_USB_OTG_FS_RELEASE_RESET - -#define __ADC12_CLK_ENABLE __HAL_RCC_ADC12_CLK_ENABLE -#define __ADC12_CLK_DISABLE __HAL_RCC_ADC12_CLK_DISABLE -#define __ADC34_CLK_ENABLE __HAL_RCC_ADC34_CLK_ENABLE -#define __ADC34_CLK_DISABLE __HAL_RCC_ADC34_CLK_DISABLE -#define __DAC2_CLK_ENABLE __HAL_RCC_DAC2_CLK_ENABLE -#define __DAC2_CLK_DISABLE __HAL_RCC_DAC2_CLK_DISABLE -#define __TIM18_CLK_ENABLE __HAL_RCC_TIM18_CLK_ENABLE -#define __TIM18_CLK_DISABLE __HAL_RCC_TIM18_CLK_DISABLE -#define __TIM19_CLK_ENABLE __HAL_RCC_TIM19_CLK_ENABLE -#define __TIM19_CLK_DISABLE __HAL_RCC_TIM19_CLK_DISABLE -#define __TIM20_CLK_ENABLE __HAL_RCC_TIM20_CLK_ENABLE -#define __TIM20_CLK_DISABLE __HAL_RCC_TIM20_CLK_DISABLE -#define __HRTIM1_CLK_ENABLE __HAL_RCC_HRTIM1_CLK_ENABLE -#define __HRTIM1_CLK_DISABLE __HAL_RCC_HRTIM1_CLK_DISABLE -#define __SDADC1_CLK_ENABLE __HAL_RCC_SDADC1_CLK_ENABLE -#define __SDADC2_CLK_ENABLE __HAL_RCC_SDADC2_CLK_ENABLE -#define __SDADC3_CLK_ENABLE __HAL_RCC_SDADC3_CLK_ENABLE -#define __SDADC1_CLK_DISABLE __HAL_RCC_SDADC1_CLK_DISABLE -#define __SDADC2_CLK_DISABLE __HAL_RCC_SDADC2_CLK_DISABLE -#define __SDADC3_CLK_DISABLE __HAL_RCC_SDADC3_CLK_DISABLE - -#define __ADC12_FORCE_RESET __HAL_RCC_ADC12_FORCE_RESET -#define __ADC12_RELEASE_RESET __HAL_RCC_ADC12_RELEASE_RESET -#define __ADC34_FORCE_RESET __HAL_RCC_ADC34_FORCE_RESET -#define __ADC34_RELEASE_RESET __HAL_RCC_ADC34_RELEASE_RESET -#define __DAC2_FORCE_RESET __HAL_RCC_DAC2_FORCE_RESET -#define __DAC2_RELEASE_RESET __HAL_RCC_DAC2_RELEASE_RESET -#define __TIM18_FORCE_RESET __HAL_RCC_TIM18_FORCE_RESET -#define __TIM18_RELEASE_RESET __HAL_RCC_TIM18_RELEASE_RESET -#define __TIM19_FORCE_RESET __HAL_RCC_TIM19_FORCE_RESET -#define __TIM19_RELEASE_RESET __HAL_RCC_TIM19_RELEASE_RESET -#define __TIM20_FORCE_RESET __HAL_RCC_TIM20_FORCE_RESET -#define __TIM20_RELEASE_RESET __HAL_RCC_TIM20_RELEASE_RESET -#define __HRTIM1_FORCE_RESET __HAL_RCC_HRTIM1_FORCE_RESET -#define __HRTIM1_RELEASE_RESET __HAL_RCC_HRTIM1_RELEASE_RESET -#define __SDADC1_FORCE_RESET __HAL_RCC_SDADC1_FORCE_RESET -#define __SDADC2_FORCE_RESET __HAL_RCC_SDADC2_FORCE_RESET -#define __SDADC3_FORCE_RESET __HAL_RCC_SDADC3_FORCE_RESET -#define __SDADC1_RELEASE_RESET __HAL_RCC_SDADC1_RELEASE_RESET -#define __SDADC2_RELEASE_RESET __HAL_RCC_SDADC2_RELEASE_RESET -#define __SDADC3_RELEASE_RESET __HAL_RCC_SDADC3_RELEASE_RESET - -#define __ADC1_IS_CLK_ENABLED __HAL_RCC_ADC1_IS_CLK_ENABLED -#define __ADC1_IS_CLK_DISABLED __HAL_RCC_ADC1_IS_CLK_DISABLED -#define __ADC12_IS_CLK_ENABLED __HAL_RCC_ADC12_IS_CLK_ENABLED -#define __ADC12_IS_CLK_DISABLED __HAL_RCC_ADC12_IS_CLK_DISABLED -#define __ADC34_IS_CLK_ENABLED __HAL_RCC_ADC34_IS_CLK_ENABLED -#define __ADC34_IS_CLK_DISABLED __HAL_RCC_ADC34_IS_CLK_DISABLED -#define __CEC_IS_CLK_ENABLED __HAL_RCC_CEC_IS_CLK_ENABLED -#define __CEC_IS_CLK_DISABLED __HAL_RCC_CEC_IS_CLK_DISABLED -#define __CRC_IS_CLK_ENABLED __HAL_RCC_CRC_IS_CLK_ENABLED -#define __CRC_IS_CLK_DISABLED __HAL_RCC_CRC_IS_CLK_DISABLED -#define __DAC1_IS_CLK_ENABLED __HAL_RCC_DAC1_IS_CLK_ENABLED -#define __DAC1_IS_CLK_DISABLED __HAL_RCC_DAC1_IS_CLK_DISABLED -#define __DAC2_IS_CLK_ENABLED __HAL_RCC_DAC2_IS_CLK_ENABLED -#define __DAC2_IS_CLK_DISABLED __HAL_RCC_DAC2_IS_CLK_DISABLED -#define __DMA1_IS_CLK_ENABLED __HAL_RCC_DMA1_IS_CLK_ENABLED -#define __DMA1_IS_CLK_DISABLED __HAL_RCC_DMA1_IS_CLK_DISABLED -#define __DMA2_IS_CLK_ENABLED __HAL_RCC_DMA2_IS_CLK_ENABLED -#define __DMA2_IS_CLK_DISABLED __HAL_RCC_DMA2_IS_CLK_DISABLED -#define __FLITF_IS_CLK_ENABLED __HAL_RCC_FLITF_IS_CLK_ENABLED -#define __FLITF_IS_CLK_DISABLED __HAL_RCC_FLITF_IS_CLK_DISABLED -#define __FMC_IS_CLK_ENABLED __HAL_RCC_FMC_IS_CLK_ENABLED -#define __FMC_IS_CLK_DISABLED __HAL_RCC_FMC_IS_CLK_DISABLED -#define __GPIOA_IS_CLK_ENABLED __HAL_RCC_GPIOA_IS_CLK_ENABLED -#define __GPIOA_IS_CLK_DISABLED __HAL_RCC_GPIOA_IS_CLK_DISABLED -#define __GPIOB_IS_CLK_ENABLED __HAL_RCC_GPIOB_IS_CLK_ENABLED -#define __GPIOB_IS_CLK_DISABLED __HAL_RCC_GPIOB_IS_CLK_DISABLED -#define __GPIOC_IS_CLK_ENABLED __HAL_RCC_GPIOC_IS_CLK_ENABLED -#define __GPIOC_IS_CLK_DISABLED __HAL_RCC_GPIOC_IS_CLK_DISABLED -#define __GPIOD_IS_CLK_ENABLED __HAL_RCC_GPIOD_IS_CLK_ENABLED -#define __GPIOD_IS_CLK_DISABLED __HAL_RCC_GPIOD_IS_CLK_DISABLED -#define __GPIOE_IS_CLK_ENABLED __HAL_RCC_GPIOE_IS_CLK_ENABLED -#define __GPIOE_IS_CLK_DISABLED __HAL_RCC_GPIOE_IS_CLK_DISABLED -#define __GPIOF_IS_CLK_ENABLED __HAL_RCC_GPIOF_IS_CLK_ENABLED -#define __GPIOF_IS_CLK_DISABLED __HAL_RCC_GPIOF_IS_CLK_DISABLED -#define __GPIOG_IS_CLK_ENABLED __HAL_RCC_GPIOG_IS_CLK_ENABLED -#define __GPIOG_IS_CLK_DISABLED __HAL_RCC_GPIOG_IS_CLK_DISABLED -#define __GPIOH_IS_CLK_ENABLED __HAL_RCC_GPIOH_IS_CLK_ENABLED -#define __GPIOH_IS_CLK_DISABLED __HAL_RCC_GPIOH_IS_CLK_DISABLED -#define __HRTIM1_IS_CLK_ENABLED __HAL_RCC_HRTIM1_IS_CLK_ENABLED -#define __HRTIM1_IS_CLK_DISABLED __HAL_RCC_HRTIM1_IS_CLK_DISABLED -#define __I2C1_IS_CLK_ENABLED __HAL_RCC_I2C1_IS_CLK_ENABLED -#define __I2C1_IS_CLK_DISABLED __HAL_RCC_I2C1_IS_CLK_DISABLED -#define __I2C2_IS_CLK_ENABLED __HAL_RCC_I2C2_IS_CLK_ENABLED -#define __I2C2_IS_CLK_DISABLED __HAL_RCC_I2C2_IS_CLK_DISABLED -#define __I2C3_IS_CLK_ENABLED __HAL_RCC_I2C3_IS_CLK_ENABLED -#define __I2C3_IS_CLK_DISABLED __HAL_RCC_I2C3_IS_CLK_DISABLED -#define __PWR_IS_CLK_ENABLED __HAL_RCC_PWR_IS_CLK_ENABLED -#define __PWR_IS_CLK_DISABLED __HAL_RCC_PWR_IS_CLK_DISABLED -#define __SYSCFG_IS_CLK_ENABLED __HAL_RCC_SYSCFG_IS_CLK_ENABLED -#define __SYSCFG_IS_CLK_DISABLED __HAL_RCC_SYSCFG_IS_CLK_DISABLED -#define __SPI1_IS_CLK_ENABLED __HAL_RCC_SPI1_IS_CLK_ENABLED -#define __SPI1_IS_CLK_DISABLED __HAL_RCC_SPI1_IS_CLK_DISABLED -#define __SPI2_IS_CLK_ENABLED __HAL_RCC_SPI2_IS_CLK_ENABLED -#define __SPI2_IS_CLK_DISABLED __HAL_RCC_SPI2_IS_CLK_DISABLED -#define __SPI3_IS_CLK_ENABLED __HAL_RCC_SPI3_IS_CLK_ENABLED -#define __SPI3_IS_CLK_DISABLED __HAL_RCC_SPI3_IS_CLK_DISABLED -#define __SPI4_IS_CLK_ENABLED __HAL_RCC_SPI4_IS_CLK_ENABLED -#define __SPI4_IS_CLK_DISABLED __HAL_RCC_SPI4_IS_CLK_DISABLED -#define __SDADC1_IS_CLK_ENABLED __HAL_RCC_SDADC1_IS_CLK_ENABLED -#define __SDADC1_IS_CLK_DISABLED __HAL_RCC_SDADC1_IS_CLK_DISABLED -#define __SDADC2_IS_CLK_ENABLED __HAL_RCC_SDADC2_IS_CLK_ENABLED -#define __SDADC2_IS_CLK_DISABLED __HAL_RCC_SDADC2_IS_CLK_DISABLED -#define __SDADC3_IS_CLK_ENABLED __HAL_RCC_SDADC3_IS_CLK_ENABLED -#define __SDADC3_IS_CLK_DISABLED __HAL_RCC_SDADC3_IS_CLK_DISABLED -#define __SRAM_IS_CLK_ENABLED __HAL_RCC_SRAM_IS_CLK_ENABLED -#define __SRAM_IS_CLK_DISABLED __HAL_RCC_SRAM_IS_CLK_DISABLED -#define __TIM1_IS_CLK_ENABLED __HAL_RCC_TIM1_IS_CLK_ENABLED -#define __TIM1_IS_CLK_DISABLED __HAL_RCC_TIM1_IS_CLK_DISABLED -#define __TIM2_IS_CLK_ENABLED __HAL_RCC_TIM2_IS_CLK_ENABLED -#define __TIM2_IS_CLK_DISABLED __HAL_RCC_TIM2_IS_CLK_DISABLED -#define __TIM3_IS_CLK_ENABLED __HAL_RCC_TIM3_IS_CLK_ENABLED -#define __TIM3_IS_CLK_DISABLED __HAL_RCC_TIM3_IS_CLK_DISABLED -#define __TIM4_IS_CLK_ENABLED __HAL_RCC_TIM4_IS_CLK_ENABLED -#define __TIM4_IS_CLK_DISABLED __HAL_RCC_TIM4_IS_CLK_DISABLED -#define __TIM5_IS_CLK_ENABLED __HAL_RCC_TIM5_IS_CLK_ENABLED -#define __TIM5_IS_CLK_DISABLED __HAL_RCC_TIM5_IS_CLK_DISABLED -#define __TIM6_IS_CLK_ENABLED __HAL_RCC_TIM6_IS_CLK_ENABLED -#define __TIM6_IS_CLK_DISABLED __HAL_RCC_TIM6_IS_CLK_DISABLED -#define __TIM7_IS_CLK_ENABLED __HAL_RCC_TIM7_IS_CLK_ENABLED -#define __TIM7_IS_CLK_DISABLED __HAL_RCC_TIM7_IS_CLK_DISABLED -#define __TIM8_IS_CLK_ENABLED __HAL_RCC_TIM8_IS_CLK_ENABLED -#define __TIM8_IS_CLK_DISABLED __HAL_RCC_TIM8_IS_CLK_DISABLED -#define __TIM12_IS_CLK_ENABLED __HAL_RCC_TIM12_IS_CLK_ENABLED -#define __TIM12_IS_CLK_DISABLED __HAL_RCC_TIM12_IS_CLK_DISABLED -#define __TIM13_IS_CLK_ENABLED __HAL_RCC_TIM13_IS_CLK_ENABLED -#define __TIM13_IS_CLK_DISABLED __HAL_RCC_TIM13_IS_CLK_DISABLED -#define __TIM14_IS_CLK_ENABLED __HAL_RCC_TIM14_IS_CLK_ENABLED -#define __TIM14_IS_CLK_DISABLED __HAL_RCC_TIM14_IS_CLK_DISABLED -#define __TIM15_IS_CLK_ENABLED __HAL_RCC_TIM15_IS_CLK_ENABLED -#define __TIM15_IS_CLK_DISABLED __HAL_RCC_TIM15_IS_CLK_DISABLED -#define __TIM16_IS_CLK_ENABLED __HAL_RCC_TIM16_IS_CLK_ENABLED -#define __TIM16_IS_CLK_DISABLED __HAL_RCC_TIM16_IS_CLK_DISABLED -#define __TIM17_IS_CLK_ENABLED __HAL_RCC_TIM17_IS_CLK_ENABLED -#define __TIM17_IS_CLK_DISABLED __HAL_RCC_TIM17_IS_CLK_DISABLED -#define __TIM18_IS_CLK_ENABLED __HAL_RCC_TIM18_IS_CLK_ENABLED -#define __TIM18_IS_CLK_DISABLED __HAL_RCC_TIM18_IS_CLK_DISABLED -#define __TIM19_IS_CLK_ENABLED __HAL_RCC_TIM19_IS_CLK_ENABLED -#define __TIM19_IS_CLK_DISABLED __HAL_RCC_TIM19_IS_CLK_DISABLED -#define __TIM20_IS_CLK_ENABLED __HAL_RCC_TIM20_IS_CLK_ENABLED -#define __TIM20_IS_CLK_DISABLED __HAL_RCC_TIM20_IS_CLK_DISABLED -#define __TSC_IS_CLK_ENABLED __HAL_RCC_TSC_IS_CLK_ENABLED -#define __TSC_IS_CLK_DISABLED __HAL_RCC_TSC_IS_CLK_DISABLED -#define __UART4_IS_CLK_ENABLED __HAL_RCC_UART4_IS_CLK_ENABLED -#define __UART4_IS_CLK_DISABLED __HAL_RCC_UART4_IS_CLK_DISABLED -#define __UART5_IS_CLK_ENABLED __HAL_RCC_UART5_IS_CLK_ENABLED -#define __UART5_IS_CLK_DISABLED __HAL_RCC_UART5_IS_CLK_DISABLED -#define __USART1_IS_CLK_ENABLED __HAL_RCC_USART1_IS_CLK_ENABLED -#define __USART1_IS_CLK_DISABLED __HAL_RCC_USART1_IS_CLK_DISABLED -#define __USART2_IS_CLK_ENABLED __HAL_RCC_USART2_IS_CLK_ENABLED -#define __USART2_IS_CLK_DISABLED __HAL_RCC_USART2_IS_CLK_DISABLED -#define __USART3_IS_CLK_ENABLED __HAL_RCC_USART3_IS_CLK_ENABLED -#define __USART3_IS_CLK_DISABLED __HAL_RCC_USART3_IS_CLK_DISABLED -#define __USB_IS_CLK_ENABLED __HAL_RCC_USB_IS_CLK_ENABLED -#define __USB_IS_CLK_DISABLED __HAL_RCC_USB_IS_CLK_DISABLED -#define __WWDG_IS_CLK_ENABLED __HAL_RCC_WWDG_IS_CLK_ENABLED -#define __WWDG_IS_CLK_DISABLED __HAL_RCC_WWDG_IS_CLK_DISABLED - -#if defined(STM32L1) -#define __HAL_RCC_CRYP_CLK_DISABLE __HAL_RCC_AES_CLK_DISABLE -#define __HAL_RCC_CRYP_CLK_ENABLE __HAL_RCC_AES_CLK_ENABLE -#define __HAL_RCC_CRYP_CLK_SLEEP_DISABLE __HAL_RCC_AES_CLK_SLEEP_DISABLE -#define __HAL_RCC_CRYP_CLK_SLEEP_ENABLE __HAL_RCC_AES_CLK_SLEEP_ENABLE -#define __HAL_RCC_CRYP_FORCE_RESET __HAL_RCC_AES_FORCE_RESET -#define __HAL_RCC_CRYP_RELEASE_RESET __HAL_RCC_AES_RELEASE_RESET -#endif /* STM32L1 */ - -#if defined(STM32F4) -#define __HAL_RCC_SDMMC1_FORCE_RESET __HAL_RCC_SDIO_FORCE_RESET -#define __HAL_RCC_SDMMC1_RELEASE_RESET __HAL_RCC_SDIO_RELEASE_RESET -#define __HAL_RCC_SDMMC1_CLK_SLEEP_ENABLE __HAL_RCC_SDIO_CLK_SLEEP_ENABLE -#define __HAL_RCC_SDMMC1_CLK_SLEEP_DISABLE __HAL_RCC_SDIO_CLK_SLEEP_DISABLE -#define __HAL_RCC_SDMMC1_CLK_ENABLE __HAL_RCC_SDIO_CLK_ENABLE -#define __HAL_RCC_SDMMC1_CLK_DISABLE __HAL_RCC_SDIO_CLK_DISABLE -#define __HAL_RCC_SDMMC1_IS_CLK_ENABLED __HAL_RCC_SDIO_IS_CLK_ENABLED -#define __HAL_RCC_SDMMC1_IS_CLK_DISABLED __HAL_RCC_SDIO_IS_CLK_DISABLED -#define Sdmmc1ClockSelection SdioClockSelection -#define RCC_PERIPHCLK_SDMMC1 RCC_PERIPHCLK_SDIO -#define RCC_SDMMC1CLKSOURCE_CLK48 RCC_SDIOCLKSOURCE_CK48 -#define RCC_SDMMC1CLKSOURCE_SYSCLK RCC_SDIOCLKSOURCE_SYSCLK -#define __HAL_RCC_SDMMC1_CONFIG __HAL_RCC_SDIO_CONFIG -#define __HAL_RCC_GET_SDMMC1_SOURCE __HAL_RCC_GET_SDIO_SOURCE -#endif - -#if defined(STM32F7) || defined(STM32L4) -#define __HAL_RCC_SDIO_FORCE_RESET __HAL_RCC_SDMMC1_FORCE_RESET -#define __HAL_RCC_SDIO_RELEASE_RESET __HAL_RCC_SDMMC1_RELEASE_RESET -#define __HAL_RCC_SDIO_CLK_SLEEP_ENABLE __HAL_RCC_SDMMC1_CLK_SLEEP_ENABLE -#define __HAL_RCC_SDIO_CLK_SLEEP_DISABLE __HAL_RCC_SDMMC1_CLK_SLEEP_DISABLE -#define __HAL_RCC_SDIO_CLK_ENABLE __HAL_RCC_SDMMC1_CLK_ENABLE -#define __HAL_RCC_SDIO_CLK_DISABLE __HAL_RCC_SDMMC1_CLK_DISABLE -#define __HAL_RCC_SDIO_IS_CLK_ENABLED __HAL_RCC_SDMMC1_IS_CLK_ENABLED -#define __HAL_RCC_SDIO_IS_CLK_DISABLED __HAL_RCC_SDMMC1_IS_CLK_DISABLED -#define SdioClockSelection Sdmmc1ClockSelection -#define RCC_PERIPHCLK_SDIO RCC_PERIPHCLK_SDMMC1 -#define __HAL_RCC_SDIO_CONFIG __HAL_RCC_SDMMC1_CONFIG -#define __HAL_RCC_GET_SDIO_SOURCE __HAL_RCC_GET_SDMMC1_SOURCE -#endif - -#if defined(STM32F7) -#define RCC_SDIOCLKSOURCE_CLK48 RCC_SDMMC1CLKSOURCE_CLK48 -#define RCC_SDIOCLKSOURCE_SYSCLK RCC_SDMMC1CLKSOURCE_SYSCLK -#endif - -#if defined(STM32H7) -#define __HAL_RCC_USB_OTG_HS_CLK_ENABLE() __HAL_RCC_USB1_OTG_HS_CLK_ENABLE() -#define __HAL_RCC_USB_OTG_HS_ULPI_CLK_ENABLE() __HAL_RCC_USB1_OTG_HS_ULPI_CLK_ENABLE() -#define __HAL_RCC_USB_OTG_HS_CLK_DISABLE() __HAL_RCC_USB1_OTG_HS_CLK_DISABLE() -#define __HAL_RCC_USB_OTG_HS_ULPI_CLK_DISABLE() __HAL_RCC_USB1_OTG_HS_ULPI_CLK_DISABLE() -#define __HAL_RCC_USB_OTG_HS_FORCE_RESET() __HAL_RCC_USB1_OTG_HS_FORCE_RESET() -#define __HAL_RCC_USB_OTG_HS_RELEASE_RESET() __HAL_RCC_USB1_OTG_HS_RELEASE_RESET() -#define __HAL_RCC_USB_OTG_HS_CLK_SLEEP_ENABLE() __HAL_RCC_USB1_OTG_HS_CLK_SLEEP_ENABLE() -#define __HAL_RCC_USB_OTG_HS_ULPI_CLK_SLEEP_ENABLE() __HAL_RCC_USB1_OTG_HS_ULPI_CLK_SLEEP_ENABLE() -#define __HAL_RCC_USB_OTG_HS_CLK_SLEEP_DISABLE() __HAL_RCC_USB1_OTG_HS_CLK_SLEEP_DISABLE() -#define __HAL_RCC_USB_OTG_HS_ULPI_CLK_SLEEP_DISABLE() __HAL_RCC_USB1_OTG_HS_ULPI_CLK_SLEEP_DISABLE() - -#define __HAL_RCC_USB_OTG_FS_CLK_ENABLE() __HAL_RCC_USB2_OTG_FS_CLK_ENABLE() -#define __HAL_RCC_USB_OTG_FS_ULPI_CLK_ENABLE() __HAL_RCC_USB2_OTG_FS_ULPI_CLK_ENABLE() -#define __HAL_RCC_USB_OTG_FS_CLK_DISABLE() __HAL_RCC_USB2_OTG_FS_CLK_DISABLE() -#define __HAL_RCC_USB_OTG_FS_ULPI_CLK_DISABLE() __HAL_RCC_USB2_OTG_FS_ULPI_CLK_DISABLE() -#define __HAL_RCC_USB_OTG_FS_FORCE_RESET() __HAL_RCC_USB2_OTG_FS_FORCE_RESET() -#define __HAL_RCC_USB_OTG_FS_RELEASE_RESET() __HAL_RCC_USB2_OTG_FS_RELEASE_RESET() -#define __HAL_RCC_USB_OTG_FS_CLK_SLEEP_ENABLE() __HAL_RCC_USB2_OTG_FS_CLK_SLEEP_ENABLE() -#define __HAL_RCC_USB_OTG_FS_ULPI_CLK_SLEEP_ENABLE() __HAL_RCC_USB2_OTG_FS_ULPI_CLK_SLEEP_ENABLE() -#define __HAL_RCC_USB_OTG_FS_CLK_SLEEP_DISABLE() __HAL_RCC_USB2_OTG_FS_CLK_SLEEP_DISABLE() -#define __HAL_RCC_USB_OTG_FS_ULPI_CLK_SLEEP_DISABLE() __HAL_RCC_USB2_OTG_FS_ULPI_CLK_SLEEP_DISABLE() -#endif - -#define __HAL_RCC_I2SCLK __HAL_RCC_I2S_CONFIG -#define __HAL_RCC_I2SCLK_CONFIG __HAL_RCC_I2S_CONFIG - -#define __RCC_PLLSRC RCC_GET_PLL_OSCSOURCE - -#define IS_RCC_MSIRANGE IS_RCC_MSI_CLOCK_RANGE -#define IS_RCC_RTCCLK_SOURCE IS_RCC_RTCCLKSOURCE -#define IS_RCC_SYSCLK_DIV IS_RCC_HCLK -#define IS_RCC_HCLK_DIV IS_RCC_PCLK -#define IS_RCC_PERIPHCLK IS_RCC_PERIPHCLOCK - -#define RCC_IT_HSI14 RCC_IT_HSI14RDY - -#define RCC_IT_CSSLSE RCC_IT_LSECSS -#define RCC_IT_CSSHSE RCC_IT_CSS - -#define RCC_PLLMUL_3 RCC_PLL_MUL3 -#define RCC_PLLMUL_4 RCC_PLL_MUL4 -#define RCC_PLLMUL_6 RCC_PLL_MUL6 -#define RCC_PLLMUL_8 RCC_PLL_MUL8 -#define RCC_PLLMUL_12 RCC_PLL_MUL12 -#define RCC_PLLMUL_16 RCC_PLL_MUL16 -#define RCC_PLLMUL_24 RCC_PLL_MUL24 -#define RCC_PLLMUL_32 RCC_PLL_MUL32 -#define RCC_PLLMUL_48 RCC_PLL_MUL48 - -#define RCC_PLLDIV_2 RCC_PLL_DIV2 -#define RCC_PLLDIV_3 RCC_PLL_DIV3 -#define RCC_PLLDIV_4 RCC_PLL_DIV4 - -#define IS_RCC_MCOSOURCE IS_RCC_MCO1SOURCE -#define __HAL_RCC_MCO_CONFIG __HAL_RCC_MCO1_CONFIG -#define RCC_MCO_NODIV RCC_MCODIV_1 -#define RCC_MCO_DIV1 RCC_MCODIV_1 -#define RCC_MCO_DIV2 RCC_MCODIV_2 -#define RCC_MCO_DIV4 RCC_MCODIV_4 -#define RCC_MCO_DIV8 RCC_MCODIV_8 -#define RCC_MCO_DIV16 RCC_MCODIV_16 -#define RCC_MCO_DIV32 RCC_MCODIV_32 -#define RCC_MCO_DIV64 RCC_MCODIV_64 -#define RCC_MCO_DIV128 RCC_MCODIV_128 -#define RCC_MCOSOURCE_NONE RCC_MCO1SOURCE_NOCLOCK -#define RCC_MCOSOURCE_LSI RCC_MCO1SOURCE_LSI -#define RCC_MCOSOURCE_LSE RCC_MCO1SOURCE_LSE -#define RCC_MCOSOURCE_SYSCLK RCC_MCO1SOURCE_SYSCLK -#define RCC_MCOSOURCE_HSI RCC_MCO1SOURCE_HSI -#define RCC_MCOSOURCE_HSI14 RCC_MCO1SOURCE_HSI14 -#define RCC_MCOSOURCE_HSI48 RCC_MCO1SOURCE_HSI48 -#define RCC_MCOSOURCE_HSE RCC_MCO1SOURCE_HSE -#define RCC_MCOSOURCE_PLLCLK_DIV1 RCC_MCO1SOURCE_PLLCLK -#define RCC_MCOSOURCE_PLLCLK_NODIV RCC_MCO1SOURCE_PLLCLK -#define RCC_MCOSOURCE_PLLCLK_DIV2 RCC_MCO1SOURCE_PLLCLK_DIV2 - -#if defined(STM32L4) || defined(STM32WB) || defined(STM32G0) || defined(STM32G4) || defined(STM32L5) || defined(STM32WL) -#define RCC_RTCCLKSOURCE_NO_CLK RCC_RTCCLKSOURCE_NONE -#else -#define RCC_RTCCLKSOURCE_NONE RCC_RTCCLKSOURCE_NO_CLK -#endif - -#define RCC_USBCLK_PLLSAI1 RCC_USBCLKSOURCE_PLLSAI1 -#define RCC_USBCLK_PLL RCC_USBCLKSOURCE_PLL -#define RCC_USBCLK_MSI RCC_USBCLKSOURCE_MSI -#define RCC_USBCLKSOURCE_PLLCLK RCC_USBCLKSOURCE_PLL -#define RCC_USBPLLCLK_DIV1 RCC_USBCLKSOURCE_PLL -#define RCC_USBPLLCLK_DIV1_5 RCC_USBCLKSOURCE_PLL_DIV1_5 -#define RCC_USBPLLCLK_DIV2 RCC_USBCLKSOURCE_PLL_DIV2 -#define RCC_USBPLLCLK_DIV3 RCC_USBCLKSOURCE_PLL_DIV3 - -#define HSION_BitNumber RCC_HSION_BIT_NUMBER -#define HSION_BITNUMBER RCC_HSION_BIT_NUMBER -#define HSEON_BitNumber RCC_HSEON_BIT_NUMBER -#define HSEON_BITNUMBER RCC_HSEON_BIT_NUMBER -#define MSION_BITNUMBER RCC_MSION_BIT_NUMBER -#define CSSON_BitNumber RCC_CSSON_BIT_NUMBER -#define CSSON_BITNUMBER RCC_CSSON_BIT_NUMBER -#define PLLON_BitNumber RCC_PLLON_BIT_NUMBER -#define PLLON_BITNUMBER RCC_PLLON_BIT_NUMBER -#define PLLI2SON_BitNumber RCC_PLLI2SON_BIT_NUMBER -#define I2SSRC_BitNumber RCC_I2SSRC_BIT_NUMBER -#define RTCEN_BitNumber RCC_RTCEN_BIT_NUMBER -#define RTCEN_BITNUMBER RCC_RTCEN_BIT_NUMBER -#define BDRST_BitNumber RCC_BDRST_BIT_NUMBER -#define BDRST_BITNUMBER RCC_BDRST_BIT_NUMBER -#define RTCRST_BITNUMBER RCC_RTCRST_BIT_NUMBER -#define LSION_BitNumber RCC_LSION_BIT_NUMBER -#define LSION_BITNUMBER RCC_LSION_BIT_NUMBER -#define LSEON_BitNumber RCC_LSEON_BIT_NUMBER -#define LSEON_BITNUMBER RCC_LSEON_BIT_NUMBER -#define LSEBYP_BITNUMBER RCC_LSEBYP_BIT_NUMBER -#define PLLSAION_BitNumber RCC_PLLSAION_BIT_NUMBER -#define TIMPRE_BitNumber RCC_TIMPRE_BIT_NUMBER -#define RMVF_BitNumber RCC_RMVF_BIT_NUMBER -#define RMVF_BITNUMBER RCC_RMVF_BIT_NUMBER -#define RCC_CR2_HSI14TRIM_BitNumber RCC_HSI14TRIM_BIT_NUMBER -#define CR_BYTE2_ADDRESS RCC_CR_BYTE2_ADDRESS -#define CIR_BYTE1_ADDRESS RCC_CIR_BYTE1_ADDRESS -#define CIR_BYTE2_ADDRESS RCC_CIR_BYTE2_ADDRESS -#define BDCR_BYTE0_ADDRESS RCC_BDCR_BYTE0_ADDRESS -#define DBP_TIMEOUT_VALUE RCC_DBP_TIMEOUT_VALUE -#define LSE_TIMEOUT_VALUE RCC_LSE_TIMEOUT_VALUE - -#define CR_HSION_BB RCC_CR_HSION_BB -#define CR_CSSON_BB RCC_CR_CSSON_BB -#define CR_PLLON_BB RCC_CR_PLLON_BB -#define CR_PLLI2SON_BB RCC_CR_PLLI2SON_BB -#define CR_MSION_BB RCC_CR_MSION_BB -#define CSR_LSION_BB RCC_CSR_LSION_BB -#define CSR_LSEON_BB RCC_CSR_LSEON_BB -#define CSR_LSEBYP_BB RCC_CSR_LSEBYP_BB -#define CSR_RTCEN_BB RCC_CSR_RTCEN_BB -#define CSR_RTCRST_BB RCC_CSR_RTCRST_BB -#define CFGR_I2SSRC_BB RCC_CFGR_I2SSRC_BB -#define BDCR_RTCEN_BB RCC_BDCR_RTCEN_BB -#define BDCR_BDRST_BB RCC_BDCR_BDRST_BB -#define CR_HSEON_BB RCC_CR_HSEON_BB -#define CSR_RMVF_BB RCC_CSR_RMVF_BB -#define CR_PLLSAION_BB RCC_CR_PLLSAION_BB -#define DCKCFGR_TIMPRE_BB RCC_DCKCFGR_TIMPRE_BB - -#define __HAL_RCC_CRS_ENABLE_FREQ_ERROR_COUNTER __HAL_RCC_CRS_FREQ_ERROR_COUNTER_ENABLE -#define __HAL_RCC_CRS_DISABLE_FREQ_ERROR_COUNTER __HAL_RCC_CRS_FREQ_ERROR_COUNTER_DISABLE -#define __HAL_RCC_CRS_ENABLE_AUTOMATIC_CALIB __HAL_RCC_CRS_AUTOMATIC_CALIB_ENABLE -#define __HAL_RCC_CRS_DISABLE_AUTOMATIC_CALIB __HAL_RCC_CRS_AUTOMATIC_CALIB_DISABLE -#define __HAL_RCC_CRS_CALCULATE_RELOADVALUE __HAL_RCC_CRS_RELOADVALUE_CALCULATE - -#define __HAL_RCC_GET_IT_SOURCE __HAL_RCC_GET_IT - -#define RCC_CRS_SYNCWARM RCC_CRS_SYNCWARN -#define RCC_CRS_TRIMOV RCC_CRS_TRIMOVF - -#define RCC_PERIPHCLK_CK48 RCC_PERIPHCLK_CLK48 -#define RCC_CK48CLKSOURCE_PLLQ RCC_CLK48CLKSOURCE_PLLQ -#define RCC_CK48CLKSOURCE_PLLSAIP RCC_CLK48CLKSOURCE_PLLSAIP -#define RCC_CK48CLKSOURCE_PLLI2SQ RCC_CLK48CLKSOURCE_PLLI2SQ -#define IS_RCC_CK48CLKSOURCE IS_RCC_CLK48CLKSOURCE -#define RCC_SDIOCLKSOURCE_CK48 RCC_SDIOCLKSOURCE_CLK48 - -#define __HAL_RCC_DFSDM_CLK_ENABLE __HAL_RCC_DFSDM1_CLK_ENABLE -#define __HAL_RCC_DFSDM_CLK_DISABLE __HAL_RCC_DFSDM1_CLK_DISABLE -#define __HAL_RCC_DFSDM_IS_CLK_ENABLED __HAL_RCC_DFSDM1_IS_CLK_ENABLED -#define __HAL_RCC_DFSDM_IS_CLK_DISABLED __HAL_RCC_DFSDM1_IS_CLK_DISABLED -#define __HAL_RCC_DFSDM_FORCE_RESET __HAL_RCC_DFSDM1_FORCE_RESET -#define __HAL_RCC_DFSDM_RELEASE_RESET __HAL_RCC_DFSDM1_RELEASE_RESET -#define __HAL_RCC_DFSDM_CLK_SLEEP_ENABLE __HAL_RCC_DFSDM1_CLK_SLEEP_ENABLE -#define __HAL_RCC_DFSDM_CLK_SLEEP_DISABLE __HAL_RCC_DFSDM1_CLK_SLEEP_DISABLE -#define __HAL_RCC_DFSDM_IS_CLK_SLEEP_ENABLED __HAL_RCC_DFSDM1_IS_CLK_SLEEP_ENABLED -#define __HAL_RCC_DFSDM_IS_CLK_SLEEP_DISABLED __HAL_RCC_DFSDM1_IS_CLK_SLEEP_DISABLED -#define DfsdmClockSelection Dfsdm1ClockSelection -#define RCC_PERIPHCLK_DFSDM RCC_PERIPHCLK_DFSDM1 -#define RCC_DFSDMCLKSOURCE_PCLK RCC_DFSDM1CLKSOURCE_PCLK2 -#define RCC_DFSDMCLKSOURCE_SYSCLK RCC_DFSDM1CLKSOURCE_SYSCLK -#define __HAL_RCC_DFSDM_CONFIG __HAL_RCC_DFSDM1_CONFIG -#define __HAL_RCC_GET_DFSDM_SOURCE __HAL_RCC_GET_DFSDM1_SOURCE -#define RCC_DFSDM1CLKSOURCE_PCLK RCC_DFSDM1CLKSOURCE_PCLK2 -#define RCC_SWPMI1CLKSOURCE_PCLK RCC_SWPMI1CLKSOURCE_PCLK1 -#define RCC_LPTIM1CLKSOURCE_PCLK RCC_LPTIM1CLKSOURCE_PCLK1 -#define RCC_LPTIM2CLKSOURCE_PCLK RCC_LPTIM2CLKSOURCE_PCLK1 - -#define RCC_DFSDM1AUDIOCLKSOURCE_I2SAPB1 RCC_DFSDM1AUDIOCLKSOURCE_I2S1 -#define RCC_DFSDM1AUDIOCLKSOURCE_I2SAPB2 RCC_DFSDM1AUDIOCLKSOURCE_I2S2 -#define RCC_DFSDM2AUDIOCLKSOURCE_I2SAPB1 RCC_DFSDM2AUDIOCLKSOURCE_I2S1 -#define RCC_DFSDM2AUDIOCLKSOURCE_I2SAPB2 RCC_DFSDM2AUDIOCLKSOURCE_I2S2 -#define RCC_DFSDM1CLKSOURCE_APB2 RCC_DFSDM1CLKSOURCE_PCLK2 -#define RCC_DFSDM2CLKSOURCE_APB2 RCC_DFSDM2CLKSOURCE_PCLK2 -#define RCC_FMPI2C1CLKSOURCE_APB RCC_FMPI2C1CLKSOURCE_PCLK1 -#if defined(STM32U5) -#define MSIKPLLModeSEL RCC_MSIKPLL_MODE_SEL -#define MSISPLLModeSEL RCC_MSISPLL_MODE_SEL -#define __HAL_RCC_AHB21_CLK_DISABLE __HAL_RCC_AHB2_1_CLK_DISABLE -#define __HAL_RCC_AHB22_CLK_DISABLE __HAL_RCC_AHB2_2_CLK_DISABLE -#define __HAL_RCC_AHB1_CLK_Disable_Clear __HAL_RCC_AHB1_CLK_ENABLE -#define __HAL_RCC_AHB21_CLK_Disable_Clear __HAL_RCC_AHB2_1_CLK_ENABLE -#define __HAL_RCC_AHB22_CLK_Disable_Clear __HAL_RCC_AHB2_2_CLK_ENABLE -#define __HAL_RCC_AHB3_CLK_Disable_Clear __HAL_RCC_AHB3_CLK_ENABLE -#define __HAL_RCC_APB1_CLK_Disable_Clear __HAL_RCC_APB1_CLK_ENABLE -#define __HAL_RCC_APB2_CLK_Disable_Clear __HAL_RCC_APB2_CLK_ENABLE -#define __HAL_RCC_APB3_CLK_Disable_Clear __HAL_RCC_APB3_CLK_ENABLE -#define IS_RCC_MSIPLLModeSelection IS_RCC_MSIPLLMODE_SELECT -#endif -/** - * @} - */ - -/** @defgroup HAL_RNG_Aliased_Macros HAL RNG Aliased Macros maintained for legacy purpose - * @{ - */ -#define HAL_RNG_ReadyCallback(__HANDLE__) HAL_RNG_ReadyDataCallback((__HANDLE__), uint32_t random32bit) - -/** - * @} - */ - -/** @defgroup HAL_RTC_Aliased_Macros HAL RTC Aliased Macros maintained for legacy purpose - * @{ - */ -#if defined (STM32G0) || defined (STM32L5) || defined (STM32L412xx) || defined (STM32L422xx) || defined (STM32L4P5xx) || defined (STM32L4Q5xx) || defined (STM32G4) || defined (STM32WL) || defined (STM32U5) -#else -#define __HAL_RTC_CLEAR_FLAG __HAL_RTC_EXTI_CLEAR_FLAG -#endif -#define __HAL_RTC_DISABLE_IT __HAL_RTC_EXTI_DISABLE_IT -#define __HAL_RTC_ENABLE_IT __HAL_RTC_EXTI_ENABLE_IT - -#if defined (STM32F1) -#define __HAL_RTC_EXTI_CLEAR_FLAG(RTC_EXTI_LINE_ALARM_EVENT) __HAL_RTC_ALARM_EXTI_CLEAR_FLAG() - -#define __HAL_RTC_EXTI_ENABLE_IT(RTC_EXTI_LINE_ALARM_EVENT) __HAL_RTC_ALARM_EXTI_ENABLE_IT() - -#define __HAL_RTC_EXTI_DISABLE_IT(RTC_EXTI_LINE_ALARM_EVENT) __HAL_RTC_ALARM_EXTI_DISABLE_IT() - -#define __HAL_RTC_EXTI_GET_FLAG(RTC_EXTI_LINE_ALARM_EVENT) __HAL_RTC_ALARM_EXTI_GET_FLAG() - -#define __HAL_RTC_EXTI_GENERATE_SWIT(RTC_EXTI_LINE_ALARM_EVENT) __HAL_RTC_ALARM_EXTI_GENERATE_SWIT() -#else -#define __HAL_RTC_EXTI_CLEAR_FLAG(__EXTI_LINE__) (((__EXTI_LINE__) == RTC_EXTI_LINE_ALARM_EVENT) ? __HAL_RTC_ALARM_EXTI_CLEAR_FLAG() : \ - (((__EXTI_LINE__) == RTC_EXTI_LINE_WAKEUPTIMER_EVENT) ? __HAL_RTC_WAKEUPTIMER_EXTI_CLEAR_FLAG() : \ - __HAL_RTC_TAMPER_TIMESTAMP_EXTI_CLEAR_FLAG())) -#define __HAL_RTC_EXTI_ENABLE_IT(__EXTI_LINE__) (((__EXTI_LINE__) == RTC_EXTI_LINE_ALARM_EVENT) ? __HAL_RTC_ALARM_EXTI_ENABLE_IT() : \ - (((__EXTI_LINE__) == RTC_EXTI_LINE_WAKEUPTIMER_EVENT) ? __HAL_RTC_WAKEUPTIMER_EXTI_ENABLE_IT() : \ - __HAL_RTC_TAMPER_TIMESTAMP_EXTI_ENABLE_IT())) -#define __HAL_RTC_EXTI_DISABLE_IT(__EXTI_LINE__) (((__EXTI_LINE__) == RTC_EXTI_LINE_ALARM_EVENT) ? __HAL_RTC_ALARM_EXTI_DISABLE_IT() : \ - (((__EXTI_LINE__) == RTC_EXTI_LINE_WAKEUPTIMER_EVENT) ? __HAL_RTC_WAKEUPTIMER_EXTI_DISABLE_IT() : \ - __HAL_RTC_TAMPER_TIMESTAMP_EXTI_DISABLE_IT())) -#define __HAL_RTC_EXTI_GET_FLAG(__EXTI_LINE__) (((__EXTI_LINE__) == RTC_EXTI_LINE_ALARM_EVENT) ? __HAL_RTC_ALARM_EXTI_GET_FLAG() : \ - (((__EXTI_LINE__) == RTC_EXTI_LINE_WAKEUPTIMER_EVENT) ? __HAL_RTC_WAKEUPTIMER_EXTI_GET_FLAG() : \ - __HAL_RTC_TAMPER_TIMESTAMP_EXTI_GET_FLAG())) -#define __HAL_RTC_EXTI_GENERATE_SWIT(__EXTI_LINE__) (((__EXTI_LINE__) == RTC_EXTI_LINE_ALARM_EVENT) ? __HAL_RTC_ALARM_EXTI_GENERATE_SWIT() : \ - (((__EXTI_LINE__) == RTC_EXTI_LINE_WAKEUPTIMER_EVENT) ? __HAL_RTC_WAKEUPTIMER_EXTI_GENERATE_SWIT() : \ - __HAL_RTC_TAMPER_TIMESTAMP_EXTI_GENERATE_SWIT())) -#endif /* STM32F1 */ - -#define IS_ALARM IS_RTC_ALARM -#define IS_ALARM_MASK IS_RTC_ALARM_MASK -#define IS_TAMPER IS_RTC_TAMPER -#define IS_TAMPER_ERASE_MODE IS_RTC_TAMPER_ERASE_MODE -#define IS_TAMPER_FILTER IS_RTC_TAMPER_FILTER -#define IS_TAMPER_INTERRUPT IS_RTC_TAMPER_INTERRUPT -#define IS_TAMPER_MASKFLAG_STATE IS_RTC_TAMPER_MASKFLAG_STATE -#define IS_TAMPER_PRECHARGE_DURATION IS_RTC_TAMPER_PRECHARGE_DURATION -#define IS_TAMPER_PULLUP_STATE IS_RTC_TAMPER_PULLUP_STATE -#define IS_TAMPER_SAMPLING_FREQ IS_RTC_TAMPER_SAMPLING_FREQ -#define IS_TAMPER_TIMESTAMPONTAMPER_DETECTION IS_RTC_TAMPER_TIMESTAMPONTAMPER_DETECTION -#define IS_TAMPER_TRIGGER IS_RTC_TAMPER_TRIGGER -#define IS_WAKEUP_CLOCK IS_RTC_WAKEUP_CLOCK -#define IS_WAKEUP_COUNTER IS_RTC_WAKEUP_COUNTER - -#define __RTC_WRITEPROTECTION_ENABLE __HAL_RTC_WRITEPROTECTION_ENABLE -#define __RTC_WRITEPROTECTION_DISABLE __HAL_RTC_WRITEPROTECTION_DISABLE - -/** - * @} - */ - -/** @defgroup HAL_SD_Aliased_Macros HAL SD/MMC Aliased Macros maintained for legacy purpose - * @{ - */ - -#define SD_OCR_CID_CSD_OVERWRIETE SD_OCR_CID_CSD_OVERWRITE -#define SD_CMD_SD_APP_STAUS SD_CMD_SD_APP_STATUS - -#if !defined(STM32F1) && !defined(STM32F2) && !defined(STM32F4) && !defined(STM32F7) && !defined(STM32L1) -#define eMMC_HIGH_VOLTAGE_RANGE EMMC_HIGH_VOLTAGE_RANGE -#define eMMC_DUAL_VOLTAGE_RANGE EMMC_DUAL_VOLTAGE_RANGE -#define eMMC_LOW_VOLTAGE_RANGE EMMC_LOW_VOLTAGE_RANGE - -#define SDMMC_NSpeed_CLK_DIV SDMMC_NSPEED_CLK_DIV -#define SDMMC_HSpeed_CLK_DIV SDMMC_HSPEED_CLK_DIV -#endif - -#if defined(STM32F4) || defined(STM32F2) -#define SD_SDMMC_DISABLED SD_SDIO_DISABLED -#define SD_SDMMC_FUNCTION_BUSY SD_SDIO_FUNCTION_BUSY -#define SD_SDMMC_FUNCTION_FAILED SD_SDIO_FUNCTION_FAILED -#define SD_SDMMC_UNKNOWN_FUNCTION SD_SDIO_UNKNOWN_FUNCTION -#define SD_CMD_SDMMC_SEN_OP_COND SD_CMD_SDIO_SEN_OP_COND -#define SD_CMD_SDMMC_RW_DIRECT SD_CMD_SDIO_RW_DIRECT -#define SD_CMD_SDMMC_RW_EXTENDED SD_CMD_SDIO_RW_EXTENDED -#define __HAL_SD_SDMMC_ENABLE __HAL_SD_SDIO_ENABLE -#define __HAL_SD_SDMMC_DISABLE __HAL_SD_SDIO_DISABLE -#define __HAL_SD_SDMMC_DMA_ENABLE __HAL_SD_SDIO_DMA_ENABLE -#define __HAL_SD_SDMMC_DMA_DISABLE __HAL_SD_SDIO_DMA_DISABL -#define __HAL_SD_SDMMC_ENABLE_IT __HAL_SD_SDIO_ENABLE_IT -#define __HAL_SD_SDMMC_DISABLE_IT __HAL_SD_SDIO_DISABLE_IT -#define __HAL_SD_SDMMC_GET_FLAG __HAL_SD_SDIO_GET_FLAG -#define __HAL_SD_SDMMC_CLEAR_FLAG __HAL_SD_SDIO_CLEAR_FLAG -#define __HAL_SD_SDMMC_GET_IT __HAL_SD_SDIO_GET_IT -#define __HAL_SD_SDMMC_CLEAR_IT __HAL_SD_SDIO_CLEAR_IT -#define SDMMC_STATIC_FLAGS SDIO_STATIC_FLAGS -#define SDMMC_CMD0TIMEOUT SDIO_CMD0TIMEOUT -#define SD_SDMMC_SEND_IF_COND SD_SDIO_SEND_IF_COND -/* alias CMSIS */ -#define SDMMC1_IRQn SDIO_IRQn -#define SDMMC1_IRQHandler SDIO_IRQHandler -#endif - -#if defined(STM32F7) || defined(STM32L4) -#define SD_SDIO_DISABLED SD_SDMMC_DISABLED -#define SD_SDIO_FUNCTION_BUSY SD_SDMMC_FUNCTION_BUSY -#define SD_SDIO_FUNCTION_FAILED SD_SDMMC_FUNCTION_FAILED -#define SD_SDIO_UNKNOWN_FUNCTION SD_SDMMC_UNKNOWN_FUNCTION -#define SD_CMD_SDIO_SEN_OP_COND SD_CMD_SDMMC_SEN_OP_COND -#define SD_CMD_SDIO_RW_DIRECT SD_CMD_SDMMC_RW_DIRECT -#define SD_CMD_SDIO_RW_EXTENDED SD_CMD_SDMMC_RW_EXTENDED -#define __HAL_SD_SDIO_ENABLE __HAL_SD_SDMMC_ENABLE -#define __HAL_SD_SDIO_DISABLE __HAL_SD_SDMMC_DISABLE -#define __HAL_SD_SDIO_DMA_ENABLE __HAL_SD_SDMMC_DMA_ENABLE -#define __HAL_SD_SDIO_DMA_DISABL __HAL_SD_SDMMC_DMA_DISABLE -#define __HAL_SD_SDIO_ENABLE_IT __HAL_SD_SDMMC_ENABLE_IT -#define __HAL_SD_SDIO_DISABLE_IT __HAL_SD_SDMMC_DISABLE_IT -#define __HAL_SD_SDIO_GET_FLAG __HAL_SD_SDMMC_GET_FLAG -#define __HAL_SD_SDIO_CLEAR_FLAG __HAL_SD_SDMMC_CLEAR_FLAG -#define __HAL_SD_SDIO_GET_IT __HAL_SD_SDMMC_GET_IT -#define __HAL_SD_SDIO_CLEAR_IT __HAL_SD_SDMMC_CLEAR_IT -#define SDIO_STATIC_FLAGS SDMMC_STATIC_FLAGS -#define SDIO_CMD0TIMEOUT SDMMC_CMD0TIMEOUT -#define SD_SDIO_SEND_IF_COND SD_SDMMC_SEND_IF_COND -/* alias CMSIS for compatibilities */ -#define SDIO_IRQn SDMMC1_IRQn -#define SDIO_IRQHandler SDMMC1_IRQHandler -#endif - -#if defined(STM32F7) || defined(STM32F4) || defined(STM32F2) || defined(STM32L4) || defined(STM32H7) -#define HAL_SD_CardCIDTypedef HAL_SD_CardCIDTypeDef -#define HAL_SD_CardCSDTypedef HAL_SD_CardCSDTypeDef -#define HAL_SD_CardStatusTypedef HAL_SD_CardStatusTypeDef -#define HAL_SD_CardStateTypedef HAL_SD_CardStateTypeDef -#endif - -#if defined(STM32H7) || defined(STM32L5) -#define HAL_MMCEx_Read_DMADoubleBuffer0CpltCallback HAL_MMCEx_Read_DMADoubleBuf0CpltCallback -#define HAL_MMCEx_Read_DMADoubleBuffer1CpltCallback HAL_MMCEx_Read_DMADoubleBuf1CpltCallback -#define HAL_MMCEx_Write_DMADoubleBuffer0CpltCallback HAL_MMCEx_Write_DMADoubleBuf0CpltCallback -#define HAL_MMCEx_Write_DMADoubleBuffer1CpltCallback HAL_MMCEx_Write_DMADoubleBuf1CpltCallback -#define HAL_SDEx_Read_DMADoubleBuffer0CpltCallback HAL_SDEx_Read_DMADoubleBuf0CpltCallback -#define HAL_SDEx_Read_DMADoubleBuffer1CpltCallback HAL_SDEx_Read_DMADoubleBuf1CpltCallback -#define HAL_SDEx_Write_DMADoubleBuffer0CpltCallback HAL_SDEx_Write_DMADoubleBuf0CpltCallback -#define HAL_SDEx_Write_DMADoubleBuffer1CpltCallback HAL_SDEx_Write_DMADoubleBuf1CpltCallback -#define HAL_SD_DriveTransciver_1_8V_Callback HAL_SD_DriveTransceiver_1_8V_Callback -#endif -/** - * @} - */ - -/** @defgroup HAL_SMARTCARD_Aliased_Macros HAL SMARTCARD Aliased Macros maintained for legacy purpose - * @{ - */ - -#define __SMARTCARD_ENABLE_IT __HAL_SMARTCARD_ENABLE_IT -#define __SMARTCARD_DISABLE_IT __HAL_SMARTCARD_DISABLE_IT -#define __SMARTCARD_ENABLE __HAL_SMARTCARD_ENABLE -#define __SMARTCARD_DISABLE __HAL_SMARTCARD_DISABLE -#define __SMARTCARD_DMA_REQUEST_ENABLE __HAL_SMARTCARD_DMA_REQUEST_ENABLE -#define __SMARTCARD_DMA_REQUEST_DISABLE __HAL_SMARTCARD_DMA_REQUEST_DISABLE - -#define __HAL_SMARTCARD_GETCLOCKSOURCE SMARTCARD_GETCLOCKSOURCE -#define __SMARTCARD_GETCLOCKSOURCE SMARTCARD_GETCLOCKSOURCE - -#define IS_SMARTCARD_ONEBIT_SAMPLING IS_SMARTCARD_ONE_BIT_SAMPLE - -/** - * @} - */ - -/** @defgroup HAL_SMBUS_Aliased_Macros HAL SMBUS Aliased Macros maintained for legacy purpose - * @{ - */ -#define __HAL_SMBUS_RESET_CR1 SMBUS_RESET_CR1 -#define __HAL_SMBUS_RESET_CR2 SMBUS_RESET_CR2 -#define __HAL_SMBUS_GENERATE_START SMBUS_GENERATE_START -#define __HAL_SMBUS_GET_ADDR_MATCH SMBUS_GET_ADDR_MATCH -#define __HAL_SMBUS_GET_DIR SMBUS_GET_DIR -#define __HAL_SMBUS_GET_STOP_MODE SMBUS_GET_STOP_MODE -#define __HAL_SMBUS_GET_PEC_MODE SMBUS_GET_PEC_MODE -#define __HAL_SMBUS_GET_ALERT_ENABLED SMBUS_GET_ALERT_ENABLED -/** - * @} - */ - -/** @defgroup HAL_SPI_Aliased_Macros HAL SPI Aliased Macros maintained for legacy purpose - * @{ - */ - -#define __HAL_SPI_1LINE_TX SPI_1LINE_TX -#define __HAL_SPI_1LINE_RX SPI_1LINE_RX -#define __HAL_SPI_RESET_CRC SPI_RESET_CRC - -/** - * @} - */ - -/** @defgroup HAL_UART_Aliased_Macros HAL UART Aliased Macros maintained for legacy purpose - * @{ - */ - -#define __HAL_UART_GETCLOCKSOURCE UART_GETCLOCKSOURCE -#define __HAL_UART_MASK_COMPUTATION UART_MASK_COMPUTATION -#define __UART_GETCLOCKSOURCE UART_GETCLOCKSOURCE -#define __UART_MASK_COMPUTATION UART_MASK_COMPUTATION - -#define IS_UART_WAKEUPMETHODE IS_UART_WAKEUPMETHOD - -#define IS_UART_ONEBIT_SAMPLE IS_UART_ONE_BIT_SAMPLE -#define IS_UART_ONEBIT_SAMPLING IS_UART_ONE_BIT_SAMPLE - -/** - * @} - */ - - -/** @defgroup HAL_USART_Aliased_Macros HAL USART Aliased Macros maintained for legacy purpose - * @{ - */ - -#define __USART_ENABLE_IT __HAL_USART_ENABLE_IT -#define __USART_DISABLE_IT __HAL_USART_DISABLE_IT -#define __USART_ENABLE __HAL_USART_ENABLE -#define __USART_DISABLE __HAL_USART_DISABLE - -#define __HAL_USART_GETCLOCKSOURCE USART_GETCLOCKSOURCE -#define __USART_GETCLOCKSOURCE USART_GETCLOCKSOURCE - -#if defined(STM32F0) || defined(STM32F3) || defined(STM32F7) -#define USART_OVERSAMPLING_16 0x00000000U -#define USART_OVERSAMPLING_8 USART_CR1_OVER8 - -#define IS_USART_OVERSAMPLING(__SAMPLING__) (((__SAMPLING__) == USART_OVERSAMPLING_16) || \ - ((__SAMPLING__) == USART_OVERSAMPLING_8)) -#endif /* STM32F0 || STM32F3 || STM32F7 */ -/** - * @} - */ - -/** @defgroup HAL_USB_Aliased_Macros HAL USB Aliased Macros maintained for legacy purpose - * @{ - */ -#define USB_EXTI_LINE_WAKEUP USB_WAKEUP_EXTI_LINE - -#define USB_FS_EXTI_TRIGGER_RISING_EDGE USB_OTG_FS_WAKEUP_EXTI_RISING_EDGE -#define USB_FS_EXTI_TRIGGER_FALLING_EDGE USB_OTG_FS_WAKEUP_EXTI_FALLING_EDGE -#define USB_FS_EXTI_TRIGGER_BOTH_EDGE USB_OTG_FS_WAKEUP_EXTI_RISING_FALLING_EDGE -#define USB_FS_EXTI_LINE_WAKEUP USB_OTG_FS_WAKEUP_EXTI_LINE - -#define USB_HS_EXTI_TRIGGER_RISING_EDGE USB_OTG_HS_WAKEUP_EXTI_RISING_EDGE -#define USB_HS_EXTI_TRIGGER_FALLING_EDGE USB_OTG_HS_WAKEUP_EXTI_FALLING_EDGE -#define USB_HS_EXTI_TRIGGER_BOTH_EDGE USB_OTG_HS_WAKEUP_EXTI_RISING_FALLING_EDGE -#define USB_HS_EXTI_LINE_WAKEUP USB_OTG_HS_WAKEUP_EXTI_LINE - -#define __HAL_USB_EXTI_ENABLE_IT __HAL_USB_WAKEUP_EXTI_ENABLE_IT -#define __HAL_USB_EXTI_DISABLE_IT __HAL_USB_WAKEUP_EXTI_DISABLE_IT -#define __HAL_USB_EXTI_GET_FLAG __HAL_USB_WAKEUP_EXTI_GET_FLAG -#define __HAL_USB_EXTI_CLEAR_FLAG __HAL_USB_WAKEUP_EXTI_CLEAR_FLAG -#define __HAL_USB_EXTI_SET_RISING_EDGE_TRIGGER __HAL_USB_WAKEUP_EXTI_ENABLE_RISING_EDGE -#define __HAL_USB_EXTI_SET_FALLING_EDGE_TRIGGER __HAL_USB_WAKEUP_EXTI_ENABLE_FALLING_EDGE -#define __HAL_USB_EXTI_SET_FALLINGRISING_TRIGGER __HAL_USB_WAKEUP_EXTI_ENABLE_RISING_FALLING_EDGE - -#define __HAL_USB_FS_EXTI_ENABLE_IT __HAL_USB_OTG_FS_WAKEUP_EXTI_ENABLE_IT -#define __HAL_USB_FS_EXTI_DISABLE_IT __HAL_USB_OTG_FS_WAKEUP_EXTI_DISABLE_IT -#define __HAL_USB_FS_EXTI_GET_FLAG __HAL_USB_OTG_FS_WAKEUP_EXTI_GET_FLAG -#define __HAL_USB_FS_EXTI_CLEAR_FLAG __HAL_USB_OTG_FS_WAKEUP_EXTI_CLEAR_FLAG -#define __HAL_USB_FS_EXTI_SET_RISING_EGDE_TRIGGER __HAL_USB_OTG_FS_WAKEUP_EXTI_ENABLE_RISING_EDGE -#define __HAL_USB_FS_EXTI_SET_FALLING_EGDE_TRIGGER __HAL_USB_OTG_FS_WAKEUP_EXTI_ENABLE_FALLING_EDGE -#define __HAL_USB_FS_EXTI_SET_FALLINGRISING_TRIGGER __HAL_USB_OTG_FS_WAKEUP_EXTI_ENABLE_RISING_FALLING_EDGE -#define __HAL_USB_FS_EXTI_GENERATE_SWIT __HAL_USB_OTG_FS_WAKEUP_EXTI_GENERATE_SWIT - -#define __HAL_USB_HS_EXTI_ENABLE_IT __HAL_USB_OTG_HS_WAKEUP_EXTI_ENABLE_IT -#define __HAL_USB_HS_EXTI_DISABLE_IT __HAL_USB_OTG_HS_WAKEUP_EXTI_DISABLE_IT -#define __HAL_USB_HS_EXTI_GET_FLAG __HAL_USB_OTG_HS_WAKEUP_EXTI_GET_FLAG -#define __HAL_USB_HS_EXTI_CLEAR_FLAG __HAL_USB_OTG_HS_WAKEUP_EXTI_CLEAR_FLAG -#define __HAL_USB_HS_EXTI_SET_RISING_EGDE_TRIGGER __HAL_USB_OTG_HS_WAKEUP_EXTI_ENABLE_RISING_EDGE -#define __HAL_USB_HS_EXTI_SET_FALLING_EGDE_TRIGGER __HAL_USB_OTG_HS_WAKEUP_EXTI_ENABLE_FALLING_EDGE -#define __HAL_USB_HS_EXTI_SET_FALLINGRISING_TRIGGER __HAL_USB_OTG_HS_WAKEUP_EXTI_ENABLE_RISING_FALLING_EDGE -#define __HAL_USB_HS_EXTI_GENERATE_SWIT __HAL_USB_OTG_HS_WAKEUP_EXTI_GENERATE_SWIT - -#define HAL_PCD_ActiveRemoteWakeup HAL_PCD_ActivateRemoteWakeup -#define HAL_PCD_DeActiveRemoteWakeup HAL_PCD_DeActivateRemoteWakeup - -#define HAL_PCD_SetTxFiFo HAL_PCDEx_SetTxFiFo -#define HAL_PCD_SetRxFiFo HAL_PCDEx_SetRxFiFo -/** - * @} - */ - -/** @defgroup HAL_TIM_Aliased_Macros HAL TIM Aliased Macros maintained for legacy purpose - * @{ - */ -#define __HAL_TIM_SetICPrescalerValue TIM_SET_ICPRESCALERVALUE -#define __HAL_TIM_ResetICPrescalerValue TIM_RESET_ICPRESCALERVALUE - -#define TIM_GET_ITSTATUS __HAL_TIM_GET_IT_SOURCE -#define TIM_GET_CLEAR_IT __HAL_TIM_CLEAR_IT - -#define __HAL_TIM_GET_ITSTATUS __HAL_TIM_GET_IT_SOURCE - -#define __HAL_TIM_DIRECTION_STATUS __HAL_TIM_IS_TIM_COUNTING_DOWN -#define __HAL_TIM_PRESCALER __HAL_TIM_SET_PRESCALER -#define __HAL_TIM_SetCounter __HAL_TIM_SET_COUNTER -#define __HAL_TIM_GetCounter __HAL_TIM_GET_COUNTER -#define __HAL_TIM_SetAutoreload __HAL_TIM_SET_AUTORELOAD -#define __HAL_TIM_GetAutoreload __HAL_TIM_GET_AUTORELOAD -#define __HAL_TIM_SetClockDivision __HAL_TIM_SET_CLOCKDIVISION -#define __HAL_TIM_GetClockDivision __HAL_TIM_GET_CLOCKDIVISION -#define __HAL_TIM_SetICPrescaler __HAL_TIM_SET_ICPRESCALER -#define __HAL_TIM_GetICPrescaler __HAL_TIM_GET_ICPRESCALER -#define __HAL_TIM_SetCompare __HAL_TIM_SET_COMPARE -#define __HAL_TIM_GetCompare __HAL_TIM_GET_COMPARE - -#define TIM_BREAKINPUTSOURCE_DFSDM TIM_BREAKINPUTSOURCE_DFSDM1 -/** - * @} - */ - -/** @defgroup HAL_ETH_Aliased_Macros HAL ETH Aliased Macros maintained for legacy purpose - * @{ - */ - -#define __HAL_ETH_EXTI_ENABLE_IT __HAL_ETH_WAKEUP_EXTI_ENABLE_IT -#define __HAL_ETH_EXTI_DISABLE_IT __HAL_ETH_WAKEUP_EXTI_DISABLE_IT -#define __HAL_ETH_EXTI_GET_FLAG __HAL_ETH_WAKEUP_EXTI_GET_FLAG -#define __HAL_ETH_EXTI_CLEAR_FLAG __HAL_ETH_WAKEUP_EXTI_CLEAR_FLAG -#define __HAL_ETH_EXTI_SET_RISING_EGDE_TRIGGER __HAL_ETH_WAKEUP_EXTI_ENABLE_RISING_EDGE_TRIGGER -#define __HAL_ETH_EXTI_SET_FALLING_EGDE_TRIGGER __HAL_ETH_WAKEUP_EXTI_ENABLE_FALLING_EDGE_TRIGGER -#define __HAL_ETH_EXTI_SET_FALLINGRISING_TRIGGER __HAL_ETH_WAKEUP_EXTI_ENABLE_FALLINGRISING_TRIGGER - -#define ETH_PROMISCIOUSMODE_ENABLE ETH_PROMISCUOUS_MODE_ENABLE -#define ETH_PROMISCIOUSMODE_DISABLE ETH_PROMISCUOUS_MODE_DISABLE -#define IS_ETH_PROMISCIOUS_MODE IS_ETH_PROMISCUOUS_MODE -/** - * @} - */ - -/** @defgroup HAL_LTDC_Aliased_Macros HAL LTDC Aliased Macros maintained for legacy purpose - * @{ - */ -#define __HAL_LTDC_LAYER LTDC_LAYER -#define __HAL_LTDC_RELOAD_CONFIG __HAL_LTDC_RELOAD_IMMEDIATE_CONFIG -/** - * @} - */ - -/** @defgroup HAL_SAI_Aliased_Macros HAL SAI Aliased Macros maintained for legacy purpose - * @{ - */ -#define SAI_OUTPUTDRIVE_DISABLED SAI_OUTPUTDRIVE_DISABLE -#define SAI_OUTPUTDRIVE_ENABLED SAI_OUTPUTDRIVE_ENABLE -#define SAI_MASTERDIVIDER_ENABLED SAI_MASTERDIVIDER_ENABLE -#define SAI_MASTERDIVIDER_DISABLED SAI_MASTERDIVIDER_DISABLE -#define SAI_STREOMODE SAI_STEREOMODE -#define SAI_FIFOStatus_Empty SAI_FIFOSTATUS_EMPTY -#define SAI_FIFOStatus_Less1QuarterFull SAI_FIFOSTATUS_LESS1QUARTERFULL -#define SAI_FIFOStatus_1QuarterFull SAI_FIFOSTATUS_1QUARTERFULL -#define SAI_FIFOStatus_HalfFull SAI_FIFOSTATUS_HALFFULL -#define SAI_FIFOStatus_3QuartersFull SAI_FIFOSTATUS_3QUARTERFULL -#define SAI_FIFOStatus_Full SAI_FIFOSTATUS_FULL -#define IS_SAI_BLOCK_MONO_STREO_MODE IS_SAI_BLOCK_MONO_STEREO_MODE -#define SAI_SYNCHRONOUS_EXT SAI_SYNCHRONOUS_EXT_SAI1 -#define SAI_SYNCEXT_IN_ENABLE SAI_SYNCEXT_OUTBLOCKA_ENABLE -/** - * @} - */ - -/** @defgroup HAL_SPDIFRX_Aliased_Macros HAL SPDIFRX Aliased Macros maintained for legacy purpose - * @{ - */ -#if defined(STM32H7) -#define HAL_SPDIFRX_ReceiveControlFlow HAL_SPDIFRX_ReceiveCtrlFlow -#define HAL_SPDIFRX_ReceiveControlFlow_IT HAL_SPDIFRX_ReceiveCtrlFlow_IT -#define HAL_SPDIFRX_ReceiveControlFlow_DMA HAL_SPDIFRX_ReceiveCtrlFlow_DMA -#endif -/** - * @} - */ - -/** @defgroup HAL_HRTIM_Aliased_Functions HAL HRTIM Aliased Functions maintained for legacy purpose - * @{ - */ -#if defined (STM32H7) || defined (STM32G4) || defined (STM32F3) -#define HAL_HRTIM_WaveformCounterStart_IT HAL_HRTIM_WaveformCountStart_IT -#define HAL_HRTIM_WaveformCounterStart_DMA HAL_HRTIM_WaveformCountStart_DMA -#define HAL_HRTIM_WaveformCounterStart HAL_HRTIM_WaveformCountStart -#define HAL_HRTIM_WaveformCounterStop_IT HAL_HRTIM_WaveformCountStop_IT -#define HAL_HRTIM_WaveformCounterStop_DMA HAL_HRTIM_WaveformCountStop_DMA -#define HAL_HRTIM_WaveformCounterStop HAL_HRTIM_WaveformCountStop -#endif -/** - * @} - */ - -/** @defgroup HAL_QSPI_Aliased_Macros HAL QSPI Aliased Macros maintained for legacy purpose - * @{ - */ -#if defined (STM32L4) || defined (STM32F4) || defined (STM32F7) || defined(STM32H7) -#define HAL_QPSI_TIMEOUT_DEFAULT_VALUE HAL_QSPI_TIMEOUT_DEFAULT_VALUE -#endif /* STM32L4 || STM32F4 || STM32F7 */ -/** - * @} - */ - -/** @defgroup HAL_PPP_Aliased_Macros HAL PPP Aliased Macros maintained for legacy purpose - * @{ - */ - -/** - * @} - */ - -#ifdef __cplusplus -} -#endif - -#endif /* STM32_HAL_LEGACY */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ - diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/Legacy/stm32f4xx_hal_can_legacy.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/Legacy/stm32f4xx_hal_can_legacy.h deleted file mode 100644 index aacf0f0727d203..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/Legacy/stm32f4xx_hal_can_legacy.h +++ /dev/null @@ -1,785 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_can_legacy.h - * @author MCD Application Team - * @brief Header file of CAN HAL module. - ****************************************************************************** - * @attention - * - *

© COPYRIGHT(c) 2017 STMicroelectronics

- * - * Redistribution and use in source and binary forms, with or without modification, - * are permitted provided that the following conditions are met: - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * 3. Neither the name of STMicroelectronics nor the names of its contributors - * may be used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE - * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL - * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR - * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, - * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE - * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef __STM32F4xx_HAL_CAN_LEGACY_H -#define __STM32F4xx_HAL_CAN_LEGACY_H - -#ifdef __cplusplus - extern "C" { -#endif - -#if defined(STM32F405xx) || defined(STM32F415xx) || defined(STM32F407xx) || defined(STM32F417xx) ||\ - defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) ||\ - defined(STM32F446xx) || defined(STM32F469xx) || defined(STM32F479xx) || defined(STM32F412Zx) ||\ - defined(STM32F412Vx) || defined(STM32F412Rx) || defined(STM32F412Cx) || defined(STM32F413xx) ||\ - defined(STM32F423xx) -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal_def.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @addtogroup CAN - * @{ - */ - -/* Exported types ------------------------------------------------------------*/ -/** @defgroup CAN_Exported_Types CAN Exported Types - * @{ - */ - -/** - * @brief HAL State structures definition - */ -typedef enum -{ - HAL_CAN_STATE_RESET = 0x00U, /*!< CAN not yet initialized or disabled */ - HAL_CAN_STATE_READY = 0x01U, /*!< CAN initialized and ready for use */ - HAL_CAN_STATE_BUSY = 0x02U, /*!< CAN process is ongoing */ - HAL_CAN_STATE_BUSY_TX = 0x12U, /*!< CAN process is ongoing */ - HAL_CAN_STATE_BUSY_RX0 = 0x22U, /*!< CAN process is ongoing */ - HAL_CAN_STATE_BUSY_RX1 = 0x32U, /*!< CAN process is ongoing */ - HAL_CAN_STATE_BUSY_TX_RX0 = 0x42U, /*!< CAN process is ongoing */ - HAL_CAN_STATE_BUSY_TX_RX1 = 0x52U, /*!< CAN process is ongoing */ - HAL_CAN_STATE_BUSY_RX0_RX1 = 0x62U, /*!< CAN process is ongoing */ - HAL_CAN_STATE_BUSY_TX_RX0_RX1 = 0x72U, /*!< CAN process is ongoing */ - HAL_CAN_STATE_TIMEOUT = 0x03U, /*!< CAN in Timeout state */ - HAL_CAN_STATE_ERROR = 0x04U /*!< CAN error state */ - -}HAL_CAN_StateTypeDef; - -/** - * @brief CAN init structure definition - */ -typedef struct -{ - uint32_t Prescaler; /*!< Specifies the length of a time quantum. - This parameter must be a number between Min_Data = 1 and Max_Data = 1024 */ - - uint32_t Mode; /*!< Specifies the CAN operating mode. - This parameter can be a value of @ref CAN_operating_mode */ - - uint32_t SJW; /*!< Specifies the maximum number of time quanta - the CAN hardware is allowed to lengthen or - shorten a bit to perform resynchronization. - This parameter can be a value of @ref CAN_synchronisation_jump_width */ - - uint32_t BS1; /*!< Specifies the number of time quanta in Bit Segment 1. - This parameter can be a value of @ref CAN_time_quantum_in_bit_segment_1 */ - - uint32_t BS2; /*!< Specifies the number of time quanta in Bit Segment 2. - This parameter can be a value of @ref CAN_time_quantum_in_bit_segment_2 */ - - uint32_t TTCM; /*!< Enable or disable the time triggered communication mode. - This parameter can be set to ENABLE or DISABLE. */ - - uint32_t ABOM; /*!< Enable or disable the automatic bus-off management. - This parameter can be set to ENABLE or DISABLE */ - - uint32_t AWUM; /*!< Enable or disable the automatic wake-up mode. - This parameter can be set to ENABLE or DISABLE */ - - uint32_t NART; /*!< Enable or disable the non-automatic retransmission mode. - This parameter can be set to ENABLE or DISABLE */ - - uint32_t RFLM; /*!< Enable or disable the receive FIFO Locked mode. - This parameter can be set to ENABLE or DISABLE */ - - uint32_t TXFP; /*!< Enable or disable the transmit FIFO priority. - This parameter can be set to ENABLE or DISABLE */ -}CAN_InitTypeDef; - -/** - * @brief CAN filter configuration structure definition - */ -typedef struct -{ - uint32_t FilterIdHigh; /*!< Specifies the filter identification number (MSBs for a 32-bit - configuration, first one for a 16-bit configuration). - This parameter must be a number between Min_Data = 0x0000 and Max_Data = 0xFFFF */ - - uint32_t FilterIdLow; /*!< Specifies the filter identification number (LSBs for a 32-bit - configuration, second one for a 16-bit configuration). - This parameter must be a number between Min_Data = 0x0000 and Max_Data = 0xFFFF */ - - uint32_t FilterMaskIdHigh; /*!< Specifies the filter mask number or identification number, - according to the mode (MSBs for a 32-bit configuration, - first one for a 16-bit configuration). - This parameter must be a number between Min_Data = 0x0000 and Max_Data = 0xFFFF */ - - uint32_t FilterMaskIdLow; /*!< Specifies the filter mask number or identification number, - according to the mode (LSBs for a 32-bit configuration, - second one for a 16-bit configuration). - This parameter must be a number between Min_Data = 0x0000 and Max_Data = 0xFFFF */ - - uint32_t FilterFIFOAssignment; /*!< Specifies the FIFO (0 or 1) which will be assigned to the filter. - This parameter can be a value of @ref CAN_filter_FIFO */ - - uint32_t FilterNumber; /*!< Specifies the filter which will be initialized. - This parameter must be a number between Min_Data = 0 and Max_Data = 27 */ - - uint32_t FilterMode; /*!< Specifies the filter mode to be initialized. - This parameter can be a value of @ref CAN_filter_mode */ - - uint32_t FilterScale; /*!< Specifies the filter scale. - This parameter can be a value of @ref CAN_filter_scale */ - - uint32_t FilterActivation; /*!< Enable or disable the filter. - This parameter can be set to ENABLE or DISABLE. */ - - uint32_t BankNumber; /*!< Select the start slave bank filter. - This parameter must be a number between Min_Data = 0 and Max_Data = 28 */ - -}CAN_FilterConfTypeDef; - -/** - * @brief CAN Tx message structure definition - */ -typedef struct -{ - uint32_t StdId; /*!< Specifies the standard identifier. - This parameter must be a number between Min_Data = 0 and Max_Data = 0x7FF */ - - uint32_t ExtId; /*!< Specifies the extended identifier. - This parameter must be a number between Min_Data = 0 and Max_Data = 0x1FFFFFFF */ - - uint32_t IDE; /*!< Specifies the type of identifier for the message that will be transmitted. - This parameter can be a value of @ref CAN_Identifier_Type */ - - uint32_t RTR; /*!< Specifies the type of frame for the message that will be transmitted. - This parameter can be a value of @ref CAN_remote_transmission_request */ - - uint32_t DLC; /*!< Specifies the length of the frame that will be transmitted. - This parameter must be a number between Min_Data = 0 and Max_Data = 8 */ - - uint8_t Data[8]; /*!< Contains the data to be transmitted. - This parameter must be a number between Min_Data = 0 and Max_Data = 0xFF */ - -}CanTxMsgTypeDef; - -/** - * @brief CAN Rx message structure definition - */ -typedef struct -{ - uint32_t StdId; /*!< Specifies the standard identifier. - This parameter must be a number between Min_Data = 0 and Max_Data = 0x7FF */ - - uint32_t ExtId; /*!< Specifies the extended identifier. - This parameter must be a number between Min_Data = 0 and Max_Data = 0x1FFFFFFF */ - - uint32_t IDE; /*!< Specifies the type of identifier for the message that will be received. - This parameter can be a value of @ref CAN_Identifier_Type */ - - uint32_t RTR; /*!< Specifies the type of frame for the received message. - This parameter can be a value of @ref CAN_remote_transmission_request */ - - uint32_t DLC; /*!< Specifies the length of the frame that will be received. - This parameter must be a number between Min_Data = 0 and Max_Data = 8 */ - - uint8_t Data[8]; /*!< Contains the data to be received. - This parameter must be a number between Min_Data = 0 and Max_Data = 0xFF */ - - uint32_t FMI; /*!< Specifies the index of the filter the message stored in the mailbox passes through. - This parameter must be a number between Min_Data = 0 and Max_Data = 0xFF */ - - uint32_t FIFONumber; /*!< Specifies the receive FIFO number. - This parameter can be CAN_FIFO0 or CAN_FIFO1 */ - -}CanRxMsgTypeDef; - -/** - * @brief CAN handle Structure definition - */ -typedef struct -{ - CAN_TypeDef *Instance; /*!< Register base address */ - - CAN_InitTypeDef Init; /*!< CAN required parameters */ - - CanTxMsgTypeDef* pTxMsg; /*!< Pointer to transmit structure */ - - CanRxMsgTypeDef* pRxMsg; /*!< Pointer to reception structure for RX FIFO0 msg */ - - CanRxMsgTypeDef* pRx1Msg; /*!< Pointer to reception structure for RX FIFO1 msg */ - - __IO HAL_CAN_StateTypeDef State; /*!< CAN communication state */ - - HAL_LockTypeDef Lock; /*!< CAN locking object */ - - __IO uint32_t ErrorCode; /*!< CAN Error code */ - -}CAN_HandleTypeDef; - -/** - * @} - */ - -/* Exported constants --------------------------------------------------------*/ -/** @defgroup CAN_Exported_Constants CAN Exported Constants - * @{ - */ - -/** @defgroup CAN_Error_Code CAN Error Code - * @{ - */ -#define HAL_CAN_ERROR_NONE 0x00000000U /*!< No error */ -#define HAL_CAN_ERROR_EWG 0x00000001U /*!< EWG error */ -#define HAL_CAN_ERROR_EPV 0x00000002U /*!< EPV error */ -#define HAL_CAN_ERROR_BOF 0x00000004U /*!< BOF error */ -#define HAL_CAN_ERROR_STF 0x00000008U /*!< Stuff error */ -#define HAL_CAN_ERROR_FOR 0x00000010U /*!< Form error */ -#define HAL_CAN_ERROR_ACK 0x00000020U /*!< Acknowledgment error */ -#define HAL_CAN_ERROR_BR 0x00000040U /*!< Bit recessive */ -#define HAL_CAN_ERROR_BD 0x00000080U /*!< LEC dominant */ -#define HAL_CAN_ERROR_CRC 0x00000100U /*!< LEC transfer error */ -#define HAL_CAN_ERROR_FOV0 0x00000200U /*!< FIFO0 overrun error */ -#define HAL_CAN_ERROR_FOV1 0x00000400U /*!< FIFO1 overrun error */ -#define HAL_CAN_ERROR_TXFAIL 0x00000800U /*!< Transmit failure */ -/** - * @} - */ - -/** @defgroup CAN_InitStatus CAN InitStatus - * @{ - */ -#define CAN_INITSTATUS_FAILED ((uint8_t)0x00) /*!< CAN initialization failed */ -#define CAN_INITSTATUS_SUCCESS ((uint8_t)0x01) /*!< CAN initialization OK */ -/** - * @} - */ - -/** @defgroup CAN_operating_mode CAN Operating Mode - * @{ - */ -#define CAN_MODE_NORMAL 0x00000000U /*!< Normal mode */ -#define CAN_MODE_LOOPBACK ((uint32_t)CAN_BTR_LBKM) /*!< Loopback mode */ -#define CAN_MODE_SILENT ((uint32_t)CAN_BTR_SILM) /*!< Silent mode */ -#define CAN_MODE_SILENT_LOOPBACK ((uint32_t)(CAN_BTR_LBKM | CAN_BTR_SILM)) /*!< Loopback combined with silent mode */ -/** - * @} - */ - -/** @defgroup CAN_synchronisation_jump_width CAN Synchronisation Jump Width - * @{ - */ -#define CAN_SJW_1TQ 0x00000000U /*!< 1 time quantum */ -#define CAN_SJW_2TQ ((uint32_t)CAN_BTR_SJW_0) /*!< 2 time quantum */ -#define CAN_SJW_3TQ ((uint32_t)CAN_BTR_SJW_1) /*!< 3 time quantum */ -#define CAN_SJW_4TQ ((uint32_t)CAN_BTR_SJW) /*!< 4 time quantum */ -/** - * @} - */ - -/** @defgroup CAN_time_quantum_in_bit_segment_1 CAN Time Quantum in bit segment 1 - * @{ - */ -#define CAN_BS1_1TQ 0x00000000U /*!< 1 time quantum */ -#define CAN_BS1_2TQ ((uint32_t)CAN_BTR_TS1_0) /*!< 2 time quantum */ -#define CAN_BS1_3TQ ((uint32_t)CAN_BTR_TS1_1) /*!< 3 time quantum */ -#define CAN_BS1_4TQ ((uint32_t)(CAN_BTR_TS1_1 | CAN_BTR_TS1_0)) /*!< 4 time quantum */ -#define CAN_BS1_5TQ ((uint32_t)CAN_BTR_TS1_2) /*!< 5 time quantum */ -#define CAN_BS1_6TQ ((uint32_t)(CAN_BTR_TS1_2 | CAN_BTR_TS1_0)) /*!< 6 time quantum */ -#define CAN_BS1_7TQ ((uint32_t)(CAN_BTR_TS1_2 | CAN_BTR_TS1_1)) /*!< 7 time quantum */ -#define CAN_BS1_8TQ ((uint32_t)(CAN_BTR_TS1_2 | CAN_BTR_TS1_1 | CAN_BTR_TS1_0)) /*!< 8 time quantum */ -#define CAN_BS1_9TQ ((uint32_t)CAN_BTR_TS1_3) /*!< 9 time quantum */ -#define CAN_BS1_10TQ ((uint32_t)(CAN_BTR_TS1_3 | CAN_BTR_TS1_0)) /*!< 10 time quantum */ -#define CAN_BS1_11TQ ((uint32_t)(CAN_BTR_TS1_3 | CAN_BTR_TS1_1)) /*!< 11 time quantum */ -#define CAN_BS1_12TQ ((uint32_t)(CAN_BTR_TS1_3 | CAN_BTR_TS1_1 | CAN_BTR_TS1_0)) /*!< 12 time quantum */ -#define CAN_BS1_13TQ ((uint32_t)(CAN_BTR_TS1_3 | CAN_BTR_TS1_2)) /*!< 13 time quantum */ -#define CAN_BS1_14TQ ((uint32_t)(CAN_BTR_TS1_3 | CAN_BTR_TS1_2 | CAN_BTR_TS1_0)) /*!< 14 time quantum */ -#define CAN_BS1_15TQ ((uint32_t)(CAN_BTR_TS1_3 | CAN_BTR_TS1_2 | CAN_BTR_TS1_1)) /*!< 15 time quantum */ -#define CAN_BS1_16TQ ((uint32_t)CAN_BTR_TS1) /*!< 16 time quantum */ -/** - * @} - */ - -/** @defgroup CAN_time_quantum_in_bit_segment_2 CAN Time Quantum in bit segment 2 - * @{ - */ -#define CAN_BS2_1TQ 0x00000000U /*!< 1 time quantum */ -#define CAN_BS2_2TQ ((uint32_t)CAN_BTR_TS2_0) /*!< 2 time quantum */ -#define CAN_BS2_3TQ ((uint32_t)CAN_BTR_TS2_1) /*!< 3 time quantum */ -#define CAN_BS2_4TQ ((uint32_t)(CAN_BTR_TS2_1 | CAN_BTR_TS2_0)) /*!< 4 time quantum */ -#define CAN_BS2_5TQ ((uint32_t)CAN_BTR_TS2_2) /*!< 5 time quantum */ -#define CAN_BS2_6TQ ((uint32_t)(CAN_BTR_TS2_2 | CAN_BTR_TS2_0)) /*!< 6 time quantum */ -#define CAN_BS2_7TQ ((uint32_t)(CAN_BTR_TS2_2 | CAN_BTR_TS2_1)) /*!< 7 time quantum */ -#define CAN_BS2_8TQ ((uint32_t)CAN_BTR_TS2) /*!< 8 time quantum */ -/** - * @} - */ - -/** @defgroup CAN_filter_mode CAN Filter Mode - * @{ - */ -#define CAN_FILTERMODE_IDMASK ((uint8_t)0x00) /*!< Identifier mask mode */ -#define CAN_FILTERMODE_IDLIST ((uint8_t)0x01) /*!< Identifier list mode */ -/** - * @} - */ - -/** @defgroup CAN_filter_scale CAN Filter Scale - * @{ - */ -#define CAN_FILTERSCALE_16BIT ((uint8_t)0x00) /*!< Two 16-bit filters */ -#define CAN_FILTERSCALE_32BIT ((uint8_t)0x01) /*!< One 32-bit filter */ -/** - * @} - */ - -/** @defgroup CAN_filter_FIFO CAN Filter FIFO - * @{ - */ -#define CAN_FILTER_FIFO0 ((uint8_t)0x00) /*!< Filter FIFO 0 assignment for filter x */ -#define CAN_FILTER_FIFO1 ((uint8_t)0x01) /*!< Filter FIFO 1 assignment for filter x */ -/** - * @} - */ - -/** @defgroup CAN_Identifier_Type CAN Identifier Type - * @{ - */ -#define CAN_ID_STD 0x00000000U /*!< Standard Id */ -#define CAN_ID_EXT 0x00000004U /*!< Extended Id */ -/** - * @} - */ - -/** @defgroup CAN_remote_transmission_request CAN Remote Transmission Request - * @{ - */ -#define CAN_RTR_DATA 0x00000000U /*!< Data frame */ -#define CAN_RTR_REMOTE 0x00000002U /*!< Remote frame */ -/** - * @} - */ - -/** @defgroup CAN_receive_FIFO_number_constants CAN Receive FIFO Number Constants - * @{ - */ -#define CAN_FIFO0 ((uint8_t)0x00) /*!< CAN FIFO 0 used to receive */ -#define CAN_FIFO1 ((uint8_t)0x01) /*!< CAN FIFO 1 used to receive */ -/** - * @} - */ - -/** @defgroup CAN_flags CAN Flags - * @{ - */ -/* If the flag is 0x3XXXXXXX, it means that it can be used with CAN_GetFlagStatus() - and CAN_ClearFlag() functions. */ -/* If the flag is 0x1XXXXXXX, it means that it can only be used with - CAN_GetFlagStatus() function. */ - -/* Transmit Flags */ -#define CAN_FLAG_RQCP0 0x00000500U /*!< Request MailBox0 flag */ -#define CAN_FLAG_RQCP1 0x00000508U /*!< Request MailBox1 flag */ -#define CAN_FLAG_RQCP2 0x00000510U /*!< Request MailBox2 flag */ -#define CAN_FLAG_TXOK0 0x00000501U /*!< Transmission OK MailBox0 flag */ -#define CAN_FLAG_TXOK1 0x00000509U /*!< Transmission OK MailBox1 flag */ -#define CAN_FLAG_TXOK2 0x00000511U /*!< Transmission OK MailBox2 flag */ -#define CAN_FLAG_TME0 0x0000051AU /*!< Transmit mailbox 0 empty flag */ -#define CAN_FLAG_TME1 0x0000051BU /*!< Transmit mailbox 0 empty flag */ -#define CAN_FLAG_TME2 0x0000051CU /*!< Transmit mailbox 0 empty flag */ - -/* Receive Flags */ -#define CAN_FLAG_FF0 0x00000203U /*!< FIFO 0 Full flag */ -#define CAN_FLAG_FOV0 0x00000204U /*!< FIFO 0 Overrun flag */ - -#define CAN_FLAG_FF1 0x00000403U /*!< FIFO 1 Full flag */ -#define CAN_FLAG_FOV1 0x00000404U /*!< FIFO 1 Overrun flag */ - -/* Operating Mode Flags */ -#define CAN_FLAG_INAK 0x00000100U /*!< Initialization acknowledge flag */ -#define CAN_FLAG_SLAK 0x00000101U /*!< Sleep acknowledge flag */ -#define CAN_FLAG_ERRI 0x00000102U /*!< Error flag */ -#define CAN_FLAG_WKU 0x00000103U /*!< Wake up flag */ -#define CAN_FLAG_SLAKI 0x00000104U /*!< Sleep acknowledge flag */ - -/* @note When SLAK interrupt is disabled (SLKIE=0), no polling on SLAKI is possible. - In this case the SLAK bit can be polled.*/ - -/* Error Flags */ -#define CAN_FLAG_EWG 0x00000300U /*!< Error warning flag */ -#define CAN_FLAG_EPV 0x00000301U /*!< Error passive flag */ -#define CAN_FLAG_BOF 0x00000302U /*!< Bus-Off flag */ -/** - * @} - */ - -/** @defgroup CAN_Interrupts CAN Interrupts - * @{ - */ -#define CAN_IT_TME ((uint32_t)CAN_IER_TMEIE) /*!< Transmit mailbox empty interrupt */ - -/* Receive Interrupts */ -#define CAN_IT_FMP0 ((uint32_t)CAN_IER_FMPIE0) /*!< FIFO 0 message pending interrupt */ -#define CAN_IT_FF0 ((uint32_t)CAN_IER_FFIE0) /*!< FIFO 0 full interrupt */ -#define CAN_IT_FOV0 ((uint32_t)CAN_IER_FOVIE0) /*!< FIFO 0 overrun interrupt */ -#define CAN_IT_FMP1 ((uint32_t)CAN_IER_FMPIE1) /*!< FIFO 1 message pending interrupt */ -#define CAN_IT_FF1 ((uint32_t)CAN_IER_FFIE1) /*!< FIFO 1 full interrupt */ -#define CAN_IT_FOV1 ((uint32_t)CAN_IER_FOVIE1) /*!< FIFO 1 overrun interrupt */ - -/* Operating Mode Interrupts */ -#define CAN_IT_WKU ((uint32_t)CAN_IER_WKUIE) /*!< Wake-up interrupt */ -#define CAN_IT_SLK ((uint32_t)CAN_IER_SLKIE) /*!< Sleep acknowledge interrupt */ - -/* Error Interrupts */ -#define CAN_IT_EWG ((uint32_t)CAN_IER_EWGIE) /*!< Error warning interrupt */ -#define CAN_IT_EPV ((uint32_t)CAN_IER_EPVIE) /*!< Error passive interrupt */ -#define CAN_IT_BOF ((uint32_t)CAN_IER_BOFIE) /*!< Bus-off interrupt */ -#define CAN_IT_LEC ((uint32_t)CAN_IER_LECIE) /*!< Last error code interrupt */ -#define CAN_IT_ERR ((uint32_t)CAN_IER_ERRIE) /*!< Error Interrupt */ -/** - * @} - */ - -/** @defgroup CAN_Mailboxes_Definition CAN Mailboxes Definition - * @{ - */ -#define CAN_TXMAILBOX_0 ((uint8_t)0x00) -#define CAN_TXMAILBOX_1 ((uint8_t)0x01) -#define CAN_TXMAILBOX_2 ((uint8_t)0x02) -/** - * @} - */ - -/** - * @} - */ - -/* Exported macro ------------------------------------------------------------*/ -/** @defgroup CAN_Exported_Macros CAN Exported Macros - * @{ - */ - -/** @brief Reset CAN handle state - * @param __HANDLE__ specifies the CAN Handle. - * @retval None - */ -#define __HAL_CAN_RESET_HANDLE_STATE(__HANDLE__) ((__HANDLE__)->State = HAL_CAN_STATE_RESET) - -/** - * @brief Enable the specified CAN interrupts. - * @param __HANDLE__ CAN handle - * @param __INTERRUPT__ CAN Interrupt - * @retval None - */ -#define __HAL_CAN_ENABLE_IT(__HANDLE__, __INTERRUPT__) (((__HANDLE__)->Instance->IER) |= (__INTERRUPT__)) - -/** - * @brief Disable the specified CAN interrupts. - * @param __HANDLE__ CAN handle - * @param __INTERRUPT__ CAN Interrupt - * @retval None - */ -#define __HAL_CAN_DISABLE_IT(__HANDLE__, __INTERRUPT__) (((__HANDLE__)->Instance->IER) &= ~(__INTERRUPT__)) - -/** - * @brief Return the number of pending received messages. - * @param __HANDLE__ CAN handle - * @param __FIFONUMBER__ Receive FIFO number, CAN_FIFO0 or CAN_FIFO1. - * @retval The number of pending message. - */ -#define __HAL_CAN_MSG_PENDING(__HANDLE__, __FIFONUMBER__) (((__FIFONUMBER__) == CAN_FIFO0)? \ -((uint8_t)((__HANDLE__)->Instance->RF0R&0x03U)) : ((uint8_t)((__HANDLE__)->Instance->RF1R & 0x03U))) - -/** @brief Check whether the specified CAN flag is set or not. - * @param __HANDLE__ CAN Handle - * @param __FLAG__ specifies the flag to check. - * This parameter can be one of the following values: - * @arg CAN_TSR_RQCP0: Request MailBox0 Flag - * @arg CAN_TSR_RQCP1: Request MailBox1 Flag - * @arg CAN_TSR_RQCP2: Request MailBox2 Flag - * @arg CAN_FLAG_TXOK0: Transmission OK MailBox0 Flag - * @arg CAN_FLAG_TXOK1: Transmission OK MailBox1 Flag - * @arg CAN_FLAG_TXOK2: Transmission OK MailBox2 Flag - * @arg CAN_FLAG_TME0: Transmit mailbox 0 empty Flag - * @arg CAN_FLAG_TME1: Transmit mailbox 1 empty Flag - * @arg CAN_FLAG_TME2: Transmit mailbox 2 empty Flag - * @arg CAN_FLAG_FMP0: FIFO 0 Message Pending Flag - * @arg CAN_FLAG_FF0: FIFO 0 Full Flag - * @arg CAN_FLAG_FOV0: FIFO 0 Overrun Flag - * @arg CAN_FLAG_FMP1: FIFO 1 Message Pending Flag - * @arg CAN_FLAG_FF1: FIFO 1 Full Flag - * @arg CAN_FLAG_FOV1: FIFO 1 Overrun Flag - * @arg CAN_FLAG_WKU: Wake up Flag - * @arg CAN_FLAG_SLAK: Sleep acknowledge Flag - * @arg CAN_FLAG_SLAKI: Sleep acknowledge Flag - * @arg CAN_FLAG_EWG: Error Warning Flag - * @arg CAN_FLAG_EPV: Error Passive Flag - * @arg CAN_FLAG_BOF: Bus-Off Flag - * @retval The new state of __FLAG__ (TRUE or FALSE). - */ -#define __HAL_CAN_GET_FLAG(__HANDLE__, __FLAG__) \ -((((__FLAG__) >> 8U) == 5U)? ((((__HANDLE__)->Instance->TSR) & (1U << ((__FLAG__) & CAN_FLAG_MASK))) == (1U << ((__FLAG__) & CAN_FLAG_MASK))): \ - (((__FLAG__) >> 8U) == 2U)? ((((__HANDLE__)->Instance->RF0R) & (1U << ((__FLAG__) & CAN_FLAG_MASK))) == (1U << ((__FLAG__) & CAN_FLAG_MASK))): \ - (((__FLAG__) >> 8U) == 4U)? ((((__HANDLE__)->Instance->RF1R) & (1U << ((__FLAG__) & CAN_FLAG_MASK))) == (1U << ((__FLAG__) & CAN_FLAG_MASK))): \ - (((__FLAG__) >> 8U) == 1U)? ((((__HANDLE__)->Instance->MSR) & (1U << ((__FLAG__) & CAN_FLAG_MASK))) == (1U << ((__FLAG__) & CAN_FLAG_MASK))): \ - ((((__HANDLE__)->Instance->ESR) & (1U << ((__FLAG__) & CAN_FLAG_MASK))) == (1U << ((__FLAG__) & CAN_FLAG_MASK)))) - -/** @brief Clear the specified CAN pending flag. - * @param __HANDLE__ CAN Handle. - * @param __FLAG__ specifies the flag to check. - * This parameter can be one of the following values: - * @arg CAN_TSR_RQCP0: Request MailBox0 Flag - * @arg CAN_TSR_RQCP1: Request MailBox1 Flag - * @arg CAN_TSR_RQCP2: Request MailBox2 Flag - * @arg CAN_FLAG_TXOK0: Transmission OK MailBox0 Flag - * @arg CAN_FLAG_TXOK1: Transmission OK MailBox1 Flag - * @arg CAN_FLAG_TXOK2: Transmission OK MailBox2 Flag - * @arg CAN_FLAG_TME0: Transmit mailbox 0 empty Flag - * @arg CAN_FLAG_TME1: Transmit mailbox 1 empty Flag - * @arg CAN_FLAG_TME2: Transmit mailbox 2 empty Flag - * @arg CAN_FLAG_FMP0: FIFO 0 Message Pending Flag - * @arg CAN_FLAG_FF0: FIFO 0 Full Flag - * @arg CAN_FLAG_FOV0: FIFO 0 Overrun Flag - * @arg CAN_FLAG_FMP1: FIFO 1 Message Pending Flag - * @arg CAN_FLAG_FF1: FIFO 1 Full Flag - * @arg CAN_FLAG_FOV1: FIFO 1 Overrun Flag - * @arg CAN_FLAG_WKU: Wake up Flag - * @arg CAN_FLAG_SLAK: Sleep acknowledge Flag - * @arg CAN_FLAG_SLAKI: Sleep acknowledge Flag - * @retval The new state of __FLAG__ (TRUE or FALSE). - */ -#define __HAL_CAN_CLEAR_FLAG(__HANDLE__, __FLAG__) \ -((((__FLAG__) >> 8U) == 5U)? (((__HANDLE__)->Instance->TSR) = (1U << ((__FLAG__) & CAN_FLAG_MASK))): \ - (((__FLAG__) >> 8U) == 2U)? (((__HANDLE__)->Instance->RF0R) = (1U << ((__FLAG__) & CAN_FLAG_MASK))): \ - (((__FLAG__) >> 8U) == 4U)? (((__HANDLE__)->Instance->RF1R) = (1U << ((__FLAG__) & CAN_FLAG_MASK))): \ - (((__HANDLE__)->Instance->MSR) = ((uint32_t)1U << ((__FLAG__) & CAN_FLAG_MASK)))) - -/** @brief Check if the specified CAN interrupt source is enabled or disabled. - * @param __HANDLE__ CAN Handle - * @param __INTERRUPT__ specifies the CAN interrupt source to check. - * This parameter can be one of the following values: - * @arg CAN_IT_TME: Transmit mailbox empty interrupt enable - * @arg CAN_IT_FMP0: FIFO0 message pending interrupt enable - * @arg CAN_IT_FMP1: FIFO1 message pending interrupt enable - * @retval The new state of __IT__ (TRUE or FALSE). - */ -#define __HAL_CAN_GET_IT_SOURCE(__HANDLE__, __INTERRUPT__) ((((__HANDLE__)->Instance->IER & (__INTERRUPT__)) == (__INTERRUPT__)) ? SET : RESET) - -/** - * @brief Check the transmission status of a CAN Frame. - * @param __HANDLE__ CAN Handle - * @param __TRANSMITMAILBOX__ the number of the mailbox that is used for transmission. - * @retval The new status of transmission (TRUE or FALSE). - */ -#define __HAL_CAN_TRANSMIT_STATUS(__HANDLE__, __TRANSMITMAILBOX__)\ -(((__TRANSMITMAILBOX__) == CAN_TXMAILBOX_0)? ((((__HANDLE__)->Instance->TSR) & (CAN_TSR_RQCP0 | CAN_TSR_TXOK0 | CAN_TSR_TME0)) == (CAN_TSR_RQCP0 | CAN_TSR_TXOK0 | CAN_TSR_TME0)) :\ - ((__TRANSMITMAILBOX__) == CAN_TXMAILBOX_1)? ((((__HANDLE__)->Instance->TSR) & (CAN_TSR_RQCP1 | CAN_TSR_TXOK1 | CAN_TSR_TME1)) == (CAN_TSR_RQCP1 | CAN_TSR_TXOK1 | CAN_TSR_TME1)) :\ - ((((__HANDLE__)->Instance->TSR) & (CAN_TSR_RQCP2 | CAN_TSR_TXOK2 | CAN_TSR_TME2)) == (CAN_TSR_RQCP2 | CAN_TSR_TXOK2 | CAN_TSR_TME2))) - -/** - * @brief Release the specified receive FIFO. - * @param __HANDLE__ CAN handle - * @param __FIFONUMBER__ Receive FIFO number, CAN_FIFO0 or CAN_FIFO1. - * @retval None - */ -#define __HAL_CAN_FIFO_RELEASE(__HANDLE__, __FIFONUMBER__) (((__FIFONUMBER__) == CAN_FIFO0)? \ -((__HANDLE__)->Instance->RF0R = CAN_RF0R_RFOM0) : ((__HANDLE__)->Instance->RF1R = CAN_RF1R_RFOM1)) - -/** - * @brief Cancel a transmit request. - * @param __HANDLE__ CAN Handle - * @param __TRANSMITMAILBOX__ the number of the mailbox that is used for transmission. - * @retval None - */ -#define __HAL_CAN_CANCEL_TRANSMIT(__HANDLE__, __TRANSMITMAILBOX__)\ -(((__TRANSMITMAILBOX__) == CAN_TXMAILBOX_0)? ((__HANDLE__)->Instance->TSR = CAN_TSR_ABRQ0) :\ - ((__TRANSMITMAILBOX__) == CAN_TXMAILBOX_1)? ((__HANDLE__)->Instance->TSR = CAN_TSR_ABRQ1) :\ - ((__HANDLE__)->Instance->TSR = CAN_TSR_ABRQ2)) - -/** - * @brief Enable or disable the DBG Freeze for CAN. - * @param __HANDLE__ CAN Handle - * @param __NEWSTATE__ new state of the CAN peripheral. - * This parameter can be: ENABLE (CAN reception/transmission is frozen - * during debug. Reception FIFOs can still be accessed/controlled normally) - * or DISABLE (CAN is working during debug). - * @retval None - */ -#define __HAL_CAN_DBG_FREEZE(__HANDLE__, __NEWSTATE__) (((__NEWSTATE__) == ENABLE)? \ -((__HANDLE__)->Instance->MCR |= CAN_MCR_DBF) : ((__HANDLE__)->Instance->MCR &= ~CAN_MCR_DBF)) - -/** - * @} - */ - -/* Exported functions --------------------------------------------------------*/ -/** @addtogroup CAN_Exported_Functions - * @{ - */ - -/** @addtogroup CAN_Exported_Functions_Group1 - * @{ - */ -/* Initialization/de-initialization functions ***********************************/ -HAL_StatusTypeDef HAL_CAN_Init(CAN_HandleTypeDef* hcan); -HAL_StatusTypeDef HAL_CAN_ConfigFilter(CAN_HandleTypeDef* hcan, CAN_FilterConfTypeDef* sFilterConfig); -HAL_StatusTypeDef HAL_CAN_DeInit(CAN_HandleTypeDef* hcan); -void HAL_CAN_MspInit(CAN_HandleTypeDef* hcan); -void HAL_CAN_MspDeInit(CAN_HandleTypeDef* hcan); -/** - * @} - */ - -/** @addtogroup CAN_Exported_Functions_Group2 - * @{ - */ -/* I/O operation functions ******************************************************/ -HAL_StatusTypeDef HAL_CAN_Transmit(CAN_HandleTypeDef *hcan, uint32_t Timeout); -HAL_StatusTypeDef HAL_CAN_Transmit_IT(CAN_HandleTypeDef *hcan); -HAL_StatusTypeDef HAL_CAN_Receive(CAN_HandleTypeDef *hcan, uint8_t FIFONumber, uint32_t Timeout); -HAL_StatusTypeDef HAL_CAN_Receive_IT(CAN_HandleTypeDef *hcan, uint8_t FIFONumber); -HAL_StatusTypeDef HAL_CAN_Sleep(CAN_HandleTypeDef *hcan); -HAL_StatusTypeDef HAL_CAN_WakeUp(CAN_HandleTypeDef *hcan); -void HAL_CAN_IRQHandler(CAN_HandleTypeDef* hcan); -void HAL_CAN_TxCpltCallback(CAN_HandleTypeDef* hcan); -void HAL_CAN_RxCpltCallback(CAN_HandleTypeDef* hcan); -void HAL_CAN_ErrorCallback(CAN_HandleTypeDef *hcan); -/** - * @} - */ - -/** @addtogroup CAN_Exported_Functions_Group3 - * @{ - */ -/* Peripheral State functions ***************************************************/ -uint32_t HAL_CAN_GetError(CAN_HandleTypeDef *hcan); -HAL_CAN_StateTypeDef HAL_CAN_GetState(CAN_HandleTypeDef* hcan); -/** - * @} - */ - -/** - * @} - */ - -/* Private types -------------------------------------------------------------*/ -/** @defgroup CAN_Private_Types CAN Private Types - * @{ - */ - -/** - * @} - */ - -/* Private variables ---------------------------------------------------------*/ -/** @defgroup CAN_Private_Variables CAN Private Variables - * @{ - */ - -/** - * @} - */ - -/* Private constants ---------------------------------------------------------*/ -/** @defgroup CAN_Private_Constants CAN Private Constants - * @{ - */ -#define CAN_TXSTATUS_NOMAILBOX ((uint8_t)0x04) /*!< CAN cell did not provide CAN_TxStatus_NoMailBox */ -#define CAN_FLAG_MASK 0x000000FFU -/** - * @} - */ - -/* Private macros ------------------------------------------------------------*/ -/** @defgroup CAN_Private_Macros CAN Private Macros - * @{ - */ -#define IS_CAN_MODE(MODE) (((MODE) == CAN_MODE_NORMAL) || \ - ((MODE) == CAN_MODE_LOOPBACK)|| \ - ((MODE) == CAN_MODE_SILENT) || \ - ((MODE) == CAN_MODE_SILENT_LOOPBACK)) -#define IS_CAN_SJW(SJW) (((SJW) == CAN_SJW_1TQ) || ((SJW) == CAN_SJW_2TQ)|| \ - ((SJW) == CAN_SJW_3TQ) || ((SJW) == CAN_SJW_4TQ)) -#define IS_CAN_BS1(BS1) ((BS1) <= CAN_BS1_16TQ) -#define IS_CAN_BS2(BS2) ((BS2) <= CAN_BS2_8TQ) -#define IS_CAN_PRESCALER(PRESCALER) (((PRESCALER) >= 1U) && ((PRESCALER) <= 1024U)) -#define IS_CAN_FILTER_NUMBER(NUMBER) ((NUMBER) <= 27U) -#define IS_CAN_FILTER_MODE(MODE) (((MODE) == CAN_FILTERMODE_IDMASK) || \ - ((MODE) == CAN_FILTERMODE_IDLIST)) -#define IS_CAN_FILTER_SCALE(SCALE) (((SCALE) == CAN_FILTERSCALE_16BIT) || \ - ((SCALE) == CAN_FILTERSCALE_32BIT)) -#define IS_CAN_FILTER_FIFO(FIFO) (((FIFO) == CAN_FILTER_FIFO0) || \ - ((FIFO) == CAN_FILTER_FIFO1)) -#define IS_CAN_BANKNUMBER(BANKNUMBER) ((BANKNUMBER) <= 28U) - -#define IS_CAN_TRANSMITMAILBOX(TRANSMITMAILBOX) ((TRANSMITMAILBOX) <= ((uint8_t)0x02)) -#define IS_CAN_STDID(STDID) ((STDID) <= ((uint32_t)0x7FFU)) -#define IS_CAN_EXTID(EXTID) ((EXTID) <= 0x1FFFFFFFU) -#define IS_CAN_DLC(DLC) ((DLC) <= ((uint8_t)0x08)) - -#define IS_CAN_IDTYPE(IDTYPE) (((IDTYPE) == CAN_ID_STD) || \ - ((IDTYPE) == CAN_ID_EXT)) -#define IS_CAN_RTR(RTR) (((RTR) == CAN_RTR_DATA) || ((RTR) == CAN_RTR_REMOTE)) -#define IS_CAN_FIFO(FIFO) (((FIFO) == CAN_FIFO0) || ((FIFO) == CAN_FIFO1)) - -/** - * @} - */ - -/* Private functions ---------------------------------------------------------*/ -/** @defgroup CAN_Private_Functions CAN Private Functions - * @{ - */ - -/** - * @} - */ - -#endif /* STM32F405xx || STM32F415xx || STM32F407xx || STM32F417xx || STM32F427xx || STM32F437xx ||\ - STM32F429xx || STM32F439xx || STM32F446xx || STM32F469xx || STM32F479xx || STM32F412Zx ||\ - STM32F412Vx || STM32F412Rx || STM32F412Cx || STM32F413xx || STM32F423xx */ - -/** - * @} - */ - -/** - * @} - */ - -#ifdef __cplusplus -} -#endif - -#endif /* __STM32F4xx_HAL_CAN_LEGACY_H */ - - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32_assert_template.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32_assert_template.h deleted file mode 100644 index 4711b65d8f92aa..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32_assert_template.h +++ /dev/null @@ -1,57 +0,0 @@ -/** - ****************************************************************************** - * @file stm32_assert.h - * @author MCD Application Team - * @brief STM32 assert template file. - * This file should be copied to the application folder and renamed - * to stm32_assert.h. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef __STM32_ASSERT_H -#define __STM32_ASSERT_H - -#ifdef __cplusplus - extern "C" { -#endif - -/* Exported types ------------------------------------------------------------*/ -/* Exported constants --------------------------------------------------------*/ -/* Includes ------------------------------------------------------------------*/ -/* Exported macro ------------------------------------------------------------*/ -#ifdef USE_FULL_ASSERT -/** - * @brief The assert_param macro is used for function's parameters check. - * @param expr If expr is false, it calls assert_failed function - * which reports the name of the source file and the source - * line number of the call that failed. - * If expr is true, it returns no value. - * @retval None - */ - #define assert_param(expr) ((expr) ? (void)0U : assert_failed((uint8_t *)__FILE__, __LINE__)) -/* Exported functions ------------------------------------------------------- */ - void assert_failed(uint8_t* file, uint32_t line); -#else - #define assert_param(expr) ((void)0U) -#endif /* USE_FULL_ASSERT */ - -#ifdef __cplusplus -} -#endif - -#endif /* __STM32_ASSERT_H */ - - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h deleted file mode 100644 index 209864d5302a9a..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h +++ /dev/null @@ -1,298 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal.h - * @author MCD Application Team - * @brief This file contains all the functions prototypes for the HAL - * module driver. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef __STM32F4xx_HAL_H -#define __STM32F4xx_HAL_H - -#ifdef __cplusplus - extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal_conf.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @addtogroup HAL - * @{ - */ - -/* Exported types ------------------------------------------------------------*/ -/* Exported constants --------------------------------------------------------*/ - -/** @defgroup HAL_Exported_Constants HAL Exported Constants - * @{ - */ - -/** @defgroup HAL_TICK_FREQ Tick Frequency - * @{ - */ -typedef enum -{ - HAL_TICK_FREQ_10HZ = 100U, - HAL_TICK_FREQ_100HZ = 10U, - HAL_TICK_FREQ_1KHZ = 1U, - HAL_TICK_FREQ_DEFAULT = HAL_TICK_FREQ_1KHZ -} HAL_TickFreqTypeDef; -/** - * @} - */ - -/** - * @} - */ - -/* Exported macro ------------------------------------------------------------*/ -/** @defgroup HAL_Exported_Macros HAL Exported Macros - * @{ - */ - -/** @brief Freeze/Unfreeze Peripherals in Debug mode - */ -#define __HAL_DBGMCU_FREEZE_TIM2() (DBGMCU->APB1FZ |= (DBGMCU_APB1_FZ_DBG_TIM2_STOP)) -#define __HAL_DBGMCU_FREEZE_TIM3() (DBGMCU->APB1FZ |= (DBGMCU_APB1_FZ_DBG_TIM3_STOP)) -#define __HAL_DBGMCU_FREEZE_TIM4() (DBGMCU->APB1FZ |= (DBGMCU_APB1_FZ_DBG_TIM4_STOP)) -#define __HAL_DBGMCU_FREEZE_TIM5() (DBGMCU->APB1FZ |= (DBGMCU_APB1_FZ_DBG_TIM5_STOP)) -#define __HAL_DBGMCU_FREEZE_TIM6() (DBGMCU->APB1FZ |= (DBGMCU_APB1_FZ_DBG_TIM6_STOP)) -#define __HAL_DBGMCU_FREEZE_TIM7() (DBGMCU->APB1FZ |= (DBGMCU_APB1_FZ_DBG_TIM7_STOP)) -#define __HAL_DBGMCU_FREEZE_TIM12() (DBGMCU->APB1FZ |= (DBGMCU_APB1_FZ_DBG_TIM12_STOP)) -#define __HAL_DBGMCU_FREEZE_TIM13() (DBGMCU->APB1FZ |= (DBGMCU_APB1_FZ_DBG_TIM13_STOP)) -#define __HAL_DBGMCU_FREEZE_TIM14() (DBGMCU->APB1FZ |= (DBGMCU_APB1_FZ_DBG_TIM14_STOP)) -#define __HAL_DBGMCU_FREEZE_RTC() (DBGMCU->APB1FZ |= (DBGMCU_APB1_FZ_DBG_RTC_STOP)) -#define __HAL_DBGMCU_FREEZE_WWDG() (DBGMCU->APB1FZ |= (DBGMCU_APB1_FZ_DBG_WWDG_STOP)) -#define __HAL_DBGMCU_FREEZE_IWDG() (DBGMCU->APB1FZ |= (DBGMCU_APB1_FZ_DBG_IWDG_STOP)) -#define __HAL_DBGMCU_FREEZE_I2C1_TIMEOUT() (DBGMCU->APB1FZ |= (DBGMCU_APB1_FZ_DBG_I2C1_SMBUS_TIMEOUT)) -#define __HAL_DBGMCU_FREEZE_I2C2_TIMEOUT() (DBGMCU->APB1FZ |= (DBGMCU_APB1_FZ_DBG_I2C2_SMBUS_TIMEOUT)) -#define __HAL_DBGMCU_FREEZE_I2C3_TIMEOUT() (DBGMCU->APB1FZ |= (DBGMCU_APB1_FZ_DBG_I2C3_SMBUS_TIMEOUT)) -#define __HAL_DBGMCU_FREEZE_CAN1() (DBGMCU->APB1FZ |= (DBGMCU_APB1_FZ_DBG_CAN1_STOP)) -#define __HAL_DBGMCU_FREEZE_CAN2() (DBGMCU->APB1FZ |= (DBGMCU_APB1_FZ_DBG_CAN2_STOP)) -#define __HAL_DBGMCU_FREEZE_TIM1() (DBGMCU->APB2FZ |= (DBGMCU_APB2_FZ_DBG_TIM1_STOP)) -#define __HAL_DBGMCU_FREEZE_TIM8() (DBGMCU->APB2FZ |= (DBGMCU_APB2_FZ_DBG_TIM8_STOP)) -#define __HAL_DBGMCU_FREEZE_TIM9() (DBGMCU->APB2FZ |= (DBGMCU_APB2_FZ_DBG_TIM9_STOP)) -#define __HAL_DBGMCU_FREEZE_TIM10() (DBGMCU->APB2FZ |= (DBGMCU_APB2_FZ_DBG_TIM10_STOP)) -#define __HAL_DBGMCU_FREEZE_TIM11() (DBGMCU->APB2FZ |= (DBGMCU_APB2_FZ_DBG_TIM11_STOP)) - -#define __HAL_DBGMCU_UNFREEZE_TIM2() (DBGMCU->APB1FZ &= ~(DBGMCU_APB1_FZ_DBG_TIM2_STOP)) -#define __HAL_DBGMCU_UNFREEZE_TIM3() (DBGMCU->APB1FZ &= ~(DBGMCU_APB1_FZ_DBG_TIM3_STOP)) -#define __HAL_DBGMCU_UNFREEZE_TIM4() (DBGMCU->APB1FZ &= ~(DBGMCU_APB1_FZ_DBG_TIM4_STOP)) -#define __HAL_DBGMCU_UNFREEZE_TIM5() (DBGMCU->APB1FZ &= ~(DBGMCU_APB1_FZ_DBG_TIM5_STOP)) -#define __HAL_DBGMCU_UNFREEZE_TIM6() (DBGMCU->APB1FZ &= ~(DBGMCU_APB1_FZ_DBG_TIM6_STOP)) -#define __HAL_DBGMCU_UNFREEZE_TIM7() (DBGMCU->APB1FZ &= ~(DBGMCU_APB1_FZ_DBG_TIM7_STOP)) -#define __HAL_DBGMCU_UNFREEZE_TIM12() (DBGMCU->APB1FZ &= ~(DBGMCU_APB1_FZ_DBG_TIM12_STOP)) -#define __HAL_DBGMCU_UNFREEZE_TIM13() (DBGMCU->APB1FZ &= ~(DBGMCU_APB1_FZ_DBG_TIM13_STOP)) -#define __HAL_DBGMCU_UNFREEZE_TIM14() (DBGMCU->APB1FZ &= ~(DBGMCU_APB1_FZ_DBG_TIM14_STOP)) -#define __HAL_DBGMCU_UNFREEZE_RTC() (DBGMCU->APB1FZ &= ~(DBGMCU_APB1_FZ_DBG_RTC_STOP)) -#define __HAL_DBGMCU_UNFREEZE_WWDG() (DBGMCU->APB1FZ &= ~(DBGMCU_APB1_FZ_DBG_WWDG_STOP)) -#define __HAL_DBGMCU_UNFREEZE_IWDG() (DBGMCU->APB1FZ &= ~(DBGMCU_APB1_FZ_DBG_IWDG_STOP)) -#define __HAL_DBGMCU_UNFREEZE_I2C1_TIMEOUT() (DBGMCU->APB1FZ &= ~(DBGMCU_APB1_FZ_DBG_I2C1_SMBUS_TIMEOUT)) -#define __HAL_DBGMCU_UNFREEZE_I2C2_TIMEOUT() (DBGMCU->APB1FZ &= ~(DBGMCU_APB1_FZ_DBG_I2C2_SMBUS_TIMEOUT)) -#define __HAL_DBGMCU_UNFREEZE_I2C3_TIMEOUT() (DBGMCU->APB1FZ &= ~(DBGMCU_APB1_FZ_DBG_I2C3_SMBUS_TIMEOUT)) -#define __HAL_DBGMCU_UNFREEZE_CAN1() (DBGMCU->APB1FZ &= ~(DBGMCU_APB1_FZ_DBG_CAN1_STOP)) -#define __HAL_DBGMCU_UNFREEZE_CAN2() (DBGMCU->APB1FZ &= ~(DBGMCU_APB1_FZ_DBG_CAN2_STOP)) -#define __HAL_DBGMCU_UNFREEZE_TIM1() (DBGMCU->APB2FZ &= ~(DBGMCU_APB2_FZ_DBG_TIM1_STOP)) -#define __HAL_DBGMCU_UNFREEZE_TIM8() (DBGMCU->APB2FZ &= ~(DBGMCU_APB2_FZ_DBG_TIM8_STOP)) -#define __HAL_DBGMCU_UNFREEZE_TIM9() (DBGMCU->APB2FZ &= ~(DBGMCU_APB2_FZ_DBG_TIM9_STOP)) -#define __HAL_DBGMCU_UNFREEZE_TIM10() (DBGMCU->APB2FZ &= ~(DBGMCU_APB2_FZ_DBG_TIM10_STOP)) -#define __HAL_DBGMCU_UNFREEZE_TIM11() (DBGMCU->APB2FZ &= ~(DBGMCU_APB2_FZ_DBG_TIM11_STOP)) - -/** @brief Main Flash memory mapped at 0x00000000 - */ -#define __HAL_SYSCFG_REMAPMEMORY_FLASH() (SYSCFG->MEMRMP &= ~(SYSCFG_MEMRMP_MEM_MODE)) - -/** @brief System Flash memory mapped at 0x00000000 - */ -#define __HAL_SYSCFG_REMAPMEMORY_SYSTEMFLASH() do {SYSCFG->MEMRMP &= ~(SYSCFG_MEMRMP_MEM_MODE);\ - SYSCFG->MEMRMP |= SYSCFG_MEMRMP_MEM_MODE_0;\ - }while(0); - -/** @brief Embedded SRAM mapped at 0x00000000 - */ -#define __HAL_SYSCFG_REMAPMEMORY_SRAM() do {SYSCFG->MEMRMP &= ~(SYSCFG_MEMRMP_MEM_MODE);\ - SYSCFG->MEMRMP |= (SYSCFG_MEMRMP_MEM_MODE_0 | SYSCFG_MEMRMP_MEM_MODE_1);\ - }while(0); - -#if defined(STM32F405xx) || defined(STM32F415xx) || defined(STM32F407xx)|| defined(STM32F417xx) -/** @brief FSMC Bank1 (NOR/PSRAM 1 and 2) mapped at 0x00000000 - */ -#define __HAL_SYSCFG_REMAPMEMORY_FSMC() do {SYSCFG->MEMRMP &= ~(SYSCFG_MEMRMP_MEM_MODE);\ - SYSCFG->MEMRMP |= (SYSCFG_MEMRMP_MEM_MODE_1);\ - }while(0); -#endif /* STM32F405xx || STM32F415xx || STM32F407xx || STM32F417xx */ - -#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx)|| defined(STM32F439xx) ||\ - defined(STM32F469xx) || defined(STM32F479xx) -/** @brief FMC Bank1 (NOR/PSRAM 1 and 2) mapped at 0x00000000 - */ -#define __HAL_SYSCFG_REMAPMEMORY_FMC() do {SYSCFG->MEMRMP &= ~(SYSCFG_MEMRMP_MEM_MODE);\ - SYSCFG->MEMRMP |= (SYSCFG_MEMRMP_MEM_MODE_1);\ - }while(0); - -/** @brief FMC/SDRAM Bank 1 and 2 mapped at 0x00000000 - */ -#define __HAL_SYSCFG_REMAPMEMORY_FMC_SDRAM() do {SYSCFG->MEMRMP &= ~(SYSCFG_MEMRMP_MEM_MODE);\ - SYSCFG->MEMRMP |= (SYSCFG_MEMRMP_MEM_MODE_2);\ - }while(0); -#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || STM32F469xx || STM32F479xx */ - -#if defined(STM32F410Tx) || defined(STM32F410Cx) || defined(STM32F410Rx) || defined(STM32F413xx) || defined(STM32F423xx) -/** @defgroup Cortex_Lockup_Enable Cortex Lockup Enable - * @{ - */ -/** @brief SYSCFG Break Lockup lock - * Enables and locks the connection of Cortex-M4 LOCKUP (Hardfault) output to TIM1/8 input - * @note The selected configuration is locked and can be unlocked by system reset - */ -#define __HAL_SYSCFG_BREAK_PVD_LOCK() do {SYSCFG->CFGR2 &= ~(SYSCFG_CFGR2_PVD_LOCK); \ - SYSCFG->CFGR2 |= SYSCFG_CFGR2_PVD_LOCK; \ - }while(0) -/** - * @} - */ - -/** @defgroup PVD_Lock_Enable PVD Lock - * @{ - */ -/** @brief SYSCFG Break PVD lock - * Enables and locks the PVD connection with Timer1/8 Break Input, , as well as the PVDE and PLS[2:0] in the PWR_CR register - * @note The selected configuration is locked and can be unlocked by system reset - */ -#define __HAL_SYSCFG_BREAK_LOCKUP_LOCK() do {SYSCFG->CFGR2 &= ~(SYSCFG_CFGR2_LOCKUP_LOCK); \ - SYSCFG->CFGR2 |= SYSCFG_CFGR2_LOCKUP_LOCK; \ - }while(0) -/** - * @} - */ -#endif /* STM32F410Tx || STM32F410Cx || STM32F410Rx || STM32F413xx || STM32F423xx */ -/** - * @} - */ - -/** @defgroup HAL_Private_Macros HAL Private Macros - * @{ - */ -#define IS_TICKFREQ(FREQ) (((FREQ) == HAL_TICK_FREQ_10HZ) || \ - ((FREQ) == HAL_TICK_FREQ_100HZ) || \ - ((FREQ) == HAL_TICK_FREQ_1KHZ)) -/** - * @} - */ - -/* Exported variables --------------------------------------------------------*/ - -/** @addtogroup HAL_Exported_Variables - * @{ - */ -extern __IO uint32_t uwTick; -extern uint32_t uwTickPrio; -extern HAL_TickFreqTypeDef uwTickFreq; -/** - * @} - */ - -/* Exported functions --------------------------------------------------------*/ -/** @addtogroup HAL_Exported_Functions - * @{ - */ -/** @addtogroup HAL_Exported_Functions_Group1 - * @{ - */ -/* Initialization and Configuration functions ******************************/ -HAL_StatusTypeDef HAL_Init(void); -HAL_StatusTypeDef HAL_DeInit(void); -void HAL_MspInit(void); -void HAL_MspDeInit(void); -HAL_StatusTypeDef HAL_InitTick (uint32_t TickPriority); -/** - * @} - */ - -/** @addtogroup HAL_Exported_Functions_Group2 - * @{ - */ -/* Peripheral Control functions ************************************************/ -void HAL_IncTick(void); -void HAL_Delay(uint32_t Delay); -uint32_t HAL_GetTick(void); -uint32_t HAL_GetTickPrio(void); -HAL_StatusTypeDef HAL_SetTickFreq(HAL_TickFreqTypeDef Freq); -HAL_TickFreqTypeDef HAL_GetTickFreq(void); -void HAL_SuspendTick(void); -void HAL_ResumeTick(void); -uint32_t HAL_GetHalVersion(void); -uint32_t HAL_GetREVID(void); -uint32_t HAL_GetDEVID(void); -void HAL_DBGMCU_EnableDBGSleepMode(void); -void HAL_DBGMCU_DisableDBGSleepMode(void); -void HAL_DBGMCU_EnableDBGStopMode(void); -void HAL_DBGMCU_DisableDBGStopMode(void); -void HAL_DBGMCU_EnableDBGStandbyMode(void); -void HAL_DBGMCU_DisableDBGStandbyMode(void); -void HAL_EnableCompensationCell(void); -void HAL_DisableCompensationCell(void); -uint32_t HAL_GetUIDw0(void); -uint32_t HAL_GetUIDw1(void); -uint32_t HAL_GetUIDw2(void); -#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx)|| defined(STM32F439xx) ||\ - defined(STM32F469xx) || defined(STM32F479xx) -void HAL_EnableMemorySwappingBank(void); -void HAL_DisableMemorySwappingBank(void); -#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || STM32F469xx || STM32F479xx */ -/** - * @} - */ - -/** - * @} - */ -/* Private types -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/** @defgroup HAL_Private_Variables HAL Private Variables - * @{ - */ -/** - * @} - */ -/* Private constants ---------------------------------------------------------*/ -/** @defgroup HAL_Private_Constants HAL Private Constants - * @{ - */ -/** - * @} - */ -/* Private macros ------------------------------------------------------------*/ -/* Private functions ---------------------------------------------------------*/ -/** - * @} - */ - -/** - * @} - */ - -#ifdef __cplusplus -} -#endif - -#endif /* __STM32F4xx_HAL_H */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc.h deleted file mode 100644 index a041e76965c12b..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc.h +++ /dev/null @@ -1,900 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_adc.h - * @author MCD Application Team - * @brief Header file containing functions prototypes of ADC HAL library. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef __STM32F4xx_ADC_H -#define __STM32F4xx_ADC_H - -#ifdef __cplusplus - extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal_def.h" - -/* Include low level driver */ -#include "stm32f4xx_ll_adc.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @addtogroup ADC - * @{ - */ - -/* Exported types ------------------------------------------------------------*/ -/** @defgroup ADC_Exported_Types ADC Exported Types - * @{ - */ - -/** - * @brief Structure definition of ADC and regular group initialization - * @note Parameters of this structure are shared within 2 scopes: - * - Scope entire ADC (affects regular and injected groups): ClockPrescaler, Resolution, ScanConvMode, DataAlign, ScanConvMode, EOCSelection, LowPowerAutoWait, LowPowerAutoPowerOff, ChannelsBank. - * - Scope regular group: ContinuousConvMode, NbrOfConversion, DiscontinuousConvMode, NbrOfDiscConversion, ExternalTrigConvEdge, ExternalTrigConv. - * @note The setting of these parameters with function HAL_ADC_Init() is conditioned to ADC state. - * ADC state can be either: - * - For all parameters: ADC disabled - * - For all parameters except 'Resolution', 'ScanConvMode', 'DiscontinuousConvMode', 'NbrOfDiscConversion' : ADC enabled without conversion on going on regular group. - * - For parameters 'ExternalTrigConv' and 'ExternalTrigConvEdge': ADC enabled, even with conversion on going. - * If ADC is not in the appropriate state to modify some parameters, these parameters setting is bypassed - * without error reporting (as it can be the expected behaviour in case of intended action to update another parameter (which fulfills the ADC state condition) on the fly). - */ -typedef struct -{ - uint32_t ClockPrescaler; /*!< Select ADC clock prescaler. The clock is common for - all the ADCs. - This parameter can be a value of @ref ADC_ClockPrescaler */ - uint32_t Resolution; /*!< Configures the ADC resolution. - This parameter can be a value of @ref ADC_Resolution */ - uint32_t DataAlign; /*!< Specifies ADC data alignment to right (MSB on register bit 11 and LSB on register bit 0) (default setting) - or to left (if regular group: MSB on register bit 15 and LSB on register bit 4, if injected group (MSB kept as signed value due to potential negative value after offset application): MSB on register bit 14 and LSB on register bit 3). - This parameter can be a value of @ref ADC_Data_align */ - uint32_t ScanConvMode; /*!< Configures the sequencer of regular and injected groups. - This parameter can be associated to parameter 'DiscontinuousConvMode' to have main sequence subdivided in successive parts. - If disabled: Conversion is performed in single mode (one channel converted, the one defined in rank 1). - Parameters 'NbrOfConversion' and 'InjectedNbrOfConversion' are discarded (equivalent to set to 1). - If enabled: Conversions are performed in sequence mode (multiple ranks defined by 'NbrOfConversion'/'InjectedNbrOfConversion' and each channel rank). - Scan direction is upward: from rank1 to rank 'n'. - This parameter can be set to ENABLE or DISABLE */ - uint32_t EOCSelection; /*!< Specifies what EOC (End Of Conversion) flag is used for conversion by polling and interruption: end of conversion of each rank or complete sequence. - This parameter can be a value of @ref ADC_EOCSelection. - Note: For injected group, end of conversion (flag&IT) is raised only at the end of the sequence. - Therefore, if end of conversion is set to end of each conversion, injected group should not be used with interruption (HAL_ADCEx_InjectedStart_IT) - or polling (HAL_ADCEx_InjectedStart and HAL_ADCEx_InjectedPollForConversion). By the way, polling is still possible since driver will use an estimated timing for end of injected conversion. - Note: If overrun feature is intended to be used, use ADC in mode 'interruption' (function HAL_ADC_Start_IT() ) with parameter EOCSelection set to end of each conversion or in mode 'transfer by DMA' (function HAL_ADC_Start_DMA()). - If overrun feature is intended to be bypassed, use ADC in mode 'polling' or 'interruption' with parameter EOCSelection must be set to end of sequence */ - FunctionalState ContinuousConvMode; /*!< Specifies whether the conversion is performed in single mode (one conversion) or continuous mode for regular group, - after the selected trigger occurred (software start or external trigger). - This parameter can be set to ENABLE or DISABLE. */ - uint32_t NbrOfConversion; /*!< Specifies the number of ranks that will be converted within the regular group sequencer. - To use regular group sequencer and convert several ranks, parameter 'ScanConvMode' must be enabled. - This parameter must be a number between Min_Data = 1 and Max_Data = 16. */ - FunctionalState DiscontinuousConvMode; /*!< Specifies whether the conversions sequence of regular group is performed in Complete-sequence/Discontinuous-sequence (main sequence subdivided in successive parts). - Discontinuous mode is used only if sequencer is enabled (parameter 'ScanConvMode'). If sequencer is disabled, this parameter is discarded. - Discontinuous mode can be enabled only if continuous mode is disabled. If continuous mode is enabled, this parameter setting is discarded. - This parameter can be set to ENABLE or DISABLE. */ - uint32_t NbrOfDiscConversion; /*!< Specifies the number of discontinuous conversions in which the main sequence of regular group (parameter NbrOfConversion) will be subdivided. - If parameter 'DiscontinuousConvMode' is disabled, this parameter is discarded. - This parameter must be a number between Min_Data = 1 and Max_Data = 8. */ - uint32_t ExternalTrigConv; /*!< Selects the external event used to trigger the conversion start of regular group. - If set to ADC_SOFTWARE_START, external triggers are disabled. - If set to external trigger source, triggering is on event rising edge by default. - This parameter can be a value of @ref ADC_External_trigger_Source_Regular */ - uint32_t ExternalTrigConvEdge; /*!< Selects the external trigger edge of regular group. - If trigger is set to ADC_SOFTWARE_START, this parameter is discarded. - This parameter can be a value of @ref ADC_External_trigger_edge_Regular */ - FunctionalState DMAContinuousRequests; /*!< Specifies whether the DMA requests are performed in one shot mode (DMA transfer stop when number of conversions is reached) - or in Continuous mode (DMA transfer unlimited, whatever number of conversions). - Note: In continuous mode, DMA must be configured in circular mode. Otherwise an overrun will be triggered when DMA buffer maximum pointer is reached. - Note: This parameter must be modified when no conversion is on going on both regular and injected groups (ADC disabled, or ADC enabled without continuous mode or external trigger that could launch a conversion). - This parameter can be set to ENABLE or DISABLE. */ -}ADC_InitTypeDef; - - - -/** - * @brief Structure definition of ADC channel for regular group - * @note The setting of these parameters with function HAL_ADC_ConfigChannel() is conditioned to ADC state. - * ADC can be either disabled or enabled without conversion on going on regular group. - */ -typedef struct -{ - uint32_t Channel; /*!< Specifies the channel to configure into ADC regular group. - This parameter can be a value of @ref ADC_channels */ - uint32_t Rank; /*!< Specifies the rank in the regular group sequencer. - This parameter must be a number between Min_Data = 1 and Max_Data = 16 */ - uint32_t SamplingTime; /*!< Sampling time value to be set for the selected channel. - Unit: ADC clock cycles - Conversion time is the addition of sampling time and processing time (12 ADC clock cycles at ADC resolution 12 bits, 11 cycles at 10 bits, 9 cycles at 8 bits, 7 cycles at 6 bits). - This parameter can be a value of @ref ADC_sampling_times - Caution: This parameter updates the parameter property of the channel, that can be used into regular and/or injected groups. - If this same channel has been previously configured in the other group (regular/injected), it will be updated to last setting. - Note: In case of usage of internal measurement channels (VrefInt/Vbat/TempSensor), - sampling time constraints must be respected (sampling time can be adjusted in function of ADC clock frequency and sampling time setting) - Refer to device datasheet for timings values, parameters TS_vrefint, TS_temp (values rough order: 4us min). */ - uint32_t Offset; /*!< Reserved for future use, can be set to 0 */ -}ADC_ChannelConfTypeDef; - -/** - * @brief ADC Configuration multi-mode structure definition - */ -typedef struct -{ - uint32_t WatchdogMode; /*!< Configures the ADC analog watchdog mode. - This parameter can be a value of @ref ADC_analog_watchdog_selection */ - uint32_t HighThreshold; /*!< Configures the ADC analog watchdog High threshold value. - This parameter must be a 12-bit value. */ - uint32_t LowThreshold; /*!< Configures the ADC analog watchdog High threshold value. - This parameter must be a 12-bit value. */ - uint32_t Channel; /*!< Configures ADC channel for the analog watchdog. - This parameter has an effect only if watchdog mode is configured on single channel - This parameter can be a value of @ref ADC_channels */ - FunctionalState ITMode; /*!< Specifies whether the analog watchdog is configured - is interrupt mode or in polling mode. - This parameter can be set to ENABLE or DISABLE */ - uint32_t WatchdogNumber; /*!< Reserved for future use, can be set to 0 */ -}ADC_AnalogWDGConfTypeDef; - -/** - * @brief HAL ADC state machine: ADC states definition (bitfields) - */ -/* States of ADC global scope */ -#define HAL_ADC_STATE_RESET 0x00000000U /*!< ADC not yet initialized or disabled */ -#define HAL_ADC_STATE_READY 0x00000001U /*!< ADC peripheral ready for use */ -#define HAL_ADC_STATE_BUSY_INTERNAL 0x00000002U /*!< ADC is busy to internal process (initialization, calibration) */ -#define HAL_ADC_STATE_TIMEOUT 0x00000004U /*!< TimeOut occurrence */ - -/* States of ADC errors */ -#define HAL_ADC_STATE_ERROR_INTERNAL 0x00000010U /*!< Internal error occurrence */ -#define HAL_ADC_STATE_ERROR_CONFIG 0x00000020U /*!< Configuration error occurrence */ -#define HAL_ADC_STATE_ERROR_DMA 0x00000040U /*!< DMA error occurrence */ - -/* States of ADC group regular */ -#define HAL_ADC_STATE_REG_BUSY 0x00000100U /*!< A conversion on group regular is ongoing or can occur (either by continuous mode, - external trigger, low power auto power-on (if feature available), multimode ADC master control (if feature available)) */ -#define HAL_ADC_STATE_REG_EOC 0x00000200U /*!< Conversion data available on group regular */ -#define HAL_ADC_STATE_REG_OVR 0x00000400U /*!< Overrun occurrence */ - -/* States of ADC group injected */ -#define HAL_ADC_STATE_INJ_BUSY 0x00001000U /*!< A conversion on group injected is ongoing or can occur (either by auto-injection mode, - external trigger, low power auto power-on (if feature available), multimode ADC master control (if feature available)) */ -#define HAL_ADC_STATE_INJ_EOC 0x00002000U /*!< Conversion data available on group injected */ - -/* States of ADC analog watchdogs */ -#define HAL_ADC_STATE_AWD1 0x00010000U /*!< Out-of-window occurrence of analog watchdog 1 */ -#define HAL_ADC_STATE_AWD2 0x00020000U /*!< Not available on STM32F4 device: Out-of-window occurrence of analog watchdog 2 */ -#define HAL_ADC_STATE_AWD3 0x00040000U /*!< Not available on STM32F4 device: Out-of-window occurrence of analog watchdog 3 */ - -/* States of ADC multi-mode */ -#define HAL_ADC_STATE_MULTIMODE_SLAVE 0x00100000U /*!< Not available on STM32F4 device: ADC in multimode slave state, controlled by another ADC master ( */ - - -/** - * @brief ADC handle Structure definition - */ -#if (USE_HAL_ADC_REGISTER_CALLBACKS == 1) -typedef struct __ADC_HandleTypeDef -#else -typedef struct -#endif -{ - ADC_TypeDef *Instance; /*!< Register base address */ - - ADC_InitTypeDef Init; /*!< ADC required parameters */ - - __IO uint32_t NbrOfCurrentConversionRank; /*!< ADC number of current conversion rank */ - - DMA_HandleTypeDef *DMA_Handle; /*!< Pointer DMA Handler */ - - HAL_LockTypeDef Lock; /*!< ADC locking object */ - - __IO uint32_t State; /*!< ADC communication state */ - - __IO uint32_t ErrorCode; /*!< ADC Error code */ -#if (USE_HAL_ADC_REGISTER_CALLBACKS == 1) - void (* ConvCpltCallback)(struct __ADC_HandleTypeDef *hadc); /*!< ADC conversion complete callback */ - void (* ConvHalfCpltCallback)(struct __ADC_HandleTypeDef *hadc); /*!< ADC conversion DMA half-transfer callback */ - void (* LevelOutOfWindowCallback)(struct __ADC_HandleTypeDef *hadc); /*!< ADC analog watchdog 1 callback */ - void (* ErrorCallback)(struct __ADC_HandleTypeDef *hadc); /*!< ADC error callback */ - void (* InjectedConvCpltCallback)(struct __ADC_HandleTypeDef *hadc); /*!< ADC group injected conversion complete callback */ - void (* MspInitCallback)(struct __ADC_HandleTypeDef *hadc); /*!< ADC Msp Init callback */ - void (* MspDeInitCallback)(struct __ADC_HandleTypeDef *hadc); /*!< ADC Msp DeInit callback */ -#endif /* USE_HAL_ADC_REGISTER_CALLBACKS */ -}ADC_HandleTypeDef; - -#if (USE_HAL_ADC_REGISTER_CALLBACKS == 1) -/** - * @brief HAL ADC Callback ID enumeration definition - */ -typedef enum -{ - HAL_ADC_CONVERSION_COMPLETE_CB_ID = 0x00U, /*!< ADC conversion complete callback ID */ - HAL_ADC_CONVERSION_HALF_CB_ID = 0x01U, /*!< ADC conversion DMA half-transfer callback ID */ - HAL_ADC_LEVEL_OUT_OF_WINDOW_1_CB_ID = 0x02U, /*!< ADC analog watchdog 1 callback ID */ - HAL_ADC_ERROR_CB_ID = 0x03U, /*!< ADC error callback ID */ - HAL_ADC_INJ_CONVERSION_COMPLETE_CB_ID = 0x04U, /*!< ADC group injected conversion complete callback ID */ - HAL_ADC_MSPINIT_CB_ID = 0x05U, /*!< ADC Msp Init callback ID */ - HAL_ADC_MSPDEINIT_CB_ID = 0x06U /*!< ADC Msp DeInit callback ID */ -} HAL_ADC_CallbackIDTypeDef; - -/** - * @brief HAL ADC Callback pointer definition - */ -typedef void (*pADC_CallbackTypeDef)(ADC_HandleTypeDef *hadc); /*!< pointer to a ADC callback function */ - -#endif /* USE_HAL_ADC_REGISTER_CALLBACKS */ - -/** - * @} - */ - -/* Exported constants --------------------------------------------------------*/ -/** @defgroup ADC_Exported_Constants ADC Exported Constants - * @{ - */ - -/** @defgroup ADC_Error_Code ADC Error Code - * @{ - */ -#define HAL_ADC_ERROR_NONE 0x00U /*!< No error */ -#define HAL_ADC_ERROR_INTERNAL 0x01U /*!< ADC IP internal error: if problem of clocking, - enable/disable, erroneous state */ -#define HAL_ADC_ERROR_OVR 0x02U /*!< Overrun error */ -#define HAL_ADC_ERROR_DMA 0x04U /*!< DMA transfer error */ -#if (USE_HAL_ADC_REGISTER_CALLBACKS == 1) -#define HAL_ADC_ERROR_INVALID_CALLBACK (0x10U) /*!< Invalid Callback error */ -#endif /* USE_HAL_ADC_REGISTER_CALLBACKS */ -/** - * @} - */ - - -/** @defgroup ADC_ClockPrescaler ADC Clock Prescaler - * @{ - */ -#define ADC_CLOCK_SYNC_PCLK_DIV2 0x00000000U -#define ADC_CLOCK_SYNC_PCLK_DIV4 ((uint32_t)ADC_CCR_ADCPRE_0) -#define ADC_CLOCK_SYNC_PCLK_DIV6 ((uint32_t)ADC_CCR_ADCPRE_1) -#define ADC_CLOCK_SYNC_PCLK_DIV8 ((uint32_t)ADC_CCR_ADCPRE) -/** - * @} - */ - -/** @defgroup ADC_delay_between_2_sampling_phases ADC Delay Between 2 Sampling Phases - * @{ - */ -#define ADC_TWOSAMPLINGDELAY_5CYCLES 0x00000000U -#define ADC_TWOSAMPLINGDELAY_6CYCLES ((uint32_t)ADC_CCR_DELAY_0) -#define ADC_TWOSAMPLINGDELAY_7CYCLES ((uint32_t)ADC_CCR_DELAY_1) -#define ADC_TWOSAMPLINGDELAY_8CYCLES ((uint32_t)(ADC_CCR_DELAY_1 | ADC_CCR_DELAY_0)) -#define ADC_TWOSAMPLINGDELAY_9CYCLES ((uint32_t)ADC_CCR_DELAY_2) -#define ADC_TWOSAMPLINGDELAY_10CYCLES ((uint32_t)(ADC_CCR_DELAY_2 | ADC_CCR_DELAY_0)) -#define ADC_TWOSAMPLINGDELAY_11CYCLES ((uint32_t)(ADC_CCR_DELAY_2 | ADC_CCR_DELAY_1)) -#define ADC_TWOSAMPLINGDELAY_12CYCLES ((uint32_t)(ADC_CCR_DELAY_2 | ADC_CCR_DELAY_1 | ADC_CCR_DELAY_0)) -#define ADC_TWOSAMPLINGDELAY_13CYCLES ((uint32_t)ADC_CCR_DELAY_3) -#define ADC_TWOSAMPLINGDELAY_14CYCLES ((uint32_t)(ADC_CCR_DELAY_3 | ADC_CCR_DELAY_0)) -#define ADC_TWOSAMPLINGDELAY_15CYCLES ((uint32_t)(ADC_CCR_DELAY_3 | ADC_CCR_DELAY_1)) -#define ADC_TWOSAMPLINGDELAY_16CYCLES ((uint32_t)(ADC_CCR_DELAY_3 | ADC_CCR_DELAY_1 | ADC_CCR_DELAY_0)) -#define ADC_TWOSAMPLINGDELAY_17CYCLES ((uint32_t)(ADC_CCR_DELAY_3 | ADC_CCR_DELAY_2)) -#define ADC_TWOSAMPLINGDELAY_18CYCLES ((uint32_t)(ADC_CCR_DELAY_3 | ADC_CCR_DELAY_2 | ADC_CCR_DELAY_0)) -#define ADC_TWOSAMPLINGDELAY_19CYCLES ((uint32_t)(ADC_CCR_DELAY_3 | ADC_CCR_DELAY_2 | ADC_CCR_DELAY_1)) -#define ADC_TWOSAMPLINGDELAY_20CYCLES ((uint32_t)ADC_CCR_DELAY) -/** - * @} - */ - -/** @defgroup ADC_Resolution ADC Resolution - * @{ - */ -#define ADC_RESOLUTION_12B 0x00000000U -#define ADC_RESOLUTION_10B ((uint32_t)ADC_CR1_RES_0) -#define ADC_RESOLUTION_8B ((uint32_t)ADC_CR1_RES_1) -#define ADC_RESOLUTION_6B ((uint32_t)ADC_CR1_RES) -/** - * @} - */ - -/** @defgroup ADC_External_trigger_edge_Regular ADC External Trigger Edge Regular - * @{ - */ -#define ADC_EXTERNALTRIGCONVEDGE_NONE 0x00000000U -#define ADC_EXTERNALTRIGCONVEDGE_RISING ((uint32_t)ADC_CR2_EXTEN_0) -#define ADC_EXTERNALTRIGCONVEDGE_FALLING ((uint32_t)ADC_CR2_EXTEN_1) -#define ADC_EXTERNALTRIGCONVEDGE_RISINGFALLING ((uint32_t)ADC_CR2_EXTEN) -/** - * @} - */ - -/** @defgroup ADC_External_trigger_Source_Regular ADC External Trigger Source Regular - * @{ - */ -/* Note: Parameter ADC_SOFTWARE_START is a software parameter used for */ -/* compatibility with other STM32 devices. */ -#define ADC_EXTERNALTRIGCONV_T1_CC1 0x00000000U -#define ADC_EXTERNALTRIGCONV_T1_CC2 ((uint32_t)ADC_CR2_EXTSEL_0) -#define ADC_EXTERNALTRIGCONV_T1_CC3 ((uint32_t)ADC_CR2_EXTSEL_1) -#define ADC_EXTERNALTRIGCONV_T2_CC2 ((uint32_t)(ADC_CR2_EXTSEL_1 | ADC_CR2_EXTSEL_0)) -#define ADC_EXTERNALTRIGCONV_T2_CC3 ((uint32_t)ADC_CR2_EXTSEL_2) -#define ADC_EXTERNALTRIGCONV_T2_CC4 ((uint32_t)(ADC_CR2_EXTSEL_2 | ADC_CR2_EXTSEL_0)) -#define ADC_EXTERNALTRIGCONV_T2_TRGO ((uint32_t)(ADC_CR2_EXTSEL_2 | ADC_CR2_EXTSEL_1)) -#define ADC_EXTERNALTRIGCONV_T3_CC1 ((uint32_t)(ADC_CR2_EXTSEL_2 | ADC_CR2_EXTSEL_1 | ADC_CR2_EXTSEL_0)) -#define ADC_EXTERNALTRIGCONV_T3_TRGO ((uint32_t)ADC_CR2_EXTSEL_3) -#define ADC_EXTERNALTRIGCONV_T4_CC4 ((uint32_t)(ADC_CR2_EXTSEL_3 | ADC_CR2_EXTSEL_0)) -#define ADC_EXTERNALTRIGCONV_T5_CC1 ((uint32_t)(ADC_CR2_EXTSEL_3 | ADC_CR2_EXTSEL_1)) -#define ADC_EXTERNALTRIGCONV_T5_CC2 ((uint32_t)(ADC_CR2_EXTSEL_3 | ADC_CR2_EXTSEL_1 | ADC_CR2_EXTSEL_0)) -#define ADC_EXTERNALTRIGCONV_T5_CC3 ((uint32_t)(ADC_CR2_EXTSEL_3 | ADC_CR2_EXTSEL_2)) -#define ADC_EXTERNALTRIGCONV_T8_CC1 ((uint32_t)(ADC_CR2_EXTSEL_3 | ADC_CR2_EXTSEL_2 | ADC_CR2_EXTSEL_0)) -#define ADC_EXTERNALTRIGCONV_T8_TRGO ((uint32_t)(ADC_CR2_EXTSEL_3 | ADC_CR2_EXTSEL_2 | ADC_CR2_EXTSEL_1)) -#define ADC_EXTERNALTRIGCONV_Ext_IT11 ((uint32_t)ADC_CR2_EXTSEL) -#define ADC_SOFTWARE_START ((uint32_t)ADC_CR2_EXTSEL + 1U) -/** - * @} - */ - -/** @defgroup ADC_Data_align ADC Data Align - * @{ - */ -#define ADC_DATAALIGN_RIGHT 0x00000000U -#define ADC_DATAALIGN_LEFT ((uint32_t)ADC_CR2_ALIGN) -/** - * @} - */ - -/** @defgroup ADC_channels ADC Common Channels - * @{ - */ -#define ADC_CHANNEL_0 0x00000000U -#define ADC_CHANNEL_1 ((uint32_t)ADC_CR1_AWDCH_0) -#define ADC_CHANNEL_2 ((uint32_t)ADC_CR1_AWDCH_1) -#define ADC_CHANNEL_3 ((uint32_t)(ADC_CR1_AWDCH_1 | ADC_CR1_AWDCH_0)) -#define ADC_CHANNEL_4 ((uint32_t)ADC_CR1_AWDCH_2) -#define ADC_CHANNEL_5 ((uint32_t)(ADC_CR1_AWDCH_2 | ADC_CR1_AWDCH_0)) -#define ADC_CHANNEL_6 ((uint32_t)(ADC_CR1_AWDCH_2 | ADC_CR1_AWDCH_1)) -#define ADC_CHANNEL_7 ((uint32_t)(ADC_CR1_AWDCH_2 | ADC_CR1_AWDCH_1 | ADC_CR1_AWDCH_0)) -#define ADC_CHANNEL_8 ((uint32_t)ADC_CR1_AWDCH_3) -#define ADC_CHANNEL_9 ((uint32_t)(ADC_CR1_AWDCH_3 | ADC_CR1_AWDCH_0)) -#define ADC_CHANNEL_10 ((uint32_t)(ADC_CR1_AWDCH_3 | ADC_CR1_AWDCH_1)) -#define ADC_CHANNEL_11 ((uint32_t)(ADC_CR1_AWDCH_3 | ADC_CR1_AWDCH_1 | ADC_CR1_AWDCH_0)) -#define ADC_CHANNEL_12 ((uint32_t)(ADC_CR1_AWDCH_3 | ADC_CR1_AWDCH_2)) -#define ADC_CHANNEL_13 ((uint32_t)(ADC_CR1_AWDCH_3 | ADC_CR1_AWDCH_2 | ADC_CR1_AWDCH_0)) -#define ADC_CHANNEL_14 ((uint32_t)(ADC_CR1_AWDCH_3 | ADC_CR1_AWDCH_2 | ADC_CR1_AWDCH_1)) -#define ADC_CHANNEL_15 ((uint32_t)(ADC_CR1_AWDCH_3 | ADC_CR1_AWDCH_2 | ADC_CR1_AWDCH_1 | ADC_CR1_AWDCH_0)) -#define ADC_CHANNEL_16 ((uint32_t)ADC_CR1_AWDCH_4) -#define ADC_CHANNEL_17 ((uint32_t)(ADC_CR1_AWDCH_4 | ADC_CR1_AWDCH_0)) -#define ADC_CHANNEL_18 ((uint32_t)(ADC_CR1_AWDCH_4 | ADC_CR1_AWDCH_1)) - -#define ADC_CHANNEL_VREFINT ((uint32_t)ADC_CHANNEL_17) -#define ADC_CHANNEL_VBAT ((uint32_t)ADC_CHANNEL_18) -/** - * @} - */ - -/** @defgroup ADC_sampling_times ADC Sampling Times - * @{ - */ -#define ADC_SAMPLETIME_3CYCLES 0x00000000U -#define ADC_SAMPLETIME_15CYCLES ((uint32_t)ADC_SMPR1_SMP10_0) -#define ADC_SAMPLETIME_28CYCLES ((uint32_t)ADC_SMPR1_SMP10_1) -#define ADC_SAMPLETIME_56CYCLES ((uint32_t)(ADC_SMPR1_SMP10_1 | ADC_SMPR1_SMP10_0)) -#define ADC_SAMPLETIME_84CYCLES ((uint32_t)ADC_SMPR1_SMP10_2) -#define ADC_SAMPLETIME_112CYCLES ((uint32_t)(ADC_SMPR1_SMP10_2 | ADC_SMPR1_SMP10_0)) -#define ADC_SAMPLETIME_144CYCLES ((uint32_t)(ADC_SMPR1_SMP10_2 | ADC_SMPR1_SMP10_1)) -#define ADC_SAMPLETIME_480CYCLES ((uint32_t)ADC_SMPR1_SMP10) -/** - * @} - */ - - /** @defgroup ADC_EOCSelection ADC EOC Selection - * @{ - */ -#define ADC_EOC_SEQ_CONV 0x00000000U -#define ADC_EOC_SINGLE_CONV 0x00000001U -#define ADC_EOC_SINGLE_SEQ_CONV 0x00000002U /*!< reserved for future use */ -/** - * @} - */ - -/** @defgroup ADC_Event_type ADC Event Type - * @{ - */ -#define ADC_AWD_EVENT ((uint32_t)ADC_FLAG_AWD) -#define ADC_OVR_EVENT ((uint32_t)ADC_FLAG_OVR) -/** - * @} - */ - -/** @defgroup ADC_analog_watchdog_selection ADC Analog Watchdog Selection - * @{ - */ -#define ADC_ANALOGWATCHDOG_SINGLE_REG ((uint32_t)(ADC_CR1_AWDSGL | ADC_CR1_AWDEN)) -#define ADC_ANALOGWATCHDOG_SINGLE_INJEC ((uint32_t)(ADC_CR1_AWDSGL | ADC_CR1_JAWDEN)) -#define ADC_ANALOGWATCHDOG_SINGLE_REGINJEC ((uint32_t)(ADC_CR1_AWDSGL | ADC_CR1_AWDEN | ADC_CR1_JAWDEN)) -#define ADC_ANALOGWATCHDOG_ALL_REG ((uint32_t)ADC_CR1_AWDEN) -#define ADC_ANALOGWATCHDOG_ALL_INJEC ((uint32_t)ADC_CR1_JAWDEN) -#define ADC_ANALOGWATCHDOG_ALL_REGINJEC ((uint32_t)(ADC_CR1_AWDEN | ADC_CR1_JAWDEN)) -#define ADC_ANALOGWATCHDOG_NONE 0x00000000U -/** - * @} - */ - -/** @defgroup ADC_interrupts_definition ADC Interrupts Definition - * @{ - */ -#define ADC_IT_EOC ((uint32_t)ADC_CR1_EOCIE) -#define ADC_IT_AWD ((uint32_t)ADC_CR1_AWDIE) -#define ADC_IT_JEOC ((uint32_t)ADC_CR1_JEOCIE) -#define ADC_IT_OVR ((uint32_t)ADC_CR1_OVRIE) -/** - * @} - */ - -/** @defgroup ADC_flags_definition ADC Flags Definition - * @{ - */ -#define ADC_FLAG_AWD ((uint32_t)ADC_SR_AWD) -#define ADC_FLAG_EOC ((uint32_t)ADC_SR_EOC) -#define ADC_FLAG_JEOC ((uint32_t)ADC_SR_JEOC) -#define ADC_FLAG_JSTRT ((uint32_t)ADC_SR_JSTRT) -#define ADC_FLAG_STRT ((uint32_t)ADC_SR_STRT) -#define ADC_FLAG_OVR ((uint32_t)ADC_SR_OVR) -/** - * @} - */ - -/** @defgroup ADC_channels_type ADC Channels Type - * @{ - */ -#define ADC_ALL_CHANNELS 0x00000001U -#define ADC_REGULAR_CHANNELS 0x00000002U /*!< reserved for future use */ -#define ADC_INJECTED_CHANNELS 0x00000003U /*!< reserved for future use */ -/** - * @} - */ - -/** - * @} - */ - -/* Exported macro ------------------------------------------------------------*/ -/** @defgroup ADC_Exported_Macros ADC Exported Macros - * @{ - */ - -/** @brief Reset ADC handle state - * @param __HANDLE__ ADC handle - * @retval None - */ -#if (USE_HAL_ADC_REGISTER_CALLBACKS == 1) -#define __HAL_ADC_RESET_HANDLE_STATE(__HANDLE__) \ - do{ \ - (__HANDLE__)->State = HAL_ADC_STATE_RESET; \ - (__HANDLE__)->MspInitCallback = NULL; \ - (__HANDLE__)->MspDeInitCallback = NULL; \ - } while(0) -#else -#define __HAL_ADC_RESET_HANDLE_STATE(__HANDLE__) \ - ((__HANDLE__)->State = HAL_ADC_STATE_RESET) -#endif - -/** - * @brief Enable the ADC peripheral. - * @param __HANDLE__ ADC handle - * @retval None - */ -#define __HAL_ADC_ENABLE(__HANDLE__) ((__HANDLE__)->Instance->CR2 |= ADC_CR2_ADON) - -/** - * @brief Disable the ADC peripheral. - * @param __HANDLE__ ADC handle - * @retval None - */ -#define __HAL_ADC_DISABLE(__HANDLE__) ((__HANDLE__)->Instance->CR2 &= ~ADC_CR2_ADON) - -/** - * @brief Enable the ADC end of conversion interrupt. - * @param __HANDLE__ specifies the ADC Handle. - * @param __INTERRUPT__ ADC Interrupt. - * @retval None - */ -#define __HAL_ADC_ENABLE_IT(__HANDLE__, __INTERRUPT__) (((__HANDLE__)->Instance->CR1) |= (__INTERRUPT__)) - -/** - * @brief Disable the ADC end of conversion interrupt. - * @param __HANDLE__ specifies the ADC Handle. - * @param __INTERRUPT__ ADC interrupt. - * @retval None - */ -#define __HAL_ADC_DISABLE_IT(__HANDLE__, __INTERRUPT__) (((__HANDLE__)->Instance->CR1) &= ~(__INTERRUPT__)) - -/** @brief Check if the specified ADC interrupt source is enabled or disabled. - * @param __HANDLE__ specifies the ADC Handle. - * @param __INTERRUPT__ specifies the ADC interrupt source to check. - * @retval The new state of __IT__ (TRUE or FALSE). - */ -#define __HAL_ADC_GET_IT_SOURCE(__HANDLE__, __INTERRUPT__) (((__HANDLE__)->Instance->CR1 & (__INTERRUPT__)) == (__INTERRUPT__)) - -/** - * @brief Clear the ADC's pending flags. - * @param __HANDLE__ specifies the ADC Handle. - * @param __FLAG__ ADC flag. - * @retval None - */ -#define __HAL_ADC_CLEAR_FLAG(__HANDLE__, __FLAG__) (((__HANDLE__)->Instance->SR) = ~(__FLAG__)) - -/** - * @brief Get the selected ADC's flag status. - * @param __HANDLE__ specifies the ADC Handle. - * @param __FLAG__ ADC flag. - * @retval None - */ -#define __HAL_ADC_GET_FLAG(__HANDLE__, __FLAG__) ((((__HANDLE__)->Instance->SR) & (__FLAG__)) == (__FLAG__)) - -/** - * @} - */ - -/* Include ADC HAL Extension module */ -#include "stm32f4xx_hal_adc_ex.h" - -/* Exported functions --------------------------------------------------------*/ -/** @addtogroup ADC_Exported_Functions - * @{ - */ - -/** @addtogroup ADC_Exported_Functions_Group1 - * @{ - */ -/* Initialization/de-initialization functions ***********************************/ -HAL_StatusTypeDef HAL_ADC_Init(ADC_HandleTypeDef* hadc); -HAL_StatusTypeDef HAL_ADC_DeInit(ADC_HandleTypeDef *hadc); -void HAL_ADC_MspInit(ADC_HandleTypeDef* hadc); -void HAL_ADC_MspDeInit(ADC_HandleTypeDef* hadc); - -#if (USE_HAL_ADC_REGISTER_CALLBACKS == 1) -/* Callbacks Register/UnRegister functions ***********************************/ -HAL_StatusTypeDef HAL_ADC_RegisterCallback(ADC_HandleTypeDef *hadc, HAL_ADC_CallbackIDTypeDef CallbackID, pADC_CallbackTypeDef pCallback); -HAL_StatusTypeDef HAL_ADC_UnRegisterCallback(ADC_HandleTypeDef *hadc, HAL_ADC_CallbackIDTypeDef CallbackID); -#endif /* USE_HAL_ADC_REGISTER_CALLBACKS */ -/** - * @} - */ - -/** @addtogroup ADC_Exported_Functions_Group2 - * @{ - */ -/* I/O operation functions ******************************************************/ -HAL_StatusTypeDef HAL_ADC_Start(ADC_HandleTypeDef* hadc); -HAL_StatusTypeDef HAL_ADC_Stop(ADC_HandleTypeDef* hadc); -HAL_StatusTypeDef HAL_ADC_PollForConversion(ADC_HandleTypeDef* hadc, uint32_t Timeout); - -HAL_StatusTypeDef HAL_ADC_PollForEvent(ADC_HandleTypeDef* hadc, uint32_t EventType, uint32_t Timeout); - -HAL_StatusTypeDef HAL_ADC_Start_IT(ADC_HandleTypeDef* hadc); -HAL_StatusTypeDef HAL_ADC_Stop_IT(ADC_HandleTypeDef* hadc); - -void HAL_ADC_IRQHandler(ADC_HandleTypeDef* hadc); - -HAL_StatusTypeDef HAL_ADC_Start_DMA(ADC_HandleTypeDef* hadc, uint32_t* pData, uint32_t Length); -HAL_StatusTypeDef HAL_ADC_Stop_DMA(ADC_HandleTypeDef* hadc); - -uint32_t HAL_ADC_GetValue(ADC_HandleTypeDef* hadc); - -void HAL_ADC_ConvCpltCallback(ADC_HandleTypeDef* hadc); -void HAL_ADC_ConvHalfCpltCallback(ADC_HandleTypeDef* hadc); -void HAL_ADC_LevelOutOfWindowCallback(ADC_HandleTypeDef* hadc); -void HAL_ADC_ErrorCallback(ADC_HandleTypeDef *hadc); -/** - * @} - */ - -/** @addtogroup ADC_Exported_Functions_Group3 - * @{ - */ -/* Peripheral Control functions *************************************************/ -HAL_StatusTypeDef HAL_ADC_ConfigChannel(ADC_HandleTypeDef* hadc, ADC_ChannelConfTypeDef* sConfig); -HAL_StatusTypeDef HAL_ADC_AnalogWDGConfig(ADC_HandleTypeDef* hadc, ADC_AnalogWDGConfTypeDef* AnalogWDGConfig); -/** - * @} - */ - -/** @addtogroup ADC_Exported_Functions_Group4 - * @{ - */ -/* Peripheral State functions ***************************************************/ -uint32_t HAL_ADC_GetState(ADC_HandleTypeDef* hadc); -uint32_t HAL_ADC_GetError(ADC_HandleTypeDef *hadc); -/** - * @} - */ - -/** - * @} - */ -/* Private types -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private constants ---------------------------------------------------------*/ -/** @defgroup ADC_Private_Constants ADC Private Constants - * @{ - */ -/* Delay for ADC stabilization time. */ -/* Maximum delay is 1us (refer to device datasheet, parameter tSTAB). */ -/* Unit: us */ -#define ADC_STAB_DELAY_US 3U -/* Delay for temperature sensor stabilization time. */ -/* Maximum delay is 10us (refer to device datasheet, parameter tSTART). */ -/* Unit: us */ -#define ADC_TEMPSENSOR_DELAY_US 10U -/** - * @} - */ - -/* Private macro ------------------------------------------------------------*/ - -/** @defgroup ADC_Private_Macros ADC Private Macros - * @{ - */ -/* Macro reserved for internal HAL driver usage, not intended to be used in - code of final user */ - -/** - * @brief Verification of ADC state: enabled or disabled - * @param __HANDLE__ ADC handle - * @retval SET (ADC enabled) or RESET (ADC disabled) - */ -#define ADC_IS_ENABLE(__HANDLE__) \ - ((( ((__HANDLE__)->Instance->SR & ADC_SR_ADONS) == ADC_SR_ADONS ) \ - ) ? SET : RESET) - -/** - * @brief Test if conversion trigger of regular group is software start - * or external trigger. - * @param __HANDLE__ ADC handle - * @retval SET (software start) or RESET (external trigger) - */ -#define ADC_IS_SOFTWARE_START_REGULAR(__HANDLE__) \ - (((__HANDLE__)->Instance->CR2 & ADC_CR2_EXTEN) == RESET) - -/** - * @brief Test if conversion trigger of injected group is software start - * or external trigger. - * @param __HANDLE__ ADC handle - * @retval SET (software start) or RESET (external trigger) - */ -#define ADC_IS_SOFTWARE_START_INJECTED(__HANDLE__) \ - (((__HANDLE__)->Instance->CR2 & ADC_CR2_JEXTEN) == RESET) - -/** - * @brief Simultaneously clears and sets specific bits of the handle State - * @note: ADC_STATE_CLR_SET() macro is merely aliased to generic macro MODIFY_REG(), - * the first parameter is the ADC handle State, the second parameter is the - * bit field to clear, the third and last parameter is the bit field to set. - * @retval None - */ -#define ADC_STATE_CLR_SET MODIFY_REG - -/** - * @brief Clear ADC error code (set it to error code: "no error") - * @param __HANDLE__ ADC handle - * @retval None - */ -#define ADC_CLEAR_ERRORCODE(__HANDLE__) \ - ((__HANDLE__)->ErrorCode = HAL_ADC_ERROR_NONE) - - -#define IS_ADC_CLOCKPRESCALER(ADC_CLOCK) (((ADC_CLOCK) == ADC_CLOCK_SYNC_PCLK_DIV2) || \ - ((ADC_CLOCK) == ADC_CLOCK_SYNC_PCLK_DIV4) || \ - ((ADC_CLOCK) == ADC_CLOCK_SYNC_PCLK_DIV6) || \ - ((ADC_CLOCK) == ADC_CLOCK_SYNC_PCLK_DIV8)) -#define IS_ADC_SAMPLING_DELAY(DELAY) (((DELAY) == ADC_TWOSAMPLINGDELAY_5CYCLES) || \ - ((DELAY) == ADC_TWOSAMPLINGDELAY_6CYCLES) || \ - ((DELAY) == ADC_TWOSAMPLINGDELAY_7CYCLES) || \ - ((DELAY) == ADC_TWOSAMPLINGDELAY_8CYCLES) || \ - ((DELAY) == ADC_TWOSAMPLINGDELAY_9CYCLES) || \ - ((DELAY) == ADC_TWOSAMPLINGDELAY_10CYCLES) || \ - ((DELAY) == ADC_TWOSAMPLINGDELAY_11CYCLES) || \ - ((DELAY) == ADC_TWOSAMPLINGDELAY_12CYCLES) || \ - ((DELAY) == ADC_TWOSAMPLINGDELAY_13CYCLES) || \ - ((DELAY) == ADC_TWOSAMPLINGDELAY_14CYCLES) || \ - ((DELAY) == ADC_TWOSAMPLINGDELAY_15CYCLES) || \ - ((DELAY) == ADC_TWOSAMPLINGDELAY_16CYCLES) || \ - ((DELAY) == ADC_TWOSAMPLINGDELAY_17CYCLES) || \ - ((DELAY) == ADC_TWOSAMPLINGDELAY_18CYCLES) || \ - ((DELAY) == ADC_TWOSAMPLINGDELAY_19CYCLES) || \ - ((DELAY) == ADC_TWOSAMPLINGDELAY_20CYCLES)) -#define IS_ADC_RESOLUTION(RESOLUTION) (((RESOLUTION) == ADC_RESOLUTION_12B) || \ - ((RESOLUTION) == ADC_RESOLUTION_10B) || \ - ((RESOLUTION) == ADC_RESOLUTION_8B) || \ - ((RESOLUTION) == ADC_RESOLUTION_6B)) -#define IS_ADC_EXT_TRIG_EDGE(EDGE) (((EDGE) == ADC_EXTERNALTRIGCONVEDGE_NONE) || \ - ((EDGE) == ADC_EXTERNALTRIGCONVEDGE_RISING) || \ - ((EDGE) == ADC_EXTERNALTRIGCONVEDGE_FALLING) || \ - ((EDGE) == ADC_EXTERNALTRIGCONVEDGE_RISINGFALLING)) -#define IS_ADC_EXT_TRIG(REGTRIG) (((REGTRIG) == ADC_EXTERNALTRIGCONV_T1_CC1) || \ - ((REGTRIG) == ADC_EXTERNALTRIGCONV_T1_CC2) || \ - ((REGTRIG) == ADC_EXTERNALTRIGCONV_T1_CC3) || \ - ((REGTRIG) == ADC_EXTERNALTRIGCONV_T2_CC2) || \ - ((REGTRIG) == ADC_EXTERNALTRIGCONV_T2_CC3) || \ - ((REGTRIG) == ADC_EXTERNALTRIGCONV_T2_CC4) || \ - ((REGTRIG) == ADC_EXTERNALTRIGCONV_T2_TRGO) || \ - ((REGTRIG) == ADC_EXTERNALTRIGCONV_T3_CC1) || \ - ((REGTRIG) == ADC_EXTERNALTRIGCONV_T3_TRGO) || \ - ((REGTRIG) == ADC_EXTERNALTRIGCONV_T4_CC4) || \ - ((REGTRIG) == ADC_EXTERNALTRIGCONV_T5_CC1) || \ - ((REGTRIG) == ADC_EXTERNALTRIGCONV_T5_CC2) || \ - ((REGTRIG) == ADC_EXTERNALTRIGCONV_T5_CC3) || \ - ((REGTRIG) == ADC_EXTERNALTRIGCONV_T8_CC1) || \ - ((REGTRIG) == ADC_EXTERNALTRIGCONV_T8_TRGO) || \ - ((REGTRIG) == ADC_EXTERNALTRIGCONV_Ext_IT11)|| \ - ((REGTRIG) == ADC_SOFTWARE_START)) -#define IS_ADC_DATA_ALIGN(ALIGN) (((ALIGN) == ADC_DATAALIGN_RIGHT) || \ - ((ALIGN) == ADC_DATAALIGN_LEFT)) -#define IS_ADC_SAMPLE_TIME(TIME) (((TIME) == ADC_SAMPLETIME_3CYCLES) || \ - ((TIME) == ADC_SAMPLETIME_15CYCLES) || \ - ((TIME) == ADC_SAMPLETIME_28CYCLES) || \ - ((TIME) == ADC_SAMPLETIME_56CYCLES) || \ - ((TIME) == ADC_SAMPLETIME_84CYCLES) || \ - ((TIME) == ADC_SAMPLETIME_112CYCLES) || \ - ((TIME) == ADC_SAMPLETIME_144CYCLES) || \ - ((TIME) == ADC_SAMPLETIME_480CYCLES)) -#define IS_ADC_EOCSelection(EOCSelection) (((EOCSelection) == ADC_EOC_SINGLE_CONV) || \ - ((EOCSelection) == ADC_EOC_SEQ_CONV) || \ - ((EOCSelection) == ADC_EOC_SINGLE_SEQ_CONV)) -#define IS_ADC_EVENT_TYPE(EVENT) (((EVENT) == ADC_AWD_EVENT) || \ - ((EVENT) == ADC_OVR_EVENT)) -#define IS_ADC_ANALOG_WATCHDOG(WATCHDOG) (((WATCHDOG) == ADC_ANALOGWATCHDOG_SINGLE_REG) || \ - ((WATCHDOG) == ADC_ANALOGWATCHDOG_SINGLE_INJEC) || \ - ((WATCHDOG) == ADC_ANALOGWATCHDOG_SINGLE_REGINJEC) || \ - ((WATCHDOG) == ADC_ANALOGWATCHDOG_ALL_REG) || \ - ((WATCHDOG) == ADC_ANALOGWATCHDOG_ALL_INJEC) || \ - ((WATCHDOG) == ADC_ANALOGWATCHDOG_ALL_REGINJEC) || \ - ((WATCHDOG) == ADC_ANALOGWATCHDOG_NONE)) -#define IS_ADC_CHANNELS_TYPE(CHANNEL_TYPE) (((CHANNEL_TYPE) == ADC_ALL_CHANNELS) || \ - ((CHANNEL_TYPE) == ADC_REGULAR_CHANNELS) || \ - ((CHANNEL_TYPE) == ADC_INJECTED_CHANNELS)) -#define IS_ADC_THRESHOLD(THRESHOLD) ((THRESHOLD) <= 0xFFFU) - -#define IS_ADC_REGULAR_LENGTH(LENGTH) (((LENGTH) >= 1U) && ((LENGTH) <= 16U)) -#define IS_ADC_REGULAR_RANK(RANK) (((RANK) >= 1U) && ((RANK) <= (16U))) -#define IS_ADC_REGULAR_DISC_NUMBER(NUMBER) (((NUMBER) >= 1U) && ((NUMBER) <= 8U)) -#define IS_ADC_RANGE(RESOLUTION, ADC_VALUE) \ - ((((RESOLUTION) == ADC_RESOLUTION_12B) && ((ADC_VALUE) <= 0x0FFFU)) || \ - (((RESOLUTION) == ADC_RESOLUTION_10B) && ((ADC_VALUE) <= 0x03FFU)) || \ - (((RESOLUTION) == ADC_RESOLUTION_8B) && ((ADC_VALUE) <= 0x00FFU)) || \ - (((RESOLUTION) == ADC_RESOLUTION_6B) && ((ADC_VALUE) <= 0x003FU))) - -/** - * @brief Set ADC Regular channel sequence length. - * @param _NbrOfConversion_ Regular channel sequence length. - * @retval None - */ -#define ADC_SQR1(_NbrOfConversion_) (((_NbrOfConversion_) - (uint8_t)1U) << 20U) - -/** - * @brief Set the ADC's sample time for channel numbers between 10 and 18. - * @param _SAMPLETIME_ Sample time parameter. - * @param _CHANNELNB_ Channel number. - * @retval None - */ -#define ADC_SMPR1(_SAMPLETIME_, _CHANNELNB_) ((_SAMPLETIME_) << (3U * (((uint32_t)((uint16_t)(_CHANNELNB_))) - 10U))) - -/** - * @brief Set the ADC's sample time for channel numbers between 0 and 9. - * @param _SAMPLETIME_ Sample time parameter. - * @param _CHANNELNB_ Channel number. - * @retval None - */ -#define ADC_SMPR2(_SAMPLETIME_, _CHANNELNB_) ((_SAMPLETIME_) << (3U * ((uint32_t)((uint16_t)(_CHANNELNB_))))) - -/** - * @brief Set the selected regular channel rank for rank between 1 and 6. - * @param _CHANNELNB_ Channel number. - * @param _RANKNB_ Rank number. - * @retval None - */ -#define ADC_SQR3_RK(_CHANNELNB_, _RANKNB_) (((uint32_t)((uint16_t)(_CHANNELNB_))) << (5U * ((_RANKNB_) - 1U))) - -/** - * @brief Set the selected regular channel rank for rank between 7 and 12. - * @param _CHANNELNB_ Channel number. - * @param _RANKNB_ Rank number. - * @retval None - */ -#define ADC_SQR2_RK(_CHANNELNB_, _RANKNB_) (((uint32_t)((uint16_t)(_CHANNELNB_))) << (5U * ((_RANKNB_) - 7U))) - -/** - * @brief Set the selected regular channel rank for rank between 13 and 16. - * @param _CHANNELNB_ Channel number. - * @param _RANKNB_ Rank number. - * @retval None - */ -#define ADC_SQR1_RK(_CHANNELNB_, _RANKNB_) (((uint32_t)((uint16_t)(_CHANNELNB_))) << (5U * ((_RANKNB_) - 13U))) - -/** - * @brief Enable ADC continuous conversion mode. - * @param _CONTINUOUS_MODE_ Continuous mode. - * @retval None - */ -#define ADC_CR2_CONTINUOUS(_CONTINUOUS_MODE_) ((_CONTINUOUS_MODE_) << 1U) - -/** - * @brief Configures the number of discontinuous conversions for the regular group channels. - * @param _NBR_DISCONTINUOUSCONV_ Number of discontinuous conversions. - * @retval None - */ -#define ADC_CR1_DISCONTINUOUS(_NBR_DISCONTINUOUSCONV_) (((_NBR_DISCONTINUOUSCONV_) - 1U) << ADC_CR1_DISCNUM_Pos) - -/** - * @brief Enable ADC scan mode. - * @param _SCANCONV_MODE_ Scan conversion mode. - * @retval None - */ -#define ADC_CR1_SCANCONV(_SCANCONV_MODE_) ((_SCANCONV_MODE_) << 8U) - -/** - * @brief Enable the ADC end of conversion selection. - * @param _EOCSelection_MODE_ End of conversion selection mode. - * @retval None - */ -#define ADC_CR2_EOCSelection(_EOCSelection_MODE_) ((_EOCSelection_MODE_) << 10U) - -/** - * @brief Enable the ADC DMA continuous request. - * @param _DMAContReq_MODE_ DMA continuous request mode. - * @retval None - */ -#define ADC_CR2_DMAContReq(_DMAContReq_MODE_) ((_DMAContReq_MODE_) << 9U) - -/** - * @brief Return resolution bits in CR1 register. - * @param __HANDLE__ ADC handle - * @retval None - */ -#define ADC_GET_RESOLUTION(__HANDLE__) (((__HANDLE__)->Instance->CR1) & ADC_CR1_RES) - -/** - * @} - */ - -/* Private functions ---------------------------------------------------------*/ -/** @defgroup ADC_Private_Functions ADC Private Functions - * @{ - */ - -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ - -#ifdef __cplusplus -} -#endif - -#endif /*__STM32F4xx_ADC_H */ - - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc_ex.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc_ex.h deleted file mode 100644 index b0cdd2abd35893..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_adc_ex.h +++ /dev/null @@ -1,409 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_adc_ex.h - * @author MCD Application Team - * @brief Header file of ADC HAL module. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef __STM32F4xx_ADC_EX_H -#define __STM32F4xx_ADC_EX_H - -#ifdef __cplusplus - extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal_def.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @addtogroup ADCEx - * @{ - */ - -/* Exported types ------------------------------------------------------------*/ -/** @defgroup ADCEx_Exported_Types ADC Exported Types - * @{ - */ - -/** - * @brief ADC Configuration injected Channel structure definition - * @note Parameters of this structure are shared within 2 scopes: - * - Scope channel: InjectedChannel, InjectedRank, InjectedSamplingTime, InjectedOffset - * - Scope injected group (affects all channels of injected group): InjectedNbrOfConversion, InjectedDiscontinuousConvMode, - * AutoInjectedConv, ExternalTrigInjecConvEdge, ExternalTrigInjecConv. - * @note The setting of these parameters with function HAL_ADCEx_InjectedConfigChannel() is conditioned to ADC state. - * ADC state can be either: - * - For all parameters: ADC disabled - * - For all except parameters 'InjectedDiscontinuousConvMode' and 'AutoInjectedConv': ADC enabled without conversion on going on injected group. - * - For parameters 'ExternalTrigInjecConv' and 'ExternalTrigInjecConvEdge': ADC enabled, even with conversion on going on injected group. - */ -typedef struct -{ - uint32_t InjectedChannel; /*!< Selection of ADC channel to configure - This parameter can be a value of @ref ADC_channels - Note: Depending on devices, some channels may not be available on package pins. Refer to device datasheet for channels availability. */ - uint32_t InjectedRank; /*!< Rank in the injected group sequencer - This parameter must be a value of @ref ADCEx_injected_rank - Note: In case of need to disable a channel or change order of conversion sequencer, rank containing a previous channel setting can be overwritten by the new channel setting (or parameter number of conversions can be adjusted) */ - uint32_t InjectedSamplingTime; /*!< Sampling time value to be set for the selected channel. - Unit: ADC clock cycles - Conversion time is the addition of sampling time and processing time (12 ADC clock cycles at ADC resolution 12 bits, 11 cycles at 10 bits, 9 cycles at 8 bits, 7 cycles at 6 bits). - This parameter can be a value of @ref ADC_sampling_times - Caution: This parameter updates the parameter property of the channel, that can be used into regular and/or injected groups. - If this same channel has been previously configured in the other group (regular/injected), it will be updated to last setting. - Note: In case of usage of internal measurement channels (VrefInt/Vbat/TempSensor), - sampling time constraints must be respected (sampling time can be adjusted in function of ADC clock frequency and sampling time setting) - Refer to device datasheet for timings values, parameters TS_vrefint, TS_temp (values rough order: 4us min). */ - uint32_t InjectedOffset; /*!< Defines the offset to be subtracted from the raw converted data (for channels set on injected group only). - Offset value must be a positive number. - Depending of ADC resolution selected (12, 10, 8 or 6 bits), - this parameter must be a number between Min_Data = 0x000 and Max_Data = 0xFFF, 0x3FF, 0xFF or 0x3F respectively. */ - uint32_t InjectedNbrOfConversion; /*!< Specifies the number of ranks that will be converted within the injected group sequencer. - To use the injected group sequencer and convert several ranks, parameter 'ScanConvMode' must be enabled. - This parameter must be a number between Min_Data = 1 and Max_Data = 4. - Caution: this setting impacts the entire injected group. Therefore, call of HAL_ADCEx_InjectedConfigChannel() to - configure a channel on injected group can impact the configuration of other channels previously set. */ - FunctionalState InjectedDiscontinuousConvMode; /*!< Specifies whether the conversions sequence of injected group is performed in Complete-sequence/Discontinuous-sequence (main sequence subdivided in successive parts). - Discontinuous mode is used only if sequencer is enabled (parameter 'ScanConvMode'). If sequencer is disabled, this parameter is discarded. - Discontinuous mode can be enabled only if continuous mode is disabled. If continuous mode is enabled, this parameter setting is discarded. - This parameter can be set to ENABLE or DISABLE. - Note: For injected group, number of discontinuous ranks increment is fixed to one-by-one. - Caution: this setting impacts the entire injected group. Therefore, call of HAL_ADCEx_InjectedConfigChannel() to - configure a channel on injected group can impact the configuration of other channels previously set. */ - FunctionalState AutoInjectedConv; /*!< Enables or disables the selected ADC automatic injected group conversion after regular one - This parameter can be set to ENABLE or DISABLE. - Note: To use Automatic injected conversion, discontinuous mode must be disabled ('DiscontinuousConvMode' and 'InjectedDiscontinuousConvMode' set to DISABLE) - Note: To use Automatic injected conversion, injected group external triggers must be disabled ('ExternalTrigInjecConv' set to ADC_SOFTWARE_START) - Note: In case of DMA used with regular group: if DMA configured in normal mode (single shot) JAUTO will be stopped upon DMA transfer complete. - To maintain JAUTO always enabled, DMA must be configured in circular mode. - Caution: this setting impacts the entire injected group. Therefore, call of HAL_ADCEx_InjectedConfigChannel() to - configure a channel on injected group can impact the configuration of other channels previously set. */ - uint32_t ExternalTrigInjecConv; /*!< Selects the external event used to trigger the conversion start of injected group. - If set to ADC_INJECTED_SOFTWARE_START, external triggers are disabled. - If set to external trigger source, triggering is on event rising edge. - This parameter can be a value of @ref ADCEx_External_trigger_Source_Injected - Note: This parameter must be modified when ADC is disabled (before ADC start conversion or after ADC stop conversion). - If ADC is enabled, this parameter setting is bypassed without error reporting (as it can be the expected behaviour in case of another parameter update on the fly) - Caution: this setting impacts the entire injected group. Therefore, call of HAL_ADCEx_InjectedConfigChannel() to - configure a channel on injected group can impact the configuration of other channels previously set. */ - uint32_t ExternalTrigInjecConvEdge; /*!< Selects the external trigger edge of injected group. - This parameter can be a value of @ref ADCEx_External_trigger_edge_Injected. - If trigger is set to ADC_INJECTED_SOFTWARE_START, this parameter is discarded. - Caution: this setting impacts the entire injected group. Therefore, call of HAL_ADCEx_InjectedConfigChannel() to - configure a channel on injected group can impact the configuration of other channels previously set. */ -}ADC_InjectionConfTypeDef; - -/** - * @brief ADC Configuration multi-mode structure definition - */ -typedef struct -{ - uint32_t Mode; /*!< Configures the ADC to operate in independent or multi mode. - This parameter can be a value of @ref ADCEx_Common_mode */ - uint32_t DMAAccessMode; /*!< Configures the Direct memory access mode for multi ADC mode. - This parameter can be a value of @ref ADCEx_Direct_memory_access_mode_for_multi_mode */ - uint32_t TwoSamplingDelay; /*!< Configures the Delay between 2 sampling phases. - This parameter can be a value of @ref ADC_delay_between_2_sampling_phases */ -}ADC_MultiModeTypeDef; - -/** - * @} - */ - -/* Exported constants --------------------------------------------------------*/ -/** @defgroup ADCEx_Exported_Constants ADC Exported Constants - * @{ - */ - -/** @defgroup ADCEx_Common_mode ADC Common Mode - * @{ - */ -#define ADC_MODE_INDEPENDENT 0x00000000U -#define ADC_DUALMODE_REGSIMULT_INJECSIMULT ((uint32_t)ADC_CCR_MULTI_0) -#define ADC_DUALMODE_REGSIMULT_ALTERTRIG ((uint32_t)ADC_CCR_MULTI_1) -#define ADC_DUALMODE_INJECSIMULT ((uint32_t)(ADC_CCR_MULTI_2 | ADC_CCR_MULTI_0)) -#define ADC_DUALMODE_REGSIMULT ((uint32_t)(ADC_CCR_MULTI_2 | ADC_CCR_MULTI_1)) -#define ADC_DUALMODE_INTERL ((uint32_t)(ADC_CCR_MULTI_2 | ADC_CCR_MULTI_1 | ADC_CCR_MULTI_0)) -#define ADC_DUALMODE_ALTERTRIG ((uint32_t)(ADC_CCR_MULTI_3 | ADC_CCR_MULTI_0)) -#define ADC_TRIPLEMODE_REGSIMULT_INJECSIMULT ((uint32_t)(ADC_CCR_MULTI_4 | ADC_CCR_MULTI_0)) -#define ADC_TRIPLEMODE_REGSIMULT_AlterTrig ((uint32_t)(ADC_CCR_MULTI_4 | ADC_CCR_MULTI_1)) -#define ADC_TRIPLEMODE_INJECSIMULT ((uint32_t)(ADC_CCR_MULTI_4 | ADC_CCR_MULTI_2 | ADC_CCR_MULTI_0)) -#define ADC_TRIPLEMODE_REGSIMULT ((uint32_t)(ADC_CCR_MULTI_4 | ADC_CCR_MULTI_2 | ADC_CCR_MULTI_1)) -#define ADC_TRIPLEMODE_INTERL ((uint32_t)(ADC_CCR_MULTI_4 | ADC_CCR_MULTI_2 | ADC_CCR_MULTI_1 | ADC_CCR_MULTI_0)) -#define ADC_TRIPLEMODE_ALTERTRIG ((uint32_t)(ADC_CCR_MULTI_4 | ADC_CCR_MULTI_3 | ADC_CCR_MULTI_0)) -/** - * @} - */ - -/** @defgroup ADCEx_Direct_memory_access_mode_for_multi_mode ADC Direct Memory Access Mode For Multi Mode - * @{ - */ -#define ADC_DMAACCESSMODE_DISABLED 0x00000000U /*!< DMA mode disabled */ -#define ADC_DMAACCESSMODE_1 ((uint32_t)ADC_CCR_DMA_0) /*!< DMA mode 1 enabled (2 / 3 half-words one by one - 1 then 2 then 3)*/ -#define ADC_DMAACCESSMODE_2 ((uint32_t)ADC_CCR_DMA_1) /*!< DMA mode 2 enabled (2 / 3 half-words by pairs - 2&1 then 1&3 then 3&2)*/ -#define ADC_DMAACCESSMODE_3 ((uint32_t)ADC_CCR_DMA) /*!< DMA mode 3 enabled (2 / 3 bytes by pairs - 2&1 then 1&3 then 3&2) */ -/** - * @} - */ - -/** @defgroup ADCEx_External_trigger_edge_Injected ADC External Trigger Edge Injected - * @{ - */ -#define ADC_EXTERNALTRIGINJECCONVEDGE_NONE 0x00000000U -#define ADC_EXTERNALTRIGINJECCONVEDGE_RISING ((uint32_t)ADC_CR2_JEXTEN_0) -#define ADC_EXTERNALTRIGINJECCONVEDGE_FALLING ((uint32_t)ADC_CR2_JEXTEN_1) -#define ADC_EXTERNALTRIGINJECCONVEDGE_RISINGFALLING ((uint32_t)ADC_CR2_JEXTEN) -/** - * @} - */ - -/** @defgroup ADCEx_External_trigger_Source_Injected ADC External Trigger Source Injected - * @{ - */ -#define ADC_EXTERNALTRIGINJECCONV_T1_CC4 0x00000000U -#define ADC_EXTERNALTRIGINJECCONV_T1_TRGO ((uint32_t)ADC_CR2_JEXTSEL_0) -#define ADC_EXTERNALTRIGINJECCONV_T2_CC1 ((uint32_t)ADC_CR2_JEXTSEL_1) -#define ADC_EXTERNALTRIGINJECCONV_T2_TRGO ((uint32_t)(ADC_CR2_JEXTSEL_1 | ADC_CR2_JEXTSEL_0)) -#define ADC_EXTERNALTRIGINJECCONV_T3_CC2 ((uint32_t)ADC_CR2_JEXTSEL_2) -#define ADC_EXTERNALTRIGINJECCONV_T3_CC4 ((uint32_t)(ADC_CR2_JEXTSEL_2 | ADC_CR2_JEXTSEL_0)) -#define ADC_EXTERNALTRIGINJECCONV_T4_CC1 ((uint32_t)(ADC_CR2_JEXTSEL_2 | ADC_CR2_JEXTSEL_1)) -#define ADC_EXTERNALTRIGINJECCONV_T4_CC2 ((uint32_t)(ADC_CR2_JEXTSEL_2 | ADC_CR2_JEXTSEL_1 | ADC_CR2_JEXTSEL_0)) -#define ADC_EXTERNALTRIGINJECCONV_T4_CC3 ((uint32_t)ADC_CR2_JEXTSEL_3) -#define ADC_EXTERNALTRIGINJECCONV_T4_TRGO ((uint32_t)(ADC_CR2_JEXTSEL_3 | ADC_CR2_JEXTSEL_0)) -#define ADC_EXTERNALTRIGINJECCONV_T5_CC4 ((uint32_t)(ADC_CR2_JEXTSEL_3 | ADC_CR2_JEXTSEL_1)) -#define ADC_EXTERNALTRIGINJECCONV_T5_TRGO ((uint32_t)(ADC_CR2_JEXTSEL_3 | ADC_CR2_JEXTSEL_1 | ADC_CR2_JEXTSEL_0)) -#define ADC_EXTERNALTRIGINJECCONV_T8_CC2 ((uint32_t)(ADC_CR2_JEXTSEL_3 | ADC_CR2_JEXTSEL_2)) -#define ADC_EXTERNALTRIGINJECCONV_T8_CC3 ((uint32_t)(ADC_CR2_JEXTSEL_3 | ADC_CR2_JEXTSEL_2 | ADC_CR2_JEXTSEL_0)) -#define ADC_EXTERNALTRIGINJECCONV_T8_CC4 ((uint32_t)(ADC_CR2_JEXTSEL_3 | ADC_CR2_JEXTSEL_2 | ADC_CR2_JEXTSEL_1)) -#define ADC_EXTERNALTRIGINJECCONV_EXT_IT15 ((uint32_t)ADC_CR2_JEXTSEL) -#define ADC_INJECTED_SOFTWARE_START ((uint32_t)ADC_CR2_JEXTSEL + 1U) -/** - * @} - */ - -/** @defgroup ADCEx_injected_rank ADC Injected Rank - * @{ - */ -#define ADC_INJECTED_RANK_1 0x00000001U -#define ADC_INJECTED_RANK_2 0x00000002U -#define ADC_INJECTED_RANK_3 0x00000003U -#define ADC_INJECTED_RANK_4 0x00000004U -/** - * @} - */ - -/** @defgroup ADCEx_channels ADC Specific Channels - * @{ - */ -#if defined(STM32F405xx) || defined(STM32F415xx) || defined(STM32F407xx) || defined(STM32F417xx) || \ - defined(STM32F401xC) || defined(STM32F401xE) || defined(STM32F410Tx) || defined(STM32F410Cx) || \ - defined(STM32F410Rx) || defined(STM32F412Zx) || defined(STM32F412Vx) || defined(STM32F412Rx) || \ - defined(STM32F412Cx) -#define ADC_CHANNEL_TEMPSENSOR ((uint32_t)ADC_CHANNEL_16) -#endif /* STM32F405xx || STM32F415xx || STM32F407xx || STM32F417xx || STM32F401xC || STM32F401xE || STM32F410xx || STM32F412Zx || - STM32F412Vx || STM32F412Rx || STM32F412Cx */ - -#if defined(STM32F411xE) || defined(STM32F413xx) || defined(STM32F423xx) || defined(STM32F427xx) || defined(STM32F437xx) ||\ - defined(STM32F429xx) || defined(STM32F439xx) || defined(STM32F446xx) || defined(STM32F469xx) || defined(STM32F479xx) -#define ADC_CHANNEL_DIFFERENCIATION_TEMPSENSOR_VBAT 0x10000000U /* Dummy bit for driver internal usage, not used in ADC channel setting registers CR1 or SQRx */ -#define ADC_CHANNEL_TEMPSENSOR ((uint32_t)ADC_CHANNEL_18 | ADC_CHANNEL_DIFFERENCIATION_TEMPSENSOR_VBAT) -#endif /* STM32F411xE || STM32F413xx || STM32F423xx || STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || STM32F446xx || STM32F469xx || STM32F479xx */ -/** - * @} - */ - - -/** - * @} - */ - -/* Exported macro ------------------------------------------------------------*/ -/** @defgroup ADC_Exported_Macros ADC Exported Macros - * @{ - */ -#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx)|| defined(STM32F439xx) -/** - * @brief Disable internal path of ADC channel Vbat - * @note Use case of this macro: - * On devices STM32F42x and STM32F43x, ADC internal channels - * Vbat and VrefInt share the same internal path, only - * one of them can be enabled.This macro is to be used when ADC - * channels Vbat and VrefInt are selected, and must be called - * before starting conversion of ADC channel VrefInt in order - * to disable ADC channel Vbat. - * @retval None - */ -#define __HAL_ADC_PATH_INTERNAL_VBAT_DISABLE() (ADC->CCR &= ~(ADC_CCR_VBATE)) -#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx */ -/** - * @} - */ - -/* Exported functions --------------------------------------------------------*/ -/** @addtogroup ADCEx_Exported_Functions - * @{ - */ - -/** @addtogroup ADCEx_Exported_Functions_Group1 - * @{ - */ - -/* I/O operation functions ******************************************************/ -HAL_StatusTypeDef HAL_ADCEx_InjectedStart(ADC_HandleTypeDef* hadc); -HAL_StatusTypeDef HAL_ADCEx_InjectedStop(ADC_HandleTypeDef* hadc); -HAL_StatusTypeDef HAL_ADCEx_InjectedPollForConversion(ADC_HandleTypeDef* hadc, uint32_t Timeout); -HAL_StatusTypeDef HAL_ADCEx_InjectedStart_IT(ADC_HandleTypeDef* hadc); -HAL_StatusTypeDef HAL_ADCEx_InjectedStop_IT(ADC_HandleTypeDef* hadc); -uint32_t HAL_ADCEx_InjectedGetValue(ADC_HandleTypeDef* hadc, uint32_t InjectedRank); -HAL_StatusTypeDef HAL_ADCEx_MultiModeStart_DMA(ADC_HandleTypeDef* hadc, uint32_t* pData, uint32_t Length); -HAL_StatusTypeDef HAL_ADCEx_MultiModeStop_DMA(ADC_HandleTypeDef* hadc); -uint32_t HAL_ADCEx_MultiModeGetValue(ADC_HandleTypeDef* hadc); -void HAL_ADCEx_InjectedConvCpltCallback(ADC_HandleTypeDef* hadc); - -/* Peripheral Control functions *************************************************/ -HAL_StatusTypeDef HAL_ADCEx_InjectedConfigChannel(ADC_HandleTypeDef* hadc,ADC_InjectionConfTypeDef* sConfigInjected); -HAL_StatusTypeDef HAL_ADCEx_MultiModeConfigChannel(ADC_HandleTypeDef* hadc, ADC_MultiModeTypeDef* multimode); - -/** - * @} - */ - -/** - * @} - */ -/* Private types -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private constants ---------------------------------------------------------*/ -/** @defgroup ADCEx_Private_Constants ADC Private Constants - * @{ - */ - -/** - * @} - */ - -/* Private macros ------------------------------------------------------------*/ -/** @defgroup ADCEx_Private_Macros ADC Private Macros - * @{ - */ -#if defined(STM32F405xx) || defined(STM32F415xx) || defined(STM32F407xx) || defined(STM32F417xx) || \ - defined(STM32F401xC) || defined(STM32F401xE) || defined(STM32F410Tx) || defined(STM32F410Cx) || \ - defined(STM32F410Rx) || defined(STM32F412Zx) || defined(STM32F412Vx) || defined(STM32F412Rx) || \ - defined(STM32F412Cx) -#define IS_ADC_CHANNEL(CHANNEL) ((CHANNEL) <= ADC_CHANNEL_18) -#endif /* STM32F405xx || STM32F415xx || STM32F407xx || STM32F417xx || STM32F401xC || STM32F401xE || - STM32F410xx || STM32F412Zx || STM32F412Vx || STM32F412Rx || STM32F412Cx */ - -#if defined(STM32F411xE) || defined(STM32F413xx) || defined(STM32F423xx) || defined(STM32F427xx) || \ - defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) || defined(STM32F446xx) || \ - defined(STM32F469xx) || defined(STM32F479xx) -#define IS_ADC_CHANNEL(CHANNEL) (((CHANNEL) <= ADC_CHANNEL_18) || \ - ((CHANNEL) == ADC_CHANNEL_TEMPSENSOR)) -#endif /* STM32F411xE || STM32F413xx || STM32F423xx || STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || STM32F446xx || STM32F469xx || STM32F479xx */ - -#define IS_ADC_MODE(MODE) (((MODE) == ADC_MODE_INDEPENDENT) || \ - ((MODE) == ADC_DUALMODE_REGSIMULT_INJECSIMULT) || \ - ((MODE) == ADC_DUALMODE_REGSIMULT_ALTERTRIG) || \ - ((MODE) == ADC_DUALMODE_INJECSIMULT) || \ - ((MODE) == ADC_DUALMODE_REGSIMULT) || \ - ((MODE) == ADC_DUALMODE_INTERL) || \ - ((MODE) == ADC_DUALMODE_ALTERTRIG) || \ - ((MODE) == ADC_TRIPLEMODE_REGSIMULT_INJECSIMULT) || \ - ((MODE) == ADC_TRIPLEMODE_REGSIMULT_AlterTrig) || \ - ((MODE) == ADC_TRIPLEMODE_INJECSIMULT) || \ - ((MODE) == ADC_TRIPLEMODE_REGSIMULT) || \ - ((MODE) == ADC_TRIPLEMODE_INTERL) || \ - ((MODE) == ADC_TRIPLEMODE_ALTERTRIG)) -#define IS_ADC_DMA_ACCESS_MODE(MODE) (((MODE) == ADC_DMAACCESSMODE_DISABLED) || \ - ((MODE) == ADC_DMAACCESSMODE_1) || \ - ((MODE) == ADC_DMAACCESSMODE_2) || \ - ((MODE) == ADC_DMAACCESSMODE_3)) -#define IS_ADC_EXT_INJEC_TRIG_EDGE(EDGE) (((EDGE) == ADC_EXTERNALTRIGINJECCONVEDGE_NONE) || \ - ((EDGE) == ADC_EXTERNALTRIGINJECCONVEDGE_RISING) || \ - ((EDGE) == ADC_EXTERNALTRIGINJECCONVEDGE_FALLING) || \ - ((EDGE) == ADC_EXTERNALTRIGINJECCONVEDGE_RISINGFALLING)) -#define IS_ADC_EXT_INJEC_TRIG(INJTRIG) (((INJTRIG) == ADC_EXTERNALTRIGINJECCONV_T1_CC4) || \ - ((INJTRIG) == ADC_EXTERNALTRIGINJECCONV_T1_TRGO) || \ - ((INJTRIG) == ADC_EXTERNALTRIGINJECCONV_T2_CC1) || \ - ((INJTRIG) == ADC_EXTERNALTRIGINJECCONV_T2_TRGO) || \ - ((INJTRIG) == ADC_EXTERNALTRIGINJECCONV_T3_CC2) || \ - ((INJTRIG) == ADC_EXTERNALTRIGINJECCONV_T3_CC4) || \ - ((INJTRIG) == ADC_EXTERNALTRIGINJECCONV_T4_CC1) || \ - ((INJTRIG) == ADC_EXTERNALTRIGINJECCONV_T4_CC2) || \ - ((INJTRIG) == ADC_EXTERNALTRIGINJECCONV_T4_CC3) || \ - ((INJTRIG) == ADC_EXTERNALTRIGINJECCONV_T4_TRGO) || \ - ((INJTRIG) == ADC_EXTERNALTRIGINJECCONV_T5_CC4) || \ - ((INJTRIG) == ADC_EXTERNALTRIGINJECCONV_T5_TRGO) || \ - ((INJTRIG) == ADC_EXTERNALTRIGINJECCONV_T8_CC2) || \ - ((INJTRIG) == ADC_EXTERNALTRIGINJECCONV_T8_CC3) || \ - ((INJTRIG) == ADC_EXTERNALTRIGINJECCONV_T8_CC4) || \ - ((INJTRIG) == ADC_EXTERNALTRIGINJECCONV_EXT_IT15)|| \ - ((INJTRIG) == ADC_INJECTED_SOFTWARE_START)) -#define IS_ADC_INJECTED_LENGTH(LENGTH) (((LENGTH) >= 1U) && ((LENGTH) <= 4U)) -#define IS_ADC_INJECTED_RANK(RANK) (((RANK) >= 1U) && ((RANK) <= 4U)) - -/** - * @brief Set the selected injected Channel rank. - * @param _CHANNELNB_ Channel number. - * @param _RANKNB_ Rank number. - * @param _JSQR_JL_ Sequence length. - * @retval None - */ -#define ADC_JSQR(_CHANNELNB_, _RANKNB_, _JSQR_JL_) (((uint32_t)((uint16_t)(_CHANNELNB_))) << (5U * (uint8_t)(((_RANKNB_) + 3U) - (_JSQR_JL_)))) - -/** - * @brief Defines if the selected ADC is within ADC common register ADC123 or ADC1 - * if available (ADC2, ADC3 availability depends on STM32 product) - * @param __HANDLE__ ADC handle - * @retval Common control register ADC123 or ADC1 - */ -#if defined(STM32F405xx) || defined(STM32F407xx) || defined(STM32F415xx) || defined(STM32F417xx) || defined(STM32F427xx) || defined(STM32F429xx) || defined(STM32F437xx) || defined(STM32F439xx) || defined(STM32F446xx) || defined(STM32F469xx) || defined(STM32F479xx) -#define ADC_COMMON_REGISTER(__HANDLE__) ADC123_COMMON -#else -#define ADC_COMMON_REGISTER(__HANDLE__) ADC1_COMMON -#endif /* STM32F405xx || STM32F407xx || STM32F415xx || STM32F417xx || STM32F427xx || STM32F429xx || STM32F437xx || STM32F439xx || STM32F446xx || STM32F469xx || STM32F479xx */ -/** - * @} - */ - -/* Private functions ---------------------------------------------------------*/ -/** @defgroup ADCEx_Private_Functions ADC Private Functions - * @{ - */ - -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ - -#ifdef __cplusplus -} -#endif - -#endif /*__STM32F4xx_ADC_EX_H */ - - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_can.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_can.h deleted file mode 100644 index 062abd69250be7..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_can.h +++ /dev/null @@ -1,848 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_can.h - * @author MCD Application Team - * @brief Header file of CAN HAL module. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef STM32F4xx_HAL_CAN_H -#define STM32F4xx_HAL_CAN_H - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal_def.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -#if defined (CAN1) -/** @addtogroup CAN - * @{ - */ - -/* Exported types ------------------------------------------------------------*/ -/** @defgroup CAN_Exported_Types CAN Exported Types - * @{ - */ -/** - * @brief HAL State structures definition - */ -typedef enum -{ - HAL_CAN_STATE_RESET = 0x00U, /*!< CAN not yet initialized or disabled */ - HAL_CAN_STATE_READY = 0x01U, /*!< CAN initialized and ready for use */ - HAL_CAN_STATE_LISTENING = 0x02U, /*!< CAN receive process is ongoing */ - HAL_CAN_STATE_SLEEP_PENDING = 0x03U, /*!< CAN sleep request is pending */ - HAL_CAN_STATE_SLEEP_ACTIVE = 0x04U, /*!< CAN sleep mode is active */ - HAL_CAN_STATE_ERROR = 0x05U /*!< CAN error state */ - -} HAL_CAN_StateTypeDef; - -/** - * @brief CAN init structure definition - */ -typedef struct -{ - uint32_t Prescaler; /*!< Specifies the length of a time quantum. - This parameter must be a number between Min_Data = 1 and Max_Data = 1024. */ - - uint32_t Mode; /*!< Specifies the CAN operating mode. - This parameter can be a value of @ref CAN_operating_mode */ - - uint32_t SyncJumpWidth; /*!< Specifies the maximum number of time quanta the CAN hardware - is allowed to lengthen or shorten a bit to perform resynchronization. - This parameter can be a value of @ref CAN_synchronisation_jump_width */ - - uint32_t TimeSeg1; /*!< Specifies the number of time quanta in Bit Segment 1. - This parameter can be a value of @ref CAN_time_quantum_in_bit_segment_1 */ - - uint32_t TimeSeg2; /*!< Specifies the number of time quanta in Bit Segment 2. - This parameter can be a value of @ref CAN_time_quantum_in_bit_segment_2 */ - - FunctionalState TimeTriggeredMode; /*!< Enable or disable the time triggered communication mode. - This parameter can be set to ENABLE or DISABLE. */ - - FunctionalState AutoBusOff; /*!< Enable or disable the automatic bus-off management. - This parameter can be set to ENABLE or DISABLE. */ - - FunctionalState AutoWakeUp; /*!< Enable or disable the automatic wake-up mode. - This parameter can be set to ENABLE or DISABLE. */ - - FunctionalState AutoRetransmission; /*!< Enable or disable the non-automatic retransmission mode. - This parameter can be set to ENABLE or DISABLE. */ - - FunctionalState ReceiveFifoLocked; /*!< Enable or disable the Receive FIFO Locked mode. - This parameter can be set to ENABLE or DISABLE. */ - - FunctionalState TransmitFifoPriority;/*!< Enable or disable the transmit FIFO priority. - This parameter can be set to ENABLE or DISABLE. */ - -} CAN_InitTypeDef; - -/** - * @brief CAN filter configuration structure definition - */ -typedef struct -{ - uint32_t FilterIdHigh; /*!< Specifies the filter identification number (MSBs for a 32-bit - configuration, first one for a 16-bit configuration). - This parameter must be a number between Min_Data = 0x0000 and Max_Data = 0xFFFF. */ - - uint32_t FilterIdLow; /*!< Specifies the filter identification number (LSBs for a 32-bit - configuration, second one for a 16-bit configuration). - This parameter must be a number between Min_Data = 0x0000 and Max_Data = 0xFFFF. */ - - uint32_t FilterMaskIdHigh; /*!< Specifies the filter mask number or identification number, - according to the mode (MSBs for a 32-bit configuration, - first one for a 16-bit configuration). - This parameter must be a number between Min_Data = 0x0000 and Max_Data = 0xFFFF. */ - - uint32_t FilterMaskIdLow; /*!< Specifies the filter mask number or identification number, - according to the mode (LSBs for a 32-bit configuration, - second one for a 16-bit configuration). - This parameter must be a number between Min_Data = 0x0000 and Max_Data = 0xFFFF. */ - - uint32_t FilterFIFOAssignment; /*!< Specifies the FIFO (0 or 1U) which will be assigned to the filter. - This parameter can be a value of @ref CAN_filter_FIFO */ - - uint32_t FilterBank; /*!< Specifies the filter bank which will be initialized. - For single CAN instance(14 dedicated filter banks), - this parameter must be a number between Min_Data = 0 and Max_Data = 13. - For dual CAN instances(28 filter banks shared), - this parameter must be a number between Min_Data = 0 and Max_Data = 27. */ - - uint32_t FilterMode; /*!< Specifies the filter mode to be initialized. - This parameter can be a value of @ref CAN_filter_mode */ - - uint32_t FilterScale; /*!< Specifies the filter scale. - This parameter can be a value of @ref CAN_filter_scale */ - - uint32_t FilterActivation; /*!< Enable or disable the filter. - This parameter can be a value of @ref CAN_filter_activation */ - - uint32_t SlaveStartFilterBank; /*!< Select the start filter bank for the slave CAN instance. - For single CAN instances, this parameter is meaningless. - For dual CAN instances, all filter banks with lower index are assigned to master - CAN instance, whereas all filter banks with greater index are assigned to slave - CAN instance. - This parameter must be a number between Min_Data = 0 and Max_Data = 27. */ - -} CAN_FilterTypeDef; - -/** - * @brief CAN Tx message header structure definition - */ -typedef struct -{ - uint32_t StdId; /*!< Specifies the standard identifier. - This parameter must be a number between Min_Data = 0 and Max_Data = 0x7FF. */ - - uint32_t ExtId; /*!< Specifies the extended identifier. - This parameter must be a number between Min_Data = 0 and Max_Data = 0x1FFFFFFF. */ - - uint32_t IDE; /*!< Specifies the type of identifier for the message that will be transmitted. - This parameter can be a value of @ref CAN_identifier_type */ - - uint32_t RTR; /*!< Specifies the type of frame for the message that will be transmitted. - This parameter can be a value of @ref CAN_remote_transmission_request */ - - uint32_t DLC; /*!< Specifies the length of the frame that will be transmitted. - This parameter must be a number between Min_Data = 0 and Max_Data = 8. */ - - FunctionalState TransmitGlobalTime; /*!< Specifies whether the timestamp counter value captured on start - of frame transmission, is sent in DATA6 and DATA7 replacing pData[6] and pData[7]. - @note: Time Triggered Communication Mode must be enabled. - @note: DLC must be programmed as 8 bytes, in order these 2 bytes are sent. - This parameter can be set to ENABLE or DISABLE. */ - -} CAN_TxHeaderTypeDef; - -/** - * @brief CAN Rx message header structure definition - */ -typedef struct -{ - uint32_t StdId; /*!< Specifies the standard identifier. - This parameter must be a number between Min_Data = 0 and Max_Data = 0x7FF. */ - - uint32_t ExtId; /*!< Specifies the extended identifier. - This parameter must be a number between Min_Data = 0 and Max_Data = 0x1FFFFFFF. */ - - uint32_t IDE; /*!< Specifies the type of identifier for the message that will be transmitted. - This parameter can be a value of @ref CAN_identifier_type */ - - uint32_t RTR; /*!< Specifies the type of frame for the message that will be transmitted. - This parameter can be a value of @ref CAN_remote_transmission_request */ - - uint32_t DLC; /*!< Specifies the length of the frame that will be transmitted. - This parameter must be a number between Min_Data = 0 and Max_Data = 8. */ - - uint32_t Timestamp; /*!< Specifies the timestamp counter value captured on start of frame reception. - @note: Time Triggered Communication Mode must be enabled. - This parameter must be a number between Min_Data = 0 and Max_Data = 0xFFFF. */ - - uint32_t FilterMatchIndex; /*!< Specifies the index of matching acceptance filter element. - This parameter must be a number between Min_Data = 0 and Max_Data = 0xFF. */ - -} CAN_RxHeaderTypeDef; - -/** - * @brief CAN handle Structure definition - */ -typedef struct __CAN_HandleTypeDef -{ - CAN_TypeDef *Instance; /*!< Register base address */ - - CAN_InitTypeDef Init; /*!< CAN required parameters */ - - __IO HAL_CAN_StateTypeDef State; /*!< CAN communication state */ - - __IO uint32_t ErrorCode; /*!< CAN Error code. - This parameter can be a value of @ref CAN_Error_Code */ - -#if USE_HAL_CAN_REGISTER_CALLBACKS == 1 - void (* TxMailbox0CompleteCallback)(struct __CAN_HandleTypeDef *hcan);/*!< CAN Tx Mailbox 0 complete callback */ - void (* TxMailbox1CompleteCallback)(struct __CAN_HandleTypeDef *hcan);/*!< CAN Tx Mailbox 1 complete callback */ - void (* TxMailbox2CompleteCallback)(struct __CAN_HandleTypeDef *hcan);/*!< CAN Tx Mailbox 2 complete callback */ - void (* TxMailbox0AbortCallback)(struct __CAN_HandleTypeDef *hcan); /*!< CAN Tx Mailbox 0 abort callback */ - void (* TxMailbox1AbortCallback)(struct __CAN_HandleTypeDef *hcan); /*!< CAN Tx Mailbox 1 abort callback */ - void (* TxMailbox2AbortCallback)(struct __CAN_HandleTypeDef *hcan); /*!< CAN Tx Mailbox 2 abort callback */ - void (* RxFifo0MsgPendingCallback)(struct __CAN_HandleTypeDef *hcan); /*!< CAN Rx FIFO 0 msg pending callback */ - void (* RxFifo0FullCallback)(struct __CAN_HandleTypeDef *hcan); /*!< CAN Rx FIFO 0 full callback */ - void (* RxFifo1MsgPendingCallback)(struct __CAN_HandleTypeDef *hcan); /*!< CAN Rx FIFO 1 msg pending callback */ - void (* RxFifo1FullCallback)(struct __CAN_HandleTypeDef *hcan); /*!< CAN Rx FIFO 1 full callback */ - void (* SleepCallback)(struct __CAN_HandleTypeDef *hcan); /*!< CAN Sleep callback */ - void (* WakeUpFromRxMsgCallback)(struct __CAN_HandleTypeDef *hcan); /*!< CAN Wake Up from Rx msg callback */ - void (* ErrorCallback)(struct __CAN_HandleTypeDef *hcan); /*!< CAN Error callback */ - - void (* MspInitCallback)(struct __CAN_HandleTypeDef *hcan); /*!< CAN Msp Init callback */ - void (* MspDeInitCallback)(struct __CAN_HandleTypeDef *hcan); /*!< CAN Msp DeInit callback */ - -#endif /* (USE_HAL_CAN_REGISTER_CALLBACKS) */ -} CAN_HandleTypeDef; - -#if USE_HAL_CAN_REGISTER_CALLBACKS == 1 -/** - * @brief HAL CAN common Callback ID enumeration definition - */ -typedef enum -{ - HAL_CAN_TX_MAILBOX0_COMPLETE_CB_ID = 0x00U, /*!< CAN Tx Mailbox 0 complete callback ID */ - HAL_CAN_TX_MAILBOX1_COMPLETE_CB_ID = 0x01U, /*!< CAN Tx Mailbox 1 complete callback ID */ - HAL_CAN_TX_MAILBOX2_COMPLETE_CB_ID = 0x02U, /*!< CAN Tx Mailbox 2 complete callback ID */ - HAL_CAN_TX_MAILBOX0_ABORT_CB_ID = 0x03U, /*!< CAN Tx Mailbox 0 abort callback ID */ - HAL_CAN_TX_MAILBOX1_ABORT_CB_ID = 0x04U, /*!< CAN Tx Mailbox 1 abort callback ID */ - HAL_CAN_TX_MAILBOX2_ABORT_CB_ID = 0x05U, /*!< CAN Tx Mailbox 2 abort callback ID */ - HAL_CAN_RX_FIFO0_MSG_PENDING_CB_ID = 0x06U, /*!< CAN Rx FIFO 0 message pending callback ID */ - HAL_CAN_RX_FIFO0_FULL_CB_ID = 0x07U, /*!< CAN Rx FIFO 0 full callback ID */ - HAL_CAN_RX_FIFO1_MSG_PENDING_CB_ID = 0x08U, /*!< CAN Rx FIFO 1 message pending callback ID */ - HAL_CAN_RX_FIFO1_FULL_CB_ID = 0x09U, /*!< CAN Rx FIFO 1 full callback ID */ - HAL_CAN_SLEEP_CB_ID = 0x0AU, /*!< CAN Sleep callback ID */ - HAL_CAN_WAKEUP_FROM_RX_MSG_CB_ID = 0x0BU, /*!< CAN Wake Up from Rx msg callback ID */ - HAL_CAN_ERROR_CB_ID = 0x0CU, /*!< CAN Error callback ID */ - - HAL_CAN_MSPINIT_CB_ID = 0x0DU, /*!< CAN MspInit callback ID */ - HAL_CAN_MSPDEINIT_CB_ID = 0x0EU, /*!< CAN MspDeInit callback ID */ - -} HAL_CAN_CallbackIDTypeDef; - -/** - * @brief HAL CAN Callback pointer definition - */ -typedef void (*pCAN_CallbackTypeDef)(CAN_HandleTypeDef *hcan); /*!< pointer to a CAN callback function */ - -#endif /* USE_HAL_CAN_REGISTER_CALLBACKS */ -/** - * @} - */ - -/* Exported constants --------------------------------------------------------*/ - -/** @defgroup CAN_Exported_Constants CAN Exported Constants - * @{ - */ - -/** @defgroup CAN_Error_Code CAN Error Code - * @{ - */ -#define HAL_CAN_ERROR_NONE (0x00000000U) /*!< No error */ -#define HAL_CAN_ERROR_EWG (0x00000001U) /*!< Protocol Error Warning */ -#define HAL_CAN_ERROR_EPV (0x00000002U) /*!< Error Passive */ -#define HAL_CAN_ERROR_BOF (0x00000004U) /*!< Bus-off error */ -#define HAL_CAN_ERROR_STF (0x00000008U) /*!< Stuff error */ -#define HAL_CAN_ERROR_FOR (0x00000010U) /*!< Form error */ -#define HAL_CAN_ERROR_ACK (0x00000020U) /*!< Acknowledgment error */ -#define HAL_CAN_ERROR_BR (0x00000040U) /*!< Bit recessive error */ -#define HAL_CAN_ERROR_BD (0x00000080U) /*!< Bit dominant error */ -#define HAL_CAN_ERROR_CRC (0x00000100U) /*!< CRC error */ -#define HAL_CAN_ERROR_RX_FOV0 (0x00000200U) /*!< Rx FIFO0 overrun error */ -#define HAL_CAN_ERROR_RX_FOV1 (0x00000400U) /*!< Rx FIFO1 overrun error */ -#define HAL_CAN_ERROR_TX_ALST0 (0x00000800U) /*!< TxMailbox 0 transmit failure due to arbitration lost */ -#define HAL_CAN_ERROR_TX_TERR0 (0x00001000U) /*!< TxMailbox 0 transmit failure due to transmit error */ -#define HAL_CAN_ERROR_TX_ALST1 (0x00002000U) /*!< TxMailbox 1 transmit failure due to arbitration lost */ -#define HAL_CAN_ERROR_TX_TERR1 (0x00004000U) /*!< TxMailbox 1 transmit failure due to transmit error */ -#define HAL_CAN_ERROR_TX_ALST2 (0x00008000U) /*!< TxMailbox 2 transmit failure due to arbitration lost */ -#define HAL_CAN_ERROR_TX_TERR2 (0x00010000U) /*!< TxMailbox 2 transmit failure due to transmit error */ -#define HAL_CAN_ERROR_TIMEOUT (0x00020000U) /*!< Timeout error */ -#define HAL_CAN_ERROR_NOT_INITIALIZED (0x00040000U) /*!< Peripheral not initialized */ -#define HAL_CAN_ERROR_NOT_READY (0x00080000U) /*!< Peripheral not ready */ -#define HAL_CAN_ERROR_NOT_STARTED (0x00100000U) /*!< Peripheral not started */ -#define HAL_CAN_ERROR_PARAM (0x00200000U) /*!< Parameter error */ - -#if USE_HAL_CAN_REGISTER_CALLBACKS == 1 -#define HAL_CAN_ERROR_INVALID_CALLBACK (0x00400000U) /*!< Invalid Callback error */ -#endif /* USE_HAL_CAN_REGISTER_CALLBACKS */ -#define HAL_CAN_ERROR_INTERNAL (0x00800000U) /*!< Internal error */ - -/** - * @} - */ - -/** @defgroup CAN_InitStatus CAN InitStatus - * @{ - */ -#define CAN_INITSTATUS_FAILED (0x00000000U) /*!< CAN initialization failed */ -#define CAN_INITSTATUS_SUCCESS (0x00000001U) /*!< CAN initialization OK */ -/** - * @} - */ - -/** @defgroup CAN_operating_mode CAN Operating Mode - * @{ - */ -#define CAN_MODE_NORMAL (0x00000000U) /*!< Normal mode */ -#define CAN_MODE_LOOPBACK ((uint32_t)CAN_BTR_LBKM) /*!< Loopback mode */ -#define CAN_MODE_SILENT ((uint32_t)CAN_BTR_SILM) /*!< Silent mode */ -#define CAN_MODE_SILENT_LOOPBACK ((uint32_t)(CAN_BTR_LBKM | CAN_BTR_SILM)) /*!< Loopback combined with silent mode */ -/** - * @} - */ - - -/** @defgroup CAN_synchronisation_jump_width CAN Synchronization Jump Width - * @{ - */ -#define CAN_SJW_1TQ (0x00000000U) /*!< 1 time quantum */ -#define CAN_SJW_2TQ ((uint32_t)CAN_BTR_SJW_0) /*!< 2 time quantum */ -#define CAN_SJW_3TQ ((uint32_t)CAN_BTR_SJW_1) /*!< 3 time quantum */ -#define CAN_SJW_4TQ ((uint32_t)CAN_BTR_SJW) /*!< 4 time quantum */ -/** - * @} - */ - -/** @defgroup CAN_time_quantum_in_bit_segment_1 CAN Time Quantum in Bit Segment 1 - * @{ - */ -#define CAN_BS1_1TQ (0x00000000U) /*!< 1 time quantum */ -#define CAN_BS1_2TQ ((uint32_t)CAN_BTR_TS1_0) /*!< 2 time quantum */ -#define CAN_BS1_3TQ ((uint32_t)CAN_BTR_TS1_1) /*!< 3 time quantum */ -#define CAN_BS1_4TQ ((uint32_t)(CAN_BTR_TS1_1 | CAN_BTR_TS1_0)) /*!< 4 time quantum */ -#define CAN_BS1_5TQ ((uint32_t)CAN_BTR_TS1_2) /*!< 5 time quantum */ -#define CAN_BS1_6TQ ((uint32_t)(CAN_BTR_TS1_2 | CAN_BTR_TS1_0)) /*!< 6 time quantum */ -#define CAN_BS1_7TQ ((uint32_t)(CAN_BTR_TS1_2 | CAN_BTR_TS1_1)) /*!< 7 time quantum */ -#define CAN_BS1_8TQ ((uint32_t)(CAN_BTR_TS1_2 | CAN_BTR_TS1_1 | CAN_BTR_TS1_0)) /*!< 8 time quantum */ -#define CAN_BS1_9TQ ((uint32_t)CAN_BTR_TS1_3) /*!< 9 time quantum */ -#define CAN_BS1_10TQ ((uint32_t)(CAN_BTR_TS1_3 | CAN_BTR_TS1_0)) /*!< 10 time quantum */ -#define CAN_BS1_11TQ ((uint32_t)(CAN_BTR_TS1_3 | CAN_BTR_TS1_1)) /*!< 11 time quantum */ -#define CAN_BS1_12TQ ((uint32_t)(CAN_BTR_TS1_3 | CAN_BTR_TS1_1 | CAN_BTR_TS1_0)) /*!< 12 time quantum */ -#define CAN_BS1_13TQ ((uint32_t)(CAN_BTR_TS1_3 | CAN_BTR_TS1_2)) /*!< 13 time quantum */ -#define CAN_BS1_14TQ ((uint32_t)(CAN_BTR_TS1_3 | CAN_BTR_TS1_2 | CAN_BTR_TS1_0)) /*!< 14 time quantum */ -#define CAN_BS1_15TQ ((uint32_t)(CAN_BTR_TS1_3 | CAN_BTR_TS1_2 | CAN_BTR_TS1_1)) /*!< 15 time quantum */ -#define CAN_BS1_16TQ ((uint32_t)CAN_BTR_TS1) /*!< 16 time quantum */ -/** - * @} - */ - -/** @defgroup CAN_time_quantum_in_bit_segment_2 CAN Time Quantum in Bit Segment 2 - * @{ - */ -#define CAN_BS2_1TQ (0x00000000U) /*!< 1 time quantum */ -#define CAN_BS2_2TQ ((uint32_t)CAN_BTR_TS2_0) /*!< 2 time quantum */ -#define CAN_BS2_3TQ ((uint32_t)CAN_BTR_TS2_1) /*!< 3 time quantum */ -#define CAN_BS2_4TQ ((uint32_t)(CAN_BTR_TS2_1 | CAN_BTR_TS2_0)) /*!< 4 time quantum */ -#define CAN_BS2_5TQ ((uint32_t)CAN_BTR_TS2_2) /*!< 5 time quantum */ -#define CAN_BS2_6TQ ((uint32_t)(CAN_BTR_TS2_2 | CAN_BTR_TS2_0)) /*!< 6 time quantum */ -#define CAN_BS2_7TQ ((uint32_t)(CAN_BTR_TS2_2 | CAN_BTR_TS2_1)) /*!< 7 time quantum */ -#define CAN_BS2_8TQ ((uint32_t)CAN_BTR_TS2) /*!< 8 time quantum */ -/** - * @} - */ - -/** @defgroup CAN_filter_mode CAN Filter Mode - * @{ - */ -#define CAN_FILTERMODE_IDMASK (0x00000000U) /*!< Identifier mask mode */ -#define CAN_FILTERMODE_IDLIST (0x00000001U) /*!< Identifier list mode */ -/** - * @} - */ - -/** @defgroup CAN_filter_scale CAN Filter Scale - * @{ - */ -#define CAN_FILTERSCALE_16BIT (0x00000000U) /*!< Two 16-bit filters */ -#define CAN_FILTERSCALE_32BIT (0x00000001U) /*!< One 32-bit filter */ -/** - * @} - */ - -/** @defgroup CAN_filter_activation CAN Filter Activation - * @{ - */ -#define CAN_FILTER_DISABLE (0x00000000U) /*!< Disable filter */ -#define CAN_FILTER_ENABLE (0x00000001U) /*!< Enable filter */ -/** - * @} - */ - -/** @defgroup CAN_filter_FIFO CAN Filter FIFO - * @{ - */ -#define CAN_FILTER_FIFO0 (0x00000000U) /*!< Filter FIFO 0 assignment for filter x */ -#define CAN_FILTER_FIFO1 (0x00000001U) /*!< Filter FIFO 1 assignment for filter x */ -/** - * @} - */ - -/** @defgroup CAN_identifier_type CAN Identifier Type - * @{ - */ -#define CAN_ID_STD (0x00000000U) /*!< Standard Id */ -#define CAN_ID_EXT (0x00000004U) /*!< Extended Id */ -/** - * @} - */ - -/** @defgroup CAN_remote_transmission_request CAN Remote Transmission Request - * @{ - */ -#define CAN_RTR_DATA (0x00000000U) /*!< Data frame */ -#define CAN_RTR_REMOTE (0x00000002U) /*!< Remote frame */ -/** - * @} - */ - -/** @defgroup CAN_receive_FIFO_number CAN Receive FIFO Number - * @{ - */ -#define CAN_RX_FIFO0 (0x00000000U) /*!< CAN receive FIFO 0 */ -#define CAN_RX_FIFO1 (0x00000001U) /*!< CAN receive FIFO 1 */ -/** - * @} - */ - -/** @defgroup CAN_Tx_Mailboxes CAN Tx Mailboxes - * @{ - */ -#define CAN_TX_MAILBOX0 (0x00000001U) /*!< Tx Mailbox 0 */ -#define CAN_TX_MAILBOX1 (0x00000002U) /*!< Tx Mailbox 1 */ -#define CAN_TX_MAILBOX2 (0x00000004U) /*!< Tx Mailbox 2 */ -/** - * @} - */ - -/** @defgroup CAN_flags CAN Flags - * @{ - */ -/* Transmit Flags */ -#define CAN_FLAG_RQCP0 (0x00000500U) /*!< Request complete MailBox 0 flag */ -#define CAN_FLAG_TXOK0 (0x00000501U) /*!< Transmission OK MailBox 0 flag */ -#define CAN_FLAG_ALST0 (0x00000502U) /*!< Arbitration Lost MailBox 0 flag */ -#define CAN_FLAG_TERR0 (0x00000503U) /*!< Transmission error MailBox 0 flag */ -#define CAN_FLAG_RQCP1 (0x00000508U) /*!< Request complete MailBox1 flag */ -#define CAN_FLAG_TXOK1 (0x00000509U) /*!< Transmission OK MailBox 1 flag */ -#define CAN_FLAG_ALST1 (0x0000050AU) /*!< Arbitration Lost MailBox 1 flag */ -#define CAN_FLAG_TERR1 (0x0000050BU) /*!< Transmission error MailBox 1 flag */ -#define CAN_FLAG_RQCP2 (0x00000510U) /*!< Request complete MailBox2 flag */ -#define CAN_FLAG_TXOK2 (0x00000511U) /*!< Transmission OK MailBox 2 flag */ -#define CAN_FLAG_ALST2 (0x00000512U) /*!< Arbitration Lost MailBox 2 flag */ -#define CAN_FLAG_TERR2 (0x00000513U) /*!< Transmission error MailBox 2 flag */ -#define CAN_FLAG_TME0 (0x0000051AU) /*!< Transmit mailbox 0 empty flag */ -#define CAN_FLAG_TME1 (0x0000051BU) /*!< Transmit mailbox 1 empty flag */ -#define CAN_FLAG_TME2 (0x0000051CU) /*!< Transmit mailbox 2 empty flag */ -#define CAN_FLAG_LOW0 (0x0000051DU) /*!< Lowest priority mailbox 0 flag */ -#define CAN_FLAG_LOW1 (0x0000051EU) /*!< Lowest priority mailbox 1 flag */ -#define CAN_FLAG_LOW2 (0x0000051FU) /*!< Lowest priority mailbox 2 flag */ - -/* Receive Flags */ -#define CAN_FLAG_FF0 (0x00000203U) /*!< RX FIFO 0 Full flag */ -#define CAN_FLAG_FOV0 (0x00000204U) /*!< RX FIFO 0 Overrun flag */ -#define CAN_FLAG_FF1 (0x00000403U) /*!< RX FIFO 1 Full flag */ -#define CAN_FLAG_FOV1 (0x00000404U) /*!< RX FIFO 1 Overrun flag */ - -/* Operating Mode Flags */ -#define CAN_FLAG_INAK (0x00000100U) /*!< Initialization acknowledge flag */ -#define CAN_FLAG_SLAK (0x00000101U) /*!< Sleep acknowledge flag */ -#define CAN_FLAG_ERRI (0x00000102U) /*!< Error flag */ -#define CAN_FLAG_WKU (0x00000103U) /*!< Wake up interrupt flag */ -#define CAN_FLAG_SLAKI (0x00000104U) /*!< Sleep acknowledge interrupt flag */ - -/* Error Flags */ -#define CAN_FLAG_EWG (0x00000300U) /*!< Error warning flag */ -#define CAN_FLAG_EPV (0x00000301U) /*!< Error passive flag */ -#define CAN_FLAG_BOF (0x00000302U) /*!< Bus-Off flag */ -/** - * @} - */ - - -/** @defgroup CAN_Interrupts CAN Interrupts - * @{ - */ -/* Transmit Interrupt */ -#define CAN_IT_TX_MAILBOX_EMPTY ((uint32_t)CAN_IER_TMEIE) /*!< Transmit mailbox empty interrupt */ - -/* Receive Interrupts */ -#define CAN_IT_RX_FIFO0_MSG_PENDING ((uint32_t)CAN_IER_FMPIE0) /*!< FIFO 0 message pending interrupt */ -#define CAN_IT_RX_FIFO0_FULL ((uint32_t)CAN_IER_FFIE0) /*!< FIFO 0 full interrupt */ -#define CAN_IT_RX_FIFO0_OVERRUN ((uint32_t)CAN_IER_FOVIE0) /*!< FIFO 0 overrun interrupt */ -#define CAN_IT_RX_FIFO1_MSG_PENDING ((uint32_t)CAN_IER_FMPIE1) /*!< FIFO 1 message pending interrupt */ -#define CAN_IT_RX_FIFO1_FULL ((uint32_t)CAN_IER_FFIE1) /*!< FIFO 1 full interrupt */ -#define CAN_IT_RX_FIFO1_OVERRUN ((uint32_t)CAN_IER_FOVIE1) /*!< FIFO 1 overrun interrupt */ - -/* Operating Mode Interrupts */ -#define CAN_IT_WAKEUP ((uint32_t)CAN_IER_WKUIE) /*!< Wake-up interrupt */ -#define CAN_IT_SLEEP_ACK ((uint32_t)CAN_IER_SLKIE) /*!< Sleep acknowledge interrupt */ - -/* Error Interrupts */ -#define CAN_IT_ERROR_WARNING ((uint32_t)CAN_IER_EWGIE) /*!< Error warning interrupt */ -#define CAN_IT_ERROR_PASSIVE ((uint32_t)CAN_IER_EPVIE) /*!< Error passive interrupt */ -#define CAN_IT_BUSOFF ((uint32_t)CAN_IER_BOFIE) /*!< Bus-off interrupt */ -#define CAN_IT_LAST_ERROR_CODE ((uint32_t)CAN_IER_LECIE) /*!< Last error code interrupt */ -#define CAN_IT_ERROR ((uint32_t)CAN_IER_ERRIE) /*!< Error Interrupt */ -/** - * @} - */ - -/** - * @} - */ - -/* Exported macros -----------------------------------------------------------*/ -/** @defgroup CAN_Exported_Macros CAN Exported Macros - * @{ - */ - -/** @brief Reset CAN handle state - * @param __HANDLE__ CAN handle. - * @retval None - */ -#if USE_HAL_CAN_REGISTER_CALLBACKS == 1 -#define __HAL_CAN_RESET_HANDLE_STATE(__HANDLE__) do{ \ - (__HANDLE__)->State = HAL_CAN_STATE_RESET; \ - (__HANDLE__)->MspInitCallback = NULL; \ - (__HANDLE__)->MspDeInitCallback = NULL; \ - } while(0) -#else -#define __HAL_CAN_RESET_HANDLE_STATE(__HANDLE__) ((__HANDLE__)->State = HAL_CAN_STATE_RESET) -#endif /*USE_HAL_CAN_REGISTER_CALLBACKS */ - -/** - * @brief Enable the specified CAN interrupts. - * @param __HANDLE__ CAN handle. - * @param __INTERRUPT__ CAN Interrupt sources to enable. - * This parameter can be any combination of @arg CAN_Interrupts - * @retval None - */ -#define __HAL_CAN_ENABLE_IT(__HANDLE__, __INTERRUPT__) (((__HANDLE__)->Instance->IER) |= (__INTERRUPT__)) - -/** - * @brief Disable the specified CAN interrupts. - * @param __HANDLE__ CAN handle. - * @param __INTERRUPT__ CAN Interrupt sources to disable. - * This parameter can be any combination of @arg CAN_Interrupts - * @retval None - */ -#define __HAL_CAN_DISABLE_IT(__HANDLE__, __INTERRUPT__) (((__HANDLE__)->Instance->IER) &= ~(__INTERRUPT__)) - -/** @brief Check if the specified CAN interrupt source is enabled or disabled. - * @param __HANDLE__ specifies the CAN Handle. - * @param __INTERRUPT__ specifies the CAN interrupt source to check. - * This parameter can be a value of @arg CAN_Interrupts - * @retval The state of __IT__ (TRUE or FALSE). - */ -#define __HAL_CAN_GET_IT_SOURCE(__HANDLE__, __INTERRUPT__) (((__HANDLE__)->Instance->IER) & (__INTERRUPT__)) - -/** @brief Check whether the specified CAN flag is set or not. - * @param __HANDLE__ specifies the CAN Handle. - * @param __FLAG__ specifies the flag to check. - * This parameter can be one of @arg CAN_flags - * @retval The state of __FLAG__ (TRUE or FALSE). - */ -#define __HAL_CAN_GET_FLAG(__HANDLE__, __FLAG__) \ - ((((__FLAG__) >> 8U) == 5U)? ((((__HANDLE__)->Instance->TSR) & (1U << ((__FLAG__) & CAN_FLAG_MASK))) == (1U << ((__FLAG__) & CAN_FLAG_MASK))): \ - (((__FLAG__) >> 8U) == 2U)? ((((__HANDLE__)->Instance->RF0R) & (1U << ((__FLAG__) & CAN_FLAG_MASK))) == (1U << ((__FLAG__) & CAN_FLAG_MASK))): \ - (((__FLAG__) >> 8U) == 4U)? ((((__HANDLE__)->Instance->RF1R) & (1U << ((__FLAG__) & CAN_FLAG_MASK))) == (1U << ((__FLAG__) & CAN_FLAG_MASK))): \ - (((__FLAG__) >> 8U) == 1U)? ((((__HANDLE__)->Instance->MSR) & (1U << ((__FLAG__) & CAN_FLAG_MASK))) == (1U << ((__FLAG__) & CAN_FLAG_MASK))): \ - (((__FLAG__) >> 8U) == 3U)? ((((__HANDLE__)->Instance->ESR) & (1U << ((__FLAG__) & CAN_FLAG_MASK))) == (1U << ((__FLAG__) & CAN_FLAG_MASK))): 0U) - -/** @brief Clear the specified CAN pending flag. - * @param __HANDLE__ specifies the CAN Handle. - * @param __FLAG__ specifies the flag to check. - * This parameter can be one of the following values: - * @arg CAN_FLAG_RQCP0: Request complete MailBox 0 Flag - * @arg CAN_FLAG_TXOK0: Transmission OK MailBox 0 Flag - * @arg CAN_FLAG_ALST0: Arbitration Lost MailBox 0 Flag - * @arg CAN_FLAG_TERR0: Transmission error MailBox 0 Flag - * @arg CAN_FLAG_RQCP1: Request complete MailBox 1 Flag - * @arg CAN_FLAG_TXOK1: Transmission OK MailBox 1 Flag - * @arg CAN_FLAG_ALST1: Arbitration Lost MailBox 1 Flag - * @arg CAN_FLAG_TERR1: Transmission error MailBox 1 Flag - * @arg CAN_FLAG_RQCP2: Request complete MailBox 2 Flag - * @arg CAN_FLAG_TXOK2: Transmission OK MailBox 2 Flag - * @arg CAN_FLAG_ALST2: Arbitration Lost MailBox 2 Flag - * @arg CAN_FLAG_TERR2: Transmission error MailBox 2 Flag - * @arg CAN_FLAG_FF0: RX FIFO 0 Full Flag - * @arg CAN_FLAG_FOV0: RX FIFO 0 Overrun Flag - * @arg CAN_FLAG_FF1: RX FIFO 1 Full Flag - * @arg CAN_FLAG_FOV1: RX FIFO 1 Overrun Flag - * @arg CAN_FLAG_WKUI: Wake up Interrupt Flag - * @arg CAN_FLAG_SLAKI: Sleep acknowledge Interrupt Flag - * @retval None - */ -#define __HAL_CAN_CLEAR_FLAG(__HANDLE__, __FLAG__) \ - ((((__FLAG__) >> 8U) == 5U)? (((__HANDLE__)->Instance->TSR) = (1U << ((__FLAG__) & CAN_FLAG_MASK))): \ - (((__FLAG__) >> 8U) == 2U)? (((__HANDLE__)->Instance->RF0R) = (1U << ((__FLAG__) & CAN_FLAG_MASK))): \ - (((__FLAG__) >> 8U) == 4U)? (((__HANDLE__)->Instance->RF1R) = (1U << ((__FLAG__) & CAN_FLAG_MASK))): \ - (((__FLAG__) >> 8U) == 1U)? (((__HANDLE__)->Instance->MSR) = (1U << ((__FLAG__) & CAN_FLAG_MASK))): 0U) - -/** - * @} - */ - -/* Exported functions --------------------------------------------------------*/ -/** @addtogroup CAN_Exported_Functions CAN Exported Functions - * @{ - */ - -/** @addtogroup CAN_Exported_Functions_Group1 Initialization and de-initialization functions - * @brief Initialization and Configuration functions - * @{ - */ - -/* Initialization and de-initialization functions *****************************/ -HAL_StatusTypeDef HAL_CAN_Init(CAN_HandleTypeDef *hcan); -HAL_StatusTypeDef HAL_CAN_DeInit(CAN_HandleTypeDef *hcan); -void HAL_CAN_MspInit(CAN_HandleTypeDef *hcan); -void HAL_CAN_MspDeInit(CAN_HandleTypeDef *hcan); - -#if USE_HAL_CAN_REGISTER_CALLBACKS == 1 -/* Callbacks Register/UnRegister functions ***********************************/ -HAL_StatusTypeDef HAL_CAN_RegisterCallback(CAN_HandleTypeDef *hcan, HAL_CAN_CallbackIDTypeDef CallbackID, void (* pCallback)(CAN_HandleTypeDef *_hcan)); -HAL_StatusTypeDef HAL_CAN_UnRegisterCallback(CAN_HandleTypeDef *hcan, HAL_CAN_CallbackIDTypeDef CallbackID); - -#endif /* (USE_HAL_CAN_REGISTER_CALLBACKS) */ -/** - * @} - */ - -/** @addtogroup CAN_Exported_Functions_Group2 Configuration functions - * @brief Configuration functions - * @{ - */ - -/* Configuration functions ****************************************************/ -HAL_StatusTypeDef HAL_CAN_ConfigFilter(CAN_HandleTypeDef *hcan, CAN_FilterTypeDef *sFilterConfig); - -/** - * @} - */ - -/** @addtogroup CAN_Exported_Functions_Group3 Control functions - * @brief Control functions - * @{ - */ - -/* Control functions **********************************************************/ -HAL_StatusTypeDef HAL_CAN_Start(CAN_HandleTypeDef *hcan); -HAL_StatusTypeDef HAL_CAN_Stop(CAN_HandleTypeDef *hcan); -HAL_StatusTypeDef HAL_CAN_RequestSleep(CAN_HandleTypeDef *hcan); -HAL_StatusTypeDef HAL_CAN_WakeUp(CAN_HandleTypeDef *hcan); -uint32_t HAL_CAN_IsSleepActive(CAN_HandleTypeDef *hcan); -HAL_StatusTypeDef HAL_CAN_AddTxMessage(CAN_HandleTypeDef *hcan, CAN_TxHeaderTypeDef *pHeader, uint8_t aData[], uint32_t *pTxMailbox); -HAL_StatusTypeDef HAL_CAN_AbortTxRequest(CAN_HandleTypeDef *hcan, uint32_t TxMailboxes); -uint32_t HAL_CAN_GetTxMailboxesFreeLevel(CAN_HandleTypeDef *hcan); -uint32_t HAL_CAN_IsTxMessagePending(CAN_HandleTypeDef *hcan, uint32_t TxMailboxes); -uint32_t HAL_CAN_GetTxTimestamp(CAN_HandleTypeDef *hcan, uint32_t TxMailbox); -HAL_StatusTypeDef HAL_CAN_GetRxMessage(CAN_HandleTypeDef *hcan, uint32_t RxFifo, CAN_RxHeaderTypeDef *pHeader, uint8_t aData[]); -uint32_t HAL_CAN_GetRxFifoFillLevel(CAN_HandleTypeDef *hcan, uint32_t RxFifo); - -/** - * @} - */ - -/** @addtogroup CAN_Exported_Functions_Group4 Interrupts management - * @brief Interrupts management - * @{ - */ -/* Interrupts management ******************************************************/ -HAL_StatusTypeDef HAL_CAN_ActivateNotification(CAN_HandleTypeDef *hcan, uint32_t ActiveITs); -HAL_StatusTypeDef HAL_CAN_DeactivateNotification(CAN_HandleTypeDef *hcan, uint32_t InactiveITs); -void HAL_CAN_IRQHandler(CAN_HandleTypeDef *hcan); - -/** - * @} - */ - -/** @addtogroup CAN_Exported_Functions_Group5 Callback functions - * @brief Callback functions - * @{ - */ -/* Callbacks functions ********************************************************/ - -void HAL_CAN_TxMailbox0CompleteCallback(CAN_HandleTypeDef *hcan); -void HAL_CAN_TxMailbox1CompleteCallback(CAN_HandleTypeDef *hcan); -void HAL_CAN_TxMailbox2CompleteCallback(CAN_HandleTypeDef *hcan); -void HAL_CAN_TxMailbox0AbortCallback(CAN_HandleTypeDef *hcan); -void HAL_CAN_TxMailbox1AbortCallback(CAN_HandleTypeDef *hcan); -void HAL_CAN_TxMailbox2AbortCallback(CAN_HandleTypeDef *hcan); -void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan); -void HAL_CAN_RxFifo0FullCallback(CAN_HandleTypeDef *hcan); -void HAL_CAN_RxFifo1MsgPendingCallback(CAN_HandleTypeDef *hcan); -void HAL_CAN_RxFifo1FullCallback(CAN_HandleTypeDef *hcan); -void HAL_CAN_SleepCallback(CAN_HandleTypeDef *hcan); -void HAL_CAN_WakeUpFromRxMsgCallback(CAN_HandleTypeDef *hcan); -void HAL_CAN_ErrorCallback(CAN_HandleTypeDef *hcan); - -/** - * @} - */ - -/** @addtogroup CAN_Exported_Functions_Group6 Peripheral State and Error functions - * @brief CAN Peripheral State functions - * @{ - */ -/* Peripheral State and Error functions ***************************************/ -HAL_CAN_StateTypeDef HAL_CAN_GetState(CAN_HandleTypeDef *hcan); -uint32_t HAL_CAN_GetError(CAN_HandleTypeDef *hcan); -HAL_StatusTypeDef HAL_CAN_ResetError(CAN_HandleTypeDef *hcan); - -/** - * @} - */ - -/** - * @} - */ - -/* Private types -------------------------------------------------------------*/ -/** @defgroup CAN_Private_Types CAN Private Types - * @{ - */ - -/** - * @} - */ - -/* Private variables ---------------------------------------------------------*/ -/** @defgroup CAN_Private_Variables CAN Private Variables - * @{ - */ - -/** - * @} - */ - -/* Private constants ---------------------------------------------------------*/ -/** @defgroup CAN_Private_Constants CAN Private Constants - * @{ - */ -#define CAN_FLAG_MASK (0x000000FFU) -/** - * @} - */ - -/* Private Macros -----------------------------------------------------------*/ -/** @defgroup CAN_Private_Macros CAN Private Macros - * @{ - */ - -#define IS_CAN_MODE(MODE) (((MODE) == CAN_MODE_NORMAL) || \ - ((MODE) == CAN_MODE_LOOPBACK)|| \ - ((MODE) == CAN_MODE_SILENT) || \ - ((MODE) == CAN_MODE_SILENT_LOOPBACK)) -#define IS_CAN_SJW(SJW) (((SJW) == CAN_SJW_1TQ) || ((SJW) == CAN_SJW_2TQ) || \ - ((SJW) == CAN_SJW_3TQ) || ((SJW) == CAN_SJW_4TQ)) -#define IS_CAN_BS1(BS1) (((BS1) == CAN_BS1_1TQ) || ((BS1) == CAN_BS1_2TQ) || \ - ((BS1) == CAN_BS1_3TQ) || ((BS1) == CAN_BS1_4TQ) || \ - ((BS1) == CAN_BS1_5TQ) || ((BS1) == CAN_BS1_6TQ) || \ - ((BS1) == CAN_BS1_7TQ) || ((BS1) == CAN_BS1_8TQ) || \ - ((BS1) == CAN_BS1_9TQ) || ((BS1) == CAN_BS1_10TQ)|| \ - ((BS1) == CAN_BS1_11TQ)|| ((BS1) == CAN_BS1_12TQ)|| \ - ((BS1) == CAN_BS1_13TQ)|| ((BS1) == CAN_BS1_14TQ)|| \ - ((BS1) == CAN_BS1_15TQ)|| ((BS1) == CAN_BS1_16TQ)) -#define IS_CAN_BS2(BS2) (((BS2) == CAN_BS2_1TQ) || ((BS2) == CAN_BS2_2TQ) || \ - ((BS2) == CAN_BS2_3TQ) || ((BS2) == CAN_BS2_4TQ) || \ - ((BS2) == CAN_BS2_5TQ) || ((BS2) == CAN_BS2_6TQ) || \ - ((BS2) == CAN_BS2_7TQ) || ((BS2) == CAN_BS2_8TQ)) -#define IS_CAN_PRESCALER(PRESCALER) (((PRESCALER) >= 1U) && ((PRESCALER) <= 1024U)) -#define IS_CAN_FILTER_ID_HALFWORD(HALFWORD) ((HALFWORD) <= 0xFFFFU) -#define IS_CAN_FILTER_BANK_DUAL(BANK) ((BANK) <= 27U) -#define IS_CAN_FILTER_BANK_SINGLE(BANK) ((BANK) <= 13U) -#define IS_CAN_FILTER_MODE(MODE) (((MODE) == CAN_FILTERMODE_IDMASK) || \ - ((MODE) == CAN_FILTERMODE_IDLIST)) -#define IS_CAN_FILTER_SCALE(SCALE) (((SCALE) == CAN_FILTERSCALE_16BIT) || \ - ((SCALE) == CAN_FILTERSCALE_32BIT)) -#define IS_CAN_FILTER_ACTIVATION(ACTIVATION) (((ACTIVATION) == CAN_FILTER_DISABLE) || \ - ((ACTIVATION) == CAN_FILTER_ENABLE)) -#define IS_CAN_FILTER_FIFO(FIFO) (((FIFO) == CAN_FILTER_FIFO0) || \ - ((FIFO) == CAN_FILTER_FIFO1)) -#define IS_CAN_TX_MAILBOX(TRANSMITMAILBOX) (((TRANSMITMAILBOX) == CAN_TX_MAILBOX0 ) || \ - ((TRANSMITMAILBOX) == CAN_TX_MAILBOX1 ) || \ - ((TRANSMITMAILBOX) == CAN_TX_MAILBOX2 )) -#define IS_CAN_TX_MAILBOX_LIST(TRANSMITMAILBOX) ((TRANSMITMAILBOX) <= (CAN_TX_MAILBOX0 | CAN_TX_MAILBOX1 | CAN_TX_MAILBOX2)) -#define IS_CAN_STDID(STDID) ((STDID) <= 0x7FFU) -#define IS_CAN_EXTID(EXTID) ((EXTID) <= 0x1FFFFFFFU) -#define IS_CAN_DLC(DLC) ((DLC) <= 8U) -#define IS_CAN_IDTYPE(IDTYPE) (((IDTYPE) == CAN_ID_STD) || \ - ((IDTYPE) == CAN_ID_EXT)) -#define IS_CAN_RTR(RTR) (((RTR) == CAN_RTR_DATA) || ((RTR) == CAN_RTR_REMOTE)) -#define IS_CAN_RX_FIFO(FIFO) (((FIFO) == CAN_RX_FIFO0) || ((FIFO) == CAN_RX_FIFO1)) -#define IS_CAN_IT(IT) ((IT) <= (CAN_IT_TX_MAILBOX_EMPTY | CAN_IT_RX_FIFO0_MSG_PENDING | \ - CAN_IT_RX_FIFO0_FULL | CAN_IT_RX_FIFO0_OVERRUN | \ - CAN_IT_RX_FIFO1_MSG_PENDING | CAN_IT_RX_FIFO1_FULL | \ - CAN_IT_RX_FIFO1_OVERRUN | CAN_IT_WAKEUP | \ - CAN_IT_SLEEP_ACK | CAN_IT_ERROR_WARNING | \ - CAN_IT_ERROR_PASSIVE | CAN_IT_BUSOFF | \ - CAN_IT_LAST_ERROR_CODE | CAN_IT_ERROR)) - -/** - * @} - */ -/* End of private macros -----------------------------------------------------*/ - -/** - * @} - */ - - -#endif /* CAN1 */ -/** - * @} - */ - -#ifdef __cplusplus -} -#endif - -#endif /* STM32F4xx_HAL_CAN_H */ - - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cec.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cec.h deleted file mode 100644 index 90415773694bf0..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cec.h +++ /dev/null @@ -1,794 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_cec.h - * @author MCD Application Team - * @brief Header file of CEC HAL module. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef STM32F4xx_HAL_CEC_H -#define STM32F4xx_HAL_CEC_H - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal_def.h" - -#if defined (CEC) - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @addtogroup CEC - * @{ - */ - -/* Exported types ------------------------------------------------------------*/ -/** @defgroup CEC_Exported_Types CEC Exported Types - * @{ - */ - -/** - * @brief CEC Init Structure definition - */ -typedef struct -{ - uint32_t SignalFreeTime; /*!< Set SFT field, specifies the Signal Free Time. - It can be one of @ref CEC_Signal_Free_Time - and belongs to the set {0,...,7} where - 0x0 is the default configuration - else means 0.5 + (SignalFreeTime - 1) nominal data bit periods */ - - uint32_t Tolerance; /*!< Set RXTOL bit, specifies the tolerance accepted on the received waveforms, - it can be a value of @ref CEC_Tolerance : it is either CEC_STANDARD_TOLERANCE - or CEC_EXTENDED_TOLERANCE */ - - uint32_t BRERxStop; /*!< Set BRESTP bit @ref CEC_BRERxStop : specifies whether or not a Bit Rising Error stops the reception. - CEC_NO_RX_STOP_ON_BRE: reception is not stopped. - CEC_RX_STOP_ON_BRE: reception is stopped. */ - - uint32_t BREErrorBitGen; /*!< Set BREGEN bit @ref CEC_BREErrorBitGen : specifies whether or not an Error-Bit is generated on the - CEC line upon Bit Rising Error detection. - CEC_BRE_ERRORBIT_NO_GENERATION: no error-bit generation. - CEC_BRE_ERRORBIT_GENERATION: error-bit generation if BRESTP is set. */ - - uint32_t LBPEErrorBitGen; /*!< Set LBPEGEN bit @ref CEC_LBPEErrorBitGen : specifies whether or not an Error-Bit is generated on the - CEC line upon Long Bit Period Error detection. - CEC_LBPE_ERRORBIT_NO_GENERATION: no error-bit generation. - CEC_LBPE_ERRORBIT_GENERATION: error-bit generation. */ - - uint32_t BroadcastMsgNoErrorBitGen; /*!< Set BRDNOGEN bit @ref CEC_BroadCastMsgErrorBitGen : allows to avoid an Error-Bit generation on the CEC line - upon an error detected on a broadcast message. - - It supersedes BREGEN and LBPEGEN bits for a broadcast message error handling. It can take two values: - - 1) CEC_BROADCASTERROR_ERRORBIT_GENERATION. - a) BRE detection: error-bit generation on the CEC line if BRESTP=CEC_RX_STOP_ON_BRE - and BREGEN=CEC_BRE_ERRORBIT_NO_GENERATION. - b) LBPE detection: error-bit generation on the CEC line - if LBPGEN=CEC_LBPE_ERRORBIT_NO_GENERATION. - - 2) CEC_BROADCASTERROR_NO_ERRORBIT_GENERATION. - no error-bit generation in case neither a) nor b) are satisfied. Additionally, - there is no error-bit generation in case of Short Bit Period Error detection in - a broadcast message while LSTN bit is set. */ - - uint32_t SignalFreeTimeOption; /*!< Set SFTOP bit @ref CEC_SFT_Option : specifies when SFT timer starts. - CEC_SFT_START_ON_TXSOM SFT: timer starts when TXSOM is set by software. - CEC_SFT_START_ON_TX_RX_END: SFT timer starts automatically at the end of message transmission/reception. */ - - uint32_t ListenMode; /*!< Set LSTN bit @ref CEC_Listening_Mode : specifies device listening mode. It can take two values: - - CEC_REDUCED_LISTENING_MODE: CEC peripheral receives only message addressed to its - own address (OAR). Messages addressed to different destination are ignored. - Broadcast messages are always received. - - CEC_FULL_LISTENING_MODE: CEC peripheral receives messages addressed to its own - address (OAR) with positive acknowledge. Messages addressed to different destination - are received, but without interfering with the CEC bus: no acknowledge sent. */ - - uint16_t OwnAddress; /*!< Own addresses configuration - This parameter can be a value of @ref CEC_OWN_ADDRESS */ - - uint8_t *RxBuffer; /*!< CEC Rx buffer pointeur */ - - -} CEC_InitTypeDef; - -/** - * @brief HAL CEC State definition - * @note HAL CEC State value is a combination of 2 different substates: gState and RxState (see @ref CEC_State_Definition). - * - gState contains CEC state information related to global Handle management - * and also information related to Tx operations. - * gState value coding follow below described bitmap : - * b7 (not used) - * x : Should be set to 0 - * b6 Error information - * 0 : No Error - * 1 : Error - * b5 CEC peripheral initialization status - * 0 : Reset (peripheral not initialized) - * 1 : Init done (peripheral initialized. HAL CEC Init function already called) - * b4-b3 (not used) - * xx : Should be set to 00 - * b2 Intrinsic process state - * 0 : Ready - * 1 : Busy (peripheral busy with some configuration or internal operations) - * b1 (not used) - * x : Should be set to 0 - * b0 Tx state - * 0 : Ready (no Tx operation ongoing) - * 1 : Busy (Tx operation ongoing) - * - RxState contains information related to Rx operations. - * RxState value coding follow below described bitmap : - * b7-b6 (not used) - * xx : Should be set to 00 - * b5 CEC peripheral initialization status - * 0 : Reset (peripheral not initialized) - * 1 : Init done (peripheral initialized) - * b4-b2 (not used) - * xxx : Should be set to 000 - * b1 Rx state - * 0 : Ready (no Rx operation ongoing) - * 1 : Busy (Rx operation ongoing) - * b0 (not used) - * x : Should be set to 0. - */ -typedef uint32_t HAL_CEC_StateTypeDef; - -/** - * @brief CEC handle Structure definition - */ -#if (USE_HAL_CEC_REGISTER_CALLBACKS == 1) -typedef struct __CEC_HandleTypeDef -#else -typedef struct -#endif /* USE_HAL_CEC_REGISTER_CALLBACKS */ -{ - CEC_TypeDef *Instance; /*!< CEC registers base address */ - - CEC_InitTypeDef Init; /*!< CEC communication parameters */ - - uint8_t *pTxBuffPtr; /*!< Pointer to CEC Tx transfer Buffer */ - - uint16_t TxXferCount; /*!< CEC Tx Transfer Counter */ - - uint16_t RxXferSize; /*!< CEC Rx Transfer size, 0: header received only */ - - HAL_LockTypeDef Lock; /*!< Locking object */ - - HAL_CEC_StateTypeDef gState; /*!< CEC state information related to global Handle management - and also related to Tx operations. - This parameter can be a value of @ref HAL_CEC_StateTypeDef */ - - HAL_CEC_StateTypeDef RxState; /*!< CEC state information related to Rx operations. - This parameter can be a value of @ref HAL_CEC_StateTypeDef */ - - uint32_t ErrorCode; /*!< For errors handling purposes, copy of ISR register - in case error is reported */ - -#if (USE_HAL_CEC_REGISTER_CALLBACKS == 1) - void (* TxCpltCallback)(struct __CEC_HandleTypeDef - *hcec); /*!< CEC Tx Transfer completed callback */ - void (* RxCpltCallback)(struct __CEC_HandleTypeDef *hcec, - uint32_t RxFrameSize); /*!< CEC Rx Transfer completed callback */ - void (* ErrorCallback)(struct __CEC_HandleTypeDef *hcec); /*!< CEC error callback */ - - void (* MspInitCallback)(struct __CEC_HandleTypeDef *hcec); /*!< CEC Msp Init callback */ - void (* MspDeInitCallback)(struct __CEC_HandleTypeDef *hcec); /*!< CEC Msp DeInit callback */ - -#endif /* (USE_HAL_CEC_REGISTER_CALLBACKS) */ -} CEC_HandleTypeDef; - -#if (USE_HAL_CEC_REGISTER_CALLBACKS == 1) -/** - * @brief HAL CEC Callback ID enumeration definition - */ -typedef enum -{ - HAL_CEC_TX_CPLT_CB_ID = 0x00U, /*!< CEC Tx Transfer completed callback ID */ - HAL_CEC_RX_CPLT_CB_ID = 0x01U, /*!< CEC Rx Transfer completed callback ID */ - HAL_CEC_ERROR_CB_ID = 0x02U, /*!< CEC error callback ID */ - HAL_CEC_MSPINIT_CB_ID = 0x03U, /*!< CEC Msp Init callback ID */ - HAL_CEC_MSPDEINIT_CB_ID = 0x04U /*!< CEC Msp DeInit callback ID */ -} HAL_CEC_CallbackIDTypeDef; - -/** - * @brief HAL CEC Callback pointer definition - */ -typedef void (*pCEC_CallbackTypeDef)(CEC_HandleTypeDef *hcec); /*!< pointer to an CEC callback function */ -typedef void (*pCEC_RxCallbackTypeDef)(CEC_HandleTypeDef *hcec, - uint32_t RxFrameSize); /*!< pointer to an Rx Transfer completed callback function */ -#endif /* USE_HAL_CEC_REGISTER_CALLBACKS */ -/** - * @} - */ - -/* Exported constants --------------------------------------------------------*/ -/** @defgroup CEC_Exported_Constants CEC Exported Constants - * @{ - */ -/** @defgroup CEC_State_Definition CEC State Code Definition - * @{ - */ -#define HAL_CEC_STATE_RESET ((uint32_t)0x00000000) /*!< Peripheral is not yet Initialized - Value is allowed for gState and RxState */ -#define HAL_CEC_STATE_READY ((uint32_t)0x00000020) /*!< Peripheral Initialized and ready for use - Value is allowed for gState and RxState */ -#define HAL_CEC_STATE_BUSY ((uint32_t)0x00000024) /*!< an internal process is ongoing - Value is allowed for gState only */ -#define HAL_CEC_STATE_BUSY_RX ((uint32_t)0x00000022) /*!< Data Reception process is ongoing - Value is allowed for RxState only */ -#define HAL_CEC_STATE_BUSY_TX ((uint32_t)0x00000021) /*!< Data Transmission process is ongoing - Value is allowed for gState only */ -#define HAL_CEC_STATE_BUSY_RX_TX ((uint32_t)0x00000023) /*!< an internal process is ongoing - Value is allowed for gState only */ -#define HAL_CEC_STATE_ERROR ((uint32_t)0x00000050) /*!< Error Value is allowed for gState only */ -/** - * @} - */ -/** @defgroup CEC_Error_Code CEC Error Code - * @{ - */ -#define HAL_CEC_ERROR_NONE (uint32_t) 0x0000U /*!< no error */ -#define HAL_CEC_ERROR_RXOVR CEC_ISR_RXOVR /*!< CEC Rx-Overrun */ -#define HAL_CEC_ERROR_BRE CEC_ISR_BRE /*!< CEC Rx Bit Rising Error */ -#define HAL_CEC_ERROR_SBPE CEC_ISR_SBPE /*!< CEC Rx Short Bit period Error */ -#define HAL_CEC_ERROR_LBPE CEC_ISR_LBPE /*!< CEC Rx Long Bit period Error */ -#define HAL_CEC_ERROR_RXACKE CEC_ISR_RXACKE /*!< CEC Rx Missing Acknowledge */ -#define HAL_CEC_ERROR_ARBLST CEC_ISR_ARBLST /*!< CEC Arbitration Lost */ -#define HAL_CEC_ERROR_TXUDR CEC_ISR_TXUDR /*!< CEC Tx-Buffer Underrun */ -#define HAL_CEC_ERROR_TXERR CEC_ISR_TXERR /*!< CEC Tx-Error */ -#define HAL_CEC_ERROR_TXACKE CEC_ISR_TXACKE /*!< CEC Tx Missing Acknowledge */ -#if (USE_HAL_CEC_REGISTER_CALLBACKS == 1) -#define HAL_CEC_ERROR_INVALID_CALLBACK ((uint32_t)0x00002000U) /*!< Invalid Callback Error */ -#endif /* USE_HAL_CEC_REGISTER_CALLBACKS */ -/** - * @} - */ - -/** @defgroup CEC_Signal_Free_Time CEC Signal Free Time setting parameter - * @{ - */ -#define CEC_DEFAULT_SFT ((uint32_t)0x00000000U) -#define CEC_0_5_BITPERIOD_SFT ((uint32_t)0x00000001U) -#define CEC_1_5_BITPERIOD_SFT ((uint32_t)0x00000002U) -#define CEC_2_5_BITPERIOD_SFT ((uint32_t)0x00000003U) -#define CEC_3_5_BITPERIOD_SFT ((uint32_t)0x00000004U) -#define CEC_4_5_BITPERIOD_SFT ((uint32_t)0x00000005U) -#define CEC_5_5_BITPERIOD_SFT ((uint32_t)0x00000006U) -#define CEC_6_5_BITPERIOD_SFT ((uint32_t)0x00000007U) -/** - * @} - */ - -/** @defgroup CEC_Tolerance CEC Receiver Tolerance - * @{ - */ -#define CEC_STANDARD_TOLERANCE ((uint32_t)0x00000000U) -#define CEC_EXTENDED_TOLERANCE ((uint32_t)CEC_CFGR_RXTOL) -/** - * @} - */ - -/** @defgroup CEC_BRERxStop CEC Reception Stop on Error - * @{ - */ -#define CEC_NO_RX_STOP_ON_BRE ((uint32_t)0x00000000U) -#define CEC_RX_STOP_ON_BRE ((uint32_t)CEC_CFGR_BRESTP) -/** - * @} - */ - -/** @defgroup CEC_BREErrorBitGen CEC Error Bit Generation if Bit Rise Error reported - * @{ - */ -#define CEC_BRE_ERRORBIT_NO_GENERATION ((uint32_t)0x00000000U) -#define CEC_BRE_ERRORBIT_GENERATION ((uint32_t)CEC_CFGR_BREGEN) -/** - * @} - */ - -/** @defgroup CEC_LBPEErrorBitGen CEC Error Bit Generation if Long Bit Period Error reported - * @{ - */ -#define CEC_LBPE_ERRORBIT_NO_GENERATION ((uint32_t)0x00000000U) -#define CEC_LBPE_ERRORBIT_GENERATION ((uint32_t)CEC_CFGR_LBPEGEN) -/** - * @} - */ - -/** @defgroup CEC_BroadCastMsgErrorBitGen CEC Error Bit Generation on Broadcast message - * @{ - */ -#define CEC_BROADCASTERROR_ERRORBIT_GENERATION ((uint32_t)0x00000000U) -#define CEC_BROADCASTERROR_NO_ERRORBIT_GENERATION ((uint32_t)CEC_CFGR_BRDNOGEN) -/** - * @} - */ - -/** @defgroup CEC_SFT_Option CEC Signal Free Time start option - * @{ - */ -#define CEC_SFT_START_ON_TXSOM ((uint32_t)0x00000000U) -#define CEC_SFT_START_ON_TX_RX_END ((uint32_t)CEC_CFGR_SFTOPT) -/** - * @} - */ - -/** @defgroup CEC_Listening_Mode CEC Listening mode option - * @{ - */ -#define CEC_REDUCED_LISTENING_MODE ((uint32_t)0x00000000U) -#define CEC_FULL_LISTENING_MODE ((uint32_t)CEC_CFGR_LSTN) -/** - * @} - */ - -/** @defgroup CEC_OAR_Position CEC Device Own Address position in CEC CFGR register - * @{ - */ -#define CEC_CFGR_OAR_LSB_POS ((uint32_t) 16U) -/** - * @} - */ - -/** @defgroup CEC_Initiator_Position CEC Initiator logical address position in message header - * @{ - */ -#define CEC_INITIATOR_LSB_POS ((uint32_t) 4U) -/** - * @} - */ - -/** @defgroup CEC_OWN_ADDRESS CEC Own Address - * @{ - */ -#define CEC_OWN_ADDRESS_NONE ((uint16_t) 0x0000U) /* Reset value */ -#define CEC_OWN_ADDRESS_0 ((uint16_t) 0x0001U) /* Logical Address 0 */ -#define CEC_OWN_ADDRESS_1 ((uint16_t) 0x0002U) /* Logical Address 1 */ -#define CEC_OWN_ADDRESS_2 ((uint16_t) 0x0004U) /* Logical Address 2 */ -#define CEC_OWN_ADDRESS_3 ((uint16_t) 0x0008U) /* Logical Address 3 */ -#define CEC_OWN_ADDRESS_4 ((uint16_t) 0x0010U) /* Logical Address 4 */ -#define CEC_OWN_ADDRESS_5 ((uint16_t) 0x0020U) /* Logical Address 5 */ -#define CEC_OWN_ADDRESS_6 ((uint16_t) 0x0040U) /* Logical Address 6 */ -#define CEC_OWN_ADDRESS_7 ((uint16_t) 0x0080U) /* Logical Address 7 */ -#define CEC_OWN_ADDRESS_8 ((uint16_t) 0x0100U) /* Logical Address 9 */ -#define CEC_OWN_ADDRESS_9 ((uint16_t) 0x0200U) /* Logical Address 10 */ -#define CEC_OWN_ADDRESS_10 ((uint16_t) 0x0400U) /* Logical Address 11 */ -#define CEC_OWN_ADDRESS_11 ((uint16_t) 0x0800U) /* Logical Address 12 */ -#define CEC_OWN_ADDRESS_12 ((uint16_t) 0x1000U) /* Logical Address 13 */ -#define CEC_OWN_ADDRESS_13 ((uint16_t) 0x2000U) /* Logical Address 14 */ -#define CEC_OWN_ADDRESS_14 ((uint16_t) 0x4000U) /* Logical Address 15 */ -/** - * @} - */ - -/** @defgroup CEC_Interrupts_Definitions CEC Interrupts definition - * @{ - */ -#define CEC_IT_TXACKE CEC_IER_TXACKEIE -#define CEC_IT_TXERR CEC_IER_TXERRIE -#define CEC_IT_TXUDR CEC_IER_TXUDRIE -#define CEC_IT_TXEND CEC_IER_TXENDIE -#define CEC_IT_TXBR CEC_IER_TXBRIE -#define CEC_IT_ARBLST CEC_IER_ARBLSTIE -#define CEC_IT_RXACKE CEC_IER_RXACKEIE -#define CEC_IT_LBPE CEC_IER_LBPEIE -#define CEC_IT_SBPE CEC_IER_SBPEIE -#define CEC_IT_BRE CEC_IER_BREIE -#define CEC_IT_RXOVR CEC_IER_RXOVRIE -#define CEC_IT_RXEND CEC_IER_RXENDIE -#define CEC_IT_RXBR CEC_IER_RXBRIE -/** - * @} - */ - -/** @defgroup CEC_Flags_Definitions CEC Flags definition - * @{ - */ -#define CEC_FLAG_TXACKE CEC_ISR_TXACKE -#define CEC_FLAG_TXERR CEC_ISR_TXERR -#define CEC_FLAG_TXUDR CEC_ISR_TXUDR -#define CEC_FLAG_TXEND CEC_ISR_TXEND -#define CEC_FLAG_TXBR CEC_ISR_TXBR -#define CEC_FLAG_ARBLST CEC_ISR_ARBLST -#define CEC_FLAG_RXACKE CEC_ISR_RXACKE -#define CEC_FLAG_LBPE CEC_ISR_LBPE -#define CEC_FLAG_SBPE CEC_ISR_SBPE -#define CEC_FLAG_BRE CEC_ISR_BRE -#define CEC_FLAG_RXOVR CEC_ISR_RXOVR -#define CEC_FLAG_RXEND CEC_ISR_RXEND -#define CEC_FLAG_RXBR CEC_ISR_RXBR -/** - * @} - */ - -/** @defgroup CEC_ALL_ERROR CEC all RX or TX errors flags - * @{ - */ -#define CEC_ISR_ALL_ERROR ((uint32_t)CEC_ISR_RXOVR|CEC_ISR_BRE|CEC_ISR_SBPE|CEC_ISR_LBPE|CEC_ISR_RXACKE|\ - CEC_ISR_ARBLST|CEC_ISR_TXUDR|CEC_ISR_TXERR|CEC_ISR_TXACKE) -/** - * @} - */ - -/** @defgroup CEC_IER_ALL_RX CEC all RX errors interrupts enabling flag - * @{ - */ -#define CEC_IER_RX_ALL_ERR ((uint32_t)CEC_IER_RXACKEIE|CEC_IER_LBPEIE|CEC_IER_SBPEIE|CEC_IER_BREIE|CEC_IER_RXOVRIE) -/** - * @} - */ - -/** @defgroup CEC_IER_ALL_TX CEC all TX errors interrupts enabling flag - * @{ - */ -#define CEC_IER_TX_ALL_ERR ((uint32_t)CEC_IER_TXACKEIE|CEC_IER_TXERRIE|CEC_IER_TXUDRIE|CEC_IER_ARBLSTIE) -/** - * @} - */ - -/** - * @} - */ - -/* Exported macros -----------------------------------------------------------*/ -/** @defgroup CEC_Exported_Macros CEC Exported Macros - * @{ - */ - -/** @brief Reset CEC handle gstate & RxState - * @param __HANDLE__ CEC handle. - * @retval None - */ -#if (USE_HAL_CEC_REGISTER_CALLBACKS == 1) -#define __HAL_CEC_RESET_HANDLE_STATE(__HANDLE__) do{ \ - (__HANDLE__)->gState = HAL_CEC_STATE_RESET; \ - (__HANDLE__)->RxState = HAL_CEC_STATE_RESET; \ - (__HANDLE__)->MspInitCallback = NULL; \ - (__HANDLE__)->MspDeInitCallback = NULL; \ - } while(0) -#else -#define __HAL_CEC_RESET_HANDLE_STATE(__HANDLE__) do{ \ - (__HANDLE__)->gState = HAL_CEC_STATE_RESET; \ - (__HANDLE__)->RxState = HAL_CEC_STATE_RESET; \ - } while(0) -#endif /* USE_HAL_CEC_REGISTER_CALLBACKS */ -/** @brief Checks whether or not the specified CEC interrupt flag is set. - * @param __HANDLE__ specifies the CEC Handle. - * @param __FLAG__ specifies the flag to check. - * @arg CEC_FLAG_TXACKE: Tx Missing acknowledge Error - * @arg CEC_FLAG_TXERR: Tx Error. - * @arg CEC_FLAG_TXUDR: Tx-Buffer Underrun. - * @arg CEC_FLAG_TXEND: End of transmission (successful transmission of the last byte). - * @arg CEC_FLAG_TXBR: Tx-Byte Request. - * @arg CEC_FLAG_ARBLST: Arbitration Lost - * @arg CEC_FLAG_RXACKE: Rx-Missing Acknowledge - * @arg CEC_FLAG_LBPE: Rx Long period Error - * @arg CEC_FLAG_SBPE: Rx Short period Error - * @arg CEC_FLAG_BRE: Rx Bit Rising Error - * @arg CEC_FLAG_RXOVR: Rx Overrun. - * @arg CEC_FLAG_RXEND: End Of Reception. - * @arg CEC_FLAG_RXBR: Rx-Byte Received. - * @retval ITStatus - */ -#define __HAL_CEC_GET_FLAG(__HANDLE__, __FLAG__) ((__HANDLE__)->Instance->ISR & (__FLAG__)) - -/** @brief Clears the interrupt or status flag when raised (write at 1) - * @param __HANDLE__ specifies the CEC Handle. - * @param __FLAG__ specifies the interrupt/status flag to clear. - * This parameter can be one of the following values: - * @arg CEC_FLAG_TXACKE: Tx Missing acknowledge Error - * @arg CEC_FLAG_TXERR: Tx Error. - * @arg CEC_FLAG_TXUDR: Tx-Buffer Underrun. - * @arg CEC_FLAG_TXEND: End of transmission (successful transmission of the last byte). - * @arg CEC_FLAG_TXBR: Tx-Byte Request. - * @arg CEC_FLAG_ARBLST: Arbitration Lost - * @arg CEC_FLAG_RXACKE: Rx-Missing Acknowledge - * @arg CEC_FLAG_LBPE: Rx Long period Error - * @arg CEC_FLAG_SBPE: Rx Short period Error - * @arg CEC_FLAG_BRE: Rx Bit Rising Error - * @arg CEC_FLAG_RXOVR: Rx Overrun. - * @arg CEC_FLAG_RXEND: End Of Reception. - * @arg CEC_FLAG_RXBR: Rx-Byte Received. - * @retval none - */ -#define __HAL_CEC_CLEAR_FLAG(__HANDLE__, __FLAG__) ((__HANDLE__)->Instance->ISR |= (__FLAG__)) - -/** @brief Enables the specified CEC interrupt. - * @param __HANDLE__ specifies the CEC Handle. - * @param __INTERRUPT__ specifies the CEC interrupt to enable. - * This parameter can be one of the following values: - * @arg CEC_IT_TXACKE: Tx Missing acknowledge Error IT Enable - * @arg CEC_IT_TXERR: Tx Error IT Enable - * @arg CEC_IT_TXUDR: Tx-Buffer Underrun IT Enable - * @arg CEC_IT_TXEND: End of transmission IT Enable - * @arg CEC_IT_TXBR: Tx-Byte Request IT Enable - * @arg CEC_IT_ARBLST: Arbitration Lost IT Enable - * @arg CEC_IT_RXACKE: Rx-Missing Acknowledge IT Enable - * @arg CEC_IT_LBPE: Rx Long period Error IT Enable - * @arg CEC_IT_SBPE: Rx Short period Error IT Enable - * @arg CEC_IT_BRE: Rx Bit Rising Error IT Enable - * @arg CEC_IT_RXOVR: Rx Overrun IT Enable - * @arg CEC_IT_RXEND: End Of Reception IT Enable - * @arg CEC_IT_RXBR: Rx-Byte Received IT Enable - * @retval none - */ -#define __HAL_CEC_ENABLE_IT(__HANDLE__, __INTERRUPT__) ((__HANDLE__)->Instance->IER |= (__INTERRUPT__)) - -/** @brief Disables the specified CEC interrupt. - * @param __HANDLE__ specifies the CEC Handle. - * @param __INTERRUPT__ specifies the CEC interrupt to disable. - * This parameter can be one of the following values: - * @arg CEC_IT_TXACKE: Tx Missing acknowledge Error IT Enable - * @arg CEC_IT_TXERR: Tx Error IT Enable - * @arg CEC_IT_TXUDR: Tx-Buffer Underrun IT Enable - * @arg CEC_IT_TXEND: End of transmission IT Enable - * @arg CEC_IT_TXBR: Tx-Byte Request IT Enable - * @arg CEC_IT_ARBLST: Arbitration Lost IT Enable - * @arg CEC_IT_RXACKE: Rx-Missing Acknowledge IT Enable - * @arg CEC_IT_LBPE: Rx Long period Error IT Enable - * @arg CEC_IT_SBPE: Rx Short period Error IT Enable - * @arg CEC_IT_BRE: Rx Bit Rising Error IT Enable - * @arg CEC_IT_RXOVR: Rx Overrun IT Enable - * @arg CEC_IT_RXEND: End Of Reception IT Enable - * @arg CEC_IT_RXBR: Rx-Byte Received IT Enable - * @retval none - */ -#define __HAL_CEC_DISABLE_IT(__HANDLE__, __INTERRUPT__) ((__HANDLE__)->Instance->IER &= (~(__INTERRUPT__))) - -/** @brief Checks whether or not the specified CEC interrupt is enabled. - * @param __HANDLE__ specifies the CEC Handle. - * @param __INTERRUPT__ specifies the CEC interrupt to check. - * This parameter can be one of the following values: - * @arg CEC_IT_TXACKE: Tx Missing acknowledge Error IT Enable - * @arg CEC_IT_TXERR: Tx Error IT Enable - * @arg CEC_IT_TXUDR: Tx-Buffer Underrun IT Enable - * @arg CEC_IT_TXEND: End of transmission IT Enable - * @arg CEC_IT_TXBR: Tx-Byte Request IT Enable - * @arg CEC_IT_ARBLST: Arbitration Lost IT Enable - * @arg CEC_IT_RXACKE: Rx-Missing Acknowledge IT Enable - * @arg CEC_IT_LBPE: Rx Long period Error IT Enable - * @arg CEC_IT_SBPE: Rx Short period Error IT Enable - * @arg CEC_IT_BRE: Rx Bit Rising Error IT Enable - * @arg CEC_IT_RXOVR: Rx Overrun IT Enable - * @arg CEC_IT_RXEND: End Of Reception IT Enable - * @arg CEC_IT_RXBR: Rx-Byte Received IT Enable - * @retval FlagStatus - */ -#define __HAL_CEC_GET_IT_SOURCE(__HANDLE__, __INTERRUPT__) ((__HANDLE__)->Instance->IER & (__INTERRUPT__)) - -/** @brief Enables the CEC device - * @param __HANDLE__ specifies the CEC Handle. - * @retval none - */ -#define __HAL_CEC_ENABLE(__HANDLE__) ((__HANDLE__)->Instance->CR |= CEC_CR_CECEN) - -/** @brief Disables the CEC device - * @param __HANDLE__ specifies the CEC Handle. - * @retval none - */ -#define __HAL_CEC_DISABLE(__HANDLE__) ((__HANDLE__)->Instance->CR &= ~CEC_CR_CECEN) - -/** @brief Set Transmission Start flag - * @param __HANDLE__ specifies the CEC Handle. - * @retval none - */ -#define __HAL_CEC_FIRST_BYTE_TX_SET(__HANDLE__) ((__HANDLE__)->Instance->CR |= CEC_CR_TXSOM) - -/** @brief Set Transmission End flag - * @param __HANDLE__ specifies the CEC Handle. - * @retval none - * If the CEC message consists of only one byte, TXEOM must be set before of TXSOM. - */ -#define __HAL_CEC_LAST_BYTE_TX_SET(__HANDLE__) ((__HANDLE__)->Instance->CR |= CEC_CR_TXEOM) - -/** @brief Get Transmission Start flag - * @param __HANDLE__ specifies the CEC Handle. - * @retval FlagStatus - */ -#define __HAL_CEC_GET_TRANSMISSION_START_FLAG(__HANDLE__) ((__HANDLE__)->Instance->CR & CEC_CR_TXSOM) - -/** @brief Get Transmission End flag - * @param __HANDLE__ specifies the CEC Handle. - * @retval FlagStatus - */ -#define __HAL_CEC_GET_TRANSMISSION_END_FLAG(__HANDLE__) ((__HANDLE__)->Instance->CR & CEC_CR_TXEOM) - -/** @brief Clear OAR register - * @param __HANDLE__ specifies the CEC Handle. - * @retval none - */ -#define __HAL_CEC_CLEAR_OAR(__HANDLE__) CLEAR_BIT((__HANDLE__)->Instance->CFGR, CEC_CFGR_OAR) - -/** @brief Set OAR register (without resetting previously set address in case of multi-address mode) - * To reset OAR, __HAL_CEC_CLEAR_OAR() needs to be called beforehand - * @param __HANDLE__ specifies the CEC Handle. - * @param __ADDRESS__ Own Address value (CEC logical address is identified by bit position) - * @retval none - */ -#define __HAL_CEC_SET_OAR(__HANDLE__,__ADDRESS__) SET_BIT((__HANDLE__)->Instance->CFGR, (__ADDRESS__)<< CEC_CFGR_OAR_LSB_POS) - -/** - * @} - */ - -/* Exported functions --------------------------------------------------------*/ -/** @addtogroup CEC_Exported_Functions - * @{ - */ - -/** @addtogroup CEC_Exported_Functions_Group1 - * @{ - */ -/* Initialization and de-initialization functions ****************************/ -HAL_StatusTypeDef HAL_CEC_Init(CEC_HandleTypeDef *hcec); -HAL_StatusTypeDef HAL_CEC_DeInit(CEC_HandleTypeDef *hcec); -HAL_StatusTypeDef HAL_CEC_SetDeviceAddress(CEC_HandleTypeDef *hcec, uint16_t CEC_OwnAddress); -void HAL_CEC_MspInit(CEC_HandleTypeDef *hcec); -void HAL_CEC_MspDeInit(CEC_HandleTypeDef *hcec); - -#if (USE_HAL_CEC_REGISTER_CALLBACKS == 1) -HAL_StatusTypeDef HAL_CEC_RegisterCallback(CEC_HandleTypeDef *hcec, HAL_CEC_CallbackIDTypeDef CallbackID, - pCEC_CallbackTypeDef pCallback); -HAL_StatusTypeDef HAL_CEC_UnRegisterCallback(CEC_HandleTypeDef *hcec, HAL_CEC_CallbackIDTypeDef CallbackID); - -HAL_StatusTypeDef HAL_CEC_RegisterRxCpltCallback(CEC_HandleTypeDef *hcec, pCEC_RxCallbackTypeDef pCallback); -HAL_StatusTypeDef HAL_CEC_UnRegisterRxCpltCallback(CEC_HandleTypeDef *hcec); -#endif /* USE_HAL_CEC_REGISTER_CALLBACKS */ -/** - * @} - */ - -/** @addtogroup CEC_Exported_Functions_Group2 - * @{ - */ -/* I/O operation functions ***************************************************/ -HAL_StatusTypeDef HAL_CEC_Transmit_IT(CEC_HandleTypeDef *hcec, uint8_t InitiatorAddress, uint8_t DestinationAddress, - uint8_t *pData, uint32_t Size); -uint32_t HAL_CEC_GetLastReceivedFrameSize(CEC_HandleTypeDef *hcec); -void HAL_CEC_ChangeRxBuffer(CEC_HandleTypeDef *hcec, uint8_t *Rxbuffer); -void HAL_CEC_IRQHandler(CEC_HandleTypeDef *hcec); -void HAL_CEC_TxCpltCallback(CEC_HandleTypeDef *hcec); -void HAL_CEC_RxCpltCallback(CEC_HandleTypeDef *hcec, uint32_t RxFrameSize); -void HAL_CEC_ErrorCallback(CEC_HandleTypeDef *hcec); -/** - * @} - */ - -/** @addtogroup CEC_Exported_Functions_Group3 - * @{ - */ -/* Peripheral State functions ************************************************/ -HAL_CEC_StateTypeDef HAL_CEC_GetState(CEC_HandleTypeDef *hcec); -uint32_t HAL_CEC_GetError(CEC_HandleTypeDef *hcec); -/** - * @} - */ - -/** - * @} - */ - -/* Private types -------------------------------------------------------------*/ -/** @defgroup CEC_Private_Types CEC Private Types - * @{ - */ - -/** - * @} - */ - -/* Private variables ---------------------------------------------------------*/ -/** @defgroup CEC_Private_Variables CEC Private Variables - * @{ - */ - -/** - * @} - */ - -/* Private constants ---------------------------------------------------------*/ -/** @defgroup CEC_Private_Constants CEC Private Constants - * @{ - */ - -/** - * @} - */ - -/* Private macros ------------------------------------------------------------*/ -/** @defgroup CEC_Private_Macros CEC Private Macros - * @{ - */ - -#define IS_CEC_SIGNALFREETIME(__SFT__) ((__SFT__) <= CEC_CFGR_SFT) - -#define IS_CEC_TOLERANCE(__RXTOL__) (((__RXTOL__) == CEC_STANDARD_TOLERANCE) || \ - ((__RXTOL__) == CEC_EXTENDED_TOLERANCE)) - -#define IS_CEC_BRERXSTOP(__BRERXSTOP__) (((__BRERXSTOP__) == CEC_NO_RX_STOP_ON_BRE) || \ - ((__BRERXSTOP__) == CEC_RX_STOP_ON_BRE)) - -#define IS_CEC_BREERRORBITGEN(__ERRORBITGEN__) (((__ERRORBITGEN__) == CEC_BRE_ERRORBIT_NO_GENERATION) || \ - ((__ERRORBITGEN__) == CEC_BRE_ERRORBIT_GENERATION)) - -#define IS_CEC_LBPEERRORBITGEN(__ERRORBITGEN__) (((__ERRORBITGEN__) == CEC_LBPE_ERRORBIT_NO_GENERATION) || \ - ((__ERRORBITGEN__) == CEC_LBPE_ERRORBIT_GENERATION)) - -#define IS_CEC_BROADCASTERROR_NO_ERRORBIT_GENERATION(__ERRORBITGEN__) (((__ERRORBITGEN__) == CEC_BROADCASTERROR_ERRORBIT_GENERATION) || \ - ((__ERRORBITGEN__) == CEC_BROADCASTERROR_NO_ERRORBIT_GENERATION)) - -#define IS_CEC_SFTOP(__SFTOP__) (((__SFTOP__) == CEC_SFT_START_ON_TXSOM) || \ - ((__SFTOP__) == CEC_SFT_START_ON_TX_RX_END)) - -#define IS_CEC_LISTENING_MODE(__MODE__) (((__MODE__) == CEC_REDUCED_LISTENING_MODE) || \ - ((__MODE__) == CEC_FULL_LISTENING_MODE)) - -/** @brief Check CEC message size. - * The message size is the payload size: without counting the header, - * it varies from 0 byte (ping operation, one header only, no payload) to - * 15 bytes (1 opcode and up to 14 operands following the header). - * @param __SIZE__ CEC message size. - * @retval Test result (TRUE or FALSE). - */ -#define IS_CEC_MSGSIZE(__SIZE__) ((__SIZE__) <= 0x10U) - -/** @brief Check CEC device Own Address Register (OAR) setting. - * OAR address is written in a 15-bit field within CEC_CFGR register. - * @param __ADDRESS__ CEC own address. - * @retval Test result (TRUE or FALSE). - */ -#define IS_CEC_OWN_ADDRESS(__ADDRESS__) ((__ADDRESS__) <= 0x7FFFU) - -/** @brief Check CEC initiator or destination logical address setting. - * Initiator and destination addresses are coded over 4 bits. - * @param __ADDRESS__ CEC initiator or logical address. - * @retval Test result (TRUE or FALSE). - */ -#define IS_CEC_ADDRESS(__ADDRESS__) ((__ADDRESS__) <= 0xFU) -/** - * @} - */ -/* Private functions ---------------------------------------------------------*/ -/** @defgroup CEC_Private_Functions CEC Private Functions - * @{ - */ - -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ - -#endif /* CEC */ - -#ifdef __cplusplus -} -#endif - -#endif /* STM32F4xxHAL_CEC_H */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_conf_template.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_conf_template.h deleted file mode 100644 index afa2f56876885c..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_conf_template.h +++ /dev/null @@ -1,501 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_conf_template.h - * @author MCD Application Team - * @brief HAL configuration template file. - * This file should be copied to the application folder and renamed - * to stm32f4xx_hal_conf.h. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef __STM32F4xx_HAL_CONF_H -#define __STM32F4xx_HAL_CONF_H - -#ifdef __cplusplus - extern "C" { -#endif - -/* Exported types ------------------------------------------------------------*/ -/* Exported constants --------------------------------------------------------*/ - -/* ########################## Module Selection ############################## */ -/** - * @brief This is the list of modules to be used in the HAL driver - */ -#define HAL_MODULE_ENABLED -#define HAL_ADC_MODULE_ENABLED -#define HAL_CAN_MODULE_ENABLED -/* #define HAL_CAN_LEGACY_MODULE_ENABLED */ -#define HAL_CRC_MODULE_ENABLED -#define HAL_CEC_MODULE_ENABLED -#define HAL_CRYP_MODULE_ENABLED -#define HAL_DAC_MODULE_ENABLED -#define HAL_DCMI_MODULE_ENABLED -#define HAL_DMA_MODULE_ENABLED -#define HAL_DMA2D_MODULE_ENABLED -#define HAL_ETH_MODULE_ENABLED -#define HAL_FLASH_MODULE_ENABLED -#define HAL_NAND_MODULE_ENABLED -#define HAL_NOR_MODULE_ENABLED -#define HAL_PCCARD_MODULE_ENABLED -#define HAL_SRAM_MODULE_ENABLED -#define HAL_SDRAM_MODULE_ENABLED -#define HAL_HASH_MODULE_ENABLED -#define HAL_GPIO_MODULE_ENABLED -#define HAL_EXTI_MODULE_ENABLED -#define HAL_I2C_MODULE_ENABLED -#define HAL_SMBUS_MODULE_ENABLED -#define HAL_I2S_MODULE_ENABLED -#define HAL_IWDG_MODULE_ENABLED -#define HAL_LTDC_MODULE_ENABLED -#define HAL_DSI_MODULE_ENABLED -#define HAL_PWR_MODULE_ENABLED -#define HAL_QSPI_MODULE_ENABLED -#define HAL_RCC_MODULE_ENABLED -#define HAL_RNG_MODULE_ENABLED -#define HAL_RTC_MODULE_ENABLED -#define HAL_SAI_MODULE_ENABLED -#define HAL_SD_MODULE_ENABLED -#define HAL_SPI_MODULE_ENABLED -#define HAL_TIM_MODULE_ENABLED -#define HAL_UART_MODULE_ENABLED -#define HAL_USART_MODULE_ENABLED -#define HAL_IRDA_MODULE_ENABLED -#define HAL_SMARTCARD_MODULE_ENABLED -#define HAL_WWDG_MODULE_ENABLED -#define HAL_CORTEX_MODULE_ENABLED -#define HAL_PCD_MODULE_ENABLED -#define HAL_HCD_MODULE_ENABLED -#define HAL_FMPI2C_MODULE_ENABLED -#define HAL_FMPSMBUS_MODULE_ENABLED -#define HAL_SPDIFRX_MODULE_ENABLED -#define HAL_DFSDM_MODULE_ENABLED -#define HAL_LPTIM_MODULE_ENABLED -#define HAL_MMC_MODULE_ENABLED - -/* ########################## HSE/HSI Values adaptation ##################### */ -/** - * @brief Adjust the value of External High Speed oscillator (HSE) used in your application. - * This value is used by the RCC HAL module to compute the system frequency - * (when HSE is used as system clock source, directly or through the PLL). - */ -#if !defined (HSE_VALUE) - #define HSE_VALUE 25000000U /*!< Value of the External oscillator in Hz */ -#endif /* HSE_VALUE */ - -#if !defined (HSE_STARTUP_TIMEOUT) - #define HSE_STARTUP_TIMEOUT 100U /*!< Time out for HSE start up, in ms */ -#endif /* HSE_STARTUP_TIMEOUT */ - -/** - * @brief Internal High Speed oscillator (HSI) value. - * This value is used by the RCC HAL module to compute the system frequency - * (when HSI is used as system clock source, directly or through the PLL). - */ -#if !defined (HSI_VALUE) - #define HSI_VALUE 16000000U /*!< Value of the Internal oscillator in Hz */ -#endif /* HSI_VALUE */ - -/** - * @brief Internal Low Speed oscillator (LSI) value. - */ -#if !defined (LSI_VALUE) - #define LSI_VALUE 32000U /*!< LSI Typical Value in Hz */ -#endif /* LSI_VALUE */ /*!< Value of the Internal Low Speed oscillator in Hz - The real value may vary depending on the variations - in voltage and temperature. */ -/** - * @brief External Low Speed oscillator (LSE) value. - */ -#if !defined (LSE_VALUE) - #define LSE_VALUE 32768U /*!< Value of the External Low Speed oscillator in Hz */ -#endif /* LSE_VALUE */ - -#if !defined (LSE_STARTUP_TIMEOUT) - #define LSE_STARTUP_TIMEOUT 5000U /*!< Time out for LSE start up, in ms */ -#endif /* LSE_STARTUP_TIMEOUT */ - -/** - * @brief External clock source for I2S peripheral - * This value is used by the I2S HAL module to compute the I2S clock source - * frequency, this source is inserted directly through I2S_CKIN pad. - */ -#if !defined (EXTERNAL_CLOCK_VALUE) - #define EXTERNAL_CLOCK_VALUE 12288000U /*!< Value of the External oscillator in Hz*/ -#endif /* EXTERNAL_CLOCK_VALUE */ - -/* Tip: To avoid modifying this file each time you need to use different HSE, - === you can define the HSE value in your toolchain compiler preprocessor. */ - -/* ########################### System Configuration ######################### */ -/** - * @brief This is the HAL system configuration section - */ -#define VDD_VALUE 3300U /*!< Value of VDD in mv */ -#define TICK_INT_PRIORITY 0x0FU /*!< tick interrupt priority */ -#define USE_RTOS 0U -#define PREFETCH_ENABLE 1U -#define INSTRUCTION_CACHE_ENABLE 1U -#define DATA_CACHE_ENABLE 1U - -#define USE_HAL_ADC_REGISTER_CALLBACKS 0U /* ADC register callback disabled */ -#define USE_HAL_CAN_REGISTER_CALLBACKS 0U /* CAN register callback disabled */ -#define USE_HAL_CEC_REGISTER_CALLBACKS 0U /* CEC register callback disabled */ -#define USE_HAL_CRYP_REGISTER_CALLBACKS 0U /* CRYP register callback disabled */ -#define USE_HAL_DAC_REGISTER_CALLBACKS 0U /* DAC register callback disabled */ -#define USE_HAL_DCMI_REGISTER_CALLBACKS 0U /* DCMI register callback disabled */ -#define USE_HAL_DFSDM_REGISTER_CALLBACKS 0U /* DFSDM register callback disabled */ -#define USE_HAL_DMA2D_REGISTER_CALLBACKS 0U /* DMA2D register callback disabled */ -#define USE_HAL_DSI_REGISTER_CALLBACKS 0U /* DSI register callback disabled */ -#define USE_HAL_ETH_REGISTER_CALLBACKS 0U /* ETH register callback disabled */ -#define USE_HAL_HASH_REGISTER_CALLBACKS 0U /* HASH register callback disabled */ -#define USE_HAL_HCD_REGISTER_CALLBACKS 0U /* HCD register callback disabled */ -#define USE_HAL_I2C_REGISTER_CALLBACKS 0U /* I2C register callback disabled */ -#define USE_HAL_FMPI2C_REGISTER_CALLBACKS 0U /* FMPI2C register callback disabled */ -#define USE_HAL_FMPSMBUS_REGISTER_CALLBACKS 0U /* FMPSMBUS register callback disabled */ -#define USE_HAL_I2S_REGISTER_CALLBACKS 0U /* I2S register callback disabled */ -#define USE_HAL_IRDA_REGISTER_CALLBACKS 0U /* IRDA register callback disabled */ -#define USE_HAL_LPTIM_REGISTER_CALLBACKS 0U /* LPTIM register callback disabled */ -#define USE_HAL_LTDC_REGISTER_CALLBACKS 0U /* LTDC register callback disabled */ -#define USE_HAL_MMC_REGISTER_CALLBACKS 0U /* MMC register callback disabled */ -#define USE_HAL_NAND_REGISTER_CALLBACKS 0U /* NAND register callback disabled */ -#define USE_HAL_NOR_REGISTER_CALLBACKS 0U /* NOR register callback disabled */ -#define USE_HAL_PCCARD_REGISTER_CALLBACKS 0U /* PCCARD register callback disabled */ -#define USE_HAL_PCD_REGISTER_CALLBACKS 0U /* PCD register callback disabled */ -#define USE_HAL_QSPI_REGISTER_CALLBACKS 0U /* QSPI register callback disabled */ -#define USE_HAL_RNG_REGISTER_CALLBACKS 0U /* RNG register callback disabled */ -#define USE_HAL_RTC_REGISTER_CALLBACKS 0U /* RTC register callback disabled */ -#define USE_HAL_SAI_REGISTER_CALLBACKS 0U /* SAI register callback disabled */ -#define USE_HAL_SD_REGISTER_CALLBACKS 0U /* SD register callback disabled */ -#define USE_HAL_SMARTCARD_REGISTER_CALLBACKS 0U /* SMARTCARD register callback disabled */ -#define USE_HAL_SDRAM_REGISTER_CALLBACKS 0U /* SDRAM register callback disabled */ -#define USE_HAL_SRAM_REGISTER_CALLBACKS 0U /* SRAM register callback disabled */ -#define USE_HAL_SPDIFRX_REGISTER_CALLBACKS 0U /* SPDIFRX register callback disabled */ -#define USE_HAL_SMBUS_REGISTER_CALLBACKS 0U /* SMBUS register callback disabled */ -#define USE_HAL_SPI_REGISTER_CALLBACKS 0U /* SPI register callback disabled */ -#define USE_HAL_TIM_REGISTER_CALLBACKS 0U /* TIM register callback disabled */ -#define USE_HAL_UART_REGISTER_CALLBACKS 0U /* UART register callback disabled */ -#define USE_HAL_USART_REGISTER_CALLBACKS 0U /* USART register callback disabled */ -#define USE_HAL_WWDG_REGISTER_CALLBACKS 0U /* WWDG register callback disabled */ - -/* ########################## Assert Selection ############################## */ -/** - * @brief Uncomment the line below to expanse the "assert_param" macro in the - * HAL drivers code - */ -/* #define USE_FULL_ASSERT 1U */ - -/* ################## Ethernet peripheral configuration ##################### */ - -/* Section 1 : Ethernet peripheral configuration */ - -/* MAC ADDRESS: MAC_ADDR0:MAC_ADDR1:MAC_ADDR2:MAC_ADDR3:MAC_ADDR4:MAC_ADDR5 */ -#define MAC_ADDR0 2U -#define MAC_ADDR1 0U -#define MAC_ADDR2 0U -#define MAC_ADDR3 0U -#define MAC_ADDR4 0U -#define MAC_ADDR5 0U - -/* Definition of the Ethernet driver buffers size and count */ -#define ETH_RX_BUF_SIZE ETH_MAX_PACKET_SIZE /* buffer size for receive */ -#define ETH_TX_BUF_SIZE ETH_MAX_PACKET_SIZE /* buffer size for transmit */ -#define ETH_RXBUFNB 4U /* 4 Rx buffers of size ETH_RX_BUF_SIZE */ -#define ETH_TXBUFNB 4U /* 4 Tx buffers of size ETH_TX_BUF_SIZE */ - -/* Section 2: PHY configuration section */ - -/* DP83848 PHY Address*/ -#define DP83848_PHY_ADDRESS 0x01U -/* PHY Reset delay these values are based on a 1 ms Systick interrupt*/ -#define PHY_RESET_DELAY 0x000000FFU -/* PHY Configuration delay */ -#define PHY_CONFIG_DELAY 0x00000FFFU - -#define PHY_READ_TO 0x0000FFFFU -#define PHY_WRITE_TO 0x0000FFFFU - -/* Section 3: Common PHY Registers */ - -#define PHY_BCR ((uint16_t)0x0000) /*!< Transceiver Basic Control Register */ -#define PHY_BSR ((uint16_t)0x0001) /*!< Transceiver Basic Status Register */ - -#define PHY_RESET ((uint16_t)0x8000) /*!< PHY Reset */ -#define PHY_LOOPBACK ((uint16_t)0x4000) /*!< Select loop-back mode */ -#define PHY_FULLDUPLEX_100M ((uint16_t)0x2100) /*!< Set the full-duplex mode at 100 Mb/s */ -#define PHY_HALFDUPLEX_100M ((uint16_t)0x2000) /*!< Set the half-duplex mode at 100 Mb/s */ -#define PHY_FULLDUPLEX_10M ((uint16_t)0x0100) /*!< Set the full-duplex mode at 10 Mb/s */ -#define PHY_HALFDUPLEX_10M ((uint16_t)0x0000) /*!< Set the half-duplex mode at 10 Mb/s */ -#define PHY_AUTONEGOTIATION ((uint16_t)0x1000) /*!< Enable auto-negotiation function */ -#define PHY_RESTART_AUTONEGOTIATION ((uint16_t)0x0200) /*!< Restart auto-negotiation function */ -#define PHY_POWERDOWN ((uint16_t)0x0800) /*!< Select the power down mode */ -#define PHY_ISOLATE ((uint16_t)0x0400) /*!< Isolate PHY from MII */ - -#define PHY_AUTONEGO_COMPLETE ((uint16_t)0x0020) /*!< Auto-Negotiation process completed */ -#define PHY_LINKED_STATUS ((uint16_t)0x0004) /*!< Valid link established */ -#define PHY_JABBER_DETECTION ((uint16_t)0x0002) /*!< Jabber condition detected */ - -/* Section 4: Extended PHY Registers */ - -#define PHY_SR ((uint16_t)0x0010) /*!< PHY status register Offset */ -#define PHY_MICR ((uint16_t)0x0011) /*!< MII Interrupt Control Register */ -#define PHY_MISR ((uint16_t)0x0012) /*!< MII Interrupt Status and Misc. Control Register */ - -#define PHY_LINK_STATUS ((uint16_t)0x0001) /*!< PHY Link mask */ -#define PHY_SPEED_STATUS ((uint16_t)0x0002) /*!< PHY Speed mask */ -#define PHY_DUPLEX_STATUS ((uint16_t)0x0004) /*!< PHY Duplex mask */ - -#define PHY_MICR_INT_EN ((uint16_t)0x0002) /*!< PHY Enable interrupts */ -#define PHY_MICR_INT_OE ((uint16_t)0x0001) /*!< PHY Enable output interrupt events */ - -#define PHY_MISR_LINK_INT_EN ((uint16_t)0x0020) /*!< Enable Interrupt on change of link status */ -#define PHY_LINK_INTERRUPT ((uint16_t)0x2000) /*!< PHY link status interrupt mask */ - -/* ################## SPI peripheral configuration ########################## */ - -/* CRC FEATURE: Use to activate CRC feature inside HAL SPI Driver -* Activated: CRC code is present inside driver -* Deactivated: CRC code cleaned from driver -*/ - -#define USE_SPI_CRC 1U - -/* Includes ------------------------------------------------------------------*/ -/** - * @brief Include module's header file - */ - -#ifdef HAL_RCC_MODULE_ENABLED - #include "stm32f4xx_hal_rcc.h" -#endif /* HAL_RCC_MODULE_ENABLED */ - -#ifdef HAL_GPIO_MODULE_ENABLED - #include "stm32f4xx_hal_gpio.h" -#endif /* HAL_GPIO_MODULE_ENABLED */ - -#ifdef HAL_EXTI_MODULE_ENABLED - #include "stm32f4xx_hal_exti.h" -#endif /* HAL_EXTI_MODULE_ENABLED */ - -#ifdef HAL_DMA_MODULE_ENABLED - #include "stm32f4xx_hal_dma.h" -#endif /* HAL_DMA_MODULE_ENABLED */ - -#ifdef HAL_CORTEX_MODULE_ENABLED - #include "stm32f4xx_hal_cortex.h" -#endif /* HAL_CORTEX_MODULE_ENABLED */ - -#ifdef HAL_ADC_MODULE_ENABLED - #include "stm32f4xx_hal_adc.h" -#endif /* HAL_ADC_MODULE_ENABLED */ - -#ifdef HAL_CAN_MODULE_ENABLED - #include "stm32f4xx_hal_can.h" -#endif /* HAL_CAN_MODULE_ENABLED */ - -#ifdef HAL_CAN_LEGACY_MODULE_ENABLED - #include "stm32f4xx_hal_can_legacy.h" -#endif /* HAL_CAN_LEGACY_MODULE_ENABLED */ - -#ifdef HAL_CRC_MODULE_ENABLED - #include "stm32f4xx_hal_crc.h" -#endif /* HAL_CRC_MODULE_ENABLED */ - -#ifdef HAL_CRYP_MODULE_ENABLED - #include "stm32f4xx_hal_cryp.h" -#endif /* HAL_CRYP_MODULE_ENABLED */ - -#ifdef HAL_DMA2D_MODULE_ENABLED - #include "stm32f4xx_hal_dma2d.h" -#endif /* HAL_DMA2D_MODULE_ENABLED */ - -#ifdef HAL_DAC_MODULE_ENABLED - #include "stm32f4xx_hal_dac.h" -#endif /* HAL_DAC_MODULE_ENABLED */ - -#ifdef HAL_DCMI_MODULE_ENABLED - #include "stm32f4xx_hal_dcmi.h" -#endif /* HAL_DCMI_MODULE_ENABLED */ - -#ifdef HAL_ETH_MODULE_ENABLED - #include "stm32f4xx_hal_eth.h" -#endif /* HAL_ETH_MODULE_ENABLED */ - -#ifdef HAL_FLASH_MODULE_ENABLED - #include "stm32f4xx_hal_flash.h" -#endif /* HAL_FLASH_MODULE_ENABLED */ - -#ifdef HAL_SRAM_MODULE_ENABLED - #include "stm32f4xx_hal_sram.h" -#endif /* HAL_SRAM_MODULE_ENABLED */ - -#ifdef HAL_NOR_MODULE_ENABLED - #include "stm32f4xx_hal_nor.h" -#endif /* HAL_NOR_MODULE_ENABLED */ - -#ifdef HAL_NAND_MODULE_ENABLED - #include "stm32f4xx_hal_nand.h" -#endif /* HAL_NAND_MODULE_ENABLED */ - -#ifdef HAL_PCCARD_MODULE_ENABLED - #include "stm32f4xx_hal_pccard.h" -#endif /* HAL_PCCARD_MODULE_ENABLED */ - -#ifdef HAL_SDRAM_MODULE_ENABLED - #include "stm32f4xx_hal_sdram.h" -#endif /* HAL_SDRAM_MODULE_ENABLED */ - -#ifdef HAL_HASH_MODULE_ENABLED - #include "stm32f4xx_hal_hash.h" -#endif /* HAL_HASH_MODULE_ENABLED */ - -#ifdef HAL_I2C_MODULE_ENABLED - #include "stm32f4xx_hal_i2c.h" -#endif /* HAL_I2C_MODULE_ENABLED */ - -#ifdef HAL_SMBUS_MODULE_ENABLED - #include "stm32f4xx_hal_smbus.h" -#endif /* HAL_SMBUS_MODULE_ENABLED */ - -#ifdef HAL_I2S_MODULE_ENABLED - #include "stm32f4xx_hal_i2s.h" -#endif /* HAL_I2S_MODULE_ENABLED */ - -#ifdef HAL_IWDG_MODULE_ENABLED - #include "stm32f4xx_hal_iwdg.h" -#endif /* HAL_IWDG_MODULE_ENABLED */ - -#ifdef HAL_LTDC_MODULE_ENABLED - #include "stm32f4xx_hal_ltdc.h" -#endif /* HAL_LTDC_MODULE_ENABLED */ - -#ifdef HAL_PWR_MODULE_ENABLED - #include "stm32f4xx_hal_pwr.h" -#endif /* HAL_PWR_MODULE_ENABLED */ - -#ifdef HAL_RNG_MODULE_ENABLED - #include "stm32f4xx_hal_rng.h" -#endif /* HAL_RNG_MODULE_ENABLED */ - -#ifdef HAL_RTC_MODULE_ENABLED - #include "stm32f4xx_hal_rtc.h" -#endif /* HAL_RTC_MODULE_ENABLED */ - -#ifdef HAL_SAI_MODULE_ENABLED - #include "stm32f4xx_hal_sai.h" -#endif /* HAL_SAI_MODULE_ENABLED */ - -#ifdef HAL_SD_MODULE_ENABLED - #include "stm32f4xx_hal_sd.h" -#endif /* HAL_SD_MODULE_ENABLED */ - -#ifdef HAL_SPI_MODULE_ENABLED - #include "stm32f4xx_hal_spi.h" -#endif /* HAL_SPI_MODULE_ENABLED */ - -#ifdef HAL_TIM_MODULE_ENABLED - #include "stm32f4xx_hal_tim.h" -#endif /* HAL_TIM_MODULE_ENABLED */ - -#ifdef HAL_UART_MODULE_ENABLED - #include "stm32f4xx_hal_uart.h" -#endif /* HAL_UART_MODULE_ENABLED */ - -#ifdef HAL_USART_MODULE_ENABLED - #include "stm32f4xx_hal_usart.h" -#endif /* HAL_USART_MODULE_ENABLED */ - -#ifdef HAL_IRDA_MODULE_ENABLED - #include "stm32f4xx_hal_irda.h" -#endif /* HAL_IRDA_MODULE_ENABLED */ - -#ifdef HAL_SMARTCARD_MODULE_ENABLED - #include "stm32f4xx_hal_smartcard.h" -#endif /* HAL_SMARTCARD_MODULE_ENABLED */ - -#ifdef HAL_WWDG_MODULE_ENABLED - #include "stm32f4xx_hal_wwdg.h" -#endif /* HAL_WWDG_MODULE_ENABLED */ - -#ifdef HAL_PCD_MODULE_ENABLED - #include "stm32f4xx_hal_pcd.h" -#endif /* HAL_PCD_MODULE_ENABLED */ - -#ifdef HAL_HCD_MODULE_ENABLED - #include "stm32f4xx_hal_hcd.h" -#endif /* HAL_HCD_MODULE_ENABLED */ - -#ifdef HAL_DSI_MODULE_ENABLED - #include "stm32f4xx_hal_dsi.h" -#endif /* HAL_DSI_MODULE_ENABLED */ - -#ifdef HAL_QSPI_MODULE_ENABLED - #include "stm32f4xx_hal_qspi.h" -#endif /* HAL_QSPI_MODULE_ENABLED */ - -#ifdef HAL_CEC_MODULE_ENABLED - #include "stm32f4xx_hal_cec.h" -#endif /* HAL_CEC_MODULE_ENABLED */ - -#ifdef HAL_FMPI2C_MODULE_ENABLED - #include "stm32f4xx_hal_fmpi2c.h" -#endif /* HAL_FMPI2C_MODULE_ENABLED */ - -#ifdef HAL_FMPSMBUS_MODULE_ENABLED - #include "stm32f4xx_hal_fmpsmbus.h" -#endif /* HAL_FMPSMBUS_MODULE_ENABLED */ - -#ifdef HAL_SPDIFRX_MODULE_ENABLED - #include "stm32f4xx_hal_spdifrx.h" -#endif /* HAL_SPDIFRX_MODULE_ENABLED */ - -#ifdef HAL_DFSDM_MODULE_ENABLED - #include "stm32f4xx_hal_dfsdm.h" -#endif /* HAL_DFSDM_MODULE_ENABLED */ - -#ifdef HAL_LPTIM_MODULE_ENABLED - #include "stm32f4xx_hal_lptim.h" -#endif /* HAL_LPTIM_MODULE_ENABLED */ - -#ifdef HAL_MMC_MODULE_ENABLED - #include "stm32f4xx_hal_mmc.h" -#endif /* HAL_MMC_MODULE_ENABLED */ - -/* Exported macro ------------------------------------------------------------*/ -#ifdef USE_FULL_ASSERT -/** - * @brief The assert_param macro is used for function's parameters check. - * @param expr If expr is false, it calls assert_failed function - * which reports the name of the source file and the source - * line number of the call that failed. - * If expr is true, it returns no value. - * @retval None - */ - #define assert_param(expr) ((expr) ? (void)0U : assert_failed((uint8_t *)__FILE__, __LINE__)) -/* Exported functions ------------------------------------------------------- */ - void assert_failed(uint8_t* file, uint32_t line); -#else - #define assert_param(expr) ((void)0U) -#endif /* USE_FULL_ASSERT */ - - -#ifdef __cplusplus -} -#endif - -#endif /* __STM32F4xx_HAL_CONF_H */ - - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h deleted file mode 100644 index 95218cfbbc3006..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cortex.h +++ /dev/null @@ -1,410 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_cortex.h - * @author MCD Application Team - * @brief Header file of CORTEX HAL module. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef __STM32F4xx_HAL_CORTEX_H -#define __STM32F4xx_HAL_CORTEX_H - -#ifdef __cplusplus - extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal_def.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @addtogroup CORTEX - * @{ - */ -/* Exported types ------------------------------------------------------------*/ -/** @defgroup CORTEX_Exported_Types Cortex Exported Types - * @{ - */ - -#if (__MPU_PRESENT == 1U) -/** @defgroup CORTEX_MPU_Region_Initialization_Structure_definition MPU Region Initialization Structure Definition - * @brief MPU Region initialization structure - * @{ - */ -typedef struct -{ - uint8_t Enable; /*!< Specifies the status of the region. - This parameter can be a value of @ref CORTEX_MPU_Region_Enable */ - uint8_t Number; /*!< Specifies the number of the region to protect. - This parameter can be a value of @ref CORTEX_MPU_Region_Number */ - uint32_t BaseAddress; /*!< Specifies the base address of the region to protect. */ - uint8_t Size; /*!< Specifies the size of the region to protect. - This parameter can be a value of @ref CORTEX_MPU_Region_Size */ - uint8_t SubRegionDisable; /*!< Specifies the number of the subregion protection to disable. - This parameter must be a number between Min_Data = 0x00 and Max_Data = 0xFF */ - uint8_t TypeExtField; /*!< Specifies the TEX field level. - This parameter can be a value of @ref CORTEX_MPU_TEX_Levels */ - uint8_t AccessPermission; /*!< Specifies the region access permission type. - This parameter can be a value of @ref CORTEX_MPU_Region_Permission_Attributes */ - uint8_t DisableExec; /*!< Specifies the instruction access status. - This parameter can be a value of @ref CORTEX_MPU_Instruction_Access */ - uint8_t IsShareable; /*!< Specifies the shareability status of the protected region. - This parameter can be a value of @ref CORTEX_MPU_Access_Shareable */ - uint8_t IsCacheable; /*!< Specifies the cacheable status of the region protected. - This parameter can be a value of @ref CORTEX_MPU_Access_Cacheable */ - uint8_t IsBufferable; /*!< Specifies the bufferable status of the protected region. - This parameter can be a value of @ref CORTEX_MPU_Access_Bufferable */ -}MPU_Region_InitTypeDef; -/** - * @} - */ -#endif /* __MPU_PRESENT */ - -/** - * @} - */ - -/* Exported constants --------------------------------------------------------*/ - -/** @defgroup CORTEX_Exported_Constants CORTEX Exported Constants - * @{ - */ - -/** @defgroup CORTEX_Preemption_Priority_Group CORTEX Preemption Priority Group - * @{ - */ -#define NVIC_PRIORITYGROUP_0 0x00000007U /*!< 0 bits for pre-emption priority - 4 bits for subpriority */ -#define NVIC_PRIORITYGROUP_1 0x00000006U /*!< 1 bits for pre-emption priority - 3 bits for subpriority */ -#define NVIC_PRIORITYGROUP_2 0x00000005U /*!< 2 bits for pre-emption priority - 2 bits for subpriority */ -#define NVIC_PRIORITYGROUP_3 0x00000004U /*!< 3 bits for pre-emption priority - 1 bits for subpriority */ -#define NVIC_PRIORITYGROUP_4 0x00000003U /*!< 4 bits for pre-emption priority - 0 bits for subpriority */ -/** - * @} - */ - -/** @defgroup CORTEX_SysTick_clock_source CORTEX _SysTick clock source - * @{ - */ -#define SYSTICK_CLKSOURCE_HCLK_DIV8 0x00000000U -#define SYSTICK_CLKSOURCE_HCLK 0x00000004U - -/** - * @} - */ - -#if (__MPU_PRESENT == 1) -/** @defgroup CORTEX_MPU_HFNMI_PRIVDEF_Control MPU HFNMI and PRIVILEGED Access control - * @{ - */ -#define MPU_HFNMI_PRIVDEF_NONE 0x00000000U -#define MPU_HARDFAULT_NMI MPU_CTRL_HFNMIENA_Msk -#define MPU_PRIVILEGED_DEFAULT MPU_CTRL_PRIVDEFENA_Msk -#define MPU_HFNMI_PRIVDEF (MPU_CTRL_HFNMIENA_Msk | MPU_CTRL_PRIVDEFENA_Msk) - -/** - * @} - */ - -/** @defgroup CORTEX_MPU_Region_Enable CORTEX MPU Region Enable - * @{ - */ -#define MPU_REGION_ENABLE ((uint8_t)0x01) -#define MPU_REGION_DISABLE ((uint8_t)0x00) -/** - * @} - */ - -/** @defgroup CORTEX_MPU_Instruction_Access CORTEX MPU Instruction Access - * @{ - */ -#define MPU_INSTRUCTION_ACCESS_ENABLE ((uint8_t)0x00) -#define MPU_INSTRUCTION_ACCESS_DISABLE ((uint8_t)0x01) -/** - * @} - */ - -/** @defgroup CORTEX_MPU_Access_Shareable CORTEX MPU Instruction Access Shareable - * @{ - */ -#define MPU_ACCESS_SHAREABLE ((uint8_t)0x01) -#define MPU_ACCESS_NOT_SHAREABLE ((uint8_t)0x00) -/** - * @} - */ - -/** @defgroup CORTEX_MPU_Access_Cacheable CORTEX MPU Instruction Access Cacheable - * @{ - */ -#define MPU_ACCESS_CACHEABLE ((uint8_t)0x01) -#define MPU_ACCESS_NOT_CACHEABLE ((uint8_t)0x00) -/** - * @} - */ - -/** @defgroup CORTEX_MPU_Access_Bufferable CORTEX MPU Instruction Access Bufferable - * @{ - */ -#define MPU_ACCESS_BUFFERABLE ((uint8_t)0x01) -#define MPU_ACCESS_NOT_BUFFERABLE ((uint8_t)0x00) -/** - * @} - */ - -/** @defgroup CORTEX_MPU_TEX_Levels MPU TEX Levels - * @{ - */ -#define MPU_TEX_LEVEL0 ((uint8_t)0x00) -#define MPU_TEX_LEVEL1 ((uint8_t)0x01) -#define MPU_TEX_LEVEL2 ((uint8_t)0x02) -/** - * @} - */ - -/** @defgroup CORTEX_MPU_Region_Size CORTEX MPU Region Size - * @{ - */ -#define MPU_REGION_SIZE_32B ((uint8_t)0x04) -#define MPU_REGION_SIZE_64B ((uint8_t)0x05) -#define MPU_REGION_SIZE_128B ((uint8_t)0x06) -#define MPU_REGION_SIZE_256B ((uint8_t)0x07) -#define MPU_REGION_SIZE_512B ((uint8_t)0x08) -#define MPU_REGION_SIZE_1KB ((uint8_t)0x09) -#define MPU_REGION_SIZE_2KB ((uint8_t)0x0A) -#define MPU_REGION_SIZE_4KB ((uint8_t)0x0B) -#define MPU_REGION_SIZE_8KB ((uint8_t)0x0C) -#define MPU_REGION_SIZE_16KB ((uint8_t)0x0D) -#define MPU_REGION_SIZE_32KB ((uint8_t)0x0E) -#define MPU_REGION_SIZE_64KB ((uint8_t)0x0F) -#define MPU_REGION_SIZE_128KB ((uint8_t)0x10) -#define MPU_REGION_SIZE_256KB ((uint8_t)0x11) -#define MPU_REGION_SIZE_512KB ((uint8_t)0x12) -#define MPU_REGION_SIZE_1MB ((uint8_t)0x13) -#define MPU_REGION_SIZE_2MB ((uint8_t)0x14) -#define MPU_REGION_SIZE_4MB ((uint8_t)0x15) -#define MPU_REGION_SIZE_8MB ((uint8_t)0x16) -#define MPU_REGION_SIZE_16MB ((uint8_t)0x17) -#define MPU_REGION_SIZE_32MB ((uint8_t)0x18) -#define MPU_REGION_SIZE_64MB ((uint8_t)0x19) -#define MPU_REGION_SIZE_128MB ((uint8_t)0x1A) -#define MPU_REGION_SIZE_256MB ((uint8_t)0x1B) -#define MPU_REGION_SIZE_512MB ((uint8_t)0x1C) -#define MPU_REGION_SIZE_1GB ((uint8_t)0x1D) -#define MPU_REGION_SIZE_2GB ((uint8_t)0x1E) -#define MPU_REGION_SIZE_4GB ((uint8_t)0x1F) -/** - * @} - */ - -/** @defgroup CORTEX_MPU_Region_Permission_Attributes CORTEX MPU Region Permission Attributes - * @{ - */ -#define MPU_REGION_NO_ACCESS ((uint8_t)0x00) -#define MPU_REGION_PRIV_RW ((uint8_t)0x01) -#define MPU_REGION_PRIV_RW_URO ((uint8_t)0x02) -#define MPU_REGION_FULL_ACCESS ((uint8_t)0x03) -#define MPU_REGION_PRIV_RO ((uint8_t)0x05) -#define MPU_REGION_PRIV_RO_URO ((uint8_t)0x06) -/** - * @} - */ - -/** @defgroup CORTEX_MPU_Region_Number CORTEX MPU Region Number - * @{ - */ -#define MPU_REGION_NUMBER0 ((uint8_t)0x00) -#define MPU_REGION_NUMBER1 ((uint8_t)0x01) -#define MPU_REGION_NUMBER2 ((uint8_t)0x02) -#define MPU_REGION_NUMBER3 ((uint8_t)0x03) -#define MPU_REGION_NUMBER4 ((uint8_t)0x04) -#define MPU_REGION_NUMBER5 ((uint8_t)0x05) -#define MPU_REGION_NUMBER6 ((uint8_t)0x06) -#define MPU_REGION_NUMBER7 ((uint8_t)0x07) -/** - * @} - */ -#endif /* __MPU_PRESENT */ - -/** - * @} - */ - - -/* Exported Macros -----------------------------------------------------------*/ - -/* Exported functions --------------------------------------------------------*/ -/** @addtogroup CORTEX_Exported_Functions - * @{ - */ - -/** @addtogroup CORTEX_Exported_Functions_Group1 - * @{ - */ -/* Initialization and de-initialization functions *****************************/ -void HAL_NVIC_SetPriorityGrouping(uint32_t PriorityGroup); -void HAL_NVIC_SetPriority(IRQn_Type IRQn, uint32_t PreemptPriority, uint32_t SubPriority); -void HAL_NVIC_EnableIRQ(IRQn_Type IRQn); -void HAL_NVIC_DisableIRQ(IRQn_Type IRQn); -void HAL_NVIC_SystemReset(void); -uint32_t HAL_SYSTICK_Config(uint32_t TicksNumb); -/** - * @} - */ - -/** @addtogroup CORTEX_Exported_Functions_Group2 - * @{ - */ -/* Peripheral Control functions ***********************************************/ -uint32_t HAL_NVIC_GetPriorityGrouping(void); -void HAL_NVIC_GetPriority(IRQn_Type IRQn, uint32_t PriorityGroup, uint32_t* pPreemptPriority, uint32_t* pSubPriority); -uint32_t HAL_NVIC_GetPendingIRQ(IRQn_Type IRQn); -void HAL_NVIC_SetPendingIRQ(IRQn_Type IRQn); -void HAL_NVIC_ClearPendingIRQ(IRQn_Type IRQn); -uint32_t HAL_NVIC_GetActive(IRQn_Type IRQn); -void HAL_SYSTICK_CLKSourceConfig(uint32_t CLKSource); -void HAL_SYSTICK_IRQHandler(void); -void HAL_SYSTICK_Callback(void); - -#if (__MPU_PRESENT == 1U) -void HAL_MPU_Enable(uint32_t MPU_Control); -void HAL_MPU_Disable(void); -void HAL_MPU_ConfigRegion(MPU_Region_InitTypeDef *MPU_Init); -#endif /* __MPU_PRESENT */ -/** - * @} - */ - -/** - * @} - */ - -/* Private types -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private constants ---------------------------------------------------------*/ -/* Private macros ------------------------------------------------------------*/ -/** @defgroup CORTEX_Private_Macros CORTEX Private Macros - * @{ - */ -#define IS_NVIC_PRIORITY_GROUP(GROUP) (((GROUP) == NVIC_PRIORITYGROUP_0) || \ - ((GROUP) == NVIC_PRIORITYGROUP_1) || \ - ((GROUP) == NVIC_PRIORITYGROUP_2) || \ - ((GROUP) == NVIC_PRIORITYGROUP_3) || \ - ((GROUP) == NVIC_PRIORITYGROUP_4)) - -#define IS_NVIC_PREEMPTION_PRIORITY(PRIORITY) ((PRIORITY) < 0x10U) - -#define IS_NVIC_SUB_PRIORITY(PRIORITY) ((PRIORITY) < 0x10U) - -#define IS_NVIC_DEVICE_IRQ(IRQ) ((IRQ) >= (IRQn_Type)0x00U) - -#define IS_SYSTICK_CLK_SOURCE(SOURCE) (((SOURCE) == SYSTICK_CLKSOURCE_HCLK) || \ - ((SOURCE) == SYSTICK_CLKSOURCE_HCLK_DIV8)) - -#if (__MPU_PRESENT == 1U) -#define IS_MPU_REGION_ENABLE(STATE) (((STATE) == MPU_REGION_ENABLE) || \ - ((STATE) == MPU_REGION_DISABLE)) - -#define IS_MPU_INSTRUCTION_ACCESS(STATE) (((STATE) == MPU_INSTRUCTION_ACCESS_ENABLE) || \ - ((STATE) == MPU_INSTRUCTION_ACCESS_DISABLE)) - -#define IS_MPU_ACCESS_SHAREABLE(STATE) (((STATE) == MPU_ACCESS_SHAREABLE) || \ - ((STATE) == MPU_ACCESS_NOT_SHAREABLE)) - -#define IS_MPU_ACCESS_CACHEABLE(STATE) (((STATE) == MPU_ACCESS_CACHEABLE) || \ - ((STATE) == MPU_ACCESS_NOT_CACHEABLE)) - -#define IS_MPU_ACCESS_BUFFERABLE(STATE) (((STATE) == MPU_ACCESS_BUFFERABLE) || \ - ((STATE) == MPU_ACCESS_NOT_BUFFERABLE)) - -#define IS_MPU_TEX_LEVEL(TYPE) (((TYPE) == MPU_TEX_LEVEL0) || \ - ((TYPE) == MPU_TEX_LEVEL1) || \ - ((TYPE) == MPU_TEX_LEVEL2)) - -#define IS_MPU_REGION_PERMISSION_ATTRIBUTE(TYPE) (((TYPE) == MPU_REGION_NO_ACCESS) || \ - ((TYPE) == MPU_REGION_PRIV_RW) || \ - ((TYPE) == MPU_REGION_PRIV_RW_URO) || \ - ((TYPE) == MPU_REGION_FULL_ACCESS) || \ - ((TYPE) == MPU_REGION_PRIV_RO) || \ - ((TYPE) == MPU_REGION_PRIV_RO_URO)) - -#define IS_MPU_REGION_NUMBER(NUMBER) (((NUMBER) == MPU_REGION_NUMBER0) || \ - ((NUMBER) == MPU_REGION_NUMBER1) || \ - ((NUMBER) == MPU_REGION_NUMBER2) || \ - ((NUMBER) == MPU_REGION_NUMBER3) || \ - ((NUMBER) == MPU_REGION_NUMBER4) || \ - ((NUMBER) == MPU_REGION_NUMBER5) || \ - ((NUMBER) == MPU_REGION_NUMBER6) || \ - ((NUMBER) == MPU_REGION_NUMBER7)) - -#define IS_MPU_REGION_SIZE(SIZE) (((SIZE) == MPU_REGION_SIZE_32B) || \ - ((SIZE) == MPU_REGION_SIZE_64B) || \ - ((SIZE) == MPU_REGION_SIZE_128B) || \ - ((SIZE) == MPU_REGION_SIZE_256B) || \ - ((SIZE) == MPU_REGION_SIZE_512B) || \ - ((SIZE) == MPU_REGION_SIZE_1KB) || \ - ((SIZE) == MPU_REGION_SIZE_2KB) || \ - ((SIZE) == MPU_REGION_SIZE_4KB) || \ - ((SIZE) == MPU_REGION_SIZE_8KB) || \ - ((SIZE) == MPU_REGION_SIZE_16KB) || \ - ((SIZE) == MPU_REGION_SIZE_32KB) || \ - ((SIZE) == MPU_REGION_SIZE_64KB) || \ - ((SIZE) == MPU_REGION_SIZE_128KB) || \ - ((SIZE) == MPU_REGION_SIZE_256KB) || \ - ((SIZE) == MPU_REGION_SIZE_512KB) || \ - ((SIZE) == MPU_REGION_SIZE_1MB) || \ - ((SIZE) == MPU_REGION_SIZE_2MB) || \ - ((SIZE) == MPU_REGION_SIZE_4MB) || \ - ((SIZE) == MPU_REGION_SIZE_8MB) || \ - ((SIZE) == MPU_REGION_SIZE_16MB) || \ - ((SIZE) == MPU_REGION_SIZE_32MB) || \ - ((SIZE) == MPU_REGION_SIZE_64MB) || \ - ((SIZE) == MPU_REGION_SIZE_128MB) || \ - ((SIZE) == MPU_REGION_SIZE_256MB) || \ - ((SIZE) == MPU_REGION_SIZE_512MB) || \ - ((SIZE) == MPU_REGION_SIZE_1GB) || \ - ((SIZE) == MPU_REGION_SIZE_2GB) || \ - ((SIZE) == MPU_REGION_SIZE_4GB)) - -#define IS_MPU_SUB_REGION_DISABLE(SUBREGION) ((SUBREGION) < (uint16_t)0x00FF) -#endif /* __MPU_PRESENT */ - -/** - * @} - */ - -/* Private functions ---------------------------------------------------------*/ - -/** - * @} - */ - -/** - * @} - */ - -#ifdef __cplusplus -} -#endif - -#endif /* __STM32F4xx_HAL_CORTEX_H */ - - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_crc.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_crc.h deleted file mode 100644 index bbd58a581ae0b7..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_crc.h +++ /dev/null @@ -1,184 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_crc.h - * @author MCD Application Team - * @brief Header file of CRC HAL module. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef STM32F4xx_HAL_CRC_H -#define STM32F4xx_HAL_CRC_H - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal_def.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @addtogroup CRC - * @{ - */ - -/* Exported types ------------------------------------------------------------*/ -/** @defgroup CRC_Exported_Types CRC Exported Types - * @{ - */ - -/** - * @brief CRC HAL State Structure definition - */ -typedef enum -{ - HAL_CRC_STATE_RESET = 0x00U, /*!< CRC not yet initialized or disabled */ - HAL_CRC_STATE_READY = 0x01U, /*!< CRC initialized and ready for use */ - HAL_CRC_STATE_BUSY = 0x02U, /*!< CRC internal process is ongoing */ - HAL_CRC_STATE_TIMEOUT = 0x03U, /*!< CRC timeout state */ - HAL_CRC_STATE_ERROR = 0x04U /*!< CRC error state */ -} HAL_CRC_StateTypeDef; - - -/** - * @brief CRC Handle Structure definition - */ -typedef struct -{ - CRC_TypeDef *Instance; /*!< Register base address */ - - HAL_LockTypeDef Lock; /*!< CRC Locking object */ - - __IO HAL_CRC_StateTypeDef State; /*!< CRC communication state */ - -} CRC_HandleTypeDef; -/** - * @} - */ - -/* Exported constants --------------------------------------------------------*/ -/** @defgroup CRC_Exported_Constants CRC Exported Constants - * @{ - */ - -/** - * @} - */ - -/* Exported macros -----------------------------------------------------------*/ -/** @defgroup CRC_Exported_Macros CRC Exported Macros - * @{ - */ - -/** @brief Reset CRC handle state. - * @param __HANDLE__ CRC handle. - * @retval None - */ -#define __HAL_CRC_RESET_HANDLE_STATE(__HANDLE__) ((__HANDLE__)->State = HAL_CRC_STATE_RESET) - -/** - * @brief Reset CRC Data Register. - * @param __HANDLE__ CRC handle - * @retval None - */ -#define __HAL_CRC_DR_RESET(__HANDLE__) ((__HANDLE__)->Instance->CR |= CRC_CR_RESET) - -/** - * @brief Store data in the Independent Data (ID) register. - * @param __HANDLE__ CRC handle - * @param __VALUE__ Value to be stored in the ID register - * @note Refer to the Reference Manual to get the authorized __VALUE__ length in bits - * @retval None - */ -#define __HAL_CRC_SET_IDR(__HANDLE__, __VALUE__) (WRITE_REG((__HANDLE__)->Instance->IDR, (__VALUE__))) - -/** - * @brief Return the data stored in the Independent Data (ID) register. - * @param __HANDLE__ CRC handle - * @note Refer to the Reference Manual to get the authorized __VALUE__ length in bits - * @retval Value of the ID register - */ -#define __HAL_CRC_GET_IDR(__HANDLE__) (((__HANDLE__)->Instance->IDR) & CRC_IDR_IDR) -/** - * @} - */ - - -/* Private macros --------------------------------------------------------*/ -/** @defgroup CRC_Private_Macros CRC Private Macros - * @{ - */ - -/** - * @} - */ - -/* Exported functions --------------------------------------------------------*/ -/** @defgroup CRC_Exported_Functions CRC Exported Functions - * @{ - */ - -/* Initialization and de-initialization functions ****************************/ -/** @defgroup CRC_Exported_Functions_Group1 Initialization and de-initialization functions - * @{ - */ -HAL_StatusTypeDef HAL_CRC_Init(CRC_HandleTypeDef *hcrc); -HAL_StatusTypeDef HAL_CRC_DeInit(CRC_HandleTypeDef *hcrc); -void HAL_CRC_MspInit(CRC_HandleTypeDef *hcrc); -void HAL_CRC_MspDeInit(CRC_HandleTypeDef *hcrc); -/** - * @} - */ - -/* Peripheral Control functions ***********************************************/ -/** @defgroup CRC_Exported_Functions_Group2 Peripheral Control functions - * @{ - */ -uint32_t HAL_CRC_Accumulate(CRC_HandleTypeDef *hcrc, uint32_t pBuffer[], uint32_t BufferLength); -uint32_t HAL_CRC_Calculate(CRC_HandleTypeDef *hcrc, uint32_t pBuffer[], uint32_t BufferLength); -/** - * @} - */ - -/* Peripheral State and Error functions ***************************************/ -/** @defgroup CRC_Exported_Functions_Group3 Peripheral State functions - * @{ - */ -HAL_CRC_StateTypeDef HAL_CRC_GetState(CRC_HandleTypeDef *hcrc); -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ - -#ifdef __cplusplus -} -#endif - -#endif /* STM32F4xx_HAL_CRC_H */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cryp.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cryp.h deleted file mode 100644 index 8596fe7d21effc..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cryp.h +++ /dev/null @@ -1,685 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_cryp.h - * @author MCD Application Team - * @brief Header file of CRYP HAL module. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef __STM32F4xx_HAL_CRYP_H -#define __STM32F4xx_HAL_CRYP_H - -#ifdef __cplusplus -extern "C" { -#endif - - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal_def.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ -#if defined (AES) || defined (CRYP) -/** @addtogroup CRYP - * @{ - */ - -/* Exported types ------------------------------------------------------------*/ - -/** @defgroup CRYP_Exported_Types CRYP Exported Types - * @{ - */ - -/** - * @brief CRYP Init Structure definition - */ - -typedef struct -{ - uint32_t DataType; /*!< 32-bit data, 16-bit data, 8-bit data or 1-bit string. - This parameter can be a value of @ref CRYP_Data_Type */ - uint32_t KeySize; /*!< Used only in AES mode : 128, 192 or 256 bit key length in CRYP1. - 128 or 256 bit key length in TinyAES This parameter can be a value of @ref CRYP_Key_Size */ - uint32_t *pKey; /*!< The key used for encryption/decryption */ - uint32_t *pInitVect; /*!< The initialization vector used also as initialization - counter in CTR mode */ - uint32_t Algorithm; /*!< DES/ TDES Algorithm ECB/CBC - AES Algorithm ECB/CBC/CTR/GCM or CCM - This parameter can be a value of @ref CRYP_Algorithm_Mode */ - uint32_t *Header; /*!< used only in AES GCM and CCM Algorithm for authentication, - GCM : also known as Additional Authentication Data - CCM : named B1 composed of the associated data length and Associated Data. */ - uint32_t HeaderSize; /*!< The size of header buffer in word */ - uint32_t *B0; /*!< B0 is first authentication block used only in AES CCM mode */ - uint32_t DataWidthUnit; /*!< Data With Unit, this parameter can be value of @ref CRYP_Data_Width_Unit*/ - uint32_t HeaderWidthUnit; /*!< Header Width Unit, this parameter can be value of @ref CRYP_Header_Width_Unit*/ - uint32_t KeyIVConfigSkip; /*!< CRYP peripheral Key and IV configuration skip, to config Key and Initialization - Vector only once and to skip configuration for consecutive processings. - This parameter can be a value of @ref CRYP_Configuration_Skip */ - -} CRYP_ConfigTypeDef; - - -/** - * @brief CRYP State Structure definition - */ - -typedef enum -{ - HAL_CRYP_STATE_RESET = 0x00U, /*!< CRYP not yet initialized or disabled */ - HAL_CRYP_STATE_READY = 0x01U, /*!< CRYP initialized and ready for use */ - HAL_CRYP_STATE_BUSY = 0x02U /*!< CRYP BUSY, internal processing is ongoing */ -} HAL_CRYP_STATETypeDef; - - -/** - * @brief CRYP handle Structure definition - */ - -typedef struct __CRYP_HandleTypeDef -{ -#if defined (CRYP) - CRYP_TypeDef *Instance; /*!< CRYP registers base address */ -#else /* AES*/ - AES_TypeDef *Instance; /*!< AES Register base address */ -#endif /* End AES or CRYP */ - - CRYP_ConfigTypeDef Init; /*!< CRYP required parameters */ - - FunctionalState AutoKeyDerivation; /*!< Used only in TinyAES to allows to bypass or not key write-up before decryption. - This parameter can be a value of ENABLE/DISABLE */ - - uint32_t *pCrypInBuffPtr; /*!< Pointer to CRYP processing (encryption, decryption,...) buffer */ - - uint32_t *pCrypOutBuffPtr; /*!< Pointer to CRYP processing (encryption, decryption,...) buffer */ - - __IO uint16_t CrypHeaderCount; /*!< Counter of header data */ - - __IO uint16_t CrypInCount; /*!< Counter of input data */ - - __IO uint16_t CrypOutCount; /*!< Counter of output data */ - - uint16_t Size; /*!< length of input data in word */ - - uint32_t Phase; /*!< CRYP peripheral phase */ - - DMA_HandleTypeDef *hdmain; /*!< CRYP In DMA handle parameters */ - - DMA_HandleTypeDef *hdmaout; /*!< CRYP Out DMA handle parameters */ - - HAL_LockTypeDef Lock; /*!< CRYP locking object */ - - __IO HAL_CRYP_STATETypeDef State; /*!< CRYP peripheral state */ - - __IO uint32_t ErrorCode; /*!< CRYP peripheral error code */ - - uint32_t KeyIVConfig; /*!< CRYP peripheral Key and IV configuration flag, used when - configuration can be skipped */ - - uint32_t SizesSum; /*!< Sum of successive payloads lengths (in bytes), stored - for a single signature computation after several - messages processing */ - -#if (USE_HAL_CRYP_REGISTER_CALLBACKS == 1) - void (*InCpltCallback)(struct __CRYP_HandleTypeDef *hcryp); /*!< CRYP Input FIFO transfer completed callback */ - void (*OutCpltCallback)(struct __CRYP_HandleTypeDef *hcryp); /*!< CRYP Output FIFO transfer completed callback */ - void (*ErrorCallback)(struct __CRYP_HandleTypeDef *hcryp); /*!< CRYP Error callback */ - - void (* MspInitCallback)(struct __CRYP_HandleTypeDef *hcryp); /*!< CRYP Msp Init callback */ - void (* MspDeInitCallback)(struct __CRYP_HandleTypeDef *hcryp); /*!< CRYP Msp DeInit callback */ - -#endif /* (USE_HAL_CRYP_REGISTER_CALLBACKS) */ -} CRYP_HandleTypeDef; - - -/** - * @} - */ - -#if (USE_HAL_CRYP_REGISTER_CALLBACKS == 1) -/** @defgroup HAL_CRYP_Callback_ID_enumeration_definition HAL CRYP Callback ID enumeration definition - * @brief HAL CRYP Callback ID enumeration definition - * @{ - */ -typedef enum -{ - HAL_CRYP_INPUT_COMPLETE_CB_ID = 0x01U, /*!< CRYP Input FIFO transfer completed callback ID */ - HAL_CRYP_OUTPUT_COMPLETE_CB_ID = 0x02U, /*!< CRYP Output FIFO transfer completed callback ID */ - HAL_CRYP_ERROR_CB_ID = 0x03U, /*!< CRYP Error callback ID */ - - HAL_CRYP_MSPINIT_CB_ID = 0x04U, /*!< CRYP MspInit callback ID */ - HAL_CRYP_MSPDEINIT_CB_ID = 0x05U /*!< CRYP MspDeInit callback ID */ - -} HAL_CRYP_CallbackIDTypeDef; -/** - * @} - */ - -/** @defgroup HAL_CRYP_Callback_pointer_definition HAL CRYP Callback pointer definition - * @brief HAL CRYP Callback pointer definition - * @{ - */ - -typedef void (*pCRYP_CallbackTypeDef)(CRYP_HandleTypeDef *hcryp); /*!< pointer to a common CRYP callback function */ - -/** - * @} - */ - -#endif /* USE_HAL_CRYP_REGISTER_CALLBACKS */ - -/* Exported constants --------------------------------------------------------*/ -/** @defgroup CRYP_Exported_Constants CRYP Exported Constants - * @{ - */ - -/** @defgroup CRYP_Error_Definition CRYP Error Definition - * @{ - */ -#define HAL_CRYP_ERROR_NONE 0x00000000U /*!< No error */ -#define HAL_CRYP_ERROR_WRITE 0x00000001U /*!< Write error */ -#define HAL_CRYP_ERROR_READ 0x00000002U /*!< Read error */ -#define HAL_CRYP_ERROR_DMA 0x00000004U /*!< DMA error */ -#define HAL_CRYP_ERROR_BUSY 0x00000008U /*!< Busy flag error */ -#define HAL_CRYP_ERROR_TIMEOUT 0x00000010U /*!< Timeout error */ -#define HAL_CRYP_ERROR_NOT_SUPPORTED 0x00000020U /*!< Not supported mode */ -#define HAL_CRYP_ERROR_AUTH_TAG_SEQUENCE 0x00000040U /*!< Sequence are not respected only for GCM or CCM */ -#if (USE_HAL_CRYP_REGISTER_CALLBACKS == 1) -#define HAL_CRYP_ERROR_INVALID_CALLBACK ((uint32_t)0x00000080U) /*!< Invalid Callback error */ -#endif /* USE_HAL_CRYP_REGISTER_CALLBACKS */ -/** - * @} - */ - -/** @defgroup CRYP_Data_Width_Unit CRYP Data Width Unit - * @{ - */ - -#define CRYP_DATAWIDTHUNIT_WORD 0x00000000U /*!< By default, size unit is word */ -#define CRYP_DATAWIDTHUNIT_BYTE 0x00000001U /*!< By default, size unit is word */ - -/** - * @} - */ - -/** @defgroup CRYP_Header_Width_Unit CRYP Header Width Unit - * @{ - */ - -#define CRYP_HEADERWIDTHUNIT_WORD 0x00000000U /*!< By default, header size unit is word */ -#define CRYP_HEADERWIDTHUNIT_BYTE 0x00000001U /*!< By default, header size unit is byte */ - -/** - * @} - */ - -/** @defgroup CRYP_Algorithm_Mode CRYP Algorithm Mode - * @{ - */ -#if defined(CRYP) - -#define CRYP_DES_ECB CRYP_CR_ALGOMODE_DES_ECB -#define CRYP_DES_CBC CRYP_CR_ALGOMODE_DES_CBC -#define CRYP_TDES_ECB CRYP_CR_ALGOMODE_TDES_ECB -#define CRYP_TDES_CBC CRYP_CR_ALGOMODE_TDES_CBC -#define CRYP_AES_ECB CRYP_CR_ALGOMODE_AES_ECB -#define CRYP_AES_CBC CRYP_CR_ALGOMODE_AES_CBC -#define CRYP_AES_CTR CRYP_CR_ALGOMODE_AES_CTR -#if defined (CRYP_CR_ALGOMODE_AES_GCM) -#define CRYP_AES_GCM CRYP_CR_ALGOMODE_AES_GCM -#define CRYP_AES_CCM CRYP_CR_ALGOMODE_AES_CCM -#endif /* GCM CCM defined*/ -#else /* AES*/ -#define CRYP_AES_ECB 0x00000000U /*!< Electronic codebook chaining algorithm */ -#define CRYP_AES_CBC AES_CR_CHMOD_0 /*!< Cipher block chaining algorithm */ -#define CRYP_AES_CTR AES_CR_CHMOD_1 /*!< Counter mode chaining algorithm */ -#define CRYP_AES_GCM_GMAC (AES_CR_CHMOD_0 | AES_CR_CHMOD_1) /*!< Galois counter mode - Galois message authentication code */ -#define CRYP_AES_CCM AES_CR_CHMOD_2 /*!< Counter with Cipher Mode */ -#endif /* End AES or CRYP */ - -/** - * @} - */ - -/** @defgroup CRYP_Key_Size CRYP Key Size - * @{ - */ -#if defined(CRYP) -#define CRYP_KEYSIZE_128B 0x00000000U -#define CRYP_KEYSIZE_192B CRYP_CR_KEYSIZE_0 -#define CRYP_KEYSIZE_256B CRYP_CR_KEYSIZE_1 -#else /* AES*/ -#define CRYP_KEYSIZE_128B 0x00000000U /*!< 128-bit long key */ -#define CRYP_KEYSIZE_256B AES_CR_KEYSIZE /*!< 256-bit long key */ -#endif /* End AES or CRYP */ -/** - * @} - */ - -/** @defgroup CRYP_Data_Type CRYP Data Type - * @{ - */ -#if defined(CRYP) -#define CRYP_DATATYPE_32B 0x00000000U -#define CRYP_DATATYPE_16B CRYP_CR_DATATYPE_0 -#define CRYP_DATATYPE_8B CRYP_CR_DATATYPE_1 -#define CRYP_DATATYPE_1B CRYP_CR_DATATYPE -#else /* AES*/ -#define CRYP_DATATYPE_32B 0x00000000U /*!< 32-bit data type (no swapping) */ -#define CRYP_DATATYPE_16B AES_CR_DATATYPE_0 /*!< 16-bit data type (half-word swapping) */ -#define CRYP_DATATYPE_8B AES_CR_DATATYPE_1 /*!< 8-bit data type (byte swapping) */ -#define CRYP_DATATYPE_1B AES_CR_DATATYPE /*!< 1-bit data type (bit swapping) */ -#endif /* End AES or CRYP */ - -/** - * @} - */ - -/** @defgroup CRYP_Interrupt CRYP Interrupt - * @{ - */ -#if defined (CRYP) -#define CRYP_IT_INI CRYP_IMSCR_INIM /*!< Input FIFO Interrupt */ -#define CRYP_IT_OUTI CRYP_IMSCR_OUTIM /*!< Output FIFO Interrupt */ -#else /* AES*/ -#define CRYP_IT_CCFIE AES_CR_CCFIE /*!< Computation Complete interrupt enable */ -#define CRYP_IT_ERRIE AES_CR_ERRIE /*!< Error interrupt enable */ -#define CRYP_IT_WRERR AES_SR_WRERR /*!< Write Error */ -#define CRYP_IT_RDERR AES_SR_RDERR /*!< Read Error */ -#define CRYP_IT_CCF AES_SR_CCF /*!< Computation completed */ -#endif /* End AES or CRYP */ - -/** - * @} - */ - -/** @defgroup CRYP_Flags CRYP Flags - * @{ - */ -#if defined (CRYP) -/* Flags in the SR register */ -#define CRYP_FLAG_IFEM CRYP_SR_IFEM /*!< Input FIFO is empty */ -#define CRYP_FLAG_IFNF CRYP_SR_IFNF /*!< Input FIFO is not Full */ -#define CRYP_FLAG_OFNE CRYP_SR_OFNE /*!< Output FIFO is not empty */ -#define CRYP_FLAG_OFFU CRYP_SR_OFFU /*!< Output FIFO is Full */ -#define CRYP_FLAG_BUSY CRYP_SR_BUSY /*!< The CRYP core is currently processing a block of data - or a key preparation (for AES decryption). */ -/* Flags in the RISR register */ -#define CRYP_FLAG_OUTRIS 0x01000002U /*!< Output FIFO service raw interrupt status */ -#define CRYP_FLAG_INRIS 0x01000001U /*!< Input FIFO service raw interrupt status*/ -#else /* AES*/ -/* status flags */ -#define CRYP_FLAG_BUSY AES_SR_BUSY /*!< GCM process suspension forbidden */ -#define CRYP_FLAG_WRERR AES_SR_WRERR /*!< Write Error */ -#define CRYP_FLAG_RDERR AES_SR_RDERR /*!< Read error */ -#define CRYP_FLAG_CCF AES_SR_CCF /*!< Computation completed */ -/* clearing flags */ -#define CRYP_CCF_CLEAR AES_CR_CCFC /*!< Computation Complete Flag Clear */ -#define CRYP_ERR_CLEAR AES_CR_ERRC /*!< Error Flag Clear */ -#endif /* End AES or CRYP */ - -/** - * @} - */ - -/** @defgroup CRYP_Configuration_Skip CRYP Key and IV Configuration Skip Mode - * @{ - */ - -#define CRYP_KEYIVCONFIG_ALWAYS 0x00000000U /*!< Peripheral Key and IV configuration to do systematically */ -#define CRYP_KEYIVCONFIG_ONCE 0x00000001U /*!< Peripheral Key and IV configuration to do only once */ - -/** - * @} - */ - - -/** - * @} - */ - -/* Exported macros -----------------------------------------------------------*/ -/** @defgroup CRYP_Exported_Macros CRYP Exported Macros - * @{ - */ - -/** @brief Reset CRYP handle state - * @param __HANDLE__ specifies the CRYP handle. - * @retval None - */ -#if (USE_HAL_CRYP_REGISTER_CALLBACKS == 1) -#define __HAL_CRYP_RESET_HANDLE_STATE(__HANDLE__) do{\ - (__HANDLE__)->State = HAL_CRYP_STATE_RESET;\ - (__HANDLE__)->MspInitCallback = NULL;\ - (__HANDLE__)->MspDeInitCallback = NULL;\ - }while(0) -#else -#define __HAL_CRYP_RESET_HANDLE_STATE(__HANDLE__) ( (__HANDLE__)->State = HAL_CRYP_STATE_RESET) -#endif /* USE_HAL_CRYP_REGISTER_CALLBACKS */ - -/** - * @brief Enable/Disable the CRYP peripheral. - * @param __HANDLE__: specifies the CRYP handle. - * @retval None - */ -#if defined(CRYP) -#define __HAL_CRYP_ENABLE(__HANDLE__) ((__HANDLE__)->Instance->CR |= CRYP_CR_CRYPEN) -#define __HAL_CRYP_DISABLE(__HANDLE__) ((__HANDLE__)->Instance->CR &= ~CRYP_CR_CRYPEN) -#else /* AES*/ -#define __HAL_CRYP_ENABLE(__HANDLE__) ((__HANDLE__)->Instance->CR |= AES_CR_EN) -#define __HAL_CRYP_DISABLE(__HANDLE__) ((__HANDLE__)->Instance->CR &= ~AES_CR_EN) -#endif /* End AES or CRYP */ - -/** @brief Check whether the specified CRYP status flag is set or not. - * @param __FLAG__: specifies the flag to check. - * This parameter can be one of the following values for TinyAES: - * @arg @ref CRYP_FLAG_BUSY GCM process suspension forbidden - * @arg @ref CRYP_IT_WRERR Write Error - * @arg @ref CRYP_IT_RDERR Read Error - * @arg @ref CRYP_IT_CCF Computation Complete - * This parameter can be one of the following values for CRYP: - * @arg CRYP_FLAG_BUSY: The CRYP core is currently processing a block of data - * or a key preparation (for AES decryption). - * @arg CRYP_FLAG_IFEM: Input FIFO is empty - * @arg CRYP_FLAG_IFNF: Input FIFO is not full - * @arg CRYP_FLAG_INRIS: Input FIFO service raw interrupt is pending - * @arg CRYP_FLAG_OFNE: Output FIFO is not empty - * @arg CRYP_FLAG_OFFU: Output FIFO is full - * @arg CRYP_FLAG_OUTRIS: Input FIFO service raw interrupt is pending - * @retval The state of __FLAG__ (TRUE or FALSE). - */ -#define CRYP_FLAG_MASK 0x0000001FU -#if defined(CRYP) -#define __HAL_CRYP_GET_FLAG(__HANDLE__, __FLAG__) ((((uint8_t)((__FLAG__) >> 24)) == 0x01U)?((((__HANDLE__)->Instance->RISR) & ((__FLAG__) & CRYP_FLAG_MASK)) == ((__FLAG__) & CRYP_FLAG_MASK)): \ - ((((__HANDLE__)->Instance->RISR) & ((__FLAG__) & CRYP_FLAG_MASK)) == ((__FLAG__) & CRYP_FLAG_MASK))) -#else /* AES*/ -#define __HAL_CRYP_GET_FLAG(__HANDLE__, __FLAG__) (((__HANDLE__)->Instance->SR & (__FLAG__)) == (__FLAG__)) -#endif /* End AES or CRYP */ - -/** @brief Clear the CRYP pending status flag. - * @param __FLAG__: specifies the flag to clear. - * This parameter can be one of the following values: - * @arg @ref CRYP_ERR_CLEAR Read (RDERR) or Write Error (WRERR) Flag Clear - * @arg @ref CRYP_CCF_CLEAR Computation Complete Flag (CCF) Clear - * @param __HANDLE__: specifies the CRYP handle. - * @retval None - */ - -#if defined(AES) -#define __HAL_CRYP_CLEAR_FLAG(__HANDLE__, __FLAG__) SET_BIT((__HANDLE__)->Instance->CR, (__FLAG__)) - - -/** @brief Check whether the specified CRYP interrupt source is enabled or not. - * @param __INTERRUPT__: CRYP interrupt source to check - * This parameter can be one of the following values for TinyAES: - * @arg @ref CRYP_IT_ERRIE Error interrupt (used for RDERR and WRERR) - * @arg @ref CRYP_IT_CCFIE Computation Complete interrupt - * @param __HANDLE__: specifies the CRYP handle. - * @retval State of interruption (TRUE or FALSE). - */ - -#define __HAL_CRYP_GET_IT_SOURCE(__HANDLE__, __INTERRUPT__) (((__HANDLE__)->Instance->CR\ - & (__INTERRUPT__)) == (__INTERRUPT__)) - -#endif /* AES */ - -/** @brief Check whether the specified CRYP interrupt is set or not. - * @param __INTERRUPT__: specifies the interrupt to check. - * This parameter can be one of the following values for TinyAES: - * @arg @ref CRYP_IT_WRERR Write Error - * @arg @ref CRYP_IT_RDERR Read Error - * @arg @ref CRYP_IT_CCF Computation Complete - * This parameter can be one of the following values for CRYP: - * @arg CRYP_IT_INI: Input FIFO service masked interrupt status - * @arg CRYP_IT_OUTI: Output FIFO service masked interrupt status - * @param __HANDLE__: specifies the CRYP handle. - * @retval The state of __INTERRUPT__ (TRUE or FALSE). - */ -#if defined(CRYP) -#define __HAL_CRYP_GET_IT(__HANDLE__, __INTERRUPT__) (((__HANDLE__)->Instance->MISR\ - & (__INTERRUPT__)) == (__INTERRUPT__)) -#else /* AES*/ -#define __HAL_CRYP_GET_IT(__HANDLE__, __INTERRUPT__) (((__HANDLE__)->Instance->SR & (__INTERRUPT__)) == (__INTERRUPT__)) -#endif /* End AES or CRYP */ - -/** - * @brief Enable the CRYP interrupt. - * @param __INTERRUPT__: CRYP Interrupt. - * This parameter can be one of the following values for TinyAES: - * @arg @ref CRYP_IT_ERRIE Error interrupt (used for RDERR and WRERR) - * @arg @ref CRYP_IT_CCFIE Computation Complete interrupt - * This parameter can be one of the following values for CRYP: - * @ CRYP_IT_INI : Input FIFO service interrupt mask. - * @ CRYP_IT_OUTI : Output FIFO service interrupt mask.CRYP interrupt. - * @param __HANDLE__: specifies the CRYP handle. - * @retval None - */ -#if defined(CRYP) -#define __HAL_CRYP_ENABLE_IT(__HANDLE__, __INTERRUPT__) (((__HANDLE__)->Instance->IMSCR) |= (__INTERRUPT__)) -#else /* AES*/ -#define __HAL_CRYP_ENABLE_IT(__HANDLE__, __INTERRUPT__) (((__HANDLE__)->Instance->CR) |= (__INTERRUPT__)) -#endif /* End AES or CRYP */ - -/** - * @brief Disable the CRYP interrupt. - * @param __INTERRUPT__: CRYP Interrupt. - * This parameter can be one of the following values for TinyAES: - * @arg @ref CRYP_IT_ERRIE Error interrupt (used for RDERR and WRERR) - * @arg @ref CRYP_IT_CCFIE Computation Complete interrupt - * This parameter can be one of the following values for CRYP: - * @ CRYP_IT_INI : Input FIFO service interrupt mask. - * @ CRYP_IT_OUTI : Output FIFO service interrupt mask.CRYP interrupt. - * @param __HANDLE__: specifies the CRYP handle. - * @retval None - */ -#if defined(CRYP) -#define __HAL_CRYP_DISABLE_IT(__HANDLE__, __INTERRUPT__) (((__HANDLE__)->Instance->IMSCR) &= ~(__INTERRUPT__)) -#else /* AES*/ -#define __HAL_CRYP_DISABLE_IT(__HANDLE__, __INTERRUPT__) (((__HANDLE__)->Instance->CR) &= ~(__INTERRUPT__)) -#endif /* End AES or CRYP */ - -/** - * @} - */ -#if defined (CRYP_CR_ALGOMODE_AES_GCM)|| defined (AES) -/* Include CRYP HAL Extended module */ -#include "stm32f4xx_hal_cryp_ex.h" -#endif /* AES or GCM CCM defined*/ -/* Exported functions --------------------------------------------------------*/ -/** @defgroup CRYP_Exported_Functions CRYP Exported Functions - * @{ - */ - -/** @addtogroup CRYP_Exported_Functions_Group1 - * @{ - */ -HAL_StatusTypeDef HAL_CRYP_Init(CRYP_HandleTypeDef *hcryp); -HAL_StatusTypeDef HAL_CRYP_DeInit(CRYP_HandleTypeDef *hcryp); -void HAL_CRYP_MspInit(CRYP_HandleTypeDef *hcryp); -void HAL_CRYP_MspDeInit(CRYP_HandleTypeDef *hcryp); -HAL_StatusTypeDef HAL_CRYP_SetConfig(CRYP_HandleTypeDef *hcryp, CRYP_ConfigTypeDef *pConf); -HAL_StatusTypeDef HAL_CRYP_GetConfig(CRYP_HandleTypeDef *hcryp, CRYP_ConfigTypeDef *pConf); -#if (USE_HAL_CRYP_REGISTER_CALLBACKS == 1) -HAL_StatusTypeDef HAL_CRYP_RegisterCallback(CRYP_HandleTypeDef *hcryp, HAL_CRYP_CallbackIDTypeDef CallbackID, - pCRYP_CallbackTypeDef pCallback); -HAL_StatusTypeDef HAL_CRYP_UnRegisterCallback(CRYP_HandleTypeDef *hcryp, HAL_CRYP_CallbackIDTypeDef CallbackID); -#endif /* USE_HAL_CRYP_REGISTER_CALLBACKS */ -/** - * @} - */ - -/** @addtogroup CRYP_Exported_Functions_Group2 - * @{ - */ - -/* encryption/decryption ***********************************/ -HAL_StatusTypeDef HAL_CRYP_Encrypt(CRYP_HandleTypeDef *hcryp, uint32_t *Input, uint16_t Size, uint32_t *Output, - uint32_t Timeout); -HAL_StatusTypeDef HAL_CRYP_Decrypt(CRYP_HandleTypeDef *hcryp, uint32_t *Input, uint16_t Size, uint32_t *Output, - uint32_t Timeout); -HAL_StatusTypeDef HAL_CRYP_Encrypt_IT(CRYP_HandleTypeDef *hcryp, uint32_t *Input, uint16_t Size, uint32_t *Output); -HAL_StatusTypeDef HAL_CRYP_Decrypt_IT(CRYP_HandleTypeDef *hcryp, uint32_t *Input, uint16_t Size, uint32_t *Output); -HAL_StatusTypeDef HAL_CRYP_Encrypt_DMA(CRYP_HandleTypeDef *hcryp, uint32_t *Input, uint16_t Size, uint32_t *Output); -HAL_StatusTypeDef HAL_CRYP_Decrypt_DMA(CRYP_HandleTypeDef *hcryp, uint32_t *Input, uint16_t Size, uint32_t *Output); - -/** - * @} - */ - - -/** @addtogroup CRYP_Exported_Functions_Group3 - * @{ - */ -/* Interrupt Handler functions **********************************************/ -void HAL_CRYP_IRQHandler(CRYP_HandleTypeDef *hcryp); -HAL_CRYP_STATETypeDef HAL_CRYP_GetState(CRYP_HandleTypeDef *hcryp); -void HAL_CRYP_InCpltCallback(CRYP_HandleTypeDef *hcryp); -void HAL_CRYP_OutCpltCallback(CRYP_HandleTypeDef *hcryp); -void HAL_CRYP_ErrorCallback(CRYP_HandleTypeDef *hcryp); -uint32_t HAL_CRYP_GetError(CRYP_HandleTypeDef *hcryp); - -/** - * @} - */ - -/** - * @} - */ - -/* Private macros --------------------------------------------------------*/ -/** @defgroup CRYP_Private_Macros CRYP Private Macros - * @{ - */ - -/** @defgroup CRYP_IS_CRYP_Definitions CRYP Private macros to check input parameters - * @{ - */ -#if defined(CRYP) -#if defined (CRYP_CR_ALGOMODE_AES_GCM) -#define IS_CRYP_ALGORITHM(ALGORITHM) (((ALGORITHM) == CRYP_DES_ECB) || \ - ((ALGORITHM) == CRYP_DES_CBC) || \ - ((ALGORITHM) == CRYP_TDES_ECB) || \ - ((ALGORITHM) == CRYP_TDES_CBC) || \ - ((ALGORITHM) == CRYP_AES_ECB) || \ - ((ALGORITHM) == CRYP_AES_CBC) || \ - ((ALGORITHM) == CRYP_AES_CTR) || \ - ((ALGORITHM) == CRYP_AES_GCM) || \ - ((ALGORITHM) == CRYP_AES_CCM)) -#else /*NO GCM CCM */ -#define IS_CRYP_ALGORITHM(ALGORITHM) (((ALGORITHM) == CRYP_DES_ECB) || \ - ((ALGORITHM) == CRYP_DES_CBC) || \ - ((ALGORITHM) == CRYP_TDES_ECB) || \ - ((ALGORITHM) == CRYP_TDES_CBC) || \ - ((ALGORITHM) == CRYP_AES_ECB) || \ - ((ALGORITHM) == CRYP_AES_CBC) || \ - ((ALGORITHM) == CRYP_AES_CTR)) -#endif /* GCM CCM defined*/ -#define IS_CRYP_KEYSIZE(KEYSIZE)(((KEYSIZE) == CRYP_KEYSIZE_128B) || \ - ((KEYSIZE) == CRYP_KEYSIZE_192B) || \ - ((KEYSIZE) == CRYP_KEYSIZE_256B)) -#else /* AES*/ -#define IS_CRYP_ALGORITHM(ALGORITHM) (((ALGORITHM) == CRYP_AES_ECB) || \ - ((ALGORITHM) == CRYP_AES_CBC) || \ - ((ALGORITHM) == CRYP_AES_CTR) || \ - ((ALGORITHM) == CRYP_AES_GCM_GMAC)|| \ - ((ALGORITHM) == CRYP_AES_CCM)) - - -#define IS_CRYP_KEYSIZE(KEYSIZE)(((KEYSIZE) == CRYP_KEYSIZE_128B) || \ - ((KEYSIZE) == CRYP_KEYSIZE_256B)) -#endif /* End AES or CRYP */ - -#define IS_CRYP_DATATYPE(DATATYPE)(((DATATYPE) == CRYP_DATATYPE_32B) || \ - ((DATATYPE) == CRYP_DATATYPE_16B) || \ - ((DATATYPE) == CRYP_DATATYPE_8B) || \ - ((DATATYPE) == CRYP_DATATYPE_1B)) - -#define IS_CRYP_INIT(CONFIG)(((CONFIG) == CRYP_KEYIVCONFIG_ALWAYS) || \ - ((CONFIG) == CRYP_KEYIVCONFIG_ONCE)) -/** - * @} - */ - -/** - * @} - */ - - -/* Private constants ---------------------------------------------------------*/ -/** @defgroup CRYP_Private_Constants CRYP Private Constants - * @{ - */ - -/** - * @} - */ -/* Private defines -----------------------------------------------------------*/ -/** @defgroup CRYP_Private_Defines CRYP Private Defines - * @{ - */ - -/** - * @} - */ - -/* Private variables ---------------------------------------------------------*/ -/** @defgroup CRYP_Private_Variables CRYP Private Variables - * @{ - */ - -/** - * @} - */ -/* Private functions prototypes ----------------------------------------------*/ -/** @defgroup CRYP_Private_Functions_Prototypes CRYP Private Functions Prototypes - * @{ - */ - -/** - * @} - */ - -/* Private functions ---------------------------------------------------------*/ -/** @defgroup CRYP_Private_Functions CRYP Private Functions - * @{ - */ - -/** - * @} - */ - - -/** - * @} - */ - - -/** - * @} - */ -#endif /* TinyAES or CRYP*/ - -/** - * @} - */ - -#ifdef __cplusplus -} -#endif - -#endif /* __STM32F4xx_HAL_CRYP_H */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cryp_ex.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cryp_ex.h deleted file mode 100644 index 251e94b1daac85..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_cryp_ex.h +++ /dev/null @@ -1,144 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_cryp_ex.h - * @author MCD Application Team - * @brief Header file of CRYP HAL Extension module. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef __STM32F4xx_HAL_CRYP_EX_H -#define __STM32F4xx_HAL_CRYP_EX_H - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal_def.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @addtogroup CRYPEx - * @{ - */ -/* Exported types ------------------------------------------------------------*/ -/** @defgroup CRYPEx_Exported_Types CRYPEx Exported types - * @{ - */ - -/** - * @} - */ -/* Exported constants --------------------------------------------------------*/ -/** @defgroup CRYPEx_Exported_Constants CRYPEx Exported constants - * @{ - */ - -/** - * @} - */ - -/* Private types -------------------------------------------------------------*/ -/** @defgroup CRYPEx_Private_Types CRYPEx Private Types - * @{ - */ - -/** - * @} - */ - -/* Private variables ---------------------------------------------------------*/ -/** @defgroup CRYPEx_Private_Variables CRYPEx Private Variables - * @{ - */ - -/** - * @} - */ - -/* Private constants ---------------------------------------------------------*/ -/** @defgroup CRYPEx_Private_Constants CRYPEx Private Constants - * @{ - */ - -/** - * @} - */ - -/* Private macros ------------------------------------------------------------*/ -/** @defgroup CRYPEx_Private_Macros CRYPEx Private Macros - * @{ - */ - -/** - * @} - */ - -/* Private functions ---------------------------------------------------------*/ -/** @defgroup CRYPEx_Private_Functions CRYPEx Private Functions - * @{ - */ - -/** - * @} - */ - -/* Exported functions --------------------------------------------------------*/ -/** @defgroup CRYPEx_Exported_Functions CRYPEx Exported Functions - * @{ - */ -#if defined (CRYP) || defined (AES) -/** @addtogroup CRYPEx_Exported_Functions_Group1 - * @{ - */ -HAL_StatusTypeDef HAL_CRYPEx_AESGCM_GenerateAuthTAG(CRYP_HandleTypeDef *hcryp, uint32_t *AuthTag, uint32_t Timeout); -HAL_StatusTypeDef HAL_CRYPEx_AESCCM_GenerateAuthTAG(CRYP_HandleTypeDef *hcryp, uint32_t *AuthTag, uint32_t Timeout); -/** - * @} - */ -#endif /* CRYP||AES */ - -#if defined (AES) -/** @addtogroup CRYPEx_Exported_Functions_Group2 - * @{ - */ -void HAL_CRYPEx_EnableAutoKeyDerivation(CRYP_HandleTypeDef *hcryp); -void HAL_CRYPEx_DisableAutoKeyDerivation(CRYP_HandleTypeDef *hcryp); -/** - * @} - */ -#endif /* AES */ - -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ - -#ifdef __cplusplus -} -#endif - -#endif /* __STM32F4xx_HAL_CRYP_EX_H */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dac.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dac.h deleted file mode 100644 index abd85449b6ae6f..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dac.h +++ /dev/null @@ -1,482 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_dac.h - * @author MCD Application Team - * @brief Header file of DAC HAL module. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef STM32F4xx_HAL_DAC_H -#define STM32F4xx_HAL_DAC_H - -#ifdef __cplusplus -extern "C" { -#endif - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal_def.h" - -#if defined(DAC) - -/** @addtogroup DAC - * @{ - */ - -/* Exported types ------------------------------------------------------------*/ - -/** @defgroup DAC_Exported_Types DAC Exported Types - * @{ - */ - -/** - * @brief HAL State structures definition - */ -typedef enum -{ - HAL_DAC_STATE_RESET = 0x00U, /*!< DAC not yet initialized or disabled */ - HAL_DAC_STATE_READY = 0x01U, /*!< DAC initialized and ready for use */ - HAL_DAC_STATE_BUSY = 0x02U, /*!< DAC internal processing is ongoing */ - HAL_DAC_STATE_TIMEOUT = 0x03U, /*!< DAC timeout state */ - HAL_DAC_STATE_ERROR = 0x04U /*!< DAC error state */ - -} HAL_DAC_StateTypeDef; - -/** - * @brief DAC handle Structure definition - */ -#if (USE_HAL_DAC_REGISTER_CALLBACKS == 1) -typedef struct __DAC_HandleTypeDef -#else -typedef struct -#endif /* USE_HAL_DAC_REGISTER_CALLBACKS */ -{ - DAC_TypeDef *Instance; /*!< Register base address */ - - __IO HAL_DAC_StateTypeDef State; /*!< DAC communication state */ - - HAL_LockTypeDef Lock; /*!< DAC locking object */ - - DMA_HandleTypeDef *DMA_Handle1; /*!< Pointer DMA handler for channel 1 */ - - DMA_HandleTypeDef *DMA_Handle2; /*!< Pointer DMA handler for channel 2 */ - - __IO uint32_t ErrorCode; /*!< DAC Error code */ - -#if (USE_HAL_DAC_REGISTER_CALLBACKS == 1) - void (* ConvCpltCallbackCh1) (struct __DAC_HandleTypeDef *hdac); - void (* ConvHalfCpltCallbackCh1) (struct __DAC_HandleTypeDef *hdac); - void (* ErrorCallbackCh1) (struct __DAC_HandleTypeDef *hdac); - void (* DMAUnderrunCallbackCh1) (struct __DAC_HandleTypeDef *hdac); -#if defined(DAC_CHANNEL2_SUPPORT) - void (* ConvCpltCallbackCh2) (struct __DAC_HandleTypeDef *hdac); - void (* ConvHalfCpltCallbackCh2) (struct __DAC_HandleTypeDef *hdac); - void (* ErrorCallbackCh2) (struct __DAC_HandleTypeDef *hdac); - void (* DMAUnderrunCallbackCh2) (struct __DAC_HandleTypeDef *hdac); -#endif /* DAC_CHANNEL2_SUPPORT */ - - void (* MspInitCallback) (struct __DAC_HandleTypeDef *hdac); - void (* MspDeInitCallback) (struct __DAC_HandleTypeDef *hdac); -#endif /* USE_HAL_DAC_REGISTER_CALLBACKS */ - -} DAC_HandleTypeDef; - -/** - * @brief DAC Configuration regular Channel structure definition - */ -typedef struct -{ - uint32_t DAC_Trigger; /*!< Specifies the external trigger for the selected DAC channel. - This parameter can be a value of @ref DAC_trigger_selection */ - - uint32_t DAC_OutputBuffer; /*!< Specifies whether the DAC channel output buffer is enabled or disabled. - This parameter can be a value of @ref DAC_output_buffer */ - -} DAC_ChannelConfTypeDef; - -#if (USE_HAL_DAC_REGISTER_CALLBACKS == 1) -/** - * @brief HAL DAC Callback ID enumeration definition - */ -typedef enum -{ - HAL_DAC_CH1_COMPLETE_CB_ID = 0x00U, /*!< DAC CH1 Complete Callback ID */ - HAL_DAC_CH1_HALF_COMPLETE_CB_ID = 0x01U, /*!< DAC CH1 half Complete Callback ID */ - HAL_DAC_CH1_ERROR_ID = 0x02U, /*!< DAC CH1 error Callback ID */ - HAL_DAC_CH1_UNDERRUN_CB_ID = 0x03U, /*!< DAC CH1 underrun Callback ID */ -#if defined(DAC_CHANNEL2_SUPPORT) - HAL_DAC_CH2_COMPLETE_CB_ID = 0x04U, /*!< DAC CH2 Complete Callback ID */ - HAL_DAC_CH2_HALF_COMPLETE_CB_ID = 0x05U, /*!< DAC CH2 half Complete Callback ID */ - HAL_DAC_CH2_ERROR_ID = 0x06U, /*!< DAC CH2 error Callback ID */ - HAL_DAC_CH2_UNDERRUN_CB_ID = 0x07U, /*!< DAC CH2 underrun Callback ID */ -#endif /* DAC_CHANNEL2_SUPPORT */ - HAL_DAC_MSPINIT_CB_ID = 0x08U, /*!< DAC MspInit Callback ID */ - HAL_DAC_MSPDEINIT_CB_ID = 0x09U, /*!< DAC MspDeInit Callback ID */ - HAL_DAC_ALL_CB_ID = 0x0AU /*!< DAC All ID */ -} HAL_DAC_CallbackIDTypeDef; - -/** - * @brief HAL DAC Callback pointer definition - */ -typedef void (*pDAC_CallbackTypeDef)(DAC_HandleTypeDef *hdac); -#endif /* USE_HAL_DAC_REGISTER_CALLBACKS */ - -/** - * @} - */ - -/* Exported constants --------------------------------------------------------*/ - -/** @defgroup DAC_Exported_Constants DAC Exported Constants - * @{ - */ - -/** @defgroup DAC_Error_Code DAC Error Code - * @{ - */ -#define HAL_DAC_ERROR_NONE 0x00U /*!< No error */ -#define HAL_DAC_ERROR_DMAUNDERRUNCH1 0x01U /*!< DAC channel1 DMA underrun error */ -#if defined(DAC_CHANNEL2_SUPPORT) -#define HAL_DAC_ERROR_DMAUNDERRUNCH2 0x02U /*!< DAC channel2 DMA underrun error */ -#endif /* DAC_CHANNEL2_SUPPORT */ -#define HAL_DAC_ERROR_DMA 0x04U /*!< DMA error */ -#define HAL_DAC_ERROR_TIMEOUT 0x08U /*!< Timeout error */ -#if (USE_HAL_DAC_REGISTER_CALLBACKS == 1) -#define HAL_DAC_ERROR_INVALID_CALLBACK 0x10U /*!< Invalid callback error */ -#endif /* USE_HAL_DAC_REGISTER_CALLBACKS */ - -/** - * @} - */ - -/** @defgroup DAC_trigger_selection DAC trigger selection - * @{ - */ -#define DAC_TRIGGER_NONE 0x00000000UL /*!< Conversion is automatic once the DAC1_DHRxxxx register has been loaded, and not by external trigger */ -#define DAC_TRIGGER_T2_TRGO (DAC_CR_TSEL1_2 | DAC_CR_TEN1) /*!< TIM2 TRGO selected as external conversion trigger for DAC channel */ -#define DAC_TRIGGER_T4_TRGO (DAC_CR_TSEL1_2 | DAC_CR_TSEL1_0 | DAC_CR_TEN1) /*!< TIM4 TRGO selected as external conversion trigger for DAC channel */ -#define DAC_TRIGGER_T5_TRGO ( DAC_CR_TSEL1_1 | DAC_CR_TSEL1_0 | DAC_CR_TEN1) /*!< TIM3 TRGO selected as external conversion trigger for DAC channel */ -#define DAC_TRIGGER_T6_TRGO ( DAC_CR_TEN1) /*!< Conversion started by software trigger for DAC channel */ -#define DAC_TRIGGER_T7_TRGO ( DAC_CR_TSEL1_1 | DAC_CR_TEN1) /*!< TIM7 TRGO selected as external conversion trigger for DAC channel */ -#define DAC_TRIGGER_T8_TRGO ( DAC_CR_TSEL1_0 | DAC_CR_TEN1) /*!< TIM8 TRGO selected as external conversion trigger for DAC channel */ -#define DAC_TRIGGER_EXT_IT9 (DAC_CR_TSEL1_2 | DAC_CR_TSEL1_1 | DAC_CR_TEN1) /*!< EXTI Line9 event selected as external conversion trigger for DAC channel */ -#define DAC_TRIGGER_SOFTWARE (DAC_CR_TSEL1 | DAC_CR_TEN1) /*!< Conversion started by software trigger for DAC channel */ - -/** - * @} - */ - -/** @defgroup DAC_output_buffer DAC output buffer - * @{ - */ -#define DAC_OUTPUTBUFFER_ENABLE 0x00000000U -#define DAC_OUTPUTBUFFER_DISABLE (DAC_CR_BOFF1) - -/** - * @} - */ - -/** @defgroup DAC_Channel_selection DAC Channel selection - * @{ - */ -#define DAC_CHANNEL_1 0x00000000U -#if defined(DAC_CHANNEL2_SUPPORT) -#define DAC_CHANNEL_2 0x00000010U -#endif /* DAC_CHANNEL2_SUPPORT */ -/** - * @} - */ - -/** @defgroup DAC_data_alignment DAC data alignment - * @{ - */ -#define DAC_ALIGN_12B_R 0x00000000U -#define DAC_ALIGN_12B_L 0x00000004U -#define DAC_ALIGN_8B_R 0x00000008U - -/** - * @} - */ - -/** @defgroup DAC_flags_definition DAC flags definition - * @{ - */ -#define DAC_FLAG_DMAUDR1 (DAC_SR_DMAUDR1) -#if defined(DAC_CHANNEL2_SUPPORT) -#define DAC_FLAG_DMAUDR2 (DAC_SR_DMAUDR2) -#endif /* DAC_CHANNEL2_SUPPORT */ - -/** - * @} - */ - -/** @defgroup DAC_IT_definition DAC IT definition - * @{ - */ -#define DAC_IT_DMAUDR1 (DAC_SR_DMAUDR1) -#if defined(DAC_CHANNEL2_SUPPORT) -#define DAC_IT_DMAUDR2 (DAC_SR_DMAUDR2) -#endif /* DAC_CHANNEL2_SUPPORT */ - -/** - * @} - */ - -/** - * @} - */ - -/* Exported macro ------------------------------------------------------------*/ - -/** @defgroup DAC_Exported_Macros DAC Exported Macros - * @{ - */ - -/** @brief Reset DAC handle state. - * @param __HANDLE__ specifies the DAC handle. - * @retval None - */ -#if (USE_HAL_DAC_REGISTER_CALLBACKS == 1) -#define __HAL_DAC_RESET_HANDLE_STATE(__HANDLE__) do { \ - (__HANDLE__)->State = HAL_DAC_STATE_RESET; \ - (__HANDLE__)->MspInitCallback = NULL; \ - (__HANDLE__)->MspDeInitCallback = NULL; \ - } while(0) -#else -#define __HAL_DAC_RESET_HANDLE_STATE(__HANDLE__) ((__HANDLE__)->State = HAL_DAC_STATE_RESET) -#endif /* USE_HAL_DAC_REGISTER_CALLBACKS */ - -/** @brief Enable the DAC channel. - * @param __HANDLE__ specifies the DAC handle. - * @param __DAC_Channel__ specifies the DAC channel - * @retval None - */ -#define __HAL_DAC_ENABLE(__HANDLE__, __DAC_Channel__) \ - ((__HANDLE__)->Instance->CR |= (DAC_CR_EN1 << ((__DAC_Channel__) & 0x10UL))) - -/** @brief Disable the DAC channel. - * @param __HANDLE__ specifies the DAC handle - * @param __DAC_Channel__ specifies the DAC channel. - * @retval None - */ -#define __HAL_DAC_DISABLE(__HANDLE__, __DAC_Channel__) \ - ((__HANDLE__)->Instance->CR &= ~(DAC_CR_EN1 << ((__DAC_Channel__) & 0x10UL))) - -/** @brief Set DHR12R1 alignment. - * @param __ALIGNMENT__ specifies the DAC alignment - * @retval None - */ -#define DAC_DHR12R1_ALIGNMENT(__ALIGNMENT__) (0x00000008UL + (__ALIGNMENT__)) - -#if defined(DAC_CHANNEL2_SUPPORT) -/** @brief Set DHR12R2 alignment. - * @param __ALIGNMENT__ specifies the DAC alignment - * @retval None - */ -#define DAC_DHR12R2_ALIGNMENT(__ALIGNMENT__) (0x00000014UL + (__ALIGNMENT__)) -#endif /* DAC_CHANNEL2_SUPPORT */ - -/** @brief Set DHR12RD alignment. - * @param __ALIGNMENT__ specifies the DAC alignment - * @retval None - */ -#define DAC_DHR12RD_ALIGNMENT(__ALIGNMENT__) (0x00000020UL + (__ALIGNMENT__)) - -/** @brief Enable the DAC interrupt. - * @param __HANDLE__ specifies the DAC handle - * @param __INTERRUPT__ specifies the DAC interrupt. - * This parameter can be any combination of the following values: - * @arg DAC_IT_DMAUDR1 DAC channel 1 DMA underrun interrupt - * @arg DAC_IT_DMAUDR2 DAC channel 2 DMA underrun interrupt - * @retval None - */ -#define __HAL_DAC_ENABLE_IT(__HANDLE__, __INTERRUPT__) (((__HANDLE__)->Instance->CR) |= (__INTERRUPT__)) - -/** @brief Disable the DAC interrupt. - * @param __HANDLE__ specifies the DAC handle - * @param __INTERRUPT__ specifies the DAC interrupt. - * This parameter can be any combination of the following values: - * @arg DAC_IT_DMAUDR1 DAC channel 1 DMA underrun interrupt - * @arg DAC_IT_DMAUDR2 DAC channel 2 DMA underrun interrupt - * @retval None - */ -#define __HAL_DAC_DISABLE_IT(__HANDLE__, __INTERRUPT__) (((__HANDLE__)->Instance->CR) &= ~(__INTERRUPT__)) - -/** @brief Check whether the specified DAC interrupt source is enabled or not. - * @param __HANDLE__ DAC handle - * @param __INTERRUPT__ DAC interrupt source to check - * This parameter can be any combination of the following values: - * @arg DAC_IT_DMAUDR1 DAC channel 1 DMA underrun interrupt - * @arg DAC_IT_DMAUDR2 DAC channel 2 DMA underrun interrupt - * @retval State of interruption (SET or RESET) - */ -#define __HAL_DAC_GET_IT_SOURCE(__HANDLE__, __INTERRUPT__) (((__HANDLE__)->Instance->CR\ - & (__INTERRUPT__)) == (__INTERRUPT__)) - -/** @brief Get the selected DAC's flag status. - * @param __HANDLE__ specifies the DAC handle. - * @param __FLAG__ specifies the DAC flag to get. - * This parameter can be any combination of the following values: - * @arg DAC_FLAG_DMAUDR1 DAC channel 1 DMA underrun flag - * @arg DAC_FLAG_DMAUDR2 DAC channel 2 DMA underrun flag - * @retval None - */ -#define __HAL_DAC_GET_FLAG(__HANDLE__, __FLAG__) ((((__HANDLE__)->Instance->SR) & (__FLAG__)) == (__FLAG__)) - -/** @brief Clear the DAC's flag. - * @param __HANDLE__ specifies the DAC handle. - * @param __FLAG__ specifies the DAC flag to clear. - * This parameter can be any combination of the following values: - * @arg DAC_FLAG_DMAUDR1 DAC channel 1 DMA underrun flag - * @arg DAC_FLAG_DMAUDR2 DAC channel 2 DMA underrun flag - * @retval None - */ -#define __HAL_DAC_CLEAR_FLAG(__HANDLE__, __FLAG__) (((__HANDLE__)->Instance->SR) = (__FLAG__)) - -/** - * @} - */ - -/* Private macro -------------------------------------------------------------*/ - -/** @defgroup DAC_Private_Macros DAC Private Macros - * @{ - */ -#define IS_DAC_OUTPUT_BUFFER_STATE(STATE) (((STATE) == DAC_OUTPUTBUFFER_ENABLE) || \ - ((STATE) == DAC_OUTPUTBUFFER_DISABLE)) - -#if defined(DAC_CHANNEL2_SUPPORT) -#define IS_DAC_CHANNEL(CHANNEL) (((CHANNEL) == DAC_CHANNEL_1) || \ - ((CHANNEL) == DAC_CHANNEL_2)) -#else -#define IS_DAC_CHANNEL(CHANNEL) ((CHANNEL) == DAC_CHANNEL_1) -#endif /* DAC_CHANNEL2_SUPPORT */ - -#define IS_DAC_ALIGN(ALIGN) (((ALIGN) == DAC_ALIGN_12B_R) || \ - ((ALIGN) == DAC_ALIGN_12B_L) || \ - ((ALIGN) == DAC_ALIGN_8B_R)) - -#define IS_DAC_DATA(DATA) ((DATA) <= 0xFFF0UL) - -/** - * @} - */ - -/* Include DAC HAL Extended module */ -#include "stm32f4xx_hal_dac_ex.h" - -/* Exported functions --------------------------------------------------------*/ - -/** @addtogroup DAC_Exported_Functions - * @{ - */ - -/** @addtogroup DAC_Exported_Functions_Group1 - * @{ - */ -/* Initialization and de-initialization functions *****************************/ -HAL_StatusTypeDef HAL_DAC_Init(DAC_HandleTypeDef *hdac); -HAL_StatusTypeDef HAL_DAC_DeInit(DAC_HandleTypeDef *hdac); -void HAL_DAC_MspInit(DAC_HandleTypeDef *hdac); -void HAL_DAC_MspDeInit(DAC_HandleTypeDef *hdac); - -/** - * @} - */ - -/** @addtogroup DAC_Exported_Functions_Group2 - * @{ - */ -/* IO operation functions *****************************************************/ -HAL_StatusTypeDef HAL_DAC_Start(DAC_HandleTypeDef *hdac, uint32_t Channel); -HAL_StatusTypeDef HAL_DAC_Stop(DAC_HandleTypeDef *hdac, uint32_t Channel); -HAL_StatusTypeDef HAL_DAC_Start_DMA(DAC_HandleTypeDef *hdac, uint32_t Channel, uint32_t *pData, uint32_t Length, - uint32_t Alignment); -HAL_StatusTypeDef HAL_DAC_Stop_DMA(DAC_HandleTypeDef *hdac, uint32_t Channel); -void HAL_DAC_IRQHandler(DAC_HandleTypeDef *hdac); -HAL_StatusTypeDef HAL_DAC_SetValue(DAC_HandleTypeDef *hdac, uint32_t Channel, uint32_t Alignment, uint32_t Data); - -void HAL_DAC_ConvCpltCallbackCh1(DAC_HandleTypeDef *hdac); -void HAL_DAC_ConvHalfCpltCallbackCh1(DAC_HandleTypeDef *hdac); -void HAL_DAC_ErrorCallbackCh1(DAC_HandleTypeDef *hdac); -void HAL_DAC_DMAUnderrunCallbackCh1(DAC_HandleTypeDef *hdac); - -#if (USE_HAL_DAC_REGISTER_CALLBACKS == 1) -/* DAC callback registering/unregistering */ -HAL_StatusTypeDef HAL_DAC_RegisterCallback(DAC_HandleTypeDef *hdac, HAL_DAC_CallbackIDTypeDef CallbackID, - pDAC_CallbackTypeDef pCallback); -HAL_StatusTypeDef HAL_DAC_UnRegisterCallback(DAC_HandleTypeDef *hdac, HAL_DAC_CallbackIDTypeDef CallbackID); -#endif /* USE_HAL_DAC_REGISTER_CALLBACKS */ - -/** - * @} - */ - -/** @addtogroup DAC_Exported_Functions_Group3 - * @{ - */ -/* Peripheral Control functions ***********************************************/ -uint32_t HAL_DAC_GetValue(DAC_HandleTypeDef *hdac, uint32_t Channel); -HAL_StatusTypeDef HAL_DAC_ConfigChannel(DAC_HandleTypeDef *hdac, DAC_ChannelConfTypeDef *sConfig, uint32_t Channel); -/** - * @} - */ - -/** @addtogroup DAC_Exported_Functions_Group4 - * @{ - */ -/* Peripheral State and Error functions ***************************************/ -HAL_DAC_StateTypeDef HAL_DAC_GetState(DAC_HandleTypeDef *hdac); -uint32_t HAL_DAC_GetError(DAC_HandleTypeDef *hdac); - -/** - * @} - */ - -/** - * @} - */ - -/** @defgroup DAC_Private_Functions DAC Private Functions - * @{ - */ -void DAC_DMAConvCpltCh1(DMA_HandleTypeDef *hdma); -void DAC_DMAErrorCh1(DMA_HandleTypeDef *hdma); -void DAC_DMAHalfConvCpltCh1(DMA_HandleTypeDef *hdma); -/** - * @} - */ - -/** - * @} - */ - -#endif /* DAC */ - -/** - * @} - */ - -#ifdef __cplusplus -} -#endif - - -#endif /* STM32F4xx_HAL_DAC_H */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dac_ex.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dac_ex.h deleted file mode 100644 index 03159d4fe5f625..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dac_ex.h +++ /dev/null @@ -1,207 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_dac_ex.h - * @author MCD Application Team - * @brief Header file of DAC HAL Extended module. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef STM32F4xx_HAL_DAC_EX_H -#define STM32F4xx_HAL_DAC_EX_H - -#ifdef __cplusplus -extern "C" { -#endif - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal_def.h" - -#if defined(DAC) - -/** @addtogroup DACEx - * @{ - */ - -/* Exported types ------------------------------------------------------------*/ - -/** - * @brief HAL State structures definition - */ - -/* Exported constants --------------------------------------------------------*/ - -/** @defgroup DACEx_Exported_Constants DACEx Exported Constants - * @{ - */ - -/** @defgroup DACEx_lfsrunmask_triangleamplitude DACEx lfsrunmask triangle amplitude - * @{ - */ -#define DAC_LFSRUNMASK_BIT0 0x00000000UL /*!< Unmask DAC channel LFSR bit0 for noise wave generation */ -#define DAC_LFSRUNMASK_BITS1_0 ( DAC_CR_MAMP1_0) /*!< Unmask DAC channel LFSR bit[1:0] for noise wave generation */ -#define DAC_LFSRUNMASK_BITS2_0 ( DAC_CR_MAMP1_1 ) /*!< Unmask DAC channel LFSR bit[2:0] for noise wave generation */ -#define DAC_LFSRUNMASK_BITS3_0 ( DAC_CR_MAMP1_1 | DAC_CR_MAMP1_0) /*!< Unmask DAC channel LFSR bit[3:0] for noise wave generation */ -#define DAC_LFSRUNMASK_BITS4_0 ( DAC_CR_MAMP1_2 ) /*!< Unmask DAC channel LFSR bit[4:0] for noise wave generation */ -#define DAC_LFSRUNMASK_BITS5_0 ( DAC_CR_MAMP1_2 | DAC_CR_MAMP1_0) /*!< Unmask DAC channel LFSR bit[5:0] for noise wave generation */ -#define DAC_LFSRUNMASK_BITS6_0 ( DAC_CR_MAMP1_2 | DAC_CR_MAMP1_1 ) /*!< Unmask DAC channel LFSR bit[6:0] for noise wave generation */ -#define DAC_LFSRUNMASK_BITS7_0 ( DAC_CR_MAMP1_2 | DAC_CR_MAMP1_1 | DAC_CR_MAMP1_0) /*!< Unmask DAC channel LFSR bit[7:0] for noise wave generation */ -#define DAC_LFSRUNMASK_BITS8_0 (DAC_CR_MAMP1_3 ) /*!< Unmask DAC channel LFSR bit[8:0] for noise wave generation */ -#define DAC_LFSRUNMASK_BITS9_0 (DAC_CR_MAMP1_3 | DAC_CR_MAMP1_0) /*!< Unmask DAC channel LFSR bit[9:0] for noise wave generation */ -#define DAC_LFSRUNMASK_BITS10_0 (DAC_CR_MAMP1_3 | DAC_CR_MAMP1_1 ) /*!< Unmask DAC channel LFSR bit[10:0] for noise wave generation */ -#define DAC_LFSRUNMASK_BITS11_0 (DAC_CR_MAMP1_3 | DAC_CR_MAMP1_1 | DAC_CR_MAMP1_0) /*!< Unmask DAC channel LFSR bit[11:0] for noise wave generation */ -#define DAC_TRIANGLEAMPLITUDE_1 0x00000000UL /*!< Select max triangle amplitude of 1 */ -#define DAC_TRIANGLEAMPLITUDE_3 ( DAC_CR_MAMP1_0) /*!< Select max triangle amplitude of 3 */ -#define DAC_TRIANGLEAMPLITUDE_7 ( DAC_CR_MAMP1_1 ) /*!< Select max triangle amplitude of 7 */ -#define DAC_TRIANGLEAMPLITUDE_15 ( DAC_CR_MAMP1_1 | DAC_CR_MAMP1_0) /*!< Select max triangle amplitude of 15 */ -#define DAC_TRIANGLEAMPLITUDE_31 ( DAC_CR_MAMP1_2 ) /*!< Select max triangle amplitude of 31 */ -#define DAC_TRIANGLEAMPLITUDE_63 ( DAC_CR_MAMP1_2 | DAC_CR_MAMP1_0) /*!< Select max triangle amplitude of 63 */ -#define DAC_TRIANGLEAMPLITUDE_127 ( DAC_CR_MAMP1_2 | DAC_CR_MAMP1_1 ) /*!< Select max triangle amplitude of 127 */ -#define DAC_TRIANGLEAMPLITUDE_255 ( DAC_CR_MAMP1_2 | DAC_CR_MAMP1_1 | DAC_CR_MAMP1_0) /*!< Select max triangle amplitude of 255 */ -#define DAC_TRIANGLEAMPLITUDE_511 (DAC_CR_MAMP1_3 ) /*!< Select max triangle amplitude of 511 */ -#define DAC_TRIANGLEAMPLITUDE_1023 (DAC_CR_MAMP1_3 | DAC_CR_MAMP1_0) /*!< Select max triangle amplitude of 1023 */ -#define DAC_TRIANGLEAMPLITUDE_2047 (DAC_CR_MAMP1_3 | DAC_CR_MAMP1_1 ) /*!< Select max triangle amplitude of 2047 */ -#define DAC_TRIANGLEAMPLITUDE_4095 (DAC_CR_MAMP1_3 | DAC_CR_MAMP1_1 | DAC_CR_MAMP1_0) /*!< Select max triangle amplitude of 4095 */ - -/** - * @} - */ - -/** - * @} - */ - -/* Exported macro ------------------------------------------------------------*/ - - -/* Private macro -------------------------------------------------------------*/ - -/** @defgroup DACEx_Private_Macros DACEx Private Macros - * @{ - */ -#define IS_DAC_TRIGGER(TRIGGER) (((TRIGGER) == DAC_TRIGGER_NONE) || \ - ((TRIGGER) == DAC_TRIGGER_T2_TRGO) || \ - ((TRIGGER) == DAC_TRIGGER_T8_TRGO) || \ - ((TRIGGER) == DAC_TRIGGER_T7_TRGO) || \ - ((TRIGGER) == DAC_TRIGGER_T5_TRGO) || \ - ((TRIGGER) == DAC_TRIGGER_T6_TRGO) || \ - ((TRIGGER) == DAC_TRIGGER_T4_TRGO) || \ - ((TRIGGER) == DAC_TRIGGER_EXT_IT9) || \ - ((TRIGGER) == DAC_TRIGGER_SOFTWARE)) - -#define IS_DAC_LFSR_UNMASK_TRIANGLE_AMPLITUDE(VALUE) (((VALUE) == DAC_LFSRUNMASK_BIT0) || \ - ((VALUE) == DAC_LFSRUNMASK_BITS1_0) || \ - ((VALUE) == DAC_LFSRUNMASK_BITS2_0) || \ - ((VALUE) == DAC_LFSRUNMASK_BITS3_0) || \ - ((VALUE) == DAC_LFSRUNMASK_BITS4_0) || \ - ((VALUE) == DAC_LFSRUNMASK_BITS5_0) || \ - ((VALUE) == DAC_LFSRUNMASK_BITS6_0) || \ - ((VALUE) == DAC_LFSRUNMASK_BITS7_0) || \ - ((VALUE) == DAC_LFSRUNMASK_BITS8_0) || \ - ((VALUE) == DAC_LFSRUNMASK_BITS9_0) || \ - ((VALUE) == DAC_LFSRUNMASK_BITS10_0) || \ - ((VALUE) == DAC_LFSRUNMASK_BITS11_0) || \ - ((VALUE) == DAC_TRIANGLEAMPLITUDE_1) || \ - ((VALUE) == DAC_TRIANGLEAMPLITUDE_3) || \ - ((VALUE) == DAC_TRIANGLEAMPLITUDE_7) || \ - ((VALUE) == DAC_TRIANGLEAMPLITUDE_15) || \ - ((VALUE) == DAC_TRIANGLEAMPLITUDE_31) || \ - ((VALUE) == DAC_TRIANGLEAMPLITUDE_63) || \ - ((VALUE) == DAC_TRIANGLEAMPLITUDE_127) || \ - ((VALUE) == DAC_TRIANGLEAMPLITUDE_255) || \ - ((VALUE) == DAC_TRIANGLEAMPLITUDE_511) || \ - ((VALUE) == DAC_TRIANGLEAMPLITUDE_1023) || \ - ((VALUE) == DAC_TRIANGLEAMPLITUDE_2047) || \ - ((VALUE) == DAC_TRIANGLEAMPLITUDE_4095)) -/** - * @} - */ - -/* Exported functions --------------------------------------------------------*/ -/* Extended features functions ***********************************************/ - -/** @addtogroup DACEx_Exported_Functions - * @{ - */ - -/** @addtogroup DACEx_Exported_Functions_Group2 - * @{ - */ -/* IO operation functions *****************************************************/ - -HAL_StatusTypeDef HAL_DACEx_TriangleWaveGenerate(DAC_HandleTypeDef *hdac, uint32_t Channel, uint32_t Amplitude); -HAL_StatusTypeDef HAL_DACEx_NoiseWaveGenerate(DAC_HandleTypeDef *hdac, uint32_t Channel, uint32_t Amplitude); - -#if defined(DAC_CHANNEL2_SUPPORT) -#endif -HAL_StatusTypeDef HAL_DACEx_DualStart(DAC_HandleTypeDef *hdac); -HAL_StatusTypeDef HAL_DACEx_DualStop(DAC_HandleTypeDef *hdac); -HAL_StatusTypeDef HAL_DACEx_DualSetValue(DAC_HandleTypeDef *hdac, uint32_t Alignment, uint32_t Data1, uint32_t Data2); -uint32_t HAL_DACEx_DualGetValue(DAC_HandleTypeDef *hdac); - -#if defined(DAC_CHANNEL2_SUPPORT) -#endif -void HAL_DACEx_ConvCpltCallbackCh2(DAC_HandleTypeDef *hdac); -void HAL_DACEx_ConvHalfCpltCallbackCh2(DAC_HandleTypeDef *hdac); -void HAL_DACEx_ErrorCallbackCh2(DAC_HandleTypeDef *hdac); -void HAL_DACEx_DMAUnderrunCallbackCh2(DAC_HandleTypeDef *hdac); - - -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ - -/** @addtogroup DACEx_Private_Functions - * @{ - */ -#if defined(DAC_CHANNEL2_SUPPORT) -/* DAC_DMAConvCpltCh2 / DAC_DMAErrorCh2 / DAC_DMAHalfConvCpltCh2 */ -/* are called by HAL_DAC_Start_DMA */ -void DAC_DMAConvCpltCh2(DMA_HandleTypeDef *hdma); -void DAC_DMAErrorCh2(DMA_HandleTypeDef *hdma); -void DAC_DMAHalfConvCpltCh2(DMA_HandleTypeDef *hdma); -#endif /* DAC_CHANNEL2_SUPPORT */ -/** - * @} - */ - -/** - * @} - */ - -#endif /* DAC */ - -/** - * @} - */ - -#ifdef __cplusplus -} -#endif - -#endif /* STM32F4xx_HAL_DAC_EX_H */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dcmi.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dcmi.h deleted file mode 100644 index 2a9edb6c47f28c..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dcmi.h +++ /dev/null @@ -1,567 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_dcmi.h - * @author MCD Application Team - * @brief Header file of DCMI HAL module. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef __STM32F4xx_HAL_DCMI_H -#define __STM32F4xx_HAL_DCMI_H - -#ifdef __cplusplus - extern "C" { -#endif - -#if defined(STM32F407xx) || defined(STM32F417xx) || defined(STM32F427xx) || defined(STM32F437xx) ||\ - defined(STM32F429xx) || defined(STM32F439xx) || defined(STM32F446xx) || defined(STM32F469xx) ||\ - defined(STM32F479xx) -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal_def.h" - -/* Include DCMI HAL Extended module */ -/* (include on top of file since DCMI structures are defined in extended file) */ -#include "stm32f4xx_hal_dcmi_ex.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @addtogroup DCMI DCMI - * @brief DCMI HAL module driver - * @{ - */ - -/* Exported types ------------------------------------------------------------*/ -/** @defgroup DCMI_Exported_Types DCMI Exported Types - * @{ - */ -/** - * @brief DCMI Embedded Synchronisation CODE Init structure definition - */ -typedef struct -{ - uint8_t FrameStartUnmask; /*!< Specifies the frame start delimiter unmask. */ - uint8_t LineStartUnmask; /*!< Specifies the line start delimiter unmask. */ - uint8_t LineEndUnmask; /*!< Specifies the line end delimiter unmask. */ - uint8_t FrameEndUnmask; /*!< Specifies the frame end delimiter unmask. */ -}DCMI_SyncUnmaskTypeDef; -/** - * @brief HAL DCMI State structures definition - */ -typedef enum -{ - HAL_DCMI_STATE_RESET = 0x00U, /*!< DCMI not yet initialized or disabled */ - HAL_DCMI_STATE_READY = 0x01U, /*!< DCMI initialized and ready for use */ - HAL_DCMI_STATE_BUSY = 0x02U, /*!< DCMI internal processing is ongoing */ - HAL_DCMI_STATE_TIMEOUT = 0x03U, /*!< DCMI timeout state */ - HAL_DCMI_STATE_ERROR = 0x04U, /*!< DCMI error state */ - HAL_DCMI_STATE_SUSPENDED = 0x05U /*!< DCMI suspend state */ -}HAL_DCMI_StateTypeDef; - -/** - * @brief DCMI handle Structure definition - */ -typedef struct __DCMI_HandleTypeDef -{ - DCMI_TypeDef *Instance; /*!< DCMI Register base address */ - - DCMI_InitTypeDef Init; /*!< DCMI parameters */ - - HAL_LockTypeDef Lock; /*!< DCMI locking object */ - - __IO HAL_DCMI_StateTypeDef State; /*!< DCMI state */ - - __IO uint32_t XferCount; /*!< DMA transfer counter */ - - __IO uint32_t XferSize; /*!< DMA transfer size */ - - uint32_t XferTransferNumber; /*!< DMA transfer number */ - - uint32_t pBuffPtr; /*!< Pointer to DMA output buffer */ - - DMA_HandleTypeDef *DMA_Handle; /*!< Pointer to the DMA handler */ - - __IO uint32_t ErrorCode; /*!< DCMI Error code */ -#if (USE_HAL_DCMI_REGISTER_CALLBACKS == 1) - void (* FrameEventCallback) ( struct __DCMI_HandleTypeDef *hdcmi); /*!< DCMI Frame Event Callback */ - void (* VsyncEventCallback) ( struct __DCMI_HandleTypeDef *hdcmi); /*!< DCMI Vsync Event Callback */ - void (* LineEventCallback ) ( struct __DCMI_HandleTypeDef *hdcmi); /*!< DCMI Line Event Callback */ - void (* ErrorCallback) ( struct __DCMI_HandleTypeDef *hdcmi); /*!< DCMI Error Callback */ - void (* MspInitCallback) ( struct __DCMI_HandleTypeDef *hdcmi); /*!< DCMI Msp Init callback */ - void (* MspDeInitCallback) ( struct __DCMI_HandleTypeDef *hdcmi); /*!< DCMI Msp DeInit callback */ -#endif /* USE_HAL_DCMI_REGISTER_CALLBACKS */ -}DCMI_HandleTypeDef; - -#if (USE_HAL_DCMI_REGISTER_CALLBACKS == 1) -typedef enum -{ - HAL_DCMI_FRAME_EVENT_CB_ID = 0x00U, /*!< DCMI Frame Event Callback ID */ - HAL_DCMI_VSYNC_EVENT_CB_ID = 0x01U, /*!< DCMI Vsync Event Callback ID */ - HAL_DCMI_LINE_EVENT_CB_ID = 0x02U, /*!< DCMI Line Event Callback ID */ - HAL_DCMI_ERROR_CB_ID = 0x03U, /*!< DCMI Error Callback ID */ - HAL_DCMI_MSPINIT_CB_ID = 0x04U, /*!< DCMI MspInit callback ID */ - HAL_DCMI_MSPDEINIT_CB_ID = 0x05U /*!< DCMI MspDeInit callback ID */ - -}HAL_DCMI_CallbackIDTypeDef; - -typedef void (*pDCMI_CallbackTypeDef)(DCMI_HandleTypeDef *hdcmi); -#endif /* USE_HAL_DCMI_REGISTER_CALLBACKS */ - - -/** - * @} - */ - -/* Exported constants --------------------------------------------------------*/ -/** @defgroup DCMI_Exported_Constants DCMI Exported Constants - * @{ - */ - -/** @defgroup DCMI_Error_Code DCMI Error Code - * @{ - */ -#define HAL_DCMI_ERROR_NONE 0x00000000U /*!< No error */ -#define HAL_DCMI_ERROR_OVR 0x00000001U /*!< Overrun error */ -#define HAL_DCMI_ERROR_SYNC 0x00000002U /*!< Synchronization error */ -#define HAL_DCMI_ERROR_TIMEOUT 0x00000020U /*!< Timeout error */ -#define HAL_DCMI_ERROR_DMA 0x00000040U /*!< DMA error */ -#if (USE_HAL_DCMI_REGISTER_CALLBACKS == 1) -#define HAL_DCMI_ERROR_INVALID_CALLBACK ((uint32_t)0x00000080U) /*!< Invalid callback error */ -#endif -/** - * @} - */ - -/** @defgroup DCMI_Capture_Mode DCMI Capture Mode - * @{ - */ -#define DCMI_MODE_CONTINUOUS 0x00000000U /*!< The received data are transferred continuously - into the destination memory through the DMA */ -#define DCMI_MODE_SNAPSHOT ((uint32_t)DCMI_CR_CM) /*!< Once activated, the interface waits for the start of - frame and then transfers a single frame through the DMA */ -/** - * @} - */ - -/** @defgroup DCMI_Synchronization_Mode DCMI Synchronization Mode - * @{ - */ -#define DCMI_SYNCHRO_HARDWARE 0x00000000U /*!< Hardware synchronization data capture (frame/line start/stop) - is synchronized with the HSYNC/VSYNC signals */ -#define DCMI_SYNCHRO_EMBEDDED ((uint32_t)DCMI_CR_ESS) /*!< Embedded synchronization data capture is synchronized with - synchronization codes embedded in the data flow */ - -/** - * @} - */ - -/** @defgroup DCMI_PIXCK_Polarity DCMI PIXCK Polarity - * @{ - */ -#define DCMI_PCKPOLARITY_FALLING 0x00000000U /*!< Pixel clock active on Falling edge */ -#define DCMI_PCKPOLARITY_RISING ((uint32_t)DCMI_CR_PCKPOL) /*!< Pixel clock active on Rising edge */ - -/** - * @} - */ - -/** @defgroup DCMI_VSYNC_Polarity DCMI VSYNC Polarity - * @{ - */ -#define DCMI_VSPOLARITY_LOW 0x00000000U /*!< Vertical synchronization active Low */ -#define DCMI_VSPOLARITY_HIGH ((uint32_t)DCMI_CR_VSPOL) /*!< Vertical synchronization active High */ - -/** - * @} - */ - -/** @defgroup DCMI_HSYNC_Polarity DCMI HSYNC Polarity - * @{ - */ -#define DCMI_HSPOLARITY_LOW 0x00000000U /*!< Horizontal synchronization active Low */ -#define DCMI_HSPOLARITY_HIGH ((uint32_t)DCMI_CR_HSPOL) /*!< Horizontal synchronization active High */ - -/** - * @} - */ - -/** @defgroup DCMI_MODE_JPEG DCMI MODE JPEG - * @{ - */ -#define DCMI_JPEG_DISABLE 0x00000000U /*!< Mode JPEG Disabled */ -#define DCMI_JPEG_ENABLE ((uint32_t)DCMI_CR_JPEG) /*!< Mode JPEG Enabled */ - -/** - * @} - */ - -/** @defgroup DCMI_Capture_Rate DCMI Capture Rate - * @{ - */ -#define DCMI_CR_ALL_FRAME 0x00000000U /*!< All frames are captured */ -#define DCMI_CR_ALTERNATE_2_FRAME ((uint32_t)DCMI_CR_FCRC_0) /*!< Every alternate frame captured */ -#define DCMI_CR_ALTERNATE_4_FRAME ((uint32_t)DCMI_CR_FCRC_1) /*!< One frame in 4 frames captured */ - -/** - * @} - */ - -/** @defgroup DCMI_Extended_Data_Mode DCMI Extended Data Mode - * @{ - */ -#define DCMI_EXTEND_DATA_8B 0x00000000U /*!< Interface captures 8-bit data on every pixel clock */ -#define DCMI_EXTEND_DATA_10B ((uint32_t)DCMI_CR_EDM_0) /*!< Interface captures 10-bit data on every pixel clock */ -#define DCMI_EXTEND_DATA_12B ((uint32_t)DCMI_CR_EDM_1) /*!< Interface captures 12-bit data on every pixel clock */ -#define DCMI_EXTEND_DATA_14B ((uint32_t)(DCMI_CR_EDM_0 | DCMI_CR_EDM_1)) /*!< Interface captures 14-bit data on every pixel clock */ - -/** - * @} - */ - -/** @defgroup DCMI_Window_Coordinate DCMI Window Coordinate - * @{ - */ -#define DCMI_WINDOW_COORDINATE 0x3FFFU /*!< Window coordinate */ - -/** - * @} - */ - -/** @defgroup DCMI_Window_Height DCMI Window Height - * @{ - */ -#define DCMI_WINDOW_HEIGHT 0x1FFFU /*!< Window Height */ - -/** - * @} - */ - -/** @defgroup DCMI_Window_Vertical_Line DCMI Window Vertical Line - * @{ - */ -#define DCMI_POSITION_CWSIZE_VLINE (uint32_t)DCMI_CWSIZE_VLINE_Pos /*!< Required left shift to set crop window vertical line count */ -#define DCMI_POSITION_CWSTRT_VST (uint32_t)DCMI_CWSTRT_VST_Pos /*!< Required left shift to set crop window vertical start line count */ - -/** - * @} - */ - -/** @defgroup DCMI_interrupt_sources DCMI interrupt sources - * @{ - */ -#define DCMI_IT_FRAME ((uint32_t)DCMI_IER_FRAME_IE) /*!< Capture complete interrupt */ -#define DCMI_IT_OVR ((uint32_t)DCMI_IER_OVR_IE) /*!< Overrun interrupt */ -#define DCMI_IT_ERR ((uint32_t)DCMI_IER_ERR_IE) /*!< Synchronization error interrupt */ -#define DCMI_IT_VSYNC ((uint32_t)DCMI_IER_VSYNC_IE) /*!< VSYNC interrupt */ -#define DCMI_IT_LINE ((uint32_t)DCMI_IER_LINE_IE) /*!< Line interrupt */ -/** - * @} - */ - -/** @defgroup DCMI_Flags DCMI Flags - * @{ - */ - -/** - * @brief DCMI SR register - */ -#define DCMI_FLAG_HSYNC ((uint32_t)DCMI_SR_INDEX|DCMI_SR_HSYNC) /*!< HSYNC pin state (active line / synchronization between lines) */ -#define DCMI_FLAG_VSYNC ((uint32_t)DCMI_SR_INDEX|DCMI_SR_VSYNC) /*!< VSYNC pin state (active frame / synchronization between frames) */ -#define DCMI_FLAG_FNE ((uint32_t)DCMI_SR_INDEX|DCMI_SR_FNE) /*!< FIFO not empty flag */ -/** - * @brief DCMI RIS register - */ -#define DCMI_FLAG_FRAMERI ((uint32_t)DCMI_RISR_FRAME_RIS) /*!< Frame capture complete interrupt flag */ -#define DCMI_FLAG_OVRRI ((uint32_t)DCMI_RISR_OVR_RIS) /*!< Overrun interrupt flag */ -#define DCMI_FLAG_ERRRI ((uint32_t)DCMI_RISR_ERR_RIS) /*!< Synchronization error interrupt flag */ -#define DCMI_FLAG_VSYNCRI ((uint32_t)DCMI_RISR_VSYNC_RIS) /*!< VSYNC interrupt flag */ -#define DCMI_FLAG_LINERI ((uint32_t)DCMI_RISR_LINE_RIS) /*!< Line interrupt flag */ -/** - * @brief DCMI MIS register - */ -#define DCMI_FLAG_FRAMEMI ((uint32_t)DCMI_MIS_INDEX|DCMI_MIS_FRAME_MIS) /*!< DCMI Frame capture complete masked interrupt status */ -#define DCMI_FLAG_OVRMI ((uint32_t)DCMI_MIS_INDEX|DCMI_MIS_OVR_MIS ) /*!< DCMI Overrun masked interrupt status */ -#define DCMI_FLAG_ERRMI ((uint32_t)DCMI_MIS_INDEX|DCMI_MIS_ERR_MIS ) /*!< DCMI Synchronization error masked interrupt status */ -#define DCMI_FLAG_VSYNCMI ((uint32_t)DCMI_MIS_INDEX|DCMI_MIS_VSYNC_MIS) /*!< DCMI VSYNC masked interrupt status */ -#define DCMI_FLAG_LINEMI ((uint32_t)DCMI_MIS_INDEX|DCMI_MIS_LINE_MIS ) /*!< DCMI Line masked interrupt status */ -/** - * @} - */ - -/** - * @} - */ - -/* Exported macro ------------------------------------------------------------*/ -/** @defgroup DCMI_Exported_Macros DCMI Exported Macros - * @{ - */ - -/** @brief Reset DCMI handle state - * @param __HANDLE__ specifies the DCMI handle. - * @retval None - */ -#define __HAL_DCMI_RESET_HANDLE_STATE(__HANDLE__) do{ \ - (__HANDLE__)->State = HAL_DCMI_STATE_RESET; \ - (__HANDLE__)->MspInitCallback = NULL; \ - (__HANDLE__)->MspDeInitCallback = NULL; \ - } while(0) - -/** - * @brief Enable the DCMI. - * @param __HANDLE__ DCMI handle - * @retval None - */ -#define __HAL_DCMI_ENABLE(__HANDLE__) ((__HANDLE__)->Instance->CR |= DCMI_CR_ENABLE) - -/** - * @brief Disable the DCMI. - * @param __HANDLE__ DCMI handle - * @retval None - */ -#define __HAL_DCMI_DISABLE(__HANDLE__) ((__HANDLE__)->Instance->CR &= ~(DCMI_CR_ENABLE)) - -/* Interrupt & Flag management */ -/** - * @brief Get the DCMI pending flag. - * @param __HANDLE__ DCMI handle - * @param __FLAG__ Get the specified flag. - * This parameter can be one of the following values (no combination allowed) - * @arg DCMI_FLAG_HSYNC: HSYNC pin state (active line / synchronization between lines) - * @arg DCMI_FLAG_VSYNC: VSYNC pin state (active frame / synchronization between frames) - * @arg DCMI_FLAG_FNE: FIFO empty flag - * @arg DCMI_FLAG_FRAMERI: Frame capture complete flag mask - * @arg DCMI_FLAG_OVRRI: Overrun flag mask - * @arg DCMI_FLAG_ERRRI: Synchronization error flag mask - * @arg DCMI_FLAG_VSYNCRI: VSYNC flag mask - * @arg DCMI_FLAG_LINERI: Line flag mask - * @arg DCMI_FLAG_FRAMEMI: DCMI Capture complete masked interrupt status - * @arg DCMI_FLAG_OVRMI: DCMI Overrun masked interrupt status - * @arg DCMI_FLAG_ERRMI: DCMI Synchronization error masked interrupt status - * @arg DCMI_FLAG_VSYNCMI: DCMI VSYNC masked interrupt status - * @arg DCMI_FLAG_LINEMI: DCMI Line masked interrupt status - * @retval The state of FLAG. - */ -#define __HAL_DCMI_GET_FLAG(__HANDLE__, __FLAG__)\ -((((__FLAG__) & (DCMI_SR_INDEX|DCMI_MIS_INDEX)) == 0x0U)? ((__HANDLE__)->Instance->RISR & (__FLAG__)) :\ - (((__FLAG__) & DCMI_SR_INDEX) == 0x0U)? ((__HANDLE__)->Instance->MISR & (__FLAG__)) : ((__HANDLE__)->Instance->SR & (__FLAG__))) - -/** - * @brief Clear the DCMI pending flags. - * @param __HANDLE__ DCMI handle - * @param __FLAG__ specifies the flag to clear. - * This parameter can be any combination of the following values: - * @arg DCMI_FLAG_FRAMERI: Frame capture complete flag mask - * @arg DCMI_FLAG_OVRRI: Overrun flag mask - * @arg DCMI_FLAG_ERRRI: Synchronization error flag mask - * @arg DCMI_FLAG_VSYNCRI: VSYNC flag mask - * @arg DCMI_FLAG_LINERI: Line flag mask - * @retval None - */ -#define __HAL_DCMI_CLEAR_FLAG(__HANDLE__, __FLAG__) ((__HANDLE__)->Instance->ICR = (__FLAG__)) - -/** - * @brief Enable the specified DCMI interrupts. - * @param __HANDLE__ DCMI handle - * @param __INTERRUPT__ specifies the DCMI interrupt sources to be enabled. - * This parameter can be any combination of the following values: - * @arg DCMI_IT_FRAME: Frame capture complete interrupt mask - * @arg DCMI_IT_OVR: Overrun interrupt mask - * @arg DCMI_IT_ERR: Synchronization error interrupt mask - * @arg DCMI_IT_VSYNC: VSYNC interrupt mask - * @arg DCMI_IT_LINE: Line interrupt mask - * @retval None - */ -#define __HAL_DCMI_ENABLE_IT(__HANDLE__, __INTERRUPT__) ((__HANDLE__)->Instance->IER |= (__INTERRUPT__)) - -/** - * @brief Disable the specified DCMI interrupts. - * @param __HANDLE__ DCMI handle - * @param __INTERRUPT__ specifies the DCMI interrupt sources to be enabled. - * This parameter can be any combination of the following values: - * @arg DCMI_IT_FRAME: Frame capture complete interrupt mask - * @arg DCMI_IT_OVR: Overrun interrupt mask - * @arg DCMI_IT_ERR: Synchronization error interrupt mask - * @arg DCMI_IT_VSYNC: VSYNC interrupt mask - * @arg DCMI_IT_LINE: Line interrupt mask - * @retval None - */ -#define __HAL_DCMI_DISABLE_IT(__HANDLE__, __INTERRUPT__) ((__HANDLE__)->Instance->IER &= ~(__INTERRUPT__)) - -/** - * @brief Check whether the specified DCMI interrupt has occurred or not. - * @param __HANDLE__ DCMI handle - * @param __INTERRUPT__ specifies the DCMI interrupt source to check. - * This parameter can be one of the following values: - * @arg DCMI_IT_FRAME: Frame capture complete interrupt mask - * @arg DCMI_IT_OVR: Overrun interrupt mask - * @arg DCMI_IT_ERR: Synchronization error interrupt mask - * @arg DCMI_IT_VSYNC: VSYNC interrupt mask - * @arg DCMI_IT_LINE: Line interrupt mask - * @retval The state of INTERRUPT. - */ -#define __HAL_DCMI_GET_IT_SOURCE(__HANDLE__, __INTERRUPT__) ((__HANDLE__)->Instance->MISR & (__INTERRUPT__)) - -/** - * @} - */ - -/* Exported functions --------------------------------------------------------*/ -/** @addtogroup DCMI_Exported_Functions DCMI Exported Functions - * @{ - */ - -/** @addtogroup DCMI_Exported_Functions_Group1 Initialization and Configuration functions - * @{ - */ -/* Initialization and de-initialization functions *****************************/ -HAL_StatusTypeDef HAL_DCMI_Init(DCMI_HandleTypeDef *hdcmi); -HAL_StatusTypeDef HAL_DCMI_DeInit(DCMI_HandleTypeDef *hdcmi); -void HAL_DCMI_MspInit(DCMI_HandleTypeDef* hdcmi); -void HAL_DCMI_MspDeInit(DCMI_HandleTypeDef* hdcmi); - -/* Callbacks Register/UnRegister functions ***********************************/ -#if (USE_HAL_DCMI_REGISTER_CALLBACKS == 1) -HAL_StatusTypeDef HAL_DCMI_RegisterCallback(DCMI_HandleTypeDef *hdcmi, HAL_DCMI_CallbackIDTypeDef CallbackID, pDCMI_CallbackTypeDef pCallback); -HAL_StatusTypeDef HAL_DCMI_UnRegisterCallback(DCMI_HandleTypeDef *hdcmi, HAL_DCMI_CallbackIDTypeDef CallbackID); -#endif /* USE_HAL_DCMI_REGISTER_CALLBACKS */ -/** - * @} - */ - -/** @addtogroup DCMI_Exported_Functions_Group2 IO operation functions - * @{ - */ -/* IO operation functions *****************************************************/ -HAL_StatusTypeDef HAL_DCMI_Start_DMA(DCMI_HandleTypeDef* hdcmi, uint32_t DCMI_Mode, uint32_t pData, uint32_t Length); -HAL_StatusTypeDef HAL_DCMI_Stop(DCMI_HandleTypeDef* hdcmi); -HAL_StatusTypeDef HAL_DCMI_Suspend(DCMI_HandleTypeDef* hdcmi); -HAL_StatusTypeDef HAL_DCMI_Resume(DCMI_HandleTypeDef* hdcmi); -void HAL_DCMI_ErrorCallback(DCMI_HandleTypeDef *hdcmi); -void HAL_DCMI_LineEventCallback(DCMI_HandleTypeDef *hdcmi); -void HAL_DCMI_FrameEventCallback(DCMI_HandleTypeDef *hdcmi); -void HAL_DCMI_VsyncEventCallback(DCMI_HandleTypeDef *hdcmi); -void HAL_DCMI_VsyncCallback(DCMI_HandleTypeDef *hdcmi); -void HAL_DCMI_HsyncCallback(DCMI_HandleTypeDef *hdcmi); -void HAL_DCMI_IRQHandler(DCMI_HandleTypeDef *hdcmi); -/** - * @} - */ - -/** @addtogroup DCMI_Exported_Functions_Group3 Peripheral Control functions - * @{ - */ -/* Peripheral Control functions ***********************************************/ -HAL_StatusTypeDef HAL_DCMI_ConfigCrop(DCMI_HandleTypeDef *hdcmi, uint32_t X0, uint32_t Y0, uint32_t XSize, uint32_t YSize); -HAL_StatusTypeDef HAL_DCMI_EnableCrop(DCMI_HandleTypeDef *hdcmi); -HAL_StatusTypeDef HAL_DCMI_DisableCrop(DCMI_HandleTypeDef *hdcmi); -HAL_StatusTypeDef HAL_DCMI_ConfigSyncUnmask(DCMI_HandleTypeDef *hdcmi, DCMI_SyncUnmaskTypeDef *SyncUnmask); -/** - * @} - */ - -/** @addtogroup DCMI_Exported_Functions_Group4 Peripheral State functions - * @{ - */ -/* Peripheral State functions *************************************************/ -HAL_DCMI_StateTypeDef HAL_DCMI_GetState(DCMI_HandleTypeDef *hdcmi); -uint32_t HAL_DCMI_GetError(DCMI_HandleTypeDef *hdcmi); -/** - * @} - */ - -/** - * @} - */ - -/* Private types -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private constants ---------------------------------------------------------*/ -/** @defgroup DCMI_Private_Constants DCMI Private Constants - * @{ - */ -#define DCMI_MIS_INDEX 0x1000U /*!< DCMI MIS register index */ -#define DCMI_SR_INDEX 0x2000U /*!< DCMI SR register index */ -/** - * @} - */ -/* Private macro -------------------------------------------------------------*/ -/** @defgroup DCMI_Private_Macros DCMI Private Macros - * @{ - */ -#define IS_DCMI_CAPTURE_MODE(MODE)(((MODE) == DCMI_MODE_CONTINUOUS) || \ - ((MODE) == DCMI_MODE_SNAPSHOT)) - -#define IS_DCMI_SYNCHRO(MODE)(((MODE) == DCMI_SYNCHRO_HARDWARE) || \ - ((MODE) == DCMI_SYNCHRO_EMBEDDED)) - -#define IS_DCMI_PCKPOLARITY(POLARITY)(((POLARITY) == DCMI_PCKPOLARITY_FALLING) || \ - ((POLARITY) == DCMI_PCKPOLARITY_RISING)) - -#define IS_DCMI_VSPOLARITY(POLARITY)(((POLARITY) == DCMI_VSPOLARITY_LOW) || \ - ((POLARITY) == DCMI_VSPOLARITY_HIGH)) - -#define IS_DCMI_HSPOLARITY(POLARITY)(((POLARITY) == DCMI_HSPOLARITY_LOW) || \ - ((POLARITY) == DCMI_HSPOLARITY_HIGH)) - -#define IS_DCMI_MODE_JPEG(JPEG_MODE)(((JPEG_MODE) == DCMI_JPEG_DISABLE) || \ - ((JPEG_MODE) == DCMI_JPEG_ENABLE)) - -#define IS_DCMI_CAPTURE_RATE(RATE) (((RATE) == DCMI_CR_ALL_FRAME) || \ - ((RATE) == DCMI_CR_ALTERNATE_2_FRAME) || \ - ((RATE) == DCMI_CR_ALTERNATE_4_FRAME)) - -#define IS_DCMI_EXTENDED_DATA(DATA)(((DATA) == DCMI_EXTEND_DATA_8B) || \ - ((DATA) == DCMI_EXTEND_DATA_10B) || \ - ((DATA) == DCMI_EXTEND_DATA_12B) || \ - ((DATA) == DCMI_EXTEND_DATA_14B)) - -#define IS_DCMI_WINDOW_COORDINATE(COORDINATE) ((COORDINATE) <= DCMI_WINDOW_COORDINATE) - -#define IS_DCMI_WINDOW_HEIGHT(HEIGHT) ((HEIGHT) <= DCMI_WINDOW_HEIGHT) - -/** - * @} - */ - -/* Private functions ---------------------------------------------------------*/ -/** @addtogroup DCMI_Private_Functions DCMI Private Functions - * @{ - */ - -/** - * @} - */ - -#endif /* STM32F407xx || STM32F417xx || STM32F427xx || STM32F437xx ||\ - STM32F429xx || STM32F439xx || STM32F446xx || STM32F469xx ||\ - STM32F479xx */ - -/** - * @} - */ - -/** - * @} - */ - -#ifdef __cplusplus -} -#endif - -#endif /* __STM32F4xx_HAL_DCMI_H */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dcmi_ex.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dcmi_ex.h deleted file mode 100644 index 9bc942dea81992..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dcmi_ex.h +++ /dev/null @@ -1,212 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_dcmi_ex.h - * @author MCD Application Team - * @brief Header file of DCMI Extension HAL module. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef __STM32F4xx_HAL_DCMI_EX_H -#define __STM32F4xx_HAL_DCMI_EX_H - -#ifdef __cplusplus - extern "C" { -#endif - -#if defined(STM32F407xx) || defined(STM32F417xx) || defined(STM32F427xx) || defined(STM32F437xx) ||\ - defined(STM32F429xx) || defined(STM32F439xx) || defined(STM32F446xx) || defined(STM32F469xx) ||\ - defined(STM32F479xx) - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal_def.h" - - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @addtogroup DCMIEx - * @brief DCMI HAL module driver - * @{ - */ - -/* Exported types ------------------------------------------------------------*/ -/** @defgroup DCMIEx_Exported_Types DCMI Extended Exported Types - * @{ - */ -/** - * @brief DCMIEx Embedded Synchronisation CODE Init structure definition - */ -typedef struct -{ - uint8_t FrameStartCode; /*!< Specifies the code of the frame start delimiter. */ - uint8_t LineStartCode; /*!< Specifies the code of the line start delimiter. */ - uint8_t LineEndCode; /*!< Specifies the code of the line end delimiter. */ - uint8_t FrameEndCode; /*!< Specifies the code of the frame end delimiter. */ -}DCMI_CodesInitTypeDef; - -/** - * @brief DCMI Init structure definition - */ -typedef struct -{ - uint32_t SynchroMode; /*!< Specifies the Synchronization Mode: Hardware or Embedded. - This parameter can be a value of @ref DCMI_Synchronization_Mode */ - - uint32_t PCKPolarity; /*!< Specifies the Pixel clock polarity: Falling or Rising. - This parameter can be a value of @ref DCMI_PIXCK_Polarity */ - - uint32_t VSPolarity; /*!< Specifies the Vertical synchronization polarity: High or Low. - This parameter can be a value of @ref DCMI_VSYNC_Polarity */ - - uint32_t HSPolarity; /*!< Specifies the Horizontal synchronization polarity: High or Low. - This parameter can be a value of @ref DCMI_HSYNC_Polarity */ - - uint32_t CaptureRate; /*!< Specifies the frequency of frame capture: All, 1/2 or 1/4. - This parameter can be a value of @ref DCMI_Capture_Rate */ - - uint32_t ExtendedDataMode; /*!< Specifies the data width: 8-bit, 10-bit, 12-bit or 14-bit. - This parameter can be a value of @ref DCMI_Extended_Data_Mode */ - - DCMI_CodesInitTypeDef SyncroCode; /*!< Specifies the code of the frame start delimiter. */ - - uint32_t JPEGMode; /*!< Enable or Disable the JPEG mode - This parameter can be a value of @ref DCMI_MODE_JPEG */ -#if defined(STM32F446xx) || defined(STM32F469xx) || defined(STM32F479xx) - uint32_t ByteSelectMode; /*!< Specifies the data to be captured by the interface - This parameter can be a value of @ref DCMIEx_Byte_Select_Mode */ - - uint32_t ByteSelectStart; /*!< Specifies if the data to be captured by the interface is even or odd - This parameter can be a value of @ref DCMIEx_Byte_Select_Start */ - - uint32_t LineSelectMode; /*!< Specifies the line of data to be captured by the interface - This parameter can be a value of @ref DCMIEx_Line_Select_Mode */ - - uint32_t LineSelectStart; /*!< Specifies if the line of data to be captured by the interface is even or odd - This parameter can be a value of @ref DCMIEx_Line_Select_Start */ - -#endif /* STM32F446xx || STM32F469xx || STM32F479xx */ -}DCMI_InitTypeDef; - -/** - * @} - */ - -/* Exported constants --------------------------------------------------------*/ -#if defined(STM32F446xx) || defined(STM32F469xx) || defined(STM32F479xx) -/** @defgroup DCMIEx_Exported_Constants DCMI Exported Constants - * @{ - */ - -/** @defgroup DCMIEx_Byte_Select_Mode DCMI Byte Select Mode - * @{ - */ -#define DCMI_BSM_ALL 0x00000000U /*!< Interface captures all received data */ -#define DCMI_BSM_OTHER ((uint32_t)DCMI_CR_BSM_0) /*!< Interface captures every other byte from the received data */ -#define DCMI_BSM_ALTERNATE_4 ((uint32_t)DCMI_CR_BSM_1) /*!< Interface captures one byte out of four */ -#define DCMI_BSM_ALTERNATE_2 ((uint32_t)(DCMI_CR_BSM_0 | DCMI_CR_BSM_1)) /*!< Interface captures two bytes out of four */ - -/** - * @} - */ - -/** @defgroup DCMIEx_Byte_Select_Start DCMI Byte Select Start - * @{ - */ -#define DCMI_OEBS_ODD 0x00000000U /*!< Interface captures first data from the frame/line start, second one being dropped */ -#define DCMI_OEBS_EVEN ((uint32_t)DCMI_CR_OEBS) /*!< Interface captures second data from the frame/line start, first one being dropped */ - -/** - * @} - */ - -/** @defgroup DCMIEx_Line_Select_Mode DCMI Line Select Mode - * @{ - */ -#define DCMI_LSM_ALL 0x00000000U /*!< Interface captures all received lines */ -#define DCMI_LSM_ALTERNATE_2 ((uint32_t)DCMI_CR_LSM) /*!< Interface captures one line out of two */ - -/** - * @} - */ - -/** @defgroup DCMIEx_Line_Select_Start DCMI Line Select Start - * @{ - */ -#define DCMI_OELS_ODD 0x00000000U /*!< Interface captures first line from the frame start, second one being dropped */ -#define DCMI_OELS_EVEN ((uint32_t)DCMI_CR_OELS) /*!< Interface captures second line from the frame start, first one being dropped */ - -/** - * @} - */ - -/** - * @} - */ -#endif /* STM32F446xx || STM32F469xx || STM32F479xx */ - -/* Exported macro ------------------------------------------------------------*/ -/* Exported functions --------------------------------------------------------*/ -/* Private types -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private constants ---------------------------------------------------------*/ -#define DCMI_POSITION_ESCR_LSC (uint32_t)DCMI_ESCR_LSC_Pos /*!< Required left shift to set line start delimiter */ -#define DCMI_POSITION_ESCR_LEC (uint32_t)DCMI_ESCR_LEC_Pos /*!< Required left shift to set line end delimiter */ -#define DCMI_POSITION_ESCR_FEC (uint32_t)DCMI_ESCR_FEC_Pos /*!< Required left shift to set frame end delimiter */ - -/* Private macro -------------------------------------------------------------*/ -#if defined(STM32F446xx) || defined(STM32F469xx) || defined(STM32F479xx) -/** @defgroup DCMIEx_Private_Macros DCMI Extended Private Macros - * @{ - */ -#define IS_DCMI_BYTE_SELECT_MODE(MODE)(((MODE) == DCMI_BSM_ALL) || \ - ((MODE) == DCMI_BSM_OTHER) || \ - ((MODE) == DCMI_BSM_ALTERNATE_4) || \ - ((MODE) == DCMI_BSM_ALTERNATE_2)) - -#define IS_DCMI_BYTE_SELECT_START(POLARITY)(((POLARITY) == DCMI_OEBS_ODD) || \ - ((POLARITY) == DCMI_OEBS_EVEN)) - -#define IS_DCMI_LINE_SELECT_MODE(MODE)(((MODE) == DCMI_LSM_ALL) || \ - ((MODE) == DCMI_LSM_ALTERNATE_2)) - -#define IS_DCMI_LINE_SELECT_START(POLARITY)(((POLARITY) == DCMI_OELS_ODD) || \ - ((POLARITY) == DCMI_OELS_EVEN)) -#endif /* STM32F446xx || STM32F469xx || STM32F479xx */ -/** - * @} - */ - -/* Private functions ---------------------------------------------------------*/ -#endif /* STM32F407xx || STM32F417xx || STM32F427xx || STM32F437xx ||\ - STM32F429xx || STM32F439xx || STM32F446xx || STM32F469xx ||\ - STM32F479xx */ - - -/** - * @} - */ - -/** - * @} - */ - -#ifdef __cplusplus -} -#endif - -#endif /* __STM32F4xx_HAL_DCMI_H */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h deleted file mode 100644 index 975f70bd4b2ddc..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h +++ /dev/null @@ -1,211 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_def.h - * @author MCD Application Team - * @brief This file contains HAL common defines, enumeration, macros and - * structures definitions. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef __STM32F4xx_HAL_DEF -#define __STM32F4xx_HAL_DEF - -#ifdef __cplusplus - extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx.h" -#include "Legacy/stm32_hal_legacy.h" -#include - -/* Exported types ------------------------------------------------------------*/ - -/** - * @brief HAL Status structures definition - */ -typedef enum -{ - HAL_OK = 0x00U, - HAL_ERROR = 0x01U, - HAL_BUSY = 0x02U, - HAL_TIMEOUT = 0x03U -} HAL_StatusTypeDef; - -/** - * @brief HAL Lock structures definition - */ -typedef enum -{ - HAL_UNLOCKED = 0x00U, - HAL_LOCKED = 0x01U -} HAL_LockTypeDef; - -/* Exported macro ------------------------------------------------------------*/ - -#define UNUSED(X) (void)X /* To avoid gcc/g++ warnings */ - -#define HAL_MAX_DELAY 0xFFFFFFFFU - -#define HAL_IS_BIT_SET(REG, BIT) (((REG) & (BIT)) == (BIT)) -#define HAL_IS_BIT_CLR(REG, BIT) (((REG) & (BIT)) == 0U) - -#define __HAL_LINKDMA(__HANDLE__, __PPP_DMA_FIELD__, __DMA_HANDLE__) \ - do{ \ - (__HANDLE__)->__PPP_DMA_FIELD__ = &(__DMA_HANDLE__); \ - (__DMA_HANDLE__).Parent = (__HANDLE__); \ - } while(0U) - -/** @brief Reset the Handle's State field. - * @param __HANDLE__ specifies the Peripheral Handle. - * @note This macro can be used for the following purpose: - * - When the Handle is declared as local variable; before passing it as parameter - * to HAL_PPP_Init() for the first time, it is mandatory to use this macro - * to set to 0 the Handle's "State" field. - * Otherwise, "State" field may have any random value and the first time the function - * HAL_PPP_Init() is called, the low level hardware initialization will be missed - * (i.e. HAL_PPP_MspInit() will not be executed). - * - When there is a need to reconfigure the low level hardware: instead of calling - * HAL_PPP_DeInit() then HAL_PPP_Init(), user can make a call to this macro then HAL_PPP_Init(). - * In this later function, when the Handle's "State" field is set to 0, it will execute the function - * HAL_PPP_MspInit() which will reconfigure the low level hardware. - * @retval None - */ -#define __HAL_RESET_HANDLE_STATE(__HANDLE__) ((__HANDLE__)->State = 0U) - -#if (USE_RTOS == 1U) - /* Reserved for future use */ - #error "USE_RTOS should be 0 in the current HAL release" -#else - #define __HAL_LOCK(__HANDLE__) \ - do{ \ - if((__HANDLE__)->Lock == HAL_LOCKED) \ - { \ - return HAL_BUSY; \ - } \ - else \ - { \ - (__HANDLE__)->Lock = HAL_LOCKED; \ - } \ - }while (0U) - - #define __HAL_UNLOCK(__HANDLE__) \ - do{ \ - (__HANDLE__)->Lock = HAL_UNLOCKED; \ - }while (0U) -#endif /* USE_RTOS */ - -#if defined (__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050) /* ARM Compiler V6 */ - #ifndef __weak - #define __weak __attribute__((weak)) - #endif - #ifndef __packed - #define __packed __attribute__((packed)) - #endif -#elif defined ( __GNUC__ ) && !defined (__CC_ARM) /* GNU Compiler */ - #ifndef __weak - #define __weak __attribute__((weak)) - #endif /* __weak */ - #ifndef __packed - #define __packed __attribute__((__packed__)) - #endif /* __packed */ -#endif /* __GNUC__ */ - - -/* Macro to get variable aligned on 4-bytes, for __ICCARM__ the directive "#pragma data_alignment=4" must be used instead */ -#if defined (__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050) /* ARM Compiler V6 */ - #ifndef __ALIGN_BEGIN - #define __ALIGN_BEGIN - #endif - #ifndef __ALIGN_END - #define __ALIGN_END __attribute__ ((aligned (4))) - #endif -#elif defined ( __GNUC__ ) && !defined (__CC_ARM) /* GNU Compiler */ - #ifndef __ALIGN_END -#define __ALIGN_END __attribute__ ((aligned (4))) - #endif /* __ALIGN_END */ - #ifndef __ALIGN_BEGIN - #define __ALIGN_BEGIN - #endif /* __ALIGN_BEGIN */ -#else - #ifndef __ALIGN_END - #define __ALIGN_END - #endif /* __ALIGN_END */ - #ifndef __ALIGN_BEGIN - #if defined (__CC_ARM) /* ARM Compiler V5*/ -#define __ALIGN_BEGIN __align(4) - #elif defined (__ICCARM__) /* IAR Compiler */ - #define __ALIGN_BEGIN - #endif /* __CC_ARM */ - #endif /* __ALIGN_BEGIN */ -#endif /* __GNUC__ */ - - -/** - * @brief __RAM_FUNC definition - */ -#if defined ( __CC_ARM ) || (defined (__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050)) -/* ARM Compiler V4/V5 and V6 - -------------------------- - RAM functions are defined using the toolchain options. - Functions that are executed in RAM should reside in a separate source module. - Using the 'Options for File' dialog you can simply change the 'Code / Const' - area of a module to a memory space in physical RAM. - Available memory areas are declared in the 'Target' tab of the 'Options for Target' - dialog. -*/ -#define __RAM_FUNC - -#elif defined ( __ICCARM__ ) -/* ICCARM Compiler - --------------- - RAM functions are defined using a specific toolchain keyword "__ramfunc". -*/ -#define __RAM_FUNC __ramfunc - -#elif defined ( __GNUC__ ) -/* GNU Compiler - ------------ - RAM functions are defined using a specific toolchain attribute - "__attribute__((section(".RamFunc")))". -*/ -#define __RAM_FUNC __attribute__((section(".RamFunc"))) - -#endif - -/** - * @brief __NOINLINE definition - */ -#if defined ( __CC_ARM ) || (defined (__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050)) || defined ( __GNUC__ ) -/* ARM V4/V5 and V6 & GNU Compiler - ------------------------------- -*/ -#define __NOINLINE __attribute__ ( (noinline) ) - -#elif defined ( __ICCARM__ ) -/* ICCARM Compiler - --------------- -*/ -#define __NOINLINE _Pragma("optimize = no_inline") - -#endif - -#ifdef __cplusplus -} -#endif - -#endif /* ___STM32F4xx_HAL_DEF */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dfsdm.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dfsdm.h deleted file mode 100644 index 09c6551e60384e..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dfsdm.h +++ /dev/null @@ -1,1144 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_dfsdm.h - * @author MCD Application Team - * @brief Header file of DFSDM HAL module. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef __STM32F4xx_HAL_DFSDM_H -#define __STM32F4xx_HAL_DFSDM_H - -#ifdef __cplusplus - extern "C" { -#endif - -#if defined(STM32F412Zx) || defined(STM32F412Vx) || defined(STM32F412Rx) || defined(STM32F412Cx) || defined(STM32F413xx) || defined(STM32F423xx) -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal_def.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @addtogroup DFSDM - * @{ - */ - -/* Exported types ------------------------------------------------------------*/ -/** @defgroup DFSDM_Exported_Types DFSDM Exported Types - * @{ - */ - -/** - * @brief HAL DFSDM Channel states definition - */ -typedef enum -{ - HAL_DFSDM_CHANNEL_STATE_RESET = 0x00U, /*!< DFSDM channel not initialized */ - HAL_DFSDM_CHANNEL_STATE_READY = 0x01U, /*!< DFSDM channel initialized and ready for use */ - HAL_DFSDM_CHANNEL_STATE_ERROR = 0xFFU /*!< DFSDM channel state error */ -}HAL_DFSDM_Channel_StateTypeDef; - -/** - * @brief DFSDM channel output clock structure definition - */ -typedef struct -{ - FunctionalState Activation; /*!< Output clock enable/disable */ - uint32_t Selection; /*!< Output clock is system clock or audio clock. - This parameter can be a value of @ref DFSDM_Channel_OuputClock */ - uint32_t Divider; /*!< Output clock divider. - This parameter must be a number between Min_Data = 2 and Max_Data = 256 */ -}DFSDM_Channel_OutputClockTypeDef; - -/** - * @brief DFSDM channel input structure definition - */ -typedef struct -{ - uint32_t Multiplexer; /*!< Input is external serial inputs or internal register. - This parameter can be a value of @ref DFSDM_Channel_InputMultiplexer */ - uint32_t DataPacking; /*!< Standard, interleaved or dual mode for internal register. - This parameter can be a value of @ref DFSDM_Channel_DataPacking */ - uint32_t Pins; /*!< Input pins are taken from same or following channel. - This parameter can be a value of @ref DFSDM_Channel_InputPins */ -}DFSDM_Channel_InputTypeDef; - -/** - * @brief DFSDM channel serial interface structure definition - */ -typedef struct -{ - uint32_t Type; /*!< SPI or Manchester modes. - This parameter can be a value of @ref DFSDM_Channel_SerialInterfaceType */ - uint32_t SpiClock; /*!< SPI clock select (external or internal with different sampling point). - This parameter can be a value of @ref DFSDM_Channel_SpiClock */ -}DFSDM_Channel_SerialInterfaceTypeDef; - -/** - * @brief DFSDM channel analog watchdog structure definition - */ -typedef struct -{ - uint32_t FilterOrder; /*!< Analog watchdog Sinc filter order. - This parameter can be a value of @ref DFSDM_Channel_AwdFilterOrder */ - uint32_t Oversampling; /*!< Analog watchdog filter oversampling ratio. - This parameter must be a number between Min_Data = 1 and Max_Data = 32 */ -}DFSDM_Channel_AwdTypeDef; - -/** - * @brief DFSDM channel init structure definition - */ -typedef struct -{ - DFSDM_Channel_OutputClockTypeDef OutputClock; /*!< DFSDM channel output clock parameters */ - DFSDM_Channel_InputTypeDef Input; /*!< DFSDM channel input parameters */ - DFSDM_Channel_SerialInterfaceTypeDef SerialInterface; /*!< DFSDM channel serial interface parameters */ - DFSDM_Channel_AwdTypeDef Awd; /*!< DFSDM channel analog watchdog parameters */ - int32_t Offset; /*!< DFSDM channel offset. - This parameter must be a number between Min_Data = -8388608 and Max_Data = 8388607 */ - uint32_t RightBitShift; /*!< DFSDM channel right bit shift. - This parameter must be a number between Min_Data = 0x00 and Max_Data = 0x1F */ -}DFSDM_Channel_InitTypeDef; - -/** - * @brief DFSDM channel handle structure definition - */ -#if (USE_HAL_DFSDM_REGISTER_CALLBACKS == 1) -typedef struct __DFSDM_Channel_HandleTypeDef -#else -typedef struct -#endif /* USE_HAL_DFSDM_REGISTER_CALLBACKS */ -{ - DFSDM_Channel_TypeDef *Instance; /*!< DFSDM channel instance */ - DFSDM_Channel_InitTypeDef Init; /*!< DFSDM channel init parameters */ - HAL_DFSDM_Channel_StateTypeDef State; /*!< DFSDM channel state */ -#if (USE_HAL_DFSDM_REGISTER_CALLBACKS == 1) - void (*CkabCallback) (struct __DFSDM_Channel_HandleTypeDef *hdfsdm_channel); /*!< DFSDM channel clock absence detection callback */ - void (*ScdCallback) (struct __DFSDM_Channel_HandleTypeDef *hdfsdm_channel); /*!< DFSDM channel short circuit detection callback */ - void (*MspInitCallback) (struct __DFSDM_Channel_HandleTypeDef *hdfsdm_channel); /*!< DFSDM channel MSP init callback */ - void (*MspDeInitCallback) (struct __DFSDM_Channel_HandleTypeDef *hdfsdm_channel); /*!< DFSDM channel MSP de-init callback */ -#endif -}DFSDM_Channel_HandleTypeDef; - -#if (USE_HAL_DFSDM_REGISTER_CALLBACKS == 1) -/** - * @brief DFSDM channel callback ID enumeration definition - */ -typedef enum -{ - HAL_DFSDM_CHANNEL_CKAB_CB_ID = 0x00U, /*!< DFSDM channel clock absence detection callback ID */ - HAL_DFSDM_CHANNEL_SCD_CB_ID = 0x01U, /*!< DFSDM channel short circuit detection callback ID */ - HAL_DFSDM_CHANNEL_MSPINIT_CB_ID = 0x02U, /*!< DFSDM channel MSP init callback ID */ - HAL_DFSDM_CHANNEL_MSPDEINIT_CB_ID = 0x03U /*!< DFSDM channel MSP de-init callback ID */ -}HAL_DFSDM_Channel_CallbackIDTypeDef; - -/** - * @brief DFSDM channel callback pointer definition - */ -typedef void (*pDFSDM_Channel_CallbackTypeDef)(DFSDM_Channel_HandleTypeDef *hdfsdm_channel); -#endif -/** - * @brief HAL DFSDM Filter states definition - */ -typedef enum -{ - HAL_DFSDM_FILTER_STATE_RESET = 0x00U, /*!< DFSDM filter not initialized */ - HAL_DFSDM_FILTER_STATE_READY = 0x01U, /*!< DFSDM filter initialized and ready for use */ - HAL_DFSDM_FILTER_STATE_REG = 0x02U, /*!< DFSDM filter regular conversion in progress */ - HAL_DFSDM_FILTER_STATE_INJ = 0x03U, /*!< DFSDM filter injected conversion in progress */ - HAL_DFSDM_FILTER_STATE_REG_INJ = 0x04U, /*!< DFSDM filter regular and injected conversions in progress */ - HAL_DFSDM_FILTER_STATE_ERROR = 0xFFU /*!< DFSDM filter state error */ -}HAL_DFSDM_Filter_StateTypeDef; - -/** - * @brief DFSDM filter regular conversion parameters structure definition - */ -typedef struct -{ - uint32_t Trigger; /*!< Trigger used to start regular conversion: software or synchronous. - This parameter can be a value of @ref DFSDM_Filter_Trigger */ - FunctionalState FastMode; /*!< Enable/disable fast mode for regular conversion */ - FunctionalState DmaMode; /*!< Enable/disable DMA for regular conversion */ -}DFSDM_Filter_RegularParamTypeDef; - -/** - * @brief DFSDM filter injected conversion parameters structure definition - */ -typedef struct -{ - uint32_t Trigger; /*!< Trigger used to start injected conversion: software, external or synchronous. - This parameter can be a value of @ref DFSDM_Filter_Trigger */ - FunctionalState ScanMode; /*!< Enable/disable scanning mode for injected conversion */ - FunctionalState DmaMode; /*!< Enable/disable DMA for injected conversion */ - uint32_t ExtTrigger; /*!< External trigger. - This parameter can be a value of @ref DFSDM_Filter_ExtTrigger */ - uint32_t ExtTriggerEdge; /*!< External trigger edge: rising, falling or both. - This parameter can be a value of @ref DFSDM_Filter_ExtTriggerEdge */ -}DFSDM_Filter_InjectedParamTypeDef; - -/** - * @brief DFSDM filter parameters structure definition - */ -typedef struct -{ - uint32_t SincOrder; /*!< Sinc filter order. - This parameter can be a value of @ref DFSDM_Filter_SincOrder */ - uint32_t Oversampling; /*!< Filter oversampling ratio. - This parameter must be a number between Min_Data = 1 and Max_Data = 1024 */ - uint32_t IntOversampling; /*!< Integrator oversampling ratio. - This parameter must be a number between Min_Data = 1 and Max_Data = 256 */ -}DFSDM_Filter_FilterParamTypeDef; - -/** - * @brief DFSDM filter init structure definition - */ -typedef struct -{ - DFSDM_Filter_RegularParamTypeDef RegularParam; /*!< DFSDM regular conversion parameters */ - DFSDM_Filter_InjectedParamTypeDef InjectedParam; /*!< DFSDM injected conversion parameters */ - DFSDM_Filter_FilterParamTypeDef FilterParam; /*!< DFSDM filter parameters */ -}DFSDM_Filter_InitTypeDef; - -/** - * @brief DFSDM filter handle structure definition - */ -#if (USE_HAL_DFSDM_REGISTER_CALLBACKS == 1) -typedef struct __DFSDM_Filter_HandleTypeDef -#else -typedef struct -#endif /* USE_HAL_DFSDM_REGISTER_CALLBACKS */ -{ - DFSDM_Filter_TypeDef *Instance; /*!< DFSDM filter instance */ - DFSDM_Filter_InitTypeDef Init; /*!< DFSDM filter init parameters */ - DMA_HandleTypeDef *hdmaReg; /*!< Pointer on DMA handler for regular conversions */ - DMA_HandleTypeDef *hdmaInj; /*!< Pointer on DMA handler for injected conversions */ - uint32_t RegularContMode; /*!< Regular conversion continuous mode */ - uint32_t RegularTrigger; /*!< Trigger used for regular conversion */ - uint32_t InjectedTrigger; /*!< Trigger used for injected conversion */ - uint32_t ExtTriggerEdge; /*!< Rising, falling or both edges selected */ - FunctionalState InjectedScanMode; /*!< Injected scanning mode */ - uint32_t InjectedChannelsNbr; /*!< Number of channels in injected sequence */ - uint32_t InjConvRemaining; /*!< Injected conversions remaining */ - HAL_DFSDM_Filter_StateTypeDef State; /*!< DFSDM filter state */ - uint32_t ErrorCode; /*!< DFSDM filter error code */ -#if (USE_HAL_DFSDM_REGISTER_CALLBACKS == 1) - void (*AwdCallback) (struct __DFSDM_Filter_HandleTypeDef *hdfsdm_filter, - uint32_t Channel, uint32_t Threshold); /*!< DFSDM filter analog watchdog callback */ - void (*RegConvCpltCallback) (struct __DFSDM_Filter_HandleTypeDef *hdfsdm_filter); /*!< DFSDM filter regular conversion complete callback */ - void (*RegConvHalfCpltCallback) (struct __DFSDM_Filter_HandleTypeDef *hdfsdm_filter); /*!< DFSDM filter half regular conversion complete callback */ - void (*InjConvCpltCallback) (struct __DFSDM_Filter_HandleTypeDef *hdfsdm_filter); /*!< DFSDM filter injected conversion complete callback */ - void (*InjConvHalfCpltCallback) (struct __DFSDM_Filter_HandleTypeDef *hdfsdm_filter); /*!< DFSDM filter half injected conversion complete callback */ - void (*ErrorCallback) (struct __DFSDM_Filter_HandleTypeDef *hdfsdm_filter); /*!< DFSDM filter error callback */ - void (*MspInitCallback) (struct __DFSDM_Filter_HandleTypeDef *hdfsdm_filter); /*!< DFSDM filter MSP init callback */ - void (*MspDeInitCallback) (struct __DFSDM_Filter_HandleTypeDef *hdfsdm_filter); /*!< DFSDM filter MSP de-init callback */ -#endif -}DFSDM_Filter_HandleTypeDef; - -/** - * @brief DFSDM filter analog watchdog parameters structure definition - */ -typedef struct -{ - uint32_t DataSource; /*!< Values from digital filter or from channel watchdog filter. - This parameter can be a value of @ref DFSDM_Filter_AwdDataSource */ - uint32_t Channel; /*!< Analog watchdog channel selection. - This parameter can be a values combination of @ref DFSDM_Channel_Selection */ - int32_t HighThreshold; /*!< High threshold for the analog watchdog. - This parameter must be a number between Min_Data = -8388608 and Max_Data = 8388607 */ - int32_t LowThreshold; /*!< Low threshold for the analog watchdog. - This parameter must be a number between Min_Data = -8388608 and Max_Data = 8388607 */ - uint32_t HighBreakSignal; /*!< Break signal assigned to analog watchdog high threshold event. - This parameter can be a values combination of @ref DFSDM_BreakSignals */ - uint32_t LowBreakSignal; /*!< Break signal assigned to analog watchdog low threshold event. - This parameter can be a values combination of @ref DFSDM_BreakSignals */ -}DFSDM_Filter_AwdParamTypeDef; - -#if (USE_HAL_DFSDM_REGISTER_CALLBACKS == 1) -/** - * @brief DFSDM filter callback ID enumeration definition - */ -typedef enum -{ - HAL_DFSDM_FILTER_REGCONV_COMPLETE_CB_ID = 0x00U, /*!< DFSDM filter regular conversion complete callback ID */ - HAL_DFSDM_FILTER_REGCONV_HALFCOMPLETE_CB_ID = 0x01U, /*!< DFSDM filter half regular conversion complete callback ID */ - HAL_DFSDM_FILTER_INJCONV_COMPLETE_CB_ID = 0x02U, /*!< DFSDM filter injected conversion complete callback ID */ - HAL_DFSDM_FILTER_INJCONV_HALFCOMPLETE_CB_ID = 0x03U, /*!< DFSDM filter half injected conversion complete callback ID */ - HAL_DFSDM_FILTER_ERROR_CB_ID = 0x04U, /*!< DFSDM filter error callback ID */ - HAL_DFSDM_FILTER_MSPINIT_CB_ID = 0x05U, /*!< DFSDM filter MSP init callback ID */ - HAL_DFSDM_FILTER_MSPDEINIT_CB_ID = 0x06U /*!< DFSDM filter MSP de-init callback ID */ -}HAL_DFSDM_Filter_CallbackIDTypeDef; - -/** - * @brief DFSDM filter callback pointer definition - */ -typedef void (*pDFSDM_Filter_CallbackTypeDef)(DFSDM_Filter_HandleTypeDef *hdfsdm_filter); -typedef void (*pDFSDM_Filter_AwdCallbackTypeDef)(DFSDM_Filter_HandleTypeDef *hdfsdm_filter, uint32_t Channel, uint32_t Threshold); -#endif - -/** - * @} - */ -#if defined(SYSCFG_MCHDLYCR_BSCKSEL) -/** - * @brief Synchronization parameters structure definition for STM32F413xx/STM32F423xx devices - */ -typedef struct -{ - uint32_t DFSDM1ClockIn; /*!< Source selection for DFSDM1_Ckin. - This parameter can be a value of @ref DFSDM_1_CLOCKIN_SELECTION*/ - uint32_t DFSDM2ClockIn; /*!< Source selection for DFSDM2_Ckin. - This parameter can be a value of @ref DFSDM_2_CLOCKIN_SELECTION*/ - uint32_t DFSDM1ClockOut; /*!< Source selection for DFSDM1_Ckout. - This parameter can be a value of @ref DFSDM_1_CLOCKOUT_SELECTION*/ - uint32_t DFSDM2ClockOut; /*!< Source selection for DFSDM2_Ckout. - This parameter can be a value of @ref DFSDM_2_CLOCKOUT_SELECTION*/ - uint32_t DFSDM1BitClkDistribution; /*!< Distribution of the DFSDM1 bitstream clock gated by TIM4 OC1 or TIM4 OC2. - This parameter can be a value of @ref DFSDM_1_BIT_STREAM_DISTRIBUTION - @note The DFSDM2 audio gated by TIM4 OC2 can be injected on CKIN0 or CKIN2 - @note The DFSDM2 audio gated by TIM4 OC1 can be injected on CKIN1 or CKIN3 */ - uint32_t DFSDM2BitClkDistribution; /*!< Distribution of the DFSDM2 bitstream clock gated by TIM3 OC1 or TIM3 OC2 or TIM3 OC3 or TIM3 OC4. - This parameter can be a value of @ref DFSDM_2_BIT_STREAM_DISTRIBUTION - @note The DFSDM2 audio gated by TIM3 OC4 can be injected on CKIN0 or CKIN4 - @note The DFSDM2 audio gated by TIM3 OC3 can be injected on CKIN1 or CKIN5 - @note The DFSDM2 audio gated by TIM3 OC2 can be injected on CKIN2 or CKIN6 - @note The DFSDM2 audio gated by TIM3 OC1 can be injected on CKIN3 or CKIN7 */ - uint32_t DFSDM1DataDistribution; /*!< Source selection for DatIn0 and DatIn2 of DFSDM1. - This parameter can be a value of @ref DFSDM_1_DATA_DISTRIBUTION */ - uint32_t DFSDM2DataDistribution; /*!< Source selection for DatIn0, DatIn2, DatIn4 and DatIn6 of DFSDM2. - This parameter can be a value of @ref DFSDM_2_DATA_DISTRIBUTION */ -}DFSDM_MultiChannelConfigTypeDef; -#endif /* SYSCFG_MCHDLYCR_BSCKSEL */ -/** - * @} - */ - -/* End of exported types -----------------------------------------------------*/ - -/* Exported constants --------------------------------------------------------*/ -/** @defgroup DFSDM_Exported_Constants DFSDM Exported Constants - * @{ - */ - -/** @defgroup DFSDM_Channel_OuputClock DFSDM channel output clock selection - * @{ - */ -#define DFSDM_CHANNEL_OUTPUT_CLOCK_SYSTEM 0x00000000U /*!< Source for ouput clock is system clock */ -#define DFSDM_CHANNEL_OUTPUT_CLOCK_AUDIO DFSDM_CHCFGR1_CKOUTSRC /*!< Source for ouput clock is audio clock */ -/** - * @} - */ - -/** @defgroup DFSDM_Channel_InputMultiplexer DFSDM channel input multiplexer - * @{ - */ -#define DFSDM_CHANNEL_EXTERNAL_INPUTS 0x00000000U /*!< Data are taken from external inputs */ -#define DFSDM_CHANNEL_INTERNAL_REGISTER DFSDM_CHCFGR1_DATMPX_1 /*!< Data are taken from internal register */ -/** - * @} - */ - -/** @defgroup DFSDM_Channel_DataPacking DFSDM channel input data packing - * @{ - */ -#define DFSDM_CHANNEL_STANDARD_MODE 0x00000000U /*!< Standard data packing mode */ -#define DFSDM_CHANNEL_INTERLEAVED_MODE DFSDM_CHCFGR1_DATPACK_0 /*!< Interleaved data packing mode */ -#define DFSDM_CHANNEL_DUAL_MODE DFSDM_CHCFGR1_DATPACK_1 /*!< Dual data packing mode */ -/** - * @} - */ - -/** @defgroup DFSDM_Channel_InputPins DFSDM channel input pins - * @{ - */ -#define DFSDM_CHANNEL_SAME_CHANNEL_PINS 0x00000000U /*!< Input from pins on same channel */ -#define DFSDM_CHANNEL_FOLLOWING_CHANNEL_PINS DFSDM_CHCFGR1_CHINSEL /*!< Input from pins on following channel */ -/** - * @} - */ - -/** @defgroup DFSDM_Channel_SerialInterfaceType DFSDM channel serial interface type - * @{ - */ -#define DFSDM_CHANNEL_SPI_RISING 0x00000000U /*!< SPI with rising edge */ -#define DFSDM_CHANNEL_SPI_FALLING DFSDM_CHCFGR1_SITP_0 /*!< SPI with falling edge */ -#define DFSDM_CHANNEL_MANCHESTER_RISING DFSDM_CHCFGR1_SITP_1 /*!< Manchester with rising edge */ -#define DFSDM_CHANNEL_MANCHESTER_FALLING DFSDM_CHCFGR1_SITP /*!< Manchester with falling edge */ -/** - * @} - */ - -/** @defgroup DFSDM_Channel_SpiClock DFSDM channel SPI clock selection - * @{ - */ -#define DFSDM_CHANNEL_SPI_CLOCK_EXTERNAL 0x00000000U /*!< External SPI clock */ -#define DFSDM_CHANNEL_SPI_CLOCK_INTERNAL DFSDM_CHCFGR1_SPICKSEL_0 /*!< Internal SPI clock */ -#define DFSDM_CHANNEL_SPI_CLOCK_INTERNAL_DIV2_FALLING DFSDM_CHCFGR1_SPICKSEL_1 /*!< Internal SPI clock divided by 2, falling edge */ -#define DFSDM_CHANNEL_SPI_CLOCK_INTERNAL_DIV2_RISING DFSDM_CHCFGR1_SPICKSEL /*!< Internal SPI clock divided by 2, rising edge */ -/** - * @} - */ - -/** @defgroup DFSDM_Channel_AwdFilterOrder DFSDM channel analog watchdog filter order - * @{ - */ -#define DFSDM_CHANNEL_FASTSINC_ORDER 0x00000000U /*!< FastSinc filter type */ -#define DFSDM_CHANNEL_SINC1_ORDER DFSDM_CHAWSCDR_AWFORD_0 /*!< Sinc 1 filter type */ -#define DFSDM_CHANNEL_SINC2_ORDER DFSDM_CHAWSCDR_AWFORD_1 /*!< Sinc 2 filter type */ -#define DFSDM_CHANNEL_SINC3_ORDER DFSDM_CHAWSCDR_AWFORD /*!< Sinc 3 filter type */ -/** - * @} - */ - -/** @defgroup DFSDM_Filter_Trigger DFSDM filter conversion trigger - * @{ - */ -#define DFSDM_FILTER_SW_TRIGGER 0x00000000U /*!< Software trigger */ -#define DFSDM_FILTER_SYNC_TRIGGER 0x00000001U /*!< Synchronous with DFSDM_FLT0 */ -#define DFSDM_FILTER_EXT_TRIGGER 0x00000002U /*!< External trigger (only for injected conversion) */ -/** - * @} - */ - -/** @defgroup DFSDM_Filter_ExtTrigger DFSDM filter external trigger - * @{ - */ -#if defined(STM32F413xx) || defined(STM32F423xx) -/* Trigger for stm32f413xx and STM32f423xx devices */ -#define DFSDM_FILTER_EXT_TRIG_TIM1_TRGO 0x00000000U /*!< For All DFSDM1/2 filters */ -#define DFSDM_FILTER_EXT_TRIG_TIM3_TRGO DFSDM_FLTCR1_JEXTSEL_0 /*!< For All DFSDM1/2 filters */ -#define DFSDM_FILTER_EXT_TRIG_TIM8_TRGO DFSDM_FLTCR1_JEXTSEL_1 /*!< For All DFSDM1/2 filters */ -#define DFSDM_FILTER_EXT_TRIG_TIM10_OC1 (DFSDM_FLTCR1_JEXTSEL_0 | DFSDM_FLTCR1_JEXTSEL_1) /*!< For DFSDM1 filter 0 and 1 and DFSDM2 filter 0, 1 and 2 */ -#define DFSDM_FILTER_EXT_TRIG_TIM2_TRGO (DFSDM_FLTCR1_JEXTSEL_0 | DFSDM_FLTCR1_JEXTSEL_1) /*!< For DFSDM2 filter 3 */ -#define DFSDM_FILTER_EXT_TRIG_TIM4_TRGO DFSDM_FLTCR1_JEXTSEL_2 /*!< For DFSDM1 filter 0 and 1 and DFSDM2 filter 0, 1 and 2 */ -#define DFSDM_FILTER_EXT_TRIG_TIM11_OC1 DFSDM_FLTCR1_JEXTSEL_2 /*!< For DFSDM2 filter 3 */ -#define DFSDM_FILTER_EXT_TRIG_TIM6_TRGO (DFSDM_FLTCR1_JEXTSEL_0 | DFSDM_FLTCR1_JEXTSEL_2) /*!< For DFSDM1 filter 0 and 1 and DFSDM2 filter 0 and 1 */ -#define DFSDM_FILTER_EXT_TRIG_TIM7_TRGO (DFSDM_FLTCR1_JEXTSEL_0 | DFSDM_FLTCR1_JEXTSEL_2) /*!< For DFSDM2 filter 2 and 3*/ -#define DFSDM_FILTER_EXT_TRIG_EXTI11 (DFSDM_FLTCR1_JEXTSEL_1 | DFSDM_FLTCR1_JEXTSEL_2) /*!< For All DFSDM1/2 filters */ -#define DFSDM_FILTER_EXT_TRIG_EXTI15 DFSDM_FLTCR1_JEXTSEL /*!< For All DFSDM1/2 filters */ -#else -/* Trigger for stm32f412xx devices */ -#define DFSDM_FILTER_EXT_TRIG_TIM1_TRGO 0x00000000U /*!< For DFSDM1 filter 0 and 1*/ -#define DFSDM_FILTER_EXT_TRIG_TIM3_TRGO DFSDM_FLTCR1_JEXTSEL_0 /*!< For DFSDM1 filter 0 and 1*/ -#define DFSDM_FILTER_EXT_TRIG_TIM8_TRGO DFSDM_FLTCR1_JEXTSEL_1 /*!< For DFSDM1 filter 0 and 1*/ -#define DFSDM_FILTER_EXT_TRIG_TIM10_OC1 (DFSDM_FLTCR1_JEXTSEL_0 | DFSDM_FLTCR1_JEXTSEL_1) /*!< For DFSDM1 filter 0 and 1*/ -#define DFSDM_FILTER_EXT_TRIG_TIM4_TRGO DFSDM_FLTCR1_JEXTSEL_2 /*!< For DFSDM1 filter 0 and 1*/ -#define DFSDM_FILTER_EXT_TRIG_TIM6_TRGO (DFSDM_FLTCR1_JEXTSEL_0 | DFSDM_FLTCR1_JEXTSEL_2) /*!< For DFSDM1 filter 0 and 1*/ -#define DFSDM_FILTER_EXT_TRIG_EXTI11 (DFSDM_FLTCR1_JEXTSEL_1 | DFSDM_FLTCR1_JEXTSEL_2) /*!< For DFSDM1 filter 0 and 1*/ -#define DFSDM_FILTER_EXT_TRIG_EXTI15 DFSDM_FLTCR1_JEXTSEL /*!< For DFSDM1 filter 0 and 1*/ -#endif -/** - * @} - */ - -/** @defgroup DFSDM_Filter_ExtTriggerEdge DFSDM filter external trigger edge - * @{ - */ -#define DFSDM_FILTER_EXT_TRIG_RISING_EDGE DFSDM_FLTCR1_JEXTEN_0 /*!< External rising edge */ -#define DFSDM_FILTER_EXT_TRIG_FALLING_EDGE DFSDM_FLTCR1_JEXTEN_1 /*!< External falling edge */ -#define DFSDM_FILTER_EXT_TRIG_BOTH_EDGES DFSDM_FLTCR1_JEXTEN /*!< External rising and falling edges */ -/** - * @} - */ - -/** @defgroup DFSDM_Filter_SincOrder DFSDM filter sinc order - * @{ - */ -#define DFSDM_FILTER_FASTSINC_ORDER 0x00000000U /*!< FastSinc filter type */ -#define DFSDM_FILTER_SINC1_ORDER DFSDM_FLTFCR_FORD_0 /*!< Sinc 1 filter type */ -#define DFSDM_FILTER_SINC2_ORDER DFSDM_FLTFCR_FORD_1 /*!< Sinc 2 filter type */ -#define DFSDM_FILTER_SINC3_ORDER (DFSDM_FLTFCR_FORD_0 | DFSDM_FLTFCR_FORD_1) /*!< Sinc 3 filter type */ -#define DFSDM_FILTER_SINC4_ORDER DFSDM_FLTFCR_FORD_2 /*!< Sinc 4 filter type */ -#define DFSDM_FILTER_SINC5_ORDER (DFSDM_FLTFCR_FORD_0 | DFSDM_FLTFCR_FORD_2) /*!< Sinc 5 filter type */ -/** - * @} - */ - -/** @defgroup DFSDM_Filter_AwdDataSource DFSDM filter analog watchdog data source - * @{ - */ -#define DFSDM_FILTER_AWD_FILTER_DATA 0x00000000U /*!< From digital filter */ -#define DFSDM_FILTER_AWD_CHANNEL_DATA DFSDM_FLTCR1_AWFSEL /*!< From analog watchdog channel */ -/** - * @} - */ - -/** @defgroup DFSDM_Filter_ErrorCode DFSDM filter error code - * @{ - */ -#define DFSDM_FILTER_ERROR_NONE 0x00000000U /*!< No error */ -#define DFSDM_FILTER_ERROR_REGULAR_OVERRUN 0x00000001U /*!< Overrun occurs during regular conversion */ -#define DFSDM_FILTER_ERROR_INJECTED_OVERRUN 0x00000002U /*!< Overrun occurs during injected conversion */ -#define DFSDM_FILTER_ERROR_DMA 0x00000003U /*!< DMA error occurs */ -#if (USE_HAL_DFSDM_REGISTER_CALLBACKS == 1) -#define DFSDM_FILTER_ERROR_INVALID_CALLBACK 0x00000004U /*!< Invalid callback error occurs */ -#endif -/** - * @} - */ - -/** @defgroup DFSDM_BreakSignals DFSDM break signals - * @{ - */ -#define DFSDM_NO_BREAK_SIGNAL 0x00000000U /*!< No break signal */ -#define DFSDM_BREAK_SIGNAL_0 0x00000001U /*!< Break signal 0 */ -#define DFSDM_BREAK_SIGNAL_1 0x00000002U /*!< Break signal 1 */ -#define DFSDM_BREAK_SIGNAL_2 0x00000004U /*!< Break signal 2 */ -#define DFSDM_BREAK_SIGNAL_3 0x00000008U /*!< Break signal 3 */ -/** - * @} - */ - -/** @defgroup DFSDM_Channel_Selection DFSDM Channel Selection - * @{ - */ -/* DFSDM Channels ------------------------------------------------------------*/ -/* The DFSDM channels are defined as follows: - - in 16-bit LSB the channel mask is set - - in 16-bit MSB the channel number is set - e.g. for channel 3 definition: - - the channel mask is 0x00000008 (bit 3 is set) - - the channel number 3 is 0x00030000 - --> Consequently, channel 3 definition is 0x00000008 | 0x00030000 = 0x00030008 */ -#define DFSDM_CHANNEL_0 0x00000001U -#define DFSDM_CHANNEL_1 0x00010002U -#define DFSDM_CHANNEL_2 0x00020004U -#define DFSDM_CHANNEL_3 0x00030008U -#define DFSDM_CHANNEL_4 0x00040010U /* only for stmm32f413xx and stm32f423xx devices */ -#define DFSDM_CHANNEL_5 0x00050020U /* only for stmm32f413xx and stm32f423xx devices */ -#define DFSDM_CHANNEL_6 0x00060040U /* only for stmm32f413xx and stm32f423xx devices */ -#define DFSDM_CHANNEL_7 0x00070080U /* only for stmm32f413xx and stm32f423xx devices */ -/** - * @} - */ - -/** @defgroup DFSDM_ContinuousMode DFSDM Continuous Mode - * @{ - */ -#define DFSDM_CONTINUOUS_CONV_OFF 0x00000000U /*!< Conversion are not continuous */ -#define DFSDM_CONTINUOUS_CONV_ON 0x00000001U /*!< Conversion are continuous */ -/** - * @} - */ - -/** @defgroup DFSDM_AwdThreshold DFSDM analog watchdog threshold - * @{ - */ -#define DFSDM_AWD_HIGH_THRESHOLD 0x00000000U /*!< Analog watchdog high threshold */ -#define DFSDM_AWD_LOW_THRESHOLD 0x00000001U /*!< Analog watchdog low threshold */ -/** - * @} - */ - -#if defined(SYSCFG_MCHDLYCR_BSCKSEL) -/** @defgroup DFSDM_1_CLOCKOUT_SELECTION DFSDM1 ClockOut Selection - * @{ - */ -#define DFSDM1_CKOUT_DFSDM2_CKOUT 0x00000080U -#define DFSDM1_CKOUT_DFSDM1 0x00000000U -/** - * @} - */ - -/** @defgroup DFSDM_2_CLOCKOUT_SELECTION DFSDM2 ClockOut Selection - * @{ - */ -#define DFSDM2_CKOUT_DFSDM2_CKOUT 0x00040000U -#define DFSDM2_CKOUT_DFSDM2 0x00000000U -/** - * @} - */ - -/** @defgroup DFSDM_1_CLOCKIN_SELECTION DFSDM1 ClockIn Selection - * @{ - */ -#define DFSDM1_CKIN_DFSDM2_CKOUT 0x00000040U -#define DFSDM1_CKIN_PAD 0x00000000U -/** - * @} - */ - -/** @defgroup DFSDM_2_CLOCKIN_SELECTION DFSDM2 ClockIn Selection - * @{ - */ -#define DFSDM2_CKIN_DFSDM2_CKOUT 0x00020000U -#define DFSDM2_CKIN_PAD 0x00000000U -/** - * @} - */ - -/** @defgroup DFSDM_1_BIT_STREAM_DISTRIBUTION DFSDM1 Bit Stream Distribution - * @{ - */ -#define DFSDM1_T4_OC2_BITSTREAM_CKIN0 0x00000000U /* TIM4_OC2 to CLKIN0 */ -#define DFSDM1_T4_OC2_BITSTREAM_CKIN2 SYSCFG_MCHDLYCR_DFSDM1CK02SEL /* TIM4_OC2 to CLKIN2 */ -#define DFSDM1_T4_OC1_BITSTREAM_CKIN3 SYSCFG_MCHDLYCR_DFSDM1CK13SEL /* TIM4_OC1 to CLKIN3 */ -#define DFSDM1_T4_OC1_BITSTREAM_CKIN1 0x00000000U /* TIM4_OC1 to CLKIN1 */ -/** - * @} - */ - -/** @defgroup DFSDM_2_BIT_STREAM_DISTRIBUTION DFSDM12 Bit Stream Distribution - * @{ - */ -#define DFSDM2_T3_OC4_BITSTREAM_CKIN0 0x00000000U /* TIM3_OC4 to CKIN0 */ -#define DFSDM2_T3_OC4_BITSTREAM_CKIN4 SYSCFG_MCHDLYCR_DFSDM2CK04SEL /* TIM3_OC4 to CKIN4 */ -#define DFSDM2_T3_OC3_BITSTREAM_CKIN5 SYSCFG_MCHDLYCR_DFSDM2CK15SEL /* TIM3_OC3 to CKIN5 */ -#define DFSDM2_T3_OC3_BITSTREAM_CKIN1 0x00000000U /* TIM3_OC3 to CKIN1 */ -#define DFSDM2_T3_OC2_BITSTREAM_CKIN6 SYSCFG_MCHDLYCR_DFSDM2CK26SEL /* TIM3_OC2to CKIN6 */ -#define DFSDM2_T3_OC2_BITSTREAM_CKIN2 0x00000000U /* TIM3_OC2 to CKIN2 */ -#define DFSDM2_T3_OC1_BITSTREAM_CKIN3 0x00000000U /* TIM3_OC1 to CKIN3 */ -#define DFSDM2_T3_OC1_BITSTREAM_CKIN7 SYSCFG_MCHDLYCR_DFSDM2CK37SEL /* TIM3_OC1 to CKIN7 */ -/** - * @} - */ - -/** @defgroup DFSDM_1_DATA_DISTRIBUTION DFSDM1 Data Distribution - * @{ - */ -#define DFSDM1_DATIN0_TO_DATIN0_PAD 0x00000000U -#define DFSDM1_DATIN0_TO_DATIN1_PAD SYSCFG_MCHDLYCR_DFSDM1D0SEL -#define DFSDM1_DATIN2_TO_DATIN2_PAD 0x00000000U -#define DFSDM1_DATIN2_TO_DATIN3_PAD SYSCFG_MCHDLYCR_DFSDM1D2SEL -/** - * @} - */ - -/** @defgroup DFSDM_2_DATA_DISTRIBUTION DFSDM2 Data Distribution - * @{ - */ -#define DFSDM2_DATIN0_TO_DATIN0_PAD 0x00000000U -#define DFSDM2_DATIN0_TO_DATIN1_PAD SYSCFG_MCHDLYCR_DFSDM2D0SEL -#define DFSDM2_DATIN2_TO_DATIN2_PAD 0x00000000U -#define DFSDM2_DATIN2_TO_DATIN3_PAD SYSCFG_MCHDLYCR_DFSDM2D2SEL -#define DFSDM2_DATIN4_TO_DATIN4_PAD 0x00000000U -#define DFSDM2_DATIN4_TO_DATIN5_PAD SYSCFG_MCHDLYCR_DFSDM2D4SEL -#define DFSDM2_DATIN6_TO_DATIN6_PAD 0x00000000U -#define DFSDM2_DATIN6_TO_DATIN7_PAD SYSCFG_MCHDLYCR_DFSDM2D6SEL -/** - * @} - */ - -/** @defgroup HAL_MCHDLY_CLOCK HAL MCHDLY Clock enable - * @{ - */ -#define HAL_MCHDLY_CLOCK_DFSDM2 SYSCFG_MCHDLYCR_MCHDLY2EN -#define HAL_MCHDLY_CLOCK_DFSDM1 SYSCFG_MCHDLYCR_MCHDLY1EN -/** - * @} - */ - -/** @defgroup DFSDM_CLOCKIN_SOURCE DFSDM Clock In Source Selection - * @{ - */ -#define HAL_DFSDM2_CKIN_PAD 0x00040000U -#define HAL_DFSDM2_CKIN_DM SYSCFG_MCHDLYCR_DFSDM2CFG -#define HAL_DFSDM1_CKIN_PAD 0x00000000U -#define HAL_DFSDM1_CKIN_DM SYSCFG_MCHDLYCR_DFSDM1CFG -/** - * @} - */ - -/** @defgroup DFSDM_CLOCKOUT_SOURCE DFSDM Clock Source Selection - * @{ - */ -#define HAL_DFSDM2_CKOUT_DFSDM2 0x10000000U -#define HAL_DFSDM2_CKOUT_M27 SYSCFG_MCHDLYCR_DFSDM2CKOSEL -#define HAL_DFSDM1_CKOUT_DFSDM1 0x00000000U -#define HAL_DFSDM1_CKOUT_M27 SYSCFG_MCHDLYCR_DFSDM1CKOSEL -/** - * @} - */ - -/** @defgroup DFSDM_DATAIN0_SOURCE DFSDM Source Selection For DATAIN0 - * @{ - */ -#define HAL_DATAIN0_DFSDM2_PAD 0x10000000U -#define HAL_DATAIN0_DFSDM2_DATAIN1 SYSCFG_MCHDLYCR_DFSDM2D0SEL -#define HAL_DATAIN0_DFSDM1_PAD 0x00000000U -#define HAL_DATAIN0_DFSDM1_DATAIN1 SYSCFG_MCHDLYCR_DFSDM1D0SEL -/** - * @} - */ - -/** @defgroup DFSDM_DATAIN2_SOURCE DFSDM Source Selection For DATAIN2 - * @{ - */ -#define HAL_DATAIN2_DFSDM2_PAD 0x10000000U -#define HAL_DATAIN2_DFSDM2_DATAIN3 SYSCFG_MCHDLYCR_DFSDM2D2SEL -#define HAL_DATAIN2_DFSDM1_PAD 0x00000000U -#define HAL_DATAIN2_DFSDM1_DATAIN3 SYSCFG_MCHDLYCR_DFSDM1D2SEL -/** - * @} - */ - -/** @defgroup DFSDM_DATAIN4_SOURCE DFSDM Source Selection For DATAIN4 - * @{ - */ -#define HAL_DATAIN4_DFSDM2_PAD 0x00000000U -#define HAL_DATAIN4_DFSDM2_DATAIN5 SYSCFG_MCHDLYCR_DFSDM2D4SEL -/** - * @} - */ - -/** @defgroup DFSDM_DATAIN6_SOURCE DFSDM Source Selection For DATAIN6 - * @{ - */ -#define HAL_DATAIN6_DFSDM2_PAD 0x00000000U -#define HAL_DATAIN6_DFSDM2_DATAIN7 SYSCFG_MCHDLYCR_DFSDM2D6SEL -/** - * @} - */ - -/** @defgroup DFSDM1_CLKIN_SOURCE DFSDM1 Source Selection For CLKIN - * @{ - */ -#define HAL_DFSDM1_CLKIN0_TIM4OC2 0x01000000U -#define HAL_DFSDM1_CLKIN2_TIM4OC2 SYSCFG_MCHDLYCR_DFSDM1CK02SEL -#define HAL_DFSDM1_CLKIN1_TIM4OC1 0x02000000U -#define HAL_DFSDM1_CLKIN3_TIM4OC1 SYSCFG_MCHDLYCR_DFSDM1CK13SEL -/** - * @} - */ - -/** @defgroup DFSDM2_CLKIN_SOURCE DFSDM2 Source Selection For CLKIN - * @{ - */ -#define HAL_DFSDM2_CLKIN0_TIM3OC4 0x04000000U -#define HAL_DFSDM2_CLKIN4_TIM3OC4 SYSCFG_MCHDLYCR_DFSDM2CK04SEL -#define HAL_DFSDM2_CLKIN1_TIM3OC3 0x08000000U -#define HAL_DFSDM2_CLKIN5_TIM3OC3 SYSCFG_MCHDLYCR_DFSDM2CK15SEL -#define HAL_DFSDM2_CLKIN2_TIM3OC2 0x10000000U -#define HAL_DFSDM2_CLKIN6_TIM3OC2 SYSCFG_MCHDLYCR_DFSDM2CK26SEL -#define HAL_DFSDM2_CLKIN3_TIM3OC1 0x00000000U -#define HAL_DFSDM2_CLKIN7_TIM3OC1 SYSCFG_MCHDLYCR_DFSDM2CK37SEL -/** - * @} - */ - -#endif /* SYSCFG_MCHDLYCR_BSCKSEL*/ -/** - * @} - */ -/* End of exported constants -------------------------------------------------*/ - -/* Exported macros -----------------------------------------------------------*/ -/** @defgroup DFSDM_Exported_Macros DFSDM Exported Macros - * @{ - */ - -/** @brief Reset DFSDM channel handle state. - * @param __HANDLE__ DFSDM channel handle. - * @retval None - */ -#if (USE_HAL_DFSDM_REGISTER_CALLBACKS == 1) -#define __HAL_DFSDM_CHANNEL_RESET_HANDLE_STATE(__HANDLE__) do{ \ - (__HANDLE__)->State = HAL_DFSDM_CHANNEL_STATE_RESET; \ - (__HANDLE__)->MspInitCallback = NULL; \ - (__HANDLE__)->MspDeInitCallback = NULL; \ - } while(0) -#else -#define __HAL_DFSDM_CHANNEL_RESET_HANDLE_STATE(__HANDLE__) ((__HANDLE__)->State = HAL_DFSDM_CHANNEL_STATE_RESET) -#endif - -/** @brief Reset DFSDM filter handle state. - * @param __HANDLE__ DFSDM filter handle. - * @retval None - */ -#if (USE_HAL_DFSDM_REGISTER_CALLBACKS == 1) -#define __HAL_DFSDM_FILTER_RESET_HANDLE_STATE(__HANDLE__) do{ \ - (__HANDLE__)->State = HAL_DFSDM_FILTER_STATE_RESET; \ - (__HANDLE__)->MspInitCallback = NULL; \ - (__HANDLE__)->MspDeInitCallback = NULL; \ - } while(0) -#else -#define __HAL_DFSDM_FILTER_RESET_HANDLE_STATE(__HANDLE__) ((__HANDLE__)->State = HAL_DFSDM_FILTER_STATE_RESET) -#endif - -/** - * @} - */ -/* End of exported macros ----------------------------------------------------*/ - -/* Exported functions --------------------------------------------------------*/ -/** @addtogroup DFSDM_Exported_Functions DFSDM Exported Functions - * @{ - */ - -/** @addtogroup DFSDM_Exported_Functions_Group1_Channel Channel initialization and de-initialization functions - * @{ - */ -/* Channel initialization and de-initialization functions *********************/ -HAL_StatusTypeDef HAL_DFSDM_ChannelInit(DFSDM_Channel_HandleTypeDef *hdfsdm_channel); -HAL_StatusTypeDef HAL_DFSDM_ChannelDeInit(DFSDM_Channel_HandleTypeDef *hdfsdm_channel); -void HAL_DFSDM_ChannelMspInit(DFSDM_Channel_HandleTypeDef *hdfsdm_channel); -void HAL_DFSDM_ChannelMspDeInit(DFSDM_Channel_HandleTypeDef *hdfsdm_channel); -#if (USE_HAL_DFSDM_REGISTER_CALLBACKS == 1) -/* Channel callbacks register/unregister functions ****************************/ -HAL_StatusTypeDef HAL_DFSDM_Channel_RegisterCallback(DFSDM_Channel_HandleTypeDef *hdfsdm_channel, - HAL_DFSDM_Channel_CallbackIDTypeDef CallbackID, - pDFSDM_Channel_CallbackTypeDef pCallback); -HAL_StatusTypeDef HAL_DFSDM_Channel_UnRegisterCallback(DFSDM_Channel_HandleTypeDef *hdfsdm_channel, - HAL_DFSDM_Channel_CallbackIDTypeDef CallbackID); -#endif -/** - * @} - */ - -/** @addtogroup DFSDM_Exported_Functions_Group2_Channel Channel operation functions - * @{ - */ -/* Channel operation functions ************************************************/ -HAL_StatusTypeDef HAL_DFSDM_ChannelCkabStart(DFSDM_Channel_HandleTypeDef *hdfsdm_channel); -HAL_StatusTypeDef HAL_DFSDM_ChannelCkabStart_IT(DFSDM_Channel_HandleTypeDef *hdfsdm_channel); -HAL_StatusTypeDef HAL_DFSDM_ChannelCkabStop(DFSDM_Channel_HandleTypeDef *hdfsdm_channel); -HAL_StatusTypeDef HAL_DFSDM_ChannelCkabStop_IT(DFSDM_Channel_HandleTypeDef *hdfsdm_channel); - -HAL_StatusTypeDef HAL_DFSDM_ChannelScdStart(DFSDM_Channel_HandleTypeDef *hdfsdm_channel, uint32_t Threshold, uint32_t BreakSignal); -HAL_StatusTypeDef HAL_DFSDM_ChannelScdStart_IT(DFSDM_Channel_HandleTypeDef *hdfsdm_channel, uint32_t Threshold, uint32_t BreakSignal); -HAL_StatusTypeDef HAL_DFSDM_ChannelScdStop(DFSDM_Channel_HandleTypeDef *hdfsdm_channel); -HAL_StatusTypeDef HAL_DFSDM_ChannelScdStop_IT(DFSDM_Channel_HandleTypeDef *hdfsdm_channel); - -int16_t HAL_DFSDM_ChannelGetAwdValue(DFSDM_Channel_HandleTypeDef *hdfsdm_channel); -HAL_StatusTypeDef HAL_DFSDM_ChannelModifyOffset(DFSDM_Channel_HandleTypeDef *hdfsdm_channel, int32_t Offset); - -HAL_StatusTypeDef HAL_DFSDM_ChannelPollForCkab(DFSDM_Channel_HandleTypeDef *hdfsdm_channel, uint32_t Timeout); -HAL_StatusTypeDef HAL_DFSDM_ChannelPollForScd(DFSDM_Channel_HandleTypeDef *hdfsdm_channel, uint32_t Timeout); - -void HAL_DFSDM_ChannelCkabCallback(DFSDM_Channel_HandleTypeDef *hdfsdm_channel); -void HAL_DFSDM_ChannelScdCallback(DFSDM_Channel_HandleTypeDef *hdfsdm_channel); -/** - * @} - */ - -/** @defgroup DFSDM_Exported_Functions_Group3_Channel Channel state function - * @{ - */ -/* Channel state function *****************************************************/ -HAL_DFSDM_Channel_StateTypeDef HAL_DFSDM_ChannelGetState(DFSDM_Channel_HandleTypeDef *hdfsdm_channel); -/** - * @} - */ - -/** @addtogroup DFSDM_Exported_Functions_Group1_Filter Filter initialization and de-initialization functions - * @{ - */ -/* Filter initialization and de-initialization functions *********************/ -HAL_StatusTypeDef HAL_DFSDM_FilterInit(DFSDM_Filter_HandleTypeDef *hdfsdm_filter); -HAL_StatusTypeDef HAL_DFSDM_FilterDeInit(DFSDM_Filter_HandleTypeDef *hdfsdm_filter); -void HAL_DFSDM_FilterMspInit(DFSDM_Filter_HandleTypeDef *hdfsdm_filter); -void HAL_DFSDM_FilterMspDeInit(DFSDM_Filter_HandleTypeDef *hdfsdm_filter); -#if (USE_HAL_DFSDM_REGISTER_CALLBACKS == 1) -/* Filter callbacks register/unregister functions ****************************/ -HAL_StatusTypeDef HAL_DFSDM_Filter_RegisterCallback(DFSDM_Filter_HandleTypeDef *hdfsdm_filter, - HAL_DFSDM_Filter_CallbackIDTypeDef CallbackID, - pDFSDM_Filter_CallbackTypeDef pCallback); -HAL_StatusTypeDef HAL_DFSDM_Filter_UnRegisterCallback(DFSDM_Filter_HandleTypeDef *hdfsdm_filter, - HAL_DFSDM_Filter_CallbackIDTypeDef CallbackID); -HAL_StatusTypeDef HAL_DFSDM_Filter_RegisterAwdCallback(DFSDM_Filter_HandleTypeDef *hdfsdm_filter, - pDFSDM_Filter_AwdCallbackTypeDef pCallback); -HAL_StatusTypeDef HAL_DFSDM_Filter_UnRegisterAwdCallback(DFSDM_Filter_HandleTypeDef *hdfsdm_filter); -#endif -/** - * @} - */ - -/** @addtogroup DFSDM_Exported_Functions_Group2_Filter Filter control functions - * @{ - */ -/* Filter control functions *********************/ -HAL_StatusTypeDef HAL_DFSDM_FilterConfigRegChannel(DFSDM_Filter_HandleTypeDef *hdfsdm_filter, - uint32_t Channel, - uint32_t ContinuousMode); -HAL_StatusTypeDef HAL_DFSDM_FilterConfigInjChannel(DFSDM_Filter_HandleTypeDef *hdfsdm_filter, - uint32_t Channel); -/** - * @} - */ - -/** @addtogroup DFSDM_Exported_Functions_Group3_Filter Filter operation functions - * @{ - */ -/* Filter operation functions *********************/ -HAL_StatusTypeDef HAL_DFSDM_FilterRegularStart(DFSDM_Filter_HandleTypeDef *hdfsdm_filter); -HAL_StatusTypeDef HAL_DFSDM_FilterRegularStart_IT(DFSDM_Filter_HandleTypeDef *hdfsdm_filter); -HAL_StatusTypeDef HAL_DFSDM_FilterRegularStart_DMA(DFSDM_Filter_HandleTypeDef *hdfsdm_filter, int32_t *pData, uint32_t Length); -HAL_StatusTypeDef HAL_DFSDM_FilterRegularMsbStart_DMA(DFSDM_Filter_HandleTypeDef *hdfsdm_filter, int16_t *pData, uint32_t Length); -HAL_StatusTypeDef HAL_DFSDM_FilterRegularStop(DFSDM_Filter_HandleTypeDef *hdfsdm_filter); -HAL_StatusTypeDef HAL_DFSDM_FilterRegularStop_IT(DFSDM_Filter_HandleTypeDef *hdfsdm_filter); -HAL_StatusTypeDef HAL_DFSDM_FilterRegularStop_DMA(DFSDM_Filter_HandleTypeDef *hdfsdm_filter); -HAL_StatusTypeDef HAL_DFSDM_FilterInjectedStart(DFSDM_Filter_HandleTypeDef *hdfsdm_filter); -HAL_StatusTypeDef HAL_DFSDM_FilterInjectedStart_IT(DFSDM_Filter_HandleTypeDef *hdfsdm_filter); -HAL_StatusTypeDef HAL_DFSDM_FilterInjectedStart_DMA(DFSDM_Filter_HandleTypeDef *hdfsdm_filter, int32_t *pData, uint32_t Length); -HAL_StatusTypeDef HAL_DFSDM_FilterInjectedMsbStart_DMA(DFSDM_Filter_HandleTypeDef *hdfsdm_filter, int16_t *pData, uint32_t Length); -HAL_StatusTypeDef HAL_DFSDM_FilterInjectedStop(DFSDM_Filter_HandleTypeDef *hdfsdm_filter); -HAL_StatusTypeDef HAL_DFSDM_FilterInjectedStop_IT(DFSDM_Filter_HandleTypeDef *hdfsdm_filter); -HAL_StatusTypeDef HAL_DFSDM_FilterInjectedStop_DMA(DFSDM_Filter_HandleTypeDef *hdfsdm_filter); -HAL_StatusTypeDef HAL_DFSDM_FilterAwdStart_IT(DFSDM_Filter_HandleTypeDef *hdfsdm_filter, - DFSDM_Filter_AwdParamTypeDef* awdParam); -HAL_StatusTypeDef HAL_DFSDM_FilterAwdStop_IT(DFSDM_Filter_HandleTypeDef *hdfsdm_filter); -HAL_StatusTypeDef HAL_DFSDM_FilterExdStart(DFSDM_Filter_HandleTypeDef *hdfsdm_filter, uint32_t Channel); -HAL_StatusTypeDef HAL_DFSDM_FilterExdStop(DFSDM_Filter_HandleTypeDef *hdfsdm_filter); - -int32_t HAL_DFSDM_FilterGetRegularValue(DFSDM_Filter_HandleTypeDef *hdfsdm_filter, uint32_t* Channel); -int32_t HAL_DFSDM_FilterGetInjectedValue(DFSDM_Filter_HandleTypeDef *hdfsdm_filter, uint32_t* Channel); -int32_t HAL_DFSDM_FilterGetExdMaxValue(DFSDM_Filter_HandleTypeDef *hdfsdm_filter, uint32_t* Channel); -int32_t HAL_DFSDM_FilterGetExdMinValue(DFSDM_Filter_HandleTypeDef *hdfsdm_filter, uint32_t* Channel); -uint32_t HAL_DFSDM_FilterGetConvTimeValue(DFSDM_Filter_HandleTypeDef *hdfsdm_filter); - -void HAL_DFSDM_IRQHandler(DFSDM_Filter_HandleTypeDef *hdfsdm_filter); - -HAL_StatusTypeDef HAL_DFSDM_FilterPollForRegConversion(DFSDM_Filter_HandleTypeDef *hdfsdm_filter, uint32_t Timeout); -HAL_StatusTypeDef HAL_DFSDM_FilterPollForInjConversion(DFSDM_Filter_HandleTypeDef *hdfsdm_filter, uint32_t Timeout); - -void HAL_DFSDM_FilterRegConvCpltCallback(DFSDM_Filter_HandleTypeDef *hdfsdm_filter); -void HAL_DFSDM_FilterRegConvHalfCpltCallback(DFSDM_Filter_HandleTypeDef *hdfsdm_filter); -void HAL_DFSDM_FilterInjConvCpltCallback(DFSDM_Filter_HandleTypeDef *hdfsdm_filter); -void HAL_DFSDM_FilterInjConvHalfCpltCallback(DFSDM_Filter_HandleTypeDef *hdfsdm_filter); -void HAL_DFSDM_FilterAwdCallback(DFSDM_Filter_HandleTypeDef *hdfsdm_filter, uint32_t Channel, uint32_t Threshold); -void HAL_DFSDM_FilterErrorCallback(DFSDM_Filter_HandleTypeDef *hdfsdm_filter); -/** - * @} - */ - -/** @addtogroup DFSDM_Exported_Functions_Group4_Filter Filter state functions - * @{ - */ -/* Filter state functions *****************************************************/ -HAL_DFSDM_Filter_StateTypeDef HAL_DFSDM_FilterGetState(DFSDM_Filter_HandleTypeDef *hdfsdm_filter); -uint32_t HAL_DFSDM_FilterGetError(DFSDM_Filter_HandleTypeDef *hdfsdm_filter); -/** - * @} - */ -/** @addtogroup DFSDM_Exported_Functions_Group5_Filter MultiChannel operation functions - * @{ - */ -#if defined(SYSCFG_MCHDLYCR_BSCKSEL) -void HAL_DFSDM_ConfigMultiChannelDelay(DFSDM_MultiChannelConfigTypeDef* mchdlystruct); -void HAL_DFSDM_BitstreamClock_Start(void); -void HAL_DFSDM_BitstreamClock_Stop(void); -void HAL_DFSDM_DisableDelayClock(uint32_t MCHDLY); -void HAL_DFSDM_EnableDelayClock(uint32_t MCHDLY); -void HAL_DFSDM_ClockIn_SourceSelection(uint32_t source); -void HAL_DFSDM_ClockOut_SourceSelection(uint32_t source); -void HAL_DFSDM_DataIn0_SourceSelection(uint32_t source); -void HAL_DFSDM_DataIn2_SourceSelection(uint32_t source); -void HAL_DFSDM_DataIn4_SourceSelection(uint32_t source); -void HAL_DFSDM_DataIn6_SourceSelection(uint32_t source); -void HAL_DFSDM_BitStreamClkDistribution_Config(uint32_t source); -#endif /* SYSCFG_MCHDLYCR_BSCKSEL */ -/** - * @} - */ -/** - * @} - */ -/* End of exported functions -------------------------------------------------*/ - -/* Private macros ------------------------------------------------------------*/ -/** @defgroup DFSDM_Private_Macros DFSDM Private Macros -* @{ -*/ -#define IS_DFSDM_CHANNEL_OUTPUT_CLOCK(CLOCK) (((CLOCK) == DFSDM_CHANNEL_OUTPUT_CLOCK_SYSTEM) || \ - ((CLOCK) == DFSDM_CHANNEL_OUTPUT_CLOCK_AUDIO)) -#define IS_DFSDM_CHANNEL_OUTPUT_CLOCK_DIVIDER(DIVIDER) ((2U <= (DIVIDER)) && ((DIVIDER) <= 256U)) -#define IS_DFSDM_CHANNEL_INPUT(INPUT) (((INPUT) == DFSDM_CHANNEL_EXTERNAL_INPUTS) || \ - ((INPUT) == DFSDM_CHANNEL_INTERNAL_REGISTER)) -#define IS_DFSDM_CHANNEL_DATA_PACKING(MODE) (((MODE) == DFSDM_CHANNEL_STANDARD_MODE) || \ - ((MODE) == DFSDM_CHANNEL_INTERLEAVED_MODE) || \ - ((MODE) == DFSDM_CHANNEL_DUAL_MODE)) -#define IS_DFSDM_CHANNEL_INPUT_PINS(PINS) (((PINS) == DFSDM_CHANNEL_SAME_CHANNEL_PINS) || \ - ((PINS) == DFSDM_CHANNEL_FOLLOWING_CHANNEL_PINS)) -#define IS_DFSDM_CHANNEL_SERIAL_INTERFACE_TYPE(MODE) (((MODE) == DFSDM_CHANNEL_SPI_RISING) || \ - ((MODE) == DFSDM_CHANNEL_SPI_FALLING) || \ - ((MODE) == DFSDM_CHANNEL_MANCHESTER_RISING) || \ - ((MODE) == DFSDM_CHANNEL_MANCHESTER_FALLING)) -#define IS_DFSDM_CHANNEL_SPI_CLOCK(TYPE) (((TYPE) == DFSDM_CHANNEL_SPI_CLOCK_EXTERNAL) || \ - ((TYPE) == DFSDM_CHANNEL_SPI_CLOCK_INTERNAL) || \ - ((TYPE) == DFSDM_CHANNEL_SPI_CLOCK_INTERNAL_DIV2_FALLING) || \ - ((TYPE) == DFSDM_CHANNEL_SPI_CLOCK_INTERNAL_DIV2_RISING)) -#define IS_DFSDM_CHANNEL_FILTER_ORDER(ORDER) (((ORDER) == DFSDM_CHANNEL_FASTSINC_ORDER) || \ - ((ORDER) == DFSDM_CHANNEL_SINC1_ORDER) || \ - ((ORDER) == DFSDM_CHANNEL_SINC2_ORDER) || \ - ((ORDER) == DFSDM_CHANNEL_SINC3_ORDER)) -#define IS_DFSDM_CHANNEL_FILTER_OVS_RATIO(RATIO) ((1U <= (RATIO)) && ((RATIO) <= 32U)) -#define IS_DFSDM_CHANNEL_OFFSET(VALUE) ((-8388608 <= (VALUE)) && ((VALUE) <= 8388607)) -#define IS_DFSDM_CHANNEL_RIGHT_BIT_SHIFT(VALUE) ((VALUE) <= 0x1FU) -#define IS_DFSDM_CHANNEL_SCD_THRESHOLD(VALUE) ((VALUE) <= 0xFFU) -#define IS_DFSDM_FILTER_REG_TRIGGER(TRIG) (((TRIG) == DFSDM_FILTER_SW_TRIGGER) || \ - ((TRIG) == DFSDM_FILTER_SYNC_TRIGGER)) -#define IS_DFSDM_FILTER_INJ_TRIGGER(TRIG) (((TRIG) == DFSDM_FILTER_SW_TRIGGER) || \ - ((TRIG) == DFSDM_FILTER_SYNC_TRIGGER) || \ - ((TRIG) == DFSDM_FILTER_EXT_TRIGGER)) -#if defined (STM32F413xx) || defined (STM32F423xx) -#define IS_DFSDM_FILTER_EXT_TRIG(TRIG) (((TRIG) == DFSDM_FILTER_EXT_TRIG_TIM1_TRGO) || \ - ((TRIG) == DFSDM_FILTER_EXT_TRIG_TIM3_TRGO) || \ - ((TRIG) == DFSDM_FILTER_EXT_TRIG_TIM8_TRGO) || \ - ((TRIG) == DFSDM_FILTER_EXT_TRIG_TIM10_OC1) || \ - ((TRIG) == DFSDM_FILTER_EXT_TRIG_TIM2_TRGO) || \ - ((TRIG) == DFSDM_FILTER_EXT_TRIG_TIM4_TRGO) || \ - ((TRIG) == DFSDM_FILTER_EXT_TRIG_TIM11_OC1) || \ - ((TRIG) == DFSDM_FILTER_EXT_TRIG_TIM6_TRGO) || \ - ((TRIG) == DFSDM_FILTER_EXT_TRIG_EXTI11) || \ - ((TRIG) == DFSDM_FILTER_EXT_TRIG_EXTI15)) -#define IS_DFSDM_DELAY_CLOCK(CLOCK) (((CLOCK) == HAL_MCHDLY_CLOCK_DFSDM2) || \ - ((CLOCK) == HAL_MCHDLY_CLOCK_DFSDM1)) -#else -#define IS_DFSDM_FILTER_EXT_TRIG(TRIG) (((TRIG) == DFSDM_FILTER_EXT_TRIG_TIM1_TRGO) || \ - ((TRIG) == DFSDM_FILTER_EXT_TRIG_TIM3_TRGO) || \ - ((TRIG) == DFSDM_FILTER_EXT_TRIG_TIM8_TRGO) || \ - ((TRIG) == DFSDM_FILTER_EXT_TRIG_TIM10_OC1) || \ - ((TRIG) == DFSDM_FILTER_EXT_TRIG_TIM4_TRGO) || \ - ((TRIG) == DFSDM_FILTER_EXT_TRIG_TIM6_TRGO) || \ - ((TRIG) == DFSDM_FILTER_EXT_TRIG_EXTI11) || \ - ((TRIG) == DFSDM_FILTER_EXT_TRIG_EXTI15)) -#endif -#define IS_DFSDM_FILTER_EXT_TRIG_EDGE(EDGE) (((EDGE) == DFSDM_FILTER_EXT_TRIG_RISING_EDGE) || \ - ((EDGE) == DFSDM_FILTER_EXT_TRIG_FALLING_EDGE) || \ - ((EDGE) == DFSDM_FILTER_EXT_TRIG_BOTH_EDGES)) -#define IS_DFSDM_FILTER_SINC_ORDER(ORDER) (((ORDER) == DFSDM_FILTER_FASTSINC_ORDER) || \ - ((ORDER) == DFSDM_FILTER_SINC1_ORDER) || \ - ((ORDER) == DFSDM_FILTER_SINC2_ORDER) || \ - ((ORDER) == DFSDM_FILTER_SINC3_ORDER) || \ - ((ORDER) == DFSDM_FILTER_SINC4_ORDER) || \ - ((ORDER) == DFSDM_FILTER_SINC5_ORDER)) -#define IS_DFSDM_FILTER_OVS_RATIO(RATIO) ((1U <= (RATIO)) && ((RATIO) <= 1024U)) -#define IS_DFSDM_FILTER_INTEGRATOR_OVS_RATIO(RATIO) ((1U <= (RATIO)) && ((RATIO) <= 256U)) -#define IS_DFSDM_FILTER_AWD_DATA_SOURCE(DATA) (((DATA) == DFSDM_FILTER_AWD_FILTER_DATA) || \ - ((DATA) == DFSDM_FILTER_AWD_CHANNEL_DATA)) -#define IS_DFSDM_FILTER_AWD_THRESHOLD(VALUE) ((-8388608 <= (VALUE)) && ((VALUE) <= 8388607)) -#define IS_DFSDM_BREAK_SIGNALS(VALUE) ((VALUE) <= 0x0FU) -#if defined(DFSDM2_Channel0) -#define IS_DFSDM_REGULAR_CHANNEL(CHANNEL) (((CHANNEL) == DFSDM_CHANNEL_0) || \ - ((CHANNEL) == DFSDM_CHANNEL_1) || \ - ((CHANNEL) == DFSDM_CHANNEL_2) || \ - ((CHANNEL) == DFSDM_CHANNEL_3) || \ - ((CHANNEL) == DFSDM_CHANNEL_4) || \ - ((CHANNEL) == DFSDM_CHANNEL_5) || \ - ((CHANNEL) == DFSDM_CHANNEL_6) || \ - ((CHANNEL) == DFSDM_CHANNEL_7)) -#define IS_DFSDM_INJECTED_CHANNEL(CHANNEL) (((CHANNEL) != 0U) && ((CHANNEL) <= 0x000F00FFU)) -#else -#define IS_DFSDM_REGULAR_CHANNEL(CHANNEL) (((CHANNEL) == DFSDM_CHANNEL_0) || \ - ((CHANNEL) == DFSDM_CHANNEL_1) || \ - ((CHANNEL) == DFSDM_CHANNEL_2) || \ - ((CHANNEL) == DFSDM_CHANNEL_3)) -#define IS_DFSDM_INJECTED_CHANNEL(CHANNEL) (((CHANNEL) != 0U) && ((CHANNEL) <= 0x0003000FU)) -#endif -#define IS_DFSDM_CONTINUOUS_MODE(MODE) (((MODE) == DFSDM_CONTINUOUS_CONV_OFF) || \ - ((MODE) == DFSDM_CONTINUOUS_CONV_ON)) -#if defined(DFSDM2_Channel0) -#define IS_DFSDM1_CHANNEL_INSTANCE(INSTANCE) (((INSTANCE) == DFSDM1_Channel0) || \ - ((INSTANCE) == DFSDM1_Channel1) || \ - ((INSTANCE) == DFSDM1_Channel2) || \ - ((INSTANCE) == DFSDM1_Channel3)) -#define IS_DFSDM1_FILTER_INSTANCE(INSTANCE) (((INSTANCE) == DFSDM1_Filter0) || \ - ((INSTANCE) == DFSDM1_Filter1)) -#endif /* DFSDM2_Channel0 */ - -#if defined(SYSCFG_MCHDLYCR_BSCKSEL) -#define IS_DFSDM_CLOCKIN_SELECTION(SELECTION) (((SELECTION) == HAL_DFSDM2_CKIN_PAD) || \ - ((SELECTION) == HAL_DFSDM2_CKIN_DM) || \ - ((SELECTION) == HAL_DFSDM1_CKIN_PAD) || \ - ((SELECTION) == HAL_DFSDM1_CKIN_DM)) -#define IS_DFSDM_CLOCKOUT_SELECTION(SELECTION) (((SELECTION) == HAL_DFSDM2_CKOUT_DFSDM2) || \ - ((SELECTION) == HAL_DFSDM2_CKOUT_M27) || \ - ((SELECTION) == HAL_DFSDM1_CKOUT_DFSDM1) || \ - ((SELECTION) == HAL_DFSDM1_CKOUT_M27)) -#define IS_DFSDM_DATAIN0_SRC_SELECTION(SELECTION) (((SELECTION) == HAL_DATAIN0_DFSDM2_PAD) || \ - ((SELECTION) == HAL_DATAIN0_DFSDM2_DATAIN1) || \ - ((SELECTION) == HAL_DATAIN0_DFSDM1_PAD) || \ - ((SELECTION) == HAL_DATAIN0_DFSDM1_DATAIN1)) -#define IS_DFSDM_DATAIN2_SRC_SELECTION(SELECTION) (((SELECTION) == HAL_DATAIN2_DFSDM2_PAD) || \ - ((SELECTION) == HAL_DATAIN2_DFSDM2_DATAIN3) || \ - ((SELECTION) == HAL_DATAIN2_DFSDM1_PAD) || \ - ((SELECTION) == HAL_DATAIN2_DFSDM1_DATAIN3)) -#define IS_DFSDM_DATAIN4_SRC_SELECTION(SELECTION) (((SELECTION) == HAL_DATAIN4_DFSDM2_PAD) || \ - ((SELECTION) == HAL_DATAIN4_DFSDM2_DATAIN5)) -#define IS_DFSDM_DATAIN6_SRC_SELECTION(SELECTION) (((SELECTION) == HAL_DATAIN6_DFSDM2_PAD) || \ - ((SELECTION) == HAL_DATAIN6_DFSDM2_DATAIN7)) -#define IS_DFSDM_BITSTREM_CLK_DISTRIBUTION(DISTRIBUTION) (((DISTRIBUTION) == HAL_DFSDM1_CLKIN0_TIM4OC2) || \ - ((DISTRIBUTION) == HAL_DFSDM1_CLKIN2_TIM4OC2) || \ - ((DISTRIBUTION) == HAL_DFSDM1_CLKIN1_TIM4OC1) || \ - ((DISTRIBUTION) == HAL_DFSDM1_CLKIN3_TIM4OC1) || \ - ((DISTRIBUTION) == HAL_DFSDM2_CLKIN0_TIM3OC4) || \ - ((DISTRIBUTION) == HAL_DFSDM2_CLKIN4_TIM3OC4) || \ - ((DISTRIBUTION) == HAL_DFSDM2_CLKIN1_TIM3OC3)|| \ - ((DISTRIBUTION) == HAL_DFSDM2_CLKIN5_TIM3OC3) || \ - ((DISTRIBUTION) == HAL_DFSDM2_CLKIN2_TIM3OC2) || \ - ((DISTRIBUTION) == HAL_DFSDM2_CLKIN6_TIM3OC2) || \ - ((DISTRIBUTION) == HAL_DFSDM2_CLKIN3_TIM3OC1)|| \ - ((DISTRIBUTION) == HAL_DFSDM2_CLKIN7_TIM3OC1)) -#define IS_DFSDM_DFSDM1_CLKOUT(CLKOUT) (((CLKOUT) == DFSDM1_CKOUT_DFSDM2_CKOUT) || \ - ((CLKOUT) == DFSDM1_CKOUT_DFSDM1)) -#define IS_DFSDM_DFSDM2_CLKOUT(CLKOUT) (((CLKOUT) == DFSDM2_CKOUT_DFSDM2_CKOUT) || \ - ((CLKOUT) == DFSDM2_CKOUT_DFSDM2)) -#define IS_DFSDM_DFSDM1_CLKIN(CLKIN) (((CLKIN) == DFSDM1_CKIN_DFSDM2_CKOUT) || \ - ((CLKIN) == DFSDM1_CKIN_PAD)) -#define IS_DFSDM_DFSDM2_CLKIN(CLKIN) (((CLKIN) == DFSDM2_CKIN_DFSDM2_CKOUT) || \ - ((CLKIN) == DFSDM2_CKIN_PAD)) -#define IS_DFSDM_DFSDM1_BIT_CLK(CLK) (((CLK) == DFSDM1_T4_OC2_BITSTREAM_CKIN0) || \ - ((CLK) == DFSDM1_T4_OC2_BITSTREAM_CKIN2) || \ - ((CLK) == DFSDM1_T4_OC1_BITSTREAM_CKIN3) || \ - ((CLK) == DFSDM1_T4_OC1_BITSTREAM_CKIN1) || \ - ((CLK) <= 0x30U)) - -#define IS_DFSDM_DFSDM2_BIT_CLK(CLK) (((CLK) == DFSDM2_T3_OC4_BITSTREAM_CKIN0) || \ - ((CLK) == DFSDM2_T3_OC4_BITSTREAM_CKIN4) || \ - ((CLK) == DFSDM2_T3_OC3_BITSTREAM_CKIN5) || \ - ((CLK) == DFSDM2_T3_OC3_BITSTREAM_CKIN1) || \ - ((CLK) == DFSDM2_T3_OC2_BITSTREAM_CKIN6) || \ - ((CLK) == DFSDM2_T3_OC2_BITSTREAM_CKIN2) || \ - ((CLK) == DFSDM2_T3_OC1_BITSTREAM_CKIN3) || \ - ((CLK) == DFSDM2_T3_OC1_BITSTREAM_CKIN7)|| \ - ((CLK) <= 0x1E000U)) - -#define IS_DFSDM_DFSDM1_DATA_DISTRIBUTION(DISTRIBUTION)(((DISTRIBUTION) == DFSDM1_DATIN0_TO_DATIN0_PAD )|| \ - ((DISTRIBUTION) == DFSDM1_DATIN0_TO_DATIN1_PAD) || \ - ((DISTRIBUTION) == DFSDM1_DATIN2_TO_DATIN2_PAD) || \ - ((DISTRIBUTION) == DFSDM1_DATIN2_TO_DATIN3_PAD)|| \ - ((DISTRIBUTION) <= 0xCU)) - -#define IS_DFSDM_DFSDM2_DATA_DISTRIBUTION(DISTRIBUTION)(((DISTRIBUTION) == DFSDM2_DATIN0_TO_DATIN0_PAD)|| \ - ((DISTRIBUTION) == DFSDM2_DATIN0_TO_DATIN1_PAD)|| \ - ((DISTRIBUTION) == DFSDM2_DATIN2_TO_DATIN2_PAD)|| \ - ((DISTRIBUTION) == DFSDM2_DATIN2_TO_DATIN3_PAD)|| \ - ((DISTRIBUTION) == DFSDM2_DATIN4_TO_DATIN4_PAD)|| \ - ((DISTRIBUTION) == DFSDM2_DATIN4_TO_DATIN5_PAD)|| \ - ((DISTRIBUTION) == DFSDM2_DATIN6_TO_DATIN6_PAD)|| \ - ((DISTRIBUTION) == DFSDM2_DATIN6_TO_DATIN7_PAD)|| \ - ((DISTRIBUTION) <= 0x1D00U)) -#endif /* (SYSCFG_MCHDLYCR_BSCKSEL) */ -/** - * @} - */ -/* End of private macros -----------------------------------------------------*/ - -/** - * @} - */ - -/** - * @} - */ -#endif /* STM32F412Zx || STM32F412Vx || STM32F412Rx || STM32F412Cx || STM32F413xx || STM32F423xx */ -#ifdef __cplusplus -} -#endif - -#endif /* __STM32F4xx_HAL_DFSDM_H */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h deleted file mode 100644 index 90dd292cc0ad34..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma.h +++ /dev/null @@ -1,804 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_dma.h - * @author MCD Application Team - * @brief Header file of DMA HAL module. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef __STM32F4xx_HAL_DMA_H -#define __STM32F4xx_HAL_DMA_H - -#ifdef __cplusplus - extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal_def.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @addtogroup DMA - * @{ - */ - -/* Exported types ------------------------------------------------------------*/ - -/** @defgroup DMA_Exported_Types DMA Exported Types - * @brief DMA Exported Types - * @{ - */ - -/** - * @brief DMA Configuration Structure definition - */ -typedef struct -{ - uint32_t Channel; /*!< Specifies the channel used for the specified stream. - This parameter can be a value of @ref DMA_Channel_selection */ - - uint32_t Direction; /*!< Specifies if the data will be transferred from memory to peripheral, - from memory to memory or from peripheral to memory. - This parameter can be a value of @ref DMA_Data_transfer_direction */ - - uint32_t PeriphInc; /*!< Specifies whether the Peripheral address register should be incremented or not. - This parameter can be a value of @ref DMA_Peripheral_incremented_mode */ - - uint32_t MemInc; /*!< Specifies whether the memory address register should be incremented or not. - This parameter can be a value of @ref DMA_Memory_incremented_mode */ - - uint32_t PeriphDataAlignment; /*!< Specifies the Peripheral data width. - This parameter can be a value of @ref DMA_Peripheral_data_size */ - - uint32_t MemDataAlignment; /*!< Specifies the Memory data width. - This parameter can be a value of @ref DMA_Memory_data_size */ - - uint32_t Mode; /*!< Specifies the operation mode of the DMAy Streamx. - This parameter can be a value of @ref DMA_mode - @note The circular buffer mode cannot be used if the memory-to-memory - data transfer is configured on the selected Stream */ - - uint32_t Priority; /*!< Specifies the software priority for the DMAy Streamx. - This parameter can be a value of @ref DMA_Priority_level */ - - uint32_t FIFOMode; /*!< Specifies if the FIFO mode or Direct mode will be used for the specified stream. - This parameter can be a value of @ref DMA_FIFO_direct_mode - @note The Direct mode (FIFO mode disabled) cannot be used if the - memory-to-memory data transfer is configured on the selected stream */ - - uint32_t FIFOThreshold; /*!< Specifies the FIFO threshold level. - This parameter can be a value of @ref DMA_FIFO_threshold_level */ - - uint32_t MemBurst; /*!< Specifies the Burst transfer configuration for the memory transfers. - It specifies the amount of data to be transferred in a single non interruptible - transaction. - This parameter can be a value of @ref DMA_Memory_burst - @note The burst mode is possible only if the address Increment mode is enabled. */ - - uint32_t PeriphBurst; /*!< Specifies the Burst transfer configuration for the peripheral transfers. - It specifies the amount of data to be transferred in a single non interruptible - transaction. - This parameter can be a value of @ref DMA_Peripheral_burst - @note The burst mode is possible only if the address Increment mode is enabled. */ -}DMA_InitTypeDef; - - -/** - * @brief HAL DMA State structures definition - */ -typedef enum -{ - HAL_DMA_STATE_RESET = 0x00U, /*!< DMA not yet initialized or disabled */ - HAL_DMA_STATE_READY = 0x01U, /*!< DMA initialized and ready for use */ - HAL_DMA_STATE_BUSY = 0x02U, /*!< DMA process is ongoing */ - HAL_DMA_STATE_TIMEOUT = 0x03U, /*!< DMA timeout state */ - HAL_DMA_STATE_ERROR = 0x04U, /*!< DMA error state */ - HAL_DMA_STATE_ABORT = 0x05U, /*!< DMA Abort state */ -}HAL_DMA_StateTypeDef; - -/** - * @brief HAL DMA Error Code structure definition - */ -typedef enum -{ - HAL_DMA_FULL_TRANSFER = 0x00U, /*!< Full transfer */ - HAL_DMA_HALF_TRANSFER = 0x01U /*!< Half Transfer */ -}HAL_DMA_LevelCompleteTypeDef; - -/** - * @brief HAL DMA Error Code structure definition - */ -typedef enum -{ - HAL_DMA_XFER_CPLT_CB_ID = 0x00U, /*!< Full transfer */ - HAL_DMA_XFER_HALFCPLT_CB_ID = 0x01U, /*!< Half Transfer */ - HAL_DMA_XFER_M1CPLT_CB_ID = 0x02U, /*!< M1 Full Transfer */ - HAL_DMA_XFER_M1HALFCPLT_CB_ID = 0x03U, /*!< M1 Half Transfer */ - HAL_DMA_XFER_ERROR_CB_ID = 0x04U, /*!< Error */ - HAL_DMA_XFER_ABORT_CB_ID = 0x05U, /*!< Abort */ - HAL_DMA_XFER_ALL_CB_ID = 0x06U /*!< All */ -}HAL_DMA_CallbackIDTypeDef; - -/** - * @brief DMA handle Structure definition - */ -typedef struct __DMA_HandleTypeDef -{ - DMA_Stream_TypeDef *Instance; /*!< Register base address */ - - DMA_InitTypeDef Init; /*!< DMA communication parameters */ - - HAL_LockTypeDef Lock; /*!< DMA locking object */ - - __IO HAL_DMA_StateTypeDef State; /*!< DMA transfer state */ - - void *Parent; /*!< Parent object state */ - - void (* XferCpltCallback)( struct __DMA_HandleTypeDef * hdma); /*!< DMA transfer complete callback */ - - void (* XferHalfCpltCallback)( struct __DMA_HandleTypeDef * hdma); /*!< DMA Half transfer complete callback */ - - void (* XferM1CpltCallback)( struct __DMA_HandleTypeDef * hdma); /*!< DMA transfer complete Memory1 callback */ - - void (* XferM1HalfCpltCallback)( struct __DMA_HandleTypeDef * hdma); /*!< DMA transfer Half complete Memory1 callback */ - - void (* XferErrorCallback)( struct __DMA_HandleTypeDef * hdma); /*!< DMA transfer error callback */ - - void (* XferAbortCallback)( struct __DMA_HandleTypeDef * hdma); /*!< DMA transfer Abort callback */ - - __IO uint32_t ErrorCode; /*!< DMA Error code */ - - uint32_t StreamBaseAddress; /*!< DMA Stream Base Address */ - - uint32_t StreamIndex; /*!< DMA Stream Index */ - -}DMA_HandleTypeDef; - -/** - * @} - */ - -/* Exported constants --------------------------------------------------------*/ - -/** @defgroup DMA_Exported_Constants DMA Exported Constants - * @brief DMA Exported constants - * @{ - */ - -/** @defgroup DMA_Error_Code DMA Error Code - * @brief DMA Error Code - * @{ - */ -#define HAL_DMA_ERROR_NONE 0x00000000U /*!< No error */ -#define HAL_DMA_ERROR_TE 0x00000001U /*!< Transfer error */ -#define HAL_DMA_ERROR_FE 0x00000002U /*!< FIFO error */ -#define HAL_DMA_ERROR_DME 0x00000004U /*!< Direct Mode error */ -#define HAL_DMA_ERROR_TIMEOUT 0x00000020U /*!< Timeout error */ -#define HAL_DMA_ERROR_PARAM 0x00000040U /*!< Parameter error */ -#define HAL_DMA_ERROR_NO_XFER 0x00000080U /*!< Abort requested with no Xfer ongoing */ -#define HAL_DMA_ERROR_NOT_SUPPORTED 0x00000100U /*!< Not supported mode */ -/** - * @} - */ - -/** @defgroup DMA_Channel_selection DMA Channel selection - * @brief DMA channel selection - * @{ - */ -#define DMA_CHANNEL_0 0x00000000U /*!< DMA Channel 0 */ -#define DMA_CHANNEL_1 0x02000000U /*!< DMA Channel 1 */ -#define DMA_CHANNEL_2 0x04000000U /*!< DMA Channel 2 */ -#define DMA_CHANNEL_3 0x06000000U /*!< DMA Channel 3 */ -#define DMA_CHANNEL_4 0x08000000U /*!< DMA Channel 4 */ -#define DMA_CHANNEL_5 0x0A000000U /*!< DMA Channel 5 */ -#define DMA_CHANNEL_6 0x0C000000U /*!< DMA Channel 6 */ -#define DMA_CHANNEL_7 0x0E000000U /*!< DMA Channel 7 */ -#if defined (DMA_SxCR_CHSEL_3) -#define DMA_CHANNEL_8 0x10000000U /*!< DMA Channel 8 */ -#define DMA_CHANNEL_9 0x12000000U /*!< DMA Channel 9 */ -#define DMA_CHANNEL_10 0x14000000U /*!< DMA Channel 10 */ -#define DMA_CHANNEL_11 0x16000000U /*!< DMA Channel 11 */ -#define DMA_CHANNEL_12 0x18000000U /*!< DMA Channel 12 */ -#define DMA_CHANNEL_13 0x1A000000U /*!< DMA Channel 13 */ -#define DMA_CHANNEL_14 0x1C000000U /*!< DMA Channel 14 */ -#define DMA_CHANNEL_15 0x1E000000U /*!< DMA Channel 15 */ -#endif /* DMA_SxCR_CHSEL_3 */ -/** - * @} - */ - -/** @defgroup DMA_Data_transfer_direction DMA Data transfer direction - * @brief DMA data transfer direction - * @{ - */ -#define DMA_PERIPH_TO_MEMORY 0x00000000U /*!< Peripheral to memory direction */ -#define DMA_MEMORY_TO_PERIPH ((uint32_t)DMA_SxCR_DIR_0) /*!< Memory to peripheral direction */ -#define DMA_MEMORY_TO_MEMORY ((uint32_t)DMA_SxCR_DIR_1) /*!< Memory to memory direction */ -/** - * @} - */ - -/** @defgroup DMA_Peripheral_incremented_mode DMA Peripheral incremented mode - * @brief DMA peripheral incremented mode - * @{ - */ -#define DMA_PINC_ENABLE ((uint32_t)DMA_SxCR_PINC) /*!< Peripheral increment mode enable */ -#define DMA_PINC_DISABLE 0x00000000U /*!< Peripheral increment mode disable */ -/** - * @} - */ - -/** @defgroup DMA_Memory_incremented_mode DMA Memory incremented mode - * @brief DMA memory incremented mode - * @{ - */ -#define DMA_MINC_ENABLE ((uint32_t)DMA_SxCR_MINC) /*!< Memory increment mode enable */ -#define DMA_MINC_DISABLE 0x00000000U /*!< Memory increment mode disable */ -/** - * @} - */ - -/** @defgroup DMA_Peripheral_data_size DMA Peripheral data size - * @brief DMA peripheral data size - * @{ - */ -#define DMA_PDATAALIGN_BYTE 0x00000000U /*!< Peripheral data alignment: Byte */ -#define DMA_PDATAALIGN_HALFWORD ((uint32_t)DMA_SxCR_PSIZE_0) /*!< Peripheral data alignment: HalfWord */ -#define DMA_PDATAALIGN_WORD ((uint32_t)DMA_SxCR_PSIZE_1) /*!< Peripheral data alignment: Word */ -/** - * @} - */ - -/** @defgroup DMA_Memory_data_size DMA Memory data size - * @brief DMA memory data size - * @{ - */ -#define DMA_MDATAALIGN_BYTE 0x00000000U /*!< Memory data alignment: Byte */ -#define DMA_MDATAALIGN_HALFWORD ((uint32_t)DMA_SxCR_MSIZE_0) /*!< Memory data alignment: HalfWord */ -#define DMA_MDATAALIGN_WORD ((uint32_t)DMA_SxCR_MSIZE_1) /*!< Memory data alignment: Word */ -/** - * @} - */ - -/** @defgroup DMA_mode DMA mode - * @brief DMA mode - * @{ - */ -#define DMA_NORMAL 0x00000000U /*!< Normal mode */ -#define DMA_CIRCULAR ((uint32_t)DMA_SxCR_CIRC) /*!< Circular mode */ -#define DMA_PFCTRL ((uint32_t)DMA_SxCR_PFCTRL) /*!< Peripheral flow control mode */ -/** - * @} - */ - -/** @defgroup DMA_Priority_level DMA Priority level - * @brief DMA priority levels - * @{ - */ -#define DMA_PRIORITY_LOW 0x00000000U /*!< Priority level: Low */ -#define DMA_PRIORITY_MEDIUM ((uint32_t)DMA_SxCR_PL_0) /*!< Priority level: Medium */ -#define DMA_PRIORITY_HIGH ((uint32_t)DMA_SxCR_PL_1) /*!< Priority level: High */ -#define DMA_PRIORITY_VERY_HIGH ((uint32_t)DMA_SxCR_PL) /*!< Priority level: Very High */ -/** - * @} - */ - -/** @defgroup DMA_FIFO_direct_mode DMA FIFO direct mode - * @brief DMA FIFO direct mode - * @{ - */ -#define DMA_FIFOMODE_DISABLE 0x00000000U /*!< FIFO mode disable */ -#define DMA_FIFOMODE_ENABLE ((uint32_t)DMA_SxFCR_DMDIS) /*!< FIFO mode enable */ -/** - * @} - */ - -/** @defgroup DMA_FIFO_threshold_level DMA FIFO threshold level - * @brief DMA FIFO level - * @{ - */ -#define DMA_FIFO_THRESHOLD_1QUARTERFULL 0x00000000U /*!< FIFO threshold 1 quart full configuration */ -#define DMA_FIFO_THRESHOLD_HALFFULL ((uint32_t)DMA_SxFCR_FTH_0) /*!< FIFO threshold half full configuration */ -#define DMA_FIFO_THRESHOLD_3QUARTERSFULL ((uint32_t)DMA_SxFCR_FTH_1) /*!< FIFO threshold 3 quarts full configuration */ -#define DMA_FIFO_THRESHOLD_FULL ((uint32_t)DMA_SxFCR_FTH) /*!< FIFO threshold full configuration */ -/** - * @} - */ - -/** @defgroup DMA_Memory_burst DMA Memory burst - * @brief DMA memory burst - * @{ - */ -#define DMA_MBURST_SINGLE 0x00000000U -#define DMA_MBURST_INC4 ((uint32_t)DMA_SxCR_MBURST_0) -#define DMA_MBURST_INC8 ((uint32_t)DMA_SxCR_MBURST_1) -#define DMA_MBURST_INC16 ((uint32_t)DMA_SxCR_MBURST) -/** - * @} - */ - -/** @defgroup DMA_Peripheral_burst DMA Peripheral burst - * @brief DMA peripheral burst - * @{ - */ -#define DMA_PBURST_SINGLE 0x00000000U -#define DMA_PBURST_INC4 ((uint32_t)DMA_SxCR_PBURST_0) -#define DMA_PBURST_INC8 ((uint32_t)DMA_SxCR_PBURST_1) -#define DMA_PBURST_INC16 ((uint32_t)DMA_SxCR_PBURST) -/** - * @} - */ - -/** @defgroup DMA_interrupt_enable_definitions DMA interrupt enable definitions - * @brief DMA interrupts definition - * @{ - */ -#define DMA_IT_TC ((uint32_t)DMA_SxCR_TCIE) -#define DMA_IT_HT ((uint32_t)DMA_SxCR_HTIE) -#define DMA_IT_TE ((uint32_t)DMA_SxCR_TEIE) -#define DMA_IT_DME ((uint32_t)DMA_SxCR_DMEIE) -#define DMA_IT_FE 0x00000080U -/** - * @} - */ - -/** @defgroup DMA_flag_definitions DMA flag definitions - * @brief DMA flag definitions - * @{ - */ -#define DMA_FLAG_FEIF0_4 0x00000001U -#define DMA_FLAG_DMEIF0_4 0x00000004U -#define DMA_FLAG_TEIF0_4 0x00000008U -#define DMA_FLAG_HTIF0_4 0x00000010U -#define DMA_FLAG_TCIF0_4 0x00000020U -#define DMA_FLAG_FEIF1_5 0x00000040U -#define DMA_FLAG_DMEIF1_5 0x00000100U -#define DMA_FLAG_TEIF1_5 0x00000200U -#define DMA_FLAG_HTIF1_5 0x00000400U -#define DMA_FLAG_TCIF1_5 0x00000800U -#define DMA_FLAG_FEIF2_6 0x00010000U -#define DMA_FLAG_DMEIF2_6 0x00040000U -#define DMA_FLAG_TEIF2_6 0x00080000U -#define DMA_FLAG_HTIF2_6 0x00100000U -#define DMA_FLAG_TCIF2_6 0x00200000U -#define DMA_FLAG_FEIF3_7 0x00400000U -#define DMA_FLAG_DMEIF3_7 0x01000000U -#define DMA_FLAG_TEIF3_7 0x02000000U -#define DMA_FLAG_HTIF3_7 0x04000000U -#define DMA_FLAG_TCIF3_7 0x08000000U -/** - * @} - */ - -/** - * @} - */ - -/* Exported macro ------------------------------------------------------------*/ - -/** @brief Reset DMA handle state - * @param __HANDLE__ specifies the DMA handle. - * @retval None - */ -#define __HAL_DMA_RESET_HANDLE_STATE(__HANDLE__) ((__HANDLE__)->State = HAL_DMA_STATE_RESET) - -/** - * @brief Return the current DMA Stream FIFO filled level. - * @param __HANDLE__ DMA handle - * @retval The FIFO filling state. - * - DMA_FIFOStatus_Less1QuarterFull: when FIFO is less than 1 quarter-full - * and not empty. - * - DMA_FIFOStatus_1QuarterFull: if more than 1 quarter-full. - * - DMA_FIFOStatus_HalfFull: if more than 1 half-full. - * - DMA_FIFOStatus_3QuartersFull: if more than 3 quarters-full. - * - DMA_FIFOStatus_Empty: when FIFO is empty - * - DMA_FIFOStatus_Full: when FIFO is full - */ -#define __HAL_DMA_GET_FS(__HANDLE__) (((__HANDLE__)->Instance->FCR & (DMA_SxFCR_FS))) - -/** - * @brief Enable the specified DMA Stream. - * @param __HANDLE__ DMA handle - * @retval None - */ -#define __HAL_DMA_ENABLE(__HANDLE__) ((__HANDLE__)->Instance->CR |= DMA_SxCR_EN) - -/** - * @brief Disable the specified DMA Stream. - * @param __HANDLE__ DMA handle - * @retval None - */ -#define __HAL_DMA_DISABLE(__HANDLE__) ((__HANDLE__)->Instance->CR &= ~DMA_SxCR_EN) - -/* Interrupt & Flag management */ - -/** - * @brief Return the current DMA Stream transfer complete flag. - * @param __HANDLE__ DMA handle - * @retval The specified transfer complete flag index. - */ -#define __HAL_DMA_GET_TC_FLAG_INDEX(__HANDLE__) \ -(((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA1_Stream0))? DMA_FLAG_TCIF0_4 :\ - ((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA2_Stream0))? DMA_FLAG_TCIF0_4 :\ - ((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA1_Stream4))? DMA_FLAG_TCIF0_4 :\ - ((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA2_Stream4))? DMA_FLAG_TCIF0_4 :\ - ((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA1_Stream1))? DMA_FLAG_TCIF1_5 :\ - ((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA2_Stream1))? DMA_FLAG_TCIF1_5 :\ - ((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA1_Stream5))? DMA_FLAG_TCIF1_5 :\ - ((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA2_Stream5))? DMA_FLAG_TCIF1_5 :\ - ((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA1_Stream2))? DMA_FLAG_TCIF2_6 :\ - ((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA2_Stream2))? DMA_FLAG_TCIF2_6 :\ - ((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA1_Stream6))? DMA_FLAG_TCIF2_6 :\ - ((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA2_Stream6))? DMA_FLAG_TCIF2_6 :\ - DMA_FLAG_TCIF3_7) - -/** - * @brief Return the current DMA Stream half transfer complete flag. - * @param __HANDLE__ DMA handle - * @retval The specified half transfer complete flag index. - */ -#define __HAL_DMA_GET_HT_FLAG_INDEX(__HANDLE__)\ -(((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA1_Stream0))? DMA_FLAG_HTIF0_4 :\ - ((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA2_Stream0))? DMA_FLAG_HTIF0_4 :\ - ((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA1_Stream4))? DMA_FLAG_HTIF0_4 :\ - ((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA2_Stream4))? DMA_FLAG_HTIF0_4 :\ - ((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA1_Stream1))? DMA_FLAG_HTIF1_5 :\ - ((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA2_Stream1))? DMA_FLAG_HTIF1_5 :\ - ((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA1_Stream5))? DMA_FLAG_HTIF1_5 :\ - ((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA2_Stream5))? DMA_FLAG_HTIF1_5 :\ - ((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA1_Stream2))? DMA_FLAG_HTIF2_6 :\ - ((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA2_Stream2))? DMA_FLAG_HTIF2_6 :\ - ((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA1_Stream6))? DMA_FLAG_HTIF2_6 :\ - ((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA2_Stream6))? DMA_FLAG_HTIF2_6 :\ - DMA_FLAG_HTIF3_7) - -/** - * @brief Return the current DMA Stream transfer error flag. - * @param __HANDLE__ DMA handle - * @retval The specified transfer error flag index. - */ -#define __HAL_DMA_GET_TE_FLAG_INDEX(__HANDLE__)\ -(((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA1_Stream0))? DMA_FLAG_TEIF0_4 :\ - ((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA2_Stream0))? DMA_FLAG_TEIF0_4 :\ - ((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA1_Stream4))? DMA_FLAG_TEIF0_4 :\ - ((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA2_Stream4))? DMA_FLAG_TEIF0_4 :\ - ((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA1_Stream1))? DMA_FLAG_TEIF1_5 :\ - ((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA2_Stream1))? DMA_FLAG_TEIF1_5 :\ - ((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA1_Stream5))? DMA_FLAG_TEIF1_5 :\ - ((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA2_Stream5))? DMA_FLAG_TEIF1_5 :\ - ((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA1_Stream2))? DMA_FLAG_TEIF2_6 :\ - ((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA2_Stream2))? DMA_FLAG_TEIF2_6 :\ - ((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA1_Stream6))? DMA_FLAG_TEIF2_6 :\ - ((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA2_Stream6))? DMA_FLAG_TEIF2_6 :\ - DMA_FLAG_TEIF3_7) - -/** - * @brief Return the current DMA Stream FIFO error flag. - * @param __HANDLE__ DMA handle - * @retval The specified FIFO error flag index. - */ -#define __HAL_DMA_GET_FE_FLAG_INDEX(__HANDLE__)\ -(((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA1_Stream0))? DMA_FLAG_FEIF0_4 :\ - ((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA2_Stream0))? DMA_FLAG_FEIF0_4 :\ - ((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA1_Stream4))? DMA_FLAG_FEIF0_4 :\ - ((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA2_Stream4))? DMA_FLAG_FEIF0_4 :\ - ((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA1_Stream1))? DMA_FLAG_FEIF1_5 :\ - ((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA2_Stream1))? DMA_FLAG_FEIF1_5 :\ - ((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA1_Stream5))? DMA_FLAG_FEIF1_5 :\ - ((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA2_Stream5))? DMA_FLAG_FEIF1_5 :\ - ((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA1_Stream2))? DMA_FLAG_FEIF2_6 :\ - ((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA2_Stream2))? DMA_FLAG_FEIF2_6 :\ - ((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA1_Stream6))? DMA_FLAG_FEIF2_6 :\ - ((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA2_Stream6))? DMA_FLAG_FEIF2_6 :\ - DMA_FLAG_FEIF3_7) - -/** - * @brief Return the current DMA Stream direct mode error flag. - * @param __HANDLE__ DMA handle - * @retval The specified direct mode error flag index. - */ -#define __HAL_DMA_GET_DME_FLAG_INDEX(__HANDLE__)\ -(((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA1_Stream0))? DMA_FLAG_DMEIF0_4 :\ - ((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA2_Stream0))? DMA_FLAG_DMEIF0_4 :\ - ((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA1_Stream4))? DMA_FLAG_DMEIF0_4 :\ - ((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA2_Stream4))? DMA_FLAG_DMEIF0_4 :\ - ((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA1_Stream1))? DMA_FLAG_DMEIF1_5 :\ - ((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA2_Stream1))? DMA_FLAG_DMEIF1_5 :\ - ((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA1_Stream5))? DMA_FLAG_DMEIF1_5 :\ - ((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA2_Stream5))? DMA_FLAG_DMEIF1_5 :\ - ((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA1_Stream2))? DMA_FLAG_DMEIF2_6 :\ - ((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA2_Stream2))? DMA_FLAG_DMEIF2_6 :\ - ((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA1_Stream6))? DMA_FLAG_DMEIF2_6 :\ - ((uint32_t)((__HANDLE__)->Instance) == ((uint32_t)DMA2_Stream6))? DMA_FLAG_DMEIF2_6 :\ - DMA_FLAG_DMEIF3_7) - -/** - * @brief Get the DMA Stream pending flags. - * @param __HANDLE__ DMA handle - * @param __FLAG__ Get the specified flag. - * This parameter can be any combination of the following values: - * @arg DMA_FLAG_TCIFx: Transfer complete flag. - * @arg DMA_FLAG_HTIFx: Half transfer complete flag. - * @arg DMA_FLAG_TEIFx: Transfer error flag. - * @arg DMA_FLAG_DMEIFx: Direct mode error flag. - * @arg DMA_FLAG_FEIFx: FIFO error flag. - * Where x can be 0_4, 1_5, 2_6 or 3_7 to select the DMA Stream flag. - * @retval The state of FLAG (SET or RESET). - */ -#define __HAL_DMA_GET_FLAG(__HANDLE__, __FLAG__)\ -(((uint32_t)((__HANDLE__)->Instance) > (uint32_t)DMA2_Stream3)? (DMA2->HISR & (__FLAG__)) :\ - ((uint32_t)((__HANDLE__)->Instance) > (uint32_t)DMA1_Stream7)? (DMA2->LISR & (__FLAG__)) :\ - ((uint32_t)((__HANDLE__)->Instance) > (uint32_t)DMA1_Stream3)? (DMA1->HISR & (__FLAG__)) : (DMA1->LISR & (__FLAG__))) - -/** - * @brief Clear the DMA Stream pending flags. - * @param __HANDLE__ DMA handle - * @param __FLAG__ specifies the flag to clear. - * This parameter can be any combination of the following values: - * @arg DMA_FLAG_TCIFx: Transfer complete flag. - * @arg DMA_FLAG_HTIFx: Half transfer complete flag. - * @arg DMA_FLAG_TEIFx: Transfer error flag. - * @arg DMA_FLAG_DMEIFx: Direct mode error flag. - * @arg DMA_FLAG_FEIFx: FIFO error flag. - * Where x can be 0_4, 1_5, 2_6 or 3_7 to select the DMA Stream flag. - * @retval None - */ -#define __HAL_DMA_CLEAR_FLAG(__HANDLE__, __FLAG__) \ -(((uint32_t)((__HANDLE__)->Instance) > (uint32_t)DMA2_Stream3)? (DMA2->HIFCR = (__FLAG__)) :\ - ((uint32_t)((__HANDLE__)->Instance) > (uint32_t)DMA1_Stream7)? (DMA2->LIFCR = (__FLAG__)) :\ - ((uint32_t)((__HANDLE__)->Instance) > (uint32_t)DMA1_Stream3)? (DMA1->HIFCR = (__FLAG__)) : (DMA1->LIFCR = (__FLAG__))) - -/** - * @brief Enable the specified DMA Stream interrupts. - * @param __HANDLE__ DMA handle - * @param __INTERRUPT__ specifies the DMA interrupt sources to be enabled or disabled. - * This parameter can be any combination of the following values: - * @arg DMA_IT_TC: Transfer complete interrupt mask. - * @arg DMA_IT_HT: Half transfer complete interrupt mask. - * @arg DMA_IT_TE: Transfer error interrupt mask. - * @arg DMA_IT_FE: FIFO error interrupt mask. - * @arg DMA_IT_DME: Direct mode error interrupt. - * @retval None - */ -#define __HAL_DMA_ENABLE_IT(__HANDLE__, __INTERRUPT__) (((__INTERRUPT__) != DMA_IT_FE)? \ -((__HANDLE__)->Instance->CR |= (__INTERRUPT__)) : ((__HANDLE__)->Instance->FCR |= (__INTERRUPT__))) - -/** - * @brief Disable the specified DMA Stream interrupts. - * @param __HANDLE__ DMA handle - * @param __INTERRUPT__ specifies the DMA interrupt sources to be enabled or disabled. - * This parameter can be any combination of the following values: - * @arg DMA_IT_TC: Transfer complete interrupt mask. - * @arg DMA_IT_HT: Half transfer complete interrupt mask. - * @arg DMA_IT_TE: Transfer error interrupt mask. - * @arg DMA_IT_FE: FIFO error interrupt mask. - * @arg DMA_IT_DME: Direct mode error interrupt. - * @retval None - */ -#define __HAL_DMA_DISABLE_IT(__HANDLE__, __INTERRUPT__) (((__INTERRUPT__) != DMA_IT_FE)? \ -((__HANDLE__)->Instance->CR &= ~(__INTERRUPT__)) : ((__HANDLE__)->Instance->FCR &= ~(__INTERRUPT__))) - -/** - * @brief Check whether the specified DMA Stream interrupt is enabled or disabled. - * @param __HANDLE__ DMA handle - * @param __INTERRUPT__ specifies the DMA interrupt source to check. - * This parameter can be one of the following values: - * @arg DMA_IT_TC: Transfer complete interrupt mask. - * @arg DMA_IT_HT: Half transfer complete interrupt mask. - * @arg DMA_IT_TE: Transfer error interrupt mask. - * @arg DMA_IT_FE: FIFO error interrupt mask. - * @arg DMA_IT_DME: Direct mode error interrupt. - * @retval The state of DMA_IT. - */ -#define __HAL_DMA_GET_IT_SOURCE(__HANDLE__, __INTERRUPT__) (((__INTERRUPT__) != DMA_IT_FE)? \ - ((__HANDLE__)->Instance->CR & (__INTERRUPT__)) : \ - ((__HANDLE__)->Instance->FCR & (__INTERRUPT__))) - -/** - * @brief Writes the number of data units to be transferred on the DMA Stream. - * @param __HANDLE__ DMA handle - * @param __COUNTER__ Number of data units to be transferred (from 0 to 65535) - * Number of data items depends only on the Peripheral data format. - * - * @note If Peripheral data format is Bytes: number of data units is equal - * to total number of bytes to be transferred. - * - * @note If Peripheral data format is Half-Word: number of data units is - * equal to total number of bytes to be transferred / 2. - * - * @note If Peripheral data format is Word: number of data units is equal - * to total number of bytes to be transferred / 4. - * - * @retval The number of remaining data units in the current DMAy Streamx transfer. - */ -#define __HAL_DMA_SET_COUNTER(__HANDLE__, __COUNTER__) ((__HANDLE__)->Instance->NDTR = (uint16_t)(__COUNTER__)) - -/** - * @brief Returns the number of remaining data units in the current DMAy Streamx transfer. - * @param __HANDLE__ DMA handle - * - * @retval The number of remaining data units in the current DMA Stream transfer. - */ -#define __HAL_DMA_GET_COUNTER(__HANDLE__) ((__HANDLE__)->Instance->NDTR) - - -/* Include DMA HAL Extension module */ -#include "stm32f4xx_hal_dma_ex.h" - -/* Exported functions --------------------------------------------------------*/ - -/** @defgroup DMA_Exported_Functions DMA Exported Functions - * @brief DMA Exported functions - * @{ - */ - -/** @defgroup DMA_Exported_Functions_Group1 Initialization and de-initialization functions - * @brief Initialization and de-initialization functions - * @{ - */ -HAL_StatusTypeDef HAL_DMA_Init(DMA_HandleTypeDef *hdma); -HAL_StatusTypeDef HAL_DMA_DeInit(DMA_HandleTypeDef *hdma); -/** - * @} - */ - -/** @defgroup DMA_Exported_Functions_Group2 I/O operation functions - * @brief I/O operation functions - * @{ - */ -HAL_StatusTypeDef HAL_DMA_Start (DMA_HandleTypeDef *hdma, uint32_t SrcAddress, uint32_t DstAddress, uint32_t DataLength); -HAL_StatusTypeDef HAL_DMA_Start_IT(DMA_HandleTypeDef *hdma, uint32_t SrcAddress, uint32_t DstAddress, uint32_t DataLength); -HAL_StatusTypeDef HAL_DMA_Abort(DMA_HandleTypeDef *hdma); -HAL_StatusTypeDef HAL_DMA_Abort_IT(DMA_HandleTypeDef *hdma); -HAL_StatusTypeDef HAL_DMA_PollForTransfer(DMA_HandleTypeDef *hdma, HAL_DMA_LevelCompleteTypeDef CompleteLevel, uint32_t Timeout); -void HAL_DMA_IRQHandler(DMA_HandleTypeDef *hdma); -HAL_StatusTypeDef HAL_DMA_CleanCallbacks(DMA_HandleTypeDef *hdma); -HAL_StatusTypeDef HAL_DMA_RegisterCallback(DMA_HandleTypeDef *hdma, HAL_DMA_CallbackIDTypeDef CallbackID, void (* pCallback)(DMA_HandleTypeDef *_hdma)); -HAL_StatusTypeDef HAL_DMA_UnRegisterCallback(DMA_HandleTypeDef *hdma, HAL_DMA_CallbackIDTypeDef CallbackID); - -/** - * @} - */ - -/** @defgroup DMA_Exported_Functions_Group3 Peripheral State functions - * @brief Peripheral State functions - * @{ - */ -HAL_DMA_StateTypeDef HAL_DMA_GetState(DMA_HandleTypeDef *hdma); -uint32_t HAL_DMA_GetError(DMA_HandleTypeDef *hdma); -/** - * @} - */ -/** - * @} - */ -/* Private Constants -------------------------------------------------------------*/ -/** @defgroup DMA_Private_Constants DMA Private Constants - * @brief DMA private defines and constants - * @{ - */ -/** - * @} - */ - -/* Private macros ------------------------------------------------------------*/ -/** @defgroup DMA_Private_Macros DMA Private Macros - * @brief DMA private macros - * @{ - */ -#if defined (DMA_SxCR_CHSEL_3) -#define IS_DMA_CHANNEL(CHANNEL) (((CHANNEL) == DMA_CHANNEL_0) || \ - ((CHANNEL) == DMA_CHANNEL_1) || \ - ((CHANNEL) == DMA_CHANNEL_2) || \ - ((CHANNEL) == DMA_CHANNEL_3) || \ - ((CHANNEL) == DMA_CHANNEL_4) || \ - ((CHANNEL) == DMA_CHANNEL_5) || \ - ((CHANNEL) == DMA_CHANNEL_6) || \ - ((CHANNEL) == DMA_CHANNEL_7) || \ - ((CHANNEL) == DMA_CHANNEL_8) || \ - ((CHANNEL) == DMA_CHANNEL_9) || \ - ((CHANNEL) == DMA_CHANNEL_10)|| \ - ((CHANNEL) == DMA_CHANNEL_11)|| \ - ((CHANNEL) == DMA_CHANNEL_12)|| \ - ((CHANNEL) == DMA_CHANNEL_13)|| \ - ((CHANNEL) == DMA_CHANNEL_14)|| \ - ((CHANNEL) == DMA_CHANNEL_15)) -#else -#define IS_DMA_CHANNEL(CHANNEL) (((CHANNEL) == DMA_CHANNEL_0) || \ - ((CHANNEL) == DMA_CHANNEL_1) || \ - ((CHANNEL) == DMA_CHANNEL_2) || \ - ((CHANNEL) == DMA_CHANNEL_3) || \ - ((CHANNEL) == DMA_CHANNEL_4) || \ - ((CHANNEL) == DMA_CHANNEL_5) || \ - ((CHANNEL) == DMA_CHANNEL_6) || \ - ((CHANNEL) == DMA_CHANNEL_7)) -#endif /* DMA_SxCR_CHSEL_3 */ - -#define IS_DMA_DIRECTION(DIRECTION) (((DIRECTION) == DMA_PERIPH_TO_MEMORY ) || \ - ((DIRECTION) == DMA_MEMORY_TO_PERIPH) || \ - ((DIRECTION) == DMA_MEMORY_TO_MEMORY)) - -#define IS_DMA_BUFFER_SIZE(SIZE) (((SIZE) >= 0x01U) && ((SIZE) < 0x10000U)) - -#define IS_DMA_PERIPHERAL_INC_STATE(STATE) (((STATE) == DMA_PINC_ENABLE) || \ - ((STATE) == DMA_PINC_DISABLE)) - -#define IS_DMA_MEMORY_INC_STATE(STATE) (((STATE) == DMA_MINC_ENABLE) || \ - ((STATE) == DMA_MINC_DISABLE)) - -#define IS_DMA_PERIPHERAL_DATA_SIZE(SIZE) (((SIZE) == DMA_PDATAALIGN_BYTE) || \ - ((SIZE) == DMA_PDATAALIGN_HALFWORD) || \ - ((SIZE) == DMA_PDATAALIGN_WORD)) - -#define IS_DMA_MEMORY_DATA_SIZE(SIZE) (((SIZE) == DMA_MDATAALIGN_BYTE) || \ - ((SIZE) == DMA_MDATAALIGN_HALFWORD) || \ - ((SIZE) == DMA_MDATAALIGN_WORD )) - -#define IS_DMA_MODE(MODE) (((MODE) == DMA_NORMAL ) || \ - ((MODE) == DMA_CIRCULAR) || \ - ((MODE) == DMA_PFCTRL)) - -#define IS_DMA_PRIORITY(PRIORITY) (((PRIORITY) == DMA_PRIORITY_LOW ) || \ - ((PRIORITY) == DMA_PRIORITY_MEDIUM) || \ - ((PRIORITY) == DMA_PRIORITY_HIGH) || \ - ((PRIORITY) == DMA_PRIORITY_VERY_HIGH)) - -#define IS_DMA_FIFO_MODE_STATE(STATE) (((STATE) == DMA_FIFOMODE_DISABLE ) || \ - ((STATE) == DMA_FIFOMODE_ENABLE)) - -#define IS_DMA_FIFO_THRESHOLD(THRESHOLD) (((THRESHOLD) == DMA_FIFO_THRESHOLD_1QUARTERFULL ) || \ - ((THRESHOLD) == DMA_FIFO_THRESHOLD_HALFFULL) || \ - ((THRESHOLD) == DMA_FIFO_THRESHOLD_3QUARTERSFULL) || \ - ((THRESHOLD) == DMA_FIFO_THRESHOLD_FULL)) - -#define IS_DMA_MEMORY_BURST(BURST) (((BURST) == DMA_MBURST_SINGLE) || \ - ((BURST) == DMA_MBURST_INC4) || \ - ((BURST) == DMA_MBURST_INC8) || \ - ((BURST) == DMA_MBURST_INC16)) - -#define IS_DMA_PERIPHERAL_BURST(BURST) (((BURST) == DMA_PBURST_SINGLE) || \ - ((BURST) == DMA_PBURST_INC4) || \ - ((BURST) == DMA_PBURST_INC8) || \ - ((BURST) == DMA_PBURST_INC16)) -/** - * @} - */ - -/* Private functions ---------------------------------------------------------*/ -/** @defgroup DMA_Private_Functions DMA Private Functions - * @brief DMA private functions - * @{ - */ -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ - -#ifdef __cplusplus -} -#endif - -#endif /* __STM32F4xx_HAL_DMA_H */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma2d.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma2d.h deleted file mode 100644 index 158ed67d0e32c5..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma2d.h +++ /dev/null @@ -1,651 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_dma2d.h - * @author MCD Application Team - * @brief Header file of DMA2D HAL module. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef STM32F4xx_HAL_DMA2D_H -#define STM32F4xx_HAL_DMA2D_H - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal_def.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -#if defined (DMA2D) - -/** @addtogroup DMA2D DMA2D - * @brief DMA2D HAL module driver - * @{ - */ - -/* Exported types ------------------------------------------------------------*/ -/** @defgroup DMA2D_Exported_Types DMA2D Exported Types - * @{ - */ -#define MAX_DMA2D_LAYER 2U /*!< DMA2D maximum number of layers */ - -/** - * @brief DMA2D CLUT Structure definition - */ -typedef struct -{ - uint32_t *pCLUT; /*!< Configures the DMA2D CLUT memory address.*/ - - uint32_t CLUTColorMode; /*!< Configures the DMA2D CLUT color mode. - This parameter can be one value of @ref DMA2D_CLUT_CM. */ - - uint32_t Size; /*!< Configures the DMA2D CLUT size. - This parameter must be a number between Min_Data = 0x00 and Max_Data = 0xFF.*/ -} DMA2D_CLUTCfgTypeDef; - -/** - * @brief DMA2D Init structure definition - */ -typedef struct -{ - uint32_t Mode; /*!< Configures the DMA2D transfer mode. - This parameter can be one value of @ref DMA2D_Mode. */ - - uint32_t ColorMode; /*!< Configures the color format of the output image. - This parameter can be one value of @ref DMA2D_Output_Color_Mode. */ - - uint32_t OutputOffset; /*!< Specifies the Offset value. - This parameter must be a number between - Min_Data = 0x0000 and Max_Data = 0x3FFF. */ - - - - -} DMA2D_InitTypeDef; - - -/** - * @brief DMA2D Layer structure definition - */ -typedef struct -{ - uint32_t InputOffset; /*!< Configures the DMA2D foreground or background offset. - This parameter must be a number between - Min_Data = 0x0000 and Max_Data = 0x3FFF. */ - - uint32_t InputColorMode; /*!< Configures the DMA2D foreground or background color mode. - This parameter can be one value of @ref DMA2D_Input_Color_Mode. */ - - uint32_t AlphaMode; /*!< Configures the DMA2D foreground or background alpha mode. - This parameter can be one value of @ref DMA2D_Alpha_Mode. */ - - uint32_t InputAlpha; /*!< Specifies the DMA2D foreground or background alpha value and color value - in case of A8 or A4 color mode. - This parameter must be a number between Min_Data = 0x00 - and Max_Data = 0xFF except for the color modes detailed below. - @note In case of A8 or A4 color mode (ARGB), - this parameter must be a number between - Min_Data = 0x00000000 and Max_Data = 0xFFFFFFFF where - - InputAlpha[24:31] is the alpha value ALPHA[0:7] - - InputAlpha[16:23] is the red value RED[0:7] - - InputAlpha[8:15] is the green value GREEN[0:7] - - InputAlpha[0:7] is the blue value BLUE[0:7]. */ - - -} DMA2D_LayerCfgTypeDef; - -/** - * @brief HAL DMA2D State structures definition - */ -typedef enum -{ - HAL_DMA2D_STATE_RESET = 0x00U, /*!< DMA2D not yet initialized or disabled */ - HAL_DMA2D_STATE_READY = 0x01U, /*!< Peripheral Initialized and ready for use */ - HAL_DMA2D_STATE_BUSY = 0x02U, /*!< An internal process is ongoing */ - HAL_DMA2D_STATE_TIMEOUT = 0x03U, /*!< Timeout state */ - HAL_DMA2D_STATE_ERROR = 0x04U, /*!< DMA2D state error */ - HAL_DMA2D_STATE_SUSPEND = 0x05U /*!< DMA2D process is suspended */ -} HAL_DMA2D_StateTypeDef; - -/** - * @brief DMA2D handle Structure definition - */ -typedef struct __DMA2D_HandleTypeDef -{ - DMA2D_TypeDef *Instance; /*!< DMA2D register base address. */ - - DMA2D_InitTypeDef Init; /*!< DMA2D communication parameters. */ - - void (* XferCpltCallback)(struct __DMA2D_HandleTypeDef *hdma2d); /*!< DMA2D transfer complete callback. */ - - void (* XferErrorCallback)(struct __DMA2D_HandleTypeDef *hdma2d); /*!< DMA2D transfer error callback. */ - -#if (USE_HAL_DMA2D_REGISTER_CALLBACKS == 1) - void (* LineEventCallback)(struct __DMA2D_HandleTypeDef *hdma2d); /*!< DMA2D line event callback. */ - - void (* CLUTLoadingCpltCallback)(struct __DMA2D_HandleTypeDef *hdma2d); /*!< DMA2D CLUT loading completion callback */ - - void (* MspInitCallback)(struct __DMA2D_HandleTypeDef *hdma2d); /*!< DMA2D Msp Init callback. */ - - void (* MspDeInitCallback)(struct __DMA2D_HandleTypeDef *hdma2d); /*!< DMA2D Msp DeInit callback. */ - -#endif /* (USE_HAL_DMA2D_REGISTER_CALLBACKS) */ - - DMA2D_LayerCfgTypeDef LayerCfg[MAX_DMA2D_LAYER]; /*!< DMA2D Layers parameters */ - - HAL_LockTypeDef Lock; /*!< DMA2D lock. */ - - __IO HAL_DMA2D_StateTypeDef State; /*!< DMA2D transfer state. */ - - __IO uint32_t ErrorCode; /*!< DMA2D error code. */ -} DMA2D_HandleTypeDef; - -#if (USE_HAL_DMA2D_REGISTER_CALLBACKS == 1) -/** - * @brief HAL DMA2D Callback pointer definition - */ -typedef void (*pDMA2D_CallbackTypeDef)(DMA2D_HandleTypeDef *hdma2d); /*!< Pointer to a DMA2D common callback function */ -#endif /* USE_HAL_DMA2D_REGISTER_CALLBACKS */ -/** - * @} - */ - -/* Exported constants --------------------------------------------------------*/ -/** @defgroup DMA2D_Exported_Constants DMA2D Exported Constants - * @{ - */ - -/** @defgroup DMA2D_Error_Code DMA2D Error Code - * @{ - */ -#define HAL_DMA2D_ERROR_NONE 0x00000000U /*!< No error */ -#define HAL_DMA2D_ERROR_TE 0x00000001U /*!< Transfer error */ -#define HAL_DMA2D_ERROR_CE 0x00000002U /*!< Configuration error */ -#define HAL_DMA2D_ERROR_CAE 0x00000004U /*!< CLUT access error */ -#define HAL_DMA2D_ERROR_TIMEOUT 0x00000020U /*!< Timeout error */ -#if (USE_HAL_DMA2D_REGISTER_CALLBACKS == 1) -#define HAL_DMA2D_ERROR_INVALID_CALLBACK 0x00000040U /*!< Invalid callback error */ -#endif /* USE_HAL_UART_REGISTER_CALLBACKS */ - -/** - * @} - */ - -/** @defgroup DMA2D_Mode DMA2D Mode - * @{ - */ -#define DMA2D_M2M 0x00000000U /*!< DMA2D memory to memory transfer mode */ -#define DMA2D_M2M_PFC DMA2D_CR_MODE_0 /*!< DMA2D memory to memory with pixel format conversion transfer mode */ -#define DMA2D_M2M_BLEND DMA2D_CR_MODE_1 /*!< DMA2D memory to memory with blending transfer mode */ -#define DMA2D_R2M DMA2D_CR_MODE /*!< DMA2D register to memory transfer mode */ -/** - * @} - */ - -/** @defgroup DMA2D_Output_Color_Mode DMA2D Output Color Mode - * @{ - */ -#define DMA2D_OUTPUT_ARGB8888 0x00000000U /*!< ARGB8888 DMA2D color mode */ -#define DMA2D_OUTPUT_RGB888 DMA2D_OPFCCR_CM_0 /*!< RGB888 DMA2D color mode */ -#define DMA2D_OUTPUT_RGB565 DMA2D_OPFCCR_CM_1 /*!< RGB565 DMA2D color mode */ -#define DMA2D_OUTPUT_ARGB1555 (DMA2D_OPFCCR_CM_0|DMA2D_OPFCCR_CM_1) /*!< ARGB1555 DMA2D color mode */ -#define DMA2D_OUTPUT_ARGB4444 DMA2D_OPFCCR_CM_2 /*!< ARGB4444 DMA2D color mode */ -/** - * @} - */ - -/** @defgroup DMA2D_Input_Color_Mode DMA2D Input Color Mode - * @{ - */ -#define DMA2D_INPUT_ARGB8888 0x00000000U /*!< ARGB8888 color mode */ -#define DMA2D_INPUT_RGB888 0x00000001U /*!< RGB888 color mode */ -#define DMA2D_INPUT_RGB565 0x00000002U /*!< RGB565 color mode */ -#define DMA2D_INPUT_ARGB1555 0x00000003U /*!< ARGB1555 color mode */ -#define DMA2D_INPUT_ARGB4444 0x00000004U /*!< ARGB4444 color mode */ -#define DMA2D_INPUT_L8 0x00000005U /*!< L8 color mode */ -#define DMA2D_INPUT_AL44 0x00000006U /*!< AL44 color mode */ -#define DMA2D_INPUT_AL88 0x00000007U /*!< AL88 color mode */ -#define DMA2D_INPUT_L4 0x00000008U /*!< L4 color mode */ -#define DMA2D_INPUT_A8 0x00000009U /*!< A8 color mode */ -#define DMA2D_INPUT_A4 0x0000000AU /*!< A4 color mode */ -/** - * @} - */ - -/** @defgroup DMA2D_Alpha_Mode DMA2D Alpha Mode - * @{ - */ -#define DMA2D_NO_MODIF_ALPHA 0x00000000U /*!< No modification of the alpha channel value */ -#define DMA2D_REPLACE_ALPHA 0x00000001U /*!< Replace original alpha channel value by programmed alpha value */ -#define DMA2D_COMBINE_ALPHA 0x00000002U /*!< Replace original alpha channel value by programmed alpha value - with original alpha channel value */ -/** - * @} - */ - - - - - - -/** @defgroup DMA2D_CLUT_CM DMA2D CLUT Color Mode - * @{ - */ -#define DMA2D_CCM_ARGB8888 0x00000000U /*!< ARGB8888 DMA2D CLUT color mode */ -#define DMA2D_CCM_RGB888 0x00000001U /*!< RGB888 DMA2D CLUT color mode */ -/** - * @} - */ - -/** @defgroup DMA2D_Interrupts DMA2D Interrupts - * @{ - */ -#define DMA2D_IT_CE DMA2D_CR_CEIE /*!< Configuration Error Interrupt */ -#define DMA2D_IT_CTC DMA2D_CR_CTCIE /*!< CLUT Transfer Complete Interrupt */ -#define DMA2D_IT_CAE DMA2D_CR_CAEIE /*!< CLUT Access Error Interrupt */ -#define DMA2D_IT_TW DMA2D_CR_TWIE /*!< Transfer Watermark Interrupt */ -#define DMA2D_IT_TC DMA2D_CR_TCIE /*!< Transfer Complete Interrupt */ -#define DMA2D_IT_TE DMA2D_CR_TEIE /*!< Transfer Error Interrupt */ -/** - * @} - */ - -/** @defgroup DMA2D_Flags DMA2D Flags - * @{ - */ -#define DMA2D_FLAG_CE DMA2D_ISR_CEIF /*!< Configuration Error Interrupt Flag */ -#define DMA2D_FLAG_CTC DMA2D_ISR_CTCIF /*!< CLUT Transfer Complete Interrupt Flag */ -#define DMA2D_FLAG_CAE DMA2D_ISR_CAEIF /*!< CLUT Access Error Interrupt Flag */ -#define DMA2D_FLAG_TW DMA2D_ISR_TWIF /*!< Transfer Watermark Interrupt Flag */ -#define DMA2D_FLAG_TC DMA2D_ISR_TCIF /*!< Transfer Complete Interrupt Flag */ -#define DMA2D_FLAG_TE DMA2D_ISR_TEIF /*!< Transfer Error Interrupt Flag */ -/** - * @} - */ - -/** @defgroup DMA2D_Aliases DMA2D API Aliases - * @{ - */ -#define HAL_DMA2D_DisableCLUT HAL_DMA2D_CLUTLoading_Abort /*!< Aliased to HAL_DMA2D_CLUTLoading_Abort - for compatibility with legacy code */ -/** - * @} - */ - -#if (USE_HAL_DMA2D_REGISTER_CALLBACKS == 1) -/** - * @brief HAL DMA2D common Callback ID enumeration definition - */ -typedef enum -{ - HAL_DMA2D_MSPINIT_CB_ID = 0x00U, /*!< DMA2D MspInit callback ID */ - HAL_DMA2D_MSPDEINIT_CB_ID = 0x01U, /*!< DMA2D MspDeInit callback ID */ - HAL_DMA2D_TRANSFERCOMPLETE_CB_ID = 0x02U, /*!< DMA2D transfer complete callback ID */ - HAL_DMA2D_TRANSFERERROR_CB_ID = 0x03U, /*!< DMA2D transfer error callback ID */ - HAL_DMA2D_LINEEVENT_CB_ID = 0x04U, /*!< DMA2D line event callback ID */ - HAL_DMA2D_CLUTLOADINGCPLT_CB_ID = 0x05U, /*!< DMA2D CLUT loading completion callback ID */ -} HAL_DMA2D_CallbackIDTypeDef; -#endif /* USE_HAL_DMA2D_REGISTER_CALLBACKS */ - - -/** - * @} - */ -/* Exported macros ------------------------------------------------------------*/ -/** @defgroup DMA2D_Exported_Macros DMA2D Exported Macros - * @{ - */ - -/** @brief Reset DMA2D handle state - * @param __HANDLE__ specifies the DMA2D handle. - * @retval None - */ -#if (USE_HAL_DMA2D_REGISTER_CALLBACKS == 1) -#define __HAL_DMA2D_RESET_HANDLE_STATE(__HANDLE__) do{ \ - (__HANDLE__)->State = HAL_DMA2D_STATE_RESET;\ - (__HANDLE__)->MspInitCallback = NULL; \ - (__HANDLE__)->MspDeInitCallback = NULL; \ - }while(0) -#else -#define __HAL_DMA2D_RESET_HANDLE_STATE(__HANDLE__) ((__HANDLE__)->State = HAL_DMA2D_STATE_RESET) -#endif /* USE_HAL_DMA2D_REGISTER_CALLBACKS */ - - -/** - * @brief Enable the DMA2D. - * @param __HANDLE__ DMA2D handle - * @retval None. - */ -#define __HAL_DMA2D_ENABLE(__HANDLE__) ((__HANDLE__)->Instance->CR |= DMA2D_CR_START) - - -/* Interrupt & Flag management */ -/** - * @brief Get the DMA2D pending flags. - * @param __HANDLE__ DMA2D handle - * @param __FLAG__ flag to check. - * This parameter can be any combination of the following values: - * @arg DMA2D_FLAG_CE: Configuration error flag - * @arg DMA2D_FLAG_CTC: CLUT transfer complete flag - * @arg DMA2D_FLAG_CAE: CLUT access error flag - * @arg DMA2D_FLAG_TW: Transfer Watermark flag - * @arg DMA2D_FLAG_TC: Transfer complete flag - * @arg DMA2D_FLAG_TE: Transfer error flag - * @retval The state of FLAG. - */ -#define __HAL_DMA2D_GET_FLAG(__HANDLE__, __FLAG__) ((__HANDLE__)->Instance->ISR & (__FLAG__)) - -/** - * @brief Clear the DMA2D pending flags. - * @param __HANDLE__ DMA2D handle - * @param __FLAG__ specifies the flag to clear. - * This parameter can be any combination of the following values: - * @arg DMA2D_FLAG_CE: Configuration error flag - * @arg DMA2D_FLAG_CTC: CLUT transfer complete flag - * @arg DMA2D_FLAG_CAE: CLUT access error flag - * @arg DMA2D_FLAG_TW: Transfer Watermark flag - * @arg DMA2D_FLAG_TC: Transfer complete flag - * @arg DMA2D_FLAG_TE: Transfer error flag - * @retval None - */ -#define __HAL_DMA2D_CLEAR_FLAG(__HANDLE__, __FLAG__) ((__HANDLE__)->Instance->IFCR = (__FLAG__)) - -/** - * @brief Enable the specified DMA2D interrupts. - * @param __HANDLE__ DMA2D handle - * @param __INTERRUPT__ specifies the DMA2D interrupt sources to be enabled. - * This parameter can be any combination of the following values: - * @arg DMA2D_IT_CE: Configuration error interrupt mask - * @arg DMA2D_IT_CTC: CLUT transfer complete interrupt mask - * @arg DMA2D_IT_CAE: CLUT access error interrupt mask - * @arg DMA2D_IT_TW: Transfer Watermark interrupt mask - * @arg DMA2D_IT_TC: Transfer complete interrupt mask - * @arg DMA2D_IT_TE: Transfer error interrupt mask - * @retval None - */ -#define __HAL_DMA2D_ENABLE_IT(__HANDLE__, __INTERRUPT__) ((__HANDLE__)->Instance->CR |= (__INTERRUPT__)) - -/** - * @brief Disable the specified DMA2D interrupts. - * @param __HANDLE__ DMA2D handle - * @param __INTERRUPT__ specifies the DMA2D interrupt sources to be disabled. - * This parameter can be any combination of the following values: - * @arg DMA2D_IT_CE: Configuration error interrupt mask - * @arg DMA2D_IT_CTC: CLUT transfer complete interrupt mask - * @arg DMA2D_IT_CAE: CLUT access error interrupt mask - * @arg DMA2D_IT_TW: Transfer Watermark interrupt mask - * @arg DMA2D_IT_TC: Transfer complete interrupt mask - * @arg DMA2D_IT_TE: Transfer error interrupt mask - * @retval None - */ -#define __HAL_DMA2D_DISABLE_IT(__HANDLE__, __INTERRUPT__) ((__HANDLE__)->Instance->CR &= ~(__INTERRUPT__)) - -/** - * @brief Check whether the specified DMA2D interrupt source is enabled or not. - * @param __HANDLE__ DMA2D handle - * @param __INTERRUPT__ specifies the DMA2D interrupt source to check. - * This parameter can be one of the following values: - * @arg DMA2D_IT_CE: Configuration error interrupt mask - * @arg DMA2D_IT_CTC: CLUT transfer complete interrupt mask - * @arg DMA2D_IT_CAE: CLUT access error interrupt mask - * @arg DMA2D_IT_TW: Transfer Watermark interrupt mask - * @arg DMA2D_IT_TC: Transfer complete interrupt mask - * @arg DMA2D_IT_TE: Transfer error interrupt mask - * @retval The state of INTERRUPT source. - */ -#define __HAL_DMA2D_GET_IT_SOURCE(__HANDLE__, __INTERRUPT__) ((__HANDLE__)->Instance->CR & (__INTERRUPT__)) - -/** - * @} - */ - -/* Exported functions --------------------------------------------------------*/ -/** @addtogroup DMA2D_Exported_Functions DMA2D Exported Functions - * @{ - */ - -/** @addtogroup DMA2D_Exported_Functions_Group1 Initialization and de-initialization functions - * @{ - */ - -/* Initialization and de-initialization functions *******************************/ -HAL_StatusTypeDef HAL_DMA2D_Init(DMA2D_HandleTypeDef *hdma2d); -HAL_StatusTypeDef HAL_DMA2D_DeInit(DMA2D_HandleTypeDef *hdma2d); -void HAL_DMA2D_MspInit(DMA2D_HandleTypeDef *hdma2d); -void HAL_DMA2D_MspDeInit(DMA2D_HandleTypeDef *hdma2d); -/* Callbacks Register/UnRegister functions ***********************************/ -#if (USE_HAL_DMA2D_REGISTER_CALLBACKS == 1) -HAL_StatusTypeDef HAL_DMA2D_RegisterCallback(DMA2D_HandleTypeDef *hdma2d, HAL_DMA2D_CallbackIDTypeDef CallbackID, - pDMA2D_CallbackTypeDef pCallback); -HAL_StatusTypeDef HAL_DMA2D_UnRegisterCallback(DMA2D_HandleTypeDef *hdma2d, HAL_DMA2D_CallbackIDTypeDef CallbackID); -#endif /* USE_HAL_DMA2D_REGISTER_CALLBACKS */ - -/** - * @} - */ - - -/** @addtogroup DMA2D_Exported_Functions_Group2 IO operation functions - * @{ - */ - -/* IO operation functions *******************************************************/ -HAL_StatusTypeDef HAL_DMA2D_Start(DMA2D_HandleTypeDef *hdma2d, uint32_t pdata, uint32_t DstAddress, uint32_t Width, - uint32_t Height); -HAL_StatusTypeDef HAL_DMA2D_BlendingStart(DMA2D_HandleTypeDef *hdma2d, uint32_t SrcAddress1, uint32_t SrcAddress2, - uint32_t DstAddress, uint32_t Width, uint32_t Height); -HAL_StatusTypeDef HAL_DMA2D_Start_IT(DMA2D_HandleTypeDef *hdma2d, uint32_t pdata, uint32_t DstAddress, uint32_t Width, - uint32_t Height); -HAL_StatusTypeDef HAL_DMA2D_BlendingStart_IT(DMA2D_HandleTypeDef *hdma2d, uint32_t SrcAddress1, uint32_t SrcAddress2, - uint32_t DstAddress, uint32_t Width, uint32_t Height); -HAL_StatusTypeDef HAL_DMA2D_Suspend(DMA2D_HandleTypeDef *hdma2d); -HAL_StatusTypeDef HAL_DMA2D_Resume(DMA2D_HandleTypeDef *hdma2d); -HAL_StatusTypeDef HAL_DMA2D_Abort(DMA2D_HandleTypeDef *hdma2d); -HAL_StatusTypeDef HAL_DMA2D_EnableCLUT(DMA2D_HandleTypeDef *hdma2d, uint32_t LayerIdx); -HAL_StatusTypeDef HAL_DMA2D_CLUTStartLoad(DMA2D_HandleTypeDef *hdma2d, DMA2D_CLUTCfgTypeDef *CLUTCfg, - uint32_t LayerIdx); -HAL_StatusTypeDef HAL_DMA2D_CLUTStartLoad_IT(DMA2D_HandleTypeDef *hdma2d, DMA2D_CLUTCfgTypeDef *CLUTCfg, - uint32_t LayerIdx); -HAL_StatusTypeDef HAL_DMA2D_CLUTLoad(DMA2D_HandleTypeDef *hdma2d, DMA2D_CLUTCfgTypeDef CLUTCfg, uint32_t LayerIdx); -HAL_StatusTypeDef HAL_DMA2D_CLUTLoad_IT(DMA2D_HandleTypeDef *hdma2d, DMA2D_CLUTCfgTypeDef CLUTCfg, uint32_t LayerIdx); -HAL_StatusTypeDef HAL_DMA2D_CLUTLoading_Abort(DMA2D_HandleTypeDef *hdma2d, uint32_t LayerIdx); -HAL_StatusTypeDef HAL_DMA2D_CLUTLoading_Suspend(DMA2D_HandleTypeDef *hdma2d, uint32_t LayerIdx); -HAL_StatusTypeDef HAL_DMA2D_CLUTLoading_Resume(DMA2D_HandleTypeDef *hdma2d, uint32_t LayerIdx); -HAL_StatusTypeDef HAL_DMA2D_PollForTransfer(DMA2D_HandleTypeDef *hdma2d, uint32_t Timeout); -void HAL_DMA2D_IRQHandler(DMA2D_HandleTypeDef *hdma2d); -void HAL_DMA2D_LineEventCallback(DMA2D_HandleTypeDef *hdma2d); -void HAL_DMA2D_CLUTLoadingCpltCallback(DMA2D_HandleTypeDef *hdma2d); - -/** - * @} - */ - -/** @addtogroup DMA2D_Exported_Functions_Group3 Peripheral Control functions - * @{ - */ - -/* Peripheral Control functions *************************************************/ -HAL_StatusTypeDef HAL_DMA2D_ConfigLayer(DMA2D_HandleTypeDef *hdma2d, uint32_t LayerIdx); -HAL_StatusTypeDef HAL_DMA2D_ConfigCLUT(DMA2D_HandleTypeDef *hdma2d, DMA2D_CLUTCfgTypeDef CLUTCfg, uint32_t LayerIdx); -HAL_StatusTypeDef HAL_DMA2D_ProgramLineEvent(DMA2D_HandleTypeDef *hdma2d, uint32_t Line); -HAL_StatusTypeDef HAL_DMA2D_EnableDeadTime(DMA2D_HandleTypeDef *hdma2d); -HAL_StatusTypeDef HAL_DMA2D_DisableDeadTime(DMA2D_HandleTypeDef *hdma2d); -HAL_StatusTypeDef HAL_DMA2D_ConfigDeadTime(DMA2D_HandleTypeDef *hdma2d, uint8_t DeadTime); - -/** - * @} - */ - -/** @addtogroup DMA2D_Exported_Functions_Group4 Peripheral State and Error functions - * @{ - */ - -/* Peripheral State functions ***************************************************/ -HAL_DMA2D_StateTypeDef HAL_DMA2D_GetState(DMA2D_HandleTypeDef *hdma2d); -uint32_t HAL_DMA2D_GetError(DMA2D_HandleTypeDef *hdma2d); - -/** - * @} - */ - -/** - * @} - */ - -/* Private constants ---------------------------------------------------------*/ - -/** @addtogroup DMA2D_Private_Constants DMA2D Private Constants - * @{ - */ - -/** @defgroup DMA2D_Maximum_Line_WaterMark DMA2D Maximum Line Watermark - * @{ - */ -#define DMA2D_LINE_WATERMARK_MAX DMA2D_LWR_LW /*!< DMA2D maximum line watermark */ -/** - * @} - */ - -/** @defgroup DMA2D_Color_Value DMA2D Color Value - * @{ - */ -#define DMA2D_COLOR_VALUE 0x000000FFU /*!< Color value mask */ -/** - * @} - */ - -/** @defgroup DMA2D_Max_Layer DMA2D Maximum Number of Layers - * @{ - */ -#define DMA2D_MAX_LAYER 2U /*!< DMA2D maximum number of layers */ -/** - * @} - */ - -/** @defgroup DMA2D_Layers DMA2D Layers - * @{ - */ -#define DMA2D_BACKGROUND_LAYER 0x00000000U /*!< DMA2D Background Layer (layer 0) */ -#define DMA2D_FOREGROUND_LAYER 0x00000001U /*!< DMA2D Foreground Layer (layer 1) */ -/** - * @} - */ - -/** @defgroup DMA2D_Offset DMA2D Offset - * @{ - */ -#define DMA2D_OFFSET DMA2D_FGOR_LO /*!< maximum Line Offset */ -/** - * @} - */ - -/** @defgroup DMA2D_Size DMA2D Size - * @{ - */ -#define DMA2D_PIXEL (DMA2D_NLR_PL >> 16U) /*!< DMA2D maximum number of pixels per line */ -#define DMA2D_LINE DMA2D_NLR_NL /*!< DMA2D maximum number of lines */ -/** - * @} - */ - -/** @defgroup DMA2D_CLUT_Size DMA2D CLUT Size - * @{ - */ -#define DMA2D_CLUT_SIZE (DMA2D_FGPFCCR_CS >> 8U) /*!< DMA2D maximum CLUT size */ -/** - * @} - */ - -/** - * @} - */ - - -/* Private macros ------------------------------------------------------------*/ -/** @defgroup DMA2D_Private_Macros DMA2D Private Macros - * @{ - */ -#define IS_DMA2D_LAYER(LAYER) (((LAYER) == DMA2D_BACKGROUND_LAYER)\ - || ((LAYER) == DMA2D_FOREGROUND_LAYER)) - -#define IS_DMA2D_MODE(MODE) (((MODE) == DMA2D_M2M) || ((MODE) == DMA2D_M2M_PFC) || \ - ((MODE) == DMA2D_M2M_BLEND) || ((MODE) == DMA2D_R2M)) - -#define IS_DMA2D_CMODE(MODE_ARGB) (((MODE_ARGB) == DMA2D_OUTPUT_ARGB8888) || \ - ((MODE_ARGB) == DMA2D_OUTPUT_RGB888) || \ - ((MODE_ARGB) == DMA2D_OUTPUT_RGB565) || \ - ((MODE_ARGB) == DMA2D_OUTPUT_ARGB1555) || \ - ((MODE_ARGB) == DMA2D_OUTPUT_ARGB4444)) - -#define IS_DMA2D_COLOR(COLOR) ((COLOR) <= DMA2D_COLOR_VALUE) -#define IS_DMA2D_LINE(LINE) ((LINE) <= DMA2D_LINE) -#define IS_DMA2D_PIXEL(PIXEL) ((PIXEL) <= DMA2D_PIXEL) -#define IS_DMA2D_OFFSET(OOFFSET) ((OOFFSET) <= DMA2D_OFFSET) - -#define IS_DMA2D_INPUT_COLOR_MODE(INPUT_CM) (((INPUT_CM) == DMA2D_INPUT_ARGB8888) || \ - ((INPUT_CM) == DMA2D_INPUT_RGB888) || \ - ((INPUT_CM) == DMA2D_INPUT_RGB565) || \ - ((INPUT_CM) == DMA2D_INPUT_ARGB1555) || \ - ((INPUT_CM) == DMA2D_INPUT_ARGB4444) || \ - ((INPUT_CM) == DMA2D_INPUT_L8) || \ - ((INPUT_CM) == DMA2D_INPUT_AL44) || \ - ((INPUT_CM) == DMA2D_INPUT_AL88) || \ - ((INPUT_CM) == DMA2D_INPUT_L4) || \ - ((INPUT_CM) == DMA2D_INPUT_A8) || \ - ((INPUT_CM) == DMA2D_INPUT_A4)) - -#define IS_DMA2D_ALPHA_MODE(AlphaMode) (((AlphaMode) == DMA2D_NO_MODIF_ALPHA) || \ - ((AlphaMode) == DMA2D_REPLACE_ALPHA) || \ - ((AlphaMode) == DMA2D_COMBINE_ALPHA)) - - - - - -#define IS_DMA2D_CLUT_CM(CLUT_CM) (((CLUT_CM) == DMA2D_CCM_ARGB8888) || ((CLUT_CM) == DMA2D_CCM_RGB888)) -#define IS_DMA2D_CLUT_SIZE(CLUT_SIZE) ((CLUT_SIZE) <= DMA2D_CLUT_SIZE) -#define IS_DMA2D_LINEWATERMARK(LineWatermark) ((LineWatermark) <= DMA2D_LINE_WATERMARK_MAX) -#define IS_DMA2D_IT(IT) (((IT) == DMA2D_IT_CTC) || ((IT) == DMA2D_IT_CAE) || \ - ((IT) == DMA2D_IT_TW) || ((IT) == DMA2D_IT_TC) || \ - ((IT) == DMA2D_IT_TE) || ((IT) == DMA2D_IT_CE)) -#define IS_DMA2D_GET_FLAG(FLAG) (((FLAG) == DMA2D_FLAG_CTC) || ((FLAG) == DMA2D_FLAG_CAE) || \ - ((FLAG) == DMA2D_FLAG_TW) || ((FLAG) == DMA2D_FLAG_TC) || \ - ((FLAG) == DMA2D_FLAG_TE) || ((FLAG) == DMA2D_FLAG_CE)) -/** - * @} - */ - -/** - * @} - */ - -#endif /* defined (DMA2D) */ - -/** - * @} - */ - -#ifdef __cplusplus -} -#endif - -#endif /* STM32F4xx_HAL_DMA2D_H */ - - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h deleted file mode 100644 index 2e60aff2ffe6bf..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dma_ex.h +++ /dev/null @@ -1,104 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_dma_ex.h - * @author MCD Application Team - * @brief Header file of DMA HAL extension module. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef __STM32F4xx_HAL_DMA_EX_H -#define __STM32F4xx_HAL_DMA_EX_H - -#ifdef __cplusplus - extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal_def.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @addtogroup DMAEx - * @{ - */ - -/* Exported types ------------------------------------------------------------*/ -/** @defgroup DMAEx_Exported_Types DMAEx Exported Types - * @brief DMAEx Exported types - * @{ - */ - -/** - * @brief HAL DMA Memory definition - */ -typedef enum -{ - MEMORY0 = 0x00U, /*!< Memory 0 */ - MEMORY1 = 0x01U /*!< Memory 1 */ -}HAL_DMA_MemoryTypeDef; - -/** - * @} - */ - -/* Exported functions --------------------------------------------------------*/ -/** @defgroup DMAEx_Exported_Functions DMAEx Exported Functions - * @brief DMAEx Exported functions - * @{ - */ - -/** @defgroup DMAEx_Exported_Functions_Group1 Extended features functions - * @brief Extended features functions - * @{ - */ - -/* IO operation functions *******************************************************/ -HAL_StatusTypeDef HAL_DMAEx_MultiBufferStart(DMA_HandleTypeDef *hdma, uint32_t SrcAddress, uint32_t DstAddress, uint32_t SecondMemAddress, uint32_t DataLength); -HAL_StatusTypeDef HAL_DMAEx_MultiBufferStart_IT(DMA_HandleTypeDef *hdma, uint32_t SrcAddress, uint32_t DstAddress, uint32_t SecondMemAddress, uint32_t DataLength); -HAL_StatusTypeDef HAL_DMAEx_ChangeMemory(DMA_HandleTypeDef *hdma, uint32_t Address, HAL_DMA_MemoryTypeDef memory); - -/** - * @} - */ -/** - * @} - */ - -/* Private functions ---------------------------------------------------------*/ -/** @defgroup DMAEx_Private_Functions DMAEx Private Functions - * @brief DMAEx Private functions - * @{ - */ -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ - -#ifdef __cplusplus -} -#endif - -#endif /*__STM32F4xx_HAL_DMA_EX_H*/ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dsi.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dsi.h deleted file mode 100644 index 716dea17dafc2e..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_dsi.h +++ /dev/null @@ -1,1353 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_dsi.h - * @author MCD Application Team - * @brief Header file of DSI HAL module. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef STM32F4xx_HAL_DSI_H -#define STM32F4xx_HAL_DSI_H - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal_def.h" - -#if defined(DSI) - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @defgroup DSI DSI - * @brief DSI HAL module driver - * @{ - */ - -/* Exported types ------------------------------------------------------------*/ -/** - * @brief DSI Init Structure definition - */ -typedef struct -{ - uint32_t AutomaticClockLaneControl; /*!< Automatic clock lane control - This parameter can be any value of @ref DSI_Automatic_Clk_Lane_Control */ - - uint32_t TXEscapeCkdiv; /*!< TX Escape clock division - The values 0 and 1 stop the TX_ESC clock generation */ - - uint32_t NumberOfLanes; /*!< Number of lanes - This parameter can be any value of @ref DSI_Number_Of_Lanes */ - -} DSI_InitTypeDef; - -/** - * @brief DSI PLL Clock structure definition - */ -typedef struct -{ - uint32_t PLLNDIV; /*!< PLL Loop Division Factor - This parameter must be a value between 10 and 125 */ - - uint32_t PLLIDF; /*!< PLL Input Division Factor - This parameter can be any value of @ref DSI_PLL_IDF */ - - uint32_t PLLODF; /*!< PLL Output Division Factor - This parameter can be any value of @ref DSI_PLL_ODF */ - -} DSI_PLLInitTypeDef; - -/** - * @brief DSI Video mode configuration - */ -typedef struct -{ - uint32_t VirtualChannelID; /*!< Virtual channel ID */ - - uint32_t ColorCoding; /*!< Color coding for LTDC interface - This parameter can be any value of @ref DSI_Color_Coding */ - - uint32_t LooselyPacked; /*!< Enable or disable loosely packed stream (needed only when using - 18-bit configuration). - This parameter can be any value of @ref DSI_LooselyPacked */ - - uint32_t Mode; /*!< Video mode type - This parameter can be any value of @ref DSI_Video_Mode_Type */ - - uint32_t PacketSize; /*!< Video packet size */ - - uint32_t NumberOfChunks; /*!< Number of chunks */ - - uint32_t NullPacketSize; /*!< Null packet size */ - - uint32_t HSPolarity; /*!< HSYNC pin polarity - This parameter can be any value of @ref DSI_HSYNC_Polarity */ - - uint32_t VSPolarity; /*!< VSYNC pin polarity - This parameter can be any value of @ref DSI_VSYNC_Active_Polarity */ - - uint32_t DEPolarity; /*!< Data Enable pin polarity - This parameter can be any value of @ref DSI_DATA_ENABLE_Polarity */ - - uint32_t HorizontalSyncActive; /*!< Horizontal synchronism active duration (in lane byte clock cycles) */ - - uint32_t HorizontalBackPorch; /*!< Horizontal back-porch duration (in lane byte clock cycles) */ - - uint32_t HorizontalLine; /*!< Horizontal line duration (in lane byte clock cycles) */ - - uint32_t VerticalSyncActive; /*!< Vertical synchronism active duration */ - - uint32_t VerticalBackPorch; /*!< Vertical back-porch duration */ - - uint32_t VerticalFrontPorch; /*!< Vertical front-porch duration */ - - uint32_t VerticalActive; /*!< Vertical active duration */ - - uint32_t LPCommandEnable; /*!< Low-power command enable - This parameter can be any value of @ref DSI_LP_Command */ - - uint32_t LPLargestPacketSize; /*!< The size, in bytes, of the low power largest packet that - can fit in a line during VSA, VBP and VFP regions */ - - uint32_t LPVACTLargestPacketSize; /*!< The size, in bytes, of the low power largest packet that - can fit in a line during VACT region */ - - uint32_t LPHorizontalFrontPorchEnable; /*!< Low-power horizontal front-porch enable - This parameter can be any value of @ref DSI_LP_HFP */ - - uint32_t LPHorizontalBackPorchEnable; /*!< Low-power horizontal back-porch enable - This parameter can be any value of @ref DSI_LP_HBP */ - - uint32_t LPVerticalActiveEnable; /*!< Low-power vertical active enable - This parameter can be any value of @ref DSI_LP_VACT */ - - uint32_t LPVerticalFrontPorchEnable; /*!< Low-power vertical front-porch enable - This parameter can be any value of @ref DSI_LP_VFP */ - - uint32_t LPVerticalBackPorchEnable; /*!< Low-power vertical back-porch enable - This parameter can be any value of @ref DSI_LP_VBP */ - - uint32_t LPVerticalSyncActiveEnable; /*!< Low-power vertical sync active enable - This parameter can be any value of @ref DSI_LP_VSYNC */ - - uint32_t FrameBTAAcknowledgeEnable; /*!< Frame bus-turn-around acknowledge enable - This parameter can be any value of @ref DSI_FBTA_acknowledge */ - -} DSI_VidCfgTypeDef; - -/** - * @brief DSI Adapted command mode configuration - */ -typedef struct -{ - uint32_t VirtualChannelID; /*!< Virtual channel ID */ - - uint32_t ColorCoding; /*!< Color coding for LTDC interface - This parameter can be any value of @ref DSI_Color_Coding */ - - uint32_t CommandSize; /*!< Maximum allowed size for an LTDC write memory command, measured in - pixels. This parameter can be any value between 0x00 and 0xFFFFU */ - - uint32_t TearingEffectSource; /*!< Tearing effect source - This parameter can be any value of @ref DSI_TearingEffectSource */ - - uint32_t TearingEffectPolarity; /*!< Tearing effect pin polarity - This parameter can be any value of @ref DSI_TearingEffectPolarity */ - - uint32_t HSPolarity; /*!< HSYNC pin polarity - This parameter can be any value of @ref DSI_HSYNC_Polarity */ - - uint32_t VSPolarity; /*!< VSYNC pin polarity - This parameter can be any value of @ref DSI_VSYNC_Active_Polarity */ - - uint32_t DEPolarity; /*!< Data Enable pin polarity - This parameter can be any value of @ref DSI_DATA_ENABLE_Polarity */ - - uint32_t VSyncPol; /*!< VSync edge on which the LTDC is halted - This parameter can be any value of @ref DSI_Vsync_Polarity */ - - uint32_t AutomaticRefresh; /*!< Automatic refresh mode - This parameter can be any value of @ref DSI_AutomaticRefresh */ - - uint32_t TEAcknowledgeRequest; /*!< Tearing Effect Acknowledge Request Enable - This parameter can be any value of @ref DSI_TE_AcknowledgeRequest */ - -} DSI_CmdCfgTypeDef; - -/** - * @brief DSI command transmission mode configuration - */ -typedef struct -{ - uint32_t LPGenShortWriteNoP; /*!< Generic Short Write Zero parameters Transmission - This parameter can be any value of @ref DSI_LP_LPGenShortWriteNoP */ - - uint32_t LPGenShortWriteOneP; /*!< Generic Short Write One parameter Transmission - This parameter can be any value of @ref DSI_LP_LPGenShortWriteOneP */ - - uint32_t LPGenShortWriteTwoP; /*!< Generic Short Write Two parameters Transmission - This parameter can be any value of @ref DSI_LP_LPGenShortWriteTwoP */ - - uint32_t LPGenShortReadNoP; /*!< Generic Short Read Zero parameters Transmission - This parameter can be any value of @ref DSI_LP_LPGenShortReadNoP */ - - uint32_t LPGenShortReadOneP; /*!< Generic Short Read One parameter Transmission - This parameter can be any value of @ref DSI_LP_LPGenShortReadOneP */ - - uint32_t LPGenShortReadTwoP; /*!< Generic Short Read Two parameters Transmission - This parameter can be any value of @ref DSI_LP_LPGenShortReadTwoP */ - - uint32_t LPGenLongWrite; /*!< Generic Long Write Transmission - This parameter can be any value of @ref DSI_LP_LPGenLongWrite */ - - uint32_t LPDcsShortWriteNoP; /*!< DCS Short Write Zero parameters Transmission - This parameter can be any value of @ref DSI_LP_LPDcsShortWriteNoP */ - - uint32_t LPDcsShortWriteOneP; /*!< DCS Short Write One parameter Transmission - This parameter can be any value of @ref DSI_LP_LPDcsShortWriteOneP */ - - uint32_t LPDcsShortReadNoP; /*!< DCS Short Read Zero parameters Transmission - This parameter can be any value of @ref DSI_LP_LPDcsShortReadNoP */ - - uint32_t LPDcsLongWrite; /*!< DCS Long Write Transmission - This parameter can be any value of @ref DSI_LP_LPDcsLongWrite */ - - uint32_t LPMaxReadPacket; /*!< Maximum Read Packet Size Transmission - This parameter can be any value of @ref DSI_LP_LPMaxReadPacket */ - - uint32_t AcknowledgeRequest; /*!< Acknowledge Request Enable - This parameter can be any value of @ref DSI_AcknowledgeRequest */ - -} DSI_LPCmdTypeDef; - -/** - * @brief DSI PHY Timings definition - */ -typedef struct -{ - uint32_t ClockLaneHS2LPTime; /*!< The maximum time that the D-PHY clock lane takes to go from high-speed - to low-power transmission */ - - uint32_t ClockLaneLP2HSTime; /*!< The maximum time that the D-PHY clock lane takes to go from low-power - to high-speed transmission */ - - uint32_t DataLaneHS2LPTime; /*!< The maximum time that the D-PHY data lanes takes to go from high-speed - to low-power transmission */ - - uint32_t DataLaneLP2HSTime; /*!< The maximum time that the D-PHY data lanes takes to go from low-power - to high-speed transmission */ - - uint32_t DataLaneMaxReadTime; /*!< The maximum time required to perform a read command */ - - uint32_t StopWaitTime; /*!< The minimum wait period to request a High-Speed transmission after the - Stop state */ - -} DSI_PHY_TimerTypeDef; - -/** - * @brief DSI HOST Timeouts definition - */ -typedef struct -{ - uint32_t TimeoutCkdiv; /*!< Time-out clock division */ - - uint32_t HighSpeedTransmissionTimeout; /*!< High-speed transmission time-out */ - - uint32_t LowPowerReceptionTimeout; /*!< Low-power reception time-out */ - - uint32_t HighSpeedReadTimeout; /*!< High-speed read time-out */ - - uint32_t LowPowerReadTimeout; /*!< Low-power read time-out */ - - uint32_t HighSpeedWriteTimeout; /*!< High-speed write time-out */ - - uint32_t HighSpeedWritePrespMode; /*!< High-speed write presp mode - This parameter can be any value of @ref DSI_HS_PrespMode */ - - uint32_t LowPowerWriteTimeout; /*!< Low-speed write time-out */ - - uint32_t BTATimeout; /*!< BTA time-out */ - -} DSI_HOST_TimeoutTypeDef; - -/** - * @brief DSI States Structure definition - */ -typedef enum -{ - HAL_DSI_STATE_RESET = 0x00U, - HAL_DSI_STATE_READY = 0x01U, - HAL_DSI_STATE_ERROR = 0x02U, - HAL_DSI_STATE_BUSY = 0x03U, - HAL_DSI_STATE_TIMEOUT = 0x04U -} HAL_DSI_StateTypeDef; - -/** - * @brief DSI Handle Structure definition - */ -#if (USE_HAL_DSI_REGISTER_CALLBACKS == 1) -typedef struct __DSI_HandleTypeDef -#else -typedef struct -#endif /* USE_HAL_DSI_REGISTER_CALLBACKS */ -{ - DSI_TypeDef *Instance; /*!< Register base address */ - DSI_InitTypeDef Init; /*!< DSI required parameters */ - HAL_LockTypeDef Lock; /*!< DSI peripheral status */ - __IO HAL_DSI_StateTypeDef State; /*!< DSI communication state */ - __IO uint32_t ErrorCode; /*!< DSI Error code */ - uint32_t ErrorMsk; /*!< DSI Error monitoring mask */ - -#if (USE_HAL_DSI_REGISTER_CALLBACKS == 1) - void (* TearingEffectCallback)(struct __DSI_HandleTypeDef *hdsi); /*!< DSI Tearing Effect Callback */ - void (* EndOfRefreshCallback)(struct __DSI_HandleTypeDef *hdsi); /*!< DSI End Of Refresh Callback */ - void (* ErrorCallback)(struct __DSI_HandleTypeDef *hdsi); /*!< DSI Error Callback */ - - void (* MspInitCallback)(struct __DSI_HandleTypeDef *hdsi); /*!< DSI Msp Init callback */ - void (* MspDeInitCallback)(struct __DSI_HandleTypeDef *hdsi); /*!< DSI Msp DeInit callback */ - -#endif /* USE_HAL_DSI_REGISTER_CALLBACKS */ - -} DSI_HandleTypeDef; - -#if (USE_HAL_DSI_REGISTER_CALLBACKS == 1) -/** - * @brief HAL DSI Callback ID enumeration definition - */ -typedef enum -{ - HAL_DSI_MSPINIT_CB_ID = 0x00U, /*!< DSI MspInit callback ID */ - HAL_DSI_MSPDEINIT_CB_ID = 0x01U, /*!< DSI MspDeInit callback ID */ - - HAL_DSI_TEARING_EFFECT_CB_ID = 0x02U, /*!< DSI Tearing Effect Callback ID */ - HAL_DSI_ENDOF_REFRESH_CB_ID = 0x03U, /*!< DSI End Of Refresh Callback ID */ - HAL_DSI_ERROR_CB_ID = 0x04U /*!< DSI Error Callback ID */ - -} HAL_DSI_CallbackIDTypeDef; - -/** - * @brief HAL DSI Callback pointer definition - */ -typedef void (*pDSI_CallbackTypeDef)(DSI_HandleTypeDef *hdsi); /*!< pointer to an DSI callback function */ - -#endif /* USE_HAL_DSI_REGISTER_CALLBACKS */ - -/* Exported constants --------------------------------------------------------*/ -/** @defgroup DSI_Exported_Constants DSI Exported Constants - * @{ - */ -/** @defgroup DSI_DCS_Command DSI DCS Command - * @{ - */ -#define DSI_ENTER_IDLE_MODE 0x39U -#define DSI_ENTER_INVERT_MODE 0x21U -#define DSI_ENTER_NORMAL_MODE 0x13U -#define DSI_ENTER_PARTIAL_MODE 0x12U -#define DSI_ENTER_SLEEP_MODE 0x10U -#define DSI_EXIT_IDLE_MODE 0x38U -#define DSI_EXIT_INVERT_MODE 0x20U -#define DSI_EXIT_SLEEP_MODE 0x11U -#define DSI_GET_3D_CONTROL 0x3FU -#define DSI_GET_ADDRESS_MODE 0x0BU -#define DSI_GET_BLUE_CHANNEL 0x08U -#define DSI_GET_DIAGNOSTIC_RESULT 0x0FU -#define DSI_GET_DISPLAY_MODE 0x0DU -#define DSI_GET_GREEN_CHANNEL 0x07U -#define DSI_GET_PIXEL_FORMAT 0x0CU -#define DSI_GET_POWER_MODE 0x0AU -#define DSI_GET_RED_CHANNEL 0x06U -#define DSI_GET_SCANLINE 0x45U -#define DSI_GET_SIGNAL_MODE 0x0EU -#define DSI_NOP 0x00U -#define DSI_READ_DDB_CONTINUE 0xA8U -#define DSI_READ_DDB_START 0xA1U -#define DSI_READ_MEMORY_CONTINUE 0x3EU -#define DSI_READ_MEMORY_START 0x2EU -#define DSI_SET_3D_CONTROL 0x3DU -#define DSI_SET_ADDRESS_MODE 0x36U -#define DSI_SET_COLUMN_ADDRESS 0x2AU -#define DSI_SET_DISPLAY_OFF 0x28U -#define DSI_SET_DISPLAY_ON 0x29U -#define DSI_SET_GAMMA_CURVE 0x26U -#define DSI_SET_PAGE_ADDRESS 0x2BU -#define DSI_SET_PARTIAL_COLUMNS 0x31U -#define DSI_SET_PARTIAL_ROWS 0x30U -#define DSI_SET_PIXEL_FORMAT 0x3AU -#define DSI_SET_SCROLL_AREA 0x33U -#define DSI_SET_SCROLL_START 0x37U -#define DSI_SET_TEAR_OFF 0x34U -#define DSI_SET_TEAR_ON 0x35U -#define DSI_SET_TEAR_SCANLINE 0x44U -#define DSI_SET_VSYNC_TIMING 0x40U -#define DSI_SOFT_RESET 0x01U -#define DSI_WRITE_LUT 0x2DU -#define DSI_WRITE_MEMORY_CONTINUE 0x3CU -#define DSI_WRITE_MEMORY_START 0x2CU -/** - * @} - */ - -/** @defgroup DSI_Video_Mode_Type DSI Video Mode Type - * @{ - */ -#define DSI_VID_MODE_NB_PULSES 0U -#define DSI_VID_MODE_NB_EVENTS 1U -#define DSI_VID_MODE_BURST 2U -/** - * @} - */ - -/** @defgroup DSI_Color_Mode DSI Color Mode - * @{ - */ -#define DSI_COLOR_MODE_FULL 0x00000000U -#define DSI_COLOR_MODE_EIGHT DSI_WCR_COLM -/** - * @} - */ - -/** @defgroup DSI_ShutDown DSI ShutDown - * @{ - */ -#define DSI_DISPLAY_ON 0x00000000U -#define DSI_DISPLAY_OFF DSI_WCR_SHTDN -/** - * @} - */ - -/** @defgroup DSI_LP_Command DSI LP Command - * @{ - */ -#define DSI_LP_COMMAND_DISABLE 0x00000000U -#define DSI_LP_COMMAND_ENABLE DSI_VMCR_LPCE -/** - * @} - */ - -/** @defgroup DSI_LP_HFP DSI LP HFP - * @{ - */ -#define DSI_LP_HFP_DISABLE 0x00000000U -#define DSI_LP_HFP_ENABLE DSI_VMCR_LPHFPE -/** - * @} - */ - -/** @defgroup DSI_LP_HBP DSI LP HBP - * @{ - */ -#define DSI_LP_HBP_DISABLE 0x00000000U -#define DSI_LP_HBP_ENABLE DSI_VMCR_LPHBPE -/** - * @} - */ - -/** @defgroup DSI_LP_VACT DSI LP VACT - * @{ - */ -#define DSI_LP_VACT_DISABLE 0x00000000U -#define DSI_LP_VACT_ENABLE DSI_VMCR_LPVAE -/** - * @} - */ - -/** @defgroup DSI_LP_VFP DSI LP VFP - * @{ - */ -#define DSI_LP_VFP_DISABLE 0x00000000U -#define DSI_LP_VFP_ENABLE DSI_VMCR_LPVFPE -/** - * @} - */ - -/** @defgroup DSI_LP_VBP DSI LP VBP - * @{ - */ -#define DSI_LP_VBP_DISABLE 0x00000000U -#define DSI_LP_VBP_ENABLE DSI_VMCR_LPVBPE -/** - * @} - */ - -/** @defgroup DSI_LP_VSYNC DSI LP VSYNC - * @{ - */ -#define DSI_LP_VSYNC_DISABLE 0x00000000U -#define DSI_LP_VSYNC_ENABLE DSI_VMCR_LPVSAE -/** - * @} - */ - -/** @defgroup DSI_FBTA_acknowledge DSI FBTA Acknowledge - * @{ - */ -#define DSI_FBTAA_DISABLE 0x00000000U -#define DSI_FBTAA_ENABLE DSI_VMCR_FBTAAE -/** - * @} - */ - -/** @defgroup DSI_TearingEffectSource DSI Tearing Effect Source - * @{ - */ -#define DSI_TE_DSILINK 0x00000000U -#define DSI_TE_EXTERNAL DSI_WCFGR_TESRC -/** - * @} - */ - -/** @defgroup DSI_TearingEffectPolarity DSI Tearing Effect Polarity - * @{ - */ -#define DSI_TE_RISING_EDGE 0x00000000U -#define DSI_TE_FALLING_EDGE DSI_WCFGR_TEPOL -/** - * @} - */ - -/** @defgroup DSI_Vsync_Polarity DSI Vsync Polarity - * @{ - */ -#define DSI_VSYNC_FALLING 0x00000000U -#define DSI_VSYNC_RISING DSI_WCFGR_VSPOL -/** - * @} - */ - -/** @defgroup DSI_AutomaticRefresh DSI Automatic Refresh - * @{ - */ -#define DSI_AR_DISABLE 0x00000000U -#define DSI_AR_ENABLE DSI_WCFGR_AR -/** - * @} - */ - -/** @defgroup DSI_TE_AcknowledgeRequest DSI TE Acknowledge Request - * @{ - */ -#define DSI_TE_ACKNOWLEDGE_DISABLE 0x00000000U -#define DSI_TE_ACKNOWLEDGE_ENABLE DSI_CMCR_TEARE -/** - * @} - */ - -/** @defgroup DSI_AcknowledgeRequest DSI Acknowledge Request - * @{ - */ -#define DSI_ACKNOWLEDGE_DISABLE 0x00000000U -#define DSI_ACKNOWLEDGE_ENABLE DSI_CMCR_ARE -/** - * @} - */ - -/** @defgroup DSI_LP_LPGenShortWriteNoP DSI LP LPGen Short Write NoP - * @{ - */ -#define DSI_LP_GSW0P_DISABLE 0x00000000U -#define DSI_LP_GSW0P_ENABLE DSI_CMCR_GSW0TX -/** - * @} - */ - -/** @defgroup DSI_LP_LPGenShortWriteOneP DSI LP LPGen Short Write OneP - * @{ - */ -#define DSI_LP_GSW1P_DISABLE 0x00000000U -#define DSI_LP_GSW1P_ENABLE DSI_CMCR_GSW1TX -/** - * @} - */ - -/** @defgroup DSI_LP_LPGenShortWriteTwoP DSI LP LPGen Short Write TwoP - * @{ - */ -#define DSI_LP_GSW2P_DISABLE 0x00000000U -#define DSI_LP_GSW2P_ENABLE DSI_CMCR_GSW2TX -/** - * @} - */ - -/** @defgroup DSI_LP_LPGenShortReadNoP DSI LP LPGen Short Read NoP - * @{ - */ -#define DSI_LP_GSR0P_DISABLE 0x00000000U -#define DSI_LP_GSR0P_ENABLE DSI_CMCR_GSR0TX -/** - * @} - */ - -/** @defgroup DSI_LP_LPGenShortReadOneP DSI LP LPGen Short Read OneP - * @{ - */ -#define DSI_LP_GSR1P_DISABLE 0x00000000U -#define DSI_LP_GSR1P_ENABLE DSI_CMCR_GSR1TX -/** - * @} - */ - -/** @defgroup DSI_LP_LPGenShortReadTwoP DSI LP LPGen Short Read TwoP - * @{ - */ -#define DSI_LP_GSR2P_DISABLE 0x00000000U -#define DSI_LP_GSR2P_ENABLE DSI_CMCR_GSR2TX -/** - * @} - */ - -/** @defgroup DSI_LP_LPGenLongWrite DSI LP LPGen LongWrite - * @{ - */ -#define DSI_LP_GLW_DISABLE 0x00000000U -#define DSI_LP_GLW_ENABLE DSI_CMCR_GLWTX -/** - * @} - */ - -/** @defgroup DSI_LP_LPDcsShortWriteNoP DSI LP LPDcs Short Write NoP - * @{ - */ -#define DSI_LP_DSW0P_DISABLE 0x00000000U -#define DSI_LP_DSW0P_ENABLE DSI_CMCR_DSW0TX -/** - * @} - */ - -/** @defgroup DSI_LP_LPDcsShortWriteOneP DSI LP LPDcs Short Write OneP - * @{ - */ -#define DSI_LP_DSW1P_DISABLE 0x00000000U -#define DSI_LP_DSW1P_ENABLE DSI_CMCR_DSW1TX -/** - * @} - */ - -/** @defgroup DSI_LP_LPDcsShortReadNoP DSI LP LPDcs Short Read NoP - * @{ - */ -#define DSI_LP_DSR0P_DISABLE 0x00000000U -#define DSI_LP_DSR0P_ENABLE DSI_CMCR_DSR0TX -/** - * @} - */ - -/** @defgroup DSI_LP_LPDcsLongWrite DSI LP LPDcs Long Write - * @{ - */ -#define DSI_LP_DLW_DISABLE 0x00000000U -#define DSI_LP_DLW_ENABLE DSI_CMCR_DLWTX -/** - * @} - */ - -/** @defgroup DSI_LP_LPMaxReadPacket DSI LP LPMax Read Packet - * @{ - */ -#define DSI_LP_MRDP_DISABLE 0x00000000U -#define DSI_LP_MRDP_ENABLE DSI_CMCR_MRDPS -/** - * @} - */ - -/** @defgroup DSI_HS_PrespMode DSI HS Presp Mode - * @{ - */ -#define DSI_HS_PM_DISABLE 0x00000000U -#define DSI_HS_PM_ENABLE DSI_TCCR3_PM -/** - * @} - */ - - -/** @defgroup DSI_Automatic_Clk_Lane_Control DSI Automatic Clk Lane Control - * @{ - */ -#define DSI_AUTO_CLK_LANE_CTRL_DISABLE 0x00000000U -#define DSI_AUTO_CLK_LANE_CTRL_ENABLE DSI_CLCR_ACR -/** - * @} - */ - -/** @defgroup DSI_Number_Of_Lanes DSI Number Of Lanes - * @{ - */ -#define DSI_ONE_DATA_LANE 0U -#define DSI_TWO_DATA_LANES 1U -/** - * @} - */ - -/** @defgroup DSI_FlowControl DSI Flow Control - * @{ - */ -#define DSI_FLOW_CONTROL_CRC_RX DSI_PCR_CRCRXE -#define DSI_FLOW_CONTROL_ECC_RX DSI_PCR_ECCRXE -#define DSI_FLOW_CONTROL_BTA DSI_PCR_BTAE -#define DSI_FLOW_CONTROL_EOTP_RX DSI_PCR_ETRXE -#define DSI_FLOW_CONTROL_EOTP_TX DSI_PCR_ETTXE -#define DSI_FLOW_CONTROL_ALL (DSI_FLOW_CONTROL_CRC_RX | DSI_FLOW_CONTROL_ECC_RX | \ - DSI_FLOW_CONTROL_BTA | DSI_FLOW_CONTROL_EOTP_RX | \ - DSI_FLOW_CONTROL_EOTP_TX) -/** - * @} - */ - -/** @defgroup DSI_Color_Coding DSI Color Coding - * @{ - */ -#define DSI_RGB565 0x00000000U /*!< The values 0x00000001 and 0x00000002 can also be used for the RGB565 color mode configuration */ -#define DSI_RGB666 0x00000003U /*!< The value 0x00000004 can also be used for the RGB666 color mode configuration */ -#define DSI_RGB888 0x00000005U -/** - * @} - */ - -/** @defgroup DSI_LooselyPacked DSI Loosely Packed - * @{ - */ -#define DSI_LOOSELY_PACKED_ENABLE DSI_LCOLCR_LPE -#define DSI_LOOSELY_PACKED_DISABLE 0x00000000U -/** - * @} - */ - -/** @defgroup DSI_HSYNC_Polarity DSI HSYNC Polarity - * @{ - */ -#define DSI_HSYNC_ACTIVE_HIGH 0x00000000U -#define DSI_HSYNC_ACTIVE_LOW DSI_LPCR_HSP -/** - * @} - */ - -/** @defgroup DSI_VSYNC_Active_Polarity DSI VSYNC Active Polarity - * @{ - */ -#define DSI_VSYNC_ACTIVE_HIGH 0x00000000U -#define DSI_VSYNC_ACTIVE_LOW DSI_LPCR_VSP -/** - * @} - */ - -/** @defgroup DSI_DATA_ENABLE_Polarity DSI DATA ENABLE Polarity - * @{ - */ -#define DSI_DATA_ENABLE_ACTIVE_HIGH 0x00000000U -#define DSI_DATA_ENABLE_ACTIVE_LOW DSI_LPCR_DEP -/** - * @} - */ - -/** @defgroup DSI_PLL_IDF DSI PLL IDF - * @{ - */ -#define DSI_PLL_IN_DIV1 0x00000001U -#define DSI_PLL_IN_DIV2 0x00000002U -#define DSI_PLL_IN_DIV3 0x00000003U -#define DSI_PLL_IN_DIV4 0x00000004U -#define DSI_PLL_IN_DIV5 0x00000005U -#define DSI_PLL_IN_DIV6 0x00000006U -#define DSI_PLL_IN_DIV7 0x00000007U -/** - * @} - */ - -/** @defgroup DSI_PLL_ODF DSI PLL ODF - * @{ - */ -#define DSI_PLL_OUT_DIV1 0x00000000U -#define DSI_PLL_OUT_DIV2 0x00000001U -#define DSI_PLL_OUT_DIV4 0x00000002U -#define DSI_PLL_OUT_DIV8 0x00000003U -/** - * @} - */ - -/** @defgroup DSI_Flags DSI Flags - * @{ - */ -#define DSI_FLAG_TE DSI_WISR_TEIF -#define DSI_FLAG_ER DSI_WISR_ERIF -#define DSI_FLAG_BUSY DSI_WISR_BUSY -#define DSI_FLAG_PLLLS DSI_WISR_PLLLS -#define DSI_FLAG_PLLL DSI_WISR_PLLLIF -#define DSI_FLAG_PLLU DSI_WISR_PLLUIF -#define DSI_FLAG_RRS DSI_WISR_RRS -#define DSI_FLAG_RR DSI_WISR_RRIF -/** - * @} - */ - -/** @defgroup DSI_Interrupts DSI Interrupts - * @{ - */ -#define DSI_IT_TE DSI_WIER_TEIE -#define DSI_IT_ER DSI_WIER_ERIE -#define DSI_IT_PLLL DSI_WIER_PLLLIE -#define DSI_IT_PLLU DSI_WIER_PLLUIE -#define DSI_IT_RR DSI_WIER_RRIE -/** - * @} - */ - -/** @defgroup DSI_SHORT_WRITE_PKT_Data_Type DSI SHORT WRITE PKT Data Type - * @{ - */ -#define DSI_DCS_SHORT_PKT_WRITE_P0 0x00000005U /*!< DCS short write, no parameters */ -#define DSI_DCS_SHORT_PKT_WRITE_P1 0x00000015U /*!< DCS short write, one parameter */ -#define DSI_GEN_SHORT_PKT_WRITE_P0 0x00000003U /*!< Generic short write, no parameters */ -#define DSI_GEN_SHORT_PKT_WRITE_P1 0x00000013U /*!< Generic short write, one parameter */ -#define DSI_GEN_SHORT_PKT_WRITE_P2 0x00000023U /*!< Generic short write, two parameters */ -/** - * @} - */ - -/** @defgroup DSI_LONG_WRITE_PKT_Data_Type DSI LONG WRITE PKT Data Type - * @{ - */ -#define DSI_DCS_LONG_PKT_WRITE 0x00000039U /*!< DCS long write */ -#define DSI_GEN_LONG_PKT_WRITE 0x00000029U /*!< Generic long write */ -/** - * @} - */ - -/** @defgroup DSI_SHORT_READ_PKT_Data_Type DSI SHORT READ PKT Data Type - * @{ - */ -#define DSI_DCS_SHORT_PKT_READ 0x00000006U /*!< DCS short read */ -#define DSI_GEN_SHORT_PKT_READ_P0 0x00000004U /*!< Generic short read, no parameters */ -#define DSI_GEN_SHORT_PKT_READ_P1 0x00000014U /*!< Generic short read, one parameter */ -#define DSI_GEN_SHORT_PKT_READ_P2 0x00000024U /*!< Generic short read, two parameters */ -/** - * @} - */ - -/** @defgroup DSI_Error_Data_Type DSI Error Data Type - * @{ - */ -#define HAL_DSI_ERROR_NONE 0U -#define HAL_DSI_ERROR_ACK 0x00000001U /*!< acknowledge errors */ -#define HAL_DSI_ERROR_PHY 0x00000002U /*!< PHY related errors */ -#define HAL_DSI_ERROR_TX 0x00000004U /*!< transmission error */ -#define HAL_DSI_ERROR_RX 0x00000008U /*!< reception error */ -#define HAL_DSI_ERROR_ECC 0x00000010U /*!< ECC errors */ -#define HAL_DSI_ERROR_CRC 0x00000020U /*!< CRC error */ -#define HAL_DSI_ERROR_PSE 0x00000040U /*!< Packet Size error */ -#define HAL_DSI_ERROR_EOT 0x00000080U /*!< End Of Transmission error */ -#define HAL_DSI_ERROR_OVF 0x00000100U /*!< FIFO overflow error */ -#define HAL_DSI_ERROR_GEN 0x00000200U /*!< Generic FIFO related errors */ -#if (USE_HAL_DSI_REGISTER_CALLBACKS == 1) -#define HAL_DSI_ERROR_INVALID_CALLBACK 0x00000400U /*!< DSI Invalid Callback error */ -#endif /* USE_HAL_DSI_REGISTER_CALLBACKS */ -/** - * @} - */ - -/** @defgroup DSI_Lane_Group DSI Lane Group - * @{ - */ -#define DSI_CLOCK_LANE 0x00000000U -#define DSI_DATA_LANES 0x00000001U -/** - * @} - */ - -/** @defgroup DSI_Communication_Delay DSI Communication Delay - * @{ - */ -#define DSI_SLEW_RATE_HSTX 0x00000000U -#define DSI_SLEW_RATE_LPTX 0x00000001U -#define DSI_HS_DELAY 0x00000002U -/** - * @} - */ - -/** @defgroup DSI_CustomLane DSI CustomLane - * @{ - */ -#define DSI_SWAP_LANE_PINS 0x00000000U -#define DSI_INVERT_HS_SIGNAL 0x00000001U -/** - * @} - */ - -/** @defgroup DSI_Lane_Select DSI Lane Select - * @{ - */ -#define DSI_CLK_LANE 0x00000000U -#define DSI_DATA_LANE0 0x00000001U -#define DSI_DATA_LANE1 0x00000002U -/** - * @} - */ - -/** @defgroup DSI_PHY_Timing DSI PHY Timing - * @{ - */ -#define DSI_TCLK_POST 0x00000000U -#define DSI_TLPX_CLK 0x00000001U -#define DSI_THS_EXIT 0x00000002U -#define DSI_TLPX_DATA 0x00000003U -#define DSI_THS_ZERO 0x00000004U -#define DSI_THS_TRAIL 0x00000005U -#define DSI_THS_PREPARE 0x00000006U -#define DSI_TCLK_ZERO 0x00000007U -#define DSI_TCLK_PREPARE 0x00000008U -/** - * @} - */ - -/** - * @} - */ - -/* Exported macros -----------------------------------------------------------*/ -/** @defgroup DSI_Exported_Macros DSI Exported Macros - * @{ - */ - -/** - * @brief Reset DSI handle state. - * @param __HANDLE__ DSI handle - * @retval None - */ -#if (USE_HAL_DSI_REGISTER_CALLBACKS == 1) -#define __HAL_DSI_RESET_HANDLE_STATE(__HANDLE__) do{ \ - (__HANDLE__)->State = HAL_DSI_STATE_RESET; \ - (__HANDLE__)->MspInitCallback = NULL; \ - (__HANDLE__)->MspDeInitCallback = NULL; \ - } while(0) -#else -#define __HAL_DSI_RESET_HANDLE_STATE(__HANDLE__) ((__HANDLE__)->State = HAL_DSI_STATE_RESET) -#endif /*USE_HAL_DSI_REGISTER_CALLBACKS */ - -/** - * @brief Enables the DSI host. - * @param __HANDLE__ DSI handle - * @retval None. - */ -#define __HAL_DSI_ENABLE(__HANDLE__) do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT((__HANDLE__)->Instance->CR, DSI_CR_EN);\ - /* Delay after an DSI Host enabling */ \ - tmpreg = READ_BIT((__HANDLE__)->Instance->CR, DSI_CR_EN);\ - UNUSED(tmpreg); \ - } while(0U) - -/** - * @brief Disables the DSI host. - * @param __HANDLE__ DSI handle - * @retval None. - */ -#define __HAL_DSI_DISABLE(__HANDLE__) do { \ - __IO uint32_t tmpreg = 0x00U; \ - CLEAR_BIT((__HANDLE__)->Instance->CR, DSI_CR_EN);\ - /* Delay after an DSI Host disabling */ \ - tmpreg = READ_BIT((__HANDLE__)->Instance->CR, DSI_CR_EN);\ - UNUSED(tmpreg); \ - } while(0U) - -/** - * @brief Enables the DSI wrapper. - * @param __HANDLE__ DSI handle - * @retval None. - */ -#define __HAL_DSI_WRAPPER_ENABLE(__HANDLE__) do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT((__HANDLE__)->Instance->WCR, DSI_WCR_DSIEN);\ - /* Delay after an DSI warpper enabling */ \ - tmpreg = READ_BIT((__HANDLE__)->Instance->WCR, DSI_WCR_DSIEN);\ - UNUSED(tmpreg); \ - } while(0U) - -/** - * @brief Disable the DSI wrapper. - * @param __HANDLE__ DSI handle - * @retval None. - */ -#define __HAL_DSI_WRAPPER_DISABLE(__HANDLE__) do { \ - __IO uint32_t tmpreg = 0x00U; \ - CLEAR_BIT((__HANDLE__)->Instance->WCR, DSI_WCR_DSIEN);\ - /* Delay after an DSI warpper disabling*/ \ - tmpreg = READ_BIT((__HANDLE__)->Instance->WCR, DSI_WCR_DSIEN);\ - UNUSED(tmpreg); \ - } while(0U) - -/** - * @brief Enables the DSI PLL. - * @param __HANDLE__ DSI handle - * @retval None. - */ -#define __HAL_DSI_PLL_ENABLE(__HANDLE__) do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT((__HANDLE__)->Instance->WRPCR, DSI_WRPCR_PLLEN);\ - /* Delay after an DSI PLL enabling */ \ - tmpreg = READ_BIT((__HANDLE__)->Instance->WRPCR, DSI_WRPCR_PLLEN);\ - UNUSED(tmpreg); \ - } while(0U) - -/** - * @brief Disables the DSI PLL. - * @param __HANDLE__ DSI handle - * @retval None. - */ -#define __HAL_DSI_PLL_DISABLE(__HANDLE__) do { \ - __IO uint32_t tmpreg = 0x00U; \ - CLEAR_BIT((__HANDLE__)->Instance->WRPCR, DSI_WRPCR_PLLEN);\ - /* Delay after an DSI PLL disabling */ \ - tmpreg = READ_BIT((__HANDLE__)->Instance->WRPCR, DSI_WRPCR_PLLEN);\ - UNUSED(tmpreg); \ - } while(0U) - -/** - * @brief Enables the DSI regulator. - * @param __HANDLE__ DSI handle - * @retval None. - */ -#define __HAL_DSI_REG_ENABLE(__HANDLE__) do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT((__HANDLE__)->Instance->WRPCR, DSI_WRPCR_REGEN);\ - /* Delay after an DSI regulator enabling */ \ - tmpreg = READ_BIT((__HANDLE__)->Instance->WRPCR, DSI_WRPCR_REGEN);\ - UNUSED(tmpreg); \ - } while(0U) - -/** - * @brief Disables the DSI regulator. - * @param __HANDLE__ DSI handle - * @retval None. - */ -#define __HAL_DSI_REG_DISABLE(__HANDLE__) do { \ - __IO uint32_t tmpreg = 0x00U; \ - CLEAR_BIT((__HANDLE__)->Instance->WRPCR, DSI_WRPCR_REGEN);\ - /* Delay after an DSI regulator disabling */ \ - tmpreg = READ_BIT((__HANDLE__)->Instance->WRPCR, DSI_WRPCR_REGEN);\ - UNUSED(tmpreg); \ - } while(0U) - -/** - * @brief Get the DSI pending flags. - * @param __HANDLE__ DSI handle. - * @param __FLAG__ Get the specified flag. - * This parameter can be any combination of the following values: - * @arg DSI_FLAG_TE : Tearing Effect Interrupt Flag - * @arg DSI_FLAG_ER : End of Refresh Interrupt Flag - * @arg DSI_FLAG_BUSY : Busy Flag - * @arg DSI_FLAG_PLLLS: PLL Lock Status - * @arg DSI_FLAG_PLLL : PLL Lock Interrupt Flag - * @arg DSI_FLAG_PLLU : PLL Unlock Interrupt Flag - * @arg DSI_FLAG_RRS : Regulator Ready Flag - * @arg DSI_FLAG_RR : Regulator Ready Interrupt Flag - * @retval The state of FLAG (SET or RESET). - */ -#define __HAL_DSI_GET_FLAG(__HANDLE__, __FLAG__) ((__HANDLE__)->Instance->WISR & (__FLAG__)) - -/** - * @brief Clears the DSI pending flags. - * @param __HANDLE__ DSI handle. - * @param __FLAG__ specifies the flag to clear. - * This parameter can be any combination of the following values: - * @arg DSI_FLAG_TE : Tearing Effect Interrupt Flag - * @arg DSI_FLAG_ER : End of Refresh Interrupt Flag - * @arg DSI_FLAG_PLLL : PLL Lock Interrupt Flag - * @arg DSI_FLAG_PLLU : PLL Unlock Interrupt Flag - * @arg DSI_FLAG_RR : Regulator Ready Interrupt Flag - * @retval None - */ -#define __HAL_DSI_CLEAR_FLAG(__HANDLE__, __FLAG__) ((__HANDLE__)->Instance->WIFCR = (__FLAG__)) - -/** - * @brief Enables the specified DSI interrupts. - * @param __HANDLE__ DSI handle. - * @param __INTERRUPT__ specifies the DSI interrupt sources to be enabled. - * This parameter can be any combination of the following values: - * @arg DSI_IT_TE : Tearing Effect Interrupt - * @arg DSI_IT_ER : End of Refresh Interrupt - * @arg DSI_IT_PLLL: PLL Lock Interrupt - * @arg DSI_IT_PLLU: PLL Unlock Interrupt - * @arg DSI_IT_RR : Regulator Ready Interrupt - * @retval None - */ -#define __HAL_DSI_ENABLE_IT(__HANDLE__, __INTERRUPT__) ((__HANDLE__)->Instance->WIER |= (__INTERRUPT__)) - -/** - * @brief Disables the specified DSI interrupts. - * @param __HANDLE__ DSI handle - * @param __INTERRUPT__ specifies the DSI interrupt sources to be disabled. - * This parameter can be any combination of the following values: - * @arg DSI_IT_TE : Tearing Effect Interrupt - * @arg DSI_IT_ER : End of Refresh Interrupt - * @arg DSI_IT_PLLL: PLL Lock Interrupt - * @arg DSI_IT_PLLU: PLL Unlock Interrupt - * @arg DSI_IT_RR : Regulator Ready Interrupt - * @retval None - */ -#define __HAL_DSI_DISABLE_IT(__HANDLE__, __INTERRUPT__) ((__HANDLE__)->Instance->WIER &= ~(__INTERRUPT__)) - -/** - * @brief Checks whether the specified DSI interrupt source is enabled or not. - * @param __HANDLE__ DSI handle - * @param __INTERRUPT__ specifies the DSI interrupt source to check. - * This parameter can be one of the following values: - * @arg DSI_IT_TE : Tearing Effect Interrupt - * @arg DSI_IT_ER : End of Refresh Interrupt - * @arg DSI_IT_PLLL: PLL Lock Interrupt - * @arg DSI_IT_PLLU: PLL Unlock Interrupt - * @arg DSI_IT_RR : Regulator Ready Interrupt - * @retval The state of INTERRUPT (SET or RESET). - */ -#define __HAL_DSI_GET_IT_SOURCE(__HANDLE__, __INTERRUPT__) ((__HANDLE__)->Instance->WIER & (__INTERRUPT__)) - -/** - * @} - */ - -/* Exported functions --------------------------------------------------------*/ -/** @defgroup DSI_Exported_Functions DSI Exported Functions - * @{ - */ -HAL_StatusTypeDef HAL_DSI_Init(DSI_HandleTypeDef *hdsi, DSI_PLLInitTypeDef *PLLInit); -HAL_StatusTypeDef HAL_DSI_DeInit(DSI_HandleTypeDef *hdsi); -void HAL_DSI_MspInit(DSI_HandleTypeDef *hdsi); -void HAL_DSI_MspDeInit(DSI_HandleTypeDef *hdsi); - -void HAL_DSI_IRQHandler(DSI_HandleTypeDef *hdsi); -void HAL_DSI_TearingEffectCallback(DSI_HandleTypeDef *hdsi); -void HAL_DSI_EndOfRefreshCallback(DSI_HandleTypeDef *hdsi); -void HAL_DSI_ErrorCallback(DSI_HandleTypeDef *hdsi); - -/* Callbacks Register/UnRegister functions ***********************************/ -#if (USE_HAL_DSI_REGISTER_CALLBACKS == 1) -HAL_StatusTypeDef HAL_DSI_RegisterCallback(DSI_HandleTypeDef *hdsi, HAL_DSI_CallbackIDTypeDef CallbackID, - pDSI_CallbackTypeDef pCallback); -HAL_StatusTypeDef HAL_DSI_UnRegisterCallback(DSI_HandleTypeDef *hdsi, HAL_DSI_CallbackIDTypeDef CallbackID); -#endif /* USE_HAL_DSI_REGISTER_CALLBACKS */ - -HAL_StatusTypeDef HAL_DSI_SetGenericVCID(DSI_HandleTypeDef *hdsi, uint32_t VirtualChannelID); -HAL_StatusTypeDef HAL_DSI_ConfigVideoMode(DSI_HandleTypeDef *hdsi, DSI_VidCfgTypeDef *VidCfg); -HAL_StatusTypeDef HAL_DSI_ConfigAdaptedCommandMode(DSI_HandleTypeDef *hdsi, DSI_CmdCfgTypeDef *CmdCfg); -HAL_StatusTypeDef HAL_DSI_ConfigCommand(DSI_HandleTypeDef *hdsi, DSI_LPCmdTypeDef *LPCmd); -HAL_StatusTypeDef HAL_DSI_ConfigFlowControl(DSI_HandleTypeDef *hdsi, uint32_t FlowControl); -HAL_StatusTypeDef HAL_DSI_ConfigPhyTimer(DSI_HandleTypeDef *hdsi, DSI_PHY_TimerTypeDef *PhyTimers); -HAL_StatusTypeDef HAL_DSI_ConfigHostTimeouts(DSI_HandleTypeDef *hdsi, DSI_HOST_TimeoutTypeDef *HostTimeouts); -HAL_StatusTypeDef HAL_DSI_Start(DSI_HandleTypeDef *hdsi); -HAL_StatusTypeDef HAL_DSI_Stop(DSI_HandleTypeDef *hdsi); -HAL_StatusTypeDef HAL_DSI_Refresh(DSI_HandleTypeDef *hdsi); -HAL_StatusTypeDef HAL_DSI_ColorMode(DSI_HandleTypeDef *hdsi, uint32_t ColorMode); -HAL_StatusTypeDef HAL_DSI_Shutdown(DSI_HandleTypeDef *hdsi, uint32_t Shutdown); -HAL_StatusTypeDef HAL_DSI_ShortWrite(DSI_HandleTypeDef *hdsi, - uint32_t ChannelID, - uint32_t Mode, - uint32_t Param1, - uint32_t Param2); -HAL_StatusTypeDef HAL_DSI_LongWrite(DSI_HandleTypeDef *hdsi, - uint32_t ChannelID, - uint32_t Mode, - uint32_t NbParams, - uint32_t Param1, - uint8_t *ParametersTable); -HAL_StatusTypeDef HAL_DSI_Read(DSI_HandleTypeDef *hdsi, - uint32_t ChannelNbr, - uint8_t *Array, - uint32_t Size, - uint32_t Mode, - uint32_t DCSCmd, - uint8_t *ParametersTable); -HAL_StatusTypeDef HAL_DSI_EnterULPMData(DSI_HandleTypeDef *hdsi); -HAL_StatusTypeDef HAL_DSI_ExitULPMData(DSI_HandleTypeDef *hdsi); -HAL_StatusTypeDef HAL_DSI_EnterULPM(DSI_HandleTypeDef *hdsi); -HAL_StatusTypeDef HAL_DSI_ExitULPM(DSI_HandleTypeDef *hdsi); - -HAL_StatusTypeDef HAL_DSI_PatternGeneratorStart(DSI_HandleTypeDef *hdsi, uint32_t Mode, uint32_t Orientation); -HAL_StatusTypeDef HAL_DSI_PatternGeneratorStop(DSI_HandleTypeDef *hdsi); - -HAL_StatusTypeDef HAL_DSI_SetSlewRateAndDelayTuning(DSI_HandleTypeDef *hdsi, uint32_t CommDelay, uint32_t Lane, - uint32_t Value); -HAL_StatusTypeDef HAL_DSI_SetLowPowerRXFilter(DSI_HandleTypeDef *hdsi, uint32_t Frequency); -HAL_StatusTypeDef HAL_DSI_SetSDD(DSI_HandleTypeDef *hdsi, FunctionalState State); -HAL_StatusTypeDef HAL_DSI_SetLanePinsConfiguration(DSI_HandleTypeDef *hdsi, uint32_t CustomLane, uint32_t Lane, - FunctionalState State); -HAL_StatusTypeDef HAL_DSI_SetPHYTimings(DSI_HandleTypeDef *hdsi, uint32_t Timing, FunctionalState State, - uint32_t Value); -HAL_StatusTypeDef HAL_DSI_ForceTXStopMode(DSI_HandleTypeDef *hdsi, uint32_t Lane, FunctionalState State); -HAL_StatusTypeDef HAL_DSI_ForceRXLowPower(DSI_HandleTypeDef *hdsi, FunctionalState State); -HAL_StatusTypeDef HAL_DSI_ForceDataLanesInRX(DSI_HandleTypeDef *hdsi, FunctionalState State); -HAL_StatusTypeDef HAL_DSI_SetPullDown(DSI_HandleTypeDef *hdsi, FunctionalState State); -HAL_StatusTypeDef HAL_DSI_SetContentionDetectionOff(DSI_HandleTypeDef *hdsi, FunctionalState State); - -uint32_t HAL_DSI_GetError(DSI_HandleTypeDef *hdsi); -HAL_StatusTypeDef HAL_DSI_ConfigErrorMonitor(DSI_HandleTypeDef *hdsi, uint32_t ActiveErrors); -HAL_DSI_StateTypeDef HAL_DSI_GetState(DSI_HandleTypeDef *hdsi); -/** - * @} - */ - -/* Private types -------------------------------------------------------------*/ -/** @defgroup DSI_Private_Types DSI Private Types - * @{ - */ - -/** - * @} - */ - -/* Private defines -----------------------------------------------------------*/ -/** @defgroup DSI_Private_Defines DSI Private Defines - * @{ - */ - -/** - * @} - */ - -/* Private variables ---------------------------------------------------------*/ -/** @defgroup DSI_Private_Variables DSI Private Variables - * @{ - */ - -/** - * @} - */ - -/* Private constants ---------------------------------------------------------*/ -/** @defgroup DSI_Private_Constants DSI Private Constants - * @{ - */ -#define DSI_MAX_RETURN_PKT_SIZE (0x00000037U) /*!< Maximum return packet configuration */ -/** - * @} - */ - -/* Private macros ------------------------------------------------------------*/ -/** @defgroup DSI_Private_Macros DSI Private Macros - * @{ - */ -#define IS_DSI_PLL_NDIV(NDIV) ((10U <= (NDIV)) && ((NDIV) <= 125U)) -#define IS_DSI_PLL_IDF(IDF) (((IDF) == DSI_PLL_IN_DIV1) || \ - ((IDF) == DSI_PLL_IN_DIV2) || \ - ((IDF) == DSI_PLL_IN_DIV3) || \ - ((IDF) == DSI_PLL_IN_DIV4) || \ - ((IDF) == DSI_PLL_IN_DIV5) || \ - ((IDF) == DSI_PLL_IN_DIV6) || \ - ((IDF) == DSI_PLL_IN_DIV7)) -#define IS_DSI_PLL_ODF(ODF) (((ODF) == DSI_PLL_OUT_DIV1) || \ - ((ODF) == DSI_PLL_OUT_DIV2) || \ - ((ODF) == DSI_PLL_OUT_DIV4) || \ - ((ODF) == DSI_PLL_OUT_DIV8)) -#define IS_DSI_AUTO_CLKLANE_CONTROL(AutoClkLane) (((AutoClkLane) == DSI_AUTO_CLK_LANE_CTRL_DISABLE) || ((AutoClkLane) == DSI_AUTO_CLK_LANE_CTRL_ENABLE)) -#define IS_DSI_NUMBER_OF_LANES(NumberOfLanes) (((NumberOfLanes) == DSI_ONE_DATA_LANE) || ((NumberOfLanes) == DSI_TWO_DATA_LANES)) -#define IS_DSI_FLOW_CONTROL(FlowControl) (((FlowControl) | DSI_FLOW_CONTROL_ALL) == DSI_FLOW_CONTROL_ALL) -#define IS_DSI_COLOR_CODING(ColorCoding) ((ColorCoding) <= 5U) -#define IS_DSI_LOOSELY_PACKED(LooselyPacked) (((LooselyPacked) == DSI_LOOSELY_PACKED_ENABLE) || ((LooselyPacked) == DSI_LOOSELY_PACKED_DISABLE)) -#define IS_DSI_DE_POLARITY(DataEnable) (((DataEnable) == DSI_DATA_ENABLE_ACTIVE_HIGH) || ((DataEnable) == DSI_DATA_ENABLE_ACTIVE_LOW)) -#define IS_DSI_VSYNC_POLARITY(VSYNC) (((VSYNC) == DSI_VSYNC_ACTIVE_HIGH) || ((VSYNC) == DSI_VSYNC_ACTIVE_LOW)) -#define IS_DSI_HSYNC_POLARITY(HSYNC) (((HSYNC) == DSI_HSYNC_ACTIVE_HIGH) || ((HSYNC) == DSI_HSYNC_ACTIVE_LOW)) -#define IS_DSI_VIDEO_MODE_TYPE(VideoModeType) (((VideoModeType) == DSI_VID_MODE_NB_PULSES) || \ - ((VideoModeType) == DSI_VID_MODE_NB_EVENTS) || \ - ((VideoModeType) == DSI_VID_MODE_BURST)) -#define IS_DSI_COLOR_MODE(ColorMode) (((ColorMode) == DSI_COLOR_MODE_FULL) || ((ColorMode) == DSI_COLOR_MODE_EIGHT)) -#define IS_DSI_SHUT_DOWN(ShutDown) (((ShutDown) == DSI_DISPLAY_ON) || ((ShutDown) == DSI_DISPLAY_OFF)) -#define IS_DSI_LP_COMMAND(LPCommand) (((LPCommand) == DSI_LP_COMMAND_DISABLE) || ((LPCommand) == DSI_LP_COMMAND_ENABLE)) -#define IS_DSI_LP_HFP(LPHFP) (((LPHFP) == DSI_LP_HFP_DISABLE) || ((LPHFP) == DSI_LP_HFP_ENABLE)) -#define IS_DSI_LP_HBP(LPHBP) (((LPHBP) == DSI_LP_HBP_DISABLE) || ((LPHBP) == DSI_LP_HBP_ENABLE)) -#define IS_DSI_LP_VACTIVE(LPVActive) (((LPVActive) == DSI_LP_VACT_DISABLE) || ((LPVActive) == DSI_LP_VACT_ENABLE)) -#define IS_DSI_LP_VFP(LPVFP) (((LPVFP) == DSI_LP_VFP_DISABLE) || ((LPVFP) == DSI_LP_VFP_ENABLE)) -#define IS_DSI_LP_VBP(LPVBP) (((LPVBP) == DSI_LP_VBP_DISABLE) || ((LPVBP) == DSI_LP_VBP_ENABLE)) -#define IS_DSI_LP_VSYNC(LPVSYNC) (((LPVSYNC) == DSI_LP_VSYNC_DISABLE) || ((LPVSYNC) == DSI_LP_VSYNC_ENABLE)) -#define IS_DSI_FBTAA(FrameBTAAcknowledge) (((FrameBTAAcknowledge) == DSI_FBTAA_DISABLE) || ((FrameBTAAcknowledge) == DSI_FBTAA_ENABLE)) -#define IS_DSI_TE_SOURCE(TESource) (((TESource) == DSI_TE_DSILINK) || ((TESource) == DSI_TE_EXTERNAL)) -#define IS_DSI_TE_POLARITY(TEPolarity) (((TEPolarity) == DSI_TE_RISING_EDGE) || ((TEPolarity) == DSI_TE_FALLING_EDGE)) -#define IS_DSI_AUTOMATIC_REFRESH(AutomaticRefresh) (((AutomaticRefresh) == DSI_AR_DISABLE) || ((AutomaticRefresh) == DSI_AR_ENABLE)) -#define IS_DSI_VS_POLARITY(VSPolarity) (((VSPolarity) == DSI_VSYNC_FALLING) || ((VSPolarity) == DSI_VSYNC_RISING)) -#define IS_DSI_TE_ACK_REQUEST(TEAcknowledgeRequest) (((TEAcknowledgeRequest) == DSI_TE_ACKNOWLEDGE_DISABLE) || ((TEAcknowledgeRequest) == DSI_TE_ACKNOWLEDGE_ENABLE)) -#define IS_DSI_ACK_REQUEST(AcknowledgeRequest) (((AcknowledgeRequest) == DSI_ACKNOWLEDGE_DISABLE) || ((AcknowledgeRequest) == DSI_ACKNOWLEDGE_ENABLE)) -#define IS_DSI_LP_GSW0P(LP_GSW0P) (((LP_GSW0P) == DSI_LP_GSW0P_DISABLE) || ((LP_GSW0P) == DSI_LP_GSW0P_ENABLE)) -#define IS_DSI_LP_GSW1P(LP_GSW1P) (((LP_GSW1P) == DSI_LP_GSW1P_DISABLE) || ((LP_GSW1P) == DSI_LP_GSW1P_ENABLE)) -#define IS_DSI_LP_GSW2P(LP_GSW2P) (((LP_GSW2P) == DSI_LP_GSW2P_DISABLE) || ((LP_GSW2P) == DSI_LP_GSW2P_ENABLE)) -#define IS_DSI_LP_GSR0P(LP_GSR0P) (((LP_GSR0P) == DSI_LP_GSR0P_DISABLE) || ((LP_GSR0P) == DSI_LP_GSR0P_ENABLE)) -#define IS_DSI_LP_GSR1P(LP_GSR1P) (((LP_GSR1P) == DSI_LP_GSR1P_DISABLE) || ((LP_GSR1P) == DSI_LP_GSR1P_ENABLE)) -#define IS_DSI_LP_GSR2P(LP_GSR2P) (((LP_GSR2P) == DSI_LP_GSR2P_DISABLE) || ((LP_GSR2P) == DSI_LP_GSR2P_ENABLE)) -#define IS_DSI_LP_GLW(LP_GLW) (((LP_GLW) == DSI_LP_GLW_DISABLE) || ((LP_GLW) == DSI_LP_GLW_ENABLE)) -#define IS_DSI_LP_DSW0P(LP_DSW0P) (((LP_DSW0P) == DSI_LP_DSW0P_DISABLE) || ((LP_DSW0P) == DSI_LP_DSW0P_ENABLE)) -#define IS_DSI_LP_DSW1P(LP_DSW1P) (((LP_DSW1P) == DSI_LP_DSW1P_DISABLE) || ((LP_DSW1P) == DSI_LP_DSW1P_ENABLE)) -#define IS_DSI_LP_DSR0P(LP_DSR0P) (((LP_DSR0P) == DSI_LP_DSR0P_DISABLE) || ((LP_DSR0P) == DSI_LP_DSR0P_ENABLE)) -#define IS_DSI_LP_DLW(LP_DLW) (((LP_DLW) == DSI_LP_DLW_DISABLE) || ((LP_DLW) == DSI_LP_DLW_ENABLE)) -#define IS_DSI_LP_MRDP(LP_MRDP) (((LP_MRDP) == DSI_LP_MRDP_DISABLE) || ((LP_MRDP) == DSI_LP_MRDP_ENABLE)) -#define IS_DSI_SHORT_WRITE_PACKET_TYPE(MODE) (((MODE) == DSI_DCS_SHORT_PKT_WRITE_P0) || \ - ((MODE) == DSI_DCS_SHORT_PKT_WRITE_P1) || \ - ((MODE) == DSI_GEN_SHORT_PKT_WRITE_P0) || \ - ((MODE) == DSI_GEN_SHORT_PKT_WRITE_P1) || \ - ((MODE) == DSI_GEN_SHORT_PKT_WRITE_P2)) -#define IS_DSI_LONG_WRITE_PACKET_TYPE(MODE) (((MODE) == DSI_DCS_LONG_PKT_WRITE) || \ - ((MODE) == DSI_GEN_LONG_PKT_WRITE)) -#define IS_DSI_READ_PACKET_TYPE(MODE) (((MODE) == DSI_DCS_SHORT_PKT_READ) || \ - ((MODE) == DSI_GEN_SHORT_PKT_READ_P0) || \ - ((MODE) == DSI_GEN_SHORT_PKT_READ_P1) || \ - ((MODE) == DSI_GEN_SHORT_PKT_READ_P2)) -#define IS_DSI_COMMUNICATION_DELAY(CommDelay) (((CommDelay) == DSI_SLEW_RATE_HSTX) || ((CommDelay) == DSI_SLEW_RATE_LPTX) || ((CommDelay) == DSI_HS_DELAY)) -#define IS_DSI_LANE_GROUP(Lane) (((Lane) == DSI_CLOCK_LANE) || ((Lane) == DSI_DATA_LANES)) -#define IS_DSI_CUSTOM_LANE(CustomLane) (((CustomLane) == DSI_SWAP_LANE_PINS) || ((CustomLane) == DSI_INVERT_HS_SIGNAL)) -#define IS_DSI_LANE(Lane) (((Lane) == DSI_CLOCK_LANE) || ((Lane) == DSI_DATA_LANE0) || ((Lane) == DSI_DATA_LANE1)) -#define IS_DSI_PHY_TIMING(Timing) (((Timing) == DSI_TCLK_POST ) || \ - ((Timing) == DSI_TLPX_CLK ) || \ - ((Timing) == DSI_THS_EXIT ) || \ - ((Timing) == DSI_TLPX_DATA ) || \ - ((Timing) == DSI_THS_ZERO ) || \ - ((Timing) == DSI_THS_TRAIL ) || \ - ((Timing) == DSI_THS_PREPARE ) || \ - ((Timing) == DSI_TCLK_ZERO ) || \ - ((Timing) == DSI_TCLK_PREPARE)) - -/** - * @} - */ - -/* Private functions prototypes ----------------------------------------------*/ -/** @defgroup DSI_Private_Functions_Prototypes DSI Private Functions Prototypes - * @{ - */ - -/** - * @} - */ - -/* Private functions ---------------------------------------------------------*/ -/** @defgroup DSI_Private_Functions DSI Private Functions - * @{ - */ - -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ -#endif /* DSI */ - -#ifdef __cplusplus -} -#endif - -#endif /* STM32F4xx_HAL_DSI_H */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_eth.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_eth.h deleted file mode 100644 index a0b0ad320786cd..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_eth.h +++ /dev/null @@ -1,2213 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_eth.h - * @author MCD Application Team - * @brief Header file of ETH HAL module. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef __STM32F4xx_HAL_ETH_H -#define __STM32F4xx_HAL_ETH_H - -#ifdef __cplusplus - extern "C" { -#endif - -#if defined(STM32F407xx) || defined(STM32F417xx) || defined(STM32F427xx) || defined(STM32F437xx) ||\ - defined(STM32F429xx) || defined(STM32F439xx) || defined(STM32F469xx) || defined(STM32F479xx) -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal_def.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @addtogroup ETH - * @{ - */ - -/** @addtogroup ETH_Private_Macros - * @{ - */ -#define IS_ETH_PHY_ADDRESS(ADDRESS) ((ADDRESS) <= 0x20U) -#define IS_ETH_AUTONEGOTIATION(CMD) (((CMD) == ETH_AUTONEGOTIATION_ENABLE) || \ - ((CMD) == ETH_AUTONEGOTIATION_DISABLE)) -#define IS_ETH_SPEED(SPEED) (((SPEED) == ETH_SPEED_10M) || \ - ((SPEED) == ETH_SPEED_100M)) -#define IS_ETH_DUPLEX_MODE(MODE) (((MODE) == ETH_MODE_FULLDUPLEX) || \ - ((MODE) == ETH_MODE_HALFDUPLEX)) -#define IS_ETH_RX_MODE(MODE) (((MODE) == ETH_RXPOLLING_MODE) || \ - ((MODE) == ETH_RXINTERRUPT_MODE)) -#define IS_ETH_CHECKSUM_MODE(MODE) (((MODE) == ETH_CHECKSUM_BY_HARDWARE) || \ - ((MODE) == ETH_CHECKSUM_BY_SOFTWARE)) -#define IS_ETH_MEDIA_INTERFACE(MODE) (((MODE) == ETH_MEDIA_INTERFACE_MII) || \ - ((MODE) == ETH_MEDIA_INTERFACE_RMII)) -#define IS_ETH_WATCHDOG(CMD) (((CMD) == ETH_WATCHDOG_ENABLE) || \ - ((CMD) == ETH_WATCHDOG_DISABLE)) -#define IS_ETH_JABBER(CMD) (((CMD) == ETH_JABBER_ENABLE) || \ - ((CMD) == ETH_JABBER_DISABLE)) -#define IS_ETH_INTER_FRAME_GAP(GAP) (((GAP) == ETH_INTERFRAMEGAP_96BIT) || \ - ((GAP) == ETH_INTERFRAMEGAP_88BIT) || \ - ((GAP) == ETH_INTERFRAMEGAP_80BIT) || \ - ((GAP) == ETH_INTERFRAMEGAP_72BIT) || \ - ((GAP) == ETH_INTERFRAMEGAP_64BIT) || \ - ((GAP) == ETH_INTERFRAMEGAP_56BIT) || \ - ((GAP) == ETH_INTERFRAMEGAP_48BIT) || \ - ((GAP) == ETH_INTERFRAMEGAP_40BIT)) -#define IS_ETH_CARRIER_SENSE(CMD) (((CMD) == ETH_CARRIERSENCE_ENABLE) || \ - ((CMD) == ETH_CARRIERSENCE_DISABLE)) -#define IS_ETH_RECEIVE_OWN(CMD) (((CMD) == ETH_RECEIVEOWN_ENABLE) || \ - ((CMD) == ETH_RECEIVEOWN_DISABLE)) -#define IS_ETH_LOOPBACK_MODE(CMD) (((CMD) == ETH_LOOPBACKMODE_ENABLE) || \ - ((CMD) == ETH_LOOPBACKMODE_DISABLE)) -#define IS_ETH_CHECKSUM_OFFLOAD(CMD) (((CMD) == ETH_CHECKSUMOFFLAOD_ENABLE) || \ - ((CMD) == ETH_CHECKSUMOFFLAOD_DISABLE)) -#define IS_ETH_RETRY_TRANSMISSION(CMD) (((CMD) == ETH_RETRYTRANSMISSION_ENABLE) || \ - ((CMD) == ETH_RETRYTRANSMISSION_DISABLE)) -#define IS_ETH_AUTOMATIC_PADCRC_STRIP(CMD) (((CMD) == ETH_AUTOMATICPADCRCSTRIP_ENABLE) || \ - ((CMD) == ETH_AUTOMATICPADCRCSTRIP_DISABLE)) -#define IS_ETH_BACKOFF_LIMIT(LIMIT) (((LIMIT) == ETH_BACKOFFLIMIT_10) || \ - ((LIMIT) == ETH_BACKOFFLIMIT_8) || \ - ((LIMIT) == ETH_BACKOFFLIMIT_4) || \ - ((LIMIT) == ETH_BACKOFFLIMIT_1)) -#define IS_ETH_DEFERRAL_CHECK(CMD) (((CMD) == ETH_DEFFERRALCHECK_ENABLE) || \ - ((CMD) == ETH_DEFFERRALCHECK_DISABLE)) -#define IS_ETH_RECEIVE_ALL(CMD) (((CMD) == ETH_RECEIVEALL_ENABLE) || \ - ((CMD) == ETH_RECEIVEAll_DISABLE)) -#define IS_ETH_SOURCE_ADDR_FILTER(CMD) (((CMD) == ETH_SOURCEADDRFILTER_NORMAL_ENABLE) || \ - ((CMD) == ETH_SOURCEADDRFILTER_INVERSE_ENABLE) || \ - ((CMD) == ETH_SOURCEADDRFILTER_DISABLE)) -#define IS_ETH_CONTROL_FRAMES(PASS) (((PASS) == ETH_PASSCONTROLFRAMES_BLOCKALL) || \ - ((PASS) == ETH_PASSCONTROLFRAMES_FORWARDALL) || \ - ((PASS) == ETH_PASSCONTROLFRAMES_FORWARDPASSEDADDRFILTER)) -#define IS_ETH_BROADCAST_FRAMES_RECEPTION(CMD) (((CMD) == ETH_BROADCASTFRAMESRECEPTION_ENABLE) || \ - ((CMD) == ETH_BROADCASTFRAMESRECEPTION_DISABLE)) -#define IS_ETH_DESTINATION_ADDR_FILTER(FILTER) (((FILTER) == ETH_DESTINATIONADDRFILTER_NORMAL) || \ - ((FILTER) == ETH_DESTINATIONADDRFILTER_INVERSE)) -#define IS_ETH_PROMISCUOUS_MODE(CMD) (((CMD) == ETH_PROMISCUOUS_MODE_ENABLE) || \ - ((CMD) == ETH_PROMISCUOUS_MODE_DISABLE)) -#define IS_ETH_MULTICAST_FRAMES_FILTER(FILTER) (((FILTER) == ETH_MULTICASTFRAMESFILTER_PERFECTHASHTABLE) || \ - ((FILTER) == ETH_MULTICASTFRAMESFILTER_HASHTABLE) || \ - ((FILTER) == ETH_MULTICASTFRAMESFILTER_PERFECT) || \ - ((FILTER) == ETH_MULTICASTFRAMESFILTER_NONE)) -#define IS_ETH_UNICAST_FRAMES_FILTER(FILTER) (((FILTER) == ETH_UNICASTFRAMESFILTER_PERFECTHASHTABLE) || \ - ((FILTER) == ETH_UNICASTFRAMESFILTER_HASHTABLE) || \ - ((FILTER) == ETH_UNICASTFRAMESFILTER_PERFECT)) -#define IS_ETH_PAUSE_TIME(TIME) ((TIME) <= 0xFFFFU) -#define IS_ETH_ZEROQUANTA_PAUSE(CMD) (((CMD) == ETH_ZEROQUANTAPAUSE_ENABLE) || \ - ((CMD) == ETH_ZEROQUANTAPAUSE_DISABLE)) -#define IS_ETH_PAUSE_LOW_THRESHOLD(THRESHOLD) (((THRESHOLD) == ETH_PAUSELOWTHRESHOLD_MINUS4) || \ - ((THRESHOLD) == ETH_PAUSELOWTHRESHOLD_MINUS28) || \ - ((THRESHOLD) == ETH_PAUSELOWTHRESHOLD_MINUS144) || \ - ((THRESHOLD) == ETH_PAUSELOWTHRESHOLD_MINUS256)) -#define IS_ETH_UNICAST_PAUSE_FRAME_DETECT(CMD) (((CMD) == ETH_UNICASTPAUSEFRAMEDETECT_ENABLE) || \ - ((CMD) == ETH_UNICASTPAUSEFRAMEDETECT_DISABLE)) -#define IS_ETH_RECEIVE_FLOWCONTROL(CMD) (((CMD) == ETH_RECEIVEFLOWCONTROL_ENABLE) || \ - ((CMD) == ETH_RECEIVEFLOWCONTROL_DISABLE)) -#define IS_ETH_TRANSMIT_FLOWCONTROL(CMD) (((CMD) == ETH_TRANSMITFLOWCONTROL_ENABLE) || \ - ((CMD) == ETH_TRANSMITFLOWCONTROL_DISABLE)) -#define IS_ETH_VLAN_TAG_COMPARISON(COMPARISON) (((COMPARISON) == ETH_VLANTAGCOMPARISON_12BIT) || \ - ((COMPARISON) == ETH_VLANTAGCOMPARISON_16BIT)) -#define IS_ETH_VLAN_TAG_IDENTIFIER(IDENTIFIER) ((IDENTIFIER) <= 0xFFFFU) -#define IS_ETH_MAC_ADDRESS0123(ADDRESS) (((ADDRESS) == ETH_MAC_ADDRESS0) || \ - ((ADDRESS) == ETH_MAC_ADDRESS1) || \ - ((ADDRESS) == ETH_MAC_ADDRESS2) || \ - ((ADDRESS) == ETH_MAC_ADDRESS3)) -#define IS_ETH_MAC_ADDRESS123(ADDRESS) (((ADDRESS) == ETH_MAC_ADDRESS1) || \ - ((ADDRESS) == ETH_MAC_ADDRESS2) || \ - ((ADDRESS) == ETH_MAC_ADDRESS3)) -#define IS_ETH_MAC_ADDRESS_FILTER(FILTER) (((FILTER) == ETH_MAC_ADDRESSFILTER_SA) || \ - ((FILTER) == ETH_MAC_ADDRESSFILTER_DA)) -#define IS_ETH_MAC_ADDRESS_MASK(MASK) (((MASK) == ETH_MAC_ADDRESSMASK_BYTE6) || \ - ((MASK) == ETH_MAC_ADDRESSMASK_BYTE5) || \ - ((MASK) == ETH_MAC_ADDRESSMASK_BYTE4) || \ - ((MASK) == ETH_MAC_ADDRESSMASK_BYTE3) || \ - ((MASK) == ETH_MAC_ADDRESSMASK_BYTE2) || \ - ((MASK) == ETH_MAC_ADDRESSMASK_BYTE1)) -#define IS_ETH_DROP_TCPIP_CHECKSUM_FRAME(CMD) (((CMD) == ETH_DROPTCPIPCHECKSUMERRORFRAME_ENABLE) || \ - ((CMD) == ETH_DROPTCPIPCHECKSUMERRORFRAME_DISABLE)) -#define IS_ETH_RECEIVE_STORE_FORWARD(CMD) (((CMD) == ETH_RECEIVESTOREFORWARD_ENABLE) || \ - ((CMD) == ETH_RECEIVESTOREFORWARD_DISABLE)) -#define IS_ETH_FLUSH_RECEIVE_FRAME(CMD) (((CMD) == ETH_FLUSHRECEIVEDFRAME_ENABLE) || \ - ((CMD) == ETH_FLUSHRECEIVEDFRAME_DISABLE)) -#define IS_ETH_TRANSMIT_STORE_FORWARD(CMD) (((CMD) == ETH_TRANSMITSTOREFORWARD_ENABLE) || \ - ((CMD) == ETH_TRANSMITSTOREFORWARD_DISABLE)) -#define IS_ETH_TRANSMIT_THRESHOLD_CONTROL(THRESHOLD) (((THRESHOLD) == ETH_TRANSMITTHRESHOLDCONTROL_64BYTES) || \ - ((THRESHOLD) == ETH_TRANSMITTHRESHOLDCONTROL_128BYTES) || \ - ((THRESHOLD) == ETH_TRANSMITTHRESHOLDCONTROL_192BYTES) || \ - ((THRESHOLD) == ETH_TRANSMITTHRESHOLDCONTROL_256BYTES) || \ - ((THRESHOLD) == ETH_TRANSMITTHRESHOLDCONTROL_40BYTES) || \ - ((THRESHOLD) == ETH_TRANSMITTHRESHOLDCONTROL_32BYTES) || \ - ((THRESHOLD) == ETH_TRANSMITTHRESHOLDCONTROL_24BYTES) || \ - ((THRESHOLD) == ETH_TRANSMITTHRESHOLDCONTROL_16BYTES)) -#define IS_ETH_FORWARD_ERROR_FRAMES(CMD) (((CMD) == ETH_FORWARDERRORFRAMES_ENABLE) || \ - ((CMD) == ETH_FORWARDERRORFRAMES_DISABLE)) -#define IS_ETH_FORWARD_UNDERSIZED_GOOD_FRAMES(CMD) (((CMD) == ETH_FORWARDUNDERSIZEDGOODFRAMES_ENABLE) || \ - ((CMD) == ETH_FORWARDUNDERSIZEDGOODFRAMES_DISABLE)) -#define IS_ETH_RECEIVE_THRESHOLD_CONTROL(THRESHOLD) (((THRESHOLD) == ETH_RECEIVEDTHRESHOLDCONTROL_64BYTES) || \ - ((THRESHOLD) == ETH_RECEIVEDTHRESHOLDCONTROL_32BYTES) || \ - ((THRESHOLD) == ETH_RECEIVEDTHRESHOLDCONTROL_96BYTES) || \ - ((THRESHOLD) == ETH_RECEIVEDTHRESHOLDCONTROL_128BYTES)) -#define IS_ETH_SECOND_FRAME_OPERATE(CMD) (((CMD) == ETH_SECONDFRAMEOPERARTE_ENABLE) || \ - ((CMD) == ETH_SECONDFRAMEOPERARTE_DISABLE)) -#define IS_ETH_ADDRESS_ALIGNED_BEATS(CMD) (((CMD) == ETH_ADDRESSALIGNEDBEATS_ENABLE) || \ - ((CMD) == ETH_ADDRESSALIGNEDBEATS_DISABLE)) -#define IS_ETH_FIXED_BURST(CMD) (((CMD) == ETH_FIXEDBURST_ENABLE) || \ - ((CMD) == ETH_FIXEDBURST_DISABLE)) -#define IS_ETH_RXDMA_BURST_LENGTH(LENGTH) (((LENGTH) == ETH_RXDMABURSTLENGTH_1BEAT) || \ - ((LENGTH) == ETH_RXDMABURSTLENGTH_2BEAT) || \ - ((LENGTH) == ETH_RXDMABURSTLENGTH_4BEAT) || \ - ((LENGTH) == ETH_RXDMABURSTLENGTH_8BEAT) || \ - ((LENGTH) == ETH_RXDMABURSTLENGTH_16BEAT) || \ - ((LENGTH) == ETH_RXDMABURSTLENGTH_32BEAT) || \ - ((LENGTH) == ETH_RXDMABURSTLENGTH_4XPBL_4BEAT) || \ - ((LENGTH) == ETH_RXDMABURSTLENGTH_4XPBL_8BEAT) || \ - ((LENGTH) == ETH_RXDMABURSTLENGTH_4XPBL_16BEAT) || \ - ((LENGTH) == ETH_RXDMABURSTLENGTH_4XPBL_32BEAT) || \ - ((LENGTH) == ETH_RXDMABURSTLENGTH_4XPBL_64BEAT) || \ - ((LENGTH) == ETH_RXDMABURSTLENGTH_4XPBL_128BEAT)) -#define IS_ETH_TXDMA_BURST_LENGTH(LENGTH) (((LENGTH) == ETH_TXDMABURSTLENGTH_1BEAT) || \ - ((LENGTH) == ETH_TXDMABURSTLENGTH_2BEAT) || \ - ((LENGTH) == ETH_TXDMABURSTLENGTH_4BEAT) || \ - ((LENGTH) == ETH_TXDMABURSTLENGTH_8BEAT) || \ - ((LENGTH) == ETH_TXDMABURSTLENGTH_16BEAT) || \ - ((LENGTH) == ETH_TXDMABURSTLENGTH_32BEAT) || \ - ((LENGTH) == ETH_TXDMABURSTLENGTH_4XPBL_4BEAT) || \ - ((LENGTH) == ETH_TXDMABURSTLENGTH_4XPBL_8BEAT) || \ - ((LENGTH) == ETH_TXDMABURSTLENGTH_4XPBL_16BEAT) || \ - ((LENGTH) == ETH_TXDMABURSTLENGTH_4XPBL_32BEAT) || \ - ((LENGTH) == ETH_TXDMABURSTLENGTH_4XPBL_64BEAT) || \ - ((LENGTH) == ETH_TXDMABURSTLENGTH_4XPBL_128BEAT)) -#define IS_ETH_DMA_DESC_SKIP_LENGTH(LENGTH) ((LENGTH) <= 0x1FU) -#define IS_ETH_DMA_ARBITRATION_ROUNDROBIN_RXTX(RATIO) (((RATIO) == ETH_DMAARBITRATION_ROUNDROBIN_RXTX_1_1) || \ - ((RATIO) == ETH_DMAARBITRATION_ROUNDROBIN_RXTX_2_1) || \ - ((RATIO) == ETH_DMAARBITRATION_ROUNDROBIN_RXTX_3_1) || \ - ((RATIO) == ETH_DMAARBITRATION_ROUNDROBIN_RXTX_4_1) || \ - ((RATIO) == ETH_DMAARBITRATION_RXPRIORTX)) -#define IS_ETH_DMATXDESC_GET_FLAG(FLAG) (((FLAG) == ETH_DMATXDESC_OWN) || \ - ((FLAG) == ETH_DMATXDESC_IC) || \ - ((FLAG) == ETH_DMATXDESC_LS) || \ - ((FLAG) == ETH_DMATXDESC_FS) || \ - ((FLAG) == ETH_DMATXDESC_DC) || \ - ((FLAG) == ETH_DMATXDESC_DP) || \ - ((FLAG) == ETH_DMATXDESC_TTSE) || \ - ((FLAG) == ETH_DMATXDESC_TER) || \ - ((FLAG) == ETH_DMATXDESC_TCH) || \ - ((FLAG) == ETH_DMATXDESC_TTSS) || \ - ((FLAG) == ETH_DMATXDESC_IHE) || \ - ((FLAG) == ETH_DMATXDESC_ES) || \ - ((FLAG) == ETH_DMATXDESC_JT) || \ - ((FLAG) == ETH_DMATXDESC_FF) || \ - ((FLAG) == ETH_DMATXDESC_PCE) || \ - ((FLAG) == ETH_DMATXDESC_LCA) || \ - ((FLAG) == ETH_DMATXDESC_NC) || \ - ((FLAG) == ETH_DMATXDESC_LCO) || \ - ((FLAG) == ETH_DMATXDESC_EC) || \ - ((FLAG) == ETH_DMATXDESC_VF) || \ - ((FLAG) == ETH_DMATXDESC_CC) || \ - ((FLAG) == ETH_DMATXDESC_ED) || \ - ((FLAG) == ETH_DMATXDESC_UF) || \ - ((FLAG) == ETH_DMATXDESC_DB)) -#define IS_ETH_DMA_TXDESC_SEGMENT(SEGMENT) (((SEGMENT) == ETH_DMATXDESC_LASTSEGMENTS) || \ - ((SEGMENT) == ETH_DMATXDESC_FIRSTSEGMENT)) -#define IS_ETH_DMA_TXDESC_CHECKSUM(CHECKSUM) (((CHECKSUM) == ETH_DMATXDESC_CHECKSUMBYPASS) || \ - ((CHECKSUM) == ETH_DMATXDESC_CHECKSUMIPV4HEADER) || \ - ((CHECKSUM) == ETH_DMATXDESC_CHECKSUMTCPUDPICMPSEGMENT) || \ - ((CHECKSUM) == ETH_DMATXDESC_CHECKSUMTCPUDPICMPFULL)) -#define IS_ETH_DMATXDESC_BUFFER_SIZE(SIZE) ((SIZE) <= 0x1FFFU) -#define IS_ETH_DMARXDESC_GET_FLAG(FLAG) (((FLAG) == ETH_DMARXDESC_OWN) || \ - ((FLAG) == ETH_DMARXDESC_AFM) || \ - ((FLAG) == ETH_DMARXDESC_ES) || \ - ((FLAG) == ETH_DMARXDESC_DE) || \ - ((FLAG) == ETH_DMARXDESC_SAF) || \ - ((FLAG) == ETH_DMARXDESC_LE) || \ - ((FLAG) == ETH_DMARXDESC_OE) || \ - ((FLAG) == ETH_DMARXDESC_VLAN) || \ - ((FLAG) == ETH_DMARXDESC_FS) || \ - ((FLAG) == ETH_DMARXDESC_LS) || \ - ((FLAG) == ETH_DMARXDESC_IPV4HCE) || \ - ((FLAG) == ETH_DMARXDESC_LC) || \ - ((FLAG) == ETH_DMARXDESC_FT) || \ - ((FLAG) == ETH_DMARXDESC_RWT) || \ - ((FLAG) == ETH_DMARXDESC_RE) || \ - ((FLAG) == ETH_DMARXDESC_DBE) || \ - ((FLAG) == ETH_DMARXDESC_CE) || \ - ((FLAG) == ETH_DMARXDESC_MAMPCE)) -#define IS_ETH_DMA_RXDESC_BUFFER(BUFFER) (((BUFFER) == ETH_DMARXDESC_BUFFER1) || \ - ((BUFFER) == ETH_DMARXDESC_BUFFER2)) -#define IS_ETH_PMT_GET_FLAG(FLAG) (((FLAG) == ETH_PMT_FLAG_WUFR) || \ - ((FLAG) == ETH_PMT_FLAG_MPR)) -#define IS_ETH_DMA_FLAG(FLAG) ((((FLAG) & 0xC7FE1800U) == 0x00U) && ((FLAG) != 0x00U)) -#define IS_ETH_DMA_GET_FLAG(FLAG) (((FLAG) == ETH_DMA_FLAG_TST) || ((FLAG) == ETH_DMA_FLAG_PMT) || \ - ((FLAG) == ETH_DMA_FLAG_MMC) || ((FLAG) == ETH_DMA_FLAG_DATATRANSFERERROR) || \ - ((FLAG) == ETH_DMA_FLAG_READWRITEERROR) || ((FLAG) == ETH_DMA_FLAG_ACCESSERROR) || \ - ((FLAG) == ETH_DMA_FLAG_NIS) || ((FLAG) == ETH_DMA_FLAG_AIS) || \ - ((FLAG) == ETH_DMA_FLAG_ER) || ((FLAG) == ETH_DMA_FLAG_FBE) || \ - ((FLAG) == ETH_DMA_FLAG_ET) || ((FLAG) == ETH_DMA_FLAG_RWT) || \ - ((FLAG) == ETH_DMA_FLAG_RPS) || ((FLAG) == ETH_DMA_FLAG_RBU) || \ - ((FLAG) == ETH_DMA_FLAG_R) || ((FLAG) == ETH_DMA_FLAG_TU) || \ - ((FLAG) == ETH_DMA_FLAG_RO) || ((FLAG) == ETH_DMA_FLAG_TJT) || \ - ((FLAG) == ETH_DMA_FLAG_TBU) || ((FLAG) == ETH_DMA_FLAG_TPS) || \ - ((FLAG) == ETH_DMA_FLAG_T)) -#define IS_ETH_MAC_IT(IT) ((((IT) & 0xFFFFFDF1U) == 0x00U) && ((IT) != 0x00U)) -#define IS_ETH_MAC_GET_IT(IT) (((IT) == ETH_MAC_IT_TST) || ((IT) == ETH_MAC_IT_MMCT) || \ - ((IT) == ETH_MAC_IT_MMCR) || ((IT) == ETH_MAC_IT_MMC) || \ - ((IT) == ETH_MAC_IT_PMT)) -#define IS_ETH_MAC_GET_FLAG(FLAG) (((FLAG) == ETH_MAC_FLAG_TST) || ((FLAG) == ETH_MAC_FLAG_MMCT) || \ - ((FLAG) == ETH_MAC_FLAG_MMCR) || ((FLAG) == ETH_MAC_FLAG_MMC) || \ - ((FLAG) == ETH_MAC_FLAG_PMT)) -#define IS_ETH_DMA_IT(IT) ((((IT) & 0xC7FE1800U) == 0x00U) && ((IT) != 0x00U)) -#define IS_ETH_DMA_GET_IT(IT) (((IT) == ETH_DMA_IT_TST) || ((IT) == ETH_DMA_IT_PMT) || \ - ((IT) == ETH_DMA_IT_MMC) || ((IT) == ETH_DMA_IT_NIS) || \ - ((IT) == ETH_DMA_IT_AIS) || ((IT) == ETH_DMA_IT_ER) || \ - ((IT) == ETH_DMA_IT_FBE) || ((IT) == ETH_DMA_IT_ET) || \ - ((IT) == ETH_DMA_IT_RWT) || ((IT) == ETH_DMA_IT_RPS) || \ - ((IT) == ETH_DMA_IT_RBU) || ((IT) == ETH_DMA_IT_R) || \ - ((IT) == ETH_DMA_IT_TU) || ((IT) == ETH_DMA_IT_RO) || \ - ((IT) == ETH_DMA_IT_TJT) || ((IT) == ETH_DMA_IT_TBU) || \ - ((IT) == ETH_DMA_IT_TPS) || ((IT) == ETH_DMA_IT_T)) -#define IS_ETH_DMA_GET_OVERFLOW(OVERFLOW) (((OVERFLOW) == ETH_DMA_OVERFLOW_RXFIFOCOUNTER) || \ - ((OVERFLOW) == ETH_DMA_OVERFLOW_MISSEDFRAMECOUNTER)) -#define IS_ETH_MMC_IT(IT) (((((IT) & 0xFFDF3FFFU) == 0x00U) || (((IT) & 0xEFFDFF9FU) == 0x00U)) && \ - ((IT) != 0x00U)) -#define IS_ETH_MMC_GET_IT(IT) (((IT) == ETH_MMC_IT_TGF) || ((IT) == ETH_MMC_IT_TGFMSC) || \ - ((IT) == ETH_MMC_IT_TGFSC) || ((IT) == ETH_MMC_IT_RGUF) || \ - ((IT) == ETH_MMC_IT_RFAE) || ((IT) == ETH_MMC_IT_RFCE)) -#define IS_ETH_ENHANCED_DESCRIPTOR_FORMAT(CMD) (((CMD) == ETH_DMAENHANCEDDESCRIPTOR_ENABLE) || \ - ((CMD) == ETH_DMAENHANCEDDESCRIPTOR_DISABLE)) - -/** - * @} - */ - -/** @addtogroup ETH_Private_Defines - * @{ - */ -/* Delay to wait when writing to some Ethernet registers */ -#define ETH_REG_WRITE_DELAY 0x00000001U - -/* ETHERNET Errors */ -#define ETH_SUCCESS 0U -#define ETH_ERROR 1U - -/* ETHERNET DMA Tx descriptors Collision Count Shift */ -#define ETH_DMATXDESC_COLLISION_COUNTSHIFT 3U - -/* ETHERNET DMA Tx descriptors Buffer2 Size Shift */ -#define ETH_DMATXDESC_BUFFER2_SIZESHIFT 16U - -/* ETHERNET DMA Rx descriptors Frame Length Shift */ -#define ETH_DMARXDESC_FRAME_LENGTHSHIFT 16U - -/* ETHERNET DMA Rx descriptors Buffer2 Size Shift */ -#define ETH_DMARXDESC_BUFFER2_SIZESHIFT 16U - -/* ETHERNET DMA Rx descriptors Frame length Shift */ -#define ETH_DMARXDESC_FRAMELENGTHSHIFT 16U - -/* ETHERNET MAC address offsets */ -#define ETH_MAC_ADDR_HBASE (uint32_t)(ETH_MAC_BASE + 0x40U) /* ETHERNET MAC address high offset */ -#define ETH_MAC_ADDR_LBASE (uint32_t)(ETH_MAC_BASE + 0x44U) /* ETHERNET MAC address low offset */ - -/* ETHERNET MACMIIAR register Mask */ -#define ETH_MACMIIAR_CR_MASK 0xFFFFFFE3U - -/* ETHERNET MACCR register Mask */ -#define ETH_MACCR_CLEAR_MASK 0xFF20810FU - -/* ETHERNET MACFCR register Mask */ -#define ETH_MACFCR_CLEAR_MASK 0x0000FF41U - -/* ETHERNET DMAOMR register Mask */ -#define ETH_DMAOMR_CLEAR_MASK 0xF8DE3F23U - -/* ETHERNET Remote Wake-up frame register length */ -#define ETH_WAKEUP_REGISTER_LENGTH 8U - -/* ETHERNET Missed frames counter Shift */ -#define ETH_DMA_RX_OVERFLOW_MISSEDFRAMES_COUNTERSHIFT 17U - /** - * @} - */ - -/* Exported types ------------------------------------------------------------*/ -/** @defgroup ETH_Exported_Types ETH Exported Types - * @{ - */ - -/** - * @brief HAL State structures definition - */ -typedef enum -{ - HAL_ETH_STATE_RESET = 0x00U, /*!< Peripheral not yet Initialized or disabled */ - HAL_ETH_STATE_READY = 0x01U, /*!< Peripheral Initialized and ready for use */ - HAL_ETH_STATE_BUSY = 0x02U, /*!< an internal process is ongoing */ - HAL_ETH_STATE_BUSY_TX = 0x12U, /*!< Data Transmission process is ongoing */ - HAL_ETH_STATE_BUSY_RX = 0x22U, /*!< Data Reception process is ongoing */ - HAL_ETH_STATE_BUSY_TX_RX = 0x32U, /*!< Data Transmission and Reception process is ongoing */ - HAL_ETH_STATE_BUSY_WR = 0x42U, /*!< Write process is ongoing */ - HAL_ETH_STATE_BUSY_RD = 0x82U, /*!< Read process is ongoing */ - HAL_ETH_STATE_TIMEOUT = 0x03U, /*!< Timeout state */ - HAL_ETH_STATE_ERROR = 0x04U /*!< Reception process is ongoing */ -}HAL_ETH_StateTypeDef; - -/** - * @brief ETH Init Structure definition - */ - -typedef struct -{ - uint32_t AutoNegotiation; /*!< Selects or not the AutoNegotiation mode for the external PHY - The AutoNegotiation allows an automatic setting of the Speed (10/100Mbps) - and the mode (half/full-duplex). - This parameter can be a value of @ref ETH_AutoNegotiation */ - - uint32_t Speed; /*!< Sets the Ethernet speed: 10/100 Mbps. - This parameter can be a value of @ref ETH_Speed */ - - uint32_t DuplexMode; /*!< Selects the MAC duplex mode: Half-Duplex or Full-Duplex mode - This parameter can be a value of @ref ETH_Duplex_Mode */ - - uint16_t PhyAddress; /*!< Ethernet PHY address. - This parameter must be a number between Min_Data = 0 and Max_Data = 32 */ - - uint8_t *MACAddr; /*!< MAC Address of used Hardware: must be pointer on an array of 6 bytes */ - - uint32_t RxMode; /*!< Selects the Ethernet Rx mode: Polling mode, Interrupt mode. - This parameter can be a value of @ref ETH_Rx_Mode */ - - uint32_t ChecksumMode; /*!< Selects if the checksum is check by hardware or by software. - This parameter can be a value of @ref ETH_Checksum_Mode */ - - uint32_t MediaInterface; /*!< Selects the media-independent interface or the reduced media-independent interface. - This parameter can be a value of @ref ETH_Media_Interface */ - -} ETH_InitTypeDef; - - - /** - * @brief ETH MAC Configuration Structure definition - */ - -typedef struct -{ - uint32_t Watchdog; /*!< Selects or not the Watchdog timer - When enabled, the MAC allows no more then 2048 bytes to be received. - When disabled, the MAC can receive up to 16384 bytes. - This parameter can be a value of @ref ETH_Watchdog */ - - uint32_t Jabber; /*!< Selects or not Jabber timer - When enabled, the MAC allows no more then 2048 bytes to be sent. - When disabled, the MAC can send up to 16384 bytes. - This parameter can be a value of @ref ETH_Jabber */ - - uint32_t InterFrameGap; /*!< Selects the minimum IFG between frames during transmission. - This parameter can be a value of @ref ETH_Inter_Frame_Gap */ - - uint32_t CarrierSense; /*!< Selects or not the Carrier Sense. - This parameter can be a value of @ref ETH_Carrier_Sense */ - - uint32_t ReceiveOwn; /*!< Selects or not the ReceiveOwn, - ReceiveOwn allows the reception of frames when the TX_EN signal is asserted - in Half-Duplex mode. - This parameter can be a value of @ref ETH_Receive_Own */ - - uint32_t LoopbackMode; /*!< Selects or not the internal MAC MII Loopback mode. - This parameter can be a value of @ref ETH_Loop_Back_Mode */ - - uint32_t ChecksumOffload; /*!< Selects or not the IPv4 checksum checking for received frame payloads' TCP/UDP/ICMP headers. - This parameter can be a value of @ref ETH_Checksum_Offload */ - - uint32_t RetryTransmission; /*!< Selects or not the MAC attempt retries transmission, based on the settings of BL, - when a collision occurs (Half-Duplex mode). - This parameter can be a value of @ref ETH_Retry_Transmission */ - - uint32_t AutomaticPadCRCStrip; /*!< Selects or not the Automatic MAC Pad/CRC Stripping. - This parameter can be a value of @ref ETH_Automatic_Pad_CRC_Strip */ - - uint32_t BackOffLimit; /*!< Selects the BackOff limit value. - This parameter can be a value of @ref ETH_Back_Off_Limit */ - - uint32_t DeferralCheck; /*!< Selects or not the deferral check function (Half-Duplex mode). - This parameter can be a value of @ref ETH_Deferral_Check */ - - uint32_t ReceiveAll; /*!< Selects or not all frames reception by the MAC (No filtering). - This parameter can be a value of @ref ETH_Receive_All */ - - uint32_t SourceAddrFilter; /*!< Selects the Source Address Filter mode. - This parameter can be a value of @ref ETH_Source_Addr_Filter */ - - uint32_t PassControlFrames; /*!< Sets the forwarding mode of the control frames (including unicast and multicast PAUSE frames) - This parameter can be a value of @ref ETH_Pass_Control_Frames */ - - uint32_t BroadcastFramesReception; /*!< Selects or not the reception of Broadcast Frames. - This parameter can be a value of @ref ETH_Broadcast_Frames_Reception */ - - uint32_t DestinationAddrFilter; /*!< Sets the destination filter mode for both unicast and multicast frames. - This parameter can be a value of @ref ETH_Destination_Addr_Filter */ - - uint32_t PromiscuousMode; /*!< Selects or not the Promiscuous Mode - This parameter can be a value of @ref ETH_Promiscuous_Mode */ - - uint32_t MulticastFramesFilter; /*!< Selects the Multicast Frames filter mode: None/HashTableFilter/PerfectFilter/PerfectHashTableFilter. - This parameter can be a value of @ref ETH_Multicast_Frames_Filter */ - - uint32_t UnicastFramesFilter; /*!< Selects the Unicast Frames filter mode: HashTableFilter/PerfectFilter/PerfectHashTableFilter. - This parameter can be a value of @ref ETH_Unicast_Frames_Filter */ - - uint32_t HashTableHigh; /*!< This field holds the higher 32 bits of Hash table. - This parameter must be a number between Min_Data = 0x0 and Max_Data = 0xFFFFFFFFU */ - - uint32_t HashTableLow; /*!< This field holds the lower 32 bits of Hash table. - This parameter must be a number between Min_Data = 0x0 and Max_Data = 0xFFFFFFFFU */ - - uint32_t PauseTime; /*!< This field holds the value to be used in the Pause Time field in the transmit control frame. - This parameter must be a number between Min_Data = 0x0 and Max_Data = 0xFFFFU */ - - uint32_t ZeroQuantaPause; /*!< Selects or not the automatic generation of Zero-Quanta Pause Control frames. - This parameter can be a value of @ref ETH_Zero_Quanta_Pause */ - - uint32_t PauseLowThreshold; /*!< This field configures the threshold of the PAUSE to be checked for - automatic retransmission of PAUSE Frame. - This parameter can be a value of @ref ETH_Pause_Low_Threshold */ - - uint32_t UnicastPauseFrameDetect; /*!< Selects or not the MAC detection of the Pause frames (with MAC Address0 - unicast address and unique multicast address). - This parameter can be a value of @ref ETH_Unicast_Pause_Frame_Detect */ - - uint32_t ReceiveFlowControl; /*!< Enables or disables the MAC to decode the received Pause frame and - disable its transmitter for a specified time (Pause Time) - This parameter can be a value of @ref ETH_Receive_Flow_Control */ - - uint32_t TransmitFlowControl; /*!< Enables or disables the MAC to transmit Pause frames (Full-Duplex mode) - or the MAC back-pressure operation (Half-Duplex mode) - This parameter can be a value of @ref ETH_Transmit_Flow_Control */ - - uint32_t VLANTagComparison; /*!< Selects the 12-bit VLAN identifier or the complete 16-bit VLAN tag for - comparison and filtering. - This parameter can be a value of @ref ETH_VLAN_Tag_Comparison */ - - uint32_t VLANTagIdentifier; /*!< Holds the VLAN tag identifier for receive frames */ - -} ETH_MACInitTypeDef; - -/** - * @brief ETH DMA Configuration Structure definition - */ - -typedef struct -{ - uint32_t DropTCPIPChecksumErrorFrame; /*!< Selects or not the Dropping of TCP/IP Checksum Error Frames. - This parameter can be a value of @ref ETH_Drop_TCP_IP_Checksum_Error_Frame */ - - uint32_t ReceiveStoreForward; /*!< Enables or disables the Receive store and forward mode. - This parameter can be a value of @ref ETH_Receive_Store_Forward */ - - uint32_t FlushReceivedFrame; /*!< Enables or disables the flushing of received frames. - This parameter can be a value of @ref ETH_Flush_Received_Frame */ - - uint32_t TransmitStoreForward; /*!< Enables or disables Transmit store and forward mode. - This parameter can be a value of @ref ETH_Transmit_Store_Forward */ - - uint32_t TransmitThresholdControl; /*!< Selects or not the Transmit Threshold Control. - This parameter can be a value of @ref ETH_Transmit_Threshold_Control */ - - uint32_t ForwardErrorFrames; /*!< Selects or not the forward to the DMA of erroneous frames. - This parameter can be a value of @ref ETH_Forward_Error_Frames */ - - uint32_t ForwardUndersizedGoodFrames; /*!< Enables or disables the Rx FIFO to forward Undersized frames (frames with no Error - and length less than 64 bytes) including pad-bytes and CRC) - This parameter can be a value of @ref ETH_Forward_Undersized_Good_Frames */ - - uint32_t ReceiveThresholdControl; /*!< Selects the threshold level of the Receive FIFO. - This parameter can be a value of @ref ETH_Receive_Threshold_Control */ - - uint32_t SecondFrameOperate; /*!< Selects or not the Operate on second frame mode, which allows the DMA to process a second - frame of Transmit data even before obtaining the status for the first frame. - This parameter can be a value of @ref ETH_Second_Frame_Operate */ - - uint32_t AddressAlignedBeats; /*!< Enables or disables the Address Aligned Beats. - This parameter can be a value of @ref ETH_Address_Aligned_Beats */ - - uint32_t FixedBurst; /*!< Enables or disables the AHB Master interface fixed burst transfers. - This parameter can be a value of @ref ETH_Fixed_Burst */ - - uint32_t RxDMABurstLength; /*!< Indicates the maximum number of beats to be transferred in one Rx DMA transaction. - This parameter can be a value of @ref ETH_Rx_DMA_Burst_Length */ - - uint32_t TxDMABurstLength; /*!< Indicates the maximum number of beats to be transferred in one Tx DMA transaction. - This parameter can be a value of @ref ETH_Tx_DMA_Burst_Length */ - - uint32_t EnhancedDescriptorFormat; /*!< Enables the enhanced descriptor format. - This parameter can be a value of @ref ETH_DMA_Enhanced_descriptor_format */ - - uint32_t DescriptorSkipLength; /*!< Specifies the number of word to skip between two unchained descriptors (Ring mode) - This parameter must be a number between Min_Data = 0 and Max_Data = 32 */ - - uint32_t DMAArbitration; /*!< Selects the DMA Tx/Rx arbitration. - This parameter can be a value of @ref ETH_DMA_Arbitration */ -} ETH_DMAInitTypeDef; - - -/** - * @brief ETH DMA Descriptors data structure definition - */ - -typedef struct -{ - __IO uint32_t Status; /*!< Status */ - - uint32_t ControlBufferSize; /*!< Control and Buffer1, Buffer2 lengths */ - - uint32_t Buffer1Addr; /*!< Buffer1 address pointer */ - - uint32_t Buffer2NextDescAddr; /*!< Buffer2 or next descriptor address pointer */ - - /*!< Enhanced ETHERNET DMA PTP Descriptors */ - uint32_t ExtendedStatus; /*!< Extended status for PTP receive descriptor */ - - uint32_t Reserved1; /*!< Reserved */ - - uint32_t TimeStampLow; /*!< Time Stamp Low value for transmit and receive */ - - uint32_t TimeStampHigh; /*!< Time Stamp High value for transmit and receive */ - -} ETH_DMADescTypeDef; - -/** - * @brief Received Frame Informations structure definition - */ -typedef struct -{ - ETH_DMADescTypeDef *FSRxDesc; /*!< First Segment Rx Desc */ - - ETH_DMADescTypeDef *LSRxDesc; /*!< Last Segment Rx Desc */ - - uint32_t SegCount; /*!< Segment count */ - - uint32_t length; /*!< Frame length */ - - uint32_t buffer; /*!< Frame buffer */ - -} ETH_DMARxFrameInfos; - -/** - * @brief ETH Handle Structure definition - */ - -#if (USE_HAL_ETH_REGISTER_CALLBACKS == 1) -typedef struct __ETH_HandleTypeDef -#else -typedef struct -#endif /* USE_HAL_ETH_REGISTER_CALLBACKS */ -{ - ETH_TypeDef *Instance; /*!< Register base address */ - - ETH_InitTypeDef Init; /*!< Ethernet Init Configuration */ - - uint32_t LinkStatus; /*!< Ethernet link status */ - - ETH_DMADescTypeDef *RxDesc; /*!< Rx descriptor to Get */ - - ETH_DMADescTypeDef *TxDesc; /*!< Tx descriptor to Set */ - - ETH_DMARxFrameInfos RxFrameInfos; /*!< last Rx frame infos */ - - __IO HAL_ETH_StateTypeDef State; /*!< ETH communication state */ - - HAL_LockTypeDef Lock; /*!< ETH Lock */ - -#if (USE_HAL_ETH_REGISTER_CALLBACKS == 1) - - void (* TxCpltCallback) ( struct __ETH_HandleTypeDef * heth); /*!< ETH Tx Complete Callback */ - void (* RxCpltCallback) ( struct __ETH_HandleTypeDef * heth); /*!< ETH Rx Complete Callback */ - void (* DMAErrorCallback) ( struct __ETH_HandleTypeDef * heth); /*!< DMA Error Callback */ - void (* MspInitCallback) ( struct __ETH_HandleTypeDef * heth); /*!< ETH Msp Init callback */ - void (* MspDeInitCallback) ( struct __ETH_HandleTypeDef * heth); /*!< ETH Msp DeInit callback */ - -#endif /* USE_HAL_ETH_REGISTER_CALLBACKS */ - -} ETH_HandleTypeDef; - -#if (USE_HAL_ETH_REGISTER_CALLBACKS == 1) -/** - * @brief HAL ETH Callback ID enumeration definition - */ -typedef enum -{ - HAL_ETH_MSPINIT_CB_ID = 0x00U, /*!< ETH MspInit callback ID */ - HAL_ETH_MSPDEINIT_CB_ID = 0x01U, /*!< ETH MspDeInit callback ID */ - HAL_ETH_TX_COMPLETE_CB_ID = 0x02U, /*!< ETH Tx Complete Callback ID */ - HAL_ETH_RX_COMPLETE_CB_ID = 0x03U, /*!< ETH Rx Complete Callback ID */ - HAL_ETH_DMA_ERROR_CB_ID = 0x04U, /*!< ETH DMA Error Callback ID */ - -}HAL_ETH_CallbackIDTypeDef; - -/** - * @brief HAL ETH Callback pointer definition - */ -typedef void (*pETH_CallbackTypeDef)(ETH_HandleTypeDef * heth); /*!< pointer to an ETH callback function */ - -#endif /* USE_HAL_ETH_REGISTER_CALLBACKS */ - - /** - * @} - */ - -/* Exported constants --------------------------------------------------------*/ -/** @defgroup ETH_Exported_Constants ETH Exported Constants - * @{ - */ - -/** @defgroup ETH_Buffers_setting ETH Buffers setting - * @{ - */ -#define ETH_MAX_PACKET_SIZE 1524U /*!< ETH_HEADER + ETH_EXTRA + ETH_VLAN_TAG + ETH_MAX_ETH_PAYLOAD + ETH_CRC */ -#define ETH_HEADER 14U /*!< 6 byte Dest addr, 6 byte Src addr, 2 byte length/type */ -#define ETH_CRC 4U /*!< Ethernet CRC */ -#define ETH_EXTRA 2U /*!< Extra bytes in some cases */ -#define ETH_VLAN_TAG 4U /*!< optional 802.1q VLAN Tag */ -#define ETH_MIN_ETH_PAYLOAD 46U /*!< Minimum Ethernet payload size */ -#define ETH_MAX_ETH_PAYLOAD 1500U /*!< Maximum Ethernet payload size */ -#define ETH_JUMBO_FRAME_PAYLOAD 9000U /*!< Jumbo frame payload size */ - - /* Ethernet driver receive buffers are organized in a chained linked-list, when - an ethernet packet is received, the Rx-DMA will transfer the packet from RxFIFO - to the driver receive buffers memory. - - Depending on the size of the received ethernet packet and the size of - each ethernet driver receive buffer, the received packet can take one or more - ethernet driver receive buffer. - - In below are defined the size of one ethernet driver receive buffer ETH_RX_BUF_SIZE - and the total count of the driver receive buffers ETH_RXBUFNB. - - The configured value for ETH_RX_BUF_SIZE and ETH_RXBUFNB are only provided as - example, they can be reconfigured in the application layer to fit the application - needs */ - -/* Here we configure each Ethernet driver receive buffer to fit the Max size Ethernet - packet */ -#ifndef ETH_RX_BUF_SIZE - #define ETH_RX_BUF_SIZE ETH_MAX_PACKET_SIZE -#endif - -/* 5 Ethernet driver receive buffers are used (in a chained linked list)*/ -#ifndef ETH_RXBUFNB - #define ETH_RXBUFNB 5U /* 5 Rx buffers of size ETH_RX_BUF_SIZE */ -#endif - - - /* Ethernet driver transmit buffers are organized in a chained linked-list, when - an ethernet packet is transmitted, Tx-DMA will transfer the packet from the - driver transmit buffers memory to the TxFIFO. - - Depending on the size of the Ethernet packet to be transmitted and the size of - each ethernet driver transmit buffer, the packet to be transmitted can take - one or more ethernet driver transmit buffer. - - In below are defined the size of one ethernet driver transmit buffer ETH_TX_BUF_SIZE - and the total count of the driver transmit buffers ETH_TXBUFNB. - - The configured value for ETH_TX_BUF_SIZE and ETH_TXBUFNB are only provided as - example, they can be reconfigured in the application layer to fit the application - needs */ - -/* Here we configure each Ethernet driver transmit buffer to fit the Max size Ethernet - packet */ -#ifndef ETH_TX_BUF_SIZE - #define ETH_TX_BUF_SIZE ETH_MAX_PACKET_SIZE -#endif - -/* 5 ethernet driver transmit buffers are used (in a chained linked list)*/ -#ifndef ETH_TXBUFNB - #define ETH_TXBUFNB 5U /* 5 Tx buffers of size ETH_TX_BUF_SIZE */ -#endif - - /** - * @} - */ - -/** @defgroup ETH_DMA_TX_Descriptor ETH DMA TX Descriptor - * @{ - */ - -/* - DMA Tx Descriptor - ----------------------------------------------------------------------------------------------- - TDES0 | OWN(31) | CTRL[30:26] | Reserved[25:24] | CTRL[23:20] | Reserved[19:17] | Status[16:0] | - ----------------------------------------------------------------------------------------------- - TDES1 | Reserved[31:29] | Buffer2 ByteCount[28:16] | Reserved[15:13] | Buffer1 ByteCount[12:0] | - ----------------------------------------------------------------------------------------------- - TDES2 | Buffer1 Address [31:0] | - ----------------------------------------------------------------------------------------------- - TDES3 | Buffer2 Address [31:0] / Next Descriptor Address [31:0] | - ----------------------------------------------------------------------------------------------- -*/ - -/** - * @brief Bit definition of TDES0 register: DMA Tx descriptor status register - */ -#define ETH_DMATXDESC_OWN 0x80000000U /*!< OWN bit: descriptor is owned by DMA engine */ -#define ETH_DMATXDESC_IC 0x40000000U /*!< Interrupt on Completion */ -#define ETH_DMATXDESC_LS 0x20000000U /*!< Last Segment */ -#define ETH_DMATXDESC_FS 0x10000000U /*!< First Segment */ -#define ETH_DMATXDESC_DC 0x08000000U /*!< Disable CRC */ -#define ETH_DMATXDESC_DP 0x04000000U /*!< Disable Padding */ -#define ETH_DMATXDESC_TTSE 0x02000000U /*!< Transmit Time Stamp Enable */ -#define ETH_DMATXDESC_CIC 0x00C00000U /*!< Checksum Insertion Control: 4 cases */ -#define ETH_DMATXDESC_CIC_BYPASS 0x00000000U /*!< Do Nothing: Checksum Engine is bypassed */ -#define ETH_DMATXDESC_CIC_IPV4HEADER 0x00400000U /*!< IPV4 header Checksum Insertion */ -#define ETH_DMATXDESC_CIC_TCPUDPICMP_SEGMENT 0x00800000U /*!< TCP/UDP/ICMP Checksum Insertion calculated over segment only */ -#define ETH_DMATXDESC_CIC_TCPUDPICMP_FULL 0x00C00000U /*!< TCP/UDP/ICMP Checksum Insertion fully calculated */ -#define ETH_DMATXDESC_TER 0x00200000U /*!< Transmit End of Ring */ -#define ETH_DMATXDESC_TCH 0x00100000U /*!< Second Address Chained */ -#define ETH_DMATXDESC_TTSS 0x00020000U /*!< Tx Time Stamp Status */ -#define ETH_DMATXDESC_IHE 0x00010000U /*!< IP Header Error */ -#define ETH_DMATXDESC_ES 0x00008000U /*!< Error summary: OR of the following bits: UE || ED || EC || LCO || NC || LCA || FF || JT */ -#define ETH_DMATXDESC_JT 0x00004000U /*!< Jabber Timeout */ -#define ETH_DMATXDESC_FF 0x00002000U /*!< Frame Flushed: DMA/MTL flushed the frame due to SW flush */ -#define ETH_DMATXDESC_PCE 0x00001000U /*!< Payload Checksum Error */ -#define ETH_DMATXDESC_LCA 0x00000800U /*!< Loss of Carrier: carrier lost during transmission */ -#define ETH_DMATXDESC_NC 0x00000400U /*!< No Carrier: no carrier signal from the transceiver */ -#define ETH_DMATXDESC_LCO 0x00000200U /*!< Late Collision: transmission aborted due to collision */ -#define ETH_DMATXDESC_EC 0x00000100U /*!< Excessive Collision: transmission aborted after 16 collisions */ -#define ETH_DMATXDESC_VF 0x00000080U /*!< VLAN Frame */ -#define ETH_DMATXDESC_CC 0x00000078U /*!< Collision Count */ -#define ETH_DMATXDESC_ED 0x00000004U /*!< Excessive Deferral */ -#define ETH_DMATXDESC_UF 0x00000002U /*!< Underflow Error: late data arrival from the memory */ -#define ETH_DMATXDESC_DB 0x00000001U /*!< Deferred Bit */ - -/** - * @brief Bit definition of TDES1 register - */ -#define ETH_DMATXDESC_TBS2 0x1FFF0000U /*!< Transmit Buffer2 Size */ -#define ETH_DMATXDESC_TBS1 0x00001FFFU /*!< Transmit Buffer1 Size */ - -/** - * @brief Bit definition of TDES2 register - */ -#define ETH_DMATXDESC_B1AP 0xFFFFFFFFU /*!< Buffer1 Address Pointer */ - -/** - * @brief Bit definition of TDES3 register - */ -#define ETH_DMATXDESC_B2AP 0xFFFFFFFFU /*!< Buffer2 Address Pointer */ - - /*--------------------------------------------------------------------------------------------- - TDES6 | Transmit Time Stamp Low [31:0] | - ----------------------------------------------------------------------------------------------- - TDES7 | Transmit Time Stamp High [31:0] | - ----------------------------------------------------------------------------------------------*/ - -/* Bit definition of TDES6 register */ - #define ETH_DMAPTPTXDESC_TTSL 0xFFFFFFFFU /* Transmit Time Stamp Low */ - -/* Bit definition of TDES7 register */ - #define ETH_DMAPTPTXDESC_TTSH 0xFFFFFFFFU /* Transmit Time Stamp High */ - -/** - * @} - */ -/** @defgroup ETH_DMA_RX_Descriptor ETH DMA RX Descriptor - * @{ - */ - -/* - DMA Rx Descriptor - -------------------------------------------------------------------------------------------------------------------- - RDES0 | OWN(31) | Status [30:0] | - --------------------------------------------------------------------------------------------------------------------- - RDES1 | CTRL(31) | Reserved[30:29] | Buffer2 ByteCount[28:16] | CTRL[15:14] | Reserved(13) | Buffer1 ByteCount[12:0] | - --------------------------------------------------------------------------------------------------------------------- - RDES2 | Buffer1 Address [31:0] | - --------------------------------------------------------------------------------------------------------------------- - RDES3 | Buffer2 Address [31:0] / Next Descriptor Address [31:0] | - --------------------------------------------------------------------------------------------------------------------- -*/ - -/** - * @brief Bit definition of RDES0 register: DMA Rx descriptor status register - */ -#define ETH_DMARXDESC_OWN 0x80000000U /*!< OWN bit: descriptor is owned by DMA engine */ -#define ETH_DMARXDESC_AFM 0x40000000U /*!< DA Filter Fail for the rx frame */ -#define ETH_DMARXDESC_FL 0x3FFF0000U /*!< Receive descriptor frame length */ -#define ETH_DMARXDESC_ES 0x00008000U /*!< Error summary: OR of the following bits: DE || OE || IPC || LC || RWT || RE || CE */ -#define ETH_DMARXDESC_DE 0x00004000U /*!< Descriptor error: no more descriptors for receive frame */ -#define ETH_DMARXDESC_SAF 0x00002000U /*!< SA Filter Fail for the received frame */ -#define ETH_DMARXDESC_LE 0x00001000U /*!< Frame size not matching with length field */ -#define ETH_DMARXDESC_OE 0x00000800U /*!< Overflow Error: Frame was damaged due to buffer overflow */ -#define ETH_DMARXDESC_VLAN 0x00000400U /*!< VLAN Tag: received frame is a VLAN frame */ -#define ETH_DMARXDESC_FS 0x00000200U /*!< First descriptor of the frame */ -#define ETH_DMARXDESC_LS 0x00000100U /*!< Last descriptor of the frame */ -#define ETH_DMARXDESC_IPV4HCE 0x00000080U /*!< IPC Checksum Error: Rx Ipv4 header checksum error */ -#define ETH_DMARXDESC_LC 0x00000040U /*!< Late collision occurred during reception */ -#define ETH_DMARXDESC_FT 0x00000020U /*!< Frame type - Ethernet, otherwise 802.3 */ -#define ETH_DMARXDESC_RWT 0x00000010U /*!< Receive Watchdog Timeout: watchdog timer expired during reception */ -#define ETH_DMARXDESC_RE 0x00000008U /*!< Receive error: error reported by MII interface */ -#define ETH_DMARXDESC_DBE 0x00000004U /*!< Dribble bit error: frame contains non int multiple of 8 bits */ -#define ETH_DMARXDESC_CE 0x00000002U /*!< CRC error */ -#define ETH_DMARXDESC_MAMPCE 0x00000001U /*!< Rx MAC Address/Payload Checksum Error: Rx MAC address matched/ Rx Payload Checksum Error */ - -/** - * @brief Bit definition of RDES1 register - */ -#define ETH_DMARXDESC_DIC 0x80000000U /*!< Disable Interrupt on Completion */ -#define ETH_DMARXDESC_RBS2 0x1FFF0000U /*!< Receive Buffer2 Size */ -#define ETH_DMARXDESC_RER 0x00008000U /*!< Receive End of Ring */ -#define ETH_DMARXDESC_RCH 0x00004000U /*!< Second Address Chained */ -#define ETH_DMARXDESC_RBS1 0x00001FFFU /*!< Receive Buffer1 Size */ - -/** - * @brief Bit definition of RDES2 register - */ -#define ETH_DMARXDESC_B1AP 0xFFFFFFFFU /*!< Buffer1 Address Pointer */ - -/** - * @brief Bit definition of RDES3 register - */ -#define ETH_DMARXDESC_B2AP 0xFFFFFFFFU /*!< Buffer2 Address Pointer */ - -/*--------------------------------------------------------------------------------------------------------------------- - RDES4 | Reserved[31:15] | Extended Status [14:0] | - --------------------------------------------------------------------------------------------------------------------- - RDES5 | Reserved[31:0] | - --------------------------------------------------------------------------------------------------------------------- - RDES6 | Receive Time Stamp Low [31:0] | - --------------------------------------------------------------------------------------------------------------------- - RDES7 | Receive Time Stamp High [31:0] | - --------------------------------------------------------------------------------------------------------------------*/ - -/* Bit definition of RDES4 register */ -#define ETH_DMAPTPRXDESC_PTPV 0x00002000U /* PTP Version */ -#define ETH_DMAPTPRXDESC_PTPFT 0x00001000U /* PTP Frame Type */ -#define ETH_DMAPTPRXDESC_PTPMT 0x00000F00U /* PTP Message Type */ - #define ETH_DMAPTPRXDESC_PTPMT_SYNC 0x00000100U /* SYNC message (all clock types) */ - #define ETH_DMAPTPRXDESC_PTPMT_FOLLOWUP 0x00000200U /* FollowUp message (all clock types) */ - #define ETH_DMAPTPRXDESC_PTPMT_DELAYREQ 0x00000300U /* DelayReq message (all clock types) */ - #define ETH_DMAPTPRXDESC_PTPMT_DELAYRESP 0x00000400U /* DelayResp message (all clock types) */ - #define ETH_DMAPTPRXDESC_PTPMT_PDELAYREQ_ANNOUNCE 0x00000500U /* PdelayReq message (peer-to-peer transparent clock) or Announce message (Ordinary or Boundary clock) */ - #define ETH_DMAPTPRXDESC_PTPMT_PDELAYRESP_MANAG 0x00000600U /* PdelayResp message (peer-to-peer transparent clock) or Management message (Ordinary or Boundary clock) */ - #define ETH_DMAPTPRXDESC_PTPMT_PDELAYRESPFOLLOWUP_SIGNAL 0x00000700U /* PdelayRespFollowUp message (peer-to-peer transparent clock) or Signaling message (Ordinary or Boundary clock) */ -#define ETH_DMAPTPRXDESC_IPV6PR 0x00000080U /* IPv6 Packet Received */ -#define ETH_DMAPTPRXDESC_IPV4PR 0x00000040U /* IPv4 Packet Received */ -#define ETH_DMAPTPRXDESC_IPCB 0x00000020U /* IP Checksum Bypassed */ -#define ETH_DMAPTPRXDESC_IPPE 0x00000010U /* IP Payload Error */ -#define ETH_DMAPTPRXDESC_IPHE 0x00000008U /* IP Header Error */ -#define ETH_DMAPTPRXDESC_IPPT 0x00000007U /* IP Payload Type */ - #define ETH_DMAPTPRXDESC_IPPT_UDP 0x00000001U /* UDP payload encapsulated in the IP datagram */ - #define ETH_DMAPTPRXDESC_IPPT_TCP 0x00000002U /* TCP payload encapsulated in the IP datagram */ - #define ETH_DMAPTPRXDESC_IPPT_ICMP 0x00000003U /* ICMP payload encapsulated in the IP datagram */ - -/* Bit definition of RDES6 register */ -#define ETH_DMAPTPRXDESC_RTSL 0xFFFFFFFFU /* Receive Time Stamp Low */ - -/* Bit definition of RDES7 register */ -#define ETH_DMAPTPRXDESC_RTSH 0xFFFFFFFFU /* Receive Time Stamp High */ -/** - * @} - */ - /** @defgroup ETH_AutoNegotiation ETH AutoNegotiation - * @{ - */ -#define ETH_AUTONEGOTIATION_ENABLE 0x00000001U -#define ETH_AUTONEGOTIATION_DISABLE 0x00000000U - -/** - * @} - */ -/** @defgroup ETH_Speed ETH Speed - * @{ - */ -#define ETH_SPEED_10M 0x00000000U -#define ETH_SPEED_100M 0x00004000U - -/** - * @} - */ -/** @defgroup ETH_Duplex_Mode ETH Duplex Mode - * @{ - */ -#define ETH_MODE_FULLDUPLEX 0x00000800U -#define ETH_MODE_HALFDUPLEX 0x00000000U -/** - * @} - */ -/** @defgroup ETH_Rx_Mode ETH Rx Mode - * @{ - */ -#define ETH_RXPOLLING_MODE 0x00000000U -#define ETH_RXINTERRUPT_MODE 0x00000001U -/** - * @} - */ - -/** @defgroup ETH_Checksum_Mode ETH Checksum Mode - * @{ - */ -#define ETH_CHECKSUM_BY_HARDWARE 0x00000000U -#define ETH_CHECKSUM_BY_SOFTWARE 0x00000001U -/** - * @} - */ - -/** @defgroup ETH_Media_Interface ETH Media Interface - * @{ - */ -#define ETH_MEDIA_INTERFACE_MII 0x00000000U -#define ETH_MEDIA_INTERFACE_RMII ((uint32_t)SYSCFG_PMC_MII_RMII_SEL) -/** - * @} - */ - -/** @defgroup ETH_Watchdog ETH Watchdog - * @{ - */ -#define ETH_WATCHDOG_ENABLE 0x00000000U -#define ETH_WATCHDOG_DISABLE 0x00800000U -/** - * @} - */ - -/** @defgroup ETH_Jabber ETH Jabber - * @{ - */ -#define ETH_JABBER_ENABLE 0x00000000U -#define ETH_JABBER_DISABLE 0x00400000U -/** - * @} - */ - -/** @defgroup ETH_Inter_Frame_Gap ETH Inter Frame Gap - * @{ - */ -#define ETH_INTERFRAMEGAP_96BIT 0x00000000U /*!< minimum IFG between frames during transmission is 96Bit */ -#define ETH_INTERFRAMEGAP_88BIT 0x00020000U /*!< minimum IFG between frames during transmission is 88Bit */ -#define ETH_INTERFRAMEGAP_80BIT 0x00040000U /*!< minimum IFG between frames during transmission is 80Bit */ -#define ETH_INTERFRAMEGAP_72BIT 0x00060000U /*!< minimum IFG between frames during transmission is 72Bit */ -#define ETH_INTERFRAMEGAP_64BIT 0x00080000U /*!< minimum IFG between frames during transmission is 64Bit */ -#define ETH_INTERFRAMEGAP_56BIT 0x000A0000U /*!< minimum IFG between frames during transmission is 56Bit */ -#define ETH_INTERFRAMEGAP_48BIT 0x000C0000U /*!< minimum IFG between frames during transmission is 48Bit */ -#define ETH_INTERFRAMEGAP_40BIT 0x000E0000U /*!< minimum IFG between frames during transmission is 40Bit */ -/** - * @} - */ - -/** @defgroup ETH_Carrier_Sense ETH Carrier Sense - * @{ - */ -#define ETH_CARRIERSENCE_ENABLE 0x00000000U -#define ETH_CARRIERSENCE_DISABLE 0x00010000U -/** - * @} - */ - -/** @defgroup ETH_Receive_Own ETH Receive Own - * @{ - */ -#define ETH_RECEIVEOWN_ENABLE 0x00000000U -#define ETH_RECEIVEOWN_DISABLE 0x00002000U -/** - * @} - */ - -/** @defgroup ETH_Loop_Back_Mode ETH Loop Back Mode - * @{ - */ -#define ETH_LOOPBACKMODE_ENABLE 0x00001000U -#define ETH_LOOPBACKMODE_DISABLE 0x00000000U -/** - * @} - */ - -/** @defgroup ETH_Checksum_Offload ETH Checksum Offload - * @{ - */ -#define ETH_CHECKSUMOFFLAOD_ENABLE 0x00000400U -#define ETH_CHECKSUMOFFLAOD_DISABLE 0x00000000U -/** - * @} - */ - -/** @defgroup ETH_Retry_Transmission ETH Retry Transmission - * @{ - */ -#define ETH_RETRYTRANSMISSION_ENABLE 0x00000000U -#define ETH_RETRYTRANSMISSION_DISABLE 0x00000200U -/** - * @} - */ - -/** @defgroup ETH_Automatic_Pad_CRC_Strip ETH Automatic Pad CRC Strip - * @{ - */ -#define ETH_AUTOMATICPADCRCSTRIP_ENABLE 0x00000080U -#define ETH_AUTOMATICPADCRCSTRIP_DISABLE 0x00000000U -/** - * @} - */ - -/** @defgroup ETH_Back_Off_Limit ETH Back Off Limit - * @{ - */ -#define ETH_BACKOFFLIMIT_10 0x00000000U -#define ETH_BACKOFFLIMIT_8 0x00000020U -#define ETH_BACKOFFLIMIT_4 0x00000040U -#define ETH_BACKOFFLIMIT_1 0x00000060U -/** - * @} - */ - -/** @defgroup ETH_Deferral_Check ETH Deferral Check - * @{ - */ -#define ETH_DEFFERRALCHECK_ENABLE 0x00000010U -#define ETH_DEFFERRALCHECK_DISABLE 0x00000000U -/** - * @} - */ - -/** @defgroup ETH_Receive_All ETH Receive All - * @{ - */ -#define ETH_RECEIVEALL_ENABLE 0x80000000U -#define ETH_RECEIVEAll_DISABLE 0x00000000U -/** - * @} - */ - -/** @defgroup ETH_Source_Addr_Filter ETH Source Addr Filter - * @{ - */ -#define ETH_SOURCEADDRFILTER_NORMAL_ENABLE 0x00000200U -#define ETH_SOURCEADDRFILTER_INVERSE_ENABLE 0x00000300U -#define ETH_SOURCEADDRFILTER_DISABLE 0x00000000U -/** - * @} - */ - -/** @defgroup ETH_Pass_Control_Frames ETH Pass Control Frames - * @{ - */ -#define ETH_PASSCONTROLFRAMES_BLOCKALL 0x00000040U /*!< MAC filters all control frames from reaching the application */ -#define ETH_PASSCONTROLFRAMES_FORWARDALL 0x00000080U /*!< MAC forwards all control frames to application even if they fail the Address Filter */ -#define ETH_PASSCONTROLFRAMES_FORWARDPASSEDADDRFILTER 0x000000C0U /*!< MAC forwards control frames that pass the Address Filter. */ -/** - * @} - */ - -/** @defgroup ETH_Broadcast_Frames_Reception ETH Broadcast Frames Reception - * @{ - */ -#define ETH_BROADCASTFRAMESRECEPTION_ENABLE 0x00000000U -#define ETH_BROADCASTFRAMESRECEPTION_DISABLE 0x00000020U -/** - * @} - */ - -/** @defgroup ETH_Destination_Addr_Filter ETH Destination Addr Filter - * @{ - */ -#define ETH_DESTINATIONADDRFILTER_NORMAL 0x00000000U -#define ETH_DESTINATIONADDRFILTER_INVERSE 0x00000008U -/** - * @} - */ - -/** @defgroup ETH_Promiscuous_Mode ETH Promiscuous Mode - * @{ - */ -#define ETH_PROMISCUOUS_MODE_ENABLE 0x00000001U -#define ETH_PROMISCUOUS_MODE_DISABLE 0x00000000U -/** - * @} - */ - -/** @defgroup ETH_Multicast_Frames_Filter ETH Multicast Frames Filter - * @{ - */ -#define ETH_MULTICASTFRAMESFILTER_PERFECTHASHTABLE 0x00000404U -#define ETH_MULTICASTFRAMESFILTER_HASHTABLE 0x00000004U -#define ETH_MULTICASTFRAMESFILTER_PERFECT 0x00000000U -#define ETH_MULTICASTFRAMESFILTER_NONE 0x00000010U -/** - * @} - */ - -/** @defgroup ETH_Unicast_Frames_Filter ETH Unicast Frames Filter - * @{ - */ -#define ETH_UNICASTFRAMESFILTER_PERFECTHASHTABLE 0x00000402U -#define ETH_UNICASTFRAMESFILTER_HASHTABLE 0x00000002U -#define ETH_UNICASTFRAMESFILTER_PERFECT 0x00000000U -/** - * @} - */ - -/** @defgroup ETH_Zero_Quanta_Pause ETH Zero Quanta Pause - * @{ - */ -#define ETH_ZEROQUANTAPAUSE_ENABLE 0x00000000U -#define ETH_ZEROQUANTAPAUSE_DISABLE 0x00000080U -/** - * @} - */ - -/** @defgroup ETH_Pause_Low_Threshold ETH Pause Low Threshold - * @{ - */ -#define ETH_PAUSELOWTHRESHOLD_MINUS4 0x00000000U /*!< Pause time minus 4 slot times */ -#define ETH_PAUSELOWTHRESHOLD_MINUS28 0x00000010U /*!< Pause time minus 28 slot times */ -#define ETH_PAUSELOWTHRESHOLD_MINUS144 0x00000020U /*!< Pause time minus 144 slot times */ -#define ETH_PAUSELOWTHRESHOLD_MINUS256 0x00000030U /*!< Pause time minus 256 slot times */ -/** - * @} - */ - -/** @defgroup ETH_Unicast_Pause_Frame_Detect ETH Unicast Pause Frame Detect - * @{ - */ -#define ETH_UNICASTPAUSEFRAMEDETECT_ENABLE 0x00000008U -#define ETH_UNICASTPAUSEFRAMEDETECT_DISABLE 0x00000000U -/** - * @} - */ - -/** @defgroup ETH_Receive_Flow_Control ETH Receive Flow Control - * @{ - */ -#define ETH_RECEIVEFLOWCONTROL_ENABLE 0x00000004U -#define ETH_RECEIVEFLOWCONTROL_DISABLE 0x00000000U -/** - * @} - */ - -/** @defgroup ETH_Transmit_Flow_Control ETH Transmit Flow Control - * @{ - */ -#define ETH_TRANSMITFLOWCONTROL_ENABLE 0x00000002U -#define ETH_TRANSMITFLOWCONTROL_DISABLE 0x00000000U -/** - * @} - */ - -/** @defgroup ETH_VLAN_Tag_Comparison ETH VLAN Tag Comparison - * @{ - */ -#define ETH_VLANTAGCOMPARISON_12BIT 0x00010000U -#define ETH_VLANTAGCOMPARISON_16BIT 0x00000000U -/** - * @} - */ - -/** @defgroup ETH_MAC_addresses ETH MAC addresses - * @{ - */ -#define ETH_MAC_ADDRESS0 0x00000000U -#define ETH_MAC_ADDRESS1 0x00000008U -#define ETH_MAC_ADDRESS2 0x00000010U -#define ETH_MAC_ADDRESS3 0x00000018U -/** - * @} - */ - -/** @defgroup ETH_MAC_addresses_filter_SA_DA ETH MAC addresses filter SA DA - * @{ - */ -#define ETH_MAC_ADDRESSFILTER_SA 0x00000000U -#define ETH_MAC_ADDRESSFILTER_DA 0x00000008U -/** - * @} - */ - -/** @defgroup ETH_MAC_addresses_filter_Mask_bytes ETH MAC addresses filter Mask bytes - * @{ - */ -#define ETH_MAC_ADDRESSMASK_BYTE6 0x20000000U /*!< Mask MAC Address high reg bits [15:8] */ -#define ETH_MAC_ADDRESSMASK_BYTE5 0x10000000U /*!< Mask MAC Address high reg bits [7:0] */ -#define ETH_MAC_ADDRESSMASK_BYTE4 0x08000000U /*!< Mask MAC Address low reg bits [31:24] */ -#define ETH_MAC_ADDRESSMASK_BYTE3 0x04000000U /*!< Mask MAC Address low reg bits [23:16] */ -#define ETH_MAC_ADDRESSMASK_BYTE2 0x02000000U /*!< Mask MAC Address low reg bits [15:8] */ -#define ETH_MAC_ADDRESSMASK_BYTE1 0x01000000U /*!< Mask MAC Address low reg bits [70] */ -/** - * @} - */ - -/** @defgroup ETH_Drop_TCP_IP_Checksum_Error_Frame ETH Drop TCP IP Checksum Error Frame - * @{ - */ -#define ETH_DROPTCPIPCHECKSUMERRORFRAME_ENABLE 0x00000000U -#define ETH_DROPTCPIPCHECKSUMERRORFRAME_DISABLE 0x04000000U -/** - * @} - */ - -/** @defgroup ETH_Receive_Store_Forward ETH Receive Store Forward - * @{ - */ -#define ETH_RECEIVESTOREFORWARD_ENABLE 0x02000000U -#define ETH_RECEIVESTOREFORWARD_DISABLE 0x00000000U -/** - * @} - */ - -/** @defgroup ETH_Flush_Received_Frame ETH Flush Received Frame - * @{ - */ -#define ETH_FLUSHRECEIVEDFRAME_ENABLE 0x00000000U -#define ETH_FLUSHRECEIVEDFRAME_DISABLE 0x01000000U -/** - * @} - */ - -/** @defgroup ETH_Transmit_Store_Forward ETH Transmit Store Forward - * @{ - */ -#define ETH_TRANSMITSTOREFORWARD_ENABLE 0x00200000U -#define ETH_TRANSMITSTOREFORWARD_DISABLE 0x00000000U -/** - * @} - */ - -/** @defgroup ETH_Transmit_Threshold_Control ETH Transmit Threshold Control - * @{ - */ -#define ETH_TRANSMITTHRESHOLDCONTROL_64BYTES 0x00000000U /*!< threshold level of the MTL Transmit FIFO is 64 Bytes */ -#define ETH_TRANSMITTHRESHOLDCONTROL_128BYTES 0x00004000U /*!< threshold level of the MTL Transmit FIFO is 128 Bytes */ -#define ETH_TRANSMITTHRESHOLDCONTROL_192BYTES 0x00008000U /*!< threshold level of the MTL Transmit FIFO is 192 Bytes */ -#define ETH_TRANSMITTHRESHOLDCONTROL_256BYTES 0x0000C000U /*!< threshold level of the MTL Transmit FIFO is 256 Bytes */ -#define ETH_TRANSMITTHRESHOLDCONTROL_40BYTES 0x00010000U /*!< threshold level of the MTL Transmit FIFO is 40 Bytes */ -#define ETH_TRANSMITTHRESHOLDCONTROL_32BYTES 0x00014000U /*!< threshold level of the MTL Transmit FIFO is 32 Bytes */ -#define ETH_TRANSMITTHRESHOLDCONTROL_24BYTES 0x00018000U /*!< threshold level of the MTL Transmit FIFO is 24 Bytes */ -#define ETH_TRANSMITTHRESHOLDCONTROL_16BYTES 0x0001C000U /*!< threshold level of the MTL Transmit FIFO is 16 Bytes */ -/** - * @} - */ - -/** @defgroup ETH_Forward_Error_Frames ETH Forward Error Frames - * @{ - */ -#define ETH_FORWARDERRORFRAMES_ENABLE 0x00000080U -#define ETH_FORWARDERRORFRAMES_DISABLE 0x00000000U -/** - * @} - */ - -/** @defgroup ETH_Forward_Undersized_Good_Frames ETH Forward Undersized Good Frames - * @{ - */ -#define ETH_FORWARDUNDERSIZEDGOODFRAMES_ENABLE 0x00000040U -#define ETH_FORWARDUNDERSIZEDGOODFRAMES_DISABLE 0x00000000U -/** - * @} - */ - -/** @defgroup ETH_Receive_Threshold_Control ETH Receive Threshold Control - * @{ - */ -#define ETH_RECEIVEDTHRESHOLDCONTROL_64BYTES 0x00000000U /*!< threshold level of the MTL Receive FIFO is 64 Bytes */ -#define ETH_RECEIVEDTHRESHOLDCONTROL_32BYTES 0x00000008U /*!< threshold level of the MTL Receive FIFO is 32 Bytes */ -#define ETH_RECEIVEDTHRESHOLDCONTROL_96BYTES 0x00000010U /*!< threshold level of the MTL Receive FIFO is 96 Bytes */ -#define ETH_RECEIVEDTHRESHOLDCONTROL_128BYTES 0x00000018U /*!< threshold level of the MTL Receive FIFO is 128 Bytes */ -/** - * @} - */ - -/** @defgroup ETH_Second_Frame_Operate ETH Second Frame Operate - * @{ - */ -#define ETH_SECONDFRAMEOPERARTE_ENABLE 0x00000004U -#define ETH_SECONDFRAMEOPERARTE_DISABLE 0x00000000U -/** - * @} - */ - -/** @defgroup ETH_Address_Aligned_Beats ETH Address Aligned Beats - * @{ - */ -#define ETH_ADDRESSALIGNEDBEATS_ENABLE 0x02000000U -#define ETH_ADDRESSALIGNEDBEATS_DISABLE 0x00000000U -/** - * @} - */ - -/** @defgroup ETH_Fixed_Burst ETH Fixed Burst - * @{ - */ -#define ETH_FIXEDBURST_ENABLE 0x00010000U -#define ETH_FIXEDBURST_DISABLE 0x00000000U -/** - * @} - */ - -/** @defgroup ETH_Rx_DMA_Burst_Length ETH Rx DMA Burst Length - * @{ - */ -#define ETH_RXDMABURSTLENGTH_1BEAT 0x00020000U /*!< maximum number of beats to be transferred in one RxDMA transaction is 1 */ -#define ETH_RXDMABURSTLENGTH_2BEAT 0x00040000U /*!< maximum number of beats to be transferred in one RxDMA transaction is 2 */ -#define ETH_RXDMABURSTLENGTH_4BEAT 0x00080000U /*!< maximum number of beats to be transferred in one RxDMA transaction is 4 */ -#define ETH_RXDMABURSTLENGTH_8BEAT 0x00100000U /*!< maximum number of beats to be transferred in one RxDMA transaction is 8 */ -#define ETH_RXDMABURSTLENGTH_16BEAT 0x00200000U /*!< maximum number of beats to be transferred in one RxDMA transaction is 16 */ -#define ETH_RXDMABURSTLENGTH_32BEAT 0x00400000U /*!< maximum number of beats to be transferred in one RxDMA transaction is 32 */ -#define ETH_RXDMABURSTLENGTH_4XPBL_4BEAT 0x01020000U /*!< maximum number of beats to be transferred in one RxDMA transaction is 4 */ -#define ETH_RXDMABURSTLENGTH_4XPBL_8BEAT 0x01040000U /*!< maximum number of beats to be transferred in one RxDMA transaction is 8 */ -#define ETH_RXDMABURSTLENGTH_4XPBL_16BEAT 0x01080000U /*!< maximum number of beats to be transferred in one RxDMA transaction is 16 */ -#define ETH_RXDMABURSTLENGTH_4XPBL_32BEAT 0x01100000U /*!< maximum number of beats to be transferred in one RxDMA transaction is 32 */ -#define ETH_RXDMABURSTLENGTH_4XPBL_64BEAT 0x01200000U /*!< maximum number of beats to be transferred in one RxDMA transaction is 64 */ -#define ETH_RXDMABURSTLENGTH_4XPBL_128BEAT 0x01400000U /*!< maximum number of beats to be transferred in one RxDMA transaction is 128 */ -/** - * @} - */ - -/** @defgroup ETH_Tx_DMA_Burst_Length ETH Tx DMA Burst Length - * @{ - */ -#define ETH_TXDMABURSTLENGTH_1BEAT 0x00000100U /*!< maximum number of beats to be transferred in one TxDMA (or both) transaction is 1 */ -#define ETH_TXDMABURSTLENGTH_2BEAT 0x00000200U /*!< maximum number of beats to be transferred in one TxDMA (or both) transaction is 2 */ -#define ETH_TXDMABURSTLENGTH_4BEAT 0x00000400U /*!< maximum number of beats to be transferred in one TxDMA (or both) transaction is 4 */ -#define ETH_TXDMABURSTLENGTH_8BEAT 0x00000800U /*!< maximum number of beats to be transferred in one TxDMA (or both) transaction is 8 */ -#define ETH_TXDMABURSTLENGTH_16BEAT 0x00001000U /*!< maximum number of beats to be transferred in one TxDMA (or both) transaction is 16 */ -#define ETH_TXDMABURSTLENGTH_32BEAT 0x00002000U /*!< maximum number of beats to be transferred in one TxDMA (or both) transaction is 32 */ -#define ETH_TXDMABURSTLENGTH_4XPBL_4BEAT 0x01000100U /*!< maximum number of beats to be transferred in one TxDMA (or both) transaction is 4 */ -#define ETH_TXDMABURSTLENGTH_4XPBL_8BEAT 0x01000200U /*!< maximum number of beats to be transferred in one TxDMA (or both) transaction is 8 */ -#define ETH_TXDMABURSTLENGTH_4XPBL_16BEAT 0x01000400U /*!< maximum number of beats to be transferred in one TxDMA (or both) transaction is 16 */ -#define ETH_TXDMABURSTLENGTH_4XPBL_32BEAT 0x01000800U /*!< maximum number of beats to be transferred in one TxDMA (or both) transaction is 32 */ -#define ETH_TXDMABURSTLENGTH_4XPBL_64BEAT 0x01001000U /*!< maximum number of beats to be transferred in one TxDMA (or both) transaction is 64 */ -#define ETH_TXDMABURSTLENGTH_4XPBL_128BEAT 0x01002000U /*!< maximum number of beats to be transferred in one TxDMA (or both) transaction is 128 */ -/** - * @} - */ - -/** @defgroup ETH_DMA_Enhanced_descriptor_format ETH DMA Enhanced descriptor format - * @{ - */ -#define ETH_DMAENHANCEDDESCRIPTOR_ENABLE 0x00000080U -#define ETH_DMAENHANCEDDESCRIPTOR_DISABLE 0x00000000U -/** - * @} - */ - -/** @defgroup ETH_DMA_Arbitration ETH DMA Arbitration - * @{ - */ -#define ETH_DMAARBITRATION_ROUNDROBIN_RXTX_1_1 0x00000000U -#define ETH_DMAARBITRATION_ROUNDROBIN_RXTX_2_1 0x00004000U -#define ETH_DMAARBITRATION_ROUNDROBIN_RXTX_3_1 0x00008000U -#define ETH_DMAARBITRATION_ROUNDROBIN_RXTX_4_1 0x0000C000U -#define ETH_DMAARBITRATION_RXPRIORTX 0x00000002U -/** - * @} - */ - -/** @defgroup ETH_DMA_Tx_descriptor_segment ETH DMA Tx descriptor segment - * @{ - */ -#define ETH_DMATXDESC_LASTSEGMENTS 0x40000000U /*!< Last Segment */ -#define ETH_DMATXDESC_FIRSTSEGMENT 0x20000000U /*!< First Segment */ -/** - * @} - */ - -/** @defgroup ETH_DMA_Tx_descriptor_Checksum_Insertion_Control ETH DMA Tx descriptor Checksum Insertion Control - * @{ - */ -#define ETH_DMATXDESC_CHECKSUMBYPASS 0x00000000U /*!< Checksum engine bypass */ -#define ETH_DMATXDESC_CHECKSUMIPV4HEADER 0x00400000U /*!< IPv4 header checksum insertion */ -#define ETH_DMATXDESC_CHECKSUMTCPUDPICMPSEGMENT 0x00800000U /*!< TCP/UDP/ICMP checksum insertion. Pseudo header checksum is assumed to be present */ -#define ETH_DMATXDESC_CHECKSUMTCPUDPICMPFULL 0x00C00000U /*!< TCP/UDP/ICMP checksum fully in hardware including pseudo header */ -/** - * @} - */ - -/** @defgroup ETH_DMA_Rx_descriptor_buffers ETH DMA Rx descriptor buffers - * @{ - */ -#define ETH_DMARXDESC_BUFFER1 0x00000000U /*!< DMA Rx Desc Buffer1 */ -#define ETH_DMARXDESC_BUFFER2 0x00000001U /*!< DMA Rx Desc Buffer2 */ -/** - * @} - */ - -/** @defgroup ETH_PMT_Flags ETH PMT Flags - * @{ - */ -#define ETH_PMT_FLAG_WUFFRPR 0x80000000U /*!< Wake-Up Frame Filter Register Pointer Reset */ -#define ETH_PMT_FLAG_WUFR 0x00000040U /*!< Wake-Up Frame Received */ -#define ETH_PMT_FLAG_MPR 0x00000020U /*!< Magic Packet Received */ -/** - * @} - */ - -/** @defgroup ETH_MMC_Tx_Interrupts ETH MMC Tx Interrupts - * @{ - */ -#define ETH_MMC_IT_TGF 0x00200000U /*!< When Tx good frame counter reaches half the maximum value */ -#define ETH_MMC_IT_TGFMSC 0x00008000U /*!< When Tx good multi col counter reaches half the maximum value */ -#define ETH_MMC_IT_TGFSC 0x00004000U /*!< When Tx good single col counter reaches half the maximum value */ -/** - * @} - */ - -/** @defgroup ETH_MMC_Rx_Interrupts ETH MMC Rx Interrupts - * @{ - */ -#define ETH_MMC_IT_RGUF 0x10020000U /*!< When Rx good unicast frames counter reaches half the maximum value */ -#define ETH_MMC_IT_RFAE 0x10000040U /*!< When Rx alignment error counter reaches half the maximum value */ -#define ETH_MMC_IT_RFCE 0x10000020U /*!< When Rx crc error counter reaches half the maximum value */ -/** - * @} - */ - -/** @defgroup ETH_MAC_Flags ETH MAC Flags - * @{ - */ -#define ETH_MAC_FLAG_TST 0x00000200U /*!< Time stamp trigger flag (on MAC) */ -#define ETH_MAC_FLAG_MMCT 0x00000040U /*!< MMC transmit flag */ -#define ETH_MAC_FLAG_MMCR 0x00000020U /*!< MMC receive flag */ -#define ETH_MAC_FLAG_MMC 0x00000010U /*!< MMC flag (on MAC) */ -#define ETH_MAC_FLAG_PMT 0x00000008U /*!< PMT flag (on MAC) */ -/** - * @} - */ - -/** @defgroup ETH_DMA_Flags ETH DMA Flags - * @{ - */ -#define ETH_DMA_FLAG_TST 0x20000000U /*!< Time-stamp trigger interrupt (on DMA) */ -#define ETH_DMA_FLAG_PMT 0x10000000U /*!< PMT interrupt (on DMA) */ -#define ETH_DMA_FLAG_MMC 0x08000000U /*!< MMC interrupt (on DMA) */ -#define ETH_DMA_FLAG_DATATRANSFERERROR 0x00800000U /*!< Error bits 0-Rx DMA, 1-Tx DMA */ -#define ETH_DMA_FLAG_READWRITEERROR 0x01000000U /*!< Error bits 0-write transfer, 1-read transfer */ -#define ETH_DMA_FLAG_ACCESSERROR 0x02000000U /*!< Error bits 0-data buffer, 1-desc. access */ -#define ETH_DMA_FLAG_NIS 0x00010000U /*!< Normal interrupt summary flag */ -#define ETH_DMA_FLAG_AIS 0x00008000U /*!< Abnormal interrupt summary flag */ -#define ETH_DMA_FLAG_ER 0x00004000U /*!< Early receive flag */ -#define ETH_DMA_FLAG_FBE 0x00002000U /*!< Fatal bus error flag */ -#define ETH_DMA_FLAG_ET 0x00000400U /*!< Early transmit flag */ -#define ETH_DMA_FLAG_RWT 0x00000200U /*!< Receive watchdog timeout flag */ -#define ETH_DMA_FLAG_RPS 0x00000100U /*!< Receive process stopped flag */ -#define ETH_DMA_FLAG_RBU 0x00000080U /*!< Receive buffer unavailable flag */ -#define ETH_DMA_FLAG_R 0x00000040U /*!< Receive flag */ -#define ETH_DMA_FLAG_TU 0x00000020U /*!< Underflow flag */ -#define ETH_DMA_FLAG_RO 0x00000010U /*!< Overflow flag */ -#define ETH_DMA_FLAG_TJT 0x00000008U /*!< Transmit jabber timeout flag */ -#define ETH_DMA_FLAG_TBU 0x00000004U /*!< Transmit buffer unavailable flag */ -#define ETH_DMA_FLAG_TPS 0x00000002U /*!< Transmit process stopped flag */ -#define ETH_DMA_FLAG_T 0x00000001U /*!< Transmit flag */ -/** - * @} - */ - -/** @defgroup ETH_MAC_Interrupts ETH MAC Interrupts - * @{ - */ -#define ETH_MAC_IT_TST 0x00000200U /*!< Time stamp trigger interrupt (on MAC) */ -#define ETH_MAC_IT_MMCT 0x00000040U /*!< MMC transmit interrupt */ -#define ETH_MAC_IT_MMCR 0x00000020U /*!< MMC receive interrupt */ -#define ETH_MAC_IT_MMC 0x00000010U /*!< MMC interrupt (on MAC) */ -#define ETH_MAC_IT_PMT 0x00000008U /*!< PMT interrupt (on MAC) */ -/** - * @} - */ - -/** @defgroup ETH_DMA_Interrupts ETH DMA Interrupts - * @{ - */ -#define ETH_DMA_IT_TST 0x20000000U /*!< Time-stamp trigger interrupt (on DMA) */ -#define ETH_DMA_IT_PMT 0x10000000U /*!< PMT interrupt (on DMA) */ -#define ETH_DMA_IT_MMC 0x08000000U /*!< MMC interrupt (on DMA) */ -#define ETH_DMA_IT_NIS 0x00010000U /*!< Normal interrupt summary */ -#define ETH_DMA_IT_AIS 0x00008000U /*!< Abnormal interrupt summary */ -#define ETH_DMA_IT_ER 0x00004000U /*!< Early receive interrupt */ -#define ETH_DMA_IT_FBE 0x00002000U /*!< Fatal bus error interrupt */ -#define ETH_DMA_IT_ET 0x00000400U /*!< Early transmit interrupt */ -#define ETH_DMA_IT_RWT 0x00000200U /*!< Receive watchdog timeout interrupt */ -#define ETH_DMA_IT_RPS 0x00000100U /*!< Receive process stopped interrupt */ -#define ETH_DMA_IT_RBU 0x00000080U /*!< Receive buffer unavailable interrupt */ -#define ETH_DMA_IT_R 0x00000040U /*!< Receive interrupt */ -#define ETH_DMA_IT_TU 0x00000020U /*!< Underflow interrupt */ -#define ETH_DMA_IT_RO 0x00000010U /*!< Overflow interrupt */ -#define ETH_DMA_IT_TJT 0x00000008U /*!< Transmit jabber timeout interrupt */ -#define ETH_DMA_IT_TBU 0x00000004U /*!< Transmit buffer unavailable interrupt */ -#define ETH_DMA_IT_TPS 0x00000002U /*!< Transmit process stopped interrupt */ -#define ETH_DMA_IT_T 0x00000001U /*!< Transmit interrupt */ -/** - * @} - */ - -/** @defgroup ETH_DMA_transmit_process_state ETH DMA transmit process state - * @{ - */ -#define ETH_DMA_TRANSMITPROCESS_STOPPED 0x00000000U /*!< Stopped - Reset or Stop Tx Command issued */ -#define ETH_DMA_TRANSMITPROCESS_FETCHING 0x00100000U /*!< Running - fetching the Tx descriptor */ -#define ETH_DMA_TRANSMITPROCESS_WAITING 0x00200000U /*!< Running - waiting for status */ -#define ETH_DMA_TRANSMITPROCESS_READING 0x00300000U /*!< Running - reading the data from host memory */ -#define ETH_DMA_TRANSMITPROCESS_SUSPENDED 0x00600000U /*!< Suspended - Tx Descriptor unavailable */ -#define ETH_DMA_TRANSMITPROCESS_CLOSING 0x00700000U /*!< Running - closing Rx descriptor */ - -/** - * @} - */ - - -/** @defgroup ETH_DMA_receive_process_state ETH DMA receive process state - * @{ - */ -#define ETH_DMA_RECEIVEPROCESS_STOPPED 0x00000000U /*!< Stopped - Reset or Stop Rx Command issued */ -#define ETH_DMA_RECEIVEPROCESS_FETCHING 0x00020000U /*!< Running - fetching the Rx descriptor */ -#define ETH_DMA_RECEIVEPROCESS_WAITING 0x00060000U /*!< Running - waiting for packet */ -#define ETH_DMA_RECEIVEPROCESS_SUSPENDED 0x00080000U /*!< Suspended - Rx Descriptor unavailable */ -#define ETH_DMA_RECEIVEPROCESS_CLOSING 0x000A0000U /*!< Running - closing descriptor */ -#define ETH_DMA_RECEIVEPROCESS_QUEUING 0x000E0000U /*!< Running - queuing the receive frame into host memory */ - -/** - * @} - */ - -/** @defgroup ETH_DMA_overflow ETH DMA overflow - * @{ - */ -#define ETH_DMA_OVERFLOW_RXFIFOCOUNTER 0x10000000U /*!< Overflow bit for FIFO overflow counter */ -#define ETH_DMA_OVERFLOW_MISSEDFRAMECOUNTER 0x00010000U /*!< Overflow bit for missed frame counter */ -/** - * @} - */ - -/** @defgroup ETH_EXTI_LINE_WAKEUP ETH EXTI LINE WAKEUP - * @{ - */ -#define ETH_EXTI_LINE_WAKEUP 0x00080000U /*!< External interrupt line 19 Connected to the ETH EXTI Line */ - -/** - * @} - */ - -/** - * @} - */ - -/* Exported macro ------------------------------------------------------------*/ -/** @defgroup ETH_Exported_Macros ETH Exported Macros - * @brief macros to handle interrupts and specific clock configurations - * @{ - */ - -/** @brief Reset ETH handle state - * @param __HANDLE__ specifies the ETH handle. - * @retval None - */ -#if (USE_HAL_ETH_REGISTER_CALLBACKS == 1) -#define __HAL_ETH_RESET_HANDLE_STATE(__HANDLE__) do{ \ - (__HANDLE__)->State = HAL_ETH_STATE_RESET; \ - (__HANDLE__)->MspInitCallback = NULL; \ - (__HANDLE__)->MspDeInitCallback = NULL; \ - } while(0) -#else -#define __HAL_ETH_RESET_HANDLE_STATE(__HANDLE__) ((__HANDLE__)->State = HAL_ETH_STATE_RESET) -#endif /*USE_HAL_ETH_REGISTER_CALLBACKS */ - -/** - * @brief Checks whether the specified ETHERNET DMA Tx Desc flag is set or not. - * @param __HANDLE__ ETH Handle - * @param __FLAG__ specifies the flag of TDES0 to check. - * @retval the ETH_DMATxDescFlag (SET or RESET). - */ -#define __HAL_ETH_DMATXDESC_GET_FLAG(__HANDLE__, __FLAG__) ((__HANDLE__)->TxDesc->Status & (__FLAG__) == (__FLAG__)) - -/** - * @brief Checks whether the specified ETHERNET DMA Rx Desc flag is set or not. - * @param __HANDLE__ ETH Handle - * @param __FLAG__ specifies the flag of RDES0 to check. - * @retval the ETH_DMATxDescFlag (SET or RESET). - */ -#define __HAL_ETH_DMARXDESC_GET_FLAG(__HANDLE__, __FLAG__) ((__HANDLE__)->RxDesc->Status & (__FLAG__) == (__FLAG__)) - -/** - * @brief Enables the specified DMA Rx Desc receive interrupt. - * @param __HANDLE__ ETH Handle - * @retval None - */ -#define __HAL_ETH_DMARXDESC_ENABLE_IT(__HANDLE__) ((__HANDLE__)->RxDesc->ControlBufferSize &=(~(uint32_t)ETH_DMARXDESC_DIC)) - -/** - * @brief Disables the specified DMA Rx Desc receive interrupt. - * @param __HANDLE__ ETH Handle - * @retval None - */ -#define __HAL_ETH_DMARXDESC_DISABLE_IT(__HANDLE__) ((__HANDLE__)->RxDesc->ControlBufferSize |= ETH_DMARXDESC_DIC) - -/** - * @brief Set the specified DMA Rx Desc Own bit. - * @param __HANDLE__ ETH Handle - * @retval None - */ -#define __HAL_ETH_DMARXDESC_SET_OWN_BIT(__HANDLE__) ((__HANDLE__)->RxDesc->Status |= ETH_DMARXDESC_OWN) - -/** - * @brief Returns the specified ETHERNET DMA Tx Desc collision count. - * @param __HANDLE__ ETH Handle - * @retval The Transmit descriptor collision counter value. - */ -#define __HAL_ETH_DMATXDESC_GET_COLLISION_COUNT(__HANDLE__) (((__HANDLE__)->TxDesc->Status & ETH_DMATXDESC_CC) >> ETH_DMATXDESC_COLLISION_COUNTSHIFT) - -/** - * @brief Set the specified DMA Tx Desc Own bit. - * @param __HANDLE__ ETH Handle - * @retval None - */ -#define __HAL_ETH_DMATXDESC_SET_OWN_BIT(__HANDLE__) ((__HANDLE__)->TxDesc->Status |= ETH_DMATXDESC_OWN) - -/** - * @brief Enables the specified DMA Tx Desc Transmit interrupt. - * @param __HANDLE__ ETH Handle - * @retval None - */ -#define __HAL_ETH_DMATXDESC_ENABLE_IT(__HANDLE__) ((__HANDLE__)->TxDesc->Status |= ETH_DMATXDESC_IC) - -/** - * @brief Disables the specified DMA Tx Desc Transmit interrupt. - * @param __HANDLE__ ETH Handle - * @retval None - */ -#define __HAL_ETH_DMATXDESC_DISABLE_IT(__HANDLE__) ((__HANDLE__)->TxDesc->Status &= ~ETH_DMATXDESC_IC) - -/** - * @brief Selects the specified ETHERNET DMA Tx Desc Checksum Insertion. - * @param __HANDLE__ ETH Handle - * @param __CHECKSUM__ specifies is the DMA Tx desc checksum insertion. - * This parameter can be one of the following values: - * @arg ETH_DMATXDESC_CHECKSUMBYPASS : Checksum bypass - * @arg ETH_DMATXDESC_CHECKSUMIPV4HEADER : IPv4 header checksum - * @arg ETH_DMATXDESC_CHECKSUMTCPUDPICMPSEGMENT : TCP/UDP/ICMP checksum. Pseudo header checksum is assumed to be present - * @arg ETH_DMATXDESC_CHECKSUMTCPUDPICMPFULL : TCP/UDP/ICMP checksum fully in hardware including pseudo header - * @retval None - */ -#define __HAL_ETH_DMATXDESC_CHECKSUM_INSERTION(__HANDLE__, __CHECKSUM__) ((__HANDLE__)->TxDesc->Status |= (__CHECKSUM__)) - -/** - * @brief Enables the DMA Tx Desc CRC. - * @param __HANDLE__ ETH Handle - * @retval None - */ -#define __HAL_ETH_DMATXDESC_CRC_ENABLE(__HANDLE__) ((__HANDLE__)->TxDesc->Status &= ~ETH_DMATXDESC_DC) - -/** - * @brief Disables the DMA Tx Desc CRC. - * @param __HANDLE__ ETH Handle - * @retval None - */ -#define __HAL_ETH_DMATXDESC_CRC_DISABLE(__HANDLE__) ((__HANDLE__)->TxDesc->Status |= ETH_DMATXDESC_DC) - -/** - * @brief Enables the DMA Tx Desc padding for frame shorter than 64 bytes. - * @param __HANDLE__ ETH Handle - * @retval None - */ -#define __HAL_ETH_DMATXDESC_SHORT_FRAME_PADDING_ENABLE(__HANDLE__) ((__HANDLE__)->TxDesc->Status &= ~ETH_DMATXDESC_DP) - -/** - * @brief Disables the DMA Tx Desc padding for frame shorter than 64 bytes. - * @param __HANDLE__ ETH Handle - * @retval None - */ -#define __HAL_ETH_DMATXDESC_SHORT_FRAME_PADDING_DISABLE(__HANDLE__) ((__HANDLE__)->TxDesc->Status |= ETH_DMATXDESC_DP) - -/** - * @brief Enables the specified ETHERNET MAC interrupts. - * @param __HANDLE__ ETH Handle - * @param __INTERRUPT__ specifies the ETHERNET MAC interrupt sources to be - * enabled or disabled. - * This parameter can be any combination of the following values: - * @arg ETH_MAC_IT_TST : Time stamp trigger interrupt - * @arg ETH_MAC_IT_PMT : PMT interrupt - * @retval None - */ -#define __HAL_ETH_MAC_ENABLE_IT(__HANDLE__, __INTERRUPT__) ((__HANDLE__)->Instance->MACIMR |= (__INTERRUPT__)) - -/** - * @brief Disables the specified ETHERNET MAC interrupts. - * @param __HANDLE__ ETH Handle - * @param __INTERRUPT__ specifies the ETHERNET MAC interrupt sources to be - * enabled or disabled. - * This parameter can be any combination of the following values: - * @arg ETH_MAC_IT_TST : Time stamp trigger interrupt - * @arg ETH_MAC_IT_PMT : PMT interrupt - * @retval None - */ -#define __HAL_ETH_MAC_DISABLE_IT(__HANDLE__, __INTERRUPT__) ((__HANDLE__)->Instance->MACIMR &= ~(__INTERRUPT__)) - -/** - * @brief Initiate a Pause Control Frame (Full-duplex only). - * @param __HANDLE__ ETH Handle - * @retval None - */ -#define __HAL_ETH_INITIATE_PAUSE_CONTROL_FRAME(__HANDLE__) ((__HANDLE__)->Instance->MACFCR |= ETH_MACFCR_FCBBPA) - -/** - * @brief Checks whether the ETHERNET flow control busy bit is set or not. - * @param __HANDLE__ ETH Handle - * @retval The new state of flow control busy status bit (SET or RESET). - */ -#define __HAL_ETH_GET_FLOW_CONTROL_BUSY_STATUS(__HANDLE__) (((__HANDLE__)->Instance->MACFCR & ETH_MACFCR_FCBBPA) == ETH_MACFCR_FCBBPA) - -/** - * @brief Enables the MAC Back Pressure operation activation (Half-duplex only). - * @param __HANDLE__ ETH Handle - * @retval None - */ -#define __HAL_ETH_BACK_PRESSURE_ACTIVATION_ENABLE(__HANDLE__) ((__HANDLE__)->Instance->MACFCR |= ETH_MACFCR_FCBBPA) - -/** - * @brief Disables the MAC BackPressure operation activation (Half-duplex only). - * @param __HANDLE__ ETH Handle - * @retval None - */ -#define __HAL_ETH_BACK_PRESSURE_ACTIVATION_DISABLE(__HANDLE__) ((__HANDLE__)->Instance->MACFCR &= ~ETH_MACFCR_FCBBPA) - -/** - * @brief Checks whether the specified ETHERNET MAC flag is set or not. - * @param __HANDLE__ ETH Handle - * @param __FLAG__ specifies the flag to check. - * This parameter can be one of the following values: - * @arg ETH_MAC_FLAG_TST : Time stamp trigger flag - * @arg ETH_MAC_FLAG_MMCT : MMC transmit flag - * @arg ETH_MAC_FLAG_MMCR : MMC receive flag - * @arg ETH_MAC_FLAG_MMC : MMC flag - * @arg ETH_MAC_FLAG_PMT : PMT flag - * @retval The state of ETHERNET MAC flag. - */ -#define __HAL_ETH_MAC_GET_FLAG(__HANDLE__, __FLAG__) (((__HANDLE__)->Instance->MACSR &( __FLAG__)) == ( __FLAG__)) - -/** - * @brief Enables the specified ETHERNET DMA interrupts. - * @param __HANDLE__ ETH Handle - * @param __INTERRUPT__ specifies the ETHERNET DMA interrupt sources to be - * enabled @ref ETH_DMA_Interrupts - * @retval None - */ -#define __HAL_ETH_DMA_ENABLE_IT(__HANDLE__, __INTERRUPT__) ((__HANDLE__)->Instance->DMAIER |= (__INTERRUPT__)) - -/** - * @brief Disables the specified ETHERNET DMA interrupts. - * @param __HANDLE__ ETH Handle - * @param __INTERRUPT__ specifies the ETHERNET DMA interrupt sources to be - * disabled. @ref ETH_DMA_Interrupts - * @retval None - */ -#define __HAL_ETH_DMA_DISABLE_IT(__HANDLE__, __INTERRUPT__) ((__HANDLE__)->Instance->DMAIER &= ~(__INTERRUPT__)) - -/** - * @brief Clears the ETHERNET DMA IT pending bit. - * @param __HANDLE__ ETH Handle - * @param __INTERRUPT__ specifies the interrupt pending bit to clear. @ref ETH_DMA_Interrupts - * @retval None - */ -#define __HAL_ETH_DMA_CLEAR_IT(__HANDLE__, __INTERRUPT__) ((__HANDLE__)->Instance->DMASR =(__INTERRUPT__)) - -/** - * @brief Checks whether the specified ETHERNET DMA flag is set or not. -* @param __HANDLE__ ETH Handle - * @param __FLAG__ specifies the flag to check. @ref ETH_DMA_Flags - * @retval The new state of ETH_DMA_FLAG (SET or RESET). - */ -#define __HAL_ETH_DMA_GET_FLAG(__HANDLE__, __FLAG__) (((__HANDLE__)->Instance->DMASR &( __FLAG__)) == ( __FLAG__)) - -/** - * @brief Checks whether the specified ETHERNET DMA flag is set or not. - * @param __HANDLE__ ETH Handle - * @param __FLAG__ specifies the flag to clear. @ref ETH_DMA_Flags - * @retval The new state of ETH_DMA_FLAG (SET or RESET). - */ -#define __HAL_ETH_DMA_CLEAR_FLAG(__HANDLE__, __FLAG__) ((__HANDLE__)->Instance->DMASR = (__FLAG__)) - -/** - * @brief Checks whether the specified ETHERNET DMA overflow flag is set or not. - * @param __HANDLE__ ETH Handle - * @param __OVERFLOW__ specifies the DMA overflow flag to check. - * This parameter can be one of the following values: - * @arg ETH_DMA_OVERFLOW_RXFIFOCOUNTER : Overflow for FIFO Overflows Counter - * @arg ETH_DMA_OVERFLOW_MISSEDFRAMECOUNTER : Overflow for Buffer Unavailable Missed Frame Counter - * @retval The state of ETHERNET DMA overflow Flag (SET or RESET). - */ -#define __HAL_ETH_GET_DMA_OVERFLOW_STATUS(__HANDLE__, __OVERFLOW__) (((__HANDLE__)->Instance->DMAMFBOCR & (__OVERFLOW__)) == (__OVERFLOW__)) - -/** - * @brief Set the DMA Receive status watchdog timer register value - * @param __HANDLE__ ETH Handle - * @param __VALUE__ DMA Receive status watchdog timer register value - * @retval None - */ -#define __HAL_ETH_SET_RECEIVE_WATCHDOG_TIMER(__HANDLE__, __VALUE__) ((__HANDLE__)->Instance->DMARSWTR = (__VALUE__)) - -/** - * @brief Enables any unicast packet filtered by the MAC address - * recognition to be a wake-up frame. - * @param __HANDLE__ ETH Handle. - * @retval None - */ -#define __HAL_ETH_GLOBAL_UNICAST_WAKEUP_ENABLE(__HANDLE__) ((__HANDLE__)->Instance->MACPMTCSR |= ETH_MACPMTCSR_GU) - -/** - * @brief Disables any unicast packet filtered by the MAC address - * recognition to be a wake-up frame. - * @param __HANDLE__ ETH Handle. - * @retval None - */ -#define __HAL_ETH_GLOBAL_UNICAST_WAKEUP_DISABLE(__HANDLE__) ((__HANDLE__)->Instance->MACPMTCSR &= ~ETH_MACPMTCSR_GU) - -/** - * @brief Enables the MAC Wake-Up Frame Detection. - * @param __HANDLE__ ETH Handle. - * @retval None - */ -#define __HAL_ETH_WAKEUP_FRAME_DETECTION_ENABLE(__HANDLE__) ((__HANDLE__)->Instance->MACPMTCSR |= ETH_MACPMTCSR_WFE) - -/** - * @brief Disables the MAC Wake-Up Frame Detection. - * @param __HANDLE__ ETH Handle. - * @retval None - */ -#define __HAL_ETH_WAKEUP_FRAME_DETECTION_DISABLE(__HANDLE__) ((__HANDLE__)->Instance->MACPMTCSR &= ~ETH_MACPMTCSR_WFE) - -/** - * @brief Enables the MAC Magic Packet Detection. - * @param __HANDLE__ ETH Handle. - * @retval None - */ -#define __HAL_ETH_MAGIC_PACKET_DETECTION_ENABLE(__HANDLE__) ((__HANDLE__)->Instance->MACPMTCSR |= ETH_MACPMTCSR_MPE) - -/** - * @brief Disables the MAC Magic Packet Detection. - * @param __HANDLE__ ETH Handle. - * @retval None - */ -#define __HAL_ETH_MAGIC_PACKET_DETECTION_DISABLE(__HANDLE__) ((__HANDLE__)->Instance->MACPMTCSR &= ~ETH_MACPMTCSR_WFE) - -/** - * @brief Enables the MAC Power Down. - * @param __HANDLE__ ETH Handle - * @retval None - */ -#define __HAL_ETH_POWER_DOWN_ENABLE(__HANDLE__) ((__HANDLE__)->Instance->MACPMTCSR |= ETH_MACPMTCSR_PD) - -/** - * @brief Disables the MAC Power Down. - * @param __HANDLE__ ETH Handle - * @retval None - */ -#define __HAL_ETH_POWER_DOWN_DISABLE(__HANDLE__) ((__HANDLE__)->Instance->MACPMTCSR &= ~ETH_MACPMTCSR_PD) - -/** - * @brief Checks whether the specified ETHERNET PMT flag is set or not. - * @param __HANDLE__ ETH Handle. - * @param __FLAG__ specifies the flag to check. - * This parameter can be one of the following values: - * @arg ETH_PMT_FLAG_WUFFRPR : Wake-Up Frame Filter Register Pointer Reset - * @arg ETH_PMT_FLAG_WUFR : Wake-Up Frame Received - * @arg ETH_PMT_FLAG_MPR : Magic Packet Received - * @retval The new state of ETHERNET PMT Flag (SET or RESET). - */ -#define __HAL_ETH_GET_PMT_FLAG_STATUS(__HANDLE__, __FLAG__) (((__HANDLE__)->Instance->MACPMTCSR &( __FLAG__)) == ( __FLAG__)) - -/** - * @brief Preset and Initialize the MMC counters to almost-full value: 0xFFFF_FFF0 (full - 16) - * @param __HANDLE__ ETH Handle. - * @retval None - */ -#define __HAL_ETH_MMC_COUNTER_FULL_PRESET(__HANDLE__) ((__HANDLE__)->Instance->MMCCR |= (ETH_MMCCR_MCFHP | ETH_MMCCR_MCP)) - -/** - * @brief Preset and Initialize the MMC counters to almost-half value: 0x7FFF_FFF0 (half - 16) - * @param __HANDLE__ ETH Handle. - * @retval None - */ -#define __HAL_ETH_MMC_COUNTER_HALF_PRESET(__HANDLE__) do{(__HANDLE__)->Instance->MMCCR &= ~ETH_MMCCR_MCFHP;\ - (__HANDLE__)->Instance->MMCCR |= ETH_MMCCR_MCP;} while (0) - -/** - * @brief Enables the MMC Counter Freeze. - * @param __HANDLE__ ETH Handle. - * @retval None - */ -#define __HAL_ETH_MMC_COUNTER_FREEZE_ENABLE(__HANDLE__) ((__HANDLE__)->Instance->MMCCR |= ETH_MMCCR_MCF) - -/** - * @brief Disables the MMC Counter Freeze. - * @param __HANDLE__ ETH Handle. - * @retval None - */ -#define __HAL_ETH_MMC_COUNTER_FREEZE_DISABLE(__HANDLE__) ((__HANDLE__)->Instance->MMCCR &= ~ETH_MMCCR_MCF) - -/** - * @brief Enables the MMC Reset On Read. - * @param __HANDLE__ ETH Handle. - * @retval None - */ -#define __HAL_ETH_ETH_MMC_RESET_ONREAD_ENABLE(__HANDLE__) ((__HANDLE__)->Instance->MMCCR |= ETH_MMCCR_ROR) - -/** - * @brief Disables the MMC Reset On Read. - * @param __HANDLE__ ETH Handle. - * @retval None - */ -#define __HAL_ETH_ETH_MMC_RESET_ONREAD_DISABLE(__HANDLE__) ((__HANDLE__)->Instance->MMCCR &= ~ETH_MMCCR_ROR) - -/** - * @brief Enables the MMC Counter Stop Rollover. - * @param __HANDLE__ ETH Handle. - * @retval None - */ -#define __HAL_ETH_ETH_MMC_COUNTER_ROLLOVER_ENABLE(__HANDLE__) ((__HANDLE__)->Instance->MMCCR &= ~ETH_MMCCR_CSR) - -/** - * @brief Disables the MMC Counter Stop Rollover. - * @param __HANDLE__ ETH Handle. - * @retval None - */ -#define __HAL_ETH_ETH_MMC_COUNTER_ROLLOVER_DISABLE(__HANDLE__) ((__HANDLE__)->Instance->MMCCR |= ETH_MMCCR_CSR) - -/** - * @brief Resets the MMC Counters. - * @param __HANDLE__ ETH Handle. - * @retval None - */ -#define __HAL_ETH_MMC_COUNTERS_RESET(__HANDLE__) ((__HANDLE__)->Instance->MMCCR |= ETH_MMCCR_CR) - -/** - * @brief Enables the specified ETHERNET MMC Rx interrupts. - * @param __HANDLE__ ETH Handle. - * @param __INTERRUPT__ specifies the ETHERNET MMC interrupt sources to be enabled or disabled. - * This parameter can be one of the following values: - * @arg ETH_MMC_IT_RGUF : When Rx good unicast frames counter reaches half the maximum value - * @arg ETH_MMC_IT_RFAE : When Rx alignment error counter reaches half the maximum value - * @arg ETH_MMC_IT_RFCE : When Rx crc error counter reaches half the maximum value - * @retval None - */ -#define __HAL_ETH_MMC_RX_IT_ENABLE(__HANDLE__, __INTERRUPT__) (__HANDLE__)->Instance->MMCRIMR &= ~((__INTERRUPT__) & 0xEFFFFFFFU) -/** - * @brief Disables the specified ETHERNET MMC Rx interrupts. - * @param __HANDLE__ ETH Handle. - * @param __INTERRUPT__ specifies the ETHERNET MMC interrupt sources to be enabled or disabled. - * This parameter can be one of the following values: - * @arg ETH_MMC_IT_RGUF : When Rx good unicast frames counter reaches half the maximum value - * @arg ETH_MMC_IT_RFAE : When Rx alignment error counter reaches half the maximum value - * @arg ETH_MMC_IT_RFCE : When Rx crc error counter reaches half the maximum value - * @retval None - */ -#define __HAL_ETH_MMC_RX_IT_DISABLE(__HANDLE__, __INTERRUPT__) (__HANDLE__)->Instance->MMCRIMR |= ((__INTERRUPT__) & 0xEFFFFFFFU) -/** - * @brief Enables the specified ETHERNET MMC Tx interrupts. - * @param __HANDLE__ ETH Handle. - * @param __INTERRUPT__ specifies the ETHERNET MMC interrupt sources to be enabled or disabled. - * This parameter can be one of the following values: - * @arg ETH_MMC_IT_TGF : When Tx good frame counter reaches half the maximum value - * @arg ETH_MMC_IT_TGFMSC: When Tx good multi col counter reaches half the maximum value - * @arg ETH_MMC_IT_TGFSC : When Tx good single col counter reaches half the maximum value - * @retval None - */ -#define __HAL_ETH_MMC_TX_IT_ENABLE(__HANDLE__, __INTERRUPT__) ((__HANDLE__)->Instance->MMCRIMR &= ~ (__INTERRUPT__)) - -/** - * @brief Disables the specified ETHERNET MMC Tx interrupts. - * @param __HANDLE__ ETH Handle. - * @param __INTERRUPT__ specifies the ETHERNET MMC interrupt sources to be enabled or disabled. - * This parameter can be one of the following values: - * @arg ETH_MMC_IT_TGF : When Tx good frame counter reaches half the maximum value - * @arg ETH_MMC_IT_TGFMSC: When Tx good multi col counter reaches half the maximum value - * @arg ETH_MMC_IT_TGFSC : When Tx good single col counter reaches half the maximum value - * @retval None - */ -#define __HAL_ETH_MMC_TX_IT_DISABLE(__HANDLE__, __INTERRUPT__) ((__HANDLE__)->Instance->MMCRIMR |= (__INTERRUPT__)) - -/** - * @brief Enables the ETH External interrupt line. - * @retval None - */ -#define __HAL_ETH_WAKEUP_EXTI_ENABLE_IT() EXTI->IMR |= (ETH_EXTI_LINE_WAKEUP) - -/** - * @brief Disables the ETH External interrupt line. - * @retval None - */ -#define __HAL_ETH_WAKEUP_EXTI_DISABLE_IT() EXTI->IMR &= ~(ETH_EXTI_LINE_WAKEUP) - -/** - * @brief Enable event on ETH External event line. - * @retval None. - */ -#define __HAL_ETH_WAKEUP_EXTI_ENABLE_EVENT() EXTI->EMR |= (ETH_EXTI_LINE_WAKEUP) - -/** - * @brief Disable event on ETH External event line - * @retval None. - */ -#define __HAL_ETH_WAKEUP_EXTI_DISABLE_EVENT() EXTI->EMR &= ~(ETH_EXTI_LINE_WAKEUP) - -/** - * @brief Get flag of the ETH External interrupt line. - * @retval None - */ -#define __HAL_ETH_WAKEUP_EXTI_GET_FLAG() EXTI->PR & (ETH_EXTI_LINE_WAKEUP) - -/** - * @brief Clear flag of the ETH External interrupt line. - * @retval None - */ -#define __HAL_ETH_WAKEUP_EXTI_CLEAR_FLAG() EXTI->PR = (ETH_EXTI_LINE_WAKEUP) - -/** - * @brief Enables rising edge trigger to the ETH External interrupt line. - * @retval None - */ -#define __HAL_ETH_WAKEUP_EXTI_ENABLE_RISING_EDGE_TRIGGER() EXTI->RTSR |= ETH_EXTI_LINE_WAKEUP - -/** - * @brief Disables the rising edge trigger to the ETH External interrupt line. - * @retval None - */ -#define __HAL_ETH_WAKEUP_EXTI_DISABLE_RISING_EDGE_TRIGGER() EXTI->RTSR &= ~(ETH_EXTI_LINE_WAKEUP) - -/** - * @brief Enables falling edge trigger to the ETH External interrupt line. - * @retval None - */ -#define __HAL_ETH_WAKEUP_EXTI_ENABLE_FALLING_EDGE_TRIGGER() EXTI->FTSR |= (ETH_EXTI_LINE_WAKEUP) - -/** - * @brief Disables falling edge trigger to the ETH External interrupt line. - * @retval None - */ -#define __HAL_ETH_WAKEUP_EXTI_DISABLE_FALLING_EDGE_TRIGGER() EXTI->FTSR &= ~(ETH_EXTI_LINE_WAKEUP) - -/** - * @brief Enables rising/falling edge trigger to the ETH External interrupt line. - * @retval None - */ -#define __HAL_ETH_WAKEUP_EXTI_ENABLE_FALLINGRISING_TRIGGER() do{EXTI->RTSR |= ETH_EXTI_LINE_WAKEUP;\ - EXTI->FTSR |= ETH_EXTI_LINE_WAKEUP;\ - }while(0U) - -/** - * @brief Disables rising/falling edge trigger to the ETH External interrupt line. - * @retval None - */ -#define __HAL_ETH_WAKEUP_EXTI_DISABLE_FALLINGRISING_TRIGGER() do{EXTI->RTSR &= ~(ETH_EXTI_LINE_WAKEUP);\ - EXTI->FTSR &= ~(ETH_EXTI_LINE_WAKEUP);\ - }while(0U) - -/** - * @brief Generate a Software interrupt on selected EXTI line. - * @retval None. - */ -#define __HAL_ETH_WAKEUP_EXTI_GENERATE_SWIT() EXTI->SWIER|= ETH_EXTI_LINE_WAKEUP - -/** - * @} - */ -/* Exported functions --------------------------------------------------------*/ - -/** @addtogroup ETH_Exported_Functions - * @{ - */ - -/* Initialization and de-initialization functions ****************************/ - -/** @addtogroup ETH_Exported_Functions_Group1 - * @{ - */ -HAL_StatusTypeDef HAL_ETH_Init(ETH_HandleTypeDef *heth); -HAL_StatusTypeDef HAL_ETH_DeInit(ETH_HandleTypeDef *heth); -void HAL_ETH_MspInit(ETH_HandleTypeDef *heth); -void HAL_ETH_MspDeInit(ETH_HandleTypeDef *heth); -HAL_StatusTypeDef HAL_ETH_DMATxDescListInit(ETH_HandleTypeDef *heth, ETH_DMADescTypeDef *DMATxDescTab, uint8_t* TxBuff, uint32_t TxBuffCount); -HAL_StatusTypeDef HAL_ETH_DMARxDescListInit(ETH_HandleTypeDef *heth, ETH_DMADescTypeDef *DMARxDescTab, uint8_t *RxBuff, uint32_t RxBuffCount); -/* Callbacks Register/UnRegister functions ***********************************/ -#if (USE_HAL_ETH_REGISTER_CALLBACKS == 1) -HAL_StatusTypeDef HAL_ETH_RegisterCallback(ETH_HandleTypeDef *heth, HAL_ETH_CallbackIDTypeDef CallbackID, pETH_CallbackTypeDef pCallback); -HAL_StatusTypeDef HAL_ETH_UnRegisterCallback(ETH_HandleTypeDef *heth, HAL_ETH_CallbackIDTypeDef CallbackID); -#endif /* USE_HAL_ETH_REGISTER_CALLBACKS */ - -/** - * @} - */ -/* IO operation functions ****************************************************/ - -/** @addtogroup ETH_Exported_Functions_Group2 - * @{ - */ -HAL_StatusTypeDef HAL_ETH_TransmitFrame(ETH_HandleTypeDef *heth, uint32_t FrameLength); -HAL_StatusTypeDef HAL_ETH_GetReceivedFrame(ETH_HandleTypeDef *heth); -/* Communication with PHY functions*/ -HAL_StatusTypeDef HAL_ETH_ReadPHYRegister(ETH_HandleTypeDef *heth, uint16_t PHYReg, uint32_t *RegValue); -HAL_StatusTypeDef HAL_ETH_WritePHYRegister(ETH_HandleTypeDef *heth, uint16_t PHYReg, uint32_t RegValue); -/* Non-Blocking mode: Interrupt */ -HAL_StatusTypeDef HAL_ETH_GetReceivedFrame_IT(ETH_HandleTypeDef *heth); -void HAL_ETH_IRQHandler(ETH_HandleTypeDef *heth); -/* Callback in non blocking modes (Interrupt) */ -void HAL_ETH_TxCpltCallback(ETH_HandleTypeDef *heth); -void HAL_ETH_RxCpltCallback(ETH_HandleTypeDef *heth); -void HAL_ETH_ErrorCallback(ETH_HandleTypeDef *heth); -/** - * @} - */ - -/* Peripheral Control functions **********************************************/ - -/** @addtogroup ETH_Exported_Functions_Group3 - * @{ - */ - -HAL_StatusTypeDef HAL_ETH_Start(ETH_HandleTypeDef *heth); -HAL_StatusTypeDef HAL_ETH_Stop(ETH_HandleTypeDef *heth); -HAL_StatusTypeDef HAL_ETH_ConfigMAC(ETH_HandleTypeDef *heth, ETH_MACInitTypeDef *macconf); -HAL_StatusTypeDef HAL_ETH_ConfigDMA(ETH_HandleTypeDef *heth, ETH_DMAInitTypeDef *dmaconf); -/** - * @} - */ - -/* Peripheral State functions ************************************************/ - -/** @addtogroup ETH_Exported_Functions_Group4 - * @{ - */ -HAL_ETH_StateTypeDef HAL_ETH_GetState(ETH_HandleTypeDef *heth); -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ - -#endif /* STM32F405xx || STM32F415xx || STM32F407xx || STM32F417xx || STM32F427xx ||\ - STM32F437xx || STM32F429xx || STM32F439xx || STM32F469xx || STM32F479xx */ - -#ifdef __cplusplus -} -#endif - -#endif /* __STM32F4xx_HAL_ETH_H */ - - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_exti.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_exti.h deleted file mode 100644 index 857011236b0e99..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_exti.h +++ /dev/null @@ -1,368 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_exti.h - * @author MCD Application Team - * @brief Header file of EXTI HAL module. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2018 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef STM32f4xx_HAL_EXTI_H -#define STM32f4xx_HAL_EXTI_H - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal_def.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @defgroup EXTI EXTI - * @brief EXTI HAL module driver - * @{ - */ - -/* Exported types ------------------------------------------------------------*/ - -/** @defgroup EXTI_Exported_Types EXTI Exported Types - * @{ - */ -typedef enum -{ - HAL_EXTI_COMMON_CB_ID = 0x00U -} EXTI_CallbackIDTypeDef; - -/** - * @brief EXTI Handle structure definition - */ -typedef struct -{ - uint32_t Line; /*!< Exti line number */ - void (* PendingCallback)(void); /*!< Exti pending callback */ -} EXTI_HandleTypeDef; - -/** - * @brief EXTI Configuration structure definition - */ -typedef struct -{ - uint32_t Line; /*!< The Exti line to be configured. This parameter - can be a value of @ref EXTI_Line */ - uint32_t Mode; /*!< The Exit Mode to be configured for a core. - This parameter can be a combination of @ref EXTI_Mode */ - uint32_t Trigger; /*!< The Exti Trigger to be configured. This parameter - can be a value of @ref EXTI_Trigger */ - uint32_t GPIOSel; /*!< The Exti GPIO multiplexer selection to be configured. - This parameter is only possible for line 0 to 15. It - can be a value of @ref EXTI_GPIOSel */ -} EXTI_ConfigTypeDef; - -/** - * @} - */ - -/* Exported constants --------------------------------------------------------*/ -/** @defgroup EXTI_Exported_Constants EXTI Exported Constants - * @{ - */ - -/** @defgroup EXTI_Line EXTI Line - * @{ - */ -#define EXTI_LINE_0 (EXTI_GPIO | 0x00u) /*!< External interrupt line 0 */ -#define EXTI_LINE_1 (EXTI_GPIO | 0x01u) /*!< External interrupt line 1 */ -#define EXTI_LINE_2 (EXTI_GPIO | 0x02u) /*!< External interrupt line 2 */ -#define EXTI_LINE_3 (EXTI_GPIO | 0x03u) /*!< External interrupt line 3 */ -#define EXTI_LINE_4 (EXTI_GPIO | 0x04u) /*!< External interrupt line 4 */ -#define EXTI_LINE_5 (EXTI_GPIO | 0x05u) /*!< External interrupt line 5 */ -#define EXTI_LINE_6 (EXTI_GPIO | 0x06u) /*!< External interrupt line 6 */ -#define EXTI_LINE_7 (EXTI_GPIO | 0x07u) /*!< External interrupt line 7 */ -#define EXTI_LINE_8 (EXTI_GPIO | 0x08u) /*!< External interrupt line 8 */ -#define EXTI_LINE_9 (EXTI_GPIO | 0x09u) /*!< External interrupt line 9 */ -#define EXTI_LINE_10 (EXTI_GPIO | 0x0Au) /*!< External interrupt line 10 */ -#define EXTI_LINE_11 (EXTI_GPIO | 0x0Bu) /*!< External interrupt line 11 */ -#define EXTI_LINE_12 (EXTI_GPIO | 0x0Cu) /*!< External interrupt line 12 */ -#define EXTI_LINE_13 (EXTI_GPIO | 0x0Du) /*!< External interrupt line 13 */ -#define EXTI_LINE_14 (EXTI_GPIO | 0x0Eu) /*!< External interrupt line 14 */ -#define EXTI_LINE_15 (EXTI_GPIO | 0x0Fu) /*!< External interrupt line 15 */ -#define EXTI_LINE_16 (EXTI_CONFIG | 0x10u) /*!< External interrupt line 16 Connected to the PVD Output */ -#define EXTI_LINE_17 (EXTI_CONFIG | 0x11u) /*!< External interrupt line 17 Connected to the RTC Alarm event */ -#if defined(EXTI_IMR_IM18) -#define EXTI_LINE_18 (EXTI_CONFIG | 0x12u) /*!< External interrupt line 18 Connected to the USB OTG FS Wakeup from suspend event */ -#else -#define EXTI_LINE_18 (EXTI_RESERVED | 0x12u) /*!< No interrupt supported in this line */ -#endif /* EXTI_IMR_IM18 */ -#if defined(EXTI_IMR_IM19) -#define EXTI_LINE_19 (EXTI_CONFIG | 0x13u) /*!< External interrupt line 19 Connected to the Ethernet Wakeup event */ -#else -#define EXTI_LINE_19 (EXTI_RESERVED | 0x13u) /*!< No interrupt supported in this line */ -#endif /* EXTI_IMR_IM19 */ -#if defined(EXTI_IMR_IM20) -#define EXTI_LINE_20 (EXTI_CONFIG | 0x14u) /*!< External interrupt line 20 Connected to the USB OTG HS (configured in FS) Wakeup event */ -#else -#define EXTI_LINE_20 (EXTI_RESERVED | 0x14u) /*!< No interrupt supported in this line */ -#endif /* EXTI_IMR_IM20 */ -#define EXTI_LINE_21 (EXTI_CONFIG | 0x15u) /*!< External interrupt line 21 Connected to the RTC Tamper and Time Stamp events */ -#define EXTI_LINE_22 (EXTI_CONFIG | 0x16u) /*!< External interrupt line 22 Connected to the RTC Wakeup event */ -#if defined(EXTI_IMR_IM23) -#define EXTI_LINE_23 (EXTI_CONFIG | 0x17u) /*!< External interrupt line 23 Connected to the LPTIM1 asynchronous event */ -#endif /* EXTI_IMR_IM23 */ - -/** - * @} - */ - -/** @defgroup EXTI_Mode EXTI Mode - * @{ - */ -#define EXTI_MODE_NONE 0x00000000u -#define EXTI_MODE_INTERRUPT 0x00000001u -#define EXTI_MODE_EVENT 0x00000002u -/** - * @} - */ - -/** @defgroup EXTI_Trigger EXTI Trigger - * @{ - */ - -#define EXTI_TRIGGER_NONE 0x00000000u -#define EXTI_TRIGGER_RISING 0x00000001u -#define EXTI_TRIGGER_FALLING 0x00000002u -#define EXTI_TRIGGER_RISING_FALLING (EXTI_TRIGGER_RISING | EXTI_TRIGGER_FALLING) -/** - * @} - */ - -/** @defgroup EXTI_GPIOSel EXTI GPIOSel - * @brief - * @{ - */ -#define EXTI_GPIOA 0x00000000u -#define EXTI_GPIOB 0x00000001u -#define EXTI_GPIOC 0x00000002u -#if defined (GPIOD) -#define EXTI_GPIOD 0x00000003u -#endif /* GPIOD */ -#if defined (GPIOE) -#define EXTI_GPIOE 0x00000004u -#endif /* GPIOE */ -#if defined (GPIOF) -#define EXTI_GPIOF 0x00000005u -#endif /* GPIOF */ -#if defined (GPIOG) -#define EXTI_GPIOG 0x00000006u -#endif /* GPIOG */ -#if defined (GPIOH) -#define EXTI_GPIOH 0x00000007u -#endif /* GPIOH */ -#if defined (GPIOI) -#define EXTI_GPIOI 0x00000008u -#endif /* GPIOI */ -#if defined (GPIOJ) -#define EXTI_GPIOJ 0x00000009u -#endif /* GPIOJ */ -#if defined (GPIOK) -#define EXTI_GPIOK 0x0000000Au -#endif /* GPIOK */ - -/** - * @} - */ - -/** - * @} - */ - -/* Exported macro ------------------------------------------------------------*/ -/** @defgroup EXTI_Exported_Macros EXTI Exported Macros - * @{ - */ - -/** - * @} - */ - -/* Private constants --------------------------------------------------------*/ -/** @defgroup EXTI_Private_Constants EXTI Private Constants - * @{ - */ -/** - * @brief EXTI Line property definition - */ -#define EXTI_PROPERTY_SHIFT 24u -#define EXTI_CONFIG (0x02uL << EXTI_PROPERTY_SHIFT) -#define EXTI_GPIO ((0x04uL << EXTI_PROPERTY_SHIFT) | EXTI_CONFIG) -#define EXTI_RESERVED (0x08uL << EXTI_PROPERTY_SHIFT) -#define EXTI_PROPERTY_MASK (EXTI_CONFIG | EXTI_GPIO) - -/** - * @brief EXTI bit usage - */ -#define EXTI_PIN_MASK 0x0000001Fu - -/** - * @brief EXTI Mask for interrupt & event mode - */ -#define EXTI_MODE_MASK (EXTI_MODE_EVENT | EXTI_MODE_INTERRUPT) - -/** - * @brief EXTI Mask for trigger possibilities - */ -#define EXTI_TRIGGER_MASK (EXTI_TRIGGER_RISING | EXTI_TRIGGER_FALLING) - -/** - * @brief EXTI Line number - */ -#if defined(EXTI_IMR_IM23) -#define EXTI_LINE_NB 24UL -#else -#define EXTI_LINE_NB 23UL -#endif /* EXTI_IMR_IM23 */ - -/** - * @} - */ - -/* Private macros ------------------------------------------------------------*/ -/** @defgroup EXTI_Private_Macros EXTI Private Macros - * @{ - */ -#define IS_EXTI_LINE(__EXTI_LINE__) ((((__EXTI_LINE__) & ~(EXTI_PROPERTY_MASK | EXTI_PIN_MASK)) == 0x00u) && \ - ((((__EXTI_LINE__) & EXTI_PROPERTY_MASK) == EXTI_CONFIG) || \ - (((__EXTI_LINE__) & EXTI_PROPERTY_MASK) == EXTI_GPIO)) && \ - (((__EXTI_LINE__) & EXTI_PIN_MASK) < EXTI_LINE_NB)) - -#define IS_EXTI_MODE(__EXTI_LINE__) ((((__EXTI_LINE__) & EXTI_MODE_MASK) != 0x00u) && \ - (((__EXTI_LINE__) & ~EXTI_MODE_MASK) == 0x00u)) - -#define IS_EXTI_TRIGGER(__EXTI_LINE__) (((__EXTI_LINE__) & ~EXTI_TRIGGER_MASK) == 0x00u) - -#define IS_EXTI_PENDING_EDGE(__EXTI_LINE__) ((__EXTI_LINE__) == EXTI_TRIGGER_RISING_FALLING) - -#define IS_EXTI_CONFIG_LINE(__EXTI_LINE__) (((__EXTI_LINE__) & EXTI_CONFIG) != 0x00u) - -#if !defined (GPIOD) -#define IS_EXTI_GPIO_PORT(__PORT__) (((__PORT__) == EXTI_GPIOA) || \ - ((__PORT__) == EXTI_GPIOB) || \ - ((__PORT__) == EXTI_GPIOC) || \ - ((__PORT__) == EXTI_GPIOH)) -#elif !defined (GPIOE) -#define IS_EXTI_GPIO_PORT(__PORT__) (((__PORT__) == EXTI_GPIOA) || \ - ((__PORT__) == EXTI_GPIOB) || \ - ((__PORT__) == EXTI_GPIOC) || \ - ((__PORT__) == EXTI_GPIOD) || \ - ((__PORT__) == EXTI_GPIOH)) -#elif !defined (GPIOF) -#define IS_EXTI_GPIO_PORT(__PORT__) (((__PORT__) == EXTI_GPIOA) || \ - ((__PORT__) == EXTI_GPIOB) || \ - ((__PORT__) == EXTI_GPIOC) || \ - ((__PORT__) == EXTI_GPIOD) || \ - ((__PORT__) == EXTI_GPIOE) || \ - ((__PORT__) == EXTI_GPIOH)) -#elif !defined (GPIOI) -#define IS_EXTI_GPIO_PORT(__PORT__) (((__PORT__) == EXTI_GPIOA) || \ - ((__PORT__) == EXTI_GPIOB) || \ - ((__PORT__) == EXTI_GPIOC) || \ - ((__PORT__) == EXTI_GPIOD) || \ - ((__PORT__) == EXTI_GPIOE) || \ - ((__PORT__) == EXTI_GPIOF) || \ - ((__PORT__) == EXTI_GPIOG) || \ - ((__PORT__) == EXTI_GPIOH)) -#elif !defined (GPIOJ) -#define IS_EXTI_GPIO_PORT(__PORT__) (((__PORT__) == EXTI_GPIOA) || \ - ((__PORT__) == EXTI_GPIOB) || \ - ((__PORT__) == EXTI_GPIOC) || \ - ((__PORT__) == EXTI_GPIOD) || \ - ((__PORT__) == EXTI_GPIOE) || \ - ((__PORT__) == EXTI_GPIOF) || \ - ((__PORT__) == EXTI_GPIOG) || \ - ((__PORT__) == EXTI_GPIOH) || \ - ((__PORT__) == EXTI_GPIOI)) -#else -#define IS_EXTI_GPIO_PORT(__PORT__) (((__PORT__) == EXTI_GPIOA) || \ - ((__PORT__) == EXTI_GPIOB) || \ - ((__PORT__) == EXTI_GPIOC) || \ - ((__PORT__) == EXTI_GPIOD) || \ - ((__PORT__) == EXTI_GPIOE) || \ - ((__PORT__) == EXTI_GPIOF) || \ - ((__PORT__) == EXTI_GPIOG) || \ - ((__PORT__) == EXTI_GPIOH) || \ - ((__PORT__) == EXTI_GPIOI) || \ - ((__PORT__) == EXTI_GPIOJ) || \ - ((__PORT__) == EXTI_GPIOK)) -#endif /* GPIOD */ - -#define IS_EXTI_GPIO_PIN(__PIN__) ((__PIN__) < 16U) -/** - * @} - */ - -/* Exported functions --------------------------------------------------------*/ -/** @defgroup EXTI_Exported_Functions EXTI Exported Functions - * @brief EXTI Exported Functions - * @{ - */ - -/** @defgroup EXTI_Exported_Functions_Group1 Configuration functions - * @brief Configuration functions - * @{ - */ -/* Configuration functions ****************************************************/ -HAL_StatusTypeDef HAL_EXTI_SetConfigLine(EXTI_HandleTypeDef *hexti, EXTI_ConfigTypeDef *pExtiConfig); -HAL_StatusTypeDef HAL_EXTI_GetConfigLine(EXTI_HandleTypeDef *hexti, EXTI_ConfigTypeDef *pExtiConfig); -HAL_StatusTypeDef HAL_EXTI_ClearConfigLine(EXTI_HandleTypeDef *hexti); -HAL_StatusTypeDef HAL_EXTI_RegisterCallback(EXTI_HandleTypeDef *hexti, EXTI_CallbackIDTypeDef CallbackID, void (*pPendingCbfn)(void)); -HAL_StatusTypeDef HAL_EXTI_GetHandle(EXTI_HandleTypeDef *hexti, uint32_t ExtiLine); -/** - * @} - */ - -/** @defgroup EXTI_Exported_Functions_Group2 IO operation functions - * @brief IO operation functions - * @{ - */ -/* IO operation functions *****************************************************/ -void HAL_EXTI_IRQHandler(EXTI_HandleTypeDef *hexti); -uint32_t HAL_EXTI_GetPending(EXTI_HandleTypeDef *hexti, uint32_t Edge); -void HAL_EXTI_ClearPending(EXTI_HandleTypeDef *hexti, uint32_t Edge); -void HAL_EXTI_GenerateSWI(EXTI_HandleTypeDef *hexti); - -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ - -#ifdef __cplusplus -} -#endif - -#endif /* STM32f4xx_HAL_EXTI_H */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h deleted file mode 100644 index b817f63b7605dd..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash.h +++ /dev/null @@ -1,428 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_flash.h - * @author MCD Application Team - * @brief Header file of FLASH HAL module. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef __STM32F4xx_HAL_FLASH_H -#define __STM32F4xx_HAL_FLASH_H - -#ifdef __cplusplus - extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal_def.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @addtogroup FLASH - * @{ - */ - -/* Exported types ------------------------------------------------------------*/ -/** @defgroup FLASH_Exported_Types FLASH Exported Types - * @{ - */ - -/** - * @brief FLASH Procedure structure definition - */ -typedef enum -{ - FLASH_PROC_NONE = 0U, - FLASH_PROC_SECTERASE, - FLASH_PROC_MASSERASE, - FLASH_PROC_PROGRAM -} FLASH_ProcedureTypeDef; - -/** - * @brief FLASH handle Structure definition - */ -typedef struct -{ - __IO FLASH_ProcedureTypeDef ProcedureOnGoing; /*Internal variable to indicate which procedure is ongoing or not in IT context*/ - - __IO uint32_t NbSectorsToErase; /*Internal variable to save the remaining sectors to erase in IT context*/ - - __IO uint8_t VoltageForErase; /*Internal variable to provide voltage range selected by user in IT context*/ - - __IO uint32_t Sector; /*Internal variable to define the current sector which is erasing*/ - - __IO uint32_t Bank; /*Internal variable to save current bank selected during mass erase*/ - - __IO uint32_t Address; /*Internal variable to save address selected for program*/ - - HAL_LockTypeDef Lock; /* FLASH locking object */ - - __IO uint32_t ErrorCode; /* FLASH error code */ - -}FLASH_ProcessTypeDef; - -/** - * @} - */ - -/* Exported constants --------------------------------------------------------*/ -/** @defgroup FLASH_Exported_Constants FLASH Exported Constants - * @{ - */ -/** @defgroup FLASH_Error_Code FLASH Error Code - * @brief FLASH Error Code - * @{ - */ -#define HAL_FLASH_ERROR_NONE 0x00000000U /*!< No error */ -#define HAL_FLASH_ERROR_RD 0x00000001U /*!< Read Protection error */ -#define HAL_FLASH_ERROR_PGS 0x00000002U /*!< Programming Sequence error */ -#define HAL_FLASH_ERROR_PGP 0x00000004U /*!< Programming Parallelism error */ -#define HAL_FLASH_ERROR_PGA 0x00000008U /*!< Programming Alignment error */ -#define HAL_FLASH_ERROR_WRP 0x00000010U /*!< Write protection error */ -#define HAL_FLASH_ERROR_OPERATION 0x00000020U /*!< Operation Error */ -/** - * @} - */ - -/** @defgroup FLASH_Type_Program FLASH Type Program - * @{ - */ -#define FLASH_TYPEPROGRAM_BYTE 0x00000000U /*!< Program byte (8-bit) at a specified address */ -#define FLASH_TYPEPROGRAM_HALFWORD 0x00000001U /*!< Program a half-word (16-bit) at a specified address */ -#define FLASH_TYPEPROGRAM_WORD 0x00000002U /*!< Program a word (32-bit) at a specified address */ -#define FLASH_TYPEPROGRAM_DOUBLEWORD 0x00000003U /*!< Program a double word (64-bit) at a specified address */ -/** - * @} - */ - -/** @defgroup FLASH_Flag_definition FLASH Flag definition - * @brief Flag definition - * @{ - */ -#define FLASH_FLAG_EOP FLASH_SR_EOP /*!< FLASH End of Operation flag */ -#define FLASH_FLAG_OPERR FLASH_SR_SOP /*!< FLASH operation Error flag */ -#define FLASH_FLAG_WRPERR FLASH_SR_WRPERR /*!< FLASH Write protected error flag */ -#define FLASH_FLAG_PGAERR FLASH_SR_PGAERR /*!< FLASH Programming Alignment error flag */ -#define FLASH_FLAG_PGPERR FLASH_SR_PGPERR /*!< FLASH Programming Parallelism error flag */ -#define FLASH_FLAG_PGSERR FLASH_SR_PGSERR /*!< FLASH Programming Sequence error flag */ -#if defined(FLASH_SR_RDERR) -#define FLASH_FLAG_RDERR FLASH_SR_RDERR /*!< Read Protection error flag (PCROP) */ -#endif /* FLASH_SR_RDERR */ -#define FLASH_FLAG_BSY FLASH_SR_BSY /*!< FLASH Busy flag */ -/** - * @} - */ - -/** @defgroup FLASH_Interrupt_definition FLASH Interrupt definition - * @brief FLASH Interrupt definition - * @{ - */ -#define FLASH_IT_EOP FLASH_CR_EOPIE /*!< End of FLASH Operation Interrupt source */ -#define FLASH_IT_ERR 0x02000000U /*!< Error Interrupt source */ -/** - * @} - */ - -/** @defgroup FLASH_Program_Parallelism FLASH Program Parallelism - * @{ - */ -#define FLASH_PSIZE_BYTE 0x00000000U -#define FLASH_PSIZE_HALF_WORD 0x00000100U -#define FLASH_PSIZE_WORD 0x00000200U -#define FLASH_PSIZE_DOUBLE_WORD 0x00000300U -#define CR_PSIZE_MASK 0xFFFFFCFFU -/** - * @} - */ - -/** @defgroup FLASH_Keys FLASH Keys - * @{ - */ -#define RDP_KEY ((uint16_t)0x00A5) -#define FLASH_KEY1 0x45670123U -#define FLASH_KEY2 0xCDEF89ABU -#define FLASH_OPT_KEY1 0x08192A3BU -#define FLASH_OPT_KEY2 0x4C5D6E7FU -/** - * @} - */ - -/** - * @} - */ - -/* Exported macro ------------------------------------------------------------*/ -/** @defgroup FLASH_Exported_Macros FLASH Exported Macros - * @{ - */ -/** - * @brief Set the FLASH Latency. - * @param __LATENCY__ FLASH Latency - * The value of this parameter depend on device used within the same series - * @retval none - */ -#define __HAL_FLASH_SET_LATENCY(__LATENCY__) (*(__IO uint8_t *)ACR_BYTE0_ADDRESS = (uint8_t)(__LATENCY__)) - -/** - * @brief Get the FLASH Latency. - * @retval FLASH Latency - * The value of this parameter depend on device used within the same series - */ -#define __HAL_FLASH_GET_LATENCY() (READ_BIT((FLASH->ACR), FLASH_ACR_LATENCY)) - -/** - * @brief Enable the FLASH prefetch buffer. - * @retval none - */ -#define __HAL_FLASH_PREFETCH_BUFFER_ENABLE() (FLASH->ACR |= FLASH_ACR_PRFTEN) - -/** - * @brief Disable the FLASH prefetch buffer. - * @retval none - */ -#define __HAL_FLASH_PREFETCH_BUFFER_DISABLE() (FLASH->ACR &= (~FLASH_ACR_PRFTEN)) - -/** - * @brief Enable the FLASH instruction cache. - * @retval none - */ -#define __HAL_FLASH_INSTRUCTION_CACHE_ENABLE() (FLASH->ACR |= FLASH_ACR_ICEN) - -/** - * @brief Disable the FLASH instruction cache. - * @retval none - */ -#define __HAL_FLASH_INSTRUCTION_CACHE_DISABLE() (FLASH->ACR &= (~FLASH_ACR_ICEN)) - -/** - * @brief Enable the FLASH data cache. - * @retval none - */ -#define __HAL_FLASH_DATA_CACHE_ENABLE() (FLASH->ACR |= FLASH_ACR_DCEN) - -/** - * @brief Disable the FLASH data cache. - * @retval none - */ -#define __HAL_FLASH_DATA_CACHE_DISABLE() (FLASH->ACR &= (~FLASH_ACR_DCEN)) - -/** - * @brief Resets the FLASH instruction Cache. - * @note This function must be used only when the Instruction Cache is disabled. - * @retval None - */ -#define __HAL_FLASH_INSTRUCTION_CACHE_RESET() do {FLASH->ACR |= FLASH_ACR_ICRST; \ - FLASH->ACR &= ~FLASH_ACR_ICRST; \ - }while(0U) - -/** - * @brief Resets the FLASH data Cache. - * @note This function must be used only when the data Cache is disabled. - * @retval None - */ -#define __HAL_FLASH_DATA_CACHE_RESET() do {FLASH->ACR |= FLASH_ACR_DCRST; \ - FLASH->ACR &= ~FLASH_ACR_DCRST; \ - }while(0U) -/** - * @brief Enable the specified FLASH interrupt. - * @param __INTERRUPT__ FLASH interrupt - * This parameter can be any combination of the following values: - * @arg FLASH_IT_EOP: End of FLASH Operation Interrupt - * @arg FLASH_IT_ERR: Error Interrupt - * @retval none - */ -#define __HAL_FLASH_ENABLE_IT(__INTERRUPT__) (FLASH->CR |= (__INTERRUPT__)) - -/** - * @brief Disable the specified FLASH interrupt. - * @param __INTERRUPT__ FLASH interrupt - * This parameter can be any combination of the following values: - * @arg FLASH_IT_EOP: End of FLASH Operation Interrupt - * @arg FLASH_IT_ERR: Error Interrupt - * @retval none - */ -#define __HAL_FLASH_DISABLE_IT(__INTERRUPT__) (FLASH->CR &= ~(uint32_t)(__INTERRUPT__)) - -/** - * @brief Get the specified FLASH flag status. - * @param __FLAG__ specifies the FLASH flags to check. - * This parameter can be any combination of the following values: - * @arg FLASH_FLAG_EOP : FLASH End of Operation flag - * @arg FLASH_FLAG_OPERR : FLASH operation Error flag - * @arg FLASH_FLAG_WRPERR: FLASH Write protected error flag - * @arg FLASH_FLAG_PGAERR: FLASH Programming Alignment error flag - * @arg FLASH_FLAG_PGPERR: FLASH Programming Parallelism error flag - * @arg FLASH_FLAG_PGSERR: FLASH Programming Sequence error flag - * @arg FLASH_FLAG_RDERR : FLASH Read Protection error flag (PCROP) (*) - * @arg FLASH_FLAG_BSY : FLASH Busy flag - * (*) FLASH_FLAG_RDERR is not available for STM32F405xx/407xx/415xx/417xx devices - * @retval The new state of __FLAG__ (SET or RESET). - */ -#define __HAL_FLASH_GET_FLAG(__FLAG__) ((FLASH->SR & (__FLAG__))) - -/** - * @brief Clear the specified FLASH flags. - * @param __FLAG__ specifies the FLASH flags to clear. - * This parameter can be any combination of the following values: - * @arg FLASH_FLAG_EOP : FLASH End of Operation flag - * @arg FLASH_FLAG_OPERR : FLASH operation Error flag - * @arg FLASH_FLAG_WRPERR: FLASH Write protected error flag - * @arg FLASH_FLAG_PGAERR: FLASH Programming Alignment error flag - * @arg FLASH_FLAG_PGPERR: FLASH Programming Parallelism error flag - * @arg FLASH_FLAG_PGSERR: FLASH Programming Sequence error flag - * @arg FLASH_FLAG_RDERR : FLASH Read Protection error flag (PCROP) (*) - * (*) FLASH_FLAG_RDERR is not available for STM32F405xx/407xx/415xx/417xx devices - * @retval none - */ -#define __HAL_FLASH_CLEAR_FLAG(__FLAG__) (FLASH->SR = (__FLAG__)) -/** - * @} - */ - -/* Include FLASH HAL Extension module */ -#include "stm32f4xx_hal_flash_ex.h" -#include "stm32f4xx_hal_flash_ramfunc.h" - -/* Exported functions --------------------------------------------------------*/ -/** @addtogroup FLASH_Exported_Functions - * @{ - */ -/** @addtogroup FLASH_Exported_Functions_Group1 - * @{ - */ -/* Program operation functions ***********************************************/ -HAL_StatusTypeDef HAL_FLASH_Program(uint32_t TypeProgram, uint32_t Address, uint64_t Data); -HAL_StatusTypeDef HAL_FLASH_Program_IT(uint32_t TypeProgram, uint32_t Address, uint64_t Data); -/* FLASH IRQ handler method */ -void HAL_FLASH_IRQHandler(void); -/* Callbacks in non blocking modes */ -void HAL_FLASH_EndOfOperationCallback(uint32_t ReturnValue); -void HAL_FLASH_OperationErrorCallback(uint32_t ReturnValue); -/** - * @} - */ - -/** @addtogroup FLASH_Exported_Functions_Group2 - * @{ - */ -/* Peripheral Control functions **********************************************/ -HAL_StatusTypeDef HAL_FLASH_Unlock(void); -HAL_StatusTypeDef HAL_FLASH_Lock(void); -HAL_StatusTypeDef HAL_FLASH_OB_Unlock(void); -HAL_StatusTypeDef HAL_FLASH_OB_Lock(void); -/* Option bytes control */ -HAL_StatusTypeDef HAL_FLASH_OB_Launch(void); -/** - * @} - */ - -/** @addtogroup FLASH_Exported_Functions_Group3 - * @{ - */ -/* Peripheral State functions ************************************************/ -uint32_t HAL_FLASH_GetError(void); -HAL_StatusTypeDef FLASH_WaitForLastOperation(uint32_t Timeout); -/** - * @} - */ - -/** - * @} - */ -/* Private types -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/** @defgroup FLASH_Private_Variables FLASH Private Variables - * @{ - */ - -/** - * @} - */ -/* Private constants ---------------------------------------------------------*/ -/** @defgroup FLASH_Private_Constants FLASH Private Constants - * @{ - */ - -/** - * @brief ACR register byte 0 (Bits[7:0]) base address - */ -#define ACR_BYTE0_ADDRESS 0x40023C00U -/** - * @brief OPTCR register byte 0 (Bits[7:0]) base address - */ -#define OPTCR_BYTE0_ADDRESS 0x40023C14U -/** - * @brief OPTCR register byte 1 (Bits[15:8]) base address - */ -#define OPTCR_BYTE1_ADDRESS 0x40023C15U -/** - * @brief OPTCR register byte 2 (Bits[23:16]) base address - */ -#define OPTCR_BYTE2_ADDRESS 0x40023C16U -/** - * @brief OPTCR register byte 3 (Bits[31:24]) base address - */ -#define OPTCR_BYTE3_ADDRESS 0x40023C17U - -/** - * @} - */ - -/* Private macros ------------------------------------------------------------*/ -/** @defgroup FLASH_Private_Macros FLASH Private Macros - * @{ - */ - -/** @defgroup FLASH_IS_FLASH_Definitions FLASH Private macros to check input parameters - * @{ - */ -#define IS_FLASH_TYPEPROGRAM(VALUE)(((VALUE) == FLASH_TYPEPROGRAM_BYTE) || \ - ((VALUE) == FLASH_TYPEPROGRAM_HALFWORD) || \ - ((VALUE) == FLASH_TYPEPROGRAM_WORD) || \ - ((VALUE) == FLASH_TYPEPROGRAM_DOUBLEWORD)) -/** - * @} - */ - -/** - * @} - */ - -/* Private functions ---------------------------------------------------------*/ -/** @defgroup FLASH_Private_Functions FLASH Private Functions - * @{ - */ - -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ - -#ifdef __cplusplus -} -#endif - -#endif /* __STM32F4xx_HAL_FLASH_H */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h deleted file mode 100644 index 4dbad67323334b..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ex.h +++ /dev/null @@ -1,1066 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_flash_ex.h - * @author MCD Application Team - * @brief Header file of FLASH HAL Extension module. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef __STM32F4xx_HAL_FLASH_EX_H -#define __STM32F4xx_HAL_FLASH_EX_H - -#ifdef __cplusplus - extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal_def.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @addtogroup FLASHEx - * @{ - */ - -/* Exported types ------------------------------------------------------------*/ -/** @defgroup FLASHEx_Exported_Types FLASH Exported Types - * @{ - */ - -/** - * @brief FLASH Erase structure definition - */ -typedef struct -{ - uint32_t TypeErase; /*!< Mass erase or sector Erase. - This parameter can be a value of @ref FLASHEx_Type_Erase */ - - uint32_t Banks; /*!< Select banks to erase when Mass erase is enabled. - This parameter must be a value of @ref FLASHEx_Banks */ - - uint32_t Sector; /*!< Initial FLASH sector to erase when Mass erase is disabled - This parameter must be a value of @ref FLASHEx_Sectors */ - - uint32_t NbSectors; /*!< Number of sectors to be erased. - This parameter must be a value between 1 and (max number of sectors - value of Initial sector)*/ - - uint32_t VoltageRange;/*!< The device voltage range which defines the erase parallelism - This parameter must be a value of @ref FLASHEx_Voltage_Range */ - -} FLASH_EraseInitTypeDef; - -/** - * @brief FLASH Option Bytes Program structure definition - */ -typedef struct -{ - uint32_t OptionType; /*!< Option byte to be configured. - This parameter can be a value of @ref FLASHEx_Option_Type */ - - uint32_t WRPState; /*!< Write protection activation or deactivation. - This parameter can be a value of @ref FLASHEx_WRP_State */ - - uint32_t WRPSector; /*!< Specifies the sector(s) to be write protected. - The value of this parameter depend on device used within the same series */ - - uint32_t Banks; /*!< Select banks for WRP activation/deactivation of all sectors. - This parameter must be a value of @ref FLASHEx_Banks */ - - uint32_t RDPLevel; /*!< Set the read protection level. - This parameter can be a value of @ref FLASHEx_Option_Bytes_Read_Protection */ - - uint32_t BORLevel; /*!< Set the BOR Level. - This parameter can be a value of @ref FLASHEx_BOR_Reset_Level */ - - uint8_t USERConfig; /*!< Program the FLASH User Option Byte: IWDG_SW / RST_STOP / RST_STDBY. */ - -} FLASH_OBProgramInitTypeDef; - -/** - * @brief FLASH Advanced Option Bytes Program structure definition - */ -#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) ||\ - defined(STM32F401xC) || defined(STM32F401xE) || defined(STM32F410Tx) || defined(STM32F410Cx) ||\ - defined(STM32F410Rx) || defined(STM32F411xE) || defined(STM32F446xx) || defined(STM32F469xx) ||\ - defined(STM32F479xx) || defined(STM32F412Zx) || defined(STM32F412Vx) || defined(STM32F412Rx) ||\ - defined(STM32F412Cx) || defined(STM32F413xx) || defined(STM32F423xx) -typedef struct -{ - uint32_t OptionType; /*!< Option byte to be configured for extension. - This parameter can be a value of @ref FLASHEx_Advanced_Option_Type */ - - uint32_t PCROPState; /*!< PCROP activation or deactivation. - This parameter can be a value of @ref FLASHEx_PCROP_State */ - -#if defined(STM32F401xC) || defined(STM32F401xE) || defined(STM32F410Tx) || defined(STM32F410Cx) || defined(STM32F410Rx) || defined(STM32F411xE) || defined(STM32F446xx) || defined(STM32F412Zx) ||\ - defined(STM32F412Vx) || defined(STM32F412Rx) || defined(STM32F412Cx) || defined(STM32F413xx) || defined(STM32F423xx) - uint16_t Sectors; /*!< specifies the sector(s) set for PCROP. - This parameter can be a value of @ref FLASHEx_Option_Bytes_PC_ReadWrite_Protection */ -#endif /* STM32F401xC || STM32F401xE || STM32F410xx || STM32F411xE || STM32F446xx || STM32F412Zx || STM32F412Vx || STM32F412Rx ||\ - STM32F412Cx || STM32F413xx || STM32F423xx */ - -#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) || defined(STM32F469xx) || defined(STM32F479xx) - uint32_t Banks; /*!< Select banks for PCROP activation/deactivation of all sectors. - This parameter must be a value of @ref FLASHEx_Banks */ - - uint16_t SectorsBank1; /*!< Specifies the sector(s) set for PCROP for Bank1. - This parameter can be a value of @ref FLASHEx_Option_Bytes_PC_ReadWrite_Protection */ - - uint16_t SectorsBank2; /*!< Specifies the sector(s) set for PCROP for Bank2. - This parameter can be a value of @ref FLASHEx_Option_Bytes_PC_ReadWrite_Protection */ - - uint8_t BootConfig; /*!< Specifies Option bytes for boot config. - This parameter can be a value of @ref FLASHEx_Dual_Boot */ - -#endif /*STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || STM32F469xx || STM32F479xx */ -}FLASH_AdvOBProgramInitTypeDef; -#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || STM32F401xC || STM32F401xE || STM32F410xx || STM32F411xE || STM32F446xx || - STM32F469xx || STM32F479xx || STM32F412Zx || STM32F412Vx || STM32F412Rx || STM32F412Cx || STM32F413xx || STM32F423xx */ -/** - * @} - */ - -/* Exported constants --------------------------------------------------------*/ - -/** @defgroup FLASHEx_Exported_Constants FLASH Exported Constants - * @{ - */ - -/** @defgroup FLASHEx_Type_Erase FLASH Type Erase - * @{ - */ -#define FLASH_TYPEERASE_SECTORS 0x00000000U /*!< Sectors erase only */ -#define FLASH_TYPEERASE_MASSERASE 0x00000001U /*!< Flash Mass erase activation */ -/** - * @} - */ - -/** @defgroup FLASHEx_Voltage_Range FLASH Voltage Range - * @{ - */ -#define FLASH_VOLTAGE_RANGE_1 0x00000000U /*!< Device operating range: 1.8V to 2.1V */ -#define FLASH_VOLTAGE_RANGE_2 0x00000001U /*!< Device operating range: 2.1V to 2.7V */ -#define FLASH_VOLTAGE_RANGE_3 0x00000002U /*!< Device operating range: 2.7V to 3.6V */ -#define FLASH_VOLTAGE_RANGE_4 0x00000003U /*!< Device operating range: 2.7V to 3.6V + External Vpp */ -/** - * @} - */ - -/** @defgroup FLASHEx_WRP_State FLASH WRP State - * @{ - */ -#define OB_WRPSTATE_DISABLE 0x00000000U /*!< Disable the write protection of the desired bank 1 sectors */ -#define OB_WRPSTATE_ENABLE 0x00000001U /*!< Enable the write protection of the desired bank 1 sectors */ -/** - * @} - */ - -/** @defgroup FLASHEx_Option_Type FLASH Option Type - * @{ - */ -#define OPTIONBYTE_WRP 0x00000001U /*!< WRP option byte configuration */ -#define OPTIONBYTE_RDP 0x00000002U /*!< RDP option byte configuration */ -#define OPTIONBYTE_USER 0x00000004U /*!< USER option byte configuration */ -#define OPTIONBYTE_BOR 0x00000008U /*!< BOR option byte configuration */ -/** - * @} - */ - -/** @defgroup FLASHEx_Option_Bytes_Read_Protection FLASH Option Bytes Read Protection - * @{ - */ -#define OB_RDP_LEVEL_0 ((uint8_t)0xAA) -#define OB_RDP_LEVEL_1 ((uint8_t)0x55) -#define OB_RDP_LEVEL_2 ((uint8_t)0xCC) /*!< Warning: When enabling read protection level 2 - it s no more possible to go back to level 1 or 0 */ -/** - * @} - */ - -/** @defgroup FLASHEx_Option_Bytes_IWatchdog FLASH Option Bytes IWatchdog - * @{ - */ -#define OB_IWDG_SW ((uint8_t)0x20) /*!< Software IWDG selected */ -#define OB_IWDG_HW ((uint8_t)0x00) /*!< Hardware IWDG selected */ -/** - * @} - */ - -/** @defgroup FLASHEx_Option_Bytes_nRST_STOP FLASH Option Bytes nRST_STOP - * @{ - */ -#define OB_STOP_NO_RST ((uint8_t)0x40) /*!< No reset generated when entering in STOP */ -#define OB_STOP_RST ((uint8_t)0x00) /*!< Reset generated when entering in STOP */ -/** - * @} - */ - - -/** @defgroup FLASHEx_Option_Bytes_nRST_STDBY FLASH Option Bytes nRST_STDBY - * @{ - */ -#define OB_STDBY_NO_RST ((uint8_t)0x80) /*!< No reset generated when entering in STANDBY */ -#define OB_STDBY_RST ((uint8_t)0x00) /*!< Reset generated when entering in STANDBY */ -/** - * @} - */ - -/** @defgroup FLASHEx_BOR_Reset_Level FLASH BOR Reset Level - * @{ - */ -#define OB_BOR_LEVEL3 ((uint8_t)0x00) /*!< Supply voltage ranges from 2.70 to 3.60 V */ -#define OB_BOR_LEVEL2 ((uint8_t)0x04) /*!< Supply voltage ranges from 2.40 to 2.70 V */ -#define OB_BOR_LEVEL1 ((uint8_t)0x08) /*!< Supply voltage ranges from 2.10 to 2.40 V */ -#define OB_BOR_OFF ((uint8_t)0x0C) /*!< Supply voltage ranges from 1.62 to 2.10 V */ -/** - * @} - */ - -#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) ||\ - defined(STM32F401xC) || defined(STM32F401xE) || defined(STM32F410Tx) || defined(STM32F410Cx) ||\ - defined(STM32F410Rx) || defined(STM32F411xE) || defined(STM32F446xx) || defined(STM32F469xx) ||\ - defined(STM32F479xx) || defined(STM32F412Zx) || defined(STM32F412Vx) || defined(STM32F412Rx) ||\ - defined(STM32F412Cx) || defined(STM32F413xx) || defined(STM32F423xx) -/** @defgroup FLASHEx_PCROP_State FLASH PCROP State - * @{ - */ -#define OB_PCROP_STATE_DISABLE 0x00000000U /*!< Disable PCROP */ -#define OB_PCROP_STATE_ENABLE 0x00000001U /*!< Enable PCROP */ -/** - * @} - */ -#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || STM32F401xC || STM32F401xE ||\ - STM32F410xx || STM32F411xE || STM32F446xx || STM32F469xx || STM32F479xx || STM32F412Zx ||\ - STM32F412Vx || STM32F412Rx || STM32F412Cx || STM32F413xx || STM32F423xx */ - -/** @defgroup FLASHEx_Advanced_Option_Type FLASH Advanced Option Type - * @{ - */ -#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) ||\ - defined(STM32F469xx) || defined(STM32F479xx) -#define OPTIONBYTE_PCROP 0x00000001U /*!< PCROP option byte configuration */ -#define OPTIONBYTE_BOOTCONFIG 0x00000002U /*!< BOOTConfig option byte configuration */ -#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || STM32F469xx || STM32F479xx */ - -#if defined(STM32F401xC) || defined(STM32F401xE) || defined(STM32F410Tx) || defined(STM32F410Cx) ||\ - defined(STM32F410Rx) || defined(STM32F411xE) || defined(STM32F446xx) || defined(STM32F412Zx) ||\ - defined(STM32F412Vx) || defined(STM32F412Rx) || defined(STM32F412Cx) || defined(STM32F413xx) ||\ - defined(STM32F423xx) -#define OPTIONBYTE_PCROP 0x00000001U /*!= FLASH_BASE) && ((ADDRESS) <= FLASH_END)) || \ - (((ADDRESS) >= FLASH_OTP_BASE) && ((ADDRESS) <= FLASH_OTP_END))) - -#define IS_FLASH_NBSECTORS(NBSECTORS) (((NBSECTORS) != 0) && ((NBSECTORS) <= FLASH_SECTOR_TOTAL)) - -#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) || defined(STM32F469xx) || defined(STM32F479xx) -#define IS_OB_WRP_SECTOR(SECTOR)((((SECTOR) & 0xFF000000U) == 0x00000000U) && ((SECTOR) != 0x00000000U)) -#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || STM32F469xx || STM32F479xx */ - -#if defined(STM32F413xx) || defined(STM32F423xx) -#define IS_OB_WRP_SECTOR(SECTOR)((((SECTOR) & 0xFFFF8000U) == 0x00000000U) && ((SECTOR) != 0x00000000U)) -#endif /* STM32F413xx || STM32F423xx */ - -#if defined(STM32F405xx) || defined(STM32F415xx) || defined(STM32F407xx) || defined(STM32F417xx) -#define IS_OB_WRP_SECTOR(SECTOR)((((SECTOR) & 0xFFFFF000U) == 0x00000000U) && ((SECTOR) != 0x00000000U)) -#endif /* STM32F405xx || STM32F415xx || STM32F407xx || STM32F417xx */ - -#if defined(STM32F401xC) -#define IS_OB_WRP_SECTOR(SECTOR)((((SECTOR) & 0xFFFFF000U) == 0x00000000U) && ((SECTOR) != 0x00000000U)) -#endif /* STM32F401xC */ - -#if defined(STM32F410Tx) || defined(STM32F410Cx) || defined(STM32F410Rx) -#define IS_OB_WRP_SECTOR(SECTOR)((((SECTOR) & 0xFFFFF000U) == 0x00000000U) && ((SECTOR) != 0x00000000U)) -#endif /* STM32F410Tx || STM32F410Cx || STM32F410Rx */ - -#if defined(STM32F401xE) || defined(STM32F411xE) || defined(STM32F446xx) || defined(STM32F412Zx) || defined(STM32F412Vx) ||\ - defined(STM32F412Rx) || defined(STM32F412Cx) -#define IS_OB_WRP_SECTOR(SECTOR)((((SECTOR) & 0xFFFFF000U) == 0x00000000U) && ((SECTOR) != 0x00000000U)) -#endif /* STM32F401xE || STM32F411xE || STM32F446xx || STM32F412Zx || STM32F412Vx || STM32F412Rx || STM32F412Cx */ - -#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) || defined(STM32F469xx) || defined(STM32F479xx) -#define IS_OB_PCROP(SECTOR)((((SECTOR) & 0xFFFFF000U) == 0x00000000U) && ((SECTOR) != 0x00000000U)) -#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || STM32F469xx || STM32F479xx */ - -#if defined(STM32F413xx) || defined(STM32F423xx) -#define IS_OB_PCROP(SECTOR)((((SECTOR) & 0xFFFF8000U) == 0x00000000U) && ((SECTOR) != 0x00000000U)) -#endif /* STM32F413xx || STM32F423xx */ - -#if defined(STM32F401xC) -#define IS_OB_PCROP(SECTOR)((((SECTOR) & 0xFFFFF000U) == 0x00000000U) && ((SECTOR) != 0x00000000U)) -#endif /* STM32F401xC */ - -#if defined(STM32F410Tx) || defined(STM32F410Cx) || defined(STM32F410Rx) -#define IS_OB_PCROP(SECTOR)((((SECTOR) & 0xFFFFF000U) == 0x00000000U) && ((SECTOR) != 0x00000000U)) -#endif /* STM32F410Tx || STM32F410Cx || STM32F410Rx */ - -#if defined(STM32F401xE) || defined(STM32F411xE) || defined(STM32F446xx) || defined(STM32F412Zx) || defined(STM32F412Vx) ||\ - defined(STM32F412Rx) || defined(STM32F412Cx) -#define IS_OB_PCROP(SECTOR)((((SECTOR) & 0xFFFFF000U) == 0x00000000U) && ((SECTOR) != 0x00000000U)) -#endif /* STM32F401xE || STM32F411xE || STM32F446xx || STM32F412Zx || STM32F412Vx || STM32F412Rx || STM32F412Cx */ - -#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) ||\ - defined(STM32F469xx) || defined(STM32F479xx) -#define IS_OB_BOOT(BOOT) (((BOOT) == OB_DUAL_BOOT_ENABLE) || ((BOOT) == OB_DUAL_BOOT_DISABLE)) -#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || STM32F469xx || STM32F479xx */ - -#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) ||\ - defined(STM32F401xC) || defined(STM32F401xE) || defined(STM32F410Tx) || defined(STM32F410Cx) ||\ - defined(STM32F410Rx) || defined(STM32F411xE) || defined(STM32F446xx) || defined(STM32F469xx) ||\ - defined(STM32F479xx) || defined(STM32F412Zx) || defined(STM32F412Vx) || defined(STM32F412Rx) ||\ - defined(STM32F412Cx) || defined(STM32F413xx) || defined(STM32F423xx) -#define IS_OB_PCROP_SELECT(PCROP) (((PCROP) == OB_PCROP_SELECTED) || ((PCROP) == OB_PCROP_DESELECTED)) -#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || STM32F401xC || STM32F401xE ||\ - STM32F410xx || STM32F411xE || STM32F446xx || STM32F469xx || STM32F479xx || STM32F412Zx ||\ - STM32F412Vx || STM32F412Rx || STM32F412Cx || STM32F413xx || STM32F423xx */ -/** - * @} - */ - -/** - * @} - */ - -/* Private functions ---------------------------------------------------------*/ -/** @defgroup FLASHEx_Private_Functions FLASH Private Functions - * @{ - */ -void FLASH_Erase_Sector(uint32_t Sector, uint8_t VoltageRange); -void FLASH_FlushCaches(void); -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ - -#ifdef __cplusplus -} -#endif - -#endif /* __STM32F4xx_HAL_FLASH_EX_H */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h deleted file mode 100644 index 9fab0c98c56a1f..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_flash_ramfunc.h +++ /dev/null @@ -1,79 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_flash_ramfunc.h - * @author MCD Application Team - * @brief Header file of FLASH RAMFUNC driver. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef __STM32F4xx_FLASH_RAMFUNC_H -#define __STM32F4xx_FLASH_RAMFUNC_H - -#ifdef __cplusplus - extern "C" { -#endif -#if defined(STM32F410Tx) || defined(STM32F410Cx) || defined(STM32F410Rx) || defined(STM32F411xE) || defined(STM32F446xx) || defined(STM32F412Zx) ||\ - defined(STM32F412Vx) || defined(STM32F412Rx) || defined(STM32F412Cx) - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal_def.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @addtogroup FLASH_RAMFUNC - * @{ - */ - -/* Exported types ------------------------------------------------------------*/ -/* Exported macro ------------------------------------------------------------*/ -/* Exported functions --------------------------------------------------------*/ -/** @addtogroup FLASH_RAMFUNC_Exported_Functions - * @{ - */ - -/** @addtogroup FLASH_RAMFUNC_Exported_Functions_Group1 - * @{ - */ -__RAM_FUNC HAL_StatusTypeDef HAL_FLASHEx_StopFlashInterfaceClk(void); -__RAM_FUNC HAL_StatusTypeDef HAL_FLASHEx_StartFlashInterfaceClk(void); -__RAM_FUNC HAL_StatusTypeDef HAL_FLASHEx_EnableFlashSleepMode(void); -__RAM_FUNC HAL_StatusTypeDef HAL_FLASHEx_DisableFlashSleepMode(void); -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ - -#endif /* STM32F410xx || STM32F411xE || STM32F446xx || STM32F412Zx || STM32F412Vx || STM32F412Rx || STM32F412Cx */ -#ifdef __cplusplus -} -#endif - - -#endif /* __STM32F4xx_FLASH_RAMFUNC_H */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_fmpi2c.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_fmpi2c.h deleted file mode 100644 index b7f370a8f4012d..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_fmpi2c.h +++ /dev/null @@ -1,840 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_fmpi2c.h - * @author MCD Application Team - * @brief Header file of FMPI2C HAL module. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef STM32F4xx_HAL_FMPI2C_H -#define STM32F4xx_HAL_FMPI2C_H - -#ifdef __cplusplus -extern "C" { -#endif - -#if defined(FMPI2C_CR1_PE) -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal_def.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @addtogroup FMPI2C - * @{ - */ - -/* Exported types ------------------------------------------------------------*/ -/** @defgroup FMPI2C_Exported_Types FMPI2C Exported Types - * @{ - */ - -/** @defgroup FMPI2C_Configuration_Structure_definition FMPI2C Configuration Structure definition - * @brief FMPI2C Configuration Structure definition - * @{ - */ -typedef struct -{ - uint32_t Timing; /*!< Specifies the FMPI2C_TIMINGR_register value. - This parameter calculated by referring to FMPI2C initialization section - in Reference manual */ - - uint32_t OwnAddress1; /*!< Specifies the first device own address. - This parameter can be a 7-bit or 10-bit address. */ - - uint32_t AddressingMode; /*!< Specifies if 7-bit or 10-bit addressing mode is selected. - This parameter can be a value of @ref FMPI2C_ADDRESSING_MODE */ - - uint32_t DualAddressMode; /*!< Specifies if dual addressing mode is selected. - This parameter can be a value of @ref FMPI2C_DUAL_ADDRESSING_MODE */ - - uint32_t OwnAddress2; /*!< Specifies the second device own address if dual addressing mode is selected - This parameter can be a 7-bit address. */ - - uint32_t OwnAddress2Masks; /*!< Specifies the acknowledge mask address second device own address if dual addressing - mode is selected. - This parameter can be a value of @ref FMPI2C_OWN_ADDRESS2_MASKS */ - - uint32_t GeneralCallMode; /*!< Specifies if general call mode is selected. - This parameter can be a value of @ref FMPI2C_GENERAL_CALL_ADDRESSING_MODE */ - - uint32_t NoStretchMode; /*!< Specifies if nostretch mode is selected. - This parameter can be a value of @ref FMPI2C_NOSTRETCH_MODE */ - -} FMPI2C_InitTypeDef; - -/** - * @} - */ - -/** @defgroup HAL_state_structure_definition HAL state structure definition - * @brief HAL State structure definition - * @note HAL FMPI2C State value coding follow below described bitmap :\n - * b7-b6 Error information\n - * 00 : No Error\n - * 01 : Abort (Abort user request on going)\n - * 10 : Timeout\n - * 11 : Error\n - * b5 Peripheral initialization status\n - * 0 : Reset (peripheral not initialized)\n - * 1 : Init done (peripheral initialized and ready to use. HAL FMPI2C Init function called)\n - * b4 (not used)\n - * x : Should be set to 0\n - * b3\n - * 0 : Ready or Busy (No Listen mode ongoing)\n - * 1 : Listen (peripheral in Address Listen Mode)\n - * b2 Intrinsic process state\n - * 0 : Ready\n - * 1 : Busy (peripheral busy with some configuration or internal operations)\n - * b1 Rx state\n - * 0 : Ready (no Rx operation ongoing)\n - * 1 : Busy (Rx operation ongoing)\n - * b0 Tx state\n - * 0 : Ready (no Tx operation ongoing)\n - * 1 : Busy (Tx operation ongoing) - * @{ - */ -typedef enum -{ - HAL_FMPI2C_STATE_RESET = 0x00U, /*!< Peripheral is not yet Initialized */ - HAL_FMPI2C_STATE_READY = 0x20U, /*!< Peripheral Initialized and ready for use */ - HAL_FMPI2C_STATE_BUSY = 0x24U, /*!< An internal process is ongoing */ - HAL_FMPI2C_STATE_BUSY_TX = 0x21U, /*!< Data Transmission process is ongoing */ - HAL_FMPI2C_STATE_BUSY_RX = 0x22U, /*!< Data Reception process is ongoing */ - HAL_FMPI2C_STATE_LISTEN = 0x28U, /*!< Address Listen Mode is ongoing */ - HAL_FMPI2C_STATE_BUSY_TX_LISTEN = 0x29U, /*!< Address Listen Mode and Data Transmission - process is ongoing */ - HAL_FMPI2C_STATE_BUSY_RX_LISTEN = 0x2AU, /*!< Address Listen Mode and Data Reception - process is ongoing */ - HAL_FMPI2C_STATE_ABORT = 0x60U, /*!< Abort user request ongoing */ - HAL_FMPI2C_STATE_TIMEOUT = 0xA0U, /*!< Timeout state */ - HAL_FMPI2C_STATE_ERROR = 0xE0U /*!< Error */ - -} HAL_FMPI2C_StateTypeDef; - -/** - * @} - */ - -/** @defgroup HAL_mode_structure_definition HAL mode structure definition - * @brief HAL Mode structure definition - * @note HAL FMPI2C Mode value coding follow below described bitmap :\n - * b7 (not used)\n - * x : Should be set to 0\n - * b6\n - * 0 : None\n - * 1 : Memory (HAL FMPI2C communication is in Memory Mode)\n - * b5\n - * 0 : None\n - * 1 : Slave (HAL FMPI2C communication is in Slave Mode)\n - * b4\n - * 0 : None\n - * 1 : Master (HAL FMPI2C communication is in Master Mode)\n - * b3-b2-b1-b0 (not used)\n - * xxxx : Should be set to 0000 - * @{ - */ -typedef enum -{ - HAL_FMPI2C_MODE_NONE = 0x00U, /*!< No FMPI2C communication on going */ - HAL_FMPI2C_MODE_MASTER = 0x10U, /*!< FMPI2C communication is in Master Mode */ - HAL_FMPI2C_MODE_SLAVE = 0x20U, /*!< FMPI2C communication is in Slave Mode */ - HAL_FMPI2C_MODE_MEM = 0x40U /*!< FMPI2C communication is in Memory Mode */ - -} HAL_FMPI2C_ModeTypeDef; - -/** - * @} - */ - -/** @defgroup FMPI2C_Error_Code_definition FMPI2C Error Code definition - * @brief FMPI2C Error Code definition - * @{ - */ -#define HAL_FMPI2C_ERROR_NONE (0x00000000U) /*!< No error */ -#define HAL_FMPI2C_ERROR_BERR (0x00000001U) /*!< BERR error */ -#define HAL_FMPI2C_ERROR_ARLO (0x00000002U) /*!< ARLO error */ -#define HAL_FMPI2C_ERROR_AF (0x00000004U) /*!< ACKF error */ -#define HAL_FMPI2C_ERROR_OVR (0x00000008U) /*!< OVR error */ -#define HAL_FMPI2C_ERROR_DMA (0x00000010U) /*!< DMA transfer error */ -#define HAL_FMPI2C_ERROR_TIMEOUT (0x00000020U) /*!< Timeout error */ -#define HAL_FMPI2C_ERROR_SIZE (0x00000040U) /*!< Size Management error */ -#define HAL_FMPI2C_ERROR_DMA_PARAM (0x00000080U) /*!< DMA Parameter Error */ -#if (USE_HAL_FMPI2C_REGISTER_CALLBACKS == 1) -#define HAL_FMPI2C_ERROR_INVALID_CALLBACK (0x00000100U) /*!< Invalid Callback error */ -#endif /* USE_HAL_FMPI2C_REGISTER_CALLBACKS */ -#define HAL_FMPI2C_ERROR_INVALID_PARAM (0x00000200U) /*!< Invalid Parameters error */ -/** - * @} - */ - -/** @defgroup FMPI2C_handle_Structure_definition FMPI2C handle Structure definition - * @brief FMPI2C handle Structure definition - * @{ - */ -typedef struct __FMPI2C_HandleTypeDef -{ - FMPI2C_TypeDef *Instance; /*!< FMPI2C registers base address */ - - FMPI2C_InitTypeDef Init; /*!< FMPI2C communication parameters */ - - uint8_t *pBuffPtr; /*!< Pointer to FMPI2C transfer buffer */ - - uint16_t XferSize; /*!< FMPI2C transfer size */ - - __IO uint16_t XferCount; /*!< FMPI2C transfer counter */ - - __IO uint32_t XferOptions; /*!< FMPI2C sequantial transfer options, this parameter can - be a value of @ref FMPI2C_XFEROPTIONS */ - - __IO uint32_t PreviousState; /*!< FMPI2C communication Previous state */ - - HAL_StatusTypeDef(*XferISR)(struct __FMPI2C_HandleTypeDef *hfmpi2c, uint32_t ITFlags, uint32_t ITSources); - /*!< FMPI2C transfer IRQ handler function pointer */ - - DMA_HandleTypeDef *hdmatx; /*!< FMPI2C Tx DMA handle parameters */ - - DMA_HandleTypeDef *hdmarx; /*!< FMPI2C Rx DMA handle parameters */ - - HAL_LockTypeDef Lock; /*!< FMPI2C locking object */ - - __IO HAL_FMPI2C_StateTypeDef State; /*!< FMPI2C communication state */ - - __IO HAL_FMPI2C_ModeTypeDef Mode; /*!< FMPI2C communication mode */ - - __IO uint32_t ErrorCode; /*!< FMPI2C Error code */ - - __IO uint32_t AddrEventCount; /*!< FMPI2C Address Event counter */ - -#if (USE_HAL_FMPI2C_REGISTER_CALLBACKS == 1) - void (* MasterTxCpltCallback)(struct __FMPI2C_HandleTypeDef *hfmpi2c); - /*!< FMPI2C Master Tx Transfer completed callback */ - void (* MasterRxCpltCallback)(struct __FMPI2C_HandleTypeDef *hfmpi2c); - /*!< FMPI2C Master Rx Transfer completed callback */ - void (* SlaveTxCpltCallback)(struct __FMPI2C_HandleTypeDef *hfmpi2c); - /*!< FMPI2C Slave Tx Transfer completed callback */ - void (* SlaveRxCpltCallback)(struct __FMPI2C_HandleTypeDef *hfmpi2c); - /*!< FMPI2C Slave Rx Transfer completed callback */ - void (* ListenCpltCallback)(struct __FMPI2C_HandleTypeDef *hfmpi2c); - /*!< FMPI2C Listen Complete callback */ - void (* MemTxCpltCallback)(struct __FMPI2C_HandleTypeDef *hfmpi2c); - /*!< FMPI2C Memory Tx Transfer completed callback */ - void (* MemRxCpltCallback)(struct __FMPI2C_HandleTypeDef *hfmpi2c); - /*!< FMPI2C Memory Rx Transfer completed callback */ - void (* ErrorCallback)(struct __FMPI2C_HandleTypeDef *hfmpi2c); - /*!< FMPI2C Error callback */ - void (* AbortCpltCallback)(struct __FMPI2C_HandleTypeDef *hfmpi2c); - /*!< FMPI2C Abort callback */ - - void (* AddrCallback)(struct __FMPI2C_HandleTypeDef *hfmpi2c, uint8_t TransferDirection, uint16_t AddrMatchCode); - /*!< FMPI2C Slave Address Match callback */ - - void (* MspInitCallback)(struct __FMPI2C_HandleTypeDef *hfmpi2c); - /*!< FMPI2C Msp Init callback */ - void (* MspDeInitCallback)(struct __FMPI2C_HandleTypeDef *hfmpi2c); - /*!< FMPI2C Msp DeInit callback */ - -#endif /* USE_HAL_FMPI2C_REGISTER_CALLBACKS */ -} FMPI2C_HandleTypeDef; - -#if (USE_HAL_FMPI2C_REGISTER_CALLBACKS == 1) -/** - * @brief HAL FMPI2C Callback ID enumeration definition - */ -typedef enum -{ - HAL_FMPI2C_MASTER_TX_COMPLETE_CB_ID = 0x00U, /*!< FMPI2C Master Tx Transfer completed callback ID */ - HAL_FMPI2C_MASTER_RX_COMPLETE_CB_ID = 0x01U, /*!< FMPI2C Master Rx Transfer completed callback ID */ - HAL_FMPI2C_SLAVE_TX_COMPLETE_CB_ID = 0x02U, /*!< FMPI2C Slave Tx Transfer completed callback ID */ - HAL_FMPI2C_SLAVE_RX_COMPLETE_CB_ID = 0x03U, /*!< FMPI2C Slave Rx Transfer completed callback ID */ - HAL_FMPI2C_LISTEN_COMPLETE_CB_ID = 0x04U, /*!< FMPI2C Listen Complete callback ID */ - HAL_FMPI2C_MEM_TX_COMPLETE_CB_ID = 0x05U, /*!< FMPI2C Memory Tx Transfer callback ID */ - HAL_FMPI2C_MEM_RX_COMPLETE_CB_ID = 0x06U, /*!< FMPI2C Memory Rx Transfer completed callback ID */ - HAL_FMPI2C_ERROR_CB_ID = 0x07U, /*!< FMPI2C Error callback ID */ - HAL_FMPI2C_ABORT_CB_ID = 0x08U, /*!< FMPI2C Abort callback ID */ - - HAL_FMPI2C_MSPINIT_CB_ID = 0x09U, /*!< FMPI2C Msp Init callback ID */ - HAL_FMPI2C_MSPDEINIT_CB_ID = 0x0AU /*!< FMPI2C Msp DeInit callback ID */ - -} HAL_FMPI2C_CallbackIDTypeDef; - -/** - * @brief HAL FMPI2C Callback pointer definition - */ -typedef void (*pFMPI2C_CallbackTypeDef)(FMPI2C_HandleTypeDef *hfmpi2c); -/*!< pointer to an FMPI2C callback function */ -typedef void (*pFMPI2C_AddrCallbackTypeDef)(FMPI2C_HandleTypeDef *hfmpi2c, uint8_t TransferDirection, - uint16_t AddrMatchCode); -/*!< pointer to an FMPI2C Address Match callback function */ - -#endif /* USE_HAL_FMPI2C_REGISTER_CALLBACKS */ -/** - * @} - */ - -/** - * @} - */ -/* Exported constants --------------------------------------------------------*/ - -/** @defgroup FMPI2C_Exported_Constants FMPI2C Exported Constants - * @{ - */ - -/** @defgroup FMPI2C_XFEROPTIONS FMPI2C Sequential Transfer Options - * @{ - */ -#define FMPI2C_FIRST_FRAME ((uint32_t)FMPI2C_SOFTEND_MODE) -#define FMPI2C_FIRST_AND_NEXT_FRAME ((uint32_t)(FMPI2C_RELOAD_MODE | FMPI2C_SOFTEND_MODE)) -#define FMPI2C_NEXT_FRAME ((uint32_t)(FMPI2C_RELOAD_MODE | FMPI2C_SOFTEND_MODE)) -#define FMPI2C_FIRST_AND_LAST_FRAME ((uint32_t)FMPI2C_AUTOEND_MODE) -#define FMPI2C_LAST_FRAME ((uint32_t)FMPI2C_AUTOEND_MODE) -#define FMPI2C_LAST_FRAME_NO_STOP ((uint32_t)FMPI2C_SOFTEND_MODE) - -/* List of XferOptions in usage of : - * 1- Restart condition in all use cases (direction change or not) - */ -#define FMPI2C_OTHER_FRAME (0x000000AAU) -#define FMPI2C_OTHER_AND_LAST_FRAME (0x0000AA00U) -/** - * @} - */ - -/** @defgroup FMPI2C_ADDRESSING_MODE FMPI2C Addressing Mode - * @{ - */ -#define FMPI2C_ADDRESSINGMODE_7BIT (0x00000001U) -#define FMPI2C_ADDRESSINGMODE_10BIT (0x00000002U) -/** - * @} - */ - -/** @defgroup FMPI2C_DUAL_ADDRESSING_MODE FMPI2C Dual Addressing Mode - * @{ - */ -#define FMPI2C_DUALADDRESS_DISABLE (0x00000000U) -#define FMPI2C_DUALADDRESS_ENABLE FMPI2C_OAR2_OA2EN -/** - * @} - */ - -/** @defgroup FMPI2C_OWN_ADDRESS2_MASKS FMPI2C Own Address2 Masks - * @{ - */ -#define FMPI2C_OA2_NOMASK ((uint8_t)0x00U) -#define FMPI2C_OA2_MASK01 ((uint8_t)0x01U) -#define FMPI2C_OA2_MASK02 ((uint8_t)0x02U) -#define FMPI2C_OA2_MASK03 ((uint8_t)0x03U) -#define FMPI2C_OA2_MASK04 ((uint8_t)0x04U) -#define FMPI2C_OA2_MASK05 ((uint8_t)0x05U) -#define FMPI2C_OA2_MASK06 ((uint8_t)0x06U) -#define FMPI2C_OA2_MASK07 ((uint8_t)0x07U) -/** - * @} - */ - -/** @defgroup FMPI2C_GENERAL_CALL_ADDRESSING_MODE FMPI2C General Call Addressing Mode - * @{ - */ -#define FMPI2C_GENERALCALL_DISABLE (0x00000000U) -#define FMPI2C_GENERALCALL_ENABLE FMPI2C_CR1_GCEN -/** - * @} - */ - -/** @defgroup FMPI2C_NOSTRETCH_MODE FMPI2C No-Stretch Mode - * @{ - */ -#define FMPI2C_NOSTRETCH_DISABLE (0x00000000U) -#define FMPI2C_NOSTRETCH_ENABLE FMPI2C_CR1_NOSTRETCH -/** - * @} - */ - -/** @defgroup FMPI2C_MEMORY_ADDRESS_SIZE FMPI2C Memory Address Size - * @{ - */ -#define FMPI2C_MEMADD_SIZE_8BIT (0x00000001U) -#define FMPI2C_MEMADD_SIZE_16BIT (0x00000002U) -/** - * @} - */ - -/** @defgroup FMPI2C_XFERDIRECTION FMPI2C Transfer Direction Master Point of View - * @{ - */ -#define FMPI2C_DIRECTION_TRANSMIT (0x00000000U) -#define FMPI2C_DIRECTION_RECEIVE (0x00000001U) -/** - * @} - */ - -/** @defgroup FMPI2C_RELOAD_END_MODE FMPI2C Reload End Mode - * @{ - */ -#define FMPI2C_RELOAD_MODE FMPI2C_CR2_RELOAD -#define FMPI2C_AUTOEND_MODE FMPI2C_CR2_AUTOEND -#define FMPI2C_SOFTEND_MODE (0x00000000U) -/** - * @} - */ - -/** @defgroup FMPI2C_START_STOP_MODE FMPI2C Start or Stop Mode - * @{ - */ -#define FMPI2C_NO_STARTSTOP (0x00000000U) -#define FMPI2C_GENERATE_STOP (uint32_t)(0x80000000U | FMPI2C_CR2_STOP) -#define FMPI2C_GENERATE_START_READ (uint32_t)(0x80000000U | FMPI2C_CR2_START | FMPI2C_CR2_RD_WRN) -#define FMPI2C_GENERATE_START_WRITE (uint32_t)(0x80000000U | FMPI2C_CR2_START) -/** - * @} - */ - -/** @defgroup FMPI2C_Interrupt_configuration_definition FMPI2C Interrupt configuration definition - * @brief FMPI2C Interrupt definition - * Elements values convention: 0xXXXXXXXX - * - XXXXXXXX : Interrupt control mask - * @{ - */ -#define FMPI2C_IT_ERRI FMPI2C_CR1_ERRIE -#define FMPI2C_IT_TCI FMPI2C_CR1_TCIE -#define FMPI2C_IT_STOPI FMPI2C_CR1_STOPIE -#define FMPI2C_IT_NACKI FMPI2C_CR1_NACKIE -#define FMPI2C_IT_ADDRI FMPI2C_CR1_ADDRIE -#define FMPI2C_IT_RXI FMPI2C_CR1_RXIE -#define FMPI2C_IT_TXI FMPI2C_CR1_TXIE -/** - * @} - */ - -/** @defgroup FMPI2C_Flag_definition FMPI2C Flag definition - * @{ - */ -#define FMPI2C_FLAG_TXE FMPI2C_ISR_TXE -#define FMPI2C_FLAG_TXIS FMPI2C_ISR_TXIS -#define FMPI2C_FLAG_RXNE FMPI2C_ISR_RXNE -#define FMPI2C_FLAG_ADDR FMPI2C_ISR_ADDR -#define FMPI2C_FLAG_AF FMPI2C_ISR_NACKF -#define FMPI2C_FLAG_STOPF FMPI2C_ISR_STOPF -#define FMPI2C_FLAG_TC FMPI2C_ISR_TC -#define FMPI2C_FLAG_TCR FMPI2C_ISR_TCR -#define FMPI2C_FLAG_BERR FMPI2C_ISR_BERR -#define FMPI2C_FLAG_ARLO FMPI2C_ISR_ARLO -#define FMPI2C_FLAG_OVR FMPI2C_ISR_OVR -#define FMPI2C_FLAG_PECERR FMPI2C_ISR_PECERR -#define FMPI2C_FLAG_TIMEOUT FMPI2C_ISR_TIMEOUT -#define FMPI2C_FLAG_ALERT FMPI2C_ISR_ALERT -#define FMPI2C_FLAG_BUSY FMPI2C_ISR_BUSY -#define FMPI2C_FLAG_DIR FMPI2C_ISR_DIR -/** - * @} - */ - -/** - * @} - */ - -/* Exported macros -----------------------------------------------------------*/ - -/** @defgroup FMPI2C_Exported_Macros FMPI2C Exported Macros - * @{ - */ - -/** @brief Reset FMPI2C handle state. - * @param __HANDLE__ specifies the FMPI2C Handle. - * @retval None - */ -#if (USE_HAL_FMPI2C_REGISTER_CALLBACKS == 1) -#define __HAL_FMPI2C_RESET_HANDLE_STATE(__HANDLE__) do{ \ - (__HANDLE__)->State = HAL_FMPI2C_STATE_RESET; \ - (__HANDLE__)->MspInitCallback = NULL; \ - (__HANDLE__)->MspDeInitCallback = NULL; \ - } while(0) -#else -#define __HAL_FMPI2C_RESET_HANDLE_STATE(__HANDLE__) ((__HANDLE__)->State = HAL_FMPI2C_STATE_RESET) -#endif /* USE_HAL_FMPI2C_REGISTER_CALLBACKS */ - -/** @brief Enable the specified FMPI2C interrupt. - * @param __HANDLE__ specifies the FMPI2C Handle. - * @param __INTERRUPT__ specifies the interrupt source to enable. - * This parameter can be one of the following values: - * @arg @ref FMPI2C_IT_ERRI Errors interrupt enable - * @arg @ref FMPI2C_IT_TCI Transfer complete interrupt enable - * @arg @ref FMPI2C_IT_STOPI STOP detection interrupt enable - * @arg @ref FMPI2C_IT_NACKI NACK received interrupt enable - * @arg @ref FMPI2C_IT_ADDRI Address match interrupt enable - * @arg @ref FMPI2C_IT_RXI RX interrupt enable - * @arg @ref FMPI2C_IT_TXI TX interrupt enable - * - * @retval None - */ -#define __HAL_FMPI2C_ENABLE_IT(__HANDLE__, __INTERRUPT__) ((__HANDLE__)->Instance->CR1 |= (__INTERRUPT__)) - -/** @brief Disable the specified FMPI2C interrupt. - * @param __HANDLE__ specifies the FMPI2C Handle. - * @param __INTERRUPT__ specifies the interrupt source to disable. - * This parameter can be one of the following values: - * @arg @ref FMPI2C_IT_ERRI Errors interrupt enable - * @arg @ref FMPI2C_IT_TCI Transfer complete interrupt enable - * @arg @ref FMPI2C_IT_STOPI STOP detection interrupt enable - * @arg @ref FMPI2C_IT_NACKI NACK received interrupt enable - * @arg @ref FMPI2C_IT_ADDRI Address match interrupt enable - * @arg @ref FMPI2C_IT_RXI RX interrupt enable - * @arg @ref FMPI2C_IT_TXI TX interrupt enable - * - * @retval None - */ -#define __HAL_FMPI2C_DISABLE_IT(__HANDLE__, __INTERRUPT__) ((__HANDLE__)->Instance->CR1 &= (~(__INTERRUPT__))) - -/** @brief Check whether the specified FMPI2C interrupt source is enabled or not. - * @param __HANDLE__ specifies the FMPI2C Handle. - * @param __INTERRUPT__ specifies the FMPI2C interrupt source to check. - * This parameter can be one of the following values: - * @arg @ref FMPI2C_IT_ERRI Errors interrupt enable - * @arg @ref FMPI2C_IT_TCI Transfer complete interrupt enable - * @arg @ref FMPI2C_IT_STOPI STOP detection interrupt enable - * @arg @ref FMPI2C_IT_NACKI NACK received interrupt enable - * @arg @ref FMPI2C_IT_ADDRI Address match interrupt enable - * @arg @ref FMPI2C_IT_RXI RX interrupt enable - * @arg @ref FMPI2C_IT_TXI TX interrupt enable - * - * @retval The new state of __INTERRUPT__ (SET or RESET). - */ -#define __HAL_FMPI2C_GET_IT_SOURCE(__HANDLE__, __INTERRUPT__) ((((__HANDLE__)->Instance->CR1 & \ - (__INTERRUPT__)) == (__INTERRUPT__)) ? SET : RESET) - -/** @brief Check whether the specified FMPI2C flag is set or not. - * @param __HANDLE__ specifies the FMPI2C Handle. - * @param __FLAG__ specifies the flag to check. - * This parameter can be one of the following values: - * @arg @ref FMPI2C_FLAG_TXE Transmit data register empty - * @arg @ref FMPI2C_FLAG_TXIS Transmit interrupt status - * @arg @ref FMPI2C_FLAG_RXNE Receive data register not empty - * @arg @ref FMPI2C_FLAG_ADDR Address matched (slave mode) - * @arg @ref FMPI2C_FLAG_AF Acknowledge failure received flag - * @arg @ref FMPI2C_FLAG_STOPF STOP detection flag - * @arg @ref FMPI2C_FLAG_TC Transfer complete (master mode) - * @arg @ref FMPI2C_FLAG_TCR Transfer complete reload - * @arg @ref FMPI2C_FLAG_BERR Bus error - * @arg @ref FMPI2C_FLAG_ARLO Arbitration lost - * @arg @ref FMPI2C_FLAG_OVR Overrun/Underrun - * @arg @ref FMPI2C_FLAG_PECERR PEC error in reception - * @arg @ref FMPI2C_FLAG_TIMEOUT Timeout or Tlow detection flag - * @arg @ref FMPI2C_FLAG_ALERT SMBus alert - * @arg @ref FMPI2C_FLAG_BUSY Bus busy - * @arg @ref FMPI2C_FLAG_DIR Transfer direction (slave mode) - * - * @retval The new state of __FLAG__ (SET or RESET). - */ -#define FMPI2C_FLAG_MASK (0x0001FFFFU) -#define __HAL_FMPI2C_GET_FLAG(__HANDLE__, __FLAG__) (((((__HANDLE__)->Instance->ISR) & \ - (__FLAG__)) == (__FLAG__)) ? SET : RESET) - -/** @brief Clear the FMPI2C pending flags which are cleared by writing 1 in a specific bit. - * @param __HANDLE__ specifies the FMPI2C Handle. - * @param __FLAG__ specifies the flag to clear. - * This parameter can be any combination of the following values: - * @arg @ref FMPI2C_FLAG_TXE Transmit data register empty - * @arg @ref FMPI2C_FLAG_ADDR Address matched (slave mode) - * @arg @ref FMPI2C_FLAG_AF Acknowledge failure received flag - * @arg @ref FMPI2C_FLAG_STOPF STOP detection flag - * @arg @ref FMPI2C_FLAG_BERR Bus error - * @arg @ref FMPI2C_FLAG_ARLO Arbitration lost - * @arg @ref FMPI2C_FLAG_OVR Overrun/Underrun - * @arg @ref FMPI2C_FLAG_PECERR PEC error in reception - * @arg @ref FMPI2C_FLAG_TIMEOUT Timeout or Tlow detection flag - * @arg @ref FMPI2C_FLAG_ALERT SMBus alert - * - * @retval None - */ -#define __HAL_FMPI2C_CLEAR_FLAG(__HANDLE__, __FLAG__) (((__FLAG__) == FMPI2C_FLAG_TXE) ? \ - ((__HANDLE__)->Instance->ISR |= (__FLAG__)) : \ - ((__HANDLE__)->Instance->ICR = (__FLAG__))) - -/** @brief Enable the specified FMPI2C peripheral. - * @param __HANDLE__ specifies the FMPI2C Handle. - * @retval None - */ -#define __HAL_FMPI2C_ENABLE(__HANDLE__) (SET_BIT((__HANDLE__)->Instance->CR1, FMPI2C_CR1_PE)) - -/** @brief Disable the specified FMPI2C peripheral. - * @param __HANDLE__ specifies the FMPI2C Handle. - * @retval None - */ -#define __HAL_FMPI2C_DISABLE(__HANDLE__) (CLEAR_BIT((__HANDLE__)->Instance->CR1, FMPI2C_CR1_PE)) - -/** @brief Generate a Non-Acknowledge FMPI2C peripheral in Slave mode. - * @param __HANDLE__ specifies the FMPI2C Handle. - * @retval None - */ -#define __HAL_FMPI2C_GENERATE_NACK(__HANDLE__) (SET_BIT((__HANDLE__)->Instance->CR2, FMPI2C_CR2_NACK)) -/** - * @} - */ - -/* Include FMPI2C HAL Extended module */ -#include "stm32f4xx_hal_fmpi2c_ex.h" - -/* Exported functions --------------------------------------------------------*/ -/** @addtogroup FMPI2C_Exported_Functions - * @{ - */ - -/** @addtogroup FMPI2C_Exported_Functions_Group1 Initialization and de-initialization functions - * @{ - */ -/* Initialization and de-initialization functions******************************/ -HAL_StatusTypeDef HAL_FMPI2C_Init(FMPI2C_HandleTypeDef *hfmpi2c); -HAL_StatusTypeDef HAL_FMPI2C_DeInit(FMPI2C_HandleTypeDef *hfmpi2c); -void HAL_FMPI2C_MspInit(FMPI2C_HandleTypeDef *hfmpi2c); -void HAL_FMPI2C_MspDeInit(FMPI2C_HandleTypeDef *hfmpi2c); - -/* Callbacks Register/UnRegister functions ***********************************/ -#if (USE_HAL_FMPI2C_REGISTER_CALLBACKS == 1) -HAL_StatusTypeDef HAL_FMPI2C_RegisterCallback(FMPI2C_HandleTypeDef *hfmpi2c, HAL_FMPI2C_CallbackIDTypeDef CallbackID, - pFMPI2C_CallbackTypeDef pCallback); -HAL_StatusTypeDef HAL_FMPI2C_UnRegisterCallback(FMPI2C_HandleTypeDef *hfmpi2c, HAL_FMPI2C_CallbackIDTypeDef CallbackID); - -HAL_StatusTypeDef HAL_FMPI2C_RegisterAddrCallback(FMPI2C_HandleTypeDef *hfmpi2c, pFMPI2C_AddrCallbackTypeDef pCallback); -HAL_StatusTypeDef HAL_FMPI2C_UnRegisterAddrCallback(FMPI2C_HandleTypeDef *hfmpi2c); -#endif /* USE_HAL_FMPI2C_REGISTER_CALLBACKS */ -/** - * @} - */ - -/** @addtogroup FMPI2C_Exported_Functions_Group2 Input and Output operation functions - * @{ - */ -/* IO operation functions ****************************************************/ -/******* Blocking mode: Polling */ -HAL_StatusTypeDef HAL_FMPI2C_Master_Transmit(FMPI2C_HandleTypeDef *hfmpi2c, uint16_t DevAddress, uint8_t *pData, - uint16_t Size, uint32_t Timeout); -HAL_StatusTypeDef HAL_FMPI2C_Master_Receive(FMPI2C_HandleTypeDef *hfmpi2c, uint16_t DevAddress, uint8_t *pData, - uint16_t Size, uint32_t Timeout); -HAL_StatusTypeDef HAL_FMPI2C_Slave_Transmit(FMPI2C_HandleTypeDef *hfmpi2c, uint8_t *pData, uint16_t Size, - uint32_t Timeout); -HAL_StatusTypeDef HAL_FMPI2C_Slave_Receive(FMPI2C_HandleTypeDef *hfmpi2c, uint8_t *pData, uint16_t Size, - uint32_t Timeout); -HAL_StatusTypeDef HAL_FMPI2C_Mem_Write(FMPI2C_HandleTypeDef *hfmpi2c, uint16_t DevAddress, uint16_t MemAddress, - uint16_t MemAddSize, uint8_t *pData, uint16_t Size, uint32_t Timeout); -HAL_StatusTypeDef HAL_FMPI2C_Mem_Read(FMPI2C_HandleTypeDef *hfmpi2c, uint16_t DevAddress, uint16_t MemAddress, - uint16_t MemAddSize, uint8_t *pData, uint16_t Size, uint32_t Timeout); -HAL_StatusTypeDef HAL_FMPI2C_IsDeviceReady(FMPI2C_HandleTypeDef *hfmpi2c, uint16_t DevAddress, uint32_t Trials, - uint32_t Timeout); - -/******* Non-Blocking mode: Interrupt */ -HAL_StatusTypeDef HAL_FMPI2C_Master_Transmit_IT(FMPI2C_HandleTypeDef *hfmpi2c, uint16_t DevAddress, uint8_t *pData, - uint16_t Size); -HAL_StatusTypeDef HAL_FMPI2C_Master_Receive_IT(FMPI2C_HandleTypeDef *hfmpi2c, uint16_t DevAddress, uint8_t *pData, - uint16_t Size); -HAL_StatusTypeDef HAL_FMPI2C_Slave_Transmit_IT(FMPI2C_HandleTypeDef *hfmpi2c, uint8_t *pData, uint16_t Size); -HAL_StatusTypeDef HAL_FMPI2C_Slave_Receive_IT(FMPI2C_HandleTypeDef *hfmpi2c, uint8_t *pData, uint16_t Size); -HAL_StatusTypeDef HAL_FMPI2C_Mem_Write_IT(FMPI2C_HandleTypeDef *hfmpi2c, uint16_t DevAddress, uint16_t MemAddress, - uint16_t MemAddSize, uint8_t *pData, uint16_t Size); -HAL_StatusTypeDef HAL_FMPI2C_Mem_Read_IT(FMPI2C_HandleTypeDef *hfmpi2c, uint16_t DevAddress, uint16_t MemAddress, - uint16_t MemAddSize, uint8_t *pData, uint16_t Size); - -HAL_StatusTypeDef HAL_FMPI2C_Master_Seq_Transmit_IT(FMPI2C_HandleTypeDef *hfmpi2c, uint16_t DevAddress, uint8_t *pData, - uint16_t Size, uint32_t XferOptions); -HAL_StatusTypeDef HAL_FMPI2C_Master_Seq_Receive_IT(FMPI2C_HandleTypeDef *hfmpi2c, uint16_t DevAddress, uint8_t *pData, - uint16_t Size, uint32_t XferOptions); -HAL_StatusTypeDef HAL_FMPI2C_Slave_Seq_Transmit_IT(FMPI2C_HandleTypeDef *hfmpi2c, uint8_t *pData, uint16_t Size, - uint32_t XferOptions); -HAL_StatusTypeDef HAL_FMPI2C_Slave_Seq_Receive_IT(FMPI2C_HandleTypeDef *hfmpi2c, uint8_t *pData, uint16_t Size, - uint32_t XferOptions); -HAL_StatusTypeDef HAL_FMPI2C_EnableListen_IT(FMPI2C_HandleTypeDef *hfmpi2c); -HAL_StatusTypeDef HAL_FMPI2C_DisableListen_IT(FMPI2C_HandleTypeDef *hfmpi2c); -HAL_StatusTypeDef HAL_FMPI2C_Master_Abort_IT(FMPI2C_HandleTypeDef *hfmpi2c, uint16_t DevAddress); - -/******* Non-Blocking mode: DMA */ -HAL_StatusTypeDef HAL_FMPI2C_Master_Transmit_DMA(FMPI2C_HandleTypeDef *hfmpi2c, uint16_t DevAddress, uint8_t *pData, - uint16_t Size); -HAL_StatusTypeDef HAL_FMPI2C_Master_Receive_DMA(FMPI2C_HandleTypeDef *hfmpi2c, uint16_t DevAddress, uint8_t *pData, - uint16_t Size); -HAL_StatusTypeDef HAL_FMPI2C_Slave_Transmit_DMA(FMPI2C_HandleTypeDef *hfmpi2c, uint8_t *pData, uint16_t Size); -HAL_StatusTypeDef HAL_FMPI2C_Slave_Receive_DMA(FMPI2C_HandleTypeDef *hfmpi2c, uint8_t *pData, uint16_t Size); -HAL_StatusTypeDef HAL_FMPI2C_Mem_Write_DMA(FMPI2C_HandleTypeDef *hfmpi2c, uint16_t DevAddress, uint16_t MemAddress, - uint16_t MemAddSize, uint8_t *pData, uint16_t Size); -HAL_StatusTypeDef HAL_FMPI2C_Mem_Read_DMA(FMPI2C_HandleTypeDef *hfmpi2c, uint16_t DevAddress, uint16_t MemAddress, - uint16_t MemAddSize, uint8_t *pData, uint16_t Size); - -HAL_StatusTypeDef HAL_FMPI2C_Master_Seq_Transmit_DMA(FMPI2C_HandleTypeDef *hfmpi2c, uint16_t DevAddress, uint8_t *pData, - uint16_t Size, uint32_t XferOptions); -HAL_StatusTypeDef HAL_FMPI2C_Master_Seq_Receive_DMA(FMPI2C_HandleTypeDef *hfmpi2c, uint16_t DevAddress, uint8_t *pData, - uint16_t Size, uint32_t XferOptions); -HAL_StatusTypeDef HAL_FMPI2C_Slave_Seq_Transmit_DMA(FMPI2C_HandleTypeDef *hfmpi2c, uint8_t *pData, uint16_t Size, - uint32_t XferOptions); -HAL_StatusTypeDef HAL_FMPI2C_Slave_Seq_Receive_DMA(FMPI2C_HandleTypeDef *hfmpi2c, uint8_t *pData, uint16_t Size, - uint32_t XferOptions); -/** - * @} - */ - -/** @addtogroup FMPI2C_IRQ_Handler_and_Callbacks IRQ Handler and Callbacks - * @{ - */ -/******* FMPI2C IRQHandler and Callbacks used in non blocking modes (Interrupt and DMA) */ -void HAL_FMPI2C_EV_IRQHandler(FMPI2C_HandleTypeDef *hfmpi2c); -void HAL_FMPI2C_ER_IRQHandler(FMPI2C_HandleTypeDef *hfmpi2c); -void HAL_FMPI2C_MasterTxCpltCallback(FMPI2C_HandleTypeDef *hfmpi2c); -void HAL_FMPI2C_MasterRxCpltCallback(FMPI2C_HandleTypeDef *hfmpi2c); -void HAL_FMPI2C_SlaveTxCpltCallback(FMPI2C_HandleTypeDef *hfmpi2c); -void HAL_FMPI2C_SlaveRxCpltCallback(FMPI2C_HandleTypeDef *hfmpi2c); -void HAL_FMPI2C_AddrCallback(FMPI2C_HandleTypeDef *hfmpi2c, uint8_t TransferDirection, uint16_t AddrMatchCode); -void HAL_FMPI2C_ListenCpltCallback(FMPI2C_HandleTypeDef *hfmpi2c); -void HAL_FMPI2C_MemTxCpltCallback(FMPI2C_HandleTypeDef *hfmpi2c); -void HAL_FMPI2C_MemRxCpltCallback(FMPI2C_HandleTypeDef *hfmpi2c); -void HAL_FMPI2C_ErrorCallback(FMPI2C_HandleTypeDef *hfmpi2c); -void HAL_FMPI2C_AbortCpltCallback(FMPI2C_HandleTypeDef *hfmpi2c); -/** - * @} - */ - -/** @addtogroup FMPI2C_Exported_Functions_Group3 Peripheral State, Mode and Error functions - * @{ - */ -/* Peripheral State, Mode and Error functions *********************************/ -HAL_FMPI2C_StateTypeDef HAL_FMPI2C_GetState(FMPI2C_HandleTypeDef *hfmpi2c); -HAL_FMPI2C_ModeTypeDef HAL_FMPI2C_GetMode(FMPI2C_HandleTypeDef *hfmpi2c); -uint32_t HAL_FMPI2C_GetError(FMPI2C_HandleTypeDef *hfmpi2c); - -/** - * @} - */ - -/** - * @} - */ - -/* Private constants ---------------------------------------------------------*/ -/** @defgroup FMPI2C_Private_Constants FMPI2C Private Constants - * @{ - */ - -/** - * @} - */ - -/* Private macros ------------------------------------------------------------*/ -/** @defgroup FMPI2C_Private_Macro FMPI2C Private Macros - * @{ - */ - -#define IS_FMPI2C_ADDRESSING_MODE(MODE) (((MODE) == FMPI2C_ADDRESSINGMODE_7BIT) || \ - ((MODE) == FMPI2C_ADDRESSINGMODE_10BIT)) - -#define IS_FMPI2C_DUAL_ADDRESS(ADDRESS) (((ADDRESS) == FMPI2C_DUALADDRESS_DISABLE) || \ - ((ADDRESS) == FMPI2C_DUALADDRESS_ENABLE)) - -#define IS_FMPI2C_OWN_ADDRESS2_MASK(MASK) (((MASK) == FMPI2C_OA2_NOMASK) || \ - ((MASK) == FMPI2C_OA2_MASK01) || \ - ((MASK) == FMPI2C_OA2_MASK02) || \ - ((MASK) == FMPI2C_OA2_MASK03) || \ - ((MASK) == FMPI2C_OA2_MASK04) || \ - ((MASK) == FMPI2C_OA2_MASK05) || \ - ((MASK) == FMPI2C_OA2_MASK06) || \ - ((MASK) == FMPI2C_OA2_MASK07)) - -#define IS_FMPI2C_GENERAL_CALL(CALL) (((CALL) == FMPI2C_GENERALCALL_DISABLE) || \ - ((CALL) == FMPI2C_GENERALCALL_ENABLE)) - -#define IS_FMPI2C_NO_STRETCH(STRETCH) (((STRETCH) == FMPI2C_NOSTRETCH_DISABLE) || \ - ((STRETCH) == FMPI2C_NOSTRETCH_ENABLE)) - -#define IS_FMPI2C_MEMADD_SIZE(SIZE) (((SIZE) == FMPI2C_MEMADD_SIZE_8BIT) || \ - ((SIZE) == FMPI2C_MEMADD_SIZE_16BIT)) - -#define IS_TRANSFER_MODE(MODE) (((MODE) == FMPI2C_RELOAD_MODE) || \ - ((MODE) == FMPI2C_AUTOEND_MODE) || \ - ((MODE) == FMPI2C_SOFTEND_MODE)) - -#define IS_TRANSFER_REQUEST(REQUEST) (((REQUEST) == FMPI2C_GENERATE_STOP) || \ - ((REQUEST) == FMPI2C_GENERATE_START_READ) || \ - ((REQUEST) == FMPI2C_GENERATE_START_WRITE) || \ - ((REQUEST) == FMPI2C_NO_STARTSTOP)) - -#define IS_FMPI2C_TRANSFER_OPTIONS_REQUEST(REQUEST) (((REQUEST) == FMPI2C_FIRST_FRAME) || \ - ((REQUEST) == FMPI2C_FIRST_AND_NEXT_FRAME) || \ - ((REQUEST) == FMPI2C_NEXT_FRAME) || \ - ((REQUEST) == FMPI2C_FIRST_AND_LAST_FRAME) || \ - ((REQUEST) == FMPI2C_LAST_FRAME) || \ - ((REQUEST) == FMPI2C_LAST_FRAME_NO_STOP) || \ - IS_FMPI2C_TRANSFER_OTHER_OPTIONS_REQUEST(REQUEST)) - -#define IS_FMPI2C_TRANSFER_OTHER_OPTIONS_REQUEST(REQUEST) (((REQUEST) == FMPI2C_OTHER_FRAME) || \ - ((REQUEST) == FMPI2C_OTHER_AND_LAST_FRAME)) - -#define FMPI2C_RESET_CR2(__HANDLE__) ((__HANDLE__)->Instance->CR2 &= \ - (uint32_t)~((uint32_t)(FMPI2C_CR2_SADD | FMPI2C_CR2_HEAD10R | \ - FMPI2C_CR2_NBYTES | FMPI2C_CR2_RELOAD | \ - FMPI2C_CR2_RD_WRN))) - -#define FMPI2C_GET_ADDR_MATCH(__HANDLE__) ((uint16_t)(((__HANDLE__)->Instance->ISR & FMPI2C_ISR_ADDCODE) \ - >> 16U)) -#define FMPI2C_GET_DIR(__HANDLE__) ((uint8_t)(((__HANDLE__)->Instance->ISR & FMPI2C_ISR_DIR) \ - >> 16U)) -#define FMPI2C_GET_STOP_MODE(__HANDLE__) ((__HANDLE__)->Instance->CR2 & FMPI2C_CR2_AUTOEND) -#define FMPI2C_GET_OWN_ADDRESS1(__HANDLE__) ((uint16_t)((__HANDLE__)->Instance->OAR1 & FMPI2C_OAR1_OA1)) -#define FMPI2C_GET_OWN_ADDRESS2(__HANDLE__) ((uint16_t)((__HANDLE__)->Instance->OAR2 & FMPI2C_OAR2_OA2)) - -#define IS_FMPI2C_OWN_ADDRESS1(ADDRESS1) ((ADDRESS1) <= 0x000003FFU) -#define IS_FMPI2C_OWN_ADDRESS2(ADDRESS2) ((ADDRESS2) <= (uint16_t)0x00FFU) - -#define FMPI2C_MEM_ADD_MSB(__ADDRESS__) ((uint8_t)((uint16_t)(((uint16_t)((__ADDRESS__) & \ - (uint16_t)(0xFF00U))) >> 8U))) -#define FMPI2C_MEM_ADD_LSB(__ADDRESS__) ((uint8_t)((uint16_t)((__ADDRESS__) & (uint16_t)(0x00FFU)))) - -#define FMPI2C_GENERATE_START(__ADDMODE__,__ADDRESS__) (((__ADDMODE__) == FMPI2C_ADDRESSINGMODE_7BIT) ? \ - (uint32_t)((((uint32_t)(__ADDRESS__) & (FMPI2C_CR2_SADD)) | \ - (FMPI2C_CR2_START) | (FMPI2C_CR2_AUTOEND)) & \ - (~FMPI2C_CR2_RD_WRN)) : \ - (uint32_t)((((uint32_t)(__ADDRESS__) & (FMPI2C_CR2_SADD)) | \ - (FMPI2C_CR2_ADD10) | (FMPI2C_CR2_START)) & \ - (~FMPI2C_CR2_RD_WRN))) - -#define FMPI2C_CHECK_FLAG(__ISR__, __FLAG__) ((((__ISR__) & ((__FLAG__) & FMPI2C_FLAG_MASK)) == \ - ((__FLAG__) & FMPI2C_FLAG_MASK)) ? SET : RESET) -#define FMPI2C_CHECK_IT_SOURCE(__CR1__, __IT__) ((((__CR1__) & (__IT__)) == (__IT__)) ? SET : RESET) -/** - * @} - */ - -/* Private Functions ---------------------------------------------------------*/ -/** @defgroup FMPI2C_Private_Functions FMPI2C Private Functions - * @{ - */ -/* Private functions are defined in stm32f4xx_hal_fmpi2c.c file */ -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ - -#endif /* FMPI2C_CR1_PE */ -#ifdef __cplusplus -} -#endif - - -#endif /* STM32F4xx_HAL_FMPI2C_H */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_fmpi2c_ex.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_fmpi2c_ex.h deleted file mode 100644 index 6a5df0b1a1025c..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_fmpi2c_ex.h +++ /dev/null @@ -1,153 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_fmpi2c_ex.h - * @author MCD Application Team - * @brief Header file of FMPI2C HAL Extended module. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef STM32F4xx_HAL_FMPI2C_EX_H -#define STM32F4xx_HAL_FMPI2C_EX_H - -#ifdef __cplusplus -extern "C" { -#endif - -#if defined(FMPI2C_CR1_PE) -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal_def.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @addtogroup FMPI2CEx - * @{ - */ - -/* Exported types ------------------------------------------------------------*/ -/* Exported constants --------------------------------------------------------*/ -/** @defgroup FMPI2CEx_Exported_Constants FMPI2C Extended Exported Constants - * @{ - */ - -/** @defgroup FMPI2CEx_Analog_Filter FMPI2C Extended Analog Filter - * @{ - */ -#define FMPI2C_ANALOGFILTER_ENABLE 0x00000000U -#define FMPI2C_ANALOGFILTER_DISABLE FMPI2C_CR1_ANFOFF -/** - * @} - */ - -/** @defgroup FMPI2CEx_FastModePlus FMPI2C Extended Fast Mode Plus - * @{ - */ -#define FMPI2C_FASTMODEPLUS_SCL SYSCFG_CFGR_FMPI2C1_SCL /*!< Enable Fast Mode Plus on FMPI2C1 SCL pins */ -#define FMPI2C_FASTMODEPLUS_SDA SYSCFG_CFGR_FMPI2C1_SDA /*!< Enable Fast Mode Plus on FMPI2C1 SDA pins */ -/** - * @} - */ - -/** - * @} - */ - -/* Exported macro ------------------------------------------------------------*/ -/** @defgroup FMPI2CEx_Exported_Macros FMPI2C Extended Exported Macros - * @{ - */ - -/** - * @} - */ - -/* Exported functions --------------------------------------------------------*/ -/** @addtogroup FMPI2CEx_Exported_Functions FMPI2C Extended Exported Functions - * @{ - */ - -/** @addtogroup FMPI2CEx_Exported_Functions_Group1 Filter Mode Functions - * @{ - */ -/* Peripheral Control functions ************************************************/ -HAL_StatusTypeDef HAL_FMPI2CEx_ConfigAnalogFilter(FMPI2C_HandleTypeDef *hfmpi2c, uint32_t AnalogFilter); -HAL_StatusTypeDef HAL_FMPI2CEx_ConfigDigitalFilter(FMPI2C_HandleTypeDef *hfmpi2c, uint32_t DigitalFilter); -/** - * @} - */ - -/** @addtogroup FMPI2CEx_Exported_Functions_Group3 Fast Mode Plus Functions - * @{ - */ -void HAL_FMPI2CEx_EnableFastModePlus(uint32_t ConfigFastModePlus); -void HAL_FMPI2CEx_DisableFastModePlus(uint32_t ConfigFastModePlus); -/** - * @} - */ - -/** - * @} - */ - -/* Private constants ---------------------------------------------------------*/ -/** @defgroup FMPI2CEx_Private_Constants FMPI2C Extended Private Constants - * @{ - */ - -/** - * @} - */ - -/* Private macros ------------------------------------------------------------*/ -/** @defgroup FMPI2CEx_Private_Macro FMPI2C Extended Private Macros - * @{ - */ -#define IS_FMPI2C_ANALOG_FILTER(FILTER) (((FILTER) == FMPI2C_ANALOGFILTER_ENABLE) || \ - ((FILTER) == FMPI2C_ANALOGFILTER_DISABLE)) - -#define IS_FMPI2C_DIGITAL_FILTER(FILTER) ((FILTER) <= 0x0000000FU) - -#define IS_FMPI2C_FASTMODEPLUS(__CONFIG__) ((((__CONFIG__) & (FMPI2C_FASTMODEPLUS_SCL)) == FMPI2C_FASTMODEPLUS_SCL) || \ - (((__CONFIG__) & (FMPI2C_FASTMODEPLUS_SDA)) == FMPI2C_FASTMODEPLUS_SDA)) -/** - * @} - */ - -/* Private Functions ---------------------------------------------------------*/ -/** @defgroup FMPI2CEx_Private_Functions FMPI2C Extended Private Functions - * @{ - */ -/* Private functions are defined in stm32f4xx_hal_fmpi2c_ex.c file */ -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ - -#endif /* FMPI2C_CR1_PE */ -#ifdef __cplusplus -} -#endif - -#endif /* STM32F4xx_HAL_FMPI2C_EX_H */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_fmpsmbus.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_fmpsmbus.h deleted file mode 100644 index 9d5e0307ed3558..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_fmpsmbus.h +++ /dev/null @@ -1,793 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_fmpsmbus.h - * @author MCD Application Team - * @brief Header file of FMPSMBUS HAL module. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef STM32F4xx_HAL_FMPSMBUS_H -#define STM32F4xx_HAL_FMPSMBUS_H - -#ifdef __cplusplus -extern "C" { -#endif - -#if defined(FMPI2C_CR1_PE) -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal_def.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @addtogroup FMPSMBUS - * @{ - */ - -/* Exported types ------------------------------------------------------------*/ -/** @defgroup FMPSMBUS_Exported_Types FMPSMBUS Exported Types - * @{ - */ - -/** @defgroup FMPSMBUS_Configuration_Structure_definition FMPSMBUS Configuration Structure definition - * @brief FMPSMBUS Configuration Structure definition - * @{ - */ -typedef struct -{ - uint32_t Timing; /*!< Specifies the FMPSMBUS_TIMINGR_register value. - This parameter calculated by referring to FMPSMBUS initialization section - in Reference manual */ - uint32_t AnalogFilter; /*!< Specifies if Analog Filter is enable or not. - This parameter can be a value of @ref FMPSMBUS_Analog_Filter */ - - uint32_t OwnAddress1; /*!< Specifies the first device own address. - This parameter can be a 7-bit or 10-bit address. */ - - uint32_t AddressingMode; /*!< Specifies if 7-bit or 10-bit addressing mode for master is selected. - This parameter can be a value of @ref FMPSMBUS_addressing_mode */ - - uint32_t DualAddressMode; /*!< Specifies if dual addressing mode is selected. - This parameter can be a value of @ref FMPSMBUS_dual_addressing_mode */ - - uint32_t OwnAddress2; /*!< Specifies the second device own address if dual addressing mode is selected - This parameter can be a 7-bit address. */ - - uint32_t OwnAddress2Masks; /*!< Specifies the acknowledge mask address second device own address - if dual addressing mode is selected - This parameter can be a value of @ref FMPSMBUS_own_address2_masks. */ - - uint32_t GeneralCallMode; /*!< Specifies if general call mode is selected. - This parameter can be a value of @ref FMPSMBUS_general_call_addressing_mode. */ - - uint32_t NoStretchMode; /*!< Specifies if nostretch mode is selected. - This parameter can be a value of @ref FMPSMBUS_nostretch_mode */ - - uint32_t PacketErrorCheckMode; /*!< Specifies if Packet Error Check mode is selected. - This parameter can be a value of @ref FMPSMBUS_packet_error_check_mode */ - - uint32_t PeripheralMode; /*!< Specifies which mode of Periphal is selected. - This parameter can be a value of @ref FMPSMBUS_peripheral_mode */ - - uint32_t SMBusTimeout; /*!< Specifies the content of the 32 Bits FMPSMBUS_TIMEOUT_register value. - (Enable bits and different timeout values) - This parameter calculated by referring to FMPSMBUS initialization section - in Reference manual */ -} FMPSMBUS_InitTypeDef; -/** - * @} - */ - -/** @defgroup HAL_state_definition HAL state definition - * @brief HAL State definition - * @{ - */ -#define HAL_FMPSMBUS_STATE_RESET (0x00000000U) /*!< FMPSMBUS not yet initialized or disabled */ -#define HAL_FMPSMBUS_STATE_READY (0x00000001U) /*!< FMPSMBUS initialized and ready for use */ -#define HAL_FMPSMBUS_STATE_BUSY (0x00000002U) /*!< FMPSMBUS internal process is ongoing */ -#define HAL_FMPSMBUS_STATE_MASTER_BUSY_TX (0x00000012U) /*!< Master Data Transmission process is ongoing */ -#define HAL_FMPSMBUS_STATE_MASTER_BUSY_RX (0x00000022U) /*!< Master Data Reception process is ongoing */ -#define HAL_FMPSMBUS_STATE_SLAVE_BUSY_TX (0x00000032U) /*!< Slave Data Transmission process is ongoing */ -#define HAL_FMPSMBUS_STATE_SLAVE_BUSY_RX (0x00000042U) /*!< Slave Data Reception process is ongoing */ -#define HAL_FMPSMBUS_STATE_TIMEOUT (0x00000003U) /*!< Timeout state */ -#define HAL_FMPSMBUS_STATE_ERROR (0x00000004U) /*!< Reception process is ongoing */ -#define HAL_FMPSMBUS_STATE_LISTEN (0x00000008U) /*!< Address Listen Mode is ongoing */ -/** - * @} - */ - -/** @defgroup FMPSMBUS_Error_Code_definition FMPSMBUS Error Code definition - * @brief FMPSMBUS Error Code definition - * @{ - */ -#define HAL_FMPSMBUS_ERROR_NONE (0x00000000U) /*!< No error */ -#define HAL_FMPSMBUS_ERROR_BERR (0x00000001U) /*!< BERR error */ -#define HAL_FMPSMBUS_ERROR_ARLO (0x00000002U) /*!< ARLO error */ -#define HAL_FMPSMBUS_ERROR_ACKF (0x00000004U) /*!< ACKF error */ -#define HAL_FMPSMBUS_ERROR_OVR (0x00000008U) /*!< OVR error */ -#define HAL_FMPSMBUS_ERROR_HALTIMEOUT (0x00000010U) /*!< Timeout error */ -#define HAL_FMPSMBUS_ERROR_BUSTIMEOUT (0x00000020U) /*!< Bus Timeout error */ -#define HAL_FMPSMBUS_ERROR_ALERT (0x00000040U) /*!< Alert error */ -#define HAL_FMPSMBUS_ERROR_PECERR (0x00000080U) /*!< PEC error */ -#if (USE_HAL_FMPSMBUS_REGISTER_CALLBACKS == 1) -#define HAL_FMPSMBUS_ERROR_INVALID_CALLBACK (0x00000100U) /*!< Invalid Callback error */ -#endif /* USE_HAL_FMPSMBUS_REGISTER_CALLBACKS */ -#define HAL_FMPSMBUS_ERROR_INVALID_PARAM (0x00000200U) /*!< Invalid Parameters error */ -/** - * @} - */ - -/** @defgroup FMPSMBUS_handle_Structure_definition FMPSMBUS handle Structure definition - * @brief FMPSMBUS handle Structure definition - * @{ - */ -#if (USE_HAL_FMPSMBUS_REGISTER_CALLBACKS == 1) -typedef struct __FMPSMBUS_HandleTypeDef -#else -typedef struct -#endif /* USE_HAL_FMPSMBUS_REGISTER_CALLBACKS */ -{ - FMPI2C_TypeDef *Instance; /*!< FMPSMBUS registers base address */ - - FMPSMBUS_InitTypeDef Init; /*!< FMPSMBUS communication parameters */ - - uint8_t *pBuffPtr; /*!< Pointer to FMPSMBUS transfer buffer */ - - uint16_t XferSize; /*!< FMPSMBUS transfer size */ - - __IO uint16_t XferCount; /*!< FMPSMBUS transfer counter */ - - __IO uint32_t XferOptions; /*!< FMPSMBUS transfer options */ - - __IO uint32_t PreviousState; /*!< FMPSMBUS communication Previous state */ - - HAL_LockTypeDef Lock; /*!< FMPSMBUS locking object */ - - __IO uint32_t State; /*!< FMPSMBUS communication state */ - - __IO uint32_t ErrorCode; /*!< FMPSMBUS Error code */ - -#if (USE_HAL_FMPSMBUS_REGISTER_CALLBACKS == 1) - void (* MasterTxCpltCallback)(struct __FMPSMBUS_HandleTypeDef *hfmpsmbus); - /*!< FMPSMBUS Master Tx Transfer completed callback */ - void (* MasterRxCpltCallback)(struct __FMPSMBUS_HandleTypeDef *hfmpsmbus); - /*!< FMPSMBUS Master Rx Transfer completed callback */ - void (* SlaveTxCpltCallback)(struct __FMPSMBUS_HandleTypeDef *hfmpsmbus); - /*!< FMPSMBUS Slave Tx Transfer completed callback */ - void (* SlaveRxCpltCallback)(struct __FMPSMBUS_HandleTypeDef *hfmpsmbus); - /*!< FMPSMBUS Slave Rx Transfer completed callback */ - void (* ListenCpltCallback)(struct __FMPSMBUS_HandleTypeDef *hfmpsmbus); - /*!< FMPSMBUS Listen Complete callback */ - void (* ErrorCallback)(struct __FMPSMBUS_HandleTypeDef *hfmpsmbus); - /*!< FMPSMBUS Error callback */ - - void (* AddrCallback)(struct __FMPSMBUS_HandleTypeDef *hfmpsmbus, uint8_t TransferDirection, uint16_t AddrMatchCode); - /*!< FMPSMBUS Slave Address Match callback */ - - void (* MspInitCallback)(struct __FMPSMBUS_HandleTypeDef *hfmpsmbus); - /*!< FMPSMBUS Msp Init callback */ - void (* MspDeInitCallback)(struct __FMPSMBUS_HandleTypeDef *hfmpsmbus); - /*!< FMPSMBUS Msp DeInit callback */ - -#endif /* USE_HAL_FMPSMBUS_REGISTER_CALLBACKS */ -} FMPSMBUS_HandleTypeDef; - -#if (USE_HAL_FMPSMBUS_REGISTER_CALLBACKS == 1) -/** - * @brief HAL FMPSMBUS Callback ID enumeration definition - */ -typedef enum -{ - HAL_FMPSMBUS_MASTER_TX_COMPLETE_CB_ID = 0x00U, /*!< FMPSMBUS Master Tx Transfer completed callback ID */ - HAL_FMPSMBUS_MASTER_RX_COMPLETE_CB_ID = 0x01U, /*!< FMPSMBUS Master Rx Transfer completed callback ID */ - HAL_FMPSMBUS_SLAVE_TX_COMPLETE_CB_ID = 0x02U, /*!< FMPSMBUS Slave Tx Transfer completed callback ID */ - HAL_FMPSMBUS_SLAVE_RX_COMPLETE_CB_ID = 0x03U, /*!< FMPSMBUS Slave Rx Transfer completed callback ID */ - HAL_FMPSMBUS_LISTEN_COMPLETE_CB_ID = 0x04U, /*!< FMPSMBUS Listen Complete callback ID */ - HAL_FMPSMBUS_ERROR_CB_ID = 0x05U, /*!< FMPSMBUS Error callback ID */ - - HAL_FMPSMBUS_MSPINIT_CB_ID = 0x06U, /*!< FMPSMBUS Msp Init callback ID */ - HAL_FMPSMBUS_MSPDEINIT_CB_ID = 0x07U /*!< FMPSMBUS Msp DeInit callback ID */ - -} HAL_FMPSMBUS_CallbackIDTypeDef; - -/** - * @brief HAL FMPSMBUS Callback pointer definition - */ -typedef void (*pFMPSMBUS_CallbackTypeDef)(FMPSMBUS_HandleTypeDef *hfmpsmbus); -/*!< pointer to an FMPSMBUS callback function */ -typedef void (*pFMPSMBUS_AddrCallbackTypeDef)(FMPSMBUS_HandleTypeDef *hfmpsmbus, uint8_t TransferDirection, - uint16_t AddrMatchCode); -/*!< pointer to an FMPSMBUS Address Match callback function */ - -#endif /* USE_HAL_FMPSMBUS_REGISTER_CALLBACKS */ -/** - * @} - */ - -/** - * @} - */ -/* Exported constants --------------------------------------------------------*/ - -/** @defgroup FMPSMBUS_Exported_Constants FMPSMBUS Exported Constants - * @{ - */ - -/** @defgroup FMPSMBUS_Analog_Filter FMPSMBUS Analog Filter - * @{ - */ -#define FMPSMBUS_ANALOGFILTER_ENABLE (0x00000000U) -#define FMPSMBUS_ANALOGFILTER_DISABLE FMPI2C_CR1_ANFOFF -/** - * @} - */ - -/** @defgroup FMPSMBUS_addressing_mode FMPSMBUS addressing mode - * @{ - */ -#define FMPSMBUS_ADDRESSINGMODE_7BIT (0x00000001U) -#define FMPSMBUS_ADDRESSINGMODE_10BIT (0x00000002U) -/** - * @} - */ - -/** @defgroup FMPSMBUS_dual_addressing_mode FMPSMBUS dual addressing mode - * @{ - */ - -#define FMPSMBUS_DUALADDRESS_DISABLE (0x00000000U) -#define FMPSMBUS_DUALADDRESS_ENABLE FMPI2C_OAR2_OA2EN -/** - * @} - */ - -/** @defgroup FMPSMBUS_own_address2_masks FMPSMBUS ownaddress2 masks - * @{ - */ - -#define FMPSMBUS_OA2_NOMASK ((uint8_t)0x00U) -#define FMPSMBUS_OA2_MASK01 ((uint8_t)0x01U) -#define FMPSMBUS_OA2_MASK02 ((uint8_t)0x02U) -#define FMPSMBUS_OA2_MASK03 ((uint8_t)0x03U) -#define FMPSMBUS_OA2_MASK04 ((uint8_t)0x04U) -#define FMPSMBUS_OA2_MASK05 ((uint8_t)0x05U) -#define FMPSMBUS_OA2_MASK06 ((uint8_t)0x06U) -#define FMPSMBUS_OA2_MASK07 ((uint8_t)0x07U) -/** - * @} - */ - - -/** @defgroup FMPSMBUS_general_call_addressing_mode FMPSMBUS general call addressing mode - * @{ - */ -#define FMPSMBUS_GENERALCALL_DISABLE (0x00000000U) -#define FMPSMBUS_GENERALCALL_ENABLE FMPI2C_CR1_GCEN -/** - * @} - */ - -/** @defgroup FMPSMBUS_nostretch_mode FMPSMBUS nostretch mode - * @{ - */ -#define FMPSMBUS_NOSTRETCH_DISABLE (0x00000000U) -#define FMPSMBUS_NOSTRETCH_ENABLE FMPI2C_CR1_NOSTRETCH -/** - * @} - */ - -/** @defgroup FMPSMBUS_packet_error_check_mode FMPSMBUS packet error check mode - * @{ - */ -#define FMPSMBUS_PEC_DISABLE (0x00000000U) -#define FMPSMBUS_PEC_ENABLE FMPI2C_CR1_PECEN -/** - * @} - */ - -/** @defgroup FMPSMBUS_peripheral_mode FMPSMBUS peripheral mode - * @{ - */ -#define FMPSMBUS_PERIPHERAL_MODE_FMPSMBUS_HOST FMPI2C_CR1_SMBHEN -#define FMPSMBUS_PERIPHERAL_MODE_FMPSMBUS_SLAVE (0x00000000U) -#define FMPSMBUS_PERIPHERAL_MODE_FMPSMBUS_SLAVE_ARP FMPI2C_CR1_SMBDEN -/** - * @} - */ - -/** @defgroup FMPSMBUS_ReloadEndMode_definition FMPSMBUS ReloadEndMode definition - * @{ - */ - -#define FMPSMBUS_SOFTEND_MODE (0x00000000U) -#define FMPSMBUS_RELOAD_MODE FMPI2C_CR2_RELOAD -#define FMPSMBUS_AUTOEND_MODE FMPI2C_CR2_AUTOEND -#define FMPSMBUS_SENDPEC_MODE FMPI2C_CR2_PECBYTE -/** - * @} - */ - -/** @defgroup FMPSMBUS_StartStopMode_definition FMPSMBUS StartStopMode definition - * @{ - */ - -#define FMPSMBUS_NO_STARTSTOP (0x00000000U) -#define FMPSMBUS_GENERATE_STOP (uint32_t)(0x80000000U | FMPI2C_CR2_STOP) -#define FMPSMBUS_GENERATE_START_READ (uint32_t)(0x80000000U | FMPI2C_CR2_START | FMPI2C_CR2_RD_WRN) -#define FMPSMBUS_GENERATE_START_WRITE (uint32_t)(0x80000000U | FMPI2C_CR2_START) -/** - * @} - */ - -/** @defgroup FMPSMBUS_XferOptions_definition FMPSMBUS XferOptions definition - * @{ - */ - -/* List of XferOptions in usage of : - * 1- Restart condition when direction change - * 2- No Restart condition in other use cases - */ -#define FMPSMBUS_FIRST_FRAME FMPSMBUS_SOFTEND_MODE -#define FMPSMBUS_NEXT_FRAME ((uint32_t)(FMPSMBUS_RELOAD_MODE | FMPSMBUS_SOFTEND_MODE)) -#define FMPSMBUS_FIRST_AND_LAST_FRAME_NO_PEC FMPSMBUS_AUTOEND_MODE -#define FMPSMBUS_LAST_FRAME_NO_PEC FMPSMBUS_AUTOEND_MODE -#define FMPSMBUS_FIRST_FRAME_WITH_PEC ((uint32_t)(FMPSMBUS_SOFTEND_MODE | FMPSMBUS_SENDPEC_MODE)) -#define FMPSMBUS_FIRST_AND_LAST_FRAME_WITH_PEC ((uint32_t)(FMPSMBUS_AUTOEND_MODE | FMPSMBUS_SENDPEC_MODE)) -#define FMPSMBUS_LAST_FRAME_WITH_PEC ((uint32_t)(FMPSMBUS_AUTOEND_MODE | FMPSMBUS_SENDPEC_MODE)) - -/* List of XferOptions in usage of : - * 1- Restart condition in all use cases (direction change or not) - */ -#define FMPSMBUS_OTHER_FRAME_NO_PEC (0x000000AAU) -#define FMPSMBUS_OTHER_FRAME_WITH_PEC (0x0000AA00U) -#define FMPSMBUS_OTHER_AND_LAST_FRAME_NO_PEC (0x00AA0000U) -#define FMPSMBUS_OTHER_AND_LAST_FRAME_WITH_PEC (0xAA000000U) -/** - * @} - */ - -/** @defgroup FMPSMBUS_Interrupt_configuration_definition FMPSMBUS Interrupt configuration definition - * @brief FMPSMBUS Interrupt definition - * Elements values convention: 0xXXXXXXXX - * - XXXXXXXX : Interrupt control mask - * @{ - */ -#define FMPSMBUS_IT_ERRI FMPI2C_CR1_ERRIE -#define FMPSMBUS_IT_TCI FMPI2C_CR1_TCIE -#define FMPSMBUS_IT_STOPI FMPI2C_CR1_STOPIE -#define FMPSMBUS_IT_NACKI FMPI2C_CR1_NACKIE -#define FMPSMBUS_IT_ADDRI FMPI2C_CR1_ADDRIE -#define FMPSMBUS_IT_RXI FMPI2C_CR1_RXIE -#define FMPSMBUS_IT_TXI FMPI2C_CR1_TXIE -#define FMPSMBUS_IT_TX (FMPSMBUS_IT_ERRI | FMPSMBUS_IT_TCI | FMPSMBUS_IT_STOPI | \ - FMPSMBUS_IT_NACKI | FMPSMBUS_IT_TXI) -#define FMPSMBUS_IT_RX (FMPSMBUS_IT_ERRI | FMPSMBUS_IT_TCI | FMPSMBUS_IT_NACKI | \ - FMPSMBUS_IT_RXI) -#define FMPSMBUS_IT_ALERT (FMPSMBUS_IT_ERRI) -#define FMPSMBUS_IT_ADDR (FMPSMBUS_IT_ADDRI | FMPSMBUS_IT_STOPI | FMPSMBUS_IT_NACKI) -/** - * @} - */ - -/** @defgroup FMPSMBUS_Flag_definition FMPSMBUS Flag definition - * @brief Flag definition - * Elements values convention: 0xXXXXYYYY - * - XXXXXXXX : Flag mask - * @{ - */ - -#define FMPSMBUS_FLAG_TXE FMPI2C_ISR_TXE -#define FMPSMBUS_FLAG_TXIS FMPI2C_ISR_TXIS -#define FMPSMBUS_FLAG_RXNE FMPI2C_ISR_RXNE -#define FMPSMBUS_FLAG_ADDR FMPI2C_ISR_ADDR -#define FMPSMBUS_FLAG_AF FMPI2C_ISR_NACKF -#define FMPSMBUS_FLAG_STOPF FMPI2C_ISR_STOPF -#define FMPSMBUS_FLAG_TC FMPI2C_ISR_TC -#define FMPSMBUS_FLAG_TCR FMPI2C_ISR_TCR -#define FMPSMBUS_FLAG_BERR FMPI2C_ISR_BERR -#define FMPSMBUS_FLAG_ARLO FMPI2C_ISR_ARLO -#define FMPSMBUS_FLAG_OVR FMPI2C_ISR_OVR -#define FMPSMBUS_FLAG_PECERR FMPI2C_ISR_PECERR -#define FMPSMBUS_FLAG_TIMEOUT FMPI2C_ISR_TIMEOUT -#define FMPSMBUS_FLAG_ALERT FMPI2C_ISR_ALERT -#define FMPSMBUS_FLAG_BUSY FMPI2C_ISR_BUSY -#define FMPSMBUS_FLAG_DIR FMPI2C_ISR_DIR -/** - * @} - */ - -/** - * @} - */ - -/* Exported macros ------------------------------------------------------------*/ -/** @defgroup FMPSMBUS_Exported_Macros FMPSMBUS Exported Macros - * @{ - */ - -/** @brief Reset FMPSMBUS handle state. - * @param __HANDLE__ specifies the FMPSMBUS Handle. - * @retval None - */ -#if (USE_HAL_FMPSMBUS_REGISTER_CALLBACKS == 1) -#define __HAL_FMPSMBUS_RESET_HANDLE_STATE(__HANDLE__) do{ \ - (__HANDLE__)->State = HAL_FMPSMBUS_STATE_RESET; \ - (__HANDLE__)->MspInitCallback = NULL; \ - (__HANDLE__)->MspDeInitCallback = NULL; \ - } while(0) -#else -#define __HAL_FMPSMBUS_RESET_HANDLE_STATE(__HANDLE__) ((__HANDLE__)->State = HAL_FMPSMBUS_STATE_RESET) -#endif /* USE_HAL_FMPSMBUS_REGISTER_CALLBACKS */ - -/** @brief Enable the specified FMPSMBUS interrupts. - * @param __HANDLE__ specifies the FMPSMBUS Handle. - * @param __INTERRUPT__ specifies the interrupt source to enable. - * This parameter can be one of the following values: - * @arg @ref FMPSMBUS_IT_ERRI Errors interrupt enable - * @arg @ref FMPSMBUS_IT_TCI Transfer complete interrupt enable - * @arg @ref FMPSMBUS_IT_STOPI STOP detection interrupt enable - * @arg @ref FMPSMBUS_IT_NACKI NACK received interrupt enable - * @arg @ref FMPSMBUS_IT_ADDRI Address match interrupt enable - * @arg @ref FMPSMBUS_IT_RXI RX interrupt enable - * @arg @ref FMPSMBUS_IT_TXI TX interrupt enable - * - * @retval None - */ -#define __HAL_FMPSMBUS_ENABLE_IT(__HANDLE__, __INTERRUPT__) ((__HANDLE__)->Instance->CR1 |= (__INTERRUPT__)) - -/** @brief Disable the specified FMPSMBUS interrupts. - * @param __HANDLE__ specifies the FMPSMBUS Handle. - * @param __INTERRUPT__ specifies the interrupt source to disable. - * This parameter can be one of the following values: - * @arg @ref FMPSMBUS_IT_ERRI Errors interrupt enable - * @arg @ref FMPSMBUS_IT_TCI Transfer complete interrupt enable - * @arg @ref FMPSMBUS_IT_STOPI STOP detection interrupt enable - * @arg @ref FMPSMBUS_IT_NACKI NACK received interrupt enable - * @arg @ref FMPSMBUS_IT_ADDRI Address match interrupt enable - * @arg @ref FMPSMBUS_IT_RXI RX interrupt enable - * @arg @ref FMPSMBUS_IT_TXI TX interrupt enable - * - * @retval None - */ -#define __HAL_FMPSMBUS_DISABLE_IT(__HANDLE__, __INTERRUPT__) ((__HANDLE__)->Instance->CR1 &= (~(__INTERRUPT__))) - -/** @brief Check whether the specified FMPSMBUS interrupt source is enabled or not. - * @param __HANDLE__ specifies the FMPSMBUS Handle. - * @param __INTERRUPT__ specifies the FMPSMBUS interrupt source to check. - * This parameter can be one of the following values: - * @arg @ref FMPSMBUS_IT_ERRI Errors interrupt enable - * @arg @ref FMPSMBUS_IT_TCI Transfer complete interrupt enable - * @arg @ref FMPSMBUS_IT_STOPI STOP detection interrupt enable - * @arg @ref FMPSMBUS_IT_NACKI NACK received interrupt enable - * @arg @ref FMPSMBUS_IT_ADDRI Address match interrupt enable - * @arg @ref FMPSMBUS_IT_RXI RX interrupt enable - * @arg @ref FMPSMBUS_IT_TXI TX interrupt enable - * - * @retval The new state of __IT__ (SET or RESET). - */ -#define __HAL_FMPSMBUS_GET_IT_SOURCE(__HANDLE__, __INTERRUPT__) \ - ((((__HANDLE__)->Instance->CR1 & (__INTERRUPT__)) == (__INTERRUPT__)) ? SET : RESET) - -/** @brief Check whether the specified FMPSMBUS flag is set or not. - * @param __HANDLE__ specifies the FMPSMBUS Handle. - * @param __FLAG__ specifies the flag to check. - * This parameter can be one of the following values: - * @arg @ref FMPSMBUS_FLAG_TXE Transmit data register empty - * @arg @ref FMPSMBUS_FLAG_TXIS Transmit interrupt status - * @arg @ref FMPSMBUS_FLAG_RXNE Receive data register not empty - * @arg @ref FMPSMBUS_FLAG_ADDR Address matched (slave mode) - * @arg @ref FMPSMBUS_FLAG_AF NACK received flag - * @arg @ref FMPSMBUS_FLAG_STOPF STOP detection flag - * @arg @ref FMPSMBUS_FLAG_TC Transfer complete (master mode) - * @arg @ref FMPSMBUS_FLAG_TCR Transfer complete reload - * @arg @ref FMPSMBUS_FLAG_BERR Bus error - * @arg @ref FMPSMBUS_FLAG_ARLO Arbitration lost - * @arg @ref FMPSMBUS_FLAG_OVR Overrun/Underrun - * @arg @ref FMPSMBUS_FLAG_PECERR PEC error in reception - * @arg @ref FMPSMBUS_FLAG_TIMEOUT Timeout or Tlow detection flag - * @arg @ref FMPSMBUS_FLAG_ALERT SMBus alert - * @arg @ref FMPSMBUS_FLAG_BUSY Bus busy - * @arg @ref FMPSMBUS_FLAG_DIR Transfer direction (slave mode) - * - * @retval The new state of __FLAG__ (SET or RESET). - */ -#define FMPSMBUS_FLAG_MASK (0x0001FFFFU) -#define __HAL_FMPSMBUS_GET_FLAG(__HANDLE__, __FLAG__) \ - (((((__HANDLE__)->Instance->ISR) & ((__FLAG__) & FMPSMBUS_FLAG_MASK)) == \ - ((__FLAG__) & FMPSMBUS_FLAG_MASK)) ? SET : RESET) - -/** @brief Clear the FMPSMBUS pending flags which are cleared by writing 1 in a specific bit. - * @param __HANDLE__ specifies the FMPSMBUS Handle. - * @param __FLAG__ specifies the flag to clear. - * This parameter can be any combination of the following values: - * @arg @ref FMPSMBUS_FLAG_ADDR Address matched (slave mode) - * @arg @ref FMPSMBUS_FLAG_AF NACK received flag - * @arg @ref FMPSMBUS_FLAG_STOPF STOP detection flag - * @arg @ref FMPSMBUS_FLAG_BERR Bus error - * @arg @ref FMPSMBUS_FLAG_ARLO Arbitration lost - * @arg @ref FMPSMBUS_FLAG_OVR Overrun/Underrun - * @arg @ref FMPSMBUS_FLAG_PECERR PEC error in reception - * @arg @ref FMPSMBUS_FLAG_TIMEOUT Timeout or Tlow detection flag - * @arg @ref FMPSMBUS_FLAG_ALERT SMBus alert - * - * @retval None - */ -#define __HAL_FMPSMBUS_CLEAR_FLAG(__HANDLE__, __FLAG__) ((__HANDLE__)->Instance->ICR = (__FLAG__)) - -/** @brief Enable the specified FMPSMBUS peripheral. - * @param __HANDLE__ specifies the FMPSMBUS Handle. - * @retval None - */ -#define __HAL_FMPSMBUS_ENABLE(__HANDLE__) (SET_BIT((__HANDLE__)->Instance->CR1, FMPI2C_CR1_PE)) - -/** @brief Disable the specified FMPSMBUS peripheral. - * @param __HANDLE__ specifies the FMPSMBUS Handle. - * @retval None - */ -#define __HAL_FMPSMBUS_DISABLE(__HANDLE__) (CLEAR_BIT((__HANDLE__)->Instance->CR1, FMPI2C_CR1_PE)) - -/** @brief Generate a Non-Acknowledge FMPSMBUS peripheral in Slave mode. - * @param __HANDLE__ specifies the FMPSMBUS Handle. - * @retval None - */ -#define __HAL_FMPSMBUS_GENERATE_NACK(__HANDLE__) (SET_BIT((__HANDLE__)->Instance->CR2, FMPI2C_CR2_NACK)) - -/** - * @} - */ - - -/* Private constants ---------------------------------------------------------*/ - -/* Private macros ------------------------------------------------------------*/ -/** @defgroup FMPSMBUS_Private_Macro FMPSMBUS Private Macros - * @{ - */ - -#define IS_FMPSMBUS_ANALOG_FILTER(FILTER) (((FILTER) == FMPSMBUS_ANALOGFILTER_ENABLE) || \ - ((FILTER) == FMPSMBUS_ANALOGFILTER_DISABLE)) - -#define IS_FMPSMBUS_DIGITAL_FILTER(FILTER) ((FILTER) <= 0x0000000FU) - -#define IS_FMPSMBUS_ADDRESSING_MODE(MODE) (((MODE) == FMPSMBUS_ADDRESSINGMODE_7BIT) || \ - ((MODE) == FMPSMBUS_ADDRESSINGMODE_10BIT)) - -#define IS_FMPSMBUS_DUAL_ADDRESS(ADDRESS) (((ADDRESS) == FMPSMBUS_DUALADDRESS_DISABLE) || \ - ((ADDRESS) == FMPSMBUS_DUALADDRESS_ENABLE)) - -#define IS_FMPSMBUS_OWN_ADDRESS2_MASK(MASK) (((MASK) == FMPSMBUS_OA2_NOMASK) || \ - ((MASK) == FMPSMBUS_OA2_MASK01) || \ - ((MASK) == FMPSMBUS_OA2_MASK02) || \ - ((MASK) == FMPSMBUS_OA2_MASK03) || \ - ((MASK) == FMPSMBUS_OA2_MASK04) || \ - ((MASK) == FMPSMBUS_OA2_MASK05) || \ - ((MASK) == FMPSMBUS_OA2_MASK06) || \ - ((MASK) == FMPSMBUS_OA2_MASK07)) - -#define IS_FMPSMBUS_GENERAL_CALL(CALL) (((CALL) == FMPSMBUS_GENERALCALL_DISABLE) || \ - ((CALL) == FMPSMBUS_GENERALCALL_ENABLE)) - -#define IS_FMPSMBUS_NO_STRETCH(STRETCH) (((STRETCH) == FMPSMBUS_NOSTRETCH_DISABLE) || \ - ((STRETCH) == FMPSMBUS_NOSTRETCH_ENABLE)) - -#define IS_FMPSMBUS_PEC(PEC) (((PEC) == FMPSMBUS_PEC_DISABLE) || \ - ((PEC) == FMPSMBUS_PEC_ENABLE)) - -#define IS_FMPSMBUS_PERIPHERAL_MODE(MODE) (((MODE) == FMPSMBUS_PERIPHERAL_MODE_FMPSMBUS_HOST) || \ - ((MODE) == FMPSMBUS_PERIPHERAL_MODE_FMPSMBUS_SLAVE) || \ - ((MODE) == FMPSMBUS_PERIPHERAL_MODE_FMPSMBUS_SLAVE_ARP)) - -#define IS_FMPSMBUS_TRANSFER_MODE(MODE) (((MODE) == FMPSMBUS_RELOAD_MODE) || \ - ((MODE) == FMPSMBUS_AUTOEND_MODE) || \ - ((MODE) == FMPSMBUS_SOFTEND_MODE) || \ - ((MODE) == FMPSMBUS_SENDPEC_MODE) || \ - ((MODE) == (FMPSMBUS_RELOAD_MODE | FMPSMBUS_SENDPEC_MODE)) || \ - ((MODE) == (FMPSMBUS_AUTOEND_MODE | FMPSMBUS_SENDPEC_MODE)) || \ - ((MODE) == (FMPSMBUS_AUTOEND_MODE | FMPSMBUS_RELOAD_MODE)) || \ - ((MODE) == (FMPSMBUS_AUTOEND_MODE | FMPSMBUS_SENDPEC_MODE | \ - FMPSMBUS_RELOAD_MODE ))) - - -#define IS_FMPSMBUS_TRANSFER_REQUEST(REQUEST) (((REQUEST) == FMPSMBUS_GENERATE_STOP) || \ - ((REQUEST) == FMPSMBUS_GENERATE_START_READ) || \ - ((REQUEST) == FMPSMBUS_GENERATE_START_WRITE) || \ - ((REQUEST) == FMPSMBUS_NO_STARTSTOP)) - - -#define IS_FMPSMBUS_TRANSFER_OPTIONS_REQUEST(REQUEST) (IS_FMPSMBUS_TRANSFER_OTHER_OPTIONS_REQUEST(REQUEST) || \ - ((REQUEST) == FMPSMBUS_FIRST_FRAME) || \ - ((REQUEST) == FMPSMBUS_NEXT_FRAME) || \ - ((REQUEST) == FMPSMBUS_FIRST_AND_LAST_FRAME_NO_PEC) || \ - ((REQUEST) == FMPSMBUS_LAST_FRAME_NO_PEC) || \ - ((REQUEST) == FMPSMBUS_FIRST_FRAME_WITH_PEC) || \ - ((REQUEST) == FMPSMBUS_FIRST_AND_LAST_FRAME_WITH_PEC) || \ - ((REQUEST) == FMPSMBUS_LAST_FRAME_WITH_PEC)) - -#define IS_FMPSMBUS_TRANSFER_OTHER_OPTIONS_REQUEST(REQUEST) (((REQUEST) == FMPSMBUS_OTHER_FRAME_NO_PEC) || \ - ((REQUEST) == FMPSMBUS_OTHER_AND_LAST_FRAME_NO_PEC) || \ - ((REQUEST) == FMPSMBUS_OTHER_FRAME_WITH_PEC) || \ - ((REQUEST) == FMPSMBUS_OTHER_AND_LAST_FRAME_WITH_PEC)) - -#define FMPSMBUS_RESET_CR1(__HANDLE__) ((__HANDLE__)->Instance->CR1 &= \ - (uint32_t)~((uint32_t)(FMPI2C_CR1_SMBHEN | FMPI2C_CR1_SMBDEN | \ - FMPI2C_CR1_PECEN))) -#define FMPSMBUS_RESET_CR2(__HANDLE__) ((__HANDLE__)->Instance->CR2 &= \ - (uint32_t)~((uint32_t)(FMPI2C_CR2_SADD | FMPI2C_CR2_HEAD10R | \ - FMPI2C_CR2_NBYTES | FMPI2C_CR2_RELOAD | \ - FMPI2C_CR2_RD_WRN))) - -#define FMPSMBUS_GENERATE_START(__ADDMODE__,__ADDRESS__) (((__ADDMODE__) == FMPSMBUS_ADDRESSINGMODE_7BIT) ? \ - (uint32_t)((((uint32_t)(__ADDRESS__) & (FMPI2C_CR2_SADD)) | \ - (FMPI2C_CR2_START) | (FMPI2C_CR2_AUTOEND)) & \ - (~FMPI2C_CR2_RD_WRN)) : \ - (uint32_t)((((uint32_t)(__ADDRESS__) & \ - (FMPI2C_CR2_SADD)) | (FMPI2C_CR2_ADD10) | \ - (FMPI2C_CR2_START)) & (~FMPI2C_CR2_RD_WRN))) - -#define FMPSMBUS_GET_ADDR_MATCH(__HANDLE__) (((__HANDLE__)->Instance->ISR & FMPI2C_ISR_ADDCODE) >> 17U) -#define FMPSMBUS_GET_DIR(__HANDLE__) (((__HANDLE__)->Instance->ISR & FMPI2C_ISR_DIR) >> 16U) -#define FMPSMBUS_GET_STOP_MODE(__HANDLE__) ((__HANDLE__)->Instance->CR2 & FMPI2C_CR2_AUTOEND) -#define FMPSMBUS_GET_PEC_MODE(__HANDLE__) ((__HANDLE__)->Instance->CR2 & FMPI2C_CR2_PECBYTE) -#define FMPSMBUS_GET_ALERT_ENABLED(__HANDLE__) ((__HANDLE__)->Instance->CR1 & FMPI2C_CR1_ALERTEN) - -#define FMPSMBUS_CHECK_FLAG(__ISR__, __FLAG__) ((((__ISR__) & ((__FLAG__) & FMPSMBUS_FLAG_MASK)) == \ - ((__FLAG__) & FMPSMBUS_FLAG_MASK)) ? SET : RESET) -#define FMPSMBUS_CHECK_IT_SOURCE(__CR1__, __IT__) ((((__CR1__) & (__IT__)) == (__IT__)) ? SET : RESET) - -#define IS_FMPSMBUS_OWN_ADDRESS1(ADDRESS1) ((ADDRESS1) <= 0x000003FFU) -#define IS_FMPSMBUS_OWN_ADDRESS2(ADDRESS2) ((ADDRESS2) <= (uint16_t)0x00FFU) - -/** - * @} - */ - -/* Include FMPSMBUS HAL Extended module */ -#include "stm32f4xx_hal_fmpsmbus_ex.h" - -/* Exported functions --------------------------------------------------------*/ -/** @addtogroup FMPSMBUS_Exported_Functions FMPSMBUS Exported Functions - * @{ - */ - -/** @addtogroup FMPSMBUS_Exported_Functions_Group1 Initialization and de-initialization functions - * @{ - */ - -/* Initialization and de-initialization functions ****************************/ -HAL_StatusTypeDef HAL_FMPSMBUS_Init(FMPSMBUS_HandleTypeDef *hfmpsmbus); -HAL_StatusTypeDef HAL_FMPSMBUS_DeInit(FMPSMBUS_HandleTypeDef *hfmpsmbus); -void HAL_FMPSMBUS_MspInit(FMPSMBUS_HandleTypeDef *hfmpsmbus); -void HAL_FMPSMBUS_MspDeInit(FMPSMBUS_HandleTypeDef *hfmpsmbus); -HAL_StatusTypeDef HAL_FMPSMBUS_ConfigAnalogFilter(FMPSMBUS_HandleTypeDef *hfmpsmbus, uint32_t AnalogFilter); -HAL_StatusTypeDef HAL_FMPSMBUS_ConfigDigitalFilter(FMPSMBUS_HandleTypeDef *hfmpsmbus, uint32_t DigitalFilter); - -/* Callbacks Register/UnRegister functions ***********************************/ -#if (USE_HAL_FMPSMBUS_REGISTER_CALLBACKS == 1) -HAL_StatusTypeDef HAL_FMPSMBUS_RegisterCallback(FMPSMBUS_HandleTypeDef *hfmpsmbus, - HAL_FMPSMBUS_CallbackIDTypeDef CallbackID, - pFMPSMBUS_CallbackTypeDef pCallback); -HAL_StatusTypeDef HAL_FMPSMBUS_UnRegisterCallback(FMPSMBUS_HandleTypeDef *hfmpsmbus, - HAL_FMPSMBUS_CallbackIDTypeDef CallbackID); - -HAL_StatusTypeDef HAL_FMPSMBUS_RegisterAddrCallback(FMPSMBUS_HandleTypeDef *hfmpsmbus, - pFMPSMBUS_AddrCallbackTypeDef pCallback); -HAL_StatusTypeDef HAL_FMPSMBUS_UnRegisterAddrCallback(FMPSMBUS_HandleTypeDef *hfmpsmbus); -#endif /* USE_HAL_FMPSMBUS_REGISTER_CALLBACKS */ -/** - * @} - */ - -/** @addtogroup FMPSMBUS_Exported_Functions_Group2 Input and Output operation functions - * @{ - */ - -/* IO operation functions *****************************************************/ -/** @addtogroup Blocking_mode_Polling Blocking mode Polling - * @{ - */ -/******* Blocking mode: Polling */ -HAL_StatusTypeDef HAL_FMPSMBUS_IsDeviceReady(FMPSMBUS_HandleTypeDef *hfmpsmbus, uint16_t DevAddress, uint32_t Trials, - uint32_t Timeout); -/** - * @} - */ - -/** @addtogroup Non-Blocking_mode_Interrupt Non-Blocking mode Interrupt - * @{ - */ -/******* Non-Blocking mode: Interrupt */ -HAL_StatusTypeDef HAL_FMPSMBUS_Master_Transmit_IT(FMPSMBUS_HandleTypeDef *hfmpsmbus, uint16_t DevAddress, - uint8_t *pData, uint16_t Size, uint32_t XferOptions); -HAL_StatusTypeDef HAL_FMPSMBUS_Master_Receive_IT(FMPSMBUS_HandleTypeDef *hfmpsmbus, uint16_t DevAddress, - uint8_t *pData, uint16_t Size, uint32_t XferOptions); -HAL_StatusTypeDef HAL_FMPSMBUS_Master_Abort_IT(FMPSMBUS_HandleTypeDef *hfmpsmbus, uint16_t DevAddress); -HAL_StatusTypeDef HAL_FMPSMBUS_Slave_Transmit_IT(FMPSMBUS_HandleTypeDef *hfmpsmbus, uint8_t *pData, uint16_t Size, - uint32_t XferOptions); -HAL_StatusTypeDef HAL_FMPSMBUS_Slave_Receive_IT(FMPSMBUS_HandleTypeDef *hfmpsmbus, uint8_t *pData, uint16_t Size, - uint32_t XferOptions); - -HAL_StatusTypeDef HAL_FMPSMBUS_EnableAlert_IT(FMPSMBUS_HandleTypeDef *hfmpsmbus); -HAL_StatusTypeDef HAL_FMPSMBUS_DisableAlert_IT(FMPSMBUS_HandleTypeDef *hfmpsmbus); -HAL_StatusTypeDef HAL_FMPSMBUS_EnableListen_IT(FMPSMBUS_HandleTypeDef *hfmpsmbus); -HAL_StatusTypeDef HAL_FMPSMBUS_DisableListen_IT(FMPSMBUS_HandleTypeDef *hfmpsmbus); -/** - * @} - */ - -/** @addtogroup FMPSMBUS_IRQ_Handler_and_Callbacks IRQ Handler and Callbacks - * @{ - */ -/******* FMPSMBUS IRQHandler and Callbacks used in non blocking modes (Interrupt) */ -void HAL_FMPSMBUS_EV_IRQHandler(FMPSMBUS_HandleTypeDef *hfmpsmbus); -void HAL_FMPSMBUS_ER_IRQHandler(FMPSMBUS_HandleTypeDef *hfmpsmbus); -void HAL_FMPSMBUS_MasterTxCpltCallback(FMPSMBUS_HandleTypeDef *hfmpsmbus); -void HAL_FMPSMBUS_MasterRxCpltCallback(FMPSMBUS_HandleTypeDef *hfmpsmbus); -void HAL_FMPSMBUS_SlaveTxCpltCallback(FMPSMBUS_HandleTypeDef *hfmpsmbus); -void HAL_FMPSMBUS_SlaveRxCpltCallback(FMPSMBUS_HandleTypeDef *hfmpsmbus); -void HAL_FMPSMBUS_AddrCallback(FMPSMBUS_HandleTypeDef *hfmpsmbus, uint8_t TransferDirection, uint16_t AddrMatchCode); -void HAL_FMPSMBUS_ListenCpltCallback(FMPSMBUS_HandleTypeDef *hfmpsmbus); -void HAL_FMPSMBUS_ErrorCallback(FMPSMBUS_HandleTypeDef *hfmpsmbus); - -/** - * @} - */ - -/** @addtogroup FMPSMBUS_Exported_Functions_Group3 Peripheral State and Errors functions - * @{ - */ - -/* Peripheral State and Errors functions **************************************************/ -uint32_t HAL_FMPSMBUS_GetState(FMPSMBUS_HandleTypeDef *hfmpsmbus); -uint32_t HAL_FMPSMBUS_GetError(FMPSMBUS_HandleTypeDef *hfmpsmbus); - -/** - * @} - */ - -/** - * @} - */ - -/* Private Functions ---------------------------------------------------------*/ -/** @defgroup FMPSMBUS_Private_Functions FMPSMBUS Private Functions - * @{ - */ -/* Private functions are defined in stm32f4xx_hal_fmpsmbus.c file */ -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ - -#endif /* FMPI2C_CR1_PE */ -#ifdef __cplusplus -} -#endif - - -#endif /* STM32F4xx_HAL_FMPSMBUS_H */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_fmpsmbus_ex.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_fmpsmbus_ex.h deleted file mode 100644 index d5439e7ce8aee0..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_fmpsmbus_ex.h +++ /dev/null @@ -1,139 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_fmpsmbus_ex.h - * @author MCD Application Team - * @brief Header file of FMPSMBUS HAL Extended module. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef STM32F4xx_HAL_FMPSMBUS_EX_H -#define STM32F4xx_HAL_FMPSMBUS_EX_H - -#ifdef __cplusplus -extern "C" { -#endif - -#if defined(FMPI2C_CR1_PE) -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal_def.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @addtogroup FMPSMBUSEx - * @{ - */ - -/* Exported types ------------------------------------------------------------*/ -/* Exported constants --------------------------------------------------------*/ -/** @defgroup FMPSMBUSEx_Exported_Constants FMPSMBUS Extended Exported Constants - * @{ - */ - -/** @defgroup FMPSMBUSEx_FastModePlus FMPSMBUS Extended Fast Mode Plus - * @{ - */ -#define FMPSMBUS_FASTMODEPLUS_SCL SYSCFG_CFGR_FMPI2C1_SCL /*!< Enable Fast Mode Plus on FMPI2C1 SCL pins */ -#define FMPSMBUS_FASTMODEPLUS_SDA SYSCFG_CFGR_FMPI2C1_SDA /*!< Enable Fast Mode Plus on FMPI2C1 SDA pins */ -/** - * @} - */ - -/** - * @} - */ - -/* Exported macro ------------------------------------------------------------*/ -/** @defgroup FMPSMBUSEx_Exported_Macros FMPSMBUS Extended Exported Macros - * @{ - */ - -/** - * @} - */ - -/* Exported functions --------------------------------------------------------*/ -/** @addtogroup FMPSMBUSEx_Exported_Functions FMPSMBUS Extended Exported Functions - * @{ - */ - -/** @addtogroup FMPSMBUSEx_Exported_Functions_Group2 WakeUp Mode Functions - * @{ - */ -/* Peripheral Control functions ************************************************/ -/** - * @} - */ - -/** @addtogroup FMPSMBUSEx_Exported_Functions_Group3 Fast Mode Plus Functions - * @{ - */ -void HAL_FMPSMBUSEx_EnableFastModePlus(uint32_t ConfigFastModePlus); -void HAL_FMPSMBUSEx_DisableFastModePlus(uint32_t ConfigFastModePlus); -/** - * @} - */ - -/** - * @} - */ - -/* Private constants ---------------------------------------------------------*/ -/** @defgroup FMPSMBUSEx_Private_Constants FMPSMBUS Extended Private Constants - * @{ - */ - -/** - * @} - */ - -/* Private macros ------------------------------------------------------------*/ -/** @defgroup FMPSMBUSEx_Private_Macro FMPSMBUS Extended Private Macros - * @{ - */ -#define IS_FMPSMBUS_FASTMODEPLUS(__CONFIG__) ((((__CONFIG__) & (FMPSMBUS_FASTMODEPLUS_SCL)) == \ - FMPSMBUS_FASTMODEPLUS_SCL) || \ - (((__CONFIG__) & (FMPSMBUS_FASTMODEPLUS_SDA)) == \ - FMPSMBUS_FASTMODEPLUS_SDA)) -/** - * @} - */ - -/* Private Functions ---------------------------------------------------------*/ -/** @defgroup FMPSMBUSEx_Private_Functions FMPSMBUS Extended Private Functions - * @{ - */ -/* Private functions are defined in stm32f4xx_hal_fmpsmbus_ex.c file */ -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ - -#endif /* FMPI2C_CR1_PE */ -#ifdef __cplusplus -} -#endif - -#endif /* STM32F4xx_HAL_FMPSMBUS_EX_H */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h deleted file mode 100644 index cacfdee235c536..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h +++ /dev/null @@ -1,327 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_gpio.h - * @author MCD Application Team - * @brief Header file of GPIO HAL module. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef __STM32F4xx_HAL_GPIO_H -#define __STM32F4xx_HAL_GPIO_H - -#ifdef __cplusplus - extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal_def.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @addtogroup GPIO - * @{ - */ - -/* Exported types ------------------------------------------------------------*/ -/** @defgroup GPIO_Exported_Types GPIO Exported Types - * @{ - */ - -/** - * @brief GPIO Init structure definition - */ -typedef struct -{ - uint32_t Pin; /*!< Specifies the GPIO pins to be configured. - This parameter can be any value of @ref GPIO_pins_define */ - - uint32_t Mode; /*!< Specifies the operating mode for the selected pins. - This parameter can be a value of @ref GPIO_mode_define */ - - uint32_t Pull; /*!< Specifies the Pull-up or Pull-Down activation for the selected pins. - This parameter can be a value of @ref GPIO_pull_define */ - - uint32_t Speed; /*!< Specifies the speed for the selected pins. - This parameter can be a value of @ref GPIO_speed_define */ - - uint32_t Alternate; /*!< Peripheral to be connected to the selected pins. - This parameter can be a value of @ref GPIO_Alternate_function_selection */ -}GPIO_InitTypeDef; - -/** - * @brief GPIO Bit SET and Bit RESET enumeration - */ -typedef enum -{ - GPIO_PIN_RESET = 0, - GPIO_PIN_SET -}GPIO_PinState; -/** - * @} - */ - -/* Exported constants --------------------------------------------------------*/ - -/** @defgroup GPIO_Exported_Constants GPIO Exported Constants - * @{ - */ - -/** @defgroup GPIO_pins_define GPIO pins define - * @{ - */ -#define GPIO_PIN_0 ((uint16_t)0x0001) /* Pin 0 selected */ -#define GPIO_PIN_1 ((uint16_t)0x0002) /* Pin 1 selected */ -#define GPIO_PIN_2 ((uint16_t)0x0004) /* Pin 2 selected */ -#define GPIO_PIN_3 ((uint16_t)0x0008) /* Pin 3 selected */ -#define GPIO_PIN_4 ((uint16_t)0x0010) /* Pin 4 selected */ -#define GPIO_PIN_5 ((uint16_t)0x0020) /* Pin 5 selected */ -#define GPIO_PIN_6 ((uint16_t)0x0040) /* Pin 6 selected */ -#define GPIO_PIN_7 ((uint16_t)0x0080) /* Pin 7 selected */ -#define GPIO_PIN_8 ((uint16_t)0x0100) /* Pin 8 selected */ -#define GPIO_PIN_9 ((uint16_t)0x0200) /* Pin 9 selected */ -#define GPIO_PIN_10 ((uint16_t)0x0400) /* Pin 10 selected */ -#define GPIO_PIN_11 ((uint16_t)0x0800) /* Pin 11 selected */ -#define GPIO_PIN_12 ((uint16_t)0x1000) /* Pin 12 selected */ -#define GPIO_PIN_13 ((uint16_t)0x2000) /* Pin 13 selected */ -#define GPIO_PIN_14 ((uint16_t)0x4000) /* Pin 14 selected */ -#define GPIO_PIN_15 ((uint16_t)0x8000) /* Pin 15 selected */ -#define GPIO_PIN_All ((uint16_t)0xFFFF) /* All pins selected */ - -#define GPIO_PIN_MASK 0x0000FFFFU /* PIN mask for assert test */ -/** - * @} - */ - -/** @defgroup GPIO_mode_define GPIO mode define - * @brief GPIO Configuration Mode - * Elements values convention: 0x00WX00YZ - * - W : EXTI trigger detection on 3 bits - * - X : EXTI mode (IT or Event) on 2 bits - * - Y : Output type (Push Pull or Open Drain) on 1 bit - * - Z : GPIO mode (Input, Output, Alternate or Analog) on 2 bits - * @{ - */ -#define GPIO_MODE_INPUT MODE_INPUT /*!< Input Floating Mode */ -#define GPIO_MODE_OUTPUT_PP (MODE_OUTPUT | OUTPUT_PP) /*!< Output Push Pull Mode */ -#define GPIO_MODE_OUTPUT_OD (MODE_OUTPUT | OUTPUT_OD) /*!< Output Open Drain Mode */ -#define GPIO_MODE_AF_PP (MODE_AF | OUTPUT_PP) /*!< Alternate Function Push Pull Mode */ -#define GPIO_MODE_AF_OD (MODE_AF | OUTPUT_OD) /*!< Alternate Function Open Drain Mode */ - -#define GPIO_MODE_ANALOG MODE_ANALOG /*!< Analog Mode */ - -#define GPIO_MODE_IT_RISING (MODE_INPUT | EXTI_IT | TRIGGER_RISING) /*!< External Interrupt Mode with Rising edge trigger detection */ -#define GPIO_MODE_IT_FALLING (MODE_INPUT | EXTI_IT | TRIGGER_FALLING) /*!< External Interrupt Mode with Falling edge trigger detection */ -#define GPIO_MODE_IT_RISING_FALLING (MODE_INPUT | EXTI_IT | TRIGGER_RISING | TRIGGER_FALLING) /*!< External Interrupt Mode with Rising/Falling edge trigger detection */ - -#define GPIO_MODE_EVT_RISING (MODE_INPUT | EXTI_EVT | TRIGGER_RISING) /*!< External Event Mode with Rising edge trigger detection */ -#define GPIO_MODE_EVT_FALLING (MODE_INPUT | EXTI_EVT | TRIGGER_FALLING) /*!< External Event Mode with Falling edge trigger detection */ -#define GPIO_MODE_EVT_RISING_FALLING (MODE_INPUT | EXTI_EVT | TRIGGER_RISING | TRIGGER_FALLING) /*!< External Event Mode with Rising/Falling edge trigger detection */ - -/** - * @} - */ - -/** @defgroup GPIO_speed_define GPIO speed define - * @brief GPIO Output Maximum frequency - * @{ - */ -#define GPIO_SPEED_FREQ_LOW 0x00000000U /*!< IO works at 2 MHz, please refer to the product datasheet */ -#define GPIO_SPEED_FREQ_MEDIUM 0x00000001U /*!< range 12,5 MHz to 50 MHz, please refer to the product datasheet */ -#define GPIO_SPEED_FREQ_HIGH 0x00000002U /*!< range 25 MHz to 100 MHz, please refer to the product datasheet */ -#define GPIO_SPEED_FREQ_VERY_HIGH 0x00000003U /*!< range 50 MHz to 200 MHz, please refer to the product datasheet */ -/** - * @} - */ - - /** @defgroup GPIO_pull_define GPIO pull define - * @brief GPIO Pull-Up or Pull-Down Activation - * @{ - */ -#define GPIO_NOPULL 0x00000000U /*!< No Pull-up or Pull-down activation */ -#define GPIO_PULLUP 0x00000001U /*!< Pull-up activation */ -#define GPIO_PULLDOWN 0x00000002U /*!< Pull-down activation */ -/** - * @} - */ - -/** - * @} - */ - -/* Exported macro ------------------------------------------------------------*/ -/** @defgroup GPIO_Exported_Macros GPIO Exported Macros - * @{ - */ - -/** - * @brief Checks whether the specified EXTI line flag is set or not. - * @param __EXTI_LINE__ specifies the EXTI line flag to check. - * This parameter can be GPIO_PIN_x where x can be(0..15) - * @retval The new state of __EXTI_LINE__ (SET or RESET). - */ -#define __HAL_GPIO_EXTI_GET_FLAG(__EXTI_LINE__) (EXTI->PR & (__EXTI_LINE__)) - -/** - * @brief Clears the EXTI's line pending flags. - * @param __EXTI_LINE__ specifies the EXTI lines flags to clear. - * This parameter can be any combination of GPIO_PIN_x where x can be (0..15) - * @retval None - */ -#define __HAL_GPIO_EXTI_CLEAR_FLAG(__EXTI_LINE__) (EXTI->PR = (__EXTI_LINE__)) - -/** - * @brief Checks whether the specified EXTI line is asserted or not. - * @param __EXTI_LINE__ specifies the EXTI line to check. - * This parameter can be GPIO_PIN_x where x can be(0..15) - * @retval The new state of __EXTI_LINE__ (SET or RESET). - */ -#define __HAL_GPIO_EXTI_GET_IT(__EXTI_LINE__) (EXTI->PR & (__EXTI_LINE__)) - -/** - * @brief Clears the EXTI's line pending bits. - * @param __EXTI_LINE__ specifies the EXTI lines to clear. - * This parameter can be any combination of GPIO_PIN_x where x can be (0..15) - * @retval None - */ -#define __HAL_GPIO_EXTI_CLEAR_IT(__EXTI_LINE__) (EXTI->PR = (__EXTI_LINE__)) - -/** - * @brief Generates a Software interrupt on selected EXTI line. - * @param __EXTI_LINE__ specifies the EXTI line to check. - * This parameter can be GPIO_PIN_x where x can be(0..15) - * @retval None - */ -#define __HAL_GPIO_EXTI_GENERATE_SWIT(__EXTI_LINE__) (EXTI->SWIER |= (__EXTI_LINE__)) -/** - * @} - */ - -/* Include GPIO HAL Extension module */ -#include "stm32f4xx_hal_gpio_ex.h" - -/* Exported functions --------------------------------------------------------*/ -/** @addtogroup GPIO_Exported_Functions - * @{ - */ - -/** @addtogroup GPIO_Exported_Functions_Group1 - * @{ - */ -/* Initialization and de-initialization functions *****************************/ -void HAL_GPIO_Init(GPIO_TypeDef *GPIOx, GPIO_InitTypeDef *GPIO_Init); -void HAL_GPIO_DeInit(GPIO_TypeDef *GPIOx, uint32_t GPIO_Pin); -/** - * @} - */ - -/** @addtogroup GPIO_Exported_Functions_Group2 - * @{ - */ -/* IO operation functions *****************************************************/ -GPIO_PinState HAL_GPIO_ReadPin(GPIO_TypeDef* GPIOx, uint16_t GPIO_Pin); -void HAL_GPIO_WritePin(GPIO_TypeDef* GPIOx, uint16_t GPIO_Pin, GPIO_PinState PinState); -void HAL_GPIO_TogglePin(GPIO_TypeDef* GPIOx, uint16_t GPIO_Pin); -HAL_StatusTypeDef HAL_GPIO_LockPin(GPIO_TypeDef* GPIOx, uint16_t GPIO_Pin); -void HAL_GPIO_EXTI_IRQHandler(uint16_t GPIO_Pin); -void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin); - -/** - * @} - */ - -/** - * @} - */ -/* Private types -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private constants ---------------------------------------------------------*/ -/** @defgroup GPIO_Private_Constants GPIO Private Constants - * @{ - */ -#define GPIO_MODE_Pos 0U -#define GPIO_MODE (0x3UL << GPIO_MODE_Pos) -#define MODE_INPUT (0x0UL << GPIO_MODE_Pos) -#define MODE_OUTPUT (0x1UL << GPIO_MODE_Pos) -#define MODE_AF (0x2UL << GPIO_MODE_Pos) -#define MODE_ANALOG (0x3UL << GPIO_MODE_Pos) -#define OUTPUT_TYPE_Pos 4U -#define OUTPUT_TYPE (0x1UL << OUTPUT_TYPE_Pos) -#define OUTPUT_PP (0x0UL << OUTPUT_TYPE_Pos) -#define OUTPUT_OD (0x1UL << OUTPUT_TYPE_Pos) -#define EXTI_MODE_Pos 16U -#define EXTI_MODE (0x3UL << EXTI_MODE_Pos) -#define EXTI_IT (0x1UL << EXTI_MODE_Pos) -#define EXTI_EVT (0x2UL << EXTI_MODE_Pos) -#define TRIGGER_MODE_Pos 20U -#define TRIGGER_MODE (0x7UL << TRIGGER_MODE_Pos) -#define TRIGGER_RISING (0x1UL << TRIGGER_MODE_Pos) -#define TRIGGER_FALLING (0x2UL << TRIGGER_MODE_Pos) - -/** - * @} - */ - -/* Private macros ------------------------------------------------------------*/ -/** @defgroup GPIO_Private_Macros GPIO Private Macros - * @{ - */ -#define IS_GPIO_PIN_ACTION(ACTION) (((ACTION) == GPIO_PIN_RESET) || ((ACTION) == GPIO_PIN_SET)) -#define IS_GPIO_PIN(PIN) (((((uint32_t)PIN) & GPIO_PIN_MASK ) != 0x00U) && ((((uint32_t)PIN) & ~GPIO_PIN_MASK) == 0x00U)) -#define IS_GPIO_MODE(MODE) (((MODE) == GPIO_MODE_INPUT) ||\ - ((MODE) == GPIO_MODE_OUTPUT_PP) ||\ - ((MODE) == GPIO_MODE_OUTPUT_OD) ||\ - ((MODE) == GPIO_MODE_AF_PP) ||\ - ((MODE) == GPIO_MODE_AF_OD) ||\ - ((MODE) == GPIO_MODE_IT_RISING) ||\ - ((MODE) == GPIO_MODE_IT_FALLING) ||\ - ((MODE) == GPIO_MODE_IT_RISING_FALLING) ||\ - ((MODE) == GPIO_MODE_EVT_RISING) ||\ - ((MODE) == GPIO_MODE_EVT_FALLING) ||\ - ((MODE) == GPIO_MODE_EVT_RISING_FALLING) ||\ - ((MODE) == GPIO_MODE_ANALOG)) -#define IS_GPIO_SPEED(SPEED) (((SPEED) == GPIO_SPEED_FREQ_LOW) || ((SPEED) == GPIO_SPEED_FREQ_MEDIUM) || \ - ((SPEED) == GPIO_SPEED_FREQ_HIGH) || ((SPEED) == GPIO_SPEED_FREQ_VERY_HIGH)) -#define IS_GPIO_PULL(PULL) (((PULL) == GPIO_NOPULL) || ((PULL) == GPIO_PULLUP) || \ - ((PULL) == GPIO_PULLDOWN)) -/** - * @} - */ - -/* Private functions ---------------------------------------------------------*/ -/** @defgroup GPIO_Private_Functions GPIO Private Functions - * @{ - */ - -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ - -#ifdef __cplusplus -} -#endif - -#endif /* __STM32F4xx_HAL_GPIO_H */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h deleted file mode 100644 index 7db36ccaecf591..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio_ex.h +++ /dev/null @@ -1,1592 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_gpio_ex.h - * @author MCD Application Team - * @brief Header file of GPIO HAL Extension module. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef __STM32F4xx_HAL_GPIO_EX_H -#define __STM32F4xx_HAL_GPIO_EX_H - -#ifdef __cplusplus - extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal_def.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @defgroup GPIOEx GPIOEx - * @{ - */ - -/* Exported types ------------------------------------------------------------*/ -/* Exported constants --------------------------------------------------------*/ -/** @defgroup GPIOEx_Exported_Constants GPIO Exported Constants - * @{ - */ - -/** @defgroup GPIO_Alternate_function_selection GPIO Alternate Function Selection - * @{ - */ - -/*------------------------------------------ STM32F429xx/STM32F439xx ---------*/ -#if defined(STM32F429xx) || defined(STM32F439xx) -/** - * @brief AF 0 selection - */ -#define GPIO_AF0_RTC_50Hz ((uint8_t)0x00) /* RTC_50Hz Alternate Function mapping */ -#define GPIO_AF0_MCO ((uint8_t)0x00) /* MCO (MCO1 and MCO2) Alternate Function mapping */ -#define GPIO_AF0_TAMPER ((uint8_t)0x00) /* TAMPER (TAMPER_1 and TAMPER_2) Alternate Function mapping */ -#define GPIO_AF0_SWJ ((uint8_t)0x00) /* SWJ (SWD and JTAG) Alternate Function mapping */ -#define GPIO_AF0_TRACE ((uint8_t)0x00) /* TRACE Alternate Function mapping */ - -/** - * @brief AF 1 selection - */ -#define GPIO_AF1_TIM1 ((uint8_t)0x01) /* TIM1 Alternate Function mapping */ -#define GPIO_AF1_TIM2 ((uint8_t)0x01) /* TIM2 Alternate Function mapping */ - -/** - * @brief AF 2 selection - */ -#define GPIO_AF2_TIM3 ((uint8_t)0x02) /* TIM3 Alternate Function mapping */ -#define GPIO_AF2_TIM4 ((uint8_t)0x02) /* TIM4 Alternate Function mapping */ -#define GPIO_AF2_TIM5 ((uint8_t)0x02) /* TIM5 Alternate Function mapping */ - -/** - * @brief AF 3 selection - */ -#define GPIO_AF3_TIM8 ((uint8_t)0x03) /* TIM8 Alternate Function mapping */ -#define GPIO_AF3_TIM9 ((uint8_t)0x03) /* TIM9 Alternate Function mapping */ -#define GPIO_AF3_TIM10 ((uint8_t)0x03) /* TIM10 Alternate Function mapping */ -#define GPIO_AF3_TIM11 ((uint8_t)0x03) /* TIM11 Alternate Function mapping */ - -/** - * @brief AF 4 selection - */ -#define GPIO_AF4_I2C1 ((uint8_t)0x04) /* I2C1 Alternate Function mapping */ -#define GPIO_AF4_I2C2 ((uint8_t)0x04) /* I2C2 Alternate Function mapping */ -#define GPIO_AF4_I2C3 ((uint8_t)0x04) /* I2C3 Alternate Function mapping */ - -/** - * @brief AF 5 selection - */ -#define GPIO_AF5_SPI1 ((uint8_t)0x05) /* SPI1 Alternate Function mapping */ -#define GPIO_AF5_SPI2 ((uint8_t)0x05) /* SPI2/I2S2 Alternate Function mapping */ -#define GPIO_AF5_SPI3 ((uint8_t)0x05) /* SPI3/I2S3 Alternate Function mapping */ -#define GPIO_AF5_SPI4 ((uint8_t)0x05) /* SPI4 Alternate Function mapping */ -#define GPIO_AF5_SPI5 ((uint8_t)0x05) /* SPI5 Alternate Function mapping */ -#define GPIO_AF5_SPI6 ((uint8_t)0x05) /* SPI6 Alternate Function mapping */ -#define GPIO_AF5_I2S3ext ((uint8_t)0x05) /* I2S3ext_SD Alternate Function mapping */ - -/** - * @brief AF 6 selection - */ -#define GPIO_AF6_SPI3 ((uint8_t)0x06) /* SPI3/I2S3 Alternate Function mapping */ -#define GPIO_AF6_I2S2ext ((uint8_t)0x06) /* I2S2ext_SD Alternate Function mapping */ -#define GPIO_AF6_SAI1 ((uint8_t)0x06) /* SAI1 Alternate Function mapping */ - -/** - * @brief AF 7 selection - */ -#define GPIO_AF7_USART1 ((uint8_t)0x07) /* USART1 Alternate Function mapping */ -#define GPIO_AF7_USART2 ((uint8_t)0x07) /* USART2 Alternate Function mapping */ -#define GPIO_AF7_USART3 ((uint8_t)0x07) /* USART3 Alternate Function mapping */ -#define GPIO_AF7_I2S3ext ((uint8_t)0x07) /* I2S3ext_SD Alternate Function mapping */ - -/** - * @brief AF 8 selection - */ -#define GPIO_AF8_UART4 ((uint8_t)0x08) /* UART4 Alternate Function mapping */ -#define GPIO_AF8_UART5 ((uint8_t)0x08) /* UART5 Alternate Function mapping */ -#define GPIO_AF8_USART6 ((uint8_t)0x08) /* USART6 Alternate Function mapping */ -#define GPIO_AF8_UART7 ((uint8_t)0x08) /* UART7 Alternate Function mapping */ -#define GPIO_AF8_UART8 ((uint8_t)0x08) /* UART8 Alternate Function mapping */ - -/** - * @brief AF 9 selection - */ -#define GPIO_AF9_CAN1 ((uint8_t)0x09) /* CAN1 Alternate Function mapping */ -#define GPIO_AF9_CAN2 ((uint8_t)0x09) /* CAN2 Alternate Function mapping */ -#define GPIO_AF9_TIM12 ((uint8_t)0x09) /* TIM12 Alternate Function mapping */ -#define GPIO_AF9_TIM13 ((uint8_t)0x09) /* TIM13 Alternate Function mapping */ -#define GPIO_AF9_TIM14 ((uint8_t)0x09) /* TIM14 Alternate Function mapping */ -#define GPIO_AF9_LTDC ((uint8_t)0x09) /* LCD-TFT Alternate Function mapping */ - -/** - * @brief AF 10 selection - */ -#define GPIO_AF10_OTG_FS ((uint8_t)0x0A) /* OTG_FS Alternate Function mapping */ -#define GPIO_AF10_OTG_HS ((uint8_t)0x0A) /* OTG_HS Alternate Function mapping */ - -/** - * @brief AF 11 selection - */ -#define GPIO_AF11_ETH ((uint8_t)0x0B) /* ETHERNET Alternate Function mapping */ - -/** - * @brief AF 12 selection - */ -#define GPIO_AF12_FMC ((uint8_t)0x0C) /* FMC Alternate Function mapping */ -#define GPIO_AF12_OTG_HS_FS ((uint8_t)0x0C) /* OTG HS configured in FS, Alternate Function mapping */ -#define GPIO_AF12_SDIO ((uint8_t)0x0C) /* SDIO Alternate Function mapping */ - -/** - * @brief AF 13 selection - */ -#define GPIO_AF13_DCMI ((uint8_t)0x0D) /* DCMI Alternate Function mapping */ - -/** - * @brief AF 14 selection - */ -#define GPIO_AF14_LTDC ((uint8_t)0x0E) /* LCD-TFT Alternate Function mapping */ - -/** - * @brief AF 15 selection - */ -#define GPIO_AF15_EVENTOUT ((uint8_t)0x0F) /* EVENTOUT Alternate Function mapping */ -#endif /* STM32F429xx || STM32F439xx */ -/*----------------------------------------------------------------------------*/ - -/*---------------------------------- STM32F427xx/STM32F437xx------------------*/ -#if defined(STM32F427xx) || defined(STM32F437xx) -/** - * @brief AF 0 selection - */ -#define GPIO_AF0_RTC_50Hz ((uint8_t)0x00) /* RTC_50Hz Alternate Function mapping */ -#define GPIO_AF0_MCO ((uint8_t)0x00) /* MCO (MCO1 and MCO2) Alternate Function mapping */ -#define GPIO_AF0_TAMPER ((uint8_t)0x00) /* TAMPER (TAMPER_1 and TAMPER_2) Alternate Function mapping */ -#define GPIO_AF0_SWJ ((uint8_t)0x00) /* SWJ (SWD and JTAG) Alternate Function mapping */ -#define GPIO_AF0_TRACE ((uint8_t)0x00) /* TRACE Alternate Function mapping */ - -/** - * @brief AF 1 selection - */ -#define GPIO_AF1_TIM1 ((uint8_t)0x01) /* TIM1 Alternate Function mapping */ -#define GPIO_AF1_TIM2 ((uint8_t)0x01) /* TIM2 Alternate Function mapping */ - -/** - * @brief AF 2 selection - */ -#define GPIO_AF2_TIM3 ((uint8_t)0x02) /* TIM3 Alternate Function mapping */ -#define GPIO_AF2_TIM4 ((uint8_t)0x02) /* TIM4 Alternate Function mapping */ -#define GPIO_AF2_TIM5 ((uint8_t)0x02) /* TIM5 Alternate Function mapping */ - -/** - * @brief AF 3 selection - */ -#define GPIO_AF3_TIM8 ((uint8_t)0x03) /* TIM8 Alternate Function mapping */ -#define GPIO_AF3_TIM9 ((uint8_t)0x03) /* TIM9 Alternate Function mapping */ -#define GPIO_AF3_TIM10 ((uint8_t)0x03) /* TIM10 Alternate Function mapping */ -#define GPIO_AF3_TIM11 ((uint8_t)0x03) /* TIM11 Alternate Function mapping */ - -/** - * @brief AF 4 selection - */ -#define GPIO_AF4_I2C1 ((uint8_t)0x04) /* I2C1 Alternate Function mapping */ -#define GPIO_AF4_I2C2 ((uint8_t)0x04) /* I2C2 Alternate Function mapping */ -#define GPIO_AF4_I2C3 ((uint8_t)0x04) /* I2C3 Alternate Function mapping */ - -/** - * @brief AF 5 selection - */ -#define GPIO_AF5_SPI1 ((uint8_t)0x05) /* SPI1 Alternate Function mapping */ -#define GPIO_AF5_SPI2 ((uint8_t)0x05) /* SPI2/I2S2 Alternate Function mapping */ -#define GPIO_AF5_SPI3 ((uint8_t)0x05) /* SPI3/I2S3 Alternate Function mapping */ -#define GPIO_AF5_SPI4 ((uint8_t)0x05) /* SPI4 Alternate Function mapping */ -#define GPIO_AF5_SPI5 ((uint8_t)0x05) /* SPI5 Alternate Function mapping */ -#define GPIO_AF5_SPI6 ((uint8_t)0x05) /* SPI6 Alternate Function mapping */ -/** @brief GPIO_Legacy - */ -#define GPIO_AF5_I2S3ext GPIO_AF5_SPI3 /* I2S3ext_SD Alternate Function mapping */ - -/** - * @brief AF 6 selection - */ -#define GPIO_AF6_SPI3 ((uint8_t)0x06) /* SPI3/I2S3 Alternate Function mapping */ -#define GPIO_AF6_I2S2ext ((uint8_t)0x06) /* I2S2ext_SD Alternate Function mapping */ -#define GPIO_AF6_SAI1 ((uint8_t)0x06) /* SAI1 Alternate Function mapping */ - -/** - * @brief AF 7 selection - */ -#define GPIO_AF7_USART1 ((uint8_t)0x07) /* USART1 Alternate Function mapping */ -#define GPIO_AF7_USART2 ((uint8_t)0x07) /* USART2 Alternate Function mapping */ -#define GPIO_AF7_USART3 ((uint8_t)0x07) /* USART3 Alternate Function mapping */ -#define GPIO_AF7_I2S3ext ((uint8_t)0x07) /* I2S3ext_SD Alternate Function mapping */ - -/** - * @brief AF 8 selection - */ -#define GPIO_AF8_UART4 ((uint8_t)0x08) /* UART4 Alternate Function mapping */ -#define GPIO_AF8_UART5 ((uint8_t)0x08) /* UART5 Alternate Function mapping */ -#define GPIO_AF8_USART6 ((uint8_t)0x08) /* USART6 Alternate Function mapping */ -#define GPIO_AF8_UART7 ((uint8_t)0x08) /* UART7 Alternate Function mapping */ -#define GPIO_AF8_UART8 ((uint8_t)0x08) /* UART8 Alternate Function mapping */ - -/** - * @brief AF 9 selection - */ -#define GPIO_AF9_CAN1 ((uint8_t)0x09) /* CAN1 Alternate Function mapping */ -#define GPIO_AF9_CAN2 ((uint8_t)0x09) /* CAN2 Alternate Function mapping */ -#define GPIO_AF9_TIM12 ((uint8_t)0x09) /* TIM12 Alternate Function mapping */ -#define GPIO_AF9_TIM13 ((uint8_t)0x09) /* TIM13 Alternate Function mapping */ -#define GPIO_AF9_TIM14 ((uint8_t)0x09) /* TIM14 Alternate Function mapping */ - -/** - * @brief AF 10 selection - */ -#define GPIO_AF10_OTG_FS ((uint8_t)0x0A) /* OTG_FS Alternate Function mapping */ -#define GPIO_AF10_OTG_HS ((uint8_t)0x0A) /* OTG_HS Alternate Function mapping */ - -/** - * @brief AF 11 selection - */ -#define GPIO_AF11_ETH ((uint8_t)0x0B) /* ETHERNET Alternate Function mapping */ - -/** - * @brief AF 12 selection - */ -#define GPIO_AF12_FMC ((uint8_t)0x0C) /* FMC Alternate Function mapping */ -#define GPIO_AF12_OTG_HS_FS ((uint8_t)0x0C) /* OTG HS configured in FS, Alternate Function mapping */ -#define GPIO_AF12_SDIO ((uint8_t)0x0C) /* SDIO Alternate Function mapping */ - -/** - * @brief AF 13 selection - */ -#define GPIO_AF13_DCMI ((uint8_t)0x0D) /* DCMI Alternate Function mapping */ - -/** - * @brief AF 15 selection - */ -#define GPIO_AF15_EVENTOUT ((uint8_t)0x0F) /* EVENTOUT Alternate Function mapping */ -#endif /* STM32F427xx || STM32F437xx */ -/*----------------------------------------------------------------------------*/ - -/*---------------------------------- STM32F407xx/STM32F417xx------------------*/ -#if defined(STM32F407xx) || defined(STM32F417xx) -/** - * @brief AF 0 selection - */ -#define GPIO_AF0_RTC_50Hz ((uint8_t)0x00) /* RTC_50Hz Alternate Function mapping */ -#define GPIO_AF0_MCO ((uint8_t)0x00) /* MCO (MCO1 and MCO2) Alternate Function mapping */ -#define GPIO_AF0_TAMPER ((uint8_t)0x00) /* TAMPER (TAMPER_1 and TAMPER_2) Alternate Function mapping */ -#define GPIO_AF0_SWJ ((uint8_t)0x00) /* SWJ (SWD and JTAG) Alternate Function mapping */ -#define GPIO_AF0_TRACE ((uint8_t)0x00) /* TRACE Alternate Function mapping */ - -/** - * @brief AF 1 selection - */ -#define GPIO_AF1_TIM1 ((uint8_t)0x01) /* TIM1 Alternate Function mapping */ -#define GPIO_AF1_TIM2 ((uint8_t)0x01) /* TIM2 Alternate Function mapping */ - -/** - * @brief AF 2 selection - */ -#define GPIO_AF2_TIM3 ((uint8_t)0x02) /* TIM3 Alternate Function mapping */ -#define GPIO_AF2_TIM4 ((uint8_t)0x02) /* TIM4 Alternate Function mapping */ -#define GPIO_AF2_TIM5 ((uint8_t)0x02) /* TIM5 Alternate Function mapping */ - -/** - * @brief AF 3 selection - */ -#define GPIO_AF3_TIM8 ((uint8_t)0x03) /* TIM8 Alternate Function mapping */ -#define GPIO_AF3_TIM9 ((uint8_t)0x03) /* TIM9 Alternate Function mapping */ -#define GPIO_AF3_TIM10 ((uint8_t)0x03) /* TIM10 Alternate Function mapping */ -#define GPIO_AF3_TIM11 ((uint8_t)0x03) /* TIM11 Alternate Function mapping */ - -/** - * @brief AF 4 selection - */ -#define GPIO_AF4_I2C1 ((uint8_t)0x04) /* I2C1 Alternate Function mapping */ -#define GPIO_AF4_I2C2 ((uint8_t)0x04) /* I2C2 Alternate Function mapping */ -#define GPIO_AF4_I2C3 ((uint8_t)0x04) /* I2C3 Alternate Function mapping */ - -/** - * @brief AF 5 selection - */ -#define GPIO_AF5_SPI1 ((uint8_t)0x05) /* SPI1 Alternate Function mapping */ -#define GPIO_AF5_SPI2 ((uint8_t)0x05) /* SPI2/I2S2 Alternate Function mapping */ -#define GPIO_AF5_I2S3ext ((uint8_t)0x05) /* I2S3ext_SD Alternate Function mapping */ - -/** - * @brief AF 6 selection - */ -#define GPIO_AF6_SPI3 ((uint8_t)0x06) /* SPI3/I2S3 Alternate Function mapping */ -#define GPIO_AF6_I2S2ext ((uint8_t)0x06) /* I2S2ext_SD Alternate Function mapping */ - -/** - * @brief AF 7 selection - */ -#define GPIO_AF7_USART1 ((uint8_t)0x07) /* USART1 Alternate Function mapping */ -#define GPIO_AF7_USART2 ((uint8_t)0x07) /* USART2 Alternate Function mapping */ -#define GPIO_AF7_USART3 ((uint8_t)0x07) /* USART3 Alternate Function mapping */ -#define GPIO_AF7_I2S3ext ((uint8_t)0x07) /* I2S3ext_SD Alternate Function mapping */ - -/** - * @brief AF 8 selection - */ -#define GPIO_AF8_UART4 ((uint8_t)0x08) /* UART4 Alternate Function mapping */ -#define GPIO_AF8_UART5 ((uint8_t)0x08) /* UART5 Alternate Function mapping */ -#define GPIO_AF8_USART6 ((uint8_t)0x08) /* USART6 Alternate Function mapping */ - -/** - * @brief AF 9 selection - */ -#define GPIO_AF9_CAN1 ((uint8_t)0x09) /* CAN1 Alternate Function mapping */ -#define GPIO_AF9_CAN2 ((uint8_t)0x09) /* CAN2 Alternate Function mapping */ -#define GPIO_AF9_TIM12 ((uint8_t)0x09) /* TIM12 Alternate Function mapping */ -#define GPIO_AF9_TIM13 ((uint8_t)0x09) /* TIM13 Alternate Function mapping */ -#define GPIO_AF9_TIM14 ((uint8_t)0x09) /* TIM14 Alternate Function mapping */ - -/** - * @brief AF 10 selection - */ -#define GPIO_AF10_OTG_FS ((uint8_t)0x0A) /* OTG_FS Alternate Function mapping */ -#define GPIO_AF10_OTG_HS ((uint8_t)0x0A) /* OTG_HS Alternate Function mapping */ - -/** - * @brief AF 11 selection - */ -#define GPIO_AF11_ETH ((uint8_t)0x0B) /* ETHERNET Alternate Function mapping */ - -/** - * @brief AF 12 selection - */ -#define GPIO_AF12_FSMC ((uint8_t)0x0C) /* FSMC Alternate Function mapping */ -#define GPIO_AF12_OTG_HS_FS ((uint8_t)0x0C) /* OTG HS configured in FS, Alternate Function mapping */ -#define GPIO_AF12_SDIO ((uint8_t)0x0C) /* SDIO Alternate Function mapping */ - -/** - * @brief AF 13 selection - */ -#define GPIO_AF13_DCMI ((uint8_t)0x0D) /* DCMI Alternate Function mapping */ - -/** - * @brief AF 15 selection - */ -#define GPIO_AF15_EVENTOUT ((uint8_t)0x0F) /* EVENTOUT Alternate Function mapping */ -#endif /* STM32F407xx || STM32F417xx */ -/*----------------------------------------------------------------------------*/ - -/*---------------------------------- STM32F405xx/STM32F415xx------------------*/ -#if defined(STM32F405xx) || defined(STM32F415xx) -/** - * @brief AF 0 selection - */ -#define GPIO_AF0_RTC_50Hz ((uint8_t)0x00) /* RTC_50Hz Alternate Function mapping */ -#define GPIO_AF0_MCO ((uint8_t)0x00) /* MCO (MCO1 and MCO2) Alternate Function mapping */ -#define GPIO_AF0_TAMPER ((uint8_t)0x00) /* TAMPER (TAMPER_1 and TAMPER_2) Alternate Function mapping */ -#define GPIO_AF0_SWJ ((uint8_t)0x00) /* SWJ (SWD and JTAG) Alternate Function mapping */ -#define GPIO_AF0_TRACE ((uint8_t)0x00) /* TRACE Alternate Function mapping */ - -/** - * @brief AF 1 selection - */ -#define GPIO_AF1_TIM1 ((uint8_t)0x01) /* TIM1 Alternate Function mapping */ -#define GPIO_AF1_TIM2 ((uint8_t)0x01) /* TIM2 Alternate Function mapping */ - -/** - * @brief AF 2 selection - */ -#define GPIO_AF2_TIM3 ((uint8_t)0x02) /* TIM3 Alternate Function mapping */ -#define GPIO_AF2_TIM4 ((uint8_t)0x02) /* TIM4 Alternate Function mapping */ -#define GPIO_AF2_TIM5 ((uint8_t)0x02) /* TIM5 Alternate Function mapping */ - -/** - * @brief AF 3 selection - */ -#define GPIO_AF3_TIM8 ((uint8_t)0x03) /* TIM8 Alternate Function mapping */ -#define GPIO_AF3_TIM9 ((uint8_t)0x03) /* TIM9 Alternate Function mapping */ -#define GPIO_AF3_TIM10 ((uint8_t)0x03) /* TIM10 Alternate Function mapping */ -#define GPIO_AF3_TIM11 ((uint8_t)0x03) /* TIM11 Alternate Function mapping */ - -/** - * @brief AF 4 selection - */ -#define GPIO_AF4_I2C1 ((uint8_t)0x04) /* I2C1 Alternate Function mapping */ -#define GPIO_AF4_I2C2 ((uint8_t)0x04) /* I2C2 Alternate Function mapping */ -#define GPIO_AF4_I2C3 ((uint8_t)0x04) /* I2C3 Alternate Function mapping */ - -/** - * @brief AF 5 selection - */ -#define GPIO_AF5_SPI1 ((uint8_t)0x05) /* SPI1 Alternate Function mapping */ -#define GPIO_AF5_SPI2 ((uint8_t)0x05) /* SPI2/I2S2 Alternate Function mapping */ -#define GPIO_AF5_I2S3ext ((uint8_t)0x05) /* I2S3ext_SD Alternate Function mapping */ - -/** - * @brief AF 6 selection - */ -#define GPIO_AF6_SPI3 ((uint8_t)0x06) /* SPI3/I2S3 Alternate Function mapping */ -#define GPIO_AF6_I2S2ext ((uint8_t)0x06) /* I2S2ext_SD Alternate Function mapping */ - -/** - * @brief AF 7 selection - */ -#define GPIO_AF7_USART1 ((uint8_t)0x07) /* USART1 Alternate Function mapping */ -#define GPIO_AF7_USART2 ((uint8_t)0x07) /* USART2 Alternate Function mapping */ -#define GPIO_AF7_USART3 ((uint8_t)0x07) /* USART3 Alternate Function mapping */ -#define GPIO_AF7_I2S3ext ((uint8_t)0x07) /* I2S3ext_SD Alternate Function mapping */ - -/** - * @brief AF 8 selection - */ -#define GPIO_AF8_UART4 ((uint8_t)0x08) /* UART4 Alternate Function mapping */ -#define GPIO_AF8_UART5 ((uint8_t)0x08) /* UART5 Alternate Function mapping */ -#define GPIO_AF8_USART6 ((uint8_t)0x08) /* USART6 Alternate Function mapping */ - -/** - * @brief AF 9 selection - */ -#define GPIO_AF9_CAN1 ((uint8_t)0x09) /* CAN1 Alternate Function mapping */ -#define GPIO_AF9_CAN2 ((uint8_t)0x09) /* CAN2 Alternate Function mapping */ -#define GPIO_AF9_TIM12 ((uint8_t)0x09) /* TIM12 Alternate Function mapping */ -#define GPIO_AF9_TIM13 ((uint8_t)0x09) /* TIM13 Alternate Function mapping */ -#define GPIO_AF9_TIM14 ((uint8_t)0x09) /* TIM14 Alternate Function mapping */ - -/** - * @brief AF 10 selection - */ -#define GPIO_AF10_OTG_FS ((uint8_t)0x0A) /* OTG_FS Alternate Function mapping */ -#define GPIO_AF10_OTG_HS ((uint8_t)0x0A) /* OTG_HS Alternate Function mapping */ - -/** - * @brief AF 12 selection - */ -#define GPIO_AF12_FSMC ((uint8_t)0x0C) /* FSMC Alternate Function mapping */ -#define GPIO_AF12_OTG_HS_FS ((uint8_t)0x0C) /* OTG HS configured in FS, Alternate Function mapping */ -#define GPIO_AF12_SDIO ((uint8_t)0x0C) /* SDIO Alternate Function mapping */ - -/** - * @brief AF 15 selection - */ -#define GPIO_AF15_EVENTOUT ((uint8_t)0x0F) /* EVENTOUT Alternate Function mapping */ -#endif /* STM32F405xx || STM32F415xx */ - -/*----------------------------------------------------------------------------*/ - -/*---------------------------------------- STM32F401xx------------------------*/ -#if defined(STM32F401xC) || defined(STM32F401xE) -/** - * @brief AF 0 selection - */ -#define GPIO_AF0_RTC_50Hz ((uint8_t)0x00) /* RTC_50Hz Alternate Function mapping */ -#define GPIO_AF0_MCO ((uint8_t)0x00) /* MCO (MCO1 and MCO2) Alternate Function mapping */ -#define GPIO_AF0_TAMPER ((uint8_t)0x00) /* TAMPER (TAMPER_1 and TAMPER_2) Alternate Function mapping */ -#define GPIO_AF0_SWJ ((uint8_t)0x00) /* SWJ (SWD and JTAG) Alternate Function mapping */ -#define GPIO_AF0_TRACE ((uint8_t)0x00) /* TRACE Alternate Function mapping */ - -/** - * @brief AF 1 selection - */ -#define GPIO_AF1_TIM1 ((uint8_t)0x01) /* TIM1 Alternate Function mapping */ -#define GPIO_AF1_TIM2 ((uint8_t)0x01) /* TIM2 Alternate Function mapping */ - -/** - * @brief AF 2 selection - */ -#define GPIO_AF2_TIM3 ((uint8_t)0x02) /* TIM3 Alternate Function mapping */ -#define GPIO_AF2_TIM4 ((uint8_t)0x02) /* TIM4 Alternate Function mapping */ -#define GPIO_AF2_TIM5 ((uint8_t)0x02) /* TIM5 Alternate Function mapping */ - -/** - * @brief AF 3 selection - */ -#define GPIO_AF3_TIM9 ((uint8_t)0x03) /* TIM9 Alternate Function mapping */ -#define GPIO_AF3_TIM10 ((uint8_t)0x03) /* TIM10 Alternate Function mapping */ -#define GPIO_AF3_TIM11 ((uint8_t)0x03) /* TIM11 Alternate Function mapping */ - -/** - * @brief AF 4 selection - */ -#define GPIO_AF4_I2C1 ((uint8_t)0x04) /* I2C1 Alternate Function mapping */ -#define GPIO_AF4_I2C2 ((uint8_t)0x04) /* I2C2 Alternate Function mapping */ -#define GPIO_AF4_I2C3 ((uint8_t)0x04) /* I2C3 Alternate Function mapping */ - -/** - * @brief AF 5 selection - */ -#define GPIO_AF5_SPI1 ((uint8_t)0x05) /* SPI1 Alternate Function mapping */ -#define GPIO_AF5_SPI2 ((uint8_t)0x05) /* SPI2/I2S2 Alternate Function mapping */ -#define GPIO_AF5_SPI3 ((uint8_t)0x05) /* SPI3 Alternate Function mapping */ -#define GPIO_AF5_SPI4 ((uint8_t)0x05) /* SPI4 Alternate Function mapping */ -#define GPIO_AF5_I2S3ext ((uint8_t)0x05) /* I2S3ext_SD Alternate Function mapping */ - -/** - * @brief AF 6 selection - */ -#define GPIO_AF6_SPI3 ((uint8_t)0x06) /* SPI3/I2S3 Alternate Function mapping */ -#define GPIO_AF6_I2S2ext ((uint8_t)0x06) /* I2S2ext_SD Alternate Function mapping */ - -/** - * @brief AF 7 selection - */ -#define GPIO_AF7_USART1 ((uint8_t)0x07) /* USART1 Alternate Function mapping */ -#define GPIO_AF7_USART2 ((uint8_t)0x07) /* USART2 Alternate Function mapping */ -#define GPIO_AF7_I2S3ext ((uint8_t)0x07) /* I2S3ext_SD Alternate Function mapping */ - -/** - * @brief AF 8 selection - */ -#define GPIO_AF8_USART6 ((uint8_t)0x08) /* USART6 Alternate Function mapping */ - -/** - * @brief AF 9 selection - */ -#define GPIO_AF9_I2C2 ((uint8_t)0x09) /* I2C2 Alternate Function mapping */ -#define GPIO_AF9_I2C3 ((uint8_t)0x09) /* I2C3 Alternate Function mapping */ - - -/** - * @brief AF 10 selection - */ -#define GPIO_AF10_OTG_FS ((uint8_t)0x0A) /* OTG_FS Alternate Function mapping */ - -/** - * @brief AF 12 selection - */ -#define GPIO_AF12_SDIO ((uint8_t)0x0C) /* SDIO Alternate Function mapping */ - -/** - * @brief AF 15 selection - */ -#define GPIO_AF15_EVENTOUT ((uint8_t)0x0F) /* EVENTOUT Alternate Function mapping */ -#endif /* STM32F401xC || STM32F401xE */ -/*----------------------------------------------------------------------------*/ - -/*--------------- STM32F412Zx/STM32F412Vx/STM32F412Rx/STM32F412Cx-------------*/ -#if defined(STM32F412Zx) || defined(STM32F412Vx) || defined(STM32F412Rx) || defined(STM32F412Cx) -/** - * @brief AF 0 selection - */ -#define GPIO_AF0_RTC_50Hz ((uint8_t)0x00) /* RTC_50Hz Alternate Function mapping */ -#define GPIO_AF0_MCO ((uint8_t)0x00) /* MCO (MCO1 and MCO2) Alternate Function mapping */ -#define GPIO_AF0_TAMPER ((uint8_t)0x00) /* TAMPER (TAMPER_1 and TAMPER_2) Alternate Function mapping */ -#define GPIO_AF0_SWJ ((uint8_t)0x00) /* SWJ (SWD and JTAG) Alternate Function mapping */ -#define GPIO_AF0_TRACE ((uint8_t)0x00) /* TRACE Alternate Function mapping */ - -/** - * @brief AF 1 selection - */ -#define GPIO_AF1_TIM1 ((uint8_t)0x01) /* TIM1 Alternate Function mapping */ -#define GPIO_AF1_TIM2 ((uint8_t)0x01) /* TIM2 Alternate Function mapping */ - -/** - * @brief AF 2 selection - */ -#define GPIO_AF2_TIM3 ((uint8_t)0x02) /* TIM3 Alternate Function mapping */ -#define GPIO_AF2_TIM4 ((uint8_t)0x02) /* TIM4 Alternate Function mapping */ -#define GPIO_AF2_TIM5 ((uint8_t)0x02) /* TIM5 Alternate Function mapping */ - -/** - * @brief AF 3 selection - */ -#define GPIO_AF3_TIM8 ((uint8_t)0x03) /* TIM8 Alternate Function mapping */ -#define GPIO_AF3_TIM9 ((uint8_t)0x03) /* TIM9 Alternate Function mapping */ -#define GPIO_AF3_TIM10 ((uint8_t)0x03) /* TIM10 Alternate Function mapping */ -#define GPIO_AF3_TIM11 ((uint8_t)0x03) /* TIM11 Alternate Function mapping */ - -/** - * @brief AF 4 selection - */ -#define GPIO_AF4_I2C1 ((uint8_t)0x04) /* I2C1 Alternate Function mapping */ -#define GPIO_AF4_I2C2 ((uint8_t)0x04) /* I2C2 Alternate Function mapping */ -#define GPIO_AF4_I2C3 ((uint8_t)0x04) /* I2C3 Alternate Function mapping */ -#define GPIO_AF4_FMPI2C1 ((uint8_t)0x04) /* FMPI2C1 Alternate Function mapping */ - -/** - * @brief AF 5 selection - */ -#define GPIO_AF5_SPI1 ((uint8_t)0x05) /* SPI1/I2S1 Alternate Function mapping */ -#define GPIO_AF5_SPI2 ((uint8_t)0x05) /* SPI2/I2S2 Alternate Function mapping */ -#define GPIO_AF5_SPI3 ((uint8_t)0x05) /* SPI3/I2S3 Alternate Function mapping */ -#define GPIO_AF5_SPI4 ((uint8_t)0x05) /* SPI4/I2S4 Alternate Function mapping */ -#define GPIO_AF5_I2S3ext ((uint8_t)0x05) /* I2S3ext_SD Alternate Function mapping */ - -/** - * @brief AF 6 selection - */ -#define GPIO_AF6_SPI2 ((uint8_t)0x06) /* I2S2 Alternate Function mapping */ -#define GPIO_AF6_SPI3 ((uint8_t)0x06) /* SPI3/I2S3 Alternate Function mapping */ -#define GPIO_AF6_SPI4 ((uint8_t)0x06) /* SPI4/I2S4 Alternate Function mapping */ -#define GPIO_AF6_SPI5 ((uint8_t)0x06) /* SPI5/I2S5 Alternate Function mapping */ -#define GPIO_AF6_I2S2ext ((uint8_t)0x06) /* I2S2ext_SD Alternate Function mapping */ -#define GPIO_AF6_DFSDM1 ((uint8_t)0x06) /* DFSDM1 Alternate Function mapping */ -/** - * @brief AF 7 selection - */ -#define GPIO_AF7_SPI3 ((uint8_t)0x07) /* SPI3/I2S3 Alternate Function mapping */ -#define GPIO_AF7_USART1 ((uint8_t)0x07) /* USART1 Alternate Function mapping */ -#define GPIO_AF7_USART2 ((uint8_t)0x07) /* USART2 Alternate Function mapping */ -#define GPIO_AF7_USART3 ((uint8_t)0x07) /* USART3 Alternate Function mapping */ -#define GPIO_AF7_I2S3ext ((uint8_t)0x07) /* I2S3ext_SD Alternate Function mapping */ - -/** - * @brief AF 8 selection - */ -#define GPIO_AF8_USART6 ((uint8_t)0x08) /* USART6 Alternate Function mapping */ -#define GPIO_AF8_USART3 ((uint8_t)0x08) /* USART3 Alternate Function mapping */ -#define GPIO_AF8_DFSDM1 ((uint8_t)0x08) /* DFSDM1 Alternate Function mapping */ -#define GPIO_AF8_CAN1 ((uint8_t)0x08) /* CAN1 Alternate Function mapping */ - -/** - * @brief AF 9 selection - */ -#define GPIO_AF9_TIM12 ((uint8_t)0x09) /* TIM12 Alternate Function mapping */ -#define GPIO_AF9_TIM13 ((uint8_t)0x09) /* TIM13 Alternate Function mapping */ -#define GPIO_AF9_TIM14 ((uint8_t)0x09) /* TIM14 Alternate Function mapping */ -#define GPIO_AF9_I2C2 ((uint8_t)0x09) /* I2C2 Alternate Function mapping */ -#define GPIO_AF9_I2C3 ((uint8_t)0x09) /* I2C3 Alternate Function mapping */ -#define GPIO_AF9_FMPI2C1 ((uint8_t)0x09) /* FMPI2C1 Alternate Function mapping */ -#define GPIO_AF9_CAN1 ((uint8_t)0x09) /* CAN1 Alternate Function mapping */ -#define GPIO_AF9_CAN2 ((uint8_t)0x09) /* CAN1 Alternate Function mapping */ -#define GPIO_AF9_QSPI ((uint8_t)0x09) /* QSPI Alternate Function mapping */ - -/** - * @brief AF 10 selection - */ -#define GPIO_AF10_OTG_FS ((uint8_t)0x0A) /* OTG_FS Alternate Function mapping */ -#define GPIO_AF10_DFSDM1 ((uint8_t)0x0A) /* DFSDM1 Alternate Function mapping */ -#define GPIO_AF10_QSPI ((uint8_t)0x0A) /* QSPI Alternate Function mapping */ -#define GPIO_AF10_FMC ((uint8_t)0x0A) /* FMC Alternate Function mapping */ - -/** - * @brief AF 12 selection - */ -#define GPIO_AF12_SDIO ((uint8_t)0x0C) /* SDIO Alternate Function mapping */ -#define GPIO_AF12_FSMC ((uint8_t)0x0C) /* FMC Alternate Function mapping */ - -/** - * @brief AF 15 selection - */ -#define GPIO_AF15_EVENTOUT ((uint8_t)0x0F) /* EVENTOUT Alternate Function mapping */ -#endif /* STM32F412Zx || STM32F412Vx || STM32F412Rx || STM32F412Cx */ - -/*----------------------------------------------------------------------------*/ - -/*--------------- STM32F413xx/STM32F423xx-------------------------------------*/ -#if defined(STM32F413xx) || defined(STM32F423xx) -/** - * @brief AF 0 selection - */ -#define GPIO_AF0_RTC_50Hz ((uint8_t)0x00) /* RTC_50Hz Alternate Function mapping */ -#define GPIO_AF0_MCO ((uint8_t)0x00) /* MCO (MCO1 and MCO2) Alternate Function mapping */ -#define GPIO_AF0_SWJ ((uint8_t)0x00) /* SWJ (SWD and JTAG) Alternate Function mapping */ -#define GPIO_AF0_TRACE ((uint8_t)0x00) /* TRACE Alternate Function mapping */ - -/** - * @brief AF 1 selection - */ -#define GPIO_AF1_TIM1 ((uint8_t)0x01) /* TIM1 Alternate Function mapping */ -#define GPIO_AF1_TIM2 ((uint8_t)0x01) /* TIM2 Alternate Function mapping */ -#define GPIO_AF1_LPTIM1 ((uint8_t)0x01) /* LPTIM1 Alternate Function mapping */ - -/** - * @brief AF 2 selection - */ -#define GPIO_AF2_TIM3 ((uint8_t)0x02) /* TIM3 Alternate Function mapping */ -#define GPIO_AF2_TIM4 ((uint8_t)0x02) /* TIM4 Alternate Function mapping */ -#define GPIO_AF2_TIM5 ((uint8_t)0x02) /* TIM5 Alternate Function mapping */ - -/** - * @brief AF 3 selection - */ -#define GPIO_AF3_TIM8 ((uint8_t)0x03) /* TIM8 Alternate Function mapping */ -#define GPIO_AF3_TIM9 ((uint8_t)0x03) /* TIM9 Alternate Function mapping */ -#define GPIO_AF3_TIM10 ((uint8_t)0x03) /* TIM10 Alternate Function mapping */ -#define GPIO_AF3_TIM11 ((uint8_t)0x03) /* TIM11 Alternate Function mapping */ -#define GPIO_AF3_DFSDM2 ((uint8_t)0x03) /* DFSDM2 Alternate Function mapping */ - -/** - * @brief AF 4 selection - */ -#define GPIO_AF4_I2C1 ((uint8_t)0x04) /* I2C1 Alternate Function mapping */ -#define GPIO_AF4_I2C2 ((uint8_t)0x04) /* I2C2 Alternate Function mapping */ -#define GPIO_AF4_I2C3 ((uint8_t)0x04) /* I2C3 Alternate Function mapping */ -#define GPIO_AF4_FMPI2C1 ((uint8_t)0x04) /* FMPI2C1 Alternate Function mapping */ - -/** - * @brief AF 5 selection - */ -#define GPIO_AF5_SPI1 ((uint8_t)0x05) /* SPI1/I2S1 Alternate Function mapping */ -#define GPIO_AF5_SPI2 ((uint8_t)0x05) /* SPI2/I2S2 Alternate Function mapping */ -#define GPIO_AF5_SPI3 ((uint8_t)0x05) /* SPI3/I2S3 Alternate Function mapping */ -#define GPIO_AF5_SPI4 ((uint8_t)0x05) /* SPI4/I2S4 Alternate Function mapping */ -#define GPIO_AF5_I2S3ext ((uint8_t)0x05) /* I2S3ext_SD Alternate Function mapping */ - -/** - * @brief AF 6 selection - */ -#define GPIO_AF6_SPI2 ((uint8_t)0x06) /* I2S2 Alternate Function mapping */ -#define GPIO_AF6_SPI3 ((uint8_t)0x06) /* SPI3/I2S3 Alternate Function mapping */ -#define GPIO_AF6_SPI4 ((uint8_t)0x06) /* SPI4/I2S4 Alternate Function mapping */ -#define GPIO_AF6_SPI5 ((uint8_t)0x06) /* SPI5/I2S5 Alternate Function mapping */ -#define GPIO_AF6_I2S2ext ((uint8_t)0x06) /* I2S2ext_SD Alternate Function mapping */ -#define GPIO_AF6_DFSDM1 ((uint8_t)0x06) /* DFSDM1 Alternate Function mapping */ -#define GPIO_AF6_DFSDM2 ((uint8_t)0x06) /* DFSDM2 Alternate Function mapping */ -/** - * @brief AF 7 selection - */ -#define GPIO_AF7_SPI3 ((uint8_t)0x07) /* SPI3/I2S3 Alternate Function mapping */ -#define GPIO_AF7_SAI1 ((uint8_t)0x07) /* SAI1 Alternate Function mapping */ -#define GPIO_AF7_USART1 ((uint8_t)0x07) /* USART1 Alternate Function mapping */ -#define GPIO_AF7_USART2 ((uint8_t)0x07) /* USART2 Alternate Function mapping */ -#define GPIO_AF7_USART3 ((uint8_t)0x07) /* USART3 Alternate Function mapping */ -#define GPIO_AF7_I2S3ext ((uint8_t)0x07) /* I2S3ext_SD Alternate Function mapping */ -#define GPIO_AF7_DFSDM2 ((uint8_t)0x07) /* DFSDM2 Alternate Function mapping */ - -/** - * @brief AF 8 selection - */ -#define GPIO_AF8_USART6 ((uint8_t)0x08) /* USART6 Alternate Function mapping */ -#define GPIO_AF8_USART3 ((uint8_t)0x08) /* USART3 Alternate Function mapping */ -#define GPIO_AF8_UART4 ((uint8_t)0x08) /* UART4 Alternate Function mapping */ -#define GPIO_AF8_UART5 ((uint8_t)0x08) /* UART5 Alternate Function mapping */ -#define GPIO_AF8_UART7 ((uint8_t)0x08) /* UART8 Alternate Function mapping */ -#define GPIO_AF8_UART8 ((uint8_t)0x08) /* UART8 Alternate Function mapping */ -#define GPIO_AF8_DFSDM1 ((uint8_t)0x08) /* DFSDM1 Alternate Function mapping */ -#define GPIO_AF8_CAN1 ((uint8_t)0x08) /* CAN1 Alternate Function mapping */ - -/** - * @brief AF 9 selection - */ -#define GPIO_AF9_TIM12 ((uint8_t)0x09) /* TIM12 Alternate Function mapping */ -#define GPIO_AF9_TIM13 ((uint8_t)0x09) /* TIM13 Alternate Function mapping */ -#define GPIO_AF9_TIM14 ((uint8_t)0x09) /* TIM14 Alternate Function mapping */ -#define GPIO_AF9_I2C2 ((uint8_t)0x09) /* I2C2 Alternate Function mapping */ -#define GPIO_AF9_I2C3 ((uint8_t)0x09) /* I2C3 Alternate Function mapping */ -#define GPIO_AF9_FMPI2C1 ((uint8_t)0x09) /* FMPI2C1 Alternate Function mapping */ -#define GPIO_AF9_CAN1 ((uint8_t)0x09) /* CAN1 Alternate Function mapping */ -#define GPIO_AF9_CAN2 ((uint8_t)0x09) /* CAN1 Alternate Function mapping */ -#define GPIO_AF9_QSPI ((uint8_t)0x09) /* QSPI Alternate Function mapping */ - -/** - * @brief AF 10 selection - */ -#define GPIO_AF10_SAI1 ((uint8_t)0x0A) /* SAI1 Alternate Function mapping */ -#define GPIO_AF10_OTG_FS ((uint8_t)0x0A) /* OTG_FS Alternate Function mapping */ -#define GPIO_AF10_DFSDM1 ((uint8_t)0x0A) /* DFSDM1 Alternate Function mapping */ -#define GPIO_AF10_DFSDM2 ((uint8_t)0x0A) /* DFSDM2 Alternate Function mapping */ -#define GPIO_AF10_QSPI ((uint8_t)0x0A) /* QSPI Alternate Function mapping */ -#define GPIO_AF10_FSMC ((uint8_t)0x0A) /* FSMC Alternate Function mapping */ - -/** - * @brief AF 11 selection - */ -#define GPIO_AF11_UART4 ((uint8_t)0x0B) /* UART4 Alternate Function mapping */ -#define GPIO_AF11_UART5 ((uint8_t)0x0B) /* UART5 Alternate Function mapping */ -#define GPIO_AF11_UART9 ((uint8_t)0x0B) /* UART9 Alternate Function mapping */ -#define GPIO_AF11_UART10 ((uint8_t)0x0B) /* UART10 Alternate Function mapping */ -#define GPIO_AF11_CAN3 ((uint8_t)0x0B) /* CAN3 Alternate Function mapping */ - -/** - * @brief AF 12 selection - */ -#define GPIO_AF12_SDIO ((uint8_t)0x0C) /* SDIO Alternate Function mapping */ -#define GPIO_AF12_FSMC ((uint8_t)0x0C) /* FMC Alternate Function mapping */ - -/** - * @brief AF 14 selection - */ -#define GPIO_AF14_RNG ((uint8_t)0x0E) /* RNG Alternate Function mapping */ - -/** - * @brief AF 15 selection - */ -#define GPIO_AF15_EVENTOUT ((uint8_t)0x0F) /* EVENTOUT Alternate Function mapping */ -#endif /* STM32F413xx || STM32F423xx */ - -/*---------------------------------------- STM32F411xx------------------------*/ -#if defined(STM32F411xE) -/** - * @brief AF 0 selection - */ -#define GPIO_AF0_RTC_50Hz ((uint8_t)0x00) /* RTC_50Hz Alternate Function mapping */ -#define GPIO_AF0_MCO ((uint8_t)0x00) /* MCO (MCO1 and MCO2) Alternate Function mapping */ -#define GPIO_AF0_TAMPER ((uint8_t)0x00) /* TAMPER (TAMPER_1 and TAMPER_2) Alternate Function mapping */ -#define GPIO_AF0_SWJ ((uint8_t)0x00) /* SWJ (SWD and JTAG) Alternate Function mapping */ -#define GPIO_AF0_TRACE ((uint8_t)0x00) /* TRACE Alternate Function mapping */ - -/** - * @brief AF 1 selection - */ -#define GPIO_AF1_TIM1 ((uint8_t)0x01) /* TIM1 Alternate Function mapping */ -#define GPIO_AF1_TIM2 ((uint8_t)0x01) /* TIM2 Alternate Function mapping */ - -/** - * @brief AF 2 selection - */ -#define GPIO_AF2_TIM3 ((uint8_t)0x02) /* TIM3 Alternate Function mapping */ -#define GPIO_AF2_TIM4 ((uint8_t)0x02) /* TIM4 Alternate Function mapping */ -#define GPIO_AF2_TIM5 ((uint8_t)0x02) /* TIM5 Alternate Function mapping */ - -/** - * @brief AF 3 selection - */ -#define GPIO_AF3_TIM9 ((uint8_t)0x03) /* TIM9 Alternate Function mapping */ -#define GPIO_AF3_TIM10 ((uint8_t)0x03) /* TIM10 Alternate Function mapping */ -#define GPIO_AF3_TIM11 ((uint8_t)0x03) /* TIM11 Alternate Function mapping */ - -/** - * @brief AF 4 selection - */ -#define GPIO_AF4_I2C1 ((uint8_t)0x04) /* I2C1 Alternate Function mapping */ -#define GPIO_AF4_I2C2 ((uint8_t)0x04) /* I2C2 Alternate Function mapping */ -#define GPIO_AF4_I2C3 ((uint8_t)0x04) /* I2C3 Alternate Function mapping */ - -/** - * @brief AF 5 selection - */ -#define GPIO_AF5_SPI1 ((uint8_t)0x05) /* SPI1/I2S1 Alternate Function mapping */ -#define GPIO_AF5_SPI2 ((uint8_t)0x05) /* SPI2/I2S2 Alternate Function mapping */ -#define GPIO_AF5_SPI3 ((uint8_t)0x05) /* SPI3/I2S3 Alternate Function mapping */ -#define GPIO_AF5_SPI4 ((uint8_t)0x05) /* SPI4 Alternate Function mapping */ -#define GPIO_AF5_I2S3ext ((uint8_t)0x05) /* I2S3ext_SD Alternate Function mapping */ - -/** - * @brief AF 6 selection - */ -#define GPIO_AF6_SPI2 ((uint8_t)0x06) /* I2S2 Alternate Function mapping */ -#define GPIO_AF6_SPI3 ((uint8_t)0x06) /* SPI3/I2S3 Alternate Function mapping */ -#define GPIO_AF6_SPI4 ((uint8_t)0x06) /* SPI4/I2S4 Alternate Function mapping */ -#define GPIO_AF6_SPI5 ((uint8_t)0x06) /* SPI5/I2S5 Alternate Function mapping */ -#define GPIO_AF6_I2S2ext ((uint8_t)0x06) /* I2S2ext_SD Alternate Function mapping */ - -/** - * @brief AF 7 selection - */ -#define GPIO_AF7_SPI3 ((uint8_t)0x07) /* SPI3/I2S3 Alternate Function mapping */ -#define GPIO_AF7_USART1 ((uint8_t)0x07) /* USART1 Alternate Function mapping */ -#define GPIO_AF7_USART2 ((uint8_t)0x07) /* USART2 Alternate Function mapping */ -#define GPIO_AF7_I2S3ext ((uint8_t)0x07) /* I2S3ext_SD Alternate Function mapping */ - -/** - * @brief AF 8 selection - */ -#define GPIO_AF8_USART6 ((uint8_t)0x08) /* USART6 Alternate Function mapping */ - -/** - * @brief AF 9 selection - */ -#define GPIO_AF9_TIM14 ((uint8_t)0x09) /* TIM14 Alternate Function mapping */ -#define GPIO_AF9_I2C2 ((uint8_t)0x09) /* I2C2 Alternate Function mapping */ -#define GPIO_AF9_I2C3 ((uint8_t)0x09) /* I2C3 Alternate Function mapping */ - -/** - * @brief AF 10 selection - */ -#define GPIO_AF10_OTG_FS ((uint8_t)0x0A) /* OTG_FS Alternate Function mapping */ - -/** - * @brief AF 12 selection - */ -#define GPIO_AF12_SDIO ((uint8_t)0x0C) /* SDIO Alternate Function mapping */ - -/** - * @brief AF 15 selection - */ -#define GPIO_AF15_EVENTOUT ((uint8_t)0x0F) /* EVENTOUT Alternate Function mapping */ -#endif /* STM32F411xE */ - -/*---------------------------------------- STM32F410xx------------------------*/ -#if defined(STM32F410Tx) || defined(STM32F410Cx) || defined(STM32F410Rx) -/** - * @brief AF 0 selection - */ -#define GPIO_AF0_RTC_50Hz ((uint8_t)0x00) /* RTC_50Hz Alternate Function mapping */ -#define GPIO_AF0_MCO ((uint8_t)0x00) /* MCO (MCO1 and MCO2) Alternate Function mapping */ -#define GPIO_AF0_TAMPER ((uint8_t)0x00) /* TAMPER (TAMPER_1 and TAMPER_2) Alternate Function mapping */ -#define GPIO_AF0_SWJ ((uint8_t)0x00) /* SWJ (SWD and JTAG) Alternate Function mapping */ -#define GPIO_AF0_TRACE ((uint8_t)0x00) /* TRACE Alternate Function mapping */ - -/** - * @brief AF 1 selection - */ -#define GPIO_AF1_TIM1 ((uint8_t)0x01) /* TIM1 Alternate Function mapping */ -#define GPIO_AF1_LPTIM1 ((uint8_t)0x01) /* LPTIM1 Alternate Function mapping */ - -/** - * @brief AF 2 selection - */ -#define GPIO_AF2_TIM5 ((uint8_t)0x02) /* TIM5 Alternate Function mapping */ - -/** - * @brief AF 3 selection - */ -#define GPIO_AF3_TIM9 ((uint8_t)0x03) /* TIM9 Alternate Function mapping */ -#define GPIO_AF3_TIM11 ((uint8_t)0x03) /* TIM11 Alternate Function mapping */ - -/** - * @brief AF 4 selection - */ -#define GPIO_AF4_I2C1 ((uint8_t)0x04) /* I2C1 Alternate Function mapping */ -#define GPIO_AF4_I2C2 ((uint8_t)0x04) /* I2C2 Alternate Function mapping */ -#define GPIO_AF4_FMPI2C1 ((uint8_t)0x04) /* FMPI2C1 Alternate Function mapping */ - -/** - * @brief AF 5 selection - */ -#define GPIO_AF5_SPI1 ((uint8_t)0x05) /* SPI1/I2S1 Alternate Function mapping */ -#if defined(STM32F410Cx) || defined(STM32F410Rx) -#define GPIO_AF5_SPI2 ((uint8_t)0x05) /* SPI2/I2S2 Alternate Function mapping */ -#endif /* STM32F410Cx || STM32F410Rx */ - -/** - * @brief AF 6 selection - */ -#define GPIO_AF6_SPI1 ((uint8_t)0x06) /* SPI1 Alternate Function mapping */ -#if defined(STM32F410Cx) || defined(STM32F410Rx) -#define GPIO_AF6_SPI2 ((uint8_t)0x06) /* I2S2 Alternate Function mapping */ -#endif /* STM32F410Cx || STM32F410Rx */ -#define GPIO_AF6_SPI5 ((uint8_t)0x06) /* SPI5/I2S5 Alternate Function mapping */ -/** - * @brief AF 7 selection - */ -#define GPIO_AF7_USART1 ((uint8_t)0x07) /* USART1 Alternate Function mapping */ -#define GPIO_AF7_USART2 ((uint8_t)0x07) /* USART2 Alternate Function mapping */ - -/** - * @brief AF 8 selection - */ -#define GPIO_AF8_USART6 ((uint8_t)0x08) /* USART6 Alternate Function mapping */ - -/** - * @brief AF 9 selection - */ -#define GPIO_AF9_I2C2 ((uint8_t)0x09) /* I2C2 Alternate Function mapping */ -#define GPIO_AF9_FMPI2C1 ((uint8_t)0x09) /* FMPI2C1 Alternate Function mapping */ - -/** - * @brief AF 15 selection - */ -#define GPIO_AF15_EVENTOUT ((uint8_t)0x0F) /* EVENTOUT Alternate Function mapping */ -#endif /* STM32F410Tx || STM32F410Cx || STM32F410Rx */ - -/*---------------------------------------- STM32F446xx -----------------------*/ -#if defined(STM32F446xx) -/** - * @brief AF 0 selection - */ -#define GPIO_AF0_RTC_50Hz ((uint8_t)0x00) /* RTC_50Hz Alternate Function mapping */ -#define GPIO_AF0_MCO ((uint8_t)0x00) /* MCO (MCO1 and MCO2) Alternate Function mapping */ -#define GPIO_AF0_TAMPER ((uint8_t)0x00) /* TAMPER (TAMPER_1 and TAMPER_2) Alternate Function mapping */ -#define GPIO_AF0_SWJ ((uint8_t)0x00) /* SWJ (SWD and JTAG) Alternate Function mapping */ -#define GPIO_AF0_TRACE ((uint8_t)0x00) /* TRACE Alternate Function mapping */ - -/** - * @brief AF 1 selection - */ -#define GPIO_AF1_TIM1 ((uint8_t)0x01) /* TIM1 Alternate Function mapping */ -#define GPIO_AF1_TIM2 ((uint8_t)0x01) /* TIM2 Alternate Function mapping */ - -/** - * @brief AF 2 selection - */ -#define GPIO_AF2_TIM3 ((uint8_t)0x02) /* TIM3 Alternate Function mapping */ -#define GPIO_AF2_TIM4 ((uint8_t)0x02) /* TIM4 Alternate Function mapping */ -#define GPIO_AF2_TIM5 ((uint8_t)0x02) /* TIM5 Alternate Function mapping */ - -/** - * @brief AF 3 selection - */ -#define GPIO_AF3_TIM8 ((uint8_t)0x03) /* TIM8 Alternate Function mapping */ -#define GPIO_AF3_TIM9 ((uint8_t)0x03) /* TIM9 Alternate Function mapping */ -#define GPIO_AF3_TIM10 ((uint8_t)0x03) /* TIM10 Alternate Function mapping */ -#define GPIO_AF3_TIM11 ((uint8_t)0x03) /* TIM11 Alternate Function mapping */ -#define GPIO_AF3_CEC ((uint8_t)0x03) /* CEC Alternate Function mapping */ - -/** - * @brief AF 4 selection - */ -#define GPIO_AF4_I2C1 ((uint8_t)0x04) /* I2C1 Alternate Function mapping */ -#define GPIO_AF4_I2C2 ((uint8_t)0x04) /* I2C2 Alternate Function mapping */ -#define GPIO_AF4_I2C3 ((uint8_t)0x04) /* I2C3 Alternate Function mapping */ -#define GPIO_AF4_FMPI2C1 ((uint8_t)0x04) /* FMPI2C1 Alternate Function mapping */ -#define GPIO_AF4_CEC ((uint8_t)0x04) /* CEC Alternate Function mapping */ - -/** - * @brief AF 5 selection - */ -#define GPIO_AF5_SPI1 ((uint8_t)0x05) /* SPI1/I2S1 Alternate Function mapping */ -#define GPIO_AF5_SPI2 ((uint8_t)0x05) /* SPI2/I2S2 Alternate Function mapping */ -#define GPIO_AF5_SPI3 ((uint8_t)0x05) /* SPI3/I2S3 Alternate Function mapping */ -#define GPIO_AF5_SPI4 ((uint8_t)0x05) /* SPI4 Alternate Function mapping */ - -/** - * @brief AF 6 selection - */ -#define GPIO_AF6_SPI2 ((uint8_t)0x06) /* SPI2/I2S2 Alternate Function mapping */ -#define GPIO_AF6_SPI3 ((uint8_t)0x06) /* SPI3/I2S3 Alternate Function mapping */ -#define GPIO_AF6_SPI4 ((uint8_t)0x06) /* SPI4 Alternate Function mapping */ -#define GPIO_AF6_SAI1 ((uint8_t)0x06) /* SAI1 Alternate Function mapping */ - -/** - * @brief AF 7 selection - */ -#define GPIO_AF7_USART1 ((uint8_t)0x07) /* USART1 Alternate Function mapping */ -#define GPIO_AF7_USART2 ((uint8_t)0x07) /* USART2 Alternate Function mapping */ -#define GPIO_AF7_USART3 ((uint8_t)0x07) /* USART3 Alternate Function mapping */ -#define GPIO_AF7_UART5 ((uint8_t)0x07) /* UART5 Alternate Function mapping */ -#define GPIO_AF7_SPI2 ((uint8_t)0x07) /* SPI2/I2S2 Alternate Function mapping */ -#define GPIO_AF7_SPI3 ((uint8_t)0x07) /* SPI3/I2S3 Alternate Function mapping */ -#define GPIO_AF7_SPDIFRX ((uint8_t)0x07) /* SPDIFRX Alternate Function mapping */ - -/** - * @brief AF 8 selection - */ -#define GPIO_AF8_UART4 ((uint8_t)0x08) /* UART4 Alternate Function mapping */ -#define GPIO_AF8_UART5 ((uint8_t)0x08) /* UART5 Alternate Function mapping */ -#define GPIO_AF8_USART6 ((uint8_t)0x08) /* USART6 Alternate Function mapping */ -#define GPIO_AF8_SPDIFRX ((uint8_t)0x08) /* SPDIFRX Alternate Function mapping */ -#define GPIO_AF8_SAI2 ((uint8_t)0x08) /* SAI2 Alternate Function mapping */ - -/** - * @brief AF 9 selection - */ -#define GPIO_AF9_CAN1 ((uint8_t)0x09) /* CAN1 Alternate Function mapping */ -#define GPIO_AF9_CAN2 ((uint8_t)0x09) /* CAN2 Alternate Function mapping */ -#define GPIO_AF9_TIM12 ((uint8_t)0x09) /* TIM12 Alternate Function mapping */ -#define GPIO_AF9_TIM13 ((uint8_t)0x09) /* TIM13 Alternate Function mapping */ -#define GPIO_AF9_TIM14 ((uint8_t)0x09) /* TIM14 Alternate Function mapping */ -#define GPIO_AF9_QSPI ((uint8_t)0x09) /* QSPI Alternate Function mapping */ - -/** - * @brief AF 10 selection - */ -#define GPIO_AF10_OTG_FS ((uint8_t)0x0A) /* OTG_FS Alternate Function mapping */ -#define GPIO_AF10_OTG_HS ((uint8_t)0x0A) /* OTG_HS Alternate Function mapping */ -#define GPIO_AF10_SAI2 ((uint8_t)0x0A) /* SAI2 Alternate Function mapping */ -#define GPIO_AF10_QSPI ((uint8_t)0x0A) /* QSPI Alternate Function mapping */ - -/** - * @brief AF 11 selection - */ -#define GPIO_AF11_ETH ((uint8_t)0x0B) /* ETHERNET Alternate Function mapping */ - -/** - * @brief AF 12 selection - */ -#define GPIO_AF12_FMC ((uint8_t)0x0C) /* FMC Alternate Function mapping */ -#define GPIO_AF12_OTG_HS_FS ((uint8_t)0x0C) /* OTG HS configured in FS, Alternate Function mapping */ -#define GPIO_AF12_SDIO ((uint8_t)0x0C) /* SDIO Alternate Function mapping */ - -/** - * @brief AF 13 selection - */ -#define GPIO_AF13_DCMI ((uint8_t)0x0D) /* DCMI Alternate Function mapping */ - -/** - * @brief AF 15 selection - */ -#define GPIO_AF15_EVENTOUT ((uint8_t)0x0F) /* EVENTOUT Alternate Function mapping */ - -#endif /* STM32F446xx */ -/*----------------------------------------------------------------------------*/ - -/*-------------------------------- STM32F469xx/STM32F479xx--------------------*/ -#if defined(STM32F469xx) || defined(STM32F479xx) -/** - * @brief AF 0 selection - */ -#define GPIO_AF0_RTC_50Hz ((uint8_t)0x00) /* RTC_50Hz Alternate Function mapping */ -#define GPIO_AF0_MCO ((uint8_t)0x00) /* MCO (MCO1 and MCO2) Alternate Function mapping */ -#define GPIO_AF0_TAMPER ((uint8_t)0x00) /* TAMPER (TAMPER_1 and TAMPER_2) Alternate Function mapping */ -#define GPIO_AF0_SWJ ((uint8_t)0x00) /* SWJ (SWD and JTAG) Alternate Function mapping */ -#define GPIO_AF0_TRACE ((uint8_t)0x00) /* TRACE Alternate Function mapping */ - -/** - * @brief AF 1 selection - */ -#define GPIO_AF1_TIM1 ((uint8_t)0x01) /* TIM1 Alternate Function mapping */ -#define GPIO_AF1_TIM2 ((uint8_t)0x01) /* TIM2 Alternate Function mapping */ - -/** - * @brief AF 2 selection - */ -#define GPIO_AF2_TIM3 ((uint8_t)0x02) /* TIM3 Alternate Function mapping */ -#define GPIO_AF2_TIM4 ((uint8_t)0x02) /* TIM4 Alternate Function mapping */ -#define GPIO_AF2_TIM5 ((uint8_t)0x02) /* TIM5 Alternate Function mapping */ - -/** - * @brief AF 3 selection - */ -#define GPIO_AF3_TIM8 ((uint8_t)0x03) /* TIM8 Alternate Function mapping */ -#define GPIO_AF3_TIM9 ((uint8_t)0x03) /* TIM9 Alternate Function mapping */ -#define GPIO_AF3_TIM10 ((uint8_t)0x03) /* TIM10 Alternate Function mapping */ -#define GPIO_AF3_TIM11 ((uint8_t)0x03) /* TIM11 Alternate Function mapping */ - -/** - * @brief AF 4 selection - */ -#define GPIO_AF4_I2C1 ((uint8_t)0x04) /* I2C1 Alternate Function mapping */ -#define GPIO_AF4_I2C2 ((uint8_t)0x04) /* I2C2 Alternate Function mapping */ -#define GPIO_AF4_I2C3 ((uint8_t)0x04) /* I2C3 Alternate Function mapping */ - -/** - * @brief AF 5 selection - */ -#define GPIO_AF5_SPI1 ((uint8_t)0x05) /* SPI1 Alternate Function mapping */ -#define GPIO_AF5_SPI2 ((uint8_t)0x05) /* SPI2/I2S2 Alternate Function mapping */ -#define GPIO_AF5_SPI3 ((uint8_t)0x05) /* SPI3/I2S3 Alternate Function mapping */ -#define GPIO_AF5_SPI4 ((uint8_t)0x05) /* SPI4 Alternate Function mapping */ -#define GPIO_AF5_SPI5 ((uint8_t)0x05) /* SPI5 Alternate Function mapping */ -#define GPIO_AF5_SPI6 ((uint8_t)0x05) /* SPI6 Alternate Function mapping */ -#define GPIO_AF5_I2S3ext ((uint8_t)0x05) /* I2S3ext_SD Alternate Function mapping */ - -/** - * @brief AF 6 selection - */ -#define GPIO_AF6_SPI3 ((uint8_t)0x06) /* SPI3/I2S3 Alternate Function mapping */ -#define GPIO_AF6_I2S2ext ((uint8_t)0x06) /* I2S2ext_SD Alternate Function mapping */ -#define GPIO_AF6_SAI1 ((uint8_t)0x06) /* SAI1 Alternate Function mapping */ - -/** - * @brief AF 7 selection - */ -#define GPIO_AF7_USART1 ((uint8_t)0x07) /* USART1 Alternate Function mapping */ -#define GPIO_AF7_USART2 ((uint8_t)0x07) /* USART2 Alternate Function mapping */ -#define GPIO_AF7_USART3 ((uint8_t)0x07) /* USART3 Alternate Function mapping */ -#define GPIO_AF7_I2S3ext ((uint8_t)0x07) /* I2S3ext_SD Alternate Function mapping */ - -/** - * @brief AF 8 selection - */ -#define GPIO_AF8_UART4 ((uint8_t)0x08) /* UART4 Alternate Function mapping */ -#define GPIO_AF8_UART5 ((uint8_t)0x08) /* UART5 Alternate Function mapping */ -#define GPIO_AF8_USART6 ((uint8_t)0x08) /* USART6 Alternate Function mapping */ -#define GPIO_AF8_UART7 ((uint8_t)0x08) /* UART7 Alternate Function mapping */ -#define GPIO_AF8_UART8 ((uint8_t)0x08) /* UART8 Alternate Function mapping */ - -/** - * @brief AF 9 selection - */ -#define GPIO_AF9_CAN1 ((uint8_t)0x09) /* CAN1 Alternate Function mapping */ -#define GPIO_AF9_CAN2 ((uint8_t)0x09) /* CAN2 Alternate Function mapping */ -#define GPIO_AF9_TIM12 ((uint8_t)0x09) /* TIM12 Alternate Function mapping */ -#define GPIO_AF9_TIM13 ((uint8_t)0x09) /* TIM13 Alternate Function mapping */ -#define GPIO_AF9_TIM14 ((uint8_t)0x09) /* TIM14 Alternate Function mapping */ -#define GPIO_AF9_LTDC ((uint8_t)0x09) /* LCD-TFT Alternate Function mapping */ -#define GPIO_AF9_QSPI ((uint8_t)0x09) /* QSPI Alternate Function mapping */ - -/** - * @brief AF 10 selection - */ -#define GPIO_AF10_OTG_FS ((uint8_t)0x0A) /* OTG_FS Alternate Function mapping */ -#define GPIO_AF10_OTG_HS ((uint8_t)0x0A) /* OTG_HS Alternate Function mapping */ -#define GPIO_AF10_QSPI ((uint8_t)0x0A) /* QSPI Alternate Function mapping */ - -/** - * @brief AF 11 selection - */ -#define GPIO_AF11_ETH ((uint8_t)0x0B) /* ETHERNET Alternate Function mapping */ - -/** - * @brief AF 12 selection - */ -#define GPIO_AF12_FMC ((uint8_t)0x0C) /* FMC Alternate Function mapping */ -#define GPIO_AF12_OTG_HS_FS ((uint8_t)0x0C) /* OTG HS configured in FS, Alternate Function mapping */ -#define GPIO_AF12_SDIO ((uint8_t)0x0C) /* SDIO Alternate Function mapping */ - -/** - * @brief AF 13 selection - */ -#define GPIO_AF13_DCMI ((uint8_t)0x0D) /* DCMI Alternate Function mapping */ -#define GPIO_AF13_DSI ((uint8_t)0x0D) /* DSI Alternate Function mapping */ - -/** - * @brief AF 14 selection - */ -#define GPIO_AF14_LTDC ((uint8_t)0x0E) /* LCD-TFT Alternate Function mapping */ - -/** - * @brief AF 15 selection - */ -#define GPIO_AF15_EVENTOUT ((uint8_t)0x0F) /* EVENTOUT Alternate Function mapping */ - -#endif /* STM32F469xx || STM32F479xx */ -/*----------------------------------------------------------------------------*/ -/** - * @} - */ - -/** - * @} - */ - -/* Exported macro ------------------------------------------------------------*/ -/** @defgroup GPIOEx_Exported_Macros GPIO Exported Macros - * @{ - */ -/** - * @} - */ - -/* Exported functions --------------------------------------------------------*/ -/** @defgroup GPIOEx_Exported_Functions GPIO Exported Functions - * @{ - */ -/** - * @} - */ - -/* Private types -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private constants ---------------------------------------------------------*/ -/** @defgroup GPIOEx_Private_Constants GPIO Private Constants - * @{ - */ -/** - * @} - */ - -/* Private macros ------------------------------------------------------------*/ -/** @defgroup GPIOEx_Private_Macros GPIO Private Macros - * @{ - */ -/** @defgroup GPIOEx_Get_Port_Index GPIO Get Port Index - * @{ - */ -#if defined(STM32F405xx) || defined(STM32F415xx) || defined(STM32F407xx) || defined(STM32F417xx) -#define GPIO_GET_INDEX(__GPIOx__) (uint8_t)(((__GPIOx__) == (GPIOA))? 0U :\ - ((__GPIOx__) == (GPIOB))? 1U :\ - ((__GPIOx__) == (GPIOC))? 2U :\ - ((__GPIOx__) == (GPIOD))? 3U :\ - ((__GPIOx__) == (GPIOE))? 4U :\ - ((__GPIOx__) == (GPIOF))? 5U :\ - ((__GPIOx__) == (GPIOG))? 6U :\ - ((__GPIOx__) == (GPIOH))? 7U : 8U) -#endif /* STM32F405xx || STM32F415xx || STM32F407xx || STM32F417xx */ - -#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) ||\ - defined(STM32F469xx) || defined(STM32F479xx) -#define GPIO_GET_INDEX(__GPIOx__) (uint8_t)(((__GPIOx__) == (GPIOA))? 0U :\ - ((__GPIOx__) == (GPIOB))? 1U :\ - ((__GPIOx__) == (GPIOC))? 2U :\ - ((__GPIOx__) == (GPIOD))? 3U :\ - ((__GPIOx__) == (GPIOE))? 4U :\ - ((__GPIOx__) == (GPIOF))? 5U :\ - ((__GPIOx__) == (GPIOG))? 6U :\ - ((__GPIOx__) == (GPIOH))? 7U :\ - ((__GPIOx__) == (GPIOI))? 8U :\ - ((__GPIOx__) == (GPIOJ))? 9U : 10U) -#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || STM32F469xx || STM32F479xx */ - -#if defined(STM32F410Tx) || defined(STM32F410Cx) || defined(STM32F410Rx) -#define GPIO_GET_INDEX(__GPIOx__) (uint8_t)(((__GPIOx__) == (GPIOA))? 0U :\ - ((__GPIOx__) == (GPIOB))? 1U :\ - ((__GPIOx__) == (GPIOC))? 2U : 7U) -#endif /* STM32F410Tx || STM32F410Cx || STM32F410Rx */ - -#if defined(STM32F401xC) || defined(STM32F401xE) || defined(STM32F411xE) -#define GPIO_GET_INDEX(__GPIOx__) (uint8_t)(((__GPIOx__) == (GPIOA))? 0U :\ - ((__GPIOx__) == (GPIOB))? 1U :\ - ((__GPIOx__) == (GPIOC))? 2U :\ - ((__GPIOx__) == (GPIOD))? 3U :\ - ((__GPIOx__) == (GPIOE))? 4U : 7U) -#endif /* STM32F401xC || STM32F401xE || STM32F411xE */ - -#if defined(STM32F446xx) || defined(STM32F412Zx) || defined(STM32F413xx) || defined(STM32F423xx) -#define GPIO_GET_INDEX(__GPIOx__) (uint8_t)(((__GPIOx__) == (GPIOA))? 0U :\ - ((__GPIOx__) == (GPIOB))? 1U :\ - ((__GPIOx__) == (GPIOC))? 2U :\ - ((__GPIOx__) == (GPIOD))? 3U :\ - ((__GPIOx__) == (GPIOE))? 4U :\ - ((__GPIOx__) == (GPIOF))? 5U :\ - ((__GPIOx__) == (GPIOG))? 6U : 7U) -#endif /* STM32F446xx || STM32F412Zx || STM32F413xx || STM32F423xx */ -#if defined(STM32F412Vx) -#define GPIO_GET_INDEX(__GPIOx__) (uint8_t)(((__GPIOx__) == (GPIOA))? 0U :\ - ((__GPIOx__) == (GPIOB))? 1U :\ - ((__GPIOx__) == (GPIOC))? 2U :\ - ((__GPIOx__) == (GPIOD))? 3U :\ - ((__GPIOx__) == (GPIOE))? 4U : 7U) -#endif /* STM32F412Vx */ -#if defined(STM32F412Rx) -#define GPIO_GET_INDEX(__GPIOx__) (uint8_t)(((__GPIOx__) == (GPIOA))? 0U :\ - ((__GPIOx__) == (GPIOB))? 1U :\ - ((__GPIOx__) == (GPIOC))? 2U :\ - ((__GPIOx__) == (GPIOD))? 3U : 7U) -#endif /* STM32F412Rx */ -#if defined(STM32F412Cx) -#define GPIO_GET_INDEX(__GPIOx__) (uint8_t)(((__GPIOx__) == (GPIOA))? 0U :\ - ((__GPIOx__) == (GPIOB))? 1U :\ - ((__GPIOx__) == (GPIOC))? 2U : 7U) -#endif /* STM32F412Cx */ - -/** - * @} - */ - -/** @defgroup GPIOEx_IS_Alternat_function_selection GPIO Check Alternate Function - * @{ - */ -/*------------------------- STM32F429xx/STM32F439xx---------------------------*/ -#if defined(STM32F429xx) || defined(STM32F439xx) -#define IS_GPIO_AF(AF) (((AF) == GPIO_AF0_RTC_50Hz) || ((AF) == GPIO_AF9_TIM14) || \ - ((AF) == GPIO_AF0_MCO) || ((AF) == GPIO_AF0_TAMPER) || \ - ((AF) == GPIO_AF0_SWJ) || ((AF) == GPIO_AF0_TRACE) || \ - ((AF) == GPIO_AF1_TIM1) || ((AF) == GPIO_AF1_TIM2) || \ - ((AF) == GPIO_AF2_TIM3) || ((AF) == GPIO_AF2_TIM4) || \ - ((AF) == GPIO_AF2_TIM5) || ((AF) == GPIO_AF3_TIM8) || \ - ((AF) == GPIO_AF4_I2C1) || ((AF) == GPIO_AF4_I2C2) || \ - ((AF) == GPIO_AF4_I2C3) || ((AF) == GPIO_AF5_SPI1) || \ - ((AF) == GPIO_AF5_SPI2) || ((AF) == GPIO_AF9_TIM13) || \ - ((AF) == GPIO_AF6_SPI3) || ((AF) == GPIO_AF9_TIM12) || \ - ((AF) == GPIO_AF7_USART1) || ((AF) == GPIO_AF7_USART2) || \ - ((AF) == GPIO_AF7_USART3) || ((AF) == GPIO_AF8_UART4) || \ - ((AF) == GPIO_AF8_UART5) || ((AF) == GPIO_AF8_USART6) || \ - ((AF) == GPIO_AF9_CAN1) || ((AF) == GPIO_AF9_CAN2) || \ - ((AF) == GPIO_AF10_OTG_FS) || ((AF) == GPIO_AF10_OTG_HS) || \ - ((AF) == GPIO_AF11_ETH) || ((AF) == GPIO_AF12_OTG_HS_FS) || \ - ((AF) == GPIO_AF12_SDIO) || ((AF) == GPIO_AF13_DCMI) || \ - ((AF) == GPIO_AF15_EVENTOUT) || ((AF) == GPIO_AF5_SPI4) || \ - ((AF) == GPIO_AF5_SPI5) || ((AF) == GPIO_AF5_SPI6) || \ - ((AF) == GPIO_AF8_UART7) || ((AF) == GPIO_AF8_UART8) || \ - ((AF) == GPIO_AF12_FMC) || ((AF) == GPIO_AF6_SAI1) || \ - ((AF) == GPIO_AF14_LTDC)) - -#endif /* STM32F429xx || STM32F439xx */ -/*----------------------------------------------------------------------------*/ - -/*---------------------------------- STM32F427xx/STM32F437xx------------------*/ -#if defined(STM32F427xx) || defined(STM32F437xx) -#define IS_GPIO_AF(AF) (((AF) == GPIO_AF0_RTC_50Hz) || ((AF) == GPIO_AF9_TIM14) || \ - ((AF) == GPIO_AF0_MCO) || ((AF) == GPIO_AF0_TAMPER) || \ - ((AF) == GPIO_AF0_SWJ) || ((AF) == GPIO_AF0_TRACE) || \ - ((AF) == GPIO_AF1_TIM1) || ((AF) == GPIO_AF1_TIM2) || \ - ((AF) == GPIO_AF2_TIM3) || ((AF) == GPIO_AF2_TIM4) || \ - ((AF) == GPIO_AF2_TIM5) || ((AF) == GPIO_AF3_TIM8) || \ - ((AF) == GPIO_AF4_I2C1) || ((AF) == GPIO_AF4_I2C2) || \ - ((AF) == GPIO_AF4_I2C3) || ((AF) == GPIO_AF5_SPI1) || \ - ((AF) == GPIO_AF5_SPI2) || ((AF) == GPIO_AF9_TIM13) || \ - ((AF) == GPIO_AF6_SPI3) || ((AF) == GPIO_AF9_TIM12) || \ - ((AF) == GPIO_AF7_USART1) || ((AF) == GPIO_AF7_USART2) || \ - ((AF) == GPIO_AF7_USART3) || ((AF) == GPIO_AF8_UART4) || \ - ((AF) == GPIO_AF8_UART5) || ((AF) == GPIO_AF8_USART6) || \ - ((AF) == GPIO_AF9_CAN1) || ((AF) == GPIO_AF9_CAN2) || \ - ((AF) == GPIO_AF10_OTG_FS) || ((AF) == GPIO_AF10_OTG_HS) || \ - ((AF) == GPIO_AF11_ETH) || ((AF) == GPIO_AF12_OTG_HS_FS) || \ - ((AF) == GPIO_AF12_SDIO) || ((AF) == GPIO_AF13_DCMI) || \ - ((AF) == GPIO_AF15_EVENTOUT) || ((AF) == GPIO_AF5_SPI4) || \ - ((AF) == GPIO_AF5_SPI5) || ((AF) == GPIO_AF5_SPI6) || \ - ((AF) == GPIO_AF8_UART7) || ((AF) == GPIO_AF8_UART8) || \ - ((AF) == GPIO_AF12_FMC) || ((AF) == GPIO_AF6_SAI1)) - -#endif /* STM32F427xx || STM32F437xx */ -/*----------------------------------------------------------------------------*/ - -/*---------------------------------- STM32F407xx/STM32F417xx------------------*/ -#if defined(STM32F407xx) || defined(STM32F417xx) -#define IS_GPIO_AF(AF) (((AF) == GPIO_AF0_RTC_50Hz) || ((AF) == GPIO_AF9_TIM14) || \ - ((AF) == GPIO_AF0_MCO) || ((AF) == GPIO_AF0_TAMPER) || \ - ((AF) == GPIO_AF0_SWJ) || ((AF) == GPIO_AF0_TRACE) || \ - ((AF) == GPIO_AF1_TIM1) || ((AF) == GPIO_AF1_TIM2) || \ - ((AF) == GPIO_AF2_TIM3) || ((AF) == GPIO_AF2_TIM4) || \ - ((AF) == GPIO_AF2_TIM5) || ((AF) == GPIO_AF3_TIM8) || \ - ((AF) == GPIO_AF4_I2C1) || ((AF) == GPIO_AF4_I2C2) || \ - ((AF) == GPIO_AF4_I2C3) || ((AF) == GPIO_AF5_SPI1) || \ - ((AF) == GPIO_AF5_SPI2) || ((AF) == GPIO_AF9_TIM13) || \ - ((AF) == GPIO_AF6_SPI3) || ((AF) == GPIO_AF9_TIM12) || \ - ((AF) == GPIO_AF7_USART1) || ((AF) == GPIO_AF7_USART2) || \ - ((AF) == GPIO_AF7_USART3) || ((AF) == GPIO_AF8_UART4) || \ - ((AF) == GPIO_AF8_UART5) || ((AF) == GPIO_AF8_USART6) || \ - ((AF) == GPIO_AF9_CAN1) || ((AF) == GPIO_AF9_CAN2) || \ - ((AF) == GPIO_AF10_OTG_FS) || ((AF) == GPIO_AF10_OTG_HS) || \ - ((AF) == GPIO_AF11_ETH) || ((AF) == GPIO_AF12_OTG_HS_FS) || \ - ((AF) == GPIO_AF12_SDIO) || ((AF) == GPIO_AF13_DCMI) || \ - ((AF) == GPIO_AF12_FSMC) || ((AF) == GPIO_AF15_EVENTOUT)) - -#endif /* STM32F407xx || STM32F417xx */ -/*----------------------------------------------------------------------------*/ - -/*---------------------------------- STM32F405xx/STM32F415xx------------------*/ -#if defined(STM32F405xx) || defined(STM32F415xx) -#define IS_GPIO_AF(AF) (((AF) == GPIO_AF0_RTC_50Hz) || ((AF) == GPIO_AF9_TIM14) || \ - ((AF) == GPIO_AF0_MCO) || ((AF) == GPIO_AF0_TAMPER) || \ - ((AF) == GPIO_AF0_SWJ) || ((AF) == GPIO_AF0_TRACE) || \ - ((AF) == GPIO_AF1_TIM1) || ((AF) == GPIO_AF1_TIM2) || \ - ((AF) == GPIO_AF2_TIM3) || ((AF) == GPIO_AF2_TIM4) || \ - ((AF) == GPIO_AF2_TIM5) || ((AF) == GPIO_AF3_TIM8) || \ - ((AF) == GPIO_AF4_I2C1) || ((AF) == GPIO_AF4_I2C2) || \ - ((AF) == GPIO_AF4_I2C3) || ((AF) == GPIO_AF5_SPI1) || \ - ((AF) == GPIO_AF5_SPI2) || ((AF) == GPIO_AF9_TIM13) || \ - ((AF) == GPIO_AF6_SPI3) || ((AF) == GPIO_AF9_TIM12) || \ - ((AF) == GPIO_AF7_USART1) || ((AF) == GPIO_AF7_USART2) || \ - ((AF) == GPIO_AF7_USART3) || ((AF) == GPIO_AF8_UART4) || \ - ((AF) == GPIO_AF8_UART5) || ((AF) == GPIO_AF8_USART6) || \ - ((AF) == GPIO_AF9_CAN1) || ((AF) == GPIO_AF9_CAN2) || \ - ((AF) == GPIO_AF10_OTG_FS) || ((AF) == GPIO_AF10_OTG_HS) || \ - ((AF) == GPIO_AF12_OTG_HS_FS) || ((AF) == GPIO_AF12_SDIO) || \ - ((AF) == GPIO_AF12_FSMC) || ((AF) == GPIO_AF15_EVENTOUT)) - -#endif /* STM32F405xx || STM32F415xx */ - -/*----------------------------------------------------------------------------*/ - -/*---------------------------------------- STM32F401xx------------------------*/ -#if defined(STM32F401xC) || defined(STM32F401xE) -#define IS_GPIO_AF(AF) (((AF) == GPIO_AF0_RTC_50Hz) || ((AF) == GPIO_AF12_SDIO) || \ - ((AF) == GPIO_AF0_MCO) || ((AF) == GPIO_AF0_TAMPER) || \ - ((AF) == GPIO_AF0_SWJ) || ((AF) == GPIO_AF0_TRACE) || \ - ((AF) == GPIO_AF1_TIM1) || ((AF) == GPIO_AF1_TIM2) || \ - ((AF) == GPIO_AF2_TIM3) || ((AF) == GPIO_AF2_TIM4) || \ - ((AF) == GPIO_AF2_TIM5) || ((AF) == GPIO_AF3_TIM9) || \ - ((AF) == GPIO_AF3_TIM10) || ((AF) == GPIO_AF3_TIM11) || \ - ((AF) == GPIO_AF4_I2C1) || ((AF) == GPIO_AF4_I2C2) || \ - ((AF) == GPIO_AF4_I2C3) || ((AF) == GPIO_AF5_SPI1) || \ - ((AF) == GPIO_AF5_SPI2) || ((AF) == GPIO_AF5_SPI4) || \ - ((AF) == GPIO_AF6_SPI3) || ((AF) == GPIO_AF7_USART1) || \ - ((AF) == GPIO_AF7_USART2) || ((AF) == GPIO_AF8_USART6) || \ - ((AF) == GPIO_AF9_I2C2) || ((AF) == GPIO_AF9_I2C3) || \ - ((AF) == GPIO_AF10_OTG_FS) || ((AF) == GPIO_AF15_EVENTOUT)) -#endif /* STM32F401xC || STM32F401xE */ -/*----------------------------------------------------------------------------*/ -/*---------------------------------------- STM32F410xx------------------------*/ -#if defined(STM32F410Tx) || defined(STM32F410Cx) || defined(STM32F410Rx) -#define IS_GPIO_AF(AF) (((AF) < 10U) || ((AF) == 15U)) -#endif /* STM32F410Tx || STM32F410Cx || STM32F410Rx */ - -/*---------------------------------------- STM32F411xx------------------------*/ -#if defined(STM32F411xE) -#define IS_GPIO_AF(AF) (((AF) == GPIO_AF0_RTC_50Hz) || ((AF) == GPIO_AF9_TIM14) || \ - ((AF) == GPIO_AF0_MCO) || ((AF) == GPIO_AF0_TAMPER) || \ - ((AF) == GPIO_AF0_SWJ) || ((AF) == GPIO_AF0_TRACE) || \ - ((AF) == GPIO_AF1_TIM1) || ((AF) == GPIO_AF1_TIM2) || \ - ((AF) == GPIO_AF2_TIM3) || ((AF) == GPIO_AF2_TIM4) || \ - ((AF) == GPIO_AF2_TIM5) || ((AF) == GPIO_AF4_I2C1) || \ - ((AF) == GPIO_AF4_I2C2) || ((AF) == GPIO_AF4_I2C3) || \ - ((AF) == GPIO_AF5_SPI1) || ((AF) == GPIO_AF5_SPI2) || \ - ((AF) == GPIO_AF5_SPI3) || ((AF) == GPIO_AF6_SPI4) || \ - ((AF) == GPIO_AF6_SPI3) || ((AF) == GPIO_AF5_SPI4) || \ - ((AF) == GPIO_AF6_SPI5) || ((AF) == GPIO_AF7_SPI3) || \ - ((AF) == GPIO_AF7_USART1) || ((AF) == GPIO_AF7_USART2) || \ - ((AF) == GPIO_AF8_USART6) || ((AF) == GPIO_AF10_OTG_FS) || \ - ((AF) == GPIO_AF9_I2C2) || ((AF) == GPIO_AF9_I2C3) || \ - ((AF) == GPIO_AF12_SDIO) || ((AF) == GPIO_AF15_EVENTOUT)) - -#endif /* STM32F411xE */ -/*----------------------------------------------------------------------------*/ - -/*----------------------------------------------- STM32F446xx ----------------*/ -#if defined(STM32F446xx) -#define IS_GPIO_AF(AF) (((AF) == GPIO_AF0_RTC_50Hz) || ((AF) == GPIO_AF9_TIM14) || \ - ((AF) == GPIO_AF0_MCO) || ((AF) == GPIO_AF0_TAMPER) || \ - ((AF) == GPIO_AF0_SWJ) || ((AF) == GPIO_AF0_TRACE) || \ - ((AF) == GPIO_AF1_TIM1) || ((AF) == GPIO_AF1_TIM2) || \ - ((AF) == GPIO_AF2_TIM3) || ((AF) == GPIO_AF2_TIM4) || \ - ((AF) == GPIO_AF2_TIM5) || ((AF) == GPIO_AF3_TIM8) || \ - ((AF) == GPIO_AF4_I2C1) || ((AF) == GPIO_AF4_I2C2) || \ - ((AF) == GPIO_AF4_I2C3) || ((AF) == GPIO_AF5_SPI1) || \ - ((AF) == GPIO_AF5_SPI2) || ((AF) == GPIO_AF9_TIM13) || \ - ((AF) == GPIO_AF6_SPI3) || ((AF) == GPIO_AF9_TIM12) || \ - ((AF) == GPIO_AF7_USART1) || ((AF) == GPIO_AF7_USART2) || \ - ((AF) == GPIO_AF7_USART3) || ((AF) == GPIO_AF8_UART4) || \ - ((AF) == GPIO_AF8_UART5) || ((AF) == GPIO_AF8_USART6) || \ - ((AF) == GPIO_AF9_CAN1) || ((AF) == GPIO_AF9_CAN2) || \ - ((AF) == GPIO_AF10_OTG_FS) || ((AF) == GPIO_AF10_OTG_HS) || \ - ((AF) == GPIO_AF11_ETH) || ((AF) == GPIO_AF12_OTG_HS_FS) || \ - ((AF) == GPIO_AF12_SDIO) || ((AF) == GPIO_AF13_DCMI) || \ - ((AF) == GPIO_AF15_EVENTOUT) || ((AF) == GPIO_AF5_SPI4) || \ - ((AF) == GPIO_AF12_FMC) || ((AF) == GPIO_AF6_SAI1) || \ - ((AF) == GPIO_AF3_CEC) || ((AF) == GPIO_AF4_CEC) || \ - ((AF) == GPIO_AF5_SPI3) || ((AF) == GPIO_AF6_SPI2) || \ - ((AF) == GPIO_AF6_SPI4) || ((AF) == GPIO_AF7_UART5) || \ - ((AF) == GPIO_AF7_SPI2) || ((AF) == GPIO_AF7_SPI3) || \ - ((AF) == GPIO_AF7_SPDIFRX) || ((AF) == GPIO_AF8_SPDIFRX) || \ - ((AF) == GPIO_AF8_SAI2) || ((AF) == GPIO_AF9_QSPI) || \ - ((AF) == GPIO_AF10_SAI2) || ((AF) == GPIO_AF10_QSPI)) - -#endif /* STM32F446xx */ -/*----------------------------------------------------------------------------*/ - -/*------------------------------------------- STM32F469xx/STM32F479xx --------*/ -#if defined(STM32F469xx) || defined(STM32F479xx) -#define IS_GPIO_AF(AF) (((AF) == GPIO_AF0_RTC_50Hz) || ((AF) == GPIO_AF9_TIM14) || \ - ((AF) == GPIO_AF0_MCO) || ((AF) == GPIO_AF0_TAMPER) || \ - ((AF) == GPIO_AF0_SWJ) || ((AF) == GPIO_AF0_TRACE) || \ - ((AF) == GPIO_AF1_TIM1) || ((AF) == GPIO_AF1_TIM2) || \ - ((AF) == GPIO_AF2_TIM3) || ((AF) == GPIO_AF2_TIM4) || \ - ((AF) == GPIO_AF2_TIM5) || ((AF) == GPIO_AF3_TIM8) || \ - ((AF) == GPIO_AF4_I2C1) || ((AF) == GPIO_AF4_I2C2) || \ - ((AF) == GPIO_AF4_I2C3) || ((AF) == GPIO_AF5_SPI1) || \ - ((AF) == GPIO_AF5_SPI2) || ((AF) == GPIO_AF9_TIM13) || \ - ((AF) == GPIO_AF6_SPI3) || ((AF) == GPIO_AF9_TIM12) || \ - ((AF) == GPIO_AF7_USART1) || ((AF) == GPIO_AF7_USART2) || \ - ((AF) == GPIO_AF7_USART3) || ((AF) == GPIO_AF8_UART4) || \ - ((AF) == GPIO_AF8_UART5) || ((AF) == GPIO_AF8_USART6) || \ - ((AF) == GPIO_AF9_CAN1) || ((AF) == GPIO_AF9_CAN2) || \ - ((AF) == GPIO_AF10_OTG_FS) || ((AF) == GPIO_AF10_OTG_HS) || \ - ((AF) == GPIO_AF11_ETH) || ((AF) == GPIO_AF12_OTG_HS_FS) || \ - ((AF) == GPIO_AF12_SDIO) || ((AF) == GPIO_AF13_DCMI) || \ - ((AF) == GPIO_AF15_EVENTOUT) || ((AF) == GPIO_AF5_SPI4) || \ - ((AF) == GPIO_AF5_SPI5) || ((AF) == GPIO_AF5_SPI6) || \ - ((AF) == GPIO_AF8_UART7) || ((AF) == GPIO_AF8_UART8) || \ - ((AF) == GPIO_AF12_FMC) || ((AF) == GPIO_AF6_SAI1) || \ - ((AF) == GPIO_AF14_LTDC) || ((AF) == GPIO_AF13_DSI) || \ - ((AF) == GPIO_AF9_QSPI) || ((AF) == GPIO_AF10_QSPI)) - -#endif /* STM32F469xx || STM32F479xx */ -/*----------------------------------------------------------------------------*/ - -/*------------------STM32F412Zx/STM32F412Vx/STM32F412Rx/STM32F412Cx-----------*/ -#if defined(STM32F412Zx) || defined(STM32F412Vx) || defined(STM32F412Rx) || defined(STM32F412Cx) -#define IS_GPIO_AF(AF) (((AF) < 16U) && ((AF) != 11U) && ((AF) != 14U) && ((AF) != 13U)) -#endif /* STM32F412Zx || STM32F412Vx || STM32F412Rx || STM32F412Cx */ -/*----------------------------------------------------------------------------*/ - -/*------------------STM32F413xx/STM32F423xx-----------------------------------*/ -#if defined(STM32F413xx) || defined(STM32F423xx) -#define IS_GPIO_AF(AF) (((AF) < 16U) && ((AF) != 13U)) -#endif /* STM32F413xx || STM32F423xx */ -/*----------------------------------------------------------------------------*/ - -/** - * @} - */ - -/** - * @} - */ - -/* Private functions ---------------------------------------------------------*/ -/** @defgroup GPIOEx_Private_Functions GPIO Private Functions - * @{ - */ - -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ - -#ifdef __cplusplus -} -#endif - -#endif /* __STM32F4xx_HAL_GPIO_EX_H */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_hash.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_hash.h deleted file mode 100644 index 3b73282edf795a..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_hash.h +++ /dev/null @@ -1,636 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_hash.h - * @author MCD Application Team - * @brief Header file of HASH HAL module. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef STM32F4xx_HAL_HASH_H -#define STM32F4xx_HAL_HASH_H - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal_def.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ -#if defined (HASH) -/** @addtogroup HASH - * @{ - */ - -/* Exported types ------------------------------------------------------------*/ -/** @defgroup HASH_Exported_Types HASH Exported Types - * @{ - */ - -/** - * @brief HASH Configuration Structure definition - */ -typedef struct -{ - uint32_t DataType; /*!< 32-bit data, 16-bit data, 8-bit data or 1-bit data. - This parameter can be a value of @ref HASH_Data_Type. */ - - uint32_t KeySize; /*!< The key size is used only in HMAC operation. */ - - uint8_t *pKey; /*!< The key is used only in HMAC operation. */ - -} HASH_InitTypeDef; - -/** - * @brief HAL State structures definition - */ -typedef enum -{ - HAL_HASH_STATE_RESET = 0x00U, /*!< Peripheral is not initialized */ - HAL_HASH_STATE_READY = 0x01U, /*!< Peripheral Initialized and ready for use */ - HAL_HASH_STATE_BUSY = 0x02U, /*!< Processing (hashing) is ongoing */ - HAL_HASH_STATE_TIMEOUT = 0x06U, /*!< Timeout state */ - HAL_HASH_STATE_ERROR = 0x07U, /*!< Error state */ - HAL_HASH_STATE_SUSPENDED = 0x08U /*!< Suspended state */ -} HAL_HASH_StateTypeDef; - -/** - * @brief HAL phase structures definition - */ -typedef enum -{ - HAL_HASH_PHASE_READY = 0x01U, /*!< HASH peripheral is ready to start */ - HAL_HASH_PHASE_PROCESS = 0x02U, /*!< HASH peripheral is in HASH processing phase */ - HAL_HASH_PHASE_HMAC_STEP_1 = 0x03U, /*!< HASH peripheral is in HMAC step 1 processing phase - (step 1 consists in entering the inner hash function key) */ - HAL_HASH_PHASE_HMAC_STEP_2 = 0x04U, /*!< HASH peripheral is in HMAC step 2 processing phase - (step 2 consists in entering the message text) */ - HAL_HASH_PHASE_HMAC_STEP_3 = 0x05U /*!< HASH peripheral is in HMAC step 3 processing phase - (step 3 consists in entering the outer hash function key) */ -} HAL_HASH_PhaseTypeDef; - -/** - * @brief HAL HASH mode suspend definitions - */ -typedef enum -{ - HAL_HASH_SUSPEND_NONE = 0x00U, /*!< HASH peripheral suspension not requested */ - HAL_HASH_SUSPEND = 0x01U /*!< HASH peripheral suspension is requested */ -} HAL_HASH_SuspendTypeDef; - -#if (USE_HAL_HASH_REGISTER_CALLBACKS == 1U) -/** - * @brief HAL HASH common Callback ID enumeration definition - */ -typedef enum -{ - HAL_HASH_MSPINIT_CB_ID = 0x00U, /*!< HASH MspInit callback ID */ - HAL_HASH_MSPDEINIT_CB_ID = 0x01U, /*!< HASH MspDeInit callback ID */ - HAL_HASH_INPUTCPLT_CB_ID = 0x02U, /*!< HASH input completion callback ID */ - HAL_HASH_DGSTCPLT_CB_ID = 0x03U, /*!< HASH digest computation completion callback ID */ - HAL_HASH_ERROR_CB_ID = 0x04U, /*!< HASH error callback ID */ -} HAL_HASH_CallbackIDTypeDef; -#endif /* USE_HAL_HASH_REGISTER_CALLBACKS */ - - -/** - * @brief HASH Handle Structure definition - */ -#if (USE_HAL_HASH_REGISTER_CALLBACKS == 1) -typedef struct __HASH_HandleTypeDef -#else -typedef struct -#endif /* (USE_HAL_HASH_REGISTER_CALLBACKS) */ -{ - HASH_InitTypeDef Init; /*!< HASH required parameters */ - - uint8_t *pHashInBuffPtr; /*!< Pointer to input buffer */ - - uint8_t *pHashOutBuffPtr; /*!< Pointer to output buffer (digest) */ - - uint8_t *pHashKeyBuffPtr; /*!< Pointer to key buffer (HMAC only) */ - - uint8_t *pHashMsgBuffPtr; /*!< Pointer to message buffer (HMAC only) */ - - uint32_t HashBuffSize; /*!< Size of buffer to be processed */ - - __IO uint32_t HashInCount; /*!< Counter of inputted data */ - - __IO uint32_t HashITCounter; /*!< Counter of issued interrupts */ - - __IO uint32_t HashKeyCount; /*!< Counter for Key inputted data (HMAC only) */ - - HAL_StatusTypeDef Status; /*!< HASH peripheral status */ - - HAL_HASH_PhaseTypeDef Phase; /*!< HASH peripheral phase */ - - DMA_HandleTypeDef *hdmain; /*!< HASH In DMA Handle parameters */ - - HAL_LockTypeDef Lock; /*!< Locking object */ - - __IO HAL_HASH_StateTypeDef State; /*!< HASH peripheral state */ - - HAL_HASH_SuspendTypeDef SuspendRequest; /*!< HASH peripheral suspension request flag */ - - FlagStatus DigestCalculationDisable; /*!< Digest calculation phase skip (MDMAT bit control) for multi-buffers DMA-based HMAC computation */ - - __IO uint32_t NbWordsAlreadyPushed; /*!< Numbers of words already pushed in FIFO before inputting new block */ - - __IO uint32_t ErrorCode; /*!< HASH Error code */ - - __IO uint32_t Accumulation; /*!< HASH multi buffers accumulation flag */ - -#if (USE_HAL_HASH_REGISTER_CALLBACKS == 1) - void (* InCpltCallback)(struct __HASH_HandleTypeDef *hhash); /*!< HASH input completion callback */ - - void (* DgstCpltCallback)(struct __HASH_HandleTypeDef *hhash); /*!< HASH digest computation completion callback */ - - void (* ErrorCallback)(struct __HASH_HandleTypeDef *hhash); /*!< HASH error callback */ - - void (* MspInitCallback)(struct __HASH_HandleTypeDef *hhash); /*!< HASH Msp Init callback */ - - void (* MspDeInitCallback)(struct __HASH_HandleTypeDef *hhash); /*!< HASH Msp DeInit callback */ - -#endif /* (USE_HAL_HASH_REGISTER_CALLBACKS) */ -} HASH_HandleTypeDef; - -#if (USE_HAL_HASH_REGISTER_CALLBACKS == 1U) -/** - * @brief HAL HASH Callback pointer definition - */ -typedef void (*pHASH_CallbackTypeDef)(HASH_HandleTypeDef *hhash); /*!< pointer to a HASH common callback functions */ -#endif /* USE_HAL_HASH_REGISTER_CALLBACKS */ - -/** - * @} - */ - -/* Exported constants --------------------------------------------------------*/ - -/** @defgroup HASH_Exported_Constants HASH Exported Constants - * @{ - */ - -/** @defgroup HASH_Algo_Selection HASH algorithm selection - * @{ - */ -#define HASH_ALGOSELECTION_SHA1 0x00000000U /*!< HASH function is SHA1 */ -#define HASH_ALGOSELECTION_MD5 HASH_CR_ALGO_0 /*!< HASH function is MD5 */ -#define HASH_ALGOSELECTION_SHA224 HASH_CR_ALGO_1 /*!< HASH function is SHA224 */ -#define HASH_ALGOSELECTION_SHA256 HASH_CR_ALGO /*!< HASH function is SHA256 */ -/** - * @} - */ - -/** @defgroup HASH_Algorithm_Mode HASH algorithm mode - * @{ - */ -#define HASH_ALGOMODE_HASH 0x00000000U /*!< Algorithm is HASH */ -#define HASH_ALGOMODE_HMAC HASH_CR_MODE /*!< Algorithm is HMAC */ -/** - * @} - */ - -/** @defgroup HASH_Data_Type HASH input data type - * @{ - */ -#define HASH_DATATYPE_32B 0x00000000U /*!< 32-bit data. No swapping */ -#define HASH_DATATYPE_16B HASH_CR_DATATYPE_0 /*!< 16-bit data. Each half word is swapped */ -#define HASH_DATATYPE_8B HASH_CR_DATATYPE_1 /*!< 8-bit data. All bytes are swapped */ -#define HASH_DATATYPE_1B HASH_CR_DATATYPE /*!< 1-bit data. In the word all bits are swapped */ -/** - * @} - */ - -/** @defgroup HASH_HMAC_Long_key_only_for_HMAC_mode HMAC key length type - * @{ - */ -#define HASH_HMAC_KEYTYPE_SHORTKEY 0x00000000U /*!< HMAC Key size is <= 64 bytes */ -#define HASH_HMAC_KEYTYPE_LONGKEY HASH_CR_LKEY /*!< HMAC Key size is > 64 bytes */ -/** - * @} - */ - -/** @defgroup HASH_flags_definition HASH flags definitions - * @{ - */ -#define HASH_FLAG_DINIS HASH_SR_DINIS /*!< 16 locations are free in the DIN : a new block can be entered in the Peripheral */ -#define HASH_FLAG_DCIS HASH_SR_DCIS /*!< Digest calculation complete */ -#define HASH_FLAG_DMAS HASH_SR_DMAS /*!< DMA interface is enabled (DMAE=1) or a transfer is ongoing */ -#define HASH_FLAG_BUSY HASH_SR_BUSY /*!< The hash core is Busy, processing a block of data */ -#define HASH_FLAG_DINNE HASH_CR_DINNE /*!< DIN not empty : the input buffer contains at least one word of data */ - -/** - * @} - */ - -/** @defgroup HASH_interrupts_definition HASH interrupts definitions - * @{ - */ -#define HASH_IT_DINI HASH_IMR_DINIE /*!< A new block can be entered into the input buffer (DIN) */ -#define HASH_IT_DCI HASH_IMR_DCIE /*!< Digest calculation complete */ - -/** - * @} - */ - -/** @defgroup HASH_Error_Definition HASH Error Definition - * @{ - */ -#define HAL_HASH_ERROR_NONE 0x00000000U /*!< No error */ -#define HAL_HASH_ERROR_IT 0x00000001U /*!< IT-based process error */ -#define HAL_HASH_ERROR_DMA 0x00000002U /*!< DMA-based process error */ -#if (USE_HAL_HASH_REGISTER_CALLBACKS == 1U) -#define HAL_HASH_ERROR_INVALID_CALLBACK 0x00000004U /*!< Invalid Callback error */ -#endif /* USE_HAL_HASH_REGISTER_CALLBACKS */ -/** - * @} - */ - -/** - * @} - */ - -/* Exported macros -----------------------------------------------------------*/ -/** @defgroup HASH_Exported_Macros HASH Exported Macros - * @{ - */ - -/** @brief Check whether or not the specified HASH flag is set. - * @param __FLAG__ specifies the flag to check. - * This parameter can be one of the following values: - * @arg @ref HASH_FLAG_DINIS A new block can be entered into the input buffer. - * @arg @ref HASH_FLAG_DCIS Digest calculation complete. - * @arg @ref HASH_FLAG_DMAS DMA interface is enabled (DMAE=1) or a transfer is ongoing. - * @arg @ref HASH_FLAG_BUSY The hash core is Busy : processing a block of data. - * @arg @ref HASH_FLAG_DINNE DIN not empty : the input buffer contains at least one word of data. - * @retval The new state of __FLAG__ (TRUE or FALSE). - */ -#define __HAL_HASH_GET_FLAG(__FLAG__) (((__FLAG__) > 8U) ? \ - ((HASH->CR & (__FLAG__)) == (__FLAG__)) :\ - ((HASH->SR & (__FLAG__)) == (__FLAG__)) ) - - -/** @brief Clear the specified HASH flag. - * @param __FLAG__ specifies the flag to clear. - * This parameter can be one of the following values: - * @arg @ref HASH_FLAG_DINIS A new block can be entered into the input buffer. - * @arg @ref HASH_FLAG_DCIS Digest calculation complete - * @retval None - */ -#define __HAL_HASH_CLEAR_FLAG(__FLAG__) CLEAR_BIT(HASH->SR, (__FLAG__)) - - -/** @brief Enable the specified HASH interrupt. - * @param __INTERRUPT__ specifies the HASH interrupt source to enable. - * This parameter can be one of the following values: - * @arg @ref HASH_IT_DINI A new block can be entered into the input buffer (DIN) - * @arg @ref HASH_IT_DCI Digest calculation complete - * @retval None - */ -#define __HAL_HASH_ENABLE_IT(__INTERRUPT__) SET_BIT(HASH->IMR, (__INTERRUPT__)) - -/** @brief Disable the specified HASH interrupt. - * @param __INTERRUPT__ specifies the HASH interrupt source to disable. - * This parameter can be one of the following values: - * @arg @ref HASH_IT_DINI A new block can be entered into the input buffer (DIN) - * @arg @ref HASH_IT_DCI Digest calculation complete - * @retval None - */ -#define __HAL_HASH_DISABLE_IT(__INTERRUPT__) CLEAR_BIT(HASH->IMR, (__INTERRUPT__)) - -/** @brief Reset HASH handle state. - * @param __HANDLE__ HASH handle. - * @retval None - */ - -#if (USE_HAL_HASH_REGISTER_CALLBACKS == 1) -#define __HAL_HASH_RESET_HANDLE_STATE(__HANDLE__) do{\ - (__HANDLE__)->State = HAL_HASH_STATE_RESET;\ - (__HANDLE__)->MspInitCallback = NULL; \ - (__HANDLE__)->MspDeInitCallback = NULL; \ - }while(0) -#else -#define __HAL_HASH_RESET_HANDLE_STATE(__HANDLE__) ((__HANDLE__)->State = HAL_HASH_STATE_RESET) -#endif /* USE_HAL_HASH_REGISTER_CALLBACKS */ - - -/** @brief Reset HASH handle status. - * @param __HANDLE__ HASH handle. - * @retval None - */ -#define __HAL_HASH_RESET_HANDLE_STATUS(__HANDLE__) ((__HANDLE__)->Status = HAL_OK) - -/** - * @brief Enable the multi-buffer DMA transfer mode. - * @note This bit is set when hashing large files when multiple DMA transfers are needed. - * @retval None - */ -#define __HAL_HASH_SET_MDMAT() SET_BIT(HASH->CR, HASH_CR_MDMAT) - -/** - * @brief Disable the multi-buffer DMA transfer mode. - * @retval None - */ -#define __HAL_HASH_RESET_MDMAT() CLEAR_BIT(HASH->CR, HASH_CR_MDMAT) - - -/** - * @brief Start the digest computation. - * @retval None - */ -#define __HAL_HASH_START_DIGEST() SET_BIT(HASH->STR, HASH_STR_DCAL) - -/** - * @brief Set the number of valid bits in the last word written in data register DIN. - * @param __SIZE__ size in bytes of last data written in Data register. - * @retval None - */ -#define __HAL_HASH_SET_NBVALIDBITS(__SIZE__) MODIFY_REG(HASH->STR, HASH_STR_NBLW, 8U * ((__SIZE__) % 4U)) - -/** - * @brief Reset the HASH core. - * @retval None - */ -#define __HAL_HASH_INIT() SET_BIT(HASH->CR, HASH_CR_INIT) - -/** - * @} - */ - - -/* Private macros --------------------------------------------------------*/ -/** @defgroup HASH_Private_Macros HASH Private Macros - * @{ - */ -/** - * @brief Return digest length in bytes. - * @retval Digest length - */ -#if defined(HASH_CR_MDMAT) -#define HASH_DIGEST_LENGTH() ((READ_BIT(HASH->CR, HASH_CR_ALGO) == HASH_ALGOSELECTION_SHA1) ? 20U : \ - ((READ_BIT(HASH->CR, HASH_CR_ALGO) == HASH_ALGOSELECTION_SHA224) ? 28U : \ - ((READ_BIT(HASH->CR, HASH_CR_ALGO) == HASH_ALGOSELECTION_SHA256) ? 32U : 16U ) ) ) -#else -#define HASH_DIGEST_LENGTH() ((READ_BIT(HASH->CR, HASH_CR_ALGO) == HASH_ALGOSELECTION_SHA1) ? 20U : 16) -#endif /* HASH_CR_MDMAT*/ -/** - * @brief Return number of words already pushed in the FIFO. - * @retval Number of words already pushed in the FIFO - */ -#define HASH_NBW_PUSHED() ((READ_BIT(HASH->CR, HASH_CR_NBW)) >> 8U) - -/** - * @brief Ensure that HASH input data type is valid. - * @param __DATATYPE__ HASH input data type. - * @retval SET (__DATATYPE__ is valid) or RESET (__DATATYPE__ is invalid) - */ -#define IS_HASH_DATATYPE(__DATATYPE__) (((__DATATYPE__) == HASH_DATATYPE_32B)|| \ - ((__DATATYPE__) == HASH_DATATYPE_16B)|| \ - ((__DATATYPE__) == HASH_DATATYPE_8B) || \ - ((__DATATYPE__) == HASH_DATATYPE_1B)) - -/** - * @brief Ensure that input data buffer size is valid for multi-buffer HASH - * processing in DMA mode. - * @note This check is valid only for multi-buffer HASH processing in DMA mode. - * @param __SIZE__ input data buffer size. - * @retval SET (__SIZE__ is valid) or RESET (__SIZE__ is invalid) - */ -#define IS_HASH_DMA_MULTIBUFFER_SIZE(__SIZE__) ((READ_BIT(HASH->CR, HASH_CR_MDMAT) == 0U) || (((__SIZE__) % 4U) == 0U)) - -/** - * @brief Ensure that input data buffer size is valid for multi-buffer HMAC - * processing in DMA mode. - * @note This check is valid only for multi-buffer HMAC processing in DMA mode. - * @param __HANDLE__ HASH handle. - * @param __SIZE__ input data buffer size. - * @retval SET (__SIZE__ is valid) or RESET (__SIZE__ is invalid) - */ -#define IS_HMAC_DMA_MULTIBUFFER_SIZE(__HANDLE__,__SIZE__) ((((__HANDLE__)->DigestCalculationDisable) == RESET)\ - || (((__SIZE__) % 4U) == 0U)) -/** - * @brief Ensure that handle phase is set to HASH processing. - * @param __HANDLE__ HASH handle. - * @retval SET (handle phase is set to HASH processing) or RESET (handle phase is not set to HASH processing) - */ -#define IS_HASH_PROCESSING(__HANDLE__) ((__HANDLE__)->Phase == HAL_HASH_PHASE_PROCESS) - -/** - * @brief Ensure that handle phase is set to HMAC processing. - * @param __HANDLE__ HASH handle. - * @retval SET (handle phase is set to HMAC processing) or RESET (handle phase is not set to HMAC processing) - */ -#define IS_HMAC_PROCESSING(__HANDLE__) (((__HANDLE__)->Phase == HAL_HASH_PHASE_HMAC_STEP_1) || \ - ((__HANDLE__)->Phase == HAL_HASH_PHASE_HMAC_STEP_2) || \ - ((__HANDLE__)->Phase == HAL_HASH_PHASE_HMAC_STEP_3)) - -/** - * @} - */ - -/* Include HASH HAL Extended module */ -#include "stm32f4xx_hal_hash_ex.h" -/* Exported functions --------------------------------------------------------*/ - -/** @addtogroup HASH_Exported_Functions HASH Exported Functions - * @{ - */ - -/** @addtogroup HASH_Exported_Functions_Group1 Initialization and de-initialization functions - * @{ - */ - -/* Initialization/de-initialization methods **********************************/ -HAL_StatusTypeDef HAL_HASH_Init(HASH_HandleTypeDef *hhash); -HAL_StatusTypeDef HAL_HASH_DeInit(HASH_HandleTypeDef *hhash); -void HAL_HASH_MspInit(HASH_HandleTypeDef *hhash); -void HAL_HASH_MspDeInit(HASH_HandleTypeDef *hhash); -void HAL_HASH_InCpltCallback(HASH_HandleTypeDef *hhash); -void HAL_HASH_DgstCpltCallback(HASH_HandleTypeDef *hhash); -void HAL_HASH_ErrorCallback(HASH_HandleTypeDef *hhash); -/* Callbacks Register/UnRegister functions ***********************************/ -#if (USE_HAL_HASH_REGISTER_CALLBACKS == 1) -HAL_StatusTypeDef HAL_HASH_RegisterCallback(HASH_HandleTypeDef *hhash, HAL_HASH_CallbackIDTypeDef CallbackID, - pHASH_CallbackTypeDef pCallback); -HAL_StatusTypeDef HAL_HASH_UnRegisterCallback(HASH_HandleTypeDef *hhash, HAL_HASH_CallbackIDTypeDef CallbackID); -#endif /* USE_HAL_HASH_REGISTER_CALLBACKS */ - - -/** - * @} - */ - -/** @addtogroup HASH_Exported_Functions_Group2 HASH processing functions in polling mode - * @{ - */ - - -/* HASH processing using polling *********************************************/ -HAL_StatusTypeDef HAL_HASH_SHA1_Start(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size, uint8_t *pOutBuffer, - uint32_t Timeout); -HAL_StatusTypeDef HAL_HASH_MD5_Start(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size, uint8_t *pOutBuffer, - uint32_t Timeout); -HAL_StatusTypeDef HAL_HASH_MD5_Accmlt(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size); -HAL_StatusTypeDef HAL_HASH_SHA1_Accmlt(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size); -HAL_StatusTypeDef HAL_HASH_MD5_Accmlt_End(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size, - uint8_t *pOutBuffer, uint32_t Timeout); -HAL_StatusTypeDef HAL_HASH_SHA1_Accmlt_End(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size, - uint8_t *pOutBuffer, uint32_t Timeout); - - -/** - * @} - */ - -/** @addtogroup HASH_Exported_Functions_Group3 HASH processing functions in interrupt mode - * @{ - */ - -/* HASH processing using IT **************************************************/ -HAL_StatusTypeDef HAL_HASH_SHA1_Start_IT(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size, - uint8_t *pOutBuffer); -HAL_StatusTypeDef HAL_HASH_SHA1_Accmlt_IT(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size); -HAL_StatusTypeDef HAL_HASH_SHA1_Accmlt_End_IT(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size, - uint8_t *pOutBuffer); -HAL_StatusTypeDef HAL_HASH_MD5_Start_IT(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size, - uint8_t *pOutBuffer); -HAL_StatusTypeDef HAL_HASH_MD5_Accmlt_IT(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size); -HAL_StatusTypeDef HAL_HASH_MD5_Accmlt_End_IT(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size, - uint8_t *pOutBuffer); -void HAL_HASH_IRQHandler(HASH_HandleTypeDef *hhash); -/** - * @} - */ - -/** @addtogroup HASH_Exported_Functions_Group4 HASH processing functions in DMA mode - * @{ - */ - -/* HASH processing using DMA *************************************************/ -HAL_StatusTypeDef HAL_HASH_SHA1_Start_DMA(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size); -HAL_StatusTypeDef HAL_HASH_SHA1_Finish(HASH_HandleTypeDef *hhash, uint8_t *pOutBuffer, uint32_t Timeout); -HAL_StatusTypeDef HAL_HASH_MD5_Start_DMA(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size); -HAL_StatusTypeDef HAL_HASH_MD5_Finish(HASH_HandleTypeDef *hhash, uint8_t *pOutBuffer, uint32_t Timeout); - -/** - * @} - */ - -/** @addtogroup HASH_Exported_Functions_Group5 HMAC processing functions in polling mode - * @{ - */ - -/* HASH-MAC processing using polling *****************************************/ -HAL_StatusTypeDef HAL_HMAC_SHA1_Start(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size, uint8_t *pOutBuffer, - uint32_t Timeout); -HAL_StatusTypeDef HAL_HMAC_MD5_Start(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size, uint8_t *pOutBuffer, - uint32_t Timeout); - -/** - * @} - */ - -/** @addtogroup HASH_Exported_Functions_Group6 HMAC processing functions in interrupt mode - * @{ - */ - -HAL_StatusTypeDef HAL_HMAC_MD5_Start_IT(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size, - uint8_t *pOutBuffer); -HAL_StatusTypeDef HAL_HMAC_SHA1_Start_IT(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size, - uint8_t *pOutBuffer); - -/** - * @} - */ - -/** @addtogroup HASH_Exported_Functions_Group7 HMAC processing functions in DMA mode - * @{ - */ - -/* HASH-HMAC processing using DMA ********************************************/ -HAL_StatusTypeDef HAL_HMAC_SHA1_Start_DMA(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size); -HAL_StatusTypeDef HAL_HMAC_MD5_Start_DMA(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size); - -/** - * @} - */ - -/** @addtogroup HASH_Exported_Functions_Group8 Peripheral states functions - * @{ - */ - - -/* Peripheral State methods **************************************************/ -HAL_HASH_StateTypeDef HAL_HASH_GetState(HASH_HandleTypeDef *hhash); -HAL_StatusTypeDef HAL_HASH_GetStatus(HASH_HandleTypeDef *hhash); -void HAL_HASH_ContextSaving(HASH_HandleTypeDef *hhash, uint8_t *pMemBuffer); -void HAL_HASH_ContextRestoring(HASH_HandleTypeDef *hhash, uint8_t *pMemBuffer); -void HAL_HASH_SwFeed_ProcessSuspend(HASH_HandleTypeDef *hhash); -HAL_StatusTypeDef HAL_HASH_DMAFeed_ProcessSuspend(HASH_HandleTypeDef *hhash); -uint32_t HAL_HASH_GetError(HASH_HandleTypeDef *hhash); - -/** - * @} - */ - -/** - * @} - */ - -/* Private functions -----------------------------------------------------------*/ - -/** @addtogroup HASH_Private_Functions HASH Private Functions - * @{ - */ - -/* Private functions */ -HAL_StatusTypeDef HASH_Start(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size, uint8_t *pOutBuffer, - uint32_t Timeout, uint32_t Algorithm); -HAL_StatusTypeDef HASH_Accumulate(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size, uint32_t Algorithm); -HAL_StatusTypeDef HASH_Accumulate_IT(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size, uint32_t Algorithm); -HAL_StatusTypeDef HASH_Start_IT(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size, uint8_t *pOutBuffer, - uint32_t Algorithm); -HAL_StatusTypeDef HASH_Start_DMA(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size, uint32_t Algorithm); -HAL_StatusTypeDef HASH_Finish(HASH_HandleTypeDef *hhash, uint8_t *pOutBuffer, uint32_t Timeout); -HAL_StatusTypeDef HMAC_Start(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size, uint8_t *pOutBuffer, - uint32_t Timeout, uint32_t Algorithm); -HAL_StatusTypeDef HMAC_Start_IT(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size, uint8_t *pOutBuffer, - uint32_t Algorithm); -HAL_StatusTypeDef HMAC_Start_DMA(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size, uint32_t Algorithm); - -/** - * @} - */ - -/** - * @} - */ -#endif /* HASH*/ -/** - * @} - */ - - -#ifdef __cplusplus -} -#endif - - -#endif /* STM32F4xx_HAL_HASH_H */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_hash_ex.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_hash_ex.h deleted file mode 100644 index 0a9844c0ae0719..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_hash_ex.h +++ /dev/null @@ -1,177 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_hash_ex.h - * @author MCD Application Team - * @brief Header file of HASH HAL module. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef STM32F4xx_HAL_HASH_EX_H -#define STM32F4xx_HAL_HASH_EX_H - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal_def.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ -#if defined (HASH) -/** @addtogroup HASHEx - * @{ - */ - -/* Exported types ------------------------------------------------------------*/ -/* Exported constants --------------------------------------------------------*/ -/* Exported macro ------------------------------------------------------------*/ - - -/* Exported functions --------------------------------------------------------*/ - -/** @addtogroup HASHEx_Exported_Functions HASH Extended Exported Functions - * @{ - */ - -/** @addtogroup HASHEx_Exported_Functions_Group1 HASH extended processing functions in polling mode - * @{ - */ - -HAL_StatusTypeDef HAL_HASHEx_SHA224_Start(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size, - uint8_t *pOutBuffer, uint32_t Timeout); -HAL_StatusTypeDef HAL_HASHEx_SHA224_Accmlt(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size); -HAL_StatusTypeDef HAL_HASHEx_SHA224_Accmlt_End(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size, - uint8_t *pOutBuffer, uint32_t Timeout); -HAL_StatusTypeDef HAL_HASHEx_SHA256_Start(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size, - uint8_t *pOutBuffer, uint32_t Timeout); -HAL_StatusTypeDef HAL_HASHEx_SHA256_Accmlt(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size); -HAL_StatusTypeDef HAL_HASHEx_SHA256_Accmlt_End(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size, - uint8_t *pOutBuffer, uint32_t Timeout); - -/** - * @} - */ - -/** @addtogroup HASHEx_Exported_Functions_Group2 HASH extended processing functions in interrupt mode - * @{ - */ - -HAL_StatusTypeDef HAL_HASHEx_SHA224_Start_IT(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size, - uint8_t *pOutBuffer); -HAL_StatusTypeDef HAL_HASHEx_SHA224_Accmlt_IT(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size); -HAL_StatusTypeDef HAL_HASHEx_SHA224_Accmlt_End_IT(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size, - uint8_t *pOutBuffer); -HAL_StatusTypeDef HAL_HASHEx_SHA256_Start_IT(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size, - uint8_t *pOutBuffer); -HAL_StatusTypeDef HAL_HASHEx_SHA256_Accmlt_IT(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size); -HAL_StatusTypeDef HAL_HASHEx_SHA256_Accmlt_End_IT(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size, - uint8_t *pOutBuffer); - -/** - * @} - */ - -/** @addtogroup HASHEx_Exported_Functions_Group3 HASH extended processing functions in DMA mode - * @{ - */ -HAL_StatusTypeDef HAL_HASHEx_SHA224_Start_DMA(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size); -HAL_StatusTypeDef HAL_HASHEx_SHA224_Finish(HASH_HandleTypeDef *hhash, uint8_t *pOutBuffer, uint32_t Timeout); -HAL_StatusTypeDef HAL_HASHEx_SHA256_Start_DMA(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size); -HAL_StatusTypeDef HAL_HASHEx_SHA256_Finish(HASH_HandleTypeDef *hhash, uint8_t *pOutBuffer, uint32_t Timeout); - -/** - * @} - */ - -/** @addtogroup HASHEx_Exported_Functions_Group4 HMAC extended processing functions in polling mode - * @{ - */ -HAL_StatusTypeDef HAL_HMACEx_SHA224_Start(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size, - uint8_t *pOutBuffer, uint32_t Timeout); -HAL_StatusTypeDef HAL_HMACEx_SHA256_Start(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size, - uint8_t *pOutBuffer, uint32_t Timeout); -/** - * @} - */ - -/** @addtogroup HASHEx_Exported_Functions_Group5 HMAC extended processing functions in interrupt mode - * @{ - */ - -HAL_StatusTypeDef HAL_HMACEx_SHA224_Start_IT(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size, - uint8_t *pOutBuffer); -HAL_StatusTypeDef HAL_HMACEx_SHA256_Start_IT(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size, - uint8_t *pOutBuffer); - -/** - * @} - */ - -/** @addtogroup HASHEx_Exported_Functions_Group6 HMAC extended processing functions in DMA mode - * @{ - */ - -HAL_StatusTypeDef HAL_HMACEx_SHA224_Start_DMA(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size); -HAL_StatusTypeDef HAL_HMACEx_SHA256_Start_DMA(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size); - -/** - * @} - */ - -/** @addtogroup HASHEx_Exported_Functions_Group7 Multi-buffer HMAC extended processing functions in DMA mode - * @{ - */ - -HAL_StatusTypeDef HAL_HMACEx_MD5_Step1_2_DMA(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size); -HAL_StatusTypeDef HAL_HMACEx_MD5_Step2_DMA(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size); -HAL_StatusTypeDef HAL_HMACEx_MD5_Step2_3_DMA(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size); - -HAL_StatusTypeDef HAL_HMACEx_SHA1_Step1_2_DMA(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size); -HAL_StatusTypeDef HAL_HMACEx_SHA1_Step2_DMA(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size); -HAL_StatusTypeDef HAL_HMACEx_SHA1_Step2_3_DMA(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size); -HAL_StatusTypeDef HAL_HMACEx_SHA224_Step1_2_DMA(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size); -HAL_StatusTypeDef HAL_HMACEx_SHA224_Step2_DMA(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size); -HAL_StatusTypeDef HAL_HMACEx_SHA224_Step2_3_DMA(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size); - -HAL_StatusTypeDef HAL_HMACEx_SHA256_Step1_2_DMA(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size); -HAL_StatusTypeDef HAL_HMACEx_SHA256_Step2_DMA(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size); -HAL_StatusTypeDef HAL_HMACEx_SHA256_Step2_3_DMA(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size); -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ -#endif /* HASH*/ -/** - * @} - */ - - -#ifdef __cplusplus -} -#endif - - -#endif /* STM32F4xx_HAL_HASH_EX_H */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_hcd.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_hcd.h deleted file mode 100644 index 6025e032c278ba..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_hcd.h +++ /dev/null @@ -1,319 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_hcd.h - * @author MCD Application Team - * @brief Header file of HCD HAL module. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef STM32F4xx_HAL_HCD_H -#define STM32F4xx_HAL_HCD_H - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_ll_usb.h" - -#if defined (USB_OTG_FS) || defined (USB_OTG_HS) -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @addtogroup HCD HCD - * @{ - */ - -/* Exported types ------------------------------------------------------------*/ -/** @defgroup HCD_Exported_Types HCD Exported Types - * @{ - */ - -/** @defgroup HCD_Exported_Types_Group1 HCD State Structure definition - * @{ - */ -typedef enum -{ - HAL_HCD_STATE_RESET = 0x00, - HAL_HCD_STATE_READY = 0x01, - HAL_HCD_STATE_ERROR = 0x02, - HAL_HCD_STATE_BUSY = 0x03, - HAL_HCD_STATE_TIMEOUT = 0x04 -} HCD_StateTypeDef; - -typedef USB_OTG_GlobalTypeDef HCD_TypeDef; -typedef USB_OTG_CfgTypeDef HCD_InitTypeDef; -typedef USB_OTG_HCTypeDef HCD_HCTypeDef; -typedef USB_OTG_URBStateTypeDef HCD_URBStateTypeDef; -typedef USB_OTG_HCStateTypeDef HCD_HCStateTypeDef; -/** - * @} - */ - -/** @defgroup HCD_Exported_Types_Group2 HCD Handle Structure definition - * @{ - */ -#if (USE_HAL_HCD_REGISTER_CALLBACKS == 1U) -typedef struct __HCD_HandleTypeDef -#else -typedef struct -#endif /* USE_HAL_HCD_REGISTER_CALLBACKS */ -{ - HCD_TypeDef *Instance; /*!< Register base address */ - HCD_InitTypeDef Init; /*!< HCD required parameters */ - HCD_HCTypeDef hc[16]; /*!< Host channels parameters */ - HAL_LockTypeDef Lock; /*!< HCD peripheral status */ - __IO HCD_StateTypeDef State; /*!< HCD communication state */ - __IO uint32_t ErrorCode; /*!< HCD Error code */ - void *pData; /*!< Pointer Stack Handler */ -#if (USE_HAL_HCD_REGISTER_CALLBACKS == 1U) - void (* SOFCallback)(struct __HCD_HandleTypeDef *hhcd); /*!< USB OTG HCD SOF callback */ - void (* ConnectCallback)(struct __HCD_HandleTypeDef *hhcd); /*!< USB OTG HCD Connect callback */ - void (* DisconnectCallback)(struct __HCD_HandleTypeDef *hhcd); /*!< USB OTG HCD Disconnect callback */ - void (* PortEnabledCallback)(struct __HCD_HandleTypeDef *hhcd); /*!< USB OTG HCD Port Enable callback */ - void (* PortDisabledCallback)(struct __HCD_HandleTypeDef *hhcd); /*!< USB OTG HCD Port Disable callback */ - void (* HC_NotifyURBChangeCallback)(struct __HCD_HandleTypeDef *hhcd, uint8_t chnum, - HCD_URBStateTypeDef urb_state); /*!< USB OTG HCD Host Channel Notify URB Change callback */ - - void (* MspInitCallback)(struct __HCD_HandleTypeDef *hhcd); /*!< USB OTG HCD Msp Init callback */ - void (* MspDeInitCallback)(struct __HCD_HandleTypeDef *hhcd); /*!< USB OTG HCD Msp DeInit callback */ -#endif /* USE_HAL_HCD_REGISTER_CALLBACKS */ -} HCD_HandleTypeDef; -/** - * @} - */ - -/** - * @} - */ - -/* Exported constants --------------------------------------------------------*/ -/** @defgroup HCD_Exported_Constants HCD Exported Constants - * @{ - */ - -/** @defgroup HCD_Speed HCD Speed - * @{ - */ -#define HCD_SPEED_HIGH USBH_HS_SPEED -#define HCD_SPEED_FULL USBH_FSLS_SPEED -#define HCD_SPEED_LOW USBH_FSLS_SPEED -/** - * @} - */ - -/** @defgroup HCD_Device_Speed HCD Device Speed - * @{ - */ -#define HCD_DEVICE_SPEED_HIGH 0U -#define HCD_DEVICE_SPEED_FULL 1U -#define HCD_DEVICE_SPEED_LOW 2U -/** - * @} - */ - -/** @defgroup HCD_PHY_Module HCD PHY Module - * @{ - */ -#define HCD_PHY_ULPI 1U -#define HCD_PHY_EMBEDDED 2U -/** - * @} - */ - -/** @defgroup HCD_Error_Code_definition HCD Error Code definition - * @brief HCD Error Code definition - * @{ - */ -#if (USE_HAL_HCD_REGISTER_CALLBACKS == 1U) -#define HAL_HCD_ERROR_INVALID_CALLBACK (0x00000010U) /*!< Invalid Callback error */ -#endif /* USE_HAL_HCD_REGISTER_CALLBACKS */ - -/** - * @} - */ - -/** - * @} - */ - -/* Exported macro ------------------------------------------------------------*/ -/** @defgroup HCD_Exported_Macros HCD Exported Macros - * @brief macros to handle interrupts and specific clock configurations - * @{ - */ -#define __HAL_HCD_ENABLE(__HANDLE__) (void)USB_EnableGlobalInt ((__HANDLE__)->Instance) -#define __HAL_HCD_DISABLE(__HANDLE__) (void)USB_DisableGlobalInt ((__HANDLE__)->Instance) - -#define __HAL_HCD_GET_FLAG(__HANDLE__, __INTERRUPT__) ((USB_ReadInterrupts((__HANDLE__)->Instance)\ - & (__INTERRUPT__)) == (__INTERRUPT__)) -#define __HAL_HCD_CLEAR_FLAG(__HANDLE__, __INTERRUPT__) (((__HANDLE__)->Instance->GINTSTS) = (__INTERRUPT__)) -#define __HAL_HCD_IS_INVALID_INTERRUPT(__HANDLE__) (USB_ReadInterrupts((__HANDLE__)->Instance) == 0U) - -#define __HAL_HCD_CLEAR_HC_INT(chnum, __INTERRUPT__) (USBx_HC(chnum)->HCINT = (__INTERRUPT__)) -#define __HAL_HCD_MASK_HALT_HC_INT(chnum) (USBx_HC(chnum)->HCINTMSK &= ~USB_OTG_HCINTMSK_CHHM) -#define __HAL_HCD_UNMASK_HALT_HC_INT(chnum) (USBx_HC(chnum)->HCINTMSK |= USB_OTG_HCINTMSK_CHHM) -#define __HAL_HCD_MASK_ACK_HC_INT(chnum) (USBx_HC(chnum)->HCINTMSK &= ~USB_OTG_HCINTMSK_ACKM) -#define __HAL_HCD_UNMASK_ACK_HC_INT(chnum) (USBx_HC(chnum)->HCINTMSK |= USB_OTG_HCINTMSK_ACKM) -/** - * @} - */ - -/* Exported functions --------------------------------------------------------*/ -/** @addtogroup HCD_Exported_Functions HCD Exported Functions - * @{ - */ - -/** @defgroup HCD_Exported_Functions_Group1 Initialization and de-initialization functions - * @{ - */ -HAL_StatusTypeDef HAL_HCD_Init(HCD_HandleTypeDef *hhcd); -HAL_StatusTypeDef HAL_HCD_DeInit(HCD_HandleTypeDef *hhcd); -HAL_StatusTypeDef HAL_HCD_HC_Init(HCD_HandleTypeDef *hhcd, uint8_t ch_num, - uint8_t epnum, uint8_t dev_address, - uint8_t speed, uint8_t ep_type, uint16_t mps); - -HAL_StatusTypeDef HAL_HCD_HC_Halt(HCD_HandleTypeDef *hhcd, uint8_t ch_num); -void HAL_HCD_MspInit(HCD_HandleTypeDef *hhcd); -void HAL_HCD_MspDeInit(HCD_HandleTypeDef *hhcd); - -#if (USE_HAL_HCD_REGISTER_CALLBACKS == 1U) -/** @defgroup HAL_HCD_Callback_ID_enumeration_definition HAL USB OTG HCD Callback ID enumeration definition - * @brief HAL USB OTG HCD Callback ID enumeration definition - * @{ - */ -typedef enum -{ - HAL_HCD_SOF_CB_ID = 0x01, /*!< USB HCD SOF callback ID */ - HAL_HCD_CONNECT_CB_ID = 0x02, /*!< USB HCD Connect callback ID */ - HAL_HCD_DISCONNECT_CB_ID = 0x03, /*!< USB HCD Disconnect callback ID */ - HAL_HCD_PORT_ENABLED_CB_ID = 0x04, /*!< USB HCD Port Enable callback ID */ - HAL_HCD_PORT_DISABLED_CB_ID = 0x05, /*!< USB HCD Port Disable callback ID */ - - HAL_HCD_MSPINIT_CB_ID = 0x06, /*!< USB HCD MspInit callback ID */ - HAL_HCD_MSPDEINIT_CB_ID = 0x07 /*!< USB HCD MspDeInit callback ID */ - -} HAL_HCD_CallbackIDTypeDef; -/** - * @} - */ - -/** @defgroup HAL_HCD_Callback_pointer_definition HAL USB OTG HCD Callback pointer definition - * @brief HAL USB OTG HCD Callback pointer definition - * @{ - */ - -typedef void (*pHCD_CallbackTypeDef)(HCD_HandleTypeDef *hhcd); /*!< pointer to a common USB OTG HCD callback function */ -typedef void (*pHCD_HC_NotifyURBChangeCallbackTypeDef)(HCD_HandleTypeDef *hhcd, - uint8_t epnum, - HCD_URBStateTypeDef urb_state); /*!< pointer to USB OTG HCD host channel callback */ -/** - * @} - */ - -HAL_StatusTypeDef HAL_HCD_RegisterCallback(HCD_HandleTypeDef *hhcd, - HAL_HCD_CallbackIDTypeDef CallbackID, - pHCD_CallbackTypeDef pCallback); - -HAL_StatusTypeDef HAL_HCD_UnRegisterCallback(HCD_HandleTypeDef *hhcd, - HAL_HCD_CallbackIDTypeDef CallbackID); - -HAL_StatusTypeDef HAL_HCD_RegisterHC_NotifyURBChangeCallback(HCD_HandleTypeDef *hhcd, - pHCD_HC_NotifyURBChangeCallbackTypeDef pCallback); - -HAL_StatusTypeDef HAL_HCD_UnRegisterHC_NotifyURBChangeCallback(HCD_HandleTypeDef *hhcd); -#endif /* USE_HAL_HCD_REGISTER_CALLBACKS */ -/** - * @} - */ - -/* I/O operation functions ***************************************************/ -/** @addtogroup HCD_Exported_Functions_Group2 Input and Output operation functions - * @{ - */ -HAL_StatusTypeDef HAL_HCD_HC_SubmitRequest(HCD_HandleTypeDef *hhcd, uint8_t ch_num, - uint8_t direction, uint8_t ep_type, - uint8_t token, uint8_t *pbuff, - uint16_t length, uint8_t do_ping); - -/* Non-Blocking mode: Interrupt */ -void HAL_HCD_IRQHandler(HCD_HandleTypeDef *hhcd); -void HAL_HCD_WKUP_IRQHandler(HCD_HandleTypeDef *hhcd); -void HAL_HCD_SOF_Callback(HCD_HandleTypeDef *hhcd); -void HAL_HCD_Connect_Callback(HCD_HandleTypeDef *hhcd); -void HAL_HCD_Disconnect_Callback(HCD_HandleTypeDef *hhcd); -void HAL_HCD_PortEnabled_Callback(HCD_HandleTypeDef *hhcd); -void HAL_HCD_PortDisabled_Callback(HCD_HandleTypeDef *hhcd); -void HAL_HCD_HC_NotifyURBChange_Callback(HCD_HandleTypeDef *hhcd, uint8_t chnum, - HCD_URBStateTypeDef urb_state); -/** - * @} - */ - -/* Peripheral Control functions **********************************************/ -/** @addtogroup HCD_Exported_Functions_Group3 Peripheral Control functions - * @{ - */ -HAL_StatusTypeDef HAL_HCD_ResetPort(HCD_HandleTypeDef *hhcd); -HAL_StatusTypeDef HAL_HCD_Start(HCD_HandleTypeDef *hhcd); -HAL_StatusTypeDef HAL_HCD_Stop(HCD_HandleTypeDef *hhcd); -/** - * @} - */ - -/* Peripheral State functions ************************************************/ -/** @addtogroup HCD_Exported_Functions_Group4 Peripheral State functions - * @{ - */ -HCD_StateTypeDef HAL_HCD_GetState(HCD_HandleTypeDef *hhcd); -HCD_URBStateTypeDef HAL_HCD_HC_GetURBState(HCD_HandleTypeDef *hhcd, uint8_t chnum); -HCD_HCStateTypeDef HAL_HCD_HC_GetState(HCD_HandleTypeDef *hhcd, uint8_t chnum); -uint32_t HAL_HCD_HC_GetXferCount(HCD_HandleTypeDef *hhcd, uint8_t chnum); -uint32_t HAL_HCD_GetCurrentFrame(HCD_HandleTypeDef *hhcd); -uint32_t HAL_HCD_GetCurrentSpeed(HCD_HandleTypeDef *hhcd); - -/** - * @} - */ - -/** - * @} - */ - -/* Private macros ------------------------------------------------------------*/ -/** @defgroup HCD_Private_Macros HCD Private Macros - * @{ - */ -/** - * @} - */ -/* Private functions prototypes ----------------------------------------------*/ - -/** - * @} - */ -/** - * @} - */ -#endif /* defined (USB_OTG_FS) || defined (USB_OTG_HS) */ - -#ifdef __cplusplus -} -#endif - -#endif /* STM32F4xx_HAL_HCD_H */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_i2c.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_i2c.h deleted file mode 100644 index 9a622b82b3a267..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_i2c.h +++ /dev/null @@ -1,743 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_i2c.h - * @author MCD Application Team - * @brief Header file of I2C HAL module. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef __STM32F4xx_HAL_I2C_H -#define __STM32F4xx_HAL_I2C_H - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal_def.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @addtogroup I2C - * @{ - */ - -/* Exported types ------------------------------------------------------------*/ -/** @defgroup I2C_Exported_Types I2C Exported Types - * @{ - */ - -/** @defgroup I2C_Configuration_Structure_definition I2C Configuration Structure definition - * @brief I2C Configuration Structure definition - * @{ - */ -typedef struct -{ - uint32_t ClockSpeed; /*!< Specifies the clock frequency. - This parameter must be set to a value lower than 400kHz */ - - uint32_t DutyCycle; /*!< Specifies the I2C fast mode duty cycle. - This parameter can be a value of @ref I2C_duty_cycle_in_fast_mode */ - - uint32_t OwnAddress1; /*!< Specifies the first device own address. - This parameter can be a 7-bit or 10-bit address. */ - - uint32_t AddressingMode; /*!< Specifies if 7-bit or 10-bit addressing mode is selected. - This parameter can be a value of @ref I2C_addressing_mode */ - - uint32_t DualAddressMode; /*!< Specifies if dual addressing mode is selected. - This parameter can be a value of @ref I2C_dual_addressing_mode */ - - uint32_t OwnAddress2; /*!< Specifies the second device own address if dual addressing mode is selected - This parameter can be a 7-bit address. */ - - uint32_t GeneralCallMode; /*!< Specifies if general call mode is selected. - This parameter can be a value of @ref I2C_general_call_addressing_mode */ - - uint32_t NoStretchMode; /*!< Specifies if nostretch mode is selected. - This parameter can be a value of @ref I2C_nostretch_mode */ - -} I2C_InitTypeDef; - -/** - * @} - */ - -/** @defgroup HAL_state_structure_definition HAL state structure definition - * @brief HAL State structure definition - * @note HAL I2C State value coding follow below described bitmap : - * b7-b6 Error information - * 00 : No Error - * 01 : Abort (Abort user request on going) - * 10 : Timeout - * 11 : Error - * b5 Peripheral initialization status - * 0 : Reset (Peripheral not initialized) - * 1 : Init done (Peripheral initialized and ready to use. HAL I2C Init function called) - * b4 (not used) - * x : Should be set to 0 - * b3 - * 0 : Ready or Busy (No Listen mode ongoing) - * 1 : Listen (Peripheral in Address Listen Mode) - * b2 Intrinsic process state - * 0 : Ready - * 1 : Busy (Peripheral busy with some configuration or internal operations) - * b1 Rx state - * 0 : Ready (no Rx operation ongoing) - * 1 : Busy (Rx operation ongoing) - * b0 Tx state - * 0 : Ready (no Tx operation ongoing) - * 1 : Busy (Tx operation ongoing) - * @{ - */ -typedef enum -{ - HAL_I2C_STATE_RESET = 0x00U, /*!< Peripheral is not yet Initialized */ - HAL_I2C_STATE_READY = 0x20U, /*!< Peripheral Initialized and ready for use */ - HAL_I2C_STATE_BUSY = 0x24U, /*!< An internal process is ongoing */ - HAL_I2C_STATE_BUSY_TX = 0x21U, /*!< Data Transmission process is ongoing */ - HAL_I2C_STATE_BUSY_RX = 0x22U, /*!< Data Reception process is ongoing */ - HAL_I2C_STATE_LISTEN = 0x28U, /*!< Address Listen Mode is ongoing */ - HAL_I2C_STATE_BUSY_TX_LISTEN = 0x29U, /*!< Address Listen Mode and Data Transmission - process is ongoing */ - HAL_I2C_STATE_BUSY_RX_LISTEN = 0x2AU, /*!< Address Listen Mode and Data Reception - process is ongoing */ - HAL_I2C_STATE_ABORT = 0x60U, /*!< Abort user request ongoing */ - HAL_I2C_STATE_TIMEOUT = 0xA0U, /*!< Timeout state */ - HAL_I2C_STATE_ERROR = 0xE0U /*!< Error */ - -} HAL_I2C_StateTypeDef; - -/** - * @} - */ - -/** @defgroup HAL_mode_structure_definition HAL mode structure definition - * @brief HAL Mode structure definition - * @note HAL I2C Mode value coding follow below described bitmap :\n - * b7 (not used)\n - * x : Should be set to 0\n - * b6\n - * 0 : None\n - * 1 : Memory (HAL I2C communication is in Memory Mode)\n - * b5\n - * 0 : None\n - * 1 : Slave (HAL I2C communication is in Slave Mode)\n - * b4\n - * 0 : None\n - * 1 : Master (HAL I2C communication is in Master Mode)\n - * b3-b2-b1-b0 (not used)\n - * xxxx : Should be set to 0000 - * @{ - */ -typedef enum -{ - HAL_I2C_MODE_NONE = 0x00U, /*!< No I2C communication on going */ - HAL_I2C_MODE_MASTER = 0x10U, /*!< I2C communication is in Master Mode */ - HAL_I2C_MODE_SLAVE = 0x20U, /*!< I2C communication is in Slave Mode */ - HAL_I2C_MODE_MEM = 0x40U /*!< I2C communication is in Memory Mode */ - -} HAL_I2C_ModeTypeDef; - -/** - * @} - */ - -/** @defgroup I2C_Error_Code_definition I2C Error Code definition - * @brief I2C Error Code definition - * @{ - */ -#define HAL_I2C_ERROR_NONE 0x00000000U /*!< No error */ -#define HAL_I2C_ERROR_BERR 0x00000001U /*!< BERR error */ -#define HAL_I2C_ERROR_ARLO 0x00000002U /*!< ARLO error */ -#define HAL_I2C_ERROR_AF 0x00000004U /*!< AF error */ -#define HAL_I2C_ERROR_OVR 0x00000008U /*!< OVR error */ -#define HAL_I2C_ERROR_DMA 0x00000010U /*!< DMA transfer error */ -#define HAL_I2C_ERROR_TIMEOUT 0x00000020U /*!< Timeout Error */ -#define HAL_I2C_ERROR_SIZE 0x00000040U /*!< Size Management error */ -#define HAL_I2C_ERROR_DMA_PARAM 0x00000080U /*!< DMA Parameter Error */ -#define HAL_I2C_WRONG_START 0x00000200U /*!< Wrong start Error */ -#if (USE_HAL_I2C_REGISTER_CALLBACKS == 1) -#define HAL_I2C_ERROR_INVALID_CALLBACK 0x00000100U /*!< Invalid Callback error */ -#endif /* USE_HAL_I2C_REGISTER_CALLBACKS */ -/** - * @} - */ - -/** @defgroup I2C_handle_Structure_definition I2C handle Structure definition - * @brief I2C handle Structure definition - * @{ - */ -#if (USE_HAL_I2C_REGISTER_CALLBACKS == 1) -typedef struct __I2C_HandleTypeDef -#else -typedef struct -#endif /* USE_HAL_I2C_REGISTER_CALLBACKS */ -{ - I2C_TypeDef *Instance; /*!< I2C registers base address */ - - I2C_InitTypeDef Init; /*!< I2C communication parameters */ - - uint8_t *pBuffPtr; /*!< Pointer to I2C transfer buffer */ - - uint16_t XferSize; /*!< I2C transfer size */ - - __IO uint16_t XferCount; /*!< I2C transfer counter */ - - __IO uint32_t XferOptions; /*!< I2C transfer options */ - - __IO uint32_t PreviousState; /*!< I2C communication Previous state and mode - context for internal usage */ - - DMA_HandleTypeDef *hdmatx; /*!< I2C Tx DMA handle parameters */ - - DMA_HandleTypeDef *hdmarx; /*!< I2C Rx DMA handle parameters */ - - HAL_LockTypeDef Lock; /*!< I2C locking object */ - - __IO HAL_I2C_StateTypeDef State; /*!< I2C communication state */ - - __IO HAL_I2C_ModeTypeDef Mode; /*!< I2C communication mode */ - - __IO uint32_t ErrorCode; /*!< I2C Error code */ - - __IO uint32_t Devaddress; /*!< I2C Target device address */ - - __IO uint32_t Memaddress; /*!< I2C Target memory address */ - - __IO uint32_t MemaddSize; /*!< I2C Target memory address size */ - - __IO uint32_t EventCount; /*!< I2C Event counter */ - - -#if (USE_HAL_I2C_REGISTER_CALLBACKS == 1) - void (* MasterTxCpltCallback)(struct __I2C_HandleTypeDef *hi2c); /*!< I2C Master Tx Transfer completed callback */ - void (* MasterRxCpltCallback)(struct __I2C_HandleTypeDef *hi2c); /*!< I2C Master Rx Transfer completed callback */ - void (* SlaveTxCpltCallback)(struct __I2C_HandleTypeDef *hi2c); /*!< I2C Slave Tx Transfer completed callback */ - void (* SlaveRxCpltCallback)(struct __I2C_HandleTypeDef *hi2c); /*!< I2C Slave Rx Transfer completed callback */ - void (* ListenCpltCallback)(struct __I2C_HandleTypeDef *hi2c); /*!< I2C Listen Complete callback */ - void (* MemTxCpltCallback)(struct __I2C_HandleTypeDef *hi2c); /*!< I2C Memory Tx Transfer completed callback */ - void (* MemRxCpltCallback)(struct __I2C_HandleTypeDef *hi2c); /*!< I2C Memory Rx Transfer completed callback */ - void (* ErrorCallback)(struct __I2C_HandleTypeDef *hi2c); /*!< I2C Error callback */ - void (* AbortCpltCallback)(struct __I2C_HandleTypeDef *hi2c); /*!< I2C Abort callback */ - - void (* AddrCallback)(struct __I2C_HandleTypeDef *hi2c, uint8_t TransferDirection, uint16_t AddrMatchCode); /*!< I2C Slave Address Match callback */ - - void (* MspInitCallback)(struct __I2C_HandleTypeDef *hi2c); /*!< I2C Msp Init callback */ - void (* MspDeInitCallback)(struct __I2C_HandleTypeDef *hi2c); /*!< I2C Msp DeInit callback */ - -#endif /* USE_HAL_I2C_REGISTER_CALLBACKS */ -} I2C_HandleTypeDef; - -#if (USE_HAL_I2C_REGISTER_CALLBACKS == 1) -/** - * @brief HAL I2C Callback ID enumeration definition - */ -typedef enum -{ - HAL_I2C_MASTER_TX_COMPLETE_CB_ID = 0x00U, /*!< I2C Master Tx Transfer completed callback ID */ - HAL_I2C_MASTER_RX_COMPLETE_CB_ID = 0x01U, /*!< I2C Master Rx Transfer completed callback ID */ - HAL_I2C_SLAVE_TX_COMPLETE_CB_ID = 0x02U, /*!< I2C Slave Tx Transfer completed callback ID */ - HAL_I2C_SLAVE_RX_COMPLETE_CB_ID = 0x03U, /*!< I2C Slave Rx Transfer completed callback ID */ - HAL_I2C_LISTEN_COMPLETE_CB_ID = 0x04U, /*!< I2C Listen Complete callback ID */ - HAL_I2C_MEM_TX_COMPLETE_CB_ID = 0x05U, /*!< I2C Memory Tx Transfer callback ID */ - HAL_I2C_MEM_RX_COMPLETE_CB_ID = 0x06U, /*!< I2C Memory Rx Transfer completed callback ID */ - HAL_I2C_ERROR_CB_ID = 0x07U, /*!< I2C Error callback ID */ - HAL_I2C_ABORT_CB_ID = 0x08U, /*!< I2C Abort callback ID */ - - HAL_I2C_MSPINIT_CB_ID = 0x09U, /*!< I2C Msp Init callback ID */ - HAL_I2C_MSPDEINIT_CB_ID = 0x0AU /*!< I2C Msp DeInit callback ID */ - -} HAL_I2C_CallbackIDTypeDef; - -/** - * @brief HAL I2C Callback pointer definition - */ -typedef void (*pI2C_CallbackTypeDef)(I2C_HandleTypeDef *hi2c); /*!< pointer to an I2C callback function */ -typedef void (*pI2C_AddrCallbackTypeDef)(I2C_HandleTypeDef *hi2c, uint8_t TransferDirection, uint16_t AddrMatchCode); /*!< pointer to an I2C Address Match callback function */ - -#endif /* USE_HAL_I2C_REGISTER_CALLBACKS */ -/** - * @} - */ - -/** - * @} - */ -/* Exported constants --------------------------------------------------------*/ - -/** @defgroup I2C_Exported_Constants I2C Exported Constants - * @{ - */ - -/** @defgroup I2C_duty_cycle_in_fast_mode I2C duty cycle in fast mode - * @{ - */ -#define I2C_DUTYCYCLE_2 0x00000000U -#define I2C_DUTYCYCLE_16_9 I2C_CCR_DUTY -/** - * @} - */ - -/** @defgroup I2C_addressing_mode I2C addressing mode - * @{ - */ -#define I2C_ADDRESSINGMODE_7BIT 0x00004000U -#define I2C_ADDRESSINGMODE_10BIT (I2C_OAR1_ADDMODE | 0x00004000U) -/** - * @} - */ - -/** @defgroup I2C_dual_addressing_mode I2C dual addressing mode - * @{ - */ -#define I2C_DUALADDRESS_DISABLE 0x00000000U -#define I2C_DUALADDRESS_ENABLE I2C_OAR2_ENDUAL -/** - * @} - */ - -/** @defgroup I2C_general_call_addressing_mode I2C general call addressing mode - * @{ - */ -#define I2C_GENERALCALL_DISABLE 0x00000000U -#define I2C_GENERALCALL_ENABLE I2C_CR1_ENGC -/** - * @} - */ - -/** @defgroup I2C_nostretch_mode I2C nostretch mode - * @{ - */ -#define I2C_NOSTRETCH_DISABLE 0x00000000U -#define I2C_NOSTRETCH_ENABLE I2C_CR1_NOSTRETCH -/** - * @} - */ - -/** @defgroup I2C_Memory_Address_Size I2C Memory Address Size - * @{ - */ -#define I2C_MEMADD_SIZE_8BIT 0x00000001U -#define I2C_MEMADD_SIZE_16BIT 0x00000010U -/** - * @} - */ - -/** @defgroup I2C_XferDirection_definition I2C XferDirection definition - * @{ - */ -#define I2C_DIRECTION_RECEIVE 0x00000000U -#define I2C_DIRECTION_TRANSMIT 0x00000001U -/** - * @} - */ - -/** @defgroup I2C_XferOptions_definition I2C XferOptions definition - * @{ - */ -#define I2C_FIRST_FRAME 0x00000001U -#define I2C_FIRST_AND_NEXT_FRAME 0x00000002U -#define I2C_NEXT_FRAME 0x00000004U -#define I2C_FIRST_AND_LAST_FRAME 0x00000008U -#define I2C_LAST_FRAME_NO_STOP 0x00000010U -#define I2C_LAST_FRAME 0x00000020U - -/* List of XferOptions in usage of : - * 1- Restart condition in all use cases (direction change or not) - */ -#define I2C_OTHER_FRAME (0x00AA0000U) -#define I2C_OTHER_AND_LAST_FRAME (0xAA000000U) -/** - * @} - */ - -/** @defgroup I2C_Interrupt_configuration_definition I2C Interrupt configuration definition - * @brief I2C Interrupt definition - * Elements values convention: 0xXXXXXXXX - * - XXXXXXXX : Interrupt control mask - * @{ - */ -#define I2C_IT_BUF I2C_CR2_ITBUFEN -#define I2C_IT_EVT I2C_CR2_ITEVTEN -#define I2C_IT_ERR I2C_CR2_ITERREN -/** - * @} - */ - -/** @defgroup I2C_Flag_definition I2C Flag definition - * @{ - */ - -#define I2C_FLAG_OVR 0x00010800U -#define I2C_FLAG_AF 0x00010400U -#define I2C_FLAG_ARLO 0x00010200U -#define I2C_FLAG_BERR 0x00010100U -#define I2C_FLAG_TXE 0x00010080U -#define I2C_FLAG_RXNE 0x00010040U -#define I2C_FLAG_STOPF 0x00010010U -#define I2C_FLAG_ADD10 0x00010008U -#define I2C_FLAG_BTF 0x00010004U -#define I2C_FLAG_ADDR 0x00010002U -#define I2C_FLAG_SB 0x00010001U -#define I2C_FLAG_DUALF 0x00100080U -#define I2C_FLAG_GENCALL 0x00100010U -#define I2C_FLAG_TRA 0x00100004U -#define I2C_FLAG_BUSY 0x00100002U -#define I2C_FLAG_MSL 0x00100001U -/** - * @} - */ - -/** - * @} - */ - -/* Exported macros -----------------------------------------------------------*/ - -/** @defgroup I2C_Exported_Macros I2C Exported Macros - * @{ - */ - -/** @brief Reset I2C handle state. - * @param __HANDLE__ specifies the I2C Handle. - * @retval None - */ -#if (USE_HAL_I2C_REGISTER_CALLBACKS == 1) -#define __HAL_I2C_RESET_HANDLE_STATE(__HANDLE__) do{ \ - (__HANDLE__)->State = HAL_I2C_STATE_RESET; \ - (__HANDLE__)->MspInitCallback = NULL; \ - (__HANDLE__)->MspDeInitCallback = NULL; \ - } while(0) -#else -#define __HAL_I2C_RESET_HANDLE_STATE(__HANDLE__) ((__HANDLE__)->State = HAL_I2C_STATE_RESET) -#endif - -/** @brief Enable or disable the specified I2C interrupts. - * @param __HANDLE__ specifies the I2C Handle. - * @param __INTERRUPT__ specifies the interrupt source to enable or disable. - * This parameter can be one of the following values: - * @arg I2C_IT_BUF: Buffer interrupt enable - * @arg I2C_IT_EVT: Event interrupt enable - * @arg I2C_IT_ERR: Error interrupt enable - * @retval None - */ -#define __HAL_I2C_ENABLE_IT(__HANDLE__, __INTERRUPT__) SET_BIT((__HANDLE__)->Instance->CR2,(__INTERRUPT__)) -#define __HAL_I2C_DISABLE_IT(__HANDLE__, __INTERRUPT__) CLEAR_BIT((__HANDLE__)->Instance->CR2, (__INTERRUPT__)) - -/** @brief Checks if the specified I2C interrupt source is enabled or disabled. - * @param __HANDLE__ specifies the I2C Handle. - * @param __INTERRUPT__ specifies the I2C interrupt source to check. - * This parameter can be one of the following values: - * @arg I2C_IT_BUF: Buffer interrupt enable - * @arg I2C_IT_EVT: Event interrupt enable - * @arg I2C_IT_ERR: Error interrupt enable - * @retval The new state of __INTERRUPT__ (TRUE or FALSE). - */ -#define __HAL_I2C_GET_IT_SOURCE(__HANDLE__, __INTERRUPT__) ((((__HANDLE__)->Instance->CR2 & (__INTERRUPT__)) == (__INTERRUPT__)) ? SET : RESET) - -/** @brief Checks whether the specified I2C flag is set or not. - * @param __HANDLE__ specifies the I2C Handle. - * @param __FLAG__ specifies the flag to check. - * This parameter can be one of the following values: - * @arg I2C_FLAG_OVR: Overrun/Underrun flag - * @arg I2C_FLAG_AF: Acknowledge failure flag - * @arg I2C_FLAG_ARLO: Arbitration lost flag - * @arg I2C_FLAG_BERR: Bus error flag - * @arg I2C_FLAG_TXE: Data register empty flag - * @arg I2C_FLAG_RXNE: Data register not empty flag - * @arg I2C_FLAG_STOPF: Stop detection flag - * @arg I2C_FLAG_ADD10: 10-bit header sent flag - * @arg I2C_FLAG_BTF: Byte transfer finished flag - * @arg I2C_FLAG_ADDR: Address sent flag - * Address matched flag - * @arg I2C_FLAG_SB: Start bit flag - * @arg I2C_FLAG_DUALF: Dual flag - * @arg I2C_FLAG_GENCALL: General call header flag - * @arg I2C_FLAG_TRA: Transmitter/Receiver flag - * @arg I2C_FLAG_BUSY: Bus busy flag - * @arg I2C_FLAG_MSL: Master/Slave flag - * @retval The new state of __FLAG__ (TRUE or FALSE). - */ -#define __HAL_I2C_GET_FLAG(__HANDLE__, __FLAG__) ((((uint8_t)((__FLAG__) >> 16U)) == 0x01U) ? \ - (((((__HANDLE__)->Instance->SR1) & ((__FLAG__) & I2C_FLAG_MASK)) == ((__FLAG__) & I2C_FLAG_MASK)) ? SET : RESET) : \ - (((((__HANDLE__)->Instance->SR2) & ((__FLAG__) & I2C_FLAG_MASK)) == ((__FLAG__) & I2C_FLAG_MASK)) ? SET : RESET)) - -/** @brief Clears the I2C pending flags which are cleared by writing 0 in a specific bit. - * @param __HANDLE__ specifies the I2C Handle. - * @param __FLAG__ specifies the flag to clear. - * This parameter can be any combination of the following values: - * @arg I2C_FLAG_OVR: Overrun/Underrun flag (Slave mode) - * @arg I2C_FLAG_AF: Acknowledge failure flag - * @arg I2C_FLAG_ARLO: Arbitration lost flag (Master mode) - * @arg I2C_FLAG_BERR: Bus error flag - * @retval None - */ -#define __HAL_I2C_CLEAR_FLAG(__HANDLE__, __FLAG__) ((__HANDLE__)->Instance->SR1 = ~((__FLAG__) & I2C_FLAG_MASK)) - -/** @brief Clears the I2C ADDR pending flag. - * @param __HANDLE__ specifies the I2C Handle. - * This parameter can be I2C where x: 1, 2, or 3 to select the I2C peripheral. - * @retval None - */ -#define __HAL_I2C_CLEAR_ADDRFLAG(__HANDLE__) \ - do{ \ - __IO uint32_t tmpreg = 0x00U; \ - tmpreg = (__HANDLE__)->Instance->SR1; \ - tmpreg = (__HANDLE__)->Instance->SR2; \ - UNUSED(tmpreg); \ - } while(0) - -/** @brief Clears the I2C STOPF pending flag. - * @param __HANDLE__ specifies the I2C Handle. - * @retval None - */ -#define __HAL_I2C_CLEAR_STOPFLAG(__HANDLE__) \ - do{ \ - __IO uint32_t tmpreg = 0x00U; \ - tmpreg = (__HANDLE__)->Instance->SR1; \ - SET_BIT((__HANDLE__)->Instance->CR1, I2C_CR1_PE); \ - UNUSED(tmpreg); \ - } while(0) - -/** @brief Enable the specified I2C peripheral. - * @param __HANDLE__ specifies the I2C Handle. - * @retval None - */ -#define __HAL_I2C_ENABLE(__HANDLE__) SET_BIT((__HANDLE__)->Instance->CR1, I2C_CR1_PE) - -/** @brief Disable the specified I2C peripheral. - * @param __HANDLE__ specifies the I2C Handle. - * @retval None - */ -#define __HAL_I2C_DISABLE(__HANDLE__) CLEAR_BIT((__HANDLE__)->Instance->CR1, I2C_CR1_PE) - -/** - * @} - */ - -/* Include I2C HAL Extension module */ -#include "stm32f4xx_hal_i2c_ex.h" - -/* Exported functions --------------------------------------------------------*/ -/** @addtogroup I2C_Exported_Functions - * @{ - */ - -/** @addtogroup I2C_Exported_Functions_Group1 Initialization and de-initialization functions - * @{ - */ -/* Initialization and de-initialization functions******************************/ -HAL_StatusTypeDef HAL_I2C_Init(I2C_HandleTypeDef *hi2c); -HAL_StatusTypeDef HAL_I2C_DeInit(I2C_HandleTypeDef *hi2c); -void HAL_I2C_MspInit(I2C_HandleTypeDef *hi2c); -void HAL_I2C_MspDeInit(I2C_HandleTypeDef *hi2c); - -/* Callbacks Register/UnRegister functions ***********************************/ -#if (USE_HAL_I2C_REGISTER_CALLBACKS == 1) -HAL_StatusTypeDef HAL_I2C_RegisterCallback(I2C_HandleTypeDef *hi2c, HAL_I2C_CallbackIDTypeDef CallbackID, pI2C_CallbackTypeDef pCallback); -HAL_StatusTypeDef HAL_I2C_UnRegisterCallback(I2C_HandleTypeDef *hi2c, HAL_I2C_CallbackIDTypeDef CallbackID); - -HAL_StatusTypeDef HAL_I2C_RegisterAddrCallback(I2C_HandleTypeDef *hi2c, pI2C_AddrCallbackTypeDef pCallback); -HAL_StatusTypeDef HAL_I2C_UnRegisterAddrCallback(I2C_HandleTypeDef *hi2c); -#endif /* USE_HAL_I2C_REGISTER_CALLBACKS */ -/** - * @} - */ - -/** @addtogroup I2C_Exported_Functions_Group2 Input and Output operation functions - * @{ - */ -/* IO operation functions ****************************************************/ -/******* Blocking mode: Polling */ -HAL_StatusTypeDef HAL_I2C_Master_Transmit(I2C_HandleTypeDef *hi2c, uint16_t DevAddress, uint8_t *pData, uint16_t Size, uint32_t Timeout); -HAL_StatusTypeDef HAL_I2C_Master_Receive(I2C_HandleTypeDef *hi2c, uint16_t DevAddress, uint8_t *pData, uint16_t Size, uint32_t Timeout); -HAL_StatusTypeDef HAL_I2C_Slave_Transmit(I2C_HandleTypeDef *hi2c, uint8_t *pData, uint16_t Size, uint32_t Timeout); -HAL_StatusTypeDef HAL_I2C_Slave_Receive(I2C_HandleTypeDef *hi2c, uint8_t *pData, uint16_t Size, uint32_t Timeout); -HAL_StatusTypeDef HAL_I2C_Mem_Write(I2C_HandleTypeDef *hi2c, uint16_t DevAddress, uint16_t MemAddress, uint16_t MemAddSize, uint8_t *pData, uint16_t Size, uint32_t Timeout); -HAL_StatusTypeDef HAL_I2C_Mem_Read(I2C_HandleTypeDef *hi2c, uint16_t DevAddress, uint16_t MemAddress, uint16_t MemAddSize, uint8_t *pData, uint16_t Size, uint32_t Timeout); -HAL_StatusTypeDef HAL_I2C_IsDeviceReady(I2C_HandleTypeDef *hi2c, uint16_t DevAddress, uint32_t Trials, uint32_t Timeout); - -/******* Non-Blocking mode: Interrupt */ -HAL_StatusTypeDef HAL_I2C_Master_Transmit_IT(I2C_HandleTypeDef *hi2c, uint16_t DevAddress, uint8_t *pData, uint16_t Size); -HAL_StatusTypeDef HAL_I2C_Master_Receive_IT(I2C_HandleTypeDef *hi2c, uint16_t DevAddress, uint8_t *pData, uint16_t Size); -HAL_StatusTypeDef HAL_I2C_Slave_Transmit_IT(I2C_HandleTypeDef *hi2c, uint8_t *pData, uint16_t Size); -HAL_StatusTypeDef HAL_I2C_Slave_Receive_IT(I2C_HandleTypeDef *hi2c, uint8_t *pData, uint16_t Size); -HAL_StatusTypeDef HAL_I2C_Mem_Write_IT(I2C_HandleTypeDef *hi2c, uint16_t DevAddress, uint16_t MemAddress, uint16_t MemAddSize, uint8_t *pData, uint16_t Size); -HAL_StatusTypeDef HAL_I2C_Mem_Read_IT(I2C_HandleTypeDef *hi2c, uint16_t DevAddress, uint16_t MemAddress, uint16_t MemAddSize, uint8_t *pData, uint16_t Size); - -HAL_StatusTypeDef HAL_I2C_Master_Seq_Transmit_IT(I2C_HandleTypeDef *hi2c, uint16_t DevAddress, uint8_t *pData, uint16_t Size, uint32_t XferOptions); -HAL_StatusTypeDef HAL_I2C_Master_Seq_Receive_IT(I2C_HandleTypeDef *hi2c, uint16_t DevAddress, uint8_t *pData, uint16_t Size, uint32_t XferOptions); -HAL_StatusTypeDef HAL_I2C_Slave_Seq_Transmit_IT(I2C_HandleTypeDef *hi2c, uint8_t *pData, uint16_t Size, uint32_t XferOptions); -HAL_StatusTypeDef HAL_I2C_Slave_Seq_Receive_IT(I2C_HandleTypeDef *hi2c, uint8_t *pData, uint16_t Size, uint32_t XferOptions); -HAL_StatusTypeDef HAL_I2C_EnableListen_IT(I2C_HandleTypeDef *hi2c); -HAL_StatusTypeDef HAL_I2C_DisableListen_IT(I2C_HandleTypeDef *hi2c); -HAL_StatusTypeDef HAL_I2C_Master_Abort_IT(I2C_HandleTypeDef *hi2c, uint16_t DevAddress); - -/******* Non-Blocking mode: DMA */ -HAL_StatusTypeDef HAL_I2C_Master_Transmit_DMA(I2C_HandleTypeDef *hi2c, uint16_t DevAddress, uint8_t *pData, uint16_t Size); -HAL_StatusTypeDef HAL_I2C_Master_Receive_DMA(I2C_HandleTypeDef *hi2c, uint16_t DevAddress, uint8_t *pData, uint16_t Size); -HAL_StatusTypeDef HAL_I2C_Slave_Transmit_DMA(I2C_HandleTypeDef *hi2c, uint8_t *pData, uint16_t Size); -HAL_StatusTypeDef HAL_I2C_Slave_Receive_DMA(I2C_HandleTypeDef *hi2c, uint8_t *pData, uint16_t Size); -HAL_StatusTypeDef HAL_I2C_Mem_Write_DMA(I2C_HandleTypeDef *hi2c, uint16_t DevAddress, uint16_t MemAddress, uint16_t MemAddSize, uint8_t *pData, uint16_t Size); -HAL_StatusTypeDef HAL_I2C_Mem_Read_DMA(I2C_HandleTypeDef *hi2c, uint16_t DevAddress, uint16_t MemAddress, uint16_t MemAddSize, uint8_t *pData, uint16_t Size); - -HAL_StatusTypeDef HAL_I2C_Master_Seq_Transmit_DMA(I2C_HandleTypeDef *hi2c, uint16_t DevAddress, uint8_t *pData, uint16_t Size, uint32_t XferOptions); -HAL_StatusTypeDef HAL_I2C_Master_Seq_Receive_DMA(I2C_HandleTypeDef *hi2c, uint16_t DevAddress, uint8_t *pData, uint16_t Size, uint32_t XferOptions); -HAL_StatusTypeDef HAL_I2C_Slave_Seq_Transmit_DMA(I2C_HandleTypeDef *hi2c, uint8_t *pData, uint16_t Size, uint32_t XferOptions); -HAL_StatusTypeDef HAL_I2C_Slave_Seq_Receive_DMA(I2C_HandleTypeDef *hi2c, uint8_t *pData, uint16_t Size, uint32_t XferOptions); -/** - * @} - */ - -/** @addtogroup I2C_IRQ_Handler_and_Callbacks IRQ Handler and Callbacks - * @{ - */ -/******* I2C IRQHandler and Callbacks used in non blocking modes (Interrupt and DMA) */ -void HAL_I2C_EV_IRQHandler(I2C_HandleTypeDef *hi2c); -void HAL_I2C_ER_IRQHandler(I2C_HandleTypeDef *hi2c); -void HAL_I2C_MasterTxCpltCallback(I2C_HandleTypeDef *hi2c); -void HAL_I2C_MasterRxCpltCallback(I2C_HandleTypeDef *hi2c); -void HAL_I2C_SlaveTxCpltCallback(I2C_HandleTypeDef *hi2c); -void HAL_I2C_SlaveRxCpltCallback(I2C_HandleTypeDef *hi2c); -void HAL_I2C_AddrCallback(I2C_HandleTypeDef *hi2c, uint8_t TransferDirection, uint16_t AddrMatchCode); -void HAL_I2C_ListenCpltCallback(I2C_HandleTypeDef *hi2c); -void HAL_I2C_MemTxCpltCallback(I2C_HandleTypeDef *hi2c); -void HAL_I2C_MemRxCpltCallback(I2C_HandleTypeDef *hi2c); -void HAL_I2C_ErrorCallback(I2C_HandleTypeDef *hi2c); -void HAL_I2C_AbortCpltCallback(I2C_HandleTypeDef *hi2c); -/** - * @} - */ - -/** @addtogroup I2C_Exported_Functions_Group3 Peripheral State, Mode and Error functions - * @{ - */ -/* Peripheral State, Mode and Error functions *********************************/ -HAL_I2C_StateTypeDef HAL_I2C_GetState(I2C_HandleTypeDef *hi2c); -HAL_I2C_ModeTypeDef HAL_I2C_GetMode(I2C_HandleTypeDef *hi2c); -uint32_t HAL_I2C_GetError(I2C_HandleTypeDef *hi2c); - -/** - * @} - */ - -/** - * @} - */ -/* Private types -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private constants ---------------------------------------------------------*/ -/** @defgroup I2C_Private_Constants I2C Private Constants - * @{ - */ -#define I2C_FLAG_MASK 0x0000FFFFU -#define I2C_MIN_PCLK_FREQ_STANDARD 2000000U /*!< 2 MHz */ -#define I2C_MIN_PCLK_FREQ_FAST 4000000U /*!< 4 MHz */ -/** - * @} - */ - -/* Private macros ------------------------------------------------------------*/ -/** @defgroup I2C_Private_Macros I2C Private Macros - * @{ - */ - -#define I2C_MIN_PCLK_FREQ(__PCLK__, __SPEED__) (((__SPEED__) <= 100000U) ? ((__PCLK__) < I2C_MIN_PCLK_FREQ_STANDARD) : ((__PCLK__) < I2C_MIN_PCLK_FREQ_FAST)) -#define I2C_CCR_CALCULATION(__PCLK__, __SPEED__, __COEFF__) (((((__PCLK__) - 1U)/((__SPEED__) * (__COEFF__))) + 1U) & I2C_CCR_CCR) -#define I2C_FREQRANGE(__PCLK__) ((__PCLK__)/1000000U) -#define I2C_RISE_TIME(__FREQRANGE__, __SPEED__) (((__SPEED__) <= 100000U) ? ((__FREQRANGE__) + 1U) : ((((__FREQRANGE__) * 300U) / 1000U) + 1U)) -#define I2C_SPEED_STANDARD(__PCLK__, __SPEED__) ((I2C_CCR_CALCULATION((__PCLK__), (__SPEED__), 2U) < 4U)? 4U:I2C_CCR_CALCULATION((__PCLK__), (__SPEED__), 2U)) -#define I2C_SPEED_FAST(__PCLK__, __SPEED__, __DUTYCYCLE__) (((__DUTYCYCLE__) == I2C_DUTYCYCLE_2)? I2C_CCR_CALCULATION((__PCLK__), (__SPEED__), 3U) : (I2C_CCR_CALCULATION((__PCLK__), (__SPEED__), 25U) | I2C_DUTYCYCLE_16_9)) -#define I2C_SPEED(__PCLK__, __SPEED__, __DUTYCYCLE__) (((__SPEED__) <= 100000U)? (I2C_SPEED_STANDARD((__PCLK__), (__SPEED__))) : \ - ((I2C_SPEED_FAST((__PCLK__), (__SPEED__), (__DUTYCYCLE__)) & I2C_CCR_CCR) == 0U)? 1U : \ - ((I2C_SPEED_FAST((__PCLK__), (__SPEED__), (__DUTYCYCLE__))) | I2C_CCR_FS)) - -#define I2C_7BIT_ADD_WRITE(__ADDRESS__) ((uint8_t)((__ADDRESS__) & (uint8_t)(~I2C_OAR1_ADD0))) -#define I2C_7BIT_ADD_READ(__ADDRESS__) ((uint8_t)((__ADDRESS__) | I2C_OAR1_ADD0)) - -#define I2C_10BIT_ADDRESS(__ADDRESS__) ((uint8_t)((uint16_t)((__ADDRESS__) & (uint16_t)0x00FF))) -#define I2C_10BIT_HEADER_WRITE(__ADDRESS__) ((uint8_t)((uint16_t)((uint16_t)(((uint16_t)((__ADDRESS__) & (uint16_t)0x0300)) >> 7) | (uint16_t)0x00F0))) -#define I2C_10BIT_HEADER_READ(__ADDRESS__) ((uint8_t)((uint16_t)((uint16_t)(((uint16_t)((__ADDRESS__) & (uint16_t)0x0300)) >> 7) | (uint16_t)(0x00F1)))) - -#define I2C_MEM_ADD_MSB(__ADDRESS__) ((uint8_t)((uint16_t)(((uint16_t)((__ADDRESS__) & (uint16_t)0xFF00)) >> 8))) -#define I2C_MEM_ADD_LSB(__ADDRESS__) ((uint8_t)((uint16_t)((__ADDRESS__) & (uint16_t)0x00FF))) - -/** @defgroup I2C_IS_RTC_Definitions I2C Private macros to check input parameters - * @{ - */ -#define IS_I2C_DUTY_CYCLE(CYCLE) (((CYCLE) == I2C_DUTYCYCLE_2) || \ - ((CYCLE) == I2C_DUTYCYCLE_16_9)) -#define IS_I2C_ADDRESSING_MODE(ADDRESS) (((ADDRESS) == I2C_ADDRESSINGMODE_7BIT) || \ - ((ADDRESS) == I2C_ADDRESSINGMODE_10BIT)) -#define IS_I2C_DUAL_ADDRESS(ADDRESS) (((ADDRESS) == I2C_DUALADDRESS_DISABLE) || \ - ((ADDRESS) == I2C_DUALADDRESS_ENABLE)) -#define IS_I2C_GENERAL_CALL(CALL) (((CALL) == I2C_GENERALCALL_DISABLE) || \ - ((CALL) == I2C_GENERALCALL_ENABLE)) -#define IS_I2C_NO_STRETCH(STRETCH) (((STRETCH) == I2C_NOSTRETCH_DISABLE) || \ - ((STRETCH) == I2C_NOSTRETCH_ENABLE)) -#define IS_I2C_MEMADD_SIZE(SIZE) (((SIZE) == I2C_MEMADD_SIZE_8BIT) || \ - ((SIZE) == I2C_MEMADD_SIZE_16BIT)) -#define IS_I2C_CLOCK_SPEED(SPEED) (((SPEED) > 0U) && ((SPEED) <= 400000U)) -#define IS_I2C_OWN_ADDRESS1(ADDRESS1) (((ADDRESS1) & 0xFFFFFC00U) == 0U) -#define IS_I2C_OWN_ADDRESS2(ADDRESS2) (((ADDRESS2) & 0xFFFFFF01U) == 0U) -#define IS_I2C_TRANSFER_OPTIONS_REQUEST(REQUEST) (((REQUEST) == I2C_FIRST_FRAME) || \ - ((REQUEST) == I2C_FIRST_AND_NEXT_FRAME) || \ - ((REQUEST) == I2C_NEXT_FRAME) || \ - ((REQUEST) == I2C_FIRST_AND_LAST_FRAME) || \ - ((REQUEST) == I2C_LAST_FRAME) || \ - ((REQUEST) == I2C_LAST_FRAME_NO_STOP) || \ - IS_I2C_TRANSFER_OTHER_OPTIONS_REQUEST(REQUEST)) - -#define IS_I2C_TRANSFER_OTHER_OPTIONS_REQUEST(REQUEST) (((REQUEST) == I2C_OTHER_FRAME) || \ - ((REQUEST) == I2C_OTHER_AND_LAST_FRAME)) - -#define I2C_CHECK_FLAG(__ISR__, __FLAG__) ((((__ISR__) & ((__FLAG__) & I2C_FLAG_MASK)) == ((__FLAG__) & I2C_FLAG_MASK)) ? SET : RESET) -#define I2C_CHECK_IT_SOURCE(__CR1__, __IT__) ((((__CR1__) & (__IT__)) == (__IT__)) ? SET : RESET) -/** - * @} - */ - -/** - * @} - */ - -/* Private functions ---------------------------------------------------------*/ -/** @defgroup I2C_Private_Functions I2C Private Functions - * @{ - */ - -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ - -#ifdef __cplusplus -} -#endif - - -#endif /* __STM32F4xx_HAL_I2C_H */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_i2c_ex.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_i2c_ex.h deleted file mode 100644 index 6864d83519f574..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_i2c_ex.h +++ /dev/null @@ -1,117 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_i2c_ex.h - * @author MCD Application Team - * @brief Header file of I2C HAL Extension module. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef __STM32F4xx_HAL_I2C_EX_H -#define __STM32F4xx_HAL_I2C_EX_H - -#ifdef __cplusplus -extern "C" { -#endif - -#if defined(I2C_FLTR_ANOFF)&&defined(I2C_FLTR_DNF) -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal_def.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @addtogroup I2CEx - * @{ - */ - -/* Exported types ------------------------------------------------------------*/ -/* Exported constants --------------------------------------------------------*/ -/** @defgroup I2CEx_Exported_Constants I2C Exported Constants - * @{ - */ - -/** @defgroup I2CEx_Analog_Filter I2C Analog Filter - * @{ - */ -#define I2C_ANALOGFILTER_ENABLE 0x00000000U -#define I2C_ANALOGFILTER_DISABLE I2C_FLTR_ANOFF -/** - * @} - */ - -/** - * @} - */ - -/* Exported macro ------------------------------------------------------------*/ -/* Exported functions --------------------------------------------------------*/ -/** @addtogroup I2CEx_Exported_Functions - * @{ - */ - -/** @addtogroup I2CEx_Exported_Functions_Group1 - * @{ - */ -/* Peripheral Control functions ************************************************/ -HAL_StatusTypeDef HAL_I2CEx_ConfigAnalogFilter(I2C_HandleTypeDef *hi2c, uint32_t AnalogFilter); -HAL_StatusTypeDef HAL_I2CEx_ConfigDigitalFilter(I2C_HandleTypeDef *hi2c, uint32_t DigitalFilter); -/** - * @} - */ - -/** - * @} - */ -/* Private types -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private constants ---------------------------------------------------------*/ -/** @defgroup I2CEx_Private_Constants I2C Private Constants - * @{ - */ - -/** - * @} - */ - -/* Private macros ------------------------------------------------------------*/ -/** @defgroup I2CEx_Private_Macros I2C Private Macros - * @{ - */ -#define IS_I2C_ANALOG_FILTER(FILTER) (((FILTER) == I2C_ANALOGFILTER_ENABLE) || \ - ((FILTER) == I2C_ANALOGFILTER_DISABLE)) -#define IS_I2C_DIGITAL_FILTER(FILTER) ((FILTER) <= 0x0000000FU) -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ - -#endif - -#ifdef __cplusplus -} -#endif - -#endif /* __STM32F4xx_HAL_I2C_EX_H */ - - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_i2s.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_i2s.h deleted file mode 100644 index 1e9676f868d247..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_i2s.h +++ /dev/null @@ -1,620 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_i2s.h - * @author MCD Application Team - * @brief Header file of I2S HAL module. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef STM32F4xx_HAL_I2S_H -#define STM32F4xx_HAL_I2S_H - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal_def.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @addtogroup I2S - * @{ - */ - -/* Exported types ------------------------------------------------------------*/ -/** @defgroup I2S_Exported_Types I2S Exported Types - * @{ - */ - -/** - * @brief I2S Init structure definition - */ -typedef struct -{ - uint32_t Mode; /*!< Specifies the I2S operating mode. - This parameter can be a value of @ref I2S_Mode */ - - uint32_t Standard; /*!< Specifies the standard used for the I2S communication. - This parameter can be a value of @ref I2S_Standard */ - - uint32_t DataFormat; /*!< Specifies the data format for the I2S communication. - This parameter can be a value of @ref I2S_Data_Format */ - - uint32_t MCLKOutput; /*!< Specifies whether the I2S MCLK output is enabled or not. - This parameter can be a value of @ref I2S_MCLK_Output */ - - uint32_t AudioFreq; /*!< Specifies the frequency selected for the I2S communication. - This parameter can be a value of @ref I2S_Audio_Frequency */ - - uint32_t CPOL; /*!< Specifies the idle state of the I2S clock. - This parameter can be a value of @ref I2S_Clock_Polarity */ - - uint32_t ClockSource; /*!< Specifies the I2S Clock Source. - This parameter can be a value of @ref I2S_Clock_Source */ - uint32_t FullDuplexMode; /*!< Specifies the I2S FullDuplex mode. - This parameter can be a value of @ref I2S_FullDuplex_Mode */ -} I2S_InitTypeDef; - -/** - * @brief HAL State structures definition - */ -typedef enum -{ - HAL_I2S_STATE_RESET = 0x00U, /*!< I2S not yet initialized or disabled */ - HAL_I2S_STATE_READY = 0x01U, /*!< I2S initialized and ready for use */ - HAL_I2S_STATE_BUSY = 0x02U, /*!< I2S internal process is ongoing */ - HAL_I2S_STATE_BUSY_TX = 0x03U, /*!< Data Transmission process is ongoing */ - HAL_I2S_STATE_BUSY_RX = 0x04U, /*!< Data Reception process is ongoing */ - HAL_I2S_STATE_BUSY_TX_RX = 0x05U, /*!< Data Transmission and Reception process is ongoing */ - HAL_I2S_STATE_TIMEOUT = 0x06U, /*!< I2S timeout state */ - HAL_I2S_STATE_ERROR = 0x07U /*!< I2S error state */ -} HAL_I2S_StateTypeDef; - -/** - * @brief I2S handle Structure definition - */ -typedef struct __I2S_HandleTypeDef -{ - SPI_TypeDef *Instance; /*!< I2S registers base address */ - - I2S_InitTypeDef Init; /*!< I2S communication parameters */ - - uint16_t *pTxBuffPtr; /*!< Pointer to I2S Tx transfer buffer */ - - __IO uint16_t TxXferSize; /*!< I2S Tx transfer size */ - - __IO uint16_t TxXferCount; /*!< I2S Tx transfer Counter */ - - uint16_t *pRxBuffPtr; /*!< Pointer to I2S Rx transfer buffer */ - - __IO uint16_t RxXferSize; /*!< I2S Rx transfer size */ - - __IO uint16_t RxXferCount; /*!< I2S Rx transfer counter - (This field is initialized at the - same value as transfer size at the - beginning of the transfer and - decremented when a sample is received - NbSamplesReceived = RxBufferSize-RxBufferCount) */ - void (*IrqHandlerISR)(struct __I2S_HandleTypeDef *hi2s); /*!< I2S function pointer on IrqHandler */ - - DMA_HandleTypeDef *hdmatx; /*!< I2S Tx DMA handle parameters */ - - DMA_HandleTypeDef *hdmarx; /*!< I2S Rx DMA handle parameters */ - - __IO HAL_LockTypeDef Lock; /*!< I2S locking object */ - - __IO HAL_I2S_StateTypeDef State; /*!< I2S communication state */ - - __IO uint32_t ErrorCode; /*!< I2S Error code - This parameter can be a value of @ref I2S_Error */ - -#if (USE_HAL_I2S_REGISTER_CALLBACKS == 1U) - void (* TxCpltCallback)(struct __I2S_HandleTypeDef *hi2s); /*!< I2S Tx Completed callback */ - void (* RxCpltCallback)(struct __I2S_HandleTypeDef *hi2s); /*!< I2S Rx Completed callback */ - void (* TxRxCpltCallback)(struct __I2S_HandleTypeDef *hi2s); /*!< I2S TxRx Completed callback */ - void (* TxHalfCpltCallback)(struct __I2S_HandleTypeDef *hi2s); /*!< I2S Tx Half Completed callback */ - void (* RxHalfCpltCallback)(struct __I2S_HandleTypeDef *hi2s); /*!< I2S Rx Half Completed callback */ - void (* TxRxHalfCpltCallback)(struct __I2S_HandleTypeDef *hi2s); /*!< I2S TxRx Half Completed callback */ - void (* ErrorCallback)(struct __I2S_HandleTypeDef *hi2s); /*!< I2S Error callback */ - void (* MspInitCallback)(struct __I2S_HandleTypeDef *hi2s); /*!< I2S Msp Init callback */ - void (* MspDeInitCallback)(struct __I2S_HandleTypeDef *hi2s); /*!< I2S Msp DeInit callback */ - -#endif /* USE_HAL_I2S_REGISTER_CALLBACKS */ -} I2S_HandleTypeDef; - -#if (USE_HAL_I2S_REGISTER_CALLBACKS == 1U) -/** - * @brief HAL I2S Callback ID enumeration definition - */ -typedef enum -{ - HAL_I2S_TX_COMPLETE_CB_ID = 0x00U, /*!< I2S Tx Completed callback ID */ - HAL_I2S_RX_COMPLETE_CB_ID = 0x01U, /*!< I2S Rx Completed callback ID */ - HAL_I2S_TX_RX_COMPLETE_CB_ID = 0x02U, /*!< I2S TxRx Completed callback ID */ - HAL_I2S_TX_HALF_COMPLETE_CB_ID = 0x03U, /*!< I2S Tx Half Completed callback ID */ - HAL_I2S_RX_HALF_COMPLETE_CB_ID = 0x04U, /*!< I2S Rx Half Completed callback ID */ - HAL_I2S_TX_RX_HALF_COMPLETE_CB_ID = 0x05U, /*!< I2S TxRx Half Completed callback ID */ - HAL_I2S_ERROR_CB_ID = 0x06U, /*!< I2S Error callback ID */ - HAL_I2S_MSPINIT_CB_ID = 0x07U, /*!< I2S Msp Init callback ID */ - HAL_I2S_MSPDEINIT_CB_ID = 0x08U /*!< I2S Msp DeInit callback ID */ - -} HAL_I2S_CallbackIDTypeDef; - -/** - * @brief HAL I2S Callback pointer definition - */ -typedef void (*pI2S_CallbackTypeDef)(I2S_HandleTypeDef *hi2s); /*!< pointer to an I2S callback function */ - -#endif /* USE_HAL_I2S_REGISTER_CALLBACKS */ -/** - * @} - */ - -/* Exported constants --------------------------------------------------------*/ -/** @defgroup I2S_Exported_Constants I2S Exported Constants - * @{ - */ -/** @defgroup I2S_Error I2S Error - * @{ - */ -#define HAL_I2S_ERROR_NONE (0x00000000U) /*!< No error */ -#define HAL_I2S_ERROR_TIMEOUT (0x00000001U) /*!< Timeout error */ -#define HAL_I2S_ERROR_OVR (0x00000002U) /*!< OVR error */ -#define HAL_I2S_ERROR_UDR (0x00000004U) /*!< UDR error */ -#define HAL_I2S_ERROR_DMA (0x00000008U) /*!< DMA transfer error */ -#define HAL_I2S_ERROR_PRESCALER (0x00000010U) /*!< Prescaler Calculation error */ -#if (USE_HAL_I2S_REGISTER_CALLBACKS == 1U) -#define HAL_I2S_ERROR_INVALID_CALLBACK (0x00000020U) /*!< Invalid Callback error */ -#endif /* USE_HAL_I2S_REGISTER_CALLBACKS */ -#define HAL_I2S_ERROR_BUSY_LINE_RX (0x00000040U) /*!< Busy Rx Line error */ -/** - * @} - */ - -/** @defgroup I2S_Mode I2S Mode - * @{ - */ -#define I2S_MODE_SLAVE_TX (0x00000000U) -#define I2S_MODE_SLAVE_RX (SPI_I2SCFGR_I2SCFG_0) -#define I2S_MODE_MASTER_TX (SPI_I2SCFGR_I2SCFG_1) -#define I2S_MODE_MASTER_RX ((SPI_I2SCFGR_I2SCFG_0 | SPI_I2SCFGR_I2SCFG_1)) -/** - * @} - */ - -/** @defgroup I2S_Standard I2S Standard - * @{ - */ -#define I2S_STANDARD_PHILIPS (0x00000000U) -#define I2S_STANDARD_MSB (SPI_I2SCFGR_I2SSTD_0) -#define I2S_STANDARD_LSB (SPI_I2SCFGR_I2SSTD_1) -#define I2S_STANDARD_PCM_SHORT ((SPI_I2SCFGR_I2SSTD_0 | SPI_I2SCFGR_I2SSTD_1)) -#define I2S_STANDARD_PCM_LONG ((SPI_I2SCFGR_I2SSTD_0 | SPI_I2SCFGR_I2SSTD_1 | SPI_I2SCFGR_PCMSYNC)) -/** - * @} - */ - -/** @defgroup I2S_Data_Format I2S Data Format - * @{ - */ -#define I2S_DATAFORMAT_16B (0x00000000U) -#define I2S_DATAFORMAT_16B_EXTENDED (SPI_I2SCFGR_CHLEN) -#define I2S_DATAFORMAT_24B ((SPI_I2SCFGR_CHLEN | SPI_I2SCFGR_DATLEN_0)) -#define I2S_DATAFORMAT_32B ((SPI_I2SCFGR_CHLEN | SPI_I2SCFGR_DATLEN_1)) -/** - * @} - */ - -/** @defgroup I2S_MCLK_Output I2S MCLK Output - * @{ - */ -#define I2S_MCLKOUTPUT_ENABLE (SPI_I2SPR_MCKOE) -#define I2S_MCLKOUTPUT_DISABLE (0x00000000U) -/** - * @} - */ - -/** @defgroup I2S_Audio_Frequency I2S Audio Frequency - * @{ - */ -#define I2S_AUDIOFREQ_192K (192000U) -#define I2S_AUDIOFREQ_96K (96000U) -#define I2S_AUDIOFREQ_48K (48000U) -#define I2S_AUDIOFREQ_44K (44100U) -#define I2S_AUDIOFREQ_32K (32000U) -#define I2S_AUDIOFREQ_22K (22050U) -#define I2S_AUDIOFREQ_16K (16000U) -#define I2S_AUDIOFREQ_11K (11025U) -#define I2S_AUDIOFREQ_8K (8000U) -#define I2S_AUDIOFREQ_DEFAULT (2U) -/** - * @} - */ - -/** @defgroup I2S_FullDuplex_Mode I2S FullDuplex Mode - * @{ - */ -#define I2S_FULLDUPLEXMODE_DISABLE (0x00000000U) -#define I2S_FULLDUPLEXMODE_ENABLE (0x00000001U) -/** - * @} - */ - -/** @defgroup I2S_Clock_Polarity I2S Clock Polarity - * @{ - */ -#define I2S_CPOL_LOW (0x00000000U) -#define I2S_CPOL_HIGH (SPI_I2SCFGR_CKPOL) -/** - * @} - */ - -/** @defgroup I2S_Interrupts_Definition I2S Interrupts Definition - * @{ - */ -#define I2S_IT_TXE SPI_CR2_TXEIE -#define I2S_IT_RXNE SPI_CR2_RXNEIE -#define I2S_IT_ERR SPI_CR2_ERRIE -/** - * @} - */ - -/** @defgroup I2S_Flags_Definition I2S Flags Definition - * @{ - */ -#define I2S_FLAG_TXE SPI_SR_TXE -#define I2S_FLAG_RXNE SPI_SR_RXNE - -#define I2S_FLAG_UDR SPI_SR_UDR -#define I2S_FLAG_OVR SPI_SR_OVR -#define I2S_FLAG_FRE SPI_SR_FRE - -#define I2S_FLAG_CHSIDE SPI_SR_CHSIDE -#define I2S_FLAG_BSY SPI_SR_BSY - -#define I2S_FLAG_MASK (SPI_SR_RXNE\ - | SPI_SR_TXE | SPI_SR_UDR | SPI_SR_OVR | SPI_SR_FRE | SPI_SR_CHSIDE | SPI_SR_BSY) -/** - * @} - */ - -/** @defgroup I2S_Clock_Source I2S Clock Source Definition - * @{ - */ -#if defined(STM32F405xx) || defined(STM32F415xx) || defined(STM32F407xx) || defined(STM32F417xx) || defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) || defined(STM32F401xC) || defined(STM32F401xE) || defined(STM32F411xE) || defined(STM32F469xx) || defined(STM32F479xx) -#define I2S_CLOCK_PLL (0x00000000U) -#define I2S_CLOCK_EXTERNAL (0x00000001U) -#endif /* STM32F405xx || STM32F415xx || STM32F407xx || STM32F417xx || STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || - STM32F401xC || STM32F401xE || STM32F411xE || STM32F469xx || STM32F479xx */ - -#if defined(STM32F446xx) || defined(STM32F412Zx) || defined(STM32F412Vx) || defined(STM32F412Rx) || defined(STM32F412Cx) || defined(STM32F413xx) || defined(STM32F423xx) -#define I2S_CLOCK_PLL (0x00000000U) -#define I2S_CLOCK_EXTERNAL (0x00000001U) -#define I2S_CLOCK_PLLR (0x00000002U) -#define I2S_CLOCK_PLLSRC (0x00000003U) -#endif /* STM32F446xx || STM32F412Zx || STM32F412Vx || STM32F412Rx || STM32F412Cx || STM32F413xx || STM32F423xx */ - -#if defined(STM32F410Tx) || defined(STM32F410Cx) || defined(STM32F410Rx) -#define I2S_CLOCK_PLLSRC (0x00000000U) -#define I2S_CLOCK_EXTERNAL (0x00000001U) -#define I2S_CLOCK_PLLR (0x00000002U) -#endif /* STM32F410Tx || STM32F410Cx || STM32F410Rx */ -/** - * @} - */ - -/** - * @} - */ - -/* Exported macros -----------------------------------------------------------*/ -/** @defgroup I2S_Exported_macros I2S Exported Macros - * @{ - */ - -/** @brief Reset I2S handle state - * @param __HANDLE__ specifies the I2S Handle. - * @retval None - */ -#if (USE_HAL_I2S_REGISTER_CALLBACKS == 1U) -#define __HAL_I2S_RESET_HANDLE_STATE(__HANDLE__) do{ \ - (__HANDLE__)->State = HAL_I2S_STATE_RESET; \ - (__HANDLE__)->MspInitCallback = NULL; \ - (__HANDLE__)->MspDeInitCallback = NULL; \ - } while(0) -#else -#define __HAL_I2S_RESET_HANDLE_STATE(__HANDLE__) ((__HANDLE__)->State = HAL_I2S_STATE_RESET) -#endif /* USE_HAL_I2S_REGISTER_CALLBACKS */ - -/** @brief Enable the specified SPI peripheral (in I2S mode). - * @param __HANDLE__ specifies the I2S Handle. - * @retval None - */ -#define __HAL_I2S_ENABLE(__HANDLE__) (SET_BIT((__HANDLE__)->Instance->I2SCFGR, SPI_I2SCFGR_I2SE)) - -/** @brief Disable the specified SPI peripheral (in I2S mode). - * @param __HANDLE__ specifies the I2S Handle. - * @retval None - */ -#define __HAL_I2S_DISABLE(__HANDLE__) (CLEAR_BIT((__HANDLE__)->Instance->I2SCFGR, SPI_I2SCFGR_I2SE)) - -/** @brief Enable the specified I2S interrupts. - * @param __HANDLE__ specifies the I2S Handle. - * @param __INTERRUPT__ specifies the interrupt source to enable or disable. - * This parameter can be one of the following values: - * @arg I2S_IT_TXE: Tx buffer empty interrupt enable - * @arg I2S_IT_RXNE: RX buffer not empty interrupt enable - * @arg I2S_IT_ERR: Error interrupt enable - * @retval None - */ -#define __HAL_I2S_ENABLE_IT(__HANDLE__, __INTERRUPT__) (SET_BIT((__HANDLE__)->Instance->CR2,(__INTERRUPT__))) - -/** @brief Disable the specified I2S interrupts. - * @param __HANDLE__ specifies the I2S Handle. - * @param __INTERRUPT__ specifies the interrupt source to enable or disable. - * This parameter can be one of the following values: - * @arg I2S_IT_TXE: Tx buffer empty interrupt enable - * @arg I2S_IT_RXNE: RX buffer not empty interrupt enable - * @arg I2S_IT_ERR: Error interrupt enable - * @retval None - */ -#define __HAL_I2S_DISABLE_IT(__HANDLE__, __INTERRUPT__) (CLEAR_BIT((__HANDLE__)->Instance->CR2,(__INTERRUPT__))) - -/** @brief Checks if the specified I2S interrupt source is enabled or disabled. - * @param __HANDLE__ specifies the I2S Handle. - * This parameter can be I2S where x: 1, 2, or 3 to select the I2S peripheral. - * @param __INTERRUPT__ specifies the I2S interrupt source to check. - * This parameter can be one of the following values: - * @arg I2S_IT_TXE: Tx buffer empty interrupt enable - * @arg I2S_IT_RXNE: RX buffer not empty interrupt enable - * @arg I2S_IT_ERR: Error interrupt enable - * @retval The new state of __IT__ (TRUE or FALSE). - */ -#define __HAL_I2S_GET_IT_SOURCE(__HANDLE__, __INTERRUPT__) ((((__HANDLE__)->Instance->CR2\ - & (__INTERRUPT__)) == (__INTERRUPT__)) ? SET : RESET) - -/** @brief Checks whether the specified I2S flag is set or not. - * @param __HANDLE__ specifies the I2S Handle. - * @param __FLAG__ specifies the flag to check. - * This parameter can be one of the following values: - * @arg I2S_FLAG_RXNE: Receive buffer not empty flag - * @arg I2S_FLAG_TXE: Transmit buffer empty flag - * @arg I2S_FLAG_UDR: Underrun flag - * @arg I2S_FLAG_OVR: Overrun flag - * @arg I2S_FLAG_FRE: Frame error flag - * @arg I2S_FLAG_CHSIDE: Channel Side flag - * @arg I2S_FLAG_BSY: Busy flag - * @retval The new state of __FLAG__ (TRUE or FALSE). - */ -#define __HAL_I2S_GET_FLAG(__HANDLE__, __FLAG__) ((((__HANDLE__)->Instance->SR) & (__FLAG__)) == (__FLAG__)) - -/** @brief Clears the I2S OVR pending flag. - * @param __HANDLE__ specifies the I2S Handle. - * @retval None - */ -#define __HAL_I2S_CLEAR_OVRFLAG(__HANDLE__) do{ \ - __IO uint32_t tmpreg_ovr = 0x00U; \ - tmpreg_ovr = (__HANDLE__)->Instance->DR; \ - tmpreg_ovr = (__HANDLE__)->Instance->SR; \ - UNUSED(tmpreg_ovr); \ - }while(0U) -/** @brief Clears the I2S UDR pending flag. - * @param __HANDLE__ specifies the I2S Handle. - * @retval None - */ -#define __HAL_I2S_CLEAR_UDRFLAG(__HANDLE__) do{\ - __IO uint32_t tmpreg_udr = 0x00U;\ - tmpreg_udr = ((__HANDLE__)->Instance->SR);\ - UNUSED(tmpreg_udr); \ - }while(0U) -/** @brief Flush the I2S DR Register. - * @param __HANDLE__ specifies the I2S Handle. - * @retval None - */ -#define __HAL_I2S_FLUSH_RX_DR(__HANDLE__) do{\ - __IO uint32_t tmpreg_dr = 0x00U;\ - tmpreg_dr = ((__HANDLE__)->Instance->DR);\ - UNUSED(tmpreg_dr); \ - }while(0U) -/** - * @} - */ - -/* Include I2S Extension module */ -#include "stm32f4xx_hal_i2s_ex.h" - -/* Exported functions --------------------------------------------------------*/ -/** @addtogroup I2S_Exported_Functions - * @{ - */ - -/** @addtogroup I2S_Exported_Functions_Group1 - * @{ - */ -/* Initialization/de-initialization functions ********************************/ -HAL_StatusTypeDef HAL_I2S_Init(I2S_HandleTypeDef *hi2s); -HAL_StatusTypeDef HAL_I2S_DeInit(I2S_HandleTypeDef *hi2s); -void HAL_I2S_MspInit(I2S_HandleTypeDef *hi2s); -void HAL_I2S_MspDeInit(I2S_HandleTypeDef *hi2s); - -/* Callbacks Register/UnRegister functions ***********************************/ -#if (USE_HAL_I2S_REGISTER_CALLBACKS == 1U) -HAL_StatusTypeDef HAL_I2S_RegisterCallback(I2S_HandleTypeDef *hi2s, HAL_I2S_CallbackIDTypeDef CallbackID, - pI2S_CallbackTypeDef pCallback); -HAL_StatusTypeDef HAL_I2S_UnRegisterCallback(I2S_HandleTypeDef *hi2s, HAL_I2S_CallbackIDTypeDef CallbackID); -#endif /* USE_HAL_I2S_REGISTER_CALLBACKS */ -/** - * @} - */ - -/** @addtogroup I2S_Exported_Functions_Group2 - * @{ - */ -/* I/O operation functions ***************************************************/ -/* Blocking mode: Polling */ -HAL_StatusTypeDef HAL_I2S_Transmit(I2S_HandleTypeDef *hi2s, uint16_t *pData, uint16_t Size, uint32_t Timeout); -HAL_StatusTypeDef HAL_I2S_Receive(I2S_HandleTypeDef *hi2s, uint16_t *pData, uint16_t Size, uint32_t Timeout); - -/* Non-Blocking mode: Interrupt */ -HAL_StatusTypeDef HAL_I2S_Transmit_IT(I2S_HandleTypeDef *hi2s, uint16_t *pData, uint16_t Size); -HAL_StatusTypeDef HAL_I2S_Receive_IT(I2S_HandleTypeDef *hi2s, uint16_t *pData, uint16_t Size); -void HAL_I2S_IRQHandler(I2S_HandleTypeDef *hi2s); - -/* Non-Blocking mode: DMA */ -HAL_StatusTypeDef HAL_I2S_Transmit_DMA(I2S_HandleTypeDef *hi2s, uint16_t *pData, uint16_t Size); -HAL_StatusTypeDef HAL_I2S_Receive_DMA(I2S_HandleTypeDef *hi2s, uint16_t *pData, uint16_t Size); - -HAL_StatusTypeDef HAL_I2S_DMAPause(I2S_HandleTypeDef *hi2s); -HAL_StatusTypeDef HAL_I2S_DMAResume(I2S_HandleTypeDef *hi2s); -HAL_StatusTypeDef HAL_I2S_DMAStop(I2S_HandleTypeDef *hi2s); - -/* Callbacks used in non blocking modes (Interrupt and DMA) *******************/ -void HAL_I2S_TxHalfCpltCallback(I2S_HandleTypeDef *hi2s); -void HAL_I2S_TxCpltCallback(I2S_HandleTypeDef *hi2s); -void HAL_I2S_RxHalfCpltCallback(I2S_HandleTypeDef *hi2s); -void HAL_I2S_RxCpltCallback(I2S_HandleTypeDef *hi2s); -void HAL_I2S_ErrorCallback(I2S_HandleTypeDef *hi2s); -/** - * @} - */ - -/** @addtogroup I2S_Exported_Functions_Group3 - * @{ - */ -/* Peripheral Control and State functions ************************************/ -HAL_I2S_StateTypeDef HAL_I2S_GetState(I2S_HandleTypeDef *hi2s); -uint32_t HAL_I2S_GetError(I2S_HandleTypeDef *hi2s); -/** - * @} - */ - -/** - * @} - */ - -/* Private types -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private constants ---------------------------------------------------------*/ -/* Private macros ------------------------------------------------------------*/ -/** @defgroup I2S_Private_Macros I2S Private Macros - * @{ - */ - -/** @brief Check whether the specified SPI flag is set or not. - * @param __SR__ copy of I2S SR register. - * @param __FLAG__ specifies the flag to check. - * This parameter can be one of the following values: - * @arg I2S_FLAG_RXNE: Receive buffer not empty flag - * @arg I2S_FLAG_TXE: Transmit buffer empty flag - * @arg I2S_FLAG_UDR: Underrun error flag - * @arg I2S_FLAG_OVR: Overrun flag - * @arg I2S_FLAG_CHSIDE: Channel side flag - * @arg I2S_FLAG_BSY: Busy flag - * @retval SET or RESET. - */ -#define I2S_CHECK_FLAG(__SR__, __FLAG__) ((((__SR__)\ - & ((__FLAG__) & I2S_FLAG_MASK)) == ((__FLAG__) & I2S_FLAG_MASK)) ? SET : RESET) - -/** @brief Check whether the specified SPI Interrupt is set or not. - * @param __CR2__ copy of I2S CR2 register. - * @param __INTERRUPT__ specifies the SPI interrupt source to check. - * This parameter can be one of the following values: - * @arg I2S_IT_TXE: Tx buffer empty interrupt enable - * @arg I2S_IT_RXNE: RX buffer not empty interrupt enable - * @arg I2S_IT_ERR: Error interrupt enable - * @retval SET or RESET. - */ -#define I2S_CHECK_IT_SOURCE(__CR2__, __INTERRUPT__) ((((__CR2__)\ - & (__INTERRUPT__)) == (__INTERRUPT__)) ? SET : RESET) - -/** @brief Checks if I2S Mode parameter is in allowed range. - * @param __MODE__ specifies the I2S Mode. - * This parameter can be a value of @ref I2S_Mode - * @retval None - */ -#define IS_I2S_MODE(__MODE__) (((__MODE__) == I2S_MODE_SLAVE_TX) || \ - ((__MODE__) == I2S_MODE_SLAVE_RX) || \ - ((__MODE__) == I2S_MODE_MASTER_TX) || \ - ((__MODE__) == I2S_MODE_MASTER_RX)) - -#define IS_I2S_STANDARD(__STANDARD__) (((__STANDARD__) == I2S_STANDARD_PHILIPS) || \ - ((__STANDARD__) == I2S_STANDARD_MSB) || \ - ((__STANDARD__) == I2S_STANDARD_LSB) || \ - ((__STANDARD__) == I2S_STANDARD_PCM_SHORT) || \ - ((__STANDARD__) == I2S_STANDARD_PCM_LONG)) - -#define IS_I2S_DATA_FORMAT(__FORMAT__) (((__FORMAT__) == I2S_DATAFORMAT_16B) || \ - ((__FORMAT__) == I2S_DATAFORMAT_16B_EXTENDED) || \ - ((__FORMAT__) == I2S_DATAFORMAT_24B) || \ - ((__FORMAT__) == I2S_DATAFORMAT_32B)) - -#define IS_I2S_MCLK_OUTPUT(__OUTPUT__) (((__OUTPUT__) == I2S_MCLKOUTPUT_ENABLE) || \ - ((__OUTPUT__) == I2S_MCLKOUTPUT_DISABLE)) - -#define IS_I2S_AUDIO_FREQ(__FREQ__) ((((__FREQ__) >= I2S_AUDIOFREQ_8K) && \ - ((__FREQ__) <= I2S_AUDIOFREQ_192K)) || \ - ((__FREQ__) == I2S_AUDIOFREQ_DEFAULT)) - -#define IS_I2S_FULLDUPLEX_MODE(MODE) (((MODE) == I2S_FULLDUPLEXMODE_DISABLE) || \ - ((MODE) == I2S_FULLDUPLEXMODE_ENABLE)) - -/** @brief Checks if I2S Serial clock steady state parameter is in allowed range. - * @param __CPOL__ specifies the I2S serial clock steady state. - * This parameter can be a value of @ref I2S_Clock_Polarity - * @retval None - */ -#define IS_I2S_CPOL(__CPOL__) (((__CPOL__) == I2S_CPOL_LOW) || \ - ((__CPOL__) == I2S_CPOL_HIGH)) - -#if defined(STM32F405xx) || defined(STM32F415xx) || defined(STM32F407xx) || defined(STM32F417xx) || defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) || defined(STM32F401xC) || defined(STM32F401xE) || defined(STM32F411xE) || defined(STM32F469xx) || defined(STM32F479xx) -#define IS_I2S_CLOCKSOURCE(CLOCK) (((CLOCK) == I2S_CLOCK_EXTERNAL) ||\ - ((CLOCK) == I2S_CLOCK_PLL)) -#endif /* STM32F405xx || STM32F415xx || STM32F407xx || STM32F417xx || STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || - STM32F401xC || STM32F401xE || STM32F411xE || STM32F469xx || STM32F479xx */ - -#if defined(STM32F446xx) || defined(STM32F412Zx) || defined(STM32F412Vx) || defined(STM32F412Rx) || defined(STM32F412Cx) || defined (STM32F413xx) || defined(STM32F423xx) -#define IS_I2S_CLOCKSOURCE(CLOCK) (((CLOCK) == I2S_CLOCK_EXTERNAL) ||\ - ((CLOCK) == I2S_CLOCK_PLL) ||\ - ((CLOCK) == I2S_CLOCK_PLLSRC) ||\ - ((CLOCK) == I2S_CLOCK_PLLR)) -#endif /* STM32F446xx || STM32F412Zx || STM32F412Vx || STM32F412Rx || STM32F412Cx || STM32F413xx || STM32F423xx */ - -#if defined(STM32F410Tx) || defined(STM32F410Cx) || defined(STM32F410Rx) -#define IS_I2S_CLOCKSOURCE(CLOCK) (((CLOCK) == I2S_CLOCK_EXTERNAL) ||\ - ((CLOCK) == I2S_CLOCK_PLLSRC) ||\ - ((CLOCK) == I2S_CLOCK_PLLR)) -#endif /* STM32F410Tx || STM32F410Cx || STM32F410Rx */ -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ - -#ifdef __cplusplus -} -#endif - -#endif /* STM32F4xx_HAL_I2S_H */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_i2s_ex.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_i2s_ex.h deleted file mode 100644 index 10335f49f4dba6..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_i2s_ex.h +++ /dev/null @@ -1,185 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_i2s_ex.h - * @author MCD Application Team - * @brief Header file of I2S HAL module. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef STM32F4xx_HAL_I2S_EX_H -#define STM32F4xx_HAL_I2S_EX_H - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal_def.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ -#if defined(SPI_I2S_FULLDUPLEX_SUPPORT) -/** @addtogroup I2SEx I2SEx - * @{ - */ - -/* Exported types ------------------------------------------------------------*/ -/* Exported constants --------------------------------------------------------*/ -/* Exported macros -----------------------------------------------------------*/ -/** @defgroup I2SEx_Exported_Macros I2S Extended Exported Macros - * @{ - */ - -#define I2SxEXT(__INSTANCE__) ((__INSTANCE__) == (SPI2)? (SPI_TypeDef *)(I2S2ext_BASE): (SPI_TypeDef *)(I2S3ext_BASE)) - -/** @brief Enable or disable the specified I2SExt peripheral. - * @param __HANDLE__ specifies the I2S Handle. - * @retval None - */ -#define __HAL_I2SEXT_ENABLE(__HANDLE__) (I2SxEXT((__HANDLE__)->Instance)->I2SCFGR |= SPI_I2SCFGR_I2SE) -#define __HAL_I2SEXT_DISABLE(__HANDLE__) (I2SxEXT((__HANDLE__)->Instance)->I2SCFGR &= ~SPI_I2SCFGR_I2SE) - -/** @brief Enable or disable the specified I2SExt interrupts. - * @param __HANDLE__ specifies the I2S Handle. - * @param __INTERRUPT__ specifies the interrupt source to enable or disable. - * This parameter can be one of the following values: - * @arg I2S_IT_TXE: Tx buffer empty interrupt enable - * @arg I2S_IT_RXNE: RX buffer not empty interrupt enable - * @arg I2S_IT_ERR: Error interrupt enable - * @retval None - */ -#define __HAL_I2SEXT_ENABLE_IT(__HANDLE__, __INTERRUPT__) (I2SxEXT((__HANDLE__)->Instance)->CR2 |= (__INTERRUPT__)) -#define __HAL_I2SEXT_DISABLE_IT(__HANDLE__, __INTERRUPT__) (I2SxEXT((__HANDLE__)->Instance)->CR2 &= ~(__INTERRUPT__)) - -/** @brief Checks if the specified I2SExt interrupt source is enabled or disabled. - * @param __HANDLE__ specifies the I2S Handle. - * This parameter can be I2S where x: 1, 2, or 3 to select the I2S peripheral. - * @param __INTERRUPT__ specifies the I2S interrupt source to check. - * This parameter can be one of the following values: - * @arg I2S_IT_TXE: Tx buffer empty interrupt enable - * @arg I2S_IT_RXNE: RX buffer not empty interrupt enable - * @arg I2S_IT_ERR: Error interrupt enable - * @retval The new state of __IT__ (TRUE or FALSE). - */ -#define __HAL_I2SEXT_GET_IT_SOURCE(__HANDLE__, __INTERRUPT__) (((I2SxEXT((__HANDLE__)->Instance)->CR2\ - & (__INTERRUPT__)) == (__INTERRUPT__)) ? SET : RESET) - -/** @brief Checks whether the specified I2SExt flag is set or not. - * @param __HANDLE__ specifies the I2S Handle. - * @param __FLAG__ specifies the flag to check. - * This parameter can be one of the following values: - * @arg I2S_FLAG_RXNE: Receive buffer not empty flag - * @arg I2S_FLAG_TXE: Transmit buffer empty flag - * @arg I2S_FLAG_UDR: Underrun flag - * @arg I2S_FLAG_OVR: Overrun flag - * @arg I2S_FLAG_FRE: Frame error flag - * @arg I2S_FLAG_CHSIDE: Channel Side flag - * @arg I2S_FLAG_BSY: Busy flag - * @retval The new state of __FLAG__ (TRUE or FALSE). - */ -#define __HAL_I2SEXT_GET_FLAG(__HANDLE__, __FLAG__) (((I2SxEXT((__HANDLE__)->Instance)->SR) & (__FLAG__)) == (__FLAG__)) - -/** @brief Clears the I2SExt OVR pending flag. - * @param __HANDLE__ specifies the I2S Handle. - * @retval None - */ -#define __HAL_I2SEXT_CLEAR_OVRFLAG(__HANDLE__) do{ \ - __IO uint32_t tmpreg_ovr = 0x00U; \ - tmpreg_ovr = I2SxEXT((__HANDLE__)->Instance)->DR;\ - tmpreg_ovr = I2SxEXT((__HANDLE__)->Instance)->SR;\ - UNUSED(tmpreg_ovr); \ - }while(0U) -/** @brief Clears the I2SExt UDR pending flag. - * @param __HANDLE__ specifies the I2S Handle. - * @retval None - */ -#define __HAL_I2SEXT_CLEAR_UDRFLAG(__HANDLE__) do{ \ - __IO uint32_t tmpreg_udr = 0x00U; \ - tmpreg_udr = I2SxEXT((__HANDLE__)->Instance)->SR;\ - UNUSED(tmpreg_udr); \ - }while(0U) -/** @brief Flush the I2S and I2SExt DR Registers. - * @param __HANDLE__ specifies the I2S Handle. - * @retval None - */ -#define __HAL_I2SEXT_FLUSH_RX_DR(__HANDLE__) do{ \ - __IO uint32_t tmpreg_dr = 0x00U; \ - tmpreg_dr = I2SxEXT((__HANDLE__)->Instance)->DR; \ - tmpreg_dr = ((__HANDLE__)->Instance->DR); \ - UNUSED(tmpreg_dr); \ - }while(0U) -/** - * @} - */ - -/* Exported functions --------------------------------------------------------*/ -/** @addtogroup I2SEx_Exported_Functions I2S Extended Exported Functions - * @{ - */ - -/** @addtogroup I2SEx_Exported_Functions_Group1 I2S Extended IO operation functions - * @{ - */ - -/* Extended features functions *************************************************/ -/* Blocking mode: Polling */ -HAL_StatusTypeDef HAL_I2SEx_TransmitReceive(I2S_HandleTypeDef *hi2s, uint16_t *pTxData, uint16_t *pRxData, - uint16_t Size, uint32_t Timeout); -/* Non-Blocking mode: Interrupt */ -HAL_StatusTypeDef HAL_I2SEx_TransmitReceive_IT(I2S_HandleTypeDef *hi2s, uint16_t *pTxData, uint16_t *pRxData, - uint16_t Size); -/* Non-Blocking mode: DMA */ -HAL_StatusTypeDef HAL_I2SEx_TransmitReceive_DMA(I2S_HandleTypeDef *hi2s, uint16_t *pTxData, uint16_t *pRxData, - uint16_t Size); -/* I2S IRQHandler and Callbacks used in non blocking modes (Interrupt and DMA) */ -void HAL_I2SEx_FullDuplex_IRQHandler(I2S_HandleTypeDef *hi2s); -void HAL_I2SEx_TxRxHalfCpltCallback(I2S_HandleTypeDef *hi2s); -void HAL_I2SEx_TxRxCpltCallback(I2S_HandleTypeDef *hi2s); -/** - * @} - */ - -/** - * @} - */ -/* Private types -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private constants ---------------------------------------------------------*/ -/* Private macros ------------------------------------------------------------*/ - -/** - * @} - */ - -/* Private functions ---------------------------------------------------------*/ - -/** - * @} - */ - -#endif /* SPI_I2S_FULLDUPLEX_SUPPORT */ -/** - * @} - */ - -#ifdef __cplusplus -} -#endif - - -#endif /* STM32F4xx_HAL_I2S_EX_H */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_irda.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_irda.h deleted file mode 100644 index 4d83abc22d0931..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_irda.h +++ /dev/null @@ -1,684 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_irda.h - * @author MCD Application Team - * @brief Header file of IRDA HAL module. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef __STM32F4xx_HAL_IRDA_H -#define __STM32F4xx_HAL_IRDA_H - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal_def.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @addtogroup IRDA - * @{ - */ - -/* Exported types ------------------------------------------------------------*/ -/** @defgroup IRDA_Exported_Types IRDA Exported Types - * @{ - */ -/** - * @brief IRDA Init Structure definition - */ -typedef struct -{ - uint32_t BaudRate; /*!< This member configures the IRDA communication baud rate. - The baud rate is computed using the following formula: - - IntegerDivider = ((PCLKx) / (8 * (hirda->Init.BaudRate))) - - FractionalDivider = ((IntegerDivider - ((uint32_t) IntegerDivider)) * 8) + 0.5 */ - - uint32_t WordLength; /*!< Specifies the number of data bits transmitted or received in a frame. - This parameter can be a value of @ref IRDA_Word_Length */ - - uint32_t Parity; /*!< Specifies the parity mode. - This parameter can be a value of @ref IRDA_Parity - @note When parity is enabled, the computed parity is inserted - at the MSB position of the transmitted data (9th bit when - the word length is set to 9 data bits; 8th bit when the - word length is set to 8 data bits). */ - - uint32_t Mode; /*!< Specifies whether the Receive or Transmit mode is enabled or disabled. - This parameter can be a value of @ref IRDA_Mode */ - - uint8_t Prescaler; /*!< Specifies the Prescaler value to be programmed - in the IrDA low-power Baud Register, for defining pulse width on which - burst acceptance/rejection will be decided. This value is used as divisor - of system clock to achieve required pulse width. */ - - uint32_t IrDAMode; /*!< Specifies the IrDA mode - This parameter can be a value of @ref IRDA_Low_Power */ -} IRDA_InitTypeDef; - -/** - * @brief HAL IRDA State structures definition - * @note HAL IRDA State value is a combination of 2 different substates: gState and RxState. - * - gState contains IRDA state information related to global Handle management - * and also information related to Tx operations. - * gState value coding follow below described bitmap : - * b7-b6 Error information - * 00 : No Error - * 01 : (Not Used) - * 10 : Timeout - * 11 : Error - * b5 IP initialisation status - * 0 : Reset (IP not initialized) - * 1 : Init done (IP initialized. HAL IRDA Init function already called) - * b4-b3 (not used) - * xx : Should be set to 00 - * b2 Intrinsic process state - * 0 : Ready - * 1 : Busy (IP busy with some configuration or internal operations) - * b1 (not used) - * x : Should be set to 0 - * b0 Tx state - * 0 : Ready (no Tx operation ongoing) - * 1 : Busy (Tx operation ongoing) - * - RxState contains information related to Rx operations. - * RxState value coding follow below described bitmap : - * b7-b6 (not used) - * xx : Should be set to 00 - * b5 IP initialisation status - * 0 : Reset (IP not initialized) - * 1 : Init done (IP initialized) - * b4-b2 (not used) - * xxx : Should be set to 000 - * b1 Rx state - * 0 : Ready (no Rx operation ongoing) - * 1 : Busy (Rx operation ongoing) - * b0 (not used) - * x : Should be set to 0. - */ -typedef enum -{ - HAL_IRDA_STATE_RESET = 0x00U, /*!< Peripheral is not yet Initialized - Value is allowed for gState and RxState */ - HAL_IRDA_STATE_READY = 0x20U, /*!< Peripheral Initialized and ready for use - Value is allowed for gState and RxState */ - HAL_IRDA_STATE_BUSY = 0x24U, /*!< An internal process is ongoing - Value is allowed for gState only */ - HAL_IRDA_STATE_BUSY_TX = 0x21U, /*!< Data Transmission process is ongoing - Value is allowed for gState only */ - HAL_IRDA_STATE_BUSY_RX = 0x22U, /*!< Data Reception process is ongoing - Value is allowed for RxState only */ - HAL_IRDA_STATE_BUSY_TX_RX = 0x23U, /*!< Data Transmission and Reception process is ongoing - Not to be used for neither gState nor RxState. - Value is result of combination (Or) between gState and RxState values */ - HAL_IRDA_STATE_TIMEOUT = 0xA0U, /*!< Timeout state - Value is allowed for gState only */ - HAL_IRDA_STATE_ERROR = 0xE0U /*!< Error - Value is allowed for gState only */ -} HAL_IRDA_StateTypeDef; - -/** - * @brief IRDA handle Structure definition - */ -#if (USE_HAL_IRDA_REGISTER_CALLBACKS == 1) -typedef struct __IRDA_HandleTypeDef -#else -typedef struct -#endif /* USE_HAL_IRDA_REGISTER_CALLBACKS */ -{ - USART_TypeDef *Instance; /*!< USART registers base address */ - - IRDA_InitTypeDef Init; /*!< IRDA communication parameters */ - - uint8_t *pTxBuffPtr; /*!< Pointer to IRDA Tx transfer Buffer */ - - uint16_t TxXferSize; /*!< IRDA Tx Transfer size */ - - __IO uint16_t TxXferCount; /*!< IRDA Tx Transfer Counter */ - - uint8_t *pRxBuffPtr; /*!< Pointer to IRDA Rx transfer Buffer */ - - uint16_t RxXferSize; /*!< IRDA Rx Transfer size */ - - __IO uint16_t RxXferCount; /*!< IRDA Rx Transfer Counter */ - - DMA_HandleTypeDef *hdmatx; /*!< IRDA Tx DMA Handle parameters */ - - DMA_HandleTypeDef *hdmarx; /*!< IRDA Rx DMA Handle parameters */ - - HAL_LockTypeDef Lock; /*!< Locking object */ - - __IO HAL_IRDA_StateTypeDef gState; /*!< IRDA state information related to global Handle management - and also related to Tx operations. - This parameter can be a value of @ref HAL_IRDA_StateTypeDef */ - - __IO HAL_IRDA_StateTypeDef RxState; /*!< IRDA state information related to Rx operations. - This parameter can be a value of @ref HAL_IRDA_StateTypeDef */ - - __IO uint32_t ErrorCode; /*!< IRDA Error code */ - -#if (USE_HAL_IRDA_REGISTER_CALLBACKS == 1) - void (* TxHalfCpltCallback)(struct __IRDA_HandleTypeDef *hirda); /*!< IRDA Tx Half Complete Callback */ - - void (* TxCpltCallback)(struct __IRDA_HandleTypeDef *hirda); /*!< IRDA Tx Complete Callback */ - - void (* RxHalfCpltCallback)(struct __IRDA_HandleTypeDef *hirda); /*!< IRDA Rx Half Complete Callback */ - - void (* RxCpltCallback)(struct __IRDA_HandleTypeDef *hirda); /*!< IRDA Rx Complete Callback */ - - void (* ErrorCallback)(struct __IRDA_HandleTypeDef *hirda); /*!< IRDA Error Callback */ - - void (* AbortCpltCallback)(struct __IRDA_HandleTypeDef *hirda); /*!< IRDA Abort Complete Callback */ - - void (* AbortTransmitCpltCallback)(struct __IRDA_HandleTypeDef *hirda); /*!< IRDA Abort Transmit Complete Callback */ - - void (* AbortReceiveCpltCallback)(struct __IRDA_HandleTypeDef *hirda); /*!< IRDA Abort Receive Complete Callback */ - - - void (* MspInitCallback)(struct __IRDA_HandleTypeDef *hirda); /*!< IRDA Msp Init callback */ - - void (* MspDeInitCallback)(struct __IRDA_HandleTypeDef *hirda); /*!< IRDA Msp DeInit callback */ -#endif /* USE_HAL_IRDA_REGISTER_CALLBACKS */ - -} IRDA_HandleTypeDef; - -#if (USE_HAL_IRDA_REGISTER_CALLBACKS == 1) -/** - * @brief HAL IRDA Callback ID enumeration definition - */ -typedef enum -{ - HAL_IRDA_TX_HALFCOMPLETE_CB_ID = 0x00U, /*!< IRDA Tx Half Complete Callback ID */ - HAL_IRDA_TX_COMPLETE_CB_ID = 0x01U, /*!< IRDA Tx Complete Callback ID */ - HAL_IRDA_RX_HALFCOMPLETE_CB_ID = 0x02U, /*!< IRDA Rx Half Complete Callback ID */ - HAL_IRDA_RX_COMPLETE_CB_ID = 0x03U, /*!< IRDA Rx Complete Callback ID */ - HAL_IRDA_ERROR_CB_ID = 0x04U, /*!< IRDA Error Callback ID */ - HAL_IRDA_ABORT_COMPLETE_CB_ID = 0x05U, /*!< IRDA Abort Complete Callback ID */ - HAL_IRDA_ABORT_TRANSMIT_COMPLETE_CB_ID = 0x06U, /*!< IRDA Abort Transmit Complete Callback ID */ - HAL_IRDA_ABORT_RECEIVE_COMPLETE_CB_ID = 0x07U, /*!< IRDA Abort Receive Complete Callback ID */ - - HAL_IRDA_MSPINIT_CB_ID = 0x08U, /*!< IRDA MspInit callback ID */ - HAL_IRDA_MSPDEINIT_CB_ID = 0x09U /*!< IRDA MspDeInit callback ID */ - -} HAL_IRDA_CallbackIDTypeDef; - -/** - * @brief HAL IRDA Callback pointer definition - */ -typedef void (*pIRDA_CallbackTypeDef)(IRDA_HandleTypeDef *hirda); /*!< pointer to an IRDA callback function */ - -#endif /* USE_HAL_IRDA_REGISTER_CALLBACKS */ - -/** - * @} - */ - -/* Exported constants --------------------------------------------------------*/ -/** @defgroup IRDA_Exported_Constants IRDA Exported constants - * @{ - */ -/** @defgroup IRDA_Error_Code IRDA Error Code - * @{ - */ -#define HAL_IRDA_ERROR_NONE 0x00000000U /*!< No error */ -#define HAL_IRDA_ERROR_PE 0x00000001U /*!< Parity error */ -#define HAL_IRDA_ERROR_NE 0x00000002U /*!< Noise error */ -#define HAL_IRDA_ERROR_FE 0x00000004U /*!< Frame error */ -#define HAL_IRDA_ERROR_ORE 0x00000008U /*!< Overrun error */ -#define HAL_IRDA_ERROR_DMA 0x00000010U /*!< DMA transfer error */ -#if (USE_HAL_IRDA_REGISTER_CALLBACKS == 1) -#define HAL_IRDA_ERROR_INVALID_CALLBACK ((uint32_t)0x00000020U) /*!< Invalid Callback error */ -#endif /* USE_HAL_IRDA_REGISTER_CALLBACKS */ -/** - * @} - */ - -/** @defgroup IRDA_Word_Length IRDA Word Length - * @{ - */ -#define IRDA_WORDLENGTH_8B 0x00000000U -#define IRDA_WORDLENGTH_9B ((uint32_t)USART_CR1_M) -/** - * @} - */ - -/** @defgroup IRDA_Parity IRDA Parity - * @{ - */ -#define IRDA_PARITY_NONE 0x00000000U -#define IRDA_PARITY_EVEN ((uint32_t)USART_CR1_PCE) -#define IRDA_PARITY_ODD ((uint32_t)(USART_CR1_PCE | USART_CR1_PS)) -/** - * @} - */ - -/** @defgroup IRDA_Mode IRDA Transfer Mode - * @{ - */ -#define IRDA_MODE_RX ((uint32_t)USART_CR1_RE) -#define IRDA_MODE_TX ((uint32_t)USART_CR1_TE) -#define IRDA_MODE_TX_RX ((uint32_t)(USART_CR1_TE |USART_CR1_RE)) -/** - * @} - */ - -/** @defgroup IRDA_Low_Power IRDA Low Power - * @{ - */ -#define IRDA_POWERMODE_LOWPOWER ((uint32_t)USART_CR3_IRLP) -#define IRDA_POWERMODE_NORMAL 0x00000000U -/** - * @} - */ - -/** @defgroup IRDA_Flags IRDA Flags - * Elements values convention: 0xXXXX - * - 0xXXXX : Flag mask in the SR register - * @{ - */ -#define IRDA_FLAG_TXE ((uint32_t)USART_SR_TXE) -#define IRDA_FLAG_TC ((uint32_t)USART_SR_TC) -#define IRDA_FLAG_RXNE ((uint32_t)USART_SR_RXNE) -#define IRDA_FLAG_IDLE ((uint32_t)USART_SR_IDLE) -#define IRDA_FLAG_ORE ((uint32_t)USART_SR_ORE) -#define IRDA_FLAG_NE ((uint32_t)USART_SR_NE) -#define IRDA_FLAG_FE ((uint32_t)USART_SR_FE) -#define IRDA_FLAG_PE ((uint32_t)USART_SR_PE) -/** - * @} - */ - -/** @defgroup IRDA_Interrupt_definition IRDA Interrupt Definitions - * Elements values convention: 0xY000XXXX - * - XXXX : Interrupt mask in the XX register - * - Y : Interrupt source register (2bits) - * - 01: CR1 register - * - 10: CR2 register - * - 11: CR3 register - * @{ - */ -#define IRDA_IT_PE ((uint32_t)(IRDA_CR1_REG_INDEX << 28U | USART_CR1_PEIE)) -#define IRDA_IT_TXE ((uint32_t)(IRDA_CR1_REG_INDEX << 28U | USART_CR1_TXEIE)) -#define IRDA_IT_TC ((uint32_t)(IRDA_CR1_REG_INDEX << 28U | USART_CR1_TCIE)) -#define IRDA_IT_RXNE ((uint32_t)(IRDA_CR1_REG_INDEX << 28U | USART_CR1_RXNEIE)) -#define IRDA_IT_IDLE ((uint32_t)(IRDA_CR1_REG_INDEX << 28U | USART_CR1_IDLEIE)) - -#define IRDA_IT_LBD ((uint32_t)(IRDA_CR2_REG_INDEX << 28U | USART_CR2_LBDIE)) - -#define IRDA_IT_CTS ((uint32_t)(IRDA_CR3_REG_INDEX << 28U | USART_CR3_CTSIE)) -#define IRDA_IT_ERR ((uint32_t)(IRDA_CR3_REG_INDEX << 28U | USART_CR3_EIE)) -/** - * @} - */ - -/** - * @} - */ - -/* Exported macro ------------------------------------------------------------*/ -/** @defgroup IRDA_Exported_Macros IRDA Exported Macros - * @{ - */ - -/** @brief Reset IRDA handle gstate & RxState - * @param __HANDLE__ specifies the IRDA Handle. - * IRDA Handle selects the USARTx or UARTy peripheral - * (USART,UART availability and x,y values depending on device). - * @retval None - */ -#if USE_HAL_IRDA_REGISTER_CALLBACKS == 1 -#define __HAL_IRDA_RESET_HANDLE_STATE(__HANDLE__) do{ \ - (__HANDLE__)->gState = HAL_IRDA_STATE_RESET; \ - (__HANDLE__)->RxState = HAL_IRDA_STATE_RESET; \ - (__HANDLE__)->MspInitCallback = NULL; \ - (__HANDLE__)->MspDeInitCallback = NULL; \ - } while(0U) -#else -#define __HAL_IRDA_RESET_HANDLE_STATE(__HANDLE__) do{ \ - (__HANDLE__)->gState = HAL_IRDA_STATE_RESET; \ - (__HANDLE__)->RxState = HAL_IRDA_STATE_RESET; \ - } while(0U) -#endif /*USE_HAL_IRDA_REGISTER_CALLBACKS */ - -/** @brief Flush the IRDA DR register - * @param __HANDLE__ specifies the IRDA Handle. - * IRDA Handle selects the USARTx or UARTy peripheral - * (USART,UART availability and x,y values depending on device). - * @retval None - */ -#define __HAL_IRDA_FLUSH_DRREGISTER(__HANDLE__) ((__HANDLE__)->Instance->DR) - -/** @brief Check whether the specified IRDA flag is set or not. - * @param __HANDLE__ specifies the IRDA Handle. - * IRDA Handle selects the USARTx or UARTy peripheral - * (USART,UART availability and x,y values depending on device). - * @param __FLAG__ specifies the flag to check. - * This parameter can be one of the following values: - * @arg IRDA_FLAG_TXE: Transmit data register empty flag - * @arg IRDA_FLAG_TC: Transmission Complete flag - * @arg IRDA_FLAG_RXNE: Receive data register not empty flag - * @arg IRDA_FLAG_IDLE: Idle Line detection flag - * @arg IRDA_FLAG_ORE: OverRun Error flag - * @arg IRDA_FLAG_NE: Noise Error flag - * @arg IRDA_FLAG_FE: Framing Error flag - * @arg IRDA_FLAG_PE: Parity Error flag - * @retval The new state of __FLAG__ (TRUE or FALSE). - */ -#define __HAL_IRDA_GET_FLAG(__HANDLE__, __FLAG__) (((__HANDLE__)->Instance->SR & (__FLAG__)) == (__FLAG__)) - -/** @brief Clear the specified IRDA pending flag. - * @param __HANDLE__ specifies the IRDA Handle. - * IRDA Handle selects the USARTx or UARTy peripheral - * (USART,UART availability and x,y values depending on device). - * @param __FLAG__ specifies the flag to check. - * This parameter can be any combination of the following values: - * @arg IRDA_FLAG_TC: Transmission Complete flag. - * @arg IRDA_FLAG_RXNE: Receive data register not empty flag. - * - * @note PE (Parity error), FE (Framing error), NE (Noise error), ORE (OverRun - * error) and IDLE (Idle line detected) flags are cleared by software - * sequence: a read operation to USART_SR register followed by a read - * operation to USART_DR register. - * @note RXNE flag can be also cleared by a read to the USART_DR register. - * @note TC flag can be also cleared by software sequence: a read operation to - * USART_SR register followed by a write operation to USART_DR register. - * @note TXE flag is cleared only by a write to the USART_DR register. - * @retval None - */ -#define __HAL_IRDA_CLEAR_FLAG(__HANDLE__, __FLAG__) ((__HANDLE__)->Instance->SR = ~(__FLAG__)) - -/** @brief Clear the IRDA PE pending flag. - * @param __HANDLE__ specifies the IRDA Handle. - * IRDA Handle selects the USARTx or UARTy peripheral - * (USART,UART availability and x,y values depending on device). - * @retval None - */ -#define __HAL_IRDA_CLEAR_PEFLAG(__HANDLE__) \ - do{ \ - __IO uint32_t tmpreg = 0x00U; \ - tmpreg = (__HANDLE__)->Instance->SR; \ - tmpreg = (__HANDLE__)->Instance->DR; \ - UNUSED(tmpreg); \ - } while(0U) - -/** @brief Clear the IRDA FE pending flag. - * @param __HANDLE__ specifies the IRDA Handle. - * IRDA Handle selects the USARTx or UARTy peripheral - * (USART,UART availability and x,y values depending on device). - * @retval None - */ -#define __HAL_IRDA_CLEAR_FEFLAG(__HANDLE__) __HAL_IRDA_CLEAR_PEFLAG(__HANDLE__) - -/** @brief Clear the IRDA NE pending flag. - * @param __HANDLE__ specifies the IRDA Handle. - * IRDA Handle selects the USARTx or UARTy peripheral - * (USART,UART availability and x,y values depending on device). - * @retval None - */ -#define __HAL_IRDA_CLEAR_NEFLAG(__HANDLE__) __HAL_IRDA_CLEAR_PEFLAG(__HANDLE__) - -/** @brief Clear the IRDA ORE pending flag. - * @param __HANDLE__ specifies the IRDA Handle. - * IRDA Handle selects the USARTx or UARTy peripheral - * (USART,UART availability and x,y values depending on device). - * @retval None - */ -#define __HAL_IRDA_CLEAR_OREFLAG(__HANDLE__) __HAL_IRDA_CLEAR_PEFLAG(__HANDLE__) - -/** @brief Clear the IRDA IDLE pending flag. - * @param __HANDLE__ specifies the IRDA Handle. - * IRDA Handle selects the USARTx or UARTy peripheral - * (USART,UART availability and x,y values depending on device). - * @retval None - */ -#define __HAL_IRDA_CLEAR_IDLEFLAG(__HANDLE__) __HAL_IRDA_CLEAR_PEFLAG(__HANDLE__) - -/** @brief Enable the specified IRDA interrupt. - * @param __HANDLE__ specifies the IRDA Handle. - * IRDA Handle selects the USARTx or UARTy peripheral - * (USART,UART availability and x,y values depending on device). - * @param __INTERRUPT__ specifies the IRDA interrupt source to enable. - * This parameter can be one of the following values: - * @arg IRDA_IT_TXE: Transmit Data Register empty interrupt - * @arg IRDA_IT_TC: Transmission complete interrupt - * @arg IRDA_IT_RXNE: Receive Data register not empty interrupt - * @arg IRDA_IT_IDLE: Idle line detection interrupt - * @arg IRDA_IT_PE: Parity Error interrupt - * @arg IRDA_IT_ERR: Error interrupt(Frame error, noise error, overrun error) - * @retval None - */ -#define __HAL_IRDA_ENABLE_IT(__HANDLE__, __INTERRUPT__) ((((__INTERRUPT__) >> 28U) == IRDA_CR1_REG_INDEX)? ((__HANDLE__)->Instance->CR1 |= ((__INTERRUPT__) & IRDA_IT_MASK)): \ - (((__INTERRUPT__) >> 28U) == IRDA_CR2_REG_INDEX)? ((__HANDLE__)->Instance->CR2 |= ((__INTERRUPT__) & IRDA_IT_MASK)): \ - ((__HANDLE__)->Instance->CR3 |= ((__INTERRUPT__) & IRDA_IT_MASK))) -/** @brief Disable the specified IRDA interrupt. - * @param __HANDLE__ specifies the IRDA Handle. - * IRDA Handle selects the USARTx or UARTy peripheral - * (USART,UART availability and x,y values depending on device). - * @param __INTERRUPT__ specifies the IRDA interrupt source to disable. - * This parameter can be one of the following values: - * @arg IRDA_IT_TXE: Transmit Data Register empty interrupt - * @arg IRDA_IT_TC: Transmission complete interrupt - * @arg IRDA_IT_RXNE: Receive Data register not empty interrupt - * @arg IRDA_IT_IDLE: Idle line detection interrupt - * @arg IRDA_IT_PE: Parity Error interrupt - * @arg IRDA_IT_ERR: Error interrupt(Frame error, noise error, overrun error) - * @retval None - */ -#define __HAL_IRDA_DISABLE_IT(__HANDLE__, __INTERRUPT__) ((((__INTERRUPT__) >> 28U) == IRDA_CR1_REG_INDEX)? ((__HANDLE__)->Instance->CR1 &= ~((__INTERRUPT__) & IRDA_IT_MASK)): \ - (((__INTERRUPT__) >> 28U) == IRDA_CR2_REG_INDEX)? ((__HANDLE__)->Instance->CR2 &= ~((__INTERRUPT__) & IRDA_IT_MASK)): \ - ((__HANDLE__)->Instance->CR3 &= ~ ((__INTERRUPT__) & IRDA_IT_MASK))) - -/** @brief Check whether the specified IRDA interrupt has occurred or not. - * @param __HANDLE__ specifies the IRDA Handle. - * IRDA Handle selects the USARTx or UARTy peripheral - * (USART,UART availability and x,y values depending on device). - * @param __IT__ specifies the IRDA interrupt source to check. - * This parameter can be one of the following values: - * @arg IRDA_IT_TXE: Transmit Data Register empty interrupt - * @arg IRDA_IT_TC: Transmission complete interrupt - * @arg IRDA_IT_RXNE: Receive Data register not empty interrupt - * @arg IRDA_IT_IDLE: Idle line detection interrupt - * @arg IRDA_IT_ERR: Error interrupt - * @arg IRDA_IT_PE: Parity Error interrupt - * @retval The new state of __IT__ (TRUE or FALSE). - */ -#define __HAL_IRDA_GET_IT_SOURCE(__HANDLE__, __IT__) (((((__IT__) >> 28U) == IRDA_CR1_REG_INDEX)? (__HANDLE__)->Instance->CR1:(((((uint32_t)(__IT__)) >> 28U) == IRDA_CR2_REG_INDEX)? \ - (__HANDLE__)->Instance->CR2 : (__HANDLE__)->Instance->CR3)) & (((uint32_t)(__IT__)) & IRDA_IT_MASK)) - -/** @brief Macro to enable the IRDA's one bit sample method - * @param __HANDLE__ specifies the IRDA Handle. - * @retval None - */ -#define __HAL_IRDA_ONE_BIT_SAMPLE_ENABLE(__HANDLE__) ((__HANDLE__)->Instance->CR3 |= USART_CR3_ONEBIT) - -/** @brief Macro to disable the IRDA's one bit sample method - * @param __HANDLE__ specifies the IRDA Handle. - * @retval None - */ -#define __HAL_IRDA_ONE_BIT_SAMPLE_DISABLE(__HANDLE__) ((__HANDLE__)->Instance->CR3 &= (uint16_t)~((uint16_t)USART_CR3_ONEBIT)) - -/** @brief Enable UART/USART associated to IRDA Handle - * @param __HANDLE__ specifies the IRDA Handle. - * IRDA Handle selects the USARTx or UARTy peripheral - * (USART,UART availability and x,y values depending on device). - * @retval None - */ -#define __HAL_IRDA_ENABLE(__HANDLE__) (SET_BIT((__HANDLE__)->Instance->CR1, USART_CR1_UE)) - -/** @brief Disable UART/USART associated to IRDA Handle - * @param __HANDLE__ specifies the IRDA Handle. - * IRDA Handle selects the USARTx or UARTy peripheral - * (USART,UART availability and x,y values depending on device). - * @retval None - */ -#define __HAL_IRDA_DISABLE(__HANDLE__) (CLEAR_BIT((__HANDLE__)->Instance->CR1, USART_CR1_UE)) - -/** - * @} - */ - -/* Exported functions --------------------------------------------------------*/ -/** @addtogroup IRDA_Exported_Functions - * @{ - */ - -/** @addtogroup IRDA_Exported_Functions_Group1 - * @{ - */ -/* Initialization/de-initialization functions **********************************/ -HAL_StatusTypeDef HAL_IRDA_Init(IRDA_HandleTypeDef *hirda); -HAL_StatusTypeDef HAL_IRDA_DeInit(IRDA_HandleTypeDef *hirda); -void HAL_IRDA_MspInit(IRDA_HandleTypeDef *hirda); -void HAL_IRDA_MspDeInit(IRDA_HandleTypeDef *hirda); - -#if (USE_HAL_IRDA_REGISTER_CALLBACKS == 1) -/* Callbacks Register/UnRegister functions ***********************************/ -HAL_StatusTypeDef HAL_IRDA_RegisterCallback(IRDA_HandleTypeDef *hirda, HAL_IRDA_CallbackIDTypeDef CallbackID, pIRDA_CallbackTypeDef pCallback); -HAL_StatusTypeDef HAL_IRDA_UnRegisterCallback(IRDA_HandleTypeDef *hirda, HAL_IRDA_CallbackIDTypeDef CallbackID); -#endif /* USE_HAL_IRDA_REGISTER_CALLBACKS */ - -/** - * @} - */ - -/** @addtogroup IRDA_Exported_Functions_Group2 - * @{ - */ -/* IO operation functions *******************************************************/ -HAL_StatusTypeDef HAL_IRDA_Transmit(IRDA_HandleTypeDef *hirda, uint8_t *pData, uint16_t Size, uint32_t Timeout); -HAL_StatusTypeDef HAL_IRDA_Receive(IRDA_HandleTypeDef *hirda, uint8_t *pData, uint16_t Size, uint32_t Timeout); -HAL_StatusTypeDef HAL_IRDA_Transmit_IT(IRDA_HandleTypeDef *hirda, uint8_t *pData, uint16_t Size); -HAL_StatusTypeDef HAL_IRDA_Receive_IT(IRDA_HandleTypeDef *hirda, uint8_t *pData, uint16_t Size); -HAL_StatusTypeDef HAL_IRDA_Transmit_DMA(IRDA_HandleTypeDef *hirda, uint8_t *pData, uint16_t Size); -HAL_StatusTypeDef HAL_IRDA_Receive_DMA(IRDA_HandleTypeDef *hirda, uint8_t *pData, uint16_t Size); -HAL_StatusTypeDef HAL_IRDA_DMAPause(IRDA_HandleTypeDef *hirda); -HAL_StatusTypeDef HAL_IRDA_DMAResume(IRDA_HandleTypeDef *hirda); -HAL_StatusTypeDef HAL_IRDA_DMAStop(IRDA_HandleTypeDef *hirda); -/* Transfer Abort functions */ -HAL_StatusTypeDef HAL_IRDA_Abort(IRDA_HandleTypeDef *hirda); -HAL_StatusTypeDef HAL_IRDA_AbortTransmit(IRDA_HandleTypeDef *hirda); -HAL_StatusTypeDef HAL_IRDA_AbortReceive(IRDA_HandleTypeDef *hirda); -HAL_StatusTypeDef HAL_IRDA_Abort_IT(IRDA_HandleTypeDef *hirda); -HAL_StatusTypeDef HAL_IRDA_AbortTransmit_IT(IRDA_HandleTypeDef *hirda); -HAL_StatusTypeDef HAL_IRDA_AbortReceive_IT(IRDA_HandleTypeDef *hirda); - -void HAL_IRDA_IRQHandler(IRDA_HandleTypeDef *hirda); -void HAL_IRDA_TxCpltCallback(IRDA_HandleTypeDef *hirda); -void HAL_IRDA_RxCpltCallback(IRDA_HandleTypeDef *hirda); -void HAL_IRDA_TxHalfCpltCallback(IRDA_HandleTypeDef *hirda); -void HAL_IRDA_RxHalfCpltCallback(IRDA_HandleTypeDef *hirda); -void HAL_IRDA_ErrorCallback(IRDA_HandleTypeDef *hirda); -void HAL_IRDA_AbortCpltCallback(IRDA_HandleTypeDef *hirda); -void HAL_IRDA_AbortTransmitCpltCallback(IRDA_HandleTypeDef *hirda); -void HAL_IRDA_AbortReceiveCpltCallback(IRDA_HandleTypeDef *hirda); -/** - * @} - */ - -/** @addtogroup IRDA_Exported_Functions_Group3 - * @{ - */ -/* Peripheral State functions **************************************************/ -HAL_IRDA_StateTypeDef HAL_IRDA_GetState(IRDA_HandleTypeDef *hirda); -uint32_t HAL_IRDA_GetError(IRDA_HandleTypeDef *hirda); -/** - * @} - */ - -/** - * @} - */ - -/* Private types -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private constants ---------------------------------------------------------*/ -/** @defgroup IRDA_Private_Constants IRDA Private Constants - * @{ - */ - -/** @brief IRDA interruptions flag mask - * - */ -#define IRDA_IT_MASK ((uint32_t) USART_CR1_PEIE | USART_CR1_TXEIE | USART_CR1_TCIE | USART_CR1_RXNEIE | \ - USART_CR1_IDLEIE | USART_CR2_LBDIE | USART_CR3_CTSIE | USART_CR3_EIE ) - -#define IRDA_CR1_REG_INDEX 1U -#define IRDA_CR2_REG_INDEX 2U -#define IRDA_CR3_REG_INDEX 3U -/** - * @} - */ - -/* Private macros --------------------------------------------------------*/ -/** @defgroup IRDA_Private_Macros IRDA Private Macros - * @{ - */ -#define IS_IRDA_WORD_LENGTH(LENGTH) (((LENGTH) == IRDA_WORDLENGTH_8B) || \ - ((LENGTH) == IRDA_WORDLENGTH_9B)) - -#define IS_IRDA_PARITY(PARITY) (((PARITY) == IRDA_PARITY_NONE) || \ - ((PARITY) == IRDA_PARITY_EVEN) || \ - ((PARITY) == IRDA_PARITY_ODD)) - -#define IS_IRDA_MODE(MODE) ((((MODE) & 0x0000FFF3U) == 0x00U) && ((MODE) != 0x00000000U)) - -#define IS_IRDA_POWERMODE(MODE) (((MODE) == IRDA_POWERMODE_LOWPOWER) || \ - ((MODE) == IRDA_POWERMODE_NORMAL)) - -#define IS_IRDA_BAUDRATE(BAUDRATE) ((BAUDRATE) < 115201U) - -#define IRDA_DIV(_PCLK_, _BAUD_) ((uint32_t)((((uint64_t)(_PCLK_))*25U)/(4U*(((uint64_t)(_BAUD_)))))) - -#define IRDA_DIVMANT(_PCLK_, _BAUD_) (IRDA_DIV((_PCLK_), (_BAUD_))/100U) - -#define IRDA_DIVFRAQ(_PCLK_, _BAUD_) ((((IRDA_DIV((_PCLK_), (_BAUD_)) - (IRDA_DIVMANT((_PCLK_), (_BAUD_)) * 100U)) * 16U) + 50U) / 100U) - -/* UART BRR = mantissa + overflow + fraction - = (UART DIVMANT << 4) + (UART DIVFRAQ & 0xF0) + (UART DIVFRAQ & 0x0FU) */ -#define IRDA_BRR(_PCLK_, _BAUD_) (((IRDA_DIVMANT((_PCLK_), (_BAUD_)) << 4U) + \ - (IRDA_DIVFRAQ((_PCLK_), (_BAUD_)) & 0xF0U)) + \ - (IRDA_DIVFRAQ((_PCLK_), (_BAUD_)) & 0x0FU)) - -/** - * @} - */ - -/* Private functions ---------------------------------------------------------*/ -/** @defgroup IRDA_Private_Functions IRDA Private Functions - * @{ - */ - -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ - -#ifdef __cplusplus -} -#endif - -#endif /* __STM32F4xx_HAL_IRDA_H */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_iwdg.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_iwdg.h deleted file mode 100644 index 32f5ff027ae8dd..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_iwdg.h +++ /dev/null @@ -1,223 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_iwdg.h - * @author MCD Application Team - * @brief Header file of IWDG HAL module. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef STM32F4xx_HAL_IWDG_H -#define STM32F4xx_HAL_IWDG_H - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal_def.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @defgroup IWDG IWDG - * @{ - */ - -/* Exported types ------------------------------------------------------------*/ -/** @defgroup IWDG_Exported_Types IWDG Exported Types - * @{ - */ - -/** - * @brief IWDG Init structure definition - */ -typedef struct -{ - uint32_t Prescaler; /*!< Select the prescaler of the IWDG. - This parameter can be a value of @ref IWDG_Prescaler */ - - uint32_t Reload; /*!< Specifies the IWDG down-counter reload value. - This parameter must be a number between Min_Data = 0 and Max_Data = 0x0FFF */ - -} IWDG_InitTypeDef; - -/** - * @brief IWDG Handle Structure definition - */ -typedef struct -{ - IWDG_TypeDef *Instance; /*!< Register base address */ - - IWDG_InitTypeDef Init; /*!< IWDG required parameters */ -} IWDG_HandleTypeDef; - - -/** - * @} - */ - -/* Exported constants --------------------------------------------------------*/ -/** @defgroup IWDG_Exported_Constants IWDG Exported Constants - * @{ - */ - -/** @defgroup IWDG_Prescaler IWDG Prescaler - * @{ - */ -#define IWDG_PRESCALER_4 0x00000000u /*!< IWDG prescaler set to 4 */ -#define IWDG_PRESCALER_8 IWDG_PR_PR_0 /*!< IWDG prescaler set to 8 */ -#define IWDG_PRESCALER_16 IWDG_PR_PR_1 /*!< IWDG prescaler set to 16 */ -#define IWDG_PRESCALER_32 (IWDG_PR_PR_1 | IWDG_PR_PR_0) /*!< IWDG prescaler set to 32 */ -#define IWDG_PRESCALER_64 IWDG_PR_PR_2 /*!< IWDG prescaler set to 64 */ -#define IWDG_PRESCALER_128 (IWDG_PR_PR_2 | IWDG_PR_PR_0) /*!< IWDG prescaler set to 128 */ -#define IWDG_PRESCALER_256 (IWDG_PR_PR_2 | IWDG_PR_PR_1) /*!< IWDG prescaler set to 256 */ -/** - * @} - */ - -/** - * @} - */ - -/* Exported macros -----------------------------------------------------------*/ -/** @defgroup IWDG_Exported_Macros IWDG Exported Macros - * @{ - */ - -/** - * @brief Enable the IWDG peripheral. - * @param __HANDLE__ IWDG handle - * @retval None - */ -#define __HAL_IWDG_START(__HANDLE__) WRITE_REG((__HANDLE__)->Instance->KR, IWDG_KEY_ENABLE) - -/** - * @brief Reload IWDG counter with value defined in the reload register - * (write access to IWDG_PR and IWDG_RLR registers disabled). - * @param __HANDLE__ IWDG handle - * @retval None - */ -#define __HAL_IWDG_RELOAD_COUNTER(__HANDLE__) WRITE_REG((__HANDLE__)->Instance->KR, IWDG_KEY_RELOAD) - -/** - * @} - */ - -/* Exported functions --------------------------------------------------------*/ -/** @defgroup IWDG_Exported_Functions IWDG Exported Functions - * @{ - */ - -/** @defgroup IWDG_Exported_Functions_Group1 Initialization and Start functions - * @{ - */ -/* Initialization/Start functions ********************************************/ -HAL_StatusTypeDef HAL_IWDG_Init(IWDG_HandleTypeDef *hiwdg); -/** - * @} - */ - -/** @defgroup IWDG_Exported_Functions_Group2 IO operation functions - * @{ - */ -/* I/O operation functions ****************************************************/ -HAL_StatusTypeDef HAL_IWDG_Refresh(IWDG_HandleTypeDef *hiwdg); -/** - * @} - */ - -/** - * @} - */ - -/* Private constants ---------------------------------------------------------*/ -/** @defgroup IWDG_Private_Constants IWDG Private Constants - * @{ - */ - -/** - * @brief IWDG Key Register BitMask - */ -#define IWDG_KEY_RELOAD 0x0000AAAAu /*!< IWDG Reload Counter Enable */ -#define IWDG_KEY_ENABLE 0x0000CCCCu /*!< IWDG Peripheral Enable */ -#define IWDG_KEY_WRITE_ACCESS_ENABLE 0x00005555u /*!< IWDG KR Write Access Enable */ -#define IWDG_KEY_WRITE_ACCESS_DISABLE 0x00000000u /*!< IWDG KR Write Access Disable */ - -/** - * @} - */ - -/* Private macros ------------------------------------------------------------*/ -/** @defgroup IWDG_Private_Macros IWDG Private Macros - * @{ - */ - -/** - * @brief Enable write access to IWDG_PR and IWDG_RLR registers. - * @param __HANDLE__ IWDG handle - * @retval None - */ -#define IWDG_ENABLE_WRITE_ACCESS(__HANDLE__) WRITE_REG((__HANDLE__)->Instance->KR, IWDG_KEY_WRITE_ACCESS_ENABLE) - -/** - * @brief Disable write access to IWDG_PR and IWDG_RLR registers. - * @param __HANDLE__ IWDG handle - * @retval None - */ -#define IWDG_DISABLE_WRITE_ACCESS(__HANDLE__) WRITE_REG((__HANDLE__)->Instance->KR, IWDG_KEY_WRITE_ACCESS_DISABLE) - -/** - * @brief Check IWDG prescaler value. - * @param __PRESCALER__ IWDG prescaler value - * @retval None - */ -#define IS_IWDG_PRESCALER(__PRESCALER__) (((__PRESCALER__) == IWDG_PRESCALER_4) || \ - ((__PRESCALER__) == IWDG_PRESCALER_8) || \ - ((__PRESCALER__) == IWDG_PRESCALER_16) || \ - ((__PRESCALER__) == IWDG_PRESCALER_32) || \ - ((__PRESCALER__) == IWDG_PRESCALER_64) || \ - ((__PRESCALER__) == IWDG_PRESCALER_128)|| \ - ((__PRESCALER__) == IWDG_PRESCALER_256)) - -/** - * @brief Check IWDG reload value. - * @param __RELOAD__ IWDG reload value - * @retval None - */ -#define IS_IWDG_RELOAD(__RELOAD__) ((__RELOAD__) <= IWDG_RLR_RL) - - - -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ - - -#ifdef __cplusplus -} -#endif - -#endif /* STM32F4xx_HAL_IWDG_H */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_lptim.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_lptim.h deleted file mode 100644 index 80ea203720e205..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_lptim.h +++ /dev/null @@ -1,858 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_lptim.h - * @author MCD Application Team - * @brief Header file of LPTIM HAL module. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef STM32F4xx_HAL_LPTIM_H -#define STM32F4xx_HAL_LPTIM_H - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal_def.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -#if defined (LPTIM1) - -/** @addtogroup LPTIM - * @{ - */ - -/* Exported types ------------------------------------------------------------*/ -/** @defgroup LPTIM_Exported_Types LPTIM Exported Types - * @{ - */ -#define LPTIM_EXTI_LINE_WAKEUPTIMER_EVENT EXTI_IMR_MR23 /*!< External interrupt line 23 Connected to the LPTIM EXTI Line */ - -/** - * @brief LPTIM Clock configuration definition - */ -typedef struct -{ - uint32_t Source; /*!< Selects the clock source. - This parameter can be a value of @ref LPTIM_Clock_Source */ - - uint32_t Prescaler; /*!< Specifies the counter clock Prescaler. - This parameter can be a value of @ref LPTIM_Clock_Prescaler */ - -} LPTIM_ClockConfigTypeDef; - -/** - * @brief LPTIM Clock configuration definition - */ -typedef struct -{ - uint32_t Polarity; /*!< Selects the polarity of the active edge for the counter unit - if the ULPTIM input is selected. - Note: This parameter is used only when Ultra low power clock source is used. - Note: If the polarity is configured on 'both edges', an auxiliary clock - (one of the Low power oscillator) must be active. - This parameter can be a value of @ref LPTIM_Clock_Polarity */ - - uint32_t SampleTime; /*!< Selects the clock sampling time to configure the clock glitch filter. - Note: This parameter is used only when Ultra low power clock source is used. - This parameter can be a value of @ref LPTIM_Clock_Sample_Time */ - -} LPTIM_ULPClockConfigTypeDef; - -/** - * @brief LPTIM Trigger configuration definition - */ -typedef struct -{ - uint32_t Source; /*!< Selects the Trigger source. - This parameter can be a value of @ref LPTIM_Trigger_Source */ - - uint32_t ActiveEdge; /*!< Selects the Trigger active edge. - Note: This parameter is used only when an external trigger is used. - This parameter can be a value of @ref LPTIM_External_Trigger_Polarity */ - - uint32_t SampleTime; /*!< Selects the trigger sampling time to configure the clock glitch filter. - Note: This parameter is used only when an external trigger is used. - This parameter can be a value of @ref LPTIM_Trigger_Sample_Time */ -} LPTIM_TriggerConfigTypeDef; - -/** - * @brief LPTIM Initialization Structure definition - */ -typedef struct -{ - LPTIM_ClockConfigTypeDef Clock; /*!< Specifies the clock parameters */ - - LPTIM_ULPClockConfigTypeDef UltraLowPowerClock;/*!< Specifies the Ultra Low Power clock parameters */ - - LPTIM_TriggerConfigTypeDef Trigger; /*!< Specifies the Trigger parameters */ - - uint32_t OutputPolarity; /*!< Specifies the Output polarity. - This parameter can be a value of @ref LPTIM_Output_Polarity */ - - uint32_t UpdateMode; /*!< Specifies whether the update of the autoreload and the compare - values is done immediately or after the end of current period. - This parameter can be a value of @ref LPTIM_Updating_Mode */ - - uint32_t CounterSource; /*!< Specifies whether the counter is incremented each internal event - or each external event. - This parameter can be a value of @ref LPTIM_Counter_Source */ -} LPTIM_InitTypeDef; - -/** - * @brief HAL LPTIM State structure definition - */ -typedef enum -{ - HAL_LPTIM_STATE_RESET = 0x00U, /*!< Peripheral not yet initialized or disabled */ - HAL_LPTIM_STATE_READY = 0x01U, /*!< Peripheral Initialized and ready for use */ - HAL_LPTIM_STATE_BUSY = 0x02U, /*!< An internal process is ongoing */ - HAL_LPTIM_STATE_TIMEOUT = 0x03U, /*!< Timeout state */ - HAL_LPTIM_STATE_ERROR = 0x04U /*!< Internal Process is ongoing */ -} HAL_LPTIM_StateTypeDef; - -/** - * @brief LPTIM handle Structure definition - */ -#if (USE_HAL_LPTIM_REGISTER_CALLBACKS == 1) -typedef struct __LPTIM_HandleTypeDef -#else -typedef struct -#endif /* USE_HAL_LPTIM_REGISTER_CALLBACKS */ -{ - LPTIM_TypeDef *Instance; /*!< Register base address */ - - LPTIM_InitTypeDef Init; /*!< LPTIM required parameters */ - - HAL_StatusTypeDef Status; /*!< LPTIM peripheral status */ - - HAL_LockTypeDef Lock; /*!< LPTIM locking object */ - - __IO HAL_LPTIM_StateTypeDef State; /*!< LPTIM peripheral state */ - -#if (USE_HAL_LPTIM_REGISTER_CALLBACKS == 1) - void (* MspInitCallback)(struct __LPTIM_HandleTypeDef *hlptim); /*!< LPTIM Base Msp Init Callback */ - void (* MspDeInitCallback)(struct __LPTIM_HandleTypeDef *hlptim); /*!< LPTIM Base Msp DeInit Callback */ - void (* CompareMatchCallback)(struct __LPTIM_HandleTypeDef *hlptim); /*!< Compare match Callback */ - void (* AutoReloadMatchCallback)(struct __LPTIM_HandleTypeDef *hlptim); /*!< Auto-reload match Callback */ - void (* TriggerCallback)(struct __LPTIM_HandleTypeDef *hlptim); /*!< External trigger event detection Callback */ - void (* CompareWriteCallback)(struct __LPTIM_HandleTypeDef *hlptim); /*!< Compare register write complete Callback */ - void (* AutoReloadWriteCallback)(struct __LPTIM_HandleTypeDef *hlptim); /*!< Auto-reload register write complete Callback */ - void (* DirectionUpCallback)(struct __LPTIM_HandleTypeDef *hlptim); /*!< Up-counting direction change Callback */ - void (* DirectionDownCallback)(struct __LPTIM_HandleTypeDef *hlptim); /*!< Down-counting direction change Callback */ -#endif /* USE_HAL_LPTIM_REGISTER_CALLBACKS */ -} LPTIM_HandleTypeDef; - -#if (USE_HAL_LPTIM_REGISTER_CALLBACKS == 1) -/** - * @brief HAL LPTIM Callback ID enumeration definition - */ -typedef enum -{ - HAL_LPTIM_MSPINIT_CB_ID = 0x00U, /*!< LPTIM Base Msp Init Callback ID */ - HAL_LPTIM_MSPDEINIT_CB_ID = 0x01U, /*!< LPTIM Base Msp DeInit Callback ID */ - HAL_LPTIM_COMPARE_MATCH_CB_ID = 0x02U, /*!< Compare match Callback ID */ - HAL_LPTIM_AUTORELOAD_MATCH_CB_ID = 0x03U, /*!< Auto-reload match Callback ID */ - HAL_LPTIM_TRIGGER_CB_ID = 0x04U, /*!< External trigger event detection Callback ID */ - HAL_LPTIM_COMPARE_WRITE_CB_ID = 0x05U, /*!< Compare register write complete Callback ID */ - HAL_LPTIM_AUTORELOAD_WRITE_CB_ID = 0x06U, /*!< Auto-reload register write complete Callback ID */ - HAL_LPTIM_DIRECTION_UP_CB_ID = 0x07U, /*!< Up-counting direction change Callback ID */ - HAL_LPTIM_DIRECTION_DOWN_CB_ID = 0x08U, /*!< Down-counting direction change Callback ID */ -} HAL_LPTIM_CallbackIDTypeDef; - -/** - * @brief HAL TIM Callback pointer definition - */ -typedef void (*pLPTIM_CallbackTypeDef)(LPTIM_HandleTypeDef *hlptim); /*!< pointer to the LPTIM callback function */ - -#endif /* USE_HAL_LPTIM_REGISTER_CALLBACKS */ -/** - * @} - */ - -/* Exported constants --------------------------------------------------------*/ -/** @defgroup LPTIM_Exported_Constants LPTIM Exported Constants - * @{ - */ - -/** @defgroup LPTIM_Clock_Source LPTIM Clock Source - * @{ - */ -#define LPTIM_CLOCKSOURCE_APBCLOCK_LPOSC 0x00000000U -#define LPTIM_CLOCKSOURCE_ULPTIM LPTIM_CFGR_CKSEL -/** - * @} - */ - -/** @defgroup LPTIM_Clock_Prescaler LPTIM Clock Prescaler - * @{ - */ -#define LPTIM_PRESCALER_DIV1 0x00000000U -#define LPTIM_PRESCALER_DIV2 LPTIM_CFGR_PRESC_0 -#define LPTIM_PRESCALER_DIV4 LPTIM_CFGR_PRESC_1 -#define LPTIM_PRESCALER_DIV8 (LPTIM_CFGR_PRESC_0 | LPTIM_CFGR_PRESC_1) -#define LPTIM_PRESCALER_DIV16 LPTIM_CFGR_PRESC_2 -#define LPTIM_PRESCALER_DIV32 (LPTIM_CFGR_PRESC_0 | LPTIM_CFGR_PRESC_2) -#define LPTIM_PRESCALER_DIV64 (LPTIM_CFGR_PRESC_1 | LPTIM_CFGR_PRESC_2) -#define LPTIM_PRESCALER_DIV128 LPTIM_CFGR_PRESC -/** - * @} - */ - -/** @defgroup LPTIM_Output_Polarity LPTIM Output Polarity - * @{ - */ - -#define LPTIM_OUTPUTPOLARITY_HIGH 0x00000000U -#define LPTIM_OUTPUTPOLARITY_LOW LPTIM_CFGR_WAVPOL -/** - * @} - */ - -/** @defgroup LPTIM_Clock_Sample_Time LPTIM Clock Sample Time - * @{ - */ -#define LPTIM_CLOCKSAMPLETIME_DIRECTTRANSITION 0x00000000U -#define LPTIM_CLOCKSAMPLETIME_2TRANSITIONS LPTIM_CFGR_CKFLT_0 -#define LPTIM_CLOCKSAMPLETIME_4TRANSITIONS LPTIM_CFGR_CKFLT_1 -#define LPTIM_CLOCKSAMPLETIME_8TRANSITIONS LPTIM_CFGR_CKFLT -/** - * @} - */ - -/** @defgroup LPTIM_Clock_Polarity LPTIM Clock Polarity - * @{ - */ -#define LPTIM_CLOCKPOLARITY_RISING 0x00000000U -#define LPTIM_CLOCKPOLARITY_FALLING LPTIM_CFGR_CKPOL_0 -#define LPTIM_CLOCKPOLARITY_RISING_FALLING LPTIM_CFGR_CKPOL_1 -/** - * @} - */ - -/** @defgroup LPTIM_Trigger_Source LPTIM Trigger Source - * @{ - */ -#define LPTIM_TRIGSOURCE_SOFTWARE 0x0000FFFFU -#define LPTIM_TRIGSOURCE_0 0x00000000U -#define LPTIM_TRIGSOURCE_1 LPTIM_CFGR_TRIGSEL_0 -#define LPTIM_TRIGSOURCE_2 LPTIM_CFGR_TRIGSEL_1 -#define LPTIM_TRIGSOURCE_3 (LPTIM_CFGR_TRIGSEL_0 | LPTIM_CFGR_TRIGSEL_1) -#define LPTIM_TRIGSOURCE_4 LPTIM_CFGR_TRIGSEL_2 -#define LPTIM_TRIGSOURCE_5 (LPTIM_CFGR_TRIGSEL_0 | LPTIM_CFGR_TRIGSEL_2) -/** - * @} - */ - -/** @defgroup LPTIM_External_Trigger_Polarity LPTIM External Trigger Polarity - * @{ - */ -#define LPTIM_ACTIVEEDGE_RISING LPTIM_CFGR_TRIGEN_0 -#define LPTIM_ACTIVEEDGE_FALLING LPTIM_CFGR_TRIGEN_1 -#define LPTIM_ACTIVEEDGE_RISING_FALLING LPTIM_CFGR_TRIGEN -/** - * @} - */ - -/** @defgroup LPTIM_Trigger_Sample_Time LPTIM Trigger Sample Time - * @{ - */ -#define LPTIM_TRIGSAMPLETIME_DIRECTTRANSITION 0x00000000U -#define LPTIM_TRIGSAMPLETIME_2TRANSITIONS LPTIM_CFGR_TRGFLT_0 -#define LPTIM_TRIGSAMPLETIME_4TRANSITIONS LPTIM_CFGR_TRGFLT_1 -#define LPTIM_TRIGSAMPLETIME_8TRANSITIONS LPTIM_CFGR_TRGFLT -/** - * @} - */ - -/** @defgroup LPTIM_Updating_Mode LPTIM Updating Mode - * @{ - */ - -#define LPTIM_UPDATE_IMMEDIATE 0x00000000U -#define LPTIM_UPDATE_ENDOFPERIOD LPTIM_CFGR_PRELOAD -/** - * @} - */ - -/** @defgroup LPTIM_Counter_Source LPTIM Counter Source - * @{ - */ - -#define LPTIM_COUNTERSOURCE_INTERNAL 0x00000000U -#define LPTIM_COUNTERSOURCE_EXTERNAL LPTIM_CFGR_COUNTMODE -/** - * @} - */ - -/** @defgroup LPTIM_Flag_Definition LPTIM Flags Definition - * @{ - */ - -#define LPTIM_FLAG_DOWN LPTIM_ISR_DOWN -#define LPTIM_FLAG_UP LPTIM_ISR_UP -#define LPTIM_FLAG_ARROK LPTIM_ISR_ARROK -#define LPTIM_FLAG_CMPOK LPTIM_ISR_CMPOK -#define LPTIM_FLAG_EXTTRIG LPTIM_ISR_EXTTRIG -#define LPTIM_FLAG_ARRM LPTIM_ISR_ARRM -#define LPTIM_FLAG_CMPM LPTIM_ISR_CMPM -/** - * @} - */ - -/** @defgroup LPTIM_Interrupts_Definition LPTIM Interrupts Definition - * @{ - */ -#define LPTIM_IT_DOWN LPTIM_IER_DOWNIE -#define LPTIM_IT_UP LPTIM_IER_UPIE -#define LPTIM_IT_ARROK LPTIM_IER_ARROKIE -#define LPTIM_IT_CMPOK LPTIM_IER_CMPOKIE -#define LPTIM_IT_EXTTRIG LPTIM_IER_EXTTRIGIE -#define LPTIM_IT_ARRM LPTIM_IER_ARRMIE -#define LPTIM_IT_CMPM LPTIM_IER_CMPMIE -/** - * @} - */ - -/** @defgroup LPTIM_Option Register Definition - * @{ - */ -#define LPTIM_OP_PAD_AF 0x00000000U -#define LPTIM_OP_PAD_PA4 LPTIM_OR_LPT_IN1_RMP_0 -#define LPTIM_OP_PAD_PB9 LPTIM_OR_LPT_IN1_RMP_1 -#define LPTIM_OP_TIM_DAC LPTIM_OR_LPT_IN1_RMP -/** - * @} - */ - -/** - * @} - */ - -/* Exported macros -----------------------------------------------------------*/ -/** @defgroup LPTIM_Exported_Macros LPTIM Exported Macros - * @{ - */ - -/** @brief Reset LPTIM handle state. - * @param __HANDLE__ LPTIM handle - * @retval None - */ -#if (USE_HAL_LPTIM_REGISTER_CALLBACKS == 1) -#define __HAL_LPTIM_RESET_HANDLE_STATE(__HANDLE__) do { \ - (__HANDLE__)->State = HAL_LPTIM_STATE_RESET; \ - (__HANDLE__)->MspInitCallback = NULL; \ - (__HANDLE__)->MspDeInitCallback = NULL; \ - } while(0) -#else -#define __HAL_LPTIM_RESET_HANDLE_STATE(__HANDLE__) ((__HANDLE__)->State = HAL_LPTIM_STATE_RESET) -#endif /* USE_HAL_LPTIM_REGISTER_CALLBACKS */ - -/** - * @brief Enable the LPTIM peripheral. - * @param __HANDLE__ LPTIM handle - * @retval None - */ -#define __HAL_LPTIM_ENABLE(__HANDLE__) ((__HANDLE__)->Instance->CR |= (LPTIM_CR_ENABLE)) - -/** - * @brief Disable the LPTIM peripheral. - * @param __HANDLE__ LPTIM handle - * @note The following sequence is required to solve LPTIM disable HW limitation. - * Please check Errata Sheet ES0335 for more details under "MCU may remain - * stuck in LPTIM interrupt when entering Stop mode" section. - * @note Please call @ref HAL_LPTIM_GetState() after a call to __HAL_LPTIM_DISABLE to - * check for TIMEOUT. - * @retval None - */ -#define __HAL_LPTIM_DISABLE(__HANDLE__) LPTIM_Disable(__HANDLE__) - -/** - * @brief Start the LPTIM peripheral in Continuous mode. - * @param __HANDLE__ LPTIM handle - * @retval None - */ -#define __HAL_LPTIM_START_CONTINUOUS(__HANDLE__) ((__HANDLE__)->Instance->CR |= LPTIM_CR_CNTSTRT) -/** - * @brief Start the LPTIM peripheral in single mode. - * @param __HANDLE__ LPTIM handle - * @retval None - */ -#define __HAL_LPTIM_START_SINGLE(__HANDLE__) ((__HANDLE__)->Instance->CR |= LPTIM_CR_SNGSTRT) - -/** - * @brief Write the passed parameter in the Autoreload register. - * @param __HANDLE__ LPTIM handle - * @param __VALUE__ Autoreload value - * @retval None - * @note The ARR register can only be modified when the LPTIM instance is enabled. - */ -#define __HAL_LPTIM_AUTORELOAD_SET(__HANDLE__ , __VALUE__) ((__HANDLE__)->Instance->ARR = (__VALUE__)) - -/** - * @brief Write the passed parameter in the Compare register. - * @param __HANDLE__ LPTIM handle - * @param __VALUE__ Compare value - * @retval None - * @note The CMP register can only be modified when the LPTIM instance is enabled. - */ -#define __HAL_LPTIM_COMPARE_SET(__HANDLE__ , __VALUE__) ((__HANDLE__)->Instance->CMP = (__VALUE__)) - -/** - * @brief Check whether the specified LPTIM flag is set or not. - * @param __HANDLE__ LPTIM handle - * @param __FLAG__ LPTIM flag to check - * This parameter can be a value of: - * @arg LPTIM_FLAG_DOWN : Counter direction change up Flag. - * @arg LPTIM_FLAG_UP : Counter direction change down to up Flag. - * @arg LPTIM_FLAG_ARROK : Autoreload register update OK Flag. - * @arg LPTIM_FLAG_CMPOK : Compare register update OK Flag. - * @arg LPTIM_FLAG_EXTTRIG : External trigger edge event Flag. - * @arg LPTIM_FLAG_ARRM : Autoreload match Flag. - * @arg LPTIM_FLAG_CMPM : Compare match Flag. - * @retval The state of the specified flag (SET or RESET). - */ -#define __HAL_LPTIM_GET_FLAG(__HANDLE__, __FLAG__) (((__HANDLE__)->Instance->ISR &(__FLAG__)) == (__FLAG__)) - -/** - * @brief Clear the specified LPTIM flag. - * @param __HANDLE__ LPTIM handle. - * @param __FLAG__ LPTIM flag to clear. - * This parameter can be a value of: - * @arg LPTIM_FLAG_DOWN : Counter direction change up Flag. - * @arg LPTIM_FLAG_UP : Counter direction change down to up Flag. - * @arg LPTIM_FLAG_ARROK : Autoreload register update OK Flag. - * @arg LPTIM_FLAG_CMPOK : Compare register update OK Flag. - * @arg LPTIM_FLAG_EXTTRIG : External trigger edge event Flag. - * @arg LPTIM_FLAG_ARRM : Autoreload match Flag. - * @arg LPTIM_FLAG_CMPM : Compare match Flag. - * @retval None. - */ -#define __HAL_LPTIM_CLEAR_FLAG(__HANDLE__, __FLAG__) ((__HANDLE__)->Instance->ICR = (__FLAG__)) - -/** - * @brief Enable the specified LPTIM interrupt. - * @param __HANDLE__ LPTIM handle. - * @param __INTERRUPT__ LPTIM interrupt to set. - * This parameter can be a value of: - * @arg LPTIM_IT_DOWN : Counter direction change up Interrupt. - * @arg LPTIM_IT_UP : Counter direction change down to up Interrupt. - * @arg LPTIM_IT_ARROK : Autoreload register update OK Interrupt. - * @arg LPTIM_IT_CMPOK : Compare register update OK Interrupt. - * @arg LPTIM_IT_EXTTRIG : External trigger edge event Interrupt. - * @arg LPTIM_IT_ARRM : Autoreload match Interrupt. - * @arg LPTIM_IT_CMPM : Compare match Interrupt. - * @retval None. - * @note The LPTIM interrupts can only be enabled when the LPTIM instance is disabled. - */ -#define __HAL_LPTIM_ENABLE_IT(__HANDLE__, __INTERRUPT__) ((__HANDLE__)->Instance->IER |= (__INTERRUPT__)) - -/** - * @brief Disable the specified LPTIM interrupt. - * @param __HANDLE__ LPTIM handle. - * @param __INTERRUPT__ LPTIM interrupt to set. - * This parameter can be a value of: - * @arg LPTIM_IT_DOWN : Counter direction change up Interrupt. - * @arg LPTIM_IT_UP : Counter direction change down to up Interrupt. - * @arg LPTIM_IT_ARROK : Autoreload register update OK Interrupt. - * @arg LPTIM_IT_CMPOK : Compare register update OK Interrupt. - * @arg LPTIM_IT_EXTTRIG : External trigger edge event Interrupt. - * @arg LPTIM_IT_ARRM : Autoreload match Interrupt. - * @arg LPTIM_IT_CMPM : Compare match Interrupt. - * @retval None. - * @note The LPTIM interrupts can only be disabled when the LPTIM instance is disabled. - */ -#define __HAL_LPTIM_DISABLE_IT(__HANDLE__, __INTERRUPT__) ((__HANDLE__)->Instance->IER &= (~(__INTERRUPT__))) - -/** - * @brief Check whether the specified LPTIM interrupt source is enabled or not. - * @param __HANDLE__ LPTIM handle. - * @param __INTERRUPT__ LPTIM interrupt to check. - * This parameter can be a value of: - * @arg LPTIM_IT_DOWN : Counter direction change up Interrupt. - * @arg LPTIM_IT_UP : Counter direction change down to up Interrupt. - * @arg LPTIM_IT_ARROK : Autoreload register update OK Interrupt. - * @arg LPTIM_IT_CMPOK : Compare register update OK Interrupt. - * @arg LPTIM_IT_EXTTRIG : External trigger edge event Interrupt. - * @arg LPTIM_IT_ARRM : Autoreload match Interrupt. - * @arg LPTIM_IT_CMPM : Compare match Interrupt. - * @retval Interrupt status. - */ - -#define __HAL_LPTIM_GET_IT_SOURCE(__HANDLE__, __INTERRUPT__) ((((__HANDLE__)->Instance->IER\ - & (__INTERRUPT__)) == (__INTERRUPT__)) ? SET : RESET) - -/** @brief LPTIM Option Register - * @param __HANDLE__ LPTIM handle - * @param __VALUE__ This parameter can be a value of : - * @arg LPTIM_OP_PAD_AF - * @arg LPTIM_OP_PAD_PA4 - * @arg LPTIM_OP_PAD_PB9 - * @arg LPTIM_OP_TIM_DAC - * @retval None - */ -#define __HAL_LPTIM_OPTR_CONFIG(__HANDLE__ , __VALUE__) ((__HANDLE__)->Instance->OR = (__VALUE__)) - - -/** - * @brief Enable interrupt on the LPTIM Wake-up Timer associated Exti line. - * @retval None - */ -#define __HAL_LPTIM_WAKEUPTIMER_EXTI_ENABLE_IT() (EXTI->IMR\ - |= LPTIM_EXTI_LINE_WAKEUPTIMER_EVENT) - -/** - * @brief Disable interrupt on the LPTIM Wake-up Timer associated Exti line. - * @retval None - */ -#define __HAL_LPTIM_WAKEUPTIMER_EXTI_DISABLE_IT() (EXTI->IMR\ - &= ~(LPTIM_EXTI_LINE_WAKEUPTIMER_EVENT)) - -/** - * @brief Enable event on the LPTIM Wake-up Timer associated Exti line. - * @retval None. - */ -#define __HAL_LPTIM_WAKEUPTIMER_EXTI_ENABLE_EVENT() (EXTI->EMR\ - |= LPTIM_EXTI_LINE_WAKEUPTIMER_EVENT) - -/** - * @brief Disable event on the LPTIM Wake-up Timer associated Exti line. - * @retval None. - */ -#define __HAL_LPTIM_WAKEUPTIMER_EXTI_DISABLE_EVENT() (EXTI->EMR\ - &= ~(LPTIM_EXTI_LINE_WAKEUPTIMER_EVENT)) -#if defined(EXTI_IMR_MR23) - -/** - * @brief Enable falling edge trigger on the LPTIM Wake-up Timer associated Exti line. - * @retval None. - */ -#define __HAL_LPTIM_WAKEUPTIMER_EXTI_ENABLE_FALLING_EDGE() (EXTI->FTSR\ - |= LPTIM_EXTI_LINE_WAKEUPTIMER_EVENT) - -/** - * @brief Disable falling edge trigger on the LPTIM Wake-up Timer associated Exti line. - * @retval None. - */ -#define __HAL_LPTIM_WAKEUPTIMER_EXTI_DISABLE_FALLING_EDGE() (EXTI->FTSR\ - &= ~(LPTIM_EXTI_LINE_WAKEUPTIMER_EVENT)) - -/** - * @brief Enable rising edge trigger on the LPTIM Wake-up Timer associated Exti line. - * @retval None. - */ -#define __HAL_LPTIM_WAKEUPTIMER_EXTI_ENABLE_RISING_EDGE() (EXTI->RTSR\ - |= LPTIM_EXTI_LINE_WAKEUPTIMER_EVENT) - -/** - * @brief Disable rising edge trigger on the LPTIM Wake-up Timer associated Exti line. - * @retval None. - */ -#define __HAL_LPTIM_WAKEUPTIMER_EXTI_DISABLE_RISING_EDGE() (EXTI->RTSR\ - &= ~(LPTIM_EXTI_LINE_WAKEUPTIMER_EVENT)) - -/** - * @brief Enable rising & falling edge trigger on the LPTIM Wake-up Timer associated Exti line. - * @retval None. - */ -#define __HAL_LPTIM_WAKEUPTIMER_EXTI_ENABLE_RISING_FALLING_EDGE() do{__HAL_LPTIM_WAKEUPTIMER_EXTI_ENABLE_RISING_EDGE();\ - __HAL_LPTIM_WAKEUPTIMER_EXTI_ENABLE_FALLING_EDGE();\ - }while(0) - -/** - * @brief Disable rising & falling edge trigger on the LPTIM Wake-up Timer associated Exti line. - * @retval None. - */ -#define __HAL_LPTIM_WAKEUPTIMER_EXTI_DISABLE_RISING_FALLING_EDGE() do{__HAL_LPTIM_WAKEUPTIMER_EXTI_DISABLE_RISING_EDGE();\ - __HAL_LPTIM_WAKEUPTIMER_EXTI_DISABLE_FALLING_EDGE();\ - }while(0) - -/** - * @brief Check whether the LPTIM Wake-up Timer associated Exti line interrupt flag is set or not. - * @retval Line Status. - */ -#define __HAL_LPTIM_WAKEUPTIMER_EXTI_GET_FLAG() (EXTI->PR\ - & LPTIM_EXTI_LINE_WAKEUPTIMER_EVENT) - -/** - * @brief Clear the LPTIM Wake-up Timer associated Exti line flag. - * @retval None. - */ -#define __HAL_LPTIM_WAKEUPTIMER_EXTI_CLEAR_FLAG() (EXTI->PR\ - = LPTIM_EXTI_LINE_WAKEUPTIMER_EVENT) - -/** - * @brief Generate a Software interrupt on the LPTIM Wake-up Timer associated Exti line. - * @retval None. - */ -#define __HAL_LPTIM_WAKEUPTIMER_EXTI_GENERATE_SWIT() (EXTI->SWIER\ - |= LPTIM_EXTI_LINE_WAKEUPTIMER_EVENT) -#endif /* EXTI_IMR_MR23 */ - -/** - * @} - */ - -/* Exported functions --------------------------------------------------------*/ -/** @defgroup LPTIM_Exported_Functions LPTIM Exported Functions - * @{ - */ - -/** @addtogroup LPTIM_Exported_Functions_Group1 - * @brief Initialization and Configuration functions. - * @{ - */ -/* Initialization/de-initialization functions ********************************/ -HAL_StatusTypeDef HAL_LPTIM_Init(LPTIM_HandleTypeDef *hlptim); -HAL_StatusTypeDef HAL_LPTIM_DeInit(LPTIM_HandleTypeDef *hlptim); - -/* MSP functions *************************************************************/ -void HAL_LPTIM_MspInit(LPTIM_HandleTypeDef *hlptim); -void HAL_LPTIM_MspDeInit(LPTIM_HandleTypeDef *hlptim); -/** - * @} - */ - -/** @addtogroup LPTIM_Exported_Functions_Group2 - * @brief Start-Stop operation functions. - * @{ - */ -/* Start/Stop operation functions *********************************************/ -/* ################################# PWM Mode ################################*/ -/* Blocking mode: Polling */ -HAL_StatusTypeDef HAL_LPTIM_PWM_Start(LPTIM_HandleTypeDef *hlptim, uint32_t Period, uint32_t Pulse); -HAL_StatusTypeDef HAL_LPTIM_PWM_Stop(LPTIM_HandleTypeDef *hlptim); -/* Non-Blocking mode: Interrupt */ -HAL_StatusTypeDef HAL_LPTIM_PWM_Start_IT(LPTIM_HandleTypeDef *hlptim, uint32_t Period, uint32_t Pulse); -HAL_StatusTypeDef HAL_LPTIM_PWM_Stop_IT(LPTIM_HandleTypeDef *hlptim); - -/* ############################# One Pulse Mode ##############################*/ -/* Blocking mode: Polling */ -HAL_StatusTypeDef HAL_LPTIM_OnePulse_Start(LPTIM_HandleTypeDef *hlptim, uint32_t Period, uint32_t Pulse); -HAL_StatusTypeDef HAL_LPTIM_OnePulse_Stop(LPTIM_HandleTypeDef *hlptim); -/* Non-Blocking mode: Interrupt */ -HAL_StatusTypeDef HAL_LPTIM_OnePulse_Start_IT(LPTIM_HandleTypeDef *hlptim, uint32_t Period, uint32_t Pulse); -HAL_StatusTypeDef HAL_LPTIM_OnePulse_Stop_IT(LPTIM_HandleTypeDef *hlptim); - -/* ############################## Set once Mode ##############################*/ -/* Blocking mode: Polling */ -HAL_StatusTypeDef HAL_LPTIM_SetOnce_Start(LPTIM_HandleTypeDef *hlptim, uint32_t Period, uint32_t Pulse); -HAL_StatusTypeDef HAL_LPTIM_SetOnce_Stop(LPTIM_HandleTypeDef *hlptim); -/* Non-Blocking mode: Interrupt */ -HAL_StatusTypeDef HAL_LPTIM_SetOnce_Start_IT(LPTIM_HandleTypeDef *hlptim, uint32_t Period, uint32_t Pulse); -HAL_StatusTypeDef HAL_LPTIM_SetOnce_Stop_IT(LPTIM_HandleTypeDef *hlptim); - -/* ############################### Encoder Mode ##############################*/ -/* Blocking mode: Polling */ -HAL_StatusTypeDef HAL_LPTIM_Encoder_Start(LPTIM_HandleTypeDef *hlptim, uint32_t Period); -HAL_StatusTypeDef HAL_LPTIM_Encoder_Stop(LPTIM_HandleTypeDef *hlptim); -/* Non-Blocking mode: Interrupt */ -HAL_StatusTypeDef HAL_LPTIM_Encoder_Start_IT(LPTIM_HandleTypeDef *hlptim, uint32_t Period); -HAL_StatusTypeDef HAL_LPTIM_Encoder_Stop_IT(LPTIM_HandleTypeDef *hlptim); - -/* ############################# Time out Mode ##############################*/ -/* Blocking mode: Polling */ -HAL_StatusTypeDef HAL_LPTIM_TimeOut_Start(LPTIM_HandleTypeDef *hlptim, uint32_t Period, uint32_t Timeout); -HAL_StatusTypeDef HAL_LPTIM_TimeOut_Stop(LPTIM_HandleTypeDef *hlptim); -/* Non-Blocking mode: Interrupt */ -HAL_StatusTypeDef HAL_LPTIM_TimeOut_Start_IT(LPTIM_HandleTypeDef *hlptim, uint32_t Period, uint32_t Timeout); -HAL_StatusTypeDef HAL_LPTIM_TimeOut_Stop_IT(LPTIM_HandleTypeDef *hlptim); - -/* ############################## Counter Mode ###############################*/ -/* Blocking mode: Polling */ -HAL_StatusTypeDef HAL_LPTIM_Counter_Start(LPTIM_HandleTypeDef *hlptim, uint32_t Period); -HAL_StatusTypeDef HAL_LPTIM_Counter_Stop(LPTIM_HandleTypeDef *hlptim); -/* Non-Blocking mode: Interrupt */ -HAL_StatusTypeDef HAL_LPTIM_Counter_Start_IT(LPTIM_HandleTypeDef *hlptim, uint32_t Period); -HAL_StatusTypeDef HAL_LPTIM_Counter_Stop_IT(LPTIM_HandleTypeDef *hlptim); -/** - * @} - */ - -/** @addtogroup LPTIM_Exported_Functions_Group3 - * @brief Read operation functions. - * @{ - */ -/* Reading operation functions ************************************************/ -uint32_t HAL_LPTIM_ReadCounter(LPTIM_HandleTypeDef *hlptim); -uint32_t HAL_LPTIM_ReadAutoReload(LPTIM_HandleTypeDef *hlptim); -uint32_t HAL_LPTIM_ReadCompare(LPTIM_HandleTypeDef *hlptim); -/** - * @} - */ - -/** @addtogroup LPTIM_Exported_Functions_Group4 - * @brief LPTIM IRQ handler and callback functions. - * @{ - */ -/* LPTIM IRQ functions *******************************************************/ -void HAL_LPTIM_IRQHandler(LPTIM_HandleTypeDef *hlptim); - -/* CallBack functions ********************************************************/ -void HAL_LPTIM_CompareMatchCallback(LPTIM_HandleTypeDef *hlptim); -void HAL_LPTIM_AutoReloadMatchCallback(LPTIM_HandleTypeDef *hlptim); -void HAL_LPTIM_TriggerCallback(LPTIM_HandleTypeDef *hlptim); -void HAL_LPTIM_CompareWriteCallback(LPTIM_HandleTypeDef *hlptim); -void HAL_LPTIM_AutoReloadWriteCallback(LPTIM_HandleTypeDef *hlptim); -void HAL_LPTIM_DirectionUpCallback(LPTIM_HandleTypeDef *hlptim); -void HAL_LPTIM_DirectionDownCallback(LPTIM_HandleTypeDef *hlptim); - -/* Callbacks Register/UnRegister functions ***********************************/ -#if (USE_HAL_LPTIM_REGISTER_CALLBACKS == 1) -HAL_StatusTypeDef HAL_LPTIM_RegisterCallback(LPTIM_HandleTypeDef *lphtim, HAL_LPTIM_CallbackIDTypeDef CallbackID, - pLPTIM_CallbackTypeDef pCallback); -HAL_StatusTypeDef HAL_LPTIM_UnRegisterCallback(LPTIM_HandleTypeDef *lphtim, HAL_LPTIM_CallbackIDTypeDef CallbackID); -#endif /* USE_HAL_LPTIM_REGISTER_CALLBACKS */ -/** - * @} - */ - -/** @addtogroup LPTIM_Group5 - * @brief Peripheral State functions. - * @{ - */ -/* Peripheral State functions ************************************************/ -HAL_LPTIM_StateTypeDef HAL_LPTIM_GetState(LPTIM_HandleTypeDef *hlptim); -/** - * @} - */ - -/** - * @} - */ - -/* Private types -------------------------------------------------------------*/ -/** @defgroup LPTIM_Private_Types LPTIM Private Types - * @{ - */ - -/** - * @} - */ - -/* Private variables ---------------------------------------------------------*/ -/** @defgroup LPTIM_Private_Variables LPTIM Private Variables - * @{ - */ - -/** - * @} - */ - -/* Private constants ---------------------------------------------------------*/ -/** @defgroup LPTIM_Private_Constants LPTIM Private Constants - * @{ - */ - -/** - * @} - */ - -/* Private macros ------------------------------------------------------------*/ -/** @defgroup LPTIM_Private_Macros LPTIM Private Macros - * @{ - */ - -#define IS_LPTIM_CLOCK_SOURCE(__SOURCE__) (((__SOURCE__) == LPTIM_CLOCKSOURCE_ULPTIM) || \ - ((__SOURCE__) == LPTIM_CLOCKSOURCE_APBCLOCK_LPOSC)) - - -#define IS_LPTIM_CLOCK_PRESCALER(__PRESCALER__) (((__PRESCALER__) == LPTIM_PRESCALER_DIV1 ) || \ - ((__PRESCALER__) == LPTIM_PRESCALER_DIV2 ) || \ - ((__PRESCALER__) == LPTIM_PRESCALER_DIV4 ) || \ - ((__PRESCALER__) == LPTIM_PRESCALER_DIV8 ) || \ - ((__PRESCALER__) == LPTIM_PRESCALER_DIV16 ) || \ - ((__PRESCALER__) == LPTIM_PRESCALER_DIV32 ) || \ - ((__PRESCALER__) == LPTIM_PRESCALER_DIV64 ) || \ - ((__PRESCALER__) == LPTIM_PRESCALER_DIV128)) - -#define IS_LPTIM_CLOCK_PRESCALERDIV1(__PRESCALER__) ((__PRESCALER__) == LPTIM_PRESCALER_DIV1) - -#define IS_LPTIM_OUTPUT_POLARITY(__POLARITY__) (((__POLARITY__) == LPTIM_OUTPUTPOLARITY_LOW ) || \ - ((__POLARITY__) == LPTIM_OUTPUTPOLARITY_HIGH)) - -#define IS_LPTIM_CLOCK_SAMPLE_TIME(__SAMPLETIME__) (((__SAMPLETIME__) == LPTIM_CLOCKSAMPLETIME_DIRECTTRANSITION) || \ - ((__SAMPLETIME__) == LPTIM_CLOCKSAMPLETIME_2TRANSITIONS) || \ - ((__SAMPLETIME__) == LPTIM_CLOCKSAMPLETIME_4TRANSITIONS) || \ - ((__SAMPLETIME__) == LPTIM_CLOCKSAMPLETIME_8TRANSITIONS)) - -#define IS_LPTIM_CLOCK_POLARITY(__POLARITY__) (((__POLARITY__) == LPTIM_CLOCKPOLARITY_RISING) || \ - ((__POLARITY__) == LPTIM_CLOCKPOLARITY_FALLING) || \ - ((__POLARITY__) == LPTIM_CLOCKPOLARITY_RISING_FALLING)) - -#define IS_LPTIM_TRG_SOURCE(__TRIG__) (((__TRIG__) == LPTIM_TRIGSOURCE_SOFTWARE) || \ - ((__TRIG__) == LPTIM_TRIGSOURCE_0) || \ - ((__TRIG__) == LPTIM_TRIGSOURCE_1) || \ - ((__TRIG__) == LPTIM_TRIGSOURCE_2) || \ - ((__TRIG__) == LPTIM_TRIGSOURCE_3) || \ - ((__TRIG__) == LPTIM_TRIGSOURCE_4) || \ - ((__TRIG__) == LPTIM_TRIGSOURCE_5)) - -#define IS_LPTIM_EXT_TRG_POLARITY(__POLARITY__) (((__POLARITY__) == LPTIM_ACTIVEEDGE_RISING ) || \ - ((__POLARITY__) == LPTIM_ACTIVEEDGE_FALLING ) || \ - ((__POLARITY__) == LPTIM_ACTIVEEDGE_RISING_FALLING )) - -#define IS_LPTIM_TRIG_SAMPLE_TIME(__SAMPLETIME__) (((__SAMPLETIME__) == LPTIM_TRIGSAMPLETIME_DIRECTTRANSITION) || \ - ((__SAMPLETIME__) == LPTIM_TRIGSAMPLETIME_2TRANSITIONS ) || \ - ((__SAMPLETIME__) == LPTIM_TRIGSAMPLETIME_4TRANSITIONS ) || \ - ((__SAMPLETIME__) == LPTIM_TRIGSAMPLETIME_8TRANSITIONS )) - -#define IS_LPTIM_UPDATE_MODE(__MODE__) (((__MODE__) == LPTIM_UPDATE_IMMEDIATE) || \ - ((__MODE__) == LPTIM_UPDATE_ENDOFPERIOD)) - -#define IS_LPTIM_COUNTER_SOURCE(__SOURCE__) (((__SOURCE__) == LPTIM_COUNTERSOURCE_INTERNAL) || \ - ((__SOURCE__) == LPTIM_COUNTERSOURCE_EXTERNAL)) - -#define IS_LPTIM_AUTORELOAD(__AUTORELOAD__) ((__AUTORELOAD__) <= 0x0000FFFFUL) - -#define IS_LPTIM_COMPARE(__COMPARE__) ((__COMPARE__) <= 0x0000FFFFUL) - -#define IS_LPTIM_PERIOD(__PERIOD__) ((__PERIOD__) <= 0x0000FFFFUL) - -#define IS_LPTIM_PULSE(__PULSE__) ((__PULSE__) <= 0x0000FFFFUL) - -/** - * @} - */ - -/* Private functions ---------------------------------------------------------*/ -/** @defgroup LPTIM_Private_Functions LPTIM Private Functions - * @{ - */ -void LPTIM_Disable(LPTIM_HandleTypeDef *hlptim); -/** - * @} - */ - -/** - * @} - */ - -#endif /* LPTIM1 */ -/** - * @} - */ - -#ifdef __cplusplus -} -#endif - -#endif /* STM32F4xx_HAL_LPTIM_H */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_ltdc.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_ltdc.h deleted file mode 100644 index 0cab8446ef6947..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_ltdc.h +++ /dev/null @@ -1,688 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_ltdc.h - * @author MCD Application Team - * @brief Header file of LTDC HAL module. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef STM32F4xx_HAL_LTDC_H -#define STM32F4xx_HAL_LTDC_H - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal_def.h" - -#if defined (LTDC) - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @defgroup LTDC LTDC - * @brief LTDC HAL module driver - * @{ - */ - -/* Exported types ------------------------------------------------------------*/ -/** @defgroup LTDC_Exported_Types LTDC Exported Types - * @{ - */ -#define MAX_LAYER 2U - -/** - * @brief LTDC color structure definition - */ -typedef struct -{ - uint8_t Blue; /*!< Configures the blue value. - This parameter must be a number between Min_Data = 0x00 and Max_Data = 0xFF. */ - - uint8_t Green; /*!< Configures the green value. - This parameter must be a number between Min_Data = 0x00 and Max_Data = 0xFF. */ - - uint8_t Red; /*!< Configures the red value. - This parameter must be a number between Min_Data = 0x00 and Max_Data = 0xFF. */ - - uint8_t Reserved; /*!< Reserved 0xFF */ -} LTDC_ColorTypeDef; - -/** - * @brief LTDC Init structure definition - */ -typedef struct -{ - uint32_t HSPolarity; /*!< configures the horizontal synchronization polarity. - This parameter can be one value of @ref LTDC_HS_POLARITY */ - - uint32_t VSPolarity; /*!< configures the vertical synchronization polarity. - This parameter can be one value of @ref LTDC_VS_POLARITY */ - - uint32_t DEPolarity; /*!< configures the data enable polarity. - This parameter can be one of value of @ref LTDC_DE_POLARITY */ - - uint32_t PCPolarity; /*!< configures the pixel clock polarity. - This parameter can be one of value of @ref LTDC_PC_POLARITY */ - - uint32_t HorizontalSync; /*!< configures the number of Horizontal synchronization width. - This parameter must be a number between Min_Data = 0x000 and Max_Data = 0xFFF. */ - - uint32_t VerticalSync; /*!< configures the number of Vertical synchronization height. - This parameter must be a number between Min_Data = 0x000 and Max_Data = 0x7FF. */ - - uint32_t AccumulatedHBP; /*!< configures the accumulated horizontal back porch width. - This parameter must be a number between Min_Data = LTDC_HorizontalSync and Max_Data = 0xFFF. */ - - uint32_t AccumulatedVBP; /*!< configures the accumulated vertical back porch height. - This parameter must be a number between Min_Data = LTDC_VerticalSync and Max_Data = 0x7FF. */ - - uint32_t AccumulatedActiveW; /*!< configures the accumulated active width. - This parameter must be a number between Min_Data = LTDC_AccumulatedHBP and Max_Data = 0xFFF. */ - - uint32_t AccumulatedActiveH; /*!< configures the accumulated active height. - This parameter must be a number between Min_Data = LTDC_AccumulatedVBP and Max_Data = 0x7FF. */ - - uint32_t TotalWidth; /*!< configures the total width. - This parameter must be a number between Min_Data = LTDC_AccumulatedActiveW and Max_Data = 0xFFF. */ - - uint32_t TotalHeigh; /*!< configures the total height. - This parameter must be a number between Min_Data = LTDC_AccumulatedActiveH and Max_Data = 0x7FF. */ - - LTDC_ColorTypeDef Backcolor; /*!< Configures the background color. */ -} LTDC_InitTypeDef; - -/** - * @brief LTDC Layer structure definition - */ -typedef struct -{ - uint32_t WindowX0; /*!< Configures the Window Horizontal Start Position. - This parameter must be a number between Min_Data = 0x000 and Max_Data = 0xFFF. */ - - uint32_t WindowX1; /*!< Configures the Window Horizontal Stop Position. - This parameter must be a number between Min_Data = 0x000 and Max_Data = 0xFFF. */ - - uint32_t WindowY0; /*!< Configures the Window vertical Start Position. - This parameter must be a number between Min_Data = 0x000 and Max_Data = 0x7FF. */ - - uint32_t WindowY1; /*!< Configures the Window vertical Stop Position. - This parameter must be a number between Min_Data = 0x0000 and Max_Data = 0x7FF. */ - - uint32_t PixelFormat; /*!< Specifies the pixel format. - This parameter can be one of value of @ref LTDC_Pixelformat */ - - uint32_t Alpha; /*!< Specifies the constant alpha used for blending. - This parameter must be a number between Min_Data = 0x00 and Max_Data = 0xFF. */ - - uint32_t Alpha0; /*!< Configures the default alpha value. - This parameter must be a number between Min_Data = 0x00 and Max_Data = 0xFF. */ - - uint32_t BlendingFactor1; /*!< Select the blending factor 1. - This parameter can be one of value of @ref LTDC_BlendingFactor1 */ - - uint32_t BlendingFactor2; /*!< Select the blending factor 2. - This parameter can be one of value of @ref LTDC_BlendingFactor2 */ - - uint32_t FBStartAdress; /*!< Configures the color frame buffer address */ - - uint32_t ImageWidth; /*!< Configures the color frame buffer line length. - This parameter must be a number between Min_Data = 0x0000 and Max_Data = 0x1FFF. */ - - uint32_t ImageHeight; /*!< Specifies the number of line in frame buffer. - This parameter must be a number between Min_Data = 0x000 and Max_Data = 0x7FF. */ - - LTDC_ColorTypeDef Backcolor; /*!< Configures the layer background color. */ -} LTDC_LayerCfgTypeDef; - -/** - * @brief HAL LTDC State structures definition - */ -typedef enum -{ - HAL_LTDC_STATE_RESET = 0x00U, /*!< LTDC not yet initialized or disabled */ - HAL_LTDC_STATE_READY = 0x01U, /*!< LTDC initialized and ready for use */ - HAL_LTDC_STATE_BUSY = 0x02U, /*!< LTDC internal process is ongoing */ - HAL_LTDC_STATE_TIMEOUT = 0x03U, /*!< LTDC Timeout state */ - HAL_LTDC_STATE_ERROR = 0x04U /*!< LTDC state error */ -} HAL_LTDC_StateTypeDef; - -/** - * @brief LTDC handle Structure definition - */ -#if (USE_HAL_LTDC_REGISTER_CALLBACKS == 1) -typedef struct __LTDC_HandleTypeDef -#else -typedef struct -#endif /* USE_HAL_LTDC_REGISTER_CALLBACKS */ -{ - LTDC_TypeDef *Instance; /*!< LTDC Register base address */ - - LTDC_InitTypeDef Init; /*!< LTDC parameters */ - - LTDC_LayerCfgTypeDef LayerCfg[MAX_LAYER]; /*!< LTDC Layers parameters */ - - HAL_LockTypeDef Lock; /*!< LTDC Lock */ - - __IO HAL_LTDC_StateTypeDef State; /*!< LTDC state */ - - __IO uint32_t ErrorCode; /*!< LTDC Error code */ - -#if (USE_HAL_LTDC_REGISTER_CALLBACKS == 1) - void (* LineEventCallback)(struct __LTDC_HandleTypeDef *hltdc); /*!< LTDC Line Event Callback */ - void (* ReloadEventCallback)(struct __LTDC_HandleTypeDef *hltdc); /*!< LTDC Reload Event Callback */ - void (* ErrorCallback)(struct __LTDC_HandleTypeDef *hltdc); /*!< LTDC Error Callback */ - - void (* MspInitCallback)(struct __LTDC_HandleTypeDef *hltdc); /*!< LTDC Msp Init callback */ - void (* MspDeInitCallback)(struct __LTDC_HandleTypeDef *hltdc); /*!< LTDC Msp DeInit callback */ - -#endif /* USE_HAL_LTDC_REGISTER_CALLBACKS */ - - -} LTDC_HandleTypeDef; - -#if (USE_HAL_LTDC_REGISTER_CALLBACKS == 1) -/** - * @brief HAL LTDC Callback ID enumeration definition - */ -typedef enum -{ - HAL_LTDC_MSPINIT_CB_ID = 0x00U, /*!< LTDC MspInit callback ID */ - HAL_LTDC_MSPDEINIT_CB_ID = 0x01U, /*!< LTDC MspDeInit callback ID */ - - HAL_LTDC_LINE_EVENT_CB_ID = 0x02U, /*!< LTDC Line Event Callback ID */ - HAL_LTDC_RELOAD_EVENT_CB_ID = 0x03U, /*!< LTDC Reload Callback ID */ - HAL_LTDC_ERROR_CB_ID = 0x04U /*!< LTDC Error Callback ID */ - -} HAL_LTDC_CallbackIDTypeDef; - -/** - * @brief HAL LTDC Callback pointer definition - */ -typedef void (*pLTDC_CallbackTypeDef)(LTDC_HandleTypeDef *hltdc); /*!< pointer to an LTDC callback function */ - -#endif /* USE_HAL_LTDC_REGISTER_CALLBACKS */ - -/** - * @} - */ - -/* Exported constants --------------------------------------------------------*/ -/** @defgroup LTDC_Exported_Constants LTDC Exported Constants - * @{ - */ - -/** @defgroup LTDC_Error_Code LTDC Error Code - * @{ - */ -#define HAL_LTDC_ERROR_NONE 0x00000000U /*!< LTDC No error */ -#define HAL_LTDC_ERROR_TE 0x00000001U /*!< LTDC Transfer error */ -#define HAL_LTDC_ERROR_FU 0x00000002U /*!< LTDC FIFO Underrun */ -#define HAL_LTDC_ERROR_TIMEOUT 0x00000020U /*!< LTDC Timeout error */ -#if (USE_HAL_LTDC_REGISTER_CALLBACKS == 1) -#define HAL_LTDC_ERROR_INVALID_CALLBACK 0x00000040U /*!< LTDC Invalid Callback error */ -#endif /* USE_HAL_LTDC_REGISTER_CALLBACKS */ -/** - * @} - */ - -/** @defgroup LTDC_Layer LTDC Layer - * @{ - */ -#define LTDC_LAYER_1 0x00000000U /*!< LTDC Layer 1 */ -#define LTDC_LAYER_2 0x00000001U /*!< LTDC Layer 2 */ -/** - * @} - */ - -/** @defgroup LTDC_HS_POLARITY LTDC HS POLARITY - * @{ - */ -#define LTDC_HSPOLARITY_AL 0x00000000U /*!< Horizontal Synchronization is active low. */ -#define LTDC_HSPOLARITY_AH LTDC_GCR_HSPOL /*!< Horizontal Synchronization is active high. */ -/** - * @} - */ - -/** @defgroup LTDC_VS_POLARITY LTDC VS POLARITY - * @{ - */ -#define LTDC_VSPOLARITY_AL 0x00000000U /*!< Vertical Synchronization is active low. */ -#define LTDC_VSPOLARITY_AH LTDC_GCR_VSPOL /*!< Vertical Synchronization is active high. */ -/** - * @} - */ - -/** @defgroup LTDC_DE_POLARITY LTDC DE POLARITY - * @{ - */ -#define LTDC_DEPOLARITY_AL 0x00000000U /*!< Data Enable, is active low. */ -#define LTDC_DEPOLARITY_AH LTDC_GCR_DEPOL /*!< Data Enable, is active high. */ -/** - * @} - */ - -/** @defgroup LTDC_PC_POLARITY LTDC PC POLARITY - * @{ - */ -#define LTDC_PCPOLARITY_IPC 0x00000000U /*!< input pixel clock. */ -#define LTDC_PCPOLARITY_IIPC LTDC_GCR_PCPOL /*!< inverted input pixel clock. */ -/** - * @} - */ - -/** @defgroup LTDC_SYNC LTDC SYNC - * @{ - */ -#define LTDC_HORIZONTALSYNC (LTDC_SSCR_HSW >> 16U) /*!< Horizontal synchronization width. */ -#define LTDC_VERTICALSYNC LTDC_SSCR_VSH /*!< Vertical synchronization height. */ -/** - * @} - */ - -/** @defgroup LTDC_BACK_COLOR LTDC BACK COLOR - * @{ - */ -#define LTDC_COLOR 0x000000FFU /*!< Color mask */ -/** - * @} - */ - -/** @defgroup LTDC_BlendingFactor1 LTDC Blending Factor1 - * @{ - */ -#define LTDC_BLENDING_FACTOR1_CA 0x00000400U /*!< Blending factor : Cte Alpha */ -#define LTDC_BLENDING_FACTOR1_PAxCA 0x00000600U /*!< Blending factor : Cte Alpha x Pixel Alpha*/ -/** - * @} - */ - -/** @defgroup LTDC_BlendingFactor2 LTDC Blending Factor2 - * @{ - */ -#define LTDC_BLENDING_FACTOR2_CA 0x00000005U /*!< Blending factor : Cte Alpha */ -#define LTDC_BLENDING_FACTOR2_PAxCA 0x00000007U /*!< Blending factor : Cte Alpha x Pixel Alpha*/ -/** - * @} - */ - -/** @defgroup LTDC_Pixelformat LTDC Pixel format - * @{ - */ -#define LTDC_PIXEL_FORMAT_ARGB8888 0x00000000U /*!< ARGB8888 LTDC pixel format */ -#define LTDC_PIXEL_FORMAT_RGB888 0x00000001U /*!< RGB888 LTDC pixel format */ -#define LTDC_PIXEL_FORMAT_RGB565 0x00000002U /*!< RGB565 LTDC pixel format */ -#define LTDC_PIXEL_FORMAT_ARGB1555 0x00000003U /*!< ARGB1555 LTDC pixel format */ -#define LTDC_PIXEL_FORMAT_ARGB4444 0x00000004U /*!< ARGB4444 LTDC pixel format */ -#define LTDC_PIXEL_FORMAT_L8 0x00000005U /*!< L8 LTDC pixel format */ -#define LTDC_PIXEL_FORMAT_AL44 0x00000006U /*!< AL44 LTDC pixel format */ -#define LTDC_PIXEL_FORMAT_AL88 0x00000007U /*!< AL88 LTDC pixel format */ -/** - * @} - */ - -/** @defgroup LTDC_Alpha LTDC Alpha - * @{ - */ -#define LTDC_ALPHA LTDC_LxCACR_CONSTA /*!< LTDC Constant Alpha mask */ -/** - * @} - */ - -/** @defgroup LTDC_LAYER_Config LTDC LAYER Config - * @{ - */ -#define LTDC_STOPPOSITION (LTDC_LxWHPCR_WHSPPOS >> 16U) /*!< LTDC Layer stop position */ -#define LTDC_STARTPOSITION LTDC_LxWHPCR_WHSTPOS /*!< LTDC Layer start position */ - -#define LTDC_COLOR_FRAME_BUFFER LTDC_LxCFBLR_CFBLL /*!< LTDC Layer Line length */ -#define LTDC_LINE_NUMBER LTDC_LxCFBLNR_CFBLNBR /*!< LTDC Layer Line number */ -/** - * @} - */ - -/** @defgroup LTDC_Interrupts LTDC Interrupts - * @{ - */ -#define LTDC_IT_LI LTDC_IER_LIE /*!< LTDC Line Interrupt */ -#define LTDC_IT_FU LTDC_IER_FUIE /*!< LTDC FIFO Underrun Interrupt */ -#define LTDC_IT_TE LTDC_IER_TERRIE /*!< LTDC Transfer Error Interrupt */ -#define LTDC_IT_RR LTDC_IER_RRIE /*!< LTDC Register Reload Interrupt */ -/** - * @} - */ - -/** @defgroup LTDC_Flags LTDC Flags - * @{ - */ -#define LTDC_FLAG_LI LTDC_ISR_LIF /*!< LTDC Line Interrupt Flag */ -#define LTDC_FLAG_FU LTDC_ISR_FUIF /*!< LTDC FIFO Underrun interrupt Flag */ -#define LTDC_FLAG_TE LTDC_ISR_TERRIF /*!< LTDC Transfer Error interrupt Flag */ -#define LTDC_FLAG_RR LTDC_ISR_RRIF /*!< LTDC Register Reload interrupt Flag */ -/** - * @} - */ - -/** @defgroup LTDC_Reload_Type LTDC Reload Type - * @{ - */ -#define LTDC_RELOAD_IMMEDIATE LTDC_SRCR_IMR /*!< Immediate Reload */ -#define LTDC_RELOAD_VERTICAL_BLANKING LTDC_SRCR_VBR /*!< Vertical Blanking Reload */ -/** - * @} - */ - -/** - * @} - */ - -/* Exported macro ------------------------------------------------------------*/ -/** @defgroup LTDC_Exported_Macros LTDC Exported Macros - * @{ - */ - -/** @brief Reset LTDC handle state. - * @param __HANDLE__ LTDC handle - * @retval None - */ -#if (USE_HAL_LTDC_REGISTER_CALLBACKS == 1) -#define __HAL_LTDC_RESET_HANDLE_STATE(__HANDLE__) do{ \ - (__HANDLE__)->State = HAL_LTDC_STATE_RESET; \ - (__HANDLE__)->MspInitCallback = NULL; \ - (__HANDLE__)->MspDeInitCallback = NULL; \ - } while(0) -#else -#define __HAL_LTDC_RESET_HANDLE_STATE(__HANDLE__) ((__HANDLE__)->State = HAL_LTDC_STATE_RESET) -#endif /*USE_HAL_LTDC_REGISTER_CALLBACKS */ - -/** - * @brief Enable the LTDC. - * @param __HANDLE__ LTDC handle - * @retval None. - */ -#define __HAL_LTDC_ENABLE(__HANDLE__) ((__HANDLE__)->Instance->GCR |= LTDC_GCR_LTDCEN) - -/** - * @brief Disable the LTDC. - * @param __HANDLE__ LTDC handle - * @retval None. - */ -#define __HAL_LTDC_DISABLE(__HANDLE__) ((__HANDLE__)->Instance->GCR &= ~(LTDC_GCR_LTDCEN)) - -/** - * @brief Enable the LTDC Layer. - * @param __HANDLE__ LTDC handle - * @param __LAYER__ Specify the layer to be enabled. - * This parameter can be LTDC_LAYER_1 (0) or LTDC_LAYER_2 (1). - * @retval None. - */ -#define __HAL_LTDC_LAYER_ENABLE(__HANDLE__, __LAYER__) ((LTDC_LAYER((__HANDLE__), (__LAYER__)))->CR |= (uint32_t)LTDC_LxCR_LEN) - -/** - * @brief Disable the LTDC Layer. - * @param __HANDLE__ LTDC handle - * @param __LAYER__ Specify the layer to be disabled. - * This parameter can be LTDC_LAYER_1 (0) or LTDC_LAYER_2 (1). - * @retval None. - */ -#define __HAL_LTDC_LAYER_DISABLE(__HANDLE__, __LAYER__) ((LTDC_LAYER((__HANDLE__), (__LAYER__)))->CR &= ~(uint32_t)LTDC_LxCR_LEN) - -/** - * @brief Reload immediately all LTDC Layers. - * @param __HANDLE__ LTDC handle - * @retval None. - */ -#define __HAL_LTDC_RELOAD_IMMEDIATE_CONFIG(__HANDLE__) ((__HANDLE__)->Instance->SRCR |= LTDC_SRCR_IMR) - -/** - * @brief Reload during vertical blanking period all LTDC Layers. - * @param __HANDLE__ LTDC handle - * @retval None. - */ -#define __HAL_LTDC_VERTICAL_BLANKING_RELOAD_CONFIG(__HANDLE__) ((__HANDLE__)->Instance->SRCR |= LTDC_SRCR_VBR) - -/* Interrupt & Flag management */ -/** - * @brief Get the LTDC pending flags. - * @param __HANDLE__ LTDC handle - * @param __FLAG__ Get the specified flag. - * This parameter can be any combination of the following values: - * @arg LTDC_FLAG_LI: Line Interrupt flag - * @arg LTDC_FLAG_FU: FIFO Underrun Interrupt flag - * @arg LTDC_FLAG_TE: Transfer Error interrupt flag - * @arg LTDC_FLAG_RR: Register Reload Interrupt Flag - * @retval The state of FLAG (SET or RESET). - */ -#define __HAL_LTDC_GET_FLAG(__HANDLE__, __FLAG__) ((__HANDLE__)->Instance->ISR & (__FLAG__)) - -/** - * @brief Clears the LTDC pending flags. - * @param __HANDLE__ LTDC handle - * @param __FLAG__ Specify the flag to clear. - * This parameter can be any combination of the following values: - * @arg LTDC_FLAG_LI: Line Interrupt flag - * @arg LTDC_FLAG_FU: FIFO Underrun Interrupt flag - * @arg LTDC_FLAG_TE: Transfer Error interrupt flag - * @arg LTDC_FLAG_RR: Register Reload Interrupt Flag - * @retval None - */ -#define __HAL_LTDC_CLEAR_FLAG(__HANDLE__, __FLAG__) ((__HANDLE__)->Instance->ICR = (__FLAG__)) - -/** - * @brief Enables the specified LTDC interrupts. - * @param __HANDLE__ LTDC handle - * @param __INTERRUPT__ Specify the LTDC interrupt sources to be enabled. - * This parameter can be any combination of the following values: - * @arg LTDC_IT_LI: Line Interrupt flag - * @arg LTDC_IT_FU: FIFO Underrun Interrupt flag - * @arg LTDC_IT_TE: Transfer Error interrupt flag - * @arg LTDC_IT_RR: Register Reload Interrupt Flag - * @retval None - */ -#define __HAL_LTDC_ENABLE_IT(__HANDLE__, __INTERRUPT__) ((__HANDLE__)->Instance->IER |= (__INTERRUPT__)) - -/** - * @brief Disables the specified LTDC interrupts. - * @param __HANDLE__ LTDC handle - * @param __INTERRUPT__ Specify the LTDC interrupt sources to be disabled. - * This parameter can be any combination of the following values: - * @arg LTDC_IT_LI: Line Interrupt flag - * @arg LTDC_IT_FU: FIFO Underrun Interrupt flag - * @arg LTDC_IT_TE: Transfer Error interrupt flag - * @arg LTDC_IT_RR: Register Reload Interrupt Flag - * @retval None - */ -#define __HAL_LTDC_DISABLE_IT(__HANDLE__, __INTERRUPT__) ((__HANDLE__)->Instance->IER &= ~(__INTERRUPT__)) - -/** - * @brief Check whether the specified LTDC interrupt has occurred or not. - * @param __HANDLE__ LTDC handle - * @param __INTERRUPT__ Specify the LTDC interrupt source to check. - * This parameter can be one of the following values: - * @arg LTDC_IT_LI: Line Interrupt flag - * @arg LTDC_IT_FU: FIFO Underrun Interrupt flag - * @arg LTDC_IT_TE: Transfer Error interrupt flag - * @arg LTDC_IT_RR: Register Reload Interrupt Flag - * @retval The state of INTERRUPT (SET or RESET). - */ -#define __HAL_LTDC_GET_IT_SOURCE(__HANDLE__, __INTERRUPT__) ((__HANDLE__)->Instance->IER & (__INTERRUPT__)) -/** - * @} - */ - -/* Include LTDC HAL Extension module */ -#include "stm32f4xx_hal_ltdc_ex.h" - -/* Exported functions --------------------------------------------------------*/ -/** @addtogroup LTDC_Exported_Functions - * @{ - */ -/** @addtogroup LTDC_Exported_Functions_Group1 - * @{ - */ -/* Initialization and de-initialization functions *****************************/ -HAL_StatusTypeDef HAL_LTDC_Init(LTDC_HandleTypeDef *hltdc); -HAL_StatusTypeDef HAL_LTDC_DeInit(LTDC_HandleTypeDef *hltdc); -void HAL_LTDC_MspInit(LTDC_HandleTypeDef *hltdc); -void HAL_LTDC_MspDeInit(LTDC_HandleTypeDef *hltdc); -void HAL_LTDC_ErrorCallback(LTDC_HandleTypeDef *hltdc); -void HAL_LTDC_LineEventCallback(LTDC_HandleTypeDef *hltdc); -void HAL_LTDC_ReloadEventCallback(LTDC_HandleTypeDef *hltdc); - -/* Callbacks Register/UnRegister functions ***********************************/ -#if (USE_HAL_LTDC_REGISTER_CALLBACKS == 1) -HAL_StatusTypeDef HAL_LTDC_RegisterCallback(LTDC_HandleTypeDef *hltdc, HAL_LTDC_CallbackIDTypeDef CallbackID, pLTDC_CallbackTypeDef pCallback); -HAL_StatusTypeDef HAL_LTDC_UnRegisterCallback(LTDC_HandleTypeDef *hltdc, HAL_LTDC_CallbackIDTypeDef CallbackID); -#endif /* USE_HAL_LTDC_REGISTER_CALLBACKS */ - -/** - * @} - */ - -/** @addtogroup LTDC_Exported_Functions_Group2 - * @{ - */ -/* IO operation functions *****************************************************/ -void HAL_LTDC_IRQHandler(LTDC_HandleTypeDef *hltdc); -/** - * @} - */ - -/** @addtogroup LTDC_Exported_Functions_Group3 - * @{ - */ -/* Peripheral Control functions ***********************************************/ -HAL_StatusTypeDef HAL_LTDC_ConfigLayer(LTDC_HandleTypeDef *hltdc, LTDC_LayerCfgTypeDef *pLayerCfg, uint32_t LayerIdx); -HAL_StatusTypeDef HAL_LTDC_SetWindowSize(LTDC_HandleTypeDef *hltdc, uint32_t XSize, uint32_t YSize, uint32_t LayerIdx); -HAL_StatusTypeDef HAL_LTDC_SetWindowPosition(LTDC_HandleTypeDef *hltdc, uint32_t X0, uint32_t Y0, uint32_t LayerIdx); -HAL_StatusTypeDef HAL_LTDC_SetPixelFormat(LTDC_HandleTypeDef *hltdc, uint32_t Pixelformat, uint32_t LayerIdx); -HAL_StatusTypeDef HAL_LTDC_SetAlpha(LTDC_HandleTypeDef *hltdc, uint32_t Alpha, uint32_t LayerIdx); -HAL_StatusTypeDef HAL_LTDC_SetAddress(LTDC_HandleTypeDef *hltdc, uint32_t Address, uint32_t LayerIdx); -HAL_StatusTypeDef HAL_LTDC_SetPitch(LTDC_HandleTypeDef *hltdc, uint32_t LinePitchInPixels, uint32_t LayerIdx); -HAL_StatusTypeDef HAL_LTDC_ConfigColorKeying(LTDC_HandleTypeDef *hltdc, uint32_t RGBValue, uint32_t LayerIdx); -HAL_StatusTypeDef HAL_LTDC_ConfigCLUT(LTDC_HandleTypeDef *hltdc, uint32_t *pCLUT, uint32_t CLUTSize, uint32_t LayerIdx); -HAL_StatusTypeDef HAL_LTDC_EnableColorKeying(LTDC_HandleTypeDef *hltdc, uint32_t LayerIdx); -HAL_StatusTypeDef HAL_LTDC_DisableColorKeying(LTDC_HandleTypeDef *hltdc, uint32_t LayerIdx); -HAL_StatusTypeDef HAL_LTDC_EnableCLUT(LTDC_HandleTypeDef *hltdc, uint32_t LayerIdx); -HAL_StatusTypeDef HAL_LTDC_DisableCLUT(LTDC_HandleTypeDef *hltdc, uint32_t LayerIdx); -HAL_StatusTypeDef HAL_LTDC_ProgramLineEvent(LTDC_HandleTypeDef *hltdc, uint32_t Line); -HAL_StatusTypeDef HAL_LTDC_EnableDither(LTDC_HandleTypeDef *hltdc); -HAL_StatusTypeDef HAL_LTDC_DisableDither(LTDC_HandleTypeDef *hltdc); -HAL_StatusTypeDef HAL_LTDC_Reload(LTDC_HandleTypeDef *hltdc, uint32_t ReloadType); -HAL_StatusTypeDef HAL_LTDC_ConfigLayer_NoReload(LTDC_HandleTypeDef *hltdc, LTDC_LayerCfgTypeDef *pLayerCfg, uint32_t LayerIdx); -HAL_StatusTypeDef HAL_LTDC_SetWindowSize_NoReload(LTDC_HandleTypeDef *hltdc, uint32_t XSize, uint32_t YSize, uint32_t LayerIdx); -HAL_StatusTypeDef HAL_LTDC_SetWindowPosition_NoReload(LTDC_HandleTypeDef *hltdc, uint32_t X0, uint32_t Y0, uint32_t LayerIdx); -HAL_StatusTypeDef HAL_LTDC_SetPixelFormat_NoReload(LTDC_HandleTypeDef *hltdc, uint32_t Pixelformat, uint32_t LayerIdx); -HAL_StatusTypeDef HAL_LTDC_SetAlpha_NoReload(LTDC_HandleTypeDef *hltdc, uint32_t Alpha, uint32_t LayerIdx); -HAL_StatusTypeDef HAL_LTDC_SetAddress_NoReload(LTDC_HandleTypeDef *hltdc, uint32_t Address, uint32_t LayerIdx); -HAL_StatusTypeDef HAL_LTDC_SetPitch_NoReload(LTDC_HandleTypeDef *hltdc, uint32_t LinePitchInPixels, uint32_t LayerIdx); -HAL_StatusTypeDef HAL_LTDC_ConfigColorKeying_NoReload(LTDC_HandleTypeDef *hltdc, uint32_t RGBValue, uint32_t LayerIdx); -HAL_StatusTypeDef HAL_LTDC_EnableColorKeying_NoReload(LTDC_HandleTypeDef *hltdc, uint32_t LayerIdx); -HAL_StatusTypeDef HAL_LTDC_DisableColorKeying_NoReload(LTDC_HandleTypeDef *hltdc, uint32_t LayerIdx); -HAL_StatusTypeDef HAL_LTDC_EnableCLUT_NoReload(LTDC_HandleTypeDef *hltdc, uint32_t LayerIdx); -HAL_StatusTypeDef HAL_LTDC_DisableCLUT_NoReload(LTDC_HandleTypeDef *hltdc, uint32_t LayerIdx); - -/** - * @} - */ - -/** @addtogroup LTDC_Exported_Functions_Group4 - * @{ - */ -/* Peripheral State functions *************************************************/ -HAL_LTDC_StateTypeDef HAL_LTDC_GetState(LTDC_HandleTypeDef *hltdc); -uint32_t HAL_LTDC_GetError(LTDC_HandleTypeDef *hltdc); -/** - * @} - */ - -/** - * @} - */ - -/* Private types -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private constants ---------------------------------------------------------*/ -/* Private macros ------------------------------------------------------------*/ -/** @defgroup LTDC_Private_Macros LTDC Private Macros - * @{ - */ -#define LTDC_LAYER(__HANDLE__, __LAYER__) ((LTDC_Layer_TypeDef *)((uint32_t)(((uint32_t)((__HANDLE__)->Instance)) + 0x84U + (0x80U*(__LAYER__))))) -#define IS_LTDC_LAYER(__LAYER__) ((__LAYER__) < MAX_LAYER) -#define IS_LTDC_HSPOL(__HSPOL__) (((__HSPOL__) == LTDC_HSPOLARITY_AL) || ((__HSPOL__) == LTDC_HSPOLARITY_AH)) -#define IS_LTDC_VSPOL(__VSPOL__) (((__VSPOL__) == LTDC_VSPOLARITY_AL) || ((__VSPOL__) == LTDC_VSPOLARITY_AH)) -#define IS_LTDC_DEPOL(__DEPOL__) (((__DEPOL__) == LTDC_DEPOLARITY_AL) || ((__DEPOL__) == LTDC_DEPOLARITY_AH)) -#define IS_LTDC_PCPOL(__PCPOL__) (((__PCPOL__) == LTDC_PCPOLARITY_IPC) || ((__PCPOL__) == LTDC_PCPOLARITY_IIPC)) -#define IS_LTDC_HSYNC(__HSYNC__) ((__HSYNC__) <= LTDC_HORIZONTALSYNC) -#define IS_LTDC_VSYNC(__VSYNC__) ((__VSYNC__) <= LTDC_VERTICALSYNC) -#define IS_LTDC_AHBP(__AHBP__) ((__AHBP__) <= LTDC_HORIZONTALSYNC) -#define IS_LTDC_AVBP(__AVBP__) ((__AVBP__) <= LTDC_VERTICALSYNC) -#define IS_LTDC_AAW(__AAW__) ((__AAW__) <= LTDC_HORIZONTALSYNC) -#define IS_LTDC_AAH(__AAH__) ((__AAH__) <= LTDC_VERTICALSYNC) -#define IS_LTDC_TOTALW(__TOTALW__) ((__TOTALW__) <= LTDC_HORIZONTALSYNC) -#define IS_LTDC_TOTALH(__TOTALH__) ((__TOTALH__) <= LTDC_VERTICALSYNC) -#define IS_LTDC_BLUEVALUE(__BBLUE__) ((__BBLUE__) <= LTDC_COLOR) -#define IS_LTDC_GREENVALUE(__BGREEN__) ((__BGREEN__) <= LTDC_COLOR) -#define IS_LTDC_REDVALUE(__BRED__) ((__BRED__) <= LTDC_COLOR) -#define IS_LTDC_BLENDING_FACTOR1(__BLENDING_FACTOR1__) (((__BLENDING_FACTOR1__) == LTDC_BLENDING_FACTOR1_CA) || \ - ((__BLENDING_FACTOR1__) == LTDC_BLENDING_FACTOR1_PAxCA)) -#define IS_LTDC_BLENDING_FACTOR2(__BLENDING_FACTOR1__) (((__BLENDING_FACTOR1__) == LTDC_BLENDING_FACTOR2_CA) || \ - ((__BLENDING_FACTOR1__) == LTDC_BLENDING_FACTOR2_PAxCA)) -#define IS_LTDC_PIXEL_FORMAT(__PIXEL_FORMAT__) (((__PIXEL_FORMAT__) == LTDC_PIXEL_FORMAT_ARGB8888) || ((__PIXEL_FORMAT__) == LTDC_PIXEL_FORMAT_RGB888) || \ - ((__PIXEL_FORMAT__) == LTDC_PIXEL_FORMAT_RGB565) || ((__PIXEL_FORMAT__) == LTDC_PIXEL_FORMAT_ARGB1555) || \ - ((__PIXEL_FORMAT__) == LTDC_PIXEL_FORMAT_ARGB4444) || ((__PIXEL_FORMAT__) == LTDC_PIXEL_FORMAT_L8) || \ - ((__PIXEL_FORMAT__) == LTDC_PIXEL_FORMAT_AL44) || ((__PIXEL_FORMAT__) == LTDC_PIXEL_FORMAT_AL88)) -#define IS_LTDC_ALPHA(__ALPHA__) ((__ALPHA__) <= LTDC_ALPHA) -#define IS_LTDC_HCONFIGST(__HCONFIGST__) ((__HCONFIGST__) <= LTDC_STARTPOSITION) -#define IS_LTDC_HCONFIGSP(__HCONFIGSP__) ((__HCONFIGSP__) <= LTDC_STOPPOSITION) -#define IS_LTDC_VCONFIGST(__VCONFIGST__) ((__VCONFIGST__) <= LTDC_STARTPOSITION) -#define IS_LTDC_VCONFIGSP(__VCONFIGSP__) ((__VCONFIGSP__) <= LTDC_STOPPOSITION) -#define IS_LTDC_CFBP(__CFBP__) ((__CFBP__) <= LTDC_COLOR_FRAME_BUFFER) -#define IS_LTDC_CFBLL(__CFBLL__) ((__CFBLL__) <= LTDC_COLOR_FRAME_BUFFER) -#define IS_LTDC_CFBLNBR(__CFBLNBR__) ((__CFBLNBR__) <= LTDC_LINE_NUMBER) -#define IS_LTDC_LIPOS(__LIPOS__) ((__LIPOS__) <= 0x7FFU) -#define IS_LTDC_RELOAD(__RELOADTYPE__) (((__RELOADTYPE__) == LTDC_RELOAD_IMMEDIATE) || ((__RELOADTYPE__) == LTDC_RELOAD_VERTICAL_BLANKING)) -/** - * @} - */ - -/* Private functions ---------------------------------------------------------*/ -/** @defgroup LTDC_Private_Functions LTDC Private Functions - * @{ - */ - -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ - -#endif /* LTDC */ - -#ifdef __cplusplus -} -#endif - -#endif /* STM32F4xx_HAL_LTDC_H */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_ltdc_ex.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_ltdc_ex.h deleted file mode 100644 index 37a5fdf47a3e7e..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_ltdc_ex.h +++ /dev/null @@ -1,86 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_ltdc_ex.h - * @author MCD Application Team - * @brief Header file of LTDC HAL Extension module. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef STM32F4xx_HAL_LTDC_EX_H -#define STM32F4xx_HAL_LTDC_EX_H - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal_def.h" - -#if defined (LTDC) && defined (DSI) - -#include "stm32f4xx_hal_dsi.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @addtogroup LTDCEx - * @{ - */ - -/* Exported types ------------------------------------------------------------*/ -/* Exported constants --------------------------------------------------------*/ -/* Exported macro ------------------------------------------------------------*/ -/* Exported functions --------------------------------------------------------*/ -/** @addtogroup LTDCEx_Exported_Functions - * @{ - */ - -/** @addtogroup LTDCEx_Exported_Functions_Group1 - * @{ - */ -HAL_StatusTypeDef HAL_LTDCEx_StructInitFromVideoConfig(LTDC_HandleTypeDef *hltdc, DSI_VidCfgTypeDef *VidCfg); -HAL_StatusTypeDef HAL_LTDCEx_StructInitFromAdaptedCommandConfig(LTDC_HandleTypeDef *hltdc, DSI_CmdCfgTypeDef *CmdCfg); -/** - * @} - */ - -/** - * @} - */ - -/* Private types -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private constants ---------------------------------------------------------*/ -/* Private macros ------------------------------------------------------------*/ -/* Private functions ---------------------------------------------------------*/ - -/** - * @} - */ - -/** - * @} - */ - -#endif /* LTDC && DSI */ - -#ifdef __cplusplus -} -#endif - -#endif /* STM32F4xx_HAL_LTDC_EX_H */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_mmc.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_mmc.h deleted file mode 100644 index e65172acd65cba..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_mmc.h +++ /dev/null @@ -1,745 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_mmc.h - * @author MCD Application Team - * @brief Header file of MMC HAL module. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef STM32F4xx_HAL_MMC_H -#define STM32F4xx_HAL_MMC_H - -#if defined(SDIO) - -#ifdef __cplusplus - extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_ll_sdmmc.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @addtogroup MMC - * @{ - */ - -/* Exported types ------------------------------------------------------------*/ -/** @defgroup MMC_Exported_Types MMC Exported Types - * @{ - */ - -/** @defgroup MMC_Exported_Types_Group1 MMC State enumeration structure - * @{ - */ -typedef enum -{ - HAL_MMC_STATE_RESET = 0x00000000U, /*!< MMC not yet initialized or disabled */ - HAL_MMC_STATE_READY = 0x00000001U, /*!< MMC initialized and ready for use */ - HAL_MMC_STATE_TIMEOUT = 0x00000002U, /*!< MMC Timeout state */ - HAL_MMC_STATE_BUSY = 0x00000003U, /*!< MMC process ongoing */ - HAL_MMC_STATE_PROGRAMMING = 0x00000004U, /*!< MMC Programming State */ - HAL_MMC_STATE_RECEIVING = 0x00000005U, /*!< MMC Receinving State */ - HAL_MMC_STATE_TRANSFER = 0x00000006U, /*!< MMC Transfer State */ - HAL_MMC_STATE_ERROR = 0x0000000FU /*!< MMC is in error state */ -}HAL_MMC_StateTypeDef; -/** - * @} - */ - -/** @defgroup MMC_Exported_Types_Group2 MMC Card State enumeration structure - * @{ - */ -typedef uint32_t HAL_MMC_CardStateTypeDef; - -#define HAL_MMC_CARD_READY 0x00000001U /*!< Card state is ready */ -#define HAL_MMC_CARD_IDENTIFICATION 0x00000002U /*!< Card is in identification state */ -#define HAL_MMC_CARD_STANDBY 0x00000003U /*!< Card is in standby state */ -#define HAL_MMC_CARD_TRANSFER 0x00000004U /*!< Card is in transfer state */ -#define HAL_MMC_CARD_SENDING 0x00000005U /*!< Card is sending an operation */ -#define HAL_MMC_CARD_RECEIVING 0x00000006U /*!< Card is receiving operation information */ -#define HAL_MMC_CARD_PROGRAMMING 0x00000007U /*!< Card is in programming state */ -#define HAL_MMC_CARD_DISCONNECTED 0x00000008U /*!< Card is disconnected */ -#define HAL_MMC_CARD_ERROR 0x000000FFU /*!< Card response Error */ -/** - * @} - */ - -/** @defgroup MMC_Exported_Types_Group3 MMC Handle Structure definition - * @{ - */ -#define MMC_InitTypeDef SDIO_InitTypeDef -#define MMC_TypeDef SDIO_TypeDef - -/** - * @brief MMC Card Information Structure definition - */ -typedef struct -{ - uint32_t CardType; /*!< Specifies the card Type */ - - uint32_t Class; /*!< Specifies the class of the card class */ - - uint32_t RelCardAdd; /*!< Specifies the Relative Card Address */ - - uint32_t BlockNbr; /*!< Specifies the Card Capacity in blocks */ - - uint32_t BlockSize; /*!< Specifies one block size in bytes */ - - uint32_t LogBlockNbr; /*!< Specifies the Card logical Capacity in blocks */ - - uint32_t LogBlockSize; /*!< Specifies logical block size in bytes */ - -}HAL_MMC_CardInfoTypeDef; - -/** - * @brief MMC handle Structure definition - */ -#if defined (USE_HAL_MMC_REGISTER_CALLBACKS) && (USE_HAL_MMC_REGISTER_CALLBACKS == 1U) -typedef struct __MMC_HandleTypeDef -#else -typedef struct -#endif /* USE_HAL_MMC_REGISTER_CALLBACKS */ -{ - MMC_TypeDef *Instance; /*!< MMC registers base address */ - - MMC_InitTypeDef Init; /*!< MMC required parameters */ - - HAL_LockTypeDef Lock; /*!< MMC locking object */ - - uint8_t *pTxBuffPtr; /*!< Pointer to MMC Tx transfer Buffer */ - - uint32_t TxXferSize; /*!< MMC Tx Transfer size */ - - uint8_t *pRxBuffPtr; /*!< Pointer to MMC Rx transfer Buffer */ - - uint32_t RxXferSize; /*!< MMC Rx Transfer size */ - - __IO uint32_t Context; /*!< MMC transfer context */ - - __IO HAL_MMC_StateTypeDef State; /*!< MMC card State */ - - __IO uint32_t ErrorCode; /*!< MMC Card Error codes */ - - DMA_HandleTypeDef *hdmarx; /*!< MMC Rx DMA handle parameters */ - - DMA_HandleTypeDef *hdmatx; /*!< MMC Tx DMA handle parameters */ - - HAL_MMC_CardInfoTypeDef MmcCard; /*!< MMC Card information */ - - uint32_t CSD[4U]; /*!< MMC card specific data table */ - - uint32_t CID[4U]; /*!< MMC card identification number table */ - -#if defined (USE_HAL_MMC_REGISTER_CALLBACKS) && (USE_HAL_MMC_REGISTER_CALLBACKS == 1U) - void (* TxCpltCallback) (struct __MMC_HandleTypeDef *hmmc); - void (* RxCpltCallback) (struct __MMC_HandleTypeDef *hmmc); - void (* ErrorCallback) (struct __MMC_HandleTypeDef *hmmc); - void (* AbortCpltCallback) (struct __MMC_HandleTypeDef *hmmc); - - void (* MspInitCallback) (struct __MMC_HandleTypeDef *hmmc); - void (* MspDeInitCallback) (struct __MMC_HandleTypeDef *hmmc); -#endif -}MMC_HandleTypeDef; - -/** - * @} - */ - -/** @defgroup MMC_Exported_Types_Group4 Card Specific Data: CSD Register - * @{ - */ -typedef struct -{ - __IO uint8_t CSDStruct; /*!< CSD structure */ - __IO uint8_t SysSpecVersion; /*!< System specification version */ - __IO uint8_t Reserved1; /*!< Reserved */ - __IO uint8_t TAAC; /*!< Data read access time 1 */ - __IO uint8_t NSAC; /*!< Data read access time 2 in CLK cycles */ - __IO uint8_t MaxBusClkFrec; /*!< Max. bus clock frequency */ - __IO uint16_t CardComdClasses; /*!< Card command classes */ - __IO uint8_t RdBlockLen; /*!< Max. read data block length */ - __IO uint8_t PartBlockRead; /*!< Partial blocks for read allowed */ - __IO uint8_t WrBlockMisalign; /*!< Write block misalignment */ - __IO uint8_t RdBlockMisalign; /*!< Read block misalignment */ - __IO uint8_t DSRImpl; /*!< DSR implemented */ - __IO uint8_t Reserved2; /*!< Reserved */ - __IO uint32_t DeviceSize; /*!< Device Size */ - __IO uint8_t MaxRdCurrentVDDMin; /*!< Max. read current @ VDD min */ - __IO uint8_t MaxRdCurrentVDDMax; /*!< Max. read current @ VDD max */ - __IO uint8_t MaxWrCurrentVDDMin; /*!< Max. write current @ VDD min */ - __IO uint8_t MaxWrCurrentVDDMax; /*!< Max. write current @ VDD max */ - __IO uint8_t DeviceSizeMul; /*!< Device size multiplier */ - __IO uint8_t EraseGrSize; /*!< Erase group size */ - __IO uint8_t EraseGrMul; /*!< Erase group size multiplier */ - __IO uint8_t WrProtectGrSize; /*!< Write protect group size */ - __IO uint8_t WrProtectGrEnable; /*!< Write protect group enable */ - __IO uint8_t ManDeflECC; /*!< Manufacturer default ECC */ - __IO uint8_t WrSpeedFact; /*!< Write speed factor */ - __IO uint8_t MaxWrBlockLen; /*!< Max. write data block length */ - __IO uint8_t WriteBlockPaPartial; /*!< Partial blocks for write allowed */ - __IO uint8_t Reserved3; /*!< Reserved */ - __IO uint8_t ContentProtectAppli; /*!< Content protection application */ - __IO uint8_t FileFormatGroup; /*!< File format group */ - __IO uint8_t CopyFlag; /*!< Copy flag (OTP) */ - __IO uint8_t PermWrProtect; /*!< Permanent write protection */ - __IO uint8_t TempWrProtect; /*!< Temporary write protection */ - __IO uint8_t FileFormat; /*!< File format */ - __IO uint8_t ECC; /*!< ECC code */ - __IO uint8_t CSD_CRC; /*!< CSD CRC */ - __IO uint8_t Reserved4; /*!< Always 1 */ - -}HAL_MMC_CardCSDTypeDef; -/** - * @} - */ - -/** @defgroup MMC_Exported_Types_Group5 Card Identification Data: CID Register - * @{ - */ -typedef struct -{ - __IO uint8_t ManufacturerID; /*!< Manufacturer ID */ - __IO uint16_t OEM_AppliID; /*!< OEM/Application ID */ - __IO uint32_t ProdName1; /*!< Product Name part1 */ - __IO uint8_t ProdName2; /*!< Product Name part2 */ - __IO uint8_t ProdRev; /*!< Product Revision */ - __IO uint32_t ProdSN; /*!< Product Serial Number */ - __IO uint8_t Reserved1; /*!< Reserved1 */ - __IO uint16_t ManufactDate; /*!< Manufacturing Date */ - __IO uint8_t CID_CRC; /*!< CID CRC */ - __IO uint8_t Reserved2; /*!< Always 1 */ - -}HAL_MMC_CardCIDTypeDef; -/** - * @} - */ - -#if defined (USE_HAL_MMC_REGISTER_CALLBACKS) && (USE_HAL_MMC_REGISTER_CALLBACKS == 1U) -/** @defgroup MMC_Exported_Types_Group6 MMC Callback ID enumeration definition - * @{ - */ -typedef enum -{ - HAL_MMC_TX_CPLT_CB_ID = 0x00U, /*!< MMC Tx Complete Callback ID */ - HAL_MMC_RX_CPLT_CB_ID = 0x01U, /*!< MMC Rx Complete Callback ID */ - HAL_MMC_ERROR_CB_ID = 0x02U, /*!< MMC Error Callback ID */ - HAL_MMC_ABORT_CB_ID = 0x03U, /*!< MMC Abort Callback ID */ - - HAL_MMC_MSP_INIT_CB_ID = 0x10U, /*!< MMC MspInit Callback ID */ - HAL_MMC_MSP_DEINIT_CB_ID = 0x11U /*!< MMC MspDeInit Callback ID */ -}HAL_MMC_CallbackIDTypeDef; -/** - * @} - */ - -/** @defgroup MMC_Exported_Types_Group7 MMC Callback pointer definition - * @{ - */ -typedef void (*pMMC_CallbackTypeDef) (MMC_HandleTypeDef *hmmc); -/** - * @} - */ -#endif -/** - * @} - */ - -/* Exported constants --------------------------------------------------------*/ -/** @defgroup MMC_Exported_Constants Exported Constants - * @{ - */ - -#define MMC_BLOCKSIZE 512U /*!< Block size is 512 bytes */ - -/** @defgroup MMC_Exported_Constansts_Group1 MMC Error status enumeration Structure definition - * @{ - */ -#define HAL_MMC_ERROR_NONE SDMMC_ERROR_NONE /*!< No error */ -#define HAL_MMC_ERROR_CMD_CRC_FAIL SDMMC_ERROR_CMD_CRC_FAIL /*!< Command response received (but CRC check failed) */ -#define HAL_MMC_ERROR_DATA_CRC_FAIL SDMMC_ERROR_DATA_CRC_FAIL /*!< Data block sent/received (CRC check failed) */ -#define HAL_MMC_ERROR_CMD_RSP_TIMEOUT SDMMC_ERROR_CMD_RSP_TIMEOUT /*!< Command response timeout */ -#define HAL_MMC_ERROR_DATA_TIMEOUT SDMMC_ERROR_DATA_TIMEOUT /*!< Data timeout */ -#define HAL_MMC_ERROR_TX_UNDERRUN SDMMC_ERROR_TX_UNDERRUN /*!< Transmit FIFO underrun */ -#define HAL_MMC_ERROR_RX_OVERRUN SDMMC_ERROR_RX_OVERRUN /*!< Receive FIFO overrun */ -#define HAL_MMC_ERROR_ADDR_MISALIGNED SDMMC_ERROR_ADDR_MISALIGNED /*!< Misaligned address */ -#define HAL_MMC_ERROR_BLOCK_LEN_ERR SDMMC_ERROR_BLOCK_LEN_ERR /*!< Transferred block length is not allowed for the card or the - number of transferred bytes does not match the block length */ -#define HAL_MMC_ERROR_ERASE_SEQ_ERR SDMMC_ERROR_ERASE_SEQ_ERR /*!< An error in the sequence of erase command occurs */ -#define HAL_MMC_ERROR_BAD_ERASE_PARAM SDMMC_ERROR_BAD_ERASE_PARAM /*!< An invalid selection for erase groups */ -#define HAL_MMC_ERROR_WRITE_PROT_VIOLATION SDMMC_ERROR_WRITE_PROT_VIOLATION /*!< Attempt to program a write protect block */ -#define HAL_MMC_ERROR_LOCK_UNLOCK_FAILED SDMMC_ERROR_LOCK_UNLOCK_FAILED /*!< Sequence or password error has been detected in unlock - command or if there was an attempt to access a locked card */ -#define HAL_MMC_ERROR_COM_CRC_FAILED SDMMC_ERROR_COM_CRC_FAILED /*!< CRC check of the previous command failed */ -#define HAL_MMC_ERROR_ILLEGAL_CMD SDMMC_ERROR_ILLEGAL_CMD /*!< Command is not legal for the card state */ -#define HAL_MMC_ERROR_CARD_ECC_FAILED SDMMC_ERROR_CARD_ECC_FAILED /*!< Card internal ECC was applied but failed to correct the data */ -#define HAL_MMC_ERROR_CC_ERR SDMMC_ERROR_CC_ERR /*!< Internal card controller error */ -#define HAL_MMC_ERROR_GENERAL_UNKNOWN_ERR SDMMC_ERROR_GENERAL_UNKNOWN_ERR /*!< General or unknown error */ -#define HAL_MMC_ERROR_STREAM_READ_UNDERRUN SDMMC_ERROR_STREAM_READ_UNDERRUN /*!< The card could not sustain data reading in stream rmode */ -#define HAL_MMC_ERROR_STREAM_WRITE_OVERRUN SDMMC_ERROR_STREAM_WRITE_OVERRUN /*!< The card could not sustain data programming in stream mode */ -#define HAL_MMC_ERROR_CID_CSD_OVERWRITE SDMMC_ERROR_CID_CSD_OVERWRITE /*!< CID/CSD overwrite error */ -#define HAL_MMC_ERROR_WP_ERASE_SKIP SDMMC_ERROR_WP_ERASE_SKIP /*!< Only partial address space was erased */ -#define HAL_MMC_ERROR_CARD_ECC_DISABLED SDMMC_ERROR_CARD_ECC_DISABLED /*!< Command has been executed without using internal ECC */ -#define HAL_MMC_ERROR_ERASE_RESET SDMMC_ERROR_ERASE_RESET /*!< Erase sequence was cleared before executing because an out - of erase sequence command was received */ -#define HAL_MMC_ERROR_AKE_SEQ_ERR SDMMC_ERROR_AKE_SEQ_ERR /*!< Error in sequence of authentication */ -#define HAL_MMC_ERROR_INVALID_VOLTRANGE SDMMC_ERROR_INVALID_VOLTRANGE /*!< Error in case of invalid voltage range */ -#define HAL_MMC_ERROR_ADDR_OUT_OF_RANGE SDMMC_ERROR_ADDR_OUT_OF_RANGE /*!< Error when addressed block is out of range */ -#define HAL_MMC_ERROR_REQUEST_NOT_APPLICABLE SDMMC_ERROR_REQUEST_NOT_APPLICABLE /*!< Error when command request is not applicable */ -#define HAL_MMC_ERROR_PARAM SDMMC_ERROR_INVALID_PARAMETER /*!< the used parameter is not valid */ -#define HAL_MMC_ERROR_UNSUPPORTED_FEATURE SDMMC_ERROR_UNSUPPORTED_FEATURE /*!< Error when feature is not insupported */ -#define HAL_MMC_ERROR_BUSY SDMMC_ERROR_BUSY /*!< Error when transfer process is busy */ -#define HAL_MMC_ERROR_DMA SDMMC_ERROR_DMA /*!< Error while DMA transfer */ -#define HAL_MMC_ERROR_TIMEOUT SDMMC_ERROR_TIMEOUT /*!< Timeout error */ - -#if defined (USE_HAL_MMC_REGISTER_CALLBACKS) && (USE_HAL_MMC_REGISTER_CALLBACKS == 1U) -#define HAL_MMC_ERROR_INVALID_CALLBACK SDMMC_ERROR_INVALID_PARAMETER /*!< Invalid callback error */ -#endif -/** - * @} - */ - -/** @defgroup MMC_Exported_Constansts_Group2 MMC context enumeration - * @{ - */ -#define MMC_CONTEXT_NONE 0x00000000U /*!< None */ -#define MMC_CONTEXT_READ_SINGLE_BLOCK 0x00000001U /*!< Read single block operation */ -#define MMC_CONTEXT_READ_MULTIPLE_BLOCK 0x00000002U /*!< Read multiple blocks operation */ -#define MMC_CONTEXT_WRITE_SINGLE_BLOCK 0x00000010U /*!< Write single block operation */ -#define MMC_CONTEXT_WRITE_MULTIPLE_BLOCK 0x00000020U /*!< Write multiple blocks operation */ -#define MMC_CONTEXT_IT 0x00000008U /*!< Process in Interrupt mode */ -#define MMC_CONTEXT_DMA 0x00000080U /*!< Process in DMA mode */ - -/** - * @} - */ - -/** @defgroup MMC_Exported_Constansts_Group3 MMC Voltage mode - * @{ - */ -/** - * @brief - */ -#define MMC_HIGH_VOLTAGE_RANGE 0x80FF8000U /*!< VALUE OF ARGUMENT */ -#define MMC_DUAL_VOLTAGE_RANGE 0x80FF8080U /*!< VALUE OF ARGUMENT */ -#define eMMC_HIGH_VOLTAGE_RANGE 0xC0FF8000U /*!< for eMMC > 2Gb sector mode */ -#define eMMC_DUAL_VOLTAGE_RANGE 0xC0FF8080U /*!< for eMMC > 2Gb sector mode */ -#define MMC_INVALID_VOLTAGE_RANGE 0x0001FF01U -/** - * @} - */ - -/** @defgroup MMC_Exported_Constansts_Group4 MMC Memory Cards - * @{ - */ -#define MMC_LOW_CAPACITY_CARD 0x00000000U /*!< MMC Card Capacity <=2Gbytes */ -#define MMC_HIGH_CAPACITY_CARD 0x00000001U /*!< MMC Card Capacity >2Gbytes and <2Tbytes */ - -/** - * @} - */ - -/** - * @} - */ - -/* Exported macro ------------------------------------------------------------*/ -/** @defgroup MMC_Exported_macros MMC Exported Macros - * @brief macros to handle interrupts and specific clock configurations - * @{ - */ -/** @brief Reset MMC handle state. - * @param __HANDLE__ : MMC handle. - * @retval None - */ -#if defined (USE_HAL_MMC_REGISTER_CALLBACKS) && (USE_HAL_MMC_REGISTER_CALLBACKS == 1U) -#define __HAL_MMC_RESET_HANDLE_STATE(__HANDLE__) do { \ - (__HANDLE__)->State = HAL_MMC_STATE_RESET; \ - (__HANDLE__)->MspInitCallback = NULL; \ - (__HANDLE__)->MspDeInitCallback = NULL; \ - } while(0) -#else -#define __HAL_MMC_RESET_HANDLE_STATE(__HANDLE__) ((__HANDLE__)->State = HAL_MMC_STATE_RESET) -#endif - -/** - * @brief Enable the MMC device. - * @retval None - */ -#define __HAL_MMC_ENABLE(__HANDLE__) __SDIO_ENABLE((__HANDLE__)->Instance) - -/** - * @brief Disable the MMC device. - * @retval None - */ -#define __HAL_MMC_DISABLE(__HANDLE__) __SDIO_DISABLE((__HANDLE__)->Instance) - -/** - * @brief Enable the SDMMC DMA transfer. - * @retval None - */ -#define __HAL_MMC_DMA_ENABLE(__HANDLE__) __SDIO_DMA_ENABLE((__HANDLE__)->Instance) - -/** - * @brief Disable the SDMMC DMA transfer. - * @retval None - */ -#define __HAL_MMC_DMA_DISABLE(__HANDLE__) __SDIO_DMA_DISABLE((__HANDLE__)->Instance) - -/** - * @brief Enable the MMC device interrupt. - * @param __HANDLE__: MMC Handle - * @param __INTERRUPT__: specifies the SDMMC interrupt sources to be enabled. - * This parameter can be one or a combination of the following values: - * @arg SDIO_IT_CCRCFAIL: Command response received (CRC check failed) interrupt - * @arg SDIO_IT_DCRCFAIL: Data block sent/received (CRC check failed) interrupt - * @arg SDIO_IT_CTIMEOUT: Command response timeout interrupt - * @arg SDIO_IT_DTIMEOUT: Data timeout interrupt - * @arg SDIO_IT_TXUNDERR: Transmit FIFO underrun error interrupt - * @arg SDIO_IT_RXOVERR: Received FIFO overrun error interrupt - * @arg SDIO_IT_CMDREND: Command response received (CRC check passed) interrupt - * @arg SDIO_IT_CMDSENT: Command sent (no response required) interrupt - * @arg SDIO_IT_DATAEND: Data end (data counter, DATACOUNT, is zero) interrupt - * @arg SDIO_IT_DBCKEND: Data block sent/received (CRC check passed) interrupt - * @arg SDIO_IT_CMDACT: Command transfer in progress interrupt - * @arg SDIO_IT_TXACT: Data transmit in progress interrupt - * @arg SDIO_IT_RXACT: Data receive in progress interrupt - * @arg SDIO_IT_TXFIFOHE: Transmit FIFO Half Empty interrupt - * @arg SDIO_IT_RXFIFOHF: Receive FIFO Half Full interrupt - * @arg SDIO_IT_TXFIFOF: Transmit FIFO full interrupt - * @arg SDIO_IT_RXFIFOF: Receive FIFO full interrupt - * @arg SDIO_IT_TXFIFOE: Transmit FIFO empty interrupt - * @arg SDIO_IT_RXFIFOE: Receive FIFO empty interrupt - * @arg SDIO_IT_TXDAVL: Data available in transmit FIFO interrupt - * @arg SDIO_IT_RXDAVL: Data available in receive FIFO interrupt - * @arg SDIO_IT_SDIOIT: SD I/O interrupt received interrupt - * @retval None - */ -#define __HAL_MMC_ENABLE_IT(__HANDLE__, __INTERRUPT__) __SDIO_ENABLE_IT((__HANDLE__)->Instance, (__INTERRUPT__)) - -/** - * @brief Disable the MMC device interrupt. - * @param __HANDLE__: MMC Handle - * @param __INTERRUPT__: specifies the SDMMC interrupt sources to be disabled. - * This parameter can be one or a combination of the following values: - * @arg SDIO_IT_CCRCFAIL: Command response received (CRC check failed) interrupt - * @arg SDIO_IT_DCRCFAIL: Data block sent/received (CRC check failed) interrupt - * @arg SDIO_IT_CTIMEOUT: Command response timeout interrupt - * @arg SDIO_IT_DTIMEOUT: Data timeout interrupt - * @arg SDIO_IT_TXUNDERR: Transmit FIFO underrun error interrupt - * @arg SDIO_IT_RXOVERR: Received FIFO overrun error interrupt - * @arg SDIO_IT_CMDREND: Command response received (CRC check passed) interrupt - * @arg SDIO_IT_CMDSENT: Command sent (no response required) interrupt - * @arg SDIO_IT_DATAEND: Data end (data counter, DATACOUNT, is zero) interrupt - * @arg SDIO_IT_DBCKEND: Data block sent/received (CRC check passed) interrupt - * @arg SDIO_IT_CMDACT: Command transfer in progress interrupt - * @arg SDIO_IT_TXACT: Data transmit in progress interrupt - * @arg SDIO_IT_RXACT: Data receive in progress interrupt - * @arg SDIO_IT_TXFIFOHE: Transmit FIFO Half Empty interrupt - * @arg SDIO_IT_RXFIFOHF: Receive FIFO Half Full interrupt - * @arg SDIO_IT_TXFIFOF: Transmit FIFO full interrupt - * @arg SDIO_IT_RXFIFOF: Receive FIFO full interrupt - * @arg SDIO_IT_TXFIFOE: Transmit FIFO empty interrupt - * @arg SDIO_IT_RXFIFOE: Receive FIFO empty interrupt - * @arg SDIO_IT_TXDAVL: Data available in transmit FIFO interrupt - * @arg SDIO_IT_RXDAVL: Data available in receive FIFO interrupt - * @arg SDIO_IT_SDIOIT: SD I/O interrupt received interrupt - * @retval None - */ -#define __HAL_MMC_DISABLE_IT(__HANDLE__, __INTERRUPT__) __SDIO_DISABLE_IT((__HANDLE__)->Instance, (__INTERRUPT__)) - -/** - * @brief Check whether the specified MMC flag is set or not. - * @param __HANDLE__: MMC Handle - * @param __FLAG__: specifies the flag to check. - * This parameter can be one of the following values: - * @arg SDIO_FLAG_CCRCFAIL: Command response received (CRC check failed) - * @arg SDIO_FLAG_DCRCFAIL: Data block sent/received (CRC check failed) - * @arg SDIO_FLAG_CTIMEOUT: Command response timeout - * @arg SDIO_FLAG_DTIMEOUT: Data timeout - * @arg SDIO_FLAG_TXUNDERR: Transmit FIFO underrun error - * @arg SDIO_FLAG_RXOVERR: Received FIFO overrun error - * @arg SDIO_FLAG_CMDREND: Command response received (CRC check passed) - * @arg SDIO_FLAG_CMDSENT: Command sent (no response required) - * @arg SDIO_FLAG_DATAEND: Data end (data counter, DATACOUNT, is zero) - * @arg SDIO_FLAG_DBCKEND: Data block sent/received (CRC check passed) - * @arg SDIO_FLAG_CMDACT: Command transfer in progress - * @arg SDIO_FLAG_TXACT: Data transmit in progress - * @arg SDIO_FLAG_RXACT: Data receive in progress - * @arg SDIO_FLAG_TXFIFOHE: Transmit FIFO Half Empty - * @arg SDIO_FLAG_RXFIFOHF: Receive FIFO Half Full - * @arg SDIO_FLAG_TXFIFOF: Transmit FIFO full - * @arg SDIO_FLAG_RXFIFOF: Receive FIFO full - * @arg SDIO_FLAG_TXFIFOE: Transmit FIFO empty - * @arg SDIO_FLAG_RXFIFOE: Receive FIFO empty - * @arg SDIO_FLAG_TXDAVL: Data available in transmit FIFO - * @arg SDIO_FLAG_RXDAVL: Data available in receive FIFO - * @arg SDIO_FLAG_SDIOIT: SD I/O interrupt received - * @retval The new state of MMC FLAG (SET or RESET). - */ -#define __HAL_MMC_GET_FLAG(__HANDLE__, __FLAG__) __SDIO_GET_FLAG((__HANDLE__)->Instance, (__FLAG__)) - -/** - * @brief Clear the MMC's pending flags. - * @param __HANDLE__: MMC Handle - * @param __FLAG__: specifies the flag to clear. - * This parameter can be one or a combination of the following values: - * @arg SDIO_FLAG_CCRCFAIL: Command response received (CRC check failed) - * @arg SDIO_FLAG_DCRCFAIL: Data block sent/received (CRC check failed) - * @arg SDIO_FLAG_CTIMEOUT: Command response timeout - * @arg SDIO_FLAG_DTIMEOUT: Data timeout - * @arg SDIO_FLAG_TXUNDERR: Transmit FIFO underrun error - * @arg SDIO_FLAG_RXOVERR: Received FIFO overrun error - * @arg SDIO_FLAG_CMDREND: Command response received (CRC check passed) - * @arg SDIO_FLAG_CMDSENT: Command sent (no response required) - * @arg SDIO_FLAG_DATAEND: Data end (data counter, DATACOUNT, is zero) - * @arg SDIO_FLAG_DBCKEND: Data block sent/received (CRC check passed) - * @arg SDIO_FLAG_SDIOIT: SD I/O interrupt received - * @retval None - */ -#define __HAL_MMC_CLEAR_FLAG(__HANDLE__, __FLAG__) __SDIO_CLEAR_FLAG((__HANDLE__)->Instance, (__FLAG__)) - -/** - * @brief Check whether the specified MMC interrupt has occurred or not. - * @param __HANDLE__: MMC Handle - * @param __INTERRUPT__: specifies the SDMMC interrupt source to check. - * This parameter can be one of the following values: - * @arg SDIO_IT_CCRCFAIL: Command response received (CRC check failed) interrupt - * @arg SDIO_IT_DCRCFAIL: Data block sent/received (CRC check failed) interrupt - * @arg SDIO_IT_CTIMEOUT: Command response timeout interrupt - * @arg SDIO_IT_DTIMEOUT: Data timeout interrupt - * @arg SDIO_IT_TXUNDERR: Transmit FIFO underrun error interrupt - * @arg SDIO_IT_RXOVERR: Received FIFO overrun error interrupt - * @arg SDIO_IT_CMDREND: Command response received (CRC check passed) interrupt - * @arg SDIO_IT_CMDSENT: Command sent (no response required) interrupt - * @arg SDIO_IT_DATAEND: Data end (data counter, DATACOUNT, is zero) interrupt - * @arg SDIO_IT_DBCKEND: Data block sent/received (CRC check passed) interrupt - * @arg SDIO_IT_CMDACT: Command transfer in progress interrupt - * @arg SDIO_IT_TXACT: Data transmit in progress interrupt - * @arg SDIO_IT_RXACT: Data receive in progress interrupt - * @arg SDIO_IT_TXFIFOHE: Transmit FIFO Half Empty interrupt - * @arg SDIO_IT_RXFIFOHF: Receive FIFO Half Full interrupt - * @arg SDIO_IT_TXFIFOF: Transmit FIFO full interrupt - * @arg SDIO_IT_RXFIFOF: Receive FIFO full interrupt - * @arg SDIO_IT_TXFIFOE: Transmit FIFO empty interrupt - * @arg SDIO_IT_RXFIFOE: Receive FIFO empty interrupt - * @arg SDIO_IT_TXDAVL: Data available in transmit FIFO interrupt - * @arg SDIO_IT_RXDAVL: Data available in receive FIFO interrupt - * @arg SDIO_IT_SDIOIT: SD I/O interrupt received interrupt - * @retval The new state of MMC IT (SET or RESET). - */ -#define __HAL_MMC_GET_IT(__HANDLE__, __INTERRUPT__) __SDIO_GET_IT((__HANDLE__)->Instance, (__INTERRUPT__)) - -/** - * @brief Clear the MMC's interrupt pending bits. - * @param __HANDLE__: MMC Handle - * @param __INTERRUPT__: specifies the interrupt pending bit to clear. - * This parameter can be one or a combination of the following values: - * @arg SDIO_IT_CCRCFAIL: Command response received (CRC check failed) interrupt - * @arg SDIO_IT_DCRCFAIL: Data block sent/received (CRC check failed) interrupt - * @arg SDIO_IT_CTIMEOUT: Command response timeout interrupt - * @arg SDIO_IT_DTIMEOUT: Data timeout interrupt - * @arg SDIO_IT_TXUNDERR: Transmit FIFO underrun error interrupt - * @arg SDIO_IT_RXOVERR: Received FIFO overrun error interrupt - * @arg SDIO_IT_CMDREND: Command response received (CRC check passed) interrupt - * @arg SDIO_IT_CMDSENT: Command sent (no response required) interrupt - * @arg SDIO_IT_DATAEND: Data end (data counter, DATACOUNT, is zero) interrupt - * @arg SDIO_IT_DBCKEND: Data block sent/received (CRC check passed) interrupt - * @arg SDIO_IT_TXFIFOHE: Transmit FIFO Half Empty interrupt - * @arg SDIO_IT_RXFIFOHF: Receive FIFO Half Full interrupt - * @arg SDIO_IT_RXFIFOF: Receive FIFO full interrupt - * @arg SDIO_IT_TXFIFOE: Transmit FIFO empty interrupt - * @arg SDIO_IT_SDIOIT: SD I/O interrupt received interrupt - * @retval None - */ -#define __HAL_MMC_CLEAR_IT(__HANDLE__, __INTERRUPT__) __SDIO_CLEAR_IT((__HANDLE__)->Instance, (__INTERRUPT__)) - -/** - * @} - */ - -/* Exported functions --------------------------------------------------------*/ -/** @defgroup MMC_Exported_Functions MMC Exported Functions - * @{ - */ - -/** @defgroup MMC_Exported_Functions_Group1 Initialization and de-initialization functions - * @{ - */ -HAL_StatusTypeDef HAL_MMC_Init(MMC_HandleTypeDef *hmmc); -HAL_StatusTypeDef HAL_MMC_InitCard(MMC_HandleTypeDef *hmmc); -HAL_StatusTypeDef HAL_MMC_DeInit (MMC_HandleTypeDef *hmmc); -void HAL_MMC_MspInit(MMC_HandleTypeDef *hmmc); -void HAL_MMC_MspDeInit(MMC_HandleTypeDef *hmmc); - -/** - * @} - */ - -/** @defgroup MMC_Exported_Functions_Group2 Input and Output operation functions - * @{ - */ -/* Blocking mode: Polling */ -HAL_StatusTypeDef HAL_MMC_ReadBlocks(MMC_HandleTypeDef *hmmc, uint8_t *pData, uint32_t BlockAdd, uint32_t NumberOfBlocks, uint32_t Timeout); -HAL_StatusTypeDef HAL_MMC_WriteBlocks(MMC_HandleTypeDef *hmmc, uint8_t *pData, uint32_t BlockAdd, uint32_t NumberOfBlocks, uint32_t Timeout); -HAL_StatusTypeDef HAL_MMC_Erase(MMC_HandleTypeDef *hmmc, uint32_t BlockStartAdd, uint32_t BlockEndAdd); -/* Non-Blocking mode: IT */ -HAL_StatusTypeDef HAL_MMC_ReadBlocks_IT(MMC_HandleTypeDef *hmmc, uint8_t *pData, uint32_t BlockAdd, uint32_t NumberOfBlocks); -HAL_StatusTypeDef HAL_MMC_WriteBlocks_IT(MMC_HandleTypeDef *hmmc, uint8_t *pData, uint32_t BlockAdd, uint32_t NumberOfBlocks); -/* Non-Blocking mode: DMA */ -HAL_StatusTypeDef HAL_MMC_ReadBlocks_DMA(MMC_HandleTypeDef *hmmc, uint8_t *pData, uint32_t BlockAdd, uint32_t NumberOfBlocks); -HAL_StatusTypeDef HAL_MMC_WriteBlocks_DMA(MMC_HandleTypeDef *hmmc, uint8_t *pData, uint32_t BlockAdd, uint32_t NumberOfBlocks); - -void HAL_MMC_IRQHandler(MMC_HandleTypeDef *hmmc); - -/* Callback in non blocking modes (DMA) */ -void HAL_MMC_TxCpltCallback(MMC_HandleTypeDef *hmmc); -void HAL_MMC_RxCpltCallback(MMC_HandleTypeDef *hmmc); -void HAL_MMC_ErrorCallback(MMC_HandleTypeDef *hmmc); -void HAL_MMC_AbortCallback(MMC_HandleTypeDef *hmmc); - -#if defined (USE_HAL_MMC_REGISTER_CALLBACKS) && (USE_HAL_MMC_REGISTER_CALLBACKS == 1U) -/* MMC callback registering/unregistering */ -HAL_StatusTypeDef HAL_MMC_RegisterCallback (MMC_HandleTypeDef *hmmc, HAL_MMC_CallbackIDTypeDef CallbackId, pMMC_CallbackTypeDef pCallback); -HAL_StatusTypeDef HAL_MMC_UnRegisterCallback(MMC_HandleTypeDef *hmmc, HAL_MMC_CallbackIDTypeDef CallbackId); -#endif -/** - * @} - */ - -/** @defgroup MMC_Exported_Functions_Group3 Peripheral Control functions - * @{ - */ -HAL_StatusTypeDef HAL_MMC_ConfigWideBusOperation(MMC_HandleTypeDef *hmmc, uint32_t WideMode); -/** - * @} - */ - -/** @defgroup MMC_Exported_Functions_Group4 MMC card related functions - * @{ - */ -HAL_MMC_CardStateTypeDef HAL_MMC_GetCardState(MMC_HandleTypeDef *hmmc); -HAL_StatusTypeDef HAL_MMC_GetCardCID(MMC_HandleTypeDef *hmmc, HAL_MMC_CardCIDTypeDef *pCID); -HAL_StatusTypeDef HAL_MMC_GetCardCSD(MMC_HandleTypeDef *hmmc, HAL_MMC_CardCSDTypeDef *pCSD); -HAL_StatusTypeDef HAL_MMC_GetCardInfo(MMC_HandleTypeDef *hmmc, HAL_MMC_CardInfoTypeDef *pCardInfo); -/** - * @} - */ - -/** @defgroup MMC_Exported_Functions_Group5 Peripheral State and Errors functions - * @{ - */ -HAL_MMC_StateTypeDef HAL_MMC_GetState(MMC_HandleTypeDef *hmmc); -uint32_t HAL_MMC_GetError(MMC_HandleTypeDef *hmmc); -/** - * @} - */ - -/** @defgroup MMC_Exported_Functions_Group6 Perioheral Abort management - * @{ - */ -HAL_StatusTypeDef HAL_MMC_Abort(MMC_HandleTypeDef *hmmc); -HAL_StatusTypeDef HAL_MMC_Abort_IT(MMC_HandleTypeDef *hmmc); -/** - * @} - */ - -/* Private types -------------------------------------------------------------*/ -/** @defgroup MMC_Private_Types MMC Private Types - * @{ - */ - -/** - * @} - */ - -/* Private defines -----------------------------------------------------------*/ -/** @defgroup MMC_Private_Defines MMC Private Defines - * @{ - */ - -/** - * @} - */ - -/* Private variables ---------------------------------------------------------*/ -/** @defgroup MMC_Private_Variables MMC Private Variables - * @{ - */ - -/** - * @} - */ - -/* Private constants ---------------------------------------------------------*/ -/** @defgroup MMC_Private_Constants MMC Private Constants - * @{ - */ - -/** - * @} - */ - -/* Private macros ------------------------------------------------------------*/ -/** @defgroup MMC_Private_Macros MMC Private Macros - * @{ - */ - -/** - * @} - */ - -/* Private functions prototypes ----------------------------------------------*/ -/** @defgroup MMC_Private_Functions_Prototypes MMC Private Functions Prototypes - * @{ - */ - -/** - * @} - */ - -/* Private functions ---------------------------------------------------------*/ -/** @defgroup MMC_Private_Functions MMC Private Functions - * @{ - */ - -/** - * @} - */ - - -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ - -#ifdef __cplusplus -} -#endif - -#endif /* SDIO */ - -#endif /* STM32F4xx_HAL_MMC_H */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_nand.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_nand.h deleted file mode 100644 index e6aaabbb5d3532..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_nand.h +++ /dev/null @@ -1,381 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_nand.h - * @author MCD Application Team - * @brief Header file of NAND HAL module. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef __STM32F4xx_HAL_NAND_H -#define __STM32F4xx_HAL_NAND_H - -#ifdef __cplusplus - extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#if defined(STM32F405xx) || defined(STM32F415xx) || defined(STM32F407xx) || defined(STM32F417xx) - #include "stm32f4xx_ll_fsmc.h" -#endif /* STM32F405xx || STM32F415xx || STM32F407xx || STM32F417xx */ - -#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) ||\ - defined(STM32F446xx) || defined(STM32F469xx) || defined(STM32F479xx) - #include "stm32f4xx_ll_fmc.h" -#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || STM32F446xx || STM32F469xx ||\ - STM32F479xx */ - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @addtogroup NAND - * @{ - */ - -#if defined(STM32F405xx) || defined(STM32F415xx) || defined(STM32F407xx) || defined(STM32F417xx) || \ - defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) || \ - defined(STM32F446xx) || defined(STM32F469xx) || defined(STM32F479xx) - -/* Exported typedef ----------------------------------------------------------*/ -/* Exported types ------------------------------------------------------------*/ -/** @defgroup NAND_Exported_Types NAND Exported Types - * @{ - */ - -/** - * @brief HAL NAND State structures definition - */ -typedef enum -{ - HAL_NAND_STATE_RESET = 0x00U, /*!< NAND not yet initialized or disabled */ - HAL_NAND_STATE_READY = 0x01U, /*!< NAND initialized and ready for use */ - HAL_NAND_STATE_BUSY = 0x02U, /*!< NAND internal process is ongoing */ - HAL_NAND_STATE_ERROR = 0x03U /*!< NAND error state */ -}HAL_NAND_StateTypeDef; - -/** - * @brief NAND Memory electronic signature Structure definition - */ -typedef struct -{ - /*State = HAL_NAND_STATE_RESET; \ - (__HANDLE__)->MspInitCallback = NULL; \ - (__HANDLE__)->MspDeInitCallback = NULL; \ - } while(0) -#else -#define __HAL_NAND_RESET_HANDLE_STATE(__HANDLE__) ((__HANDLE__)->State = HAL_NAND_STATE_RESET) -#endif - -/** - * @} - */ - -/* Exported functions --------------------------------------------------------*/ -/** @addtogroup NAND_Exported_Functions NAND Exported Functions - * @{ - */ - -/** @addtogroup NAND_Exported_Functions_Group1 Initialization and de-initialization functions - * @{ - */ - -/* Initialization/de-initialization functions ********************************/ -/* Initialization/de-initialization functions ********************************/ -HAL_StatusTypeDef HAL_NAND_Init(NAND_HandleTypeDef *hnand, FMC_NAND_PCC_TimingTypeDef *ComSpace_Timing, FMC_NAND_PCC_TimingTypeDef *AttSpace_Timing); -HAL_StatusTypeDef HAL_NAND_DeInit(NAND_HandleTypeDef *hnand); - -HAL_StatusTypeDef HAL_NAND_ConfigDevice(NAND_HandleTypeDef *hnand, NAND_DeviceConfigTypeDef *pDeviceConfig); - -HAL_StatusTypeDef HAL_NAND_Read_ID(NAND_HandleTypeDef *hnand, NAND_IDTypeDef *pNAND_ID); - -void HAL_NAND_MspInit(NAND_HandleTypeDef *hnand); -void HAL_NAND_MspDeInit(NAND_HandleTypeDef *hnand); -void HAL_NAND_IRQHandler(NAND_HandleTypeDef *hnand); -void HAL_NAND_ITCallback(NAND_HandleTypeDef *hnand); - -/** - * @} - */ - -/** @addtogroup NAND_Exported_Functions_Group2 Input and Output functions - * @{ - */ - -/* IO operation functions ****************************************************/ -HAL_StatusTypeDef HAL_NAND_Reset(NAND_HandleTypeDef *hnand); - -HAL_StatusTypeDef HAL_NAND_Read_Page_8b(NAND_HandleTypeDef *hnand, NAND_AddressTypeDef *pAddress, uint8_t *pBuffer, uint32_t NumPageToRead); -HAL_StatusTypeDef HAL_NAND_Write_Page_8b(NAND_HandleTypeDef *hnand, NAND_AddressTypeDef *pAddress, uint8_t *pBuffer, uint32_t NumPageToWrite); -HAL_StatusTypeDef HAL_NAND_Read_SpareArea_8b(NAND_HandleTypeDef *hnand, NAND_AddressTypeDef *pAddress, uint8_t *pBuffer, uint32_t NumSpareAreaToRead); -HAL_StatusTypeDef HAL_NAND_Write_SpareArea_8b(NAND_HandleTypeDef *hnand, NAND_AddressTypeDef *pAddress, uint8_t *pBuffer, uint32_t NumSpareAreaTowrite); - -HAL_StatusTypeDef HAL_NAND_Read_Page_16b(NAND_HandleTypeDef *hnand, NAND_AddressTypeDef *pAddress, uint16_t *pBuffer, uint32_t NumPageToRead); -HAL_StatusTypeDef HAL_NAND_Write_Page_16b(NAND_HandleTypeDef *hnand, NAND_AddressTypeDef *pAddress, uint16_t *pBuffer, uint32_t NumPageToWrite); -HAL_StatusTypeDef HAL_NAND_Read_SpareArea_16b(NAND_HandleTypeDef *hnand, NAND_AddressTypeDef *pAddress, uint16_t *pBuffer, uint32_t NumSpareAreaToRead); -HAL_StatusTypeDef HAL_NAND_Write_SpareArea_16b(NAND_HandleTypeDef *hnand, NAND_AddressTypeDef *pAddress, uint16_t *pBuffer, uint32_t NumSpareAreaTowrite); - -HAL_StatusTypeDef HAL_NAND_Erase_Block(NAND_HandleTypeDef *hnand, NAND_AddressTypeDef *pAddress); - -uint32_t HAL_NAND_Read_Status(NAND_HandleTypeDef *hnand); -uint32_t HAL_NAND_Address_Inc(NAND_HandleTypeDef *hnand, NAND_AddressTypeDef *pAddress); - -#if (USE_HAL_NAND_REGISTER_CALLBACKS == 1) -/* NAND callback registering/unregistering */ -HAL_StatusTypeDef HAL_NAND_RegisterCallback(NAND_HandleTypeDef *hnand, HAL_NAND_CallbackIDTypeDef CallbackId, pNAND_CallbackTypeDef pCallback); -HAL_StatusTypeDef HAL_NAND_UnRegisterCallback(NAND_HandleTypeDef *hnand, HAL_NAND_CallbackIDTypeDef CallbackId); -#endif - -/** - * @} - */ - -/** @addtogroup NAND_Exported_Functions_Group3 Peripheral Control functions - * @{ - */ - -/* NAND Control functions ****************************************************/ -HAL_StatusTypeDef HAL_NAND_ECC_Enable(NAND_HandleTypeDef *hnand); -HAL_StatusTypeDef HAL_NAND_ECC_Disable(NAND_HandleTypeDef *hnand); -HAL_StatusTypeDef HAL_NAND_GetECC(NAND_HandleTypeDef *hnand, uint32_t *ECCval, uint32_t Timeout); - -/** - * @} - */ - -/** @addtogroup NAND_Exported_Functions_Group4 Peripheral State functions - * @{ - */ -/* NAND State functions *******************************************************/ -HAL_NAND_StateTypeDef HAL_NAND_GetState(NAND_HandleTypeDef *hnand); -/** - * @} - */ - -/** - * @} - */ - -/* Private types -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private constants ---------------------------------------------------------*/ -/** @defgroup NAND_Private_Constants NAND Private Constants - * @{ - */ -#define NAND_DEVICE1 0x70000000U -#define NAND_DEVICE2 0x80000000U -#define NAND_WRITE_TIMEOUT 0x01000000U - -#define CMD_AREA ((uint32_t)(1U<<16U)) /* A16 = CLE high */ -#define ADDR_AREA ((uint32_t)(1U<<17U)) /* A17 = ALE high */ - -#define NAND_CMD_AREA_A ((uint8_t)0x00) -#define NAND_CMD_AREA_B ((uint8_t)0x01) -#define NAND_CMD_AREA_C ((uint8_t)0x50) -#define NAND_CMD_AREA_TRUE1 ((uint8_t)0x30) - -#define NAND_CMD_WRITE0 ((uint8_t)0x80) -#define NAND_CMD_WRITE_TRUE1 ((uint8_t)0x10) -#define NAND_CMD_ERASE0 ((uint8_t)0x60) -#define NAND_CMD_ERASE1 ((uint8_t)0xD0) -#define NAND_CMD_READID ((uint8_t)0x90) -#define NAND_CMD_STATUS ((uint8_t)0x70) -#define NAND_CMD_LOCK_STATUS ((uint8_t)0x7A) -#define NAND_CMD_RESET ((uint8_t)0xFF) - -/* NAND memory status */ -#define NAND_VALID_ADDRESS 0x00000100U -#define NAND_INVALID_ADDRESS 0x00000200U -#define NAND_TIMEOUT_ERROR 0x00000400U -#define NAND_BUSY 0x00000000U -#define NAND_ERROR 0x00000001U -#define NAND_READY 0x00000040U -/** - * @} - */ - -/* Private macros ------------------------------------------------------------*/ -/** @defgroup NAND_Private_Macros NAND Private Macros - * @{ - */ - -/** - * @brief NAND memory address computation. - * @param __ADDRESS__ NAND memory address. - * @param __HANDLE__ NAND handle. - * @retval NAND Raw address value - */ -#define ARRAY_ADDRESS(__ADDRESS__ , __HANDLE__) ((__ADDRESS__)->Page + \ - (((__ADDRESS__)->Block + (((__ADDRESS__)->Plane) * ((__HANDLE__)->Config.PlaneSize)))* ((__HANDLE__)->Config.BlockSize))) - -/** - * @brief NAND memory Column address computation. - * @param __HANDLE__ NAND handle. - * @retval NAND Raw address value - */ -#define COLUMN_ADDRESS( __HANDLE__) ((__HANDLE__)->Config.PageSize) - -/** - * @brief NAND memory address cycling. - * @param __ADDRESS__ NAND memory address. - * @retval NAND address cycling value. - */ -#define ADDR_1ST_CYCLE(__ADDRESS__) (uint8_t)(__ADDRESS__) /* 1st addressing cycle */ -#define ADDR_2ND_CYCLE(__ADDRESS__) (uint8_t)((__ADDRESS__) >> 8) /* 2nd addressing cycle */ -#define ADDR_3RD_CYCLE(__ADDRESS__) (uint8_t)((__ADDRESS__) >> 16) /* 3rd addressing cycle */ -#define ADDR_4TH_CYCLE(__ADDRESS__) (uint8_t)((__ADDRESS__) >> 24) /* 4th addressing cycle */ - -/** - * @brief NAND memory Columns cycling. - * @param __ADDRESS__ NAND memory address. - * @retval NAND Column address cycling value. - */ -#define COLUMN_1ST_CYCLE(__ADDRESS__) (uint8_t)(__ADDRESS__) /* 1st Column addressing cycle */ -#define COLUMN_2ND_CYCLE(__ADDRESS__) (uint8_t)((__ADDRESS__) >> 8) /* 2nd Column addressing cycle */ - -/** - * @} - */ -#endif /* STM32F405xx || STM32F415xx || STM32F407xx || STM32F417xx ||\ - STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx ||\ - STM32F446xx || STM32F469xx || STM32F479xx */ - -/** - * @} - */ -/** - * @} - */ - -/** - * @} - */ - -#ifdef __cplusplus -} -#endif - -#endif /* __STM32F4xx_HAL_NAND_H */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_nor.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_nor.h deleted file mode 100644 index dcd25c505725c4..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_nor.h +++ /dev/null @@ -1,326 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_nor.h - * @author MCD Application Team - * @brief Header file of NOR HAL module. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef __STM32F4xx_HAL_NOR_H -#define __STM32F4xx_HAL_NOR_H - -#ifdef __cplusplus - extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#if defined(STM32F405xx) || defined(STM32F415xx) || defined(STM32F407xx) || defined(STM32F417xx) || defined(STM32F412Zx) ||\ - defined(STM32F412Vx) || defined(STM32F412Rx) || defined(STM32F413xx) || defined(STM32F423xx) - #include "stm32f4xx_ll_fsmc.h" -#endif /* STM32F405xx || STM32F415xx || STM32F407xx || STM32F417xx || STM32F412Zx || STM32F412Vx || STM32F412Rx || STM32F413xx || STM32F423xx */ - -#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) ||\ - defined(STM32F446xx) || defined(STM32F469xx) || defined(STM32F479xx) - #include "stm32f4xx_ll_fmc.h" -#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || STM32F446xx || STM32F469xx || STM32F479xx */ - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @addtogroup NOR - * @{ - */ - -#if defined(STM32F405xx) || defined(STM32F415xx) || defined(STM32F407xx) || defined(STM32F417xx) ||\ - defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) ||\ - defined(STM32F446xx) || defined(STM32F469xx) || defined(STM32F479xx) || defined(STM32F412Zx) ||\ - defined(STM32F412Vx) || defined(STM32F412Rx) || defined(STM32F413xx) || defined(STM32F423xx) - -/* Exported typedef ----------------------------------------------------------*/ -/** @defgroup NOR_Exported_Types NOR Exported Types - * @{ - */ - -/** - * @brief HAL SRAM State structures definition - */ -typedef enum -{ - HAL_NOR_STATE_RESET = 0x00U, /*!< NOR not yet initialized or disabled */ - HAL_NOR_STATE_READY = 0x01U, /*!< NOR initialized and ready for use */ - HAL_NOR_STATE_BUSY = 0x02U, /*!< NOR internal processing is ongoing */ - HAL_NOR_STATE_ERROR = 0x03U, /*!< NOR error state */ - HAL_NOR_STATE_PROTECTED = 0x04U /*!< NOR NORSRAM device write protected */ -}HAL_NOR_StateTypeDef; - -/** - * @brief FMC NOR Status typedef - */ -typedef enum -{ - HAL_NOR_STATUS_SUCCESS = 0U, - HAL_NOR_STATUS_ONGOING, - HAL_NOR_STATUS_ERROR, - HAL_NOR_STATUS_TIMEOUT -}HAL_NOR_StatusTypeDef; - -/** - * @brief FMC NOR ID typedef - */ -typedef struct -{ - uint16_t Manufacturer_Code; /*!< Defines the device's manufacturer code used to identify the memory */ - - uint16_t Device_Code1; - - uint16_t Device_Code2; - - uint16_t Device_Code3; /*!< Defines the device's codes used to identify the memory. - These codes can be accessed by performing read operations with specific - control signals and addresses set.They can also be accessed by issuing - an Auto Select command */ -}NOR_IDTypeDef; - -/** - * @brief FMC NOR CFI typedef - */ -typedef struct -{ - /*!< Defines the information stored in the memory's Common flash interface - which contains a description of various electrical and timing parameters, - density information and functions supported by the memory */ - - uint16_t CFI_1; - - uint16_t CFI_2; - - uint16_t CFI_3; - - uint16_t CFI_4; -}NOR_CFITypeDef; - -/** - * @brief NOR handle Structure definition - */ -#if (USE_HAL_NOR_REGISTER_CALLBACKS == 1) -typedef struct __NOR_HandleTypeDef -#else -typedef struct -#endif /* USE_HAL_NOR_REGISTER_CALLBACKS */ - -{ - FMC_NORSRAM_TypeDef *Instance; /*!< Register base address */ - - FMC_NORSRAM_EXTENDED_TypeDef *Extended; /*!< Extended mode register base address */ - - FMC_NORSRAM_InitTypeDef Init; /*!< NOR device control configuration parameters */ - - HAL_LockTypeDef Lock; /*!< NOR locking object */ - - __IO HAL_NOR_StateTypeDef State; /*!< NOR device access state */ - -#if (USE_HAL_NOR_REGISTER_CALLBACKS == 1) - void (* MspInitCallback) ( struct __NOR_HandleTypeDef * hnor); /*!< NOR Msp Init callback */ - void (* MspDeInitCallback) ( struct __NOR_HandleTypeDef * hnor); /*!< NOR Msp DeInit callback */ -#endif -} NOR_HandleTypeDef; - -#if (USE_HAL_NOR_REGISTER_CALLBACKS == 1) -/** - * @brief HAL NOR Callback ID enumeration definition - */ -typedef enum -{ - HAL_NOR_MSP_INIT_CB_ID = 0x00U, /*!< NOR MspInit Callback ID */ - HAL_NOR_MSP_DEINIT_CB_ID = 0x01U /*!< NOR MspDeInit Callback ID */ -}HAL_NOR_CallbackIDTypeDef; - -/** - * @brief HAL NOR Callback pointer definition - */ -typedef void (*pNOR_CallbackTypeDef)(NOR_HandleTypeDef *hnor); -#endif -/** - * @} - */ - -/* Exported constants --------------------------------------------------------*/ -/* Exported macros ------------------------------------------------------------*/ -/** @defgroup NOR_Exported_Macros NOR Exported Macros - * @{ - */ -/** @brief Reset NOR handle state - * @param __HANDLE__ specifies the NOR handle. - * @retval None - */ -#if (USE_HAL_NOR_REGISTER_CALLBACKS == 1) -#define __HAL_NOR_RESET_HANDLE_STATE(__HANDLE__) do { \ - (__HANDLE__)->State = HAL_NOR_STATE_RESET; \ - (__HANDLE__)->MspInitCallback = NULL; \ - (__HANDLE__)->MspDeInitCallback = NULL; \ - } while(0) -#else -#define __HAL_NOR_RESET_HANDLE_STATE(__HANDLE__) ((__HANDLE__)->State = HAL_NOR_STATE_RESET) -#endif -/** - * @} - */ - -/* Exported functions --------------------------------------------------------*/ -/** @addtogroup NOR_Exported_Functions - * @{ - */ - -/** @addtogroup NOR_Exported_Functions_Group1 - * @{ - */ -/* Initialization/de-initialization functions ********************************/ -HAL_StatusTypeDef HAL_NOR_Init(NOR_HandleTypeDef *hnor, FMC_NORSRAM_TimingTypeDef *Timing, FMC_NORSRAM_TimingTypeDef *ExtTiming); -HAL_StatusTypeDef HAL_NOR_DeInit(NOR_HandleTypeDef *hnor); -void HAL_NOR_MspInit(NOR_HandleTypeDef *hnor); -void HAL_NOR_MspDeInit(NOR_HandleTypeDef *hnor); -void HAL_NOR_MspWait(NOR_HandleTypeDef *hnor, uint32_t Timeout); -/** - * @} - */ - -/** @addtogroup NOR_Exported_Functions_Group2 - * @{ - */ -/* I/O operation functions ***************************************************/ -HAL_StatusTypeDef HAL_NOR_Read_ID(NOR_HandleTypeDef *hnor, NOR_IDTypeDef *pNOR_ID); -HAL_StatusTypeDef HAL_NOR_ReturnToReadMode(NOR_HandleTypeDef *hnor); -HAL_StatusTypeDef HAL_NOR_Read(NOR_HandleTypeDef *hnor, uint32_t *pAddress, uint16_t *pData); -HAL_StatusTypeDef HAL_NOR_Program(NOR_HandleTypeDef *hnor, uint32_t *pAddress, uint16_t *pData); - -HAL_StatusTypeDef HAL_NOR_ReadBuffer(NOR_HandleTypeDef *hnor, uint32_t uwAddress, uint16_t *pData, uint32_t uwBufferSize); -HAL_StatusTypeDef HAL_NOR_ProgramBuffer(NOR_HandleTypeDef *hnor, uint32_t uwAddress, uint16_t *pData, uint32_t uwBufferSize); - -HAL_StatusTypeDef HAL_NOR_Erase_Block(NOR_HandleTypeDef *hnor, uint32_t BlockAddress, uint32_t Address); -HAL_StatusTypeDef HAL_NOR_Erase_Chip(NOR_HandleTypeDef *hnor, uint32_t Address); -HAL_StatusTypeDef HAL_NOR_Read_CFI(NOR_HandleTypeDef *hnor, NOR_CFITypeDef *pNOR_CFI); - -#if (USE_HAL_NOR_REGISTER_CALLBACKS == 1) -/* NOR callback registering/unregistering */ -HAL_StatusTypeDef HAL_NOR_RegisterCallback(NOR_HandleTypeDef *hnor, HAL_NOR_CallbackIDTypeDef CallbackId, pNOR_CallbackTypeDef pCallback); -HAL_StatusTypeDef HAL_NOR_UnRegisterCallback(NOR_HandleTypeDef *hnor, HAL_NOR_CallbackIDTypeDef CallbackId); -#endif -/** - * @} - */ - -/** @addtogroup NOR_Exported_Functions_Group3 - * @{ - */ -/* NOR Control functions *****************************************************/ -HAL_StatusTypeDef HAL_NOR_WriteOperation_Enable(NOR_HandleTypeDef *hnor); -HAL_StatusTypeDef HAL_NOR_WriteOperation_Disable(NOR_HandleTypeDef *hnor); -/** - * @} - */ - -/** @addtogroup NOR_Exported_Functions_Group4 - * @{ - */ -/* NOR State functions ********************************************************/ -HAL_NOR_StateTypeDef HAL_NOR_GetState(NOR_HandleTypeDef *hnor); -HAL_NOR_StatusTypeDef HAL_NOR_GetStatus(NOR_HandleTypeDef *hnor, uint32_t Address, uint32_t Timeout); -/** - * @} - */ - -/** - * @} - */ - -/* Private types -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private constants ---------------------------------------------------------*/ -/** @defgroup NOR_Private_Constants NOR Private Constants - * @{ - */ -/* NOR device IDs addresses */ -#define MC_ADDRESS ((uint16_t)0x0000) -#define DEVICE_CODE1_ADDR ((uint16_t)0x0001) -#define DEVICE_CODE2_ADDR ((uint16_t)0x000E) -#define DEVICE_CODE3_ADDR ((uint16_t)0x000F) - -/* NOR CFI IDs addresses */ -#define CFI1_ADDRESS ((uint16_t)0x0061) -#define CFI2_ADDRESS ((uint16_t)0x0062) -#define CFI3_ADDRESS ((uint16_t)0x0063) -#define CFI4_ADDRESS ((uint16_t)0x0064) - -/* NOR operation wait timeout */ -#define NOR_TMEOUT ((uint16_t)0xFFFF) - -/* NOR memory data width */ -#define NOR_MEMORY_8B ((uint8_t)0x00) -#define NOR_MEMORY_16B ((uint8_t)0x01) - -/* NOR memory device read/write start address */ -#define NOR_MEMORY_ADRESS1 0x60000000U -#define NOR_MEMORY_ADRESS2 0x64000000U -#define NOR_MEMORY_ADRESS3 0x68000000U -#define NOR_MEMORY_ADRESS4 0x6C000000U -/** - * @} - */ - -/* Private macros ------------------------------------------------------------*/ -/** @defgroup NOR_Private_Macros NOR Private Macros - * @{ - */ -/** - * @brief NOR memory address shifting. - * @param __NOR_ADDRESS__ NOR base address - * @param NOR_MEMORY_WIDTH NOR memory width - * @param ADDRESS NOR memory address - * @retval NOR shifted address value - */ -#define NOR_ADDR_SHIFT(__NOR_ADDRESS__, NOR_MEMORY_WIDTH, ADDRESS) (uint32_t)(((NOR_MEMORY_WIDTH) == NOR_MEMORY_16B)? ((uint32_t)((__NOR_ADDRESS__) + (2U * (ADDRESS)))):\ - ((uint32_t)((__NOR_ADDRESS__) + (ADDRESS)))) - -/** - * @brief NOR memory write data to specified address. - * @param ADDRESS NOR memory address - * @param DATA Data to write - * @retval None - */ -#define NOR_WRITE(ADDRESS, DATA) (*(__IO uint16_t *)((uint32_t)(ADDRESS)) = (DATA)) - -/** - * @} - */ -#endif /* STM32F405xx || STM32F415xx || STM32F407xx || STM32F417xx ||\ - STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx ||\ - STM32F446xx || STM32F469xx || STM32F479xx || STM32F412Zx ||\ - STM32F412Vx || STM32F412Rx || STM32F413xx || STM32F423xx */ -/** - * @} - */ - -/** - * @} - */ - -#ifdef __cplusplus -} -#endif - -#endif /* __STM32F4xx_HAL_NOR_H */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pccard.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pccard.h deleted file mode 100644 index 41d7824e06339f..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pccard.h +++ /dev/null @@ -1,287 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_pccard.h - * @author MCD Application Team - * @brief Header file of PCCARD HAL module. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef __STM32F4xx_HAL_PCCARD_H -#define __STM32F4xx_HAL_PCCARD_H - -#ifdef __cplusplus - extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#if defined(STM32F405xx) || defined(STM32F415xx) || defined(STM32F407xx) || defined(STM32F417xx) - #include "stm32f4xx_ll_fsmc.h" -#endif /* STM32F405xx || STM32F415xx || STM32F407xx || STM32F417xx */ - -#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) - #include "stm32f4xx_ll_fmc.h" -#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx */ - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -#if defined(STM32F405xx) || defined(STM32F415xx) || defined(STM32F407xx) || defined(STM32F417xx) ||\ - defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) - -/** @addtogroup PCCARD - * @{ - */ - -/* Exported typedef ----------------------------------------------------------*/ -/** @defgroup PCCARD_Exported_Types PCCARD Exported Types - * @{ - */ - -/** - * @brief HAL PCCARD State structures definition - */ -typedef enum -{ - HAL_PCCARD_STATE_RESET = 0x00U, /*!< PCCARD peripheral not yet initialized or disabled */ - HAL_PCCARD_STATE_READY = 0x01U, /*!< PCCARD peripheral ready */ - HAL_PCCARD_STATE_BUSY = 0x02U, /*!< PCCARD peripheral busy */ - HAL_PCCARD_STATE_ERROR = 0x04U /*!< PCCARD peripheral error */ -}HAL_PCCARD_StateTypeDef; - -typedef enum -{ - HAL_PCCARD_STATUS_SUCCESS = 0U, - HAL_PCCARD_STATUS_ONGOING, - HAL_PCCARD_STATUS_ERROR, - HAL_PCCARD_STATUS_TIMEOUT -}HAL_PCCARD_StatusTypeDef; - -/** - * @brief FMC_PCCARD handle Structure definition - */ -#if (USE_HAL_PCCARD_REGISTER_CALLBACKS == 1) -typedef struct __PCCARD_HandleTypeDef -#else -typedef struct -#endif /* USE_HAL_PCCARD_REGISTER_CALLBACKS */ -{ - FMC_PCCARD_TypeDef *Instance; /*!< Register base address for PCCARD device */ - - FMC_PCCARD_InitTypeDef Init; /*!< PCCARD device control configuration parameters */ - - __IO HAL_PCCARD_StateTypeDef State; /*!< PCCARD device access state */ - - HAL_LockTypeDef Lock; /*!< PCCARD Lock */ - -#if (USE_HAL_PCCARD_REGISTER_CALLBACKS == 1) - void (* MspInitCallback) ( struct __PCCARD_HandleTypeDef * hpccard); /*!< PCCARD Msp Init callback */ - void (* MspDeInitCallback) ( struct __PCCARD_HandleTypeDef * hpccard); /*!< PCCARD Msp DeInit callback */ - void (* ItCallback) ( struct __PCCARD_HandleTypeDef * hpccard); /*!< PCCARD IT callback */ -#endif -} PCCARD_HandleTypeDef; - -#if (USE_HAL_PCCARD_REGISTER_CALLBACKS == 1) -/** - * @brief HAL PCCARD Callback ID enumeration definition - */ -typedef enum -{ - HAL_PCCARD_MSP_INIT_CB_ID = 0x00U, /*!< PCCARD MspInit Callback ID */ - HAL_PCCARD_MSP_DEINIT_CB_ID = 0x01U, /*!< PCCARD MspDeInit Callback ID */ - HAL_PCCARD_IT_CB_ID = 0x02U /*!< PCCARD IT Callback ID */ -}HAL_PCCARD_CallbackIDTypeDef; - -/** - * @brief HAL PCCARD Callback pointer definition - */ -typedef void (*pPCCARD_CallbackTypeDef)(PCCARD_HandleTypeDef *hpccard); -#endif -/** - * @} - */ - -/* Exported constants --------------------------------------------------------*/ -/* Exported macro ------------------------------------------------------------*/ -/** @defgroup PCCARD_Exported_Macros PCCARD Exported Macros - * @{ - */ -/** @brief Reset PCCARD handle state - * @param __HANDLE__ specifies the PCCARD handle. - * @retval None - */ -#if (USE_HAL_PCCARD_REGISTER_CALLBACKS == 1) -#define __HAL_PCCARD_RESET_HANDLE_STATE(__HANDLE__) do { \ - (__HANDLE__)->State = HAL_PCCARD_STATE_RESET; \ - (__HANDLE__)->MspInitCallback = NULL; \ - (__HANDLE__)->MspDeInitCallback = NULL; \ - } while(0) -#else -#define __HAL_PCCARD_RESET_HANDLE_STATE(__HANDLE__) ((__HANDLE__)->State = HAL_PCCARD_STATE_RESET) -#endif -/** - * @} - */ - -/* Exported functions --------------------------------------------------------*/ -/** @addtogroup PCCARD_Exported_Functions - * @{ - */ - -/** @addtogroup PCCARD_Exported_Functions_Group1 - * @{ - */ -/* Initialization/de-initialization functions **********************************/ -HAL_StatusTypeDef HAL_PCCARD_Init(PCCARD_HandleTypeDef *hpccard, FMC_NAND_PCC_TimingTypeDef *ComSpaceTiming, FMC_NAND_PCC_TimingTypeDef *AttSpaceTiming, FMC_NAND_PCC_TimingTypeDef *IOSpaceTiming); -HAL_StatusTypeDef HAL_PCCARD_DeInit(PCCARD_HandleTypeDef *hpccard); -void HAL_PCCARD_MspInit(PCCARD_HandleTypeDef *hpccard); -void HAL_PCCARD_MspDeInit(PCCARD_HandleTypeDef *hpccard); -/** - * @} - */ - -/** @addtogroup PCCARD_Exported_Functions_Group2 - * @{ - */ -/* IO operation functions *****************************************************/ -HAL_StatusTypeDef HAL_PCCARD_Read_ID(PCCARD_HandleTypeDef *hpccard, uint8_t CompactFlash_ID[], uint8_t *pStatus); -HAL_StatusTypeDef HAL_PCCARD_Write_Sector(PCCARD_HandleTypeDef *hpccard, uint16_t *pBuffer, uint16_t SectorAddress, uint8_t *pStatus); -HAL_StatusTypeDef HAL_PCCARD_Read_Sector(PCCARD_HandleTypeDef *hpccard, uint16_t *pBuffer, uint16_t SectorAddress, uint8_t *pStatus); -HAL_StatusTypeDef HAL_PCCARD_Erase_Sector(PCCARD_HandleTypeDef *hpccard, uint16_t SectorAddress, uint8_t *pStatus); -HAL_StatusTypeDef HAL_PCCARD_Reset(PCCARD_HandleTypeDef *hpccard); -void HAL_PCCARD_IRQHandler(PCCARD_HandleTypeDef *hpccard); -void HAL_PCCARD_ITCallback(PCCARD_HandleTypeDef *hpccard); - -#if (USE_HAL_PCCARD_REGISTER_CALLBACKS == 1) -/* PCCARD callback registering/unregistering */ -HAL_StatusTypeDef HAL_PCCARD_RegisterCallback(PCCARD_HandleTypeDef *hpccard, HAL_PCCARD_CallbackIDTypeDef CallbackId, pPCCARD_CallbackTypeDef pCallback); -HAL_StatusTypeDef HAL_PCCARD_UnRegisterCallback(PCCARD_HandleTypeDef *hpccard, HAL_PCCARD_CallbackIDTypeDef CallbackId); -#endif -/** - * @} - */ - -/** @addtogroup PCCARD_Exported_Functions_Group3 - * @{ - */ -/* PCCARD State functions *******************************************************/ -HAL_PCCARD_StateTypeDef HAL_PCCARD_GetState(PCCARD_HandleTypeDef *hpccard); -HAL_PCCARD_StatusTypeDef HAL_PCCARD_GetStatus(PCCARD_HandleTypeDef *hpccard); -HAL_PCCARD_StatusTypeDef HAL_PCCARD_ReadStatus(PCCARD_HandleTypeDef *hpccard); -/** - * @} - */ - -/** - * @} - */ -/* Private types -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private constants ---------------------------------------------------------*/ -/** @defgroup PCCARD_Private_Constants PCCARD Private Constants - * @{ - */ -#define PCCARD_DEVICE_ADDRESS 0x90000000U -#define PCCARD_ATTRIBUTE_SPACE_ADDRESS 0x98000000U /* Attribute space size to @0x9BFF FFFF */ -#define PCCARD_COMMON_SPACE_ADDRESS PCCARD_DEVICE_ADDRESS /* Common space size to @0x93FF FFFF */ -#define PCCARD_IO_SPACE_ADDRESS 0x9C000000U /* IO space size to @0x9FFF FFFF */ -#define PCCARD_IO_SPACE_PRIMARY_ADDR 0x9C0001F0U /* IO space size to @0x9FFF FFFF */ - -/* Flash-ATA registers description */ -#define ATA_DATA ((uint8_t)0x00) /* Data register */ -#define ATA_SECTOR_COUNT ((uint8_t)0x02) /* Sector Count register */ -#define ATA_SECTOR_NUMBER ((uint8_t)0x03) /* Sector Number register */ -#define ATA_CYLINDER_LOW ((uint8_t)0x04) /* Cylinder low register */ -#define ATA_CYLINDER_HIGH ((uint8_t)0x05) /* Cylinder high register */ -#define ATA_CARD_HEAD ((uint8_t)0x06) /* Card/Head register */ -#define ATA_STATUS_CMD ((uint8_t)0x07) /* Status(read)/Command(write) register */ -#define ATA_STATUS_CMD_ALTERNATE ((uint8_t)0x0E) /* Alternate Status(read)/Command(write) register */ -#define ATA_COMMON_DATA_AREA ((uint16_t)0x0400) /* Start of data area (for Common access only!) */ -#define ATA_CARD_CONFIGURATION ((uint16_t)0x0202) /* Card Configuration and Status Register */ - -/* Flash-ATA commands */ -#define ATA_READ_SECTOR_CMD ((uint8_t)0x20) -#define ATA_WRITE_SECTOR_CMD ((uint8_t)0x30) -#define ATA_ERASE_SECTOR_CMD ((uint8_t)0xC0) -#define ATA_IDENTIFY_CMD ((uint8_t)0xEC) - -/* PC Card/Compact Flash status */ -#define PCCARD_TIMEOUT_ERROR ((uint8_t)0x60) -#define PCCARD_BUSY ((uint8_t)0x80) -#define PCCARD_PROGR ((uint8_t)0x01) -#define PCCARD_READY ((uint8_t)0x40) - -#define PCCARD_SECTOR_SIZE 255U /* In half words */ - -/** - * @} - */ -/* Compact Flash redefinition */ -#define HAL_CF_Init HAL_PCCARD_Init -#define HAL_CF_DeInit HAL_PCCARD_DeInit -#define HAL_CF_MspInit HAL_PCCARD_MspInit -#define HAL_CF_MspDeInit HAL_PCCARD_MspDeInit - -#define HAL_CF_Read_ID HAL_PCCARD_Read_ID -#define HAL_CF_Write_Sector HAL_PCCARD_Write_Sector -#define HAL_CF_Read_Sector HAL_PCCARD_Read_Sector -#define HAL_CF_Erase_Sector HAL_PCCARD_Erase_Sector -#define HAL_CF_Reset HAL_PCCARD_Reset -#define HAL_CF_IRQHandler HAL_PCCARD_IRQHandler -#define HAL_CF_ITCallback HAL_PCCARD_ITCallback - -#define HAL_CF_GetState HAL_PCCARD_GetState -#define HAL_CF_GetStatus HAL_PCCARD_GetStatus -#define HAL_CF_ReadStatus HAL_PCCARD_ReadStatus - -#define HAL_CF_STATUS_SUCCESS HAL_PCCARD_STATUS_SUCCESS -#define HAL_CF_STATUS_ONGOING HAL_PCCARD_STATUS_ONGOING -#define HAL_CF_STATUS_ERROR HAL_PCCARD_STATUS_ERROR -#define HAL_CF_STATUS_TIMEOUT HAL_PCCARD_STATUS_TIMEOUT -#define HAL_CF_StatusTypeDef HAL_PCCARD_StatusTypeDef - -#define CF_DEVICE_ADDRESS PCCARD_DEVICE_ADDRESS -#define CF_ATTRIBUTE_SPACE_ADDRESS PCCARD_ATTRIBUTE_SPACE_ADDRESS -#define CF_COMMON_SPACE_ADDRESS PCCARD_COMMON_SPACE_ADDRESS -#define CF_IO_SPACE_ADDRESS PCCARD_IO_SPACE_ADDRESS -#define CF_IO_SPACE_PRIMARY_ADDR PCCARD_IO_SPACE_PRIMARY_ADDR - -#define CF_TIMEOUT_ERROR PCCARD_TIMEOUT_ERROR -#define CF_BUSY PCCARD_BUSY -#define CF_PROGR PCCARD_PROGR -#define CF_READY PCCARD_READY - -#define CF_SECTOR_SIZE PCCARD_SECTOR_SIZE - -/* Private macros ------------------------------------------------------------*/ -/** - * @} - */ - -#endif /* STM32F405xx || STM32F415xx || STM32F407xx || STM32F417xx ||\ - STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx */ - - -/** - * @} - */ - -#ifdef __cplusplus -} -#endif - -#endif /* __STM32F4xx_HAL_PCCARD_H */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd.h deleted file mode 100644 index e28285d47515f1..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd.h +++ /dev/null @@ -1,472 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_pcd.h - * @author MCD Application Team - * @brief Header file of PCD HAL module. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef STM32F4xx_HAL_PCD_H -#define STM32F4xx_HAL_PCD_H - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_ll_usb.h" - -#if defined (USB_OTG_FS) || defined (USB_OTG_HS) - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @addtogroup PCD - * @{ - */ - -/* Exported types ------------------------------------------------------------*/ -/** @defgroup PCD_Exported_Types PCD Exported Types - * @{ - */ - -/** - * @brief PCD State structure definition - */ -typedef enum -{ - HAL_PCD_STATE_RESET = 0x00, - HAL_PCD_STATE_READY = 0x01, - HAL_PCD_STATE_ERROR = 0x02, - HAL_PCD_STATE_BUSY = 0x03, - HAL_PCD_STATE_TIMEOUT = 0x04 -} PCD_StateTypeDef; - -/* Device LPM suspend state */ -typedef enum -{ - LPM_L0 = 0x00, /* on */ - LPM_L1 = 0x01, /* LPM L1 sleep */ - LPM_L2 = 0x02, /* suspend */ - LPM_L3 = 0x03, /* off */ -} PCD_LPM_StateTypeDef; - -typedef enum -{ - PCD_LPM_L0_ACTIVE = 0x00, /* on */ - PCD_LPM_L1_ACTIVE = 0x01, /* LPM L1 sleep */ -} PCD_LPM_MsgTypeDef; - -typedef enum -{ - PCD_BCD_ERROR = 0xFF, - PCD_BCD_CONTACT_DETECTION = 0xFE, - PCD_BCD_STD_DOWNSTREAM_PORT = 0xFD, - PCD_BCD_CHARGING_DOWNSTREAM_PORT = 0xFC, - PCD_BCD_DEDICATED_CHARGING_PORT = 0xFB, - PCD_BCD_DISCOVERY_COMPLETED = 0x00, - -} PCD_BCD_MsgTypeDef; - -#if defined (USB_OTG_FS) || defined (USB_OTG_HS) -typedef USB_OTG_GlobalTypeDef PCD_TypeDef; -typedef USB_OTG_CfgTypeDef PCD_InitTypeDef; -typedef USB_OTG_EPTypeDef PCD_EPTypeDef; -#endif /* defined (USB_OTG_FS) || defined (USB_OTG_HS) */ - -/** - * @brief PCD Handle Structure definition - */ -#if (USE_HAL_PCD_REGISTER_CALLBACKS == 1U) -typedef struct __PCD_HandleTypeDef -#else -typedef struct -#endif /* USE_HAL_PCD_REGISTER_CALLBACKS */ -{ - PCD_TypeDef *Instance; /*!< Register base address */ - PCD_InitTypeDef Init; /*!< PCD required parameters */ - __IO uint8_t USB_Address; /*!< USB Address */ - PCD_EPTypeDef IN_ep[16]; /*!< IN endpoint parameters */ - PCD_EPTypeDef OUT_ep[16]; /*!< OUT endpoint parameters */ - HAL_LockTypeDef Lock; /*!< PCD peripheral status */ - __IO PCD_StateTypeDef State; /*!< PCD communication state */ - __IO uint32_t ErrorCode; /*!< PCD Error code */ - uint32_t Setup[12]; /*!< Setup packet buffer */ - PCD_LPM_StateTypeDef LPM_State; /*!< LPM State */ - uint32_t BESL; - - - uint32_t lpm_active; /*!< Enable or disable the Link Power Management . - This parameter can be set to ENABLE or DISABLE */ - - uint32_t battery_charging_active; /*!< Enable or disable Battery charging. - This parameter can be set to ENABLE or DISABLE */ - void *pData; /*!< Pointer to upper stack Handler */ - -#if (USE_HAL_PCD_REGISTER_CALLBACKS == 1U) - void (* SOFCallback)(struct __PCD_HandleTypeDef *hpcd); /*!< USB OTG PCD SOF callback */ - void (* SetupStageCallback)(struct __PCD_HandleTypeDef *hpcd); /*!< USB OTG PCD Setup Stage callback */ - void (* ResetCallback)(struct __PCD_HandleTypeDef *hpcd); /*!< USB OTG PCD Reset callback */ - void (* SuspendCallback)(struct __PCD_HandleTypeDef *hpcd); /*!< USB OTG PCD Suspend callback */ - void (* ResumeCallback)(struct __PCD_HandleTypeDef *hpcd); /*!< USB OTG PCD Resume callback */ - void (* ConnectCallback)(struct __PCD_HandleTypeDef *hpcd); /*!< USB OTG PCD Connect callback */ - void (* DisconnectCallback)(struct __PCD_HandleTypeDef *hpcd); /*!< USB OTG PCD Disconnect callback */ - - void (* DataOutStageCallback)(struct __PCD_HandleTypeDef *hpcd, uint8_t epnum); /*!< USB OTG PCD Data OUT Stage callback */ - void (* DataInStageCallback)(struct __PCD_HandleTypeDef *hpcd, uint8_t epnum); /*!< USB OTG PCD Data IN Stage callback */ - void (* ISOOUTIncompleteCallback)(struct __PCD_HandleTypeDef *hpcd, uint8_t epnum); /*!< USB OTG PCD ISO OUT Incomplete callback */ - void (* ISOINIncompleteCallback)(struct __PCD_HandleTypeDef *hpcd, uint8_t epnum); /*!< USB OTG PCD ISO IN Incomplete callback */ - void (* BCDCallback)(struct __PCD_HandleTypeDef *hpcd, PCD_BCD_MsgTypeDef msg); /*!< USB OTG PCD BCD callback */ - void (* LPMCallback)(struct __PCD_HandleTypeDef *hpcd, PCD_LPM_MsgTypeDef msg); /*!< USB OTG PCD LPM callback */ - - void (* MspInitCallback)(struct __PCD_HandleTypeDef *hpcd); /*!< USB OTG PCD Msp Init callback */ - void (* MspDeInitCallback)(struct __PCD_HandleTypeDef *hpcd); /*!< USB OTG PCD Msp DeInit callback */ -#endif /* USE_HAL_PCD_REGISTER_CALLBACKS */ -} PCD_HandleTypeDef; - -/** - * @} - */ - -/* Include PCD HAL Extended module */ -#include "stm32f4xx_hal_pcd_ex.h" - -/* Exported constants --------------------------------------------------------*/ -/** @defgroup PCD_Exported_Constants PCD Exported Constants - * @{ - */ - -/** @defgroup PCD_Speed PCD Speed - * @{ - */ -#define PCD_SPEED_HIGH USBD_HS_SPEED -#define PCD_SPEED_HIGH_IN_FULL USBD_HSINFS_SPEED -#define PCD_SPEED_FULL USBD_FS_SPEED -/** - * @} - */ - -/** @defgroup PCD_PHY_Module PCD PHY Module - * @{ - */ -#define PCD_PHY_ULPI 1U -#define PCD_PHY_EMBEDDED 2U -#define PCD_PHY_UTMI 3U -/** - * @} - */ - -/** @defgroup PCD_Error_Code_definition PCD Error Code definition - * @brief PCD Error Code definition - * @{ - */ -#if (USE_HAL_PCD_REGISTER_CALLBACKS == 1U) -#define HAL_PCD_ERROR_INVALID_CALLBACK (0x00000010U) /*!< Invalid Callback error */ -#endif /* USE_HAL_PCD_REGISTER_CALLBACKS */ - -/** - * @} - */ - -/** - * @} - */ - -/* Exported macros -----------------------------------------------------------*/ -/** @defgroup PCD_Exported_Macros PCD Exported Macros - * @brief macros to handle interrupts and specific clock configurations - * @{ - */ -#if defined (USB_OTG_FS) || defined (USB_OTG_HS) -#define __HAL_PCD_ENABLE(__HANDLE__) (void)USB_EnableGlobalInt ((__HANDLE__)->Instance) -#define __HAL_PCD_DISABLE(__HANDLE__) (void)USB_DisableGlobalInt ((__HANDLE__)->Instance) - -#define __HAL_PCD_GET_FLAG(__HANDLE__, __INTERRUPT__) \ - ((USB_ReadInterrupts((__HANDLE__)->Instance) & (__INTERRUPT__)) == (__INTERRUPT__)) - -#define __HAL_PCD_CLEAR_FLAG(__HANDLE__, __INTERRUPT__) (((__HANDLE__)->Instance->GINTSTS) &= (__INTERRUPT__)) -#define __HAL_PCD_IS_INVALID_INTERRUPT(__HANDLE__) (USB_ReadInterrupts((__HANDLE__)->Instance) == 0U) - -#define __HAL_PCD_UNGATE_PHYCLOCK(__HANDLE__) \ - *(__IO uint32_t *)((uint32_t)((__HANDLE__)->Instance) + USB_OTG_PCGCCTL_BASE) &= ~(USB_OTG_PCGCCTL_STOPCLK) - -#define __HAL_PCD_GATE_PHYCLOCK(__HANDLE__) \ - *(__IO uint32_t *)((uint32_t)((__HANDLE__)->Instance) + USB_OTG_PCGCCTL_BASE) |= USB_OTG_PCGCCTL_STOPCLK - -#define __HAL_PCD_IS_PHY_SUSPENDED(__HANDLE__) \ - ((*(__IO uint32_t *)((uint32_t)((__HANDLE__)->Instance) + USB_OTG_PCGCCTL_BASE)) & 0x10U) - -#define __HAL_USB_OTG_HS_WAKEUP_EXTI_ENABLE_IT() EXTI->IMR |= (USB_OTG_HS_WAKEUP_EXTI_LINE) -#define __HAL_USB_OTG_HS_WAKEUP_EXTI_DISABLE_IT() EXTI->IMR &= ~(USB_OTG_HS_WAKEUP_EXTI_LINE) -#define __HAL_USB_OTG_HS_WAKEUP_EXTI_GET_FLAG() EXTI->PR & (USB_OTG_HS_WAKEUP_EXTI_LINE) -#define __HAL_USB_OTG_HS_WAKEUP_EXTI_CLEAR_FLAG() EXTI->PR = (USB_OTG_HS_WAKEUP_EXTI_LINE) - -#define __HAL_USB_OTG_HS_WAKEUP_EXTI_ENABLE_RISING_EDGE() \ - do { \ - EXTI->FTSR &= ~(USB_OTG_HS_WAKEUP_EXTI_LINE); \ - EXTI->RTSR |= USB_OTG_HS_WAKEUP_EXTI_LINE; \ - } while(0U) -#define __HAL_USB_OTG_FS_WAKEUP_EXTI_ENABLE_IT() EXTI->IMR |= USB_OTG_FS_WAKEUP_EXTI_LINE -#define __HAL_USB_OTG_FS_WAKEUP_EXTI_DISABLE_IT() EXTI->IMR &= ~(USB_OTG_FS_WAKEUP_EXTI_LINE) -#define __HAL_USB_OTG_FS_WAKEUP_EXTI_GET_FLAG() EXTI->PR & (USB_OTG_FS_WAKEUP_EXTI_LINE) -#define __HAL_USB_OTG_FS_WAKEUP_EXTI_CLEAR_FLAG() EXTI->PR = USB_OTG_FS_WAKEUP_EXTI_LINE - -#define __HAL_USB_OTG_FS_WAKEUP_EXTI_ENABLE_RISING_EDGE() \ - do { \ - EXTI->FTSR &= ~(USB_OTG_FS_WAKEUP_EXTI_LINE); \ - EXTI->RTSR |= USB_OTG_FS_WAKEUP_EXTI_LINE; \ - } while(0U) -#endif /* defined (USB_OTG_FS) || defined (USB_OTG_HS) */ - - -/** - * @} - */ - -/* Exported functions --------------------------------------------------------*/ -/** @addtogroup PCD_Exported_Functions PCD Exported Functions - * @{ - */ - -/* Initialization/de-initialization functions ********************************/ -/** @addtogroup PCD_Exported_Functions_Group1 Initialization and de-initialization functions - * @{ - */ -HAL_StatusTypeDef HAL_PCD_Init(PCD_HandleTypeDef *hpcd); -HAL_StatusTypeDef HAL_PCD_DeInit(PCD_HandleTypeDef *hpcd); -void HAL_PCD_MspInit(PCD_HandleTypeDef *hpcd); -void HAL_PCD_MspDeInit(PCD_HandleTypeDef *hpcd); - -#if (USE_HAL_PCD_REGISTER_CALLBACKS == 1U) -/** @defgroup HAL_PCD_Callback_ID_enumeration_definition HAL USB OTG PCD Callback ID enumeration definition - * @brief HAL USB OTG PCD Callback ID enumeration definition - * @{ - */ -typedef enum -{ - HAL_PCD_SOF_CB_ID = 0x01, /*!< USB PCD SOF callback ID */ - HAL_PCD_SETUPSTAGE_CB_ID = 0x02, /*!< USB PCD Setup Stage callback ID */ - HAL_PCD_RESET_CB_ID = 0x03, /*!< USB PCD Reset callback ID */ - HAL_PCD_SUSPEND_CB_ID = 0x04, /*!< USB PCD Suspend callback ID */ - HAL_PCD_RESUME_CB_ID = 0x05, /*!< USB PCD Resume callback ID */ - HAL_PCD_CONNECT_CB_ID = 0x06, /*!< USB PCD Connect callback ID */ - HAL_PCD_DISCONNECT_CB_ID = 0x07, /*!< USB PCD Disconnect callback ID */ - - HAL_PCD_MSPINIT_CB_ID = 0x08, /*!< USB PCD MspInit callback ID */ - HAL_PCD_MSPDEINIT_CB_ID = 0x09 /*!< USB PCD MspDeInit callback ID */ - -} HAL_PCD_CallbackIDTypeDef; -/** - * @} - */ - -/** @defgroup HAL_PCD_Callback_pointer_definition HAL USB OTG PCD Callback pointer definition - * @brief HAL USB OTG PCD Callback pointer definition - * @{ - */ - -typedef void (*pPCD_CallbackTypeDef)(PCD_HandleTypeDef *hpcd); /*!< pointer to a common USB OTG PCD callback function */ -typedef void (*pPCD_DataOutStageCallbackTypeDef)(PCD_HandleTypeDef *hpcd, uint8_t epnum); /*!< pointer to USB OTG PCD Data OUT Stage callback */ -typedef void (*pPCD_DataInStageCallbackTypeDef)(PCD_HandleTypeDef *hpcd, uint8_t epnum); /*!< pointer to USB OTG PCD Data IN Stage callback */ -typedef void (*pPCD_IsoOutIncpltCallbackTypeDef)(PCD_HandleTypeDef *hpcd, uint8_t epnum); /*!< pointer to USB OTG PCD ISO OUT Incomplete callback */ -typedef void (*pPCD_IsoInIncpltCallbackTypeDef)(PCD_HandleTypeDef *hpcd, uint8_t epnum); /*!< pointer to USB OTG PCD ISO IN Incomplete callback */ -typedef void (*pPCD_LpmCallbackTypeDef)(PCD_HandleTypeDef *hpcd, PCD_LPM_MsgTypeDef msg); /*!< pointer to USB OTG PCD LPM callback */ -typedef void (*pPCD_BcdCallbackTypeDef)(PCD_HandleTypeDef *hpcd, PCD_BCD_MsgTypeDef msg); /*!< pointer to USB OTG PCD BCD callback */ - -/** - * @} - */ - -HAL_StatusTypeDef HAL_PCD_RegisterCallback(PCD_HandleTypeDef *hpcd, - HAL_PCD_CallbackIDTypeDef CallbackID, - pPCD_CallbackTypeDef pCallback); - -HAL_StatusTypeDef HAL_PCD_UnRegisterCallback(PCD_HandleTypeDef *hpcd, - HAL_PCD_CallbackIDTypeDef CallbackID); - -HAL_StatusTypeDef HAL_PCD_RegisterDataOutStageCallback(PCD_HandleTypeDef *hpcd, - pPCD_DataOutStageCallbackTypeDef pCallback); - -HAL_StatusTypeDef HAL_PCD_UnRegisterDataOutStageCallback(PCD_HandleTypeDef *hpcd); - -HAL_StatusTypeDef HAL_PCD_RegisterDataInStageCallback(PCD_HandleTypeDef *hpcd, - pPCD_DataInStageCallbackTypeDef pCallback); - -HAL_StatusTypeDef HAL_PCD_UnRegisterDataInStageCallback(PCD_HandleTypeDef *hpcd); - -HAL_StatusTypeDef HAL_PCD_RegisterIsoOutIncpltCallback(PCD_HandleTypeDef *hpcd, - pPCD_IsoOutIncpltCallbackTypeDef pCallback); - -HAL_StatusTypeDef HAL_PCD_UnRegisterIsoOutIncpltCallback(PCD_HandleTypeDef *hpcd); - -HAL_StatusTypeDef HAL_PCD_RegisterIsoInIncpltCallback(PCD_HandleTypeDef *hpcd, - pPCD_IsoInIncpltCallbackTypeDef pCallback); - -HAL_StatusTypeDef HAL_PCD_UnRegisterIsoInIncpltCallback(PCD_HandleTypeDef *hpcd); - -HAL_StatusTypeDef HAL_PCD_RegisterBcdCallback(PCD_HandleTypeDef *hpcd, - pPCD_BcdCallbackTypeDef pCallback); - -HAL_StatusTypeDef HAL_PCD_UnRegisterBcdCallback(PCD_HandleTypeDef *hpcd); - -HAL_StatusTypeDef HAL_PCD_RegisterLpmCallback(PCD_HandleTypeDef *hpcd, - pPCD_LpmCallbackTypeDef pCallback); - -HAL_StatusTypeDef HAL_PCD_UnRegisterLpmCallback(PCD_HandleTypeDef *hpcd); -#endif /* USE_HAL_PCD_REGISTER_CALLBACKS */ -/** - * @} - */ - -/* I/O operation functions ***************************************************/ -/* Non-Blocking mode: Interrupt */ -/** @addtogroup PCD_Exported_Functions_Group2 Input and Output operation functions - * @{ - */ -HAL_StatusTypeDef HAL_PCD_Start(PCD_HandleTypeDef *hpcd); -HAL_StatusTypeDef HAL_PCD_Stop(PCD_HandleTypeDef *hpcd); -void HAL_PCD_IRQHandler(PCD_HandleTypeDef *hpcd); -void HAL_PCD_WKUP_IRQHandler(PCD_HandleTypeDef *hpcd); - -void HAL_PCD_SOFCallback(PCD_HandleTypeDef *hpcd); -void HAL_PCD_SetupStageCallback(PCD_HandleTypeDef *hpcd); -void HAL_PCD_ResetCallback(PCD_HandleTypeDef *hpcd); -void HAL_PCD_SuspendCallback(PCD_HandleTypeDef *hpcd); -void HAL_PCD_ResumeCallback(PCD_HandleTypeDef *hpcd); -void HAL_PCD_ConnectCallback(PCD_HandleTypeDef *hpcd); -void HAL_PCD_DisconnectCallback(PCD_HandleTypeDef *hpcd); - -void HAL_PCD_DataOutStageCallback(PCD_HandleTypeDef *hpcd, uint8_t epnum); -void HAL_PCD_DataInStageCallback(PCD_HandleTypeDef *hpcd, uint8_t epnum); -void HAL_PCD_ISOOUTIncompleteCallback(PCD_HandleTypeDef *hpcd, uint8_t epnum); -void HAL_PCD_ISOINIncompleteCallback(PCD_HandleTypeDef *hpcd, uint8_t epnum); -/** - * @} - */ - -/* Peripheral Control functions **********************************************/ -/** @addtogroup PCD_Exported_Functions_Group3 Peripheral Control functions - * @{ - */ -HAL_StatusTypeDef HAL_PCD_DevConnect(PCD_HandleTypeDef *hpcd); -HAL_StatusTypeDef HAL_PCD_DevDisconnect(PCD_HandleTypeDef *hpcd); -HAL_StatusTypeDef HAL_PCD_SetAddress(PCD_HandleTypeDef *hpcd, uint8_t address); -HAL_StatusTypeDef HAL_PCD_EP_Open(PCD_HandleTypeDef *hpcd, uint8_t ep_addr, - uint16_t ep_mps, uint8_t ep_type); - -HAL_StatusTypeDef HAL_PCD_EP_Close(PCD_HandleTypeDef *hpcd, uint8_t ep_addr); -HAL_StatusTypeDef HAL_PCD_EP_Receive(PCD_HandleTypeDef *hpcd, uint8_t ep_addr, - uint8_t *pBuf, uint32_t len); - -HAL_StatusTypeDef HAL_PCD_EP_Transmit(PCD_HandleTypeDef *hpcd, uint8_t ep_addr, - uint8_t *pBuf, uint32_t len); - - -HAL_StatusTypeDef HAL_PCD_EP_SetStall(PCD_HandleTypeDef *hpcd, uint8_t ep_addr); -HAL_StatusTypeDef HAL_PCD_EP_ClrStall(PCD_HandleTypeDef *hpcd, uint8_t ep_addr); -HAL_StatusTypeDef HAL_PCD_EP_Flush(PCD_HandleTypeDef *hpcd, uint8_t ep_addr); -HAL_StatusTypeDef HAL_PCD_ActivateRemoteWakeup(PCD_HandleTypeDef *hpcd); -HAL_StatusTypeDef HAL_PCD_DeActivateRemoteWakeup(PCD_HandleTypeDef *hpcd); - -uint32_t HAL_PCD_EP_GetRxCount(PCD_HandleTypeDef *hpcd, uint8_t ep_addr); -/** - * @} - */ - -/* Peripheral State functions ************************************************/ -/** @addtogroup PCD_Exported_Functions_Group4 Peripheral State functions - * @{ - */ -PCD_StateTypeDef HAL_PCD_GetState(PCD_HandleTypeDef *hpcd); -/** - * @} - */ - -/** - * @} - */ - -/* Private constants ---------------------------------------------------------*/ -/** @defgroup PCD_Private_Constants PCD Private Constants - * @{ - */ -/** @defgroup USB_EXTI_Line_Interrupt USB EXTI line interrupt - * @{ - */ -#if defined (USB_OTG_FS) || defined (USB_OTG_HS) -#define USB_OTG_FS_WAKEUP_EXTI_LINE (0x1U << 18) /*!< USB FS EXTI Line WakeUp Interrupt */ -#define USB_OTG_HS_WAKEUP_EXTI_LINE (0x1U << 20) /*!< USB HS EXTI Line WakeUp Interrupt */ -#endif /* defined (USB_OTG_FS) || defined (USB_OTG_HS) */ - - -/** - * @} - */ -/** - * @} - */ - -#if defined (USB_OTG_FS) || defined (USB_OTG_HS) -#ifndef USB_OTG_DOEPINT_OTEPSPR -#define USB_OTG_DOEPINT_OTEPSPR (0x1UL << 5) /*!< Status Phase Received interrupt */ -#endif /* defined USB_OTG_DOEPINT_OTEPSPR */ - -#ifndef USB_OTG_DOEPMSK_OTEPSPRM -#define USB_OTG_DOEPMSK_OTEPSPRM (0x1UL << 5) /*!< Setup Packet Received interrupt mask */ -#endif /* defined USB_OTG_DOEPMSK_OTEPSPRM */ - -#ifndef USB_OTG_DOEPINT_NAK -#define USB_OTG_DOEPINT_NAK (0x1UL << 13) /*!< NAK interrupt */ -#endif /* defined USB_OTG_DOEPINT_NAK */ - -#ifndef USB_OTG_DOEPMSK_NAKM -#define USB_OTG_DOEPMSK_NAKM (0x1UL << 13) /*!< OUT Packet NAK interrupt mask */ -#endif /* defined USB_OTG_DOEPMSK_NAKM */ - -#ifndef USB_OTG_DOEPINT_STPKTRX -#define USB_OTG_DOEPINT_STPKTRX (0x1UL << 15) /*!< Setup Packet Received interrupt */ -#endif /* defined USB_OTG_DOEPINT_STPKTRX */ - -#ifndef USB_OTG_DOEPMSK_NYETM -#define USB_OTG_DOEPMSK_NYETM (0x1UL << 14) /*!< Setup Packet Received interrupt mask */ -#endif /* defined USB_OTG_DOEPMSK_NYETM */ -#endif /* defined (USB_OTG_FS) || defined (USB_OTG_HS) */ - -/* Private macros ------------------------------------------------------------*/ -/** @defgroup PCD_Private_Macros PCD Private Macros - * @{ - */ - -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ -#endif /* defined (USB_OTG_FS) || defined (USB_OTG_HS) */ - -#ifdef __cplusplus -} -#endif - -#endif /* STM32F4xx_HAL_PCD_H */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd_ex.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd_ex.h deleted file mode 100644 index 71e9a2c18b4f44..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pcd_ex.h +++ /dev/null @@ -1,91 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_pcd_ex.h - * @author MCD Application Team - * @brief Header file of PCD HAL Extension module. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef STM32F4xx_HAL_PCD_EX_H -#define STM32F4xx_HAL_PCD_EX_H - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal_def.h" - -#if defined (USB_OTG_FS) || defined (USB_OTG_HS) -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @addtogroup PCDEx - * @{ - */ -/* Exported types ------------------------------------------------------------*/ -/* Exported constants --------------------------------------------------------*/ -/* Exported macros -----------------------------------------------------------*/ -/* Exported functions --------------------------------------------------------*/ -/** @addtogroup PCDEx_Exported_Functions PCDEx Exported Functions - * @{ - */ -/** @addtogroup PCDEx_Exported_Functions_Group1 Peripheral Control functions - * @{ - */ - -#if defined (USB_OTG_FS) || defined (USB_OTG_HS) -HAL_StatusTypeDef HAL_PCDEx_SetTxFiFo(PCD_HandleTypeDef *hpcd, uint8_t fifo, uint16_t size); -HAL_StatusTypeDef HAL_PCDEx_SetRxFiFo(PCD_HandleTypeDef *hpcd, uint16_t size); -#endif /* defined (USB_OTG_FS) || defined (USB_OTG_HS) */ - -#if defined(STM32F446xx) || defined(STM32F469xx) || defined(STM32F479xx) || defined(STM32F412Zx) || defined(STM32F412Vx) || defined(STM32F412Rx) || defined(STM32F412Cx) || defined(STM32F413xx) || defined(STM32F423xx) -HAL_StatusTypeDef HAL_PCDEx_ActivateLPM(PCD_HandleTypeDef *hpcd); -HAL_StatusTypeDef HAL_PCDEx_DeActivateLPM(PCD_HandleTypeDef *hpcd); -#endif /* defined(STM32F446xx) || defined(STM32F469xx) || defined(STM32F479xx) || defined(STM32F412Zx) || defined(STM32F412Vx) || defined(STM32F412Rx) || defined(STM32F412Cx) || defined(STM32F413xx) || defined(STM32F423xx) */ -#if defined(STM32F412Zx) || defined(STM32F412Vx) || defined(STM32F412Rx) || defined(STM32F412Cx) || defined(STM32F413xx) || defined(STM32F423xx) -HAL_StatusTypeDef HAL_PCDEx_ActivateBCD(PCD_HandleTypeDef *hpcd); -HAL_StatusTypeDef HAL_PCDEx_DeActivateBCD(PCD_HandleTypeDef *hpcd); -void HAL_PCDEx_BCD_VBUSDetect(PCD_HandleTypeDef *hpcd); -#endif /* defined(STM32F412Zx) || defined(STM32F412Vx) || defined(STM32F412Rx) || defined(STM32F412Cx) || defined(STM32F413xx) || defined(STM32F423xx) */ -void HAL_PCDEx_LPM_Callback(PCD_HandleTypeDef *hpcd, PCD_LPM_MsgTypeDef msg); -void HAL_PCDEx_BCD_Callback(PCD_HandleTypeDef *hpcd, PCD_BCD_MsgTypeDef msg); - -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ -#endif /* defined (USB_OTG_FS) || defined (USB_OTG_HS) */ - -#ifdef __cplusplus -} -#endif - - -#endif /* STM32F4xx_HAL_PCD_EX_H */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h deleted file mode 100644 index 6f3bf7141c93df..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr.h +++ /dev/null @@ -1,431 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_pwr.h - * @author MCD Application Team - * @brief Header file of PWR HAL module. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef __STM32F4xx_HAL_PWR_H -#define __STM32F4xx_HAL_PWR_H - -#ifdef __cplusplus - extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal_def.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @addtogroup PWR - * @{ - */ - -/* Exported types ------------------------------------------------------------*/ - -/** @defgroup PWR_Exported_Types PWR Exported Types - * @{ - */ - -/** - * @brief PWR PVD configuration structure definition - */ -typedef struct -{ - uint32_t PVDLevel; /*!< PVDLevel: Specifies the PVD detection level. - This parameter can be a value of @ref PWR_PVD_detection_level */ - - uint32_t Mode; /*!< Mode: Specifies the operating mode for the selected pins. - This parameter can be a value of @ref PWR_PVD_Mode */ -}PWR_PVDTypeDef; - -/** - * @} - */ - -/* Exported constants --------------------------------------------------------*/ -/** @defgroup PWR_Exported_Constants PWR Exported Constants - * @{ - */ - -/** @defgroup PWR_WakeUp_Pins PWR WakeUp Pins - * @{ - */ -#define PWR_WAKEUP_PIN1 0x00000100U -/** - * @} - */ - -/** @defgroup PWR_PVD_detection_level PWR PVD detection level - * @{ - */ -#define PWR_PVDLEVEL_0 PWR_CR_PLS_LEV0 -#define PWR_PVDLEVEL_1 PWR_CR_PLS_LEV1 -#define PWR_PVDLEVEL_2 PWR_CR_PLS_LEV2 -#define PWR_PVDLEVEL_3 PWR_CR_PLS_LEV3 -#define PWR_PVDLEVEL_4 PWR_CR_PLS_LEV4 -#define PWR_PVDLEVEL_5 PWR_CR_PLS_LEV5 -#define PWR_PVDLEVEL_6 PWR_CR_PLS_LEV6 -#define PWR_PVDLEVEL_7 PWR_CR_PLS_LEV7/* External input analog voltage - (Compare internally to VREFINT) */ -/** - * @} - */ - -/** @defgroup PWR_PVD_Mode PWR PVD Mode - * @{ - */ -#define PWR_PVD_MODE_NORMAL 0x00000000U /*!< basic mode is used */ -#define PWR_PVD_MODE_IT_RISING 0x00010001U /*!< External Interrupt Mode with Rising edge trigger detection */ -#define PWR_PVD_MODE_IT_FALLING 0x00010002U /*!< External Interrupt Mode with Falling edge trigger detection */ -#define PWR_PVD_MODE_IT_RISING_FALLING 0x00010003U /*!< External Interrupt Mode with Rising/Falling edge trigger detection */ -#define PWR_PVD_MODE_EVENT_RISING 0x00020001U /*!< Event Mode with Rising edge trigger detection */ -#define PWR_PVD_MODE_EVENT_FALLING 0x00020002U /*!< Event Mode with Falling edge trigger detection */ -#define PWR_PVD_MODE_EVENT_RISING_FALLING 0x00020003U /*!< Event Mode with Rising/Falling edge trigger detection */ -/** - * @} - */ - - -/** @defgroup PWR_Regulator_state_in_STOP_mode PWR Regulator state in SLEEP/STOP mode - * @{ - */ -#define PWR_MAINREGULATOR_ON 0x00000000U -#define PWR_LOWPOWERREGULATOR_ON PWR_CR_LPDS -/** - * @} - */ - -/** @defgroup PWR_SLEEP_mode_entry PWR SLEEP mode entry - * @{ - */ -#define PWR_SLEEPENTRY_WFI ((uint8_t)0x01) -#define PWR_SLEEPENTRY_WFE ((uint8_t)0x02) -/** - * @} - */ - -/** @defgroup PWR_STOP_mode_entry PWR STOP mode entry - * @{ - */ -#define PWR_STOPENTRY_WFI ((uint8_t)0x01) -#define PWR_STOPENTRY_WFE ((uint8_t)0x02) -/** - * @} - */ - -/** @defgroup PWR_Flag PWR Flag - * @{ - */ -#define PWR_FLAG_WU PWR_CSR_WUF -#define PWR_FLAG_SB PWR_CSR_SBF -#define PWR_FLAG_PVDO PWR_CSR_PVDO -#define PWR_FLAG_BRR PWR_CSR_BRR -#define PWR_FLAG_VOSRDY PWR_CSR_VOSRDY -/** - * @} - */ - -/** - * @} - */ - -/* Exported macro ------------------------------------------------------------*/ -/** @defgroup PWR_Exported_Macro PWR Exported Macro - * @{ - */ - -/** @brief Check PWR flag is set or not. - * @param __FLAG__ specifies the flag to check. - * This parameter can be one of the following values: - * @arg PWR_FLAG_WU: Wake Up flag. This flag indicates that a wakeup event - * was received from the WKUP pin or from the RTC alarm (Alarm A - * or Alarm B), RTC Tamper event, RTC TimeStamp event or RTC Wakeup. - * An additional wakeup event is detected if the WKUP pin is enabled - * (by setting the EWUP bit) when the WKUP pin level is already high. - * @arg PWR_FLAG_SB: StandBy flag. This flag indicates that the system was - * resumed from StandBy mode. - * @arg PWR_FLAG_PVDO: PVD Output. This flag is valid only if PVD is enabled - * by the HAL_PWR_EnablePVD() function. The PVD is stopped by Standby mode - * For this reason, this bit is equal to 0 after Standby or reset - * until the PVDE bit is set. - * @arg PWR_FLAG_BRR: Backup regulator ready flag. This bit is not reset - * when the device wakes up from Standby mode or by a system reset - * or power reset. - * @arg PWR_FLAG_VOSRDY: This flag indicates that the Regulator voltage - * scaling output selection is ready. - * @retval The new state of __FLAG__ (TRUE or FALSE). - */ -#define __HAL_PWR_GET_FLAG(__FLAG__) ((PWR->CSR & (__FLAG__)) == (__FLAG__)) - -/** @brief Clear the PWR's pending flags. - * @param __FLAG__ specifies the flag to clear. - * This parameter can be one of the following values: - * @arg PWR_FLAG_WU: Wake Up flag - * @arg PWR_FLAG_SB: StandBy flag - */ -#define __HAL_PWR_CLEAR_FLAG(__FLAG__) (PWR->CR |= (__FLAG__) << 2U) - -/** - * @brief Enable the PVD Exti Line 16. - * @retval None. - */ -#define __HAL_PWR_PVD_EXTI_ENABLE_IT() (EXTI->IMR |= (PWR_EXTI_LINE_PVD)) - -/** - * @brief Disable the PVD EXTI Line 16. - * @retval None. - */ -#define __HAL_PWR_PVD_EXTI_DISABLE_IT() (EXTI->IMR &= ~(PWR_EXTI_LINE_PVD)) - -/** - * @brief Enable event on PVD Exti Line 16. - * @retval None. - */ -#define __HAL_PWR_PVD_EXTI_ENABLE_EVENT() (EXTI->EMR |= (PWR_EXTI_LINE_PVD)) - -/** - * @brief Disable event on PVD Exti Line 16. - * @retval None. - */ -#define __HAL_PWR_PVD_EXTI_DISABLE_EVENT() (EXTI->EMR &= ~(PWR_EXTI_LINE_PVD)) - -/** - * @brief Enable the PVD Extended Interrupt Rising Trigger. - * @retval None. - */ -#define __HAL_PWR_PVD_EXTI_ENABLE_RISING_EDGE() SET_BIT(EXTI->RTSR, PWR_EXTI_LINE_PVD) - -/** - * @brief Disable the PVD Extended Interrupt Rising Trigger. - * @retval None. - */ -#define __HAL_PWR_PVD_EXTI_DISABLE_RISING_EDGE() CLEAR_BIT(EXTI->RTSR, PWR_EXTI_LINE_PVD) - -/** - * @brief Enable the PVD Extended Interrupt Falling Trigger. - * @retval None. - */ -#define __HAL_PWR_PVD_EXTI_ENABLE_FALLING_EDGE() SET_BIT(EXTI->FTSR, PWR_EXTI_LINE_PVD) - - -/** - * @brief Disable the PVD Extended Interrupt Falling Trigger. - * @retval None. - */ -#define __HAL_PWR_PVD_EXTI_DISABLE_FALLING_EDGE() CLEAR_BIT(EXTI->FTSR, PWR_EXTI_LINE_PVD) - - -/** - * @brief PVD EXTI line configuration: set rising & falling edge trigger. - * @retval None. - */ -#define __HAL_PWR_PVD_EXTI_ENABLE_RISING_FALLING_EDGE() do{__HAL_PWR_PVD_EXTI_ENABLE_RISING_EDGE();\ - __HAL_PWR_PVD_EXTI_ENABLE_FALLING_EDGE();\ - }while(0U) - -/** - * @brief Disable the PVD Extended Interrupt Rising & Falling Trigger. - * This parameter can be: - * @retval None. - */ -#define __HAL_PWR_PVD_EXTI_DISABLE_RISING_FALLING_EDGE() do{__HAL_PWR_PVD_EXTI_DISABLE_RISING_EDGE();\ - __HAL_PWR_PVD_EXTI_DISABLE_FALLING_EDGE();\ - }while(0U) - -/** - * @brief checks whether the specified PVD Exti interrupt flag is set or not. - * @retval EXTI PVD Line Status. - */ -#define __HAL_PWR_PVD_EXTI_GET_FLAG() (EXTI->PR & (PWR_EXTI_LINE_PVD)) - -/** - * @brief Clear the PVD Exti flag. - * @retval None. - */ -#define __HAL_PWR_PVD_EXTI_CLEAR_FLAG() (EXTI->PR = (PWR_EXTI_LINE_PVD)) - -/** - * @brief Generates a Software interrupt on PVD EXTI line. - * @retval None - */ -#define __HAL_PWR_PVD_EXTI_GENERATE_SWIT() (EXTI->SWIER |= (PWR_EXTI_LINE_PVD)) - -/** - * @} - */ - -/* Include PWR HAL Extension module */ -#include "stm32f4xx_hal_pwr_ex.h" - -/* Exported functions --------------------------------------------------------*/ -/** @addtogroup PWR_Exported_Functions PWR Exported Functions - * @{ - */ - -/** @addtogroup PWR_Exported_Functions_Group1 Initialization and de-initialization functions - * @{ - */ -/* Initialization and de-initialization functions *****************************/ -void HAL_PWR_DeInit(void); -void HAL_PWR_EnableBkUpAccess(void); -void HAL_PWR_DisableBkUpAccess(void); -/** - * @} - */ - -/** @addtogroup PWR_Exported_Functions_Group2 Peripheral Control functions - * @{ - */ -/* Peripheral Control functions **********************************************/ -/* PVD configuration */ -void HAL_PWR_ConfigPVD(PWR_PVDTypeDef *sConfigPVD); -void HAL_PWR_EnablePVD(void); -void HAL_PWR_DisablePVD(void); - -/* WakeUp pins configuration */ -void HAL_PWR_EnableWakeUpPin(uint32_t WakeUpPinx); -void HAL_PWR_DisableWakeUpPin(uint32_t WakeUpPinx); - -/* Low Power modes entry */ -void HAL_PWR_EnterSTOPMode(uint32_t Regulator, uint8_t STOPEntry); -void HAL_PWR_EnterSLEEPMode(uint32_t Regulator, uint8_t SLEEPEntry); -void HAL_PWR_EnterSTANDBYMode(void); - -/* Power PVD IRQ Handler */ -void HAL_PWR_PVD_IRQHandler(void); -void HAL_PWR_PVDCallback(void); - -/* Cortex System Control functions *******************************************/ -void HAL_PWR_EnableSleepOnExit(void); -void HAL_PWR_DisableSleepOnExit(void); -void HAL_PWR_EnableSEVOnPend(void); -void HAL_PWR_DisableSEVOnPend(void); -/** - * @} - */ - -/** - * @} - */ - -/* Private types -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private constants ---------------------------------------------------------*/ -/** @defgroup PWR_Private_Constants PWR Private Constants - * @{ - */ - -/** @defgroup PWR_PVD_EXTI_Line PWR PVD EXTI Line - * @{ - */ -#define PWR_EXTI_LINE_PVD ((uint32_t)EXTI_IMR_MR16) /*!< External interrupt line 16 Connected to the PVD EXTI Line */ -/** - * @} - */ - -/** @defgroup PWR_register_alias_address PWR Register alias address - * @{ - */ -/* ------------- PWR registers bit address in the alias region ---------------*/ -#define PWR_OFFSET (PWR_BASE - PERIPH_BASE) -#define PWR_CR_OFFSET 0x00U -#define PWR_CSR_OFFSET 0x04U -#define PWR_CR_OFFSET_BB (PWR_OFFSET + PWR_CR_OFFSET) -#define PWR_CSR_OFFSET_BB (PWR_OFFSET + PWR_CSR_OFFSET) -/** - * @} - */ - -/** @defgroup PWR_CR_register_alias PWR CR Register alias address - * @{ - */ -/* --- CR Register ---*/ -/* Alias word address of DBP bit */ -#define DBP_BIT_NUMBER PWR_CR_DBP_Pos -#define CR_DBP_BB (uint32_t)(PERIPH_BB_BASE + (PWR_CR_OFFSET_BB * 32U) + (DBP_BIT_NUMBER * 4U)) - -/* Alias word address of PVDE bit */ -#define PVDE_BIT_NUMBER PWR_CR_PVDE_Pos -#define CR_PVDE_BB (uint32_t)(PERIPH_BB_BASE + (PWR_CR_OFFSET_BB * 32U) + (PVDE_BIT_NUMBER * 4U)) - -/* Alias word address of VOS bit */ -#define VOS_BIT_NUMBER PWR_CR_VOS_Pos -#define CR_VOS_BB (uint32_t)(PERIPH_BB_BASE + (PWR_CR_OFFSET_BB * 32U) + (VOS_BIT_NUMBER * 4U)) -/** - * @} - */ - -/** @defgroup PWR_CSR_register_alias PWR CSR Register alias address - * @{ - */ -/* --- CSR Register ---*/ -/* Alias word address of EWUP bit */ -#define EWUP_BIT_NUMBER PWR_CSR_EWUP_Pos -#define CSR_EWUP_BB (PERIPH_BB_BASE + (PWR_CSR_OFFSET_BB * 32U) + (EWUP_BIT_NUMBER * 4U)) -/** - * @} - */ - -/** - * @} - */ -/* Private macros ------------------------------------------------------------*/ -/** @defgroup PWR_Private_Macros PWR Private Macros - * @{ - */ - -/** @defgroup PWR_IS_PWR_Definitions PWR Private macros to check input parameters - * @{ - */ -#define IS_PWR_PVD_LEVEL(LEVEL) (((LEVEL) == PWR_PVDLEVEL_0) || ((LEVEL) == PWR_PVDLEVEL_1)|| \ - ((LEVEL) == PWR_PVDLEVEL_2) || ((LEVEL) == PWR_PVDLEVEL_3)|| \ - ((LEVEL) == PWR_PVDLEVEL_4) || ((LEVEL) == PWR_PVDLEVEL_5)|| \ - ((LEVEL) == PWR_PVDLEVEL_6) || ((LEVEL) == PWR_PVDLEVEL_7)) -#define IS_PWR_PVD_MODE(MODE) (((MODE) == PWR_PVD_MODE_IT_RISING)|| ((MODE) == PWR_PVD_MODE_IT_FALLING) || \ - ((MODE) == PWR_PVD_MODE_IT_RISING_FALLING) || ((MODE) == PWR_PVD_MODE_EVENT_RISING) || \ - ((MODE) == PWR_PVD_MODE_EVENT_FALLING) || ((MODE) == PWR_PVD_MODE_EVENT_RISING_FALLING) || \ - ((MODE) == PWR_PVD_MODE_NORMAL)) -#define IS_PWR_REGULATOR(REGULATOR) (((REGULATOR) == PWR_MAINREGULATOR_ON) || \ - ((REGULATOR) == PWR_LOWPOWERREGULATOR_ON)) -#define IS_PWR_SLEEP_ENTRY(ENTRY) (((ENTRY) == PWR_SLEEPENTRY_WFI) || ((ENTRY) == PWR_SLEEPENTRY_WFE)) -#define IS_PWR_STOP_ENTRY(ENTRY) (((ENTRY) == PWR_STOPENTRY_WFI) || ((ENTRY) == PWR_STOPENTRY_WFE)) -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ - -#ifdef __cplusplus -} -#endif - - -#endif /* __STM32F4xx_HAL_PWR_H */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h deleted file mode 100644 index 10e017a1041f1a..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_pwr_ex.h +++ /dev/null @@ -1,344 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_pwr_ex.h - * @author MCD Application Team - * @brief Header file of PWR HAL Extension module. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef __STM32F4xx_HAL_PWR_EX_H -#define __STM32F4xx_HAL_PWR_EX_H - -#ifdef __cplusplus - extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal_def.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @addtogroup PWREx - * @{ - */ - -/* Exported types ------------------------------------------------------------*/ -/* Exported constants --------------------------------------------------------*/ -/** @defgroup PWREx_Exported_Constants PWREx Exported Constants - * @{ - */ -#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) ||\ - defined(STM32F446xx) || defined(STM32F469xx) || defined(STM32F479xx) - -/** @defgroup PWREx_Regulator_state_in_UnderDrive_mode PWREx Regulator state in UnderDrive mode - * @{ - */ -#define PWR_MAINREGULATOR_UNDERDRIVE_ON PWR_CR_MRUDS -#define PWR_LOWPOWERREGULATOR_UNDERDRIVE_ON ((uint32_t)(PWR_CR_LPDS | PWR_CR_LPUDS)) -/** - * @} - */ - -/** @defgroup PWREx_Over_Under_Drive_Flag PWREx Over Under Drive Flag - * @{ - */ -#define PWR_FLAG_ODRDY PWR_CSR_ODRDY -#define PWR_FLAG_ODSWRDY PWR_CSR_ODSWRDY -#define PWR_FLAG_UDRDY PWR_CSR_UDSWRDY -/** - * @} - */ -#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || STM32F446xx || STM32F469xx || STM32F479xx */ - -/** @defgroup PWREx_Regulator_Voltage_Scale PWREx Regulator Voltage Scale - * @{ - */ -#if defined(STM32F405xx) || defined(STM32F407xx) || defined(STM32F415xx) || defined(STM32F417xx) -#define PWR_REGULATOR_VOLTAGE_SCALE1 PWR_CR_VOS /* Scale 1 mode(default value at reset): the maximum value of fHCLK = 168 MHz. */ -#define PWR_REGULATOR_VOLTAGE_SCALE2 0x00000000U /* Scale 2 mode: the maximum value of fHCLK = 144 MHz. */ -#else -#define PWR_REGULATOR_VOLTAGE_SCALE1 PWR_CR_VOS /* Scale 1 mode(default value at reset): the maximum value of fHCLK is 168 MHz. It can be extended to - 180 MHz by activating the over-drive mode. */ -#define PWR_REGULATOR_VOLTAGE_SCALE2 PWR_CR_VOS_1 /* Scale 2 mode: the maximum value of fHCLK is 144 MHz. It can be extended to - 168 MHz by activating the over-drive mode. */ -#define PWR_REGULATOR_VOLTAGE_SCALE3 PWR_CR_VOS_0 /* Scale 3 mode: the maximum value of fHCLK is 120 MHz. */ -#endif /* STM32F405xx || STM32F407xx || STM32F415xx || STM32F417xx */ -/** - * @} - */ -#if defined(STM32F410Tx) || defined(STM32F410Cx) || defined(STM32F410Rx) || defined(STM32F446xx) || defined(STM32F412Zx) || defined(STM32F412Vx) || \ - defined(STM32F412Rx) || defined(STM32F412Cx) || defined(STM32F413xx) || defined(STM32F423xx) -/** @defgroup PWREx_WakeUp_Pins PWREx WakeUp Pins - * @{ - */ -#define PWR_WAKEUP_PIN2 0x00000080U -#if defined(STM32F410Tx) || defined(STM32F410Cx) || defined(STM32F410Rx) || defined(STM32F412Zx) || defined(STM32F412Vx) || \ - defined(STM32F412Rx) || defined(STM32F412Cx) || defined(STM32F413xx) || defined(STM32F423xx) -#define PWR_WAKEUP_PIN3 0x00000040U -#endif /* STM32F410xx || STM32F412Zx || STM32F412Vx || STM32F412Rx || STM32F412Zx || STM32F412Vx || \ - STM32F412Rx || STM32F412Cx || STM32F413xx || STM32F423xx */ -/** - * @} - */ -#endif /* STM32F410xx || STM32F446xx || STM32F412Zx || STM32F412Vx || STM32F412Rx || STM32F412Cx || - STM32F413xx || STM32F423xx */ - -/** - * @} - */ - -/* Exported macro ------------------------------------------------------------*/ -/** @defgroup PWREx_Exported_Constants PWREx Exported Constants - * @{ - */ - -#if defined(STM32F405xx) || defined(STM32F407xx) || defined(STM32F415xx) || defined(STM32F417xx) -/** @brief macros configure the main internal regulator output voltage. - * @param __REGULATOR__ specifies the regulator output voltage to achieve - * a tradeoff between performance and power consumption when the device does - * not operate at the maximum frequency (refer to the datasheets for more details). - * This parameter can be one of the following values: - * @arg PWR_REGULATOR_VOLTAGE_SCALE1: Regulator voltage output Scale 1 mode - * @arg PWR_REGULATOR_VOLTAGE_SCALE2: Regulator voltage output Scale 2 mode - * @retval None - */ -#define __HAL_PWR_VOLTAGESCALING_CONFIG(__REGULATOR__) do { \ - __IO uint32_t tmpreg = 0x00U; \ - MODIFY_REG(PWR->CR, PWR_CR_VOS, (__REGULATOR__)); \ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(PWR->CR, PWR_CR_VOS); \ - UNUSED(tmpreg); \ - } while(0U) -#else -/** @brief macros configure the main internal regulator output voltage. - * @param __REGULATOR__ specifies the regulator output voltage to achieve - * a tradeoff between performance and power consumption when the device does - * not operate at the maximum frequency (refer to the datasheets for more details). - * This parameter can be one of the following values: - * @arg PWR_REGULATOR_VOLTAGE_SCALE1: Regulator voltage output Scale 1 mode - * @arg PWR_REGULATOR_VOLTAGE_SCALE2: Regulator voltage output Scale 2 mode - * @arg PWR_REGULATOR_VOLTAGE_SCALE3: Regulator voltage output Scale 3 mode - * @retval None - */ -#define __HAL_PWR_VOLTAGESCALING_CONFIG(__REGULATOR__) do { \ - __IO uint32_t tmpreg = 0x00U; \ - MODIFY_REG(PWR->CR, PWR_CR_VOS, (__REGULATOR__)); \ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(PWR->CR, PWR_CR_VOS); \ - UNUSED(tmpreg); \ - } while(0U) -#endif /* STM32F405xx || STM32F407xx || STM32F415xx || STM32F417xx */ - -#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) ||\ - defined(STM32F446xx) || defined(STM32F469xx) || defined(STM32F479xx) -/** @brief Macros to enable or disable the Over drive mode. - * @note These macros can be used only for STM32F42xx/STM3243xx devices. - */ -#define __HAL_PWR_OVERDRIVE_ENABLE() (*(__IO uint32_t *) CR_ODEN_BB = ENABLE) -#define __HAL_PWR_OVERDRIVE_DISABLE() (*(__IO uint32_t *) CR_ODEN_BB = DISABLE) - -/** @brief Macros to enable or disable the Over drive switching. - * @note These macros can be used only for STM32F42xx/STM3243xx devices. - */ -#define __HAL_PWR_OVERDRIVESWITCHING_ENABLE() (*(__IO uint32_t *) CR_ODSWEN_BB = ENABLE) -#define __HAL_PWR_OVERDRIVESWITCHING_DISABLE() (*(__IO uint32_t *) CR_ODSWEN_BB = DISABLE) - -/** @brief Macros to enable or disable the Under drive mode. - * @note This mode is enabled only with STOP low power mode. - * In this mode, the 1.2V domain is preserved in reduced leakage mode. This - * mode is only available when the main regulator or the low power regulator - * is in low voltage mode. - * @note If the Under-drive mode was enabled, it is automatically disabled after - * exiting Stop mode. - * When the voltage regulator operates in Under-drive mode, an additional - * startup delay is induced when waking up from Stop mode. - */ -#define __HAL_PWR_UNDERDRIVE_ENABLE() (PWR->CR |= (uint32_t)PWR_CR_UDEN) -#define __HAL_PWR_UNDERDRIVE_DISABLE() (PWR->CR &= (uint32_t)(~PWR_CR_UDEN)) - -/** @brief Check PWR flag is set or not. - * @note These macros can be used only for STM32F42xx/STM3243xx devices. - * @param __FLAG__ specifies the flag to check. - * This parameter can be one of the following values: - * @arg PWR_FLAG_ODRDY: This flag indicates that the Over-drive mode - * is ready - * @arg PWR_FLAG_ODSWRDY: This flag indicates that the Over-drive mode - * switching is ready - * @arg PWR_FLAG_UDRDY: This flag indicates that the Under-drive mode - * is enabled in Stop mode - * @retval The new state of __FLAG__ (TRUE or FALSE). - */ -#define __HAL_PWR_GET_ODRUDR_FLAG(__FLAG__) ((PWR->CSR & (__FLAG__)) == (__FLAG__)) - -/** @brief Clear the Under-Drive Ready flag. - * @note These macros can be used only for STM32F42xx/STM3243xx devices. - */ -#define __HAL_PWR_CLEAR_ODRUDR_FLAG() (PWR->CSR |= PWR_FLAG_UDRDY) - -#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || STM32F446xx || STM32F469xx || STM32F479xx */ -/** - * @} - */ - -/* Exported functions --------------------------------------------------------*/ -/** @addtogroup PWREx_Exported_Functions PWREx Exported Functions - * @{ - */ - -/** @addtogroup PWREx_Exported_Functions_Group1 - * @{ - */ -void HAL_PWREx_EnableFlashPowerDown(void); -void HAL_PWREx_DisableFlashPowerDown(void); -HAL_StatusTypeDef HAL_PWREx_EnableBkUpReg(void); -HAL_StatusTypeDef HAL_PWREx_DisableBkUpReg(void); -uint32_t HAL_PWREx_GetVoltageRange(void); -HAL_StatusTypeDef HAL_PWREx_ControlVoltageScaling(uint32_t VoltageScaling); - -#if defined(STM32F410Tx) || defined(STM32F410Cx) || defined(STM32F410Rx) || defined(STM32F401xC) ||\ - defined(STM32F401xE) || defined(STM32F411xE) || defined(STM32F412Zx) || defined(STM32F412Vx) ||\ - defined(STM32F412Rx) || defined(STM32F412Cx) || defined(STM32F413xx) || defined(STM32F423xx) -void HAL_PWREx_EnableMainRegulatorLowVoltage(void); -void HAL_PWREx_DisableMainRegulatorLowVoltage(void); -void HAL_PWREx_EnableLowRegulatorLowVoltage(void); -void HAL_PWREx_DisableLowRegulatorLowVoltage(void); -#endif /* STM32F410xx || STM32F401xC || STM32F401xE || STM32F411xE || STM32F412Zx || STM32F412Vx ||\ - STM32F412Rx || STM32F412Cx || STM32F413xx || STM32F423xx */ - -#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) || defined(STM32F446xx) ||\ - defined(STM32F469xx) || defined(STM32F479xx) -HAL_StatusTypeDef HAL_PWREx_EnableOverDrive(void); -HAL_StatusTypeDef HAL_PWREx_DisableOverDrive(void); -HAL_StatusTypeDef HAL_PWREx_EnterUnderDriveSTOPMode(uint32_t Regulator, uint8_t STOPEntry); -#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || STM32F446xx || STM32F469xx || STM32F479xx */ - -/** - * @} - */ - -/** - * @} - */ -/* Private types -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private constants ---------------------------------------------------------*/ -/** @defgroup PWREx_Private_Constants PWREx Private Constants - * @{ - */ - -/** @defgroup PWREx_register_alias_address PWREx Register alias address - * @{ - */ -/* ------------- PWR registers bit address in the alias region ---------------*/ -/* --- CR Register ---*/ -/* Alias word address of FPDS bit */ -#define FPDS_BIT_NUMBER PWR_CR_FPDS_Pos -#define CR_FPDS_BB (uint32_t)(PERIPH_BB_BASE + (PWR_CR_OFFSET_BB * 32U) + (FPDS_BIT_NUMBER * 4U)) - -/* Alias word address of ODEN bit */ -#define ODEN_BIT_NUMBER PWR_CR_ODEN_Pos -#define CR_ODEN_BB (uint32_t)(PERIPH_BB_BASE + (PWR_CR_OFFSET_BB * 32U) + (ODEN_BIT_NUMBER * 4U)) - -/* Alias word address of ODSWEN bit */ -#define ODSWEN_BIT_NUMBER PWR_CR_ODSWEN_Pos -#define CR_ODSWEN_BB (uint32_t)(PERIPH_BB_BASE + (PWR_CR_OFFSET_BB * 32U) + (ODSWEN_BIT_NUMBER * 4U)) - -/* Alias word address of MRLVDS bit */ -#define MRLVDS_BIT_NUMBER PWR_CR_MRLVDS_Pos -#define CR_MRLVDS_BB (uint32_t)(PERIPH_BB_BASE + (PWR_CR_OFFSET_BB * 32U) + (MRLVDS_BIT_NUMBER * 4U)) - -/* Alias word address of LPLVDS bit */ -#define LPLVDS_BIT_NUMBER PWR_CR_LPLVDS_Pos -#define CR_LPLVDS_BB (uint32_t)(PERIPH_BB_BASE + (PWR_CR_OFFSET_BB * 32U) + (LPLVDS_BIT_NUMBER * 4U)) - - /** - * @} - */ - -/** @defgroup PWREx_CSR_register_alias PWRx CSR Register alias address - * @{ - */ -/* --- CSR Register ---*/ -/* Alias word address of BRE bit */ -#define BRE_BIT_NUMBER PWR_CSR_BRE_Pos -#define CSR_BRE_BB (uint32_t)(PERIPH_BB_BASE + (PWR_CSR_OFFSET_BB * 32U) + (BRE_BIT_NUMBER * 4U)) - -/** - * @} - */ - -/** - * @} - */ - -/* Private macros ------------------------------------------------------------*/ -/** @defgroup PWREx_Private_Macros PWREx Private Macros - * @{ - */ - -/** @defgroup PWREx_IS_PWR_Definitions PWREx Private macros to check input parameters - * @{ - */ -#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) ||\ - defined(STM32F446xx) || defined(STM32F469xx) || defined(STM32F479xx) -#define IS_PWR_REGULATOR_UNDERDRIVE(REGULATOR) (((REGULATOR) == PWR_MAINREGULATOR_UNDERDRIVE_ON) || \ - ((REGULATOR) == PWR_LOWPOWERREGULATOR_UNDERDRIVE_ON)) -#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || STM32F446xx || STM32F469xx || STM32F479xx */ - -#if defined(STM32F405xx) || defined(STM32F407xx) || defined(STM32F415xx) || defined(STM32F417xx) -#define IS_PWR_VOLTAGE_SCALING_RANGE(VOLTAGE) (((VOLTAGE) == PWR_REGULATOR_VOLTAGE_SCALE1) || \ - ((VOLTAGE) == PWR_REGULATOR_VOLTAGE_SCALE2)) -#else -#define IS_PWR_VOLTAGE_SCALING_RANGE(VOLTAGE) (((VOLTAGE) == PWR_REGULATOR_VOLTAGE_SCALE1) || \ - ((VOLTAGE) == PWR_REGULATOR_VOLTAGE_SCALE2) || \ - ((VOLTAGE) == PWR_REGULATOR_VOLTAGE_SCALE3)) -#endif /* STM32F405xx || STM32F407xx || STM32F415xx || STM32F417xx */ - -#if defined(STM32F446xx) -#define IS_PWR_WAKEUP_PIN(PIN) (((PIN) == PWR_WAKEUP_PIN1) || ((PIN) == PWR_WAKEUP_PIN2)) -#elif defined(STM32F410Tx) || defined(STM32F410Cx) || defined(STM32F410Rx) || defined(STM32F412Zx) ||\ - defined(STM32F412Vx) || defined(STM32F412Rx) || defined(STM32F412Cx) || defined(STM32F413xx) ||\ - defined(STM32F423xx) -#define IS_PWR_WAKEUP_PIN(PIN) (((PIN) == PWR_WAKEUP_PIN1) || ((PIN) == PWR_WAKEUP_PIN2) || \ - ((PIN) == PWR_WAKEUP_PIN3)) -#else -#define IS_PWR_WAKEUP_PIN(PIN) ((PIN) == PWR_WAKEUP_PIN1) -#endif /* STM32F446xx */ -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ - -#ifdef __cplusplus -} -#endif - - -#endif /* __STM32F4xx_HAL_PWR_EX_H */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_qspi.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_qspi.h deleted file mode 100644 index 97e9324f34cf04..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_qspi.h +++ /dev/null @@ -1,753 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_qspi.h - * @author MCD Application Team - * @brief Header file of QSPI HAL module. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef STM32F4xx_HAL_QSPI_H -#define STM32F4xx_HAL_QSPI_H - -#ifdef __cplusplus - extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal_def.h" - -#if defined(QUADSPI) - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @addtogroup QSPI - * @{ - */ - -/* Exported types ------------------------------------------------------------*/ -/** @defgroup QSPI_Exported_Types QSPI Exported Types - * @{ - */ - -/** - * @brief QSPI Init structure definition - */ -typedef struct -{ - uint32_t ClockPrescaler; /* Specifies the prescaler factor for generating clock based on the AHB clock. - This parameter can be a number between 0 and 255 */ - uint32_t FifoThreshold; /* Specifies the threshold number of bytes in the FIFO (used only in indirect mode) - This parameter can be a value between 1 and 32 */ - uint32_t SampleShifting; /* Specifies the Sample Shift. The data is sampled 1/2 clock cycle delay later to - take in account external signal delays. (It should be QSPI_SAMPLE_SHIFTING_NONE in DDR mode) - This parameter can be a value of @ref QSPI_SampleShifting */ - uint32_t FlashSize; /* Specifies the Flash Size. FlashSize+1 is effectively the number of address bits - required to address the flash memory. The flash capacity can be up to 4GB - (addressed using 32 bits) in indirect mode, but the addressable space in - memory-mapped mode is limited to 256MB - This parameter can be a number between 0 and 31 */ - uint32_t ChipSelectHighTime; /* Specifies the Chip Select High Time. ChipSelectHighTime+1 defines the minimum number - of clock cycles which the chip select must remain high between commands. - This parameter can be a value of @ref QSPI_ChipSelectHighTime */ - uint32_t ClockMode; /* Specifies the Clock Mode. It indicates the level that clock takes between commands. - This parameter can be a value of @ref QSPI_ClockMode */ - uint32_t FlashID; /* Specifies the Flash which will be used, - This parameter can be a value of @ref QSPI_Flash_Select */ - uint32_t DualFlash; /* Specifies the Dual Flash Mode State - This parameter can be a value of @ref QSPI_DualFlash_Mode */ -}QSPI_InitTypeDef; - -/** - * @brief HAL QSPI State structures definition - */ -typedef enum -{ - HAL_QSPI_STATE_RESET = 0x00U, /*!< Peripheral not initialized */ - HAL_QSPI_STATE_READY = 0x01U, /*!< Peripheral initialized and ready for use */ - HAL_QSPI_STATE_BUSY = 0x02U, /*!< Peripheral in indirect mode and busy */ - HAL_QSPI_STATE_BUSY_INDIRECT_TX = 0x12U, /*!< Peripheral in indirect mode with transmission ongoing */ - HAL_QSPI_STATE_BUSY_INDIRECT_RX = 0x22U, /*!< Peripheral in indirect mode with reception ongoing */ - HAL_QSPI_STATE_BUSY_AUTO_POLLING = 0x42U, /*!< Peripheral in auto polling mode ongoing */ - HAL_QSPI_STATE_BUSY_MEM_MAPPED = 0x82U, /*!< Peripheral in memory mapped mode ongoing */ - HAL_QSPI_STATE_ABORT = 0x08U, /*!< Peripheral with abort request ongoing */ - HAL_QSPI_STATE_ERROR = 0x04U /*!< Peripheral in error */ -}HAL_QSPI_StateTypeDef; - -/** - * @brief QSPI Handle Structure definition - */ -#if (USE_HAL_QSPI_REGISTER_CALLBACKS == 1) -typedef struct __QSPI_HandleTypeDef -#else -typedef struct -#endif -{ - QUADSPI_TypeDef *Instance; /* QSPI registers base address */ - QSPI_InitTypeDef Init; /* QSPI communication parameters */ - uint8_t *pTxBuffPtr; /* Pointer to QSPI Tx transfer Buffer */ - __IO uint32_t TxXferSize; /* QSPI Tx Transfer size */ - __IO uint32_t TxXferCount; /* QSPI Tx Transfer Counter */ - uint8_t *pRxBuffPtr; /* Pointer to QSPI Rx transfer Buffer */ - __IO uint32_t RxXferSize; /* QSPI Rx Transfer size */ - __IO uint32_t RxXferCount; /* QSPI Rx Transfer Counter */ - DMA_HandleTypeDef *hdma; /* QSPI Rx/Tx DMA Handle parameters */ - __IO HAL_LockTypeDef Lock; /* Locking object */ - __IO HAL_QSPI_StateTypeDef State; /* QSPI communication state */ - __IO uint32_t ErrorCode; /* QSPI Error code */ - uint32_t Timeout; /* Timeout for the QSPI memory access */ -#if (USE_HAL_QSPI_REGISTER_CALLBACKS == 1) - void (* ErrorCallback) (struct __QSPI_HandleTypeDef *hqspi); - void (* AbortCpltCallback) (struct __QSPI_HandleTypeDef *hqspi); - void (* FifoThresholdCallback)(struct __QSPI_HandleTypeDef *hqspi); - void (* CmdCpltCallback) (struct __QSPI_HandleTypeDef *hqspi); - void (* RxCpltCallback) (struct __QSPI_HandleTypeDef *hqspi); - void (* TxCpltCallback) (struct __QSPI_HandleTypeDef *hqspi); - void (* RxHalfCpltCallback) (struct __QSPI_HandleTypeDef *hqspi); - void (* TxHalfCpltCallback) (struct __QSPI_HandleTypeDef *hqspi); - void (* StatusMatchCallback) (struct __QSPI_HandleTypeDef *hqspi); - void (* TimeOutCallback) (struct __QSPI_HandleTypeDef *hqspi); - - void (* MspInitCallback) (struct __QSPI_HandleTypeDef *hqspi); - void (* MspDeInitCallback) (struct __QSPI_HandleTypeDef *hqspi); -#endif -}QSPI_HandleTypeDef; - -/** - * @brief QSPI Command structure definition - */ -typedef struct -{ - uint32_t Instruction; /* Specifies the Instruction to be sent - This parameter can be a value (8-bit) between 0x00 and 0xFF */ - uint32_t Address; /* Specifies the Address to be sent (Size from 1 to 4 bytes according AddressSize) - This parameter can be a value (32-bits) between 0x0 and 0xFFFFFFFF */ - uint32_t AlternateBytes; /* Specifies the Alternate Bytes to be sent (Size from 1 to 4 bytes according AlternateBytesSize) - This parameter can be a value (32-bits) between 0x0 and 0xFFFFFFFF */ - uint32_t AddressSize; /* Specifies the Address Size - This parameter can be a value of @ref QSPI_AddressSize */ - uint32_t AlternateBytesSize; /* Specifies the Alternate Bytes Size - This parameter can be a value of @ref QSPI_AlternateBytesSize */ - uint32_t DummyCycles; /* Specifies the Number of Dummy Cycles. - This parameter can be a number between 0 and 31 */ - uint32_t InstructionMode; /* Specifies the Instruction Mode - This parameter can be a value of @ref QSPI_InstructionMode */ - uint32_t AddressMode; /* Specifies the Address Mode - This parameter can be a value of @ref QSPI_AddressMode */ - uint32_t AlternateByteMode; /* Specifies the Alternate Bytes Mode - This parameter can be a value of @ref QSPI_AlternateBytesMode */ - uint32_t DataMode; /* Specifies the Data Mode (used for dummy cycles and data phases) - This parameter can be a value of @ref QSPI_DataMode */ - uint32_t NbData; /* Specifies the number of data to transfer. (This is the number of bytes) - This parameter can be any value between 0 and 0xFFFFFFFF (0 means undefined length - until end of memory)*/ - uint32_t DdrMode; /* Specifies the double data rate mode for address, alternate byte and data phase - This parameter can be a value of @ref QSPI_DdrMode */ - uint32_t DdrHoldHalfCycle; /* Specifies if the DDR hold is enabled. When enabled it delays the data - output by one half of system clock in DDR mode. - This parameter can be a value of @ref QSPI_DdrHoldHalfCycle */ - uint32_t SIOOMode; /* Specifies the send instruction only once mode - This parameter can be a value of @ref QSPI_SIOOMode */ -}QSPI_CommandTypeDef; - -/** - * @brief QSPI Auto Polling mode configuration structure definition - */ -typedef struct -{ - uint32_t Match; /* Specifies the value to be compared with the masked status register to get a match. - This parameter can be any value between 0 and 0xFFFFFFFF */ - uint32_t Mask; /* Specifies the mask to be applied to the status bytes received. - This parameter can be any value between 0 and 0xFFFFFFFF */ - uint32_t Interval; /* Specifies the number of clock cycles between two read during automatic polling phases. - This parameter can be any value between 0 and 0xFFFF */ - uint32_t StatusBytesSize; /* Specifies the size of the status bytes received. - This parameter can be any value between 1 and 4 */ - uint32_t MatchMode; /* Specifies the method used for determining a match. - This parameter can be a value of @ref QSPI_MatchMode */ - uint32_t AutomaticStop; /* Specifies if automatic polling is stopped after a match. - This parameter can be a value of @ref QSPI_AutomaticStop */ -}QSPI_AutoPollingTypeDef; - -/** - * @brief QSPI Memory Mapped mode configuration structure definition - */ -typedef struct -{ - uint32_t TimeOutPeriod; /* Specifies the number of clock to wait when the FIFO is full before to release the chip select. - This parameter can be any value between 0 and 0xFFFF */ - uint32_t TimeOutActivation; /* Specifies if the timeout counter is enabled to release the chip select. - This parameter can be a value of @ref QSPI_TimeOutActivation */ -}QSPI_MemoryMappedTypeDef; - -#if (USE_HAL_QSPI_REGISTER_CALLBACKS == 1) -/** - * @brief HAL QSPI Callback ID enumeration definition - */ -typedef enum -{ - HAL_QSPI_ERROR_CB_ID = 0x00U, /*!< QSPI Error Callback ID */ - HAL_QSPI_ABORT_CB_ID = 0x01U, /*!< QSPI Abort Callback ID */ - HAL_QSPI_FIFO_THRESHOLD_CB_ID = 0x02U, /*!< QSPI FIFO Threshold Callback ID */ - HAL_QSPI_CMD_CPLT_CB_ID = 0x03U, /*!< QSPI Command Complete Callback ID */ - HAL_QSPI_RX_CPLT_CB_ID = 0x04U, /*!< QSPI Rx Complete Callback ID */ - HAL_QSPI_TX_CPLT_CB_ID = 0x05U, /*!< QSPI Tx Complete Callback ID */ - HAL_QSPI_RX_HALF_CPLT_CB_ID = 0x06U, /*!< QSPI Rx Half Complete Callback ID */ - HAL_QSPI_TX_HALF_CPLT_CB_ID = 0x07U, /*!< QSPI Tx Half Complete Callback ID */ - HAL_QSPI_STATUS_MATCH_CB_ID = 0x08U, /*!< QSPI Status Match Callback ID */ - HAL_QSPI_TIMEOUT_CB_ID = 0x09U, /*!< QSPI Timeout Callback ID */ - - HAL_QSPI_MSP_INIT_CB_ID = 0x0AU, /*!< QSPI MspInit Callback ID */ - HAL_QSPI_MSP_DEINIT_CB_ID = 0x0B0 /*!< QSPI MspDeInit Callback ID */ -}HAL_QSPI_CallbackIDTypeDef; - -/** - * @brief HAL QSPI Callback pointer definition - */ -typedef void (*pQSPI_CallbackTypeDef)(QSPI_HandleTypeDef *hqspi); -#endif -/** - * @} - */ - -/* Exported constants --------------------------------------------------------*/ -/** @defgroup QSPI_Exported_Constants QSPI Exported Constants - * @{ - */ - -/** @defgroup QSPI_ErrorCode QSPI Error Code - * @{ - */ -#define HAL_QSPI_ERROR_NONE 0x00000000U /*!< No error */ -#define HAL_QSPI_ERROR_TIMEOUT 0x00000001U /*!< Timeout error */ -#define HAL_QSPI_ERROR_TRANSFER 0x00000002U /*!< Transfer error */ -#define HAL_QSPI_ERROR_DMA 0x00000004U /*!< DMA transfer error */ -#define HAL_QSPI_ERROR_INVALID_PARAM 0x00000008U /*!< Invalid parameters error */ -#if (USE_HAL_QSPI_REGISTER_CALLBACKS == 1) -#define HAL_QSPI_ERROR_INVALID_CALLBACK 0x00000010U /*!< Invalid callback error */ -#endif -/** - * @} - */ - -/** @defgroup QSPI_SampleShifting QSPI Sample Shifting - * @{ - */ -#define QSPI_SAMPLE_SHIFTING_NONE 0x00000000U /*!State = HAL_QSPI_STATE_RESET; \ - (__HANDLE__)->MspInitCallback = NULL; \ - (__HANDLE__)->MspDeInitCallback = NULL; \ - } while(0) -#else -#define __HAL_QSPI_RESET_HANDLE_STATE(__HANDLE__) ((__HANDLE__)->State = HAL_QSPI_STATE_RESET) -#endif - -/** @brief Enable the QSPI peripheral. - * @param __HANDLE__ : specifies the QSPI Handle. - * @retval None - */ -#define __HAL_QSPI_ENABLE(__HANDLE__) SET_BIT((__HANDLE__)->Instance->CR, QUADSPI_CR_EN) - -/** @brief Disable the QSPI peripheral. - * @param __HANDLE__ : specifies the QSPI Handle. - * @retval None - */ -#define __HAL_QSPI_DISABLE(__HANDLE__) CLEAR_BIT((__HANDLE__)->Instance->CR, QUADSPI_CR_EN) - -/** @brief Enable the specified QSPI interrupt. - * @param __HANDLE__ : specifies the QSPI Handle. - * @param __INTERRUPT__ : specifies the QSPI interrupt source to enable. - * This parameter can be one of the following values: - * @arg QSPI_IT_TO: QSPI Timeout interrupt - * @arg QSPI_IT_SM: QSPI Status match interrupt - * @arg QSPI_IT_FT: QSPI FIFO threshold interrupt - * @arg QSPI_IT_TC: QSPI Transfer complete interrupt - * @arg QSPI_IT_TE: QSPI Transfer error interrupt - * @retval None - */ -#define __HAL_QSPI_ENABLE_IT(__HANDLE__, __INTERRUPT__) SET_BIT((__HANDLE__)->Instance->CR, (__INTERRUPT__)) - - -/** @brief Disable the specified QSPI interrupt. - * @param __HANDLE__ : specifies the QSPI Handle. - * @param __INTERRUPT__ : specifies the QSPI interrupt source to disable. - * This parameter can be one of the following values: - * @arg QSPI_IT_TO: QSPI Timeout interrupt - * @arg QSPI_IT_SM: QSPI Status match interrupt - * @arg QSPI_IT_FT: QSPI FIFO threshold interrupt - * @arg QSPI_IT_TC: QSPI Transfer complete interrupt - * @arg QSPI_IT_TE: QSPI Transfer error interrupt - * @retval None - */ -#define __HAL_QSPI_DISABLE_IT(__HANDLE__, __INTERRUPT__) CLEAR_BIT((__HANDLE__)->Instance->CR, (__INTERRUPT__)) - -/** @brief Check whether the specified QSPI interrupt source is enabled or not. - * @param __HANDLE__ : specifies the QSPI Handle. - * @param __INTERRUPT__ : specifies the QSPI interrupt source to check. - * This parameter can be one of the following values: - * @arg QSPI_IT_TO: QSPI Timeout interrupt - * @arg QSPI_IT_SM: QSPI Status match interrupt - * @arg QSPI_IT_FT: QSPI FIFO threshold interrupt - * @arg QSPI_IT_TC: QSPI Transfer complete interrupt - * @arg QSPI_IT_TE: QSPI Transfer error interrupt - * @retval The new state of __INTERRUPT__ (TRUE or FALSE). - */ -#define __HAL_QSPI_GET_IT_SOURCE(__HANDLE__, __INTERRUPT__) (READ_BIT((__HANDLE__)->Instance->CR, (__INTERRUPT__)) == (__INTERRUPT__)) - -/** - * @brief Check whether the selected QSPI flag is set or not. - * @param __HANDLE__ : specifies the QSPI Handle. - * @param __FLAG__ : specifies the QSPI flag to check. - * This parameter can be one of the following values: - * @arg QSPI_FLAG_BUSY: QSPI Busy flag - * @arg QSPI_FLAG_TO: QSPI Timeout flag - * @arg QSPI_FLAG_SM: QSPI Status match flag - * @arg QSPI_FLAG_FT: QSPI FIFO threshold flag - * @arg QSPI_FLAG_TC: QSPI Transfer complete flag - * @arg QSPI_FLAG_TE: QSPI Transfer error flag - * @retval None - */ -#define __HAL_QSPI_GET_FLAG(__HANDLE__, __FLAG__) ((READ_BIT((__HANDLE__)->Instance->SR, (__FLAG__)) != 0U) ? SET : RESET) - -/** @brief Clears the specified QSPI's flag status. - * @param __HANDLE__ : specifies the QSPI Handle. - * @param __FLAG__ : specifies the QSPI clear register flag that needs to be set - * This parameter can be one of the following values: - * @arg QSPI_FLAG_TO: QSPI Timeout flag - * @arg QSPI_FLAG_SM: QSPI Status match flag - * @arg QSPI_FLAG_TC: QSPI Transfer complete flag - * @arg QSPI_FLAG_TE: QSPI Transfer error flag - * @retval None - */ -#define __HAL_QSPI_CLEAR_FLAG(__HANDLE__, __FLAG__) WRITE_REG((__HANDLE__)->Instance->FCR, (__FLAG__)) -/** - * @} - */ - -/* Exported functions --------------------------------------------------------*/ -/** @addtogroup QSPI_Exported_Functions - * @{ - */ - -/** @addtogroup QSPI_Exported_Functions_Group1 - * @{ - */ -/* Initialization/de-initialization functions ********************************/ -HAL_StatusTypeDef HAL_QSPI_Init (QSPI_HandleTypeDef *hqspi); -HAL_StatusTypeDef HAL_QSPI_DeInit (QSPI_HandleTypeDef *hqspi); -void HAL_QSPI_MspInit (QSPI_HandleTypeDef *hqspi); -void HAL_QSPI_MspDeInit(QSPI_HandleTypeDef *hqspi); -/** - * @} - */ - -/** @addtogroup QSPI_Exported_Functions_Group2 - * @{ - */ -/* IO operation functions *****************************************************/ -/* QSPI IRQ handler method */ -void HAL_QSPI_IRQHandler(QSPI_HandleTypeDef *hqspi); - -/* QSPI indirect mode */ -HAL_StatusTypeDef HAL_QSPI_Command (QSPI_HandleTypeDef *hqspi, QSPI_CommandTypeDef *cmd, uint32_t Timeout); -HAL_StatusTypeDef HAL_QSPI_Transmit (QSPI_HandleTypeDef *hqspi, uint8_t *pData, uint32_t Timeout); -HAL_StatusTypeDef HAL_QSPI_Receive (QSPI_HandleTypeDef *hqspi, uint8_t *pData, uint32_t Timeout); -HAL_StatusTypeDef HAL_QSPI_Command_IT (QSPI_HandleTypeDef *hqspi, QSPI_CommandTypeDef *cmd); -HAL_StatusTypeDef HAL_QSPI_Transmit_IT (QSPI_HandleTypeDef *hqspi, uint8_t *pData); -HAL_StatusTypeDef HAL_QSPI_Receive_IT (QSPI_HandleTypeDef *hqspi, uint8_t *pData); -HAL_StatusTypeDef HAL_QSPI_Transmit_DMA (QSPI_HandleTypeDef *hqspi, uint8_t *pData); -HAL_StatusTypeDef HAL_QSPI_Receive_DMA (QSPI_HandleTypeDef *hqspi, uint8_t *pData); - -/* QSPI status flag polling mode */ -HAL_StatusTypeDef HAL_QSPI_AutoPolling (QSPI_HandleTypeDef *hqspi, QSPI_CommandTypeDef *cmd, QSPI_AutoPollingTypeDef *cfg, uint32_t Timeout); -HAL_StatusTypeDef HAL_QSPI_AutoPolling_IT(QSPI_HandleTypeDef *hqspi, QSPI_CommandTypeDef *cmd, QSPI_AutoPollingTypeDef *cfg); - -/* QSPI memory-mapped mode */ -HAL_StatusTypeDef HAL_QSPI_MemoryMapped(QSPI_HandleTypeDef *hqspi, QSPI_CommandTypeDef *cmd, QSPI_MemoryMappedTypeDef *cfg); - -/* Callback functions in non-blocking modes ***********************************/ -void HAL_QSPI_ErrorCallback (QSPI_HandleTypeDef *hqspi); -void HAL_QSPI_AbortCpltCallback (QSPI_HandleTypeDef *hqspi); -void HAL_QSPI_FifoThresholdCallback(QSPI_HandleTypeDef *hqspi); - -/* QSPI indirect mode */ -void HAL_QSPI_CmdCpltCallback (QSPI_HandleTypeDef *hqspi); -void HAL_QSPI_RxCpltCallback (QSPI_HandleTypeDef *hqspi); -void HAL_QSPI_TxCpltCallback (QSPI_HandleTypeDef *hqspi); -void HAL_QSPI_RxHalfCpltCallback (QSPI_HandleTypeDef *hqspi); -void HAL_QSPI_TxHalfCpltCallback (QSPI_HandleTypeDef *hqspi); - -/* QSPI status flag polling mode */ -void HAL_QSPI_StatusMatchCallback (QSPI_HandleTypeDef *hqspi); - -/* QSPI memory-mapped mode */ -void HAL_QSPI_TimeOutCallback (QSPI_HandleTypeDef *hqspi); - -#if (USE_HAL_QSPI_REGISTER_CALLBACKS == 1) -/* QSPI callback registering/unregistering */ -HAL_StatusTypeDef HAL_QSPI_RegisterCallback (QSPI_HandleTypeDef *hqspi, HAL_QSPI_CallbackIDTypeDef CallbackId, pQSPI_CallbackTypeDef pCallback); -HAL_StatusTypeDef HAL_QSPI_UnRegisterCallback (QSPI_HandleTypeDef *hqspi, HAL_QSPI_CallbackIDTypeDef CallbackId); -#endif -/** - * @} - */ - -/** @addtogroup QSPI_Exported_Functions_Group3 - * @{ - */ -/* Peripheral Control and State functions ************************************/ -HAL_QSPI_StateTypeDef HAL_QSPI_GetState (QSPI_HandleTypeDef *hqspi); -uint32_t HAL_QSPI_GetError (QSPI_HandleTypeDef *hqspi); -HAL_StatusTypeDef HAL_QSPI_Abort (QSPI_HandleTypeDef *hqspi); -HAL_StatusTypeDef HAL_QSPI_Abort_IT (QSPI_HandleTypeDef *hqspi); -void HAL_QSPI_SetTimeout (QSPI_HandleTypeDef *hqspi, uint32_t Timeout); -HAL_StatusTypeDef HAL_QSPI_SetFifoThreshold(QSPI_HandleTypeDef *hqspi, uint32_t Threshold); -uint32_t HAL_QSPI_GetFifoThreshold(QSPI_HandleTypeDef *hqspi); -HAL_StatusTypeDef HAL_QSPI_SetFlashID (QSPI_HandleTypeDef *hqspi, uint32_t FlashID); -/** - * @} - */ - -/** - * @} - */ -/* End of exported functions -------------------------------------------------*/ - -/* Private macros ------------------------------------------------------------*/ -/** @defgroup QSPI_Private_Macros QSPI Private Macros - * @{ - */ -#define IS_QSPI_CLOCK_PRESCALER(PRESCALER) ((PRESCALER) <= 0xFFU) - -#define IS_QSPI_FIFO_THRESHOLD(THR) (((THR) > 0U) && ((THR) <= 32U)) - -#define IS_QSPI_SSHIFT(SSHIFT) (((SSHIFT) == QSPI_SAMPLE_SHIFTING_NONE) || \ - ((SSHIFT) == QSPI_SAMPLE_SHIFTING_HALFCYCLE)) - -#define IS_QSPI_FLASH_SIZE(FSIZE) (((FSIZE) <= 31U)) - -#define IS_QSPI_CS_HIGH_TIME(CSHTIME) (((CSHTIME) == QSPI_CS_HIGH_TIME_1_CYCLE) || \ - ((CSHTIME) == QSPI_CS_HIGH_TIME_2_CYCLE) || \ - ((CSHTIME) == QSPI_CS_HIGH_TIME_3_CYCLE) || \ - ((CSHTIME) == QSPI_CS_HIGH_TIME_4_CYCLE) || \ - ((CSHTIME) == QSPI_CS_HIGH_TIME_5_CYCLE) || \ - ((CSHTIME) == QSPI_CS_HIGH_TIME_6_CYCLE) || \ - ((CSHTIME) == QSPI_CS_HIGH_TIME_7_CYCLE) || \ - ((CSHTIME) == QSPI_CS_HIGH_TIME_8_CYCLE)) - -#define IS_QSPI_CLOCK_MODE(CLKMODE) (((CLKMODE) == QSPI_CLOCK_MODE_0) || \ - ((CLKMODE) == QSPI_CLOCK_MODE_3)) - -#define IS_QSPI_FLASH_ID(FLASH_ID) (((FLASH_ID) == QSPI_FLASH_ID_1) || \ - ((FLASH_ID) == QSPI_FLASH_ID_2)) - -#define IS_QSPI_DUAL_FLASH_MODE(MODE) (((MODE) == QSPI_DUALFLASH_ENABLE) || \ - ((MODE) == QSPI_DUALFLASH_DISABLE)) - -#define IS_QSPI_INSTRUCTION(INSTRUCTION) ((INSTRUCTION) <= 0xFFU) - -#define IS_QSPI_ADDRESS_SIZE(ADDR_SIZE) (((ADDR_SIZE) == QSPI_ADDRESS_8_BITS) || \ - ((ADDR_SIZE) == QSPI_ADDRESS_16_BITS) || \ - ((ADDR_SIZE) == QSPI_ADDRESS_24_BITS) || \ - ((ADDR_SIZE) == QSPI_ADDRESS_32_BITS)) - -#define IS_QSPI_ALTERNATE_BYTES_SIZE(SIZE) (((SIZE) == QSPI_ALTERNATE_BYTES_8_BITS) || \ - ((SIZE) == QSPI_ALTERNATE_BYTES_16_BITS) || \ - ((SIZE) == QSPI_ALTERNATE_BYTES_24_BITS) || \ - ((SIZE) == QSPI_ALTERNATE_BYTES_32_BITS)) - -#define IS_QSPI_DUMMY_CYCLES(DCY) ((DCY) <= 31U) - -#define IS_QSPI_INSTRUCTION_MODE(MODE) (((MODE) == QSPI_INSTRUCTION_NONE) || \ - ((MODE) == QSPI_INSTRUCTION_1_LINE) || \ - ((MODE) == QSPI_INSTRUCTION_2_LINES) || \ - ((MODE) == QSPI_INSTRUCTION_4_LINES)) - -#define IS_QSPI_ADDRESS_MODE(MODE) (((MODE) == QSPI_ADDRESS_NONE) || \ - ((MODE) == QSPI_ADDRESS_1_LINE) || \ - ((MODE) == QSPI_ADDRESS_2_LINES) || \ - ((MODE) == QSPI_ADDRESS_4_LINES)) - -#define IS_QSPI_ALTERNATE_BYTES_MODE(MODE) (((MODE) == QSPI_ALTERNATE_BYTES_NONE) || \ - ((MODE) == QSPI_ALTERNATE_BYTES_1_LINE) || \ - ((MODE) == QSPI_ALTERNATE_BYTES_2_LINES) || \ - ((MODE) == QSPI_ALTERNATE_BYTES_4_LINES)) - -#define IS_QSPI_DATA_MODE(MODE) (((MODE) == QSPI_DATA_NONE) || \ - ((MODE) == QSPI_DATA_1_LINE) || \ - ((MODE) == QSPI_DATA_2_LINES) || \ - ((MODE) == QSPI_DATA_4_LINES)) - -#define IS_QSPI_DDR_MODE(DDR_MODE) (((DDR_MODE) == QSPI_DDR_MODE_DISABLE) || \ - ((DDR_MODE) == QSPI_DDR_MODE_ENABLE)) - -#define IS_QSPI_DDR_HHC(DDR_HHC) (((DDR_HHC) == QSPI_DDR_HHC_ANALOG_DELAY) || \ - ((DDR_HHC) == QSPI_DDR_HHC_HALF_CLK_DELAY)) - -#define IS_QSPI_SIOO_MODE(SIOO_MODE) (((SIOO_MODE) == QSPI_SIOO_INST_EVERY_CMD) || \ - ((SIOO_MODE) == QSPI_SIOO_INST_ONLY_FIRST_CMD)) - -#define IS_QSPI_INTERVAL(INTERVAL) ((INTERVAL) <= QUADSPI_PIR_INTERVAL) - -#define IS_QSPI_STATUS_BYTES_SIZE(SIZE) (((SIZE) >= 1U) && ((SIZE) <= 4U)) - -#define IS_QSPI_MATCH_MODE(MODE) (((MODE) == QSPI_MATCH_MODE_AND) || \ - ((MODE) == QSPI_MATCH_MODE_OR)) - -#define IS_QSPI_AUTOMATIC_STOP(APMS) (((APMS) == QSPI_AUTOMATIC_STOP_DISABLE) || \ - ((APMS) == QSPI_AUTOMATIC_STOP_ENABLE)) - -#define IS_QSPI_TIMEOUT_ACTIVATION(TCEN) (((TCEN) == QSPI_TIMEOUT_COUNTER_DISABLE) || \ - ((TCEN) == QSPI_TIMEOUT_COUNTER_ENABLE)) - -#define IS_QSPI_TIMEOUT_PERIOD(PERIOD) ((PERIOD) <= 0xFFFFU) -/** -* @} -*/ -/* End of private macros -----------------------------------------------------*/ - -/** - * @} - */ - -/** - * @} - */ - -#endif /* defined(QUADSPI) || defined(QUADSPI1) || defined(QUADSPI2) */ - -#ifdef __cplusplus -} -#endif - -#endif /* STM32F4xx_HAL_QSPI_H */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h deleted file mode 100644 index 2eeff3482eb6cf..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h +++ /dev/null @@ -1,1462 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_rcc.h - * @author MCD Application Team - * @brief Header file of RCC HAL module. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef __STM32F4xx_HAL_RCC_H -#define __STM32F4xx_HAL_RCC_H - -#ifdef __cplusplus - extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal_def.h" - -/* Include RCC HAL Extended module */ -/* (include on top of file since RCC structures are defined in extended file) */ -#include "stm32f4xx_hal_rcc_ex.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @addtogroup RCC - * @{ - */ - -/* Exported types ------------------------------------------------------------*/ -/** @defgroup RCC_Exported_Types RCC Exported Types - * @{ - */ - -/** - * @brief RCC Internal/External Oscillator (HSE, HSI, LSE and LSI) configuration structure definition - */ -typedef struct -{ - uint32_t OscillatorType; /*!< The oscillators to be configured. - This parameter can be a value of @ref RCC_Oscillator_Type */ - - uint32_t HSEState; /*!< The new state of the HSE. - This parameter can be a value of @ref RCC_HSE_Config */ - - uint32_t LSEState; /*!< The new state of the LSE. - This parameter can be a value of @ref RCC_LSE_Config */ - - uint32_t HSIState; /*!< The new state of the HSI. - This parameter can be a value of @ref RCC_HSI_Config */ - - uint32_t HSICalibrationValue; /*!< The HSI calibration trimming value (default is RCC_HSICALIBRATION_DEFAULT). - This parameter must be a number between Min_Data = 0x00 and Max_Data = 0x1F */ - - uint32_t LSIState; /*!< The new state of the LSI. - This parameter can be a value of @ref RCC_LSI_Config */ - - RCC_PLLInitTypeDef PLL; /*!< PLL structure parameters */ -}RCC_OscInitTypeDef; - -/** - * @brief RCC System, AHB and APB busses clock configuration structure definition - */ -typedef struct -{ - uint32_t ClockType; /*!< The clock to be configured. - This parameter can be a value of @ref RCC_System_Clock_Type */ - - uint32_t SYSCLKSource; /*!< The clock source (SYSCLKS) used as system clock. - This parameter can be a value of @ref RCC_System_Clock_Source */ - - uint32_t AHBCLKDivider; /*!< The AHB clock (HCLK) divider. This clock is derived from the system clock (SYSCLK). - This parameter can be a value of @ref RCC_AHB_Clock_Source */ - - uint32_t APB1CLKDivider; /*!< The APB1 clock (PCLK1) divider. This clock is derived from the AHB clock (HCLK). - This parameter can be a value of @ref RCC_APB1_APB2_Clock_Source */ - - uint32_t APB2CLKDivider; /*!< The APB2 clock (PCLK2) divider. This clock is derived from the AHB clock (HCLK). - This parameter can be a value of @ref RCC_APB1_APB2_Clock_Source */ - -}RCC_ClkInitTypeDef; - -/** - * @} - */ - -/* Exported constants --------------------------------------------------------*/ -/** @defgroup RCC_Exported_Constants RCC Exported Constants - * @{ - */ - -/** @defgroup RCC_Oscillator_Type Oscillator Type - * @{ - */ -#define RCC_OSCILLATORTYPE_NONE 0x00000000U -#define RCC_OSCILLATORTYPE_HSE 0x00000001U -#define RCC_OSCILLATORTYPE_HSI 0x00000002U -#define RCC_OSCILLATORTYPE_LSE 0x00000004U -#define RCC_OSCILLATORTYPE_LSI 0x00000008U -/** - * @} - */ - -/** @defgroup RCC_HSE_Config HSE Config - * @{ - */ -#define RCC_HSE_OFF 0x00000000U -#define RCC_HSE_ON RCC_CR_HSEON -#define RCC_HSE_BYPASS ((uint32_t)(RCC_CR_HSEBYP | RCC_CR_HSEON)) -/** - * @} - */ - -/** @defgroup RCC_LSE_Config LSE Config - * @{ - */ -#define RCC_LSE_OFF 0x00000000U -#define RCC_LSE_ON RCC_BDCR_LSEON -#define RCC_LSE_BYPASS ((uint32_t)(RCC_BDCR_LSEBYP | RCC_BDCR_LSEON)) -/** - * @} - */ - -/** @defgroup RCC_HSI_Config HSI Config - * @{ - */ -#define RCC_HSI_OFF ((uint8_t)0x00) -#define RCC_HSI_ON ((uint8_t)0x01) - -#define RCC_HSICALIBRATION_DEFAULT 0x10U /* Default HSI calibration trimming value */ -/** - * @} - */ - -/** @defgroup RCC_LSI_Config LSI Config - * @{ - */ -#define RCC_LSI_OFF ((uint8_t)0x00) -#define RCC_LSI_ON ((uint8_t)0x01) -/** - * @} - */ - -/** @defgroup RCC_PLL_Config PLL Config - * @{ - */ -#define RCC_PLL_NONE ((uint8_t)0x00) -#define RCC_PLL_OFF ((uint8_t)0x01) -#define RCC_PLL_ON ((uint8_t)0x02) -/** - * @} - */ - -/** @defgroup RCC_PLLP_Clock_Divider PLLP Clock Divider - * @{ - */ -#define RCC_PLLP_DIV2 0x00000002U -#define RCC_PLLP_DIV4 0x00000004U -#define RCC_PLLP_DIV6 0x00000006U -#define RCC_PLLP_DIV8 0x00000008U -/** - * @} - */ - -/** @defgroup RCC_PLL_Clock_Source PLL Clock Source - * @{ - */ -#define RCC_PLLSOURCE_HSI RCC_PLLCFGR_PLLSRC_HSI -#define RCC_PLLSOURCE_HSE RCC_PLLCFGR_PLLSRC_HSE -/** - * @} - */ - -/** @defgroup RCC_System_Clock_Type System Clock Type - * @{ - */ -#define RCC_CLOCKTYPE_SYSCLK 0x00000001U -#define RCC_CLOCKTYPE_HCLK 0x00000002U -#define RCC_CLOCKTYPE_PCLK1 0x00000004U -#define RCC_CLOCKTYPE_PCLK2 0x00000008U -/** - * @} - */ - -/** @defgroup RCC_System_Clock_Source System Clock Source - * @note The RCC_SYSCLKSOURCE_PLLRCLK parameter is available only for - * STM32F446xx devices. - * @{ - */ -#define RCC_SYSCLKSOURCE_HSI RCC_CFGR_SW_HSI -#define RCC_SYSCLKSOURCE_HSE RCC_CFGR_SW_HSE -#define RCC_SYSCLKSOURCE_PLLCLK RCC_CFGR_SW_PLL -#define RCC_SYSCLKSOURCE_PLLRCLK ((uint32_t)(RCC_CFGR_SW_0 | RCC_CFGR_SW_1)) -/** - * @} - */ - -/** @defgroup RCC_System_Clock_Source_Status System Clock Source Status - * @note The RCC_SYSCLKSOURCE_STATUS_PLLRCLK parameter is available only for - * STM32F446xx devices. - * @{ - */ -#define RCC_SYSCLKSOURCE_STATUS_HSI RCC_CFGR_SWS_HSI /*!< HSI used as system clock */ -#define RCC_SYSCLKSOURCE_STATUS_HSE RCC_CFGR_SWS_HSE /*!< HSE used as system clock */ -#define RCC_SYSCLKSOURCE_STATUS_PLLCLK RCC_CFGR_SWS_PLL /*!< PLL used as system clock */ -#define RCC_SYSCLKSOURCE_STATUS_PLLRCLK ((uint32_t)(RCC_CFGR_SWS_0 | RCC_CFGR_SWS_1)) /*!< PLLR used as system clock */ -/** - * @} - */ - -/** @defgroup RCC_AHB_Clock_Source AHB Clock Source - * @{ - */ -#define RCC_SYSCLK_DIV1 RCC_CFGR_HPRE_DIV1 -#define RCC_SYSCLK_DIV2 RCC_CFGR_HPRE_DIV2 -#define RCC_SYSCLK_DIV4 RCC_CFGR_HPRE_DIV4 -#define RCC_SYSCLK_DIV8 RCC_CFGR_HPRE_DIV8 -#define RCC_SYSCLK_DIV16 RCC_CFGR_HPRE_DIV16 -#define RCC_SYSCLK_DIV64 RCC_CFGR_HPRE_DIV64 -#define RCC_SYSCLK_DIV128 RCC_CFGR_HPRE_DIV128 -#define RCC_SYSCLK_DIV256 RCC_CFGR_HPRE_DIV256 -#define RCC_SYSCLK_DIV512 RCC_CFGR_HPRE_DIV512 -/** - * @} - */ - -/** @defgroup RCC_APB1_APB2_Clock_Source APB1/APB2 Clock Source - * @{ - */ -#define RCC_HCLK_DIV1 RCC_CFGR_PPRE1_DIV1 -#define RCC_HCLK_DIV2 RCC_CFGR_PPRE1_DIV2 -#define RCC_HCLK_DIV4 RCC_CFGR_PPRE1_DIV4 -#define RCC_HCLK_DIV8 RCC_CFGR_PPRE1_DIV8 -#define RCC_HCLK_DIV16 RCC_CFGR_PPRE1_DIV16 -/** - * @} - */ - -/** @defgroup RCC_RTC_Clock_Source RTC Clock Source - * @{ - */ -#define RCC_RTCCLKSOURCE_NO_CLK 0x00000000U -#define RCC_RTCCLKSOURCE_LSE 0x00000100U -#define RCC_RTCCLKSOURCE_LSI 0x00000200U -#define RCC_RTCCLKSOURCE_HSE_DIVX 0x00000300U -#define RCC_RTCCLKSOURCE_HSE_DIV2 0x00020300U -#define RCC_RTCCLKSOURCE_HSE_DIV3 0x00030300U -#define RCC_RTCCLKSOURCE_HSE_DIV4 0x00040300U -#define RCC_RTCCLKSOURCE_HSE_DIV5 0x00050300U -#define RCC_RTCCLKSOURCE_HSE_DIV6 0x00060300U -#define RCC_RTCCLKSOURCE_HSE_DIV7 0x00070300U -#define RCC_RTCCLKSOURCE_HSE_DIV8 0x00080300U -#define RCC_RTCCLKSOURCE_HSE_DIV9 0x00090300U -#define RCC_RTCCLKSOURCE_HSE_DIV10 0x000A0300U -#define RCC_RTCCLKSOURCE_HSE_DIV11 0x000B0300U -#define RCC_RTCCLKSOURCE_HSE_DIV12 0x000C0300U -#define RCC_RTCCLKSOURCE_HSE_DIV13 0x000D0300U -#define RCC_RTCCLKSOURCE_HSE_DIV14 0x000E0300U -#define RCC_RTCCLKSOURCE_HSE_DIV15 0x000F0300U -#define RCC_RTCCLKSOURCE_HSE_DIV16 0x00100300U -#define RCC_RTCCLKSOURCE_HSE_DIV17 0x00110300U -#define RCC_RTCCLKSOURCE_HSE_DIV18 0x00120300U -#define RCC_RTCCLKSOURCE_HSE_DIV19 0x00130300U -#define RCC_RTCCLKSOURCE_HSE_DIV20 0x00140300U -#define RCC_RTCCLKSOURCE_HSE_DIV21 0x00150300U -#define RCC_RTCCLKSOURCE_HSE_DIV22 0x00160300U -#define RCC_RTCCLKSOURCE_HSE_DIV23 0x00170300U -#define RCC_RTCCLKSOURCE_HSE_DIV24 0x00180300U -#define RCC_RTCCLKSOURCE_HSE_DIV25 0x00190300U -#define RCC_RTCCLKSOURCE_HSE_DIV26 0x001A0300U -#define RCC_RTCCLKSOURCE_HSE_DIV27 0x001B0300U -#define RCC_RTCCLKSOURCE_HSE_DIV28 0x001C0300U -#define RCC_RTCCLKSOURCE_HSE_DIV29 0x001D0300U -#define RCC_RTCCLKSOURCE_HSE_DIV30 0x001E0300U -#define RCC_RTCCLKSOURCE_HSE_DIV31 0x001F0300U -/** - * @} - */ - -/** @defgroup RCC_MCO_Index MCO Index - * @{ - */ -#define RCC_MCO1 0x00000000U -#define RCC_MCO2 0x00000001U -/** - * @} - */ - -/** @defgroup RCC_MCO1_Clock_Source MCO1 Clock Source - * @{ - */ -#define RCC_MCO1SOURCE_HSI 0x00000000U -#define RCC_MCO1SOURCE_LSE RCC_CFGR_MCO1_0 -#define RCC_MCO1SOURCE_HSE RCC_CFGR_MCO1_1 -#define RCC_MCO1SOURCE_PLLCLK RCC_CFGR_MCO1 -/** - * @} - */ - -/** @defgroup RCC_MCOx_Clock_Prescaler MCOx Clock Prescaler - * @{ - */ -#define RCC_MCODIV_1 0x00000000U -#define RCC_MCODIV_2 RCC_CFGR_MCO1PRE_2 -#define RCC_MCODIV_3 ((uint32_t)RCC_CFGR_MCO1PRE_0 | RCC_CFGR_MCO1PRE_2) -#define RCC_MCODIV_4 ((uint32_t)RCC_CFGR_MCO1PRE_1 | RCC_CFGR_MCO1PRE_2) -#define RCC_MCODIV_5 RCC_CFGR_MCO1PRE -/** - * @} - */ - -/** @defgroup RCC_Interrupt Interrupts - * @{ - */ -#define RCC_IT_LSIRDY ((uint8_t)0x01) -#define RCC_IT_LSERDY ((uint8_t)0x02) -#define RCC_IT_HSIRDY ((uint8_t)0x04) -#define RCC_IT_HSERDY ((uint8_t)0x08) -#define RCC_IT_PLLRDY ((uint8_t)0x10) -#define RCC_IT_PLLI2SRDY ((uint8_t)0x20) -#define RCC_IT_CSS ((uint8_t)0x80) -/** - * @} - */ - -/** @defgroup RCC_Flag Flags - * Elements values convention: 0XXYYYYYb - * - YYYYY : Flag position in the register - * - 0XX : Register index - * - 01: CR register - * - 10: BDCR register - * - 11: CSR register - * @{ - */ -/* Flags in the CR register */ -#define RCC_FLAG_HSIRDY ((uint8_t)0x21) -#define RCC_FLAG_HSERDY ((uint8_t)0x31) -#define RCC_FLAG_PLLRDY ((uint8_t)0x39) -#define RCC_FLAG_PLLI2SRDY ((uint8_t)0x3B) - -/* Flags in the BDCR register */ -#define RCC_FLAG_LSERDY ((uint8_t)0x41) - -/* Flags in the CSR register */ -#define RCC_FLAG_LSIRDY ((uint8_t)0x61) -#define RCC_FLAG_BORRST ((uint8_t)0x79) -#define RCC_FLAG_PINRST ((uint8_t)0x7A) -#define RCC_FLAG_PORRST ((uint8_t)0x7B) -#define RCC_FLAG_SFTRST ((uint8_t)0x7C) -#define RCC_FLAG_IWDGRST ((uint8_t)0x7D) -#define RCC_FLAG_WWDGRST ((uint8_t)0x7E) -#define RCC_FLAG_LPWRRST ((uint8_t)0x7F) -/** - * @} - */ - -/** - * @} - */ - -/* Exported macro ------------------------------------------------------------*/ -/** @defgroup RCC_Exported_Macros RCC Exported Macros - * @{ - */ - -/** @defgroup RCC_AHB1_Clock_Enable_Disable AHB1 Peripheral Clock Enable Disable - * @brief Enable or disable the AHB1 peripheral clock. - * @note After reset, the peripheral clock (used for registers read/write access) - * is disabled and the application software has to enable this clock before - * using it. - * @{ - */ -#define __HAL_RCC_GPIOA_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->AHB1ENR, RCC_AHB1ENR_GPIOAEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->AHB1ENR, RCC_AHB1ENR_GPIOAEN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_GPIOB_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->AHB1ENR, RCC_AHB1ENR_GPIOBEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->AHB1ENR, RCC_AHB1ENR_GPIOBEN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_GPIOC_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->AHB1ENR, RCC_AHB1ENR_GPIOCEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->AHB1ENR, RCC_AHB1ENR_GPIOCEN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_GPIOH_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->AHB1ENR, RCC_AHB1ENR_GPIOHEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->AHB1ENR, RCC_AHB1ENR_GPIOHEN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_DMA1_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->AHB1ENR, RCC_AHB1ENR_DMA1EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->AHB1ENR, RCC_AHB1ENR_DMA1EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_DMA2_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->AHB1ENR, RCC_AHB1ENR_DMA2EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->AHB1ENR, RCC_AHB1ENR_DMA2EN);\ - UNUSED(tmpreg); \ - } while(0U) - -#define __HAL_RCC_GPIOA_CLK_DISABLE() (RCC->AHB1ENR &= ~(RCC_AHB1ENR_GPIOAEN)) -#define __HAL_RCC_GPIOB_CLK_DISABLE() (RCC->AHB1ENR &= ~(RCC_AHB1ENR_GPIOBEN)) -#define __HAL_RCC_GPIOC_CLK_DISABLE() (RCC->AHB1ENR &= ~(RCC_AHB1ENR_GPIOCEN)) -#define __HAL_RCC_GPIOH_CLK_DISABLE() (RCC->AHB1ENR &= ~(RCC_AHB1ENR_GPIOHEN)) -#define __HAL_RCC_DMA1_CLK_DISABLE() (RCC->AHB1ENR &= ~(RCC_AHB1ENR_DMA1EN)) -#define __HAL_RCC_DMA2_CLK_DISABLE() (RCC->AHB1ENR &= ~(RCC_AHB1ENR_DMA2EN)) -/** - * @} - */ - -/** @defgroup RCC_AHB1_Peripheral_Clock_Enable_Disable_Status AHB1 Peripheral Clock Enable Disable Status - * @brief Get the enable or disable status of the AHB1 peripheral clock. - * @note After reset, the peripheral clock (used for registers read/write access) - * is disabled and the application software has to enable this clock before - * using it. - * @{ - */ -#define __HAL_RCC_GPIOA_IS_CLK_ENABLED() ((RCC->AHB1ENR &(RCC_AHB1ENR_GPIOAEN)) != RESET) -#define __HAL_RCC_GPIOB_IS_CLK_ENABLED() ((RCC->AHB1ENR &(RCC_AHB1ENR_GPIOBEN)) != RESET) -#define __HAL_RCC_GPIOC_IS_CLK_ENABLED() ((RCC->AHB1ENR &(RCC_AHB1ENR_GPIOCEN)) != RESET) -#define __HAL_RCC_GPIOH_IS_CLK_ENABLED() ((RCC->AHB1ENR &(RCC_AHB1ENR_GPIOHEN)) != RESET) -#define __HAL_RCC_DMA1_IS_CLK_ENABLED() ((RCC->AHB1ENR &(RCC_AHB1ENR_DMA1EN)) != RESET) -#define __HAL_RCC_DMA2_IS_CLK_ENABLED() ((RCC->AHB1ENR &(RCC_AHB1ENR_DMA2EN)) != RESET) - -#define __HAL_RCC_GPIOA_IS_CLK_DISABLED() ((RCC->AHB1ENR &(RCC_AHB1ENR_GPIOAEN)) == RESET) -#define __HAL_RCC_GPIOB_IS_CLK_DISABLED() ((RCC->AHB1ENR &(RCC_AHB1ENR_GPIOBEN)) == RESET) -#define __HAL_RCC_GPIOC_IS_CLK_DISABLED() ((RCC->AHB1ENR &(RCC_AHB1ENR_GPIOCEN)) == RESET) -#define __HAL_RCC_GPIOH_IS_CLK_DISABLED() ((RCC->AHB1ENR &(RCC_AHB1ENR_GPIOHEN)) == RESET) -#define __HAL_RCC_DMA1_IS_CLK_DISABLED() ((RCC->AHB1ENR &(RCC_AHB1ENR_DMA1EN)) == RESET) -#define __HAL_RCC_DMA2_IS_CLK_DISABLED() ((RCC->AHB1ENR &(RCC_AHB1ENR_DMA2EN)) == RESET) -/** - * @} - */ - -/** @defgroup RCC_APB1_Clock_Enable_Disable APB1 Peripheral Clock Enable Disable - * @brief Enable or disable the Low Speed APB (APB1) peripheral clock. - * @note After reset, the peripheral clock (used for registers read/write access) - * is disabled and the application software has to enable this clock before - * using it. - * @{ - */ -#define __HAL_RCC_TIM5_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_TIM5EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_TIM5EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_WWDG_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_WWDGEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_WWDGEN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_SPI2_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_SPI2EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_SPI2EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_USART2_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_USART2EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_USART2EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_I2C1_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_I2C1EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_I2C1EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_I2C2_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_I2C2EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_I2C2EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_PWR_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_PWREN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_PWREN);\ - UNUSED(tmpreg); \ - } while(0U) - -#define __HAL_RCC_TIM5_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_TIM5EN)) -#define __HAL_RCC_WWDG_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_WWDGEN)) -#define __HAL_RCC_SPI2_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_SPI2EN)) -#define __HAL_RCC_USART2_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_USART2EN)) -#define __HAL_RCC_I2C1_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_I2C1EN)) -#define __HAL_RCC_I2C2_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_I2C2EN)) -#define __HAL_RCC_PWR_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_PWREN)) -/** - * @} - */ - -/** @defgroup RCC_APB1_Peripheral_Clock_Enable_Disable_Status APB1 Peripheral Clock Enable Disable Status - * @brief Get the enable or disable status of the APB1 peripheral clock. - * @note After reset, the peripheral clock (used for registers read/write access) - * is disabled and the application software has to enable this clock before - * using it. - * @{ - */ -#define __HAL_RCC_TIM5_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_TIM5EN)) != RESET) -#define __HAL_RCC_WWDG_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_WWDGEN)) != RESET) -#define __HAL_RCC_SPI2_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_SPI2EN)) != RESET) -#define __HAL_RCC_USART2_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_USART2EN)) != RESET) -#define __HAL_RCC_I2C1_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_I2C1EN)) != RESET) -#define __HAL_RCC_I2C2_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_I2C2EN)) != RESET) -#define __HAL_RCC_PWR_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_PWREN)) != RESET) - -#define __HAL_RCC_TIM5_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_TIM5EN)) == RESET) -#define __HAL_RCC_WWDG_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_WWDGEN)) == RESET) -#define __HAL_RCC_SPI2_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_SPI2EN)) == RESET) -#define __HAL_RCC_USART2_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_USART2EN)) == RESET) -#define __HAL_RCC_I2C1_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_I2C1EN)) == RESET) -#define __HAL_RCC_I2C2_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_I2C2EN)) == RESET) -#define __HAL_RCC_PWR_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_PWREN)) == RESET) -/** - * @} - */ - -/** @defgroup RCC_APB2_Clock_Enable_Disable APB2 Peripheral Clock Enable Disable - * @brief Enable or disable the High Speed APB (APB2) peripheral clock. - * @note After reset, the peripheral clock (used for registers read/write access) - * is disabled and the application software has to enable this clock before - * using it. - * @{ - */ -#define __HAL_RCC_TIM1_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB2ENR, RCC_APB2ENR_TIM1EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB2ENR, RCC_APB2ENR_TIM1EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_USART1_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB2ENR, RCC_APB2ENR_USART1EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB2ENR, RCC_APB2ENR_USART1EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_USART6_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB2ENR, RCC_APB2ENR_USART6EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB2ENR, RCC_APB2ENR_USART6EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_ADC1_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB2ENR, RCC_APB2ENR_ADC1EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB2ENR, RCC_APB2ENR_ADC1EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_SPI1_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB2ENR, RCC_APB2ENR_SPI1EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB2ENR, RCC_APB2ENR_SPI1EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_SYSCFG_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB2ENR, RCC_APB2ENR_SYSCFGEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB2ENR, RCC_APB2ENR_SYSCFGEN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_TIM9_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB2ENR, RCC_APB2ENR_TIM9EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB2ENR, RCC_APB2ENR_TIM9EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_TIM11_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB2ENR, RCC_APB2ENR_TIM11EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB2ENR, RCC_APB2ENR_TIM11EN);\ - UNUSED(tmpreg); \ - } while(0U) - -#define __HAL_RCC_TIM1_CLK_DISABLE() (RCC->APB2ENR &= ~(RCC_APB2ENR_TIM1EN)) -#define __HAL_RCC_USART1_CLK_DISABLE() (RCC->APB2ENR &= ~(RCC_APB2ENR_USART1EN)) -#define __HAL_RCC_USART6_CLK_DISABLE() (RCC->APB2ENR &= ~(RCC_APB2ENR_USART6EN)) -#define __HAL_RCC_ADC1_CLK_DISABLE() (RCC->APB2ENR &= ~(RCC_APB2ENR_ADC1EN)) -#define __HAL_RCC_SPI1_CLK_DISABLE() (RCC->APB2ENR &= ~(RCC_APB2ENR_SPI1EN)) -#define __HAL_RCC_SYSCFG_CLK_DISABLE() (RCC->APB2ENR &= ~(RCC_APB2ENR_SYSCFGEN)) -#define __HAL_RCC_TIM9_CLK_DISABLE() (RCC->APB2ENR &= ~(RCC_APB2ENR_TIM9EN)) -#define __HAL_RCC_TIM11_CLK_DISABLE() (RCC->APB2ENR &= ~(RCC_APB2ENR_TIM11EN)) -/** - * @} - */ - -/** @defgroup RCC_APB2_Peripheral_Clock_Enable_Disable_Status APB2 Peripheral Clock Enable Disable Status - * @brief Get the enable or disable status of the APB2 peripheral clock. - * @note After reset, the peripheral clock (used for registers read/write access) - * is disabled and the application software has to enable this clock before - * using it. - * @{ - */ -#define __HAL_RCC_TIM1_IS_CLK_ENABLED() ((RCC->APB2ENR & (RCC_APB2ENR_TIM1EN)) != RESET) -#define __HAL_RCC_USART1_IS_CLK_ENABLED() ((RCC->APB2ENR & (RCC_APB2ENR_USART1EN)) != RESET) -#define __HAL_RCC_USART6_IS_CLK_ENABLED() ((RCC->APB2ENR & (RCC_APB2ENR_USART6EN)) != RESET) -#define __HAL_RCC_ADC1_IS_CLK_ENABLED() ((RCC->APB2ENR & (RCC_APB2ENR_ADC1EN)) != RESET) -#define __HAL_RCC_SPI1_IS_CLK_ENABLED() ((RCC->APB2ENR & (RCC_APB2ENR_SPI1EN)) != RESET) -#define __HAL_RCC_SYSCFG_IS_CLK_ENABLED() ((RCC->APB2ENR & (RCC_APB2ENR_SYSCFGEN)) != RESET) -#define __HAL_RCC_TIM9_IS_CLK_ENABLED() ((RCC->APB2ENR & (RCC_APB2ENR_TIM9EN)) != RESET) -#define __HAL_RCC_TIM11_IS_CLK_ENABLED() ((RCC->APB2ENR & (RCC_APB2ENR_TIM11EN)) != RESET) - -#define __HAL_RCC_TIM1_IS_CLK_DISABLED() ((RCC->APB2ENR & (RCC_APB2ENR_TIM1EN)) == RESET) -#define __HAL_RCC_USART1_IS_CLK_DISABLED() ((RCC->APB2ENR & (RCC_APB2ENR_USART1EN)) == RESET) -#define __HAL_RCC_USART6_IS_CLK_DISABLED() ((RCC->APB2ENR & (RCC_APB2ENR_USART6EN)) == RESET) -#define __HAL_RCC_ADC1_IS_CLK_DISABLED() ((RCC->APB2ENR & (RCC_APB2ENR_ADC1EN)) == RESET) -#define __HAL_RCC_SPI1_IS_CLK_DISABLED() ((RCC->APB2ENR & (RCC_APB2ENR_SPI1EN)) == RESET) -#define __HAL_RCC_SYSCFG_IS_CLK_DISABLED() ((RCC->APB2ENR & (RCC_APB2ENR_SYSCFGEN)) == RESET) -#define __HAL_RCC_TIM9_IS_CLK_DISABLED() ((RCC->APB2ENR & (RCC_APB2ENR_TIM9EN)) == RESET) -#define __HAL_RCC_TIM11_IS_CLK_DISABLED() ((RCC->APB2ENR & (RCC_APB2ENR_TIM11EN)) == RESET) -/** - * @} - */ - -/** @defgroup RCC_AHB1_Force_Release_Reset AHB1 Force Release Reset - * @brief Force or release AHB1 peripheral reset. - * @{ - */ -#define __HAL_RCC_AHB1_FORCE_RESET() (RCC->AHB1RSTR = 0xFFFFFFFFU) -#define __HAL_RCC_GPIOA_FORCE_RESET() (RCC->AHB1RSTR |= (RCC_AHB1RSTR_GPIOARST)) -#define __HAL_RCC_GPIOB_FORCE_RESET() (RCC->AHB1RSTR |= (RCC_AHB1RSTR_GPIOBRST)) -#define __HAL_RCC_GPIOC_FORCE_RESET() (RCC->AHB1RSTR |= (RCC_AHB1RSTR_GPIOCRST)) -#define __HAL_RCC_GPIOH_FORCE_RESET() (RCC->AHB1RSTR |= (RCC_AHB1RSTR_GPIOHRST)) -#define __HAL_RCC_DMA1_FORCE_RESET() (RCC->AHB1RSTR |= (RCC_AHB1RSTR_DMA1RST)) -#define __HAL_RCC_DMA2_FORCE_RESET() (RCC->AHB1RSTR |= (RCC_AHB1RSTR_DMA2RST)) - -#define __HAL_RCC_AHB1_RELEASE_RESET() (RCC->AHB1RSTR = 0x00U) -#define __HAL_RCC_GPIOA_RELEASE_RESET() (RCC->AHB1RSTR &= ~(RCC_AHB1RSTR_GPIOARST)) -#define __HAL_RCC_GPIOB_RELEASE_RESET() (RCC->AHB1RSTR &= ~(RCC_AHB1RSTR_GPIOBRST)) -#define __HAL_RCC_GPIOC_RELEASE_RESET() (RCC->AHB1RSTR &= ~(RCC_AHB1RSTR_GPIOCRST)) -#define __HAL_RCC_GPIOH_RELEASE_RESET() (RCC->AHB1RSTR &= ~(RCC_AHB1RSTR_GPIOHRST)) -#define __HAL_RCC_DMA1_RELEASE_RESET() (RCC->AHB1RSTR &= ~(RCC_AHB1RSTR_DMA1RST)) -#define __HAL_RCC_DMA2_RELEASE_RESET() (RCC->AHB1RSTR &= ~(RCC_AHB1RSTR_DMA2RST)) -/** - * @} - */ - -/** @defgroup RCC_APB1_Force_Release_Reset APB1 Force Release Reset - * @brief Force or release APB1 peripheral reset. - * @{ - */ -#define __HAL_RCC_APB1_FORCE_RESET() (RCC->APB1RSTR = 0xFFFFFFFFU) -#define __HAL_RCC_TIM5_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_TIM5RST)) -#define __HAL_RCC_WWDG_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_WWDGRST)) -#define __HAL_RCC_SPI2_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_SPI2RST)) -#define __HAL_RCC_USART2_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_USART2RST)) -#define __HAL_RCC_I2C1_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_I2C1RST)) -#define __HAL_RCC_I2C2_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_I2C2RST)) -#define __HAL_RCC_PWR_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_PWRRST)) - -#define __HAL_RCC_APB1_RELEASE_RESET() (RCC->APB1RSTR = 0x00U) -#define __HAL_RCC_TIM5_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_TIM5RST)) -#define __HAL_RCC_WWDG_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_WWDGRST)) -#define __HAL_RCC_SPI2_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_SPI2RST)) -#define __HAL_RCC_USART2_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_USART2RST)) -#define __HAL_RCC_I2C1_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_I2C1RST)) -#define __HAL_RCC_I2C2_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_I2C2RST)) -#define __HAL_RCC_PWR_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_PWRRST)) -/** - * @} - */ - -/** @defgroup RCC_APB2_Force_Release_Reset APB2 Force Release Reset - * @brief Force or release APB2 peripheral reset. - * @{ - */ -#define __HAL_RCC_APB2_FORCE_RESET() (RCC->APB2RSTR = 0xFFFFFFFFU) -#define __HAL_RCC_TIM1_FORCE_RESET() (RCC->APB2RSTR |= (RCC_APB2RSTR_TIM1RST)) -#define __HAL_RCC_USART1_FORCE_RESET() (RCC->APB2RSTR |= (RCC_APB2RSTR_USART1RST)) -#define __HAL_RCC_USART6_FORCE_RESET() (RCC->APB2RSTR |= (RCC_APB2RSTR_USART6RST)) -#define __HAL_RCC_ADC_FORCE_RESET() (RCC->APB2RSTR |= (RCC_APB2RSTR_ADCRST)) -#define __HAL_RCC_SPI1_FORCE_RESET() (RCC->APB2RSTR |= (RCC_APB2RSTR_SPI1RST)) -#define __HAL_RCC_SYSCFG_FORCE_RESET() (RCC->APB2RSTR |= (RCC_APB2RSTR_SYSCFGRST)) -#define __HAL_RCC_TIM9_FORCE_RESET() (RCC->APB2RSTR |= (RCC_APB2RSTR_TIM9RST)) -#define __HAL_RCC_TIM11_FORCE_RESET() (RCC->APB2RSTR |= (RCC_APB2RSTR_TIM11RST)) - -#define __HAL_RCC_APB2_RELEASE_RESET() (RCC->APB2RSTR = 0x00U) -#define __HAL_RCC_TIM1_RELEASE_RESET() (RCC->APB2RSTR &= ~(RCC_APB2RSTR_TIM1RST)) -#define __HAL_RCC_USART1_RELEASE_RESET() (RCC->APB2RSTR &= ~(RCC_APB2RSTR_USART1RST)) -#define __HAL_RCC_USART6_RELEASE_RESET() (RCC->APB2RSTR &= ~(RCC_APB2RSTR_USART6RST)) -#define __HAL_RCC_ADC_RELEASE_RESET() (RCC->APB2RSTR &= ~(RCC_APB2RSTR_ADCRST)) -#define __HAL_RCC_SPI1_RELEASE_RESET() (RCC->APB2RSTR &= ~(RCC_APB2RSTR_SPI1RST)) -#define __HAL_RCC_SYSCFG_RELEASE_RESET() (RCC->APB2RSTR &= ~(RCC_APB2RSTR_SYSCFGRST)) -#define __HAL_RCC_TIM9_RELEASE_RESET() (RCC->APB2RSTR &= ~(RCC_APB2RSTR_TIM9RST)) -#define __HAL_RCC_TIM11_RELEASE_RESET() (RCC->APB2RSTR &= ~(RCC_APB2RSTR_TIM11RST)) -/** - * @} - */ - -/** @defgroup RCC_AHB1_LowPower_Enable_Disable AHB1 Peripheral Low Power Enable Disable - * @brief Enable or disable the AHB1 peripheral clock during Low Power (Sleep) mode. - * @note Peripheral clock gating in SLEEP mode can be used to further reduce - * power consumption. - * @note After wake-up from SLEEP mode, the peripheral clock is enabled again. - * @note By default, all peripheral clocks are enabled during SLEEP mode. - * @{ - */ -#define __HAL_RCC_GPIOA_CLK_SLEEP_ENABLE() (RCC->AHB1LPENR |= (RCC_AHB1LPENR_GPIOALPEN)) -#define __HAL_RCC_GPIOB_CLK_SLEEP_ENABLE() (RCC->AHB1LPENR |= (RCC_AHB1LPENR_GPIOBLPEN)) -#define __HAL_RCC_GPIOC_CLK_SLEEP_ENABLE() (RCC->AHB1LPENR |= (RCC_AHB1LPENR_GPIOCLPEN)) -#define __HAL_RCC_GPIOH_CLK_SLEEP_ENABLE() (RCC->AHB1LPENR |= (RCC_AHB1LPENR_GPIOHLPEN)) -#define __HAL_RCC_DMA1_CLK_SLEEP_ENABLE() (RCC->AHB1LPENR |= (RCC_AHB1LPENR_DMA1LPEN)) -#define __HAL_RCC_DMA2_CLK_SLEEP_ENABLE() (RCC->AHB1LPENR |= (RCC_AHB1LPENR_DMA2LPEN)) - -#define __HAL_RCC_GPIOA_CLK_SLEEP_DISABLE() (RCC->AHB1LPENR &= ~(RCC_AHB1LPENR_GPIOALPEN)) -#define __HAL_RCC_GPIOB_CLK_SLEEP_DISABLE() (RCC->AHB1LPENR &= ~(RCC_AHB1LPENR_GPIOBLPEN)) -#define __HAL_RCC_GPIOC_CLK_SLEEP_DISABLE() (RCC->AHB1LPENR &= ~(RCC_AHB1LPENR_GPIOCLPEN)) -#define __HAL_RCC_GPIOH_CLK_SLEEP_DISABLE() (RCC->AHB1LPENR &= ~(RCC_AHB1LPENR_GPIOHLPEN)) -#define __HAL_RCC_DMA1_CLK_SLEEP_DISABLE() (RCC->AHB1LPENR &= ~(RCC_AHB1LPENR_DMA1LPEN)) -#define __HAL_RCC_DMA2_CLK_SLEEP_DISABLE() (RCC->AHB1LPENR &= ~(RCC_AHB1LPENR_DMA2LPEN)) -/** - * @} - */ - -/** @defgroup RCC_APB1_LowPower_Enable_Disable APB1 Peripheral Low Power Enable Disable - * @brief Enable or disable the APB1 peripheral clock during Low Power (Sleep) mode. - * @note Peripheral clock gating in SLEEP mode can be used to further reduce - * power consumption. - * @note After wake-up from SLEEP mode, the peripheral clock is enabled again. - * @note By default, all peripheral clocks are enabled during SLEEP mode. - * @{ - */ -#define __HAL_RCC_TIM5_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_TIM5LPEN)) -#define __HAL_RCC_WWDG_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_WWDGLPEN)) -#define __HAL_RCC_SPI2_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_SPI2LPEN)) -#define __HAL_RCC_USART2_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_USART2LPEN)) -#define __HAL_RCC_I2C1_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_I2C1LPEN)) -#define __HAL_RCC_I2C2_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_I2C2LPEN)) -#define __HAL_RCC_PWR_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_PWRLPEN)) - -#define __HAL_RCC_TIM5_CLK_SLEEP_DISABLE() (RCC->APB1LPENR &= ~(RCC_APB1LPENR_TIM5LPEN)) -#define __HAL_RCC_WWDG_CLK_SLEEP_DISABLE() (RCC->APB1LPENR &= ~(RCC_APB1LPENR_WWDGLPEN)) -#define __HAL_RCC_SPI2_CLK_SLEEP_DISABLE() (RCC->APB1LPENR &= ~(RCC_APB1LPENR_SPI2LPEN)) -#define __HAL_RCC_USART2_CLK_SLEEP_DISABLE() (RCC->APB1LPENR &= ~(RCC_APB1LPENR_USART2LPEN)) -#define __HAL_RCC_I2C1_CLK_SLEEP_DISABLE() (RCC->APB1LPENR &= ~(RCC_APB1LPENR_I2C1LPEN)) -#define __HAL_RCC_I2C2_CLK_SLEEP_DISABLE() (RCC->APB1LPENR &= ~(RCC_APB1LPENR_I2C2LPEN)) -#define __HAL_RCC_PWR_CLK_SLEEP_DISABLE() (RCC->APB1LPENR &= ~(RCC_APB1LPENR_PWRLPEN)) -/** - * @} - */ - -/** @defgroup RCC_APB2_LowPower_Enable_Disable APB2 Peripheral Low Power Enable Disable - * @brief Enable or disable the APB2 peripheral clock during Low Power (Sleep) mode. - * @note Peripheral clock gating in SLEEP mode can be used to further reduce - * power consumption. - * @note After wake-up from SLEEP mode, the peripheral clock is enabled again. - * @note By default, all peripheral clocks are enabled during SLEEP mode. - * @{ - */ -#define __HAL_RCC_TIM1_CLK_SLEEP_ENABLE() (RCC->APB2LPENR |= (RCC_APB2LPENR_TIM1LPEN)) -#define __HAL_RCC_USART1_CLK_SLEEP_ENABLE() (RCC->APB2LPENR |= (RCC_APB2LPENR_USART1LPEN)) -#define __HAL_RCC_USART6_CLK_SLEEP_ENABLE() (RCC->APB2LPENR |= (RCC_APB2LPENR_USART6LPEN)) -#define __HAL_RCC_ADC1_CLK_SLEEP_ENABLE() (RCC->APB2LPENR |= (RCC_APB2LPENR_ADC1LPEN)) -#define __HAL_RCC_SPI1_CLK_SLEEP_ENABLE() (RCC->APB2LPENR |= (RCC_APB2LPENR_SPI1LPEN)) -#define __HAL_RCC_SYSCFG_CLK_SLEEP_ENABLE() (RCC->APB2LPENR |= (RCC_APB2LPENR_SYSCFGLPEN)) -#define __HAL_RCC_TIM9_CLK_SLEEP_ENABLE() (RCC->APB2LPENR |= (RCC_APB2LPENR_TIM9LPEN)) -#define __HAL_RCC_TIM11_CLK_SLEEP_ENABLE() (RCC->APB2LPENR |= (RCC_APB2LPENR_TIM11LPEN)) - -#define __HAL_RCC_TIM1_CLK_SLEEP_DISABLE() (RCC->APB2LPENR &= ~(RCC_APB2LPENR_TIM1LPEN)) -#define __HAL_RCC_USART1_CLK_SLEEP_DISABLE() (RCC->APB2LPENR &= ~(RCC_APB2LPENR_USART1LPEN)) -#define __HAL_RCC_USART6_CLK_SLEEP_DISABLE() (RCC->APB2LPENR &= ~(RCC_APB2LPENR_USART6LPEN)) -#define __HAL_RCC_ADC1_CLK_SLEEP_DISABLE() (RCC->APB2LPENR &= ~(RCC_APB2LPENR_ADC1LPEN)) -#define __HAL_RCC_SPI1_CLK_SLEEP_DISABLE() (RCC->APB2LPENR &= ~(RCC_APB2LPENR_SPI1LPEN)) -#define __HAL_RCC_SYSCFG_CLK_SLEEP_DISABLE() (RCC->APB2LPENR &= ~(RCC_APB2LPENR_SYSCFGLPEN)) -#define __HAL_RCC_TIM9_CLK_SLEEP_DISABLE() (RCC->APB2LPENR &= ~(RCC_APB2LPENR_TIM9LPEN)) -#define __HAL_RCC_TIM11_CLK_SLEEP_DISABLE() (RCC->APB2LPENR &= ~(RCC_APB2LPENR_TIM11LPEN)) -/** - * @} - */ - -/** @defgroup RCC_HSI_Configuration HSI Configuration - * @{ - */ - -/** @brief Macros to enable or disable the Internal High Speed oscillator (HSI). - * @note The HSI is stopped by hardware when entering STOP and STANDBY modes. - * It is used (enabled by hardware) as system clock source after startup - * from Reset, wake-up from STOP and STANDBY mode, or in case of failure - * of the HSE used directly or indirectly as system clock (if the Clock - * Security System CSS is enabled). - * @note HSI can not be stopped if it is used as system clock source. In this case, - * you have to select another source of the system clock then stop the HSI. - * @note After enabling the HSI, the application software should wait on HSIRDY - * flag to be set indicating that HSI clock is stable and can be used as - * system clock source. - * This parameter can be: ENABLE or DISABLE. - * @note When the HSI is stopped, HSIRDY flag goes low after 6 HSI oscillator - * clock cycles. - */ -#define __HAL_RCC_HSI_ENABLE() (*(__IO uint32_t *) RCC_CR_HSION_BB = ENABLE) -#define __HAL_RCC_HSI_DISABLE() (*(__IO uint32_t *) RCC_CR_HSION_BB = DISABLE) - -/** @brief Macro to adjust the Internal High Speed oscillator (HSI) calibration value. - * @note The calibration is used to compensate for the variations in voltage - * and temperature that influence the frequency of the internal HSI RC. - * @param __HSICalibrationValue__ specifies the calibration trimming value. - * (default is RCC_HSICALIBRATION_DEFAULT). - * This parameter must be a number between 0 and 0x1F. - */ -#define __HAL_RCC_HSI_CALIBRATIONVALUE_ADJUST(__HSICalibrationValue__) (MODIFY_REG(RCC->CR,\ - RCC_CR_HSITRIM, (uint32_t)(__HSICalibrationValue__) << RCC_CR_HSITRIM_Pos)) -/** - * @} - */ - -/** @defgroup RCC_LSI_Configuration LSI Configuration - * @{ - */ - -/** @brief Macros to enable or disable the Internal Low Speed oscillator (LSI). - * @note After enabling the LSI, the application software should wait on - * LSIRDY flag to be set indicating that LSI clock is stable and can - * be used to clock the IWDG and/or the RTC. - * @note LSI can not be disabled if the IWDG is running. - * @note When the LSI is stopped, LSIRDY flag goes low after 6 LSI oscillator - * clock cycles. - */ -#define __HAL_RCC_LSI_ENABLE() (*(__IO uint32_t *) RCC_CSR_LSION_BB = ENABLE) -#define __HAL_RCC_LSI_DISABLE() (*(__IO uint32_t *) RCC_CSR_LSION_BB = DISABLE) -/** - * @} - */ - -/** @defgroup RCC_HSE_Configuration HSE Configuration - * @{ - */ - -/** - * @brief Macro to configure the External High Speed oscillator (HSE). - * @note Transition HSE Bypass to HSE On and HSE On to HSE Bypass are not supported by this macro. - * User should request a transition to HSE Off first and then HSE On or HSE Bypass. - * @note After enabling the HSE (RCC_HSE_ON or RCC_HSE_Bypass), the application - * software should wait on HSERDY flag to be set indicating that HSE clock - * is stable and can be used to clock the PLL and/or system clock. - * @note HSE state can not be changed if it is used directly or through the - * PLL as system clock. In this case, you have to select another source - * of the system clock then change the HSE state (ex. disable it). - * @note The HSE is stopped by hardware when entering STOP and STANDBY modes. - * @note This function reset the CSSON bit, so if the clock security system(CSS) - * was previously enabled you have to enable it again after calling this - * function. - * @param __STATE__ specifies the new state of the HSE. - * This parameter can be one of the following values: - * @arg RCC_HSE_OFF: turn OFF the HSE oscillator, HSERDY flag goes low after - * 6 HSE oscillator clock cycles. - * @arg RCC_HSE_ON: turn ON the HSE oscillator. - * @arg RCC_HSE_BYPASS: HSE oscillator bypassed with external clock. - */ -#define __HAL_RCC_HSE_CONFIG(__STATE__) \ - do { \ - if ((__STATE__) == RCC_HSE_ON) \ - { \ - SET_BIT(RCC->CR, RCC_CR_HSEON); \ - } \ - else if ((__STATE__) == RCC_HSE_BYPASS) \ - { \ - SET_BIT(RCC->CR, RCC_CR_HSEBYP); \ - SET_BIT(RCC->CR, RCC_CR_HSEON); \ - } \ - else \ - { \ - CLEAR_BIT(RCC->CR, RCC_CR_HSEON); \ - CLEAR_BIT(RCC->CR, RCC_CR_HSEBYP); \ - } \ - } while(0U) -/** - * @} - */ - -/** @defgroup RCC_LSE_Configuration LSE Configuration - * @{ - */ - -/** - * @brief Macro to configure the External Low Speed oscillator (LSE). - * @note Transition LSE Bypass to LSE On and LSE On to LSE Bypass are not supported by this macro. - * User should request a transition to LSE Off first and then LSE On or LSE Bypass. - * @note As the LSE is in the Backup domain and write access is denied to - * this domain after reset, you have to enable write access using - * HAL_PWR_EnableBkUpAccess() function before to configure the LSE - * (to be done once after reset). - * @note After enabling the LSE (RCC_LSE_ON or RCC_LSE_BYPASS), the application - * software should wait on LSERDY flag to be set indicating that LSE clock - * is stable and can be used to clock the RTC. - * @param __STATE__ specifies the new state of the LSE. - * This parameter can be one of the following values: - * @arg RCC_LSE_OFF: turn OFF the LSE oscillator, LSERDY flag goes low after - * 6 LSE oscillator clock cycles. - * @arg RCC_LSE_ON: turn ON the LSE oscillator. - * @arg RCC_LSE_BYPASS: LSE oscillator bypassed with external clock. - */ -#define __HAL_RCC_LSE_CONFIG(__STATE__) \ - do { \ - if((__STATE__) == RCC_LSE_ON) \ - { \ - SET_BIT(RCC->BDCR, RCC_BDCR_LSEON); \ - } \ - else if((__STATE__) == RCC_LSE_BYPASS) \ - { \ - SET_BIT(RCC->BDCR, RCC_BDCR_LSEBYP); \ - SET_BIT(RCC->BDCR, RCC_BDCR_LSEON); \ - } \ - else \ - { \ - CLEAR_BIT(RCC->BDCR, RCC_BDCR_LSEON); \ - CLEAR_BIT(RCC->BDCR, RCC_BDCR_LSEBYP); \ - } \ - } while(0U) -/** - * @} - */ - -/** @defgroup RCC_Internal_RTC_Clock_Configuration RTC Clock Configuration - * @{ - */ - -/** @brief Macros to enable or disable the RTC clock. - * @note These macros must be used only after the RTC clock source was selected. - */ -#define __HAL_RCC_RTC_ENABLE() (*(__IO uint32_t *) RCC_BDCR_RTCEN_BB = ENABLE) -#define __HAL_RCC_RTC_DISABLE() (*(__IO uint32_t *) RCC_BDCR_RTCEN_BB = DISABLE) - -/** @brief Macros to configure the RTC clock (RTCCLK). - * @note As the RTC clock configuration bits are in the Backup domain and write - * access is denied to this domain after reset, you have to enable write - * access using the Power Backup Access macro before to configure - * the RTC clock source (to be done once after reset). - * @note Once the RTC clock is configured it can't be changed unless the - * Backup domain is reset using __HAL_RCC_BackupReset_RELEASE() macro, or by - * a Power On Reset (POR). - * @param __RTCCLKSource__ specifies the RTC clock source. - * This parameter can be one of the following values: - * @arg @ref RCC_RTCCLKSOURCE_NO_CLK : No clock selected as RTC clock. - * @arg @ref RCC_RTCCLKSOURCE_LSE : LSE selected as RTC clock. - * @arg @ref RCC_RTCCLKSOURCE_LSI : LSI selected as RTC clock. - * @arg @ref RCC_RTCCLKSOURCE_HSE_DIVX HSE divided by X selected as RTC clock (X can be retrieved thanks to @ref __HAL_RCC_GET_RTC_HSE_PRESCALER() - * @note If the LSE or LSI is used as RTC clock source, the RTC continues to - * work in STOP and STANDBY modes, and can be used as wake-up source. - * However, when the HSE clock is used as RTC clock source, the RTC - * cannot be used in STOP and STANDBY modes. - * @note The maximum input clock frequency for RTC is 1MHz (when using HSE as - * RTC clock source). - */ -#define __HAL_RCC_RTC_CLKPRESCALER(__RTCCLKSource__) (((__RTCCLKSource__) & RCC_BDCR_RTCSEL) == RCC_BDCR_RTCSEL) ? \ - MODIFY_REG(RCC->CFGR, RCC_CFGR_RTCPRE, ((__RTCCLKSource__) & 0xFFFFCFFU)) : CLEAR_BIT(RCC->CFGR, RCC_CFGR_RTCPRE) - -#define __HAL_RCC_RTC_CONFIG(__RTCCLKSource__) do { __HAL_RCC_RTC_CLKPRESCALER(__RTCCLKSource__); \ - RCC->BDCR |= ((__RTCCLKSource__) & 0x00000FFFU); \ - } while(0U) - -/** @brief Macro to get the RTC clock source. - * @retval The clock source can be one of the following values: - * @arg @ref RCC_RTCCLKSOURCE_NO_CLK No clock selected as RTC clock - * @arg @ref RCC_RTCCLKSOURCE_LSE LSE selected as RTC clock - * @arg @ref RCC_RTCCLKSOURCE_LSI LSI selected as RTC clock - * @arg @ref RCC_RTCCLKSOURCE_HSE_DIVX HSE divided by X selected as RTC clock (X can be retrieved thanks to @ref __HAL_RCC_GET_RTC_HSE_PRESCALER() - */ -#define __HAL_RCC_GET_RTC_SOURCE() (READ_BIT(RCC->BDCR, RCC_BDCR_RTCSEL)) - -/** - * @brief Get the RTC and HSE clock divider (RTCPRE). - * @retval Returned value can be one of the following values: - * @arg @ref RCC_RTCCLKSOURCE_HSE_DIVX HSE divided by X selected as RTC clock (X can be retrieved thanks to @ref __HAL_RCC_GET_RTC_HSE_PRESCALER() - */ -#define __HAL_RCC_GET_RTC_HSE_PRESCALER() (READ_BIT(RCC->CFGR, RCC_CFGR_RTCPRE) | RCC_BDCR_RTCSEL) - -/** @brief Macros to force or release the Backup domain reset. - * @note This function resets the RTC peripheral (including the backup registers) - * and the RTC clock source selection in RCC_CSR register. - * @note The BKPSRAM is not affected by this reset. - */ -#define __HAL_RCC_BACKUPRESET_FORCE() (*(__IO uint32_t *) RCC_BDCR_BDRST_BB = ENABLE) -#define __HAL_RCC_BACKUPRESET_RELEASE() (*(__IO uint32_t *) RCC_BDCR_BDRST_BB = DISABLE) -/** - * @} - */ - -/** @defgroup RCC_PLL_Configuration PLL Configuration - * @{ - */ - -/** @brief Macros to enable or disable the main PLL. - * @note After enabling the main PLL, the application software should wait on - * PLLRDY flag to be set indicating that PLL clock is stable and can - * be used as system clock source. - * @note The main PLL can not be disabled if it is used as system clock source - * @note The main PLL is disabled by hardware when entering STOP and STANDBY modes. - */ -#define __HAL_RCC_PLL_ENABLE() (*(__IO uint32_t *) RCC_CR_PLLON_BB = ENABLE) -#define __HAL_RCC_PLL_DISABLE() (*(__IO uint32_t *) RCC_CR_PLLON_BB = DISABLE) - -/** @brief Macro to configure the PLL clock source. - * @note This function must be used only when the main PLL is disabled. - * @param __PLLSOURCE__ specifies the PLL entry clock source. - * This parameter can be one of the following values: - * @arg RCC_PLLSOURCE_HSI: HSI oscillator clock selected as PLL clock entry - * @arg RCC_PLLSOURCE_HSE: HSE oscillator clock selected as PLL clock entry - * - */ -#define __HAL_RCC_PLL_PLLSOURCE_CONFIG(__PLLSOURCE__) MODIFY_REG(RCC->PLLCFGR, RCC_PLLCFGR_PLLSRC, (__PLLSOURCE__)) - -/** @brief Macro to configure the PLL multiplication factor. - * @note This function must be used only when the main PLL is disabled. - * @param __PLLM__ specifies the division factor for PLL VCO input clock - * This parameter must be a number between Min_Data = 2 and Max_Data = 63. - * @note You have to set the PLLM parameter correctly to ensure that the VCO input - * frequency ranges from 1 to 2 MHz. It is recommended to select a frequency - * of 2 MHz to limit PLL jitter. - * - */ -#define __HAL_RCC_PLL_PLLM_CONFIG(__PLLM__) MODIFY_REG(RCC->PLLCFGR, RCC_PLLCFGR_PLLM, (__PLLM__)) -/** - * @} - */ - -/** @defgroup RCC_Get_Clock_source Get Clock source - * @{ - */ -/** - * @brief Macro to configure the system clock source. - * @param __RCC_SYSCLKSOURCE__ specifies the system clock source. - * This parameter can be one of the following values: - * - RCC_SYSCLKSOURCE_HSI: HSI oscillator is used as system clock source. - * - RCC_SYSCLKSOURCE_HSE: HSE oscillator is used as system clock source. - * - RCC_SYSCLKSOURCE_PLLCLK: PLL output is used as system clock source. - * - RCC_SYSCLKSOURCE_PLLRCLK: PLLR output is used as system clock source. This - * parameter is available only for STM32F446xx devices. - */ -#define __HAL_RCC_SYSCLK_CONFIG(__RCC_SYSCLKSOURCE__) MODIFY_REG(RCC->CFGR, RCC_CFGR_SW, (__RCC_SYSCLKSOURCE__)) - -/** @brief Macro to get the clock source used as system clock. - * @retval The clock source used as system clock. The returned value can be one - * of the following: - * - RCC_SYSCLKSOURCE_STATUS_HSI: HSI used as system clock. - * - RCC_SYSCLKSOURCE_STATUS_HSE: HSE used as system clock. - * - RCC_SYSCLKSOURCE_STATUS_PLLCLK: PLL used as system clock. - * - RCC_SYSCLKSOURCE_STATUS_PLLRCLK: PLLR used as system clock. This parameter - * is available only for STM32F446xx devices. - */ -#define __HAL_RCC_GET_SYSCLK_SOURCE() (RCC->CFGR & RCC_CFGR_SWS) - -/** @brief Macro to get the oscillator used as PLL clock source. - * @retval The oscillator used as PLL clock source. The returned value can be one - * of the following: - * - RCC_PLLSOURCE_HSI: HSI oscillator is used as PLL clock source. - * - RCC_PLLSOURCE_HSE: HSE oscillator is used as PLL clock source. - */ -#define __HAL_RCC_GET_PLL_OSCSOURCE() ((uint32_t)(RCC->PLLCFGR & RCC_PLLCFGR_PLLSRC)) -/** - * @} - */ - -/** @defgroup RCCEx_MCOx_Clock_Config RCC Extended MCOx Clock Config - * @{ - */ - -/** @brief Macro to configure the MCO1 clock. - * @param __MCOCLKSOURCE__ specifies the MCO clock source. - * This parameter can be one of the following values: - * @arg RCC_MCO1SOURCE_HSI: HSI clock selected as MCO1 source - * @arg RCC_MCO1SOURCE_LSE: LSE clock selected as MCO1 source - * @arg RCC_MCO1SOURCE_HSE: HSE clock selected as MCO1 source - * @arg RCC_MCO1SOURCE_PLLCLK: main PLL clock selected as MCO1 source - * @param __MCODIV__ specifies the MCO clock prescaler. - * This parameter can be one of the following values: - * @arg RCC_MCODIV_1: no division applied to MCOx clock - * @arg RCC_MCODIV_2: division by 2 applied to MCOx clock - * @arg RCC_MCODIV_3: division by 3 applied to MCOx clock - * @arg RCC_MCODIV_4: division by 4 applied to MCOx clock - * @arg RCC_MCODIV_5: division by 5 applied to MCOx clock - */ -#define __HAL_RCC_MCO1_CONFIG(__MCOCLKSOURCE__, __MCODIV__) \ - MODIFY_REG(RCC->CFGR, (RCC_CFGR_MCO1 | RCC_CFGR_MCO1PRE), ((__MCOCLKSOURCE__) | (__MCODIV__))) - -/** @brief Macro to configure the MCO2 clock. - * @param __MCOCLKSOURCE__ specifies the MCO clock source. - * This parameter can be one of the following values: - * @arg RCC_MCO2SOURCE_SYSCLK: System clock (SYSCLK) selected as MCO2 source - * @arg RCC_MCO2SOURCE_PLLI2SCLK: PLLI2S clock selected as MCO2 source, available for all STM32F4 devices except STM32F410xx - * @arg RCC_MCO2SOURCE_I2SCLK: I2SCLK clock selected as MCO2 source, available only for STM32F410Rx devices - * @arg RCC_MCO2SOURCE_HSE: HSE clock selected as MCO2 source - * @arg RCC_MCO2SOURCE_PLLCLK: main PLL clock selected as MCO2 source - * @param __MCODIV__ specifies the MCO clock prescaler. - * This parameter can be one of the following values: - * @arg RCC_MCODIV_1: no division applied to MCOx clock - * @arg RCC_MCODIV_2: division by 2 applied to MCOx clock - * @arg RCC_MCODIV_3: division by 3 applied to MCOx clock - * @arg RCC_MCODIV_4: division by 4 applied to MCOx clock - * @arg RCC_MCODIV_5: division by 5 applied to MCOx clock - * @note For STM32F410Rx devices, to output I2SCLK clock on MCO2, you should have - * at least one of the SPI clocks enabled (SPI1, SPI2 or SPI5). - */ -#define __HAL_RCC_MCO2_CONFIG(__MCOCLKSOURCE__, __MCODIV__) \ - MODIFY_REG(RCC->CFGR, (RCC_CFGR_MCO2 | RCC_CFGR_MCO2PRE), ((__MCOCLKSOURCE__) | ((__MCODIV__) << 3U))); -/** - * @} - */ - -/** @defgroup RCC_Flags_Interrupts_Management Flags Interrupts Management - * @brief macros to manage the specified RCC Flags and interrupts. - * @{ - */ - -/** @brief Enable RCC interrupt (Perform Byte access to RCC_CIR[14:8] bits to enable - * the selected interrupts). - * @param __INTERRUPT__ specifies the RCC interrupt sources to be enabled. - * This parameter can be any combination of the following values: - * @arg RCC_IT_LSIRDY: LSI ready interrupt. - * @arg RCC_IT_LSERDY: LSE ready interrupt. - * @arg RCC_IT_HSIRDY: HSI ready interrupt. - * @arg RCC_IT_HSERDY: HSE ready interrupt. - * @arg RCC_IT_PLLRDY: Main PLL ready interrupt. - * @arg RCC_IT_PLLI2SRDY: PLLI2S ready interrupt. - */ -#define __HAL_RCC_ENABLE_IT(__INTERRUPT__) (*(__IO uint8_t *) RCC_CIR_BYTE1_ADDRESS |= (__INTERRUPT__)) - -/** @brief Disable RCC interrupt (Perform Byte access to RCC_CIR[14:8] bits to disable - * the selected interrupts). - * @param __INTERRUPT__ specifies the RCC interrupt sources to be disabled. - * This parameter can be any combination of the following values: - * @arg RCC_IT_LSIRDY: LSI ready interrupt. - * @arg RCC_IT_LSERDY: LSE ready interrupt. - * @arg RCC_IT_HSIRDY: HSI ready interrupt. - * @arg RCC_IT_HSERDY: HSE ready interrupt. - * @arg RCC_IT_PLLRDY: Main PLL ready interrupt. - * @arg RCC_IT_PLLI2SRDY: PLLI2S ready interrupt. - */ -#define __HAL_RCC_DISABLE_IT(__INTERRUPT__) (*(__IO uint8_t *) RCC_CIR_BYTE1_ADDRESS &= (uint8_t)(~(__INTERRUPT__))) - -/** @brief Clear the RCC's interrupt pending bits (Perform Byte access to RCC_CIR[23:16] - * bits to clear the selected interrupt pending bits. - * @param __INTERRUPT__ specifies the interrupt pending bit to clear. - * This parameter can be any combination of the following values: - * @arg RCC_IT_LSIRDY: LSI ready interrupt. - * @arg RCC_IT_LSERDY: LSE ready interrupt. - * @arg RCC_IT_HSIRDY: HSI ready interrupt. - * @arg RCC_IT_HSERDY: HSE ready interrupt. - * @arg RCC_IT_PLLRDY: Main PLL ready interrupt. - * @arg RCC_IT_PLLI2SRDY: PLLI2S ready interrupt. - * @arg RCC_IT_CSS: Clock Security System interrupt - */ -#define __HAL_RCC_CLEAR_IT(__INTERRUPT__) (*(__IO uint8_t *) RCC_CIR_BYTE2_ADDRESS = (__INTERRUPT__)) - -/** @brief Check the RCC's interrupt has occurred or not. - * @param __INTERRUPT__ specifies the RCC interrupt source to check. - * This parameter can be one of the following values: - * @arg RCC_IT_LSIRDY: LSI ready interrupt. - * @arg RCC_IT_LSERDY: LSE ready interrupt. - * @arg RCC_IT_HSIRDY: HSI ready interrupt. - * @arg RCC_IT_HSERDY: HSE ready interrupt. - * @arg RCC_IT_PLLRDY: Main PLL ready interrupt. - * @arg RCC_IT_PLLI2SRDY: PLLI2S ready interrupt. - * @arg RCC_IT_CSS: Clock Security System interrupt - * @retval The new state of __INTERRUPT__ (TRUE or FALSE). - */ -#define __HAL_RCC_GET_IT(__INTERRUPT__) ((RCC->CIR & (__INTERRUPT__)) == (__INTERRUPT__)) - -/** @brief Set RMVF bit to clear the reset flags: RCC_FLAG_PINRST, RCC_FLAG_PORRST, - * RCC_FLAG_SFTRST, RCC_FLAG_IWDGRST, RCC_FLAG_WWDGRST and RCC_FLAG_LPWRRST. - */ -#define __HAL_RCC_CLEAR_RESET_FLAGS() (RCC->CSR |= RCC_CSR_RMVF) - -/** @brief Check RCC flag is set or not. - * @param __FLAG__ specifies the flag to check. - * This parameter can be one of the following values: - * @arg RCC_FLAG_HSIRDY: HSI oscillator clock ready. - * @arg RCC_FLAG_HSERDY: HSE oscillator clock ready. - * @arg RCC_FLAG_PLLRDY: Main PLL clock ready. - * @arg RCC_FLAG_PLLI2SRDY: PLLI2S clock ready. - * @arg RCC_FLAG_LSERDY: LSE oscillator clock ready. - * @arg RCC_FLAG_LSIRDY: LSI oscillator clock ready. - * @arg RCC_FLAG_BORRST: POR/PDR or BOR reset. - * @arg RCC_FLAG_PINRST: Pin reset. - * @arg RCC_FLAG_PORRST: POR/PDR reset. - * @arg RCC_FLAG_SFTRST: Software reset. - * @arg RCC_FLAG_IWDGRST: Independent Watchdog reset. - * @arg RCC_FLAG_WWDGRST: Window Watchdog reset. - * @arg RCC_FLAG_LPWRRST: Low Power reset. - * @retval The new state of __FLAG__ (TRUE or FALSE). - */ -#define RCC_FLAG_MASK ((uint8_t)0x1FU) -#define __HAL_RCC_GET_FLAG(__FLAG__) (((((((__FLAG__) >> 5U) == 1U)? RCC->CR :((((__FLAG__) >> 5U) == 2U) ? RCC->BDCR :((((__FLAG__) >> 5U) == 3U)? RCC->CSR :RCC->CIR))) & (1U << ((__FLAG__) & RCC_FLAG_MASK)))!= 0U)? 1U : 0U) - -/** - * @} - */ - -/** - * @} - */ - -/* Exported functions --------------------------------------------------------*/ - /** @addtogroup RCC_Exported_Functions - * @{ - */ - -/** @addtogroup RCC_Exported_Functions_Group1 - * @{ - */ -/* Initialization and de-initialization functions ******************************/ -HAL_StatusTypeDef HAL_RCC_DeInit(void); -HAL_StatusTypeDef HAL_RCC_OscConfig(RCC_OscInitTypeDef *RCC_OscInitStruct); -HAL_StatusTypeDef HAL_RCC_ClockConfig(RCC_ClkInitTypeDef *RCC_ClkInitStruct, uint32_t FLatency); -/** - * @} - */ - -/** @addtogroup RCC_Exported_Functions_Group2 - * @{ - */ -/* Peripheral Control functions ************************************************/ -void HAL_RCC_MCOConfig(uint32_t RCC_MCOx, uint32_t RCC_MCOSource, uint32_t RCC_MCODiv); -void HAL_RCC_EnableCSS(void); -void HAL_RCC_DisableCSS(void); -uint32_t HAL_RCC_GetSysClockFreq(void); -uint32_t HAL_RCC_GetHCLKFreq(void); -uint32_t HAL_RCC_GetPCLK1Freq(void); -uint32_t HAL_RCC_GetPCLK2Freq(void); -void HAL_RCC_GetOscConfig(RCC_OscInitTypeDef *RCC_OscInitStruct); -void HAL_RCC_GetClockConfig(RCC_ClkInitTypeDef *RCC_ClkInitStruct, uint32_t *pFLatency); - -/* CSS NMI IRQ handler */ -void HAL_RCC_NMI_IRQHandler(void); - -/* User Callbacks in non blocking mode (IT mode) */ -void HAL_RCC_CSSCallback(void); - -/** - * @} - */ - -/** - * @} - */ - -/* Private types -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private constants ---------------------------------------------------------*/ -/** @defgroup RCC_Private_Constants RCC Private Constants - * @{ - */ - -/** @defgroup RCC_BitAddress_AliasRegion RCC BitAddress AliasRegion - * @brief RCC registers bit address in the alias region - * @{ - */ -#define RCC_OFFSET (RCC_BASE - PERIPH_BASE) -/* --- CR Register --- */ -/* Alias word address of HSION bit */ -#define RCC_CR_OFFSET (RCC_OFFSET + 0x00U) -#define RCC_HSION_BIT_NUMBER 0x00U -#define RCC_CR_HSION_BB (PERIPH_BB_BASE + (RCC_CR_OFFSET * 32U) + (RCC_HSION_BIT_NUMBER * 4U)) -/* Alias word address of CSSON bit */ -#define RCC_CSSON_BIT_NUMBER 0x13U -#define RCC_CR_CSSON_BB (PERIPH_BB_BASE + (RCC_CR_OFFSET * 32U) + (RCC_CSSON_BIT_NUMBER * 4U)) -/* Alias word address of PLLON bit */ -#define RCC_PLLON_BIT_NUMBER 0x18U -#define RCC_CR_PLLON_BB (PERIPH_BB_BASE + (RCC_CR_OFFSET * 32U) + (RCC_PLLON_BIT_NUMBER * 4U)) - -/* --- BDCR Register --- */ -/* Alias word address of RTCEN bit */ -#define RCC_BDCR_OFFSET (RCC_OFFSET + 0x70U) -#define RCC_RTCEN_BIT_NUMBER 0x0FU -#define RCC_BDCR_RTCEN_BB (PERIPH_BB_BASE + (RCC_BDCR_OFFSET * 32U) + (RCC_RTCEN_BIT_NUMBER * 4U)) -/* Alias word address of BDRST bit */ -#define RCC_BDRST_BIT_NUMBER 0x10U -#define RCC_BDCR_BDRST_BB (PERIPH_BB_BASE + (RCC_BDCR_OFFSET * 32U) + (RCC_BDRST_BIT_NUMBER * 4U)) - -/* --- CSR Register --- */ -/* Alias word address of LSION bit */ -#define RCC_CSR_OFFSET (RCC_OFFSET + 0x74U) -#define RCC_LSION_BIT_NUMBER 0x00U -#define RCC_CSR_LSION_BB (PERIPH_BB_BASE + (RCC_CSR_OFFSET * 32U) + (RCC_LSION_BIT_NUMBER * 4U)) - -/* CR register byte 3 (Bits[23:16]) base address */ -#define RCC_CR_BYTE2_ADDRESS 0x40023802U - -/* CIR register byte 2 (Bits[15:8]) base address */ -#define RCC_CIR_BYTE1_ADDRESS ((uint32_t)(RCC_BASE + 0x0CU + 0x01U)) - -/* CIR register byte 3 (Bits[23:16]) base address */ -#define RCC_CIR_BYTE2_ADDRESS ((uint32_t)(RCC_BASE + 0x0CU + 0x02U)) - -/* BDCR register base address */ -#define RCC_BDCR_BYTE0_ADDRESS (PERIPH_BASE + RCC_BDCR_OFFSET) - -#define RCC_DBP_TIMEOUT_VALUE 2U -#define RCC_LSE_TIMEOUT_VALUE LSE_STARTUP_TIMEOUT - -#define HSE_TIMEOUT_VALUE HSE_STARTUP_TIMEOUT -#define HSI_TIMEOUT_VALUE 2U /* 2 ms */ -#define LSI_TIMEOUT_VALUE 2U /* 2 ms */ -#define CLOCKSWITCH_TIMEOUT_VALUE 5000U /* 5 s */ - -/** - * @} - */ - -/** - * @} - */ - -/* Private macros ------------------------------------------------------------*/ -/** @defgroup RCC_Private_Macros RCC Private Macros - * @{ - */ - -/** @defgroup RCC_IS_RCC_Definitions RCC Private macros to check input parameters - * @{ - */ -#define IS_RCC_OSCILLATORTYPE(OSCILLATOR) ((OSCILLATOR) <= 15U) - -#define IS_RCC_HSE(HSE) (((HSE) == RCC_HSE_OFF) || ((HSE) == RCC_HSE_ON) || \ - ((HSE) == RCC_HSE_BYPASS)) - -#define IS_RCC_LSE(LSE) (((LSE) == RCC_LSE_OFF) || ((LSE) == RCC_LSE_ON) || \ - ((LSE) == RCC_LSE_BYPASS)) - -#define IS_RCC_HSI(HSI) (((HSI) == RCC_HSI_OFF) || ((HSI) == RCC_HSI_ON)) - -#define IS_RCC_LSI(LSI) (((LSI) == RCC_LSI_OFF) || ((LSI) == RCC_LSI_ON)) - -#define IS_RCC_PLL(PLL) (((PLL) == RCC_PLL_NONE) ||((PLL) == RCC_PLL_OFF) || ((PLL) == RCC_PLL_ON)) - -#define IS_RCC_PLLSOURCE(SOURCE) (((SOURCE) == RCC_PLLSOURCE_HSI) || \ - ((SOURCE) == RCC_PLLSOURCE_HSE)) - -#define IS_RCC_SYSCLKSOURCE(SOURCE) (((SOURCE) == RCC_SYSCLKSOURCE_HSI) || \ - ((SOURCE) == RCC_SYSCLKSOURCE_HSE) || \ - ((SOURCE) == RCC_SYSCLKSOURCE_PLLCLK) || \ - ((SOURCE) == RCC_SYSCLKSOURCE_PLLRCLK)) - -#define IS_RCC_RTCCLKSOURCE(__SOURCE__) (((__SOURCE__) == RCC_RTCCLKSOURCE_LSE) || \ - ((__SOURCE__) == RCC_RTCCLKSOURCE_LSI) || \ - ((__SOURCE__) == RCC_RTCCLKSOURCE_HSE_DIV2) || \ - ((__SOURCE__) == RCC_RTCCLKSOURCE_HSE_DIV3) || \ - ((__SOURCE__) == RCC_RTCCLKSOURCE_HSE_DIV4) || \ - ((__SOURCE__) == RCC_RTCCLKSOURCE_HSE_DIV5) || \ - ((__SOURCE__) == RCC_RTCCLKSOURCE_HSE_DIV6) || \ - ((__SOURCE__) == RCC_RTCCLKSOURCE_HSE_DIV7) || \ - ((__SOURCE__) == RCC_RTCCLKSOURCE_HSE_DIV8) || \ - ((__SOURCE__) == RCC_RTCCLKSOURCE_HSE_DIV9) || \ - ((__SOURCE__) == RCC_RTCCLKSOURCE_HSE_DIV10) || \ - ((__SOURCE__) == RCC_RTCCLKSOURCE_HSE_DIV11) || \ - ((__SOURCE__) == RCC_RTCCLKSOURCE_HSE_DIV12) || \ - ((__SOURCE__) == RCC_RTCCLKSOURCE_HSE_DIV13) || \ - ((__SOURCE__) == RCC_RTCCLKSOURCE_HSE_DIV14) || \ - ((__SOURCE__) == RCC_RTCCLKSOURCE_HSE_DIV15) || \ - ((__SOURCE__) == RCC_RTCCLKSOURCE_HSE_DIV16) || \ - ((__SOURCE__) == RCC_RTCCLKSOURCE_HSE_DIV17) || \ - ((__SOURCE__) == RCC_RTCCLKSOURCE_HSE_DIV18) || \ - ((__SOURCE__) == RCC_RTCCLKSOURCE_HSE_DIV19) || \ - ((__SOURCE__) == RCC_RTCCLKSOURCE_HSE_DIV20) || \ - ((__SOURCE__) == RCC_RTCCLKSOURCE_HSE_DIV21) || \ - ((__SOURCE__) == RCC_RTCCLKSOURCE_HSE_DIV22) || \ - ((__SOURCE__) == RCC_RTCCLKSOURCE_HSE_DIV23) || \ - ((__SOURCE__) == RCC_RTCCLKSOURCE_HSE_DIV24) || \ - ((__SOURCE__) == RCC_RTCCLKSOURCE_HSE_DIV25) || \ - ((__SOURCE__) == RCC_RTCCLKSOURCE_HSE_DIV26) || \ - ((__SOURCE__) == RCC_RTCCLKSOURCE_HSE_DIV27) || \ - ((__SOURCE__) == RCC_RTCCLKSOURCE_HSE_DIV28) || \ - ((__SOURCE__) == RCC_RTCCLKSOURCE_HSE_DIV29) || \ - ((__SOURCE__) == RCC_RTCCLKSOURCE_HSE_DIV30) || \ - ((__SOURCE__) == RCC_RTCCLKSOURCE_HSE_DIV31)) - -#define IS_RCC_PLLM_VALUE(VALUE) ((VALUE) <= 63U) - -#define IS_RCC_PLLP_VALUE(VALUE) (((VALUE) == 2U) || ((VALUE) == 4U) || ((VALUE) == 6U) || ((VALUE) == 8U)) - -#define IS_RCC_PLLQ_VALUE(VALUE) ((2U <= (VALUE)) && ((VALUE) <= 15U)) - -#define IS_RCC_HCLK(HCLK) (((HCLK) == RCC_SYSCLK_DIV1) || ((HCLK) == RCC_SYSCLK_DIV2) || \ - ((HCLK) == RCC_SYSCLK_DIV4) || ((HCLK) == RCC_SYSCLK_DIV8) || \ - ((HCLK) == RCC_SYSCLK_DIV16) || ((HCLK) == RCC_SYSCLK_DIV64) || \ - ((HCLK) == RCC_SYSCLK_DIV128) || ((HCLK) == RCC_SYSCLK_DIV256) || \ - ((HCLK) == RCC_SYSCLK_DIV512)) - -#define IS_RCC_CLOCKTYPE(CLK) ((1U <= (CLK)) && ((CLK) <= 15U)) - -#define IS_RCC_PCLK(PCLK) (((PCLK) == RCC_HCLK_DIV1) || ((PCLK) == RCC_HCLK_DIV2) || \ - ((PCLK) == RCC_HCLK_DIV4) || ((PCLK) == RCC_HCLK_DIV8) || \ - ((PCLK) == RCC_HCLK_DIV16)) - -#define IS_RCC_MCO(MCOx) (((MCOx) == RCC_MCO1) || ((MCOx) == RCC_MCO2)) - -#define IS_RCC_MCO1SOURCE(SOURCE) (((SOURCE) == RCC_MCO1SOURCE_HSI) || ((SOURCE) == RCC_MCO1SOURCE_LSE) || \ - ((SOURCE) == RCC_MCO1SOURCE_HSE) || ((SOURCE) == RCC_MCO1SOURCE_PLLCLK)) - -#define IS_RCC_MCODIV(DIV) (((DIV) == RCC_MCODIV_1) || ((DIV) == RCC_MCODIV_2) || \ - ((DIV) == RCC_MCODIV_3) || ((DIV) == RCC_MCODIV_4) || \ - ((DIV) == RCC_MCODIV_5)) -#define IS_RCC_CALIBRATION_VALUE(VALUE) ((VALUE) <= 0x1FU) - -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ - -#ifdef __cplusplus -} -#endif - -#endif /* __STM32F4xx_HAL_RCC_H */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h deleted file mode 100644 index df6a66ab14dcb6..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h +++ /dev/null @@ -1,7114 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_rcc_ex.h - * @author MCD Application Team - * @brief Header file of RCC HAL Extension module. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef __STM32F4xx_HAL_RCC_EX_H -#define __STM32F4xx_HAL_RCC_EX_H - -#ifdef __cplusplus - extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal_def.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @addtogroup RCCEx - * @{ - */ - -/* Exported types ------------------------------------------------------------*/ -/** @defgroup RCCEx_Exported_Types RCCEx Exported Types - * @{ - */ - -/** - * @brief RCC PLL configuration structure definition - */ -typedef struct -{ - uint32_t PLLState; /*!< The new state of the PLL. - This parameter can be a value of @ref RCC_PLL_Config */ - - uint32_t PLLSource; /*!< RCC_PLLSource: PLL entry clock source. - This parameter must be a value of @ref RCC_PLL_Clock_Source */ - - uint32_t PLLM; /*!< PLLM: Division factor for PLL VCO input clock. - This parameter must be a number between Min_Data = 0 and Max_Data = 63 */ - - uint32_t PLLN; /*!< PLLN: Multiplication factor for PLL VCO output clock. - This parameter must be a number between Min_Data = 50 and Max_Data = 432 - except for STM32F411xE devices where the Min_Data = 192 */ - - uint32_t PLLP; /*!< PLLP: Division factor for main system clock (SYSCLK). - This parameter must be a value of @ref RCC_PLLP_Clock_Divider */ - - uint32_t PLLQ; /*!< PLLQ: Division factor for OTG FS, SDIO and RNG clocks. - This parameter must be a number between Min_Data = 2 and Max_Data = 15 */ -#if defined(STM32F410Tx) || defined(STM32F410Cx) || defined(STM32F410Rx) || defined(STM32F446xx) || defined(STM32F469xx) ||\ - defined(STM32F479xx) || defined(STM32F412Zx) || defined(STM32F412Vx) || defined(STM32F412Rx) || defined(STM32F412Cx) ||\ - defined(STM32F413xx) || defined(STM32F423xx) - uint32_t PLLR; /*!< PLLR: PLL division factor for I2S, SAI, SYSTEM, SPDIFRX clocks. - This parameter is only available in STM32F410xx/STM32F446xx/STM32F469xx/STM32F479xx - and STM32F412Zx/STM32F412Vx/STM32F412Rx/STM32F412Cx/STM32F413xx/STM32F423xx devices. - This parameter must be a number between Min_Data = 2 and Max_Data = 7 */ -#endif /* STM32F410xx || STM32F446xx || STM32F469xx || STM32F479xx || STM32F412Zx || STM32F412Vx || STM32F412Rx || STM32F412Cx || STM32F413xx || STM32F423xx */ -}RCC_PLLInitTypeDef; - -#if defined(STM32F446xx) -/** - * @brief PLLI2S Clock structure definition - */ -typedef struct -{ - uint32_t PLLI2SM; /*!< Specifies division factor for PLL VCO input clock. - This parameter must be a number between Min_Data = 2 and Max_Data = 63 */ - - uint32_t PLLI2SN; /*!< Specifies the multiplication factor for PLLI2S VCO output clock. - This parameter must be a number between Min_Data = 50 and Max_Data = 432 */ - - uint32_t PLLI2SP; /*!< Specifies division factor for SPDIFRX Clock. - This parameter must be a value of @ref RCCEx_PLLI2SP_Clock_Divider */ - - uint32_t PLLI2SQ; /*!< Specifies the division factor for SAI clock. - This parameter must be a number between Min_Data = 2 and Max_Data = 15. - This parameter will be used only when PLLI2S is selected as Clock Source SAI */ - - uint32_t PLLI2SR; /*!< Specifies the division factor for I2S clock. - This parameter must be a number between Min_Data = 2 and Max_Data = 7. - This parameter will be used only when PLLI2S is selected as Clock Source I2S */ -}RCC_PLLI2SInitTypeDef; - -/** - * @brief PLLSAI Clock structure definition - */ -typedef struct -{ - uint32_t PLLSAIM; /*!< Specifies division factor for PLL VCO input clock. - This parameter must be a number between Min_Data = 2 and Max_Data = 63 */ - - uint32_t PLLSAIN; /*!< Specifies the multiplication factor for PLLI2S VCO output clock. - This parameter must be a number between Min_Data = 50 and Max_Data = 432 */ - - uint32_t PLLSAIP; /*!< Specifies division factor for OTG FS, SDIO and RNG clocks. - This parameter must be a value of @ref RCCEx_PLLSAIP_Clock_Divider */ - - uint32_t PLLSAIQ; /*!< Specifies the division factor for SAI clock. - This parameter must be a number between Min_Data = 2 and Max_Data = 15. - This parameter will be used only when PLLSAI is selected as Clock Source SAI */ -}RCC_PLLSAIInitTypeDef; - -/** - * @brief RCC extended clocks structure definition - */ -typedef struct -{ - uint32_t PeriphClockSelection; /*!< The Extended Clock to be configured. - This parameter can be a value of @ref RCCEx_Periph_Clock_Selection */ - - RCC_PLLI2SInitTypeDef PLLI2S; /*!< PLL I2S structure parameters. - This parameter will be used only when PLLI2S is selected as Clock Source I2S or SAI */ - - RCC_PLLSAIInitTypeDef PLLSAI; /*!< PLL SAI structure parameters. - This parameter will be used only when PLLI2S is selected as Clock Source SAI or LTDC */ - - uint32_t PLLI2SDivQ; /*!< Specifies the PLLI2S division factor for SAI1 clock. - This parameter must be a number between Min_Data = 1 and Max_Data = 32 - This parameter will be used only when PLLI2S is selected as Clock Source SAI */ - - uint32_t PLLSAIDivQ; /*!< Specifies the PLLI2S division factor for SAI1 clock. - This parameter must be a number between Min_Data = 1 and Max_Data = 32 - This parameter will be used only when PLLSAI is selected as Clock Source SAI */ - - uint32_t Sai1ClockSelection; /*!< Specifies SAI1 Clock Source Selection. - This parameter can be a value of @ref RCCEx_SAI1_Clock_Source */ - - uint32_t Sai2ClockSelection; /*!< Specifies SAI2 Clock Source Selection. - This parameter can be a value of @ref RCCEx_SAI2_Clock_Source */ - - uint32_t I2sApb1ClockSelection; /*!< Specifies I2S APB1 Clock Source Selection. - This parameter can be a value of @ref RCCEx_I2SAPB1_Clock_Source */ - - uint32_t I2sApb2ClockSelection; /*!< Specifies I2S APB2 Clock Source Selection. - This parameter can be a value of @ref RCCEx_I2SAPB2_Clock_Source */ - - uint32_t RTCClockSelection; /*!< Specifies RTC Clock Source Selection. - This parameter can be a value of @ref RCC_RTC_Clock_Source */ - - uint32_t SdioClockSelection; /*!< Specifies SDIO Clock Source Selection. - This parameter can be a value of @ref RCCEx_SDIO_Clock_Source */ - - uint32_t CecClockSelection; /*!< Specifies CEC Clock Source Selection. - This parameter can be a value of @ref RCCEx_CEC_Clock_Source */ - - uint32_t Fmpi2c1ClockSelection; /*!< Specifies FMPI2C1 Clock Source Selection. - This parameter can be a value of @ref RCCEx_FMPI2C1_Clock_Source */ - - uint32_t SpdifClockSelection; /*!< Specifies SPDIFRX Clock Source Selection. - This parameter can be a value of @ref RCCEx_SPDIFRX_Clock_Source */ - - uint32_t Clk48ClockSelection; /*!< Specifies CLK48 Clock Selection this clock used OTG FS, SDIO and RNG clocks. - This parameter can be a value of @ref RCCEx_CLK48_Clock_Source */ - - uint8_t TIMPresSelection; /*!< Specifies TIM Clock Source Selection. - This parameter can be a value of @ref RCCEx_TIM_PRescaler_Selection */ -}RCC_PeriphCLKInitTypeDef; -#endif /* STM32F446xx */ - -#if defined(STM32F410Tx) || defined(STM32F410Cx) || defined(STM32F410Rx) -/** - * @brief RCC extended clocks structure definition - */ -typedef struct -{ - uint32_t PeriphClockSelection; /*!< The Extended Clock to be configured. - This parameter can be a value of @ref RCCEx_Periph_Clock_Selection */ - - uint32_t I2SClockSelection; /*!< Specifies RTC Clock Source Selection. - This parameter can be a value of @ref RCCEx_I2S_APB_Clock_Source */ - - uint32_t RTCClockSelection; /*!< Specifies RTC Clock Source Selection. - This parameter can be a value of @ref RCC_RTC_Clock_Source */ - - uint32_t Lptim1ClockSelection; /*!< Specifies LPTIM1 Clock Source Selection. - This parameter can be a value of @ref RCCEx_LPTIM1_Clock_Source */ - - uint32_t Fmpi2c1ClockSelection; /*!< Specifies FMPI2C1 Clock Source Selection. - This parameter can be a value of @ref RCCEx_FMPI2C1_Clock_Source */ - - uint8_t TIMPresSelection; /*!< Specifies TIM Clock Source Selection. - This parameter can be a value of @ref RCCEx_TIM_PRescaler_Selection */ -}RCC_PeriphCLKInitTypeDef; -#endif /* STM32F410Tx || STM32F410Cx || STM32F410Rx */ - -#if defined(STM32F412Zx) || defined(STM32F412Vx) || defined(STM32F412Rx) || defined(STM32F412Cx) || defined(STM32F413xx) || defined(STM32F423xx) -/** - * @brief PLLI2S Clock structure definition - */ -typedef struct -{ - uint32_t PLLI2SM; /*!< Specifies division factor for PLL VCO input clock. - This parameter must be a number between Min_Data = 2 and Max_Data = 63 */ - - uint32_t PLLI2SN; /*!< Specifies the multiplication factor for PLLI2S VCO output clock. - This parameter must be a number between Min_Data = 50 and Max_Data = 432 */ - - uint32_t PLLI2SQ; /*!< Specifies the division factor for SAI clock. - This parameter must be a number between Min_Data = 2 and Max_Data = 15. - This parameter will be used only when PLLI2S is selected as Clock Source SAI */ - - uint32_t PLLI2SR; /*!< Specifies the division factor for I2S clock. - This parameter must be a number between Min_Data = 2 and Max_Data = 7. - This parameter will be used only when PLLI2S is selected as Clock Source I2S */ -}RCC_PLLI2SInitTypeDef; - -/** - * @brief RCC extended clocks structure definition - */ -typedef struct -{ - uint32_t PeriphClockSelection; /*!< The Extended Clock to be configured. - This parameter can be a value of @ref RCCEx_Periph_Clock_Selection */ - - RCC_PLLI2SInitTypeDef PLLI2S; /*!< PLL I2S structure parameters. - This parameter will be used only when PLLI2S is selected as Clock Source I2S */ - -#if defined(STM32F413xx) || defined(STM32F423xx) - uint32_t PLLDivR; /*!< Specifies the PLL division factor for SAI1 clock. - This parameter must be a number between Min_Data = 1 and Max_Data = 32 - This parameter will be used only when PLL is selected as Clock Source SAI */ - - uint32_t PLLI2SDivR; /*!< Specifies the PLLI2S division factor for SAI1 clock. - This parameter must be a number between Min_Data = 1 and Max_Data = 32 - This parameter will be used only when PLLI2S is selected as Clock Source SAI */ -#endif /* STM32F413xx || STM32F423xx */ - - uint32_t I2sApb1ClockSelection; /*!< Specifies I2S APB1 Clock Source Selection. - This parameter can be a value of @ref RCCEx_I2SAPB1_Clock_Source */ - - uint32_t I2sApb2ClockSelection; /*!< Specifies I2S APB2 Clock Source Selection. - This parameter can be a value of @ref RCCEx_I2SAPB2_Clock_Source */ - - uint32_t RTCClockSelection; /*!< Specifies RTC Clock Source Selection. - This parameter can be a value of @ref RCC_RTC_Clock_Source */ - - uint32_t SdioClockSelection; /*!< Specifies SDIO Clock Source Selection. - This parameter can be a value of @ref RCCEx_SDIO_Clock_Source */ - - uint32_t Fmpi2c1ClockSelection; /*!< Specifies FMPI2C1 Clock Source Selection. - This parameter can be a value of @ref RCCEx_FMPI2C1_Clock_Source */ - - uint32_t Clk48ClockSelection; /*!< Specifies CLK48 Clock Selection this clock used OTG FS, SDIO and RNG clocks. - This parameter can be a value of @ref RCCEx_CLK48_Clock_Source */ - - uint32_t Dfsdm1ClockSelection; /*!< Specifies DFSDM1 Clock Selection. - This parameter can be a value of @ref RCCEx_DFSDM1_Kernel_Clock_Source */ - - uint32_t Dfsdm1AudioClockSelection;/*!< Specifies DFSDM1 Audio Clock Selection. - This parameter can be a value of @ref RCCEx_DFSDM1_Audio_Clock_Source */ - -#if defined(STM32F413xx) || defined(STM32F423xx) - uint32_t Dfsdm2ClockSelection; /*!< Specifies DFSDM2 Clock Selection. - This parameter can be a value of @ref RCCEx_DFSDM2_Kernel_Clock_Source */ - - uint32_t Dfsdm2AudioClockSelection;/*!< Specifies DFSDM2 Audio Clock Selection. - This parameter can be a value of @ref RCCEx_DFSDM2_Audio_Clock_Source */ - - uint32_t Lptim1ClockSelection; /*!< Specifies LPTIM1 Clock Source Selection. - This parameter can be a value of @ref RCCEx_LPTIM1_Clock_Source */ - - uint32_t SaiAClockSelection; /*!< Specifies SAI1_A Clock Prescalers Selection - This parameter can be a value of @ref RCCEx_SAI1_BlockA_Clock_Source */ - - uint32_t SaiBClockSelection; /*!< Specifies SAI1_B Clock Prescalers Selection - This parameter can be a value of @ref RCCEx_SAI1_BlockB_Clock_Source */ -#endif /* STM32F413xx || STM32F423xx */ - - uint32_t PLLI2SSelection; /*!< Specifies PLL I2S Clock Source Selection. - This parameter can be a value of @ref RCCEx_PLL_I2S_Clock_Source */ - - uint8_t TIMPresSelection; /*!< Specifies TIM Clock Source Selection. - This parameter can be a value of @ref RCCEx_TIM_PRescaler_Selection */ -}RCC_PeriphCLKInitTypeDef; -#endif /* STM32F412Zx || STM32F412Vx || STM32F412Rx || STM32F412Cx || STM32F413xx || STM32F423xx */ - -#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) || defined(STM32F469xx) || defined(STM32F479xx) - -/** - * @brief PLLI2S Clock structure definition - */ -typedef struct -{ - uint32_t PLLI2SN; /*!< Specifies the multiplication factor for PLLI2S VCO output clock. - This parameter must be a number between Min_Data = 50 and Max_Data = 432. - This parameter will be used only when PLLI2S is selected as Clock Source I2S or SAI */ - - uint32_t PLLI2SR; /*!< Specifies the division factor for I2S clock. - This parameter must be a number between Min_Data = 2 and Max_Data = 7. - This parameter will be used only when PLLI2S is selected as Clock Source I2S or SAI */ - - uint32_t PLLI2SQ; /*!< Specifies the division factor for SAI1 clock. - This parameter must be a number between Min_Data = 2 and Max_Data = 15. - This parameter will be used only when PLLI2S is selected as Clock Source SAI */ -}RCC_PLLI2SInitTypeDef; - -/** - * @brief PLLSAI Clock structure definition - */ -typedef struct -{ - uint32_t PLLSAIN; /*!< Specifies the multiplication factor for PLLI2S VCO output clock. - This parameter must be a number between Min_Data = 50 and Max_Data = 432. - This parameter will be used only when PLLSAI is selected as Clock Source SAI or LTDC */ -#if defined(STM32F469xx) || defined(STM32F479xx) - uint32_t PLLSAIP; /*!< Specifies division factor for OTG FS and SDIO clocks. - This parameter is only available in STM32F469xx/STM32F479xx devices. - This parameter must be a value of @ref RCCEx_PLLSAIP_Clock_Divider */ -#endif /* STM32F469xx || STM32F479xx */ - - uint32_t PLLSAIQ; /*!< Specifies the division factor for SAI1 clock. - This parameter must be a number between Min_Data = 2 and Max_Data = 15. - This parameter will be used only when PLLSAI is selected as Clock Source SAI or LTDC */ - - uint32_t PLLSAIR; /*!< specifies the division factor for LTDC clock - This parameter must be a number between Min_Data = 2 and Max_Data = 7. - This parameter will be used only when PLLSAI is selected as Clock Source LTDC */ - -}RCC_PLLSAIInitTypeDef; - -/** - * @brief RCC extended clocks structure definition - */ -typedef struct -{ - uint32_t PeriphClockSelection; /*!< The Extended Clock to be configured. - This parameter can be a value of @ref RCCEx_Periph_Clock_Selection */ - - RCC_PLLI2SInitTypeDef PLLI2S; /*!< PLL I2S structure parameters. - This parameter will be used only when PLLI2S is selected as Clock Source I2S or SAI */ - - RCC_PLLSAIInitTypeDef PLLSAI; /*!< PLL SAI structure parameters. - This parameter will be used only when PLLI2S is selected as Clock Source SAI or LTDC */ - - uint32_t PLLI2SDivQ; /*!< Specifies the PLLI2S division factor for SAI1 clock. - This parameter must be a number between Min_Data = 1 and Max_Data = 32 - This parameter will be used only when PLLI2S is selected as Clock Source SAI */ - - uint32_t PLLSAIDivQ; /*!< Specifies the PLLI2S division factor for SAI1 clock. - This parameter must be a number between Min_Data = 1 and Max_Data = 32 - This parameter will be used only when PLLSAI is selected as Clock Source SAI */ - - uint32_t PLLSAIDivR; /*!< Specifies the PLLSAI division factor for LTDC clock. - This parameter must be one value of @ref RCCEx_PLLSAI_DIVR */ - - uint32_t RTCClockSelection; /*!< Specifies RTC Clock Prescalers Selection. - This parameter can be a value of @ref RCC_RTC_Clock_Source */ - - uint8_t TIMPresSelection; /*!< Specifies TIM Clock Prescalers Selection. - This parameter can be a value of @ref RCCEx_TIM_PRescaler_Selection */ -#if defined(STM32F469xx) || defined(STM32F479xx) - uint32_t Clk48ClockSelection; /*!< Specifies CLK48 Clock Selection this clock used OTG FS, SDIO and RNG clocks. - This parameter can be a value of @ref RCCEx_CLK48_Clock_Source */ - - uint32_t SdioClockSelection; /*!< Specifies SDIO Clock Source Selection. - This parameter can be a value of @ref RCCEx_SDIO_Clock_Source */ -#endif /* STM32F469xx || STM32F479xx */ -}RCC_PeriphCLKInitTypeDef; - -#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || STM32F469xx || STM32F479xx */ - -#if defined(STM32F405xx) || defined(STM32F415xx) || defined(STM32F407xx) || defined(STM32F417xx) ||\ - defined(STM32F401xC) || defined(STM32F401xE) || defined(STM32F411xE) -/** - * @brief PLLI2S Clock structure definition - */ -typedef struct -{ -#if defined(STM32F411xE) - uint32_t PLLI2SM; /*!< PLLM: Division factor for PLLI2S VCO input clock. - This parameter must be a number between Min_Data = 2 and Max_Data = 62 */ -#endif /* STM32F411xE */ - - uint32_t PLLI2SN; /*!< Specifies the multiplication factor for PLLI2S VCO output clock. - This parameter must be a number between Min_Data = 50 and Max_Data = 432 - Except for STM32F411xE devices where the Min_Data = 192. - This parameter will be used only when PLLI2S is selected as Clock Source I2S or SAI */ - - uint32_t PLLI2SR; /*!< Specifies the division factor for I2S clock. - This parameter must be a number between Min_Data = 2 and Max_Data = 7. - This parameter will be used only when PLLI2S is selected as Clock Source I2S or SAI */ - -}RCC_PLLI2SInitTypeDef; - -/** - * @brief RCC extended clocks structure definition - */ -typedef struct -{ - uint32_t PeriphClockSelection; /*!< The Extended Clock to be configured. - This parameter can be a value of @ref RCCEx_Periph_Clock_Selection */ - - RCC_PLLI2SInitTypeDef PLLI2S; /*!< PLL I2S structure parameters. - This parameter will be used only when PLLI2S is selected as Clock Source I2S or SAI */ - - uint32_t RTCClockSelection; /*!< Specifies RTC Clock Prescalers Selection. - This parameter can be a value of @ref RCC_RTC_Clock_Source */ -#if defined(STM32F401xC) || defined(STM32F401xE) || defined(STM32F411xE) - uint8_t TIMPresSelection; /*!< Specifies TIM Clock Source Selection. - This parameter can be a value of @ref RCCEx_TIM_PRescaler_Selection */ -#endif /* STM32F401xC || STM32F401xE || STM32F411xE */ -}RCC_PeriphCLKInitTypeDef; -#endif /* STM32F405xx || STM32F415xx || STM32F407xx || STM32F417xx || STM32F401xC || STM32F401xE || STM32F411xE */ -/** - * @} - */ - -/* Exported constants --------------------------------------------------------*/ -/** @defgroup RCCEx_Exported_Constants RCCEx Exported Constants - * @{ - */ - -/** @defgroup RCCEx_Periph_Clock_Selection RCC Periph Clock Selection - * @{ - */ -/* Peripheral Clock source for STM32F412Zx/STM32F412Vx/STM32F412Rx/STM32F412Cx */ -#if defined(STM32F412Zx) || defined(STM32F412Vx) || defined(STM32F412Rx) || defined(STM32F412Cx) ||\ - defined(STM32F413xx) || defined(STM32F423xx) -#define RCC_PERIPHCLK_I2S_APB1 0x00000001U -#define RCC_PERIPHCLK_I2S_APB2 0x00000002U -#define RCC_PERIPHCLK_TIM 0x00000004U -#define RCC_PERIPHCLK_RTC 0x00000008U -#define RCC_PERIPHCLK_FMPI2C1 0x00000010U -#define RCC_PERIPHCLK_CLK48 0x00000020U -#define RCC_PERIPHCLK_SDIO 0x00000040U -#define RCC_PERIPHCLK_PLLI2S 0x00000080U -#define RCC_PERIPHCLK_DFSDM1 0x00000100U -#define RCC_PERIPHCLK_DFSDM1_AUDIO 0x00000200U -#endif /* STM32F412Zx || STM32F412Vx) || STM32F412Rx || STM32F412Cx */ -#if defined(STM32F413xx) || defined(STM32F423xx) -#define RCC_PERIPHCLK_DFSDM2 0x00000400U -#define RCC_PERIPHCLK_DFSDM2_AUDIO 0x00000800U -#define RCC_PERIPHCLK_LPTIM1 0x00001000U -#define RCC_PERIPHCLK_SAIA 0x00002000U -#define RCC_PERIPHCLK_SAIB 0x00004000U -#endif /* STM32F413xx || STM32F423xx */ -/*----------------------------------------------------------------------------*/ - -/*------------------- Peripheral Clock source for STM32F410xx ----------------*/ -#if defined(STM32F410Tx) || defined(STM32F410Cx) || defined(STM32F410Rx) -#define RCC_PERIPHCLK_I2S 0x00000001U -#define RCC_PERIPHCLK_TIM 0x00000002U -#define RCC_PERIPHCLK_RTC 0x00000004U -#define RCC_PERIPHCLK_FMPI2C1 0x00000008U -#define RCC_PERIPHCLK_LPTIM1 0x00000010U -#endif /* STM32F410Tx || STM32F410Cx || STM32F410Rx */ -/*----------------------------------------------------------------------------*/ - -/*------------------- Peripheral Clock source for STM32F446xx ----------------*/ -#if defined(STM32F446xx) -#define RCC_PERIPHCLK_I2S_APB1 0x00000001U -#define RCC_PERIPHCLK_I2S_APB2 0x00000002U -#define RCC_PERIPHCLK_SAI1 0x00000004U -#define RCC_PERIPHCLK_SAI2 0x00000008U -#define RCC_PERIPHCLK_TIM 0x00000010U -#define RCC_PERIPHCLK_RTC 0x00000020U -#define RCC_PERIPHCLK_CEC 0x00000040U -#define RCC_PERIPHCLK_FMPI2C1 0x00000080U -#define RCC_PERIPHCLK_CLK48 0x00000100U -#define RCC_PERIPHCLK_SDIO 0x00000200U -#define RCC_PERIPHCLK_SPDIFRX 0x00000400U -#define RCC_PERIPHCLK_PLLI2S 0x00000800U -#endif /* STM32F446xx */ -/*-----------------------------------------------------------------------------*/ - -/*----------- Peripheral Clock source for STM32F469xx/STM32F479xx -------------*/ -#if defined(STM32F469xx) || defined(STM32F479xx) -#define RCC_PERIPHCLK_I2S 0x00000001U -#define RCC_PERIPHCLK_SAI_PLLI2S 0x00000002U -#define RCC_PERIPHCLK_SAI_PLLSAI 0x00000004U -#define RCC_PERIPHCLK_LTDC 0x00000008U -#define RCC_PERIPHCLK_TIM 0x00000010U -#define RCC_PERIPHCLK_RTC 0x00000020U -#define RCC_PERIPHCLK_PLLI2S 0x00000040U -#define RCC_PERIPHCLK_CLK48 0x00000080U -#define RCC_PERIPHCLK_SDIO 0x00000100U -#endif /* STM32F469xx || STM32F479xx */ -/*----------------------------------------------------------------------------*/ - -/*-------- Peripheral Clock source for STM32F42xxx/STM32F43xxx ---------------*/ -#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) -#define RCC_PERIPHCLK_I2S 0x00000001U -#define RCC_PERIPHCLK_SAI_PLLI2S 0x00000002U -#define RCC_PERIPHCLK_SAI_PLLSAI 0x00000004U -#define RCC_PERIPHCLK_LTDC 0x00000008U -#define RCC_PERIPHCLK_TIM 0x00000010U -#define RCC_PERIPHCLK_RTC 0x00000020U -#define RCC_PERIPHCLK_PLLI2S 0x00000040U -#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx */ -/*----------------------------------------------------------------------------*/ - -/*-------- Peripheral Clock source for STM32F40xxx/STM32F41xxx ---------------*/ -#if defined(STM32F405xx) || defined(STM32F415xx) || defined(STM32F407xx)|| defined(STM32F417xx) ||\ - defined(STM32F401xC) || defined(STM32F401xE) || defined(STM32F411xE) -#define RCC_PERIPHCLK_I2S 0x00000001U -#define RCC_PERIPHCLK_RTC 0x00000002U -#define RCC_PERIPHCLK_PLLI2S 0x00000004U -#endif /* STM32F405xx || STM32F415xx || STM32F407xx || STM32F417xx || STM32F401xC || STM32F401xE || STM32F411xE */ -#if defined(STM32F401xC) || defined(STM32F401xE) || defined(STM32F411xE) -#define RCC_PERIPHCLK_TIM 0x00000008U -#endif /* STM32F401xC || STM32F401xE || STM32F411xE */ -/*----------------------------------------------------------------------------*/ -/** - * @} - */ -#if defined(STM32F405xx) || defined(STM32F415xx) || defined(STM32F407xx) || defined(STM32F417xx) || \ - defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) || \ - defined(STM32F401xC) || defined(STM32F401xE) || defined(STM32F411xE) || defined(STM32F469xx) || \ - defined(STM32F479xx) -/** @defgroup RCCEx_I2S_Clock_Source I2S Clock Source - * @{ - */ -#define RCC_I2SCLKSOURCE_PLLI2S 0x00000000U -#define RCC_I2SCLKSOURCE_EXT 0x00000001U -/** - * @} - */ -#endif /* STM32F405xx || STM32F415xx || STM32F407xx || STM32F417xx || STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || - STM32F401xC || STM32F401xE || STM32F411xE || STM32F469xx || STM32F479xx */ - -/** @defgroup RCCEx_PLLSAI_DIVR RCC PLLSAI DIVR - * @{ - */ -#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) || defined(STM32F446xx) ||\ - defined(STM32F469xx) || defined(STM32F479xx) -#define RCC_PLLSAIDIVR_2 0x00000000U -#define RCC_PLLSAIDIVR_4 0x00010000U -#define RCC_PLLSAIDIVR_8 0x00020000U -#define RCC_PLLSAIDIVR_16 0x00030000U -#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || STM32F446xx || STM32F469xx || STM32F479xx */ -/** - * @} - */ - -/** @defgroup RCCEx_PLLI2SP_Clock_Divider RCC PLLI2SP Clock Divider - * @{ - */ -#if defined(STM32F446xx) || defined(STM32F412Zx) || defined(STM32F412Vx) || \ - defined(STM32F412Rx) || defined(STM32F412Cx) -#define RCC_PLLI2SP_DIV2 0x00000002U -#define RCC_PLLI2SP_DIV4 0x00000004U -#define RCC_PLLI2SP_DIV6 0x00000006U -#define RCC_PLLI2SP_DIV8 0x00000008U -#endif /* STM32F446xx || STM32F412Zx || STM32F412Vx || STM32F412Rx || STM32F412Cx */ -/** - * @} - */ - -/** @defgroup RCCEx_PLLSAIP_Clock_Divider RCC PLLSAIP Clock Divider - * @{ - */ -#if defined(STM32F446xx) || defined(STM32F469xx) || defined(STM32F479xx) -#define RCC_PLLSAIP_DIV2 0x00000002U -#define RCC_PLLSAIP_DIV4 0x00000004U -#define RCC_PLLSAIP_DIV6 0x00000006U -#define RCC_PLLSAIP_DIV8 0x00000008U -#endif /* STM32F446xx || STM32F469xx || STM32F479xx */ -/** - * @} - */ - -#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) || defined(STM32F469xx) || defined(STM32F479xx) -/** @defgroup RCCEx_SAI_BlockA_Clock_Source RCC SAI BlockA Clock Source - * @{ - */ -#define RCC_SAIACLKSOURCE_PLLSAI 0x00000000U -#define RCC_SAIACLKSOURCE_PLLI2S 0x00100000U -#define RCC_SAIACLKSOURCE_EXT 0x00200000U -/** - * @} - */ - -/** @defgroup RCCEx_SAI_BlockB_Clock_Source RCC SAI BlockB Clock Source - * @{ - */ -#define RCC_SAIBCLKSOURCE_PLLSAI 0x00000000U -#define RCC_SAIBCLKSOURCE_PLLI2S 0x00400000U -#define RCC_SAIBCLKSOURCE_EXT 0x00800000U -/** - * @} - */ -#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || STM32F469xx || STM32F479xx */ - -#if defined(STM32F469xx) || defined(STM32F479xx) -/** @defgroup RCCEx_CLK48_Clock_Source RCC CLK48 Clock Source - * @{ - */ -#define RCC_CLK48CLKSOURCE_PLLQ 0x00000000U -#define RCC_CLK48CLKSOURCE_PLLSAIP ((uint32_t)RCC_DCKCFGR_CK48MSEL) -/** - * @} - */ - -/** @defgroup RCCEx_SDIO_Clock_Source RCC SDIO Clock Source - * @{ - */ -#define RCC_SDIOCLKSOURCE_CLK48 0x00000000U -#define RCC_SDIOCLKSOURCE_SYSCLK ((uint32_t)RCC_DCKCFGR_SDIOSEL) -/** - * @} - */ - -/** @defgroup RCCEx_DSI_Clock_Source RCC DSI Clock Source - * @{ - */ -#define RCC_DSICLKSOURCE_DSIPHY 0x00000000U -#define RCC_DSICLKSOURCE_PLLR ((uint32_t)RCC_DCKCFGR_DSISEL) -/** - * @} - */ -#endif /* STM32F469xx || STM32F479xx */ - -#if defined(STM32F446xx) -/** @defgroup RCCEx_SAI1_Clock_Source RCC SAI1 Clock Source - * @{ - */ -#define RCC_SAI1CLKSOURCE_PLLSAI 0x00000000U -#define RCC_SAI1CLKSOURCE_PLLI2S ((uint32_t)RCC_DCKCFGR_SAI1SRC_0) -#define RCC_SAI1CLKSOURCE_PLLR ((uint32_t)RCC_DCKCFGR_SAI1SRC_1) -#define RCC_SAI1CLKSOURCE_EXT ((uint32_t)RCC_DCKCFGR_SAI1SRC) -/** - * @} - */ - -/** @defgroup RCCEx_SAI2_Clock_Source RCC SAI2 Clock Source - * @{ - */ -#define RCC_SAI2CLKSOURCE_PLLSAI 0x00000000U -#define RCC_SAI2CLKSOURCE_PLLI2S ((uint32_t)RCC_DCKCFGR_SAI2SRC_0) -#define RCC_SAI2CLKSOURCE_PLLR ((uint32_t)RCC_DCKCFGR_SAI2SRC_1) -#define RCC_SAI2CLKSOURCE_PLLSRC ((uint32_t)RCC_DCKCFGR_SAI2SRC) -/** - * @} - */ - -/** @defgroup RCCEx_I2SAPB1_Clock_Source RCC I2S APB1 Clock Source - * @{ - */ -#define RCC_I2SAPB1CLKSOURCE_PLLI2S 0x00000000U -#define RCC_I2SAPB1CLKSOURCE_EXT ((uint32_t)RCC_DCKCFGR_I2S1SRC_0) -#define RCC_I2SAPB1CLKSOURCE_PLLR ((uint32_t)RCC_DCKCFGR_I2S1SRC_1) -#define RCC_I2SAPB1CLKSOURCE_PLLSRC ((uint32_t)RCC_DCKCFGR_I2S1SRC) -/** - * @} - */ - -/** @defgroup RCCEx_I2SAPB2_Clock_Source RCC I2S APB2 Clock Source - * @{ - */ -#define RCC_I2SAPB2CLKSOURCE_PLLI2S 0x00000000U -#define RCC_I2SAPB2CLKSOURCE_EXT ((uint32_t)RCC_DCKCFGR_I2S2SRC_0) -#define RCC_I2SAPB2CLKSOURCE_PLLR ((uint32_t)RCC_DCKCFGR_I2S2SRC_1) -#define RCC_I2SAPB2CLKSOURCE_PLLSRC ((uint32_t)RCC_DCKCFGR_I2S2SRC) -/** - * @} - */ - -/** @defgroup RCCEx_FMPI2C1_Clock_Source RCC FMPI2C1 Clock Source - * @{ - */ -#define RCC_FMPI2C1CLKSOURCE_PCLK1 0x00000000U -#define RCC_FMPI2C1CLKSOURCE_SYSCLK ((uint32_t)RCC_DCKCFGR2_FMPI2C1SEL_0) -#define RCC_FMPI2C1CLKSOURCE_HSI ((uint32_t)RCC_DCKCFGR2_FMPI2C1SEL_1) -/** - * @} - */ - -/** @defgroup RCCEx_CEC_Clock_Source RCC CEC Clock Source - * @{ - */ -#define RCC_CECCLKSOURCE_HSI 0x00000000U -#define RCC_CECCLKSOURCE_LSE ((uint32_t)RCC_DCKCFGR2_CECSEL) -/** - * @} - */ - -/** @defgroup RCCEx_CLK48_Clock_Source RCC CLK48 Clock Source - * @{ - */ -#define RCC_CLK48CLKSOURCE_PLLQ 0x00000000U -#define RCC_CLK48CLKSOURCE_PLLSAIP ((uint32_t)RCC_DCKCFGR2_CK48MSEL) -/** - * @} - */ - -/** @defgroup RCCEx_SDIO_Clock_Source RCC SDIO Clock Source - * @{ - */ -#define RCC_SDIOCLKSOURCE_CLK48 0x00000000U -#define RCC_SDIOCLKSOURCE_SYSCLK ((uint32_t)RCC_DCKCFGR2_SDIOSEL) -/** - * @} - */ - -/** @defgroup RCCEx_SPDIFRX_Clock_Source RCC SPDIFRX Clock Source - * @{ - */ -#define RCC_SPDIFRXCLKSOURCE_PLLR 0x00000000U -#define RCC_SPDIFRXCLKSOURCE_PLLI2SP ((uint32_t)RCC_DCKCFGR2_SPDIFRXSEL) -/** - * @} - */ - -#endif /* STM32F446xx */ - -#if defined(STM32F413xx) || defined(STM32F423xx) -/** @defgroup RCCEx_SAI1_BlockA_Clock_Source RCC SAI BlockA Clock Source - * @{ - */ -#define RCC_SAIACLKSOURCE_PLLI2SR 0x00000000U -#define RCC_SAIACLKSOURCE_EXT ((uint32_t)RCC_DCKCFGR_SAI1ASRC_0) -#define RCC_SAIACLKSOURCE_PLLR ((uint32_t)RCC_DCKCFGR_SAI1ASRC_1) -#define RCC_SAIACLKSOURCE_PLLSRC ((uint32_t)RCC_DCKCFGR_SAI1ASRC_0 | RCC_DCKCFGR_SAI1ASRC_1) -/** - * @} - */ - -/** @defgroup RCCEx_SAI1_BlockB_Clock_Source RCC SAI BlockB Clock Source - * @{ - */ -#define RCC_SAIBCLKSOURCE_PLLI2SR 0x00000000U -#define RCC_SAIBCLKSOURCE_EXT ((uint32_t)RCC_DCKCFGR_SAI1BSRC_0) -#define RCC_SAIBCLKSOURCE_PLLR ((uint32_t)RCC_DCKCFGR_SAI1BSRC_1) -#define RCC_SAIBCLKSOURCE_PLLSRC ((uint32_t)RCC_DCKCFGR_SAI1BSRC_0 | RCC_DCKCFGR_SAI1BSRC_1) -/** - * @} - */ - -/** @defgroup RCCEx_LPTIM1_Clock_Source RCC LPTIM1 Clock Source - * @{ - */ -#define RCC_LPTIM1CLKSOURCE_PCLK1 0x00000000U -#define RCC_LPTIM1CLKSOURCE_HSI ((uint32_t)RCC_DCKCFGR2_LPTIM1SEL_0) -#define RCC_LPTIM1CLKSOURCE_LSI ((uint32_t)RCC_DCKCFGR2_LPTIM1SEL_1) -#define RCC_LPTIM1CLKSOURCE_LSE ((uint32_t)RCC_DCKCFGR2_LPTIM1SEL_0 | RCC_DCKCFGR2_LPTIM1SEL_1) -/** - * @} - */ - - -/** @defgroup RCCEx_DFSDM2_Audio_Clock_Source RCC DFSDM2 Audio Clock Source - * @{ - */ -#define RCC_DFSDM2AUDIOCLKSOURCE_I2S1 0x00000000U -#define RCC_DFSDM2AUDIOCLKSOURCE_I2S2 ((uint32_t)RCC_DCKCFGR_CKDFSDM2ASEL) -/** - * @} - */ - -/** @defgroup RCCEx_DFSDM2_Kernel_Clock_Source RCC DFSDM2 Kernel Clock Source - * @{ - */ -#define RCC_DFSDM2CLKSOURCE_PCLK2 0x00000000U -#define RCC_DFSDM2CLKSOURCE_SYSCLK ((uint32_t)RCC_DCKCFGR_CKDFSDM1SEL) -/** - * @} - */ - -#endif /* STM32F413xx || STM32F423xx */ - -#if defined(STM32F412Zx) || defined(STM32F412Vx) || defined(STM32F412Rx) || defined(STM32F412Cx) || defined(STM32F413xx) || defined(STM32F423xx) -/** @defgroup RCCEx_PLL_I2S_Clock_Source PLL I2S Clock Source - * @{ - */ -#define RCC_PLLI2SCLKSOURCE_PLLSRC 0x00000000U -#define RCC_PLLI2SCLKSOURCE_EXT ((uint32_t)RCC_PLLI2SCFGR_PLLI2SSRC) -/** - * @} - */ - -/** @defgroup RCCEx_DFSDM1_Audio_Clock_Source RCC DFSDM1 Audio Clock Source - * @{ - */ -#define RCC_DFSDM1AUDIOCLKSOURCE_I2S1 0x00000000U -#define RCC_DFSDM1AUDIOCLKSOURCE_I2S2 ((uint32_t)RCC_DCKCFGR_CKDFSDM1ASEL) -/** - * @} - */ - -/** @defgroup RCCEx_DFSDM1_Kernel_Clock_Source RCC DFSDM1 Kernel Clock Source - * @{ - */ -#define RCC_DFSDM1CLKSOURCE_PCLK2 0x00000000U -#define RCC_DFSDM1CLKSOURCE_SYSCLK ((uint32_t)RCC_DCKCFGR_CKDFSDM1SEL) -/** - * @} - */ - -/** @defgroup RCCEx_I2SAPB1_Clock_Source RCC I2S APB1 Clock Source - * @{ - */ -#define RCC_I2SAPB1CLKSOURCE_PLLI2S 0x00000000U -#define RCC_I2SAPB1CLKSOURCE_EXT ((uint32_t)RCC_DCKCFGR_I2S1SRC_0) -#define RCC_I2SAPB1CLKSOURCE_PLLR ((uint32_t)RCC_DCKCFGR_I2S1SRC_1) -#define RCC_I2SAPB1CLKSOURCE_PLLSRC ((uint32_t)RCC_DCKCFGR_I2S1SRC) -/** - * @} - */ - -/** @defgroup RCCEx_I2SAPB2_Clock_Source RCC I2S APB2 Clock Source - * @{ - */ -#define RCC_I2SAPB2CLKSOURCE_PLLI2S 0x00000000U -#define RCC_I2SAPB2CLKSOURCE_EXT ((uint32_t)RCC_DCKCFGR_I2S2SRC_0) -#define RCC_I2SAPB2CLKSOURCE_PLLR ((uint32_t)RCC_DCKCFGR_I2S2SRC_1) -#define RCC_I2SAPB2CLKSOURCE_PLLSRC ((uint32_t)RCC_DCKCFGR_I2S2SRC) -/** - * @} - */ - -/** @defgroup RCCEx_FMPI2C1_Clock_Source RCC FMPI2C1 Clock Source - * @{ - */ -#define RCC_FMPI2C1CLKSOURCE_PCLK1 0x00000000U -#define RCC_FMPI2C1CLKSOURCE_SYSCLK ((uint32_t)RCC_DCKCFGR2_FMPI2C1SEL_0) -#define RCC_FMPI2C1CLKSOURCE_HSI ((uint32_t)RCC_DCKCFGR2_FMPI2C1SEL_1) -/** - * @} - */ - -/** @defgroup RCCEx_CLK48_Clock_Source RCC CLK48 Clock Source - * @{ - */ -#define RCC_CLK48CLKSOURCE_PLLQ 0x00000000U -#define RCC_CLK48CLKSOURCE_PLLI2SQ ((uint32_t)RCC_DCKCFGR2_CK48MSEL) -/** - * @} - */ - -/** @defgroup RCCEx_SDIO_Clock_Source RCC SDIO Clock Source - * @{ - */ -#define RCC_SDIOCLKSOURCE_CLK48 0x00000000U -#define RCC_SDIOCLKSOURCE_SYSCLK ((uint32_t)RCC_DCKCFGR2_SDIOSEL) -/** - * @} - */ -#endif /* STM32F412Zx || STM32F412Vx || STM32F412Rx || STM32F412Cx || STM32F413xx || STM32F423xx */ - -#if defined(STM32F410Tx) || defined(STM32F410Cx) || defined(STM32F410Rx) - -/** @defgroup RCCEx_I2S_APB_Clock_Source RCC I2S APB Clock Source - * @{ - */ -#define RCC_I2SAPBCLKSOURCE_PLLR 0x00000000U -#define RCC_I2SAPBCLKSOURCE_EXT ((uint32_t)RCC_DCKCFGR_I2SSRC_0) -#define RCC_I2SAPBCLKSOURCE_PLLSRC ((uint32_t)RCC_DCKCFGR_I2SSRC_1) -/** - * @} - */ - -/** @defgroup RCCEx_FMPI2C1_Clock_Source RCC FMPI2C1 Clock Source - * @{ - */ -#define RCC_FMPI2C1CLKSOURCE_PCLK1 0x00000000U -#define RCC_FMPI2C1CLKSOURCE_SYSCLK ((uint32_t)RCC_DCKCFGR2_FMPI2C1SEL_0) -#define RCC_FMPI2C1CLKSOURCE_HSI ((uint32_t)RCC_DCKCFGR2_FMPI2C1SEL_1) -/** - * @} - */ - -/** @defgroup RCCEx_LPTIM1_Clock_Source RCC LPTIM1 Clock Source - * @{ - */ -#define RCC_LPTIM1CLKSOURCE_PCLK1 0x00000000U -#define RCC_LPTIM1CLKSOURCE_HSI ((uint32_t)RCC_DCKCFGR2_LPTIM1SEL_0) -#define RCC_LPTIM1CLKSOURCE_LSI ((uint32_t)RCC_DCKCFGR2_LPTIM1SEL_1) -#define RCC_LPTIM1CLKSOURCE_LSE ((uint32_t)RCC_DCKCFGR2_LPTIM1SEL_0 | RCC_DCKCFGR2_LPTIM1SEL_1) -/** - * @} - */ -#endif /* STM32F410Tx || STM32F410Cx || STM32F410Rx */ - -#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) ||\ - defined(STM32F401xC) || defined(STM32F401xE) || defined(STM32F410Tx) || defined(STM32F410Cx) ||\ - defined(STM32F410Rx) || defined(STM32F411xE) || defined(STM32F446xx) || defined(STM32F469xx) ||\ - defined(STM32F479xx) || defined(STM32F412Zx) || defined(STM32F412Vx) || defined(STM32F412Rx) ||\ - defined(STM32F412Cx) || defined(STM32F413xx) || defined(STM32F423xx) -/** @defgroup RCCEx_TIM_PRescaler_Selection RCC TIM PRescaler Selection - * @{ - */ -#define RCC_TIMPRES_DESACTIVATED ((uint8_t)0x00) -#define RCC_TIMPRES_ACTIVATED ((uint8_t)0x01) -/** - * @} - */ -#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || STM32F401xC || STM32F401xE ||\ - STM32F410xx || STM32F411xE || STM32F446xx || STM32F469xx || STM32F479xx || STM32F412Zx ||\ - STM32F412Vx || STM32F412Rx || STM32F412Cx || STM32F413xx || STM32F423xx */ - -#if defined(STM32F410Tx) || defined(STM32F410Cx) || defined(STM32F410Rx) || defined(STM32F411xE) ||\ - defined(STM32F446xx) || defined(STM32F469xx) || defined(STM32F479xx) || defined(STM32F412Zx) ||\ - defined(STM32F412Vx) || defined(STM32F412Rx) || defined(STM32F412Cx) || defined(STM32F413xx) ||\ - defined(STM32F423xx) -/** @defgroup RCCEx_LSE_Dual_Mode_Selection RCC LSE Dual Mode Selection - * @{ - */ -#define RCC_LSE_LOWPOWER_MODE ((uint8_t)0x00) -#define RCC_LSE_HIGHDRIVE_MODE ((uint8_t)0x01) -/** - * @} - */ -#endif /* STM32F410xx || STM32F411xE || STM32F446xx || STM32F469xx || STM32F479xx || STM32F412Zx || STM32F412Vx ||\ - STM32F412Rx || STM32F412Cx */ - -#if defined(STM32F405xx) || defined(STM32F415xx) || defined(STM32F407xx) || defined(STM32F417xx) || \ - defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) || \ - defined(STM32F401xC) || defined(STM32F401xE) || defined(STM32F411xE) || defined(STM32F446xx) || \ - defined(STM32F469xx) || defined(STM32F479xx) || defined(STM32F412Zx) || defined(STM32F412Vx) || \ - defined(STM32F412Rx) || defined(STM32F413xx) || defined(STM32F423xx) -/** @defgroup RCC_MCO2_Clock_Source MCO2 Clock Source - * @{ - */ -#define RCC_MCO2SOURCE_SYSCLK 0x00000000U -#define RCC_MCO2SOURCE_PLLI2SCLK RCC_CFGR_MCO2_0 -#define RCC_MCO2SOURCE_HSE RCC_CFGR_MCO2_1 -#define RCC_MCO2SOURCE_PLLCLK RCC_CFGR_MCO2 -/** - * @} - */ -#endif /* STM32F405xx || STM32F415xx || STM32F407xx || STM32F417xx || STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || - STM32F401xC || STM32F401xE || STM32F411xE || STM32F446xx || STM32F469xx || STM32F479xx || STM32F412Zx || STM32F412Vx || - STM32F412Rx || STM32F413xx | STM32F423xx */ - -#if defined(STM32F410Tx) || defined(STM32F410Cx) || defined(STM32F410Rx) -/** @defgroup RCC_MCO2_Clock_Source MCO2 Clock Source - * @{ - */ -#define RCC_MCO2SOURCE_SYSCLK 0x00000000U -#define RCC_MCO2SOURCE_I2SCLK RCC_CFGR_MCO2_0 -#define RCC_MCO2SOURCE_HSE RCC_CFGR_MCO2_1 -#define RCC_MCO2SOURCE_PLLCLK RCC_CFGR_MCO2 -/** - * @} - */ -#endif /* STM32F410Tx || STM32F410Cx || STM32F410Rx */ - -/** - * @} - */ - -/* Exported macro ------------------------------------------------------------*/ -/** @defgroup RCCEx_Exported_Macros RCCEx Exported Macros - * @{ - */ -/*------------------- STM32F42xxx/STM32F43xxx/STM32F469xx/STM32F479xx --------*/ -#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx)|| defined(STM32F439xx) || defined(STM32F469xx) || defined(STM32F479xx) -/** @defgroup RCCEx_AHB1_Clock_Enable_Disable AHB1 Peripheral Clock Enable Disable - * @brief Enables or disables the AHB1 peripheral clock. - * @note After reset, the peripheral clock (used for registers read/write access) - * is disabled and the application software has to enable this clock before - * using it. - * @{ - */ -#define __HAL_RCC_BKPSRAM_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->AHB1ENR, RCC_AHB1ENR_BKPSRAMEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->AHB1ENR, RCC_AHB1ENR_BKPSRAMEN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_CCMDATARAMEN_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->AHB1ENR, RCC_AHB1ENR_CCMDATARAMEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->AHB1ENR, RCC_AHB1ENR_CCMDATARAMEN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_CRC_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->AHB1ENR, RCC_AHB1ENR_CRCEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->AHB1ENR, RCC_AHB1ENR_CRCEN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_GPIOD_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->AHB1ENR, RCC_AHB1ENR_GPIODEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->AHB1ENR, RCC_AHB1ENR_GPIODEN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_GPIOE_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->AHB1ENR, RCC_AHB1ENR_GPIOEEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->AHB1ENR, RCC_AHB1ENR_GPIOEEN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_GPIOI_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->AHB1ENR, RCC_AHB1ENR_GPIOIEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->AHB1ENR, RCC_AHB1ENR_GPIOIEN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_GPIOF_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->AHB1ENR, RCC_AHB1ENR_GPIOFEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->AHB1ENR, RCC_AHB1ENR_GPIOFEN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_GPIOG_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->AHB1ENR, RCC_AHB1ENR_GPIOGEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->AHB1ENR, RCC_AHB1ENR_GPIOGEN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_GPIOJ_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->AHB1ENR, RCC_AHB1ENR_GPIOJEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->AHB1ENR, RCC_AHB1ENR_GPIOJEN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_GPIOK_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->AHB1ENR, RCC_AHB1ENR_GPIOKEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->AHB1ENR, RCC_AHB1ENR_GPIOKEN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_DMA2D_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->AHB1ENR, RCC_AHB1ENR_DMA2DEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->AHB1ENR, RCC_AHB1ENR_DMA2DEN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_ETHMAC_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->AHB1ENR, RCC_AHB1ENR_ETHMACEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->AHB1ENR, RCC_AHB1ENR_ETHMACEN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_ETHMACTX_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->AHB1ENR, RCC_AHB1ENR_ETHMACTXEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->AHB1ENR, RCC_AHB1ENR_ETHMACTXEN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_ETHMACRX_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->AHB1ENR, RCC_AHB1ENR_ETHMACRXEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->AHB1ENR, RCC_AHB1ENR_ETHMACRXEN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_ETHMACPTP_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->AHB1ENR, RCC_AHB1ENR_ETHMACPTPEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->AHB1ENR, RCC_AHB1ENR_ETHMACPTPEN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_USB_OTG_HS_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->AHB1ENR, RCC_AHB1ENR_OTGHSEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->AHB1ENR, RCC_AHB1ENR_OTGHSEN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_USB_OTG_HS_ULPI_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->AHB1ENR, RCC_AHB1ENR_OTGHSULPIEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->AHB1ENR, RCC_AHB1ENR_OTGHSULPIEN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_GPIOD_CLK_DISABLE() (RCC->AHB1ENR &= ~(RCC_AHB1ENR_GPIODEN)) -#define __HAL_RCC_GPIOE_CLK_DISABLE() (RCC->AHB1ENR &= ~(RCC_AHB1ENR_GPIOEEN)) -#define __HAL_RCC_GPIOF_CLK_DISABLE() (RCC->AHB1ENR &= ~(RCC_AHB1ENR_GPIOFEN)) -#define __HAL_RCC_GPIOG_CLK_DISABLE() (RCC->AHB1ENR &= ~(RCC_AHB1ENR_GPIOGEN)) -#define __HAL_RCC_GPIOI_CLK_DISABLE() (RCC->AHB1ENR &= ~(RCC_AHB1ENR_GPIOIEN)) -#define __HAL_RCC_GPIOJ_CLK_DISABLE() (RCC->AHB1ENR &= ~(RCC_AHB1ENR_GPIOJEN)) -#define __HAL_RCC_GPIOK_CLK_DISABLE() (RCC->AHB1ENR &= ~(RCC_AHB1ENR_GPIOKEN)) -#define __HAL_RCC_DMA2D_CLK_DISABLE() (RCC->AHB1ENR &= ~(RCC_AHB1ENR_DMA2DEN)) -#define __HAL_RCC_ETHMAC_CLK_DISABLE() (RCC->AHB1ENR &= ~(RCC_AHB1ENR_ETHMACEN)) -#define __HAL_RCC_ETHMACTX_CLK_DISABLE() (RCC->AHB1ENR &= ~(RCC_AHB1ENR_ETHMACTXEN)) -#define __HAL_RCC_ETHMACRX_CLK_DISABLE() (RCC->AHB1ENR &= ~(RCC_AHB1ENR_ETHMACRXEN)) -#define __HAL_RCC_ETHMACPTP_CLK_DISABLE() (RCC->AHB1ENR &= ~(RCC_AHB1ENR_ETHMACPTPEN)) -#define __HAL_RCC_USB_OTG_HS_CLK_DISABLE() (RCC->AHB1ENR &= ~(RCC_AHB1ENR_OTGHSEN)) -#define __HAL_RCC_USB_OTG_HS_ULPI_CLK_DISABLE() (RCC->AHB1ENR &= ~(RCC_AHB1ENR_OTGHSULPIEN)) -#define __HAL_RCC_BKPSRAM_CLK_DISABLE() (RCC->AHB1ENR &= ~(RCC_AHB1ENR_BKPSRAMEN)) -#define __HAL_RCC_CCMDATARAMEN_CLK_DISABLE() (RCC->AHB1ENR &= ~(RCC_AHB1ENR_CCMDATARAMEN)) -#define __HAL_RCC_CRC_CLK_DISABLE() (RCC->AHB1ENR &= ~(RCC_AHB1ENR_CRCEN)) - -/** - * @brief Enable ETHERNET clock. - */ -#define __HAL_RCC_ETH_CLK_ENABLE() do { \ - __HAL_RCC_ETHMAC_CLK_ENABLE(); \ - __HAL_RCC_ETHMACTX_CLK_ENABLE(); \ - __HAL_RCC_ETHMACRX_CLK_ENABLE(); \ - } while(0U) -/** - * @brief Disable ETHERNET clock. - */ -#define __HAL_RCC_ETH_CLK_DISABLE() do { \ - __HAL_RCC_ETHMACTX_CLK_DISABLE(); \ - __HAL_RCC_ETHMACRX_CLK_DISABLE(); \ - __HAL_RCC_ETHMAC_CLK_DISABLE(); \ - } while(0U) -/** - * @} - */ - -/** @defgroup RCCEx_AHB1_Peripheral_Clock_Enable_Disable_Status AHB1 Peripheral Clock Enable Disable Status - * @brief Get the enable or disable status of the AHB1 peripheral clock. - * @note After reset, the peripheral clock (used for registers read/write access) - * is disabled and the application software has to enable this clock before - * using it. - * @{ - */ -#define __HAL_RCC_GPIOD_IS_CLK_ENABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_GPIODEN)) != RESET) -#define __HAL_RCC_GPIOE_IS_CLK_ENABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_GPIOEEN)) != RESET) -#define __HAL_RCC_GPIOF_IS_CLK_ENABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_GPIOFEN)) != RESET) -#define __HAL_RCC_GPIOG_IS_CLK_ENABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_GPIOGEN)) != RESET) -#define __HAL_RCC_GPIOI_IS_CLK_ENABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_GPIOIEN)) != RESET) -#define __HAL_RCC_GPIOJ_IS_CLK_ENABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_GPIOJEN)) != RESET) -#define __HAL_RCC_GPIOK_IS_CLK_ENABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_GPIOKEN)) != RESET) -#define __HAL_RCC_DMA2D_IS_CLK_ENABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_DMA2DEN)) != RESET) -#define __HAL_RCC_ETHMAC_IS_CLK_ENABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_ETHMACEN)) != RESET) -#define __HAL_RCC_ETHMACTX_IS_CLK_ENABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_ETHMACTXEN)) != RESET) -#define __HAL_RCC_ETHMACRX_IS_CLK_ENABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_ETHMACRXEN)) != RESET) -#define __HAL_RCC_ETHMACPTP_IS_CLK_ENABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_ETHMACPTPEN)) != RESET) -#define __HAL_RCC_USB_OTG_HS_IS_CLK_ENABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_OTGHSEN)) != RESET) -#define __HAL_RCC_USB_OTG_HS_ULPI_IS_CLK_ENABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_OTGHSULPIEN)) != RESET) -#define __HAL_RCC_BKPSRAM_IS_CLK_ENABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_BKPSRAMEN)) != RESET) -#define __HAL_RCC_CCMDATARAMEN_IS_CLK_ENABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_CCMDATARAMEN)) != RESET) -#define __HAL_RCC_CRC_IS_CLK_ENABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_CRCEN)) != RESET) -#define __HAL_RCC_ETH_IS_CLK_ENABLED() (__HAL_RCC_ETHMAC_IS_CLK_ENABLED() && \ - __HAL_RCC_ETHMACTX_IS_CLK_ENABLED() && \ - __HAL_RCC_ETHMACRX_IS_CLK_ENABLED()) - -#define __HAL_RCC_GPIOD_IS_CLK_DISABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_GPIODEN)) == RESET) -#define __HAL_RCC_GPIOE_IS_CLK_DISABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_GPIOEEN)) == RESET) -#define __HAL_RCC_GPIOF_IS_CLK_DISABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_GPIOFEN)) == RESET) -#define __HAL_RCC_GPIOG_IS_CLK_DISABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_GPIOGEN)) == RESET) -#define __HAL_RCC_GPIOI_IS_CLK_DISABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_GPIOIEN)) == RESET) -#define __HAL_RCC_GPIOJ_IS_CLK_DISABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_GPIOJEN)) == RESET) -#define __HAL_RCC_GPIOK_IS_CLK_DISABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_GPIOKEN)) == RESET) -#define __HAL_RCC_DMA2D_IS_CLK_DISABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_DMA2DEN)) == RESET) -#define __HAL_RCC_ETHMAC_IS_CLK_DISABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_ETHMACEN)) == RESET) -#define __HAL_RCC_ETHMACTX_IS_CLK_DISABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_ETHMACTXEN)) == RESET) -#define __HAL_RCC_ETHMACRX_IS_CLK_DISABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_ETHMACRXEN)) == RESET) -#define __HAL_RCC_ETHMACPTP_IS_CLK_DISABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_ETHMACPTPEN)) == RESET) -#define __HAL_RCC_USB_OTG_HS_IS_CLK_DISABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_OTGHSEN)) == RESET) -#define __HAL_RCC_USB_OTG_HS_ULPI_IS_CLK_DISABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_OTGHSULPIEN)) == RESET) -#define __HAL_RCC_BKPSRAM_IS_CLK_DISABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_BKPSRAMEN)) == RESET) -#define __HAL_RCC_CCMDATARAMEN_IS_CLK_DISABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_CCMDATARAMEN)) == RESET) -#define __HAL_RCC_CRC_IS_CLK_DISABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_CRCEN)) == RESET) -#define __HAL_RCC_ETH_IS_CLK_DISABLED() (__HAL_RCC_ETHMAC_IS_CLK_DISABLED() && \ - __HAL_RCC_ETHMACTX_IS_CLK_DISABLED() && \ - __HAL_RCC_ETHMACRX_IS_CLK_DISABLED()) -/** - * @} - */ - -/** @defgroup RCCEx_AHB2_Clock_Enable_Disable AHB2 Peripheral Clock Enable Disable - * @brief Enable or disable the AHB2 peripheral clock. - * @note After reset, the peripheral clock (used for registers read/write access) - * is disabled and the application software has to enable this clock before - * using it. - * @{ - */ - #define __HAL_RCC_DCMI_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->AHB2ENR, RCC_AHB2ENR_DCMIEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->AHB2ENR, RCC_AHB2ENR_DCMIEN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_DCMI_CLK_DISABLE() (RCC->AHB2ENR &= ~(RCC_AHB2ENR_DCMIEN)) - -#if defined(STM32F437xx)|| defined(STM32F439xx) || defined(STM32F479xx) -#define __HAL_RCC_CRYP_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->AHB2ENR, RCC_AHB2ENR_CRYPEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->AHB2ENR, RCC_AHB2ENR_CRYPEN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_HASH_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->AHB2ENR, RCC_AHB2ENR_HASHEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->AHB2ENR, RCC_AHB2ENR_HASHEN);\ - UNUSED(tmpreg); \ - } while(0U) - -#define __HAL_RCC_CRYP_CLK_DISABLE() (RCC->AHB2ENR &= ~(RCC_AHB2ENR_CRYPEN)) -#define __HAL_RCC_HASH_CLK_DISABLE() (RCC->AHB2ENR &= ~(RCC_AHB2ENR_HASHEN)) -#endif /* STM32F437xx || STM32F439xx || STM32F479xx */ - -#define __HAL_RCC_USB_OTG_FS_CLK_ENABLE() do {(RCC->AHB2ENR |= (RCC_AHB2ENR_OTGFSEN));\ - __HAL_RCC_SYSCFG_CLK_ENABLE();\ - }while(0U) - -#define __HAL_RCC_USB_OTG_FS_CLK_DISABLE() (RCC->AHB2ENR &= ~(RCC_AHB2ENR_OTGFSEN)) - -#define __HAL_RCC_RNG_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->AHB2ENR, RCC_AHB2ENR_RNGEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->AHB2ENR, RCC_AHB2ENR_RNGEN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_RNG_CLK_DISABLE() (RCC->AHB2ENR &= ~(RCC_AHB2ENR_RNGEN)) -/** - * @} - */ - -/** @defgroup RCCEx_AHB2_Peripheral_Clock_Enable_Disable_Status AHB2 Peripheral Clock Enable Disable Status - * @brief Get the enable or disable status of the AHB1 peripheral clock. - * @note After reset, the peripheral clock (used for registers read/write access) - * is disabled and the application software has to enable this clock before - * using it. - * @{ - */ -#define __HAL_RCC_DCMI_IS_CLK_ENABLED() ((RCC->AHB2ENR & (RCC_AHB2ENR_DCMIEN)) != RESET) -#define __HAL_RCC_DCMI_IS_CLK_DISABLED() ((RCC->AHB2ENR & (RCC_AHB2ENR_DCMIEN)) == RESET) - -#if defined(STM32F437xx)|| defined(STM32F439xx) || defined(STM32F479xx) -#define __HAL_RCC_CRYP_IS_CLK_ENABLED() ((RCC->AHB2ENR & (RCC_AHB2ENR_CRYPEN)) != RESET) -#define __HAL_RCC_CRYP_IS_CLK_DISABLED() ((RCC->AHB2ENR & (RCC_AHB2ENR_CRYPEN)) == RESET) - -#define __HAL_RCC_HASH_IS_CLK_ENABLED() ((RCC->AHB2ENR & (RCC_AHB2ENR_HASHEN)) != RESET) -#define __HAL_RCC_HASH_IS_CLK_DISABLED() ((RCC->AHB2ENR & (RCC_AHB2ENR_HASHEN)) == RESET) -#endif /* STM32F437xx || STM32F439xx || STM32F479xx */ - -#define __HAL_RCC_USB_OTG_FS_IS_CLK_ENABLED() ((RCC->AHB2ENR & (RCC_AHB2ENR_OTGFSEN)) != RESET) -#define __HAL_RCC_USB_OTG_FS_IS_CLK_DISABLED() ((RCC->AHB2ENR & (RCC_AHB2ENR_OTGFSEN)) == RESET) - -#define __HAL_RCC_RNG_IS_CLK_ENABLED() ((RCC->AHB2ENR & (RCC_AHB2ENR_RNGEN)) != RESET) -#define __HAL_RCC_RNG_IS_CLK_DISABLED() ((RCC->AHB2ENR & (RCC_AHB2ENR_RNGEN)) == RESET) -/** - * @} - */ - -/** @defgroup RCCEx_AHB3_Clock_Enable_Disable AHB3 Peripheral Clock Enable Disable - * @brief Enables or disables the AHB3 peripheral clock. - * @note After reset, the peripheral clock (used for registers read/write access) - * is disabled and the application software has to enable this clock before - * using it. - * @{ - */ -#define __HAL_RCC_FMC_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->AHB3ENR, RCC_AHB3ENR_FMCEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->AHB3ENR, RCC_AHB3ENR_FMCEN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_FMC_CLK_DISABLE() (RCC->AHB3ENR &= ~(RCC_AHB3ENR_FMCEN)) -#if defined(STM32F469xx) || defined(STM32F479xx) -#define __HAL_RCC_QSPI_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->AHB3ENR, RCC_AHB3ENR_QSPIEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->AHB3ENR, RCC_AHB3ENR_QSPIEN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_QSPI_CLK_DISABLE() (RCC->AHB3ENR &= ~(RCC_AHB3ENR_QSPIEN)) -#endif /* STM32F469xx || STM32F479xx */ -/** - * @} - */ - - -/** @defgroup RCCEx_AHB3_Peripheral_Clock_Enable_Disable_Status AHB3 Peripheral Clock Enable Disable Status - * @brief Get the enable or disable status of the AHB3 peripheral clock. - * @note After reset, the peripheral clock (used for registers read/write access) - * is disabled and the application software has to enable this clock before - * using it. - * @{ - */ -#define __HAL_RCC_FMC_IS_CLK_ENABLED() ((RCC->AHB3ENR & (RCC_AHB3ENR_FMCEN)) != RESET) -#define __HAL_RCC_FMC_IS_CLK_DISABLED() ((RCC->AHB3ENR & (RCC_AHB3ENR_FMCEN)) == RESET) -#if defined(STM32F469xx) || defined(STM32F479xx) -#define __HAL_RCC_QSPI_IS_CLK_ENABLED() ((RCC->AHB3ENR & (RCC_AHB3ENR_QSPIEN)) != RESET) -#define __HAL_RCC_QSPI_IS_CLK_DISABLED() ((RCC->AHB3ENR & (RCC_AHB3ENR_QSPIEN)) == RESET) -#endif /* STM32F469xx || STM32F479xx */ -/** - * @} - */ - -/** @defgroup RCCEx_APB1_Clock_Enable_Disable APB1 Peripheral Clock Enable Disable - * @brief Enable or disable the Low Speed APB (APB1) peripheral clock. - * @note After reset, the peripheral clock (used for registers read/write access) - * is disabled and the application software has to enable this clock before - * using it. - * @{ - */ -#define __HAL_RCC_TIM6_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_TIM6EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_TIM6EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_TIM7_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_TIM7EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_TIM7EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_TIM12_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_TIM12EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_TIM12EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_TIM13_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_TIM13EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_TIM13EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_TIM14_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_TIM14EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_TIM14EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_TIM14_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_TIM14EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_TIM14EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_USART3_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_USART3EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_USART3EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_UART4_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_UART4EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_UART4EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_UART5_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_UART5EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_UART5EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_CAN1_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_CAN1EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_CAN1EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_CAN2_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_CAN2EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_CAN2EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_DAC_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_DACEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_DACEN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_UART7_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_UART7EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_UART7EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_UART8_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_UART8EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_UART8EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_TIM2_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_TIM2EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_TIM2EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_TIM3_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_TIM3EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_TIM3EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_TIM4_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_TIM4EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_TIM4EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_SPI3_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_SPI3EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_SPI3EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_I2C3_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_I2C3EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_I2C3EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_TIM2_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_TIM2EN)) -#define __HAL_RCC_TIM3_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_TIM3EN)) -#define __HAL_RCC_TIM4_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_TIM4EN)) -#define __HAL_RCC_SPI3_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_SPI3EN)) -#define __HAL_RCC_I2C3_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_I2C3EN)) -#define __HAL_RCC_TIM6_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_TIM6EN)) -#define __HAL_RCC_TIM7_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_TIM7EN)) -#define __HAL_RCC_TIM12_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_TIM12EN)) -#define __HAL_RCC_TIM13_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_TIM13EN)) -#define __HAL_RCC_TIM14_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_TIM14EN)) -#define __HAL_RCC_USART3_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_USART3EN)) -#define __HAL_RCC_UART4_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_UART4EN)) -#define __HAL_RCC_UART5_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_UART5EN)) -#define __HAL_RCC_CAN1_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_CAN1EN)) -#define __HAL_RCC_CAN2_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_CAN2EN)) -#define __HAL_RCC_DAC_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_DACEN)) -#define __HAL_RCC_UART7_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_UART7EN)) -#define __HAL_RCC_UART8_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_UART8EN)) -/** - * @} - */ - -/** @defgroup RCCEx_APB1_Peripheral_Clock_Enable_Disable_Status APB1 Peripheral Clock Enable Disable Status - * @brief Get the enable or disable status of the APB1 peripheral clock. - * @note After reset, the peripheral clock (used for registers read/write access) - * is disabled and the application software has to enable this clock before - * using it. - * @{ - */ -#define __HAL_RCC_TIM2_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_TIM2EN)) != RESET) -#define __HAL_RCC_TIM3_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_TIM3EN)) != RESET) -#define __HAL_RCC_TIM4_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_TIM4EN)) != RESET) -#define __HAL_RCC_SPI3_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_SPI3EN)) != RESET) -#define __HAL_RCC_I2C3_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_I2C3EN)) != RESET) -#define __HAL_RCC_TIM6_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_TIM6EN)) != RESET) -#define __HAL_RCC_TIM7_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_TIM7EN)) != RESET) -#define __HAL_RCC_TIM12_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_TIM12EN)) != RESET) -#define __HAL_RCC_TIM13_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_TIM13EN)) != RESET) -#define __HAL_RCC_TIM14_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_TIM14EN)) != RESET) -#define __HAL_RCC_USART3_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_USART3EN)) != RESET) -#define __HAL_RCC_UART4_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_UART4EN)) != RESET) -#define __HAL_RCC_UART5_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_UART5EN)) != RESET) -#define __HAL_RCC_CAN1_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_CAN1EN)) != RESET) -#define __HAL_RCC_CAN2_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_CAN2EN)) != RESET) -#define __HAL_RCC_DAC_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_DACEN)) != RESET) -#define __HAL_RCC_UART7_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_UART7EN)) != RESET) -#define __HAL_RCC_UART8_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_UART8EN)) != RESET) - -#define __HAL_RCC_TIM2_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_TIM2EN)) == RESET) -#define __HAL_RCC_TIM3_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_TIM3EN)) == RESET) -#define __HAL_RCC_TIM4_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_TIM4EN)) == RESET) -#define __HAL_RCC_SPI3_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_SPI3EN)) == RESET) -#define __HAL_RCC_I2C3_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_I2C3EN)) == RESET) -#define __HAL_RCC_TIM6_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_TIM6EN)) == RESET) -#define __HAL_RCC_TIM7_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_TIM7EN)) == RESET) -#define __HAL_RCC_TIM12_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_TIM12EN)) == RESET) -#define __HAL_RCC_TIM13_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_TIM13EN)) == RESET) -#define __HAL_RCC_TIM14_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_TIM14EN)) == RESET) -#define __HAL_RCC_USART3_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_USART3EN)) == RESET) -#define __HAL_RCC_UART4_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_UART4EN)) == RESET) -#define __HAL_RCC_UART5_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_UART5EN)) == RESET) -#define __HAL_RCC_CAN1_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_CAN1EN)) == RESET) -#define __HAL_RCC_CAN2_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_CAN2EN)) == RESET) -#define __HAL_RCC_DAC_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_DACEN)) == RESET) -#define __HAL_RCC_UART7_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_UART7EN)) == RESET) -#define __HAL_RCC_UART8_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_UART8EN)) == RESET) -/** - * @} - */ - -/** @defgroup RCCEx_APB2_Clock_Enable_Disable APB2 Peripheral Clock Enable Disable - * @brief Enable or disable the High Speed APB (APB2) peripheral clock. - * @note After reset, the peripheral clock (used for registers read/write access) - * is disabled and the application software has to enable this clock before - * using it. - * @{ - */ -#define __HAL_RCC_TIM8_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB2ENR, RCC_APB2ENR_TIM8EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB2ENR, RCC_APB2ENR_TIM8EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_ADC2_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB2ENR, RCC_APB2ENR_ADC2EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB2ENR, RCC_APB2ENR_ADC2EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_ADC3_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB2ENR, RCC_APB2ENR_ADC3EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB2ENR, RCC_APB2ENR_ADC3EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_SPI5_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB2ENR, RCC_APB2ENR_SPI5EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB2ENR, RCC_APB2ENR_SPI5EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_SPI6_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB2ENR, RCC_APB2ENR_SPI6EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB2ENR, RCC_APB2ENR_SPI6EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_SAI1_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB2ENR, RCC_APB2ENR_SAI1EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB2ENR, RCC_APB2ENR_SAI1EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_SDIO_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB2ENR, RCC_APB2ENR_SDIOEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB2ENR, RCC_APB2ENR_SDIOEN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_SPI4_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB2ENR, RCC_APB2ENR_SPI4EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB2ENR, RCC_APB2ENR_SPI4EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_TIM10_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB2ENR, RCC_APB2ENR_TIM10EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB2ENR, RCC_APB2ENR_TIM10EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_SDIO_CLK_DISABLE() (RCC->APB2ENR &= ~(RCC_APB2ENR_SDIOEN)) -#define __HAL_RCC_SPI4_CLK_DISABLE() (RCC->APB2ENR &= ~(RCC_APB2ENR_SPI4EN)) -#define __HAL_RCC_TIM10_CLK_DISABLE() (RCC->APB2ENR &= ~(RCC_APB2ENR_TIM10EN)) -#define __HAL_RCC_TIM8_CLK_DISABLE() (RCC->APB2ENR &= ~(RCC_APB2ENR_TIM8EN)) -#define __HAL_RCC_ADC2_CLK_DISABLE() (RCC->APB2ENR &= ~(RCC_APB2ENR_ADC2EN)) -#define __HAL_RCC_ADC3_CLK_DISABLE() (RCC->APB2ENR &= ~(RCC_APB2ENR_ADC3EN)) -#define __HAL_RCC_SPI5_CLK_DISABLE() (RCC->APB2ENR &= ~(RCC_APB2ENR_SPI5EN)) -#define __HAL_RCC_SPI6_CLK_DISABLE() (RCC->APB2ENR &= ~(RCC_APB2ENR_SPI6EN)) -#define __HAL_RCC_SAI1_CLK_DISABLE() (RCC->APB2ENR &= ~(RCC_APB2ENR_SAI1EN)) - -#if defined(STM32F429xx)|| defined(STM32F439xx) || defined(STM32F469xx) || defined(STM32F479xx) -#define __HAL_RCC_LTDC_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB2ENR, RCC_APB2ENR_LTDCEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB2ENR, RCC_APB2ENR_LTDCEN);\ - UNUSED(tmpreg); \ - } while(0U) - -#define __HAL_RCC_LTDC_CLK_DISABLE() (RCC->APB2ENR &= ~(RCC_APB2ENR_LTDCEN)) -#endif /* STM32F429xx || STM32F439xx || STM32F469xx || STM32F479xx */ - -#if defined(STM32F469xx) || defined(STM32F479xx) -#define __HAL_RCC_DSI_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB2ENR, RCC_APB2ENR_DSIEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB2ENR, RCC_APB2ENR_DSIEN);\ - UNUSED(tmpreg); \ - } while(0U) - -#define __HAL_RCC_DSI_CLK_DISABLE() (RCC->APB2ENR &= ~(RCC_APB2ENR_DSIEN)) -#endif /* STM32F469xx || STM32F479xx */ -/** - * @} - */ - -/** @defgroup RCCEx_APB2_Peripheral_Clock_Enable_Disable_Status APB2 Peripheral Clock Enable Disable Status - * @brief Get the enable or disable status of the APB2 peripheral clock. - * @note After reset, the peripheral clock (used for registers read/write access) - * is disabled and the application software has to enable this clock before - * using it. - * @{ - */ -#define __HAL_RCC_TIM8_IS_CLK_ENABLED() ((RCC->APB2ENR & (RCC_APB2ENR_TIM8EN)) != RESET) -#define __HAL_RCC_ADC2_IS_CLK_ENABLED() ((RCC->APB2ENR & (RCC_APB2ENR_ADC2EN)) != RESET) -#define __HAL_RCC_ADC3_IS_CLK_ENABLED() ((RCC->APB2ENR & (RCC_APB2ENR_ADC3EN)) != RESET) -#define __HAL_RCC_SPI5_IS_CLK_ENABLED() ((RCC->APB2ENR & (RCC_APB2ENR_SPI5EN)) != RESET) -#define __HAL_RCC_SPI6_IS_CLK_ENABLED() ((RCC->APB2ENR & (RCC_APB2ENR_SPI6EN)) != RESET) -#define __HAL_RCC_SAI1_IS_CLK_ENABLED() ((RCC->APB2ENR & (RCC_APB2ENR_SAI1EN)) != RESET) -#define __HAL_RCC_SDIO_IS_CLK_ENABLED() ((RCC->APB2ENR & (RCC_APB2ENR_SDIOEN)) != RESET) -#define __HAL_RCC_SPI4_IS_CLK_ENABLED() ((RCC->APB2ENR & (RCC_APB2ENR_SPI4EN)) != RESET) -#define __HAL_RCC_TIM10_IS_CLK_ENABLED() ((RCC->APB2ENR & (RCC_APB2ENR_TIM10EN))!= RESET) - -#define __HAL_RCC_SDIO_IS_CLK_DISABLED() ((RCC->APB2ENR & (RCC_APB2ENR_SDIOEN)) == RESET) -#define __HAL_RCC_SPI4_IS_CLK_DISABLED() ((RCC->APB2ENR & (RCC_APB2ENR_SPI4EN)) == RESET) -#define __HAL_RCC_TIM10_IS_CLK_DISABLED() ((RCC->APB2ENR & (RCC_APB2ENR_TIM10EN))== RESET) -#define __HAL_RCC_TIM8_IS_CLK_DISABLED() ((RCC->APB2ENR & (RCC_APB2ENR_TIM8EN)) == RESET) -#define __HAL_RCC_ADC2_IS_CLK_DISABLED() ((RCC->APB2ENR & (RCC_APB2ENR_ADC2EN)) == RESET) -#define __HAL_RCC_ADC3_IS_CLK_DISABLED() ((RCC->APB2ENR & (RCC_APB2ENR_ADC3EN)) == RESET) -#define __HAL_RCC_SPI5_IS_CLK_DISABLED() ((RCC->APB2ENR & (RCC_APB2ENR_SPI5EN)) == RESET) -#define __HAL_RCC_SPI6_IS_CLK_DISABLED() ((RCC->APB2ENR & (RCC_APB2ENR_SPI6EN)) == RESET) -#define __HAL_RCC_SAI1_IS_CLK_DISABLED() ((RCC->APB2ENR & (RCC_APB2ENR_SAI1EN)) == RESET) - -#if defined(STM32F429xx)|| defined(STM32F439xx) || defined(STM32F469xx) || defined(STM32F479xx) -#define __HAL_RCC_LTDC_IS_CLK_ENABLED() ((RCC->APB2ENR & (RCC_APB2ENR_LTDCEN)) != RESET) -#define __HAL_RCC_LTDC_IS_CLK_DISABLED() ((RCC->APB2ENR & (RCC_APB2ENR_LTDCEN)) == RESET) -#endif /* STM32F429xx || STM32F439xx || STM32F469xx || STM32F479xx */ - -#if defined(STM32F469xx) || defined(STM32F479xx) -#define __HAL_RCC_DSI_IS_CLK_ENABLED() ((RCC->APB2ENR & (RCC_APB2ENR_DSIEN)) != RESET) -#define __HAL_RCC_DSI_IS_CLK_DISABLED() ((RCC->APB2ENR & (RCC_APB2ENR_DSIEN)) == RESET) -#endif /* STM32F469xx || STM32F479xx */ -/** - * @} - */ - -/** @defgroup RCCEx_AHB1_Force_Release_Reset AHB1 Force Release Reset - * @brief Force or release AHB1 peripheral reset. - * @{ - */ -#define __HAL_RCC_GPIOD_FORCE_RESET() (RCC->AHB1RSTR |= (RCC_AHB1RSTR_GPIODRST)) -#define __HAL_RCC_GPIOE_FORCE_RESET() (RCC->AHB1RSTR |= (RCC_AHB1RSTR_GPIOERST)) -#define __HAL_RCC_GPIOF_FORCE_RESET() (RCC->AHB1RSTR |= (RCC_AHB1RSTR_GPIOFRST)) -#define __HAL_RCC_GPIOG_FORCE_RESET() (RCC->AHB1RSTR |= (RCC_AHB1RSTR_GPIOGRST)) -#define __HAL_RCC_GPIOI_FORCE_RESET() (RCC->AHB1RSTR |= (RCC_AHB1RSTR_GPIOIRST)) -#define __HAL_RCC_ETHMAC_FORCE_RESET() (RCC->AHB1RSTR |= (RCC_AHB1RSTR_ETHMACRST)) -#define __HAL_RCC_USB_OTG_HS_FORCE_RESET() (RCC->AHB1RSTR |= (RCC_AHB1RSTR_OTGHRST)) -#define __HAL_RCC_GPIOJ_FORCE_RESET() (RCC->AHB1RSTR |= (RCC_AHB1RSTR_GPIOJRST)) -#define __HAL_RCC_GPIOK_FORCE_RESET() (RCC->AHB1RSTR |= (RCC_AHB1RSTR_GPIOKRST)) -#define __HAL_RCC_DMA2D_FORCE_RESET() (RCC->AHB1RSTR |= (RCC_AHB1RSTR_DMA2DRST)) -#define __HAL_RCC_CRC_FORCE_RESET() (RCC->AHB1RSTR |= (RCC_AHB1RSTR_CRCRST)) - -#define __HAL_RCC_GPIOD_RELEASE_RESET() (RCC->AHB1RSTR &= ~(RCC_AHB1RSTR_GPIODRST)) -#define __HAL_RCC_GPIOE_RELEASE_RESET() (RCC->AHB1RSTR &= ~(RCC_AHB1RSTR_GPIOERST)) -#define __HAL_RCC_GPIOF_RELEASE_RESET() (RCC->AHB1RSTR &= ~(RCC_AHB1RSTR_GPIOFRST)) -#define __HAL_RCC_GPIOG_RELEASE_RESET() (RCC->AHB1RSTR &= ~(RCC_AHB1RSTR_GPIOGRST)) -#define __HAL_RCC_GPIOI_RELEASE_RESET() (RCC->AHB1RSTR &= ~(RCC_AHB1RSTR_GPIOIRST)) -#define __HAL_RCC_ETHMAC_RELEASE_RESET() (RCC->AHB1RSTR &= ~(RCC_AHB1RSTR_ETHMACRST)) -#define __HAL_RCC_USB_OTG_HS_RELEASE_RESET() (RCC->AHB1RSTR &= ~(RCC_AHB1RSTR_OTGHRST)) -#define __HAL_RCC_GPIOJ_RELEASE_RESET() (RCC->AHB1RSTR &= ~(RCC_AHB1RSTR_GPIOJRST)) -#define __HAL_RCC_GPIOK_RELEASE_RESET() (RCC->AHB1RSTR &= ~(RCC_AHB1RSTR_GPIOKRST)) -#define __HAL_RCC_DMA2D_RELEASE_RESET() (RCC->AHB1RSTR &= ~(RCC_AHB1RSTR_DMA2DRST)) -#define __HAL_RCC_CRC_RELEASE_RESET() (RCC->AHB1RSTR &= ~(RCC_AHB1RSTR_CRCRST)) -/** - * @} - */ - -/** @defgroup RCCEx_AHB2_Force_Release_Reset AHB2 Force Release Reset - * @brief Force or release AHB2 peripheral reset. - * @{ - */ -#define __HAL_RCC_AHB2_FORCE_RESET() (RCC->AHB2RSTR = 0xFFFFFFFFU) -#define __HAL_RCC_USB_OTG_FS_FORCE_RESET() (RCC->AHB2RSTR |= (RCC_AHB2RSTR_OTGFSRST)) -#define __HAL_RCC_RNG_FORCE_RESET() (RCC->AHB2RSTR |= (RCC_AHB2RSTR_RNGRST)) -#define __HAL_RCC_DCMI_FORCE_RESET() (RCC->AHB2RSTR |= (RCC_AHB2RSTR_DCMIRST)) - -#define __HAL_RCC_AHB2_RELEASE_RESET() (RCC->AHB2RSTR = 0x00U) -#define __HAL_RCC_USB_OTG_FS_RELEASE_RESET() (RCC->AHB2RSTR &= ~(RCC_AHB2RSTR_OTGFSRST)) -#define __HAL_RCC_RNG_RELEASE_RESET() (RCC->AHB2RSTR &= ~(RCC_AHB2RSTR_RNGRST)) -#define __HAL_RCC_DCMI_RELEASE_RESET() (RCC->AHB2RSTR &= ~(RCC_AHB2RSTR_DCMIRST)) - -#if defined(STM32F437xx)|| defined(STM32F439xx) || defined(STM32F479xx) -#define __HAL_RCC_CRYP_FORCE_RESET() (RCC->AHB2RSTR |= (RCC_AHB2RSTR_CRYPRST)) -#define __HAL_RCC_HASH_FORCE_RESET() (RCC->AHB2RSTR |= (RCC_AHB2RSTR_HASHRST)) - -#define __HAL_RCC_CRYP_RELEASE_RESET() (RCC->AHB2RSTR &= ~(RCC_AHB2RSTR_CRYPRST)) -#define __HAL_RCC_HASH_RELEASE_RESET() (RCC->AHB2RSTR &= ~(RCC_AHB2RSTR_HASHRST)) -#endif /* STM32F437xx || STM32F439xx || STM32F479xx */ -/** - * @} - */ - -/** @defgroup RCCEx_AHB3_Force_Release_Reset AHB3 Force Release Reset - * @brief Force or release AHB3 peripheral reset. - * @{ - */ -#define __HAL_RCC_AHB3_FORCE_RESET() (RCC->AHB3RSTR = 0xFFFFFFFFU) -#define __HAL_RCC_AHB3_RELEASE_RESET() (RCC->AHB3RSTR = 0x00U) -#define __HAL_RCC_FMC_FORCE_RESET() (RCC->AHB3RSTR |= (RCC_AHB3RSTR_FMCRST)) -#define __HAL_RCC_FMC_RELEASE_RESET() (RCC->AHB3RSTR &= ~(RCC_AHB3RSTR_FMCRST)) - -#if defined(STM32F469xx) || defined(STM32F479xx) -#define __HAL_RCC_QSPI_FORCE_RESET() (RCC->AHB3RSTR |= (RCC_AHB3RSTR_QSPIRST)) -#define __HAL_RCC_QSPI_RELEASE_RESET() (RCC->AHB3RSTR &= ~(RCC_AHB3RSTR_QSPIRST)) -#endif /* STM32F469xx || STM32F479xx */ -/** - * @} - */ - -/** @defgroup RCCEx_APB1_Force_Release_Reset APB1 Force Release Reset - * @brief Force or release APB1 peripheral reset. - * @{ - */ -#define __HAL_RCC_TIM6_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_TIM6RST)) -#define __HAL_RCC_TIM7_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_TIM7RST)) -#define __HAL_RCC_TIM12_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_TIM12RST)) -#define __HAL_RCC_TIM13_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_TIM13RST)) -#define __HAL_RCC_TIM14_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_TIM14RST)) -#define __HAL_RCC_USART3_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_USART3RST)) -#define __HAL_RCC_UART4_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_UART4RST)) -#define __HAL_RCC_UART5_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_UART5RST)) -#define __HAL_RCC_CAN1_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_CAN1RST)) -#define __HAL_RCC_CAN2_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_CAN2RST)) -#define __HAL_RCC_DAC_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_DACRST)) -#define __HAL_RCC_UART7_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_UART7RST)) -#define __HAL_RCC_UART8_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_UART8RST)) -#define __HAL_RCC_TIM2_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_TIM2RST)) -#define __HAL_RCC_TIM3_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_TIM3RST)) -#define __HAL_RCC_TIM4_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_TIM4RST)) -#define __HAL_RCC_SPI3_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_SPI3RST)) -#define __HAL_RCC_I2C3_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_I2C3RST)) - -#define __HAL_RCC_TIM2_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_TIM2RST)) -#define __HAL_RCC_TIM3_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_TIM3RST)) -#define __HAL_RCC_TIM4_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_TIM4RST)) -#define __HAL_RCC_SPI3_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_SPI3RST)) -#define __HAL_RCC_I2C3_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_I2C3RST)) -#define __HAL_RCC_TIM6_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_TIM6RST)) -#define __HAL_RCC_TIM7_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_TIM7RST)) -#define __HAL_RCC_TIM12_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_TIM12RST)) -#define __HAL_RCC_TIM13_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_TIM13RST)) -#define __HAL_RCC_TIM14_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_TIM14RST)) -#define __HAL_RCC_USART3_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_USART3RST)) -#define __HAL_RCC_UART4_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_UART4RST)) -#define __HAL_RCC_UART5_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_UART5RST)) -#define __HAL_RCC_CAN1_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_CAN1RST)) -#define __HAL_RCC_CAN2_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_CAN2RST)) -#define __HAL_RCC_DAC_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_DACRST)) -#define __HAL_RCC_UART7_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_UART7RST)) -#define __HAL_RCC_UART8_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_UART8RST)) -/** - * @} - */ - -/** @defgroup RCCEx_APB2_Force_Release_Reset APB2 Force Release Reset - * @brief Force or release APB2 peripheral reset. - * @{ - */ -#define __HAL_RCC_TIM8_FORCE_RESET() (RCC->APB2RSTR |= (RCC_APB2RSTR_TIM8RST)) -#define __HAL_RCC_SPI5_FORCE_RESET() (RCC->APB2RSTR |= (RCC_APB2RSTR_SPI5RST)) -#define __HAL_RCC_SPI6_FORCE_RESET() (RCC->APB2RSTR |= (RCC_APB2RSTR_SPI6RST)) -#define __HAL_RCC_SAI1_FORCE_RESET() (RCC->APB2RSTR |= (RCC_APB2RSTR_SAI1RST)) -#define __HAL_RCC_SDIO_FORCE_RESET() (RCC->APB2RSTR |= (RCC_APB2RSTR_SDIORST)) -#define __HAL_RCC_SPI4_FORCE_RESET() (RCC->APB2RSTR |= (RCC_APB2RSTR_SPI4RST)) -#define __HAL_RCC_TIM10_FORCE_RESET() (RCC->APB2RSTR |= (RCC_APB2RSTR_TIM10RST)) - -#define __HAL_RCC_SDIO_RELEASE_RESET() (RCC->APB2RSTR &= ~(RCC_APB2RSTR_SDIORST)) -#define __HAL_RCC_SPI4_RELEASE_RESET() (RCC->APB2RSTR &= ~(RCC_APB2RSTR_SPI4RST)) -#define __HAL_RCC_TIM10_RELEASE_RESET()(RCC->APB2RSTR &= ~(RCC_APB2RSTR_TIM10RST)) -#define __HAL_RCC_TIM8_RELEASE_RESET() (RCC->APB2RSTR &= ~(RCC_APB2RSTR_TIM8RST)) -#define __HAL_RCC_SPI5_RELEASE_RESET() (RCC->APB2RSTR &= ~(RCC_APB2RSTR_SPI5RST)) -#define __HAL_RCC_SPI6_RELEASE_RESET() (RCC->APB2RSTR &= ~(RCC_APB2RSTR_SPI6RST)) -#define __HAL_RCC_SAI1_RELEASE_RESET() (RCC->APB2RSTR &= ~(RCC_APB2RSTR_SAI1RST)) - -#if defined(STM32F429xx)|| defined(STM32F439xx) || defined(STM32F469xx) || defined(STM32F479xx) -#define __HAL_RCC_LTDC_FORCE_RESET() (RCC->APB2RSTR |= (RCC_APB2RSTR_LTDCRST)) -#define __HAL_RCC_LTDC_RELEASE_RESET() (RCC->APB2RSTR &= ~(RCC_APB2RSTR_LTDCRST)) -#endif /* STM32F429xx|| STM32F439xx || STM32F469xx || STM32F479xx */ - -#if defined(STM32F469xx) || defined(STM32F479xx) -#define __HAL_RCC_DSI_FORCE_RESET() (RCC->APB2RSTR |= (RCC_APB2RSTR_DSIRST)) -#define __HAL_RCC_DSI_RELEASE_RESET() (RCC->APB2RSTR &= ~(RCC_APB2RSTR_DSIRST)) -#endif /* STM32F469xx || STM32F479xx */ -/** - * @} - */ - -/** @defgroup RCCEx_AHB1_LowPower_Enable_Disable AHB1 Peripheral Low Power Enable Disable - * @brief Enable or disable the AHB1 peripheral clock during Low Power (Sleep) mode. - * @note Peripheral clock gating in SLEEP mode can be used to further reduce - * power consumption. - * @note After wakeup from SLEEP mode, the peripheral clock is enabled again. - * @note By default, all peripheral clocks are enabled during SLEEP mode. - * @{ - */ -#define __HAL_RCC_GPIOD_CLK_SLEEP_ENABLE() (RCC->AHB1LPENR |= (RCC_AHB1LPENR_GPIODLPEN)) -#define __HAL_RCC_GPIOE_CLK_SLEEP_ENABLE() (RCC->AHB1LPENR |= (RCC_AHB1LPENR_GPIOELPEN)) -#define __HAL_RCC_GPIOF_CLK_SLEEP_ENABLE() (RCC->AHB1LPENR |= (RCC_AHB1LPENR_GPIOFLPEN)) -#define __HAL_RCC_GPIOG_CLK_SLEEP_ENABLE() (RCC->AHB1LPENR |= (RCC_AHB1LPENR_GPIOGLPEN)) -#define __HAL_RCC_GPIOI_CLK_SLEEP_ENABLE() (RCC->AHB1LPENR |= (RCC_AHB1LPENR_GPIOILPEN)) -#define __HAL_RCC_SRAM2_CLK_SLEEP_ENABLE() (RCC->AHB1LPENR |= (RCC_AHB1LPENR_SRAM2LPEN)) -#define __HAL_RCC_ETHMAC_CLK_SLEEP_ENABLE() (RCC->AHB1LPENR |= (RCC_AHB1LPENR_ETHMACLPEN)) -#define __HAL_RCC_ETHMACTX_CLK_SLEEP_ENABLE() (RCC->AHB1LPENR |= (RCC_AHB1LPENR_ETHMACTXLPEN)) -#define __HAL_RCC_ETHMACRX_CLK_SLEEP_ENABLE() (RCC->AHB1LPENR |= (RCC_AHB1LPENR_ETHMACRXLPEN)) -#define __HAL_RCC_ETHMACPTP_CLK_SLEEP_ENABLE() (RCC->AHB1LPENR |= (RCC_AHB1LPENR_ETHMACPTPLPEN)) -#define __HAL_RCC_USB_OTG_HS_CLK_SLEEP_ENABLE() (RCC->AHB1LPENR |= (RCC_AHB1LPENR_OTGHSLPEN)) -#define __HAL_RCC_USB_OTG_HS_ULPI_CLK_SLEEP_ENABLE() (RCC->AHB1LPENR |= (RCC_AHB1LPENR_OTGHSULPILPEN)) -#define __HAL_RCC_GPIOJ_CLK_SLEEP_ENABLE() (RCC->AHB1LPENR |= (RCC_AHB1LPENR_GPIOJLPEN)) -#define __HAL_RCC_GPIOK_CLK_SLEEP_ENABLE() (RCC->AHB1LPENR |= (RCC_AHB1LPENR_GPIOKLPEN)) -#define __HAL_RCC_SRAM3_CLK_SLEEP_ENABLE() (RCC->AHB1LPENR |= (RCC_AHB1LPENR_SRAM3LPEN)) -#define __HAL_RCC_DMA2D_CLK_SLEEP_ENABLE() (RCC->AHB1LPENR |= (RCC_AHB1LPENR_DMA2DLPEN)) -#define __HAL_RCC_CRC_CLK_SLEEP_ENABLE() (RCC->AHB1LPENR |= (RCC_AHB1LPENR_CRCLPEN)) -#define __HAL_RCC_FLITF_CLK_SLEEP_ENABLE() (RCC->AHB1LPENR |= (RCC_AHB1LPENR_FLITFLPEN)) -#define __HAL_RCC_SRAM1_CLK_SLEEP_ENABLE() (RCC->AHB1LPENR |= (RCC_AHB1LPENR_SRAM1LPEN)) -#define __HAL_RCC_BKPSRAM_CLK_SLEEP_ENABLE() (RCC->AHB1LPENR |= (RCC_AHB1LPENR_BKPSRAMLPEN)) - -#define __HAL_RCC_GPIOD_CLK_SLEEP_DISABLE() (RCC->AHB1LPENR &= ~(RCC_AHB1LPENR_GPIODLPEN)) -#define __HAL_RCC_GPIOE_CLK_SLEEP_DISABLE() (RCC->AHB1LPENR &= ~(RCC_AHB1LPENR_GPIOELPEN)) -#define __HAL_RCC_GPIOF_CLK_SLEEP_DISABLE() (RCC->AHB1LPENR &= ~(RCC_AHB1LPENR_GPIOFLPEN)) -#define __HAL_RCC_GPIOG_CLK_SLEEP_DISABLE() (RCC->AHB1LPENR &= ~(RCC_AHB1LPENR_GPIOGLPEN)) -#define __HAL_RCC_GPIOI_CLK_SLEEP_DISABLE() (RCC->AHB1LPENR &= ~(RCC_AHB1LPENR_GPIOILPEN)) -#define __HAL_RCC_SRAM2_CLK_SLEEP_DISABLE() (RCC->AHB1LPENR &= ~(RCC_AHB1LPENR_SRAM2LPEN)) -#define __HAL_RCC_ETHMAC_CLK_SLEEP_DISABLE() (RCC->AHB1LPENR &= ~(RCC_AHB1LPENR_ETHMACLPEN)) -#define __HAL_RCC_ETHMACTX_CLK_SLEEP_DISABLE() (RCC->AHB1LPENR &= ~(RCC_AHB1LPENR_ETHMACTXLPEN)) -#define __HAL_RCC_ETHMACRX_CLK_SLEEP_DISABLE() (RCC->AHB1LPENR &= ~(RCC_AHB1LPENR_ETHMACRXLPEN)) -#define __HAL_RCC_ETHMACPTP_CLK_SLEEP_DISABLE() (RCC->AHB1LPENR &= ~(RCC_AHB1LPENR_ETHMACPTPLPEN)) -#define __HAL_RCC_USB_OTG_HS_CLK_SLEEP_DISABLE() (RCC->AHB1LPENR &= ~(RCC_AHB1LPENR_OTGHSLPEN)) -#define __HAL_RCC_USB_OTG_HS_ULPI_CLK_SLEEP_DISABLE() (RCC->AHB1LPENR &= ~(RCC_AHB1LPENR_OTGHSULPILPEN)) -#define __HAL_RCC_GPIOJ_CLK_SLEEP_DISABLE() (RCC->AHB1LPENR &= ~(RCC_AHB1LPENR_GPIOJLPEN)) -#define __HAL_RCC_GPIOK_CLK_SLEEP_DISABLE() (RCC->AHB1LPENR &= ~(RCC_AHB1LPENR_GPIOKLPEN)) -#define __HAL_RCC_DMA2D_CLK_SLEEP_DISABLE() (RCC->AHB1LPENR &= ~(RCC_AHB1LPENR_DMA2DLPEN)) -#define __HAL_RCC_CRC_CLK_SLEEP_DISABLE() (RCC->AHB1LPENR &= ~(RCC_AHB1LPENR_CRCLPEN)) -#define __HAL_RCC_FLITF_CLK_SLEEP_DISABLE() (RCC->AHB1LPENR &= ~(RCC_AHB1LPENR_FLITFLPEN)) -#define __HAL_RCC_SRAM1_CLK_SLEEP_DISABLE() (RCC->AHB1LPENR &= ~(RCC_AHB1LPENR_SRAM1LPEN)) -#define __HAL_RCC_BKPSRAM_CLK_SLEEP_DISABLE() (RCC->AHB1LPENR &= ~(RCC_AHB1LPENR_BKPSRAMLPEN)) -/** - * @} - */ - -/** @defgroup RCCEx_AHB2_LowPower_Enable_Disable AHB2 Peripheral Low Power Enable Disable - * @brief Enable or disable the AHB2 peripheral clock during Low Power (Sleep) mode. - * @note Peripheral clock gating in SLEEP mode can be used to further reduce - * power consumption. - * @note After wake-up from SLEEP mode, the peripheral clock is enabled again. - * @note By default, all peripheral clocks are enabled during SLEEP mode. - * @{ - */ -#define __HAL_RCC_USB_OTG_FS_CLK_SLEEP_ENABLE() (RCC->AHB2LPENR |= (RCC_AHB2LPENR_OTGFSLPEN)) -#define __HAL_RCC_USB_OTG_FS_CLK_SLEEP_DISABLE() (RCC->AHB2LPENR &= ~(RCC_AHB2LPENR_OTGFSLPEN)) - -#define __HAL_RCC_RNG_CLK_SLEEP_ENABLE() (RCC->AHB2LPENR |= (RCC_AHB2LPENR_RNGLPEN)) -#define __HAL_RCC_RNG_CLK_SLEEP_DISABLE() (RCC->AHB2LPENR &= ~(RCC_AHB2LPENR_RNGLPEN)) - -#define __HAL_RCC_DCMI_CLK_SLEEP_ENABLE() (RCC->AHB2LPENR |= (RCC_AHB2LPENR_DCMILPEN)) -#define __HAL_RCC_DCMI_CLK_SLEEP_DISABLE() (RCC->AHB2LPENR &= ~(RCC_AHB2LPENR_DCMILPEN)) - -#if defined(STM32F437xx)|| defined(STM32F439xx) || defined(STM32F479xx) -#define __HAL_RCC_CRYP_CLK_SLEEP_ENABLE() (RCC->AHB2LPENR |= (RCC_AHB2LPENR_CRYPLPEN)) -#define __HAL_RCC_HASH_CLK_SLEEP_ENABLE() (RCC->AHB2LPENR |= (RCC_AHB2LPENR_HASHLPEN)) - -#define __HAL_RCC_CRYP_CLK_SLEEP_DISABLE() (RCC->AHB2LPENR &= ~(RCC_AHB2LPENR_CRYPLPEN)) -#define __HAL_RCC_HASH_CLK_SLEEP_DISABLE() (RCC->AHB2LPENR &= ~(RCC_AHB2LPENR_HASHLPEN)) -#endif /* STM32F437xx || STM32F439xx || STM32F479xx */ -/** - * @} - */ - -/** @defgroup RCCEx_AHB3_LowPower_Enable_Disable AHB3 Peripheral Low Power Enable Disable - * @brief Enable or disable the AHB3 peripheral clock during Low Power (Sleep) mode. - * @note Peripheral clock gating in SLEEP mode can be used to further reduce - * power consumption. - * @note After wakeup from SLEEP mode, the peripheral clock is enabled again. - * @note By default, all peripheral clocks are enabled during SLEEP mode. - * @{ - */ -#define __HAL_RCC_FMC_CLK_SLEEP_ENABLE() (RCC->AHB3LPENR |= (RCC_AHB3LPENR_FMCLPEN)) -#define __HAL_RCC_FMC_CLK_SLEEP_DISABLE() (RCC->AHB3LPENR &= ~(RCC_AHB3LPENR_FMCLPEN)) - -#if defined(STM32F469xx) || defined(STM32F479xx) -#define __HAL_RCC_QSPI_CLK_SLEEP_ENABLE() (RCC->AHB3LPENR |= (RCC_AHB3LPENR_QSPILPEN)) -#define __HAL_RCC_QSPI_CLK_SLEEP_DISABLE() (RCC->AHB3LPENR &= ~(RCC_AHB3LPENR_QSPILPEN)) -#endif /* STM32F469xx || STM32F479xx */ -/** - * @} - */ - -/** @defgroup RCCEx_APB1_LowPower_Enable_Disable APB1 Peripheral Low Power Enable Disable - * @brief Enable or disable the APB1 peripheral clock during Low Power (Sleep) mode. - * @note Peripheral clock gating in SLEEP mode can be used to further reduce - * power consumption. - * @note After wakeup from SLEEP mode, the peripheral clock is enabled again. - * @note By default, all peripheral clocks are enabled during SLEEP mode. - * @{ - */ -#define __HAL_RCC_TIM6_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_TIM6LPEN)) -#define __HAL_RCC_TIM7_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_TIM7LPEN)) -#define __HAL_RCC_TIM12_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_TIM12LPEN)) -#define __HAL_RCC_TIM13_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_TIM13LPEN)) -#define __HAL_RCC_TIM14_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_TIM14LPEN)) -#define __HAL_RCC_USART3_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_USART3LPEN)) -#define __HAL_RCC_UART4_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_UART4LPEN)) -#define __HAL_RCC_UART5_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_UART5LPEN)) -#define __HAL_RCC_CAN1_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_CAN1LPEN)) -#define __HAL_RCC_CAN2_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_CAN2LPEN)) -#define __HAL_RCC_DAC_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_DACLPEN)) -#define __HAL_RCC_UART7_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_UART7LPEN)) -#define __HAL_RCC_UART8_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_UART8LPEN)) -#define __HAL_RCC_TIM2_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_TIM2LPEN)) -#define __HAL_RCC_TIM3_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_TIM3LPEN)) -#define __HAL_RCC_TIM4_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_TIM4LPEN)) -#define __HAL_RCC_SPI3_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_SPI3LPEN)) -#define __HAL_RCC_I2C3_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_I2C3LPEN)) - -#define __HAL_RCC_TIM2_CLK_SLEEP_DISABLE() (RCC->APB1LPENR &= ~(RCC_APB1LPENR_TIM2LPEN)) -#define __HAL_RCC_TIM3_CLK_SLEEP_DISABLE() (RCC->APB1LPENR &= ~(RCC_APB1LPENR_TIM3LPEN)) -#define __HAL_RCC_TIM4_CLK_SLEEP_DISABLE() (RCC->APB1LPENR &= ~(RCC_APB1LPENR_TIM4LPEN)) -#define __HAL_RCC_SPI3_CLK_SLEEP_DISABLE() (RCC->APB1LPENR &= ~(RCC_APB1LPENR_SPI3LPEN)) -#define __HAL_RCC_I2C3_CLK_SLEEP_DISABLE() (RCC->APB1LPENR &= ~(RCC_APB1LPENR_I2C3LPEN)) -#define __HAL_RCC_TIM6_CLK_SLEEP_DISABLE() (RCC->APB1LPENR &= ~(RCC_APB1LPENR_TIM6LPEN)) -#define __HAL_RCC_TIM7_CLK_SLEEP_DISABLE() (RCC->APB1LPENR &= ~(RCC_APB1LPENR_TIM7LPEN)) -#define __HAL_RCC_TIM12_CLK_SLEEP_DISABLE() (RCC->APB1LPENR &= ~(RCC_APB1LPENR_TIM12LPEN)) -#define __HAL_RCC_TIM13_CLK_SLEEP_DISABLE() (RCC->APB1LPENR &= ~(RCC_APB1LPENR_TIM13LPEN)) -#define __HAL_RCC_TIM14_CLK_SLEEP_DISABLE() (RCC->APB1LPENR &= ~(RCC_APB1LPENR_TIM14LPEN)) -#define __HAL_RCC_USART3_CLK_SLEEP_DISABLE() (RCC->APB1LPENR &= ~(RCC_APB1LPENR_USART3LPEN)) -#define __HAL_RCC_UART4_CLK_SLEEP_DISABLE() (RCC->APB1LPENR &= ~(RCC_APB1LPENR_UART4LPEN)) -#define __HAL_RCC_UART5_CLK_SLEEP_DISABLE() (RCC->APB1LPENR &= ~(RCC_APB1LPENR_UART5LPEN)) -#define __HAL_RCC_CAN1_CLK_SLEEP_DISABLE() (RCC->APB1LPENR &= ~(RCC_APB1LPENR_CAN1LPEN)) -#define __HAL_RCC_CAN2_CLK_SLEEP_DISABLE() (RCC->APB1LPENR &= ~(RCC_APB1LPENR_CAN2LPEN)) -#define __HAL_RCC_DAC_CLK_SLEEP_DISABLE() (RCC->APB1LPENR &= ~(RCC_APB1LPENR_DACLPEN)) -#define __HAL_RCC_UART7_CLK_SLEEP_DISABLE() (RCC->APB1LPENR &= ~(RCC_APB1LPENR_UART7LPEN)) -#define __HAL_RCC_UART8_CLK_SLEEP_DISABLE() (RCC->APB1LPENR &= ~(RCC_APB1LPENR_UART8LPEN)) -/** - * @} - */ - -/** @defgroup RCCEx_APB2_LowPower_Enable_Disable APB2 Peripheral Low Power Enable Disable - * @brief Enable or disable the APB2 peripheral clock during Low Power (Sleep) mode. - * @note Peripheral clock gating in SLEEP mode can be used to further reduce - * power consumption. - * @note After wakeup from SLEEP mode, the peripheral clock is enabled again. - * @note By default, all peripheral clocks are enabled during SLEEP mode. - * @{ - */ -#define __HAL_RCC_TIM8_CLK_SLEEP_ENABLE() (RCC->APB2LPENR |= (RCC_APB2LPENR_TIM8LPEN)) -#define __HAL_RCC_ADC2_CLK_SLEEP_ENABLE() (RCC->APB2LPENR |= (RCC_APB2LPENR_ADC2LPEN)) -#define __HAL_RCC_ADC3_CLK_SLEEP_ENABLE() (RCC->APB2LPENR |= (RCC_APB2LPENR_ADC3LPEN)) -#define __HAL_RCC_SPI5_CLK_SLEEP_ENABLE() (RCC->APB2LPENR |= (RCC_APB2LPENR_SPI5LPEN)) -#define __HAL_RCC_SPI6_CLK_SLEEP_ENABLE() (RCC->APB2LPENR |= (RCC_APB2LPENR_SPI6LPEN)) -#define __HAL_RCC_SAI1_CLK_SLEEP_ENABLE() (RCC->APB2LPENR |= (RCC_APB2LPENR_SAI1LPEN)) -#define __HAL_RCC_SDIO_CLK_SLEEP_ENABLE() (RCC->APB2LPENR |= (RCC_APB2LPENR_SDIOLPEN)) -#define __HAL_RCC_SPI4_CLK_SLEEP_ENABLE() (RCC->APB2LPENR |= (RCC_APB2LPENR_SPI4LPEN)) -#define __HAL_RCC_TIM10_CLK_SLEEP_ENABLE()(RCC->APB2LPENR |= (RCC_APB2LPENR_TIM10LPEN)) - -#define __HAL_RCC_SDIO_CLK_SLEEP_DISABLE() (RCC->APB2LPENR &= ~(RCC_APB2LPENR_SDIOLPEN)) -#define __HAL_RCC_SPI4_CLK_SLEEP_DISABLE() (RCC->APB2LPENR &= ~(RCC_APB2LPENR_SPI4LPEN)) -#define __HAL_RCC_TIM10_CLK_SLEEP_DISABLE()(RCC->APB2LPENR &= ~(RCC_APB2LPENR_TIM10LPEN)) -#define __HAL_RCC_TIM8_CLK_SLEEP_DISABLE() (RCC->APB2LPENR &= ~(RCC_APB2LPENR_TIM8LPEN)) -#define __HAL_RCC_ADC2_CLK_SLEEP_DISABLE() (RCC->APB2LPENR &= ~(RCC_APB2LPENR_ADC2LPEN)) -#define __HAL_RCC_ADC3_CLK_SLEEP_DISABLE() (RCC->APB2LPENR &= ~(RCC_APB2LPENR_ADC3LPEN)) -#define __HAL_RCC_SPI5_CLK_SLEEP_DISABLE() (RCC->APB2LPENR &= ~(RCC_APB2LPENR_SPI5LPEN)) -#define __HAL_RCC_SPI6_CLK_SLEEP_DISABLE() (RCC->APB2LPENR &= ~(RCC_APB2LPENR_SPI6LPEN)) -#define __HAL_RCC_SAI1_CLK_SLEEP_DISABLE() (RCC->APB2LPENR &= ~(RCC_APB2LPENR_SAI1LPEN)) - -#if defined(STM32F429xx)|| defined(STM32F439xx) || defined(STM32F469xx) || defined(STM32F479xx) -#define __HAL_RCC_LTDC_CLK_SLEEP_ENABLE() (RCC->APB2LPENR |= (RCC_APB2LPENR_LTDCLPEN)) - -#define __HAL_RCC_LTDC_CLK_SLEEP_DISABLE() (RCC->APB2LPENR &= ~(RCC_APB2LPENR_LTDCLPEN)) -#endif /* STM32F429xx || STM32F439xx || STM32F469xx || STM32F479xx */ - -#if defined(STM32F469xx) || defined(STM32F479xx) -#define __HAL_RCC_DSI_CLK_SLEEP_ENABLE() (RCC->APB2LPENR |= (RCC_APB2LPENR_DSILPEN)) -#define __HAL_RCC_DSI_CLK_SLEEP_DISABLE() (RCC->APB2LPENR &= ~(RCC_APB2LPENR_DSILPEN)) -#endif /* STM32F469xx || STM32F479xx */ -/** - * @} - */ -#endif /* STM32F427xx || STM32F437xx || STM32F429xx|| STM32F439xx || STM32F469xx || STM32F479xx */ -/*----------------------------------------------------------------------------*/ - -/*----------------------------------- STM32F40xxx/STM32F41xxx-----------------*/ -#if defined(STM32F405xx) || defined(STM32F415xx) || defined(STM32F407xx)|| defined(STM32F417xx) -/** @defgroup RCCEx_AHB1_Clock_Enable_Disable AHB1 Peripheral Clock Enable Disable - * @brief Enables or disables the AHB1 peripheral clock. - * @note After reset, the peripheral clock (used for registers read/write access) - * is disabled and the application software has to enable this clock before - * using it. - * @{ - */ -#define __HAL_RCC_BKPSRAM_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->AHB1ENR, RCC_AHB1ENR_BKPSRAMEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->AHB1ENR, RCC_AHB1ENR_BKPSRAMEN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_CCMDATARAMEN_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->AHB1ENR, RCC_AHB1ENR_CCMDATARAMEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->AHB1ENR, RCC_AHB1ENR_CCMDATARAMEN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_CRC_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->AHB1ENR, RCC_AHB1ENR_CRCEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->AHB1ENR, RCC_AHB1ENR_CRCEN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_GPIOD_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->AHB1ENR, RCC_AHB1ENR_GPIODEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->AHB1ENR, RCC_AHB1ENR_GPIODEN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_GPIOE_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->AHB1ENR, RCC_AHB1ENR_GPIOEEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->AHB1ENR, RCC_AHB1ENR_GPIOEEN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_GPIOI_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->AHB1ENR, RCC_AHB1ENR_GPIOIEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->AHB1ENR, RCC_AHB1ENR_GPIOIEN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_GPIOF_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->AHB1ENR, RCC_AHB1ENR_GPIOFEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->AHB1ENR, RCC_AHB1ENR_GPIOFEN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_GPIOG_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->AHB1ENR, RCC_AHB1ENR_GPIOGEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->AHB1ENR, RCC_AHB1ENR_GPIOGEN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_USB_OTG_HS_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->AHB1ENR, RCC_AHB1ENR_OTGHSEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->AHB1ENR, RCC_AHB1ENR_OTGHSEN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_USB_OTG_HS_ULPI_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->AHB1ENR, RCC_AHB1ENR_OTGHSULPIEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->AHB1ENR, RCC_AHB1ENR_OTGHSULPIEN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_GPIOD_CLK_DISABLE() (RCC->AHB1ENR &= ~(RCC_AHB1ENR_GPIODEN)) -#define __HAL_RCC_GPIOE_CLK_DISABLE() (RCC->AHB1ENR &= ~(RCC_AHB1ENR_GPIOEEN)) -#define __HAL_RCC_GPIOF_CLK_DISABLE() (RCC->AHB1ENR &= ~(RCC_AHB1ENR_GPIOFEN)) -#define __HAL_RCC_GPIOG_CLK_DISABLE() (RCC->AHB1ENR &= ~(RCC_AHB1ENR_GPIOGEN)) -#define __HAL_RCC_GPIOI_CLK_DISABLE() (RCC->AHB1ENR &= ~(RCC_AHB1ENR_GPIOIEN)) -#define __HAL_RCC_USB_OTG_HS_CLK_DISABLE() (RCC->AHB1ENR &= ~(RCC_AHB1ENR_OTGHSEN)) -#define __HAL_RCC_USB_OTG_HS_ULPI_CLK_DISABLE() (RCC->AHB1ENR &= ~(RCC_AHB1ENR_OTGHSULPIEN)) -#define __HAL_RCC_BKPSRAM_CLK_DISABLE() (RCC->AHB1ENR &= ~(RCC_AHB1ENR_BKPSRAMEN)) -#define __HAL_RCC_CCMDATARAMEN_CLK_DISABLE() (RCC->AHB1ENR &= ~(RCC_AHB1ENR_CCMDATARAMEN)) -#define __HAL_RCC_CRC_CLK_DISABLE() (RCC->AHB1ENR &= ~(RCC_AHB1ENR_CRCEN)) -#if defined(STM32F407xx)|| defined(STM32F417xx) -/** - * @brief Enable ETHERNET clock. - */ -#define __HAL_RCC_ETHMAC_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->AHB1ENR, RCC_AHB1ENR_ETHMACEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->AHB1ENR, RCC_AHB1ENR_ETHMACEN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_ETHMACTX_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->AHB1ENR, RCC_AHB1ENR_ETHMACTXEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->AHB1ENR, RCC_AHB1ENR_ETHMACTXEN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_ETHMACRX_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->AHB1ENR, RCC_AHB1ENR_ETHMACRXEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->AHB1ENR, RCC_AHB1ENR_ETHMACRXEN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_ETHMACPTP_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->AHB1ENR, RCC_AHB1ENR_ETHMACPTPEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->AHB1ENR, RCC_AHB1ENR_ETHMACPTPEN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_ETH_CLK_ENABLE() do { \ - __HAL_RCC_ETHMAC_CLK_ENABLE(); \ - __HAL_RCC_ETHMACTX_CLK_ENABLE(); \ - __HAL_RCC_ETHMACRX_CLK_ENABLE(); \ - } while(0U) - -/** - * @brief Disable ETHERNET clock. - */ -#define __HAL_RCC_ETHMAC_CLK_DISABLE() (RCC->AHB1ENR &= ~(RCC_AHB1ENR_ETHMACEN)) -#define __HAL_RCC_ETHMACTX_CLK_DISABLE() (RCC->AHB1ENR &= ~(RCC_AHB1ENR_ETHMACTXEN)) -#define __HAL_RCC_ETHMACRX_CLK_DISABLE() (RCC->AHB1ENR &= ~(RCC_AHB1ENR_ETHMACRXEN)) -#define __HAL_RCC_ETHMACPTP_CLK_DISABLE() (RCC->AHB1ENR &= ~(RCC_AHB1ENR_ETHMACPTPEN)) -#define __HAL_RCC_ETH_CLK_DISABLE() do { \ - __HAL_RCC_ETHMACTX_CLK_DISABLE(); \ - __HAL_RCC_ETHMACRX_CLK_DISABLE(); \ - __HAL_RCC_ETHMAC_CLK_DISABLE(); \ - } while(0U) -#endif /* STM32F407xx || STM32F417xx */ -/** - * @} - */ - -/** @defgroup RCCEx_AHB1_Peripheral_Clock_Enable_Disable_Status AHB1 Peripheral Clock Enable Disable Status - * @brief Get the enable or disable status of the AHB1 peripheral clock. - * @note After reset, the peripheral clock (used for registers read/write access) - * is disabled and the application software has to enable this clock before - * using it. - * @{ - */ -#define __HAL_RCC_BKPSRAM_IS_CLK_ENABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_BKPSRAMEN)) != RESET) -#define __HAL_RCC_CCMDATARAMEN_IS_CLK_ENABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_CCMDATARAMEN)) != RESET) -#define __HAL_RCC_CRC_IS_CLK_ENABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_CRCEN)) != RESET) -#define __HAL_RCC_GPIOD_IS_CLK_ENABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_GPIODEN)) != RESET) -#define __HAL_RCC_GPIOE_IS_CLK_ENABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_GPIOEEN)) != RESET) -#define __HAL_RCC_GPIOI_IS_CLK_ENABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_GPIOIEN)) != RESET) -#define __HAL_RCC_GPIOF_IS_CLK_ENABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_GPIOFEN)) != RESET) -#define __HAL_RCC_GPIOG_IS_CLK_ENABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_GPIOGEN)) != RESET) -#define __HAL_RCC_USB_OTG_HS_IS_CLK_ENABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_OTGHSEN)) != RESET) -#define __HAL_RCC_USB_OTG_HS_ULPI_IS_CLK_ENABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_OTGHSULPIEN)) != RESET) - -#define __HAL_RCC_GPIOD_IS_CLK_DISABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_GPIODEN)) == RESET) -#define __HAL_RCC_GPIOE_IS_CLK_DISABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_GPIOEEN)) == RESET) -#define __HAL_RCC_GPIOF_IS_CLK_DISABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_GPIOFEN)) == RESET) -#define __HAL_RCC_GPIOG_IS_CLK_DISABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_GPIOGEN)) == RESET) -#define __HAL_RCC_GPIOI_IS_CLK_DISABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_GPIOIEN)) == RESET) -#define __HAL_RCC_USB_OTG_HS_IS_CLK_DISABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_OTGHSEN)) == RESET) -#define __HAL_RCC_USB_OTG_HS_ULPI_IS_CLK_DISABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_OTGHSULPIEN))== RESET) -#define __HAL_RCC_BKPSRAM_IS_CLK_DISABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_BKPSRAMEN)) == RESET) -#define __HAL_RCC_CCMDATARAMEN_IS_CLK_DISABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_CCMDATARAMEN)) == RESET) -#define __HAL_RCC_CRC_IS_CLK_DISABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_CRCEN)) == RESET) -#if defined(STM32F407xx)|| defined(STM32F417xx) -/** - * @brief Enable ETHERNET clock. - */ -#define __HAL_RCC_ETHMAC_IS_CLK_ENABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_ETHMACEN)) != RESET) -#define __HAL_RCC_ETHMACTX_IS_CLK_ENABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_ETHMACTXEN)) != RESET) -#define __HAL_RCC_ETHMACRX_IS_CLK_ENABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_ETHMACRXEN)) != RESET) -#define __HAL_RCC_ETHMACPTP_IS_CLK_ENABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_ETHMACPTPEN)) != RESET) -#define __HAL_RCC_ETH_IS_CLK_ENABLED() (__HAL_RCC_ETHMAC_IS_CLK_ENABLED() && \ - __HAL_RCC_ETHMACTX_IS_CLK_ENABLED() && \ - __HAL_RCC_ETHMACRX_IS_CLK_ENABLED()) -/** - * @brief Disable ETHERNET clock. - */ -#define __HAL_RCC_ETHMAC_IS_CLK_DISABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_ETHMACEN)) == RESET) -#define __HAL_RCC_ETHMACTX_IS_CLK_DISABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_ETHMACTXEN)) == RESET) -#define __HAL_RCC_ETHMACRX_IS_CLK_DISABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_ETHMACRXEN)) == RESET) -#define __HAL_RCC_ETHMACPTP_IS_CLK_DISABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_ETHMACPTPEN)) == RESET) -#define __HAL_RCC_ETH_IS_CLK_DISABLED() (__HAL_RCC_ETHMAC_IS_CLK_DISABLED() && \ - __HAL_RCC_ETHMACTX_IS_CLK_DISABLED() && \ - __HAL_RCC_ETHMACRX_IS_CLK_DISABLED()) -#endif /* STM32F407xx || STM32F417xx */ -/** - * @} - */ - -/** @defgroup RCCEx_AHB2_Clock_Enable_Disable AHB2 Peripheral Clock Enable Disable - * @brief Enable or disable the AHB2 peripheral clock. - * @note After reset, the peripheral clock (used for registers read/write access) - * is disabled and the application software has to enable this clock before - * using it. - * @{ - */ -#define __HAL_RCC_USB_OTG_FS_CLK_ENABLE() do {(RCC->AHB2ENR |= (RCC_AHB2ENR_OTGFSEN));\ - __HAL_RCC_SYSCFG_CLK_ENABLE();\ - }while(0U) - -#define __HAL_RCC_USB_OTG_FS_CLK_DISABLE() (RCC->AHB2ENR &= ~(RCC_AHB2ENR_OTGFSEN)) - -#define __HAL_RCC_RNG_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->AHB2ENR, RCC_AHB2ENR_RNGEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->AHB2ENR, RCC_AHB2ENR_RNGEN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_RNG_CLK_DISABLE() (RCC->AHB2ENR &= ~(RCC_AHB2ENR_RNGEN)) - -#if defined(STM32F407xx)|| defined(STM32F417xx) -#define __HAL_RCC_DCMI_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->AHB2ENR, RCC_AHB2ENR_DCMIEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->AHB2ENR, RCC_AHB2ENR_DCMIEN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_DCMI_CLK_DISABLE() (RCC->AHB2ENR &= ~(RCC_AHB2ENR_DCMIEN)) -#endif /* STM32F407xx || STM32F417xx */ - -#if defined(STM32F415xx) || defined(STM32F417xx) -#define __HAL_RCC_CRYP_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->AHB2ENR, RCC_AHB2ENR_CRYPEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->AHB2ENR, RCC_AHB2ENR_CRYPEN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_HASH_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->AHB2ENR, RCC_AHB2ENR_HASHEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->AHB2ENR, RCC_AHB2ENR_HASHEN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_CRYP_CLK_DISABLE() (RCC->AHB2ENR &= ~(RCC_AHB2ENR_CRYPEN)) -#define __HAL_RCC_HASH_CLK_DISABLE() (RCC->AHB2ENR &= ~(RCC_AHB2ENR_HASHEN)) -#endif /* STM32F415xx || STM32F417xx */ -/** - * @} - */ - - -/** @defgroup RCCEx_AHB2_Peripheral_Clock_Enable_Disable_Status AHB2 Peripheral Clock Enable Disable Status - * @brief Get the enable or disable status of the AHB2 peripheral clock. - * @note After reset, the peripheral clock (used for registers read/write access) - * is disabled and the application software has to enable this clock before - * using it. - * @{ - */ -#define __HAL_RCC_USB_OTG_FS_IS_CLK_ENABLED() ((RCC->AHB2ENR & (RCC_AHB2ENR_OTGFSEN)) != RESET) -#define __HAL_RCC_USB_OTG_FS_IS_CLK_DISABLED() ((RCC->AHB2ENR & (RCC_AHB2ENR_OTGFSEN)) == RESET) - -#define __HAL_RCC_RNG_IS_CLK_ENABLED() ((RCC->AHB2ENR & (RCC_AHB2ENR_RNGEN)) != RESET) -#define __HAL_RCC_RNG_IS_CLK_DISABLED() ((RCC->AHB2ENR & (RCC_AHB2ENR_RNGEN)) == RESET) - -#if defined(STM32F407xx)|| defined(STM32F417xx) -#define __HAL_RCC_DCMI_IS_CLK_ENABLED() ((RCC->AHB2ENR & (RCC_AHB2ENR_DCMIEN)) != RESET) -#define __HAL_RCC_DCMI_IS_CLK_DISABLED() ((RCC->AHB2ENR & (RCC_AHB2ENR_DCMIEN)) == RESET) -#endif /* STM32F407xx || STM32F417xx */ - -#if defined(STM32F415xx) || defined(STM32F417xx) -#define __HAL_RCC_CRYP_IS_CLK_ENABLED() ((RCC->AHB2ENR & (RCC_AHB2ENR_CRYPEN)) != RESET) -#define __HAL_RCC_HASH_IS_CLK_ENABLED() ((RCC->AHB2ENR & (RCC_AHB2ENR_HASHEN)) != RESET) - -#define __HAL_RCC_CRYP_IS_CLK_DISABLED() ((RCC->AHB2ENR & (RCC_AHB2ENR_CRYPEN)) == RESET) -#define __HAL_RCC_HASH_IS_CLK_DISABLED() ((RCC->AHB2ENR & (RCC_AHB2ENR_HASHEN)) == RESET) -#endif /* STM32F415xx || STM32F417xx */ -/** - * @} - */ - -/** @defgroup RCCEx_AHB3_Clock_Enable_Disable AHB3 Peripheral Clock Enable Disable - * @brief Enables or disables the AHB3 peripheral clock. - * @note After reset, the peripheral clock (used for registers read/write access) - * is disabled and the application software has to enable this clock before - * using it. - * @{ - */ -#define __HAL_RCC_FSMC_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->AHB3ENR, RCC_AHB3ENR_FSMCEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->AHB3ENR, RCC_AHB3ENR_FSMCEN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_FSMC_CLK_DISABLE() (RCC->AHB3ENR &= ~(RCC_AHB3ENR_FSMCEN)) -/** - * @} - */ - -/** @defgroup RCCEx_AHB3_Peripheral_Clock_Enable_Disable_Status AHB3 Peripheral Clock Enable Disable Status - * @brief Get the enable or disable status of the AHB3 peripheral clock. - * @note After reset, the peripheral clock (used for registers read/write access) - * is disabled and the application software has to enable this clock before - * using it. - * @{ - */ -#define __HAL_RCC_FSMC_IS_CLK_ENABLED() ((RCC->AHB3ENR & (RCC_AHB3ENR_FSMCEN)) != RESET) -#define __HAL_RCC_FSMC_IS_CLK_DISABLED() ((RCC->AHB3ENR & (RCC_AHB3ENR_FSMCEN)) == RESET) -/** - * @} - */ - -/** @defgroup RCCEx_APB1_Clock_Enable_Disable APB1 Peripheral Clock Enable Disable - * @brief Enable or disable the Low Speed APB (APB1) peripheral clock. - * @note After reset, the peripheral clock (used for registers read/write access) - * is disabled and the application software has to enable this clock before - * using it. - * @{ - */ -#define __HAL_RCC_TIM6_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_TIM6EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_TIM6EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_TIM7_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_TIM7EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_TIM7EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_TIM12_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_TIM12EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_TIM12EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_TIM13_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_TIM13EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_TIM13EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_TIM14_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_TIM14EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_TIM14EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_USART3_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_USART3EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_USART3EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_UART4_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_UART4EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_UART4EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_UART5_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_UART5EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_UART5EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_CAN1_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_CAN1EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_CAN1EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_CAN2_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_CAN2EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_CAN2EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_DAC_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_DACEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_DACEN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_TIM2_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_TIM2EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_TIM2EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_TIM3_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_TIM3EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_TIM3EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_TIM4_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_TIM4EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_TIM4EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_SPI3_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_SPI3EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_SPI3EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_I2C3_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_I2C3EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_I2C3EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_TIM2_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_TIM2EN)) -#define __HAL_RCC_TIM3_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_TIM3EN)) -#define __HAL_RCC_TIM4_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_TIM4EN)) -#define __HAL_RCC_SPI3_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_SPI3EN)) -#define __HAL_RCC_I2C3_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_I2C3EN)) -#define __HAL_RCC_TIM6_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_TIM6EN)) -#define __HAL_RCC_TIM7_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_TIM7EN)) -#define __HAL_RCC_TIM12_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_TIM12EN)) -#define __HAL_RCC_TIM13_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_TIM13EN)) -#define __HAL_RCC_TIM14_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_TIM14EN)) -#define __HAL_RCC_USART3_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_USART3EN)) -#define __HAL_RCC_UART4_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_UART4EN)) -#define __HAL_RCC_UART5_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_UART5EN)) -#define __HAL_RCC_CAN1_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_CAN1EN)) -#define __HAL_RCC_CAN2_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_CAN2EN)) -#define __HAL_RCC_DAC_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_DACEN)) -/** - * @} - */ - -/** @defgroup RCCEx_APB1_Peripheral_Clock_Enable_Disable_Status APB1 Peripheral Clock Enable Disable Status - * @brief Get the enable or disable status of the APB1 peripheral clock. - * @note After reset, the peripheral clock (used for registers read/write access) - * is disabled and the application software has to enable this clock before - * using it. - * @{ - */ -#define __HAL_RCC_TIM2_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_TIM2EN)) != RESET) -#define __HAL_RCC_TIM3_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_TIM3EN)) != RESET) -#define __HAL_RCC_TIM4_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_TIM4EN)) != RESET) -#define __HAL_RCC_SPI3_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_SPI3EN)) != RESET) -#define __HAL_RCC_I2C3_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_I2C3EN)) != RESET) -#define __HAL_RCC_TIM6_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_TIM6EN)) != RESET) -#define __HAL_RCC_TIM7_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_TIM7EN)) != RESET) -#define __HAL_RCC_TIM12_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_TIM12EN)) != RESET) -#define __HAL_RCC_TIM13_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_TIM13EN)) != RESET) -#define __HAL_RCC_TIM14_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_TIM14EN)) != RESET) -#define __HAL_RCC_USART3_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_USART3EN)) != RESET) -#define __HAL_RCC_UART4_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_UART4EN)) != RESET) -#define __HAL_RCC_UART5_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_UART5EN)) != RESET) -#define __HAL_RCC_CAN1_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_CAN1EN)) != RESET) -#define __HAL_RCC_CAN2_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_CAN2EN)) != RESET) -#define __HAL_RCC_DAC_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_DACEN)) != RESET) - -#define __HAL_RCC_TIM2_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_TIM2EN)) == RESET) -#define __HAL_RCC_TIM3_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_TIM3EN)) == RESET) -#define __HAL_RCC_TIM4_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_TIM4EN)) == RESET) -#define __HAL_RCC_SPI3_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_SPI3EN)) == RESET) -#define __HAL_RCC_I2C3_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_I2C3EN)) == RESET) -#define __HAL_RCC_TIM6_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_TIM6EN)) == RESET) -#define __HAL_RCC_TIM7_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_TIM7EN)) == RESET) -#define __HAL_RCC_TIM12_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_TIM12EN)) == RESET) -#define __HAL_RCC_TIM13_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_TIM13EN)) == RESET) -#define __HAL_RCC_TIM14_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_TIM14EN)) == RESET) -#define __HAL_RCC_USART3_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_USART3EN)) == RESET) -#define __HAL_RCC_UART4_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_UART4EN)) == RESET) -#define __HAL_RCC_UART5_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_UART5EN)) == RESET) -#define __HAL_RCC_CAN1_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_CAN1EN)) == RESET) -#define __HAL_RCC_CAN2_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_CAN2EN)) == RESET) -#define __HAL_RCC_DAC_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_DACEN)) == RESET) - /** - * @} - */ - -/** @defgroup RCCEx_APB2_Clock_Enable_Disable APB2 Peripheral Clock Enable Disable - * @brief Enable or disable the High Speed APB (APB2) peripheral clock. - * @note After reset, the peripheral clock (used for registers read/write access) - * is disabled and the application software has to enable this clock before - * using it. - * @{ - */ -#define __HAL_RCC_TIM8_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB2ENR, RCC_APB2ENR_TIM8EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB2ENR, RCC_APB2ENR_TIM8EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_ADC2_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB2ENR, RCC_APB2ENR_ADC2EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB2ENR, RCC_APB2ENR_ADC2EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_ADC3_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB2ENR, RCC_APB2ENR_ADC3EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB2ENR, RCC_APB2ENR_ADC3EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_SDIO_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB2ENR, RCC_APB2ENR_SDIOEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB2ENR, RCC_APB2ENR_SDIOEN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_SPI4_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB2ENR, RCC_APB2ENR_SPI4EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB2ENR, RCC_APB2ENR_SPI4EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_TIM10_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB2ENR, RCC_APB2ENR_TIM10EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB2ENR, RCC_APB2ENR_TIM10EN);\ - UNUSED(tmpreg); \ - } while(0U) - -#define __HAL_RCC_SDIO_CLK_DISABLE() (RCC->APB2ENR &= ~(RCC_APB2ENR_SDIOEN)) -#define __HAL_RCC_SPI4_CLK_DISABLE() (RCC->APB2ENR &= ~(RCC_APB2ENR_SPI4EN)) -#define __HAL_RCC_TIM10_CLK_DISABLE() (RCC->APB2ENR &= ~(RCC_APB2ENR_TIM10EN)) -#define __HAL_RCC_TIM8_CLK_DISABLE() (RCC->APB2ENR &= ~(RCC_APB2ENR_TIM8EN)) -#define __HAL_RCC_ADC2_CLK_DISABLE() (RCC->APB2ENR &= ~(RCC_APB2ENR_ADC2EN)) -#define __HAL_RCC_ADC3_CLK_DISABLE() (RCC->APB2ENR &= ~(RCC_APB2ENR_ADC3EN)) -/** - * @} - */ - -/** @defgroup RCCEx_APB2_Peripheral_Clock_Enable_Disable_Status APB2 Peripheral Clock Enable Disable Status - * @brief Get the enable or disable status of the APB2 peripheral clock. - * @note After reset, the peripheral clock (used for registers read/write access) - * is disabled and the application software has to enable this clock before - * using it. - * @{ - */ -#define __HAL_RCC_SDIO_IS_CLK_ENABLED() ((RCC->APB2ENR & (RCC_APB2ENR_SDIOEN)) != RESET) -#define __HAL_RCC_SPI4_IS_CLK_ENABLED() ((RCC->APB2ENR & (RCC_APB2ENR_SPI4EN)) != RESET) -#define __HAL_RCC_TIM10_IS_CLK_ENABLED() ((RCC->APB2ENR & (RCC_APB2ENR_TIM10EN)) != RESET) -#define __HAL_RCC_TIM8_IS_CLK_ENABLED() ((RCC->APB2ENR & (RCC_APB2ENR_TIM8EN)) != RESET) -#define __HAL_RCC_ADC2_IS_CLK_ENABLED() ((RCC->APB2ENR & (RCC_APB2ENR_ADC2EN)) != RESET) -#define __HAL_RCC_ADC3_IS_CLK_ENABLED() ((RCC->APB2ENR & (RCC_APB2ENR_ADC3EN)) != RESET) - -#define __HAL_RCC_SDIO_IS_CLK_DISABLED() ((RCC->APB2ENR & (RCC_APB2ENR_SDIOEN)) == RESET) -#define __HAL_RCC_SPI4_IS_CLK_DISABLED() ((RCC->APB2ENR & (RCC_APB2ENR_SPI4EN)) == RESET) -#define __HAL_RCC_TIM10_IS_CLK_DISABLED() ((RCC->APB2ENR & (RCC_APB2ENR_TIM10EN)) == RESET) -#define __HAL_RCC_TIM8_IS_CLK_DISABLED() ((RCC->APB2ENR & (RCC_APB2ENR_TIM8EN)) == RESET) -#define __HAL_RCC_ADC2_IS_CLK_DISABLED() ((RCC->APB2ENR & (RCC_APB2ENR_ADC2EN)) == RESET) -#define __HAL_RCC_ADC3_IS_CLK_DISABLED() ((RCC->APB2ENR & (RCC_APB2ENR_ADC3EN)) == RESET) -/** - * @} - */ - -/** @defgroup RCCEx_AHB1_Force_Release_Reset AHB1 Force Release Reset - * @brief Force or release AHB1 peripheral reset. - * @{ - */ -#define __HAL_RCC_GPIOD_FORCE_RESET() (RCC->AHB1RSTR |= (RCC_AHB1RSTR_GPIODRST)) -#define __HAL_RCC_GPIOE_FORCE_RESET() (RCC->AHB1RSTR |= (RCC_AHB1RSTR_GPIOERST)) -#define __HAL_RCC_GPIOF_FORCE_RESET() (RCC->AHB1RSTR |= (RCC_AHB1RSTR_GPIOFRST)) -#define __HAL_RCC_GPIOG_FORCE_RESET() (RCC->AHB1RSTR |= (RCC_AHB1RSTR_GPIOGRST)) -#define __HAL_RCC_GPIOI_FORCE_RESET() (RCC->AHB1RSTR |= (RCC_AHB1RSTR_GPIOIRST)) -#define __HAL_RCC_ETHMAC_FORCE_RESET() (RCC->AHB1RSTR |= (RCC_AHB1RSTR_ETHMACRST)) -#define __HAL_RCC_USB_OTG_HS_FORCE_RESET() (RCC->AHB1RSTR |= (RCC_AHB1RSTR_OTGHRST)) -#define __HAL_RCC_CRC_FORCE_RESET() (RCC->AHB1RSTR |= (RCC_AHB1RSTR_CRCRST)) - -#define __HAL_RCC_GPIOD_RELEASE_RESET() (RCC->AHB1RSTR &= ~(RCC_AHB1RSTR_GPIODRST)) -#define __HAL_RCC_GPIOE_RELEASE_RESET() (RCC->AHB1RSTR &= ~(RCC_AHB1RSTR_GPIOERST)) -#define __HAL_RCC_GPIOF_RELEASE_RESET() (RCC->AHB1RSTR &= ~(RCC_AHB1RSTR_GPIOFRST)) -#define __HAL_RCC_GPIOG_RELEASE_RESET() (RCC->AHB1RSTR &= ~(RCC_AHB1RSTR_GPIOGRST)) -#define __HAL_RCC_GPIOI_RELEASE_RESET() (RCC->AHB1RSTR &= ~(RCC_AHB1RSTR_GPIOIRST)) -#define __HAL_RCC_ETHMAC_RELEASE_RESET() (RCC->AHB1RSTR &= ~(RCC_AHB1RSTR_ETHMACRST)) -#define __HAL_RCC_USB_OTG_HS_RELEASE_RESET() (RCC->AHB1RSTR &= ~(RCC_AHB1RSTR_OTGHRST)) -#define __HAL_RCC_CRC_RELEASE_RESET() (RCC->AHB1RSTR &= ~(RCC_AHB1RSTR_CRCRST)) -/** - * @} - */ - -/** @defgroup RCCEx_AHB2_Force_Release_Reset AHB2 Force Release Reset - * @brief Force or release AHB2 peripheral reset. - * @{ - */ -#define __HAL_RCC_AHB2_FORCE_RESET() (RCC->AHB2RSTR = 0xFFFFFFFFU) -#define __HAL_RCC_AHB2_RELEASE_RESET() (RCC->AHB2RSTR = 0x00U) - -#if defined(STM32F407xx)|| defined(STM32F417xx) -#define __HAL_RCC_DCMI_FORCE_RESET() (RCC->AHB2RSTR |= (RCC_AHB2RSTR_DCMIRST)) -#define __HAL_RCC_DCMI_RELEASE_RESET() (RCC->AHB2RSTR &= ~(RCC_AHB2RSTR_DCMIRST)) -#endif /* STM32F407xx || STM32F417xx */ - -#if defined(STM32F415xx) || defined(STM32F417xx) -#define __HAL_RCC_CRYP_FORCE_RESET() (RCC->AHB2RSTR |= (RCC_AHB2RSTR_CRYPRST)) -#define __HAL_RCC_HASH_FORCE_RESET() (RCC->AHB2RSTR |= (RCC_AHB2RSTR_HASHRST)) - -#define __HAL_RCC_CRYP_RELEASE_RESET() (RCC->AHB2RSTR &= ~(RCC_AHB2RSTR_CRYPRST)) -#define __HAL_RCC_HASH_RELEASE_RESET() (RCC->AHB2RSTR &= ~(RCC_AHB2RSTR_HASHRST)) -#endif /* STM32F415xx || STM32F417xx */ - -#define __HAL_RCC_USB_OTG_FS_FORCE_RESET() (RCC->AHB2RSTR |= (RCC_AHB2RSTR_OTGFSRST)) -#define __HAL_RCC_USB_OTG_FS_RELEASE_RESET() (RCC->AHB2RSTR &= ~(RCC_AHB2RSTR_OTGFSRST)) - -#define __HAL_RCC_RNG_FORCE_RESET() (RCC->AHB2RSTR |= (RCC_AHB2RSTR_RNGRST)) -#define __HAL_RCC_RNG_RELEASE_RESET() (RCC->AHB2RSTR &= ~(RCC_AHB2RSTR_RNGRST)) -/** - * @} - */ - -/** @defgroup RCCEx_AHB3_Force_Release_Reset AHB3 Force Release Reset - * @brief Force or release AHB3 peripheral reset. - * @{ - */ -#define __HAL_RCC_AHB3_FORCE_RESET() (RCC->AHB3RSTR = 0xFFFFFFFFU) -#define __HAL_RCC_AHB3_RELEASE_RESET() (RCC->AHB3RSTR = 0x00U) - -#define __HAL_RCC_FSMC_FORCE_RESET() (RCC->AHB3RSTR |= (RCC_AHB3RSTR_FSMCRST)) -#define __HAL_RCC_FSMC_RELEASE_RESET() (RCC->AHB3RSTR &= ~(RCC_AHB3RSTR_FSMCRST)) -/** - * @} - */ - -/** @defgroup RCCEx_APB1_Force_Release_Reset APB1 Force Release Reset - * @brief Force or release APB1 peripheral reset. - * @{ - */ -#define __HAL_RCC_TIM6_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_TIM6RST)) -#define __HAL_RCC_TIM7_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_TIM7RST)) -#define __HAL_RCC_TIM12_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_TIM12RST)) -#define __HAL_RCC_TIM13_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_TIM13RST)) -#define __HAL_RCC_TIM14_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_TIM14RST)) -#define __HAL_RCC_USART3_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_USART3RST)) -#define __HAL_RCC_UART4_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_UART4RST)) -#define __HAL_RCC_UART5_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_UART5RST)) -#define __HAL_RCC_CAN1_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_CAN1RST)) -#define __HAL_RCC_CAN2_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_CAN2RST)) -#define __HAL_RCC_DAC_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_DACRST)) -#define __HAL_RCC_TIM2_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_TIM2RST)) -#define __HAL_RCC_TIM3_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_TIM3RST)) -#define __HAL_RCC_TIM4_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_TIM4RST)) -#define __HAL_RCC_SPI3_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_SPI3RST)) -#define __HAL_RCC_I2C3_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_I2C3RST)) - -#define __HAL_RCC_TIM2_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_TIM2RST)) -#define __HAL_RCC_TIM3_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_TIM3RST)) -#define __HAL_RCC_TIM4_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_TIM4RST)) -#define __HAL_RCC_SPI3_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_SPI3RST)) -#define __HAL_RCC_I2C3_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_I2C3RST)) -#define __HAL_RCC_TIM6_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_TIM6RST)) -#define __HAL_RCC_TIM7_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_TIM7RST)) -#define __HAL_RCC_TIM12_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_TIM12RST)) -#define __HAL_RCC_TIM13_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_TIM13RST)) -#define __HAL_RCC_TIM14_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_TIM14RST)) -#define __HAL_RCC_USART3_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_USART3RST)) -#define __HAL_RCC_UART4_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_UART4RST)) -#define __HAL_RCC_UART5_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_UART5RST)) -#define __HAL_RCC_CAN1_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_CAN1RST)) -#define __HAL_RCC_CAN2_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_CAN2RST)) -#define __HAL_RCC_DAC_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_DACRST)) -/** - * @} - */ - -/** @defgroup RCCEx_APB2_Force_Release_Reset APB2 Force Release Reset - * @brief Force or release APB2 peripheral reset. - * @{ - */ -#define __HAL_RCC_TIM8_FORCE_RESET() (RCC->APB2RSTR |= (RCC_APB2RSTR_TIM8RST)) -#define __HAL_RCC_SDIO_FORCE_RESET() (RCC->APB2RSTR |= (RCC_APB2RSTR_SDIORST)) -#define __HAL_RCC_SPI4_FORCE_RESET() (RCC->APB2RSTR |= (RCC_APB2RSTR_SPI4RST)) -#define __HAL_RCC_TIM10_FORCE_RESET() (RCC->APB2RSTR |= (RCC_APB2RSTR_TIM10RST)) - -#define __HAL_RCC_SDIO_RELEASE_RESET() (RCC->APB2RSTR &= ~(RCC_APB2RSTR_SDIORST)) -#define __HAL_RCC_SPI4_RELEASE_RESET() (RCC->APB2RSTR &= ~(RCC_APB2RSTR_SPI4RST)) -#define __HAL_RCC_TIM10_RELEASE_RESET()(RCC->APB2RSTR &= ~(RCC_APB2RSTR_TIM10RST)) -#define __HAL_RCC_TIM8_RELEASE_RESET() (RCC->APB2RSTR &= ~(RCC_APB2RSTR_TIM8RST)) -/** - * @} - */ - -/** @defgroup RCCEx_AHB1_LowPower_Enable_Disable AHB1 Peripheral Low Power Enable Disable - * @brief Enable or disable the AHB1 peripheral clock during Low Power (Sleep) mode. - * @note Peripheral clock gating in SLEEP mode can be used to further reduce - * power consumption. - * @note After wakeup from SLEEP mode, the peripheral clock is enabled again. - * @note By default, all peripheral clocks are enabled during SLEEP mode. - * @{ - */ -#define __HAL_RCC_GPIOD_CLK_SLEEP_ENABLE() (RCC->AHB1LPENR |= (RCC_AHB1LPENR_GPIODLPEN)) -#define __HAL_RCC_GPIOE_CLK_SLEEP_ENABLE() (RCC->AHB1LPENR |= (RCC_AHB1LPENR_GPIOELPEN)) -#define __HAL_RCC_GPIOF_CLK_SLEEP_ENABLE() (RCC->AHB1LPENR |= (RCC_AHB1LPENR_GPIOFLPEN)) -#define __HAL_RCC_GPIOG_CLK_SLEEP_ENABLE() (RCC->AHB1LPENR |= (RCC_AHB1LPENR_GPIOGLPEN)) -#define __HAL_RCC_GPIOI_CLK_SLEEP_ENABLE() (RCC->AHB1LPENR |= (RCC_AHB1LPENR_GPIOILPEN)) -#define __HAL_RCC_SRAM2_CLK_SLEEP_ENABLE() (RCC->AHB1LPENR |= (RCC_AHB1LPENR_SRAM2LPEN)) -#define __HAL_RCC_ETHMAC_CLK_SLEEP_ENABLE() (RCC->AHB1LPENR |= (RCC_AHB1LPENR_ETHMACLPEN)) -#define __HAL_RCC_ETHMACTX_CLK_SLEEP_ENABLE() (RCC->AHB1LPENR |= (RCC_AHB1LPENR_ETHMACTXLPEN)) -#define __HAL_RCC_ETHMACRX_CLK_SLEEP_ENABLE() (RCC->AHB1LPENR |= (RCC_AHB1LPENR_ETHMACRXLPEN)) -#define __HAL_RCC_ETHMACPTP_CLK_SLEEP_ENABLE() (RCC->AHB1LPENR |= (RCC_AHB1LPENR_ETHMACPTPLPEN)) -#define __HAL_RCC_USB_OTG_HS_CLK_SLEEP_ENABLE() (RCC->AHB1LPENR |= (RCC_AHB1LPENR_OTGHSLPEN)) -#define __HAL_RCC_USB_OTG_HS_ULPI_CLK_SLEEP_ENABLE() (RCC->AHB1LPENR |= (RCC_AHB1LPENR_OTGHSULPILPEN)) -#define __HAL_RCC_CRC_CLK_SLEEP_ENABLE() (RCC->AHB1LPENR |= (RCC_AHB1LPENR_CRCLPEN)) -#define __HAL_RCC_FLITF_CLK_SLEEP_ENABLE() (RCC->AHB1LPENR |= (RCC_AHB1LPENR_FLITFLPEN)) -#define __HAL_RCC_SRAM1_CLK_SLEEP_ENABLE() (RCC->AHB1LPENR |= (RCC_AHB1LPENR_SRAM1LPEN)) -#define __HAL_RCC_BKPSRAM_CLK_SLEEP_ENABLE() (RCC->AHB1LPENR |= (RCC_AHB1LPENR_BKPSRAMLPEN)) - -#define __HAL_RCC_GPIOD_CLK_SLEEP_DISABLE() (RCC->AHB1LPENR &= ~(RCC_AHB1LPENR_GPIODLPEN)) -#define __HAL_RCC_GPIOE_CLK_SLEEP_DISABLE() (RCC->AHB1LPENR &= ~(RCC_AHB1LPENR_GPIOELPEN)) -#define __HAL_RCC_GPIOF_CLK_SLEEP_DISABLE() (RCC->AHB1LPENR &= ~(RCC_AHB1LPENR_GPIOFLPEN)) -#define __HAL_RCC_GPIOG_CLK_SLEEP_DISABLE() (RCC->AHB1LPENR &= ~(RCC_AHB1LPENR_GPIOGLPEN)) -#define __HAL_RCC_GPIOI_CLK_SLEEP_DISABLE() (RCC->AHB1LPENR &= ~(RCC_AHB1LPENR_GPIOILPEN)) -#define __HAL_RCC_SRAM2_CLK_SLEEP_DISABLE() (RCC->AHB1LPENR &= ~(RCC_AHB1LPENR_SRAM2LPEN)) -#define __HAL_RCC_ETHMAC_CLK_SLEEP_DISABLE() (RCC->AHB1LPENR &= ~(RCC_AHB1LPENR_ETHMACLPEN)) -#define __HAL_RCC_ETHMACTX_CLK_SLEEP_DISABLE() (RCC->AHB1LPENR &= ~(RCC_AHB1LPENR_ETHMACTXLPEN)) -#define __HAL_RCC_ETHMACRX_CLK_SLEEP_DISABLE() (RCC->AHB1LPENR &= ~(RCC_AHB1LPENR_ETHMACRXLPEN)) -#define __HAL_RCC_ETHMACPTP_CLK_SLEEP_DISABLE() (RCC->AHB1LPENR &= ~(RCC_AHB1LPENR_ETHMACPTPLPEN)) -#define __HAL_RCC_USB_OTG_HS_CLK_SLEEP_DISABLE() (RCC->AHB1LPENR &= ~(RCC_AHB1LPENR_OTGHSLPEN)) -#define __HAL_RCC_USB_OTG_HS_ULPI_CLK_SLEEP_DISABLE() (RCC->AHB1LPENR &= ~(RCC_AHB1LPENR_OTGHSULPILPEN)) -#define __HAL_RCC_CRC_CLK_SLEEP_DISABLE() (RCC->AHB1LPENR &= ~(RCC_AHB1LPENR_CRCLPEN)) -#define __HAL_RCC_FLITF_CLK_SLEEP_DISABLE() (RCC->AHB1LPENR &= ~(RCC_AHB1LPENR_FLITFLPEN)) -#define __HAL_RCC_SRAM1_CLK_SLEEP_DISABLE() (RCC->AHB1LPENR &= ~(RCC_AHB1LPENR_SRAM1LPEN)) -#define __HAL_RCC_BKPSRAM_CLK_SLEEP_DISABLE() (RCC->AHB1LPENR &= ~(RCC_AHB1LPENR_BKPSRAMLPEN)) -/** - * @} - */ - -/** @defgroup RCCEx_AHB2_LowPower_Enable_Disable AHB2 Peripheral Low Power Enable Disable - * @brief Enable or disable the AHB2 peripheral clock during Low Power (Sleep) mode. - * @note Peripheral clock gating in SLEEP mode can be used to further reduce - * power consumption. - * @note After wake-up from SLEEP mode, the peripheral clock is enabled again. - * @note By default, all peripheral clocks are enabled during SLEEP mode. - * @{ - */ -#define __HAL_RCC_USB_OTG_FS_CLK_SLEEP_ENABLE() (RCC->AHB2LPENR |= (RCC_AHB2LPENR_OTGFSLPEN)) -#define __HAL_RCC_USB_OTG_FS_CLK_SLEEP_DISABLE() (RCC->AHB2LPENR &= ~(RCC_AHB2LPENR_OTGFSLPEN)) - -#define __HAL_RCC_RNG_CLK_SLEEP_ENABLE() (RCC->AHB2LPENR |= (RCC_AHB2LPENR_RNGLPEN)) -#define __HAL_RCC_RNG_CLK_SLEEP_DISABLE() (RCC->AHB2LPENR &= ~(RCC_AHB2LPENR_RNGLPEN)) - -#if defined(STM32F407xx)|| defined(STM32F417xx) -#define __HAL_RCC_DCMI_CLK_SLEEP_ENABLE() (RCC->AHB2LPENR |= (RCC_AHB2LPENR_DCMILPEN)) -#define __HAL_RCC_DCMI_CLK_SLEEP_DISABLE() (RCC->AHB2LPENR &= ~(RCC_AHB2LPENR_DCMILPEN)) -#endif /* STM32F407xx || STM32F417xx */ - -#if defined(STM32F415xx) || defined(STM32F417xx) -#define __HAL_RCC_CRYP_CLK_SLEEP_ENABLE() (RCC->AHB2LPENR |= (RCC_AHB2LPENR_CRYPLPEN)) -#define __HAL_RCC_HASH_CLK_SLEEP_ENABLE() (RCC->AHB2LPENR |= (RCC_AHB2LPENR_HASHLPEN)) - -#define __HAL_RCC_CRYP_CLK_SLEEP_DISABLE() (RCC->AHB2LPENR &= ~(RCC_AHB2LPENR_CRYPLPEN)) -#define __HAL_RCC_HASH_CLK_SLEEP_DISABLE() (RCC->AHB2LPENR &= ~(RCC_AHB2LPENR_HASHLPEN)) -#endif /* STM32F415xx || STM32F417xx */ -/** - * @} - */ - -/** @defgroup RCCEx_AHB3_LowPower_Enable_Disable AHB3 Peripheral Low Power Enable Disable - * @brief Enable or disable the AHB3 peripheral clock during Low Power (Sleep) mode. - * @note Peripheral clock gating in SLEEP mode can be used to further reduce - * power consumption. - * @note After wakeup from SLEEP mode, the peripheral clock is enabled again. - * @note By default, all peripheral clocks are enabled during SLEEP mode. - * @{ - */ -#define __HAL_RCC_FSMC_CLK_SLEEP_ENABLE() (RCC->AHB3LPENR |= (RCC_AHB3LPENR_FSMCLPEN)) -#define __HAL_RCC_FSMC_CLK_SLEEP_DISABLE() (RCC->AHB3LPENR &= ~(RCC_AHB3LPENR_FSMCLPEN)) -/** - * @} - */ - -/** @defgroup RCCEx_APB1_LowPower_Enable_Disable APB1 Peripheral Low Power Enable Disable - * @brief Enable or disable the APB1 peripheral clock during Low Power (Sleep) mode. - * @note Peripheral clock gating in SLEEP mode can be used to further reduce - * power consumption. - * @note After wakeup from SLEEP mode, the peripheral clock is enabled again. - * @note By default, all peripheral clocks are enabled during SLEEP mode. - * @{ - */ -#define __HAL_RCC_TIM6_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_TIM6LPEN)) -#define __HAL_RCC_TIM7_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_TIM7LPEN)) -#define __HAL_RCC_TIM12_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_TIM12LPEN)) -#define __HAL_RCC_TIM13_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_TIM13LPEN)) -#define __HAL_RCC_TIM14_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_TIM14LPEN)) -#define __HAL_RCC_USART3_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_USART3LPEN)) -#define __HAL_RCC_UART4_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_UART4LPEN)) -#define __HAL_RCC_UART5_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_UART5LPEN)) -#define __HAL_RCC_CAN1_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_CAN1LPEN)) -#define __HAL_RCC_CAN2_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_CAN2LPEN)) -#define __HAL_RCC_DAC_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_DACLPEN)) -#define __HAL_RCC_TIM2_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_TIM2LPEN)) -#define __HAL_RCC_TIM3_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_TIM3LPEN)) -#define __HAL_RCC_TIM4_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_TIM4LPEN)) -#define __HAL_RCC_SPI3_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_SPI3LPEN)) -#define __HAL_RCC_I2C3_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_I2C3LPEN)) - -#define __HAL_RCC_TIM2_CLK_SLEEP_DISABLE() (RCC->APB1LPENR &= ~(RCC_APB1LPENR_TIM2LPEN)) -#define __HAL_RCC_TIM3_CLK_SLEEP_DISABLE() (RCC->APB1LPENR &= ~(RCC_APB1LPENR_TIM3LPEN)) -#define __HAL_RCC_TIM4_CLK_SLEEP_DISABLE() (RCC->APB1LPENR &= ~(RCC_APB1LPENR_TIM4LPEN)) -#define __HAL_RCC_SPI3_CLK_SLEEP_DISABLE() (RCC->APB1LPENR &= ~(RCC_APB1LPENR_SPI3LPEN)) -#define __HAL_RCC_I2C3_CLK_SLEEP_DISABLE() (RCC->APB1LPENR &= ~(RCC_APB1LPENR_I2C3LPEN)) -#define __HAL_RCC_TIM6_CLK_SLEEP_DISABLE() (RCC->APB1LPENR &= ~(RCC_APB1LPENR_TIM6LPEN)) -#define __HAL_RCC_TIM7_CLK_SLEEP_DISABLE() (RCC->APB1LPENR &= ~(RCC_APB1LPENR_TIM7LPEN)) -#define __HAL_RCC_TIM12_CLK_SLEEP_DISABLE() (RCC->APB1LPENR &= ~(RCC_APB1LPENR_TIM12LPEN)) -#define __HAL_RCC_TIM13_CLK_SLEEP_DISABLE() (RCC->APB1LPENR &= ~(RCC_APB1LPENR_TIM13LPEN)) -#define __HAL_RCC_TIM14_CLK_SLEEP_DISABLE() (RCC->APB1LPENR &= ~(RCC_APB1LPENR_TIM14LPEN)) -#define __HAL_RCC_USART3_CLK_SLEEP_DISABLE() (RCC->APB1LPENR &= ~(RCC_APB1LPENR_USART3LPEN)) -#define __HAL_RCC_UART4_CLK_SLEEP_DISABLE() (RCC->APB1LPENR &= ~(RCC_APB1LPENR_UART4LPEN)) -#define __HAL_RCC_UART5_CLK_SLEEP_DISABLE() (RCC->APB1LPENR &= ~(RCC_APB1LPENR_UART5LPEN)) -#define __HAL_RCC_CAN1_CLK_SLEEP_DISABLE() (RCC->APB1LPENR &= ~(RCC_APB1LPENR_CAN1LPEN)) -#define __HAL_RCC_CAN2_CLK_SLEEP_DISABLE() (RCC->APB1LPENR &= ~(RCC_APB1LPENR_CAN2LPEN)) -#define __HAL_RCC_DAC_CLK_SLEEP_DISABLE() (RCC->APB1LPENR &= ~(RCC_APB1LPENR_DACLPEN)) -/** - * @} - */ - -/** @defgroup RCCEx_APB2_LowPower_Enable_Disable APB2 Peripheral Low Power Enable Disable - * @brief Enable or disable the APB2 peripheral clock during Low Power (Sleep) mode. - * @note Peripheral clock gating in SLEEP mode can be used to further reduce - * power consumption. - * @note After wakeup from SLEEP mode, the peripheral clock is enabled again. - * @note By default, all peripheral clocks are enabled during SLEEP mode. - * @{ - */ -#define __HAL_RCC_TIM8_CLK_SLEEP_ENABLE() (RCC->APB2LPENR |= (RCC_APB2LPENR_TIM8LPEN)) -#define __HAL_RCC_ADC2_CLK_SLEEP_ENABLE() (RCC->APB2LPENR |= (RCC_APB2LPENR_ADC2LPEN)) -#define __HAL_RCC_ADC3_CLK_SLEEP_ENABLE() (RCC->APB2LPENR |= (RCC_APB2LPENR_ADC3LPEN)) -#define __HAL_RCC_SDIO_CLK_SLEEP_ENABLE() (RCC->APB2LPENR |= (RCC_APB2LPENR_SDIOLPEN)) -#define __HAL_RCC_SPI4_CLK_SLEEP_ENABLE() (RCC->APB2LPENR |= (RCC_APB2LPENR_SPI4LPEN)) -#define __HAL_RCC_TIM10_CLK_SLEEP_ENABLE()(RCC->APB2LPENR |= (RCC_APB2LPENR_TIM10LPEN)) - -#define __HAL_RCC_SDIO_CLK_SLEEP_DISABLE() (RCC->APB2LPENR &= ~(RCC_APB2LPENR_SDIOLPEN)) -#define __HAL_RCC_SPI4_CLK_SLEEP_DISABLE() (RCC->APB2LPENR &= ~(RCC_APB2LPENR_SPI4LPEN)) -#define __HAL_RCC_TIM10_CLK_SLEEP_DISABLE()(RCC->APB2LPENR &= ~(RCC_APB2LPENR_TIM10LPEN)) -#define __HAL_RCC_TIM8_CLK_SLEEP_DISABLE() (RCC->APB2LPENR &= ~(RCC_APB2LPENR_TIM8LPEN)) -#define __HAL_RCC_ADC2_CLK_SLEEP_DISABLE() (RCC->APB2LPENR &= ~(RCC_APB2LPENR_ADC2LPEN)) -#define __HAL_RCC_ADC3_CLK_SLEEP_DISABLE() (RCC->APB2LPENR &= ~(RCC_APB2LPENR_ADC3LPEN)) -/** - * @} - */ -#endif /* STM32F405xx || STM32F415xx || STM32F407xx || STM32F417xx */ -/*----------------------------------------------------------------------------*/ - -/*------------------------- STM32F401xE/STM32F401xC --------------------------*/ -#if defined(STM32F401xC) || defined(STM32F401xE) -/** @defgroup RCCEx_AHB1_Clock_Enable_Disable AHB1 Peripheral Clock Enable Disable - * @brief Enable or disable the AHB1 peripheral clock. - * @note After reset, the peripheral clock (used for registers read/write access) - * is disabled and the application software has to enable this clock before - * using it. - * @{ - */ -#define __HAL_RCC_GPIOD_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->AHB1ENR, RCC_AHB1ENR_GPIODEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->AHB1ENR, RCC_AHB1ENR_GPIODEN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_GPIOE_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->AHB1ENR, RCC_AHB1ENR_GPIOEEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->AHB1ENR, RCC_AHB1ENR_GPIOEEN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_CRC_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->AHB1ENR, RCC_AHB1ENR_CRCEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->AHB1ENR, RCC_AHB1ENR_CRCEN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_CCMDATARAMEN_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->AHB1ENR, RCC_AHB1ENR_CCMDATARAMEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->AHB1ENR, RCC_AHB1ENR_CCMDATARAMEN);\ - UNUSED(tmpreg); \ - } while(0U) - -#define __HAL_RCC_GPIOD_CLK_DISABLE() (RCC->AHB1ENR &= ~(RCC_AHB1ENR_GPIODEN)) -#define __HAL_RCC_GPIOE_CLK_DISABLE() (RCC->AHB1ENR &= ~(RCC_AHB1ENR_GPIOEEN)) -#define __HAL_RCC_CRC_CLK_DISABLE() (RCC->AHB1ENR &= ~(RCC_AHB1ENR_CRCEN)) -#define __HAL_RCC_CCMDATARAMEN_CLK_DISABLE() (RCC->AHB1ENR &= ~(RCC_AHB1ENR_CCMDATARAMEN)) -/** - * @} - */ - -/** @defgroup RCCEx_AHB1_Peripheral_Clock_Enable_Disable_Status AHB1 Peripheral Clock Enable Disable Status - * @brief Get the enable or disable status of the AHB1 peripheral clock. - * @note After reset, the peripheral clock (used for registers read/write access) - * is disabled and the application software has to enable this clock before - * using it. - * @{ - */ -#define __HAL_RCC_GPIOD_IS_CLK_ENABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_GPIODEN)) != RESET) -#define __HAL_RCC_GPIOE_IS_CLK_ENABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_GPIOEEN)) != RESET) -#define __HAL_RCC_CRC_IS_CLK_ENABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_CRCEN)) != RESET) -#define __HAL_RCC_CCMDATARAMEN_IS_CLK_ENABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_CCMDATARAMEN)) != RESET) - -#define __HAL_RCC_GPIOD_IS_CLK_DISABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_GPIODEN)) == RESET) -#define __HAL_RCC_GPIOE_IS_CLK_DISABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_GPIOEEN)) == RESET) -#define __HAL_RCC_CRC_IS_CLK_DISABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_CRCEN)) == RESET) -#define __HAL_RCC_CCMDATARAMEN_IS_CLK_DISABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_CCMDATARAMEN)) == RESET) -/** - * @} - */ - -/** @defgroup RCCEx_AHB2_Clock_Enable_Disable AHB2 Peripheral Clock Enable Disable - * @brief Enable or disable the AHB2 peripheral clock. - * @note After reset, the peripheral clock (used for registers read/write access) - * is disabled and the application software has to enable this clock before - * using it. - * @{ - */ -#define __HAL_RCC_USB_OTG_FS_CLK_ENABLE() do {(RCC->AHB2ENR |= (RCC_AHB2ENR_OTGFSEN));\ - __HAL_RCC_SYSCFG_CLK_ENABLE();\ - }while(0U) - -#define __HAL_RCC_USB_OTG_FS_CLK_DISABLE() (RCC->AHB2ENR &= ~(RCC_AHB2ENR_OTGFSEN)) -/** - * @} - */ - -/** @defgroup RCCEx_AHB2_Peripheral_Clock_Enable_Disable_Status AHB2 Peripheral Clock Enable Disable Status - * @brief Get the enable or disable status of the AHB2 peripheral clock. - * @note After reset, the peripheral clock (used for registers read/write access) - * is disabled and the application software has to enable this clock before - * using it. - * @{ - */ -#define __HAL_RCC_USB_OTG_FS_IS_CLK_ENABLED() ((RCC->AHB2ENR & (RCC_AHB2ENR_OTGFSEN)) != RESET) -#define __HAL_RCC_USB_OTG_FS_IS_CLK_DISABLED() ((RCC->AHB2ENR & (RCC_AHB2ENR_OTGFSEN)) == RESET) -/** - * @} - */ - -/** @defgroup RCC_APB1_Clock_Enable_Disable APB1 Peripheral Clock Enable Disable - * @brief Enable or disable the Low Speed APB (APB1) peripheral clock. - * @note After reset, the peripheral clock (used for registers read/write access) - * is disabled and the application software has to enable this clock before - * using it. - * @{ - */ -#define __HAL_RCC_TIM2_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_TIM2EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_TIM2EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_TIM3_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_TIM3EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_TIM3EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_TIM4_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_TIM4EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_TIM4EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_SPI3_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_SPI3EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_SPI3EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_I2C3_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_I2C3EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_I2C3EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_TIM2_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_TIM2EN)) -#define __HAL_RCC_TIM3_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_TIM3EN)) -#define __HAL_RCC_TIM4_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_TIM4EN)) -#define __HAL_RCC_SPI3_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_SPI3EN)) -#define __HAL_RCC_I2C3_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_I2C3EN)) -/** - * @} - */ - -/** @defgroup RCCEx_APB1_Peripheral_Clock_Enable_Disable_Status APB1 Peripheral Clock Enable Disable Status - * @brief Get the enable or disable status of the APB1 peripheral clock. - * @note After reset, the peripheral clock (used for registers read/write access) - * is disabled and the application software has to enable this clock before - * using it. - * @{ - */ -#define __HAL_RCC_TIM2_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_TIM2EN)) != RESET) -#define __HAL_RCC_TIM3_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_TIM3EN)) != RESET) -#define __HAL_RCC_TIM4_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_TIM4EN)) != RESET) -#define __HAL_RCC_SPI3_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_SPI3EN)) != RESET) -#define __HAL_RCC_I2C3_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_I2C3EN)) != RESET) - -#define __HAL_RCC_TIM2_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_TIM2EN)) == RESET) -#define __HAL_RCC_TIM3_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_TIM3EN)) == RESET) -#define __HAL_RCC_TIM4_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_TIM4EN)) == RESET) -#define __HAL_RCC_SPI3_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_SPI3EN)) == RESET) -#define __HAL_RCC_I2C3_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_I2C3EN)) == RESET) -/** - * @} - */ - -/** @defgroup RCCEx_APB2_Clock_Enable_Disable APB2 Peripheral Clock Enable Disable - * @brief Enable or disable the High Speed APB (APB2) peripheral clock. - * @note After reset, the peripheral clock (used for registers read/write access) - * is disabled and the application software has to enable this clock before - * using it. - * @{ - */ -#define __HAL_RCC_SDIO_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB2ENR, RCC_APB2ENR_SDIOEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB2ENR, RCC_APB2ENR_SDIOEN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_SPI4_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB2ENR, RCC_APB2ENR_SPI4EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB2ENR, RCC_APB2ENR_SPI4EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_TIM10_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB2ENR, RCC_APB2ENR_TIM10EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB2ENR, RCC_APB2ENR_TIM10EN);\ - UNUSED(tmpreg); \ - } while(0U) - -#define __HAL_RCC_SDIO_CLK_DISABLE() (RCC->APB2ENR &= ~(RCC_APB2ENR_SDIOEN)) -#define __HAL_RCC_SPI4_CLK_DISABLE() (RCC->APB2ENR &= ~(RCC_APB2ENR_SPI4EN)) -#define __HAL_RCC_TIM10_CLK_DISABLE() (RCC->APB2ENR &= ~(RCC_APB2ENR_TIM10EN)) -/** - * @} - */ - -/** @defgroup RCCEx_APB2_Peripheral_Clock_Enable_Disable_Status APB2 Peripheral Clock Enable Disable Status - * @brief Get the enable or disable status of the APB2 peripheral clock. - * @note After reset, the peripheral clock (used for registers read/write access) - * is disabled and the application software has to enable this clock before - * using it. - * @{ - */ -#define __HAL_RCC_SDIO_IS_CLK_ENABLED() ((RCC->APB2ENR & (RCC_APB2ENR_SDIOEN)) != RESET) -#define __HAL_RCC_SPI4_IS_CLK_ENABLED() ((RCC->APB2ENR & (RCC_APB2ENR_SPI4EN)) != RESET) -#define __HAL_RCC_TIM10_IS_CLK_ENABLED() ((RCC->APB2ENR & (RCC_APB2ENR_TIM10EN)) != RESET) - -#define __HAL_RCC_SDIO_IS_CLK_DISABLED() ((RCC->APB2ENR & (RCC_APB2ENR_SDIOEN)) == RESET) -#define __HAL_RCC_SPI4_IS_CLK_DISABLED() ((RCC->APB2ENR & (RCC_APB2ENR_SPI4EN)) == RESET) -#define __HAL_RCC_TIM10_IS_CLK_DISABLED() ((RCC->APB2ENR & (RCC_APB2ENR_TIM10EN)) == RESET) -/** - * @} - */ -/** @defgroup RCCEx_AHB1_Force_Release_Reset AHB1 Force Release Reset - * @brief Force or release AHB1 peripheral reset. - * @{ - */ -#define __HAL_RCC_AHB1_FORCE_RESET() (RCC->AHB1RSTR = 0xFFFFFFFFU) -#define __HAL_RCC_GPIOD_FORCE_RESET() (RCC->AHB1RSTR |= (RCC_AHB1RSTR_GPIODRST)) -#define __HAL_RCC_GPIOE_FORCE_RESET() (RCC->AHB1RSTR |= (RCC_AHB1RSTR_GPIOERST)) -#define __HAL_RCC_CRC_FORCE_RESET() (RCC->AHB1RSTR |= (RCC_AHB1RSTR_CRCRST)) - -#define __HAL_RCC_AHB1_RELEASE_RESET() (RCC->AHB1RSTR = 0x00U) -#define __HAL_RCC_GPIOD_RELEASE_RESET() (RCC->AHB1RSTR &= ~(RCC_AHB1RSTR_GPIODRST)) -#define __HAL_RCC_GPIOE_RELEASE_RESET() (RCC->AHB1RSTR &= ~(RCC_AHB1RSTR_GPIOERST)) -#define __HAL_RCC_CRC_RELEASE_RESET() (RCC->AHB1RSTR &= ~(RCC_AHB1RSTR_CRCRST)) -/** - * @} - */ - -/** @defgroup RCCEx_AHB2_Force_Release_Reset AHB2 Force Release Reset - * @brief Force or release AHB2 peripheral reset. - * @{ - */ -#define __HAL_RCC_AHB2_FORCE_RESET() (RCC->AHB2RSTR = 0xFFFFFFFFU) -#define __HAL_RCC_USB_OTG_FS_FORCE_RESET() (RCC->AHB2RSTR |= (RCC_AHB2RSTR_OTGFSRST)) - -#define __HAL_RCC_AHB2_RELEASE_RESET() (RCC->AHB2RSTR = 0x00U) -#define __HAL_RCC_USB_OTG_FS_RELEASE_RESET() (RCC->AHB2RSTR &= ~(RCC_AHB2RSTR_OTGFSRST)) -/** - * @} - */ - -/** @defgroup RCCEx_APB1_Force_Release_Reset APB1 Force Release Reset - * @brief Force or release APB1 peripheral reset. - * @{ - */ -#define __HAL_RCC_APB1_FORCE_RESET() (RCC->APB1RSTR = 0xFFFFFFFFU) -#define __HAL_RCC_TIM2_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_TIM2RST)) -#define __HAL_RCC_TIM3_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_TIM3RST)) -#define __HAL_RCC_TIM4_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_TIM4RST)) -#define __HAL_RCC_SPI3_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_SPI3RST)) -#define __HAL_RCC_I2C3_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_I2C3RST)) - -#define __HAL_RCC_APB1_RELEASE_RESET() (RCC->APB1RSTR = 0x00U) -#define __HAL_RCC_TIM2_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_TIM2RST)) -#define __HAL_RCC_TIM3_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_TIM3RST)) -#define __HAL_RCC_TIM4_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_TIM4RST)) -#define __HAL_RCC_SPI3_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_SPI3RST)) -#define __HAL_RCC_I2C3_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_I2C3RST)) -/** - * @} - */ - -/** @defgroup RCCEx_APB2_Force_Release_Reset APB2 Force Release Reset - * @brief Force or release APB2 peripheral reset. - * @{ - */ -#define __HAL_RCC_APB2_FORCE_RESET() (RCC->APB2RSTR = 0xFFFFFFFFU) -#define __HAL_RCC_SDIO_FORCE_RESET() (RCC->APB2RSTR |= (RCC_APB2RSTR_SDIORST)) -#define __HAL_RCC_SPI4_FORCE_RESET() (RCC->APB2RSTR |= (RCC_APB2RSTR_SPI4RST)) -#define __HAL_RCC_TIM10_FORCE_RESET() (RCC->APB2RSTR |= (RCC_APB2RSTR_TIM10RST)) - -#define __HAL_RCC_APB2_RELEASE_RESET() (RCC->APB2RSTR = 0x00U) -#define __HAL_RCC_SDIO_RELEASE_RESET() (RCC->APB2RSTR &= ~(RCC_APB2RSTR_SDIORST)) -#define __HAL_RCC_SPI4_RELEASE_RESET() (RCC->APB2RSTR &= ~(RCC_APB2RSTR_SPI4RST)) -#define __HAL_RCC_TIM10_RELEASE_RESET() (RCC->APB2RSTR &= ~(RCC_APB2RSTR_TIM10RST)) -/** - * @} - */ - -/** @defgroup RCCEx_AHB3_Force_Release_Reset AHB3 Force Release Reset - * @brief Force or release AHB3 peripheral reset. - * @{ - */ -#define __HAL_RCC_AHB3_FORCE_RESET() (RCC->AHB3RSTR = 0xFFFFFFFFU) -#define __HAL_RCC_AHB3_RELEASE_RESET() (RCC->AHB3RSTR = 0x00U) -/** - * @} - */ - -/** @defgroup RCCEx_AHB1_LowPower_Enable_Disable AHB1 Peripheral Low Power Enable Disable - * @brief Enable or disable the AHB1 peripheral clock during Low Power (Sleep) mode. - * @note Peripheral clock gating in SLEEP mode can be used to further reduce - * power consumption. - * @note After wake-up from SLEEP mode, the peripheral clock is enabled again. - * @note By default, all peripheral clocks are enabled during SLEEP mode. - * @{ - */ -#define __HAL_RCC_GPIOD_CLK_SLEEP_ENABLE() (RCC->AHB1LPENR |= (RCC_AHB1LPENR_GPIODLPEN)) -#define __HAL_RCC_GPIOE_CLK_SLEEP_ENABLE() (RCC->AHB1LPENR |= (RCC_AHB1LPENR_GPIOELPEN)) -#define __HAL_RCC_CRC_CLK_SLEEP_ENABLE() (RCC->AHB1LPENR |= (RCC_AHB1LPENR_CRCLPEN)) -#define __HAL_RCC_FLITF_CLK_SLEEP_ENABLE() (RCC->AHB1LPENR |= (RCC_AHB1LPENR_FLITFLPEN)) -#define __HAL_RCC_SRAM1_CLK_SLEEP_ENABLE() (RCC->AHB1LPENR |= (RCC_AHB1LPENR_SRAM1LPEN)) - -#define __HAL_RCC_GPIOD_CLK_SLEEP_DISABLE() (RCC->AHB1LPENR &= ~(RCC_AHB1LPENR_GPIODLPEN)) -#define __HAL_RCC_GPIOE_CLK_SLEEP_DISABLE() (RCC->AHB1LPENR &= ~(RCC_AHB1LPENR_GPIOELPEN)) -#define __HAL_RCC_CRC_CLK_SLEEP_DISABLE() (RCC->AHB1LPENR &= ~(RCC_AHB1LPENR_CRCLPEN)) -#define __HAL_RCC_FLITF_CLK_SLEEP_DISABLE() (RCC->AHB1LPENR &= ~(RCC_AHB1LPENR_FLITFLPEN)) -#define __HAL_RCC_SRAM1_CLK_SLEEP_DISABLE() (RCC->AHB1LPENR &= ~(RCC_AHB1LPENR_SRAM1LPEN)) -/** - * @} - */ - -/** @defgroup RCCEx_AHB2_LowPower_Enable_Disable AHB2 Peripheral Low Power Enable Disable - * @brief Enable or disable the AHB2 peripheral clock during Low Power (Sleep) mode. - * @note Peripheral clock gating in SLEEP mode can be used to further reduce - * power consumption. - * @note After wake-up from SLEEP mode, the peripheral clock is enabled again. - * @note By default, all peripheral clocks are enabled during SLEEP mode. - * @{ - */ -#define __HAL_RCC_USB_OTG_FS_CLK_SLEEP_ENABLE() (RCC->AHB2LPENR |= (RCC_AHB2LPENR_OTGFSLPEN)) - -#define __HAL_RCC_USB_OTG_FS_CLK_SLEEP_DISABLE() (RCC->AHB2LPENR &= ~(RCC_AHB2LPENR_OTGFSLPEN)) -/** - * @} - */ - -/** @defgroup RCCEx_APB1_LowPower_Enable_Disable APB1 Peripheral Low Power Enable Disable - * @brief Enable or disable the APB1 peripheral clock during Low Power (Sleep) mode. - * @note Peripheral clock gating in SLEEP mode can be used to further reduce - * power consumption. - * @note After wake-up from SLEEP mode, the peripheral clock is enabled again. - * @note By default, all peripheral clocks are enabled during SLEEP mode. - * @{ - */ -#define __HAL_RCC_TIM2_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_TIM2LPEN)) -#define __HAL_RCC_TIM3_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_TIM3LPEN)) -#define __HAL_RCC_TIM4_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_TIM4LPEN)) -#define __HAL_RCC_SPI3_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_SPI3LPEN)) -#define __HAL_RCC_I2C3_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_I2C3LPEN)) - -#define __HAL_RCC_TIM2_CLK_SLEEP_DISABLE() (RCC->APB1LPENR &= ~(RCC_APB1LPENR_TIM2LPEN)) -#define __HAL_RCC_TIM3_CLK_SLEEP_DISABLE() (RCC->APB1LPENR &= ~(RCC_APB1LPENR_TIM3LPEN)) -#define __HAL_RCC_TIM4_CLK_SLEEP_DISABLE() (RCC->APB1LPENR &= ~(RCC_APB1LPENR_TIM4LPEN)) -#define __HAL_RCC_SPI3_CLK_SLEEP_DISABLE() (RCC->APB1LPENR &= ~(RCC_APB1LPENR_SPI3LPEN)) -#define __HAL_RCC_I2C3_CLK_SLEEP_DISABLE() (RCC->APB1LPENR &= ~(RCC_APB1LPENR_I2C3LPEN)) -/** - * @} - */ - -/** @defgroup RCCEx_APB2_LowPower_Enable_Disable APB2 Peripheral Low Power Enable Disable - * @brief Enable or disable the APB2 peripheral clock during Low Power (Sleep) mode. - * @note Peripheral clock gating in SLEEP mode can be used to further reduce - * power consumption. - * @note After wake-up from SLEEP mode, the peripheral clock is enabled again. - * @note By default, all peripheral clocks are enabled during SLEEP mode. - * @{ - */ -#define __HAL_RCC_SDIO_CLK_SLEEP_ENABLE() (RCC->APB2LPENR |= (RCC_APB2LPENR_SDIOLPEN)) -#define __HAL_RCC_SPI4_CLK_SLEEP_ENABLE() (RCC->APB2LPENR |= (RCC_APB2LPENR_SPI4LPEN)) -#define __HAL_RCC_TIM10_CLK_SLEEP_ENABLE() (RCC->APB2LPENR |= (RCC_APB2LPENR_TIM10LPEN)) - -#define __HAL_RCC_SDIO_CLK_SLEEP_DISABLE() (RCC->APB2LPENR &= ~(RCC_APB2LPENR_SDIOLPEN)) -#define __HAL_RCC_SPI4_CLK_SLEEP_DISABLE() (RCC->APB2LPENR &= ~(RCC_APB2LPENR_SPI4LPEN)) -#define __HAL_RCC_TIM10_CLK_SLEEP_DISABLE() (RCC->APB2LPENR &= ~(RCC_APB2LPENR_TIM10LPEN)) -/** - * @} - */ -#endif /* STM32F401xC || STM32F401xE*/ -/*----------------------------------------------------------------------------*/ - -/*-------------------------------- STM32F410xx -------------------------------*/ -#if defined(STM32F410Tx) || defined(STM32F410Cx) || defined(STM32F410Rx) -/** @defgroup RCCEx_AHB1_Clock_Enable_Disable AHB1 Peripheral Clock Enable Disable - * @brief Enables or disables the AHB1 peripheral clock. - * @note After reset, the peripheral clock (used for registers read/write access) - * is disabled and the application software has to enable this clock before - * using it. - * @{ - */ -#define __HAL_RCC_CRC_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->AHB1ENR, RCC_AHB1ENR_CRCEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->AHB1ENR, RCC_AHB1ENR_CRCEN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_RNG_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->AHB1ENR, RCC_AHB1ENR_RNGEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->AHB1ENR, RCC_AHB1ENR_RNGEN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_CRC_CLK_DISABLE() (RCC->AHB1ENR &= ~(RCC_AHB1ENR_CRCEN)) -#define __HAL_RCC_RNG_CLK_DISABLE() (RCC->AHB1ENR &= ~(RCC_AHB1ENR_RNGEN)) -/** - * @} - */ - -/** @defgroup RCCEx_AHB1_Peripheral_Clock_Enable_Disable_Status AHB1 Peripheral Clock Enable Disable Status - * @brief Get the enable or disable status of the AHB1 peripheral clock. - * @note After reset, the peripheral clock (used for registers read/write access) - * is disabled and the application software has to enable this clock before - * using it. - * @{ - */ -#define __HAL_RCC_CRC_IS_CLK_ENABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_CRCEN)) != RESET) -#define __HAL_RCC_RNG_IS_CLK_ENABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_RNGEN)) != RESET) - -#define __HAL_RCC_CRC_IS_CLK_DISABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_CRCEN)) == RESET) -#define __HAL_RCC_RNG_IS_CLK_DISABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_RNGEN)) == RESET) -/** - * @} - */ - -/** @defgroup RCCEx_APB1_Clock_Enable_Disable APB1 Peripheral Clock Enable Disable - * @brief Enable or disable the High Speed APB (APB1) peripheral clock. - * @{ - */ -#define __HAL_RCC_TIM6_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_TIM6EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_TIM6EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_LPTIM1_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_LPTIM1EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_LPTIM1EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_RTCAPB_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_RTCAPBEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_RTCAPBEN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_FMPI2C1_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_FMPI2C1EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_FMPI2C1EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_DAC_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_DACEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_DACEN);\ - UNUSED(tmpreg); \ - } while(0U) - -#define __HAL_RCC_TIM6_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_TIM6EN)) -#define __HAL_RCC_RTCAPB_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_RTCAPBEN)) -#define __HAL_RCC_LPTIM1_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_LPTIM1EN)) -#define __HAL_RCC_FMPI2C1_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_FMPI2C1EN)) -#define __HAL_RCC_DAC_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_DACEN)) -/** - * @} - */ - -/** @defgroup RCCEx_APB1_Peripheral_Clock_Enable_Disable_Status APB1 Peripheral Clock Enable Disable Status - * @brief Get the enable or disable status of the APB1 peripheral clock. - * @note After reset, the peripheral clock (used for registers read/write access) - * is disabled and the application software has to enable this clock before - * using it. - * @{ - */ -#define __HAL_RCC_TIM6_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_TIM6EN)) != RESET) -#define __HAL_RCC_RTCAPB_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_RTCAPBEN)) != RESET) -#define __HAL_RCC_LPTIM1_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_LPTIM1EN)) != RESET) -#define __HAL_RCC_FMPI2C1_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_FMPI2C1EN)) != RESET) -#define __HAL_RCC_DAC_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_DACEN)) != RESET) - -#define __HAL_RCC_TIM6_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_TIM6EN)) == RESET) -#define __HAL_RCC_RTCAPB_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_RTCAPBEN)) == RESET) -#define __HAL_RCC_LPTIM1_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_LPTIM1EN)) == RESET) -#define __HAL_RCC_FMPI2C1_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_FMPI2C1EN)) == RESET) -#define __HAL_RCC_DAC_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_DACEN)) == RESET) -/** - * @} - */ - -/** @defgroup RCCEx_APB2_Clock_Enable_Disable APB2 Peripheral Clock Enable Disable - * @brief Enable or disable the High Speed APB (APB2) peripheral clock. - * @{ - */ -#define __HAL_RCC_SPI5_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB2ENR, RCC_APB2ENR_SPI5EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB2ENR, RCC_APB2ENR_SPI5EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_EXTIT_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB2ENR, RCC_APB2ENR_EXTITEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB2ENR, RCC_APB2ENR_EXTITEN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_SPI5_CLK_DISABLE() (RCC->APB2ENR &= ~(RCC_APB2ENR_SPI5EN)) -#define __HAL_RCC_EXTIT_CLK_DISABLE() (RCC->APB2ENR &= ~(RCC_APB2ENR_EXTITEN)) -/** - * @} - */ - -/** @defgroup RCCEx_APB2_Peripheral_Clock_Enable_Disable_Status APB2 Peripheral Clock Enable Disable Status - * @brief Get the enable or disable status of the APB2 peripheral clock. - * @note After reset, the peripheral clock (used for registers read/write access) - * is disabled and the application software has to enable this clock before - * using it. - * @{ - */ -#define __HAL_RCC_SPI5_IS_CLK_ENABLED() ((RCC->APB2ENR & (RCC_APB2ENR_SPI5EN)) != RESET) -#define __HAL_RCC_EXTIT_IS_CLK_ENABLED() ((RCC->APB2ENR & (RCC_APB2ENR_EXTITEN)) != RESET) - -#define __HAL_RCC_SPI5_IS_CLK_DISABLED() ((RCC->APB2ENR & (RCC_APB2ENR_SPI5EN)) == RESET) -#define __HAL_RCC_EXTIT_IS_CLK_DISABLED() ((RCC->APB2ENR & (RCC_APB2ENR_EXTITEN)) == RESET) -/** - * @} - */ - -/** @defgroup RCCEx_AHB1_Force_Release_Reset AHB1 Force Release Reset - * @brief Force or release AHB1 peripheral reset. - * @{ - */ -#define __HAL_RCC_CRC_FORCE_RESET() (RCC->AHB1RSTR |= (RCC_AHB1RSTR_CRCRST)) -#define __HAL_RCC_RNG_FORCE_RESET() (RCC->AHB1RSTR |= (RCC_AHB1RSTR_RNGRST)) -#define __HAL_RCC_CRC_RELEASE_RESET() (RCC->AHB1RSTR &= ~(RCC_AHB1RSTR_CRCRST)) -#define __HAL_RCC_RNG_RELEASE_RESET() (RCC->AHB1RSTR &= ~(RCC_AHB1RSTR_RNGRST)) -/** - * @} - */ - -/** @defgroup RCCEx_AHB2_Force_Release_Reset AHB2 Force Release Reset - * @brief Force or release AHB2 peripheral reset. - * @{ - */ -#define __HAL_RCC_AHB2_FORCE_RESET() -#define __HAL_RCC_AHB2_RELEASE_RESET() -/** - * @} - */ - -/** @defgroup RCCEx_AHB3_Force_Release_Reset AHB3 Force Release Reset - * @brief Force or release AHB3 peripheral reset. - * @{ - */ -#define __HAL_RCC_AHB3_FORCE_RESET() -#define __HAL_RCC_AHB3_RELEASE_RESET() -/** - * @} - */ - -/** @defgroup RCCEx_APB1_Force_Release_Reset APB1 Force Release Reset - * @brief Force or release APB1 peripheral reset. - * @{ - */ -#define __HAL_RCC_TIM6_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_TIM6RST)) -#define __HAL_RCC_LPTIM1_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_LPTIM1RST)) -#define __HAL_RCC_FMPI2C1_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_FMPI2C1RST)) -#define __HAL_RCC_DAC_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_DACRST)) - -#define __HAL_RCC_TIM6_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_TIM6RST)) -#define __HAL_RCC_LPTIM1_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_LPTIM1RST)) -#define __HAL_RCC_FMPI2C1_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_FMPI2C1RST)) -#define __HAL_RCC_DAC_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_DACRST)) -/** - * @} - */ - -/** @defgroup RCCEx_APB2_Force_Release_Reset APB2 Force Release Reset - * @brief Force or release APB2 peripheral reset. - * @{ - */ -#define __HAL_RCC_SPI5_FORCE_RESET() (RCC->APB2RSTR |= (RCC_APB2RSTR_SPI5RST)) -#define __HAL_RCC_SPI5_RELEASE_RESET() (RCC->APB2RSTR &= ~(RCC_APB2RSTR_SPI5RST)) -/** - * @} - */ - -/** @defgroup RCCEx_AHB1_LowPower_Enable_Disable AHB1 Peripheral Low Power Enable Disable - * @brief Enable or disable the AHB1 peripheral clock during Low Power (Sleep) mode. - * @note Peripheral clock gating in SLEEP mode can be used to further reduce - * power consumption. - * @note After wakeup from SLEEP mode, the peripheral clock is enabled again. - * @note By default, all peripheral clocks are enabled during SLEEP mode. - * @{ - */ -#define __HAL_RCC_RNG_CLK_SLEEP_ENABLE() (RCC->AHB1LPENR |= (RCC_AHB1LPENR_RNGLPEN)) -#define __HAL_RCC_CRC_CLK_SLEEP_ENABLE() (RCC->AHB1LPENR |= (RCC_AHB1LPENR_CRCLPEN)) -#define __HAL_RCC_FLITF_CLK_SLEEP_ENABLE() (RCC->AHB1LPENR |= (RCC_AHB1LPENR_FLITFLPEN)) -#define __HAL_RCC_SRAM1_CLK_SLEEP_ENABLE() (RCC->AHB1LPENR |= (RCC_AHB1LPENR_SRAM1LPEN)) - -#define __HAL_RCC_RNG_CLK_SLEEP_DISABLE() (RCC->AHB1LPENR &= ~(RCC_AHB1LPENR_RNGLPEN)) -#define __HAL_RCC_CRC_CLK_SLEEP_DISABLE() (RCC->AHB1LPENR &= ~(RCC_AHB1LPENR_CRCLPEN)) -#define __HAL_RCC_FLITF_CLK_SLEEP_DISABLE() (RCC->AHB1LPENR &= ~(RCC_AHB1LPENR_FLITFLPEN)) -#define __HAL_RCC_SRAM1_CLK_SLEEP_DISABLE() (RCC->AHB1LPENR &= ~(RCC_AHB1LPENR_SRAM1LPEN)) -/** - * @} - */ - -/** @defgroup RCCEx_APB1_LowPower_Enable_Disable APB1 Peripheral Low Power Enable Disable - * @brief Enable or disable the APB1 peripheral clock during Low Power (Sleep) mode. - * @{ - */ -#define __HAL_RCC_TIM6_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_TIM6LPEN)) -#define __HAL_RCC_LPTIM1_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_LPTIM1LPEN)) -#define __HAL_RCC_RTCAPB_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_RTCAPBLPEN)) -#define __HAL_RCC_FMPI2C1_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_FMPI2C1LPEN)) -#define __HAL_RCC_DAC_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_DACLPEN)) - -#define __HAL_RCC_TIM6_CLK_SLEEP_DISABLE() (RCC->APB1LPENR &= ~(RCC_APB1LPENR_TIM6LPEN)) -#define __HAL_RCC_LPTIM1_CLK_SLEEP_DISABLE() (RCC->APB1LPENR &= ~(RCC_APB1LPENR_LPTIM1LPEN)) -#define __HAL_RCC_RTCAPB_CLK_SLEEP_DISABLE() (RCC->APB1LPENR &= ~(RCC_APB1LPENR_RTCAPBLPEN)) -#define __HAL_RCC_FMPI2C1_CLK_SLEEP_DISABLE() (RCC->APB1LPENR &= ~(RCC_APB1LPENR_FMPI2C1LPEN)) -#define __HAL_RCC_DAC_CLK_SLEEP_DISABLE() (RCC->APB1LPENR &= ~(RCC_APB1LPENR_DACLPEN)) -/** - * @} - */ - -/** @defgroup RCCEx_APB2_LowPower_Enable_Disable APB2 Peripheral Low Power Enable Disable - * @brief Enable or disable the APB2 peripheral clock during Low Power (Sleep) mode. - * @{ - */ -#define __HAL_RCC_SPI5_CLK_SLEEP_ENABLE() (RCC->APB2LPENR |= (RCC_APB2LPENR_SPI5LPEN)) -#define __HAL_RCC_EXTIT_CLK_SLEEP_ENABLE() (RCC->APB2LPENR |= (RCC_APB2LPENR_EXTITLPEN)) -#define __HAL_RCC_SPI5_CLK_SLEEP_DISABLE() (RCC->APB2LPENR &= ~(RCC_APB2LPENR_SPI5LPEN)) -#define __HAL_RCC_EXTIT_CLK_SLEEP_DISABLE() (RCC->APB2LPENR &= ~(RCC_APB2LPENR_EXTITLPEN)) -/** - * @} - */ - -#endif /* STM32F410Tx || STM32F410Cx || STM32F410Rx */ -/*----------------------------------------------------------------------------*/ - -/*-------------------------------- STM32F411xx -------------------------------*/ -#if defined(STM32F411xE) -/** @defgroup RCCEx_AHB1_Clock_Enable_Disable AHB1 Peripheral Clock Enable Disable - * @brief Enables or disables the AHB1 peripheral clock. - * @note After reset, the peripheral clock (used for registers read/write access) - * is disabled and the application software has to enable this clock before - * using it. - * @{ - */ -#define __HAL_RCC_CCMDATARAMEN_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->AHB1ENR, RCC_AHB1ENR_CCMDATARAMEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->AHB1ENR, RCC_AHB1ENR_CCMDATARAMEN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_GPIOD_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->AHB1ENR, RCC_AHB1ENR_GPIODEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->AHB1ENR, RCC_AHB1ENR_GPIODEN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_GPIOE_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->AHB1ENR, RCC_AHB1ENR_GPIOEEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->AHB1ENR, RCC_AHB1ENR_GPIOEEN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_CRC_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->AHB1ENR, RCC_AHB1ENR_CRCEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->AHB1ENR, RCC_AHB1ENR_CRCEN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_GPIOD_CLK_DISABLE() (RCC->AHB1ENR &= ~(RCC_AHB1ENR_GPIODEN)) -#define __HAL_RCC_GPIOE_CLK_DISABLE() (RCC->AHB1ENR &= ~(RCC_AHB1ENR_GPIOEEN)) -#define __HAL_RCC_CCMDATARAMEN_CLK_DISABLE() (RCC->AHB1ENR &= ~(RCC_AHB1ENR_CCMDATARAMEN)) -#define __HAL_RCC_CRC_CLK_DISABLE() (RCC->AHB1ENR &= ~(RCC_AHB1ENR_CRCEN)) -/** - * @} - */ - -/** @defgroup RCCEx_AHB1_Peripheral_Clock_Enable_Disable_Status AHB1 Peripheral Clock Enable Disable Status - * @brief Get the enable or disable status of the AHB1 peripheral clock. - * @note After reset, the peripheral clock (used for registers read/write access) - * is disabled and the application software has to enable this clock before - * using it. - * @{ - */ -#define __HAL_RCC_GPIOD_IS_CLK_ENABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_GPIODEN)) != RESET) -#define __HAL_RCC_GPIOE_IS_CLK_ENABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_GPIOEEN)) != RESET) -#define __HAL_RCC_CCMDATARAMEN_IS_CLK_ENABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_CCMDATARAMEN)) != RESET) -#define __HAL_RCC_CRC_IS_CLK_ENABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_CRCEN)) != RESET) - -#define __HAL_RCC_GPIOD_IS_CLK_DISABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_GPIODEN)) == RESET) -#define __HAL_RCC_GPIOE_IS_CLK_DISABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_GPIOEEN)) == RESET) -#define __HAL_RCC_CCMDATARAMEN_IS_CLK_DISABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_CCMDATARAMEN)) == RESET) -#define __HAL_RCC_CRC_IS_CLK_DISABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_CRCEN)) == RESET) -/** - * @} - */ - -/** @defgroup RCCEX_AHB2_Clock_Enable_Disable AHB2 Peripheral Clock Enable Disable - * @brief Enable or disable the AHB2 peripheral clock. - * @note After reset, the peripheral clock (used for registers read/write access) - * is disabled and the application software has to enable this clock before - * using it. - * @{ - */ -#define __HAL_RCC_USB_OTG_FS_CLK_ENABLE() do {(RCC->AHB2ENR |= (RCC_AHB2ENR_OTGFSEN));\ - __HAL_RCC_SYSCFG_CLK_ENABLE();\ - }while(0U) - -#define __HAL_RCC_USB_OTG_FS_CLK_DISABLE() (RCC->AHB2ENR &= ~(RCC_AHB2ENR_OTGFSEN)) -/** - * @} - */ - -/** @defgroup RCCEx_AHB2_Peripheral_Clock_Enable_Disable_Status AHB2 Peripheral Clock Enable Disable Status - * @brief Get the enable or disable status of the AHB2 peripheral clock. - * @note After reset, the peripheral clock (used for registers read/write access) - * is disabled and the application software has to enable this clock before - * using it. - * @{ - */ -#define __HAL_RCC_USB_OTG_FS_IS_CLK_ENABLED() ((RCC->AHB2ENR & (RCC_AHB2ENR_OTGFSEN)) != RESET) -#define __HAL_RCC_USB_OTG_FS_IS_CLK_DISABLED() ((RCC->AHB2ENR & (RCC_AHB2ENR_OTGFSEN)) == RESET) -/** - * @} - */ - -/** @defgroup RCCEx_APB1_Clock_Enable_Disable APB1 Peripheral Clock Enable Disable - * @brief Enable or disable the Low Speed APB (APB1) peripheral clock. - * @note After reset, the peripheral clock (used for registers read/write access) - * is disabled and the application software has to enable this clock before - * using it. - * @{ - */ -#define __HAL_RCC_TIM2_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_TIM2EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_TIM2EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_TIM3_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_TIM3EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_TIM3EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_TIM4_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_TIM4EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_TIM4EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_SPI3_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_SPI3EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_SPI3EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_I2C3_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_I2C3EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_I2C3EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_TIM2_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_TIM2EN)) -#define __HAL_RCC_TIM3_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_TIM3EN)) -#define __HAL_RCC_TIM4_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_TIM4EN)) -#define __HAL_RCC_SPI3_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_SPI3EN)) -#define __HAL_RCC_I2C3_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_I2C3EN)) -/** - * @} - */ - -/** @defgroup RCCEx_APB1_Peripheral_Clock_Enable_Disable_Status APB1 Peripheral Clock Enable Disable Status - * @brief Get the enable or disable status of the APB1 peripheral clock. - * @note After reset, the peripheral clock (used for registers read/write access) - * is disabled and the application software has to enable this clock before - * using it. - * @{ - */ -#define __HAL_RCC_TIM2_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_TIM2EN)) != RESET) -#define __HAL_RCC_TIM3_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_TIM3EN)) != RESET) -#define __HAL_RCC_TIM4_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_TIM4EN)) != RESET) -#define __HAL_RCC_SPI3_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_SPI3EN)) != RESET) -#define __HAL_RCC_I2C3_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_I2C3EN)) != RESET) - -#define __HAL_RCC_TIM2_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_TIM2EN)) == RESET) -#define __HAL_RCC_TIM3_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_TIM3EN)) == RESET) -#define __HAL_RCC_TIM4_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_TIM4EN)) == RESET) -#define __HAL_RCC_SPI3_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_SPI3EN)) == RESET) -#define __HAL_RCC_I2C3_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_I2C3EN)) == RESET) -/** - * @} - */ - -/** @defgroup RCCEx_APB2_Clock_Enable_Disable APB2 Peripheral Clock Enable Disable - * @brief Enable or disable the High Speed APB (APB2) peripheral clock. - * @{ - */ -#define __HAL_RCC_SPI5_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB2ENR, RCC_APB2ENR_SPI5EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB2ENR, RCC_APB2ENR_SPI5EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_SDIO_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB2ENR, RCC_APB2ENR_SDIOEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB2ENR, RCC_APB2ENR_SDIOEN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_SPI4_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB2ENR, RCC_APB2ENR_SPI4EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB2ENR, RCC_APB2ENR_SPI4EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_TIM10_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB2ENR, RCC_APB2ENR_TIM10EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB2ENR, RCC_APB2ENR_TIM10EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_SDIO_CLK_DISABLE() (RCC->APB2ENR &= ~(RCC_APB2ENR_SDIOEN)) -#define __HAL_RCC_SPI4_CLK_DISABLE() (RCC->APB2ENR &= ~(RCC_APB2ENR_SPI4EN)) -#define __HAL_RCC_TIM10_CLK_DISABLE() (RCC->APB2ENR &= ~(RCC_APB2ENR_TIM10EN)) -#define __HAL_RCC_SPI5_CLK_DISABLE() (RCC->APB2ENR &= ~(RCC_APB2ENR_SPI5EN)) -/** - * @} - */ - -/** @defgroup RCCEx_APB2_Peripheral_Clock_Enable_Disable_Status APB2 Peripheral Clock Enable Disable Status - * @brief Get the enable or disable status of the APB2 peripheral clock. - * @note After reset, the peripheral clock (used for registers read/write access) - * is disabled and the application software has to enable this clock before - * using it. - * @{ - */ -#define __HAL_RCC_SDIO_IS_CLK_ENABLED() ((RCC->APB2ENR & (RCC_APB2ENR_SDIOEN)) != RESET) -#define __HAL_RCC_SPI4_IS_CLK_ENABLED() ((RCC->APB2ENR & (RCC_APB2ENR_SPI4EN)) != RESET) -#define __HAL_RCC_TIM10_IS_CLK_ENABLED() ((RCC->APB2ENR & (RCC_APB2ENR_TIM10EN)) != RESET) -#define __HAL_RCC_SPI5_IS_CLK_ENABLED() ((RCC->APB2ENR & (RCC_APB2ENR_SPI5EN)) != RESET) - -#define __HAL_RCC_SDIO_IS_CLK_DISABLED() ((RCC->APB2ENR & (RCC_APB2ENR_SDIOEN)) == RESET) -#define __HAL_RCC_SPI4_IS_CLK_DISABLED() ((RCC->APB2ENR & (RCC_APB2ENR_SPI4EN)) == RESET) -#define __HAL_RCC_TIM10_IS_CLK_DISABLED() ((RCC->APB2ENR & (RCC_APB2ENR_TIM10EN)) == RESET) -#define __HAL_RCC_SPI5_IS_CLK_DISABLED() ((RCC->APB2ENR & (RCC_APB2ENR_SPI5EN)) == RESET) -/** - * @} - */ - -/** @defgroup RCCEx_AHB1_Force_Release_Reset AHB1 Force Release Reset - * @brief Force or release AHB1 peripheral reset. - * @{ - */ -#define __HAL_RCC_GPIOD_FORCE_RESET() (RCC->AHB1RSTR |= (RCC_AHB1RSTR_GPIODRST)) -#define __HAL_RCC_GPIOE_FORCE_RESET() (RCC->AHB1RSTR |= (RCC_AHB1RSTR_GPIOERST)) -#define __HAL_RCC_CRC_FORCE_RESET() (RCC->AHB1RSTR |= (RCC_AHB1RSTR_CRCRST)) - -#define __HAL_RCC_GPIOD_RELEASE_RESET() (RCC->AHB1RSTR &= ~(RCC_AHB1RSTR_GPIODRST)) -#define __HAL_RCC_GPIOE_RELEASE_RESET() (RCC->AHB1RSTR &= ~(RCC_AHB1RSTR_GPIOERST)) -#define __HAL_RCC_CRC_RELEASE_RESET() (RCC->AHB1RSTR &= ~(RCC_AHB1RSTR_CRCRST)) -/** - * @} - */ - -/** @defgroup RCCEx_AHB2_Force_Release_Reset AHB2 Force Release Reset - * @brief Force or release AHB2 peripheral reset. - * @{ - */ -#define __HAL_RCC_AHB2_FORCE_RESET() (RCC->AHB2RSTR = 0xFFFFFFFFU) -#define __HAL_RCC_USB_OTG_FS_FORCE_RESET() (RCC->AHB2RSTR |= (RCC_AHB2RSTR_OTGFSRST)) - -#define __HAL_RCC_AHB2_RELEASE_RESET() (RCC->AHB2RSTR = 0x00U) -#define __HAL_RCC_USB_OTG_FS_RELEASE_RESET() (RCC->AHB2RSTR &= ~(RCC_AHB2RSTR_OTGFSRST)) -/** - * @} - */ - -/** @defgroup RCCEx_AHB3_Force_Release_Reset AHB3 Force Release Reset - * @brief Force or release AHB3 peripheral reset. - * @{ - */ -#define __HAL_RCC_AHB3_FORCE_RESET() (RCC->AHB3RSTR = 0xFFFFFFFFU) -#define __HAL_RCC_AHB3_RELEASE_RESET() (RCC->AHB3RSTR = 0x00U) -/** - * @} - */ - -/** @defgroup RCCEx_APB1_Force_Release_Reset APB1 Force Release Reset - * @brief Force or release APB1 peripheral reset. - * @{ - */ -#define __HAL_RCC_TIM2_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_TIM2RST)) -#define __HAL_RCC_TIM3_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_TIM3RST)) -#define __HAL_RCC_TIM4_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_TIM4RST)) -#define __HAL_RCC_SPI3_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_SPI3RST)) -#define __HAL_RCC_I2C3_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_I2C3RST)) - -#define __HAL_RCC_TIM2_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_TIM2RST)) -#define __HAL_RCC_TIM3_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_TIM3RST)) -#define __HAL_RCC_TIM4_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_TIM4RST)) -#define __HAL_RCC_SPI3_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_SPI3RST)) -#define __HAL_RCC_I2C3_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_I2C3RST)) -/** - * @} - */ - -/** @defgroup RCCEx_APB2_Force_Release_Reset APB2 Force Release Reset - * @brief Force or release APB2 peripheral reset. - * @{ - */ -#define __HAL_RCC_SPI5_FORCE_RESET() (RCC->APB2RSTR |= (RCC_APB2RSTR_SPI5RST)) -#define __HAL_RCC_SDIO_FORCE_RESET() (RCC->APB2RSTR |= (RCC_APB2RSTR_SDIORST)) -#define __HAL_RCC_SPI4_FORCE_RESET() (RCC->APB2RSTR |= (RCC_APB2RSTR_SPI4RST)) -#define __HAL_RCC_TIM10_FORCE_RESET() (RCC->APB2RSTR |= (RCC_APB2RSTR_TIM10RST)) - -#define __HAL_RCC_SDIO_RELEASE_RESET() (RCC->APB2RSTR &= ~(RCC_APB2RSTR_SDIORST)) -#define __HAL_RCC_SPI4_RELEASE_RESET() (RCC->APB2RSTR &= ~(RCC_APB2RSTR_SPI4RST)) -#define __HAL_RCC_TIM10_RELEASE_RESET() (RCC->APB2RSTR &= ~(RCC_APB2RSTR_TIM10RST)) -#define __HAL_RCC_SPI5_RELEASE_RESET() (RCC->APB2RSTR &= ~(RCC_APB2RSTR_SPI5RST)) -/** - * @} - */ - -/** @defgroup RCCEx_AHB1_LowPower_Enable_Disable AHB1 Peripheral Low Power Enable Disable - * @brief Enable or disable the AHB1 peripheral clock during Low Power (Sleep) mode. - * @note Peripheral clock gating in SLEEP mode can be used to further reduce - * power consumption. - * @note After wakeup from SLEEP mode, the peripheral clock is enabled again. - * @note By default, all peripheral clocks are enabled during SLEEP mode. - * @{ - */ -#define __HAL_RCC_GPIOD_CLK_SLEEP_ENABLE() (RCC->AHB1LPENR |= (RCC_AHB1LPENR_GPIODLPEN)) -#define __HAL_RCC_GPIOE_CLK_SLEEP_ENABLE() (RCC->AHB1LPENR |= (RCC_AHB1LPENR_GPIOELPEN)) -#define __HAL_RCC_CRC_CLK_SLEEP_ENABLE() (RCC->AHB1LPENR |= (RCC_AHB1LPENR_CRCLPEN)) -#define __HAL_RCC_FLITF_CLK_SLEEP_ENABLE() (RCC->AHB1LPENR |= (RCC_AHB1LPENR_FLITFLPEN)) -#define __HAL_RCC_SRAM1_CLK_SLEEP_ENABLE() (RCC->AHB1LPENR |= (RCC_AHB1LPENR_SRAM1LPEN)) - -#define __HAL_RCC_GPIOD_CLK_SLEEP_DISABLE() (RCC->AHB1LPENR &= ~(RCC_AHB1LPENR_GPIODLPEN)) -#define __HAL_RCC_GPIOE_CLK_SLEEP_DISABLE() (RCC->AHB1LPENR &= ~(RCC_AHB1LPENR_GPIOELPEN)) -#define __HAL_RCC_CRC_CLK_SLEEP_DISABLE() (RCC->AHB1LPENR &= ~(RCC_AHB1LPENR_CRCLPEN)) -#define __HAL_RCC_FLITF_CLK_SLEEP_DISABLE() (RCC->AHB1LPENR &= ~(RCC_AHB1LPENR_FLITFLPEN)) -#define __HAL_RCC_SRAM1_CLK_SLEEP_DISABLE() (RCC->AHB1LPENR &= ~(RCC_AHB1LPENR_SRAM1LPEN)) -/** - * @} - */ - -/** @defgroup RCCEx_AHB2_LowPower_Enable_Disable AHB2 Peripheral Low Power Enable Disable - * @brief Enable or disable the AHB2 peripheral clock during Low Power (Sleep) mode. - * @note Peripheral clock gating in SLEEP mode can be used to further reduce - * power consumption. - * @note After wake-up from SLEEP mode, the peripheral clock is enabled again. - * @note By default, all peripheral clocks are enabled during SLEEP mode. - * @{ - */ -#define __HAL_RCC_USB_OTG_FS_CLK_SLEEP_ENABLE() (RCC->AHB2LPENR |= (RCC_AHB2LPENR_OTGFSLPEN)) -#define __HAL_RCC_USB_OTG_FS_CLK_SLEEP_DISABLE() (RCC->AHB2LPENR &= ~(RCC_AHB2LPENR_OTGFSLPEN)) -/** - * @} - */ - -/** @defgroup RCCEx_APB1_LowPower_Enable_Disable APB1 Peripheral Low Power Enable Disable - * @brief Enable or disable the APB1 peripheral clock during Low Power (Sleep) mode. - * @{ - */ -#define __HAL_RCC_TIM2_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_TIM2LPEN)) -#define __HAL_RCC_TIM3_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_TIM3LPEN)) -#define __HAL_RCC_TIM4_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_TIM4LPEN)) -#define __HAL_RCC_SPI3_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_SPI3LPEN)) -#define __HAL_RCC_I2C3_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_I2C3LPEN)) - -#define __HAL_RCC_TIM2_CLK_SLEEP_DISABLE() (RCC->APB1LPENR &= ~(RCC_APB1LPENR_TIM2LPEN)) -#define __HAL_RCC_TIM3_CLK_SLEEP_DISABLE() (RCC->APB1LPENR &= ~(RCC_APB1LPENR_TIM3LPEN)) -#define __HAL_RCC_TIM4_CLK_SLEEP_DISABLE() (RCC->APB1LPENR &= ~(RCC_APB1LPENR_TIM4LPEN)) -#define __HAL_RCC_SPI3_CLK_SLEEP_DISABLE() (RCC->APB1LPENR &= ~(RCC_APB1LPENR_SPI3LPEN)) -#define __HAL_RCC_I2C3_CLK_SLEEP_DISABLE() (RCC->APB1LPENR &= ~(RCC_APB1LPENR_I2C3LPEN)) -/** - * @} - */ - -/** @defgroup RCCEx_APB2_LowPower_Enable_Disable APB2 Peripheral Low Power Enable Disable - * @brief Enable or disable the APB2 peripheral clock during Low Power (Sleep) mode. - * @{ - */ -#define __HAL_RCC_SPI5_CLK_SLEEP_ENABLE() (RCC->APB2LPENR |= (RCC_APB2LPENR_SPI5LPEN)) -#define __HAL_RCC_SDIO_CLK_SLEEP_ENABLE() (RCC->APB2LPENR |= (RCC_APB2LPENR_SDIOLPEN)) -#define __HAL_RCC_SPI4_CLK_SLEEP_ENABLE() (RCC->APB2LPENR |= (RCC_APB2LPENR_SPI4LPEN)) -#define __HAL_RCC_TIM10_CLK_SLEEP_ENABLE() (RCC->APB2LPENR |= (RCC_APB2LPENR_TIM10LPEN)) - -#define __HAL_RCC_SDIO_CLK_SLEEP_DISABLE() (RCC->APB2LPENR &= ~(RCC_APB2LPENR_SDIOLPEN)) -#define __HAL_RCC_SPI4_CLK_SLEEP_DISABLE() (RCC->APB2LPENR &= ~(RCC_APB2LPENR_SPI4LPEN)) -#define __HAL_RCC_TIM10_CLK_SLEEP_DISABLE() (RCC->APB2LPENR &= ~(RCC_APB2LPENR_TIM10LPEN)) -#define __HAL_RCC_SPI5_CLK_SLEEP_DISABLE() (RCC->APB2LPENR &= ~(RCC_APB2LPENR_SPI5LPEN)) -/** - * @} - */ -#endif /* STM32F411xE */ -/*----------------------------------------------------------------------------*/ - -/*---------------------------------- STM32F446xx -----------------------------*/ -#if defined(STM32F446xx) -/** @defgroup RCCEx_AHB1_Clock_Enable_Disable AHB1 Peripheral Clock Enable Disable - * @brief Enables or disables the AHB1 peripheral clock. - * @note After reset, the peripheral clock (used for registers read/write access) - * is disabled and the application software has to enable this clock before - * using it. - * @{ - */ -#define __HAL_RCC_BKPSRAM_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->AHB1ENR, RCC_AHB1ENR_BKPSRAMEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->AHB1ENR, RCC_AHB1ENR_BKPSRAMEN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_CCMDATARAMEN_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->AHB1ENR, RCC_AHB1ENR_CCMDATARAMEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->AHB1ENR, RCC_AHB1ENR_CCMDATARAMEN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_CRC_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->AHB1ENR, RCC_AHB1ENR_CRCEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->AHB1ENR, RCC_AHB1ENR_CRCEN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_GPIOD_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->AHB1ENR, RCC_AHB1ENR_GPIODEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->AHB1ENR, RCC_AHB1ENR_GPIODEN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_GPIOE_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->AHB1ENR, RCC_AHB1ENR_GPIOEEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->AHB1ENR, RCC_AHB1ENR_GPIOEEN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_GPIOF_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->AHB1ENR, RCC_AHB1ENR_GPIOFEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->AHB1ENR, RCC_AHB1ENR_GPIOFEN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_GPIOG_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->AHB1ENR, RCC_AHB1ENR_GPIOGEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->AHB1ENR, RCC_AHB1ENR_GPIOGEN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_USB_OTG_HS_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->AHB1ENR, RCC_AHB1ENR_OTGHSEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->AHB1ENR, RCC_AHB1ENR_OTGHSEN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_USB_OTG_HS_ULPI_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->AHB1ENR, RCC_AHB1ENR_OTGHSULPIEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->AHB1ENR, RCC_AHB1ENR_OTGHSULPIEN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_GPIOD_CLK_DISABLE() (RCC->AHB1ENR &= ~(RCC_AHB1ENR_GPIODEN)) -#define __HAL_RCC_GPIOE_CLK_DISABLE() (RCC->AHB1ENR &= ~(RCC_AHB1ENR_GPIOEEN)) -#define __HAL_RCC_GPIOF_CLK_DISABLE() (RCC->AHB1ENR &= ~(RCC_AHB1ENR_GPIOFEN)) -#define __HAL_RCC_GPIOG_CLK_DISABLE() (RCC->AHB1ENR &= ~(RCC_AHB1ENR_GPIOGEN)) -#define __HAL_RCC_USB_OTG_HS_CLK_DISABLE() (RCC->AHB1ENR &= ~(RCC_AHB1ENR_OTGHSEN)) -#define __HAL_RCC_USB_OTG_HS_ULPI_CLK_DISABLE() (RCC->AHB1ENR &= ~(RCC_AHB1ENR_OTGHSULPIEN)) -#define __HAL_RCC_BKPSRAM_CLK_DISABLE() (RCC->AHB1ENR &= ~(RCC_AHB1ENR_BKPSRAMEN)) -#define __HAL_RCC_CCMDATARAMEN_CLK_DISABLE() (RCC->AHB1ENR &= ~(RCC_AHB1ENR_CCMDATARAMEN)) -#define __HAL_RCC_CRC_CLK_DISABLE() (RCC->AHB1ENR &= ~(RCC_AHB1ENR_CRCEN)) -/** - * @} - */ - -/** @defgroup RCCEx_AHB1_Peripheral_Clock_Enable_Disable_Status AHB1 Peripheral Clock Enable Disable Status - * @brief Get the enable or disable status of the AHB1 peripheral clock. - * @note After reset, the peripheral clock (used for registers read/write access) - * is disabled and the application software has to enable this clock before - * using it. - * @{ - */ -#define __HAL_RCC_GPIOD_IS_CLK_ENABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_GPIODEN)) != RESET) -#define __HAL_RCC_GPIOE_IS_CLK_ENABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_GPIOEEN)) != RESET) -#define __HAL_RCC_GPIOF_IS_CLK_ENABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_GPIOFEN)) != RESET) -#define __HAL_RCC_GPIOG_IS_CLK_ENABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_GPIOGEN)) != RESET) -#define __HAL_RCC_USB_OTG_HS_IS_CLK_ENABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_OTGHSEN)) != RESET) -#define __HAL_RCC_USB_OTG_HS_ULPI_IS_CLK_ENABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_OTGHSULPIEN)) != RESET) -#define __HAL_RCC_BKPSRAM_IS_CLK_ENABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_BKPSRAMEN)) != RESET) -#define __HAL_RCC_CCMDATARAMEN_IS_CLK_ENABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_CCMDATARAMEN))!= RESET) -#define __HAL_RCC_CRC_IS_CLK_ENABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_CRCEN)) != RESET) - -#define __HAL_RCC_GPIOD_IS_CLK_DISABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_GPIODEN)) == RESET) -#define __HAL_RCC_GPIOE_IS_CLK_DISABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_GPIOEEN)) == RESET) -#define __HAL_RCC_GPIOF_IS_CLK_DISABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_GPIOFEN)) == RESET) -#define __HAL_RCC_GPIOG_IS_CLK_DISABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_GPIOGEN)) == RESET) -#define __HAL_RCC_USB_OTG_HS_IS_CLK_DISABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_OTGHSEN)) == RESET) -#define __HAL_RCC_USB_OTG_HS_ULPI_IS_CLK_DISABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_OTGHSULPIEN)) == RESET) -#define __HAL_RCC_BKPSRAM_IS_CLK_DISABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_BKPSRAMEN)) == RESET) -#define __HAL_RCC_CCMDATARAMEN_IS_CLK_DISABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_CCMDATARAMEN)) == RESET) -#define __HAL_RCC_CRC_IS_CLK_DISABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_CRCEN)) == RESET) -/** - * @} - */ - -/** @defgroup RCCEx_AHB2_Clock_Enable_Disable AHB2 Peripheral Clock Enable Disable - * @brief Enable or disable the AHB2 peripheral clock. - * @note After reset, the peripheral clock (used for registers read/write access) - * is disabled and the application software has to enable this clock before - * using it. - * @{ - */ -#define __HAL_RCC_DCMI_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->AHB2ENR, RCC_AHB2ENR_DCMIEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->AHB2ENR, RCC_AHB2ENR_DCMIEN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_DCMI_CLK_DISABLE() (RCC->AHB2ENR &= ~(RCC_AHB2ENR_DCMIEN)) -#define __HAL_RCC_USB_OTG_FS_CLK_ENABLE() do {(RCC->AHB2ENR |= (RCC_AHB2ENR_OTGFSEN));\ - __HAL_RCC_SYSCFG_CLK_ENABLE();\ - }while(0U) - -#define __HAL_RCC_USB_OTG_FS_CLK_DISABLE() (RCC->AHB2ENR &= ~(RCC_AHB2ENR_OTGFSEN)) - -#define __HAL_RCC_RNG_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->AHB2ENR, RCC_AHB2ENR_RNGEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->AHB2ENR, RCC_AHB2ENR_RNGEN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_RNG_CLK_DISABLE() (RCC->AHB2ENR &= ~(RCC_AHB2ENR_RNGEN)) -/** - * @} - */ - -/** @defgroup RCCEx_AHB2_Peripheral_Clock_Enable_Disable_Status AHB2 Peripheral Clock Enable Disable Status - * @brief Get the enable or disable status of the AHB2 peripheral clock. - * @note After reset, the peripheral clock (used for registers read/write access) - * is disabled and the application software has to enable this clock before - * using it. - * @{ - */ -#define __HAL_RCC_DCMI_IS_CLK_ENABLED() ((RCC->AHB2ENR & (RCC_AHB2ENR_DCMIEN)) != RESET) -#define __HAL_RCC_DCMI_IS_CLK_DISABLED() ((RCC->AHB2ENR & (RCC_AHB2ENR_DCMIEN)) == RESET) - -#define __HAL_RCC_USB_OTG_FS_IS_CLK_ENABLED() ((RCC->AHB2ENR & (RCC_AHB2ENR_OTGFSEN)) != RESET) -#define __HAL_RCC_USB_OTG_FS_IS_CLK_DISABLED() ((RCC->AHB2ENR & (RCC_AHB2ENR_OTGFSEN)) == RESET) - -#define __HAL_RCC_RNG_IS_CLK_ENABLED() ((RCC->AHB2ENR & (RCC_AHB2ENR_RNGEN)) != RESET) -#define __HAL_RCC_RNG_IS_CLK_DISABLED() ((RCC->AHB2ENR & (RCC_AHB2ENR_RNGEN)) == RESET) -/** - * @} - */ - -/** @defgroup RCCEx_AHB3_Clock_Enable_Disable AHB3 Peripheral Clock Enable Disable - * @brief Enables or disables the AHB3 peripheral clock. - * @note After reset, the peripheral clock (used for registers read/write access) - * is disabled and the application software has to enable this clock before - * using it. - * @{ - */ -#define __HAL_RCC_FMC_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->AHB3ENR, RCC_AHB3ENR_FMCEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->AHB3ENR, RCC_AHB3ENR_FMCEN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_QSPI_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->AHB3ENR, RCC_AHB3ENR_QSPIEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->AHB3ENR, RCC_AHB3ENR_QSPIEN);\ - UNUSED(tmpreg); \ - } while(0U) - -#define __HAL_RCC_FMC_CLK_DISABLE() (RCC->AHB3ENR &= ~(RCC_AHB3ENR_FMCEN)) -#define __HAL_RCC_QSPI_CLK_DISABLE() (RCC->AHB3ENR &= ~(RCC_AHB3ENR_QSPIEN)) -/** - * @} - */ - -/** @defgroup RCCEx_AHB3_Peripheral_Clock_Enable_Disable_Status AHB3 Peripheral Clock Enable Disable Status - * @brief Get the enable or disable status of the AHB3 peripheral clock. - * @note After reset, the peripheral clock (used for registers read/write access) - * is disabled and the application software has to enable this clock before - * using it. - * @{ - */ -#define __HAL_RCC_FMC_IS_CLK_ENABLED() ((RCC->AHB3ENR & (RCC_AHB3ENR_FMCEN)) != RESET) -#define __HAL_RCC_QSPI_IS_CLK_ENABLED() ((RCC->AHB3ENR & (RCC_AHB3ENR_QSPIEN)) != RESET) - -#define __HAL_RCC_FMC_IS_CLK_DISABLED() ((RCC->AHB3ENR & (RCC_AHB3ENR_FMCEN)) == RESET) -#define __HAL_RCC_QSPI_IS_CLK_DISABLED() ((RCC->AHB3ENR & (RCC_AHB3ENR_QSPIEN)) == RESET) -/** - * @} - */ - -/** @defgroup RCCEx_APB1_Clock_Enable_Disable APB1 Peripheral Clock Enable Disable - * @brief Enable or disable the Low Speed APB (APB1) peripheral clock. - * @note After reset, the peripheral clock (used for registers read/write access) - * is disabled and the application software has to enable this clock before - * using it. - * @{ - */ -#define __HAL_RCC_TIM6_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_TIM6EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_TIM6EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_TIM7_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_TIM7EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_TIM7EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_TIM12_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_TIM12EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_TIM12EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_TIM13_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_TIM13EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_TIM13EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_TIM14_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_TIM14EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_TIM14EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_SPDIFRX_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_SPDIFRXEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_SPDIFRXEN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_USART3_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_USART3EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_USART3EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_UART4_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_UART4EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_UART4EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_UART5_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_UART5EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_UART5EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_FMPI2C1_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_FMPI2C1EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_FMPI2C1EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_CAN1_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_CAN1EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_CAN1EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_CAN2_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_CAN2EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_CAN2EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_CEC_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_CECEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_CECEN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_DAC_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_DACEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_DACEN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_TIM2_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_TIM2EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_TIM2EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_TIM3_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_TIM3EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_TIM3EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_TIM4_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_TIM4EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_TIM4EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_SPI3_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_SPI3EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_SPI3EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_I2C3_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_I2C3EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_I2C3EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_TIM2_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_TIM2EN)) -#define __HAL_RCC_TIM3_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_TIM3EN)) -#define __HAL_RCC_TIM4_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_TIM4EN)) -#define __HAL_RCC_SPI3_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_SPI3EN)) -#define __HAL_RCC_I2C3_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_I2C3EN)) -#define __HAL_RCC_TIM6_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_TIM6EN)) -#define __HAL_RCC_TIM7_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_TIM7EN)) -#define __HAL_RCC_TIM12_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_TIM12EN)) -#define __HAL_RCC_TIM13_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_TIM13EN)) -#define __HAL_RCC_TIM14_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_TIM14EN)) -#define __HAL_RCC_SPDIFRX_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_SPDIFRXEN)) -#define __HAL_RCC_USART3_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_USART3EN)) -#define __HAL_RCC_UART4_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_UART4EN)) -#define __HAL_RCC_UART5_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_UART5EN)) -#define __HAL_RCC_FMPI2C1_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_FMPI2C1EN)) -#define __HAL_RCC_CAN1_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_CAN1EN)) -#define __HAL_RCC_CAN2_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_CAN2EN)) -#define __HAL_RCC_CEC_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_CECEN)) -#define __HAL_RCC_DAC_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_DACEN)) -/** - * @} - */ - -/** @defgroup RCCEx_APB1_Peripheral_Clock_Enable_Disable_Status APB1 Peripheral Clock Enable Disable Status - * @brief Get the enable or disable status of the APB1 peripheral clock. - * @note After reset, the peripheral clock (used for registers read/write access) - * is disabled and the application software has to enable this clock before - * using it. - * @{ - */ -#define __HAL_RCC_TIM2_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_TIM2EN)) != RESET) -#define __HAL_RCC_TIM3_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_TIM3EN)) != RESET) -#define __HAL_RCC_TIM4_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_TIM4EN)) != RESET) -#define __HAL_RCC_SPI3_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_SPI3EN)) != RESET) -#define __HAL_RCC_I2C3_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_I2C3EN)) != RESET) -#define __HAL_RCC_TIM6_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_TIM6EN)) != RESET) -#define __HAL_RCC_TIM7_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_TIM7EN)) != RESET) -#define __HAL_RCC_TIM12_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_TIM12EN)) != RESET) -#define __HAL_RCC_TIM13_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_TIM13EN)) != RESET) -#define __HAL_RCC_TIM14_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_TIM14EN)) != RESET) -#define __HAL_RCC_SPDIFRX_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_SPDIFRXEN)) != RESET) -#define __HAL_RCC_USART3_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_USART3EN)) != RESET) -#define __HAL_RCC_UART4_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_UART4EN)) != RESET) -#define __HAL_RCC_UART5_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_UART5EN)) != RESET) -#define __HAL_RCC_FMPI2C1_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_FMPI2C1EN)) != RESET) -#define __HAL_RCC_CAN1_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_CAN1EN)) != RESET) -#define __HAL_RCC_CAN2_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_CAN2EN)) != RESET) -#define __HAL_RCC_CEC_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_CECEN)) != RESET) -#define __HAL_RCC_DAC_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_DACEN)) != RESET) - -#define __HAL_RCC_TIM2_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_TIM2EN)) == RESET) -#define __HAL_RCC_TIM3_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_TIM3EN)) == RESET) -#define __HAL_RCC_TIM4_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_TIM4EN)) == RESET) -#define __HAL_RCC_SPI3_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_SPI3EN)) == RESET) -#define __HAL_RCC_I2C3_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_I2C3EN)) == RESET) -#define __HAL_RCC_TIM6_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_TIM6EN)) == RESET) -#define __HAL_RCC_TIM7_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_TIM7EN)) == RESET) -#define __HAL_RCC_TIM12_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_TIM12EN)) == RESET) -#define __HAL_RCC_TIM13_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_TIM13EN)) == RESET) -#define __HAL_RCC_TIM14_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_TIM14EN)) == RESET) -#define __HAL_RCC_SPDIFRX_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_SPDIFRXEN)) == RESET) -#define __HAL_RCC_USART3_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_USART3EN)) == RESET) -#define __HAL_RCC_UART4_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_UART4EN)) == RESET) -#define __HAL_RCC_UART5_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_UART5EN)) == RESET) -#define __HAL_RCC_FMPI2C1_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_FMPI2C1EN)) == RESET) -#define __HAL_RCC_CAN1_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_CAN1EN)) == RESET) -#define __HAL_RCC_CAN2_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_CAN2EN)) == RESET) -#define __HAL_RCC_CEC_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_CECEN)) == RESET) -#define __HAL_RCC_DAC_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_DACEN)) == RESET) -/** - * @} - */ - -/** @defgroup RCCEx_APB2_Clock_Enable_Disable APB2 Peripheral Clock Enable Disable - * @brief Enable or disable the High Speed APB (APB2) peripheral clock. - * @note After reset, the peripheral clock (used for registers read/write access) - * is disabled and the application software has to enable this clock before - * using it. - * @{ - */ -#define __HAL_RCC_TIM8_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB2ENR, RCC_APB2ENR_TIM8EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB2ENR, RCC_APB2ENR_TIM8EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_ADC2_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB2ENR, RCC_APB2ENR_ADC2EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB2ENR, RCC_APB2ENR_ADC2EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_ADC3_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB2ENR, RCC_APB2ENR_ADC3EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB2ENR, RCC_APB2ENR_ADC3EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_SAI1_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB2ENR, RCC_APB2ENR_SAI1EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB2ENR, RCC_APB2ENR_SAI1EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_SAI2_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB2ENR, RCC_APB2ENR_SAI2EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB2ENR, RCC_APB2ENR_SAI2EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_SDIO_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB2ENR, RCC_APB2ENR_SDIOEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB2ENR, RCC_APB2ENR_SDIOEN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_SPI4_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB2ENR, RCC_APB2ENR_SPI4EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB2ENR, RCC_APB2ENR_SPI4EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_TIM10_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB2ENR, RCC_APB2ENR_TIM10EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB2ENR, RCC_APB2ENR_TIM10EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_SDIO_CLK_DISABLE() (RCC->APB2ENR &= ~(RCC_APB2ENR_SDIOEN)) -#define __HAL_RCC_SPI4_CLK_DISABLE() (RCC->APB2ENR &= ~(RCC_APB2ENR_SPI4EN)) -#define __HAL_RCC_TIM10_CLK_DISABLE() (RCC->APB2ENR &= ~(RCC_APB2ENR_TIM10EN)) -#define __HAL_RCC_TIM8_CLK_DISABLE() (RCC->APB2ENR &= ~(RCC_APB2ENR_TIM8EN)) -#define __HAL_RCC_ADC2_CLK_DISABLE() (RCC->APB2ENR &= ~(RCC_APB2ENR_ADC2EN)) -#define __HAL_RCC_ADC3_CLK_DISABLE() (RCC->APB2ENR &= ~(RCC_APB2ENR_ADC3EN)) -#define __HAL_RCC_SAI1_CLK_DISABLE() (RCC->APB2ENR &= ~(RCC_APB2ENR_SAI1EN)) -#define __HAL_RCC_SAI2_CLK_DISABLE() (RCC->APB2ENR &= ~(RCC_APB2ENR_SAI2EN)) -/** - * @} - */ - -/** @defgroup RCCEx_APB2_Peripheral_Clock_Enable_Disable_Status APB2 Peripheral Clock Enable Disable Status - * @brief Get the enable or disable status of the APB2 peripheral clock. - * @note After reset, the peripheral clock (used for registers read/write access) - * is disabled and the application software has to enable this clock before - * using it. - * @{ - */ -#define __HAL_RCC_SDIO_IS_CLK_ENABLED() ((RCC->APB2ENR & (RCC_APB2ENR_SDIOEN)) != RESET) -#define __HAL_RCC_SPI4_IS_CLK_ENABLED() ((RCC->APB2ENR & (RCC_APB2ENR_SPI4EN)) != RESET) -#define __HAL_RCC_TIM10_IS_CLK_ENABLED() ((RCC->APB2ENR & (RCC_APB2ENR_TIM10EN)) != RESET) -#define __HAL_RCC_TIM8_IS_CLK_ENABLED() ((RCC->APB2ENR & (RCC_APB2ENR_TIM8EN)) != RESET) -#define __HAL_RCC_ADC2_IS_CLK_ENABLED() ((RCC->APB2ENR & (RCC_APB2ENR_ADC2EN)) != RESET) -#define __HAL_RCC_ADC3_IS_CLK_ENABLED() ((RCC->APB2ENR & (RCC_APB2ENR_ADC3EN)) != RESET) -#define __HAL_RCC_SAI1_IS_CLK_ENABLED() ((RCC->APB2ENR & (RCC_APB2ENR_SAI1EN)) != RESET) -#define __HAL_RCC_SAI2_IS_CLK_ENABLED() ((RCC->APB2ENR & (RCC_APB2ENR_SAI2EN)) != RESET) - -#define __HAL_RCC_SDIO_IS_CLK_DISABLED() ((RCC->APB2ENR & (RCC_APB2ENR_SDIOEN)) == RESET) -#define __HAL_RCC_SPI4_IS_CLK_DISABLED() ((RCC->APB2ENR & (RCC_APB2ENR_SPI4EN)) == RESET) -#define __HAL_RCC_TIM10_IS_CLK_DISABLED() ((RCC->APB2ENR & (RCC_APB2ENR_TIM10EN)) == RESET) -#define __HAL_RCC_TIM8_IS_CLK_DISABLED() ((RCC->APB2ENR & (RCC_APB2ENR_TIM8EN)) == RESET) -#define __HAL_RCC_ADC2_IS_CLK_DISABLED() ((RCC->APB2ENR & (RCC_APB2ENR_ADC2EN)) == RESET) -#define __HAL_RCC_ADC3_IS_CLK_DISABLED() ((RCC->APB2ENR & (RCC_APB2ENR_ADC3EN)) == RESET) -#define __HAL_RCC_SAI1_IS_CLK_DISABLED() ((RCC->APB2ENR & (RCC_APB2ENR_SAI1EN)) == RESET) -#define __HAL_RCC_SAI2_IS_CLK_DISABLED() ((RCC->APB2ENR & (RCC_APB2ENR_SAI2EN)) == RESET) -/** - * @} - */ - -/** @defgroup RCCEx_AHB1_Force_Release_Reset AHB1 Force Release Reset - * @brief Force or release AHB1 peripheral reset. - * @{ - */ -#define __HAL_RCC_GPIOD_FORCE_RESET() (RCC->AHB1RSTR |= (RCC_AHB1RSTR_GPIODRST)) -#define __HAL_RCC_GPIOE_FORCE_RESET() (RCC->AHB1RSTR |= (RCC_AHB1RSTR_GPIOERST)) -#define __HAL_RCC_GPIOF_FORCE_RESET() (RCC->AHB1RSTR |= (RCC_AHB1RSTR_GPIOFRST)) -#define __HAL_RCC_GPIOG_FORCE_RESET() (RCC->AHB1RSTR |= (RCC_AHB1RSTR_GPIOGRST)) -#define __HAL_RCC_USB_OTG_HS_FORCE_RESET() (RCC->AHB1RSTR |= (RCC_AHB1RSTR_OTGHRST)) -#define __HAL_RCC_CRC_FORCE_RESET() (RCC->AHB1RSTR |= (RCC_AHB1RSTR_CRCRST)) - -#define __HAL_RCC_GPIOD_RELEASE_RESET() (RCC->AHB1RSTR &= ~(RCC_AHB1RSTR_GPIODRST)) -#define __HAL_RCC_GPIOE_RELEASE_RESET() (RCC->AHB1RSTR &= ~(RCC_AHB1RSTR_GPIOERST)) -#define __HAL_RCC_GPIOF_RELEASE_RESET() (RCC->AHB1RSTR &= ~(RCC_AHB1RSTR_GPIOFRST)) -#define __HAL_RCC_GPIOG_RELEASE_RESET() (RCC->AHB1RSTR &= ~(RCC_AHB1RSTR_GPIOGRST)) -#define __HAL_RCC_USB_OTG_HS_RELEASE_RESET() (RCC->AHB1RSTR &= ~(RCC_AHB1RSTR_OTGHRST)) -#define __HAL_RCC_CRC_RELEASE_RESET() (RCC->AHB1RSTR &= ~(RCC_AHB1RSTR_CRCRST)) -/** - * @} - */ - -/** @defgroup RCCEx_AHB2_Force_Release_Reset AHB2 Force Release Reset - * @brief Force or release AHB2 peripheral reset. - * @{ - */ -#define __HAL_RCC_AHB2_FORCE_RESET() (RCC->AHB2RSTR = 0xFFFFFFFFU) -#define __HAL_RCC_USB_OTG_FS_FORCE_RESET() (RCC->AHB2RSTR |= (RCC_AHB2RSTR_OTGFSRST)) -#define __HAL_RCC_RNG_FORCE_RESET() (RCC->AHB2RSTR |= (RCC_AHB2RSTR_RNGRST)) -#define __HAL_RCC_DCMI_FORCE_RESET() (RCC->AHB2RSTR |= (RCC_AHB2RSTR_DCMIRST)) - -#define __HAL_RCC_AHB2_RELEASE_RESET() (RCC->AHB2RSTR = 0x00U) -#define __HAL_RCC_USB_OTG_FS_RELEASE_RESET() (RCC->AHB2RSTR &= ~(RCC_AHB2RSTR_OTGFSRST)) -#define __HAL_RCC_RNG_RELEASE_RESET() (RCC->AHB2RSTR &= ~(RCC_AHB2RSTR_RNGRST)) -#define __HAL_RCC_DCMI_RELEASE_RESET() (RCC->AHB2RSTR &= ~(RCC_AHB2RSTR_DCMIRST)) -/** - * @} - */ - -/** @defgroup RCCEx_AHB3_Force_Release_Reset AHB3 Force Release Reset - * @brief Force or release AHB3 peripheral reset. - * @{ - */ -#define __HAL_RCC_AHB3_FORCE_RESET() (RCC->AHB3RSTR = 0xFFFFFFFFU) -#define __HAL_RCC_AHB3_RELEASE_RESET() (RCC->AHB3RSTR = 0x00U) - -#define __HAL_RCC_FMC_FORCE_RESET() (RCC->AHB3RSTR |= (RCC_AHB3RSTR_FMCRST)) -#define __HAL_RCC_QSPI_FORCE_RESET() (RCC->AHB3RSTR |= (RCC_AHB3RSTR_QSPIRST)) - -#define __HAL_RCC_FMC_RELEASE_RESET() (RCC->AHB3RSTR &= ~(RCC_AHB3RSTR_FMCRST)) -#define __HAL_RCC_QSPI_RELEASE_RESET() (RCC->AHB3RSTR &= ~(RCC_AHB3RSTR_QSPIRST)) -/** - * @} - */ - -/** @defgroup RCCEx_APB1_Force_Release_Reset APB1 Force Release Reset - * @brief Force or release APB1 peripheral reset. - * @{ - */ -#define __HAL_RCC_TIM6_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_TIM6RST)) -#define __HAL_RCC_TIM7_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_TIM7RST)) -#define __HAL_RCC_TIM12_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_TIM12RST)) -#define __HAL_RCC_TIM13_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_TIM13RST)) -#define __HAL_RCC_TIM14_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_TIM14RST)) -#define __HAL_RCC_SPDIFRX_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_SPDIFRXRST)) -#define __HAL_RCC_USART3_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_USART3RST)) -#define __HAL_RCC_UART4_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_UART4RST)) -#define __HAL_RCC_UART5_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_UART5RST)) -#define __HAL_RCC_FMPI2C1_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_FMPI2C1RST)) -#define __HAL_RCC_CAN1_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_CAN1RST)) -#define __HAL_RCC_CAN2_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_CAN2RST)) -#define __HAL_RCC_CEC_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_CECRST)) -#define __HAL_RCC_DAC_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_DACRST)) -#define __HAL_RCC_TIM2_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_TIM2RST)) -#define __HAL_RCC_TIM3_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_TIM3RST)) -#define __HAL_RCC_TIM4_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_TIM4RST)) -#define __HAL_RCC_SPI3_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_SPI3RST)) -#define __HAL_RCC_I2C3_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_I2C3RST)) - -#define __HAL_RCC_TIM2_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_TIM2RST)) -#define __HAL_RCC_TIM3_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_TIM3RST)) -#define __HAL_RCC_TIM4_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_TIM4RST)) -#define __HAL_RCC_SPI3_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_SPI3RST)) -#define __HAL_RCC_I2C3_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_I2C3RST)) -#define __HAL_RCC_TIM6_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_TIM6RST)) -#define __HAL_RCC_TIM7_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_TIM7RST)) -#define __HAL_RCC_TIM12_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_TIM12RST)) -#define __HAL_RCC_TIM13_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_TIM13RST)) -#define __HAL_RCC_TIM14_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_TIM14RST)) -#define __HAL_RCC_SPDIFRX_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_SPDIFRXRST)) -#define __HAL_RCC_USART3_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_USART3RST)) -#define __HAL_RCC_UART4_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_UART4RST)) -#define __HAL_RCC_UART5_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_UART5RST)) -#define __HAL_RCC_FMPI2C1_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_FMPI2C1RST)) -#define __HAL_RCC_CAN1_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_CAN1RST)) -#define __HAL_RCC_CAN2_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_CAN2RST)) -#define __HAL_RCC_CEC_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_CECRST)) -#define __HAL_RCC_DAC_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_DACRST)) -/** - * @} - */ - -/** @defgroup RCCEx_APB2_Force_Release_Reset APB2 Force Release Reset - * @brief Force or release APB2 peripheral reset. - * @{ - */ -#define __HAL_RCC_TIM8_FORCE_RESET() (RCC->APB2RSTR |= (RCC_APB2RSTR_TIM8RST)) -#define __HAL_RCC_SAI1_FORCE_RESET() (RCC->APB2RSTR |= (RCC_APB2RSTR_SAI1RST)) -#define __HAL_RCC_SAI2_FORCE_RESET() (RCC->APB2RSTR |= (RCC_APB2RSTR_SAI2RST)) -#define __HAL_RCC_SDIO_FORCE_RESET() (RCC->APB2RSTR |= (RCC_APB2RSTR_SDIORST)) -#define __HAL_RCC_SPI4_FORCE_RESET() (RCC->APB2RSTR |= (RCC_APB2RSTR_SPI4RST)) -#define __HAL_RCC_TIM10_FORCE_RESET() (RCC->APB2RSTR |= (RCC_APB2RSTR_TIM10RST)) - -#define __HAL_RCC_SDIO_RELEASE_RESET() (RCC->APB2RSTR &= ~(RCC_APB2RSTR_SDIORST)) -#define __HAL_RCC_SPI4_RELEASE_RESET() (RCC->APB2RSTR &= ~(RCC_APB2RSTR_SPI4RST)) -#define __HAL_RCC_TIM10_RELEASE_RESET() (RCC->APB2RSTR &= ~(RCC_APB2RSTR_TIM10RST)) -#define __HAL_RCC_TIM8_RELEASE_RESET() (RCC->APB2RSTR &= ~(RCC_APB2RSTR_TIM8RST)) -#define __HAL_RCC_SAI1_RELEASE_RESET() (RCC->APB2RSTR &= ~(RCC_APB2RSTR_SAI1RST)) -#define __HAL_RCC_SAI2_RELEASE_RESET() (RCC->APB2RSTR &= ~(RCC_APB2RSTR_SAI2RST)) -/** - * @} - */ - -/** @defgroup RCCEx_AHB1_LowPower_Enable_Disable AHB1 Peripheral Low Power Enable Disable - * @brief Enable or disable the AHB1 peripheral clock during Low Power (Sleep) mode. - * @note Peripheral clock gating in SLEEP mode can be used to further reduce - * power consumption. - * @note After wakeup from SLEEP mode, the peripheral clock is enabled again. - * @note By default, all peripheral clocks are enabled during SLEEP mode. - * @{ - */ -#define __HAL_RCC_GPIOD_CLK_SLEEP_ENABLE() (RCC->AHB1LPENR |= (RCC_AHB1LPENR_GPIODLPEN)) -#define __HAL_RCC_GPIOE_CLK_SLEEP_ENABLE() (RCC->AHB1LPENR |= (RCC_AHB1LPENR_GPIOELPEN)) -#define __HAL_RCC_GPIOF_CLK_SLEEP_ENABLE() (RCC->AHB1LPENR |= (RCC_AHB1LPENR_GPIOFLPEN)) -#define __HAL_RCC_GPIOG_CLK_SLEEP_ENABLE() (RCC->AHB1LPENR |= (RCC_AHB1LPENR_GPIOGLPEN)) -#define __HAL_RCC_SRAM2_CLK_SLEEP_ENABLE() (RCC->AHB1LPENR |= (RCC_AHB1LPENR_SRAM2LPEN)) -#define __HAL_RCC_USB_OTG_HS_CLK_SLEEP_ENABLE() (RCC->AHB1LPENR |= (RCC_AHB1LPENR_OTGHSLPEN)) -#define __HAL_RCC_USB_OTG_HS_ULPI_CLK_SLEEP_ENABLE() (RCC->AHB1LPENR |= (RCC_AHB1LPENR_OTGHSULPILPEN)) -#define __HAL_RCC_CRC_CLK_SLEEP_ENABLE() (RCC->AHB1LPENR |= (RCC_AHB1LPENR_CRCLPEN)) -#define __HAL_RCC_FLITF_CLK_SLEEP_ENABLE() (RCC->AHB1LPENR |= (RCC_AHB1LPENR_FLITFLPEN)) -#define __HAL_RCC_SRAM1_CLK_SLEEP_ENABLE() (RCC->AHB1LPENR |= (RCC_AHB1LPENR_SRAM1LPEN)) -#define __HAL_RCC_BKPSRAM_CLK_SLEEP_ENABLE() (RCC->AHB1LPENR |= (RCC_AHB1LPENR_BKPSRAMLPEN)) - -#define __HAL_RCC_GPIOD_CLK_SLEEP_DISABLE() (RCC->AHB1LPENR &= ~(RCC_AHB1LPENR_GPIODLPEN)) -#define __HAL_RCC_GPIOE_CLK_SLEEP_DISABLE() (RCC->AHB1LPENR &= ~(RCC_AHB1LPENR_GPIOELPEN)) -#define __HAL_RCC_GPIOF_CLK_SLEEP_DISABLE() (RCC->AHB1LPENR &= ~(RCC_AHB1LPENR_GPIOFLPEN)) -#define __HAL_RCC_GPIOG_CLK_SLEEP_DISABLE() (RCC->AHB1LPENR &= ~(RCC_AHB1LPENR_GPIOGLPEN)) -#define __HAL_RCC_SRAM2_CLK_SLEEP_DISABLE() (RCC->AHB1LPENR &= ~(RCC_AHB1LPENR_SRAM2LPEN)) -#define __HAL_RCC_USB_OTG_HS_CLK_SLEEP_DISABLE() (RCC->AHB1LPENR &= ~(RCC_AHB1LPENR_OTGHSLPEN)) -#define __HAL_RCC_USB_OTG_HS_ULPI_CLK_SLEEP_DISABLE() (RCC->AHB1LPENR &= ~(RCC_AHB1LPENR_OTGHSULPILPEN)) -#define __HAL_RCC_CRC_CLK_SLEEP_DISABLE() (RCC->AHB1LPENR &= ~(RCC_AHB1LPENR_CRCLPEN)) -#define __HAL_RCC_FLITF_CLK_SLEEP_DISABLE() (RCC->AHB1LPENR &= ~(RCC_AHB1LPENR_FLITFLPEN)) -#define __HAL_RCC_SRAM1_CLK_SLEEP_DISABLE() (RCC->AHB1LPENR &= ~(RCC_AHB1LPENR_SRAM1LPEN)) -#define __HAL_RCC_BKPSRAM_CLK_SLEEP_DISABLE() (RCC->AHB1LPENR &= ~(RCC_AHB1LPENR_BKPSRAMLPEN)) -/** - * @} - */ - -/** @defgroup RCCEx_AHB2_LowPower_Enable_Disable AHB2 Peripheral Low Power Enable Disable - * @brief Enable or disable the AHB2 peripheral clock during Low Power (Sleep) mode. - * @note Peripheral clock gating in SLEEP mode can be used to further reduce - * power consumption. - * @note After wake-up from SLEEP mode, the peripheral clock is enabled again. - * @note By default, all peripheral clocks are enabled during SLEEP mode. - * @{ - */ -#define __HAL_RCC_USB_OTG_FS_CLK_SLEEP_ENABLE() (RCC->AHB2LPENR |= (RCC_AHB2LPENR_OTGFSLPEN)) -#define __HAL_RCC_USB_OTG_FS_CLK_SLEEP_DISABLE() (RCC->AHB2LPENR &= ~(RCC_AHB2LPENR_OTGFSLPEN)) - -#define __HAL_RCC_RNG_CLK_SLEEP_ENABLE() (RCC->AHB2LPENR |= (RCC_AHB2LPENR_RNGLPEN)) -#define __HAL_RCC_RNG_CLK_SLEEP_DISABLE() (RCC->AHB2LPENR &= ~(RCC_AHB2LPENR_RNGLPEN)) - -#define __HAL_RCC_DCMI_CLK_SLEEP_ENABLE() (RCC->AHB2LPENR |= (RCC_AHB2LPENR_DCMILPEN)) -#define __HAL_RCC_DCMI_CLK_SLEEP_DISABLE() (RCC->AHB2LPENR &= ~(RCC_AHB2LPENR_DCMILPEN)) -/** - * @} - */ - -/** @defgroup RCCEx_AHB3_LowPower_Enable_Disable AHB3 Peripheral Low Power Enable Disable - * @brief Enable or disable the AHB3 peripheral clock during Low Power (Sleep) mode. - * @note Peripheral clock gating in SLEEP mode can be used to further reduce - * power consumption. - * @note After wakeup from SLEEP mode, the peripheral clock is enabled again. - * @note By default, all peripheral clocks are enabled during SLEEP mode. - * @{ - */ -#define __HAL_RCC_FMC_CLK_SLEEP_ENABLE() (RCC->AHB3LPENR |= (RCC_AHB3LPENR_FMCLPEN)) -#define __HAL_RCC_QSPI_CLK_SLEEP_ENABLE() (RCC->AHB3LPENR |= (RCC_AHB3LPENR_QSPILPEN)) - -#define __HAL_RCC_FMC_CLK_SLEEP_DISABLE() (RCC->AHB3LPENR &= ~(RCC_AHB3LPENR_FMCLPEN)) -#define __HAL_RCC_QSPI_CLK_SLEEP_DISABLE() (RCC->AHB3LPENR &= ~(RCC_AHB3LPENR_QSPILPEN)) -/** - * @} - */ - -/** @defgroup RCCEx_APB1_LowPower_Enable_Disable APB1 Peripheral Low Power Enable Disable - * @brief Enable or disable the APB1 peripheral clock during Low Power (Sleep) mode. - * @note Peripheral clock gating in SLEEP mode can be used to further reduce - * power consumption. - * @note After wakeup from SLEEP mode, the peripheral clock is enabled again. - * @note By default, all peripheral clocks are enabled during SLEEP mode. - * @{ - */ -#define __HAL_RCC_TIM6_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_TIM6LPEN)) -#define __HAL_RCC_TIM7_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_TIM7LPEN)) -#define __HAL_RCC_TIM12_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_TIM12LPEN)) -#define __HAL_RCC_TIM13_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_TIM13LPEN)) -#define __HAL_RCC_TIM14_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_TIM14LPEN)) -#define __HAL_RCC_SPDIFRX_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_SPDIFRXLPEN)) -#define __HAL_RCC_USART3_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_USART3LPEN)) -#define __HAL_RCC_UART4_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_UART4LPEN)) -#define __HAL_RCC_UART5_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_UART5LPEN)) -#define __HAL_RCC_FMPI2C1_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_FMPI2C1LPEN)) -#define __HAL_RCC_CAN1_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_CAN1LPEN)) -#define __HAL_RCC_CAN2_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_CAN2LPEN)) -#define __HAL_RCC_CEC_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_CECLPEN)) -#define __HAL_RCC_DAC_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_DACLPEN)) -#define __HAL_RCC_TIM2_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_TIM2LPEN)) -#define __HAL_RCC_TIM3_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_TIM3LPEN)) -#define __HAL_RCC_TIM4_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_TIM4LPEN)) -#define __HAL_RCC_SPI3_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_SPI3LPEN)) -#define __HAL_RCC_I2C3_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_I2C3LPEN)) - -#define __HAL_RCC_TIM2_CLK_SLEEP_DISABLE() (RCC->APB1LPENR &= ~(RCC_APB1LPENR_TIM2LPEN)) -#define __HAL_RCC_TIM3_CLK_SLEEP_DISABLE() (RCC->APB1LPENR &= ~(RCC_APB1LPENR_TIM3LPEN)) -#define __HAL_RCC_TIM4_CLK_SLEEP_DISABLE() (RCC->APB1LPENR &= ~(RCC_APB1LPENR_TIM4LPEN)) -#define __HAL_RCC_SPI3_CLK_SLEEP_DISABLE() (RCC->APB1LPENR &= ~(RCC_APB1LPENR_SPI3LPEN)) -#define __HAL_RCC_I2C3_CLK_SLEEP_DISABLE() (RCC->APB1LPENR &= ~(RCC_APB1LPENR_I2C3LPEN)) -#define __HAL_RCC_TIM6_CLK_SLEEP_DISABLE() (RCC->APB1LPENR &= ~(RCC_APB1LPENR_TIM6LPEN)) -#define __HAL_RCC_TIM7_CLK_SLEEP_DISABLE() (RCC->APB1LPENR &= ~(RCC_APB1LPENR_TIM7LPEN)) -#define __HAL_RCC_TIM12_CLK_SLEEP_DISABLE() (RCC->APB1LPENR &= ~(RCC_APB1LPENR_TIM12LPEN)) -#define __HAL_RCC_TIM13_CLK_SLEEP_DISABLE() (RCC->APB1LPENR &= ~(RCC_APB1LPENR_TIM13LPEN)) -#define __HAL_RCC_TIM14_CLK_SLEEP_DISABLE() (RCC->APB1LPENR &= ~(RCC_APB1LPENR_TIM14LPEN)) -#define __HAL_RCC_SPDIFRX_CLK_SLEEP_DISABLE()(RCC->APB1LPENR &= ~(RCC_APB1LPENR_SPDIFRXLPEN)) -#define __HAL_RCC_USART3_CLK_SLEEP_DISABLE() (RCC->APB1LPENR &= ~(RCC_APB1LPENR_USART3LPEN)) -#define __HAL_RCC_UART4_CLK_SLEEP_DISABLE() (RCC->APB1LPENR &= ~(RCC_APB1LPENR_UART4LPEN)) -#define __HAL_RCC_UART5_CLK_SLEEP_DISABLE() (RCC->APB1LPENR &= ~(RCC_APB1LPENR_UART5LPEN)) -#define __HAL_RCC_FMPI2C1_CLK_SLEEP_DISABLE()(RCC->APB1LPENR &= ~(RCC_APB1LPENR_FMPI2C1LPEN)) -#define __HAL_RCC_CAN1_CLK_SLEEP_DISABLE() (RCC->APB1LPENR &= ~(RCC_APB1LPENR_CAN1LPEN)) -#define __HAL_RCC_CAN2_CLK_SLEEP_DISABLE() (RCC->APB1LPENR &= ~(RCC_APB1LPENR_CAN2LPEN)) -#define __HAL_RCC_CEC_CLK_SLEEP_DISABLE() (RCC->APB1LPENR &= ~(RCC_APB1LPENR_CECLPEN)) -#define __HAL_RCC_DAC_CLK_SLEEP_DISABLE() (RCC->APB1LPENR &= ~(RCC_APB1LPENR_DACLPEN)) -/** - * @} - */ - -/** @defgroup RCCEx_APB2_LowPower_Enable_Disable APB2 Peripheral Low Power Enable Disable - * @brief Enable or disable the APB2 peripheral clock during Low Power (Sleep) mode. - * @note Peripheral clock gating in SLEEP mode can be used to further reduce - * power consumption. - * @note After wakeup from SLEEP mode, the peripheral clock is enabled again. - * @note By default, all peripheral clocks are enabled during SLEEP mode. - * @{ - */ -#define __HAL_RCC_TIM8_CLK_SLEEP_ENABLE() (RCC->APB2LPENR |= (RCC_APB2LPENR_TIM8LPEN)) -#define __HAL_RCC_ADC2_CLK_SLEEP_ENABLE() (RCC->APB2LPENR |= (RCC_APB2LPENR_ADC2LPEN)) -#define __HAL_RCC_ADC3_CLK_SLEEP_ENABLE() (RCC->APB2LPENR |= (RCC_APB2LPENR_ADC3LPEN)) -#define __HAL_RCC_SAI1_CLK_SLEEP_ENABLE() (RCC->APB2LPENR |= (RCC_APB2LPENR_SAI1LPEN)) -#define __HAL_RCC_SAI2_CLK_SLEEP_ENABLE() (RCC->APB2LPENR |= (RCC_APB2LPENR_SAI2LPEN)) -#define __HAL_RCC_SDIO_CLK_SLEEP_ENABLE() (RCC->APB2LPENR |= (RCC_APB2LPENR_SDIOLPEN)) -#define __HAL_RCC_SPI4_CLK_SLEEP_ENABLE() (RCC->APB2LPENR |= (RCC_APB2LPENR_SPI4LPEN)) -#define __HAL_RCC_TIM10_CLK_SLEEP_ENABLE()(RCC->APB2LPENR |= (RCC_APB2LPENR_TIM10LPEN)) - -#define __HAL_RCC_SDIO_CLK_SLEEP_DISABLE() (RCC->APB2LPENR &= ~(RCC_APB2LPENR_SDIOLPEN)) -#define __HAL_RCC_SPI4_CLK_SLEEP_DISABLE() (RCC->APB2LPENR &= ~(RCC_APB2LPENR_SPI4LPEN)) -#define __HAL_RCC_TIM10_CLK_SLEEP_DISABLE()(RCC->APB2LPENR &= ~(RCC_APB2LPENR_TIM10LPEN)) -#define __HAL_RCC_TIM8_CLK_SLEEP_DISABLE() (RCC->APB2LPENR &= ~(RCC_APB2LPENR_TIM8LPEN)) -#define __HAL_RCC_ADC2_CLK_SLEEP_DISABLE() (RCC->APB2LPENR &= ~(RCC_APB2LPENR_ADC2LPEN)) -#define __HAL_RCC_ADC3_CLK_SLEEP_DISABLE() (RCC->APB2LPENR &= ~(RCC_APB2LPENR_ADC3LPEN)) -#define __HAL_RCC_SAI1_CLK_SLEEP_DISABLE() (RCC->APB2LPENR &= ~(RCC_APB2LPENR_SAI1LPEN)) -#define __HAL_RCC_SAI2_CLK_SLEEP_DISABLE() (RCC->APB2LPENR &= ~(RCC_APB2LPENR_SAI2LPEN)) -/** - * @} - */ - -#endif /* STM32F446xx */ -/*----------------------------------------------------------------------------*/ - -/*-------STM32F412Zx || STM32F412Vx || STM32F412Rx || STM32F412Cx || STM32F413xx || STM32F423xx-------*/ -#if defined(STM32F412Zx) || defined(STM32F412Vx) || defined(STM32F412Rx) || defined(STM32F412Cx) || defined(STM32F413xx) || defined(STM32F423xx) -/** @defgroup RCCEx_AHB1_Clock_Enable_Disable AHB1 Peripheral Clock Enable Disable - * @brief Enables or disables the AHB1 peripheral clock. - * @note After reset, the peripheral clock (used for registers read/write access) - * is disabled and the application software has to enable this clock before - * using it. - * @{ - */ -#if defined(STM32F412Rx) || defined(STM32F412Vx) || defined(STM32F412Zx) || defined(STM32F413xx) || defined(STM32F423xx) -#define __HAL_RCC_GPIOD_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->AHB1ENR, RCC_AHB1ENR_GPIODEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->AHB1ENR, RCC_AHB1ENR_GPIODEN);\ - UNUSED(tmpreg); \ - } while(0U) -#endif /* STM32F412Rx || STM32F412Vx || STM32F412Zx || STM32F413xx || STM32F423xx */ -#if defined(STM32F412Vx) || defined(STM32F412Zx) || defined(STM32F413xx) || defined(STM32F423xx) -#define __HAL_RCC_GPIOE_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->AHB1ENR, RCC_AHB1ENR_GPIOEEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->AHB1ENR, RCC_AHB1ENR_GPIOEEN);\ - UNUSED(tmpreg); \ - } while(0U) -#endif /* STM32F412Vx || STM32F412Zx || STM32F413xx || STM32F423xx */ -#if defined(STM32F412Zx) || defined(STM32F413xx) || defined(STM32F423xx) -#define __HAL_RCC_GPIOF_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->AHB1ENR, RCC_AHB1ENR_GPIOFEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->AHB1ENR, RCC_AHB1ENR_GPIOFEN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_GPIOG_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->AHB1ENR, RCC_AHB1ENR_GPIOGEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->AHB1ENR, RCC_AHB1ENR_GPIOGEN);\ - UNUSED(tmpreg); \ - } while(0U) -#endif /* STM32F412Zx || STM32F413xx || STM32F423xx */ -#define __HAL_RCC_CRC_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->AHB1ENR, RCC_AHB1ENR_CRCEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->AHB1ENR, RCC_AHB1ENR_CRCEN);\ - UNUSED(tmpreg); \ - } while(0U) -#if defined(STM32F412Rx) || defined(STM32F412Vx) || defined(STM32F412Zx) || defined(STM32F413xx) || defined(STM32F423xx) -#define __HAL_RCC_GPIOD_CLK_DISABLE() (RCC->AHB1ENR &= ~(RCC_AHB1ENR_GPIODEN)) -#endif /* STM32F412Rx || STM32F412Vx || STM32F412Zx || STM32F413xx || STM32F423xx */ -#if defined(STM32F412Vx) || defined(STM32F412Zx) || defined(STM32F413xx) || defined(STM32F423xx) -#define __HAL_RCC_GPIOE_CLK_DISABLE() (RCC->AHB1ENR &= ~(RCC_AHB1ENR_GPIOEEN)) -#endif /* STM32F412Vx || STM32F412Zx || STM32F413xx || STM32F423xx */ -#if defined(STM32F412Zx) || defined(STM32F413xx) || defined(STM32F423xx) -#define __HAL_RCC_GPIOF_CLK_DISABLE() (RCC->AHB1ENR &= ~(RCC_AHB1ENR_GPIOFEN)) -#define __HAL_RCC_GPIOG_CLK_DISABLE() (RCC->AHB1ENR &= ~(RCC_AHB1ENR_GPIOGEN)) -#endif /* STM32F412Zx || STM32F413xx || STM32F423xx */ -#define __HAL_RCC_CRC_CLK_DISABLE() (RCC->AHB1ENR &= ~(RCC_AHB1ENR_CRCEN)) -/** - * @} - */ - -/** @defgroup RCCEx_AHB1_Peripheral_Clock_Enable_Disable_Status AHB1 Peripheral Clock Enable Disable Status - * @brief Get the enable or disable status of the AHB1 peripheral clock. - * @note After reset, the peripheral clock (used for registers read/write access) - * is disabled and the application software has to enable this clock before - * using it. - * @{ - */ -#if defined(STM32F412Rx) || defined(STM32F412Vx) || defined(STM32F412Zx) || defined(STM32F413xx) || defined(STM32F423xx) -#define __HAL_RCC_GPIOD_IS_CLK_ENABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_GPIODEN)) != RESET) -#endif /* STM32F412Rx || STM32F412Vx || STM32F412Zx || STM32F413xx || STM32F423xx */ -#if defined(STM32F412Vx) || defined(STM32F412Zx) || defined(STM32F413xx) || defined(STM32F423xx) -#define __HAL_RCC_GPIOE_IS_CLK_ENABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_GPIOEEN)) != RESET) -#endif /* STM32F412Vx || STM32F412Zx || STM32F413xx || STM32F423xx */ -#if defined(STM32F412Zx) || defined(STM32F413xx) || defined(STM32F423xx) -#define __HAL_RCC_GPIOF_IS_CLK_ENABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_GPIOFEN)) != RESET) -#define __HAL_RCC_GPIOG_IS_CLK_ENABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_GPIOGEN)) != RESET) -#endif /* STM32F412Zx || STM32F413xx || STM32F423xx */ -#define __HAL_RCC_CRC_IS_CLK_ENABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_CRCEN)) != RESET) - -#if defined(STM32F412Rx) || defined(STM32F412Vx) || defined(STM32F412Zx) || defined(STM32F413xx) || defined(STM32F423xx) -#define __HAL_RCC_GPIOD_IS_CLK_DISABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_GPIODEN)) == RESET) -#endif /* STM32F412Rx || STM32F412Vx || STM32F412Zx || STM32F413xx || STM32F423xx */ -#if defined(STM32F412Vx) || defined(STM32F412Zx) || defined(STM32F413xx) || defined(STM32F423xx) -#define __HAL_RCC_GPIOE_IS_CLK_DISABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_GPIOEEN)) == RESET) -#endif /* STM32F412Vx || STM32F412Zx || STM32F413xx || STM32F423xx */ -#if defined(STM32F412Zx) || defined(STM32F413xx) || defined(STM32F423xx) -#define __HAL_RCC_GPIOF_IS_CLK_DISABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_GPIOFEN)) == RESET) -#define __HAL_RCC_GPIOG_IS_CLK_DISABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_GPIOGEN)) == RESET) -#endif /* STM32F412Zx || STM32F413xx || STM32F423xx */ -#define __HAL_RCC_CRC_IS_CLK_DISABLED() ((RCC->AHB1ENR & (RCC_AHB1ENR_CRCEN)) == RESET) -/** - * @} - */ - -/** @defgroup RCCEx_AHB2_Clock_Enable_Disable AHB2 Peripheral Clock Enable Disable - * @brief Enable or disable the AHB2 peripheral clock. - * @note After reset, the peripheral clock (used for registers read/write access) - * is disabled and the application software has to enable this clock before - * using it. - * @{ - */ -#if defined(STM32F423xx) -#define __HAL_RCC_AES_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->AHB2ENR, RCC_AHB2ENR_AESEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->AHB2ENR, RCC_AHB2ENR_AESEN);\ - UNUSED(tmpreg); \ - } while(0U) - -#define __HAL_RCC_AES_CLK_DISABLE() (RCC->AHB2ENR &= ~(RCC_AHB2ENR_AESEN)) -#endif /* STM32F423xx */ - -#define __HAL_RCC_RNG_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->AHB2ENR, RCC_AHB2ENR_RNGEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->AHB2ENR, RCC_AHB2ENR_RNGEN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_RNG_CLK_DISABLE() (RCC->AHB2ENR &= ~(RCC_AHB2ENR_RNGEN)) - -#define __HAL_RCC_USB_OTG_FS_CLK_ENABLE() do {(RCC->AHB2ENR |= (RCC_AHB2ENR_OTGFSEN));\ - __HAL_RCC_SYSCFG_CLK_ENABLE();\ - }while(0U) - -#define __HAL_RCC_USB_OTG_FS_CLK_DISABLE() (RCC->AHB2ENR &= ~(RCC_AHB2ENR_OTGFSEN)) -/** - * @} - */ - -/** @defgroup RCCEx_AHB2_Peripheral_Clock_Enable_Disable_Status AHB2 Peripheral Clock Enable Disable Status - * @brief Get the enable or disable status of the AHB2 peripheral clock. - * @note After reset, the peripheral clock (used for registers read/write access) - * is disabled and the application software has to enable this clock before - * using it. - * @{ - */ -#if defined(STM32F423xx) -#define __HAL_RCC_AES_IS_CLK_ENABLED() ((RCC->AHB2ENR & (RCC_AHB2ENR_AESEN)) != RESET) -#define __HAL_RCC_AES_IS_CLK_DISABLED() ((RCC->AHB2ENR & (RCC_AHB2ENR_AESEN)) == RESET) -#endif /* STM32F423xx */ - -#define __HAL_RCC_USB_OTG_FS_IS_CLK_ENABLED() ((RCC->AHB2ENR & (RCC_AHB2ENR_OTGFSEN)) != RESET) -#define __HAL_RCC_USB_OTG_FS_IS_CLK_DISABLED() ((RCC->AHB2ENR & (RCC_AHB2ENR_OTGFSEN)) == RESET) - -#define __HAL_RCC_RNG_IS_CLK_ENABLED() ((RCC->AHB2ENR & (RCC_AHB2ENR_RNGEN)) != RESET) -#define __HAL_RCC_RNG_IS_CLK_DISABLED() ((RCC->AHB2ENR & (RCC_AHB2ENR_RNGEN)) == RESET) -/** - * @} - */ - -/** @defgroup RCCEx_AHB3_Clock_Enable_Disable AHB3 Peripheral Clock Enable Disable - * @brief Enables or disables the AHB3 peripheral clock. - * @note After reset, the peripheral clock (used for registers read/write access) - * is disabled and the application software has to enable this clock before - * using it. - * @{ - */ -#if defined(STM32F412Zx) || defined(STM32F412Vx) || defined(STM32F412Rx) || defined(STM32F413xx) || defined(STM32F423xx) -#define __HAL_RCC_FSMC_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->AHB3ENR, RCC_AHB3ENR_FSMCEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->AHB3ENR, RCC_AHB3ENR_FSMCEN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_QSPI_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->AHB3ENR, RCC_AHB3ENR_QSPIEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->AHB3ENR, RCC_AHB3ENR_QSPIEN);\ - UNUSED(tmpreg); \ - } while(0U) - -#define __HAL_RCC_FSMC_CLK_DISABLE() (RCC->AHB3ENR &= ~(RCC_AHB3ENR_FSMCEN)) -#define __HAL_RCC_QSPI_CLK_DISABLE() (RCC->AHB3ENR &= ~(RCC_AHB3ENR_QSPIEN)) -#endif /* STM32F412Zx || STM32F412Vx || STM32F412Rx || STM32F413xx || STM32F423xx */ -/** - * @} - */ - -/** @defgroup RCCEx_AHB3_Peripheral_Clock_Enable_Disable_Status AHB3 Peripheral Clock Enable Disable Status - * @brief Get the enable or disable status of the AHB3 peripheral clock. - * @note After reset, the peripheral clock (used for registers read/write access) - * is disabled and the application software has to enable this clock before - * using it. - * @{ - */ -#if defined(STM32F412Zx) || defined(STM32F412Vx) || defined(STM32F412Rx) || defined(STM32F413xx) || defined(STM32F423xx) -#define __HAL_RCC_FSMC_IS_CLK_ENABLED() ((RCC->AHB3ENR & (RCC_AHB3ENR_FSMCEN)) != RESET) -#define __HAL_RCC_QSPI_IS_CLK_ENABLED() ((RCC->AHB3ENR & (RCC_AHB3ENR_QSPIEN)) != RESET) - -#define __HAL_RCC_FSMC_IS_CLK_DISABLED() ((RCC->AHB3ENR & (RCC_AHB3ENR_FSMCEN)) == RESET) -#define __HAL_RCC_QSPI_IS_CLK_DISABLED() ((RCC->AHB3ENR & (RCC_AHB3ENR_QSPIEN)) == RESET) -#endif /* STM32F412Zx || STM32F412Vx || STM32F412Rx || STM32F413xx || STM32F423xx */ - -/** - * @} - */ - -/** @defgroup RCCEx_APB1_Clock_Enable_Disable APB1 Peripheral Clock Enable Disable - * @brief Enable or disable the Low Speed APB (APB1) peripheral clock. - * @note After reset, the peripheral clock (used for registers read/write access) - * is disabled and the application software has to enable this clock before - * using it. - * @{ - */ -#define __HAL_RCC_TIM6_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_TIM6EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_TIM6EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_TIM7_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_TIM7EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_TIM7EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_TIM12_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_TIM12EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_TIM12EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_TIM13_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_TIM13EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_TIM13EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_TIM14_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_TIM14EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_TIM14EN);\ - UNUSED(tmpreg); \ - } while(0U) -#if defined(STM32F413xx) || defined(STM32F423xx) -#define __HAL_RCC_LPTIM1_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_LPTIM1EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_LPTIM1EN);\ - UNUSED(tmpreg); \ - } while(0U) -#endif /* STM32F413xx || STM32F423xx */ -#define __HAL_RCC_RTCAPB_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_RTCAPBEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_RTCAPBEN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_USART3_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_USART3EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_USART3EN);\ - UNUSED(tmpreg); \ - } while(0U) - -#if defined(STM32F413xx) || defined(STM32F423xx) -#define __HAL_RCC_UART4_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_UART4EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_UART4EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_UART5_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_UART5EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_UART5EN);\ - UNUSED(tmpreg); \ - } while(0U) -#endif /* STM32F413xx || STM32F423xx */ - -#define __HAL_RCC_FMPI2C1_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_FMPI2C1EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_FMPI2C1EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_CAN1_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_CAN1EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_CAN1EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_CAN2_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_CAN2EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_CAN2EN);\ - UNUSED(tmpreg); \ - } while(0U) -#if defined(STM32F413xx) || defined(STM32F423xx) -#define __HAL_RCC_CAN3_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_CAN3EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_CAN3EN);\ - UNUSED(tmpreg); \ - } while(0U) -#endif /* STM32F413xx || STM32F423xx */ -#define __HAL_RCC_TIM2_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_TIM2EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_TIM2EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_TIM3_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_TIM3EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_TIM3EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_TIM4_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_TIM4EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_TIM4EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_SPI3_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_SPI3EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_SPI3EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_I2C3_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_I2C3EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_I2C3EN);\ - UNUSED(tmpreg); \ - } while(0U) -#if defined(STM32F413xx) || defined(STM32F423xx) -#define __HAL_RCC_DAC_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_DACEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_DACEN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_UART7_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_UART7EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_UART7EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_UART8_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_UART8EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB1ENR, RCC_APB1ENR_UART8EN);\ - UNUSED(tmpreg); \ - } while(0U) -#endif /* STM32F413xx || STM32F423xx */ - -#define __HAL_RCC_TIM2_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_TIM2EN)) -#define __HAL_RCC_TIM3_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_TIM3EN)) -#define __HAL_RCC_TIM4_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_TIM4EN)) -#define __HAL_RCC_TIM6_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_TIM6EN)) -#define __HAL_RCC_TIM7_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_TIM7EN)) -#define __HAL_RCC_TIM12_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_TIM12EN)) -#define __HAL_RCC_TIM13_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_TIM13EN)) -#define __HAL_RCC_TIM14_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_TIM14EN)) -#if defined(STM32F413xx) || defined(STM32F423xx) -#define __HAL_RCC_LPTIM1_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_LPTIM1EN)) -#endif /* STM32F413xx || STM32F423xx */ -#define __HAL_RCC_RTCAPB_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_RTCAPBEN)) -#define __HAL_RCC_SPI3_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_SPI3EN)) -#define __HAL_RCC_USART3_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_USART3EN)) -#if defined(STM32F413xx) || defined(STM32F423xx) -#define __HAL_RCC_UART4_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_UART4EN)) -#define __HAL_RCC_UART5_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_UART5EN)) -#endif /* STM32F413xx || STM32F423xx */ -#define __HAL_RCC_I2C3_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_I2C3EN)) -#define __HAL_RCC_FMPI2C1_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_FMPI2C1EN)) -#define __HAL_RCC_CAN1_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_CAN1EN)) -#define __HAL_RCC_CAN2_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_CAN2EN)) -#if defined(STM32F413xx) || defined(STM32F423xx) -#define __HAL_RCC_CAN3_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_CAN3EN)) -#define __HAL_RCC_DAC_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_DACEN)) -#define __HAL_RCC_UART7_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_UART7EN)) -#define __HAL_RCC_UART8_CLK_DISABLE() (RCC->APB1ENR &= ~(RCC_APB1ENR_UART8EN)) -#endif /* STM32F413xx || STM32F423xx */ - -/** - * @} - */ - -/** @defgroup RCCEx_APB1_Peripheral_Clock_Enable_Disable_Status APB1 Peripheral Clock Enable Disable Status - * @brief Get the enable or disable status of the APB1 peripheral clock. - * @note After reset, the peripheral clock (used for registers read/write access) - * is disabled and the application software has to enable this clock before - * using it. - * @{ - */ -#define __HAL_RCC_TIM2_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_TIM2EN)) != RESET) -#define __HAL_RCC_TIM3_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_TIM3EN)) != RESET) -#define __HAL_RCC_TIM4_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_TIM4EN)) != RESET) -#define __HAL_RCC_TIM6_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_TIM6EN)) != RESET) -#define __HAL_RCC_TIM7_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_TIM7EN)) != RESET) -#define __HAL_RCC_TIM12_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_TIM12EN)) != RESET) -#define __HAL_RCC_TIM13_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_TIM13EN)) != RESET) -#define __HAL_RCC_TIM14_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_TIM14EN)) != RESET) -#if defined(STM32F413xx) || defined(STM32F423xx) -#define __HAL_RCC_LPTIM1_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_LPTIM1EN)) != RESET) -#endif /* STM32F413xx || STM32F423xx */ -#define __HAL_RCC_RTCAPB_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_RTCAPBEN)) != RESET) -#define __HAL_RCC_SPI3_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_SPI3EN)) != RESET) -#define __HAL_RCC_USART3_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_USART3EN)) != RESET) -#if defined(STM32F413xx) || defined(STM32F423xx) -#define __HAL_RCC_UART4_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_UART4EN)) != RESET) -#define __HAL_RCC_UART5_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_UART5EN)) != RESET) -#endif /* STM32F413xx || STM32F423xx */ -#define __HAL_RCC_I2C3_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_I2C3EN)) != RESET) -#define __HAL_RCC_FMPI2C1_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_FMPI2C1EN)) != RESET) -#define __HAL_RCC_CAN1_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_CAN1EN))!= RESET) -#define __HAL_RCC_CAN2_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_CAN2EN)) != RESET) -#if defined(STM32F413xx) || defined(STM32F423xx) -#define __HAL_RCC_CAN3_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_CAN3EN)) != RESET) -#define __HAL_RCC_DAC_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_DACEN)) != RESET) -#define __HAL_RCC_UART7_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_UART7EN)) != RESET) -#define __HAL_RCC_UART8_IS_CLK_ENABLED() ((RCC->APB1ENR & (RCC_APB1ENR_UART8EN)) != RESET) -#endif /* STM32F413xx || STM32F423xx */ - -#define __HAL_RCC_TIM2_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_TIM2EN)) == RESET) -#define __HAL_RCC_TIM3_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_TIM3EN)) == RESET) -#define __HAL_RCC_TIM4_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_TIM4EN)) == RESET) -#define __HAL_RCC_TIM6_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_TIM6EN)) == RESET) -#define __HAL_RCC_TIM7_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_TIM7EN)) == RESET) -#define __HAL_RCC_TIM12_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_TIM12EN)) == RESET) -#define __HAL_RCC_TIM13_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_TIM13EN)) == RESET) -#define __HAL_RCC_TIM14_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_TIM14EN)) == RESET) -#if defined(STM32F413xx) || defined(STM32F423xx) -#define __HAL_RCC_LPTIM1_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_LPTIM1EN)) == RESET) -#endif /* STM32F413xx || STM32F423xx */ -#define __HAL_RCC_RTCAPB_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_RTCAPBEN)) == RESET) -#define __HAL_RCC_SPI3_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_SPI3EN)) == RESET) -#define __HAL_RCC_USART3_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_USART3EN)) == RESET) -#if defined(STM32F413xx) || defined(STM32F423xx) -#define __HAL_RCC_UART4_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_UART4EN)) == RESET) -#define __HAL_RCC_UART5_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_UART5EN)) == RESET) -#endif /* STM32F413xx || STM32F423xx */ -#define __HAL_RCC_I2C3_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_I2C3EN)) == RESET) -#define __HAL_RCC_FMPI2C1_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_FMPI2C1EN)) == RESET) -#define __HAL_RCC_CAN1_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_CAN1EN)) == RESET) -#define __HAL_RCC_CAN2_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_CAN2EN)) == RESET) -#if defined(STM32F413xx) || defined(STM32F423xx) -#define __HAL_RCC_CAN3_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_CAN3EN)) == RESET) -#define __HAL_RCC_DAC_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_DACEN)) == RESET) -#define __HAL_RCC_UART7_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_UART7EN)) == RESET) -#define __HAL_RCC_UART8_IS_CLK_DISABLED() ((RCC->APB1ENR & (RCC_APB1ENR_UART8EN)) == RESET) -#endif /* STM32F413xx || STM32F423xx */ -/** - * @} - */ -/** @defgroup RCCEx_APB2_Clock_Enable_Disable APB2 Peripheral Clock Enable Disable - * @brief Enable or disable the High Speed APB (APB2) peripheral clock. - * @note After reset, the peripheral clock (used for registers read/write access) - * is disabled and the application software has to enable this clock before - * using it. - * @{ - */ -#define __HAL_RCC_TIM8_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB2ENR, RCC_APB2ENR_TIM8EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB2ENR, RCC_APB2ENR_TIM8EN);\ - UNUSED(tmpreg); \ - } while(0U) -#if defined(STM32F413xx) || defined(STM32F423xx) -#define __HAL_RCC_UART9_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB2ENR, RCC_APB2ENR_UART9EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB2ENR, RCC_APB2ENR_UART9EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_UART10_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB2ENR, RCC_APB2ENR_UART10EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB2ENR, RCC_APB2ENR_UART10EN);\ - UNUSED(tmpreg); \ - } while(0U) -#endif /* STM32F413xx || STM32F423xx */ -#define __HAL_RCC_SDIO_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB2ENR, RCC_APB2ENR_SDIOEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB2ENR, RCC_APB2ENR_SDIOEN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_SPI4_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB2ENR, RCC_APB2ENR_SPI4EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB2ENR, RCC_APB2ENR_SPI4EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_EXTIT_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB2ENR, RCC_APB2ENR_EXTITEN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB2ENR, RCC_APB2ENR_EXTITEN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_TIM10_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB2ENR, RCC_APB2ENR_TIM10EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB2ENR, RCC_APB2ENR_TIM10EN);\ - UNUSED(tmpreg); \ - } while(0U) -#define __HAL_RCC_SPI5_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB2ENR, RCC_APB2ENR_SPI5EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB2ENR, RCC_APB2ENR_SPI5EN);\ - UNUSED(tmpreg); \ - } while(0U) -#if defined(STM32F413xx) || defined(STM32F423xx) -#define __HAL_RCC_SAI1_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB2ENR, RCC_APB2ENR_SAI1EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB2ENR, RCC_APB2ENR_SAI1EN);\ - UNUSED(tmpreg); \ - } while(0U) -#endif /* STM32F413xx || STM32F423xx */ -#define __HAL_RCC_DFSDM1_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB2ENR, RCC_APB2ENR_DFSDM1EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB2ENR, RCC_APB2ENR_DFSDM1EN);\ - UNUSED(tmpreg); \ - } while(0U) -#if defined(STM32F413xx) || defined(STM32F423xx) -#define __HAL_RCC_DFSDM2_CLK_ENABLE() do { \ - __IO uint32_t tmpreg = 0x00U; \ - SET_BIT(RCC->APB2ENR, RCC_APB2ENR_DFSDM2EN);\ - /* Delay after an RCC peripheral clock enabling */ \ - tmpreg = READ_BIT(RCC->APB2ENR, RCC_APB2ENR_DFSDM2EN);\ - UNUSED(tmpreg); \ - } while(0U) -#endif /* STM32F413xx || STM32F423xx */ - -#define __HAL_RCC_TIM8_CLK_DISABLE() (RCC->APB2ENR &= ~(RCC_APB2ENR_TIM8EN)) -#if defined(STM32F413xx) || defined(STM32F423xx) -#define __HAL_RCC_UART9_CLK_DISABLE() (RCC->APB2ENR &= ~(RCC_APB2ENR_UART9EN)) -#define __HAL_RCC_UART10_CLK_DISABLE() (RCC->APB2ENR &= ~(RCC_APB2ENR_UART10EN)) -#endif /* STM32F413xx || STM32F423xx */ -#define __HAL_RCC_SDIO_CLK_DISABLE() (RCC->APB2ENR &= ~(RCC_APB2ENR_SDIOEN)) -#define __HAL_RCC_SPI4_CLK_DISABLE() (RCC->APB2ENR &= ~(RCC_APB2ENR_SPI4EN)) -#define __HAL_RCC_EXTIT_CLK_DISABLE() (RCC->APB2ENR &= ~(RCC_APB2ENR_EXTITEN)) -#define __HAL_RCC_TIM10_CLK_DISABLE() (RCC->APB2ENR &= ~(RCC_APB2ENR_TIM10EN)) -#define __HAL_RCC_SPI5_CLK_DISABLE() (RCC->APB2ENR &= ~(RCC_APB2ENR_SPI5EN)) -#if defined(STM32F413xx) || defined(STM32F423xx) -#define __HAL_RCC_SAI1_CLK_DISABLE() (RCC->APB2ENR &= ~(RCC_APB2ENR_SAI1EN)) -#endif /* STM32F413xx || STM32F423xx */ -#define __HAL_RCC_DFSDM1_CLK_DISABLE() (RCC->APB2ENR &= ~(RCC_APB2ENR_DFSDM1EN)) -#if defined(STM32F413xx) || defined(STM32F423xx) -#define __HAL_RCC_DFSDM2_CLK_DISABLE() (RCC->APB2ENR &= ~(RCC_APB2ENR_DFSDM2EN)) -#endif /* STM32F413xx || STM32F423xx */ -/** - * @} - */ - -/** @defgroup RCCEx_APB2_Peripheral_Clock_Enable_Disable_Status APB2 Peripheral Clock Enable Disable Status - * @brief Get the enable or disable status of the APB2 peripheral clock. - * @note After reset, the peripheral clock (used for registers read/write access) - * is disabled and the application software has to enable this clock before - * using it. - * @{ - */ -#define __HAL_RCC_TIM8_IS_CLK_ENABLED() ((RCC->APB2ENR & (RCC_APB2ENR_TIM8EN)) != RESET) -#if defined(STM32F413xx) || defined(STM32F423xx) -#define __HAL_RCC_UART9_IS_CLK_ENABLED() ((RCC->APB2ENR & (RCC_APB2ENR_UART9EN)) != RESET) -#define __HAL_RCC_UART10_IS_CLK_ENABLED() ((RCC->APB2ENR & (RCC_APB2ENR_UART10EN)) != RESET) -#endif /* STM32F413xx || STM32F423xx */ -#define __HAL_RCC_SDIO_IS_CLK_ENABLED() ((RCC->APB2ENR & (RCC_APB2ENR_SDIOEN)) != RESET) -#define __HAL_RCC_SPI4_IS_CLK_ENABLED() ((RCC->APB2ENR & (RCC_APB2ENR_SPI4EN)) != RESET) -#define __HAL_RCC_EXTIT_IS_CLK_ENABLED() ((RCC->APB2ENR & (RCC_APB2ENR_EXTITEN)) != RESET) -#define __HAL_RCC_TIM10_IS_CLK_ENABLED() ((RCC->APB2ENR & (RCC_APB2ENR_TIM10EN)) != RESET) -#define __HAL_RCC_SPI5_IS_CLK_ENABLED() ((RCC->APB2ENR & (RCC_APB2ENR_SPI5EN)) != RESET) -#if defined(STM32F413xx) || defined(STM32F423xx) -#define __HAL_RCC_SAI1_IS_CLK_ENABLED() ((RCC->APB2ENR & (RCC_APB2ENR_SAI1EN)) != RESET) -#endif /* STM32F413xx || STM32F423xx */ -#define __HAL_RCC_DFSDM1_IS_CLK_ENABLED() ((RCC->APB2ENR & (RCC_APB2ENR_DFSDM1EN)) != RESET) -#if defined(STM32F413xx) || defined(STM32F423xx) -#define __HAL_RCC_DFSDM2_IS_CLK_ENABLED() ((RCC->APB2ENR & (RCC_APB2ENR_DFSDM2EN)) != RESET) -#endif /* STM32F413xx || STM32F423xx */ - -#define __HAL_RCC_TIM8_IS_CLK_DISABLED() ((RCC->APB2ENR & (RCC_APB2ENR_TIM8EN)) == RESET) -#if defined(STM32F413xx) || defined(STM32F423xx) -#define __HAL_RCC_UART9_IS_CLK_DISABLED() ((RCC->APB2ENR & (RCC_APB2ENR_UART9EN)) == RESET) -#define __HAL_RCC_UART10_IS_CLK_DISABLED() ((RCC->APB2ENR & (RCC_APB2ENR_UART10EN)) == RESET) -#endif /* STM32F413xx || STM32F423xx */ -#define __HAL_RCC_SDIO_IS_CLK_DISABLED() ((RCC->APB2ENR & (RCC_APB2ENR_SDIOEN)) == RESET) -#define __HAL_RCC_SPI4_IS_CLK_DISABLED() ((RCC->APB2ENR & (RCC_APB2ENR_SPI4EN)) == RESET) -#define __HAL_RCC_EXTIT_IS_CLK_DISABLED() ((RCC->APB2ENR & (RCC_APB2ENR_EXTITEN)) == RESET) -#define __HAL_RCC_TIM10_IS_CLK_DISABLED() ((RCC->APB2ENR & (RCC_APB2ENR_TIM10EN)) == RESET) -#define __HAL_RCC_SPI5_IS_CLK_DISABLED() ((RCC->APB2ENR & (RCC_APB2ENR_SPI5EN)) == RESET) -#if defined(STM32F413xx) || defined(STM32F423xx) -#define __HAL_RCC_SAI1_IS_CLK_DISABLED() ((RCC->APB2ENR & (RCC_APB2ENR_SAI1EN)) == RESET) -#endif /* STM32F413xx || STM32F423xx */ -#define __HAL_RCC_DFSDM1_IS_CLK_DISABLED() ((RCC->APB2ENR & (RCC_APB2ENR_DFSDM1EN)) == RESET) -#if defined(STM32F413xx) || defined(STM32F423xx) -#define __HAL_RCC_DFSDM2_IS_CLK_DISABLED() ((RCC->APB2ENR & (RCC_APB2ENR_DFSDM2EN)) == RESET) -#endif /* STM32F413xx || STM32F423xx */ -/** - * @} - */ - -/** @defgroup RCCEx_AHB1_Force_Release_Reset AHB1 Force Release Reset - * @brief Force or release AHB1 peripheral reset. - * @{ - */ -#if defined(STM32F412Rx) || defined(STM32F412Vx) || defined(STM32F412Zx) || defined(STM32F413xx) || defined(STM32F423xx) -#define __HAL_RCC_GPIOD_FORCE_RESET() (RCC->AHB1RSTR |= (RCC_AHB1RSTR_GPIODRST)) -#endif /* STM32F412Rx || STM32F412Vx || STM32F412Zx || STM32F413xx || STM32F423xx */ -#if defined(STM32F412Vx) || defined(STM32F412Zx) || defined(STM32F413xx) || defined(STM32F423xx) -#define __HAL_RCC_GPIOE_FORCE_RESET() (RCC->AHB1RSTR |= (RCC_AHB1RSTR_GPIOERST)) -#endif /* STM32F412Vx || STM32F412Zx || STM32F413xx || STM32F423xx */ -#if defined(STM32F412Zx) || defined(STM32F413xx) || defined(STM32F423xx) -#define __HAL_RCC_GPIOF_FORCE_RESET() (RCC->AHB1RSTR |= (RCC_AHB1RSTR_GPIOFRST)) -#define __HAL_RCC_GPIOG_FORCE_RESET() (RCC->AHB1RSTR |= (RCC_AHB1RSTR_GPIOGRST)) -#endif /* STM32F412Zx || STM32F413xx || STM32F423xx */ -#define __HAL_RCC_CRC_FORCE_RESET() (RCC->AHB1RSTR |= (RCC_AHB1RSTR_CRCRST)) - -#if defined(STM32F412Rx) || defined(STM32F412Vx) || defined(STM32F412Zx) || defined(STM32F413xx) || defined(STM32F423xx) -#define __HAL_RCC_GPIOD_RELEASE_RESET() (RCC->AHB1RSTR &= ~(RCC_AHB1RSTR_GPIODRST)) -#endif /* STM32F412Rx || STM32F412Vx || STM32F412Zx || STM32F413xx || STM32F423xx */ -#if defined(STM32F412Vx) || defined(STM32F412Zx) || defined(STM32F413xx) || defined(STM32F423xx) -#define __HAL_RCC_GPIOE_RELEASE_RESET() (RCC->AHB1RSTR &= ~(RCC_AHB1RSTR_GPIOERST)) -#endif /* STM32F412Vx || STM32F412Zx || STM32F413xx || STM32F423xx */ -#if defined(STM32F412Zx) || defined(STM32F413xx) || defined(STM32F423xx) -#define __HAL_RCC_GPIOF_RELEASE_RESET() (RCC->AHB1RSTR &= ~(RCC_AHB1RSTR_GPIOFRST)) -#define __HAL_RCC_GPIOG_RELEASE_RESET() (RCC->AHB1RSTR &= ~(RCC_AHB1RSTR_GPIOGRST)) -#endif /* STM32F412Zx || STM32F413xx || STM32F423xx */ -#define __HAL_RCC_CRC_RELEASE_RESET() (RCC->AHB1RSTR &= ~(RCC_AHB1RSTR_CRCRST)) -/** - * @} - */ - -/** @defgroup RCCEx_AHB2_Force_Release_Reset AHB2 Force Release Reset - * @brief Force or release AHB2 peripheral reset. - * @{ - */ -#define __HAL_RCC_AHB2_FORCE_RESET() (RCC->AHB2RSTR = 0xFFFFFFFFU) -#define __HAL_RCC_AHB2_RELEASE_RESET() (RCC->AHB2RSTR = 0x00U) - -#if defined(STM32F423xx) -#define __HAL_RCC_AES_FORCE_RESET() (RCC->AHB2RSTR |= (RCC_AHB2RSTR_AESRST)) -#define __HAL_RCC_AES_RELEASE_RESET() (RCC->AHB2RSTR &= ~(RCC_AHB2RSTR_AESRST)) -#endif /* STM32F423xx */ - -#define __HAL_RCC_USB_OTG_FS_FORCE_RESET() (RCC->AHB2RSTR |= (RCC_AHB2RSTR_OTGFSRST)) -#define __HAL_RCC_USB_OTG_FS_RELEASE_RESET() (RCC->AHB2RSTR &= ~(RCC_AHB2RSTR_OTGFSRST)) - -#define __HAL_RCC_RNG_FORCE_RESET() (RCC->AHB2RSTR |= (RCC_AHB2RSTR_RNGRST)) -#define __HAL_RCC_RNG_RELEASE_RESET() (RCC->AHB2RSTR &= ~(RCC_AHB2RSTR_RNGRST)) -/** - * @} - */ - -/** @defgroup RCCEx_AHB3_Force_Release_Reset AHB3 Force Release Reset - * @brief Force or release AHB3 peripheral reset. - * @{ - */ -#if defined(STM32F412Zx) || defined(STM32F412Vx) || defined(STM32F412Rx) || defined(STM32F413xx) || defined(STM32F423xx) -#define __HAL_RCC_AHB3_FORCE_RESET() (RCC->AHB3RSTR = 0xFFFFFFFFU) -#define __HAL_RCC_AHB3_RELEASE_RESET() (RCC->AHB3RSTR = 0x00U) - -#define __HAL_RCC_FSMC_FORCE_RESET() (RCC->AHB3RSTR |= (RCC_AHB3RSTR_FSMCRST)) -#define __HAL_RCC_QSPI_FORCE_RESET() (RCC->AHB3RSTR |= (RCC_AHB3RSTR_QSPIRST)) - -#define __HAL_RCC_FSMC_RELEASE_RESET() (RCC->AHB3RSTR &= ~(RCC_AHB3RSTR_FSMCRST)) -#define __HAL_RCC_QSPI_RELEASE_RESET() (RCC->AHB3RSTR &= ~(RCC_AHB3RSTR_QSPIRST)) -#endif /* STM32F412Zx || STM32F412Vx || STM32F412Rx || STM32F413xx || STM32F423xx */ -#if defined(STM32F412Cx) -#define __HAL_RCC_AHB3_FORCE_RESET() -#define __HAL_RCC_AHB3_RELEASE_RESET() - -#define __HAL_RCC_FSMC_FORCE_RESET() -#define __HAL_RCC_QSPI_FORCE_RESET() - -#define __HAL_RCC_FSMC_RELEASE_RESET() -#define __HAL_RCC_QSPI_RELEASE_RESET() -#endif /* STM32F412Cx */ -/** - * @} - */ - -/** @defgroup RCCEx_APB1_Force_Release_Reset APB1 Force Release Reset - * @brief Force or release APB1 peripheral reset. - * @{ - */ -#define __HAL_RCC_TIM2_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_TIM2RST)) -#define __HAL_RCC_TIM3_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_TIM3RST)) -#define __HAL_RCC_TIM4_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_TIM4RST)) -#define __HAL_RCC_TIM6_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_TIM6RST)) -#define __HAL_RCC_TIM7_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_TIM7RST)) -#define __HAL_RCC_TIM12_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_TIM12RST)) -#define __HAL_RCC_TIM13_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_TIM13RST)) -#define __HAL_RCC_TIM14_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_TIM14RST)) -#if defined(STM32F413xx) || defined(STM32F423xx) -#define __HAL_RCC_LPTIM1_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_LPTIM1RST)) -#endif /* STM32F413xx || STM32F423xx */ -#define __HAL_RCC_SPI3_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_SPI3RST)) -#define __HAL_RCC_USART3_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_USART3RST)) -#if defined(STM32F413xx) || defined(STM32F423xx) -#define __HAL_RCC_UART4_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_UART4RST)) -#define __HAL_RCC_UART5_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_UART5RST)) -#endif /* STM32F413xx || STM32F423xx */ -#define __HAL_RCC_I2C3_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_I2C3RST)) -#define __HAL_RCC_FMPI2C1_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_FMPI2C1RST)) -#define __HAL_RCC_CAN1_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_CAN1RST)) -#define __HAL_RCC_CAN2_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_CAN2RST)) -#if defined(STM32F413xx) || defined(STM32F423xx) -#define __HAL_RCC_CAN3_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_CAN3RST)) -#define __HAL_RCC_DAC_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_DACRST)) -#define __HAL_RCC_UART7_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_UART7RST)) -#define __HAL_RCC_UART8_FORCE_RESET() (RCC->APB1RSTR |= (RCC_APB1RSTR_UART8RST)) -#endif /* STM32F413xx || STM32F423xx */ - -#define __HAL_RCC_TIM2_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_TIM2RST)) -#define __HAL_RCC_TIM3_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_TIM3RST)) -#define __HAL_RCC_TIM4_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_TIM4RST)) -#define __HAL_RCC_TIM6_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_TIM6RST)) -#define __HAL_RCC_TIM7_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_TIM7RST)) -#define __HAL_RCC_TIM12_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_TIM12RST)) -#define __HAL_RCC_TIM13_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_TIM13RST)) -#define __HAL_RCC_TIM14_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_TIM14RST)) -#if defined(STM32F413xx) || defined(STM32F423xx) -#define __HAL_RCC_LPTIM1_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_LPTIM1RST)) -#endif /* STM32F413xx || STM32F423xx */ -#define __HAL_RCC_SPI3_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_SPI3RST)) -#define __HAL_RCC_USART3_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_USART3RST)) -#if defined(STM32F413xx) || defined(STM32F423xx) -#define __HAL_RCC_UART4_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_UART4RST)) -#define __HAL_RCC_UART5_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_UART5RST)) -#endif /* STM32F413xx || STM32F423xx */ -#define __HAL_RCC_I2C3_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_I2C3RST)) -#define __HAL_RCC_FMPI2C1_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_FMPI2C1RST)) -#define __HAL_RCC_CAN1_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_CAN1RST)) -#define __HAL_RCC_CAN2_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_CAN2RST)) -#if defined(STM32F413xx) || defined(STM32F423xx) -#define __HAL_RCC_CAN3_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_CAN3RST)) -#define __HAL_RCC_DAC_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_DACRST)) -#define __HAL_RCC_UART7_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_UART7RST)) -#define __HAL_RCC_UART8_RELEASE_RESET() (RCC->APB1RSTR &= ~(RCC_APB1RSTR_UART8RST)) -#endif /* STM32F413xx || STM32F423xx */ -/** - * @} - */ - -/** @defgroup RCCEx_APB2_Force_Release_Reset APB2 Force Release Reset - * @brief Force or release APB2 peripheral reset. - * @{ - */ -#define __HAL_RCC_TIM8_FORCE_RESET() (RCC->APB2RSTR |= (RCC_APB2RSTR_TIM8RST)) -#if defined(STM32F413xx) || defined(STM32F423xx) -#define __HAL_RCC_UART9_FORCE_RESET() (RCC->APB2RSTR |= (RCC_APB2RSTR_UART9RST)) -#define __HAL_RCC_UART10_FORCE_RESET() (RCC->APB2RSTR |= (RCC_APB2RSTR_UART10RST)) -#endif /* STM32F413xx || STM32F423xx */ -#define __HAL_RCC_SDIO_FORCE_RESET() (RCC->APB2RSTR |= (RCC_APB2RSTR_SDIORST)) -#define __HAL_RCC_SPI4_FORCE_RESET() (RCC->APB2RSTR |= (RCC_APB2RSTR_SPI4RST)) -#define __HAL_RCC_TIM10_FORCE_RESET() (RCC->APB2RSTR |= (RCC_APB2RSTR_TIM10RST)) -#define __HAL_RCC_SPI5_FORCE_RESET() (RCC->APB2RSTR |= (RCC_APB2RSTR_SPI5RST)) -#if defined(STM32F413xx) || defined(STM32F423xx) -#define __HAL_RCC_SAI1_FORCE_RESET() (RCC->APB2RSTR |= (RCC_APB2RSTR_SAI1RST)) -#endif /* STM32F413xx || STM32F423xx */ -#define __HAL_RCC_DFSDM1_FORCE_RESET() (RCC->APB2RSTR |= (RCC_APB2RSTR_DFSDM1RST)) -#if defined(STM32F413xx) || defined(STM32F423xx) -#define __HAL_RCC_DFSDM2_FORCE_RESET() (RCC->APB2RSTR |= (RCC_APB2RSTR_DFSDM2RST)) -#endif /* STM32F413xx || STM32F423xx */ - -#define __HAL_RCC_TIM8_RELEASE_RESET() (RCC->APB2RSTR &= ~(RCC_APB2RSTR_TIM8RST)) -#if defined(STM32F413xx) || defined(STM32F423xx) -#define __HAL_RCC_UART9_RELEASE_RESET() (RCC->APB2RSTR &= ~(RCC_APB2RSTR_UART9RST)) -#define __HAL_RCC_UART10_RELEASE_RESET() (RCC->APB2RSTR &= ~(RCC_APB2RSTR_UART10RST)) -#endif /* STM32F413xx || STM32F423xx */ -#define __HAL_RCC_SDIO_RELEASE_RESET() (RCC->APB2RSTR &= ~(RCC_APB2RSTR_SDIORST)) -#define __HAL_RCC_SPI4_RELEASE_RESET() (RCC->APB2RSTR &= ~(RCC_APB2RSTR_SPI4RST)) -#define __HAL_RCC_TIM10_RELEASE_RESET() (RCC->APB2RSTR &= ~(RCC_APB2RSTR_TIM10RST)) -#define __HAL_RCC_SPI5_RELEASE_RESET() (RCC->APB2RSTR &= ~(RCC_APB2RSTR_SPI5RST)) -#if defined(STM32F413xx) || defined(STM32F423xx) -#define __HAL_RCC_SAI1_RELEASE_RESET() (RCC->APB2RSTR &= ~(RCC_APB2RSTR_SAI1RST)) -#endif /* STM32F413xx || STM32F423xx */ -#define __HAL_RCC_DFSDM1_RELEASE_RESET() (RCC->APB2RSTR &= ~(RCC_APB2RSTR_DFSDM1RST)) -#if defined(STM32F413xx) || defined(STM32F423xx) -#define __HAL_RCC_DFSDM2_RELEASE_RESET() (RCC->APB2RSTR &= ~(RCC_APB2RSTR_DFSDM2RST)) -#endif /* STM32F413xx || STM32F423xx */ -/** - * @} - */ - -/** @defgroup RCCEx_AHB1_LowPower_Enable_Disable AHB1 Peripheral Low Power Enable Disable - * @brief Enable or disable the AHB1 peripheral clock during Low Power (Sleep) mode. - * @note Peripheral clock gating in SLEEP mode can be used to further reduce - * power consumption. - * @note After wakeup from SLEEP mode, the peripheral clock is enabled again. - * @note By default, all peripheral clocks are enabled during SLEEP mode. - * @{ - */ -#define __HAL_RCC_GPIOD_CLK_SLEEP_ENABLE() (RCC->AHB1LPENR |= (RCC_AHB1LPENR_GPIODLPEN)) -#define __HAL_RCC_GPIOE_CLK_SLEEP_ENABLE() (RCC->AHB1LPENR |= (RCC_AHB1LPENR_GPIOELPEN)) -#define __HAL_RCC_GPIOF_CLK_SLEEP_ENABLE() (RCC->AHB1LPENR |= (RCC_AHB1LPENR_GPIOFLPEN)) -#define __HAL_RCC_GPIOG_CLK_SLEEP_ENABLE() (RCC->AHB1LPENR |= (RCC_AHB1LPENR_GPIOGLPEN)) -#define __HAL_RCC_CRC_CLK_SLEEP_ENABLE() (RCC->AHB1LPENR |= (RCC_AHB1LPENR_CRCLPEN)) -#define __HAL_RCC_FLITF_CLK_SLEEP_ENABLE() (RCC->AHB1LPENR |= (RCC_AHB1LPENR_FLITFLPEN)) -#define __HAL_RCC_SRAM1_CLK_SLEEP_ENABLE() (RCC->AHB1LPENR |= (RCC_AHB1LPENR_SRAM1LPEN)) -#if defined(STM32F413xx) || defined(STM32F423xx) -#define __HAL_RCC_SRAM2_CLK_SLEEP_ENABLE() (RCC->AHB1LPENR |= (RCC_AHB1LPENR_SRAM2LPEN)) -#endif /* STM32F413xx || STM32F423xx */ - -#define __HAL_RCC_GPIOD_CLK_SLEEP_DISABLE() (RCC->AHB1LPENR &= ~(RCC_AHB1LPENR_GPIODLPEN)) -#define __HAL_RCC_GPIOE_CLK_SLEEP_DISABLE() (RCC->AHB1LPENR &= ~(RCC_AHB1LPENR_GPIOELPEN)) -#define __HAL_RCC_GPIOF_CLK_SLEEP_DISABLE() (RCC->AHB1LPENR &= ~(RCC_AHB1LPENR_GPIOFLPEN)) -#define __HAL_RCC_GPIOG_CLK_SLEEP_DISABLE() (RCC->AHB1LPENR &= ~(RCC_AHB1LPENR_GPIOGLPEN)) -#define __HAL_RCC_CRC_CLK_SLEEP_DISABLE() (RCC->AHB1LPENR &= ~(RCC_AHB1LPENR_CRCLPEN)) -#define __HAL_RCC_FLITF_CLK_SLEEP_DISABLE() (RCC->AHB1LPENR &= ~(RCC_AHB1LPENR_FLITFLPEN)) -#define __HAL_RCC_SRAM1_CLK_SLEEP_DISABLE() (RCC->AHB1LPENR &= ~(RCC_AHB1LPENR_SRAM1LPEN)) -#if defined(STM32F413xx) || defined(STM32F423xx) -#define __HAL_RCC_SRAM2_CLK_SLEEP_DISABLE() (RCC->AHB1LPENR &= ~(RCC_AHB1LPENR_SRAM2LPEN)) -#endif /* STM32F413xx || STM32F423xx */ -/** - * @} - */ - -/** @defgroup RCCEx_AHB2_LowPower_Enable_Disable AHB2 Peripheral Low Power Enable Disable - * @brief Enable or disable the AHB2 peripheral clock during Low Power (Sleep) mode. - * @note Peripheral clock gating in SLEEP mode can be used to further reduce - * power consumption. - * @note After wake-up from SLEEP mode, the peripheral clock is enabled again. - * @note By default, all peripheral clocks are enabled during SLEEP mode. - * @{ - */ -#if defined(STM32F423xx) -#define __HAL_RCC_AES_CLK_SLEEP_ENABLE() (RCC->AHB2LPENR |= (RCC_AHB2LPENR_AESLPEN)) -#define __HAL_RCC_AES_CLK_SLEEP_DISABLE() (RCC->AHB2LPENR &= ~(RCC_AHB2LPENR_AESLPEN)) -#endif /* STM32F423xx */ - -#define __HAL_RCC_USB_OTG_FS_CLK_SLEEP_ENABLE() (RCC->AHB2LPENR |= (RCC_AHB2LPENR_OTGFSLPEN)) -#define __HAL_RCC_USB_OTG_FS_CLK_SLEEP_DISABLE() (RCC->AHB2LPENR &= ~(RCC_AHB2LPENR_OTGFSLPEN)) - -#define __HAL_RCC_RNG_CLK_SLEEP_ENABLE() (RCC->AHB2LPENR |= (RCC_AHB2LPENR_RNGLPEN)) -#define __HAL_RCC_RNG_CLK_SLEEP_DISABLE() (RCC->AHB2LPENR &= ~(RCC_AHB2LPENR_RNGLPEN)) -/** - * @} - */ - -/** @defgroup RCCEx_AHB3_LowPower_Enable_Disable AHB3 Peripheral Low Power Enable Disable - * @brief Enable or disable the AHB3 peripheral clock during Low Power (Sleep) mode. - * @note Peripheral clock gating in SLEEP mode can be used to further reduce - * power consumption. - * @note After wakeup from SLEEP mode, the peripheral clock is enabled again. - * @note By default, all peripheral clocks are enabled during SLEEP mode. - * @{ - */ -#if defined(STM32F412Zx) || defined(STM32F412Vx) || defined(STM32F412Rx) || defined(STM32F413xx) || defined(STM32F423xx) -#define __HAL_RCC_FSMC_CLK_SLEEP_ENABLE() (RCC->AHB3LPENR |= (RCC_AHB3LPENR_FSMCLPEN)) -#define __HAL_RCC_QSPI_CLK_SLEEP_ENABLE() (RCC->AHB3LPENR |= (RCC_AHB3LPENR_QSPILPEN)) - -#define __HAL_RCC_FSMC_CLK_SLEEP_DISABLE() (RCC->AHB3LPENR &= ~(RCC_AHB3LPENR_FSMCLPEN)) -#define __HAL_RCC_QSPI_CLK_SLEEP_DISABLE() (RCC->AHB3LPENR &= ~(RCC_AHB3LPENR_QSPILPEN)) -#endif /* STM32F412Zx || STM32F412Vx || STM32F412Rx || STM32F413xx || STM32F423xx */ - -/** - * @} - */ - -/** @defgroup RCCEx_APB1_LowPower_Enable_Disable APB1 Peripheral Low Power Enable Disable - * @brief Enable or disable the APB1 peripheral clock during Low Power (Sleep) mode. - * @note Peripheral clock gating in SLEEP mode can be used to further reduce - * power consumption. - * @note After wakeup from SLEEP mode, the peripheral clock is enabled again. - * @note By default, all peripheral clocks are enabled during SLEEP mode. - * @{ - */ -#define __HAL_RCC_TIM2_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_TIM2LPEN)) -#define __HAL_RCC_TIM3_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_TIM3LPEN)) -#define __HAL_RCC_TIM4_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_TIM4LPEN)) -#define __HAL_RCC_TIM6_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_TIM6LPEN)) -#define __HAL_RCC_TIM7_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_TIM7LPEN)) -#define __HAL_RCC_TIM12_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_TIM12LPEN)) -#define __HAL_RCC_TIM13_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_TIM13LPEN)) -#define __HAL_RCC_TIM14_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_TIM14LPEN)) -#if defined(STM32F413xx) || defined(STM32F423xx) -#define __HAL_RCC_LPTIM1_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_LPTIM1LPEN)) -#endif /* STM32F413xx || STM32F423xx */ -#define __HAL_RCC_RTCAPB_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_RTCAPBLPEN)) -#define __HAL_RCC_SPI3_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_SPI3LPEN)) -#define __HAL_RCC_USART3_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_USART3LPEN)) -#if defined(STM32F413xx) || defined(STM32F423xx) -#define __HAL_RCC_UART4_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_UART4LPEN)) -#define __HAL_RCC_UART5_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_UART5LPEN)) -#endif /* STM32F413xx || STM32F423xx */ -#define __HAL_RCC_I2C3_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_I2C3LPEN)) -#define __HAL_RCC_FMPI2C1_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_FMPI2C1LPEN)) -#define __HAL_RCC_CAN1_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_CAN1LPEN)) -#define __HAL_RCC_CAN2_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_CAN2LPEN)) -#if defined(STM32F413xx) || defined(STM32F423xx) -#define __HAL_RCC_CAN3_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_CAN3LPEN)) -#define __HAL_RCC_DAC_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_DACLPEN)) -#define __HAL_RCC_UART7_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_UART7LPEN)) -#define __HAL_RCC_UART8_CLK_SLEEP_ENABLE() (RCC->APB1LPENR |= (RCC_APB1LPENR_UART8LPEN)) -#endif /* STM32F413xx || STM32F423xx */ - -#define __HAL_RCC_TIM2_CLK_SLEEP_DISABLE() (RCC->APB1LPENR &= ~(RCC_APB1LPENR_TIM2LPEN)) -#define __HAL_RCC_TIM3_CLK_SLEEP_DISABLE() (RCC->APB1LPENR &= ~(RCC_APB1LPENR_TIM3LPEN)) -#define __HAL_RCC_TIM4_CLK_SLEEP_DISABLE() (RCC->APB1LPENR &= ~(RCC_APB1LPENR_TIM4LPEN)) -#define __HAL_RCC_TIM6_CLK_SLEEP_DISABLE() (RCC->APB1LPENR &= ~(RCC_APB1LPENR_TIM6LPEN)) -#define __HAL_RCC_TIM7_CLK_SLEEP_DISABLE() (RCC->APB1LPENR &= ~(RCC_APB1LPENR_TIM7LPEN)) -#define __HAL_RCC_TIM12_CLK_SLEEP_DISABLE() (RCC->APB1LPENR &= ~(RCC_APB1LPENR_TIM12LPEN)) -#define __HAL_RCC_TIM13_CLK_SLEEP_DISABLE() (RCC->APB1LPENR &= ~(RCC_APB1LPENR_TIM13LPEN)) -#define __HAL_RCC_TIM14_CLK_SLEEP_DISABLE() (RCC->APB1LPENR &= ~(RCC_APB1LPENR_TIM14LPEN)) -#if defined(STM32F413xx) || defined(STM32F423xx) -#define __HAL_RCC_LPTIM1_CLK_SLEEP_DISABLE() (RCC->APB1LPENR &= ~(RCC_APB1LPENR_LPTIM1LPEN)) -#endif /* STM32F413xx || STM32F423xx */ -#define __HAL_RCC_RTCAPB_CLK_SLEEP_DISABLE() (RCC->APB1LPENR &= ~(RCC_APB1LPENR_RTCAPBLPEN)) -#define __HAL_RCC_SPI3_CLK_SLEEP_DISABLE() (RCC->APB1LPENR &= ~(RCC_APB1LPENR_SPI3LPEN)) -#define __HAL_RCC_USART3_CLK_SLEEP_DISABLE() (RCC->APB1LPENR &= ~(RCC_APB1LPENR_USART3LPEN)) -#if defined(STM32F413xx) || defined(STM32F423xx) -#define __HAL_RCC_UART4_CLK_SLEEP_DISABLE() (RCC->APB1LPENR &= ~(RCC_APB1LPENR_UART4LPEN)) -#define __HAL_RCC_UART5_CLK_SLEEP_DISABLE() (RCC->APB1LPENR &= ~(RCC_APB1LPENR_UART5LPEN)) -#endif /* STM32F413xx || STM32F423xx */ -#define __HAL_RCC_I2C3_CLK_SLEEP_DISABLE() (RCC->APB1LPENR &= ~(RCC_APB1LPENR_I2C3LPEN)) -#define __HAL_RCC_FMPI2C1_CLK_SLEEP_DISABLE()(RCC->APB1LPENR &= ~(RCC_APB1LPENR_FMPI2C1LPEN)) -#define __HAL_RCC_CAN1_CLK_SLEEP_DISABLE() (RCC->APB1LPENR &= ~(RCC_APB1LPENR_CAN1LPEN)) -#define __HAL_RCC_CAN2_CLK_SLEEP_DISABLE() (RCC->APB1LPENR &= ~(RCC_APB1LPENR_CAN2LPEN)) -#if defined(STM32F413xx) || defined(STM32F423xx) -#define __HAL_RCC_CAN3_CLK_SLEEP_DISABLE() (RCC->APB1LPENR &= ~(RCC_APB1LPENR_CAN3LPEN)) -#define __HAL_RCC_DAC_CLK_SLEEP_DISABLE() (RCC->APB1LPENR &= ~(RCC_APB1LPENR_DACLPEN)) -#define __HAL_RCC_UART7_CLK_SLEEP_DISABLE() (RCC->APB1LPENR &= ~(RCC_APB1LPENR_UART7LPEN)) -#define __HAL_RCC_UART8_CLK_SLEEP_DISABLE() (RCC->APB1LPENR &= ~(RCC_APB1LPENR_UART8LPEN)) -#endif /* STM32F413xx || STM32F423xx */ -/** - * @} - */ - -/** @defgroup RCCEx_APB2_LowPower_Enable_Disable APB2 Peripheral Low Power Enable Disable - * @brief Enable or disable the APB2 peripheral clock during Low Power (Sleep) mode. - * @note Peripheral clock gating in SLEEP mode can be used to further reduce - * power consumption. - * @note After wakeup from SLEEP mode, the peripheral clock is enabled again. - * @note By default, all peripheral clocks are enabled during SLEEP mode. - * @{ - */ -#define __HAL_RCC_TIM8_CLK_SLEEP_ENABLE() (RCC->APB2LPENR |= (RCC_APB2LPENR_TIM8LPEN)) -#if defined(STM32F413xx) || defined(STM32F423xx) -#define __HAL_RCC_UART9_CLK_SLEEP_ENABLE() (RCC->APB2LPENR |= (RCC_APB2LPENR_UART9LPEN)) -#define __HAL_RCC_UART10_CLK_SLEEP_ENABLE() (RCC->APB2LPENR |= (RCC_APB2LPENR_UART10LPEN)) -#endif /* STM32F413xx || STM32F423xx */ -#define __HAL_RCC_SDIO_CLK_SLEEP_ENABLE() (RCC->APB2LPENR |= (RCC_APB2LPENR_SDIOLPEN)) -#define __HAL_RCC_SPI4_CLK_SLEEP_ENABLE() (RCC->APB2LPENR |= (RCC_APB2LPENR_SPI4LPEN)) -#define __HAL_RCC_EXTIT_CLK_SLEEP_ENABLE() (RCC->APB2LPENR |= (RCC_APB2LPENR_EXTITLPEN)) -#define __HAL_RCC_TIM10_CLK_SLEEP_ENABLE() (RCC->APB2LPENR |= (RCC_APB2LPENR_TIM10LPEN)) -#define __HAL_RCC_SPI5_CLK_SLEEP_ENABLE() (RCC->APB2LPENR |= (RCC_APB2LPENR_SPI5LPEN)) -#if defined(STM32F413xx) || defined(STM32F423xx) -#define __HAL_RCC_SAI1_CLK_SLEEP_ENABLE() (RCC->APB2LPENR |= (RCC_APB2LPENR_SAI1LPEN)) -#endif /* STM32F413xx || STM32F423xx */ -#define __HAL_RCC_DFSDM1_CLK_SLEEP_ENABLE() (RCC->APB2LPENR |= (RCC_APB2LPENR_DFSDM1LPEN)) -#if defined(STM32F413xx) || defined(STM32F423xx) -#define __HAL_RCC_DFSDM2_CLK_SLEEP_ENABLE() (RCC->APB2LPENR |= (RCC_APB2LPENR_DFSDM2LPEN)) -#endif /* STM32F413xx || STM32F423xx */ - -#define __HAL_RCC_TIM8_CLK_SLEEP_DISABLE() (RCC->APB2LPENR &= ~(RCC_APB2LPENR_TIM8LPEN)) -#if defined(STM32F413xx) || defined(STM32F423xx) -#define __HAL_RCC_UART9_CLK_SLEEP_DISABLE() (RCC->APB2LPENR &= ~(RCC_APB2LPENR_UART9LPEN)) -#define __HAL_RCC_UART10_CLK_SLEEP_DISABLE() (RCC->APB2LPENR &= ~(RCC_APB2LPENR_UART10LPEN)) -#endif /* STM32F413xx || STM32F423xx */ -#define __HAL_RCC_SDIO_CLK_SLEEP_DISABLE() (RCC->APB2LPENR &= ~(RCC_APB2LPENR_SDIOLPEN)) -#define __HAL_RCC_SPI4_CLK_SLEEP_DISABLE() (RCC->APB2LPENR &= ~(RCC_APB2LPENR_SPI4LPEN)) -#define __HAL_RCC_EXTIT_CLK_SLEEP_DISABLE() (RCC->APB2LPENR &= ~(RCC_APB2LPENR_EXTITLPEN)) -#define __HAL_RCC_TIM10_CLK_SLEEP_DISABLE() (RCC->APB2LPENR &= ~(RCC_APB2LPENR_TIM10LPEN)) -#define __HAL_RCC_SPI5_CLK_SLEEP_DISABLE() (RCC->APB2LPENR &= ~(RCC_APB2LPENR_SPI5LPEN)) -#if defined(STM32F413xx) || defined(STM32F423xx) -#define __HAL_RCC_SAI1_CLK_SLEEP_DISABLE() (RCC->APB2LPENR &= ~(RCC_APB2LPENR_SAI1LPEN)) -#endif /* STM32F413xx || STM32F423xx */ -#define __HAL_RCC_DFSDM1_CLK_SLEEP_DISABLE() (RCC->APB2LPENR &= ~(RCC_APB2LPENR_DFSDM1LPEN)) -#if defined(STM32F413xx) || defined(STM32F423xx) -#define __HAL_RCC_DFSDM2_CLK_SLEEP_DISABLE() (RCC->APB2LPENR &= ~(RCC_APB2LPENR_DFSDM2LPEN)) -#endif /* STM32F413xx || STM32F423xx */ -/** - * @} - */ -#endif /* STM32F412Zx || STM32F412Vx || STM32F412Rx || STM32F412Cx || STM32F413xx || STM32F423xx */ -/*----------------------------------------------------------------------------*/ - -/*------------------------------- PLL Configuration --------------------------*/ -#if defined(STM32F410Tx) || defined(STM32F410Cx) || defined(STM32F410Rx) || defined(STM32F446xx) ||\ - defined(STM32F469xx) || defined(STM32F479xx) || defined(STM32F412Zx) || defined(STM32F412Vx) || \ - defined(STM32F412Rx) || defined(STM32F412Cx) || defined(STM32F413xx) || defined(STM32F423xx) -/** @brief Macro to configure the main PLL clock source, multiplication and division factors. - * @note This function must be used only when the main PLL is disabled. - * @param __RCC_PLLSource__ specifies the PLL entry clock source. - * This parameter can be one of the following values: - * @arg RCC_PLLSOURCE_HSI: HSI oscillator clock selected as PLL clock entry - * @arg RCC_PLLSOURCE_HSE: HSE oscillator clock selected as PLL clock entry - * @note This clock source (RCC_PLLSource) is common for the main PLL and PLLI2S. - * @param __PLLM__ specifies the division factor for PLL VCO input clock - * This parameter must be a number between Min_Data = 2 and Max_Data = 63. - * @note You have to set the PLLM parameter correctly to ensure that the VCO input - * frequency ranges from 1 to 2 MHz. It is recommended to select a frequency - * of 2 MHz to limit PLL jitter. - * @param __PLLN__ specifies the multiplication factor for PLL VCO output clock - * This parameter must be a number between Min_Data = 50 and Max_Data = 432. - * @note You have to set the PLLN parameter correctly to ensure that the VCO - * output frequency is between 100 and 432 MHz. - * - * @param __PLLP__ specifies the division factor for main system clock (SYSCLK) - * This parameter must be a number in the range {2, 4, 6, or 8}. - * - * @param __PLLQ__ specifies the division factor for OTG FS, SDIO and RNG clocks - * This parameter must be a number between Min_Data = 2 and Max_Data = 15. - * @note If the USB OTG FS is used in your application, you have to set the - * PLLQ parameter correctly to have 48 MHz clock for the USB. However, - * the SDIO and RNG need a frequency lower than or equal to 48 MHz to work - * correctly. - * - * @param __PLLR__ PLL division factor for I2S, SAI, SYSTEM, SPDIFRX clocks. - * This parameter must be a number between Min_Data = 2 and Max_Data = 7. - * @note This parameter is only available in STM32F446xx/STM32F469xx/STM32F479xx/ - STM32F412Zx/STM32F412Vx/STM32F412Rx/STM32F412Cx/STM32F413xx/STM32F423xx devices. - * - */ -#define __HAL_RCC_PLL_CONFIG(__RCC_PLLSource__, __PLLM__, __PLLN__, __PLLP__, __PLLQ__,__PLLR__) \ - (RCC->PLLCFGR = ((__RCC_PLLSource__) | (__PLLM__) | \ - ((__PLLN__) << RCC_PLLCFGR_PLLN_Pos) | \ - ((((__PLLP__) >> 1U) -1U) << RCC_PLLCFGR_PLLP_Pos) | \ - ((__PLLQ__) << RCC_PLLCFGR_PLLQ_Pos) | \ - ((__PLLR__) << RCC_PLLCFGR_PLLR_Pos))) -#else -/** @brief Macro to configure the main PLL clock source, multiplication and division factors. - * @note This function must be used only when the main PLL is disabled. - * @param __RCC_PLLSource__ specifies the PLL entry clock source. - * This parameter can be one of the following values: - * @arg RCC_PLLSOURCE_HSI: HSI oscillator clock selected as PLL clock entry - * @arg RCC_PLLSOURCE_HSE: HSE oscillator clock selected as PLL clock entry - * @note This clock source (RCC_PLLSource) is common for the main PLL and PLLI2S. - * @param __PLLM__ specifies the division factor for PLL VCO input clock - * This parameter must be a number between Min_Data = 2 and Max_Data = 63. - * @note You have to set the PLLM parameter correctly to ensure that the VCO input - * frequency ranges from 1 to 2 MHz. It is recommended to select a frequency - * of 2 MHz to limit PLL jitter. - * @param __PLLN__ specifies the multiplication factor for PLL VCO output clock - * This parameter must be a number between Min_Data = 50 and Max_Data = 432 - * Except for STM32F411xE devices where Min_Data = 192. - * @note You have to set the PLLN parameter correctly to ensure that the VCO - * output frequency is between 100 and 432 MHz, Except for STM32F411xE devices - * where frequency is between 192 and 432 MHz. - * @param __PLLP__ specifies the division factor for main system clock (SYSCLK) - * This parameter must be a number in the range {2, 4, 6, or 8}. - * - * @param __PLLQ__ specifies the division factor for OTG FS, SDIO and RNG clocks - * This parameter must be a number between Min_Data = 2 and Max_Data = 15. - * @note If the USB OTG FS is used in your application, you have to set the - * PLLQ parameter correctly to have 48 MHz clock for the USB. However, - * the SDIO and RNG need a frequency lower than or equal to 48 MHz to work - * correctly. - * - */ -#define __HAL_RCC_PLL_CONFIG(__RCC_PLLSource__, __PLLM__, __PLLN__, __PLLP__, __PLLQ__) \ - (RCC->PLLCFGR = (0x20000000U | (__RCC_PLLSource__) | (__PLLM__)| \ - ((__PLLN__) << RCC_PLLCFGR_PLLN_Pos) | \ - ((((__PLLP__) >> 1U) -1U) << RCC_PLLCFGR_PLLP_Pos) | \ - ((__PLLQ__) << RCC_PLLCFGR_PLLQ_Pos))) - #endif /* STM32F410xx || STM32F446xx || STM32F469xx || STM32F479xx || STM32F412Zx || STM32F412Vx || STM32F412Rx || STM32F412Cx */ -/*----------------------------------------------------------------------------*/ - -/*----------------------------PLLI2S Configuration ---------------------------*/ -#if defined(STM32F405xx) || defined(STM32F415xx) || defined(STM32F407xx) || defined(STM32F417xx) || \ - defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) || \ - defined(STM32F401xC) || defined(STM32F401xE) || defined(STM32F411xE) || defined(STM32F446xx) || \ - defined(STM32F469xx) || defined(STM32F479xx) || defined(STM32F412Zx) || defined(STM32F412Vx) || \ - defined(STM32F412Rx) || defined(STM32F412Cx) || defined(STM32F413xx) || defined(STM32F423xx) - -/** @brief Macros to enable or disable the PLLI2S. - * @note The PLLI2S is disabled by hardware when entering STOP and STANDBY modes. - */ -#define __HAL_RCC_PLLI2S_ENABLE() (*(__IO uint32_t *) RCC_CR_PLLI2SON_BB = ENABLE) -#define __HAL_RCC_PLLI2S_DISABLE() (*(__IO uint32_t *) RCC_CR_PLLI2SON_BB = DISABLE) - -#endif /* STM32F405xx || STM32F415xx || STM32F407xx || STM32F417xx || STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || - STM32F401xC || STM32F401xE || STM32F411xE || STM32F446xx || STM32F469xx || STM32F479xx || STM32F412Zx || STM32F412Vx || - STM32F412Rx || STM32F412Cx */ -#if defined(STM32F446xx) -/** @brief Macro to configure the PLLI2S clock multiplication and division factors . - * @note This macro must be used only when the PLLI2S is disabled. - * @note PLLI2S clock source is common with the main PLL (configured in - * HAL_RCC_ClockConfig() API). - * @param __PLLI2SM__ specifies the division factor for PLLI2S VCO input clock - * This parameter must be a number between Min_Data = 2 and Max_Data = 63. - * @note You have to set the PLLI2SM parameter correctly to ensure that the VCO input - * frequency ranges from 1 to 2 MHz. It is recommended to select a frequency - * of 1 MHz to limit PLLI2S jitter. - * - * @param __PLLI2SN__ specifies the multiplication factor for PLLI2S VCO output clock - * This parameter must be a number between Min_Data = 50 and Max_Data = 432. - * @note You have to set the PLLI2SN parameter correctly to ensure that the VCO - * output frequency is between Min_Data = 100 and Max_Data = 432 MHz. - * - * @param __PLLI2SP__ specifies division factor for SPDIFRX Clock. - * This parameter must be a number in the range {2, 4, 6, or 8}. - * @note the PLLI2SP parameter is only available with STM32F446xx Devices - * - * @param __PLLI2SR__ specifies the division factor for I2S clock - * This parameter must be a number between Min_Data = 2 and Max_Data = 7. - * @note You have to set the PLLI2SR parameter correctly to not exceed 192 MHz - * on the I2S clock frequency. - * - * @param __PLLI2SQ__ specifies the division factor for SAI clock - * This parameter must be a number between Min_Data = 2 and Max_Data = 15. - */ -#define __HAL_RCC_PLLI2S_CONFIG(__PLLI2SM__, __PLLI2SN__, __PLLI2SP__, __PLLI2SQ__, __PLLI2SR__) \ - (RCC->PLLI2SCFGR = ((__PLLI2SM__) |\ - ((__PLLI2SN__) << RCC_PLLI2SCFGR_PLLI2SN_Pos) |\ - ((((__PLLI2SP__) >> 1U) -1U) << RCC_PLLI2SCFGR_PLLI2SP_Pos) |\ - ((__PLLI2SQ__) << RCC_PLLI2SCFGR_PLLI2SQ_Pos) |\ - ((__PLLI2SR__) << RCC_PLLI2SCFGR_PLLI2SR_Pos))) -#elif defined(STM32F412Zx) || defined(STM32F412Vx) || defined(STM32F412Rx) || defined(STM32F412Cx) ||\ - defined(STM32F413xx) || defined(STM32F423xx) -/** @brief Macro to configure the PLLI2S clock multiplication and division factors . - * @note This macro must be used only when the PLLI2S is disabled. - * @note PLLI2S clock source is common with the main PLL (configured in - * HAL_RCC_ClockConfig() API). - * @param __PLLI2SM__ specifies the division factor for PLLI2S VCO input clock - * This parameter must be a number between Min_Data = 2 and Max_Data = 63. - * @note You have to set the PLLI2SM parameter correctly to ensure that the VCO input - * frequency ranges from 1 to 2 MHz. It is recommended to select a frequency - * of 1 MHz to limit PLLI2S jitter. - * - * @param __PLLI2SN__ specifies the multiplication factor for PLLI2S VCO output clock - * This parameter must be a number between Min_Data = 50 and Max_Data = 432. - * @note You have to set the PLLI2SN parameter correctly to ensure that the VCO - * output frequency is between Min_Data = 100 and Max_Data = 432 MHz. - * - * @param __PLLI2SR__ specifies the division factor for I2S clock - * This parameter must be a number between Min_Data = 2 and Max_Data = 7. - * @note You have to set the PLLI2SR parameter correctly to not exceed 192 MHz - * on the I2S clock frequency. - * - * @param __PLLI2SQ__ specifies the division factor for SAI clock - * This parameter must be a number between Min_Data = 2 and Max_Data = 15. - */ -#define __HAL_RCC_PLLI2S_CONFIG(__PLLI2SM__, __PLLI2SN__, __PLLI2SQ__, __PLLI2SR__) \ - (RCC->PLLI2SCFGR = ((__PLLI2SM__) |\ - ((__PLLI2SN__) << RCC_PLLI2SCFGR_PLLI2SN_Pos) |\ - ((__PLLI2SQ__) << RCC_PLLI2SCFGR_PLLI2SQ_Pos) |\ - ((__PLLI2SR__) << RCC_PLLI2SCFGR_PLLI2SR_Pos))) -#else -/** @brief Macro to configure the PLLI2S clock multiplication and division factors . - * @note This macro must be used only when the PLLI2S is disabled. - * @note PLLI2S clock source is common with the main PLL (configured in - * HAL_RCC_ClockConfig() API). - * @param __PLLI2SN__ specifies the multiplication factor for PLLI2S VCO output clock - * This parameter must be a number between Min_Data = 50 and Max_Data = 432. - * @note You have to set the PLLI2SN parameter correctly to ensure that the VCO - * output frequency is between Min_Data = 100 and Max_Data = 432 MHz. - * - * @param __PLLI2SR__ specifies the division factor for I2S clock - * This parameter must be a number between Min_Data = 2 and Max_Data = 7. - * @note You have to set the PLLI2SR parameter correctly to not exceed 192 MHz - * on the I2S clock frequency. - * - */ -#define __HAL_RCC_PLLI2S_CONFIG(__PLLI2SN__, __PLLI2SR__) \ - (RCC->PLLI2SCFGR = (((__PLLI2SN__) << RCC_PLLI2SCFGR_PLLI2SN_Pos) |\ - ((__PLLI2SR__) << RCC_PLLI2SCFGR_PLLI2SR_Pos))) -#endif /* STM32F446xx */ - -#if defined(STM32F411xE) -/** @brief Macro to configure the PLLI2S clock multiplication and division factors . - * @note This macro must be used only when the PLLI2S is disabled. - * @note This macro must be used only when the PLLI2S is disabled. - * @note PLLI2S clock source is common with the main PLL (configured in - * HAL_RCC_ClockConfig() API). - * @param __PLLI2SM__ specifies the division factor for PLLI2S VCO input clock - * This parameter must be a number between Min_Data = 2 and Max_Data = 63. - * @note The PLLI2SM parameter is only used with STM32F411xE/STM32F410xx Devices - * @note You have to set the PLLI2SM parameter correctly to ensure that the VCO input - * frequency ranges from 1 to 2 MHz. It is recommended to select a frequency - * of 2 MHz to limit PLLI2S jitter. - * @param __PLLI2SN__ specifies the multiplication factor for PLLI2S VCO output clock - * This parameter must be a number between Min_Data = 192 and Max_Data = 432. - * @note You have to set the PLLI2SN parameter correctly to ensure that the VCO - * output frequency is between Min_Data = 192 and Max_Data = 432 MHz. - * @param __PLLI2SR__ specifies the division factor for I2S clock - * This parameter must be a number between Min_Data = 2 and Max_Data = 7. - * @note You have to set the PLLI2SR parameter correctly to not exceed 192 MHz - * on the I2S clock frequency. - */ -#define __HAL_RCC_PLLI2S_I2SCLK_CONFIG(__PLLI2SM__, __PLLI2SN__, __PLLI2SR__) (RCC->PLLI2SCFGR = ((__PLLI2SM__) |\ - ((__PLLI2SN__) << RCC_PLLI2SCFGR_PLLI2SN_Pos) |\ - ((__PLLI2SR__) << RCC_PLLI2SCFGR_PLLI2SR_Pos))) -#endif /* STM32F411xE */ - -#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) || defined(STM32F469xx) || defined(STM32F479xx) -/** @brief Macro used by the SAI HAL driver to configure the PLLI2S clock multiplication and division factors. - * @note This macro must be used only when the PLLI2S is disabled. - * @note PLLI2S clock source is common with the main PLL (configured in - * HAL_RCC_ClockConfig() API) - * @param __PLLI2SN__ specifies the multiplication factor for PLLI2S VCO output clock. - * This parameter must be a number between Min_Data = 50 and Max_Data = 432. - * @note You have to set the PLLI2SN parameter correctly to ensure that the VCO - * output frequency is between Min_Data = 100 and Max_Data = 432 MHz. - * @param __PLLI2SQ__ specifies the division factor for SAI1 clock. - * This parameter must be a number between Min_Data = 2 and Max_Data = 15. - * @note the PLLI2SQ parameter is only available with STM32F427xx/437xx/429xx/439xx/469xx/479xx - * Devices and can be configured using the __HAL_RCC_PLLI2S_PLLSAICLK_CONFIG() macro - * @param __PLLI2SR__ specifies the division factor for I2S clock - * This parameter must be a number between Min_Data = 2 and Max_Data = 7. - * @note You have to set the PLLI2SR parameter correctly to not exceed 192 MHz - * on the I2S clock frequency. - */ -#define __HAL_RCC_PLLI2S_SAICLK_CONFIG(__PLLI2SN__, __PLLI2SQ__, __PLLI2SR__) (RCC->PLLI2SCFGR = ((__PLLI2SN__) << 6U) |\ - ((__PLLI2SQ__) << 24U) |\ - ((__PLLI2SR__) << 28U)) -#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || STM32F469xx || STM32F479xx */ -/*----------------------------------------------------------------------------*/ - -/*------------------------------ PLLSAI Configuration ------------------------*/ -#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) || defined(STM32F446xx) || defined(STM32F469xx) || defined(STM32F479xx) -/** @brief Macros to Enable or Disable the PLLISAI. - * @note The PLLSAI is only available with STM32F429x/439x Devices. - * @note The PLLSAI is disabled by hardware when entering STOP and STANDBY modes. - */ -#define __HAL_RCC_PLLSAI_ENABLE() (*(__IO uint32_t *) RCC_CR_PLLSAION_BB = ENABLE) -#define __HAL_RCC_PLLSAI_DISABLE() (*(__IO uint32_t *) RCC_CR_PLLSAION_BB = DISABLE) - -#if defined(STM32F446xx) -/** @brief Macro to configure the PLLSAI clock multiplication and division factors. - * - * @param __PLLSAIM__ specifies the division factor for PLLSAI VCO input clock - * This parameter must be a number between Min_Data = 2 and Max_Data = 63. - * @note You have to set the PLLSAIM parameter correctly to ensure that the VCO input - * frequency ranges from 1 to 2 MHz. It is recommended to select a frequency - * of 1 MHz to limit PLLI2S jitter. - * @note The PLLSAIM parameter is only used with STM32F446xx Devices - * - * @param __PLLSAIN__ specifies the multiplication factor for PLLSAI VCO output clock. - * This parameter must be a number between Min_Data = 50 and Max_Data = 432. - * @note You have to set the PLLSAIN parameter correctly to ensure that the VCO - * output frequency is between Min_Data = 100 and Max_Data = 432 MHz. - * - * @param __PLLSAIP__ specifies division factor for OTG FS, SDIO and RNG clocks. - * This parameter must be a number in the range {2, 4, 6, or 8}. - * @note the PLLSAIP parameter is only available with STM32F446xx Devices - * - * @param __PLLSAIQ__ specifies the division factor for SAI clock - * This parameter must be a number between Min_Data = 2 and Max_Data = 15. - * - * @param __PLLSAIR__ specifies the division factor for LTDC clock - * This parameter must be a number between Min_Data = 2 and Max_Data = 7. - * @note the PLLI2SR parameter is only available with STM32F427/437/429/439xx Devices - */ -#define __HAL_RCC_PLLSAI_CONFIG(__PLLSAIM__, __PLLSAIN__, __PLLSAIP__, __PLLSAIQ__, __PLLSAIR__) \ - (RCC->PLLSAICFGR = ((__PLLSAIM__) | \ - ((__PLLSAIN__) << RCC_PLLSAICFGR_PLLSAIN_Pos) | \ - ((((__PLLSAIP__) >> 1U) -1U) << RCC_PLLSAICFGR_PLLSAIP_Pos) | \ - ((__PLLSAIQ__) << RCC_PLLSAICFGR_PLLSAIQ_Pos))) -#endif /* STM32F446xx */ - -#if defined(STM32F469xx) || defined(STM32F479xx) -/** @brief Macro to configure the PLLSAI clock multiplication and division factors. - * - * @param __PLLSAIN__ specifies the multiplication factor for PLLSAI VCO output clock. - * This parameter must be a number between Min_Data = 50 and Max_Data = 432. - * @note You have to set the PLLSAIN parameter correctly to ensure that the VCO - * output frequency is between Min_Data = 100 and Max_Data = 432 MHz. - * - * @param __PLLSAIP__ specifies division factor for SDIO and CLK48 clocks. - * This parameter must be a number in the range {2, 4, 6, or 8}. - * - * @param __PLLSAIQ__ specifies the division factor for SAI clock - * This parameter must be a number between Min_Data = 2 and Max_Data = 15. - * - * @param __PLLSAIR__ specifies the division factor for LTDC clock - * This parameter must be a number between Min_Data = 2 and Max_Data = 7. - */ -#define __HAL_RCC_PLLSAI_CONFIG(__PLLSAIN__, __PLLSAIP__, __PLLSAIQ__, __PLLSAIR__) \ - (RCC->PLLSAICFGR = (((__PLLSAIN__) << RCC_PLLSAICFGR_PLLSAIN_Pos) |\ - ((((__PLLSAIP__) >> 1U) -1U) << RCC_PLLSAICFGR_PLLSAIP_Pos) |\ - ((__PLLSAIQ__) << RCC_PLLSAICFGR_PLLSAIQ_Pos) |\ - ((__PLLSAIR__) << RCC_PLLSAICFGR_PLLSAIR_Pos))) -#endif /* STM32F469xx || STM32F479xx */ - -#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) -/** @brief Macro to configure the PLLSAI clock multiplication and division factors. - * - * @param __PLLSAIN__ specifies the multiplication factor for PLLSAI VCO output clock. - * This parameter must be a number between Min_Data = 50 and Max_Data = 432. - * @note You have to set the PLLSAIN parameter correctly to ensure that the VCO - * output frequency is between Min_Data = 100 and Max_Data = 432 MHz. - * - * @param __PLLSAIQ__ specifies the division factor for SAI clock - * This parameter must be a number between Min_Data = 2 and Max_Data = 15. - * - * @param __PLLSAIR__ specifies the division factor for LTDC clock - * This parameter must be a number between Min_Data = 2 and Max_Data = 7. - * @note the PLLI2SR parameter is only available with STM32F427/437/429/439xx Devices - */ -#define __HAL_RCC_PLLSAI_CONFIG(__PLLSAIN__, __PLLSAIQ__, __PLLSAIR__) \ - (RCC->PLLSAICFGR = (((__PLLSAIN__) << RCC_PLLSAICFGR_PLLSAIN_Pos) | \ - ((__PLLSAIQ__) << RCC_PLLSAICFGR_PLLSAIQ_Pos) | \ - ((__PLLSAIR__) << RCC_PLLSAICFGR_PLLSAIR_Pos))) -#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx */ - -#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || STM32F446xx || STM32F469xx || STM32F479xx */ -/*----------------------------------------------------------------------------*/ - -/*------------------- PLLSAI/PLLI2S Dividers Configuration -------------------*/ -#if defined(STM32F413xx) || defined(STM32F423xx) -/** @brief Macro to configure the SAI clock Divider coming from PLLI2S. - * @note This function must be called before enabling the PLLI2S. - * @param __PLLI2SDivR__ specifies the PLLI2S division factor for SAI1 clock. - * This parameter must be a number between 1 and 32. - * SAI1 clock frequency = f(PLLI2SR) / __PLLI2SDivR__ - */ -#define __HAL_RCC_PLLI2S_PLLSAICLKDIVR_CONFIG(__PLLI2SDivR__) (MODIFY_REG(RCC->DCKCFGR, RCC_DCKCFGR_PLLI2SDIVR, (__PLLI2SDivR__)-1U)) - -/** @brief Macro to configure the SAI clock Divider coming from PLL. - * @param __PLLDivR__ specifies the PLL division factor for SAI1 clock. - * This parameter must be a number between 1 and 32. - * SAI1 clock frequency = f(PLLR) / __PLLDivR__ - */ -#define __HAL_RCC_PLL_PLLSAICLKDIVR_CONFIG(__PLLDivR__) (MODIFY_REG(RCC->DCKCFGR, RCC_DCKCFGR_PLLDIVR, ((__PLLDivR__)-1U)<<8U)) -#endif /* STM32F413xx || STM32F423xx */ - -#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) || defined(STM32F446xx) ||\ - defined(STM32F469xx) || defined(STM32F479xx) -/** @brief Macro to configure the SAI clock Divider coming from PLLI2S. - * @note This function must be called before enabling the PLLI2S. - * @param __PLLI2SDivQ__ specifies the PLLI2S division factor for SAI1 clock. - * This parameter must be a number between 1 and 32. - * SAI1 clock frequency = f(PLLI2SQ) / __PLLI2SDivQ__ - */ -#define __HAL_RCC_PLLI2S_PLLSAICLKDIVQ_CONFIG(__PLLI2SDivQ__) (MODIFY_REG(RCC->DCKCFGR, RCC_DCKCFGR_PLLI2SDIVQ, (__PLLI2SDivQ__)-1U)) - -/** @brief Macro to configure the SAI clock Divider coming from PLLSAI. - * @note This function must be called before enabling the PLLSAI. - * @param __PLLSAIDivQ__ specifies the PLLSAI division factor for SAI1 clock . - * This parameter must be a number between Min_Data = 1 and Max_Data = 32. - * SAI1 clock frequency = f(PLLSAIQ) / __PLLSAIDivQ__ - */ -#define __HAL_RCC_PLLSAI_PLLSAICLKDIVQ_CONFIG(__PLLSAIDivQ__) (MODIFY_REG(RCC->DCKCFGR, RCC_DCKCFGR_PLLSAIDIVQ, ((__PLLSAIDivQ__)-1U)<<8U)) -#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || STM32F446xx || STM32F469xx || STM32F479xx */ - -#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) || defined(STM32F469xx) || defined(STM32F479xx) -/** @brief Macro to configure the LTDC clock Divider coming from PLLSAI. - * - * @note The LTDC peripheral is only available with STM32F427/437/429/439/469/479xx Devices. - * @note This function must be called before enabling the PLLSAI. - * @param __PLLSAIDivR__ specifies the PLLSAI division factor for LTDC clock . - * This parameter must be a number between Min_Data = 2 and Max_Data = 16. - * LTDC clock frequency = f(PLLSAIR) / __PLLSAIDivR__ - */ -#define __HAL_RCC_PLLSAI_PLLSAICLKDIVR_CONFIG(__PLLSAIDivR__) (MODIFY_REG(RCC->DCKCFGR, RCC_DCKCFGR_PLLSAIDIVR, (__PLLSAIDivR__))) -#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || STM32F469xx || STM32F479xx */ -/*----------------------------------------------------------------------------*/ - -/*------------------------- Peripheral Clock selection -----------------------*/ -#if defined(STM32F405xx) || defined(STM32F415xx) || defined(STM32F407xx) || defined(STM32F417xx) ||\ - defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) ||\ - defined(STM32F401xC) || defined(STM32F401xE) || defined(STM32F411xE) || defined(STM32F469xx) ||\ - defined(STM32F479xx) -/** @brief Macro to configure the I2S clock source (I2SCLK). - * @note This function must be called before enabling the I2S APB clock. - * @param __SOURCE__ specifies the I2S clock source. - * This parameter can be one of the following values: - * @arg RCC_I2SCLKSOURCE_PLLI2S: PLLI2S clock used as I2S clock source. - * @arg RCC_I2SCLKSOURCE_EXT: External clock mapped on the I2S_CKIN pin - * used as I2S clock source. - */ -#define __HAL_RCC_I2S_CONFIG(__SOURCE__) (*(__IO uint32_t *) RCC_CFGR_I2SSRC_BB = (__SOURCE__)) - - -/** @brief Macro to get the I2S clock source (I2SCLK). - * @retval The clock source can be one of the following values: - * @arg @ref RCC_I2SCLKSOURCE_PLLI2S: PLLI2S clock used as I2S clock source. - * @arg @ref RCC_I2SCLKSOURCE_EXT External clock mapped on the I2S_CKIN pin - * used as I2S clock source - */ -#define __HAL_RCC_GET_I2S_SOURCE() ((uint32_t)(READ_BIT(RCC->CFGR, RCC_CFGR_I2SSRC))) -#endif /* STM32F40xxx || STM32F41xxx || STM32F42xxx || STM32F43xxx || STM32F469xx || STM32F479xx */ - -#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) || defined(STM32F469xx) || defined(STM32F479xx) - -/** @brief Macro to configure SAI1BlockA clock source selection. - * @note The SAI peripheral is only available with STM32F427/437/429/439/469/479xx Devices. - * @note This function must be called before enabling PLLSAI, PLLI2S and - * the SAI clock. - * @param __SOURCE__ specifies the SAI Block A clock source. - * This parameter can be one of the following values: - * @arg RCC_SAIACLKSOURCE_PLLI2S: PLLI2S_Q clock divided by PLLI2SDIVQ used - * as SAI1 Block A clock. - * @arg RCC_SAIACLKSOURCE_PLLSAI: PLLISAI_Q clock divided by PLLSAIDIVQ used - * as SAI1 Block A clock. - * @arg RCC_SAIACLKSOURCE_Ext: External clock mapped on the I2S_CKIN pin - * used as SAI1 Block A clock. - */ -#define __HAL_RCC_SAI_BLOCKACLKSOURCE_CONFIG(__SOURCE__) (MODIFY_REG(RCC->DCKCFGR, RCC_DCKCFGR_SAI1ASRC, (__SOURCE__))) - -/** @brief Macro to configure SAI1BlockB clock source selection. - * @note The SAI peripheral is only available with STM32F427/437/429/439/469/479xx Devices. - * @note This function must be called before enabling PLLSAI, PLLI2S and - * the SAI clock. - * @param __SOURCE__ specifies the SAI Block B clock source. - * This parameter can be one of the following values: - * @arg RCC_SAIBCLKSOURCE_PLLI2S: PLLI2S_Q clock divided by PLLI2SDIVQ used - * as SAI1 Block B clock. - * @arg RCC_SAIBCLKSOURCE_PLLSAI: PLLISAI_Q clock divided by PLLSAIDIVQ used - * as SAI1 Block B clock. - * @arg RCC_SAIBCLKSOURCE_Ext: External clock mapped on the I2S_CKIN pin - * used as SAI1 Block B clock. - */ -#define __HAL_RCC_SAI_BLOCKBCLKSOURCE_CONFIG(__SOURCE__) (MODIFY_REG(RCC->DCKCFGR, RCC_DCKCFGR_SAI1BSRC, (__SOURCE__))) -#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || STM32F469xx || STM32F479xx */ - -#if defined(STM32F446xx) -/** @brief Macro to configure SAI1 clock source selection. - * @note This configuration is only available with STM32F446xx Devices. - * @note This function must be called before enabling PLL, PLLSAI, PLLI2S and - * the SAI clock. - * @param __SOURCE__ specifies the SAI1 clock source. - * This parameter can be one of the following values: - * @arg RCC_SAI1CLKSOURCE_PLLI2S: PLLI2S_Q clock divided by PLLI2SDIVQ used as SAI1 clock. - * @arg RCC_SAI1CLKSOURCE_PLLSAI: PLLISAI_Q clock divided by PLLSAIDIVQ used as SAI1 clock. - * @arg RCC_SAI1CLKSOURCE_PLLR: PLL VCO Output divided by PLLR used as SAI1 clock. - * @arg RCC_SAI1CLKSOURCE_EXT: External clock mapped on the I2S_CKIN pin used as SAI1 clock. - */ -#define __HAL_RCC_SAI1_CONFIG(__SOURCE__) (MODIFY_REG(RCC->DCKCFGR, RCC_DCKCFGR_SAI1SRC, (__SOURCE__))) - -/** @brief Macro to Get SAI1 clock source selection. - * @note This configuration is only available with STM32F446xx Devices. - * @retval The clock source can be one of the following values: - * @arg RCC_SAI1CLKSOURCE_PLLI2S: PLLI2S_Q clock divided by PLLI2SDIVQ used as SAI1 clock. - * @arg RCC_SAI1CLKSOURCE_PLLSAI: PLLISAI_Q clock divided by PLLSAIDIVQ used as SAI1 clock. - * @arg RCC_SAI1CLKSOURCE_PLLR: PLL VCO Output divided by PLLR used as SAI1 clock. - * @arg RCC_SAI1CLKSOURCE_EXT: External clock mapped on the I2S_CKIN pin used as SAI1 clock. - */ -#define __HAL_RCC_GET_SAI1_SOURCE() (READ_BIT(RCC->DCKCFGR, RCC_DCKCFGR_SAI1SRC)) - -/** @brief Macro to configure SAI2 clock source selection. - * @note This configuration is only available with STM32F446xx Devices. - * @note This function must be called before enabling PLL, PLLSAI, PLLI2S and - * the SAI clock. - * @param __SOURCE__ specifies the SAI2 clock source. - * This parameter can be one of the following values: - * @arg RCC_SAI2CLKSOURCE_PLLI2S: PLLI2S_Q clock divided by PLLI2SDIVQ used as SAI2 clock. - * @arg RCC_SAI2CLKSOURCE_PLLSAI: PLLISAI_Q clock divided by PLLSAIDIVQ used as SAI2 clock. - * @arg RCC_SAI2CLKSOURCE_PLLR: PLL VCO Output divided by PLLR used as SAI2 clock. - * @arg RCC_SAI2CLKSOURCE_PLLSRC: HSI or HSE depending from PLL Source clock used as SAI2 clock. - */ -#define __HAL_RCC_SAI2_CONFIG(__SOURCE__) (MODIFY_REG(RCC->DCKCFGR, RCC_DCKCFGR_SAI2SRC, (__SOURCE__))) - -/** @brief Macro to Get SAI2 clock source selection. - * @note This configuration is only available with STM32F446xx Devices. - * @retval The clock source can be one of the following values: - * @arg RCC_SAI2CLKSOURCE_PLLI2S: PLLI2S_Q clock divided by PLLI2SDIVQ used as SAI2 clock. - * @arg RCC_SAI2CLKSOURCE_PLLSAI: PLLISAI_Q clock divided by PLLSAIDIVQ used as SAI2 clock. - * @arg RCC_SAI2CLKSOURCE_PLLR: PLL VCO Output divided by PLLR used as SAI2 clock. - * @arg RCC_SAI2CLKSOURCE_PLLSRC: HSI or HSE depending from PLL Source clock used as SAI2 clock. - */ -#define __HAL_RCC_GET_SAI2_SOURCE() (READ_BIT(RCC->DCKCFGR, RCC_DCKCFGR_SAI2SRC)) - -/** @brief Macro to configure I2S APB1 clock source selection. - * @note This function must be called before enabling PLL, PLLI2S and the I2S clock. - * @param __SOURCE__ specifies the I2S APB1 clock source. - * This parameter can be one of the following values: - * @arg RCC_I2SAPB1CLKSOURCE_PLLI2S: PLLI2S VCO output clock divided by PLLI2SR used as I2S clock. - * @arg RCC_I2SAPB1CLKSOURCE_EXT: External clock mapped on the I2S_CKIN pin used as I2S APB1 clock. - * @arg RCC_I2SAPB1CLKSOURCE_PLLR: PLL VCO Output divided by PLLR used as I2S APB1 clock. - * @arg RCC_I2SAPB1CLKSOURCE_PLLSRC: HSI or HSE depending from PLL source Clock. - */ -#define __HAL_RCC_I2S_APB1_CONFIG(__SOURCE__) (MODIFY_REG(RCC->DCKCFGR, RCC_DCKCFGR_I2S1SRC, (__SOURCE__))) - -/** @brief Macro to Get I2S APB1 clock source selection. - * @retval The clock source can be one of the following values: - * @arg RCC_I2SAPB1CLKSOURCE_PLLI2S: PLLI2S VCO output clock divided by PLLI2SR used as I2S clock. - * @arg RCC_I2SAPB1CLKSOURCE_EXT: External clock mapped on the I2S_CKIN pin used as I2S APB1 clock. - * @arg RCC_I2SAPB1CLKSOURCE_PLLR: PLL VCO Output divided by PLLR used as I2S APB1 clock. - * @arg RCC_I2SAPB1CLKSOURCE_PLLSRC: HSI or HSE depending from PLL source Clock. - */ -#define __HAL_RCC_GET_I2S_APB1_SOURCE() (READ_BIT(RCC->DCKCFGR, RCC_DCKCFGR_I2S1SRC)) - -/** @brief Macro to configure I2S APB2 clock source selection. - * @note This function must be called before enabling PLL, PLLI2S and the I2S clock. - * @param __SOURCE__ specifies the SAI Block A clock source. - * This parameter can be one of the following values: - * @arg RCC_I2SAPB2CLKSOURCE_PLLI2S: PLLI2S VCO output clock divided by PLLI2SR used as I2S clock. - * @arg RCC_I2SAPB2CLKSOURCE_EXT: External clock mapped on the I2S_CKIN pin used as I2S APB2 clock. - * @arg RCC_I2SAPB2CLKSOURCE_PLLR: PLL VCO Output divided by PLLR used as I2S APB2 clock. - * @arg RCC_I2SAPB2CLKSOURCE_PLLSRC: HSI or HSE depending from PLL source Clock. - */ -#define __HAL_RCC_I2S_APB2_CONFIG(__SOURCE__) (MODIFY_REG(RCC->DCKCFGR, RCC_DCKCFGR_I2S2SRC, (__SOURCE__))) - -/** @brief Macro to Get I2S APB2 clock source selection. - * @retval The clock source can be one of the following values: - * @arg RCC_I2SAPB2CLKSOURCE_PLLI2S: PLLI2S VCO output clock divided by PLLI2SR used as I2S clock. - * @arg RCC_I2SAPB2CLKSOURCE_EXT: External clock mapped on the I2S_CKIN pin used as I2S APB2 clock. - * @arg RCC_I2SAPB2CLKSOURCE_PLLR: PLL VCO Output divided by PLLR used as I2S APB2 clock. - * @arg RCC_I2SAPB2CLKSOURCE_PLLSRC: HSI or HSE depending from PLL source Clock. - */ -#define __HAL_RCC_GET_I2S_APB2_SOURCE() (READ_BIT(RCC->DCKCFGR, RCC_DCKCFGR_I2S2SRC)) - -/** @brief Macro to configure the CEC clock. - * @param __SOURCE__ specifies the CEC clock source. - * This parameter can be one of the following values: - * @arg RCC_CECCLKSOURCE_HSI: HSI selected as CEC clock - * @arg RCC_CECCLKSOURCE_LSE: LSE selected as CEC clock - */ -#define __HAL_RCC_CEC_CONFIG(__SOURCE__) (MODIFY_REG(RCC->DCKCFGR2, RCC_DCKCFGR2_CECSEL, (uint32_t)(__SOURCE__))) - -/** @brief Macro to Get the CEC clock. - * @retval The clock source can be one of the following values: - * @arg RCC_CECCLKSOURCE_HSI488: HSI selected as CEC clock - * @arg RCC_CECCLKSOURCE_LSE: LSE selected as CEC clock - */ -#define __HAL_RCC_GET_CEC_SOURCE() (READ_BIT(RCC->DCKCFGR2, RCC_DCKCFGR2_CECSEL)) - -/** @brief Macro to configure the FMPI2C1 clock. - * @param __SOURCE__ specifies the FMPI2C1 clock source. - * This parameter can be one of the following values: - * @arg RCC_FMPI2C1CLKSOURCE_PCLK1: PCLK1 selected as FMPI2C1 clock - * @arg RCC_FMPI2C1CLKSOURCE_SYSCLK: SYS clock selected as FMPI2C1 clock - * @arg RCC_FMPI2C1CLKSOURCE_HSI: HSI selected as FMPI2C1 clock - */ -#define __HAL_RCC_FMPI2C1_CONFIG(__SOURCE__) (MODIFY_REG(RCC->DCKCFGR2, RCC_DCKCFGR2_FMPI2C1SEL, (uint32_t)(__SOURCE__))) - -/** @brief Macro to Get the FMPI2C1 clock. - * @retval The clock source can be one of the following values: - * @arg RCC_FMPI2C1CLKSOURCE_PCLK1: PCLK1 selected as FMPI2C1 clock - * @arg RCC_FMPI2C1CLKSOURCE_SYSCLK: SYS clock selected as FMPI2C1 clock - * @arg RCC_FMPI2C1CLKSOURCE_HSI: HSI selected as FMPI2C1 clock - */ -#define __HAL_RCC_GET_FMPI2C1_SOURCE() (READ_BIT(RCC->DCKCFGR2, RCC_DCKCFGR2_FMPI2C1SEL)) - -/** @brief Macro to configure the CLK48 clock. - * @param __SOURCE__ specifies the CLK48 clock source. - * This parameter can be one of the following values: - * @arg RCC_CLK48CLKSOURCE_PLLQ: PLL VCO Output divided by PLLQ used as CLK48 clock. - * @arg RCC_CLK48CLKSOURCE_PLLSAIP: PLLSAI VCO Output divided by PLLSAIP used as CLK48 clock. - */ -#define __HAL_RCC_CLK48_CONFIG(__SOURCE__) (MODIFY_REG(RCC->DCKCFGR2, RCC_DCKCFGR2_CK48MSEL, (uint32_t)(__SOURCE__))) - -/** @brief Macro to Get the CLK48 clock. - * @retval The clock source can be one of the following values: - * @arg RCC_CLK48CLKSOURCE_PLLQ: PLL VCO Output divided by PLLQ used as CLK48 clock. - * @arg RCC_CLK48CLKSOURCE_PLLSAIP: PLLSAI VCO Output divided by PLLSAIP used as CLK48 clock. - */ -#define __HAL_RCC_GET_CLK48_SOURCE() (READ_BIT(RCC->DCKCFGR2, RCC_DCKCFGR2_CK48MSEL)) - -/** @brief Macro to configure the SDIO clock. - * @param __SOURCE__ specifies the SDIO clock source. - * This parameter can be one of the following values: - * @arg RCC_SDIOCLKSOURCE_CLK48: CLK48 output used as SDIO clock. - * @arg RCC_SDIOCLKSOURCE_SYSCLK: System clock output used as SDIO clock. - */ -#define __HAL_RCC_SDIO_CONFIG(__SOURCE__) (MODIFY_REG(RCC->DCKCFGR2, RCC_DCKCFGR2_SDIOSEL, (uint32_t)(__SOURCE__))) - -/** @brief Macro to Get the SDIO clock. - * @retval The clock source can be one of the following values: - * @arg RCC_SDIOCLKSOURCE_CLK48: CLK48 output used as SDIO clock. - * @arg RCC_SDIOCLKSOURCE_SYSCLK: System clock output used as SDIO clock. - */ -#define __HAL_RCC_GET_SDIO_SOURCE() (READ_BIT(RCC->DCKCFGR2, RCC_DCKCFGR2_SDIOSEL)) - -/** @brief Macro to configure the SPDIFRX clock. - * @param __SOURCE__ specifies the SPDIFRX clock source. - * This parameter can be one of the following values: - * @arg RCC_SPDIFRXCLKSOURCE_PLLR: PLL VCO Output divided by PLLR used as SPDIFRX clock. - * @arg RCC_SPDIFRXCLKSOURCE_PLLI2SP: PLLI2S VCO Output divided by PLLI2SP used as SPDIFRX clock. - */ -#define __HAL_RCC_SPDIFRX_CONFIG(__SOURCE__) (MODIFY_REG(RCC->DCKCFGR2, RCC_DCKCFGR2_SPDIFRXSEL, (uint32_t)(__SOURCE__))) - -/** @brief Macro to Get the SPDIFRX clock. - * @retval The clock source can be one of the following values: - * @arg RCC_SPDIFRXCLKSOURCE_PLLR: PLL VCO Output divided by PLLR used as SPDIFRX clock. - * @arg RCC_SPDIFRXCLKSOURCE_PLLI2SP: PLLI2S VCO Output divided by PLLI2SP used as SPDIFRX clock. - */ -#define __HAL_RCC_GET_SPDIFRX_SOURCE() (READ_BIT(RCC->DCKCFGR2, RCC_DCKCFGR2_SPDIFRXSEL)) -#endif /* STM32F446xx */ - -#if defined(STM32F469xx) || defined(STM32F479xx) - -/** @brief Macro to configure the CLK48 clock. - * @param __SOURCE__ specifies the CLK48 clock source. - * This parameter can be one of the following values: - * @arg RCC_CLK48CLKSOURCE_PLLQ: PLL VCO Output divided by PLLQ used as CLK48 clock. - * @arg RCC_CLK48CLKSOURCE_PLLSAIP: PLLSAI VCO Output divided by PLLSAIP used as CLK48 clock. - */ -#define __HAL_RCC_CLK48_CONFIG(__SOURCE__) (MODIFY_REG(RCC->DCKCFGR, RCC_DCKCFGR_CK48MSEL, (uint32_t)(__SOURCE__))) - -/** @brief Macro to Get the CLK48 clock. - * @retval The clock source can be one of the following values: - * @arg RCC_CLK48CLKSOURCE_PLLQ: PLL VCO Output divided by PLLQ used as CLK48 clock. - * @arg RCC_CLK48CLKSOURCE_PLLSAIP: PLLSAI VCO Output divided by PLLSAIP used as CLK48 clock. - */ -#define __HAL_RCC_GET_CLK48_SOURCE() (READ_BIT(RCC->DCKCFGR, RCC_DCKCFGR_CK48MSEL)) - -/** @brief Macro to configure the SDIO clock. - * @param __SOURCE__ specifies the SDIO clock source. - * This parameter can be one of the following values: - * @arg RCC_SDIOCLKSOURCE_CLK48: CLK48 output used as SDIO clock. - * @arg RCC_SDIOCLKSOURCE_SYSCLK: System clock output used as SDIO clock. - */ -#define __HAL_RCC_SDIO_CONFIG(__SOURCE__) (MODIFY_REG(RCC->DCKCFGR, RCC_DCKCFGR_SDIOSEL, (uint32_t)(__SOURCE__))) - -/** @brief Macro to Get the SDIO clock. - * @retval The clock source can be one of the following values: - * @arg RCC_SDIOCLKSOURCE_CLK48: CLK48 output used as SDIO clock. - * @arg RCC_SDIOCLKSOURCE_SYSCLK: System clock output used as SDIO clock. - */ -#define __HAL_RCC_GET_SDIO_SOURCE() (READ_BIT(RCC->DCKCFGR, RCC_DCKCFGR_SDIOSEL)) - -/** @brief Macro to configure the DSI clock. - * @param __SOURCE__ specifies the DSI clock source. - * This parameter can be one of the following values: - * @arg RCC_DSICLKSOURCE_PLLR: PLLR output used as DSI clock. - * @arg RCC_DSICLKSOURCE_DSIPHY: DSI-PHY output used as DSI clock. - */ -#define __HAL_RCC_DSI_CONFIG(__SOURCE__) (MODIFY_REG(RCC->DCKCFGR, RCC_DCKCFGR_DSISEL, (uint32_t)(__SOURCE__))) - -/** @brief Macro to Get the DSI clock. - * @retval The clock source can be one of the following values: - * @arg RCC_DSICLKSOURCE_PLLR: PLLR output used as DSI clock. - * @arg RCC_DSICLKSOURCE_DSIPHY: DSI-PHY output used as DSI clock. - */ -#define __HAL_RCC_GET_DSI_SOURCE() (READ_BIT(RCC->DCKCFGR, RCC_DCKCFGR_DSISEL)) - -#endif /* STM32F469xx || STM32F479xx */ - -#if defined(STM32F412Zx) || defined(STM32F412Vx) || defined(STM32F412Rx) || defined(STM32F412Cx) ||\ - defined(STM32F413xx) || defined(STM32F423xx) - /** @brief Macro to configure the DFSDM1 clock. - * @param __DFSDM1_CLKSOURCE__ specifies the DFSDM1 clock source. - * This parameter can be one of the following values: - * @arg RCC_DFSDM1CLKSOURCE_PCLK2: PCLK2 clock used as kernel clock. - * @arg RCC_DFSDM1CLKSOURCE_SYSCLK: System clock used as kernel clock. - * @retval None - */ -#define __HAL_RCC_DFSDM1_CONFIG(__DFSDM1_CLKSOURCE__) MODIFY_REG(RCC->DCKCFGR, RCC_DCKCFGR_CKDFSDM1SEL, (__DFSDM1_CLKSOURCE__)) - -/** @brief Macro to get the DFSDM1 clock source. - * @retval The clock source can be one of the following values: - * @arg RCC_DFSDM1CLKSOURCE_PCLK2: PCLK2 clock used as kernel clock. - * @arg RCC_DFSDM1CLKSOURCE_SYSCLK: System clock used as kernel clock. - */ -#define __HAL_RCC_GET_DFSDM1_SOURCE() ((uint32_t)(READ_BIT(RCC->DCKCFGR, RCC_DCKCFGR_CKDFSDM1SEL))) - -/** @brief Macro to configure DFSDM1 Audio clock source selection. - * @note This configuration is only available with STM32F412Zx/STM32F412Vx/STM32F412Rx/STM32F412Cx/ - STM32F413xx/STM32F423xx Devices. - * @param __SOURCE__ specifies the DFSDM1 Audio clock source. - * This parameter can be one of the following values: - * @arg RCC_DFSDM1AUDIOCLKSOURCE_I2S1: CK_I2S_PCLK1 selected as audio clock - * @arg RCC_DFSDM1AUDIOCLKSOURCE_I2S2: CK_I2S_PCLK2 selected as audio clock - */ -#define __HAL_RCC_DFSDM1AUDIO_CONFIG(__SOURCE__) (MODIFY_REG(RCC->DCKCFGR, RCC_DCKCFGR_CKDFSDM1ASEL, (__SOURCE__))) - -/** @brief Macro to Get DFSDM1 Audio clock source selection. - * @note This configuration is only available with STM32F412Zx/STM32F412Vx/STM32F412Rx/STM32F412Cx/ - STM32F413xx/STM32F423xx Devices. - * @retval The clock source can be one of the following values: - * @arg RCC_DFSDM1AUDIOCLKSOURCE_I2S1: CK_I2S_PCLK1 selected as audio clock - * @arg RCC_DFSDM1AUDIOCLKSOURCE_I2S2: CK_I2S_PCLK2 selected as audio clock - */ -#define __HAL_RCC_GET_DFSDM1AUDIO_SOURCE() (READ_BIT(RCC->DCKCFGR, RCC_DCKCFGR_CKDFSDM1ASEL)) - -#if defined(STM32F413xx) || defined(STM32F423xx) - /** @brief Macro to configure the DFSDM2 clock. - * @param __DFSDM2_CLKSOURCE__ specifies the DFSDM1 clock source. - * This parameter can be one of the following values: - * @arg RCC_DFSDM2CLKSOURCE_PCLK2: PCLK2 clock used as kernel clock. - * @arg RCC_DFSDM2CLKSOURCE_SYSCLK: System clock used as kernel clock. - * @retval None - */ -#define __HAL_RCC_DFSDM2_CONFIG(__DFSDM2_CLKSOURCE__) MODIFY_REG(RCC->DCKCFGR, RCC_DCKCFGR_CKDFSDM1SEL, (__DFSDM2_CLKSOURCE__)) - -/** @brief Macro to get the DFSDM2 clock source. - * @retval The clock source can be one of the following values: - * @arg RCC_DFSDM2CLKSOURCE_PCLK2: PCLK2 clock used as kernel clock. - * @arg RCC_DFSDM2CLKSOURCE_SYSCLK: System clock used as kernel clock. - */ -#define __HAL_RCC_GET_DFSDM2_SOURCE() ((uint32_t)(READ_BIT(RCC->DCKCFGR, RCC_DCKCFGR_CKDFSDM1SEL))) - -/** @brief Macro to configure DFSDM1 Audio clock source selection. - * @note This configuration is only available with STM32F413xx/STM32F423xx Devices. - * @param __SOURCE__ specifies the DFSDM2 Audio clock source. - * This parameter can be one of the following values: - * @arg RCC_DFSDM2AUDIOCLKSOURCE_I2S1: CK_I2S_PCLK1 selected as audio clock - * @arg RCC_DFSDM2AUDIOCLKSOURCE_I2S2: CK_I2S_PCLK2 selected as audio clock - */ -#define __HAL_RCC_DFSDM2AUDIO_CONFIG(__SOURCE__) (MODIFY_REG(RCC->DCKCFGR, RCC_DCKCFGR_CKDFSDM2ASEL, (__SOURCE__))) - -/** @brief Macro to Get DFSDM2 Audio clock source selection. - * @note This configuration is only available with STM32F413xx/STM32F423xx Devices. - * @retval The clock source can be one of the following values: - * @arg RCC_DFSDM2AUDIOCLKSOURCE_I2S1: CK_I2S_PCLK1 selected as audio clock - * @arg RCC_DFSDM2AUDIOCLKSOURCE_I2S2: CK_I2S_PCLK2 selected as audio clock - */ -#define __HAL_RCC_GET_DFSDM2AUDIO_SOURCE() (READ_BIT(RCC->DCKCFGR, RCC_DCKCFGR_CKDFSDM2ASEL)) - -/** @brief Macro to configure SAI1BlockA clock source selection. - * @note The SAI peripheral is only available with STM32F413xx/STM32F423xx Devices. - * @note This function must be called before enabling PLLSAI, PLLI2S and - * the SAI clock. - * @param __SOURCE__ specifies the SAI Block A clock source. - * This parameter can be one of the following values: - * @arg RCC_SAIACLKSOURCE_PLLI2SR: PLLI2S_R clock divided (R2) used as SAI1 Block A clock. - * @arg RCC_SAIACLKSOURCE_EXT: External clock mapped on the I2S_CKIN pinused as SAI1 Block A clock. - * @arg RCC_SAIACLKSOURCE_PLLR: PLL_R clock divided (R1) used as SAI1 Block A clock. - * @arg RCC_SAIACLKSOURCE_PLLSRC: HSI or HSE depending from PLL source Clock. - */ -#define __HAL_RCC_SAI_BLOCKACLKSOURCE_CONFIG(__SOURCE__) (MODIFY_REG(RCC->DCKCFGR, RCC_DCKCFGR_SAI1ASRC, (__SOURCE__))) - -/** @brief Macro to Get SAI1 BlockA clock source selection. - * @note This configuration is only available with STM32F413xx/STM32F423xx Devices. - * @retval The clock source can be one of the following values: - * @arg RCC_SAIACLKSOURCE_PLLI2SR: PLLI2S_R clock divided (R2) used as SAI1 Block A clock. - * @arg RCC_SAIACLKSOURCE_EXT: External clock mapped on the I2S_CKIN pinused as SAI1 Block A clock. - * @arg RCC_SAIACLKSOURCE_PLLR: PLL_R clock divided (R1) used as SAI1 Block A clock. - * @arg RCC_SAIACLKSOURCE_PLLSRC: HSI or HSE depending from PLL source Clock. - */ -#define __HAL_RCC_GET_SAI_BLOCKA_SOURCE() (READ_BIT(RCC->DCKCFGR, RCC_DCKCFGR_SAI1ASRC)) - -/** @brief Macro to configure SAI1 BlockB clock source selection. - * @note The SAI peripheral is only available with STM32F413xx/STM32F423xx Devices. - * @note This function must be called before enabling PLLSAI, PLLI2S and - * the SAI clock. - * @param __SOURCE__ specifies the SAI Block B clock source. - * This parameter can be one of the following values: - * @arg RCC_SAIBCLKSOURCE_PLLI2SR: PLLI2S_R clock divided (R2) used as SAI1 Block A clock. - * @arg RCC_SAIBCLKSOURCE_EXT: External clock mapped on the I2S_CKIN pin used as SAI1 Block A clock. - * @arg RCC_SAIBCLKSOURCE_PLLR: PLL_R clock divided (R1) used as SAI1 Block A clock. - * @arg RCC_SAIBCLKSOURCE_PLLSRC: HSI or HSE depending from PLL source Clock. - */ -#define __HAL_RCC_SAI_BLOCKBCLKSOURCE_CONFIG(__SOURCE__) (MODIFY_REG(RCC->DCKCFGR, RCC_DCKCFGR_SAI1BSRC, (__SOURCE__))) - -/** @brief Macro to Get SAI1 BlockB clock source selection. - * @note This configuration is only available with STM32F413xx/STM32F423xx Devices. - * @retval The clock source can be one of the following values: - * @arg RCC_SAIBCLKSOURCE_PLLI2SR: PLLI2S_R clock divided (R2) used as SAI1 Block A clock. - * @arg RCC_SAIBCLKSOURCE_EXT: External clock mapped on the I2S_CKIN pin used as SAI1 Block A clock. - * @arg RCC_SAIBCLKSOURCE_PLLR: PLL_R clock divided (R1) used as SAI1 Block A clock. - * @arg RCC_SAIBCLKSOURCE_PLLSRC: HSI or HSE depending from PLL source Clock. - */ -#define __HAL_RCC_GET_SAI_BLOCKB_SOURCE() (READ_BIT(RCC->DCKCFGR, RCC_DCKCFGR_SAI1BSRC)) - -/** @brief Macro to configure the LPTIM1 clock. - * @param __SOURCE__ specifies the LPTIM1 clock source. - * This parameter can be one of the following values: - * @arg RCC_LPTIM1CLKSOURCE_PCLK1: PCLK selected as LPTIM1 clock - * @arg RCC_LPTIM1CLKSOURCE_HSI: HSI clock selected as LPTIM1 clock - * @arg RCC_LPTIM1CLKSOURCE_LSI: LSI selected as LPTIM1 clock - * @arg RCC_LPTIM1CLKSOURCE_LSE: LSE selected as LPTIM1 clock - */ -#define __HAL_RCC_LPTIM1_CONFIG(__SOURCE__) (MODIFY_REG(RCC->DCKCFGR2, RCC_DCKCFGR2_LPTIM1SEL, (uint32_t)(__SOURCE__))) - -/** @brief Macro to Get the LPTIM1 clock. - * @retval The clock source can be one of the following values: - * @arg RCC_LPTIM1CLKSOURCE_PCLK1: PCLK selected as LPTIM1 clock - * @arg RCC_LPTIM1CLKSOURCE_HSI: HSI clock selected as LPTIM1 clock - * @arg RCC_LPTIM1CLKSOURCE_LSI: LSI selected as LPTIM1 clock - * @arg RCC_LPTIM1CLKSOURCE_LSE: LSE selected as LPTIM1 clock - */ -#define __HAL_RCC_GET_LPTIM1_SOURCE() (READ_BIT(RCC->DCKCFGR2, RCC_DCKCFGR2_LPTIM1SEL)) -#endif /* STM32F413xx || STM32F423xx */ - -/** @brief Macro to configure I2S APB1 clock source selection. - * @param __SOURCE__ specifies the I2S APB1 clock source. - * This parameter can be one of the following values: - * @arg RCC_I2SAPB1CLKSOURCE_PLLI2S: PLLI2S VCO output clock divided by PLLI2SR. - * @arg RCC_I2SAPB1CLKSOURCE_EXT: External clock mapped on the I2S_CKIN pin. - * @arg RCC_I2SAPB1CLKSOURCE_PLLR: PLL VCO Output divided by PLLR. - * @arg RCC_I2SAPB1CLKSOURCE_PLLSRC: HSI or HSE depending from PLL source Clock. - */ -#define __HAL_RCC_I2S_APB1_CONFIG(__SOURCE__) (MODIFY_REG(RCC->DCKCFGR, RCC_DCKCFGR_I2S1SRC, (__SOURCE__))) - -/** @brief Macro to Get I2S APB1 clock source selection. - * @retval The clock source can be one of the following values: - * @arg RCC_I2SAPB1CLKSOURCE_PLLI2S: PLLI2S VCO output clock divided by PLLI2SR. - * @arg RCC_I2SAPB1CLKSOURCE_EXT: External clock mapped on the I2S_CKIN pin. - * @arg RCC_I2SAPB1CLKSOURCE_PLLR: PLL VCO Output divided by PLLR. - * @arg RCC_I2SAPB1CLKSOURCE_PLLSRC: HSI or HSE depending from PLL source Clock. - */ -#define __HAL_RCC_GET_I2S_APB1_SOURCE() (READ_BIT(RCC->DCKCFGR, RCC_DCKCFGR_I2S1SRC)) - -/** @brief Macro to configure I2S APB2 clock source selection. - * @param __SOURCE__ specifies the I2S APB2 clock source. - * This parameter can be one of the following values: - * @arg RCC_I2SAPB2CLKSOURCE_PLLI2S: PLLI2S VCO output clock divided by PLLI2SR. - * @arg RCC_I2SAPB2CLKSOURCE_EXT: External clock mapped on the I2S_CKIN pin. - * @arg RCC_I2SAPB2CLKSOURCE_PLLR: PLL VCO Output divided by PLLR. - * @arg RCC_I2SAPB2CLKSOURCE_PLLSRC: HSI or HSE depending from PLL source Clock. - */ -#define __HAL_RCC_I2S_APB2_CONFIG(__SOURCE__) (MODIFY_REG(RCC->DCKCFGR, RCC_DCKCFGR_I2S2SRC, (__SOURCE__))) - -/** @brief Macro to Get I2S APB2 clock source selection. - * @retval The clock source can be one of the following values: - * @arg RCC_I2SAPB2CLKSOURCE_PLLI2S: PLLI2S VCO output clock divided by PLLI2SR. - * @arg RCC_I2SAPB2CLKSOURCE_EXT: External clock mapped on the I2S_CKIN pin. - * @arg RCC_I2SAPB2CLKSOURCE_PLLR: PLL VCO Output divided by PLLR. - * @arg RCC_I2SAPB2CLKSOURCE_PLLSRC: HSI or HSE depending from PLL source Clock. - */ -#define __HAL_RCC_GET_I2S_APB2_SOURCE() (READ_BIT(RCC->DCKCFGR, RCC_DCKCFGR_I2S2SRC)) - -/** @brief Macro to configure the PLL I2S clock source (PLLI2SCLK). - * @note This macro must be called before enabling the I2S APB clock. - * @param __SOURCE__ specifies the I2S clock source. - * This parameter can be one of the following values: - * @arg RCC_PLLI2SCLKSOURCE_PLLSRC: HSI or HSE depending from PLL source Clock. - * @arg RCC_PLLI2SCLKSOURCE_EXT: External clock mapped on the I2S_CKIN pin - * used as I2S clock source. - */ -#define __HAL_RCC_PLL_I2S_CONFIG(__SOURCE__) (*(__IO uint32_t *) RCC_PLLI2SCFGR_PLLI2SSRC_BB = (__SOURCE__)) - -/** @brief Macro to configure the FMPI2C1 clock. - * @param __SOURCE__ specifies the FMPI2C1 clock source. - * This parameter can be one of the following values: - * @arg RCC_FMPI2C1CLKSOURCE_PCLK1: PCLK1 selected as FMPI2C1 clock - * @arg RCC_FMPI2C1CLKSOURCE_SYSCLK: SYS clock selected as FMPI2C1 clock - * @arg RCC_FMPI2C1CLKSOURCE_HSI: HSI selected as FMPI2C1 clock - */ -#define __HAL_RCC_FMPI2C1_CONFIG(__SOURCE__) (MODIFY_REG(RCC->DCKCFGR2, RCC_DCKCFGR2_FMPI2C1SEL, (uint32_t)(__SOURCE__))) - -/** @brief Macro to Get the FMPI2C1 clock. - * @retval The clock source can be one of the following values: - * @arg RCC_FMPI2C1CLKSOURCE_PCLK1: PCLK1 selected as FMPI2C1 clock - * @arg RCC_FMPI2C1CLKSOURCE_SYSCLK: SYS clock selected as FMPI2C1 clock - * @arg RCC_FMPI2C1CLKSOURCE_HSI: HSI selected as FMPI2C1 clock - */ -#define __HAL_RCC_GET_FMPI2C1_SOURCE() (READ_BIT(RCC->DCKCFGR2, RCC_DCKCFGR2_FMPI2C1SEL)) - -/** @brief Macro to configure the CLK48 clock. - * @param __SOURCE__ specifies the CLK48 clock source. - * This parameter can be one of the following values: - * @arg RCC_CLK48CLKSOURCE_PLLQ: PLL VCO Output divided by PLLQ used as CLK48 clock. - * @arg RCC_CLK48CLKSOURCE_PLLI2SQ: PLLI2S VCO Output divided by PLLI2SQ used as CLK48 clock. - */ -#define __HAL_RCC_CLK48_CONFIG(__SOURCE__) (MODIFY_REG(RCC->DCKCFGR2, RCC_DCKCFGR2_CK48MSEL, (uint32_t)(__SOURCE__))) - -/** @brief Macro to Get the CLK48 clock. - * @retval The clock source can be one of the following values: - * @arg RCC_CLK48CLKSOURCE_PLLQ: PLL VCO Output divided by PLLQ used as CLK48 clock. - * @arg RCC_CLK48CLKSOURCE_PLLI2SQ: PLLI2S VCO Output divided by PLLI2SQ used as CLK48 clock - */ -#define __HAL_RCC_GET_CLK48_SOURCE() (READ_BIT(RCC->DCKCFGR2, RCC_DCKCFGR2_CK48MSEL)) - -/** @brief Macro to configure the SDIO clock. - * @param __SOURCE__ specifies the SDIO clock source. - * This parameter can be one of the following values: - * @arg RCC_SDIOCLKSOURCE_CLK48: CLK48 output used as SDIO clock. - * @arg RCC_SDIOCLKSOURCE_SYSCLK: System clock output used as SDIO clock. - */ -#define __HAL_RCC_SDIO_CONFIG(__SOURCE__) (MODIFY_REG(RCC->DCKCFGR2, RCC_DCKCFGR2_SDIOSEL, (uint32_t)(__SOURCE__))) - -/** @brief Macro to Get the SDIO clock. - * @retval The clock source can be one of the following values: - * @arg RCC_SDIOCLKSOURCE_CLK48: CLK48 output used as SDIO clock. - * @arg RCC_SDIOCLKSOURCE_SYSCLK: System clock output used as SDIO clock. - */ -#define __HAL_RCC_GET_SDIO_SOURCE() (READ_BIT(RCC->DCKCFGR2, RCC_DCKCFGR2_SDIOSEL)) - -#endif /* STM32F412Zx || STM32F412Vx || STM32F412Rx || STM32F412Cx */ - -#if defined(STM32F410Tx) || defined(STM32F410Cx) || defined(STM32F410Rx) -/** @brief Macro to configure I2S clock source selection. - * @param __SOURCE__ specifies the I2S clock source. - * This parameter can be one of the following values: - * @arg RCC_I2SAPBCLKSOURCE_PLLR: PLL VCO output clock divided by PLLR. - * @arg RCC_I2SAPBCLKSOURCE_EXT: External clock mapped on the I2S_CKIN pin. - * @arg RCC_I2SAPBCLKSOURCE_PLLSRC: HSI/HSE depends on PLLSRC. - */ -#define __HAL_RCC_I2S_CONFIG(__SOURCE__) (MODIFY_REG(RCC->DCKCFGR, RCC_DCKCFGR_I2SSRC, (__SOURCE__))) - -/** @brief Macro to Get I2S clock source selection. - * @retval The clock source can be one of the following values: - * @arg RCC_I2SAPBCLKSOURCE_PLLR: PLL VCO output clock divided by PLLR. - * @arg RCC_I2SAPBCLKSOURCE_EXT: External clock mapped on the I2S_CKIN pin. - * @arg RCC_I2SAPBCLKSOURCE_PLLSRC: HSI/HSE depends on PLLSRC. - */ -#define __HAL_RCC_GET_I2S_SOURCE() (READ_BIT(RCC->DCKCFGR, RCC_DCKCFGR_I2SSRC)) - -/** @brief Macro to configure the FMPI2C1 clock. - * @param __SOURCE__ specifies the FMPI2C1 clock source. - * This parameter can be one of the following values: - * @arg RCC_FMPI2C1CLKSOURCE_PCLK1: PCLK1 selected as FMPI2C1 clock - * @arg RCC_FMPI2C1CLKSOURCE_SYSCLK: SYS clock selected as FMPI2C1 clock - * @arg RCC_FMPI2C1CLKSOURCE_HSI: HSI selected as FMPI2C1 clock - */ -#define __HAL_RCC_FMPI2C1_CONFIG(__SOURCE__) (MODIFY_REG(RCC->DCKCFGR2, RCC_DCKCFGR2_FMPI2C1SEL, (uint32_t)(__SOURCE__))) - -/** @brief Macro to Get the FMPI2C1 clock. - * @retval The clock source can be one of the following values: - * @arg RCC_FMPI2C1CLKSOURCE_PCLK1: PCLK1 selected as FMPI2C1 clock - * @arg RCC_FMPI2C1CLKSOURCE_SYSCLK: SYS clock selected as FMPI2C1 clock - * @arg RCC_FMPI2C1CLKSOURCE_HSI: HSI selected as FMPI2C1 clock - */ -#define __HAL_RCC_GET_FMPI2C1_SOURCE() (READ_BIT(RCC->DCKCFGR2, RCC_DCKCFGR2_FMPI2C1SEL)) - -/** @brief Macro to configure the LPTIM1 clock. - * @param __SOURCE__ specifies the LPTIM1 clock source. - * This parameter can be one of the following values: - * @arg RCC_LPTIM1CLKSOURCE_PCLK1: PCLK1 selected as LPTIM1 clock - * @arg RCC_LPTIM1CLKSOURCE_HSI: HSI clock selected as LPTIM1 clock - * @arg RCC_LPTIM1CLKSOURCE_LSI: LSI selected as LPTIM1 clock - * @arg RCC_LPTIM1CLKSOURCE_LSE: LSE selected as LPTIM1 clock - */ -#define __HAL_RCC_LPTIM1_CONFIG(__SOURCE__) (MODIFY_REG(RCC->DCKCFGR2, RCC_DCKCFGR2_LPTIM1SEL, (uint32_t)(__SOURCE__))) - -/** @brief Macro to Get the LPTIM1 clock. - * @retval The clock source can be one of the following values: - * @arg RCC_LPTIM1CLKSOURCE_PCLK1: PCLK1 selected as LPTIM1 clock - * @arg RCC_LPTIM1CLKSOURCE_HSI: HSI clock selected as LPTIM1 clock - * @arg RCC_LPTIM1CLKSOURCE_LSI: LSI selected as LPTIM1 clock - * @arg RCC_LPTIM1CLKSOURCE_LSE: LSE selected as LPTIM1 clock - */ -#define __HAL_RCC_GET_LPTIM1_SOURCE() (READ_BIT(RCC->DCKCFGR2, RCC_DCKCFGR2_LPTIM1SEL)) -#endif /* STM32F410Tx || STM32F410Cx || STM32F410Rx */ - -#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) ||\ - defined(STM32F401xC) || defined(STM32F401xE) || defined(STM32F410Tx) || defined(STM32F410Cx) ||\ - defined(STM32F410Rx) || defined(STM32F411xE) || defined(STM32F446xx) || defined(STM32F469xx) ||\ - defined(STM32F479xx) || defined(STM32F412Zx) || defined(STM32F412Vx) || defined(STM32F412Rx) ||\ - defined(STM32F412Cx) || defined(STM32F413xx) || defined(STM32F423xx) -/** @brief Macro to configure the Timers clocks prescalers - * @note This feature is only available with STM32F429x/439x Devices. - * @param __PRESC__ specifies the Timers clocks prescalers selection - * This parameter can be one of the following values: - * @arg RCC_TIMPRES_DESACTIVATED: The Timers kernels clocks prescaler is - * equal to HPRE if PPREx is corresponding to division by 1 or 2, - * else it is equal to [(HPRE * PPREx) / 2] if PPREx is corresponding to - * division by 4 or more. - * @arg RCC_TIMPRES_ACTIVATED: The Timers kernels clocks prescaler is - * equal to HPRE if PPREx is corresponding to division by 1, 2 or 4, - * else it is equal to [(HPRE * PPREx) / 4] if PPREx is corresponding - * to division by 8 or more. - */ -#define __HAL_RCC_TIMCLKPRESCALER(__PRESC__) (*(__IO uint32_t *) RCC_DCKCFGR_TIMPRE_BB = (__PRESC__)) - -#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx) || STM32F401xC || STM32F401xE || STM32F410xx || STM32F411xE ||\ - STM32F446xx || STM32F469xx || STM32F479xx || STM32F412Zx || STM32F412Vx || STM32F412Rx || STM32F412Cx || STM32F413xx ||\ - STM32F423xx */ - -/*----------------------------------------------------------------------------*/ - -#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) || defined(STM32F446xx) || defined(STM32F469xx) || defined(STM32F479xx) -/** @brief Enable PLLSAI_RDY interrupt. - */ -#define __HAL_RCC_PLLSAI_ENABLE_IT() (RCC->CIR |= (RCC_CIR_PLLSAIRDYIE)) - -/** @brief Disable PLLSAI_RDY interrupt. - */ -#define __HAL_RCC_PLLSAI_DISABLE_IT() (RCC->CIR &= ~(RCC_CIR_PLLSAIRDYIE)) - -/** @brief Clear the PLLSAI RDY interrupt pending bits. - */ -#define __HAL_RCC_PLLSAI_CLEAR_IT() (RCC->CIR |= (RCC_CIR_PLLSAIRDYF)) - -/** @brief Check the PLLSAI RDY interrupt has occurred or not. - * @retval The new state (TRUE or FALSE). - */ -#define __HAL_RCC_PLLSAI_GET_IT() ((RCC->CIR & (RCC_CIR_PLLSAIRDYIE)) == (RCC_CIR_PLLSAIRDYIE)) - -/** @brief Check PLLSAI RDY flag is set or not. - * @retval The new state (TRUE or FALSE). - */ -#define __HAL_RCC_PLLSAI_GET_FLAG() ((RCC->CR & (RCC_CR_PLLSAIRDY)) == (RCC_CR_PLLSAIRDY)) - -#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || STM32F446xx || STM32F469xx || STM32F479xx */ - -#if defined(STM32F410Tx) || defined(STM32F410Cx) || defined(STM32F410Rx) -/** @brief Macros to enable or disable the RCC MCO1 feature. - */ -#define __HAL_RCC_MCO1_ENABLE() (*(__IO uint32_t *) RCC_CFGR_MCO1EN_BB = ENABLE) -#define __HAL_RCC_MCO1_DISABLE() (*(__IO uint32_t *) RCC_CFGR_MCO1EN_BB = DISABLE) - -/** @brief Macros to enable or disable the RCC MCO2 feature. - */ -#define __HAL_RCC_MCO2_ENABLE() (*(__IO uint32_t *) RCC_CFGR_MCO2EN_BB = ENABLE) -#define __HAL_RCC_MCO2_DISABLE() (*(__IO uint32_t *) RCC_CFGR_MCO2EN_BB = DISABLE) - -#endif /* STM32F410Tx || STM32F410Cx || STM32F410Rx */ - -/** - * @} - */ - -/* Exported functions --------------------------------------------------------*/ -/** @addtogroup RCCEx_Exported_Functions - * @{ - */ - -/** @addtogroup RCCEx_Exported_Functions_Group1 - * @{ - */ -HAL_StatusTypeDef HAL_RCCEx_PeriphCLKConfig(RCC_PeriphCLKInitTypeDef *PeriphClkInit); -void HAL_RCCEx_GetPeriphCLKConfig(RCC_PeriphCLKInitTypeDef *PeriphClkInit); - -uint32_t HAL_RCCEx_GetPeriphCLKFreq(uint32_t PeriphClk); - -#if defined(STM32F410Tx) || defined(STM32F410Cx) || defined(STM32F410Rx) || defined(STM32F411xE) ||\ - defined(STM32F446xx) || defined(STM32F469xx) || defined(STM32F479xx) || defined(STM32F412Zx) ||\ - defined(STM32F412Vx) || defined(STM32F412Rx) || defined(STM32F412Cx) || defined(STM32F413xx) ||\ - defined(STM32F423xx) -void HAL_RCCEx_SelectLSEMode(uint8_t Mode); -#endif /* STM32F410xx || STM32F411xE || STM32F446xx || STM32F469xx || STM32F479xx || STM32F412Zx || STM32F412Vx || STM32F412Rx || STM32F412Cx || STM32F413xx || STM32F423xx */ -#if defined(RCC_PLLI2S_SUPPORT) -HAL_StatusTypeDef HAL_RCCEx_EnablePLLI2S(RCC_PLLI2SInitTypeDef *PLLI2SInit); -HAL_StatusTypeDef HAL_RCCEx_DisablePLLI2S(void); -#endif /* RCC_PLLI2S_SUPPORT */ -#if defined(RCC_PLLSAI_SUPPORT) -HAL_StatusTypeDef HAL_RCCEx_EnablePLLSAI(RCC_PLLSAIInitTypeDef *PLLSAIInit); -HAL_StatusTypeDef HAL_RCCEx_DisablePLLSAI(void); -#endif /* RCC_PLLSAI_SUPPORT */ -/** - * @} - */ - -/** - * @} - */ -/* Private types -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private constants ---------------------------------------------------------*/ -/** @defgroup RCCEx_Private_Constants RCCEx Private Constants - * @{ - */ - -/** @defgroup RCCEx_BitAddress_AliasRegion RCC BitAddress AliasRegion - * @brief RCC registers bit address in the alias region - * @{ - */ -/* --- CR Register ---*/ -#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) ||\ - defined(STM32F446xx) || defined(STM32F469xx) || defined(STM32F479xx) -/* Alias word address of PLLSAION bit */ -#define RCC_PLLSAION_BIT_NUMBER 0x1CU -#define RCC_CR_PLLSAION_BB (PERIPH_BB_BASE + (RCC_CR_OFFSET * 32U) + (RCC_PLLSAION_BIT_NUMBER * 4U)) - -#define PLLSAI_TIMEOUT_VALUE 2U /* Timeout value fixed to 2 ms */ -#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || STM32F446xx || STM32F469xx || STM32F479xx */ - -#if defined(STM32F405xx) || defined(STM32F415xx) || defined(STM32F407xx) || defined(STM32F417xx) || \ - defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) || \ - defined(STM32F401xC) || defined(STM32F401xE) || defined(STM32F411xE) || defined(STM32F446xx) || \ - defined(STM32F469xx) || defined(STM32F479xx) || defined(STM32F412Zx) || defined(STM32F412Vx) || \ - defined(STM32F412Rx) || defined(STM32F412Cx) || defined(STM32F413xx) || defined(STM32F423xx) -/* Alias word address of PLLI2SON bit */ -#define RCC_PLLI2SON_BIT_NUMBER 0x1AU -#define RCC_CR_PLLI2SON_BB (PERIPH_BB_BASE + (RCC_CR_OFFSET * 32U) + (RCC_PLLI2SON_BIT_NUMBER * 4U)) -#endif /* STM32F405xx || STM32F415xx || STM32F407xx || STM32F417xx || STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || - STM32F401xC || STM32F401xE || STM32F411xE || STM32F446xx || STM32F469xx || STM32F479xx || STM32F412Zx || STM32F412Vx || - STM32F412Rx || STM32F412Cx || STM32F413xx || STM32F423xx */ - -/* --- DCKCFGR Register ---*/ -#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) ||\ - defined(STM32F410Tx) || defined(STM32F410Cx) || defined(STM32F410Rx) || defined(STM32F401xC) ||\ - defined(STM32F401xE) || defined(STM32F411xE) || defined(STM32F446xx) || defined(STM32F469xx) ||\ - defined(STM32F479xx) || defined(STM32F412Zx) || defined(STM32F412Vx) || defined(STM32F412Rx) ||\ - defined(STM32F412Cx) || defined(STM32F413xx) || defined(STM32F423xx) -/* Alias word address of TIMPRE bit */ -#define RCC_DCKCFGR_OFFSET (RCC_OFFSET + 0x8CU) -#define RCC_TIMPRE_BIT_NUMBER 0x18U -#define RCC_DCKCFGR_TIMPRE_BB (PERIPH_BB_BASE + (RCC_DCKCFGR_OFFSET * 32U) + (RCC_TIMPRE_BIT_NUMBER * 4U)) -#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || STM32F410xx || STM32F401xC ||\ - STM32F401xE || STM32F411xE || STM32F446xx || STM32F469xx || STM32F479xx || STM32F412Zx ||\ - STM32F412Vx || STM32F412Rx || STM32F412Cx || STM32F413xx || STM32F423xx */ - -/* --- CFGR Register ---*/ -#define RCC_CFGR_OFFSET (RCC_OFFSET + 0x08U) -#if defined(STM32F405xx) || defined(STM32F415xx) || defined(STM32F407xx) || defined(STM32F417xx) || \ - defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) || \ - defined(STM32F401xC) || defined(STM32F401xE) || defined(STM32F411xE) || defined(STM32F446xx) || \ - defined(STM32F469xx) || defined(STM32F479xx) -/* Alias word address of I2SSRC bit */ -#define RCC_I2SSRC_BIT_NUMBER 0x17U -#define RCC_CFGR_I2SSRC_BB (PERIPH_BB_BASE + (RCC_CFGR_OFFSET * 32U) + (RCC_I2SSRC_BIT_NUMBER * 4U)) - -#define PLLI2S_TIMEOUT_VALUE 2U /* Timeout value fixed to 2 ms */ -#endif /* STM32F405xx || STM32F415xx || STM32F407xx || STM32F417xx || STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || - STM32F401xC || STM32F401xE || STM32F411xE || STM32F446xx || STM32F469xx || STM32F479xx */ - -#if defined(STM32F412Zx) || defined(STM32F412Vx) || defined(STM32F412Rx) || defined(STM32F412Cx) ||\ - defined(STM32F413xx) || defined(STM32F423xx) -/* --- PLLI2SCFGR Register ---*/ -#define RCC_PLLI2SCFGR_OFFSET (RCC_OFFSET + 0x84U) -/* Alias word address of PLLI2SSRC bit */ -#define RCC_PLLI2SSRC_BIT_NUMBER 0x16U -#define RCC_PLLI2SCFGR_PLLI2SSRC_BB (PERIPH_BB_BASE + (RCC_PLLI2SCFGR_OFFSET * 32U) + (RCC_PLLI2SSRC_BIT_NUMBER * 4U)) - -#define PLLI2S_TIMEOUT_VALUE 2U /* Timeout value fixed to 2 ms */ -#endif /* STM32F412Zx || STM32F412Vx || STM32F412Rx || STM32F412Cx || STM32F413xx | STM32F423xx */ - -#if defined(STM32F410Tx) || defined(STM32F410Cx) || defined(STM32F410Rx) -/* Alias word address of MCO1EN bit */ -#define RCC_MCO1EN_BIT_NUMBER 0x8U -#define RCC_CFGR_MCO1EN_BB (PERIPH_BB_BASE + (RCC_CFGR_OFFSET * 32U) + (RCC_MCO1EN_BIT_NUMBER * 4U)) - -/* Alias word address of MCO2EN bit */ -#define RCC_MCO2EN_BIT_NUMBER 0x9U -#define RCC_CFGR_MCO2EN_BB (PERIPH_BB_BASE + (RCC_CFGR_OFFSET * 32U) + (RCC_MCO2EN_BIT_NUMBER * 4U)) -#endif /* STM32F410Tx || STM32F410Cx || STM32F410Rx */ - -#define PLL_TIMEOUT_VALUE 2U /* 2 ms */ -/** - * @} - */ - -/** - * @} - */ - -/* Private macros ------------------------------------------------------------*/ -/** @defgroup RCCEx_Private_Macros RCCEx Private Macros - * @{ - */ -/** @defgroup RCCEx_IS_RCC_Definitions RCC Private macros to check input parameters - * @{ - */ -#define IS_RCC_PLLN_VALUE(VALUE) ((50U <= (VALUE)) && ((VALUE) <= 432U)) -#define IS_RCC_PLLI2SN_VALUE(VALUE) ((50U <= (VALUE)) && ((VALUE) <= 432U)) - -#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx)|| defined(STM32F439xx) -#define IS_RCC_PERIPHCLOCK(SELECTION) ((1U <= (SELECTION)) && ((SELECTION) <= 0x0000007FU)) -#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx */ - -#if defined(STM32F405xx) || defined(STM32F415xx) || defined(STM32F407xx)|| defined(STM32F417xx) -#define IS_RCC_PERIPHCLOCK(SELECTION) ((1U <= (SELECTION)) && ((SELECTION) <= 0x00000007U)) -#endif /* STM32F405xx || STM32F415xx || STM32F407xx || STM32F417xx */ - -#if defined(STM32F401xC) || defined(STM32F401xE) || defined(STM32F411xE) -#define IS_RCC_PERIPHCLOCK(SELECTION) ((1U <= (SELECTION)) && ((SELECTION) <= 0x0000000FU)) -#endif /* STM32F401xC || STM32F401xE || STM32F411xE */ - -#if defined(STM32F410Tx) || defined(STM32F410Cx) || defined(STM32F410Rx) -#define IS_RCC_PERIPHCLOCK(SELECTION) ((1U <= (SELECTION)) && ((SELECTION) <= 0x0000001FU)) -#endif /* STM32F410Tx || STM32F410Cx || STM32F410Rx */ - -#if defined(STM32F446xx) -#define IS_RCC_PERIPHCLOCK(SELECTION) ((1U <= (SELECTION)) && ((SELECTION) <= 0x00000FFFU)) -#endif /* STM32F446xx */ - -#if defined(STM32F469xx) || defined(STM32F479xx) -#define IS_RCC_PERIPHCLOCK(SELECTION) ((1U <= (SELECTION)) && ((SELECTION) <= 0x000001FFU)) -#endif /* STM32F469xx || STM32F479xx */ - -#if defined(STM32F412Zx) || defined(STM32F412Vx) || defined(STM32F412Rx) || defined(STM32F412Cx) -#define IS_RCC_PERIPHCLOCK(SELECTION) ((1U <= (SELECTION)) && ((SELECTION) <= 0x000003FFU)) -#endif /* STM32F412Zx || STM32F412Vx || STM32F412Rx || STM32F412Cx */ - -#if defined(STM32F413xx) || defined(STM32F423xx) -#define IS_RCC_PERIPHCLOCK(SELECTION) ((1U <= (SELECTION)) && ((SELECTION) <= 0x00007FFFU)) -#endif /* STM32F413xx || STM32F423xx */ - -#define IS_RCC_PLLI2SR_VALUE(VALUE) ((2U <= (VALUE)) && ((VALUE) <= 7U)) - -#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx)|| defined(STM32F439xx) ||\ - defined(STM32F446xx) || defined(STM32F469xx) || defined(STM32F479xx) -#define IS_RCC_PLLI2SQ_VALUE(VALUE) ((2U <= (VALUE)) && ((VALUE) <= 15U)) - -#define IS_RCC_PLLSAIN_VALUE(VALUE) ((50U <= (VALUE)) && ((VALUE) <= 432U)) - -#define IS_RCC_PLLSAIQ_VALUE(VALUE) ((2U <= (VALUE)) && ((VALUE) <= 15U)) - -#define IS_RCC_PLLSAIR_VALUE(VALUE) ((2U <= (VALUE)) && ((VALUE) <= 7U)) - -#define IS_RCC_PLLSAI_DIVQ_VALUE(VALUE) ((1U <= (VALUE)) && ((VALUE) <= 32U)) - -#define IS_RCC_PLLI2S_DIVQ_VALUE(VALUE) ((1U <= (VALUE)) && ((VALUE) <= 32U)) - -#define IS_RCC_PLLSAI_DIVR_VALUE(VALUE) (((VALUE) == RCC_PLLSAIDIVR_2) ||\ - ((VALUE) == RCC_PLLSAIDIVR_4) ||\ - ((VALUE) == RCC_PLLSAIDIVR_8) ||\ - ((VALUE) == RCC_PLLSAIDIVR_16)) -#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || STM32F446xx || STM32F469xx || STM32F479xx */ - -#if defined(STM32F411xE) || defined(STM32F446xx) || defined(STM32F412Zx) || defined(STM32F412Vx) || \ - defined(STM32F412Rx) || defined(STM32F412Cx) || defined(STM32F413xx) || defined(STM32F423xx) -#define IS_RCC_PLLI2SM_VALUE(VALUE) ((2U <= (VALUE)) && ((VALUE) <= 63U)) - -#define IS_RCC_LSE_MODE(MODE) (((MODE) == RCC_LSE_LOWPOWER_MODE) ||\ - ((MODE) == RCC_LSE_HIGHDRIVE_MODE)) -#endif /* STM32F411xE || STM32F446xx || STM32F412Zx || STM32F412Vx || STM32F412Rx || STM32F412Cx || STM32F413xx || STM32F423xx */ - -#if defined(STM32F410Tx) || defined(STM32F410Cx) || defined(STM32F410Rx) -#define IS_RCC_PLLR_VALUE(VALUE) ((2U <= (VALUE)) && ((VALUE) <= 7U)) - -#define IS_RCC_LSE_MODE(MODE) (((MODE) == RCC_LSE_LOWPOWER_MODE) ||\ - ((MODE) == RCC_LSE_HIGHDRIVE_MODE)) - -#define IS_RCC_FMPI2C1CLKSOURCE(SOURCE) (((SOURCE) == RCC_FMPI2C1CLKSOURCE_PCLK1) ||\ - ((SOURCE) == RCC_FMPI2C1CLKSOURCE_SYSCLK) ||\ - ((SOURCE) == RCC_FMPI2C1CLKSOURCE_HSI)) - -#define IS_RCC_LPTIM1CLKSOURCE(SOURCE) (((SOURCE) == RCC_LPTIM1CLKSOURCE_PCLK1) ||\ - ((SOURCE) == RCC_LPTIM1CLKSOURCE_HSI) ||\ - ((SOURCE) == RCC_LPTIM1CLKSOURCE_LSI) ||\ - ((SOURCE) == RCC_LPTIM1CLKSOURCE_LSE)) - -#define IS_RCC_I2SAPBCLKSOURCE(SOURCE) (((SOURCE) == RCC_I2SAPBCLKSOURCE_PLLR) ||\ - ((SOURCE) == RCC_I2SAPBCLKSOURCE_EXT) ||\ - ((SOURCE) == RCC_I2SAPBCLKSOURCE_PLLSRC)) -#endif /* STM32F410Tx || STM32F410Cx || STM32F410Rx */ - -#if defined(STM32F446xx) -#define IS_RCC_PLLR_VALUE(VALUE) ((2U <= (VALUE)) && ((VALUE) <= 7U)) - -#define IS_RCC_PLLI2SP_VALUE(VALUE) (((VALUE) == RCC_PLLI2SP_DIV2) ||\ - ((VALUE) == RCC_PLLI2SP_DIV4) ||\ - ((VALUE) == RCC_PLLI2SP_DIV6) ||\ - ((VALUE) == RCC_PLLI2SP_DIV8)) - -#define IS_RCC_PLLSAIM_VALUE(VALUE) ((VALUE) <= 63U) - -#define IS_RCC_PLLSAIP_VALUE(VALUE) (((VALUE) == RCC_PLLSAIP_DIV2) ||\ - ((VALUE) == RCC_PLLSAIP_DIV4) ||\ - ((VALUE) == RCC_PLLSAIP_DIV6) ||\ - ((VALUE) == RCC_PLLSAIP_DIV8)) - -#define IS_RCC_SAI1CLKSOURCE(SOURCE) (((SOURCE) == RCC_SAI1CLKSOURCE_PLLSAI) ||\ - ((SOURCE) == RCC_SAI1CLKSOURCE_PLLI2S) ||\ - ((SOURCE) == RCC_SAI1CLKSOURCE_PLLR) ||\ - ((SOURCE) == RCC_SAI1CLKSOURCE_EXT)) - -#define IS_RCC_SAI2CLKSOURCE(SOURCE) (((SOURCE) == RCC_SAI2CLKSOURCE_PLLSAI) ||\ - ((SOURCE) == RCC_SAI2CLKSOURCE_PLLI2S) ||\ - ((SOURCE) == RCC_SAI2CLKSOURCE_PLLR) ||\ - ((SOURCE) == RCC_SAI2CLKSOURCE_PLLSRC)) - -#define IS_RCC_I2SAPB1CLKSOURCE(SOURCE) (((SOURCE) == RCC_I2SAPB1CLKSOURCE_PLLI2S) ||\ - ((SOURCE) == RCC_I2SAPB1CLKSOURCE_EXT) ||\ - ((SOURCE) == RCC_I2SAPB1CLKSOURCE_PLLR) ||\ - ((SOURCE) == RCC_I2SAPB1CLKSOURCE_PLLSRC)) - - #define IS_RCC_I2SAPB2CLKSOURCE(SOURCE) (((SOURCE) == RCC_I2SAPB2CLKSOURCE_PLLI2S) ||\ - ((SOURCE) == RCC_I2SAPB2CLKSOURCE_EXT) ||\ - ((SOURCE) == RCC_I2SAPB2CLKSOURCE_PLLR) ||\ - ((SOURCE) == RCC_I2SAPB2CLKSOURCE_PLLSRC)) - -#define IS_RCC_FMPI2C1CLKSOURCE(SOURCE) (((SOURCE) == RCC_FMPI2C1CLKSOURCE_PCLK1) ||\ - ((SOURCE) == RCC_FMPI2C1CLKSOURCE_SYSCLK) ||\ - ((SOURCE) == RCC_FMPI2C1CLKSOURCE_HSI)) - -#define IS_RCC_CECCLKSOURCE(SOURCE) (((SOURCE) == RCC_CECCLKSOURCE_HSI) ||\ - ((SOURCE) == RCC_CECCLKSOURCE_LSE)) - -#define IS_RCC_CLK48CLKSOURCE(SOURCE) (((SOURCE) == RCC_CLK48CLKSOURCE_PLLQ) ||\ - ((SOURCE) == RCC_CLK48CLKSOURCE_PLLSAIP)) - -#define IS_RCC_SDIOCLKSOURCE(SOURCE) (((SOURCE) == RCC_SDIOCLKSOURCE_CLK48) ||\ - ((SOURCE) == RCC_SDIOCLKSOURCE_SYSCLK)) - -#define IS_RCC_SPDIFRXCLKSOURCE(SOURCE) (((SOURCE) == RCC_SPDIFRXCLKSOURCE_PLLR) ||\ - ((SOURCE) == RCC_SPDIFRXCLKSOURCE_PLLI2SP)) -#endif /* STM32F446xx */ - -#if defined(STM32F469xx) || defined(STM32F479xx) -#define IS_RCC_PLLR_VALUE(VALUE) ((2U <= (VALUE)) && ((VALUE) <= 7U)) - -#define IS_RCC_PLLSAIP_VALUE(VALUE) (((VALUE) == RCC_PLLSAIP_DIV2) ||\ - ((VALUE) == RCC_PLLSAIP_DIV4) ||\ - ((VALUE) == RCC_PLLSAIP_DIV6) ||\ - ((VALUE) == RCC_PLLSAIP_DIV8)) - -#define IS_RCC_CLK48CLKSOURCE(SOURCE) (((SOURCE) == RCC_CLK48CLKSOURCE_PLLQ) ||\ - ((SOURCE) == RCC_CLK48CLKSOURCE_PLLSAIP)) - -#define IS_RCC_SDIOCLKSOURCE(SOURCE) (((SOURCE) == RCC_SDIOCLKSOURCE_CLK48) ||\ - ((SOURCE) == RCC_SDIOCLKSOURCE_SYSCLK)) - -#define IS_RCC_DSIBYTELANECLKSOURCE(SOURCE) (((SOURCE) == RCC_DSICLKSOURCE_PLLR) ||\ - ((SOURCE) == RCC_DSICLKSOURCE_DSIPHY)) - -#define IS_RCC_LSE_MODE(MODE) (((MODE) == RCC_LSE_LOWPOWER_MODE) ||\ - ((MODE) == RCC_LSE_HIGHDRIVE_MODE)) -#endif /* STM32F469xx || STM32F479xx */ - -#if defined(STM32F412Zx) || defined(STM32F412Vx) || defined(STM32F412Rx) || defined(STM32F412Cx) ||\ - defined(STM32F413xx) || defined(STM32F423xx) -#define IS_RCC_PLLI2SQ_VALUE(VALUE) ((2U <= (VALUE)) && ((VALUE) <= 15U)) - -#define IS_RCC_PLLR_VALUE(VALUE) ((2U <= (VALUE)) && ((VALUE) <= 7U)) - -#define IS_RCC_PLLI2SCLKSOURCE(__SOURCE__) (((__SOURCE__) == RCC_PLLI2SCLKSOURCE_PLLSRC) || \ - ((__SOURCE__) == RCC_PLLI2SCLKSOURCE_EXT)) - -#define IS_RCC_I2SAPB1CLKSOURCE(SOURCE) (((SOURCE) == RCC_I2SAPB1CLKSOURCE_PLLI2S) ||\ - ((SOURCE) == RCC_I2SAPB1CLKSOURCE_EXT) ||\ - ((SOURCE) == RCC_I2SAPB1CLKSOURCE_PLLR) ||\ - ((SOURCE) == RCC_I2SAPB1CLKSOURCE_PLLSRC)) - - #define IS_RCC_I2SAPB2CLKSOURCE(SOURCE) (((SOURCE) == RCC_I2SAPB2CLKSOURCE_PLLI2S) ||\ - ((SOURCE) == RCC_I2SAPB2CLKSOURCE_EXT) ||\ - ((SOURCE) == RCC_I2SAPB2CLKSOURCE_PLLR) ||\ - ((SOURCE) == RCC_I2SAPB2CLKSOURCE_PLLSRC)) - -#define IS_RCC_FMPI2C1CLKSOURCE(SOURCE) (((SOURCE) == RCC_FMPI2C1CLKSOURCE_PCLK1) ||\ - ((SOURCE) == RCC_FMPI2C1CLKSOURCE_SYSCLK) ||\ - ((SOURCE) == RCC_FMPI2C1CLKSOURCE_HSI)) - -#define IS_RCC_CLK48CLKSOURCE(SOURCE) (((SOURCE) == RCC_CLK48CLKSOURCE_PLLQ) ||\ - ((SOURCE) == RCC_CLK48CLKSOURCE_PLLI2SQ)) - -#define IS_RCC_SDIOCLKSOURCE(SOURCE) (((SOURCE) == RCC_SDIOCLKSOURCE_CLK48) ||\ - ((SOURCE) == RCC_SDIOCLKSOURCE_SYSCLK)) - -#define IS_RCC_DFSDM1CLKSOURCE(__SOURCE__) (((__SOURCE__) == RCC_DFSDM1CLKSOURCE_PCLK2) || \ - ((__SOURCE__) == RCC_DFSDM1CLKSOURCE_SYSCLK)) - -#define IS_RCC_DFSDM1AUDIOCLKSOURCE(__SOURCE__) (((__SOURCE__) == RCC_DFSDM1AUDIOCLKSOURCE_I2S1) || \ - ((__SOURCE__) == RCC_DFSDM1AUDIOCLKSOURCE_I2S2)) - -#if defined(STM32F413xx) || defined(STM32F423xx) -#define IS_RCC_DFSDM2CLKSOURCE(__SOURCE__) (((__SOURCE__) == RCC_DFSDM2CLKSOURCE_PCLK2) || \ - ((__SOURCE__) == RCC_DFSDM2CLKSOURCE_SYSCLK)) - -#define IS_RCC_DFSDM2AUDIOCLKSOURCE(__SOURCE__) (((__SOURCE__) == RCC_DFSDM2AUDIOCLKSOURCE_I2S1) || \ - ((__SOURCE__) == RCC_DFSDM2AUDIOCLKSOURCE_I2S2)) - -#define IS_RCC_LPTIM1CLKSOURCE(SOURCE) (((SOURCE) == RCC_LPTIM1CLKSOURCE_PCLK1) ||\ - ((SOURCE) == RCC_LPTIM1CLKSOURCE_HSI) ||\ - ((SOURCE) == RCC_LPTIM1CLKSOURCE_LSI) ||\ - ((SOURCE) == RCC_LPTIM1CLKSOURCE_LSE)) - -#define IS_RCC_SAIACLKSOURCE(SOURCE) (((SOURCE) == RCC_SAIACLKSOURCE_PLLI2SR) ||\ - ((SOURCE) == RCC_SAIACLKSOURCE_EXT) ||\ - ((SOURCE) == RCC_SAIACLKSOURCE_PLLR) ||\ - ((SOURCE) == RCC_SAIACLKSOURCE_PLLSRC)) - -#define IS_RCC_SAIBCLKSOURCE(SOURCE) (((SOURCE) == RCC_SAIBCLKSOURCE_PLLI2SR) ||\ - ((SOURCE) == RCC_SAIBCLKSOURCE_EXT) ||\ - ((SOURCE) == RCC_SAIBCLKSOURCE_PLLR) ||\ - ((SOURCE) == RCC_SAIBCLKSOURCE_PLLSRC)) - -#define IS_RCC_PLL_DIVR_VALUE(VALUE) ((1U <= (VALUE)) && ((VALUE) <= 32U)) - -#define IS_RCC_PLLI2S_DIVR_VALUE(VALUE) ((1U <= (VALUE)) && ((VALUE) <= 32U)) - -#endif /* STM32F413xx || STM32F423xx */ -#endif /* STM32F412Zx || STM32F412Vx || STM32F412Rx || STM32F412Cx || STM32F413xx || STM32F423xx */ - -#if defined(STM32F405xx) || defined(STM32F415xx) || defined(STM32F407xx) || defined(STM32F417xx) || \ - defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) || \ - defined(STM32F401xC) || defined(STM32F401xE) || defined(STM32F411xE) || defined(STM32F446xx) || \ - defined(STM32F469xx) || defined(STM32F479xx) || defined(STM32F412Zx) || defined(STM32F412Vx) || \ - defined(STM32F412Rx) || defined(STM32F413xx) || defined(STM32F423xx) - -#define IS_RCC_MCO2SOURCE(SOURCE) (((SOURCE) == RCC_MCO2SOURCE_SYSCLK) || ((SOURCE) == RCC_MCO2SOURCE_PLLI2SCLK)|| \ - ((SOURCE) == RCC_MCO2SOURCE_HSE) || ((SOURCE) == RCC_MCO2SOURCE_PLLCLK)) - -#endif /* STM32F405xx || STM32F415xx || STM32F407xx || STM32F417xx || STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || - STM32F401xC || STM32F401xE || STM32F411xE || STM32F446xx || STM32F469xx || STM32F479xx || STM32F412Zx || STM32F412Vx || \ - STM32F412Rx */ - -#if defined(STM32F410Tx) || defined(STM32F410Cx) || defined(STM32F410Rx) -#define IS_RCC_MCO2SOURCE(SOURCE) (((SOURCE) == RCC_MCO2SOURCE_SYSCLK) || ((SOURCE) == RCC_MCO2SOURCE_I2SCLK)|| \ - ((SOURCE) == RCC_MCO2SOURCE_HSE) || ((SOURCE) == RCC_MCO2SOURCE_PLLCLK)) -#endif /* STM32F410Tx || STM32F410Cx || STM32F410Rx */ -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ -#ifdef __cplusplus -} -#endif - -#endif /* __STM32F4xx_HAL_RCC_EX_H */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rng.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rng.h deleted file mode 100644 index cde48592e35e87..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rng.h +++ /dev/null @@ -1,363 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_rng.h - * @author MCD Application Team - * @brief Header file of RNG HAL module. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef STM32F4xx_HAL_RNG_H -#define STM32F4xx_HAL_RNG_H - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal_def.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -#if defined (RNG) - -/** @defgroup RNG RNG - * @brief RNG HAL module driver - * @{ - */ - -/* Exported types ------------------------------------------------------------*/ - -/** @defgroup RNG_Exported_Types RNG Exported Types - * @{ - */ - -/** @defgroup RNG_Exported_Types_Group1 RNG Init Structure definition - * @{ - */ - -/** - * @} - */ - -/** @defgroup RNG_Exported_Types_Group2 RNG State Structure definition - * @{ - */ -typedef enum -{ - HAL_RNG_STATE_RESET = 0x00U, /*!< RNG not yet initialized or disabled */ - HAL_RNG_STATE_READY = 0x01U, /*!< RNG initialized and ready for use */ - HAL_RNG_STATE_BUSY = 0x02U, /*!< RNG internal process is ongoing */ - HAL_RNG_STATE_TIMEOUT = 0x03U, /*!< RNG timeout state */ - HAL_RNG_STATE_ERROR = 0x04U /*!< RNG error state */ - -} HAL_RNG_StateTypeDef; - -/** - * @} - */ - -/** @defgroup RNG_Exported_Types_Group3 RNG Handle Structure definition - * @{ - */ -#if (USE_HAL_RNG_REGISTER_CALLBACKS == 1) -typedef struct __RNG_HandleTypeDef -#else -typedef struct -#endif /* USE_HAL_RNG_REGISTER_CALLBACKS */ -{ - RNG_TypeDef *Instance; /*!< Register base address */ - - HAL_LockTypeDef Lock; /*!< RNG locking object */ - - __IO HAL_RNG_StateTypeDef State; /*!< RNG communication state */ - - __IO uint32_t ErrorCode; /*!< RNG Error code */ - - uint32_t RandomNumber; /*!< Last Generated RNG Data */ - -#if (USE_HAL_RNG_REGISTER_CALLBACKS == 1) - void (* ReadyDataCallback)(struct __RNG_HandleTypeDef *hrng, uint32_t random32bit); /*!< RNG Data Ready Callback */ - void (* ErrorCallback)(struct __RNG_HandleTypeDef *hrng); /*!< RNG Error Callback */ - - void (* MspInitCallback)(struct __RNG_HandleTypeDef *hrng); /*!< RNG Msp Init callback */ - void (* MspDeInitCallback)(struct __RNG_HandleTypeDef *hrng); /*!< RNG Msp DeInit callback */ -#endif /* USE_HAL_RNG_REGISTER_CALLBACKS */ - -} RNG_HandleTypeDef; - -#if (USE_HAL_RNG_REGISTER_CALLBACKS == 1) -/** - * @brief HAL RNG Callback ID enumeration definition - */ -typedef enum -{ - HAL_RNG_ERROR_CB_ID = 0x00U, /*!< RNG Error Callback ID */ - - HAL_RNG_MSPINIT_CB_ID = 0x01U, /*!< RNG MspInit callback ID */ - HAL_RNG_MSPDEINIT_CB_ID = 0x02U /*!< RNG MspDeInit callback ID */ - -} HAL_RNG_CallbackIDTypeDef; - -/** - * @brief HAL RNG Callback pointer definition - */ -typedef void (*pRNG_CallbackTypeDef)(RNG_HandleTypeDef *hrng); /*!< pointer to a common RNG callback function */ -typedef void (*pRNG_ReadyDataCallbackTypeDef)(RNG_HandleTypeDef *hrng, uint32_t random32bit); /*!< pointer to an RNG Data Ready specific callback function */ - -#endif /* USE_HAL_RNG_REGISTER_CALLBACKS */ - -/** - * @} - */ - -/** - * @} - */ - -/* Exported constants --------------------------------------------------------*/ -/** @defgroup RNG_Exported_Constants RNG Exported Constants - * @{ - */ - -/** @defgroup RNG_Exported_Constants_Group1 RNG Interrupt definition - * @{ - */ -#define RNG_IT_DRDY RNG_SR_DRDY /*!< Data Ready interrupt */ -#define RNG_IT_CEI RNG_SR_CEIS /*!< Clock error interrupt */ -#define RNG_IT_SEI RNG_SR_SEIS /*!< Seed error interrupt */ -/** - * @} - */ - -/** @defgroup RNG_Exported_Constants_Group2 RNG Flag definition - * @{ - */ -#define RNG_FLAG_DRDY RNG_SR_DRDY /*!< Data ready */ -#define RNG_FLAG_CECS RNG_SR_CECS /*!< Clock error current status */ -#define RNG_FLAG_SECS RNG_SR_SECS /*!< Seed error current status */ -/** - * @} - */ - -/** @defgroup RNG_Error_Definition RNG Error Definition - * @{ - */ -#define HAL_RNG_ERROR_NONE 0x00000000U /*!< No error */ -#if (USE_HAL_RNG_REGISTER_CALLBACKS == 1) -#define HAL_RNG_ERROR_INVALID_CALLBACK 0x00000001U /*!< Invalid Callback error */ -#endif /* USE_HAL_RNG_REGISTER_CALLBACKS */ -#define HAL_RNG_ERROR_TIMEOUT 0x00000002U /*!< Timeout error */ -#define HAL_RNG_ERROR_BUSY 0x00000004U /*!< Busy error */ -#define HAL_RNG_ERROR_SEED 0x00000008U /*!< Seed error */ -#define HAL_RNG_ERROR_CLOCK 0x00000010U /*!< Clock error */ -/** - * @} - */ - -/** - * @} - */ - -/* Exported macros -----------------------------------------------------------*/ -/** @defgroup RNG_Exported_Macros RNG Exported Macros - * @{ - */ - -/** @brief Reset RNG handle state - * @param __HANDLE__ RNG Handle - * @retval None - */ -#if (USE_HAL_RNG_REGISTER_CALLBACKS == 1) -#define __HAL_RNG_RESET_HANDLE_STATE(__HANDLE__) do{ \ - (__HANDLE__)->State = HAL_RNG_STATE_RESET; \ - (__HANDLE__)->MspInitCallback = NULL; \ - (__HANDLE__)->MspDeInitCallback = NULL; \ - } while(0U) -#else -#define __HAL_RNG_RESET_HANDLE_STATE(__HANDLE__) ((__HANDLE__)->State = HAL_RNG_STATE_RESET) -#endif /* USE_HAL_RNG_REGISTER_CALLBACKS */ - -/** - * @brief Enables the RNG peripheral. - * @param __HANDLE__ RNG Handle - * @retval None - */ -#define __HAL_RNG_ENABLE(__HANDLE__) ((__HANDLE__)->Instance->CR |= RNG_CR_RNGEN) - -/** - * @brief Disables the RNG peripheral. - * @param __HANDLE__ RNG Handle - * @retval None - */ -#define __HAL_RNG_DISABLE(__HANDLE__) ((__HANDLE__)->Instance->CR &= ~RNG_CR_RNGEN) - -/** - * @brief Check the selected RNG flag status. - * @param __HANDLE__ RNG Handle - * @param __FLAG__ RNG flag - * This parameter can be one of the following values: - * @arg RNG_FLAG_DRDY: Data ready - * @arg RNG_FLAG_CECS: Clock error current status - * @arg RNG_FLAG_SECS: Seed error current status - * @retval The new state of __FLAG__ (SET or RESET). - */ -#define __HAL_RNG_GET_FLAG(__HANDLE__, __FLAG__) (((__HANDLE__)->Instance->SR & (__FLAG__)) == (__FLAG__)) - -/** - * @brief Clears the selected RNG flag status. - * @param __HANDLE__ RNG handle - * @param __FLAG__ RNG flag to clear - * @note WARNING: This is a dummy macro for HAL code alignment, - * flags RNG_FLAG_DRDY, RNG_FLAG_CECS and RNG_FLAG_SECS are read-only. - * @retval None - */ -#define __HAL_RNG_CLEAR_FLAG(__HANDLE__, __FLAG__) /* dummy macro */ - -/** - * @brief Enables the RNG interrupts. - * @param __HANDLE__ RNG Handle - * @retval None - */ -#define __HAL_RNG_ENABLE_IT(__HANDLE__) ((__HANDLE__)->Instance->CR |= RNG_CR_IE) - -/** - * @brief Disables the RNG interrupts. - * @param __HANDLE__ RNG Handle - * @retval None - */ -#define __HAL_RNG_DISABLE_IT(__HANDLE__) ((__HANDLE__)->Instance->CR &= ~RNG_CR_IE) - -/** - * @brief Checks whether the specified RNG interrupt has occurred or not. - * @param __HANDLE__ RNG Handle - * @param __INTERRUPT__ specifies the RNG interrupt status flag to check. - * This parameter can be one of the following values: - * @arg RNG_IT_DRDY: Data ready interrupt - * @arg RNG_IT_CEI: Clock error interrupt - * @arg RNG_IT_SEI: Seed error interrupt - * @retval The new state of __INTERRUPT__ (SET or RESET). - */ -#define __HAL_RNG_GET_IT(__HANDLE__, __INTERRUPT__) (((__HANDLE__)->Instance->SR & (__INTERRUPT__)) == (__INTERRUPT__)) - -/** - * @brief Clear the RNG interrupt status flags. - * @param __HANDLE__ RNG Handle - * @param __INTERRUPT__ specifies the RNG interrupt status flag to clear. - * This parameter can be one of the following values: - * @arg RNG_IT_CEI: Clock error interrupt - * @arg RNG_IT_SEI: Seed error interrupt - * @note RNG_IT_DRDY flag is read-only, reading RNG_DR register automatically clears RNG_IT_DRDY. - * @retval None - */ -#define __HAL_RNG_CLEAR_IT(__HANDLE__, __INTERRUPT__) (((__HANDLE__)->Instance->SR) = ~(__INTERRUPT__)) - -/** - * @} - */ - -/* Exported functions --------------------------------------------------------*/ -/** @defgroup RNG_Exported_Functions RNG Exported Functions - * @{ - */ - -/** @defgroup RNG_Exported_Functions_Group1 Initialization and configuration functions - * @{ - */ -HAL_StatusTypeDef HAL_RNG_Init(RNG_HandleTypeDef *hrng); -HAL_StatusTypeDef HAL_RNG_DeInit(RNG_HandleTypeDef *hrng); -void HAL_RNG_MspInit(RNG_HandleTypeDef *hrng); -void HAL_RNG_MspDeInit(RNG_HandleTypeDef *hrng); - -/* Callbacks Register/UnRegister functions ***********************************/ -#if (USE_HAL_RNG_REGISTER_CALLBACKS == 1) -HAL_StatusTypeDef HAL_RNG_RegisterCallback(RNG_HandleTypeDef *hrng, HAL_RNG_CallbackIDTypeDef CallbackID, - pRNG_CallbackTypeDef pCallback); -HAL_StatusTypeDef HAL_RNG_UnRegisterCallback(RNG_HandleTypeDef *hrng, HAL_RNG_CallbackIDTypeDef CallbackID); - -HAL_StatusTypeDef HAL_RNG_RegisterReadyDataCallback(RNG_HandleTypeDef *hrng, pRNG_ReadyDataCallbackTypeDef pCallback); -HAL_StatusTypeDef HAL_RNG_UnRegisterReadyDataCallback(RNG_HandleTypeDef *hrng); -#endif /* USE_HAL_RNG_REGISTER_CALLBACKS */ - -/** - * @} - */ - -/** @defgroup RNG_Exported_Functions_Group2 Peripheral Control functions - * @{ - */ -uint32_t HAL_RNG_GetRandomNumber(RNG_HandleTypeDef - *hrng); /* Obsolete, use HAL_RNG_GenerateRandomNumber() instead */ -uint32_t HAL_RNG_GetRandomNumber_IT(RNG_HandleTypeDef - *hrng); /* Obsolete, use HAL_RNG_GenerateRandomNumber_IT() instead */ -HAL_StatusTypeDef HAL_RNG_GenerateRandomNumber(RNG_HandleTypeDef *hrng, uint32_t *random32bit); -HAL_StatusTypeDef HAL_RNG_GenerateRandomNumber_IT(RNG_HandleTypeDef *hrng); -uint32_t HAL_RNG_ReadLastRandomNumber(RNG_HandleTypeDef *hrng); - -void HAL_RNG_IRQHandler(RNG_HandleTypeDef *hrng); -void HAL_RNG_ErrorCallback(RNG_HandleTypeDef *hrng); -void HAL_RNG_ReadyDataCallback(RNG_HandleTypeDef *hrng, uint32_t random32bit); - -/** - * @} - */ - -/** @defgroup RNG_Exported_Functions_Group3 Peripheral State functions - * @{ - */ -HAL_RNG_StateTypeDef HAL_RNG_GetState(RNG_HandleTypeDef *hrng); -uint32_t HAL_RNG_GetError(RNG_HandleTypeDef *hrng); -/** - * @} - */ - -/** - * @} - */ - -/* Private macros ------------------------------------------------------------*/ -/** @defgroup RNG_Private_Macros RNG Private Macros - * @{ - */ -#define IS_RNG_IT(IT) (((IT) == RNG_IT_CEI) || \ - ((IT) == RNG_IT_SEI)) - -#define IS_RNG_FLAG(FLAG) (((FLAG) == RNG_FLAG_DRDY) || \ - ((FLAG) == RNG_FLAG_CECS) || \ - ((FLAG) == RNG_FLAG_SECS)) - -/** - * @} - */ - -/** - * @} - */ - -#endif /* RNG */ - -/** - * @} - */ - -#ifdef __cplusplus -} -#endif - - -#endif /* STM32F4xx_HAL_RNG_H */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rtc.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rtc.h deleted file mode 100644 index 9afa8a14073a3e..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rtc.h +++ /dev/null @@ -1,878 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_rtc.h - * @author MCD Application Team - * @brief Header file of RTC HAL module. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef __STM32F4xx_HAL_RTC_H -#define __STM32F4xx_HAL_RTC_H - -#ifdef __cplusplus - extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal_def.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @addtogroup RTC - * @{ - */ - -/* Exported types ------------------------------------------------------------*/ -/** @defgroup RTC_Exported_Types RTC Exported Types - * @{ - */ - -/** - * @brief HAL State structures definition - */ -typedef enum -{ - HAL_RTC_STATE_RESET = 0x00U, /*!< RTC not yet initialized or disabled */ - HAL_RTC_STATE_READY = 0x01U, /*!< RTC initialized and ready for use */ - HAL_RTC_STATE_BUSY = 0x02U, /*!< RTC process is ongoing */ - HAL_RTC_STATE_TIMEOUT = 0x03U, /*!< RTC timeout state */ - HAL_RTC_STATE_ERROR = 0x04U /*!< RTC error state */ -}HAL_RTCStateTypeDef; - -/** - * @brief RTC Configuration Structure definition - */ -typedef struct -{ - uint32_t HourFormat; /*!< Specifies the RTC Hour Format. - This parameter can be a value of @ref RTC_Hour_Formats */ - - uint32_t AsynchPrediv; /*!< Specifies the RTC Asynchronous Predivider value. - This parameter must be a number between Min_Data = 0x00 and Max_Data = 0x7F */ - - uint32_t SynchPrediv; /*!< Specifies the RTC Synchronous Predivider value. - This parameter must be a number between Min_Data = 0x00 and Max_Data = 0x7FFFU */ - - uint32_t OutPut; /*!< Specifies which signal will be routed to the RTC output. - This parameter can be a value of @ref RTC_Output_selection_Definitions */ - - uint32_t OutPutPolarity; /*!< Specifies the polarity of the output signal. - This parameter can be a value of @ref RTC_Output_Polarity_Definitions */ - - uint32_t OutPutType; /*!< Specifies the RTC Output Pin mode. - This parameter can be a value of @ref RTC_Output_Type_ALARM_OUT */ -}RTC_InitTypeDef; - -/** - * @brief RTC Time structure definition - */ -typedef struct -{ - uint8_t Hours; /*!< Specifies the RTC Time Hour. - This parameter must be a number between Min_Data = 0 and Max_Data = 12 if the RTC_HourFormat_12 is selected. - This parameter must be a number between Min_Data = 0 and Max_Data = 23 if the RTC_HourFormat_24 is selected */ - - uint8_t Minutes; /*!< Specifies the RTC Time Minutes. - This parameter must be a number between Min_Data = 0 and Max_Data = 59 */ - - uint8_t Seconds; /*!< Specifies the RTC Time Seconds. - This parameter must be a number between Min_Data = 0 and Max_Data = 59 */ - - uint8_t TimeFormat; /*!< Specifies the RTC AM/PM Time. - This parameter can be a value of @ref RTC_AM_PM_Definitions */ - - uint32_t SubSeconds; /*!< Specifies the RTC_SSR RTC Sub Second register content. - This parameter corresponds to a time unit range between [0-1] Second - with [1 Sec / SecondFraction +1] granularity */ - - uint32_t SecondFraction; /*!< Specifies the range or granularity of Sub Second register content - corresponding to Synchronous pre-scaler factor value (PREDIV_S) - This parameter corresponds to a time unit range between [0-1] Second - with [1 Sec / SecondFraction +1] granularity. - This field will be used only by HAL_RTC_GetTime function */ - - uint32_t DayLightSaving; /*!< This interface is deprecated. To manage Daylight Saving Time, - please use HAL_RTC_DST_xxx functions */ - - uint32_t StoreOperation; /*!< This interface is deprecated. To manage Daylight Saving Time, - please use HAL_RTC_DST_xxx functions */ -}RTC_TimeTypeDef; - -/** - * @brief RTC Date structure definition - */ -typedef struct -{ - uint8_t WeekDay; /*!< Specifies the RTC Date WeekDay. - This parameter can be a value of @ref RTC_WeekDay_Definitions */ - - uint8_t Month; /*!< Specifies the RTC Date Month (in BCD format). - This parameter can be a value of @ref RTC_Month_Date_Definitions */ - - uint8_t Date; /*!< Specifies the RTC Date. - This parameter must be a number between Min_Data = 1 and Max_Data = 31 */ - - uint8_t Year; /*!< Specifies the RTC Date Year. - This parameter must be a number between Min_Data = 0 and Max_Data = 99 */ - -}RTC_DateTypeDef; - -/** - * @brief RTC Alarm structure definition - */ -typedef struct -{ - RTC_TimeTypeDef AlarmTime; /*!< Specifies the RTC Alarm Time members */ - - uint32_t AlarmMask; /*!< Specifies the RTC Alarm Masks. - This parameter can be a value of @ref RTC_AlarmMask_Definitions */ - - uint32_t AlarmSubSecondMask; /*!< Specifies the RTC Alarm SubSeconds Masks. - This parameter can be a value of @ref RTC_Alarm_Sub_Seconds_Masks_Definitions */ - - uint32_t AlarmDateWeekDaySel; /*!< Specifies the RTC Alarm is on Date or WeekDay. - This parameter can be a value of @ref RTC_AlarmDateWeekDay_Definitions */ - - uint8_t AlarmDateWeekDay; /*!< Specifies the RTC Alarm Date/WeekDay. - If the Alarm Date is selected, this parameter must be set to a value in the 1-31 range. - If the Alarm WeekDay is selected, this parameter can be a value of @ref RTC_WeekDay_Definitions */ - - uint32_t Alarm; /*!< Specifies the alarm . - This parameter can be a value of @ref RTC_Alarms_Definitions */ -}RTC_AlarmTypeDef; - -/** - * @brief RTC Handle Structure definition - */ -#if (USE_HAL_RTC_REGISTER_CALLBACKS == 1) -typedef struct __RTC_HandleTypeDef -#else -typedef struct -#endif /* (USE_HAL_RTC_REGISTER_CALLBACKS) */ -{ - RTC_TypeDef *Instance; /*!< Register base address */ - - RTC_InitTypeDef Init; /*!< RTC required parameters */ - - HAL_LockTypeDef Lock; /*!< RTC locking object */ - - __IO HAL_RTCStateTypeDef State; /*!< Time communication state */ - -#if (USE_HAL_RTC_REGISTER_CALLBACKS == 1) - void (* AlarmAEventCallback) ( struct __RTC_HandleTypeDef * hrtc); /*!< RTC Alarm A Event callback */ - - void (* AlarmBEventCallback) ( struct __RTC_HandleTypeDef * hrtc); /*!< RTC Alarm B Event callback */ - - void (* TimeStampEventCallback) ( struct __RTC_HandleTypeDef * hrtc); /*!< RTC TimeStamp Event callback */ - - void (* WakeUpTimerEventCallback) ( struct __RTC_HandleTypeDef * hrtc); /*!< RTC WakeUpTimer Event callback */ - - void (* Tamper1EventCallback) ( struct __RTC_HandleTypeDef * hrtc); /*!< RTC Tamper 1 Event callback */ - - void (* Tamper2EventCallback) ( struct __RTC_HandleTypeDef * hrtc); /*!< RTC Tamper 2 Event callback */ - - void (* MspInitCallback) ( struct __RTC_HandleTypeDef * hrtc); /*!< RTC Msp Init callback */ - - void (* MspDeInitCallback) ( struct __RTC_HandleTypeDef * hrtc); /*!< RTC Msp DeInit callback */ - -#endif /* (USE_HAL_RTC_REGISTER_CALLBACKS) */ - -}RTC_HandleTypeDef; - -#if (USE_HAL_RTC_REGISTER_CALLBACKS == 1) -/** - * @brief HAL RTC Callback ID enumeration definition - */ -typedef enum -{ - HAL_RTC_ALARM_A_EVENT_CB_ID = 0x00u, /*!< RTC Alarm A Event Callback ID */ - HAL_RTC_ALARM_B_EVENT_CB_ID = 0x01u, /*!< RTC Alarm B Event Callback ID */ - HAL_RTC_TIMESTAMP_EVENT_CB_ID = 0x02u, /*!< RTC TimeStamp Event Callback ID */ - HAL_RTC_WAKEUPTIMER_EVENT_CB_ID = 0x03u, /*!< RTC Wake-Up Timer Event Callback ID */ - HAL_RTC_TAMPER1_EVENT_CB_ID = 0x04u, /*!< RTC Tamper 1 Callback ID */ - HAL_RTC_TAMPER2_EVENT_CB_ID = 0x05u, /*!< RTC Tamper 2 Callback ID */ - HAL_RTC_MSPINIT_CB_ID = 0x0Eu, /*!< RTC Msp Init callback ID */ - HAL_RTC_MSPDEINIT_CB_ID = 0x0Fu /*!< RTC Msp DeInit callback ID */ -}HAL_RTC_CallbackIDTypeDef; - -/** - * @brief HAL RTC Callback pointer definition - */ -typedef void (*pRTC_CallbackTypeDef)(RTC_HandleTypeDef * hrtc); /*!< pointer to an RTC callback function */ -#endif /* USE_HAL_RTC_REGISTER_CALLBACKS */ - -/** - * @} - */ - -/* Exported constants --------------------------------------------------------*/ -/** @defgroup RTC_Exported_Constants RTC Exported Constants - * @{ - */ - -/** @defgroup RTC_Hour_Formats RTC Hour Formats - * @{ - */ -#define RTC_HOURFORMAT_24 0x00000000U -#define RTC_HOURFORMAT_12 0x00000040U -/** - * @} - */ - -/** @defgroup RTC_Output_selection_Definitions RTC Output Selection Definitions - * @{ - */ -#define RTC_OUTPUT_DISABLE 0x00000000U -#define RTC_OUTPUT_ALARMA 0x00200000U -#define RTC_OUTPUT_ALARMB 0x00400000U -#define RTC_OUTPUT_WAKEUP 0x00600000U -/** - * @} - */ - -/** @defgroup RTC_Output_Polarity_Definitions RTC Output Polarity Definitions - * @{ - */ -#define RTC_OUTPUT_POLARITY_HIGH 0x00000000U -#define RTC_OUTPUT_POLARITY_LOW 0x00100000U -/** - * @} - */ - -/** @defgroup RTC_Output_Type_ALARM_OUT RTC Output Type ALARM OUT - * @{ - */ -#define RTC_OUTPUT_TYPE_OPENDRAIN 0x00000000U -#define RTC_OUTPUT_TYPE_PUSHPULL 0x00040000U -/** - * @} - */ - -/** @defgroup RTC_AM_PM_Definitions RTC AM PM Definitions - * @{ - */ -#define RTC_HOURFORMAT12_AM ((uint8_t)0x00) -#define RTC_HOURFORMAT12_PM ((uint8_t)0x40) -/** - * @} - */ - -/** @defgroup RTC_DayLightSaving_Definitions RTC DayLight Saving Definitions - * @{ - */ -#define RTC_DAYLIGHTSAVING_SUB1H 0x00020000U -#define RTC_DAYLIGHTSAVING_ADD1H 0x00010000U -#define RTC_DAYLIGHTSAVING_NONE 0x00000000U -/** - * @} - */ - -/** @defgroup RTC_StoreOperation_Definitions RTC Store Operation Definitions - * @{ - */ -#define RTC_STOREOPERATION_RESET 0x00000000U -#define RTC_STOREOPERATION_SET 0x00040000U -/** - * @} - */ - -/** @defgroup RTC_Input_parameter_format_definitions RTC Input Parameter Format Definitions - * @{ - */ -#define RTC_FORMAT_BIN 0x00000000U -#define RTC_FORMAT_BCD 0x00000001U -/** - * @} - */ - -/** @defgroup RTC_Month_Date_Definitions RTC Month Date Definitions - * @{ - */ -/* Coded in BCD format */ -#define RTC_MONTH_JANUARY ((uint8_t)0x01) -#define RTC_MONTH_FEBRUARY ((uint8_t)0x02) -#define RTC_MONTH_MARCH ((uint8_t)0x03) -#define RTC_MONTH_APRIL ((uint8_t)0x04) -#define RTC_MONTH_MAY ((uint8_t)0x05) -#define RTC_MONTH_JUNE ((uint8_t)0x06) -#define RTC_MONTH_JULY ((uint8_t)0x07) -#define RTC_MONTH_AUGUST ((uint8_t)0x08) -#define RTC_MONTH_SEPTEMBER ((uint8_t)0x09) -#define RTC_MONTH_OCTOBER ((uint8_t)0x10) -#define RTC_MONTH_NOVEMBER ((uint8_t)0x11) -#define RTC_MONTH_DECEMBER ((uint8_t)0x12) -/** - * @} - */ - -/** @defgroup RTC_WeekDay_Definitions RTC WeekDay Definitions - * @{ - */ -#define RTC_WEEKDAY_MONDAY ((uint8_t)0x01) -#define RTC_WEEKDAY_TUESDAY ((uint8_t)0x02) -#define RTC_WEEKDAY_WEDNESDAY ((uint8_t)0x03) -#define RTC_WEEKDAY_THURSDAY ((uint8_t)0x04) -#define RTC_WEEKDAY_FRIDAY ((uint8_t)0x05) -#define RTC_WEEKDAY_SATURDAY ((uint8_t)0x06) -#define RTC_WEEKDAY_SUNDAY ((uint8_t)0x07) -/** - * @} - */ - -/** @defgroup RTC_AlarmDateWeekDay_Definitions RTC Alarm Date WeekDay Definitions - * @{ - */ -#define RTC_ALARMDATEWEEKDAYSEL_DATE 0x00000000U -#define RTC_ALARMDATEWEEKDAYSEL_WEEKDAY 0x40000000U -/** - * @} - */ - -/** @defgroup RTC_AlarmMask_Definitions RTC Alarm Mask Definitions - * @{ - */ -#define RTC_ALARMMASK_NONE 0x00000000U -#define RTC_ALARMMASK_DATEWEEKDAY RTC_ALRMAR_MSK4 -#define RTC_ALARMMASK_HOURS RTC_ALRMAR_MSK3 -#define RTC_ALARMMASK_MINUTES RTC_ALRMAR_MSK2 -#define RTC_ALARMMASK_SECONDS RTC_ALRMAR_MSK1 -#define RTC_ALARMMASK_ALL 0x80808080U -/** - * @} - */ - -/** @defgroup RTC_Alarms_Definitions RTC Alarms Definitions - * @{ - */ -#define RTC_ALARM_A RTC_CR_ALRAE -#define RTC_ALARM_B RTC_CR_ALRBE -/** - * @} - */ - -/** @defgroup RTC_Alarm_Sub_Seconds_Masks_Definitions RTC Alarm Sub Seconds Masks Definitions - * @{ - */ -#define RTC_ALARMSUBSECONDMASK_ALL 0x00000000U /*!< All Alarm SS fields are masked. - There is no comparison on sub seconds - for Alarm */ -#define RTC_ALARMSUBSECONDMASK_SS14_1 0x01000000U /*!< SS[14:1] are don't care in Alarm - comparison. Only SS[0] is compared. */ -#define RTC_ALARMSUBSECONDMASK_SS14_2 0x02000000U /*!< SS[14:2] are don't care in Alarm - comparison. Only SS[1:0] are compared */ -#define RTC_ALARMSUBSECONDMASK_SS14_3 0x03000000U /*!< SS[14:3] are don't care in Alarm - comparison. Only SS[2:0] are compared */ -#define RTC_ALARMSUBSECONDMASK_SS14_4 0x04000000U /*!< SS[14:4] are don't care in Alarm - comparison. Only SS[3:0] are compared */ -#define RTC_ALARMSUBSECONDMASK_SS14_5 0x05000000U /*!< SS[14:5] are don't care in Alarm - comparison. Only SS[4:0] are compared */ -#define RTC_ALARMSUBSECONDMASK_SS14_6 0x06000000U /*!< SS[14:6] are don't care in Alarm - comparison. Only SS[5:0] are compared */ -#define RTC_ALARMSUBSECONDMASK_SS14_7 0x07000000U /*!< SS[14:7] are don't care in Alarm - comparison. Only SS[6:0] are compared */ -#define RTC_ALARMSUBSECONDMASK_SS14_8 0x08000000U /*!< SS[14:8] are don't care in Alarm - comparison. Only SS[7:0] are compared */ -#define RTC_ALARMSUBSECONDMASK_SS14_9 0x09000000U /*!< SS[14:9] are don't care in Alarm - comparison. Only SS[8:0] are compared */ -#define RTC_ALARMSUBSECONDMASK_SS14_10 0x0A000000U /*!< SS[14:10] are don't care in Alarm - comparison. Only SS[9:0] are compared */ -#define RTC_ALARMSUBSECONDMASK_SS14_11 0x0B000000U /*!< SS[14:11] are don't care in Alarm - comparison. Only SS[10:0] are compared */ -#define RTC_ALARMSUBSECONDMASK_SS14_12 0x0C000000U /*!< SS[14:12] are don't care in Alarm - comparison.Only SS[11:0] are compared */ -#define RTC_ALARMSUBSECONDMASK_SS14_13 0x0D000000U /*!< SS[14:13] are don't care in Alarm - comparison. Only SS[12:0] are compared */ -#define RTC_ALARMSUBSECONDMASK_SS14 0x0E000000U /*!< SS[14] is don't care in Alarm - comparison.Only SS[13:0] are compared */ -#define RTC_ALARMSUBSECONDMASK_NONE 0x0F000000U /*!< SS[14:0] are compared and must match - to activate alarm. */ -/** - * @} - */ - -/** @defgroup RTC_Interrupts_Definitions RTC Interrupts Definitions - * @{ - */ -#define RTC_IT_TS 0x00008000U -#define RTC_IT_WUT 0x00004000U -#define RTC_IT_ALRB 0x00002000U -#define RTC_IT_ALRA 0x00001000U -#define RTC_IT_TAMP 0x00000004U /* Used only to Enable the Tamper Interrupt */ -#define RTC_IT_TAMP1 0x00020000U -#define RTC_IT_TAMP2 0x00040000U -/** - * @} - */ - -/** @defgroup RTC_Flags_Definitions RTC Flags Definitions - * @{ - */ -#define RTC_FLAG_RECALPF 0x00010000U -#define RTC_FLAG_TAMP2F 0x00004000U -#define RTC_FLAG_TAMP1F 0x00002000U -#define RTC_FLAG_TSOVF 0x00001000U -#define RTC_FLAG_TSF 0x00000800U -#define RTC_FLAG_WUTF 0x00000400U -#define RTC_FLAG_ALRBF 0x00000200U -#define RTC_FLAG_ALRAF 0x00000100U -#define RTC_FLAG_INITF 0x00000040U -#define RTC_FLAG_RSF 0x00000020U -#define RTC_FLAG_INITS 0x00000010U -#define RTC_FLAG_SHPF 0x00000008U -#define RTC_FLAG_WUTWF 0x00000004U -#define RTC_FLAG_ALRBWF 0x00000002U -#define RTC_FLAG_ALRAWF 0x00000001U -/** - * @} - */ - -/** - * @} - */ - -/* Exported macro ------------------------------------------------------------*/ -/** @defgroup RTC_Exported_Macros RTC Exported Macros - * @{ - */ - -/** @brief Reset RTC handle state - * @param __HANDLE__ specifies the RTC handle. - * @retval None - */ -#if (USE_HAL_RTC_REGISTER_CALLBACKS == 1) -#define __HAL_RTC_RESET_HANDLE_STATE(__HANDLE__) do{\ - (__HANDLE__)->State = HAL_RTC_STATE_RESET;\ - (__HANDLE__)->MspInitCallback = NULL;\ - (__HANDLE__)->MspDeInitCallback = NULL;\ - }while(0u) -#else -#define __HAL_RTC_RESET_HANDLE_STATE(__HANDLE__) ((__HANDLE__)->State = HAL_RTC_STATE_RESET) -#endif /* USE_HAL_RTC_REGISTER_CALLBACKS */ - -/** - * @brief Disable the write protection for RTC registers. - * @param __HANDLE__ specifies the RTC handle. - * @retval None - */ -#define __HAL_RTC_WRITEPROTECTION_DISABLE(__HANDLE__) \ - do{ \ - (__HANDLE__)->Instance->WPR = 0xCAU; \ - (__HANDLE__)->Instance->WPR = 0x53U; \ - } while(0U) - -/** - * @brief Enable the write protection for RTC registers. - * @param __HANDLE__ specifies the RTC handle. - * @retval None - */ -#define __HAL_RTC_WRITEPROTECTION_ENABLE(__HANDLE__) \ - do{ \ - (__HANDLE__)->Instance->WPR = 0xFFU; \ - } while(0U) - -/** - * @brief Enable the RTC ALARMA peripheral. - * @param __HANDLE__ specifies the RTC handle. - * @retval None - */ -#define __HAL_RTC_ALARMA_ENABLE(__HANDLE__) ((__HANDLE__)->Instance->CR |= (RTC_CR_ALRAE)) - -/** - * @brief Disable the RTC ALARMA peripheral. - * @param __HANDLE__ specifies the RTC handle. - * @retval None - */ -#define __HAL_RTC_ALARMA_DISABLE(__HANDLE__) ((__HANDLE__)->Instance->CR &= ~(RTC_CR_ALRAE)) - -/** - * @brief Enable the RTC ALARMB peripheral. - * @param __HANDLE__ specifies the RTC handle. - * @retval None - */ -#define __HAL_RTC_ALARMB_ENABLE(__HANDLE__) ((__HANDLE__)->Instance->CR |= (RTC_CR_ALRBE)) - -/** - * @brief Disable the RTC ALARMB peripheral. - * @param __HANDLE__ specifies the RTC handle. - * @retval None - */ -#define __HAL_RTC_ALARMB_DISABLE(__HANDLE__) ((__HANDLE__)->Instance->CR &= ~(RTC_CR_ALRBE)) - -/** - * @brief Enable the RTC Alarm interrupt. - * @param __HANDLE__ specifies the RTC handle. - * @param __INTERRUPT__ specifies the RTC Alarm interrupt sources to be enabled or disabled. - * This parameter can be any combination of the following values: - * @arg RTC_IT_ALRA: Alarm A interrupt - * @arg RTC_IT_ALRB: Alarm B interrupt - * @retval None - */ -#define __HAL_RTC_ALARM_ENABLE_IT(__HANDLE__, __INTERRUPT__) ((__HANDLE__)->Instance->CR |= (__INTERRUPT__)) - -/** - * @brief Disable the RTC Alarm interrupt. - * @param __HANDLE__ specifies the RTC handle. - * @param __INTERRUPT__ specifies the RTC Alarm interrupt sources to be enabled or disabled. - * This parameter can be any combination of the following values: - * @arg RTC_IT_ALRA: Alarm A interrupt - * @arg RTC_IT_ALRB: Alarm B interrupt - * @retval None - */ -#define __HAL_RTC_ALARM_DISABLE_IT(__HANDLE__, __INTERRUPT__) ((__HANDLE__)->Instance->CR &= ~(__INTERRUPT__)) - -/** - * @brief Check whether the specified RTC Alarm interrupt has occurred or not. - * @param __HANDLE__ specifies the RTC handle. - * @param __INTERRUPT__ specifies the RTC Alarm interrupt to check. - * This parameter can be: - * @arg RTC_IT_ALRA: Alarm A interrupt - * @arg RTC_IT_ALRB: Alarm B interrupt - * @retval None - */ -#define __HAL_RTC_ALARM_GET_IT(__HANDLE__, __INTERRUPT__) (((((__HANDLE__)->Instance->ISR)& ((__INTERRUPT__)>> 4U)) != RESET)? SET : RESET) - -/** - * @brief Get the selected RTC Alarm's flag status. - * @param __HANDLE__ specifies the RTC handle. - * @param __FLAG__ specifies the RTC Alarm Flag to check. - * This parameter can be: - * @arg RTC_FLAG_ALRAF - * @arg RTC_FLAG_ALRBF - * @arg RTC_FLAG_ALRAWF - * @arg RTC_FLAG_ALRBWF - * @retval None - */ -#define __HAL_RTC_ALARM_GET_FLAG(__HANDLE__, __FLAG__) (((((__HANDLE__)->Instance->ISR) & (__FLAG__)) != RESET)? SET : RESET) - -/** - * @brief Clear the RTC Alarm's pending flags. - * @param __HANDLE__ specifies the RTC handle. - * @param __FLAG__ specifies the RTC Alarm Flag sources to be enabled or disabled. - * This parameter can be: - * @arg RTC_FLAG_ALRAF - * @arg RTC_FLAG_ALRBF - * @retval None - */ -#define __HAL_RTC_ALARM_CLEAR_FLAG(__HANDLE__, __FLAG__) ((__HANDLE__)->Instance->ISR) = (~((__FLAG__) | RTC_ISR_INIT)|((__HANDLE__)->Instance->ISR & RTC_ISR_INIT)) - - -/** - * @brief Check whether the specified RTC Alarm interrupt has been enabled or not. - * @param __HANDLE__ specifies the RTC handle. - * @param __INTERRUPT__ specifies the RTC Alarm interrupt sources to check. - * This parameter can be: - * @arg RTC_IT_ALRA: Alarm A interrupt - * @arg RTC_IT_ALRB: Alarm B interrupt - * @retval None - */ -#define __HAL_RTC_ALARM_GET_IT_SOURCE(__HANDLE__, __INTERRUPT__) (((((__HANDLE__)->Instance->CR) & (__INTERRUPT__)) != RESET) ? SET : RESET) - -/** - * @brief Enable interrupt on the RTC Alarm associated Exti line. - * @retval None - */ -#define __HAL_RTC_ALARM_EXTI_ENABLE_IT() (EXTI->IMR |= RTC_EXTI_LINE_ALARM_EVENT) - -/** - * @brief Disable interrupt on the RTC Alarm associated Exti line. - * @retval None - */ -#define __HAL_RTC_ALARM_EXTI_DISABLE_IT() (EXTI->IMR &= ~(RTC_EXTI_LINE_ALARM_EVENT)) - -/** - * @brief Enable event on the RTC Alarm associated Exti line. - * @retval None. - */ -#define __HAL_RTC_ALARM_EXTI_ENABLE_EVENT() (EXTI->EMR |= RTC_EXTI_LINE_ALARM_EVENT) - -/** - * @brief Disable event on the RTC Alarm associated Exti line. - * @retval None. - */ -#define __HAL_RTC_ALARM_EXTI_DISABLE_EVENT() (EXTI->EMR &= ~(RTC_EXTI_LINE_ALARM_EVENT)) - -/** - * @brief Enable falling edge trigger on the RTC Alarm associated Exti line. - * @retval None. - */ -#define __HAL_RTC_ALARM_EXTI_ENABLE_FALLING_EDGE() (EXTI->FTSR |= RTC_EXTI_LINE_ALARM_EVENT) - -/** - * @brief Disable falling edge trigger on the RTC Alarm associated Exti line. - * @retval None. - */ -#define __HAL_RTC_ALARM_EXTI_DISABLE_FALLING_EDGE() (EXTI->FTSR &= ~(RTC_EXTI_LINE_ALARM_EVENT)) - -/** - * @brief Enable rising edge trigger on the RTC Alarm associated Exti line. - * @retval None. - */ -#define __HAL_RTC_ALARM_EXTI_ENABLE_RISING_EDGE() (EXTI->RTSR |= RTC_EXTI_LINE_ALARM_EVENT) - -/** - * @brief Disable rising edge trigger on the RTC Alarm associated Exti line. - * @retval None. - */ -#define __HAL_RTC_ALARM_EXTI_DISABLE_RISING_EDGE() (EXTI->RTSR &= ~(RTC_EXTI_LINE_ALARM_EVENT)) - -/** - * @brief Enable rising & falling edge trigger on the RTC Alarm associated Exti line. - * @retval None. - */ -#define __HAL_RTC_ALARM_EXTI_ENABLE_RISING_FALLING_EDGE() do { __HAL_RTC_ALARM_EXTI_ENABLE_RISING_EDGE(); \ - __HAL_RTC_ALARM_EXTI_ENABLE_FALLING_EDGE();\ - } while(0U) - -/** - * @brief Disable rising & falling edge trigger on the RTC Alarm associated Exti line. - * @retval None. - */ -#define __HAL_RTC_ALARM_EXTI_DISABLE_RISING_FALLING_EDGE() do { __HAL_RTC_ALARM_EXTI_DISABLE_RISING_EDGE();\ - __HAL_RTC_ALARM_EXTI_DISABLE_FALLING_EDGE();\ - } while(0U) - -/** - * @brief Check whether the RTC Alarm associated Exti line interrupt flag is set or not. - * @retval Line Status. - */ -#define __HAL_RTC_ALARM_EXTI_GET_FLAG() (EXTI->PR & RTC_EXTI_LINE_ALARM_EVENT) - -/** - * @brief Clear the RTC Alarm associated Exti line flag. - * @retval None. - */ -#define __HAL_RTC_ALARM_EXTI_CLEAR_FLAG() (EXTI->PR = RTC_EXTI_LINE_ALARM_EVENT) - -/** - * @brief Generate a Software interrupt on RTC Alarm associated Exti line. - * @retval None. - */ -#define __HAL_RTC_ALARM_EXTI_GENERATE_SWIT() (EXTI->SWIER |= RTC_EXTI_LINE_ALARM_EVENT) -/** - * @} - */ - -/* Include RTC HAL Extension module */ -#include "stm32f4xx_hal_rtc_ex.h" - -/* Exported functions --------------------------------------------------------*/ -/** @addtogroup RTC_Exported_Functions - * @{ - */ - -/** @addtogroup RTC_Exported_Functions_Group1 - * @{ - */ -/* Initialization and de-initialization functions ****************************/ -HAL_StatusTypeDef HAL_RTC_Init(RTC_HandleTypeDef *hrtc); -HAL_StatusTypeDef HAL_RTC_DeInit(RTC_HandleTypeDef *hrtc); -void HAL_RTC_MspInit(RTC_HandleTypeDef *hrtc); -void HAL_RTC_MspDeInit(RTC_HandleTypeDef *hrtc); - -/* Callbacks Register/UnRegister functions ***********************************/ -#if (USE_HAL_RTC_REGISTER_CALLBACKS == 1) -HAL_StatusTypeDef HAL_RTC_RegisterCallback(RTC_HandleTypeDef *hrtc, HAL_RTC_CallbackIDTypeDef CallbackID, pRTC_CallbackTypeDef pCallback); -HAL_StatusTypeDef HAL_RTC_UnRegisterCallback(RTC_HandleTypeDef *hrtc, HAL_RTC_CallbackIDTypeDef CallbackID); -#endif /* USE_HAL_RTC_REGISTER_CALLBACKS */ -/** - * @} - */ - -/** @addtogroup RTC_Exported_Functions_Group2 - * @{ - */ -/* RTC Time and Date functions ************************************************/ -HAL_StatusTypeDef HAL_RTC_SetTime(RTC_HandleTypeDef *hrtc, RTC_TimeTypeDef *sTime, uint32_t Format); -HAL_StatusTypeDef HAL_RTC_GetTime(RTC_HandleTypeDef *hrtc, RTC_TimeTypeDef *sTime, uint32_t Format); -HAL_StatusTypeDef HAL_RTC_SetDate(RTC_HandleTypeDef *hrtc, RTC_DateTypeDef *sDate, uint32_t Format); -HAL_StatusTypeDef HAL_RTC_GetDate(RTC_HandleTypeDef *hrtc, RTC_DateTypeDef *sDate, uint32_t Format); -void HAL_RTC_DST_Add1Hour(RTC_HandleTypeDef *hrtc); -void HAL_RTC_DST_Sub1Hour(RTC_HandleTypeDef *hrtc); -void HAL_RTC_DST_SetStoreOperation(RTC_HandleTypeDef *hrtc); -void HAL_RTC_DST_ClearStoreOperation(RTC_HandleTypeDef *hrtc); -uint32_t HAL_RTC_DST_ReadStoreOperation(RTC_HandleTypeDef *hrtc); -/** - * @} - */ - -/** @addtogroup RTC_Exported_Functions_Group3 - * @{ - */ -/* RTC Alarm functions ********************************************************/ -HAL_StatusTypeDef HAL_RTC_SetAlarm(RTC_HandleTypeDef *hrtc, RTC_AlarmTypeDef *sAlarm, uint32_t Format); -HAL_StatusTypeDef HAL_RTC_SetAlarm_IT(RTC_HandleTypeDef *hrtc, RTC_AlarmTypeDef *sAlarm, uint32_t Format); -HAL_StatusTypeDef HAL_RTC_DeactivateAlarm(RTC_HandleTypeDef *hrtc, uint32_t Alarm); -HAL_StatusTypeDef HAL_RTC_GetAlarm(RTC_HandleTypeDef *hrtc, RTC_AlarmTypeDef *sAlarm, uint32_t Alarm, uint32_t Format); -void HAL_RTC_AlarmIRQHandler(RTC_HandleTypeDef *hrtc); -HAL_StatusTypeDef HAL_RTC_PollForAlarmAEvent(RTC_HandleTypeDef *hrtc, uint32_t Timeout); -void HAL_RTC_AlarmAEventCallback(RTC_HandleTypeDef *hrtc); -/** - * @} - */ - -/** @addtogroup RTC_Exported_Functions_Group4 - * @{ - */ -/* Peripheral Control functions ***********************************************/ -HAL_StatusTypeDef HAL_RTC_WaitForSynchro(RTC_HandleTypeDef* hrtc); -/** - * @} - */ - -/** @addtogroup RTC_Exported_Functions_Group5 - * @{ - */ -/* Peripheral State functions *************************************************/ -HAL_RTCStateTypeDef HAL_RTC_GetState(RTC_HandleTypeDef *hrtc); -/** - * @} - */ - -/** - * @} - */ - -/* Private types -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private constants ---------------------------------------------------------*/ -/** @defgroup RTC_Private_Constants RTC Private Constants - * @{ - */ -/* Masks Definition */ -#define RTC_TR_RESERVED_MASK 0x007F7F7FU -#define RTC_DR_RESERVED_MASK 0x00FFFF3FU -#define RTC_INIT_MASK 0xFFFFFFFFU -#define RTC_RSF_MASK 0xFFFFFF5FU -#define RTC_FLAGS_MASK ((uint32_t)(RTC_FLAG_TSOVF | RTC_FLAG_TSF | RTC_FLAG_WUTF | \ - RTC_FLAG_ALRBF | RTC_FLAG_ALRAF | RTC_FLAG_INITF | \ - RTC_FLAG_RSF | RTC_FLAG_INITS | RTC_FLAG_WUTWF | \ - RTC_FLAG_ALRBWF | RTC_FLAG_ALRAWF | RTC_FLAG_TAMP1F | \ - RTC_FLAG_RECALPF | RTC_FLAG_SHPF)) - -#define RTC_TIMEOUT_VALUE 1000 - -#define RTC_EXTI_LINE_ALARM_EVENT ((uint32_t)EXTI_IMR_MR17) /*!< External interrupt line 17 Connected to the RTC Alarm event */ -/** - * @} - */ - -/* Private macros ------------------------------------------------------------*/ -/** @defgroup RTC_Private_Macros RTC Private Macros - * @{ - */ - -/** @defgroup RTC_IS_RTC_Definitions RTC Private macros to check input parameters - * @{ - */ -#define IS_RTC_HOUR_FORMAT(FORMAT) (((FORMAT) == RTC_HOURFORMAT_12) || \ - ((FORMAT) == RTC_HOURFORMAT_24)) -#define IS_RTC_OUTPUT(OUTPUT) (((OUTPUT) == RTC_OUTPUT_DISABLE) || \ - ((OUTPUT) == RTC_OUTPUT_ALARMA) || \ - ((OUTPUT) == RTC_OUTPUT_ALARMB) || \ - ((OUTPUT) == RTC_OUTPUT_WAKEUP)) -#define IS_RTC_OUTPUT_POL(POL) (((POL) == RTC_OUTPUT_POLARITY_HIGH) || \ - ((POL) == RTC_OUTPUT_POLARITY_LOW)) -#define IS_RTC_OUTPUT_TYPE(TYPE) (((TYPE) == RTC_OUTPUT_TYPE_OPENDRAIN) || \ - ((TYPE) == RTC_OUTPUT_TYPE_PUSHPULL)) -#define IS_RTC_HOUR12(HOUR) (((HOUR) > 0U) && ((HOUR) <= 12U)) -#define IS_RTC_HOUR24(HOUR) ((HOUR) <= 23U) -#define IS_RTC_ASYNCH_PREDIV(PREDIV) ((PREDIV) <= 0x7FU) -#define IS_RTC_SYNCH_PREDIV(PREDIV) ((PREDIV) <= 0x7FFFU) -#define IS_RTC_MINUTES(MINUTES) ((MINUTES) <= 59U) -#define IS_RTC_SECONDS(SECONDS) ((SECONDS) <= 59U) - -#define IS_RTC_HOURFORMAT12(PM) (((PM) == RTC_HOURFORMAT12_AM) || ((PM) == RTC_HOURFORMAT12_PM)) -#define IS_RTC_DAYLIGHT_SAVING(SAVE) (((SAVE) == RTC_DAYLIGHTSAVING_SUB1H) || \ - ((SAVE) == RTC_DAYLIGHTSAVING_ADD1H) || \ - ((SAVE) == RTC_DAYLIGHTSAVING_NONE)) -#define IS_RTC_STORE_OPERATION(OPERATION) (((OPERATION) == RTC_STOREOPERATION_RESET) || \ - ((OPERATION) == RTC_STOREOPERATION_SET)) -#define IS_RTC_FORMAT(FORMAT) (((FORMAT) == RTC_FORMAT_BIN) || ((FORMAT) == RTC_FORMAT_BCD)) -#define IS_RTC_YEAR(YEAR) ((YEAR) <= 99U) -#define IS_RTC_MONTH(MONTH) (((MONTH) >= 1U) && ((MONTH) <= 12U)) -#define IS_RTC_DATE(DATE) (((DATE) >= 1U) && ((DATE) <= 31U)) -#define IS_RTC_WEEKDAY(WEEKDAY) (((WEEKDAY) == RTC_WEEKDAY_MONDAY) || \ - ((WEEKDAY) == RTC_WEEKDAY_TUESDAY) || \ - ((WEEKDAY) == RTC_WEEKDAY_WEDNESDAY) || \ - ((WEEKDAY) == RTC_WEEKDAY_THURSDAY) || \ - ((WEEKDAY) == RTC_WEEKDAY_FRIDAY) || \ - ((WEEKDAY) == RTC_WEEKDAY_SATURDAY) || \ - ((WEEKDAY) == RTC_WEEKDAY_SUNDAY)) -#define IS_RTC_ALARM_DATE_WEEKDAY_DATE(DATE) (((DATE) > 0U) && ((DATE) <= 31U)) -#define IS_RTC_ALARM_DATE_WEEKDAY_WEEKDAY(WEEKDAY) (((WEEKDAY) == RTC_WEEKDAY_MONDAY) || \ - ((WEEKDAY) == RTC_WEEKDAY_TUESDAY) || \ - ((WEEKDAY) == RTC_WEEKDAY_WEDNESDAY) || \ - ((WEEKDAY) == RTC_WEEKDAY_THURSDAY) || \ - ((WEEKDAY) == RTC_WEEKDAY_FRIDAY) || \ - ((WEEKDAY) == RTC_WEEKDAY_SATURDAY) || \ - ((WEEKDAY) == RTC_WEEKDAY_SUNDAY)) -#define IS_RTC_ALARM_DATE_WEEKDAY_SEL(SEL) (((SEL) == RTC_ALARMDATEWEEKDAYSEL_DATE) || \ - ((SEL) == RTC_ALARMDATEWEEKDAYSEL_WEEKDAY)) -#define IS_RTC_ALARM_MASK(MASK) (((MASK) & 0x7F7F7F7FU) == (uint32_t)RESET) -#define IS_RTC_ALARM(ALARM) (((ALARM) == RTC_ALARM_A) || ((ALARM) == RTC_ALARM_B)) -#define IS_RTC_ALARM_SUB_SECOND_VALUE(VALUE) ((VALUE) <= 0x00007FFFU) - -#define IS_RTC_ALARM_SUB_SECOND_MASK(MASK) (((MASK) == RTC_ALARMSUBSECONDMASK_ALL) || \ - ((MASK) == RTC_ALARMSUBSECONDMASK_SS14_1) || \ - ((MASK) == RTC_ALARMSUBSECONDMASK_SS14_2) || \ - ((MASK) == RTC_ALARMSUBSECONDMASK_SS14_3) || \ - ((MASK) == RTC_ALARMSUBSECONDMASK_SS14_4) || \ - ((MASK) == RTC_ALARMSUBSECONDMASK_SS14_5) || \ - ((MASK) == RTC_ALARMSUBSECONDMASK_SS14_6) || \ - ((MASK) == RTC_ALARMSUBSECONDMASK_SS14_7) || \ - ((MASK) == RTC_ALARMSUBSECONDMASK_SS14_8) || \ - ((MASK) == RTC_ALARMSUBSECONDMASK_SS14_9) || \ - ((MASK) == RTC_ALARMSUBSECONDMASK_SS14_10) || \ - ((MASK) == RTC_ALARMSUBSECONDMASK_SS14_11) || \ - ((MASK) == RTC_ALARMSUBSECONDMASK_SS14_12) || \ - ((MASK) == RTC_ALARMSUBSECONDMASK_SS14_13) || \ - ((MASK) == RTC_ALARMSUBSECONDMASK_SS14) || \ - ((MASK) == RTC_ALARMSUBSECONDMASK_NONE)) -/** - * @} - */ - -/** - * @} - */ - -/* Private functions ---------------------------------------------------------*/ -/** @defgroup RTC_Private_Functions RTC Private Functions - * @{ - */ -HAL_StatusTypeDef RTC_EnterInitMode(RTC_HandleTypeDef* hrtc); -uint8_t RTC_ByteToBcd2(uint8_t Value); -uint8_t RTC_Bcd2ToByte(uint8_t Value); -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ - -#ifdef __cplusplus -} -#endif - -#endif /* __STM32F4xx_HAL_RTC_H */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rtc_ex.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rtc_ex.h deleted file mode 100644 index 76859eeb26307f..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rtc_ex.h +++ /dev/null @@ -1,1011 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_rtc_ex.h - * @author MCD Application Team - * @brief Header file of RTC HAL Extension module. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef __STM32F4xx_HAL_RTC_EX_H -#define __STM32F4xx_HAL_RTC_EX_H - -#ifdef __cplusplus - extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal_def.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @addtogroup RTCEx - * @{ - */ - -/* Exported types ------------------------------------------------------------*/ -/** @defgroup RTCEx_Exported_Types RTCEx Exported Types - * @{ - */ - -/** - * @brief RTC Tamper structure definition - */ -typedef struct -{ - uint32_t Tamper; /*!< Specifies the Tamper Pin. - This parameter can be a value of @ref RTCEx_Tamper_Pins_Definitions */ - - uint32_t PinSelection; /*!< Specifies the Tamper Pin. - This parameter can be a value of @ref RTCEx_Tamper_Pins_Selection */ - - uint32_t Trigger; /*!< Specifies the Tamper Trigger. - This parameter can be a value of @ref RTCEx_Tamper_Trigger_Definitions */ - - uint32_t Filter; /*!< Specifies the RTC Filter Tamper. - This parameter can be a value of @ref RTCEx_Tamper_Filter_Definitions */ - - uint32_t SamplingFrequency; /*!< Specifies the sampling frequency. - This parameter can be a value of @ref RTCEx_Tamper_Sampling_Frequencies_Definitions */ - - uint32_t PrechargeDuration; /*!< Specifies the Precharge Duration . - This parameter can be a value of @ref RTCEx_Tamper_Pin_Precharge_Duration_Definitions */ - - uint32_t TamperPullUp; /*!< Specifies the Tamper PullUp . - This parameter can be a value of @ref RTCEx_Tamper_Pull_UP_Definitions */ - - uint32_t TimeStampOnTamperDetection; /*!< Specifies the TimeStampOnTamperDetection. - This parameter can be a value of @ref RTCEx_Tamper_TimeStampOnTamperDetection_Definitions */ -}RTC_TamperTypeDef; -/** - * @} - */ - -/* Exported constants --------------------------------------------------------*/ -/** @defgroup RTCEx_Exported_Constants RTCEx Exported Constants - * @{ - */ - -/** @defgroup RTCEx_Backup_Registers_Definitions RTC Backup Registers Definitions - * @{ - */ -#define RTC_BKP_DR0 0x00000000U -#define RTC_BKP_DR1 0x00000001U -#define RTC_BKP_DR2 0x00000002U -#define RTC_BKP_DR3 0x00000003U -#define RTC_BKP_DR4 0x00000004U -#define RTC_BKP_DR5 0x00000005U -#define RTC_BKP_DR6 0x00000006U -#define RTC_BKP_DR7 0x00000007U -#define RTC_BKP_DR8 0x00000008U -#define RTC_BKP_DR9 0x00000009U -#define RTC_BKP_DR10 0x0000000AU -#define RTC_BKP_DR11 0x0000000BU -#define RTC_BKP_DR12 0x0000000CU -#define RTC_BKP_DR13 0x0000000DU -#define RTC_BKP_DR14 0x0000000EU -#define RTC_BKP_DR15 0x0000000FU -#define RTC_BKP_DR16 0x00000010U -#define RTC_BKP_DR17 0x00000011U -#define RTC_BKP_DR18 0x00000012U -#define RTC_BKP_DR19 0x00000013U -/** - * @} - */ - -/** @defgroup RTCEx_Time_Stamp_Edges_definitions RTC TimeStamp Edges Definitions - * @{ - */ -#define RTC_TIMESTAMPEDGE_RISING 0x00000000U -#define RTC_TIMESTAMPEDGE_FALLING 0x00000008U -/** - * @} - */ - -/** @defgroup RTCEx_Tamper_Pins_Definitions RTC Tamper Pins Definitions - * @{ - */ -#define RTC_TAMPER_1 RTC_TAFCR_TAMP1E - -#if !defined(STM32F412Zx) && !defined(STM32F412Vx) && !defined(STM32F412Rx) && !defined(STM32F412Cx) && !defined(STM32F413xx) && !defined(STM32F423xx) -#define RTC_TAMPER_2 RTC_TAFCR_TAMP2E -#endif -/** - * @} - */ - -/** @defgroup RTCEx_Tamper_Pins_Selection RTC tamper Pins Selection - * @{ - */ - -#define RTC_TAMPERPIN_DEFAULT 0x00000000U - -#if !defined(STM32F412Zx) && !defined(STM32F412Vx) && !defined(STM32F412Rx) && !defined(STM32F412Cx) && !defined(STM32F413xx) && !defined(STM32F423xx) -#define RTC_TAMPERPIN_POS1 0x00010000U -#endif -/** - * @} - */ - -/** @defgroup RTCEx_TimeStamp_Pin_Selection RTC TimeStamp Pins Selection - * @{ - */ -#define RTC_TIMESTAMPPIN_DEFAULT 0x00000000U - -#if !defined(STM32F412Zx) && !defined(STM32F412Vx) && !defined(STM32F412Rx) && !defined(STM32F412Cx) && !defined(STM32F413xx) && !defined(STM32F423xx) -#define RTC_TIMESTAMPPIN_POS1 0x00020000U -#endif -/** - * @} - */ - -/** @defgroup RTCEx_Tamper_Trigger_Definitions RTC Tamper Triggers Definitions - * @{ - */ -#define RTC_TAMPERTRIGGER_RISINGEDGE 0x00000000U -#define RTC_TAMPERTRIGGER_FALLINGEDGE 0x00000002U -#define RTC_TAMPERTRIGGER_LOWLEVEL RTC_TAMPERTRIGGER_RISINGEDGE -#define RTC_TAMPERTRIGGER_HIGHLEVEL RTC_TAMPERTRIGGER_FALLINGEDGE -/** - * @} - */ - -/** @defgroup RTCEx_Tamper_Filter_Definitions RTC Tamper Filter Definitions - * @{ - */ -#define RTC_TAMPERFILTER_DISABLE 0x00000000U /*!< Tamper filter is disabled */ - -#define RTC_TAMPERFILTER_2SAMPLE 0x00000800U /*!< Tamper is activated after 2 - consecutive samples at the active level */ -#define RTC_TAMPERFILTER_4SAMPLE 0x00001000U /*!< Tamper is activated after 4 - consecutive samples at the active level */ -#define RTC_TAMPERFILTER_8SAMPLE 0x00001800U /*!< Tamper is activated after 8 - consecutive samples at the active level. */ -/** - * @} - */ - -/** @defgroup RTCEx_Tamper_Sampling_Frequencies_Definitions RTC Tamper Sampling Frequencies Definitions - * @{ - */ -#define RTC_TAMPERSAMPLINGFREQ_RTCCLK_DIV32768 0x00000000U /*!< Each of the tamper inputs are sampled - with a frequency = RTCCLK / 32768 */ -#define RTC_TAMPERSAMPLINGFREQ_RTCCLK_DIV16384 0x00000100U /*!< Each of the tamper inputs are sampled - with a frequency = RTCCLK / 16384 */ -#define RTC_TAMPERSAMPLINGFREQ_RTCCLK_DIV8192 0x00000200U /*!< Each of the tamper inputs are sampled - with a frequency = RTCCLK / 8192 */ -#define RTC_TAMPERSAMPLINGFREQ_RTCCLK_DIV4096 0x00000300U /*!< Each of the tamper inputs are sampled - with a frequency = RTCCLK / 4096 */ -#define RTC_TAMPERSAMPLINGFREQ_RTCCLK_DIV2048 0x00000400U /*!< Each of the tamper inputs are sampled - with a frequency = RTCCLK / 2048 */ -#define RTC_TAMPERSAMPLINGFREQ_RTCCLK_DIV1024 0x00000500U /*!< Each of the tamper inputs are sampled - with a frequency = RTCCLK / 1024 */ -#define RTC_TAMPERSAMPLINGFREQ_RTCCLK_DIV512 0x00000600U /*!< Each of the tamper inputs are sampled - with a frequency = RTCCLK / 512 */ -#define RTC_TAMPERSAMPLINGFREQ_RTCCLK_DIV256 0x00000700U /*!< Each of the tamper inputs are sampled - with a frequency = RTCCLK / 256 */ -/** - * @} - */ - -/** @defgroup RTCEx_Tamper_Pin_Precharge_Duration_Definitions RTC Tamper Pin Precharge Duration Definitions - * @{ - */ -#define RTC_TAMPERPRECHARGEDURATION_1RTCCLK 0x00000000U /*!< Tamper pins are pre-charged before - sampling during 1 RTCCLK cycle */ -#define RTC_TAMPERPRECHARGEDURATION_2RTCCLK 0x00002000U /*!< Tamper pins are pre-charged before - sampling during 2 RTCCLK cycles */ -#define RTC_TAMPERPRECHARGEDURATION_4RTCCLK 0x00004000U /*!< Tamper pins are pre-charged before - sampling during 4 RTCCLK cycles */ -#define RTC_TAMPERPRECHARGEDURATION_8RTCCLK 0x00006000U /*!< Tamper pins are pre-charged before - sampling during 8 RTCCLK cycles */ -/** - * @} - */ - -/** @defgroup RTCEx_Tamper_TimeStampOnTamperDetection_Definitions RTC Tamper TimeStamp On Tamper Detection Definitions - * @{ - */ -#define RTC_TIMESTAMPONTAMPERDETECTION_ENABLE ((uint32_t)RTC_TAFCR_TAMPTS) /*!< TimeStamp on Tamper Detection event saved */ -#define RTC_TIMESTAMPONTAMPERDETECTION_DISABLE 0x00000000U /*!< TimeStamp on Tamper Detection event is not saved */ -/** - * @} - */ - -/** @defgroup RTCEx_Tamper_Pull_UP_Definitions RTC Tamper Pull Up Definitions - * @{ - */ -#define RTC_TAMPER_PULLUP_ENABLE 0x00000000U /*!< TimeStamp on Tamper Detection event saved */ -#define RTC_TAMPER_PULLUP_DISABLE ((uint32_t)RTC_TAFCR_TAMPPUDIS) /*!< TimeStamp on Tamper Detection event is not saved */ -/** - * @} - */ - -/** @defgroup RTCEx_Wakeup_Timer_Definitions RTC Wake-up Timer Definitions - * @{ - */ -#define RTC_WAKEUPCLOCK_RTCCLK_DIV16 0x00000000U -#define RTC_WAKEUPCLOCK_RTCCLK_DIV8 0x00000001U -#define RTC_WAKEUPCLOCK_RTCCLK_DIV4 0x00000002U -#define RTC_WAKEUPCLOCK_RTCCLK_DIV2 0x00000003U -#define RTC_WAKEUPCLOCK_CK_SPRE_16BITS 0x00000004U -#define RTC_WAKEUPCLOCK_CK_SPRE_17BITS 0x00000006U -/** - * @} - */ - -/** @defgroup RTCEx_Digital_Calibration_Definitions RTC Digital Calib Definitions - * @{ - */ -#define RTC_CALIBSIGN_POSITIVE 0x00000000U -#define RTC_CALIBSIGN_NEGATIVE 0x00000080U -/** - * @} - */ - -/** @defgroup RTCEx_Smooth_calib_period_Definitions RTC Smooth Calib Period Definitions - * @{ - */ -#define RTC_SMOOTHCALIB_PERIOD_32SEC 0x00000000U /*!< If RTCCLK = 32768 Hz, Smooth calibration - period is 32s, else 2exp20 RTCCLK seconds */ -#define RTC_SMOOTHCALIB_PERIOD_16SEC 0x00002000U /*!< If RTCCLK = 32768 Hz, Smooth calibration - period is 16s, else 2exp19 RTCCLK seconds */ -#define RTC_SMOOTHCALIB_PERIOD_8SEC 0x00004000U /*!< If RTCCLK = 32768 Hz, Smooth calibration - period is 8s, else 2exp18 RTCCLK seconds */ -/** - * @} - */ - -/** @defgroup RTCEx_Smooth_calib_Plus_pulses_Definitions RTC Smooth Calib Plus Pulses Definitions - * @{ - */ -#define RTC_SMOOTHCALIB_PLUSPULSES_SET 0x00008000U /*!< The number of RTCCLK pulses added - during a X -second window = Y - CALM[8:0] - with Y = 512, 256, 128 when X = 32, 16, 8 */ -#define RTC_SMOOTHCALIB_PLUSPULSES_RESET 0x00000000U /*!< The number of RTCCLK pulses subbstited - during a 32-second window = CALM[8:0] */ -/** - * @} - */ - -/** @defgroup RTCEx_Add_1_Second_Parameter_Definitions RTC Add 1 Second Parameter Definitions - * @{ - */ -#define RTC_SHIFTADD1S_RESET 0x00000000U -#define RTC_SHIFTADD1S_SET 0x80000000U -/** - * @} - */ - - - /** @defgroup RTCEx_Calib_Output_selection_Definitions RTC Calib Output Selection Definitions - * @{ - */ -#define RTC_CALIBOUTPUT_512HZ 0x00000000U -#define RTC_CALIBOUTPUT_1HZ 0x00080000U -/** - * @} - */ - -/** - * @} - */ - -/* Exported macro ------------------------------------------------------------*/ -/** @defgroup RTCEx_Exported_Macros RTCEx Exported Macros - * @{ - */ - -/* ---------------------------------WAKEUPTIMER---------------------------------*/ -/** @defgroup RTCEx_WakeUp_Timer RTC WakeUp Timer - * @{ - */ - -/** - * @brief Enable the RTC WakeUp Timer peripheral. - * @param __HANDLE__ specifies the RTC handle. - * @retval None - */ -#define __HAL_RTC_WAKEUPTIMER_ENABLE(__HANDLE__) ((__HANDLE__)->Instance->CR |= (RTC_CR_WUTE)) - -/** - * @brief Disable the RTC Wake-up Timer peripheral. - * @param __HANDLE__ specifies the RTC handle. - * @retval None - */ -#define __HAL_RTC_WAKEUPTIMER_DISABLE(__HANDLE__) ((__HANDLE__)->Instance->CR &= ~(RTC_CR_WUTE)) - -/** - * @brief Enable the RTC WakeUpTimer interrupt. - * @param __HANDLE__ specifies the RTC handle. - * @param __INTERRUPT__ specifies the RTC WakeUpTimer interrupt sources to be enabled or disabled. - * This parameter can be: - * @arg RTC_IT_WUT: WakeUpTimer A interrupt - * @retval None - */ -#define __HAL_RTC_WAKEUPTIMER_ENABLE_IT(__HANDLE__, __INTERRUPT__) ((__HANDLE__)->Instance->CR |= (__INTERRUPT__)) - -/** - * @brief Disable the RTC WakeUpTimer interrupt. - * @param __HANDLE__ specifies the RTC handle. - * @param __INTERRUPT__ specifies the RTC WakeUpTimer interrupt sources to be enabled or disabled. - * This parameter can be: - * @arg RTC_IT_WUT: WakeUpTimer A interrupt - * @retval None - */ -#define __HAL_RTC_WAKEUPTIMER_DISABLE_IT(__HANDLE__, __INTERRUPT__) ((__HANDLE__)->Instance->CR &= ~(__INTERRUPT__)) - -/** - * @brief Check whether the specified RTC WakeUpTimer interrupt has occurred or not. - * @param __HANDLE__ specifies the RTC handle. - * @param __INTERRUPT__ specifies the RTC WakeUpTimer interrupt to check. - * This parameter can be: - * @arg RTC_IT_WUT: WakeUpTimer A interrupt - * @retval None - */ -#define __HAL_RTC_WAKEUPTIMER_GET_IT(__HANDLE__, __INTERRUPT__) (((((__HANDLE__)->Instance->ISR) & ((__INTERRUPT__)>> 4U)) != RESET)? SET : RESET) - -/** - * @brief Check whether the specified RTC Wake Up timer interrupt has been enabled or not. - * @param __HANDLE__ specifies the RTC handle. - * @param __INTERRUPT__ specifies the RTC Wake Up timer interrupt sources to check. - * This parameter can be: - * @arg RTC_IT_WUT: WakeUpTimer interrupt - * @retval None - */ -#define __HAL_RTC_WAKEUPTIMER_GET_IT_SOURCE(__HANDLE__, __INTERRUPT__) (((((__HANDLE__)->Instance->CR) & (__INTERRUPT__)) != RESET) ? SET : RESET) - -/** - * @brief Get the selected RTC WakeUpTimer's flag status. - * @param __HANDLE__ specifies the RTC handle. - * @param __FLAG__ specifies the RTC WakeUpTimer Flag to check. - * This parameter can be: - * @arg RTC_FLAG_WUTF - * @arg RTC_FLAG_WUTWF - * @retval None - */ -#define __HAL_RTC_WAKEUPTIMER_GET_FLAG(__HANDLE__, __FLAG__) (((((__HANDLE__)->Instance->ISR) & (__FLAG__)) != RESET)? SET : RESET) - -/** - * @brief Clear the RTC Wake Up timer's pending flags. - * @param __HANDLE__ specifies the RTC handle. - * @param __FLAG__ specifies the RTC Tamper Flag sources to be enabled or disabled. - * This parameter can be: - * @arg RTC_FLAG_WUTF - * @retval None - */ -#define __HAL_RTC_WAKEUPTIMER_CLEAR_FLAG(__HANDLE__, __FLAG__) ((__HANDLE__)->Instance->ISR) = (~((__FLAG__) | RTC_ISR_INIT)|((__HANDLE__)->Instance->ISR & RTC_ISR_INIT)) - -/** - * @brief Enable interrupt on the RTC Wake-up Timer associated Exti line. - * @retval None - */ -#define __HAL_RTC_WAKEUPTIMER_EXTI_ENABLE_IT() (EXTI->IMR |= RTC_EXTI_LINE_WAKEUPTIMER_EVENT) - -/** - * @brief Disable interrupt on the RTC Wake-up Timer associated Exti line. - * @retval None - */ -#define __HAL_RTC_WAKEUPTIMER_EXTI_DISABLE_IT() (EXTI->IMR &= ~(RTC_EXTI_LINE_WAKEUPTIMER_EVENT)) - -/** - * @brief Enable event on the RTC Wake-up Timer associated Exti line. - * @retval None. - */ -#define __HAL_RTC_WAKEUPTIMER_EXTI_ENABLE_EVENT() (EXTI->EMR |= RTC_EXTI_LINE_WAKEUPTIMER_EVENT) - -/** - * @brief Disable event on the RTC Wake-up Timer associated Exti line. - * @retval None. - */ -#define __HAL_RTC_WAKEUPTIMER_EXTI_DISABLE_EVENT() (EXTI->EMR &= ~(RTC_EXTI_LINE_WAKEUPTIMER_EVENT)) - -/** - * @brief Enable falling edge trigger on the RTC Wake-up Timer associated Exti line. - * @retval None. - */ -#define __HAL_RTC_WAKEUPTIMER_EXTI_ENABLE_FALLING_EDGE() (EXTI->FTSR |= RTC_EXTI_LINE_WAKEUPTIMER_EVENT) - -/** - * @brief Disable falling edge trigger on the RTC Wake-up Timer associated Exti line. - * @retval None. - */ -#define __HAL_RTC_WAKEUPTIMER_EXTI_DISABLE_FALLING_EDGE() (EXTI->FTSR &= ~(RTC_EXTI_LINE_WAKEUPTIMER_EVENT)) - -/** - * @brief Enable rising edge trigger on the RTC Wake-up Timer associated Exti line. - * @retval None. - */ -#define __HAL_RTC_WAKEUPTIMER_EXTI_ENABLE_RISING_EDGE() (EXTI->RTSR |= RTC_EXTI_LINE_WAKEUPTIMER_EVENT) - -/** - * @brief Disable rising edge trigger on the RTC Wake-up Timer associated Exti line. - * @retval None. - */ -#define __HAL_RTC_WAKEUPTIMER_EXTI_DISABLE_RISING_EDGE() (EXTI->RTSR &= ~(RTC_EXTI_LINE_WAKEUPTIMER_EVENT)) - -/** - * @brief Enable rising & falling edge trigger on the RTC Wake-up Timer associated Exti line. - * @retval None. - */ -#define __HAL_RTC_WAKEUPTIMER_EXTI_ENABLE_RISING_FALLING_EDGE() do { __HAL_RTC_WAKEUPTIMER_EXTI_ENABLE_RISING_EDGE();\ - __HAL_RTC_WAKEUPTIMER_EXTI_ENABLE_FALLING_EDGE();\ - } while(0U) - -/** - * @brief Disable rising & falling edge trigger on the RTC Wake-up Timer associated Exti line. - * This parameter can be: - * @retval None. - */ -#define __HAL_RTC_WAKEUPTIMER_EXTI_DISABLE_RISING_FALLING_EDGE() do { __HAL_RTC_WAKEUPTIMER_EXTI_DISABLE_RISING_EDGE();\ - __HAL_RTC_WAKEUPTIMER_EXTI_DISABLE_FALLING_EDGE();\ - } while(0U) - -/** - * @brief Check whether the RTC Wake-up Timer associated Exti line interrupt flag is set or not. - * @retval Line Status. - */ -#define __HAL_RTC_WAKEUPTIMER_EXTI_GET_FLAG() (EXTI->PR & RTC_EXTI_LINE_WAKEUPTIMER_EVENT) - -/** - * @brief Clear the RTC Wake-up Timer associated Exti line flag. - * @retval None. - */ -#define __HAL_RTC_WAKEUPTIMER_EXTI_CLEAR_FLAG() (EXTI->PR = RTC_EXTI_LINE_WAKEUPTIMER_EVENT) - -/** - * @brief Generate a Software interrupt on the RTC Wake-up Timer associated Exti line. - * @retval None. - */ -#define __HAL_RTC_WAKEUPTIMER_EXTI_GENERATE_SWIT() (EXTI->SWIER |= RTC_EXTI_LINE_WAKEUPTIMER_EVENT) - -/** - * @} - */ - -/* ---------------------------------TIMESTAMP---------------------------------*/ -/** @defgroup RTCEx_Timestamp RTC Timestamp - * @{ - */ - -/** - * @brief Enable the RTC TimeStamp peripheral. - * @param __HANDLE__ specifies the RTC handle. - * @retval None - */ -#define __HAL_RTC_TIMESTAMP_ENABLE(__HANDLE__) ((__HANDLE__)->Instance->CR |= (RTC_CR_TSE)) - -/** - * @brief Disable the RTC TimeStamp peripheral. - * @param __HANDLE__ specifies the RTC handle. - * @retval None - */ -#define __HAL_RTC_TIMESTAMP_DISABLE(__HANDLE__) ((__HANDLE__)->Instance->CR &= ~(RTC_CR_TSE)) - -/** - * @brief Enable the RTC TimeStamp interrupt. - * @param __HANDLE__ specifies the RTC handle. - * @param __INTERRUPT__ specifies the RTC TimeStamp interrupt sources to be enabled or disabled. - * This parameter can be: - * @arg RTC_IT_TS: TimeStamp interrupt - * @retval None - */ -#define __HAL_RTC_TIMESTAMP_ENABLE_IT(__HANDLE__, __INTERRUPT__) ((__HANDLE__)->Instance->CR |= (__INTERRUPT__)) - -/** - * @brief Disable the RTC TimeStamp interrupt. - * @param __HANDLE__ specifies the RTC handle. - * @param __INTERRUPT__ specifies the RTC TimeStamp interrupt sources to be enabled or disabled. - * This parameter can be: - * @arg RTC_IT_TS: TimeStamp interrupt - * @retval None - */ -#define __HAL_RTC_TIMESTAMP_DISABLE_IT(__HANDLE__, __INTERRUPT__) ((__HANDLE__)->Instance->CR &= ~(__INTERRUPT__)) - -/** - * @brief Check whether the specified RTC TimeStamp interrupt has occurred or not. - * @param __HANDLE__ specifies the RTC handle. - * @param __INTERRUPT__ specifies the RTC TimeStamp interrupt to check. - * This parameter can be: - * @arg RTC_IT_TS: TimeStamp interrupt - * @retval None - */ -#define __HAL_RTC_TIMESTAMP_GET_IT(__HANDLE__, __INTERRUPT__) (((((__HANDLE__)->Instance->ISR) & ((__INTERRUPT__)>> 4U)) != RESET)? SET : RESET) - -/** - * @brief Check whether the specified RTC Time Stamp interrupt has been enabled or not. - * @param __HANDLE__ specifies the RTC handle. - * @param __INTERRUPT__ specifies the RTC Time Stamp interrupt source to check. - * This parameter can be: - * @arg RTC_IT_TS: TimeStamp interrupt - * @retval None - */ -#define __HAL_RTC_TIMESTAMP_GET_IT_SOURCE(__HANDLE__, __INTERRUPT__) (((((__HANDLE__)->Instance->CR) & (__INTERRUPT__)) != RESET) ? SET : RESET) - -/** - * @brief Get the selected RTC TimeStamp's flag status. - * @param __HANDLE__ specifies the RTC handle. - * @param __FLAG__ specifies the RTC TimeStamp flag to check. - * This parameter can be: - * @arg RTC_FLAG_TSF - * @arg RTC_FLAG_TSOVF - * @retval None - */ -#define __HAL_RTC_TIMESTAMP_GET_FLAG(__HANDLE__, __FLAG__) (((((__HANDLE__)->Instance->ISR) & (__FLAG__)) != RESET)? SET : RESET) - -/** - * @brief Clear the RTC Time Stamp's pending flags. - * @param __HANDLE__ specifies the RTC handle. - * @param __FLAG__ specifies the RTC Alarm Flag sources to be enabled or disabled. - * This parameter can be: - * @arg RTC_FLAG_TSF - * @retval None - */ -#define __HAL_RTC_TIMESTAMP_CLEAR_FLAG(__HANDLE__, __FLAG__) ((__HANDLE__)->Instance->ISR) = (~((__FLAG__) | RTC_ISR_INIT)|((__HANDLE__)->Instance->ISR & RTC_ISR_INIT)) - -/** - * @} - */ - -/* ---------------------------------TAMPER------------------------------------*/ -/** @defgroup RTCEx_Tamper RTC Tamper - * @{ - */ - -/** - * @brief Enable the RTC Tamper1 input detection. - * @param __HANDLE__ specifies the RTC handle. - * @retval None - */ -#define __HAL_RTC_TAMPER1_ENABLE(__HANDLE__) ((__HANDLE__)->Instance->TAFCR |= (RTC_TAFCR_TAMP1E)) - -/** - * @brief Disable the RTC Tamper1 input detection. - * @param __HANDLE__ specifies the RTC handle. - * @retval None - */ -#define __HAL_RTC_TAMPER1_DISABLE(__HANDLE__) ((__HANDLE__)->Instance->TAFCR &= ~(RTC_TAFCR_TAMP1E)) - -#if !defined(STM32F412Zx) && !defined(STM32F412Vx) && !defined(STM32F412Rx) && !defined(STM32F412Cx) && !defined(STM32F413xx) && !defined(STM32F423xx) -/** - * @brief Enable the RTC Tamper2 input detection. - * @param __HANDLE__ specifies the RTC handle. - * @retval None - */ -#define __HAL_RTC_TAMPER2_ENABLE(__HANDLE__) ((__HANDLE__)->Instance->TAFCR |= (RTC_TAFCR_TAMP2E)) - -/** - * @brief Disable the RTC Tamper2 input detection. - * @param __HANDLE__ specifies the RTC handle. - * @retval None - */ -#define __HAL_RTC_TAMPER2_DISABLE(__HANDLE__) ((__HANDLE__)->Instance->TAFCR &= ~(RTC_TAFCR_TAMP2E)) -#endif - -/** - * @brief Check whether the specified RTC Tamper interrupt has occurred or not. - * @param __HANDLE__ specifies the RTC handle. - * @param __INTERRUPT__ specifies the RTC Tamper interrupt to check. - * This parameter can be: - * @arg RTC_IT_TAMP1 - * @arg RTC_IT_TAMP2 - * @retval None - */ -#define __HAL_RTC_TAMPER_GET_IT(__HANDLE__, __INTERRUPT__) (((((__HANDLE__)->Instance->ISR) & ((__INTERRUPT__)>> 4U)) != RESET)? SET : RESET) - -/** - * @brief Check whether the specified RTC Tamper interrupt has been enabled or not. - * @param __HANDLE__ specifies the RTC handle. - * @param __INTERRUPT__ specifies the RTC Tamper interrupt source to check. - * This parameter can be: - * @arg RTC_IT_TAMP: Tamper interrupt - * @retval None - */ -#define __HAL_RTC_TAMPER_GET_IT_SOURCE(__HANDLE__, __INTERRUPT__) (((((__HANDLE__)->Instance->TAFCR) & (__INTERRUPT__)) != RESET) ? SET : RESET) - -/** - * @brief Get the selected RTC Tamper's flag status. - * @param __HANDLE__ specifies the RTC handle. - * @param __FLAG__ specifies the RTC Tamper Flag sources to be enabled or disabled. - * This parameter can be: - * @arg RTC_FLAG_TAMP1F - * @arg RTC_FLAG_TAMP2F - * @retval None - */ -#define __HAL_RTC_TAMPER_GET_FLAG(__HANDLE__, __FLAG__) (((((__HANDLE__)->Instance->ISR) & (__FLAG__)) != RESET)? SET : RESET) - -/** - * @brief Clear the RTC Tamper's pending flags. - * @param __HANDLE__ specifies the RTC handle. - * @param __FLAG__ specifies the RTC Tamper Flag to clear. - * This parameter can be: - * @arg RTC_FLAG_TAMP1F - * @arg RTC_FLAG_TAMP2F - * @retval None - */ -#define __HAL_RTC_TAMPER_CLEAR_FLAG(__HANDLE__, __FLAG__) ((__HANDLE__)->Instance->ISR) = (~((__FLAG__) | RTC_ISR_INIT)|((__HANDLE__)->Instance->ISR & RTC_ISR_INIT)) -/** - * @} - */ - -/* --------------------------TAMPER/TIMESTAMP---------------------------------*/ -/** @defgroup RTCEx_Tamper_Timestamp EXTI RTC Tamper Timestamp EXTI - * @{ - */ - -/** - * @brief Enable interrupt on the RTC Tamper and Timestamp associated Exti line. - * @retval None - */ -#define __HAL_RTC_TAMPER_TIMESTAMP_EXTI_ENABLE_IT() (EXTI->IMR |= RTC_EXTI_LINE_TAMPER_TIMESTAMP_EVENT) - -/** - * @brief Disable interrupt on the RTC Tamper and Timestamp associated Exti line. - * @retval None - */ -#define __HAL_RTC_TAMPER_TIMESTAMP_EXTI_DISABLE_IT() (EXTI->IMR &= ~(RTC_EXTI_LINE_TAMPER_TIMESTAMP_EVENT)) - -/** - * @brief Enable event on the RTC Tamper and Timestamp associated Exti line. - * @retval None. - */ -#define __HAL_RTC_TAMPER_TIMESTAMP_EXTI_ENABLE_EVENT() (EXTI->EMR |= RTC_EXTI_LINE_TAMPER_TIMESTAMP_EVENT) - -/** - * @brief Disable event on the RTC Tamper and Timestamp associated Exti line. - * @retval None. - */ -#define __HAL_RTC_TAMPER_TIMESTAMP_EXTI_DISABLE_EVENT() (EXTI->EMR &= ~(RTC_EXTI_LINE_TAMPER_TIMESTAMP_EVENT)) - -/** - * @brief Enable falling edge trigger on the RTC Tamper and Timestamp associated Exti line. - * @retval None. - */ -#define __HAL_RTC_TAMPER_TIMESTAMP_EXTI_ENABLE_FALLING_EDGE() (EXTI->FTSR |= RTC_EXTI_LINE_TAMPER_TIMESTAMP_EVENT) - -/** - * @brief Disable falling edge trigger on the RTC Tamper and Timestamp associated Exti line. - * @retval None. - */ -#define __HAL_RTC_TAMPER_TIMESTAMP_EXTI_DISABLE_FALLING_EDGE() (EXTI->FTSR &= ~(RTC_EXTI_LINE_TAMPER_TIMESTAMP_EVENT)) - -/** - * @brief Enable rising edge trigger on the RTC Tamper and Timestamp associated Exti line. - * @retval None. - */ -#define __HAL_RTC_TAMPER_TIMESTAMP_EXTI_ENABLE_RISING_EDGE() (EXTI->RTSR |= RTC_EXTI_LINE_TAMPER_TIMESTAMP_EVENT) - -/** - * @brief Disable rising edge trigger on the RTC Tamper and Timestamp associated Exti line. - * @retval None. - */ -#define __HAL_RTC_TAMPER_TIMESTAMP_EXTI_DISABLE_RISING_EDGE() (EXTI->RTSR &= ~(RTC_EXTI_LINE_TAMPER_TIMESTAMP_EVENT)) - -/** - * @brief Enable rising & falling edge trigger on the RTC Tamper and Timestamp associated Exti line. - * @retval None. - */ -#define __HAL_RTC_TAMPER_TIMESTAMP_EXTI_ENABLE_RISING_FALLING_EDGE() do { __HAL_RTC_TAMPER_TIMESTAMP_EXTI_ENABLE_RISING_EDGE();\ - __HAL_RTC_TAMPER_TIMESTAMP_EXTI_ENABLE_FALLING_EDGE(); \ - } while(0U) - -/** - * @brief Disable rising & falling edge trigger on the RTC Tamper and Timestamp associated Exti line. - * This parameter can be: - * @retval None. - */ -#define __HAL_RTC_TAMPER_TIMESTAMP_EXTI_DISABLE_RISING_FALLING_EDGE() do { __HAL_RTC_TAMPER_TIMESTAMP_EXTI_DISABLE_RISING_EDGE();\ - __HAL_RTC_TAMPER_TIMESTAMP_EXTI_DISABLE_FALLING_EDGE();\ - } while(0U) - -/** - * @brief Check whether the RTC Tamper and Timestamp associated Exti line interrupt flag is set or not. - * @retval Line Status. - */ -#define __HAL_RTC_TAMPER_TIMESTAMP_EXTI_GET_FLAG() (EXTI->PR & RTC_EXTI_LINE_TAMPER_TIMESTAMP_EVENT) - -/** - * @brief Clear the RTC Tamper and Timestamp associated Exti line flag. - * @retval None. - */ -#define __HAL_RTC_TAMPER_TIMESTAMP_EXTI_CLEAR_FLAG() (EXTI->PR = RTC_EXTI_LINE_TAMPER_TIMESTAMP_EVENT) - -/** - * @brief Generate a Software interrupt on the RTC Tamper and Timestamp associated Exti line - * @retval None. - */ -#define __HAL_RTC_TAMPER_TIMESTAMP_EXTI_GENERATE_SWIT() (EXTI->SWIER |= RTC_EXTI_LINE_TAMPER_TIMESTAMP_EVENT) -/** - * @} - */ - -/* ------------------------------Calibration----------------------------------*/ -/** @defgroup RTCEx_Calibration RTC Calibration - * @{ - */ - -/** - * @brief Enable the Coarse calibration process. - * @param __HANDLE__ specifies the RTC handle. - * @retval None - */ -#define __HAL_RTC_COARSE_CALIB_ENABLE(__HANDLE__) ((__HANDLE__)->Instance->CR |= (RTC_CR_DCE)) - -/** - * @brief Disable the Coarse calibration process. - * @param __HANDLE__ specifies the RTC handle. - * @retval None - */ -#define __HAL_RTC_COARSE_CALIB_DISABLE(__HANDLE__) ((__HANDLE__)->Instance->CR &= ~(RTC_CR_DCE)) - -/** - * @brief Enable the RTC calibration output. - * @param __HANDLE__ specifies the RTC handle. - * @retval None - */ -#define __HAL_RTC_CALIBRATION_OUTPUT_ENABLE(__HANDLE__) ((__HANDLE__)->Instance->CR |= (RTC_CR_COE)) - -/** - * @brief Disable the calibration output. - * @param __HANDLE__ specifies the RTC handle. - * @retval None - */ -#define __HAL_RTC_CALIBRATION_OUTPUT_DISABLE(__HANDLE__) ((__HANDLE__)->Instance->CR &= ~(RTC_CR_COE)) - -/** - * @brief Enable the clock reference detection. - * @param __HANDLE__ specifies the RTC handle. - * @retval None - */ -#define __HAL_RTC_CLOCKREF_DETECTION_ENABLE(__HANDLE__) ((__HANDLE__)->Instance->CR |= (RTC_CR_REFCKON)) - -/** - * @brief Disable the clock reference detection. - * @param __HANDLE__ specifies the RTC handle. - * @retval None - */ -#define __HAL_RTC_CLOCKREF_DETECTION_DISABLE(__HANDLE__) ((__HANDLE__)->Instance->CR &= ~(RTC_CR_REFCKON)) - -/** - * @brief Get the selected RTC shift operation's flag status. - * @param __HANDLE__ specifies the RTC handle. - * @param __FLAG__ specifies the RTC shift operation Flag is pending or not. - * This parameter can be: - * @arg RTC_FLAG_SHPF - * @retval None - */ -#define __HAL_RTC_SHIFT_GET_FLAG(__HANDLE__, __FLAG__) (((((__HANDLE__)->Instance->ISR) & (__FLAG__)) != RESET)? SET : RESET) -/** - * @} - */ - -/** - * @} - */ - -/* Exported functions --------------------------------------------------------*/ -/** @defgroup RTCEx_Exported_Functions RTCEx Exported Functions - * @{ - */ - -/** @addtogroup RTCEx_Exported_Functions_Group1 - * @{ - */ -/* RTC TimeStamp and Tamper functions *****************************************/ -HAL_StatusTypeDef HAL_RTCEx_SetTimeStamp(RTC_HandleTypeDef *hrtc, uint32_t TimeStampEdge, uint32_t RTC_TimeStampPin); -HAL_StatusTypeDef HAL_RTCEx_SetTimeStamp_IT(RTC_HandleTypeDef *hrtc, uint32_t TimeStampEdge, uint32_t RTC_TimeStampPin); -HAL_StatusTypeDef HAL_RTCEx_DeactivateTimeStamp(RTC_HandleTypeDef *hrtc); -HAL_StatusTypeDef HAL_RTCEx_GetTimeStamp(RTC_HandleTypeDef *hrtc, RTC_TimeTypeDef *sTimeStamp, RTC_DateTypeDef *sTimeStampDate, uint32_t Format); - -HAL_StatusTypeDef HAL_RTCEx_SetTamper(RTC_HandleTypeDef *hrtc, RTC_TamperTypeDef* sTamper); -HAL_StatusTypeDef HAL_RTCEx_SetTamper_IT(RTC_HandleTypeDef *hrtc, RTC_TamperTypeDef* sTamper); -HAL_StatusTypeDef HAL_RTCEx_DeactivateTamper(RTC_HandleTypeDef *hrtc, uint32_t Tamper); -void HAL_RTCEx_TamperTimeStampIRQHandler(RTC_HandleTypeDef *hrtc); - -void HAL_RTCEx_Tamper1EventCallback(RTC_HandleTypeDef *hrtc); -void HAL_RTCEx_Tamper2EventCallback(RTC_HandleTypeDef *hrtc); -void HAL_RTCEx_TimeStampEventCallback(RTC_HandleTypeDef *hrtc); -HAL_StatusTypeDef HAL_RTCEx_PollForTimeStampEvent(RTC_HandleTypeDef *hrtc, uint32_t Timeout); -HAL_StatusTypeDef HAL_RTCEx_PollForTamper1Event(RTC_HandleTypeDef *hrtc, uint32_t Timeout); -HAL_StatusTypeDef HAL_RTCEx_PollForTamper2Event(RTC_HandleTypeDef *hrtc, uint32_t Timeout); -/** - * @} - */ - -/** @addtogroup RTCEx_Exported_Functions_Group2 - * @{ - */ -/* RTC Wake-up functions ******************************************************/ -HAL_StatusTypeDef HAL_RTCEx_SetWakeUpTimer(RTC_HandleTypeDef *hrtc, uint32_t WakeUpCounter, uint32_t WakeUpClock); -HAL_StatusTypeDef HAL_RTCEx_SetWakeUpTimer_IT(RTC_HandleTypeDef *hrtc, uint32_t WakeUpCounter, uint32_t WakeUpClock); -uint32_t HAL_RTCEx_DeactivateWakeUpTimer(RTC_HandleTypeDef *hrtc); -uint32_t HAL_RTCEx_GetWakeUpTimer(RTC_HandleTypeDef *hrtc); -void HAL_RTCEx_WakeUpTimerIRQHandler(RTC_HandleTypeDef *hrtc); -void HAL_RTCEx_WakeUpTimerEventCallback(RTC_HandleTypeDef *hrtc); -HAL_StatusTypeDef HAL_RTCEx_PollForWakeUpTimerEvent(RTC_HandleTypeDef *hrtc, uint32_t Timeout); -/** - * @} - */ - -/** @addtogroup RTCEx_Exported_Functions_Group3 - * @{ - */ -/* Extension Control functions ************************************************/ -void HAL_RTCEx_BKUPWrite(RTC_HandleTypeDef *hrtc, uint32_t BackupRegister, uint32_t Data); -uint32_t HAL_RTCEx_BKUPRead(RTC_HandleTypeDef *hrtc, uint32_t BackupRegister); - -HAL_StatusTypeDef HAL_RTCEx_SetCoarseCalib(RTC_HandleTypeDef *hrtc, uint32_t CalibSign, uint32_t Value); -HAL_StatusTypeDef HAL_RTCEx_DeactivateCoarseCalib(RTC_HandleTypeDef *hrtc); -HAL_StatusTypeDef HAL_RTCEx_SetSmoothCalib(RTC_HandleTypeDef *hrtc, uint32_t SmoothCalibPeriod, uint32_t SmoothCalibPlusPulses, uint32_t SmouthCalibMinusPulsesValue); -HAL_StatusTypeDef HAL_RTCEx_SetSynchroShift(RTC_HandleTypeDef *hrtc, uint32_t ShiftAdd1S, uint32_t ShiftSubFS); -HAL_StatusTypeDef HAL_RTCEx_SetCalibrationOutPut(RTC_HandleTypeDef *hrtc, uint32_t CalibOutput); -HAL_StatusTypeDef HAL_RTCEx_DeactivateCalibrationOutPut(RTC_HandleTypeDef *hrtc); -HAL_StatusTypeDef HAL_RTCEx_SetRefClock(RTC_HandleTypeDef *hrtc); -HAL_StatusTypeDef HAL_RTCEx_DeactivateRefClock(RTC_HandleTypeDef *hrtc); -HAL_StatusTypeDef HAL_RTCEx_EnableBypassShadow(RTC_HandleTypeDef *hrtc); -HAL_StatusTypeDef HAL_RTCEx_DisableBypassShadow(RTC_HandleTypeDef *hrtc); -/** - * @} - */ - -/** @addtogroup RTCEx_Exported_Functions_Group4 - * @{ - */ -/* Extension RTC features functions *******************************************/ -void HAL_RTCEx_AlarmBEventCallback(RTC_HandleTypeDef *hrtc); -HAL_StatusTypeDef HAL_RTCEx_PollForAlarmBEvent(RTC_HandleTypeDef *hrtc, uint32_t Timeout); -/** - * @} - */ - -/** - * @} - */ - -/* Private types -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private constants ---------------------------------------------------------*/ -/** @defgroup RTCEx_Private_Constants RTCEx Private Constants - * @{ - */ -#define RTC_EXTI_LINE_TAMPER_TIMESTAMP_EVENT ((uint32_t)EXTI_IMR_MR21) /*!< External interrupt line 21 Connected to the RTC Tamper and Time Stamp events */ -#define RTC_EXTI_LINE_WAKEUPTIMER_EVENT ((uint32_t)EXTI_IMR_MR22) /*!< External interrupt line 22 Connected to the RTC Wake-up event */ -/** - * @} - */ - -/* Private macros ------------------------------------------------------------*/ -/** @defgroup RTCEx_Private_Macros RTCEx Private Macros - * @{ - */ - -/** @defgroup RTCEx_IS_RTC_Definitions Private macros to check input parameters - * @{ - */ -#define IS_RTC_BKP(BKP) (((BKP) == RTC_BKP_DR0) || \ - ((BKP) == RTC_BKP_DR1) || \ - ((BKP) == RTC_BKP_DR2) || \ - ((BKP) == RTC_BKP_DR3) || \ - ((BKP) == RTC_BKP_DR4) || \ - ((BKP) == RTC_BKP_DR5) || \ - ((BKP) == RTC_BKP_DR6) || \ - ((BKP) == RTC_BKP_DR7) || \ - ((BKP) == RTC_BKP_DR8) || \ - ((BKP) == RTC_BKP_DR9) || \ - ((BKP) == RTC_BKP_DR10) || \ - ((BKP) == RTC_BKP_DR11) || \ - ((BKP) == RTC_BKP_DR12) || \ - ((BKP) == RTC_BKP_DR13) || \ - ((BKP) == RTC_BKP_DR14) || \ - ((BKP) == RTC_BKP_DR15) || \ - ((BKP) == RTC_BKP_DR16) || \ - ((BKP) == RTC_BKP_DR17) || \ - ((BKP) == RTC_BKP_DR18) || \ - ((BKP) == RTC_BKP_DR19)) -#define IS_TIMESTAMP_EDGE(EDGE) (((EDGE) == RTC_TIMESTAMPEDGE_RISING) || \ - ((EDGE) == RTC_TIMESTAMPEDGE_FALLING)) - -#if defined(STM32F412Zx) || defined(STM32F412Vx) || defined(STM32F412Rx) || defined(STM32F412Cx) || defined(STM32F413xx) || defined(STM32F423xx) -#define IS_RTC_TAMPER(TAMPER) ((((TAMPER) & ((uint32_t)!(RTC_TAFCR_TAMP1E ))) == 0x00U) && ((TAMPER) != (uint32_t)RESET)) -#else -#define IS_RTC_TAMPER(TAMPER) ((((TAMPER) & ((uint32_t)!(RTC_TAFCR_TAMP1E | RTC_TAFCR_TAMP2E))) == 0x00U) && ((TAMPER) != (uint32_t)RESET)) -#endif - -#if defined(STM32F412Zx) || defined(STM32F412Vx) || defined(STM32F412Rx) || defined(STM32F412Cx) || defined(STM32F413xx) || defined(STM32F423xx) -#define IS_RTC_TAMPER_PIN(PIN) ((PIN) == RTC_TAMPERPIN_DEFAULT) -#else -#define IS_RTC_TAMPER_PIN(PIN) (((PIN) == RTC_TAMPERPIN_DEFAULT) || \ - ((PIN) == RTC_TAMPERPIN_POS1)) -#endif - -#if defined(STM32F412Zx) || defined(STM32F412Vx) || defined(STM32F412Rx) || defined(STM32F412Cx) || defined(STM32F413xx) || defined(STM32F423xx) -#define IS_RTC_TIMESTAMP_PIN(PIN) ((PIN) == RTC_TIMESTAMPPIN_DEFAULT) -#else -#define IS_RTC_TIMESTAMP_PIN(PIN) (((PIN) == RTC_TIMESTAMPPIN_DEFAULT) || \ - ((PIN) == RTC_TIMESTAMPPIN_POS1)) -#endif -#define IS_RTC_TAMPER_TRIGGER(TRIGGER) (((TRIGGER) == RTC_TAMPERTRIGGER_RISINGEDGE) || \ - ((TRIGGER) == RTC_TAMPERTRIGGER_FALLINGEDGE) || \ - ((TRIGGER) == RTC_TAMPERTRIGGER_LOWLEVEL) || \ - ((TRIGGER) == RTC_TAMPERTRIGGER_HIGHLEVEL)) -#define IS_RTC_TAMPER_FILTER(FILTER) (((FILTER) == RTC_TAMPERFILTER_DISABLE) || \ - ((FILTER) == RTC_TAMPERFILTER_2SAMPLE) || \ - ((FILTER) == RTC_TAMPERFILTER_4SAMPLE) || \ - ((FILTER) == RTC_TAMPERFILTER_8SAMPLE)) -#define IS_RTC_TAMPER_SAMPLING_FREQ(FREQ) (((FREQ) == RTC_TAMPERSAMPLINGFREQ_RTCCLK_DIV32768)|| \ - ((FREQ) == RTC_TAMPERSAMPLINGFREQ_RTCCLK_DIV16384)|| \ - ((FREQ) == RTC_TAMPERSAMPLINGFREQ_RTCCLK_DIV8192) || \ - ((FREQ) == RTC_TAMPERSAMPLINGFREQ_RTCCLK_DIV4096) || \ - ((FREQ) == RTC_TAMPERSAMPLINGFREQ_RTCCLK_DIV2048) || \ - ((FREQ) == RTC_TAMPERSAMPLINGFREQ_RTCCLK_DIV1024) || \ - ((FREQ) == RTC_TAMPERSAMPLINGFREQ_RTCCLK_DIV512) || \ - ((FREQ) == RTC_TAMPERSAMPLINGFREQ_RTCCLK_DIV256)) -#define IS_RTC_TAMPER_PRECHARGE_DURATION(DURATION) (((DURATION) == RTC_TAMPERPRECHARGEDURATION_1RTCCLK) || \ - ((DURATION) == RTC_TAMPERPRECHARGEDURATION_2RTCCLK) || \ - ((DURATION) == RTC_TAMPERPRECHARGEDURATION_4RTCCLK) || \ - ((DURATION) == RTC_TAMPERPRECHARGEDURATION_8RTCCLK)) -#define IS_RTC_TAMPER_TIMESTAMPONTAMPER_DETECTION(DETECTION) (((DETECTION) == RTC_TIMESTAMPONTAMPERDETECTION_ENABLE) || \ - ((DETECTION) == RTC_TIMESTAMPONTAMPERDETECTION_DISABLE)) -#define IS_RTC_TAMPER_PULLUP_STATE(STATE) (((STATE) == RTC_TAMPER_PULLUP_ENABLE) || \ - ((STATE) == RTC_TAMPER_PULLUP_DISABLE)) -#define IS_RTC_WAKEUP_CLOCK(CLOCK) (((CLOCK) == RTC_WAKEUPCLOCK_RTCCLK_DIV16) || \ - ((CLOCK) == RTC_WAKEUPCLOCK_RTCCLK_DIV8) || \ - ((CLOCK) == RTC_WAKEUPCLOCK_RTCCLK_DIV4) || \ - ((CLOCK) == RTC_WAKEUPCLOCK_RTCCLK_DIV2) || \ - ((CLOCK) == RTC_WAKEUPCLOCK_CK_SPRE_16BITS) || \ - ((CLOCK) == RTC_WAKEUPCLOCK_CK_SPRE_17BITS)) - -#define IS_RTC_WAKEUP_COUNTER(COUNTER) ((COUNTER) <= 0xFFFFU) -#define IS_RTC_CALIB_SIGN(SIGN) (((SIGN) == RTC_CALIBSIGN_POSITIVE) || \ - ((SIGN) == RTC_CALIBSIGN_NEGATIVE)) - -#define IS_RTC_CALIB_VALUE(VALUE) ((VALUE) < 0x20U) - -#define IS_RTC_SMOOTH_CALIB_PERIOD(PERIOD) (((PERIOD) == RTC_SMOOTHCALIB_PERIOD_32SEC) || \ - ((PERIOD) == RTC_SMOOTHCALIB_PERIOD_16SEC) || \ - ((PERIOD) == RTC_SMOOTHCALIB_PERIOD_8SEC)) -#define IS_RTC_SMOOTH_CALIB_PLUS(PLUS) (((PLUS) == RTC_SMOOTHCALIB_PLUSPULSES_SET) || \ - ((PLUS) == RTC_SMOOTHCALIB_PLUSPULSES_RESET)) - -#define IS_RTC_SMOOTH_CALIB_MINUS(VALUE) ((VALUE) <= 0x000001FFU) -#define IS_RTC_SHIFT_ADD1S(SEL) (((SEL) == RTC_SHIFTADD1S_RESET) || \ - ((SEL) == RTC_SHIFTADD1S_SET)) -#define IS_RTC_SHIFT_SUBFS(FS) ((FS) <= 0x00007FFFU) -#define IS_RTC_CALIB_OUTPUT(OUTPUT) (((OUTPUT) == RTC_CALIBOUTPUT_512HZ) || \ - ((OUTPUT) == RTC_CALIBOUTPUT_1HZ)) -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ - -#ifdef __cplusplus -} -#endif - -#endif /* __STM32F4xx_HAL_RTC_EX_H */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_sai.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_sai.h deleted file mode 100644 index 0307f92333a24e..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_sai.h +++ /dev/null @@ -1,897 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_sai.h - * @author MCD Application Team - * @brief Header file of SAI HAL module. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef __STM32F4xx_HAL_SAI_H -#define __STM32F4xx_HAL_SAI_H - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal_def.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ -#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) || \ - defined(STM32F446xx) || defined(STM32F469xx) || defined(STM32F479xx) || defined(STM32F413xx) || \ - defined(STM32F423xx) - -/** @addtogroup SAI - * @{ - */ - -/* Exported types ------------------------------------------------------------*/ -/** @defgroup SAI_Exported_Types SAI Exported Types - * @{ - */ - -/** - * @brief HAL State structures definition - */ -typedef enum -{ - HAL_SAI_STATE_RESET = 0x00U, /*!< SAI not yet initialized or disabled */ - HAL_SAI_STATE_READY = 0x01U, /*!< SAI initialized and ready for use */ - HAL_SAI_STATE_BUSY = 0x02U, /*!< SAI internal process is ongoing */ - HAL_SAI_STATE_BUSY_TX = 0x12U, /*!< Data transmission process is ongoing */ - HAL_SAI_STATE_BUSY_RX = 0x22U, /*!< Data reception process is ongoing */ - HAL_SAI_STATE_TIMEOUT = 0x03U, /*!< SAI timeout state */ - HAL_SAI_STATE_ERROR = 0x04U /*!< SAI error state */ -} HAL_SAI_StateTypeDef; - -/** - * @brief SAI Callback prototype - */ -typedef void (*SAIcallback)(void); - -/** @defgroup SAI_Init_Structure_definition SAI Init Structure definition - * @brief SAI Init Structure definition - * @{ - */ -typedef struct -{ - uint32_t AudioMode; /*!< Specifies the SAI Block audio Mode. - This parameter can be a value of @ref SAI_Block_Mode */ - - uint32_t Synchro; /*!< Specifies SAI Block synchronization - This parameter can be a value of @ref SAI_Block_Synchronization */ - - uint32_t SynchroExt; /*!< Specifies SAI external output synchronization, this setup is common - for BlockA and BlockB - This parameter can be a value of @ref SAI_Block_SyncExt - @note: If both audio blocks of same SAI are used, this parameter has - to be set to the same value for each audio block */ - - uint32_t OutputDrive; /*!< Specifies when SAI Block outputs are driven. - This parameter can be a value of @ref SAI_Block_Output_Drive - @note this value has to be set before enabling the audio block - but after the audio block configuration. */ - - uint32_t NoDivider; /*!< Specifies whether master clock will be divided or not. - This parameter can be a value of @ref SAI_Block_NoDivider - @note If bit NODIV in the SAI_xCR1 register is cleared, the frame length - should be aligned to a number equal to a power of 2, from 8 to 256. - If bit NODIV in the SAI_xCR1 register is set, the frame length can - take any of the values without constraint since the input clock of - the audio block should be equal to the bit clock. - There is no MCLK_x clock which can be output. */ - - uint32_t FIFOThreshold; /*!< Specifies SAI Block FIFO threshold. - This parameter can be a value of @ref SAI_Block_Fifo_Threshold */ - - uint32_t ClockSource; /*!< Specifies the SAI Block x Clock source. - This parameter is not used for STM32F446xx devices. */ - - uint32_t AudioFrequency; /*!< Specifies the audio frequency sampling. - This parameter can be a value of @ref SAI_Audio_Frequency */ - - uint32_t Mckdiv; /*!< Specifies the master clock divider. - This parameter must be a number between Min_Data = 0 and Max_Data = 15. - @note This parameter is used only if AudioFrequency is set to - SAI_AUDIO_FREQUENCY_MCKDIV otherwise it is internally computed. */ - - uint32_t MonoStereoMode; /*!< Specifies if the mono or stereo mode is selected. - This parameter can be a value of @ref SAI_Mono_Stereo_Mode */ - - uint32_t CompandingMode; /*!< Specifies the companding mode type. - This parameter can be a value of @ref SAI_Block_Companding_Mode */ - - uint32_t TriState; /*!< Specifies the companding mode type. - This parameter can be a value of @ref SAI_TRIState_Management */ - - /* This part of the structure is automatically filled if your are using the high level intialisation - function HAL_SAI_InitProtocol */ - - uint32_t Protocol; /*!< Specifies the SAI Block protocol. - This parameter can be a value of @ref SAI_Block_Protocol */ - - uint32_t DataSize; /*!< Specifies the SAI Block data size. - This parameter can be a value of @ref SAI_Block_Data_Size */ - - uint32_t FirstBit; /*!< Specifies whether data transfers start from MSB or LSB bit. - This parameter can be a value of @ref SAI_Block_MSB_LSB_transmission */ - - uint32_t ClockStrobing; /*!< Specifies the SAI Block clock strobing edge sensitivity. - This parameter can be a value of @ref SAI_Block_Clock_Strobing */ -} SAI_InitTypeDef; -/** - * @} - */ - -/** @defgroup SAI_Frame_Structure_definition SAI Frame Structure definition - * @brief SAI Frame Init structure definition - * @note For SPDIF and AC97 protocol, these parameters are not used (set by hardware). - * @{ - */ -typedef struct -{ - uint32_t FrameLength; /*!< Specifies the Frame length, the number of SCK clocks for each audio frame. - This parameter must be a number between Min_Data = 8 and Max_Data = 256. - @note If master clock MCLK_x pin is declared as an output, the frame length - should be aligned to a number equal to power of 2 in order to keep - in an audio frame, an integer number of MCLK pulses by bit Clock. */ - - uint32_t ActiveFrameLength; /*!< Specifies the Frame synchronization active level length. - This Parameter specifies the length in number of bit clock (SCK + 1) - of the active level of FS signal in audio frame. - This parameter must be a number between Min_Data = 1 and Max_Data = 128 */ - - uint32_t FSDefinition; /*!< Specifies the Frame synchronization definition. - This parameter can be a value of @ref SAI_Block_FS_Definition */ - - uint32_t FSPolarity; /*!< Specifies the Frame synchronization Polarity. - This parameter can be a value of @ref SAI_Block_FS_Polarity */ - - uint32_t FSOffset; /*!< Specifies the Frame synchronization Offset. - This parameter can be a value of @ref SAI_Block_FS_Offset */ -} SAI_FrameInitTypeDef; -/** - * @} - */ - -/** @defgroup SAI_Slot_Structure_definition SAI Slot Structure definition - * @brief SAI Block Slot Init Structure definition - * @note For SPDIF protocol, these parameters are not used (set by hardware). - * @note For AC97 protocol, only SlotActive parameter is used (the others are set by hardware). - * @{ - */ -typedef struct -{ - uint32_t FirstBitOffset; /*!< Specifies the position of first data transfer bit in the slot. - This parameter must be a number between Min_Data = 0 and Max_Data = 24 */ - - uint32_t SlotSize; /*!< Specifies the Slot Size. - This parameter can be a value of @ref SAI_Block_Slot_Size */ - - uint32_t SlotNumber; /*!< Specifies the number of slot in the audio frame. - This parameter must be a number between Min_Data = 1 and Max_Data = 16 */ - - uint32_t SlotActive; /*!< Specifies the slots in audio frame that will be activated. - This parameter can be a value of @ref SAI_Block_Slot_Active */ -} SAI_SlotInitTypeDef; -/** - * @} - */ - -/** @defgroup SAI_Handle_Structure_definition SAI Handle Structure definition - * @brief SAI handle Structure definition - * @{ - */ -typedef struct __SAI_HandleTypeDef -{ - SAI_Block_TypeDef *Instance; /*!< SAI Blockx registers base address */ - - SAI_InitTypeDef Init; /*!< SAI communication parameters */ - - SAI_FrameInitTypeDef FrameInit; /*!< SAI Frame configuration parameters */ - - SAI_SlotInitTypeDef SlotInit; /*!< SAI Slot configuration parameters */ - - uint8_t *pBuffPtr; /*!< Pointer to SAI transfer Buffer */ - - uint16_t XferSize; /*!< SAI transfer size */ - - uint16_t XferCount; /*!< SAI transfer counter */ - - DMA_HandleTypeDef *hdmatx; /*!< SAI Tx DMA handle parameters */ - - DMA_HandleTypeDef *hdmarx; /*!< SAI Rx DMA handle parameters */ - - SAIcallback mutecallback;/*!< SAI mute callback */ - - void (*InterruptServiceRoutine)(struct __SAI_HandleTypeDef *hsai); /* function pointer for IRQ handler */ - - HAL_LockTypeDef Lock; /*!< SAI locking object */ - - __IO HAL_SAI_StateTypeDef State; /*!< SAI communication state */ - - __IO uint32_t ErrorCode; /*!< SAI Error code */ - -#if (USE_HAL_SAI_REGISTER_CALLBACKS == 1) - void (*RxCpltCallback)(struct __SAI_HandleTypeDef *hsai); /*!< SAI receive complete callback */ - void (*RxHalfCpltCallback)(struct __SAI_HandleTypeDef *hsai); /*!< SAI receive half complete callback */ - void (*TxCpltCallback)(struct __SAI_HandleTypeDef *hsai); /*!< SAI transmit complete callback */ - void (*TxHalfCpltCallback)(struct __SAI_HandleTypeDef *hsai); /*!< SAI transmit half complete callback */ - void (*ErrorCallback)(struct __SAI_HandleTypeDef *hsai); /*!< SAI error callback */ - void (*MspInitCallback)(struct __SAI_HandleTypeDef *hsai); /*!< SAI MSP init callback */ - void (*MspDeInitCallback)(struct __SAI_HandleTypeDef *hsai); /*!< SAI MSP de-init callback */ -#endif /* USE_HAL_SAI_REGISTER_CALLBACKS */ -} SAI_HandleTypeDef; -/** - * @} - */ - -#if (USE_HAL_SAI_REGISTER_CALLBACKS == 1) -/** - * @brief SAI callback ID enumeration definition - */ -typedef enum -{ - HAL_SAI_RX_COMPLETE_CB_ID = 0x00U, /*!< SAI receive complete callback ID */ - HAL_SAI_RX_HALFCOMPLETE_CB_ID = 0x01U, /*!< SAI receive half complete callback ID */ - HAL_SAI_TX_COMPLETE_CB_ID = 0x02U, /*!< SAI transmit complete callback ID */ - HAL_SAI_TX_HALFCOMPLETE_CB_ID = 0x03U, /*!< SAI transmit half complete callback ID */ - HAL_SAI_ERROR_CB_ID = 0x04U, /*!< SAI error callback ID */ - HAL_SAI_MSPINIT_CB_ID = 0x05U, /*!< SAI MSP init callback ID */ - HAL_SAI_MSPDEINIT_CB_ID = 0x06U /*!< SAI MSP de-init callback ID */ -} HAL_SAI_CallbackIDTypeDef; - -/** - * @brief SAI callback pointer definition - */ -typedef void (*pSAI_CallbackTypeDef)(SAI_HandleTypeDef *hsai); -#endif /* USE_HAL_SAI_REGISTER_CALLBACKS */ - -/** - * @} - */ - -/* Exported constants --------------------------------------------------------*/ -/** @defgroup SAI_Exported_Constants SAI Exported Constants - * @{ - */ - -/** @defgroup SAI_Error_Code SAI Error Code - * @{ - */ -#define HAL_SAI_ERROR_NONE 0x00000000U /*!< No error */ -#define HAL_SAI_ERROR_OVR 0x00000001U /*!< Overrun Error */ -#define HAL_SAI_ERROR_UDR 0x00000002U /*!< Underrun error */ -#define HAL_SAI_ERROR_AFSDET 0x00000004U /*!< Anticipated Frame synchronisation detection */ -#define HAL_SAI_ERROR_LFSDET 0x00000008U /*!< Late Frame synchronisation detection */ -#define HAL_SAI_ERROR_CNREADY 0x00000010U /*!< codec not ready */ -#define HAL_SAI_ERROR_WCKCFG 0x00000020U /*!< Wrong clock configuration */ -#define HAL_SAI_ERROR_TIMEOUT 0x00000040U /*!< Timeout error */ -#define HAL_SAI_ERROR_DMA 0x00000080U /*!< DMA error */ -#if (USE_HAL_SAI_REGISTER_CALLBACKS == 1) -#define HAL_SAI_ERROR_INVALID_CALLBACK 0x00000100U /*!< Invalid callback error */ -#endif /* USE_HAL_SAI_REGISTER_CALLBACKS */ -/** - * @} - */ - -/** @defgroup SAI_Block_SyncExt SAI External synchronisation - * @{ - */ -#define SAI_SYNCEXT_DISABLE 0U -#define SAI_SYNCEXT_OUTBLOCKA_ENABLE 1U -#define SAI_SYNCEXT_OUTBLOCKB_ENABLE 2U -/** - * @} - */ - -/** @defgroup SAI_Protocol SAI Supported protocol - * @{ - */ -#define SAI_I2S_STANDARD 0U -#define SAI_I2S_MSBJUSTIFIED 1U -#define SAI_I2S_LSBJUSTIFIED 2U -#define SAI_PCM_LONG 3U -#define SAI_PCM_SHORT 4U -/** - * @} - */ - -/** @defgroup SAI_Protocol_DataSize SAI protocol data size - * @{ - */ -#define SAI_PROTOCOL_DATASIZE_16BIT 0U -#define SAI_PROTOCOL_DATASIZE_16BITEXTENDED 1U -#define SAI_PROTOCOL_DATASIZE_24BIT 2U -#define SAI_PROTOCOL_DATASIZE_32BIT 3U -/** - * @} - */ - -/** @defgroup SAI_Audio_Frequency SAI Audio Frequency - * @{ - */ -#define SAI_AUDIO_FREQUENCY_192K 192000U -#define SAI_AUDIO_FREQUENCY_96K 96000U -#define SAI_AUDIO_FREQUENCY_48K 48000U -#define SAI_AUDIO_FREQUENCY_44K 44100U -#define SAI_AUDIO_FREQUENCY_32K 32000U -#define SAI_AUDIO_FREQUENCY_22K 22050U -#define SAI_AUDIO_FREQUENCY_16K 16000U -#define SAI_AUDIO_FREQUENCY_11K 11025U -#define SAI_AUDIO_FREQUENCY_8K 8000U -#define SAI_AUDIO_FREQUENCY_MCKDIV 0U -/** - * @} - */ - -/** @defgroup SAI_Block_Mode SAI Block Mode - * @{ - */ -#define SAI_MODEMASTER_TX 0x00000000U -#define SAI_MODEMASTER_RX ((uint32_t)SAI_xCR1_MODE_0) -#define SAI_MODESLAVE_TX ((uint32_t)SAI_xCR1_MODE_1) -#define SAI_MODESLAVE_RX ((uint32_t)(SAI_xCR1_MODE_1 | SAI_xCR1_MODE_0)) -/** - * @} - */ - -/** @defgroup SAI_Block_Protocol SAI Block Protocol - * @{ - */ -#define SAI_FREE_PROTOCOL 0x00000000U -#define SAI_SPDIF_PROTOCOL ((uint32_t)SAI_xCR1_PRTCFG_0) -#define SAI_AC97_PROTOCOL ((uint32_t)SAI_xCR1_PRTCFG_1) -/** - * @} - */ - -/** @defgroup SAI_Block_Data_Size SAI Block Data Size - * @{ - */ -#define SAI_DATASIZE_8 ((uint32_t)SAI_xCR1_DS_1) -#define SAI_DATASIZE_10 ((uint32_t)(SAI_xCR1_DS_1 | SAI_xCR1_DS_0)) -#define SAI_DATASIZE_16 ((uint32_t)SAI_xCR1_DS_2) -#define SAI_DATASIZE_20 ((uint32_t)(SAI_xCR1_DS_2 | SAI_xCR1_DS_0)) -#define SAI_DATASIZE_24 ((uint32_t)(SAI_xCR1_DS_2 | SAI_xCR1_DS_1)) -#define SAI_DATASIZE_32 ((uint32_t)(SAI_xCR1_DS_2 | SAI_xCR1_DS_1 | SAI_xCR1_DS_0)) -/** - * @} - */ - -/** @defgroup SAI_Block_MSB_LSB_transmission SAI Block MSB LSB transmission - * @{ - */ -#define SAI_FIRSTBIT_MSB 0x00000000U -#define SAI_FIRSTBIT_LSB ((uint32_t)SAI_xCR1_LSBFIRST) -/** - * @} - */ - -/** @defgroup SAI_Block_Clock_Strobing SAI Block Clock Strobing - * @{ - */ -#define SAI_CLOCKSTROBING_FALLINGEDGE 0U -#define SAI_CLOCKSTROBING_RISINGEDGE 1U -/** - * @} - */ - -/** @defgroup SAI_Block_Synchronization SAI Block Synchronization - * @{ - */ -#define SAI_ASYNCHRONOUS 0U /*!< Asynchronous */ -#define SAI_SYNCHRONOUS 1U /*!< Synchronous with other block of same SAI */ -#define SAI_SYNCHRONOUS_EXT_SAI1 2U /*!< Synchronous with other SAI, SAI1 */ -#define SAI_SYNCHRONOUS_EXT_SAI2 3U /*!< Synchronous with other SAI, SAI2 */ -/** - * @} - */ - -/** @defgroup SAI_Block_Output_Drive SAI Block Output Drive - * @{ - */ -#define SAI_OUTPUTDRIVE_DISABLE 0x00000000U -#define SAI_OUTPUTDRIVE_ENABLE ((uint32_t)SAI_xCR1_OUTDRIV) -/** - * @} - */ - -/** @defgroup SAI_Block_NoDivider SAI Block NoDivider - * @{ - */ -#define SAI_MASTERDIVIDER_ENABLE 0x00000000U -#define SAI_MASTERDIVIDER_DISABLE ((uint32_t)SAI_xCR1_NODIV) -/** - * @} - */ - -/** @defgroup SAI_Block_FS_Definition SAI Block FS Definition - * @{ - */ -#define SAI_FS_STARTFRAME 0x00000000U -#define SAI_FS_CHANNEL_IDENTIFICATION ((uint32_t)SAI_xFRCR_FSDEF) -/** - * @} - */ - -/** @defgroup SAI_Block_FS_Polarity SAI Block FS Polarity - * @{ - */ -#define SAI_FS_ACTIVE_LOW 0x00000000U -#define SAI_FS_ACTIVE_HIGH ((uint32_t)SAI_xFRCR_FSPOL) -/** - * @} - */ - -/** @defgroup SAI_Block_FS_Offset SAI Block FS Offset - * @{ - */ -#define SAI_FS_FIRSTBIT 0x00000000U -#define SAI_FS_BEFOREFIRSTBIT ((uint32_t)SAI_xFRCR_FSOFF) -/** - * @} - */ - -/** @defgroup SAI_Block_Slot_Size SAI Block Slot Size - * @{ - */ -#define SAI_SLOTSIZE_DATASIZE 0x00000000U -#define SAI_SLOTSIZE_16B ((uint32_t)SAI_xSLOTR_SLOTSZ_0) -#define SAI_SLOTSIZE_32B ((uint32_t)SAI_xSLOTR_SLOTSZ_1) -/** - * @} - */ - -/** @defgroup SAI_Block_Slot_Active SAI Block Slot Active - * @{ - */ -#define SAI_SLOT_NOTACTIVE 0x00000000U -#define SAI_SLOTACTIVE_0 0x00000001U -#define SAI_SLOTACTIVE_1 0x00000002U -#define SAI_SLOTACTIVE_2 0x00000004U -#define SAI_SLOTACTIVE_3 0x00000008U -#define SAI_SLOTACTIVE_4 0x00000010U -#define SAI_SLOTACTIVE_5 0x00000020U -#define SAI_SLOTACTIVE_6 0x00000040U -#define SAI_SLOTACTIVE_7 0x00000080U -#define SAI_SLOTACTIVE_8 0x00000100U -#define SAI_SLOTACTIVE_9 0x00000200U -#define SAI_SLOTACTIVE_10 0x00000400U -#define SAI_SLOTACTIVE_11 0x00000800U -#define SAI_SLOTACTIVE_12 0x00001000U -#define SAI_SLOTACTIVE_13 0x00002000U -#define SAI_SLOTACTIVE_14 0x00004000U -#define SAI_SLOTACTIVE_15 0x00008000U -#define SAI_SLOTACTIVE_ALL 0x0000FFFFU -/** - * @} - */ - -/** @defgroup SAI_Mono_Stereo_Mode SAI Mono Stereo Mode - * @{ - */ -#define SAI_STEREOMODE 0x00000000U -#define SAI_MONOMODE ((uint32_t)SAI_xCR1_MONO) -/** - * @} - */ - -/** @defgroup SAI_TRIState_Management SAI TRIState Management - * @{ - */ -#define SAI_OUTPUT_NOTRELEASED 0x00000000U -#define SAI_OUTPUT_RELEASED ((uint32_t)SAI_xCR2_TRIS) -/** - * @} - */ - -/** @defgroup SAI_Block_Fifo_Threshold SAI Block Fifo Threshold - * @{ - */ -#define SAI_FIFOTHRESHOLD_EMPTY 0x00000000U -#define SAI_FIFOTHRESHOLD_1QF ((uint32_t)(SAI_xCR2_FTH_0)) -#define SAI_FIFOTHRESHOLD_HF ((uint32_t)(SAI_xCR2_FTH_1)) -#define SAI_FIFOTHRESHOLD_3QF ((uint32_t)(SAI_xCR2_FTH_1 | SAI_xCR2_FTH_0)) -#define SAI_FIFOTHRESHOLD_FULL ((uint32_t)(SAI_xCR2_FTH_2)) -/** - * @} - */ - -/** @defgroup SAI_Block_Companding_Mode SAI Block Companding Mode - * @{ - */ -#define SAI_NOCOMPANDING 0x00000000U -#define SAI_ULAW_1CPL_COMPANDING ((uint32_t)(SAI_xCR2_COMP_1)) -#define SAI_ALAW_1CPL_COMPANDING ((uint32_t)(SAI_xCR2_COMP_1 | SAI_xCR2_COMP_0)) -#define SAI_ULAW_2CPL_COMPANDING ((uint32_t)(SAI_xCR2_COMP_1 | SAI_xCR2_CPL)) -#define SAI_ALAW_2CPL_COMPANDING ((uint32_t)(SAI_xCR2_COMP_1 | SAI_xCR2_COMP_0 | SAI_xCR2_CPL)) -/** - * @} - */ - -/** @defgroup SAI_Block_Mute_Value SAI Block Mute Value - * @{ - */ -#define SAI_ZERO_VALUE 0x00000000U -#define SAI_LAST_SENT_VALUE ((uint32_t)SAI_xCR2_MUTEVAL) -/** - * @} - */ - -/** @defgroup SAI_Block_Interrupts_Definition SAI Block Interrupts Definition - * @{ - */ -#define SAI_IT_OVRUDR ((uint32_t)SAI_xIMR_OVRUDRIE) -#define SAI_IT_MUTEDET ((uint32_t)SAI_xIMR_MUTEDETIE) -#define SAI_IT_WCKCFG ((uint32_t)SAI_xIMR_WCKCFGIE) -#define SAI_IT_FREQ ((uint32_t)SAI_xIMR_FREQIE) -#define SAI_IT_CNRDY ((uint32_t)SAI_xIMR_CNRDYIE) -#define SAI_IT_AFSDET ((uint32_t)SAI_xIMR_AFSDETIE) -#define SAI_IT_LFSDET ((uint32_t)SAI_xIMR_LFSDETIE) -/** - * @} - */ - -/** @defgroup SAI_Block_Flags_Definition SAI Block Flags Definition - * @{ - */ -#define SAI_FLAG_OVRUDR ((uint32_t)SAI_xSR_OVRUDR) -#define SAI_FLAG_MUTEDET ((uint32_t)SAI_xSR_MUTEDET) -#define SAI_FLAG_WCKCFG ((uint32_t)SAI_xSR_WCKCFG) -#define SAI_FLAG_FREQ ((uint32_t)SAI_xSR_FREQ) -#define SAI_FLAG_CNRDY ((uint32_t)SAI_xSR_CNRDY) -#define SAI_FLAG_AFSDET ((uint32_t)SAI_xSR_AFSDET) -#define SAI_FLAG_LFSDET ((uint32_t)SAI_xSR_LFSDET) -/** - * @} - */ - -/** @defgroup SAI_Block_Fifo_Status_Level SAI Block Fifo Status Level - * @{ - */ -#define SAI_FIFOSTATUS_EMPTY 0x00000000U -#define SAI_FIFOSTATUS_LESS1QUARTERFULL 0x00010000U -#define SAI_FIFOSTATUS_1QUARTERFULL 0x00020000U -#define SAI_FIFOSTATUS_HALFFULL 0x00030000U -#define SAI_FIFOSTATUS_3QUARTERFULL 0x00040000U -#define SAI_FIFOSTATUS_FULL 0x00050000U -/** - * @} - */ - -/** - * @} - */ - -/* Exported macro ------------------------------------------------------------*/ -/** @defgroup SAI_Exported_Macros SAI Exported Macros - * @brief macros to handle interrupts and specific configurations - * @{ - */ - -/** @brief Reset SAI handle state - * @param __HANDLE__ specifies the SAI Handle. - * @retval None - */ -#if (USE_HAL_SAI_REGISTER_CALLBACKS == 1) -#define __HAL_SAI_RESET_HANDLE_STATE(__HANDLE__) do{ \ - (__HANDLE__)->State = HAL_SAI_STATE_RESET; \ - (__HANDLE__)->MspInitCallback = NULL; \ - (__HANDLE__)->MspDeInitCallback = NULL; \ - } while(0U) -#else -#define __HAL_SAI_RESET_HANDLE_STATE(__HANDLE__) ((__HANDLE__)->State = HAL_SAI_STATE_RESET) -#endif /* USE_HAL_SAI_REGISTER_CALLBACKS */ - -/** @brief Enable or disable the specified SAI interrupts. - * @param __HANDLE__ specifies the SAI Handle. - * @param __INTERRUPT__ specifies the interrupt source to enable or disable. - * This parameter can be one of the following values: - * @arg SAI_IT_OVRUDR: Overrun underrun interrupt enable - * @arg SAI_IT_MUTEDET: Mute detection interrupt enable - * @arg SAI_IT_WCKCFG: Wrong Clock Configuration interrupt enable - * @arg SAI_IT_FREQ: FIFO request interrupt enable - * @arg SAI_IT_CNRDY: Codec not ready interrupt enable - * @arg SAI_IT_AFSDET: Anticipated frame synchronization detection interrupt enable - * @arg SAI_IT_LFSDET: Late frame synchronization detection interrupt enable - * @retval None - */ -#define __HAL_SAI_ENABLE_IT(__HANDLE__, __INTERRUPT__) ((__HANDLE__)->Instance->IMR |= (__INTERRUPT__)) -#define __HAL_SAI_DISABLE_IT(__HANDLE__, __INTERRUPT__) ((__HANDLE__)->Instance->IMR &= (~(__INTERRUPT__))) - -/** @brief Check if the specified SAI interrupt source is enabled or disabled. - * @param __HANDLE__ specifies the SAI Handle. - * This parameter can be SAI where x: 1, 2, or 3 to select the SAI peripheral. - * @param __INTERRUPT__ specifies the SAI interrupt source to check. - * This parameter can be one of the following values: - * @arg SAI_IT_OVRUDR: Overrun underrun interrupt enable - * @arg SAI_IT_MUTEDET: Mute detection interrupt enable - * @arg SAI_IT_WCKCFG: Wrong Clock Configuration interrupt enable - * @arg SAI_IT_FREQ: FIFO request interrupt enable - * @arg SAI_IT_CNRDY: Codec not ready interrupt enable - * @arg SAI_IT_AFSDET: Anticipated frame synchronization detection interrupt enable - * @arg SAI_IT_LFSDET: Late frame synchronization detection interrupt enable - * @retval The new state of __INTERRUPT__ (TRUE or FALSE). - */ -#define __HAL_SAI_GET_IT_SOURCE(__HANDLE__, __INTERRUPT__) ((((__HANDLE__)->Instance->IMR & (__INTERRUPT__)) == (__INTERRUPT__)) ? SET : RESET) - -/** @brief Check whether the specified SAI flag is set or not. - * @param __HANDLE__ specifies the SAI Handle. - * @param __FLAG__ specifies the flag to check. - * This parameter can be one of the following values: - * @arg SAI_FLAG_OVRUDR: Overrun underrun flag. - * @arg SAI_FLAG_MUTEDET: Mute detection flag. - * @arg SAI_FLAG_WCKCFG: Wrong Clock Configuration flag. - * @arg SAI_FLAG_FREQ: FIFO request flag. - * @arg SAI_FLAG_CNRDY: Codec not ready flag. - * @arg SAI_FLAG_AFSDET: Anticipated frame synchronization detection flag. - * @arg SAI_FLAG_LFSDET: Late frame synchronization detection flag. - * @retval The new state of __FLAG__ (TRUE or FALSE). - */ -#define __HAL_SAI_GET_FLAG(__HANDLE__, __FLAG__) ((((__HANDLE__)->Instance->SR) & (__FLAG__)) == (__FLAG__)) - -/** @brief Clear the specified SAI pending flag. - * @param __HANDLE__ specifies the SAI Handle. - * @param __FLAG__ specifies the flag to check. - * This parameter can be any combination of the following values: - * @arg SAI_FLAG_OVRUDR: Clear Overrun underrun - * @arg SAI_FLAG_MUTEDET: Clear Mute detection - * @arg SAI_FLAG_WCKCFG: Clear Wrong Clock Configuration - * @arg SAI_FLAG_FREQ: Clear FIFO request - * @arg SAI_FLAG_CNRDY: Clear Codec not ready - * @arg SAI_FLAG_AFSDET: Clear Anticipated frame synchronization detection - * @arg SAI_FLAG_LFSDET: Clear Late frame synchronization detection - * @retval None - */ -#define __HAL_SAI_CLEAR_FLAG(__HANDLE__, __FLAG__) ((__HANDLE__)->Instance->CLRFR = (__FLAG__)) - -/** @brief Enable SAI - * @param __HANDLE__ specifies the SAI Handle. - * @retval None - */ -#define __HAL_SAI_ENABLE(__HANDLE__) ((__HANDLE__)->Instance->CR1 |= SAI_xCR1_SAIEN) - -/** @brief Disable SAI - * @param __HANDLE__ specifies the SAI Handle. - * @retval None - */ -#define __HAL_SAI_DISABLE(__HANDLE__) ((__HANDLE__)->Instance->CR1 &= ~SAI_xCR1_SAIEN) - -/** - * @} - */ - -/* Include HAL SAI Extension module */ -#include "stm32f4xx_hal_sai_ex.h" - -/* Exported functions --------------------------------------------------------*/ -/** @addtogroup SAI_Exported_Functions - * @{ - */ - -/* Initialization/de-initialization functions **********************************/ -/** @addtogroup SAI_Exported_Functions_Group1 - * @{ - */ -HAL_StatusTypeDef HAL_SAI_InitProtocol(SAI_HandleTypeDef *hsai, uint32_t protocol, uint32_t datasize, uint32_t nbslot); -HAL_StatusTypeDef HAL_SAI_Init(SAI_HandleTypeDef *hsai); -HAL_StatusTypeDef HAL_SAI_DeInit(SAI_HandleTypeDef *hsai); -void HAL_SAI_MspInit(SAI_HandleTypeDef *hsai); -void HAL_SAI_MspDeInit(SAI_HandleTypeDef *hsai); - -#if (USE_HAL_SAI_REGISTER_CALLBACKS == 1) -/* SAI callbacks register/unregister functions ********************************/ -HAL_StatusTypeDef HAL_SAI_RegisterCallback(SAI_HandleTypeDef *hsai, - HAL_SAI_CallbackIDTypeDef CallbackID, - pSAI_CallbackTypeDef pCallback); -HAL_StatusTypeDef HAL_SAI_UnRegisterCallback(SAI_HandleTypeDef *hsai, - HAL_SAI_CallbackIDTypeDef CallbackID); -#endif /* USE_HAL_SAI_REGISTER_CALLBACKS */ -/** - * @} - */ - -/* I/O operation functions *****************************************************/ -/** @addtogroup SAI_Exported_Functions_Group2 - * @{ - */ -/* Blocking mode: Polling */ -HAL_StatusTypeDef HAL_SAI_Transmit(SAI_HandleTypeDef *hsai, uint8_t *pData, uint16_t Size, uint32_t Timeout); -HAL_StatusTypeDef HAL_SAI_Receive(SAI_HandleTypeDef *hsai, uint8_t *pData, uint16_t Size, uint32_t Timeout); - -/* Non-Blocking mode: Interrupt */ -HAL_StatusTypeDef HAL_SAI_Transmit_IT(SAI_HandleTypeDef *hsai, uint8_t *pData, uint16_t Size); -HAL_StatusTypeDef HAL_SAI_Receive_IT(SAI_HandleTypeDef *hsai, uint8_t *pData, uint16_t Size); - -/* Non-Blocking mode: DMA */ -HAL_StatusTypeDef HAL_SAI_Transmit_DMA(SAI_HandleTypeDef *hsai, uint8_t *pData, uint16_t Size); -HAL_StatusTypeDef HAL_SAI_Receive_DMA(SAI_HandleTypeDef *hsai, uint8_t *pData, uint16_t Size); -HAL_StatusTypeDef HAL_SAI_DMAPause(SAI_HandleTypeDef *hsai); -HAL_StatusTypeDef HAL_SAI_DMAResume(SAI_HandleTypeDef *hsai); -HAL_StatusTypeDef HAL_SAI_DMAStop(SAI_HandleTypeDef *hsai); - -/* Abort function */ -HAL_StatusTypeDef HAL_SAI_Abort(SAI_HandleTypeDef *hsai); - -/* Mute management */ -HAL_StatusTypeDef HAL_SAI_EnableTxMuteMode(SAI_HandleTypeDef *hsai, uint16_t val); -HAL_StatusTypeDef HAL_SAI_DisableTxMuteMode(SAI_HandleTypeDef *hsai); -HAL_StatusTypeDef HAL_SAI_EnableRxMuteMode(SAI_HandleTypeDef *hsai, SAIcallback callback, uint16_t counter); -HAL_StatusTypeDef HAL_SAI_DisableRxMuteMode(SAI_HandleTypeDef *hsai); - -/* SAI IRQHandler and Callbacks used in non blocking modes (Interrupt and DMA) */ -void HAL_SAI_IRQHandler(SAI_HandleTypeDef *hsai); -void HAL_SAI_TxHalfCpltCallback(SAI_HandleTypeDef *hsai); -void HAL_SAI_TxCpltCallback(SAI_HandleTypeDef *hsai); -void HAL_SAI_RxHalfCpltCallback(SAI_HandleTypeDef *hsai); -void HAL_SAI_RxCpltCallback(SAI_HandleTypeDef *hsai); -void HAL_SAI_ErrorCallback(SAI_HandleTypeDef *hsai); -/** - * @} - */ - -/** @addtogroup SAI_Exported_Functions_Group3 - * @{ - */ -/* Peripheral State functions ************************************************/ -HAL_SAI_StateTypeDef HAL_SAI_GetState(SAI_HandleTypeDef *hsai); -uint32_t HAL_SAI_GetError(SAI_HandleTypeDef *hsai); -/** - * @} - */ - -/** - * @} - */ - -/* Private macros ------------------------------------------------------------*/ -/** @addtogroup SAI_Private_Macros - * @{ - */ -#define IS_SAI_BLOCK_SYNCEXT(STATE) (((STATE) == SAI_SYNCEXT_DISABLE) ||\ - ((STATE) == SAI_SYNCEXT_OUTBLOCKA_ENABLE) ||\ - ((STATE) == SAI_SYNCEXT_OUTBLOCKB_ENABLE)) - -#define IS_SAI_SUPPORTED_PROTOCOL(PROTOCOL) (((PROTOCOL) == SAI_I2S_STANDARD) ||\ - ((PROTOCOL) == SAI_I2S_MSBJUSTIFIED) ||\ - ((PROTOCOL) == SAI_I2S_LSBJUSTIFIED) ||\ - ((PROTOCOL) == SAI_PCM_LONG) ||\ - ((PROTOCOL) == SAI_PCM_SHORT)) - -#define IS_SAI_PROTOCOL_DATASIZE(DATASIZE) (((DATASIZE) == SAI_PROTOCOL_DATASIZE_16BIT) ||\ - ((DATASIZE) == SAI_PROTOCOL_DATASIZE_16BITEXTENDED) ||\ - ((DATASIZE) == SAI_PROTOCOL_DATASIZE_24BIT) ||\ - ((DATASIZE) == SAI_PROTOCOL_DATASIZE_32BIT)) - -#define IS_SAI_AUDIO_FREQUENCY(AUDIO) (((AUDIO) == SAI_AUDIO_FREQUENCY_192K) || ((AUDIO) == SAI_AUDIO_FREQUENCY_96K) || \ - ((AUDIO) == SAI_AUDIO_FREQUENCY_48K) || ((AUDIO) == SAI_AUDIO_FREQUENCY_44K) || \ - ((AUDIO) == SAI_AUDIO_FREQUENCY_32K) || ((AUDIO) == SAI_AUDIO_FREQUENCY_22K) || \ - ((AUDIO) == SAI_AUDIO_FREQUENCY_16K) || ((AUDIO) == SAI_AUDIO_FREQUENCY_11K) || \ - ((AUDIO) == SAI_AUDIO_FREQUENCY_8K) || ((AUDIO) == SAI_AUDIO_FREQUENCY_MCKDIV)) - -#define IS_SAI_BLOCK_MODE(MODE) (((MODE) == SAI_MODEMASTER_TX) || \ - ((MODE) == SAI_MODEMASTER_RX) || \ - ((MODE) == SAI_MODESLAVE_TX) || \ - ((MODE) == SAI_MODESLAVE_RX)) - -#define IS_SAI_BLOCK_PROTOCOL(PROTOCOL) (((PROTOCOL) == SAI_FREE_PROTOCOL) || \ - ((PROTOCOL) == SAI_AC97_PROTOCOL) || \ - ((PROTOCOL) == SAI_SPDIF_PROTOCOL)) - -#define IS_SAI_BLOCK_DATASIZE(DATASIZE) (((DATASIZE) == SAI_DATASIZE_8) || \ - ((DATASIZE) == SAI_DATASIZE_10) || \ - ((DATASIZE) == SAI_DATASIZE_16) || \ - ((DATASIZE) == SAI_DATASIZE_20) || \ - ((DATASIZE) == SAI_DATASIZE_24) || \ - ((DATASIZE) == SAI_DATASIZE_32)) - -#define IS_SAI_BLOCK_FIRST_BIT(BIT) (((BIT) == SAI_FIRSTBIT_MSB) || \ - ((BIT) == SAI_FIRSTBIT_LSB)) - -#define IS_SAI_BLOCK_CLOCK_STROBING(CLOCK) (((CLOCK) == SAI_CLOCKSTROBING_FALLINGEDGE) || \ - ((CLOCK) == SAI_CLOCKSTROBING_RISINGEDGE)) - -#define IS_SAI_BLOCK_SYNCHRO(SYNCHRO) (((SYNCHRO) == SAI_ASYNCHRONOUS) || \ - ((SYNCHRO) == SAI_SYNCHRONOUS) || \ - ((SYNCHRO) == SAI_SYNCHRONOUS_EXT_SAI1) ||\ - ((SYNCHRO) == SAI_SYNCHRONOUS_EXT_SAI2)) - -#define IS_SAI_BLOCK_OUTPUT_DRIVE(DRIVE) (((DRIVE) == SAI_OUTPUTDRIVE_DISABLE) || \ - ((DRIVE) == SAI_OUTPUTDRIVE_ENABLE)) - -#define IS_SAI_BLOCK_NODIVIDER(NODIVIDER) (((NODIVIDER) == SAI_MASTERDIVIDER_ENABLE) || \ - ((NODIVIDER) == SAI_MASTERDIVIDER_DISABLE)) - -#define IS_SAI_BLOCK_MUTE_COUNTER(COUNTER) ((COUNTER) <= 63U) - -#define IS_SAI_BLOCK_MUTE_VALUE(VALUE) (((VALUE) == SAI_ZERO_VALUE) || \ - ((VALUE) == SAI_LAST_SENT_VALUE)) - -#define IS_SAI_BLOCK_COMPANDING_MODE(MODE) (((MODE) == SAI_NOCOMPANDING) || \ - ((MODE) == SAI_ULAW_1CPL_COMPANDING) || \ - ((MODE) == SAI_ALAW_1CPL_COMPANDING) || \ - ((MODE) == SAI_ULAW_2CPL_COMPANDING) || \ - ((MODE) == SAI_ALAW_2CPL_COMPANDING)) - -#define IS_SAI_BLOCK_FIFO_THRESHOLD(THRESHOLD) (((THRESHOLD) == SAI_FIFOTHRESHOLD_EMPTY) || \ - ((THRESHOLD) == SAI_FIFOTHRESHOLD_1QF) || \ - ((THRESHOLD) == SAI_FIFOTHRESHOLD_HF) || \ - ((THRESHOLD) == SAI_FIFOTHRESHOLD_3QF) || \ - ((THRESHOLD) == SAI_FIFOTHRESHOLD_FULL)) - -#define IS_SAI_BLOCK_TRISTATE_MANAGEMENT(STATE) (((STATE) == SAI_OUTPUT_NOTRELEASED) ||\ - ((STATE) == SAI_OUTPUT_RELEASED)) - -#define IS_SAI_MONO_STEREO_MODE(MODE) (((MODE) == SAI_MONOMODE) ||\ - ((MODE) == SAI_STEREOMODE)) - -#define IS_SAI_SLOT_ACTIVE(ACTIVE) ((ACTIVE) <= SAI_SLOTACTIVE_ALL) - -#define IS_SAI_BLOCK_SLOT_NUMBER(NUMBER) ((1U <= (NUMBER)) && ((NUMBER) <= 16U)) - -#define IS_SAI_BLOCK_SLOT_SIZE(SIZE) (((SIZE) == SAI_SLOTSIZE_DATASIZE) || \ - ((SIZE) == SAI_SLOTSIZE_16B) || \ - ((SIZE) == SAI_SLOTSIZE_32B)) - -#define IS_SAI_BLOCK_FIRSTBIT_OFFSET(OFFSET) ((OFFSET) <= 24U) - -#define IS_SAI_BLOCK_FS_OFFSET(OFFSET) (((OFFSET) == SAI_FS_FIRSTBIT) || \ - ((OFFSET) == SAI_FS_BEFOREFIRSTBIT)) - -#define IS_SAI_BLOCK_FS_POLARITY(POLARITY) (((POLARITY) == SAI_FS_ACTIVE_LOW) || \ - ((POLARITY) == SAI_FS_ACTIVE_HIGH)) - -#define IS_SAI_BLOCK_FS_DEFINITION(DEFINITION) (((DEFINITION) == SAI_FS_STARTFRAME) || \ - ((DEFINITION) == SAI_FS_CHANNEL_IDENTIFICATION)) - -#define IS_SAI_BLOCK_MASTER_DIVIDER(DIVIDER) ((DIVIDER) <= 15U) - -#define IS_SAI_BLOCK_FRAME_LENGTH(LENGTH) ((8U <= (LENGTH)) && ((LENGTH) <= 256U)) - -#define IS_SAI_BLOCK_ACTIVE_FRAME(LENGTH) ((1U <= (LENGTH)) && ((LENGTH) <= 128U)) - -/** - * @} - */ - -/* Private functions ---------------------------------------------------------*/ -/** @defgroup SAI_Private_Functions SAI Private Functions - * @{ - */ - -/** - * @} - */ - -/** - * @} - */ - -#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || STM32F446xx || STM32F469xx || STM32F479xx || STM32F413xx || STM32F423xx */ - -/** - * @} - */ - -#ifdef __cplusplus -} -#endif - -#endif /* __STM32F4xx_HAL_SAI_H */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_sai_ex.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_sai_ex.h deleted file mode 100644 index fbd44979deed2b..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_sai_ex.h +++ /dev/null @@ -1,116 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_sai_ex.h - * @author MCD Application Team - * @brief Header file of SAI Extension HAL module. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef __STM32F4xx_HAL_SAI_EX_H -#define __STM32F4xx_HAL_SAI_EX_H - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal_def.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @addtogroup SAIEx - * @{ - */ - -#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) || \ - defined(STM32F446xx) || defined(STM32F469xx) || defined(STM32F479xx) || defined(STM32F413xx) || \ - defined(STM32F423xx) - -/* Exported types ------------------------------------------------------------*/ -/* Exported constants --------------------------------------------------------*/ -/** @defgroup SAI_Clock_Source SAI Clock Source - * @{ - */ -#if defined(STM32F413xx) || defined(STM32F423xx) -#define SAI_CLKSOURCE_PLLI2S 0x00000000U -#define SAI_CLKSOURCE_EXT 0x00100000U -#define SAI_CLKSOURCE_PLLR 0x00200000U -#define SAI_CLKSOURCE_HS 0x00300000U -#else -#define SAI_CLKSOURCE_PLLSAI 0x00000000U -#define SAI_CLKSOURCE_PLLI2S 0x00100000U -#define SAI_CLKSOURCE_EXT 0x00200000U -#define SAI_CLKSOURCE_NA 0x00400000U /*!< No applicable for STM32F446xx */ -#endif - - -/** - * @} - */ - -/* Exported functions --------------------------------------------------------*/ -/** @addtogroup SAIEx_Exported_Functions - * @{ - */ - -/** @addtogroup SAIEx_Exported_Functions_Group1 - * @{ - */ - -/* Extended features functions ************************************************/ -void SAI_BlockSynchroConfig(SAI_HandleTypeDef *hsai); -uint32_t SAI_GetInputClock(SAI_HandleTypeDef *hsai); -/** - * @} - */ - -/** - * @} - */ -/* Private types -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private constants ---------------------------------------------------------*/ -/* Private macros ------------------------------------------------------------*/ -#if defined(STM32F413xx) || defined(STM32F423xx) -#define IS_SAI_CLK_SOURCE(SOURCE) (((SOURCE) == SAI_CLKSOURCE_PLLI2S) ||\ - ((SOURCE) == SAI_CLKSOURCE_EXT)||\ - ((SOURCE) == SAI_CLKSOURCE_PLLR)||\ - ((SOURCE) == SAI_CLKSOURCE_HS)) -#else -#define IS_SAI_CLK_SOURCE(SOURCE) (((SOURCE) == SAI_CLKSOURCE_PLLSAI) ||\ - ((SOURCE) == SAI_CLKSOURCE_EXT)||\ - ((SOURCE) == SAI_CLKSOURCE_PLLI2S)||\ - ((SOURCE) == SAI_CLKSOURCE_NA)) -#endif -/* Private functions ---------------------------------------------------------*/ - -#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || STM32F446xx || STM32F469xx || STM32F479xx || STM32F413xx || STM32F423xx */ -/** - * @} - */ - -/** - * @} - */ - -#ifdef __cplusplus -} -#endif - -#endif /* __STM32F4xx_HAL_SAI_EX_H */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_sd.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_sd.h deleted file mode 100644 index e82e7e0ce0ada1..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_sd.h +++ /dev/null @@ -1,761 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_sd.h - * @author MCD Application Team - * @brief Header file of SD HAL module. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef STM32F4xx_HAL_SD_H -#define STM32F4xx_HAL_SD_H - -#ifdef __cplusplus - extern "C" { -#endif - -#if defined(SDIO) - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_ll_sdmmc.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @defgroup SD SD - * @brief SD HAL module driver - * @{ - */ - -/* Exported types ------------------------------------------------------------*/ -/** @defgroup SD_Exported_Types SD Exported Types - * @{ - */ - -/** @defgroup SD_Exported_Types_Group1 SD State enumeration structure - * @{ - */ -typedef enum -{ - HAL_SD_STATE_RESET = 0x00000000U, /*!< SD not yet initialized or disabled */ - HAL_SD_STATE_READY = 0x00000001U, /*!< SD initialized and ready for use */ - HAL_SD_STATE_TIMEOUT = 0x00000002U, /*!< SD Timeout state */ - HAL_SD_STATE_BUSY = 0x00000003U, /*!< SD process ongoing */ - HAL_SD_STATE_PROGRAMMING = 0x00000004U, /*!< SD Programming State */ - HAL_SD_STATE_RECEIVING = 0x00000005U, /*!< SD Receiving State */ - HAL_SD_STATE_TRANSFER = 0x00000006U, /*!< SD Transfer State */ - HAL_SD_STATE_ERROR = 0x0000000FU /*!< SD is in error state */ -}HAL_SD_StateTypeDef; -/** - * @} - */ - -/** @defgroup SD_Exported_Types_Group2 SD Card State enumeration structure - * @{ - */ -typedef uint32_t HAL_SD_CardStateTypeDef; - -#define HAL_SD_CARD_READY 0x00000001U /*!< Card state is ready */ -#define HAL_SD_CARD_IDENTIFICATION 0x00000002U /*!< Card is in identification state */ -#define HAL_SD_CARD_STANDBY 0x00000003U /*!< Card is in standby state */ -#define HAL_SD_CARD_TRANSFER 0x00000004U /*!< Card is in transfer state */ -#define HAL_SD_CARD_SENDING 0x00000005U /*!< Card is sending an operation */ -#define HAL_SD_CARD_RECEIVING 0x00000006U /*!< Card is receiving operation information */ -#define HAL_SD_CARD_PROGRAMMING 0x00000007U /*!< Card is in programming state */ -#define HAL_SD_CARD_DISCONNECTED 0x00000008U /*!< Card is disconnected */ -#define HAL_SD_CARD_ERROR 0x000000FFU /*!< Card response Error */ -/** - * @} - */ - -/** @defgroup SD_Exported_Types_Group3 SD Handle Structure definition - * @{ - */ -#define SD_InitTypeDef SDIO_InitTypeDef -#define SD_TypeDef SDIO_TypeDef - -/** - * @brief SD Card Information Structure definition - */ -typedef struct -{ - uint32_t CardType; /*!< Specifies the card Type */ - - uint32_t CardVersion; /*!< Specifies the card version */ - - uint32_t Class; /*!< Specifies the class of the card class */ - - uint32_t RelCardAdd; /*!< Specifies the Relative Card Address */ - - uint32_t BlockNbr; /*!< Specifies the Card Capacity in blocks */ - - uint32_t BlockSize; /*!< Specifies one block size in bytes */ - - uint32_t LogBlockNbr; /*!< Specifies the Card logical Capacity in blocks */ - - uint32_t LogBlockSize; /*!< Specifies logical block size in bytes */ - -}HAL_SD_CardInfoTypeDef; - -/** - * @brief SD handle Structure definition - */ -#if defined (USE_HAL_SD_REGISTER_CALLBACKS) && (USE_HAL_SD_REGISTER_CALLBACKS == 1U) -typedef struct __SD_HandleTypeDef -#else -typedef struct -#endif /* USE_HAL_SD_REGISTER_CALLBACKS */ -{ - SD_TypeDef *Instance; /*!< SD registers base address */ - - SD_InitTypeDef Init; /*!< SD required parameters */ - - HAL_LockTypeDef Lock; /*!< SD locking object */ - - uint8_t *pTxBuffPtr; /*!< Pointer to SD Tx transfer Buffer */ - - uint32_t TxXferSize; /*!< SD Tx Transfer size */ - - uint8_t *pRxBuffPtr; /*!< Pointer to SD Rx transfer Buffer */ - - uint32_t RxXferSize; /*!< SD Rx Transfer size */ - - __IO uint32_t Context; /*!< SD transfer context */ - - __IO HAL_SD_StateTypeDef State; /*!< SD card State */ - - __IO uint32_t ErrorCode; /*!< SD Card Error codes */ - - DMA_HandleTypeDef *hdmatx; /*!< SD Tx DMA handle parameters */ - - DMA_HandleTypeDef *hdmarx; /*!< SD Rx DMA handle parameters */ - - HAL_SD_CardInfoTypeDef SdCard; /*!< SD Card information */ - - uint32_t CSD[4]; /*!< SD card specific data table */ - - uint32_t CID[4]; /*!< SD card identification number table */ - -#if defined (USE_HAL_SD_REGISTER_CALLBACKS) && (USE_HAL_SD_REGISTER_CALLBACKS == 1U) - void (* TxCpltCallback) (struct __SD_HandleTypeDef *hsd); - void (* RxCpltCallback) (struct __SD_HandleTypeDef *hsd); - void (* ErrorCallback) (struct __SD_HandleTypeDef *hsd); - void (* AbortCpltCallback) (struct __SD_HandleTypeDef *hsd); - - void (* MspInitCallback) (struct __SD_HandleTypeDef *hsd); - void (* MspDeInitCallback) (struct __SD_HandleTypeDef *hsd); -#endif /* USE_HAL_SD_REGISTER_CALLBACKS */ -}SD_HandleTypeDef; - -/** - * @} - */ - -/** @defgroup SD_Exported_Types_Group4 Card Specific Data: CSD Register - * @{ - */ -typedef struct -{ - __IO uint8_t CSDStruct; /*!< CSD structure */ - __IO uint8_t SysSpecVersion; /*!< System specification version */ - __IO uint8_t Reserved1; /*!< Reserved */ - __IO uint8_t TAAC; /*!< Data read access time 1 */ - __IO uint8_t NSAC; /*!< Data read access time 2 in CLK cycles */ - __IO uint8_t MaxBusClkFrec; /*!< Max. bus clock frequency */ - __IO uint16_t CardComdClasses; /*!< Card command classes */ - __IO uint8_t RdBlockLen; /*!< Max. read data block length */ - __IO uint8_t PartBlockRead; /*!< Partial blocks for read allowed */ - __IO uint8_t WrBlockMisalign; /*!< Write block misalignment */ - __IO uint8_t RdBlockMisalign; /*!< Read block misalignment */ - __IO uint8_t DSRImpl; /*!< DSR implemented */ - __IO uint8_t Reserved2; /*!< Reserved */ - __IO uint32_t DeviceSize; /*!< Device Size */ - __IO uint8_t MaxRdCurrentVDDMin; /*!< Max. read current @ VDD min */ - __IO uint8_t MaxRdCurrentVDDMax; /*!< Max. read current @ VDD max */ - __IO uint8_t MaxWrCurrentVDDMin; /*!< Max. write current @ VDD min */ - __IO uint8_t MaxWrCurrentVDDMax; /*!< Max. write current @ VDD max */ - __IO uint8_t DeviceSizeMul; /*!< Device size multiplier */ - __IO uint8_t EraseGrSize; /*!< Erase group size */ - __IO uint8_t EraseGrMul; /*!< Erase group size multiplier */ - __IO uint8_t WrProtectGrSize; /*!< Write protect group size */ - __IO uint8_t WrProtectGrEnable; /*!< Write protect group enable */ - __IO uint8_t ManDeflECC; /*!< Manufacturer default ECC */ - __IO uint8_t WrSpeedFact; /*!< Write speed factor */ - __IO uint8_t MaxWrBlockLen; /*!< Max. write data block length */ - __IO uint8_t WriteBlockPaPartial; /*!< Partial blocks for write allowed */ - __IO uint8_t Reserved3; /*!< Reserved */ - __IO uint8_t ContentProtectAppli; /*!< Content protection application */ - __IO uint8_t FileFormatGroup; /*!< File format group */ - __IO uint8_t CopyFlag; /*!< Copy flag (OTP) */ - __IO uint8_t PermWrProtect; /*!< Permanent write protection */ - __IO uint8_t TempWrProtect; /*!< Temporary write protection */ - __IO uint8_t FileFormat; /*!< File format */ - __IO uint8_t ECC; /*!< ECC code */ - __IO uint8_t CSD_CRC; /*!< CSD CRC */ - __IO uint8_t Reserved4; /*!< Always 1 */ -}HAL_SD_CardCSDTypeDef; -/** - * @} - */ - -/** @defgroup SD_Exported_Types_Group5 Card Identification Data: CID Register - * @{ - */ -typedef struct -{ - __IO uint8_t ManufacturerID; /*!< Manufacturer ID */ - __IO uint16_t OEM_AppliID; /*!< OEM/Application ID */ - __IO uint32_t ProdName1; /*!< Product Name part1 */ - __IO uint8_t ProdName2; /*!< Product Name part2 */ - __IO uint8_t ProdRev; /*!< Product Revision */ - __IO uint32_t ProdSN; /*!< Product Serial Number */ - __IO uint8_t Reserved1; /*!< Reserved1 */ - __IO uint16_t ManufactDate; /*!< Manufacturing Date */ - __IO uint8_t CID_CRC; /*!< CID CRC */ - __IO uint8_t Reserved2; /*!< Always 1 */ - -}HAL_SD_CardCIDTypeDef; -/** - * @} - */ - -/** @defgroup SD_Exported_Types_Group6 SD Card Status returned by ACMD13 - * @{ - */ -typedef struct -{ - __IO uint8_t DataBusWidth; /*!< Shows the currently defined data bus width */ - __IO uint8_t SecuredMode; /*!< Card is in secured mode of operation */ - __IO uint16_t CardType; /*!< Carries information about card type */ - __IO uint32_t ProtectedAreaSize; /*!< Carries information about the capacity of protected area */ - __IO uint8_t SpeedClass; /*!< Carries information about the speed class of the card */ - __IO uint8_t PerformanceMove; /*!< Carries information about the card's performance move */ - __IO uint8_t AllocationUnitSize; /*!< Carries information about the card's allocation unit size */ - __IO uint16_t EraseSize; /*!< Determines the number of AUs to be erased in one operation */ - __IO uint8_t EraseTimeout; /*!< Determines the timeout for any number of AU erase */ - __IO uint8_t EraseOffset; /*!< Carries information about the erase offset */ - -}HAL_SD_CardStatusTypeDef; -/** - * @} - */ - -#if defined (USE_HAL_SD_REGISTER_CALLBACKS) && (USE_HAL_SD_REGISTER_CALLBACKS == 1U) -/** @defgroup SD_Exported_Types_Group7 SD Callback ID enumeration definition - * @{ - */ -typedef enum -{ - HAL_SD_TX_CPLT_CB_ID = 0x00U, /*!< SD Tx Complete Callback ID */ - HAL_SD_RX_CPLT_CB_ID = 0x01U, /*!< SD Rx Complete Callback ID */ - HAL_SD_ERROR_CB_ID = 0x02U, /*!< SD Error Callback ID */ - HAL_SD_ABORT_CB_ID = 0x03U, /*!< SD Abort Callback ID */ - - HAL_SD_MSP_INIT_CB_ID = 0x10U, /*!< SD MspInit Callback ID */ - HAL_SD_MSP_DEINIT_CB_ID = 0x11U /*!< SD MspDeInit Callback ID */ -}HAL_SD_CallbackIDTypeDef; -/** - * @} - */ - -/** @defgroup SD_Exported_Types_Group8 SD Callback pointer definition - * @{ - */ -typedef void (*pSD_CallbackTypeDef) (SD_HandleTypeDef *hsd); -/** - * @} - */ -#endif /* USE_HAL_SD_REGISTER_CALLBACKS */ -/** - * @} - */ - -/* Exported constants --------------------------------------------------------*/ -/** @defgroup SD_Exported_Constants Exported Constants - * @{ - */ - -#define BLOCKSIZE 512U /*!< Block size is 512 bytes */ - -/** @defgroup SD_Exported_Constansts_Group1 SD Error status enumeration Structure definition - * @{ - */ -#define HAL_SD_ERROR_NONE SDMMC_ERROR_NONE /*!< No error */ -#define HAL_SD_ERROR_CMD_CRC_FAIL SDMMC_ERROR_CMD_CRC_FAIL /*!< Command response received (but CRC check failed) */ -#define HAL_SD_ERROR_DATA_CRC_FAIL SDMMC_ERROR_DATA_CRC_FAIL /*!< Data block sent/received (CRC check failed) */ -#define HAL_SD_ERROR_CMD_RSP_TIMEOUT SDMMC_ERROR_CMD_RSP_TIMEOUT /*!< Command response timeout */ -#define HAL_SD_ERROR_DATA_TIMEOUT SDMMC_ERROR_DATA_TIMEOUT /*!< Data timeout */ -#define HAL_SD_ERROR_TX_UNDERRUN SDMMC_ERROR_TX_UNDERRUN /*!< Transmit FIFO underrun */ -#define HAL_SD_ERROR_RX_OVERRUN SDMMC_ERROR_RX_OVERRUN /*!< Receive FIFO overrun */ -#define HAL_SD_ERROR_ADDR_MISALIGNED SDMMC_ERROR_ADDR_MISALIGNED /*!< Misaligned address */ -#define HAL_SD_ERROR_BLOCK_LEN_ERR SDMMC_ERROR_BLOCK_LEN_ERR /*!< Transferred block length is not allowed for the card or the - number of transferred bytes does not match the block length */ -#define HAL_SD_ERROR_ERASE_SEQ_ERR SDMMC_ERROR_ERASE_SEQ_ERR /*!< An error in the sequence of erase command occurs */ -#define HAL_SD_ERROR_BAD_ERASE_PARAM SDMMC_ERROR_BAD_ERASE_PARAM /*!< An invalid selection for erase groups */ -#define HAL_SD_ERROR_WRITE_PROT_VIOLATION SDMMC_ERROR_WRITE_PROT_VIOLATION /*!< Attempt to program a write protect block */ -#define HAL_SD_ERROR_LOCK_UNLOCK_FAILED SDMMC_ERROR_LOCK_UNLOCK_FAILED /*!< Sequence or password error has been detected in unlock - command or if there was an attempt to access a locked card */ -#define HAL_SD_ERROR_COM_CRC_FAILED SDMMC_ERROR_COM_CRC_FAILED /*!< CRC check of the previous command failed */ -#define HAL_SD_ERROR_ILLEGAL_CMD SDMMC_ERROR_ILLEGAL_CMD /*!< Command is not legal for the card state */ -#define HAL_SD_ERROR_CARD_ECC_FAILED SDMMC_ERROR_CARD_ECC_FAILED /*!< Card internal ECC was applied but failed to correct the data */ -#define HAL_SD_ERROR_CC_ERR SDMMC_ERROR_CC_ERR /*!< Internal card controller error */ -#define HAL_SD_ERROR_GENERAL_UNKNOWN_ERR SDMMC_ERROR_GENERAL_UNKNOWN_ERR /*!< General or unknown error */ -#define HAL_SD_ERROR_STREAM_READ_UNDERRUN SDMMC_ERROR_STREAM_READ_UNDERRUN /*!< The card could not sustain data reading in stream rmode */ -#define HAL_SD_ERROR_STREAM_WRITE_OVERRUN SDMMC_ERROR_STREAM_WRITE_OVERRUN /*!< The card could not sustain data programming in stream mode */ -#define HAL_SD_ERROR_CID_CSD_OVERWRITE SDMMC_ERROR_CID_CSD_OVERWRITE /*!< CID/CSD overwrite error */ -#define HAL_SD_ERROR_WP_ERASE_SKIP SDMMC_ERROR_WP_ERASE_SKIP /*!< Only partial address space was erased */ -#define HAL_SD_ERROR_CARD_ECC_DISABLED SDMMC_ERROR_CARD_ECC_DISABLED /*!< Command has been executed without using internal ECC */ -#define HAL_SD_ERROR_ERASE_RESET SDMMC_ERROR_ERASE_RESET /*!< Erase sequence was cleared before executing because an out - of erase sequence command was received */ -#define HAL_SD_ERROR_AKE_SEQ_ERR SDMMC_ERROR_AKE_SEQ_ERR /*!< Error in sequence of authentication */ -#define HAL_SD_ERROR_INVALID_VOLTRANGE SDMMC_ERROR_INVALID_VOLTRANGE /*!< Error in case of invalid voltage range */ -#define HAL_SD_ERROR_ADDR_OUT_OF_RANGE SDMMC_ERROR_ADDR_OUT_OF_RANGE /*!< Error when addressed block is out of range */ -#define HAL_SD_ERROR_REQUEST_NOT_APPLICABLE SDMMC_ERROR_REQUEST_NOT_APPLICABLE /*!< Error when command request is not applicable */ -#define HAL_SD_ERROR_PARAM SDMMC_ERROR_INVALID_PARAMETER /*!< the used parameter is not valid */ -#define HAL_SD_ERROR_UNSUPPORTED_FEATURE SDMMC_ERROR_UNSUPPORTED_FEATURE /*!< Error when feature is not insupported */ -#define HAL_SD_ERROR_BUSY SDMMC_ERROR_BUSY /*!< Error when transfer process is busy */ -#define HAL_SD_ERROR_DMA SDMMC_ERROR_DMA /*!< Error while DMA transfer */ -#define HAL_SD_ERROR_TIMEOUT SDMMC_ERROR_TIMEOUT /*!< Timeout error */ - -#if defined (USE_HAL_SD_REGISTER_CALLBACKS) && (USE_HAL_SD_REGISTER_CALLBACKS == 1U) -#define HAL_SD_ERROR_INVALID_CALLBACK SDMMC_ERROR_INVALID_PARAMETER /*!< Invalid callback error */ -#endif /* USE_HAL_SD_REGISTER_CALLBACKS */ -/** - * @} - */ - -/** @defgroup SD_Exported_Constansts_Group2 SD context enumeration - * @{ - */ -#define SD_CONTEXT_NONE 0x00000000U /*!< None */ -#define SD_CONTEXT_READ_SINGLE_BLOCK 0x00000001U /*!< Read single block operation */ -#define SD_CONTEXT_READ_MULTIPLE_BLOCK 0x00000002U /*!< Read multiple blocks operation */ -#define SD_CONTEXT_WRITE_SINGLE_BLOCK 0x00000010U /*!< Write single block operation */ -#define SD_CONTEXT_WRITE_MULTIPLE_BLOCK 0x00000020U /*!< Write multiple blocks operation */ -#define SD_CONTEXT_IT 0x00000008U /*!< Process in Interrupt mode */ -#define SD_CONTEXT_DMA 0x00000080U /*!< Process in DMA mode */ - -/** - * @} - */ - -/** @defgroup SD_Exported_Constansts_Group3 SD Supported Memory Cards - * @{ - */ -#define CARD_SDSC 0x00000000U /*!< SD Standard Capacity <2Go */ -#define CARD_SDHC_SDXC 0x00000001U /*!< SD High Capacity <32Go, SD Extended Capacity <2To */ -#define CARD_SECURED 0x00000003U - -/** - * @} - */ - -/** @defgroup SD_Exported_Constansts_Group4 SD Supported Version - * @{ - */ -#define CARD_V1_X 0x00000000U -#define CARD_V2_X 0x00000001U -/** - * @} - */ - -/** - * @} - */ - -/* Exported macro ------------------------------------------------------------*/ -/** @defgroup SD_Exported_macros SD Exported Macros - * @brief macros to handle interrupts and specific clock configurations - * @{ - */ -/** @brief Reset SD handle state. - * @param __HANDLE__ : SD handle. - * @retval None - */ -#if defined (USE_HAL_SD_REGISTER_CALLBACKS) && (USE_HAL_SD_REGISTER_CALLBACKS == 1U) -#define __HAL_SD_RESET_HANDLE_STATE(__HANDLE__) do { \ - (__HANDLE__)->State = HAL_SD_STATE_RESET; \ - (__HANDLE__)->MspInitCallback = NULL; \ - (__HANDLE__)->MspDeInitCallback = NULL; \ - } while(0) -#else -#define __HAL_SD_RESET_HANDLE_STATE(__HANDLE__) ((__HANDLE__)->State = HAL_SD_STATE_RESET) -#endif /* USE_HAL_SD_REGISTER_CALLBACKS */ - -/** - * @brief Enable the SD device. - * @retval None - */ -#define __HAL_SD_ENABLE(__HANDLE__) __SDIO_ENABLE((__HANDLE__)->Instance) - -/** - * @brief Disable the SD device. - * @retval None - */ -#define __HAL_SD_DISABLE(__HANDLE__) __SDIO_DISABLE((__HANDLE__)->Instance) - -/** - * @brief Enable the SDMMC DMA transfer. - * @retval None - */ -#define __HAL_SD_DMA_ENABLE(__HANDLE__) __SDIO_DMA_ENABLE((__HANDLE__)->Instance) - -/** - * @brief Disable the SDMMC DMA transfer. - * @retval None - */ -#define __HAL_SD_DMA_DISABLE(__HANDLE__) __SDIO_DMA_DISABLE((__HANDLE__)->Instance) - -/** - * @brief Enable the SD device interrupt. - * @param __HANDLE__: SD Handle - * @param __INTERRUPT__: specifies the SDMMC interrupt sources to be enabled. - * This parameter can be one or a combination of the following values: - * @arg SDIO_IT_CCRCFAIL: Command response received (CRC check failed) interrupt - * @arg SDIO_IT_DCRCFAIL: Data block sent/received (CRC check failed) interrupt - * @arg SDIO_IT_CTIMEOUT: Command response timeout interrupt - * @arg SDIO_IT_DTIMEOUT: Data timeout interrupt - * @arg SDIO_IT_TXUNDERR: Transmit FIFO underrun error interrupt - * @arg SDIO_IT_RXOVERR: Received FIFO overrun error interrupt - * @arg SDIO_IT_CMDREND: Command response received (CRC check passed) interrupt - * @arg SDIO_IT_CMDSENT: Command sent (no response required) interrupt - * @arg SDIO_IT_DATAEND: Data end (data counter, DATACOUNT, is zero) interrupt - * @arg SDIO_IT_DBCKEND: Data block sent/received (CRC check passed) interrupt - * @arg SDIO_IT_CMDACT: Command transfer in progress interrupt - * @arg SDIO_IT_TXACT: Data transmit in progress interrupt - * @arg SDIO_IT_RXACT: Data receive in progress interrupt - * @arg SDIO_IT_TXFIFOHE: Transmit FIFO Half Empty interrupt - * @arg SDIO_IT_RXFIFOHF: Receive FIFO Half Full interrupt - * @arg SDIO_IT_TXFIFOF: Transmit FIFO full interrupt - * @arg SDIO_IT_RXFIFOF: Receive FIFO full interrupt - * @arg SDIO_IT_TXFIFOE: Transmit FIFO empty interrupt - * @arg SDIO_IT_RXFIFOE: Receive FIFO empty interrupt - * @arg SDIO_IT_TXDAVL: Data available in transmit FIFO interrupt - * @arg SDIO_IT_RXDAVL: Data available in receive FIFO interrupt - * @arg SDIO_IT_SDIOIT: SDIO interrupt received interrupt - * @retval None - */ -#define __HAL_SD_ENABLE_IT(__HANDLE__, __INTERRUPT__) __SDIO_ENABLE_IT((__HANDLE__)->Instance, (__INTERRUPT__)) - -/** - * @brief Disable the SD device interrupt. - * @param __HANDLE__: SD Handle - * @param __INTERRUPT__: specifies the SDMMC interrupt sources to be disabled. - * This parameter can be one or a combination of the following values: - * @arg SDIO_IT_CCRCFAIL: Command response received (CRC check failed) interrupt - * @arg SDIO_IT_DCRCFAIL: Data block sent/received (CRC check failed) interrupt - * @arg SDIO_IT_CTIMEOUT: Command response timeout interrupt - * @arg SDIO_IT_DTIMEOUT: Data timeout interrupt - * @arg SDIO_IT_TXUNDERR: Transmit FIFO underrun error interrupt - * @arg SDIO_IT_RXOVERR: Received FIFO overrun error interrupt - * @arg SDIO_IT_CMDREND: Command response received (CRC check passed) interrupt - * @arg SDIO_IT_CMDSENT: Command sent (no response required) interrupt - * @arg SDIO_IT_DATAEND: Data end (data counter, DATACOUNT, is zero) interrupt - * @arg SDIO_IT_DBCKEND: Data block sent/received (CRC check passed) interrupt - * @arg SDIO_IT_CMDACT: Command transfer in progress interrupt - * @arg SDIO_IT_TXACT: Data transmit in progress interrupt - * @arg SDIO_IT_RXACT: Data receive in progress interrupt - * @arg SDIO_IT_TXFIFOHE: Transmit FIFO Half Empty interrupt - * @arg SDIO_IT_RXFIFOHF: Receive FIFO Half Full interrupt - * @arg SDIO_IT_TXFIFOF: Transmit FIFO full interrupt - * @arg SDIO_IT_RXFIFOF: Receive FIFO full interrupt - * @arg SDIO_IT_TXFIFOE: Transmit FIFO empty interrupt - * @arg SDIO_IT_RXFIFOE: Receive FIFO empty interrupt - * @arg SDIO_IT_TXDAVL: Data available in transmit FIFO interrupt - * @arg SDIO_IT_RXDAVL: Data available in receive FIFO interrupt - * @arg SDIO_IT_SDIOIT: SDIO interrupt received interrupt - * @retval None - */ -#define __HAL_SD_DISABLE_IT(__HANDLE__, __INTERRUPT__) __SDIO_DISABLE_IT((__HANDLE__)->Instance, (__INTERRUPT__)) - -/** - * @brief Check whether the specified SD flag is set or not. - * @param __HANDLE__: SD Handle - * @param __FLAG__: specifies the flag to check. - * This parameter can be one of the following values: - * @arg SDIO_FLAG_CCRCFAIL: Command response received (CRC check failed) - * @arg SDIO_FLAG_DCRCFAIL: Data block sent/received (CRC check failed) - * @arg SDIO_FLAG_CTIMEOUT: Command response timeout - * @arg SDIO_FLAG_DTIMEOUT: Data timeout - * @arg SDIO_FLAG_TXUNDERR: Transmit FIFO underrun error - * @arg SDIO_FLAG_RXOVERR: Received FIFO overrun error - * @arg SDIO_FLAG_CMDREND: Command response received (CRC check passed) - * @arg SDIO_FLAG_CMDSENT: Command sent (no response required) - * @arg SDIO_FLAG_DATAEND: Data end (data counter, DATACOUNT, is zero) - * @arg SDIO_FLAG_DBCKEND: Data block sent/received (CRC check passed) - * @arg SDIO_FLAG_CMDACT: Command transfer in progress - * @arg SDIO_FLAG_TXACT: Data transmit in progress - * @arg SDIO_FLAG_RXACT: Data receive in progress - * @arg SDIO_FLAG_TXFIFOHE: Transmit FIFO Half Empty - * @arg SDIO_FLAG_RXFIFOHF: Receive FIFO Half Full - * @arg SDIO_FLAG_TXFIFOF: Transmit FIFO full - * @arg SDIO_FLAG_RXFIFOF: Receive FIFO full - * @arg SDIO_FLAG_TXFIFOE: Transmit FIFO empty - * @arg SDIO_FLAG_RXFIFOE: Receive FIFO empty - * @arg SDIO_FLAG_TXDAVL: Data available in transmit FIFO - * @arg SDIO_FLAG_RXDAVL: Data available in receive FIFO - * @arg SDIO_FLAG_SDIOIT: SDIO interrupt received - * @retval The new state of SD FLAG (SET or RESET). - */ -#define __HAL_SD_GET_FLAG(__HANDLE__, __FLAG__) __SDIO_GET_FLAG((__HANDLE__)->Instance, (__FLAG__)) - -/** - * @brief Clear the SD's pending flags. - * @param __HANDLE__: SD Handle - * @param __FLAG__: specifies the flag to clear. - * This parameter can be one or a combination of the following values: - * @arg SDIO_FLAG_CCRCFAIL: Command response received (CRC check failed) - * @arg SDIO_FLAG_DCRCFAIL: Data block sent/received (CRC check failed) - * @arg SDIO_FLAG_CTIMEOUT: Command response timeout - * @arg SDIO_FLAG_DTIMEOUT: Data timeout - * @arg SDIO_FLAG_TXUNDERR: Transmit FIFO underrun error - * @arg SDIO_FLAG_RXOVERR: Received FIFO overrun error - * @arg SDIO_FLAG_CMDREND: Command response received (CRC check passed) - * @arg SDIO_FLAG_CMDSENT: Command sent (no response required) - * @arg SDIO_FLAG_DATAEND: Data end (data counter, DATACOUNT, is zero) - * @arg SDIO_FLAG_DBCKEND: Data block sent/received (CRC check passed) - * @arg SDIO_FLAG_SDIOIT: SDIO interrupt received - * @retval None - */ -#define __HAL_SD_CLEAR_FLAG(__HANDLE__, __FLAG__) __SDIO_CLEAR_FLAG((__HANDLE__)->Instance, (__FLAG__)) - -/** - * @brief Check whether the specified SD interrupt has occurred or not. - * @param __HANDLE__: SD Handle - * @param __INTERRUPT__: specifies the SDMMC interrupt source to check. - * This parameter can be one of the following values: - * @arg SDIO_IT_CCRCFAIL: Command response received (CRC check failed) interrupt - * @arg SDIO_IT_DCRCFAIL: Data block sent/received (CRC check failed) interrupt - * @arg SDIO_IT_CTIMEOUT: Command response timeout interrupt - * @arg SDIO_IT_DTIMEOUT: Data timeout interrupt - * @arg SDIO_IT_TXUNDERR: Transmit FIFO underrun error interrupt - * @arg SDIO_IT_RXOVERR: Received FIFO overrun error interrupt - * @arg SDIO_IT_CMDREND: Command response received (CRC check passed) interrupt - * @arg SDIO_IT_CMDSENT: Command sent (no response required) interrupt - * @arg SDIO_IT_DATAEND: Data end (data counter, DATACOUNT, is zero) interrupt - * @arg SDIO_IT_DBCKEND: Data block sent/received (CRC check passed) interrupt - * @arg SDIO_IT_CMDACT: Command transfer in progress interrupt - * @arg SDIO_IT_TXACT: Data transmit in progress interrupt - * @arg SDIO_IT_RXACT: Data receive in progress interrupt - * @arg SDIO_IT_TXFIFOHE: Transmit FIFO Half Empty interrupt - * @arg SDIO_IT_RXFIFOHF: Receive FIFO Half Full interrupt - * @arg SDIO_IT_TXFIFOF: Transmit FIFO full interrupt - * @arg SDIO_IT_RXFIFOF: Receive FIFO full interrupt - * @arg SDIO_IT_TXFIFOE: Transmit FIFO empty interrupt - * @arg SDIO_IT_RXFIFOE: Receive FIFO empty interrupt - * @arg SDIO_IT_TXDAVL: Data available in transmit FIFO interrupt - * @arg SDIO_IT_RXDAVL: Data available in receive FIFO interrupt - * @arg SDIO_IT_SDIOIT: SDIO interrupt received interrupt - * @retval The new state of SD IT (SET or RESET). - */ -#define __HAL_SD_GET_IT(__HANDLE__, __INTERRUPT__) __SDIO_GET_IT((__HANDLE__)->Instance, (__INTERRUPT__)) - -/** - * @brief Clear the SD's interrupt pending bits. - * @param __HANDLE__: SD Handle - * @param __INTERRUPT__: specifies the interrupt pending bit to clear. - * This parameter can be one or a combination of the following values: - * @arg SDIO_IT_CCRCFAIL: Command response received (CRC check failed) interrupt - * @arg SDIO_IT_DCRCFAIL: Data block sent/received (CRC check failed) interrupt - * @arg SDIO_IT_CTIMEOUT: Command response timeout interrupt - * @arg SDIO_IT_DTIMEOUT: Data timeout interrupt - * @arg SDIO_IT_TXUNDERR: Transmit FIFO underrun error interrupt - * @arg SDIO_IT_RXOVERR: Received FIFO overrun error interrupt - * @arg SDIO_IT_CMDREND: Command response received (CRC check passed) interrupt - * @arg SDIO_IT_CMDSENT: Command sent (no response required) interrupt - * @arg SDIO_IT_DATAEND: Data end (data counter, DATACOUNT, is zero) interrupt - * @arg SDIO_IT_SDIOIT: SDIO interrupt received interrupt - * @retval None - */ -#define __HAL_SD_CLEAR_IT(__HANDLE__, __INTERRUPT__) __SDIO_CLEAR_IT((__HANDLE__)->Instance, (__INTERRUPT__)) - -/** - * @} - */ - -/* Exported functions --------------------------------------------------------*/ -/** @defgroup SD_Exported_Functions SD Exported Functions - * @{ - */ - -/** @defgroup SD_Exported_Functions_Group1 Initialization and de-initialization functions - * @{ - */ -HAL_StatusTypeDef HAL_SD_Init(SD_HandleTypeDef *hsd); -HAL_StatusTypeDef HAL_SD_InitCard(SD_HandleTypeDef *hsd); -HAL_StatusTypeDef HAL_SD_DeInit (SD_HandleTypeDef *hsd); -void HAL_SD_MspInit(SD_HandleTypeDef *hsd); -void HAL_SD_MspDeInit(SD_HandleTypeDef *hsd); -/** - * @} - */ - -/** @defgroup SD_Exported_Functions_Group2 Input and Output operation functions - * @{ - */ -/* Blocking mode: Polling */ -HAL_StatusTypeDef HAL_SD_ReadBlocks(SD_HandleTypeDef *hsd, uint8_t *pData, uint32_t BlockAdd, uint32_t NumberOfBlocks, uint32_t Timeout); -HAL_StatusTypeDef HAL_SD_WriteBlocks(SD_HandleTypeDef *hsd, uint8_t *pData, uint32_t BlockAdd, uint32_t NumberOfBlocks, uint32_t Timeout); -HAL_StatusTypeDef HAL_SD_Erase(SD_HandleTypeDef *hsd, uint32_t BlockStartAdd, uint32_t BlockEndAdd); -/* Non-Blocking mode: IT */ -HAL_StatusTypeDef HAL_SD_ReadBlocks_IT(SD_HandleTypeDef *hsd, uint8_t *pData, uint32_t BlockAdd, uint32_t NumberOfBlocks); -HAL_StatusTypeDef HAL_SD_WriteBlocks_IT(SD_HandleTypeDef *hsd, uint8_t *pData, uint32_t BlockAdd, uint32_t NumberOfBlocks); -/* Non-Blocking mode: DMA */ -HAL_StatusTypeDef HAL_SD_ReadBlocks_DMA(SD_HandleTypeDef *hsd, uint8_t *pData, uint32_t BlockAdd, uint32_t NumberOfBlocks); -HAL_StatusTypeDef HAL_SD_WriteBlocks_DMA(SD_HandleTypeDef *hsd, uint8_t *pData, uint32_t BlockAdd, uint32_t NumberOfBlocks); - -void HAL_SD_IRQHandler(SD_HandleTypeDef *hsd); - -/* Callback in non blocking modes (DMA) */ -void HAL_SD_TxCpltCallback(SD_HandleTypeDef *hsd); -void HAL_SD_RxCpltCallback(SD_HandleTypeDef *hsd); -void HAL_SD_ErrorCallback(SD_HandleTypeDef *hsd); -void HAL_SD_AbortCallback(SD_HandleTypeDef *hsd); - -#if defined (USE_HAL_SD_REGISTER_CALLBACKS) && (USE_HAL_SD_REGISTER_CALLBACKS == 1U) -/* SD callback registering/unregistering */ -HAL_StatusTypeDef HAL_SD_RegisterCallback (SD_HandleTypeDef *hsd, HAL_SD_CallbackIDTypeDef CallbackId, pSD_CallbackTypeDef pCallback); -HAL_StatusTypeDef HAL_SD_UnRegisterCallback(SD_HandleTypeDef *hsd, HAL_SD_CallbackIDTypeDef CallbackId); -#endif /* USE_HAL_SD_REGISTER_CALLBACKS */ - -/** - * @} - */ - -/** @defgroup SD_Exported_Functions_Group3 Peripheral Control functions - * @{ - */ -HAL_StatusTypeDef HAL_SD_ConfigWideBusOperation(SD_HandleTypeDef *hsd, uint32_t WideMode); -/** - * @} - */ - -/** @defgroup SD_Exported_Functions_Group4 SD card related functions - * @{ - */ -HAL_StatusTypeDef HAL_SD_SendSDStatus(SD_HandleTypeDef *hsd, uint32_t *pSDstatus); -HAL_SD_CardStateTypeDef HAL_SD_GetCardState(SD_HandleTypeDef *hsd); -HAL_StatusTypeDef HAL_SD_GetCardCID(SD_HandleTypeDef *hsd, HAL_SD_CardCIDTypeDef *pCID); -HAL_StatusTypeDef HAL_SD_GetCardCSD(SD_HandleTypeDef *hsd, HAL_SD_CardCSDTypeDef *pCSD); -HAL_StatusTypeDef HAL_SD_GetCardStatus(SD_HandleTypeDef *hsd, HAL_SD_CardStatusTypeDef *pStatus); -HAL_StatusTypeDef HAL_SD_GetCardInfo(SD_HandleTypeDef *hsd, HAL_SD_CardInfoTypeDef *pCardInfo); -/** - * @} - */ - -/** @defgroup SD_Exported_Functions_Group5 Peripheral State and Errors functions - * @{ - */ -HAL_SD_StateTypeDef HAL_SD_GetState(SD_HandleTypeDef *hsd); -uint32_t HAL_SD_GetError(SD_HandleTypeDef *hsd); -/** - * @} - */ - -/** @defgroup SD_Exported_Functions_Group6 Perioheral Abort management - * @{ - */ -HAL_StatusTypeDef HAL_SD_Abort(SD_HandleTypeDef *hsd); -HAL_StatusTypeDef HAL_SD_Abort_IT(SD_HandleTypeDef *hsd); -/** - * @} - */ - -/* Private types -------------------------------------------------------------*/ -/** @defgroup SD_Private_Types SD Private Types - * @{ - */ - -/** - * @} - */ - -/* Private defines -----------------------------------------------------------*/ -/** @defgroup SD_Private_Defines SD Private Defines - * @{ - */ - -/** - * @} - */ - -/* Private variables ---------------------------------------------------------*/ -/** @defgroup SD_Private_Variables SD Private Variables - * @{ - */ - -/** - * @} - */ - -/* Private constants ---------------------------------------------------------*/ -/** @defgroup SD_Private_Constants SD Private Constants - * @{ - */ - -/** - * @} - */ - -/* Private macros ------------------------------------------------------------*/ -/** @defgroup SD_Private_Macros SD Private Macros - * @{ - */ - -/** - * @} - */ - -/* Private functions prototypes ----------------------------------------------*/ -/** @defgroup SD_Private_Functions_Prototypes SD Private Functions Prototypes - * @{ - */ - -/** - * @} - */ - -/* Private functions ---------------------------------------------------------*/ -/** @defgroup SD_Private_Functions SD Private Functions - * @{ - */ - -/** - * @} - */ - - -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ - -#endif /* SDIO */ - -#ifdef __cplusplus -} -#endif - - -#endif /* STM32F4xx_HAL_SD_H */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_sdram.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_sdram.h deleted file mode 100644 index 3dd78027af2804..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_sdram.h +++ /dev/null @@ -1,226 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_sdram.h - * @author MCD Application Team - * @brief Header file of SDRAM HAL module. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef __STM32F4xx_HAL_SDRAM_H -#define __STM32F4xx_HAL_SDRAM_H - -#ifdef __cplusplus - extern "C" { -#endif - -#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) ||\ - defined(STM32F446xx) || defined(STM32F469xx) || defined(STM32F479xx) - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_ll_fmc.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @addtogroup SDRAM - * @{ - */ - -/* Exported typedef ----------------------------------------------------------*/ -/** @defgroup SDRAM_Exported_Types SDRAM Exported Types - * @{ - */ - -/** - * @brief HAL SDRAM State structure definition - */ -typedef enum -{ - HAL_SDRAM_STATE_RESET = 0x00U, /*!< SDRAM not yet initialized or disabled */ - HAL_SDRAM_STATE_READY = 0x01U, /*!< SDRAM initialized and ready for use */ - HAL_SDRAM_STATE_BUSY = 0x02U, /*!< SDRAM internal process is ongoing */ - HAL_SDRAM_STATE_ERROR = 0x03U, /*!< SDRAM error state */ - HAL_SDRAM_STATE_WRITE_PROTECTED = 0x04U, /*!< SDRAM device write protected */ - HAL_SDRAM_STATE_PRECHARGED = 0x05U /*!< SDRAM device precharged */ - -} HAL_SDRAM_StateTypeDef; - -/** - * @brief SDRAM handle Structure definition - */ -#if (USE_HAL_SDRAM_REGISTER_CALLBACKS == 1) -typedef struct __SDRAM_HandleTypeDef -#else -typedef struct -#endif /* USE_HAL_SDRAM_REGISTER_CALLBACKS */ -{ - FMC_SDRAM_TypeDef *Instance; /*!< Register base address */ - - FMC_SDRAM_InitTypeDef Init; /*!< SDRAM device configuration parameters */ - - __IO HAL_SDRAM_StateTypeDef State; /*!< SDRAM access state */ - - HAL_LockTypeDef Lock; /*!< SDRAM locking object */ - - DMA_HandleTypeDef *hdma; /*!< Pointer DMA handler */ - -#if (USE_HAL_SDRAM_REGISTER_CALLBACKS == 1) - void (* MspInitCallback) ( struct __SDRAM_HandleTypeDef * hsdram); /*!< SDRAM Msp Init callback */ - void (* MspDeInitCallback) ( struct __SDRAM_HandleTypeDef * hsdram); /*!< SDRAM Msp DeInit callback */ - void (* RefreshErrorCallback) ( struct __SDRAM_HandleTypeDef * hsdram); /*!< SDRAM Refresh Error callback */ - void (* DmaXferCpltCallback) ( DMA_HandleTypeDef * hdma); /*!< SDRAM DMA Xfer Complete callback */ - void (* DmaXferErrorCallback) ( DMA_HandleTypeDef * hdma); /*!< SDRAM DMA Xfer Error callback */ -#endif -} SDRAM_HandleTypeDef; - -#if (USE_HAL_SDRAM_REGISTER_CALLBACKS == 1) -/** - * @brief HAL SDRAM Callback ID enumeration definition - */ -typedef enum -{ - HAL_SDRAM_MSP_INIT_CB_ID = 0x00U, /*!< SDRAM MspInit Callback ID */ - HAL_SDRAM_MSP_DEINIT_CB_ID = 0x01U, /*!< SDRAM MspDeInit Callback ID */ - HAL_SDRAM_REFRESH_ERR_CB_ID = 0x02U, /*!< SDRAM Refresh Error Callback ID */ - HAL_SDRAM_DMA_XFER_CPLT_CB_ID = 0x03U, /*!< SDRAM DMA Xfer Complete Callback ID */ - HAL_SDRAM_DMA_XFER_ERR_CB_ID = 0x04U /*!< SDRAM DMA Xfer Error Callback ID */ -}HAL_SDRAM_CallbackIDTypeDef; - -/** - * @brief HAL SDRAM Callback pointer definition - */ -typedef void (*pSDRAM_CallbackTypeDef)(SDRAM_HandleTypeDef *hsdram); -typedef void (*pSDRAM_DmaCallbackTypeDef)(DMA_HandleTypeDef *hdma); -#endif -/** - * @} - */ - -/* Exported constants --------------------------------------------------------*/ -/* Exported macro ------------------------------------------------------------*/ -/** @defgroup SDRAM_Exported_Macros SDRAM Exported Macros - * @{ - */ - -/** @brief Reset SDRAM handle state - * @param __HANDLE__ specifies the SDRAM handle. - * @retval None - */ -#if (USE_HAL_SDRAM_REGISTER_CALLBACKS == 1) -#define __HAL_SDRAM_RESET_HANDLE_STATE(__HANDLE__) do { \ - (__HANDLE__)->State = HAL_SDRAM_STATE_RESET; \ - (__HANDLE__)->MspInitCallback = NULL; \ - (__HANDLE__)->MspDeInitCallback = NULL; \ - } while(0) -#else -#define __HAL_SDRAM_RESET_HANDLE_STATE(__HANDLE__) ((__HANDLE__)->State = HAL_SDRAM_STATE_RESET) -#endif -/** - * @} - */ - -/* Exported functions --------------------------------------------------------*/ -/** @addtogroup SDRAM_Exported_Functions SDRAM Exported Functions - * @{ - */ - -/** @addtogroup SDRAM_Exported_Functions_Group1 - * @{ - */ - -/* Initialization/de-initialization functions *********************************/ -HAL_StatusTypeDef HAL_SDRAM_Init(SDRAM_HandleTypeDef *hsdram, FMC_SDRAM_TimingTypeDef *Timing); -HAL_StatusTypeDef HAL_SDRAM_DeInit(SDRAM_HandleTypeDef *hsdram); -void HAL_SDRAM_MspInit(SDRAM_HandleTypeDef *hsdram); -void HAL_SDRAM_MspDeInit(SDRAM_HandleTypeDef *hsdram); - -void HAL_SDRAM_IRQHandler(SDRAM_HandleTypeDef *hsdram); -void HAL_SDRAM_RefreshErrorCallback(SDRAM_HandleTypeDef *hsdram); -void HAL_SDRAM_DMA_XferCpltCallback(DMA_HandleTypeDef *hdma); -void HAL_SDRAM_DMA_XferErrorCallback(DMA_HandleTypeDef *hdma); -/** - * @} - */ - -/** @addtogroup SDRAM_Exported_Functions_Group2 - * @{ - */ -/* I/O operation functions ****************************************************/ -HAL_StatusTypeDef HAL_SDRAM_Read_8b(SDRAM_HandleTypeDef *hsdram, uint32_t *pAddress, uint8_t *pDstBuffer, uint32_t BufferSize); -HAL_StatusTypeDef HAL_SDRAM_Write_8b(SDRAM_HandleTypeDef *hsdram, uint32_t *pAddress, uint8_t *pSrcBuffer, uint32_t BufferSize); -HAL_StatusTypeDef HAL_SDRAM_Read_16b(SDRAM_HandleTypeDef *hsdram, uint32_t *pAddress, uint16_t *pDstBuffer, uint32_t BufferSize); -HAL_StatusTypeDef HAL_SDRAM_Write_16b(SDRAM_HandleTypeDef *hsdram, uint32_t *pAddress, uint16_t *pSrcBuffer, uint32_t BufferSize); -HAL_StatusTypeDef HAL_SDRAM_Read_32b(SDRAM_HandleTypeDef *hsdram, uint32_t *pAddress, uint32_t *pDstBuffer, uint32_t BufferSize); -HAL_StatusTypeDef HAL_SDRAM_Write_32b(SDRAM_HandleTypeDef *hsdram, uint32_t *pAddress, uint32_t *pSrcBuffer, uint32_t BufferSize); - -HAL_StatusTypeDef HAL_SDRAM_Read_DMA(SDRAM_HandleTypeDef *hsdram, uint32_t * pAddress, uint32_t *pDstBuffer, uint32_t BufferSize); -HAL_StatusTypeDef HAL_SDRAM_Write_DMA(SDRAM_HandleTypeDef *hsdram, uint32_t *pAddress, uint32_t *pSrcBuffer, uint32_t BufferSize); - -#if (USE_HAL_SDRAM_REGISTER_CALLBACKS == 1) -/* SDRAM callback registering/unregistering */ -HAL_StatusTypeDef HAL_SDRAM_RegisterCallback(SDRAM_HandleTypeDef *hsdram, HAL_SDRAM_CallbackIDTypeDef CallbackId, pSDRAM_CallbackTypeDef pCallback); -HAL_StatusTypeDef HAL_SDRAM_UnRegisterCallback(SDRAM_HandleTypeDef *hsdram, HAL_SDRAM_CallbackIDTypeDef CallbackId); -HAL_StatusTypeDef HAL_SDRAM_RegisterDmaCallback(SDRAM_HandleTypeDef *hsdram, HAL_SDRAM_CallbackIDTypeDef CallbackId, pSDRAM_DmaCallbackTypeDef pCallback); -#endif - -/** - * @} - */ - -/** @addtogroup SDRAM_Exported_Functions_Group3 - * @{ - */ -/* SDRAM Control functions *****************************************************/ -HAL_StatusTypeDef HAL_SDRAM_WriteProtection_Enable(SDRAM_HandleTypeDef *hsdram); -HAL_StatusTypeDef HAL_SDRAM_WriteProtection_Disable(SDRAM_HandleTypeDef *hsdram); -HAL_StatusTypeDef HAL_SDRAM_SendCommand(SDRAM_HandleTypeDef *hsdram, FMC_SDRAM_CommandTypeDef *Command, uint32_t Timeout); -HAL_StatusTypeDef HAL_SDRAM_ProgramRefreshRate(SDRAM_HandleTypeDef *hsdram, uint32_t RefreshRate); -HAL_StatusTypeDef HAL_SDRAM_SetAutoRefreshNumber(SDRAM_HandleTypeDef *hsdram, uint32_t AutoRefreshNumber); -uint32_t HAL_SDRAM_GetModeStatus(SDRAM_HandleTypeDef *hsdram); -/** - * @} - */ - -/** @addtogroup SDRAM_Exported_Functions_Group4 - * @{ - */ -/* SDRAM State functions ********************************************************/ -HAL_SDRAM_StateTypeDef HAL_SDRAM_GetState(SDRAM_HandleTypeDef *hsdram); -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ - -#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || STM32F446xx || STM32F469xx || STM32F479xx */ - -/** - * @} - */ - -#ifdef __cplusplus -} -#endif - -#endif /* __STM32F4xx_HAL_SDRAM_H */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_smartcard.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_smartcard.h deleted file mode 100644 index 36f16c757c3602..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_smartcard.h +++ /dev/null @@ -1,757 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_smartcard.h - * @author MCD Application Team - * @brief Header file of SMARTCARD HAL module. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef __STM32F4xx_HAL_SMARTCARD_H -#define __STM32F4xx_HAL_SMARTCARD_H - -#ifdef __cplusplus - extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal_def.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @addtogroup SMARTCARD - * @{ - */ - -/* Exported types ------------------------------------------------------------*/ -/** @defgroup SMARTCARD_Exported_Types SMARTCARD Exported Types - * @{ - */ - -/** - * @brief SMARTCARD Init Structure definition - */ -typedef struct -{ - uint32_t BaudRate; /*!< This member configures the SmartCard communication baud rate. - The baud rate is computed using the following formula: - - IntegerDivider = ((PCLKx) / (16 * (hsc->Init.BaudRate))) - - FractionalDivider = ((IntegerDivider - ((uint32_t) IntegerDivider)) * 16) + 0.5 */ - - uint32_t WordLength; /*!< Specifies the number of data bits transmitted or received in a frame. - This parameter can be a value of @ref SMARTCARD_Word_Length */ - - uint32_t StopBits; /*!< Specifies the number of stop bits transmitted. - This parameter can be a value of @ref SMARTCARD_Stop_Bits */ - - uint32_t Parity; /*!< Specifies the parity mode. - This parameter can be a value of @ref SMARTCARD_Parity - @note When parity is enabled, the computed parity is inserted - at the MSB position of the transmitted data (9th bit when - the word length is set to 9 data bits; 8th bit when the - word length is set to 8 data bits).*/ - - uint32_t Mode; /*!< Specifies whether the Receive or Transmit mode is enabled or disabled. - This parameter can be a value of @ref SMARTCARD_Mode */ - - uint32_t CLKPolarity; /*!< Specifies the steady state of the serial clock. - This parameter can be a value of @ref SMARTCARD_Clock_Polarity */ - - uint32_t CLKPhase; /*!< Specifies the clock transition on which the bit capture is made. - This parameter can be a value of @ref SMARTCARD_Clock_Phase */ - - uint32_t CLKLastBit; /*!< Specifies whether the clock pulse corresponding to the last transmitted - data bit (MSB) has to be output on the SCLK pin in synchronous mode. - This parameter can be a value of @ref SMARTCARD_Last_Bit */ - - uint32_t Prescaler; /*!< Specifies the SmartCard Prescaler value used for dividing the system clock - to provide the smartcard clock. The value given in the register (5 significant bits) - is multiplied by 2 to give the division factor of the source clock frequency. - This parameter can be a value of @ref SMARTCARD_Prescaler */ - - uint32_t GuardTime; /*!< Specifies the SmartCard Guard Time value in terms of number of baud clocks */ - - uint32_t NACKState; /*!< Specifies the SmartCard NACK Transmission state. - This parameter can be a value of @ref SMARTCARD_NACK_State */ -}SMARTCARD_InitTypeDef; - -/** - * @brief HAL SMARTCARD State structures definition - * @note HAL SMARTCARD State value is a combination of 2 different substates: gState and RxState. - * - gState contains SMARTCARD state information related to global Handle management - * and also information related to Tx operations. - * gState value coding follow below described bitmap : - * b7-b6 Error information - * 00 : No Error - * 01 : (Not Used) - * 10 : Timeout - * 11 : Error - * b5 IP initialization status - * 0 : Reset (IP not initialized) - * 1 : Init done (IP initialized. HAL SMARTCARD Init function already called) - * b4-b3 (not used) - * xx : Should be set to 00 - * b2 Intrinsic process state - * 0 : Ready - * 1 : Busy (IP busy with some configuration or internal operations) - * b1 (not used) - * x : Should be set to 0 - * b0 Tx state - * 0 : Ready (no Tx operation ongoing) - * 1 : Busy (Tx operation ongoing) - * - RxState contains information related to Rx operations. - * RxState value coding follow below described bitmap : - * b7-b6 (not used) - * xx : Should be set to 00 - * b5 IP initialization status - * 0 : Reset (IP not initialized) - * 1 : Init done (IP initialized) - * b4-b2 (not used) - * xxx : Should be set to 000 - * b1 Rx state - * 0 : Ready (no Rx operation ongoing) - * 1 : Busy (Rx operation ongoing) - * b0 (not used) - * x : Should be set to 0. - */ -typedef enum -{ - HAL_SMARTCARD_STATE_RESET = 0x00U, /*!< Peripheral is not yet Initialized - Value is allowed for gState and RxState */ - HAL_SMARTCARD_STATE_READY = 0x20U, /*!< Peripheral Initialized and ready for use - Value is allowed for gState and RxState */ - HAL_SMARTCARD_STATE_BUSY = 0x24U, /*!< an internal process is ongoing - Value is allowed for gState only */ - HAL_SMARTCARD_STATE_BUSY_TX = 0x21U, /*!< Data Transmission process is ongoing - Value is allowed for gState only */ - HAL_SMARTCARD_STATE_BUSY_RX = 0x22U, /*!< Data Reception process is ongoing - Value is allowed for RxState only */ - HAL_SMARTCARD_STATE_BUSY_TX_RX = 0x23U, /*!< Data Transmission and Reception process is ongoing - Not to be used for neither gState nor RxState. - Value is result of combination (Or) between gState and RxState values */ - HAL_SMARTCARD_STATE_TIMEOUT = 0xA0U, /*!< Timeout state - Value is allowed for gState only */ - HAL_SMARTCARD_STATE_ERROR = 0xE0U /*!< Error - Value is allowed for gState only */ -}HAL_SMARTCARD_StateTypeDef; - -/** - * @brief SMARTCARD handle Structure definition - */ -typedef struct __SMARTCARD_HandleTypeDef -{ - USART_TypeDef *Instance; /*!< USART registers base address */ - - SMARTCARD_InitTypeDef Init; /*!< SmartCard communication parameters */ - - uint8_t *pTxBuffPtr; /*!< Pointer to SmartCard Tx transfer Buffer */ - - uint16_t TxXferSize; /*!< SmartCard Tx Transfer size */ - - __IO uint16_t TxXferCount; /*!< SmartCard Tx Transfer Counter */ - - uint8_t *pRxBuffPtr; /*!< Pointer to SmartCard Rx transfer Buffer */ - - uint16_t RxXferSize; /*!< SmartCard Rx Transfer size */ - - __IO uint16_t RxXferCount; /*!< SmartCard Rx Transfer Counter */ - - DMA_HandleTypeDef *hdmatx; /*!< SmartCard Tx DMA Handle parameters */ - - DMA_HandleTypeDef *hdmarx; /*!< SmartCard Rx DMA Handle parameters */ - - HAL_LockTypeDef Lock; /*!< Locking object */ - - __IO HAL_SMARTCARD_StateTypeDef gState; /*!< SmartCard state information related to global Handle management - and also related to Tx operations. - This parameter can be a value of @ref HAL_SMARTCARD_StateTypeDef */ - - __IO HAL_SMARTCARD_StateTypeDef RxState; /*!< SmartCard state information related to Rx operations. - This parameter can be a value of @ref HAL_SMARTCARD_StateTypeDef */ - - __IO uint32_t ErrorCode; /*!< SmartCard Error code */ - -#if (USE_HAL_SMARTCARD_REGISTER_CALLBACKS == 1) - void (* TxCpltCallback)(struct __SMARTCARD_HandleTypeDef *hsc); /*!< SMARTCARD Tx Complete Callback */ - - void (* RxCpltCallback)(struct __SMARTCARD_HandleTypeDef *hsc); /*!< SMARTCARD Rx Complete Callback */ - - void (* ErrorCallback)(struct __SMARTCARD_HandleTypeDef *hsc); /*!< SMARTCARD Error Callback */ - - void (* AbortCpltCallback)(struct __SMARTCARD_HandleTypeDef *hsc); /*!< SMARTCARD Abort Complete Callback */ - - void (* AbortTransmitCpltCallback)(struct __SMARTCARD_HandleTypeDef *hsc); /*!< SMARTCARD Abort Transmit Complete Callback */ - - void (* AbortReceiveCpltCallback)(struct __SMARTCARD_HandleTypeDef *hsc); /*!< SMARTCARD Abort Receive Complete Callback */ - - void (* MspInitCallback)(struct __SMARTCARD_HandleTypeDef *hsc); /*!< SMARTCARD Msp Init callback */ - - void (* MspDeInitCallback)(struct __SMARTCARD_HandleTypeDef *hsc); /*!< SMARTCARD Msp DeInit callback */ -#endif /* USE_HAL_SMARTCARD_REGISTER_CALLBACKS */ - -} SMARTCARD_HandleTypeDef; - -#if (USE_HAL_SMARTCARD_REGISTER_CALLBACKS == 1) -/** - * @brief HAL SMARTCARD Callback ID enumeration definition - */ -typedef enum -{ - HAL_SMARTCARD_TX_COMPLETE_CB_ID = 0x00U, /*!< SMARTCARD Tx Complete Callback ID */ - HAL_SMARTCARD_RX_COMPLETE_CB_ID = 0x01U, /*!< SMARTCARD Rx Complete Callback ID */ - HAL_SMARTCARD_ERROR_CB_ID = 0x02U, /*!< SMARTCARD Error Callback ID */ - HAL_SMARTCARD_ABORT_COMPLETE_CB_ID = 0x03U, /*!< SMARTCARD Abort Complete Callback ID */ - HAL_SMARTCARD_ABORT_TRANSMIT_COMPLETE_CB_ID = 0x04U, /*!< SMARTCARD Abort Transmit Complete Callback ID */ - HAL_SMARTCARD_ABORT_RECEIVE_COMPLETE_CB_ID = 0x05U, /*!< SMARTCARD Abort Receive Complete Callback ID */ - - HAL_SMARTCARD_MSPINIT_CB_ID = 0x08U, /*!< SMARTCARD MspInit callback ID */ - HAL_SMARTCARD_MSPDEINIT_CB_ID = 0x09U /*!< SMARTCARD MspDeInit callback ID */ - -} HAL_SMARTCARD_CallbackIDTypeDef; - -/** - * @brief HAL SMARTCARD Callback pointer definition - */ -typedef void (*pSMARTCARD_CallbackTypeDef)(SMARTCARD_HandleTypeDef *hsc); /*!< pointer to an SMARTCARD callback function */ - -#endif /* USE_HAL_SMARTCARD_REGISTER_CALLBACKS */ - -/** - * @} - */ - -/* Exported constants --------------------------------------------------------*/ -/** @defgroup SMARTCARD_Exported_Constants SMARTCARD Exported constants - * @{ - */ - -/** @defgroup SMARTCARD_Error_Code SMARTCARD Error Code - * @{ - */ -#define HAL_SMARTCARD_ERROR_NONE 0x00000000U /*!< No error */ -#define HAL_SMARTCARD_ERROR_PE 0x00000001U /*!< Parity error */ -#define HAL_SMARTCARD_ERROR_NE 0x00000002U /*!< Noise error */ -#define HAL_SMARTCARD_ERROR_FE 0x00000004U /*!< Frame error */ -#define HAL_SMARTCARD_ERROR_ORE 0x00000008U /*!< Overrun error */ -#define HAL_SMARTCARD_ERROR_DMA 0x00000010U /*!< DMA transfer error */ -#if (USE_HAL_SMARTCARD_REGISTER_CALLBACKS == 1) -#define HAL_SMARTCARD_ERROR_INVALID_CALLBACK 0x00000020U /*!< Invalid Callback error */ -#endif /* USE_HAL_SMARTCARD_REGISTER_CALLBACKS */ -/** - * @} - */ - -/** @defgroup SMARTCARD_Word_Length SMARTCARD Word Length - * @{ - */ -#define SMARTCARD_WORDLENGTH_9B ((uint32_t)USART_CR1_M) -/** - * @} - */ - -/** @defgroup SMARTCARD_Stop_Bits SMARTCARD Number of Stop Bits - * @{ - */ -#define SMARTCARD_STOPBITS_0_5 ((uint32_t)USART_CR2_STOP_0) -#define SMARTCARD_STOPBITS_1_5 ((uint32_t)(USART_CR2_STOP_0 | USART_CR2_STOP_1)) -/** - * @} - */ - -/** @defgroup SMARTCARD_Parity SMARTCARD Parity - * @{ - */ -#define SMARTCARD_PARITY_EVEN ((uint32_t)USART_CR1_PCE) -#define SMARTCARD_PARITY_ODD ((uint32_t)(USART_CR1_PCE | USART_CR1_PS)) -/** - * @} - */ - -/** @defgroup SMARTCARD_Mode SMARTCARD Mode - * @{ - */ -#define SMARTCARD_MODE_RX ((uint32_t)USART_CR1_RE) -#define SMARTCARD_MODE_TX ((uint32_t)USART_CR1_TE) -#define SMARTCARD_MODE_TX_RX ((uint32_t)(USART_CR1_TE |USART_CR1_RE)) -/** - * @} - */ - -/** @defgroup SMARTCARD_Clock_Polarity SMARTCARD Clock Polarity - * @{ - */ -#define SMARTCARD_POLARITY_LOW 0x00000000U -#define SMARTCARD_POLARITY_HIGH ((uint32_t)USART_CR2_CPOL) -/** - * @} - */ - -/** @defgroup SMARTCARD_Clock_Phase SMARTCARD Clock Phase - * @{ - */ -#define SMARTCARD_PHASE_1EDGE 0x00000000U -#define SMARTCARD_PHASE_2EDGE ((uint32_t)USART_CR2_CPHA) -/** - * @} - */ - -/** @defgroup SMARTCARD_Last_Bit SMARTCARD Last Bit - * @{ - */ -#define SMARTCARD_LASTBIT_DISABLE 0x00000000U -#define SMARTCARD_LASTBIT_ENABLE ((uint32_t)USART_CR2_LBCL) -/** - * @} - */ - -/** @defgroup SMARTCARD_NACK_State SMARTCARD NACK State - * @{ - */ -#define SMARTCARD_NACK_ENABLE ((uint32_t)USART_CR3_NACK) -#define SMARTCARD_NACK_DISABLE 0x00000000U -/** - * @} - */ - -/** @defgroup SMARTCARD_DMA_Requests SMARTCARD DMA requests - * @{ - */ -#define SMARTCARD_DMAREQ_TX ((uint32_t)USART_CR3_DMAT) -#define SMARTCARD_DMAREQ_RX ((uint32_t)USART_CR3_DMAR) -/** - * @} - */ - -/** @defgroup SMARTCARD_Prescaler SMARTCARD Prescaler - * @{ - */ -#define SMARTCARD_PRESCALER_SYSCLK_DIV2 0x00000001U /*!< SYSCLK divided by 2 */ -#define SMARTCARD_PRESCALER_SYSCLK_DIV4 0x00000002U /*!< SYSCLK divided by 4 */ -#define SMARTCARD_PRESCALER_SYSCLK_DIV6 0x00000003U /*!< SYSCLK divided by 6 */ -#define SMARTCARD_PRESCALER_SYSCLK_DIV8 0x00000004U /*!< SYSCLK divided by 8 */ -#define SMARTCARD_PRESCALER_SYSCLK_DIV10 0x00000005U /*!< SYSCLK divided by 10 */ -#define SMARTCARD_PRESCALER_SYSCLK_DIV12 0x00000006U /*!< SYSCLK divided by 12 */ -#define SMARTCARD_PRESCALER_SYSCLK_DIV14 0x00000007U /*!< SYSCLK divided by 14 */ -#define SMARTCARD_PRESCALER_SYSCLK_DIV16 0x00000008U /*!< SYSCLK divided by 16 */ -#define SMARTCARD_PRESCALER_SYSCLK_DIV18 0x00000009U /*!< SYSCLK divided by 18 */ -#define SMARTCARD_PRESCALER_SYSCLK_DIV20 0x0000000AU /*!< SYSCLK divided by 20 */ -#define SMARTCARD_PRESCALER_SYSCLK_DIV22 0x0000000BU /*!< SYSCLK divided by 22 */ -#define SMARTCARD_PRESCALER_SYSCLK_DIV24 0x0000000CU /*!< SYSCLK divided by 24 */ -#define SMARTCARD_PRESCALER_SYSCLK_DIV26 0x0000000DU /*!< SYSCLK divided by 26 */ -#define SMARTCARD_PRESCALER_SYSCLK_DIV28 0x0000000EU /*!< SYSCLK divided by 28 */ -#define SMARTCARD_PRESCALER_SYSCLK_DIV30 0x0000000FU /*!< SYSCLK divided by 30 */ -#define SMARTCARD_PRESCALER_SYSCLK_DIV32 0x00000010U /*!< SYSCLK divided by 32 */ -#define SMARTCARD_PRESCALER_SYSCLK_DIV34 0x00000011U /*!< SYSCLK divided by 34 */ -#define SMARTCARD_PRESCALER_SYSCLK_DIV36 0x00000012U /*!< SYSCLK divided by 36 */ -#define SMARTCARD_PRESCALER_SYSCLK_DIV38 0x00000013U /*!< SYSCLK divided by 38 */ -#define SMARTCARD_PRESCALER_SYSCLK_DIV40 0x00000014U /*!< SYSCLK divided by 40 */ -#define SMARTCARD_PRESCALER_SYSCLK_DIV42 0x00000015U /*!< SYSCLK divided by 42 */ -#define SMARTCARD_PRESCALER_SYSCLK_DIV44 0x00000016U /*!< SYSCLK divided by 44 */ -#define SMARTCARD_PRESCALER_SYSCLK_DIV46 0x00000017U /*!< SYSCLK divided by 46 */ -#define SMARTCARD_PRESCALER_SYSCLK_DIV48 0x00000018U /*!< SYSCLK divided by 48 */ -#define SMARTCARD_PRESCALER_SYSCLK_DIV50 0x00000019U /*!< SYSCLK divided by 50 */ -#define SMARTCARD_PRESCALER_SYSCLK_DIV52 0x0000001AU /*!< SYSCLK divided by 52 */ -#define SMARTCARD_PRESCALER_SYSCLK_DIV54 0x0000001BU /*!< SYSCLK divided by 54 */ -#define SMARTCARD_PRESCALER_SYSCLK_DIV56 0x0000001CU /*!< SYSCLK divided by 56 */ -#define SMARTCARD_PRESCALER_SYSCLK_DIV58 0x0000001DU /*!< SYSCLK divided by 58 */ -#define SMARTCARD_PRESCALER_SYSCLK_DIV60 0x0000001EU /*!< SYSCLK divided by 60 */ -#define SMARTCARD_PRESCALER_SYSCLK_DIV62 0x0000001FU /*!< SYSCLK divided by 62 */ -/** - * @} - */ - -/** @defgroup SmartCard_Flags SMARTCARD Flags - * Elements values convention: 0xXXXX - * - 0xXXXX : Flag mask in the SR register - * @{ - */ -#define SMARTCARD_FLAG_TXE ((uint32_t)USART_SR_TXE) -#define SMARTCARD_FLAG_TC ((uint32_t)USART_SR_TC) -#define SMARTCARD_FLAG_RXNE ((uint32_t)USART_SR_RXNE) -#define SMARTCARD_FLAG_IDLE ((uint32_t)USART_SR_IDLE) -#define SMARTCARD_FLAG_ORE ((uint32_t)USART_SR_ORE) -#define SMARTCARD_FLAG_NE ((uint32_t)USART_SR_NE) -#define SMARTCARD_FLAG_FE ((uint32_t)USART_SR_FE) -#define SMARTCARD_FLAG_PE ((uint32_t)USART_SR_PE) -/** - * @} - */ - -/** @defgroup SmartCard_Interrupt_definition SMARTCARD Interrupts Definition - * Elements values convention: 0xY000XXXX - * - XXXX : Interrupt mask in the Y register - * - Y : Interrupt source register (2bits) - * - 01: CR1 register - * - 11: CR3 register - * @{ - */ -#define SMARTCARD_IT_PE ((uint32_t)(SMARTCARD_CR1_REG_INDEX << 28U | USART_CR1_PEIE)) -#define SMARTCARD_IT_TXE ((uint32_t)(SMARTCARD_CR1_REG_INDEX << 28U | USART_CR1_TXEIE)) -#define SMARTCARD_IT_TC ((uint32_t)(SMARTCARD_CR1_REG_INDEX << 28U | USART_CR1_TCIE)) -#define SMARTCARD_IT_RXNE ((uint32_t)(SMARTCARD_CR1_REG_INDEX << 28U | USART_CR1_RXNEIE)) -#define SMARTCARD_IT_IDLE ((uint32_t)(SMARTCARD_CR1_REG_INDEX << 28U | USART_CR1_IDLEIE)) -#define SMARTCARD_IT_ERR ((uint32_t)(SMARTCARD_CR3_REG_INDEX << 28U | USART_CR3_EIE)) -/** - * @} - */ - -/** - * @} - */ - -/* Exported macro ------------------------------------------------------------*/ -/** @defgroup SMARTCARD_Exported_Macros SMARTCARD Exported Macros - * @{ - */ - -/** @brief Reset SMARTCARD handle gstate & RxState - * @param __HANDLE__ specifies the SMARTCARD Handle. - * SMARTCARD Handle selects the USARTx peripheral (USART availability and x value depending on device). - * @retval None - */ -#if USE_HAL_SMARTCARD_REGISTER_CALLBACKS == 1 -#define __HAL_SMARTCARD_RESET_HANDLE_STATE(__HANDLE__) do{ \ - (__HANDLE__)->gState = HAL_SMARTCARD_STATE_RESET; \ - (__HANDLE__)->RxState = HAL_SMARTCARD_STATE_RESET; \ - (__HANDLE__)->MspInitCallback = NULL; \ - (__HANDLE__)->MspDeInitCallback = NULL; \ - } while(0U) -#else -#define __HAL_SMARTCARD_RESET_HANDLE_STATE(__HANDLE__) do{ \ - (__HANDLE__)->gState = HAL_SMARTCARD_STATE_RESET; \ - (__HANDLE__)->RxState = HAL_SMARTCARD_STATE_RESET; \ - } while(0U) -#endif /*USE_HAL_SMARTCARD_REGISTER_CALLBACKS */ - -/** @brief Flush the Smartcard DR register - * @param __HANDLE__ specifies the SMARTCARD Handle. - * SMARTCARD Handle selects the USARTx peripheral (USART availability and x value depending on device). - * @retval None - */ -#define __HAL_SMARTCARD_FLUSH_DRREGISTER(__HANDLE__) ((__HANDLE__)->Instance->DR) - -/** @brief Check whether the specified Smartcard flag is set or not. - * @param __HANDLE__ specifies the SMARTCARD Handle. - * SMARTCARD Handle selects the USARTx peripheral (USART availability and x value depending on device). - * @param __FLAG__ specifies the flag to check. - * This parameter can be one of the following values: - * @arg SMARTCARD_FLAG_TXE: Transmit data register empty flag - * @arg SMARTCARD_FLAG_TC: Transmission Complete flag - * @arg SMARTCARD_FLAG_RXNE: Receive data register not empty flag - * @arg SMARTCARD_FLAG_IDLE: Idle Line detection flag - * @arg SMARTCARD_FLAG_ORE: Overrun Error flag - * @arg SMARTCARD_FLAG_NE: Noise Error flag - * @arg SMARTCARD_FLAG_FE: Framing Error flag - * @arg SMARTCARD_FLAG_PE: Parity Error flag - * @retval The new state of __FLAG__ (TRUE or FALSE). - */ -#define __HAL_SMARTCARD_GET_FLAG(__HANDLE__, __FLAG__) (((__HANDLE__)->Instance->SR & (__FLAG__)) == (__FLAG__)) - -/** @brief Clear the specified Smartcard pending flags. - * @param __HANDLE__ specifies the SMARTCARD Handle. - * SMARTCARD Handle selects the USARTx peripheral (USART availability and x value depending on device). - * @param __FLAG__ specifies the flag to check. - * This parameter can be any combination of the following values: - * @arg SMARTCARD_FLAG_TC: Transmission Complete flag. - * @arg SMARTCARD_FLAG_RXNE: Receive data register not empty flag. - * - * @note PE (Parity error), FE (Framing error), NE (Noise error) and ORE (Overrun - * error) flags are cleared by software sequence: a read operation to - * USART_SR register followed by a read operation to USART_DR register. - * @note RXNE flag can be also cleared by a read to the USART_DR register. - * @note TC flag can be also cleared by software sequence: a read operation to - * USART_SR register followed by a write operation to USART_DR register. - * @note TXE flag is cleared only by a write to the USART_DR register. - * @retval None - */ -#define __HAL_SMARTCARD_CLEAR_FLAG(__HANDLE__, __FLAG__) ((__HANDLE__)->Instance->SR = ~(__FLAG__)) - -/** @brief Clear the SMARTCARD PE pending flag. - * @param __HANDLE__ specifies the USART Handle. - * SMARTCARD Handle selects the USARTx peripheral (USART availability and x value depending on device). - * @retval None - */ -#define __HAL_SMARTCARD_CLEAR_PEFLAG(__HANDLE__) \ - do{ \ - __IO uint32_t tmpreg = 0x00U; \ - tmpreg = (__HANDLE__)->Instance->SR; \ - tmpreg = (__HANDLE__)->Instance->DR; \ - UNUSED(tmpreg); \ - } while(0U) - -/** @brief Clear the SMARTCARD FE pending flag. - * @param __HANDLE__ specifies the USART Handle. - * SMARTCARD Handle selects the USARTx peripheral (USART availability and x value depending on device). - * @retval None - */ -#define __HAL_SMARTCARD_CLEAR_FEFLAG(__HANDLE__) __HAL_SMARTCARD_CLEAR_PEFLAG(__HANDLE__) - -/** @brief Clear the SMARTCARD NE pending flag. - * @param __HANDLE__ specifies the USART Handle. - * SMARTCARD Handle selects the USARTx peripheral (USART availability and x value depending on device). - * @retval None - */ -#define __HAL_SMARTCARD_CLEAR_NEFLAG(__HANDLE__) __HAL_SMARTCARD_CLEAR_PEFLAG(__HANDLE__) - -/** @brief Clear the SMARTCARD ORE pending flag. - * @param __HANDLE__ specifies the USART Handle. - * SMARTCARD Handle selects the USARTx peripheral (USART availability and x value depending on device). - * @retval None - */ -#define __HAL_SMARTCARD_CLEAR_OREFLAG(__HANDLE__) __HAL_SMARTCARD_CLEAR_PEFLAG(__HANDLE__) - -/** @brief Clear the SMARTCARD IDLE pending flag. - * @param __HANDLE__ specifies the USART Handle. - * SMARTCARD Handle selects the USARTx peripheral (USART availability and x value depending on device). - * @retval None - */ -#define __HAL_SMARTCARD_CLEAR_IDLEFLAG(__HANDLE__) __HAL_SMARTCARD_CLEAR_PEFLAG(__HANDLE__) - -/** @brief Enable the specified SmartCard interrupt. - * @param __HANDLE__ specifies the SMARTCARD Handle. - * SMARTCARD Handle selects the USARTx peripheral (USART availability and x value depending on device). - * @param __INTERRUPT__ specifies the SMARTCARD interrupt to enable. - * This parameter can be one of the following values: - * @arg SMARTCARD_IT_TXE: Transmit Data Register empty interrupt - * @arg SMARTCARD_IT_TC: Transmission complete interrupt - * @arg SMARTCARD_IT_RXNE: Receive Data register not empty interrupt - * @arg SMARTCARD_IT_IDLE: Idle line detection interrupt - * @arg SMARTCARD_IT_PE: Parity Error interrupt - * @arg SMARTCARD_IT_ERR: Error interrupt(Frame error, noise error, overrun error) - * @retval None - */ -#define __HAL_SMARTCARD_ENABLE_IT(__HANDLE__, __INTERRUPT__) ((((__INTERRUPT__) >> 28U) == SMARTCARD_CR1_REG_INDEX)? ((__HANDLE__)->Instance->CR1 |= ((__INTERRUPT__) & SMARTCARD_IT_MASK)): \ - ((__HANDLE__)->Instance->CR3 |= ((__INTERRUPT__) & SMARTCARD_IT_MASK))) - -/** @brief Disable the specified SmartCard interrupt. - * @param __HANDLE__ specifies the SMARTCARD Handle. - * SMARTCARD Handle selects the USARTx peripheral (USART availability and x value depending on device). - * @param __INTERRUPT__ specifies the SMARTCARD interrupt to disable. - * This parameter can be one of the following values: - * @arg SMARTCARD_IT_TXE: Transmit Data Register empty interrupt - * @arg SMARTCARD_IT_TC: Transmission complete interrupt - * @arg SMARTCARD_IT_RXNE: Receive Data register not empty interrupt - * @arg SMARTCARD_IT_IDLE: Idle line detection interrupt - * @arg SMARTCARD_IT_PE: Parity Error interrupt - * @arg SMARTCARD_IT_ERR: Error interrupt(Frame error, noise error, overrun error) - * @retval None - */ -#define __HAL_SMARTCARD_DISABLE_IT(__HANDLE__, __INTERRUPT__) ((((__INTERRUPT__) >> 28U) == SMARTCARD_CR1_REG_INDEX)? ((__HANDLE__)->Instance->CR1 &= ~((__INTERRUPT__) & SMARTCARD_IT_MASK)): \ - ((__HANDLE__)->Instance->CR3 &= ~ ((__INTERRUPT__) & SMARTCARD_IT_MASK))) - -/** @brief Checks whether the specified SmartCard interrupt has occurred or not. - * @param __HANDLE__ specifies the SmartCard Handle. - * @param __IT__ specifies the SMARTCARD interrupt source to check. - * This parameter can be one of the following values: - * @arg SMARTCARD_IT_TXE: Transmit Data Register empty interrupt - * @arg SMARTCARD_IT_TC: Transmission complete interrupt - * @arg SMARTCARD_IT_RXNE: Receive Data register not empty interrupt - * @arg SMARTCARD_IT_IDLE: Idle line detection interrupt - * @arg SMARTCARD_IT_ERR: Error interrupt - * @arg SMARTCARD_IT_PE: Parity Error interrupt - * @retval The new state of __IT__ (TRUE or FALSE). - */ -#define __HAL_SMARTCARD_GET_IT_SOURCE(__HANDLE__, __IT__) (((((__IT__) >> 28U) == SMARTCARD_CR1_REG_INDEX)? (__HANDLE__)->Instance->CR1: (__HANDLE__)->Instance->CR3) & (((uint32_t)(__IT__)) & SMARTCARD_IT_MASK)) - -/** @brief Macro to enable the SMARTCARD's one bit sample method - * @param __HANDLE__ specifies the SMARTCARD Handle. - * @retval None - */ -#define __HAL_SMARTCARD_ONE_BIT_SAMPLE_ENABLE(__HANDLE__) ((__HANDLE__)->Instance->CR3|= USART_CR3_ONEBIT) - -/** @brief Macro to disable the SMARTCARD's one bit sample method - * @param __HANDLE__ specifies the SMARTCARD Handle. - * @retval None - */ -#define __HAL_SMARTCARD_ONE_BIT_SAMPLE_DISABLE(__HANDLE__) ((__HANDLE__)->Instance->CR3 &= (uint16_t)~((uint16_t)USART_CR3_ONEBIT)) - -/** @brief Enable the USART associated to the SMARTCARD Handle - * @param __HANDLE__ specifies the SMARTCARD Handle. - * SMARTCARD Handle selects the USARTx peripheral (USART availability and x value depending on device). - * @retval None - */ -#define __HAL_SMARTCARD_ENABLE(__HANDLE__) ((__HANDLE__)->Instance->CR1 |= USART_CR1_UE) - -/** @brief Disable the USART associated to the SMARTCARD Handle - * @param __HANDLE__ specifies the SMARTCARD Handle. - * SMARTCARD Handle selects the USARTx peripheral (USART availability and x value depending on device). - * @retval None - */ -#define __HAL_SMARTCARD_DISABLE(__HANDLE__) ((__HANDLE__)->Instance->CR1 &= ~USART_CR1_UE) - -/** @brief Macros to enable the SmartCard DMA request. - * @param __HANDLE__ specifies the SmartCard Handle. - * @param __REQUEST__ specifies the SmartCard DMA request. - * This parameter can be one of the following values: - * @arg SMARTCARD_DMAREQ_TX: SmartCard DMA transmit request - * @arg SMARTCARD_DMAREQ_RX: SmartCard DMA receive request - * @retval None - */ -#define __HAL_SMARTCARD_DMA_REQUEST_ENABLE(__HANDLE__, __REQUEST__) ((__HANDLE__)->Instance->CR3 |= (__REQUEST__)) - -/** @brief Macros to disable the SmartCard DMA request. - * @param __HANDLE__ specifies the SmartCard Handle. - * @param __REQUEST__ specifies the SmartCard DMA request. - * This parameter can be one of the following values: - * @arg SMARTCARD_DMAREQ_TX: SmartCard DMA transmit request - * @arg SMARTCARD_DMAREQ_RX: SmartCard DMA receive request - * @retval None - */ -#define __HAL_SMARTCARD_DMA_REQUEST_DISABLE(__HANDLE__, __REQUEST__) ((__HANDLE__)->Instance->CR3 &= ~(__REQUEST__)) - -/** - * @} - */ - -/* Exported functions --------------------------------------------------------*/ -/** @addtogroup SMARTCARD_Exported_Functions - * @{ - */ - -/** @addtogroup SMARTCARD_Exported_Functions_Group1 - * @{ - */ -/* Initialization/de-initialization functions **********************************/ -HAL_StatusTypeDef HAL_SMARTCARD_Init(SMARTCARD_HandleTypeDef *hsc); -HAL_StatusTypeDef HAL_SMARTCARD_ReInit(SMARTCARD_HandleTypeDef *hsc); -HAL_StatusTypeDef HAL_SMARTCARD_DeInit(SMARTCARD_HandleTypeDef *hsc); -void HAL_SMARTCARD_MspInit(SMARTCARD_HandleTypeDef *hsc); -void HAL_SMARTCARD_MspDeInit(SMARTCARD_HandleTypeDef *hsc); -#if (USE_HAL_SMARTCARD_REGISTER_CALLBACKS == 1) -/* Callbacks Register/UnRegister functions ***********************************/ -HAL_StatusTypeDef HAL_SMARTCARD_RegisterCallback(SMARTCARD_HandleTypeDef *hsc, HAL_SMARTCARD_CallbackIDTypeDef CallbackID, pSMARTCARD_CallbackTypeDef pCallback); -HAL_StatusTypeDef HAL_SMARTCARD_UnRegisterCallback(SMARTCARD_HandleTypeDef *hsc, HAL_SMARTCARD_CallbackIDTypeDef CallbackID); -#endif /* USE_HAL_SMARTCARD_REGISTER_CALLBACKS */ -/** - * @} - */ - -/** @addtogroup SMARTCARD_Exported_Functions_Group2 - * @{ - */ -/* IO operation functions *******************************************************/ -HAL_StatusTypeDef HAL_SMARTCARD_Transmit(SMARTCARD_HandleTypeDef *hsc, uint8_t *pData, uint16_t Size, uint32_t Timeout); -HAL_StatusTypeDef HAL_SMARTCARD_Receive(SMARTCARD_HandleTypeDef *hsc, uint8_t *pData, uint16_t Size, uint32_t Timeout); -HAL_StatusTypeDef HAL_SMARTCARD_Transmit_IT(SMARTCARD_HandleTypeDef *hsc, uint8_t *pData, uint16_t Size); -HAL_StatusTypeDef HAL_SMARTCARD_Receive_IT(SMARTCARD_HandleTypeDef *hsc, uint8_t *pData, uint16_t Size); -HAL_StatusTypeDef HAL_SMARTCARD_Transmit_DMA(SMARTCARD_HandleTypeDef *hsc, uint8_t *pData, uint16_t Size); -HAL_StatusTypeDef HAL_SMARTCARD_Receive_DMA(SMARTCARD_HandleTypeDef *hsc, uint8_t *pData, uint16_t Size); -/* Transfer Abort functions */ -HAL_StatusTypeDef HAL_SMARTCARD_Abort(SMARTCARD_HandleTypeDef *hsc); -HAL_StatusTypeDef HAL_SMARTCARD_AbortTransmit(SMARTCARD_HandleTypeDef *hsc); -HAL_StatusTypeDef HAL_SMARTCARD_AbortReceive(SMARTCARD_HandleTypeDef *hsc); -HAL_StatusTypeDef HAL_SMARTCARD_Abort_IT(SMARTCARD_HandleTypeDef *hsc); -HAL_StatusTypeDef HAL_SMARTCARD_AbortTransmit_IT(SMARTCARD_HandleTypeDef *hsc); -HAL_StatusTypeDef HAL_SMARTCARD_AbortReceive_IT(SMARTCARD_HandleTypeDef *hsc); - -void HAL_SMARTCARD_IRQHandler(SMARTCARD_HandleTypeDef *hsc); -void HAL_SMARTCARD_TxCpltCallback(SMARTCARD_HandleTypeDef *hsc); -void HAL_SMARTCARD_RxCpltCallback(SMARTCARD_HandleTypeDef *hsc); -void HAL_SMARTCARD_ErrorCallback(SMARTCARD_HandleTypeDef *hsc); -void HAL_SMARTCARD_AbortCpltCallback(SMARTCARD_HandleTypeDef *hsc); -void HAL_SMARTCARD_AbortTransmitCpltCallback(SMARTCARD_HandleTypeDef *hsc); -void HAL_SMARTCARD_AbortReceiveCpltCallback(SMARTCARD_HandleTypeDef *hsc); -/** - * @} - */ - -/** @addtogroup SMARTCARD_Exported_Functions_Group3 - * @{ - */ -/* Peripheral State functions **************************************************/ -HAL_SMARTCARD_StateTypeDef HAL_SMARTCARD_GetState(SMARTCARD_HandleTypeDef *hsc); -uint32_t HAL_SMARTCARD_GetError(SMARTCARD_HandleTypeDef *hsc); -/** - * @} - */ - -/** - * @} - */ -/* Private types -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private constants ---------------------------------------------------------*/ -/** @defgroup SMARTCARD_Private_Constants SMARTCARD Private Constants - * @{ - */ - -/** @brief SMARTCARD interruptions flag mask - * - */ -#define SMARTCARD_IT_MASK ((uint32_t) USART_CR1_PEIE | USART_CR1_TXEIE | USART_CR1_TCIE | USART_CR1_RXNEIE | \ - USART_CR1_IDLEIE | USART_CR3_EIE ) - -#define SMARTCARD_CR1_REG_INDEX 1U -#define SMARTCARD_CR3_REG_INDEX 3U -/** - * @} - */ - -/* Private macros --------------------------------------------------------*/ -/** @defgroup SMARTCARD_Private_Macros SMARTCARD Private Macros - * @{ - */ -#define IS_SMARTCARD_WORD_LENGTH(LENGTH) ((LENGTH) == SMARTCARD_WORDLENGTH_9B) -#define IS_SMARTCARD_STOPBITS(STOPBITS) (((STOPBITS) == SMARTCARD_STOPBITS_0_5) || \ - ((STOPBITS) == SMARTCARD_STOPBITS_1_5)) -#define IS_SMARTCARD_PARITY(PARITY) (((PARITY) == SMARTCARD_PARITY_EVEN) || \ - ((PARITY) == SMARTCARD_PARITY_ODD)) -#define IS_SMARTCARD_MODE(MODE) ((((MODE) & 0x0000FFF3U) == 0x00U) && ((MODE) != 0x000000U)) -#define IS_SMARTCARD_POLARITY(CPOL) (((CPOL) == SMARTCARD_POLARITY_LOW) || ((CPOL) == SMARTCARD_POLARITY_HIGH)) -#define IS_SMARTCARD_PHASE(CPHA) (((CPHA) == SMARTCARD_PHASE_1EDGE) || ((CPHA) == SMARTCARD_PHASE_2EDGE)) -#define IS_SMARTCARD_LASTBIT(LASTBIT) (((LASTBIT) == SMARTCARD_LASTBIT_DISABLE) || \ - ((LASTBIT) == SMARTCARD_LASTBIT_ENABLE)) -#define IS_SMARTCARD_NACK_STATE(NACK) (((NACK) == SMARTCARD_NACK_ENABLE) || \ - ((NACK) == SMARTCARD_NACK_DISABLE)) -#define IS_SMARTCARD_BAUDRATE(BAUDRATE) ((BAUDRATE) < 10500001U) - -#define SMARTCARD_DIV(__PCLK__, __BAUD__) ((uint32_t)((((uint64_t)(__PCLK__))*25U)/(4U*((uint64_t)(__BAUD__))))) -#define SMARTCARD_DIVMANT(__PCLK__, __BAUD__) (SMARTCARD_DIV((__PCLK__), (__BAUD__))/100U) -#define SMARTCARD_DIVFRAQ(__PCLK__, __BAUD__) ((((SMARTCARD_DIV((__PCLK__), (__BAUD__)) - (SMARTCARD_DIVMANT((__PCLK__), (__BAUD__)) * 100U)) * 16U) + 50U) / 100U) -/* SMARTCARD BRR = mantissa + overflow + fraction - = (SMARTCARD DIVMANT << 4) + (SMARTCARD DIVFRAQ & 0xF0) + (SMARTCARD DIVFRAQ & 0x0FU) */ -#define SMARTCARD_BRR(__PCLK__, __BAUD__) (((SMARTCARD_DIVMANT((__PCLK__), (__BAUD__)) << 4U) + \ - (SMARTCARD_DIVFRAQ((__PCLK__), (__BAUD__)) & 0xF0U)) + \ - (SMARTCARD_DIVFRAQ((__PCLK__), (__BAUD__)) & 0x0FU)) - -/** - * @} - */ - -/* Private functions ---------------------------------------------------------*/ -/** @defgroup SMARTCARD_Private_Functions SMARTCARD Private Functions - * @{ - */ - -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ - -#ifdef __cplusplus -} -#endif - -#endif /* __STM32F4xx_HAL_SMARTCARD_H */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_smbus.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_smbus.h deleted file mode 100644 index 056a600d175b89..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_smbus.h +++ /dev/null @@ -1,733 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_smbus.h - * @author MCD Application Team - * @brief Header file of SMBUS HAL module. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef __STM32F4xx_HAL_SMBUS_H -#define __STM32F4xx_HAL_SMBUS_H - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal_def.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @addtogroup SMBUS - * @{ - */ - -/* Exported types ------------------------------------------------------------*/ -/** @defgroup SMBUS_Exported_Types SMBUS Exported Types - * @{ - */ - -/** - * @brief SMBUS Configuration Structure definition - */ -typedef struct -{ - uint32_t ClockSpeed; /*!< Specifies the clock frequency. - This parameter must be set to a value lower than 100kHz */ - - uint32_t AnalogFilter; /*!< Specifies if Analog Filter is enable or not. - This parameter can be a value of @ref SMBUS_Analog_Filter */ - - uint32_t OwnAddress1; /*!< Specifies the first device own address. - This parameter can be a 7-bit or 10-bit address. */ - - uint32_t AddressingMode; /*!< Specifies if 7-bit or 10-bit addressing mode is selected. - This parameter can be a value of @ref SMBUS_addressing_mode */ - - uint32_t DualAddressMode; /*!< Specifies if dual addressing mode is selected. - This parameter can be a value of @ref SMBUS_dual_addressing_mode */ - - uint32_t OwnAddress2; /*!< Specifies the second device own address if dual addressing mode is - selected. This parameter can be a 7-bit address. */ - - uint32_t GeneralCallMode; /*!< Specifies if general call mode is selected. - This parameter can be a value of @ref SMBUS_general_call_addressing_mode */ - - uint32_t NoStretchMode; /*!< Specifies if nostretch mode is selected. - This parameter can be a value of @ref SMBUS_nostretch_mode */ - - uint32_t PacketErrorCheckMode; /*!< Specifies if Packet Error Check mode is selected. - This parameter can be a value of @ref SMBUS_packet_error_check_mode */ - - uint32_t PeripheralMode; /*!< Specifies which mode of Periphal is selected. - This parameter can be a value of @ref SMBUS_peripheral_mode */ - -} SMBUS_InitTypeDef; - -/** - * @brief HAL State structure definition - * @note HAL SMBUS State value coding follow below described bitmap : - * b7-b6 Error information - * 00 : No Error - * 01 : Abort (Abort user request on going) - * 10 : Timeout - * 11 : Error - * b5 IP initialisation status - * 0 : Reset (IP not initialized) - * 1 : Init done (IP initialized and ready to use. HAL SMBUS Init function called) - * b4 (not used) - * x : Should be set to 0 - * b3 - * 0 : Ready or Busy (No Listen mode ongoing) - * 1 : Listen (IP in Address Listen Mode) - * b2 Intrinsic process state - * 0 : Ready - * 1 : Busy (IP busy with some configuration or internal operations) - * b1 Rx state - * 0 : Ready (no Rx operation ongoing) - * 1 : Busy (Rx operation ongoing) - * b0 Tx state - * 0 : Ready (no Tx operation ongoing) - * 1 : Busy (Tx operation ongoing) - */ -typedef enum -{ - - HAL_SMBUS_STATE_RESET = 0x00U, /*!< Peripheral is not yet Initialized */ - HAL_SMBUS_STATE_READY = 0x20U, /*!< Peripheral Initialized and ready for use */ - HAL_SMBUS_STATE_BUSY = 0x24U, /*!< An internal process is ongoing */ - HAL_SMBUS_STATE_BUSY_TX = 0x21U, /*!< Data Transmission process is ongoing */ - HAL_SMBUS_STATE_BUSY_RX = 0x22U, /*!< Data Reception process is ongoing */ - HAL_SMBUS_STATE_LISTEN = 0x28U, /*!< Address Listen Mode is ongoing */ - HAL_SMBUS_STATE_BUSY_TX_LISTEN = 0x29U, /*!< Address Listen Mode and Data Transmission - process is ongoing */ - HAL_SMBUS_STATE_BUSY_RX_LISTEN = 0x2AU, /*!< Address Listen Mode and Data Reception - process is ongoing */ - HAL_SMBUS_STATE_ABORT = 0x60U, /*!< Abort user request ongoing */ - HAL_SMBUS_STATE_TIMEOUT = 0xA0U, /*!< Timeout state */ - HAL_SMBUS_STATE_ERROR = 0xE0U /*!< Error */ -} HAL_SMBUS_StateTypeDef; - -/** - * @brief HAL Mode structure definition - * @note HAL SMBUS Mode value coding follow below described bitmap : - * b7 (not used) - * x : Should be set to 0 - * b6 (not used) - * x : Should be set to 0 - * b5 - * 0 : None - * 1 : Slave (HAL SMBUS communication is in Slave/Device Mode) - * b4 - * 0 : None - * 1 : Master (HAL SMBUS communication is in Master/Host Mode) - * b3-b2-b1-b0 (not used) - * xxxx : Should be set to 0000 - */ -typedef enum -{ - HAL_SMBUS_MODE_NONE = 0x00U, /*!< No SMBUS communication on going */ - HAL_SMBUS_MODE_MASTER = 0x10U, /*!< SMBUS communication is in Master Mode */ - HAL_SMBUS_MODE_SLAVE = 0x20U, /*!< SMBUS communication is in Slave Mode */ - -} HAL_SMBUS_ModeTypeDef; - -/** - * @brief SMBUS handle Structure definition - */ -typedef struct __SMBUS_HandleTypeDef -{ - I2C_TypeDef *Instance; /*!< SMBUS registers base address */ - - SMBUS_InitTypeDef Init; /*!< SMBUS communication parameters */ - - uint8_t *pBuffPtr; /*!< Pointer to SMBUS transfer buffer */ - - uint16_t XferSize; /*!< SMBUS transfer size */ - - __IO uint16_t XferCount; /*!< SMBUS transfer counter */ - - __IO uint32_t XferOptions; /*!< SMBUS transfer options this parameter can - be a value of @ref SMBUS_OPTIONS */ - - __IO uint32_t PreviousState; /*!< SMBUS communication Previous state and mode - context for internal usage */ - - HAL_LockTypeDef Lock; /*!< SMBUS locking object */ - - __IO HAL_SMBUS_StateTypeDef State; /*!< SMBUS communication state */ - - __IO HAL_SMBUS_ModeTypeDef Mode; /*!< SMBUS communication mode */ - - __IO uint32_t ErrorCode; /*!< SMBUS Error code */ - - __IO uint32_t Devaddress; /*!< SMBUS Target device address */ - - __IO uint32_t EventCount; /*!< SMBUS Event counter */ - - uint8_t XferPEC; /*!< SMBUS PEC data in reception mode */ - -#if (USE_HAL_SMBUS_REGISTER_CALLBACKS == 1) - void (* MasterTxCpltCallback)(struct __SMBUS_HandleTypeDef *hsmbus); /*!< SMBUS Master Tx Transfer completed callback */ - void (* MasterRxCpltCallback)(struct __SMBUS_HandleTypeDef *hsmbus); /*!< SMBUS Master Rx Transfer completed callback */ - void (* SlaveTxCpltCallback)(struct __SMBUS_HandleTypeDef *hsmbus); /*!< SMBUS Slave Tx Transfer completed callback */ - void (* SlaveRxCpltCallback)(struct __SMBUS_HandleTypeDef *hsmbus); /*!< SMBUS Slave Rx Transfer completed callback */ - void (* ListenCpltCallback)(struct __SMBUS_HandleTypeDef *hsmbus); /*!< SMBUS Listen Complete callback */ - void (* MemTxCpltCallback)(struct __SMBUS_HandleTypeDef *hsmbus); /*!< SMBUS Memory Tx Transfer completed callback */ - void (* MemRxCpltCallback)(struct __SMBUS_HandleTypeDef *hsmbus); /*!< SMBUS Memory Rx Transfer completed callback */ - void (* ErrorCallback)(struct __SMBUS_HandleTypeDef *hsmbus); /*!< SMBUS Error callback */ - void (* AbortCpltCallback)(struct __SMBUS_HandleTypeDef *hsmbus); /*!< SMBUS Abort callback */ - void (* AddrCallback)(struct __SMBUS_HandleTypeDef *hsmbus, uint8_t TransferDirection, uint16_t AddrMatchCode); /*!< SMBUS Slave Address Match callback */ - void (* MspInitCallback)(struct __SMBUS_HandleTypeDef *hsmbus); /*!< SMBUS Msp Init callback */ - void (* MspDeInitCallback)(struct __SMBUS_HandleTypeDef *hsmbus); /*!< SMBUS Msp DeInit callback */ - -#endif /* USE_HAL_SMBUS_REGISTER_CALLBACKS */ -} SMBUS_HandleTypeDef; - -#if (USE_HAL_SMBUS_REGISTER_CALLBACKS == 1) -/** - * @brief HAL SMBUS Callback ID enumeration definition - */ -typedef enum -{ - HAL_SMBUS_MASTER_TX_COMPLETE_CB_ID = 0x00U, /*!< SMBUS Master Tx Transfer completed callback ID */ - HAL_SMBUS_MASTER_RX_COMPLETE_CB_ID = 0x01U, /*!< SMBUS Master Rx Transfer completed callback ID */ - HAL_SMBUS_SLAVE_TX_COMPLETE_CB_ID = 0x02U, /*!< SMBUS Slave Tx Transfer completed callback ID */ - HAL_SMBUS_SLAVE_RX_COMPLETE_CB_ID = 0x03U, /*!< SMBUS Slave Rx Transfer completed callback ID */ - HAL_SMBUS_LISTEN_COMPLETE_CB_ID = 0x04U, /*!< SMBUS Listen Complete callback ID */ - HAL_SMBUS_ERROR_CB_ID = 0x07U, /*!< SMBUS Error callback ID */ - HAL_SMBUS_ABORT_CB_ID = 0x08U, /*!< SMBUS Abort callback ID */ - HAL_SMBUS_MSPINIT_CB_ID = 0x09U, /*!< SMBUS Msp Init callback ID */ - HAL_SMBUS_MSPDEINIT_CB_ID = 0x0AU /*!< SMBUS Msp DeInit callback ID */ - -} HAL_SMBUS_CallbackIDTypeDef; - -/** - * @brief HAL SMBUS Callback pointer definition - */ -typedef void (*pSMBUS_CallbackTypeDef)(SMBUS_HandleTypeDef *hsmbus); /*!< pointer to an I2C callback function */ -typedef void (*pSMBUS_AddrCallbackTypeDef)(SMBUS_HandleTypeDef *hsmbus, uint8_t TransferDirection, uint16_t AddrMatchCode); /*!< pointer to an I2C Address Match callback function */ - -#endif /* USE_HAL_SMBUS_REGISTER_CALLBACKS */ - -/** - * @} - */ - -/* Exported constants --------------------------------------------------------*/ -/** @defgroup SMBUS_Exported_Constants SMBUS Exported Constants - * @{ - */ - -/** @defgroup SMBUS_Error_Code_definition SMBUS Error Code - * @brief SMBUS Error Code - * @{ - */ -#define HAL_SMBUS_ERROR_NONE 0x00000000U /*!< No error */ -#define HAL_SMBUS_ERROR_BERR 0x00000001U /*!< BERR error */ -#define HAL_SMBUS_ERROR_ARLO 0x00000002U /*!< ARLO error */ -#define HAL_SMBUS_ERROR_AF 0x00000004U /*!< AF error */ -#define HAL_SMBUS_ERROR_OVR 0x00000008U /*!< OVR error */ -#define HAL_SMBUS_ERROR_TIMEOUT 0x00000010U /*!< Timeout Error */ -#define HAL_SMBUS_ERROR_ALERT 0x00000020U /*!< Alert error */ -#define HAL_SMBUS_ERROR_PECERR 0x00000040U /*!< PEC error */ -#if (USE_HAL_SMBUS_REGISTER_CALLBACKS == 1) -#define HAL_SMBUS_ERROR_INVALID_CALLBACK 0x00000080U /*!< Invalid Callback error */ -#endif /* USE_HAL_SMBUS_REGISTER_CALLBACKS */ - -/** - * @} - */ - -/** @defgroup SMBUS_Analog_Filter SMBUS Analog Filter - * @{ - */ -#define SMBUS_ANALOGFILTER_ENABLE 0x00000000U -#define SMBUS_ANALOGFILTER_DISABLE I2C_FLTR_ANOFF -/** - * @} - */ - -/** @defgroup SMBUS_addressing_mode SMBUS addressing mode - * @{ - */ -#define SMBUS_ADDRESSINGMODE_7BIT 0x00004000U -#define SMBUS_ADDRESSINGMODE_10BIT (I2C_OAR1_ADDMODE | 0x00004000U) -/** - * @} - */ - -/** @defgroup SMBUS_dual_addressing_mode SMBUS dual addressing mode - * @{ - */ -#define SMBUS_DUALADDRESS_DISABLE 0x00000000U -#define SMBUS_DUALADDRESS_ENABLE I2C_OAR2_ENDUAL -/** - * @} - */ - -/** @defgroup SMBUS_general_call_addressing_mode SMBUS general call addressing mode - * @{ - */ -#define SMBUS_GENERALCALL_DISABLE 0x00000000U -#define SMBUS_GENERALCALL_ENABLE I2C_CR1_ENGC -/** - * @} - */ - -/** @defgroup SMBUS_nostretch_mode SMBUS nostretch mode - * @{ - */ -#define SMBUS_NOSTRETCH_DISABLE 0x00000000U -#define SMBUS_NOSTRETCH_ENABLE I2C_CR1_NOSTRETCH -/** - * @} - */ - -/** @defgroup SMBUS_packet_error_check_mode SMBUS packet error check mode - * @{ - */ -#define SMBUS_PEC_DISABLE 0x00000000U -#define SMBUS_PEC_ENABLE I2C_CR1_ENPEC -/** - * @} - */ - -/** @defgroup SMBUS_peripheral_mode SMBUS peripheral mode -* @{ -*/ -#define SMBUS_PERIPHERAL_MODE_SMBUS_HOST (uint32_t)(I2C_CR1_SMBUS | I2C_CR1_SMBTYPE | I2C_CR1_ENARP) -#define SMBUS_PERIPHERAL_MODE_SMBUS_SLAVE I2C_CR1_SMBUS -#define SMBUS_PERIPHERAL_MODE_SMBUS_SLAVE_ARP (uint32_t)(I2C_CR1_SMBUS | I2C_CR1_ENARP) -/** -* @} -*/ - -/** @defgroup SMBUS_XferDirection_definition SMBUS XferDirection definition - * @{ - */ -#define SMBUS_DIRECTION_RECEIVE 0x00000000U -#define SMBUS_DIRECTION_TRANSMIT 0x00000001U -/** - * @} - */ - -/** @defgroup SMBUS_XferOptions_definition SMBUS XferOptions definition - * @{ - */ -#define SMBUS_FIRST_FRAME 0x00000001U -#define SMBUS_NEXT_FRAME 0x00000002U -#define SMBUS_FIRST_AND_LAST_FRAME_NO_PEC 0x00000003U -#define SMBUS_LAST_FRAME_NO_PEC 0x00000004U -#define SMBUS_FIRST_AND_LAST_FRAME_WITH_PEC 0x00000005U -#define SMBUS_LAST_FRAME_WITH_PEC 0x00000006U -/** - * @} - */ - -/** @defgroup SMBUS_Interrupt_configuration_definition SMBUS Interrupt configuration definition - * @{ - */ -#define SMBUS_IT_BUF I2C_CR2_ITBUFEN -#define SMBUS_IT_EVT I2C_CR2_ITEVTEN -#define SMBUS_IT_ERR I2C_CR2_ITERREN -/** - * @} - */ - -/** @defgroup SMBUS_Flag_definition SMBUS Flag definition - * @{ - */ -#define SMBUS_FLAG_SMBALERT 0x00018000U -#define SMBUS_FLAG_TIMEOUT 0x00014000U -#define SMBUS_FLAG_PECERR 0x00011000U -#define SMBUS_FLAG_OVR 0x00010800U -#define SMBUS_FLAG_AF 0x00010400U -#define SMBUS_FLAG_ARLO 0x00010200U -#define SMBUS_FLAG_BERR 0x00010100U -#define SMBUS_FLAG_TXE 0x00010080U -#define SMBUS_FLAG_RXNE 0x00010040U -#define SMBUS_FLAG_STOPF 0x00010010U -#define SMBUS_FLAG_ADD10 0x00010008U -#define SMBUS_FLAG_BTF 0x00010004U -#define SMBUS_FLAG_ADDR 0x00010002U -#define SMBUS_FLAG_SB 0x00010001U -#define SMBUS_FLAG_DUALF 0x00100080U -#define SMBUS_FLAG_SMBHOST 0x00100040U -#define SMBUS_FLAG_SMBDEFAULT 0x00100020U -#define SMBUS_FLAG_GENCALL 0x00100010U -#define SMBUS_FLAG_TRA 0x00100004U -#define SMBUS_FLAG_BUSY 0x00100002U -#define SMBUS_FLAG_MSL 0x00100001U -/** - * @} - */ - -/** - * @} - */ - -/* Exported macro ------------------------------------------------------------*/ -/** @defgroup SMBUS_Exported_Macros SMBUS Exported Macros - * @{ - */ - -/** @brief Reset SMBUS handle state - * @param __HANDLE__ specifies the SMBUS Handle. - * This parameter can be SMBUS where x: 1, 2, or 3 to select the SMBUS peripheral. - * @retval None - */ -#if (USE_HAL_SMBUS_REGISTER_CALLBACKS == 1) -#define __HAL_SMBUS_RESET_HANDLE_STATE(__HANDLE__) do{ \ - (__HANDLE__)->State = HAL_SMBUS_STATE_RESET; \ - (__HANDLE__)->MspInitCallback = NULL; \ - (__HANDLE__)->MspDeInitCallback = NULL; \ - } while(0) -#else -#define __HAL_SMBUS_RESET_HANDLE_STATE(__HANDLE__) ((__HANDLE__)->State = HAL_SMBUS_STATE_RESET) -#endif - -/** @brief Enable or disable the specified SMBUS interrupts. - * @param __HANDLE__ specifies the SMBUS Handle. - * This parameter can be SMBUS where x: 1, 2, or 3 to select the SMBUS peripheral. - * @param __INTERRUPT__ specifies the interrupt source to enable or disable. - * This parameter can be one of the following values: - * @arg SMBUS_IT_BUF: Buffer interrupt enable - * @arg SMBUS_IT_EVT: Event interrupt enable - * @arg SMBUS_IT_ERR: Error interrupt enable - * @retval None - */ -#define __HAL_SMBUS_ENABLE_IT(__HANDLE__, __INTERRUPT__) ((__HANDLE__)->Instance->CR2 |= (__INTERRUPT__)) -#define __HAL_SMBUS_DISABLE_IT(__HANDLE__, __INTERRUPT__) ((__HANDLE__)->Instance->CR2 &= (~(__INTERRUPT__))) - -/** @brief Checks if the specified SMBUS interrupt source is enabled or disabled. - * @param __HANDLE__ specifies the SMBUS Handle. - * This parameter can be SMBUS where x: 1, 2, or 3 to select the SMBUS peripheral. - * @param __INTERRUPT__ specifies the SMBUS interrupt source to check. - * This parameter can be one of the following values: - * @arg SMBUS_IT_BUF: Buffer interrupt enable - * @arg SMBUS_IT_EVT: Event interrupt enable - * @arg SMBUS_IT_ERR: Error interrupt enable - * @retval The new state of __INTERRUPT__ (TRUE or FALSE). - */ -#define __HAL_SMBUS_GET_IT_SOURCE(__HANDLE__, __INTERRUPT__) ((((__HANDLE__)->Instance->CR2 & (__INTERRUPT__)) == (__INTERRUPT__)) ? SET : RESET) - -/** @brief Checks whether the specified SMBUS flag is set or not. - * @param __HANDLE__ specifies the SMBUS Handle. - * This parameter can be SMBUS where x: 1, 2, or 3 to select the SMBUS peripheral. - * @param __FLAG__ specifies the flag to check. - * This parameter can be one of the following values: - * @arg SMBUS_FLAG_SMBALERT: SMBus Alert flag - * @arg SMBUS_FLAG_TIMEOUT: Timeout or Tlow error flag - * @arg SMBUS_FLAG_PECERR: PEC error in reception flag - * @arg SMBUS_FLAG_OVR: Overrun/Underrun flag - * @arg SMBUS_FLAG_AF: Acknowledge failure flag - * @arg SMBUS_FLAG_ARLO: Arbitration lost flag - * @arg SMBUS_FLAG_BERR: Bus error flag - * @arg SMBUS_FLAG_TXE: Data register empty flag - * @arg SMBUS_FLAG_RXNE: Data register not empty flag - * @arg SMBUS_FLAG_STOPF: Stop detection flag - * @arg SMBUS_FLAG_ADD10: 10-bit header sent flag - * @arg SMBUS_FLAG_BTF: Byte transfer finished flag - * @arg SMBUS_FLAG_ADDR: Address sent flag - * Address matched flag - * @arg SMBUS_FLAG_SB: Start bit flag - * @arg SMBUS_FLAG_DUALF: Dual flag - * @arg SMBUS_FLAG_SMBHOST: SMBus host header - * @arg SMBUS_FLAG_SMBDEFAULT: SMBus default header - * @arg SMBUS_FLAG_GENCALL: General call header flag - * @arg SMBUS_FLAG_TRA: Transmitter/Receiver flag - * @arg SMBUS_FLAG_BUSY: Bus busy flag - * @arg SMBUS_FLAG_MSL: Master/Slave flag - * @retval The new state of __FLAG__ (TRUE or FALSE). - */ -#define __HAL_SMBUS_GET_FLAG(__HANDLE__, __FLAG__) ((((uint8_t)((__FLAG__) >> 16U)) == 0x01U)?((((__HANDLE__)->Instance->SR1) & ((__FLAG__) & SMBUS_FLAG_MASK)) == ((__FLAG__) & SMBUS_FLAG_MASK)): \ - ((((__HANDLE__)->Instance->SR2) & ((__FLAG__) & SMBUS_FLAG_MASK)) == ((__FLAG__) & SMBUS_FLAG_MASK))) - -/** @brief Clears the SMBUS pending flags which are cleared by writing 0 in a specific bit. - * @param __HANDLE__ specifies the SMBUS Handle. - * This parameter can be SMBUS where x: 1, 2, or 3 to select the SMBUS peripheral. - * @param __FLAG__ specifies the flag to clear. - * This parameter can be any combination of the following values: - * @arg SMBUS_FLAG_SMBALERT: SMBus Alert flag - * @arg SMBUS_FLAG_TIMEOUT: Timeout or Tlow error flag - * @arg SMBUS_FLAG_PECERR: PEC error in reception flag - * @arg SMBUS_FLAG_OVR: Overrun/Underrun flag (Slave mode) - * @arg SMBUS_FLAG_AF: Acknowledge failure flag - * @arg SMBUS_FLAG_ARLO: Arbitration lost flag (Master mode) - * @arg SMBUS_FLAG_BERR: Bus error flag - * @retval None - */ -#define __HAL_SMBUS_CLEAR_FLAG(__HANDLE__, __FLAG__) ((__HANDLE__)->Instance->SR1 = ~((__FLAG__) & SMBUS_FLAG_MASK)) - -/** @brief Clears the SMBUS ADDR pending flag. - * @param __HANDLE__ specifies the SMBUS Handle. - * This parameter can be SMBUS where x: 1, 2, or 3 to select the SMBUS peripheral. - * @retval None - */ -#define __HAL_SMBUS_CLEAR_ADDRFLAG(__HANDLE__) \ - do{ \ - __IO uint32_t tmpreg = 0x00U; \ - tmpreg = (__HANDLE__)->Instance->SR1; \ - tmpreg = (__HANDLE__)->Instance->SR2; \ - UNUSED(tmpreg); \ - } while(0) - -/** @brief Clears the SMBUS STOPF pending flag. - * @param __HANDLE__ specifies the SMBUS Handle. - * This parameter can be SMBUS where x: 1, 2, or 3 to select the SMBUS peripheral. - * @retval None - */ -#define __HAL_SMBUS_CLEAR_STOPFLAG(__HANDLE__) \ - do{ \ - __IO uint32_t tmpreg = 0x00U; \ - tmpreg = (__HANDLE__)->Instance->SR1; \ - (__HANDLE__)->Instance->CR1 |= I2C_CR1_PE; \ - UNUSED(tmpreg); \ - } while(0) - -/** @brief Enable the SMBUS peripheral. - * @param __HANDLE__ specifies the SMBUS Handle. - * This parameter can be SMBUSx where x: 1 or 2 to select the SMBUS peripheral. - * @retval None - */ -#define __HAL_SMBUS_ENABLE(__HANDLE__) ((__HANDLE__)->Instance->CR1 |= I2C_CR1_PE) - -/** @brief Disable the SMBUS peripheral. - * @param __HANDLE__ specifies the SMBUS Handle. - * This parameter can be SMBUSx where x: 1 or 2 to select the SMBUS peripheral. - * @retval None - */ -#define __HAL_SMBUS_DISABLE(__HANDLE__) ((__HANDLE__)->Instance->CR1 &= ~I2C_CR1_PE) - -/** @brief Generate a Non-Acknowledge SMBUS peripheral in Slave mode. - * @param __HANDLE__ specifies the SMBUS Handle. - * @retval None - */ -#define __HAL_SMBUS_GENERATE_NACK(__HANDLE__) (CLEAR_BIT((__HANDLE__)->Instance->CR1, I2C_CR1_ACK)) - -/** - * @} - */ - -/* Exported functions --------------------------------------------------------*/ -/** @addtogroup SMBUS_Exported_Functions - * @{ - */ - -/** @addtogroup SMBUS_Exported_Functions_Group1 Initialization and de-initialization functions - * @{ - */ - -/* Initialization/de-initialization functions **********************************/ -HAL_StatusTypeDef HAL_SMBUS_Init(SMBUS_HandleTypeDef *hsmbus); -HAL_StatusTypeDef HAL_SMBUS_DeInit(SMBUS_HandleTypeDef *hsmbus); -void HAL_SMBUS_MspInit(SMBUS_HandleTypeDef *hsmbus); -void HAL_SMBUS_MspDeInit(SMBUS_HandleTypeDef *hsmbus); - -/* Callbacks Register/UnRegister functions ************************************/ -#if (USE_HAL_SMBUS_REGISTER_CALLBACKS == 1) -HAL_StatusTypeDef HAL_SMBUS_RegisterCallback(SMBUS_HandleTypeDef *hsmbus, HAL_SMBUS_CallbackIDTypeDef CallbackID, pSMBUS_CallbackTypeDef pCallback); -HAL_StatusTypeDef HAL_SMBUS_UnRegisterCallback(SMBUS_HandleTypeDef *hsmbus, HAL_SMBUS_CallbackIDTypeDef CallbackID); - -HAL_StatusTypeDef HAL_SMBUS_RegisterAddrCallback(SMBUS_HandleTypeDef *hsmbus, pSMBUS_AddrCallbackTypeDef pCallback); -HAL_StatusTypeDef HAL_SMBUS_UnRegisterAddrCallback(SMBUS_HandleTypeDef *hsmbus); -#endif /* USE_HAL_SMBUS_REGISTER_CALLBACKS */ - -/** - * @} - */ - -/** @addtogroup SMBUS_Exported_Functions_Group2 Input and Output operation functions - * @{ - */ - -/* IO operation functions *****************************************************/ -/** @addtogroup Blocking_mode_Polling Blocking mode Polling - * @{ - */ -/******* Blocking mode: Polling */ -HAL_StatusTypeDef HAL_SMBUS_IsDeviceReady(SMBUS_HandleTypeDef *hsmbus, uint16_t DevAddress, uint32_t Trials, uint32_t Timeout); -/** - * @} - */ - -/** @addtogroup Non-Blocking_mode_Interrupt Non-Blocking mode Interrupt - * @{ - */ -/******* Non-Blocking mode: Interrupt */ -HAL_StatusTypeDef HAL_SMBUS_Master_Transmit_IT(SMBUS_HandleTypeDef *hsmbus, uint16_t DevAddress, uint8_t *pData, uint16_t Size, uint32_t XferOptions); -HAL_StatusTypeDef HAL_SMBUS_Master_Receive_IT(SMBUS_HandleTypeDef *hsmbus, uint16_t DevAddress, uint8_t *pData, uint16_t Size, uint32_t XferOptions); -HAL_StatusTypeDef HAL_SMBUS_Master_Abort_IT(SMBUS_HandleTypeDef *hsmbus, uint16_t DevAddress); -HAL_StatusTypeDef HAL_SMBUS_Slave_Transmit_IT(SMBUS_HandleTypeDef *hsmbus, uint8_t *pData, uint16_t Size, uint32_t XferOptions); -HAL_StatusTypeDef HAL_SMBUS_Slave_Receive_IT(SMBUS_HandleTypeDef *hsmbus, uint8_t *pData, uint16_t Size, uint32_t XferOptions); - -HAL_StatusTypeDef HAL_SMBUS_EnableAlert_IT(SMBUS_HandleTypeDef *hsmbus); -HAL_StatusTypeDef HAL_SMBUS_DisableAlert_IT(SMBUS_HandleTypeDef *hsmbus); -HAL_StatusTypeDef HAL_SMBUS_EnableListen_IT(SMBUS_HandleTypeDef *hsmbus); -HAL_StatusTypeDef HAL_SMBUS_DisableListen_IT(SMBUS_HandleTypeDef *hsmbus); - -/****** Filter Configuration functions */ -#if defined(I2C_FLTR_ANOFF)&&defined(I2C_FLTR_DNF) -HAL_StatusTypeDef HAL_SMBUS_ConfigAnalogFilter(SMBUS_HandleTypeDef *hsmbus, uint32_t AnalogFilter); -HAL_StatusTypeDef HAL_SMBUS_ConfigDigitalFilter(SMBUS_HandleTypeDef *hsmbus, uint32_t DigitalFilter); -#endif -/** - * @} - */ - -/** @addtogroup SMBUS_IRQ_Handler_and_Callbacks IRQ Handler and Callbacks - * @{ - */ -/******* SMBUS IRQHandler and Callbacks used in non blocking modes (Interrupt) */ -void HAL_SMBUS_EV_IRQHandler(SMBUS_HandleTypeDef *hsmbus); -void HAL_SMBUS_ER_IRQHandler(SMBUS_HandleTypeDef *hsmbus); -void HAL_SMBUS_MasterTxCpltCallback(SMBUS_HandleTypeDef *hsmbus); -void HAL_SMBUS_MasterRxCpltCallback(SMBUS_HandleTypeDef *hsmbus); -void HAL_SMBUS_SlaveTxCpltCallback(SMBUS_HandleTypeDef *hsmbus); -void HAL_SMBUS_SlaveRxCpltCallback(SMBUS_HandleTypeDef *hsmbus); -void HAL_SMBUS_AddrCallback(SMBUS_HandleTypeDef *hsmbus, uint8_t TransferDirection, uint16_t AddrMatchCode); -void HAL_SMBUS_ListenCpltCallback(SMBUS_HandleTypeDef *hsmbus); -void HAL_SMBUS_ErrorCallback(SMBUS_HandleTypeDef *hsmbus); -void HAL_SMBUS_AbortCpltCallback(SMBUS_HandleTypeDef *hsmbus); - -/** - * @} - */ - -/** @addtogroup SMBUS_Exported_Functions_Group3 Peripheral State, Mode and Error functions - * @{ - */ - -/* Peripheral State, mode and Errors functions **************************************************/ -HAL_SMBUS_StateTypeDef HAL_SMBUS_GetState(SMBUS_HandleTypeDef *hsmbus); -HAL_SMBUS_ModeTypeDef HAL_SMBUS_GetMode(SMBUS_HandleTypeDef *hsmbus); -uint32_t HAL_SMBUS_GetError(SMBUS_HandleTypeDef *hsmbus); - -/** - * @} - */ - -/** - * @} - */ -/* Private types -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private constants ---------------------------------------------------------*/ -/** @defgroup SMBUS_Private_Constants SMBUS Private Constants - * @{ - */ -#define SMBUS_FLAG_MASK 0x0000FFFFU -/** - * @} - */ - -/* Private macros ------------------------------------------------------------*/ -/** @defgroup SMBUS_Private_Macros SMBUS Private Macros - * @{ - */ - -#define SMBUS_FREQRANGE(__PCLK__) ((__PCLK__)/1000000U) - -#define SMBUS_RISE_TIME(__FREQRANGE__) ( ((__FREQRANGE__) + 1U)) - -#define SMBUS_SPEED_STANDARD(__PCLK__, __SPEED__) (((((__PCLK__)/((__SPEED__) << 1U)) & I2C_CCR_CCR) < 4U)? 4U:((__PCLK__) / ((__SPEED__) << 1U))) - -#define SMBUS_7BIT_ADD_WRITE(__ADDRESS__) ((uint8_t)((__ADDRESS__) & (~I2C_OAR1_ADD0))) - -#define SMBUS_7BIT_ADD_READ(__ADDRESS__) ((uint8_t)((__ADDRESS__) | I2C_OAR1_ADD0)) - -#define SMBUS_10BIT_ADDRESS(__ADDRESS__) ((uint8_t)((uint16_t)((__ADDRESS__) & (uint16_t)0x00FF))) - -#define SMBUS_10BIT_HEADER_WRITE(__ADDRESS__) ((uint8_t)((uint16_t)((uint16_t)(((uint16_t)((__ADDRESS__) & (uint16_t)0x0300)) >> 7) | (uint16_t)0x00F0))) - -#define SMBUS_10BIT_HEADER_READ(__ADDRESS__) ((uint8_t)((uint16_t)((uint16_t)(((uint16_t)((__ADDRESS__) & (uint16_t)0x0300)) >> 7) | (uint16_t)(0x00F1)))) - -#define SMBUS_GET_PEC_MODE(__HANDLE__) ((__HANDLE__)->Instance->CR1 & I2C_CR1_ENPEC) - -#define SMBUS_GET_PEC_VALUE(__HANDLE__) ((__HANDLE__)->XferPEC) - -#if defined(I2C_FLTR_ANOFF)&&defined(I2C_FLTR_DNF) -#define IS_SMBUS_ANALOG_FILTER(FILTER) (((FILTER) == SMBUS_ANALOGFILTER_ENABLE) || \ - ((FILTER) == SMBUS_ANALOGFILTER_DISABLE)) -#define IS_SMBUS_DIGITAL_FILTER(FILTER) ((FILTER) <= 0x0000000FU) -#endif -#define IS_SMBUS_ADDRESSING_MODE(ADDRESS) (((ADDRESS) == SMBUS_ADDRESSINGMODE_7BIT) || \ - ((ADDRESS) == SMBUS_ADDRESSINGMODE_10BIT)) - -#define IS_SMBUS_DUAL_ADDRESS(ADDRESS) (((ADDRESS) == SMBUS_DUALADDRESS_DISABLE) || \ - ((ADDRESS) == SMBUS_DUALADDRESS_ENABLE)) - -#define IS_SMBUS_GENERAL_CALL(CALL) (((CALL) == SMBUS_GENERALCALL_DISABLE) || \ - ((CALL) == SMBUS_GENERALCALL_ENABLE)) - -#define IS_SMBUS_NO_STRETCH(STRETCH) (((STRETCH) == SMBUS_NOSTRETCH_DISABLE) || \ - ((STRETCH) == SMBUS_NOSTRETCH_ENABLE)) - -#define IS_SMBUS_PEC(PEC) (((PEC) == SMBUS_PEC_DISABLE) || \ - ((PEC) == SMBUS_PEC_ENABLE)) - -#define IS_SMBUS_PERIPHERAL_MODE(MODE) (((MODE) == SMBUS_PERIPHERAL_MODE_SMBUS_HOST) || \ - ((MODE) == SMBUS_PERIPHERAL_MODE_SMBUS_SLAVE) || \ - ((MODE) == SMBUS_PERIPHERAL_MODE_SMBUS_SLAVE_ARP)) - -#define IS_SMBUS_CLOCK_SPEED(SPEED) (((SPEED) > 0U) && ((SPEED) <= 100000U)) - -#define IS_SMBUS_OWN_ADDRESS1(ADDRESS1) (((ADDRESS1) & 0xFFFFFC00U) == 0U) - -#define IS_SMBUS_OWN_ADDRESS2(ADDRESS2) (((ADDRESS2) & 0xFFFFFF01U) == 0U) - -#define IS_SMBUS_TRANSFER_OPTIONS_REQUEST(REQUEST) (((REQUEST) == SMBUS_FIRST_FRAME) || \ - ((REQUEST) == SMBUS_NEXT_FRAME) || \ - ((REQUEST) == SMBUS_FIRST_AND_LAST_FRAME_NO_PEC) || \ - ((REQUEST) == SMBUS_LAST_FRAME_NO_PEC) || \ - ((REQUEST) == SMBUS_FIRST_AND_LAST_FRAME_WITH_PEC) || \ - ((REQUEST) == SMBUS_LAST_FRAME_WITH_PEC)) - -/** - * @} - */ - -/* Private Functions ---------------------------------------------------------*/ -/** @defgroup SMBUS_Private_Functions SMBUS Private Functions - * @{ - */ - -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ - -/** -* @} -*/ - -#ifdef __cplusplus -} -#endif - - -#endif /* __STM32F4xx_HAL_SMBUS_H */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_spdifrx.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_spdifrx.h deleted file mode 100644 index 73e30d22835a96..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_spdifrx.h +++ /dev/null @@ -1,600 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_spdifrx.h - * @author MCD Application Team - * @brief Header file of SPDIFRX HAL module. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef STM32F4xx_HAL_SPDIFRX_H -#define STM32F4xx_HAL_SPDIFRX_H - -#ifdef __cplusplus - extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal_def.h" - -#if defined(STM32F446xx) -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ -#if defined (SPDIFRX) - -/** @addtogroup SPDIFRX - * @{ - */ - -/* Exported types ------------------------------------------------------------*/ -/** @defgroup SPDIFRX_Exported_Types SPDIFRX Exported Types - * @{ - */ - -/** - * @brief SPDIFRX Init structure definition - */ -typedef struct -{ - uint32_t InputSelection; /*!< Specifies the SPDIF input selection. - This parameter can be a value of @ref SPDIFRX_Input_Selection */ - - uint32_t Retries; /*!< Specifies the Maximum allowed re-tries during synchronization phase. - This parameter can be a value of @ref SPDIFRX_Max_Retries */ - - uint32_t WaitForActivity; /*!< Specifies the wait for activity on SPDIF selected input. - This parameter can be a value of @ref SPDIFRX_Wait_For_Activity. */ - - uint32_t ChannelSelection; /*!< Specifies whether the control flow will take the channel status from channel A or B. - This parameter can be a value of @ref SPDIFRX_Channel_Selection */ - - uint32_t DataFormat; /*!< Specifies the Data samples format (LSB, MSB, ...). - This parameter can be a value of @ref SPDIFRX_Data_Format */ - - uint32_t StereoMode; /*!< Specifies whether the peripheral is in stereo or mono mode. - This parameter can be a value of @ref SPDIFRX_Stereo_Mode */ - - uint32_t PreambleTypeMask; /*!< Specifies whether The preamble type bits are copied or not into the received frame. - This parameter can be a value of @ref SPDIFRX_PT_Mask */ - - uint32_t ChannelStatusMask; /*!< Specifies whether the channel status and user bits are copied or not into the received frame. - This parameter can be a value of @ref SPDIFRX_ChannelStatus_Mask */ - - uint32_t ValidityBitMask; /*!< Specifies whether the validity bit is copied or not into the received frame. - This parameter can be a value of @ref SPDIFRX_V_Mask */ - - uint32_t ParityErrorMask; /*!< Specifies whether the parity error bit is copied or not into the received frame. - This parameter can be a value of @ref SPDIFRX_PE_Mask */ -} SPDIFRX_InitTypeDef; - -/** - * @brief SPDIFRX SetDataFormat structure definition - */ -typedef struct -{ - uint32_t DataFormat; /*!< Specifies the Data samples format (LSB, MSB, ...). - This parameter can be a value of @ref SPDIFRX_Data_Format */ - - uint32_t StereoMode; /*!< Specifies whether the peripheral is in stereo or mono mode. - This parameter can be a value of @ref SPDIFRX_Stereo_Mode */ - - uint32_t PreambleTypeMask; /*!< Specifies whether The preamble type bits are copied or not into the received frame. - This parameter can be a value of @ref SPDIFRX_PT_Mask */ - - uint32_t ChannelStatusMask; /*!< Specifies whether the channel status and user bits are copied or not into the received frame. - This parameter can be a value of @ref SPDIFRX_ChannelStatus_Mask */ - - uint32_t ValidityBitMask; /*!< Specifies whether the validity bit is copied or not into the received frame. - This parameter can be a value of @ref SPDIFRX_V_Mask */ - - uint32_t ParityErrorMask; /*!< Specifies whether the parity error bit is copied or not into the received frame. - This parameter can be a value of @ref SPDIFRX_PE_Mask */ - -} SPDIFRX_SetDataFormatTypeDef; - -/** - * @brief HAL State structures definition - */ -typedef enum -{ - HAL_SPDIFRX_STATE_RESET = 0x00U, /*!< SPDIFRX not yet initialized or disabled */ - HAL_SPDIFRX_STATE_READY = 0x01U, /*!< SPDIFRX initialized and ready for use */ - HAL_SPDIFRX_STATE_BUSY = 0x02U, /*!< SPDIFRX internal process is ongoing */ - HAL_SPDIFRX_STATE_BUSY_RX = 0x03U, /*!< SPDIFRX internal Data Flow RX process is ongoing */ - HAL_SPDIFRX_STATE_BUSY_CX = 0x04U, /*!< SPDIFRX internal Control Flow RX process is ongoing */ - HAL_SPDIFRX_STATE_ERROR = 0x07U /*!< SPDIFRX error state */ -} HAL_SPDIFRX_StateTypeDef; - -/** - * @brief SPDIFRX handle Structure definition - */ -#if (USE_HAL_SPDIFRX_REGISTER_CALLBACKS == 1) -typedef struct __SPDIFRX_HandleTypeDef -#else -typedef struct -#endif -{ - SPDIFRX_TypeDef *Instance; /* SPDIFRX registers base address */ - - SPDIFRX_InitTypeDef Init; /* SPDIFRX communication parameters */ - - uint32_t *pRxBuffPtr; /* Pointer to SPDIFRX Rx transfer buffer */ - - uint32_t *pCsBuffPtr; /* Pointer to SPDIFRX Cx transfer buffer */ - - __IO uint16_t RxXferSize; /* SPDIFRX Rx transfer size */ - - __IO uint16_t RxXferCount; /* SPDIFRX Rx transfer counter - (This field is initialized at the - same value as transfer size at the - beginning of the transfer and - decremented when a sample is received. - NbSamplesReceived = RxBufferSize-RxBufferCount) */ - - __IO uint16_t CsXferSize; /* SPDIFRX Rx transfer size */ - - __IO uint16_t CsXferCount; /* SPDIFRX Rx transfer counter - (This field is initialized at the - same value as transfer size at the - beginning of the transfer and - decremented when a sample is received. - NbSamplesReceived = RxBufferSize-RxBufferCount) */ - - DMA_HandleTypeDef *hdmaCsRx; /* SPDIFRX EC60958_channel_status and user_information DMA handle parameters */ - - DMA_HandleTypeDef *hdmaDrRx; /* SPDIFRX Rx DMA handle parameters */ - - __IO HAL_LockTypeDef Lock; /* SPDIFRX locking object */ - - __IO HAL_SPDIFRX_StateTypeDef State; /* SPDIFRX communication state */ - - __IO uint32_t ErrorCode; /* SPDIFRX Error code */ - -#if (USE_HAL_SPDIFRX_REGISTER_CALLBACKS == 1) - void (*RxHalfCpltCallback)(struct __SPDIFRX_HandleTypeDef *hspdif); /*!< SPDIFRX Data flow half completed callback */ - void (*RxCpltCallback)(struct __SPDIFRX_HandleTypeDef *hspdif); /*!< SPDIFRX Data flow completed callback */ - void (*CxHalfCpltCallback)(struct __SPDIFRX_HandleTypeDef *hspdif); /*!< SPDIFRX Control flow half completed callback */ - void (*CxCpltCallback)(struct __SPDIFRX_HandleTypeDef *hspdif); /*!< SPDIFRX Control flow completed callback */ - void (*ErrorCallback)(struct __SPDIFRX_HandleTypeDef *hspdif); /*!< SPDIFRX error callback */ - void (* MspInitCallback)( struct __SPDIFRX_HandleTypeDef * hspdif); /*!< SPDIFRX Msp Init callback */ - void (* MspDeInitCallback)( struct __SPDIFRX_HandleTypeDef * hspdif); /*!< SPDIFRX Msp DeInit callback */ -#endif /* USE_HAL_SPDIFRX_REGISTER_CALLBACKS */ - -} SPDIFRX_HandleTypeDef; -/** - * @} - */ - -#if (USE_HAL_SPDIFRX_REGISTER_CALLBACKS == 1) -/** - * @brief HAL SPDIFRX Callback ID enumeration definition - */ -typedef enum -{ - HAL_SPDIFRX_RX_HALF_CB_ID = 0x00U, /*!< SPDIFRX Data flow half completed callback ID */ - HAL_SPDIFRX_RX_CPLT_CB_ID = 0x01U, /*!< SPDIFRX Data flow completed callback */ - HAL_SPDIFRX_CX_HALF_CB_ID = 0x02U, /*!< SPDIFRX Control flow half completed callback */ - HAL_SPDIFRX_CX_CPLT_CB_ID = 0x03U, /*!< SPDIFRX Control flow completed callback */ - HAL_SPDIFRX_ERROR_CB_ID = 0x04U, /*!< SPDIFRX error callback */ - HAL_SPDIFRX_MSPINIT_CB_ID = 0x05U, /*!< SPDIFRX Msp Init callback ID */ - HAL_SPDIFRX_MSPDEINIT_CB_ID = 0x06U /*!< SPDIFRX Msp DeInit callback ID */ -}HAL_SPDIFRX_CallbackIDTypeDef; - -/** - * @brief HAL SPDIFRX Callback pointer definition - */ -typedef void (*pSPDIFRX_CallbackTypeDef)(SPDIFRX_HandleTypeDef * hspdif); /*!< pointer to an SPDIFRX callback function */ -#endif /* USE_HAL_SPDIFRX_REGISTER_CALLBACKS */ - -/* Exported constants --------------------------------------------------------*/ -/** @defgroup SPDIFRX_Exported_Constants SPDIFRX Exported Constants - * @{ - */ -/** @defgroup SPDIFRX_ErrorCode SPDIFRX Error Code - * @{ - */ -#define HAL_SPDIFRX_ERROR_NONE ((uint32_t)0x00000000U) /*!< No error */ -#define HAL_SPDIFRX_ERROR_TIMEOUT ((uint32_t)0x00000001U) /*!< Timeout error */ -#define HAL_SPDIFRX_ERROR_OVR ((uint32_t)0x00000002U) /*!< OVR error */ -#define HAL_SPDIFRX_ERROR_PE ((uint32_t)0x00000004U) /*!< Parity error */ -#define HAL_SPDIFRX_ERROR_DMA ((uint32_t)0x00000008U) /*!< DMA transfer error */ -#define HAL_SPDIFRX_ERROR_UNKNOWN ((uint32_t)0x00000010U) /*!< Unknown Error error */ -#if (USE_HAL_SPDIFRX_REGISTER_CALLBACKS == 1) -#define HAL_SPDIFRX_ERROR_INVALID_CALLBACK ((uint32_t)0x00000020U) /*!< Invalid Callback error */ -#endif /* USE_HAL_SPDIFRX_REGISTER_CALLBACKS */ -/** - * @} - */ - -/** @defgroup SPDIFRX_Input_Selection SPDIFRX Input Selection - * @{ - */ -#define SPDIFRX_INPUT_IN0 ((uint32_t)0x00000000U) -#define SPDIFRX_INPUT_IN1 ((uint32_t)0x00010000U) -#define SPDIFRX_INPUT_IN2 ((uint32_t)0x00020000U) -#define SPDIFRX_INPUT_IN3 ((uint32_t)0x00030000U) -/** - * @} - */ - -/** @defgroup SPDIFRX_Max_Retries SPDIFRX Maximum Retries - * @{ - */ -#define SPDIFRX_MAXRETRIES_NONE ((uint32_t)0x00000000U) -#define SPDIFRX_MAXRETRIES_3 ((uint32_t)0x00001000U) -#define SPDIFRX_MAXRETRIES_15 ((uint32_t)0x00002000U) -#define SPDIFRX_MAXRETRIES_63 ((uint32_t)0x00003000U) -/** - * @} - */ - -/** @defgroup SPDIFRX_Wait_For_Activity SPDIFRX Wait For Activity - * @{ - */ -#define SPDIFRX_WAITFORACTIVITY_OFF ((uint32_t)0x00000000U) -#define SPDIFRX_WAITFORACTIVITY_ON ((uint32_t)SPDIFRX_CR_WFA) -/** - * @} - */ - -/** @defgroup SPDIFRX_PT_Mask SPDIFRX Preamble Type Mask - * @{ - */ -#define SPDIFRX_PREAMBLETYPEMASK_OFF ((uint32_t)0x00000000U) -#define SPDIFRX_PREAMBLETYPEMASK_ON ((uint32_t)SPDIFRX_CR_PTMSK) -/** - * @} - */ - -/** @defgroup SPDIFRX_ChannelStatus_Mask SPDIFRX Channel Status Mask - * @{ - */ -#define SPDIFRX_CHANNELSTATUS_OFF ((uint32_t)0x00000000U) /* The channel status and user bits are copied into the SPDIF_DR */ -#define SPDIFRX_CHANNELSTATUS_ON ((uint32_t)SPDIFRX_CR_CUMSK) /* The channel status and user bits are not copied into the SPDIF_DR, zeros are written instead*/ -/** - * @} - */ - -/** @defgroup SPDIFRX_V_Mask SPDIFRX Validity Mask -* @{ -*/ -#define SPDIFRX_VALIDITYMASK_OFF ((uint32_t)0x00000000U) -#define SPDIFRX_VALIDITYMASK_ON ((uint32_t)SPDIFRX_CR_VMSK) -/** - * @} - */ - -/** @defgroup SPDIFRX_PE_Mask SPDIFRX Parity Error Mask - * @{ - */ -#define SPDIFRX_PARITYERRORMASK_OFF ((uint32_t)0x00000000U) -#define SPDIFRX_PARITYERRORMASK_ON ((uint32_t)SPDIFRX_CR_PMSK) -/** - * @} - */ - -/** @defgroup SPDIFRX_Channel_Selection SPDIFRX Channel Selection - * @{ - */ -#define SPDIFRX_CHANNEL_A ((uint32_t)0x00000000U) -#define SPDIFRX_CHANNEL_B ((uint32_t)SPDIFRX_CR_CHSEL) -/** - * @} - */ - -/** @defgroup SPDIFRX_Data_Format SPDIFRX Data Format - * @{ - */ -#define SPDIFRX_DATAFORMAT_LSB ((uint32_t)0x00000000U) -#define SPDIFRX_DATAFORMAT_MSB ((uint32_t)0x00000010U) -#define SPDIFRX_DATAFORMAT_32BITS ((uint32_t)0x00000020U) -/** - * @} - */ - -/** @defgroup SPDIFRX_Stereo_Mode SPDIFRX Stereo Mode - * @{ - */ -#define SPDIFRX_STEREOMODE_DISABLE ((uint32_t)0x00000000U) -#define SPDIFRX_STEREOMODE_ENABLE ((uint32_t)SPDIFRX_CR_RXSTEO) -/** - * @} - */ - -/** @defgroup SPDIFRX_State SPDIFRX State - * @{ - */ - -#define SPDIFRX_STATE_IDLE ((uint32_t)0xFFFFFFFCU) -#define SPDIFRX_STATE_SYNC ((uint32_t)0x00000001U) -#define SPDIFRX_STATE_RCV ((uint32_t)SPDIFRX_CR_SPDIFEN) -/** - * @} - */ - -/** @defgroup SPDIFRX_Interrupts_Definition SPDIFRX Interrupts Definition - * @{ - */ -#define SPDIFRX_IT_RXNE ((uint32_t)SPDIFRX_IMR_RXNEIE) -#define SPDIFRX_IT_CSRNE ((uint32_t)SPDIFRX_IMR_CSRNEIE) -#define SPDIFRX_IT_PERRIE ((uint32_t)SPDIFRX_IMR_PERRIE) -#define SPDIFRX_IT_OVRIE ((uint32_t)SPDIFRX_IMR_OVRIE) -#define SPDIFRX_IT_SBLKIE ((uint32_t)SPDIFRX_IMR_SBLKIE) -#define SPDIFRX_IT_SYNCDIE ((uint32_t)SPDIFRX_IMR_SYNCDIE) -#define SPDIFRX_IT_IFEIE ((uint32_t)SPDIFRX_IMR_IFEIE ) -/** - * @} - */ - -/** @defgroup SPDIFRX_Flags_Definition SPDIFRX Flags Definition - * @{ - */ -#define SPDIFRX_FLAG_RXNE ((uint32_t)SPDIFRX_SR_RXNE) -#define SPDIFRX_FLAG_CSRNE ((uint32_t)SPDIFRX_SR_CSRNE) -#define SPDIFRX_FLAG_PERR ((uint32_t)SPDIFRX_SR_PERR) -#define SPDIFRX_FLAG_OVR ((uint32_t)SPDIFRX_SR_OVR) -#define SPDIFRX_FLAG_SBD ((uint32_t)SPDIFRX_SR_SBD) -#define SPDIFRX_FLAG_SYNCD ((uint32_t)SPDIFRX_SR_SYNCD) -#define SPDIFRX_FLAG_FERR ((uint32_t)SPDIFRX_SR_FERR) -#define SPDIFRX_FLAG_SERR ((uint32_t)SPDIFRX_SR_SERR) -#define SPDIFRX_FLAG_TERR ((uint32_t)SPDIFRX_SR_TERR) -/** - * @} - */ - -/** - * @} - */ - -/* Exported macros -----------------------------------------------------------*/ -/** @defgroup SPDIFRX_Exported_macros SPDIFRX Exported Macros - * @{ - */ - -/** @brief Reset SPDIFRX handle state - * @param __HANDLE__ SPDIFRX handle. - * @retval None - */ -#if (USE_HAL_SPDIFRX_REGISTER_CALLBACKS == 1) -#define __HAL_SPDIFRX_RESET_HANDLE_STATE(__HANDLE__) do{\ - (__HANDLE__)->State = HAL_SPDIFRX_STATE_RESET;\ - (__HANDLE__)->MspInitCallback = NULL;\ - (__HANDLE__)->MspDeInitCallback = NULL;\ - }while(0) -#else -#define __HAL_SPDIFRX_RESET_HANDLE_STATE(__HANDLE__) ((__HANDLE__)->State = HAL_SPDIFRX_STATE_RESET) -#endif /* USE_HAL_SPDIFRX_REGISTER_CALLBACKS */ - -/** @brief Disable the specified SPDIFRX peripheral (IDLE State). - * @param __HANDLE__ specifies the SPDIFRX Handle. - * @retval None - */ -#define __HAL_SPDIFRX_IDLE(__HANDLE__) ((__HANDLE__)->Instance->CR &= SPDIFRX_STATE_IDLE) - -/** @brief Enable the specified SPDIFRX peripheral (SYNC State). - * @param __HANDLE__ specifies the SPDIFRX Handle. - * @retval None - */ -#define __HAL_SPDIFRX_SYNC(__HANDLE__) ((__HANDLE__)->Instance->CR |= SPDIFRX_STATE_SYNC) - - -/** @brief Enable the specified SPDIFRX peripheral (RCV State). - * @param __HANDLE__ specifies the SPDIFRX Handle. - * @retval None - */ -#define __HAL_SPDIFRX_RCV(__HANDLE__) ((__HANDLE__)->Instance->CR |= SPDIFRX_STATE_RCV) - - -/** @brief Enable or disable the specified SPDIFRX interrupts. - * @param __HANDLE__ specifies the SPDIFRX Handle. - * @param __INTERRUPT__ specifies the interrupt source to enable or disable. - * This parameter can be one of the following values: - * @arg SPDIFRX_IT_RXNE - * @arg SPDIFRX_IT_CSRNE - * @arg SPDIFRX_IT_PERRIE - * @arg SPDIFRX_IT_OVRIE - * @arg SPDIFRX_IT_SBLKIE - * @arg SPDIFRX_IT_SYNCDIE - * @arg SPDIFRX_IT_IFEIE - * @retval None - */ -#define __HAL_SPDIFRX_ENABLE_IT(__HANDLE__, __INTERRUPT__) ((__HANDLE__)->Instance->IMR |= (__INTERRUPT__)) -#define __HAL_SPDIFRX_DISABLE_IT(__HANDLE__, __INTERRUPT__) ((__HANDLE__)->Instance->IMR &= (uint16_t)(~(__INTERRUPT__))) - -/** @brief Checks if the specified SPDIFRX interrupt source is enabled or disabled. - * @param __HANDLE__ specifies the SPDIFRX Handle. - * @param __INTERRUPT__ specifies the SPDIFRX interrupt source to check. - * This parameter can be one of the following values: - * @arg SPDIFRX_IT_RXNE - * @arg SPDIFRX_IT_CSRNE - * @arg SPDIFRX_IT_PERRIE - * @arg SPDIFRX_IT_OVRIE - * @arg SPDIFRX_IT_SBLKIE - * @arg SPDIFRX_IT_SYNCDIE - * @arg SPDIFRX_IT_IFEIE - * @retval The new state of __IT__ (TRUE or FALSE). - */ -#define __HAL_SPDIFRX_GET_IT_SOURCE(__HANDLE__, __INTERRUPT__) ((((__HANDLE__)->Instance->IMR & (__INTERRUPT__)) == (__INTERRUPT__)) ? SET : RESET) - -/** @brief Checks whether the specified SPDIFRX flag is set or not. - * @param __HANDLE__ specifies the SPDIFRX Handle. - * @param __FLAG__ specifies the flag to check. - * This parameter can be one of the following values: - * @arg SPDIFRX_FLAG_RXNE - * @arg SPDIFRX_FLAG_CSRNE - * @arg SPDIFRX_FLAG_PERR - * @arg SPDIFRX_FLAG_OVR - * @arg SPDIFRX_FLAG_SBD - * @arg SPDIFRX_FLAG_SYNCD - * @arg SPDIFRX_FLAG_FERR - * @arg SPDIFRX_FLAG_SERR - * @arg SPDIFRX_FLAG_TERR - * @retval The new state of __FLAG__ (TRUE or FALSE). - */ -#define __HAL_SPDIFRX_GET_FLAG(__HANDLE__, __FLAG__) (((((__HANDLE__)->Instance->SR) & (__FLAG__)) == (__FLAG__)) ? SET : RESET) - -/** @brief Clears the specified SPDIFRX SR flag, in setting the proper IFCR register bit. - * @param __HANDLE__ specifies the USART Handle. - * @param __IT_CLEAR__ specifies the interrupt clear register flag that needs to be set - * to clear the corresponding interrupt - * This parameter can be one of the following values: - * @arg SPDIFRX_FLAG_PERR - * @arg SPDIFRX_FLAG_OVR - * @arg SPDIFRX_SR_SBD - * @arg SPDIFRX_SR_SYNCD - * @retval None - */ -#define __HAL_SPDIFRX_CLEAR_IT(__HANDLE__, __IT_CLEAR__) ((__HANDLE__)->Instance->IFCR = (uint32_t)(__IT_CLEAR__)) - -/** - * @} - */ - -/* Exported functions --------------------------------------------------------*/ -/** @addtogroup SPDIFRX_Exported_Functions - * @{ - */ - -/** @addtogroup SPDIFRX_Exported_Functions_Group1 - * @{ - */ -/* Initialization/de-initialization functions **********************************/ -HAL_StatusTypeDef HAL_SPDIFRX_Init(SPDIFRX_HandleTypeDef *hspdif); -HAL_StatusTypeDef HAL_SPDIFRX_DeInit (SPDIFRX_HandleTypeDef *hspdif); -void HAL_SPDIFRX_MspInit(SPDIFRX_HandleTypeDef *hspdif); -void HAL_SPDIFRX_MspDeInit(SPDIFRX_HandleTypeDef *hspdif); -HAL_StatusTypeDef HAL_SPDIFRX_SetDataFormat(SPDIFRX_HandleTypeDef *hspdif, SPDIFRX_SetDataFormatTypeDef sDataFormat); - -/* Callbacks Register/UnRegister functions ***********************************/ -#if (USE_HAL_SPDIFRX_REGISTER_CALLBACKS == 1) -HAL_StatusTypeDef HAL_SPDIFRX_RegisterCallback(SPDIFRX_HandleTypeDef *hspdif, HAL_SPDIFRX_CallbackIDTypeDef CallbackID, pSPDIFRX_CallbackTypeDef pCallback); -HAL_StatusTypeDef HAL_SPDIFRX_UnRegisterCallback(SPDIFRX_HandleTypeDef *hspdif, HAL_SPDIFRX_CallbackIDTypeDef CallbackID); -#endif /* USE_HAL_SPDIFRX_REGISTER_CALLBACKS */ -/** - * @} - */ - -/** @addtogroup SPDIFRX_Exported_Functions_Group2 - * @{ - */ -/* I/O operation functions ***************************************************/ - /* Blocking mode: Polling */ -HAL_StatusTypeDef HAL_SPDIFRX_ReceiveDataFlow(SPDIFRX_HandleTypeDef *hspdif, uint32_t *pData, uint16_t Size, uint32_t Timeout); -HAL_StatusTypeDef HAL_SPDIFRX_ReceiveControlFlow(SPDIFRX_HandleTypeDef *hspdif, uint32_t *pData, uint16_t Size, uint32_t Timeout); - -/* Non-Blocking mode: Interrupt */ -HAL_StatusTypeDef HAL_SPDIFRX_ReceiveControlFlow_IT(SPDIFRX_HandleTypeDef *hspdif, uint32_t *pData, uint16_t Size); -HAL_StatusTypeDef HAL_SPDIFRX_ReceiveDataFlow_IT(SPDIFRX_HandleTypeDef *hspdif, uint32_t *pData, uint16_t Size); -void HAL_SPDIFRX_IRQHandler(SPDIFRX_HandleTypeDef *hspdif); - -/* Non-Blocking mode: DMA */ -HAL_StatusTypeDef HAL_SPDIFRX_ReceiveControlFlow_DMA(SPDIFRX_HandleTypeDef *hspdif, uint32_t *pData, uint16_t Size); -HAL_StatusTypeDef HAL_SPDIFRX_ReceiveDataFlow_DMA(SPDIFRX_HandleTypeDef *hspdif, uint32_t *pData, uint16_t Size); -HAL_StatusTypeDef HAL_SPDIFRX_DMAStop(SPDIFRX_HandleTypeDef *hspdif); - -/* Callbacks used in non blocking modes (Interrupt and DMA) *******************/ -void HAL_SPDIFRX_RxHalfCpltCallback(SPDIFRX_HandleTypeDef *hspdif); -void HAL_SPDIFRX_RxCpltCallback(SPDIFRX_HandleTypeDef *hspdif); -void HAL_SPDIFRX_ErrorCallback(SPDIFRX_HandleTypeDef *hspdif); -void HAL_SPDIFRX_CxHalfCpltCallback(SPDIFRX_HandleTypeDef *hspdif); -void HAL_SPDIFRX_CxCpltCallback(SPDIFRX_HandleTypeDef *hspdif); -/** - * @} - */ - -/** @addtogroup SPDIFRX_Exported_Functions_Group3 - * @{ - */ -/* Peripheral Control and State functions ************************************/ -HAL_SPDIFRX_StateTypeDef HAL_SPDIFRX_GetState(SPDIFRX_HandleTypeDef const * const hspdif); -uint32_t HAL_SPDIFRX_GetError(SPDIFRX_HandleTypeDef const * const hspdif); -/** - * @} - */ - -/** - * @} - */ -/* Private types -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private constants ---------------------------------------------------------*/ -/* Private macros ------------------------------------------------------------*/ -/** @defgroup SPDIFRX_Private_Macros SPDIFRX Private Macros - * @{ - */ -#define IS_SPDIFRX_INPUT_SELECT(INPUT) (((INPUT) == SPDIFRX_INPUT_IN1) || \ - ((INPUT) == SPDIFRX_INPUT_IN2) || \ - ((INPUT) == SPDIFRX_INPUT_IN3) || \ - ((INPUT) == SPDIFRX_INPUT_IN0)) - -#define IS_SPDIFRX_MAX_RETRIES(RET) (((RET) == SPDIFRX_MAXRETRIES_NONE) || \ - ((RET) == SPDIFRX_MAXRETRIES_3) || \ - ((RET) == SPDIFRX_MAXRETRIES_15) || \ - ((RET) == SPDIFRX_MAXRETRIES_63)) - -#define IS_SPDIFRX_WAIT_FOR_ACTIVITY(VAL) (((VAL) == SPDIFRX_WAITFORACTIVITY_ON) || \ - ((VAL) == SPDIFRX_WAITFORACTIVITY_OFF)) - -#define IS_PREAMBLE_TYPE_MASK(VAL) (((VAL) == SPDIFRX_PREAMBLETYPEMASK_ON) || \ - ((VAL) == SPDIFRX_PREAMBLETYPEMASK_OFF)) - -#define IS_VALIDITY_MASK(VAL) (((VAL) == SPDIFRX_VALIDITYMASK_OFF) || \ - ((VAL) == SPDIFRX_VALIDITYMASK_ON)) - -#define IS_PARITY_ERROR_MASK(VAL) (((VAL) == SPDIFRX_PARITYERRORMASK_OFF) || \ - ((VAL) == SPDIFRX_PARITYERRORMASK_ON)) - -#define IS_SPDIFRX_CHANNEL(CHANNEL) (((CHANNEL) == SPDIFRX_CHANNEL_A) || \ - ((CHANNEL) == SPDIFRX_CHANNEL_B)) - -#define IS_SPDIFRX_DATA_FORMAT(FORMAT) (((FORMAT) == SPDIFRX_DATAFORMAT_LSB) || \ - ((FORMAT) == SPDIFRX_DATAFORMAT_MSB) || \ - ((FORMAT) == SPDIFRX_DATAFORMAT_32BITS)) - -#define IS_STEREO_MODE(MODE) (((MODE) == SPDIFRX_STEREOMODE_DISABLE) || \ - ((MODE) == SPDIFRX_STEREOMODE_ENABLE)) - -#define IS_CHANNEL_STATUS_MASK(VAL) (((VAL) == SPDIFRX_CHANNELSTATUS_ON) || \ - ((VAL) == SPDIFRX_CHANNELSTATUS_OFF)) - -/** - * @} - */ - -/* Private functions ---------------------------------------------------------*/ -/** @defgroup SPDIFRX_Private_Functions SPDIFRX Private Functions - * @{ - */ -/** - * @} - */ - -/** - * @} - */ -#endif /* SPDIFRX */ -/** - * @} - */ -#endif /* STM32F446xx */ - -#ifdef __cplusplus -} -#endif - - -#endif /* __STM32F4xx_HAL_SPDIFRX_H */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_spi.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_spi.h deleted file mode 100644 index f2e07c2c0f6aea..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_spi.h +++ /dev/null @@ -1,730 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_spi.h - * @author MCD Application Team - * @brief Header file of SPI HAL module. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef STM32F4xx_HAL_SPI_H -#define STM32F4xx_HAL_SPI_H - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal_def.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @addtogroup SPI - * @{ - */ - -/* Exported types ------------------------------------------------------------*/ -/** @defgroup SPI_Exported_Types SPI Exported Types - * @{ - */ - -/** - * @brief SPI Configuration Structure definition - */ -typedef struct -{ - uint32_t Mode; /*!< Specifies the SPI operating mode. - This parameter can be a value of @ref SPI_Mode */ - - uint32_t Direction; /*!< Specifies the SPI bidirectional mode state. - This parameter can be a value of @ref SPI_Direction */ - - uint32_t DataSize; /*!< Specifies the SPI data size. - This parameter can be a value of @ref SPI_Data_Size */ - - uint32_t CLKPolarity; /*!< Specifies the serial clock steady state. - This parameter can be a value of @ref SPI_Clock_Polarity */ - - uint32_t CLKPhase; /*!< Specifies the clock active edge for the bit capture. - This parameter can be a value of @ref SPI_Clock_Phase */ - - uint32_t NSS; /*!< Specifies whether the NSS signal is managed by - hardware (NSS pin) or by software using the SSI bit. - This parameter can be a value of @ref SPI_Slave_Select_management */ - - uint32_t BaudRatePrescaler; /*!< Specifies the Baud Rate prescaler value which will be - used to configure the transmit and receive SCK clock. - This parameter can be a value of @ref SPI_BaudRate_Prescaler - @note The communication clock is derived from the master - clock. The slave clock does not need to be set. */ - - uint32_t FirstBit; /*!< Specifies whether data transfers start from MSB or LSB bit. - This parameter can be a value of @ref SPI_MSB_LSB_transmission */ - - uint32_t TIMode; /*!< Specifies if the TI mode is enabled or not. - This parameter can be a value of @ref SPI_TI_mode */ - - uint32_t CRCCalculation; /*!< Specifies if the CRC calculation is enabled or not. - This parameter can be a value of @ref SPI_CRC_Calculation */ - - uint32_t CRCPolynomial; /*!< Specifies the polynomial used for the CRC calculation. - This parameter must be an odd number between Min_Data = 1 and Max_Data = 65535 */ -} SPI_InitTypeDef; - -/** - * @brief HAL SPI State structure definition - */ -typedef enum -{ - HAL_SPI_STATE_RESET = 0x00U, /*!< Peripheral not Initialized */ - HAL_SPI_STATE_READY = 0x01U, /*!< Peripheral Initialized and ready for use */ - HAL_SPI_STATE_BUSY = 0x02U, /*!< an internal process is ongoing */ - HAL_SPI_STATE_BUSY_TX = 0x03U, /*!< Data Transmission process is ongoing */ - HAL_SPI_STATE_BUSY_RX = 0x04U, /*!< Data Reception process is ongoing */ - HAL_SPI_STATE_BUSY_TX_RX = 0x05U, /*!< Data Transmission and Reception process is ongoing */ - HAL_SPI_STATE_ERROR = 0x06U, /*!< SPI error state */ - HAL_SPI_STATE_ABORT = 0x07U /*!< SPI abort is ongoing */ -} HAL_SPI_StateTypeDef; - -/** - * @brief SPI handle Structure definition - */ -typedef struct __SPI_HandleTypeDef -{ - SPI_TypeDef *Instance; /*!< SPI registers base address */ - - SPI_InitTypeDef Init; /*!< SPI communication parameters */ - - uint8_t *pTxBuffPtr; /*!< Pointer to SPI Tx transfer Buffer */ - - uint16_t TxXferSize; /*!< SPI Tx Transfer size */ - - __IO uint16_t TxXferCount; /*!< SPI Tx Transfer Counter */ - - uint8_t *pRxBuffPtr; /*!< Pointer to SPI Rx transfer Buffer */ - - uint16_t RxXferSize; /*!< SPI Rx Transfer size */ - - __IO uint16_t RxXferCount; /*!< SPI Rx Transfer Counter */ - - void (*RxISR)(struct __SPI_HandleTypeDef *hspi); /*!< function pointer on Rx ISR */ - - void (*TxISR)(struct __SPI_HandleTypeDef *hspi); /*!< function pointer on Tx ISR */ - - DMA_HandleTypeDef *hdmatx; /*!< SPI Tx DMA Handle parameters */ - - DMA_HandleTypeDef *hdmarx; /*!< SPI Rx DMA Handle parameters */ - - HAL_LockTypeDef Lock; /*!< Locking object */ - - __IO HAL_SPI_StateTypeDef State; /*!< SPI communication state */ - - __IO uint32_t ErrorCode; /*!< SPI Error code */ - -#if (USE_HAL_SPI_REGISTER_CALLBACKS == 1U) - void (* TxCpltCallback)(struct __SPI_HandleTypeDef *hspi); /*!< SPI Tx Completed callback */ - void (* RxCpltCallback)(struct __SPI_HandleTypeDef *hspi); /*!< SPI Rx Completed callback */ - void (* TxRxCpltCallback)(struct __SPI_HandleTypeDef *hspi); /*!< SPI TxRx Completed callback */ - void (* TxHalfCpltCallback)(struct __SPI_HandleTypeDef *hspi); /*!< SPI Tx Half Completed callback */ - void (* RxHalfCpltCallback)(struct __SPI_HandleTypeDef *hspi); /*!< SPI Rx Half Completed callback */ - void (* TxRxHalfCpltCallback)(struct __SPI_HandleTypeDef *hspi); /*!< SPI TxRx Half Completed callback */ - void (* ErrorCallback)(struct __SPI_HandleTypeDef *hspi); /*!< SPI Error callback */ - void (* AbortCpltCallback)(struct __SPI_HandleTypeDef *hspi); /*!< SPI Abort callback */ - void (* MspInitCallback)(struct __SPI_HandleTypeDef *hspi); /*!< SPI Msp Init callback */ - void (* MspDeInitCallback)(struct __SPI_HandleTypeDef *hspi); /*!< SPI Msp DeInit callback */ - -#endif /* USE_HAL_SPI_REGISTER_CALLBACKS */ -} SPI_HandleTypeDef; - -#if (USE_HAL_SPI_REGISTER_CALLBACKS == 1U) -/** - * @brief HAL SPI Callback ID enumeration definition - */ -typedef enum -{ - HAL_SPI_TX_COMPLETE_CB_ID = 0x00U, /*!< SPI Tx Completed callback ID */ - HAL_SPI_RX_COMPLETE_CB_ID = 0x01U, /*!< SPI Rx Completed callback ID */ - HAL_SPI_TX_RX_COMPLETE_CB_ID = 0x02U, /*!< SPI TxRx Completed callback ID */ - HAL_SPI_TX_HALF_COMPLETE_CB_ID = 0x03U, /*!< SPI Tx Half Completed callback ID */ - HAL_SPI_RX_HALF_COMPLETE_CB_ID = 0x04U, /*!< SPI Rx Half Completed callback ID */ - HAL_SPI_TX_RX_HALF_COMPLETE_CB_ID = 0x05U, /*!< SPI TxRx Half Completed callback ID */ - HAL_SPI_ERROR_CB_ID = 0x06U, /*!< SPI Error callback ID */ - HAL_SPI_ABORT_CB_ID = 0x07U, /*!< SPI Abort callback ID */ - HAL_SPI_MSPINIT_CB_ID = 0x08U, /*!< SPI Msp Init callback ID */ - HAL_SPI_MSPDEINIT_CB_ID = 0x09U /*!< SPI Msp DeInit callback ID */ - -} HAL_SPI_CallbackIDTypeDef; - -/** - * @brief HAL SPI Callback pointer definition - */ -typedef void (*pSPI_CallbackTypeDef)(SPI_HandleTypeDef *hspi); /*!< pointer to an SPI callback function */ - -#endif /* USE_HAL_SPI_REGISTER_CALLBACKS */ -/** - * @} - */ - -/* Exported constants --------------------------------------------------------*/ -/** @defgroup SPI_Exported_Constants SPI Exported Constants - * @{ - */ - -/** @defgroup SPI_Error_Code SPI Error Code - * @{ - */ -#define HAL_SPI_ERROR_NONE (0x00000000U) /*!< No error */ -#define HAL_SPI_ERROR_MODF (0x00000001U) /*!< MODF error */ -#define HAL_SPI_ERROR_CRC (0x00000002U) /*!< CRC error */ -#define HAL_SPI_ERROR_OVR (0x00000004U) /*!< OVR error */ -#define HAL_SPI_ERROR_FRE (0x00000008U) /*!< FRE error */ -#define HAL_SPI_ERROR_DMA (0x00000010U) /*!< DMA transfer error */ -#define HAL_SPI_ERROR_FLAG (0x00000020U) /*!< Error on RXNE/TXE/BSY Flag */ -#define HAL_SPI_ERROR_ABORT (0x00000040U) /*!< Error during SPI Abort procedure */ -#if (USE_HAL_SPI_REGISTER_CALLBACKS == 1U) -#define HAL_SPI_ERROR_INVALID_CALLBACK (0x00000080U) /*!< Invalid Callback error */ -#endif /* USE_HAL_SPI_REGISTER_CALLBACKS */ -/** - * @} - */ - -/** @defgroup SPI_Mode SPI Mode - * @{ - */ -#define SPI_MODE_SLAVE (0x00000000U) -#define SPI_MODE_MASTER (SPI_CR1_MSTR | SPI_CR1_SSI) -/** - * @} - */ - -/** @defgroup SPI_Direction SPI Direction Mode - * @{ - */ -#define SPI_DIRECTION_2LINES (0x00000000U) -#define SPI_DIRECTION_2LINES_RXONLY SPI_CR1_RXONLY -#define SPI_DIRECTION_1LINE SPI_CR1_BIDIMODE -/** - * @} - */ - -/** @defgroup SPI_Data_Size SPI Data Size - * @{ - */ -#define SPI_DATASIZE_8BIT (0x00000000U) -#define SPI_DATASIZE_16BIT SPI_CR1_DFF -/** - * @} - */ - -/** @defgroup SPI_Clock_Polarity SPI Clock Polarity - * @{ - */ -#define SPI_POLARITY_LOW (0x00000000U) -#define SPI_POLARITY_HIGH SPI_CR1_CPOL -/** - * @} - */ - -/** @defgroup SPI_Clock_Phase SPI Clock Phase - * @{ - */ -#define SPI_PHASE_1EDGE (0x00000000U) -#define SPI_PHASE_2EDGE SPI_CR1_CPHA -/** - * @} - */ - -/** @defgroup SPI_Slave_Select_management SPI Slave Select Management - * @{ - */ -#define SPI_NSS_SOFT SPI_CR1_SSM -#define SPI_NSS_HARD_INPUT (0x00000000U) -#define SPI_NSS_HARD_OUTPUT (SPI_CR2_SSOE << 16U) -/** - * @} - */ - -/** @defgroup SPI_BaudRate_Prescaler SPI BaudRate Prescaler - * @{ - */ -#define SPI_BAUDRATEPRESCALER_2 (0x00000000U) -#define SPI_BAUDRATEPRESCALER_4 (SPI_CR1_BR_0) -#define SPI_BAUDRATEPRESCALER_8 (SPI_CR1_BR_1) -#define SPI_BAUDRATEPRESCALER_16 (SPI_CR1_BR_1 | SPI_CR1_BR_0) -#define SPI_BAUDRATEPRESCALER_32 (SPI_CR1_BR_2) -#define SPI_BAUDRATEPRESCALER_64 (SPI_CR1_BR_2 | SPI_CR1_BR_0) -#define SPI_BAUDRATEPRESCALER_128 (SPI_CR1_BR_2 | SPI_CR1_BR_1) -#define SPI_BAUDRATEPRESCALER_256 (SPI_CR1_BR_2 | SPI_CR1_BR_1 | SPI_CR1_BR_0) -/** - * @} - */ - -/** @defgroup SPI_MSB_LSB_transmission SPI MSB LSB Transmission - * @{ - */ -#define SPI_FIRSTBIT_MSB (0x00000000U) -#define SPI_FIRSTBIT_LSB SPI_CR1_LSBFIRST -/** - * @} - */ - -/** @defgroup SPI_TI_mode SPI TI Mode - * @{ - */ -#define SPI_TIMODE_DISABLE (0x00000000U) -#define SPI_TIMODE_ENABLE SPI_CR2_FRF -/** - * @} - */ - -/** @defgroup SPI_CRC_Calculation SPI CRC Calculation - * @{ - */ -#define SPI_CRCCALCULATION_DISABLE (0x00000000U) -#define SPI_CRCCALCULATION_ENABLE SPI_CR1_CRCEN -/** - * @} - */ - -/** @defgroup SPI_Interrupt_definition SPI Interrupt Definition - * @{ - */ -#define SPI_IT_TXE SPI_CR2_TXEIE -#define SPI_IT_RXNE SPI_CR2_RXNEIE -#define SPI_IT_ERR SPI_CR2_ERRIE -/** - * @} - */ - -/** @defgroup SPI_Flags_definition SPI Flags Definition - * @{ - */ -#define SPI_FLAG_RXNE SPI_SR_RXNE /* SPI status flag: Rx buffer not empty flag */ -#define SPI_FLAG_TXE SPI_SR_TXE /* SPI status flag: Tx buffer empty flag */ -#define SPI_FLAG_BSY SPI_SR_BSY /* SPI status flag: Busy flag */ -#define SPI_FLAG_CRCERR SPI_SR_CRCERR /* SPI Error flag: CRC error flag */ -#define SPI_FLAG_MODF SPI_SR_MODF /* SPI Error flag: Mode fault flag */ -#define SPI_FLAG_OVR SPI_SR_OVR /* SPI Error flag: Overrun flag */ -#define SPI_FLAG_FRE SPI_SR_FRE /* SPI Error flag: TI mode frame format error flag */ -#define SPI_FLAG_MASK (SPI_SR_RXNE | SPI_SR_TXE | SPI_SR_BSY | SPI_SR_CRCERR\ - | SPI_SR_MODF | SPI_SR_OVR | SPI_SR_FRE) -/** - * @} - */ - -/** - * @} - */ - -/* Exported macros -----------------------------------------------------------*/ -/** @defgroup SPI_Exported_Macros SPI Exported Macros - * @{ - */ - -/** @brief Reset SPI handle state. - * @param __HANDLE__ specifies the SPI Handle. - * This parameter can be SPI where x: 1, 2, or 3 to select the SPI peripheral. - * @retval None - */ -#if (USE_HAL_SPI_REGISTER_CALLBACKS == 1U) -#define __HAL_SPI_RESET_HANDLE_STATE(__HANDLE__) do{ \ - (__HANDLE__)->State = HAL_SPI_STATE_RESET; \ - (__HANDLE__)->MspInitCallback = NULL; \ - (__HANDLE__)->MspDeInitCallback = NULL; \ - } while(0) -#else -#define __HAL_SPI_RESET_HANDLE_STATE(__HANDLE__) ((__HANDLE__)->State = HAL_SPI_STATE_RESET) -#endif /* USE_HAL_SPI_REGISTER_CALLBACKS */ - -/** @brief Enable the specified SPI interrupts. - * @param __HANDLE__ specifies the SPI Handle. - * This parameter can be SPI where x: 1, 2, or 3 to select the SPI peripheral. - * @param __INTERRUPT__ specifies the interrupt source to enable. - * This parameter can be one of the following values: - * @arg SPI_IT_TXE: Tx buffer empty interrupt enable - * @arg SPI_IT_RXNE: RX buffer not empty interrupt enable - * @arg SPI_IT_ERR: Error interrupt enable - * @retval None - */ -#define __HAL_SPI_ENABLE_IT(__HANDLE__, __INTERRUPT__) SET_BIT((__HANDLE__)->Instance->CR2, (__INTERRUPT__)) - -/** @brief Disable the specified SPI interrupts. - * @param __HANDLE__ specifies the SPI handle. - * This parameter can be SPIx where x: 1, 2, or 3 to select the SPI peripheral. - * @param __INTERRUPT__ specifies the interrupt source to disable. - * This parameter can be one of the following values: - * @arg SPI_IT_TXE: Tx buffer empty interrupt enable - * @arg SPI_IT_RXNE: RX buffer not empty interrupt enable - * @arg SPI_IT_ERR: Error interrupt enable - * @retval None - */ -#define __HAL_SPI_DISABLE_IT(__HANDLE__, __INTERRUPT__) CLEAR_BIT((__HANDLE__)->Instance->CR2, (__INTERRUPT__)) - -/** @brief Check whether the specified SPI interrupt source is enabled or not. - * @param __HANDLE__ specifies the SPI Handle. - * This parameter can be SPI where x: 1, 2, or 3 to select the SPI peripheral. - * @param __INTERRUPT__ specifies the SPI interrupt source to check. - * This parameter can be one of the following values: - * @arg SPI_IT_TXE: Tx buffer empty interrupt enable - * @arg SPI_IT_RXNE: RX buffer not empty interrupt enable - * @arg SPI_IT_ERR: Error interrupt enable - * @retval The new state of __IT__ (TRUE or FALSE). - */ -#define __HAL_SPI_GET_IT_SOURCE(__HANDLE__, __INTERRUPT__) ((((__HANDLE__)->Instance->CR2\ - & (__INTERRUPT__)) == (__INTERRUPT__)) ? SET : RESET) - -/** @brief Check whether the specified SPI flag is set or not. - * @param __HANDLE__ specifies the SPI Handle. - * This parameter can be SPI where x: 1, 2, or 3 to select the SPI peripheral. - * @param __FLAG__ specifies the flag to check. - * This parameter can be one of the following values: - * @arg SPI_FLAG_RXNE: Receive buffer not empty flag - * @arg SPI_FLAG_TXE: Transmit buffer empty flag - * @arg SPI_FLAG_CRCERR: CRC error flag - * @arg SPI_FLAG_MODF: Mode fault flag - * @arg SPI_FLAG_OVR: Overrun flag - * @arg SPI_FLAG_BSY: Busy flag - * @arg SPI_FLAG_FRE: Frame format error flag - * @retval The new state of __FLAG__ (TRUE or FALSE). - */ -#define __HAL_SPI_GET_FLAG(__HANDLE__, __FLAG__) ((((__HANDLE__)->Instance->SR) & (__FLAG__)) == (__FLAG__)) - -/** @brief Clear the SPI CRCERR pending flag. - * @param __HANDLE__ specifies the SPI Handle. - * This parameter can be SPI where x: 1, 2, or 3 to select the SPI peripheral. - * @retval None - */ -#define __HAL_SPI_CLEAR_CRCERRFLAG(__HANDLE__) ((__HANDLE__)->Instance->SR = (uint16_t)(~SPI_FLAG_CRCERR)) - -/** @brief Clear the SPI MODF pending flag. - * @param __HANDLE__ specifies the SPI Handle. - * This parameter can be SPI where x: 1, 2, or 3 to select the SPI peripheral. - * @retval None - */ -#define __HAL_SPI_CLEAR_MODFFLAG(__HANDLE__) \ - do{ \ - __IO uint32_t tmpreg_modf = 0x00U; \ - tmpreg_modf = (__HANDLE__)->Instance->SR; \ - CLEAR_BIT((__HANDLE__)->Instance->CR1, SPI_CR1_SPE); \ - UNUSED(tmpreg_modf); \ - } while(0U) - -/** @brief Clear the SPI OVR pending flag. - * @param __HANDLE__ specifies the SPI Handle. - * This parameter can be SPI where x: 1, 2, or 3 to select the SPI peripheral. - * @retval None - */ -#define __HAL_SPI_CLEAR_OVRFLAG(__HANDLE__) \ - do{ \ - __IO uint32_t tmpreg_ovr = 0x00U; \ - tmpreg_ovr = (__HANDLE__)->Instance->DR; \ - tmpreg_ovr = (__HANDLE__)->Instance->SR; \ - UNUSED(tmpreg_ovr); \ - } while(0U) - -/** @brief Clear the SPI FRE pending flag. - * @param __HANDLE__ specifies the SPI Handle. - * This parameter can be SPI where x: 1, 2, or 3 to select the SPI peripheral. - * @retval None - */ -#define __HAL_SPI_CLEAR_FREFLAG(__HANDLE__) \ - do{ \ - __IO uint32_t tmpreg_fre = 0x00U; \ - tmpreg_fre = (__HANDLE__)->Instance->SR; \ - UNUSED(tmpreg_fre); \ - }while(0U) - -/** @brief Enable the SPI peripheral. - * @param __HANDLE__ specifies the SPI Handle. - * This parameter can be SPI where x: 1, 2, or 3 to select the SPI peripheral. - * @retval None - */ -#define __HAL_SPI_ENABLE(__HANDLE__) SET_BIT((__HANDLE__)->Instance->CR1, SPI_CR1_SPE) - -/** @brief Disable the SPI peripheral. - * @param __HANDLE__ specifies the SPI Handle. - * This parameter can be SPI where x: 1, 2, or 3 to select the SPI peripheral. - * @retval None - */ -#define __HAL_SPI_DISABLE(__HANDLE__) CLEAR_BIT((__HANDLE__)->Instance->CR1, SPI_CR1_SPE) - -/** - * @} - */ - -/* Private macros ------------------------------------------------------------*/ -/** @defgroup SPI_Private_Macros SPI Private Macros - * @{ - */ - -/** @brief Set the SPI transmit-only mode. - * @param __HANDLE__ specifies the SPI Handle. - * This parameter can be SPI where x: 1, 2, or 3 to select the SPI peripheral. - * @retval None - */ -#define SPI_1LINE_TX(__HANDLE__) SET_BIT((__HANDLE__)->Instance->CR1, SPI_CR1_BIDIOE) - -/** @brief Set the SPI receive-only mode. - * @param __HANDLE__ specifies the SPI Handle. - * This parameter can be SPI where x: 1, 2, or 3 to select the SPI peripheral. - * @retval None - */ -#define SPI_1LINE_RX(__HANDLE__) CLEAR_BIT((__HANDLE__)->Instance->CR1, SPI_CR1_BIDIOE) - -/** @brief Reset the CRC calculation of the SPI. - * @param __HANDLE__ specifies the SPI Handle. - * This parameter can be SPI where x: 1, 2, or 3 to select the SPI peripheral. - * @retval None - */ -#define SPI_RESET_CRC(__HANDLE__) do{CLEAR_BIT((__HANDLE__)->Instance->CR1, SPI_CR1_CRCEN);\ - SET_BIT((__HANDLE__)->Instance->CR1, SPI_CR1_CRCEN);}while(0U) - -/** @brief Check whether the specified SPI flag is set or not. - * @param __SR__ copy of SPI SR register. - * @param __FLAG__ specifies the flag to check. - * This parameter can be one of the following values: - * @arg SPI_FLAG_RXNE: Receive buffer not empty flag - * @arg SPI_FLAG_TXE: Transmit buffer empty flag - * @arg SPI_FLAG_CRCERR: CRC error flag - * @arg SPI_FLAG_MODF: Mode fault flag - * @arg SPI_FLAG_OVR: Overrun flag - * @arg SPI_FLAG_BSY: Busy flag - * @arg SPI_FLAG_FRE: Frame format error flag - * @retval SET or RESET. - */ -#define SPI_CHECK_FLAG(__SR__, __FLAG__) ((((__SR__) & ((__FLAG__) & SPI_FLAG_MASK)) == \ - ((__FLAG__) & SPI_FLAG_MASK)) ? SET : RESET) - -/** @brief Check whether the specified SPI Interrupt is set or not. - * @param __CR2__ copy of SPI CR2 register. - * @param __INTERRUPT__ specifies the SPI interrupt source to check. - * This parameter can be one of the following values: - * @arg SPI_IT_TXE: Tx buffer empty interrupt enable - * @arg SPI_IT_RXNE: RX buffer not empty interrupt enable - * @arg SPI_IT_ERR: Error interrupt enable - * @retval SET or RESET. - */ -#define SPI_CHECK_IT_SOURCE(__CR2__, __INTERRUPT__) ((((__CR2__) & (__INTERRUPT__)) == \ - (__INTERRUPT__)) ? SET : RESET) - -/** @brief Checks if SPI Mode parameter is in allowed range. - * @param __MODE__ specifies the SPI Mode. - * This parameter can be a value of @ref SPI_Mode - * @retval None - */ -#define IS_SPI_MODE(__MODE__) (((__MODE__) == SPI_MODE_SLAVE) || \ - ((__MODE__) == SPI_MODE_MASTER)) - -/** @brief Checks if SPI Direction Mode parameter is in allowed range. - * @param __MODE__ specifies the SPI Direction Mode. - * This parameter can be a value of @ref SPI_Direction - * @retval None - */ -#define IS_SPI_DIRECTION(__MODE__) (((__MODE__) == SPI_DIRECTION_2LINES) || \ - ((__MODE__) == SPI_DIRECTION_2LINES_RXONLY) || \ - ((__MODE__) == SPI_DIRECTION_1LINE)) - -/** @brief Checks if SPI Direction Mode parameter is 2 lines. - * @param __MODE__ specifies the SPI Direction Mode. - * @retval None - */ -#define IS_SPI_DIRECTION_2LINES(__MODE__) ((__MODE__) == SPI_DIRECTION_2LINES) - -/** @brief Checks if SPI Direction Mode parameter is 1 or 2 lines. - * @param __MODE__ specifies the SPI Direction Mode. - * @retval None - */ -#define IS_SPI_DIRECTION_2LINES_OR_1LINE(__MODE__) (((__MODE__) == SPI_DIRECTION_2LINES) || \ - ((__MODE__) == SPI_DIRECTION_1LINE)) - -/** @brief Checks if SPI Data Size parameter is in allowed range. - * @param __DATASIZE__ specifies the SPI Data Size. - * This parameter can be a value of @ref SPI_Data_Size - * @retval None - */ -#define IS_SPI_DATASIZE(__DATASIZE__) (((__DATASIZE__) == SPI_DATASIZE_16BIT) || \ - ((__DATASIZE__) == SPI_DATASIZE_8BIT)) - -/** @brief Checks if SPI Serial clock steady state parameter is in allowed range. - * @param __CPOL__ specifies the SPI serial clock steady state. - * This parameter can be a value of @ref SPI_Clock_Polarity - * @retval None - */ -#define IS_SPI_CPOL(__CPOL__) (((__CPOL__) == SPI_POLARITY_LOW) || \ - ((__CPOL__) == SPI_POLARITY_HIGH)) - -/** @brief Checks if SPI Clock Phase parameter is in allowed range. - * @param __CPHA__ specifies the SPI Clock Phase. - * This parameter can be a value of @ref SPI_Clock_Phase - * @retval None - */ -#define IS_SPI_CPHA(__CPHA__) (((__CPHA__) == SPI_PHASE_1EDGE) || \ - ((__CPHA__) == SPI_PHASE_2EDGE)) - -/** @brief Checks if SPI Slave Select parameter is in allowed range. - * @param __NSS__ specifies the SPI Slave Select management parameter. - * This parameter can be a value of @ref SPI_Slave_Select_management - * @retval None - */ -#define IS_SPI_NSS(__NSS__) (((__NSS__) == SPI_NSS_SOFT) || \ - ((__NSS__) == SPI_NSS_HARD_INPUT) || \ - ((__NSS__) == SPI_NSS_HARD_OUTPUT)) - -/** @brief Checks if SPI Baudrate prescaler parameter is in allowed range. - * @param __PRESCALER__ specifies the SPI Baudrate prescaler. - * This parameter can be a value of @ref SPI_BaudRate_Prescaler - * @retval None - */ -#define IS_SPI_BAUDRATE_PRESCALER(__PRESCALER__) (((__PRESCALER__) == SPI_BAUDRATEPRESCALER_2) || \ - ((__PRESCALER__) == SPI_BAUDRATEPRESCALER_4) || \ - ((__PRESCALER__) == SPI_BAUDRATEPRESCALER_8) || \ - ((__PRESCALER__) == SPI_BAUDRATEPRESCALER_16) || \ - ((__PRESCALER__) == SPI_BAUDRATEPRESCALER_32) || \ - ((__PRESCALER__) == SPI_BAUDRATEPRESCALER_64) || \ - ((__PRESCALER__) == SPI_BAUDRATEPRESCALER_128) || \ - ((__PRESCALER__) == SPI_BAUDRATEPRESCALER_256)) - -/** @brief Checks if SPI MSB LSB transmission parameter is in allowed range. - * @param __BIT__ specifies the SPI MSB LSB transmission (whether data transfer starts from MSB or LSB bit). - * This parameter can be a value of @ref SPI_MSB_LSB_transmission - * @retval None - */ -#define IS_SPI_FIRST_BIT(__BIT__) (((__BIT__) == SPI_FIRSTBIT_MSB) || \ - ((__BIT__) == SPI_FIRSTBIT_LSB)) - -/** @brief Checks if SPI TI mode parameter is in allowed range. - * @param __MODE__ specifies the SPI TI mode. - * This parameter can be a value of @ref SPI_TI_mode - * @retval None - */ -#define IS_SPI_TIMODE(__MODE__) (((__MODE__) == SPI_TIMODE_DISABLE) || \ - ((__MODE__) == SPI_TIMODE_ENABLE)) - -/** @brief Checks if SPI CRC calculation enabled state is in allowed range. - * @param __CALCULATION__ specifies the SPI CRC calculation enable state. - * This parameter can be a value of @ref SPI_CRC_Calculation - * @retval None - */ -#define IS_SPI_CRC_CALCULATION(__CALCULATION__) (((__CALCULATION__) == SPI_CRCCALCULATION_DISABLE) || \ - ((__CALCULATION__) == SPI_CRCCALCULATION_ENABLE)) - -/** @brief Checks if SPI polynomial value to be used for the CRC calculation, is in allowed range. - * @param __POLYNOMIAL__ specifies the SPI polynomial value to be used for the CRC calculation. - * This parameter must be a number between Min_Data = 0 and Max_Data = 65535 - * @retval None - */ -#define IS_SPI_CRC_POLYNOMIAL(__POLYNOMIAL__) (((__POLYNOMIAL__) >= 0x1U) && \ - ((__POLYNOMIAL__) <= 0xFFFFU) && \ - (((__POLYNOMIAL__)&0x1U) != 0U)) - -/** @brief Checks if DMA handle is valid. - * @param __HANDLE__ specifies a DMA Handle. - * @retval None - */ -#define IS_SPI_DMA_HANDLE(__HANDLE__) ((__HANDLE__) != NULL) - -/** - * @} - */ - -/* Exported functions --------------------------------------------------------*/ -/** @addtogroup SPI_Exported_Functions - * @{ - */ - -/** @addtogroup SPI_Exported_Functions_Group1 - * @{ - */ -/* Initialization/de-initialization functions ********************************/ -HAL_StatusTypeDef HAL_SPI_Init(SPI_HandleTypeDef *hspi); -HAL_StatusTypeDef HAL_SPI_DeInit(SPI_HandleTypeDef *hspi); -void HAL_SPI_MspInit(SPI_HandleTypeDef *hspi); -void HAL_SPI_MspDeInit(SPI_HandleTypeDef *hspi); - -/* Callbacks Register/UnRegister functions ***********************************/ -#if (USE_HAL_SPI_REGISTER_CALLBACKS == 1U) -HAL_StatusTypeDef HAL_SPI_RegisterCallback(SPI_HandleTypeDef *hspi, HAL_SPI_CallbackIDTypeDef CallbackID, pSPI_CallbackTypeDef pCallback); -HAL_StatusTypeDef HAL_SPI_UnRegisterCallback(SPI_HandleTypeDef *hspi, HAL_SPI_CallbackIDTypeDef CallbackID); -#endif /* USE_HAL_SPI_REGISTER_CALLBACKS */ -/** - * @} - */ - -/** @addtogroup SPI_Exported_Functions_Group2 - * @{ - */ -/* I/O operation functions ***************************************************/ -HAL_StatusTypeDef HAL_SPI_Transmit(SPI_HandleTypeDef *hspi, uint8_t *pData, uint16_t Size, uint32_t Timeout); -HAL_StatusTypeDef HAL_SPI_Receive(SPI_HandleTypeDef *hspi, uint8_t *pData, uint16_t Size, uint32_t Timeout); -HAL_StatusTypeDef HAL_SPI_TransmitReceive(SPI_HandleTypeDef *hspi, uint8_t *pTxData, uint8_t *pRxData, uint16_t Size, - uint32_t Timeout); -HAL_StatusTypeDef HAL_SPI_Transmit_IT(SPI_HandleTypeDef *hspi, uint8_t *pData, uint16_t Size); -HAL_StatusTypeDef HAL_SPI_Receive_IT(SPI_HandleTypeDef *hspi, uint8_t *pData, uint16_t Size); -HAL_StatusTypeDef HAL_SPI_TransmitReceive_IT(SPI_HandleTypeDef *hspi, uint8_t *pTxData, uint8_t *pRxData, - uint16_t Size); -HAL_StatusTypeDef HAL_SPI_Transmit_DMA(SPI_HandleTypeDef *hspi, uint8_t *pData, uint16_t Size); -HAL_StatusTypeDef HAL_SPI_Receive_DMA(SPI_HandleTypeDef *hspi, uint8_t *pData, uint16_t Size); -HAL_StatusTypeDef HAL_SPI_TransmitReceive_DMA(SPI_HandleTypeDef *hspi, uint8_t *pTxData, uint8_t *pRxData, - uint16_t Size); -HAL_StatusTypeDef HAL_SPI_DMAPause(SPI_HandleTypeDef *hspi); -HAL_StatusTypeDef HAL_SPI_DMAResume(SPI_HandleTypeDef *hspi); -HAL_StatusTypeDef HAL_SPI_DMAStop(SPI_HandleTypeDef *hspi); -/* Transfer Abort functions */ -HAL_StatusTypeDef HAL_SPI_Abort(SPI_HandleTypeDef *hspi); -HAL_StatusTypeDef HAL_SPI_Abort_IT(SPI_HandleTypeDef *hspi); - -void HAL_SPI_IRQHandler(SPI_HandleTypeDef *hspi); -void HAL_SPI_TxCpltCallback(SPI_HandleTypeDef *hspi); -void HAL_SPI_RxCpltCallback(SPI_HandleTypeDef *hspi); -void HAL_SPI_TxRxCpltCallback(SPI_HandleTypeDef *hspi); -void HAL_SPI_TxHalfCpltCallback(SPI_HandleTypeDef *hspi); -void HAL_SPI_RxHalfCpltCallback(SPI_HandleTypeDef *hspi); -void HAL_SPI_TxRxHalfCpltCallback(SPI_HandleTypeDef *hspi); -void HAL_SPI_ErrorCallback(SPI_HandleTypeDef *hspi); -void HAL_SPI_AbortCpltCallback(SPI_HandleTypeDef *hspi); -/** - * @} - */ - -/** @addtogroup SPI_Exported_Functions_Group3 - * @{ - */ -/* Peripheral State and Error functions ***************************************/ -HAL_SPI_StateTypeDef HAL_SPI_GetState(SPI_HandleTypeDef *hspi); -uint32_t HAL_SPI_GetError(SPI_HandleTypeDef *hspi); -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ - -#ifdef __cplusplus -} -#endif - -#endif /* STM32F4xx_HAL_SPI_H */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_sram.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_sram.h deleted file mode 100644 index 0c7b08dba72067..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_sram.h +++ /dev/null @@ -1,232 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_sram.h - * @author MCD Application Team - * @brief Header file of SRAM HAL module. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef __STM32F4xx_HAL_SRAM_H -#define __STM32F4xx_HAL_SRAM_H - -#ifdef __cplusplus - extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#if defined(STM32F405xx) || defined(STM32F415xx) || defined(STM32F407xx) || defined(STM32F417xx) || defined(STM32F412Zx) ||\ - defined(STM32F412Vx) || defined(STM32F412Rx) || defined(STM32F413xx) || defined(STM32F423xx) - #include "stm32f4xx_ll_fsmc.h" -#endif /* STM32F405xx || STM32F415xx || STM32F407xx || STM32F417xx || STM32F412Zx || STM32F412Vx || STM32F412Rx || STM32F413xx || STM32F423xx */ - -#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx)|| defined(STM32F439xx) ||\ - defined(STM32F446xx) || defined(STM32F469xx) || defined(STM32F479xx) - #include "stm32f4xx_ll_fmc.h" -#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || STM32F446xx || STM32F469xx || STM32F479xx */ - - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -#if defined(STM32F405xx) || defined(STM32F415xx) || defined(STM32F407xx) || defined(STM32F417xx) ||\ - defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) ||\ - defined(STM32F446xx) || defined(STM32F469xx) || defined(STM32F479xx) || defined(STM32F412Zx) ||\ - defined(STM32F412Vx) || defined(STM32F412Rx) || defined(STM32F413xx) || defined(STM32F423xx) - -/** @addtogroup SRAM - * @{ - */ - -/* Exported typedef ----------------------------------------------------------*/ - -/** @defgroup SRAM_Exported_Types SRAM Exported Types - * @{ - */ -/** - * @brief HAL SRAM State structures definition - */ -typedef enum -{ - HAL_SRAM_STATE_RESET = 0x00U, /*!< SRAM not yet initialized or disabled */ - HAL_SRAM_STATE_READY = 0x01U, /*!< SRAM initialized and ready for use */ - HAL_SRAM_STATE_BUSY = 0x02U, /*!< SRAM internal process is ongoing */ - HAL_SRAM_STATE_ERROR = 0x03U, /*!< SRAM error state */ - HAL_SRAM_STATE_PROTECTED = 0x04U /*!< SRAM peripheral NORSRAM device write protected */ - -} HAL_SRAM_StateTypeDef; - -/** - * @brief SRAM handle Structure definition - */ -#if (USE_HAL_SRAM_REGISTER_CALLBACKS == 1) -typedef struct __SRAM_HandleTypeDef -#else -typedef struct -#endif /* USE_HAL_SRAM_REGISTER_CALLBACKS */ -{ - FMC_NORSRAM_TypeDef *Instance; /*!< Register base address */ - - FMC_NORSRAM_EXTENDED_TypeDef *Extended; /*!< Extended mode register base address */ - - FMC_NORSRAM_InitTypeDef Init; /*!< SRAM device control configuration parameters */ - - HAL_LockTypeDef Lock; /*!< SRAM locking object */ - - __IO HAL_SRAM_StateTypeDef State; /*!< SRAM device access state */ - - DMA_HandleTypeDef *hdma; /*!< Pointer DMA handler */ - -#if (USE_HAL_SRAM_REGISTER_CALLBACKS == 1) - void (* MspInitCallback) ( struct __SRAM_HandleTypeDef * hsram); /*!< SRAM Msp Init callback */ - void (* MspDeInitCallback) ( struct __SRAM_HandleTypeDef * hsram); /*!< SRAM Msp DeInit callback */ - void (* DmaXferCpltCallback) ( DMA_HandleTypeDef * hdma); /*!< SRAM DMA Xfer Complete callback */ - void (* DmaXferErrorCallback) ( DMA_HandleTypeDef * hdma); /*!< SRAM DMA Xfer Error callback */ -#endif -} SRAM_HandleTypeDef; - -#if (USE_HAL_SRAM_REGISTER_CALLBACKS == 1) -/** - * @brief HAL SRAM Callback ID enumeration definition - */ -typedef enum -{ - HAL_SRAM_MSP_INIT_CB_ID = 0x00U, /*!< SRAM MspInit Callback ID */ - HAL_SRAM_MSP_DEINIT_CB_ID = 0x01U, /*!< SRAM MspDeInit Callback ID */ - HAL_SRAM_DMA_XFER_CPLT_CB_ID = 0x02U, /*!< SRAM DMA Xfer Complete Callback ID */ - HAL_SRAM_DMA_XFER_ERR_CB_ID = 0x03U /*!< SRAM DMA Xfer Complete Callback ID */ -}HAL_SRAM_CallbackIDTypeDef; - -/** - * @brief HAL SRAM Callback pointer definition - */ -typedef void (*pSRAM_CallbackTypeDef)(SRAM_HandleTypeDef *hsram); -typedef void (*pSRAM_DmaCallbackTypeDef)(DMA_HandleTypeDef *hdma); -#endif -/** - * @} - */ - -/* Exported constants --------------------------------------------------------*/ -/* Exported macro ------------------------------------------------------------*/ - -/** @defgroup SRAM_Exported_Macros SRAM Exported Macros - * @{ - */ -/** @brief Reset SRAM handle state - * @param __HANDLE__ SRAM handle - * @retval None - */ -#if (USE_HAL_SRAM_REGISTER_CALLBACKS == 1) -#define __HAL_SRAM_RESET_HANDLE_STATE(__HANDLE__) do { \ - (__HANDLE__)->State = HAL_SRAM_STATE_RESET; \ - (__HANDLE__)->MspInitCallback = NULL; \ - (__HANDLE__)->MspDeInitCallback = NULL; \ - } while(0) -#else -#define __HAL_SRAM_RESET_HANDLE_STATE(__HANDLE__) ((__HANDLE__)->State = HAL_SRAM_STATE_RESET) -#endif - -/** - * @} - */ -/* Exported functions --------------------------------------------------------*/ - -/** @addtogroup SRAM_Exported_Functions - * @{ - */ - -/** @addtogroup SRAM_Exported_Functions_Group1 - * @{ - */ -/* Initialization/de-initialization functions **********************************/ -HAL_StatusTypeDef HAL_SRAM_Init(SRAM_HandleTypeDef *hsram, FMC_NORSRAM_TimingTypeDef *Timing, FMC_NORSRAM_TimingTypeDef *ExtTiming); -HAL_StatusTypeDef HAL_SRAM_DeInit(SRAM_HandleTypeDef *hsram); -void HAL_SRAM_MspInit(SRAM_HandleTypeDef *hsram); -void HAL_SRAM_MspDeInit(SRAM_HandleTypeDef *hsram); - -void HAL_SRAM_DMA_XferCpltCallback(DMA_HandleTypeDef *hdma); -void HAL_SRAM_DMA_XferErrorCallback(DMA_HandleTypeDef *hdma); -/** - * @} - */ - -/** @addtogroup SRAM_Exported_Functions_Group2 - * @{ - */ -/* I/O operation functions *****************************************************/ -HAL_StatusTypeDef HAL_SRAM_Read_8b(SRAM_HandleTypeDef *hsram, uint32_t *pAddress, uint8_t *pDstBuffer, uint32_t BufferSize); -HAL_StatusTypeDef HAL_SRAM_Write_8b(SRAM_HandleTypeDef *hsram, uint32_t *pAddress, uint8_t *pSrcBuffer, uint32_t BufferSize); -HAL_StatusTypeDef HAL_SRAM_Read_16b(SRAM_HandleTypeDef *hsram, uint32_t *pAddress, uint16_t *pDstBuffer, uint32_t BufferSize); -HAL_StatusTypeDef HAL_SRAM_Write_16b(SRAM_HandleTypeDef *hsram, uint32_t *pAddress, uint16_t *pSrcBuffer, uint32_t BufferSize); -HAL_StatusTypeDef HAL_SRAM_Read_32b(SRAM_HandleTypeDef *hsram, uint32_t *pAddress, uint32_t *pDstBuffer, uint32_t BufferSize); -HAL_StatusTypeDef HAL_SRAM_Write_32b(SRAM_HandleTypeDef *hsram, uint32_t *pAddress, uint32_t *pSrcBuffer, uint32_t BufferSize); -HAL_StatusTypeDef HAL_SRAM_Read_DMA(SRAM_HandleTypeDef *hsram, uint32_t *pAddress, uint32_t *pDstBuffer, uint32_t BufferSize); -HAL_StatusTypeDef HAL_SRAM_Write_DMA(SRAM_HandleTypeDef *hsram, uint32_t *pAddress, uint32_t *pSrcBuffer, uint32_t BufferSize); -#if (USE_HAL_SRAM_REGISTER_CALLBACKS == 1) -/* SRAM callback registering/unregistering */ -HAL_StatusTypeDef HAL_SRAM_RegisterCallback(SRAM_HandleTypeDef *hsram, HAL_SRAM_CallbackIDTypeDef CallbackId, pSRAM_CallbackTypeDef pCallback); -HAL_StatusTypeDef HAL_SRAM_UnRegisterCallback(SRAM_HandleTypeDef *hsram, HAL_SRAM_CallbackIDTypeDef CallbackId); -HAL_StatusTypeDef HAL_SRAM_RegisterDmaCallback(SRAM_HandleTypeDef *hsram, HAL_SRAM_CallbackIDTypeDef CallbackId, pSRAM_DmaCallbackTypeDef pCallback); -#endif -/** - * @} - */ - -/** @addtogroup SRAM_Exported_Functions_Group3 - * @{ - */ -/* SRAM Control functions ******************************************************/ -HAL_StatusTypeDef HAL_SRAM_WriteOperation_Enable(SRAM_HandleTypeDef *hsram); -HAL_StatusTypeDef HAL_SRAM_WriteOperation_Disable(SRAM_HandleTypeDef *hsram); -/** - * @} - */ - -/** @addtogroup SRAM_Exported_Functions_Group4 - * @{ - */ -/* SRAM State functions *********************************************************/ -HAL_SRAM_StateTypeDef HAL_SRAM_GetState(SRAM_HandleTypeDef *hsram); -/** - * @} - */ - -/** - * @} - */ - -/* Private types -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private constants ---------------------------------------------------------*/ -/* Private macros ------------------------------------------------------------*/ -/* Private functions ---------------------------------------------------------*/ -/** - * @} - */ - -#endif /* STM32F405xx || STM32F415xx || STM32F407xx || STM32F417xx || STM32F427xx || STM32F437xx ||\ - STM32F429xx || STM32F439xx || STM32F446xx || STM32F469xx || STM32F479xx || STM32F412Zx ||\ - STM32F412Vx || STM32F412Rx || STM32F413xx || STM32F423xx */ -/** - * @} - */ -#ifdef __cplusplus -} -#endif - -#endif /* __STM32F4xx_HAL_SRAM_H */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim.h deleted file mode 100644 index 2322bf0999c2c5..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim.h +++ /dev/null @@ -1,2129 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_tim.h - * @author MCD Application Team - * @brief Header file of TIM HAL module. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef STM32F4xx_HAL_TIM_H -#define STM32F4xx_HAL_TIM_H - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal_def.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @addtogroup TIM - * @{ - */ - -/* Exported types ------------------------------------------------------------*/ -/** @defgroup TIM_Exported_Types TIM Exported Types - * @{ - */ - -/** - * @brief TIM Time base Configuration Structure definition - */ -typedef struct -{ - uint32_t Prescaler; /*!< Specifies the prescaler value used to divide the TIM clock. - This parameter can be a number between Min_Data = 0x0000 and Max_Data = 0xFFFF */ - - uint32_t CounterMode; /*!< Specifies the counter mode. - This parameter can be a value of @ref TIM_Counter_Mode */ - - uint32_t Period; /*!< Specifies the period value to be loaded into the active - Auto-Reload Register at the next update event. - This parameter can be a number between Min_Data = 0x0000 and Max_Data = 0xFFFF. */ - - uint32_t ClockDivision; /*!< Specifies the clock division. - This parameter can be a value of @ref TIM_ClockDivision */ - - uint32_t RepetitionCounter; /*!< Specifies the repetition counter value. Each time the RCR downcounter - reaches zero, an update event is generated and counting restarts - from the RCR value (N). - This means in PWM mode that (N+1) corresponds to: - - the number of PWM periods in edge-aligned mode - - the number of half PWM period in center-aligned mode - GP timers: this parameter must be a number between Min_Data = 0x00 and - Max_Data = 0xFF. - Advanced timers: this parameter must be a number between Min_Data = 0x0000 and - Max_Data = 0xFFFF. */ - - uint32_t AutoReloadPreload; /*!< Specifies the auto-reload preload. - This parameter can be a value of @ref TIM_AutoReloadPreload */ -} TIM_Base_InitTypeDef; - -/** - * @brief TIM Output Compare Configuration Structure definition - */ -typedef struct -{ - uint32_t OCMode; /*!< Specifies the TIM mode. - This parameter can be a value of @ref TIM_Output_Compare_and_PWM_modes */ - - uint32_t Pulse; /*!< Specifies the pulse value to be loaded into the Capture Compare Register. - This parameter can be a number between Min_Data = 0x0000 and Max_Data = 0xFFFF */ - - uint32_t OCPolarity; /*!< Specifies the output polarity. - This parameter can be a value of @ref TIM_Output_Compare_Polarity */ - - uint32_t OCNPolarity; /*!< Specifies the complementary output polarity. - This parameter can be a value of @ref TIM_Output_Compare_N_Polarity - @note This parameter is valid only for timer instances supporting break feature. */ - - uint32_t OCFastMode; /*!< Specifies the Fast mode state. - This parameter can be a value of @ref TIM_Output_Fast_State - @note This parameter is valid only in PWM1 and PWM2 mode. */ - - - uint32_t OCIdleState; /*!< Specifies the TIM Output Compare pin state during Idle state. - This parameter can be a value of @ref TIM_Output_Compare_Idle_State - @note This parameter is valid only for timer instances supporting break feature. */ - - uint32_t OCNIdleState; /*!< Specifies the TIM Output Compare pin state during Idle state. - This parameter can be a value of @ref TIM_Output_Compare_N_Idle_State - @note This parameter is valid only for timer instances supporting break feature. */ -} TIM_OC_InitTypeDef; - -/** - * @brief TIM One Pulse Mode Configuration Structure definition - */ -typedef struct -{ - uint32_t OCMode; /*!< Specifies the TIM mode. - This parameter can be a value of @ref TIM_Output_Compare_and_PWM_modes */ - - uint32_t Pulse; /*!< Specifies the pulse value to be loaded into the Capture Compare Register. - This parameter can be a number between Min_Data = 0x0000 and Max_Data = 0xFFFF */ - - uint32_t OCPolarity; /*!< Specifies the output polarity. - This parameter can be a value of @ref TIM_Output_Compare_Polarity */ - - uint32_t OCNPolarity; /*!< Specifies the complementary output polarity. - This parameter can be a value of @ref TIM_Output_Compare_N_Polarity - @note This parameter is valid only for timer instances supporting break feature. */ - - uint32_t OCIdleState; /*!< Specifies the TIM Output Compare pin state during Idle state. - This parameter can be a value of @ref TIM_Output_Compare_Idle_State - @note This parameter is valid only for timer instances supporting break feature. */ - - uint32_t OCNIdleState; /*!< Specifies the TIM Output Compare pin state during Idle state. - This parameter can be a value of @ref TIM_Output_Compare_N_Idle_State - @note This parameter is valid only for timer instances supporting break feature. */ - - uint32_t ICPolarity; /*!< Specifies the active edge of the input signal. - This parameter can be a value of @ref TIM_Input_Capture_Polarity */ - - uint32_t ICSelection; /*!< Specifies the input. - This parameter can be a value of @ref TIM_Input_Capture_Selection */ - - uint32_t ICFilter; /*!< Specifies the input capture filter. - This parameter can be a number between Min_Data = 0x0 and Max_Data = 0xF */ -} TIM_OnePulse_InitTypeDef; - -/** - * @brief TIM Input Capture Configuration Structure definition - */ -typedef struct -{ - uint32_t ICPolarity; /*!< Specifies the active edge of the input signal. - This parameter can be a value of @ref TIM_Input_Capture_Polarity */ - - uint32_t ICSelection; /*!< Specifies the input. - This parameter can be a value of @ref TIM_Input_Capture_Selection */ - - uint32_t ICPrescaler; /*!< Specifies the Input Capture Prescaler. - This parameter can be a value of @ref TIM_Input_Capture_Prescaler */ - - uint32_t ICFilter; /*!< Specifies the input capture filter. - This parameter can be a number between Min_Data = 0x0 and Max_Data = 0xF */ -} TIM_IC_InitTypeDef; - -/** - * @brief TIM Encoder Configuration Structure definition - */ -typedef struct -{ - uint32_t EncoderMode; /*!< Specifies the active edge of the input signal. - This parameter can be a value of @ref TIM_Encoder_Mode */ - - uint32_t IC1Polarity; /*!< Specifies the active edge of the input signal. - This parameter can be a value of @ref TIM_Encoder_Input_Polarity */ - - uint32_t IC1Selection; /*!< Specifies the input. - This parameter can be a value of @ref TIM_Input_Capture_Selection */ - - uint32_t IC1Prescaler; /*!< Specifies the Input Capture Prescaler. - This parameter can be a value of @ref TIM_Input_Capture_Prescaler */ - - uint32_t IC1Filter; /*!< Specifies the input capture filter. - This parameter can be a number between Min_Data = 0x0 and Max_Data = 0xF */ - - uint32_t IC2Polarity; /*!< Specifies the active edge of the input signal. - This parameter can be a value of @ref TIM_Encoder_Input_Polarity */ - - uint32_t IC2Selection; /*!< Specifies the input. - This parameter can be a value of @ref TIM_Input_Capture_Selection */ - - uint32_t IC2Prescaler; /*!< Specifies the Input Capture Prescaler. - This parameter can be a value of @ref TIM_Input_Capture_Prescaler */ - - uint32_t IC2Filter; /*!< Specifies the input capture filter. - This parameter can be a number between Min_Data = 0x0 and Max_Data = 0xF */ -} TIM_Encoder_InitTypeDef; - -/** - * @brief Clock Configuration Handle Structure definition - */ -typedef struct -{ - uint32_t ClockSource; /*!< TIM clock sources - This parameter can be a value of @ref TIM_Clock_Source */ - uint32_t ClockPolarity; /*!< TIM clock polarity - This parameter can be a value of @ref TIM_Clock_Polarity */ - uint32_t ClockPrescaler; /*!< TIM clock prescaler - This parameter can be a value of @ref TIM_Clock_Prescaler */ - uint32_t ClockFilter; /*!< TIM clock filter - This parameter can be a number between Min_Data = 0x0 and Max_Data = 0xF */ -} TIM_ClockConfigTypeDef; - -/** - * @brief TIM Clear Input Configuration Handle Structure definition - */ -typedef struct -{ - uint32_t ClearInputState; /*!< TIM clear Input state - This parameter can be ENABLE or DISABLE */ - uint32_t ClearInputSource; /*!< TIM clear Input sources - This parameter can be a value of @ref TIM_ClearInput_Source */ - uint32_t ClearInputPolarity; /*!< TIM Clear Input polarity - This parameter can be a value of @ref TIM_ClearInput_Polarity */ - uint32_t ClearInputPrescaler; /*!< TIM Clear Input prescaler - This parameter must be 0: When OCRef clear feature is used with ETR source, - ETR prescaler must be off */ - uint32_t ClearInputFilter; /*!< TIM Clear Input filter - This parameter can be a number between Min_Data = 0x0 and Max_Data = 0xF */ -} TIM_ClearInputConfigTypeDef; - -/** - * @brief TIM Master configuration Structure definition - */ -typedef struct -{ - uint32_t MasterOutputTrigger; /*!< Trigger output (TRGO) selection - This parameter can be a value of @ref TIM_Master_Mode_Selection */ - uint32_t MasterSlaveMode; /*!< Master/slave mode selection - This parameter can be a value of @ref TIM_Master_Slave_Mode - @note When the Master/slave mode is enabled, the effect of - an event on the trigger input (TRGI) is delayed to allow a - perfect synchronization between the current timer and its - slaves (through TRGO). It is not mandatory in case of timer - synchronization mode. */ -} TIM_MasterConfigTypeDef; - -/** - * @brief TIM Slave configuration Structure definition - */ -typedef struct -{ - uint32_t SlaveMode; /*!< Slave mode selection - This parameter can be a value of @ref TIM_Slave_Mode */ - uint32_t InputTrigger; /*!< Input Trigger source - This parameter can be a value of @ref TIM_Trigger_Selection */ - uint32_t TriggerPolarity; /*!< Input Trigger polarity - This parameter can be a value of @ref TIM_Trigger_Polarity */ - uint32_t TriggerPrescaler; /*!< Input trigger prescaler - This parameter can be a value of @ref TIM_Trigger_Prescaler */ - uint32_t TriggerFilter; /*!< Input trigger filter - This parameter can be a number between Min_Data = 0x0 and Max_Data = 0xF */ - -} TIM_SlaveConfigTypeDef; - -/** - * @brief TIM Break input(s) and Dead time configuration Structure definition - * @note 2 break inputs can be configured (BKIN and BKIN2) with configurable - * filter and polarity. - */ -typedef struct -{ - uint32_t OffStateRunMode; /*!< TIM off state in run mode, This parameter can be a value of @ref TIM_OSSR_Off_State_Selection_for_Run_mode_state */ - - uint32_t OffStateIDLEMode; /*!< TIM off state in IDLE mode, This parameter can be a value of @ref TIM_OSSI_Off_State_Selection_for_Idle_mode_state */ - - uint32_t LockLevel; /*!< TIM Lock level, This parameter can be a value of @ref TIM_Lock_level */ - - uint32_t DeadTime; /*!< TIM dead Time, This parameter can be a number between Min_Data = 0x00 and Max_Data = 0xFF */ - - uint32_t BreakState; /*!< TIM Break State, This parameter can be a value of @ref TIM_Break_Input_enable_disable */ - - uint32_t BreakPolarity; /*!< TIM Break input polarity, This parameter can be a value of @ref TIM_Break_Polarity */ - - uint32_t BreakFilter; /*!< Specifies the break input filter.This parameter can be a number between Min_Data = 0x0 and Max_Data = 0xF */ - - uint32_t AutomaticOutput; /*!< TIM Automatic Output Enable state, This parameter can be a value of @ref TIM_AOE_Bit_Set_Reset */ - -} TIM_BreakDeadTimeConfigTypeDef; - -/** - * @brief HAL State structures definition - */ -typedef enum -{ - HAL_TIM_STATE_RESET = 0x00U, /*!< Peripheral not yet initialized or disabled */ - HAL_TIM_STATE_READY = 0x01U, /*!< Peripheral Initialized and ready for use */ - HAL_TIM_STATE_BUSY = 0x02U, /*!< An internal process is ongoing */ - HAL_TIM_STATE_TIMEOUT = 0x03U, /*!< Timeout state */ - HAL_TIM_STATE_ERROR = 0x04U /*!< Reception process is ongoing */ -} HAL_TIM_StateTypeDef; - -/** - * @brief TIM Channel States definition - */ -typedef enum -{ - HAL_TIM_CHANNEL_STATE_RESET = 0x00U, /*!< TIM Channel initial state */ - HAL_TIM_CHANNEL_STATE_READY = 0x01U, /*!< TIM Channel ready for use */ - HAL_TIM_CHANNEL_STATE_BUSY = 0x02U, /*!< An internal process is ongoing on the TIM channel */ -} HAL_TIM_ChannelStateTypeDef; - -/** - * @brief DMA Burst States definition - */ -typedef enum -{ - HAL_DMA_BURST_STATE_RESET = 0x00U, /*!< DMA Burst initial state */ - HAL_DMA_BURST_STATE_READY = 0x01U, /*!< DMA Burst ready for use */ - HAL_DMA_BURST_STATE_BUSY = 0x02U, /*!< Ongoing DMA Burst */ -} HAL_TIM_DMABurstStateTypeDef; - -/** - * @brief HAL Active channel structures definition - */ -typedef enum -{ - HAL_TIM_ACTIVE_CHANNEL_1 = 0x01U, /*!< The active channel is 1 */ - HAL_TIM_ACTIVE_CHANNEL_2 = 0x02U, /*!< The active channel is 2 */ - HAL_TIM_ACTIVE_CHANNEL_3 = 0x04U, /*!< The active channel is 3 */ - HAL_TIM_ACTIVE_CHANNEL_4 = 0x08U, /*!< The active channel is 4 */ - HAL_TIM_ACTIVE_CHANNEL_CLEARED = 0x00U /*!< All active channels cleared */ -} HAL_TIM_ActiveChannel; - -/** - * @brief TIM Time Base Handle Structure definition - */ -#if (USE_HAL_TIM_REGISTER_CALLBACKS == 1) -typedef struct __TIM_HandleTypeDef -#else -typedef struct -#endif /* USE_HAL_TIM_REGISTER_CALLBACKS */ -{ - TIM_TypeDef *Instance; /*!< Register base address */ - TIM_Base_InitTypeDef Init; /*!< TIM Time Base required parameters */ - HAL_TIM_ActiveChannel Channel; /*!< Active channel */ - DMA_HandleTypeDef *hdma[7]; /*!< DMA Handlers array - This array is accessed by a @ref DMA_Handle_index */ - HAL_LockTypeDef Lock; /*!< Locking object */ - __IO HAL_TIM_StateTypeDef State; /*!< TIM operation state */ - __IO HAL_TIM_ChannelStateTypeDef ChannelState[4]; /*!< TIM channel operation state */ - __IO HAL_TIM_ChannelStateTypeDef ChannelNState[4]; /*!< TIM complementary channel operation state */ - __IO HAL_TIM_DMABurstStateTypeDef DMABurstState; /*!< DMA burst operation state */ - -#if (USE_HAL_TIM_REGISTER_CALLBACKS == 1) - void (* Base_MspInitCallback)(struct __TIM_HandleTypeDef *htim); /*!< TIM Base Msp Init Callback */ - void (* Base_MspDeInitCallback)(struct __TIM_HandleTypeDef *htim); /*!< TIM Base Msp DeInit Callback */ - void (* IC_MspInitCallback)(struct __TIM_HandleTypeDef *htim); /*!< TIM IC Msp Init Callback */ - void (* IC_MspDeInitCallback)(struct __TIM_HandleTypeDef *htim); /*!< TIM IC Msp DeInit Callback */ - void (* OC_MspInitCallback)(struct __TIM_HandleTypeDef *htim); /*!< TIM OC Msp Init Callback */ - void (* OC_MspDeInitCallback)(struct __TIM_HandleTypeDef *htim); /*!< TIM OC Msp DeInit Callback */ - void (* PWM_MspInitCallback)(struct __TIM_HandleTypeDef *htim); /*!< TIM PWM Msp Init Callback */ - void (* PWM_MspDeInitCallback)(struct __TIM_HandleTypeDef *htim); /*!< TIM PWM Msp DeInit Callback */ - void (* OnePulse_MspInitCallback)(struct __TIM_HandleTypeDef *htim); /*!< TIM One Pulse Msp Init Callback */ - void (* OnePulse_MspDeInitCallback)(struct __TIM_HandleTypeDef *htim); /*!< TIM One Pulse Msp DeInit Callback */ - void (* Encoder_MspInitCallback)(struct __TIM_HandleTypeDef *htim); /*!< TIM Encoder Msp Init Callback */ - void (* Encoder_MspDeInitCallback)(struct __TIM_HandleTypeDef *htim); /*!< TIM Encoder Msp DeInit Callback */ - void (* HallSensor_MspInitCallback)(struct __TIM_HandleTypeDef *htim); /*!< TIM Hall Sensor Msp Init Callback */ - void (* HallSensor_MspDeInitCallback)(struct __TIM_HandleTypeDef *htim); /*!< TIM Hall Sensor Msp DeInit Callback */ - void (* PeriodElapsedCallback)(struct __TIM_HandleTypeDef *htim); /*!< TIM Period Elapsed Callback */ - void (* PeriodElapsedHalfCpltCallback)(struct __TIM_HandleTypeDef *htim); /*!< TIM Period Elapsed half complete Callback */ - void (* TriggerCallback)(struct __TIM_HandleTypeDef *htim); /*!< TIM Trigger Callback */ - void (* TriggerHalfCpltCallback)(struct __TIM_HandleTypeDef *htim); /*!< TIM Trigger half complete Callback */ - void (* IC_CaptureCallback)(struct __TIM_HandleTypeDef *htim); /*!< TIM Input Capture Callback */ - void (* IC_CaptureHalfCpltCallback)(struct __TIM_HandleTypeDef *htim); /*!< TIM Input Capture half complete Callback */ - void (* OC_DelayElapsedCallback)(struct __TIM_HandleTypeDef *htim); /*!< TIM Output Compare Delay Elapsed Callback */ - void (* PWM_PulseFinishedCallback)(struct __TIM_HandleTypeDef *htim); /*!< TIM PWM Pulse Finished Callback */ - void (* PWM_PulseFinishedHalfCpltCallback)(struct __TIM_HandleTypeDef *htim); /*!< TIM PWM Pulse Finished half complete Callback */ - void (* ErrorCallback)(struct __TIM_HandleTypeDef *htim); /*!< TIM Error Callback */ - void (* CommutationCallback)(struct __TIM_HandleTypeDef *htim); /*!< TIM Commutation Callback */ - void (* CommutationHalfCpltCallback)(struct __TIM_HandleTypeDef *htim); /*!< TIM Commutation half complete Callback */ - void (* BreakCallback)(struct __TIM_HandleTypeDef *htim); /*!< TIM Break Callback */ -#endif /* USE_HAL_TIM_REGISTER_CALLBACKS */ -} TIM_HandleTypeDef; - -#if (USE_HAL_TIM_REGISTER_CALLBACKS == 1) -/** - * @brief HAL TIM Callback ID enumeration definition - */ -typedef enum -{ - HAL_TIM_BASE_MSPINIT_CB_ID = 0x00U /*!< TIM Base MspInit Callback ID */ - , HAL_TIM_BASE_MSPDEINIT_CB_ID = 0x01U /*!< TIM Base MspDeInit Callback ID */ - , HAL_TIM_IC_MSPINIT_CB_ID = 0x02U /*!< TIM IC MspInit Callback ID */ - , HAL_TIM_IC_MSPDEINIT_CB_ID = 0x03U /*!< TIM IC MspDeInit Callback ID */ - , HAL_TIM_OC_MSPINIT_CB_ID = 0x04U /*!< TIM OC MspInit Callback ID */ - , HAL_TIM_OC_MSPDEINIT_CB_ID = 0x05U /*!< TIM OC MspDeInit Callback ID */ - , HAL_TIM_PWM_MSPINIT_CB_ID = 0x06U /*!< TIM PWM MspInit Callback ID */ - , HAL_TIM_PWM_MSPDEINIT_CB_ID = 0x07U /*!< TIM PWM MspDeInit Callback ID */ - , HAL_TIM_ONE_PULSE_MSPINIT_CB_ID = 0x08U /*!< TIM One Pulse MspInit Callback ID */ - , HAL_TIM_ONE_PULSE_MSPDEINIT_CB_ID = 0x09U /*!< TIM One Pulse MspDeInit Callback ID */ - , HAL_TIM_ENCODER_MSPINIT_CB_ID = 0x0AU /*!< TIM Encoder MspInit Callback ID */ - , HAL_TIM_ENCODER_MSPDEINIT_CB_ID = 0x0BU /*!< TIM Encoder MspDeInit Callback ID */ - , HAL_TIM_HALL_SENSOR_MSPINIT_CB_ID = 0x0CU /*!< TIM Hall Sensor MspDeInit Callback ID */ - , HAL_TIM_HALL_SENSOR_MSPDEINIT_CB_ID = 0x0DU /*!< TIM Hall Sensor MspDeInit Callback ID */ - , HAL_TIM_PERIOD_ELAPSED_CB_ID = 0x0EU /*!< TIM Period Elapsed Callback ID */ - , HAL_TIM_PERIOD_ELAPSED_HALF_CB_ID = 0x0FU /*!< TIM Period Elapsed half complete Callback ID */ - , HAL_TIM_TRIGGER_CB_ID = 0x10U /*!< TIM Trigger Callback ID */ - , HAL_TIM_TRIGGER_HALF_CB_ID = 0x11U /*!< TIM Trigger half complete Callback ID */ - - , HAL_TIM_IC_CAPTURE_CB_ID = 0x12U /*!< TIM Input Capture Callback ID */ - , HAL_TIM_IC_CAPTURE_HALF_CB_ID = 0x13U /*!< TIM Input Capture half complete Callback ID */ - , HAL_TIM_OC_DELAY_ELAPSED_CB_ID = 0x14U /*!< TIM Output Compare Delay Elapsed Callback ID */ - , HAL_TIM_PWM_PULSE_FINISHED_CB_ID = 0x15U /*!< TIM PWM Pulse Finished Callback ID */ - , HAL_TIM_PWM_PULSE_FINISHED_HALF_CB_ID = 0x16U /*!< TIM PWM Pulse Finished half complete Callback ID */ - , HAL_TIM_ERROR_CB_ID = 0x17U /*!< TIM Error Callback ID */ - , HAL_TIM_COMMUTATION_CB_ID = 0x18U /*!< TIM Commutation Callback ID */ - , HAL_TIM_COMMUTATION_HALF_CB_ID = 0x19U /*!< TIM Commutation half complete Callback ID */ - , HAL_TIM_BREAK_CB_ID = 0x1AU /*!< TIM Break Callback ID */ -} HAL_TIM_CallbackIDTypeDef; - -/** - * @brief HAL TIM Callback pointer definition - */ -typedef void (*pTIM_CallbackTypeDef)(TIM_HandleTypeDef *htim); /*!< pointer to the TIM callback function */ - -#endif /* USE_HAL_TIM_REGISTER_CALLBACKS */ - -/** - * @} - */ -/* End of exported types -----------------------------------------------------*/ - -/* Exported constants --------------------------------------------------------*/ -/** @defgroup TIM_Exported_Constants TIM Exported Constants - * @{ - */ - -/** @defgroup TIM_ClearInput_Source TIM Clear Input Source - * @{ - */ -#define TIM_CLEARINPUTSOURCE_NONE 0x00000000U /*!< OCREF_CLR is disabled */ -#define TIM_CLEARINPUTSOURCE_ETR 0x00000001U /*!< OCREF_CLR is connected to ETRF input */ -/** - * @} - */ - -/** @defgroup TIM_DMA_Base_address TIM DMA Base Address - * @{ - */ -#define TIM_DMABASE_CR1 0x00000000U -#define TIM_DMABASE_CR2 0x00000001U -#define TIM_DMABASE_SMCR 0x00000002U -#define TIM_DMABASE_DIER 0x00000003U -#define TIM_DMABASE_SR 0x00000004U -#define TIM_DMABASE_EGR 0x00000005U -#define TIM_DMABASE_CCMR1 0x00000006U -#define TIM_DMABASE_CCMR2 0x00000007U -#define TIM_DMABASE_CCER 0x00000008U -#define TIM_DMABASE_CNT 0x00000009U -#define TIM_DMABASE_PSC 0x0000000AU -#define TIM_DMABASE_ARR 0x0000000BU -#define TIM_DMABASE_RCR 0x0000000CU -#define TIM_DMABASE_CCR1 0x0000000DU -#define TIM_DMABASE_CCR2 0x0000000EU -#define TIM_DMABASE_CCR3 0x0000000FU -#define TIM_DMABASE_CCR4 0x00000010U -#define TIM_DMABASE_BDTR 0x00000011U -#define TIM_DMABASE_DCR 0x00000012U -#define TIM_DMABASE_DMAR 0x00000013U -/** - * @} - */ - -/** @defgroup TIM_Event_Source TIM Event Source - * @{ - */ -#define TIM_EVENTSOURCE_UPDATE TIM_EGR_UG /*!< Reinitialize the counter and generates an update of the registers */ -#define TIM_EVENTSOURCE_CC1 TIM_EGR_CC1G /*!< A capture/compare event is generated on channel 1 */ -#define TIM_EVENTSOURCE_CC2 TIM_EGR_CC2G /*!< A capture/compare event is generated on channel 2 */ -#define TIM_EVENTSOURCE_CC3 TIM_EGR_CC3G /*!< A capture/compare event is generated on channel 3 */ -#define TIM_EVENTSOURCE_CC4 TIM_EGR_CC4G /*!< A capture/compare event is generated on channel 4 */ -#define TIM_EVENTSOURCE_COM TIM_EGR_COMG /*!< A commutation event is generated */ -#define TIM_EVENTSOURCE_TRIGGER TIM_EGR_TG /*!< A trigger event is generated */ -#define TIM_EVENTSOURCE_BREAK TIM_EGR_BG /*!< A break event is generated */ -/** - * @} - */ - -/** @defgroup TIM_Input_Channel_Polarity TIM Input Channel polarity - * @{ - */ -#define TIM_INPUTCHANNELPOLARITY_RISING 0x00000000U /*!< Polarity for TIx source */ -#define TIM_INPUTCHANNELPOLARITY_FALLING TIM_CCER_CC1P /*!< Polarity for TIx source */ -#define TIM_INPUTCHANNELPOLARITY_BOTHEDGE (TIM_CCER_CC1P | TIM_CCER_CC1NP) /*!< Polarity for TIx source */ -/** - * @} - */ - -/** @defgroup TIM_ETR_Polarity TIM ETR Polarity - * @{ - */ -#define TIM_ETRPOLARITY_INVERTED TIM_SMCR_ETP /*!< Polarity for ETR source */ -#define TIM_ETRPOLARITY_NONINVERTED 0x00000000U /*!< Polarity for ETR source */ -/** - * @} - */ - -/** @defgroup TIM_ETR_Prescaler TIM ETR Prescaler - * @{ - */ -#define TIM_ETRPRESCALER_DIV1 0x00000000U /*!< No prescaler is used */ -#define TIM_ETRPRESCALER_DIV2 TIM_SMCR_ETPS_0 /*!< ETR input source is divided by 2 */ -#define TIM_ETRPRESCALER_DIV4 TIM_SMCR_ETPS_1 /*!< ETR input source is divided by 4 */ -#define TIM_ETRPRESCALER_DIV8 TIM_SMCR_ETPS /*!< ETR input source is divided by 8 */ -/** - * @} - */ - -/** @defgroup TIM_Counter_Mode TIM Counter Mode - * @{ - */ -#define TIM_COUNTERMODE_UP 0x00000000U /*!< Counter used as up-counter */ -#define TIM_COUNTERMODE_DOWN TIM_CR1_DIR /*!< Counter used as down-counter */ -#define TIM_COUNTERMODE_CENTERALIGNED1 TIM_CR1_CMS_0 /*!< Center-aligned mode 1 */ -#define TIM_COUNTERMODE_CENTERALIGNED2 TIM_CR1_CMS_1 /*!< Center-aligned mode 2 */ -#define TIM_COUNTERMODE_CENTERALIGNED3 TIM_CR1_CMS /*!< Center-aligned mode 3 */ -/** - * @} - */ - -/** @defgroup TIM_ClockDivision TIM Clock Division - * @{ - */ -#define TIM_CLOCKDIVISION_DIV1 0x00000000U /*!< Clock division: tDTS=tCK_INT */ -#define TIM_CLOCKDIVISION_DIV2 TIM_CR1_CKD_0 /*!< Clock division: tDTS=2*tCK_INT */ -#define TIM_CLOCKDIVISION_DIV4 TIM_CR1_CKD_1 /*!< Clock division: tDTS=4*tCK_INT */ -/** - * @} - */ - -/** @defgroup TIM_Output_Compare_State TIM Output Compare State - * @{ - */ -#define TIM_OUTPUTSTATE_DISABLE 0x00000000U /*!< Capture/Compare 1 output disabled */ -#define TIM_OUTPUTSTATE_ENABLE TIM_CCER_CC1E /*!< Capture/Compare 1 output enabled */ -/** - * @} - */ - -/** @defgroup TIM_AutoReloadPreload TIM Auto-Reload Preload - * @{ - */ -#define TIM_AUTORELOAD_PRELOAD_DISABLE 0x00000000U /*!< TIMx_ARR register is not buffered */ -#define TIM_AUTORELOAD_PRELOAD_ENABLE TIM_CR1_ARPE /*!< TIMx_ARR register is buffered */ - -/** - * @} - */ - -/** @defgroup TIM_Output_Fast_State TIM Output Fast State - * @{ - */ -#define TIM_OCFAST_DISABLE 0x00000000U /*!< Output Compare fast disable */ -#define TIM_OCFAST_ENABLE TIM_CCMR1_OC1FE /*!< Output Compare fast enable */ -/** - * @} - */ - -/** @defgroup TIM_Output_Compare_N_State TIM Complementary Output Compare State - * @{ - */ -#define TIM_OUTPUTNSTATE_DISABLE 0x00000000U /*!< OCxN is disabled */ -#define TIM_OUTPUTNSTATE_ENABLE TIM_CCER_CC1NE /*!< OCxN is enabled */ -/** - * @} - */ - -/** @defgroup TIM_Output_Compare_Polarity TIM Output Compare Polarity - * @{ - */ -#define TIM_OCPOLARITY_HIGH 0x00000000U /*!< Capture/Compare output polarity */ -#define TIM_OCPOLARITY_LOW TIM_CCER_CC1P /*!< Capture/Compare output polarity */ -/** - * @} - */ - -/** @defgroup TIM_Output_Compare_N_Polarity TIM Complementary Output Compare Polarity - * @{ - */ -#define TIM_OCNPOLARITY_HIGH 0x00000000U /*!< Capture/Compare complementary output polarity */ -#define TIM_OCNPOLARITY_LOW TIM_CCER_CC1NP /*!< Capture/Compare complementary output polarity */ -/** - * @} - */ - -/** @defgroup TIM_Output_Compare_Idle_State TIM Output Compare Idle State - * @{ - */ -#define TIM_OCIDLESTATE_SET TIM_CR2_OIS1 /*!< Output Idle state: OCx=1 when MOE=0 */ -#define TIM_OCIDLESTATE_RESET 0x00000000U /*!< Output Idle state: OCx=0 when MOE=0 */ -/** - * @} - */ - -/** @defgroup TIM_Output_Compare_N_Idle_State TIM Complementary Output Compare Idle State - * @{ - */ -#define TIM_OCNIDLESTATE_SET TIM_CR2_OIS1N /*!< Complementary output Idle state: OCxN=1 when MOE=0 */ -#define TIM_OCNIDLESTATE_RESET 0x00000000U /*!< Complementary output Idle state: OCxN=0 when MOE=0 */ -/** - * @} - */ - -/** @defgroup TIM_Input_Capture_Polarity TIM Input Capture Polarity - * @{ - */ -#define TIM_ICPOLARITY_RISING TIM_INPUTCHANNELPOLARITY_RISING /*!< Capture triggered by rising edge on timer input */ -#define TIM_ICPOLARITY_FALLING TIM_INPUTCHANNELPOLARITY_FALLING /*!< Capture triggered by falling edge on timer input */ -#define TIM_ICPOLARITY_BOTHEDGE TIM_INPUTCHANNELPOLARITY_BOTHEDGE /*!< Capture triggered by both rising and falling edges on timer input*/ -/** - * @} - */ - -/** @defgroup TIM_Encoder_Input_Polarity TIM Encoder Input Polarity - * @{ - */ -#define TIM_ENCODERINPUTPOLARITY_RISING TIM_INPUTCHANNELPOLARITY_RISING /*!< Encoder input with rising edge polarity */ -#define TIM_ENCODERINPUTPOLARITY_FALLING TIM_INPUTCHANNELPOLARITY_FALLING /*!< Encoder input with falling edge polarity */ -/** - * @} - */ - -/** @defgroup TIM_Input_Capture_Selection TIM Input Capture Selection - * @{ - */ -#define TIM_ICSELECTION_DIRECTTI TIM_CCMR1_CC1S_0 /*!< TIM Input 1, 2, 3 or 4 is selected to be connected to IC1, IC2, IC3 or IC4, respectively */ -#define TIM_ICSELECTION_INDIRECTTI TIM_CCMR1_CC1S_1 /*!< TIM Input 1, 2, 3 or 4 is selected to be connected to IC2, IC1, IC4 or IC3, respectively */ -#define TIM_ICSELECTION_TRC TIM_CCMR1_CC1S /*!< TIM Input 1, 2, 3 or 4 is selected to be connected to TRC */ -/** - * @} - */ - -/** @defgroup TIM_Input_Capture_Prescaler TIM Input Capture Prescaler - * @{ - */ -#define TIM_ICPSC_DIV1 0x00000000U /*!< Capture performed each time an edge is detected on the capture input */ -#define TIM_ICPSC_DIV2 TIM_CCMR1_IC1PSC_0 /*!< Capture performed once every 2 events */ -#define TIM_ICPSC_DIV4 TIM_CCMR1_IC1PSC_1 /*!< Capture performed once every 4 events */ -#define TIM_ICPSC_DIV8 TIM_CCMR1_IC1PSC /*!< Capture performed once every 8 events */ -/** - * @} - */ - -/** @defgroup TIM_One_Pulse_Mode TIM One Pulse Mode - * @{ - */ -#define TIM_OPMODE_SINGLE TIM_CR1_OPM /*!< Counter stops counting at the next update event */ -#define TIM_OPMODE_REPETITIVE 0x00000000U /*!< Counter is not stopped at update event */ -/** - * @} - */ - -/** @defgroup TIM_Encoder_Mode TIM Encoder Mode - * @{ - */ -#define TIM_ENCODERMODE_TI1 TIM_SMCR_SMS_0 /*!< Quadrature encoder mode 1, x2 mode, counts up/down on TI1FP1 edge depending on TI2FP2 level */ -#define TIM_ENCODERMODE_TI2 TIM_SMCR_SMS_1 /*!< Quadrature encoder mode 2, x2 mode, counts up/down on TI2FP2 edge depending on TI1FP1 level. */ -#define TIM_ENCODERMODE_TI12 (TIM_SMCR_SMS_1 | TIM_SMCR_SMS_0) /*!< Quadrature encoder mode 3, x4 mode, counts up/down on both TI1FP1 and TI2FP2 edges depending on the level of the other input. */ -/** - * @} - */ - -/** @defgroup TIM_Interrupt_definition TIM interrupt Definition - * @{ - */ -#define TIM_IT_UPDATE TIM_DIER_UIE /*!< Update interrupt */ -#define TIM_IT_CC1 TIM_DIER_CC1IE /*!< Capture/Compare 1 interrupt */ -#define TIM_IT_CC2 TIM_DIER_CC2IE /*!< Capture/Compare 2 interrupt */ -#define TIM_IT_CC3 TIM_DIER_CC3IE /*!< Capture/Compare 3 interrupt */ -#define TIM_IT_CC4 TIM_DIER_CC4IE /*!< Capture/Compare 4 interrupt */ -#define TIM_IT_COM TIM_DIER_COMIE /*!< Commutation interrupt */ -#define TIM_IT_TRIGGER TIM_DIER_TIE /*!< Trigger interrupt */ -#define TIM_IT_BREAK TIM_DIER_BIE /*!< Break interrupt */ -/** - * @} - */ - -/** @defgroup TIM_Commutation_Source TIM Commutation Source - * @{ - */ -#define TIM_COMMUTATION_TRGI TIM_CR2_CCUS /*!< When Capture/compare control bits are preloaded, they are updated by setting the COMG bit or when an rising edge occurs on trigger input */ -#define TIM_COMMUTATION_SOFTWARE 0x00000000U /*!< When Capture/compare control bits are preloaded, they are updated by setting the COMG bit */ -/** - * @} - */ - -/** @defgroup TIM_DMA_sources TIM DMA Sources - * @{ - */ -#define TIM_DMA_UPDATE TIM_DIER_UDE /*!< DMA request is triggered by the update event */ -#define TIM_DMA_CC1 TIM_DIER_CC1DE /*!< DMA request is triggered by the capture/compare macth 1 event */ -#define TIM_DMA_CC2 TIM_DIER_CC2DE /*!< DMA request is triggered by the capture/compare macth 2 event event */ -#define TIM_DMA_CC3 TIM_DIER_CC3DE /*!< DMA request is triggered by the capture/compare macth 3 event event */ -#define TIM_DMA_CC4 TIM_DIER_CC4DE /*!< DMA request is triggered by the capture/compare macth 4 event event */ -#define TIM_DMA_COM TIM_DIER_COMDE /*!< DMA request is triggered by the commutation event */ -#define TIM_DMA_TRIGGER TIM_DIER_TDE /*!< DMA request is triggered by the trigger event */ -/** - * @} - */ - -/** @defgroup TIM_Flag_definition TIM Flag Definition - * @{ - */ -#define TIM_FLAG_UPDATE TIM_SR_UIF /*!< Update interrupt flag */ -#define TIM_FLAG_CC1 TIM_SR_CC1IF /*!< Capture/Compare 1 interrupt flag */ -#define TIM_FLAG_CC2 TIM_SR_CC2IF /*!< Capture/Compare 2 interrupt flag */ -#define TIM_FLAG_CC3 TIM_SR_CC3IF /*!< Capture/Compare 3 interrupt flag */ -#define TIM_FLAG_CC4 TIM_SR_CC4IF /*!< Capture/Compare 4 interrupt flag */ -#define TIM_FLAG_COM TIM_SR_COMIF /*!< Commutation interrupt flag */ -#define TIM_FLAG_TRIGGER TIM_SR_TIF /*!< Trigger interrupt flag */ -#define TIM_FLAG_BREAK TIM_SR_BIF /*!< Break interrupt flag */ -#define TIM_FLAG_CC1OF TIM_SR_CC1OF /*!< Capture 1 overcapture flag */ -#define TIM_FLAG_CC2OF TIM_SR_CC2OF /*!< Capture 2 overcapture flag */ -#define TIM_FLAG_CC3OF TIM_SR_CC3OF /*!< Capture 3 overcapture flag */ -#define TIM_FLAG_CC4OF TIM_SR_CC4OF /*!< Capture 4 overcapture flag */ -/** - * @} - */ - -/** @defgroup TIM_Channel TIM Channel - * @{ - */ -#define TIM_CHANNEL_1 0x00000000U /*!< Capture/compare channel 1 identifier */ -#define TIM_CHANNEL_2 0x00000004U /*!< Capture/compare channel 2 identifier */ -#define TIM_CHANNEL_3 0x00000008U /*!< Capture/compare channel 3 identifier */ -#define TIM_CHANNEL_4 0x0000000CU /*!< Capture/compare channel 4 identifier */ -#define TIM_CHANNEL_ALL 0x0000003CU /*!< Global Capture/compare channel identifier */ -/** - * @} - */ - -/** @defgroup TIM_Clock_Source TIM Clock Source - * @{ - */ -#define TIM_CLOCKSOURCE_ETRMODE2 TIM_SMCR_ETPS_1 /*!< External clock source mode 2 */ -#define TIM_CLOCKSOURCE_INTERNAL TIM_SMCR_ETPS_0 /*!< Internal clock source */ -#define TIM_CLOCKSOURCE_ITR0 TIM_TS_ITR0 /*!< External clock source mode 1 (ITR0) */ -#define TIM_CLOCKSOURCE_ITR1 TIM_TS_ITR1 /*!< External clock source mode 1 (ITR1) */ -#define TIM_CLOCKSOURCE_ITR2 TIM_TS_ITR2 /*!< External clock source mode 1 (ITR2) */ -#define TIM_CLOCKSOURCE_ITR3 TIM_TS_ITR3 /*!< External clock source mode 1 (ITR3) */ -#define TIM_CLOCKSOURCE_TI1ED TIM_TS_TI1F_ED /*!< External clock source mode 1 (TTI1FP1 + edge detect.) */ -#define TIM_CLOCKSOURCE_TI1 TIM_TS_TI1FP1 /*!< External clock source mode 1 (TTI1FP1) */ -#define TIM_CLOCKSOURCE_TI2 TIM_TS_TI2FP2 /*!< External clock source mode 1 (TTI2FP2) */ -#define TIM_CLOCKSOURCE_ETRMODE1 TIM_TS_ETRF /*!< External clock source mode 1 (ETRF) */ -/** - * @} - */ - -/** @defgroup TIM_Clock_Polarity TIM Clock Polarity - * @{ - */ -#define TIM_CLOCKPOLARITY_INVERTED TIM_ETRPOLARITY_INVERTED /*!< Polarity for ETRx clock sources */ -#define TIM_CLOCKPOLARITY_NONINVERTED TIM_ETRPOLARITY_NONINVERTED /*!< Polarity for ETRx clock sources */ -#define TIM_CLOCKPOLARITY_RISING TIM_INPUTCHANNELPOLARITY_RISING /*!< Polarity for TIx clock sources */ -#define TIM_CLOCKPOLARITY_FALLING TIM_INPUTCHANNELPOLARITY_FALLING /*!< Polarity for TIx clock sources */ -#define TIM_CLOCKPOLARITY_BOTHEDGE TIM_INPUTCHANNELPOLARITY_BOTHEDGE /*!< Polarity for TIx clock sources */ -/** - * @} - */ - -/** @defgroup TIM_Clock_Prescaler TIM Clock Prescaler - * @{ - */ -#define TIM_CLOCKPRESCALER_DIV1 TIM_ETRPRESCALER_DIV1 /*!< No prescaler is used */ -#define TIM_CLOCKPRESCALER_DIV2 TIM_ETRPRESCALER_DIV2 /*!< Prescaler for External ETR Clock: Capture performed once every 2 events. */ -#define TIM_CLOCKPRESCALER_DIV4 TIM_ETRPRESCALER_DIV4 /*!< Prescaler for External ETR Clock: Capture performed once every 4 events. */ -#define TIM_CLOCKPRESCALER_DIV8 TIM_ETRPRESCALER_DIV8 /*!< Prescaler for External ETR Clock: Capture performed once every 8 events. */ -/** - * @} - */ - -/** @defgroup TIM_ClearInput_Polarity TIM Clear Input Polarity - * @{ - */ -#define TIM_CLEARINPUTPOLARITY_INVERTED TIM_ETRPOLARITY_INVERTED /*!< Polarity for ETRx pin */ -#define TIM_CLEARINPUTPOLARITY_NONINVERTED TIM_ETRPOLARITY_NONINVERTED /*!< Polarity for ETRx pin */ -/** - * @} - */ - -/** @defgroup TIM_ClearInput_Prescaler TIM Clear Input Prescaler - * @{ - */ -#define TIM_CLEARINPUTPRESCALER_DIV1 TIM_ETRPRESCALER_DIV1 /*!< No prescaler is used */ -#define TIM_CLEARINPUTPRESCALER_DIV2 TIM_ETRPRESCALER_DIV2 /*!< Prescaler for External ETR pin: Capture performed once every 2 events. */ -#define TIM_CLEARINPUTPRESCALER_DIV4 TIM_ETRPRESCALER_DIV4 /*!< Prescaler for External ETR pin: Capture performed once every 4 events. */ -#define TIM_CLEARINPUTPRESCALER_DIV8 TIM_ETRPRESCALER_DIV8 /*!< Prescaler for External ETR pin: Capture performed once every 8 events. */ -/** - * @} - */ - -/** @defgroup TIM_OSSR_Off_State_Selection_for_Run_mode_state TIM OSSR OffState Selection for Run mode state - * @{ - */ -#define TIM_OSSR_ENABLE TIM_BDTR_OSSR /*!< When inactive, OC/OCN outputs are enabled (still controlled by the timer) */ -#define TIM_OSSR_DISABLE 0x00000000U /*!< When inactive, OC/OCN outputs are disabled (not controlled any longer by the timer) */ -/** - * @} - */ - -/** @defgroup TIM_OSSI_Off_State_Selection_for_Idle_mode_state TIM OSSI OffState Selection for Idle mode state - * @{ - */ -#define TIM_OSSI_ENABLE TIM_BDTR_OSSI /*!< When inactive, OC/OCN outputs are enabled (still controlled by the timer) */ -#define TIM_OSSI_DISABLE 0x00000000U /*!< When inactive, OC/OCN outputs are disabled (not controlled any longer by the timer) */ -/** - * @} - */ -/** @defgroup TIM_Lock_level TIM Lock level - * @{ - */ -#define TIM_LOCKLEVEL_OFF 0x00000000U /*!< LOCK OFF */ -#define TIM_LOCKLEVEL_1 TIM_BDTR_LOCK_0 /*!< LOCK Level 1 */ -#define TIM_LOCKLEVEL_2 TIM_BDTR_LOCK_1 /*!< LOCK Level 2 */ -#define TIM_LOCKLEVEL_3 TIM_BDTR_LOCK /*!< LOCK Level 3 */ -/** - * @} - */ - -/** @defgroup TIM_Break_Input_enable_disable TIM Break Input Enable - * @{ - */ -#define TIM_BREAK_ENABLE TIM_BDTR_BKE /*!< Break input BRK is enabled */ -#define TIM_BREAK_DISABLE 0x00000000U /*!< Break input BRK is disabled */ -/** - * @} - */ - -/** @defgroup TIM_Break_Polarity TIM Break Input Polarity - * @{ - */ -#define TIM_BREAKPOLARITY_LOW 0x00000000U /*!< Break input BRK is active low */ -#define TIM_BREAKPOLARITY_HIGH TIM_BDTR_BKP /*!< Break input BRK is active high */ -/** - * @} - */ - -/** @defgroup TIM_AOE_Bit_Set_Reset TIM Automatic Output Enable - * @{ - */ -#define TIM_AUTOMATICOUTPUT_DISABLE 0x00000000U /*!< MOE can be set only by software */ -#define TIM_AUTOMATICOUTPUT_ENABLE TIM_BDTR_AOE /*!< MOE can be set by software or automatically at the next update event (if none of the break inputs BRK and BRK2 is active) */ -/** - * @} - */ - -/** @defgroup TIM_Master_Mode_Selection TIM Master Mode Selection - * @{ - */ -#define TIM_TRGO_RESET 0x00000000U /*!< TIMx_EGR.UG bit is used as trigger output (TRGO) */ -#define TIM_TRGO_ENABLE TIM_CR2_MMS_0 /*!< TIMx_CR1.CEN bit is used as trigger output (TRGO) */ -#define TIM_TRGO_UPDATE TIM_CR2_MMS_1 /*!< Update event is used as trigger output (TRGO) */ -#define TIM_TRGO_OC1 (TIM_CR2_MMS_1 | TIM_CR2_MMS_0) /*!< Capture or a compare match 1 is used as trigger output (TRGO) */ -#define TIM_TRGO_OC1REF TIM_CR2_MMS_2 /*!< OC1REF signal is used as trigger output (TRGO) */ -#define TIM_TRGO_OC2REF (TIM_CR2_MMS_2 | TIM_CR2_MMS_0) /*!< OC2REF signal is used as trigger output(TRGO) */ -#define TIM_TRGO_OC3REF (TIM_CR2_MMS_2 | TIM_CR2_MMS_1) /*!< OC3REF signal is used as trigger output(TRGO) */ -#define TIM_TRGO_OC4REF (TIM_CR2_MMS_2 | TIM_CR2_MMS_1 | TIM_CR2_MMS_0) /*!< OC4REF signal is used as trigger output(TRGO) */ -/** - * @} - */ - -/** @defgroup TIM_Master_Slave_Mode TIM Master/Slave Mode - * @{ - */ -#define TIM_MASTERSLAVEMODE_ENABLE TIM_SMCR_MSM /*!< No action */ -#define TIM_MASTERSLAVEMODE_DISABLE 0x00000000U /*!< Master/slave mode is selected */ -/** - * @} - */ - -/** @defgroup TIM_Slave_Mode TIM Slave mode - * @{ - */ -#define TIM_SLAVEMODE_DISABLE 0x00000000U /*!< Slave mode disabled */ -#define TIM_SLAVEMODE_RESET TIM_SMCR_SMS_2 /*!< Reset Mode */ -#define TIM_SLAVEMODE_GATED (TIM_SMCR_SMS_2 | TIM_SMCR_SMS_0) /*!< Gated Mode */ -#define TIM_SLAVEMODE_TRIGGER (TIM_SMCR_SMS_2 | TIM_SMCR_SMS_1) /*!< Trigger Mode */ -#define TIM_SLAVEMODE_EXTERNAL1 (TIM_SMCR_SMS_2 | TIM_SMCR_SMS_1 | TIM_SMCR_SMS_0) /*!< External Clock Mode 1 */ -/** - * @} - */ - -/** @defgroup TIM_Output_Compare_and_PWM_modes TIM Output Compare and PWM Modes - * @{ - */ -#define TIM_OCMODE_TIMING 0x00000000U /*!< Frozen */ -#define TIM_OCMODE_ACTIVE TIM_CCMR1_OC1M_0 /*!< Set channel to active level on match */ -#define TIM_OCMODE_INACTIVE TIM_CCMR1_OC1M_1 /*!< Set channel to inactive level on match */ -#define TIM_OCMODE_TOGGLE (TIM_CCMR1_OC1M_1 | TIM_CCMR1_OC1M_0) /*!< Toggle */ -#define TIM_OCMODE_PWM1 (TIM_CCMR1_OC1M_2 | TIM_CCMR1_OC1M_1) /*!< PWM mode 1 */ -#define TIM_OCMODE_PWM2 (TIM_CCMR1_OC1M_2 | TIM_CCMR1_OC1M_1 | TIM_CCMR1_OC1M_0) /*!< PWM mode 2 */ -#define TIM_OCMODE_FORCED_ACTIVE (TIM_CCMR1_OC1M_2 | TIM_CCMR1_OC1M_0) /*!< Force active level */ -#define TIM_OCMODE_FORCED_INACTIVE TIM_CCMR1_OC1M_2 /*!< Force inactive level */ -/** - * @} - */ - -/** @defgroup TIM_Trigger_Selection TIM Trigger Selection - * @{ - */ -#define TIM_TS_ITR0 0x00000000U /*!< Internal Trigger 0 (ITR0) */ -#define TIM_TS_ITR1 TIM_SMCR_TS_0 /*!< Internal Trigger 1 (ITR1) */ -#define TIM_TS_ITR2 TIM_SMCR_TS_1 /*!< Internal Trigger 2 (ITR2) */ -#define TIM_TS_ITR3 (TIM_SMCR_TS_0 | TIM_SMCR_TS_1) /*!< Internal Trigger 3 (ITR3) */ -#define TIM_TS_TI1F_ED TIM_SMCR_TS_2 /*!< TI1 Edge Detector (TI1F_ED) */ -#define TIM_TS_TI1FP1 (TIM_SMCR_TS_0 | TIM_SMCR_TS_2) /*!< Filtered Timer Input 1 (TI1FP1) */ -#define TIM_TS_TI2FP2 (TIM_SMCR_TS_1 | TIM_SMCR_TS_2) /*!< Filtered Timer Input 2 (TI2FP2) */ -#define TIM_TS_ETRF (TIM_SMCR_TS_0 | TIM_SMCR_TS_1 | TIM_SMCR_TS_2) /*!< Filtered External Trigger input (ETRF) */ -#define TIM_TS_NONE 0x0000FFFFU /*!< No trigger selected */ -/** - * @} - */ - -/** @defgroup TIM_Trigger_Polarity TIM Trigger Polarity - * @{ - */ -#define TIM_TRIGGERPOLARITY_INVERTED TIM_ETRPOLARITY_INVERTED /*!< Polarity for ETRx trigger sources */ -#define TIM_TRIGGERPOLARITY_NONINVERTED TIM_ETRPOLARITY_NONINVERTED /*!< Polarity for ETRx trigger sources */ -#define TIM_TRIGGERPOLARITY_RISING TIM_INPUTCHANNELPOLARITY_RISING /*!< Polarity for TIxFPx or TI1_ED trigger sources */ -#define TIM_TRIGGERPOLARITY_FALLING TIM_INPUTCHANNELPOLARITY_FALLING /*!< Polarity for TIxFPx or TI1_ED trigger sources */ -#define TIM_TRIGGERPOLARITY_BOTHEDGE TIM_INPUTCHANNELPOLARITY_BOTHEDGE /*!< Polarity for TIxFPx or TI1_ED trigger sources */ -/** - * @} - */ - -/** @defgroup TIM_Trigger_Prescaler TIM Trigger Prescaler - * @{ - */ -#define TIM_TRIGGERPRESCALER_DIV1 TIM_ETRPRESCALER_DIV1 /*!< No prescaler is used */ -#define TIM_TRIGGERPRESCALER_DIV2 TIM_ETRPRESCALER_DIV2 /*!< Prescaler for External ETR Trigger: Capture performed once every 2 events. */ -#define TIM_TRIGGERPRESCALER_DIV4 TIM_ETRPRESCALER_DIV4 /*!< Prescaler for External ETR Trigger: Capture performed once every 4 events. */ -#define TIM_TRIGGERPRESCALER_DIV8 TIM_ETRPRESCALER_DIV8 /*!< Prescaler for External ETR Trigger: Capture performed once every 8 events. */ -/** - * @} - */ - -/** @defgroup TIM_TI1_Selection TIM TI1 Input Selection - * @{ - */ -#define TIM_TI1SELECTION_CH1 0x00000000U /*!< The TIMx_CH1 pin is connected to TI1 input */ -#define TIM_TI1SELECTION_XORCOMBINATION TIM_CR2_TI1S /*!< The TIMx_CH1, CH2 and CH3 pins are connected to the TI1 input (XOR combination) */ -/** - * @} - */ - -/** @defgroup TIM_DMA_Burst_Length TIM DMA Burst Length - * @{ - */ -#define TIM_DMABURSTLENGTH_1TRANSFER 0x00000000U /*!< The transfer is done to 1 register starting from TIMx_CR1 + TIMx_DCR.DBA */ -#define TIM_DMABURSTLENGTH_2TRANSFERS 0x00000100U /*!< The transfer is done to 2 registers starting from TIMx_CR1 + TIMx_DCR.DBA */ -#define TIM_DMABURSTLENGTH_3TRANSFERS 0x00000200U /*!< The transfer is done to 3 registers starting from TIMx_CR1 + TIMx_DCR.DBA */ -#define TIM_DMABURSTLENGTH_4TRANSFERS 0x00000300U /*!< The transfer is done to 4 registers starting from TIMx_CR1 + TIMx_DCR.DBA */ -#define TIM_DMABURSTLENGTH_5TRANSFERS 0x00000400U /*!< The transfer is done to 5 registers starting from TIMx_CR1 + TIMx_DCR.DBA */ -#define TIM_DMABURSTLENGTH_6TRANSFERS 0x00000500U /*!< The transfer is done to 6 registers starting from TIMx_CR1 + TIMx_DCR.DBA */ -#define TIM_DMABURSTLENGTH_7TRANSFERS 0x00000600U /*!< The transfer is done to 7 registers starting from TIMx_CR1 + TIMx_DCR.DBA */ -#define TIM_DMABURSTLENGTH_8TRANSFERS 0x00000700U /*!< The transfer is done to 8 registers starting from TIMx_CR1 + TIMx_DCR.DBA */ -#define TIM_DMABURSTLENGTH_9TRANSFERS 0x00000800U /*!< The transfer is done to 9 registers starting from TIMx_CR1 + TIMx_DCR.DBA */ -#define TIM_DMABURSTLENGTH_10TRANSFERS 0x00000900U /*!< The transfer is done to 10 registers starting from TIMx_CR1 + TIMx_DCR.DBA */ -#define TIM_DMABURSTLENGTH_11TRANSFERS 0x00000A00U /*!< The transfer is done to 11 registers starting from TIMx_CR1 + TIMx_DCR.DBA */ -#define TIM_DMABURSTLENGTH_12TRANSFERS 0x00000B00U /*!< The transfer is done to 12 registers starting from TIMx_CR1 + TIMx_DCR.DBA */ -#define TIM_DMABURSTLENGTH_13TRANSFERS 0x00000C00U /*!< The transfer is done to 13 registers starting from TIMx_CR1 + TIMx_DCR.DBA */ -#define TIM_DMABURSTLENGTH_14TRANSFERS 0x00000D00U /*!< The transfer is done to 14 registers starting from TIMx_CR1 + TIMx_DCR.DBA */ -#define TIM_DMABURSTLENGTH_15TRANSFERS 0x00000E00U /*!< The transfer is done to 15 registers starting from TIMx_CR1 + TIMx_DCR.DBA */ -#define TIM_DMABURSTLENGTH_16TRANSFERS 0x00000F00U /*!< The transfer is done to 16 registers starting from TIMx_CR1 + TIMx_DCR.DBA */ -#define TIM_DMABURSTLENGTH_17TRANSFERS 0x00001000U /*!< The transfer is done to 17 registers starting from TIMx_CR1 + TIMx_DCR.DBA */ -#define TIM_DMABURSTLENGTH_18TRANSFERS 0x00001100U /*!< The transfer is done to 18 registers starting from TIMx_CR1 + TIMx_DCR.DBA */ -/** - * @} - */ - -/** @defgroup DMA_Handle_index TIM DMA Handle Index - * @{ - */ -#define TIM_DMA_ID_UPDATE ((uint16_t) 0x0000) /*!< Index of the DMA handle used for Update DMA requests */ -#define TIM_DMA_ID_CC1 ((uint16_t) 0x0001) /*!< Index of the DMA handle used for Capture/Compare 1 DMA requests */ -#define TIM_DMA_ID_CC2 ((uint16_t) 0x0002) /*!< Index of the DMA handle used for Capture/Compare 2 DMA requests */ -#define TIM_DMA_ID_CC3 ((uint16_t) 0x0003) /*!< Index of the DMA handle used for Capture/Compare 3 DMA requests */ -#define TIM_DMA_ID_CC4 ((uint16_t) 0x0004) /*!< Index of the DMA handle used for Capture/Compare 4 DMA requests */ -#define TIM_DMA_ID_COMMUTATION ((uint16_t) 0x0005) /*!< Index of the DMA handle used for Commutation DMA requests */ -#define TIM_DMA_ID_TRIGGER ((uint16_t) 0x0006) /*!< Index of the DMA handle used for Trigger DMA requests */ -/** - * @} - */ - -/** @defgroup Channel_CC_State TIM Capture/Compare Channel State - * @{ - */ -#define TIM_CCx_ENABLE 0x00000001U /*!< Input or output channel is enabled */ -#define TIM_CCx_DISABLE 0x00000000U /*!< Input or output channel is disabled */ -#define TIM_CCxN_ENABLE 0x00000004U /*!< Complementary output channel is enabled */ -#define TIM_CCxN_DISABLE 0x00000000U /*!< Complementary output channel is enabled */ -/** - * @} - */ - -/** - * @} - */ -/* End of exported constants -------------------------------------------------*/ - -/* Exported macros -----------------------------------------------------------*/ -/** @defgroup TIM_Exported_Macros TIM Exported Macros - * @{ - */ - -/** @brief Reset TIM handle state. - * @param __HANDLE__ TIM handle. - * @retval None - */ -#if (USE_HAL_TIM_REGISTER_CALLBACKS == 1) -#define __HAL_TIM_RESET_HANDLE_STATE(__HANDLE__) do { \ - (__HANDLE__)->State = HAL_TIM_STATE_RESET; \ - (__HANDLE__)->ChannelState[0] = HAL_TIM_CHANNEL_STATE_RESET; \ - (__HANDLE__)->ChannelState[1] = HAL_TIM_CHANNEL_STATE_RESET; \ - (__HANDLE__)->ChannelState[2] = HAL_TIM_CHANNEL_STATE_RESET; \ - (__HANDLE__)->ChannelState[3] = HAL_TIM_CHANNEL_STATE_RESET; \ - (__HANDLE__)->ChannelNState[0] = HAL_TIM_CHANNEL_STATE_RESET; \ - (__HANDLE__)->ChannelNState[1] = HAL_TIM_CHANNEL_STATE_RESET; \ - (__HANDLE__)->ChannelNState[2] = HAL_TIM_CHANNEL_STATE_RESET; \ - (__HANDLE__)->ChannelNState[3] = HAL_TIM_CHANNEL_STATE_RESET; \ - (__HANDLE__)->DMABurstState = HAL_DMA_BURST_STATE_RESET; \ - (__HANDLE__)->Base_MspInitCallback = NULL; \ - (__HANDLE__)->Base_MspDeInitCallback = NULL; \ - (__HANDLE__)->IC_MspInitCallback = NULL; \ - (__HANDLE__)->IC_MspDeInitCallback = NULL; \ - (__HANDLE__)->OC_MspInitCallback = NULL; \ - (__HANDLE__)->OC_MspDeInitCallback = NULL; \ - (__HANDLE__)->PWM_MspInitCallback = NULL; \ - (__HANDLE__)->PWM_MspDeInitCallback = NULL; \ - (__HANDLE__)->OnePulse_MspInitCallback = NULL; \ - (__HANDLE__)->OnePulse_MspDeInitCallback = NULL; \ - (__HANDLE__)->Encoder_MspInitCallback = NULL; \ - (__HANDLE__)->Encoder_MspDeInitCallback = NULL; \ - (__HANDLE__)->HallSensor_MspInitCallback = NULL; \ - (__HANDLE__)->HallSensor_MspDeInitCallback = NULL; \ - } while(0) -#else -#define __HAL_TIM_RESET_HANDLE_STATE(__HANDLE__) do { \ - (__HANDLE__)->State = HAL_TIM_STATE_RESET; \ - (__HANDLE__)->ChannelState[0] = HAL_TIM_CHANNEL_STATE_RESET; \ - (__HANDLE__)->ChannelState[1] = HAL_TIM_CHANNEL_STATE_RESET; \ - (__HANDLE__)->ChannelState[2] = HAL_TIM_CHANNEL_STATE_RESET; \ - (__HANDLE__)->ChannelState[3] = HAL_TIM_CHANNEL_STATE_RESET; \ - (__HANDLE__)->ChannelNState[0] = HAL_TIM_CHANNEL_STATE_RESET; \ - (__HANDLE__)->ChannelNState[1] = HAL_TIM_CHANNEL_STATE_RESET; \ - (__HANDLE__)->ChannelNState[2] = HAL_TIM_CHANNEL_STATE_RESET; \ - (__HANDLE__)->ChannelNState[3] = HAL_TIM_CHANNEL_STATE_RESET; \ - (__HANDLE__)->DMABurstState = HAL_DMA_BURST_STATE_RESET; \ - } while(0) -#endif /* USE_HAL_TIM_REGISTER_CALLBACKS */ - -/** - * @brief Enable the TIM peripheral. - * @param __HANDLE__ TIM handle - * @retval None - */ -#define __HAL_TIM_ENABLE(__HANDLE__) ((__HANDLE__)->Instance->CR1|=(TIM_CR1_CEN)) - -/** - * @brief Enable the TIM main Output. - * @param __HANDLE__ TIM handle - * @retval None - */ -#define __HAL_TIM_MOE_ENABLE(__HANDLE__) ((__HANDLE__)->Instance->BDTR|=(TIM_BDTR_MOE)) - -/** - * @brief Disable the TIM peripheral. - * @param __HANDLE__ TIM handle - * @retval None - */ -#define __HAL_TIM_DISABLE(__HANDLE__) \ - do { \ - if (((__HANDLE__)->Instance->CCER & TIM_CCER_CCxE_MASK) == 0UL) \ - { \ - if(((__HANDLE__)->Instance->CCER & TIM_CCER_CCxNE_MASK) == 0UL) \ - { \ - (__HANDLE__)->Instance->CR1 &= ~(TIM_CR1_CEN); \ - } \ - } \ - } while(0) - -/** - * @brief Disable the TIM main Output. - * @param __HANDLE__ TIM handle - * @retval None - * @note The Main Output Enable of a timer instance is disabled only if all the CCx and CCxN channels have been - * disabled - */ -#define __HAL_TIM_MOE_DISABLE(__HANDLE__) \ - do { \ - if (((__HANDLE__)->Instance->CCER & TIM_CCER_CCxE_MASK) == 0UL) \ - { \ - if(((__HANDLE__)->Instance->CCER & TIM_CCER_CCxNE_MASK) == 0UL) \ - { \ - (__HANDLE__)->Instance->BDTR &= ~(TIM_BDTR_MOE); \ - } \ - } \ - } while(0) - -/** - * @brief Disable the TIM main Output. - * @param __HANDLE__ TIM handle - * @retval None - * @note The Main Output Enable of a timer instance is disabled unconditionally - */ -#define __HAL_TIM_MOE_DISABLE_UNCONDITIONALLY(__HANDLE__) (__HANDLE__)->Instance->BDTR &= ~(TIM_BDTR_MOE) - -/** @brief Enable the specified TIM interrupt. - * @param __HANDLE__ specifies the TIM Handle. - * @param __INTERRUPT__ specifies the TIM interrupt source to enable. - * This parameter can be one of the following values: - * @arg TIM_IT_UPDATE: Update interrupt - * @arg TIM_IT_CC1: Capture/Compare 1 interrupt - * @arg TIM_IT_CC2: Capture/Compare 2 interrupt - * @arg TIM_IT_CC3: Capture/Compare 3 interrupt - * @arg TIM_IT_CC4: Capture/Compare 4 interrupt - * @arg TIM_IT_COM: Commutation interrupt - * @arg TIM_IT_TRIGGER: Trigger interrupt - * @arg TIM_IT_BREAK: Break interrupt - * @retval None - */ -#define __HAL_TIM_ENABLE_IT(__HANDLE__, __INTERRUPT__) ((__HANDLE__)->Instance->DIER |= (__INTERRUPT__)) - -/** @brief Disable the specified TIM interrupt. - * @param __HANDLE__ specifies the TIM Handle. - * @param __INTERRUPT__ specifies the TIM interrupt source to disable. - * This parameter can be one of the following values: - * @arg TIM_IT_UPDATE: Update interrupt - * @arg TIM_IT_CC1: Capture/Compare 1 interrupt - * @arg TIM_IT_CC2: Capture/Compare 2 interrupt - * @arg TIM_IT_CC3: Capture/Compare 3 interrupt - * @arg TIM_IT_CC4: Capture/Compare 4 interrupt - * @arg TIM_IT_COM: Commutation interrupt - * @arg TIM_IT_TRIGGER: Trigger interrupt - * @arg TIM_IT_BREAK: Break interrupt - * @retval None - */ -#define __HAL_TIM_DISABLE_IT(__HANDLE__, __INTERRUPT__) ((__HANDLE__)->Instance->DIER &= ~(__INTERRUPT__)) - -/** @brief Enable the specified DMA request. - * @param __HANDLE__ specifies the TIM Handle. - * @param __DMA__ specifies the TIM DMA request to enable. - * This parameter can be one of the following values: - * @arg TIM_DMA_UPDATE: Update DMA request - * @arg TIM_DMA_CC1: Capture/Compare 1 DMA request - * @arg TIM_DMA_CC2: Capture/Compare 2 DMA request - * @arg TIM_DMA_CC3: Capture/Compare 3 DMA request - * @arg TIM_DMA_CC4: Capture/Compare 4 DMA request - * @arg TIM_DMA_COM: Commutation DMA request - * @arg TIM_DMA_TRIGGER: Trigger DMA request - * @retval None - */ -#define __HAL_TIM_ENABLE_DMA(__HANDLE__, __DMA__) ((__HANDLE__)->Instance->DIER |= (__DMA__)) - -/** @brief Disable the specified DMA request. - * @param __HANDLE__ specifies the TIM Handle. - * @param __DMA__ specifies the TIM DMA request to disable. - * This parameter can be one of the following values: - * @arg TIM_DMA_UPDATE: Update DMA request - * @arg TIM_DMA_CC1: Capture/Compare 1 DMA request - * @arg TIM_DMA_CC2: Capture/Compare 2 DMA request - * @arg TIM_DMA_CC3: Capture/Compare 3 DMA request - * @arg TIM_DMA_CC4: Capture/Compare 4 DMA request - * @arg TIM_DMA_COM: Commutation DMA request - * @arg TIM_DMA_TRIGGER: Trigger DMA request - * @retval None - */ -#define __HAL_TIM_DISABLE_DMA(__HANDLE__, __DMA__) ((__HANDLE__)->Instance->DIER &= ~(__DMA__)) - -/** @brief Check whether the specified TIM interrupt flag is set or not. - * @param __HANDLE__ specifies the TIM Handle. - * @param __FLAG__ specifies the TIM interrupt flag to check. - * This parameter can be one of the following values: - * @arg TIM_FLAG_UPDATE: Update interrupt flag - * @arg TIM_FLAG_CC1: Capture/Compare 1 interrupt flag - * @arg TIM_FLAG_CC2: Capture/Compare 2 interrupt flag - * @arg TIM_FLAG_CC3: Capture/Compare 3 interrupt flag - * @arg TIM_FLAG_CC4: Capture/Compare 4 interrupt flag - * @arg TIM_FLAG_COM: Commutation interrupt flag - * @arg TIM_FLAG_TRIGGER: Trigger interrupt flag - * @arg TIM_FLAG_BREAK: Break interrupt flag - * @arg TIM_FLAG_CC1OF: Capture/Compare 1 overcapture flag - * @arg TIM_FLAG_CC2OF: Capture/Compare 2 overcapture flag - * @arg TIM_FLAG_CC3OF: Capture/Compare 3 overcapture flag - * @arg TIM_FLAG_CC4OF: Capture/Compare 4 overcapture flag - * @retval The new state of __FLAG__ (TRUE or FALSE). - */ -#define __HAL_TIM_GET_FLAG(__HANDLE__, __FLAG__) (((__HANDLE__)->Instance->SR &(__FLAG__)) == (__FLAG__)) - -/** @brief Clear the specified TIM interrupt flag. - * @param __HANDLE__ specifies the TIM Handle. - * @param __FLAG__ specifies the TIM interrupt flag to clear. - * This parameter can be one of the following values: - * @arg TIM_FLAG_UPDATE: Update interrupt flag - * @arg TIM_FLAG_CC1: Capture/Compare 1 interrupt flag - * @arg TIM_FLAG_CC2: Capture/Compare 2 interrupt flag - * @arg TIM_FLAG_CC3: Capture/Compare 3 interrupt flag - * @arg TIM_FLAG_CC4: Capture/Compare 4 interrupt flag - * @arg TIM_FLAG_COM: Commutation interrupt flag - * @arg TIM_FLAG_TRIGGER: Trigger interrupt flag - * @arg TIM_FLAG_BREAK: Break interrupt flag - * @arg TIM_FLAG_CC1OF: Capture/Compare 1 overcapture flag - * @arg TIM_FLAG_CC2OF: Capture/Compare 2 overcapture flag - * @arg TIM_FLAG_CC3OF: Capture/Compare 3 overcapture flag - * @arg TIM_FLAG_CC4OF: Capture/Compare 4 overcapture flag - * @retval The new state of __FLAG__ (TRUE or FALSE). - */ -#define __HAL_TIM_CLEAR_FLAG(__HANDLE__, __FLAG__) ((__HANDLE__)->Instance->SR = ~(__FLAG__)) - -/** - * @brief Check whether the specified TIM interrupt source is enabled or not. - * @param __HANDLE__ TIM handle - * @param __INTERRUPT__ specifies the TIM interrupt source to check. - * This parameter can be one of the following values: - * @arg TIM_IT_UPDATE: Update interrupt - * @arg TIM_IT_CC1: Capture/Compare 1 interrupt - * @arg TIM_IT_CC2: Capture/Compare 2 interrupt - * @arg TIM_IT_CC3: Capture/Compare 3 interrupt - * @arg TIM_IT_CC4: Capture/Compare 4 interrupt - * @arg TIM_IT_COM: Commutation interrupt - * @arg TIM_IT_TRIGGER: Trigger interrupt - * @arg TIM_IT_BREAK: Break interrupt - * @retval The state of TIM_IT (SET or RESET). - */ -#define __HAL_TIM_GET_IT_SOURCE(__HANDLE__, __INTERRUPT__) ((((__HANDLE__)->Instance->DIER & (__INTERRUPT__)) \ - == (__INTERRUPT__)) ? SET : RESET) - -/** @brief Clear the TIM interrupt pending bits. - * @param __HANDLE__ TIM handle - * @param __INTERRUPT__ specifies the interrupt pending bit to clear. - * This parameter can be one of the following values: - * @arg TIM_IT_UPDATE: Update interrupt - * @arg TIM_IT_CC1: Capture/Compare 1 interrupt - * @arg TIM_IT_CC2: Capture/Compare 2 interrupt - * @arg TIM_IT_CC3: Capture/Compare 3 interrupt - * @arg TIM_IT_CC4: Capture/Compare 4 interrupt - * @arg TIM_IT_COM: Commutation interrupt - * @arg TIM_IT_TRIGGER: Trigger interrupt - * @arg TIM_IT_BREAK: Break interrupt - * @retval None - */ -#define __HAL_TIM_CLEAR_IT(__HANDLE__, __INTERRUPT__) ((__HANDLE__)->Instance->SR = ~(__INTERRUPT__)) - -/** - * @brief Indicates whether or not the TIM Counter is used as downcounter. - * @param __HANDLE__ TIM handle. - * @retval False (Counter used as upcounter) or True (Counter used as downcounter) - * @note This macro is particularly useful to get the counting mode when the timer operates in Center-aligned mode - * or Encoder mode. - */ -#define __HAL_TIM_IS_TIM_COUNTING_DOWN(__HANDLE__) (((__HANDLE__)->Instance->CR1 &(TIM_CR1_DIR)) == (TIM_CR1_DIR)) - -/** - * @brief Set the TIM Prescaler on runtime. - * @param __HANDLE__ TIM handle. - * @param __PRESC__ specifies the Prescaler new value. - * @retval None - */ -#define __HAL_TIM_SET_PRESCALER(__HANDLE__, __PRESC__) ((__HANDLE__)->Instance->PSC = (__PRESC__)) - -/** - * @brief Set the TIM Counter Register value on runtime. - * @param __HANDLE__ TIM handle. - * @param __COUNTER__ specifies the Counter register new value. - * @retval None - */ -#define __HAL_TIM_SET_COUNTER(__HANDLE__, __COUNTER__) ((__HANDLE__)->Instance->CNT = (__COUNTER__)) - -/** - * @brief Get the TIM Counter Register value on runtime. - * @param __HANDLE__ TIM handle. - * @retval 16-bit or 32-bit value of the timer counter register (TIMx_CNT) - */ -#define __HAL_TIM_GET_COUNTER(__HANDLE__) ((__HANDLE__)->Instance->CNT) - -/** - * @brief Set the TIM Autoreload Register value on runtime without calling another time any Init function. - * @param __HANDLE__ TIM handle. - * @param __AUTORELOAD__ specifies the Counter register new value. - * @retval None - */ -#define __HAL_TIM_SET_AUTORELOAD(__HANDLE__, __AUTORELOAD__) \ - do{ \ - (__HANDLE__)->Instance->ARR = (__AUTORELOAD__); \ - (__HANDLE__)->Init.Period = (__AUTORELOAD__); \ - } while(0) - -/** - * @brief Get the TIM Autoreload Register value on runtime. - * @param __HANDLE__ TIM handle. - * @retval 16-bit or 32-bit value of the timer auto-reload register(TIMx_ARR) - */ -#define __HAL_TIM_GET_AUTORELOAD(__HANDLE__) ((__HANDLE__)->Instance->ARR) - -/** - * @brief Set the TIM Clock Division value on runtime without calling another time any Init function. - * @param __HANDLE__ TIM handle. - * @param __CKD__ specifies the clock division value. - * This parameter can be one of the following value: - * @arg TIM_CLOCKDIVISION_DIV1: tDTS=tCK_INT - * @arg TIM_CLOCKDIVISION_DIV2: tDTS=2*tCK_INT - * @arg TIM_CLOCKDIVISION_DIV4: tDTS=4*tCK_INT - * @retval None - */ -#define __HAL_TIM_SET_CLOCKDIVISION(__HANDLE__, __CKD__) \ - do{ \ - (__HANDLE__)->Instance->CR1 &= (~TIM_CR1_CKD); \ - (__HANDLE__)->Instance->CR1 |= (__CKD__); \ - (__HANDLE__)->Init.ClockDivision = (__CKD__); \ - } while(0) - -/** - * @brief Get the TIM Clock Division value on runtime. - * @param __HANDLE__ TIM handle. - * @retval The clock division can be one of the following values: - * @arg TIM_CLOCKDIVISION_DIV1: tDTS=tCK_INT - * @arg TIM_CLOCKDIVISION_DIV2: tDTS=2*tCK_INT - * @arg TIM_CLOCKDIVISION_DIV4: tDTS=4*tCK_INT - */ -#define __HAL_TIM_GET_CLOCKDIVISION(__HANDLE__) ((__HANDLE__)->Instance->CR1 & TIM_CR1_CKD) - -/** - * @brief Set the TIM Input Capture prescaler on runtime without calling another time HAL_TIM_IC_ConfigChannel() - * function. - * @param __HANDLE__ TIM handle. - * @param __CHANNEL__ TIM Channels to be configured. - * This parameter can be one of the following values: - * @arg TIM_CHANNEL_1: TIM Channel 1 selected - * @arg TIM_CHANNEL_2: TIM Channel 2 selected - * @arg TIM_CHANNEL_3: TIM Channel 3 selected - * @arg TIM_CHANNEL_4: TIM Channel 4 selected - * @param __ICPSC__ specifies the Input Capture4 prescaler new value. - * This parameter can be one of the following values: - * @arg TIM_ICPSC_DIV1: no prescaler - * @arg TIM_ICPSC_DIV2: capture is done once every 2 events - * @arg TIM_ICPSC_DIV4: capture is done once every 4 events - * @arg TIM_ICPSC_DIV8: capture is done once every 8 events - * @retval None - */ -#define __HAL_TIM_SET_ICPRESCALER(__HANDLE__, __CHANNEL__, __ICPSC__) \ - do{ \ - TIM_RESET_ICPRESCALERVALUE((__HANDLE__), (__CHANNEL__)); \ - TIM_SET_ICPRESCALERVALUE((__HANDLE__), (__CHANNEL__), (__ICPSC__)); \ - } while(0) - -/** - * @brief Get the TIM Input Capture prescaler on runtime. - * @param __HANDLE__ TIM handle. - * @param __CHANNEL__ TIM Channels to be configured. - * This parameter can be one of the following values: - * @arg TIM_CHANNEL_1: get input capture 1 prescaler value - * @arg TIM_CHANNEL_2: get input capture 2 prescaler value - * @arg TIM_CHANNEL_3: get input capture 3 prescaler value - * @arg TIM_CHANNEL_4: get input capture 4 prescaler value - * @retval The input capture prescaler can be one of the following values: - * @arg TIM_ICPSC_DIV1: no prescaler - * @arg TIM_ICPSC_DIV2: capture is done once every 2 events - * @arg TIM_ICPSC_DIV4: capture is done once every 4 events - * @arg TIM_ICPSC_DIV8: capture is done once every 8 events - */ -#define __HAL_TIM_GET_ICPRESCALER(__HANDLE__, __CHANNEL__) \ - (((__CHANNEL__) == TIM_CHANNEL_1) ? ((__HANDLE__)->Instance->CCMR1 & TIM_CCMR1_IC1PSC) :\ - ((__CHANNEL__) == TIM_CHANNEL_2) ? (((__HANDLE__)->Instance->CCMR1 & TIM_CCMR1_IC2PSC) >> 8U) :\ - ((__CHANNEL__) == TIM_CHANNEL_3) ? ((__HANDLE__)->Instance->CCMR2 & TIM_CCMR2_IC3PSC) :\ - (((__HANDLE__)->Instance->CCMR2 & TIM_CCMR2_IC4PSC)) >> 8U) - -/** - * @brief Set the TIM Capture Compare Register value on runtime without calling another time ConfigChannel function. - * @param __HANDLE__ TIM handle. - * @param __CHANNEL__ TIM Channels to be configured. - * This parameter can be one of the following values: - * @arg TIM_CHANNEL_1: TIM Channel 1 selected - * @arg TIM_CHANNEL_2: TIM Channel 2 selected - * @arg TIM_CHANNEL_3: TIM Channel 3 selected - * @arg TIM_CHANNEL_4: TIM Channel 4 selected - * @param __COMPARE__ specifies the Capture Compare register new value. - * @retval None - */ -#define __HAL_TIM_SET_COMPARE(__HANDLE__, __CHANNEL__, __COMPARE__) \ - (((__CHANNEL__) == TIM_CHANNEL_1) ? ((__HANDLE__)->Instance->CCR1 = (__COMPARE__)) :\ - ((__CHANNEL__) == TIM_CHANNEL_2) ? ((__HANDLE__)->Instance->CCR2 = (__COMPARE__)) :\ - ((__CHANNEL__) == TIM_CHANNEL_3) ? ((__HANDLE__)->Instance->CCR3 = (__COMPARE__)) :\ - ((__HANDLE__)->Instance->CCR4 = (__COMPARE__))) - -/** - * @brief Get the TIM Capture Compare Register value on runtime. - * @param __HANDLE__ TIM handle. - * @param __CHANNEL__ TIM Channel associated with the capture compare register - * This parameter can be one of the following values: - * @arg TIM_CHANNEL_1: get capture/compare 1 register value - * @arg TIM_CHANNEL_2: get capture/compare 2 register value - * @arg TIM_CHANNEL_3: get capture/compare 3 register value - * @arg TIM_CHANNEL_4: get capture/compare 4 register value - * @retval 16-bit or 32-bit value of the capture/compare register (TIMx_CCRy) - */ -#define __HAL_TIM_GET_COMPARE(__HANDLE__, __CHANNEL__) \ - (((__CHANNEL__) == TIM_CHANNEL_1) ? ((__HANDLE__)->Instance->CCR1) :\ - ((__CHANNEL__) == TIM_CHANNEL_2) ? ((__HANDLE__)->Instance->CCR2) :\ - ((__CHANNEL__) == TIM_CHANNEL_3) ? ((__HANDLE__)->Instance->CCR3) :\ - ((__HANDLE__)->Instance->CCR4)) - -/** - * @brief Set the TIM Output compare preload. - * @param __HANDLE__ TIM handle. - * @param __CHANNEL__ TIM Channels to be configured. - * This parameter can be one of the following values: - * @arg TIM_CHANNEL_1: TIM Channel 1 selected - * @arg TIM_CHANNEL_2: TIM Channel 2 selected - * @arg TIM_CHANNEL_3: TIM Channel 3 selected - * @arg TIM_CHANNEL_4: TIM Channel 4 selected - * @retval None - */ -#define __HAL_TIM_ENABLE_OCxPRELOAD(__HANDLE__, __CHANNEL__) \ - (((__CHANNEL__) == TIM_CHANNEL_1) ? ((__HANDLE__)->Instance->CCMR1 |= TIM_CCMR1_OC1PE) :\ - ((__CHANNEL__) == TIM_CHANNEL_2) ? ((__HANDLE__)->Instance->CCMR1 |= TIM_CCMR1_OC2PE) :\ - ((__CHANNEL__) == TIM_CHANNEL_3) ? ((__HANDLE__)->Instance->CCMR2 |= TIM_CCMR2_OC3PE) :\ - ((__HANDLE__)->Instance->CCMR2 |= TIM_CCMR2_OC4PE)) - -/** - * @brief Reset the TIM Output compare preload. - * @param __HANDLE__ TIM handle. - * @param __CHANNEL__ TIM Channels to be configured. - * This parameter can be one of the following values: - * @arg TIM_CHANNEL_1: TIM Channel 1 selected - * @arg TIM_CHANNEL_2: TIM Channel 2 selected - * @arg TIM_CHANNEL_3: TIM Channel 3 selected - * @arg TIM_CHANNEL_4: TIM Channel 4 selected - * @retval None - */ -#define __HAL_TIM_DISABLE_OCxPRELOAD(__HANDLE__, __CHANNEL__) \ - (((__CHANNEL__) == TIM_CHANNEL_1) ? ((__HANDLE__)->Instance->CCMR1 &= ~TIM_CCMR1_OC1PE) :\ - ((__CHANNEL__) == TIM_CHANNEL_2) ? ((__HANDLE__)->Instance->CCMR1 &= ~TIM_CCMR1_OC2PE) :\ - ((__CHANNEL__) == TIM_CHANNEL_3) ? ((__HANDLE__)->Instance->CCMR2 &= ~TIM_CCMR2_OC3PE) :\ - ((__HANDLE__)->Instance->CCMR2 &= ~TIM_CCMR2_OC4PE)) - -/** - * @brief Enable fast mode for a given channel. - * @param __HANDLE__ TIM handle. - * @param __CHANNEL__ TIM Channels to be configured. - * This parameter can be one of the following values: - * @arg TIM_CHANNEL_1: TIM Channel 1 selected - * @arg TIM_CHANNEL_2: TIM Channel 2 selected - * @arg TIM_CHANNEL_3: TIM Channel 3 selected - * @arg TIM_CHANNEL_4: TIM Channel 4 selected - * @note When fast mode is enabled an active edge on the trigger input acts - * like a compare match on CCx output. Delay to sample the trigger - * input and to activate CCx output is reduced to 3 clock cycles. - * @note Fast mode acts only if the channel is configured in PWM1 or PWM2 mode. - * @retval None - */ -#define __HAL_TIM_ENABLE_OCxFAST(__HANDLE__, __CHANNEL__) \ - (((__CHANNEL__) == TIM_CHANNEL_1) ? ((__HANDLE__)->Instance->CCMR1 |= TIM_CCMR1_OC1FE) :\ - ((__CHANNEL__) == TIM_CHANNEL_2) ? ((__HANDLE__)->Instance->CCMR1 |= TIM_CCMR1_OC2FE) :\ - ((__CHANNEL__) == TIM_CHANNEL_3) ? ((__HANDLE__)->Instance->CCMR2 |= TIM_CCMR2_OC3FE) :\ - ((__HANDLE__)->Instance->CCMR2 |= TIM_CCMR2_OC4FE)) - -/** - * @brief Disable fast mode for a given channel. - * @param __HANDLE__ TIM handle. - * @param __CHANNEL__ TIM Channels to be configured. - * This parameter can be one of the following values: - * @arg TIM_CHANNEL_1: TIM Channel 1 selected - * @arg TIM_CHANNEL_2: TIM Channel 2 selected - * @arg TIM_CHANNEL_3: TIM Channel 3 selected - * @arg TIM_CHANNEL_4: TIM Channel 4 selected - * @note When fast mode is disabled CCx output behaves normally depending - * on counter and CCRx values even when the trigger is ON. The minimum - * delay to activate CCx output when an active edge occurs on the - * trigger input is 5 clock cycles. - * @retval None - */ -#define __HAL_TIM_DISABLE_OCxFAST(__HANDLE__, __CHANNEL__) \ - (((__CHANNEL__) == TIM_CHANNEL_1) ? ((__HANDLE__)->Instance->CCMR1 &= ~TIM_CCMR1_OC1FE) :\ - ((__CHANNEL__) == TIM_CHANNEL_2) ? ((__HANDLE__)->Instance->CCMR1 &= ~TIM_CCMR1_OC2FE) :\ - ((__CHANNEL__) == TIM_CHANNEL_3) ? ((__HANDLE__)->Instance->CCMR2 &= ~TIM_CCMR2_OC3FE) :\ - ((__HANDLE__)->Instance->CCMR2 &= ~TIM_CCMR2_OC4FE)) - -/** - * @brief Set the Update Request Source (URS) bit of the TIMx_CR1 register. - * @param __HANDLE__ TIM handle. - * @note When the URS bit of the TIMx_CR1 register is set, only counter - * overflow/underflow generates an update interrupt or DMA request (if - * enabled) - * @retval None - */ -#define __HAL_TIM_URS_ENABLE(__HANDLE__) ((__HANDLE__)->Instance->CR1|= TIM_CR1_URS) - -/** - * @brief Reset the Update Request Source (URS) bit of the TIMx_CR1 register. - * @param __HANDLE__ TIM handle. - * @note When the URS bit of the TIMx_CR1 register is reset, any of the - * following events generate an update interrupt or DMA request (if - * enabled): - * _ Counter overflow underflow - * _ Setting the UG bit - * _ Update generation through the slave mode controller - * @retval None - */ -#define __HAL_TIM_URS_DISABLE(__HANDLE__) ((__HANDLE__)->Instance->CR1&=~TIM_CR1_URS) - -/** - * @brief Set the TIM Capture x input polarity on runtime. - * @param __HANDLE__ TIM handle. - * @param __CHANNEL__ TIM Channels to be configured. - * This parameter can be one of the following values: - * @arg TIM_CHANNEL_1: TIM Channel 1 selected - * @arg TIM_CHANNEL_2: TIM Channel 2 selected - * @arg TIM_CHANNEL_3: TIM Channel 3 selected - * @arg TIM_CHANNEL_4: TIM Channel 4 selected - * @param __POLARITY__ Polarity for TIx source - * @arg TIM_INPUTCHANNELPOLARITY_RISING: Rising Edge - * @arg TIM_INPUTCHANNELPOLARITY_FALLING: Falling Edge - * @arg TIM_INPUTCHANNELPOLARITY_BOTHEDGE: Rising and Falling Edge - * @retval None - */ -#define __HAL_TIM_SET_CAPTUREPOLARITY(__HANDLE__, __CHANNEL__, __POLARITY__) \ - do{ \ - TIM_RESET_CAPTUREPOLARITY((__HANDLE__), (__CHANNEL__)); \ - TIM_SET_CAPTUREPOLARITY((__HANDLE__), (__CHANNEL__), (__POLARITY__)); \ - }while(0) - -/** - * @} - */ -/* End of exported macros ----------------------------------------------------*/ - -/* Private constants ---------------------------------------------------------*/ -/** @defgroup TIM_Private_Constants TIM Private Constants - * @{ - */ -/* The counter of a timer instance is disabled only if all the CCx and CCxN - channels have been disabled */ -#define TIM_CCER_CCxE_MASK ((uint32_t)(TIM_CCER_CC1E | TIM_CCER_CC2E | TIM_CCER_CC3E | TIM_CCER_CC4E)) -#define TIM_CCER_CCxNE_MASK ((uint32_t)(TIM_CCER_CC1NE | TIM_CCER_CC2NE | TIM_CCER_CC3NE)) -/** - * @} - */ -/* End of private constants --------------------------------------------------*/ - -/* Private macros ------------------------------------------------------------*/ -/** @defgroup TIM_Private_Macros TIM Private Macros - * @{ - */ -#define IS_TIM_CLEARINPUT_SOURCE(__MODE__) (((__MODE__) == TIM_CLEARINPUTSOURCE_NONE) || \ - ((__MODE__) == TIM_CLEARINPUTSOURCE_ETR)) - -#define IS_TIM_DMA_BASE(__BASE__) (((__BASE__) == TIM_DMABASE_CR1) || \ - ((__BASE__) == TIM_DMABASE_CR2) || \ - ((__BASE__) == TIM_DMABASE_SMCR) || \ - ((__BASE__) == TIM_DMABASE_DIER) || \ - ((__BASE__) == TIM_DMABASE_SR) || \ - ((__BASE__) == TIM_DMABASE_EGR) || \ - ((__BASE__) == TIM_DMABASE_CCMR1) || \ - ((__BASE__) == TIM_DMABASE_CCMR2) || \ - ((__BASE__) == TIM_DMABASE_CCER) || \ - ((__BASE__) == TIM_DMABASE_CNT) || \ - ((__BASE__) == TIM_DMABASE_PSC) || \ - ((__BASE__) == TIM_DMABASE_ARR) || \ - ((__BASE__) == TIM_DMABASE_RCR) || \ - ((__BASE__) == TIM_DMABASE_CCR1) || \ - ((__BASE__) == TIM_DMABASE_CCR2) || \ - ((__BASE__) == TIM_DMABASE_CCR3) || \ - ((__BASE__) == TIM_DMABASE_CCR4) || \ - ((__BASE__) == TIM_DMABASE_BDTR)) - -#define IS_TIM_EVENT_SOURCE(__SOURCE__) ((((__SOURCE__) & 0xFFFFFF00U) == 0x00000000U) && ((__SOURCE__) != 0x00000000U)) - -#define IS_TIM_COUNTER_MODE(__MODE__) (((__MODE__) == TIM_COUNTERMODE_UP) || \ - ((__MODE__) == TIM_COUNTERMODE_DOWN) || \ - ((__MODE__) == TIM_COUNTERMODE_CENTERALIGNED1) || \ - ((__MODE__) == TIM_COUNTERMODE_CENTERALIGNED2) || \ - ((__MODE__) == TIM_COUNTERMODE_CENTERALIGNED3)) - -#define IS_TIM_CLOCKDIVISION_DIV(__DIV__) (((__DIV__) == TIM_CLOCKDIVISION_DIV1) || \ - ((__DIV__) == TIM_CLOCKDIVISION_DIV2) || \ - ((__DIV__) == TIM_CLOCKDIVISION_DIV4)) - -#define IS_TIM_AUTORELOAD_PRELOAD(PRELOAD) (((PRELOAD) == TIM_AUTORELOAD_PRELOAD_DISABLE) || \ - ((PRELOAD) == TIM_AUTORELOAD_PRELOAD_ENABLE)) - -#define IS_TIM_FAST_STATE(__STATE__) (((__STATE__) == TIM_OCFAST_DISABLE) || \ - ((__STATE__) == TIM_OCFAST_ENABLE)) - -#define IS_TIM_OC_POLARITY(__POLARITY__) (((__POLARITY__) == TIM_OCPOLARITY_HIGH) || \ - ((__POLARITY__) == TIM_OCPOLARITY_LOW)) - -#define IS_TIM_OCN_POLARITY(__POLARITY__) (((__POLARITY__) == TIM_OCNPOLARITY_HIGH) || \ - ((__POLARITY__) == TIM_OCNPOLARITY_LOW)) - -#define IS_TIM_OCIDLE_STATE(__STATE__) (((__STATE__) == TIM_OCIDLESTATE_SET) || \ - ((__STATE__) == TIM_OCIDLESTATE_RESET)) - -#define IS_TIM_OCNIDLE_STATE(__STATE__) (((__STATE__) == TIM_OCNIDLESTATE_SET) || \ - ((__STATE__) == TIM_OCNIDLESTATE_RESET)) - -#define IS_TIM_ENCODERINPUT_POLARITY(__POLARITY__) (((__POLARITY__) == TIM_ENCODERINPUTPOLARITY_RISING) || \ - ((__POLARITY__) == TIM_ENCODERINPUTPOLARITY_FALLING)) - -#define IS_TIM_IC_POLARITY(__POLARITY__) (((__POLARITY__) == TIM_ICPOLARITY_RISING) || \ - ((__POLARITY__) == TIM_ICPOLARITY_FALLING) || \ - ((__POLARITY__) == TIM_ICPOLARITY_BOTHEDGE)) - -#define IS_TIM_IC_SELECTION(__SELECTION__) (((__SELECTION__) == TIM_ICSELECTION_DIRECTTI) || \ - ((__SELECTION__) == TIM_ICSELECTION_INDIRECTTI) || \ - ((__SELECTION__) == TIM_ICSELECTION_TRC)) - -#define IS_TIM_IC_PRESCALER(__PRESCALER__) (((__PRESCALER__) == TIM_ICPSC_DIV1) || \ - ((__PRESCALER__) == TIM_ICPSC_DIV2) || \ - ((__PRESCALER__) == TIM_ICPSC_DIV4) || \ - ((__PRESCALER__) == TIM_ICPSC_DIV8)) - -#define IS_TIM_OPM_MODE(__MODE__) (((__MODE__) == TIM_OPMODE_SINGLE) || \ - ((__MODE__) == TIM_OPMODE_REPETITIVE)) - -#define IS_TIM_ENCODER_MODE(__MODE__) (((__MODE__) == TIM_ENCODERMODE_TI1) || \ - ((__MODE__) == TIM_ENCODERMODE_TI2) || \ - ((__MODE__) == TIM_ENCODERMODE_TI12)) - -#define IS_TIM_DMA_SOURCE(__SOURCE__) ((((__SOURCE__) & 0xFFFF80FFU) == 0x00000000U) && ((__SOURCE__) != 0x00000000U)) - -#define IS_TIM_CHANNELS(__CHANNEL__) (((__CHANNEL__) == TIM_CHANNEL_1) || \ - ((__CHANNEL__) == TIM_CHANNEL_2) || \ - ((__CHANNEL__) == TIM_CHANNEL_3) || \ - ((__CHANNEL__) == TIM_CHANNEL_4) || \ - ((__CHANNEL__) == TIM_CHANNEL_ALL)) - -#define IS_TIM_OPM_CHANNELS(__CHANNEL__) (((__CHANNEL__) == TIM_CHANNEL_1) || \ - ((__CHANNEL__) == TIM_CHANNEL_2)) - -#define IS_TIM_COMPLEMENTARY_CHANNELS(__CHANNEL__) (((__CHANNEL__) == TIM_CHANNEL_1) || \ - ((__CHANNEL__) == TIM_CHANNEL_2) || \ - ((__CHANNEL__) == TIM_CHANNEL_3)) - -#define IS_TIM_CLOCKSOURCE(__CLOCK__) (((__CLOCK__) == TIM_CLOCKSOURCE_INTERNAL) || \ - ((__CLOCK__) == TIM_CLOCKSOURCE_ETRMODE2) || \ - ((__CLOCK__) == TIM_CLOCKSOURCE_ITR0) || \ - ((__CLOCK__) == TIM_CLOCKSOURCE_ITR1) || \ - ((__CLOCK__) == TIM_CLOCKSOURCE_ITR2) || \ - ((__CLOCK__) == TIM_CLOCKSOURCE_ITR3) || \ - ((__CLOCK__) == TIM_CLOCKSOURCE_TI1ED) || \ - ((__CLOCK__) == TIM_CLOCKSOURCE_TI1) || \ - ((__CLOCK__) == TIM_CLOCKSOURCE_TI2) || \ - ((__CLOCK__) == TIM_CLOCKSOURCE_ETRMODE1)) - -#define IS_TIM_CLOCKPOLARITY(__POLARITY__) (((__POLARITY__) == TIM_CLOCKPOLARITY_INVERTED) || \ - ((__POLARITY__) == TIM_CLOCKPOLARITY_NONINVERTED) || \ - ((__POLARITY__) == TIM_CLOCKPOLARITY_RISING) || \ - ((__POLARITY__) == TIM_CLOCKPOLARITY_FALLING) || \ - ((__POLARITY__) == TIM_CLOCKPOLARITY_BOTHEDGE)) - -#define IS_TIM_CLOCKPRESCALER(__PRESCALER__) (((__PRESCALER__) == TIM_CLOCKPRESCALER_DIV1) || \ - ((__PRESCALER__) == TIM_CLOCKPRESCALER_DIV2) || \ - ((__PRESCALER__) == TIM_CLOCKPRESCALER_DIV4) || \ - ((__PRESCALER__) == TIM_CLOCKPRESCALER_DIV8)) - -#define IS_TIM_CLOCKFILTER(__ICFILTER__) ((__ICFILTER__) <= 0xFU) - -#define IS_TIM_CLEARINPUT_POLARITY(__POLARITY__) (((__POLARITY__) == TIM_CLEARINPUTPOLARITY_INVERTED) || \ - ((__POLARITY__) == TIM_CLEARINPUTPOLARITY_NONINVERTED)) - -#define IS_TIM_CLEARINPUT_PRESCALER(__PRESCALER__) (((__PRESCALER__) == TIM_CLEARINPUTPRESCALER_DIV1) || \ - ((__PRESCALER__) == TIM_CLEARINPUTPRESCALER_DIV2) || \ - ((__PRESCALER__) == TIM_CLEARINPUTPRESCALER_DIV4) || \ - ((__PRESCALER__) == TIM_CLEARINPUTPRESCALER_DIV8)) - -#define IS_TIM_CLEARINPUT_FILTER(__ICFILTER__) ((__ICFILTER__) <= 0xFU) - -#define IS_TIM_OSSR_STATE(__STATE__) (((__STATE__) == TIM_OSSR_ENABLE) || \ - ((__STATE__) == TIM_OSSR_DISABLE)) - -#define IS_TIM_OSSI_STATE(__STATE__) (((__STATE__) == TIM_OSSI_ENABLE) || \ - ((__STATE__) == TIM_OSSI_DISABLE)) - -#define IS_TIM_LOCK_LEVEL(__LEVEL__) (((__LEVEL__) == TIM_LOCKLEVEL_OFF) || \ - ((__LEVEL__) == TIM_LOCKLEVEL_1) || \ - ((__LEVEL__) == TIM_LOCKLEVEL_2) || \ - ((__LEVEL__) == TIM_LOCKLEVEL_3)) - -#define IS_TIM_BREAK_FILTER(__BRKFILTER__) ((__BRKFILTER__) <= 0xFUL) - - -#define IS_TIM_BREAK_STATE(__STATE__) (((__STATE__) == TIM_BREAK_ENABLE) || \ - ((__STATE__) == TIM_BREAK_DISABLE)) - -#define IS_TIM_BREAK_POLARITY(__POLARITY__) (((__POLARITY__) == TIM_BREAKPOLARITY_LOW) || \ - ((__POLARITY__) == TIM_BREAKPOLARITY_HIGH)) - -#define IS_TIM_AUTOMATIC_OUTPUT_STATE(__STATE__) (((__STATE__) == TIM_AUTOMATICOUTPUT_ENABLE) || \ - ((__STATE__) == TIM_AUTOMATICOUTPUT_DISABLE)) - -#define IS_TIM_TRGO_SOURCE(__SOURCE__) (((__SOURCE__) == TIM_TRGO_RESET) || \ - ((__SOURCE__) == TIM_TRGO_ENABLE) || \ - ((__SOURCE__) == TIM_TRGO_UPDATE) || \ - ((__SOURCE__) == TIM_TRGO_OC1) || \ - ((__SOURCE__) == TIM_TRGO_OC1REF) || \ - ((__SOURCE__) == TIM_TRGO_OC2REF) || \ - ((__SOURCE__) == TIM_TRGO_OC3REF) || \ - ((__SOURCE__) == TIM_TRGO_OC4REF)) - -#define IS_TIM_MSM_STATE(__STATE__) (((__STATE__) == TIM_MASTERSLAVEMODE_ENABLE) || \ - ((__STATE__) == TIM_MASTERSLAVEMODE_DISABLE)) - -#define IS_TIM_SLAVE_MODE(__MODE__) (((__MODE__) == TIM_SLAVEMODE_DISABLE) || \ - ((__MODE__) == TIM_SLAVEMODE_RESET) || \ - ((__MODE__) == TIM_SLAVEMODE_GATED) || \ - ((__MODE__) == TIM_SLAVEMODE_TRIGGER) || \ - ((__MODE__) == TIM_SLAVEMODE_EXTERNAL1)) - -#define IS_TIM_PWM_MODE(__MODE__) (((__MODE__) == TIM_OCMODE_PWM1) || \ - ((__MODE__) == TIM_OCMODE_PWM2)) - -#define IS_TIM_OC_MODE(__MODE__) (((__MODE__) == TIM_OCMODE_TIMING) || \ - ((__MODE__) == TIM_OCMODE_ACTIVE) || \ - ((__MODE__) == TIM_OCMODE_INACTIVE) || \ - ((__MODE__) == TIM_OCMODE_TOGGLE) || \ - ((__MODE__) == TIM_OCMODE_FORCED_ACTIVE) || \ - ((__MODE__) == TIM_OCMODE_FORCED_INACTIVE)) - -#define IS_TIM_TRIGGER_SELECTION(__SELECTION__) (((__SELECTION__) == TIM_TS_ITR0) || \ - ((__SELECTION__) == TIM_TS_ITR1) || \ - ((__SELECTION__) == TIM_TS_ITR2) || \ - ((__SELECTION__) == TIM_TS_ITR3) || \ - ((__SELECTION__) == TIM_TS_TI1F_ED) || \ - ((__SELECTION__) == TIM_TS_TI1FP1) || \ - ((__SELECTION__) == TIM_TS_TI2FP2) || \ - ((__SELECTION__) == TIM_TS_ETRF)) - -#define IS_TIM_INTERNAL_TRIGGEREVENT_SELECTION(__SELECTION__) (((__SELECTION__) == TIM_TS_ITR0) || \ - ((__SELECTION__) == TIM_TS_ITR1) || \ - ((__SELECTION__) == TIM_TS_ITR2) || \ - ((__SELECTION__) == TIM_TS_ITR3) || \ - ((__SELECTION__) == TIM_TS_NONE)) - -#define IS_TIM_TRIGGERPOLARITY(__POLARITY__) (((__POLARITY__) == TIM_TRIGGERPOLARITY_INVERTED ) || \ - ((__POLARITY__) == TIM_TRIGGERPOLARITY_NONINVERTED) || \ - ((__POLARITY__) == TIM_TRIGGERPOLARITY_RISING ) || \ - ((__POLARITY__) == TIM_TRIGGERPOLARITY_FALLING ) || \ - ((__POLARITY__) == TIM_TRIGGERPOLARITY_BOTHEDGE )) - -#define IS_TIM_TRIGGERPRESCALER(__PRESCALER__) (((__PRESCALER__) == TIM_TRIGGERPRESCALER_DIV1) || \ - ((__PRESCALER__) == TIM_TRIGGERPRESCALER_DIV2) || \ - ((__PRESCALER__) == TIM_TRIGGERPRESCALER_DIV4) || \ - ((__PRESCALER__) == TIM_TRIGGERPRESCALER_DIV8)) - -#define IS_TIM_TRIGGERFILTER(__ICFILTER__) ((__ICFILTER__) <= 0xFU) - -#define IS_TIM_TI1SELECTION(__TI1SELECTION__) (((__TI1SELECTION__) == TIM_TI1SELECTION_CH1) || \ - ((__TI1SELECTION__) == TIM_TI1SELECTION_XORCOMBINATION)) - -#define IS_TIM_DMA_LENGTH(__LENGTH__) (((__LENGTH__) == TIM_DMABURSTLENGTH_1TRANSFER) || \ - ((__LENGTH__) == TIM_DMABURSTLENGTH_2TRANSFERS) || \ - ((__LENGTH__) == TIM_DMABURSTLENGTH_3TRANSFERS) || \ - ((__LENGTH__) == TIM_DMABURSTLENGTH_4TRANSFERS) || \ - ((__LENGTH__) == TIM_DMABURSTLENGTH_5TRANSFERS) || \ - ((__LENGTH__) == TIM_DMABURSTLENGTH_6TRANSFERS) || \ - ((__LENGTH__) == TIM_DMABURSTLENGTH_7TRANSFERS) || \ - ((__LENGTH__) == TIM_DMABURSTLENGTH_8TRANSFERS) || \ - ((__LENGTH__) == TIM_DMABURSTLENGTH_9TRANSFERS) || \ - ((__LENGTH__) == TIM_DMABURSTLENGTH_10TRANSFERS) || \ - ((__LENGTH__) == TIM_DMABURSTLENGTH_11TRANSFERS) || \ - ((__LENGTH__) == TIM_DMABURSTLENGTH_12TRANSFERS) || \ - ((__LENGTH__) == TIM_DMABURSTLENGTH_13TRANSFERS) || \ - ((__LENGTH__) == TIM_DMABURSTLENGTH_14TRANSFERS) || \ - ((__LENGTH__) == TIM_DMABURSTLENGTH_15TRANSFERS) || \ - ((__LENGTH__) == TIM_DMABURSTLENGTH_16TRANSFERS) || \ - ((__LENGTH__) == TIM_DMABURSTLENGTH_17TRANSFERS) || \ - ((__LENGTH__) == TIM_DMABURSTLENGTH_18TRANSFERS)) - -#define IS_TIM_DMA_DATA_LENGTH(LENGTH) (((LENGTH) >= 0x1U) && ((LENGTH) < 0x10000U)) - -#define IS_TIM_IC_FILTER(__ICFILTER__) ((__ICFILTER__) <= 0xFU) - -#define IS_TIM_DEADTIME(__DEADTIME__) ((__DEADTIME__) <= 0xFFU) - -#define IS_TIM_SLAVEMODE_TRIGGER_ENABLED(__TRIGGER__) ((__TRIGGER__) == TIM_SLAVEMODE_TRIGGER) - -#define TIM_SET_ICPRESCALERVALUE(__HANDLE__, __CHANNEL__, __ICPSC__) \ - (((__CHANNEL__) == TIM_CHANNEL_1) ? ((__HANDLE__)->Instance->CCMR1 |= (__ICPSC__)) :\ - ((__CHANNEL__) == TIM_CHANNEL_2) ? ((__HANDLE__)->Instance->CCMR1 |= ((__ICPSC__) << 8U)) :\ - ((__CHANNEL__) == TIM_CHANNEL_3) ? ((__HANDLE__)->Instance->CCMR2 |= (__ICPSC__)) :\ - ((__HANDLE__)->Instance->CCMR2 |= ((__ICPSC__) << 8U))) - -#define TIM_RESET_ICPRESCALERVALUE(__HANDLE__, __CHANNEL__) \ - (((__CHANNEL__) == TIM_CHANNEL_1) ? ((__HANDLE__)->Instance->CCMR1 &= ~TIM_CCMR1_IC1PSC) :\ - ((__CHANNEL__) == TIM_CHANNEL_2) ? ((__HANDLE__)->Instance->CCMR1 &= ~TIM_CCMR1_IC2PSC) :\ - ((__CHANNEL__) == TIM_CHANNEL_3) ? ((__HANDLE__)->Instance->CCMR2 &= ~TIM_CCMR2_IC3PSC) :\ - ((__HANDLE__)->Instance->CCMR2 &= ~TIM_CCMR2_IC4PSC)) - -#define TIM_SET_CAPTUREPOLARITY(__HANDLE__, __CHANNEL__, __POLARITY__) \ - (((__CHANNEL__) == TIM_CHANNEL_1) ? ((__HANDLE__)->Instance->CCER |= (__POLARITY__)) :\ - ((__CHANNEL__) == TIM_CHANNEL_2) ? ((__HANDLE__)->Instance->CCER |= ((__POLARITY__) << 4U)) :\ - ((__CHANNEL__) == TIM_CHANNEL_3) ? ((__HANDLE__)->Instance->CCER |= ((__POLARITY__) << 8U)) :\ - ((__HANDLE__)->Instance->CCER |= (((__POLARITY__) << 12U)))) - -#define TIM_RESET_CAPTUREPOLARITY(__HANDLE__, __CHANNEL__) \ - (((__CHANNEL__) == TIM_CHANNEL_1) ? ((__HANDLE__)->Instance->CCER &= ~(TIM_CCER_CC1P | TIM_CCER_CC1NP)) :\ - ((__CHANNEL__) == TIM_CHANNEL_2) ? ((__HANDLE__)->Instance->CCER &= ~(TIM_CCER_CC2P | TIM_CCER_CC2NP)) :\ - ((__CHANNEL__) == TIM_CHANNEL_3) ? ((__HANDLE__)->Instance->CCER &= ~(TIM_CCER_CC3P | TIM_CCER_CC3NP)) :\ - ((__HANDLE__)->Instance->CCER &= ~(TIM_CCER_CC4P | TIM_CCER_CC4NP))) - -#define TIM_CHANNEL_STATE_GET(__HANDLE__, __CHANNEL__)\ - (((__CHANNEL__) == TIM_CHANNEL_1) ? (__HANDLE__)->ChannelState[0] :\ - ((__CHANNEL__) == TIM_CHANNEL_2) ? (__HANDLE__)->ChannelState[1] :\ - ((__CHANNEL__) == TIM_CHANNEL_3) ? (__HANDLE__)->ChannelState[2] :\ - (__HANDLE__)->ChannelState[3]) - -#define TIM_CHANNEL_STATE_SET(__HANDLE__, __CHANNEL__, __CHANNEL_STATE__) \ - (((__CHANNEL__) == TIM_CHANNEL_1) ? ((__HANDLE__)->ChannelState[0] = (__CHANNEL_STATE__)) :\ - ((__CHANNEL__) == TIM_CHANNEL_2) ? ((__HANDLE__)->ChannelState[1] = (__CHANNEL_STATE__)) :\ - ((__CHANNEL__) == TIM_CHANNEL_3) ? ((__HANDLE__)->ChannelState[2] = (__CHANNEL_STATE__)) :\ - ((__HANDLE__)->ChannelState[3] = (__CHANNEL_STATE__))) - -#define TIM_CHANNEL_STATE_SET_ALL(__HANDLE__, __CHANNEL_STATE__) do { \ - (__HANDLE__)->ChannelState[0] = (__CHANNEL_STATE__); \ - (__HANDLE__)->ChannelState[1] = (__CHANNEL_STATE__); \ - (__HANDLE__)->ChannelState[2] = (__CHANNEL_STATE__); \ - (__HANDLE__)->ChannelState[3] = (__CHANNEL_STATE__); \ - } while(0) - -#define TIM_CHANNEL_N_STATE_GET(__HANDLE__, __CHANNEL__)\ - (((__CHANNEL__) == TIM_CHANNEL_1) ? (__HANDLE__)->ChannelNState[0] :\ - ((__CHANNEL__) == TIM_CHANNEL_2) ? (__HANDLE__)->ChannelNState[1] :\ - ((__CHANNEL__) == TIM_CHANNEL_3) ? (__HANDLE__)->ChannelNState[2] :\ - (__HANDLE__)->ChannelNState[3]) - -#define TIM_CHANNEL_N_STATE_SET(__HANDLE__, __CHANNEL__, __CHANNEL_STATE__) \ - (((__CHANNEL__) == TIM_CHANNEL_1) ? ((__HANDLE__)->ChannelNState[0] = (__CHANNEL_STATE__)) :\ - ((__CHANNEL__) == TIM_CHANNEL_2) ? ((__HANDLE__)->ChannelNState[1] = (__CHANNEL_STATE__)) :\ - ((__CHANNEL__) == TIM_CHANNEL_3) ? ((__HANDLE__)->ChannelNState[2] = (__CHANNEL_STATE__)) :\ - ((__HANDLE__)->ChannelNState[3] = (__CHANNEL_STATE__))) - -#define TIM_CHANNEL_N_STATE_SET_ALL(__HANDLE__, __CHANNEL_STATE__) do { \ - (__HANDLE__)->ChannelNState[0] = \ - (__CHANNEL_STATE__); \ - (__HANDLE__)->ChannelNState[1] = \ - (__CHANNEL_STATE__); \ - (__HANDLE__)->ChannelNState[2] = \ - (__CHANNEL_STATE__); \ - (__HANDLE__)->ChannelNState[3] = \ - (__CHANNEL_STATE__); \ - } while(0) - -/** - * @} - */ -/* End of private macros -----------------------------------------------------*/ - -/* Include TIM HAL Extended module */ -#include "stm32f4xx_hal_tim_ex.h" - -/* Exported functions --------------------------------------------------------*/ -/** @addtogroup TIM_Exported_Functions TIM Exported Functions - * @{ - */ - -/** @addtogroup TIM_Exported_Functions_Group1 TIM Time Base functions - * @brief Time Base functions - * @{ - */ -/* Time Base functions ********************************************************/ -HAL_StatusTypeDef HAL_TIM_Base_Init(TIM_HandleTypeDef *htim); -HAL_StatusTypeDef HAL_TIM_Base_DeInit(TIM_HandleTypeDef *htim); -void HAL_TIM_Base_MspInit(TIM_HandleTypeDef *htim); -void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef *htim); -/* Blocking mode: Polling */ -HAL_StatusTypeDef HAL_TIM_Base_Start(TIM_HandleTypeDef *htim); -HAL_StatusTypeDef HAL_TIM_Base_Stop(TIM_HandleTypeDef *htim); -/* Non-Blocking mode: Interrupt */ -HAL_StatusTypeDef HAL_TIM_Base_Start_IT(TIM_HandleTypeDef *htim); -HAL_StatusTypeDef HAL_TIM_Base_Stop_IT(TIM_HandleTypeDef *htim); -/* Non-Blocking mode: DMA */ -HAL_StatusTypeDef HAL_TIM_Base_Start_DMA(TIM_HandleTypeDef *htim, uint32_t *pData, uint16_t Length); -HAL_StatusTypeDef HAL_TIM_Base_Stop_DMA(TIM_HandleTypeDef *htim); -/** - * @} - */ - -/** @addtogroup TIM_Exported_Functions_Group2 TIM Output Compare functions - * @brief TIM Output Compare functions - * @{ - */ -/* Timer Output Compare functions *********************************************/ -HAL_StatusTypeDef HAL_TIM_OC_Init(TIM_HandleTypeDef *htim); -HAL_StatusTypeDef HAL_TIM_OC_DeInit(TIM_HandleTypeDef *htim); -void HAL_TIM_OC_MspInit(TIM_HandleTypeDef *htim); -void HAL_TIM_OC_MspDeInit(TIM_HandleTypeDef *htim); -/* Blocking mode: Polling */ -HAL_StatusTypeDef HAL_TIM_OC_Start(TIM_HandleTypeDef *htim, uint32_t Channel); -HAL_StatusTypeDef HAL_TIM_OC_Stop(TIM_HandleTypeDef *htim, uint32_t Channel); -/* Non-Blocking mode: Interrupt */ -HAL_StatusTypeDef HAL_TIM_OC_Start_IT(TIM_HandleTypeDef *htim, uint32_t Channel); -HAL_StatusTypeDef HAL_TIM_OC_Stop_IT(TIM_HandleTypeDef *htim, uint32_t Channel); -/* Non-Blocking mode: DMA */ -HAL_StatusTypeDef HAL_TIM_OC_Start_DMA(TIM_HandleTypeDef *htim, uint32_t Channel, uint32_t *pData, uint16_t Length); -HAL_StatusTypeDef HAL_TIM_OC_Stop_DMA(TIM_HandleTypeDef *htim, uint32_t Channel); -/** - * @} - */ - -/** @addtogroup TIM_Exported_Functions_Group3 TIM PWM functions - * @brief TIM PWM functions - * @{ - */ -/* Timer PWM functions ********************************************************/ -HAL_StatusTypeDef HAL_TIM_PWM_Init(TIM_HandleTypeDef *htim); -HAL_StatusTypeDef HAL_TIM_PWM_DeInit(TIM_HandleTypeDef *htim); -void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef *htim); -void HAL_TIM_PWM_MspDeInit(TIM_HandleTypeDef *htim); -/* Blocking mode: Polling */ -HAL_StatusTypeDef HAL_TIM_PWM_Start(TIM_HandleTypeDef *htim, uint32_t Channel); -HAL_StatusTypeDef HAL_TIM_PWM_Stop(TIM_HandleTypeDef *htim, uint32_t Channel); -/* Non-Blocking mode: Interrupt */ -HAL_StatusTypeDef HAL_TIM_PWM_Start_IT(TIM_HandleTypeDef *htim, uint32_t Channel); -HAL_StatusTypeDef HAL_TIM_PWM_Stop_IT(TIM_HandleTypeDef *htim, uint32_t Channel); -/* Non-Blocking mode: DMA */ -HAL_StatusTypeDef HAL_TIM_PWM_Start_DMA(TIM_HandleTypeDef *htim, uint32_t Channel, uint32_t *pData, uint16_t Length); -HAL_StatusTypeDef HAL_TIM_PWM_Stop_DMA(TIM_HandleTypeDef *htim, uint32_t Channel); -/** - * @} - */ - -/** @addtogroup TIM_Exported_Functions_Group4 TIM Input Capture functions - * @brief TIM Input Capture functions - * @{ - */ -/* Timer Input Capture functions **********************************************/ -HAL_StatusTypeDef HAL_TIM_IC_Init(TIM_HandleTypeDef *htim); -HAL_StatusTypeDef HAL_TIM_IC_DeInit(TIM_HandleTypeDef *htim); -void HAL_TIM_IC_MspInit(TIM_HandleTypeDef *htim); -void HAL_TIM_IC_MspDeInit(TIM_HandleTypeDef *htim); -/* Blocking mode: Polling */ -HAL_StatusTypeDef HAL_TIM_IC_Start(TIM_HandleTypeDef *htim, uint32_t Channel); -HAL_StatusTypeDef HAL_TIM_IC_Stop(TIM_HandleTypeDef *htim, uint32_t Channel); -/* Non-Blocking mode: Interrupt */ -HAL_StatusTypeDef HAL_TIM_IC_Start_IT(TIM_HandleTypeDef *htim, uint32_t Channel); -HAL_StatusTypeDef HAL_TIM_IC_Stop_IT(TIM_HandleTypeDef *htim, uint32_t Channel); -/* Non-Blocking mode: DMA */ -HAL_StatusTypeDef HAL_TIM_IC_Start_DMA(TIM_HandleTypeDef *htim, uint32_t Channel, uint32_t *pData, uint16_t Length); -HAL_StatusTypeDef HAL_TIM_IC_Stop_DMA(TIM_HandleTypeDef *htim, uint32_t Channel); -/** - * @} - */ - -/** @addtogroup TIM_Exported_Functions_Group5 TIM One Pulse functions - * @brief TIM One Pulse functions - * @{ - */ -/* Timer One Pulse functions **************************************************/ -HAL_StatusTypeDef HAL_TIM_OnePulse_Init(TIM_HandleTypeDef *htim, uint32_t OnePulseMode); -HAL_StatusTypeDef HAL_TIM_OnePulse_DeInit(TIM_HandleTypeDef *htim); -void HAL_TIM_OnePulse_MspInit(TIM_HandleTypeDef *htim); -void HAL_TIM_OnePulse_MspDeInit(TIM_HandleTypeDef *htim); -/* Blocking mode: Polling */ -HAL_StatusTypeDef HAL_TIM_OnePulse_Start(TIM_HandleTypeDef *htim, uint32_t OutputChannel); -HAL_StatusTypeDef HAL_TIM_OnePulse_Stop(TIM_HandleTypeDef *htim, uint32_t OutputChannel); -/* Non-Blocking mode: Interrupt */ -HAL_StatusTypeDef HAL_TIM_OnePulse_Start_IT(TIM_HandleTypeDef *htim, uint32_t OutputChannel); -HAL_StatusTypeDef HAL_TIM_OnePulse_Stop_IT(TIM_HandleTypeDef *htim, uint32_t OutputChannel); -/** - * @} - */ - -/** @addtogroup TIM_Exported_Functions_Group6 TIM Encoder functions - * @brief TIM Encoder functions - * @{ - */ -/* Timer Encoder functions ****************************************************/ -HAL_StatusTypeDef HAL_TIM_Encoder_Init(TIM_HandleTypeDef *htim, TIM_Encoder_InitTypeDef *sConfig); -HAL_StatusTypeDef HAL_TIM_Encoder_DeInit(TIM_HandleTypeDef *htim); -void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef *htim); -void HAL_TIM_Encoder_MspDeInit(TIM_HandleTypeDef *htim); -/* Blocking mode: Polling */ -HAL_StatusTypeDef HAL_TIM_Encoder_Start(TIM_HandleTypeDef *htim, uint32_t Channel); -HAL_StatusTypeDef HAL_TIM_Encoder_Stop(TIM_HandleTypeDef *htim, uint32_t Channel); -/* Non-Blocking mode: Interrupt */ -HAL_StatusTypeDef HAL_TIM_Encoder_Start_IT(TIM_HandleTypeDef *htim, uint32_t Channel); -HAL_StatusTypeDef HAL_TIM_Encoder_Stop_IT(TIM_HandleTypeDef *htim, uint32_t Channel); -/* Non-Blocking mode: DMA */ -HAL_StatusTypeDef HAL_TIM_Encoder_Start_DMA(TIM_HandleTypeDef *htim, uint32_t Channel, uint32_t *pData1, - uint32_t *pData2, uint16_t Length); -HAL_StatusTypeDef HAL_TIM_Encoder_Stop_DMA(TIM_HandleTypeDef *htim, uint32_t Channel); -/** - * @} - */ - -/** @addtogroup TIM_Exported_Functions_Group7 TIM IRQ handler management - * @brief IRQ handler management - * @{ - */ -/* Interrupt Handler functions ***********************************************/ -void HAL_TIM_IRQHandler(TIM_HandleTypeDef *htim); -/** - * @} - */ - -/** @defgroup TIM_Exported_Functions_Group8 TIM Peripheral Control functions - * @brief Peripheral Control functions - * @{ - */ -/* Control functions *********************************************************/ -HAL_StatusTypeDef HAL_TIM_OC_ConfigChannel(TIM_HandleTypeDef *htim, TIM_OC_InitTypeDef *sConfig, uint32_t Channel); -HAL_StatusTypeDef HAL_TIM_PWM_ConfigChannel(TIM_HandleTypeDef *htim, TIM_OC_InitTypeDef *sConfig, uint32_t Channel); -HAL_StatusTypeDef HAL_TIM_IC_ConfigChannel(TIM_HandleTypeDef *htim, TIM_IC_InitTypeDef *sConfig, uint32_t Channel); -HAL_StatusTypeDef HAL_TIM_OnePulse_ConfigChannel(TIM_HandleTypeDef *htim, TIM_OnePulse_InitTypeDef *sConfig, - uint32_t OutputChannel, uint32_t InputChannel); -HAL_StatusTypeDef HAL_TIM_ConfigOCrefClear(TIM_HandleTypeDef *htim, TIM_ClearInputConfigTypeDef *sClearInputConfig, - uint32_t Channel); -HAL_StatusTypeDef HAL_TIM_ConfigClockSource(TIM_HandleTypeDef *htim, TIM_ClockConfigTypeDef *sClockSourceConfig); -HAL_StatusTypeDef HAL_TIM_ConfigTI1Input(TIM_HandleTypeDef *htim, uint32_t TI1_Selection); -HAL_StatusTypeDef HAL_TIM_SlaveConfigSynchro(TIM_HandleTypeDef *htim, TIM_SlaveConfigTypeDef *sSlaveConfig); -HAL_StatusTypeDef HAL_TIM_SlaveConfigSynchro_IT(TIM_HandleTypeDef *htim, TIM_SlaveConfigTypeDef *sSlaveConfig); -HAL_StatusTypeDef HAL_TIM_DMABurst_WriteStart(TIM_HandleTypeDef *htim, uint32_t BurstBaseAddress, - uint32_t BurstRequestSrc, uint32_t *BurstBuffer, uint32_t BurstLength); -HAL_StatusTypeDef HAL_TIM_DMABurst_MultiWriteStart(TIM_HandleTypeDef *htim, uint32_t BurstBaseAddress, - uint32_t BurstRequestSrc, uint32_t *BurstBuffer, - uint32_t BurstLength, uint32_t DataLength); -HAL_StatusTypeDef HAL_TIM_DMABurst_WriteStop(TIM_HandleTypeDef *htim, uint32_t BurstRequestSrc); -HAL_StatusTypeDef HAL_TIM_DMABurst_ReadStart(TIM_HandleTypeDef *htim, uint32_t BurstBaseAddress, - uint32_t BurstRequestSrc, uint32_t *BurstBuffer, uint32_t BurstLength); -HAL_StatusTypeDef HAL_TIM_DMABurst_MultiReadStart(TIM_HandleTypeDef *htim, uint32_t BurstBaseAddress, - uint32_t BurstRequestSrc, uint32_t *BurstBuffer, - uint32_t BurstLength, uint32_t DataLength); -HAL_StatusTypeDef HAL_TIM_DMABurst_ReadStop(TIM_HandleTypeDef *htim, uint32_t BurstRequestSrc); -HAL_StatusTypeDef HAL_TIM_GenerateEvent(TIM_HandleTypeDef *htim, uint32_t EventSource); -uint32_t HAL_TIM_ReadCapturedValue(TIM_HandleTypeDef *htim, uint32_t Channel); -/** - * @} - */ - -/** @defgroup TIM_Exported_Functions_Group9 TIM Callbacks functions - * @brief TIM Callbacks functions - * @{ - */ -/* Callback in non blocking modes (Interrupt and DMA) *************************/ -void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim); -void HAL_TIM_PeriodElapsedHalfCpltCallback(TIM_HandleTypeDef *htim); -void HAL_TIM_OC_DelayElapsedCallback(TIM_HandleTypeDef *htim); -void HAL_TIM_IC_CaptureCallback(TIM_HandleTypeDef *htim); -void HAL_TIM_IC_CaptureHalfCpltCallback(TIM_HandleTypeDef *htim); -void HAL_TIM_PWM_PulseFinishedCallback(TIM_HandleTypeDef *htim); -void HAL_TIM_PWM_PulseFinishedHalfCpltCallback(TIM_HandleTypeDef *htim); -void HAL_TIM_TriggerCallback(TIM_HandleTypeDef *htim); -void HAL_TIM_TriggerHalfCpltCallback(TIM_HandleTypeDef *htim); -void HAL_TIM_ErrorCallback(TIM_HandleTypeDef *htim); - -/* Callbacks Register/UnRegister functions ***********************************/ -#if (USE_HAL_TIM_REGISTER_CALLBACKS == 1) -HAL_StatusTypeDef HAL_TIM_RegisterCallback(TIM_HandleTypeDef *htim, HAL_TIM_CallbackIDTypeDef CallbackID, - pTIM_CallbackTypeDef pCallback); -HAL_StatusTypeDef HAL_TIM_UnRegisterCallback(TIM_HandleTypeDef *htim, HAL_TIM_CallbackIDTypeDef CallbackID); -#endif /* USE_HAL_TIM_REGISTER_CALLBACKS */ - -/** - * @} - */ - -/** @defgroup TIM_Exported_Functions_Group10 TIM Peripheral State functions - * @brief Peripheral State functions - * @{ - */ -/* Peripheral State functions ************************************************/ -HAL_TIM_StateTypeDef HAL_TIM_Base_GetState(TIM_HandleTypeDef *htim); -HAL_TIM_StateTypeDef HAL_TIM_OC_GetState(TIM_HandleTypeDef *htim); -HAL_TIM_StateTypeDef HAL_TIM_PWM_GetState(TIM_HandleTypeDef *htim); -HAL_TIM_StateTypeDef HAL_TIM_IC_GetState(TIM_HandleTypeDef *htim); -HAL_TIM_StateTypeDef HAL_TIM_OnePulse_GetState(TIM_HandleTypeDef *htim); -HAL_TIM_StateTypeDef HAL_TIM_Encoder_GetState(TIM_HandleTypeDef *htim); - -/* Peripheral Channel state functions ************************************************/ -HAL_TIM_ActiveChannel HAL_TIM_GetActiveChannel(TIM_HandleTypeDef *htim); -HAL_TIM_ChannelStateTypeDef HAL_TIM_GetChannelState(TIM_HandleTypeDef *htim, uint32_t Channel); -HAL_TIM_DMABurstStateTypeDef HAL_TIM_DMABurstState(TIM_HandleTypeDef *htim); -/** - * @} - */ - -/** - * @} - */ -/* End of exported functions -------------------------------------------------*/ - -/* Private functions----------------------------------------------------------*/ -/** @defgroup TIM_Private_Functions TIM Private Functions - * @{ - */ -void TIM_Base_SetConfig(TIM_TypeDef *TIMx, TIM_Base_InitTypeDef *Structure); -void TIM_TI1_SetConfig(TIM_TypeDef *TIMx, uint32_t TIM_ICPolarity, uint32_t TIM_ICSelection, uint32_t TIM_ICFilter); -void TIM_OC2_SetConfig(TIM_TypeDef *TIMx, TIM_OC_InitTypeDef *OC_Config); -void TIM_ETR_SetConfig(TIM_TypeDef *TIMx, uint32_t TIM_ExtTRGPrescaler, - uint32_t TIM_ExtTRGPolarity, uint32_t ExtTRGFilter); - -void TIM_DMADelayPulseHalfCplt(DMA_HandleTypeDef *hdma); -void TIM_DMAError(DMA_HandleTypeDef *hdma); -void TIM_DMACaptureCplt(DMA_HandleTypeDef *hdma); -void TIM_DMACaptureHalfCplt(DMA_HandleTypeDef *hdma); -void TIM_CCxChannelCmd(TIM_TypeDef *TIMx, uint32_t Channel, uint32_t ChannelState); - -#if (USE_HAL_TIM_REGISTER_CALLBACKS == 1) -void TIM_ResetCallback(TIM_HandleTypeDef *htim); -#endif /* USE_HAL_TIM_REGISTER_CALLBACKS */ - -/** - * @} - */ -/* End of private functions --------------------------------------------------*/ - -/** - * @} - */ - -/** - * @} - */ - -#ifdef __cplusplus -} -#endif - -#endif /* STM32F4xx_HAL_TIM_H */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h deleted file mode 100644 index 737fdc4e5e1165..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h +++ /dev/null @@ -1,357 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_tim_ex.h - * @author MCD Application Team - * @brief Header file of TIM HAL Extended module. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef STM32F4xx_HAL_TIM_EX_H -#define STM32F4xx_HAL_TIM_EX_H - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal_def.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @addtogroup TIMEx - * @{ - */ - -/* Exported types ------------------------------------------------------------*/ -/** @defgroup TIMEx_Exported_Types TIM Extended Exported Types - * @{ - */ - -/** - * @brief TIM Hall sensor Configuration Structure definition - */ - -typedef struct -{ - uint32_t IC1Polarity; /*!< Specifies the active edge of the input signal. - This parameter can be a value of @ref TIM_Input_Capture_Polarity */ - - uint32_t IC1Prescaler; /*!< Specifies the Input Capture Prescaler. - This parameter can be a value of @ref TIM_Input_Capture_Prescaler */ - - uint32_t IC1Filter; /*!< Specifies the input capture filter. - This parameter can be a number between Min_Data = 0x0 and Max_Data = 0xF */ - - uint32_t Commutation_Delay; /*!< Specifies the pulse value to be loaded into the Capture Compare Register. - This parameter can be a number between Min_Data = 0x0000 and Max_Data = 0xFFFF */ -} TIM_HallSensor_InitTypeDef; -/** - * @} - */ -/* End of exported types -----------------------------------------------------*/ - -/* Exported constants --------------------------------------------------------*/ -/** @defgroup TIMEx_Exported_Constants TIM Extended Exported Constants - * @{ - */ - -/** @defgroup TIMEx_Remap TIM Extended Remapping - * @{ - */ -#if defined (TIM2) -#if defined(TIM8) -#define TIM_TIM2_TIM8_TRGO 0x00000000U /*!< TIM2 ITR1 is connected to TIM8 TRGO */ -#else -#define TIM_TIM2_ETH_PTP TIM_OR_ITR1_RMP_0 /*!< TIM2 ITR1 is connected to PTP trigger output */ -#endif /* TIM8 */ -#define TIM_TIM2_USBFS_SOF TIM_OR_ITR1_RMP_1 /*!< TIM2 ITR1 is connected to OTG FS SOF */ -#define TIM_TIM2_USBHS_SOF (TIM_OR_ITR1_RMP_1 | TIM_OR_ITR1_RMP_0) /*!< TIM2 ITR1 is connected to OTG HS SOF */ -#endif /* TIM2 */ - -#define TIM_TIM5_GPIO 0x00000000U /*!< TIM5 TI4 is connected to GPIO */ -#define TIM_TIM5_LSI TIM_OR_TI4_RMP_0 /*!< TIM5 TI4 is connected to LSI */ -#define TIM_TIM5_LSE TIM_OR_TI4_RMP_1 /*!< TIM5 TI4 is connected to LSE */ -#define TIM_TIM5_RTC (TIM_OR_TI4_RMP_1 | TIM_OR_TI4_RMP_0) /*!< TIM5 TI4 is connected to the RTC wakeup interrupt */ - -#define TIM_TIM11_GPIO 0x00000000U /*!< TIM11 TI1 is connected to GPIO */ -#define TIM_TIM11_HSE TIM_OR_TI1_RMP_1 /*!< TIM11 TI1 is connected to HSE_RTC clock */ -#if defined(SPDIFRX) -#define TIM_TIM11_SPDIFRX TIM_OR_TI1_RMP_0 /*!< TIM11 TI1 is connected to SPDIFRX_FRAME_SYNC */ -#endif /* SPDIFRX*/ - -#if defined(LPTIM_OR_TIM1_ITR2_RMP) && defined(LPTIM_OR_TIM5_ITR1_RMP) && defined(LPTIM_OR_TIM5_ITR1_RMP) -#define LPTIM_REMAP_MASK 0x10000000U - -#define TIM_TIM9_TIM3_TRGO LPTIM_REMAP_MASK /*!< TIM9 ITR1 is connected to TIM3 TRGO */ -#define TIM_TIM9_LPTIM (LPTIM_REMAP_MASK | LPTIM_OR_TIM9_ITR1_RMP) /*!< TIM9 ITR1 is connected to LPTIM1 output */ - -#define TIM_TIM5_TIM3_TRGO LPTIM_REMAP_MASK /*!< TIM5 ITR1 is connected to TIM3 TRGO */ -#define TIM_TIM5_LPTIM (LPTIM_REMAP_MASK | LPTIM_OR_TIM5_ITR1_RMP) /*!< TIM5 ITR1 is connected to LPTIM1 output */ - -#define TIM_TIM1_TIM3_TRGO LPTIM_REMAP_MASK /*!< TIM1 ITR2 is connected to TIM3 TRGO */ -#define TIM_TIM1_LPTIM (LPTIM_REMAP_MASK | LPTIM_OR_TIM1_ITR2_RMP) /*!< TIM1 ITR2 is connected to LPTIM1 output */ -#endif /* LPTIM_OR_TIM1_ITR2_RMP && LPTIM_OR_TIM5_ITR1_RMP && LPTIM_OR_TIM5_ITR1_RMP */ -/** - * @} - */ - -/** - * @} - */ -/* End of exported constants -------------------------------------------------*/ - -/* Exported macro ------------------------------------------------------------*/ -/** @defgroup TIMEx_Exported_Macros TIM Extended Exported Macros - * @{ - */ - -/** - * @} - */ -/* End of exported macro -----------------------------------------------------*/ - -/* Private macro -------------------------------------------------------------*/ -/** @defgroup TIMEx_Private_Macros TIM Extended Private Macros - * @{ - */ -#if defined(SPDIFRX) -#define IS_TIM_REMAP(INSTANCE, TIM_REMAP) \ - ((((INSTANCE) == TIM2) && (((TIM_REMAP) == TIM_TIM2_TIM8_TRGO) || \ - ((TIM_REMAP) == TIM_TIM2_USBFS_SOF) || \ - ((TIM_REMAP) == TIM_TIM2_USBHS_SOF))) || \ - (((INSTANCE) == TIM5) && (((TIM_REMAP) == TIM_TIM5_GPIO) || \ - ((TIM_REMAP) == TIM_TIM5_LSI) || \ - ((TIM_REMAP) == TIM_TIM5_LSE) || \ - ((TIM_REMAP) == TIM_TIM5_RTC))) || \ - (((INSTANCE) == TIM11) && (((TIM_REMAP) == TIM_TIM11_GPIO) || \ - ((TIM_REMAP) == TIM_TIM11_SPDIFRX) || \ - ((TIM_REMAP) == TIM_TIM11_HSE)))) -#elif defined(TIM2) -#if defined(LPTIM_OR_TIM1_ITR2_RMP) && defined(LPTIM_OR_TIM5_ITR1_RMP) && defined(LPTIM_OR_TIM5_ITR1_RMP) -#define IS_TIM_REMAP(INSTANCE, TIM_REMAP) \ - ((((INSTANCE) == TIM2) && (((TIM_REMAP) == TIM_TIM2_TIM8_TRGO) || \ - ((TIM_REMAP) == TIM_TIM2_USBFS_SOF) || \ - ((TIM_REMAP) == TIM_TIM2_USBHS_SOF))) || \ - (((INSTANCE) == TIM5) && (((TIM_REMAP) == TIM_TIM5_GPIO) || \ - ((TIM_REMAP) == TIM_TIM5_LSI) || \ - ((TIM_REMAP) == TIM_TIM5_LSE) || \ - ((TIM_REMAP) == TIM_TIM5_RTC))) || \ - (((INSTANCE) == TIM11) && (((TIM_REMAP) == TIM_TIM11_GPIO) || \ - ((TIM_REMAP) == TIM_TIM11_HSE))) || \ - (((INSTANCE) == TIM1) && (((TIM_REMAP) == TIM_TIM1_TIM3_TRGO) || \ - ((TIM_REMAP) == TIM_TIM1_LPTIM))) || \ - (((INSTANCE) == TIM5) && (((TIM_REMAP) == TIM_TIM5_TIM3_TRGO) || \ - ((TIM_REMAP) == TIM_TIM5_LPTIM))) || \ - (((INSTANCE) == TIM9) && (((TIM_REMAP) == TIM_TIM9_TIM3_TRGO) || \ - ((TIM_REMAP) == TIM_TIM9_LPTIM)))) -#elif defined(TIM8) -#define IS_TIM_REMAP(INSTANCE, TIM_REMAP) \ - ((((INSTANCE) == TIM2) && (((TIM_REMAP) == TIM_TIM2_TIM8_TRGO) || \ - ((TIM_REMAP) == TIM_TIM2_USBFS_SOF) || \ - ((TIM_REMAP) == TIM_TIM2_USBHS_SOF))) || \ - (((INSTANCE) == TIM5) && (((TIM_REMAP) == TIM_TIM5_GPIO) || \ - ((TIM_REMAP) == TIM_TIM5_LSI) || \ - ((TIM_REMAP) == TIM_TIM5_LSE) || \ - ((TIM_REMAP) == TIM_TIM5_RTC))) || \ - (((INSTANCE) == TIM11) && (((TIM_REMAP) == TIM_TIM11_GPIO) || \ - ((TIM_REMAP) == TIM_TIM11_HSE)))) -#else -#define IS_TIM_REMAP(INSTANCE, TIM_REMAP) \ - ((((INSTANCE) == TIM2) && (((TIM_REMAP) == TIM_TIM2_ETH_PTP) || \ - ((TIM_REMAP) == TIM_TIM2_USBFS_SOF) || \ - ((TIM_REMAP) == TIM_TIM2_USBHS_SOF))) || \ - (((INSTANCE) == TIM5) && (((TIM_REMAP) == TIM_TIM5_GPIO) || \ - ((TIM_REMAP) == TIM_TIM5_LSI) || \ - ((TIM_REMAP) == TIM_TIM5_LSE) || \ - ((TIM_REMAP) == TIM_TIM5_RTC))) || \ - (((INSTANCE) == TIM11) && (((TIM_REMAP) == TIM_TIM11_GPIO) || \ - ((TIM_REMAP) == TIM_TIM11_HSE)))) -#endif /* LPTIM_OR_TIM1_ITR2_RMP && LPTIM_OR_TIM5_ITR1_RMP && LPTIM_OR_TIM5_ITR1_RMP */ -#else -#define IS_TIM_REMAP(INSTANCE, TIM_REMAP) \ - ((((INSTANCE) == TIM5) && (((TIM_REMAP) == TIM_TIM5_GPIO) || \ - ((TIM_REMAP) == TIM_TIM5_LSI) || \ - ((TIM_REMAP) == TIM_TIM5_LSE) || \ - ((TIM_REMAP) == TIM_TIM5_RTC))) || \ - (((INSTANCE) == TIM11) && (((TIM_REMAP) == TIM_TIM11_GPIO) || \ - ((TIM_REMAP) == TIM_TIM11_HSE)))) -#endif /* SPDIFRX */ - -/** - * @} - */ -/* End of private macro ------------------------------------------------------*/ - -/* Exported functions --------------------------------------------------------*/ -/** @addtogroup TIMEx_Exported_Functions TIM Extended Exported Functions - * @{ - */ - -/** @addtogroup TIMEx_Exported_Functions_Group1 Extended Timer Hall Sensor functions - * @brief Timer Hall Sensor functions - * @{ - */ -/* Timer Hall Sensor functions **********************************************/ -HAL_StatusTypeDef HAL_TIMEx_HallSensor_Init(TIM_HandleTypeDef *htim, TIM_HallSensor_InitTypeDef *sConfig); -HAL_StatusTypeDef HAL_TIMEx_HallSensor_DeInit(TIM_HandleTypeDef *htim); - -void HAL_TIMEx_HallSensor_MspInit(TIM_HandleTypeDef *htim); -void HAL_TIMEx_HallSensor_MspDeInit(TIM_HandleTypeDef *htim); - -/* Blocking mode: Polling */ -HAL_StatusTypeDef HAL_TIMEx_HallSensor_Start(TIM_HandleTypeDef *htim); -HAL_StatusTypeDef HAL_TIMEx_HallSensor_Stop(TIM_HandleTypeDef *htim); -/* Non-Blocking mode: Interrupt */ -HAL_StatusTypeDef HAL_TIMEx_HallSensor_Start_IT(TIM_HandleTypeDef *htim); -HAL_StatusTypeDef HAL_TIMEx_HallSensor_Stop_IT(TIM_HandleTypeDef *htim); -/* Non-Blocking mode: DMA */ -HAL_StatusTypeDef HAL_TIMEx_HallSensor_Start_DMA(TIM_HandleTypeDef *htim, uint32_t *pData, uint16_t Length); -HAL_StatusTypeDef HAL_TIMEx_HallSensor_Stop_DMA(TIM_HandleTypeDef *htim); -/** - * @} - */ - -/** @addtogroup TIMEx_Exported_Functions_Group2 Extended Timer Complementary Output Compare functions - * @brief Timer Complementary Output Compare functions - * @{ - */ -/* Timer Complementary Output Compare functions *****************************/ -/* Blocking mode: Polling */ -HAL_StatusTypeDef HAL_TIMEx_OCN_Start(TIM_HandleTypeDef *htim, uint32_t Channel); -HAL_StatusTypeDef HAL_TIMEx_OCN_Stop(TIM_HandleTypeDef *htim, uint32_t Channel); - -/* Non-Blocking mode: Interrupt */ -HAL_StatusTypeDef HAL_TIMEx_OCN_Start_IT(TIM_HandleTypeDef *htim, uint32_t Channel); -HAL_StatusTypeDef HAL_TIMEx_OCN_Stop_IT(TIM_HandleTypeDef *htim, uint32_t Channel); - -/* Non-Blocking mode: DMA */ -HAL_StatusTypeDef HAL_TIMEx_OCN_Start_DMA(TIM_HandleTypeDef *htim, uint32_t Channel, uint32_t *pData, uint16_t Length); -HAL_StatusTypeDef HAL_TIMEx_OCN_Stop_DMA(TIM_HandleTypeDef *htim, uint32_t Channel); -/** - * @} - */ - -/** @addtogroup TIMEx_Exported_Functions_Group3 Extended Timer Complementary PWM functions - * @brief Timer Complementary PWM functions - * @{ - */ -/* Timer Complementary PWM functions ****************************************/ -/* Blocking mode: Polling */ -HAL_StatusTypeDef HAL_TIMEx_PWMN_Start(TIM_HandleTypeDef *htim, uint32_t Channel); -HAL_StatusTypeDef HAL_TIMEx_PWMN_Stop(TIM_HandleTypeDef *htim, uint32_t Channel); - -/* Non-Blocking mode: Interrupt */ -HAL_StatusTypeDef HAL_TIMEx_PWMN_Start_IT(TIM_HandleTypeDef *htim, uint32_t Channel); -HAL_StatusTypeDef HAL_TIMEx_PWMN_Stop_IT(TIM_HandleTypeDef *htim, uint32_t Channel); -/* Non-Blocking mode: DMA */ -HAL_StatusTypeDef HAL_TIMEx_PWMN_Start_DMA(TIM_HandleTypeDef *htim, uint32_t Channel, uint32_t *pData, uint16_t Length); -HAL_StatusTypeDef HAL_TIMEx_PWMN_Stop_DMA(TIM_HandleTypeDef *htim, uint32_t Channel); -/** - * @} - */ - -/** @addtogroup TIMEx_Exported_Functions_Group4 Extended Timer Complementary One Pulse functions - * @brief Timer Complementary One Pulse functions - * @{ - */ -/* Timer Complementary One Pulse functions **********************************/ -/* Blocking mode: Polling */ -HAL_StatusTypeDef HAL_TIMEx_OnePulseN_Start(TIM_HandleTypeDef *htim, uint32_t OutputChannel); -HAL_StatusTypeDef HAL_TIMEx_OnePulseN_Stop(TIM_HandleTypeDef *htim, uint32_t OutputChannel); - -/* Non-Blocking mode: Interrupt */ -HAL_StatusTypeDef HAL_TIMEx_OnePulseN_Start_IT(TIM_HandleTypeDef *htim, uint32_t OutputChannel); -HAL_StatusTypeDef HAL_TIMEx_OnePulseN_Stop_IT(TIM_HandleTypeDef *htim, uint32_t OutputChannel); -/** - * @} - */ - -/** @addtogroup TIMEx_Exported_Functions_Group5 Extended Peripheral Control functions - * @brief Peripheral Control functions - * @{ - */ -/* Extended Control functions ************************************************/ -HAL_StatusTypeDef HAL_TIMEx_ConfigCommutEvent(TIM_HandleTypeDef *htim, uint32_t InputTrigger, - uint32_t CommutationSource); -HAL_StatusTypeDef HAL_TIMEx_ConfigCommutEvent_IT(TIM_HandleTypeDef *htim, uint32_t InputTrigger, - uint32_t CommutationSource); -HAL_StatusTypeDef HAL_TIMEx_ConfigCommutEvent_DMA(TIM_HandleTypeDef *htim, uint32_t InputTrigger, - uint32_t CommutationSource); -HAL_StatusTypeDef HAL_TIMEx_MasterConfigSynchronization(TIM_HandleTypeDef *htim, - TIM_MasterConfigTypeDef *sMasterConfig); -HAL_StatusTypeDef HAL_TIMEx_ConfigBreakDeadTime(TIM_HandleTypeDef *htim, - TIM_BreakDeadTimeConfigTypeDef *sBreakDeadTimeConfig); -HAL_StatusTypeDef HAL_TIMEx_RemapConfig(TIM_HandleTypeDef *htim, uint32_t Remap); -/** - * @} - */ - -/** @addtogroup TIMEx_Exported_Functions_Group6 Extended Callbacks functions - * @brief Extended Callbacks functions - * @{ - */ -/* Extended Callback **********************************************************/ -void HAL_TIMEx_CommutCallback(TIM_HandleTypeDef *htim); -void HAL_TIMEx_CommutHalfCpltCallback(TIM_HandleTypeDef *htim); -void HAL_TIMEx_BreakCallback(TIM_HandleTypeDef *htim); -/** - * @} - */ - -/** @addtogroup TIMEx_Exported_Functions_Group7 Extended Peripheral State functions - * @brief Extended Peripheral State functions - * @{ - */ -/* Extended Peripheral State functions ***************************************/ -HAL_TIM_StateTypeDef HAL_TIMEx_HallSensor_GetState(TIM_HandleTypeDef *htim); -HAL_TIM_ChannelStateTypeDef HAL_TIMEx_GetChannelNState(TIM_HandleTypeDef *htim, uint32_t ChannelN); -/** - * @} - */ - -/** - * @} - */ -/* End of exported functions -------------------------------------------------*/ - -/* Private functions----------------------------------------------------------*/ -/** @addtogroup TIMEx_Private_Functions TIMEx Private Functions - * @{ - */ -void TIMEx_DMACommutationCplt(DMA_HandleTypeDef *hdma); -void TIMEx_DMACommutationHalfCplt(DMA_HandleTypeDef *hdma); -/** - * @} - */ -/* End of private functions --------------------------------------------------*/ - -/** - * @} - */ - -/** - * @} - */ - -#ifdef __cplusplus -} -#endif - - -#endif /* STM32F4xx_HAL_TIM_EX_H */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h deleted file mode 100644 index 14526e816bad50..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h +++ /dev/null @@ -1,886 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_uart.h - * @author MCD Application Team - * @brief Header file of UART HAL module. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef __STM32F4xx_HAL_UART_H -#define __STM32F4xx_HAL_UART_H - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal_def.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @addtogroup UART - * @{ - */ - -/* Exported types ------------------------------------------------------------*/ -/** @defgroup UART_Exported_Types UART Exported Types - * @{ - */ - -/** - * @brief UART Init Structure definition - */ -typedef struct -{ - uint32_t BaudRate; /*!< This member configures the UART communication baud rate. - The baud rate is computed using the following formula: - - IntegerDivider = ((PCLKx) / (8 * (OVR8+1) * (huart->Init.BaudRate))) - - FractionalDivider = ((IntegerDivider - ((uint32_t) IntegerDivider)) * 8 * (OVR8+1)) + 0.5 - Where OVR8 is the "oversampling by 8 mode" configuration bit in the CR1 register. */ - - uint32_t WordLength; /*!< Specifies the number of data bits transmitted or received in a frame. - This parameter can be a value of @ref UART_Word_Length */ - - uint32_t StopBits; /*!< Specifies the number of stop bits transmitted. - This parameter can be a value of @ref UART_Stop_Bits */ - - uint32_t Parity; /*!< Specifies the parity mode. - This parameter can be a value of @ref UART_Parity - @note When parity is enabled, the computed parity is inserted - at the MSB position of the transmitted data (9th bit when - the word length is set to 9 data bits; 8th bit when the - word length is set to 8 data bits). */ - - uint32_t Mode; /*!< Specifies whether the Receive or Transmit mode is enabled or disabled. - This parameter can be a value of @ref UART_Mode */ - - uint32_t HwFlowCtl; /*!< Specifies whether the hardware flow control mode is enabled or disabled. - This parameter can be a value of @ref UART_Hardware_Flow_Control */ - - uint32_t OverSampling; /*!< Specifies whether the Over sampling 8 is enabled or disabled, to achieve higher speed (up to fPCLK/8). - This parameter can be a value of @ref UART_Over_Sampling */ -} UART_InitTypeDef; - -/** - * @brief HAL UART State structures definition - * @note HAL UART State value is a combination of 2 different substates: gState and RxState. - * - gState contains UART state information related to global Handle management - * and also information related to Tx operations. - * gState value coding follow below described bitmap : - * b7-b6 Error information - * 00 : No Error - * 01 : (Not Used) - * 10 : Timeout - * 11 : Error - * b5 Peripheral initialization status - * 0 : Reset (Peripheral not initialized) - * 1 : Init done (Peripheral initialized. HAL UART Init function already called) - * b4-b3 (not used) - * xx : Should be set to 00 - * b2 Intrinsic process state - * 0 : Ready - * 1 : Busy (Peripheral busy with some configuration or internal operations) - * b1 (not used) - * x : Should be set to 0 - * b0 Tx state - * 0 : Ready (no Tx operation ongoing) - * 1 : Busy (Tx operation ongoing) - * - RxState contains information related to Rx operations. - * RxState value coding follow below described bitmap : - * b7-b6 (not used) - * xx : Should be set to 00 - * b5 Peripheral initialization status - * 0 : Reset (Peripheral not initialized) - * 1 : Init done (Peripheral initialized) - * b4-b2 (not used) - * xxx : Should be set to 000 - * b1 Rx state - * 0 : Ready (no Rx operation ongoing) - * 1 : Busy (Rx operation ongoing) - * b0 (not used) - * x : Should be set to 0. - */ -typedef enum -{ - HAL_UART_STATE_RESET = 0x00U, /*!< Peripheral is not yet Initialized - Value is allowed for gState and RxState */ - HAL_UART_STATE_READY = 0x20U, /*!< Peripheral Initialized and ready for use - Value is allowed for gState and RxState */ - HAL_UART_STATE_BUSY = 0x24U, /*!< an internal process is ongoing - Value is allowed for gState only */ - HAL_UART_STATE_BUSY_TX = 0x21U, /*!< Data Transmission process is ongoing - Value is allowed for gState only */ - HAL_UART_STATE_BUSY_RX = 0x22U, /*!< Data Reception process is ongoing - Value is allowed for RxState only */ - HAL_UART_STATE_BUSY_TX_RX = 0x23U, /*!< Data Transmission and Reception process is ongoing - Not to be used for neither gState nor RxState. - Value is result of combination (Or) between gState and RxState values */ - HAL_UART_STATE_TIMEOUT = 0xA0U, /*!< Timeout state - Value is allowed for gState only */ - HAL_UART_STATE_ERROR = 0xE0U /*!< Error - Value is allowed for gState only */ -} HAL_UART_StateTypeDef; - -/** - * @brief HAL UART Reception type definition - * @note HAL UART Reception type value aims to identify which type of Reception is ongoing. - * It is expected to admit following values : - * HAL_UART_RECEPTION_STANDARD = 0x00U, - * HAL_UART_RECEPTION_TOIDLE = 0x01U, - */ -typedef uint32_t HAL_UART_RxTypeTypeDef; - -/** - * @brief UART handle Structure definition - */ -typedef struct __UART_HandleTypeDef -{ - USART_TypeDef *Instance; /*!< UART registers base address */ - - UART_InitTypeDef Init; /*!< UART communication parameters */ - - uint8_t *pTxBuffPtr; /*!< Pointer to UART Tx transfer Buffer */ - - uint16_t TxXferSize; /*!< UART Tx Transfer size */ - - __IO uint16_t TxXferCount; /*!< UART Tx Transfer Counter */ - - uint8_t *pRxBuffPtr; /*!< Pointer to UART Rx transfer Buffer */ - - uint16_t RxXferSize; /*!< UART Rx Transfer size */ - - __IO uint16_t RxXferCount; /*!< UART Rx Transfer Counter */ - - __IO HAL_UART_RxTypeTypeDef ReceptionType; /*!< Type of ongoing reception */ - - DMA_HandleTypeDef *hdmatx; /*!< UART Tx DMA Handle parameters */ - - DMA_HandleTypeDef *hdmarx; /*!< UART Rx DMA Handle parameters */ - - HAL_LockTypeDef Lock; /*!< Locking object */ - - __IO HAL_UART_StateTypeDef gState; /*!< UART state information related to global Handle management - and also related to Tx operations. - This parameter can be a value of @ref HAL_UART_StateTypeDef */ - - __IO HAL_UART_StateTypeDef RxState; /*!< UART state information related to Rx operations. - This parameter can be a value of @ref HAL_UART_StateTypeDef */ - - __IO uint32_t ErrorCode; /*!< UART Error code */ - -#if (USE_HAL_UART_REGISTER_CALLBACKS == 1) - void (* TxHalfCpltCallback)(struct __UART_HandleTypeDef *huart); /*!< UART Tx Half Complete Callback */ - void (* TxCpltCallback)(struct __UART_HandleTypeDef *huart); /*!< UART Tx Complete Callback */ - void (* RxHalfCpltCallback)(struct __UART_HandleTypeDef *huart); /*!< UART Rx Half Complete Callback */ - void (* RxCpltCallback)(struct __UART_HandleTypeDef *huart); /*!< UART Rx Complete Callback */ - void (* ErrorCallback)(struct __UART_HandleTypeDef *huart); /*!< UART Error Callback */ - void (* AbortCpltCallback)(struct __UART_HandleTypeDef *huart); /*!< UART Abort Complete Callback */ - void (* AbortTransmitCpltCallback)(struct __UART_HandleTypeDef *huart); /*!< UART Abort Transmit Complete Callback */ - void (* AbortReceiveCpltCallback)(struct __UART_HandleTypeDef *huart); /*!< UART Abort Receive Complete Callback */ - void (* WakeupCallback)(struct __UART_HandleTypeDef *huart); /*!< UART Wakeup Callback */ - void (* RxEventCallback)(struct __UART_HandleTypeDef *huart, uint16_t Pos); /*!< UART Reception Event Callback */ - - void (* MspInitCallback)(struct __UART_HandleTypeDef *huart); /*!< UART Msp Init callback */ - void (* MspDeInitCallback)(struct __UART_HandleTypeDef *huart); /*!< UART Msp DeInit callback */ -#endif /* USE_HAL_UART_REGISTER_CALLBACKS */ - -} UART_HandleTypeDef; - -#if (USE_HAL_UART_REGISTER_CALLBACKS == 1) -/** - * @brief HAL UART Callback ID enumeration definition - */ -typedef enum -{ - HAL_UART_TX_HALFCOMPLETE_CB_ID = 0x00U, /*!< UART Tx Half Complete Callback ID */ - HAL_UART_TX_COMPLETE_CB_ID = 0x01U, /*!< UART Tx Complete Callback ID */ - HAL_UART_RX_HALFCOMPLETE_CB_ID = 0x02U, /*!< UART Rx Half Complete Callback ID */ - HAL_UART_RX_COMPLETE_CB_ID = 0x03U, /*!< UART Rx Complete Callback ID */ - HAL_UART_ERROR_CB_ID = 0x04U, /*!< UART Error Callback ID */ - HAL_UART_ABORT_COMPLETE_CB_ID = 0x05U, /*!< UART Abort Complete Callback ID */ - HAL_UART_ABORT_TRANSMIT_COMPLETE_CB_ID = 0x06U, /*!< UART Abort Transmit Complete Callback ID */ - HAL_UART_ABORT_RECEIVE_COMPLETE_CB_ID = 0x07U, /*!< UART Abort Receive Complete Callback ID */ - HAL_UART_WAKEUP_CB_ID = 0x08U, /*!< UART Wakeup Callback ID */ - - HAL_UART_MSPINIT_CB_ID = 0x0BU, /*!< UART MspInit callback ID */ - HAL_UART_MSPDEINIT_CB_ID = 0x0CU /*!< UART MspDeInit callback ID */ - -} HAL_UART_CallbackIDTypeDef; - -/** - * @brief HAL UART Callback pointer definition - */ -typedef void (*pUART_CallbackTypeDef)(UART_HandleTypeDef *huart); /*!< pointer to an UART callback function */ -typedef void (*pUART_RxEventCallbackTypeDef)(struct __UART_HandleTypeDef *huart, uint16_t Pos); /*!< pointer to a UART Rx Event specific callback function */ - -#endif /* USE_HAL_UART_REGISTER_CALLBACKS */ - -/** - * @} - */ - -/* Exported constants --------------------------------------------------------*/ -/** @defgroup UART_Exported_Constants UART Exported Constants - * @{ - */ - -/** @defgroup UART_Error_Code UART Error Code - * @{ - */ -#define HAL_UART_ERROR_NONE 0x00000000U /*!< No error */ -#define HAL_UART_ERROR_PE 0x00000001U /*!< Parity error */ -#define HAL_UART_ERROR_NE 0x00000002U /*!< Noise error */ -#define HAL_UART_ERROR_FE 0x00000004U /*!< Frame error */ -#define HAL_UART_ERROR_ORE 0x00000008U /*!< Overrun error */ -#define HAL_UART_ERROR_DMA 0x00000010U /*!< DMA transfer error */ -#if (USE_HAL_UART_REGISTER_CALLBACKS == 1) -#define HAL_UART_ERROR_INVALID_CALLBACK 0x00000020U /*!< Invalid Callback error */ -#endif /* USE_HAL_UART_REGISTER_CALLBACKS */ -/** - * @} - */ - -/** @defgroup UART_Word_Length UART Word Length - * @{ - */ -#define UART_WORDLENGTH_8B 0x00000000U -#define UART_WORDLENGTH_9B ((uint32_t)USART_CR1_M) -/** - * @} - */ - -/** @defgroup UART_Stop_Bits UART Number of Stop Bits - * @{ - */ -#define UART_STOPBITS_1 0x00000000U -#define UART_STOPBITS_2 ((uint32_t)USART_CR2_STOP_1) -/** - * @} - */ - -/** @defgroup UART_Parity UART Parity - * @{ - */ -#define UART_PARITY_NONE 0x00000000U -#define UART_PARITY_EVEN ((uint32_t)USART_CR1_PCE) -#define UART_PARITY_ODD ((uint32_t)(USART_CR1_PCE | USART_CR1_PS)) -/** - * @} - */ - -/** @defgroup UART_Hardware_Flow_Control UART Hardware Flow Control - * @{ - */ -#define UART_HWCONTROL_NONE 0x00000000U -#define UART_HWCONTROL_RTS ((uint32_t)USART_CR3_RTSE) -#define UART_HWCONTROL_CTS ((uint32_t)USART_CR3_CTSE) -#define UART_HWCONTROL_RTS_CTS ((uint32_t)(USART_CR3_RTSE | USART_CR3_CTSE)) -/** - * @} - */ - -/** @defgroup UART_Mode UART Transfer Mode - * @{ - */ -#define UART_MODE_RX ((uint32_t)USART_CR1_RE) -#define UART_MODE_TX ((uint32_t)USART_CR1_TE) -#define UART_MODE_TX_RX ((uint32_t)(USART_CR1_TE | USART_CR1_RE)) -/** - * @} - */ - -/** @defgroup UART_State UART State - * @{ - */ -#define UART_STATE_DISABLE 0x00000000U -#define UART_STATE_ENABLE ((uint32_t)USART_CR1_UE) -/** - * @} - */ - -/** @defgroup UART_Over_Sampling UART Over Sampling - * @{ - */ -#define UART_OVERSAMPLING_16 0x00000000U -#define UART_OVERSAMPLING_8 ((uint32_t)USART_CR1_OVER8) -/** - * @} - */ - -/** @defgroup UART_LIN_Break_Detection_Length UART LIN Break Detection Length - * @{ - */ -#define UART_LINBREAKDETECTLENGTH_10B 0x00000000U -#define UART_LINBREAKDETECTLENGTH_11B ((uint32_t)USART_CR2_LBDL) -/** - * @} - */ - -/** @defgroup UART_WakeUp_functions UART Wakeup Functions - * @{ - */ -#define UART_WAKEUPMETHOD_IDLELINE 0x00000000U -#define UART_WAKEUPMETHOD_ADDRESSMARK ((uint32_t)USART_CR1_WAKE) -/** - * @} - */ - -/** @defgroup UART_Flags UART FLags - * Elements values convention: 0xXXXX - * - 0xXXXX : Flag mask in the SR register - * @{ - */ -#define UART_FLAG_CTS ((uint32_t)USART_SR_CTS) -#define UART_FLAG_LBD ((uint32_t)USART_SR_LBD) -#define UART_FLAG_TXE ((uint32_t)USART_SR_TXE) -#define UART_FLAG_TC ((uint32_t)USART_SR_TC) -#define UART_FLAG_RXNE ((uint32_t)USART_SR_RXNE) -#define UART_FLAG_IDLE ((uint32_t)USART_SR_IDLE) -#define UART_FLAG_ORE ((uint32_t)USART_SR_ORE) -#define UART_FLAG_NE ((uint32_t)USART_SR_NE) -#define UART_FLAG_FE ((uint32_t)USART_SR_FE) -#define UART_FLAG_PE ((uint32_t)USART_SR_PE) -/** - * @} - */ - -/** @defgroup UART_Interrupt_definition UART Interrupt Definitions - * Elements values convention: 0xY000XXXX - * - XXXX : Interrupt mask (16 bits) in the Y register - * - Y : Interrupt source register (2bits) - * - 0001: CR1 register - * - 0010: CR2 register - * - 0011: CR3 register - * @{ - */ - -#define UART_IT_PE ((uint32_t)(UART_CR1_REG_INDEX << 28U | USART_CR1_PEIE)) -#define UART_IT_TXE ((uint32_t)(UART_CR1_REG_INDEX << 28U | USART_CR1_TXEIE)) -#define UART_IT_TC ((uint32_t)(UART_CR1_REG_INDEX << 28U | USART_CR1_TCIE)) -#define UART_IT_RXNE ((uint32_t)(UART_CR1_REG_INDEX << 28U | USART_CR1_RXNEIE)) -#define UART_IT_IDLE ((uint32_t)(UART_CR1_REG_INDEX << 28U | USART_CR1_IDLEIE)) - -#define UART_IT_LBD ((uint32_t)(UART_CR2_REG_INDEX << 28U | USART_CR2_LBDIE)) - -#define UART_IT_CTS ((uint32_t)(UART_CR3_REG_INDEX << 28U | USART_CR3_CTSIE)) -#define UART_IT_ERR ((uint32_t)(UART_CR3_REG_INDEX << 28U | USART_CR3_EIE)) -/** - * @} - */ - -/** @defgroup UART_RECEPTION_TYPE_Values UART Reception type values - * @{ - */ -#define HAL_UART_RECEPTION_STANDARD (0x00000000U) /*!< Standard reception */ -#define HAL_UART_RECEPTION_TOIDLE (0x00000001U) /*!< Reception till completion or IDLE event */ -/** - * @} - */ - -/** - * @} - */ - -/* Exported macro ------------------------------------------------------------*/ -/** @defgroup UART_Exported_Macros UART Exported Macros - * @{ - */ - -/** @brief Reset UART handle gstate & RxState - * @param __HANDLE__ specifies the UART Handle. - * UART Handle selects the USARTx or UARTy peripheral - * (USART,UART availability and x,y values depending on device). - * @retval None - */ -#if (USE_HAL_UART_REGISTER_CALLBACKS == 1) -#define __HAL_UART_RESET_HANDLE_STATE(__HANDLE__) do{ \ - (__HANDLE__)->gState = HAL_UART_STATE_RESET; \ - (__HANDLE__)->RxState = HAL_UART_STATE_RESET; \ - (__HANDLE__)->MspInitCallback = NULL; \ - (__HANDLE__)->MspDeInitCallback = NULL; \ - } while(0U) -#else -#define __HAL_UART_RESET_HANDLE_STATE(__HANDLE__) do{ \ - (__HANDLE__)->gState = HAL_UART_STATE_RESET; \ - (__HANDLE__)->RxState = HAL_UART_STATE_RESET; \ - } while(0U) -#endif /*USE_HAL_UART_REGISTER_CALLBACKS */ - -/** @brief Flushes the UART DR register - * @param __HANDLE__ specifies the UART Handle. - * UART Handle selects the USARTx or UARTy peripheral - * (USART,UART availability and x,y values depending on device). - */ -#define __HAL_UART_FLUSH_DRREGISTER(__HANDLE__) ((__HANDLE__)->Instance->DR) - -/** @brief Checks whether the specified UART flag is set or not. - * @param __HANDLE__ specifies the UART Handle. - * UART Handle selects the USARTx or UARTy peripheral - * (USART,UART availability and x,y values depending on device). - * @param __FLAG__ specifies the flag to check. - * This parameter can be one of the following values: - * @arg UART_FLAG_CTS: CTS Change flag (not available for UART4 and UART5) - * @arg UART_FLAG_LBD: LIN Break detection flag - * @arg UART_FLAG_TXE: Transmit data register empty flag - * @arg UART_FLAG_TC: Transmission Complete flag - * @arg UART_FLAG_RXNE: Receive data register not empty flag - * @arg UART_FLAG_IDLE: Idle Line detection flag - * @arg UART_FLAG_ORE: Overrun Error flag - * @arg UART_FLAG_NE: Noise Error flag - * @arg UART_FLAG_FE: Framing Error flag - * @arg UART_FLAG_PE: Parity Error flag - * @retval The new state of __FLAG__ (TRUE or FALSE). - */ -#define __HAL_UART_GET_FLAG(__HANDLE__, __FLAG__) (((__HANDLE__)->Instance->SR & (__FLAG__)) == (__FLAG__)) - -/** @brief Clears the specified UART pending flag. - * @param __HANDLE__ specifies the UART Handle. - * UART Handle selects the USARTx or UARTy peripheral - * (USART,UART availability and x,y values depending on device). - * @param __FLAG__ specifies the flag to check. - * This parameter can be any combination of the following values: - * @arg UART_FLAG_CTS: CTS Change flag (not available for UART4 and UART5). - * @arg UART_FLAG_LBD: LIN Break detection flag. - * @arg UART_FLAG_TC: Transmission Complete flag. - * @arg UART_FLAG_RXNE: Receive data register not empty flag. - * - * @note PE (Parity error), FE (Framing error), NE (Noise error), ORE (Overrun - * error) and IDLE (Idle line detected) flags are cleared by software - * sequence: a read operation to USART_SR register followed by a read - * operation to USART_DR register. - * @note RXNE flag can be also cleared by a read to the USART_DR register. - * @note TC flag can be also cleared by software sequence: a read operation to - * USART_SR register followed by a write operation to USART_DR register. - * @note TXE flag is cleared only by a write to the USART_DR register. - * - * @retval None - */ -#define __HAL_UART_CLEAR_FLAG(__HANDLE__, __FLAG__) ((__HANDLE__)->Instance->SR = ~(__FLAG__)) - -/** @brief Clears the UART PE pending flag. - * @param __HANDLE__ specifies the UART Handle. - * UART Handle selects the USARTx or UARTy peripheral - * (USART,UART availability and x,y values depending on device). - * @retval None - */ -#define __HAL_UART_CLEAR_PEFLAG(__HANDLE__) \ - do{ \ - __IO uint32_t tmpreg = 0x00U; \ - tmpreg = (__HANDLE__)->Instance->SR; \ - tmpreg = (__HANDLE__)->Instance->DR; \ - UNUSED(tmpreg); \ - } while(0U) - -/** @brief Clears the UART FE pending flag. - * @param __HANDLE__ specifies the UART Handle. - * UART Handle selects the USARTx or UARTy peripheral - * (USART,UART availability and x,y values depending on device). - * @retval None - */ -#define __HAL_UART_CLEAR_FEFLAG(__HANDLE__) __HAL_UART_CLEAR_PEFLAG(__HANDLE__) - -/** @brief Clears the UART NE pending flag. - * @param __HANDLE__ specifies the UART Handle. - * UART Handle selects the USARTx or UARTy peripheral - * (USART,UART availability and x,y values depending on device). - * @retval None - */ -#define __HAL_UART_CLEAR_NEFLAG(__HANDLE__) __HAL_UART_CLEAR_PEFLAG(__HANDLE__) - -/** @brief Clears the UART ORE pending flag. - * @param __HANDLE__ specifies the UART Handle. - * UART Handle selects the USARTx or UARTy peripheral - * (USART,UART availability and x,y values depending on device). - * @retval None - */ -#define __HAL_UART_CLEAR_OREFLAG(__HANDLE__) __HAL_UART_CLEAR_PEFLAG(__HANDLE__) - -/** @brief Clears the UART IDLE pending flag. - * @param __HANDLE__ specifies the UART Handle. - * UART Handle selects the USARTx or UARTy peripheral - * (USART,UART availability and x,y values depending on device). - * @retval None - */ -#define __HAL_UART_CLEAR_IDLEFLAG(__HANDLE__) __HAL_UART_CLEAR_PEFLAG(__HANDLE__) - -/** @brief Enable the specified UART interrupt. - * @param __HANDLE__ specifies the UART Handle. - * UART Handle selects the USARTx or UARTy peripheral - * (USART,UART availability and x,y values depending on device). - * @param __INTERRUPT__ specifies the UART interrupt source to enable. - * This parameter can be one of the following values: - * @arg UART_IT_CTS: CTS change interrupt - * @arg UART_IT_LBD: LIN Break detection interrupt - * @arg UART_IT_TXE: Transmit Data Register empty interrupt - * @arg UART_IT_TC: Transmission complete interrupt - * @arg UART_IT_RXNE: Receive Data register not empty interrupt - * @arg UART_IT_IDLE: Idle line detection interrupt - * @arg UART_IT_PE: Parity Error interrupt - * @arg UART_IT_ERR: Error interrupt(Frame error, noise error, overrun error) - * @retval None - */ -#define __HAL_UART_ENABLE_IT(__HANDLE__, __INTERRUPT__) ((((__INTERRUPT__) >> 28U) == UART_CR1_REG_INDEX)? ((__HANDLE__)->Instance->CR1 |= ((__INTERRUPT__) & UART_IT_MASK)): \ - (((__INTERRUPT__) >> 28U) == UART_CR2_REG_INDEX)? ((__HANDLE__)->Instance->CR2 |= ((__INTERRUPT__) & UART_IT_MASK)): \ - ((__HANDLE__)->Instance->CR3 |= ((__INTERRUPT__) & UART_IT_MASK))) - -/** @brief Disable the specified UART interrupt. - * @param __HANDLE__ specifies the UART Handle. - * UART Handle selects the USARTx or UARTy peripheral - * (USART,UART availability and x,y values depending on device). - * @param __INTERRUPT__ specifies the UART interrupt source to disable. - * This parameter can be one of the following values: - * @arg UART_IT_CTS: CTS change interrupt - * @arg UART_IT_LBD: LIN Break detection interrupt - * @arg UART_IT_TXE: Transmit Data Register empty interrupt - * @arg UART_IT_TC: Transmission complete interrupt - * @arg UART_IT_RXNE: Receive Data register not empty interrupt - * @arg UART_IT_IDLE: Idle line detection interrupt - * @arg UART_IT_PE: Parity Error interrupt - * @arg UART_IT_ERR: Error interrupt(Frame error, noise error, overrun error) - * @retval None - */ -#define __HAL_UART_DISABLE_IT(__HANDLE__, __INTERRUPT__) ((((__INTERRUPT__) >> 28U) == UART_CR1_REG_INDEX)? ((__HANDLE__)->Instance->CR1 &= ~((__INTERRUPT__) & UART_IT_MASK)): \ - (((__INTERRUPT__) >> 28U) == UART_CR2_REG_INDEX)? ((__HANDLE__)->Instance->CR2 &= ~((__INTERRUPT__) & UART_IT_MASK)): \ - ((__HANDLE__)->Instance->CR3 &= ~ ((__INTERRUPT__) & UART_IT_MASK))) - -/** @brief Checks whether the specified UART interrupt source is enabled or not. - * @param __HANDLE__ specifies the UART Handle. - * UART Handle selects the USARTx or UARTy peripheral - * (USART,UART availability and x,y values depending on device). - * @param __IT__ specifies the UART interrupt source to check. - * This parameter can be one of the following values: - * @arg UART_IT_CTS: CTS change interrupt (not available for UART4 and UART5) - * @arg UART_IT_LBD: LIN Break detection interrupt - * @arg UART_IT_TXE: Transmit Data Register empty interrupt - * @arg UART_IT_TC: Transmission complete interrupt - * @arg UART_IT_RXNE: Receive Data register not empty interrupt - * @arg UART_IT_IDLE: Idle line detection interrupt - * @arg UART_IT_ERR: Error interrupt - * @retval The new state of __IT__ (TRUE or FALSE). - */ -#define __HAL_UART_GET_IT_SOURCE(__HANDLE__, __IT__) (((((__IT__) >> 28U) == UART_CR1_REG_INDEX)? (__HANDLE__)->Instance->CR1:(((((uint32_t)(__IT__)) >> 28U) == UART_CR2_REG_INDEX)? \ - (__HANDLE__)->Instance->CR2 : (__HANDLE__)->Instance->CR3)) & (((uint32_t)(__IT__)) & UART_IT_MASK)) - -/** @brief Enable CTS flow control - * @note This macro allows to enable CTS hardware flow control for a given UART instance, - * without need to call HAL_UART_Init() function. - * As involving direct access to UART registers, usage of this macro should be fully endorsed by user. - * @note As macro is expected to be used for modifying CTS Hw flow control feature activation, without need - * for USART instance Deinit/Init, following conditions for macro call should be fulfilled : - * - UART instance should have already been initialised (through call of HAL_UART_Init() ) - * - macro could only be called when corresponding UART instance is disabled (i.e __HAL_UART_DISABLE(__HANDLE__)) - * and should be followed by an Enable macro (i.e __HAL_UART_ENABLE(__HANDLE__)). - * @param __HANDLE__ specifies the UART Handle. - * The Handle Instance can be any USARTx (supporting the HW Flow control feature). - * It is used to select the USART peripheral (USART availability and x value depending on device). - * @retval None - */ -#define __HAL_UART_HWCONTROL_CTS_ENABLE(__HANDLE__) \ - do{ \ - ATOMIC_SET_BIT((__HANDLE__)->Instance->CR3, USART_CR3_CTSE); \ - (__HANDLE__)->Init.HwFlowCtl |= USART_CR3_CTSE; \ - } while(0U) - -/** @brief Disable CTS flow control - * @note This macro allows to disable CTS hardware flow control for a given UART instance, - * without need to call HAL_UART_Init() function. - * As involving direct access to UART registers, usage of this macro should be fully endorsed by user. - * @note As macro is expected to be used for modifying CTS Hw flow control feature activation, without need - * for USART instance Deinit/Init, following conditions for macro call should be fulfilled : - * - UART instance should have already been initialised (through call of HAL_UART_Init() ) - * - macro could only be called when corresponding UART instance is disabled (i.e __HAL_UART_DISABLE(__HANDLE__)) - * and should be followed by an Enable macro (i.e __HAL_UART_ENABLE(__HANDLE__)). - * @param __HANDLE__ specifies the UART Handle. - * The Handle Instance can be any USARTx (supporting the HW Flow control feature). - * It is used to select the USART peripheral (USART availability and x value depending on device). - * @retval None - */ -#define __HAL_UART_HWCONTROL_CTS_DISABLE(__HANDLE__) \ - do{ \ - ATOMIC_CLEAR_BIT((__HANDLE__)->Instance->CR3, USART_CR3_CTSE); \ - (__HANDLE__)->Init.HwFlowCtl &= ~(USART_CR3_CTSE); \ - } while(0U) - -/** @brief Enable RTS flow control - * This macro allows to enable RTS hardware flow control for a given UART instance, - * without need to call HAL_UART_Init() function. - * As involving direct access to UART registers, usage of this macro should be fully endorsed by user. - * @note As macro is expected to be used for modifying RTS Hw flow control feature activation, without need - * for USART instance Deinit/Init, following conditions for macro call should be fulfilled : - * - UART instance should have already been initialised (through call of HAL_UART_Init() ) - * - macro could only be called when corresponding UART instance is disabled (i.e __HAL_UART_DISABLE(__HANDLE__)) - * and should be followed by an Enable macro (i.e __HAL_UART_ENABLE(__HANDLE__)). - * @param __HANDLE__ specifies the UART Handle. - * The Handle Instance can be any USARTx (supporting the HW Flow control feature). - * It is used to select the USART peripheral (USART availability and x value depending on device). - * @retval None - */ -#define __HAL_UART_HWCONTROL_RTS_ENABLE(__HANDLE__) \ - do{ \ - ATOMIC_SET_BIT((__HANDLE__)->Instance->CR3, USART_CR3_RTSE); \ - (__HANDLE__)->Init.HwFlowCtl |= USART_CR3_RTSE; \ - } while(0U) - -/** @brief Disable RTS flow control - * This macro allows to disable RTS hardware flow control for a given UART instance, - * without need to call HAL_UART_Init() function. - * As involving direct access to UART registers, usage of this macro should be fully endorsed by user. - * @note As macro is expected to be used for modifying RTS Hw flow control feature activation, without need - * for USART instance Deinit/Init, following conditions for macro call should be fulfilled : - * - UART instance should have already been initialised (through call of HAL_UART_Init() ) - * - macro could only be called when corresponding UART instance is disabled (i.e __HAL_UART_DISABLE(__HANDLE__)) - * and should be followed by an Enable macro (i.e __HAL_UART_ENABLE(__HANDLE__)). - * @param __HANDLE__ specifies the UART Handle. - * The Handle Instance can be any USARTx (supporting the HW Flow control feature). - * It is used to select the USART peripheral (USART availability and x value depending on device). - * @retval None - */ -#define __HAL_UART_HWCONTROL_RTS_DISABLE(__HANDLE__) \ - do{ \ - ATOMIC_CLEAR_BIT((__HANDLE__)->Instance->CR3, USART_CR3_RTSE);\ - (__HANDLE__)->Init.HwFlowCtl &= ~(USART_CR3_RTSE); \ - } while(0U) - -/** @brief Macro to enable the UART's one bit sample method - * @param __HANDLE__ specifies the UART Handle. - * @retval None - */ -#define __HAL_UART_ONE_BIT_SAMPLE_ENABLE(__HANDLE__) ((__HANDLE__)->Instance->CR3|= USART_CR3_ONEBIT) - -/** @brief Macro to disable the UART's one bit sample method - * @param __HANDLE__ specifies the UART Handle. - * @retval None - */ -#define __HAL_UART_ONE_BIT_SAMPLE_DISABLE(__HANDLE__) ((__HANDLE__)->Instance->CR3\ - &= (uint16_t)~((uint16_t)USART_CR3_ONEBIT)) - -/** @brief Enable UART - * @param __HANDLE__ specifies the UART Handle. - * @retval None - */ -#define __HAL_UART_ENABLE(__HANDLE__) ((__HANDLE__)->Instance->CR1 |= USART_CR1_UE) - -/** @brief Disable UART - * @param __HANDLE__ specifies the UART Handle. - * @retval None - */ -#define __HAL_UART_DISABLE(__HANDLE__) ((__HANDLE__)->Instance->CR1 &= ~USART_CR1_UE) -/** - * @} - */ - -/* Exported functions --------------------------------------------------------*/ -/** @addtogroup UART_Exported_Functions - * @{ - */ - -/** @addtogroup UART_Exported_Functions_Group1 Initialization and de-initialization functions - * @{ - */ - -/* Initialization/de-initialization functions **********************************/ -HAL_StatusTypeDef HAL_UART_Init(UART_HandleTypeDef *huart); -HAL_StatusTypeDef HAL_HalfDuplex_Init(UART_HandleTypeDef *huart); -HAL_StatusTypeDef HAL_LIN_Init(UART_HandleTypeDef *huart, uint32_t BreakDetectLength); -HAL_StatusTypeDef HAL_MultiProcessor_Init(UART_HandleTypeDef *huart, uint8_t Address, uint32_t WakeUpMethod); -HAL_StatusTypeDef HAL_UART_DeInit(UART_HandleTypeDef *huart); -void HAL_UART_MspInit(UART_HandleTypeDef *huart); -void HAL_UART_MspDeInit(UART_HandleTypeDef *huart); - -/* Callbacks Register/UnRegister functions ***********************************/ -#if (USE_HAL_UART_REGISTER_CALLBACKS == 1) -HAL_StatusTypeDef HAL_UART_RegisterCallback(UART_HandleTypeDef *huart, HAL_UART_CallbackIDTypeDef CallbackID, - pUART_CallbackTypeDef pCallback); -HAL_StatusTypeDef HAL_UART_UnRegisterCallback(UART_HandleTypeDef *huart, HAL_UART_CallbackIDTypeDef CallbackID); - -HAL_StatusTypeDef HAL_UART_RegisterRxEventCallback(UART_HandleTypeDef *huart, pUART_RxEventCallbackTypeDef pCallback); -HAL_StatusTypeDef HAL_UART_UnRegisterRxEventCallback(UART_HandleTypeDef *huart); -#endif /* USE_HAL_UART_REGISTER_CALLBACKS */ - -/** - * @} - */ - -/** @addtogroup UART_Exported_Functions_Group2 IO operation functions - * @{ - */ - -/* IO operation functions *******************************************************/ -HAL_StatusTypeDef HAL_UART_Transmit(UART_HandleTypeDef *huart, uint8_t *pData, uint16_t Size, uint32_t Timeout); -HAL_StatusTypeDef HAL_UART_Receive(UART_HandleTypeDef *huart, uint8_t *pData, uint16_t Size, uint32_t Timeout); -HAL_StatusTypeDef HAL_UART_Transmit_IT(UART_HandleTypeDef *huart, uint8_t *pData, uint16_t Size); -HAL_StatusTypeDef HAL_UART_Receive_IT(UART_HandleTypeDef *huart, uint8_t *pData, uint16_t Size); -HAL_StatusTypeDef HAL_UART_Transmit_DMA(UART_HandleTypeDef *huart, uint8_t *pData, uint16_t Size); -HAL_StatusTypeDef HAL_UART_Receive_DMA(UART_HandleTypeDef *huart, uint8_t *pData, uint16_t Size); -HAL_StatusTypeDef HAL_UART_DMAPause(UART_HandleTypeDef *huart); -HAL_StatusTypeDef HAL_UART_DMAResume(UART_HandleTypeDef *huart); -HAL_StatusTypeDef HAL_UART_DMAStop(UART_HandleTypeDef *huart); - -HAL_StatusTypeDef HAL_UARTEx_ReceiveToIdle(UART_HandleTypeDef *huart, uint8_t *pData, uint16_t Size, uint16_t *RxLen, - uint32_t Timeout); -HAL_StatusTypeDef HAL_UARTEx_ReceiveToIdle_IT(UART_HandleTypeDef *huart, uint8_t *pData, uint16_t Size); -HAL_StatusTypeDef HAL_UARTEx_ReceiveToIdle_DMA(UART_HandleTypeDef *huart, uint8_t *pData, uint16_t Size); - -/* Transfer Abort functions */ -HAL_StatusTypeDef HAL_UART_Abort(UART_HandleTypeDef *huart); -HAL_StatusTypeDef HAL_UART_AbortTransmit(UART_HandleTypeDef *huart); -HAL_StatusTypeDef HAL_UART_AbortReceive(UART_HandleTypeDef *huart); -HAL_StatusTypeDef HAL_UART_Abort_IT(UART_HandleTypeDef *huart); -HAL_StatusTypeDef HAL_UART_AbortTransmit_IT(UART_HandleTypeDef *huart); -HAL_StatusTypeDef HAL_UART_AbortReceive_IT(UART_HandleTypeDef *huart); - -void HAL_UART_IRQHandler(UART_HandleTypeDef *huart); -void HAL_UART_TxCpltCallback(UART_HandleTypeDef *huart); -void HAL_UART_TxHalfCpltCallback(UART_HandleTypeDef *huart); -void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart); -void HAL_UART_RxHalfCpltCallback(UART_HandleTypeDef *huart); -void HAL_UART_ErrorCallback(UART_HandleTypeDef *huart); -void HAL_UART_AbortCpltCallback(UART_HandleTypeDef *huart); -void HAL_UART_AbortTransmitCpltCallback(UART_HandleTypeDef *huart); -void HAL_UART_AbortReceiveCpltCallback(UART_HandleTypeDef *huart); - -void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size); - -/** - * @} - */ - -/** @addtogroup UART_Exported_Functions_Group3 - * @{ - */ -/* Peripheral Control functions ************************************************/ -HAL_StatusTypeDef HAL_LIN_SendBreak(UART_HandleTypeDef *huart); -HAL_StatusTypeDef HAL_MultiProcessor_EnterMuteMode(UART_HandleTypeDef *huart); -HAL_StatusTypeDef HAL_MultiProcessor_ExitMuteMode(UART_HandleTypeDef *huart); -HAL_StatusTypeDef HAL_HalfDuplex_EnableTransmitter(UART_HandleTypeDef *huart); -HAL_StatusTypeDef HAL_HalfDuplex_EnableReceiver(UART_HandleTypeDef *huart); -/** - * @} - */ - -/** @addtogroup UART_Exported_Functions_Group4 - * @{ - */ -/* Peripheral State functions **************************************************/ -HAL_UART_StateTypeDef HAL_UART_GetState(UART_HandleTypeDef *huart); -uint32_t HAL_UART_GetError(UART_HandleTypeDef *huart); -/** - * @} - */ - -/** - * @} - */ -/* Private types -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private constants ---------------------------------------------------------*/ -/** @defgroup UART_Private_Constants UART Private Constants - * @{ - */ -/** @brief UART interruptions flag mask - * - */ -#define UART_IT_MASK 0x0000FFFFU - -#define UART_CR1_REG_INDEX 1U -#define UART_CR2_REG_INDEX 2U -#define UART_CR3_REG_INDEX 3U -/** - * @} - */ - -/* Private macros ------------------------------------------------------------*/ -/** @defgroup UART_Private_Macros UART Private Macros - * @{ - */ -#define IS_UART_WORD_LENGTH(LENGTH) (((LENGTH) == UART_WORDLENGTH_8B) || \ - ((LENGTH) == UART_WORDLENGTH_9B)) -#define IS_UART_LIN_WORD_LENGTH(LENGTH) (((LENGTH) == UART_WORDLENGTH_8B)) -#define IS_UART_STOPBITS(STOPBITS) (((STOPBITS) == UART_STOPBITS_1) || \ - ((STOPBITS) == UART_STOPBITS_2)) -#define IS_UART_PARITY(PARITY) (((PARITY) == UART_PARITY_NONE) || \ - ((PARITY) == UART_PARITY_EVEN) || \ - ((PARITY) == UART_PARITY_ODD)) -#define IS_UART_HARDWARE_FLOW_CONTROL(CONTROL)\ - (((CONTROL) == UART_HWCONTROL_NONE) || \ - ((CONTROL) == UART_HWCONTROL_RTS) || \ - ((CONTROL) == UART_HWCONTROL_CTS) || \ - ((CONTROL) == UART_HWCONTROL_RTS_CTS)) -#define IS_UART_MODE(MODE) ((((MODE) & 0x0000FFF3U) == 0x00U) && ((MODE) != 0x00U)) -#define IS_UART_STATE(STATE) (((STATE) == UART_STATE_DISABLE) || \ - ((STATE) == UART_STATE_ENABLE)) -#define IS_UART_OVERSAMPLING(SAMPLING) (((SAMPLING) == UART_OVERSAMPLING_16) || \ - ((SAMPLING) == UART_OVERSAMPLING_8)) -#define IS_UART_LIN_OVERSAMPLING(SAMPLING) (((SAMPLING) == UART_OVERSAMPLING_16)) -#define IS_UART_LIN_BREAK_DETECT_LENGTH(LENGTH) (((LENGTH) == UART_LINBREAKDETECTLENGTH_10B) || \ - ((LENGTH) == UART_LINBREAKDETECTLENGTH_11B)) -#define IS_UART_WAKEUPMETHOD(WAKEUP) (((WAKEUP) == UART_WAKEUPMETHOD_IDLELINE) || \ - ((WAKEUP) == UART_WAKEUPMETHOD_ADDRESSMARK)) -#define IS_UART_BAUDRATE(BAUDRATE) ((BAUDRATE) <= 10500000U) -#define IS_UART_ADDRESS(ADDRESS) ((ADDRESS) <= 0x0FU) - -#define UART_DIV_SAMPLING16(_PCLK_, _BAUD_) ((uint32_t)((((uint64_t)(_PCLK_))*25U)/(4U*((uint64_t)(_BAUD_))))) -#define UART_DIVMANT_SAMPLING16(_PCLK_, _BAUD_) (UART_DIV_SAMPLING16((_PCLK_), (_BAUD_))/100U) -#define UART_DIVFRAQ_SAMPLING16(_PCLK_, _BAUD_) ((((UART_DIV_SAMPLING16((_PCLK_), (_BAUD_)) - (UART_DIVMANT_SAMPLING16((_PCLK_), (_BAUD_)) * 100U)) * 16U)\ - + 50U) / 100U) -/* UART BRR = mantissa + overflow + fraction - = (UART DIVMANT << 4) + (UART DIVFRAQ & 0xF0) + (UART DIVFRAQ & 0x0FU) */ -#define UART_BRR_SAMPLING16(_PCLK_, _BAUD_) ((UART_DIVMANT_SAMPLING16((_PCLK_), (_BAUD_)) << 4U) + \ - (UART_DIVFRAQ_SAMPLING16((_PCLK_), (_BAUD_)) & 0xF0U) + \ - (UART_DIVFRAQ_SAMPLING16((_PCLK_), (_BAUD_)) & 0x0FU)) - -#define UART_DIV_SAMPLING8(_PCLK_, _BAUD_) ((uint32_t)((((uint64_t)(_PCLK_))*25U)/(2U*((uint64_t)(_BAUD_))))) -#define UART_DIVMANT_SAMPLING8(_PCLK_, _BAUD_) (UART_DIV_SAMPLING8((_PCLK_), (_BAUD_))/100U) -#define UART_DIVFRAQ_SAMPLING8(_PCLK_, _BAUD_) ((((UART_DIV_SAMPLING8((_PCLK_), (_BAUD_)) - (UART_DIVMANT_SAMPLING8((_PCLK_), (_BAUD_)) * 100U)) * 8U)\ - + 50U) / 100U) -/* UART BRR = mantissa + overflow + fraction - = (UART DIVMANT << 4) + ((UART DIVFRAQ & 0xF8) << 1) + (UART DIVFRAQ & 0x07U) */ -#define UART_BRR_SAMPLING8(_PCLK_, _BAUD_) ((UART_DIVMANT_SAMPLING8((_PCLK_), (_BAUD_)) << 4U) + \ - ((UART_DIVFRAQ_SAMPLING8((_PCLK_), (_BAUD_)) & 0xF8U) << 1U) + \ - (UART_DIVFRAQ_SAMPLING8((_PCLK_), (_BAUD_)) & 0x07U)) - -/** - * @} - */ - -/* Private functions ---------------------------------------------------------*/ -/** @defgroup UART_Private_Functions UART Private Functions - * @{ - */ - -HAL_StatusTypeDef UART_Start_Receive_IT(UART_HandleTypeDef *huart, uint8_t *pData, uint16_t Size); -HAL_StatusTypeDef UART_Start_Receive_DMA(UART_HandleTypeDef *huart, uint8_t *pData, uint16_t Size); - -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ - -#ifdef __cplusplus -} -#endif - -#endif /* __STM32F4xx_HAL_UART_H */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_usart.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_usart.h deleted file mode 100644 index 5b8375371e49ba..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_usart.h +++ /dev/null @@ -1,650 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_usart.h - * @author MCD Application Team - * @brief Header file of USART HAL module. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef __STM32F4xx_HAL_USART_H -#define __STM32F4xx_HAL_USART_H - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal_def.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @addtogroup USART - * @{ - */ - -/* Exported types ------------------------------------------------------------*/ -/** @defgroup USART_Exported_Types USART Exported Types - * @{ - */ - -/** - * @brief USART Init Structure definition - */ -typedef struct -{ - uint32_t BaudRate; /*!< This member configures the Usart communication baud rate. - The baud rate is computed using the following formula: - - IntegerDivider = ((PCLKx) / (8 * (husart->Init.BaudRate))) - - FractionalDivider = ((IntegerDivider - ((uint32_t) IntegerDivider)) * 8) + 0.5 */ - - uint32_t WordLength; /*!< Specifies the number of data bits transmitted or received in a frame. - This parameter can be a value of @ref USART_Word_Length */ - - uint32_t StopBits; /*!< Specifies the number of stop bits transmitted. - This parameter can be a value of @ref USART_Stop_Bits */ - - uint32_t Parity; /*!< Specifies the parity mode. - This parameter can be a value of @ref USART_Parity - @note When parity is enabled, the computed parity is inserted - at the MSB position of the transmitted data (9th bit when - the word length is set to 9 data bits; 8th bit when the - word length is set to 8 data bits). */ - - uint32_t Mode; /*!< Specifies whether the Receive or Transmit mode is enabled or disabled. - This parameter can be a value of @ref USART_Mode */ - - uint32_t CLKPolarity; /*!< Specifies the steady state of the serial clock. - This parameter can be a value of @ref USART_Clock_Polarity */ - - uint32_t CLKPhase; /*!< Specifies the clock transition on which the bit capture is made. - This parameter can be a value of @ref USART_Clock_Phase */ - - uint32_t CLKLastBit; /*!< Specifies whether the clock pulse corresponding to the last transmitted - data bit (MSB) has to be output on the SCLK pin in synchronous mode. - This parameter can be a value of @ref USART_Last_Bit */ -} USART_InitTypeDef; - -/** - * @brief HAL State structures definition - */ -typedef enum -{ - HAL_USART_STATE_RESET = 0x00U, /*!< Peripheral is not yet Initialized */ - HAL_USART_STATE_READY = 0x01U, /*!< Peripheral Initialized and ready for use */ - HAL_USART_STATE_BUSY = 0x02U, /*!< an internal process is ongoing */ - HAL_USART_STATE_BUSY_TX = 0x12U, /*!< Data Transmission process is ongoing */ - HAL_USART_STATE_BUSY_RX = 0x22U, /*!< Data Reception process is ongoing */ - HAL_USART_STATE_BUSY_TX_RX = 0x32U, /*!< Data Transmission Reception process is ongoing */ - HAL_USART_STATE_TIMEOUT = 0x03U, /*!< Timeout state */ - HAL_USART_STATE_ERROR = 0x04U /*!< Error */ -} HAL_USART_StateTypeDef; - -/** - * @brief USART handle Structure definition - */ -typedef struct __USART_HandleTypeDef -{ - USART_TypeDef *Instance; /*!< USART registers base address */ - - USART_InitTypeDef Init; /*!< Usart communication parameters */ - - uint8_t *pTxBuffPtr; /*!< Pointer to Usart Tx transfer Buffer */ - - uint16_t TxXferSize; /*!< Usart Tx Transfer size */ - - __IO uint16_t TxXferCount; /*!< Usart Tx Transfer Counter */ - - uint8_t *pRxBuffPtr; /*!< Pointer to Usart Rx transfer Buffer */ - - uint16_t RxXferSize; /*!< Usart Rx Transfer size */ - - __IO uint16_t RxXferCount; /*!< Usart Rx Transfer Counter */ - - DMA_HandleTypeDef *hdmatx; /*!< Usart Tx DMA Handle parameters */ - - DMA_HandleTypeDef *hdmarx; /*!< Usart Rx DMA Handle parameters */ - - HAL_LockTypeDef Lock; /*!< Locking object */ - - __IO HAL_USART_StateTypeDef State; /*!< Usart communication state */ - - __IO uint32_t ErrorCode; /*!< USART Error code */ - -#if (USE_HAL_USART_REGISTER_CALLBACKS == 1) - void (* TxHalfCpltCallback)(struct __USART_HandleTypeDef *husart); /*!< USART Tx Half Complete Callback */ - void (* TxCpltCallback)(struct __USART_HandleTypeDef *husart); /*!< USART Tx Complete Callback */ - void (* RxHalfCpltCallback)(struct __USART_HandleTypeDef *husart); /*!< USART Rx Half Complete Callback */ - void (* RxCpltCallback)(struct __USART_HandleTypeDef *husart); /*!< USART Rx Complete Callback */ - void (* TxRxCpltCallback)(struct __USART_HandleTypeDef *husart); /*!< USART Tx Rx Complete Callback */ - void (* ErrorCallback)(struct __USART_HandleTypeDef *husart); /*!< USART Error Callback */ - void (* AbortCpltCallback)(struct __USART_HandleTypeDef *husart); /*!< USART Abort Complete Callback */ - - void (* MspInitCallback)(struct __USART_HandleTypeDef *husart); /*!< USART Msp Init callback */ - void (* MspDeInitCallback)(struct __USART_HandleTypeDef *husart); /*!< USART Msp DeInit callback */ -#endif /* USE_HAL_USART_REGISTER_CALLBACKS */ - -} USART_HandleTypeDef; - -#if (USE_HAL_USART_REGISTER_CALLBACKS == 1) -/** - * @brief HAL USART Callback ID enumeration definition - */ -typedef enum -{ - HAL_USART_TX_HALFCOMPLETE_CB_ID = 0x00U, /*!< USART Tx Half Complete Callback ID */ - HAL_USART_TX_COMPLETE_CB_ID = 0x01U, /*!< USART Tx Complete Callback ID */ - HAL_USART_RX_HALFCOMPLETE_CB_ID = 0x02U, /*!< USART Rx Half Complete Callback ID */ - HAL_USART_RX_COMPLETE_CB_ID = 0x03U, /*!< USART Rx Complete Callback ID */ - HAL_USART_TX_RX_COMPLETE_CB_ID = 0x04U, /*!< USART Tx Rx Complete Callback ID */ - HAL_USART_ERROR_CB_ID = 0x05U, /*!< USART Error Callback ID */ - HAL_USART_ABORT_COMPLETE_CB_ID = 0x06U, /*!< USART Abort Complete Callback ID */ - - HAL_USART_MSPINIT_CB_ID = 0x07U, /*!< USART MspInit callback ID */ - HAL_USART_MSPDEINIT_CB_ID = 0x08U /*!< USART MspDeInit callback ID */ - -} HAL_USART_CallbackIDTypeDef; - -/** - * @brief HAL USART Callback pointer definition - */ -typedef void (*pUSART_CallbackTypeDef)(USART_HandleTypeDef *husart); /*!< pointer to an USART callback function */ - -#endif /* USE_HAL_USART_REGISTER_CALLBACKS */ - -/** - * @} - */ - -/* Exported constants --------------------------------------------------------*/ -/** @defgroup USART_Exported_Constants USART Exported Constants - * @{ - */ - -/** @defgroup USART_Error_Code USART Error Code - * @brief USART Error Code - * @{ - */ -#define HAL_USART_ERROR_NONE 0x00000000U /*!< No error */ -#define HAL_USART_ERROR_PE 0x00000001U /*!< Parity error */ -#define HAL_USART_ERROR_NE 0x00000002U /*!< Noise error */ -#define HAL_USART_ERROR_FE 0x00000004U /*!< Frame error */ -#define HAL_USART_ERROR_ORE 0x00000008U /*!< Overrun error */ -#define HAL_USART_ERROR_DMA 0x00000010U /*!< DMA transfer error */ -#if (USE_HAL_USART_REGISTER_CALLBACKS == 1) -#define HAL_USART_ERROR_INVALID_CALLBACK 0x00000020U /*!< Invalid Callback error */ -#endif /* USE_HAL_USART_REGISTER_CALLBACKS */ -/** - * @} - */ - -/** @defgroup USART_Word_Length USART Word Length - * @{ - */ -#define USART_WORDLENGTH_8B 0x00000000U -#define USART_WORDLENGTH_9B ((uint32_t)USART_CR1_M) -/** - * @} - */ - -/** @defgroup USART_Stop_Bits USART Number of Stop Bits - * @{ - */ -#define USART_STOPBITS_1 0x00000000U -#define USART_STOPBITS_0_5 ((uint32_t)USART_CR2_STOP_0) -#define USART_STOPBITS_2 ((uint32_t)USART_CR2_STOP_1) -#define USART_STOPBITS_1_5 ((uint32_t)(USART_CR2_STOP_0 | USART_CR2_STOP_1)) -/** - * @} - */ - -/** @defgroup USART_Parity USART Parity - * @{ - */ -#define USART_PARITY_NONE 0x00000000U -#define USART_PARITY_EVEN ((uint32_t)USART_CR1_PCE) -#define USART_PARITY_ODD ((uint32_t)(USART_CR1_PCE | USART_CR1_PS)) -/** - * @} - */ - -/** @defgroup USART_Mode USART Mode - * @{ - */ -#define USART_MODE_RX ((uint32_t)USART_CR1_RE) -#define USART_MODE_TX ((uint32_t)USART_CR1_TE) -#define USART_MODE_TX_RX ((uint32_t)(USART_CR1_TE | USART_CR1_RE)) -/** - * @} - */ - -/** @defgroup USART_Clock USART Clock - * @{ - */ -#define USART_CLOCK_DISABLE 0x00000000U -#define USART_CLOCK_ENABLE ((uint32_t)USART_CR2_CLKEN) -/** - * @} - */ - -/** @defgroup USART_Clock_Polarity USART Clock Polarity - * @{ - */ -#define USART_POLARITY_LOW 0x00000000U -#define USART_POLARITY_HIGH ((uint32_t)USART_CR2_CPOL) -/** - * @} - */ - -/** @defgroup USART_Clock_Phase USART Clock Phase - * @{ - */ -#define USART_PHASE_1EDGE 0x00000000U -#define USART_PHASE_2EDGE ((uint32_t)USART_CR2_CPHA) -/** - * @} - */ - -/** @defgroup USART_Last_Bit USART Last Bit - * @{ - */ -#define USART_LASTBIT_DISABLE 0x00000000U -#define USART_LASTBIT_ENABLE ((uint32_t)USART_CR2_LBCL) -/** - * @} - */ - -/** @defgroup USART_NACK_State USART NACK State - * @{ - */ -#define USART_NACK_ENABLE ((uint32_t)USART_CR3_NACK) -#define USART_NACK_DISABLE 0x00000000U -/** - * @} - */ - -/** @defgroup USART_Flags USART Flags - * Elements values convention: 0xXXXX - * - 0xXXXX : Flag mask in the SR register - * @{ - */ -#define USART_FLAG_TXE ((uint32_t)USART_SR_TXE) -#define USART_FLAG_TC ((uint32_t)USART_SR_TC) -#define USART_FLAG_RXNE ((uint32_t)USART_SR_RXNE) -#define USART_FLAG_IDLE ((uint32_t)USART_SR_IDLE) -#define USART_FLAG_ORE ((uint32_t)USART_SR_ORE) -#define USART_FLAG_NE ((uint32_t)USART_SR_NE) -#define USART_FLAG_FE ((uint32_t)USART_SR_FE) -#define USART_FLAG_PE ((uint32_t)USART_SR_PE) -/** - * @} - */ - -/** @defgroup USART_Interrupt_definition USART Interrupts Definition - * Elements values convention: 0xY000XXXX - * - XXXX : Interrupt mask in the XX register - * - Y : Interrupt source register (2bits) - * - 01: CR1 register - * - 10: CR2 register - * - 11: CR3 register - * @{ - */ -#define USART_IT_PE ((uint32_t)(USART_CR1_REG_INDEX << 28U | USART_CR1_PEIE)) -#define USART_IT_TXE ((uint32_t)(USART_CR1_REG_INDEX << 28U | USART_CR1_TXEIE)) -#define USART_IT_TC ((uint32_t)(USART_CR1_REG_INDEX << 28U | USART_CR1_TCIE)) -#define USART_IT_RXNE ((uint32_t)(USART_CR1_REG_INDEX << 28U | USART_CR1_RXNEIE)) -#define USART_IT_IDLE ((uint32_t)(USART_CR1_REG_INDEX << 28U | USART_CR1_IDLEIE)) -#define USART_IT_ERR ((uint32_t)(USART_CR3_REG_INDEX << 28U | USART_CR3_EIE)) -/** - * @} - */ - -/** - * @} - */ - -/* Exported macro ------------------------------------------------------------*/ -/** @defgroup USART_Exported_Macros USART Exported Macros - * @{ - */ - -/** @brief Reset USART handle state - * @param __HANDLE__ specifies the USART Handle. - * USART Handle selects the USARTx peripheral (USART availability and x value depending on device). - * @retval None - */ -#if (USE_HAL_USART_REGISTER_CALLBACKS == 1) -#define __HAL_USART_RESET_HANDLE_STATE(__HANDLE__) do{ \ - (__HANDLE__)->State = HAL_USART_STATE_RESET; \ - (__HANDLE__)->MspInitCallback = NULL; \ - (__HANDLE__)->MspDeInitCallback = NULL; \ - } while(0U) -#else -#define __HAL_USART_RESET_HANDLE_STATE(__HANDLE__) ((__HANDLE__)->State = HAL_USART_STATE_RESET) -#endif /* USE_HAL_USART_REGISTER_CALLBACKS */ - -/** @brief Check whether the specified USART flag is set or not. - * @param __HANDLE__ specifies the USART Handle. - * USART Handle selects the USARTx peripheral (USART availability and x value depending on device). - * @param __FLAG__ specifies the flag to check. - * This parameter can be one of the following values: - * @arg USART_FLAG_TXE: Transmit data register empty flag - * @arg USART_FLAG_TC: Transmission Complete flag - * @arg USART_FLAG_RXNE: Receive data register not empty flag - * @arg USART_FLAG_IDLE: Idle Line detection flag - * @arg USART_FLAG_ORE: Overrun Error flag - * @arg USART_FLAG_NE: Noise Error flag - * @arg USART_FLAG_FE: Framing Error flag - * @arg USART_FLAG_PE: Parity Error flag - * @retval The new state of __FLAG__ (TRUE or FALSE). - */ -#define __HAL_USART_GET_FLAG(__HANDLE__, __FLAG__) (((__HANDLE__)->Instance->SR & (__FLAG__)) == (__FLAG__)) - -/** @brief Clear the specified USART pending flags. - * @param __HANDLE__ specifies the USART Handle. - * USART Handle selects the USARTx peripheral (USART availability and x value depending on device). - * @param __FLAG__ specifies the flag to check. - * This parameter can be any combination of the following values: - * @arg USART_FLAG_TC: Transmission Complete flag. - * @arg USART_FLAG_RXNE: Receive data register not empty flag. - * - * @note PE (Parity error), FE (Framing error), NE (Noise error), ORE (Overrun - * error) and IDLE (Idle line detected) flags are cleared by software - * sequence: a read operation to USART_SR register followed by a read - * operation to USART_DR register. - * @note RXNE flag can be also cleared by a read to the USART_DR register. - * @note TC flag can be also cleared by software sequence: a read operation to - * USART_SR register followed by a write operation to USART_DR register. - * @note TXE flag is cleared only by a write to the USART_DR register. - * - * @retval None - */ -#define __HAL_USART_CLEAR_FLAG(__HANDLE__, __FLAG__) ((__HANDLE__)->Instance->SR = ~(__FLAG__)) - -/** @brief Clear the USART PE pending flag. - * @param __HANDLE__ specifies the USART Handle. - * USART Handle selects the USARTx peripheral (USART availability and x value depending on device). - * @retval None - */ -#define __HAL_USART_CLEAR_PEFLAG(__HANDLE__) \ - do{ \ - __IO uint32_t tmpreg = 0x00U; \ - tmpreg = (__HANDLE__)->Instance->SR; \ - tmpreg = (__HANDLE__)->Instance->DR; \ - UNUSED(tmpreg); \ - } while(0U) - -/** @brief Clear the USART FE pending flag. - * @param __HANDLE__ specifies the USART Handle. - * USART Handle selects the USARTx peripheral (USART availability and x value depending on device). - * @retval None - */ -#define __HAL_USART_CLEAR_FEFLAG(__HANDLE__) __HAL_USART_CLEAR_PEFLAG(__HANDLE__) - -/** @brief Clear the USART NE pending flag. - * @param __HANDLE__ specifies the USART Handle. - * USART Handle selects the USARTx peripheral (USART availability and x value depending on device). - * @retval None - */ -#define __HAL_USART_CLEAR_NEFLAG(__HANDLE__) __HAL_USART_CLEAR_PEFLAG(__HANDLE__) - -/** @brief Clear the USART ORE pending flag. - * @param __HANDLE__ specifies the USART Handle. - * USART Handle selects the USARTx peripheral (USART availability and x value depending on device). - * @retval None - */ -#define __HAL_USART_CLEAR_OREFLAG(__HANDLE__) __HAL_USART_CLEAR_PEFLAG(__HANDLE__) - -/** @brief Clear the USART IDLE pending flag. - * @param __HANDLE__ specifies the USART Handle. - * USART Handle selects the USARTx peripheral (USART availability and x value depending on device). - * @retval None - */ -#define __HAL_USART_CLEAR_IDLEFLAG(__HANDLE__) __HAL_USART_CLEAR_PEFLAG(__HANDLE__) - -/** @brief Enables or disables the specified USART interrupts. - * @param __HANDLE__ specifies the USART Handle. - * USART Handle selects the USARTx peripheral (USART availability and x value depending on device). - * @param __INTERRUPT__ specifies the USART interrupt source to check. - * This parameter can be one of the following values: - * @arg USART_IT_TXE: Transmit Data Register empty interrupt - * @arg USART_IT_TC: Transmission complete interrupt - * @arg USART_IT_RXNE: Receive Data register not empty interrupt - * @arg USART_IT_IDLE: Idle line detection interrupt - * @arg USART_IT_PE: Parity Error interrupt - * @arg USART_IT_ERR: Error interrupt(Frame error, noise error, overrun error) - * @retval None - */ -#define __HAL_USART_ENABLE_IT(__HANDLE__, __INTERRUPT__) ((((__INTERRUPT__) >> 28U) == USART_CR1_REG_INDEX)? ((__HANDLE__)->Instance->CR1 |= ((__INTERRUPT__) & USART_IT_MASK)): \ - (((__INTERRUPT__) >> 28U) == USART_CR2_REG_INDEX)? ((__HANDLE__)->Instance->CR2 |= ((__INTERRUPT__) & USART_IT_MASK)): \ - ((__HANDLE__)->Instance->CR3 |= ((__INTERRUPT__) & USART_IT_MASK))) -#define __HAL_USART_DISABLE_IT(__HANDLE__, __INTERRUPT__) ((((__INTERRUPT__) >> 28U) == USART_CR1_REG_INDEX)? ((__HANDLE__)->Instance->CR1 &= ~((__INTERRUPT__) & USART_IT_MASK)): \ - (((__INTERRUPT__) >> 28U) == USART_CR2_REG_INDEX)? ((__HANDLE__)->Instance->CR2 &= ~((__INTERRUPT__) & USART_IT_MASK)): \ - ((__HANDLE__)->Instance->CR3 &= ~ ((__INTERRUPT__) & USART_IT_MASK))) - -/** @brief Checks whether the specified USART interrupt has occurred or not. - * @param __HANDLE__ specifies the USART Handle. - * USART Handle selects the USARTx peripheral (USART availability and x value depending on device). - * @param __IT__ specifies the USART interrupt source to check. - * This parameter can be one of the following values: - * @arg USART_IT_TXE: Transmit Data Register empty interrupt - * @arg USART_IT_TC: Transmission complete interrupt - * @arg USART_IT_RXNE: Receive Data register not empty interrupt - * @arg USART_IT_IDLE: Idle line detection interrupt - * @arg USART_IT_ERR: Error interrupt - * @arg USART_IT_PE: Parity Error interrupt - * @retval The new state of __IT__ (TRUE or FALSE). - */ -#define __HAL_USART_GET_IT_SOURCE(__HANDLE__, __IT__) (((((__IT__) >> 28U) == USART_CR1_REG_INDEX)? (__HANDLE__)->Instance->CR1:(((((uint32_t)(__IT__)) >> 28U) == USART_CR2_REG_INDEX)? \ - (__HANDLE__)->Instance->CR2 : (__HANDLE__)->Instance->CR3)) & (((uint32_t)(__IT__)) & USART_IT_MASK)) - -/** @brief Macro to enable the USART's one bit sample method - * @param __HANDLE__ specifies the USART Handle. - * @retval None - */ -#define __HAL_USART_ONE_BIT_SAMPLE_ENABLE(__HANDLE__) ((__HANDLE__)->Instance->CR3 |= USART_CR3_ONEBIT) - -/** @brief Macro to disable the USART's one bit sample method - * @param __HANDLE__ specifies the USART Handle. - * @retval None - */ -#define __HAL_USART_ONE_BIT_SAMPLE_DISABLE(__HANDLE__) ((__HANDLE__)->Instance->CR3\ - &= (uint16_t)~((uint16_t)USART_CR3_ONEBIT)) - -/** @brief Enable USART - * @param __HANDLE__ specifies the USART Handle. - * USART Handle selects the USARTx peripheral (USART availability and x value depending on device). - * @retval None - */ -#define __HAL_USART_ENABLE(__HANDLE__) ((__HANDLE__)->Instance->CR1 |= USART_CR1_UE) - -/** @brief Disable USART - * @param __HANDLE__ specifies the USART Handle. - * USART Handle selects the USARTx peripheral (USART availability and x value depending on device). - * @retval None - */ -#define __HAL_USART_DISABLE(__HANDLE__) ((__HANDLE__)->Instance->CR1 &= ~USART_CR1_UE) - -/** - * @} - */ -/* Exported functions --------------------------------------------------------*/ -/** @addtogroup USART_Exported_Functions - * @{ - */ - -/** @addtogroup USART_Exported_Functions_Group1 - * @{ - */ -/* Initialization/de-initialization functions **********************************/ -HAL_StatusTypeDef HAL_USART_Init(USART_HandleTypeDef *husart); -HAL_StatusTypeDef HAL_USART_DeInit(USART_HandleTypeDef *husart); -void HAL_USART_MspInit(USART_HandleTypeDef *husart); -void HAL_USART_MspDeInit(USART_HandleTypeDef *husart); - -/* Callbacks Register/UnRegister functions ***********************************/ -#if (USE_HAL_USART_REGISTER_CALLBACKS == 1) -HAL_StatusTypeDef HAL_USART_RegisterCallback(USART_HandleTypeDef *husart, HAL_USART_CallbackIDTypeDef CallbackID, - pUSART_CallbackTypeDef pCallback); -HAL_StatusTypeDef HAL_USART_UnRegisterCallback(USART_HandleTypeDef *husart, HAL_USART_CallbackIDTypeDef CallbackID); -#endif /* USE_HAL_USART_REGISTER_CALLBACKS */ - -/** - * @} - */ - -/** @addtogroup USART_Exported_Functions_Group2 - * @{ - */ -/* IO operation functions *******************************************************/ -HAL_StatusTypeDef HAL_USART_Transmit(USART_HandleTypeDef *husart, uint8_t *pTxData, uint16_t Size, uint32_t Timeout); -HAL_StatusTypeDef HAL_USART_Receive(USART_HandleTypeDef *husart, uint8_t *pRxData, uint16_t Size, uint32_t Timeout); -HAL_StatusTypeDef HAL_USART_TransmitReceive(USART_HandleTypeDef *husart, uint8_t *pTxData, uint8_t *pRxData, - uint16_t Size, uint32_t Timeout); -HAL_StatusTypeDef HAL_USART_Transmit_IT(USART_HandleTypeDef *husart, uint8_t *pTxData, uint16_t Size); -HAL_StatusTypeDef HAL_USART_Receive_IT(USART_HandleTypeDef *husart, uint8_t *pRxData, uint16_t Size); -HAL_StatusTypeDef HAL_USART_TransmitReceive_IT(USART_HandleTypeDef *husart, uint8_t *pTxData, uint8_t *pRxData, - uint16_t Size); -HAL_StatusTypeDef HAL_USART_Transmit_DMA(USART_HandleTypeDef *husart, uint8_t *pTxData, uint16_t Size); -HAL_StatusTypeDef HAL_USART_Receive_DMA(USART_HandleTypeDef *husart, uint8_t *pRxData, uint16_t Size); -HAL_StatusTypeDef HAL_USART_TransmitReceive_DMA(USART_HandleTypeDef *husart, uint8_t *pTxData, uint8_t *pRxData, - uint16_t Size); -HAL_StatusTypeDef HAL_USART_DMAPause(USART_HandleTypeDef *husart); -HAL_StatusTypeDef HAL_USART_DMAResume(USART_HandleTypeDef *husart); -HAL_StatusTypeDef HAL_USART_DMAStop(USART_HandleTypeDef *husart); -/* Transfer Abort functions */ -HAL_StatusTypeDef HAL_USART_Abort(USART_HandleTypeDef *husart); -HAL_StatusTypeDef HAL_USART_Abort_IT(USART_HandleTypeDef *husart); - -void HAL_USART_IRQHandler(USART_HandleTypeDef *husart); -void HAL_USART_TxCpltCallback(USART_HandleTypeDef *husart); -void HAL_USART_TxHalfCpltCallback(USART_HandleTypeDef *husart); -void HAL_USART_RxCpltCallback(USART_HandleTypeDef *husart); -void HAL_USART_RxHalfCpltCallback(USART_HandleTypeDef *husart); -void HAL_USART_TxRxCpltCallback(USART_HandleTypeDef *husart); -void HAL_USART_ErrorCallback(USART_HandleTypeDef *husart); -void HAL_USART_AbortCpltCallback(USART_HandleTypeDef *husart); -/** - * @} - */ - -/** @addtogroup USART_Exported_Functions_Group3 - * @{ - */ -/* Peripheral State functions ************************************************/ -HAL_USART_StateTypeDef HAL_USART_GetState(USART_HandleTypeDef *husart); -uint32_t HAL_USART_GetError(USART_HandleTypeDef *husart); -/** - * @} - */ - -/** - * @} - */ -/* Private types -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private constants ---------------------------------------------------------*/ -/** @defgroup USART_Private_Constants USART Private Constants - * @{ - */ -/** @brief USART interruptions flag mask - * - */ -#define USART_IT_MASK ((uint32_t) USART_CR1_PEIE | USART_CR1_TXEIE | USART_CR1_TCIE | USART_CR1_RXNEIE | \ - USART_CR1_IDLEIE | USART_CR2_LBDIE | USART_CR3_CTSIE | USART_CR3_EIE ) - -#define USART_CR1_REG_INDEX 1U -#define USART_CR2_REG_INDEX 2U -#define USART_CR3_REG_INDEX 3U -/** - * @} - */ - -/* Private macros ------------------------------------------------------------*/ -/** @defgroup USART_Private_Macros USART Private Macros - * @{ - */ -#define IS_USART_NACK_STATE(NACK) (((NACK) == USART_NACK_ENABLE) || \ - ((NACK) == USART_NACK_DISABLE)) - -#define IS_USART_LASTBIT(LASTBIT) (((LASTBIT) == USART_LASTBIT_DISABLE) || \ - ((LASTBIT) == USART_LASTBIT_ENABLE)) - -#define IS_USART_PHASE(CPHA) (((CPHA) == USART_PHASE_1EDGE) || \ - ((CPHA) == USART_PHASE_2EDGE)) - -#define IS_USART_POLARITY(CPOL) (((CPOL) == USART_POLARITY_LOW) || \ - ((CPOL) == USART_POLARITY_HIGH)) - -#define IS_USART_CLOCK(CLOCK) (((CLOCK) == USART_CLOCK_DISABLE) || \ - ((CLOCK) == USART_CLOCK_ENABLE)) - -#define IS_USART_WORD_LENGTH(LENGTH) (((LENGTH) == USART_WORDLENGTH_8B) || \ - ((LENGTH) == USART_WORDLENGTH_9B)) - -#define IS_USART_STOPBITS(STOPBITS) (((STOPBITS) == USART_STOPBITS_1) || \ - ((STOPBITS) == USART_STOPBITS_0_5) || \ - ((STOPBITS) == USART_STOPBITS_1_5) || \ - ((STOPBITS) == USART_STOPBITS_2)) - -#define IS_USART_PARITY(PARITY) (((PARITY) == USART_PARITY_NONE) || \ - ((PARITY) == USART_PARITY_EVEN) || \ - ((PARITY) == USART_PARITY_ODD)) - -#define IS_USART_MODE(MODE) ((((MODE) & (~((uint32_t)USART_MODE_TX_RX))) == 0x00U) && ((MODE) != 0x00U)) - -#define IS_USART_BAUDRATE(BAUDRATE) ((BAUDRATE) <= 12500000U) - -#define USART_DIV(_PCLK_, _BAUD_) ((uint32_t)((((uint64_t)(_PCLK_))*25U)/(2U*((uint64_t)(_BAUD_))))) - -#define USART_DIVMANT(_PCLK_, _BAUD_) (USART_DIV((_PCLK_), (_BAUD_))/100U) - -#define USART_DIVFRAQ(_PCLK_, _BAUD_) ((((USART_DIV((_PCLK_), (_BAUD_)) - (USART_DIVMANT((_PCLK_), (_BAUD_)) * 100U)) * 8U) + 50U) / 100U) - - /* UART BRR = mantissa + overflow + fraction - = (UART DIVMANT << 4) + ((UART DIVFRAQ & 0xF8) << 1) + (UART DIVFRAQ & 0x07U) */ - -#define USART_BRR(_PCLK_, _BAUD_) (((USART_DIVMANT((_PCLK_), (_BAUD_)) << 4U) + \ - ((USART_DIVFRAQ((_PCLK_), (_BAUD_)) & 0xF8U) << 1U)) + \ - (USART_DIVFRAQ((_PCLK_), (_BAUD_)) & 0x07U)) -/** - * @} - */ - -/* Private functions ---------------------------------------------------------*/ -/** @defgroup USART_Private_Functions USART Private Functions - * @{ - */ - -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ - -#ifdef __cplusplus -} -#endif - -#endif /* __STM32F4xx_HAL_USART_H */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_wwdg.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_wwdg.h deleted file mode 100644 index 017b34df4bf639..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_wwdg.h +++ /dev/null @@ -1,301 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_wwdg.h - * @author MCD Application Team - * @brief Header file of WWDG HAL module. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef STM32F4xx_HAL_WWDG_H -#define STM32F4xx_HAL_WWDG_H - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal_def.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @addtogroup WWDG - * @{ - */ - -/* Exported types ------------------------------------------------------------*/ - -/** @defgroup WWDG_Exported_Types WWDG Exported Types - * @{ - */ - -/** - * @brief WWDG Init structure definition - */ -typedef struct -{ - uint32_t Prescaler; /*!< Specifies the prescaler value of the WWDG. - This parameter can be a value of @ref WWDG_Prescaler */ - - uint32_t Window; /*!< Specifies the WWDG window value to be compared to the downcounter. - This parameter must be a number Min_Data = 0x40 and Max_Data = 0x7F */ - - uint32_t Counter; /*!< Specifies the WWDG free-running downcounter value. - This parameter must be a number between Min_Data = 0x40 and Max_Data = 0x7F */ - - uint32_t EWIMode ; /*!< Specifies if WWDG Early Wakeup Interrupt is enable or not. - This parameter can be a value of @ref WWDG_EWI_Mode */ - -} WWDG_InitTypeDef; - -/** - * @brief WWDG handle Structure definition - */ -#if (USE_HAL_WWDG_REGISTER_CALLBACKS == 1) -typedef struct __WWDG_HandleTypeDef -#else -typedef struct -#endif /* USE_HAL_WWDG_REGISTER_CALLBACKS */ -{ - WWDG_TypeDef *Instance; /*!< Register base address */ - - WWDG_InitTypeDef Init; /*!< WWDG required parameters */ - -#if (USE_HAL_WWDG_REGISTER_CALLBACKS == 1) - void (* EwiCallback)(struct __WWDG_HandleTypeDef *hwwdg); /*!< WWDG Early WakeUp Interrupt callback */ - - void (* MspInitCallback)(struct __WWDG_HandleTypeDef *hwwdg); /*!< WWDG Msp Init callback */ -#endif /* USE_HAL_WWDG_REGISTER_CALLBACKS */ -} WWDG_HandleTypeDef; - -#if (USE_HAL_WWDG_REGISTER_CALLBACKS == 1) -/** - * @brief HAL WWDG common Callback ID enumeration definition - */ -typedef enum -{ - HAL_WWDG_EWI_CB_ID = 0x00U, /*!< WWDG EWI callback ID */ - HAL_WWDG_MSPINIT_CB_ID = 0x01U, /*!< WWDG MspInit callback ID */ -} HAL_WWDG_CallbackIDTypeDef; - -/** - * @brief HAL WWDG Callback pointer definition - */ -typedef void (*pWWDG_CallbackTypeDef)(WWDG_HandleTypeDef *hppp); /*!< pointer to a WWDG common callback functions */ - -#endif /* USE_HAL_WWDG_REGISTER_CALLBACKS */ -/** - * @} - */ - -/* Exported constants --------------------------------------------------------*/ - -/** @defgroup WWDG_Exported_Constants WWDG Exported Constants - * @{ - */ - -/** @defgroup WWDG_Interrupt_definition WWDG Interrupt definition - * @{ - */ -#define WWDG_IT_EWI WWDG_CFR_EWI /*!< Early wakeup interrupt */ -/** - * @} - */ - -/** @defgroup WWDG_Flag_definition WWDG Flag definition - * @brief WWDG Flag definition - * @{ - */ -#define WWDG_FLAG_EWIF WWDG_SR_EWIF /*!< Early wakeup interrupt flag */ -/** - * @} - */ - -/** @defgroup WWDG_Prescaler WWDG Prescaler - * @{ - */ -#define WWDG_PRESCALER_1 0x00000000u /*!< WWDG counter clock = (PCLK1/4096)/1 */ -#define WWDG_PRESCALER_2 WWDG_CFR_WDGTB_0 /*!< WWDG counter clock = (PCLK1/4096)/2 */ -#define WWDG_PRESCALER_4 WWDG_CFR_WDGTB_1 /*!< WWDG counter clock = (PCLK1/4096)/4 */ -#define WWDG_PRESCALER_8 (WWDG_CFR_WDGTB_1 | WWDG_CFR_WDGTB_0) /*!< WWDG counter clock = (PCLK1/4096)/8 */ -/** - * @} - */ - -/** @defgroup WWDG_EWI_Mode WWDG Early Wakeup Interrupt Mode - * @{ - */ -#define WWDG_EWI_DISABLE 0x00000000u /*!< EWI Disable */ -#define WWDG_EWI_ENABLE WWDG_CFR_EWI /*!< EWI Enable */ -/** - * @} - */ - -/** - * @} - */ - -/* Private macros ------------------------------------------------------------*/ - -/** @defgroup WWDG_Private_Macros WWDG Private Macros - * @{ - */ -#define IS_WWDG_PRESCALER(__PRESCALER__) (((__PRESCALER__) == WWDG_PRESCALER_1) || \ - ((__PRESCALER__) == WWDG_PRESCALER_2) || \ - ((__PRESCALER__) == WWDG_PRESCALER_4) || \ - ((__PRESCALER__) == WWDG_PRESCALER_8)) - -#define IS_WWDG_WINDOW(__WINDOW__) (((__WINDOW__) >= WWDG_CFR_W_6) && ((__WINDOW__) <= WWDG_CFR_W)) - -#define IS_WWDG_COUNTER(__COUNTER__) (((__COUNTER__) >= WWDG_CR_T_6) && ((__COUNTER__) <= WWDG_CR_T)) - -#define IS_WWDG_EWI_MODE(__MODE__) (((__MODE__) == WWDG_EWI_ENABLE) || \ - ((__MODE__) == WWDG_EWI_DISABLE)) -/** - * @} - */ - - -/* Exported macros ------------------------------------------------------------*/ - -/** @defgroup WWDG_Exported_Macros WWDG Exported Macros - * @{ - */ - -/** - * @brief Enable the WWDG peripheral. - * @param __HANDLE__ WWDG handle - * @retval None - */ -#define __HAL_WWDG_ENABLE(__HANDLE__) SET_BIT((__HANDLE__)->Instance->CR, WWDG_CR_WDGA) - -/** - * @brief Enable the WWDG early wakeup interrupt. - * @param __HANDLE__: WWDG handle - * @param __INTERRUPT__ specifies the interrupt to enable. - * This parameter can be one of the following values: - * @arg WWDG_IT_EWI: Early wakeup interrupt - * @note Once enabled this interrupt cannot be disabled except by a system reset. - * @retval None - */ -#define __HAL_WWDG_ENABLE_IT(__HANDLE__, __INTERRUPT__) SET_BIT((__HANDLE__)->Instance->CFR, (__INTERRUPT__)) - -/** - * @brief Check whether the selected WWDG interrupt has occurred or not. - * @param __HANDLE__ WWDG handle - * @param __INTERRUPT__ specifies the it to check. - * This parameter can be one of the following values: - * @arg WWDG_FLAG_EWIF: Early wakeup interrupt IT - * @retval The new state of WWDG_FLAG (SET or RESET). - */ -#define __HAL_WWDG_GET_IT(__HANDLE__, __INTERRUPT__) __HAL_WWDG_GET_FLAG((__HANDLE__),(__INTERRUPT__)) - -/** @brief Clear the WWDG interrupt pending bits. - * bits to clear the selected interrupt pending bits. - * @param __HANDLE__ WWDG handle - * @param __INTERRUPT__ specifies the interrupt pending bit to clear. - * This parameter can be one of the following values: - * @arg WWDG_FLAG_EWIF: Early wakeup interrupt flag - */ -#define __HAL_WWDG_CLEAR_IT(__HANDLE__, __INTERRUPT__) __HAL_WWDG_CLEAR_FLAG((__HANDLE__), (__INTERRUPT__)) - -/** - * @brief Check whether the specified WWDG flag is set or not. - * @param __HANDLE__ WWDG handle - * @param __FLAG__ specifies the flag to check. - * This parameter can be one of the following values: - * @arg WWDG_FLAG_EWIF: Early wakeup interrupt flag - * @retval The new state of WWDG_FLAG (SET or RESET). - */ -#define __HAL_WWDG_GET_FLAG(__HANDLE__, __FLAG__) (((__HANDLE__)->Instance->SR & (__FLAG__)) == (__FLAG__)) - -/** - * @brief Clear the WWDG's pending flags. - * @param __HANDLE__ WWDG handle - * @param __FLAG__ specifies the flag to clear. - * This parameter can be one of the following values: - * @arg WWDG_FLAG_EWIF: Early wakeup interrupt flag - * @retval None - */ -#define __HAL_WWDG_CLEAR_FLAG(__HANDLE__, __FLAG__) ((__HANDLE__)->Instance->SR = ~(__FLAG__)) - -/** @brief Check whether the specified WWDG interrupt source is enabled or not. - * @param __HANDLE__ WWDG Handle. - * @param __INTERRUPT__ specifies the WWDG interrupt source to check. - * This parameter can be one of the following values: - * @arg WWDG_IT_EWI: Early Wakeup Interrupt - * @retval state of __INTERRUPT__ (TRUE or FALSE). - */ -#define __HAL_WWDG_GET_IT_SOURCE(__HANDLE__, __INTERRUPT__) (((__HANDLE__)->Instance->CFR\ - & (__INTERRUPT__)) == (__INTERRUPT__)) - -/** - * @} - */ - -/* Exported functions --------------------------------------------------------*/ - -/** @addtogroup WWDG_Exported_Functions - * @{ - */ - -/** @addtogroup WWDG_Exported_Functions_Group1 - * @{ - */ -/* Initialization/de-initialization functions **********************************/ -HAL_StatusTypeDef HAL_WWDG_Init(WWDG_HandleTypeDef *hwwdg); -void HAL_WWDG_MspInit(WWDG_HandleTypeDef *hwwdg); -/* Callbacks Register/UnRegister functions ***********************************/ -#if (USE_HAL_WWDG_REGISTER_CALLBACKS == 1) -HAL_StatusTypeDef HAL_WWDG_RegisterCallback(WWDG_HandleTypeDef *hwwdg, HAL_WWDG_CallbackIDTypeDef CallbackID, - pWWDG_CallbackTypeDef pCallback); -HAL_StatusTypeDef HAL_WWDG_UnRegisterCallback(WWDG_HandleTypeDef *hwwdg, HAL_WWDG_CallbackIDTypeDef CallbackID); -#endif /* USE_HAL_WWDG_REGISTER_CALLBACKS */ - -/** - * @} - */ - -/** @addtogroup WWDG_Exported_Functions_Group2 - * @{ - */ -/* I/O operation functions ******************************************************/ -HAL_StatusTypeDef HAL_WWDG_Refresh(WWDG_HandleTypeDef *hwwdg); -void HAL_WWDG_IRQHandler(WWDG_HandleTypeDef *hwwdg); -void HAL_WWDG_EarlyWakeupCallback(WWDG_HandleTypeDef *hwwdg); -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ - -#ifdef __cplusplus -} -#endif - -#endif /* STM32F4xx_HAL_WWDG_H */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_adc.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_adc.h deleted file mode 100644 index 8375c4f1511f68..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_adc.h +++ /dev/null @@ -1,4783 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_ll_adc.h - * @author MCD Application Team - * @brief Header file of ADC LL module. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef __STM32F4xx_LL_ADC_H -#define __STM32F4xx_LL_ADC_H - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx.h" - -/** @addtogroup STM32F4xx_LL_Driver - * @{ - */ - -#if defined (ADC1) || defined (ADC2) || defined (ADC3) - -/** @defgroup ADC_LL ADC - * @{ - */ - -/* Private types -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ - -/* Private constants ---------------------------------------------------------*/ -/** @defgroup ADC_LL_Private_Constants ADC Private Constants - * @{ - */ - -/* Internal mask for ADC group regular sequencer: */ -/* To select into literal LL_ADC_REG_RANK_x the relevant bits for: */ -/* - sequencer register offset */ -/* - sequencer rank bits position into the selected register */ - -/* Internal register offset for ADC group regular sequencer configuration */ -/* (offset placed into a spare area of literal definition) */ -#define ADC_SQR1_REGOFFSET 0x00000000UL -#define ADC_SQR2_REGOFFSET 0x00000100UL -#define ADC_SQR3_REGOFFSET 0x00000200UL -#define ADC_SQR4_REGOFFSET 0x00000300UL - -#define ADC_REG_SQRX_REGOFFSET_MASK (ADC_SQR1_REGOFFSET | ADC_SQR2_REGOFFSET | ADC_SQR3_REGOFFSET | ADC_SQR4_REGOFFSET) -#define ADC_REG_RANK_ID_SQRX_MASK (ADC_CHANNEL_ID_NUMBER_MASK_POSBIT0) - -/* Definition of ADC group regular sequencer bits information to be inserted */ -/* into ADC group regular sequencer ranks literals definition. */ -#define ADC_REG_RANK_1_SQRX_BITOFFSET_POS ( 0UL) /* Value equivalent to POSITION_VAL(ADC_SQR3_SQ1) */ -#define ADC_REG_RANK_2_SQRX_BITOFFSET_POS ( 5UL) /* Value equivalent to POSITION_VAL(ADC_SQR3_SQ2) */ -#define ADC_REG_RANK_3_SQRX_BITOFFSET_POS (10UL) /* Value equivalent to POSITION_VAL(ADC_SQR3_SQ3) */ -#define ADC_REG_RANK_4_SQRX_BITOFFSET_POS (15UL) /* Value equivalent to POSITION_VAL(ADC_SQR3_SQ4) */ -#define ADC_REG_RANK_5_SQRX_BITOFFSET_POS (20UL) /* Value equivalent to POSITION_VAL(ADC_SQR3_SQ5) */ -#define ADC_REG_RANK_6_SQRX_BITOFFSET_POS (25UL) /* Value equivalent to POSITION_VAL(ADC_SQR3_SQ6) */ -#define ADC_REG_RANK_7_SQRX_BITOFFSET_POS ( 0UL) /* Value equivalent to POSITION_VAL(ADC_SQR2_SQ7) */ -#define ADC_REG_RANK_8_SQRX_BITOFFSET_POS ( 5UL) /* Value equivalent to POSITION_VAL(ADC_SQR2_SQ8) */ -#define ADC_REG_RANK_9_SQRX_BITOFFSET_POS (10UL) /* Value equivalent to POSITION_VAL(ADC_SQR2_SQ9) */ -#define ADC_REG_RANK_10_SQRX_BITOFFSET_POS (15UL) /* Value equivalent to POSITION_VAL(ADC_SQR2_SQ10) */ -#define ADC_REG_RANK_11_SQRX_BITOFFSET_POS (20UL) /* Value equivalent to POSITION_VAL(ADC_SQR2_SQ11) */ -#define ADC_REG_RANK_12_SQRX_BITOFFSET_POS (25UL) /* Value equivalent to POSITION_VAL(ADC_SQR2_SQ12) */ -#define ADC_REG_RANK_13_SQRX_BITOFFSET_POS ( 0UL) /* Value equivalent to POSITION_VAL(ADC_SQR1_SQ13) */ -#define ADC_REG_RANK_14_SQRX_BITOFFSET_POS ( 5UL) /* Value equivalent to POSITION_VAL(ADC_SQR1_SQ14) */ -#define ADC_REG_RANK_15_SQRX_BITOFFSET_POS (10UL) /* Value equivalent to POSITION_VAL(ADC_SQR1_SQ15) */ -#define ADC_REG_RANK_16_SQRX_BITOFFSET_POS (15UL) /* Value equivalent to POSITION_VAL(ADC_SQR1_SQ16) */ - -/* Internal mask for ADC group injected sequencer: */ -/* To select into literal LL_ADC_INJ_RANK_x the relevant bits for: */ -/* - data register offset */ -/* - offset register offset */ -/* - sequencer rank bits position into the selected register */ - -/* Internal register offset for ADC group injected data register */ -/* (offset placed into a spare area of literal definition) */ -#define ADC_JDR1_REGOFFSET 0x00000000UL -#define ADC_JDR2_REGOFFSET 0x00000100UL -#define ADC_JDR3_REGOFFSET 0x00000200UL -#define ADC_JDR4_REGOFFSET 0x00000300UL - -/* Internal register offset for ADC group injected offset configuration */ -/* (offset placed into a spare area of literal definition) */ -#define ADC_JOFR1_REGOFFSET 0x00000000UL -#define ADC_JOFR2_REGOFFSET 0x00001000UL -#define ADC_JOFR3_REGOFFSET 0x00002000UL -#define ADC_JOFR4_REGOFFSET 0x00003000UL - -#define ADC_INJ_JDRX_REGOFFSET_MASK (ADC_JDR1_REGOFFSET | ADC_JDR2_REGOFFSET | ADC_JDR3_REGOFFSET | ADC_JDR4_REGOFFSET) -#define ADC_INJ_JOFRX_REGOFFSET_MASK (ADC_JOFR1_REGOFFSET | ADC_JOFR2_REGOFFSET | ADC_JOFR3_REGOFFSET | ADC_JOFR4_REGOFFSET) -#define ADC_INJ_RANK_ID_JSQR_MASK (ADC_CHANNEL_ID_NUMBER_MASK_POSBIT0) - -/* Internal mask for ADC group regular trigger: */ -/* To select into literal LL_ADC_REG_TRIG_x the relevant bits for: */ -/* - regular trigger source */ -/* - regular trigger edge */ -#define ADC_REG_TRIG_EXT_EDGE_DEFAULT (ADC_CR2_EXTEN_0) /* Trigger edge set to rising edge (default setting for compatibility with some ADC on other STM32 families having this setting set by HW default value) */ - -/* Mask containing trigger source masks for each of possible */ -/* trigger edge selection duplicated with shifts [0; 4; 8; 12] */ -/* corresponding to {SW start; ext trigger; ext trigger; ext trigger}. */ -#define ADC_REG_TRIG_SOURCE_MASK (((LL_ADC_REG_TRIG_SOFTWARE & ADC_CR2_EXTSEL) >> (4UL * 0UL)) | \ - ((ADC_CR2_EXTSEL) >> (4UL * 1UL)) | \ - ((ADC_CR2_EXTSEL) >> (4UL * 2UL)) | \ - ((ADC_CR2_EXTSEL) >> (4UL * 3UL))) - -/* Mask containing trigger edge masks for each of possible */ -/* trigger edge selection duplicated with shifts [0; 4; 8; 12] */ -/* corresponding to {SW start; ext trigger; ext trigger; ext trigger}. */ -#define ADC_REG_TRIG_EDGE_MASK (((LL_ADC_REG_TRIG_SOFTWARE & ADC_CR2_EXTEN) >> (4UL * 0UL)) | \ - ((ADC_REG_TRIG_EXT_EDGE_DEFAULT) >> (4UL * 1UL)) | \ - ((ADC_REG_TRIG_EXT_EDGE_DEFAULT) >> (4UL * 2UL)) | \ - ((ADC_REG_TRIG_EXT_EDGE_DEFAULT) >> (4UL * 3UL))) - -/* Definition of ADC group regular trigger bits information. */ -#define ADC_REG_TRIG_EXTSEL_BITOFFSET_POS (24UL) /* Value equivalent to POSITION_VAL(ADC_CR2_EXTSEL) */ -#define ADC_REG_TRIG_EXTEN_BITOFFSET_POS (28UL) /* Value equivalent to POSITION_VAL(ADC_CR2_EXTEN) */ - - - -/* Internal mask for ADC group injected trigger: */ -/* To select into literal LL_ADC_INJ_TRIG_x the relevant bits for: */ -/* - injected trigger source */ -/* - injected trigger edge */ -#define ADC_INJ_TRIG_EXT_EDGE_DEFAULT (ADC_CR2_JEXTEN_0) /* Trigger edge set to rising edge (default setting for compatibility with some ADC on other STM32 families having this setting set by HW default value) */ - -/* Mask containing trigger source masks for each of possible */ -/* trigger edge selection duplicated with shifts [0; 4; 8; 12] */ -/* corresponding to {SW start; ext trigger; ext trigger; ext trigger}. */ -#define ADC_INJ_TRIG_SOURCE_MASK (((LL_ADC_REG_TRIG_SOFTWARE & ADC_CR2_JEXTSEL) >> (4UL * 0UL)) | \ - ((ADC_CR2_JEXTSEL) >> (4UL * 1UL)) | \ - ((ADC_CR2_JEXTSEL) >> (4UL * 2UL)) | \ - ((ADC_CR2_JEXTSEL) >> (4UL * 3UL))) - -/* Mask containing trigger edge masks for each of possible */ -/* trigger edge selection duplicated with shifts [0; 4; 8; 12] */ -/* corresponding to {SW start; ext trigger; ext trigger; ext trigger}. */ -#define ADC_INJ_TRIG_EDGE_MASK (((LL_ADC_INJ_TRIG_SOFTWARE & ADC_CR2_JEXTEN) >> (4UL * 0UL)) | \ - ((ADC_INJ_TRIG_EXT_EDGE_DEFAULT) >> (4UL * 1UL)) | \ - ((ADC_INJ_TRIG_EXT_EDGE_DEFAULT) >> (4UL * 2UL)) | \ - ((ADC_INJ_TRIG_EXT_EDGE_DEFAULT) >> (4UL * 3UL))) - -/* Definition of ADC group injected trigger bits information. */ -#define ADC_INJ_TRIG_EXTSEL_BITOFFSET_POS (16UL) /* Value equivalent to POSITION_VAL(ADC_CR2_JEXTSEL) */ -#define ADC_INJ_TRIG_EXTEN_BITOFFSET_POS (20UL) /* Value equivalent to POSITION_VAL(ADC_CR2_JEXTEN) */ - -/* Internal mask for ADC channel: */ -/* To select into literal LL_ADC_CHANNEL_x the relevant bits for: */ -/* - channel identifier defined by number */ -/* - channel differentiation between external channels (connected to */ -/* GPIO pins) and internal channels (connected to internal paths) */ -/* - channel sampling time defined by SMPRx register offset */ -/* and SMPx bits positions into SMPRx register */ -#define ADC_CHANNEL_ID_NUMBER_MASK (ADC_CR1_AWDCH) -#define ADC_CHANNEL_ID_NUMBER_BITOFFSET_POS ( 0UL)/* Value equivalent to POSITION_VAL(ADC_CHANNEL_ID_NUMBER_MASK) */ -#define ADC_CHANNEL_ID_MASK (ADC_CHANNEL_ID_NUMBER_MASK | ADC_CHANNEL_ID_INTERNAL_CH_MASK) -/* Equivalent mask of ADC_CHANNEL_NUMBER_MASK aligned on register LSB (bit 0) */ -#define ADC_CHANNEL_ID_NUMBER_MASK_POSBIT0 0x0000001FU /* Equivalent to shift: (ADC_CHANNEL_NUMBER_MASK >> POSITION_VAL(ADC_CHANNEL_NUMBER_MASK)) */ - -/* Channel differentiation between external and internal channels */ -#define ADC_CHANNEL_ID_INTERNAL_CH 0x80000000UL /* Marker of internal channel */ -#define ADC_CHANNEL_ID_INTERNAL_CH_2 0x40000000UL /* Marker of internal channel for other ADC instances, in case of different ADC internal channels mapped on same channel number on different ADC instances */ -#define ADC_CHANNEL_DIFFERENCIATION_TEMPSENSOR_VBAT 0x10000000U /* Dummy bit for driver internal usage, not used in ADC channel setting registers CR1 or SQRx */ -#define ADC_CHANNEL_ID_INTERNAL_CH_MASK (ADC_CHANNEL_ID_INTERNAL_CH | ADC_CHANNEL_ID_INTERNAL_CH_2 | ADC_CHANNEL_DIFFERENCIATION_TEMPSENSOR_VBAT) - -/* Internal register offset for ADC channel sampling time configuration */ -/* (offset placed into a spare area of literal definition) */ -#define ADC_SMPR1_REGOFFSET 0x00000000UL -#define ADC_SMPR2_REGOFFSET 0x02000000UL -#define ADC_CHANNEL_SMPRX_REGOFFSET_MASK (ADC_SMPR1_REGOFFSET | ADC_SMPR2_REGOFFSET) - -#define ADC_CHANNEL_SMPx_BITOFFSET_MASK 0x01F00000UL -#define ADC_CHANNEL_SMPx_BITOFFSET_POS (20UL) /* Value equivalent to POSITION_VAL(ADC_CHANNEL_SMPx_BITOFFSET_MASK) */ - -/* Definition of channels ID number information to be inserted into */ -/* channels literals definition. */ -#define ADC_CHANNEL_0_NUMBER 0x00000000UL -#define ADC_CHANNEL_1_NUMBER ( ADC_CR1_AWDCH_0) -#define ADC_CHANNEL_2_NUMBER ( ADC_CR1_AWDCH_1 ) -#define ADC_CHANNEL_3_NUMBER ( ADC_CR1_AWDCH_1 | ADC_CR1_AWDCH_0) -#define ADC_CHANNEL_4_NUMBER ( ADC_CR1_AWDCH_2 ) -#define ADC_CHANNEL_5_NUMBER ( ADC_CR1_AWDCH_2 | ADC_CR1_AWDCH_0) -#define ADC_CHANNEL_6_NUMBER ( ADC_CR1_AWDCH_2 | ADC_CR1_AWDCH_1 ) -#define ADC_CHANNEL_7_NUMBER ( ADC_CR1_AWDCH_2 | ADC_CR1_AWDCH_1 | ADC_CR1_AWDCH_0) -#define ADC_CHANNEL_8_NUMBER ( ADC_CR1_AWDCH_3 ) -#define ADC_CHANNEL_9_NUMBER ( ADC_CR1_AWDCH_3 | ADC_CR1_AWDCH_0) -#define ADC_CHANNEL_10_NUMBER ( ADC_CR1_AWDCH_3 | ADC_CR1_AWDCH_1 ) -#define ADC_CHANNEL_11_NUMBER ( ADC_CR1_AWDCH_3 | ADC_CR1_AWDCH_1 | ADC_CR1_AWDCH_0) -#define ADC_CHANNEL_12_NUMBER ( ADC_CR1_AWDCH_3 | ADC_CR1_AWDCH_2 ) -#define ADC_CHANNEL_13_NUMBER ( ADC_CR1_AWDCH_3 | ADC_CR1_AWDCH_2 | ADC_CR1_AWDCH_0) -#define ADC_CHANNEL_14_NUMBER ( ADC_CR1_AWDCH_3 | ADC_CR1_AWDCH_2 | ADC_CR1_AWDCH_1 ) -#define ADC_CHANNEL_15_NUMBER ( ADC_CR1_AWDCH_3 | ADC_CR1_AWDCH_2 | ADC_CR1_AWDCH_1 | ADC_CR1_AWDCH_0) -#define ADC_CHANNEL_16_NUMBER (ADC_CR1_AWDCH_4 ) -#define ADC_CHANNEL_17_NUMBER (ADC_CR1_AWDCH_4 | ADC_CR1_AWDCH_0) -#define ADC_CHANNEL_18_NUMBER (ADC_CR1_AWDCH_4 | ADC_CR1_AWDCH_1 ) - -/* Definition of channels sampling time information to be inserted into */ -/* channels literals definition. */ -#define ADC_CHANNEL_0_SMP (ADC_SMPR2_REGOFFSET | (( 0UL) << ADC_CHANNEL_SMPx_BITOFFSET_POS)) /* Value shifted is equivalent to POSITION_VAL(ADC_SMPR2_SMP0) */ -#define ADC_CHANNEL_1_SMP (ADC_SMPR2_REGOFFSET | (( 3UL) << ADC_CHANNEL_SMPx_BITOFFSET_POS)) /* Value shifted is equivalent to POSITION_VAL(ADC_SMPR2_SMP1) */ -#define ADC_CHANNEL_2_SMP (ADC_SMPR2_REGOFFSET | (( 6UL) << ADC_CHANNEL_SMPx_BITOFFSET_POS)) /* Value shifted is equivalent to POSITION_VAL(ADC_SMPR2_SMP2) */ -#define ADC_CHANNEL_3_SMP (ADC_SMPR2_REGOFFSET | (( 9UL) << ADC_CHANNEL_SMPx_BITOFFSET_POS)) /* Value shifted is equivalent to POSITION_VAL(ADC_SMPR2_SMP3) */ -#define ADC_CHANNEL_4_SMP (ADC_SMPR2_REGOFFSET | ((12UL) << ADC_CHANNEL_SMPx_BITOFFSET_POS)) /* Value shifted is equivalent to POSITION_VAL(ADC_SMPR2_SMP4) */ -#define ADC_CHANNEL_5_SMP (ADC_SMPR2_REGOFFSET | ((15UL) << ADC_CHANNEL_SMPx_BITOFFSET_POS)) /* Value shifted is equivalent to POSITION_VAL(ADC_SMPR2_SMP5) */ -#define ADC_CHANNEL_6_SMP (ADC_SMPR2_REGOFFSET | ((18UL) << ADC_CHANNEL_SMPx_BITOFFSET_POS)) /* Value shifted is equivalent to POSITION_VAL(ADC_SMPR2_SMP6) */ -#define ADC_CHANNEL_7_SMP (ADC_SMPR2_REGOFFSET | ((21UL) << ADC_CHANNEL_SMPx_BITOFFSET_POS)) /* Value shifted is equivalent to POSITION_VAL(ADC_SMPR2_SMP7) */ -#define ADC_CHANNEL_8_SMP (ADC_SMPR2_REGOFFSET | ((24UL) << ADC_CHANNEL_SMPx_BITOFFSET_POS)) /* Value shifted is equivalent to POSITION_VAL(ADC_SMPR2_SMP8) */ -#define ADC_CHANNEL_9_SMP (ADC_SMPR2_REGOFFSET | ((27UL) << ADC_CHANNEL_SMPx_BITOFFSET_POS)) /* Value shifted is equivalent to POSITION_VAL(ADC_SMPR2_SMP9) */ -#define ADC_CHANNEL_10_SMP (ADC_SMPR1_REGOFFSET | (( 0UL) << ADC_CHANNEL_SMPx_BITOFFSET_POS)) /* Value shifted is equivalent to POSITION_VAL(ADC_SMPR1_SMP10) */ -#define ADC_CHANNEL_11_SMP (ADC_SMPR1_REGOFFSET | (( 3UL) << ADC_CHANNEL_SMPx_BITOFFSET_POS)) /* Value shifted is equivalent to POSITION_VAL(ADC_SMPR1_SMP11) */ -#define ADC_CHANNEL_12_SMP (ADC_SMPR1_REGOFFSET | (( 6UL) << ADC_CHANNEL_SMPx_BITOFFSET_POS)) /* Value shifted is equivalent to POSITION_VAL(ADC_SMPR1_SMP12) */ -#define ADC_CHANNEL_13_SMP (ADC_SMPR1_REGOFFSET | (( 9UL) << ADC_CHANNEL_SMPx_BITOFFSET_POS)) /* Value shifted is equivalent to POSITION_VAL(ADC_SMPR1_SMP13) */ -#define ADC_CHANNEL_14_SMP (ADC_SMPR1_REGOFFSET | ((12UL) << ADC_CHANNEL_SMPx_BITOFFSET_POS)) /* Value shifted is equivalent to POSITION_VAL(ADC_SMPR1_SMP14) */ -#define ADC_CHANNEL_15_SMP (ADC_SMPR1_REGOFFSET | ((15UL) << ADC_CHANNEL_SMPx_BITOFFSET_POS)) /* Value shifted is equivalent to POSITION_VAL(ADC_SMPR1_SMP15) */ -#define ADC_CHANNEL_16_SMP (ADC_SMPR1_REGOFFSET | ((18UL) << ADC_CHANNEL_SMPx_BITOFFSET_POS)) /* Value shifted is equivalent to POSITION_VAL(ADC_SMPR1_SMP16) */ -#define ADC_CHANNEL_17_SMP (ADC_SMPR1_REGOFFSET | ((21UL) << ADC_CHANNEL_SMPx_BITOFFSET_POS)) /* Value shifted is equivalent to POSITION_VAL(ADC_SMPR1_SMP17) */ -#define ADC_CHANNEL_18_SMP (ADC_SMPR1_REGOFFSET | ((24UL) << ADC_CHANNEL_SMPx_BITOFFSET_POS)) /* Value shifted is equivalent to POSITION_VAL(ADC_SMPR1_SMP18) */ - -/* Internal mask for ADC analog watchdog: */ -/* To select into literals LL_ADC_AWD_CHANNELx_xxx the relevant bits for: */ -/* (concatenation of multiple bits used in different analog watchdogs, */ -/* (feature of several watchdogs not available on all STM32 families)). */ -/* - analog watchdog 1: monitored channel defined by number, */ -/* selection of ADC group (ADC groups regular and-or injected). */ - -/* Internal register offset for ADC analog watchdog channel configuration */ -#define ADC_AWD_CR1_REGOFFSET 0x00000000UL - -#define ADC_AWD_CRX_REGOFFSET_MASK (ADC_AWD_CR1_REGOFFSET) - -#define ADC_AWD_CR1_CHANNEL_MASK (ADC_CR1_AWDCH | ADC_CR1_JAWDEN | ADC_CR1_AWDEN | ADC_CR1_AWDSGL) -#define ADC_AWD_CR_ALL_CHANNEL_MASK (ADC_AWD_CR1_CHANNEL_MASK) - -/* Internal register offset for ADC analog watchdog threshold configuration */ -#define ADC_AWD_TR1_HIGH_REGOFFSET 0x00000000UL -#define ADC_AWD_TR1_LOW_REGOFFSET 0x00000001UL -#define ADC_AWD_TRX_REGOFFSET_MASK (ADC_AWD_TR1_HIGH_REGOFFSET | ADC_AWD_TR1_LOW_REGOFFSET) - -/* ADC registers bits positions */ -#define ADC_CR1_RES_BITOFFSET_POS (24UL) /* Value equivalent to POSITION_VAL(ADC_CR1_RES) */ -#define ADC_TR_HT_BITOFFSET_POS (16UL) /* Value equivalent to POSITION_VAL(ADC_TR_HT) */ - -/* ADC internal channels related definitions */ -/* Internal voltage reference VrefInt */ -#define VREFINT_CAL_ADDR ((uint16_t*) (0x1FFF7A2AU)) /* Internal voltage reference, address of parameter VREFINT_CAL: VrefInt ADC raw data acquired at temperature 30 DegC (tolerance: +-5 DegC), Vref+ = 3.3 V (tolerance: +-10 mV). */ -#define VREFINT_CAL_VREF ( 3300UL) /* Analog voltage reference (Vref+) value with which temperature sensor has been calibrated in production (tolerance: +-10 mV) (unit: mV). */ -/* Temperature sensor */ -#define TEMPSENSOR_CAL1_ADDR ((uint16_t*) (0x1FFF7A2CU)) /* Internal temperature sensor, address of parameter TS_CAL1: On STM32F4, temperature sensor ADC raw data acquired at temperature 30 DegC (tolerance: +-5 DegC), Vref+ = 3.3 V (tolerance: +-10 mV). */ -#define TEMPSENSOR_CAL2_ADDR ((uint16_t*) (0x1FFF7A2EU)) /* Internal temperature sensor, address of parameter TS_CAL2: On STM32F4, temperature sensor ADC raw data acquired at temperature 110 DegC (tolerance: +-5 DegC), Vref+ = 3.3 V (tolerance: +-10 mV). */ -#define TEMPSENSOR_CAL1_TEMP (( int32_t) 30) /* Internal temperature sensor, temperature at which temperature sensor has been calibrated in production for data into TEMPSENSOR_CAL1_ADDR (tolerance: +-5 DegC) (unit: DegC). */ -#define TEMPSENSOR_CAL2_TEMP (( int32_t) 110) /* Internal temperature sensor, temperature at which temperature sensor has been calibrated in production for data into TEMPSENSOR_CAL2_ADDR (tolerance: +-5 DegC) (unit: DegC). */ -#define TEMPSENSOR_CAL_VREFANALOG ( 3300UL) /* Analog voltage reference (Vref+) voltage with which temperature sensor has been calibrated in production (+-10 mV) (unit: mV). */ - -/** - * @} - */ - - -/* Private macros ------------------------------------------------------------*/ -/** @defgroup ADC_LL_Private_Macros ADC Private Macros - * @{ - */ - -/** - * @brief Driver macro reserved for internal use: isolate bits with the - * selected mask and shift them to the register LSB - * (shift mask on register position bit 0). - * @param __BITS__ Bits in register 32 bits - * @param __MASK__ Mask in register 32 bits - * @retval Bits in register 32 bits - */ -#define __ADC_MASK_SHIFT(__BITS__, __MASK__) \ - (((__BITS__) & (__MASK__)) >> POSITION_VAL((__MASK__))) - -/** - * @brief Driver macro reserved for internal use: set a pointer to - * a register from a register basis from which an offset - * is applied. - * @param __REG__ Register basis from which the offset is applied. - * @param __REG_OFFFSET__ Offset to be applied (unit number of registers). - * @retval Pointer to register address - */ -#define __ADC_PTR_REG_OFFSET(__REG__, __REG_OFFFSET__) \ - ((__IO uint32_t *)((uint32_t) ((uint32_t)(&(__REG__)) + ((__REG_OFFFSET__) << 2UL)))) - -/** - * @} - */ - - -/* Exported types ------------------------------------------------------------*/ -#if defined(USE_FULL_LL_DRIVER) -/** @defgroup ADC_LL_ES_INIT ADC Exported Init structure - * @{ - */ - -/** - * @brief Structure definition of some features of ADC common parameters - * and multimode - * (all ADC instances belonging to the same ADC common instance). - * @note The setting of these parameters by function @ref LL_ADC_CommonInit() - * is conditioned to ADC instances state (all ADC instances - * sharing the same ADC common instance): - * All ADC instances sharing the same ADC common instance must be - * disabled. - */ -typedef struct -{ - uint32_t CommonClock; /*!< Set parameter common to several ADC: Clock source and prescaler. - This parameter can be a value of @ref ADC_LL_EC_COMMON_CLOCK_SOURCE - - This feature can be modified afterwards using unitary function @ref LL_ADC_SetCommonClock(). */ - -#if defined(ADC_MULTIMODE_SUPPORT) - uint32_t Multimode; /*!< Set ADC multimode configuration to operate in independent mode or multimode (for devices with several ADC instances). - This parameter can be a value of @ref ADC_LL_EC_MULTI_MODE - - This feature can be modified afterwards using unitary function @ref LL_ADC_SetMultimode(). */ - - uint32_t MultiDMATransfer; /*!< Set ADC multimode conversion data transfer: no transfer or transfer by DMA. - This parameter can be a value of @ref ADC_LL_EC_MULTI_DMA_TRANSFER - - This feature can be modified afterwards using unitary function @ref LL_ADC_SetMultiDMATransfer(). */ - - uint32_t MultiTwoSamplingDelay; /*!< Set ADC multimode delay between 2 sampling phases. - This parameter can be a value of @ref ADC_LL_EC_MULTI_TWOSMP_DELAY - - This feature can be modified afterwards using unitary function @ref LL_ADC_SetMultiTwoSamplingDelay(). */ -#endif /* ADC_MULTIMODE_SUPPORT */ - -} LL_ADC_CommonInitTypeDef; - -/** - * @brief Structure definition of some features of ADC instance. - * @note These parameters have an impact on ADC scope: ADC instance. - * Affects both group regular and group injected (availability - * of ADC group injected depends on STM32 families). - * Refer to corresponding unitary functions into - * @ref ADC_LL_EF_Configuration_ADC_Instance . - * @note The setting of these parameters by function @ref LL_ADC_Init() - * is conditioned to ADC state: - * ADC instance must be disabled. - * This condition is applied to all ADC features, for efficiency - * and compatibility over all STM32 families. However, the different - * features can be set under different ADC state conditions - * (setting possible with ADC enabled without conversion on going, - * ADC enabled with conversion on going, ...) - * Each feature can be updated afterwards with a unitary function - * and potentially with ADC in a different state than disabled, - * refer to description of each function for setting - * conditioned to ADC state. - */ -typedef struct -{ - uint32_t Resolution; /*!< Set ADC resolution. - This parameter can be a value of @ref ADC_LL_EC_RESOLUTION - - This feature can be modified afterwards using unitary function @ref LL_ADC_SetResolution(). */ - - uint32_t DataAlignment; /*!< Set ADC conversion data alignment. - This parameter can be a value of @ref ADC_LL_EC_DATA_ALIGN - - This feature can be modified afterwards using unitary function @ref LL_ADC_SetDataAlignment(). */ - - uint32_t SequencersScanMode; /*!< Set ADC scan selection. - This parameter can be a value of @ref ADC_LL_EC_SCAN_SELECTION - - This feature can be modified afterwards using unitary function @ref LL_ADC_SetSequencersScanMode(). */ - -} LL_ADC_InitTypeDef; - -/** - * @brief Structure definition of some features of ADC group regular. - * @note These parameters have an impact on ADC scope: ADC group regular. - * Refer to corresponding unitary functions into - * @ref ADC_LL_EF_Configuration_ADC_Group_Regular - * (functions with prefix "REG"). - * @note The setting of these parameters by function @ref LL_ADC_REG_Init() - * is conditioned to ADC state: - * ADC instance must be disabled. - * This condition is applied to all ADC features, for efficiency - * and compatibility over all STM32 families. However, the different - * features can be set under different ADC state conditions - * (setting possible with ADC enabled without conversion on going, - * ADC enabled with conversion on going, ...) - * Each feature can be updated afterwards with a unitary function - * and potentially with ADC in a different state than disabled, - * refer to description of each function for setting - * conditioned to ADC state. - */ -typedef struct -{ - uint32_t TriggerSource; /*!< Set ADC group regular conversion trigger source: internal (SW start) or from external IP (timer event, external interrupt line). - This parameter can be a value of @ref ADC_LL_EC_REG_TRIGGER_SOURCE - @note On this STM32 series, setting of external trigger edge is performed - using function @ref LL_ADC_REG_StartConversionExtTrig(). - - This feature can be modified afterwards using unitary function @ref LL_ADC_REG_SetTriggerSource(). */ - - uint32_t SequencerLength; /*!< Set ADC group regular sequencer length. - This parameter can be a value of @ref ADC_LL_EC_REG_SEQ_SCAN_LENGTH - @note This parameter is discarded if scan mode is disabled (refer to parameter 'ADC_SequencersScanMode'). - - This feature can be modified afterwards using unitary function @ref LL_ADC_REG_SetSequencerLength(). */ - - uint32_t SequencerDiscont; /*!< Set ADC group regular sequencer discontinuous mode: sequence subdivided and scan conversions interrupted every selected number of ranks. - This parameter can be a value of @ref ADC_LL_EC_REG_SEQ_DISCONT_MODE - @note This parameter has an effect only if group regular sequencer is enabled - (scan length of 2 ranks or more). - - This feature can be modified afterwards using unitary function @ref LL_ADC_REG_SetSequencerDiscont(). */ - - uint32_t ContinuousMode; /*!< Set ADC continuous conversion mode on ADC group regular, whether ADC conversions are performed in single mode (one conversion per trigger) or in continuous mode (after the first trigger, following conversions launched successively automatically). - This parameter can be a value of @ref ADC_LL_EC_REG_CONTINUOUS_MODE - Note: It is not possible to enable both ADC group regular continuous mode and discontinuous mode. - - This feature can be modified afterwards using unitary function @ref LL_ADC_REG_SetContinuousMode(). */ - - uint32_t DMATransfer; /*!< Set ADC group regular conversion data transfer: no transfer or transfer by DMA, and DMA requests mode. - This parameter can be a value of @ref ADC_LL_EC_REG_DMA_TRANSFER - - This feature can be modified afterwards using unitary function @ref LL_ADC_REG_SetDMATransfer(). */ - -} LL_ADC_REG_InitTypeDef; - -/** - * @brief Structure definition of some features of ADC group injected. - * @note These parameters have an impact on ADC scope: ADC group injected. - * Refer to corresponding unitary functions into - * @ref ADC_LL_EF_Configuration_ADC_Group_Regular - * (functions with prefix "INJ"). - * @note The setting of these parameters by function @ref LL_ADC_INJ_Init() - * is conditioned to ADC state: - * ADC instance must be disabled. - * This condition is applied to all ADC features, for efficiency - * and compatibility over all STM32 families. However, the different - * features can be set under different ADC state conditions - * (setting possible with ADC enabled without conversion on going, - * ADC enabled with conversion on going, ...) - * Each feature can be updated afterwards with a unitary function - * and potentially with ADC in a different state than disabled, - * refer to description of each function for setting - * conditioned to ADC state. - */ -typedef struct -{ - uint32_t TriggerSource; /*!< Set ADC group injected conversion trigger source: internal (SW start) or from external IP (timer event, external interrupt line). - This parameter can be a value of @ref ADC_LL_EC_INJ_TRIGGER_SOURCE - @note On this STM32 series, setting of external trigger edge is performed - using function @ref LL_ADC_INJ_StartConversionExtTrig(). - - This feature can be modified afterwards using unitary function @ref LL_ADC_INJ_SetTriggerSource(). */ - - uint32_t SequencerLength; /*!< Set ADC group injected sequencer length. - This parameter can be a value of @ref ADC_LL_EC_INJ_SEQ_SCAN_LENGTH - @note This parameter is discarded if scan mode is disabled (refer to parameter 'ADC_SequencersScanMode'). - - This feature can be modified afterwards using unitary function @ref LL_ADC_INJ_SetSequencerLength(). */ - - uint32_t SequencerDiscont; /*!< Set ADC group injected sequencer discontinuous mode: sequence subdivided and scan conversions interrupted every selected number of ranks. - This parameter can be a value of @ref ADC_LL_EC_INJ_SEQ_DISCONT_MODE - @note This parameter has an effect only if group injected sequencer is enabled - (scan length of 2 ranks or more). - - This feature can be modified afterwards using unitary function @ref LL_ADC_INJ_SetSequencerDiscont(). */ - - uint32_t TrigAuto; /*!< Set ADC group injected conversion trigger: independent or from ADC group regular. - This parameter can be a value of @ref ADC_LL_EC_INJ_TRIG_AUTO - Note: This parameter must be set to set to independent trigger if injected trigger source is set to an external trigger. - - This feature can be modified afterwards using unitary function @ref LL_ADC_INJ_SetTrigAuto(). */ - -} LL_ADC_INJ_InitTypeDef; - -/** - * @} - */ -#endif /* USE_FULL_LL_DRIVER */ - -/* Exported constants --------------------------------------------------------*/ -/** @defgroup ADC_LL_Exported_Constants ADC Exported Constants - * @{ - */ - -/** @defgroup ADC_LL_EC_FLAG ADC flags - * @brief Flags defines which can be used with LL_ADC_ReadReg function - * @{ - */ -#define LL_ADC_FLAG_STRT ADC_SR_STRT /*!< ADC flag ADC group regular conversion start */ -#define LL_ADC_FLAG_EOCS ADC_SR_EOC /*!< ADC flag ADC group regular end of unitary conversion or sequence conversions (to configure flag of end of conversion, use function @ref LL_ADC_REG_SetFlagEndOfConversion() ) */ -#define LL_ADC_FLAG_OVR ADC_SR_OVR /*!< ADC flag ADC group regular overrun */ -#define LL_ADC_FLAG_JSTRT ADC_SR_JSTRT /*!< ADC flag ADC group injected conversion start */ -#define LL_ADC_FLAG_JEOS ADC_SR_JEOC /*!< ADC flag ADC group injected end of sequence conversions (Note: on this STM32 series, there is no flag ADC group injected end of unitary conversion. Flag noted as "JEOC" is corresponding to flag "JEOS" in other STM32 families) */ -#define LL_ADC_FLAG_AWD1 ADC_SR_AWD /*!< ADC flag ADC analog watchdog 1 */ -#if defined(ADC_MULTIMODE_SUPPORT) -#define LL_ADC_FLAG_EOCS_MST ADC_CSR_EOC1 /*!< ADC flag ADC multimode master group regular end of unitary conversion or sequence conversions (to configure flag of end of conversion, use function @ref LL_ADC_REG_SetFlagEndOfConversion() ) */ -#define LL_ADC_FLAG_EOCS_SLV1 ADC_CSR_EOC2 /*!< ADC flag ADC multimode slave 1 group regular end of unitary conversion or sequence conversions (to configure flag of end of conversion, use function @ref LL_ADC_REG_SetFlagEndOfConversion() ) */ -#define LL_ADC_FLAG_EOCS_SLV2 ADC_CSR_EOC3 /*!< ADC flag ADC multimode slave 2 group regular end of unitary conversion or sequence conversions (to configure flag of end of conversion, use function @ref LL_ADC_REG_SetFlagEndOfConversion() ) */ -#define LL_ADC_FLAG_OVR_MST ADC_CSR_OVR1 /*!< ADC flag ADC multimode master group regular overrun */ -#define LL_ADC_FLAG_OVR_SLV1 ADC_CSR_OVR2 /*!< ADC flag ADC multimode slave 1 group regular overrun */ -#define LL_ADC_FLAG_OVR_SLV2 ADC_CSR_OVR3 /*!< ADC flag ADC multimode slave 2 group regular overrun */ -#define LL_ADC_FLAG_JEOS_MST ADC_CSR_JEOC1 /*!< ADC flag ADC multimode master group injected end of sequence conversions (Note: on this STM32 series, there is no flag ADC group injected end of unitary conversion. Flag noted as "JEOC" is corresponding to flag "JEOS" in other STM32 families) */ -#define LL_ADC_FLAG_JEOS_SLV1 ADC_CSR_JEOC2 /*!< ADC flag ADC multimode slave 1 group injected end of sequence conversions (Note: on this STM32 series, there is no flag ADC group injected end of unitary conversion. Flag noted as "JEOC" is corresponding to flag "JEOS" in other STM32 families) */ -#define LL_ADC_FLAG_JEOS_SLV2 ADC_CSR_JEOC3 /*!< ADC flag ADC multimode slave 2 group injected end of sequence conversions (Note: on this STM32 series, there is no flag ADC group injected end of unitary conversion. Flag noted as "JEOC" is corresponding to flag "JEOS" in other STM32 families) */ -#define LL_ADC_FLAG_AWD1_MST ADC_CSR_AWD1 /*!< ADC flag ADC multimode master analog watchdog 1 of the ADC master */ -#define LL_ADC_FLAG_AWD1_SLV1 ADC_CSR_AWD2 /*!< ADC flag ADC multimode slave 1 analog watchdog 1 */ -#define LL_ADC_FLAG_AWD1_SLV2 ADC_CSR_AWD3 /*!< ADC flag ADC multimode slave 2 analog watchdog 1 */ -#endif -/** - * @} - */ - -/** @defgroup ADC_LL_EC_IT ADC interruptions for configuration (interruption enable or disable) - * @brief IT defines which can be used with LL_ADC_ReadReg and LL_ADC_WriteReg functions - * @{ - */ -#define LL_ADC_IT_EOCS ADC_CR1_EOCIE /*!< ADC interruption ADC group regular end of unitary conversion or sequence conversions (to configure flag of end of conversion, use function @ref LL_ADC_REG_SetFlagEndOfConversion() ) */ -#define LL_ADC_IT_OVR ADC_CR1_OVRIE /*!< ADC interruption ADC group regular overrun */ -#define LL_ADC_IT_JEOS ADC_CR1_JEOCIE /*!< ADC interruption ADC group injected end of sequence conversions (Note: on this STM32 series, there is no flag ADC group injected end of unitary conversion. Flag noted as "JEOC" is corresponding to flag "JEOS" in other STM32 families) */ -#define LL_ADC_IT_AWD1 ADC_CR1_AWDIE /*!< ADC interruption ADC analog watchdog 1 */ -/** - * @} - */ - -/** @defgroup ADC_LL_EC_REGISTERS ADC registers compliant with specific purpose - * @{ - */ -/* List of ADC registers intended to be used (most commonly) with */ -/* DMA transfer. */ -/* Refer to function @ref LL_ADC_DMA_GetRegAddr(). */ -#define LL_ADC_DMA_REG_REGULAR_DATA 0x00000000UL /* ADC group regular conversion data register (corresponding to register DR) to be used with ADC configured in independent mode. Without DMA transfer, register accessed by LL function @ref LL_ADC_REG_ReadConversionData32() and other functions @ref LL_ADC_REG_ReadConversionDatax() */ -#if defined(ADC_MULTIMODE_SUPPORT) -#define LL_ADC_DMA_REG_REGULAR_DATA_MULTI 0x00000001UL /* ADC group regular conversion data register (corresponding to register CDR) to be used with ADC configured in multimode (available on STM32 devices with several ADC instances). Without DMA transfer, register accessed by LL function @ref LL_ADC_REG_ReadMultiConversionData32() */ -#endif -/** - * @} - */ - -/** @defgroup ADC_LL_EC_COMMON_CLOCK_SOURCE ADC common - Clock source - * @{ - */ -#define LL_ADC_CLOCK_SYNC_PCLK_DIV2 0x00000000UL /*!< ADC synchronous clock derived from AHB clock with prescaler division by 2 */ -#define LL_ADC_CLOCK_SYNC_PCLK_DIV4 ( ADC_CCR_ADCPRE_0) /*!< ADC synchronous clock derived from AHB clock with prescaler division by 4 */ -#define LL_ADC_CLOCK_SYNC_PCLK_DIV6 (ADC_CCR_ADCPRE_1 ) /*!< ADC synchronous clock derived from AHB clock with prescaler division by 6 */ -#define LL_ADC_CLOCK_SYNC_PCLK_DIV8 (ADC_CCR_ADCPRE_1 | ADC_CCR_ADCPRE_0) /*!< ADC synchronous clock derived from AHB clock with prescaler division by 8 */ -/** - * @} - */ - -/** @defgroup ADC_LL_EC_COMMON_PATH_INTERNAL ADC common - Measurement path to internal channels - * @{ - */ -/* Note: Other measurement paths to internal channels may be available */ -/* (connections to other peripherals). */ -/* If they are not listed below, they do not require any specific */ -/* path enable. In this case, Access to measurement path is done */ -/* only by selecting the corresponding ADC internal channel. */ -#define LL_ADC_PATH_INTERNAL_NONE 0x00000000UL /*!< ADC measurement paths all disabled */ -#define LL_ADC_PATH_INTERNAL_VREFINT (ADC_CCR_TSVREFE) /*!< ADC measurement path to internal channel VrefInt */ -#define LL_ADC_PATH_INTERNAL_TEMPSENSOR (ADC_CCR_TSVREFE) /*!< ADC measurement path to internal channel temperature sensor */ -#define LL_ADC_PATH_INTERNAL_VBAT (ADC_CCR_VBATE) /*!< ADC measurement path to internal channel Vbat */ -/** - * @} - */ - -/** @defgroup ADC_LL_EC_RESOLUTION ADC instance - Resolution - * @{ - */ -#define LL_ADC_RESOLUTION_12B 0x00000000UL /*!< ADC resolution 12 bits */ -#define LL_ADC_RESOLUTION_10B ( ADC_CR1_RES_0) /*!< ADC resolution 10 bits */ -#define LL_ADC_RESOLUTION_8B (ADC_CR1_RES_1 ) /*!< ADC resolution 8 bits */ -#define LL_ADC_RESOLUTION_6B (ADC_CR1_RES_1 | ADC_CR1_RES_0) /*!< ADC resolution 6 bits */ -/** - * @} - */ - -/** @defgroup ADC_LL_EC_DATA_ALIGN ADC instance - Data alignment - * @{ - */ -#define LL_ADC_DATA_ALIGN_RIGHT 0x00000000UL /*!< ADC conversion data alignment: right aligned (alignment on data register LSB bit 0)*/ -#define LL_ADC_DATA_ALIGN_LEFT (ADC_CR2_ALIGN) /*!< ADC conversion data alignment: left aligned (alignment on data register MSB bit 15)*/ -/** - * @} - */ - -/** @defgroup ADC_LL_EC_SCAN_SELECTION ADC instance - Scan selection - * @{ - */ -#define LL_ADC_SEQ_SCAN_DISABLE 0x00000000UL /*!< ADC conversion is performed in unitary conversion mode (one channel converted, that defined in rank 1). Configuration of both groups regular and injected sequencers (sequence length, ...) is discarded: equivalent to length of 1 rank.*/ -#define LL_ADC_SEQ_SCAN_ENABLE (ADC_CR1_SCAN) /*!< ADC conversions are performed in sequence conversions mode, according to configuration of both groups regular and injected sequencers (sequence length, ...). */ -/** - * @} - */ - -/** @defgroup ADC_LL_EC_GROUPS ADC instance - Groups - * @{ - */ -#define LL_ADC_GROUP_REGULAR 0x00000001UL /*!< ADC group regular (available on all STM32 devices) */ -#define LL_ADC_GROUP_INJECTED 0x00000002UL /*!< ADC group injected (not available on all STM32 devices)*/ -#define LL_ADC_GROUP_REGULAR_INJECTED 0x00000003UL /*!< ADC both groups regular and injected */ -/** - * @} - */ - -/** @defgroup ADC_LL_EC_CHANNEL ADC instance - Channel number - * @{ - */ -#define LL_ADC_CHANNEL_0 (ADC_CHANNEL_0_NUMBER | ADC_CHANNEL_0_SMP) /*!< ADC external channel (channel connected to GPIO pin) ADCx_IN0 */ -#define LL_ADC_CHANNEL_1 (ADC_CHANNEL_1_NUMBER | ADC_CHANNEL_1_SMP) /*!< ADC external channel (channel connected to GPIO pin) ADCx_IN1 */ -#define LL_ADC_CHANNEL_2 (ADC_CHANNEL_2_NUMBER | ADC_CHANNEL_2_SMP) /*!< ADC external channel (channel connected to GPIO pin) ADCx_IN2 */ -#define LL_ADC_CHANNEL_3 (ADC_CHANNEL_3_NUMBER | ADC_CHANNEL_3_SMP) /*!< ADC external channel (channel connected to GPIO pin) ADCx_IN3 */ -#define LL_ADC_CHANNEL_4 (ADC_CHANNEL_4_NUMBER | ADC_CHANNEL_4_SMP) /*!< ADC external channel (channel connected to GPIO pin) ADCx_IN4 */ -#define LL_ADC_CHANNEL_5 (ADC_CHANNEL_5_NUMBER | ADC_CHANNEL_5_SMP) /*!< ADC external channel (channel connected to GPIO pin) ADCx_IN5 */ -#define LL_ADC_CHANNEL_6 (ADC_CHANNEL_6_NUMBER | ADC_CHANNEL_6_SMP) /*!< ADC external channel (channel connected to GPIO pin) ADCx_IN6 */ -#define LL_ADC_CHANNEL_7 (ADC_CHANNEL_7_NUMBER | ADC_CHANNEL_7_SMP) /*!< ADC external channel (channel connected to GPIO pin) ADCx_IN7 */ -#define LL_ADC_CHANNEL_8 (ADC_CHANNEL_8_NUMBER | ADC_CHANNEL_8_SMP) /*!< ADC external channel (channel connected to GPIO pin) ADCx_IN8 */ -#define LL_ADC_CHANNEL_9 (ADC_CHANNEL_9_NUMBER | ADC_CHANNEL_9_SMP) /*!< ADC external channel (channel connected to GPIO pin) ADCx_IN9 */ -#define LL_ADC_CHANNEL_10 (ADC_CHANNEL_10_NUMBER | ADC_CHANNEL_10_SMP) /*!< ADC external channel (channel connected to GPIO pin) ADCx_IN10 */ -#define LL_ADC_CHANNEL_11 (ADC_CHANNEL_11_NUMBER | ADC_CHANNEL_11_SMP) /*!< ADC external channel (channel connected to GPIO pin) ADCx_IN11 */ -#define LL_ADC_CHANNEL_12 (ADC_CHANNEL_12_NUMBER | ADC_CHANNEL_12_SMP) /*!< ADC external channel (channel connected to GPIO pin) ADCx_IN12 */ -#define LL_ADC_CHANNEL_13 (ADC_CHANNEL_13_NUMBER | ADC_CHANNEL_13_SMP) /*!< ADC external channel (channel connected to GPIO pin) ADCx_IN13 */ -#define LL_ADC_CHANNEL_14 (ADC_CHANNEL_14_NUMBER | ADC_CHANNEL_14_SMP) /*!< ADC external channel (channel connected to GPIO pin) ADCx_IN14 */ -#define LL_ADC_CHANNEL_15 (ADC_CHANNEL_15_NUMBER | ADC_CHANNEL_15_SMP) /*!< ADC external channel (channel connected to GPIO pin) ADCx_IN15 */ -#define LL_ADC_CHANNEL_16 (ADC_CHANNEL_16_NUMBER | ADC_CHANNEL_16_SMP) /*!< ADC external channel (channel connected to GPIO pin) ADCx_IN16 */ -#define LL_ADC_CHANNEL_17 (ADC_CHANNEL_17_NUMBER | ADC_CHANNEL_17_SMP) /*!< ADC external channel (channel connected to GPIO pin) ADCx_IN17 */ -#define LL_ADC_CHANNEL_18 (ADC_CHANNEL_18_NUMBER | ADC_CHANNEL_18_SMP) /*!< ADC external channel (channel connected to GPIO pin) ADCx_IN18 */ -#define LL_ADC_CHANNEL_VREFINT (LL_ADC_CHANNEL_17 | ADC_CHANNEL_ID_INTERNAL_CH) /*!< ADC internal channel connected to VrefInt: Internal voltage reference. On STM32F4, ADC channel available only on ADC instance: ADC1. */ -#define LL_ADC_CHANNEL_VBAT (LL_ADC_CHANNEL_18 | ADC_CHANNEL_ID_INTERNAL_CH) /*!< ADC internal channel connected to Vbat/3: Vbat voltage through a divider ladder of factor 1/3 to have Vbat always below Vdda. On STM32F4, ADC channel available only on ADC instance: ADC1. */ -#if defined(STM32F401xC) || defined(STM32F401xE) || defined(STM32F405xx) || defined(STM32F407xx) || defined(STM32F410Tx) || defined(STM32F410Cx) || defined(STM32F410Rx) || defined(STM32F415xx) || defined(STM32F417xx) -#define LL_ADC_CHANNEL_TEMPSENSOR (LL_ADC_CHANNEL_16 | ADC_CHANNEL_ID_INTERNAL_CH) /*!< ADC internal channel connected to Temperature sensor. On STM32F4, ADC channel available only on ADC instance: ADC1. */ -#endif /* STM32F405xx || STM32F415xx || STM32F407xx || STM32F417xx || STM32F401xC || STM32F401xE || STM32F410xx */ -#if defined(STM32F411xE) || defined(STM32F412Cx) || defined(STM32F412Rx) || defined(STM32F412Vx) || defined(STM32F412Zx) || defined(STM32F413xx) || defined(STM32F423xx) || defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) || defined(STM32F446xx) || defined(STM32F469xx) || defined(STM32F479xx) -#define LL_ADC_CHANNEL_TEMPSENSOR (LL_ADC_CHANNEL_18 | ADC_CHANNEL_ID_INTERNAL_CH | ADC_CHANNEL_DIFFERENCIATION_TEMPSENSOR_VBAT) /*!< ADC internal channel connected to Temperature sensor. On STM32F4, ADC channel available only on ADC instance: ADC1. This internal channel is shared between temperature sensor and Vbat, only 1 measurement path must be enabled. */ -#endif /* STM32F411xE || STM32F412Cx || STM32F412Rx || STM32F412Vx || STM32F412Zx || STM32F413xx || STM32F423xx || STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || STM32F446xx || STM32F469xx || STM32F479xx */ -/** - * @} - */ - -/** @defgroup ADC_LL_EC_REG_TRIGGER_SOURCE ADC group regular - Trigger source - * @{ - */ -#define LL_ADC_REG_TRIG_SOFTWARE 0x00000000UL /*!< ADC group regular conversion trigger internal: SW start. */ -#define LL_ADC_REG_TRIG_EXT_TIM1_CH1 (ADC_REG_TRIG_EXT_EDGE_DEFAULT) /*!< ADC group regular conversion trigger from external IP: TIM1 channel 1 event (capture compare: input capture or output capture). Trigger edge set to rising edge (default setting). */ -#define LL_ADC_REG_TRIG_EXT_TIM1_CH2 (ADC_CR2_EXTSEL_0 | ADC_REG_TRIG_EXT_EDGE_DEFAULT) /*!< ADC group regular conversion trigger from external IP: TIM1 channel 2 event (capture compare: input capture or output capture). Trigger edge set to rising edge (default setting). */ -#define LL_ADC_REG_TRIG_EXT_TIM1_CH3 (ADC_CR2_EXTSEL_1 | ADC_REG_TRIG_EXT_EDGE_DEFAULT) /*!< ADC group regular conversion trigger from external IP: TIM1 channel 3 event (capture compare: input capture or output capture). Trigger edge set to rising edge (default setting). */ -#define LL_ADC_REG_TRIG_EXT_TIM2_CH2 (ADC_CR2_EXTSEL_1 | ADC_CR2_EXTSEL_0 | ADC_REG_TRIG_EXT_EDGE_DEFAULT) /*!< ADC group regular conversion trigger from external IP: TIM2 channel 2 event (capture compare: input capture or output capture). Trigger edge set to rising edge (default setting). */ -#define LL_ADC_REG_TRIG_EXT_TIM2_CH3 (ADC_CR2_EXTSEL_2 | ADC_REG_TRIG_EXT_EDGE_DEFAULT) /*!< ADC group regular conversion trigger from external IP: TIM2 channel 3 event (capture compare: input capture or output capture). Trigger edge set to rising edge (default setting). */ -#define LL_ADC_REG_TRIG_EXT_TIM2_CH4 (ADC_CR2_EXTSEL_2 | ADC_CR2_EXTSEL_0 | ADC_REG_TRIG_EXT_EDGE_DEFAULT) /*!< ADC group regular conversion trigger from external IP: TIM2 channel 4 event (capture compare: input capture or output capture). Trigger edge set to rising edge (default setting). */ -#define LL_ADC_REG_TRIG_EXT_TIM2_TRGO (ADC_CR2_EXTSEL_2 | ADC_CR2_EXTSEL_1 | ADC_REG_TRIG_EXT_EDGE_DEFAULT) /*!< ADC group regular conversion trigger from external IP: TIM2 TRGO. Trigger edge set to rising edge (default setting). */ -#define LL_ADC_REG_TRIG_EXT_TIM3_CH1 (ADC_CR2_EXTSEL_2 | ADC_CR2_EXTSEL_1 | ADC_CR2_EXTSEL_0 | ADC_REG_TRIG_EXT_EDGE_DEFAULT) /*!< ADC group regular conversion trigger from external IP: TIM3 channel 1 event (capture compare: input capture or output capture). Trigger edge set to rising edge (default setting). */ -#define LL_ADC_REG_TRIG_EXT_TIM3_TRGO (ADC_CR2_EXTSEL_3 | ADC_REG_TRIG_EXT_EDGE_DEFAULT) /*!< ADC group regular conversion trigger from external IP: TIM3 TRGO. Trigger edge set to rising edge (default setting). */ -#define LL_ADC_REG_TRIG_EXT_TIM4_CH4 (ADC_CR2_EXTSEL_3 | ADC_CR2_EXTSEL_0 | ADC_REG_TRIG_EXT_EDGE_DEFAULT) /*!< ADC group regular conversion trigger from external IP: TIM4 channel 4 event (capture compare: input capture or output capture). Trigger edge set to rising edge (default setting). */ -#define LL_ADC_REG_TRIG_EXT_TIM5_CH1 (ADC_CR2_EXTSEL_3 | ADC_CR2_EXTSEL_1 | ADC_REG_TRIG_EXT_EDGE_DEFAULT) /*!< ADC group regular conversion trigger from external IP: TIM5 channel 1 event (capture compare: input capture or output capture). Trigger edge set to rising edge (default setting). */ -#define LL_ADC_REG_TRIG_EXT_TIM5_CH2 (ADC_CR2_EXTSEL_3 | ADC_CR2_EXTSEL_1 | ADC_CR2_EXTSEL_0 | ADC_REG_TRIG_EXT_EDGE_DEFAULT) /*!< ADC group regular conversion trigger from external IP: TIM5 channel 2 event (capture compare: input capture or output capture). Trigger edge set to rising edge (default setting). */ -#define LL_ADC_REG_TRIG_EXT_TIM5_CH3 (ADC_CR2_EXTSEL_3 | ADC_CR2_EXTSEL_2 | ADC_REG_TRIG_EXT_EDGE_DEFAULT) /*!< ADC group regular conversion trigger from external IP: TIM5 channel 3 event (capture compare: input capture or output capture). Trigger edge set to rising edge (default setting). */ -#define LL_ADC_REG_TRIG_EXT_TIM8_CH1 (ADC_CR2_EXTSEL_3 | ADC_CR2_EXTSEL_2 | ADC_CR2_EXTSEL_0 | ADC_REG_TRIG_EXT_EDGE_DEFAULT) /*!< ADC group regular conversion trigger from external IP: TIM8 channel 1 event (capture compare: input capture or output capture). Trigger edge set to rising edge (default setting). */ -#define LL_ADC_REG_TRIG_EXT_TIM8_TRGO (ADC_CR2_EXTSEL_3 | ADC_CR2_EXTSEL_2 | ADC_CR2_EXTSEL_1 | ADC_REG_TRIG_EXT_EDGE_DEFAULT) /*!< ADC group regular conversion trigger from external IP: TIM8 TRGO. Trigger edge set to rising edge (default setting). */ -#define LL_ADC_REG_TRIG_EXT_EXTI_LINE11 (ADC_CR2_EXTSEL_3 | ADC_CR2_EXTSEL_2 | ADC_CR2_EXTSEL_1 | ADC_CR2_EXTSEL_0 | ADC_REG_TRIG_EXT_EDGE_DEFAULT) /*!< ADC group regular conversion trigger from external IP: external interrupt line 11. Trigger edge set to rising edge (default setting). */ -/** - * @} - */ - -/** @defgroup ADC_LL_EC_REG_TRIGGER_EDGE ADC group regular - Trigger edge - * @{ - */ -#define LL_ADC_REG_TRIG_EXT_RISING ( ADC_CR2_EXTEN_0) /*!< ADC group regular conversion trigger polarity set to rising edge */ -#define LL_ADC_REG_TRIG_EXT_FALLING (ADC_CR2_EXTEN_1 ) /*!< ADC group regular conversion trigger polarity set to falling edge */ -#define LL_ADC_REG_TRIG_EXT_RISINGFALLING (ADC_CR2_EXTEN_1 | ADC_CR2_EXTEN_0) /*!< ADC group regular conversion trigger polarity set to both rising and falling edges */ -/** - * @} - */ - -/** @defgroup ADC_LL_EC_REG_CONTINUOUS_MODE ADC group regular - Continuous mode -* @{ -*/ -#define LL_ADC_REG_CONV_SINGLE 0x00000000UL /*!< ADC conversions are performed in single mode: one conversion per trigger */ -#define LL_ADC_REG_CONV_CONTINUOUS (ADC_CR2_CONT) /*!< ADC conversions are performed in continuous mode: after the first trigger, following conversions launched successively automatically */ -/** - * @} - */ - -/** @defgroup ADC_LL_EC_REG_DMA_TRANSFER ADC group regular - DMA transfer of ADC conversion data - * @{ - */ -#define LL_ADC_REG_DMA_TRANSFER_NONE 0x00000000UL /*!< ADC conversions are not transferred by DMA */ -#define LL_ADC_REG_DMA_TRANSFER_LIMITED ( ADC_CR2_DMA) /*!< ADC conversion data are transferred by DMA, in limited mode (one shot mode): DMA transfer requests are stopped when number of DMA data transfers (number of ADC conversions) is reached. This ADC mode is intended to be used with DMA mode non-circular. */ -#define LL_ADC_REG_DMA_TRANSFER_UNLIMITED (ADC_CR2_DDS | ADC_CR2_DMA) /*!< ADC conversion data are transferred by DMA, in unlimited mode: DMA transfer requests are unlimited, whatever number of DMA data transferred (number of ADC conversions). This ADC mode is intended to be used with DMA mode circular. */ -/** - * @} - */ - -/** @defgroup ADC_LL_EC_REG_FLAG_EOC_SELECTION ADC group regular - Flag EOC selection (unitary or sequence conversions) - * @{ - */ -#define LL_ADC_REG_FLAG_EOC_SEQUENCE_CONV 0x00000000UL /*!< ADC flag EOC (end of unitary conversion) selected */ -#define LL_ADC_REG_FLAG_EOC_UNITARY_CONV (ADC_CR2_EOCS) /*!< ADC flag EOS (end of sequence conversions) selected */ -/** - * @} - */ - -/** @defgroup ADC_LL_EC_REG_SEQ_SCAN_LENGTH ADC group regular - Sequencer scan length - * @{ - */ -#define LL_ADC_REG_SEQ_SCAN_DISABLE 0x00000000UL /*!< ADC group regular sequencer disable (equivalent to sequencer of 1 rank: ADC conversion on only 1 channel) */ -#define LL_ADC_REG_SEQ_SCAN_ENABLE_2RANKS ( ADC_SQR1_L_0) /*!< ADC group regular sequencer enable with 2 ranks in the sequence */ -#define LL_ADC_REG_SEQ_SCAN_ENABLE_3RANKS ( ADC_SQR1_L_1 ) /*!< ADC group regular sequencer enable with 3 ranks in the sequence */ -#define LL_ADC_REG_SEQ_SCAN_ENABLE_4RANKS ( ADC_SQR1_L_1 | ADC_SQR1_L_0) /*!< ADC group regular sequencer enable with 4 ranks in the sequence */ -#define LL_ADC_REG_SEQ_SCAN_ENABLE_5RANKS ( ADC_SQR1_L_2 ) /*!< ADC group regular sequencer enable with 5 ranks in the sequence */ -#define LL_ADC_REG_SEQ_SCAN_ENABLE_6RANKS ( ADC_SQR1_L_2 | ADC_SQR1_L_0) /*!< ADC group regular sequencer enable with 6 ranks in the sequence */ -#define LL_ADC_REG_SEQ_SCAN_ENABLE_7RANKS ( ADC_SQR1_L_2 | ADC_SQR1_L_1 ) /*!< ADC group regular sequencer enable with 7 ranks in the sequence */ -#define LL_ADC_REG_SEQ_SCAN_ENABLE_8RANKS ( ADC_SQR1_L_2 | ADC_SQR1_L_1 | ADC_SQR1_L_0) /*!< ADC group regular sequencer enable with 8 ranks in the sequence */ -#define LL_ADC_REG_SEQ_SCAN_ENABLE_9RANKS (ADC_SQR1_L_3 ) /*!< ADC group regular sequencer enable with 9 ranks in the sequence */ -#define LL_ADC_REG_SEQ_SCAN_ENABLE_10RANKS (ADC_SQR1_L_3 | ADC_SQR1_L_0) /*!< ADC group regular sequencer enable with 10 ranks in the sequence */ -#define LL_ADC_REG_SEQ_SCAN_ENABLE_11RANKS (ADC_SQR1_L_3 | ADC_SQR1_L_1 ) /*!< ADC group regular sequencer enable with 11 ranks in the sequence */ -#define LL_ADC_REG_SEQ_SCAN_ENABLE_12RANKS (ADC_SQR1_L_3 | ADC_SQR1_L_1 | ADC_SQR1_L_0) /*!< ADC group regular sequencer enable with 12 ranks in the sequence */ -#define LL_ADC_REG_SEQ_SCAN_ENABLE_13RANKS (ADC_SQR1_L_3 | ADC_SQR1_L_2 ) /*!< ADC group regular sequencer enable with 13 ranks in the sequence */ -#define LL_ADC_REG_SEQ_SCAN_ENABLE_14RANKS (ADC_SQR1_L_3 | ADC_SQR1_L_2 | ADC_SQR1_L_0) /*!< ADC group regular sequencer enable with 14 ranks in the sequence */ -#define LL_ADC_REG_SEQ_SCAN_ENABLE_15RANKS (ADC_SQR1_L_3 | ADC_SQR1_L_2 | ADC_SQR1_L_1 ) /*!< ADC group regular sequencer enable with 15 ranks in the sequence */ -#define LL_ADC_REG_SEQ_SCAN_ENABLE_16RANKS (ADC_SQR1_L_3 | ADC_SQR1_L_2 | ADC_SQR1_L_1 | ADC_SQR1_L_0) /*!< ADC group regular sequencer enable with 16 ranks in the sequence */ -/** - * @} - */ - -/** @defgroup ADC_LL_EC_REG_SEQ_DISCONT_MODE ADC group regular - Sequencer discontinuous mode - * @{ - */ -#define LL_ADC_REG_SEQ_DISCONT_DISABLE 0x00000000UL /*!< ADC group regular sequencer discontinuous mode disable */ -#define LL_ADC_REG_SEQ_DISCONT_1RANK ( ADC_CR1_DISCEN) /*!< ADC group regular sequencer discontinuous mode enable with sequence interruption every rank */ -#define LL_ADC_REG_SEQ_DISCONT_2RANKS ( ADC_CR1_DISCNUM_0 | ADC_CR1_DISCEN) /*!< ADC group regular sequencer discontinuous mode enabled with sequence interruption every 2 ranks */ -#define LL_ADC_REG_SEQ_DISCONT_3RANKS ( ADC_CR1_DISCNUM_1 | ADC_CR1_DISCEN) /*!< ADC group regular sequencer discontinuous mode enable with sequence interruption every 3 ranks */ -#define LL_ADC_REG_SEQ_DISCONT_4RANKS ( ADC_CR1_DISCNUM_1 | ADC_CR1_DISCNUM_0 | ADC_CR1_DISCEN) /*!< ADC group regular sequencer discontinuous mode enable with sequence interruption every 4 ranks */ -#define LL_ADC_REG_SEQ_DISCONT_5RANKS (ADC_CR1_DISCNUM_2 | ADC_CR1_DISCEN) /*!< ADC group regular sequencer discontinuous mode enable with sequence interruption every 5 ranks */ -#define LL_ADC_REG_SEQ_DISCONT_6RANKS (ADC_CR1_DISCNUM_2 | ADC_CR1_DISCNUM_0 | ADC_CR1_DISCEN) /*!< ADC group regular sequencer discontinuous mode enable with sequence interruption every 6 ranks */ -#define LL_ADC_REG_SEQ_DISCONT_7RANKS (ADC_CR1_DISCNUM_2 | ADC_CR1_DISCNUM_1 | ADC_CR1_DISCEN) /*!< ADC group regular sequencer discontinuous mode enable with sequence interruption every 7 ranks */ -#define LL_ADC_REG_SEQ_DISCONT_8RANKS (ADC_CR1_DISCNUM_2 | ADC_CR1_DISCNUM_1 | ADC_CR1_DISCNUM_0 | ADC_CR1_DISCEN) /*!< ADC group regular sequencer discontinuous mode enable with sequence interruption every 8 ranks */ -/** - * @} - */ - -/** @defgroup ADC_LL_EC_REG_SEQ_RANKS ADC group regular - Sequencer ranks - * @{ - */ -#define LL_ADC_REG_RANK_1 (ADC_SQR3_REGOFFSET | ADC_REG_RANK_1_SQRX_BITOFFSET_POS) /*!< ADC group regular sequencer rank 1 */ -#define LL_ADC_REG_RANK_2 (ADC_SQR3_REGOFFSET | ADC_REG_RANK_2_SQRX_BITOFFSET_POS) /*!< ADC group regular sequencer rank 2 */ -#define LL_ADC_REG_RANK_3 (ADC_SQR3_REGOFFSET | ADC_REG_RANK_3_SQRX_BITOFFSET_POS) /*!< ADC group regular sequencer rank 3 */ -#define LL_ADC_REG_RANK_4 (ADC_SQR3_REGOFFSET | ADC_REG_RANK_4_SQRX_BITOFFSET_POS) /*!< ADC group regular sequencer rank 4 */ -#define LL_ADC_REG_RANK_5 (ADC_SQR3_REGOFFSET | ADC_REG_RANK_5_SQRX_BITOFFSET_POS) /*!< ADC group regular sequencer rank 5 */ -#define LL_ADC_REG_RANK_6 (ADC_SQR3_REGOFFSET | ADC_REG_RANK_6_SQRX_BITOFFSET_POS) /*!< ADC group regular sequencer rank 6 */ -#define LL_ADC_REG_RANK_7 (ADC_SQR2_REGOFFSET | ADC_REG_RANK_7_SQRX_BITOFFSET_POS) /*!< ADC group regular sequencer rank 7 */ -#define LL_ADC_REG_RANK_8 (ADC_SQR2_REGOFFSET | ADC_REG_RANK_8_SQRX_BITOFFSET_POS) /*!< ADC group regular sequencer rank 8 */ -#define LL_ADC_REG_RANK_9 (ADC_SQR2_REGOFFSET | ADC_REG_RANK_9_SQRX_BITOFFSET_POS) /*!< ADC group regular sequencer rank 9 */ -#define LL_ADC_REG_RANK_10 (ADC_SQR2_REGOFFSET | ADC_REG_RANK_10_SQRX_BITOFFSET_POS) /*!< ADC group regular sequencer rank 10 */ -#define LL_ADC_REG_RANK_11 (ADC_SQR2_REGOFFSET | ADC_REG_RANK_11_SQRX_BITOFFSET_POS) /*!< ADC group regular sequencer rank 11 */ -#define LL_ADC_REG_RANK_12 (ADC_SQR2_REGOFFSET | ADC_REG_RANK_12_SQRX_BITOFFSET_POS) /*!< ADC group regular sequencer rank 12 */ -#define LL_ADC_REG_RANK_13 (ADC_SQR1_REGOFFSET | ADC_REG_RANK_13_SQRX_BITOFFSET_POS) /*!< ADC group regular sequencer rank 13 */ -#define LL_ADC_REG_RANK_14 (ADC_SQR1_REGOFFSET | ADC_REG_RANK_14_SQRX_BITOFFSET_POS) /*!< ADC group regular sequencer rank 14 */ -#define LL_ADC_REG_RANK_15 (ADC_SQR1_REGOFFSET | ADC_REG_RANK_15_SQRX_BITOFFSET_POS) /*!< ADC group regular sequencer rank 15 */ -#define LL_ADC_REG_RANK_16 (ADC_SQR1_REGOFFSET | ADC_REG_RANK_16_SQRX_BITOFFSET_POS) /*!< ADC group regular sequencer rank 16 */ -/** - * @} - */ - -/** @defgroup ADC_LL_EC_INJ_TRIGGER_SOURCE ADC group injected - Trigger source - * @{ - */ -#define LL_ADC_INJ_TRIG_SOFTWARE 0x00000000UL /*!< ADC group injected conversion trigger internal: SW start. */ -#define LL_ADC_INJ_TRIG_EXT_TIM1_CH4 (ADC_INJ_TRIG_EXT_EDGE_DEFAULT) /*!< ADC group injected conversion trigger from external IP: TIM1 channel 4 event (capture compare: input capture or output capture). Trigger edge set to rising edge (default setting). */ -#define LL_ADC_INJ_TRIG_EXT_TIM1_TRGO (ADC_CR2_JEXTSEL_0 | ADC_INJ_TRIG_EXT_EDGE_DEFAULT) /*!< ADC group injected conversion trigger from external IP: TIM1 TRGO. Trigger edge set to rising edge (default setting). */ -#define LL_ADC_INJ_TRIG_EXT_TIM2_CH1 (ADC_CR2_JEXTSEL_1 | ADC_INJ_TRIG_EXT_EDGE_DEFAULT) /*!< ADC group injected conversion trigger from external IP: TIM2 channel 1 event (capture compare: input capture or output capture). Trigger edge set to rising edge (default setting). */ -#define LL_ADC_INJ_TRIG_EXT_TIM2_TRGO (ADC_CR2_JEXTSEL_1 | ADC_CR2_JEXTSEL_0 | ADC_INJ_TRIG_EXT_EDGE_DEFAULT) /*!< ADC group injected conversion trigger from external IP: TIM2 TRGO. Trigger edge set to rising edge (default setting). */ -#define LL_ADC_INJ_TRIG_EXT_TIM3_CH2 (ADC_CR2_JEXTSEL_2 | ADC_INJ_TRIG_EXT_EDGE_DEFAULT) /*!< ADC group injected conversion trigger from external IP: TIM3 channel 2 event (capture compare: input capture or output capture). Trigger edge set to rising edge (default setting). */ -#define LL_ADC_INJ_TRIG_EXT_TIM3_CH4 (ADC_CR2_JEXTSEL_2 | ADC_CR2_JEXTSEL_0 | ADC_INJ_TRIG_EXT_EDGE_DEFAULT) /*!< ADC group injected conversion trigger from external IP: TIM3 channel 4 event (capture compare: input capture or output capture). Trigger edge set to rising edge (default setting). */ -#define LL_ADC_INJ_TRIG_EXT_TIM4_CH1 (ADC_CR2_JEXTSEL_2 | ADC_CR2_JEXTSEL_1 | ADC_INJ_TRIG_EXT_EDGE_DEFAULT) /*!< ADC group injected conversion trigger from external IP: TIM4 channel 1 event (capture compare: input capture or output capture). Trigger edge set to rising edge (default setting). */ -#define LL_ADC_INJ_TRIG_EXT_TIM4_CH2 (ADC_CR2_JEXTSEL_2 | ADC_CR2_JEXTSEL_1 | ADC_CR2_JEXTSEL_0 | ADC_INJ_TRIG_EXT_EDGE_DEFAULT) /*!< ADC group injected conversion trigger from external IP: TIM4 channel 2 event (capture compare: input capture or output capture). Trigger edge set to rising edge (default setting). */ -#define LL_ADC_INJ_TRIG_EXT_TIM4_CH3 (ADC_CR2_JEXTSEL_3 | ADC_INJ_TRIG_EXT_EDGE_DEFAULT) /*!< ADC group injected conversion trigger from external IP: TIM4 channel 3 event (capture compare: input capture or output capture). Trigger edge set to rising edge (default setting). */ -#define LL_ADC_INJ_TRIG_EXT_TIM4_TRGO (ADC_CR2_JEXTSEL_3 | ADC_CR2_JEXTSEL_0 | ADC_INJ_TRIG_EXT_EDGE_DEFAULT) /*!< ADC group injected conversion trigger from external IP: TIM4 TRGO. Trigger edge set to rising edge (default setting). */ -#define LL_ADC_INJ_TRIG_EXT_TIM5_CH4 (ADC_CR2_JEXTSEL_3 | ADC_CR2_JEXTSEL_1 | ADC_INJ_TRIG_EXT_EDGE_DEFAULT) /*!< ADC group injected conversion trigger from external IP: TIM5 channel 4 event (capture compare: input capture or output capture). Trigger edge set to rising edge (default setting). */ -#define LL_ADC_INJ_TRIG_EXT_TIM5_TRGO (ADC_CR2_JEXTSEL_3 | ADC_CR2_JEXTSEL_1 | ADC_CR2_JEXTSEL_0 | ADC_INJ_TRIG_EXT_EDGE_DEFAULT) /*!< ADC group injected conversion trigger from external IP: TIM5 TRGO. Trigger edge set to rising edge (default setting). */ -#define LL_ADC_INJ_TRIG_EXT_TIM8_CH2 (ADC_CR2_JEXTSEL_3 | ADC_CR2_JEXTSEL_2 | ADC_INJ_TRIG_EXT_EDGE_DEFAULT) /*!< ADC group injected conversion trigger from external IP: TIM8 channel 2 event (capture compare: input capture or output capture). Trigger edge set to rising edge (default setting). */ -#define LL_ADC_INJ_TRIG_EXT_TIM8_CH3 (ADC_CR2_JEXTSEL_3 | ADC_CR2_JEXTSEL_2 | ADC_CR2_JEXTSEL_0 | ADC_INJ_TRIG_EXT_EDGE_DEFAULT) /*!< ADC group injected conversion trigger from external IP: TIM8 channel 3 event (capture compare: input capture or output capture). Trigger edge set to rising edge (default setting). */ -#define LL_ADC_INJ_TRIG_EXT_TIM8_CH4 (ADC_CR2_JEXTSEL_3 | ADC_CR2_JEXTSEL_2 | ADC_CR2_JEXTSEL_1 | ADC_INJ_TRIG_EXT_EDGE_DEFAULT) /*!< ADC group injected conversion trigger from external IP: TIM8 channel 4 event (capture compare: input capture or output capture). Trigger edge set to rising edge (default setting). */ -#define LL_ADC_INJ_TRIG_EXT_EXTI_LINE15 (ADC_CR2_JEXTSEL_3 | ADC_CR2_JEXTSEL_2 | ADC_CR2_JEXTSEL_1 | ADC_CR2_JEXTSEL_0 | ADC_INJ_TRIG_EXT_EDGE_DEFAULT) /*!< ADC group injected conversion trigger from external IP: external interrupt line 15. Trigger edge set to rising edge (default setting). */ -/** - * @} - */ - -/** @defgroup ADC_LL_EC_INJ_TRIGGER_EDGE ADC group injected - Trigger edge - * @{ - */ -#define LL_ADC_INJ_TRIG_EXT_RISING ( ADC_CR2_JEXTEN_0) /*!< ADC group injected conversion trigger polarity set to rising edge */ -#define LL_ADC_INJ_TRIG_EXT_FALLING (ADC_CR2_JEXTEN_1 ) /*!< ADC group injected conversion trigger polarity set to falling edge */ -#define LL_ADC_INJ_TRIG_EXT_RISINGFALLING (ADC_CR2_JEXTEN_1 | ADC_CR2_JEXTEN_0) /*!< ADC group injected conversion trigger polarity set to both rising and falling edges */ -/** - * @} - */ - -/** @defgroup ADC_LL_EC_INJ_TRIG_AUTO ADC group injected - Automatic trigger mode -* @{ -*/ -#define LL_ADC_INJ_TRIG_INDEPENDENT 0x00000000UL /*!< ADC group injected conversion trigger independent. Setting mandatory if ADC group injected injected trigger source is set to an external trigger. */ -#define LL_ADC_INJ_TRIG_FROM_GRP_REGULAR (ADC_CR1_JAUTO) /*!< ADC group injected conversion trigger from ADC group regular. Setting compliant only with group injected trigger source set to SW start, without any further action on ADC group injected conversion start or stop: in this case, ADC group injected is controlled only from ADC group regular. */ -/** - * @} - */ - - -/** @defgroup ADC_LL_EC_INJ_SEQ_SCAN_LENGTH ADC group injected - Sequencer scan length - * @{ - */ -#define LL_ADC_INJ_SEQ_SCAN_DISABLE 0x00000000UL /*!< ADC group injected sequencer disable (equivalent to sequencer of 1 rank: ADC conversion on only 1 channel) */ -#define LL_ADC_INJ_SEQ_SCAN_ENABLE_2RANKS ( ADC_JSQR_JL_0) /*!< ADC group injected sequencer enable with 2 ranks in the sequence */ -#define LL_ADC_INJ_SEQ_SCAN_ENABLE_3RANKS (ADC_JSQR_JL_1 ) /*!< ADC group injected sequencer enable with 3 ranks in the sequence */ -#define LL_ADC_INJ_SEQ_SCAN_ENABLE_4RANKS (ADC_JSQR_JL_1 | ADC_JSQR_JL_0) /*!< ADC group injected sequencer enable with 4 ranks in the sequence */ -/** - * @} - */ - -/** @defgroup ADC_LL_EC_INJ_SEQ_DISCONT_MODE ADC group injected - Sequencer discontinuous mode - * @{ - */ -#define LL_ADC_INJ_SEQ_DISCONT_DISABLE 0x00000000UL /*!< ADC group injected sequencer discontinuous mode disable */ -#define LL_ADC_INJ_SEQ_DISCONT_1RANK (ADC_CR1_JDISCEN) /*!< ADC group injected sequencer discontinuous mode enable with sequence interruption every rank */ -/** - * @} - */ - -/** @defgroup ADC_LL_EC_INJ_SEQ_RANKS ADC group injected - Sequencer ranks - * @{ - */ -#define LL_ADC_INJ_RANK_1 (ADC_JDR1_REGOFFSET | ADC_JOFR1_REGOFFSET | 0x00000001UL) /*!< ADC group injected sequencer rank 1 */ -#define LL_ADC_INJ_RANK_2 (ADC_JDR2_REGOFFSET | ADC_JOFR2_REGOFFSET | 0x00000002UL) /*!< ADC group injected sequencer rank 2 */ -#define LL_ADC_INJ_RANK_3 (ADC_JDR3_REGOFFSET | ADC_JOFR3_REGOFFSET | 0x00000003UL) /*!< ADC group injected sequencer rank 3 */ -#define LL_ADC_INJ_RANK_4 (ADC_JDR4_REGOFFSET | ADC_JOFR4_REGOFFSET | 0x00000004UL) /*!< ADC group injected sequencer rank 4 */ -/** - * @} - */ - -/** @defgroup ADC_LL_EC_CHANNEL_SAMPLINGTIME Channel - Sampling time - * @{ - */ -#define LL_ADC_SAMPLINGTIME_3CYCLES 0x00000000UL /*!< Sampling time 3 ADC clock cycles */ -#define LL_ADC_SAMPLINGTIME_15CYCLES (ADC_SMPR1_SMP10_0) /*!< Sampling time 15 ADC clock cycles */ -#define LL_ADC_SAMPLINGTIME_28CYCLES (ADC_SMPR1_SMP10_1) /*!< Sampling time 28 ADC clock cycles */ -#define LL_ADC_SAMPLINGTIME_56CYCLES (ADC_SMPR1_SMP10_1 | ADC_SMPR1_SMP10_0) /*!< Sampling time 56 ADC clock cycles */ -#define LL_ADC_SAMPLINGTIME_84CYCLES (ADC_SMPR1_SMP10_2) /*!< Sampling time 84 ADC clock cycles */ -#define LL_ADC_SAMPLINGTIME_112CYCLES (ADC_SMPR1_SMP10_2 | ADC_SMPR1_SMP10_0) /*!< Sampling time 112 ADC clock cycles */ -#define LL_ADC_SAMPLINGTIME_144CYCLES (ADC_SMPR1_SMP10_2 | ADC_SMPR1_SMP10_1) /*!< Sampling time 144 ADC clock cycles */ -#define LL_ADC_SAMPLINGTIME_480CYCLES (ADC_SMPR1_SMP10) /*!< Sampling time 480 ADC clock cycles */ -/** - * @} - */ - -/** @defgroup ADC_LL_EC_AWD_NUMBER Analog watchdog - Analog watchdog number - * @{ - */ -#define LL_ADC_AWD1 (ADC_AWD_CR1_CHANNEL_MASK | ADC_AWD_CR1_REGOFFSET) /*!< ADC analog watchdog number 1 */ -/** - * @} - */ - -/** @defgroup ADC_LL_EC_AWD_CHANNELS Analog watchdog - Monitored channels - * @{ - */ -#define LL_ADC_AWD_DISABLE 0x00000000UL /*!< ADC analog watchdog monitoring disabled */ -#define LL_ADC_AWD_ALL_CHANNELS_REG ( ADC_CR1_AWDEN ) /*!< ADC analog watchdog monitoring of all channels, converted by group regular only */ -#define LL_ADC_AWD_ALL_CHANNELS_INJ ( ADC_CR1_JAWDEN ) /*!< ADC analog watchdog monitoring of all channels, converted by group injected only */ -#define LL_ADC_AWD_ALL_CHANNELS_REG_INJ ( ADC_CR1_JAWDEN | ADC_CR1_AWDEN ) /*!< ADC analog watchdog monitoring of all channels, converted by either group regular or injected */ -#define LL_ADC_AWD_CHANNEL_0_REG ((LL_ADC_CHANNEL_0 & ADC_CHANNEL_ID_MASK) | ADC_CR1_AWDEN | ADC_CR1_AWDSGL) /*!< ADC analog watchdog monitoring of ADC external channel (channel connected to GPIO pin) ADCx_IN0, converted by group regular only */ -#define LL_ADC_AWD_CHANNEL_0_INJ ((LL_ADC_CHANNEL_0 & ADC_CHANNEL_ID_MASK) | ADC_CR1_JAWDEN | ADC_CR1_AWDSGL) /*!< ADC analog watchdog monitoring of ADC external channel (channel connected to GPIO pin) ADCx_IN0, converted by group injected only */ -#define LL_ADC_AWD_CHANNEL_0_REG_INJ ((LL_ADC_CHANNEL_0 & ADC_CHANNEL_ID_MASK) | ADC_CR1_JAWDEN | ADC_CR1_AWDEN | ADC_CR1_AWDSGL) /*!< ADC analog watchdog monitoring of ADC external channel (channel connected to GPIO pin) ADCx_IN0, converted by either group regular or injected */ -#define LL_ADC_AWD_CHANNEL_1_REG ((LL_ADC_CHANNEL_1 & ADC_CHANNEL_ID_MASK) | ADC_CR1_AWDEN | ADC_CR1_AWDSGL) /*!< ADC analog watchdog monitoring of ADC external channel (channel connected to GPIO pin) ADCx_IN1, converted by group regular only */ -#define LL_ADC_AWD_CHANNEL_1_INJ ((LL_ADC_CHANNEL_1 & ADC_CHANNEL_ID_MASK) | ADC_CR1_JAWDEN | ADC_CR1_AWDSGL) /*!< ADC analog watchdog monitoring of ADC external channel (channel connected to GPIO pin) ADCx_IN1, converted by group injected only */ -#define LL_ADC_AWD_CHANNEL_1_REG_INJ ((LL_ADC_CHANNEL_1 & ADC_CHANNEL_ID_MASK) | ADC_CR1_JAWDEN | ADC_CR1_AWDEN | ADC_CR1_AWDSGL) /*!< ADC analog watchdog monitoring of ADC external channel (channel connected to GPIO pin) ADCx_IN1, converted by either group regular or injected */ -#define LL_ADC_AWD_CHANNEL_2_REG ((LL_ADC_CHANNEL_2 & ADC_CHANNEL_ID_MASK) | ADC_CR1_AWDEN | ADC_CR1_AWDSGL) /*!< ADC analog watchdog monitoring of ADC external channel (channel connected to GPIO pin) ADCx_IN2, converted by group regular only */ -#define LL_ADC_AWD_CHANNEL_2_INJ ((LL_ADC_CHANNEL_2 & ADC_CHANNEL_ID_MASK) | ADC_CR1_JAWDEN | ADC_CR1_AWDSGL) /*!< ADC analog watchdog monitoring of ADC external channel (channel connected to GPIO pin) ADCx_IN2, converted by group injected only */ -#define LL_ADC_AWD_CHANNEL_2_REG_INJ ((LL_ADC_CHANNEL_2 & ADC_CHANNEL_ID_MASK) | ADC_CR1_JAWDEN | ADC_CR1_AWDEN | ADC_CR1_AWDSGL) /*!< ADC analog watchdog monitoring of ADC external channel (channel connected to GPIO pin) ADCx_IN2, converted by either group regular or injected */ -#define LL_ADC_AWD_CHANNEL_3_REG ((LL_ADC_CHANNEL_3 & ADC_CHANNEL_ID_MASK) | ADC_CR1_AWDEN | ADC_CR1_AWDSGL) /*!< ADC analog watchdog monitoring of ADC external channel (channel connected to GPIO pin) ADCx_IN3, converted by group regular only */ -#define LL_ADC_AWD_CHANNEL_3_INJ ((LL_ADC_CHANNEL_3 & ADC_CHANNEL_ID_MASK) | ADC_CR1_JAWDEN | ADC_CR1_AWDSGL) /*!< ADC analog watchdog monitoring of ADC external channel (channel connected to GPIO pin) ADCx_IN3, converted by group injected only */ -#define LL_ADC_AWD_CHANNEL_3_REG_INJ ((LL_ADC_CHANNEL_3 & ADC_CHANNEL_ID_MASK) | ADC_CR1_JAWDEN | ADC_CR1_AWDEN | ADC_CR1_AWDSGL) /*!< ADC analog watchdog monitoring of ADC external channel (channel connected to GPIO pin) ADCx_IN3, converted by either group regular or injected */ -#define LL_ADC_AWD_CHANNEL_4_REG ((LL_ADC_CHANNEL_4 & ADC_CHANNEL_ID_MASK) | ADC_CR1_AWDEN | ADC_CR1_AWDSGL) /*!< ADC analog watchdog monitoring of ADC external channel (channel connected to GPIO pin) ADCx_IN4, converted by group regular only */ -#define LL_ADC_AWD_CHANNEL_4_INJ ((LL_ADC_CHANNEL_4 & ADC_CHANNEL_ID_MASK) | ADC_CR1_JAWDEN | ADC_CR1_AWDSGL) /*!< ADC analog watchdog monitoring of ADC external channel (channel connected to GPIO pin) ADCx_IN4, converted by group injected only */ -#define LL_ADC_AWD_CHANNEL_4_REG_INJ ((LL_ADC_CHANNEL_4 & ADC_CHANNEL_ID_MASK) | ADC_CR1_JAWDEN | ADC_CR1_AWDEN | ADC_CR1_AWDSGL) /*!< ADC analog watchdog monitoring of ADC external channel (channel connected to GPIO pin) ADCx_IN4, converted by either group regular or injected */ -#define LL_ADC_AWD_CHANNEL_5_REG ((LL_ADC_CHANNEL_5 & ADC_CHANNEL_ID_MASK) | ADC_CR1_AWDEN | ADC_CR1_AWDSGL) /*!< ADC analog watchdog monitoring of ADC external channel (channel connected to GPIO pin) ADCx_IN5, converted by group regular only */ -#define LL_ADC_AWD_CHANNEL_5_INJ ((LL_ADC_CHANNEL_5 & ADC_CHANNEL_ID_MASK) | ADC_CR1_JAWDEN | ADC_CR1_AWDSGL) /*!< ADC analog watchdog monitoring of ADC external channel (channel connected to GPIO pin) ADCx_IN5, converted by group injected only */ -#define LL_ADC_AWD_CHANNEL_5_REG_INJ ((LL_ADC_CHANNEL_5 & ADC_CHANNEL_ID_MASK) | ADC_CR1_JAWDEN | ADC_CR1_AWDEN | ADC_CR1_AWDSGL) /*!< ADC analog watchdog monitoring of ADC external channel (channel connected to GPIO pin) ADCx_IN5, converted by either group regular or injected */ -#define LL_ADC_AWD_CHANNEL_6_REG ((LL_ADC_CHANNEL_6 & ADC_CHANNEL_ID_MASK) | ADC_CR1_AWDEN | ADC_CR1_AWDSGL) /*!< ADC analog watchdog monitoring of ADC external channel (channel connected to GPIO pin) ADCx_IN6, converted by group regular only */ -#define LL_ADC_AWD_CHANNEL_6_INJ ((LL_ADC_CHANNEL_6 & ADC_CHANNEL_ID_MASK) | ADC_CR1_JAWDEN | ADC_CR1_AWDSGL) /*!< ADC analog watchdog monitoring of ADC external channel (channel connected to GPIO pin) ADCx_IN6, converted by group injected only */ -#define LL_ADC_AWD_CHANNEL_6_REG_INJ ((LL_ADC_CHANNEL_6 & ADC_CHANNEL_ID_MASK) | ADC_CR1_JAWDEN | ADC_CR1_AWDEN | ADC_CR1_AWDSGL) /*!< ADC analog watchdog monitoring of ADC external channel (channel connected to GPIO pin) ADCx_IN6, converted by either group regular or injected */ -#define LL_ADC_AWD_CHANNEL_7_REG ((LL_ADC_CHANNEL_7 & ADC_CHANNEL_ID_MASK) | ADC_CR1_AWDEN | ADC_CR1_AWDSGL) /*!< ADC analog watchdog monitoring of ADC external channel (channel connected to GPIO pin) ADCx_IN7, converted by group regular only */ -#define LL_ADC_AWD_CHANNEL_7_INJ ((LL_ADC_CHANNEL_7 & ADC_CHANNEL_ID_MASK) | ADC_CR1_JAWDEN | ADC_CR1_AWDSGL) /*!< ADC analog watchdog monitoring of ADC external channel (channel connected to GPIO pin) ADCx_IN7, converted by group injected only */ -#define LL_ADC_AWD_CHANNEL_7_REG_INJ ((LL_ADC_CHANNEL_7 & ADC_CHANNEL_ID_MASK) | ADC_CR1_JAWDEN | ADC_CR1_AWDEN | ADC_CR1_AWDSGL) /*!< ADC analog watchdog monitoring of ADC external channel (channel connected to GPIO pin) ADCx_IN7, converted by either group regular or injected */ -#define LL_ADC_AWD_CHANNEL_8_REG ((LL_ADC_CHANNEL_8 & ADC_CHANNEL_ID_MASK) | ADC_CR1_AWDEN | ADC_CR1_AWDSGL) /*!< ADC analog watchdog monitoring of ADC external channel (channel connected to GPIO pin) ADCx_IN8, converted by group regular only */ -#define LL_ADC_AWD_CHANNEL_8_INJ ((LL_ADC_CHANNEL_8 & ADC_CHANNEL_ID_MASK) | ADC_CR1_JAWDEN | ADC_CR1_AWDSGL) /*!< ADC analog watchdog monitoring of ADC external channel (channel connected to GPIO pin) ADCx_IN8, converted by group injected only */ -#define LL_ADC_AWD_CHANNEL_8_REG_INJ ((LL_ADC_CHANNEL_8 & ADC_CHANNEL_ID_MASK) | ADC_CR1_JAWDEN | ADC_CR1_AWDEN | ADC_CR1_AWDSGL) /*!< ADC analog watchdog monitoring of ADC external channel (channel connected to GPIO pin) ADCx_IN8, converted by either group regular or injected */ -#define LL_ADC_AWD_CHANNEL_9_REG ((LL_ADC_CHANNEL_9 & ADC_CHANNEL_ID_MASK) | ADC_CR1_AWDEN | ADC_CR1_AWDSGL) /*!< ADC analog watchdog monitoring of ADC external channel (channel connected to GPIO pin) ADCx_IN9, converted by group regular only */ -#define LL_ADC_AWD_CHANNEL_9_INJ ((LL_ADC_CHANNEL_9 & ADC_CHANNEL_ID_MASK) | ADC_CR1_JAWDEN | ADC_CR1_AWDSGL) /*!< ADC analog watchdog monitoring of ADC external channel (channel connected to GPIO pin) ADCx_IN9, converted by group injected only */ -#define LL_ADC_AWD_CHANNEL_9_REG_INJ ((LL_ADC_CHANNEL_9 & ADC_CHANNEL_ID_MASK) | ADC_CR1_JAWDEN | ADC_CR1_AWDEN | ADC_CR1_AWDSGL) /*!< ADC analog watchdog monitoring of ADC external channel (channel connected to GPIO pin) ADCx_IN9, converted by either group regular or injected */ -#define LL_ADC_AWD_CHANNEL_10_REG ((LL_ADC_CHANNEL_10 & ADC_CHANNEL_ID_MASK) | ADC_CR1_AWDEN | ADC_CR1_AWDSGL) /*!< ADC analog watchdog monitoring of ADC external channel (channel connected to GPIO pin) ADCx_IN10, converted by group regular only */ -#define LL_ADC_AWD_CHANNEL_10_INJ ((LL_ADC_CHANNEL_10 & ADC_CHANNEL_ID_MASK) | ADC_CR1_JAWDEN | ADC_CR1_AWDSGL) /*!< ADC analog watchdog monitoring of ADC external channel (channel connected to GPIO pin) ADCx_IN10, converted by group injected only */ -#define LL_ADC_AWD_CHANNEL_10_REG_INJ ((LL_ADC_CHANNEL_10 & ADC_CHANNEL_ID_MASK) | ADC_CR1_JAWDEN | ADC_CR1_AWDEN | ADC_CR1_AWDSGL) /*!< ADC analog watchdog monitoring of ADC external channel (channel connected to GPIO pin) ADCx_IN10, converted by either group regular or injected */ -#define LL_ADC_AWD_CHANNEL_11_REG ((LL_ADC_CHANNEL_11 & ADC_CHANNEL_ID_MASK) | ADC_CR1_AWDEN | ADC_CR1_AWDSGL) /*!< ADC analog watchdog monitoring of ADC external channel (channel connected to GPIO pin) ADCx_IN11, converted by group regular only */ -#define LL_ADC_AWD_CHANNEL_11_INJ ((LL_ADC_CHANNEL_11 & ADC_CHANNEL_ID_MASK) | ADC_CR1_JAWDEN | ADC_CR1_AWDSGL) /*!< ADC analog watchdog monitoring of ADC external channel (channel connected to GPIO pin) ADCx_IN11, converted by group injected only */ -#define LL_ADC_AWD_CHANNEL_11_REG_INJ ((LL_ADC_CHANNEL_11 & ADC_CHANNEL_ID_MASK) | ADC_CR1_JAWDEN | ADC_CR1_AWDEN | ADC_CR1_AWDSGL) /*!< ADC analog watchdog monitoring of ADC external channel (channel connected to GPIO pin) ADCx_IN11, converted by either group regular or injected */ -#define LL_ADC_AWD_CHANNEL_12_REG ((LL_ADC_CHANNEL_12 & ADC_CHANNEL_ID_MASK) | ADC_CR1_AWDEN | ADC_CR1_AWDSGL) /*!< ADC analog watchdog monitoring of ADC external channel (channel connected to GPIO pin) ADCx_IN12, converted by group regular only */ -#define LL_ADC_AWD_CHANNEL_12_INJ ((LL_ADC_CHANNEL_12 & ADC_CHANNEL_ID_MASK) | ADC_CR1_JAWDEN | ADC_CR1_AWDSGL) /*!< ADC analog watchdog monitoring of ADC external channel (channel connected to GPIO pin) ADCx_IN12, converted by group injected only */ -#define LL_ADC_AWD_CHANNEL_12_REG_INJ ((LL_ADC_CHANNEL_12 & ADC_CHANNEL_ID_MASK) | ADC_CR1_JAWDEN | ADC_CR1_AWDEN | ADC_CR1_AWDSGL) /*!< ADC analog watchdog monitoring of ADC external channel (channel connected to GPIO pin) ADCx_IN12, converted by either group regular or injected */ -#define LL_ADC_AWD_CHANNEL_13_REG ((LL_ADC_CHANNEL_13 & ADC_CHANNEL_ID_MASK) | ADC_CR1_AWDEN | ADC_CR1_AWDSGL) /*!< ADC analog watchdog monitoring of ADC external channel (channel connected to GPIO pin) ADCx_IN13, converted by group regular only */ -#define LL_ADC_AWD_CHANNEL_13_INJ ((LL_ADC_CHANNEL_13 & ADC_CHANNEL_ID_MASK) | ADC_CR1_JAWDEN | ADC_CR1_AWDSGL) /*!< ADC analog watchdog monitoring of ADC external channel (channel connected to GPIO pin) ADCx_IN13, converted by group injected only */ -#define LL_ADC_AWD_CHANNEL_13_REG_INJ ((LL_ADC_CHANNEL_13 & ADC_CHANNEL_ID_MASK) | ADC_CR1_JAWDEN | ADC_CR1_AWDEN | ADC_CR1_AWDSGL) /*!< ADC analog watchdog monitoring of ADC external channel (channel connected to GPIO pin) ADCx_IN13, converted by either group regular or injected */ -#define LL_ADC_AWD_CHANNEL_14_REG ((LL_ADC_CHANNEL_14 & ADC_CHANNEL_ID_MASK) | ADC_CR1_AWDEN | ADC_CR1_AWDSGL) /*!< ADC analog watchdog monitoring of ADC external channel (channel connected to GPIO pin) ADCx_IN14, converted by group regular only */ -#define LL_ADC_AWD_CHANNEL_14_INJ ((LL_ADC_CHANNEL_14 & ADC_CHANNEL_ID_MASK) | ADC_CR1_JAWDEN | ADC_CR1_AWDSGL) /*!< ADC analog watchdog monitoring of ADC external channel (channel connected to GPIO pin) ADCx_IN14, converted by group injected only */ -#define LL_ADC_AWD_CHANNEL_14_REG_INJ ((LL_ADC_CHANNEL_14 & ADC_CHANNEL_ID_MASK) | ADC_CR1_JAWDEN | ADC_CR1_AWDEN | ADC_CR1_AWDSGL) /*!< ADC analog watchdog monitoring of ADC external channel (channel connected to GPIO pin) ADCx_IN14, converted by either group regular or injected */ -#define LL_ADC_AWD_CHANNEL_15_REG ((LL_ADC_CHANNEL_15 & ADC_CHANNEL_ID_MASK) | ADC_CR1_AWDEN | ADC_CR1_AWDSGL) /*!< ADC analog watchdog monitoring of ADC external channel (channel connected to GPIO pin) ADCx_IN15, converted by group regular only */ -#define LL_ADC_AWD_CHANNEL_15_INJ ((LL_ADC_CHANNEL_15 & ADC_CHANNEL_ID_MASK) | ADC_CR1_JAWDEN | ADC_CR1_AWDSGL) /*!< ADC analog watchdog monitoring of ADC external channel (channel connected to GPIO pin) ADCx_IN15, converted by group injected only */ -#define LL_ADC_AWD_CHANNEL_15_REG_INJ ((LL_ADC_CHANNEL_15 & ADC_CHANNEL_ID_MASK) | ADC_CR1_JAWDEN | ADC_CR1_AWDEN | ADC_CR1_AWDSGL) /*!< ADC analog watchdog monitoring of ADC external channel (channel connected to GPIO pin) ADCx_IN15, converted by either group regular or injected */ -#define LL_ADC_AWD_CHANNEL_16_REG ((LL_ADC_CHANNEL_16 & ADC_CHANNEL_ID_MASK) | ADC_CR1_AWDEN | ADC_CR1_AWDSGL) /*!< ADC analog watchdog monitoring of ADC external channel (channel connected to GPIO pin) ADCx_IN16, converted by group regular only */ -#define LL_ADC_AWD_CHANNEL_16_INJ ((LL_ADC_CHANNEL_16 & ADC_CHANNEL_ID_MASK) | ADC_CR1_JAWDEN | ADC_CR1_AWDSGL) /*!< ADC analog watchdog monitoring of ADC external channel (channel connected to GPIO pin) ADCx_IN16, converted by group injected only */ -#define LL_ADC_AWD_CHANNEL_16_REG_INJ ((LL_ADC_CHANNEL_16 & ADC_CHANNEL_ID_MASK) | ADC_CR1_JAWDEN | ADC_CR1_AWDEN | ADC_CR1_AWDSGL) /*!< ADC analog watchdog monitoring of ADC external channel (channel connected to GPIO pin) ADCx_IN16, converted by either group regular or injected */ -#define LL_ADC_AWD_CHANNEL_17_REG ((LL_ADC_CHANNEL_17 & ADC_CHANNEL_ID_MASK) | ADC_CR1_AWDEN | ADC_CR1_AWDSGL) /*!< ADC analog watchdog monitoring of ADC external channel (channel connected to GPIO pin) ADCx_IN17, converted by group regular only */ -#define LL_ADC_AWD_CHANNEL_17_INJ ((LL_ADC_CHANNEL_17 & ADC_CHANNEL_ID_MASK) | ADC_CR1_JAWDEN | ADC_CR1_AWDSGL) /*!< ADC analog watchdog monitoring of ADC external channel (channel connected to GPIO pin) ADCx_IN17, converted by group injected only */ -#define LL_ADC_AWD_CHANNEL_17_REG_INJ ((LL_ADC_CHANNEL_17 & ADC_CHANNEL_ID_MASK) | ADC_CR1_JAWDEN | ADC_CR1_AWDEN | ADC_CR1_AWDSGL) /*!< ADC analog watchdog monitoring of ADC external channel (channel connected to GPIO pin) ADCx_IN17, converted by either group regular or injected */ -#define LL_ADC_AWD_CHANNEL_18_REG ((LL_ADC_CHANNEL_18 & ADC_CHANNEL_ID_MASK) | ADC_CR1_AWDEN | ADC_CR1_AWDSGL) /*!< ADC analog watchdog monitoring of ADC external channel (channel connected to GPIO pin) ADCx_IN18, converted by group regular only */ -#define LL_ADC_AWD_CHANNEL_18_INJ ((LL_ADC_CHANNEL_18 & ADC_CHANNEL_ID_MASK) | ADC_CR1_JAWDEN | ADC_CR1_AWDSGL) /*!< ADC analog watchdog monitoring of ADC external channel (channel connected to GPIO pin) ADCx_IN18, converted by group injected only */ -#define LL_ADC_AWD_CHANNEL_18_REG_INJ ((LL_ADC_CHANNEL_18 & ADC_CHANNEL_ID_MASK) | ADC_CR1_JAWDEN | ADC_CR1_AWDEN | ADC_CR1_AWDSGL) /*!< ADC analog watchdog monitoring of ADC external channel (channel connected to GPIO pin) ADCx_IN18, converted by either group regular or injected */ -#define LL_ADC_AWD_CH_VREFINT_REG ((LL_ADC_CHANNEL_VREFINT & ADC_CHANNEL_ID_MASK) | ADC_CR1_AWDEN | ADC_CR1_AWDSGL) /*!< ADC analog watchdog monitoring of ADC internal channel connected to VrefInt: Internal voltage reference, converted by group regular only */ -#define LL_ADC_AWD_CH_VREFINT_INJ ((LL_ADC_CHANNEL_VREFINT & ADC_CHANNEL_ID_MASK) | ADC_CR1_JAWDEN | ADC_CR1_AWDSGL) /*!< ADC analog watchdog monitoring of ADC internal channel connected to VrefInt: Internal voltage reference, converted by group injected only */ -#define LL_ADC_AWD_CH_VREFINT_REG_INJ ((LL_ADC_CHANNEL_VREFINT & ADC_CHANNEL_ID_MASK) | ADC_CR1_JAWDEN | ADC_CR1_AWDEN | ADC_CR1_AWDSGL) /*!< ADC analog watchdog monitoring of ADC internal channel connected to VrefInt: Internal voltage reference, converted by either group regular or injected */ -#define LL_ADC_AWD_CH_VBAT_REG ((LL_ADC_CHANNEL_VBAT & ADC_CHANNEL_ID_MASK) | ADC_CR1_AWDEN | ADC_CR1_AWDSGL) /*!< ADC analog watchdog monitoring of ADC internal channel connected to Vbat/3: Vbat voltage through a divider ladder of factor 1/3 to have Vbat always below Vdda, converted by group regular only */ -#define LL_ADC_AWD_CH_VBAT_INJ ((LL_ADC_CHANNEL_VBAT & ADC_CHANNEL_ID_MASK) | ADC_CR1_JAWDEN | ADC_CR1_AWDSGL) /*!< ADC analog watchdog monitoring of ADC internal channel connected to Vbat/3: Vbat voltage through a divider ladder of factor 1/3 to have Vbat always below Vdda, converted by group injected only */ -#define LL_ADC_AWD_CH_VBAT_REG_INJ ((LL_ADC_CHANNEL_VBAT & ADC_CHANNEL_ID_MASK) | ADC_CR1_JAWDEN | ADC_CR1_AWDEN | ADC_CR1_AWDSGL) /*!< ADC analog watchdog monitoring of ADC internal channel connected to Vbat/3: Vbat voltage through a divider ladder of factor 1/3 to have Vbat always below Vdda */ -#if defined(STM32F401xC) || defined(STM32F401xE) || defined(STM32F405xx) || defined(STM32F407xx) || defined(STM32F410Tx) || defined(STM32F410Cx) || defined(STM32F410Rx) || defined(STM32F415xx) || defined(STM32F417xx) -#define LL_ADC_AWD_CH_TEMPSENSOR_REG ((LL_ADC_CHANNEL_TEMPSENSOR & ADC_CHANNEL_ID_MASK) | ADC_CR1_AWDEN | ADC_CR1_AWDSGL) /*!< ADC analog watchdog monitoring of ADC internal channel connected to Temperature sensor, converted by group regular only */ -#define LL_ADC_AWD_CH_TEMPSENSOR_INJ ((LL_ADC_CHANNEL_TEMPSENSOR & ADC_CHANNEL_ID_MASK) | ADC_CR1_JAWDEN | ADC_CR1_AWDSGL) /*!< ADC analog watchdog monitoring of ADC internal channel connected to Temperature sensor, converted by group injected only */ -#define LL_ADC_AWD_CH_TEMPSENSOR_REG_INJ ((LL_ADC_CHANNEL_TEMPSENSOR & ADC_CHANNEL_ID_MASK) | ADC_CR1_JAWDEN | ADC_CR1_AWDEN | ADC_CR1_AWDSGL) /*!< ADC analog watchdog monitoring of ADC internal channel connected to Temperature sensor, converted by either group regular or injected */ -#endif /* STM32F405xx || STM32F415xx || STM32F407xx || STM32F417xx || STM32F401xC || STM32F401xE || STM32F410xx */ -#if defined(STM32F411xE) || defined(STM32F412Cx) || defined(STM32F412Rx) || defined(STM32F412Vx) || defined(STM32F412Zx) || defined(STM32F413xx) || defined(STM32F423xx) || defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) || defined(STM32F446xx) || defined(STM32F469xx) || defined(STM32F479xx) -#define LL_ADC_AWD_CH_TEMPSENSOR_REG ((LL_ADC_CHANNEL_TEMPSENSOR & ADC_CHANNEL_ID_MASK) | ADC_CR1_AWDEN | ADC_CR1_AWDSGL) /*!< ADC analog watchdog monitoring of ADC internal channel connected to Temperature sensor, converted by group regular only. This internal channel is shared between temperature sensor and Vbat, only 1 measurement path must be enabled. */ -#define LL_ADC_AWD_CH_TEMPSENSOR_INJ ((LL_ADC_CHANNEL_TEMPSENSOR & ADC_CHANNEL_ID_MASK) | ADC_CR1_JAWDEN | ADC_CR1_AWDSGL) /*!< ADC analog watchdog monitoring of ADC internal channel connected to Temperature sensor, converted by group injected only. This internal channel is shared between temperature sensor and Vbat, only 1 measurement path must be enabled. */ -#define LL_ADC_AWD_CH_TEMPSENSOR_REG_INJ ((LL_ADC_CHANNEL_TEMPSENSOR & ADC_CHANNEL_ID_MASK) | ADC_CR1_JAWDEN | ADC_CR1_AWDEN | ADC_CR1_AWDSGL) /*!< ADC analog watchdog monitoring of ADC internal channel connected to Temperature sensor, converted by either group regular or injected. This internal channel is shared between temperature sensor and Vbat, only 1 measurement path must be enabled. */ -#endif /* STM32F411xE || STM32F412Cx || STM32F412Rx || STM32F412Vx || STM32F412Zx || STM32F413xx || STM32F423xx || STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || STM32F446xx || STM32F469xx || STM32F479xx */ -/** - * @} - */ - -/** @defgroup ADC_LL_EC_AWD_THRESHOLDS Analog watchdog - Thresholds - * @{ - */ -#define LL_ADC_AWD_THRESHOLD_HIGH (ADC_AWD_TR1_HIGH_REGOFFSET) /*!< ADC analog watchdog threshold high */ -#define LL_ADC_AWD_THRESHOLD_LOW (ADC_AWD_TR1_LOW_REGOFFSET) /*!< ADC analog watchdog threshold low */ -/** - * @} - */ - -#if defined(ADC_MULTIMODE_SUPPORT) -/** @defgroup ADC_LL_EC_MULTI_MODE Multimode - Mode - * @{ - */ -#define LL_ADC_MULTI_INDEPENDENT 0x00000000UL /*!< ADC dual mode disabled (ADC independent mode) */ -#define LL_ADC_MULTI_DUAL_REG_SIMULT ( ADC_CCR_MULTI_2 | ADC_CCR_MULTI_1 ) /*!< ADC dual mode enabled: group regular simultaneous */ -#define LL_ADC_MULTI_DUAL_REG_INTERL ( ADC_CCR_MULTI_2 | ADC_CCR_MULTI_1 | ADC_CCR_MULTI_0) /*!< ADC dual mode enabled: Combined group regular interleaved */ -#define LL_ADC_MULTI_DUAL_INJ_SIMULT ( ADC_CCR_MULTI_2 | ADC_CCR_MULTI_0) /*!< ADC dual mode enabled: group injected simultaneous */ -#define LL_ADC_MULTI_DUAL_INJ_ALTERN (ADC_CCR_MULTI_3 | ADC_CCR_MULTI_0) /*!< ADC dual mode enabled: group injected alternate trigger. Works only with external triggers (not internal SW start) */ -#define LL_ADC_MULTI_DUAL_REG_SIM_INJ_SIM ( ADC_CCR_MULTI_0) /*!< ADC dual mode enabled: Combined group regular simultaneous + group injected simultaneous */ -#define LL_ADC_MULTI_DUAL_REG_SIM_INJ_ALT ( ADC_CCR_MULTI_1 ) /*!< ADC dual mode enabled: Combined group regular simultaneous + group injected alternate trigger */ -#define LL_ADC_MULTI_DUAL_REG_INT_INJ_SIM ( ADC_CCR_MULTI_1 | ADC_CCR_MULTI_0) /*!< ADC dual mode enabled: Combined group regular interleaved + group injected simultaneous */ -#if defined(ADC3) -#define LL_ADC_MULTI_TRIPLE_REG_SIM_INJ_SIM (ADC_CCR_MULTI_4 | ADC_CCR_MULTI_0) /*!< ADC triple mode enabled: Combined group regular simultaneous + group injected simultaneous */ -#define LL_ADC_MULTI_TRIPLE_REG_SIM_INJ_ALT (ADC_CCR_MULTI_4 | ADC_CCR_MULTI_1 ) /*!< ADC triple mode enabled: Combined group regular simultaneous + group injected alternate trigger */ -#define LL_ADC_MULTI_TRIPLE_INJ_SIMULT (ADC_CCR_MULTI_4 | ADC_CCR_MULTI_2 | ADC_CCR_MULTI_0) /*!< ADC triple mode enabled: group injected simultaneous */ -#define LL_ADC_MULTI_TRIPLE_REG_SIMULT (ADC_CCR_MULTI_4 | ADC_CCR_MULTI_2 | ADC_CCR_MULTI_1 ) /*!< ADC triple mode enabled: group regular simultaneous */ -#define LL_ADC_MULTI_TRIPLE_REG_INTERL (ADC_CCR_MULTI_4 | ADC_CCR_MULTI_2 | ADC_CCR_MULTI_1 | ADC_CCR_MULTI_0) /*!< ADC triple mode enabled: Combined group regular interleaved */ -#define LL_ADC_MULTI_TRIPLE_INJ_ALTERN (ADC_CCR_MULTI_4 | ADC_CCR_MULTI_0) /*!< ADC triple mode enabled: group injected alternate trigger. Works only with external triggers (not internal SW start) */ -#endif -/** - * @} - */ - -/** @defgroup ADC_LL_EC_MULTI_DMA_TRANSFER Multimode - DMA transfer - * @{ - */ -#define LL_ADC_MULTI_REG_DMA_EACH_ADC 0x00000000UL /*!< ADC multimode group regular conversions are transferred by DMA: each ADC uses its own DMA channel, with its individual DMA transfer settings */ -#define LL_ADC_MULTI_REG_DMA_LIMIT_1 ( ADC_CCR_DMA_0) /*!< ADC multimode group regular conversions are transferred by DMA, one DMA channel for all ADC instances (DMA of ADC master), in limited mode (one shot mode): DMA transfer requests are stopped when number of DMA data transfers (number of ADC conversions) is reached. This ADC mode is intended to be used with DMA mode non-circular. Setting of DMA mode 1: 2 or 3 (dual or triple mode) half-words one by one, ADC1 then ADC2 then ADC3. */ -#define LL_ADC_MULTI_REG_DMA_LIMIT_2 ( ADC_CCR_DMA_1 ) /*!< ADC multimode group regular conversions are transferred by DMA, one DMA channel for all ADC instances (DMA of ADC master), in limited mode (one shot mode): DMA transfer requests are stopped when number of DMA data transfers (number of ADC conversions) is reached. This ADC mode is intended to be used with DMA mode non-circular. Setting of DMA mode 2: 2 or 3 (dual or triple mode) half-words one by one, ADC2&1 then ADC1&3 then ADC3&2. */ -#define LL_ADC_MULTI_REG_DMA_LIMIT_3 ( ADC_CCR_DMA_1 | ADC_CCR_DMA_0) /*!< ADC multimode group regular conversions are transferred by DMA, one DMA channel for all ADC instances (DMA of ADC master), in limited mode (one shot mode): DMA transfer requests are stopped when number of DMA data transfers (number of ADC conversions) is reached. This ADC mode is intended to be used with DMA mode non-circular. Setting of DMA mode 3: 2 or 3 (dual or triple mode) bytes one by one, ADC2&1 then ADC1&3 then ADC3&2. */ -#define LL_ADC_MULTI_REG_DMA_UNLMT_1 (ADC_CCR_DDS | ADC_CCR_DMA_0) /*!< ADC multimode group regular conversions are transferred by DMA, one DMA channel for all ADC instances (DMA of ADC master), in unlimited mode: DMA transfer requests are unlimited, whatever number of DMA data transferred (number of ADC conversions) is reached. This ADC mode is intended to be used with DMA mode non-circular. Setting of DMA mode 1: 2 or 3 (dual or triple mode) half-words one by one, ADC1 then ADC2 then ADC3. */ -#define LL_ADC_MULTI_REG_DMA_UNLMT_2 (ADC_CCR_DDS | ADC_CCR_DMA_1 ) /*!< ADC multimode group regular conversions are transferred by DMA, one DMA channel for all ADC instances (DMA of ADC master), in unlimited mode: DMA transfer requests are unlimited, whatever number of DMA data transferred (number of ADC conversions) is reached. This ADC mode is intended to be used with DMA mode non-circular. Setting of DMA mode 2: 2 or 3 (dual or triple mode) half-words by pairs, ADC2&1 then ADC1&3 then ADC3&2. */ -#define LL_ADC_MULTI_REG_DMA_UNLMT_3 (ADC_CCR_DDS | ADC_CCR_DMA_1 | ADC_CCR_DMA_0) /*!< ADC multimode group regular conversions are transferred by DMA, one DMA channel for all ADC instances (DMA of ADC master), in unlimited mode: DMA transfer requests are unlimited, whatever number of DMA data transferred (number of ADC conversions) is reached. This ADC mode is intended to be used with DMA mode non-circular. Setting of DMA mode 3: 2 or 3 (dual or triple mode) bytes one by one, ADC2&1 then ADC1&3 then ADC3&2. */ -/** - * @} - */ - -/** @defgroup ADC_LL_EC_MULTI_TWOSMP_DELAY Multimode - Delay between two sampling phases - * @{ - */ -#define LL_ADC_MULTI_TWOSMP_DELAY_5CYCLES 0x00000000UL /*!< ADC multimode delay between two sampling phases: 5 ADC clock cycles*/ -#define LL_ADC_MULTI_TWOSMP_DELAY_6CYCLES ( ADC_CCR_DELAY_0) /*!< ADC multimode delay between two sampling phases: 6 ADC clock cycles */ -#define LL_ADC_MULTI_TWOSMP_DELAY_7CYCLES ( ADC_CCR_DELAY_1 ) /*!< ADC multimode delay between two sampling phases: 7 ADC clock cycles */ -#define LL_ADC_MULTI_TWOSMP_DELAY_8CYCLES ( ADC_CCR_DELAY_1 | ADC_CCR_DELAY_0) /*!< ADC multimode delay between two sampling phases: 8 ADC clock cycles */ -#define LL_ADC_MULTI_TWOSMP_DELAY_9CYCLES ( ADC_CCR_DELAY_2 ) /*!< ADC multimode delay between two sampling phases: 9 ADC clock cycles */ -#define LL_ADC_MULTI_TWOSMP_DELAY_10CYCLES ( ADC_CCR_DELAY_2 | ADC_CCR_DELAY_0) /*!< ADC multimode delay between two sampling phases: 10 ADC clock cycles */ -#define LL_ADC_MULTI_TWOSMP_DELAY_11CYCLES ( ADC_CCR_DELAY_2 | ADC_CCR_DELAY_1 ) /*!< ADC multimode delay between two sampling phases: 11 ADC clock cycles */ -#define LL_ADC_MULTI_TWOSMP_DELAY_12CYCLES ( ADC_CCR_DELAY_2 | ADC_CCR_DELAY_1 | ADC_CCR_DELAY_0) /*!< ADC multimode delay between two sampling phases: 12 ADC clock cycles */ -#define LL_ADC_MULTI_TWOSMP_DELAY_13CYCLES (ADC_CCR_DELAY_3 ) /*!< ADC multimode delay between two sampling phases: 13 ADC clock cycles */ -#define LL_ADC_MULTI_TWOSMP_DELAY_14CYCLES (ADC_CCR_DELAY_3 | ADC_CCR_DELAY_0) /*!< ADC multimode delay between two sampling phases: 14 ADC clock cycles */ -#define LL_ADC_MULTI_TWOSMP_DELAY_15CYCLES (ADC_CCR_DELAY_3 | ADC_CCR_DELAY_1 ) /*!< ADC multimode delay between two sampling phases: 15 ADC clock cycles */ -#define LL_ADC_MULTI_TWOSMP_DELAY_16CYCLES (ADC_CCR_DELAY_3 | ADC_CCR_DELAY_1 | ADC_CCR_DELAY_0) /*!< ADC multimode delay between two sampling phases: 16 ADC clock cycles */ -#define LL_ADC_MULTI_TWOSMP_DELAY_17CYCLES (ADC_CCR_DELAY_3 | ADC_CCR_DELAY_2 ) /*!< ADC multimode delay between two sampling phases: 17 ADC clock cycles */ -#define LL_ADC_MULTI_TWOSMP_DELAY_18CYCLES (ADC_CCR_DELAY_3 | ADC_CCR_DELAY_2 | ADC_CCR_DELAY_0) /*!< ADC multimode delay between two sampling phases: 18 ADC clock cycles */ -#define LL_ADC_MULTI_TWOSMP_DELAY_19CYCLES (ADC_CCR_DELAY_3 | ADC_CCR_DELAY_2 | ADC_CCR_DELAY_1 ) /*!< ADC multimode delay between two sampling phases: 19 ADC clock cycles */ -#define LL_ADC_MULTI_TWOSMP_DELAY_20CYCLES (ADC_CCR_DELAY_3 | ADC_CCR_DELAY_2 | ADC_CCR_DELAY_1 | ADC_CCR_DELAY_0) /*!< ADC multimode delay between two sampling phases: 20 ADC clock cycles */ -/** - * @} - */ - -/** @defgroup ADC_LL_EC_MULTI_MASTER_SLAVE Multimode - ADC master or slave - * @{ - */ -#define LL_ADC_MULTI_MASTER ( ADC_CDR_RDATA_MST) /*!< In multimode, selection among several ADC instances: ADC master */ -#define LL_ADC_MULTI_SLAVE (ADC_CDR_RDATA_SLV ) /*!< In multimode, selection among several ADC instances: ADC slave */ -#define LL_ADC_MULTI_MASTER_SLAVE (ADC_CDR_RDATA_SLV | ADC_CDR_RDATA_MST) /*!< In multimode, selection among several ADC instances: both ADC master and ADC slave */ -/** - * @} - */ - -#endif /* ADC_MULTIMODE_SUPPORT */ - - -/** @defgroup ADC_LL_EC_HW_DELAYS Definitions of ADC hardware constraints delays - * @note Only ADC IP HW delays are defined in ADC LL driver driver, - * not timeout values. - * For details on delays values, refer to descriptions in source code - * above each literal definition. - * @{ - */ - -/* Note: Only ADC IP HW delays are defined in ADC LL driver driver, */ -/* not timeout values. */ -/* Timeout values for ADC operations are dependent to device clock */ -/* configuration (system clock versus ADC clock), */ -/* and therefore must be defined in user application. */ -/* Indications for estimation of ADC timeout delays, for this */ -/* STM32 series: */ -/* - ADC enable time: maximum delay is 2us */ -/* (refer to device datasheet, parameter "tSTAB") */ -/* - ADC conversion time: duration depending on ADC clock and ADC */ -/* configuration. */ -/* (refer to device reference manual, section "Timing") */ - -/* Delay for internal voltage reference stabilization time. */ -/* Delay set to maximum value (refer to device datasheet, */ -/* parameter "tSTART"). */ -/* Unit: us */ -#define LL_ADC_DELAY_VREFINT_STAB_US ( 10UL) /*!< Delay for internal voltage reference stabilization time */ - -/* Delay for temperature sensor stabilization time. */ -/* Literal set to maximum value (refer to device datasheet, */ -/* parameter "tSTART"). */ -/* Unit: us */ -#define LL_ADC_DELAY_TEMPSENSOR_STAB_US ( 10UL) /*!< Delay for internal voltage reference stabilization time */ - -/** - * @} - */ - -/** - * @} - */ - - -/* Exported macro ------------------------------------------------------------*/ -/** @defgroup ADC_LL_Exported_Macros ADC Exported Macros - * @{ - */ - -/** @defgroup ADC_LL_EM_WRITE_READ Common write and read registers Macros - * @{ - */ - -/** - * @brief Write a value in ADC register - * @param __INSTANCE__ ADC Instance - * @param __REG__ Register to be written - * @param __VALUE__ Value to be written in the register - * @retval None - */ -#define LL_ADC_WriteReg(__INSTANCE__, __REG__, __VALUE__) WRITE_REG(__INSTANCE__->__REG__, (__VALUE__)) - -/** - * @brief Read a value in ADC register - * @param __INSTANCE__ ADC Instance - * @param __REG__ Register to be read - * @retval Register value - */ -#define LL_ADC_ReadReg(__INSTANCE__, __REG__) READ_REG(__INSTANCE__->__REG__) -/** - * @} - */ - -/** @defgroup ADC_LL_EM_HELPER_MACRO ADC helper macro - * @{ - */ - -/** - * @brief Helper macro to get ADC channel number in decimal format - * from literals LL_ADC_CHANNEL_x. - * @note Example: - * __LL_ADC_CHANNEL_TO_DECIMAL_NB(LL_ADC_CHANNEL_4) - * will return decimal number "4". - * @note The input can be a value from functions where a channel - * number is returned, either defined with number - * or with bitfield (only one bit must be set). - * @param __CHANNEL__ This parameter can be one of the following values: - * @arg @ref LL_ADC_CHANNEL_0 - * @arg @ref LL_ADC_CHANNEL_1 - * @arg @ref LL_ADC_CHANNEL_2 - * @arg @ref LL_ADC_CHANNEL_3 - * @arg @ref LL_ADC_CHANNEL_4 - * @arg @ref LL_ADC_CHANNEL_5 - * @arg @ref LL_ADC_CHANNEL_6 - * @arg @ref LL_ADC_CHANNEL_7 - * @arg @ref LL_ADC_CHANNEL_8 - * @arg @ref LL_ADC_CHANNEL_9 - * @arg @ref LL_ADC_CHANNEL_10 - * @arg @ref LL_ADC_CHANNEL_11 - * @arg @ref LL_ADC_CHANNEL_12 - * @arg @ref LL_ADC_CHANNEL_13 - * @arg @ref LL_ADC_CHANNEL_14 - * @arg @ref LL_ADC_CHANNEL_15 - * @arg @ref LL_ADC_CHANNEL_16 - * @arg @ref LL_ADC_CHANNEL_17 - * @arg @ref LL_ADC_CHANNEL_18 - * @arg @ref LL_ADC_CHANNEL_VREFINT (1) - * @arg @ref LL_ADC_CHANNEL_TEMPSENSOR (1)(2) - * @arg @ref LL_ADC_CHANNEL_VBAT (1) - * - * (1) On STM32F4, parameter available only on ADC instance: ADC1.\n - * (2) On devices STM32F42x and STM32F43x, limitation: this internal channel is shared between temperature sensor and Vbat, only 1 measurement path must be enabled. - * @retval Value between Min_Data=0 and Max_Data=18 - */ -#define __LL_ADC_CHANNEL_TO_DECIMAL_NB(__CHANNEL__) \ - (((__CHANNEL__) & ADC_CHANNEL_ID_NUMBER_MASK) >> ADC_CHANNEL_ID_NUMBER_BITOFFSET_POS) - -/** - * @brief Helper macro to get ADC channel in literal format LL_ADC_CHANNEL_x - * from number in decimal format. - * @note Example: - * __LL_ADC_DECIMAL_NB_TO_CHANNEL(4) - * will return a data equivalent to "LL_ADC_CHANNEL_4". - * @param __DECIMAL_NB__ Value between Min_Data=0 and Max_Data=18 - * @retval Returned value can be one of the following values: - * @arg @ref LL_ADC_CHANNEL_0 - * @arg @ref LL_ADC_CHANNEL_1 - * @arg @ref LL_ADC_CHANNEL_2 - * @arg @ref LL_ADC_CHANNEL_3 - * @arg @ref LL_ADC_CHANNEL_4 - * @arg @ref LL_ADC_CHANNEL_5 - * @arg @ref LL_ADC_CHANNEL_6 - * @arg @ref LL_ADC_CHANNEL_7 - * @arg @ref LL_ADC_CHANNEL_8 - * @arg @ref LL_ADC_CHANNEL_9 - * @arg @ref LL_ADC_CHANNEL_10 - * @arg @ref LL_ADC_CHANNEL_11 - * @arg @ref LL_ADC_CHANNEL_12 - * @arg @ref LL_ADC_CHANNEL_13 - * @arg @ref LL_ADC_CHANNEL_14 - * @arg @ref LL_ADC_CHANNEL_15 - * @arg @ref LL_ADC_CHANNEL_16 - * @arg @ref LL_ADC_CHANNEL_17 - * @arg @ref LL_ADC_CHANNEL_18 - * @arg @ref LL_ADC_CHANNEL_VREFINT (1) - * @arg @ref LL_ADC_CHANNEL_TEMPSENSOR (1)(2) - * @arg @ref LL_ADC_CHANNEL_VBAT (1) - * - * (1) On STM32F4, parameter available only on ADC instance: ADC1.\n - * (2) On devices STM32F42x and STM32F43x, limitation: this internal channel is shared between temperature sensor and Vbat, only 1 measurement path must be enabled.\n - * (1) For ADC channel read back from ADC register, - * comparison with internal channel parameter to be done - * using helper macro @ref __LL_ADC_CHANNEL_INTERNAL_TO_EXTERNAL(). - */ -#define __LL_ADC_DECIMAL_NB_TO_CHANNEL(__DECIMAL_NB__) \ - (((__DECIMAL_NB__) <= 9UL) \ - ? ( \ - ((__DECIMAL_NB__) << ADC_CHANNEL_ID_NUMBER_BITOFFSET_POS) | \ - (ADC_SMPR2_REGOFFSET | (((uint32_t) (3UL * (__DECIMAL_NB__))) << ADC_CHANNEL_SMPx_BITOFFSET_POS)) \ - ) \ - : \ - ( \ - ((__DECIMAL_NB__) << ADC_CHANNEL_ID_NUMBER_BITOFFSET_POS) | \ - (ADC_SMPR1_REGOFFSET | (((uint32_t) (3UL * ((__DECIMAL_NB__) - 10UL))) << ADC_CHANNEL_SMPx_BITOFFSET_POS)) \ - ) \ - ) - -/** - * @brief Helper macro to determine whether the selected channel - * corresponds to literal definitions of driver. - * @note The different literal definitions of ADC channels are: - * - ADC internal channel: - * LL_ADC_CHANNEL_VREFINT, LL_ADC_CHANNEL_TEMPSENSOR, ... - * - ADC external channel (channel connected to a GPIO pin): - * LL_ADC_CHANNEL_1, LL_ADC_CHANNEL_2, ... - * @note The channel parameter must be a value defined from literal - * definition of a ADC internal channel (LL_ADC_CHANNEL_VREFINT, - * LL_ADC_CHANNEL_TEMPSENSOR, ...), - * ADC external channel (LL_ADC_CHANNEL_1, LL_ADC_CHANNEL_2, ...), - * must not be a value from functions where a channel number is - * returned from ADC registers, - * because internal and external channels share the same channel - * number in ADC registers. The differentiation is made only with - * parameters definitions of driver. - * @param __CHANNEL__ This parameter can be one of the following values: - * @arg @ref LL_ADC_CHANNEL_0 - * @arg @ref LL_ADC_CHANNEL_1 - * @arg @ref LL_ADC_CHANNEL_2 - * @arg @ref LL_ADC_CHANNEL_3 - * @arg @ref LL_ADC_CHANNEL_4 - * @arg @ref LL_ADC_CHANNEL_5 - * @arg @ref LL_ADC_CHANNEL_6 - * @arg @ref LL_ADC_CHANNEL_7 - * @arg @ref LL_ADC_CHANNEL_8 - * @arg @ref LL_ADC_CHANNEL_9 - * @arg @ref LL_ADC_CHANNEL_10 - * @arg @ref LL_ADC_CHANNEL_11 - * @arg @ref LL_ADC_CHANNEL_12 - * @arg @ref LL_ADC_CHANNEL_13 - * @arg @ref LL_ADC_CHANNEL_14 - * @arg @ref LL_ADC_CHANNEL_15 - * @arg @ref LL_ADC_CHANNEL_16 - * @arg @ref LL_ADC_CHANNEL_17 - * @arg @ref LL_ADC_CHANNEL_18 - * @arg @ref LL_ADC_CHANNEL_VREFINT (1) - * @arg @ref LL_ADC_CHANNEL_TEMPSENSOR (1)(2) - * @arg @ref LL_ADC_CHANNEL_VBAT (1) - * - * (1) On STM32F4, parameter available only on ADC instance: ADC1.\n - * (2) On devices STM32F42x and STM32F43x, limitation: this internal channel is shared between temperature sensor and Vbat, only 1 measurement path must be enabled. - * @retval Value "0" if the channel corresponds to a parameter definition of a ADC external channel (channel connected to a GPIO pin). - * Value "1" if the channel corresponds to a parameter definition of a ADC internal channel. - */ -#define __LL_ADC_IS_CHANNEL_INTERNAL(__CHANNEL__) \ - (((__CHANNEL__) & ADC_CHANNEL_ID_INTERNAL_CH_MASK) != 0UL) - -/** - * @brief Helper macro to convert a channel defined from parameter - * definition of a ADC internal channel (LL_ADC_CHANNEL_VREFINT, - * LL_ADC_CHANNEL_TEMPSENSOR, ...), - * to its equivalent parameter definition of a ADC external channel - * (LL_ADC_CHANNEL_1, LL_ADC_CHANNEL_2, ...). - * @note The channel parameter can be, additionally to a value - * defined from parameter definition of a ADC internal channel - * (LL_ADC_CHANNEL_VREFINT, LL_ADC_CHANNEL_TEMPSENSOR, ...), - * a value defined from parameter definition of - * ADC external channel (LL_ADC_CHANNEL_1, LL_ADC_CHANNEL_2, ...) - * or a value from functions where a channel number is returned - * from ADC registers. - * @param __CHANNEL__ This parameter can be one of the following values: - * @arg @ref LL_ADC_CHANNEL_0 - * @arg @ref LL_ADC_CHANNEL_1 - * @arg @ref LL_ADC_CHANNEL_2 - * @arg @ref LL_ADC_CHANNEL_3 - * @arg @ref LL_ADC_CHANNEL_4 - * @arg @ref LL_ADC_CHANNEL_5 - * @arg @ref LL_ADC_CHANNEL_6 - * @arg @ref LL_ADC_CHANNEL_7 - * @arg @ref LL_ADC_CHANNEL_8 - * @arg @ref LL_ADC_CHANNEL_9 - * @arg @ref LL_ADC_CHANNEL_10 - * @arg @ref LL_ADC_CHANNEL_11 - * @arg @ref LL_ADC_CHANNEL_12 - * @arg @ref LL_ADC_CHANNEL_13 - * @arg @ref LL_ADC_CHANNEL_14 - * @arg @ref LL_ADC_CHANNEL_15 - * @arg @ref LL_ADC_CHANNEL_16 - * @arg @ref LL_ADC_CHANNEL_17 - * @arg @ref LL_ADC_CHANNEL_18 - * @arg @ref LL_ADC_CHANNEL_VREFINT (1) - * @arg @ref LL_ADC_CHANNEL_TEMPSENSOR (1)(2) - * @arg @ref LL_ADC_CHANNEL_VBAT (1) - * - * (1) On STM32F4, parameter available only on ADC instance: ADC1.\n - * (2) On devices STM32F42x and STM32F43x, limitation: this internal channel is shared between temperature sensor and Vbat, only 1 measurement path must be enabled. - * @retval Returned value can be one of the following values: - * @arg @ref LL_ADC_CHANNEL_0 - * @arg @ref LL_ADC_CHANNEL_1 - * @arg @ref LL_ADC_CHANNEL_2 - * @arg @ref LL_ADC_CHANNEL_3 - * @arg @ref LL_ADC_CHANNEL_4 - * @arg @ref LL_ADC_CHANNEL_5 - * @arg @ref LL_ADC_CHANNEL_6 - * @arg @ref LL_ADC_CHANNEL_7 - * @arg @ref LL_ADC_CHANNEL_8 - * @arg @ref LL_ADC_CHANNEL_9 - * @arg @ref LL_ADC_CHANNEL_10 - * @arg @ref LL_ADC_CHANNEL_11 - * @arg @ref LL_ADC_CHANNEL_12 - * @arg @ref LL_ADC_CHANNEL_13 - * @arg @ref LL_ADC_CHANNEL_14 - * @arg @ref LL_ADC_CHANNEL_15 - * @arg @ref LL_ADC_CHANNEL_16 - * @arg @ref LL_ADC_CHANNEL_17 - * @arg @ref LL_ADC_CHANNEL_18 - */ -#define __LL_ADC_CHANNEL_INTERNAL_TO_EXTERNAL(__CHANNEL__) \ - ((__CHANNEL__) & ~ADC_CHANNEL_ID_INTERNAL_CH_MASK) - -/** - * @brief Helper macro to determine whether the internal channel - * selected is available on the ADC instance selected. - * @note The channel parameter must be a value defined from parameter - * definition of a ADC internal channel (LL_ADC_CHANNEL_VREFINT, - * LL_ADC_CHANNEL_TEMPSENSOR, ...), - * must not be a value defined from parameter definition of - * ADC external channel (LL_ADC_CHANNEL_1, LL_ADC_CHANNEL_2, ...) - * or a value from functions where a channel number is - * returned from ADC registers, - * because internal and external channels share the same channel - * number in ADC registers. The differentiation is made only with - * parameters definitions of driver. - * @param __ADC_INSTANCE__ ADC instance - * @param __CHANNEL__ This parameter can be one of the following values: - * @arg @ref LL_ADC_CHANNEL_VREFINT (1) - * @arg @ref LL_ADC_CHANNEL_TEMPSENSOR (1)(2) - * @arg @ref LL_ADC_CHANNEL_VBAT (1) - * - * (1) On STM32F4, parameter available only on ADC instance: ADC1. - * (2) On devices STM32F42x and STM32F43x, limitation: this internal channel is shared between temperature sensor and Vbat, only 1 measurement path must be enabled. - * @retval Value "0" if the internal channel selected is not available on the ADC instance selected. - * Value "1" if the internal channel selected is available on the ADC instance selected. - */ -#define __LL_ADC_IS_CHANNEL_INTERNAL_AVAILABLE(__ADC_INSTANCE__, __CHANNEL__) \ - ( \ - ((__CHANNEL__) == LL_ADC_CHANNEL_VREFINT) || \ - ((__CHANNEL__) == LL_ADC_CHANNEL_TEMPSENSOR) || \ - ((__CHANNEL__) == LL_ADC_CHANNEL_VBAT) \ - ) -/** - * @brief Helper macro to define ADC analog watchdog parameter: - * define a single channel to monitor with analog watchdog - * from sequencer channel and groups definition. - * @note To be used with function @ref LL_ADC_SetAnalogWDMonitChannels(). - * Example: - * LL_ADC_SetAnalogWDMonitChannels( - * ADC1, LL_ADC_AWD1, - * __LL_ADC_ANALOGWD_CHANNEL_GROUP(LL_ADC_CHANNEL4, LL_ADC_GROUP_REGULAR)) - * @param __CHANNEL__ This parameter can be one of the following values: - * @arg @ref LL_ADC_CHANNEL_0 - * @arg @ref LL_ADC_CHANNEL_1 - * @arg @ref LL_ADC_CHANNEL_2 - * @arg @ref LL_ADC_CHANNEL_3 - * @arg @ref LL_ADC_CHANNEL_4 - * @arg @ref LL_ADC_CHANNEL_5 - * @arg @ref LL_ADC_CHANNEL_6 - * @arg @ref LL_ADC_CHANNEL_7 - * @arg @ref LL_ADC_CHANNEL_8 - * @arg @ref LL_ADC_CHANNEL_9 - * @arg @ref LL_ADC_CHANNEL_10 - * @arg @ref LL_ADC_CHANNEL_11 - * @arg @ref LL_ADC_CHANNEL_12 - * @arg @ref LL_ADC_CHANNEL_13 - * @arg @ref LL_ADC_CHANNEL_14 - * @arg @ref LL_ADC_CHANNEL_15 - * @arg @ref LL_ADC_CHANNEL_16 - * @arg @ref LL_ADC_CHANNEL_17 - * @arg @ref LL_ADC_CHANNEL_18 - * @arg @ref LL_ADC_CHANNEL_VREFINT (1) - * @arg @ref LL_ADC_CHANNEL_TEMPSENSOR (1)(2) - * @arg @ref LL_ADC_CHANNEL_VBAT (1) - * - * (1) On STM32F4, parameter available only on ADC instance: ADC1.\n - * (2) On devices STM32F42x and STM32F43x, limitation: this internal channel is shared between temperature sensor and Vbat, only 1 measurement path must be enabled.\n - * (1) For ADC channel read back from ADC register, - * comparison with internal channel parameter to be done - * using helper macro @ref __LL_ADC_CHANNEL_INTERNAL_TO_EXTERNAL(). - * @param __GROUP__ This parameter can be one of the following values: - * @arg @ref LL_ADC_GROUP_REGULAR - * @arg @ref LL_ADC_GROUP_INJECTED - * @arg @ref LL_ADC_GROUP_REGULAR_INJECTED - * @retval Returned value can be one of the following values: - * @arg @ref LL_ADC_AWD_DISABLE - * @arg @ref LL_ADC_AWD_ALL_CHANNELS_REG - * @arg @ref LL_ADC_AWD_ALL_CHANNELS_INJ - * @arg @ref LL_ADC_AWD_ALL_CHANNELS_REG_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_0_REG - * @arg @ref LL_ADC_AWD_CHANNEL_0_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_0_REG_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_1_REG - * @arg @ref LL_ADC_AWD_CHANNEL_1_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_1_REG_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_2_REG - * @arg @ref LL_ADC_AWD_CHANNEL_2_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_2_REG_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_3_REG - * @arg @ref LL_ADC_AWD_CHANNEL_3_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_3_REG_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_4_REG - * @arg @ref LL_ADC_AWD_CHANNEL_4_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_4_REG_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_5_REG - * @arg @ref LL_ADC_AWD_CHANNEL_5_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_5_REG_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_6_REG - * @arg @ref LL_ADC_AWD_CHANNEL_6_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_6_REG_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_7_REG - * @arg @ref LL_ADC_AWD_CHANNEL_7_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_7_REG_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_8_REG - * @arg @ref LL_ADC_AWD_CHANNEL_8_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_8_REG_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_9_REG - * @arg @ref LL_ADC_AWD_CHANNEL_9_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_9_REG_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_10_REG - * @arg @ref LL_ADC_AWD_CHANNEL_10_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_10_REG_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_11_REG - * @arg @ref LL_ADC_AWD_CHANNEL_11_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_11_REG_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_12_REG - * @arg @ref LL_ADC_AWD_CHANNEL_12_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_12_REG_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_13_REG - * @arg @ref LL_ADC_AWD_CHANNEL_13_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_13_REG_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_14_REG - * @arg @ref LL_ADC_AWD_CHANNEL_14_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_14_REG_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_15_REG - * @arg @ref LL_ADC_AWD_CHANNEL_15_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_15_REG_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_16_REG - * @arg @ref LL_ADC_AWD_CHANNEL_16_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_16_REG_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_17_REG - * @arg @ref LL_ADC_AWD_CHANNEL_17_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_17_REG_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_18_REG - * @arg @ref LL_ADC_AWD_CHANNEL_18_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_18_REG_INJ - * @arg @ref LL_ADC_AWD_CH_VREFINT_REG (1) - * @arg @ref LL_ADC_AWD_CH_VREFINT_INJ (1) - * @arg @ref LL_ADC_AWD_CH_VREFINT_REG_INJ (1) - * @arg @ref LL_ADC_AWD_CH_TEMPSENSOR_REG (1)(2) - * @arg @ref LL_ADC_AWD_CH_TEMPSENSOR_INJ (1)(2) - * @arg @ref LL_ADC_AWD_CH_TEMPSENSOR_REG_INJ (1)(2) - * @arg @ref LL_ADC_AWD_CH_VBAT_REG (1) - * @arg @ref LL_ADC_AWD_CH_VBAT_INJ (1) - * @arg @ref LL_ADC_AWD_CH_VBAT_REG_INJ (1) - * - * (1) On STM32F4, parameter available only on ADC instance: ADC1.\n - * (2) On devices STM32F42x and STM32F43x, limitation: this internal channel is shared between temperature sensor and Vbat, only 1 measurement path must be enabled. - */ -#define __LL_ADC_ANALOGWD_CHANNEL_GROUP(__CHANNEL__, __GROUP__) \ - (((__GROUP__) == LL_ADC_GROUP_REGULAR) \ - ? (((__CHANNEL__) & ADC_CHANNEL_ID_MASK) | ADC_CR1_AWDEN | ADC_CR1_AWDSGL) \ - : \ - ((__GROUP__) == LL_ADC_GROUP_INJECTED) \ - ? (((__CHANNEL__) & ADC_CHANNEL_ID_MASK) | ADC_CR1_JAWDEN | ADC_CR1_AWDSGL) \ - : \ - (((__CHANNEL__) & ADC_CHANNEL_ID_MASK) | ADC_CR1_JAWDEN | ADC_CR1_AWDEN | ADC_CR1_AWDSGL) \ - ) - -/** - * @brief Helper macro to set the value of ADC analog watchdog threshold high - * or low in function of ADC resolution, when ADC resolution is - * different of 12 bits. - * @note To be used with function @ref LL_ADC_SetAnalogWDThresholds(). - * Example, with a ADC resolution of 8 bits, to set the value of - * analog watchdog threshold high (on 8 bits): - * LL_ADC_SetAnalogWDThresholds - * (< ADCx param >, - * __LL_ADC_ANALOGWD_SET_THRESHOLD_RESOLUTION(LL_ADC_RESOLUTION_8B, ) - * ); - * @param __ADC_RESOLUTION__ This parameter can be one of the following values: - * @arg @ref LL_ADC_RESOLUTION_12B - * @arg @ref LL_ADC_RESOLUTION_10B - * @arg @ref LL_ADC_RESOLUTION_8B - * @arg @ref LL_ADC_RESOLUTION_6B - * @param __AWD_THRESHOLD__ Value between Min_Data=0x000 and Max_Data=0xFFF - * @retval Value between Min_Data=0x000 and Max_Data=0xFFF - */ -#define __LL_ADC_ANALOGWD_SET_THRESHOLD_RESOLUTION(__ADC_RESOLUTION__, __AWD_THRESHOLD__) \ - ((__AWD_THRESHOLD__) << ((__ADC_RESOLUTION__) >> (ADC_CR1_RES_BITOFFSET_POS - 1UL ))) - -/** - * @brief Helper macro to get the value of ADC analog watchdog threshold high - * or low in function of ADC resolution, when ADC resolution is - * different of 12 bits. - * @note To be used with function @ref LL_ADC_GetAnalogWDThresholds(). - * Example, with a ADC resolution of 8 bits, to get the value of - * analog watchdog threshold high (on 8 bits): - * < threshold_value_6_bits > = __LL_ADC_ANALOGWD_GET_THRESHOLD_RESOLUTION - * (LL_ADC_RESOLUTION_8B, - * LL_ADC_GetAnalogWDThresholds(, LL_ADC_AWD_THRESHOLD_HIGH) - * ); - * @param __ADC_RESOLUTION__ This parameter can be one of the following values: - * @arg @ref LL_ADC_RESOLUTION_12B - * @arg @ref LL_ADC_RESOLUTION_10B - * @arg @ref LL_ADC_RESOLUTION_8B - * @arg @ref LL_ADC_RESOLUTION_6B - * @param __AWD_THRESHOLD_12_BITS__ Value between Min_Data=0x000 and Max_Data=0xFFF - * @retval Value between Min_Data=0x000 and Max_Data=0xFFF - */ -#define __LL_ADC_ANALOGWD_GET_THRESHOLD_RESOLUTION(__ADC_RESOLUTION__, __AWD_THRESHOLD_12_BITS__) \ - ((__AWD_THRESHOLD_12_BITS__) >> ((__ADC_RESOLUTION__) >> (ADC_CR1_RES_BITOFFSET_POS - 1UL ))) - -#if defined(ADC_MULTIMODE_SUPPORT) -/** - * @brief Helper macro to get the ADC multimode conversion data of ADC master - * or ADC slave from raw value with both ADC conversion data concatenated. - * @note This macro is intended to be used when multimode transfer by DMA - * is enabled: refer to function @ref LL_ADC_SetMultiDMATransfer(). - * In this case the transferred data need to processed with this macro - * to separate the conversion data of ADC master and ADC slave. - * @param __ADC_MULTI_MASTER_SLAVE__ This parameter can be one of the following values: - * @arg @ref LL_ADC_MULTI_MASTER - * @arg @ref LL_ADC_MULTI_SLAVE - * @param __ADC_MULTI_CONV_DATA__ Value between Min_Data=0x000 and Max_Data=0xFFF - * @retval Value between Min_Data=0x000 and Max_Data=0xFFF - */ -#define __LL_ADC_MULTI_CONV_DATA_MASTER_SLAVE(__ADC_MULTI_MASTER_SLAVE__, __ADC_MULTI_CONV_DATA__) \ - (((__ADC_MULTI_CONV_DATA__) >> POSITION_VAL((__ADC_MULTI_MASTER_SLAVE__))) & ADC_CDR_RDATA_MST) -#endif - -/** - * @brief Helper macro to select the ADC common instance - * to which is belonging the selected ADC instance. - * @note ADC common register instance can be used for: - * - Set parameters common to several ADC instances - * - Multimode (for devices with several ADC instances) - * Refer to functions having argument "ADCxy_COMMON" as parameter. - * @param __ADCx__ ADC instance - * @retval ADC common register instance - */ -#if defined(ADC1) && defined(ADC2) && defined(ADC3) -#define __LL_ADC_COMMON_INSTANCE(__ADCx__) \ - (ADC123_COMMON) -#elif defined(ADC1) && defined(ADC2) -#define __LL_ADC_COMMON_INSTANCE(__ADCx__) \ - (ADC12_COMMON) -#else -#define __LL_ADC_COMMON_INSTANCE(__ADCx__) \ - (ADC1_COMMON) -#endif - -/** - * @brief Helper macro to check if all ADC instances sharing the same - * ADC common instance are disabled. - * @note This check is required by functions with setting conditioned to - * ADC state: - * All ADC instances of the ADC common group must be disabled. - * Refer to functions having argument "ADCxy_COMMON" as parameter. - * @note On devices with only 1 ADC common instance, parameter of this macro - * is useless and can be ignored (parameter kept for compatibility - * with devices featuring several ADC common instances). - * @param __ADCXY_COMMON__ ADC common instance - * (can be set directly from CMSIS definition or by using helper macro @ref __LL_ADC_COMMON_INSTANCE() ) - * @retval Value "0" if all ADC instances sharing the same ADC common instance - * are disabled. - * Value "1" if at least one ADC instance sharing the same ADC common instance - * is enabled. - */ -#if defined(ADC1) && defined(ADC2) && defined(ADC3) -#define __LL_ADC_IS_ENABLED_ALL_COMMON_INSTANCE(__ADCXY_COMMON__) \ - (LL_ADC_IsEnabled(ADC1) | \ - LL_ADC_IsEnabled(ADC2) | \ - LL_ADC_IsEnabled(ADC3) ) -#elif defined(ADC1) && defined(ADC2) -#define __LL_ADC_IS_ENABLED_ALL_COMMON_INSTANCE(__ADCXY_COMMON__) \ - (LL_ADC_IsEnabled(ADC1) | \ - LL_ADC_IsEnabled(ADC2) ) -#else -#define __LL_ADC_IS_ENABLED_ALL_COMMON_INSTANCE(__ADCXY_COMMON__) \ - (LL_ADC_IsEnabled(ADC1)) -#endif - -/** - * @brief Helper macro to define the ADC conversion data full-scale digital - * value corresponding to the selected ADC resolution. - * @note ADC conversion data full-scale corresponds to voltage range - * determined by analog voltage references Vref+ and Vref- - * (refer to reference manual). - * @param __ADC_RESOLUTION__ This parameter can be one of the following values: - * @arg @ref LL_ADC_RESOLUTION_12B - * @arg @ref LL_ADC_RESOLUTION_10B - * @arg @ref LL_ADC_RESOLUTION_8B - * @arg @ref LL_ADC_RESOLUTION_6B - * @retval ADC conversion data equivalent voltage value (unit: mVolt) - */ -#define __LL_ADC_DIGITAL_SCALE(__ADC_RESOLUTION__) \ - (0xFFFU >> ((__ADC_RESOLUTION__) >> (ADC_CR1_RES_BITOFFSET_POS - 1UL))) - -/** - * @brief Helper macro to convert the ADC conversion data from - * a resolution to another resolution. - * @param __DATA__ ADC conversion data to be converted - * @param __ADC_RESOLUTION_CURRENT__ Resolution of to the data to be converted - * This parameter can be one of the following values: - * @arg @ref LL_ADC_RESOLUTION_12B - * @arg @ref LL_ADC_RESOLUTION_10B - * @arg @ref LL_ADC_RESOLUTION_8B - * @arg @ref LL_ADC_RESOLUTION_6B - * @param __ADC_RESOLUTION_TARGET__ Resolution of the data after conversion - * This parameter can be one of the following values: - * @arg @ref LL_ADC_RESOLUTION_12B - * @arg @ref LL_ADC_RESOLUTION_10B - * @arg @ref LL_ADC_RESOLUTION_8B - * @arg @ref LL_ADC_RESOLUTION_6B - * @retval ADC conversion data to the requested resolution - */ -#define __LL_ADC_CONVERT_DATA_RESOLUTION(__DATA__, __ADC_RESOLUTION_CURRENT__, __ADC_RESOLUTION_TARGET__) \ - (((__DATA__) \ - << ((__ADC_RESOLUTION_CURRENT__) >> (ADC_CR1_RES_BITOFFSET_POS - 1UL))) \ - >> ((__ADC_RESOLUTION_TARGET__) >> (ADC_CR1_RES_BITOFFSET_POS - 1UL)) \ - ) - -/** - * @brief Helper macro to calculate the voltage (unit: mVolt) - * corresponding to a ADC conversion data (unit: digital value). - * @note Analog reference voltage (Vref+) must be either known from - * user board environment or can be calculated using ADC measurement - * and ADC helper macro @ref __LL_ADC_CALC_VREFANALOG_VOLTAGE(). - * @param __VREFANALOG_VOLTAGE__ Analog reference voltage (unit mV) - * @param __ADC_DATA__ ADC conversion data (resolution 12 bits) - * (unit: digital value). - * @param __ADC_RESOLUTION__ This parameter can be one of the following values: - * @arg @ref LL_ADC_RESOLUTION_12B - * @arg @ref LL_ADC_RESOLUTION_10B - * @arg @ref LL_ADC_RESOLUTION_8B - * @arg @ref LL_ADC_RESOLUTION_6B - * @retval ADC conversion data equivalent voltage value (unit: mVolt) - */ -#define __LL_ADC_CALC_DATA_TO_VOLTAGE(__VREFANALOG_VOLTAGE__,\ - __ADC_DATA__,\ - __ADC_RESOLUTION__) \ - ((__ADC_DATA__) * (__VREFANALOG_VOLTAGE__) \ - / __LL_ADC_DIGITAL_SCALE(__ADC_RESOLUTION__) \ - ) - -/** - * @brief Helper macro to calculate analog reference voltage (Vref+) - * (unit: mVolt) from ADC conversion data of internal voltage - * reference VrefInt. - * @note Computation is using VrefInt calibration value - * stored in system memory for each device during production. - * @note This voltage depends on user board environment: voltage level - * connected to pin Vref+. - * On devices with small package, the pin Vref+ is not present - * and internally bonded to pin Vdda. - * @note On this STM32 series, calibration data of internal voltage reference - * VrefInt corresponds to a resolution of 12 bits, - * this is the recommended ADC resolution to convert voltage of - * internal voltage reference VrefInt. - * Otherwise, this macro performs the processing to scale - * ADC conversion data to 12 bits. - * @param __VREFINT_ADC_DATA__ ADC conversion data (resolution 12 bits) - * of internal voltage reference VrefInt (unit: digital value). - * @param __ADC_RESOLUTION__ This parameter can be one of the following values: - * @arg @ref LL_ADC_RESOLUTION_12B - * @arg @ref LL_ADC_RESOLUTION_10B - * @arg @ref LL_ADC_RESOLUTION_8B - * @arg @ref LL_ADC_RESOLUTION_6B - * @retval Analog reference voltage (unit: mV) - */ -#define __LL_ADC_CALC_VREFANALOG_VOLTAGE(__VREFINT_ADC_DATA__,\ - __ADC_RESOLUTION__) \ - (((uint32_t)(*VREFINT_CAL_ADDR) * VREFINT_CAL_VREF) \ - / __LL_ADC_CONVERT_DATA_RESOLUTION((__VREFINT_ADC_DATA__), \ - (__ADC_RESOLUTION__), \ - LL_ADC_RESOLUTION_12B)) - -/* Note: On device STM32F4x9, calibration parameter TS_CAL2 is not available. */ -/* Therefore, helper macro __LL_ADC_CALC_TEMPERATURE() is not available.*/ -/* Use helper macro @ref __LL_ADC_CALC_TEMPERATURE_TYP_PARAMS(). */ -#if !defined(STM32F469) && !defined(STM32F479xx) && !defined(STM32F429xx) && !defined(STM32F439xx) -/** - * @brief Helper macro to calculate the temperature (unit: degree Celsius) - * from ADC conversion data of internal temperature sensor. - * @note Computation is using temperature sensor calibration values - * stored in system memory for each device during production. - * @note Calculation formula: - * Temperature = ((TS_ADC_DATA - TS_CAL1) - * * (TS_CAL2_TEMP - TS_CAL1_TEMP)) - * / (TS_CAL2 - TS_CAL1) + TS_CAL1_TEMP - * with TS_ADC_DATA = temperature sensor raw data measured by ADC - * Avg_Slope = (TS_CAL2 - TS_CAL1) - * / (TS_CAL2_TEMP - TS_CAL1_TEMP) - * TS_CAL1 = equivalent TS_ADC_DATA at temperature - * TEMP_DEGC_CAL1 (calibrated in factory) - * TS_CAL2 = equivalent TS_ADC_DATA at temperature - * TEMP_DEGC_CAL2 (calibrated in factory) - * Caution: Calculation relevancy under reserve that calibration - * parameters are correct (address and data). - * To calculate temperature using temperature sensor - * datasheet typical values (generic values less, therefore - * less accurate than calibrated values), - * use helper macro @ref __LL_ADC_CALC_TEMPERATURE_TYP_PARAMS(). - * @note As calculation input, the analog reference voltage (Vref+) must be - * defined as it impacts the ADC LSB equivalent voltage. - * @note Analog reference voltage (Vref+) must be either known from - * user board environment or can be calculated using ADC measurement - * and ADC helper macro @ref __LL_ADC_CALC_VREFANALOG_VOLTAGE(). - * @note On this STM32 series, calibration data of temperature sensor - * corresponds to a resolution of 12 bits, - * this is the recommended ADC resolution to convert voltage of - * temperature sensor. - * Otherwise, this macro performs the processing to scale - * ADC conversion data to 12 bits. - * @param __VREFANALOG_VOLTAGE__ Analog reference voltage (unit mV) - * @param __TEMPSENSOR_ADC_DATA__ ADC conversion data of internal - * temperature sensor (unit: digital value). - * @param __ADC_RESOLUTION__ ADC resolution at which internal temperature - * sensor voltage has been measured. - * This parameter can be one of the following values: - * @arg @ref LL_ADC_RESOLUTION_12B - * @arg @ref LL_ADC_RESOLUTION_10B - * @arg @ref LL_ADC_RESOLUTION_8B - * @arg @ref LL_ADC_RESOLUTION_6B - * @retval Temperature (unit: degree Celsius) - */ -#define __LL_ADC_CALC_TEMPERATURE(__VREFANALOG_VOLTAGE__,\ - __TEMPSENSOR_ADC_DATA__,\ - __ADC_RESOLUTION__) \ - (((( ((int32_t)((__LL_ADC_CONVERT_DATA_RESOLUTION((__TEMPSENSOR_ADC_DATA__), \ - (__ADC_RESOLUTION__), \ - LL_ADC_RESOLUTION_12B) \ - * (__VREFANALOG_VOLTAGE__)) \ - / TEMPSENSOR_CAL_VREFANALOG) \ - - (int32_t) *TEMPSENSOR_CAL1_ADDR) \ - ) * (int32_t)(TEMPSENSOR_CAL2_TEMP - TEMPSENSOR_CAL1_TEMP) \ - ) / (int32_t)((int32_t)*TEMPSENSOR_CAL2_ADDR - (int32_t)*TEMPSENSOR_CAL1_ADDR) \ - ) + TEMPSENSOR_CAL1_TEMP \ - ) -#endif - -/** - * @brief Helper macro to calculate the temperature (unit: degree Celsius) - * from ADC conversion data of internal temperature sensor. - * @note Computation is using temperature sensor typical values - * (refer to device datasheet). - * @note Calculation formula: - * Temperature = (TS_TYP_CALx_VOLT(uV) - TS_ADC_DATA * Conversion_uV) - * / Avg_Slope + CALx_TEMP - * with TS_ADC_DATA = temperature sensor raw data measured by ADC - * (unit: digital value) - * Avg_Slope = temperature sensor slope - * (unit: uV/Degree Celsius) - * TS_TYP_CALx_VOLT = temperature sensor digital value at - * temperature CALx_TEMP (unit: mV) - * Caution: Calculation relevancy under reserve the temperature sensor - * of the current device has characteristics in line with - * datasheet typical values. - * If temperature sensor calibration values are available on - * on this device (presence of macro __LL_ADC_CALC_TEMPERATURE()), - * temperature calculation will be more accurate using - * helper macro @ref __LL_ADC_CALC_TEMPERATURE(). - * @note As calculation input, the analog reference voltage (Vref+) must be - * defined as it impacts the ADC LSB equivalent voltage. - * @note Analog reference voltage (Vref+) must be either known from - * user board environment or can be calculated using ADC measurement - * and ADC helper macro @ref __LL_ADC_CALC_VREFANALOG_VOLTAGE(). - * @note ADC measurement data must correspond to a resolution of 12bits - * (full scale digital value 4095). If not the case, the data must be - * preliminarily rescaled to an equivalent resolution of 12 bits. - * @param __TEMPSENSOR_TYP_AVGSLOPE__ Device datasheet data Temperature sensor slope typical value (unit uV/DegCelsius). - * On STM32F4, refer to device datasheet parameter "Avg_Slope". - * @param __TEMPSENSOR_TYP_CALX_V__ Device datasheet data Temperature sensor voltage typical value (at temperature and Vref+ defined in parameters below) (unit mV). - * On STM32F4, refer to device datasheet parameter "V25". - * @param __TEMPSENSOR_CALX_TEMP__ Device datasheet data Temperature at which temperature sensor voltage (see parameter above) is corresponding (unit mV) - * @param __VREFANALOG_VOLTAGE__ Analog voltage reference (Vref+) voltage (unit mV) - * @param __TEMPSENSOR_ADC_DATA__ ADC conversion data of internal temperature sensor (unit digital value). - * @param __ADC_RESOLUTION__ ADC resolution at which internal temperature sensor voltage has been measured. - * This parameter can be one of the following values: - * @arg @ref LL_ADC_RESOLUTION_12B - * @arg @ref LL_ADC_RESOLUTION_10B - * @arg @ref LL_ADC_RESOLUTION_8B - * @arg @ref LL_ADC_RESOLUTION_6B - * @retval Temperature (unit: degree Celsius) - */ -#define __LL_ADC_CALC_TEMPERATURE_TYP_PARAMS(__TEMPSENSOR_TYP_AVGSLOPE__,\ - __TEMPSENSOR_TYP_CALX_V__,\ - __TEMPSENSOR_CALX_TEMP__,\ - __VREFANALOG_VOLTAGE__,\ - __TEMPSENSOR_ADC_DATA__,\ - __ADC_RESOLUTION__) \ - ((( ( \ - (int32_t)(((__TEMPSENSOR_TYP_CALX_V__)) \ - * 1000) \ - - \ - (int32_t)((((__TEMPSENSOR_ADC_DATA__) * (__VREFANALOG_VOLTAGE__)) \ - / __LL_ADC_DIGITAL_SCALE(__ADC_RESOLUTION__)) \ - * 1000) \ - ) \ - ) / (__TEMPSENSOR_TYP_AVGSLOPE__) \ - ) + (__TEMPSENSOR_CALX_TEMP__) \ - ) - -/** - * @} - */ - -/** - * @} - */ - - -/* Exported functions --------------------------------------------------------*/ -/** @defgroup ADC_LL_Exported_Functions ADC Exported Functions - * @{ - */ - -/** @defgroup ADC_LL_EF_DMA_Management ADC DMA management - * @{ - */ -/* Note: LL ADC functions to set DMA transfer are located into sections of */ -/* configuration of ADC instance, groups and multimode (if available): */ -/* @ref LL_ADC_REG_SetDMATransfer(), ... */ - -/** - * @brief Function to help to configure DMA transfer from ADC: retrieve the - * ADC register address from ADC instance and a list of ADC registers - * intended to be used (most commonly) with DMA transfer. - * @note These ADC registers are data registers: - * when ADC conversion data is available in ADC data registers, - * ADC generates a DMA transfer request. - * @note This macro is intended to be used with LL DMA driver, refer to - * function "LL_DMA_ConfigAddresses()". - * Example: - * LL_DMA_ConfigAddresses(DMA1, - * LL_DMA_CHANNEL_1, - * LL_ADC_DMA_GetRegAddr(ADC1, LL_ADC_DMA_REG_REGULAR_DATA), - * (uint32_t)&< array or variable >, - * LL_DMA_DIRECTION_PERIPH_TO_MEMORY); - * @note For devices with several ADC: in multimode, some devices - * use a different data register outside of ADC instance scope - * (common data register). This macro manages this register difference, - * only ADC instance has to be set as parameter. - * @rmtoll DR RDATA LL_ADC_DMA_GetRegAddr\n - * CDR RDATA_MST LL_ADC_DMA_GetRegAddr\n - * CDR RDATA_SLV LL_ADC_DMA_GetRegAddr - * @param ADCx ADC instance - * @param Register This parameter can be one of the following values: - * @arg @ref LL_ADC_DMA_REG_REGULAR_DATA - * @arg @ref LL_ADC_DMA_REG_REGULAR_DATA_MULTI (1) - * - * (1) Available on devices with several ADC instances. - * @retval ADC register address - */ -#if defined(ADC_MULTIMODE_SUPPORT) -__STATIC_INLINE uint32_t LL_ADC_DMA_GetRegAddr(ADC_TypeDef *ADCx, uint32_t Register) -{ - uint32_t data_reg_addr = 0UL; - UNUSED(Register); - - if (Register == LL_ADC_DMA_REG_REGULAR_DATA) - { - /* Retrieve address of register DR */ - data_reg_addr = (uint32_t)&(ADCx->DR); - } - else /* (Register == LL_ADC_DMA_REG_REGULAR_DATA_MULTI) */ - { - /* Retrieve address of register CDR */ - data_reg_addr = (uint32_t)&((__LL_ADC_COMMON_INSTANCE(ADCx))->CDR); - } - - return data_reg_addr; -} -#else -__STATIC_INLINE uint32_t LL_ADC_DMA_GetRegAddr(ADC_TypeDef *ADCx, uint32_t Register) -{ - UNUSED(Register); - /* Retrieve address of register DR */ - return (uint32_t)&(ADCx->DR); -} -#endif - -/** - * @} - */ - -/** @defgroup ADC_LL_EF_Configuration_ADC_Common Configuration of ADC hierarchical scope: common to several ADC instances - * @{ - */ - -/** - * @brief Set parameter common to several ADC: Clock source and prescaler. - * @rmtoll CCR ADCPRE LL_ADC_SetCommonClock - * @param ADCxy_COMMON ADC common instance - * (can be set directly from CMSIS definition or by using helper macro @ref __LL_ADC_COMMON_INSTANCE() ) - * @param CommonClock This parameter can be one of the following values: - * @arg @ref LL_ADC_CLOCK_SYNC_PCLK_DIV2 - * @arg @ref LL_ADC_CLOCK_SYNC_PCLK_DIV4 - * @arg @ref LL_ADC_CLOCK_SYNC_PCLK_DIV6 - * @arg @ref LL_ADC_CLOCK_SYNC_PCLK_DIV8 - * @retval None - */ -__STATIC_INLINE void LL_ADC_SetCommonClock(ADC_Common_TypeDef *ADCxy_COMMON, uint32_t CommonClock) -{ - MODIFY_REG(ADCxy_COMMON->CCR, ADC_CCR_ADCPRE, CommonClock); -} - -/** - * @brief Get parameter common to several ADC: Clock source and prescaler. - * @rmtoll CCR ADCPRE LL_ADC_GetCommonClock - * @param ADCxy_COMMON ADC common instance - * (can be set directly from CMSIS definition or by using helper macro @ref __LL_ADC_COMMON_INSTANCE() ) - * @retval Returned value can be one of the following values: - * @arg @ref LL_ADC_CLOCK_SYNC_PCLK_DIV2 - * @arg @ref LL_ADC_CLOCK_SYNC_PCLK_DIV4 - * @arg @ref LL_ADC_CLOCK_SYNC_PCLK_DIV6 - * @arg @ref LL_ADC_CLOCK_SYNC_PCLK_DIV8 - */ -__STATIC_INLINE uint32_t LL_ADC_GetCommonClock(ADC_Common_TypeDef *ADCxy_COMMON) -{ - return (uint32_t)(READ_BIT(ADCxy_COMMON->CCR, ADC_CCR_ADCPRE)); -} - -/** - * @brief Set parameter common to several ADC: measurement path to internal - * channels (VrefInt, temperature sensor, ...). - * @note One or several values can be selected. - * Example: (LL_ADC_PATH_INTERNAL_VREFINT | - * LL_ADC_PATH_INTERNAL_TEMPSENSOR) - * @note Stabilization time of measurement path to internal channel: - * After enabling internal paths, before starting ADC conversion, - * a delay is required for internal voltage reference and - * temperature sensor stabilization time. - * Refer to device datasheet. - * Refer to literal @ref LL_ADC_DELAY_VREFINT_STAB_US. - * Refer to literal @ref LL_ADC_DELAY_TEMPSENSOR_STAB_US. - * @note ADC internal channel sampling time constraint: - * For ADC conversion of internal channels, - * a sampling time minimum value is required. - * Refer to device datasheet. - * @rmtoll CCR TSVREFE LL_ADC_SetCommonPathInternalCh\n - * CCR VBATE LL_ADC_SetCommonPathInternalCh - * @param ADCxy_COMMON ADC common instance - * (can be set directly from CMSIS definition or by using helper macro @ref __LL_ADC_COMMON_INSTANCE() ) - * @param PathInternal This parameter can be a combination of the following values: - * @arg @ref LL_ADC_PATH_INTERNAL_NONE - * @arg @ref LL_ADC_PATH_INTERNAL_VREFINT - * @arg @ref LL_ADC_PATH_INTERNAL_TEMPSENSOR - * @arg @ref LL_ADC_PATH_INTERNAL_VBAT - * @retval None - */ -__STATIC_INLINE void LL_ADC_SetCommonPathInternalCh(ADC_Common_TypeDef *ADCxy_COMMON, uint32_t PathInternal) -{ - MODIFY_REG(ADCxy_COMMON->CCR, ADC_CCR_TSVREFE | ADC_CCR_VBATE, PathInternal); -} - -/** - * @brief Get parameter common to several ADC: measurement path to internal - * channels (VrefInt, temperature sensor, ...). - * @note One or several values can be selected. - * Example: (LL_ADC_PATH_INTERNAL_VREFINT | - * LL_ADC_PATH_INTERNAL_TEMPSENSOR) - * @rmtoll CCR TSVREFE LL_ADC_GetCommonPathInternalCh\n - * CCR VBATE LL_ADC_GetCommonPathInternalCh - * @param ADCxy_COMMON ADC common instance - * (can be set directly from CMSIS definition or by using helper macro @ref __LL_ADC_COMMON_INSTANCE() ) - * @retval Returned value can be a combination of the following values: - * @arg @ref LL_ADC_PATH_INTERNAL_NONE - * @arg @ref LL_ADC_PATH_INTERNAL_VREFINT - * @arg @ref LL_ADC_PATH_INTERNAL_TEMPSENSOR - * @arg @ref LL_ADC_PATH_INTERNAL_VBAT - */ -__STATIC_INLINE uint32_t LL_ADC_GetCommonPathInternalCh(ADC_Common_TypeDef *ADCxy_COMMON) -{ - return (uint32_t)(READ_BIT(ADCxy_COMMON->CCR, ADC_CCR_TSVREFE | ADC_CCR_VBATE)); -} - -/** - * @} - */ - -/** @defgroup ADC_LL_EF_Configuration_ADC_Instance Configuration of ADC hierarchical scope: ADC instance - * @{ - */ - -/** - * @brief Set ADC resolution. - * Refer to reference manual for alignments formats - * dependencies to ADC resolutions. - * @rmtoll CR1 RES LL_ADC_SetResolution - * @param ADCx ADC instance - * @param Resolution This parameter can be one of the following values: - * @arg @ref LL_ADC_RESOLUTION_12B - * @arg @ref LL_ADC_RESOLUTION_10B - * @arg @ref LL_ADC_RESOLUTION_8B - * @arg @ref LL_ADC_RESOLUTION_6B - * @retval None - */ -__STATIC_INLINE void LL_ADC_SetResolution(ADC_TypeDef *ADCx, uint32_t Resolution) -{ - MODIFY_REG(ADCx->CR1, ADC_CR1_RES, Resolution); -} - -/** - * @brief Get ADC resolution. - * Refer to reference manual for alignments formats - * dependencies to ADC resolutions. - * @rmtoll CR1 RES LL_ADC_GetResolution - * @param ADCx ADC instance - * @retval Returned value can be one of the following values: - * @arg @ref LL_ADC_RESOLUTION_12B - * @arg @ref LL_ADC_RESOLUTION_10B - * @arg @ref LL_ADC_RESOLUTION_8B - * @arg @ref LL_ADC_RESOLUTION_6B - */ -__STATIC_INLINE uint32_t LL_ADC_GetResolution(ADC_TypeDef *ADCx) -{ - return (uint32_t)(READ_BIT(ADCx->CR1, ADC_CR1_RES)); -} - -/** - * @brief Set ADC conversion data alignment. - * @note Refer to reference manual for alignments formats - * dependencies to ADC resolutions. - * @rmtoll CR2 ALIGN LL_ADC_SetDataAlignment - * @param ADCx ADC instance - * @param DataAlignment This parameter can be one of the following values: - * @arg @ref LL_ADC_DATA_ALIGN_RIGHT - * @arg @ref LL_ADC_DATA_ALIGN_LEFT - * @retval None - */ -__STATIC_INLINE void LL_ADC_SetDataAlignment(ADC_TypeDef *ADCx, uint32_t DataAlignment) -{ - MODIFY_REG(ADCx->CR2, ADC_CR2_ALIGN, DataAlignment); -} - -/** - * @brief Get ADC conversion data alignment. - * @note Refer to reference manual for alignments formats - * dependencies to ADC resolutions. - * @rmtoll CR2 ALIGN LL_ADC_SetDataAlignment - * @param ADCx ADC instance - * @retval Returned value can be one of the following values: - * @arg @ref LL_ADC_DATA_ALIGN_RIGHT - * @arg @ref LL_ADC_DATA_ALIGN_LEFT - */ -__STATIC_INLINE uint32_t LL_ADC_GetDataAlignment(ADC_TypeDef *ADCx) -{ - return (uint32_t)(READ_BIT(ADCx->CR2, ADC_CR2_ALIGN)); -} - -/** - * @brief Set ADC sequencers scan mode, for all ADC groups - * (group regular, group injected). - * @note According to sequencers scan mode : - * - If disabled: ADC conversion is performed in unitary conversion - * mode (one channel converted, that defined in rank 1). - * Configuration of sequencers of all ADC groups - * (sequencer scan length, ...) is discarded: equivalent to - * scan length of 1 rank. - * - If enabled: ADC conversions are performed in sequence conversions - * mode, according to configuration of sequencers of - * each ADC group (sequencer scan length, ...). - * Refer to function @ref LL_ADC_REG_SetSequencerLength() - * and to function @ref LL_ADC_INJ_SetSequencerLength(). - * @rmtoll CR1 SCAN LL_ADC_SetSequencersScanMode - * @param ADCx ADC instance - * @param ScanMode This parameter can be one of the following values: - * @arg @ref LL_ADC_SEQ_SCAN_DISABLE - * @arg @ref LL_ADC_SEQ_SCAN_ENABLE - * @retval None - */ -__STATIC_INLINE void LL_ADC_SetSequencersScanMode(ADC_TypeDef *ADCx, uint32_t ScanMode) -{ - MODIFY_REG(ADCx->CR1, ADC_CR1_SCAN, ScanMode); -} - -/** - * @brief Get ADC sequencers scan mode, for all ADC groups - * (group regular, group injected). - * @note According to sequencers scan mode : - * - If disabled: ADC conversion is performed in unitary conversion - * mode (one channel converted, that defined in rank 1). - * Configuration of sequencers of all ADC groups - * (sequencer scan length, ...) is discarded: equivalent to - * scan length of 1 rank. - * - If enabled: ADC conversions are performed in sequence conversions - * mode, according to configuration of sequencers of - * each ADC group (sequencer scan length, ...). - * Refer to function @ref LL_ADC_REG_SetSequencerLength() - * and to function @ref LL_ADC_INJ_SetSequencerLength(). - * @rmtoll CR1 SCAN LL_ADC_GetSequencersScanMode - * @param ADCx ADC instance - * @retval Returned value can be one of the following values: - * @arg @ref LL_ADC_SEQ_SCAN_DISABLE - * @arg @ref LL_ADC_SEQ_SCAN_ENABLE - */ -__STATIC_INLINE uint32_t LL_ADC_GetSequencersScanMode(ADC_TypeDef *ADCx) -{ - return (uint32_t)(READ_BIT(ADCx->CR1, ADC_CR1_SCAN)); -} - -/** - * @} - */ - -/** @defgroup ADC_LL_EF_Configuration_ADC_Group_Regular Configuration of ADC hierarchical scope: group regular - * @{ - */ - -/** - * @brief Set ADC group regular conversion trigger source: - * internal (SW start) or from external IP (timer event, - * external interrupt line). - * @note On this STM32 series, setting of external trigger edge is performed - * using function @ref LL_ADC_REG_StartConversionExtTrig(). - * @note Availability of parameters of trigger sources from timer - * depends on timers availability on the selected device. - * @rmtoll CR2 EXTSEL LL_ADC_REG_SetTriggerSource\n - * CR2 EXTEN LL_ADC_REG_SetTriggerSource - * @param ADCx ADC instance - * @param TriggerSource This parameter can be one of the following values: - * @arg @ref LL_ADC_REG_TRIG_SOFTWARE - * @arg @ref LL_ADC_REG_TRIG_EXT_TIM1_CH1 - * @arg @ref LL_ADC_REG_TRIG_EXT_TIM1_CH2 - * @arg @ref LL_ADC_REG_TRIG_EXT_TIM1_CH3 - * @arg @ref LL_ADC_REG_TRIG_EXT_TIM2_CH2 - * @arg @ref LL_ADC_REG_TRIG_EXT_TIM2_CH3 - * @arg @ref LL_ADC_REG_TRIG_EXT_TIM2_CH4 - * @arg @ref LL_ADC_REG_TRIG_EXT_TIM2_TRGO - * @arg @ref LL_ADC_REG_TRIG_EXT_TIM3_CH1 - * @arg @ref LL_ADC_REG_TRIG_EXT_TIM3_TRGO - * @arg @ref LL_ADC_REG_TRIG_EXT_TIM4_CH4 - * @arg @ref LL_ADC_REG_TRIG_EXT_TIM5_CH1 - * @arg @ref LL_ADC_REG_TRIG_EXT_TIM5_CH2 - * @arg @ref LL_ADC_REG_TRIG_EXT_TIM5_CH3 - * @arg @ref LL_ADC_REG_TRIG_EXT_TIM8_CH1 - * @arg @ref LL_ADC_REG_TRIG_EXT_TIM8_TRGO - * @arg @ref LL_ADC_REG_TRIG_EXT_EXTI_LINE11 - * @retval None - */ -__STATIC_INLINE void LL_ADC_REG_SetTriggerSource(ADC_TypeDef *ADCx, uint32_t TriggerSource) -{ -/* Note: On this STM32 series, ADC group regular external trigger edge */ -/* is used to perform a ADC conversion start. */ -/* This function does not set external trigger edge. */ -/* This feature is set using function */ -/* @ref LL_ADC_REG_StartConversionExtTrig(). */ - MODIFY_REG(ADCx->CR2, ADC_CR2_EXTSEL, (TriggerSource & ADC_CR2_EXTSEL)); -} - -/** - * @brief Get ADC group regular conversion trigger source: - * internal (SW start) or from external IP (timer event, - * external interrupt line). - * @note To determine whether group regular trigger source is - * internal (SW start) or external, without detail - * of which peripheral is selected as external trigger, - * (equivalent to - * "if(LL_ADC_REG_GetTriggerSource(ADC1) == LL_ADC_REG_TRIG_SOFTWARE)") - * use function @ref LL_ADC_REG_IsTriggerSourceSWStart. - * @note Availability of parameters of trigger sources from timer - * depends on timers availability on the selected device. - * @rmtoll CR2 EXTSEL LL_ADC_REG_GetTriggerSource\n - * CR2 EXTEN LL_ADC_REG_GetTriggerSource - * @param ADCx ADC instance - * @retval Returned value can be one of the following values: - * @arg @ref LL_ADC_REG_TRIG_SOFTWARE - * @arg @ref LL_ADC_REG_TRIG_EXT_TIM1_CH1 - * @arg @ref LL_ADC_REG_TRIG_EXT_TIM1_CH2 - * @arg @ref LL_ADC_REG_TRIG_EXT_TIM1_CH3 - * @arg @ref LL_ADC_REG_TRIG_EXT_TIM2_CH2 - * @arg @ref LL_ADC_REG_TRIG_EXT_TIM2_CH3 - * @arg @ref LL_ADC_REG_TRIG_EXT_TIM2_CH4 - * @arg @ref LL_ADC_REG_TRIG_EXT_TIM2_TRGO - * @arg @ref LL_ADC_REG_TRIG_EXT_TIM3_CH1 - * @arg @ref LL_ADC_REG_TRIG_EXT_TIM3_TRGO - * @arg @ref LL_ADC_REG_TRIG_EXT_TIM4_CH4 - * @arg @ref LL_ADC_REG_TRIG_EXT_TIM5_CH1 - * @arg @ref LL_ADC_REG_TRIG_EXT_TIM5_CH2 - * @arg @ref LL_ADC_REG_TRIG_EXT_TIM5_CH3 - * @arg @ref LL_ADC_REG_TRIG_EXT_TIM8_CH1 - * @arg @ref LL_ADC_REG_TRIG_EXT_TIM8_TRGO - * @arg @ref LL_ADC_REG_TRIG_EXT_EXTI_LINE11 - */ -__STATIC_INLINE uint32_t LL_ADC_REG_GetTriggerSource(ADC_TypeDef *ADCx) -{ - uint32_t TriggerSource = READ_BIT(ADCx->CR2, ADC_CR2_EXTSEL | ADC_CR2_EXTEN); - - /* Value for shift of {0; 4; 8; 12} depending on value of bitfield */ - /* corresponding to ADC_CR2_EXTEN {0; 1; 2; 3}. */ - uint32_t ShiftExten = ((TriggerSource & ADC_CR2_EXTEN) >> (ADC_REG_TRIG_EXTEN_BITOFFSET_POS - 2UL)); - - /* Set bitfield corresponding to ADC_CR2_EXTEN and ADC_CR2_EXTSEL */ - /* to match with triggers literals definition. */ - return ((TriggerSource - & (ADC_REG_TRIG_SOURCE_MASK << ShiftExten) & ADC_CR2_EXTSEL) - | ((ADC_REG_TRIG_EDGE_MASK << ShiftExten) & ADC_CR2_EXTEN) - ); -} - -/** - * @brief Get ADC group regular conversion trigger source internal (SW start) - or external. - * @note In case of group regular trigger source set to external trigger, - * to determine which peripheral is selected as external trigger, - * use function @ref LL_ADC_REG_GetTriggerSource(). - * @rmtoll CR2 EXTEN LL_ADC_REG_IsTriggerSourceSWStart - * @param ADCx ADC instance - * @retval Value "0" if trigger source external trigger - * Value "1" if trigger source SW start. - */ -__STATIC_INLINE uint32_t LL_ADC_REG_IsTriggerSourceSWStart(ADC_TypeDef *ADCx) -{ - return (READ_BIT(ADCx->CR2, ADC_CR2_EXTEN) == (LL_ADC_REG_TRIG_SOFTWARE & ADC_CR2_EXTEN)); -} - -/** - * @brief Get ADC group regular conversion trigger polarity. - * @note Applicable only for trigger source set to external trigger. - * @note On this STM32 series, setting of external trigger edge is performed - * using function @ref LL_ADC_REG_StartConversionExtTrig(). - * @rmtoll CR2 EXTEN LL_ADC_REG_GetTriggerEdge - * @param ADCx ADC instance - * @retval Returned value can be one of the following values: - * @arg @ref LL_ADC_REG_TRIG_EXT_RISING - * @arg @ref LL_ADC_REG_TRIG_EXT_FALLING - * @arg @ref LL_ADC_REG_TRIG_EXT_RISINGFALLING - */ -__STATIC_INLINE uint32_t LL_ADC_REG_GetTriggerEdge(ADC_TypeDef *ADCx) -{ - return (uint32_t)(READ_BIT(ADCx->CR2, ADC_CR2_EXTEN)); -} - - -/** - * @brief Set ADC group regular sequencer length and scan direction. - * @note Description of ADC group regular sequencer features: - * - For devices with sequencer fully configurable - * (function "LL_ADC_REG_SetSequencerRanks()" available): - * sequencer length and each rank affectation to a channel - * are configurable. - * This function performs configuration of: - * - Sequence length: Number of ranks in the scan sequence. - * - Sequence direction: Unless specified in parameters, sequencer - * scan direction is forward (from rank 1 to rank n). - * Sequencer ranks are selected using - * function "LL_ADC_REG_SetSequencerRanks()". - * - For devices with sequencer not fully configurable - * (function "LL_ADC_REG_SetSequencerChannels()" available): - * sequencer length and each rank affectation to a channel - * are defined by channel number. - * This function performs configuration of: - * - Sequence length: Number of ranks in the scan sequence is - * defined by number of channels set in the sequence, - * rank of each channel is fixed by channel HW number. - * (channel 0 fixed on rank 0, channel 1 fixed on rank1, ...). - * - Sequence direction: Unless specified in parameters, sequencer - * scan direction is forward (from lowest channel number to - * highest channel number). - * Sequencer ranks are selected using - * function "LL_ADC_REG_SetSequencerChannels()". - * @note On this STM32 series, group regular sequencer configuration - * is conditioned to ADC instance sequencer mode. - * If ADC instance sequencer mode is disabled, sequencers of - * all groups (group regular, group injected) can be configured - * but their execution is disabled (limited to rank 1). - * Refer to function @ref LL_ADC_SetSequencersScanMode(). - * @note Sequencer disabled is equivalent to sequencer of 1 rank: - * ADC conversion on only 1 channel. - * @rmtoll SQR1 L LL_ADC_REG_SetSequencerLength - * @param ADCx ADC instance - * @param SequencerNbRanks This parameter can be one of the following values: - * @arg @ref LL_ADC_REG_SEQ_SCAN_DISABLE - * @arg @ref LL_ADC_REG_SEQ_SCAN_ENABLE_2RANKS - * @arg @ref LL_ADC_REG_SEQ_SCAN_ENABLE_3RANKS - * @arg @ref LL_ADC_REG_SEQ_SCAN_ENABLE_4RANKS - * @arg @ref LL_ADC_REG_SEQ_SCAN_ENABLE_5RANKS - * @arg @ref LL_ADC_REG_SEQ_SCAN_ENABLE_6RANKS - * @arg @ref LL_ADC_REG_SEQ_SCAN_ENABLE_7RANKS - * @arg @ref LL_ADC_REG_SEQ_SCAN_ENABLE_8RANKS - * @arg @ref LL_ADC_REG_SEQ_SCAN_ENABLE_9RANKS - * @arg @ref LL_ADC_REG_SEQ_SCAN_ENABLE_10RANKS - * @arg @ref LL_ADC_REG_SEQ_SCAN_ENABLE_11RANKS - * @arg @ref LL_ADC_REG_SEQ_SCAN_ENABLE_12RANKS - * @arg @ref LL_ADC_REG_SEQ_SCAN_ENABLE_13RANKS - * @arg @ref LL_ADC_REG_SEQ_SCAN_ENABLE_14RANKS - * @arg @ref LL_ADC_REG_SEQ_SCAN_ENABLE_15RANKS - * @arg @ref LL_ADC_REG_SEQ_SCAN_ENABLE_16RANKS - * @retval None - */ -__STATIC_INLINE void LL_ADC_REG_SetSequencerLength(ADC_TypeDef *ADCx, uint32_t SequencerNbRanks) -{ - MODIFY_REG(ADCx->SQR1, ADC_SQR1_L, SequencerNbRanks); -} - -/** - * @brief Get ADC group regular sequencer length and scan direction. - * @note Description of ADC group regular sequencer features: - * - For devices with sequencer fully configurable - * (function "LL_ADC_REG_SetSequencerRanks()" available): - * sequencer length and each rank affectation to a channel - * are configurable. - * This function retrieves: - * - Sequence length: Number of ranks in the scan sequence. - * - Sequence direction: Unless specified in parameters, sequencer - * scan direction is forward (from rank 1 to rank n). - * Sequencer ranks are selected using - * function "LL_ADC_REG_SetSequencerRanks()". - * - For devices with sequencer not fully configurable - * (function "LL_ADC_REG_SetSequencerChannels()" available): - * sequencer length and each rank affectation to a channel - * are defined by channel number. - * This function retrieves: - * - Sequence length: Number of ranks in the scan sequence is - * defined by number of channels set in the sequence, - * rank of each channel is fixed by channel HW number. - * (channel 0 fixed on rank 0, channel 1 fixed on rank1, ...). - * - Sequence direction: Unless specified in parameters, sequencer - * scan direction is forward (from lowest channel number to - * highest channel number). - * Sequencer ranks are selected using - * function "LL_ADC_REG_SetSequencerChannels()". - * @note On this STM32 series, group regular sequencer configuration - * is conditioned to ADC instance sequencer mode. - * If ADC instance sequencer mode is disabled, sequencers of - * all groups (group regular, group injected) can be configured - * but their execution is disabled (limited to rank 1). - * Refer to function @ref LL_ADC_SetSequencersScanMode(). - * @note Sequencer disabled is equivalent to sequencer of 1 rank: - * ADC conversion on only 1 channel. - * @rmtoll SQR1 L LL_ADC_REG_SetSequencerLength - * @param ADCx ADC instance - * @retval Returned value can be one of the following values: - * @arg @ref LL_ADC_REG_SEQ_SCAN_DISABLE - * @arg @ref LL_ADC_REG_SEQ_SCAN_ENABLE_2RANKS - * @arg @ref LL_ADC_REG_SEQ_SCAN_ENABLE_3RANKS - * @arg @ref LL_ADC_REG_SEQ_SCAN_ENABLE_4RANKS - * @arg @ref LL_ADC_REG_SEQ_SCAN_ENABLE_5RANKS - * @arg @ref LL_ADC_REG_SEQ_SCAN_ENABLE_6RANKS - * @arg @ref LL_ADC_REG_SEQ_SCAN_ENABLE_7RANKS - * @arg @ref LL_ADC_REG_SEQ_SCAN_ENABLE_8RANKS - * @arg @ref LL_ADC_REG_SEQ_SCAN_ENABLE_9RANKS - * @arg @ref LL_ADC_REG_SEQ_SCAN_ENABLE_10RANKS - * @arg @ref LL_ADC_REG_SEQ_SCAN_ENABLE_11RANKS - * @arg @ref LL_ADC_REG_SEQ_SCAN_ENABLE_12RANKS - * @arg @ref LL_ADC_REG_SEQ_SCAN_ENABLE_13RANKS - * @arg @ref LL_ADC_REG_SEQ_SCAN_ENABLE_14RANKS - * @arg @ref LL_ADC_REG_SEQ_SCAN_ENABLE_15RANKS - * @arg @ref LL_ADC_REG_SEQ_SCAN_ENABLE_16RANKS - */ -__STATIC_INLINE uint32_t LL_ADC_REG_GetSequencerLength(ADC_TypeDef *ADCx) -{ - return (uint32_t)(READ_BIT(ADCx->SQR1, ADC_SQR1_L)); -} - -/** - * @brief Set ADC group regular sequencer discontinuous mode: - * sequence subdivided and scan conversions interrupted every selected - * number of ranks. - * @note It is not possible to enable both ADC group regular - * continuous mode and sequencer discontinuous mode. - * @note It is not possible to enable both ADC auto-injected mode - * and ADC group regular sequencer discontinuous mode. - * @rmtoll CR1 DISCEN LL_ADC_REG_SetSequencerDiscont\n - * CR1 DISCNUM LL_ADC_REG_SetSequencerDiscont - * @param ADCx ADC instance - * @param SeqDiscont This parameter can be one of the following values: - * @arg @ref LL_ADC_REG_SEQ_DISCONT_DISABLE - * @arg @ref LL_ADC_REG_SEQ_DISCONT_1RANK - * @arg @ref LL_ADC_REG_SEQ_DISCONT_2RANKS - * @arg @ref LL_ADC_REG_SEQ_DISCONT_3RANKS - * @arg @ref LL_ADC_REG_SEQ_DISCONT_4RANKS - * @arg @ref LL_ADC_REG_SEQ_DISCONT_5RANKS - * @arg @ref LL_ADC_REG_SEQ_DISCONT_6RANKS - * @arg @ref LL_ADC_REG_SEQ_DISCONT_7RANKS - * @arg @ref LL_ADC_REG_SEQ_DISCONT_8RANKS - * @retval None - */ -__STATIC_INLINE void LL_ADC_REG_SetSequencerDiscont(ADC_TypeDef *ADCx, uint32_t SeqDiscont) -{ - MODIFY_REG(ADCx->CR1, ADC_CR1_DISCEN | ADC_CR1_DISCNUM, SeqDiscont); -} - -/** - * @brief Get ADC group regular sequencer discontinuous mode: - * sequence subdivided and scan conversions interrupted every selected - * number of ranks. - * @rmtoll CR1 DISCEN LL_ADC_REG_GetSequencerDiscont\n - * CR1 DISCNUM LL_ADC_REG_GetSequencerDiscont - * @param ADCx ADC instance - * @retval Returned value can be one of the following values: - * @arg @ref LL_ADC_REG_SEQ_DISCONT_DISABLE - * @arg @ref LL_ADC_REG_SEQ_DISCONT_1RANK - * @arg @ref LL_ADC_REG_SEQ_DISCONT_2RANKS - * @arg @ref LL_ADC_REG_SEQ_DISCONT_3RANKS - * @arg @ref LL_ADC_REG_SEQ_DISCONT_4RANKS - * @arg @ref LL_ADC_REG_SEQ_DISCONT_5RANKS - * @arg @ref LL_ADC_REG_SEQ_DISCONT_6RANKS - * @arg @ref LL_ADC_REG_SEQ_DISCONT_7RANKS - * @arg @ref LL_ADC_REG_SEQ_DISCONT_8RANKS - */ -__STATIC_INLINE uint32_t LL_ADC_REG_GetSequencerDiscont(ADC_TypeDef *ADCx) -{ - return (uint32_t)(READ_BIT(ADCx->CR1, ADC_CR1_DISCEN | ADC_CR1_DISCNUM)); -} - -/** - * @brief Set ADC group regular sequence: channel on the selected - * scan sequence rank. - * @note This function performs configuration of: - * - Channels ordering into each rank of scan sequence: - * whatever channel can be placed into whatever rank. - * @note On this STM32 series, ADC group regular sequencer is - * fully configurable: sequencer length and each rank - * affectation to a channel are configurable. - * Refer to description of function @ref LL_ADC_REG_SetSequencerLength(). - * @note Depending on devices and packages, some channels may not be available. - * Refer to device datasheet for channels availability. - * @note On this STM32 series, to measure internal channels (VrefInt, - * TempSensor, ...), measurement paths to internal channels must be - * enabled separately. - * This can be done using function @ref LL_ADC_SetCommonPathInternalCh(). - * @rmtoll SQR3 SQ1 LL_ADC_REG_SetSequencerRanks\n - * SQR3 SQ2 LL_ADC_REG_SetSequencerRanks\n - * SQR3 SQ3 LL_ADC_REG_SetSequencerRanks\n - * SQR3 SQ4 LL_ADC_REG_SetSequencerRanks\n - * SQR3 SQ5 LL_ADC_REG_SetSequencerRanks\n - * SQR3 SQ6 LL_ADC_REG_SetSequencerRanks\n - * SQR2 SQ7 LL_ADC_REG_SetSequencerRanks\n - * SQR2 SQ8 LL_ADC_REG_SetSequencerRanks\n - * SQR2 SQ9 LL_ADC_REG_SetSequencerRanks\n - * SQR2 SQ10 LL_ADC_REG_SetSequencerRanks\n - * SQR2 SQ11 LL_ADC_REG_SetSequencerRanks\n - * SQR2 SQ12 LL_ADC_REG_SetSequencerRanks\n - * SQR1 SQ13 LL_ADC_REG_SetSequencerRanks\n - * SQR1 SQ14 LL_ADC_REG_SetSequencerRanks\n - * SQR1 SQ15 LL_ADC_REG_SetSequencerRanks\n - * SQR1 SQ16 LL_ADC_REG_SetSequencerRanks - * @param ADCx ADC instance - * @param Rank This parameter can be one of the following values: - * @arg @ref LL_ADC_REG_RANK_1 - * @arg @ref LL_ADC_REG_RANK_2 - * @arg @ref LL_ADC_REG_RANK_3 - * @arg @ref LL_ADC_REG_RANK_4 - * @arg @ref LL_ADC_REG_RANK_5 - * @arg @ref LL_ADC_REG_RANK_6 - * @arg @ref LL_ADC_REG_RANK_7 - * @arg @ref LL_ADC_REG_RANK_8 - * @arg @ref LL_ADC_REG_RANK_9 - * @arg @ref LL_ADC_REG_RANK_10 - * @arg @ref LL_ADC_REG_RANK_11 - * @arg @ref LL_ADC_REG_RANK_12 - * @arg @ref LL_ADC_REG_RANK_13 - * @arg @ref LL_ADC_REG_RANK_14 - * @arg @ref LL_ADC_REG_RANK_15 - * @arg @ref LL_ADC_REG_RANK_16 - * @param Channel This parameter can be one of the following values: - * @arg @ref LL_ADC_CHANNEL_0 - * @arg @ref LL_ADC_CHANNEL_1 - * @arg @ref LL_ADC_CHANNEL_2 - * @arg @ref LL_ADC_CHANNEL_3 - * @arg @ref LL_ADC_CHANNEL_4 - * @arg @ref LL_ADC_CHANNEL_5 - * @arg @ref LL_ADC_CHANNEL_6 - * @arg @ref LL_ADC_CHANNEL_7 - * @arg @ref LL_ADC_CHANNEL_8 - * @arg @ref LL_ADC_CHANNEL_9 - * @arg @ref LL_ADC_CHANNEL_10 - * @arg @ref LL_ADC_CHANNEL_11 - * @arg @ref LL_ADC_CHANNEL_12 - * @arg @ref LL_ADC_CHANNEL_13 - * @arg @ref LL_ADC_CHANNEL_14 - * @arg @ref LL_ADC_CHANNEL_15 - * @arg @ref LL_ADC_CHANNEL_16 - * @arg @ref LL_ADC_CHANNEL_17 - * @arg @ref LL_ADC_CHANNEL_18 - * @arg @ref LL_ADC_CHANNEL_VREFINT (1) - * @arg @ref LL_ADC_CHANNEL_TEMPSENSOR (1)(2) - * @arg @ref LL_ADC_CHANNEL_VBAT (1) - * - * (1) On STM32F4, parameter available only on ADC instance: ADC1.\n - * (2) On devices STM32F42x and STM32F43x, limitation: this internal channel is shared between temperature sensor and Vbat, only 1 measurement path must be enabled. - * @retval None - */ -__STATIC_INLINE void LL_ADC_REG_SetSequencerRanks(ADC_TypeDef *ADCx, uint32_t Rank, uint32_t Channel) -{ - /* Set bits with content of parameter "Channel" with bits position */ - /* in register and register position depending on parameter "Rank". */ - /* Parameters "Rank" and "Channel" are used with masks because containing */ - /* other bits reserved for other purpose. */ - __IO uint32_t *preg = __ADC_PTR_REG_OFFSET(ADCx->SQR1, __ADC_MASK_SHIFT(Rank, ADC_REG_SQRX_REGOFFSET_MASK)); - - MODIFY_REG(*preg, - ADC_CHANNEL_ID_NUMBER_MASK << (Rank & ADC_REG_RANK_ID_SQRX_MASK), - (Channel & ADC_CHANNEL_ID_NUMBER_MASK) << (Rank & ADC_REG_RANK_ID_SQRX_MASK)); -} - -/** - * @brief Get ADC group regular sequence: channel on the selected - * scan sequence rank. - * @note On this STM32 series, ADC group regular sequencer is - * fully configurable: sequencer length and each rank - * affectation to a channel are configurable. - * Refer to description of function @ref LL_ADC_REG_SetSequencerLength(). - * @note Depending on devices and packages, some channels may not be available. - * Refer to device datasheet for channels availability. - * @note Usage of the returned channel number: - * - To reinject this channel into another function LL_ADC_xxx: - * the returned channel number is only partly formatted on definition - * of literals LL_ADC_CHANNEL_x. Therefore, it has to be compared - * with parts of literals LL_ADC_CHANNEL_x or using - * helper macro @ref __LL_ADC_CHANNEL_TO_DECIMAL_NB(). - * Then the selected literal LL_ADC_CHANNEL_x can be used - * as parameter for another function. - * - To get the channel number in decimal format: - * process the returned value with the helper macro - * @ref __LL_ADC_CHANNEL_TO_DECIMAL_NB(). - * @rmtoll SQR3 SQ1 LL_ADC_REG_GetSequencerRanks\n - * SQR3 SQ2 LL_ADC_REG_GetSequencerRanks\n - * SQR3 SQ3 LL_ADC_REG_GetSequencerRanks\n - * SQR3 SQ4 LL_ADC_REG_GetSequencerRanks\n - * SQR3 SQ5 LL_ADC_REG_GetSequencerRanks\n - * SQR3 SQ6 LL_ADC_REG_GetSequencerRanks\n - * SQR2 SQ7 LL_ADC_REG_GetSequencerRanks\n - * SQR2 SQ8 LL_ADC_REG_GetSequencerRanks\n - * SQR2 SQ9 LL_ADC_REG_GetSequencerRanks\n - * SQR2 SQ10 LL_ADC_REG_GetSequencerRanks\n - * SQR2 SQ11 LL_ADC_REG_GetSequencerRanks\n - * SQR2 SQ12 LL_ADC_REG_GetSequencerRanks\n - * SQR1 SQ13 LL_ADC_REG_GetSequencerRanks\n - * SQR1 SQ14 LL_ADC_REG_GetSequencerRanks\n - * SQR1 SQ15 LL_ADC_REG_GetSequencerRanks\n - * SQR1 SQ16 LL_ADC_REG_GetSequencerRanks - * @param ADCx ADC instance - * @param Rank This parameter can be one of the following values: - * @arg @ref LL_ADC_REG_RANK_1 - * @arg @ref LL_ADC_REG_RANK_2 - * @arg @ref LL_ADC_REG_RANK_3 - * @arg @ref LL_ADC_REG_RANK_4 - * @arg @ref LL_ADC_REG_RANK_5 - * @arg @ref LL_ADC_REG_RANK_6 - * @arg @ref LL_ADC_REG_RANK_7 - * @arg @ref LL_ADC_REG_RANK_8 - * @arg @ref LL_ADC_REG_RANK_9 - * @arg @ref LL_ADC_REG_RANK_10 - * @arg @ref LL_ADC_REG_RANK_11 - * @arg @ref LL_ADC_REG_RANK_12 - * @arg @ref LL_ADC_REG_RANK_13 - * @arg @ref LL_ADC_REG_RANK_14 - * @arg @ref LL_ADC_REG_RANK_15 - * @arg @ref LL_ADC_REG_RANK_16 - * @retval Returned value can be one of the following values: - * @arg @ref LL_ADC_CHANNEL_0 - * @arg @ref LL_ADC_CHANNEL_1 - * @arg @ref LL_ADC_CHANNEL_2 - * @arg @ref LL_ADC_CHANNEL_3 - * @arg @ref LL_ADC_CHANNEL_4 - * @arg @ref LL_ADC_CHANNEL_5 - * @arg @ref LL_ADC_CHANNEL_6 - * @arg @ref LL_ADC_CHANNEL_7 - * @arg @ref LL_ADC_CHANNEL_8 - * @arg @ref LL_ADC_CHANNEL_9 - * @arg @ref LL_ADC_CHANNEL_10 - * @arg @ref LL_ADC_CHANNEL_11 - * @arg @ref LL_ADC_CHANNEL_12 - * @arg @ref LL_ADC_CHANNEL_13 - * @arg @ref LL_ADC_CHANNEL_14 - * @arg @ref LL_ADC_CHANNEL_15 - * @arg @ref LL_ADC_CHANNEL_16 - * @arg @ref LL_ADC_CHANNEL_17 - * @arg @ref LL_ADC_CHANNEL_18 - * @arg @ref LL_ADC_CHANNEL_VREFINT (1) - * @arg @ref LL_ADC_CHANNEL_TEMPSENSOR (1)(2) - * @arg @ref LL_ADC_CHANNEL_VBAT (1) - * - * (1) On STM32F4, parameter available only on ADC instance: ADC1.\n - * (2) On devices STM32F42x and STM32F43x, limitation: this internal channel is shared between temperature sensor and Vbat, only 1 measurement path must be enabled.\n - * (1) For ADC channel read back from ADC register, - * comparison with internal channel parameter to be done - * using helper macro @ref __LL_ADC_CHANNEL_INTERNAL_TO_EXTERNAL(). - */ -__STATIC_INLINE uint32_t LL_ADC_REG_GetSequencerRanks(ADC_TypeDef *ADCx, uint32_t Rank) -{ - __IO uint32_t *preg = __ADC_PTR_REG_OFFSET(ADCx->SQR1, __ADC_MASK_SHIFT(Rank, ADC_REG_SQRX_REGOFFSET_MASK)); - - return (uint32_t) (READ_BIT(*preg, - ADC_CHANNEL_ID_NUMBER_MASK << (Rank & ADC_REG_RANK_ID_SQRX_MASK)) - >> (Rank & ADC_REG_RANK_ID_SQRX_MASK) - ); -} - -/** - * @brief Set ADC continuous conversion mode on ADC group regular. - * @note Description of ADC continuous conversion mode: - * - single mode: one conversion per trigger - * - continuous mode: after the first trigger, following - * conversions launched successively automatically. - * @note It is not possible to enable both ADC group regular - * continuous mode and sequencer discontinuous mode. - * @rmtoll CR2 CONT LL_ADC_REG_SetContinuousMode - * @param ADCx ADC instance - * @param Continuous This parameter can be one of the following values: - * @arg @ref LL_ADC_REG_CONV_SINGLE - * @arg @ref LL_ADC_REG_CONV_CONTINUOUS - * @retval None - */ -__STATIC_INLINE void LL_ADC_REG_SetContinuousMode(ADC_TypeDef *ADCx, uint32_t Continuous) -{ - MODIFY_REG(ADCx->CR2, ADC_CR2_CONT, Continuous); -} - -/** - * @brief Get ADC continuous conversion mode on ADC group regular. - * @note Description of ADC continuous conversion mode: - * - single mode: one conversion per trigger - * - continuous mode: after the first trigger, following - * conversions launched successively automatically. - * @rmtoll CR2 CONT LL_ADC_REG_GetContinuousMode - * @param ADCx ADC instance - * @retval Returned value can be one of the following values: - * @arg @ref LL_ADC_REG_CONV_SINGLE - * @arg @ref LL_ADC_REG_CONV_CONTINUOUS - */ -__STATIC_INLINE uint32_t LL_ADC_REG_GetContinuousMode(ADC_TypeDef *ADCx) -{ - return (uint32_t)(READ_BIT(ADCx->CR2, ADC_CR2_CONT)); -} - -/** - * @brief Set ADC group regular conversion data transfer: no transfer or - * transfer by DMA, and DMA requests mode. - * @note If transfer by DMA selected, specifies the DMA requests - * mode: - * - Limited mode (One shot mode): DMA transfer requests are stopped - * when number of DMA data transfers (number of - * ADC conversions) is reached. - * This ADC mode is intended to be used with DMA mode non-circular. - * - Unlimited mode: DMA transfer requests are unlimited, - * whatever number of DMA data transfers (number of - * ADC conversions). - * This ADC mode is intended to be used with DMA mode circular. - * @note If ADC DMA requests mode is set to unlimited and DMA is set to - * mode non-circular: - * when DMA transfers size will be reached, DMA will stop transfers of - * ADC conversions data ADC will raise an overrun error - * (overrun flag and interruption if enabled). - * @note For devices with several ADC instances: ADC multimode DMA - * settings are available using function @ref LL_ADC_SetMultiDMATransfer(). - * @note To configure DMA source address (peripheral address), - * use function @ref LL_ADC_DMA_GetRegAddr(). - * @rmtoll CR2 DMA LL_ADC_REG_SetDMATransfer\n - * CR2 DDS LL_ADC_REG_SetDMATransfer - * @param ADCx ADC instance - * @param DMATransfer This parameter can be one of the following values: - * @arg @ref LL_ADC_REG_DMA_TRANSFER_NONE - * @arg @ref LL_ADC_REG_DMA_TRANSFER_LIMITED - * @arg @ref LL_ADC_REG_DMA_TRANSFER_UNLIMITED - * @retval None - */ -__STATIC_INLINE void LL_ADC_REG_SetDMATransfer(ADC_TypeDef *ADCx, uint32_t DMATransfer) -{ - MODIFY_REG(ADCx->CR2, ADC_CR2_DMA | ADC_CR2_DDS, DMATransfer); -} - -/** - * @brief Get ADC group regular conversion data transfer: no transfer or - * transfer by DMA, and DMA requests mode. - * @note If transfer by DMA selected, specifies the DMA requests - * mode: - * - Limited mode (One shot mode): DMA transfer requests are stopped - * when number of DMA data transfers (number of - * ADC conversions) is reached. - * This ADC mode is intended to be used with DMA mode non-circular. - * - Unlimited mode: DMA transfer requests are unlimited, - * whatever number of DMA data transfers (number of - * ADC conversions). - * This ADC mode is intended to be used with DMA mode circular. - * @note If ADC DMA requests mode is set to unlimited and DMA is set to - * mode non-circular: - * when DMA transfers size will be reached, DMA will stop transfers of - * ADC conversions data ADC will raise an overrun error - * (overrun flag and interruption if enabled). - * @note For devices with several ADC instances: ADC multimode DMA - * settings are available using function @ref LL_ADC_GetMultiDMATransfer(). - * @note To configure DMA source address (peripheral address), - * use function @ref LL_ADC_DMA_GetRegAddr(). - * @rmtoll CR2 DMA LL_ADC_REG_GetDMATransfer\n - * CR2 DDS LL_ADC_REG_GetDMATransfer - * @param ADCx ADC instance - * @retval Returned value can be one of the following values: - * @arg @ref LL_ADC_REG_DMA_TRANSFER_NONE - * @arg @ref LL_ADC_REG_DMA_TRANSFER_LIMITED - * @arg @ref LL_ADC_REG_DMA_TRANSFER_UNLIMITED - */ -__STATIC_INLINE uint32_t LL_ADC_REG_GetDMATransfer(ADC_TypeDef *ADCx) -{ - return (uint32_t)(READ_BIT(ADCx->CR2, ADC_CR2_DMA | ADC_CR2_DDS)); -} - -/** - * @brief Specify which ADC flag between EOC (end of unitary conversion) - * or EOS (end of sequence conversions) is used to indicate - * the end of conversion. - * @note This feature is aimed to be set when using ADC with - * programming model by polling or interruption - * (programming model by DMA usually uses DMA interruptions - * to indicate end of conversion and data transfer). - * @note For ADC group injected, end of conversion (flag&IT) is raised - * only at the end of the sequence. - * @rmtoll CR2 EOCS LL_ADC_REG_SetFlagEndOfConversion - * @param ADCx ADC instance - * @param EocSelection This parameter can be one of the following values: - * @arg @ref LL_ADC_REG_FLAG_EOC_SEQUENCE_CONV - * @arg @ref LL_ADC_REG_FLAG_EOC_UNITARY_CONV - * @retval None - */ -__STATIC_INLINE void LL_ADC_REG_SetFlagEndOfConversion(ADC_TypeDef *ADCx, uint32_t EocSelection) -{ - MODIFY_REG(ADCx->CR2, ADC_CR2_EOCS, EocSelection); -} - -/** - * @brief Get which ADC flag between EOC (end of unitary conversion) - * or EOS (end of sequence conversions) is used to indicate - * the end of conversion. - * @rmtoll CR2 EOCS LL_ADC_REG_GetFlagEndOfConversion - * @param ADCx ADC instance - * @retval Returned value can be one of the following values: - * @arg @ref LL_ADC_REG_FLAG_EOC_SEQUENCE_CONV - * @arg @ref LL_ADC_REG_FLAG_EOC_UNITARY_CONV - */ -__STATIC_INLINE uint32_t LL_ADC_REG_GetFlagEndOfConversion(ADC_TypeDef *ADCx) -{ - return (uint32_t)(READ_BIT(ADCx->CR2, ADC_CR2_EOCS)); -} - -/** - * @} - */ - -/** @defgroup ADC_LL_EF_Configuration_ADC_Group_Injected Configuration of ADC hierarchical scope: group injected - * @{ - */ - -/** - * @brief Set ADC group injected conversion trigger source: - * internal (SW start) or from external IP (timer event, - * external interrupt line). - * @note On this STM32 series, setting of external trigger edge is performed - * using function @ref LL_ADC_INJ_StartConversionExtTrig(). - * @note Availability of parameters of trigger sources from timer - * depends on timers availability on the selected device. - * @rmtoll CR2 JEXTSEL LL_ADC_INJ_SetTriggerSource\n - * CR2 JEXTEN LL_ADC_INJ_SetTriggerSource - * @param ADCx ADC instance - * @param TriggerSource This parameter can be one of the following values: - * @arg @ref LL_ADC_INJ_TRIG_SOFTWARE - * @arg @ref LL_ADC_INJ_TRIG_EXT_TIM1_CH4 - * @arg @ref LL_ADC_INJ_TRIG_EXT_TIM1_TRGO - * @arg @ref LL_ADC_INJ_TRIG_EXT_TIM2_CH1 - * @arg @ref LL_ADC_INJ_TRIG_EXT_TIM2_TRGO - * @arg @ref LL_ADC_INJ_TRIG_EXT_TIM3_CH2 - * @arg @ref LL_ADC_INJ_TRIG_EXT_TIM3_CH4 - * @arg @ref LL_ADC_INJ_TRIG_EXT_TIM4_CH1 - * @arg @ref LL_ADC_INJ_TRIG_EXT_TIM4_CH2 - * @arg @ref LL_ADC_INJ_TRIG_EXT_TIM4_CH3 - * @arg @ref LL_ADC_INJ_TRIG_EXT_TIM4_TRGO - * @arg @ref LL_ADC_INJ_TRIG_EXT_TIM5_CH4 - * @arg @ref LL_ADC_INJ_TRIG_EXT_TIM5_TRGO - * @arg @ref LL_ADC_INJ_TRIG_EXT_TIM8_CH2 - * @arg @ref LL_ADC_INJ_TRIG_EXT_TIM8_CH3 - * @arg @ref LL_ADC_INJ_TRIG_EXT_TIM8_CH4 - * @arg @ref LL_ADC_INJ_TRIG_EXT_EXTI_LINE15 - * @retval None - */ -__STATIC_INLINE void LL_ADC_INJ_SetTriggerSource(ADC_TypeDef *ADCx, uint32_t TriggerSource) -{ -/* Note: On this STM32 series, ADC group injected external trigger edge */ -/* is used to perform a ADC conversion start. */ -/* This function does not set external trigger edge. */ -/* This feature is set using function */ -/* @ref LL_ADC_INJ_StartConversionExtTrig(). */ - MODIFY_REG(ADCx->CR2, ADC_CR2_JEXTSEL, (TriggerSource & ADC_CR2_JEXTSEL)); -} - -/** - * @brief Get ADC group injected conversion trigger source: - * internal (SW start) or from external IP (timer event, - * external interrupt line). - * @note To determine whether group injected trigger source is - * internal (SW start) or external, without detail - * of which peripheral is selected as external trigger, - * (equivalent to - * "if(LL_ADC_INJ_GetTriggerSource(ADC1) == LL_ADC_INJ_TRIG_SOFTWARE)") - * use function @ref LL_ADC_INJ_IsTriggerSourceSWStart. - * @note Availability of parameters of trigger sources from timer - * depends on timers availability on the selected device. - * @rmtoll CR2 JEXTSEL LL_ADC_INJ_GetTriggerSource\n - * CR2 JEXTEN LL_ADC_INJ_GetTriggerSource - * @param ADCx ADC instance - * @retval Returned value can be one of the following values: - * @arg @ref LL_ADC_INJ_TRIG_SOFTWARE - * @arg @ref LL_ADC_INJ_TRIG_EXT_TIM1_CH4 - * @arg @ref LL_ADC_INJ_TRIG_EXT_TIM1_TRGO - * @arg @ref LL_ADC_INJ_TRIG_EXT_TIM2_CH1 - * @arg @ref LL_ADC_INJ_TRIG_EXT_TIM2_TRGO - * @arg @ref LL_ADC_INJ_TRIG_EXT_TIM3_CH2 - * @arg @ref LL_ADC_INJ_TRIG_EXT_TIM3_CH4 - * @arg @ref LL_ADC_INJ_TRIG_EXT_TIM4_CH1 - * @arg @ref LL_ADC_INJ_TRIG_EXT_TIM4_CH2 - * @arg @ref LL_ADC_INJ_TRIG_EXT_TIM4_CH3 - * @arg @ref LL_ADC_INJ_TRIG_EXT_TIM4_TRGO - * @arg @ref LL_ADC_INJ_TRIG_EXT_TIM5_CH4 - * @arg @ref LL_ADC_INJ_TRIG_EXT_TIM5_TRGO - * @arg @ref LL_ADC_INJ_TRIG_EXT_TIM8_CH2 - * @arg @ref LL_ADC_INJ_TRIG_EXT_TIM8_CH3 - * @arg @ref LL_ADC_INJ_TRIG_EXT_TIM8_CH4 - * @arg @ref LL_ADC_INJ_TRIG_EXT_EXTI_LINE15 - */ -__STATIC_INLINE uint32_t LL_ADC_INJ_GetTriggerSource(ADC_TypeDef *ADCx) -{ - uint32_t TriggerSource = READ_BIT(ADCx->CR2, ADC_CR2_JEXTSEL | ADC_CR2_JEXTEN); - - /* Value for shift of {0; 4; 8; 12} depending on value of bitfield */ - /* corresponding to ADC_CR2_JEXTEN {0; 1; 2; 3}. */ - uint32_t ShiftExten = ((TriggerSource & ADC_CR2_JEXTEN) >> (ADC_INJ_TRIG_EXTEN_BITOFFSET_POS - 2UL)); - - /* Set bitfield corresponding to ADC_CR2_JEXTEN and ADC_CR2_JEXTSEL */ - /* to match with triggers literals definition. */ - return ((TriggerSource - & (ADC_INJ_TRIG_SOURCE_MASK << ShiftExten) & ADC_CR2_JEXTSEL) - | ((ADC_INJ_TRIG_EDGE_MASK << ShiftExten) & ADC_CR2_JEXTEN) - ); -} - -/** - * @brief Get ADC group injected conversion trigger source internal (SW start) - or external - * @note In case of group injected trigger source set to external trigger, - * to determine which peripheral is selected as external trigger, - * use function @ref LL_ADC_INJ_GetTriggerSource. - * @rmtoll CR2 JEXTEN LL_ADC_INJ_IsTriggerSourceSWStart - * @param ADCx ADC instance - * @retval Value "0" if trigger source external trigger - * Value "1" if trigger source SW start. - */ -__STATIC_INLINE uint32_t LL_ADC_INJ_IsTriggerSourceSWStart(ADC_TypeDef *ADCx) -{ - return (READ_BIT(ADCx->CR2, ADC_CR2_JEXTEN) == (LL_ADC_INJ_TRIG_SOFTWARE & ADC_CR2_JEXTEN)); -} - -/** - * @brief Get ADC group injected conversion trigger polarity. - * Applicable only for trigger source set to external trigger. - * @rmtoll CR2 JEXTEN LL_ADC_INJ_GetTriggerEdge - * @param ADCx ADC instance - * @retval Returned value can be one of the following values: - * @arg @ref LL_ADC_INJ_TRIG_EXT_RISING - * @arg @ref LL_ADC_INJ_TRIG_EXT_FALLING - * @arg @ref LL_ADC_INJ_TRIG_EXT_RISINGFALLING - */ -__STATIC_INLINE uint32_t LL_ADC_INJ_GetTriggerEdge(ADC_TypeDef *ADCx) -{ - return (uint32_t)(READ_BIT(ADCx->CR2, ADC_CR2_JEXTEN)); -} - -/** - * @brief Set ADC group injected sequencer length and scan direction. - * @note This function performs configuration of: - * - Sequence length: Number of ranks in the scan sequence. - * - Sequence direction: Unless specified in parameters, sequencer - * scan direction is forward (from rank 1 to rank n). - * @note On this STM32 series, group injected sequencer configuration - * is conditioned to ADC instance sequencer mode. - * If ADC instance sequencer mode is disabled, sequencers of - * all groups (group regular, group injected) can be configured - * but their execution is disabled (limited to rank 1). - * Refer to function @ref LL_ADC_SetSequencersScanMode(). - * @note Sequencer disabled is equivalent to sequencer of 1 rank: - * ADC conversion on only 1 channel. - * @rmtoll JSQR JL LL_ADC_INJ_SetSequencerLength - * @param ADCx ADC instance - * @param SequencerNbRanks This parameter can be one of the following values: - * @arg @ref LL_ADC_INJ_SEQ_SCAN_DISABLE - * @arg @ref LL_ADC_INJ_SEQ_SCAN_ENABLE_2RANKS - * @arg @ref LL_ADC_INJ_SEQ_SCAN_ENABLE_3RANKS - * @arg @ref LL_ADC_INJ_SEQ_SCAN_ENABLE_4RANKS - * @retval None - */ -__STATIC_INLINE void LL_ADC_INJ_SetSequencerLength(ADC_TypeDef *ADCx, uint32_t SequencerNbRanks) -{ - MODIFY_REG(ADCx->JSQR, ADC_JSQR_JL, SequencerNbRanks); -} - -/** - * @brief Get ADC group injected sequencer length and scan direction. - * @note This function retrieves: - * - Sequence length: Number of ranks in the scan sequence. - * - Sequence direction: Unless specified in parameters, sequencer - * scan direction is forward (from rank 1 to rank n). - * @note On this STM32 series, group injected sequencer configuration - * is conditioned to ADC instance sequencer mode. - * If ADC instance sequencer mode is disabled, sequencers of - * all groups (group regular, group injected) can be configured - * but their execution is disabled (limited to rank 1). - * Refer to function @ref LL_ADC_SetSequencersScanMode(). - * @note Sequencer disabled is equivalent to sequencer of 1 rank: - * ADC conversion on only 1 channel. - * @rmtoll JSQR JL LL_ADC_INJ_GetSequencerLength - * @param ADCx ADC instance - * @retval Returned value can be one of the following values: - * @arg @ref LL_ADC_INJ_SEQ_SCAN_DISABLE - * @arg @ref LL_ADC_INJ_SEQ_SCAN_ENABLE_2RANKS - * @arg @ref LL_ADC_INJ_SEQ_SCAN_ENABLE_3RANKS - * @arg @ref LL_ADC_INJ_SEQ_SCAN_ENABLE_4RANKS - */ -__STATIC_INLINE uint32_t LL_ADC_INJ_GetSequencerLength(ADC_TypeDef *ADCx) -{ - return (uint32_t)(READ_BIT(ADCx->JSQR, ADC_JSQR_JL)); -} - -/** - * @brief Set ADC group injected sequencer discontinuous mode: - * sequence subdivided and scan conversions interrupted every selected - * number of ranks. - * @note It is not possible to enable both ADC group injected - * auto-injected mode and sequencer discontinuous mode. - * @rmtoll CR1 DISCEN LL_ADC_INJ_SetSequencerDiscont - * @param ADCx ADC instance - * @param SeqDiscont This parameter can be one of the following values: - * @arg @ref LL_ADC_INJ_SEQ_DISCONT_DISABLE - * @arg @ref LL_ADC_INJ_SEQ_DISCONT_1RANK - * @retval None - */ -__STATIC_INLINE void LL_ADC_INJ_SetSequencerDiscont(ADC_TypeDef *ADCx, uint32_t SeqDiscont) -{ - MODIFY_REG(ADCx->CR1, ADC_CR1_JDISCEN, SeqDiscont); -} - -/** - * @brief Get ADC group injected sequencer discontinuous mode: - * sequence subdivided and scan conversions interrupted every selected - * number of ranks. - * @rmtoll CR1 DISCEN LL_ADC_REG_GetSequencerDiscont - * @param ADCx ADC instance - * @retval Returned value can be one of the following values: - * @arg @ref LL_ADC_INJ_SEQ_DISCONT_DISABLE - * @arg @ref LL_ADC_INJ_SEQ_DISCONT_1RANK - */ -__STATIC_INLINE uint32_t LL_ADC_INJ_GetSequencerDiscont(ADC_TypeDef *ADCx) -{ - return (uint32_t)(READ_BIT(ADCx->CR1, ADC_CR1_JDISCEN)); -} - -/** - * @brief Set ADC group injected sequence: channel on the selected - * sequence rank. - * @note Depending on devices and packages, some channels may not be available. - * Refer to device datasheet for channels availability. - * @note On this STM32 series, to measure internal channels (VrefInt, - * TempSensor, ...), measurement paths to internal channels must be - * enabled separately. - * This can be done using function @ref LL_ADC_SetCommonPathInternalCh(). - * @rmtoll JSQR JSQ1 LL_ADC_INJ_SetSequencerRanks\n - * JSQR JSQ2 LL_ADC_INJ_SetSequencerRanks\n - * JSQR JSQ3 LL_ADC_INJ_SetSequencerRanks\n - * JSQR JSQ4 LL_ADC_INJ_SetSequencerRanks - * @param ADCx ADC instance - * @param Rank This parameter can be one of the following values: - * @arg @ref LL_ADC_INJ_RANK_1 - * @arg @ref LL_ADC_INJ_RANK_2 - * @arg @ref LL_ADC_INJ_RANK_3 - * @arg @ref LL_ADC_INJ_RANK_4 - * @param Channel This parameter can be one of the following values: - * @arg @ref LL_ADC_CHANNEL_0 - * @arg @ref LL_ADC_CHANNEL_1 - * @arg @ref LL_ADC_CHANNEL_2 - * @arg @ref LL_ADC_CHANNEL_3 - * @arg @ref LL_ADC_CHANNEL_4 - * @arg @ref LL_ADC_CHANNEL_5 - * @arg @ref LL_ADC_CHANNEL_6 - * @arg @ref LL_ADC_CHANNEL_7 - * @arg @ref LL_ADC_CHANNEL_8 - * @arg @ref LL_ADC_CHANNEL_9 - * @arg @ref LL_ADC_CHANNEL_10 - * @arg @ref LL_ADC_CHANNEL_11 - * @arg @ref LL_ADC_CHANNEL_12 - * @arg @ref LL_ADC_CHANNEL_13 - * @arg @ref LL_ADC_CHANNEL_14 - * @arg @ref LL_ADC_CHANNEL_15 - * @arg @ref LL_ADC_CHANNEL_16 - * @arg @ref LL_ADC_CHANNEL_17 - * @arg @ref LL_ADC_CHANNEL_18 - * @arg @ref LL_ADC_CHANNEL_VREFINT (1) - * @arg @ref LL_ADC_CHANNEL_TEMPSENSOR (1)(2) - * @arg @ref LL_ADC_CHANNEL_VBAT (1) - * - * (1) On STM32F4, parameter available only on ADC instance: ADC1.\n - * (2) On devices STM32F42x and STM32F43x, limitation: this internal channel is shared between temperature sensor and Vbat, only 1 measurement path must be enabled. - * @retval None - */ -__STATIC_INLINE void LL_ADC_INJ_SetSequencerRanks(ADC_TypeDef *ADCx, uint32_t Rank, uint32_t Channel) -{ - /* Set bits with content of parameter "Channel" with bits position */ - /* in register depending on parameter "Rank". */ - /* Parameters "Rank" and "Channel" are used with masks because containing */ - /* other bits reserved for other purpose. */ - uint32_t tmpreg1 = (READ_BIT(ADCx->JSQR, ADC_JSQR_JL) >> ADC_JSQR_JL_Pos) + 1UL; - - MODIFY_REG(ADCx->JSQR, - ADC_CHANNEL_ID_NUMBER_MASK << (5UL * (uint8_t)(((Rank) + 3UL) - (tmpreg1))), - (Channel & ADC_CHANNEL_ID_NUMBER_MASK) << (5UL * (uint8_t)(((Rank) + 3UL) - (tmpreg1)))); -} - -/** - * @brief Get ADC group injected sequence: channel on the selected - * sequence rank. - * @note Depending on devices and packages, some channels may not be available. - * Refer to device datasheet for channels availability. - * @note Usage of the returned channel number: - * - To reinject this channel into another function LL_ADC_xxx: - * the returned channel number is only partly formatted on definition - * of literals LL_ADC_CHANNEL_x. Therefore, it has to be compared - * with parts of literals LL_ADC_CHANNEL_x or using - * helper macro @ref __LL_ADC_CHANNEL_TO_DECIMAL_NB(). - * Then the selected literal LL_ADC_CHANNEL_x can be used - * as parameter for another function. - * - To get the channel number in decimal format: - * process the returned value with the helper macro - * @ref __LL_ADC_CHANNEL_TO_DECIMAL_NB(). - * @rmtoll JSQR JSQ1 LL_ADC_INJ_SetSequencerRanks\n - * JSQR JSQ2 LL_ADC_INJ_SetSequencerRanks\n - * JSQR JSQ3 LL_ADC_INJ_SetSequencerRanks\n - * JSQR JSQ4 LL_ADC_INJ_SetSequencerRanks - * @param ADCx ADC instance - * @param Rank This parameter can be one of the following values: - * @arg @ref LL_ADC_INJ_RANK_1 - * @arg @ref LL_ADC_INJ_RANK_2 - * @arg @ref LL_ADC_INJ_RANK_3 - * @arg @ref LL_ADC_INJ_RANK_4 - * @retval Returned value can be one of the following values: - * @arg @ref LL_ADC_CHANNEL_0 - * @arg @ref LL_ADC_CHANNEL_1 - * @arg @ref LL_ADC_CHANNEL_2 - * @arg @ref LL_ADC_CHANNEL_3 - * @arg @ref LL_ADC_CHANNEL_4 - * @arg @ref LL_ADC_CHANNEL_5 - * @arg @ref LL_ADC_CHANNEL_6 - * @arg @ref LL_ADC_CHANNEL_7 - * @arg @ref LL_ADC_CHANNEL_8 - * @arg @ref LL_ADC_CHANNEL_9 - * @arg @ref LL_ADC_CHANNEL_10 - * @arg @ref LL_ADC_CHANNEL_11 - * @arg @ref LL_ADC_CHANNEL_12 - * @arg @ref LL_ADC_CHANNEL_13 - * @arg @ref LL_ADC_CHANNEL_14 - * @arg @ref LL_ADC_CHANNEL_15 - * @arg @ref LL_ADC_CHANNEL_16 - * @arg @ref LL_ADC_CHANNEL_17 - * @arg @ref LL_ADC_CHANNEL_18 - * @arg @ref LL_ADC_CHANNEL_VREFINT (1) - * @arg @ref LL_ADC_CHANNEL_TEMPSENSOR (1)(2) - * @arg @ref LL_ADC_CHANNEL_VBAT (1) - * - * (1) On STM32F4, parameter available only on ADC instance: ADC1.\n - * (2) On devices STM32F42x and STM32F43x, limitation: this internal channel is shared between temperature sensor and Vbat, only 1 measurement path must be enabled.\n - * (1) For ADC channel read back from ADC register, - * comparison with internal channel parameter to be done - * using helper macro @ref __LL_ADC_CHANNEL_INTERNAL_TO_EXTERNAL(). - */ -__STATIC_INLINE uint32_t LL_ADC_INJ_GetSequencerRanks(ADC_TypeDef *ADCx, uint32_t Rank) -{ - uint32_t tmpreg1 = (READ_BIT(ADCx->JSQR, ADC_JSQR_JL) >> ADC_JSQR_JL_Pos) + 1UL; - - return (uint32_t)(READ_BIT(ADCx->JSQR, - ADC_CHANNEL_ID_NUMBER_MASK << (5UL * (uint8_t)(((Rank) + 3UL) - (tmpreg1)))) - >> (5UL * (uint8_t)(((Rank) + 3UL) - (tmpreg1))) - ); -} - -/** - * @brief Set ADC group injected conversion trigger: - * independent or from ADC group regular. - * @note This mode can be used to extend number of data registers - * updated after one ADC conversion trigger and with data - * permanently kept (not erased by successive conversions of scan of - * ADC sequencer ranks), up to 5 data registers: - * 1 data register on ADC group regular, 4 data registers - * on ADC group injected. - * @note If ADC group injected injected trigger source is set to an - * external trigger, this feature must be must be set to - * independent trigger. - * ADC group injected automatic trigger is compliant only with - * group injected trigger source set to SW start, without any - * further action on ADC group injected conversion start or stop: - * in this case, ADC group injected is controlled only - * from ADC group regular. - * @note It is not possible to enable both ADC group injected - * auto-injected mode and sequencer discontinuous mode. - * @rmtoll CR1 JAUTO LL_ADC_INJ_SetTrigAuto - * @param ADCx ADC instance - * @param TrigAuto This parameter can be one of the following values: - * @arg @ref LL_ADC_INJ_TRIG_INDEPENDENT - * @arg @ref LL_ADC_INJ_TRIG_FROM_GRP_REGULAR - * @retval None - */ -__STATIC_INLINE void LL_ADC_INJ_SetTrigAuto(ADC_TypeDef *ADCx, uint32_t TrigAuto) -{ - MODIFY_REG(ADCx->CR1, ADC_CR1_JAUTO, TrigAuto); -} - -/** - * @brief Get ADC group injected conversion trigger: - * independent or from ADC group regular. - * @rmtoll CR1 JAUTO LL_ADC_INJ_GetTrigAuto - * @param ADCx ADC instance - * @retval Returned value can be one of the following values: - * @arg @ref LL_ADC_INJ_TRIG_INDEPENDENT - * @arg @ref LL_ADC_INJ_TRIG_FROM_GRP_REGULAR - */ -__STATIC_INLINE uint32_t LL_ADC_INJ_GetTrigAuto(ADC_TypeDef *ADCx) -{ - return (uint32_t)(READ_BIT(ADCx->CR1, ADC_CR1_JAUTO)); -} - -/** - * @brief Set ADC group injected offset. - * @note It sets: - * - ADC group injected rank to which the offset programmed - * will be applied - * - Offset level (offset to be subtracted from the raw - * converted data). - * Caution: Offset format is dependent to ADC resolution: - * offset has to be left-aligned on bit 11, the LSB (right bits) - * are set to 0. - * @note Offset cannot be enabled or disabled. - * To emulate offset disabled, set an offset value equal to 0. - * @rmtoll JOFR1 JOFFSET1 LL_ADC_INJ_SetOffset\n - * JOFR2 JOFFSET2 LL_ADC_INJ_SetOffset\n - * JOFR3 JOFFSET3 LL_ADC_INJ_SetOffset\n - * JOFR4 JOFFSET4 LL_ADC_INJ_SetOffset - * @param ADCx ADC instance - * @param Rank This parameter can be one of the following values: - * @arg @ref LL_ADC_INJ_RANK_1 - * @arg @ref LL_ADC_INJ_RANK_2 - * @arg @ref LL_ADC_INJ_RANK_3 - * @arg @ref LL_ADC_INJ_RANK_4 - * @param OffsetLevel Value between Min_Data=0x000 and Max_Data=0xFFF - * @retval None - */ -__STATIC_INLINE void LL_ADC_INJ_SetOffset(ADC_TypeDef *ADCx, uint32_t Rank, uint32_t OffsetLevel) -{ - __IO uint32_t *preg = __ADC_PTR_REG_OFFSET(ADCx->JOFR1, __ADC_MASK_SHIFT(Rank, ADC_INJ_JOFRX_REGOFFSET_MASK)); - - MODIFY_REG(*preg, - ADC_JOFR1_JOFFSET1, - OffsetLevel); -} - -/** - * @brief Get ADC group injected offset. - * @note It gives offset level (offset to be subtracted from the raw converted data). - * Caution: Offset format is dependent to ADC resolution: - * offset has to be left-aligned on bit 11, the LSB (right bits) - * are set to 0. - * @rmtoll JOFR1 JOFFSET1 LL_ADC_INJ_GetOffset\n - * JOFR2 JOFFSET2 LL_ADC_INJ_GetOffset\n - * JOFR3 JOFFSET3 LL_ADC_INJ_GetOffset\n - * JOFR4 JOFFSET4 LL_ADC_INJ_GetOffset - * @param ADCx ADC instance - * @param Rank This parameter can be one of the following values: - * @arg @ref LL_ADC_INJ_RANK_1 - * @arg @ref LL_ADC_INJ_RANK_2 - * @arg @ref LL_ADC_INJ_RANK_3 - * @arg @ref LL_ADC_INJ_RANK_4 - * @retval Value between Min_Data=0x000 and Max_Data=0xFFF - */ -__STATIC_INLINE uint32_t LL_ADC_INJ_GetOffset(ADC_TypeDef *ADCx, uint32_t Rank) -{ - __IO uint32_t *preg = __ADC_PTR_REG_OFFSET(ADCx->JOFR1, __ADC_MASK_SHIFT(Rank, ADC_INJ_JOFRX_REGOFFSET_MASK)); - - return (uint32_t)(READ_BIT(*preg, - ADC_JOFR1_JOFFSET1) - ); -} - -/** - * @} - */ - -/** @defgroup ADC_LL_EF_Configuration_Channels Configuration of ADC hierarchical scope: channels - * @{ - */ - -/** - * @brief Set sampling time of the selected ADC channel - * Unit: ADC clock cycles. - * @note On this device, sampling time is on channel scope: independently - * of channel mapped on ADC group regular or injected. - * @note In case of internal channel (VrefInt, TempSensor, ...) to be - * converted: - * sampling time constraints must be respected (sampling time can be - * adjusted in function of ADC clock frequency and sampling time - * setting). - * Refer to device datasheet for timings values (parameters TS_vrefint, - * TS_temp, ...). - * @note Conversion time is the addition of sampling time and processing time. - * Refer to reference manual for ADC processing time of - * this STM32 series. - * @note In case of ADC conversion of internal channel (VrefInt, - * temperature sensor, ...), a sampling time minimum value - * is required. - * Refer to device datasheet. - * @rmtoll SMPR1 SMP18 LL_ADC_SetChannelSamplingTime\n - * SMPR1 SMP17 LL_ADC_SetChannelSamplingTime\n - * SMPR1 SMP16 LL_ADC_SetChannelSamplingTime\n - * SMPR1 SMP15 LL_ADC_SetChannelSamplingTime\n - * SMPR1 SMP14 LL_ADC_SetChannelSamplingTime\n - * SMPR1 SMP13 LL_ADC_SetChannelSamplingTime\n - * SMPR1 SMP12 LL_ADC_SetChannelSamplingTime\n - * SMPR1 SMP11 LL_ADC_SetChannelSamplingTime\n - * SMPR1 SMP10 LL_ADC_SetChannelSamplingTime\n - * SMPR2 SMP9 LL_ADC_SetChannelSamplingTime\n - * SMPR2 SMP8 LL_ADC_SetChannelSamplingTime\n - * SMPR2 SMP7 LL_ADC_SetChannelSamplingTime\n - * SMPR2 SMP6 LL_ADC_SetChannelSamplingTime\n - * SMPR2 SMP5 LL_ADC_SetChannelSamplingTime\n - * SMPR2 SMP4 LL_ADC_SetChannelSamplingTime\n - * SMPR2 SMP3 LL_ADC_SetChannelSamplingTime\n - * SMPR2 SMP2 LL_ADC_SetChannelSamplingTime\n - * SMPR2 SMP1 LL_ADC_SetChannelSamplingTime\n - * SMPR2 SMP0 LL_ADC_SetChannelSamplingTime - * @param ADCx ADC instance - * @param Channel This parameter can be one of the following values: - * @arg @ref LL_ADC_CHANNEL_0 - * @arg @ref LL_ADC_CHANNEL_1 - * @arg @ref LL_ADC_CHANNEL_2 - * @arg @ref LL_ADC_CHANNEL_3 - * @arg @ref LL_ADC_CHANNEL_4 - * @arg @ref LL_ADC_CHANNEL_5 - * @arg @ref LL_ADC_CHANNEL_6 - * @arg @ref LL_ADC_CHANNEL_7 - * @arg @ref LL_ADC_CHANNEL_8 - * @arg @ref LL_ADC_CHANNEL_9 - * @arg @ref LL_ADC_CHANNEL_10 - * @arg @ref LL_ADC_CHANNEL_11 - * @arg @ref LL_ADC_CHANNEL_12 - * @arg @ref LL_ADC_CHANNEL_13 - * @arg @ref LL_ADC_CHANNEL_14 - * @arg @ref LL_ADC_CHANNEL_15 - * @arg @ref LL_ADC_CHANNEL_16 - * @arg @ref LL_ADC_CHANNEL_17 - * @arg @ref LL_ADC_CHANNEL_18 - * @arg @ref LL_ADC_CHANNEL_VREFINT (1) - * @arg @ref LL_ADC_CHANNEL_TEMPSENSOR (1)(2) - * @arg @ref LL_ADC_CHANNEL_VBAT (1) - * - * (1) On STM32F4, parameter available only on ADC instance: ADC1.\n - * (2) On devices STM32F42x and STM32F43x, limitation: this internal channel is shared between temperature sensor and Vbat, only 1 measurement path must be enabled. - * @param SamplingTime This parameter can be one of the following values: - * @arg @ref LL_ADC_SAMPLINGTIME_3CYCLES - * @arg @ref LL_ADC_SAMPLINGTIME_15CYCLES - * @arg @ref LL_ADC_SAMPLINGTIME_28CYCLES - * @arg @ref LL_ADC_SAMPLINGTIME_56CYCLES - * @arg @ref LL_ADC_SAMPLINGTIME_84CYCLES - * @arg @ref LL_ADC_SAMPLINGTIME_112CYCLES - * @arg @ref LL_ADC_SAMPLINGTIME_144CYCLES - * @arg @ref LL_ADC_SAMPLINGTIME_480CYCLES - * @retval None - */ -__STATIC_INLINE void LL_ADC_SetChannelSamplingTime(ADC_TypeDef *ADCx, uint32_t Channel, uint32_t SamplingTime) -{ - /* Set bits with content of parameter "SamplingTime" with bits position */ - /* in register and register position depending on parameter "Channel". */ - /* Parameter "Channel" is used with masks because containing */ - /* other bits reserved for other purpose. */ - __IO uint32_t *preg = __ADC_PTR_REG_OFFSET(ADCx->SMPR1, __ADC_MASK_SHIFT(Channel, ADC_CHANNEL_SMPRX_REGOFFSET_MASK)); - - MODIFY_REG(*preg, - ADC_SMPR2_SMP0 << __ADC_MASK_SHIFT(Channel, ADC_CHANNEL_SMPx_BITOFFSET_MASK), - SamplingTime << __ADC_MASK_SHIFT(Channel, ADC_CHANNEL_SMPx_BITOFFSET_MASK)); -} - -/** - * @brief Get sampling time of the selected ADC channel - * Unit: ADC clock cycles. - * @note On this device, sampling time is on channel scope: independently - * of channel mapped on ADC group regular or injected. - * @note Conversion time is the addition of sampling time and processing time. - * Refer to reference manual for ADC processing time of - * this STM32 series. - * @rmtoll SMPR1 SMP18 LL_ADC_GetChannelSamplingTime\n - * SMPR1 SMP17 LL_ADC_GetChannelSamplingTime\n - * SMPR1 SMP16 LL_ADC_GetChannelSamplingTime\n - * SMPR1 SMP15 LL_ADC_GetChannelSamplingTime\n - * SMPR1 SMP14 LL_ADC_GetChannelSamplingTime\n - * SMPR1 SMP13 LL_ADC_GetChannelSamplingTime\n - * SMPR1 SMP12 LL_ADC_GetChannelSamplingTime\n - * SMPR1 SMP11 LL_ADC_GetChannelSamplingTime\n - * SMPR1 SMP10 LL_ADC_GetChannelSamplingTime\n - * SMPR2 SMP9 LL_ADC_GetChannelSamplingTime\n - * SMPR2 SMP8 LL_ADC_GetChannelSamplingTime\n - * SMPR2 SMP7 LL_ADC_GetChannelSamplingTime\n - * SMPR2 SMP6 LL_ADC_GetChannelSamplingTime\n - * SMPR2 SMP5 LL_ADC_GetChannelSamplingTime\n - * SMPR2 SMP4 LL_ADC_GetChannelSamplingTime\n - * SMPR2 SMP3 LL_ADC_GetChannelSamplingTime\n - * SMPR2 SMP2 LL_ADC_GetChannelSamplingTime\n - * SMPR2 SMP1 LL_ADC_GetChannelSamplingTime\n - * SMPR2 SMP0 LL_ADC_GetChannelSamplingTime - * @param ADCx ADC instance - * @param Channel This parameter can be one of the following values: - * @arg @ref LL_ADC_CHANNEL_0 - * @arg @ref LL_ADC_CHANNEL_1 - * @arg @ref LL_ADC_CHANNEL_2 - * @arg @ref LL_ADC_CHANNEL_3 - * @arg @ref LL_ADC_CHANNEL_4 - * @arg @ref LL_ADC_CHANNEL_5 - * @arg @ref LL_ADC_CHANNEL_6 - * @arg @ref LL_ADC_CHANNEL_7 - * @arg @ref LL_ADC_CHANNEL_8 - * @arg @ref LL_ADC_CHANNEL_9 - * @arg @ref LL_ADC_CHANNEL_10 - * @arg @ref LL_ADC_CHANNEL_11 - * @arg @ref LL_ADC_CHANNEL_12 - * @arg @ref LL_ADC_CHANNEL_13 - * @arg @ref LL_ADC_CHANNEL_14 - * @arg @ref LL_ADC_CHANNEL_15 - * @arg @ref LL_ADC_CHANNEL_16 - * @arg @ref LL_ADC_CHANNEL_17 - * @arg @ref LL_ADC_CHANNEL_18 - * @arg @ref LL_ADC_CHANNEL_VREFINT (1) - * @arg @ref LL_ADC_CHANNEL_TEMPSENSOR (1)(2) - * @arg @ref LL_ADC_CHANNEL_VBAT (1) - * - * (1) On STM32F4, parameter available only on ADC instance: ADC1.\n - * (2) On devices STM32F42x and STM32F43x, limitation: this internal channel is shared between temperature sensor and Vbat, only 1 measurement path must be enabled. - * @retval Returned value can be one of the following values: - * @arg @ref LL_ADC_SAMPLINGTIME_3CYCLES - * @arg @ref LL_ADC_SAMPLINGTIME_15CYCLES - * @arg @ref LL_ADC_SAMPLINGTIME_28CYCLES - * @arg @ref LL_ADC_SAMPLINGTIME_56CYCLES - * @arg @ref LL_ADC_SAMPLINGTIME_84CYCLES - * @arg @ref LL_ADC_SAMPLINGTIME_112CYCLES - * @arg @ref LL_ADC_SAMPLINGTIME_144CYCLES - * @arg @ref LL_ADC_SAMPLINGTIME_480CYCLES - */ -__STATIC_INLINE uint32_t LL_ADC_GetChannelSamplingTime(ADC_TypeDef *ADCx, uint32_t Channel) -{ - __IO uint32_t *preg = __ADC_PTR_REG_OFFSET(ADCx->SMPR1, __ADC_MASK_SHIFT(Channel, ADC_CHANNEL_SMPRX_REGOFFSET_MASK)); - - return (uint32_t)(READ_BIT(*preg, - ADC_SMPR2_SMP0 << __ADC_MASK_SHIFT(Channel, ADC_CHANNEL_SMPx_BITOFFSET_MASK)) - >> __ADC_MASK_SHIFT(Channel, ADC_CHANNEL_SMPx_BITOFFSET_MASK) - ); -} - -/** - * @} - */ - -/** @defgroup ADC_LL_EF_Configuration_ADC_AnalogWatchdog Configuration of ADC transversal scope: analog watchdog - * @{ - */ - -/** - * @brief Set ADC analog watchdog monitored channels: - * a single channel or all channels, - * on ADC groups regular and-or injected. - * @note Once monitored channels are selected, analog watchdog - * is enabled. - * @note In case of need to define a single channel to monitor - * with analog watchdog from sequencer channel definition, - * use helper macro @ref __LL_ADC_ANALOGWD_CHANNEL_GROUP(). - * @note On this STM32 series, there is only 1 kind of analog watchdog - * instance: - * - AWD standard (instance AWD1): - * - channels monitored: can monitor 1 channel or all channels. - * - groups monitored: ADC groups regular and-or injected. - * - resolution: resolution is not limited (corresponds to - * ADC resolution configured). - * @rmtoll CR1 AWD1CH LL_ADC_SetAnalogWDMonitChannels\n - * CR1 AWD1SGL LL_ADC_SetAnalogWDMonitChannels\n - * CR1 AWD1EN LL_ADC_SetAnalogWDMonitChannels - * @param ADCx ADC instance - * @param AWDChannelGroup This parameter can be one of the following values: - * @arg @ref LL_ADC_AWD_DISABLE - * @arg @ref LL_ADC_AWD_ALL_CHANNELS_REG - * @arg @ref LL_ADC_AWD_ALL_CHANNELS_INJ - * @arg @ref LL_ADC_AWD_ALL_CHANNELS_REG_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_0_REG - * @arg @ref LL_ADC_AWD_CHANNEL_0_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_0_REG_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_1_REG - * @arg @ref LL_ADC_AWD_CHANNEL_1_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_1_REG_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_2_REG - * @arg @ref LL_ADC_AWD_CHANNEL_2_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_2_REG_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_3_REG - * @arg @ref LL_ADC_AWD_CHANNEL_3_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_3_REG_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_4_REG - * @arg @ref LL_ADC_AWD_CHANNEL_4_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_4_REG_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_5_REG - * @arg @ref LL_ADC_AWD_CHANNEL_5_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_5_REG_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_6_REG - * @arg @ref LL_ADC_AWD_CHANNEL_6_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_6_REG_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_7_REG - * @arg @ref LL_ADC_AWD_CHANNEL_7_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_7_REG_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_8_REG - * @arg @ref LL_ADC_AWD_CHANNEL_8_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_8_REG_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_9_REG - * @arg @ref LL_ADC_AWD_CHANNEL_9_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_9_REG_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_10_REG - * @arg @ref LL_ADC_AWD_CHANNEL_10_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_10_REG_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_11_REG - * @arg @ref LL_ADC_AWD_CHANNEL_11_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_11_REG_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_12_REG - * @arg @ref LL_ADC_AWD_CHANNEL_12_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_12_REG_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_13_REG - * @arg @ref LL_ADC_AWD_CHANNEL_13_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_13_REG_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_14_REG - * @arg @ref LL_ADC_AWD_CHANNEL_14_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_14_REG_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_15_REG - * @arg @ref LL_ADC_AWD_CHANNEL_15_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_15_REG_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_16_REG - * @arg @ref LL_ADC_AWD_CHANNEL_16_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_16_REG_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_17_REG - * @arg @ref LL_ADC_AWD_CHANNEL_17_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_17_REG_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_18_REG - * @arg @ref LL_ADC_AWD_CHANNEL_18_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_18_REG_INJ - * @arg @ref LL_ADC_AWD_CH_VREFINT_REG (1) - * @arg @ref LL_ADC_AWD_CH_VREFINT_INJ (1) - * @arg @ref LL_ADC_AWD_CH_VREFINT_REG_INJ (1) - * @arg @ref LL_ADC_AWD_CH_TEMPSENSOR_REG (1)(2) - * @arg @ref LL_ADC_AWD_CH_TEMPSENSOR_INJ (1)(2) - * @arg @ref LL_ADC_AWD_CH_TEMPSENSOR_REG_INJ (1)(2) - * @arg @ref LL_ADC_AWD_CH_VBAT_REG (1) - * @arg @ref LL_ADC_AWD_CH_VBAT_INJ (1) - * @arg @ref LL_ADC_AWD_CH_VBAT_REG_INJ (1) - * - * (1) On STM32F4, parameter available only on ADC instance: ADC1.\n - * (2) On devices STM32F42x and STM32F43x, limitation: this internal channel is shared between temperature sensor and Vbat, only 1 measurement path must be enabled. - * @retval None - */ -__STATIC_INLINE void LL_ADC_SetAnalogWDMonitChannels(ADC_TypeDef *ADCx, uint32_t AWDChannelGroup) -{ - MODIFY_REG(ADCx->CR1, - (ADC_CR1_AWDEN | ADC_CR1_JAWDEN | ADC_CR1_AWDSGL | ADC_CR1_AWDCH), - AWDChannelGroup); -} - -/** - * @brief Get ADC analog watchdog monitored channel. - * @note Usage of the returned channel number: - * - To reinject this channel into another function LL_ADC_xxx: - * the returned channel number is only partly formatted on definition - * of literals LL_ADC_CHANNEL_x. Therefore, it has to be compared - * with parts of literals LL_ADC_CHANNEL_x or using - * helper macro @ref __LL_ADC_CHANNEL_TO_DECIMAL_NB(). - * Then the selected literal LL_ADC_CHANNEL_x can be used - * as parameter for another function. - * - To get the channel number in decimal format: - * process the returned value with the helper macro - * @ref __LL_ADC_CHANNEL_TO_DECIMAL_NB(). - * Applicable only when the analog watchdog is set to monitor - * one channel. - * @note On this STM32 series, there is only 1 kind of analog watchdog - * instance: - * - AWD standard (instance AWD1): - * - channels monitored: can monitor 1 channel or all channels. - * - groups monitored: ADC groups regular and-or injected. - * - resolution: resolution is not limited (corresponds to - * ADC resolution configured). - * @rmtoll CR1 AWD1CH LL_ADC_GetAnalogWDMonitChannels\n - * CR1 AWD1SGL LL_ADC_GetAnalogWDMonitChannels\n - * CR1 AWD1EN LL_ADC_GetAnalogWDMonitChannels - * @param ADCx ADC instance - * @retval Returned value can be one of the following values: - * @arg @ref LL_ADC_AWD_DISABLE - * @arg @ref LL_ADC_AWD_ALL_CHANNELS_REG - * @arg @ref LL_ADC_AWD_ALL_CHANNELS_INJ - * @arg @ref LL_ADC_AWD_ALL_CHANNELS_REG_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_0_REG - * @arg @ref LL_ADC_AWD_CHANNEL_0_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_0_REG_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_1_REG - * @arg @ref LL_ADC_AWD_CHANNEL_1_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_1_REG_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_2_REG - * @arg @ref LL_ADC_AWD_CHANNEL_2_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_2_REG_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_3_REG - * @arg @ref LL_ADC_AWD_CHANNEL_3_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_3_REG_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_4_REG - * @arg @ref LL_ADC_AWD_CHANNEL_4_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_4_REG_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_5_REG - * @arg @ref LL_ADC_AWD_CHANNEL_5_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_5_REG_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_6_REG - * @arg @ref LL_ADC_AWD_CHANNEL_6_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_6_REG_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_7_REG - * @arg @ref LL_ADC_AWD_CHANNEL_7_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_7_REG_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_8_REG - * @arg @ref LL_ADC_AWD_CHANNEL_8_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_8_REG_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_9_REG - * @arg @ref LL_ADC_AWD_CHANNEL_9_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_9_REG_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_10_REG - * @arg @ref LL_ADC_AWD_CHANNEL_10_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_10_REG_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_11_REG - * @arg @ref LL_ADC_AWD_CHANNEL_11_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_11_REG_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_12_REG - * @arg @ref LL_ADC_AWD_CHANNEL_12_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_12_REG_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_13_REG - * @arg @ref LL_ADC_AWD_CHANNEL_13_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_13_REG_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_14_REG - * @arg @ref LL_ADC_AWD_CHANNEL_14_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_14_REG_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_15_REG - * @arg @ref LL_ADC_AWD_CHANNEL_15_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_15_REG_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_16_REG - * @arg @ref LL_ADC_AWD_CHANNEL_16_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_16_REG_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_17_REG - * @arg @ref LL_ADC_AWD_CHANNEL_17_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_17_REG_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_18_REG - * @arg @ref LL_ADC_AWD_CHANNEL_18_INJ - * @arg @ref LL_ADC_AWD_CHANNEL_18_REG_INJ - */ -__STATIC_INLINE uint32_t LL_ADC_GetAnalogWDMonitChannels(ADC_TypeDef *ADCx) -{ - return (uint32_t)(READ_BIT(ADCx->CR1, (ADC_CR1_AWDEN | ADC_CR1_JAWDEN | ADC_CR1_AWDSGL | ADC_CR1_AWDCH))); -} - -/** - * @brief Set ADC analog watchdog threshold value of threshold - * high or low. - * @note In case of ADC resolution different of 12 bits, - * analog watchdog thresholds data require a specific shift. - * Use helper macro @ref __LL_ADC_ANALOGWD_SET_THRESHOLD_RESOLUTION(). - * @note On this STM32 series, there is only 1 kind of analog watchdog - * instance: - * - AWD standard (instance AWD1): - * - channels monitored: can monitor 1 channel or all channels. - * - groups monitored: ADC groups regular and-or injected. - * - resolution: resolution is not limited (corresponds to - * ADC resolution configured). - * @rmtoll HTR HT LL_ADC_SetAnalogWDThresholds\n - * LTR LT LL_ADC_SetAnalogWDThresholds - * @param ADCx ADC instance - * @param AWDThresholdsHighLow This parameter can be one of the following values: - * @arg @ref LL_ADC_AWD_THRESHOLD_HIGH - * @arg @ref LL_ADC_AWD_THRESHOLD_LOW - * @param AWDThresholdValue Value between Min_Data=0x000 and Max_Data=0xFFF - * @retval None - */ -__STATIC_INLINE void LL_ADC_SetAnalogWDThresholds(ADC_TypeDef *ADCx, uint32_t AWDThresholdsHighLow, uint32_t AWDThresholdValue) -{ - __IO uint32_t *preg = __ADC_PTR_REG_OFFSET(ADCx->HTR, AWDThresholdsHighLow); - - MODIFY_REG(*preg, - ADC_HTR_HT, - AWDThresholdValue); -} - -/** - * @brief Get ADC analog watchdog threshold value of threshold high or - * threshold low. - * @note In case of ADC resolution different of 12 bits, - * analog watchdog thresholds data require a specific shift. - * Use helper macro @ref __LL_ADC_ANALOGWD_GET_THRESHOLD_RESOLUTION(). - * @rmtoll HTR HT LL_ADC_GetAnalogWDThresholds\n - * LTR LT LL_ADC_GetAnalogWDThresholds - * @param ADCx ADC instance - * @param AWDThresholdsHighLow This parameter can be one of the following values: - * @arg @ref LL_ADC_AWD_THRESHOLD_HIGH - * @arg @ref LL_ADC_AWD_THRESHOLD_LOW - * @retval Value between Min_Data=0x000 and Max_Data=0xFFF -*/ -__STATIC_INLINE uint32_t LL_ADC_GetAnalogWDThresholds(ADC_TypeDef *ADCx, uint32_t AWDThresholdsHighLow) -{ - __IO uint32_t *preg = __ADC_PTR_REG_OFFSET(ADCx->HTR, AWDThresholdsHighLow); - - return (uint32_t)(READ_BIT(*preg, ADC_HTR_HT)); -} - -/** - * @} - */ - -/** @defgroup ADC_LL_EF_Configuration_ADC_Multimode Configuration of ADC hierarchical scope: multimode - * @{ - */ - -#if defined(ADC_MULTIMODE_SUPPORT) -/** - * @brief Set ADC multimode configuration to operate in independent mode - * or multimode (for devices with several ADC instances). - * @note If multimode configuration: the selected ADC instance is - * either master or slave depending on hardware. - * Refer to reference manual. - * @rmtoll CCR MULTI LL_ADC_SetMultimode - * @param ADCxy_COMMON ADC common instance - * (can be set directly from CMSIS definition or by using helper macro @ref __LL_ADC_COMMON_INSTANCE() ) - * @param Multimode This parameter can be one of the following values: - * @arg @ref LL_ADC_MULTI_INDEPENDENT - * @arg @ref LL_ADC_MULTI_DUAL_REG_SIMULT - * @arg @ref LL_ADC_MULTI_DUAL_REG_INTERL - * @arg @ref LL_ADC_MULTI_DUAL_INJ_SIMULT - * @arg @ref LL_ADC_MULTI_DUAL_INJ_ALTERN - * @arg @ref LL_ADC_MULTI_DUAL_REG_SIM_INJ_SIM - * @arg @ref LL_ADC_MULTI_DUAL_REG_SIM_INJ_ALT - * @arg @ref LL_ADC_MULTI_DUAL_REG_INT_INJ_SIM - * @arg @ref LL_ADC_MULTI_TRIPLE_REG_SIM_INJ_SIM - * @arg @ref LL_ADC_MULTI_TRIPLE_REG_SIM_INJ_ALT - * @arg @ref LL_ADC_MULTI_TRIPLE_INJ_SIMULT - * @arg @ref LL_ADC_MULTI_TRIPLE_REG_SIMULT - * @arg @ref LL_ADC_MULTI_TRIPLE_REG_INTERL - * @arg @ref LL_ADC_MULTI_TRIPLE_INJ_ALTERN - * @retval None - */ -__STATIC_INLINE void LL_ADC_SetMultimode(ADC_Common_TypeDef *ADCxy_COMMON, uint32_t Multimode) -{ - MODIFY_REG(ADCxy_COMMON->CCR, ADC_CCR_MULTI, Multimode); -} - -/** - * @brief Get ADC multimode configuration to operate in independent mode - * or multimode (for devices with several ADC instances). - * @note If multimode configuration: the selected ADC instance is - * either master or slave depending on hardware. - * Refer to reference manual. - * @rmtoll CCR MULTI LL_ADC_GetMultimode - * @param ADCxy_COMMON ADC common instance - * (can be set directly from CMSIS definition or by using helper macro @ref __LL_ADC_COMMON_INSTANCE() ) - * @retval Returned value can be one of the following values: - * @arg @ref LL_ADC_MULTI_INDEPENDENT - * @arg @ref LL_ADC_MULTI_DUAL_REG_SIMULT - * @arg @ref LL_ADC_MULTI_DUAL_REG_INTERL - * @arg @ref LL_ADC_MULTI_DUAL_INJ_SIMULT - * @arg @ref LL_ADC_MULTI_DUAL_INJ_ALTERN - * @arg @ref LL_ADC_MULTI_DUAL_REG_SIM_INJ_SIM - * @arg @ref LL_ADC_MULTI_DUAL_REG_SIM_INJ_ALT - * @arg @ref LL_ADC_MULTI_DUAL_REG_INT_INJ_SIM - * @arg @ref LL_ADC_MULTI_TRIPLE_REG_SIM_INJ_SIM - * @arg @ref LL_ADC_MULTI_TRIPLE_REG_SIM_INJ_ALT - * @arg @ref LL_ADC_MULTI_TRIPLE_INJ_SIMULT - * @arg @ref LL_ADC_MULTI_TRIPLE_REG_SIMULT - * @arg @ref LL_ADC_MULTI_TRIPLE_REG_INTERL - * @arg @ref LL_ADC_MULTI_TRIPLE_INJ_ALTERN - */ -__STATIC_INLINE uint32_t LL_ADC_GetMultimode(ADC_Common_TypeDef *ADCxy_COMMON) -{ - return (uint32_t)(READ_BIT(ADCxy_COMMON->CCR, ADC_CCR_MULTI)); -} - -/** - * @brief Set ADC multimode conversion data transfer: no transfer - * or transfer by DMA. - * @note If ADC multimode transfer by DMA is not selected: - * each ADC uses its own DMA channel, with its individual - * DMA transfer settings. - * If ADC multimode transfer by DMA is selected: - * One DMA channel is used for both ADC (DMA of ADC master) - * Specifies the DMA requests mode: - * - Limited mode (One shot mode): DMA transfer requests are stopped - * when number of DMA data transfers (number of - * ADC conversions) is reached. - * This ADC mode is intended to be used with DMA mode non-circular. - * - Unlimited mode: DMA transfer requests are unlimited, - * whatever number of DMA data transfers (number of - * ADC conversions). - * This ADC mode is intended to be used with DMA mode circular. - * @note If ADC DMA requests mode is set to unlimited and DMA is set to - * mode non-circular: - * when DMA transfers size will be reached, DMA will stop transfers of - * ADC conversions data ADC will raise an overrun error - * (overrun flag and interruption if enabled). - * @note How to retrieve multimode conversion data: - * Whatever multimode transfer by DMA setting: using function - * @ref LL_ADC_REG_ReadMultiConversionData32(). - * If ADC multimode transfer by DMA is selected: conversion data - * is a raw data with ADC master and slave concatenated. - * A macro is available to get the conversion data of - * ADC master or ADC slave: see helper macro - * @ref __LL_ADC_MULTI_CONV_DATA_MASTER_SLAVE(). - * @rmtoll CCR MDMA LL_ADC_SetMultiDMATransfer\n - * CCR DDS LL_ADC_SetMultiDMATransfer - * @param ADCxy_COMMON ADC common instance - * (can be set directly from CMSIS definition or by using helper macro @ref __LL_ADC_COMMON_INSTANCE() ) - * @param MultiDMATransfer This parameter can be one of the following values: - * @arg @ref LL_ADC_MULTI_REG_DMA_EACH_ADC - * @arg @ref LL_ADC_MULTI_REG_DMA_LIMIT_1 - * @arg @ref LL_ADC_MULTI_REG_DMA_LIMIT_2 - * @arg @ref LL_ADC_MULTI_REG_DMA_LIMIT_3 - * @arg @ref LL_ADC_MULTI_REG_DMA_UNLMT_1 - * @arg @ref LL_ADC_MULTI_REG_DMA_UNLMT_2 - * @arg @ref LL_ADC_MULTI_REG_DMA_UNLMT_3 - * @retval None - */ -__STATIC_INLINE void LL_ADC_SetMultiDMATransfer(ADC_Common_TypeDef *ADCxy_COMMON, uint32_t MultiDMATransfer) -{ - MODIFY_REG(ADCxy_COMMON->CCR, ADC_CCR_DMA | ADC_CCR_DDS, MultiDMATransfer); -} - -/** - * @brief Get ADC multimode conversion data transfer: no transfer - * or transfer by DMA. - * @note If ADC multimode transfer by DMA is not selected: - * each ADC uses its own DMA channel, with its individual - * DMA transfer settings. - * If ADC multimode transfer by DMA is selected: - * One DMA channel is used for both ADC (DMA of ADC master) - * Specifies the DMA requests mode: - * - Limited mode (One shot mode): DMA transfer requests are stopped - * when number of DMA data transfers (number of - * ADC conversions) is reached. - * This ADC mode is intended to be used with DMA mode non-circular. - * - Unlimited mode: DMA transfer requests are unlimited, - * whatever number of DMA data transfers (number of - * ADC conversions). - * This ADC mode is intended to be used with DMA mode circular. - * @note If ADC DMA requests mode is set to unlimited and DMA is set to - * mode non-circular: - * when DMA transfers size will be reached, DMA will stop transfers of - * ADC conversions data ADC will raise an overrun error - * (overrun flag and interruption if enabled). - * @note How to retrieve multimode conversion data: - * Whatever multimode transfer by DMA setting: using function - * @ref LL_ADC_REG_ReadMultiConversionData32(). - * If ADC multimode transfer by DMA is selected: conversion data - * is a raw data with ADC master and slave concatenated. - * A macro is available to get the conversion data of - * ADC master or ADC slave: see helper macro - * @ref __LL_ADC_MULTI_CONV_DATA_MASTER_SLAVE(). - * @rmtoll CCR MDMA LL_ADC_GetMultiDMATransfer\n - * CCR DDS LL_ADC_GetMultiDMATransfer - * @param ADCxy_COMMON ADC common instance - * (can be set directly from CMSIS definition or by using helper macro @ref __LL_ADC_COMMON_INSTANCE() ) - * @retval Returned value can be one of the following values: - * @arg @ref LL_ADC_MULTI_REG_DMA_EACH_ADC - * @arg @ref LL_ADC_MULTI_REG_DMA_LIMIT_1 - * @arg @ref LL_ADC_MULTI_REG_DMA_LIMIT_2 - * @arg @ref LL_ADC_MULTI_REG_DMA_LIMIT_3 - * @arg @ref LL_ADC_MULTI_REG_DMA_UNLMT_1 - * @arg @ref LL_ADC_MULTI_REG_DMA_UNLMT_2 - * @arg @ref LL_ADC_MULTI_REG_DMA_UNLMT_3 - */ -__STATIC_INLINE uint32_t LL_ADC_GetMultiDMATransfer(ADC_Common_TypeDef *ADCxy_COMMON) -{ - return (uint32_t)(READ_BIT(ADCxy_COMMON->CCR, ADC_CCR_DMA | ADC_CCR_DDS)); -} - -/** - * @brief Set ADC multimode delay between 2 sampling phases. - * @note The sampling delay range depends on ADC resolution: - * - ADC resolution 12 bits can have maximum delay of 12 cycles. - * - ADC resolution 10 bits can have maximum delay of 10 cycles. - * - ADC resolution 8 bits can have maximum delay of 8 cycles. - * - ADC resolution 6 bits can have maximum delay of 6 cycles. - * @rmtoll CCR DELAY LL_ADC_SetMultiTwoSamplingDelay - * @param ADCxy_COMMON ADC common instance - * (can be set directly from CMSIS definition or by using helper macro @ref __LL_ADC_COMMON_INSTANCE() ) - * @param MultiTwoSamplingDelay This parameter can be one of the following values: - * @arg @ref LL_ADC_MULTI_TWOSMP_DELAY_5CYCLES - * @arg @ref LL_ADC_MULTI_TWOSMP_DELAY_6CYCLES - * @arg @ref LL_ADC_MULTI_TWOSMP_DELAY_7CYCLES - * @arg @ref LL_ADC_MULTI_TWOSMP_DELAY_8CYCLES - * @arg @ref LL_ADC_MULTI_TWOSMP_DELAY_9CYCLES - * @arg @ref LL_ADC_MULTI_TWOSMP_DELAY_10CYCLES - * @arg @ref LL_ADC_MULTI_TWOSMP_DELAY_11CYCLES - * @arg @ref LL_ADC_MULTI_TWOSMP_DELAY_12CYCLES - * @arg @ref LL_ADC_MULTI_TWOSMP_DELAY_13CYCLES - * @arg @ref LL_ADC_MULTI_TWOSMP_DELAY_14CYCLES - * @arg @ref LL_ADC_MULTI_TWOSMP_DELAY_15CYCLES - * @arg @ref LL_ADC_MULTI_TWOSMP_DELAY_16CYCLES - * @arg @ref LL_ADC_MULTI_TWOSMP_DELAY_17CYCLES - * @arg @ref LL_ADC_MULTI_TWOSMP_DELAY_18CYCLES - * @arg @ref LL_ADC_MULTI_TWOSMP_DELAY_19CYCLES - * @arg @ref LL_ADC_MULTI_TWOSMP_DELAY_20CYCLES - * @retval None - */ -__STATIC_INLINE void LL_ADC_SetMultiTwoSamplingDelay(ADC_Common_TypeDef *ADCxy_COMMON, uint32_t MultiTwoSamplingDelay) -{ - MODIFY_REG(ADCxy_COMMON->CCR, ADC_CCR_DELAY, MultiTwoSamplingDelay); -} - -/** - * @brief Get ADC multimode delay between 2 sampling phases. - * @rmtoll CCR DELAY LL_ADC_GetMultiTwoSamplingDelay - * @param ADCxy_COMMON ADC common instance - * (can be set directly from CMSIS definition or by using helper macro @ref __LL_ADC_COMMON_INSTANCE() ) - * @retval Returned value can be one of the following values: - * @arg @ref LL_ADC_MULTI_TWOSMP_DELAY_5CYCLES - * @arg @ref LL_ADC_MULTI_TWOSMP_DELAY_6CYCLES - * @arg @ref LL_ADC_MULTI_TWOSMP_DELAY_7CYCLES - * @arg @ref LL_ADC_MULTI_TWOSMP_DELAY_8CYCLES - * @arg @ref LL_ADC_MULTI_TWOSMP_DELAY_9CYCLES - * @arg @ref LL_ADC_MULTI_TWOSMP_DELAY_10CYCLES - * @arg @ref LL_ADC_MULTI_TWOSMP_DELAY_11CYCLES - * @arg @ref LL_ADC_MULTI_TWOSMP_DELAY_12CYCLES - * @arg @ref LL_ADC_MULTI_TWOSMP_DELAY_13CYCLES - * @arg @ref LL_ADC_MULTI_TWOSMP_DELAY_14CYCLES - * @arg @ref LL_ADC_MULTI_TWOSMP_DELAY_15CYCLES - * @arg @ref LL_ADC_MULTI_TWOSMP_DELAY_16CYCLES - * @arg @ref LL_ADC_MULTI_TWOSMP_DELAY_17CYCLES - * @arg @ref LL_ADC_MULTI_TWOSMP_DELAY_18CYCLES - * @arg @ref LL_ADC_MULTI_TWOSMP_DELAY_19CYCLES - * @arg @ref LL_ADC_MULTI_TWOSMP_DELAY_20CYCLES - */ -__STATIC_INLINE uint32_t LL_ADC_GetMultiTwoSamplingDelay(ADC_Common_TypeDef *ADCxy_COMMON) -{ - return (uint32_t)(READ_BIT(ADCxy_COMMON->CCR, ADC_CCR_DELAY)); -} -#endif /* ADC_MULTIMODE_SUPPORT */ - -/** - * @} - */ -/** @defgroup ADC_LL_EF_Operation_ADC_Instance Operation on ADC hierarchical scope: ADC instance - * @{ - */ - -/** - * @brief Enable the selected ADC instance. - * @note On this STM32 series, after ADC enable, a delay for - * ADC internal analog stabilization is required before performing a - * ADC conversion start. - * Refer to device datasheet, parameter tSTAB. - * @rmtoll CR2 ADON LL_ADC_Enable - * @param ADCx ADC instance - * @retval None - */ -__STATIC_INLINE void LL_ADC_Enable(ADC_TypeDef *ADCx) -{ - SET_BIT(ADCx->CR2, ADC_CR2_ADON); -} - -/** - * @brief Disable the selected ADC instance. - * @rmtoll CR2 ADON LL_ADC_Disable - * @param ADCx ADC instance - * @retval None - */ -__STATIC_INLINE void LL_ADC_Disable(ADC_TypeDef *ADCx) -{ - CLEAR_BIT(ADCx->CR2, ADC_CR2_ADON); -} - -/** - * @brief Get the selected ADC instance enable state. - * @rmtoll CR2 ADON LL_ADC_IsEnabled - * @param ADCx ADC instance - * @retval 0: ADC is disabled, 1: ADC is enabled. - */ -__STATIC_INLINE uint32_t LL_ADC_IsEnabled(ADC_TypeDef *ADCx) -{ - return (READ_BIT(ADCx->CR2, ADC_CR2_ADON) == (ADC_CR2_ADON)); -} - -/** - * @} - */ - -/** @defgroup ADC_LL_EF_Operation_ADC_Group_Regular Operation on ADC hierarchical scope: group regular - * @{ - */ - -/** - * @brief Start ADC group regular conversion. - * @note On this STM32 series, this function is relevant only for - * internal trigger (SW start), not for external trigger: - * - If ADC trigger has been set to software start, ADC conversion - * starts immediately. - * - If ADC trigger has been set to external trigger, ADC conversion - * start must be performed using function - * @ref LL_ADC_REG_StartConversionExtTrig(). - * (if external trigger edge would have been set during ADC other - * settings, ADC conversion would start at trigger event - * as soon as ADC is enabled). - * @rmtoll CR2 SWSTART LL_ADC_REG_StartConversionSWStart - * @param ADCx ADC instance - * @retval None - */ -__STATIC_INLINE void LL_ADC_REG_StartConversionSWStart(ADC_TypeDef *ADCx) -{ - SET_BIT(ADCx->CR2, ADC_CR2_SWSTART); -} - -/** - * @brief Start ADC group regular conversion from external trigger. - * @note ADC conversion will start at next trigger event (on the selected - * trigger edge) following the ADC start conversion command. - * @note On this STM32 series, this function is relevant for - * ADC conversion start from external trigger. - * If internal trigger (SW start) is needed, perform ADC conversion - * start using function @ref LL_ADC_REG_StartConversionSWStart(). - * @rmtoll CR2 EXTEN LL_ADC_REG_StartConversionExtTrig - * @param ExternalTriggerEdge This parameter can be one of the following values: - * @arg @ref LL_ADC_REG_TRIG_EXT_RISING - * @arg @ref LL_ADC_REG_TRIG_EXT_FALLING - * @arg @ref LL_ADC_REG_TRIG_EXT_RISINGFALLING - * @param ADCx ADC instance - * @retval None - */ -__STATIC_INLINE void LL_ADC_REG_StartConversionExtTrig(ADC_TypeDef *ADCx, uint32_t ExternalTriggerEdge) -{ - SET_BIT(ADCx->CR2, ExternalTriggerEdge); -} - -/** - * @brief Stop ADC group regular conversion from external trigger. - * @note No more ADC conversion will start at next trigger event - * following the ADC stop conversion command. - * If a conversion is on-going, it will be completed. - * @note On this STM32 series, there is no specific command - * to stop a conversion on-going or to stop ADC converting - * in continuous mode. These actions can be performed - * using function @ref LL_ADC_Disable(). - * @rmtoll CR2 EXTEN LL_ADC_REG_StopConversionExtTrig - * @param ADCx ADC instance - * @retval None - */ -__STATIC_INLINE void LL_ADC_REG_StopConversionExtTrig(ADC_TypeDef *ADCx) -{ - CLEAR_BIT(ADCx->CR2, ADC_CR2_EXTEN); -} - -/** - * @brief Get ADC group regular conversion data, range fit for - * all ADC configurations: all ADC resolutions and - * all oversampling increased data width (for devices - * with feature oversampling). - * @rmtoll DR RDATA LL_ADC_REG_ReadConversionData32 - * @param ADCx ADC instance - * @retval Value between Min_Data=0x00000000 and Max_Data=0xFFFFFFFF - */ -__STATIC_INLINE uint32_t LL_ADC_REG_ReadConversionData32(ADC_TypeDef *ADCx) -{ - return (uint16_t)(READ_BIT(ADCx->DR, ADC_DR_DATA)); -} - -/** - * @brief Get ADC group regular conversion data, range fit for - * ADC resolution 12 bits. - * @note For devices with feature oversampling: Oversampling - * can increase data width, function for extended range - * may be needed: @ref LL_ADC_REG_ReadConversionData32. - * @rmtoll DR RDATA LL_ADC_REG_ReadConversionData12 - * @param ADCx ADC instance - * @retval Value between Min_Data=0x000 and Max_Data=0xFFF - */ -__STATIC_INLINE uint16_t LL_ADC_REG_ReadConversionData12(ADC_TypeDef *ADCx) -{ - return (uint16_t)(READ_BIT(ADCx->DR, ADC_DR_DATA)); -} - -/** - * @brief Get ADC group regular conversion data, range fit for - * ADC resolution 10 bits. - * @note For devices with feature oversampling: Oversampling - * can increase data width, function for extended range - * may be needed: @ref LL_ADC_REG_ReadConversionData32. - * @rmtoll DR RDATA LL_ADC_REG_ReadConversionData10 - * @param ADCx ADC instance - * @retval Value between Min_Data=0x000 and Max_Data=0x3FF - */ -__STATIC_INLINE uint16_t LL_ADC_REG_ReadConversionData10(ADC_TypeDef *ADCx) -{ - return (uint16_t)(READ_BIT(ADCx->DR, ADC_DR_DATA)); -} - -/** - * @brief Get ADC group regular conversion data, range fit for - * ADC resolution 8 bits. - * @note For devices with feature oversampling: Oversampling - * can increase data width, function for extended range - * may be needed: @ref LL_ADC_REG_ReadConversionData32. - * @rmtoll DR RDATA LL_ADC_REG_ReadConversionData8 - * @param ADCx ADC instance - * @retval Value between Min_Data=0x00 and Max_Data=0xFF - */ -__STATIC_INLINE uint8_t LL_ADC_REG_ReadConversionData8(ADC_TypeDef *ADCx) -{ - return (uint16_t)(READ_BIT(ADCx->DR, ADC_DR_DATA)); -} - -/** - * @brief Get ADC group regular conversion data, range fit for - * ADC resolution 6 bits. - * @note For devices with feature oversampling: Oversampling - * can increase data width, function for extended range - * may be needed: @ref LL_ADC_REG_ReadConversionData32. - * @rmtoll DR RDATA LL_ADC_REG_ReadConversionData6 - * @param ADCx ADC instance - * @retval Value between Min_Data=0x00 and Max_Data=0x3F - */ -__STATIC_INLINE uint8_t LL_ADC_REG_ReadConversionData6(ADC_TypeDef *ADCx) -{ - return (uint16_t)(READ_BIT(ADCx->DR, ADC_DR_DATA)); -} - -#if defined(ADC_MULTIMODE_SUPPORT) -/** - * @brief Get ADC multimode conversion data of ADC master, ADC slave - * or raw data with ADC master and slave concatenated. - * @note If raw data with ADC master and slave concatenated is retrieved, - * a macro is available to get the conversion data of - * ADC master or ADC slave: see helper macro - * @ref __LL_ADC_MULTI_CONV_DATA_MASTER_SLAVE(). - * (however this macro is mainly intended for multimode - * transfer by DMA, because this function can do the same - * by getting multimode conversion data of ADC master or ADC slave - * separately). - * @rmtoll CDR DATA1 LL_ADC_REG_ReadMultiConversionData32\n - * CDR DATA2 LL_ADC_REG_ReadMultiConversionData32 - * @param ADCxy_COMMON ADC common instance - * (can be set directly from CMSIS definition or by using helper macro @ref __LL_ADC_COMMON_INSTANCE() ) - * @param ConversionData This parameter can be one of the following values: - * @arg @ref LL_ADC_MULTI_MASTER - * @arg @ref LL_ADC_MULTI_SLAVE - * @arg @ref LL_ADC_MULTI_MASTER_SLAVE - * @retval Value between Min_Data=0x00000000 and Max_Data=0xFFFFFFFF - */ -__STATIC_INLINE uint32_t LL_ADC_REG_ReadMultiConversionData32(ADC_Common_TypeDef *ADCxy_COMMON, uint32_t ConversionData) -{ - return (uint32_t)(READ_BIT(ADCxy_COMMON->CDR, - ADC_DR_ADC2DATA) - >> POSITION_VAL(ConversionData) - ); -} -#endif /* ADC_MULTIMODE_SUPPORT */ - -/** - * @} - */ - -/** @defgroup ADC_LL_EF_Operation_ADC_Group_Injected Operation on ADC hierarchical scope: group injected - * @{ - */ - -/** - * @brief Start ADC group injected conversion. - * @note On this STM32 series, this function is relevant only for - * internal trigger (SW start), not for external trigger: - * - If ADC trigger has been set to software start, ADC conversion - * starts immediately. - * - If ADC trigger has been set to external trigger, ADC conversion - * start must be performed using function - * @ref LL_ADC_INJ_StartConversionExtTrig(). - * (if external trigger edge would have been set during ADC other - * settings, ADC conversion would start at trigger event - * as soon as ADC is enabled). - * @rmtoll CR2 JSWSTART LL_ADC_INJ_StartConversionSWStart - * @param ADCx ADC instance - * @retval None - */ -__STATIC_INLINE void LL_ADC_INJ_StartConversionSWStart(ADC_TypeDef *ADCx) -{ - SET_BIT(ADCx->CR2, ADC_CR2_JSWSTART); -} - -/** - * @brief Start ADC group injected conversion from external trigger. - * @note ADC conversion will start at next trigger event (on the selected - * trigger edge) following the ADC start conversion command. - * @note On this STM32 series, this function is relevant for - * ADC conversion start from external trigger. - * If internal trigger (SW start) is needed, perform ADC conversion - * start using function @ref LL_ADC_INJ_StartConversionSWStart(). - * @rmtoll CR2 JEXTEN LL_ADC_INJ_StartConversionExtTrig - * @param ExternalTriggerEdge This parameter can be one of the following values: - * @arg @ref LL_ADC_INJ_TRIG_EXT_RISING - * @arg @ref LL_ADC_INJ_TRIG_EXT_FALLING - * @arg @ref LL_ADC_INJ_TRIG_EXT_RISINGFALLING - * @param ADCx ADC instance - * @retval None - */ -__STATIC_INLINE void LL_ADC_INJ_StartConversionExtTrig(ADC_TypeDef *ADCx, uint32_t ExternalTriggerEdge) -{ - SET_BIT(ADCx->CR2, ExternalTriggerEdge); -} - -/** - * @brief Stop ADC group injected conversion from external trigger. - * @note No more ADC conversion will start at next trigger event - * following the ADC stop conversion command. - * If a conversion is on-going, it will be completed. - * @note On this STM32 series, there is no specific command - * to stop a conversion on-going or to stop ADC converting - * in continuous mode. These actions can be performed - * using function @ref LL_ADC_Disable(). - * @rmtoll CR2 JEXTEN LL_ADC_INJ_StopConversionExtTrig - * @param ADCx ADC instance - * @retval None - */ -__STATIC_INLINE void LL_ADC_INJ_StopConversionExtTrig(ADC_TypeDef *ADCx) -{ - CLEAR_BIT(ADCx->CR2, ADC_CR2_JEXTEN); -} - -/** - * @brief Get ADC group regular conversion data, range fit for - * all ADC configurations: all ADC resolutions and - * all oversampling increased data width (for devices - * with feature oversampling). - * @rmtoll JDR1 JDATA LL_ADC_INJ_ReadConversionData32\n - * JDR2 JDATA LL_ADC_INJ_ReadConversionData32\n - * JDR3 JDATA LL_ADC_INJ_ReadConversionData32\n - * JDR4 JDATA LL_ADC_INJ_ReadConversionData32 - * @param ADCx ADC instance - * @param Rank This parameter can be one of the following values: - * @arg @ref LL_ADC_INJ_RANK_1 - * @arg @ref LL_ADC_INJ_RANK_2 - * @arg @ref LL_ADC_INJ_RANK_3 - * @arg @ref LL_ADC_INJ_RANK_4 - * @retval Value between Min_Data=0x00000000 and Max_Data=0xFFFFFFFF - */ -__STATIC_INLINE uint32_t LL_ADC_INJ_ReadConversionData32(ADC_TypeDef *ADCx, uint32_t Rank) -{ - __IO uint32_t *preg = __ADC_PTR_REG_OFFSET(ADCx->JDR1, __ADC_MASK_SHIFT(Rank, ADC_INJ_JDRX_REGOFFSET_MASK)); - - return (uint32_t)(READ_BIT(*preg, - ADC_JDR1_JDATA) - ); -} - -/** - * @brief Get ADC group injected conversion data, range fit for - * ADC resolution 12 bits. - * @note For devices with feature oversampling: Oversampling - * can increase data width, function for extended range - * may be needed: @ref LL_ADC_INJ_ReadConversionData32. - * @rmtoll JDR1 JDATA LL_ADC_INJ_ReadConversionData12\n - * JDR2 JDATA LL_ADC_INJ_ReadConversionData12\n - * JDR3 JDATA LL_ADC_INJ_ReadConversionData12\n - * JDR4 JDATA LL_ADC_INJ_ReadConversionData12 - * @param ADCx ADC instance - * @param Rank This parameter can be one of the following values: - * @arg @ref LL_ADC_INJ_RANK_1 - * @arg @ref LL_ADC_INJ_RANK_2 - * @arg @ref LL_ADC_INJ_RANK_3 - * @arg @ref LL_ADC_INJ_RANK_4 - * @retval Value between Min_Data=0x000 and Max_Data=0xFFF - */ -__STATIC_INLINE uint16_t LL_ADC_INJ_ReadConversionData12(ADC_TypeDef *ADCx, uint32_t Rank) -{ - __IO uint32_t *preg = __ADC_PTR_REG_OFFSET(ADCx->JDR1, __ADC_MASK_SHIFT(Rank, ADC_INJ_JDRX_REGOFFSET_MASK)); - - return (uint16_t)(READ_BIT(*preg, - ADC_JDR1_JDATA) - ); -} - -/** - * @brief Get ADC group injected conversion data, range fit for - * ADC resolution 10 bits. - * @note For devices with feature oversampling: Oversampling - * can increase data width, function for extended range - * may be needed: @ref LL_ADC_INJ_ReadConversionData32. - * @rmtoll JDR1 JDATA LL_ADC_INJ_ReadConversionData10\n - * JDR2 JDATA LL_ADC_INJ_ReadConversionData10\n - * JDR3 JDATA LL_ADC_INJ_ReadConversionData10\n - * JDR4 JDATA LL_ADC_INJ_ReadConversionData10 - * @param ADCx ADC instance - * @param Rank This parameter can be one of the following values: - * @arg @ref LL_ADC_INJ_RANK_1 - * @arg @ref LL_ADC_INJ_RANK_2 - * @arg @ref LL_ADC_INJ_RANK_3 - * @arg @ref LL_ADC_INJ_RANK_4 - * @retval Value between Min_Data=0x000 and Max_Data=0x3FF - */ -__STATIC_INLINE uint16_t LL_ADC_INJ_ReadConversionData10(ADC_TypeDef *ADCx, uint32_t Rank) -{ - __IO uint32_t *preg = __ADC_PTR_REG_OFFSET(ADCx->JDR1, __ADC_MASK_SHIFT(Rank, ADC_INJ_JDRX_REGOFFSET_MASK)); - - return (uint16_t)(READ_BIT(*preg, - ADC_JDR1_JDATA) - ); -} - -/** - * @brief Get ADC group injected conversion data, range fit for - * ADC resolution 8 bits. - * @note For devices with feature oversampling: Oversampling - * can increase data width, function for extended range - * may be needed: @ref LL_ADC_INJ_ReadConversionData32. - * @rmtoll JDR1 JDATA LL_ADC_INJ_ReadConversionData8\n - * JDR2 JDATA LL_ADC_INJ_ReadConversionData8\n - * JDR3 JDATA LL_ADC_INJ_ReadConversionData8\n - * JDR4 JDATA LL_ADC_INJ_ReadConversionData8 - * @param ADCx ADC instance - * @param Rank This parameter can be one of the following values: - * @arg @ref LL_ADC_INJ_RANK_1 - * @arg @ref LL_ADC_INJ_RANK_2 - * @arg @ref LL_ADC_INJ_RANK_3 - * @arg @ref LL_ADC_INJ_RANK_4 - * @retval Value between Min_Data=0x00 and Max_Data=0xFF - */ -__STATIC_INLINE uint8_t LL_ADC_INJ_ReadConversionData8(ADC_TypeDef *ADCx, uint32_t Rank) -{ - __IO uint32_t *preg = __ADC_PTR_REG_OFFSET(ADCx->JDR1, __ADC_MASK_SHIFT(Rank, ADC_INJ_JDRX_REGOFFSET_MASK)); - - return (uint8_t)(READ_BIT(*preg, - ADC_JDR1_JDATA) - ); -} - -/** - * @brief Get ADC group injected conversion data, range fit for - * ADC resolution 6 bits. - * @note For devices with feature oversampling: Oversampling - * can increase data width, function for extended range - * may be needed: @ref LL_ADC_INJ_ReadConversionData32. - * @rmtoll JDR1 JDATA LL_ADC_INJ_ReadConversionData6\n - * JDR2 JDATA LL_ADC_INJ_ReadConversionData6\n - * JDR3 JDATA LL_ADC_INJ_ReadConversionData6\n - * JDR4 JDATA LL_ADC_INJ_ReadConversionData6 - * @param ADCx ADC instance - * @param Rank This parameter can be one of the following values: - * @arg @ref LL_ADC_INJ_RANK_1 - * @arg @ref LL_ADC_INJ_RANK_2 - * @arg @ref LL_ADC_INJ_RANK_3 - * @arg @ref LL_ADC_INJ_RANK_4 - * @retval Value between Min_Data=0x00 and Max_Data=0x3F - */ -__STATIC_INLINE uint8_t LL_ADC_INJ_ReadConversionData6(ADC_TypeDef *ADCx, uint32_t Rank) -{ - __IO uint32_t *preg = __ADC_PTR_REG_OFFSET(ADCx->JDR1, __ADC_MASK_SHIFT(Rank, ADC_INJ_JDRX_REGOFFSET_MASK)); - - return (uint8_t)(READ_BIT(*preg, - ADC_JDR1_JDATA) - ); -} - -/** - * @} - */ - -/** @defgroup ADC_LL_EF_FLAG_Management ADC flag management - * @{ - */ - -/** - * @brief Get flag ADC group regular end of unitary conversion - * or end of sequence conversions, depending on - * ADC configuration. - * @note To configure flag of end of conversion, - * use function @ref LL_ADC_REG_SetFlagEndOfConversion(). - * @rmtoll SR EOC LL_ADC_IsActiveFlag_EOCS - * @param ADCx ADC instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_ADC_IsActiveFlag_EOCS(ADC_TypeDef *ADCx) -{ - return (READ_BIT(ADCx->SR, LL_ADC_FLAG_EOCS) == (LL_ADC_FLAG_EOCS)); -} - -/** - * @brief Get flag ADC group regular overrun. - * @rmtoll SR OVR LL_ADC_IsActiveFlag_OVR - * @param ADCx ADC instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_ADC_IsActiveFlag_OVR(ADC_TypeDef *ADCx) -{ - return (READ_BIT(ADCx->SR, LL_ADC_FLAG_OVR) == (LL_ADC_FLAG_OVR)); -} - - -/** - * @brief Get flag ADC group injected end of sequence conversions. - * @rmtoll SR JEOC LL_ADC_IsActiveFlag_JEOS - * @param ADCx ADC instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_ADC_IsActiveFlag_JEOS(ADC_TypeDef *ADCx) -{ - /* Note: on this STM32 series, there is no flag ADC group injected */ - /* end of unitary conversion. */ - /* Flag noted as "JEOC" is corresponding to flag "JEOS" */ - /* in other STM32 families). */ - return (READ_BIT(ADCx->SR, LL_ADC_FLAG_JEOS) == (LL_ADC_FLAG_JEOS)); -} - -/** - * @brief Get flag ADC analog watchdog 1 flag - * @rmtoll SR AWD LL_ADC_IsActiveFlag_AWD1 - * @param ADCx ADC instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_ADC_IsActiveFlag_AWD1(ADC_TypeDef *ADCx) -{ - return (READ_BIT(ADCx->SR, LL_ADC_FLAG_AWD1) == (LL_ADC_FLAG_AWD1)); -} - -/** - * @brief Clear flag ADC group regular end of unitary conversion - * or end of sequence conversions, depending on - * ADC configuration. - * @note To configure flag of end of conversion, - * use function @ref LL_ADC_REG_SetFlagEndOfConversion(). - * @rmtoll SR EOC LL_ADC_ClearFlag_EOCS - * @param ADCx ADC instance - * @retval None - */ -__STATIC_INLINE void LL_ADC_ClearFlag_EOCS(ADC_TypeDef *ADCx) -{ - WRITE_REG(ADCx->SR, ~LL_ADC_FLAG_EOCS); -} - -/** - * @brief Clear flag ADC group regular overrun. - * @rmtoll SR OVR LL_ADC_ClearFlag_OVR - * @param ADCx ADC instance - * @retval None - */ -__STATIC_INLINE void LL_ADC_ClearFlag_OVR(ADC_TypeDef *ADCx) -{ - WRITE_REG(ADCx->SR, ~LL_ADC_FLAG_OVR); -} - - -/** - * @brief Clear flag ADC group injected end of sequence conversions. - * @rmtoll SR JEOC LL_ADC_ClearFlag_JEOS - * @param ADCx ADC instance - * @retval None - */ -__STATIC_INLINE void LL_ADC_ClearFlag_JEOS(ADC_TypeDef *ADCx) -{ - /* Note: on this STM32 series, there is no flag ADC group injected */ - /* end of unitary conversion. */ - /* Flag noted as "JEOC" is corresponding to flag "JEOS" */ - /* in other STM32 families). */ - WRITE_REG(ADCx->SR, ~LL_ADC_FLAG_JEOS); -} - -/** - * @brief Clear flag ADC analog watchdog 1. - * @rmtoll SR AWD LL_ADC_ClearFlag_AWD1 - * @param ADCx ADC instance - * @retval None - */ -__STATIC_INLINE void LL_ADC_ClearFlag_AWD1(ADC_TypeDef *ADCx) -{ - WRITE_REG(ADCx->SR, ~LL_ADC_FLAG_AWD1); -} - -#if defined(ADC_MULTIMODE_SUPPORT) -/** - * @brief Get flag multimode ADC group regular end of unitary conversion - * or end of sequence conversions, depending on - * ADC configuration, of the ADC master. - * @note To configure flag of end of conversion, - * use function @ref LL_ADC_REG_SetFlagEndOfConversion(). - * @rmtoll CSR EOC1 LL_ADC_IsActiveFlag_MST_EOCS - * @param ADCxy_COMMON ADC common instance - * (can be set directly from CMSIS definition or by using helper macro @ref __LL_ADC_COMMON_INSTANCE() ) - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_ADC_IsActiveFlag_MST_EOCS(ADC_Common_TypeDef *ADCxy_COMMON) -{ - return (READ_BIT(ADC1->SR, LL_ADC_FLAG_EOCS) == (LL_ADC_FLAG_EOCS)); -} - -/** - * @brief Get flag multimode ADC group regular end of unitary conversion - * or end of sequence conversions, depending on - * ADC configuration, of the ADC slave 1. - * @note To configure flag of end of conversion, - * use function @ref LL_ADC_REG_SetFlagEndOfConversion(). - * @rmtoll CSR EOC2 LL_ADC_IsActiveFlag_SLV1_EOCS - * @param ADCxy_COMMON ADC common instance - * (can be set directly from CMSIS definition or by using helper macro @ref __LL_ADC_COMMON_INSTANCE() ) - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_ADC_IsActiveFlag_SLV1_EOCS(ADC_Common_TypeDef *ADCxy_COMMON) -{ - return (READ_BIT(ADCxy_COMMON->CSR, LL_ADC_FLAG_EOCS_SLV1) == (LL_ADC_FLAG_EOCS_SLV1)); -} - -/** - * @brief Get flag multimode ADC group regular end of unitary conversion - * or end of sequence conversions, depending on - * ADC configuration, of the ADC slave 2. - * @note To configure flag of end of conversion, - * use function @ref LL_ADC_REG_SetFlagEndOfConversion(). - * @rmtoll CSR EOC3 LL_ADC_IsActiveFlag_SLV2_EOCS - * @param ADCxy_COMMON ADC common instance - * (can be set directly from CMSIS definition or by using helper macro @ref __LL_ADC_COMMON_INSTANCE() ) - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_ADC_IsActiveFlag_SLV2_EOCS(ADC_Common_TypeDef *ADCxy_COMMON) -{ - return (READ_BIT(ADCxy_COMMON->CSR, LL_ADC_FLAG_EOCS_SLV2) == (LL_ADC_FLAG_EOCS_SLV2)); -} -/** - * @brief Get flag multimode ADC group regular overrun of the ADC master. - * @rmtoll CSR OVR1 LL_ADC_IsActiveFlag_MST_OVR - * @param ADCxy_COMMON ADC common instance - * (can be set directly from CMSIS definition or by using helper macro @ref __LL_ADC_COMMON_INSTANCE() ) - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_ADC_IsActiveFlag_MST_OVR(ADC_Common_TypeDef *ADCxy_COMMON) -{ - return (READ_BIT(ADCxy_COMMON->CSR, LL_ADC_FLAG_OVR_MST) == (LL_ADC_FLAG_OVR_MST)); -} - -/** - * @brief Get flag multimode ADC group regular overrun of the ADC slave 1. - * @rmtoll CSR OVR2 LL_ADC_IsActiveFlag_SLV1_OVR - * @param ADCxy_COMMON ADC common instance - * (can be set directly from CMSIS definition or by using helper macro @ref __LL_ADC_COMMON_INSTANCE() ) - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_ADC_IsActiveFlag_SLV1_OVR(ADC_Common_TypeDef *ADCxy_COMMON) -{ - return (READ_BIT(ADCxy_COMMON->CSR, LL_ADC_FLAG_OVR_SLV1) == (LL_ADC_FLAG_OVR_SLV1)); -} - -/** - * @brief Get flag multimode ADC group regular overrun of the ADC slave 2. - * @rmtoll CSR OVR3 LL_ADC_IsActiveFlag_SLV2_OVR - * @param ADCxy_COMMON ADC common instance - * (can be set directly from CMSIS definition or by using helper macro @ref __LL_ADC_COMMON_INSTANCE() ) - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_ADC_IsActiveFlag_SLV2_OVR(ADC_Common_TypeDef *ADCxy_COMMON) -{ - return (READ_BIT(ADCxy_COMMON->CSR, LL_ADC_FLAG_OVR_SLV2) == (LL_ADC_FLAG_OVR_SLV2)); -} - - -/** - * @brief Get flag multimode ADC group injected end of sequence conversions of the ADC master. - * @rmtoll CSR JEOC LL_ADC_IsActiveFlag_MST_EOCS - * @param ADCxy_COMMON ADC common instance - * (can be set directly from CMSIS definition or by using helper macro @ref __LL_ADC_COMMON_INSTANCE() ) - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_ADC_IsActiveFlag_MST_JEOS(ADC_Common_TypeDef *ADCxy_COMMON) -{ - /* Note: on this STM32 series, there is no flag ADC group injected */ - /* end of unitary conversion. */ - /* Flag noted as "JEOC" is corresponding to flag "JEOS" */ - /* in other STM32 families). */ - return (READ_BIT(ADCxy_COMMON->CSR, ADC_CSR_JEOC1) == (ADC_CSR_JEOC1)); -} - -/** - * @brief Get flag multimode ADC group injected end of sequence conversions of the ADC slave 1. - * @rmtoll CSR JEOC2 LL_ADC_IsActiveFlag_SLV1_JEOS - * @param ADCxy_COMMON ADC common instance - * (can be set directly from CMSIS definition or by using helper macro @ref __LL_ADC_COMMON_INSTANCE() ) - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_ADC_IsActiveFlag_SLV1_JEOS(ADC_Common_TypeDef *ADCxy_COMMON) -{ - /* Note: on this STM32 series, there is no flag ADC group injected */ - /* end of unitary conversion. */ - /* Flag noted as "JEOC" is corresponding to flag "JEOS" */ - /* in other STM32 families). */ - return (READ_BIT(ADCxy_COMMON->CSR, ADC_CSR_JEOC2) == (ADC_CSR_JEOC2)); -} - -/** - * @brief Get flag multimode ADC group injected end of sequence conversions of the ADC slave 2. - * @rmtoll CSR JEOC3 LL_ADC_IsActiveFlag_SLV2_JEOS - * @param ADCxy_COMMON ADC common instance - * (can be set directly from CMSIS definition or by using helper macro @ref __LL_ADC_COMMON_INSTANCE() ) - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_ADC_IsActiveFlag_SLV2_JEOS(ADC_Common_TypeDef *ADCxy_COMMON) -{ - /* Note: on this STM32 series, there is no flag ADC group injected */ - /* end of unitary conversion. */ - /* Flag noted as "JEOC" is corresponding to flag "JEOS" */ - /* in other STM32 families). */ - return (READ_BIT(ADCxy_COMMON->CSR, ADC_CSR_JEOC3) == (ADC_CSR_JEOC3)); -} - -/** - * @brief Get flag multimode ADC analog watchdog 1 of the ADC master. - * @rmtoll CSR AWD1 LL_ADC_IsActiveFlag_MST_AWD1 - * @param ADCxy_COMMON ADC common instance - * (can be set directly from CMSIS definition or by using helper macro @ref __LL_ADC_COMMON_INSTANCE() ) - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_ADC_IsActiveFlag_MST_AWD1(ADC_Common_TypeDef *ADCxy_COMMON) -{ - return (READ_BIT(ADCxy_COMMON->CSR, LL_ADC_FLAG_AWD1_MST) == (LL_ADC_FLAG_AWD1_MST)); -} - -/** - * @brief Get flag multimode analog watchdog 1 of the ADC slave 1. - * @rmtoll CSR AWD2 LL_ADC_IsActiveFlag_SLV1_AWD1 - * @param ADCxy_COMMON ADC common instance - * (can be set directly from CMSIS definition or by using helper macro @ref __LL_ADC_COMMON_INSTANCE() ) - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_ADC_IsActiveFlag_SLV1_AWD1(ADC_Common_TypeDef *ADCxy_COMMON) -{ - return (READ_BIT(ADCxy_COMMON->CSR, LL_ADC_FLAG_AWD1_SLV1) == (LL_ADC_FLAG_AWD1_SLV1)); -} - -/** - * @brief Get flag multimode analog watchdog 1 of the ADC slave 2. - * @rmtoll CSR AWD3 LL_ADC_IsActiveFlag_SLV2_AWD1 - * @param ADCxy_COMMON ADC common instance - * (can be set directly from CMSIS definition or by using helper macro @ref __LL_ADC_COMMON_INSTANCE() ) - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_ADC_IsActiveFlag_SLV2_AWD1(ADC_Common_TypeDef *ADCxy_COMMON) -{ - return (READ_BIT(ADCxy_COMMON->CSR, LL_ADC_FLAG_AWD1_SLV2) == (LL_ADC_FLAG_AWD1_SLV2)); -} - -#endif /* ADC_MULTIMODE_SUPPORT */ - -/** - * @} - */ - -/** @defgroup ADC_LL_EF_IT_Management ADC IT management - * @{ - */ - -/** - * @brief Enable interruption ADC group regular end of unitary conversion - * or end of sequence conversions, depending on - * ADC configuration. - * @note To configure flag of end of conversion, - * use function @ref LL_ADC_REG_SetFlagEndOfConversion(). - * @rmtoll CR1 EOCIE LL_ADC_EnableIT_EOCS - * @param ADCx ADC instance - * @retval None - */ -__STATIC_INLINE void LL_ADC_EnableIT_EOCS(ADC_TypeDef *ADCx) -{ - SET_BIT(ADCx->CR1, LL_ADC_IT_EOCS); -} - -/** - * @brief Enable ADC group regular interruption overrun. - * @rmtoll CR1 OVRIE LL_ADC_EnableIT_OVR - * @param ADCx ADC instance - * @retval None - */ -__STATIC_INLINE void LL_ADC_EnableIT_OVR(ADC_TypeDef *ADCx) -{ - SET_BIT(ADCx->CR1, LL_ADC_IT_OVR); -} - - -/** - * @brief Enable interruption ADC group injected end of sequence conversions. - * @rmtoll CR1 JEOCIE LL_ADC_EnableIT_JEOS - * @param ADCx ADC instance - * @retval None - */ -__STATIC_INLINE void LL_ADC_EnableIT_JEOS(ADC_TypeDef *ADCx) -{ - /* Note: on this STM32 series, there is no flag ADC group injected */ - /* end of unitary conversion. */ - /* Flag noted as "JEOC" is corresponding to flag "JEOS" */ - /* in other STM32 families). */ - SET_BIT(ADCx->CR1, LL_ADC_IT_JEOS); -} - -/** - * @brief Enable interruption ADC analog watchdog 1. - * @rmtoll CR1 AWDIE LL_ADC_EnableIT_AWD1 - * @param ADCx ADC instance - * @retval None - */ -__STATIC_INLINE void LL_ADC_EnableIT_AWD1(ADC_TypeDef *ADCx) -{ - SET_BIT(ADCx->CR1, LL_ADC_IT_AWD1); -} - -/** - * @brief Disable interruption ADC group regular end of unitary conversion - * or end of sequence conversions, depending on - * ADC configuration. - * @note To configure flag of end of conversion, - * use function @ref LL_ADC_REG_SetFlagEndOfConversion(). - * @rmtoll CR1 EOCIE LL_ADC_DisableIT_EOCS - * @param ADCx ADC instance - * @retval None - */ -__STATIC_INLINE void LL_ADC_DisableIT_EOCS(ADC_TypeDef *ADCx) -{ - CLEAR_BIT(ADCx->CR1, LL_ADC_IT_EOCS); -} - -/** - * @brief Disable interruption ADC group regular overrun. - * @rmtoll CR1 OVRIE LL_ADC_DisableIT_OVR - * @param ADCx ADC instance - * @retval None - */ -__STATIC_INLINE void LL_ADC_DisableIT_OVR(ADC_TypeDef *ADCx) -{ - CLEAR_BIT(ADCx->CR1, LL_ADC_IT_OVR); -} - - -/** - * @brief Disable interruption ADC group injected end of sequence conversions. - * @rmtoll CR1 JEOCIE LL_ADC_EnableIT_JEOS - * @param ADCx ADC instance - * @retval None - */ -__STATIC_INLINE void LL_ADC_DisableIT_JEOS(ADC_TypeDef *ADCx) -{ - /* Note: on this STM32 series, there is no flag ADC group injected */ - /* end of unitary conversion. */ - /* Flag noted as "JEOC" is corresponding to flag "JEOS" */ - /* in other STM32 families). */ - CLEAR_BIT(ADCx->CR1, LL_ADC_IT_JEOS); -} - -/** - * @brief Disable interruption ADC analog watchdog 1. - * @rmtoll CR1 AWDIE LL_ADC_EnableIT_AWD1 - * @param ADCx ADC instance - * @retval None - */ -__STATIC_INLINE void LL_ADC_DisableIT_AWD1(ADC_TypeDef *ADCx) -{ - CLEAR_BIT(ADCx->CR1, LL_ADC_IT_AWD1); -} - -/** - * @brief Get state of interruption ADC group regular end of unitary conversion - * or end of sequence conversions, depending on - * ADC configuration. - * @note To configure flag of end of conversion, - * use function @ref LL_ADC_REG_SetFlagEndOfConversion(). - * (0: interrupt disabled, 1: interrupt enabled) - * @rmtoll CR1 EOCIE LL_ADC_IsEnabledIT_EOCS - * @param ADCx ADC instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_ADC_IsEnabledIT_EOCS(ADC_TypeDef *ADCx) -{ - return (READ_BIT(ADCx->CR1, LL_ADC_IT_EOCS) == (LL_ADC_IT_EOCS)); -} - -/** - * @brief Get state of interruption ADC group regular overrun - * (0: interrupt disabled, 1: interrupt enabled). - * @rmtoll CR1 OVRIE LL_ADC_IsEnabledIT_OVR - * @param ADCx ADC instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_ADC_IsEnabledIT_OVR(ADC_TypeDef *ADCx) -{ - return (READ_BIT(ADCx->CR1, LL_ADC_IT_OVR) == (LL_ADC_IT_OVR)); -} - - -/** - * @brief Get state of interruption ADC group injected end of sequence conversions - * (0: interrupt disabled, 1: interrupt enabled). - * @rmtoll CR1 JEOCIE LL_ADC_EnableIT_JEOS - * @param ADCx ADC instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_ADC_IsEnabledIT_JEOS(ADC_TypeDef *ADCx) -{ - /* Note: on this STM32 series, there is no flag ADC group injected */ - /* end of unitary conversion. */ - /* Flag noted as "JEOC" is corresponding to flag "JEOS" */ - /* in other STM32 families). */ - return (READ_BIT(ADCx->CR1, LL_ADC_IT_JEOS) == (LL_ADC_IT_JEOS)); -} - -/** - * @brief Get state of interruption ADC analog watchdog 1 - * (0: interrupt disabled, 1: interrupt enabled). - * @rmtoll CR1 AWDIE LL_ADC_EnableIT_AWD1 - * @param ADCx ADC instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_ADC_IsEnabledIT_AWD1(ADC_TypeDef *ADCx) -{ - return (READ_BIT(ADCx->CR1, LL_ADC_IT_AWD1) == (LL_ADC_IT_AWD1)); -} - -/** - * @} - */ - -#if defined(USE_FULL_LL_DRIVER) -/** @defgroup ADC_LL_EF_Init Initialization and de-initialization functions - * @{ - */ - -/* Initialization of some features of ADC common parameters and multimode */ -ErrorStatus LL_ADC_CommonDeInit(ADC_Common_TypeDef *ADCxy_COMMON); -ErrorStatus LL_ADC_CommonInit(ADC_Common_TypeDef *ADCxy_COMMON, LL_ADC_CommonInitTypeDef *ADC_CommonInitStruct); -void LL_ADC_CommonStructInit(LL_ADC_CommonInitTypeDef *ADC_CommonInitStruct); - -/* De-initialization of ADC instance, ADC group regular and ADC group injected */ -/* (availability of ADC group injected depends on STM32 families) */ -ErrorStatus LL_ADC_DeInit(ADC_TypeDef *ADCx); - -/* Initialization of some features of ADC instance */ -ErrorStatus LL_ADC_Init(ADC_TypeDef *ADCx, LL_ADC_InitTypeDef *ADC_InitStruct); -void LL_ADC_StructInit(LL_ADC_InitTypeDef *ADC_InitStruct); - -/* Initialization of some features of ADC instance and ADC group regular */ -ErrorStatus LL_ADC_REG_Init(ADC_TypeDef *ADCx, LL_ADC_REG_InitTypeDef *ADC_REG_InitStruct); -void LL_ADC_REG_StructInit(LL_ADC_REG_InitTypeDef *ADC_REG_InitStruct); - -/* Initialization of some features of ADC instance and ADC group injected */ -ErrorStatus LL_ADC_INJ_Init(ADC_TypeDef *ADCx, LL_ADC_INJ_InitTypeDef *ADC_INJ_InitStruct); -void LL_ADC_INJ_StructInit(LL_ADC_INJ_InitTypeDef *ADC_INJ_InitStruct); - -/** - * @} - */ -#endif /* USE_FULL_LL_DRIVER */ - -/** - * @} - */ - -/** - * @} - */ - -#endif /* ADC1 || ADC2 || ADC3 */ - -/** - * @} - */ - -#ifdef __cplusplus -} -#endif - -#endif /* __STM32F4xx_LL_ADC_H */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_bus.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_bus.h deleted file mode 100644 index 66da28fe2419f9..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_bus.h +++ /dev/null @@ -1,2108 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_ll_bus.h - * @author MCD Application Team - * @brief Header file of BUS LL module. - - @verbatim - ##### RCC Limitations ##### - ============================================================================== - [..] - A delay between an RCC peripheral clock enable and the effective peripheral - enabling should be taken into account in order to manage the peripheral read/write - from/to registers. - (+) This delay depends on the peripheral mapping. - (++) AHB & APB peripherals, 1 dummy read is necessary - - [..] - Workarounds: - (#) For AHB & APB peripherals, a dummy read to the peripheral register has been - inserted in each LL_{BUS}_GRP{x}_EnableClock() function. - - @endverbatim - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef __STM32F4xx_LL_BUS_H -#define __STM32F4xx_LL_BUS_H - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx.h" - -/** @addtogroup STM32F4xx_LL_Driver - * @{ - */ - -#if defined(RCC) - -/** @defgroup BUS_LL BUS - * @{ - */ - -/* Private types -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private constants ---------------------------------------------------------*/ -/* Private macros ------------------------------------------------------------*/ -/* Exported types ------------------------------------------------------------*/ -/* Exported constants --------------------------------------------------------*/ -/** @defgroup BUS_LL_Exported_Constants BUS Exported Constants - * @{ - */ - -/** @defgroup BUS_LL_EC_AHB1_GRP1_PERIPH AHB1 GRP1 PERIPH - * @{ - */ -#define LL_AHB1_GRP1_PERIPH_ALL 0xFFFFFFFFU -#define LL_AHB1_GRP1_PERIPH_GPIOA RCC_AHB1ENR_GPIOAEN -#define LL_AHB1_GRP1_PERIPH_GPIOB RCC_AHB1ENR_GPIOBEN -#define LL_AHB1_GRP1_PERIPH_GPIOC RCC_AHB1ENR_GPIOCEN -#if defined(GPIOD) -#define LL_AHB1_GRP1_PERIPH_GPIOD RCC_AHB1ENR_GPIODEN -#endif /* GPIOD */ -#if defined(GPIOE) -#define LL_AHB1_GRP1_PERIPH_GPIOE RCC_AHB1ENR_GPIOEEN -#endif /* GPIOE */ -#if defined(GPIOF) -#define LL_AHB1_GRP1_PERIPH_GPIOF RCC_AHB1ENR_GPIOFEN -#endif /* GPIOF */ -#if defined(GPIOG) -#define LL_AHB1_GRP1_PERIPH_GPIOG RCC_AHB1ENR_GPIOGEN -#endif /* GPIOG */ -#if defined(GPIOH) -#define LL_AHB1_GRP1_PERIPH_GPIOH RCC_AHB1ENR_GPIOHEN -#endif /* GPIOH */ -#if defined(GPIOI) -#define LL_AHB1_GRP1_PERIPH_GPIOI RCC_AHB1ENR_GPIOIEN -#endif /* GPIOI */ -#if defined(GPIOJ) -#define LL_AHB1_GRP1_PERIPH_GPIOJ RCC_AHB1ENR_GPIOJEN -#endif /* GPIOJ */ -#if defined(GPIOK) -#define LL_AHB1_GRP1_PERIPH_GPIOK RCC_AHB1ENR_GPIOKEN -#endif /* GPIOK */ -#define LL_AHB1_GRP1_PERIPH_CRC RCC_AHB1ENR_CRCEN -#if defined(RCC_AHB1ENR_BKPSRAMEN) -#define LL_AHB1_GRP1_PERIPH_BKPSRAM RCC_AHB1ENR_BKPSRAMEN -#endif /* RCC_AHB1ENR_BKPSRAMEN */ -#if defined(RCC_AHB1ENR_CCMDATARAMEN) -#define LL_AHB1_GRP1_PERIPH_CCMDATARAM RCC_AHB1ENR_CCMDATARAMEN -#endif /* RCC_AHB1ENR_CCMDATARAMEN */ -#define LL_AHB1_GRP1_PERIPH_DMA1 RCC_AHB1ENR_DMA1EN -#define LL_AHB1_GRP1_PERIPH_DMA2 RCC_AHB1ENR_DMA2EN -#if defined(RCC_AHB1ENR_RNGEN) -#define LL_AHB1_GRP1_PERIPH_RNG RCC_AHB1ENR_RNGEN -#endif /* RCC_AHB1ENR_RNGEN */ -#if defined(DMA2D) -#define LL_AHB1_GRP1_PERIPH_DMA2D RCC_AHB1ENR_DMA2DEN -#endif /* DMA2D */ -#if defined(ETH) -#define LL_AHB1_GRP1_PERIPH_ETHMAC RCC_AHB1ENR_ETHMACEN -#define LL_AHB1_GRP1_PERIPH_ETHMACTX RCC_AHB1ENR_ETHMACTXEN -#define LL_AHB1_GRP1_PERIPH_ETHMACRX RCC_AHB1ENR_ETHMACRXEN -#define LL_AHB1_GRP1_PERIPH_ETHMACPTP RCC_AHB1ENR_ETHMACPTPEN -#endif /* ETH */ -#if defined(USB_OTG_HS) -#define LL_AHB1_GRP1_PERIPH_OTGHS RCC_AHB1ENR_OTGHSEN -#define LL_AHB1_GRP1_PERIPH_OTGHSULPI RCC_AHB1ENR_OTGHSULPIEN -#endif /* USB_OTG_HS */ -#define LL_AHB1_GRP1_PERIPH_FLITF RCC_AHB1LPENR_FLITFLPEN -#define LL_AHB1_GRP1_PERIPH_SRAM1 RCC_AHB1LPENR_SRAM1LPEN -#if defined(RCC_AHB1LPENR_SRAM2LPEN) -#define LL_AHB1_GRP1_PERIPH_SRAM2 RCC_AHB1LPENR_SRAM2LPEN -#endif /* RCC_AHB1LPENR_SRAM2LPEN */ -#if defined(RCC_AHB1LPENR_SRAM3LPEN) -#define LL_AHB1_GRP1_PERIPH_SRAM3 RCC_AHB1LPENR_SRAM3LPEN -#endif /* RCC_AHB1LPENR_SRAM3LPEN */ -/** - * @} - */ - -#if defined(RCC_AHB2_SUPPORT) -/** @defgroup BUS_LL_EC_AHB2_GRP1_PERIPH AHB2 GRP1 PERIPH - * @{ - */ -#define LL_AHB2_GRP1_PERIPH_ALL 0xFFFFFFFFU -#if defined(DCMI) -#define LL_AHB2_GRP1_PERIPH_DCMI RCC_AHB2ENR_DCMIEN -#endif /* DCMI */ -#if defined(CRYP) -#define LL_AHB2_GRP1_PERIPH_CRYP RCC_AHB2ENR_CRYPEN -#endif /* CRYP */ -#if defined(AES) -#define LL_AHB2_GRP1_PERIPH_AES RCC_AHB2ENR_AESEN -#endif /* AES */ -#if defined(HASH) -#define LL_AHB2_GRP1_PERIPH_HASH RCC_AHB2ENR_HASHEN -#endif /* HASH */ -#if defined(RCC_AHB2ENR_RNGEN) -#define LL_AHB2_GRP1_PERIPH_RNG RCC_AHB2ENR_RNGEN -#endif /* RCC_AHB2ENR_RNGEN */ -#if defined(USB_OTG_FS) -#define LL_AHB2_GRP1_PERIPH_OTGFS RCC_AHB2ENR_OTGFSEN -#endif /* USB_OTG_FS */ -/** - * @} - */ -#endif /* RCC_AHB2_SUPPORT */ - -#if defined(RCC_AHB3_SUPPORT) -/** @defgroup BUS_LL_EC_AHB3_GRP1_PERIPH AHB3 GRP1 PERIPH - * @{ - */ -#define LL_AHB3_GRP1_PERIPH_ALL 0xFFFFFFFFU -#if defined(FSMC_Bank1) -#define LL_AHB3_GRP1_PERIPH_FSMC RCC_AHB3ENR_FSMCEN -#endif /* FSMC_Bank1 */ -#if defined(FMC_Bank1) -#define LL_AHB3_GRP1_PERIPH_FMC RCC_AHB3ENR_FMCEN -#endif /* FMC_Bank1 */ -#if defined(QUADSPI) -#define LL_AHB3_GRP1_PERIPH_QSPI RCC_AHB3ENR_QSPIEN -#endif /* QUADSPI */ -/** - * @} - */ -#endif /* RCC_AHB3_SUPPORT */ - -/** @defgroup BUS_LL_EC_APB1_GRP1_PERIPH APB1 GRP1 PERIPH - * @{ - */ -#define LL_APB1_GRP1_PERIPH_ALL 0xFFFFFFFFU -#if defined(TIM2) -#define LL_APB1_GRP1_PERIPH_TIM2 RCC_APB1ENR_TIM2EN -#endif /* TIM2 */ -#if defined(TIM3) -#define LL_APB1_GRP1_PERIPH_TIM3 RCC_APB1ENR_TIM3EN -#endif /* TIM3 */ -#if defined(TIM4) -#define LL_APB1_GRP1_PERIPH_TIM4 RCC_APB1ENR_TIM4EN -#endif /* TIM4 */ -#define LL_APB1_GRP1_PERIPH_TIM5 RCC_APB1ENR_TIM5EN -#if defined(TIM6) -#define LL_APB1_GRP1_PERIPH_TIM6 RCC_APB1ENR_TIM6EN -#endif /* TIM6 */ -#if defined(TIM7) -#define LL_APB1_GRP1_PERIPH_TIM7 RCC_APB1ENR_TIM7EN -#endif /* TIM7 */ -#if defined(TIM12) -#define LL_APB1_GRP1_PERIPH_TIM12 RCC_APB1ENR_TIM12EN -#endif /* TIM12 */ -#if defined(TIM13) -#define LL_APB1_GRP1_PERIPH_TIM13 RCC_APB1ENR_TIM13EN -#endif /* TIM13 */ -#if defined(TIM14) -#define LL_APB1_GRP1_PERIPH_TIM14 RCC_APB1ENR_TIM14EN -#endif /* TIM14 */ -#if defined(LPTIM1) -#define LL_APB1_GRP1_PERIPH_LPTIM1 RCC_APB1ENR_LPTIM1EN -#endif /* LPTIM1 */ -#if defined(RCC_APB1ENR_RTCAPBEN) -#define LL_APB1_GRP1_PERIPH_RTCAPB RCC_APB1ENR_RTCAPBEN -#endif /* RCC_APB1ENR_RTCAPBEN */ -#define LL_APB1_GRP1_PERIPH_WWDG RCC_APB1ENR_WWDGEN -#if defined(SPI2) -#define LL_APB1_GRP1_PERIPH_SPI2 RCC_APB1ENR_SPI2EN -#endif /* SPI2 */ -#if defined(SPI3) -#define LL_APB1_GRP1_PERIPH_SPI3 RCC_APB1ENR_SPI3EN -#endif /* SPI3 */ -#if defined(SPDIFRX) -#define LL_APB1_GRP1_PERIPH_SPDIFRX RCC_APB1ENR_SPDIFRXEN -#endif /* SPDIFRX */ -#define LL_APB1_GRP1_PERIPH_USART2 RCC_APB1ENR_USART2EN -#if defined(USART3) -#define LL_APB1_GRP1_PERIPH_USART3 RCC_APB1ENR_USART3EN -#endif /* USART3 */ -#if defined(UART4) -#define LL_APB1_GRP1_PERIPH_UART4 RCC_APB1ENR_UART4EN -#endif /* UART4 */ -#if defined(UART5) -#define LL_APB1_GRP1_PERIPH_UART5 RCC_APB1ENR_UART5EN -#endif /* UART5 */ -#define LL_APB1_GRP1_PERIPH_I2C1 RCC_APB1ENR_I2C1EN -#define LL_APB1_GRP1_PERIPH_I2C2 RCC_APB1ENR_I2C2EN -#if defined(I2C3) -#define LL_APB1_GRP1_PERIPH_I2C3 RCC_APB1ENR_I2C3EN -#endif /* I2C3 */ -#if defined(FMPI2C1) -#define LL_APB1_GRP1_PERIPH_FMPI2C1 RCC_APB1ENR_FMPI2C1EN -#endif /* FMPI2C1 */ -#if defined(CAN1) -#define LL_APB1_GRP1_PERIPH_CAN1 RCC_APB1ENR_CAN1EN -#endif /* CAN1 */ -#if defined(CAN2) -#define LL_APB1_GRP1_PERIPH_CAN2 RCC_APB1ENR_CAN2EN -#endif /* CAN2 */ -#if defined(CAN3) -#define LL_APB1_GRP1_PERIPH_CAN3 RCC_APB1ENR_CAN3EN -#endif /* CAN3 */ -#if defined(CEC) -#define LL_APB1_GRP1_PERIPH_CEC RCC_APB1ENR_CECEN -#endif /* CEC */ -#define LL_APB1_GRP1_PERIPH_PWR RCC_APB1ENR_PWREN -#if defined(DAC1) -#define LL_APB1_GRP1_PERIPH_DAC1 RCC_APB1ENR_DACEN -#endif /* DAC1 */ -#if defined(UART7) -#define LL_APB1_GRP1_PERIPH_UART7 RCC_APB1ENR_UART7EN -#endif /* UART7 */ -#if defined(UART8) -#define LL_APB1_GRP1_PERIPH_UART8 RCC_APB1ENR_UART8EN -#endif /* UART8 */ -/** - * @} - */ - -/** @defgroup BUS_LL_EC_APB2_GRP1_PERIPH APB2 GRP1 PERIPH - * @{ - */ -#define LL_APB2_GRP1_PERIPH_ALL 0xFFFFFFFFU -#define LL_APB2_GRP1_PERIPH_TIM1 RCC_APB2ENR_TIM1EN -#if defined(TIM8) -#define LL_APB2_GRP1_PERIPH_TIM8 RCC_APB2ENR_TIM8EN -#endif /* TIM8 */ -#define LL_APB2_GRP1_PERIPH_USART1 RCC_APB2ENR_USART1EN -#if defined(USART6) -#define LL_APB2_GRP1_PERIPH_USART6 RCC_APB2ENR_USART6EN -#endif /* USART6 */ -#if defined(UART9) -#define LL_APB2_GRP1_PERIPH_UART9 RCC_APB2ENR_UART9EN -#endif /* UART9 */ -#if defined(UART10) -#define LL_APB2_GRP1_PERIPH_UART10 RCC_APB2ENR_UART10EN -#endif /* UART10 */ -#define LL_APB2_GRP1_PERIPH_ADC1 RCC_APB2ENR_ADC1EN -#if defined(ADC2) -#define LL_APB2_GRP1_PERIPH_ADC2 RCC_APB2ENR_ADC2EN -#endif /* ADC2 */ -#if defined(ADC3) -#define LL_APB2_GRP1_PERIPH_ADC3 RCC_APB2ENR_ADC3EN -#endif /* ADC3 */ -#if defined(SDIO) -#define LL_APB2_GRP1_PERIPH_SDIO RCC_APB2ENR_SDIOEN -#endif /* SDIO */ -#define LL_APB2_GRP1_PERIPH_SPI1 RCC_APB2ENR_SPI1EN -#if defined(SPI4) -#define LL_APB2_GRP1_PERIPH_SPI4 RCC_APB2ENR_SPI4EN -#endif /* SPI4 */ -#define LL_APB2_GRP1_PERIPH_SYSCFG RCC_APB2ENR_SYSCFGEN -#if defined(RCC_APB2ENR_EXTITEN) -#define LL_APB2_GRP1_PERIPH_EXTI RCC_APB2ENR_EXTITEN -#endif /* RCC_APB2ENR_EXTITEN */ -#define LL_APB2_GRP1_PERIPH_TIM9 RCC_APB2ENR_TIM9EN -#if defined(TIM10) -#define LL_APB2_GRP1_PERIPH_TIM10 RCC_APB2ENR_TIM10EN -#endif /* TIM10 */ -#define LL_APB2_GRP1_PERIPH_TIM11 RCC_APB2ENR_TIM11EN -#if defined(SPI5) -#define LL_APB2_GRP1_PERIPH_SPI5 RCC_APB2ENR_SPI5EN -#endif /* SPI5 */ -#if defined(SPI6) -#define LL_APB2_GRP1_PERIPH_SPI6 RCC_APB2ENR_SPI6EN -#endif /* SPI6 */ -#if defined(SAI1) -#define LL_APB2_GRP1_PERIPH_SAI1 RCC_APB2ENR_SAI1EN -#endif /* SAI1 */ -#if defined(SAI2) -#define LL_APB2_GRP1_PERIPH_SAI2 RCC_APB2ENR_SAI2EN -#endif /* SAI2 */ -#if defined(LTDC) -#define LL_APB2_GRP1_PERIPH_LTDC RCC_APB2ENR_LTDCEN -#endif /* LTDC */ -#if defined(DSI) -#define LL_APB2_GRP1_PERIPH_DSI RCC_APB2ENR_DSIEN -#endif /* DSI */ -#if defined(DFSDM1_Channel0) -#define LL_APB2_GRP1_PERIPH_DFSDM1 RCC_APB2ENR_DFSDM1EN -#endif /* DFSDM1_Channel0 */ -#if defined(DFSDM2_Channel0) -#define LL_APB2_GRP1_PERIPH_DFSDM2 RCC_APB2ENR_DFSDM2EN -#endif /* DFSDM2_Channel0 */ -#define LL_APB2_GRP1_PERIPH_ADC RCC_APB2RSTR_ADCRST -/** - * @} - */ - -/** - * @} - */ - -/* Exported macro ------------------------------------------------------------*/ -/* Exported functions --------------------------------------------------------*/ -/** @defgroup BUS_LL_Exported_Functions BUS Exported Functions - * @{ - */ - -/** @defgroup BUS_LL_EF_AHB1 AHB1 - * @{ - */ - -/** - * @brief Enable AHB1 peripherals clock. - * @rmtoll AHB1ENR GPIOAEN LL_AHB1_GRP1_EnableClock\n - * AHB1ENR GPIOBEN LL_AHB1_GRP1_EnableClock\n - * AHB1ENR GPIOCEN LL_AHB1_GRP1_EnableClock\n - * AHB1ENR GPIODEN LL_AHB1_GRP1_EnableClock\n - * AHB1ENR GPIOEEN LL_AHB1_GRP1_EnableClock\n - * AHB1ENR GPIOFEN LL_AHB1_GRP1_EnableClock\n - * AHB1ENR GPIOGEN LL_AHB1_GRP1_EnableClock\n - * AHB1ENR GPIOHEN LL_AHB1_GRP1_EnableClock\n - * AHB1ENR GPIOIEN LL_AHB1_GRP1_EnableClock\n - * AHB1ENR GPIOJEN LL_AHB1_GRP1_EnableClock\n - * AHB1ENR GPIOKEN LL_AHB1_GRP1_EnableClock\n - * AHB1ENR CRCEN LL_AHB1_GRP1_EnableClock\n - * AHB1ENR BKPSRAMEN LL_AHB1_GRP1_EnableClock\n - * AHB1ENR CCMDATARAMEN LL_AHB1_GRP1_EnableClock\n - * AHB1ENR DMA1EN LL_AHB1_GRP1_EnableClock\n - * AHB1ENR DMA2EN LL_AHB1_GRP1_EnableClock\n - * AHB1ENR RNGEN LL_AHB1_GRP1_EnableClock\n - * AHB1ENR DMA2DEN LL_AHB1_GRP1_EnableClock\n - * AHB1ENR ETHMACEN LL_AHB1_GRP1_EnableClock\n - * AHB1ENR ETHMACTXEN LL_AHB1_GRP1_EnableClock\n - * AHB1ENR ETHMACRXEN LL_AHB1_GRP1_EnableClock\n - * AHB1ENR ETHMACPTPEN LL_AHB1_GRP1_EnableClock\n - * AHB1ENR OTGHSEN LL_AHB1_GRP1_EnableClock\n - * AHB1ENR OTGHSULPIEN LL_AHB1_GRP1_EnableClock - * @param Periphs This parameter can be a combination of the following values: - * @arg @ref LL_AHB1_GRP1_PERIPH_GPIOA - * @arg @ref LL_AHB1_GRP1_PERIPH_GPIOB - * @arg @ref LL_AHB1_GRP1_PERIPH_GPIOC - * @arg @ref LL_AHB1_GRP1_PERIPH_GPIOD (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_GPIOE (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_GPIOF (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_GPIOG (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_GPIOH (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_GPIOI (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_GPIOJ (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_GPIOK (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_CRC - * @arg @ref LL_AHB1_GRP1_PERIPH_BKPSRAM (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_CCMDATARAM (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_DMA1 - * @arg @ref LL_AHB1_GRP1_PERIPH_DMA2 - * @arg @ref LL_AHB1_GRP1_PERIPH_RNG (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_DMA2D (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_ETHMAC (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_ETHMACTX (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_ETHMACRX (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_ETHMACPTP (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_OTGHS (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_OTGHSULPI (*) - * - * (*) value not defined in all devices. - * @retval None -*/ -__STATIC_INLINE void LL_AHB1_GRP1_EnableClock(uint32_t Periphs) -{ - __IO uint32_t tmpreg; - SET_BIT(RCC->AHB1ENR, Periphs); - /* Delay after an RCC peripheral clock enabling */ - tmpreg = READ_BIT(RCC->AHB1ENR, Periphs); - (void)tmpreg; -} - -/** - * @brief Check if AHB1 peripheral clock is enabled or not - * @rmtoll AHB1ENR GPIOAEN LL_AHB1_GRP1_IsEnabledClock\n - * AHB1ENR GPIOBEN LL_AHB1_GRP1_IsEnabledClock\n - * AHB1ENR GPIOCEN LL_AHB1_GRP1_IsEnabledClock\n - * AHB1ENR GPIODEN LL_AHB1_GRP1_IsEnabledClock\n - * AHB1ENR GPIOEEN LL_AHB1_GRP1_IsEnabledClock\n - * AHB1ENR GPIOFEN LL_AHB1_GRP1_IsEnabledClock\n - * AHB1ENR GPIOGEN LL_AHB1_GRP1_IsEnabledClock\n - * AHB1ENR GPIOHEN LL_AHB1_GRP1_IsEnabledClock\n - * AHB1ENR GPIOIEN LL_AHB1_GRP1_IsEnabledClock\n - * AHB1ENR GPIOJEN LL_AHB1_GRP1_IsEnabledClock\n - * AHB1ENR GPIOKEN LL_AHB1_GRP1_IsEnabledClock\n - * AHB1ENR CRCEN LL_AHB1_GRP1_IsEnabledClock\n - * AHB1ENR BKPSRAMEN LL_AHB1_GRP1_IsEnabledClock\n - * AHB1ENR CCMDATARAMEN LL_AHB1_GRP1_IsEnabledClock\n - * AHB1ENR DMA1EN LL_AHB1_GRP1_IsEnabledClock\n - * AHB1ENR DMA2EN LL_AHB1_GRP1_IsEnabledClock\n - * AHB1ENR RNGEN LL_AHB1_GRP1_IsEnabledClock\n - * AHB1ENR DMA2DEN LL_AHB1_GRP1_IsEnabledClock\n - * AHB1ENR ETHMACEN LL_AHB1_GRP1_IsEnabledClock\n - * AHB1ENR ETHMACTXEN LL_AHB1_GRP1_IsEnabledClock\n - * AHB1ENR ETHMACRXEN LL_AHB1_GRP1_IsEnabledClock\n - * AHB1ENR ETHMACPTPEN LL_AHB1_GRP1_IsEnabledClock\n - * AHB1ENR OTGHSEN LL_AHB1_GRP1_IsEnabledClock\n - * AHB1ENR OTGHSULPIEN LL_AHB1_GRP1_IsEnabledClock - * @param Periphs This parameter can be a combination of the following values: - * @arg @ref LL_AHB1_GRP1_PERIPH_GPIOA - * @arg @ref LL_AHB1_GRP1_PERIPH_GPIOB - * @arg @ref LL_AHB1_GRP1_PERIPH_GPIOC - * @arg @ref LL_AHB1_GRP1_PERIPH_GPIOD (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_GPIOE (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_GPIOF (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_GPIOG (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_GPIOH (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_GPIOI (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_GPIOJ (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_GPIOK (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_CRC - * @arg @ref LL_AHB1_GRP1_PERIPH_BKPSRAM (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_CCMDATARAM (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_DMA1 - * @arg @ref LL_AHB1_GRP1_PERIPH_DMA2 - * @arg @ref LL_AHB1_GRP1_PERIPH_RNG (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_DMA2D (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_ETHMAC (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_ETHMACTX (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_ETHMACRX (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_ETHMACPTP (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_OTGHS (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_OTGHSULPI (*) - * - * (*) value not defined in all devices. - * @retval State of Periphs (1 or 0). -*/ -__STATIC_INLINE uint32_t LL_AHB1_GRP1_IsEnabledClock(uint32_t Periphs) -{ - return (READ_BIT(RCC->AHB1ENR, Periphs) == Periphs); -} - -/** - * @brief Disable AHB1 peripherals clock. - * @rmtoll AHB1ENR GPIOAEN LL_AHB1_GRP1_DisableClock\n - * AHB1ENR GPIOBEN LL_AHB1_GRP1_DisableClock\n - * AHB1ENR GPIOCEN LL_AHB1_GRP1_DisableClock\n - * AHB1ENR GPIODEN LL_AHB1_GRP1_DisableClock\n - * AHB1ENR GPIOEEN LL_AHB1_GRP1_DisableClock\n - * AHB1ENR GPIOFEN LL_AHB1_GRP1_DisableClock\n - * AHB1ENR GPIOGEN LL_AHB1_GRP1_DisableClock\n - * AHB1ENR GPIOHEN LL_AHB1_GRP1_DisableClock\n - * AHB1ENR GPIOIEN LL_AHB1_GRP1_DisableClock\n - * AHB1ENR GPIOJEN LL_AHB1_GRP1_DisableClock\n - * AHB1ENR GPIOKEN LL_AHB1_GRP1_DisableClock\n - * AHB1ENR CRCEN LL_AHB1_GRP1_DisableClock\n - * AHB1ENR BKPSRAMEN LL_AHB1_GRP1_DisableClock\n - * AHB1ENR CCMDATARAMEN LL_AHB1_GRP1_DisableClock\n - * AHB1ENR DMA1EN LL_AHB1_GRP1_DisableClock\n - * AHB1ENR DMA2EN LL_AHB1_GRP1_DisableClock\n - * AHB1ENR RNGEN LL_AHB1_GRP1_DisableClock\n - * AHB1ENR DMA2DEN LL_AHB1_GRP1_DisableClock\n - * AHB1ENR ETHMACEN LL_AHB1_GRP1_DisableClock\n - * AHB1ENR ETHMACTXEN LL_AHB1_GRP1_DisableClock\n - * AHB1ENR ETHMACRXEN LL_AHB1_GRP1_DisableClock\n - * AHB1ENR ETHMACPTPEN LL_AHB1_GRP1_DisableClock\n - * AHB1ENR OTGHSEN LL_AHB1_GRP1_DisableClock\n - * AHB1ENR OTGHSULPIEN LL_AHB1_GRP1_DisableClock - * @param Periphs This parameter can be a combination of the following values: - * @arg @ref LL_AHB1_GRP1_PERIPH_GPIOA - * @arg @ref LL_AHB1_GRP1_PERIPH_GPIOB - * @arg @ref LL_AHB1_GRP1_PERIPH_GPIOC - * @arg @ref LL_AHB1_GRP1_PERIPH_GPIOD (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_GPIOE (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_GPIOF (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_GPIOG (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_GPIOH (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_GPIOI (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_GPIOJ (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_GPIOK (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_CRC - * @arg @ref LL_AHB1_GRP1_PERIPH_BKPSRAM (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_CCMDATARAM (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_DMA1 - * @arg @ref LL_AHB1_GRP1_PERIPH_DMA2 - * @arg @ref LL_AHB1_GRP1_PERIPH_RNG (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_DMA2D (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_ETHMAC (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_ETHMACTX (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_ETHMACRX (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_ETHMACPTP (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_OTGHS (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_OTGHSULPI (*) - * - * (*) value not defined in all devices. - * @retval None -*/ -__STATIC_INLINE void LL_AHB1_GRP1_DisableClock(uint32_t Periphs) -{ - CLEAR_BIT(RCC->AHB1ENR, Periphs); -} - -/** - * @brief Force AHB1 peripherals reset. - * @rmtoll AHB1RSTR GPIOARST LL_AHB1_GRP1_ForceReset\n - * AHB1RSTR GPIOBRST LL_AHB1_GRP1_ForceReset\n - * AHB1RSTR GPIOCRST LL_AHB1_GRP1_ForceReset\n - * AHB1RSTR GPIODRST LL_AHB1_GRP1_ForceReset\n - * AHB1RSTR GPIOERST LL_AHB1_GRP1_ForceReset\n - * AHB1RSTR GPIOFRST LL_AHB1_GRP1_ForceReset\n - * AHB1RSTR GPIOGRST LL_AHB1_GRP1_ForceReset\n - * AHB1RSTR GPIOHRST LL_AHB1_GRP1_ForceReset\n - * AHB1RSTR GPIOIRST LL_AHB1_GRP1_ForceReset\n - * AHB1RSTR GPIOJRST LL_AHB1_GRP1_ForceReset\n - * AHB1RSTR GPIOKRST LL_AHB1_GRP1_ForceReset\n - * AHB1RSTR CRCRST LL_AHB1_GRP1_ForceReset\n - * AHB1RSTR DMA1RST LL_AHB1_GRP1_ForceReset\n - * AHB1RSTR DMA2RST LL_AHB1_GRP1_ForceReset\n - * AHB1RSTR RNGRST LL_AHB1_GRP1_ForceReset\n - * AHB1RSTR DMA2DRST LL_AHB1_GRP1_ForceReset\n - * AHB1RSTR ETHMACRST LL_AHB1_GRP1_ForceReset\n - * AHB1RSTR OTGHSRST LL_AHB1_GRP1_ForceReset - * @param Periphs This parameter can be a combination of the following values: - * @arg @ref LL_AHB1_GRP1_PERIPH_ALL - * @arg @ref LL_AHB1_GRP1_PERIPH_GPIOA - * @arg @ref LL_AHB1_GRP1_PERIPH_GPIOB - * @arg @ref LL_AHB1_GRP1_PERIPH_GPIOC - * @arg @ref LL_AHB1_GRP1_PERIPH_GPIOD (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_GPIOE (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_GPIOF (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_GPIOG (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_GPIOH (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_GPIOI (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_GPIOJ (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_GPIOK (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_CRC - * @arg @ref LL_AHB1_GRP1_PERIPH_DMA1 - * @arg @ref LL_AHB1_GRP1_PERIPH_DMA2 - * @arg @ref LL_AHB1_GRP1_PERIPH_RNG (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_DMA2D (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_ETHMAC (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_OTGHS (*) - * - * (*) value not defined in all devices. - * @retval None -*/ -__STATIC_INLINE void LL_AHB1_GRP1_ForceReset(uint32_t Periphs) -{ - SET_BIT(RCC->AHB1RSTR, Periphs); -} - -/** - * @brief Release AHB1 peripherals reset. - * @rmtoll AHB1RSTR GPIOARST LL_AHB1_GRP1_ReleaseReset\n - * AHB1RSTR GPIOBRST LL_AHB1_GRP1_ReleaseReset\n - * AHB1RSTR GPIOCRST LL_AHB1_GRP1_ReleaseReset\n - * AHB1RSTR GPIODRST LL_AHB1_GRP1_ReleaseReset\n - * AHB1RSTR GPIOERST LL_AHB1_GRP1_ReleaseReset\n - * AHB1RSTR GPIOFRST LL_AHB1_GRP1_ReleaseReset\n - * AHB1RSTR GPIOGRST LL_AHB1_GRP1_ReleaseReset\n - * AHB1RSTR GPIOHRST LL_AHB1_GRP1_ReleaseReset\n - * AHB1RSTR GPIOIRST LL_AHB1_GRP1_ReleaseReset\n - * AHB1RSTR GPIOJRST LL_AHB1_GRP1_ReleaseReset\n - * AHB1RSTR GPIOKRST LL_AHB1_GRP1_ReleaseReset\n - * AHB1RSTR CRCRST LL_AHB1_GRP1_ReleaseReset\n - * AHB1RSTR DMA1RST LL_AHB1_GRP1_ReleaseReset\n - * AHB1RSTR DMA2RST LL_AHB1_GRP1_ReleaseReset\n - * AHB1RSTR RNGRST LL_AHB1_GRP1_ReleaseReset\n - * AHB1RSTR DMA2DRST LL_AHB1_GRP1_ReleaseReset\n - * AHB1RSTR ETHMACRST LL_AHB1_GRP1_ReleaseReset\n - * AHB1RSTR OTGHSRST LL_AHB1_GRP1_ReleaseReset - * @param Periphs This parameter can be a combination of the following values: - * @arg @ref LL_AHB1_GRP1_PERIPH_ALL - * @arg @ref LL_AHB1_GRP1_PERIPH_GPIOA - * @arg @ref LL_AHB1_GRP1_PERIPH_GPIOB - * @arg @ref LL_AHB1_GRP1_PERIPH_GPIOC - * @arg @ref LL_AHB1_GRP1_PERIPH_GPIOD (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_GPIOE (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_GPIOF (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_GPIOG (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_GPIOH (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_GPIOI (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_GPIOJ (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_GPIOK (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_CRC - * @arg @ref LL_AHB1_GRP1_PERIPH_DMA1 - * @arg @ref LL_AHB1_GRP1_PERIPH_DMA2 - * @arg @ref LL_AHB1_GRP1_PERIPH_RNG (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_DMA2D (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_ETHMAC (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_OTGHS (*) - * - * (*) value not defined in all devices. - * @retval None -*/ -__STATIC_INLINE void LL_AHB1_GRP1_ReleaseReset(uint32_t Periphs) -{ - CLEAR_BIT(RCC->AHB1RSTR, Periphs); -} - -/** - * @brief Enable AHB1 peripheral clocks in low-power mode - * @rmtoll AHB1LPENR GPIOALPEN LL_AHB1_GRP1_EnableClockLowPower\n - * AHB1LPENR GPIOBLPEN LL_AHB1_GRP1_EnableClockLowPower\n - * AHB1LPENR GPIOCLPEN LL_AHB1_GRP1_EnableClockLowPower\n - * AHB1LPENR GPIODLPEN LL_AHB1_GRP1_EnableClockLowPower\n - * AHB1LPENR GPIOELPEN LL_AHB1_GRP1_EnableClockLowPower\n - * AHB1LPENR GPIOFLPEN LL_AHB1_GRP1_EnableClockLowPower\n - * AHB1LPENR GPIOGLPEN LL_AHB1_GRP1_EnableClockLowPower\n - * AHB1LPENR GPIOHLPEN LL_AHB1_GRP1_EnableClockLowPower\n - * AHB1LPENR GPIOILPEN LL_AHB1_GRP1_EnableClockLowPower\n - * AHB1LPENR GPIOJLPEN LL_AHB1_GRP1_EnableClockLowPower\n - * AHB1LPENR GPIOKLPEN LL_AHB1_GRP1_EnableClockLowPower\n - * AHB1LPENR CRCLPEN LL_AHB1_GRP1_EnableClockLowPower\n - * AHB1LPENR BKPSRAMLPEN LL_AHB1_GRP1_EnableClockLowPower\n - * AHB1LPENR FLITFLPEN LL_AHB1_GRP1_EnableClockLowPower\n - * AHB1LPENR SRAM1LPEN LL_AHB1_GRP1_EnableClockLowPower\n - * AHB1LPENR SRAM2LPEN LL_AHB1_GRP1_EnableClockLowPower\n - * AHB1LPENR SRAM3LPEN LL_AHB1_GRP1_EnableClockLowPower\n - * AHB1LPENR BKPSRAMLPEN LL_AHB1_GRP1_EnableClockLowPower\n - * AHB1LPENR DMA1LPEN LL_AHB1_GRP1_EnableClockLowPower\n - * AHB1LPENR DMA2LPEN LL_AHB1_GRP1_EnableClockLowPower\n - * AHB1LPENR DMA2DLPEN LL_AHB1_GRP1_EnableClockLowPower\n - * AHB1LPENR RNGLPEN LL_AHB1_GRP1_EnableClockLowPower\n - * AHB1LPENR ETHMACLPEN LL_AHB1_GRP1_EnableClockLowPower\n - * AHB1LPENR ETHMACTXLPEN LL_AHB1_GRP1_EnableClockLowPower\n - * AHB1LPENR ETHMACRXLPEN LL_AHB1_GRP1_EnableClockLowPower\n - * AHB1LPENR ETHMACPTPLPEN LL_AHB1_GRP1_EnableClockLowPower\n - * AHB1LPENR OTGHSLPEN LL_AHB1_GRP1_EnableClockLowPower\n - * AHB1LPENR OTGHSULPILPEN LL_AHB1_GRP1_EnableClockLowPower - * @param Periphs This parameter can be a combination of the following values: - * @arg @ref LL_AHB1_GRP1_PERIPH_GPIOA - * @arg @ref LL_AHB1_GRP1_PERIPH_GPIOB - * @arg @ref LL_AHB1_GRP1_PERIPH_GPIOC - * @arg @ref LL_AHB1_GRP1_PERIPH_GPIOD (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_GPIOE (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_GPIOF (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_GPIOG (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_GPIOH (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_GPIOI (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_GPIOJ (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_GPIOK (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_CRC - * @arg @ref LL_AHB1_GRP1_PERIPH_BKPSRAM (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_FLITF - * @arg @ref LL_AHB1_GRP1_PERIPH_SRAM1 - * @arg @ref LL_AHB1_GRP1_PERIPH_SRAM2 (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_SRAM3 (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_DMA1 - * @arg @ref LL_AHB1_GRP1_PERIPH_DMA2 - * @arg @ref LL_AHB1_GRP1_PERIPH_RNG (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_DMA2D (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_ETHMAC (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_ETHMACTX (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_ETHMACRX (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_ETHMACPTP (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_OTGHS (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_OTGHSULPI (*) - * - * (*) value not defined in all devices. - * @retval None -*/ -__STATIC_INLINE void LL_AHB1_GRP1_EnableClockLowPower(uint32_t Periphs) -{ - __IO uint32_t tmpreg; - SET_BIT(RCC->AHB1LPENR, Periphs); - /* Delay after an RCC peripheral clock enabling */ - tmpreg = READ_BIT(RCC->AHB1LPENR, Periphs); - (void)tmpreg; -} - -/** - * @brief Disable AHB1 peripheral clocks in low-power mode - * @rmtoll AHB1LPENR GPIOALPEN LL_AHB1_GRP1_DisableClockLowPower\n - * AHB1LPENR GPIOBLPEN LL_AHB1_GRP1_DisableClockLowPower\n - * AHB1LPENR GPIOCLPEN LL_AHB1_GRP1_DisableClockLowPower\n - * AHB1LPENR GPIODLPEN LL_AHB1_GRP1_DisableClockLowPower\n - * AHB1LPENR GPIOELPEN LL_AHB1_GRP1_DisableClockLowPower\n - * AHB1LPENR GPIOFLPEN LL_AHB1_GRP1_DisableClockLowPower\n - * AHB1LPENR GPIOGLPEN LL_AHB1_GRP1_DisableClockLowPower\n - * AHB1LPENR GPIOHLPEN LL_AHB1_GRP1_DisableClockLowPower\n - * AHB1LPENR GPIOILPEN LL_AHB1_GRP1_DisableClockLowPower\n - * AHB1LPENR GPIOJLPEN LL_AHB1_GRP1_DisableClockLowPower\n - * AHB1LPENR GPIOKLPEN LL_AHB1_GRP1_DisableClockLowPower\n - * AHB1LPENR CRCLPEN LL_AHB1_GRP1_DisableClockLowPower\n - * AHB1LPENR BKPSRAMLPEN LL_AHB1_GRP1_DisableClockLowPower\n - * AHB1LPENR FLITFLPEN LL_AHB1_GRP1_DisableClockLowPower\n - * AHB1LPENR SRAM1LPEN LL_AHB1_GRP1_DisableClockLowPower\n - * AHB1LPENR SRAM2LPEN LL_AHB1_GRP1_DisableClockLowPower\n - * AHB1LPENR SRAM3LPEN LL_AHB1_GRP1_DisableClockLowPower\n - * AHB1LPENR BKPSRAMLPEN LL_AHB1_GRP1_DisableClockLowPower\n - * AHB1LPENR DMA1LPEN LL_AHB1_GRP1_DisableClockLowPower\n - * AHB1LPENR DMA2LPEN LL_AHB1_GRP1_DisableClockLowPower\n - * AHB1LPENR DMA2DLPEN LL_AHB1_GRP1_DisableClockLowPower\n - * AHB1LPENR RNGLPEN LL_AHB1_GRP1_DisableClockLowPower\n - * AHB1LPENR ETHMACLPEN LL_AHB1_GRP1_DisableClockLowPower\n - * AHB1LPENR ETHMACTXLPEN LL_AHB1_GRP1_DisableClockLowPower\n - * AHB1LPENR ETHMACRXLPEN LL_AHB1_GRP1_DisableClockLowPower\n - * AHB1LPENR ETHMACPTPLPEN LL_AHB1_GRP1_DisableClockLowPower\n - * AHB1LPENR OTGHSLPEN LL_AHB1_GRP1_DisableClockLowPower\n - * AHB1LPENR OTGHSULPILPEN LL_AHB1_GRP1_DisableClockLowPower - * @param Periphs This parameter can be a combination of the following values: - * @arg @ref LL_AHB1_GRP1_PERIPH_GPIOA - * @arg @ref LL_AHB1_GRP1_PERIPH_GPIOB - * @arg @ref LL_AHB1_GRP1_PERIPH_GPIOC - * @arg @ref LL_AHB1_GRP1_PERIPH_GPIOD (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_GPIOE (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_GPIOF (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_GPIOG (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_GPIOH (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_GPIOI (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_GPIOJ (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_GPIOK (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_CRC - * @arg @ref LL_AHB1_GRP1_PERIPH_BKPSRAM (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_FLITF - * @arg @ref LL_AHB1_GRP1_PERIPH_SRAM1 - * @arg @ref LL_AHB1_GRP1_PERIPH_SRAM2 (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_SRAM3 (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_DMA1 - * @arg @ref LL_AHB1_GRP1_PERIPH_DMA2 - * @arg @ref LL_AHB1_GRP1_PERIPH_RNG (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_DMA2D (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_ETHMAC (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_ETHMACTX (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_ETHMACRX (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_ETHMACPTP (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_OTGHS (*) - * @arg @ref LL_AHB1_GRP1_PERIPH_OTGHSULPI (*) - * - * (*) value not defined in all devices. - * @retval None -*/ -__STATIC_INLINE void LL_AHB1_GRP1_DisableClockLowPower(uint32_t Periphs) -{ - CLEAR_BIT(RCC->AHB1LPENR, Periphs); -} - -/** - * @} - */ - -#if defined(RCC_AHB2_SUPPORT) -/** @defgroup BUS_LL_EF_AHB2 AHB2 - * @{ - */ - -/** - * @brief Enable AHB2 peripherals clock. - * @rmtoll AHB2ENR DCMIEN LL_AHB2_GRP1_EnableClock\n - * AHB2ENR CRYPEN LL_AHB2_GRP1_EnableClock\n - * AHB2ENR AESEN LL_AHB2_GRP1_EnableClock\n - * AHB2ENR HASHEN LL_AHB2_GRP1_EnableClock\n - * AHB2ENR RNGEN LL_AHB2_GRP1_EnableClock\n - * AHB2ENR OTGFSEN LL_AHB2_GRP1_EnableClock - * @param Periphs This parameter can be a combination of the following values: - * @arg @ref LL_AHB2_GRP1_PERIPH_DCMI (*) - * @arg @ref LL_AHB2_GRP1_PERIPH_CRYP (*) - * @arg @ref LL_AHB2_GRP1_PERIPH_AES (*) - * @arg @ref LL_AHB2_GRP1_PERIPH_HASH (*) - * @arg @ref LL_AHB2_GRP1_PERIPH_RNG (*) - * @arg @ref LL_AHB2_GRP1_PERIPH_OTGFS (*) - * - * (*) value not defined in all devices. - * @retval None -*/ -__STATIC_INLINE void LL_AHB2_GRP1_EnableClock(uint32_t Periphs) -{ - __IO uint32_t tmpreg; - SET_BIT(RCC->AHB2ENR, Periphs); - /* Delay after an RCC peripheral clock enabling */ - tmpreg = READ_BIT(RCC->AHB2ENR, Periphs); - (void)tmpreg; -} - -/** - * @brief Check if AHB2 peripheral clock is enabled or not - * @rmtoll AHB2ENR DCMIEN LL_AHB2_GRP1_IsEnabledClock\n - * AHB2ENR CRYPEN LL_AHB2_GRP1_IsEnabledClock\n - * AHB2ENR AESEN LL_AHB2_GRP1_IsEnabledClock\n - * AHB2ENR HASHEN LL_AHB2_GRP1_IsEnabledClock\n - * AHB2ENR RNGEN LL_AHB2_GRP1_IsEnabledClock\n - * AHB2ENR OTGFSEN LL_AHB2_GRP1_IsEnabledClock - * @param Periphs This parameter can be a combination of the following values: - * @arg @ref LL_AHB2_GRP1_PERIPH_DCMI (*) - * @arg @ref LL_AHB2_GRP1_PERIPH_CRYP (*) - * @arg @ref LL_AHB2_GRP1_PERIPH_AES (*) - * @arg @ref LL_AHB2_GRP1_PERIPH_HASH (*) - * @arg @ref LL_AHB2_GRP1_PERIPH_RNG (*) - * @arg @ref LL_AHB2_GRP1_PERIPH_OTGFS (*) - * - * (*) value not defined in all devices. - * @retval State of Periphs (1 or 0). -*/ -__STATIC_INLINE uint32_t LL_AHB2_GRP1_IsEnabledClock(uint32_t Periphs) -{ - return (READ_BIT(RCC->AHB2ENR, Periphs) == Periphs); -} - -/** - * @brief Disable AHB2 peripherals clock. - * @rmtoll AHB2ENR DCMIEN LL_AHB2_GRP1_DisableClock\n - * AHB2ENR CRYPEN LL_AHB2_GRP1_DisableClock\n - * AHB2ENR AESEN LL_AHB2_GRP1_DisableClock\n - * AHB2ENR HASHEN LL_AHB2_GRP1_DisableClock\n - * AHB2ENR RNGEN LL_AHB2_GRP1_DisableClock\n - * AHB2ENR OTGFSEN LL_AHB2_GRP1_DisableClock - * @param Periphs This parameter can be a combination of the following values: - * @arg @ref LL_AHB2_GRP1_PERIPH_DCMI (*) - * @arg @ref LL_AHB2_GRP1_PERIPH_CRYP (*) - * @arg @ref LL_AHB2_GRP1_PERIPH_AES (*) - * @arg @ref LL_AHB2_GRP1_PERIPH_HASH (*) - * @arg @ref LL_AHB2_GRP1_PERIPH_RNG (*) - * @arg @ref LL_AHB2_GRP1_PERIPH_OTGFS (*) - * - * (*) value not defined in all devices. - * @retval None -*/ -__STATIC_INLINE void LL_AHB2_GRP1_DisableClock(uint32_t Periphs) -{ - CLEAR_BIT(RCC->AHB2ENR, Periphs); -} - -/** - * @brief Force AHB2 peripherals reset. - * @rmtoll AHB2RSTR DCMIRST LL_AHB2_GRP1_ForceReset\n - * AHB2RSTR CRYPRST LL_AHB2_GRP1_ForceReset\n - * AHB2RSTR AESRST LL_AHB2_GRP1_ForceReset\n - * AHB2RSTR HASHRST LL_AHB2_GRP1_ForceReset\n - * AHB2RSTR RNGRST LL_AHB2_GRP1_ForceReset\n - * AHB2RSTR OTGFSRST LL_AHB2_GRP1_ForceReset - * @param Periphs This parameter can be a combination of the following values: - * @arg @ref LL_AHB2_GRP1_PERIPH_ALL - * @arg @ref LL_AHB2_GRP1_PERIPH_DCMI (*) - * @arg @ref LL_AHB2_GRP1_PERIPH_CRYP (*) - * @arg @ref LL_AHB2_GRP1_PERIPH_AES (*) - * @arg @ref LL_AHB2_GRP1_PERIPH_HASH (*) - * @arg @ref LL_AHB2_GRP1_PERIPH_RNG (*) - * @arg @ref LL_AHB2_GRP1_PERIPH_OTGFS (*) - * - * (*) value not defined in all devices. - * @retval None -*/ -__STATIC_INLINE void LL_AHB2_GRP1_ForceReset(uint32_t Periphs) -{ - SET_BIT(RCC->AHB2RSTR, Periphs); -} - -/** - * @brief Release AHB2 peripherals reset. - * @rmtoll AHB2RSTR DCMIRST LL_AHB2_GRP1_ReleaseReset\n - * AHB2RSTR CRYPRST LL_AHB2_GRP1_ReleaseReset\n - * AHB2RSTR AESRST LL_AHB2_GRP1_ReleaseReset\n - * AHB2RSTR HASHRST LL_AHB2_GRP1_ReleaseReset\n - * AHB2RSTR RNGRST LL_AHB2_GRP1_ReleaseReset\n - * AHB2RSTR OTGFSRST LL_AHB2_GRP1_ReleaseReset - * @param Periphs This parameter can be a combination of the following values: - * @arg @ref LL_AHB2_GRP1_PERIPH_ALL - * @arg @ref LL_AHB2_GRP1_PERIPH_DCMI (*) - * @arg @ref LL_AHB2_GRP1_PERIPH_CRYP (*) - * @arg @ref LL_AHB2_GRP1_PERIPH_AES (*) - * @arg @ref LL_AHB2_GRP1_PERIPH_HASH (*) - * @arg @ref LL_AHB2_GRP1_PERIPH_RNG (*) - * @arg @ref LL_AHB2_GRP1_PERIPH_OTGFS (*) - * - * (*) value not defined in all devices. - * @retval None -*/ -__STATIC_INLINE void LL_AHB2_GRP1_ReleaseReset(uint32_t Periphs) -{ - CLEAR_BIT(RCC->AHB2RSTR, Periphs); -} - -/** - * @brief Enable AHB2 peripheral clocks in low-power mode - * @rmtoll AHB2LPENR DCMILPEN LL_AHB2_GRP1_EnableClockLowPower\n - * AHB2LPENR CRYPLPEN LL_AHB2_GRP1_EnableClockLowPower\n - * AHB2LPENR AESLPEN LL_AHB2_GRP1_EnableClockLowPower\n - * AHB2LPENR HASHLPEN LL_AHB2_GRP1_EnableClockLowPower\n - * AHB2LPENR RNGLPEN LL_AHB2_GRP1_EnableClockLowPower\n - * AHB2LPENR OTGFSLPEN LL_AHB2_GRP1_EnableClockLowPower - * @param Periphs This parameter can be a combination of the following values: - * @arg @ref LL_AHB2_GRP1_PERIPH_DCMI (*) - * @arg @ref LL_AHB2_GRP1_PERIPH_CRYP (*) - * @arg @ref LL_AHB2_GRP1_PERIPH_AES (*) - * @arg @ref LL_AHB2_GRP1_PERIPH_HASH (*) - * @arg @ref LL_AHB2_GRP1_PERIPH_RNG (*) - * @arg @ref LL_AHB2_GRP1_PERIPH_OTGFS (*) - * - * (*) value not defined in all devices. - * @retval None -*/ -__STATIC_INLINE void LL_AHB2_GRP1_EnableClockLowPower(uint32_t Periphs) -{ - __IO uint32_t tmpreg; - SET_BIT(RCC->AHB2LPENR, Periphs); - /* Delay after an RCC peripheral clock enabling */ - tmpreg = READ_BIT(RCC->AHB2LPENR, Periphs); - (void)tmpreg; -} - -/** - * @brief Disable AHB2 peripheral clocks in low-power mode - * @rmtoll AHB2LPENR DCMILPEN LL_AHB2_GRP1_DisableClockLowPower\n - * AHB2LPENR CRYPLPEN LL_AHB2_GRP1_DisableClockLowPower\n - * AHB2LPENR AESLPEN LL_AHB2_GRP1_DisableClockLowPower\n - * AHB2LPENR HASHLPEN LL_AHB2_GRP1_DisableClockLowPower\n - * AHB2LPENR RNGLPEN LL_AHB2_GRP1_DisableClockLowPower\n - * AHB2LPENR OTGFSLPEN LL_AHB2_GRP1_DisableClockLowPower - * @param Periphs This parameter can be a combination of the following values: - * @arg @ref LL_AHB2_GRP1_PERIPH_DCMI (*) - * @arg @ref LL_AHB2_GRP1_PERIPH_CRYP (*) - * @arg @ref LL_AHB2_GRP1_PERIPH_AES (*) - * @arg @ref LL_AHB2_GRP1_PERIPH_HASH (*) - * @arg @ref LL_AHB2_GRP1_PERIPH_RNG (*) - * @arg @ref LL_AHB2_GRP1_PERIPH_OTGFS (*) - * - * (*) value not defined in all devices. - * @retval None -*/ -__STATIC_INLINE void LL_AHB2_GRP1_DisableClockLowPower(uint32_t Periphs) -{ - CLEAR_BIT(RCC->AHB2LPENR, Periphs); -} - -/** - * @} - */ -#endif /* RCC_AHB2_SUPPORT */ - -#if defined(RCC_AHB3_SUPPORT) -/** @defgroup BUS_LL_EF_AHB3 AHB3 - * @{ - */ - -/** - * @brief Enable AHB3 peripherals clock. - * @rmtoll AHB3ENR FMCEN LL_AHB3_GRP1_EnableClock\n - * AHB3ENR FSMCEN LL_AHB3_GRP1_EnableClock\n - * AHB3ENR QSPIEN LL_AHB3_GRP1_EnableClock - * @param Periphs This parameter can be a combination of the following values: - * @arg @ref LL_AHB3_GRP1_PERIPH_FMC (*) - * @arg @ref LL_AHB3_GRP1_PERIPH_FSMC (*) - * @arg @ref LL_AHB3_GRP1_PERIPH_QSPI (*) - * - * (*) value not defined in all devices. - * @retval None -*/ -__STATIC_INLINE void LL_AHB3_GRP1_EnableClock(uint32_t Periphs) -{ - __IO uint32_t tmpreg; - SET_BIT(RCC->AHB3ENR, Periphs); - /* Delay after an RCC peripheral clock enabling */ - tmpreg = READ_BIT(RCC->AHB3ENR, Periphs); - (void)tmpreg; -} - -/** - * @brief Check if AHB3 peripheral clock is enabled or not - * @rmtoll AHB3ENR FMCEN LL_AHB3_GRP1_IsEnabledClock\n - * AHB3ENR FSMCEN LL_AHB3_GRP1_IsEnabledClock\n - * AHB3ENR QSPIEN LL_AHB3_GRP1_IsEnabledClock - * @param Periphs This parameter can be a combination of the following values: - * @arg @ref LL_AHB3_GRP1_PERIPH_FMC (*) - * @arg @ref LL_AHB3_GRP1_PERIPH_FSMC (*) - * @arg @ref LL_AHB3_GRP1_PERIPH_QSPI (*) - * - * (*) value not defined in all devices. - * @retval State of Periphs (1 or 0). -*/ -__STATIC_INLINE uint32_t LL_AHB3_GRP1_IsEnabledClock(uint32_t Periphs) -{ - return (READ_BIT(RCC->AHB3ENR, Periphs) == Periphs); -} - -/** - * @brief Disable AHB3 peripherals clock. - * @rmtoll AHB3ENR FMCEN LL_AHB3_GRP1_DisableClock\n - * AHB3ENR FSMCEN LL_AHB3_GRP1_DisableClock\n - * AHB3ENR QSPIEN LL_AHB3_GRP1_DisableClock - * @param Periphs This parameter can be a combination of the following values: - * @arg @ref LL_AHB3_GRP1_PERIPH_FMC (*) - * @arg @ref LL_AHB3_GRP1_PERIPH_FSMC (*) - * @arg @ref LL_AHB3_GRP1_PERIPH_QSPI (*) - * - * (*) value not defined in all devices. - * @retval None -*/ -__STATIC_INLINE void LL_AHB3_GRP1_DisableClock(uint32_t Periphs) -{ - CLEAR_BIT(RCC->AHB3ENR, Periphs); -} - -/** - * @brief Force AHB3 peripherals reset. - * @rmtoll AHB3RSTR FMCRST LL_AHB3_GRP1_ForceReset\n - * AHB3RSTR FSMCRST LL_AHB3_GRP1_ForceReset\n - * AHB3RSTR QSPIRST LL_AHB3_GRP1_ForceReset - * @param Periphs This parameter can be a combination of the following values: - * @arg @ref LL_AHB3_GRP1_PERIPH_ALL - * @arg @ref LL_AHB3_GRP1_PERIPH_FMC (*) - * @arg @ref LL_AHB3_GRP1_PERIPH_FSMC (*) - * @arg @ref LL_AHB3_GRP1_PERIPH_QSPI (*) - * - * (*) value not defined in all devices. - * @retval None -*/ -__STATIC_INLINE void LL_AHB3_GRP1_ForceReset(uint32_t Periphs) -{ - SET_BIT(RCC->AHB3RSTR, Periphs); -} - -/** - * @brief Release AHB3 peripherals reset. - * @rmtoll AHB3RSTR FMCRST LL_AHB3_GRP1_ReleaseReset\n - * AHB3RSTR FSMCRST LL_AHB3_GRP1_ReleaseReset\n - * AHB3RSTR QSPIRST LL_AHB3_GRP1_ReleaseReset - * @param Periphs This parameter can be a combination of the following values: - * @arg @ref LL_AHB2_GRP1_PERIPH_ALL - * @arg @ref LL_AHB3_GRP1_PERIPH_FMC (*) - * @arg @ref LL_AHB3_GRP1_PERIPH_FSMC (*) - * @arg @ref LL_AHB3_GRP1_PERIPH_QSPI (*) - * - * (*) value not defined in all devices. - * @retval None -*/ -__STATIC_INLINE void LL_AHB3_GRP1_ReleaseReset(uint32_t Periphs) -{ - CLEAR_BIT(RCC->AHB3RSTR, Periphs); -} - -/** - * @brief Enable AHB3 peripheral clocks in low-power mode - * @rmtoll AHB3LPENR FMCLPEN LL_AHB3_GRP1_EnableClockLowPower\n - * AHB3LPENR FSMCLPEN LL_AHB3_GRP1_EnableClockLowPower\n - * AHB3LPENR QSPILPEN LL_AHB3_GRP1_EnableClockLowPower - * @param Periphs This parameter can be a combination of the following values: - * @arg @ref LL_AHB3_GRP1_PERIPH_FMC (*) - * @arg @ref LL_AHB3_GRP1_PERIPH_FSMC (*) - * @arg @ref LL_AHB3_GRP1_PERIPH_QSPI (*) - * - * (*) value not defined in all devices. - * @retval None -*/ -__STATIC_INLINE void LL_AHB3_GRP1_EnableClockLowPower(uint32_t Periphs) -{ - __IO uint32_t tmpreg; - SET_BIT(RCC->AHB3LPENR, Periphs); - /* Delay after an RCC peripheral clock enabling */ - tmpreg = READ_BIT(RCC->AHB3LPENR, Periphs); - (void)tmpreg; -} - -/** - * @brief Disable AHB3 peripheral clocks in low-power mode - * @rmtoll AHB3LPENR FMCLPEN LL_AHB3_GRP1_DisableClockLowPower\n - * AHB3LPENR FSMCLPEN LL_AHB3_GRP1_DisableClockLowPower\n - * AHB3LPENR QSPILPEN LL_AHB3_GRP1_DisableClockLowPower - * @param Periphs This parameter can be a combination of the following values: - * @arg @ref LL_AHB3_GRP1_PERIPH_FMC (*) - * @arg @ref LL_AHB3_GRP1_PERIPH_FSMC (*) - * @arg @ref LL_AHB3_GRP1_PERIPH_QSPI (*) - * - * (*) value not defined in all devices. - * @retval None -*/ -__STATIC_INLINE void LL_AHB3_GRP1_DisableClockLowPower(uint32_t Periphs) -{ - CLEAR_BIT(RCC->AHB3LPENR, Periphs); -} - -/** - * @} - */ -#endif /* RCC_AHB3_SUPPORT */ - -/** @defgroup BUS_LL_EF_APB1 APB1 - * @{ - */ - -/** - * @brief Enable APB1 peripherals clock. - * @rmtoll APB1ENR TIM2EN LL_APB1_GRP1_EnableClock\n - * APB1ENR TIM3EN LL_APB1_GRP1_EnableClock\n - * APB1ENR TIM4EN LL_APB1_GRP1_EnableClock\n - * APB1ENR TIM5EN LL_APB1_GRP1_EnableClock\n - * APB1ENR TIM6EN LL_APB1_GRP1_EnableClock\n - * APB1ENR TIM7EN LL_APB1_GRP1_EnableClock\n - * APB1ENR TIM12EN LL_APB1_GRP1_EnableClock\n - * APB1ENR TIM13EN LL_APB1_GRP1_EnableClock\n - * APB1ENR TIM14EN LL_APB1_GRP1_EnableClock\n - * APB1ENR LPTIM1EN LL_APB1_GRP1_EnableClock\n - * APB1ENR WWDGEN LL_APB1_GRP1_EnableClock\n - * APB1ENR SPI2EN LL_APB1_GRP1_EnableClock\n - * APB1ENR SPI3EN LL_APB1_GRP1_EnableClock\n - * APB1ENR SPDIFRXEN LL_APB1_GRP1_EnableClock\n - * APB1ENR USART2EN LL_APB1_GRP1_EnableClock\n - * APB1ENR USART3EN LL_APB1_GRP1_EnableClock\n - * APB1ENR UART4EN LL_APB1_GRP1_EnableClock\n - * APB1ENR UART5EN LL_APB1_GRP1_EnableClock\n - * APB1ENR I2C1EN LL_APB1_GRP1_EnableClock\n - * APB1ENR I2C2EN LL_APB1_GRP1_EnableClock\n - * APB1ENR I2C3EN LL_APB1_GRP1_EnableClock\n - * APB1ENR FMPI2C1EN LL_APB1_GRP1_EnableClock\n - * APB1ENR CAN1EN LL_APB1_GRP1_EnableClock\n - * APB1ENR CAN2EN LL_APB1_GRP1_EnableClock\n - * APB1ENR CAN3EN LL_APB1_GRP1_EnableClock\n - * APB1ENR CECEN LL_APB1_GRP1_EnableClock\n - * APB1ENR PWREN LL_APB1_GRP1_EnableClock\n - * APB1ENR DACEN LL_APB1_GRP1_EnableClock\n - * APB1ENR UART7EN LL_APB1_GRP1_EnableClock\n - * APB1ENR UART8EN LL_APB1_GRP1_EnableClock\n - * APB1ENR RTCAPBEN LL_APB1_GRP1_EnableClock - * @param Periphs This parameter can be a combination of the following values: - * @arg @ref LL_APB1_GRP1_PERIPH_TIM2 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_TIM3 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_TIM4 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_TIM5 - * @arg @ref LL_APB1_GRP1_PERIPH_TIM6 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_TIM7 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_TIM12 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_TIM13 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_TIM14 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_LPTIM1 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_WWDG - * @arg @ref LL_APB1_GRP1_PERIPH_SPI2 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_SPI3 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_SPDIFRX (*) - * @arg @ref LL_APB1_GRP1_PERIPH_USART2 - * @arg @ref LL_APB1_GRP1_PERIPH_USART3 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_UART4 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_UART5 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_I2C1 - * @arg @ref LL_APB1_GRP1_PERIPH_I2C2 - * @arg @ref LL_APB1_GRP1_PERIPH_I2C3 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_FMPI2C1 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_CAN1 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_CAN2 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_CAN3 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_CEC (*) - * @arg @ref LL_APB1_GRP1_PERIPH_PWR - * @arg @ref LL_APB1_GRP1_PERIPH_DAC1 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_UART7 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_UART8 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_RTCAPB (*) - * - * (*) value not defined in all devices. - * @retval None -*/ -__STATIC_INLINE void LL_APB1_GRP1_EnableClock(uint32_t Periphs) -{ - __IO uint32_t tmpreg; - SET_BIT(RCC->APB1ENR, Periphs); - /* Delay after an RCC peripheral clock enabling */ - tmpreg = READ_BIT(RCC->APB1ENR, Periphs); - (void)tmpreg; -} - -/** - * @brief Check if APB1 peripheral clock is enabled or not - * @rmtoll APB1ENR TIM2EN LL_APB1_GRP1_IsEnabledClock\n - * APB1ENR TIM3EN LL_APB1_GRP1_IsEnabledClock\n - * APB1ENR TIM4EN LL_APB1_GRP1_IsEnabledClock\n - * APB1ENR TIM5EN LL_APB1_GRP1_IsEnabledClock\n - * APB1ENR TIM6EN LL_APB1_GRP1_IsEnabledClock\n - * APB1ENR TIM7EN LL_APB1_GRP1_IsEnabledClock\n - * APB1ENR TIM12EN LL_APB1_GRP1_IsEnabledClock\n - * APB1ENR TIM13EN LL_APB1_GRP1_IsEnabledClock\n - * APB1ENR TIM14EN LL_APB1_GRP1_IsEnabledClock\n - * APB1ENR LPTIM1EN LL_APB1_GRP1_IsEnabledClock\n - * APB1ENR WWDGEN LL_APB1_GRP1_IsEnabledClock\n - * APB1ENR SPI2EN LL_APB1_GRP1_IsEnabledClock\n - * APB1ENR SPI3EN LL_APB1_GRP1_IsEnabledClock\n - * APB1ENR SPDIFRXEN LL_APB1_GRP1_IsEnabledClock\n - * APB1ENR USART2EN LL_APB1_GRP1_IsEnabledClock\n - * APB1ENR USART3EN LL_APB1_GRP1_IsEnabledClock\n - * APB1ENR UART4EN LL_APB1_GRP1_IsEnabledClock\n - * APB1ENR UART5EN LL_APB1_GRP1_IsEnabledClock\n - * APB1ENR I2C1EN LL_APB1_GRP1_IsEnabledClock\n - * APB1ENR I2C2EN LL_APB1_GRP1_IsEnabledClock\n - * APB1ENR I2C3EN LL_APB1_GRP1_IsEnabledClock\n - * APB1ENR FMPI2C1EN LL_APB1_GRP1_IsEnabledClock\n - * APB1ENR CAN1EN LL_APB1_GRP1_IsEnabledClock\n - * APB1ENR CAN2EN LL_APB1_GRP1_IsEnabledClock\n - * APB1ENR CAN3EN LL_APB1_GRP1_IsEnabledClock\n - * APB1ENR CECEN LL_APB1_GRP1_IsEnabledClock\n - * APB1ENR PWREN LL_APB1_GRP1_IsEnabledClock\n - * APB1ENR DACEN LL_APB1_GRP1_IsEnabledClock\n - * APB1ENR UART7EN LL_APB1_GRP1_IsEnabledClock\n - * APB1ENR UART8EN LL_APB1_GRP1_IsEnabledClock\n - * APB1ENR RTCAPBEN LL_APB1_GRP1_IsEnabledClock - * @param Periphs This parameter can be a combination of the following values: - * @arg @ref LL_APB1_GRP1_PERIPH_TIM2 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_TIM3 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_TIM4 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_TIM5 - * @arg @ref LL_APB1_GRP1_PERIPH_TIM6 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_TIM7 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_TIM12 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_TIM13 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_TIM14 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_LPTIM1 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_WWDG - * @arg @ref LL_APB1_GRP1_PERIPH_SPI2 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_SPI3 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_SPDIFRX (*) - * @arg @ref LL_APB1_GRP1_PERIPH_USART2 - * @arg @ref LL_APB1_GRP1_PERIPH_USART3 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_UART4 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_UART5 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_I2C1 - * @arg @ref LL_APB1_GRP1_PERIPH_I2C2 - * @arg @ref LL_APB1_GRP1_PERIPH_I2C3 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_FMPI2C1 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_CAN1 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_CAN2 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_CAN3 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_CEC (*) - * @arg @ref LL_APB1_GRP1_PERIPH_PWR - * @arg @ref LL_APB1_GRP1_PERIPH_DAC1 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_UART7 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_UART8 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_RTCAPB (*) - * - * (*) value not defined in all devices. - * @retval State of Periphs (1 or 0). -*/ -__STATIC_INLINE uint32_t LL_APB1_GRP1_IsEnabledClock(uint32_t Periphs) -{ - return (READ_BIT(RCC->APB1ENR, Periphs) == Periphs); -} - -/** - * @brief Disable APB1 peripherals clock. - * @rmtoll APB1ENR TIM2EN LL_APB1_GRP1_DisableClock\n - * APB1ENR TIM3EN LL_APB1_GRP1_DisableClock\n - * APB1ENR TIM4EN LL_APB1_GRP1_DisableClock\n - * APB1ENR TIM5EN LL_APB1_GRP1_DisableClock\n - * APB1ENR TIM6EN LL_APB1_GRP1_DisableClock\n - * APB1ENR TIM7EN LL_APB1_GRP1_DisableClock\n - * APB1ENR TIM12EN LL_APB1_GRP1_DisableClock\n - * APB1ENR TIM13EN LL_APB1_GRP1_DisableClock\n - * APB1ENR TIM14EN LL_APB1_GRP1_DisableClock\n - * APB1ENR LPTIM1EN LL_APB1_GRP1_DisableClock\n - * APB1ENR WWDGEN LL_APB1_GRP1_DisableClock\n - * APB1ENR SPI2EN LL_APB1_GRP1_DisableClock\n - * APB1ENR SPI3EN LL_APB1_GRP1_DisableClock\n - * APB1ENR SPDIFRXEN LL_APB1_GRP1_DisableClock\n - * APB1ENR USART2EN LL_APB1_GRP1_DisableClock\n - * APB1ENR USART3EN LL_APB1_GRP1_DisableClock\n - * APB1ENR UART4EN LL_APB1_GRP1_DisableClock\n - * APB1ENR UART5EN LL_APB1_GRP1_DisableClock\n - * APB1ENR I2C1EN LL_APB1_GRP1_DisableClock\n - * APB1ENR I2C2EN LL_APB1_GRP1_DisableClock\n - * APB1ENR I2C3EN LL_APB1_GRP1_DisableClock\n - * APB1ENR FMPI2C1EN LL_APB1_GRP1_DisableClock\n - * APB1ENR CAN1EN LL_APB1_GRP1_DisableClock\n - * APB1ENR CAN2EN LL_APB1_GRP1_DisableClock\n - * APB1ENR CAN3EN LL_APB1_GRP1_DisableClock\n - * APB1ENR CECEN LL_APB1_GRP1_DisableClock\n - * APB1ENR PWREN LL_APB1_GRP1_DisableClock\n - * APB1ENR DACEN LL_APB1_GRP1_DisableClock\n - * APB1ENR UART7EN LL_APB1_GRP1_DisableClock\n - * APB1ENR UART8EN LL_APB1_GRP1_DisableClock\n - * APB1ENR RTCAPBEN LL_APB1_GRP1_DisableClock - * @param Periphs This parameter can be a combination of the following values: - * @arg @ref LL_APB1_GRP1_PERIPH_TIM2 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_TIM3 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_TIM4 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_TIM5 - * @arg @ref LL_APB1_GRP1_PERIPH_TIM6 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_TIM7 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_TIM12 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_TIM13 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_TIM14 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_LPTIM1 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_WWDG - * @arg @ref LL_APB1_GRP1_PERIPH_SPI2 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_SPI3 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_SPDIFRX (*) - * @arg @ref LL_APB1_GRP1_PERIPH_USART2 - * @arg @ref LL_APB1_GRP1_PERIPH_USART3 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_UART4 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_UART5 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_I2C1 - * @arg @ref LL_APB1_GRP1_PERIPH_I2C2 - * @arg @ref LL_APB1_GRP1_PERIPH_I2C3 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_FMPI2C1 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_CAN1 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_CAN2 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_CAN3 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_CEC (*) - * @arg @ref LL_APB1_GRP1_PERIPH_PWR - * @arg @ref LL_APB1_GRP1_PERIPH_DAC1 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_UART7 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_UART8 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_RTCAPB (*) - * - * (*) value not defined in all devices. - * @retval None -*/ -__STATIC_INLINE void LL_APB1_GRP1_DisableClock(uint32_t Periphs) -{ - CLEAR_BIT(RCC->APB1ENR, Periphs); -} - -/** - * @brief Force APB1 peripherals reset. - * @rmtoll APB1RSTR TIM2RST LL_APB1_GRP1_ForceReset\n - * APB1RSTR TIM3RST LL_APB1_GRP1_ForceReset\n - * APB1RSTR TIM4RST LL_APB1_GRP1_ForceReset\n - * APB1RSTR TIM5RST LL_APB1_GRP1_ForceReset\n - * APB1RSTR TIM6RST LL_APB1_GRP1_ForceReset\n - * APB1RSTR TIM7RST LL_APB1_GRP1_ForceReset\n - * APB1RSTR TIM12RST LL_APB1_GRP1_ForceReset\n - * APB1RSTR TIM13RST LL_APB1_GRP1_ForceReset\n - * APB1RSTR TIM14RST LL_APB1_GRP1_ForceReset\n - * APB1RSTR LPTIM1RST LL_APB1_GRP1_ForceReset\n - * APB1RSTR WWDGRST LL_APB1_GRP1_ForceReset\n - * APB1RSTR SPI2RST LL_APB1_GRP1_ForceReset\n - * APB1RSTR SPI3RST LL_APB1_GRP1_ForceReset\n - * APB1RSTR SPDIFRXRST LL_APB1_GRP1_ForceReset\n - * APB1RSTR USART2RST LL_APB1_GRP1_ForceReset\n - * APB1RSTR USART3RST LL_APB1_GRP1_ForceReset\n - * APB1RSTR UART4RST LL_APB1_GRP1_ForceReset\n - * APB1RSTR UART5RST LL_APB1_GRP1_ForceReset\n - * APB1RSTR I2C1RST LL_APB1_GRP1_ForceReset\n - * APB1RSTR I2C2RST LL_APB1_GRP1_ForceReset\n - * APB1RSTR I2C3RST LL_APB1_GRP1_ForceReset\n - * APB1RSTR FMPI2C1RST LL_APB1_GRP1_ForceReset\n - * APB1RSTR CAN1RST LL_APB1_GRP1_ForceReset\n - * APB1RSTR CAN2RST LL_APB1_GRP1_ForceReset\n - * APB1RSTR CAN3RST LL_APB1_GRP1_ForceReset\n - * APB1RSTR CECRST LL_APB1_GRP1_ForceReset\n - * APB1RSTR PWRRST LL_APB1_GRP1_ForceReset\n - * APB1RSTR DACRST LL_APB1_GRP1_ForceReset\n - * APB1RSTR UART7RST LL_APB1_GRP1_ForceReset\n - * APB1RSTR UART8RST LL_APB1_GRP1_ForceReset - * @param Periphs This parameter can be a combination of the following values: - * @arg @ref LL_APB1_GRP1_PERIPH_TIM2 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_TIM3 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_TIM4 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_TIM5 - * @arg @ref LL_APB1_GRP1_PERIPH_TIM6 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_TIM7 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_TIM12 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_TIM13 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_TIM14 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_LPTIM1 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_WWDG - * @arg @ref LL_APB1_GRP1_PERIPH_SPI2 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_SPI3 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_SPDIFRX (*) - * @arg @ref LL_APB1_GRP1_PERIPH_USART2 - * @arg @ref LL_APB1_GRP1_PERIPH_USART3 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_UART4 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_UART5 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_I2C1 - * @arg @ref LL_APB1_GRP1_PERIPH_I2C2 - * @arg @ref LL_APB1_GRP1_PERIPH_I2C3 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_FMPI2C1 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_CAN1 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_CAN2 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_CAN3 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_CEC (*) - * @arg @ref LL_APB1_GRP1_PERIPH_PWR - * @arg @ref LL_APB1_GRP1_PERIPH_DAC1 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_UART7 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_UART8 (*) - * - * (*) value not defined in all devices. - * @retval None -*/ -__STATIC_INLINE void LL_APB1_GRP1_ForceReset(uint32_t Periphs) -{ - SET_BIT(RCC->APB1RSTR, Periphs); -} - -/** - * @brief Release APB1 peripherals reset. - * @rmtoll APB1RSTR TIM2RST LL_APB1_GRP1_ReleaseReset\n - * APB1RSTR TIM3RST LL_APB1_GRP1_ReleaseReset\n - * APB1RSTR TIM4RST LL_APB1_GRP1_ReleaseReset\n - * APB1RSTR TIM5RST LL_APB1_GRP1_ReleaseReset\n - * APB1RSTR TIM6RST LL_APB1_GRP1_ReleaseReset\n - * APB1RSTR TIM7RST LL_APB1_GRP1_ReleaseReset\n - * APB1RSTR TIM12RST LL_APB1_GRP1_ReleaseReset\n - * APB1RSTR TIM13RST LL_APB1_GRP1_ReleaseReset\n - * APB1RSTR TIM14RST LL_APB1_GRP1_ReleaseReset\n - * APB1RSTR LPTIM1RST LL_APB1_GRP1_ReleaseReset\n - * APB1RSTR WWDGRST LL_APB1_GRP1_ReleaseReset\n - * APB1RSTR SPI2RST LL_APB1_GRP1_ReleaseReset\n - * APB1RSTR SPI3RST LL_APB1_GRP1_ReleaseReset\n - * APB1RSTR SPDIFRXRST LL_APB1_GRP1_ReleaseReset\n - * APB1RSTR USART2RST LL_APB1_GRP1_ReleaseReset\n - * APB1RSTR USART3RST LL_APB1_GRP1_ReleaseReset\n - * APB1RSTR UART4RST LL_APB1_GRP1_ReleaseReset\n - * APB1RSTR UART5RST LL_APB1_GRP1_ReleaseReset\n - * APB1RSTR I2C1RST LL_APB1_GRP1_ReleaseReset\n - * APB1RSTR I2C2RST LL_APB1_GRP1_ReleaseReset\n - * APB1RSTR I2C3RST LL_APB1_GRP1_ReleaseReset\n - * APB1RSTR FMPI2C1RST LL_APB1_GRP1_ReleaseReset\n - * APB1RSTR CAN1RST LL_APB1_GRP1_ReleaseReset\n - * APB1RSTR CAN2RST LL_APB1_GRP1_ReleaseReset\n - * APB1RSTR CAN3RST LL_APB1_GRP1_ReleaseReset\n - * APB1RSTR CECRST LL_APB1_GRP1_ReleaseReset\n - * APB1RSTR PWRRST LL_APB1_GRP1_ReleaseReset\n - * APB1RSTR DACRST LL_APB1_GRP1_ReleaseReset\n - * APB1RSTR UART7RST LL_APB1_GRP1_ReleaseReset\n - * APB1RSTR UART8RST LL_APB1_GRP1_ReleaseReset - * @param Periphs This parameter can be a combination of the following values: - * @arg @ref LL_APB1_GRP1_PERIPH_TIM2 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_TIM3 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_TIM4 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_TIM5 - * @arg @ref LL_APB1_GRP1_PERIPH_TIM6 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_TIM7 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_TIM12 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_TIM13 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_TIM14 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_LPTIM1 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_WWDG - * @arg @ref LL_APB1_GRP1_PERIPH_SPI2 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_SPI3 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_SPDIFRX (*) - * @arg @ref LL_APB1_GRP1_PERIPH_USART2 - * @arg @ref LL_APB1_GRP1_PERIPH_USART3 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_UART4 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_UART5 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_I2C1 - * @arg @ref LL_APB1_GRP1_PERIPH_I2C2 - * @arg @ref LL_APB1_GRP1_PERIPH_I2C3 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_FMPI2C1 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_CAN1 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_CAN2 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_CAN3 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_CEC (*) - * @arg @ref LL_APB1_GRP1_PERIPH_PWR - * @arg @ref LL_APB1_GRP1_PERIPH_DAC1 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_UART7 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_UART8 (*) - * - * (*) value not defined in all devices. - * @retval None -*/ -__STATIC_INLINE void LL_APB1_GRP1_ReleaseReset(uint32_t Periphs) -{ - CLEAR_BIT(RCC->APB1RSTR, Periphs); -} - -/** - * @brief Enable APB1 peripheral clocks in low-power mode - * @rmtoll APB1LPENR TIM2LPEN LL_APB1_GRP1_EnableClockLowPower\n - * APB1LPENR TIM3LPEN LL_APB1_GRP1_EnableClockLowPower\n - * APB1LPENR TIM4LPEN LL_APB1_GRP1_EnableClockLowPower\n - * APB1LPENR TIM5LPEN LL_APB1_GRP1_EnableClockLowPower\n - * APB1LPENR TIM6LPEN LL_APB1_GRP1_EnableClockLowPower\n - * APB1LPENR TIM7LPEN LL_APB1_GRP1_EnableClockLowPower\n - * APB1LPENR TIM12LPEN LL_APB1_GRP1_EnableClockLowPower\n - * APB1LPENR TIM13LPEN LL_APB1_GRP1_EnableClockLowPower\n - * APB1LPENR TIM14LPEN LL_APB1_GRP1_EnableClockLowPower\n - * APB1LPENR LPTIM1LPEN LL_APB1_GRP1_EnableClockLowPower\n - * APB1LPENR WWDGLPEN LL_APB1_GRP1_EnableClockLowPower\n - * APB1LPENR SPI2LPEN LL_APB1_GRP1_EnableClockLowPower\n - * APB1LPENR SPI3LPEN LL_APB1_GRP1_EnableClockLowPower\n - * APB1LPENR SPDIFRXLPEN LL_APB1_GRP1_EnableClockLowPower\n - * APB1LPENR USART2LPEN LL_APB1_GRP1_EnableClockLowPower\n - * APB1LPENR USART3LPEN LL_APB1_GRP1_EnableClockLowPower\n - * APB1LPENR UART4LPEN LL_APB1_GRP1_EnableClockLowPower\n - * APB1LPENR UART5LPEN LL_APB1_GRP1_EnableClockLowPower\n - * APB1LPENR I2C1LPEN LL_APB1_GRP1_EnableClockLowPower\n - * APB1LPENR I2C2LPEN LL_APB1_GRP1_EnableClockLowPower\n - * APB1LPENR I2C3LPEN LL_APB1_GRP1_EnableClockLowPower\n - * APB1LPENR FMPI2C1LPEN LL_APB1_GRP1_EnableClockLowPower\n - * APB1LPENR CAN1LPEN LL_APB1_GRP1_EnableClockLowPower\n - * APB1LPENR CAN2LPEN LL_APB1_GRP1_EnableClockLowPower\n - * APB1LPENR CAN3LPEN LL_APB1_GRP1_EnableClockLowPower\n - * APB1LPENR CECLPEN LL_APB1_GRP1_EnableClockLowPower\n - * APB1LPENR PWRLPEN LL_APB1_GRP1_EnableClockLowPower\n - * APB1LPENR DACLPEN LL_APB1_GRP1_EnableClockLowPower\n - * APB1LPENR UART7LPEN LL_APB1_GRP1_EnableClockLowPower\n - * APB1LPENR UART8LPEN LL_APB1_GRP1_EnableClockLowPower\n - * APB1LPENR RTCAPBLPEN LL_APB1_GRP1_EnableClockLowPower - * @param Periphs This parameter can be a combination of the following values: - * @arg @ref LL_APB1_GRP1_PERIPH_TIM2 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_TIM3 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_TIM4 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_TIM5 - * @arg @ref LL_APB1_GRP1_PERIPH_TIM6 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_TIM7 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_TIM12 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_TIM13 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_TIM14 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_LPTIM1 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_WWDG - * @arg @ref LL_APB1_GRP1_PERIPH_SPI2 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_SPI3 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_SPDIFRX (*) - * @arg @ref LL_APB1_GRP1_PERIPH_USART2 - * @arg @ref LL_APB1_GRP1_PERIPH_USART3 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_UART4 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_UART5 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_I2C1 - * @arg @ref LL_APB1_GRP1_PERIPH_I2C2 - * @arg @ref LL_APB1_GRP1_PERIPH_I2C3 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_FMPI2C1 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_CAN1 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_CAN2 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_CAN3 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_CEC (*) - * @arg @ref LL_APB1_GRP1_PERIPH_PWR - * @arg @ref LL_APB1_GRP1_PERIPH_DAC1 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_UART7 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_UART8 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_RTCAPB (*) - * - * (*) value not defined in all devices. - * @retval None -*/ -__STATIC_INLINE void LL_APB1_GRP1_EnableClockLowPower(uint32_t Periphs) -{ - __IO uint32_t tmpreg; - SET_BIT(RCC->APB1LPENR, Periphs); - /* Delay after an RCC peripheral clock enabling */ - tmpreg = READ_BIT(RCC->APB1LPENR, Periphs); - (void)tmpreg; -} - -/** - * @brief Disable APB1 peripheral clocks in low-power mode - * @rmtoll APB1LPENR TIM2LPEN LL_APB1_GRP1_DisableClockLowPower\n - * APB1LPENR TIM3LPEN LL_APB1_GRP1_DisableClockLowPower\n - * APB1LPENR TIM4LPEN LL_APB1_GRP1_DisableClockLowPower\n - * APB1LPENR TIM5LPEN LL_APB1_GRP1_DisableClockLowPower\n - * APB1LPENR TIM6LPEN LL_APB1_GRP1_DisableClockLowPower\n - * APB1LPENR TIM7LPEN LL_APB1_GRP1_DisableClockLowPower\n - * APB1LPENR TIM12LPEN LL_APB1_GRP1_DisableClockLowPower\n - * APB1LPENR TIM13LPEN LL_APB1_GRP1_DisableClockLowPower\n - * APB1LPENR TIM14LPEN LL_APB1_GRP1_DisableClockLowPower\n - * APB1LPENR LPTIM1LPEN LL_APB1_GRP1_DisableClockLowPower\n - * APB1LPENR WWDGLPEN LL_APB1_GRP1_DisableClockLowPower\n - * APB1LPENR SPI2LPEN LL_APB1_GRP1_DisableClockLowPower\n - * APB1LPENR SPI3LPEN LL_APB1_GRP1_DisableClockLowPower\n - * APB1LPENR SPDIFRXLPEN LL_APB1_GRP1_DisableClockLowPower\n - * APB1LPENR USART2LPEN LL_APB1_GRP1_DisableClockLowPower\n - * APB1LPENR USART3LPEN LL_APB1_GRP1_DisableClockLowPower\n - * APB1LPENR UART4LPEN LL_APB1_GRP1_DisableClockLowPower\n - * APB1LPENR UART5LPEN LL_APB1_GRP1_DisableClockLowPower\n - * APB1LPENR I2C1LPEN LL_APB1_GRP1_DisableClockLowPower\n - * APB1LPENR I2C2LPEN LL_APB1_GRP1_DisableClockLowPower\n - * APB1LPENR I2C3LPEN LL_APB1_GRP1_DisableClockLowPower\n - * APB1LPENR FMPI2C1LPEN LL_APB1_GRP1_DisableClockLowPower\n - * APB1LPENR CAN1LPEN LL_APB1_GRP1_DisableClockLowPower\n - * APB1LPENR CAN2LPEN LL_APB1_GRP1_DisableClockLowPower\n - * APB1LPENR CAN3LPEN LL_APB1_GRP1_DisableClockLowPower\n - * APB1LPENR CECLPEN LL_APB1_GRP1_DisableClockLowPower\n - * APB1LPENR PWRLPEN LL_APB1_GRP1_DisableClockLowPower\n - * APB1LPENR DACLPEN LL_APB1_GRP1_DisableClockLowPower\n - * APB1LPENR UART7LPEN LL_APB1_GRP1_DisableClockLowPower\n - * APB1LPENR UART8LPEN LL_APB1_GRP1_DisableClockLowPower\n - * APB1LPENR RTCAPBLPEN LL_APB1_GRP1_DisableClockLowPower - * @param Periphs This parameter can be a combination of the following values: - * @arg @ref LL_APB1_GRP1_PERIPH_TIM2 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_TIM3 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_TIM4 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_TIM5 - * @arg @ref LL_APB1_GRP1_PERIPH_TIM6 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_TIM7 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_TIM12 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_TIM13 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_TIM14 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_LPTIM1 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_WWDG - * @arg @ref LL_APB1_GRP1_PERIPH_SPI2 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_SPI3 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_SPDIFRX (*) - * @arg @ref LL_APB1_GRP1_PERIPH_USART2 - * @arg @ref LL_APB1_GRP1_PERIPH_USART3 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_UART4 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_UART5 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_I2C1 - * @arg @ref LL_APB1_GRP1_PERIPH_I2C2 - * @arg @ref LL_APB1_GRP1_PERIPH_I2C3 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_FMPI2C1 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_CAN1 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_CAN2 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_CAN3 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_CEC (*) - * @arg @ref LL_APB1_GRP1_PERIPH_PWR - * @arg @ref LL_APB1_GRP1_PERIPH_DAC1 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_UART7 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_UART8 (*) - * @arg @ref LL_APB1_GRP1_PERIPH_RTCAPB (*) - * - * (*) value not defined in all devices. - * @retval None -*/ -__STATIC_INLINE void LL_APB1_GRP1_DisableClockLowPower(uint32_t Periphs) -{ - CLEAR_BIT(RCC->APB1LPENR, Periphs); -} - -/** - * @} - */ - -/** @defgroup BUS_LL_EF_APB2 APB2 - * @{ - */ - -/** - * @brief Enable APB2 peripherals clock. - * @rmtoll APB2ENR TIM1EN LL_APB2_GRP1_EnableClock\n - * APB2ENR TIM8EN LL_APB2_GRP1_EnableClock\n - * APB2ENR USART1EN LL_APB2_GRP1_EnableClock\n - * APB2ENR USART6EN LL_APB2_GRP1_EnableClock\n - * APB2ENR UART9EN LL_APB2_GRP1_EnableClock\n - * APB2ENR UART10EN LL_APB2_GRP1_EnableClock\n - * APB2ENR ADC1EN LL_APB2_GRP1_EnableClock\n - * APB2ENR ADC2EN LL_APB2_GRP1_EnableClock\n - * APB2ENR ADC3EN LL_APB2_GRP1_EnableClock\n - * APB2ENR SDIOEN LL_APB2_GRP1_EnableClock\n - * APB2ENR SPI1EN LL_APB2_GRP1_EnableClock\n - * APB2ENR SPI4EN LL_APB2_GRP1_EnableClock\n - * APB2ENR SYSCFGEN LL_APB2_GRP1_EnableClock\n - * APB2ENR EXTITEN LL_APB2_GRP1_EnableClock\n - * APB2ENR TIM9EN LL_APB2_GRP1_EnableClock\n - * APB2ENR TIM10EN LL_APB2_GRP1_EnableClock\n - * APB2ENR TIM11EN LL_APB2_GRP1_EnableClock\n - * APB2ENR SPI5EN LL_APB2_GRP1_EnableClock\n - * APB2ENR SPI6EN LL_APB2_GRP1_EnableClock\n - * APB2ENR SAI1EN LL_APB2_GRP1_EnableClock\n - * APB2ENR SAI2EN LL_APB2_GRP1_EnableClock\n - * APB2ENR LTDCEN LL_APB2_GRP1_EnableClock\n - * APB2ENR DSIEN LL_APB2_GRP1_EnableClock\n - * APB2ENR DFSDM1EN LL_APB2_GRP1_EnableClock\n - * APB2ENR DFSDM2EN LL_APB2_GRP1_EnableClock - * @param Periphs This parameter can be a combination of the following values: - * @arg @ref LL_APB2_GRP1_PERIPH_TIM1 - * @arg @ref LL_APB2_GRP1_PERIPH_TIM8 (*) - * @arg @ref LL_APB2_GRP1_PERIPH_USART1 - * @arg @ref LL_APB2_GRP1_PERIPH_USART6 (*) - * @arg @ref LL_APB2_GRP1_PERIPH_UART9 (*) - * @arg @ref LL_APB2_GRP1_PERIPH_UART10 (*) - * @arg @ref LL_APB2_GRP1_PERIPH_ADC1 - * @arg @ref LL_APB2_GRP1_PERIPH_ADC2 (*) - * @arg @ref LL_APB2_GRP1_PERIPH_ADC3 (*) - * @arg @ref LL_APB2_GRP1_PERIPH_SDIO (*) - * @arg @ref LL_APB2_GRP1_PERIPH_SPI1 - * @arg @ref LL_APB2_GRP1_PERIPH_SPI4 (*) - * @arg @ref LL_APB2_GRP1_PERIPH_SYSCFG - * @arg @ref LL_APB2_GRP1_PERIPH_EXTI (*) - * @arg @ref LL_APB2_GRP1_PERIPH_TIM9 - * @arg @ref LL_APB2_GRP1_PERIPH_TIM10 (*) - * @arg @ref LL_APB2_GRP1_PERIPH_TIM11 - * @arg @ref LL_APB2_GRP1_PERIPH_SPI5 (*) - * @arg @ref LL_APB2_GRP1_PERIPH_SPI6 (*) - * @arg @ref LL_APB2_GRP1_PERIPH_SAI1 (*) - * @arg @ref LL_APB2_GRP1_PERIPH_SAI2 (*) - * @arg @ref LL_APB2_GRP1_PERIPH_LTDC (*) - * @arg @ref LL_APB2_GRP1_PERIPH_DSI (*) - * @arg @ref LL_APB2_GRP1_PERIPH_DFSDM1 (*) - * @arg @ref LL_APB2_GRP1_PERIPH_DFSDM2 (*) - - * - * (*) value not defined in all devices. - * @retval None -*/ -__STATIC_INLINE void LL_APB2_GRP1_EnableClock(uint32_t Periphs) -{ - __IO uint32_t tmpreg; - SET_BIT(RCC->APB2ENR, Periphs); - /* Delay after an RCC peripheral clock enabling */ - tmpreg = READ_BIT(RCC->APB2ENR, Periphs); - (void)tmpreg; -} - -/** - * @brief Check if APB2 peripheral clock is enabled or not - * @rmtoll APB2ENR TIM1EN LL_APB2_GRP1_IsEnabledClock\n - * APB2ENR TIM8EN LL_APB2_GRP1_IsEnabledClock\n - * APB2ENR USART1EN LL_APB2_GRP1_IsEnabledClock\n - * APB2ENR USART6EN LL_APB2_GRP1_IsEnabledClock\n - * APB2ENR UART9EN LL_APB2_GRP1_IsEnabledClock\n - * APB2ENR UART10EN LL_APB2_GRP1_IsEnabledClock\n - * APB2ENR ADC1EN LL_APB2_GRP1_IsEnabledClock\n - * APB2ENR ADC2EN LL_APB2_GRP1_IsEnabledClock\n - * APB2ENR ADC3EN LL_APB2_GRP1_IsEnabledClock\n - * APB2ENR SDIOEN LL_APB2_GRP1_IsEnabledClock\n - * APB2ENR SPI1EN LL_APB2_GRP1_IsEnabledClock\n - * APB2ENR SPI4EN LL_APB2_GRP1_IsEnabledClock\n - * APB2ENR SYSCFGEN LL_APB2_GRP1_IsEnabledClock\n - * APB2ENR EXTITEN LL_APB2_GRP1_IsEnabledClock\n - * APB2ENR TIM9EN LL_APB2_GRP1_IsEnabledClock\n - * APB2ENR TIM10EN LL_APB2_GRP1_IsEnabledClock\n - * APB2ENR TIM11EN LL_APB2_GRP1_IsEnabledClock\n - * APB2ENR SPI5EN LL_APB2_GRP1_IsEnabledClock\n - * APB2ENR SPI6EN LL_APB2_GRP1_IsEnabledClock\n - * APB2ENR SAI1EN LL_APB2_GRP1_IsEnabledClock\n - * APB2ENR SAI2EN LL_APB2_GRP1_IsEnabledClock\n - * APB2ENR LTDCEN LL_APB2_GRP1_IsEnabledClock\n - * APB2ENR DSIEN LL_APB2_GRP1_IsEnabledClock\n - * APB2ENR DFSDM1EN LL_APB2_GRP1_IsEnabledClock\n - * APB2ENR DFSDM2EN LL_APB2_GRP1_IsEnabledClock - * @param Periphs This parameter can be a combination of the following values: - * @arg @ref LL_APB2_GRP1_PERIPH_TIM1 - * @arg @ref LL_APB2_GRP1_PERIPH_TIM8 (*) - * @arg @ref LL_APB2_GRP1_PERIPH_USART1 - * @arg @ref LL_APB2_GRP1_PERIPH_USART6 (*) - * @arg @ref LL_APB2_GRP1_PERIPH_UART9 (*) - * @arg @ref LL_APB2_GRP1_PERIPH_UART10 (*) - * @arg @ref LL_APB2_GRP1_PERIPH_ADC1 - * @arg @ref LL_APB2_GRP1_PERIPH_ADC2 (*) - * @arg @ref LL_APB2_GRP1_PERIPH_ADC3 (*) - * @arg @ref LL_APB2_GRP1_PERIPH_SDIO (*) - * @arg @ref LL_APB2_GRP1_PERIPH_SPI1 - * @arg @ref LL_APB2_GRP1_PERIPH_SPI4 (*) - * @arg @ref LL_APB2_GRP1_PERIPH_SYSCFG - * @arg @ref LL_APB2_GRP1_PERIPH_EXTI (*) - * @arg @ref LL_APB2_GRP1_PERIPH_TIM9 - * @arg @ref LL_APB2_GRP1_PERIPH_TIM10 (*) - * @arg @ref LL_APB2_GRP1_PERIPH_TIM11 - * @arg @ref LL_APB2_GRP1_PERIPH_SPI5 (*) - * @arg @ref LL_APB2_GRP1_PERIPH_SPI6 (*) - * @arg @ref LL_APB2_GRP1_PERIPH_SAI1 (*) - * @arg @ref LL_APB2_GRP1_PERIPH_SAI2 (*) - * @arg @ref LL_APB2_GRP1_PERIPH_LTDC (*) - * @arg @ref LL_APB2_GRP1_PERIPH_DSI (*) - * @arg @ref LL_APB2_GRP1_PERIPH_DFSDM1 (*) - * @arg @ref LL_APB2_GRP1_PERIPH_DFSDM2 (*) - * - * (*) value not defined in all devices. - * @retval State of Periphs (1 or 0). -*/ -__STATIC_INLINE uint32_t LL_APB2_GRP1_IsEnabledClock(uint32_t Periphs) -{ - return (READ_BIT(RCC->APB2ENR, Periphs) == Periphs); -} - -/** - * @brief Disable APB2 peripherals clock. - * @rmtoll APB2ENR TIM1EN LL_APB2_GRP1_DisableClock\n - * APB2ENR TIM8EN LL_APB2_GRP1_DisableClock\n - * APB2ENR USART1EN LL_APB2_GRP1_DisableClock\n - * APB2ENR USART6EN LL_APB2_GRP1_DisableClock\n - * APB2ENR UART9EN LL_APB2_GRP1_DisableClock\n - * APB2ENR UART10EN LL_APB2_GRP1_DisableClock\n - * APB2ENR ADC1EN LL_APB2_GRP1_DisableClock\n - * APB2ENR ADC2EN LL_APB2_GRP1_DisableClock\n - * APB2ENR ADC3EN LL_APB2_GRP1_DisableClock\n - * APB2ENR SDIOEN LL_APB2_GRP1_DisableClock\n - * APB2ENR SPI1EN LL_APB2_GRP1_DisableClock\n - * APB2ENR SPI4EN LL_APB2_GRP1_DisableClock\n - * APB2ENR SYSCFGEN LL_APB2_GRP1_DisableClock\n - * APB2ENR EXTITEN LL_APB2_GRP1_DisableClock\n - * APB2ENR TIM9EN LL_APB2_GRP1_DisableClock\n - * APB2ENR TIM10EN LL_APB2_GRP1_DisableClock\n - * APB2ENR TIM11EN LL_APB2_GRP1_DisableClock\n - * APB2ENR SPI5EN LL_APB2_GRP1_DisableClock\n - * APB2ENR SPI6EN LL_APB2_GRP1_DisableClock\n - * APB2ENR SAI1EN LL_APB2_GRP1_DisableClock\n - * APB2ENR SAI2EN LL_APB2_GRP1_DisableClock\n - * APB2ENR LTDCEN LL_APB2_GRP1_DisableClock\n - * APB2ENR DSIEN LL_APB2_GRP1_DisableClock\n - * APB2ENR DFSDM1EN LL_APB2_GRP1_DisableClock\n - * APB2ENR DFSDM2EN LL_APB2_GRP1_DisableClock - * @param Periphs This parameter can be a combination of the following values: - * @arg @ref LL_APB2_GRP1_PERIPH_TIM1 - * @arg @ref LL_APB2_GRP1_PERIPH_TIM8 (*) - * @arg @ref LL_APB2_GRP1_PERIPH_USART1 - * @arg @ref LL_APB2_GRP1_PERIPH_USART6 (*) - * @arg @ref LL_APB2_GRP1_PERIPH_UART9 (*) - * @arg @ref LL_APB2_GRP1_PERIPH_UART10 (*) - * @arg @ref LL_APB2_GRP1_PERIPH_ADC1 - * @arg @ref LL_APB2_GRP1_PERIPH_ADC2 (*) - * @arg @ref LL_APB2_GRP1_PERIPH_ADC3 (*) - * @arg @ref LL_APB2_GRP1_PERIPH_SDIO (*) - * @arg @ref LL_APB2_GRP1_PERIPH_SPI1 - * @arg @ref LL_APB2_GRP1_PERIPH_SPI4 (*) - * @arg @ref LL_APB2_GRP1_PERIPH_SYSCFG - * @arg @ref LL_APB2_GRP1_PERIPH_EXTI (*) - * @arg @ref LL_APB2_GRP1_PERIPH_TIM9 - * @arg @ref LL_APB2_GRP1_PERIPH_TIM10 (*) - * @arg @ref LL_APB2_GRP1_PERIPH_TIM11 - * @arg @ref LL_APB2_GRP1_PERIPH_SPI5 (*) - * @arg @ref LL_APB2_GRP1_PERIPH_SPI6 (*) - * @arg @ref LL_APB2_GRP1_PERIPH_SAI1 (*) - * @arg @ref LL_APB2_GRP1_PERIPH_SAI2 (*) - * @arg @ref LL_APB2_GRP1_PERIPH_LTDC (*) - * @arg @ref LL_APB2_GRP1_PERIPH_DSI (*) - * @arg @ref LL_APB2_GRP1_PERIPH_DFSDM1 (*) - * @arg @ref LL_APB2_GRP1_PERIPH_DFSDM2 (*) - * - * (*) value not defined in all devices. - * @retval None -*/ -__STATIC_INLINE void LL_APB2_GRP1_DisableClock(uint32_t Periphs) -{ - CLEAR_BIT(RCC->APB2ENR, Periphs); -} - -/** - * @brief Force APB2 peripherals reset. - * @rmtoll APB2RSTR TIM1RST LL_APB2_GRP1_ForceReset\n - * APB2RSTR TIM8RST LL_APB2_GRP1_ForceReset\n - * APB2RSTR USART1RST LL_APB2_GRP1_ForceReset\n - * APB2RSTR USART6RST LL_APB2_GRP1_ForceReset\n - * APB2RSTR UART9RST LL_APB2_GRP1_ForceReset\n - * APB2RSTR UART10RST LL_APB2_GRP1_ForceReset\n - * APB2RSTR ADCRST LL_APB2_GRP1_ForceReset\n - * APB2RSTR SDIORST LL_APB2_GRP1_ForceReset\n - * APB2RSTR SPI1RST LL_APB2_GRP1_ForceReset\n - * APB2RSTR SPI4RST LL_APB2_GRP1_ForceReset\n - * APB2RSTR SYSCFGRST LL_APB2_GRP1_ForceReset\n - * APB2RSTR TIM9RST LL_APB2_GRP1_ForceReset\n - * APB2RSTR TIM10RST LL_APB2_GRP1_ForceReset\n - * APB2RSTR TIM11RST LL_APB2_GRP1_ForceReset\n - * APB2RSTR SPI5RST LL_APB2_GRP1_ForceReset\n - * APB2RSTR SPI6RST LL_APB2_GRP1_ForceReset\n - * APB2RSTR SAI1RST LL_APB2_GRP1_ForceReset\n - * APB2RSTR SAI2RST LL_APB2_GRP1_ForceReset\n - * APB2RSTR LTDCRST LL_APB2_GRP1_ForceReset\n - * APB2RSTR DSIRST LL_APB2_GRP1_ForceReset\n - * APB2RSTR DFSDM1RST LL_APB2_GRP1_ForceReset\n - * APB2RSTR DFSDM2RST LL_APB2_GRP1_ForceReset - * @param Periphs This parameter can be a combination of the following values: - * @arg @ref LL_APB2_GRP1_PERIPH_ALL - * @arg @ref LL_APB2_GRP1_PERIPH_TIM1 - * @arg @ref LL_APB2_GRP1_PERIPH_TIM8 (*) - * @arg @ref LL_APB2_GRP1_PERIPH_USART1 - * @arg @ref LL_APB2_GRP1_PERIPH_USART6 (*) - * @arg @ref LL_APB2_GRP1_PERIPH_UART9 (*) - * @arg @ref LL_APB2_GRP1_PERIPH_UART10 (*) - * @arg @ref LL_APB2_GRP1_PERIPH_ADC - * @arg @ref LL_APB2_GRP1_PERIPH_SDIO (*) - * @arg @ref LL_APB2_GRP1_PERIPH_SPI1 - * @arg @ref LL_APB2_GRP1_PERIPH_SPI4 (*) - * @arg @ref LL_APB2_GRP1_PERIPH_SYSCFG - * @arg @ref LL_APB2_GRP1_PERIPH_TIM9 - * @arg @ref LL_APB2_GRP1_PERIPH_TIM10 (*) - * @arg @ref LL_APB2_GRP1_PERIPH_TIM11 - * @arg @ref LL_APB2_GRP1_PERIPH_SPI5 (*) - * @arg @ref LL_APB2_GRP1_PERIPH_SPI6 (*) - * @arg @ref LL_APB2_GRP1_PERIPH_SAI1 (*) - * @arg @ref LL_APB2_GRP1_PERIPH_SAI2 (*) - * @arg @ref LL_APB2_GRP1_PERIPH_LTDC (*) - * @arg @ref LL_APB2_GRP1_PERIPH_DSI (*) - * @arg @ref LL_APB2_GRP1_PERIPH_DFSDM1 (*) - * @arg @ref LL_APB2_GRP1_PERIPH_DFSDM2 (*) - * - * (*) value not defined in all devices. - * @retval None -*/ -__STATIC_INLINE void LL_APB2_GRP1_ForceReset(uint32_t Periphs) -{ - SET_BIT(RCC->APB2RSTR, Periphs); -} - -/** - * @brief Release APB2 peripherals reset. - * @rmtoll APB2RSTR TIM1RST LL_APB2_GRP1_ReleaseReset\n - * APB2RSTR TIM8RST LL_APB2_GRP1_ReleaseReset\n - * APB2RSTR USART1RST LL_APB2_GRP1_ReleaseReset\n - * APB2RSTR USART6RST LL_APB2_GRP1_ReleaseReset\n - * APB2RSTR UART9RST LL_APB2_GRP1_ReleaseReset\n - * APB2RSTR UART10RST LL_APB2_GRP1_ReleaseReset\n - * APB2RSTR ADCRST LL_APB2_GRP1_ReleaseReset\n - * APB2RSTR SDIORST LL_APB2_GRP1_ReleaseReset\n - * APB2RSTR SPI1RST LL_APB2_GRP1_ReleaseReset\n - * APB2RSTR SPI4RST LL_APB2_GRP1_ReleaseReset\n - * APB2RSTR SYSCFGRST LL_APB2_GRP1_ReleaseReset\n - * APB2RSTR TIM9RST LL_APB2_GRP1_ReleaseReset\n - * APB2RSTR TIM10RST LL_APB2_GRP1_ReleaseReset\n - * APB2RSTR TIM11RST LL_APB2_GRP1_ReleaseReset\n - * APB2RSTR SPI5RST LL_APB2_GRP1_ReleaseReset\n - * APB2RSTR SPI6RST LL_APB2_GRP1_ReleaseReset\n - * APB2RSTR SAI1RST LL_APB2_GRP1_ReleaseReset\n - * APB2RSTR SAI2RST LL_APB2_GRP1_ReleaseReset\n - * APB2RSTR LTDCRST LL_APB2_GRP1_ReleaseReset\n - * APB2RSTR DSIRST LL_APB2_GRP1_ReleaseReset\n - * APB2RSTR DFSDM1RST LL_APB2_GRP1_ReleaseReset\n - * APB2RSTR DFSDM2RST LL_APB2_GRP1_ReleaseReset - * @param Periphs This parameter can be a combination of the following values: - * @arg @ref LL_APB2_GRP1_PERIPH_ALL - * @arg @ref LL_APB2_GRP1_PERIPH_TIM1 - * @arg @ref LL_APB2_GRP1_PERIPH_TIM8 (*) - * @arg @ref LL_APB2_GRP1_PERIPH_USART1 - * @arg @ref LL_APB2_GRP1_PERIPH_USART6 (*) - * @arg @ref LL_APB2_GRP1_PERIPH_UART9 (*) - * @arg @ref LL_APB2_GRP1_PERIPH_UART10 (*) - * @arg @ref LL_APB2_GRP1_PERIPH_ADC - * @arg @ref LL_APB2_GRP1_PERIPH_SDIO (*) - * @arg @ref LL_APB2_GRP1_PERIPH_SPI1 - * @arg @ref LL_APB2_GRP1_PERIPH_SPI4 (*) - * @arg @ref LL_APB2_GRP1_PERIPH_SYSCFG - * @arg @ref LL_APB2_GRP1_PERIPH_EXTI (*) - * @arg @ref LL_APB2_GRP1_PERIPH_TIM9 - * @arg @ref LL_APB2_GRP1_PERIPH_TIM10 (*) - * @arg @ref LL_APB2_GRP1_PERIPH_TIM11 - * @arg @ref LL_APB2_GRP1_PERIPH_SPI5 (*) - * @arg @ref LL_APB2_GRP1_PERIPH_SPI6 (*) - * @arg @ref LL_APB2_GRP1_PERIPH_SAI1 (*) - * @arg @ref LL_APB2_GRP1_PERIPH_SAI2 (*) - * @arg @ref LL_APB2_GRP1_PERIPH_LTDC (*) - * @arg @ref LL_APB2_GRP1_PERIPH_DSI (*) - * @arg @ref LL_APB2_GRP1_PERIPH_DFSDM1 (*) - * @arg @ref LL_APB2_GRP1_PERIPH_DFSDM2 (*) - * - * (*) value not defined in all devices. - * @retval None -*/ -__STATIC_INLINE void LL_APB2_GRP1_ReleaseReset(uint32_t Periphs) -{ - CLEAR_BIT(RCC->APB2RSTR, Periphs); -} - -/** - * @brief Enable APB2 peripheral clocks in low-power mode - * @rmtoll APB2LPENR TIM1LPEN LL_APB2_GRP1_EnableClockLowPower\n - * APB2LPENR TIM8LPEN LL_APB2_GRP1_EnableClockLowPower\n - * APB2LPENR USART1LPEN LL_APB2_GRP1_EnableClockLowPower\n - * APB2LPENR USART6LPEN LL_APB2_GRP1_EnableClockLowPower\n - * APB2LPENR UART9LPEN LL_APB2_GRP1_EnableClockLowPower\n - * APB2LPENR UART10LPEN LL_APB2_GRP1_EnableClockLowPower\n - * APB2LPENR ADC1LPEN LL_APB2_GRP1_EnableClockLowPower\n - * APB2LPENR ADC2LPEN LL_APB2_GRP1_EnableClockLowPower\n - * APB2LPENR ADC3LPEN LL_APB2_GRP1_EnableClockLowPower\n - * APB2LPENR SDIOLPEN LL_APB2_GRP1_EnableClockLowPower\n - * APB2LPENR SPI1LPEN LL_APB2_GRP1_EnableClockLowPower\n - * APB2LPENR SPI4LPEN LL_APB2_GRP1_EnableClockLowPower\n - * APB2LPENR SYSCFGLPEN LL_APB2_GRP1_EnableClockLowPower\n - * APB2LPENR EXTITLPEN LL_APB2_GRP1_EnableClockLowPower\n - * APB2LPENR TIM9LPEN LL_APB2_GRP1_EnableClockLowPower\n - * APB2LPENR TIM10LPEN LL_APB2_GRP1_EnableClockLowPower\n - * APB2LPENR TIM11LPEN LL_APB2_GRP1_EnableClockLowPower\n - * APB2LPENR SPI5LPEN LL_APB2_GRP1_EnableClockLowPower\n - * APB2LPENR SPI6LPEN LL_APB2_GRP1_EnableClockLowPower\n - * APB2LPENR SAI1LPEN LL_APB2_GRP1_EnableClockLowPower\n - * APB2LPENR SAI2LPEN LL_APB2_GRP1_EnableClockLowPower\n - * APB2LPENR LTDCLPEN LL_APB2_GRP1_EnableClockLowPower\n - * APB2LPENR DSILPEN LL_APB2_GRP1_EnableClockLowPower\n - * APB2LPENR DFSDM1LPEN LL_APB2_GRP1_EnableClockLowPower\n - * APB2LPENR DSILPEN LL_APB2_GRP1_EnableClockLowPower\n - * APB2LPENR DFSDM2LPEN LL_APB2_GRP1_EnableClockLowPower - * @param Periphs This parameter can be a combination of the following values: - * @arg @ref LL_APB2_GRP1_PERIPH_TIM1 - * @arg @ref LL_APB2_GRP1_PERIPH_TIM8 (*) - * @arg @ref LL_APB2_GRP1_PERIPH_USART1 - * @arg @ref LL_APB2_GRP1_PERIPH_USART6 (*) - * @arg @ref LL_APB2_GRP1_PERIPH_UART9 (*) - * @arg @ref LL_APB2_GRP1_PERIPH_UART10 (*) - * @arg @ref LL_APB2_GRP1_PERIPH_ADC1 - * @arg @ref LL_APB2_GRP1_PERIPH_ADC2 (*) - * @arg @ref LL_APB2_GRP1_PERIPH_ADC3 (*) - * @arg @ref LL_APB2_GRP1_PERIPH_SDIO (*) - * @arg @ref LL_APB2_GRP1_PERIPH_SPI1 - * @arg @ref LL_APB2_GRP1_PERIPH_SPI4 (*) - * @arg @ref LL_APB2_GRP1_PERIPH_SYSCFG - * @arg @ref LL_APB2_GRP1_PERIPH_EXTI (*) - * @arg @ref LL_APB2_GRP1_PERIPH_TIM9 - * @arg @ref LL_APB2_GRP1_PERIPH_TIM10 (*) - * @arg @ref LL_APB2_GRP1_PERIPH_TIM11 - * @arg @ref LL_APB2_GRP1_PERIPH_SPI5 (*) - * @arg @ref LL_APB2_GRP1_PERIPH_SPI6 (*) - * @arg @ref LL_APB2_GRP1_PERIPH_SAI1 (*) - * @arg @ref LL_APB2_GRP1_PERIPH_SAI2 (*) - * @arg @ref LL_APB2_GRP1_PERIPH_LTDC (*) - * @arg @ref LL_APB2_GRP1_PERIPH_DSI (*) - * @arg @ref LL_APB2_GRP1_PERIPH_DFSDM1 (*) - * @arg @ref LL_APB2_GRP1_PERIPH_DFSDM2 (*) - * - * (*) value not defined in all devices. - * @retval None -*/ -__STATIC_INLINE void LL_APB2_GRP1_EnableClockLowPower(uint32_t Periphs) -{ - __IO uint32_t tmpreg; - SET_BIT(RCC->APB2LPENR, Periphs); - /* Delay after an RCC peripheral clock enabling */ - tmpreg = READ_BIT(RCC->APB2LPENR, Periphs); - (void)tmpreg; -} - -/** - * @brief Disable APB2 peripheral clocks in low-power mode - * @rmtoll APB2LPENR TIM1LPEN LL_APB2_GRP1_DisableClockLowPower\n - * APB2LPENR TIM8LPEN LL_APB2_GRP1_DisableClockLowPower\n - * APB2LPENR USART1LPEN LL_APB2_GRP1_DisableClockLowPower\n - * APB2LPENR USART6LPEN LL_APB2_GRP1_DisableClockLowPower\n - * APB2LPENR UART9LPEN LL_APB2_GRP1_DisableClockLowPower\n - * APB2LPENR UART10LPEN LL_APB2_GRP1_DisableClockLowPower\n - * APB2LPENR ADC1LPEN LL_APB2_GRP1_DisableClockLowPower\n - * APB2LPENR ADC2LPEN LL_APB2_GRP1_DisableClockLowPower\n - * APB2LPENR ADC3LPEN LL_APB2_GRP1_DisableClockLowPower\n - * APB2LPENR SDIOLPEN LL_APB2_GRP1_DisableClockLowPower\n - * APB2LPENR SPI1LPEN LL_APB2_GRP1_DisableClockLowPower\n - * APB2LPENR SPI4LPEN LL_APB2_GRP1_DisableClockLowPower\n - * APB2LPENR SYSCFGLPEN LL_APB2_GRP1_DisableClockLowPower\n - * APB2LPENR EXTITLPEN LL_APB2_GRP1_DisableClockLowPower\n - * APB2LPENR TIM9LPEN LL_APB2_GRP1_DisableClockLowPower\n - * APB2LPENR TIM10LPEN LL_APB2_GRP1_DisableClockLowPower\n - * APB2LPENR TIM11LPEN LL_APB2_GRP1_DisableClockLowPower\n - * APB2LPENR SPI5LPEN LL_APB2_GRP1_DisableClockLowPower\n - * APB2LPENR SPI6LPEN LL_APB2_GRP1_DisableClockLowPower\n - * APB2LPENR SAI1LPEN LL_APB2_GRP1_DisableClockLowPower\n - * APB2LPENR SAI2LPEN LL_APB2_GRP1_DisableClockLowPower\n - * APB2LPENR LTDCLPEN LL_APB2_GRP1_DisableClockLowPower\n - * APB2LPENR DSILPEN LL_APB2_GRP1_DisableClockLowPower\n - * APB2LPENR DFSDM1LPEN LL_APB2_GRP1_DisableClockLowPower\n - * APB2LPENR DSILPEN LL_APB2_GRP1_DisableClockLowPower\n - * APB2LPENR DFSDM2LPEN LL_APB2_GRP1_DisableClockLowPower - * @param Periphs This parameter can be a combination of the following values: - * @arg @ref LL_APB2_GRP1_PERIPH_TIM1 - * @arg @ref LL_APB2_GRP1_PERIPH_TIM8 (*) - * @arg @ref LL_APB2_GRP1_PERIPH_USART1 - * @arg @ref LL_APB2_GRP1_PERIPH_USART6 (*) - * @arg @ref LL_APB2_GRP1_PERIPH_UART9 (*) - * @arg @ref LL_APB2_GRP1_PERIPH_UART10 (*) - * @arg @ref LL_APB2_GRP1_PERIPH_ADC1 - * @arg @ref LL_APB2_GRP1_PERIPH_ADC2 (*) - * @arg @ref LL_APB2_GRP1_PERIPH_ADC3 (*) - * @arg @ref LL_APB2_GRP1_PERIPH_SDIO (*) - * @arg @ref LL_APB2_GRP1_PERIPH_SPI1 - * @arg @ref LL_APB2_GRP1_PERIPH_SPI4 (*) - * @arg @ref LL_APB2_GRP1_PERIPH_SYSCFG - * @arg @ref LL_APB2_GRP1_PERIPH_EXTI (*) - * @arg @ref LL_APB2_GRP1_PERIPH_TIM9 - * @arg @ref LL_APB2_GRP1_PERIPH_TIM10 (*) - * @arg @ref LL_APB2_GRP1_PERIPH_TIM11 - * @arg @ref LL_APB2_GRP1_PERIPH_SPI5 (*) - * @arg @ref LL_APB2_GRP1_PERIPH_SPI6 (*) - * @arg @ref LL_APB2_GRP1_PERIPH_SAI1 (*) - * @arg @ref LL_APB2_GRP1_PERIPH_SAI2 (*) - * @arg @ref LL_APB2_GRP1_PERIPH_LTDC (*) - * @arg @ref LL_APB2_GRP1_PERIPH_DSI (*) - * @arg @ref LL_APB2_GRP1_PERIPH_DFSDM1 (*) - * @arg @ref LL_APB2_GRP1_PERIPH_DFSDM2 (*) - * - * (*) value not defined in all devices. - * @retval None -*/ -__STATIC_INLINE void LL_APB2_GRP1_DisableClockLowPower(uint32_t Periphs) -{ - CLEAR_BIT(RCC->APB2LPENR, Periphs); -} - -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ - -#endif /* defined(RCC) */ - -/** - * @} - */ - -#ifdef __cplusplus -} -#endif - -#endif /* __STM32F4xx_LL_BUS_H */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_cortex.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_cortex.h deleted file mode 100644 index eddcc97aea6241..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_cortex.h +++ /dev/null @@ -1,640 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_ll_cortex.h - * @author MCD Application Team - * @brief Header file of CORTEX LL module. - @verbatim - ============================================================================== - ##### How to use this driver ##### - ============================================================================== - [..] - The LL CORTEX driver contains a set of generic APIs that can be - used by user: - (+) SYSTICK configuration used by LL_mDelay and LL_Init1msTick - functions - (+) Low power mode configuration (SCB register of Cortex-MCU) - (+) MPU API to configure and enable regions - (MPU services provided only on some devices) - (+) API to access to MCU info (CPUID register) - (+) API to enable fault handler (SHCSR accesses) - - @endverbatim - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef __STM32F4xx_LL_CORTEX_H -#define __STM32F4xx_LL_CORTEX_H - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx.h" - -/** @addtogroup STM32F4xx_LL_Driver - * @{ - */ - -/** @defgroup CORTEX_LL CORTEX - * @{ - */ - -/* Private types -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ - -/* Private constants ---------------------------------------------------------*/ - -/* Private macros ------------------------------------------------------------*/ - -/* Exported types ------------------------------------------------------------*/ -/* Exported constants --------------------------------------------------------*/ -/** @defgroup CORTEX_LL_Exported_Constants CORTEX Exported Constants - * @{ - */ - -/** @defgroup CORTEX_LL_EC_CLKSOURCE_HCLK SYSTICK Clock Source - * @{ - */ -#define LL_SYSTICK_CLKSOURCE_HCLK_DIV8 0x00000000U /*!< AHB clock divided by 8 selected as SysTick clock source.*/ -#define LL_SYSTICK_CLKSOURCE_HCLK SysTick_CTRL_CLKSOURCE_Msk /*!< AHB clock selected as SysTick clock source. */ -/** - * @} - */ - -/** @defgroup CORTEX_LL_EC_FAULT Handler Fault type - * @{ - */ -#define LL_HANDLER_FAULT_USG SCB_SHCSR_USGFAULTENA_Msk /*!< Usage fault */ -#define LL_HANDLER_FAULT_BUS SCB_SHCSR_BUSFAULTENA_Msk /*!< Bus fault */ -#define LL_HANDLER_FAULT_MEM SCB_SHCSR_MEMFAULTENA_Msk /*!< Memory management fault */ -/** - * @} - */ - -#if __MPU_PRESENT - -/** @defgroup CORTEX_LL_EC_CTRL_HFNMI_PRIVDEF MPU Control - * @{ - */ -#define LL_MPU_CTRL_HFNMI_PRIVDEF_NONE 0x00000000U /*!< Disable NMI and privileged SW access */ -#define LL_MPU_CTRL_HARDFAULT_NMI MPU_CTRL_HFNMIENA_Msk /*!< Enables the operation of MPU during hard fault, NMI, and FAULTMASK handlers */ -#define LL_MPU_CTRL_PRIVILEGED_DEFAULT MPU_CTRL_PRIVDEFENA_Msk /*!< Enable privileged software access to default memory map */ -#define LL_MPU_CTRL_HFNMI_PRIVDEF (MPU_CTRL_HFNMIENA_Msk | MPU_CTRL_PRIVDEFENA_Msk) /*!< Enable NMI and privileged SW access */ -/** - * @} - */ - -/** @defgroup CORTEX_LL_EC_REGION MPU Region Number - * @{ - */ -#define LL_MPU_REGION_NUMBER0 0x00U /*!< REGION Number 0 */ -#define LL_MPU_REGION_NUMBER1 0x01U /*!< REGION Number 1 */ -#define LL_MPU_REGION_NUMBER2 0x02U /*!< REGION Number 2 */ -#define LL_MPU_REGION_NUMBER3 0x03U /*!< REGION Number 3 */ -#define LL_MPU_REGION_NUMBER4 0x04U /*!< REGION Number 4 */ -#define LL_MPU_REGION_NUMBER5 0x05U /*!< REGION Number 5 */ -#define LL_MPU_REGION_NUMBER6 0x06U /*!< REGION Number 6 */ -#define LL_MPU_REGION_NUMBER7 0x07U /*!< REGION Number 7 */ -/** - * @} - */ - -/** @defgroup CORTEX_LL_EC_REGION_SIZE MPU Region Size - * @{ - */ -#define LL_MPU_REGION_SIZE_32B (0x04U << MPU_RASR_SIZE_Pos) /*!< 32B Size of the MPU protection region */ -#define LL_MPU_REGION_SIZE_64B (0x05U << MPU_RASR_SIZE_Pos) /*!< 64B Size of the MPU protection region */ -#define LL_MPU_REGION_SIZE_128B (0x06U << MPU_RASR_SIZE_Pos) /*!< 128B Size of the MPU protection region */ -#define LL_MPU_REGION_SIZE_256B (0x07U << MPU_RASR_SIZE_Pos) /*!< 256B Size of the MPU protection region */ -#define LL_MPU_REGION_SIZE_512B (0x08U << MPU_RASR_SIZE_Pos) /*!< 512B Size of the MPU protection region */ -#define LL_MPU_REGION_SIZE_1KB (0x09U << MPU_RASR_SIZE_Pos) /*!< 1KB Size of the MPU protection region */ -#define LL_MPU_REGION_SIZE_2KB (0x0AU << MPU_RASR_SIZE_Pos) /*!< 2KB Size of the MPU protection region */ -#define LL_MPU_REGION_SIZE_4KB (0x0BU << MPU_RASR_SIZE_Pos) /*!< 4KB Size of the MPU protection region */ -#define LL_MPU_REGION_SIZE_8KB (0x0CU << MPU_RASR_SIZE_Pos) /*!< 8KB Size of the MPU protection region */ -#define LL_MPU_REGION_SIZE_16KB (0x0DU << MPU_RASR_SIZE_Pos) /*!< 16KB Size of the MPU protection region */ -#define LL_MPU_REGION_SIZE_32KB (0x0EU << MPU_RASR_SIZE_Pos) /*!< 32KB Size of the MPU protection region */ -#define LL_MPU_REGION_SIZE_64KB (0x0FU << MPU_RASR_SIZE_Pos) /*!< 64KB Size of the MPU protection region */ -#define LL_MPU_REGION_SIZE_128KB (0x10U << MPU_RASR_SIZE_Pos) /*!< 128KB Size of the MPU protection region */ -#define LL_MPU_REGION_SIZE_256KB (0x11U << MPU_RASR_SIZE_Pos) /*!< 256KB Size of the MPU protection region */ -#define LL_MPU_REGION_SIZE_512KB (0x12U << MPU_RASR_SIZE_Pos) /*!< 512KB Size of the MPU protection region */ -#define LL_MPU_REGION_SIZE_1MB (0x13U << MPU_RASR_SIZE_Pos) /*!< 1MB Size of the MPU protection region */ -#define LL_MPU_REGION_SIZE_2MB (0x14U << MPU_RASR_SIZE_Pos) /*!< 2MB Size of the MPU protection region */ -#define LL_MPU_REGION_SIZE_4MB (0x15U << MPU_RASR_SIZE_Pos) /*!< 4MB Size of the MPU protection region */ -#define LL_MPU_REGION_SIZE_8MB (0x16U << MPU_RASR_SIZE_Pos) /*!< 8MB Size of the MPU protection region */ -#define LL_MPU_REGION_SIZE_16MB (0x17U << MPU_RASR_SIZE_Pos) /*!< 16MB Size of the MPU protection region */ -#define LL_MPU_REGION_SIZE_32MB (0x18U << MPU_RASR_SIZE_Pos) /*!< 32MB Size of the MPU protection region */ -#define LL_MPU_REGION_SIZE_64MB (0x19U << MPU_RASR_SIZE_Pos) /*!< 64MB Size of the MPU protection region */ -#define LL_MPU_REGION_SIZE_128MB (0x1AU << MPU_RASR_SIZE_Pos) /*!< 128MB Size of the MPU protection region */ -#define LL_MPU_REGION_SIZE_256MB (0x1BU << MPU_RASR_SIZE_Pos) /*!< 256MB Size of the MPU protection region */ -#define LL_MPU_REGION_SIZE_512MB (0x1CU << MPU_RASR_SIZE_Pos) /*!< 512MB Size of the MPU protection region */ -#define LL_MPU_REGION_SIZE_1GB (0x1DU << MPU_RASR_SIZE_Pos) /*!< 1GB Size of the MPU protection region */ -#define LL_MPU_REGION_SIZE_2GB (0x1EU << MPU_RASR_SIZE_Pos) /*!< 2GB Size of the MPU protection region */ -#define LL_MPU_REGION_SIZE_4GB (0x1FU << MPU_RASR_SIZE_Pos) /*!< 4GB Size of the MPU protection region */ -/** - * @} - */ - -/** @defgroup CORTEX_LL_EC_REGION_PRIVILEDGES MPU Region Privileges - * @{ - */ -#define LL_MPU_REGION_NO_ACCESS (0x00U << MPU_RASR_AP_Pos) /*!< No access*/ -#define LL_MPU_REGION_PRIV_RW (0x01U << MPU_RASR_AP_Pos) /*!< RW privileged (privileged access only)*/ -#define LL_MPU_REGION_PRIV_RW_URO (0x02U << MPU_RASR_AP_Pos) /*!< RW privileged - RO user (Write in a user program generates a fault) */ -#define LL_MPU_REGION_FULL_ACCESS (0x03U << MPU_RASR_AP_Pos) /*!< RW privileged & user (Full access) */ -#define LL_MPU_REGION_PRIV_RO (0x05U << MPU_RASR_AP_Pos) /*!< RO privileged (privileged read only)*/ -#define LL_MPU_REGION_PRIV_RO_URO (0x06U << MPU_RASR_AP_Pos) /*!< RO privileged & user (read only) */ -/** - * @} - */ - -/** @defgroup CORTEX_LL_EC_TEX MPU TEX Level - * @{ - */ -#define LL_MPU_TEX_LEVEL0 (0x00U << MPU_RASR_TEX_Pos) /*!< b000 for TEX bits */ -#define LL_MPU_TEX_LEVEL1 (0x01U << MPU_RASR_TEX_Pos) /*!< b001 for TEX bits */ -#define LL_MPU_TEX_LEVEL2 (0x02U << MPU_RASR_TEX_Pos) /*!< b010 for TEX bits */ -#define LL_MPU_TEX_LEVEL4 (0x04U << MPU_RASR_TEX_Pos) /*!< b100 for TEX bits */ -/** - * @} - */ - -/** @defgroup CORTEX_LL_EC_INSTRUCTION_ACCESS MPU Instruction Access - * @{ - */ -#define LL_MPU_INSTRUCTION_ACCESS_ENABLE 0x00U /*!< Instruction fetches enabled */ -#define LL_MPU_INSTRUCTION_ACCESS_DISABLE MPU_RASR_XN_Msk /*!< Instruction fetches disabled*/ -/** - * @} - */ - -/** @defgroup CORTEX_LL_EC_SHAREABLE_ACCESS MPU Shareable Access - * @{ - */ -#define LL_MPU_ACCESS_SHAREABLE MPU_RASR_S_Msk /*!< Shareable memory attribute */ -#define LL_MPU_ACCESS_NOT_SHAREABLE 0x00U /*!< Not Shareable memory attribute */ -/** - * @} - */ - -/** @defgroup CORTEX_LL_EC_CACHEABLE_ACCESS MPU Cacheable Access - * @{ - */ -#define LL_MPU_ACCESS_CACHEABLE MPU_RASR_C_Msk /*!< Cacheable memory attribute */ -#define LL_MPU_ACCESS_NOT_CACHEABLE 0x00U /*!< Not Cacheable memory attribute */ -/** - * @} - */ - -/** @defgroup CORTEX_LL_EC_BUFFERABLE_ACCESS MPU Bufferable Access - * @{ - */ -#define LL_MPU_ACCESS_BUFFERABLE MPU_RASR_B_Msk /*!< Bufferable memory attribute */ -#define LL_MPU_ACCESS_NOT_BUFFERABLE 0x00U /*!< Not Bufferable memory attribute */ -/** - * @} - */ -#endif /* __MPU_PRESENT */ -/** - * @} - */ - -/* Exported macro ------------------------------------------------------------*/ - -/* Exported functions --------------------------------------------------------*/ -/** @defgroup CORTEX_LL_Exported_Functions CORTEX Exported Functions - * @{ - */ - -/** @defgroup CORTEX_LL_EF_SYSTICK SYSTICK - * @{ - */ - -/** - * @brief This function checks if the Systick counter flag is active or not. - * @note It can be used in timeout function on application side. - * @rmtoll STK_CTRL COUNTFLAG LL_SYSTICK_IsActiveCounterFlag - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_SYSTICK_IsActiveCounterFlag(void) -{ - return ((SysTick->CTRL & SysTick_CTRL_COUNTFLAG_Msk) == (SysTick_CTRL_COUNTFLAG_Msk)); -} - -/** - * @brief Configures the SysTick clock source - * @rmtoll STK_CTRL CLKSOURCE LL_SYSTICK_SetClkSource - * @param Source This parameter can be one of the following values: - * @arg @ref LL_SYSTICK_CLKSOURCE_HCLK_DIV8 - * @arg @ref LL_SYSTICK_CLKSOURCE_HCLK - * @retval None - */ -__STATIC_INLINE void LL_SYSTICK_SetClkSource(uint32_t Source) -{ - if (Source == LL_SYSTICK_CLKSOURCE_HCLK) - { - SET_BIT(SysTick->CTRL, LL_SYSTICK_CLKSOURCE_HCLK); - } - else - { - CLEAR_BIT(SysTick->CTRL, LL_SYSTICK_CLKSOURCE_HCLK); - } -} - -/** - * @brief Get the SysTick clock source - * @rmtoll STK_CTRL CLKSOURCE LL_SYSTICK_GetClkSource - * @retval Returned value can be one of the following values: - * @arg @ref LL_SYSTICK_CLKSOURCE_HCLK_DIV8 - * @arg @ref LL_SYSTICK_CLKSOURCE_HCLK - */ -__STATIC_INLINE uint32_t LL_SYSTICK_GetClkSource(void) -{ - return READ_BIT(SysTick->CTRL, LL_SYSTICK_CLKSOURCE_HCLK); -} - -/** - * @brief Enable SysTick exception request - * @rmtoll STK_CTRL TICKINT LL_SYSTICK_EnableIT - * @retval None - */ -__STATIC_INLINE void LL_SYSTICK_EnableIT(void) -{ - SET_BIT(SysTick->CTRL, SysTick_CTRL_TICKINT_Msk); -} - -/** - * @brief Disable SysTick exception request - * @rmtoll STK_CTRL TICKINT LL_SYSTICK_DisableIT - * @retval None - */ -__STATIC_INLINE void LL_SYSTICK_DisableIT(void) -{ - CLEAR_BIT(SysTick->CTRL, SysTick_CTRL_TICKINT_Msk); -} - -/** - * @brief Checks if the SYSTICK interrupt is enabled or disabled. - * @rmtoll STK_CTRL TICKINT LL_SYSTICK_IsEnabledIT - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_SYSTICK_IsEnabledIT(void) -{ - return (READ_BIT(SysTick->CTRL, SysTick_CTRL_TICKINT_Msk) == (SysTick_CTRL_TICKINT_Msk)); -} - -/** - * @} - */ - -/** @defgroup CORTEX_LL_EF_LOW_POWER_MODE LOW POWER MODE - * @{ - */ - -/** - * @brief Processor uses sleep as its low power mode - * @rmtoll SCB_SCR SLEEPDEEP LL_LPM_EnableSleep - * @retval None - */ -__STATIC_INLINE void LL_LPM_EnableSleep(void) -{ - /* Clear SLEEPDEEP bit of Cortex System Control Register */ - CLEAR_BIT(SCB->SCR, ((uint32_t)SCB_SCR_SLEEPDEEP_Msk)); -} - -/** - * @brief Processor uses deep sleep as its low power mode - * @rmtoll SCB_SCR SLEEPDEEP LL_LPM_EnableDeepSleep - * @retval None - */ -__STATIC_INLINE void LL_LPM_EnableDeepSleep(void) -{ - /* Set SLEEPDEEP bit of Cortex System Control Register */ - SET_BIT(SCB->SCR, ((uint32_t)SCB_SCR_SLEEPDEEP_Msk)); -} - -/** - * @brief Configures sleep-on-exit when returning from Handler mode to Thread mode. - * @note Setting this bit to 1 enables an interrupt-driven application to avoid returning to an - * empty main application. - * @rmtoll SCB_SCR SLEEPONEXIT LL_LPM_EnableSleepOnExit - * @retval None - */ -__STATIC_INLINE void LL_LPM_EnableSleepOnExit(void) -{ - /* Set SLEEPONEXIT bit of Cortex System Control Register */ - SET_BIT(SCB->SCR, ((uint32_t)SCB_SCR_SLEEPONEXIT_Msk)); -} - -/** - * @brief Do not sleep when returning to Thread mode. - * @rmtoll SCB_SCR SLEEPONEXIT LL_LPM_DisableSleepOnExit - * @retval None - */ -__STATIC_INLINE void LL_LPM_DisableSleepOnExit(void) -{ - /* Clear SLEEPONEXIT bit of Cortex System Control Register */ - CLEAR_BIT(SCB->SCR, ((uint32_t)SCB_SCR_SLEEPONEXIT_Msk)); -} - -/** - * @brief Enabled events and all interrupts, including disabled interrupts, can wakeup the - * processor. - * @rmtoll SCB_SCR SEVEONPEND LL_LPM_EnableEventOnPend - * @retval None - */ -__STATIC_INLINE void LL_LPM_EnableEventOnPend(void) -{ - /* Set SEVEONPEND bit of Cortex System Control Register */ - SET_BIT(SCB->SCR, ((uint32_t)SCB_SCR_SEVONPEND_Msk)); -} - -/** - * @brief Only enabled interrupts or events can wakeup the processor, disabled interrupts are - * excluded - * @rmtoll SCB_SCR SEVEONPEND LL_LPM_DisableEventOnPend - * @retval None - */ -__STATIC_INLINE void LL_LPM_DisableEventOnPend(void) -{ - /* Clear SEVEONPEND bit of Cortex System Control Register */ - CLEAR_BIT(SCB->SCR, ((uint32_t)SCB_SCR_SEVONPEND_Msk)); -} - -/** - * @} - */ - -/** @defgroup CORTEX_LL_EF_HANDLER HANDLER - * @{ - */ - -/** - * @brief Enable a fault in System handler control register (SHCSR) - * @rmtoll SCB_SHCSR MEMFAULTENA LL_HANDLER_EnableFault - * @param Fault This parameter can be a combination of the following values: - * @arg @ref LL_HANDLER_FAULT_USG - * @arg @ref LL_HANDLER_FAULT_BUS - * @arg @ref LL_HANDLER_FAULT_MEM - * @retval None - */ -__STATIC_INLINE void LL_HANDLER_EnableFault(uint32_t Fault) -{ - /* Enable the system handler fault */ - SET_BIT(SCB->SHCSR, Fault); -} - -/** - * @brief Disable a fault in System handler control register (SHCSR) - * @rmtoll SCB_SHCSR MEMFAULTENA LL_HANDLER_DisableFault - * @param Fault This parameter can be a combination of the following values: - * @arg @ref LL_HANDLER_FAULT_USG - * @arg @ref LL_HANDLER_FAULT_BUS - * @arg @ref LL_HANDLER_FAULT_MEM - * @retval None - */ -__STATIC_INLINE void LL_HANDLER_DisableFault(uint32_t Fault) -{ - /* Disable the system handler fault */ - CLEAR_BIT(SCB->SHCSR, Fault); -} - -/** - * @} - */ - -/** @defgroup CORTEX_LL_EF_MCU_INFO MCU INFO - * @{ - */ - -/** - * @brief Get Implementer code - * @rmtoll SCB_CPUID IMPLEMENTER LL_CPUID_GetImplementer - * @retval Value should be equal to 0x41 for ARM - */ -__STATIC_INLINE uint32_t LL_CPUID_GetImplementer(void) -{ - return (uint32_t)(READ_BIT(SCB->CPUID, SCB_CPUID_IMPLEMENTER_Msk) >> SCB_CPUID_IMPLEMENTER_Pos); -} - -/** - * @brief Get Variant number (The r value in the rnpn product revision identifier) - * @rmtoll SCB_CPUID VARIANT LL_CPUID_GetVariant - * @retval Value between 0 and 255 (0x0: revision 0) - */ -__STATIC_INLINE uint32_t LL_CPUID_GetVariant(void) -{ - return (uint32_t)(READ_BIT(SCB->CPUID, SCB_CPUID_VARIANT_Msk) >> SCB_CPUID_VARIANT_Pos); -} - -/** - * @brief Get Constant number - * @rmtoll SCB_CPUID ARCHITECTURE LL_CPUID_GetConstant - * @retval Value should be equal to 0xF for Cortex-M4 devices - */ -__STATIC_INLINE uint32_t LL_CPUID_GetConstant(void) -{ - return (uint32_t)(READ_BIT(SCB->CPUID, SCB_CPUID_ARCHITECTURE_Msk) >> SCB_CPUID_ARCHITECTURE_Pos); -} - -/** - * @brief Get Part number - * @rmtoll SCB_CPUID PARTNO LL_CPUID_GetParNo - * @retval Value should be equal to 0xC24 for Cortex-M4 - */ -__STATIC_INLINE uint32_t LL_CPUID_GetParNo(void) -{ - return (uint32_t)(READ_BIT(SCB->CPUID, SCB_CPUID_PARTNO_Msk) >> SCB_CPUID_PARTNO_Pos); -} - -/** - * @brief Get Revision number (The p value in the rnpn product revision identifier, indicates patch release) - * @rmtoll SCB_CPUID REVISION LL_CPUID_GetRevision - * @retval Value between 0 and 255 (0x1: patch 1) - */ -__STATIC_INLINE uint32_t LL_CPUID_GetRevision(void) -{ - return (uint32_t)(READ_BIT(SCB->CPUID, SCB_CPUID_REVISION_Msk) >> SCB_CPUID_REVISION_Pos); -} - -/** - * @} - */ - -#if __MPU_PRESENT -/** @defgroup CORTEX_LL_EF_MPU MPU - * @{ - */ - -/** - * @brief Enable MPU with input options - * @rmtoll MPU_CTRL ENABLE LL_MPU_Enable - * @param Options This parameter can be one of the following values: - * @arg @ref LL_MPU_CTRL_HFNMI_PRIVDEF_NONE - * @arg @ref LL_MPU_CTRL_HARDFAULT_NMI - * @arg @ref LL_MPU_CTRL_PRIVILEGED_DEFAULT - * @arg @ref LL_MPU_CTRL_HFNMI_PRIVDEF - * @retval None - */ -__STATIC_INLINE void LL_MPU_Enable(uint32_t Options) -{ - /* Enable the MPU*/ - WRITE_REG(MPU->CTRL, (MPU_CTRL_ENABLE_Msk | Options)); - /* Ensure MPU settings take effects */ - __DSB(); - /* Sequence instruction fetches using update settings */ - __ISB(); -} - -/** - * @brief Disable MPU - * @rmtoll MPU_CTRL ENABLE LL_MPU_Disable - * @retval None - */ -__STATIC_INLINE void LL_MPU_Disable(void) -{ - /* Make sure outstanding transfers are done */ - __DMB(); - /* Disable MPU*/ - WRITE_REG(MPU->CTRL, 0U); -} - -/** - * @brief Check if MPU is enabled or not - * @rmtoll MPU_CTRL ENABLE LL_MPU_IsEnabled - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_MPU_IsEnabled(void) -{ - return (READ_BIT(MPU->CTRL, MPU_CTRL_ENABLE_Msk) == (MPU_CTRL_ENABLE_Msk)); -} - -/** - * @brief Enable a MPU region - * @rmtoll MPU_RASR ENABLE LL_MPU_EnableRegion - * @param Region This parameter can be one of the following values: - * @arg @ref LL_MPU_REGION_NUMBER0 - * @arg @ref LL_MPU_REGION_NUMBER1 - * @arg @ref LL_MPU_REGION_NUMBER2 - * @arg @ref LL_MPU_REGION_NUMBER3 - * @arg @ref LL_MPU_REGION_NUMBER4 - * @arg @ref LL_MPU_REGION_NUMBER5 - * @arg @ref LL_MPU_REGION_NUMBER6 - * @arg @ref LL_MPU_REGION_NUMBER7 - * @retval None - */ -__STATIC_INLINE void LL_MPU_EnableRegion(uint32_t Region) -{ - /* Set Region number */ - WRITE_REG(MPU->RNR, Region); - /* Enable the MPU region */ - SET_BIT(MPU->RASR, MPU_RASR_ENABLE_Msk); -} - -/** - * @brief Configure and enable a region - * @rmtoll MPU_RNR REGION LL_MPU_ConfigRegion\n - * MPU_RBAR REGION LL_MPU_ConfigRegion\n - * MPU_RBAR ADDR LL_MPU_ConfigRegion\n - * MPU_RASR XN LL_MPU_ConfigRegion\n - * MPU_RASR AP LL_MPU_ConfigRegion\n - * MPU_RASR S LL_MPU_ConfigRegion\n - * MPU_RASR C LL_MPU_ConfigRegion\n - * MPU_RASR B LL_MPU_ConfigRegion\n - * MPU_RASR SIZE LL_MPU_ConfigRegion - * @param Region This parameter can be one of the following values: - * @arg @ref LL_MPU_REGION_NUMBER0 - * @arg @ref LL_MPU_REGION_NUMBER1 - * @arg @ref LL_MPU_REGION_NUMBER2 - * @arg @ref LL_MPU_REGION_NUMBER3 - * @arg @ref LL_MPU_REGION_NUMBER4 - * @arg @ref LL_MPU_REGION_NUMBER5 - * @arg @ref LL_MPU_REGION_NUMBER6 - * @arg @ref LL_MPU_REGION_NUMBER7 - * @param Address Value of region base address - * @param SubRegionDisable Sub-region disable value between Min_Data = 0x00 and Max_Data = 0xFF - * @param Attributes This parameter can be a combination of the following values: - * @arg @ref LL_MPU_REGION_SIZE_32B or @ref LL_MPU_REGION_SIZE_64B or @ref LL_MPU_REGION_SIZE_128B or @ref LL_MPU_REGION_SIZE_256B or @ref LL_MPU_REGION_SIZE_512B - * or @ref LL_MPU_REGION_SIZE_1KB or @ref LL_MPU_REGION_SIZE_2KB or @ref LL_MPU_REGION_SIZE_4KB or @ref LL_MPU_REGION_SIZE_8KB or @ref LL_MPU_REGION_SIZE_16KB - * or @ref LL_MPU_REGION_SIZE_32KB or @ref LL_MPU_REGION_SIZE_64KB or @ref LL_MPU_REGION_SIZE_128KB or @ref LL_MPU_REGION_SIZE_256KB or @ref LL_MPU_REGION_SIZE_512KB - * or @ref LL_MPU_REGION_SIZE_1MB or @ref LL_MPU_REGION_SIZE_2MB or @ref LL_MPU_REGION_SIZE_4MB or @ref LL_MPU_REGION_SIZE_8MB or @ref LL_MPU_REGION_SIZE_16MB - * or @ref LL_MPU_REGION_SIZE_32MB or @ref LL_MPU_REGION_SIZE_64MB or @ref LL_MPU_REGION_SIZE_128MB or @ref LL_MPU_REGION_SIZE_256MB or @ref LL_MPU_REGION_SIZE_512MB - * or @ref LL_MPU_REGION_SIZE_1GB or @ref LL_MPU_REGION_SIZE_2GB or @ref LL_MPU_REGION_SIZE_4GB - * @arg @ref LL_MPU_REGION_NO_ACCESS or @ref LL_MPU_REGION_PRIV_RW or @ref LL_MPU_REGION_PRIV_RW_URO or @ref LL_MPU_REGION_FULL_ACCESS - * or @ref LL_MPU_REGION_PRIV_RO or @ref LL_MPU_REGION_PRIV_RO_URO - * @arg @ref LL_MPU_TEX_LEVEL0 or @ref LL_MPU_TEX_LEVEL1 or @ref LL_MPU_TEX_LEVEL2 or @ref LL_MPU_TEX_LEVEL4 - * @arg @ref LL_MPU_INSTRUCTION_ACCESS_ENABLE or @ref LL_MPU_INSTRUCTION_ACCESS_DISABLE - * @arg @ref LL_MPU_ACCESS_SHAREABLE or @ref LL_MPU_ACCESS_NOT_SHAREABLE - * @arg @ref LL_MPU_ACCESS_CACHEABLE or @ref LL_MPU_ACCESS_NOT_CACHEABLE - * @arg @ref LL_MPU_ACCESS_BUFFERABLE or @ref LL_MPU_ACCESS_NOT_BUFFERABLE - * @retval None - */ -__STATIC_INLINE void LL_MPU_ConfigRegion(uint32_t Region, uint32_t SubRegionDisable, uint32_t Address, uint32_t Attributes) -{ - /* Set Region number */ - WRITE_REG(MPU->RNR, Region); - /* Set base address */ - WRITE_REG(MPU->RBAR, (Address & 0xFFFFFFE0U)); - /* Configure MPU */ - WRITE_REG(MPU->RASR, (MPU_RASR_ENABLE_Msk | Attributes | SubRegionDisable << MPU_RASR_SRD_Pos)); -} - -/** - * @brief Disable a region - * @rmtoll MPU_RNR REGION LL_MPU_DisableRegion\n - * MPU_RASR ENABLE LL_MPU_DisableRegion - * @param Region This parameter can be one of the following values: - * @arg @ref LL_MPU_REGION_NUMBER0 - * @arg @ref LL_MPU_REGION_NUMBER1 - * @arg @ref LL_MPU_REGION_NUMBER2 - * @arg @ref LL_MPU_REGION_NUMBER3 - * @arg @ref LL_MPU_REGION_NUMBER4 - * @arg @ref LL_MPU_REGION_NUMBER5 - * @arg @ref LL_MPU_REGION_NUMBER6 - * @arg @ref LL_MPU_REGION_NUMBER7 - * @retval None - */ -__STATIC_INLINE void LL_MPU_DisableRegion(uint32_t Region) -{ - /* Set Region number */ - WRITE_REG(MPU->RNR, Region); - /* Disable the MPU region */ - CLEAR_BIT(MPU->RASR, MPU_RASR_ENABLE_Msk); -} - -/** - * @} - */ - -#endif /* __MPU_PRESENT */ -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ - -#ifdef __cplusplus -} -#endif - -#endif /* __STM32F4xx_LL_CORTEX_H */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_crc.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_crc.h deleted file mode 100644 index 2d05b679495b0a..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_crc.h +++ /dev/null @@ -1,204 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_ll_crc.h - * @author MCD Application Team - * @brief Header file of CRC LL module. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef STM32F4xx_LL_CRC_H -#define STM32F4xx_LL_CRC_H - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx.h" - -/** @addtogroup STM32F4xx_LL_Driver - * @{ - */ - -#if defined(CRC) - -/** @defgroup CRC_LL CRC - * @{ - */ - -/* Private types -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private constants ---------------------------------------------------------*/ -/* Private macros ------------------------------------------------------------*/ - -/* Exported types ------------------------------------------------------------*/ -/* Exported constants --------------------------------------------------------*/ -/** @defgroup CRC_LL_Exported_Constants CRC Exported Constants - * @{ - */ - -/** - * @} - */ - -/* Exported macro ------------------------------------------------------------*/ -/** @defgroup CRC_LL_Exported_Macros CRC Exported Macros - * @{ - */ - -/** @defgroup CRC_LL_EM_WRITE_READ Common Write and read registers Macros - * @{ - */ - -/** - * @brief Write a value in CRC register - * @param __INSTANCE__ CRC Instance - * @param __REG__ Register to be written - * @param __VALUE__ Value to be written in the register - * @retval None - */ -#define LL_CRC_WriteReg(__INSTANCE__, __REG__, __VALUE__) WRITE_REG(__INSTANCE__->__REG__, __VALUE__) - -/** - * @brief Read a value in CRC register - * @param __INSTANCE__ CRC Instance - * @param __REG__ Register to be read - * @retval Register value - */ -#define LL_CRC_ReadReg(__INSTANCE__, __REG__) READ_REG(__INSTANCE__->__REG__) -/** - * @} - */ - -/** - * @} - */ - - -/* Exported functions --------------------------------------------------------*/ -/** @defgroup CRC_LL_Exported_Functions CRC Exported Functions - * @{ - */ - -/** @defgroup CRC_LL_EF_Configuration CRC Configuration functions - * @{ - */ - -/** - * @brief Reset the CRC calculation unit. - * @note If Programmable Initial CRC value feature - * is available, also set the Data Register to the value stored in the - * CRC_INIT register, otherwise, reset Data Register to its default value. - * @rmtoll CR RESET LL_CRC_ResetCRCCalculationUnit - * @param CRCx CRC Instance - * @retval None - */ -__STATIC_INLINE void LL_CRC_ResetCRCCalculationUnit(CRC_TypeDef *CRCx) -{ - SET_BIT(CRCx->CR, CRC_CR_RESET); -} - -/** - * @} - */ - -/** @defgroup CRC_LL_EF_Data_Management Data_Management - * @{ - */ - -/** - * @brief Write given 32-bit data to the CRC calculator - * @rmtoll DR DR LL_CRC_FeedData32 - * @param CRCx CRC Instance - * @param InData value to be provided to CRC calculator between between Min_Data=0 and Max_Data=0xFFFFFFFF - * @retval None - */ -__STATIC_INLINE void LL_CRC_FeedData32(CRC_TypeDef *CRCx, uint32_t InData) -{ - WRITE_REG(CRCx->DR, InData); -} - -/** - * @brief Return current CRC calculation result. 32 bits value is returned. - * @rmtoll DR DR LL_CRC_ReadData32 - * @param CRCx CRC Instance - * @retval Current CRC calculation result as stored in CRC_DR register (32 bits). - */ -__STATIC_INLINE uint32_t LL_CRC_ReadData32(CRC_TypeDef *CRCx) -{ - return (uint32_t)(READ_REG(CRCx->DR)); -} - -/** - * @brief Return data stored in the Independent Data(IDR) register. - * @note This register can be used as a temporary storage location for one byte. - * @rmtoll IDR IDR LL_CRC_Read_IDR - * @param CRCx CRC Instance - * @retval Value stored in CRC_IDR register (General-purpose 8-bit data register). - */ -__STATIC_INLINE uint32_t LL_CRC_Read_IDR(CRC_TypeDef *CRCx) -{ - return (uint32_t)(READ_REG(CRCx->IDR)); -} - -/** - * @brief Store data in the Independent Data(IDR) register. - * @note This register can be used as a temporary storage location for one byte. - * @rmtoll IDR IDR LL_CRC_Write_IDR - * @param CRCx CRC Instance - * @param InData value to be stored in CRC_IDR register (8-bit) between Min_Data=0 and Max_Data=0xFF - * @retval None - */ -__STATIC_INLINE void LL_CRC_Write_IDR(CRC_TypeDef *CRCx, uint32_t InData) -{ - *((uint8_t __IO *)(&CRCx->IDR)) = (uint8_t) InData; -} -/** - * @} - */ - -#if defined(USE_FULL_LL_DRIVER) -/** @defgroup CRC_LL_EF_Init Initialization and de-initialization functions - * @{ - */ - -ErrorStatus LL_CRC_DeInit(CRC_TypeDef *CRCx); - -/** - * @} - */ -#endif /* USE_FULL_LL_DRIVER */ - -/** - * @} - */ - -/** - * @} - */ - -#endif /* defined(CRC) */ - -/** - * @} - */ - -#ifdef __cplusplus -} -#endif - -#endif /* STM32F4xx_LL_CRC_H */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_dac.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_dac.h deleted file mode 100644 index 98bf40b71cb485..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_dac.h +++ /dev/null @@ -1,1457 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_ll_dac.h - * @author MCD Application Team - * @brief Header file of DAC LL module. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef STM32F4xx_LL_DAC_H -#define STM32F4xx_LL_DAC_H - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx.h" - -/** @addtogroup STM32F4xx_LL_Driver - * @{ - */ - -#if defined(DAC) - -/** @defgroup DAC_LL DAC - * @{ - */ - -/* Private types -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ - -/* Private constants ---------------------------------------------------------*/ -/** @defgroup DAC_LL_Private_Constants DAC Private Constants - * @{ - */ - -/* Internal masks for DAC channels definition */ -/* To select into literal LL_DAC_CHANNEL_x the relevant bits for: */ -/* - channel bits position into registers CR, MCR, CCR, SHHR, SHRR */ -/* - channel bits position into register SWTRIG */ -/* - channel register offset of data holding register DHRx */ -/* - channel register offset of data output register DORx */ -#define DAC_CR_CH1_BITOFFSET 0UL /* Position of channel bits into registers - CR, MCR, CCR, SHHR, SHRR of channel 1 */ -#if defined(DAC_CHANNEL2_SUPPORT) -#define DAC_CR_CH2_BITOFFSET 16UL /* Position of channel bits into registers - CR, MCR, CCR, SHHR, SHRR of channel 2 */ -#define DAC_CR_CHX_BITOFFSET_MASK (DAC_CR_CH1_BITOFFSET | DAC_CR_CH2_BITOFFSET) -#else -#define DAC_CR_CHX_BITOFFSET_MASK (DAC_CR_CH1_BITOFFSET) -#endif /* DAC_CHANNEL2_SUPPORT */ - -#define DAC_SWTR_CH1 (DAC_SWTRIGR_SWTRIG1) /* Channel bit into register SWTRIGR of channel 1. */ -#if defined(DAC_CHANNEL2_SUPPORT) -#define DAC_SWTR_CH2 (DAC_SWTRIGR_SWTRIG2) /* Channel bit into register SWTRIGR of channel 2. */ -#define DAC_SWTR_CHX_MASK (DAC_SWTR_CH1 | DAC_SWTR_CH2) -#else -#define DAC_SWTR_CHX_MASK (DAC_SWTR_CH1) -#endif /* DAC_CHANNEL2_SUPPORT */ - -#define DAC_REG_DHR12R1_REGOFFSET 0x00000000UL /* Register DHR12Rx channel 1 taken as reference */ -#define DAC_REG_DHR12L1_REGOFFSET 0x00100000UL /* Register offset of DHR12Lx channel 1 versus - DHR12Rx channel 1 (shifted left of 20 bits) */ -#define DAC_REG_DHR8R1_REGOFFSET 0x02000000UL /* Register offset of DHR8Rx channel 1 versus - DHR12Rx channel 1 (shifted left of 24 bits) */ -#if defined(DAC_CHANNEL2_SUPPORT) -#define DAC_REG_DHR12R2_REGOFFSET 0x00030000UL /* Register offset of DHR12Rx channel 2 versus - DHR12Rx channel 1 (shifted left of 16 bits) */ -#define DAC_REG_DHR12L2_REGOFFSET 0x00400000UL /* Register offset of DHR12Lx channel 2 versus - DHR12Rx channel 1 (shifted left of 20 bits) */ -#define DAC_REG_DHR8R2_REGOFFSET 0x05000000UL /* Register offset of DHR8Rx channel 2 versus - DHR12Rx channel 1 (shifted left of 24 bits) */ -#endif /* DAC_CHANNEL2_SUPPORT */ -#define DAC_REG_DHR12RX_REGOFFSET_MASK 0x000F0000UL -#define DAC_REG_DHR12LX_REGOFFSET_MASK 0x00F00000UL -#define DAC_REG_DHR8RX_REGOFFSET_MASK 0x0F000000UL -#define DAC_REG_DHRX_REGOFFSET_MASK (DAC_REG_DHR12RX_REGOFFSET_MASK\ - | DAC_REG_DHR12LX_REGOFFSET_MASK | DAC_REG_DHR8RX_REGOFFSET_MASK) - -#define DAC_REG_DOR1_REGOFFSET 0x00000000UL /* Register DORx channel 1 taken as reference */ -#if defined(DAC_CHANNEL2_SUPPORT) -#define DAC_REG_DOR2_REGOFFSET 0x10000000UL /* Register offset of DORx channel 1 versus - DORx channel 2 (shifted left of 28 bits) */ -#define DAC_REG_DORX_REGOFFSET_MASK (DAC_REG_DOR1_REGOFFSET | DAC_REG_DOR2_REGOFFSET) -#endif /* DAC_CHANNEL2_SUPPORT */ - - -#define DAC_REG_DHR_REGOFFSET_MASK_POSBIT0 0x0000000FUL /* Mask of data hold registers offset (DHR12Rx, - DHR12Lx, DHR8Rx, ...) when shifted to position 0 */ -#define DAC_REG_DORX_REGOFFSET_MASK_POSBIT0 0x00000001UL /* Mask of DORx registers offset when shifted - to position 0 */ -#define DAC_REG_SHSRX_REGOFFSET_MASK_POSBIT0 0x00000001UL /* Mask of SHSRx registers offset when shifted - to position 0 */ - -#define DAC_REG_DHR12RX_REGOFFSET_BITOFFSET_POS 16UL /* Position of bits register offset of DHR12Rx - channel 1 or 2 versus DHR12Rx channel 1 - (shifted left of 16 bits) */ -#define DAC_REG_DHR12LX_REGOFFSET_BITOFFSET_POS 20UL /* Position of bits register offset of DHR12Lx - channel 1 or 2 versus DHR12Rx channel 1 - (shifted left of 20 bits) */ -#define DAC_REG_DHR8RX_REGOFFSET_BITOFFSET_POS 24UL /* Position of bits register offset of DHR8Rx - channel 1 or 2 versus DHR12Rx channel 1 - (shifted left of 24 bits) */ -#define DAC_REG_DORX_REGOFFSET_BITOFFSET_POS 28UL /* Position of bits register offset of DORx - channel 1 or 2 versus DORx channel 1 - (shifted left of 28 bits) */ - -/* DAC registers bits positions */ -#if defined(DAC_CHANNEL2_SUPPORT) -#endif -#define DAC_DHR12RD_DACC2DHR_BITOFFSET_POS DAC_DHR12RD_DACC2DHR_Pos -#define DAC_DHR12LD_DACC2DHR_BITOFFSET_POS DAC_DHR12LD_DACC2DHR_Pos -#define DAC_DHR8RD_DACC2DHR_BITOFFSET_POS DAC_DHR8RD_DACC2DHR_Pos - -/* Miscellaneous data */ -#define DAC_DIGITAL_SCALE_12BITS 4095UL /* Full-scale digital value with a resolution of 12 - bits (voltage range determined by analog voltage - references Vref+ and Vref-, refer to reference manual) */ - -/** - * @} - */ - - -/* Private macros ------------------------------------------------------------*/ -/** @defgroup DAC_LL_Private_Macros DAC Private Macros - * @{ - */ - -/** - * @brief Driver macro reserved for internal use: set a pointer to - * a register from a register basis from which an offset - * is applied. - * @param __REG__ Register basis from which the offset is applied. - * @param __REG_OFFFSET__ Offset to be applied (unit: number of registers). - * @retval Pointer to register address - */ -#define __DAC_PTR_REG_OFFSET(__REG__, __REG_OFFFSET__) \ - ((uint32_t *)((uint32_t) ((uint32_t)(&(__REG__)) + ((__REG_OFFFSET__) << 2UL)))) - -/** - * @} - */ - - -/* Exported types ------------------------------------------------------------*/ -#if defined(USE_FULL_LL_DRIVER) -/** @defgroup DAC_LL_ES_INIT DAC Exported Init structure - * @{ - */ - -/** - * @brief Structure definition of some features of DAC instance. - */ -typedef struct -{ - uint32_t TriggerSource; /*!< Set the conversion trigger source for the selected DAC channel: - internal (SW start) or from external peripheral - (timer event, external interrupt line). - This parameter can be a value of @ref DAC_LL_EC_TRIGGER_SOURCE - - This feature can be modified afterwards using unitary - function @ref LL_DAC_SetTriggerSource(). */ - - uint32_t WaveAutoGeneration; /*!< Set the waveform automatic generation mode for the selected DAC channel. - This parameter can be a value of @ref DAC_LL_EC_WAVE_AUTO_GENERATION_MODE - - This feature can be modified afterwards using unitary - function @ref LL_DAC_SetWaveAutoGeneration(). */ - - uint32_t WaveAutoGenerationConfig; /*!< Set the waveform automatic generation mode for the selected DAC channel. - If waveform automatic generation mode is set to noise, this parameter - can be a value of @ref DAC_LL_EC_WAVE_NOISE_LFSR_UNMASK_BITS - If waveform automatic generation mode is set to triangle, - this parameter can be a value of @ref DAC_LL_EC_WAVE_TRIANGLE_AMPLITUDE - @note If waveform automatic generation mode is disabled, - this parameter is discarded. - - This feature can be modified afterwards using unitary - function @ref LL_DAC_SetWaveNoiseLFSR(), - @ref LL_DAC_SetWaveTriangleAmplitude() - depending on the wave automatic generation selected. */ - - uint32_t OutputBuffer; /*!< Set the output buffer for the selected DAC channel. - This parameter can be a value of @ref DAC_LL_EC_OUTPUT_BUFFER - - This feature can be modified afterwards using unitary - function @ref LL_DAC_SetOutputBuffer(). */ -} LL_DAC_InitTypeDef; - -/** - * @} - */ -#endif /* USE_FULL_LL_DRIVER */ - -/* Exported constants --------------------------------------------------------*/ -/** @defgroup DAC_LL_Exported_Constants DAC Exported Constants - * @{ - */ - -/** @defgroup DAC_LL_EC_GET_FLAG DAC flags - * @brief Flags defines which can be used with LL_DAC_ReadReg function - * @{ - */ -/* DAC channel 1 flags */ -#define LL_DAC_FLAG_DMAUDR1 (DAC_SR_DMAUDR1) /*!< DAC channel 1 flag DMA underrun */ -#if defined(DAC_CHANNEL2_SUPPORT) -/* DAC channel 2 flags */ -#define LL_DAC_FLAG_DMAUDR2 (DAC_SR_DMAUDR2) /*!< DAC channel 2 flag DMA underrun */ -#endif /* DAC_CHANNEL2_SUPPORT */ -/** - * @} - */ - -/** @defgroup DAC_LL_EC_IT DAC interruptions - * @brief IT defines which can be used with LL_DAC_ReadReg and LL_DAC_WriteReg functions - * @{ - */ -#define LL_DAC_IT_DMAUDRIE1 (DAC_CR_DMAUDRIE1) /*!< DAC channel 1 interruption DMA underrun */ -#if defined(DAC_CHANNEL2_SUPPORT) -#define LL_DAC_IT_DMAUDRIE2 (DAC_CR_DMAUDRIE2) /*!< DAC channel 2 interruption DMA underrun */ -#endif /* DAC_CHANNEL2_SUPPORT */ -/** - * @} - */ - -/** @defgroup DAC_LL_EC_CHANNEL DAC channels - * @{ - */ -#define LL_DAC_CHANNEL_1 (DAC_REG_DOR1_REGOFFSET | DAC_REG_DHR12R1_REGOFFSET | DAC_REG_DHR12L1_REGOFFSET | DAC_REG_DHR8R1_REGOFFSET | DAC_CR_CH1_BITOFFSET | DAC_SWTR_CH1) /*!< DAC channel 1 */ -#if defined(DAC_CHANNEL2_SUPPORT) -#define LL_DAC_CHANNEL_2 (DAC_REG_DOR2_REGOFFSET | DAC_REG_DHR12R2_REGOFFSET | DAC_REG_DHR12L2_REGOFFSET | DAC_REG_DHR8R2_REGOFFSET | DAC_CR_CH2_BITOFFSET | DAC_SWTR_CH2) /*!< DAC channel 2 */ -#endif /* DAC_CHANNEL2_SUPPORT */ -/** - * @} - */ - -/** @defgroup DAC_LL_EC_TRIGGER_SOURCE DAC trigger source - * @{ - */ -#define LL_DAC_TRIG_SOFTWARE (DAC_CR_TSEL1_2 | DAC_CR_TSEL1_1 | DAC_CR_TSEL1_0) /*!< DAC channel conversion trigger internal (SW start) */ -#define LL_DAC_TRIG_EXT_TIM2_TRGO (DAC_CR_TSEL1_2 ) /*!< DAC channel conversion trigger from external peripheral: TIM2 TRGO. */ -#define LL_DAC_TRIG_EXT_TIM8_TRGO ( DAC_CR_TSEL1_0) /*!< DAC channel conversion trigger from external peripheral: TIM8 TRGO. */ -#define LL_DAC_TRIG_EXT_TIM4_TRGO (DAC_CR_TSEL1_2 | DAC_CR_TSEL1_0) /*!< DAC channel conversion trigger from external peripheral: TIM4 TRGO. */ -#define LL_DAC_TRIG_EXT_TIM6_TRGO 0x00000000UL /*!< DAC channel conversion trigger from external peripheral: TIM6 TRGO. */ -#define LL_DAC_TRIG_EXT_TIM7_TRGO ( DAC_CR_TSEL1_1 ) /*!< DAC channel conversion trigger from external peripheral: TIM7 TRGO. */ -#define LL_DAC_TRIG_EXT_TIM5_TRGO ( DAC_CR_TSEL1_1 | DAC_CR_TSEL1_0) /*!< DAC channel conversion trigger from external peripheral: TIM5 TRGO. */ -#define LL_DAC_TRIG_EXT_EXTI_LINE9 (DAC_CR_TSEL1_2 | DAC_CR_TSEL1_1 ) /*!< DAC channel conversion trigger from external peripheral: external interrupt line 9. */ -/** - * @} - */ - -/** @defgroup DAC_LL_EC_WAVE_AUTO_GENERATION_MODE DAC waveform automatic generation mode - * @{ - */ -#define LL_DAC_WAVE_AUTO_GENERATION_NONE 0x00000000UL /*!< DAC channel wave auto generation mode disabled. */ -#define LL_DAC_WAVE_AUTO_GENERATION_NOISE ( DAC_CR_WAVE1_0) /*!< DAC channel wave auto generation mode enabled, set generated noise waveform. */ -#define LL_DAC_WAVE_AUTO_GENERATION_TRIANGLE (DAC_CR_WAVE1_1 ) /*!< DAC channel wave auto generation mode enabled, set generated triangle waveform. */ -/** - * @} - */ - -/** @defgroup DAC_LL_EC_WAVE_NOISE_LFSR_UNMASK_BITS DAC wave generation - Noise LFSR unmask bits - * @{ - */ -#define LL_DAC_NOISE_LFSR_UNMASK_BIT0 0x00000000UL /*!< Noise wave generation, unmask LFSR bit0, for the selected DAC channel */ -#define LL_DAC_NOISE_LFSR_UNMASK_BITS1_0 ( DAC_CR_MAMP1_0) /*!< Noise wave generation, unmask LFSR bits[1:0], for the selected DAC channel */ -#define LL_DAC_NOISE_LFSR_UNMASK_BITS2_0 ( DAC_CR_MAMP1_1 ) /*!< Noise wave generation, unmask LFSR bits[2:0], for the selected DAC channel */ -#define LL_DAC_NOISE_LFSR_UNMASK_BITS3_0 ( DAC_CR_MAMP1_1 | DAC_CR_MAMP1_0) /*!< Noise wave generation, unmask LFSR bits[3:0], for the selected DAC channel */ -#define LL_DAC_NOISE_LFSR_UNMASK_BITS4_0 ( DAC_CR_MAMP1_2 ) /*!< Noise wave generation, unmask LFSR bits[4:0], for the selected DAC channel */ -#define LL_DAC_NOISE_LFSR_UNMASK_BITS5_0 ( DAC_CR_MAMP1_2 | DAC_CR_MAMP1_0) /*!< Noise wave generation, unmask LFSR bits[5:0], for the selected DAC channel */ -#define LL_DAC_NOISE_LFSR_UNMASK_BITS6_0 ( DAC_CR_MAMP1_2 | DAC_CR_MAMP1_1 ) /*!< Noise wave generation, unmask LFSR bits[6:0], for the selected DAC channel */ -#define LL_DAC_NOISE_LFSR_UNMASK_BITS7_0 ( DAC_CR_MAMP1_2 | DAC_CR_MAMP1_1 | DAC_CR_MAMP1_0) /*!< Noise wave generation, unmask LFSR bits[7:0], for the selected DAC channel */ -#define LL_DAC_NOISE_LFSR_UNMASK_BITS8_0 (DAC_CR_MAMP1_3 ) /*!< Noise wave generation, unmask LFSR bits[8:0], for the selected DAC channel */ -#define LL_DAC_NOISE_LFSR_UNMASK_BITS9_0 (DAC_CR_MAMP1_3 | DAC_CR_MAMP1_0) /*!< Noise wave generation, unmask LFSR bits[9:0], for the selected DAC channel */ -#define LL_DAC_NOISE_LFSR_UNMASK_BITS10_0 (DAC_CR_MAMP1_3 | DAC_CR_MAMP1_1 ) /*!< Noise wave generation, unmask LFSR bits[10:0], for the selected DAC channel */ -#define LL_DAC_NOISE_LFSR_UNMASK_BITS11_0 (DAC_CR_MAMP1_3 | DAC_CR_MAMP1_1 | DAC_CR_MAMP1_0) /*!< Noise wave generation, unmask LFSR bits[11:0], for the selected DAC channel */ -/** - * @} - */ - -/** @defgroup DAC_LL_EC_WAVE_TRIANGLE_AMPLITUDE DAC wave generation - Triangle amplitude - * @{ - */ -#define LL_DAC_TRIANGLE_AMPLITUDE_1 0x00000000UL /*!< Triangle wave generation, amplitude of 1 LSB of DAC output range, for the selected DAC channel */ -#define LL_DAC_TRIANGLE_AMPLITUDE_3 ( DAC_CR_MAMP1_0) /*!< Triangle wave generation, amplitude of 3 LSB of DAC output range, for the selected DAC channel */ -#define LL_DAC_TRIANGLE_AMPLITUDE_7 ( DAC_CR_MAMP1_1 ) /*!< Triangle wave generation, amplitude of 7 LSB of DAC output range, for the selected DAC channel */ -#define LL_DAC_TRIANGLE_AMPLITUDE_15 ( DAC_CR_MAMP1_1 | DAC_CR_MAMP1_0) /*!< Triangle wave generation, amplitude of 15 LSB of DAC output range, for the selected DAC channel */ -#define LL_DAC_TRIANGLE_AMPLITUDE_31 ( DAC_CR_MAMP1_2 ) /*!< Triangle wave generation, amplitude of 31 LSB of DAC output range, for the selected DAC channel */ -#define LL_DAC_TRIANGLE_AMPLITUDE_63 ( DAC_CR_MAMP1_2 | DAC_CR_MAMP1_0) /*!< Triangle wave generation, amplitude of 63 LSB of DAC output range, for the selected DAC channel */ -#define LL_DAC_TRIANGLE_AMPLITUDE_127 ( DAC_CR_MAMP1_2 | DAC_CR_MAMP1_1 ) /*!< Triangle wave generation, amplitude of 127 LSB of DAC output range, for the selected DAC channel */ -#define LL_DAC_TRIANGLE_AMPLITUDE_255 ( DAC_CR_MAMP1_2 | DAC_CR_MAMP1_1 | DAC_CR_MAMP1_0) /*!< Triangle wave generation, amplitude of 255 LSB of DAC output range, for the selected DAC channel */ -#define LL_DAC_TRIANGLE_AMPLITUDE_511 (DAC_CR_MAMP1_3 ) /*!< Triangle wave generation, amplitude of 512 LSB of DAC output range, for the selected DAC channel */ -#define LL_DAC_TRIANGLE_AMPLITUDE_1023 (DAC_CR_MAMP1_3 | DAC_CR_MAMP1_0) /*!< Triangle wave generation, amplitude of 1023 LSB of DAC output range, for the selected DAC channel */ -#define LL_DAC_TRIANGLE_AMPLITUDE_2047 (DAC_CR_MAMP1_3 | DAC_CR_MAMP1_1 ) /*!< Triangle wave generation, amplitude of 2047 LSB of DAC output range, for the selected DAC channel */ -#define LL_DAC_TRIANGLE_AMPLITUDE_4095 (DAC_CR_MAMP1_3 | DAC_CR_MAMP1_1 | DAC_CR_MAMP1_0) /*!< Triangle wave generation, amplitude of 4095 LSB of DAC output range, for the selected DAC channel */ -/** - * @} - */ - -/** @defgroup DAC_LL_EC_OUTPUT_BUFFER DAC channel output buffer - * @{ - */ -#define LL_DAC_OUTPUT_BUFFER_ENABLE 0x00000000UL /*!< The selected DAC channel output is buffered: higher drive current capability, but also higher current consumption */ -#define LL_DAC_OUTPUT_BUFFER_DISABLE (DAC_CR_BOFF1) /*!< The selected DAC channel output is not buffered: lower drive current capability, but also lower current consumption */ -/** - * @} - */ - -/** @defgroup DAC_LL_EC_RESOLUTION DAC channel output resolution - * @{ - */ -#define LL_DAC_RESOLUTION_12B 0x00000000UL /*!< DAC channel resolution 12 bits */ -#define LL_DAC_RESOLUTION_8B 0x00000002UL /*!< DAC channel resolution 8 bits */ -/** - * @} - */ - -/** @defgroup DAC_LL_EC_REGISTERS DAC registers compliant with specific purpose - * @{ - */ -/* List of DAC registers intended to be used (most commonly) with */ -/* DMA transfer. */ -/* Refer to function @ref LL_DAC_DMA_GetRegAddr(). */ -#define LL_DAC_DMA_REG_DATA_12BITS_RIGHT_ALIGNED DAC_REG_DHR12RX_REGOFFSET_BITOFFSET_POS /*!< DAC channel data holding register 12 bits right aligned */ -#define LL_DAC_DMA_REG_DATA_12BITS_LEFT_ALIGNED DAC_REG_DHR12LX_REGOFFSET_BITOFFSET_POS /*!< DAC channel data holding register 12 bits left aligned */ -#define LL_DAC_DMA_REG_DATA_8BITS_RIGHT_ALIGNED DAC_REG_DHR8RX_REGOFFSET_BITOFFSET_POS /*!< DAC channel data holding register 8 bits right aligned */ -/** - * @} - */ - -/** @defgroup DAC_LL_EC_HW_DELAYS Definitions of DAC hardware constraints delays - * @note Only DAC peripheral HW delays are defined in DAC LL driver driver, - * not timeout values. - * For details on delays values, refer to descriptions in source code - * above each literal definition. - * @{ - */ - -/* Delay for DAC channel voltage settling time from DAC channel startup */ -/* (transition from disable to enable). */ -/* Note: DAC channel startup time depends on board application environment: */ -/* impedance connected to DAC channel output. */ -/* The delay below is specified under conditions: */ -/* - voltage maximum transition (lowest to highest value) */ -/* - until voltage reaches final value +-1LSB */ -/* - DAC channel output buffer enabled */ -/* - load impedance of 5kOhm (min), 50pF (max) */ -/* Literal set to maximum value (refer to device datasheet, */ -/* parameter "tWAKEUP"). */ -/* Unit: us */ -#define LL_DAC_DELAY_STARTUP_VOLTAGE_SETTLING_US 15UL /*!< Delay for DAC channel voltage settling time from DAC channel startup (transition from disable to enable) */ - -/* Delay for DAC channel voltage settling time. */ -/* Note: DAC channel startup time depends on board application environment: */ -/* impedance connected to DAC channel output. */ -/* The delay below is specified under conditions: */ -/* - voltage maximum transition (lowest to highest value) */ -/* - until voltage reaches final value +-1LSB */ -/* - DAC channel output buffer enabled */ -/* - load impedance of 5kOhm min, 50pF max */ -/* Literal set to maximum value (refer to device datasheet, */ -/* parameter "tSETTLING"). */ -/* Unit: us */ -#define LL_DAC_DELAY_VOLTAGE_SETTLING_US 12UL /*!< Delay for DAC channel voltage settling time */ - -/** - * @} - */ - -/** - * @} - */ - -/* Exported macro ------------------------------------------------------------*/ -/** @defgroup DAC_LL_Exported_Macros DAC Exported Macros - * @{ - */ - -/** @defgroup DAC_LL_EM_WRITE_READ Common write and read registers macros - * @{ - */ - -/** - * @brief Write a value in DAC register - * @param __INSTANCE__ DAC Instance - * @param __REG__ Register to be written - * @param __VALUE__ Value to be written in the register - * @retval None - */ -#define LL_DAC_WriteReg(__INSTANCE__, __REG__, __VALUE__) WRITE_REG(__INSTANCE__->__REG__, (__VALUE__)) - -/** - * @brief Read a value in DAC register - * @param __INSTANCE__ DAC Instance - * @param __REG__ Register to be read - * @retval Register value - */ -#define LL_DAC_ReadReg(__INSTANCE__, __REG__) READ_REG(__INSTANCE__->__REG__) - -/** - * @} - */ - -/** @defgroup DAC_LL_EM_HELPER_MACRO DAC helper macro - * @{ - */ - -/** - * @brief Helper macro to get DAC channel number in decimal format - * from literals LL_DAC_CHANNEL_x. - * Example: - * __LL_DAC_CHANNEL_TO_DECIMAL_NB(LL_DAC_CHANNEL_1) - * will return decimal number "1". - * @note The input can be a value from functions where a channel - * number is returned. - * @param __CHANNEL__ This parameter can be one of the following values: - * @arg @ref LL_DAC_CHANNEL_1 - * @arg @ref LL_DAC_CHANNEL_2 (1) - * - * (1) On this STM32 serie, parameter not available on all devices. - * Refer to device datasheet for channels availability. - * @retval 1...2 (value "2" depending on DAC channel 2 availability) - */ -#define __LL_DAC_CHANNEL_TO_DECIMAL_NB(__CHANNEL__) \ - ((__CHANNEL__) & DAC_SWTR_CHX_MASK) - -/** - * @brief Helper macro to get DAC channel in literal format LL_DAC_CHANNEL_x - * from number in decimal format. - * Example: - * __LL_DAC_DECIMAL_NB_TO_CHANNEL(1) - * will return a data equivalent to "LL_DAC_CHANNEL_1". - * @note If the input parameter does not correspond to a DAC channel, - * this macro returns value '0'. - * @param __DECIMAL_NB__ 1...2 (value "2" depending on DAC channel 2 availability) - * @retval Returned value can be one of the following values: - * @arg @ref LL_DAC_CHANNEL_1 - * @arg @ref LL_DAC_CHANNEL_2 (1) - * - * (1) On this STM32 serie, parameter not available on all devices. - * Refer to device datasheet for channels availability. - */ -#if defined(DAC_CHANNEL2_SUPPORT) -#define __LL_DAC_DECIMAL_NB_TO_CHANNEL(__DECIMAL_NB__) \ - (((__DECIMAL_NB__) == 1UL) \ - ? ( \ - LL_DAC_CHANNEL_1 \ - ) \ - : \ - (((__DECIMAL_NB__) == 2UL) \ - ? ( \ - LL_DAC_CHANNEL_2 \ - ) \ - : \ - ( \ - 0UL \ - ) \ - ) \ - ) -#else -#define __LL_DAC_DECIMAL_NB_TO_CHANNEL(__DECIMAL_NB__) \ - (((__DECIMAL_NB__) == 1UL) \ - ? ( \ - LL_DAC_CHANNEL_1 \ - ) \ - : \ - ( \ - 0UL \ - ) \ - ) -#endif /* DAC_CHANNEL2_SUPPORT */ - -/** - * @brief Helper macro to define the DAC conversion data full-scale digital - * value corresponding to the selected DAC resolution. - * @note DAC conversion data full-scale corresponds to voltage range - * determined by analog voltage references Vref+ and Vref- - * (refer to reference manual). - * @param __DAC_RESOLUTION__ This parameter can be one of the following values: - * @arg @ref LL_DAC_RESOLUTION_12B - * @arg @ref LL_DAC_RESOLUTION_8B - * @retval ADC conversion data equivalent voltage value (unit: mVolt) - */ -#define __LL_DAC_DIGITAL_SCALE(__DAC_RESOLUTION__) \ - ((0x00000FFFUL) >> ((__DAC_RESOLUTION__) << 1UL)) - -/** - * @brief Helper macro to calculate the DAC conversion data (unit: digital - * value) corresponding to a voltage (unit: mVolt). - * @note This helper macro is intended to provide input data in voltage - * rather than digital value, - * to be used with LL DAC functions such as - * @ref LL_DAC_ConvertData12RightAligned(). - * @note Analog reference voltage (Vref+) must be either known from - * user board environment or can be calculated using ADC measurement - * and ADC helper macro __LL_ADC_CALC_VREFANALOG_VOLTAGE(). - * @param __VREFANALOG_VOLTAGE__ Analog reference voltage (unit: mV) - * @param __DAC_VOLTAGE__ Voltage to be generated by DAC channel - * (unit: mVolt). - * @param __DAC_RESOLUTION__ This parameter can be one of the following values: - * @arg @ref LL_DAC_RESOLUTION_12B - * @arg @ref LL_DAC_RESOLUTION_8B - * @retval DAC conversion data (unit: digital value) - */ -#define __LL_DAC_CALC_VOLTAGE_TO_DATA(__VREFANALOG_VOLTAGE__,\ - __DAC_VOLTAGE__,\ - __DAC_RESOLUTION__) \ -((__DAC_VOLTAGE__) * __LL_DAC_DIGITAL_SCALE(__DAC_RESOLUTION__) \ - / (__VREFANALOG_VOLTAGE__) \ -) - -/** - * @} - */ - -/** - * @} - */ - - -/* Exported functions --------------------------------------------------------*/ -/** @defgroup DAC_LL_Exported_Functions DAC Exported Functions - * @{ - */ -/** - * @brief Set the conversion trigger source for the selected DAC channel. - * @note For conversion trigger source to be effective, DAC trigger - * must be enabled using function @ref LL_DAC_EnableTrigger(). - * @note To set conversion trigger source, DAC channel must be disabled. - * Otherwise, the setting is discarded. - * @note Availability of parameters of trigger sources from timer - * depends on timers availability on the selected device. - * @rmtoll CR TSEL1 LL_DAC_SetTriggerSource\n - * CR TSEL2 LL_DAC_SetTriggerSource - * @param DACx DAC instance - * @param DAC_Channel This parameter can be one of the following values: - * @arg @ref LL_DAC_CHANNEL_1 - * @arg @ref LL_DAC_CHANNEL_2 (1) - * - * (1) On this STM32 serie, parameter not available on all devices. - * Refer to device datasheet for channels availability. - * @param TriggerSource This parameter can be one of the following values: - * @arg @ref LL_DAC_TRIG_SOFTWARE - * @arg @ref LL_DAC_TRIG_EXT_TIM8_TRGO - * @arg @ref LL_DAC_TRIG_EXT_TIM7_TRGO - * @arg @ref LL_DAC_TRIG_EXT_TIM6_TRGO - * @arg @ref LL_DAC_TRIG_EXT_TIM5_TRGO - * @arg @ref LL_DAC_TRIG_EXT_TIM4_TRGO - * @arg @ref LL_DAC_TRIG_EXT_TIM2_TRGO - * @arg @ref LL_DAC_TRIG_EXT_EXTI_LINE9 - * @retval None - */ -__STATIC_INLINE void LL_DAC_SetTriggerSource(DAC_TypeDef *DACx, uint32_t DAC_Channel, uint32_t TriggerSource) -{ - MODIFY_REG(DACx->CR, - DAC_CR_TSEL1 << (DAC_Channel & DAC_CR_CHX_BITOFFSET_MASK), - TriggerSource << (DAC_Channel & DAC_CR_CHX_BITOFFSET_MASK)); -} - -/** - * @brief Get the conversion trigger source for the selected DAC channel. - * @note For conversion trigger source to be effective, DAC trigger - * must be enabled using function @ref LL_DAC_EnableTrigger(). - * @note Availability of parameters of trigger sources from timer - * depends on timers availability on the selected device. - * @rmtoll CR TSEL1 LL_DAC_GetTriggerSource\n - * CR TSEL2 LL_DAC_GetTriggerSource - * @param DACx DAC instance - * @param DAC_Channel This parameter can be one of the following values: - * @arg @ref LL_DAC_CHANNEL_1 - * @arg @ref LL_DAC_CHANNEL_2 (1) - * - * (1) On this STM32 serie, parameter not available on all devices. - * Refer to device datasheet for channels availability. - * @retval Returned value can be one of the following values: - * @arg @ref LL_DAC_TRIG_SOFTWARE - * @arg @ref LL_DAC_TRIG_EXT_TIM8_TRGO - * @arg @ref LL_DAC_TRIG_EXT_TIM7_TRGO - * @arg @ref LL_DAC_TRIG_EXT_TIM6_TRGO - * @arg @ref LL_DAC_TRIG_EXT_TIM5_TRGO - * @arg @ref LL_DAC_TRIG_EXT_TIM4_TRGO - * @arg @ref LL_DAC_TRIG_EXT_TIM2_TRGO - * @arg @ref LL_DAC_TRIG_EXT_EXTI_LINE9 - */ -__STATIC_INLINE uint32_t LL_DAC_GetTriggerSource(DAC_TypeDef *DACx, uint32_t DAC_Channel) -{ - return (uint32_t)(READ_BIT(DACx->CR, DAC_CR_TSEL1 << (DAC_Channel & DAC_CR_CHX_BITOFFSET_MASK)) - >> (DAC_Channel & DAC_CR_CHX_BITOFFSET_MASK) - ); -} - -/** - * @brief Set the waveform automatic generation mode - * for the selected DAC channel. - * @rmtoll CR WAVE1 LL_DAC_SetWaveAutoGeneration\n - * CR WAVE2 LL_DAC_SetWaveAutoGeneration - * @param DACx DAC instance - * @param DAC_Channel This parameter can be one of the following values: - * @arg @ref LL_DAC_CHANNEL_1 - * @arg @ref LL_DAC_CHANNEL_2 (1) - * - * (1) On this STM32 serie, parameter not available on all devices. - * Refer to device datasheet for channels availability. - * @param WaveAutoGeneration This parameter can be one of the following values: - * @arg @ref LL_DAC_WAVE_AUTO_GENERATION_NONE - * @arg @ref LL_DAC_WAVE_AUTO_GENERATION_NOISE - * @arg @ref LL_DAC_WAVE_AUTO_GENERATION_TRIANGLE - * @retval None - */ -__STATIC_INLINE void LL_DAC_SetWaveAutoGeneration(DAC_TypeDef *DACx, uint32_t DAC_Channel, uint32_t WaveAutoGeneration) -{ - MODIFY_REG(DACx->CR, - DAC_CR_WAVE1 << (DAC_Channel & DAC_CR_CHX_BITOFFSET_MASK), - WaveAutoGeneration << (DAC_Channel & DAC_CR_CHX_BITOFFSET_MASK)); -} - -/** - * @brief Get the waveform automatic generation mode - * for the selected DAC channel. - * @rmtoll CR WAVE1 LL_DAC_GetWaveAutoGeneration\n - * CR WAVE2 LL_DAC_GetWaveAutoGeneration - * @param DACx DAC instance - * @param DAC_Channel This parameter can be one of the following values: - * @arg @ref LL_DAC_CHANNEL_1 - * @arg @ref LL_DAC_CHANNEL_2 (1) - * - * (1) On this STM32 serie, parameter not available on all devices. - * Refer to device datasheet for channels availability. - * @retval Returned value can be one of the following values: - * @arg @ref LL_DAC_WAVE_AUTO_GENERATION_NONE - * @arg @ref LL_DAC_WAVE_AUTO_GENERATION_NOISE - * @arg @ref LL_DAC_WAVE_AUTO_GENERATION_TRIANGLE - */ -__STATIC_INLINE uint32_t LL_DAC_GetWaveAutoGeneration(DAC_TypeDef *DACx, uint32_t DAC_Channel) -{ - return (uint32_t)(READ_BIT(DACx->CR, DAC_CR_WAVE1 << (DAC_Channel & DAC_CR_CHX_BITOFFSET_MASK)) - >> (DAC_Channel & DAC_CR_CHX_BITOFFSET_MASK) - ); -} - -/** - * @brief Set the noise waveform generation for the selected DAC channel: - * Noise mode and parameters LFSR (linear feedback shift register). - * @note For wave generation to be effective, DAC channel - * wave generation mode must be enabled using - * function @ref LL_DAC_SetWaveAutoGeneration(). - * @note This setting can be set when the selected DAC channel is disabled - * (otherwise, the setting operation is ignored). - * @rmtoll CR MAMP1 LL_DAC_SetWaveNoiseLFSR\n - * CR MAMP2 LL_DAC_SetWaveNoiseLFSR - * @param DACx DAC instance - * @param DAC_Channel This parameter can be one of the following values: - * @arg @ref LL_DAC_CHANNEL_1 - * @arg @ref LL_DAC_CHANNEL_2 (1) - * - * (1) On this STM32 serie, parameter not available on all devices. - * Refer to device datasheet for channels availability. - * @param NoiseLFSRMask This parameter can be one of the following values: - * @arg @ref LL_DAC_NOISE_LFSR_UNMASK_BIT0 - * @arg @ref LL_DAC_NOISE_LFSR_UNMASK_BITS1_0 - * @arg @ref LL_DAC_NOISE_LFSR_UNMASK_BITS2_0 - * @arg @ref LL_DAC_NOISE_LFSR_UNMASK_BITS3_0 - * @arg @ref LL_DAC_NOISE_LFSR_UNMASK_BITS4_0 - * @arg @ref LL_DAC_NOISE_LFSR_UNMASK_BITS5_0 - * @arg @ref LL_DAC_NOISE_LFSR_UNMASK_BITS6_0 - * @arg @ref LL_DAC_NOISE_LFSR_UNMASK_BITS7_0 - * @arg @ref LL_DAC_NOISE_LFSR_UNMASK_BITS8_0 - * @arg @ref LL_DAC_NOISE_LFSR_UNMASK_BITS9_0 - * @arg @ref LL_DAC_NOISE_LFSR_UNMASK_BITS10_0 - * @arg @ref LL_DAC_NOISE_LFSR_UNMASK_BITS11_0 - * @retval None - */ -__STATIC_INLINE void LL_DAC_SetWaveNoiseLFSR(DAC_TypeDef *DACx, uint32_t DAC_Channel, uint32_t NoiseLFSRMask) -{ - MODIFY_REG(DACx->CR, - DAC_CR_MAMP1 << (DAC_Channel & DAC_CR_CHX_BITOFFSET_MASK), - NoiseLFSRMask << (DAC_Channel & DAC_CR_CHX_BITOFFSET_MASK)); -} - -/** - * @brief Get the noise waveform generation for the selected DAC channel: - * Noise mode and parameters LFSR (linear feedback shift register). - * @rmtoll CR MAMP1 LL_DAC_GetWaveNoiseLFSR\n - * CR MAMP2 LL_DAC_GetWaveNoiseLFSR - * @param DACx DAC instance - * @param DAC_Channel This parameter can be one of the following values: - * @arg @ref LL_DAC_CHANNEL_1 - * @arg @ref LL_DAC_CHANNEL_2 (1) - * - * (1) On this STM32 serie, parameter not available on all devices. - * Refer to device datasheet for channels availability. - * @retval Returned value can be one of the following values: - * @arg @ref LL_DAC_NOISE_LFSR_UNMASK_BIT0 - * @arg @ref LL_DAC_NOISE_LFSR_UNMASK_BITS1_0 - * @arg @ref LL_DAC_NOISE_LFSR_UNMASK_BITS2_0 - * @arg @ref LL_DAC_NOISE_LFSR_UNMASK_BITS3_0 - * @arg @ref LL_DAC_NOISE_LFSR_UNMASK_BITS4_0 - * @arg @ref LL_DAC_NOISE_LFSR_UNMASK_BITS5_0 - * @arg @ref LL_DAC_NOISE_LFSR_UNMASK_BITS6_0 - * @arg @ref LL_DAC_NOISE_LFSR_UNMASK_BITS7_0 - * @arg @ref LL_DAC_NOISE_LFSR_UNMASK_BITS8_0 - * @arg @ref LL_DAC_NOISE_LFSR_UNMASK_BITS9_0 - * @arg @ref LL_DAC_NOISE_LFSR_UNMASK_BITS10_0 - * @arg @ref LL_DAC_NOISE_LFSR_UNMASK_BITS11_0 - */ -__STATIC_INLINE uint32_t LL_DAC_GetWaveNoiseLFSR(DAC_TypeDef *DACx, uint32_t DAC_Channel) -{ - return (uint32_t)(READ_BIT(DACx->CR, DAC_CR_MAMP1 << (DAC_Channel & DAC_CR_CHX_BITOFFSET_MASK)) - >> (DAC_Channel & DAC_CR_CHX_BITOFFSET_MASK) - ); -} - -/** - * @brief Set the triangle waveform generation for the selected DAC channel: - * triangle mode and amplitude. - * @note For wave generation to be effective, DAC channel - * wave generation mode must be enabled using - * function @ref LL_DAC_SetWaveAutoGeneration(). - * @note This setting can be set when the selected DAC channel is disabled - * (otherwise, the setting operation is ignored). - * @rmtoll CR MAMP1 LL_DAC_SetWaveTriangleAmplitude\n - * CR MAMP2 LL_DAC_SetWaveTriangleAmplitude - * @param DACx DAC instance - * @param DAC_Channel This parameter can be one of the following values: - * @arg @ref LL_DAC_CHANNEL_1 - * @arg @ref LL_DAC_CHANNEL_2 (1) - * - * (1) On this STM32 serie, parameter not available on all devices. - * Refer to device datasheet for channels availability. - * @param TriangleAmplitude This parameter can be one of the following values: - * @arg @ref LL_DAC_TRIANGLE_AMPLITUDE_1 - * @arg @ref LL_DAC_TRIANGLE_AMPLITUDE_3 - * @arg @ref LL_DAC_TRIANGLE_AMPLITUDE_7 - * @arg @ref LL_DAC_TRIANGLE_AMPLITUDE_15 - * @arg @ref LL_DAC_TRIANGLE_AMPLITUDE_31 - * @arg @ref LL_DAC_TRIANGLE_AMPLITUDE_63 - * @arg @ref LL_DAC_TRIANGLE_AMPLITUDE_127 - * @arg @ref LL_DAC_TRIANGLE_AMPLITUDE_255 - * @arg @ref LL_DAC_TRIANGLE_AMPLITUDE_511 - * @arg @ref LL_DAC_TRIANGLE_AMPLITUDE_1023 - * @arg @ref LL_DAC_TRIANGLE_AMPLITUDE_2047 - * @arg @ref LL_DAC_TRIANGLE_AMPLITUDE_4095 - * @retval None - */ -__STATIC_INLINE void LL_DAC_SetWaveTriangleAmplitude(DAC_TypeDef *DACx, uint32_t DAC_Channel, - uint32_t TriangleAmplitude) -{ - MODIFY_REG(DACx->CR, - DAC_CR_MAMP1 << (DAC_Channel & DAC_CR_CHX_BITOFFSET_MASK), - TriangleAmplitude << (DAC_Channel & DAC_CR_CHX_BITOFFSET_MASK)); -} - -/** - * @brief Get the triangle waveform generation for the selected DAC channel: - * triangle mode and amplitude. - * @rmtoll CR MAMP1 LL_DAC_GetWaveTriangleAmplitude\n - * CR MAMP2 LL_DAC_GetWaveTriangleAmplitude - * @param DACx DAC instance - * @param DAC_Channel This parameter can be one of the following values: - * @arg @ref LL_DAC_CHANNEL_1 - * @arg @ref LL_DAC_CHANNEL_2 (1) - * - * (1) On this STM32 serie, parameter not available on all devices. - * Refer to device datasheet for channels availability. - * @retval Returned value can be one of the following values: - * @arg @ref LL_DAC_TRIANGLE_AMPLITUDE_1 - * @arg @ref LL_DAC_TRIANGLE_AMPLITUDE_3 - * @arg @ref LL_DAC_TRIANGLE_AMPLITUDE_7 - * @arg @ref LL_DAC_TRIANGLE_AMPLITUDE_15 - * @arg @ref LL_DAC_TRIANGLE_AMPLITUDE_31 - * @arg @ref LL_DAC_TRIANGLE_AMPLITUDE_63 - * @arg @ref LL_DAC_TRIANGLE_AMPLITUDE_127 - * @arg @ref LL_DAC_TRIANGLE_AMPLITUDE_255 - * @arg @ref LL_DAC_TRIANGLE_AMPLITUDE_511 - * @arg @ref LL_DAC_TRIANGLE_AMPLITUDE_1023 - * @arg @ref LL_DAC_TRIANGLE_AMPLITUDE_2047 - * @arg @ref LL_DAC_TRIANGLE_AMPLITUDE_4095 - */ -__STATIC_INLINE uint32_t LL_DAC_GetWaveTriangleAmplitude(DAC_TypeDef *DACx, uint32_t DAC_Channel) -{ - return (uint32_t)(READ_BIT(DACx->CR, DAC_CR_MAMP1 << (DAC_Channel & DAC_CR_CHX_BITOFFSET_MASK)) - >> (DAC_Channel & DAC_CR_CHX_BITOFFSET_MASK) - ); -} - -/** - * @brief Set the output buffer for the selected DAC channel. - * @rmtoll CR BOFF1 LL_DAC_SetOutputBuffer\n - * CR BOFF2 LL_DAC_SetOutputBuffer - * @param DACx DAC instance - * @param DAC_Channel This parameter can be one of the following values: - * @arg @ref LL_DAC_CHANNEL_1 - * @arg @ref LL_DAC_CHANNEL_2 (1) - * - * (1) On this STM32 serie, parameter not available on all devices. - * Refer to device datasheet for channels availability. - * @param OutputBuffer This parameter can be one of the following values: - * @arg @ref LL_DAC_OUTPUT_BUFFER_ENABLE - * @arg @ref LL_DAC_OUTPUT_BUFFER_DISABLE - * @retval None - */ -__STATIC_INLINE void LL_DAC_SetOutputBuffer(DAC_TypeDef *DACx, uint32_t DAC_Channel, uint32_t OutputBuffer) -{ - MODIFY_REG(DACx->CR, - DAC_CR_BOFF1 << (DAC_Channel & DAC_CR_CHX_BITOFFSET_MASK), - OutputBuffer << (DAC_Channel & DAC_CR_CHX_BITOFFSET_MASK)); -} - -/** - * @brief Get the output buffer state for the selected DAC channel. - * @rmtoll CR BOFF1 LL_DAC_GetOutputBuffer\n - * CR BOFF2 LL_DAC_GetOutputBuffer - * @param DACx DAC instance - * @param DAC_Channel This parameter can be one of the following values: - * @arg @ref LL_DAC_CHANNEL_1 - * @arg @ref LL_DAC_CHANNEL_2 (1) - * - * (1) On this STM32 serie, parameter not available on all devices. - * Refer to device datasheet for channels availability. - * @retval Returned value can be one of the following values: - * @arg @ref LL_DAC_OUTPUT_BUFFER_ENABLE - * @arg @ref LL_DAC_OUTPUT_BUFFER_DISABLE - */ -__STATIC_INLINE uint32_t LL_DAC_GetOutputBuffer(DAC_TypeDef *DACx, uint32_t DAC_Channel) -{ - return (uint32_t)(READ_BIT(DACx->CR, DAC_CR_BOFF1 << (DAC_Channel & DAC_CR_CHX_BITOFFSET_MASK)) - >> (DAC_Channel & DAC_CR_CHX_BITOFFSET_MASK) - ); -} - -/** - * @} - */ - -/** @defgroup DAC_LL_EF_DMA_Management DMA Management - * @{ - */ - -/** - * @brief Enable DAC DMA transfer request of the selected channel. - * @note To configure DMA source address (peripheral address), - * use function @ref LL_DAC_DMA_GetRegAddr(). - * @rmtoll CR DMAEN1 LL_DAC_EnableDMAReq\n - * CR DMAEN2 LL_DAC_EnableDMAReq - * @param DACx DAC instance - * @param DAC_Channel This parameter can be one of the following values: - * @arg @ref LL_DAC_CHANNEL_1 - * @arg @ref LL_DAC_CHANNEL_2 (1) - * - * (1) On this STM32 serie, parameter not available on all devices. - * Refer to device datasheet for channels availability. - * @retval None - */ -__STATIC_INLINE void LL_DAC_EnableDMAReq(DAC_TypeDef *DACx, uint32_t DAC_Channel) -{ - SET_BIT(DACx->CR, - DAC_CR_DMAEN1 << (DAC_Channel & DAC_CR_CHX_BITOFFSET_MASK)); -} - -/** - * @brief Disable DAC DMA transfer request of the selected channel. - * @note To configure DMA source address (peripheral address), - * use function @ref LL_DAC_DMA_GetRegAddr(). - * @rmtoll CR DMAEN1 LL_DAC_DisableDMAReq\n - * CR DMAEN2 LL_DAC_DisableDMAReq - * @param DACx DAC instance - * @param DAC_Channel This parameter can be one of the following values: - * @arg @ref LL_DAC_CHANNEL_1 - * @arg @ref LL_DAC_CHANNEL_2 (1) - * - * (1) On this STM32 serie, parameter not available on all devices. - * Refer to device datasheet for channels availability. - * @retval None - */ -__STATIC_INLINE void LL_DAC_DisableDMAReq(DAC_TypeDef *DACx, uint32_t DAC_Channel) -{ - CLEAR_BIT(DACx->CR, - DAC_CR_DMAEN1 << (DAC_Channel & DAC_CR_CHX_BITOFFSET_MASK)); -} - -/** - * @brief Get DAC DMA transfer request state of the selected channel. - * (0: DAC DMA transfer request is disabled, 1: DAC DMA transfer request is enabled) - * @rmtoll CR DMAEN1 LL_DAC_IsDMAReqEnabled\n - * CR DMAEN2 LL_DAC_IsDMAReqEnabled - * @param DACx DAC instance - * @param DAC_Channel This parameter can be one of the following values: - * @arg @ref LL_DAC_CHANNEL_1 - * @arg @ref LL_DAC_CHANNEL_2 (1) - * - * (1) On this STM32 serie, parameter not available on all devices. - * Refer to device datasheet for channels availability. - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_DAC_IsDMAReqEnabled(DAC_TypeDef *DACx, uint32_t DAC_Channel) -{ - return ((READ_BIT(DACx->CR, - DAC_CR_DMAEN1 << (DAC_Channel & DAC_CR_CHX_BITOFFSET_MASK)) - == (DAC_CR_DMAEN1 << (DAC_Channel & DAC_CR_CHX_BITOFFSET_MASK))) ? 1UL : 0UL); -} - -/** - * @brief Function to help to configure DMA transfer to DAC: retrieve the - * DAC register address from DAC instance and a list of DAC registers - * intended to be used (most commonly) with DMA transfer. - * @note These DAC registers are data holding registers: - * when DAC conversion is requested, DAC generates a DMA transfer - * request to have data available in DAC data holding registers. - * @note This macro is intended to be used with LL DMA driver, refer to - * function "LL_DMA_ConfigAddresses()". - * Example: - * LL_DMA_ConfigAddresses(DMA1, - * LL_DMA_CHANNEL_1, - * (uint32_t)&< array or variable >, - * LL_DAC_DMA_GetRegAddr(DAC1, LL_DAC_CHANNEL_1, - * LL_DAC_DMA_REG_DATA_12BITS_RIGHT_ALIGNED), - * LL_DMA_DIRECTION_MEMORY_TO_PERIPH); - * @rmtoll DHR12R1 DACC1DHR LL_DAC_DMA_GetRegAddr\n - * DHR12L1 DACC1DHR LL_DAC_DMA_GetRegAddr\n - * DHR8R1 DACC1DHR LL_DAC_DMA_GetRegAddr\n - * DHR12R2 DACC2DHR LL_DAC_DMA_GetRegAddr\n - * DHR12L2 DACC2DHR LL_DAC_DMA_GetRegAddr\n - * DHR8R2 DACC2DHR LL_DAC_DMA_GetRegAddr - * @param DACx DAC instance - * @param DAC_Channel This parameter can be one of the following values: - * @arg @ref LL_DAC_CHANNEL_1 - * @arg @ref LL_DAC_CHANNEL_2 (1) - * - * (1) On this STM32 serie, parameter not available on all devices. - * Refer to device datasheet for channels availability. - * @param Register This parameter can be one of the following values: - * @arg @ref LL_DAC_DMA_REG_DATA_12BITS_RIGHT_ALIGNED - * @arg @ref LL_DAC_DMA_REG_DATA_12BITS_LEFT_ALIGNED - * @arg @ref LL_DAC_DMA_REG_DATA_8BITS_RIGHT_ALIGNED - * @retval DAC register address - */ -__STATIC_INLINE uint32_t LL_DAC_DMA_GetRegAddr(DAC_TypeDef *DACx, uint32_t DAC_Channel, uint32_t Register) -{ - /* Retrieve address of register DHR12Rx, DHR12Lx or DHR8Rx depending on */ - /* DAC channel selected. */ - return ((uint32_t)(__DAC_PTR_REG_OFFSET((DACx)->DHR12R1, ((DAC_Channel >> (Register & 0x1FUL)) - & DAC_REG_DHR_REGOFFSET_MASK_POSBIT0)))); -} -/** - * @} - */ - -/** @defgroup DAC_LL_EF_Operation Operation on DAC channels - * @{ - */ - -/** - * @brief Enable DAC selected channel. - * @rmtoll CR EN1 LL_DAC_Enable\n - * CR EN2 LL_DAC_Enable - * @note After enable from off state, DAC channel requires a delay - * for output voltage to reach accuracy +/- 1 LSB. - * Refer to device datasheet, parameter "tWAKEUP". - * @param DACx DAC instance - * @param DAC_Channel This parameter can be one of the following values: - * @arg @ref LL_DAC_CHANNEL_1 - * @arg @ref LL_DAC_CHANNEL_2 (1) - * - * (1) On this STM32 serie, parameter not available on all devices. - * Refer to device datasheet for channels availability. - * @retval None - */ -__STATIC_INLINE void LL_DAC_Enable(DAC_TypeDef *DACx, uint32_t DAC_Channel) -{ - SET_BIT(DACx->CR, - DAC_CR_EN1 << (DAC_Channel & DAC_CR_CHX_BITOFFSET_MASK)); -} - -/** - * @brief Disable DAC selected channel. - * @rmtoll CR EN1 LL_DAC_Disable\n - * CR EN2 LL_DAC_Disable - * @param DACx DAC instance - * @param DAC_Channel This parameter can be one of the following values: - * @arg @ref LL_DAC_CHANNEL_1 - * @arg @ref LL_DAC_CHANNEL_2 (1) - * - * (1) On this STM32 serie, parameter not available on all devices. - * Refer to device datasheet for channels availability. - * @retval None - */ -__STATIC_INLINE void LL_DAC_Disable(DAC_TypeDef *DACx, uint32_t DAC_Channel) -{ - CLEAR_BIT(DACx->CR, - DAC_CR_EN1 << (DAC_Channel & DAC_CR_CHX_BITOFFSET_MASK)); -} - -/** - * @brief Get DAC enable state of the selected channel. - * (0: DAC channel is disabled, 1: DAC channel is enabled) - * @rmtoll CR EN1 LL_DAC_IsEnabled\n - * CR EN2 LL_DAC_IsEnabled - * @param DACx DAC instance - * @param DAC_Channel This parameter can be one of the following values: - * @arg @ref LL_DAC_CHANNEL_1 - * @arg @ref LL_DAC_CHANNEL_2 (1) - * - * (1) On this STM32 serie, parameter not available on all devices. - * Refer to device datasheet for channels availability. - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_DAC_IsEnabled(DAC_TypeDef *DACx, uint32_t DAC_Channel) -{ - return ((READ_BIT(DACx->CR, - DAC_CR_EN1 << (DAC_Channel & DAC_CR_CHX_BITOFFSET_MASK)) - == (DAC_CR_EN1 << (DAC_Channel & DAC_CR_CHX_BITOFFSET_MASK))) ? 1UL : 0UL); -} - -/** - * @brief Enable DAC trigger of the selected channel. - * @note - If DAC trigger is disabled, DAC conversion is performed - * automatically once the data holding register is updated, - * using functions "LL_DAC_ConvertData{8; 12}{Right; Left} Aligned()": - * @ref LL_DAC_ConvertData12RightAligned(), ... - * - If DAC trigger is enabled, DAC conversion is performed - * only when a hardware of software trigger event is occurring. - * Select trigger source using - * function @ref LL_DAC_SetTriggerSource(). - * @rmtoll CR TEN1 LL_DAC_EnableTrigger\n - * CR TEN2 LL_DAC_EnableTrigger - * @param DACx DAC instance - * @param DAC_Channel This parameter can be one of the following values: - * @arg @ref LL_DAC_CHANNEL_1 - * @arg @ref LL_DAC_CHANNEL_2 (1) - * - * (1) On this STM32 serie, parameter not available on all devices. - * Refer to device datasheet for channels availability. - * @retval None - */ -__STATIC_INLINE void LL_DAC_EnableTrigger(DAC_TypeDef *DACx, uint32_t DAC_Channel) -{ - SET_BIT(DACx->CR, - DAC_CR_TEN1 << (DAC_Channel & DAC_CR_CHX_BITOFFSET_MASK)); -} - -/** - * @brief Disable DAC trigger of the selected channel. - * @rmtoll CR TEN1 LL_DAC_DisableTrigger\n - * CR TEN2 LL_DAC_DisableTrigger - * @param DACx DAC instance - * @param DAC_Channel This parameter can be one of the following values: - * @arg @ref LL_DAC_CHANNEL_1 - * @arg @ref LL_DAC_CHANNEL_2 (1) - * - * (1) On this STM32 serie, parameter not available on all devices. - * Refer to device datasheet for channels availability. - * @retval None - */ -__STATIC_INLINE void LL_DAC_DisableTrigger(DAC_TypeDef *DACx, uint32_t DAC_Channel) -{ - CLEAR_BIT(DACx->CR, - DAC_CR_TEN1 << (DAC_Channel & DAC_CR_CHX_BITOFFSET_MASK)); -} - -/** - * @brief Get DAC trigger state of the selected channel. - * (0: DAC trigger is disabled, 1: DAC trigger is enabled) - * @rmtoll CR TEN1 LL_DAC_IsTriggerEnabled\n - * CR TEN2 LL_DAC_IsTriggerEnabled - * @param DACx DAC instance - * @param DAC_Channel This parameter can be one of the following values: - * @arg @ref LL_DAC_CHANNEL_1 - * @arg @ref LL_DAC_CHANNEL_2 (1) - * - * (1) On this STM32 serie, parameter not available on all devices. - * Refer to device datasheet for channels availability. - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_DAC_IsTriggerEnabled(DAC_TypeDef *DACx, uint32_t DAC_Channel) -{ - return ((READ_BIT(DACx->CR, - DAC_CR_TEN1 << (DAC_Channel & DAC_CR_CHX_BITOFFSET_MASK)) - == (DAC_CR_TEN1 << (DAC_Channel & DAC_CR_CHX_BITOFFSET_MASK))) ? 1UL : 0UL); -} - -/** - * @brief Trig DAC conversion by software for the selected DAC channel. - * @note Preliminarily, DAC trigger must be set to software trigger - * using function - * @ref LL_DAC_Init() - * @ref LL_DAC_SetTriggerSource() - * with parameter "LL_DAC_TRIGGER_SOFTWARE". - * and DAC trigger must be enabled using - * function @ref LL_DAC_EnableTrigger(). - * @note For devices featuring DAC with 2 channels: this function - * can perform a SW start of both DAC channels simultaneously. - * Two channels can be selected as parameter. - * Example: (LL_DAC_CHANNEL_1 | LL_DAC_CHANNEL_2) - * @rmtoll SWTRIGR SWTRIG1 LL_DAC_TrigSWConversion\n - * SWTRIGR SWTRIG2 LL_DAC_TrigSWConversion - * @param DACx DAC instance - * @param DAC_Channel This parameter can a combination of the following values: - * @arg @ref LL_DAC_CHANNEL_1 - * @arg @ref LL_DAC_CHANNEL_2 (1) - * - * (1) On this STM32 serie, parameter not available on all devices. - * Refer to device datasheet for channels availability. - * @retval None - */ -__STATIC_INLINE void LL_DAC_TrigSWConversion(DAC_TypeDef *DACx, uint32_t DAC_Channel) -{ - SET_BIT(DACx->SWTRIGR, - (DAC_Channel & DAC_SWTR_CHX_MASK)); -} - -/** - * @brief Set the data to be loaded in the data holding register - * in format 12 bits left alignment (LSB aligned on bit 0), - * for the selected DAC channel. - * @rmtoll DHR12R1 DACC1DHR LL_DAC_ConvertData12RightAligned\n - * DHR12R2 DACC2DHR LL_DAC_ConvertData12RightAligned - * @param DACx DAC instance - * @param DAC_Channel This parameter can be one of the following values: - * @arg @ref LL_DAC_CHANNEL_1 - * @arg @ref LL_DAC_CHANNEL_2 (1) - * - * (1) On this STM32 serie, parameter not available on all devices. - * Refer to device datasheet for channels availability. - * @param Data Value between Min_Data=0x000 and Max_Data=0xFFF - * @retval None - */ -__STATIC_INLINE void LL_DAC_ConvertData12RightAligned(DAC_TypeDef *DACx, uint32_t DAC_Channel, uint32_t Data) -{ - __IO uint32_t *preg = __DAC_PTR_REG_OFFSET(DACx->DHR12R1, (DAC_Channel >> DAC_REG_DHR12RX_REGOFFSET_BITOFFSET_POS) - & DAC_REG_DHR_REGOFFSET_MASK_POSBIT0); - - MODIFY_REG(*preg, DAC_DHR12R1_DACC1DHR, Data); -} - -/** - * @brief Set the data to be loaded in the data holding register - * in format 12 bits left alignment (MSB aligned on bit 15), - * for the selected DAC channel. - * @rmtoll DHR12L1 DACC1DHR LL_DAC_ConvertData12LeftAligned\n - * DHR12L2 DACC2DHR LL_DAC_ConvertData12LeftAligned - * @param DACx DAC instance - * @param DAC_Channel This parameter can be one of the following values: - * @arg @ref LL_DAC_CHANNEL_1 - * @arg @ref LL_DAC_CHANNEL_2 (1) - * - * (1) On this STM32 serie, parameter not available on all devices. - * Refer to device datasheet for channels availability. - * @param Data Value between Min_Data=0x000 and Max_Data=0xFFF - * @retval None - */ -__STATIC_INLINE void LL_DAC_ConvertData12LeftAligned(DAC_TypeDef *DACx, uint32_t DAC_Channel, uint32_t Data) -{ - __IO uint32_t *preg = __DAC_PTR_REG_OFFSET(DACx->DHR12R1, (DAC_Channel >> DAC_REG_DHR12LX_REGOFFSET_BITOFFSET_POS) - & DAC_REG_DHR_REGOFFSET_MASK_POSBIT0); - - MODIFY_REG(*preg, DAC_DHR12L1_DACC1DHR, Data); -} - -/** - * @brief Set the data to be loaded in the data holding register - * in format 8 bits left alignment (LSB aligned on bit 0), - * for the selected DAC channel. - * @rmtoll DHR8R1 DACC1DHR LL_DAC_ConvertData8RightAligned\n - * DHR8R2 DACC2DHR LL_DAC_ConvertData8RightAligned - * @param DACx DAC instance - * @param DAC_Channel This parameter can be one of the following values: - * @arg @ref LL_DAC_CHANNEL_1 - * @arg @ref LL_DAC_CHANNEL_2 (1) - * - * (1) On this STM32 serie, parameter not available on all devices. - * Refer to device datasheet for channels availability. - * @param Data Value between Min_Data=0x00 and Max_Data=0xFF - * @retval None - */ -__STATIC_INLINE void LL_DAC_ConvertData8RightAligned(DAC_TypeDef *DACx, uint32_t DAC_Channel, uint32_t Data) -{ - __IO uint32_t *preg = __DAC_PTR_REG_OFFSET(DACx->DHR12R1, (DAC_Channel >> DAC_REG_DHR8RX_REGOFFSET_BITOFFSET_POS) - & DAC_REG_DHR_REGOFFSET_MASK_POSBIT0); - - MODIFY_REG(*preg, DAC_DHR8R1_DACC1DHR, Data); -} - -#if defined(DAC_CHANNEL2_SUPPORT) -/** - * @brief Set the data to be loaded in the data holding register - * in format 12 bits left alignment (LSB aligned on bit 0), - * for both DAC channels. - * @rmtoll DHR12RD DACC1DHR LL_DAC_ConvertDualData12RightAligned\n - * DHR12RD DACC2DHR LL_DAC_ConvertDualData12RightAligned - * @param DACx DAC instance - * @param DataChannel1 Value between Min_Data=0x000 and Max_Data=0xFFF - * @param DataChannel2 Value between Min_Data=0x000 and Max_Data=0xFFF - * @retval None - */ -__STATIC_INLINE void LL_DAC_ConvertDualData12RightAligned(DAC_TypeDef *DACx, uint32_t DataChannel1, - uint32_t DataChannel2) -{ - MODIFY_REG(DACx->DHR12RD, - (DAC_DHR12RD_DACC2DHR | DAC_DHR12RD_DACC1DHR), - ((DataChannel2 << DAC_DHR12RD_DACC2DHR_BITOFFSET_POS) | DataChannel1)); -} - -/** - * @brief Set the data to be loaded in the data holding register - * in format 12 bits left alignment (MSB aligned on bit 15), - * for both DAC channels. - * @rmtoll DHR12LD DACC1DHR LL_DAC_ConvertDualData12LeftAligned\n - * DHR12LD DACC2DHR LL_DAC_ConvertDualData12LeftAligned - * @param DACx DAC instance - * @param DataChannel1 Value between Min_Data=0x000 and Max_Data=0xFFF - * @param DataChannel2 Value between Min_Data=0x000 and Max_Data=0xFFF - * @retval None - */ -__STATIC_INLINE void LL_DAC_ConvertDualData12LeftAligned(DAC_TypeDef *DACx, uint32_t DataChannel1, - uint32_t DataChannel2) -{ - /* Note: Data of DAC channel 2 shift value subtracted of 4 because */ - /* data on 16 bits and DAC channel 2 bits field is on the 12 MSB, */ - /* the 4 LSB must be taken into account for the shift value. */ - MODIFY_REG(DACx->DHR12LD, - (DAC_DHR12LD_DACC2DHR | DAC_DHR12LD_DACC1DHR), - ((DataChannel2 << (DAC_DHR12LD_DACC2DHR_BITOFFSET_POS - 4U)) | DataChannel1)); -} - -/** - * @brief Set the data to be loaded in the data holding register - * in format 8 bits left alignment (LSB aligned on bit 0), - * for both DAC channels. - * @rmtoll DHR8RD DACC1DHR LL_DAC_ConvertDualData8RightAligned\n - * DHR8RD DACC2DHR LL_DAC_ConvertDualData8RightAligned - * @param DACx DAC instance - * @param DataChannel1 Value between Min_Data=0x00 and Max_Data=0xFF - * @param DataChannel2 Value between Min_Data=0x00 and Max_Data=0xFF - * @retval None - */ -__STATIC_INLINE void LL_DAC_ConvertDualData8RightAligned(DAC_TypeDef *DACx, uint32_t DataChannel1, - uint32_t DataChannel2) -{ - MODIFY_REG(DACx->DHR8RD, - (DAC_DHR8RD_DACC2DHR | DAC_DHR8RD_DACC1DHR), - ((DataChannel2 << DAC_DHR8RD_DACC2DHR_BITOFFSET_POS) | DataChannel1)); -} -#endif /* DAC_CHANNEL2_SUPPORT */ - -/** - * @brief Retrieve output data currently generated for the selected DAC channel. - * @note Whatever alignment and resolution settings - * (using functions "LL_DAC_ConvertData{8; 12}{Right; Left} Aligned()": - * @ref LL_DAC_ConvertData12RightAligned(), ...), - * output data format is 12 bits right aligned (LSB aligned on bit 0). - * @rmtoll DOR1 DACC1DOR LL_DAC_RetrieveOutputData\n - * DOR2 DACC2DOR LL_DAC_RetrieveOutputData - * @param DACx DAC instance - * @param DAC_Channel This parameter can be one of the following values: - * @arg @ref LL_DAC_CHANNEL_1 - * @arg @ref LL_DAC_CHANNEL_2 (1) - * - * (1) On this STM32 serie, parameter not available on all devices. - * Refer to device datasheet for channels availability. - * @retval Value between Min_Data=0x000 and Max_Data=0xFFF - */ -__STATIC_INLINE uint32_t LL_DAC_RetrieveOutputData(DAC_TypeDef *DACx, uint32_t DAC_Channel) -{ - __IO uint32_t const *preg = __DAC_PTR_REG_OFFSET(DACx->DOR1, (DAC_Channel >> DAC_REG_DORX_REGOFFSET_BITOFFSET_POS) - & DAC_REG_DORX_REGOFFSET_MASK_POSBIT0); - - return (uint16_t) READ_BIT(*preg, DAC_DOR1_DACC1DOR); -} - -/** - * @} - */ - -/** @defgroup DAC_LL_EF_FLAG_Management FLAG Management - * @{ - */ - -/** - * @brief Get DAC underrun flag for DAC channel 1 - * @rmtoll SR DMAUDR1 LL_DAC_IsActiveFlag_DMAUDR1 - * @param DACx DAC instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_DAC_IsActiveFlag_DMAUDR1(DAC_TypeDef *DACx) -{ - return ((READ_BIT(DACx->SR, LL_DAC_FLAG_DMAUDR1) == (LL_DAC_FLAG_DMAUDR1)) ? 1UL : 0UL); -} - -#if defined(DAC_CHANNEL2_SUPPORT) -/** - * @brief Get DAC underrun flag for DAC channel 2 - * @rmtoll SR DMAUDR2 LL_DAC_IsActiveFlag_DMAUDR2 - * @param DACx DAC instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_DAC_IsActiveFlag_DMAUDR2(DAC_TypeDef *DACx) -{ - return ((READ_BIT(DACx->SR, LL_DAC_FLAG_DMAUDR2) == (LL_DAC_FLAG_DMAUDR2)) ? 1UL : 0UL); -} -#endif /* DAC_CHANNEL2_SUPPORT */ - -/** - * @brief Clear DAC underrun flag for DAC channel 1 - * @rmtoll SR DMAUDR1 LL_DAC_ClearFlag_DMAUDR1 - * @param DACx DAC instance - * @retval None - */ -__STATIC_INLINE void LL_DAC_ClearFlag_DMAUDR1(DAC_TypeDef *DACx) -{ - WRITE_REG(DACx->SR, LL_DAC_FLAG_DMAUDR1); -} - -#if defined(DAC_CHANNEL2_SUPPORT) -/** - * @brief Clear DAC underrun flag for DAC channel 2 - * @rmtoll SR DMAUDR2 LL_DAC_ClearFlag_DMAUDR2 - * @param DACx DAC instance - * @retval None - */ -__STATIC_INLINE void LL_DAC_ClearFlag_DMAUDR2(DAC_TypeDef *DACx) -{ - WRITE_REG(DACx->SR, LL_DAC_FLAG_DMAUDR2); -} -#endif /* DAC_CHANNEL2_SUPPORT */ - -/** - * @} - */ - -/** @defgroup DAC_LL_EF_IT_Management IT management - * @{ - */ - -/** - * @brief Enable DMA underrun interrupt for DAC channel 1 - * @rmtoll CR DMAUDRIE1 LL_DAC_EnableIT_DMAUDR1 - * @param DACx DAC instance - * @retval None - */ -__STATIC_INLINE void LL_DAC_EnableIT_DMAUDR1(DAC_TypeDef *DACx) -{ - SET_BIT(DACx->CR, LL_DAC_IT_DMAUDRIE1); -} - -#if defined(DAC_CHANNEL2_SUPPORT) -/** - * @brief Enable DMA underrun interrupt for DAC channel 2 - * @rmtoll CR DMAUDRIE2 LL_DAC_EnableIT_DMAUDR2 - * @param DACx DAC instance - * @retval None - */ -__STATIC_INLINE void LL_DAC_EnableIT_DMAUDR2(DAC_TypeDef *DACx) -{ - SET_BIT(DACx->CR, LL_DAC_IT_DMAUDRIE2); -} -#endif /* DAC_CHANNEL2_SUPPORT */ - -/** - * @brief Disable DMA underrun interrupt for DAC channel 1 - * @rmtoll CR DMAUDRIE1 LL_DAC_DisableIT_DMAUDR1 - * @param DACx DAC instance - * @retval None - */ -__STATIC_INLINE void LL_DAC_DisableIT_DMAUDR1(DAC_TypeDef *DACx) -{ - CLEAR_BIT(DACx->CR, LL_DAC_IT_DMAUDRIE1); -} - -#if defined(DAC_CHANNEL2_SUPPORT) -/** - * @brief Disable DMA underrun interrupt for DAC channel 2 - * @rmtoll CR DMAUDRIE2 LL_DAC_DisableIT_DMAUDR2 - * @param DACx DAC instance - * @retval None - */ -__STATIC_INLINE void LL_DAC_DisableIT_DMAUDR2(DAC_TypeDef *DACx) -{ - CLEAR_BIT(DACx->CR, LL_DAC_IT_DMAUDRIE2); -} -#endif /* DAC_CHANNEL2_SUPPORT */ - -/** - * @brief Get DMA underrun interrupt for DAC channel 1 - * @rmtoll CR DMAUDRIE1 LL_DAC_IsEnabledIT_DMAUDR1 - * @param DACx DAC instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_DAC_IsEnabledIT_DMAUDR1(DAC_TypeDef *DACx) -{ - return ((READ_BIT(DACx->CR, LL_DAC_IT_DMAUDRIE1) == (LL_DAC_IT_DMAUDRIE1)) ? 1UL : 0UL); -} - -#if defined(DAC_CHANNEL2_SUPPORT) -/** - * @brief Get DMA underrun interrupt for DAC channel 2 - * @rmtoll CR DMAUDRIE2 LL_DAC_IsEnabledIT_DMAUDR2 - * @param DACx DAC instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_DAC_IsEnabledIT_DMAUDR2(DAC_TypeDef *DACx) -{ - return ((READ_BIT(DACx->CR, LL_DAC_IT_DMAUDRIE2) == (LL_DAC_IT_DMAUDRIE2)) ? 1UL : 0UL); -} -#endif /* DAC_CHANNEL2_SUPPORT */ - -/** - * @} - */ - -#if defined(USE_FULL_LL_DRIVER) -/** @defgroup DAC_LL_EF_Init Initialization and de-initialization functions - * @{ - */ - -ErrorStatus LL_DAC_DeInit(DAC_TypeDef *DACx); -ErrorStatus LL_DAC_Init(DAC_TypeDef *DACx, uint32_t DAC_Channel, LL_DAC_InitTypeDef *DAC_InitStruct); -void LL_DAC_StructInit(LL_DAC_InitTypeDef *DAC_InitStruct); - -/** - * @} - */ -#endif /* USE_FULL_LL_DRIVER */ - -/** - * @} - */ - -/** - * @} - */ - -#endif /* DAC */ - -/** - * @} - */ - -#ifdef __cplusplus -} -#endif - -#endif /* STM32F4xx_LL_DAC_H */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_dma.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_dma.h deleted file mode 100644 index 63264e614d0e49..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_dma.h +++ /dev/null @@ -1,2870 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_ll_dma.h - * @author MCD Application Team - * @brief Header file of DMA LL module. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef __STM32F4xx_LL_DMA_H -#define __STM32F4xx_LL_DMA_H - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx.h" - -/** @addtogroup STM32F4xx_LL_Driver - * @{ - */ - -#if defined (DMA1) || defined (DMA2) - -/** @defgroup DMA_LL DMA - * @{ - */ - -/* Private types -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/** @defgroup DMA_LL_Private_Variables DMA Private Variables - * @{ - */ -/* Array used to get the DMA stream register offset versus stream index LL_DMA_STREAM_x */ -static const uint8_t STREAM_OFFSET_TAB[] = -{ - (uint8_t)(DMA1_Stream0_BASE - DMA1_BASE), - (uint8_t)(DMA1_Stream1_BASE - DMA1_BASE), - (uint8_t)(DMA1_Stream2_BASE - DMA1_BASE), - (uint8_t)(DMA1_Stream3_BASE - DMA1_BASE), - (uint8_t)(DMA1_Stream4_BASE - DMA1_BASE), - (uint8_t)(DMA1_Stream5_BASE - DMA1_BASE), - (uint8_t)(DMA1_Stream6_BASE - DMA1_BASE), - (uint8_t)(DMA1_Stream7_BASE - DMA1_BASE) -}; - -/** - * @} - */ - -/* Private constants ---------------------------------------------------------*/ -/** @defgroup DMA_LL_Private_Constants DMA Private Constants - * @{ - */ -/** - * @} - */ - - -/* Private macros ------------------------------------------------------------*/ -/* Exported types ------------------------------------------------------------*/ -#if defined(USE_FULL_LL_DRIVER) -/** @defgroup DMA_LL_ES_INIT DMA Exported Init structure - * @{ - */ -typedef struct -{ - uint32_t PeriphOrM2MSrcAddress; /*!< Specifies the peripheral base address for DMA transfer - or as Source base address in case of memory to memory transfer direction. - - This parameter must be a value between Min_Data = 0 and Max_Data = 0xFFFFFFFF. */ - - uint32_t MemoryOrM2MDstAddress; /*!< Specifies the memory base address for DMA transfer - or as Destination base address in case of memory to memory transfer direction. - - This parameter must be a value between Min_Data = 0 and Max_Data = 0xFFFFFFFF. */ - - uint32_t Direction; /*!< Specifies if the data will be transferred from memory to peripheral, - from memory to memory or from peripheral to memory. - This parameter can be a value of @ref DMA_LL_EC_DIRECTION - - This feature can be modified afterwards using unitary function @ref LL_DMA_SetDataTransferDirection(). */ - - uint32_t Mode; /*!< Specifies the normal or circular operation mode. - This parameter can be a value of @ref DMA_LL_EC_MODE - @note The circular buffer mode cannot be used if the memory to memory - data transfer direction is configured on the selected Stream - - This feature can be modified afterwards using unitary function @ref LL_DMA_SetMode(). */ - - uint32_t PeriphOrM2MSrcIncMode; /*!< Specifies whether the Peripheral address or Source address in case of memory to memory transfer direction - is incremented or not. - This parameter can be a value of @ref DMA_LL_EC_PERIPH - - This feature can be modified afterwards using unitary function @ref LL_DMA_SetPeriphIncMode(). */ - - uint32_t MemoryOrM2MDstIncMode; /*!< Specifies whether the Memory address or Destination address in case of memory to memory transfer direction - is incremented or not. - This parameter can be a value of @ref DMA_LL_EC_MEMORY - - This feature can be modified afterwards using unitary function @ref LL_DMA_SetMemoryIncMode(). */ - - uint32_t PeriphOrM2MSrcDataSize; /*!< Specifies the Peripheral data size alignment or Source data size alignment (byte, half word, word) - in case of memory to memory transfer direction. - This parameter can be a value of @ref DMA_LL_EC_PDATAALIGN - - This feature can be modified afterwards using unitary function @ref LL_DMA_SetPeriphSize(). */ - - uint32_t MemoryOrM2MDstDataSize; /*!< Specifies the Memory data size alignment or Destination data size alignment (byte, half word, word) - in case of memory to memory transfer direction. - This parameter can be a value of @ref DMA_LL_EC_MDATAALIGN - - This feature can be modified afterwards using unitary function @ref LL_DMA_SetMemorySize(). */ - - uint32_t NbData; /*!< Specifies the number of data to transfer, in data unit. - The data unit is equal to the source buffer configuration set in PeripheralSize - or MemorySize parameters depending in the transfer direction. - This parameter must be a value between Min_Data = 0 and Max_Data = 0x0000FFFF - - This feature can be modified afterwards using unitary function @ref LL_DMA_SetDataLength(). */ - - uint32_t Channel; /*!< Specifies the peripheral channel. - This parameter can be a value of @ref DMA_LL_EC_CHANNEL - - This feature can be modified afterwards using unitary function @ref LL_DMA_SetChannelSelection(). */ - - uint32_t Priority; /*!< Specifies the channel priority level. - This parameter can be a value of @ref DMA_LL_EC_PRIORITY - - This feature can be modified afterwards using unitary function @ref LL_DMA_SetStreamPriorityLevel(). */ - - uint32_t FIFOMode; /*!< Specifies if the FIFO mode or Direct mode will be used for the specified stream. - This parameter can be a value of @ref DMA_LL_FIFOMODE - @note The Direct mode (FIFO mode disabled) cannot be used if the - memory-to-memory data transfer is configured on the selected stream - - This feature can be modified afterwards using unitary functions @ref LL_DMA_EnableFifoMode() or @ref LL_DMA_EnableFifoMode() . */ - - uint32_t FIFOThreshold; /*!< Specifies the FIFO threshold level. - This parameter can be a value of @ref DMA_LL_EC_FIFOTHRESHOLD - - This feature can be modified afterwards using unitary function @ref LL_DMA_SetFIFOThreshold(). */ - - uint32_t MemBurst; /*!< Specifies the Burst transfer configuration for the memory transfers. - It specifies the amount of data to be transferred in a single non interruptible - transaction. - This parameter can be a value of @ref DMA_LL_EC_MBURST - @note The burst mode is possible only if the address Increment mode is enabled. - - This feature can be modified afterwards using unitary function @ref LL_DMA_SetMemoryBurstxfer(). */ - - uint32_t PeriphBurst; /*!< Specifies the Burst transfer configuration for the peripheral transfers. - It specifies the amount of data to be transferred in a single non interruptible - transaction. - This parameter can be a value of @ref DMA_LL_EC_PBURST - @note The burst mode is possible only if the address Increment mode is enabled. - - This feature can be modified afterwards using unitary function @ref LL_DMA_SetPeriphBurstxfer(). */ - -} LL_DMA_InitTypeDef; -/** - * @} - */ -#endif /*USE_FULL_LL_DRIVER*/ -/* Exported constants --------------------------------------------------------*/ -/** @defgroup DMA_LL_Exported_Constants DMA Exported Constants - * @{ - */ - -/** @defgroup DMA_LL_EC_STREAM STREAM - * @{ - */ -#define LL_DMA_STREAM_0 0x00000000U -#define LL_DMA_STREAM_1 0x00000001U -#define LL_DMA_STREAM_2 0x00000002U -#define LL_DMA_STREAM_3 0x00000003U -#define LL_DMA_STREAM_4 0x00000004U -#define LL_DMA_STREAM_5 0x00000005U -#define LL_DMA_STREAM_6 0x00000006U -#define LL_DMA_STREAM_7 0x00000007U -#define LL_DMA_STREAM_ALL 0xFFFF0000U -/** - * @} - */ - -/** @defgroup DMA_LL_EC_DIRECTION DIRECTION - * @{ - */ -#define LL_DMA_DIRECTION_PERIPH_TO_MEMORY 0x00000000U /*!< Peripheral to memory direction */ -#define LL_DMA_DIRECTION_MEMORY_TO_PERIPH DMA_SxCR_DIR_0 /*!< Memory to peripheral direction */ -#define LL_DMA_DIRECTION_MEMORY_TO_MEMORY DMA_SxCR_DIR_1 /*!< Memory to memory direction */ -/** - * @} - */ - -/** @defgroup DMA_LL_EC_MODE MODE - * @{ - */ -#define LL_DMA_MODE_NORMAL 0x00000000U /*!< Normal Mode */ -#define LL_DMA_MODE_CIRCULAR DMA_SxCR_CIRC /*!< Circular Mode */ -#define LL_DMA_MODE_PFCTRL DMA_SxCR_PFCTRL /*!< Peripheral flow control mode */ -/** - * @} - */ - -/** @defgroup DMA_LL_EC_DOUBLEBUFFER_MODE DOUBLEBUFFER MODE - * @{ - */ -#define LL_DMA_DOUBLEBUFFER_MODE_DISABLE 0x00000000U /*!< Disable double buffering mode */ -#define LL_DMA_DOUBLEBUFFER_MODE_ENABLE DMA_SxCR_DBM /*!< Enable double buffering mode */ -/** - * @} - */ - -/** @defgroup DMA_LL_EC_PERIPH PERIPH - * @{ - */ -#define LL_DMA_PERIPH_NOINCREMENT 0x00000000U /*!< Peripheral increment mode Disable */ -#define LL_DMA_PERIPH_INCREMENT DMA_SxCR_PINC /*!< Peripheral increment mode Enable */ -/** - * @} - */ - -/** @defgroup DMA_LL_EC_MEMORY MEMORY - * @{ - */ -#define LL_DMA_MEMORY_NOINCREMENT 0x00000000U /*!< Memory increment mode Disable */ -#define LL_DMA_MEMORY_INCREMENT DMA_SxCR_MINC /*!< Memory increment mode Enable */ -/** - * @} - */ - -/** @defgroup DMA_LL_EC_PDATAALIGN PDATAALIGN - * @{ - */ -#define LL_DMA_PDATAALIGN_BYTE 0x00000000U /*!< Peripheral data alignment : Byte */ -#define LL_DMA_PDATAALIGN_HALFWORD DMA_SxCR_PSIZE_0 /*!< Peripheral data alignment : HalfWord */ -#define LL_DMA_PDATAALIGN_WORD DMA_SxCR_PSIZE_1 /*!< Peripheral data alignment : Word */ -/** - * @} - */ - -/** @defgroup DMA_LL_EC_MDATAALIGN MDATAALIGN - * @{ - */ -#define LL_DMA_MDATAALIGN_BYTE 0x00000000U /*!< Memory data alignment : Byte */ -#define LL_DMA_MDATAALIGN_HALFWORD DMA_SxCR_MSIZE_0 /*!< Memory data alignment : HalfWord */ -#define LL_DMA_MDATAALIGN_WORD DMA_SxCR_MSIZE_1 /*!< Memory data alignment : Word */ -/** - * @} - */ - -/** @defgroup DMA_LL_EC_OFFSETSIZE OFFSETSIZE - * @{ - */ -#define LL_DMA_OFFSETSIZE_PSIZE 0x00000000U /*!< Peripheral increment offset size is linked to the PSIZE */ -#define LL_DMA_OFFSETSIZE_FIXEDTO4 DMA_SxCR_PINCOS /*!< Peripheral increment offset size is fixed to 4 (32-bit alignment) */ -/** - * @} - */ - -/** @defgroup DMA_LL_EC_PRIORITY PRIORITY - * @{ - */ -#define LL_DMA_PRIORITY_LOW 0x00000000U /*!< Priority level : Low */ -#define LL_DMA_PRIORITY_MEDIUM DMA_SxCR_PL_0 /*!< Priority level : Medium */ -#define LL_DMA_PRIORITY_HIGH DMA_SxCR_PL_1 /*!< Priority level : High */ -#define LL_DMA_PRIORITY_VERYHIGH DMA_SxCR_PL /*!< Priority level : Very_High */ -/** - * @} - */ - -/** @defgroup DMA_LL_EC_CHANNEL CHANNEL - * @{ - */ -#define LL_DMA_CHANNEL_0 0x00000000U /* Select Channel0 of DMA Instance */ -#define LL_DMA_CHANNEL_1 DMA_SxCR_CHSEL_0 /* Select Channel1 of DMA Instance */ -#define LL_DMA_CHANNEL_2 DMA_SxCR_CHSEL_1 /* Select Channel2 of DMA Instance */ -#define LL_DMA_CHANNEL_3 (DMA_SxCR_CHSEL_0 | DMA_SxCR_CHSEL_1) /* Select Channel3 of DMA Instance */ -#define LL_DMA_CHANNEL_4 DMA_SxCR_CHSEL_2 /* Select Channel4 of DMA Instance */ -#define LL_DMA_CHANNEL_5 (DMA_SxCR_CHSEL_2 | DMA_SxCR_CHSEL_0) /* Select Channel5 of DMA Instance */ -#define LL_DMA_CHANNEL_6 (DMA_SxCR_CHSEL_2 | DMA_SxCR_CHSEL_1) /* Select Channel6 of DMA Instance */ -#define LL_DMA_CHANNEL_7 (DMA_SxCR_CHSEL_2 | DMA_SxCR_CHSEL_1 | DMA_SxCR_CHSEL_0) /* Select Channel7 of DMA Instance */ -#if defined (DMA_SxCR_CHSEL_3) -#define LL_DMA_CHANNEL_8 DMA_SxCR_CHSEL_3 /* Select Channel8 of DMA Instance */ -#define LL_DMA_CHANNEL_9 (DMA_SxCR_CHSEL_3 | DMA_SxCR_CHSEL_0) /* Select Channel9 of DMA Instance */ -#define LL_DMA_CHANNEL_10 (DMA_SxCR_CHSEL_3 | DMA_SxCR_CHSEL_1) /* Select Channel10 of DMA Instance */ -#define LL_DMA_CHANNEL_11 (DMA_SxCR_CHSEL_3 | DMA_SxCR_CHSEL_1 | DMA_SxCR_CHSEL_0) /* Select Channel11 of DMA Instance */ -#define LL_DMA_CHANNEL_12 (DMA_SxCR_CHSEL_3 | DMA_SxCR_CHSEL_2) /* Select Channel12 of DMA Instance */ -#define LL_DMA_CHANNEL_13 (DMA_SxCR_CHSEL_3 | DMA_SxCR_CHSEL_2 | DMA_SxCR_CHSEL_0) /* Select Channel13 of DMA Instance */ -#define LL_DMA_CHANNEL_14 (DMA_SxCR_CHSEL_3 | DMA_SxCR_CHSEL_2 | DMA_SxCR_CHSEL_1) /* Select Channel14 of DMA Instance */ -#define LL_DMA_CHANNEL_15 (DMA_SxCR_CHSEL_3 | DMA_SxCR_CHSEL_2 | DMA_SxCR_CHSEL_1 | DMA_SxCR_CHSEL_0) /* Select Channel15 of DMA Instance */ -#endif /* DMA_SxCR_CHSEL_3 */ -/** - * @} - */ - -/** @defgroup DMA_LL_EC_MBURST MBURST - * @{ - */ -#define LL_DMA_MBURST_SINGLE 0x00000000U /*!< Memory burst single transfer configuration */ -#define LL_DMA_MBURST_INC4 DMA_SxCR_MBURST_0 /*!< Memory burst of 4 beats transfer configuration */ -#define LL_DMA_MBURST_INC8 DMA_SxCR_MBURST_1 /*!< Memory burst of 8 beats transfer configuration */ -#define LL_DMA_MBURST_INC16 (DMA_SxCR_MBURST_0 | DMA_SxCR_MBURST_1) /*!< Memory burst of 16 beats transfer configuration */ -/** - * @} - */ - -/** @defgroup DMA_LL_EC_PBURST PBURST - * @{ - */ -#define LL_DMA_PBURST_SINGLE 0x00000000U /*!< Peripheral burst single transfer configuration */ -#define LL_DMA_PBURST_INC4 DMA_SxCR_PBURST_0 /*!< Peripheral burst of 4 beats transfer configuration */ -#define LL_DMA_PBURST_INC8 DMA_SxCR_PBURST_1 /*!< Peripheral burst of 8 beats transfer configuration */ -#define LL_DMA_PBURST_INC16 (DMA_SxCR_PBURST_0 | DMA_SxCR_PBURST_1) /*!< Peripheral burst of 16 beats transfer configuration */ -/** - * @} - */ - -/** @defgroup DMA_LL_FIFOMODE DMA_LL_FIFOMODE - * @{ - */ -#define LL_DMA_FIFOMODE_DISABLE 0x00000000U /*!< FIFO mode disable (direct mode is enabled) */ -#define LL_DMA_FIFOMODE_ENABLE DMA_SxFCR_DMDIS /*!< FIFO mode enable */ -/** - * @} - */ - -/** @defgroup DMA_LL_EC_FIFOSTATUS_0 FIFOSTATUS 0 - * @{ - */ -#define LL_DMA_FIFOSTATUS_0_25 0x00000000U /*!< 0 < fifo_level < 1/4 */ -#define LL_DMA_FIFOSTATUS_25_50 DMA_SxFCR_FS_0 /*!< 1/4 < fifo_level < 1/2 */ -#define LL_DMA_FIFOSTATUS_50_75 DMA_SxFCR_FS_1 /*!< 1/2 < fifo_level < 3/4 */ -#define LL_DMA_FIFOSTATUS_75_100 (DMA_SxFCR_FS_1 | DMA_SxFCR_FS_0) /*!< 3/4 < fifo_level < full */ -#define LL_DMA_FIFOSTATUS_EMPTY DMA_SxFCR_FS_2 /*!< FIFO is empty */ -#define LL_DMA_FIFOSTATUS_FULL (DMA_SxFCR_FS_2 | DMA_SxFCR_FS_0) /*!< FIFO is full */ -/** - * @} - */ - -/** @defgroup DMA_LL_EC_FIFOTHRESHOLD FIFOTHRESHOLD - * @{ - */ -#define LL_DMA_FIFOTHRESHOLD_1_4 0x00000000U /*!< FIFO threshold 1 quart full configuration */ -#define LL_DMA_FIFOTHRESHOLD_1_2 DMA_SxFCR_FTH_0 /*!< FIFO threshold half full configuration */ -#define LL_DMA_FIFOTHRESHOLD_3_4 DMA_SxFCR_FTH_1 /*!< FIFO threshold 3 quarts full configuration */ -#define LL_DMA_FIFOTHRESHOLD_FULL DMA_SxFCR_FTH /*!< FIFO threshold full configuration */ -/** - * @} - */ - -/** @defgroup DMA_LL_EC_CURRENTTARGETMEM CURRENTTARGETMEM - * @{ - */ -#define LL_DMA_CURRENTTARGETMEM0 0x00000000U /*!< Set CurrentTarget Memory to Memory 0 */ -#define LL_DMA_CURRENTTARGETMEM1 DMA_SxCR_CT /*!< Set CurrentTarget Memory to Memory 1 */ -/** - * @} - */ - -/** - * @} - */ - -/* Exported macro ------------------------------------------------------------*/ -/** @defgroup DMA_LL_Exported_Macros DMA Exported Macros - * @{ - */ - -/** @defgroup DMA_LL_EM_WRITE_READ Common Write and read registers macros - * @{ - */ -/** - * @brief Write a value in DMA register - * @param __INSTANCE__ DMA Instance - * @param __REG__ Register to be written - * @param __VALUE__ Value to be written in the register - * @retval None - */ -#define LL_DMA_WriteReg(__INSTANCE__, __REG__, __VALUE__) WRITE_REG(__INSTANCE__->__REG__, (__VALUE__)) - -/** - * @brief Read a value in DMA register - * @param __INSTANCE__ DMA Instance - * @param __REG__ Register to be read - * @retval Register value - */ -#define LL_DMA_ReadReg(__INSTANCE__, __REG__) READ_REG(__INSTANCE__->__REG__) -/** - * @} - */ - -/** @defgroup DMA_LL_EM_CONVERT_DMAxCHANNELy Convert DMAxStreamy - * @{ - */ -/** - * @brief Convert DMAx_Streamy into DMAx - * @param __STREAM_INSTANCE__ DMAx_Streamy - * @retval DMAx - */ -#define __LL_DMA_GET_INSTANCE(__STREAM_INSTANCE__) \ -(((uint32_t)(__STREAM_INSTANCE__) > ((uint32_t)DMA1_Stream7)) ? DMA2 : DMA1) - -/** - * @brief Convert DMAx_Streamy into LL_DMA_STREAM_y - * @param __STREAM_INSTANCE__ DMAx_Streamy - * @retval LL_DMA_CHANNEL_y - */ -#define __LL_DMA_GET_STREAM(__STREAM_INSTANCE__) \ -(((uint32_t)(__STREAM_INSTANCE__) == ((uint32_t)DMA1_Stream0)) ? LL_DMA_STREAM_0 : \ - ((uint32_t)(__STREAM_INSTANCE__) == ((uint32_t)DMA2_Stream0)) ? LL_DMA_STREAM_0 : \ - ((uint32_t)(__STREAM_INSTANCE__) == ((uint32_t)DMA1_Stream1)) ? LL_DMA_STREAM_1 : \ - ((uint32_t)(__STREAM_INSTANCE__) == ((uint32_t)DMA2_Stream1)) ? LL_DMA_STREAM_1 : \ - ((uint32_t)(__STREAM_INSTANCE__) == ((uint32_t)DMA1_Stream2)) ? LL_DMA_STREAM_2 : \ - ((uint32_t)(__STREAM_INSTANCE__) == ((uint32_t)DMA2_Stream2)) ? LL_DMA_STREAM_2 : \ - ((uint32_t)(__STREAM_INSTANCE__) == ((uint32_t)DMA1_Stream3)) ? LL_DMA_STREAM_3 : \ - ((uint32_t)(__STREAM_INSTANCE__) == ((uint32_t)DMA2_Stream3)) ? LL_DMA_STREAM_3 : \ - ((uint32_t)(__STREAM_INSTANCE__) == ((uint32_t)DMA1_Stream4)) ? LL_DMA_STREAM_4 : \ - ((uint32_t)(__STREAM_INSTANCE__) == ((uint32_t)DMA2_Stream4)) ? LL_DMA_STREAM_4 : \ - ((uint32_t)(__STREAM_INSTANCE__) == ((uint32_t)DMA1_Stream5)) ? LL_DMA_STREAM_5 : \ - ((uint32_t)(__STREAM_INSTANCE__) == ((uint32_t)DMA2_Stream5)) ? LL_DMA_STREAM_5 : \ - ((uint32_t)(__STREAM_INSTANCE__) == ((uint32_t)DMA1_Stream6)) ? LL_DMA_STREAM_6 : \ - ((uint32_t)(__STREAM_INSTANCE__) == ((uint32_t)DMA2_Stream6)) ? LL_DMA_STREAM_6 : \ - LL_DMA_STREAM_7) - -/** - * @brief Convert DMA Instance DMAx and LL_DMA_STREAM_y into DMAx_Streamy - * @param __DMA_INSTANCE__ DMAx - * @param __STREAM__ LL_DMA_STREAM_y - * @retval DMAx_Streamy - */ -#define __LL_DMA_GET_STREAM_INSTANCE(__DMA_INSTANCE__, __STREAM__) \ -((((uint32_t)(__DMA_INSTANCE__) == ((uint32_t)DMA1)) && ((uint32_t)(__STREAM__) == ((uint32_t)LL_DMA_STREAM_0))) ? DMA1_Stream0 : \ - (((uint32_t)(__DMA_INSTANCE__) == ((uint32_t)DMA2)) && ((uint32_t)(__STREAM__) == ((uint32_t)LL_DMA_STREAM_0))) ? DMA2_Stream0 : \ - (((uint32_t)(__DMA_INSTANCE__) == ((uint32_t)DMA1)) && ((uint32_t)(__STREAM__) == ((uint32_t)LL_DMA_STREAM_1))) ? DMA1_Stream1 : \ - (((uint32_t)(__DMA_INSTANCE__) == ((uint32_t)DMA2)) && ((uint32_t)(__STREAM__) == ((uint32_t)LL_DMA_STREAM_1))) ? DMA2_Stream1 : \ - (((uint32_t)(__DMA_INSTANCE__) == ((uint32_t)DMA1)) && ((uint32_t)(__STREAM__) == ((uint32_t)LL_DMA_STREAM_2))) ? DMA1_Stream2 : \ - (((uint32_t)(__DMA_INSTANCE__) == ((uint32_t)DMA2)) && ((uint32_t)(__STREAM__) == ((uint32_t)LL_DMA_STREAM_2))) ? DMA2_Stream2 : \ - (((uint32_t)(__DMA_INSTANCE__) == ((uint32_t)DMA1)) && ((uint32_t)(__STREAM__) == ((uint32_t)LL_DMA_STREAM_3))) ? DMA1_Stream3 : \ - (((uint32_t)(__DMA_INSTANCE__) == ((uint32_t)DMA2)) && ((uint32_t)(__STREAM__) == ((uint32_t)LL_DMA_STREAM_3))) ? DMA2_Stream3 : \ - (((uint32_t)(__DMA_INSTANCE__) == ((uint32_t)DMA1)) && ((uint32_t)(__STREAM__) == ((uint32_t)LL_DMA_STREAM_4))) ? DMA1_Stream4 : \ - (((uint32_t)(__DMA_INSTANCE__) == ((uint32_t)DMA2)) && ((uint32_t)(__STREAM__) == ((uint32_t)LL_DMA_STREAM_4))) ? DMA2_Stream4 : \ - (((uint32_t)(__DMA_INSTANCE__) == ((uint32_t)DMA1)) && ((uint32_t)(__STREAM__) == ((uint32_t)LL_DMA_STREAM_5))) ? DMA1_Stream5 : \ - (((uint32_t)(__DMA_INSTANCE__) == ((uint32_t)DMA2)) && ((uint32_t)(__STREAM__) == ((uint32_t)LL_DMA_STREAM_5))) ? DMA2_Stream5 : \ - (((uint32_t)(__DMA_INSTANCE__) == ((uint32_t)DMA1)) && ((uint32_t)(__STREAM__) == ((uint32_t)LL_DMA_STREAM_6))) ? DMA1_Stream6 : \ - (((uint32_t)(__DMA_INSTANCE__) == ((uint32_t)DMA2)) && ((uint32_t)(__STREAM__) == ((uint32_t)LL_DMA_STREAM_6))) ? DMA2_Stream6 : \ - (((uint32_t)(__DMA_INSTANCE__) == ((uint32_t)DMA1)) && ((uint32_t)(__STREAM__) == ((uint32_t)LL_DMA_STREAM_7))) ? DMA1_Stream7 : \ - DMA2_Stream7) - -/** - * @} - */ - -/** - * @} - */ - - -/* Exported functions --------------------------------------------------------*/ - /** @defgroup DMA_LL_Exported_Functions DMA Exported Functions - * @{ - */ - -/** @defgroup DMA_LL_EF_Configuration Configuration - * @{ - */ -/** - * @brief Enable DMA stream. - * @rmtoll CR EN LL_DMA_EnableStream - * @param DMAx DMAx Instance - * @param Stream This parameter can be one of the following values: - * @arg @ref LL_DMA_STREAM_0 - * @arg @ref LL_DMA_STREAM_1 - * @arg @ref LL_DMA_STREAM_2 - * @arg @ref LL_DMA_STREAM_3 - * @arg @ref LL_DMA_STREAM_4 - * @arg @ref LL_DMA_STREAM_5 - * @arg @ref LL_DMA_STREAM_6 - * @arg @ref LL_DMA_STREAM_7 - * @retval None - */ -__STATIC_INLINE void LL_DMA_EnableStream(DMA_TypeDef *DMAx, uint32_t Stream) -{ - SET_BIT(((DMA_Stream_TypeDef *)((uint32_t)((uint32_t)DMAx + STREAM_OFFSET_TAB[Stream])))->CR, DMA_SxCR_EN); -} - -/** - * @brief Disable DMA stream. - * @rmtoll CR EN LL_DMA_DisableStream - * @param DMAx DMAx Instance - * @param Stream This parameter can be one of the following values: - * @arg @ref LL_DMA_STREAM_0 - * @arg @ref LL_DMA_STREAM_1 - * @arg @ref LL_DMA_STREAM_2 - * @arg @ref LL_DMA_STREAM_3 - * @arg @ref LL_DMA_STREAM_4 - * @arg @ref LL_DMA_STREAM_5 - * @arg @ref LL_DMA_STREAM_6 - * @arg @ref LL_DMA_STREAM_7 - * @retval None - */ -__STATIC_INLINE void LL_DMA_DisableStream(DMA_TypeDef *DMAx, uint32_t Stream) -{ - CLEAR_BIT(((DMA_Stream_TypeDef *)((uint32_t)((uint32_t)DMAx + STREAM_OFFSET_TAB[Stream])))->CR, DMA_SxCR_EN); -} - -/** - * @brief Check if DMA stream is enabled or disabled. - * @rmtoll CR EN LL_DMA_IsEnabledStream - * @param DMAx DMAx Instance - * @param Stream This parameter can be one of the following values: - * @arg @ref LL_DMA_STREAM_0 - * @arg @ref LL_DMA_STREAM_1 - * @arg @ref LL_DMA_STREAM_2 - * @arg @ref LL_DMA_STREAM_3 - * @arg @ref LL_DMA_STREAM_4 - * @arg @ref LL_DMA_STREAM_5 - * @arg @ref LL_DMA_STREAM_6 - * @arg @ref LL_DMA_STREAM_7 - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_DMA_IsEnabledStream(DMA_TypeDef *DMAx, uint32_t Stream) -{ - return (READ_BIT(((DMA_Stream_TypeDef*)((uint32_t)((uint32_t)DMAx + STREAM_OFFSET_TAB[Stream])))->CR, DMA_SxCR_EN) == (DMA_SxCR_EN)); -} - -/** - * @brief Configure all parameters linked to DMA transfer. - * @rmtoll CR DIR LL_DMA_ConfigTransfer\n - * CR CIRC LL_DMA_ConfigTransfer\n - * CR PINC LL_DMA_ConfigTransfer\n - * CR MINC LL_DMA_ConfigTransfer\n - * CR PSIZE LL_DMA_ConfigTransfer\n - * CR MSIZE LL_DMA_ConfigTransfer\n - * CR PL LL_DMA_ConfigTransfer\n - * CR PFCTRL LL_DMA_ConfigTransfer - * @param DMAx DMAx Instance - * @param Stream This parameter can be one of the following values: - * @arg @ref LL_DMA_STREAM_0 - * @arg @ref LL_DMA_STREAM_1 - * @arg @ref LL_DMA_STREAM_2 - * @arg @ref LL_DMA_STREAM_3 - * @arg @ref LL_DMA_STREAM_4 - * @arg @ref LL_DMA_STREAM_5 - * @arg @ref LL_DMA_STREAM_6 - * @arg @ref LL_DMA_STREAM_7 - * @param Configuration This parameter must be a combination of all the following values: - * @arg @ref LL_DMA_DIRECTION_PERIPH_TO_MEMORY or @ref LL_DMA_DIRECTION_MEMORY_TO_PERIPH or @ref LL_DMA_DIRECTION_MEMORY_TO_MEMORY - * @arg @ref LL_DMA_MODE_NORMAL or @ref LL_DMA_MODE_CIRCULAR or @ref LL_DMA_MODE_PFCTRL - * @arg @ref LL_DMA_PERIPH_INCREMENT or @ref LL_DMA_PERIPH_NOINCREMENT - * @arg @ref LL_DMA_MEMORY_INCREMENT or @ref LL_DMA_MEMORY_NOINCREMENT - * @arg @ref LL_DMA_PDATAALIGN_BYTE or @ref LL_DMA_PDATAALIGN_HALFWORD or @ref LL_DMA_PDATAALIGN_WORD - * @arg @ref LL_DMA_MDATAALIGN_BYTE or @ref LL_DMA_MDATAALIGN_HALFWORD or @ref LL_DMA_MDATAALIGN_WORD - * @arg @ref LL_DMA_PRIORITY_LOW or @ref LL_DMA_PRIORITY_MEDIUM or @ref LL_DMA_PRIORITY_HIGH or @ref LL_DMA_PRIORITY_VERYHIGH - *@retval None - */ -__STATIC_INLINE void LL_DMA_ConfigTransfer(DMA_TypeDef *DMAx, uint32_t Stream, uint32_t Configuration) -{ - MODIFY_REG(((DMA_Stream_TypeDef *)((uint32_t)((uint32_t)DMAx + STREAM_OFFSET_TAB[Stream])))->CR, - DMA_SxCR_DIR | DMA_SxCR_CIRC | DMA_SxCR_PINC | DMA_SxCR_MINC | DMA_SxCR_PSIZE | DMA_SxCR_MSIZE | DMA_SxCR_PL | DMA_SxCR_PFCTRL, - Configuration); -} - -/** - * @brief Set Data transfer direction (read from peripheral or from memory). - * @rmtoll CR DIR LL_DMA_SetDataTransferDirection - * @param DMAx DMAx Instance - * @param Stream This parameter can be one of the following values: - * @arg @ref LL_DMA_STREAM_0 - * @arg @ref LL_DMA_STREAM_1 - * @arg @ref LL_DMA_STREAM_2 - * @arg @ref LL_DMA_STREAM_3 - * @arg @ref LL_DMA_STREAM_4 - * @arg @ref LL_DMA_STREAM_5 - * @arg @ref LL_DMA_STREAM_6 - * @arg @ref LL_DMA_STREAM_7 - * @param Direction This parameter can be one of the following values: - * @arg @ref LL_DMA_DIRECTION_PERIPH_TO_MEMORY - * @arg @ref LL_DMA_DIRECTION_MEMORY_TO_PERIPH - * @arg @ref LL_DMA_DIRECTION_MEMORY_TO_MEMORY - * @retval None - */ -__STATIC_INLINE void LL_DMA_SetDataTransferDirection(DMA_TypeDef *DMAx, uint32_t Stream, uint32_t Direction) -{ - MODIFY_REG(((DMA_Stream_TypeDef*)((uint32_t)((uint32_t)DMAx + STREAM_OFFSET_TAB[Stream])))->CR, DMA_SxCR_DIR, Direction); -} - -/** - * @brief Get Data transfer direction (read from peripheral or from memory). - * @rmtoll CR DIR LL_DMA_GetDataTransferDirection - * @param DMAx DMAx Instance - * @param Stream This parameter can be one of the following values: - * @arg @ref LL_DMA_STREAM_0 - * @arg @ref LL_DMA_STREAM_1 - * @arg @ref LL_DMA_STREAM_2 - * @arg @ref LL_DMA_STREAM_3 - * @arg @ref LL_DMA_STREAM_4 - * @arg @ref LL_DMA_STREAM_5 - * @arg @ref LL_DMA_STREAM_6 - * @arg @ref LL_DMA_STREAM_7 - * @retval Returned value can be one of the following values: - * @arg @ref LL_DMA_DIRECTION_PERIPH_TO_MEMORY - * @arg @ref LL_DMA_DIRECTION_MEMORY_TO_PERIPH - * @arg @ref LL_DMA_DIRECTION_MEMORY_TO_MEMORY - */ -__STATIC_INLINE uint32_t LL_DMA_GetDataTransferDirection(DMA_TypeDef *DMAx, uint32_t Stream) -{ - return (READ_BIT(((DMA_Stream_TypeDef*)((uint32_t)((uint32_t)DMAx + STREAM_OFFSET_TAB[Stream])))->CR, DMA_SxCR_DIR)); -} - -/** - * @brief Set DMA mode normal, circular or peripheral flow control. - * @rmtoll CR CIRC LL_DMA_SetMode\n - * CR PFCTRL LL_DMA_SetMode - * @param DMAx DMAx Instance - * @param Stream This parameter can be one of the following values: - * @arg @ref LL_DMA_STREAM_0 - * @arg @ref LL_DMA_STREAM_1 - * @arg @ref LL_DMA_STREAM_2 - * @arg @ref LL_DMA_STREAM_3 - * @arg @ref LL_DMA_STREAM_4 - * @arg @ref LL_DMA_STREAM_5 - * @arg @ref LL_DMA_STREAM_6 - * @arg @ref LL_DMA_STREAM_7 - * @param Mode This parameter can be one of the following values: - * @arg @ref LL_DMA_MODE_NORMAL - * @arg @ref LL_DMA_MODE_CIRCULAR - * @arg @ref LL_DMA_MODE_PFCTRL - * @retval None - */ -__STATIC_INLINE void LL_DMA_SetMode(DMA_TypeDef *DMAx, uint32_t Stream, uint32_t Mode) -{ - MODIFY_REG(((DMA_Stream_TypeDef*)((uint32_t)((uint32_t)DMAx + STREAM_OFFSET_TAB[Stream])))->CR, DMA_SxCR_CIRC | DMA_SxCR_PFCTRL, Mode); -} - -/** - * @brief Get DMA mode normal, circular or peripheral flow control. - * @rmtoll CR CIRC LL_DMA_GetMode\n - * CR PFCTRL LL_DMA_GetMode - * @param DMAx DMAx Instance - * @param Stream This parameter can be one of the following values: - * @arg @ref LL_DMA_STREAM_0 - * @arg @ref LL_DMA_STREAM_1 - * @arg @ref LL_DMA_STREAM_2 - * @arg @ref LL_DMA_STREAM_3 - * @arg @ref LL_DMA_STREAM_4 - * @arg @ref LL_DMA_STREAM_5 - * @arg @ref LL_DMA_STREAM_6 - * @arg @ref LL_DMA_STREAM_7 - * @retval Returned value can be one of the following values: - * @arg @ref LL_DMA_MODE_NORMAL - * @arg @ref LL_DMA_MODE_CIRCULAR - * @arg @ref LL_DMA_MODE_PFCTRL - */ -__STATIC_INLINE uint32_t LL_DMA_GetMode(DMA_TypeDef *DMAx, uint32_t Stream) -{ - return (READ_BIT(((DMA_Stream_TypeDef*)((uint32_t)((uint32_t)DMAx + STREAM_OFFSET_TAB[Stream])))->CR, DMA_SxCR_CIRC | DMA_SxCR_PFCTRL)); -} - -/** - * @brief Set Peripheral increment mode. - * @rmtoll CR PINC LL_DMA_SetPeriphIncMode - * @param DMAx DMAx Instance - * @param Stream This parameter can be one of the following values: - * @arg @ref LL_DMA_STREAM_0 - * @arg @ref LL_DMA_STREAM_1 - * @arg @ref LL_DMA_STREAM_2 - * @arg @ref LL_DMA_STREAM_3 - * @arg @ref LL_DMA_STREAM_4 - * @arg @ref LL_DMA_STREAM_5 - * @arg @ref LL_DMA_STREAM_6 - * @arg @ref LL_DMA_STREAM_7 - * @param IncrementMode This parameter can be one of the following values: - * @arg @ref LL_DMA_PERIPH_NOINCREMENT - * @arg @ref LL_DMA_PERIPH_INCREMENT - * @retval None - */ -__STATIC_INLINE void LL_DMA_SetPeriphIncMode(DMA_TypeDef *DMAx, uint32_t Stream, uint32_t IncrementMode) -{ - MODIFY_REG(((DMA_Stream_TypeDef*)((uint32_t)((uint32_t)DMAx + STREAM_OFFSET_TAB[Stream])))->CR, DMA_SxCR_PINC, IncrementMode); -} - -/** - * @brief Get Peripheral increment mode. - * @rmtoll CR PINC LL_DMA_GetPeriphIncMode - * @param DMAx DMAx Instance - * @param Stream This parameter can be one of the following values: - * @arg @ref LL_DMA_STREAM_0 - * @arg @ref LL_DMA_STREAM_1 - * @arg @ref LL_DMA_STREAM_2 - * @arg @ref LL_DMA_STREAM_3 - * @arg @ref LL_DMA_STREAM_4 - * @arg @ref LL_DMA_STREAM_5 - * @arg @ref LL_DMA_STREAM_6 - * @arg @ref LL_DMA_STREAM_7 - * @retval Returned value can be one of the following values: - * @arg @ref LL_DMA_PERIPH_NOINCREMENT - * @arg @ref LL_DMA_PERIPH_INCREMENT - */ -__STATIC_INLINE uint32_t LL_DMA_GetPeriphIncMode(DMA_TypeDef *DMAx, uint32_t Stream) -{ - return (READ_BIT(((DMA_Stream_TypeDef*)((uint32_t)((uint32_t)DMAx + STREAM_OFFSET_TAB[Stream])))->CR, DMA_SxCR_PINC)); -} - -/** - * @brief Set Memory increment mode. - * @rmtoll CR MINC LL_DMA_SetMemoryIncMode - * @param DMAx DMAx Instance - * @param Stream This parameter can be one of the following values: - * @arg @ref LL_DMA_STREAM_0 - * @arg @ref LL_DMA_STREAM_1 - * @arg @ref LL_DMA_STREAM_2 - * @arg @ref LL_DMA_STREAM_3 - * @arg @ref LL_DMA_STREAM_4 - * @arg @ref LL_DMA_STREAM_5 - * @arg @ref LL_DMA_STREAM_6 - * @arg @ref LL_DMA_STREAM_7 - * @param IncrementMode This parameter can be one of the following values: - * @arg @ref LL_DMA_MEMORY_NOINCREMENT - * @arg @ref LL_DMA_MEMORY_INCREMENT - * @retval None - */ -__STATIC_INLINE void LL_DMA_SetMemoryIncMode(DMA_TypeDef *DMAx, uint32_t Stream, uint32_t IncrementMode) -{ - MODIFY_REG(((DMA_Stream_TypeDef*)((uint32_t)((uint32_t)DMAx + STREAM_OFFSET_TAB[Stream])))->CR, DMA_SxCR_MINC, IncrementMode); -} - -/** - * @brief Get Memory increment mode. - * @rmtoll CR MINC LL_DMA_GetMemoryIncMode - * @param DMAx DMAx Instance - * @param Stream This parameter can be one of the following values: - * @arg @ref LL_DMA_STREAM_0 - * @arg @ref LL_DMA_STREAM_1 - * @arg @ref LL_DMA_STREAM_2 - * @arg @ref LL_DMA_STREAM_3 - * @arg @ref LL_DMA_STREAM_4 - * @arg @ref LL_DMA_STREAM_5 - * @arg @ref LL_DMA_STREAM_6 - * @arg @ref LL_DMA_STREAM_7 - * @retval Returned value can be one of the following values: - * @arg @ref LL_DMA_MEMORY_NOINCREMENT - * @arg @ref LL_DMA_MEMORY_INCREMENT - */ -__STATIC_INLINE uint32_t LL_DMA_GetMemoryIncMode(DMA_TypeDef *DMAx, uint32_t Stream) -{ - return (READ_BIT(((DMA_Stream_TypeDef*)((uint32_t)((uint32_t)DMAx + STREAM_OFFSET_TAB[Stream])))->CR, DMA_SxCR_MINC)); -} - -/** - * @brief Set Peripheral size. - * @rmtoll CR PSIZE LL_DMA_SetPeriphSize - * @param DMAx DMAx Instance - * @param Stream This parameter can be one of the following values: - * @arg @ref LL_DMA_STREAM_0 - * @arg @ref LL_DMA_STREAM_1 - * @arg @ref LL_DMA_STREAM_2 - * @arg @ref LL_DMA_STREAM_3 - * @arg @ref LL_DMA_STREAM_4 - * @arg @ref LL_DMA_STREAM_5 - * @arg @ref LL_DMA_STREAM_6 - * @arg @ref LL_DMA_STREAM_7 - * @param Size This parameter can be one of the following values: - * @arg @ref LL_DMA_PDATAALIGN_BYTE - * @arg @ref LL_DMA_PDATAALIGN_HALFWORD - * @arg @ref LL_DMA_PDATAALIGN_WORD - * @retval None - */ -__STATIC_INLINE void LL_DMA_SetPeriphSize(DMA_TypeDef *DMAx, uint32_t Stream, uint32_t Size) -{ - MODIFY_REG(((DMA_Stream_TypeDef*)((uint32_t)((uint32_t)DMAx + STREAM_OFFSET_TAB[Stream])))->CR, DMA_SxCR_PSIZE, Size); -} - -/** - * @brief Get Peripheral size. - * @rmtoll CR PSIZE LL_DMA_GetPeriphSize - * @param DMAx DMAx Instance - * @param Stream This parameter can be one of the following values: - * @arg @ref LL_DMA_STREAM_0 - * @arg @ref LL_DMA_STREAM_1 - * @arg @ref LL_DMA_STREAM_2 - * @arg @ref LL_DMA_STREAM_3 - * @arg @ref LL_DMA_STREAM_4 - * @arg @ref LL_DMA_STREAM_5 - * @arg @ref LL_DMA_STREAM_6 - * @arg @ref LL_DMA_STREAM_7 - * @retval Returned value can be one of the following values: - * @arg @ref LL_DMA_PDATAALIGN_BYTE - * @arg @ref LL_DMA_PDATAALIGN_HALFWORD - * @arg @ref LL_DMA_PDATAALIGN_WORD - */ -__STATIC_INLINE uint32_t LL_DMA_GetPeriphSize(DMA_TypeDef *DMAx, uint32_t Stream) -{ - return (READ_BIT(((DMA_Stream_TypeDef*)((uint32_t)((uint32_t)DMAx + STREAM_OFFSET_TAB[Stream])))->CR, DMA_SxCR_PSIZE)); -} - -/** - * @brief Set Memory size. - * @rmtoll CR MSIZE LL_DMA_SetMemorySize - * @param DMAx DMAx Instance - * @param Stream This parameter can be one of the following values: - * @arg @ref LL_DMA_STREAM_0 - * @arg @ref LL_DMA_STREAM_1 - * @arg @ref LL_DMA_STREAM_2 - * @arg @ref LL_DMA_STREAM_3 - * @arg @ref LL_DMA_STREAM_4 - * @arg @ref LL_DMA_STREAM_5 - * @arg @ref LL_DMA_STREAM_6 - * @arg @ref LL_DMA_STREAM_7 - * @param Size This parameter can be one of the following values: - * @arg @ref LL_DMA_MDATAALIGN_BYTE - * @arg @ref LL_DMA_MDATAALIGN_HALFWORD - * @arg @ref LL_DMA_MDATAALIGN_WORD - * @retval None - */ -__STATIC_INLINE void LL_DMA_SetMemorySize(DMA_TypeDef *DMAx, uint32_t Stream, uint32_t Size) -{ - MODIFY_REG(((DMA_Stream_TypeDef*)((uint32_t)((uint32_t)DMAx + STREAM_OFFSET_TAB[Stream])))->CR, DMA_SxCR_MSIZE, Size); -} - -/** - * @brief Get Memory size. - * @rmtoll CR MSIZE LL_DMA_GetMemorySize - * @param DMAx DMAx Instance - * @param Stream This parameter can be one of the following values: - * @arg @ref LL_DMA_STREAM_0 - * @arg @ref LL_DMA_STREAM_1 - * @arg @ref LL_DMA_STREAM_2 - * @arg @ref LL_DMA_STREAM_3 - * @arg @ref LL_DMA_STREAM_4 - * @arg @ref LL_DMA_STREAM_5 - * @arg @ref LL_DMA_STREAM_6 - * @arg @ref LL_DMA_STREAM_7 - * @retval Returned value can be one of the following values: - * @arg @ref LL_DMA_MDATAALIGN_BYTE - * @arg @ref LL_DMA_MDATAALIGN_HALFWORD - * @arg @ref LL_DMA_MDATAALIGN_WORD - */ -__STATIC_INLINE uint32_t LL_DMA_GetMemorySize(DMA_TypeDef *DMAx, uint32_t Stream) -{ - return (READ_BIT(((DMA_Stream_TypeDef*)((uint32_t)((uint32_t)DMAx + STREAM_OFFSET_TAB[Stream])))->CR, DMA_SxCR_MSIZE)); -} - -/** - * @brief Set Peripheral increment offset size. - * @rmtoll CR PINCOS LL_DMA_SetIncOffsetSize - * @param DMAx DMAx Instance - * @param Stream This parameter can be one of the following values: - * @arg @ref LL_DMA_STREAM_0 - * @arg @ref LL_DMA_STREAM_1 - * @arg @ref LL_DMA_STREAM_2 - * @arg @ref LL_DMA_STREAM_3 - * @arg @ref LL_DMA_STREAM_4 - * @arg @ref LL_DMA_STREAM_5 - * @arg @ref LL_DMA_STREAM_6 - * @arg @ref LL_DMA_STREAM_7 - * @param OffsetSize This parameter can be one of the following values: - * @arg @ref LL_DMA_OFFSETSIZE_PSIZE - * @arg @ref LL_DMA_OFFSETSIZE_FIXEDTO4 - * @retval None - */ -__STATIC_INLINE void LL_DMA_SetIncOffsetSize(DMA_TypeDef *DMAx, uint32_t Stream, uint32_t OffsetSize) -{ - MODIFY_REG(((DMA_Stream_TypeDef*)((uint32_t)((uint32_t)DMAx + STREAM_OFFSET_TAB[Stream])))->CR, DMA_SxCR_PINCOS, OffsetSize); -} - -/** - * @brief Get Peripheral increment offset size. - * @rmtoll CR PINCOS LL_DMA_GetIncOffsetSize - * @param DMAx DMAx Instance - * @param Stream This parameter can be one of the following values: - * @arg @ref LL_DMA_STREAM_0 - * @arg @ref LL_DMA_STREAM_1 - * @arg @ref LL_DMA_STREAM_2 - * @arg @ref LL_DMA_STREAM_3 - * @arg @ref LL_DMA_STREAM_4 - * @arg @ref LL_DMA_STREAM_5 - * @arg @ref LL_DMA_STREAM_6 - * @arg @ref LL_DMA_STREAM_7 - * @retval Returned value can be one of the following values: - * @arg @ref LL_DMA_OFFSETSIZE_PSIZE - * @arg @ref LL_DMA_OFFSETSIZE_FIXEDTO4 - */ -__STATIC_INLINE uint32_t LL_DMA_GetIncOffsetSize(DMA_TypeDef *DMAx, uint32_t Stream) -{ - return (READ_BIT(((DMA_Stream_TypeDef*)((uint32_t)((uint32_t)DMAx + STREAM_OFFSET_TAB[Stream])))->CR, DMA_SxCR_PINCOS)); -} - -/** - * @brief Set Stream priority level. - * @rmtoll CR PL LL_DMA_SetStreamPriorityLevel - * @param DMAx DMAx Instance - * @param Stream This parameter can be one of the following values: - * @arg @ref LL_DMA_STREAM_0 - * @arg @ref LL_DMA_STREAM_1 - * @arg @ref LL_DMA_STREAM_2 - * @arg @ref LL_DMA_STREAM_3 - * @arg @ref LL_DMA_STREAM_4 - * @arg @ref LL_DMA_STREAM_5 - * @arg @ref LL_DMA_STREAM_6 - * @arg @ref LL_DMA_STREAM_7 - * @param Priority This parameter can be one of the following values: - * @arg @ref LL_DMA_PRIORITY_LOW - * @arg @ref LL_DMA_PRIORITY_MEDIUM - * @arg @ref LL_DMA_PRIORITY_HIGH - * @arg @ref LL_DMA_PRIORITY_VERYHIGH - * @retval None - */ -__STATIC_INLINE void LL_DMA_SetStreamPriorityLevel(DMA_TypeDef *DMAx, uint32_t Stream, uint32_t Priority) -{ - MODIFY_REG(((DMA_Stream_TypeDef*)((uint32_t)((uint32_t)DMAx + STREAM_OFFSET_TAB[Stream])))->CR, DMA_SxCR_PL, Priority); -} - -/** - * @brief Get Stream priority level. - * @rmtoll CR PL LL_DMA_GetStreamPriorityLevel - * @param DMAx DMAx Instance - * @param Stream This parameter can be one of the following values: - * @arg @ref LL_DMA_STREAM_0 - * @arg @ref LL_DMA_STREAM_1 - * @arg @ref LL_DMA_STREAM_2 - * @arg @ref LL_DMA_STREAM_3 - * @arg @ref LL_DMA_STREAM_4 - * @arg @ref LL_DMA_STREAM_5 - * @arg @ref LL_DMA_STREAM_6 - * @arg @ref LL_DMA_STREAM_7 - * @retval Returned value can be one of the following values: - * @arg @ref LL_DMA_PRIORITY_LOW - * @arg @ref LL_DMA_PRIORITY_MEDIUM - * @arg @ref LL_DMA_PRIORITY_HIGH - * @arg @ref LL_DMA_PRIORITY_VERYHIGH - */ -__STATIC_INLINE uint32_t LL_DMA_GetStreamPriorityLevel(DMA_TypeDef *DMAx, uint32_t Stream) -{ - return (READ_BIT(((DMA_Stream_TypeDef*)((uint32_t)((uint32_t)DMAx + STREAM_OFFSET_TAB[Stream])))->CR, DMA_SxCR_PL)); -} - -/** - * @brief Set Number of data to transfer. - * @rmtoll NDTR NDT LL_DMA_SetDataLength - * @note This action has no effect if - * stream is enabled. - * @param DMAx DMAx Instance - * @param Stream This parameter can be one of the following values: - * @arg @ref LL_DMA_STREAM_0 - * @arg @ref LL_DMA_STREAM_1 - * @arg @ref LL_DMA_STREAM_2 - * @arg @ref LL_DMA_STREAM_3 - * @arg @ref LL_DMA_STREAM_4 - * @arg @ref LL_DMA_STREAM_5 - * @arg @ref LL_DMA_STREAM_6 - * @arg @ref LL_DMA_STREAM_7 - * @param NbData Between 0 to 0xFFFFFFFF - * @retval None - */ -__STATIC_INLINE void LL_DMA_SetDataLength(DMA_TypeDef* DMAx, uint32_t Stream, uint32_t NbData) -{ - MODIFY_REG(((DMA_Stream_TypeDef*)((uint32_t)((uint32_t)DMAx + STREAM_OFFSET_TAB[Stream])))->NDTR, DMA_SxNDT, NbData); -} - -/** - * @brief Get Number of data to transfer. - * @rmtoll NDTR NDT LL_DMA_GetDataLength - * @note Once the stream is enabled, the return value indicate the - * remaining bytes to be transmitted. - * @param DMAx DMAx Instance - * @param Stream This parameter can be one of the following values: - * @arg @ref LL_DMA_STREAM_0 - * @arg @ref LL_DMA_STREAM_1 - * @arg @ref LL_DMA_STREAM_2 - * @arg @ref LL_DMA_STREAM_3 - * @arg @ref LL_DMA_STREAM_4 - * @arg @ref LL_DMA_STREAM_5 - * @arg @ref LL_DMA_STREAM_6 - * @arg @ref LL_DMA_STREAM_7 - * @retval Between 0 to 0xFFFFFFFF - */ -__STATIC_INLINE uint32_t LL_DMA_GetDataLength(DMA_TypeDef* DMAx, uint32_t Stream) -{ - return (READ_BIT(((DMA_Stream_TypeDef*)((uint32_t)((uint32_t)DMAx + STREAM_OFFSET_TAB[Stream])))->NDTR, DMA_SxNDT)); -} - -/** - * @brief Select Channel number associated to the Stream. - * @rmtoll CR CHSEL LL_DMA_SetChannelSelection - * @param DMAx DMAx Instance - * @param Stream This parameter can be one of the following values: - * @arg @ref LL_DMA_STREAM_0 - * @arg @ref LL_DMA_STREAM_1 - * @arg @ref LL_DMA_STREAM_2 - * @arg @ref LL_DMA_STREAM_3 - * @arg @ref LL_DMA_STREAM_4 - * @arg @ref LL_DMA_STREAM_5 - * @arg @ref LL_DMA_STREAM_6 - * @arg @ref LL_DMA_STREAM_7 - * @param Channel This parameter can be one of the following values: - * @arg @ref LL_DMA_CHANNEL_0 - * @arg @ref LL_DMA_CHANNEL_1 - * @arg @ref LL_DMA_CHANNEL_2 - * @arg @ref LL_DMA_CHANNEL_3 - * @arg @ref LL_DMA_CHANNEL_4 - * @arg @ref LL_DMA_CHANNEL_5 - * @arg @ref LL_DMA_CHANNEL_6 - * @arg @ref LL_DMA_CHANNEL_7 - * @retval None - */ -__STATIC_INLINE void LL_DMA_SetChannelSelection(DMA_TypeDef *DMAx, uint32_t Stream, uint32_t Channel) -{ - MODIFY_REG(((DMA_Stream_TypeDef*)((uint32_t)((uint32_t)DMAx + STREAM_OFFSET_TAB[Stream])))->CR, DMA_SxCR_CHSEL, Channel); -} - -/** - * @brief Get the Channel number associated to the Stream. - * @rmtoll CR CHSEL LL_DMA_GetChannelSelection - * @param DMAx DMAx Instance - * @param Stream This parameter can be one of the following values: - * @arg @ref LL_DMA_STREAM_0 - * @arg @ref LL_DMA_STREAM_1 - * @arg @ref LL_DMA_STREAM_2 - * @arg @ref LL_DMA_STREAM_3 - * @arg @ref LL_DMA_STREAM_4 - * @arg @ref LL_DMA_STREAM_5 - * @arg @ref LL_DMA_STREAM_6 - * @arg @ref LL_DMA_STREAM_7 - * @retval Returned value can be one of the following values: - * @arg @ref LL_DMA_CHANNEL_0 - * @arg @ref LL_DMA_CHANNEL_1 - * @arg @ref LL_DMA_CHANNEL_2 - * @arg @ref LL_DMA_CHANNEL_3 - * @arg @ref LL_DMA_CHANNEL_4 - * @arg @ref LL_DMA_CHANNEL_5 - * @arg @ref LL_DMA_CHANNEL_6 - * @arg @ref LL_DMA_CHANNEL_7 - */ -__STATIC_INLINE uint32_t LL_DMA_GetChannelSelection(DMA_TypeDef *DMAx, uint32_t Stream) -{ - return (READ_BIT(((DMA_Stream_TypeDef*)((uint32_t)((uint32_t)DMAx + STREAM_OFFSET_TAB[Stream])))->CR, DMA_SxCR_CHSEL)); -} - -/** - * @brief Set Memory burst transfer configuration. - * @rmtoll CR MBURST LL_DMA_SetMemoryBurstxfer - * @param DMAx DMAx Instance - * @param Stream This parameter can be one of the following values: - * @arg @ref LL_DMA_STREAM_0 - * @arg @ref LL_DMA_STREAM_1 - * @arg @ref LL_DMA_STREAM_2 - * @arg @ref LL_DMA_STREAM_3 - * @arg @ref LL_DMA_STREAM_4 - * @arg @ref LL_DMA_STREAM_5 - * @arg @ref LL_DMA_STREAM_6 - * @arg @ref LL_DMA_STREAM_7 - * @param Mburst This parameter can be one of the following values: - * @arg @ref LL_DMA_MBURST_SINGLE - * @arg @ref LL_DMA_MBURST_INC4 - * @arg @ref LL_DMA_MBURST_INC8 - * @arg @ref LL_DMA_MBURST_INC16 - * @retval None - */ -__STATIC_INLINE void LL_DMA_SetMemoryBurstxfer(DMA_TypeDef *DMAx, uint32_t Stream, uint32_t Mburst) -{ - MODIFY_REG(((DMA_Stream_TypeDef*)((uint32_t)((uint32_t)DMAx + STREAM_OFFSET_TAB[Stream])))->CR, DMA_SxCR_MBURST, Mburst); -} - -/** - * @brief Get Memory burst transfer configuration. - * @rmtoll CR MBURST LL_DMA_GetMemoryBurstxfer - * @param DMAx DMAx Instance - * @param Stream This parameter can be one of the following values: - * @arg @ref LL_DMA_STREAM_0 - * @arg @ref LL_DMA_STREAM_1 - * @arg @ref LL_DMA_STREAM_2 - * @arg @ref LL_DMA_STREAM_3 - * @arg @ref LL_DMA_STREAM_4 - * @arg @ref LL_DMA_STREAM_5 - * @arg @ref LL_DMA_STREAM_6 - * @arg @ref LL_DMA_STREAM_7 - * @retval Returned value can be one of the following values: - * @arg @ref LL_DMA_MBURST_SINGLE - * @arg @ref LL_DMA_MBURST_INC4 - * @arg @ref LL_DMA_MBURST_INC8 - * @arg @ref LL_DMA_MBURST_INC16 - */ -__STATIC_INLINE uint32_t LL_DMA_GetMemoryBurstxfer(DMA_TypeDef *DMAx, uint32_t Stream) -{ - return (READ_BIT(((DMA_Stream_TypeDef*)((uint32_t)((uint32_t)DMAx + STREAM_OFFSET_TAB[Stream])))->CR, DMA_SxCR_MBURST)); -} - -/** - * @brief Set Peripheral burst transfer configuration. - * @rmtoll CR PBURST LL_DMA_SetPeriphBurstxfer - * @param DMAx DMAx Instance - * @param Stream This parameter can be one of the following values: - * @arg @ref LL_DMA_STREAM_0 - * @arg @ref LL_DMA_STREAM_1 - * @arg @ref LL_DMA_STREAM_2 - * @arg @ref LL_DMA_STREAM_3 - * @arg @ref LL_DMA_STREAM_4 - * @arg @ref LL_DMA_STREAM_5 - * @arg @ref LL_DMA_STREAM_6 - * @arg @ref LL_DMA_STREAM_7 - * @param Pburst This parameter can be one of the following values: - * @arg @ref LL_DMA_PBURST_SINGLE - * @arg @ref LL_DMA_PBURST_INC4 - * @arg @ref LL_DMA_PBURST_INC8 - * @arg @ref LL_DMA_PBURST_INC16 - * @retval None - */ -__STATIC_INLINE void LL_DMA_SetPeriphBurstxfer(DMA_TypeDef *DMAx, uint32_t Stream, uint32_t Pburst) -{ - MODIFY_REG(((DMA_Stream_TypeDef*)((uint32_t)((uint32_t)DMAx + STREAM_OFFSET_TAB[Stream])))->CR, DMA_SxCR_PBURST, Pburst); -} - -/** - * @brief Get Peripheral burst transfer configuration. - * @rmtoll CR PBURST LL_DMA_GetPeriphBurstxfer - * @param DMAx DMAx Instance - * @param Stream This parameter can be one of the following values: - * @arg @ref LL_DMA_STREAM_0 - * @arg @ref LL_DMA_STREAM_1 - * @arg @ref LL_DMA_STREAM_2 - * @arg @ref LL_DMA_STREAM_3 - * @arg @ref LL_DMA_STREAM_4 - * @arg @ref LL_DMA_STREAM_5 - * @arg @ref LL_DMA_STREAM_6 - * @arg @ref LL_DMA_STREAM_7 - * @retval Returned value can be one of the following values: - * @arg @ref LL_DMA_PBURST_SINGLE - * @arg @ref LL_DMA_PBURST_INC4 - * @arg @ref LL_DMA_PBURST_INC8 - * @arg @ref LL_DMA_PBURST_INC16 - */ -__STATIC_INLINE uint32_t LL_DMA_GetPeriphBurstxfer(DMA_TypeDef *DMAx, uint32_t Stream) -{ - return (READ_BIT(((DMA_Stream_TypeDef*)((uint32_t)((uint32_t)DMAx + STREAM_OFFSET_TAB[Stream])))->CR, DMA_SxCR_PBURST)); -} - -/** - * @brief Set Current target (only in double buffer mode) to Memory 1 or Memory 0. - * @rmtoll CR CT LL_DMA_SetCurrentTargetMem - * @param DMAx DMAx Instance - * @param Stream This parameter can be one of the following values: - * @arg @ref LL_DMA_STREAM_0 - * @arg @ref LL_DMA_STREAM_1 - * @arg @ref LL_DMA_STREAM_2 - * @arg @ref LL_DMA_STREAM_3 - * @arg @ref LL_DMA_STREAM_4 - * @arg @ref LL_DMA_STREAM_5 - * @arg @ref LL_DMA_STREAM_6 - * @arg @ref LL_DMA_STREAM_7 - * @param CurrentMemory This parameter can be one of the following values: - * @arg @ref LL_DMA_CURRENTTARGETMEM0 - * @arg @ref LL_DMA_CURRENTTARGETMEM1 - * @retval None - */ -__STATIC_INLINE void LL_DMA_SetCurrentTargetMem(DMA_TypeDef *DMAx, uint32_t Stream, uint32_t CurrentMemory) -{ - MODIFY_REG(((DMA_Stream_TypeDef*)((uint32_t)((uint32_t)DMAx + STREAM_OFFSET_TAB[Stream])))->CR, DMA_SxCR_CT, CurrentMemory); -} - -/** - * @brief Set Current target (only in double buffer mode) to Memory 1 or Memory 0. - * @rmtoll CR CT LL_DMA_GetCurrentTargetMem - * @param DMAx DMAx Instance - * @param Stream This parameter can be one of the following values: - * @arg @ref LL_DMA_STREAM_0 - * @arg @ref LL_DMA_STREAM_1 - * @arg @ref LL_DMA_STREAM_2 - * @arg @ref LL_DMA_STREAM_3 - * @arg @ref LL_DMA_STREAM_4 - * @arg @ref LL_DMA_STREAM_5 - * @arg @ref LL_DMA_STREAM_6 - * @arg @ref LL_DMA_STREAM_7 - * @retval Returned value can be one of the following values: - * @arg @ref LL_DMA_CURRENTTARGETMEM0 - * @arg @ref LL_DMA_CURRENTTARGETMEM1 - */ -__STATIC_INLINE uint32_t LL_DMA_GetCurrentTargetMem(DMA_TypeDef *DMAx, uint32_t Stream) -{ - return (READ_BIT(((DMA_Stream_TypeDef*)((uint32_t)((uint32_t)DMAx + STREAM_OFFSET_TAB[Stream])))->CR, DMA_SxCR_CT)); -} - -/** - * @brief Enable the double buffer mode. - * @rmtoll CR DBM LL_DMA_EnableDoubleBufferMode - * @param DMAx DMAx Instance - * @param Stream This parameter can be one of the following values: - * @arg @ref LL_DMA_STREAM_0 - * @arg @ref LL_DMA_STREAM_1 - * @arg @ref LL_DMA_STREAM_2 - * @arg @ref LL_DMA_STREAM_3 - * @arg @ref LL_DMA_STREAM_4 - * @arg @ref LL_DMA_STREAM_5 - * @arg @ref LL_DMA_STREAM_6 - * @arg @ref LL_DMA_STREAM_7 - * @retval None - */ -__STATIC_INLINE void LL_DMA_EnableDoubleBufferMode(DMA_TypeDef *DMAx, uint32_t Stream) -{ - SET_BIT(((DMA_Stream_TypeDef *)((uint32_t)((uint32_t)DMAx + STREAM_OFFSET_TAB[Stream])))->CR, DMA_SxCR_DBM); -} - -/** - * @brief Disable the double buffer mode. - * @rmtoll CR DBM LL_DMA_DisableDoubleBufferMode - * @param DMAx DMAx Instance - * @param Stream This parameter can be one of the following values: - * @arg @ref LL_DMA_STREAM_0 - * @arg @ref LL_DMA_STREAM_1 - * @arg @ref LL_DMA_STREAM_2 - * @arg @ref LL_DMA_STREAM_3 - * @arg @ref LL_DMA_STREAM_4 - * @arg @ref LL_DMA_STREAM_5 - * @arg @ref LL_DMA_STREAM_6 - * @arg @ref LL_DMA_STREAM_7 - * @retval None - */ -__STATIC_INLINE void LL_DMA_DisableDoubleBufferMode(DMA_TypeDef *DMAx, uint32_t Stream) -{ - CLEAR_BIT(((DMA_Stream_TypeDef *)((uint32_t)((uint32_t)DMAx + STREAM_OFFSET_TAB[Stream])))->CR, DMA_SxCR_DBM); -} - -/** - * @brief Get FIFO status. - * @rmtoll FCR FS LL_DMA_GetFIFOStatus - * @param DMAx DMAx Instance - * @param Stream This parameter can be one of the following values: - * @arg @ref LL_DMA_STREAM_0 - * @arg @ref LL_DMA_STREAM_1 - * @arg @ref LL_DMA_STREAM_2 - * @arg @ref LL_DMA_STREAM_3 - * @arg @ref LL_DMA_STREAM_4 - * @arg @ref LL_DMA_STREAM_5 - * @arg @ref LL_DMA_STREAM_6 - * @arg @ref LL_DMA_STREAM_7 - * @retval Returned value can be one of the following values: - * @arg @ref LL_DMA_FIFOSTATUS_0_25 - * @arg @ref LL_DMA_FIFOSTATUS_25_50 - * @arg @ref LL_DMA_FIFOSTATUS_50_75 - * @arg @ref LL_DMA_FIFOSTATUS_75_100 - * @arg @ref LL_DMA_FIFOSTATUS_EMPTY - * @arg @ref LL_DMA_FIFOSTATUS_FULL - */ -__STATIC_INLINE uint32_t LL_DMA_GetFIFOStatus(DMA_TypeDef *DMAx, uint32_t Stream) -{ - return (READ_BIT(((DMA_Stream_TypeDef*)((uint32_t)((uint32_t)DMAx + STREAM_OFFSET_TAB[Stream])))->FCR, DMA_SxFCR_FS)); -} - -/** - * @brief Disable Fifo mode. - * @rmtoll FCR DMDIS LL_DMA_DisableFifoMode - * @param DMAx DMAx Instance - * @param Stream This parameter can be one of the following values: - * @arg @ref LL_DMA_STREAM_0 - * @arg @ref LL_DMA_STREAM_1 - * @arg @ref LL_DMA_STREAM_2 - * @arg @ref LL_DMA_STREAM_3 - * @arg @ref LL_DMA_STREAM_4 - * @arg @ref LL_DMA_STREAM_5 - * @arg @ref LL_DMA_STREAM_6 - * @arg @ref LL_DMA_STREAM_7 - * @retval None - */ -__STATIC_INLINE void LL_DMA_DisableFifoMode(DMA_TypeDef *DMAx, uint32_t Stream) -{ - CLEAR_BIT(((DMA_Stream_TypeDef *)((uint32_t)((uint32_t)DMAx + STREAM_OFFSET_TAB[Stream])))->FCR, DMA_SxFCR_DMDIS); -} - -/** - * @brief Enable Fifo mode. - * @rmtoll FCR DMDIS LL_DMA_EnableFifoMode - * @param DMAx DMAx Instance - * @param Stream This parameter can be one of the following values: - * @arg @ref LL_DMA_STREAM_0 - * @arg @ref LL_DMA_STREAM_1 - * @arg @ref LL_DMA_STREAM_2 - * @arg @ref LL_DMA_STREAM_3 - * @arg @ref LL_DMA_STREAM_4 - * @arg @ref LL_DMA_STREAM_5 - * @arg @ref LL_DMA_STREAM_6 - * @arg @ref LL_DMA_STREAM_7 - * @retval None - */ -__STATIC_INLINE void LL_DMA_EnableFifoMode(DMA_TypeDef *DMAx, uint32_t Stream) -{ - SET_BIT(((DMA_Stream_TypeDef *)((uint32_t)((uint32_t)DMAx + STREAM_OFFSET_TAB[Stream])))->FCR, DMA_SxFCR_DMDIS); -} - -/** - * @brief Select FIFO threshold. - * @rmtoll FCR FTH LL_DMA_SetFIFOThreshold - * @param DMAx DMAx Instance - * @param Stream This parameter can be one of the following values: - * @arg @ref LL_DMA_STREAM_0 - * @arg @ref LL_DMA_STREAM_1 - * @arg @ref LL_DMA_STREAM_2 - * @arg @ref LL_DMA_STREAM_3 - * @arg @ref LL_DMA_STREAM_4 - * @arg @ref LL_DMA_STREAM_5 - * @arg @ref LL_DMA_STREAM_6 - * @arg @ref LL_DMA_STREAM_7 - * @param Threshold This parameter can be one of the following values: - * @arg @ref LL_DMA_FIFOTHRESHOLD_1_4 - * @arg @ref LL_DMA_FIFOTHRESHOLD_1_2 - * @arg @ref LL_DMA_FIFOTHRESHOLD_3_4 - * @arg @ref LL_DMA_FIFOTHRESHOLD_FULL - * @retval None - */ -__STATIC_INLINE void LL_DMA_SetFIFOThreshold(DMA_TypeDef *DMAx, uint32_t Stream, uint32_t Threshold) -{ - MODIFY_REG(((DMA_Stream_TypeDef*)((uint32_t)((uint32_t)DMAx + STREAM_OFFSET_TAB[Stream])))->FCR, DMA_SxFCR_FTH, Threshold); -} - -/** - * @brief Get FIFO threshold. - * @rmtoll FCR FTH LL_DMA_GetFIFOThreshold - * @param DMAx DMAx Instance - * @param Stream This parameter can be one of the following values: - * @arg @ref LL_DMA_STREAM_0 - * @arg @ref LL_DMA_STREAM_1 - * @arg @ref LL_DMA_STREAM_2 - * @arg @ref LL_DMA_STREAM_3 - * @arg @ref LL_DMA_STREAM_4 - * @arg @ref LL_DMA_STREAM_5 - * @arg @ref LL_DMA_STREAM_6 - * @arg @ref LL_DMA_STREAM_7 - * @retval Returned value can be one of the following values: - * @arg @ref LL_DMA_FIFOTHRESHOLD_1_4 - * @arg @ref LL_DMA_FIFOTHRESHOLD_1_2 - * @arg @ref LL_DMA_FIFOTHRESHOLD_3_4 - * @arg @ref LL_DMA_FIFOTHRESHOLD_FULL - */ -__STATIC_INLINE uint32_t LL_DMA_GetFIFOThreshold(DMA_TypeDef *DMAx, uint32_t Stream) -{ - return (READ_BIT(((DMA_Stream_TypeDef*)((uint32_t)((uint32_t)DMAx + STREAM_OFFSET_TAB[Stream])))->FCR, DMA_SxFCR_FTH)); -} - -/** - * @brief Configure the FIFO . - * @rmtoll FCR FTH LL_DMA_ConfigFifo\n - * FCR DMDIS LL_DMA_ConfigFifo - * @param DMAx DMAx Instance - * @param Stream This parameter can be one of the following values: - * @arg @ref LL_DMA_STREAM_0 - * @arg @ref LL_DMA_STREAM_1 - * @arg @ref LL_DMA_STREAM_2 - * @arg @ref LL_DMA_STREAM_3 - * @arg @ref LL_DMA_STREAM_4 - * @arg @ref LL_DMA_STREAM_5 - * @arg @ref LL_DMA_STREAM_6 - * @arg @ref LL_DMA_STREAM_7 - * @param FifoMode This parameter can be one of the following values: - * @arg @ref LL_DMA_FIFOMODE_ENABLE - * @arg @ref LL_DMA_FIFOMODE_DISABLE - * @param FifoThreshold This parameter can be one of the following values: - * @arg @ref LL_DMA_FIFOTHRESHOLD_1_4 - * @arg @ref LL_DMA_FIFOTHRESHOLD_1_2 - * @arg @ref LL_DMA_FIFOTHRESHOLD_3_4 - * @arg @ref LL_DMA_FIFOTHRESHOLD_FULL - * @retval None - */ -__STATIC_INLINE void LL_DMA_ConfigFifo(DMA_TypeDef *DMAx, uint32_t Stream, uint32_t FifoMode, uint32_t FifoThreshold) -{ - MODIFY_REG(((DMA_Stream_TypeDef*)((uint32_t)((uint32_t)DMAx + STREAM_OFFSET_TAB[Stream])))->FCR, DMA_SxFCR_FTH|DMA_SxFCR_DMDIS, FifoMode|FifoThreshold); -} - -/** - * @brief Configure the Source and Destination addresses. - * @note This API must not be called when the DMA stream is enabled. - * @rmtoll M0AR M0A LL_DMA_ConfigAddresses\n - * PAR PA LL_DMA_ConfigAddresses - * @param DMAx DMAx Instance - * @param Stream This parameter can be one of the following values: - * @arg @ref LL_DMA_STREAM_0 - * @arg @ref LL_DMA_STREAM_1 - * @arg @ref LL_DMA_STREAM_2 - * @arg @ref LL_DMA_STREAM_3 - * @arg @ref LL_DMA_STREAM_4 - * @arg @ref LL_DMA_STREAM_5 - * @arg @ref LL_DMA_STREAM_6 - * @arg @ref LL_DMA_STREAM_7 - * @param SrcAddress Between 0 to 0xFFFFFFFF - * @param DstAddress Between 0 to 0xFFFFFFFF - * @param Direction This parameter can be one of the following values: - * @arg @ref LL_DMA_DIRECTION_PERIPH_TO_MEMORY - * @arg @ref LL_DMA_DIRECTION_MEMORY_TO_PERIPH - * @arg @ref LL_DMA_DIRECTION_MEMORY_TO_MEMORY - * @retval None - */ -__STATIC_INLINE void LL_DMA_ConfigAddresses(DMA_TypeDef* DMAx, uint32_t Stream, uint32_t SrcAddress, uint32_t DstAddress, uint32_t Direction) -{ - /* Direction Memory to Periph */ - if (Direction == LL_DMA_DIRECTION_MEMORY_TO_PERIPH) - { - WRITE_REG(((DMA_Stream_TypeDef*)((uint32_t)((uint32_t)DMAx + STREAM_OFFSET_TAB[Stream])))->M0AR, SrcAddress); - WRITE_REG(((DMA_Stream_TypeDef*)((uint32_t)((uint32_t)DMAx + STREAM_OFFSET_TAB[Stream])))->PAR, DstAddress); - } - /* Direction Periph to Memory and Memory to Memory */ - else - { - WRITE_REG(((DMA_Stream_TypeDef*)((uint32_t)((uint32_t)DMAx + STREAM_OFFSET_TAB[Stream])))->PAR, SrcAddress); - WRITE_REG(((DMA_Stream_TypeDef*)((uint32_t)((uint32_t)DMAx + STREAM_OFFSET_TAB[Stream])))->M0AR, DstAddress); - } -} - -/** - * @brief Set the Memory address. - * @rmtoll M0AR M0A LL_DMA_SetMemoryAddress - * @note Interface used for direction LL_DMA_DIRECTION_PERIPH_TO_MEMORY or LL_DMA_DIRECTION_MEMORY_TO_PERIPH only. - * @note This API must not be called when the DMA channel is enabled. - * @param DMAx DMAx Instance - * @param Stream This parameter can be one of the following values: - * @arg @ref LL_DMA_STREAM_0 - * @arg @ref LL_DMA_STREAM_1 - * @arg @ref LL_DMA_STREAM_2 - * @arg @ref LL_DMA_STREAM_3 - * @arg @ref LL_DMA_STREAM_4 - * @arg @ref LL_DMA_STREAM_5 - * @arg @ref LL_DMA_STREAM_6 - * @arg @ref LL_DMA_STREAM_7 - * @param MemoryAddress Between 0 to 0xFFFFFFFF - * @retval None - */ -__STATIC_INLINE void LL_DMA_SetMemoryAddress(DMA_TypeDef* DMAx, uint32_t Stream, uint32_t MemoryAddress) -{ - WRITE_REG(((DMA_Stream_TypeDef*)((uint32_t)((uint32_t)DMAx + STREAM_OFFSET_TAB[Stream])))->M0AR, MemoryAddress); -} - -/** - * @brief Set the Peripheral address. - * @rmtoll PAR PA LL_DMA_SetPeriphAddress - * @note Interface used for direction LL_DMA_DIRECTION_PERIPH_TO_MEMORY or LL_DMA_DIRECTION_MEMORY_TO_PERIPH only. - * @note This API must not be called when the DMA channel is enabled. - * @param DMAx DMAx Instance - * @param Stream This parameter can be one of the following values: - * @arg @ref LL_DMA_STREAM_0 - * @arg @ref LL_DMA_STREAM_1 - * @arg @ref LL_DMA_STREAM_2 - * @arg @ref LL_DMA_STREAM_3 - * @arg @ref LL_DMA_STREAM_4 - * @arg @ref LL_DMA_STREAM_5 - * @arg @ref LL_DMA_STREAM_6 - * @arg @ref LL_DMA_STREAM_7 - * @param PeriphAddress Between 0 to 0xFFFFFFFF - * @retval None - */ -__STATIC_INLINE void LL_DMA_SetPeriphAddress(DMA_TypeDef* DMAx, uint32_t Stream, uint32_t PeriphAddress) -{ - WRITE_REG(((DMA_Stream_TypeDef*)((uint32_t)((uint32_t)DMAx + STREAM_OFFSET_TAB[Stream])))->PAR, PeriphAddress); -} - -/** - * @brief Get the Memory address. - * @rmtoll M0AR M0A LL_DMA_GetMemoryAddress - * @note Interface used for direction LL_DMA_DIRECTION_PERIPH_TO_MEMORY or LL_DMA_DIRECTION_MEMORY_TO_PERIPH only. - * @param DMAx DMAx Instance - * @param Stream This parameter can be one of the following values: - * @arg @ref LL_DMA_STREAM_0 - * @arg @ref LL_DMA_STREAM_1 - * @arg @ref LL_DMA_STREAM_2 - * @arg @ref LL_DMA_STREAM_3 - * @arg @ref LL_DMA_STREAM_4 - * @arg @ref LL_DMA_STREAM_5 - * @arg @ref LL_DMA_STREAM_6 - * @arg @ref LL_DMA_STREAM_7 - * @retval Between 0 to 0xFFFFFFFF - */ -__STATIC_INLINE uint32_t LL_DMA_GetMemoryAddress(DMA_TypeDef* DMAx, uint32_t Stream) -{ - return (READ_REG(((DMA_Stream_TypeDef*)((uint32_t)((uint32_t)DMAx + STREAM_OFFSET_TAB[Stream])))->M0AR)); -} - -/** - * @brief Get the Peripheral address. - * @rmtoll PAR PA LL_DMA_GetPeriphAddress - * @note Interface used for direction LL_DMA_DIRECTION_PERIPH_TO_MEMORY or LL_DMA_DIRECTION_MEMORY_TO_PERIPH only. - * @param DMAx DMAx Instance - * @param Stream This parameter can be one of the following values: - * @arg @ref LL_DMA_STREAM_0 - * @arg @ref LL_DMA_STREAM_1 - * @arg @ref LL_DMA_STREAM_2 - * @arg @ref LL_DMA_STREAM_3 - * @arg @ref LL_DMA_STREAM_4 - * @arg @ref LL_DMA_STREAM_5 - * @arg @ref LL_DMA_STREAM_6 - * @arg @ref LL_DMA_STREAM_7 - * @retval Between 0 to 0xFFFFFFFF - */ -__STATIC_INLINE uint32_t LL_DMA_GetPeriphAddress(DMA_TypeDef* DMAx, uint32_t Stream) -{ - return (READ_REG(((DMA_Stream_TypeDef *)((uint32_t)((uint32_t)DMAx + STREAM_OFFSET_TAB[Stream])))->PAR)); -} - -/** - * @brief Set the Memory to Memory Source address. - * @rmtoll PAR PA LL_DMA_SetM2MSrcAddress - * @note Interface used for direction LL_DMA_DIRECTION_MEMORY_TO_MEMORY only. - * @note This API must not be called when the DMA channel is enabled. - * @param DMAx DMAx Instance - * @param Stream This parameter can be one of the following values: - * @arg @ref LL_DMA_STREAM_0 - * @arg @ref LL_DMA_STREAM_1 - * @arg @ref LL_DMA_STREAM_2 - * @arg @ref LL_DMA_STREAM_3 - * @arg @ref LL_DMA_STREAM_4 - * @arg @ref LL_DMA_STREAM_5 - * @arg @ref LL_DMA_STREAM_6 - * @arg @ref LL_DMA_STREAM_7 - * @param MemoryAddress Between 0 to 0xFFFFFFFF - * @retval None - */ -__STATIC_INLINE void LL_DMA_SetM2MSrcAddress(DMA_TypeDef* DMAx, uint32_t Stream, uint32_t MemoryAddress) -{ - WRITE_REG(((DMA_Stream_TypeDef*)((uint32_t)((uint32_t)DMAx + STREAM_OFFSET_TAB[Stream])))->PAR, MemoryAddress); -} - -/** - * @brief Set the Memory to Memory Destination address. - * @rmtoll M0AR M0A LL_DMA_SetM2MDstAddress - * @note Interface used for direction LL_DMA_DIRECTION_MEMORY_TO_MEMORY only. - * @note This API must not be called when the DMA channel is enabled. - * @param DMAx DMAx Instance - * @param Stream This parameter can be one of the following values: - * @arg @ref LL_DMA_STREAM_0 - * @arg @ref LL_DMA_STREAM_1 - * @arg @ref LL_DMA_STREAM_2 - * @arg @ref LL_DMA_STREAM_3 - * @arg @ref LL_DMA_STREAM_4 - * @arg @ref LL_DMA_STREAM_5 - * @arg @ref LL_DMA_STREAM_6 - * @arg @ref LL_DMA_STREAM_7 - * @param MemoryAddress Between 0 to 0xFFFFFFFF - * @retval None - */ -__STATIC_INLINE void LL_DMA_SetM2MDstAddress(DMA_TypeDef* DMAx, uint32_t Stream, uint32_t MemoryAddress) - { - WRITE_REG(((DMA_Stream_TypeDef*)((uint32_t)((uint32_t)DMAx + STREAM_OFFSET_TAB[Stream])))->M0AR, MemoryAddress); - } - -/** - * @brief Get the Memory to Memory Source address. - * @rmtoll PAR PA LL_DMA_GetM2MSrcAddress - * @note Interface used for direction LL_DMA_DIRECTION_MEMORY_TO_MEMORY only. - * @param DMAx DMAx Instance - * @param Stream This parameter can be one of the following values: - * @arg @ref LL_DMA_STREAM_0 - * @arg @ref LL_DMA_STREAM_1 - * @arg @ref LL_DMA_STREAM_2 - * @arg @ref LL_DMA_STREAM_3 - * @arg @ref LL_DMA_STREAM_4 - * @arg @ref LL_DMA_STREAM_5 - * @arg @ref LL_DMA_STREAM_6 - * @arg @ref LL_DMA_STREAM_7 - * @retval Between 0 to 0xFFFFFFFF - */ -__STATIC_INLINE uint32_t LL_DMA_GetM2MSrcAddress(DMA_TypeDef* DMAx, uint32_t Stream) - { - return (READ_REG(((DMA_Stream_TypeDef *)((uint32_t)((uint32_t)DMAx + STREAM_OFFSET_TAB[Stream])))->PAR)); - } - -/** - * @brief Get the Memory to Memory Destination address. - * @rmtoll M0AR M0A LL_DMA_GetM2MDstAddress - * @note Interface used for direction LL_DMA_DIRECTION_MEMORY_TO_MEMORY only. - * @param DMAx DMAx Instance - * @param Stream This parameter can be one of the following values: - * @arg @ref LL_DMA_STREAM_0 - * @arg @ref LL_DMA_STREAM_1 - * @arg @ref LL_DMA_STREAM_2 - * @arg @ref LL_DMA_STREAM_3 - * @arg @ref LL_DMA_STREAM_4 - * @arg @ref LL_DMA_STREAM_5 - * @arg @ref LL_DMA_STREAM_6 - * @arg @ref LL_DMA_STREAM_7 - * @retval Between 0 to 0xFFFFFFFF - */ -__STATIC_INLINE uint32_t LL_DMA_GetM2MDstAddress(DMA_TypeDef* DMAx, uint32_t Stream) -{ - return (READ_REG(((DMA_Stream_TypeDef*)((uint32_t)((uint32_t)DMAx + STREAM_OFFSET_TAB[Stream])))->M0AR)); -} - -/** - * @brief Set Memory 1 address (used in case of Double buffer mode). - * @rmtoll M1AR M1A LL_DMA_SetMemory1Address - * @param DMAx DMAx Instance - * @param Stream This parameter can be one of the following values: - * @arg @ref LL_DMA_STREAM_0 - * @arg @ref LL_DMA_STREAM_1 - * @arg @ref LL_DMA_STREAM_2 - * @arg @ref LL_DMA_STREAM_3 - * @arg @ref LL_DMA_STREAM_4 - * @arg @ref LL_DMA_STREAM_5 - * @arg @ref LL_DMA_STREAM_6 - * @arg @ref LL_DMA_STREAM_7 - * @param Address Between 0 to 0xFFFFFFFF - * @retval None - */ -__STATIC_INLINE void LL_DMA_SetMemory1Address(DMA_TypeDef *DMAx, uint32_t Stream, uint32_t Address) -{ - MODIFY_REG(((DMA_Stream_TypeDef*)((uint32_t)((uint32_t)DMAx + STREAM_OFFSET_TAB[Stream])))->M1AR, DMA_SxM1AR_M1A, Address); -} - -/** - * @brief Get Memory 1 address (used in case of Double buffer mode). - * @rmtoll M1AR M1A LL_DMA_GetMemory1Address - * @param DMAx DMAx Instance - * @param Stream This parameter can be one of the following values: - * @arg @ref LL_DMA_STREAM_0 - * @arg @ref LL_DMA_STREAM_1 - * @arg @ref LL_DMA_STREAM_2 - * @arg @ref LL_DMA_STREAM_3 - * @arg @ref LL_DMA_STREAM_4 - * @arg @ref LL_DMA_STREAM_5 - * @arg @ref LL_DMA_STREAM_6 - * @arg @ref LL_DMA_STREAM_7 - * @retval Between 0 to 0xFFFFFFFF - */ -__STATIC_INLINE uint32_t LL_DMA_GetMemory1Address(DMA_TypeDef *DMAx, uint32_t Stream) -{ - return (((DMA_Stream_TypeDef*)((uint32_t)((uint32_t)DMAx + STREAM_OFFSET_TAB[Stream])))->M1AR); -} - -/** - * @} - */ - -/** @defgroup DMA_LL_EF_FLAG_Management FLAG_Management - * @{ - */ - -/** - * @brief Get Stream 0 half transfer flag. - * @rmtoll LISR HTIF0 LL_DMA_IsActiveFlag_HT0 - * @param DMAx DMAx Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_DMA_IsActiveFlag_HT0(DMA_TypeDef *DMAx) -{ - return (READ_BIT(DMAx->LISR ,DMA_LISR_HTIF0)==(DMA_LISR_HTIF0)); -} - -/** - * @brief Get Stream 1 half transfer flag. - * @rmtoll LISR HTIF1 LL_DMA_IsActiveFlag_HT1 - * @param DMAx DMAx Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_DMA_IsActiveFlag_HT1(DMA_TypeDef *DMAx) -{ - return (READ_BIT(DMAx->LISR ,DMA_LISR_HTIF1)==(DMA_LISR_HTIF1)); -} - -/** - * @brief Get Stream 2 half transfer flag. - * @rmtoll LISR HTIF2 LL_DMA_IsActiveFlag_HT2 - * @param DMAx DMAx Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_DMA_IsActiveFlag_HT2(DMA_TypeDef *DMAx) -{ - return (READ_BIT(DMAx->LISR ,DMA_LISR_HTIF2)==(DMA_LISR_HTIF2)); -} - -/** - * @brief Get Stream 3 half transfer flag. - * @rmtoll LISR HTIF3 LL_DMA_IsActiveFlag_HT3 - * @param DMAx DMAx Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_DMA_IsActiveFlag_HT3(DMA_TypeDef *DMAx) -{ - return (READ_BIT(DMAx->LISR ,DMA_LISR_HTIF3)==(DMA_LISR_HTIF3)); -} - -/** - * @brief Get Stream 4 half transfer flag. - * @rmtoll HISR HTIF4 LL_DMA_IsActiveFlag_HT4 - * @param DMAx DMAx Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_DMA_IsActiveFlag_HT4(DMA_TypeDef *DMAx) -{ - return (READ_BIT(DMAx->HISR ,DMA_HISR_HTIF4)==(DMA_HISR_HTIF4)); -} - -/** - * @brief Get Stream 5 half transfer flag. - * @rmtoll HISR HTIF0 LL_DMA_IsActiveFlag_HT5 - * @param DMAx DMAx Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_DMA_IsActiveFlag_HT5(DMA_TypeDef *DMAx) -{ - return (READ_BIT(DMAx->HISR ,DMA_HISR_HTIF5)==(DMA_HISR_HTIF5)); -} - -/** - * @brief Get Stream 6 half transfer flag. - * @rmtoll HISR HTIF6 LL_DMA_IsActiveFlag_HT6 - * @param DMAx DMAx Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_DMA_IsActiveFlag_HT6(DMA_TypeDef *DMAx) -{ - return (READ_BIT(DMAx->HISR ,DMA_HISR_HTIF6)==(DMA_HISR_HTIF6)); -} - -/** - * @brief Get Stream 7 half transfer flag. - * @rmtoll HISR HTIF7 LL_DMA_IsActiveFlag_HT7 - * @param DMAx DMAx Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_DMA_IsActiveFlag_HT7(DMA_TypeDef *DMAx) -{ - return (READ_BIT(DMAx->HISR ,DMA_HISR_HTIF7)==(DMA_HISR_HTIF7)); -} - -/** - * @brief Get Stream 0 transfer complete flag. - * @rmtoll LISR TCIF0 LL_DMA_IsActiveFlag_TC0 - * @param DMAx DMAx Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_DMA_IsActiveFlag_TC0(DMA_TypeDef *DMAx) -{ - return (READ_BIT(DMAx->LISR ,DMA_LISR_TCIF0)==(DMA_LISR_TCIF0)); -} - -/** - * @brief Get Stream 1 transfer complete flag. - * @rmtoll LISR TCIF1 LL_DMA_IsActiveFlag_TC1 - * @param DMAx DMAx Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_DMA_IsActiveFlag_TC1(DMA_TypeDef *DMAx) -{ - return (READ_BIT(DMAx->LISR ,DMA_LISR_TCIF1)==(DMA_LISR_TCIF1)); -} - -/** - * @brief Get Stream 2 transfer complete flag. - * @rmtoll LISR TCIF2 LL_DMA_IsActiveFlag_TC2 - * @param DMAx DMAx Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_DMA_IsActiveFlag_TC2(DMA_TypeDef *DMAx) -{ - return (READ_BIT(DMAx->LISR ,DMA_LISR_TCIF2)==(DMA_LISR_TCIF2)); -} - -/** - * @brief Get Stream 3 transfer complete flag. - * @rmtoll LISR TCIF3 LL_DMA_IsActiveFlag_TC3 - * @param DMAx DMAx Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_DMA_IsActiveFlag_TC3(DMA_TypeDef *DMAx) -{ - return (READ_BIT(DMAx->LISR ,DMA_LISR_TCIF3)==(DMA_LISR_TCIF3)); -} - -/** - * @brief Get Stream 4 transfer complete flag. - * @rmtoll HISR TCIF4 LL_DMA_IsActiveFlag_TC4 - * @param DMAx DMAx Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_DMA_IsActiveFlag_TC4(DMA_TypeDef *DMAx) -{ - return (READ_BIT(DMAx->HISR ,DMA_HISR_TCIF4)==(DMA_HISR_TCIF4)); -} - -/** - * @brief Get Stream 5 transfer complete flag. - * @rmtoll HISR TCIF0 LL_DMA_IsActiveFlag_TC5 - * @param DMAx DMAx Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_DMA_IsActiveFlag_TC5(DMA_TypeDef *DMAx) -{ - return (READ_BIT(DMAx->HISR ,DMA_HISR_TCIF5)==(DMA_HISR_TCIF5)); -} - -/** - * @brief Get Stream 6 transfer complete flag. - * @rmtoll HISR TCIF6 LL_DMA_IsActiveFlag_TC6 - * @param DMAx DMAx Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_DMA_IsActiveFlag_TC6(DMA_TypeDef *DMAx) -{ - return (READ_BIT(DMAx->HISR ,DMA_HISR_TCIF6)==(DMA_HISR_TCIF6)); -} - -/** - * @brief Get Stream 7 transfer complete flag. - * @rmtoll HISR TCIF7 LL_DMA_IsActiveFlag_TC7 - * @param DMAx DMAx Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_DMA_IsActiveFlag_TC7(DMA_TypeDef *DMAx) -{ - return (READ_BIT(DMAx->HISR ,DMA_HISR_TCIF7)==(DMA_HISR_TCIF7)); -} - -/** - * @brief Get Stream 0 transfer error flag. - * @rmtoll LISR TEIF0 LL_DMA_IsActiveFlag_TE0 - * @param DMAx DMAx Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_DMA_IsActiveFlag_TE0(DMA_TypeDef *DMAx) -{ - return (READ_BIT(DMAx->LISR ,DMA_LISR_TEIF0)==(DMA_LISR_TEIF0)); -} - -/** - * @brief Get Stream 1 transfer error flag. - * @rmtoll LISR TEIF1 LL_DMA_IsActiveFlag_TE1 - * @param DMAx DMAx Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_DMA_IsActiveFlag_TE1(DMA_TypeDef *DMAx) -{ - return (READ_BIT(DMAx->LISR ,DMA_LISR_TEIF1)==(DMA_LISR_TEIF1)); -} - -/** - * @brief Get Stream 2 transfer error flag. - * @rmtoll LISR TEIF2 LL_DMA_IsActiveFlag_TE2 - * @param DMAx DMAx Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_DMA_IsActiveFlag_TE2(DMA_TypeDef *DMAx) -{ - return (READ_BIT(DMAx->LISR ,DMA_LISR_TEIF2)==(DMA_LISR_TEIF2)); -} - -/** - * @brief Get Stream 3 transfer error flag. - * @rmtoll LISR TEIF3 LL_DMA_IsActiveFlag_TE3 - * @param DMAx DMAx Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_DMA_IsActiveFlag_TE3(DMA_TypeDef *DMAx) -{ - return (READ_BIT(DMAx->LISR ,DMA_LISR_TEIF3)==(DMA_LISR_TEIF3)); -} - -/** - * @brief Get Stream 4 transfer error flag. - * @rmtoll HISR TEIF4 LL_DMA_IsActiveFlag_TE4 - * @param DMAx DMAx Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_DMA_IsActiveFlag_TE4(DMA_TypeDef *DMAx) -{ - return (READ_BIT(DMAx->HISR ,DMA_HISR_TEIF4)==(DMA_HISR_TEIF4)); -} - -/** - * @brief Get Stream 5 transfer error flag. - * @rmtoll HISR TEIF0 LL_DMA_IsActiveFlag_TE5 - * @param DMAx DMAx Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_DMA_IsActiveFlag_TE5(DMA_TypeDef *DMAx) -{ - return (READ_BIT(DMAx->HISR ,DMA_HISR_TEIF5)==(DMA_HISR_TEIF5)); -} - -/** - * @brief Get Stream 6 transfer error flag. - * @rmtoll HISR TEIF6 LL_DMA_IsActiveFlag_TE6 - * @param DMAx DMAx Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_DMA_IsActiveFlag_TE6(DMA_TypeDef *DMAx) -{ - return (READ_BIT(DMAx->HISR ,DMA_HISR_TEIF6)==(DMA_HISR_TEIF6)); -} - -/** - * @brief Get Stream 7 transfer error flag. - * @rmtoll HISR TEIF7 LL_DMA_IsActiveFlag_TE7 - * @param DMAx DMAx Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_DMA_IsActiveFlag_TE7(DMA_TypeDef *DMAx) -{ - return (READ_BIT(DMAx->HISR ,DMA_HISR_TEIF7)==(DMA_HISR_TEIF7)); -} - -/** - * @brief Get Stream 0 direct mode error flag. - * @rmtoll LISR DMEIF0 LL_DMA_IsActiveFlag_DME0 - * @param DMAx DMAx Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_DMA_IsActiveFlag_DME0(DMA_TypeDef *DMAx) -{ - return (READ_BIT(DMAx->LISR ,DMA_LISR_DMEIF0)==(DMA_LISR_DMEIF0)); -} - -/** - * @brief Get Stream 1 direct mode error flag. - * @rmtoll LISR DMEIF1 LL_DMA_IsActiveFlag_DME1 - * @param DMAx DMAx Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_DMA_IsActiveFlag_DME1(DMA_TypeDef *DMAx) -{ - return (READ_BIT(DMAx->LISR ,DMA_LISR_DMEIF1)==(DMA_LISR_DMEIF1)); -} - -/** - * @brief Get Stream 2 direct mode error flag. - * @rmtoll LISR DMEIF2 LL_DMA_IsActiveFlag_DME2 - * @param DMAx DMAx Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_DMA_IsActiveFlag_DME2(DMA_TypeDef *DMAx) -{ - return (READ_BIT(DMAx->LISR ,DMA_LISR_DMEIF2)==(DMA_LISR_DMEIF2)); -} - -/** - * @brief Get Stream 3 direct mode error flag. - * @rmtoll LISR DMEIF3 LL_DMA_IsActiveFlag_DME3 - * @param DMAx DMAx Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_DMA_IsActiveFlag_DME3(DMA_TypeDef *DMAx) -{ - return (READ_BIT(DMAx->LISR ,DMA_LISR_DMEIF3)==(DMA_LISR_DMEIF3)); -} - -/** - * @brief Get Stream 4 direct mode error flag. - * @rmtoll HISR DMEIF4 LL_DMA_IsActiveFlag_DME4 - * @param DMAx DMAx Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_DMA_IsActiveFlag_DME4(DMA_TypeDef *DMAx) -{ - return (READ_BIT(DMAx->HISR ,DMA_HISR_DMEIF4)==(DMA_HISR_DMEIF4)); -} - -/** - * @brief Get Stream 5 direct mode error flag. - * @rmtoll HISR DMEIF0 LL_DMA_IsActiveFlag_DME5 - * @param DMAx DMAx Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_DMA_IsActiveFlag_DME5(DMA_TypeDef *DMAx) -{ - return (READ_BIT(DMAx->HISR ,DMA_HISR_DMEIF5)==(DMA_HISR_DMEIF5)); -} - -/** - * @brief Get Stream 6 direct mode error flag. - * @rmtoll HISR DMEIF6 LL_DMA_IsActiveFlag_DME6 - * @param DMAx DMAx Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_DMA_IsActiveFlag_DME6(DMA_TypeDef *DMAx) -{ - return (READ_BIT(DMAx->HISR ,DMA_HISR_DMEIF6)==(DMA_HISR_DMEIF6)); -} - -/** - * @brief Get Stream 7 direct mode error flag. - * @rmtoll HISR DMEIF7 LL_DMA_IsActiveFlag_DME7 - * @param DMAx DMAx Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_DMA_IsActiveFlag_DME7(DMA_TypeDef *DMAx) -{ - return (READ_BIT(DMAx->HISR ,DMA_HISR_DMEIF7)==(DMA_HISR_DMEIF7)); -} - -/** - * @brief Get Stream 0 FIFO error flag. - * @rmtoll LISR FEIF0 LL_DMA_IsActiveFlag_FE0 - * @param DMAx DMAx Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_DMA_IsActiveFlag_FE0(DMA_TypeDef *DMAx) -{ - return (READ_BIT(DMAx->LISR ,DMA_LISR_FEIF0)==(DMA_LISR_FEIF0)); -} - -/** - * @brief Get Stream 1 FIFO error flag. - * @rmtoll LISR FEIF1 LL_DMA_IsActiveFlag_FE1 - * @param DMAx DMAx Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_DMA_IsActiveFlag_FE1(DMA_TypeDef *DMAx) -{ - return (READ_BIT(DMAx->LISR ,DMA_LISR_FEIF1)==(DMA_LISR_FEIF1)); -} - -/** - * @brief Get Stream 2 FIFO error flag. - * @rmtoll LISR FEIF2 LL_DMA_IsActiveFlag_FE2 - * @param DMAx DMAx Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_DMA_IsActiveFlag_FE2(DMA_TypeDef *DMAx) -{ - return (READ_BIT(DMAx->LISR ,DMA_LISR_FEIF2)==(DMA_LISR_FEIF2)); -} - -/** - * @brief Get Stream 3 FIFO error flag. - * @rmtoll LISR FEIF3 LL_DMA_IsActiveFlag_FE3 - * @param DMAx DMAx Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_DMA_IsActiveFlag_FE3(DMA_TypeDef *DMAx) -{ - return (READ_BIT(DMAx->LISR ,DMA_LISR_FEIF3)==(DMA_LISR_FEIF3)); -} - -/** - * @brief Get Stream 4 FIFO error flag. - * @rmtoll HISR FEIF4 LL_DMA_IsActiveFlag_FE4 - * @param DMAx DMAx Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_DMA_IsActiveFlag_FE4(DMA_TypeDef *DMAx) -{ - return (READ_BIT(DMAx->HISR ,DMA_HISR_FEIF4)==(DMA_HISR_FEIF4)); -} - -/** - * @brief Get Stream 5 FIFO error flag. - * @rmtoll HISR FEIF0 LL_DMA_IsActiveFlag_FE5 - * @param DMAx DMAx Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_DMA_IsActiveFlag_FE5(DMA_TypeDef *DMAx) -{ - return (READ_BIT(DMAx->HISR ,DMA_HISR_FEIF5)==(DMA_HISR_FEIF5)); -} - -/** - * @brief Get Stream 6 FIFO error flag. - * @rmtoll HISR FEIF6 LL_DMA_IsActiveFlag_FE6 - * @param DMAx DMAx Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_DMA_IsActiveFlag_FE6(DMA_TypeDef *DMAx) -{ - return (READ_BIT(DMAx->HISR ,DMA_HISR_FEIF6)==(DMA_HISR_FEIF6)); -} - -/** - * @brief Get Stream 7 FIFO error flag. - * @rmtoll HISR FEIF7 LL_DMA_IsActiveFlag_FE7 - * @param DMAx DMAx Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_DMA_IsActiveFlag_FE7(DMA_TypeDef *DMAx) -{ - return (READ_BIT(DMAx->HISR ,DMA_HISR_FEIF7)==(DMA_HISR_FEIF7)); -} - -/** - * @brief Clear Stream 0 half transfer flag. - * @rmtoll LIFCR CHTIF0 LL_DMA_ClearFlag_HT0 - * @param DMAx DMAx Instance - * @retval None - */ -__STATIC_INLINE void LL_DMA_ClearFlag_HT0(DMA_TypeDef *DMAx) -{ - WRITE_REG(DMAx->LIFCR , DMA_LIFCR_CHTIF0); -} - -/** - * @brief Clear Stream 1 half transfer flag. - * @rmtoll LIFCR CHTIF1 LL_DMA_ClearFlag_HT1 - * @param DMAx DMAx Instance - * @retval None - */ -__STATIC_INLINE void LL_DMA_ClearFlag_HT1(DMA_TypeDef *DMAx) -{ - WRITE_REG(DMAx->LIFCR , DMA_LIFCR_CHTIF1); -} - -/** - * @brief Clear Stream 2 half transfer flag. - * @rmtoll LIFCR CHTIF2 LL_DMA_ClearFlag_HT2 - * @param DMAx DMAx Instance - * @retval None - */ -__STATIC_INLINE void LL_DMA_ClearFlag_HT2(DMA_TypeDef *DMAx) -{ - WRITE_REG(DMAx->LIFCR , DMA_LIFCR_CHTIF2); -} - -/** - * @brief Clear Stream 3 half transfer flag. - * @rmtoll LIFCR CHTIF3 LL_DMA_ClearFlag_HT3 - * @param DMAx DMAx Instance - * @retval None - */ -__STATIC_INLINE void LL_DMA_ClearFlag_HT3(DMA_TypeDef *DMAx) -{ - WRITE_REG(DMAx->LIFCR , DMA_LIFCR_CHTIF3); -} - -/** - * @brief Clear Stream 4 half transfer flag. - * @rmtoll HIFCR CHTIF4 LL_DMA_ClearFlag_HT4 - * @param DMAx DMAx Instance - * @retval None - */ -__STATIC_INLINE void LL_DMA_ClearFlag_HT4(DMA_TypeDef *DMAx) -{ - WRITE_REG(DMAx->HIFCR , DMA_HIFCR_CHTIF4); -} - -/** - * @brief Clear Stream 5 half transfer flag. - * @rmtoll HIFCR CHTIF5 LL_DMA_ClearFlag_HT5 - * @param DMAx DMAx Instance - * @retval None - */ -__STATIC_INLINE void LL_DMA_ClearFlag_HT5(DMA_TypeDef *DMAx) -{ - WRITE_REG(DMAx->HIFCR , DMA_HIFCR_CHTIF5); -} - -/** - * @brief Clear Stream 6 half transfer flag. - * @rmtoll HIFCR CHTIF6 LL_DMA_ClearFlag_HT6 - * @param DMAx DMAx Instance - * @retval None - */ -__STATIC_INLINE void LL_DMA_ClearFlag_HT6(DMA_TypeDef *DMAx) -{ - WRITE_REG(DMAx->HIFCR , DMA_HIFCR_CHTIF6); -} - -/** - * @brief Clear Stream 7 half transfer flag. - * @rmtoll HIFCR CHTIF7 LL_DMA_ClearFlag_HT7 - * @param DMAx DMAx Instance - * @retval None - */ -__STATIC_INLINE void LL_DMA_ClearFlag_HT7(DMA_TypeDef *DMAx) -{ - WRITE_REG(DMAx->HIFCR , DMA_HIFCR_CHTIF7); -} - -/** - * @brief Clear Stream 0 transfer complete flag. - * @rmtoll LIFCR CTCIF0 LL_DMA_ClearFlag_TC0 - * @param DMAx DMAx Instance - * @retval None - */ -__STATIC_INLINE void LL_DMA_ClearFlag_TC0(DMA_TypeDef *DMAx) -{ - WRITE_REG(DMAx->LIFCR , DMA_LIFCR_CTCIF0); -} - -/** - * @brief Clear Stream 1 transfer complete flag. - * @rmtoll LIFCR CTCIF1 LL_DMA_ClearFlag_TC1 - * @param DMAx DMAx Instance - * @retval None - */ -__STATIC_INLINE void LL_DMA_ClearFlag_TC1(DMA_TypeDef *DMAx) -{ - WRITE_REG(DMAx->LIFCR , DMA_LIFCR_CTCIF1); -} - -/** - * @brief Clear Stream 2 transfer complete flag. - * @rmtoll LIFCR CTCIF2 LL_DMA_ClearFlag_TC2 - * @param DMAx DMAx Instance - * @retval None - */ -__STATIC_INLINE void LL_DMA_ClearFlag_TC2(DMA_TypeDef *DMAx) -{ - WRITE_REG(DMAx->LIFCR , DMA_LIFCR_CTCIF2); -} - -/** - * @brief Clear Stream 3 transfer complete flag. - * @rmtoll LIFCR CTCIF3 LL_DMA_ClearFlag_TC3 - * @param DMAx DMAx Instance - * @retval None - */ -__STATIC_INLINE void LL_DMA_ClearFlag_TC3(DMA_TypeDef *DMAx) -{ - WRITE_REG(DMAx->LIFCR , DMA_LIFCR_CTCIF3); -} - -/** - * @brief Clear Stream 4 transfer complete flag. - * @rmtoll HIFCR CTCIF4 LL_DMA_ClearFlag_TC4 - * @param DMAx DMAx Instance - * @retval None - */ -__STATIC_INLINE void LL_DMA_ClearFlag_TC4(DMA_TypeDef *DMAx) -{ - WRITE_REG(DMAx->HIFCR , DMA_HIFCR_CTCIF4); -} - -/** - * @brief Clear Stream 5 transfer complete flag. - * @rmtoll HIFCR CTCIF5 LL_DMA_ClearFlag_TC5 - * @param DMAx DMAx Instance - * @retval None - */ -__STATIC_INLINE void LL_DMA_ClearFlag_TC5(DMA_TypeDef *DMAx) -{ - WRITE_REG(DMAx->HIFCR , DMA_HIFCR_CTCIF5); -} - -/** - * @brief Clear Stream 6 transfer complete flag. - * @rmtoll HIFCR CTCIF6 LL_DMA_ClearFlag_TC6 - * @param DMAx DMAx Instance - * @retval None - */ -__STATIC_INLINE void LL_DMA_ClearFlag_TC6(DMA_TypeDef *DMAx) -{ - WRITE_REG(DMAx->HIFCR , DMA_HIFCR_CTCIF6); -} - -/** - * @brief Clear Stream 7 transfer complete flag. - * @rmtoll HIFCR CTCIF7 LL_DMA_ClearFlag_TC7 - * @param DMAx DMAx Instance - * @retval None - */ -__STATIC_INLINE void LL_DMA_ClearFlag_TC7(DMA_TypeDef *DMAx) -{ - WRITE_REG(DMAx->HIFCR , DMA_HIFCR_CTCIF7); -} - -/** - * @brief Clear Stream 0 transfer error flag. - * @rmtoll LIFCR CTEIF0 LL_DMA_ClearFlag_TE0 - * @param DMAx DMAx Instance - * @retval None - */ -__STATIC_INLINE void LL_DMA_ClearFlag_TE0(DMA_TypeDef *DMAx) -{ - WRITE_REG(DMAx->LIFCR , DMA_LIFCR_CTEIF0); -} - -/** - * @brief Clear Stream 1 transfer error flag. - * @rmtoll LIFCR CTEIF1 LL_DMA_ClearFlag_TE1 - * @param DMAx DMAx Instance - * @retval None - */ -__STATIC_INLINE void LL_DMA_ClearFlag_TE1(DMA_TypeDef *DMAx) -{ - WRITE_REG(DMAx->LIFCR , DMA_LIFCR_CTEIF1); -} - -/** - * @brief Clear Stream 2 transfer error flag. - * @rmtoll LIFCR CTEIF2 LL_DMA_ClearFlag_TE2 - * @param DMAx DMAx Instance - * @retval None - */ -__STATIC_INLINE void LL_DMA_ClearFlag_TE2(DMA_TypeDef *DMAx) -{ - WRITE_REG(DMAx->LIFCR , DMA_LIFCR_CTEIF2); -} - -/** - * @brief Clear Stream 3 transfer error flag. - * @rmtoll LIFCR CTEIF3 LL_DMA_ClearFlag_TE3 - * @param DMAx DMAx Instance - * @retval None - */ -__STATIC_INLINE void LL_DMA_ClearFlag_TE3(DMA_TypeDef *DMAx) -{ - WRITE_REG(DMAx->LIFCR , DMA_LIFCR_CTEIF3); -} - -/** - * @brief Clear Stream 4 transfer error flag. - * @rmtoll HIFCR CTEIF4 LL_DMA_ClearFlag_TE4 - * @param DMAx DMAx Instance - * @retval None - */ -__STATIC_INLINE void LL_DMA_ClearFlag_TE4(DMA_TypeDef *DMAx) -{ - WRITE_REG(DMAx->HIFCR , DMA_HIFCR_CTEIF4); -} - -/** - * @brief Clear Stream 5 transfer error flag. - * @rmtoll HIFCR CTEIF5 LL_DMA_ClearFlag_TE5 - * @param DMAx DMAx Instance - * @retval None - */ -__STATIC_INLINE void LL_DMA_ClearFlag_TE5(DMA_TypeDef *DMAx) -{ - WRITE_REG(DMAx->HIFCR , DMA_HIFCR_CTEIF5); -} - -/** - * @brief Clear Stream 6 transfer error flag. - * @rmtoll HIFCR CTEIF6 LL_DMA_ClearFlag_TE6 - * @param DMAx DMAx Instance - * @retval None - */ -__STATIC_INLINE void LL_DMA_ClearFlag_TE6(DMA_TypeDef *DMAx) -{ - WRITE_REG(DMAx->HIFCR , DMA_HIFCR_CTEIF6); -} - -/** - * @brief Clear Stream 7 transfer error flag. - * @rmtoll HIFCR CTEIF7 LL_DMA_ClearFlag_TE7 - * @param DMAx DMAx Instance - * @retval None - */ -__STATIC_INLINE void LL_DMA_ClearFlag_TE7(DMA_TypeDef *DMAx) -{ - WRITE_REG(DMAx->HIFCR , DMA_HIFCR_CTEIF7); -} - -/** - * @brief Clear Stream 0 direct mode error flag. - * @rmtoll LIFCR CDMEIF0 LL_DMA_ClearFlag_DME0 - * @param DMAx DMAx Instance - * @retval None - */ -__STATIC_INLINE void LL_DMA_ClearFlag_DME0(DMA_TypeDef *DMAx) -{ - WRITE_REG(DMAx->LIFCR , DMA_LIFCR_CDMEIF0); -} - -/** - * @brief Clear Stream 1 direct mode error flag. - * @rmtoll LIFCR CDMEIF1 LL_DMA_ClearFlag_DME1 - * @param DMAx DMAx Instance - * @retval None - */ -__STATIC_INLINE void LL_DMA_ClearFlag_DME1(DMA_TypeDef *DMAx) -{ - WRITE_REG(DMAx->LIFCR , DMA_LIFCR_CDMEIF1); -} - -/** - * @brief Clear Stream 2 direct mode error flag. - * @rmtoll LIFCR CDMEIF2 LL_DMA_ClearFlag_DME2 - * @param DMAx DMAx Instance - * @retval None - */ -__STATIC_INLINE void LL_DMA_ClearFlag_DME2(DMA_TypeDef *DMAx) -{ - WRITE_REG(DMAx->LIFCR , DMA_LIFCR_CDMEIF2); -} - -/** - * @brief Clear Stream 3 direct mode error flag. - * @rmtoll LIFCR CDMEIF3 LL_DMA_ClearFlag_DME3 - * @param DMAx DMAx Instance - * @retval None - */ -__STATIC_INLINE void LL_DMA_ClearFlag_DME3(DMA_TypeDef *DMAx) -{ - WRITE_REG(DMAx->LIFCR , DMA_LIFCR_CDMEIF3); -} - -/** - * @brief Clear Stream 4 direct mode error flag. - * @rmtoll HIFCR CDMEIF4 LL_DMA_ClearFlag_DME4 - * @param DMAx DMAx Instance - * @retval None - */ -__STATIC_INLINE void LL_DMA_ClearFlag_DME4(DMA_TypeDef *DMAx) -{ - WRITE_REG(DMAx->HIFCR , DMA_HIFCR_CDMEIF4); -} - -/** - * @brief Clear Stream 5 direct mode error flag. - * @rmtoll HIFCR CDMEIF5 LL_DMA_ClearFlag_DME5 - * @param DMAx DMAx Instance - * @retval None - */ -__STATIC_INLINE void LL_DMA_ClearFlag_DME5(DMA_TypeDef *DMAx) -{ - WRITE_REG(DMAx->HIFCR , DMA_HIFCR_CDMEIF5); -} - -/** - * @brief Clear Stream 6 direct mode error flag. - * @rmtoll HIFCR CDMEIF6 LL_DMA_ClearFlag_DME6 - * @param DMAx DMAx Instance - * @retval None - */ -__STATIC_INLINE void LL_DMA_ClearFlag_DME6(DMA_TypeDef *DMAx) -{ - WRITE_REG(DMAx->HIFCR , DMA_HIFCR_CDMEIF6); -} - -/** - * @brief Clear Stream 7 direct mode error flag. - * @rmtoll HIFCR CDMEIF7 LL_DMA_ClearFlag_DME7 - * @param DMAx DMAx Instance - * @retval None - */ -__STATIC_INLINE void LL_DMA_ClearFlag_DME7(DMA_TypeDef *DMAx) -{ - WRITE_REG(DMAx->HIFCR , DMA_HIFCR_CDMEIF7); -} - -/** - * @brief Clear Stream 0 FIFO error flag. - * @rmtoll LIFCR CFEIF0 LL_DMA_ClearFlag_FE0 - * @param DMAx DMAx Instance - * @retval None - */ -__STATIC_INLINE void LL_DMA_ClearFlag_FE0(DMA_TypeDef *DMAx) -{ - WRITE_REG(DMAx->LIFCR , DMA_LIFCR_CFEIF0); -} - -/** - * @brief Clear Stream 1 FIFO error flag. - * @rmtoll LIFCR CFEIF1 LL_DMA_ClearFlag_FE1 - * @param DMAx DMAx Instance - * @retval None - */ -__STATIC_INLINE void LL_DMA_ClearFlag_FE1(DMA_TypeDef *DMAx) -{ - WRITE_REG(DMAx->LIFCR , DMA_LIFCR_CFEIF1); -} - -/** - * @brief Clear Stream 2 FIFO error flag. - * @rmtoll LIFCR CFEIF2 LL_DMA_ClearFlag_FE2 - * @param DMAx DMAx Instance - * @retval None - */ -__STATIC_INLINE void LL_DMA_ClearFlag_FE2(DMA_TypeDef *DMAx) -{ - WRITE_REG(DMAx->LIFCR , DMA_LIFCR_CFEIF2); -} - -/** - * @brief Clear Stream 3 FIFO error flag. - * @rmtoll LIFCR CFEIF3 LL_DMA_ClearFlag_FE3 - * @param DMAx DMAx Instance - * @retval None - */ -__STATIC_INLINE void LL_DMA_ClearFlag_FE3(DMA_TypeDef *DMAx) -{ - WRITE_REG(DMAx->LIFCR , DMA_LIFCR_CFEIF3); -} - -/** - * @brief Clear Stream 4 FIFO error flag. - * @rmtoll HIFCR CFEIF4 LL_DMA_ClearFlag_FE4 - * @param DMAx DMAx Instance - * @retval None - */ -__STATIC_INLINE void LL_DMA_ClearFlag_FE4(DMA_TypeDef *DMAx) -{ - WRITE_REG(DMAx->HIFCR , DMA_HIFCR_CFEIF4); -} - -/** - * @brief Clear Stream 5 FIFO error flag. - * @rmtoll HIFCR CFEIF5 LL_DMA_ClearFlag_FE5 - * @param DMAx DMAx Instance - * @retval None - */ -__STATIC_INLINE void LL_DMA_ClearFlag_FE5(DMA_TypeDef *DMAx) -{ - WRITE_REG(DMAx->HIFCR , DMA_HIFCR_CFEIF5); -} - -/** - * @brief Clear Stream 6 FIFO error flag. - * @rmtoll HIFCR CFEIF6 LL_DMA_ClearFlag_FE6 - * @param DMAx DMAx Instance - * @retval None - */ -__STATIC_INLINE void LL_DMA_ClearFlag_FE6(DMA_TypeDef *DMAx) -{ - WRITE_REG(DMAx->HIFCR , DMA_HIFCR_CFEIF6); -} - -/** - * @brief Clear Stream 7 FIFO error flag. - * @rmtoll HIFCR CFEIF7 LL_DMA_ClearFlag_FE7 - * @param DMAx DMAx Instance - * @retval None - */ -__STATIC_INLINE void LL_DMA_ClearFlag_FE7(DMA_TypeDef *DMAx) -{ - WRITE_REG(DMAx->HIFCR , DMA_HIFCR_CFEIF7); -} - -/** - * @} - */ - -/** @defgroup DMA_LL_EF_IT_Management IT_Management - * @{ - */ - -/** - * @brief Enable Half transfer interrupt. - * @rmtoll CR HTIE LL_DMA_EnableIT_HT - * @param DMAx DMAx Instance - * @param Stream This parameter can be one of the following values: - * @arg @ref LL_DMA_STREAM_0 - * @arg @ref LL_DMA_STREAM_1 - * @arg @ref LL_DMA_STREAM_2 - * @arg @ref LL_DMA_STREAM_3 - * @arg @ref LL_DMA_STREAM_4 - * @arg @ref LL_DMA_STREAM_5 - * @arg @ref LL_DMA_STREAM_6 - * @arg @ref LL_DMA_STREAM_7 - * @retval None - */ -__STATIC_INLINE void LL_DMA_EnableIT_HT(DMA_TypeDef *DMAx, uint32_t Stream) -{ - SET_BIT(((DMA_Stream_TypeDef *)((uint32_t)((uint32_t)DMAx + STREAM_OFFSET_TAB[Stream])))->CR, DMA_SxCR_HTIE); -} - -/** - * @brief Enable Transfer error interrupt. - * @rmtoll CR TEIE LL_DMA_EnableIT_TE - * @param DMAx DMAx Instance - * @param Stream This parameter can be one of the following values: - * @arg @ref LL_DMA_STREAM_0 - * @arg @ref LL_DMA_STREAM_1 - * @arg @ref LL_DMA_STREAM_2 - * @arg @ref LL_DMA_STREAM_3 - * @arg @ref LL_DMA_STREAM_4 - * @arg @ref LL_DMA_STREAM_5 - * @arg @ref LL_DMA_STREAM_6 - * @arg @ref LL_DMA_STREAM_7 - * @retval None - */ -__STATIC_INLINE void LL_DMA_EnableIT_TE(DMA_TypeDef *DMAx, uint32_t Stream) -{ - SET_BIT(((DMA_Stream_TypeDef *)((uint32_t)((uint32_t)DMAx + STREAM_OFFSET_TAB[Stream])))->CR, DMA_SxCR_TEIE); -} - -/** - * @brief Enable Transfer complete interrupt. - * @rmtoll CR TCIE LL_DMA_EnableIT_TC - * @param DMAx DMAx Instance - * @param Stream This parameter can be one of the following values: - * @arg @ref LL_DMA_STREAM_0 - * @arg @ref LL_DMA_STREAM_1 - * @arg @ref LL_DMA_STREAM_2 - * @arg @ref LL_DMA_STREAM_3 - * @arg @ref LL_DMA_STREAM_4 - * @arg @ref LL_DMA_STREAM_5 - * @arg @ref LL_DMA_STREAM_6 - * @arg @ref LL_DMA_STREAM_7 - * @retval None - */ -__STATIC_INLINE void LL_DMA_EnableIT_TC(DMA_TypeDef *DMAx, uint32_t Stream) -{ - SET_BIT(((DMA_Stream_TypeDef *)((uint32_t)((uint32_t)DMAx + STREAM_OFFSET_TAB[Stream])))->CR, DMA_SxCR_TCIE); -} - -/** - * @brief Enable Direct mode error interrupt. - * @rmtoll CR DMEIE LL_DMA_EnableIT_DME - * @param DMAx DMAx Instance - * @param Stream This parameter can be one of the following values: - * @arg @ref LL_DMA_STREAM_0 - * @arg @ref LL_DMA_STREAM_1 - * @arg @ref LL_DMA_STREAM_2 - * @arg @ref LL_DMA_STREAM_3 - * @arg @ref LL_DMA_STREAM_4 - * @arg @ref LL_DMA_STREAM_5 - * @arg @ref LL_DMA_STREAM_6 - * @arg @ref LL_DMA_STREAM_7 - * @retval None - */ -__STATIC_INLINE void LL_DMA_EnableIT_DME(DMA_TypeDef *DMAx, uint32_t Stream) -{ - SET_BIT(((DMA_Stream_TypeDef *)((uint32_t)((uint32_t)DMAx + STREAM_OFFSET_TAB[Stream])))->CR, DMA_SxCR_DMEIE); -} - -/** - * @brief Enable FIFO error interrupt. - * @rmtoll FCR FEIE LL_DMA_EnableIT_FE - * @param DMAx DMAx Instance - * @param Stream This parameter can be one of the following values: - * @arg @ref LL_DMA_STREAM_0 - * @arg @ref LL_DMA_STREAM_1 - * @arg @ref LL_DMA_STREAM_2 - * @arg @ref LL_DMA_STREAM_3 - * @arg @ref LL_DMA_STREAM_4 - * @arg @ref LL_DMA_STREAM_5 - * @arg @ref LL_DMA_STREAM_6 - * @arg @ref LL_DMA_STREAM_7 - * @retval None - */ -__STATIC_INLINE void LL_DMA_EnableIT_FE(DMA_TypeDef *DMAx, uint32_t Stream) -{ - SET_BIT(((DMA_Stream_TypeDef *)((uint32_t)((uint32_t)DMAx + STREAM_OFFSET_TAB[Stream])))->FCR, DMA_SxFCR_FEIE); -} - -/** - * @brief Disable Half transfer interrupt. - * @rmtoll CR HTIE LL_DMA_DisableIT_HT - * @param DMAx DMAx Instance - * @param Stream This parameter can be one of the following values: - * @arg @ref LL_DMA_STREAM_0 - * @arg @ref LL_DMA_STREAM_1 - * @arg @ref LL_DMA_STREAM_2 - * @arg @ref LL_DMA_STREAM_3 - * @arg @ref LL_DMA_STREAM_4 - * @arg @ref LL_DMA_STREAM_5 - * @arg @ref LL_DMA_STREAM_6 - * @arg @ref LL_DMA_STREAM_7 - * @retval None - */ -__STATIC_INLINE void LL_DMA_DisableIT_HT(DMA_TypeDef *DMAx, uint32_t Stream) -{ - CLEAR_BIT(((DMA_Stream_TypeDef *)((uint32_t)((uint32_t)DMAx + STREAM_OFFSET_TAB[Stream])))->CR, DMA_SxCR_HTIE); -} - -/** - * @brief Disable Transfer error interrupt. - * @rmtoll CR TEIE LL_DMA_DisableIT_TE - * @param DMAx DMAx Instance - * @param Stream This parameter can be one of the following values: - * @arg @ref LL_DMA_STREAM_0 - * @arg @ref LL_DMA_STREAM_1 - * @arg @ref LL_DMA_STREAM_2 - * @arg @ref LL_DMA_STREAM_3 - * @arg @ref LL_DMA_STREAM_4 - * @arg @ref LL_DMA_STREAM_5 - * @arg @ref LL_DMA_STREAM_6 - * @arg @ref LL_DMA_STREAM_7 - * @retval None - */ -__STATIC_INLINE void LL_DMA_DisableIT_TE(DMA_TypeDef *DMAx, uint32_t Stream) -{ - CLEAR_BIT(((DMA_Stream_TypeDef *)((uint32_t)((uint32_t)DMAx + STREAM_OFFSET_TAB[Stream])))->CR, DMA_SxCR_TEIE); -} - -/** - * @brief Disable Transfer complete interrupt. - * @rmtoll CR TCIE LL_DMA_DisableIT_TC - * @param DMAx DMAx Instance - * @param Stream This parameter can be one of the following values: - * @arg @ref LL_DMA_STREAM_0 - * @arg @ref LL_DMA_STREAM_1 - * @arg @ref LL_DMA_STREAM_2 - * @arg @ref LL_DMA_STREAM_3 - * @arg @ref LL_DMA_STREAM_4 - * @arg @ref LL_DMA_STREAM_5 - * @arg @ref LL_DMA_STREAM_6 - * @arg @ref LL_DMA_STREAM_7 - * @retval None - */ -__STATIC_INLINE void LL_DMA_DisableIT_TC(DMA_TypeDef *DMAx, uint32_t Stream) -{ - CLEAR_BIT(((DMA_Stream_TypeDef *)((uint32_t)((uint32_t)DMAx + STREAM_OFFSET_TAB[Stream])))->CR, DMA_SxCR_TCIE); -} - -/** - * @brief Disable Direct mode error interrupt. - * @rmtoll CR DMEIE LL_DMA_DisableIT_DME - * @param DMAx DMAx Instance - * @param Stream This parameter can be one of the following values: - * @arg @ref LL_DMA_STREAM_0 - * @arg @ref LL_DMA_STREAM_1 - * @arg @ref LL_DMA_STREAM_2 - * @arg @ref LL_DMA_STREAM_3 - * @arg @ref LL_DMA_STREAM_4 - * @arg @ref LL_DMA_STREAM_5 - * @arg @ref LL_DMA_STREAM_6 - * @arg @ref LL_DMA_STREAM_7 - * @retval None - */ -__STATIC_INLINE void LL_DMA_DisableIT_DME(DMA_TypeDef *DMAx, uint32_t Stream) -{ - CLEAR_BIT(((DMA_Stream_TypeDef *)((uint32_t)((uint32_t)DMAx + STREAM_OFFSET_TAB[Stream])))->CR, DMA_SxCR_DMEIE); -} - -/** - * @brief Disable FIFO error interrupt. - * @rmtoll FCR FEIE LL_DMA_DisableIT_FE - * @param DMAx DMAx Instance - * @param Stream This parameter can be one of the following values: - * @arg @ref LL_DMA_STREAM_0 - * @arg @ref LL_DMA_STREAM_1 - * @arg @ref LL_DMA_STREAM_2 - * @arg @ref LL_DMA_STREAM_3 - * @arg @ref LL_DMA_STREAM_4 - * @arg @ref LL_DMA_STREAM_5 - * @arg @ref LL_DMA_STREAM_6 - * @arg @ref LL_DMA_STREAM_7 - * @retval None - */ -__STATIC_INLINE void LL_DMA_DisableIT_FE(DMA_TypeDef *DMAx, uint32_t Stream) -{ - CLEAR_BIT(((DMA_Stream_TypeDef *)((uint32_t)((uint32_t)DMAx + STREAM_OFFSET_TAB[Stream])))->FCR, DMA_SxFCR_FEIE); -} - -/** - * @brief Check if Half transfer interrup is enabled. - * @rmtoll CR HTIE LL_DMA_IsEnabledIT_HT - * @param DMAx DMAx Instance - * @param Stream This parameter can be one of the following values: - * @arg @ref LL_DMA_STREAM_0 - * @arg @ref LL_DMA_STREAM_1 - * @arg @ref LL_DMA_STREAM_2 - * @arg @ref LL_DMA_STREAM_3 - * @arg @ref LL_DMA_STREAM_4 - * @arg @ref LL_DMA_STREAM_5 - * @arg @ref LL_DMA_STREAM_6 - * @arg @ref LL_DMA_STREAM_7 - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_DMA_IsEnabledIT_HT(DMA_TypeDef *DMAx, uint32_t Stream) -{ - return (READ_BIT(((DMA_Stream_TypeDef*)((uint32_t)((uint32_t)DMAx + STREAM_OFFSET_TAB[Stream])))->CR, DMA_SxCR_HTIE) == DMA_SxCR_HTIE); -} - -/** - * @brief Check if Transfer error nterrup is enabled. - * @rmtoll CR TEIE LL_DMA_IsEnabledIT_TE - * @param DMAx DMAx Instance - * @param Stream This parameter can be one of the following values: - * @arg @ref LL_DMA_STREAM_0 - * @arg @ref LL_DMA_STREAM_1 - * @arg @ref LL_DMA_STREAM_2 - * @arg @ref LL_DMA_STREAM_3 - * @arg @ref LL_DMA_STREAM_4 - * @arg @ref LL_DMA_STREAM_5 - * @arg @ref LL_DMA_STREAM_6 - * @arg @ref LL_DMA_STREAM_7 - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_DMA_IsEnabledIT_TE(DMA_TypeDef *DMAx, uint32_t Stream) -{ - return (READ_BIT(((DMA_Stream_TypeDef*)((uint32_t)((uint32_t)DMAx + STREAM_OFFSET_TAB[Stream])))->CR, DMA_SxCR_TEIE) == DMA_SxCR_TEIE); -} - -/** - * @brief Check if Transfer complete interrup is enabled. - * @rmtoll CR TCIE LL_DMA_IsEnabledIT_TC - * @param DMAx DMAx Instance - * @param Stream This parameter can be one of the following values: - * @arg @ref LL_DMA_STREAM_0 - * @arg @ref LL_DMA_STREAM_1 - * @arg @ref LL_DMA_STREAM_2 - * @arg @ref LL_DMA_STREAM_3 - * @arg @ref LL_DMA_STREAM_4 - * @arg @ref LL_DMA_STREAM_5 - * @arg @ref LL_DMA_STREAM_6 - * @arg @ref LL_DMA_STREAM_7 - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_DMA_IsEnabledIT_TC(DMA_TypeDef *DMAx, uint32_t Stream) -{ - return (READ_BIT(((DMA_Stream_TypeDef*)((uint32_t)((uint32_t)DMAx + STREAM_OFFSET_TAB[Stream])))->CR, DMA_SxCR_TCIE) == DMA_SxCR_TCIE); -} - -/** - * @brief Check if Direct mode error interrupt is enabled. - * @rmtoll CR DMEIE LL_DMA_IsEnabledIT_DME - * @param DMAx DMAx Instance - * @param Stream This parameter can be one of the following values: - * @arg @ref LL_DMA_STREAM_0 - * @arg @ref LL_DMA_STREAM_1 - * @arg @ref LL_DMA_STREAM_2 - * @arg @ref LL_DMA_STREAM_3 - * @arg @ref LL_DMA_STREAM_4 - * @arg @ref LL_DMA_STREAM_5 - * @arg @ref LL_DMA_STREAM_6 - * @arg @ref LL_DMA_STREAM_7 - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_DMA_IsEnabledIT_DME(DMA_TypeDef *DMAx, uint32_t Stream) -{ - return (READ_BIT(((DMA_Stream_TypeDef*)((uint32_t)((uint32_t)DMAx + STREAM_OFFSET_TAB[Stream])))->CR, DMA_SxCR_DMEIE) == DMA_SxCR_DMEIE); -} - -/** - * @brief Check if FIFO error interrup is enabled. - * @rmtoll FCR FEIE LL_DMA_IsEnabledIT_FE - * @param DMAx DMAx Instance - * @param Stream This parameter can be one of the following values: - * @arg @ref LL_DMA_STREAM_0 - * @arg @ref LL_DMA_STREAM_1 - * @arg @ref LL_DMA_STREAM_2 - * @arg @ref LL_DMA_STREAM_3 - * @arg @ref LL_DMA_STREAM_4 - * @arg @ref LL_DMA_STREAM_5 - * @arg @ref LL_DMA_STREAM_6 - * @arg @ref LL_DMA_STREAM_7 - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_DMA_IsEnabledIT_FE(DMA_TypeDef *DMAx, uint32_t Stream) -{ - return (READ_BIT(((DMA_Stream_TypeDef*)((uint32_t)((uint32_t)DMAx + STREAM_OFFSET_TAB[Stream])))->FCR, DMA_SxFCR_FEIE) == DMA_SxFCR_FEIE); -} - -/** - * @} - */ - -#if defined(USE_FULL_LL_DRIVER) -/** @defgroup DMA_LL_EF_Init Initialization and de-initialization functions - * @{ - */ - -uint32_t LL_DMA_Init(DMA_TypeDef *DMAx, uint32_t Stream, LL_DMA_InitTypeDef *DMA_InitStruct); -uint32_t LL_DMA_DeInit(DMA_TypeDef *DMAx, uint32_t Stream); -void LL_DMA_StructInit(LL_DMA_InitTypeDef *DMA_InitStruct); - -/** - * @} - */ -#endif /* USE_FULL_LL_DRIVER */ - -/** - * @} - */ - -/** - * @} - */ - -#endif /* DMA1 || DMA2 */ - -/** - * @} - */ - -#ifdef __cplusplus -} -#endif - -#endif /* __STM32F4xx_LL_DMA_H */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_dma2d.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_dma2d.h deleted file mode 100644 index a783d058aff893..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_dma2d.h +++ /dev/null @@ -1,1904 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_ll_dma2d.h - * @author MCD Application Team - * @brief Header file of DMA2D LL module. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef STM32F4xx_LL_DMA2D_H -#define STM32F4xx_LL_DMA2D_H - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx.h" - -/** @addtogroup STM32F4xx_LL_Driver - * @{ - */ - -#if defined (DMA2D) - -/** @defgroup DMA2D_LL DMA2D - * @{ - */ - -/* Private types -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private constants ---------------------------------------------------------*/ -/* Private macros ------------------------------------------------------------*/ -#if defined(USE_FULL_LL_DRIVER) -/** @defgroup DMA2D_LL_Private_Macros DMA2D Private Macros - * @{ - */ - -/** - * @} - */ -#endif /*USE_FULL_LL_DRIVER*/ - -/* Exported types ------------------------------------------------------------*/ -#if defined(USE_FULL_LL_DRIVER) -/** @defgroup DMA2D_LL_ES_Init_Struct DMA2D Exported Init structures - * @{ - */ - -/** - * @brief LL DMA2D Init Structure Definition - */ -typedef struct -{ - uint32_t Mode; /*!< Specifies the DMA2D transfer mode. - - This parameter can be one value of @ref DMA2D_LL_EC_MODE. - - This parameter can be modified afterwards, - using unitary function @ref LL_DMA2D_SetMode(). */ - - uint32_t ColorMode; /*!< Specifies the color format of the output image. - - This parameter can be one value of @ref DMA2D_LL_EC_OUTPUT_COLOR_MODE. - - This parameter can be modified afterwards using, - unitary function @ref LL_DMA2D_SetOutputColorMode(). */ - - uint32_t OutputBlue; /*!< Specifies the Blue value of the output image. - - This parameter must be a number between: - Min_Data = 0x00 and Max_Data = 0xFF if ARGB8888 color mode is selected. - - This parameter must be a number between: - Min_Data = 0x00 and Max_Data = 0xFF if RGB888 color mode is selected. - - This parameter must be a number between: - Min_Data = 0x00 and Max_Data = 0x1F if RGB565 color mode is selected. - - This parameter must be a number between: - Min_Data = 0x00 and Max_Data = 0x1F if ARGB1555 color mode is selected. - - This parameter must be a number between: - Min_Data = 0x00 and Max_Data = 0x0F if ARGB4444 color mode is selected. - - This parameter can be modified afterwards, - using unitary function @ref LL_DMA2D_SetOutputColor() or configuration - function @ref LL_DMA2D_ConfigOutputColor(). */ - - uint32_t OutputGreen; /*!< Specifies the Green value of the output image. - - This parameter must be a number between: - Min_Data = 0x00 and Max_Data = 0xFF if ARGB8888 color mode is selected. - - This parameter must be a number between: - Min_Data = 0x00 and Max_Data = 0xFF if RGB888 color mode is selected. - - This parameter must be a number between: - Min_Data = 0x00 and Max_Data = 0x3F if RGB565 color mode is selected. - - This parameter must be a number between: - Min_Data = 0x00 and Max_Data = 0x1F if ARGB1555 color mode is selected. - - This parameter must be a number between: - Min_Data = 0x00 and Max_Data = 0x0F if ARGB4444 color mode is selected. - - This parameter can be modified afterwards - using unitary function @ref LL_DMA2D_SetOutputColor() or configuration - function @ref LL_DMA2D_ConfigOutputColor(). */ - - uint32_t OutputRed; /*!< Specifies the Red value of the output image. - - This parameter must be a number between: - Min_Data = 0x00 and Max_Data = 0xFF if ARGB8888 color mode is selected. - - This parameter must be a number between: - Min_Data = 0x00 and Max_Data = 0xFF if RGB888 color mode is selected. - - This parameter must be a number between: - Min_Data = 0x00 and Max_Data = 0x1F if RGB565 color mode is selected. - - This parameter must be a number between: - Min_Data = 0x00 and Max_Data = 0x1F if ARGB1555 color mode is selected. - - This parameter must be a number between: - Min_Data = 0x00 and Max_Data = 0x0F if ARGB4444 color mode is selected. - - This parameter can be modified afterwards - using unitary function @ref LL_DMA2D_SetOutputColor() or configuration - function @ref LL_DMA2D_ConfigOutputColor(). */ - - uint32_t OutputAlpha; /*!< Specifies the Alpha channel of the output image. - - This parameter must be a number between: - Min_Data = 0x00 and Max_Data = 0xFF if ARGB8888 color mode is selected. - - This parameter must be a number between: - Min_Data = 0x00 and Max_Data = 0x01 if ARGB1555 color mode is selected. - - This parameter must be a number between: - Min_Data = 0x00 and Max_Data = 0x0F if ARGB4444 color mode is selected. - - This parameter is not considered if RGB888 or RGB565 color mode is selected. - - This parameter can be modified afterwards using, - unitary function @ref LL_DMA2D_SetOutputColor() or configuration - function @ref LL_DMA2D_ConfigOutputColor(). */ - - uint32_t OutputMemoryAddress; /*!< Specifies the memory address. - - This parameter must be a number between: - Min_Data = 0x0000 and Max_Data = 0xFFFFFFFF. - - This parameter can be modified afterwards, - using unitary function @ref LL_DMA2D_SetOutputMemAddr(). */ - - - - uint32_t LineOffset; /*!< Specifies the output line offset value. - - This parameter must be a number between Min_Data = 0x0000 and Max_Data = 0x3FFF. - - This parameter can be modified afterwards, - using unitary function @ref LL_DMA2D_SetLineOffset(). */ - - uint32_t NbrOfLines; /*!< Specifies the number of lines of the area to be transferred. - - This parameter must be a number between: - Min_Data = 0x0000 and Max_Data = 0xFFFF. - - This parameter can be modified afterwards, - using unitary function @ref LL_DMA2D_SetNbrOfLines(). */ - - uint32_t NbrOfPixelsPerLines; /*!< Specifies the number of pixels per lines of the area to be transferred. - - This parameter must be a number between Min_Data = 0x0000 and Max_Data = 0x3FFF. - - This parameter can be modified afterwards using, - unitary function @ref LL_DMA2D_SetNbrOfPixelsPerLines(). */ - - -} LL_DMA2D_InitTypeDef; - -/** - * @brief LL DMA2D Layer Configuration Structure Definition - */ -typedef struct -{ - uint32_t MemoryAddress; /*!< Specifies the foreground or background memory address. - - This parameter must be a number between: - Min_Data = 0x0000 and Max_Data = 0xFFFFFFFF. - - This parameter can be modified afterwards using unitary functions - - @ref LL_DMA2D_FGND_SetMemAddr() for foreground layer, - - @ref LL_DMA2D_BGND_SetMemAddr() for background layer. */ - - uint32_t LineOffset; /*!< Specifies the foreground or background line offset value. - - This parameter must be a number between Min_Data = 0x0000 and Max_Data = 0x3FFF. - - This parameter can be modified afterwards using unitary functions - - @ref LL_DMA2D_FGND_SetLineOffset() for foreground layer, - - @ref LL_DMA2D_BGND_SetLineOffset() for background layer. */ - - uint32_t ColorMode; /*!< Specifies the foreground or background color mode. - - This parameter can be one value of @ref DMA2D_LL_EC_INPUT_COLOR_MODE. - - This parameter can be modified afterwards using unitary functions - - @ref LL_DMA2D_FGND_SetColorMode() for foreground layer, - - @ref LL_DMA2D_BGND_SetColorMode() for background layer. */ - - uint32_t CLUTColorMode; /*!< Specifies the foreground or background CLUT color mode. - - This parameter can be one value of @ref DMA2D_LL_EC_CLUT_COLOR_MODE. - - This parameter can be modified afterwards using unitary functions - - @ref LL_DMA2D_FGND_SetCLUTColorMode() for foreground layer, - - @ref LL_DMA2D_BGND_SetCLUTColorMode() for background layer. */ - - uint32_t CLUTSize; /*!< Specifies the foreground or background CLUT size. - - This parameter must be a number between Min_Data = 0x00 and Max_Data = 0xFF. - - This parameter can be modified afterwards using unitary functions - - @ref LL_DMA2D_FGND_SetCLUTSize() for foreground layer, - - @ref LL_DMA2D_BGND_SetCLUTSize() for background layer. */ - - uint32_t AlphaMode; /*!< Specifies the foreground or background alpha mode. - - This parameter can be one value of @ref DMA2D_LL_EC_ALPHA_MODE. - - This parameter can be modified afterwards using unitary functions - - @ref LL_DMA2D_FGND_SetAlphaMode() for foreground layer, - - @ref LL_DMA2D_BGND_SetAlphaMode() for background layer. */ - - uint32_t Alpha; /*!< Specifies the foreground or background Alpha value. - - This parameter must be a number between Min_Data = 0x00 and Max_Data = 0xFF. - - This parameter can be modified afterwards using unitary functions - - @ref LL_DMA2D_FGND_SetAlpha() for foreground layer, - - @ref LL_DMA2D_BGND_SetAlpha() for background layer. */ - - uint32_t Blue; /*!< Specifies the foreground or background Blue color value. - - This parameter must be a number between Min_Data = 0x00 and Max_Data = 0xFF. - - This parameter can be modified afterwards using unitary functions - - @ref LL_DMA2D_FGND_SetBlueColor() for foreground layer, - - @ref LL_DMA2D_BGND_SetBlueColor() for background layer. */ - - uint32_t Green; /*!< Specifies the foreground or background Green color value. - - This parameter must be a number between Min_Data = 0x00 and Max_Data = 0xFF. - - This parameter can be modified afterwards using unitary functions - - @ref LL_DMA2D_FGND_SetGreenColor() for foreground layer, - - @ref LL_DMA2D_BGND_SetGreenColor() for background layer. */ - - uint32_t Red; /*!< Specifies the foreground or background Red color value. - - This parameter must be a number between Min_Data = 0x00 and Max_Data = 0xFF. - - This parameter can be modified afterwards using unitary functions - - @ref LL_DMA2D_FGND_SetRedColor() for foreground layer, - - @ref LL_DMA2D_BGND_SetRedColor() for background layer. */ - - uint32_t CLUTMemoryAddress; /*!< Specifies the foreground or background CLUT memory address. - - This parameter must be a number between: - Min_Data = 0x0000 and Max_Data = 0xFFFFFFFF. - - This parameter can be modified afterwards using unitary functions - - @ref LL_DMA2D_FGND_SetCLUTMemAddr() for foreground layer, - - @ref LL_DMA2D_BGND_SetCLUTMemAddr() for background layer. */ - - - -} LL_DMA2D_LayerCfgTypeDef; - -/** - * @brief LL DMA2D Output Color Structure Definition - */ -typedef struct -{ - uint32_t ColorMode; /*!< Specifies the color format of the output image. - - This parameter can be one value of @ref DMA2D_LL_EC_OUTPUT_COLOR_MODE. - - This parameter can be modified afterwards using - unitary function @ref LL_DMA2D_SetOutputColorMode(). */ - - uint32_t OutputBlue; /*!< Specifies the Blue value of the output image. - - This parameter must be a number between: - Min_Data = 0x00 and Max_Data = 0xFF if ARGB8888 color mode is selected. - - This parameter must be a number between: - Min_Data = 0x00 and Max_Data = 0xFF if RGB888 color mode is selected. - - This parameter must be a number between: - Min_Data = 0x00 and Max_Data = 0x1F if RGB565 color mode is selected. - - This parameter must be a number between: - Min_Data = 0x00 and Max_Data = 0x1F if ARGB1555 color mode is selected. - - This parameter must be a number between: - Min_Data = 0x00 and Max_Data = 0x0F if ARGB4444 color mode is selected. - - This parameter can be modified afterwards using, - unitary function @ref LL_DMA2D_SetOutputColor() or configuration - function @ref LL_DMA2D_ConfigOutputColor(). */ - - uint32_t OutputGreen; /*!< Specifies the Green value of the output image. - - This parameter must be a number between: - Min_Data = 0x00 and Max_Data = 0xFF if ARGB8888 color mode is selected. - - This parameter must be a number between - Min_Data = 0x00 and Max_Data = 0xFF if RGB888 color mode is selected. - - This parameter must be a number between: - Min_Data = 0x00 and Max_Data = 0x3F if RGB565 color mode is selected. - - This parameter must be a number between: - Min_Data = 0x00 and Max_Data = 0x1F if ARGB1555 color mode is selected. - - This parameter must be a number between: - Min_Data = 0x00 and Max_Data = 0x0F if ARGB4444 color mode is selected. - - This parameter can be modified afterwards, - using unitary function @ref LL_DMA2D_SetOutputColor() or configuration - function @ref LL_DMA2D_ConfigOutputColor(). */ - - uint32_t OutputRed; /*!< Specifies the Red value of the output image. - - This parameter must be a number between: - Min_Data = 0x00 and Max_Data = 0xFF if ARGB8888 color mode is selected. - - This parameter must be a number between: - Min_Data = 0x00 and Max_Data = 0xFF if RGB888 color mode is selected. - - This parameter must be a number between: - Min_Data = 0x00 and Max_Data = 0x1F if RGB565 color mode is selected. - - This parameter must be a number between: - Min_Data = 0x00 and Max_Data = 0x1F if ARGB1555 color mode is selected. - - This parameter must be a number between: - Min_Data = 0x00 and Max_Data = 0x0F if ARGB4444 color mode is selected. - - This parameter can be modified afterwards, - using unitary function @ref LL_DMA2D_SetOutputColor() or configuration - function @ref LL_DMA2D_ConfigOutputColor(). */ - - uint32_t OutputAlpha; /*!< Specifies the Alpha channel of the output image. - - This parameter must be a number between: - Min_Data = 0x00 and Max_Data = 0xFF if ARGB8888 color mode is selected. - - This parameter must be a number between: - Min_Data = 0x00 and Max_Data = 0x01 if ARGB1555 color mode is selected. - - This parameter must be a number between: - Min_Data = 0x00 and Max_Data = 0x0F if ARGB4444 color mode is selected. - - This parameter is not considered if RGB888 or RGB565 color mode is selected. - - This parameter can be modified afterwards, - using unitary function @ref LL_DMA2D_SetOutputColor() or configuration - function @ref LL_DMA2D_ConfigOutputColor(). */ - -} LL_DMA2D_ColorTypeDef; - -/** - * @} - */ -#endif /* USE_FULL_LL_DRIVER */ - -/* Exported constants --------------------------------------------------------*/ -/** @defgroup DMA2D_LL_Exported_Constants DMA2D Exported Constants - * @{ - */ - -/** @defgroup DMA2D_LL_EC_GET_FLAG Get Flags Defines - * @brief Flags defines which can be used with LL_DMA2D_ReadReg function - * @{ - */ -#define LL_DMA2D_FLAG_CEIF DMA2D_ISR_CEIF /*!< Configuration Error Interrupt Flag */ -#define LL_DMA2D_FLAG_CTCIF DMA2D_ISR_CTCIF /*!< CLUT Transfer Complete Interrupt Flag */ -#define LL_DMA2D_FLAG_CAEIF DMA2D_ISR_CAEIF /*!< CLUT Access Error Interrupt Flag */ -#define LL_DMA2D_FLAG_TWIF DMA2D_ISR_TWIF /*!< Transfer Watermark Interrupt Flag */ -#define LL_DMA2D_FLAG_TCIF DMA2D_ISR_TCIF /*!< Transfer Complete Interrupt Flag */ -#define LL_DMA2D_FLAG_TEIF DMA2D_ISR_TEIF /*!< Transfer Error Interrupt Flag */ -/** - * @} - */ - -/** @defgroup DMA2D_LL_EC_IT IT Defines - * @brief IT defines which can be used with LL_DMA2D_ReadReg and LL_DMA2D_WriteReg functions - * @{ - */ -#define LL_DMA2D_IT_CEIE DMA2D_CR_CEIE /*!< Configuration Error Interrupt */ -#define LL_DMA2D_IT_CTCIE DMA2D_CR_CTCIE /*!< CLUT Transfer Complete Interrupt */ -#define LL_DMA2D_IT_CAEIE DMA2D_CR_CAEIE /*!< CLUT Access Error Interrupt */ -#define LL_DMA2D_IT_TWIE DMA2D_CR_TWIE /*!< Transfer Watermark Interrupt */ -#define LL_DMA2D_IT_TCIE DMA2D_CR_TCIE /*!< Transfer Complete Interrupt */ -#define LL_DMA2D_IT_TEIE DMA2D_CR_TEIE /*!< Transfer Error Interrupt */ -/** - * @} - */ - -/** @defgroup DMA2D_LL_EC_MODE Mode - * @{ - */ -#define LL_DMA2D_MODE_M2M 0x00000000U /*!< DMA2D memory to memory transfer mode */ -#define LL_DMA2D_MODE_M2M_PFC DMA2D_CR_MODE_0 /*!< DMA2D memory to memory with pixel format conversion transfer mode */ -#define LL_DMA2D_MODE_M2M_BLEND DMA2D_CR_MODE_1 /*!< DMA2D memory to memory with blending transfer mode */ -#define LL_DMA2D_MODE_R2M DMA2D_CR_MODE /*!< DMA2D register to memory transfer mode */ -/** - * @} - */ - -/** @defgroup DMA2D_LL_EC_OUTPUT_COLOR_MODE Output Color Mode - * @{ - */ -#define LL_DMA2D_OUTPUT_MODE_ARGB8888 0x00000000U /*!< ARGB8888 */ -#define LL_DMA2D_OUTPUT_MODE_RGB888 DMA2D_OPFCCR_CM_0 /*!< RGB888 */ -#define LL_DMA2D_OUTPUT_MODE_RGB565 DMA2D_OPFCCR_CM_1 /*!< RGB565 */ -#define LL_DMA2D_OUTPUT_MODE_ARGB1555 (DMA2D_OPFCCR_CM_0|DMA2D_OPFCCR_CM_1) /*!< ARGB1555 */ -#define LL_DMA2D_OUTPUT_MODE_ARGB4444 DMA2D_OPFCCR_CM_2 /*!< ARGB4444 */ -/** - * @} - */ - -/** @defgroup DMA2D_LL_EC_INPUT_COLOR_MODE Input Color Mode - * @{ - */ -#define LL_DMA2D_INPUT_MODE_ARGB8888 0x00000000U /*!< ARGB8888 */ -#define LL_DMA2D_INPUT_MODE_RGB888 DMA2D_FGPFCCR_CM_0 /*!< RGB888 */ -#define LL_DMA2D_INPUT_MODE_RGB565 DMA2D_FGPFCCR_CM_1 /*!< RGB565 */ -#define LL_DMA2D_INPUT_MODE_ARGB1555 (DMA2D_FGPFCCR_CM_0|DMA2D_FGPFCCR_CM_1) /*!< ARGB1555 */ -#define LL_DMA2D_INPUT_MODE_ARGB4444 DMA2D_FGPFCCR_CM_2 /*!< ARGB4444 */ -#define LL_DMA2D_INPUT_MODE_L8 (DMA2D_FGPFCCR_CM_0|DMA2D_FGPFCCR_CM_2) /*!< L8 */ -#define LL_DMA2D_INPUT_MODE_AL44 (DMA2D_FGPFCCR_CM_1|DMA2D_FGPFCCR_CM_2) /*!< AL44 */ -#define LL_DMA2D_INPUT_MODE_AL88 (DMA2D_FGPFCCR_CM_0|DMA2D_FGPFCCR_CM_1|DMA2D_FGPFCCR_CM_2) /*!< AL88 */ -#define LL_DMA2D_INPUT_MODE_L4 DMA2D_FGPFCCR_CM_3 /*!< L4 */ -#define LL_DMA2D_INPUT_MODE_A8 (DMA2D_FGPFCCR_CM_0|DMA2D_FGPFCCR_CM_3) /*!< A8 */ -#define LL_DMA2D_INPUT_MODE_A4 (DMA2D_FGPFCCR_CM_1|DMA2D_FGPFCCR_CM_3) /*!< A4 */ -/** - * @} - */ - -/** @defgroup DMA2D_LL_EC_ALPHA_MODE Alpha Mode - * @{ - */ -#define LL_DMA2D_ALPHA_MODE_NO_MODIF 0x00000000U /*!< No modification of the alpha channel value */ -#define LL_DMA2D_ALPHA_MODE_REPLACE DMA2D_FGPFCCR_AM_0 /*!< Replace original alpha channel value by - programmed alpha value */ -#define LL_DMA2D_ALPHA_MODE_COMBINE DMA2D_FGPFCCR_AM_1 /*!< Replace original alpha channel value by - programmed alpha value with, - original alpha channel value */ -/** - * @} - */ - - - - -/** @defgroup DMA2D_LL_EC_CLUT_COLOR_MODE CLUT Color Mode - * @{ - */ -#define LL_DMA2D_CLUT_COLOR_MODE_ARGB8888 0x00000000U /*!< ARGB8888 */ -#define LL_DMA2D_CLUT_COLOR_MODE_RGB888 DMA2D_FGPFCCR_CCM /*!< RGB888 */ -/** - * @} - */ - - -/** - * @} - */ - -/* Exported macro ------------------------------------------------------------*/ -/** @defgroup DMA2D_LL_Exported_Macros DMA2D Exported Macros - * @{ - */ - -/** @defgroup DMA2D_LL_EM_WRITE_READ Common Write and read registers Macros - * @{ - */ - -/** - * @brief Write a value in DMA2D register. - * @param __INSTANCE__ DMA2D Instance - * @param __REG__ Register to be written - * @param __VALUE__ Value to be written in the register - * @retval None - */ -#define LL_DMA2D_WriteReg(__INSTANCE__, __REG__, __VALUE__) WRITE_REG((__INSTANCE__)->__REG__, (__VALUE__)) - -/** - * @brief Read a value in DMA2D register. - * @param __INSTANCE__ DMA2D Instance - * @param __REG__ Register to be read - * @retval Register value - */ -#define LL_DMA2D_ReadReg(__INSTANCE__, __REG__) READ_REG((__INSTANCE__)->__REG__) -/** - * @} - */ - -/** - * @} - */ - -/* Exported functions --------------------------------------------------------*/ -/** @defgroup DMA2D_LL_Exported_Functions DMA2D Exported Functions - * @{ - */ - -/** @defgroup DMA2D_LL_EF_Configuration Configuration Functions - * @{ - */ - -/** - * @brief Start a DMA2D transfer. - * @rmtoll CR START LL_DMA2D_Start - * @param DMA2Dx DMA2D Instance - * @retval None - */ -__STATIC_INLINE void LL_DMA2D_Start(DMA2D_TypeDef *DMA2Dx) -{ - SET_BIT(DMA2Dx->CR, DMA2D_CR_START); -} - -/** - * @brief Indicate if a DMA2D transfer is ongoing. - * @rmtoll CR START LL_DMA2D_IsTransferOngoing - * @param DMA2Dx DMA2D Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_DMA2D_IsTransferOngoing(DMA2D_TypeDef *DMA2Dx) -{ - return ((READ_BIT(DMA2Dx->CR, DMA2D_CR_START) == (DMA2D_CR_START)) ? 1UL : 0UL); -} - -/** - * @brief Suspend DMA2D transfer. - * @note This API can be used to suspend automatic foreground or background CLUT loading. - * @rmtoll CR SUSP LL_DMA2D_Suspend - * @param DMA2Dx DMA2D Instance - * @retval None - */ -__STATIC_INLINE void LL_DMA2D_Suspend(DMA2D_TypeDef *DMA2Dx) -{ - MODIFY_REG(DMA2Dx->CR, DMA2D_CR_SUSP | DMA2D_CR_START, DMA2D_CR_SUSP); -} - -/** - * @brief Resume DMA2D transfer. - * @note This API can be used to resume automatic foreground or background CLUT loading. - * @rmtoll CR SUSP LL_DMA2D_Resume - * @param DMA2Dx DMA2D Instance - * @retval None - */ -__STATIC_INLINE void LL_DMA2D_Resume(DMA2D_TypeDef *DMA2Dx) -{ - CLEAR_BIT(DMA2Dx->CR, DMA2D_CR_SUSP | DMA2D_CR_START); -} - -/** - * @brief Indicate if DMA2D transfer is suspended. - * @note This API can be used to indicate whether or not automatic foreground or - * background CLUT loading is suspended. - * @rmtoll CR SUSP LL_DMA2D_IsSuspended - * @param DMA2Dx DMA2D Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_DMA2D_IsSuspended(DMA2D_TypeDef *DMA2Dx) -{ - return ((READ_BIT(DMA2Dx->CR, DMA2D_CR_SUSP) == (DMA2D_CR_SUSP)) ? 1UL : 0UL); -} - -/** - * @brief Abort DMA2D transfer. - * @note This API can be used to abort automatic foreground or background CLUT loading. - * @rmtoll CR ABORT LL_DMA2D_Abort - * @param DMA2Dx DMA2D Instance - * @retval None - */ -__STATIC_INLINE void LL_DMA2D_Abort(DMA2D_TypeDef *DMA2Dx) -{ - MODIFY_REG(DMA2Dx->CR, DMA2D_CR_ABORT | DMA2D_CR_START, DMA2D_CR_ABORT); -} - -/** - * @brief Indicate if DMA2D transfer is aborted. - * @note This API can be used to indicate whether or not automatic foreground or - * background CLUT loading is aborted. - * @rmtoll CR ABORT LL_DMA2D_IsAborted - * @param DMA2Dx DMA2D Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_DMA2D_IsAborted(DMA2D_TypeDef *DMA2Dx) -{ - return ((READ_BIT(DMA2Dx->CR, DMA2D_CR_ABORT) == (DMA2D_CR_ABORT)) ? 1UL : 0UL); -} - -/** - * @brief Set DMA2D mode. - * @rmtoll CR MODE LL_DMA2D_SetMode - * @param DMA2Dx DMA2D Instance - * @param Mode This parameter can be one of the following values: - * @arg @ref LL_DMA2D_MODE_M2M - * @arg @ref LL_DMA2D_MODE_M2M_PFC - * @arg @ref LL_DMA2D_MODE_M2M_BLEND - * @arg @ref LL_DMA2D_MODE_R2M - * @retval None - */ -__STATIC_INLINE void LL_DMA2D_SetMode(DMA2D_TypeDef *DMA2Dx, uint32_t Mode) -{ - MODIFY_REG(DMA2Dx->CR, DMA2D_CR_MODE, Mode); -} - -/** - * @brief Return DMA2D mode - * @rmtoll CR MODE LL_DMA2D_GetMode - * @param DMA2Dx DMA2D Instance - * @retval Returned value can be one of the following values: - * @arg @ref LL_DMA2D_MODE_M2M - * @arg @ref LL_DMA2D_MODE_M2M_PFC - * @arg @ref LL_DMA2D_MODE_M2M_BLEND - * @arg @ref LL_DMA2D_MODE_R2M - */ -__STATIC_INLINE uint32_t LL_DMA2D_GetMode(DMA2D_TypeDef *DMA2Dx) -{ - return (uint32_t)(READ_BIT(DMA2Dx->CR, DMA2D_CR_MODE)); -} - -/** - * @brief Set DMA2D output color mode. - * @rmtoll OPFCCR CM LL_DMA2D_SetOutputColorMode - * @param DMA2Dx DMA2D Instance - * @param ColorMode This parameter can be one of the following values: - * @arg @ref LL_DMA2D_OUTPUT_MODE_ARGB8888 - * @arg @ref LL_DMA2D_OUTPUT_MODE_RGB888 - * @arg @ref LL_DMA2D_OUTPUT_MODE_RGB565 - * @arg @ref LL_DMA2D_OUTPUT_MODE_ARGB1555 - * @arg @ref LL_DMA2D_OUTPUT_MODE_ARGB4444 - * @retval None - */ -__STATIC_INLINE void LL_DMA2D_SetOutputColorMode(DMA2D_TypeDef *DMA2Dx, uint32_t ColorMode) -{ - MODIFY_REG(DMA2Dx->OPFCCR, DMA2D_OPFCCR_CM, ColorMode); -} - -/** - * @brief Return DMA2D output color mode. - * @rmtoll OPFCCR CM LL_DMA2D_GetOutputColorMode - * @param DMA2Dx DMA2D Instance - * @retval Returned value can be one of the following values: - * @arg @ref LL_DMA2D_OUTPUT_MODE_ARGB8888 - * @arg @ref LL_DMA2D_OUTPUT_MODE_RGB888 - * @arg @ref LL_DMA2D_OUTPUT_MODE_RGB565 - * @arg @ref LL_DMA2D_OUTPUT_MODE_ARGB1555 - * @arg @ref LL_DMA2D_OUTPUT_MODE_ARGB4444 - */ -__STATIC_INLINE uint32_t LL_DMA2D_GetOutputColorMode(DMA2D_TypeDef *DMA2Dx) -{ - return (uint32_t)(READ_BIT(DMA2Dx->OPFCCR, DMA2D_OPFCCR_CM)); -} - - - - -/** - * @brief Set DMA2D line offset, expressed on 14 bits ([13:0] bits). - * @rmtoll OOR LO LL_DMA2D_SetLineOffset - * @param DMA2Dx DMA2D Instance - * @param LineOffset Value between Min_Data=0 and Max_Data=0x3FFF - * @retval None - */ -__STATIC_INLINE void LL_DMA2D_SetLineOffset(DMA2D_TypeDef *DMA2Dx, uint32_t LineOffset) -{ - MODIFY_REG(DMA2Dx->OOR, DMA2D_OOR_LO, LineOffset); -} - -/** - * @brief Return DMA2D line offset, expressed on 14 bits ([13:0] bits). - * @rmtoll OOR LO LL_DMA2D_GetLineOffset - * @param DMA2Dx DMA2D Instance - * @retval Line offset value between Min_Data=0 and Max_Data=0x3FFF - */ -__STATIC_INLINE uint32_t LL_DMA2D_GetLineOffset(DMA2D_TypeDef *DMA2Dx) -{ - return (uint32_t)(READ_BIT(DMA2Dx->OOR, DMA2D_OOR_LO)); -} - -/** - * @brief Set DMA2D number of pixels per lines, expressed on 14 bits ([13:0] bits). - * @rmtoll NLR PL LL_DMA2D_SetNbrOfPixelsPerLines - * @param DMA2Dx DMA2D Instance - * @param NbrOfPixelsPerLines Value between Min_Data=0 and Max_Data=0x3FFF - * @retval None - */ -__STATIC_INLINE void LL_DMA2D_SetNbrOfPixelsPerLines(DMA2D_TypeDef *DMA2Dx, uint32_t NbrOfPixelsPerLines) -{ - MODIFY_REG(DMA2Dx->NLR, DMA2D_NLR_PL, (NbrOfPixelsPerLines << DMA2D_NLR_PL_Pos)); -} - -/** - * @brief Return DMA2D number of pixels per lines, expressed on 14 bits ([13:0] bits) - * @rmtoll NLR PL LL_DMA2D_GetNbrOfPixelsPerLines - * @param DMA2Dx DMA2D Instance - * @retval Number of pixels per lines value between Min_Data=0 and Max_Data=0x3FFF - */ -__STATIC_INLINE uint32_t LL_DMA2D_GetNbrOfPixelsPerLines(DMA2D_TypeDef *DMA2Dx) -{ - return (uint32_t)(READ_BIT(DMA2Dx->NLR, DMA2D_NLR_PL) >> DMA2D_NLR_PL_Pos); -} - -/** - * @brief Set DMA2D number of lines, expressed on 16 bits ([15:0] bits). - * @rmtoll NLR NL LL_DMA2D_SetNbrOfLines - * @param DMA2Dx DMA2D Instance - * @param NbrOfLines Value between Min_Data=0 and Max_Data=0xFFFF - * @retval None - */ -__STATIC_INLINE void LL_DMA2D_SetNbrOfLines(DMA2D_TypeDef *DMA2Dx, uint32_t NbrOfLines) -{ - MODIFY_REG(DMA2Dx->NLR, DMA2D_NLR_NL, NbrOfLines); -} - -/** - * @brief Return DMA2D number of lines, expressed on 16 bits ([15:0] bits). - * @rmtoll NLR NL LL_DMA2D_GetNbrOfLines - * @param DMA2Dx DMA2D Instance - * @retval Number of lines value between Min_Data=0 and Max_Data=0xFFFF - */ -__STATIC_INLINE uint32_t LL_DMA2D_GetNbrOfLines(DMA2D_TypeDef *DMA2Dx) -{ - return (uint32_t)(READ_BIT(DMA2Dx->NLR, DMA2D_NLR_NL)); -} - -/** - * @brief Set DMA2D output memory address, expressed on 32 bits ([31:0] bits). - * @rmtoll OMAR MA LL_DMA2D_SetOutputMemAddr - * @param DMA2Dx DMA2D Instance - * @param OutputMemoryAddress Value between Min_Data=0 and Max_Data=0xFFFFFFFF - * @retval None - */ -__STATIC_INLINE void LL_DMA2D_SetOutputMemAddr(DMA2D_TypeDef *DMA2Dx, uint32_t OutputMemoryAddress) -{ - LL_DMA2D_WriteReg(DMA2Dx, OMAR, OutputMemoryAddress); -} - -/** - * @brief Get DMA2D output memory address, expressed on 32 bits ([31:0] bits). - * @rmtoll OMAR MA LL_DMA2D_GetOutputMemAddr - * @param DMA2Dx DMA2D Instance - * @retval Output memory address value between Min_Data=0 and Max_Data=0xFFFFFFFF - */ -__STATIC_INLINE uint32_t LL_DMA2D_GetOutputMemAddr(DMA2D_TypeDef *DMA2Dx) -{ - return (uint32_t)(LL_DMA2D_ReadReg(DMA2Dx, OMAR)); -} - -/** - * @brief Set DMA2D output color, expressed on 32 bits ([31:0] bits). - * @note Output color format depends on output color mode, ARGB8888, RGB888, - * RGB565, ARGB1555 or ARGB4444. - * @note LL_DMA2D_ConfigOutputColor() API may be used instead if colors values formatting - * with respect to color mode is not done by the user code. - * @rmtoll OCOLR BLUE LL_DMA2D_SetOutputColor\n - * OCOLR GREEN LL_DMA2D_SetOutputColor\n - * OCOLR RED LL_DMA2D_SetOutputColor\n - * OCOLR ALPHA LL_DMA2D_SetOutputColor - * @param DMA2Dx DMA2D Instance - * @param OutputColor Value between Min_Data=0 and Max_Data=0xFFFFFFFF - * @retval None - */ -__STATIC_INLINE void LL_DMA2D_SetOutputColor(DMA2D_TypeDef *DMA2Dx, uint32_t OutputColor) -{ - MODIFY_REG(DMA2Dx->OCOLR, (DMA2D_OCOLR_BLUE_1 | DMA2D_OCOLR_GREEN_1 | DMA2D_OCOLR_RED_1 | DMA2D_OCOLR_ALPHA_1), \ - OutputColor); -} - -/** - * @brief Get DMA2D output color, expressed on 32 bits ([31:0] bits). - * @note Alpha channel and red, green, blue color values must be retrieved from the returned - * value based on the output color mode (ARGB8888, RGB888, RGB565, ARGB1555 or ARGB4444) - * as set by @ref LL_DMA2D_SetOutputColorMode. - * @rmtoll OCOLR BLUE LL_DMA2D_GetOutputColor\n - * OCOLR GREEN LL_DMA2D_GetOutputColor\n - * OCOLR RED LL_DMA2D_GetOutputColor\n - * OCOLR ALPHA LL_DMA2D_GetOutputColor - * @param DMA2Dx DMA2D Instance - * @retval Output color value between Min_Data=0 and Max_Data=0xFFFFFFFF - */ -__STATIC_INLINE uint32_t LL_DMA2D_GetOutputColor(DMA2D_TypeDef *DMA2Dx) -{ - return (uint32_t)(READ_BIT(DMA2Dx->OCOLR, \ - (DMA2D_OCOLR_BLUE_1 | DMA2D_OCOLR_GREEN_1 | DMA2D_OCOLR_RED_1 | DMA2D_OCOLR_ALPHA_1))); -} - -/** - * @brief Set DMA2D line watermark, expressed on 16 bits ([15:0] bits). - * @rmtoll LWR LW LL_DMA2D_SetLineWatermark - * @param DMA2Dx DMA2D Instance - * @param LineWatermark Value between Min_Data=0 and Max_Data=0xFFFF - * @retval None - */ -__STATIC_INLINE void LL_DMA2D_SetLineWatermark(DMA2D_TypeDef *DMA2Dx, uint32_t LineWatermark) -{ - MODIFY_REG(DMA2Dx->LWR, DMA2D_LWR_LW, LineWatermark); -} - -/** - * @brief Return DMA2D line watermark, expressed on 16 bits ([15:0] bits). - * @rmtoll LWR LW LL_DMA2D_GetLineWatermark - * @param DMA2Dx DMA2D Instance - * @retval Line watermark value between Min_Data=0 and Max_Data=0xFFFF - */ -__STATIC_INLINE uint32_t LL_DMA2D_GetLineWatermark(DMA2D_TypeDef *DMA2Dx) -{ - return (uint32_t)(READ_BIT(DMA2Dx->LWR, DMA2D_LWR_LW)); -} - -/** - * @brief Set DMA2D dead time, expressed on 8 bits ([7:0] bits). - * @rmtoll AMTCR DT LL_DMA2D_SetDeadTime - * @param DMA2Dx DMA2D Instance - * @param DeadTime Value between Min_Data=0 and Max_Data=0xFF - * @retval None - */ -__STATIC_INLINE void LL_DMA2D_SetDeadTime(DMA2D_TypeDef *DMA2Dx, uint32_t DeadTime) -{ - MODIFY_REG(DMA2Dx->AMTCR, DMA2D_AMTCR_DT, (DeadTime << DMA2D_AMTCR_DT_Pos)); -} - -/** - * @brief Return DMA2D dead time, expressed on 8 bits ([7:0] bits). - * @rmtoll AMTCR DT LL_DMA2D_GetDeadTime - * @param DMA2Dx DMA2D Instance - * @retval Dead time value between Min_Data=0 and Max_Data=0xFF - */ -__STATIC_INLINE uint32_t LL_DMA2D_GetDeadTime(DMA2D_TypeDef *DMA2Dx) -{ - return (uint32_t)(READ_BIT(DMA2Dx->AMTCR, DMA2D_AMTCR_DT) >> DMA2D_AMTCR_DT_Pos); -} - -/** - * @brief Enable DMA2D dead time functionality. - * @rmtoll AMTCR EN LL_DMA2D_EnableDeadTime - * @param DMA2Dx DMA2D Instance - * @retval None - */ -__STATIC_INLINE void LL_DMA2D_EnableDeadTime(DMA2D_TypeDef *DMA2Dx) -{ - SET_BIT(DMA2Dx->AMTCR, DMA2D_AMTCR_EN); -} - -/** - * @brief Disable DMA2D dead time functionality. - * @rmtoll AMTCR EN LL_DMA2D_DisableDeadTime - * @param DMA2Dx DMA2D Instance - * @retval None - */ -__STATIC_INLINE void LL_DMA2D_DisableDeadTime(DMA2D_TypeDef *DMA2Dx) -{ - CLEAR_BIT(DMA2Dx->AMTCR, DMA2D_AMTCR_EN); -} - -/** - * @brief Indicate if DMA2D dead time functionality is enabled. - * @rmtoll AMTCR EN LL_DMA2D_IsEnabledDeadTime - * @param DMA2Dx DMA2D Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_DMA2D_IsEnabledDeadTime(DMA2D_TypeDef *DMA2Dx) -{ - return ((READ_BIT(DMA2Dx->AMTCR, DMA2D_AMTCR_EN) == (DMA2D_AMTCR_EN)) ? 1UL : 0UL); -} - -/** @defgroup DMA2D_LL_EF_FGND_Configuration Foreground Configuration Functions - * @{ - */ - -/** - * @brief Set DMA2D foreground memory address, expressed on 32 bits ([31:0] bits). - * @rmtoll FGMAR MA LL_DMA2D_FGND_SetMemAddr - * @param DMA2Dx DMA2D Instance - * @param MemoryAddress Value between Min_Data=0 and Max_Data=0xFFFFFFFF - * @retval None - */ -__STATIC_INLINE void LL_DMA2D_FGND_SetMemAddr(DMA2D_TypeDef *DMA2Dx, uint32_t MemoryAddress) -{ - LL_DMA2D_WriteReg(DMA2Dx, FGMAR, MemoryAddress); -} - -/** - * @brief Get DMA2D foreground memory address, expressed on 32 bits ([31:0] bits). - * @rmtoll FGMAR MA LL_DMA2D_FGND_GetMemAddr - * @param DMA2Dx DMA2D Instance - * @retval Foreground memory address value between Min_Data=0 and Max_Data=0xFFFFFFFF - */ -__STATIC_INLINE uint32_t LL_DMA2D_FGND_GetMemAddr(DMA2D_TypeDef *DMA2Dx) -{ - return (uint32_t)(LL_DMA2D_ReadReg(DMA2Dx, FGMAR)); -} - -/** - * @brief Enable DMA2D foreground CLUT loading. - * @rmtoll FGPFCCR START LL_DMA2D_FGND_EnableCLUTLoad - * @param DMA2Dx DMA2D Instance - * @retval None - */ -__STATIC_INLINE void LL_DMA2D_FGND_EnableCLUTLoad(DMA2D_TypeDef *DMA2Dx) -{ - SET_BIT(DMA2Dx->FGPFCCR, DMA2D_FGPFCCR_START); -} - -/** - * @brief Indicate if DMA2D foreground CLUT loading is enabled. - * @rmtoll FGPFCCR START LL_DMA2D_FGND_IsEnabledCLUTLoad - * @param DMA2Dx DMA2D Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_DMA2D_FGND_IsEnabledCLUTLoad(DMA2D_TypeDef *DMA2Dx) -{ - return ((READ_BIT(DMA2Dx->FGPFCCR, DMA2D_FGPFCCR_START) == (DMA2D_FGPFCCR_START)) ? 1UL : 0UL); -} - -/** - * @brief Set DMA2D foreground color mode. - * @rmtoll FGPFCCR CM LL_DMA2D_FGND_SetColorMode - * @param DMA2Dx DMA2D Instance - * @param ColorMode This parameter can be one of the following values: - * @arg @ref LL_DMA2D_INPUT_MODE_ARGB8888 - * @arg @ref LL_DMA2D_INPUT_MODE_RGB888 - * @arg @ref LL_DMA2D_INPUT_MODE_RGB565 - * @arg @ref LL_DMA2D_INPUT_MODE_ARGB1555 - * @arg @ref LL_DMA2D_INPUT_MODE_ARGB4444 - * @arg @ref LL_DMA2D_INPUT_MODE_L8 - * @arg @ref LL_DMA2D_INPUT_MODE_AL44 - * @arg @ref LL_DMA2D_INPUT_MODE_AL88 - * @arg @ref LL_DMA2D_INPUT_MODE_L4 - * @arg @ref LL_DMA2D_INPUT_MODE_A8 - * @arg @ref LL_DMA2D_INPUT_MODE_A4 - * @retval None - */ -__STATIC_INLINE void LL_DMA2D_FGND_SetColorMode(DMA2D_TypeDef *DMA2Dx, uint32_t ColorMode) -{ - MODIFY_REG(DMA2Dx->FGPFCCR, DMA2D_FGPFCCR_CM, ColorMode); -} - -/** - * @brief Return DMA2D foreground color mode. - * @rmtoll FGPFCCR CM LL_DMA2D_FGND_GetColorMode - * @param DMA2Dx DMA2D Instance - * @retval Returned value can be one of the following values: - * @arg @ref LL_DMA2D_INPUT_MODE_ARGB8888 - * @arg @ref LL_DMA2D_INPUT_MODE_RGB888 - * @arg @ref LL_DMA2D_INPUT_MODE_RGB565 - * @arg @ref LL_DMA2D_INPUT_MODE_ARGB1555 - * @arg @ref LL_DMA2D_INPUT_MODE_ARGB4444 - * @arg @ref LL_DMA2D_INPUT_MODE_L8 - * @arg @ref LL_DMA2D_INPUT_MODE_AL44 - * @arg @ref LL_DMA2D_INPUT_MODE_AL88 - * @arg @ref LL_DMA2D_INPUT_MODE_L4 - * @arg @ref LL_DMA2D_INPUT_MODE_A8 - * @arg @ref LL_DMA2D_INPUT_MODE_A4 - */ -__STATIC_INLINE uint32_t LL_DMA2D_FGND_GetColorMode(DMA2D_TypeDef *DMA2Dx) -{ - return (uint32_t)(READ_BIT(DMA2Dx->FGPFCCR, DMA2D_FGPFCCR_CM)); -} - -/** - * @brief Set DMA2D foreground alpha mode. - * @rmtoll FGPFCCR AM LL_DMA2D_FGND_SetAlphaMode - * @param DMA2Dx DMA2D Instance - * @param AphaMode This parameter can be one of the following values: - * @arg @ref LL_DMA2D_ALPHA_MODE_NO_MODIF - * @arg @ref LL_DMA2D_ALPHA_MODE_REPLACE - * @arg @ref LL_DMA2D_ALPHA_MODE_COMBINE - * @retval None - */ -__STATIC_INLINE void LL_DMA2D_FGND_SetAlphaMode(DMA2D_TypeDef *DMA2Dx, uint32_t AphaMode) -{ - MODIFY_REG(DMA2Dx->FGPFCCR, DMA2D_FGPFCCR_AM, AphaMode); -} - -/** - * @brief Return DMA2D foreground alpha mode. - * @rmtoll FGPFCCR AM LL_DMA2D_FGND_GetAlphaMode - * @param DMA2Dx DMA2D Instance - * @retval Returned value can be one of the following values: - * @arg @ref LL_DMA2D_ALPHA_MODE_NO_MODIF - * @arg @ref LL_DMA2D_ALPHA_MODE_REPLACE - * @arg @ref LL_DMA2D_ALPHA_MODE_COMBINE - */ -__STATIC_INLINE uint32_t LL_DMA2D_FGND_GetAlphaMode(DMA2D_TypeDef *DMA2Dx) -{ - return (uint32_t)(READ_BIT(DMA2Dx->FGPFCCR, DMA2D_FGPFCCR_AM)); -} - -/** - * @brief Set DMA2D foreground alpha value, expressed on 8 bits ([7:0] bits). - * @rmtoll FGPFCCR ALPHA LL_DMA2D_FGND_SetAlpha - * @param DMA2Dx DMA2D Instance - * @param Alpha Value between Min_Data=0 and Max_Data=0xFF - * @retval None - */ -__STATIC_INLINE void LL_DMA2D_FGND_SetAlpha(DMA2D_TypeDef *DMA2Dx, uint32_t Alpha) -{ - MODIFY_REG(DMA2Dx->FGPFCCR, DMA2D_FGPFCCR_ALPHA, (Alpha << DMA2D_FGPFCCR_ALPHA_Pos)); -} - -/** - * @brief Return DMA2D foreground alpha value, expressed on 8 bits ([7:0] bits). - * @rmtoll FGPFCCR ALPHA LL_DMA2D_FGND_GetAlpha - * @param DMA2Dx DMA2D Instance - * @retval Alpha value between Min_Data=0 and Max_Data=0xFF - */ -__STATIC_INLINE uint32_t LL_DMA2D_FGND_GetAlpha(DMA2D_TypeDef *DMA2Dx) -{ - return (uint32_t)(READ_BIT(DMA2Dx->FGPFCCR, DMA2D_FGPFCCR_ALPHA) >> DMA2D_FGPFCCR_ALPHA_Pos); -} - - -/** - * @brief Set DMA2D foreground line offset, expressed on 14 bits ([13:0] bits). - * @rmtoll FGOR LO LL_DMA2D_FGND_SetLineOffset - * @param DMA2Dx DMA2D Instance - * @param LineOffset Value between Min_Data=0 and Max_Data=0x3FF - * @retval None - */ -__STATIC_INLINE void LL_DMA2D_FGND_SetLineOffset(DMA2D_TypeDef *DMA2Dx, uint32_t LineOffset) -{ - MODIFY_REG(DMA2Dx->FGOR, DMA2D_FGOR_LO, LineOffset); -} - -/** - * @brief Return DMA2D foreground line offset, expressed on 14 bits ([13:0] bits). - * @rmtoll FGOR LO LL_DMA2D_FGND_GetLineOffset - * @param DMA2Dx DMA2D Instance - * @retval Foreground line offset value between Min_Data=0 and Max_Data=0x3FF - */ -__STATIC_INLINE uint32_t LL_DMA2D_FGND_GetLineOffset(DMA2D_TypeDef *DMA2Dx) -{ - return (uint32_t)(READ_BIT(DMA2Dx->FGOR, DMA2D_FGOR_LO)); -} - -/** - * @brief Set DMA2D foreground color values, expressed on 24 bits ([23:0] bits). - * @rmtoll FGCOLR RED LL_DMA2D_FGND_SetColor - * @rmtoll FGCOLR GREEN LL_DMA2D_FGND_SetColor - * @rmtoll FGCOLR BLUE LL_DMA2D_FGND_SetColor - * @param DMA2Dx DMA2D Instance - * @param Red Value between Min_Data=0 and Max_Data=0xFF - * @param Green Value between Min_Data=0 and Max_Data=0xFF - * @param Blue Value between Min_Data=0 and Max_Data=0xFF - * @retval None - */ -__STATIC_INLINE void LL_DMA2D_FGND_SetColor(DMA2D_TypeDef *DMA2Dx, uint32_t Red, uint32_t Green, uint32_t Blue) -{ - MODIFY_REG(DMA2Dx->FGCOLR, (DMA2D_FGCOLR_RED | DMA2D_FGCOLR_GREEN | DMA2D_FGCOLR_BLUE), \ - ((Red << DMA2D_FGCOLR_RED_Pos) | (Green << DMA2D_FGCOLR_GREEN_Pos) | Blue)); -} - -/** - * @brief Set DMA2D foreground red color value, expressed on 8 bits ([7:0] bits). - * @rmtoll FGCOLR RED LL_DMA2D_FGND_SetRedColor - * @param DMA2Dx DMA2D Instance - * @param Red Value between Min_Data=0 and Max_Data=0xFF - * @retval None - */ -__STATIC_INLINE void LL_DMA2D_FGND_SetRedColor(DMA2D_TypeDef *DMA2Dx, uint32_t Red) -{ - MODIFY_REG(DMA2Dx->FGCOLR, DMA2D_FGCOLR_RED, (Red << DMA2D_FGCOLR_RED_Pos)); -} - -/** - * @brief Return DMA2D foreground red color value, expressed on 8 bits ([7:0] bits). - * @rmtoll FGCOLR RED LL_DMA2D_FGND_GetRedColor - * @param DMA2Dx DMA2D Instance - * @retval Red color value between Min_Data=0 and Max_Data=0xFF - */ -__STATIC_INLINE uint32_t LL_DMA2D_FGND_GetRedColor(DMA2D_TypeDef *DMA2Dx) -{ - return (uint32_t)(READ_BIT(DMA2Dx->FGCOLR, DMA2D_FGCOLR_RED) >> DMA2D_FGCOLR_RED_Pos); -} - -/** - * @brief Set DMA2D foreground green color value, expressed on 8 bits ([7:0] bits). - * @rmtoll FGCOLR GREEN LL_DMA2D_FGND_SetGreenColor - * @param DMA2Dx DMA2D Instance - * @param Green Value between Min_Data=0 and Max_Data=0xFF - * @retval None - */ -__STATIC_INLINE void LL_DMA2D_FGND_SetGreenColor(DMA2D_TypeDef *DMA2Dx, uint32_t Green) -{ - MODIFY_REG(DMA2Dx->FGCOLR, DMA2D_FGCOLR_GREEN, (Green << DMA2D_FGCOLR_GREEN_Pos)); -} - -/** - * @brief Return DMA2D foreground green color value, expressed on 8 bits ([7:0] bits). - * @rmtoll FGCOLR GREEN LL_DMA2D_FGND_GetGreenColor - * @param DMA2Dx DMA2D Instance - * @retval Green color value between Min_Data=0 and Max_Data=0xFF - */ -__STATIC_INLINE uint32_t LL_DMA2D_FGND_GetGreenColor(DMA2D_TypeDef *DMA2Dx) -{ - return (uint32_t)(READ_BIT(DMA2Dx->FGCOLR, DMA2D_FGCOLR_GREEN) >> DMA2D_FGCOLR_GREEN_Pos); -} - -/** - * @brief Set DMA2D foreground blue color value, expressed on 8 bits ([7:0] bits). - * @rmtoll FGCOLR BLUE LL_DMA2D_FGND_SetBlueColor - * @param DMA2Dx DMA2D Instance - * @param Blue Value between Min_Data=0 and Max_Data=0xFF - * @retval None - */ -__STATIC_INLINE void LL_DMA2D_FGND_SetBlueColor(DMA2D_TypeDef *DMA2Dx, uint32_t Blue) -{ - MODIFY_REG(DMA2Dx->FGCOLR, DMA2D_FGCOLR_BLUE, Blue); -} - -/** - * @brief Return DMA2D foreground blue color value, expressed on 8 bits ([7:0] bits). - * @rmtoll FGCOLR BLUE LL_DMA2D_FGND_GetBlueColor - * @param DMA2Dx DMA2D Instance - * @retval Blue color value between Min_Data=0 and Max_Data=0xFF - */ -__STATIC_INLINE uint32_t LL_DMA2D_FGND_GetBlueColor(DMA2D_TypeDef *DMA2Dx) -{ - return (uint32_t)(READ_BIT(DMA2Dx->FGCOLR, DMA2D_FGCOLR_BLUE)); -} - -/** - * @brief Set DMA2D foreground CLUT memory address, expressed on 32 bits ([31:0] bits). - * @rmtoll FGCMAR MA LL_DMA2D_FGND_SetCLUTMemAddr - * @param DMA2Dx DMA2D Instance - * @param CLUTMemoryAddress Value between Min_Data=0 and Max_Data=0xFFFFFFFF - * @retval None - */ -__STATIC_INLINE void LL_DMA2D_FGND_SetCLUTMemAddr(DMA2D_TypeDef *DMA2Dx, uint32_t CLUTMemoryAddress) -{ - LL_DMA2D_WriteReg(DMA2Dx, FGCMAR, CLUTMemoryAddress); -} - -/** - * @brief Get DMA2D foreground CLUT memory address, expressed on 32 bits ([31:0] bits). - * @rmtoll FGCMAR MA LL_DMA2D_FGND_GetCLUTMemAddr - * @param DMA2Dx DMA2D Instance - * @retval Foreground CLUT memory address value between Min_Data=0 and Max_Data=0xFFFFFFFF - */ -__STATIC_INLINE uint32_t LL_DMA2D_FGND_GetCLUTMemAddr(DMA2D_TypeDef *DMA2Dx) -{ - return (uint32_t)(LL_DMA2D_ReadReg(DMA2Dx, FGCMAR)); -} - -/** - * @brief Set DMA2D foreground CLUT size, expressed on 8 bits ([7:0] bits). - * @rmtoll FGPFCCR CS LL_DMA2D_FGND_SetCLUTSize - * @param DMA2Dx DMA2D Instance - * @param CLUTSize Value between Min_Data=0 and Max_Data=0xFF - * @retval None - */ -__STATIC_INLINE void LL_DMA2D_FGND_SetCLUTSize(DMA2D_TypeDef *DMA2Dx, uint32_t CLUTSize) -{ - MODIFY_REG(DMA2Dx->FGPFCCR, DMA2D_FGPFCCR_CS, (CLUTSize << DMA2D_FGPFCCR_CS_Pos)); -} - -/** - * @brief Get DMA2D foreground CLUT size, expressed on 8 bits ([7:0] bits). - * @rmtoll FGPFCCR CS LL_DMA2D_FGND_GetCLUTSize - * @param DMA2Dx DMA2D Instance - * @retval Foreground CLUT size value between Min_Data=0 and Max_Data=0xFF - */ -__STATIC_INLINE uint32_t LL_DMA2D_FGND_GetCLUTSize(DMA2D_TypeDef *DMA2Dx) -{ - return (uint32_t)(READ_BIT(DMA2Dx->FGPFCCR, DMA2D_FGPFCCR_CS) >> DMA2D_FGPFCCR_CS_Pos); -} - -/** - * @brief Set DMA2D foreground CLUT color mode. - * @rmtoll FGPFCCR CCM LL_DMA2D_FGND_SetCLUTColorMode - * @param DMA2Dx DMA2D Instance - * @param CLUTColorMode This parameter can be one of the following values: - * @arg @ref LL_DMA2D_CLUT_COLOR_MODE_ARGB8888 - * @arg @ref LL_DMA2D_CLUT_COLOR_MODE_RGB888 - * @retval None - */ -__STATIC_INLINE void LL_DMA2D_FGND_SetCLUTColorMode(DMA2D_TypeDef *DMA2Dx, uint32_t CLUTColorMode) -{ - MODIFY_REG(DMA2Dx->FGPFCCR, DMA2D_FGPFCCR_CCM, CLUTColorMode); -} - -/** - * @brief Return DMA2D foreground CLUT color mode. - * @rmtoll FGPFCCR CCM LL_DMA2D_FGND_GetCLUTColorMode - * @param DMA2Dx DMA2D Instance - * @retval Returned value can be one of the following values: - * @arg @ref LL_DMA2D_CLUT_COLOR_MODE_ARGB8888 - * @arg @ref LL_DMA2D_CLUT_COLOR_MODE_RGB888 - */ -__STATIC_INLINE uint32_t LL_DMA2D_FGND_GetCLUTColorMode(DMA2D_TypeDef *DMA2Dx) -{ - return (uint32_t)(READ_BIT(DMA2Dx->FGPFCCR, DMA2D_FGPFCCR_CCM)); -} - -/** - * @} - */ - -/** @defgroup DMA2D_LL_EF_BGND_Configuration Background Configuration Functions - * @{ - */ - -/** - * @brief Set DMA2D background memory address, expressed on 32 bits ([31:0] bits). - * @rmtoll BGMAR MA LL_DMA2D_BGND_SetMemAddr - * @param DMA2Dx DMA2D Instance - * @param MemoryAddress Value between Min_Data=0 and Max_Data=0xFFFFFFFF - * @retval None - */ -__STATIC_INLINE void LL_DMA2D_BGND_SetMemAddr(DMA2D_TypeDef *DMA2Dx, uint32_t MemoryAddress) -{ - LL_DMA2D_WriteReg(DMA2Dx, BGMAR, MemoryAddress); -} - -/** - * @brief Get DMA2D background memory address, expressed on 32 bits ([31:0] bits). - * @rmtoll BGMAR MA LL_DMA2D_BGND_GetMemAddr - * @param DMA2Dx DMA2D Instance - * @retval Background memory address value between Min_Data=0 and Max_Data=0xFFFFFFFF - */ -__STATIC_INLINE uint32_t LL_DMA2D_BGND_GetMemAddr(DMA2D_TypeDef *DMA2Dx) -{ - return (uint32_t)(LL_DMA2D_ReadReg(DMA2Dx, BGMAR)); -} - -/** - * @brief Enable DMA2D background CLUT loading. - * @rmtoll BGPFCCR START LL_DMA2D_BGND_EnableCLUTLoad - * @param DMA2Dx DMA2D Instance - * @retval None - */ -__STATIC_INLINE void LL_DMA2D_BGND_EnableCLUTLoad(DMA2D_TypeDef *DMA2Dx) -{ - SET_BIT(DMA2Dx->BGPFCCR, DMA2D_BGPFCCR_START); -} - -/** - * @brief Indicate if DMA2D background CLUT loading is enabled. - * @rmtoll BGPFCCR START LL_DMA2D_BGND_IsEnabledCLUTLoad - * @param DMA2Dx DMA2D Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_DMA2D_BGND_IsEnabledCLUTLoad(DMA2D_TypeDef *DMA2Dx) -{ - return ((READ_BIT(DMA2Dx->BGPFCCR, DMA2D_BGPFCCR_START) == (DMA2D_BGPFCCR_START)) ? 1UL : 0UL); -} - -/** - * @brief Set DMA2D background color mode. - * @rmtoll BGPFCCR CM LL_DMA2D_BGND_SetColorMode - * @param DMA2Dx DMA2D Instance - * @param ColorMode This parameter can be one of the following values: - * @arg @ref LL_DMA2D_INPUT_MODE_ARGB8888 - * @arg @ref LL_DMA2D_INPUT_MODE_RGB888 - * @arg @ref LL_DMA2D_INPUT_MODE_RGB565 - * @arg @ref LL_DMA2D_INPUT_MODE_ARGB1555 - * @arg @ref LL_DMA2D_INPUT_MODE_ARGB4444 - * @arg @ref LL_DMA2D_INPUT_MODE_L8 - * @arg @ref LL_DMA2D_INPUT_MODE_AL44 - * @arg @ref LL_DMA2D_INPUT_MODE_AL88 - * @arg @ref LL_DMA2D_INPUT_MODE_L4 - * @arg @ref LL_DMA2D_INPUT_MODE_A8 - * @arg @ref LL_DMA2D_INPUT_MODE_A4 - * @retval None - */ -__STATIC_INLINE void LL_DMA2D_BGND_SetColorMode(DMA2D_TypeDef *DMA2Dx, uint32_t ColorMode) -{ - MODIFY_REG(DMA2Dx->BGPFCCR, DMA2D_BGPFCCR_CM, ColorMode); -} - -/** - * @brief Return DMA2D background color mode. - * @rmtoll BGPFCCR CM LL_DMA2D_BGND_GetColorMode - * @param DMA2Dx DMA2D Instance - * @retval Returned value can be one of the following values: - * @arg @ref LL_DMA2D_INPUT_MODE_ARGB8888 - * @arg @ref LL_DMA2D_INPUT_MODE_RGB888 - * @arg @ref LL_DMA2D_INPUT_MODE_RGB565 - * @arg @ref LL_DMA2D_INPUT_MODE_ARGB1555 - * @arg @ref LL_DMA2D_INPUT_MODE_ARGB4444 - * @arg @ref LL_DMA2D_INPUT_MODE_L8 - * @arg @ref LL_DMA2D_INPUT_MODE_AL44 - * @arg @ref LL_DMA2D_INPUT_MODE_AL88 - * @arg @ref LL_DMA2D_INPUT_MODE_L4 - * @arg @ref LL_DMA2D_INPUT_MODE_A8 - * @arg @ref LL_DMA2D_INPUT_MODE_A4 - */ -__STATIC_INLINE uint32_t LL_DMA2D_BGND_GetColorMode(DMA2D_TypeDef *DMA2Dx) -{ - return (uint32_t)(READ_BIT(DMA2Dx->BGPFCCR, DMA2D_BGPFCCR_CM)); -} - -/** - * @brief Set DMA2D background alpha mode. - * @rmtoll BGPFCCR AM LL_DMA2D_BGND_SetAlphaMode - * @param DMA2Dx DMA2D Instance - * @param AphaMode This parameter can be one of the following values: - * @arg @ref LL_DMA2D_ALPHA_MODE_NO_MODIF - * @arg @ref LL_DMA2D_ALPHA_MODE_REPLACE - * @arg @ref LL_DMA2D_ALPHA_MODE_COMBINE - * @retval None - */ -__STATIC_INLINE void LL_DMA2D_BGND_SetAlphaMode(DMA2D_TypeDef *DMA2Dx, uint32_t AphaMode) -{ - MODIFY_REG(DMA2Dx->BGPFCCR, DMA2D_BGPFCCR_AM, AphaMode); -} - -/** - * @brief Return DMA2D background alpha mode. - * @rmtoll BGPFCCR AM LL_DMA2D_BGND_GetAlphaMode - * @param DMA2Dx DMA2D Instance - * @retval Returned value can be one of the following values: - * @arg @ref LL_DMA2D_ALPHA_MODE_NO_MODIF - * @arg @ref LL_DMA2D_ALPHA_MODE_REPLACE - * @arg @ref LL_DMA2D_ALPHA_MODE_COMBINE - */ -__STATIC_INLINE uint32_t LL_DMA2D_BGND_GetAlphaMode(DMA2D_TypeDef *DMA2Dx) -{ - return (uint32_t)(READ_BIT(DMA2Dx->BGPFCCR, DMA2D_BGPFCCR_AM)); -} - -/** - * @brief Set DMA2D background alpha value, expressed on 8 bits ([7:0] bits). - * @rmtoll BGPFCCR ALPHA LL_DMA2D_BGND_SetAlpha - * @param DMA2Dx DMA2D Instance - * @param Alpha Value between Min_Data=0 and Max_Data=0xFF - * @retval None - */ -__STATIC_INLINE void LL_DMA2D_BGND_SetAlpha(DMA2D_TypeDef *DMA2Dx, uint32_t Alpha) -{ - MODIFY_REG(DMA2Dx->BGPFCCR, DMA2D_BGPFCCR_ALPHA, (Alpha << DMA2D_BGPFCCR_ALPHA_Pos)); -} - -/** - * @brief Return DMA2D background alpha value, expressed on 8 bits ([7:0] bits). - * @rmtoll BGPFCCR ALPHA LL_DMA2D_BGND_GetAlpha - * @param DMA2Dx DMA2D Instance - * @retval Alpha value between Min_Data=0 and Max_Data=0xFF - */ -__STATIC_INLINE uint32_t LL_DMA2D_BGND_GetAlpha(DMA2D_TypeDef *DMA2Dx) -{ - return (uint32_t)(READ_BIT(DMA2Dx->BGPFCCR, DMA2D_BGPFCCR_ALPHA) >> DMA2D_BGPFCCR_ALPHA_Pos); -} - - -/** - * @brief Set DMA2D background line offset, expressed on 14 bits ([13:0] bits). - * @rmtoll BGOR LO LL_DMA2D_BGND_SetLineOffset - * @param DMA2Dx DMA2D Instance - * @param LineOffset Value between Min_Data=0 and Max_Data=0x3FF - * @retval None - */ -__STATIC_INLINE void LL_DMA2D_BGND_SetLineOffset(DMA2D_TypeDef *DMA2Dx, uint32_t LineOffset) -{ - MODIFY_REG(DMA2Dx->BGOR, DMA2D_BGOR_LO, LineOffset); -} - -/** - * @brief Return DMA2D background line offset, expressed on 14 bits ([13:0] bits). - * @rmtoll BGOR LO LL_DMA2D_BGND_GetLineOffset - * @param DMA2Dx DMA2D Instance - * @retval Background line offset value between Min_Data=0 and Max_Data=0x3FF - */ -__STATIC_INLINE uint32_t LL_DMA2D_BGND_GetLineOffset(DMA2D_TypeDef *DMA2Dx) -{ - return (uint32_t)(READ_BIT(DMA2Dx->BGOR, DMA2D_BGOR_LO)); -} - -/** - * @brief Set DMA2D background color values, expressed on 24 bits ([23:0] bits). - * @rmtoll BGCOLR RED LL_DMA2D_BGND_SetColor - * @rmtoll BGCOLR GREEN LL_DMA2D_BGND_SetColor - * @rmtoll BGCOLR BLUE LL_DMA2D_BGND_SetColor - * @param DMA2Dx DMA2D Instance - * @param Red Value between Min_Data=0 and Max_Data=0xFF - * @param Green Value between Min_Data=0 and Max_Data=0xFF - * @param Blue Value between Min_Data=0 and Max_Data=0xFF - * @retval None - */ -__STATIC_INLINE void LL_DMA2D_BGND_SetColor(DMA2D_TypeDef *DMA2Dx, uint32_t Red, uint32_t Green, uint32_t Blue) -{ - MODIFY_REG(DMA2Dx->BGCOLR, (DMA2D_BGCOLR_RED | DMA2D_BGCOLR_GREEN | DMA2D_BGCOLR_BLUE), \ - ((Red << DMA2D_BGCOLR_RED_Pos) | (Green << DMA2D_BGCOLR_GREEN_Pos) | Blue)); -} - -/** - * @brief Set DMA2D background red color value, expressed on 8 bits ([7:0] bits). - * @rmtoll BGCOLR RED LL_DMA2D_BGND_SetRedColor - * @param DMA2Dx DMA2D Instance - * @param Red Value between Min_Data=0 and Max_Data=0xFF - * @retval None - */ -__STATIC_INLINE void LL_DMA2D_BGND_SetRedColor(DMA2D_TypeDef *DMA2Dx, uint32_t Red) -{ - MODIFY_REG(DMA2Dx->BGCOLR, DMA2D_BGCOLR_RED, (Red << DMA2D_BGCOLR_RED_Pos)); -} - -/** - * @brief Return DMA2D background red color value, expressed on 8 bits ([7:0] bits). - * @rmtoll BGCOLR RED LL_DMA2D_BGND_GetRedColor - * @param DMA2Dx DMA2D Instance - * @retval Red color value between Min_Data=0 and Max_Data=0xFF - */ -__STATIC_INLINE uint32_t LL_DMA2D_BGND_GetRedColor(DMA2D_TypeDef *DMA2Dx) -{ - return (uint32_t)(READ_BIT(DMA2Dx->BGCOLR, DMA2D_BGCOLR_RED) >> DMA2D_BGCOLR_RED_Pos); -} - -/** - * @brief Set DMA2D background green color value, expressed on 8 bits ([7:0] bits). - * @rmtoll BGCOLR GREEN LL_DMA2D_BGND_SetGreenColor - * @param DMA2Dx DMA2D Instance - * @param Green Value between Min_Data=0 and Max_Data=0xFF - * @retval None - */ -__STATIC_INLINE void LL_DMA2D_BGND_SetGreenColor(DMA2D_TypeDef *DMA2Dx, uint32_t Green) -{ - MODIFY_REG(DMA2Dx->BGCOLR, DMA2D_BGCOLR_GREEN, (Green << DMA2D_BGCOLR_GREEN_Pos)); -} - -/** - * @brief Return DMA2D background green color value, expressed on 8 bits ([7:0] bits). - * @rmtoll BGCOLR GREEN LL_DMA2D_BGND_GetGreenColor - * @param DMA2Dx DMA2D Instance - * @retval Green color value between Min_Data=0 and Max_Data=0xFF - */ -__STATIC_INLINE uint32_t LL_DMA2D_BGND_GetGreenColor(DMA2D_TypeDef *DMA2Dx) -{ - return (uint32_t)(READ_BIT(DMA2Dx->BGCOLR, DMA2D_BGCOLR_GREEN) >> DMA2D_BGCOLR_GREEN_Pos); -} - -/** - * @brief Set DMA2D background blue color value, expressed on 8 bits ([7:0] bits). - * @rmtoll BGCOLR BLUE LL_DMA2D_BGND_SetBlueColor - * @param DMA2Dx DMA2D Instance - * @param Blue Value between Min_Data=0 and Max_Data=0xFF - * @retval None - */ -__STATIC_INLINE void LL_DMA2D_BGND_SetBlueColor(DMA2D_TypeDef *DMA2Dx, uint32_t Blue) -{ - MODIFY_REG(DMA2Dx->BGCOLR, DMA2D_BGCOLR_BLUE, Blue); -} - -/** - * @brief Return DMA2D background blue color value, expressed on 8 bits ([7:0] bits). - * @rmtoll BGCOLR BLUE LL_DMA2D_BGND_GetBlueColor - * @param DMA2Dx DMA2D Instance - * @retval Blue color value between Min_Data=0 and Max_Data=0xFF - */ -__STATIC_INLINE uint32_t LL_DMA2D_BGND_GetBlueColor(DMA2D_TypeDef *DMA2Dx) -{ - return (uint32_t)(READ_BIT(DMA2Dx->BGCOLR, DMA2D_BGCOLR_BLUE)); -} - -/** - * @brief Set DMA2D background CLUT memory address, expressed on 32 bits ([31:0] bits). - * @rmtoll BGCMAR MA LL_DMA2D_BGND_SetCLUTMemAddr - * @param DMA2Dx DMA2D Instance - * @param CLUTMemoryAddress Value between Min_Data=0 and Max_Data=0xFFFFFFFF - * @retval None - */ -__STATIC_INLINE void LL_DMA2D_BGND_SetCLUTMemAddr(DMA2D_TypeDef *DMA2Dx, uint32_t CLUTMemoryAddress) -{ - LL_DMA2D_WriteReg(DMA2Dx, BGCMAR, CLUTMemoryAddress); -} - -/** - * @brief Get DMA2D background CLUT memory address, expressed on 32 bits ([31:0] bits). - * @rmtoll BGCMAR MA LL_DMA2D_BGND_GetCLUTMemAddr - * @param DMA2Dx DMA2D Instance - * @retval Background CLUT memory address value between Min_Data=0 and Max_Data=0xFFFFFFFF - */ -__STATIC_INLINE uint32_t LL_DMA2D_BGND_GetCLUTMemAddr(DMA2D_TypeDef *DMA2Dx) -{ - return (uint32_t)(LL_DMA2D_ReadReg(DMA2Dx, BGCMAR)); -} - -/** - * @brief Set DMA2D background CLUT size, expressed on 8 bits ([7:0] bits). - * @rmtoll BGPFCCR CS LL_DMA2D_BGND_SetCLUTSize - * @param DMA2Dx DMA2D Instance - * @param CLUTSize Value between Min_Data=0 and Max_Data=0xFF - * @retval None - */ -__STATIC_INLINE void LL_DMA2D_BGND_SetCLUTSize(DMA2D_TypeDef *DMA2Dx, uint32_t CLUTSize) -{ - MODIFY_REG(DMA2Dx->BGPFCCR, DMA2D_BGPFCCR_CS, (CLUTSize << DMA2D_BGPFCCR_CS_Pos)); -} - -/** - * @brief Get DMA2D background CLUT size, expressed on 8 bits ([7:0] bits). - * @rmtoll BGPFCCR CS LL_DMA2D_BGND_GetCLUTSize - * @param DMA2Dx DMA2D Instance - * @retval Background CLUT size value between Min_Data=0 and Max_Data=0xFF - */ -__STATIC_INLINE uint32_t LL_DMA2D_BGND_GetCLUTSize(DMA2D_TypeDef *DMA2Dx) -{ - return (uint32_t)(READ_BIT(DMA2Dx->BGPFCCR, DMA2D_BGPFCCR_CS) >> DMA2D_BGPFCCR_CS_Pos); -} - -/** - * @brief Set DMA2D background CLUT color mode. - * @rmtoll BGPFCCR CCM LL_DMA2D_BGND_SetCLUTColorMode - * @param DMA2Dx DMA2D Instance - * @param CLUTColorMode This parameter can be one of the following values: - * @arg @ref LL_DMA2D_CLUT_COLOR_MODE_ARGB8888 - * @arg @ref LL_DMA2D_CLUT_COLOR_MODE_RGB888 - * @retval None - */ -__STATIC_INLINE void LL_DMA2D_BGND_SetCLUTColorMode(DMA2D_TypeDef *DMA2Dx, uint32_t CLUTColorMode) -{ - MODIFY_REG(DMA2Dx->BGPFCCR, DMA2D_BGPFCCR_CCM, CLUTColorMode); -} - -/** - * @brief Return DMA2D background CLUT color mode. - * @rmtoll BGPFCCR CCM LL_DMA2D_BGND_GetCLUTColorMode - * @param DMA2Dx DMA2D Instance - * @retval Returned value can be one of the following values: - * @arg @ref LL_DMA2D_CLUT_COLOR_MODE_ARGB8888 - * @arg @ref LL_DMA2D_CLUT_COLOR_MODE_RGB888 - */ -__STATIC_INLINE uint32_t LL_DMA2D_BGND_GetCLUTColorMode(DMA2D_TypeDef *DMA2Dx) -{ - return (uint32_t)(READ_BIT(DMA2Dx->BGPFCCR, DMA2D_BGPFCCR_CCM)); -} - -/** - * @} - */ - -/** - * @} - */ - - -/** @defgroup DMA2D_LL_EF_FLAG_MANAGEMENT Flag Management - * @{ - */ - -/** - * @brief Check if the DMA2D Configuration Error Interrupt Flag is set or not - * @rmtoll ISR CEIF LL_DMA2D_IsActiveFlag_CE - * @param DMA2Dx DMA2D Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_DMA2D_IsActiveFlag_CE(DMA2D_TypeDef *DMA2Dx) -{ - return ((READ_BIT(DMA2Dx->ISR, DMA2D_ISR_CEIF) == (DMA2D_ISR_CEIF)) ? 1UL : 0UL); -} - -/** - * @brief Check if the DMA2D CLUT Transfer Complete Interrupt Flag is set or not - * @rmtoll ISR CTCIF LL_DMA2D_IsActiveFlag_CTC - * @param DMA2Dx DMA2D Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_DMA2D_IsActiveFlag_CTC(DMA2D_TypeDef *DMA2Dx) -{ - return ((READ_BIT(DMA2Dx->ISR, DMA2D_ISR_CTCIF) == (DMA2D_ISR_CTCIF)) ? 1UL : 0UL); -} - -/** - * @brief Check if the DMA2D CLUT Access Error Interrupt Flag is set or not - * @rmtoll ISR CAEIF LL_DMA2D_IsActiveFlag_CAE - * @param DMA2Dx DMA2D Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_DMA2D_IsActiveFlag_CAE(DMA2D_TypeDef *DMA2Dx) -{ - return ((READ_BIT(DMA2Dx->ISR, DMA2D_ISR_CAEIF) == (DMA2D_ISR_CAEIF)) ? 1UL : 0UL); -} - -/** - * @brief Check if the DMA2D Transfer Watermark Interrupt Flag is set or not - * @rmtoll ISR TWIF LL_DMA2D_IsActiveFlag_TW - * @param DMA2Dx DMA2D Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_DMA2D_IsActiveFlag_TW(DMA2D_TypeDef *DMA2Dx) -{ - return ((READ_BIT(DMA2Dx->ISR, DMA2D_ISR_TWIF) == (DMA2D_ISR_TWIF)) ? 1UL : 0UL); -} - -/** - * @brief Check if the DMA2D Transfer Complete Interrupt Flag is set or not - * @rmtoll ISR TCIF LL_DMA2D_IsActiveFlag_TC - * @param DMA2Dx DMA2D Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_DMA2D_IsActiveFlag_TC(DMA2D_TypeDef *DMA2Dx) -{ - return ((READ_BIT(DMA2Dx->ISR, DMA2D_ISR_TCIF) == (DMA2D_ISR_TCIF)) ? 1UL : 0UL); -} - -/** - * @brief Check if the DMA2D Transfer Error Interrupt Flag is set or not - * @rmtoll ISR TEIF LL_DMA2D_IsActiveFlag_TE - * @param DMA2Dx DMA2D Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_DMA2D_IsActiveFlag_TE(DMA2D_TypeDef *DMA2Dx) -{ - return ((READ_BIT(DMA2Dx->ISR, DMA2D_ISR_TEIF) == (DMA2D_ISR_TEIF)) ? 1UL : 0UL); -} - -/** - * @brief Clear DMA2D Configuration Error Interrupt Flag - * @rmtoll IFCR CCEIF LL_DMA2D_ClearFlag_CE - * @param DMA2Dx DMA2D Instance - * @retval None - */ -__STATIC_INLINE void LL_DMA2D_ClearFlag_CE(DMA2D_TypeDef *DMA2Dx) -{ - WRITE_REG(DMA2Dx->IFCR, DMA2D_IFCR_CCEIF); -} - -/** - * @brief Clear DMA2D CLUT Transfer Complete Interrupt Flag - * @rmtoll IFCR CCTCIF LL_DMA2D_ClearFlag_CTC - * @param DMA2Dx DMA2D Instance - * @retval None - */ -__STATIC_INLINE void LL_DMA2D_ClearFlag_CTC(DMA2D_TypeDef *DMA2Dx) -{ - WRITE_REG(DMA2Dx->IFCR, DMA2D_IFCR_CCTCIF); -} - -/** - * @brief Clear DMA2D CLUT Access Error Interrupt Flag - * @rmtoll IFCR CAECIF LL_DMA2D_ClearFlag_CAE - * @param DMA2Dx DMA2D Instance - * @retval None - */ -__STATIC_INLINE void LL_DMA2D_ClearFlag_CAE(DMA2D_TypeDef *DMA2Dx) -{ - WRITE_REG(DMA2Dx->IFCR, DMA2D_IFCR_CAECIF); -} - -/** - * @brief Clear DMA2D Transfer Watermark Interrupt Flag - * @rmtoll IFCR CTWIF LL_DMA2D_ClearFlag_TW - * @param DMA2Dx DMA2D Instance - * @retval None - */ -__STATIC_INLINE void LL_DMA2D_ClearFlag_TW(DMA2D_TypeDef *DMA2Dx) -{ - WRITE_REG(DMA2Dx->IFCR, DMA2D_IFCR_CTWIF); -} - -/** - * @brief Clear DMA2D Transfer Complete Interrupt Flag - * @rmtoll IFCR CTCIF LL_DMA2D_ClearFlag_TC - * @param DMA2Dx DMA2D Instance - * @retval None - */ -__STATIC_INLINE void LL_DMA2D_ClearFlag_TC(DMA2D_TypeDef *DMA2Dx) -{ - WRITE_REG(DMA2Dx->IFCR, DMA2D_IFCR_CTCIF); -} - -/** - * @brief Clear DMA2D Transfer Error Interrupt Flag - * @rmtoll IFCR CTEIF LL_DMA2D_ClearFlag_TE - * @param DMA2Dx DMA2D Instance - * @retval None - */ -__STATIC_INLINE void LL_DMA2D_ClearFlag_TE(DMA2D_TypeDef *DMA2Dx) -{ - WRITE_REG(DMA2Dx->IFCR, DMA2D_IFCR_CTEIF); -} - -/** - * @} - */ - -/** @defgroup DMA2D_LL_EF_IT_MANAGEMENT Interruption Management - * @{ - */ - -/** - * @brief Enable Configuration Error Interrupt - * @rmtoll CR CEIE LL_DMA2D_EnableIT_CE - * @param DMA2Dx DMA2D Instance - * @retval None - */ -__STATIC_INLINE void LL_DMA2D_EnableIT_CE(DMA2D_TypeDef *DMA2Dx) -{ - SET_BIT(DMA2Dx->CR, DMA2D_CR_CEIE); -} - -/** - * @brief Enable CLUT Transfer Complete Interrupt - * @rmtoll CR CTCIE LL_DMA2D_EnableIT_CTC - * @param DMA2Dx DMA2D Instance - * @retval None - */ -__STATIC_INLINE void LL_DMA2D_EnableIT_CTC(DMA2D_TypeDef *DMA2Dx) -{ - SET_BIT(DMA2Dx->CR, DMA2D_CR_CTCIE); -} - -/** - * @brief Enable CLUT Access Error Interrupt - * @rmtoll CR CAEIE LL_DMA2D_EnableIT_CAE - * @param DMA2Dx DMA2D Instance - * @retval None - */ -__STATIC_INLINE void LL_DMA2D_EnableIT_CAE(DMA2D_TypeDef *DMA2Dx) -{ - SET_BIT(DMA2Dx->CR, DMA2D_CR_CAEIE); -} - -/** - * @brief Enable Transfer Watermark Interrupt - * @rmtoll CR TWIE LL_DMA2D_EnableIT_TW - * @param DMA2Dx DMA2D Instance - * @retval None - */ -__STATIC_INLINE void LL_DMA2D_EnableIT_TW(DMA2D_TypeDef *DMA2Dx) -{ - SET_BIT(DMA2Dx->CR, DMA2D_CR_TWIE); -} - -/** - * @brief Enable Transfer Complete Interrupt - * @rmtoll CR TCIE LL_DMA2D_EnableIT_TC - * @param DMA2Dx DMA2D Instance - * @retval None - */ -__STATIC_INLINE void LL_DMA2D_EnableIT_TC(DMA2D_TypeDef *DMA2Dx) -{ - SET_BIT(DMA2Dx->CR, DMA2D_CR_TCIE); -} - -/** - * @brief Enable Transfer Error Interrupt - * @rmtoll CR TEIE LL_DMA2D_EnableIT_TE - * @param DMA2Dx DMA2D Instance - * @retval None - */ -__STATIC_INLINE void LL_DMA2D_EnableIT_TE(DMA2D_TypeDef *DMA2Dx) -{ - SET_BIT(DMA2Dx->CR, DMA2D_CR_TEIE); -} - -/** - * @brief Disable Configuration Error Interrupt - * @rmtoll CR CEIE LL_DMA2D_DisableIT_CE - * @param DMA2Dx DMA2D Instance - * @retval None - */ -__STATIC_INLINE void LL_DMA2D_DisableIT_CE(DMA2D_TypeDef *DMA2Dx) -{ - CLEAR_BIT(DMA2Dx->CR, DMA2D_CR_CEIE); -} - -/** - * @brief Disable CLUT Transfer Complete Interrupt - * @rmtoll CR CTCIE LL_DMA2D_DisableIT_CTC - * @param DMA2Dx DMA2D Instance - * @retval None - */ -__STATIC_INLINE void LL_DMA2D_DisableIT_CTC(DMA2D_TypeDef *DMA2Dx) -{ - CLEAR_BIT(DMA2Dx->CR, DMA2D_CR_CTCIE); -} - -/** - * @brief Disable CLUT Access Error Interrupt - * @rmtoll CR CAEIE LL_DMA2D_DisableIT_CAE - * @param DMA2Dx DMA2D Instance - * @retval None - */ -__STATIC_INLINE void LL_DMA2D_DisableIT_CAE(DMA2D_TypeDef *DMA2Dx) -{ - CLEAR_BIT(DMA2Dx->CR, DMA2D_CR_CAEIE); -} - -/** - * @brief Disable Transfer Watermark Interrupt - * @rmtoll CR TWIE LL_DMA2D_DisableIT_TW - * @param DMA2Dx DMA2D Instance - * @retval None - */ -__STATIC_INLINE void LL_DMA2D_DisableIT_TW(DMA2D_TypeDef *DMA2Dx) -{ - CLEAR_BIT(DMA2Dx->CR, DMA2D_CR_TWIE); -} - -/** - * @brief Disable Transfer Complete Interrupt - * @rmtoll CR TCIE LL_DMA2D_DisableIT_TC - * @param DMA2Dx DMA2D Instance - * @retval None - */ -__STATIC_INLINE void LL_DMA2D_DisableIT_TC(DMA2D_TypeDef *DMA2Dx) -{ - CLEAR_BIT(DMA2Dx->CR, DMA2D_CR_TCIE); -} - -/** - * @brief Disable Transfer Error Interrupt - * @rmtoll CR TEIE LL_DMA2D_DisableIT_TE - * @param DMA2Dx DMA2D Instance - * @retval None - */ -__STATIC_INLINE void LL_DMA2D_DisableIT_TE(DMA2D_TypeDef *DMA2Dx) -{ - CLEAR_BIT(DMA2Dx->CR, DMA2D_CR_TEIE); -} - -/** - * @brief Check if the DMA2D Configuration Error interrupt source is enabled or disabled. - * @rmtoll CR CEIE LL_DMA2D_IsEnabledIT_CE - * @param DMA2Dx DMA2D Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_DMA2D_IsEnabledIT_CE(DMA2D_TypeDef *DMA2Dx) -{ - return ((READ_BIT(DMA2Dx->CR, DMA2D_CR_CEIE) == (DMA2D_CR_CEIE)) ? 1UL : 0UL); -} - -/** - * @brief Check if the DMA2D CLUT Transfer Complete interrupt source is enabled or disabled. - * @rmtoll CR CTCIE LL_DMA2D_IsEnabledIT_CTC - * @param DMA2Dx DMA2D Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_DMA2D_IsEnabledIT_CTC(DMA2D_TypeDef *DMA2Dx) -{ - return ((READ_BIT(DMA2Dx->CR, DMA2D_CR_CTCIE) == (DMA2D_CR_CTCIE)) ? 1UL : 0UL); -} - -/** - * @brief Check if the DMA2D CLUT Access Error interrupt source is enabled or disabled. - * @rmtoll CR CAEIE LL_DMA2D_IsEnabledIT_CAE - * @param DMA2Dx DMA2D Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_DMA2D_IsEnabledIT_CAE(DMA2D_TypeDef *DMA2Dx) -{ - return ((READ_BIT(DMA2Dx->CR, DMA2D_CR_CAEIE) == (DMA2D_CR_CAEIE)) ? 1UL : 0UL); -} - -/** - * @brief Check if the DMA2D Transfer Watermark interrupt source is enabled or disabled. - * @rmtoll CR TWIE LL_DMA2D_IsEnabledIT_TW - * @param DMA2Dx DMA2D Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_DMA2D_IsEnabledIT_TW(DMA2D_TypeDef *DMA2Dx) -{ - return ((READ_BIT(DMA2Dx->CR, DMA2D_CR_TWIE) == (DMA2D_CR_TWIE)) ? 1UL : 0UL); -} - -/** - * @brief Check if the DMA2D Transfer Complete interrupt source is enabled or disabled. - * @rmtoll CR TCIE LL_DMA2D_IsEnabledIT_TC - * @param DMA2Dx DMA2D Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_DMA2D_IsEnabledIT_TC(DMA2D_TypeDef *DMA2Dx) -{ - return ((READ_BIT(DMA2Dx->CR, DMA2D_CR_TCIE) == (DMA2D_CR_TCIE)) ? 1UL : 0UL); -} - -/** - * @brief Check if the DMA2D Transfer Error interrupt source is enabled or disabled. - * @rmtoll CR TEIE LL_DMA2D_IsEnabledIT_TE - * @param DMA2Dx DMA2D Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_DMA2D_IsEnabledIT_TE(DMA2D_TypeDef *DMA2Dx) -{ - return ((READ_BIT(DMA2Dx->CR, DMA2D_CR_TEIE) == (DMA2D_CR_TEIE)) ? 1UL : 0UL); -} - - - -/** - * @} - */ - -#if defined(USE_FULL_LL_DRIVER) -/** @defgroup DMA2D_LL_EF_Init_Functions Initialization and De-initialization Functions - * @{ - */ - -ErrorStatus LL_DMA2D_DeInit(DMA2D_TypeDef *DMA2Dx); -ErrorStatus LL_DMA2D_Init(DMA2D_TypeDef *DMA2Dx, LL_DMA2D_InitTypeDef *DMA2D_InitStruct); -void LL_DMA2D_StructInit(LL_DMA2D_InitTypeDef *DMA2D_InitStruct); -void LL_DMA2D_ConfigLayer(DMA2D_TypeDef *DMA2Dx, LL_DMA2D_LayerCfgTypeDef *DMA2D_LayerCfg, uint32_t LayerIdx); -void LL_DMA2D_LayerCfgStructInit(LL_DMA2D_LayerCfgTypeDef *DMA2D_LayerCfg); -void LL_DMA2D_ConfigOutputColor(DMA2D_TypeDef *DMA2Dx, LL_DMA2D_ColorTypeDef *DMA2D_ColorStruct); -uint32_t LL_DMA2D_GetOutputBlueColor(DMA2D_TypeDef *DMA2Dx, uint32_t ColorMode); -uint32_t LL_DMA2D_GetOutputGreenColor(DMA2D_TypeDef *DMA2Dx, uint32_t ColorMode); -uint32_t LL_DMA2D_GetOutputRedColor(DMA2D_TypeDef *DMA2Dx, uint32_t ColorMode); -uint32_t LL_DMA2D_GetOutputAlphaColor(DMA2D_TypeDef *DMA2Dx, uint32_t ColorMode); -void LL_DMA2D_ConfigSize(DMA2D_TypeDef *DMA2Dx, uint32_t NbrOfLines, uint32_t NbrOfPixelsPerLines); - -/** - * @} - */ -#endif /* USE_FULL_LL_DRIVER */ - -/** - * @} - */ - -/** - * @} - */ - -#endif /* defined (DMA2D) */ - -/** - * @} - */ - -#ifdef __cplusplus -} -#endif - -#endif /* STM32F4xx_LL_DMA2D_H */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_exti.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_exti.h deleted file mode 100644 index c816e266efa32a..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_exti.h +++ /dev/null @@ -1,956 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_ll_exti.h - * @author MCD Application Team - * @brief Header file of EXTI LL module. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef __STM32F4xx_LL_EXTI_H -#define __STM32F4xx_LL_EXTI_H - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx.h" - -/** @addtogroup STM32F4xx_LL_Driver - * @{ - */ - -#if defined (EXTI) - -/** @defgroup EXTI_LL EXTI - * @{ - */ - -/* Private types -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private constants ---------------------------------------------------------*/ -/* Private Macros ------------------------------------------------------------*/ -#if defined(USE_FULL_LL_DRIVER) -/** @defgroup EXTI_LL_Private_Macros EXTI Private Macros - * @{ - */ -/** - * @} - */ -#endif /*USE_FULL_LL_DRIVER*/ -/* Exported types ------------------------------------------------------------*/ -#if defined(USE_FULL_LL_DRIVER) -/** @defgroup EXTI_LL_ES_INIT EXTI Exported Init structure - * @{ - */ -typedef struct -{ - - uint32_t Line_0_31; /*!< Specifies the EXTI lines to be enabled or disabled for Lines in range 0 to 31 - This parameter can be any combination of @ref EXTI_LL_EC_LINE */ - - FunctionalState LineCommand; /*!< Specifies the new state of the selected EXTI lines. - This parameter can be set either to ENABLE or DISABLE */ - - uint8_t Mode; /*!< Specifies the mode for the EXTI lines. - This parameter can be a value of @ref EXTI_LL_EC_MODE. */ - - uint8_t Trigger; /*!< Specifies the trigger signal active edge for the EXTI lines. - This parameter can be a value of @ref EXTI_LL_EC_TRIGGER. */ -} LL_EXTI_InitTypeDef; - -/** - * @} - */ -#endif /*USE_FULL_LL_DRIVER*/ - -/* Exported constants --------------------------------------------------------*/ -/** @defgroup EXTI_LL_Exported_Constants EXTI Exported Constants - * @{ - */ - -/** @defgroup EXTI_LL_EC_LINE LINE - * @{ - */ -#define LL_EXTI_LINE_0 EXTI_IMR_IM0 /*!< Extended line 0 */ -#define LL_EXTI_LINE_1 EXTI_IMR_IM1 /*!< Extended line 1 */ -#define LL_EXTI_LINE_2 EXTI_IMR_IM2 /*!< Extended line 2 */ -#define LL_EXTI_LINE_3 EXTI_IMR_IM3 /*!< Extended line 3 */ -#define LL_EXTI_LINE_4 EXTI_IMR_IM4 /*!< Extended line 4 */ -#define LL_EXTI_LINE_5 EXTI_IMR_IM5 /*!< Extended line 5 */ -#define LL_EXTI_LINE_6 EXTI_IMR_IM6 /*!< Extended line 6 */ -#define LL_EXTI_LINE_7 EXTI_IMR_IM7 /*!< Extended line 7 */ -#define LL_EXTI_LINE_8 EXTI_IMR_IM8 /*!< Extended line 8 */ -#define LL_EXTI_LINE_9 EXTI_IMR_IM9 /*!< Extended line 9 */ -#define LL_EXTI_LINE_10 EXTI_IMR_IM10 /*!< Extended line 10 */ -#define LL_EXTI_LINE_11 EXTI_IMR_IM11 /*!< Extended line 11 */ -#define LL_EXTI_LINE_12 EXTI_IMR_IM12 /*!< Extended line 12 */ -#define LL_EXTI_LINE_13 EXTI_IMR_IM13 /*!< Extended line 13 */ -#define LL_EXTI_LINE_14 EXTI_IMR_IM14 /*!< Extended line 14 */ -#define LL_EXTI_LINE_15 EXTI_IMR_IM15 /*!< Extended line 15 */ -#if defined(EXTI_IMR_IM16) -#define LL_EXTI_LINE_16 EXTI_IMR_IM16 /*!< Extended line 16 */ -#endif -#define LL_EXTI_LINE_17 EXTI_IMR_IM17 /*!< Extended line 17 */ -#if defined(EXTI_IMR_IM18) -#define LL_EXTI_LINE_18 EXTI_IMR_IM18 /*!< Extended line 18 */ -#endif -#define LL_EXTI_LINE_19 EXTI_IMR_IM19 /*!< Extended line 19 */ -#if defined(EXTI_IMR_IM20) -#define LL_EXTI_LINE_20 EXTI_IMR_IM20 /*!< Extended line 20 */ -#endif -#if defined(EXTI_IMR_IM21) -#define LL_EXTI_LINE_21 EXTI_IMR_IM21 /*!< Extended line 21 */ -#endif -#if defined(EXTI_IMR_IM22) -#define LL_EXTI_LINE_22 EXTI_IMR_IM22 /*!< Extended line 22 */ -#endif -#if defined(EXTI_IMR_IM23) -#define LL_EXTI_LINE_23 EXTI_IMR_IM23 /*!< Extended line 23 */ -#endif -#if defined(EXTI_IMR_IM24) -#define LL_EXTI_LINE_24 EXTI_IMR_IM24 /*!< Extended line 24 */ -#endif -#if defined(EXTI_IMR_IM25) -#define LL_EXTI_LINE_25 EXTI_IMR_IM25 /*!< Extended line 25 */ -#endif -#if defined(EXTI_IMR_IM26) -#define LL_EXTI_LINE_26 EXTI_IMR_IM26 /*!< Extended line 26 */ -#endif -#if defined(EXTI_IMR_IM27) -#define LL_EXTI_LINE_27 EXTI_IMR_IM27 /*!< Extended line 27 */ -#endif -#if defined(EXTI_IMR_IM28) -#define LL_EXTI_LINE_28 EXTI_IMR_IM28 /*!< Extended line 28 */ -#endif -#if defined(EXTI_IMR_IM29) -#define LL_EXTI_LINE_29 EXTI_IMR_IM29 /*!< Extended line 29 */ -#endif -#if defined(EXTI_IMR_IM30) -#define LL_EXTI_LINE_30 EXTI_IMR_IM30 /*!< Extended line 30 */ -#endif -#if defined(EXTI_IMR_IM31) -#define LL_EXTI_LINE_31 EXTI_IMR_IM31 /*!< Extended line 31 */ -#endif -#define LL_EXTI_LINE_ALL_0_31 EXTI_IMR_IM /*!< All Extended line not reserved*/ - - -#define LL_EXTI_LINE_ALL ((uint32_t)0xFFFFFFFFU) /*!< All Extended line */ - -#if defined(USE_FULL_LL_DRIVER) -#define LL_EXTI_LINE_NONE ((uint32_t)0x00000000U) /*!< None Extended line */ -#endif /*USE_FULL_LL_DRIVER*/ - -/** - * @} - */ -#if defined(USE_FULL_LL_DRIVER) - -/** @defgroup EXTI_LL_EC_MODE Mode - * @{ - */ -#define LL_EXTI_MODE_IT ((uint8_t)0x00U) /*!< Interrupt Mode */ -#define LL_EXTI_MODE_EVENT ((uint8_t)0x01U) /*!< Event Mode */ -#define LL_EXTI_MODE_IT_EVENT ((uint8_t)0x02U) /*!< Interrupt & Event Mode */ -/** - * @} - */ - -/** @defgroup EXTI_LL_EC_TRIGGER Edge Trigger - * @{ - */ -#define LL_EXTI_TRIGGER_NONE ((uint8_t)0x00U) /*!< No Trigger Mode */ -#define LL_EXTI_TRIGGER_RISING ((uint8_t)0x01U) /*!< Trigger Rising Mode */ -#define LL_EXTI_TRIGGER_FALLING ((uint8_t)0x02U) /*!< Trigger Falling Mode */ -#define LL_EXTI_TRIGGER_RISING_FALLING ((uint8_t)0x03U) /*!< Trigger Rising & Falling Mode */ - -/** - * @} - */ - - -#endif /*USE_FULL_LL_DRIVER*/ - - -/** - * @} - */ - -/* Exported macro ------------------------------------------------------------*/ -/** @defgroup EXTI_LL_Exported_Macros EXTI Exported Macros - * @{ - */ - -/** @defgroup EXTI_LL_EM_WRITE_READ Common Write and read registers Macros - * @{ - */ - -/** - * @brief Write a value in EXTI register - * @param __REG__ Register to be written - * @param __VALUE__ Value to be written in the register - * @retval None - */ -#define LL_EXTI_WriteReg(__REG__, __VALUE__) WRITE_REG(EXTI->__REG__, (__VALUE__)) - -/** - * @brief Read a value in EXTI register - * @param __REG__ Register to be read - * @retval Register value - */ -#define LL_EXTI_ReadReg(__REG__) READ_REG(EXTI->__REG__) -/** - * @} - */ - - -/** - * @} - */ - - - -/* Exported functions --------------------------------------------------------*/ -/** @defgroup EXTI_LL_Exported_Functions EXTI Exported Functions - * @{ - */ -/** @defgroup EXTI_LL_EF_IT_Management IT_Management - * @{ - */ - -/** - * @brief Enable ExtiLine Interrupt request for Lines in range 0 to 31 - * @note The reset value for the direct or internal lines (see RM) - * is set to 1 in order to enable the interrupt by default. - * Bits are set automatically at Power on. - * @rmtoll IMR IMx LL_EXTI_EnableIT_0_31 - * @param ExtiLine This parameter can be one of the following values: - * @arg @ref LL_EXTI_LINE_0 - * @arg @ref LL_EXTI_LINE_1 - * @arg @ref LL_EXTI_LINE_2 - * @arg @ref LL_EXTI_LINE_3 - * @arg @ref LL_EXTI_LINE_4 - * @arg @ref LL_EXTI_LINE_5 - * @arg @ref LL_EXTI_LINE_6 - * @arg @ref LL_EXTI_LINE_7 - * @arg @ref LL_EXTI_LINE_8 - * @arg @ref LL_EXTI_LINE_9 - * @arg @ref LL_EXTI_LINE_10 - * @arg @ref LL_EXTI_LINE_11 - * @arg @ref LL_EXTI_LINE_12 - * @arg @ref LL_EXTI_LINE_13 - * @arg @ref LL_EXTI_LINE_14 - * @arg @ref LL_EXTI_LINE_15 - * @arg @ref LL_EXTI_LINE_16 - * @arg @ref LL_EXTI_LINE_17 - * @arg @ref LL_EXTI_LINE_18 - * @arg @ref LL_EXTI_LINE_19(*) - * @arg @ref LL_EXTI_LINE_20(*) - * @arg @ref LL_EXTI_LINE_21 - * @arg @ref LL_EXTI_LINE_22 - * @arg @ref LL_EXTI_LINE_23(*) - * @arg @ref LL_EXTI_LINE_ALL_0_31 - * @note (*): Available in some devices - * @note Please check each device line mapping for EXTI Line availability - * @retval None - */ -__STATIC_INLINE void LL_EXTI_EnableIT_0_31(uint32_t ExtiLine) -{ - SET_BIT(EXTI->IMR, ExtiLine); -} - -/** - * @brief Disable ExtiLine Interrupt request for Lines in range 0 to 31 - * @note The reset value for the direct or internal lines (see RM) - * is set to 1 in order to enable the interrupt by default. - * Bits are set automatically at Power on. - * @rmtoll IMR IMx LL_EXTI_DisableIT_0_31 - * @param ExtiLine This parameter can be one of the following values: - * @arg @ref LL_EXTI_LINE_0 - * @arg @ref LL_EXTI_LINE_1 - * @arg @ref LL_EXTI_LINE_2 - * @arg @ref LL_EXTI_LINE_3 - * @arg @ref LL_EXTI_LINE_4 - * @arg @ref LL_EXTI_LINE_5 - * @arg @ref LL_EXTI_LINE_6 - * @arg @ref LL_EXTI_LINE_7 - * @arg @ref LL_EXTI_LINE_8 - * @arg @ref LL_EXTI_LINE_9 - * @arg @ref LL_EXTI_LINE_10 - * @arg @ref LL_EXTI_LINE_11 - * @arg @ref LL_EXTI_LINE_12 - * @arg @ref LL_EXTI_LINE_13 - * @arg @ref LL_EXTI_LINE_14 - * @arg @ref LL_EXTI_LINE_15 - * @arg @ref LL_EXTI_LINE_16 - * @arg @ref LL_EXTI_LINE_17 - * @arg @ref LL_EXTI_LINE_18 - * @arg @ref LL_EXTI_LINE_19(*) - * @arg @ref LL_EXTI_LINE_20(*) - * @arg @ref LL_EXTI_LINE_21 - * @arg @ref LL_EXTI_LINE_22 - * @arg @ref LL_EXTI_LINE_23(*) - * @arg @ref LL_EXTI_LINE_ALL_0_31 - * @note (*): Available in some devices - * @note Please check each device line mapping for EXTI Line availability - * @retval None - */ -__STATIC_INLINE void LL_EXTI_DisableIT_0_31(uint32_t ExtiLine) -{ - CLEAR_BIT(EXTI->IMR, ExtiLine); -} - - -/** - * @brief Indicate if ExtiLine Interrupt request is enabled for Lines in range 0 to 31 - * @note The reset value for the direct or internal lines (see RM) - * is set to 1 in order to enable the interrupt by default. - * Bits are set automatically at Power on. - * @rmtoll IMR IMx LL_EXTI_IsEnabledIT_0_31 - * @param ExtiLine This parameter can be one of the following values: - * @arg @ref LL_EXTI_LINE_0 - * @arg @ref LL_EXTI_LINE_1 - * @arg @ref LL_EXTI_LINE_2 - * @arg @ref LL_EXTI_LINE_3 - * @arg @ref LL_EXTI_LINE_4 - * @arg @ref LL_EXTI_LINE_5 - * @arg @ref LL_EXTI_LINE_6 - * @arg @ref LL_EXTI_LINE_7 - * @arg @ref LL_EXTI_LINE_8 - * @arg @ref LL_EXTI_LINE_9 - * @arg @ref LL_EXTI_LINE_10 - * @arg @ref LL_EXTI_LINE_11 - * @arg @ref LL_EXTI_LINE_12 - * @arg @ref LL_EXTI_LINE_13 - * @arg @ref LL_EXTI_LINE_14 - * @arg @ref LL_EXTI_LINE_15 - * @arg @ref LL_EXTI_LINE_16 - * @arg @ref LL_EXTI_LINE_17 - * @arg @ref LL_EXTI_LINE_18 - * @arg @ref LL_EXTI_LINE_19(*) - * @arg @ref LL_EXTI_LINE_20(*) - * @arg @ref LL_EXTI_LINE_21 - * @arg @ref LL_EXTI_LINE_22 - * @arg @ref LL_EXTI_LINE_23(*) - * @arg @ref LL_EXTI_LINE_ALL_0_31 - * @note (*): Available in some devices - * @note Please check each device line mapping for EXTI Line availability - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_EXTI_IsEnabledIT_0_31(uint32_t ExtiLine) -{ - return (READ_BIT(EXTI->IMR, ExtiLine) == (ExtiLine)); -} - - -/** - * @} - */ - -/** @defgroup EXTI_LL_EF_Event_Management Event_Management - * @{ - */ - -/** - * @brief Enable ExtiLine Event request for Lines in range 0 to 31 - * @rmtoll EMR EMx LL_EXTI_EnableEvent_0_31 - * @param ExtiLine This parameter can be one of the following values: - * @arg @ref LL_EXTI_LINE_0 - * @arg @ref LL_EXTI_LINE_1 - * @arg @ref LL_EXTI_LINE_2 - * @arg @ref LL_EXTI_LINE_3 - * @arg @ref LL_EXTI_LINE_4 - * @arg @ref LL_EXTI_LINE_5 - * @arg @ref LL_EXTI_LINE_6 - * @arg @ref LL_EXTI_LINE_7 - * @arg @ref LL_EXTI_LINE_8 - * @arg @ref LL_EXTI_LINE_9 - * @arg @ref LL_EXTI_LINE_10 - * @arg @ref LL_EXTI_LINE_11 - * @arg @ref LL_EXTI_LINE_12 - * @arg @ref LL_EXTI_LINE_13 - * @arg @ref LL_EXTI_LINE_14 - * @arg @ref LL_EXTI_LINE_15 - * @arg @ref LL_EXTI_LINE_16 - * @arg @ref LL_EXTI_LINE_17 - * @arg @ref LL_EXTI_LINE_18 - * @arg @ref LL_EXTI_LINE_19(*) - * @arg @ref LL_EXTI_LINE_20(*) - * @arg @ref LL_EXTI_LINE_21 - * @arg @ref LL_EXTI_LINE_22 - * @arg @ref LL_EXTI_LINE_23(*) - * @arg @ref LL_EXTI_LINE_ALL_0_31 - * @note (*): Available in some devices - * @note Please check each device line mapping for EXTI Line availability - * @retval None - */ -__STATIC_INLINE void LL_EXTI_EnableEvent_0_31(uint32_t ExtiLine) -{ - SET_BIT(EXTI->EMR, ExtiLine); - -} - - -/** - * @brief Disable ExtiLine Event request for Lines in range 0 to 31 - * @rmtoll EMR EMx LL_EXTI_DisableEvent_0_31 - * @param ExtiLine This parameter can be one of the following values: - * @arg @ref LL_EXTI_LINE_0 - * @arg @ref LL_EXTI_LINE_1 - * @arg @ref LL_EXTI_LINE_2 - * @arg @ref LL_EXTI_LINE_3 - * @arg @ref LL_EXTI_LINE_4 - * @arg @ref LL_EXTI_LINE_5 - * @arg @ref LL_EXTI_LINE_6 - * @arg @ref LL_EXTI_LINE_7 - * @arg @ref LL_EXTI_LINE_8 - * @arg @ref LL_EXTI_LINE_9 - * @arg @ref LL_EXTI_LINE_10 - * @arg @ref LL_EXTI_LINE_11 - * @arg @ref LL_EXTI_LINE_12 - * @arg @ref LL_EXTI_LINE_13 - * @arg @ref LL_EXTI_LINE_14 - * @arg @ref LL_EXTI_LINE_15 - * @arg @ref LL_EXTI_LINE_16 - * @arg @ref LL_EXTI_LINE_17 - * @arg @ref LL_EXTI_LINE_18 - * @arg @ref LL_EXTI_LINE_19(*) - * @arg @ref LL_EXTI_LINE_20(*) - * @arg @ref LL_EXTI_LINE_21 - * @arg @ref LL_EXTI_LINE_22 - * @arg @ref LL_EXTI_LINE_23(*) - * @arg @ref LL_EXTI_LINE_ALL_0_31 - * @note (*): Available in some devices - * @note Please check each device line mapping for EXTI Line availability - * @retval None - */ -__STATIC_INLINE void LL_EXTI_DisableEvent_0_31(uint32_t ExtiLine) -{ - CLEAR_BIT(EXTI->EMR, ExtiLine); -} - - -/** - * @brief Indicate if ExtiLine Event request is enabled for Lines in range 0 to 31 - * @rmtoll EMR EMx LL_EXTI_IsEnabledEvent_0_31 - * @param ExtiLine This parameter can be one of the following values: - * @arg @ref LL_EXTI_LINE_0 - * @arg @ref LL_EXTI_LINE_1 - * @arg @ref LL_EXTI_LINE_2 - * @arg @ref LL_EXTI_LINE_3 - * @arg @ref LL_EXTI_LINE_4 - * @arg @ref LL_EXTI_LINE_5 - * @arg @ref LL_EXTI_LINE_6 - * @arg @ref LL_EXTI_LINE_7 - * @arg @ref LL_EXTI_LINE_8 - * @arg @ref LL_EXTI_LINE_9 - * @arg @ref LL_EXTI_LINE_10 - * @arg @ref LL_EXTI_LINE_11 - * @arg @ref LL_EXTI_LINE_12 - * @arg @ref LL_EXTI_LINE_13 - * @arg @ref LL_EXTI_LINE_14 - * @arg @ref LL_EXTI_LINE_15 - * @arg @ref LL_EXTI_LINE_16 - * @arg @ref LL_EXTI_LINE_17 - * @arg @ref LL_EXTI_LINE_18 - * @arg @ref LL_EXTI_LINE_19(*) - * @arg @ref LL_EXTI_LINE_20(*) - * @arg @ref LL_EXTI_LINE_21 - * @arg @ref LL_EXTI_LINE_22 - * @arg @ref LL_EXTI_LINE_23(*) - * @arg @ref LL_EXTI_LINE_ALL_0_31 - * @note (*): Available in some devices - * @note Please check each device line mapping for EXTI Line availability - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_EXTI_IsEnabledEvent_0_31(uint32_t ExtiLine) -{ - return (READ_BIT(EXTI->EMR, ExtiLine) == (ExtiLine)); - -} - - -/** - * @} - */ - -/** @defgroup EXTI_LL_EF_Rising_Trigger_Management Rising_Trigger_Management - * @{ - */ - -/** - * @brief Enable ExtiLine Rising Edge Trigger for Lines in range 0 to 31 - * @note The configurable wakeup lines are edge-triggered. No glitch must be - * generated on these lines. If a rising edge on a configurable interrupt - * line occurs during a write operation in the EXTI_RTSR register, the - * pending bit is not set. - * Rising and falling edge triggers can be set for - * the same interrupt line. In this case, both generate a trigger - * condition. - * @rmtoll RTSR RTx LL_EXTI_EnableRisingTrig_0_31 - * @param ExtiLine This parameter can be a combination of the following values: - * @arg @ref LL_EXTI_LINE_0 - * @arg @ref LL_EXTI_LINE_1 - * @arg @ref LL_EXTI_LINE_2 - * @arg @ref LL_EXTI_LINE_3 - * @arg @ref LL_EXTI_LINE_4 - * @arg @ref LL_EXTI_LINE_5 - * @arg @ref LL_EXTI_LINE_6 - * @arg @ref LL_EXTI_LINE_7 - * @arg @ref LL_EXTI_LINE_8 - * @arg @ref LL_EXTI_LINE_9 - * @arg @ref LL_EXTI_LINE_10 - * @arg @ref LL_EXTI_LINE_11 - * @arg @ref LL_EXTI_LINE_12 - * @arg @ref LL_EXTI_LINE_13 - * @arg @ref LL_EXTI_LINE_14 - * @arg @ref LL_EXTI_LINE_15 - * @arg @ref LL_EXTI_LINE_16 - * @arg @ref LL_EXTI_LINE_18 - * @arg @ref LL_EXTI_LINE_19(*) - * @arg @ref LL_EXTI_LINE_20(*) - * @arg @ref LL_EXTI_LINE_21 - * @arg @ref LL_EXTI_LINE_22 - * @note (*): Available in some devices - * @note Please check each device line mapping for EXTI Line availability - * @retval None - */ -__STATIC_INLINE void LL_EXTI_EnableRisingTrig_0_31(uint32_t ExtiLine) -{ - SET_BIT(EXTI->RTSR, ExtiLine); - -} - - -/** - * @brief Disable ExtiLine Rising Edge Trigger for Lines in range 0 to 31 - * @note The configurable wakeup lines are edge-triggered. No glitch must be - * generated on these lines. If a rising edge on a configurable interrupt - * line occurs during a write operation in the EXTI_RTSR register, the - * pending bit is not set. - * Rising and falling edge triggers can be set for - * the same interrupt line. In this case, both generate a trigger - * condition. - * @rmtoll RTSR RTx LL_EXTI_DisableRisingTrig_0_31 - * @param ExtiLine This parameter can be a combination of the following values: - * @arg @ref LL_EXTI_LINE_0 - * @arg @ref LL_EXTI_LINE_1 - * @arg @ref LL_EXTI_LINE_2 - * @arg @ref LL_EXTI_LINE_3 - * @arg @ref LL_EXTI_LINE_4 - * @arg @ref LL_EXTI_LINE_5 - * @arg @ref LL_EXTI_LINE_6 - * @arg @ref LL_EXTI_LINE_7 - * @arg @ref LL_EXTI_LINE_8 - * @arg @ref LL_EXTI_LINE_9 - * @arg @ref LL_EXTI_LINE_10 - * @arg @ref LL_EXTI_LINE_11 - * @arg @ref LL_EXTI_LINE_12 - * @arg @ref LL_EXTI_LINE_13 - * @arg @ref LL_EXTI_LINE_14 - * @arg @ref LL_EXTI_LINE_15 - * @arg @ref LL_EXTI_LINE_16 - * @arg @ref LL_EXTI_LINE_18 - * @arg @ref LL_EXTI_LINE_19(*) - * @arg @ref LL_EXTI_LINE_20(*) - * @arg @ref LL_EXTI_LINE_21 - * @arg @ref LL_EXTI_LINE_22 - * @note (*): Available in some devices - * @note Please check each device line mapping for EXTI Line availability - * @retval None - */ -__STATIC_INLINE void LL_EXTI_DisableRisingTrig_0_31(uint32_t ExtiLine) -{ - CLEAR_BIT(EXTI->RTSR, ExtiLine); - -} - - -/** - * @brief Check if rising edge trigger is enabled for Lines in range 0 to 31 - * @rmtoll RTSR RTx LL_EXTI_IsEnabledRisingTrig_0_31 - * @param ExtiLine This parameter can be a combination of the following values: - * @arg @ref LL_EXTI_LINE_0 - * @arg @ref LL_EXTI_LINE_1 - * @arg @ref LL_EXTI_LINE_2 - * @arg @ref LL_EXTI_LINE_3 - * @arg @ref LL_EXTI_LINE_4 - * @arg @ref LL_EXTI_LINE_5 - * @arg @ref LL_EXTI_LINE_6 - * @arg @ref LL_EXTI_LINE_7 - * @arg @ref LL_EXTI_LINE_8 - * @arg @ref LL_EXTI_LINE_9 - * @arg @ref LL_EXTI_LINE_10 - * @arg @ref LL_EXTI_LINE_11 - * @arg @ref LL_EXTI_LINE_12 - * @arg @ref LL_EXTI_LINE_13 - * @arg @ref LL_EXTI_LINE_14 - * @arg @ref LL_EXTI_LINE_15 - * @arg @ref LL_EXTI_LINE_16 - * @arg @ref LL_EXTI_LINE_18 - * @arg @ref LL_EXTI_LINE_19(*) - * @arg @ref LL_EXTI_LINE_20(*) - * @arg @ref LL_EXTI_LINE_21 - * @arg @ref LL_EXTI_LINE_22 - * @note (*): Available in some devices - * @note Please check each device line mapping for EXTI Line availability - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_EXTI_IsEnabledRisingTrig_0_31(uint32_t ExtiLine) -{ - return (READ_BIT(EXTI->RTSR, ExtiLine) == (ExtiLine)); -} - - -/** - * @} - */ - -/** @defgroup EXTI_LL_EF_Falling_Trigger_Management Falling_Trigger_Management - * @{ - */ - -/** - * @brief Enable ExtiLine Falling Edge Trigger for Lines in range 0 to 31 - * @note The configurable wakeup lines are edge-triggered. No glitch must be - * generated on these lines. If a falling edge on a configurable interrupt - * line occurs during a write operation in the EXTI_FTSR register, the - * pending bit is not set. - * Rising and falling edge triggers can be set for - * the same interrupt line. In this case, both generate a trigger - * condition. - * @rmtoll FTSR FTx LL_EXTI_EnableFallingTrig_0_31 - * @param ExtiLine This parameter can be a combination of the following values: - * @arg @ref LL_EXTI_LINE_0 - * @arg @ref LL_EXTI_LINE_1 - * @arg @ref LL_EXTI_LINE_2 - * @arg @ref LL_EXTI_LINE_3 - * @arg @ref LL_EXTI_LINE_4 - * @arg @ref LL_EXTI_LINE_5 - * @arg @ref LL_EXTI_LINE_6 - * @arg @ref LL_EXTI_LINE_7 - * @arg @ref LL_EXTI_LINE_8 - * @arg @ref LL_EXTI_LINE_9 - * @arg @ref LL_EXTI_LINE_10 - * @arg @ref LL_EXTI_LINE_11 - * @arg @ref LL_EXTI_LINE_12 - * @arg @ref LL_EXTI_LINE_13 - * @arg @ref LL_EXTI_LINE_14 - * @arg @ref LL_EXTI_LINE_15 - * @arg @ref LL_EXTI_LINE_16 - * @arg @ref LL_EXTI_LINE_18 - * @arg @ref LL_EXTI_LINE_19(*) - * @arg @ref LL_EXTI_LINE_20(*) - * @arg @ref LL_EXTI_LINE_21 - * @arg @ref LL_EXTI_LINE_22 - * @note (*): Available in some devices - * @note Please check each device line mapping for EXTI Line availability - * @retval None - */ -__STATIC_INLINE void LL_EXTI_EnableFallingTrig_0_31(uint32_t ExtiLine) -{ - SET_BIT(EXTI->FTSR, ExtiLine); -} - - -/** - * @brief Disable ExtiLine Falling Edge Trigger for Lines in range 0 to 31 - * @note The configurable wakeup lines are edge-triggered. No glitch must be - * generated on these lines. If a Falling edge on a configurable interrupt - * line occurs during a write operation in the EXTI_FTSR register, the - * pending bit is not set. - * Rising and falling edge triggers can be set for the same interrupt line. - * In this case, both generate a trigger condition. - * @rmtoll FTSR FTx LL_EXTI_DisableFallingTrig_0_31 - * @param ExtiLine This parameter can be a combination of the following values: - * @arg @ref LL_EXTI_LINE_0 - * @arg @ref LL_EXTI_LINE_1 - * @arg @ref LL_EXTI_LINE_2 - * @arg @ref LL_EXTI_LINE_3 - * @arg @ref LL_EXTI_LINE_4 - * @arg @ref LL_EXTI_LINE_5 - * @arg @ref LL_EXTI_LINE_6 - * @arg @ref LL_EXTI_LINE_7 - * @arg @ref LL_EXTI_LINE_8 - * @arg @ref LL_EXTI_LINE_9 - * @arg @ref LL_EXTI_LINE_10 - * @arg @ref LL_EXTI_LINE_11 - * @arg @ref LL_EXTI_LINE_12 - * @arg @ref LL_EXTI_LINE_13 - * @arg @ref LL_EXTI_LINE_14 - * @arg @ref LL_EXTI_LINE_15 - * @arg @ref LL_EXTI_LINE_16 - * @arg @ref LL_EXTI_LINE_18 - * @arg @ref LL_EXTI_LINE_19(*) - * @arg @ref LL_EXTI_LINE_20(*) - * @arg @ref LL_EXTI_LINE_21 - * @arg @ref LL_EXTI_LINE_22 - * @note (*): Available in some devices - * @note Please check each device line mapping for EXTI Line availability - * @retval None - */ -__STATIC_INLINE void LL_EXTI_DisableFallingTrig_0_31(uint32_t ExtiLine) -{ - CLEAR_BIT(EXTI->FTSR, ExtiLine); -} - - -/** - * @brief Check if falling edge trigger is enabled for Lines in range 0 to 31 - * @rmtoll FTSR FTx LL_EXTI_IsEnabledFallingTrig_0_31 - * @param ExtiLine This parameter can be a combination of the following values: - * @arg @ref LL_EXTI_LINE_0 - * @arg @ref LL_EXTI_LINE_1 - * @arg @ref LL_EXTI_LINE_2 - * @arg @ref LL_EXTI_LINE_3 - * @arg @ref LL_EXTI_LINE_4 - * @arg @ref LL_EXTI_LINE_5 - * @arg @ref LL_EXTI_LINE_6 - * @arg @ref LL_EXTI_LINE_7 - * @arg @ref LL_EXTI_LINE_8 - * @arg @ref LL_EXTI_LINE_9 - * @arg @ref LL_EXTI_LINE_10 - * @arg @ref LL_EXTI_LINE_11 - * @arg @ref LL_EXTI_LINE_12 - * @arg @ref LL_EXTI_LINE_13 - * @arg @ref LL_EXTI_LINE_14 - * @arg @ref LL_EXTI_LINE_15 - * @arg @ref LL_EXTI_LINE_16 - * @arg @ref LL_EXTI_LINE_18 - * @arg @ref LL_EXTI_LINE_19(*) - * @arg @ref LL_EXTI_LINE_20(*) - * @arg @ref LL_EXTI_LINE_21 - * @arg @ref LL_EXTI_LINE_22 - * @note (*): Available in some devices - * @note Please check each device line mapping for EXTI Line availability - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_EXTI_IsEnabledFallingTrig_0_31(uint32_t ExtiLine) -{ - return (READ_BIT(EXTI->FTSR, ExtiLine) == (ExtiLine)); -} - - -/** - * @} - */ - -/** @defgroup EXTI_LL_EF_Software_Interrupt_Management Software_Interrupt_Management - * @{ - */ - -/** - * @brief Generate a software Interrupt Event for Lines in range 0 to 31 - * @note If the interrupt is enabled on this line in the EXTI_IMR, writing a 1 to - * this bit when it is at '0' sets the corresponding pending bit in EXTI_PR - * resulting in an interrupt request generation. - * This bit is cleared by clearing the corresponding bit in the EXTI_PR - * register (by writing a 1 into the bit) - * @rmtoll SWIER SWIx LL_EXTI_GenerateSWI_0_31 - * @param ExtiLine This parameter can be a combination of the following values: - * @arg @ref LL_EXTI_LINE_0 - * @arg @ref LL_EXTI_LINE_1 - * @arg @ref LL_EXTI_LINE_2 - * @arg @ref LL_EXTI_LINE_3 - * @arg @ref LL_EXTI_LINE_4 - * @arg @ref LL_EXTI_LINE_5 - * @arg @ref LL_EXTI_LINE_6 - * @arg @ref LL_EXTI_LINE_7 - * @arg @ref LL_EXTI_LINE_8 - * @arg @ref LL_EXTI_LINE_9 - * @arg @ref LL_EXTI_LINE_10 - * @arg @ref LL_EXTI_LINE_11 - * @arg @ref LL_EXTI_LINE_12 - * @arg @ref LL_EXTI_LINE_13 - * @arg @ref LL_EXTI_LINE_14 - * @arg @ref LL_EXTI_LINE_15 - * @arg @ref LL_EXTI_LINE_16 - * @arg @ref LL_EXTI_LINE_18 - * @arg @ref LL_EXTI_LINE_19(*) - * @arg @ref LL_EXTI_LINE_20(*) - * @arg @ref LL_EXTI_LINE_21 - * @arg @ref LL_EXTI_LINE_22 - * @note (*): Available in some devices - * @note Please check each device line mapping for EXTI Line availability - * @retval None - */ -__STATIC_INLINE void LL_EXTI_GenerateSWI_0_31(uint32_t ExtiLine) -{ - SET_BIT(EXTI->SWIER, ExtiLine); -} - - -/** - * @} - */ - -/** @defgroup EXTI_LL_EF_Flag_Management Flag_Management - * @{ - */ - -/** - * @brief Check if the ExtLine Flag is set or not for Lines in range 0 to 31 - * @note This bit is set when the selected edge event arrives on the interrupt - * line. This bit is cleared by writing a 1 to the bit. - * @rmtoll PR PIFx LL_EXTI_IsActiveFlag_0_31 - * @param ExtiLine This parameter can be a combination of the following values: - * @arg @ref LL_EXTI_LINE_0 - * @arg @ref LL_EXTI_LINE_1 - * @arg @ref LL_EXTI_LINE_2 - * @arg @ref LL_EXTI_LINE_3 - * @arg @ref LL_EXTI_LINE_4 - * @arg @ref LL_EXTI_LINE_5 - * @arg @ref LL_EXTI_LINE_6 - * @arg @ref LL_EXTI_LINE_7 - * @arg @ref LL_EXTI_LINE_8 - * @arg @ref LL_EXTI_LINE_9 - * @arg @ref LL_EXTI_LINE_10 - * @arg @ref LL_EXTI_LINE_11 - * @arg @ref LL_EXTI_LINE_12 - * @arg @ref LL_EXTI_LINE_13 - * @arg @ref LL_EXTI_LINE_14 - * @arg @ref LL_EXTI_LINE_15 - * @arg @ref LL_EXTI_LINE_16 - * @arg @ref LL_EXTI_LINE_18 - * @arg @ref LL_EXTI_LINE_19(*) - * @arg @ref LL_EXTI_LINE_20(*) - * @arg @ref LL_EXTI_LINE_21 - * @arg @ref LL_EXTI_LINE_22 - * @note (*): Available in some devices - * @note Please check each device line mapping for EXTI Line availability - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_EXTI_IsActiveFlag_0_31(uint32_t ExtiLine) -{ - return (READ_BIT(EXTI->PR, ExtiLine) == (ExtiLine)); -} - - -/** - * @brief Read ExtLine Combination Flag for Lines in range 0 to 31 - * @note This bit is set when the selected edge event arrives on the interrupt - * line. This bit is cleared by writing a 1 to the bit. - * @rmtoll PR PIFx LL_EXTI_ReadFlag_0_31 - * @param ExtiLine This parameter can be a combination of the following values: - * @arg @ref LL_EXTI_LINE_0 - * @arg @ref LL_EXTI_LINE_1 - * @arg @ref LL_EXTI_LINE_2 - * @arg @ref LL_EXTI_LINE_3 - * @arg @ref LL_EXTI_LINE_4 - * @arg @ref LL_EXTI_LINE_5 - * @arg @ref LL_EXTI_LINE_6 - * @arg @ref LL_EXTI_LINE_7 - * @arg @ref LL_EXTI_LINE_8 - * @arg @ref LL_EXTI_LINE_9 - * @arg @ref LL_EXTI_LINE_10 - * @arg @ref LL_EXTI_LINE_11 - * @arg @ref LL_EXTI_LINE_12 - * @arg @ref LL_EXTI_LINE_13 - * @arg @ref LL_EXTI_LINE_14 - * @arg @ref LL_EXTI_LINE_15 - * @arg @ref LL_EXTI_LINE_16 - * @arg @ref LL_EXTI_LINE_18 - * @arg @ref LL_EXTI_LINE_19(*) - * @arg @ref LL_EXTI_LINE_20(*) - * @arg @ref LL_EXTI_LINE_21 - * @arg @ref LL_EXTI_LINE_22 - * @note (*): Available in some devices - * @note Please check each device line mapping for EXTI Line availability - * @retval @note This bit is set when the selected edge event arrives on the interrupt - */ -__STATIC_INLINE uint32_t LL_EXTI_ReadFlag_0_31(uint32_t ExtiLine) -{ - return (uint32_t)(READ_BIT(EXTI->PR, ExtiLine)); -} - - -/** - * @brief Clear ExtLine Flags for Lines in range 0 to 31 - * @note This bit is set when the selected edge event arrives on the interrupt - * line. This bit is cleared by writing a 1 to the bit. - * @rmtoll PR PIFx LL_EXTI_ClearFlag_0_31 - * @param ExtiLine This parameter can be a combination of the following values: - * @arg @ref LL_EXTI_LINE_0 - * @arg @ref LL_EXTI_LINE_1 - * @arg @ref LL_EXTI_LINE_2 - * @arg @ref LL_EXTI_LINE_3 - * @arg @ref LL_EXTI_LINE_4 - * @arg @ref LL_EXTI_LINE_5 - * @arg @ref LL_EXTI_LINE_6 - * @arg @ref LL_EXTI_LINE_7 - * @arg @ref LL_EXTI_LINE_8 - * @arg @ref LL_EXTI_LINE_9 - * @arg @ref LL_EXTI_LINE_10 - * @arg @ref LL_EXTI_LINE_11 - * @arg @ref LL_EXTI_LINE_12 - * @arg @ref LL_EXTI_LINE_13 - * @arg @ref LL_EXTI_LINE_14 - * @arg @ref LL_EXTI_LINE_15 - * @arg @ref LL_EXTI_LINE_16 - * @arg @ref LL_EXTI_LINE_18 - * @arg @ref LL_EXTI_LINE_19(*) - * @arg @ref LL_EXTI_LINE_20(*) - * @arg @ref LL_EXTI_LINE_21 - * @arg @ref LL_EXTI_LINE_22 - * @note (*): Available in some devices - * @note Please check each device line mapping for EXTI Line availability - * @retval None - */ -__STATIC_INLINE void LL_EXTI_ClearFlag_0_31(uint32_t ExtiLine) -{ - WRITE_REG(EXTI->PR, ExtiLine); -} - - -/** - * @} - */ - -#if defined(USE_FULL_LL_DRIVER) -/** @defgroup EXTI_LL_EF_Init Initialization and de-initialization functions - * @{ - */ - -uint32_t LL_EXTI_Init(LL_EXTI_InitTypeDef *EXTI_InitStruct); -uint32_t LL_EXTI_DeInit(void); -void LL_EXTI_StructInit(LL_EXTI_InitTypeDef *EXTI_InitStruct); - - -/** - * @} - */ -#endif /* USE_FULL_LL_DRIVER */ - -/** - * @} - */ - -/** - * @} - */ - -#endif /* EXTI */ - -/** - * @} - */ - -#ifdef __cplusplus -} -#endif - -#endif /* __STM32F4xx_LL_EXTI_H */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_fmc.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_fmc.h deleted file mode 100644 index 71e7c7425e911e..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_fmc.h +++ /dev/null @@ -1,1403 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_ll_fmc.h - * @author MCD Application Team - * @brief Header file of FMC HAL module. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef __STM32F4xx_LL_FMC_H -#define __STM32F4xx_LL_FMC_H - -#ifdef __cplusplus - extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal_def.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @addtogroup FMC_LL - * @{ - */ -#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) ||\ - defined(STM32F446xx) || defined(STM32F469xx) || defined(STM32F479xx) -/* Private types -------------------------------------------------------------*/ -/** @defgroup FMC_LL_Private_Types FMC Private Types - * @{ - */ - -/** - * @brief FMC NORSRAM Configuration Structure definition - */ -typedef struct -{ - uint32_t NSBank; /*!< Specifies the NORSRAM memory device that will be used. - This parameter can be a value of @ref FMC_NORSRAM_Bank */ - - uint32_t DataAddressMux; /*!< Specifies whether the address and data values are - multiplexed on the data bus or not. - This parameter can be a value of @ref FMC_Data_Address_Bus_Multiplexing */ - - uint32_t MemoryType; /*!< Specifies the type of external memory attached to - the corresponding memory device. - This parameter can be a value of @ref FMC_Memory_Type */ - - uint32_t MemoryDataWidth; /*!< Specifies the external memory device width. - This parameter can be a value of @ref FMC_NORSRAM_Data_Width */ - - uint32_t BurstAccessMode; /*!< Enables or disables the burst access mode for Flash memory, - valid only with synchronous burst Flash memories. - This parameter can be a value of @ref FMC_Burst_Access_Mode */ - - uint32_t WaitSignalPolarity; /*!< Specifies the wait signal polarity, valid only when accessing - the Flash memory in burst mode. - This parameter can be a value of @ref FMC_Wait_Signal_Polarity */ - - uint32_t WrapMode; /*!< Enables or disables the Wrapped burst access mode for Flash - memory, valid only when accessing Flash memories in burst mode. - This parameter can be a value of @ref FMC_Wrap_Mode - This mode is not available for the STM32F446/467/479xx devices */ - - uint32_t WaitSignalActive; /*!< Specifies if the wait signal is asserted by the memory one - clock cycle before the wait state or during the wait state, - valid only when accessing memories in burst mode. - This parameter can be a value of @ref FMC_Wait_Timing */ - - uint32_t WriteOperation; /*!< Enables or disables the write operation in the selected device by the FMC. - This parameter can be a value of @ref FMC_Write_Operation */ - - uint32_t WaitSignal; /*!< Enables or disables the wait state insertion via wait - signal, valid for Flash memory access in burst mode. - This parameter can be a value of @ref FMC_Wait_Signal */ - - uint32_t ExtendedMode; /*!< Enables or disables the extended mode. - This parameter can be a value of @ref FMC_Extended_Mode */ - - uint32_t AsynchronousWait; /*!< Enables or disables wait signal during asynchronous transfers, - valid only with asynchronous Flash memories. - This parameter can be a value of @ref FMC_AsynchronousWait */ - - uint32_t WriteBurst; /*!< Enables or disables the write burst operation. - This parameter can be a value of @ref FMC_Write_Burst */ - - uint32_t ContinuousClock; /*!< Enables or disables the FMC clock output to external memory devices. - This parameter is only enabled through the FMC_BCR1 register, and don't care - through FMC_BCR2..4 registers. - This parameter can be a value of @ref FMC_Continous_Clock */ - - uint32_t WriteFifo; /*!< Enables or disables the write FIFO used by the FMC controller. - This parameter is only enabled through the FMC_BCR1 register, and don't care - through FMC_BCR2..4 registers. - This parameter can be a value of @ref FMC_Write_FIFO - This mode is available only for the STM32F446/469/479xx devices */ - - uint32_t PageSize; /*!< Specifies the memory page size. - This parameter can be a value of @ref FMC_Page_Size */ -}FMC_NORSRAM_InitTypeDef; - -/** - * @brief FMC NORSRAM Timing parameters structure definition - */ -typedef struct -{ - uint32_t AddressSetupTime; /*!< Defines the number of HCLK cycles to configure - the duration of the address setup time. - This parameter can be a value between Min_Data = 0 and Max_Data = 15. - @note This parameter is not used with synchronous NOR Flash memories. */ - - uint32_t AddressHoldTime; /*!< Defines the number of HCLK cycles to configure - the duration of the address hold time. - This parameter can be a value between Min_Data = 1 and Max_Data = 15. - @note This parameter is not used with synchronous NOR Flash memories. */ - - uint32_t DataSetupTime; /*!< Defines the number of HCLK cycles to configure - the duration of the data setup time. - This parameter can be a value between Min_Data = 1 and Max_Data = 255. - @note This parameter is used for SRAMs, ROMs and asynchronous multiplexed - NOR Flash memories. */ - - uint32_t BusTurnAroundDuration; /*!< Defines the number of HCLK cycles to configure - the duration of the bus turnaround. - This parameter can be a value between Min_Data = 0 and Max_Data = 15. - @note This parameter is only used for multiplexed NOR Flash memories. */ - - uint32_t CLKDivision; /*!< Defines the period of CLK clock output signal, expressed in number of - HCLK cycles. This parameter can be a value between Min_Data = 2 and Max_Data = 16. - @note This parameter is not used for asynchronous NOR Flash, SRAM or ROM - accesses. */ - - uint32_t DataLatency; /*!< Defines the number of memory clock cycles to issue - to the memory before getting the first data. - The parameter value depends on the memory type as shown below: - - It must be set to 0 in case of a CRAM - - It is don't care in asynchronous NOR, SRAM or ROM accesses - - It may assume a value between Min_Data = 2 and Max_Data = 17 in NOR Flash memories - with synchronous burst mode enable */ - - uint32_t AccessMode; /*!< Specifies the asynchronous access mode. - This parameter can be a value of @ref FMC_Access_Mode */ -}FMC_NORSRAM_TimingTypeDef; - -/** - * @brief FMC NAND Configuration Structure definition - */ -typedef struct -{ - uint32_t NandBank; /*!< Specifies the NAND memory device that will be used. - This parameter can be a value of @ref FMC_NAND_Bank */ - - uint32_t Waitfeature; /*!< Enables or disables the Wait feature for the NAND Memory device. - This parameter can be any value of @ref FMC_Wait_feature */ - - uint32_t MemoryDataWidth; /*!< Specifies the external memory device width. - This parameter can be any value of @ref FMC_NAND_Data_Width */ - - uint32_t EccComputation; /*!< Enables or disables the ECC computation. - This parameter can be any value of @ref FMC_ECC */ - - uint32_t ECCPageSize; /*!< Defines the page size for the extended ECC. - This parameter can be any value of @ref FMC_ECC_Page_Size */ - - uint32_t TCLRSetupTime; /*!< Defines the number of HCLK cycles to configure the - delay between CLE low and RE low. - This parameter can be a value between Min_Data = 0 and Max_Data = 255 */ - - uint32_t TARSetupTime; /*!< Defines the number of HCLK cycles to configure the - delay between ALE low and RE low. - This parameter can be a number between Min_Data = 0 and Max_Data = 255 */ -}FMC_NAND_InitTypeDef; - -/** - * @brief FMC NAND/PCCARD Timing parameters structure definition - */ -typedef struct -{ - uint32_t SetupTime; /*!< Defines the number of HCLK cycles to setup address before - the command assertion for NAND-Flash read or write access - to common/Attribute or I/O memory space (depending on - the memory space timing to be configured). - This parameter can be a value between Min_Data = 0 and Max_Data = 255 */ - - uint32_t WaitSetupTime; /*!< Defines the minimum number of HCLK cycles to assert the - command for NAND-Flash read or write access to - common/Attribute or I/O memory space (depending on the - memory space timing to be configured). - This parameter can be a number between Min_Data = 0 and Max_Data = 255 */ - - uint32_t HoldSetupTime; /*!< Defines the number of HCLK clock cycles to hold address - (and data for write access) after the command de-assertion - for NAND-Flash read or write access to common/Attribute - or I/O memory space (depending on the memory space timing - to be configured). - This parameter can be a number between Min_Data = 0 and Max_Data = 255 */ - - uint32_t HiZSetupTime; /*!< Defines the number of HCLK clock cycles during which the - data bus is kept in HiZ after the start of a NAND-Flash - write access to common/Attribute or I/O memory space (depending - on the memory space timing to be configured). - This parameter can be a number between Min_Data = 0 and Max_Data = 255 */ -}FMC_NAND_PCC_TimingTypeDef; - -/** - * @brief FMC NAND Configuration Structure definition - */ -typedef struct -{ - uint32_t Waitfeature; /*!< Enables or disables the Wait feature for the PCCARD Memory device. - This parameter can be any value of @ref FMC_Wait_feature */ - - uint32_t TCLRSetupTime; /*!< Defines the number of HCLK cycles to configure the - delay between CLE low and RE low. - This parameter can be a value between Min_Data = 0 and Max_Data = 255 */ - - uint32_t TARSetupTime; /*!< Defines the number of HCLK cycles to configure the - delay between ALE low and RE low. - This parameter can be a number between Min_Data = 0 and Max_Data = 255 */ -}FMC_PCCARD_InitTypeDef; - -/** - * @brief FMC SDRAM Configuration Structure definition - */ -typedef struct -{ - uint32_t SDBank; /*!< Specifies the SDRAM memory device that will be used. - This parameter can be a value of @ref FMC_SDRAM_Bank */ - - uint32_t ColumnBitsNumber; /*!< Defines the number of bits of column address. - This parameter can be a value of @ref FMC_SDRAM_Column_Bits_number. */ - - uint32_t RowBitsNumber; /*!< Defines the number of bits of column address. - This parameter can be a value of @ref FMC_SDRAM_Row_Bits_number. */ - - uint32_t MemoryDataWidth; /*!< Defines the memory device width. - This parameter can be a value of @ref FMC_SDRAM_Memory_Bus_Width. */ - - uint32_t InternalBankNumber; /*!< Defines the number of the device's internal banks. - This parameter can be of @ref FMC_SDRAM_Internal_Banks_Number. */ - - uint32_t CASLatency; /*!< Defines the SDRAM CAS latency in number of memory clock cycles. - This parameter can be a value of @ref FMC_SDRAM_CAS_Latency. */ - - uint32_t WriteProtection; /*!< Enables the SDRAM device to be accessed in write mode. - This parameter can be a value of @ref FMC_SDRAM_Write_Protection. */ - - uint32_t SDClockPeriod; /*!< Define the SDRAM Clock Period for both SDRAM devices and they allow - to disable the clock before changing frequency. - This parameter can be a value of @ref FMC_SDRAM_Clock_Period. */ - - uint32_t ReadBurst; /*!< This bit enable the SDRAM controller to anticipate the next read - commands during the CAS latency and stores data in the Read FIFO. - This parameter can be a value of @ref FMC_SDRAM_Read_Burst. */ - - uint32_t ReadPipeDelay; /*!< Define the delay in system clock cycles on read data path. - This parameter can be a value of @ref FMC_SDRAM_Read_Pipe_Delay. */ -}FMC_SDRAM_InitTypeDef; - -/** - * @brief FMC SDRAM Timing parameters structure definition - */ -typedef struct -{ - uint32_t LoadToActiveDelay; /*!< Defines the delay between a Load Mode Register command and - an active or Refresh command in number of memory clock cycles. - This parameter can be a value between Min_Data = 1 and Max_Data = 16 */ - - uint32_t ExitSelfRefreshDelay; /*!< Defines the delay from releasing the self refresh command to - issuing the Activate command in number of memory clock cycles. - This parameter can be a value between Min_Data = 1 and Max_Data = 16 */ - - uint32_t SelfRefreshTime; /*!< Defines the minimum Self Refresh period in number of memory clock - cycles. - This parameter can be a value between Min_Data = 1 and Max_Data = 16 */ - - uint32_t RowCycleDelay; /*!< Defines the delay between the Refresh command and the Activate command - and the delay between two consecutive Refresh commands in number of - memory clock cycles. - This parameter can be a value between Min_Data = 1 and Max_Data = 16 */ - - uint32_t WriteRecoveryTime; /*!< Defines the Write recovery Time in number of memory clock cycles. - This parameter can be a value between Min_Data = 1 and Max_Data = 16 */ - - uint32_t RPDelay; /*!< Defines the delay between a Precharge Command and an other command - in number of memory clock cycles. - This parameter can be a value between Min_Data = 1 and Max_Data = 16 */ - - uint32_t RCDDelay; /*!< Defines the delay between the Activate Command and a Read/Write - command in number of memory clock cycles. - This parameter can be a value between Min_Data = 1 and Max_Data = 16 */ -}FMC_SDRAM_TimingTypeDef; - -/** - * @brief SDRAM command parameters structure definition - */ -typedef struct -{ - uint32_t CommandMode; /*!< Defines the command issued to the SDRAM device. - This parameter can be a value of @ref FMC_SDRAM_Command_Mode. */ - - uint32_t CommandTarget; /*!< Defines which device (1 or 2) the command will be issued to. - This parameter can be a value of @ref FMC_SDRAM_Command_Target. */ - - uint32_t AutoRefreshNumber; /*!< Defines the number of consecutive auto refresh command issued - in auto refresh mode. - This parameter can be a value between Min_Data = 1 and Max_Data = 16 */ - uint32_t ModeRegisterDefinition; /*!< Defines the SDRAM Mode register content */ -}FMC_SDRAM_CommandTypeDef; -/** - * @} - */ - -/* Private constants ---------------------------------------------------------*/ -/** @defgroup FMC_LL_Private_Constants FMC Private Constants - * @{ - */ - -/** @defgroup FMC_LL_NOR_SRAM_Controller FMC NOR/SRAM Controller - * @{ - */ -/** @defgroup FMC_NORSRAM_Bank FMC NOR/SRAM Bank - * @{ - */ -#define FMC_NORSRAM_BANK1 0x00000000U -#define FMC_NORSRAM_BANK2 0x00000002U -#define FMC_NORSRAM_BANK3 0x00000004U -#define FMC_NORSRAM_BANK4 0x00000006U -/** - * @} - */ - -/** @defgroup FMC_Data_Address_Bus_Multiplexing FMC Data Address Bus Multiplexing - * @{ - */ -#define FMC_DATA_ADDRESS_MUX_DISABLE 0x00000000U -#define FMC_DATA_ADDRESS_MUX_ENABLE 0x00000002U -/** - * @} - */ - -/** @defgroup FMC_Memory_Type FMC Memory Type - * @{ - */ -#define FMC_MEMORY_TYPE_SRAM 0x00000000U -#define FMC_MEMORY_TYPE_PSRAM 0x00000004U -#define FMC_MEMORY_TYPE_NOR 0x00000008U -/** - * @} - */ - -/** @defgroup FMC_NORSRAM_Data_Width FMC NORSRAM Data Width - * @{ - */ -#define FMC_NORSRAM_MEM_BUS_WIDTH_8 0x00000000U -#define FMC_NORSRAM_MEM_BUS_WIDTH_16 0x00000010U -#define FMC_NORSRAM_MEM_BUS_WIDTH_32 0x00000020U -/** - * @} - */ - -/** @defgroup FMC_NORSRAM_Flash_Access FMC NOR/SRAM Flash Access - * @{ - */ -#define FMC_NORSRAM_FLASH_ACCESS_ENABLE 0x00000040U -#define FMC_NORSRAM_FLASH_ACCESS_DISABLE 0x00000000U -/** - * @} - */ - -/** @defgroup FMC_Burst_Access_Mode FMC Burst Access Mode - * @{ - */ -#define FMC_BURST_ACCESS_MODE_DISABLE 0x00000000U -#define FMC_BURST_ACCESS_MODE_ENABLE 0x00000100U -/** - * @} - */ - -/** @defgroup FMC_Wait_Signal_Polarity FMC Wait Signal Polarity - * @{ - */ -#define FMC_WAIT_SIGNAL_POLARITY_LOW 0x00000000U -#define FMC_WAIT_SIGNAL_POLARITY_HIGH 0x00000200U -/** - * @} - */ - -/** @defgroup FMC_Wrap_Mode FMC Wrap Mode - * @{ - */ -/** @note This mode is not available for the STM32F446/469/479xx devices - */ -#define FMC_WRAP_MODE_DISABLE 0x00000000U -#define FMC_WRAP_MODE_ENABLE 0x00000400U -/** - * @} - */ - -/** @defgroup FMC_Wait_Timing FMC Wait Timing - * @{ - */ -#define FMC_WAIT_TIMING_BEFORE_WS 0x00000000U -#define FMC_WAIT_TIMING_DURING_WS 0x00000800U -/** - * @} - */ - -/** @defgroup FMC_Write_Operation FMC Write Operation - * @{ - */ -#define FMC_WRITE_OPERATION_DISABLE 0x00000000U -#define FMC_WRITE_OPERATION_ENABLE 0x00001000U -/** - * @} - */ - -/** @defgroup FMC_Wait_Signal FMC Wait Signal - * @{ - */ -#define FMC_WAIT_SIGNAL_DISABLE 0x00000000U -#define FMC_WAIT_SIGNAL_ENABLE 0x00002000U -/** - * @} - */ - -/** @defgroup FMC_Extended_Mode FMC Extended Mode - * @{ - */ -#define FMC_EXTENDED_MODE_DISABLE 0x00000000U -#define FMC_EXTENDED_MODE_ENABLE 0x00004000U -/** - * @} - */ - -/** @defgroup FMC_AsynchronousWait FMC Asynchronous Wait - * @{ - */ -#define FMC_ASYNCHRONOUS_WAIT_DISABLE 0x00000000U -#define FMC_ASYNCHRONOUS_WAIT_ENABLE 0x00008000U -/** - * @} - */ - -/** @defgroup FMC_Page_Size FMC Page Size - * @{ - */ -#define FMC_PAGE_SIZE_NONE 0x00000000U -#define FMC_PAGE_SIZE_128 ((uint32_t)FMC_BCR1_CPSIZE_0) -#define FMC_PAGE_SIZE_256 ((uint32_t)FMC_BCR1_CPSIZE_1) -#define FMC_PAGE_SIZE_512 ((uint32_t)(FMC_BCR1_CPSIZE_0 | FMC_BCR1_CPSIZE_1)) -#define FMC_PAGE_SIZE_1024 ((uint32_t)FMC_BCR1_CPSIZE_2) -/** - * @} - */ - -/** @defgroup FMC_Write_FIFO FMC Write FIFO - * @note These values are available only for the STM32F446/469/479xx devices. - * @{ - */ -#define FMC_WRITE_FIFO_DISABLE ((uint32_t)FMC_BCR1_WFDIS) -#define FMC_WRITE_FIFO_ENABLE 0x00000000U -/** - * @} - */ - -/** @defgroup FMC_Write_Burst FMC Write Burst - * @{ - */ -#define FMC_WRITE_BURST_DISABLE 0x00000000U -#define FMC_WRITE_BURST_ENABLE 0x00080000U -/** - * @} - */ - -/** @defgroup FMC_Continous_Clock FMC Continuous Clock - * @{ - */ -#define FMC_CONTINUOUS_CLOCK_SYNC_ONLY 0x00000000U -#define FMC_CONTINUOUS_CLOCK_SYNC_ASYNC 0x00100000U -/** - * @} - */ - -/** @defgroup FMC_Access_Mode FMC Access Mode - * @{ - */ -#define FMC_ACCESS_MODE_A 0x00000000U -#define FMC_ACCESS_MODE_B 0x10000000U -#define FMC_ACCESS_MODE_C 0x20000000U -#define FMC_ACCESS_MODE_D 0x30000000U -/** - * @} - */ - -/** - * @} - */ - -/** @defgroup FMC_LL_NAND_Controller FMC NAND Controller - * @{ - */ -/** @defgroup FMC_NAND_Bank FMC NAND Bank - * @{ - */ -#define FMC_NAND_BANK2 0x00000010U -#define FMC_NAND_BANK3 0x00000100U -/** - * @} - */ - -/** @defgroup FMC_Wait_feature FMC Wait feature - * @{ - */ -#define FMC_NAND_PCC_WAIT_FEATURE_DISABLE 0x00000000U -#define FMC_NAND_PCC_WAIT_FEATURE_ENABLE 0x00000002U -/** - * @} - */ - -/** @defgroup FMC_PCR_Memory_Type FMC PCR Memory Type - * @{ - */ -#define FMC_PCR_MEMORY_TYPE_PCCARD 0x00000000U -#define FMC_PCR_MEMORY_TYPE_NAND 0x00000008U -/** - * @} - */ - -/** @defgroup FMC_NAND_Data_Width FMC NAND Data Width - * @{ - */ -#define FMC_NAND_PCC_MEM_BUS_WIDTH_8 0x00000000U -#define FMC_NAND_PCC_MEM_BUS_WIDTH_16 0x00000010U -/** - * @} - */ - -/** @defgroup FMC_ECC FMC ECC - * @{ - */ -#define FMC_NAND_ECC_DISABLE 0x00000000U -#define FMC_NAND_ECC_ENABLE 0x00000040U -/** - * @} - */ - -/** @defgroup FMC_ECC_Page_Size FMC ECC Page Size - * @{ - */ -#define FMC_NAND_ECC_PAGE_SIZE_256BYTE 0x00000000U -#define FMC_NAND_ECC_PAGE_SIZE_512BYTE 0x00020000U -#define FMC_NAND_ECC_PAGE_SIZE_1024BYTE 0x00040000U -#define FMC_NAND_ECC_PAGE_SIZE_2048BYTE 0x00060000U -#define FMC_NAND_ECC_PAGE_SIZE_4096BYTE 0x00080000U -#define FMC_NAND_ECC_PAGE_SIZE_8192BYTE 0x000A0000U -/** - * @} - */ - -/** - * @} - */ - -/** @defgroup FMC_LL_SDRAM_Controller FMC SDRAM Controller - * @{ - */ -/** @defgroup FMC_SDRAM_Bank FMC SDRAM Bank - * @{ - */ -#define FMC_SDRAM_BANK1 0x00000000U -#define FMC_SDRAM_BANK2 0x00000001U -/** - * @} - */ - -/** @defgroup FMC_SDRAM_Column_Bits_number FMC SDRAM Column Bits number - * @{ - */ -#define FMC_SDRAM_COLUMN_BITS_NUM_8 0x00000000U -#define FMC_SDRAM_COLUMN_BITS_NUM_9 0x00000001U -#define FMC_SDRAM_COLUMN_BITS_NUM_10 0x00000002U -#define FMC_SDRAM_COLUMN_BITS_NUM_11 0x00000003U -/** - * @} - */ - -/** @defgroup FMC_SDRAM_Row_Bits_number FMC SDRAM Row Bits number - * @{ - */ -#define FMC_SDRAM_ROW_BITS_NUM_11 0x00000000U -#define FMC_SDRAM_ROW_BITS_NUM_12 0x00000004U -#define FMC_SDRAM_ROW_BITS_NUM_13 0x00000008U -/** - * @} - */ - -/** @defgroup FMC_SDRAM_Memory_Bus_Width FMC SDRAM Memory Bus Width - * @{ - */ -#define FMC_SDRAM_MEM_BUS_WIDTH_8 0x00000000U -#define FMC_SDRAM_MEM_BUS_WIDTH_16 0x00000010U -#define FMC_SDRAM_MEM_BUS_WIDTH_32 0x00000020U -/** - * @} - */ - -/** @defgroup FMC_SDRAM_Internal_Banks_Number FMC SDRAM Internal Banks Number - * @{ - */ -#define FMC_SDRAM_INTERN_BANKS_NUM_2 0x00000000U -#define FMC_SDRAM_INTERN_BANKS_NUM_4 0x00000040U -/** - * @} - */ - -/** @defgroup FMC_SDRAM_CAS_Latency FMC SDRAM CAS Latency - * @{ - */ -#define FMC_SDRAM_CAS_LATENCY_1 0x00000080U -#define FMC_SDRAM_CAS_LATENCY_2 0x00000100U -#define FMC_SDRAM_CAS_LATENCY_3 0x00000180U -/** - * @} - */ - -/** @defgroup FMC_SDRAM_Write_Protection FMC SDRAM Write Protection - * @{ - */ -#define FMC_SDRAM_WRITE_PROTECTION_DISABLE 0x00000000U -#define FMC_SDRAM_WRITE_PROTECTION_ENABLE 0x00000200U - -/** - * @} - */ - -/** @defgroup FMC_SDRAM_Clock_Period FMC SDRAM Clock Period - * @{ - */ -#define FMC_SDRAM_CLOCK_DISABLE 0x00000000U -#define FMC_SDRAM_CLOCK_PERIOD_2 0x00000800U -#define FMC_SDRAM_CLOCK_PERIOD_3 0x00000C00U -/** - * @} - */ - -/** @defgroup FMC_SDRAM_Read_Burst FMC SDRAM Read Burst - * @{ - */ -#define FMC_SDRAM_RBURST_DISABLE 0x00000000U -#define FMC_SDRAM_RBURST_ENABLE 0x00001000U -/** - * @} - */ - -/** @defgroup FMC_SDRAM_Read_Pipe_Delay FMC SDRAM Read Pipe Delay - * @{ - */ -#define FMC_SDRAM_RPIPE_DELAY_0 0x00000000U -#define FMC_SDRAM_RPIPE_DELAY_1 0x00002000U -#define FMC_SDRAM_RPIPE_DELAY_2 0x00004000U -/** - * @} - */ - -/** @defgroup FMC_SDRAM_Command_Mode FMC SDRAM Command Mode - * @{ - */ -#define FMC_SDRAM_CMD_NORMAL_MODE 0x00000000U -#define FMC_SDRAM_CMD_CLK_ENABLE 0x00000001U -#define FMC_SDRAM_CMD_PALL 0x00000002U -#define FMC_SDRAM_CMD_AUTOREFRESH_MODE 0x00000003U -#define FMC_SDRAM_CMD_LOAD_MODE 0x00000004U -#define FMC_SDRAM_CMD_SELFREFRESH_MODE 0x00000005U -#define FMC_SDRAM_CMD_POWERDOWN_MODE 0x00000006U -/** - * @} - */ - -/** @defgroup FMC_SDRAM_Command_Target FMC SDRAM Command Target - * @{ - */ -#define FMC_SDRAM_CMD_TARGET_BANK2 FMC_SDCMR_CTB2 -#define FMC_SDRAM_CMD_TARGET_BANK1 FMC_SDCMR_CTB1 -#define FMC_SDRAM_CMD_TARGET_BANK1_2 0x00000018U -/** - * @} - */ - -/** @defgroup FMC_SDRAM_Mode_Status FMC SDRAM Mode Status - * @{ - */ -#define FMC_SDRAM_NORMAL_MODE 0x00000000U -#define FMC_SDRAM_SELF_REFRESH_MODE FMC_SDSR_MODES1_0 -#define FMC_SDRAM_POWER_DOWN_MODE FMC_SDSR_MODES1_1 -/** - * @} - */ - -/** - * @} - */ - -/** @defgroup FMC_LL_Interrupt_definition FMC Interrupt definition - * @{ - */ -#define FMC_IT_RISING_EDGE 0x00000008U -#define FMC_IT_LEVEL 0x00000010U -#define FMC_IT_FALLING_EDGE 0x00000020U -#define FMC_IT_REFRESH_ERROR 0x00004000U -/** - * @} - */ - -/** @defgroup FMC_LL_Flag_definition FMC Flag definition - * @{ - */ -#define FMC_FLAG_RISING_EDGE 0x00000001U -#define FMC_FLAG_LEVEL 0x00000002U -#define FMC_FLAG_FALLING_EDGE 0x00000004U -#define FMC_FLAG_FEMPT 0x00000040U -#define FMC_SDRAM_FLAG_REFRESH_IT FMC_SDSR_RE -#define FMC_SDRAM_FLAG_BUSY FMC_SDSR_BUSY -#define FMC_SDRAM_FLAG_REFRESH_ERROR FMC_SDRTR_CRE -/** - * @} - */ - -/** @defgroup FMC_LL_Alias_definition FMC Alias definition - * @{ - */ -#if defined(STM32F446xx) || defined(STM32F469xx) || defined(STM32F479xx) - #define FMC_NAND_TypeDef FMC_Bank3_TypeDef -#else - #define FMC_NAND_TypeDef FMC_Bank2_3_TypeDef - #define FMC_PCCARD_TypeDef FMC_Bank4_TypeDef -#endif /* STM32F446xx || STM32F469xx || STM32F479xx */ - #define FMC_NORSRAM_TypeDef FMC_Bank1_TypeDef - #define FMC_NORSRAM_EXTENDED_TypeDef FMC_Bank1E_TypeDef - #define FMC_SDRAM_TypeDef FMC_Bank5_6_TypeDef - - -#if defined(STM32F446xx) || defined(STM32F469xx) || defined(STM32F479xx) - #define FMC_NAND_DEVICE FMC_Bank3 -#else - #define FMC_NAND_DEVICE FMC_Bank2_3 - #define FMC_PCCARD_DEVICE FMC_Bank4 -#endif /* STM32F446xx || STM32F469xx || STM32F479xx */ - #define FMC_NORSRAM_DEVICE FMC_Bank1 - #define FMC_NORSRAM_EXTENDED_DEVICE FMC_Bank1E - #define FMC_SDRAM_DEVICE FMC_Bank5_6 -/** - * @} - */ - -/** - * @} - */ - -/* Private macro -------------------------------------------------------------*/ -/** @defgroup FMC_LL_Private_Macros FMC Private Macros - * @{ - */ - -/** @defgroup FMC_LL_NOR_Macros FMC NOR/SRAM Macros - * @brief macros to handle NOR device enable/disable and read/write operations - * @{ - */ -/** - * @brief Enable the NORSRAM device access. - * @param __INSTANCE__ FMC_NORSRAM Instance - * @param __BANK__ FMC_NORSRAM Bank - * @retval None - */ -#define __FMC_NORSRAM_ENABLE(__INSTANCE__, __BANK__) ((__INSTANCE__)->BTCR[(__BANK__)] |= FMC_BCR1_MBKEN) - -/** - * @brief Disable the NORSRAM device access. - * @param __INSTANCE__ FMC_NORSRAM Instance - * @param __BANK__ FMC_NORSRAM Bank - * @retval None - */ -#define __FMC_NORSRAM_DISABLE(__INSTANCE__, __BANK__) ((__INSTANCE__)->BTCR[(__BANK__)] &= ~FMC_BCR1_MBKEN) -/** - * @} - */ - -/** @defgroup FMC_LL_NAND_Macros FMC NAND Macros - * @brief macros to handle NAND device enable/disable - * @{ - */ -#if defined(STM32F446xx) || defined(STM32F469xx) || defined(STM32F479xx) -/** - * @brief Enable the NAND device access. - * @param __INSTANCE__ FMC_NAND Instance - * @param __BANK__ FMC_NAND Bank - * @retval None - */ -#define __FMC_NAND_ENABLE(__INSTANCE__, __BANK__) ((__INSTANCE__)->PCR |= FMC_PCR_PBKEN) - -/** - * @brief Disable the NAND device access. - * @param __INSTANCE__ FMC_NAND Instance - * @param __BANK__ FMC_NAND Bank - * @retval None - */ -#define __FMC_NAND_DISABLE(__INSTANCE__, __BANK__) ((__INSTANCE__)->PCR &= ~FMC_PCR_PBKEN) -#else /* defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) */ -/** - * @brief Enable the NAND device access. - * @param __INSTANCE__ FMC_NAND Instance - * @param __BANK__ FMC_NAND Bank - * @retval None - */ -#define __FMC_NAND_ENABLE(__INSTANCE__, __BANK__) (((__BANK__) == FMC_NAND_BANK2)? ((__INSTANCE__)->PCR2 |= FMC_PCR2_PBKEN): \ - ((__INSTANCE__)->PCR3 |= FMC_PCR3_PBKEN)) - -/** - * @brief Disable the NAND device access. - * @param __INSTANCE__ FMC_NAND Instance - * @param __BANK__ FMC_NAND Bank - * @retval None - */ -#define __FMC_NAND_DISABLE(__INSTANCE__, __BANK__) (((__BANK__) == FMC_NAND_BANK2)? ((__INSTANCE__)->PCR2 &= ~FMC_PCR2_PBKEN): \ - ((__INSTANCE__)->PCR3 &= ~FMC_PCR3_PBKEN)) - -#endif /* defined(STM32F446xx) || defined(STM32F469xx) || defined(STM32F479xx) */ -/** - * @} - */ -#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) -/** @defgroup FMC_LL_PCCARD_Macros FMC PCCARD Macros - * @brief macros to handle SRAM read/write operations - * @{ - */ -/** - * @brief Enable the PCCARD device access. - * @param __INSTANCE__ FMC_PCCARD Instance - * @retval None - */ -#define __FMC_PCCARD_ENABLE(__INSTANCE__) ((__INSTANCE__)->PCR4 |= FMC_PCR4_PBKEN) - -/** - * @brief Disable the PCCARD device access. - * @param __INSTANCE__ FMC_PCCARD Instance - * @retval None - */ -#define __FMC_PCCARD_DISABLE(__INSTANCE__) ((__INSTANCE__)->PCR4 &= ~FMC_PCR4_PBKEN) -/** - * @} - */ -#endif /* defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) */ - -/** @defgroup FMC_LL_Flag_Interrupt_Macros FMC Flag&Interrupt Macros - * @brief macros to handle FMC flags and interrupts - * @{ - */ -#if defined(STM32F446xx) || defined(STM32F469xx) || defined(STM32F479xx) -/** - * @brief Enable the NAND device interrupt. - * @param __INSTANCE__ FMC_NAND instance - * @param __BANK__ FMC_NAND Bank - * @param __INTERRUPT__ FMC_NAND interrupt - * This parameter can be any combination of the following values: - * @arg FMC_IT_RISING_EDGE: Interrupt rising edge. - * @arg FMC_IT_LEVEL: Interrupt level. - * @arg FMC_IT_FALLING_EDGE: Interrupt falling edge. - * @retval None - */ -#define __FMC_NAND_ENABLE_IT(__INSTANCE__, __BANK__, __INTERRUPT__) ((__INSTANCE__)->SR |= (__INTERRUPT__)) - -/** - * @brief Disable the NAND device interrupt. - * @param __INSTANCE__ FMC_NAND Instance - * @param __BANK__ FMC_NAND Bank - * @param __INTERRUPT__ FMC_NAND interrupt - * This parameter can be any combination of the following values: - * @arg FMC_IT_RISING_EDGE: Interrupt rising edge. - * @arg FMC_IT_LEVEL: Interrupt level. - * @arg FMC_IT_FALLING_EDGE: Interrupt falling edge. - * @retval None - */ -#define __FMC_NAND_DISABLE_IT(__INSTANCE__, __BANK__, __INTERRUPT__) ((__INSTANCE__)->SR &= ~(__INTERRUPT__)) - -/** - * @brief Get flag status of the NAND device. - * @param __INSTANCE__ FMC_NAND Instance - * @param __BANK__ FMC_NAND Bank - * @param __FLAG__ FMC_NAND flag - * This parameter can be any combination of the following values: - * @arg FMC_FLAG_RISING_EDGE: Interrupt rising edge flag. - * @arg FMC_FLAG_LEVEL: Interrupt level edge flag. - * @arg FMC_FLAG_FALLING_EDGE: Interrupt falling edge flag. - * @arg FMC_FLAG_FEMPT: FIFO empty flag. - * @retval The state of FLAG (SET or RESET). - */ -#define __FMC_NAND_GET_FLAG(__INSTANCE__, __BANK__, __FLAG__) (((__INSTANCE__)->SR &(__FLAG__)) == (__FLAG__)) -/** - * @brief Clear flag status of the NAND device. - * @param __INSTANCE__ FMC_NAND Instance - * @param __BANK__ FMC_NAND Bank - * @param __FLAG__ FMC_NAND flag - * This parameter can be any combination of the following values: - * @arg FMC_FLAG_RISING_EDGE: Interrupt rising edge flag. - * @arg FMC_FLAG_LEVEL: Interrupt level edge flag. - * @arg FMC_FLAG_FALLING_EDGE: Interrupt falling edge flag. - * @arg FMC_FLAG_FEMPT: FIFO empty flag. - * @retval None - */ -#define __FMC_NAND_CLEAR_FLAG(__INSTANCE__, __BANK__, __FLAG__) ((__INSTANCE__)->SR &= ~(__FLAG__)) -#else /* defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) */ -/** - * @brief Enable the NAND device interrupt. - * @param __INSTANCE__ FMC_NAND instance - * @param __BANK__ FMC_NAND Bank - * @param __INTERRUPT__ FMC_NAND interrupt - * This parameter can be any combination of the following values: - * @arg FMC_IT_RISING_EDGE: Interrupt rising edge. - * @arg FMC_IT_LEVEL: Interrupt level. - * @arg FMC_IT_FALLING_EDGE: Interrupt falling edge. - * @retval None - */ -#define __FMC_NAND_ENABLE_IT(__INSTANCE__, __BANK__, __INTERRUPT__) (((__BANK__) == FMC_NAND_BANK2)? ((__INSTANCE__)->SR2 |= (__INTERRUPT__)): \ - ((__INSTANCE__)->SR3 |= (__INTERRUPT__))) - -/** - * @brief Disable the NAND device interrupt. - * @param __INSTANCE__ FMC_NAND Instance - * @param __BANK__ FMC_NAND Bank - * @param __INTERRUPT__ FMC_NAND interrupt - * This parameter can be any combination of the following values: - * @arg FMC_IT_RISING_EDGE: Interrupt rising edge. - * @arg FMC_IT_LEVEL: Interrupt level. - * @arg FMC_IT_FALLING_EDGE: Interrupt falling edge. - * @retval None - */ -#define __FMC_NAND_DISABLE_IT(__INSTANCE__, __BANK__, __INTERRUPT__) (((__BANK__) == FMC_NAND_BANK2)? ((__INSTANCE__)->SR2 &= ~(__INTERRUPT__)): \ - ((__INSTANCE__)->SR3 &= ~(__INTERRUPT__))) - -/** - * @brief Get flag status of the NAND device. - * @param __INSTANCE__ FMC_NAND Instance - * @param __BANK__ FMC_NAND Bank - * @param __FLAG__ FMC_NAND flag - * This parameter can be any combination of the following values: - * @arg FMC_FLAG_RISING_EDGE: Interrupt rising edge flag. - * @arg FMC_FLAG_LEVEL: Interrupt level edge flag. - * @arg FMC_FLAG_FALLING_EDGE: Interrupt falling edge flag. - * @arg FMC_FLAG_FEMPT: FIFO empty flag. - * @retval The state of FLAG (SET or RESET). - */ -#define __FMC_NAND_GET_FLAG(__INSTANCE__, __BANK__, __FLAG__) (((__BANK__) == FMC_NAND_BANK2)? (((__INSTANCE__)->SR2 &(__FLAG__)) == (__FLAG__)): \ - (((__INSTANCE__)->SR3 &(__FLAG__)) == (__FLAG__))) -/** - * @brief Clear flag status of the NAND device. - * @param __INSTANCE__ FMC_NAND Instance - * @param __BANK__ FMC_NAND Bank - * @param __FLAG__ FMC_NAND flag - * This parameter can be any combination of the following values: - * @arg FMC_FLAG_RISING_EDGE: Interrupt rising edge flag. - * @arg FMC_FLAG_LEVEL: Interrupt level edge flag. - * @arg FMC_FLAG_FALLING_EDGE: Interrupt falling edge flag. - * @arg FMC_FLAG_FEMPT: FIFO empty flag. - * @retval None - */ -#define __FMC_NAND_CLEAR_FLAG(__INSTANCE__, __BANK__, __FLAG__) (((__BANK__) == FMC_NAND_BANK2)? ((__INSTANCE__)->SR2 &= ~(__FLAG__)): \ - ((__INSTANCE__)->SR3 &= ~(__FLAG__))) -#endif /* defined(STM32F446xx) || defined(STM32F469xx) || defined(STM32F479xx) */ - -#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) -/** - * @brief Enable the PCCARD device interrupt. - * @param __INSTANCE__ FMC_PCCARD instance - * @param __INTERRUPT__ FMC_PCCARD interrupt - * This parameter can be any combination of the following values: - * @arg FMC_IT_RISING_EDGE: Interrupt rising edge. - * @arg FMC_IT_LEVEL: Interrupt level. - * @arg FMC_IT_FALLING_EDGE: Interrupt falling edge. - * @retval None - */ -#define __FMC_PCCARD_ENABLE_IT(__INSTANCE__, __INTERRUPT__) ((__INSTANCE__)->SR4 |= (__INTERRUPT__)) - -/** - * @brief Disable the PCCARD device interrupt. - * @param __INSTANCE__ FMC_PCCARD instance - * @param __INTERRUPT__ FMC_PCCARD interrupt - * This parameter can be any combination of the following values: - * @arg FMC_IT_RISING_EDGE: Interrupt rising edge. - * @arg FMC_IT_LEVEL: Interrupt level. - * @arg FMC_IT_FALLING_EDGE: Interrupt falling edge. - * @retval None - */ -#define __FMC_PCCARD_DISABLE_IT(__INSTANCE__, __INTERRUPT__) ((__INSTANCE__)->SR4 &= ~(__INTERRUPT__)) - -/** - * @brief Get flag status of the PCCARD device. - * @param __INSTANCE__ FMC_PCCARD instance - * @param __FLAG__ FMC_PCCARD flag - * This parameter can be any combination of the following values: - * @arg FMC_FLAG_RISING_EDGE: Interrupt rising edge flag. - * @arg FMC_FLAG_LEVEL: Interrupt level edge flag. - * @arg FMC_FLAG_FALLING_EDGE: Interrupt falling edge flag. - * @arg FMC_FLAG_FEMPT: FIFO empty flag. - * @retval The state of FLAG (SET or RESET). - */ -#define __FMC_PCCARD_GET_FLAG(__INSTANCE__, __FLAG__) (((__INSTANCE__)->SR4 &(__FLAG__)) == (__FLAG__)) - -/** - * @brief Clear flag status of the PCCARD device. - * @param __INSTANCE__ FMC_PCCARD instance - * @param __FLAG__ FMC_PCCARD flag - * This parameter can be any combination of the following values: - * @arg FMC_FLAG_RISING_EDGE: Interrupt rising edge flag. - * @arg FMC_FLAG_LEVEL: Interrupt level edge flag. - * @arg FMC_FLAG_FALLING_EDGE: Interrupt falling edge flag. - * @arg FMC_FLAG_FEMPT: FIFO empty flag. - * @retval None - */ -#define __FMC_PCCARD_CLEAR_FLAG(__INSTANCE__, __FLAG__) ((__INSTANCE__)->SR4 &= ~(__FLAG__)) -#endif /* defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) */ - -/** - * @brief Enable the SDRAM device interrupt. - * @param __INSTANCE__ FMC_SDRAM instance - * @param __INTERRUPT__ FMC_SDRAM interrupt - * This parameter can be any combination of the following values: - * @arg FMC_IT_REFRESH_ERROR: Interrupt refresh error - * @retval None - */ -#define __FMC_SDRAM_ENABLE_IT(__INSTANCE__, __INTERRUPT__) ((__INSTANCE__)->SDRTR |= (__INTERRUPT__)) - -/** - * @brief Disable the SDRAM device interrupt. - * @param __INSTANCE__ FMC_SDRAM instance - * @param __INTERRUPT__ FMC_SDRAM interrupt - * This parameter can be any combination of the following values: - * @arg FMC_IT_REFRESH_ERROR: Interrupt refresh error - * @retval None - */ -#define __FMC_SDRAM_DISABLE_IT(__INSTANCE__, __INTERRUPT__) ((__INSTANCE__)->SDRTR &= ~(__INTERRUPT__)) - -/** - * @brief Get flag status of the SDRAM device. - * @param __INSTANCE__ FMC_SDRAM instance - * @param __FLAG__ FMC_SDRAM flag - * This parameter can be any combination of the following values: - * @arg FMC_SDRAM_FLAG_REFRESH_IT: Interrupt refresh error. - * @arg FMC_SDRAM_FLAG_BUSY: SDRAM busy flag. - * @arg FMC_SDRAM_FLAG_REFRESH_ERROR: Refresh error flag. - * @retval The state of FLAG (SET or RESET). - */ -#define __FMC_SDRAM_GET_FLAG(__INSTANCE__, __FLAG__) (((__INSTANCE__)->SDSR &(__FLAG__)) == (__FLAG__)) - -/** - * @brief Clear flag status of the SDRAM device. - * @param __INSTANCE__ FMC_SDRAM instance - * @param __FLAG__ FMC_SDRAM flag - * This parameter can be any combination of the following values: - * @arg FMC_SDRAM_FLAG_REFRESH_ERROR - * @retval None - */ -#define __FMC_SDRAM_CLEAR_FLAG(__INSTANCE__, __FLAG__) ((__INSTANCE__)->SDRTR |= (__FLAG__)) -/** - * @} - */ - -/** @defgroup FSMC_LL_Assert_Macros FSMC Assert Macros - * @{ - */ -#define IS_FMC_NORSRAM_BANK(BANK) (((BANK) == FMC_NORSRAM_BANK1) || \ - ((BANK) == FMC_NORSRAM_BANK2) || \ - ((BANK) == FMC_NORSRAM_BANK3) || \ - ((BANK) == FMC_NORSRAM_BANK4)) - -#define IS_FMC_MUX(__MUX__) (((__MUX__) == FMC_DATA_ADDRESS_MUX_DISABLE) || \ - ((__MUX__) == FMC_DATA_ADDRESS_MUX_ENABLE)) - -#define IS_FMC_MEMORY(__MEMORY__) (((__MEMORY__) == FMC_MEMORY_TYPE_SRAM) || \ - ((__MEMORY__) == FMC_MEMORY_TYPE_PSRAM)|| \ - ((__MEMORY__) == FMC_MEMORY_TYPE_NOR)) - -#define IS_FMC_NORSRAM_MEMORY_WIDTH(__WIDTH__) (((__WIDTH__) == FMC_NORSRAM_MEM_BUS_WIDTH_8) || \ - ((__WIDTH__) == FMC_NORSRAM_MEM_BUS_WIDTH_16) || \ - ((__WIDTH__) == FMC_NORSRAM_MEM_BUS_WIDTH_32)) - -#define IS_FMC_ACCESS_MODE(__MODE__) (((__MODE__) == FMC_ACCESS_MODE_A) || \ - ((__MODE__) == FMC_ACCESS_MODE_B) || \ - ((__MODE__) == FMC_ACCESS_MODE_C) || \ - ((__MODE__) == FMC_ACCESS_MODE_D)) - -#define IS_FMC_NAND_BANK(BANK) (((BANK) == FMC_NAND_BANK2) || \ - ((BANK) == FMC_NAND_BANK3)) - -#define IS_FMC_WAIT_FEATURE(FEATURE) (((FEATURE) == FMC_NAND_PCC_WAIT_FEATURE_DISABLE) || \ - ((FEATURE) == FMC_NAND_PCC_WAIT_FEATURE_ENABLE)) - -#define IS_FMC_NAND_MEMORY_WIDTH(WIDTH) (((WIDTH) == FMC_NAND_PCC_MEM_BUS_WIDTH_8) || \ - ((WIDTH) == FMC_NAND_PCC_MEM_BUS_WIDTH_16)) - -#define IS_FMC_ECC_STATE(STATE) (((STATE) == FMC_NAND_ECC_DISABLE) || \ - ((STATE) == FMC_NAND_ECC_ENABLE)) - -#define IS_FMC_ECCPAGE_SIZE(SIZE) (((SIZE) == FMC_NAND_ECC_PAGE_SIZE_256BYTE) || \ - ((SIZE) == FMC_NAND_ECC_PAGE_SIZE_512BYTE) || \ - ((SIZE) == FMC_NAND_ECC_PAGE_SIZE_1024BYTE) || \ - ((SIZE) == FMC_NAND_ECC_PAGE_SIZE_2048BYTE) || \ - ((SIZE) == FMC_NAND_ECC_PAGE_SIZE_4096BYTE) || \ - ((SIZE) == FMC_NAND_ECC_PAGE_SIZE_8192BYTE)) - -#define IS_FMC_TCLR_TIME(TIME) ((TIME) <= 255U) - -#define IS_FMC_TAR_TIME(TIME) ((TIME) <= 255U) - -#define IS_FMC_SETUP_TIME(TIME) ((TIME) <= 255U) - -#define IS_FMC_WAIT_TIME(TIME) ((TIME) <= 255U) - -#define IS_FMC_HOLD_TIME(TIME) ((TIME) <= 255U) - -#define IS_FMC_HIZ_TIME(TIME) ((TIME) <= 255U) - -#define IS_FMC_NORSRAM_DEVICE(__INSTANCE__) ((__INSTANCE__) == FMC_NORSRAM_DEVICE) - -#define IS_FMC_NORSRAM_EXTENDED_DEVICE(__INSTANCE__) ((__INSTANCE__) == FMC_NORSRAM_EXTENDED_DEVICE) - -#define IS_FMC_NAND_DEVICE(__INSTANCE__) ((__INSTANCE__) == FMC_NAND_DEVICE) - -#define IS_FMC_PCCARD_DEVICE(__INSTANCE__) ((__INSTANCE__) == FMC_PCCARD_DEVICE) - -#define IS_FMC_BURSTMODE(__STATE__) (((__STATE__) == FMC_BURST_ACCESS_MODE_DISABLE) || \ - ((__STATE__) == FMC_BURST_ACCESS_MODE_ENABLE)) - -#define IS_FMC_WAIT_POLARITY(__POLARITY__) (((__POLARITY__) == FMC_WAIT_SIGNAL_POLARITY_LOW) || \ - ((__POLARITY__) == FMC_WAIT_SIGNAL_POLARITY_HIGH)) - -#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) -#define IS_FMC_WRAP_MODE(__MODE__) (((__MODE__) == FMC_WRAP_MODE_DISABLE) || \ - ((__MODE__) == FMC_WRAP_MODE_ENABLE)) -#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx */ - -#define IS_FMC_WAIT_SIGNAL_ACTIVE(__ACTIVE__) (((__ACTIVE__) == FMC_WAIT_TIMING_BEFORE_WS) || \ - ((__ACTIVE__) == FMC_WAIT_TIMING_DURING_WS)) - -#define IS_FMC_WRITE_OPERATION(__OPERATION__) (((__OPERATION__) == FMC_WRITE_OPERATION_DISABLE) || \ - ((__OPERATION__) == FMC_WRITE_OPERATION_ENABLE)) - -#define IS_FMC_WAITE_SIGNAL(__SIGNAL__) (((__SIGNAL__) == FMC_WAIT_SIGNAL_DISABLE) || \ - ((__SIGNAL__) == FMC_WAIT_SIGNAL_ENABLE)) - -#define IS_FMC_EXTENDED_MODE(__MODE__) (((__MODE__) == FMC_EXTENDED_MODE_DISABLE) || \ - ((__MODE__) == FMC_EXTENDED_MODE_ENABLE)) - -#define IS_FMC_ASYNWAIT(__STATE__) (((__STATE__) == FMC_ASYNCHRONOUS_WAIT_DISABLE) || \ - ((__STATE__) == FMC_ASYNCHRONOUS_WAIT_ENABLE)) - -#define IS_FMC_WRITE_BURST(__BURST__) (((__BURST__) == FMC_WRITE_BURST_DISABLE) || \ - ((__BURST__) == FMC_WRITE_BURST_ENABLE)) - -#define IS_FMC_CONTINOUS_CLOCK(CCLOCK) (((CCLOCK) == FMC_CONTINUOUS_CLOCK_SYNC_ONLY) || \ - ((CCLOCK) == FMC_CONTINUOUS_CLOCK_SYNC_ASYNC)) - -#define IS_FMC_ADDRESS_SETUP_TIME(__TIME__) ((__TIME__) <= 15U) - -#define IS_FMC_ADDRESS_HOLD_TIME(__TIME__) (((__TIME__) > 0U) && ((__TIME__) <= 15U)) - -#define IS_FMC_DATASETUP_TIME(__TIME__) (((__TIME__) > 0U) && ((__TIME__) <= 255U)) - -#define IS_FMC_TURNAROUND_TIME(__TIME__) ((__TIME__) <= 15U) - -#define IS_FMC_DATA_LATENCY(__LATENCY__) (((__LATENCY__) > 1U) && ((__LATENCY__) <= 17U)) - -#define IS_FMC_CLK_DIV(DIV) (((DIV) > 1U) && ((DIV) <= 16U)) - -#define IS_FMC_SDRAM_BANK(BANK) (((BANK) == FMC_SDRAM_BANK1) || \ - ((BANK) == FMC_SDRAM_BANK2)) - -#define IS_FMC_COLUMNBITS_NUMBER(COLUMN) (((COLUMN) == FMC_SDRAM_COLUMN_BITS_NUM_8) || \ - ((COLUMN) == FMC_SDRAM_COLUMN_BITS_NUM_9) || \ - ((COLUMN) == FMC_SDRAM_COLUMN_BITS_NUM_10) || \ - ((COLUMN) == FMC_SDRAM_COLUMN_BITS_NUM_11)) - -#define IS_FMC_ROWBITS_NUMBER(ROW) (((ROW) == FMC_SDRAM_ROW_BITS_NUM_11) || \ - ((ROW) == FMC_SDRAM_ROW_BITS_NUM_12) || \ - ((ROW) == FMC_SDRAM_ROW_BITS_NUM_13)) - -#define IS_FMC_SDMEMORY_WIDTH(WIDTH) (((WIDTH) == FMC_SDRAM_MEM_BUS_WIDTH_8) || \ - ((WIDTH) == FMC_SDRAM_MEM_BUS_WIDTH_16) || \ - ((WIDTH) == FMC_SDRAM_MEM_BUS_WIDTH_32)) - -#define IS_FMC_INTERNALBANK_NUMBER(NUMBER) (((NUMBER) == FMC_SDRAM_INTERN_BANKS_NUM_2) || \ - ((NUMBER) == FMC_SDRAM_INTERN_BANKS_NUM_4)) - - -#define IS_FMC_CAS_LATENCY(LATENCY) (((LATENCY) == FMC_SDRAM_CAS_LATENCY_1) || \ - ((LATENCY) == FMC_SDRAM_CAS_LATENCY_2) || \ - ((LATENCY) == FMC_SDRAM_CAS_LATENCY_3)) - -#define IS_FMC_SDCLOCK_PERIOD(PERIOD) (((PERIOD) == FMC_SDRAM_CLOCK_DISABLE) || \ - ((PERIOD) == FMC_SDRAM_CLOCK_PERIOD_2) || \ - ((PERIOD) == FMC_SDRAM_CLOCK_PERIOD_3)) - -#define IS_FMC_READ_BURST(RBURST) (((RBURST) == FMC_SDRAM_RBURST_DISABLE) || \ - ((RBURST) == FMC_SDRAM_RBURST_ENABLE)) - - -#define IS_FMC_READPIPE_DELAY(DELAY) (((DELAY) == FMC_SDRAM_RPIPE_DELAY_0) || \ - ((DELAY) == FMC_SDRAM_RPIPE_DELAY_1) || \ - ((DELAY) == FMC_SDRAM_RPIPE_DELAY_2)) - -#define IS_FMC_LOADTOACTIVE_DELAY(DELAY) (((DELAY) > 0U) && ((DELAY) <= 16U)) - -#define IS_FMC_EXITSELFREFRESH_DELAY(DELAY) (((DELAY) > 0U) && ((DELAY) <= 16U)) - -#define IS_FMC_SELFREFRESH_TIME(TIME) (((TIME) > 0U) && ((TIME) <= 16U)) - -#define IS_FMC_ROWCYCLE_DELAY(DELAY) (((DELAY) > 0U) && ((DELAY) <= 16U)) - -#define IS_FMC_WRITE_RECOVERY_TIME(TIME) (((TIME) > 0U) && ((TIME) <= 16U)) - -#define IS_FMC_RP_DELAY(DELAY) (((DELAY) > 0U) && ((DELAY) <= 16U)) - -#define IS_FMC_RCD_DELAY(DELAY) (((DELAY) > 0U) && ((DELAY) <= 16U)) - -#define IS_FMC_COMMAND_MODE(COMMAND) (((COMMAND) == FMC_SDRAM_CMD_NORMAL_MODE) || \ - ((COMMAND) == FMC_SDRAM_CMD_CLK_ENABLE) || \ - ((COMMAND) == FMC_SDRAM_CMD_PALL) || \ - ((COMMAND) == FMC_SDRAM_CMD_AUTOREFRESH_MODE) || \ - ((COMMAND) == FMC_SDRAM_CMD_LOAD_MODE) || \ - ((COMMAND) == FMC_SDRAM_CMD_SELFREFRESH_MODE) || \ - ((COMMAND) == FMC_SDRAM_CMD_POWERDOWN_MODE)) - -#define IS_FMC_COMMAND_TARGET(TARGET) (((TARGET) == FMC_SDRAM_CMD_TARGET_BANK1) || \ - ((TARGET) == FMC_SDRAM_CMD_TARGET_BANK2) || \ - ((TARGET) == FMC_SDRAM_CMD_TARGET_BANK1_2)) - -#define IS_FMC_AUTOREFRESH_NUMBER(NUMBER) (((NUMBER) > 0U) && ((NUMBER) <= 16U)) - -#define IS_FMC_MODE_REGISTER(CONTENT) ((CONTENT) <= 8191U) - -#define IS_FMC_REFRESH_RATE(RATE) ((RATE) <= 8191U) - -#define IS_FMC_SDRAM_DEVICE(INSTANCE) ((INSTANCE) == FMC_SDRAM_DEVICE) - -#define IS_FMC_WRITE_PROTECTION(WRITE) (((WRITE) == FMC_SDRAM_WRITE_PROTECTION_DISABLE) || \ - ((WRITE) == FMC_SDRAM_WRITE_PROTECTION_ENABLE)) - -#define IS_FMC_PAGESIZE(SIZE) (((SIZE) == FMC_PAGE_SIZE_NONE) || \ - ((SIZE) == FMC_PAGE_SIZE_128) || \ - ((SIZE) == FMC_PAGE_SIZE_256) || \ - ((SIZE) == FMC_PAGE_SIZE_512) || \ - ((SIZE) == FMC_PAGE_SIZE_1024)) - -#if defined (STM32F446xx) || defined(STM32F469xx) || defined(STM32F479xx) -#define IS_FMC_WRITE_FIFO(FIFO) (((FIFO) == FMC_WRITE_FIFO_DISABLE) || \ - ((FIFO) == FMC_WRITE_FIFO_ENABLE)) -#endif /* STM32F446xx || STM32F469xx || STM32F479xx */ - -/** - * @} - */ - -/** - * @} - */ - -/* Private functions ---------------------------------------------------------*/ -/** @defgroup FMC_LL_Private_Functions FMC LL Private Functions - * @{ - */ - -/** @defgroup FMC_LL_NORSRAM NOR SRAM - * @{ - */ -/** @defgroup FMC_LL_NORSRAM_Private_Functions_Group1 NOR SRAM Initialization/de-initialization functions - * @{ - */ -HAL_StatusTypeDef FMC_NORSRAM_Init(FMC_NORSRAM_TypeDef *Device, FMC_NORSRAM_InitTypeDef *Init); -HAL_StatusTypeDef FMC_NORSRAM_Timing_Init(FMC_NORSRAM_TypeDef *Device, FMC_NORSRAM_TimingTypeDef *Timing, uint32_t Bank); -HAL_StatusTypeDef FMC_NORSRAM_Extended_Timing_Init(FMC_NORSRAM_EXTENDED_TypeDef *Device, FMC_NORSRAM_TimingTypeDef *Timing, uint32_t Bank, uint32_t ExtendedMode); -HAL_StatusTypeDef FMC_NORSRAM_DeInit(FMC_NORSRAM_TypeDef *Device, FMC_NORSRAM_EXTENDED_TypeDef *ExDevice, uint32_t Bank); -/** - * @} - */ - -/** @defgroup FMC_LL_NORSRAM_Private_Functions_Group2 NOR SRAM Control functions - * @{ - */ -HAL_StatusTypeDef FMC_NORSRAM_WriteOperation_Enable(FMC_NORSRAM_TypeDef *Device, uint32_t Bank); -HAL_StatusTypeDef FMC_NORSRAM_WriteOperation_Disable(FMC_NORSRAM_TypeDef *Device, uint32_t Bank); -/** - * @} - */ -/** - * @} - */ - -/** @defgroup FMC_LL_NAND NAND - * @{ - */ -/** @defgroup FMC_LL_NAND_Private_Functions_Group1 NAND Initialization/de-initialization functions - * @{ - */ -HAL_StatusTypeDef FMC_NAND_Init(FMC_NAND_TypeDef *Device, FMC_NAND_InitTypeDef *Init); -HAL_StatusTypeDef FMC_NAND_CommonSpace_Timing_Init(FMC_NAND_TypeDef *Device, FMC_NAND_PCC_TimingTypeDef *Timing, uint32_t Bank); -HAL_StatusTypeDef FMC_NAND_AttributeSpace_Timing_Init(FMC_NAND_TypeDef *Device, FMC_NAND_PCC_TimingTypeDef *Timing, uint32_t Bank); -HAL_StatusTypeDef FMC_NAND_DeInit(FMC_NAND_TypeDef *Device, uint32_t Bank); -/** - * @} - */ - -/** @defgroup FMC_LL_NAND_Private_Functions_Group2 NAND Control functions - * @{ - */ -HAL_StatusTypeDef FMC_NAND_ECC_Enable(FMC_NAND_TypeDef *Device, uint32_t Bank); -HAL_StatusTypeDef FMC_NAND_ECC_Disable(FMC_NAND_TypeDef *Device, uint32_t Bank); -HAL_StatusTypeDef FMC_NAND_GetECC(FMC_NAND_TypeDef *Device, uint32_t *ECCval, uint32_t Bank, uint32_t Timeout); - -/** - * @} - */ -/** - * @} - */ -#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) -/** @defgroup FMC_LL_PCCARD PCCARD - * @{ - */ -/** @defgroup FMC_LL_PCCARD_Private_Functions_Group1 PCCARD Initialization/de-initialization functions - * @{ - */ -HAL_StatusTypeDef FMC_PCCARD_Init(FMC_PCCARD_TypeDef *Device, FMC_PCCARD_InitTypeDef *Init); -HAL_StatusTypeDef FMC_PCCARD_CommonSpace_Timing_Init(FMC_PCCARD_TypeDef *Device, FMC_NAND_PCC_TimingTypeDef *Timing); -HAL_StatusTypeDef FMC_PCCARD_AttributeSpace_Timing_Init(FMC_PCCARD_TypeDef *Device, FMC_NAND_PCC_TimingTypeDef *Timing); -HAL_StatusTypeDef FMC_PCCARD_IOSpace_Timing_Init(FMC_PCCARD_TypeDef *Device, FMC_NAND_PCC_TimingTypeDef *Timing); -HAL_StatusTypeDef FMC_PCCARD_DeInit(FMC_PCCARD_TypeDef *Device); -/** - * @} - */ -/** - * @} - */ -#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx */ - -/** @defgroup FMC_LL_SDRAM SDRAM - * @{ - */ -/** @defgroup FMC_LL_SDRAM_Private_Functions_Group1 SDRAM Initialization/de-initialization functions - * @{ - */ -HAL_StatusTypeDef FMC_SDRAM_Init(FMC_SDRAM_TypeDef *Device, FMC_SDRAM_InitTypeDef *Init); -HAL_StatusTypeDef FMC_SDRAM_Timing_Init(FMC_SDRAM_TypeDef *Device, FMC_SDRAM_TimingTypeDef *Timing, uint32_t Bank); -HAL_StatusTypeDef FMC_SDRAM_DeInit(FMC_SDRAM_TypeDef *Device, uint32_t Bank); -/** - * @} - */ - -/** @defgroup FMC_LL_SDRAM_Private_Functions_Group2 SDRAM Control functions - * @{ - */ -HAL_StatusTypeDef FMC_SDRAM_WriteProtection_Enable(FMC_SDRAM_TypeDef *Device, uint32_t Bank); -HAL_StatusTypeDef FMC_SDRAM_WriteProtection_Disable(FMC_SDRAM_TypeDef *Device, uint32_t Bank); -HAL_StatusTypeDef FMC_SDRAM_SendCommand(FMC_SDRAM_TypeDef *Device, FMC_SDRAM_CommandTypeDef *Command, uint32_t Timeout); -HAL_StatusTypeDef FMC_SDRAM_ProgramRefreshRate(FMC_SDRAM_TypeDef *Device, uint32_t RefreshRate); -HAL_StatusTypeDef FMC_SDRAM_SetAutoRefreshNumber(FMC_SDRAM_TypeDef *Device, uint32_t AutoRefreshNumber); -uint32_t FMC_SDRAM_GetModeStatus(FMC_SDRAM_TypeDef *Device, uint32_t Bank); -/** - * @} - */ -/** - * @} - */ - -/** - * @} - */ - -#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || STM32F446xx || STM32F469xx || STM32F479xx */ -/** - * @} - */ - -/** - * @} - */ -#ifdef __cplusplus -} -#endif - -#endif /* __STM32F4xx_LL_FMC_H */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_fmpi2c.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_fmpi2c.h deleted file mode 100644 index dd08b77c36e3a1..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_fmpi2c.h +++ /dev/null @@ -1,2237 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_ll_fmpi2c.h - * @author MCD Application Team - * @brief Header file of FMPI2C LL module. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef STM32F4xx_LL_FMPI2C_H -#define STM32F4xx_LL_FMPI2C_H - -#ifdef __cplusplus -extern "C" { -#endif - -#if defined(FMPI2C_CR1_PE) -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx.h" - -/** @addtogroup STM32F4xx_LL_Driver - * @{ - */ - -#if defined (FMPI2C1) - -/** @defgroup FMPI2C_LL FMPI2C - * @{ - */ - -/* Private types -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ - -/* Private constants ---------------------------------------------------------*/ -/** @defgroup FMPI2C_LL_Private_Constants FMPI2C Private Constants - * @{ - */ -/** - * @} - */ - -/* Private macros ------------------------------------------------------------*/ -#if defined(USE_FULL_LL_DRIVER) -/** @defgroup FMPI2C_LL_Private_Macros FMPI2C Private Macros - * @{ - */ -/** - * @} - */ -#endif /*USE_FULL_LL_DRIVER*/ - -/* Exported types ------------------------------------------------------------*/ -#if defined(USE_FULL_LL_DRIVER) -/** @defgroup FMPI2C_LL_ES_INIT FMPI2C Exported Init structure - * @{ - */ -typedef struct -{ - uint32_t PeripheralMode; /*!< Specifies the peripheral mode. - This parameter can be a value of @ref FMPI2C_LL_EC_PERIPHERAL_MODE. - - This feature can be modified afterwards using unitary function - @ref LL_FMPI2C_SetMode(). */ - - uint32_t Timing; /*!< Specifies the SDA setup, hold time and the SCL high, low period values. - This parameter must be set by referring to the STM32CubeMX Tool and - the helper macro @ref __LL_FMPI2C_CONVERT_TIMINGS(). - - This feature can be modified afterwards using unitary function - @ref LL_FMPI2C_SetTiming(). */ - - uint32_t AnalogFilter; /*!< Enables or disables analog noise filter. - This parameter can be a value of @ref FMPI2C_LL_EC_ANALOGFILTER_SELECTION. - - This feature can be modified afterwards using unitary functions - @ref LL_FMPI2C_EnableAnalogFilter() or LL_FMPI2C_DisableAnalogFilter(). */ - - uint32_t DigitalFilter; /*!< Configures the digital noise filter. - This parameter can be a number between Min_Data = 0x00 and Max_Data = 0x0F. - - This feature can be modified afterwards using unitary function - @ref LL_FMPI2C_SetDigitalFilter(). */ - - uint32_t OwnAddress1; /*!< Specifies the device own address 1. - This parameter must be a value between Min_Data = 0x00 and Max_Data = 0x3FF. - - This feature can be modified afterwards using unitary function - @ref LL_FMPI2C_SetOwnAddress1(). */ - - uint32_t TypeAcknowledge; /*!< Specifies the ACKnowledge or Non ACKnowledge condition after the address receive - match code or next received byte. - This parameter can be a value of @ref FMPI2C_LL_EC_I2C_ACKNOWLEDGE. - - This feature can be modified afterwards using unitary function - @ref LL_FMPI2C_AcknowledgeNextData(). */ - - uint32_t OwnAddrSize; /*!< Specifies the device own address 1 size (7-bit or 10-bit). - This parameter can be a value of @ref FMPI2C_LL_EC_OWNADDRESS1. - - This feature can be modified afterwards using unitary function - @ref LL_FMPI2C_SetOwnAddress1(). */ -} LL_FMPI2C_InitTypeDef; -/** - * @} - */ -#endif /*USE_FULL_LL_DRIVER*/ - -/* Exported constants --------------------------------------------------------*/ -/** @defgroup FMPI2C_LL_Exported_Constants FMPI2C Exported Constants - * @{ - */ - -/** @defgroup FMPI2C_LL_EC_CLEAR_FLAG Clear Flags Defines - * @brief Flags defines which can be used with LL_FMPI2C_WriteReg function - * @{ - */ -#define LL_FMPI2C_ICR_ADDRCF FMPI2C_ICR_ADDRCF /*!< Address Matched flag */ -#define LL_FMPI2C_ICR_NACKCF FMPI2C_ICR_NACKCF /*!< Not Acknowledge flag */ -#define LL_FMPI2C_ICR_STOPCF FMPI2C_ICR_STOPCF /*!< Stop detection flag */ -#define LL_FMPI2C_ICR_BERRCF FMPI2C_ICR_BERRCF /*!< Bus error flag */ -#define LL_FMPI2C_ICR_ARLOCF FMPI2C_ICR_ARLOCF /*!< Arbitration Lost flag */ -#define LL_FMPI2C_ICR_OVRCF FMPI2C_ICR_OVRCF /*!< Overrun/Underrun flag */ -#define LL_FMPI2C_ICR_PECCF FMPI2C_ICR_PECCF /*!< PEC error flag */ -#define LL_FMPI2C_ICR_TIMOUTCF FMPI2C_ICR_TIMOUTCF /*!< Timeout detection flag */ -#define LL_FMPI2C_ICR_ALERTCF FMPI2C_ICR_ALERTCF /*!< Alert flag */ -/** - * @} - */ - -/** @defgroup FMPI2C_LL_EC_GET_FLAG Get Flags Defines - * @brief Flags defines which can be used with LL_FMPI2C_ReadReg function - * @{ - */ -#define LL_FMPI2C_ISR_TXE FMPI2C_ISR_TXE /*!< Transmit data register empty */ -#define LL_FMPI2C_ISR_TXIS FMPI2C_ISR_TXIS /*!< Transmit interrupt status */ -#define LL_FMPI2C_ISR_RXNE FMPI2C_ISR_RXNE /*!< Receive data register not empty */ -#define LL_FMPI2C_ISR_ADDR FMPI2C_ISR_ADDR /*!< Address matched (slave mode) */ -#define LL_FMPI2C_ISR_NACKF FMPI2C_ISR_NACKF /*!< Not Acknowledge received flag */ -#define LL_FMPI2C_ISR_STOPF FMPI2C_ISR_STOPF /*!< Stop detection flag */ -#define LL_FMPI2C_ISR_TC FMPI2C_ISR_TC /*!< Transfer Complete (master mode) */ -#define LL_FMPI2C_ISR_TCR FMPI2C_ISR_TCR /*!< Transfer Complete Reload */ -#define LL_FMPI2C_ISR_BERR FMPI2C_ISR_BERR /*!< Bus error */ -#define LL_FMPI2C_ISR_ARLO FMPI2C_ISR_ARLO /*!< Arbitration lost */ -#define LL_FMPI2C_ISR_OVR FMPI2C_ISR_OVR /*!< Overrun/Underrun (slave mode) */ -#define LL_FMPI2C_ISR_PECERR FMPI2C_ISR_PECERR /*!< PEC Error in reception (SMBus mode) */ -#define LL_FMPI2C_ISR_TIMEOUT FMPI2C_ISR_TIMEOUT /*!< Timeout detection flag (SMBus mode) */ -#define LL_FMPI2C_ISR_ALERT FMPI2C_ISR_ALERT /*!< SMBus alert (SMBus mode) */ -#define LL_FMPI2C_ISR_BUSY FMPI2C_ISR_BUSY /*!< Bus busy */ -/** - * @} - */ - -/** @defgroup FMPI2C_LL_EC_IT IT Defines - * @brief IT defines which can be used with LL_FMPI2C_ReadReg and LL_FMPI2C_WriteReg functions - * @{ - */ -#define LL_FMPI2C_CR1_TXIE FMPI2C_CR1_TXIE /*!< TX Interrupt enable */ -#define LL_FMPI2C_CR1_RXIE FMPI2C_CR1_RXIE /*!< RX Interrupt enable */ -#define LL_FMPI2C_CR1_ADDRIE FMPI2C_CR1_ADDRIE /*!< Address match Interrupt enable (slave only) */ -#define LL_FMPI2C_CR1_NACKIE FMPI2C_CR1_NACKIE /*!< Not acknowledge received Interrupt enable */ -#define LL_FMPI2C_CR1_STOPIE FMPI2C_CR1_STOPIE /*!< STOP detection Interrupt enable */ -#define LL_FMPI2C_CR1_TCIE FMPI2C_CR1_TCIE /*!< Transfer Complete interrupt enable */ -#define LL_FMPI2C_CR1_ERRIE FMPI2C_CR1_ERRIE /*!< Error interrupts enable */ -/** - * @} - */ - -/** @defgroup FMPI2C_LL_EC_PERIPHERAL_MODE Peripheral Mode - * @{ - */ -#define LL_FMPI2C_MODE_I2C 0x00000000U /*!< FMPI2C Master or Slave mode */ -#define LL_FMPI2C_MODE_SMBUS_HOST FMPI2C_CR1_SMBHEN /*!< SMBus Host address acknowledge */ -#define LL_FMPI2C_MODE_SMBUS_DEVICE 0x00000000U /*!< SMBus Device default mode - (Default address not acknowledge) */ -#define LL_FMPI2C_MODE_SMBUS_DEVICE_ARP FMPI2C_CR1_SMBDEN /*!< SMBus Device Default address acknowledge */ -/** - * @} - */ - -/** @defgroup FMPI2C_LL_EC_ANALOGFILTER_SELECTION Analog Filter Selection - * @{ - */ -#define LL_FMPI2C_ANALOGFILTER_ENABLE 0x00000000U /*!< Analog filter is enabled. */ -#define LL_FMPI2C_ANALOGFILTER_DISABLE FMPI2C_CR1_ANFOFF /*!< Analog filter is disabled. */ -/** - * @} - */ - -/** @defgroup FMPI2C_LL_EC_ADDRESSING_MODE Master Addressing Mode - * @{ - */ -#define LL_FMPI2C_ADDRESSING_MODE_7BIT 0x00000000U /*!< Master operates in 7-bit addressing mode. */ -#define LL_FMPI2C_ADDRESSING_MODE_10BIT FMPI2C_CR2_ADD10 /*!< Master operates in 10-bit addressing mode.*/ -/** - * @} - */ - -/** @defgroup FMPI2C_LL_EC_OWNADDRESS1 Own Address 1 Length - * @{ - */ -#define LL_FMPI2C_OWNADDRESS1_7BIT 0x00000000U /*!< Own address 1 is a 7-bit address. */ -#define LL_FMPI2C_OWNADDRESS1_10BIT FMPI2C_OAR1_OA1MODE /*!< Own address 1 is a 10-bit address.*/ -/** - * @} - */ - -/** @defgroup FMPI2C_LL_EC_OWNADDRESS2 Own Address 2 Masks - * @{ - */ -#define LL_FMPI2C_OWNADDRESS2_NOMASK FMPI2C_OAR2_OA2NOMASK /*!< Own Address2 No mask. */ -#define LL_FMPI2C_OWNADDRESS2_MASK01 FMPI2C_OAR2_OA2MASK01 /*!< Only Address2 bits[7:2] are compared. */ -#define LL_FMPI2C_OWNADDRESS2_MASK02 FMPI2C_OAR2_OA2MASK02 /*!< Only Address2 bits[7:3] are compared. */ -#define LL_FMPI2C_OWNADDRESS2_MASK03 FMPI2C_OAR2_OA2MASK03 /*!< Only Address2 bits[7:4] are compared. */ -#define LL_FMPI2C_OWNADDRESS2_MASK04 FMPI2C_OAR2_OA2MASK04 /*!< Only Address2 bits[7:5] are compared. */ -#define LL_FMPI2C_OWNADDRESS2_MASK05 FMPI2C_OAR2_OA2MASK05 /*!< Only Address2 bits[7:6] are compared. */ -#define LL_FMPI2C_OWNADDRESS2_MASK06 FMPI2C_OAR2_OA2MASK06 /*!< Only Address2 bits[7] are compared. */ -#define LL_FMPI2C_OWNADDRESS2_MASK07 FMPI2C_OAR2_OA2MASK07 /*!< No comparison is done. - All Address2 are acknowledged. */ -/** - * @} - */ - -/** @defgroup FMPI2C_LL_EC_I2C_ACKNOWLEDGE Acknowledge Generation - * @{ - */ -#define LL_FMPI2C_ACK 0x00000000U /*!< ACK is sent after current received byte. */ -#define LL_FMPI2C_NACK FMPI2C_CR2_NACK /*!< NACK is sent after current received byte.*/ -/** - * @} - */ - -/** @defgroup FMPI2C_LL_EC_ADDRSLAVE Slave Address Length - * @{ - */ -#define LL_FMPI2C_ADDRSLAVE_7BIT 0x00000000U /*!< Slave Address in 7-bit. */ -#define LL_FMPI2C_ADDRSLAVE_10BIT FMPI2C_CR2_ADD10 /*!< Slave Address in 10-bit.*/ -/** - * @} - */ - -/** @defgroup FMPI2C_LL_EC_REQUEST Transfer Request Direction - * @{ - */ -#define LL_FMPI2C_REQUEST_WRITE 0x00000000U /*!< Master request a write transfer. */ -#define LL_FMPI2C_REQUEST_READ FMPI2C_CR2_RD_WRN /*!< Master request a read transfer. */ -/** - * @} - */ - -/** @defgroup FMPI2C_LL_EC_MODE Transfer End Mode - * @{ - */ -#define LL_FMPI2C_MODE_RELOAD FMPI2C_CR2_RELOAD /*!< Enable FMPI2C Reload mode. */ -#define LL_FMPI2C_MODE_AUTOEND FMPI2C_CR2_AUTOEND /*!< Enable FMPI2C Automatic end mode - with no HW PEC comparison. */ -#define LL_FMPI2C_MODE_SOFTEND 0x00000000U /*!< Enable FMPI2C Software end mode - with no HW PEC comparison. */ -#define LL_FMPI2C_MODE_SMBUS_RELOAD LL_FMPI2C_MODE_RELOAD /*!< Enable FMPSMBUS Automatic end mode - with HW PEC comparison. */ -#define LL_FMPI2C_MODE_SMBUS_AUTOEND_NO_PEC LL_FMPI2C_MODE_AUTOEND /*!< Enable FMPSMBUS Automatic end mode - with HW PEC comparison. */ -#define LL_FMPI2C_MODE_SMBUS_SOFTEND_NO_PEC LL_FMPI2C_MODE_SOFTEND /*!< Enable FMPSMBUS Software end mode - with HW PEC comparison. */ -#define LL_FMPI2C_MODE_SMBUS_AUTOEND_WITH_PEC (uint32_t)(LL_FMPI2C_MODE_AUTOEND | FMPI2C_CR2_PECBYTE) -/*!< Enable FMPSMBUS Automatic end mode with HW PEC comparison. */ -#define LL_FMPI2C_MODE_SMBUS_SOFTEND_WITH_PEC (uint32_t)(LL_FMPI2C_MODE_SOFTEND | FMPI2C_CR2_PECBYTE) -/*!< Enable FMPSMBUS Software end mode with HW PEC comparison. */ -/** - * @} - */ - -/** @defgroup FMPI2C_LL_EC_GENERATE Start And Stop Generation - * @{ - */ -#define LL_FMPI2C_GENERATE_NOSTARTSTOP 0x00000000U -/*!< Don't Generate Stop and Start condition. */ -#define LL_FMPI2C_GENERATE_STOP (uint32_t)(0x80000000U | FMPI2C_CR2_STOP) -/*!< Generate Stop condition (Size should be set to 0). */ -#define LL_FMPI2C_GENERATE_START_READ (uint32_t)(0x80000000U | FMPI2C_CR2_START | FMPI2C_CR2_RD_WRN) -/*!< Generate Start for read request. */ -#define LL_FMPI2C_GENERATE_START_WRITE (uint32_t)(0x80000000U | FMPI2C_CR2_START) -/*!< Generate Start for write request. */ -#define LL_FMPI2C_GENERATE_RESTART_7BIT_READ (uint32_t)(0x80000000U | FMPI2C_CR2_START | FMPI2C_CR2_RD_WRN) -/*!< Generate Restart for read request, slave 7Bit address. */ -#define LL_FMPI2C_GENERATE_RESTART_7BIT_WRITE (uint32_t)(0x80000000U | FMPI2C_CR2_START) -/*!< Generate Restart for write request, slave 7Bit address. */ -#define LL_FMPI2C_GENERATE_RESTART_10BIT_READ (uint32_t)(0x80000000U | FMPI2C_CR2_START | \ - FMPI2C_CR2_RD_WRN | FMPI2C_CR2_HEAD10R) -/*!< Generate Restart for read request, slave 10Bit address. */ -#define LL_FMPI2C_GENERATE_RESTART_10BIT_WRITE (uint32_t)(0x80000000U | FMPI2C_CR2_START) -/*!< Generate Restart for write request, slave 10Bit address.*/ -/** - * @} - */ - -/** @defgroup FMPI2C_LL_EC_DIRECTION Read Write Direction - * @{ - */ -#define LL_FMPI2C_DIRECTION_WRITE 0x00000000U /*!< Write transfer request by master, - slave enters receiver mode. */ -#define LL_FMPI2C_DIRECTION_READ FMPI2C_ISR_DIR /*!< Read transfer request by master, - slave enters transmitter mode.*/ -/** - * @} - */ - -/** @defgroup FMPI2C_LL_EC_DMA_REG_DATA DMA Register Data - * @{ - */ -#define LL_FMPI2C_DMA_REG_DATA_TRANSMIT 0x00000000U /*!< Get address of data register used for - transmission */ -#define LL_FMPI2C_DMA_REG_DATA_RECEIVE 0x00000001U /*!< Get address of data register used for - reception */ -/** - * @} - */ - -/** @defgroup FMPI2C_LL_EC_SMBUS_TIMEOUTA_MODE SMBus TimeoutA Mode SCL SDA Timeout - * @{ - */ -#define LL_FMPI2C_FMPSMBUS_TIMEOUTA_MODE_SCL_LOW 0x00000000U /*!< TimeoutA is used to detect - SCL low level timeout. */ -#define LL_FMPI2C_FMPSMBUS_TIMEOUTA_MODE_SDA_SCL_HIGH FMPI2C_TIMEOUTR_TIDLE /*!< TimeoutA is used to detect - both SCL and SDA high level timeout.*/ -/** - * @} - */ - -/** @defgroup FMPI2C_LL_EC_SMBUS_TIMEOUT_SELECTION SMBus Timeout Selection - * @{ - */ -#define LL_FMPI2C_FMPSMBUS_TIMEOUTA FMPI2C_TIMEOUTR_TIMOUTEN /*!< TimeoutA enable bit */ -#define LL_FMPI2C_FMPSMBUS_TIMEOUTB FMPI2C_TIMEOUTR_TEXTEN /*!< TimeoutB (extended clock) - enable bit */ -#define LL_FMPI2C_FMPSMBUS_ALL_TIMEOUT (uint32_t)(FMPI2C_TIMEOUTR_TIMOUTEN | \ - FMPI2C_TIMEOUTR_TEXTEN) /*!< TimeoutA and TimeoutB -(extended clock) enable bits */ -/** - * @} - */ - -/** - * @} - */ - -/* Exported macro ------------------------------------------------------------*/ -/** @defgroup FMPI2C_LL_Exported_Macros FMPI2C Exported Macros - * @{ - */ - -/** @defgroup FMPI2C_LL_EM_WRITE_READ Common Write and read registers Macros - * @{ - */ - -/** - * @brief Write a value in FMPI2C register - * @param __INSTANCE__ FMPI2C Instance - * @param __REG__ Register to be written - * @param __VALUE__ Value to be written in the register - * @retval None - */ -#define LL_FMPI2C_WriteReg(__INSTANCE__, __REG__, __VALUE__) WRITE_REG(__INSTANCE__->__REG__, (__VALUE__)) - -/** - * @brief Read a value in FMPI2C register - * @param __INSTANCE__ FMPI2C Instance - * @param __REG__ Register to be read - * @retval Register value - */ -#define LL_FMPI2C_ReadReg(__INSTANCE__, __REG__) READ_REG(__INSTANCE__->__REG__) -/** - * @} - */ - -/** @defgroup FMPI2C_LL_EM_CONVERT_TIMINGS Convert SDA SCL timings - * @{ - */ -/** - * @brief Configure the SDA setup, hold time and the SCL high, low period. - * @param __PRESCALER__ This parameter must be a value between Min_Data=0 and Max_Data=0xF. - * @param __SETUP_TIME__ This parameter must be a value between Min_Data=0 and Max_Data=0xF. - (tscldel = (SCLDEL+1)xtpresc) - * @param __HOLD_TIME__ This parameter must be a value between Min_Data=0 and Max_Data=0xF. - (tsdadel = SDADELxtpresc) - * @param __SCLH_PERIOD__ This parameter must be a value between Min_Data=0 and Max_Data=0xFF. - (tsclh = (SCLH+1)xtpresc) - * @param __SCLL_PERIOD__ This parameter must be a value between Min_Data=0 and Max_Data=0xFF. - (tscll = (SCLL+1)xtpresc) - * @retval Value between Min_Data=0 and Max_Data=0xFFFFFFFF - */ -#define __LL_FMPI2C_CONVERT_TIMINGS(__PRESCALER__, __SETUP_TIME__, __HOLD_TIME__, __SCLH_PERIOD__, __SCLL_PERIOD__) \ - ((((uint32_t)(__PRESCALER__) << FMPI2C_TIMINGR_PRESC_Pos) & FMPI2C_TIMINGR_PRESC) | \ - (((uint32_t)(__SETUP_TIME__) << FMPI2C_TIMINGR_SCLDEL_Pos) & FMPI2C_TIMINGR_SCLDEL) | \ - (((uint32_t)(__HOLD_TIME__) << FMPI2C_TIMINGR_SDADEL_Pos) & FMPI2C_TIMINGR_SDADEL) | \ - (((uint32_t)(__SCLH_PERIOD__) << FMPI2C_TIMINGR_SCLH_Pos) & FMPI2C_TIMINGR_SCLH) | \ - (((uint32_t)(__SCLL_PERIOD__) << FMPI2C_TIMINGR_SCLL_Pos) & FMPI2C_TIMINGR_SCLL)) -/** - * @} - */ - -/** - * @} - */ - -/* Exported functions --------------------------------------------------------*/ -/** @defgroup FMPI2C_LL_Exported_Functions FMPI2C Exported Functions - * @{ - */ - -/** @defgroup FMPI2C_LL_EF_Configuration Configuration - * @{ - */ - -/** - * @brief Enable FMPI2C peripheral (PE = 1). - * @rmtoll CR1 PE LL_FMPI2C_Enable - * @param FMPI2Cx FMPI2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_FMPI2C_Enable(FMPI2C_TypeDef *FMPI2Cx) -{ - SET_BIT(FMPI2Cx->CR1, FMPI2C_CR1_PE); -} - -/** - * @brief Disable FMPI2C peripheral (PE = 0). - * @note When PE = 0, the FMPI2C SCL and SDA lines are released. - * Internal state machines and status bits are put back to their reset value. - * When cleared, PE must be kept low for at least 3 APB clock cycles. - * @rmtoll CR1 PE LL_FMPI2C_Disable - * @param FMPI2Cx FMPI2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_FMPI2C_Disable(FMPI2C_TypeDef *FMPI2Cx) -{ - CLEAR_BIT(FMPI2Cx->CR1, FMPI2C_CR1_PE); -} - -/** - * @brief Check if the FMPI2C peripheral is enabled or disabled. - * @rmtoll CR1 PE LL_FMPI2C_IsEnabled - * @param FMPI2Cx FMPI2C Instance. - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_FMPI2C_IsEnabled(FMPI2C_TypeDef *FMPI2Cx) -{ - return ((READ_BIT(FMPI2Cx->CR1, FMPI2C_CR1_PE) == (FMPI2C_CR1_PE)) ? 1UL : 0UL); -} - -/** - * @brief Configure Noise Filters (Analog and Digital). - * @note If the analog filter is also enabled, the digital filter is added to analog filter. - * The filters can only be programmed when the FMPI2C is disabled (PE = 0). - * @rmtoll CR1 ANFOFF LL_FMPI2C_ConfigFilters\n - * CR1 DNF LL_FMPI2C_ConfigFilters - * @param FMPI2Cx FMPI2C Instance. - * @param AnalogFilter This parameter can be one of the following values: - * @arg @ref LL_FMPI2C_ANALOGFILTER_ENABLE - * @arg @ref LL_FMPI2C_ANALOGFILTER_DISABLE - * @param DigitalFilter This parameter must be a value between Min_Data=0x00 (Digital filter disabled) - and Max_Data=0x0F (Digital filter enabled and filtering capability up to 15*tfmpi2cclk). - * This parameter is used to configure the digital noise filter on SDA and SCL input. - * The digital filter will filter spikes with a length of up to DNF[3:0]*tfmpi2cclk. - * @retval None - */ -__STATIC_INLINE void LL_FMPI2C_ConfigFilters(FMPI2C_TypeDef *FMPI2Cx, uint32_t AnalogFilter, uint32_t DigitalFilter) -{ - MODIFY_REG(FMPI2Cx->CR1, FMPI2C_CR1_ANFOFF | FMPI2C_CR1_DNF, AnalogFilter | (DigitalFilter << FMPI2C_CR1_DNF_Pos)); -} - -/** - * @brief Configure Digital Noise Filter. - * @note If the analog filter is also enabled, the digital filter is added to analog filter. - * This filter can only be programmed when the FMPI2C is disabled (PE = 0). - * @rmtoll CR1 DNF LL_FMPI2C_SetDigitalFilter - * @param FMPI2Cx FMPI2C Instance. - * @param DigitalFilter This parameter must be a value between Min_Data=0x00 (Digital filter disabled) - and Max_Data=0x0F (Digital filter enabled and filtering capability up to 15*tfmpi2cclk). - * This parameter is used to configure the digital noise filter on SDA and SCL input. - * The digital filter will filter spikes with a length of up to DNF[3:0]*tfmpi2cclk. - * @retval None - */ -__STATIC_INLINE void LL_FMPI2C_SetDigitalFilter(FMPI2C_TypeDef *FMPI2Cx, uint32_t DigitalFilter) -{ - MODIFY_REG(FMPI2Cx->CR1, FMPI2C_CR1_DNF, DigitalFilter << FMPI2C_CR1_DNF_Pos); -} - -/** - * @brief Get the current Digital Noise Filter configuration. - * @rmtoll CR1 DNF LL_FMPI2C_GetDigitalFilter - * @param FMPI2Cx FMPI2C Instance. - * @retval Value between Min_Data=0x0 and Max_Data=0xF - */ -__STATIC_INLINE uint32_t LL_FMPI2C_GetDigitalFilter(FMPI2C_TypeDef *FMPI2Cx) -{ - return (uint32_t)(READ_BIT(FMPI2Cx->CR1, FMPI2C_CR1_DNF) >> FMPI2C_CR1_DNF_Pos); -} - -/** - * @brief Enable Analog Noise Filter. - * @note This filter can only be programmed when the FMPI2C is disabled (PE = 0). - * @rmtoll CR1 ANFOFF LL_FMPI2C_EnableAnalogFilter - * @param FMPI2Cx FMPI2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_FMPI2C_EnableAnalogFilter(FMPI2C_TypeDef *FMPI2Cx) -{ - CLEAR_BIT(FMPI2Cx->CR1, FMPI2C_CR1_ANFOFF); -} - -/** - * @brief Disable Analog Noise Filter. - * @note This filter can only be programmed when the FMPI2C is disabled (PE = 0). - * @rmtoll CR1 ANFOFF LL_FMPI2C_DisableAnalogFilter - * @param FMPI2Cx FMPI2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_FMPI2C_DisableAnalogFilter(FMPI2C_TypeDef *FMPI2Cx) -{ - SET_BIT(FMPI2Cx->CR1, FMPI2C_CR1_ANFOFF); -} - -/** - * @brief Check if Analog Noise Filter is enabled or disabled. - * @rmtoll CR1 ANFOFF LL_FMPI2C_IsEnabledAnalogFilter - * @param FMPI2Cx FMPI2C Instance. - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_FMPI2C_IsEnabledAnalogFilter(FMPI2C_TypeDef *FMPI2Cx) -{ - return ((READ_BIT(FMPI2Cx->CR1, FMPI2C_CR1_ANFOFF) != (FMPI2C_CR1_ANFOFF)) ? 1UL : 0UL); -} - -/** - * @brief Enable DMA transmission requests. - * @rmtoll CR1 TXDMAEN LL_FMPI2C_EnableDMAReq_TX - * @param FMPI2Cx FMPI2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_FMPI2C_EnableDMAReq_TX(FMPI2C_TypeDef *FMPI2Cx) -{ - SET_BIT(FMPI2Cx->CR1, FMPI2C_CR1_TXDMAEN); -} - -/** - * @brief Disable DMA transmission requests. - * @rmtoll CR1 TXDMAEN LL_FMPI2C_DisableDMAReq_TX - * @param FMPI2Cx FMPI2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_FMPI2C_DisableDMAReq_TX(FMPI2C_TypeDef *FMPI2Cx) -{ - CLEAR_BIT(FMPI2Cx->CR1, FMPI2C_CR1_TXDMAEN); -} - -/** - * @brief Check if DMA transmission requests are enabled or disabled. - * @rmtoll CR1 TXDMAEN LL_FMPI2C_IsEnabledDMAReq_TX - * @param FMPI2Cx FMPI2C Instance. - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_FMPI2C_IsEnabledDMAReq_TX(FMPI2C_TypeDef *FMPI2Cx) -{ - return ((READ_BIT(FMPI2Cx->CR1, FMPI2C_CR1_TXDMAEN) == (FMPI2C_CR1_TXDMAEN)) ? 1UL : 0UL); -} - -/** - * @brief Enable DMA reception requests. - * @rmtoll CR1 RXDMAEN LL_FMPI2C_EnableDMAReq_RX - * @param FMPI2Cx FMPI2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_FMPI2C_EnableDMAReq_RX(FMPI2C_TypeDef *FMPI2Cx) -{ - SET_BIT(FMPI2Cx->CR1, FMPI2C_CR1_RXDMAEN); -} - -/** - * @brief Disable DMA reception requests. - * @rmtoll CR1 RXDMAEN LL_FMPI2C_DisableDMAReq_RX - * @param FMPI2Cx FMPI2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_FMPI2C_DisableDMAReq_RX(FMPI2C_TypeDef *FMPI2Cx) -{ - CLEAR_BIT(FMPI2Cx->CR1, FMPI2C_CR1_RXDMAEN); -} - -/** - * @brief Check if DMA reception requests are enabled or disabled. - * @rmtoll CR1 RXDMAEN LL_FMPI2C_IsEnabledDMAReq_RX - * @param FMPI2Cx FMPI2C Instance. - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_FMPI2C_IsEnabledDMAReq_RX(FMPI2C_TypeDef *FMPI2Cx) -{ - return ((READ_BIT(FMPI2Cx->CR1, FMPI2C_CR1_RXDMAEN) == (FMPI2C_CR1_RXDMAEN)) ? 1UL : 0UL); -} - -/** - * @brief Get the data register address used for DMA transfer - * @rmtoll TXDR TXDATA LL_FMPI2C_DMA_GetRegAddr\n - * RXDR RXDATA LL_FMPI2C_DMA_GetRegAddr - * @param FMPI2Cx FMPI2C Instance - * @param Direction This parameter can be one of the following values: - * @arg @ref LL_FMPI2C_DMA_REG_DATA_TRANSMIT - * @arg @ref LL_FMPI2C_DMA_REG_DATA_RECEIVE - * @retval Address of data register - */ -__STATIC_INLINE uint32_t LL_FMPI2C_DMA_GetRegAddr(FMPI2C_TypeDef *FMPI2Cx, uint32_t Direction) -{ - uint32_t data_reg_addr; - - if (Direction == LL_FMPI2C_DMA_REG_DATA_TRANSMIT) - { - /* return address of TXDR register */ - data_reg_addr = (uint32_t) &(FMPI2Cx->TXDR); - } - else - { - /* return address of RXDR register */ - data_reg_addr = (uint32_t) &(FMPI2Cx->RXDR); - } - - return data_reg_addr; -} - -/** - * @brief Enable Clock stretching. - * @note This bit can only be programmed when the FMPI2C is disabled (PE = 0). - * @rmtoll CR1 NOSTRETCH LL_FMPI2C_EnableClockStretching - * @param FMPI2Cx FMPI2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_FMPI2C_EnableClockStretching(FMPI2C_TypeDef *FMPI2Cx) -{ - CLEAR_BIT(FMPI2Cx->CR1, FMPI2C_CR1_NOSTRETCH); -} - -/** - * @brief Disable Clock stretching. - * @note This bit can only be programmed when the FMPI2C is disabled (PE = 0). - * @rmtoll CR1 NOSTRETCH LL_FMPI2C_DisableClockStretching - * @param FMPI2Cx FMPI2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_FMPI2C_DisableClockStretching(FMPI2C_TypeDef *FMPI2Cx) -{ - SET_BIT(FMPI2Cx->CR1, FMPI2C_CR1_NOSTRETCH); -} - -/** - * @brief Check if Clock stretching is enabled or disabled. - * @rmtoll CR1 NOSTRETCH LL_FMPI2C_IsEnabledClockStretching - * @param FMPI2Cx FMPI2C Instance. - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_FMPI2C_IsEnabledClockStretching(FMPI2C_TypeDef *FMPI2Cx) -{ - return ((READ_BIT(FMPI2Cx->CR1, FMPI2C_CR1_NOSTRETCH) != (FMPI2C_CR1_NOSTRETCH)) ? 1UL : 0UL); -} - -/** - * @brief Enable hardware byte control in slave mode. - * @rmtoll CR1 SBC LL_FMPI2C_EnableSlaveByteControl - * @param FMPI2Cx FMPI2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_FMPI2C_EnableSlaveByteControl(FMPI2C_TypeDef *FMPI2Cx) -{ - SET_BIT(FMPI2Cx->CR1, FMPI2C_CR1_SBC); -} - -/** - * @brief Disable hardware byte control in slave mode. - * @rmtoll CR1 SBC LL_FMPI2C_DisableSlaveByteControl - * @param FMPI2Cx FMPI2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_FMPI2C_DisableSlaveByteControl(FMPI2C_TypeDef *FMPI2Cx) -{ - CLEAR_BIT(FMPI2Cx->CR1, FMPI2C_CR1_SBC); -} - -/** - * @brief Check if hardware byte control in slave mode is enabled or disabled. - * @rmtoll CR1 SBC LL_FMPI2C_IsEnabledSlaveByteControl - * @param FMPI2Cx FMPI2C Instance. - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_FMPI2C_IsEnabledSlaveByteControl(FMPI2C_TypeDef *FMPI2Cx) -{ - return ((READ_BIT(FMPI2Cx->CR1, FMPI2C_CR1_SBC) == (FMPI2C_CR1_SBC)) ? 1UL : 0UL); -} - -/** - * @brief Enable General Call. - * @note When enabled the Address 0x00 is ACKed. - * @rmtoll CR1 GCEN LL_FMPI2C_EnableGeneralCall - * @param FMPI2Cx FMPI2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_FMPI2C_EnableGeneralCall(FMPI2C_TypeDef *FMPI2Cx) -{ - SET_BIT(FMPI2Cx->CR1, FMPI2C_CR1_GCEN); -} - -/** - * @brief Disable General Call. - * @note When disabled the Address 0x00 is NACKed. - * @rmtoll CR1 GCEN LL_FMPI2C_DisableGeneralCall - * @param FMPI2Cx FMPI2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_FMPI2C_DisableGeneralCall(FMPI2C_TypeDef *FMPI2Cx) -{ - CLEAR_BIT(FMPI2Cx->CR1, FMPI2C_CR1_GCEN); -} - -/** - * @brief Check if General Call is enabled or disabled. - * @rmtoll CR1 GCEN LL_FMPI2C_IsEnabledGeneralCall - * @param FMPI2Cx FMPI2C Instance. - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_FMPI2C_IsEnabledGeneralCall(FMPI2C_TypeDef *FMPI2Cx) -{ - return ((READ_BIT(FMPI2Cx->CR1, FMPI2C_CR1_GCEN) == (FMPI2C_CR1_GCEN)) ? 1UL : 0UL); -} - -/** - * @brief Configure the Master to operate in 7-bit or 10-bit addressing mode. - * @note Changing this bit is not allowed, when the START bit is set. - * @rmtoll CR2 ADD10 LL_FMPI2C_SetMasterAddressingMode - * @param FMPI2Cx FMPI2C Instance. - * @param AddressingMode This parameter can be one of the following values: - * @arg @ref LL_FMPI2C_ADDRESSING_MODE_7BIT - * @arg @ref LL_FMPI2C_ADDRESSING_MODE_10BIT - * @retval None - */ -__STATIC_INLINE void LL_FMPI2C_SetMasterAddressingMode(FMPI2C_TypeDef *FMPI2Cx, uint32_t AddressingMode) -{ - MODIFY_REG(FMPI2Cx->CR2, FMPI2C_CR2_ADD10, AddressingMode); -} - -/** - * @brief Get the Master addressing mode. - * @rmtoll CR2 ADD10 LL_FMPI2C_GetMasterAddressingMode - * @param FMPI2Cx FMPI2C Instance. - * @retval Returned value can be one of the following values: - * @arg @ref LL_FMPI2C_ADDRESSING_MODE_7BIT - * @arg @ref LL_FMPI2C_ADDRESSING_MODE_10BIT - */ -__STATIC_INLINE uint32_t LL_FMPI2C_GetMasterAddressingMode(FMPI2C_TypeDef *FMPI2Cx) -{ - return (uint32_t)(READ_BIT(FMPI2Cx->CR2, FMPI2C_CR2_ADD10)); -} - -/** - * @brief Set the Own Address1. - * @rmtoll OAR1 OA1 LL_FMPI2C_SetOwnAddress1\n - * OAR1 OA1MODE LL_FMPI2C_SetOwnAddress1 - * @param FMPI2Cx FMPI2C Instance. - * @param OwnAddress1 This parameter must be a value between Min_Data=0 and Max_Data=0x3FF. - * @param OwnAddrSize This parameter can be one of the following values: - * @arg @ref LL_FMPI2C_OWNADDRESS1_7BIT - * @arg @ref LL_FMPI2C_OWNADDRESS1_10BIT - * @retval None - */ -__STATIC_INLINE void LL_FMPI2C_SetOwnAddress1(FMPI2C_TypeDef *FMPI2Cx, uint32_t OwnAddress1, uint32_t OwnAddrSize) -{ - MODIFY_REG(FMPI2Cx->OAR1, FMPI2C_OAR1_OA1 | FMPI2C_OAR1_OA1MODE, OwnAddress1 | OwnAddrSize); -} - -/** - * @brief Enable acknowledge on Own Address1 match address. - * @rmtoll OAR1 OA1EN LL_FMPI2C_EnableOwnAddress1 - * @param FMPI2Cx FMPI2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_FMPI2C_EnableOwnAddress1(FMPI2C_TypeDef *FMPI2Cx) -{ - SET_BIT(FMPI2Cx->OAR1, FMPI2C_OAR1_OA1EN); -} - -/** - * @brief Disable acknowledge on Own Address1 match address. - * @rmtoll OAR1 OA1EN LL_FMPI2C_DisableOwnAddress1 - * @param FMPI2Cx FMPI2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_FMPI2C_DisableOwnAddress1(FMPI2C_TypeDef *FMPI2Cx) -{ - CLEAR_BIT(FMPI2Cx->OAR1, FMPI2C_OAR1_OA1EN); -} - -/** - * @brief Check if Own Address1 acknowledge is enabled or disabled. - * @rmtoll OAR1 OA1EN LL_FMPI2C_IsEnabledOwnAddress1 - * @param FMPI2Cx FMPI2C Instance. - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_FMPI2C_IsEnabledOwnAddress1(FMPI2C_TypeDef *FMPI2Cx) -{ - return ((READ_BIT(FMPI2Cx->OAR1, FMPI2C_OAR1_OA1EN) == (FMPI2C_OAR1_OA1EN)) ? 1UL : 0UL); -} - -/** - * @brief Set the 7bits Own Address2. - * @note This action has no effect if own address2 is enabled. - * @rmtoll OAR2 OA2 LL_FMPI2C_SetOwnAddress2\n - * OAR2 OA2MSK LL_FMPI2C_SetOwnAddress2 - * @param FMPI2Cx FMPI2C Instance. - * @param OwnAddress2 Value between Min_Data=0 and Max_Data=0x7F. - * @param OwnAddrMask This parameter can be one of the following values: - * @arg @ref LL_FMPI2C_OWNADDRESS2_NOMASK - * @arg @ref LL_FMPI2C_OWNADDRESS2_MASK01 - * @arg @ref LL_FMPI2C_OWNADDRESS2_MASK02 - * @arg @ref LL_FMPI2C_OWNADDRESS2_MASK03 - * @arg @ref LL_FMPI2C_OWNADDRESS2_MASK04 - * @arg @ref LL_FMPI2C_OWNADDRESS2_MASK05 - * @arg @ref LL_FMPI2C_OWNADDRESS2_MASK06 - * @arg @ref LL_FMPI2C_OWNADDRESS2_MASK07 - * @retval None - */ -__STATIC_INLINE void LL_FMPI2C_SetOwnAddress2(FMPI2C_TypeDef *FMPI2Cx, uint32_t OwnAddress2, uint32_t OwnAddrMask) -{ - MODIFY_REG(FMPI2Cx->OAR2, FMPI2C_OAR2_OA2 | FMPI2C_OAR2_OA2MSK, OwnAddress2 | OwnAddrMask); -} - -/** - * @brief Enable acknowledge on Own Address2 match address. - * @rmtoll OAR2 OA2EN LL_FMPI2C_EnableOwnAddress2 - * @param FMPI2Cx FMPI2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_FMPI2C_EnableOwnAddress2(FMPI2C_TypeDef *FMPI2Cx) -{ - SET_BIT(FMPI2Cx->OAR2, FMPI2C_OAR2_OA2EN); -} - -/** - * @brief Disable acknowledge on Own Address2 match address. - * @rmtoll OAR2 OA2EN LL_FMPI2C_DisableOwnAddress2 - * @param FMPI2Cx FMPI2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_FMPI2C_DisableOwnAddress2(FMPI2C_TypeDef *FMPI2Cx) -{ - CLEAR_BIT(FMPI2Cx->OAR2, FMPI2C_OAR2_OA2EN); -} - -/** - * @brief Check if Own Address1 acknowledge is enabled or disabled. - * @rmtoll OAR2 OA2EN LL_FMPI2C_IsEnabledOwnAddress2 - * @param FMPI2Cx FMPI2C Instance. - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_FMPI2C_IsEnabledOwnAddress2(FMPI2C_TypeDef *FMPI2Cx) -{ - return ((READ_BIT(FMPI2Cx->OAR2, FMPI2C_OAR2_OA2EN) == (FMPI2C_OAR2_OA2EN)) ? 1UL : 0UL); -} - -/** - * @brief Configure the SDA setup, hold time and the SCL high, low period. - * @note This bit can only be programmed when the FMPI2C is disabled (PE = 0). - * @rmtoll TIMINGR TIMINGR LL_FMPI2C_SetTiming - * @param FMPI2Cx FMPI2C Instance. - * @param Timing This parameter must be a value between Min_Data=0 and Max_Data=0xFFFFFFFF. - * @note This parameter is computed with the STM32CubeMX Tool. - * @retval None - */ -__STATIC_INLINE void LL_FMPI2C_SetTiming(FMPI2C_TypeDef *FMPI2Cx, uint32_t Timing) -{ - WRITE_REG(FMPI2Cx->TIMINGR, Timing); -} - -/** - * @brief Get the Timing Prescaler setting. - * @rmtoll TIMINGR PRESC LL_FMPI2C_GetTimingPrescaler - * @param FMPI2Cx FMPI2C Instance. - * @retval Value between Min_Data=0x0 and Max_Data=0xF - */ -__STATIC_INLINE uint32_t LL_FMPI2C_GetTimingPrescaler(FMPI2C_TypeDef *FMPI2Cx) -{ - return (uint32_t)(READ_BIT(FMPI2Cx->TIMINGR, FMPI2C_TIMINGR_PRESC) >> FMPI2C_TIMINGR_PRESC_Pos); -} - -/** - * @brief Get the SCL low period setting. - * @rmtoll TIMINGR SCLL LL_FMPI2C_GetClockLowPeriod - * @param FMPI2Cx FMPI2C Instance. - * @retval Value between Min_Data=0x00 and Max_Data=0xFF - */ -__STATIC_INLINE uint32_t LL_FMPI2C_GetClockLowPeriod(FMPI2C_TypeDef *FMPI2Cx) -{ - return (uint32_t)(READ_BIT(FMPI2Cx->TIMINGR, FMPI2C_TIMINGR_SCLL) >> FMPI2C_TIMINGR_SCLL_Pos); -} - -/** - * @brief Get the SCL high period setting. - * @rmtoll TIMINGR SCLH LL_FMPI2C_GetClockHighPeriod - * @param FMPI2Cx FMPI2C Instance. - * @retval Value between Min_Data=0x00 and Max_Data=0xFF - */ -__STATIC_INLINE uint32_t LL_FMPI2C_GetClockHighPeriod(FMPI2C_TypeDef *FMPI2Cx) -{ - return (uint32_t)(READ_BIT(FMPI2Cx->TIMINGR, FMPI2C_TIMINGR_SCLH) >> FMPI2C_TIMINGR_SCLH_Pos); -} - -/** - * @brief Get the SDA hold time. - * @rmtoll TIMINGR SDADEL LL_FMPI2C_GetDataHoldTime - * @param FMPI2Cx FMPI2C Instance. - * @retval Value between Min_Data=0x0 and Max_Data=0xF - */ -__STATIC_INLINE uint32_t LL_FMPI2C_GetDataHoldTime(FMPI2C_TypeDef *FMPI2Cx) -{ - return (uint32_t)(READ_BIT(FMPI2Cx->TIMINGR, FMPI2C_TIMINGR_SDADEL) >> FMPI2C_TIMINGR_SDADEL_Pos); -} - -/** - * @brief Get the SDA setup time. - * @rmtoll TIMINGR SCLDEL LL_FMPI2C_GetDataSetupTime - * @param FMPI2Cx FMPI2C Instance. - * @retval Value between Min_Data=0x0 and Max_Data=0xF - */ -__STATIC_INLINE uint32_t LL_FMPI2C_GetDataSetupTime(FMPI2C_TypeDef *FMPI2Cx) -{ - return (uint32_t)(READ_BIT(FMPI2Cx->TIMINGR, FMPI2C_TIMINGR_SCLDEL) >> FMPI2C_TIMINGR_SCLDEL_Pos); -} - -/** - * @brief Configure peripheral mode. - * @note The macro IS_FMPSMBUS_ALL_INSTANCE(FMPI2Cx) can be used to check whether or not - * SMBus feature is supported by the FMPI2Cx Instance. - * @rmtoll CR1 SMBHEN LL_FMPI2C_SetMode\n - * CR1 SMBDEN LL_FMPI2C_SetMode - * @param FMPI2Cx FMPI2C Instance. - * @param PeripheralMode This parameter can be one of the following values: - * @arg @ref LL_FMPI2C_MODE_I2C - * @arg @ref LL_FMPI2C_MODE_SMBUS_HOST - * @arg @ref LL_FMPI2C_MODE_SMBUS_DEVICE - * @arg @ref LL_FMPI2C_MODE_SMBUS_DEVICE_ARP - * @retval None - */ -__STATIC_INLINE void LL_FMPI2C_SetMode(FMPI2C_TypeDef *FMPI2Cx, uint32_t PeripheralMode) -{ - MODIFY_REG(FMPI2Cx->CR1, FMPI2C_CR1_SMBHEN | FMPI2C_CR1_SMBDEN, PeripheralMode); -} - -/** - * @brief Get peripheral mode. - * @note The macro IS_FMPSMBUS_ALL_INSTANCE(FMPI2Cx) can be used to check whether or not - * SMBus feature is supported by the FMPI2Cx Instance. - * @rmtoll CR1 SMBHEN LL_FMPI2C_GetMode\n - * CR1 SMBDEN LL_FMPI2C_GetMode - * @param FMPI2Cx FMPI2C Instance. - * @retval Returned value can be one of the following values: - * @arg @ref LL_FMPI2C_MODE_I2C - * @arg @ref LL_FMPI2C_MODE_SMBUS_HOST - * @arg @ref LL_FMPI2C_MODE_SMBUS_DEVICE - * @arg @ref LL_FMPI2C_MODE_SMBUS_DEVICE_ARP - */ -__STATIC_INLINE uint32_t LL_FMPI2C_GetMode(FMPI2C_TypeDef *FMPI2Cx) -{ - return (uint32_t)(READ_BIT(FMPI2Cx->CR1, FMPI2C_CR1_SMBHEN | FMPI2C_CR1_SMBDEN)); -} - -/** - * @brief Enable SMBus alert (Host or Device mode) - * @note The macro IS_FMPSMBUS_ALL_INSTANCE(FMPI2Cx) can be used to check whether or not - * SMBus feature is supported by the FMPI2Cx Instance. - * @note SMBus Device mode: - * - SMBus Alert pin is drived low and - * Alert Response Address Header acknowledge is enabled. - * SMBus Host mode: - * - SMBus Alert pin management is supported. - * @rmtoll CR1 ALERTEN LL_FMPI2C_EnableSMBusAlert - * @param FMPI2Cx FMPI2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_FMPI2C_EnableSMBusAlert(FMPI2C_TypeDef *FMPI2Cx) -{ - SET_BIT(FMPI2Cx->CR1, FMPI2C_CR1_ALERTEN); -} - -/** - * @brief Disable SMBus alert (Host or Device mode) - * @note The macro IS_FMPSMBUS_ALL_INSTANCE(FMPI2Cx) can be used to check whether or not - * SMBus feature is supported by the FMPI2Cx Instance. - * @note SMBus Device mode: - * - SMBus Alert pin is not drived (can be used as a standard GPIO) and - * Alert Response Address Header acknowledge is disabled. - * SMBus Host mode: - * - SMBus Alert pin management is not supported. - * @rmtoll CR1 ALERTEN LL_FMPI2C_DisableSMBusAlert - * @param FMPI2Cx FMPI2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_FMPI2C_DisableSMBusAlert(FMPI2C_TypeDef *FMPI2Cx) -{ - CLEAR_BIT(FMPI2Cx->CR1, FMPI2C_CR1_ALERTEN); -} - -/** - * @brief Check if SMBus alert (Host or Device mode) is enabled or disabled. - * @note The macro IS_FMPSMBUS_ALL_INSTANCE(FMPI2Cx) can be used to check whether or not - * SMBus feature is supported by the FMPI2Cx Instance. - * @rmtoll CR1 ALERTEN LL_FMPI2C_IsEnabledSMBusAlert - * @param FMPI2Cx FMPI2C Instance. - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_FMPI2C_IsEnabledSMBusAlert(FMPI2C_TypeDef *FMPI2Cx) -{ - return ((READ_BIT(FMPI2Cx->CR1, FMPI2C_CR1_ALERTEN) == (FMPI2C_CR1_ALERTEN)) ? 1UL : 0UL); -} - -/** - * @brief Enable SMBus Packet Error Calculation (PEC). - * @note The macro IS_FMPSMBUS_ALL_INSTANCE(FMPI2Cx) can be used to check whether or not - * SMBus feature is supported by the FMPI2Cx Instance. - * @rmtoll CR1 PECEN LL_FMPI2C_EnableSMBusPEC - * @param FMPI2Cx FMPI2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_FMPI2C_EnableSMBusPEC(FMPI2C_TypeDef *FMPI2Cx) -{ - SET_BIT(FMPI2Cx->CR1, FMPI2C_CR1_PECEN); -} - -/** - * @brief Disable SMBus Packet Error Calculation (PEC). - * @note The macro IS_FMPSMBUS_ALL_INSTANCE(FMPI2Cx) can be used to check whether or not - * SMBus feature is supported by the FMPI2Cx Instance. - * @rmtoll CR1 PECEN LL_FMPI2C_DisableSMBusPEC - * @param FMPI2Cx FMPI2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_FMPI2C_DisableSMBusPEC(FMPI2C_TypeDef *FMPI2Cx) -{ - CLEAR_BIT(FMPI2Cx->CR1, FMPI2C_CR1_PECEN); -} - -/** - * @brief Check if SMBus Packet Error Calculation (PEC) is enabled or disabled. - * @note The macro IS_FMPSMBUS_ALL_INSTANCE(FMPI2Cx) can be used to check whether or not - * SMBus feature is supported by the FMPI2Cx Instance. - * @rmtoll CR1 PECEN LL_FMPI2C_IsEnabledSMBusPEC - * @param FMPI2Cx FMPI2C Instance. - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_FMPI2C_IsEnabledSMBusPEC(FMPI2C_TypeDef *FMPI2Cx) -{ - return ((READ_BIT(FMPI2Cx->CR1, FMPI2C_CR1_PECEN) == (FMPI2C_CR1_PECEN)) ? 1UL : 0UL); -} - -/** - * @brief Configure the SMBus Clock Timeout. - * @note The macro IS_FMPSMBUS_ALL_INSTANCE(FMPI2Cx) can be used to check whether or not - * SMBus feature is supported by the FMPI2Cx Instance. - * @note This configuration can only be programmed when associated Timeout is disabled (TimeoutA and/orTimeoutB). - * @rmtoll TIMEOUTR TIMEOUTA LL_FMPI2C_ConfigSMBusTimeout\n - * TIMEOUTR TIDLE LL_FMPI2C_ConfigSMBusTimeout\n - * TIMEOUTR TIMEOUTB LL_FMPI2C_ConfigSMBusTimeout - * @param FMPI2Cx FMPI2C Instance. - * @param TimeoutA This parameter must be a value between Min_Data=0 and Max_Data=0xFFF. - * @param TimeoutAMode This parameter can be one of the following values: - * @arg @ref LL_FMPI2C_FMPSMBUS_TIMEOUTA_MODE_SCL_LOW - * @arg @ref LL_FMPI2C_FMPSMBUS_TIMEOUTA_MODE_SDA_SCL_HIGH - * @param TimeoutB - * @retval None - */ -__STATIC_INLINE void LL_FMPI2C_ConfigSMBusTimeout(FMPI2C_TypeDef *FMPI2Cx, uint32_t TimeoutA, uint32_t TimeoutAMode, - uint32_t TimeoutB) -{ - MODIFY_REG(FMPI2Cx->TIMEOUTR, FMPI2C_TIMEOUTR_TIMEOUTA | FMPI2C_TIMEOUTR_TIDLE | FMPI2C_TIMEOUTR_TIMEOUTB, - TimeoutA | TimeoutAMode | (TimeoutB << FMPI2C_TIMEOUTR_TIMEOUTB_Pos)); -} - -/** - * @brief Configure the SMBus Clock TimeoutA (SCL low timeout or SCL and SDA high timeout depends on TimeoutA mode). - * @note The macro IS_FMPSMBUS_ALL_INSTANCE(FMPI2Cx) can be used to check whether or not - * SMBus feature is supported by the FMPI2Cx Instance. - * @note These bits can only be programmed when TimeoutA is disabled. - * @rmtoll TIMEOUTR TIMEOUTA LL_FMPI2C_SetSMBusTimeoutA - * @param FMPI2Cx FMPI2C Instance. - * @param TimeoutA This parameter must be a value between Min_Data=0 and Max_Data=0xFFF. - * @retval None - */ -__STATIC_INLINE void LL_FMPI2C_SetSMBusTimeoutA(FMPI2C_TypeDef *FMPI2Cx, uint32_t TimeoutA) -{ - WRITE_REG(FMPI2Cx->TIMEOUTR, TimeoutA); -} - -/** - * @brief Get the SMBus Clock TimeoutA setting. - * @note The macro IS_FMPSMBUS_ALL_INSTANCE(FMPI2Cx) can be used to check whether or not - * SMBus feature is supported by the FMPI2Cx Instance. - * @rmtoll TIMEOUTR TIMEOUTA LL_FMPI2C_GetSMBusTimeoutA - * @param FMPI2Cx FMPI2C Instance. - * @retval Value between Min_Data=0 and Max_Data=0xFFF - */ -__STATIC_INLINE uint32_t LL_FMPI2C_GetSMBusTimeoutA(FMPI2C_TypeDef *FMPI2Cx) -{ - return (uint32_t)(READ_BIT(FMPI2Cx->TIMEOUTR, FMPI2C_TIMEOUTR_TIMEOUTA)); -} - -/** - * @brief Set the SMBus Clock TimeoutA mode. - * @note The macro IS_FMPSMBUS_ALL_INSTANCE(FMPI2Cx) can be used to check whether or not - * SMBus feature is supported by the FMPI2Cx Instance. - * @note This bit can only be programmed when TimeoutA is disabled. - * @rmtoll TIMEOUTR TIDLE LL_FMPI2C_SetSMBusTimeoutAMode - * @param FMPI2Cx FMPI2C Instance. - * @param TimeoutAMode This parameter can be one of the following values: - * @arg @ref LL_FMPI2C_FMPSMBUS_TIMEOUTA_MODE_SCL_LOW - * @arg @ref LL_FMPI2C_FMPSMBUS_TIMEOUTA_MODE_SDA_SCL_HIGH - * @retval None - */ -__STATIC_INLINE void LL_FMPI2C_SetSMBusTimeoutAMode(FMPI2C_TypeDef *FMPI2Cx, uint32_t TimeoutAMode) -{ - WRITE_REG(FMPI2Cx->TIMEOUTR, TimeoutAMode); -} - -/** - * @brief Get the SMBus Clock TimeoutA mode. - * @note The macro IS_FMPSMBUS_ALL_INSTANCE(FMPI2Cx) can be used to check whether or not - * SMBus feature is supported by the FMPI2Cx Instance. - * @rmtoll TIMEOUTR TIDLE LL_FMPI2C_GetSMBusTimeoutAMode - * @param FMPI2Cx FMPI2C Instance. - * @retval Returned value can be one of the following values: - * @arg @ref LL_FMPI2C_FMPSMBUS_TIMEOUTA_MODE_SCL_LOW - * @arg @ref LL_FMPI2C_FMPSMBUS_TIMEOUTA_MODE_SDA_SCL_HIGH - */ -__STATIC_INLINE uint32_t LL_FMPI2C_GetSMBusTimeoutAMode(FMPI2C_TypeDef *FMPI2Cx) -{ - return (uint32_t)(READ_BIT(FMPI2Cx->TIMEOUTR, FMPI2C_TIMEOUTR_TIDLE)); -} - -/** - * @brief Configure the SMBus Extended Cumulative Clock TimeoutB (Master or Slave mode). - * @note The macro IS_FMPSMBUS_ALL_INSTANCE(FMPI2Cx) can be used to check whether or not - * SMBus feature is supported by the FMPI2Cx Instance. - * @note These bits can only be programmed when TimeoutB is disabled. - * @rmtoll TIMEOUTR TIMEOUTB LL_FMPI2C_SetSMBusTimeoutB - * @param FMPI2Cx FMPI2C Instance. - * @param TimeoutB This parameter must be a value between Min_Data=0 and Max_Data=0xFFF. - * @retval None - */ -__STATIC_INLINE void LL_FMPI2C_SetSMBusTimeoutB(FMPI2C_TypeDef *FMPI2Cx, uint32_t TimeoutB) -{ - WRITE_REG(FMPI2Cx->TIMEOUTR, TimeoutB << FMPI2C_TIMEOUTR_TIMEOUTB_Pos); -} - -/** - * @brief Get the SMBus Extended Cumulative Clock TimeoutB setting. - * @note The macro IS_FMPSMBUS_ALL_INSTANCE(FMPI2Cx) can be used to check whether or not - * SMBus feature is supported by the FMPI2Cx Instance. - * @rmtoll TIMEOUTR TIMEOUTB LL_FMPI2C_GetSMBusTimeoutB - * @param FMPI2Cx FMPI2C Instance. - * @retval Value between Min_Data=0 and Max_Data=0xFFF - */ -__STATIC_INLINE uint32_t LL_FMPI2C_GetSMBusTimeoutB(FMPI2C_TypeDef *FMPI2Cx) -{ - return (uint32_t)(READ_BIT(FMPI2Cx->TIMEOUTR, FMPI2C_TIMEOUTR_TIMEOUTB) >> FMPI2C_TIMEOUTR_TIMEOUTB_Pos); -} - -/** - * @brief Enable the SMBus Clock Timeout. - * @note The macro IS_FMPSMBUS_ALL_INSTANCE(FMPI2Cx) can be used to check whether or not - * SMBus feature is supported by the FMPI2Cx Instance. - * @rmtoll TIMEOUTR TIMOUTEN LL_FMPI2C_EnableSMBusTimeout\n - * TIMEOUTR TEXTEN LL_FMPI2C_EnableSMBusTimeout - * @param FMPI2Cx FMPI2C Instance. - * @param ClockTimeout This parameter can be one of the following values: - * @arg @ref LL_FMPI2C_FMPSMBUS_TIMEOUTA - * @arg @ref LL_FMPI2C_FMPSMBUS_TIMEOUTB - * @arg @ref LL_FMPI2C_FMPSMBUS_ALL_TIMEOUT - * @retval None - */ -__STATIC_INLINE void LL_FMPI2C_EnableSMBusTimeout(FMPI2C_TypeDef *FMPI2Cx, uint32_t ClockTimeout) -{ - SET_BIT(FMPI2Cx->TIMEOUTR, ClockTimeout); -} - -/** - * @brief Disable the SMBus Clock Timeout. - * @note The macro IS_FMPSMBUS_ALL_INSTANCE(FMPI2Cx) can be used to check whether or not - * SMBus feature is supported by the FMPI2Cx Instance. - * @rmtoll TIMEOUTR TIMOUTEN LL_FMPI2C_DisableSMBusTimeout\n - * TIMEOUTR TEXTEN LL_FMPI2C_DisableSMBusTimeout - * @param FMPI2Cx FMPI2C Instance. - * @param ClockTimeout This parameter can be one of the following values: - * @arg @ref LL_FMPI2C_FMPSMBUS_TIMEOUTA - * @arg @ref LL_FMPI2C_FMPSMBUS_TIMEOUTB - * @arg @ref LL_FMPI2C_FMPSMBUS_ALL_TIMEOUT - * @retval None - */ -__STATIC_INLINE void LL_FMPI2C_DisableSMBusTimeout(FMPI2C_TypeDef *FMPI2Cx, uint32_t ClockTimeout) -{ - CLEAR_BIT(FMPI2Cx->TIMEOUTR, ClockTimeout); -} - -/** - * @brief Check if the SMBus Clock Timeout is enabled or disabled. - * @note The macro IS_FMPSMBUS_ALL_INSTANCE(FMPI2Cx) can be used to check whether or not - * SMBus feature is supported by the FMPI2Cx Instance. - * @rmtoll TIMEOUTR TIMOUTEN LL_FMPI2C_IsEnabledSMBusTimeout\n - * TIMEOUTR TEXTEN LL_FMPI2C_IsEnabledSMBusTimeout - * @param FMPI2Cx FMPI2C Instance. - * @param ClockTimeout This parameter can be one of the following values: - * @arg @ref LL_FMPI2C_FMPSMBUS_TIMEOUTA - * @arg @ref LL_FMPI2C_FMPSMBUS_TIMEOUTB - * @arg @ref LL_FMPI2C_FMPSMBUS_ALL_TIMEOUT - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_FMPI2C_IsEnabledSMBusTimeout(FMPI2C_TypeDef *FMPI2Cx, uint32_t ClockTimeout) -{ - return ((READ_BIT(FMPI2Cx->TIMEOUTR, (FMPI2C_TIMEOUTR_TIMOUTEN | FMPI2C_TIMEOUTR_TEXTEN)) == \ - (ClockTimeout)) ? 1UL : 0UL); -} - -/** - * @} - */ - -/** @defgroup FMPI2C_LL_EF_IT_Management IT_Management - * @{ - */ - -/** - * @brief Enable TXIS interrupt. - * @rmtoll CR1 TXIE LL_FMPI2C_EnableIT_TX - * @param FMPI2Cx FMPI2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_FMPI2C_EnableIT_TX(FMPI2C_TypeDef *FMPI2Cx) -{ - SET_BIT(FMPI2Cx->CR1, FMPI2C_CR1_TXIE); -} - -/** - * @brief Disable TXIS interrupt. - * @rmtoll CR1 TXIE LL_FMPI2C_DisableIT_TX - * @param FMPI2Cx FMPI2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_FMPI2C_DisableIT_TX(FMPI2C_TypeDef *FMPI2Cx) -{ - CLEAR_BIT(FMPI2Cx->CR1, FMPI2C_CR1_TXIE); -} - -/** - * @brief Check if the TXIS Interrupt is enabled or disabled. - * @rmtoll CR1 TXIE LL_FMPI2C_IsEnabledIT_TX - * @param FMPI2Cx FMPI2C Instance. - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_FMPI2C_IsEnabledIT_TX(FMPI2C_TypeDef *FMPI2Cx) -{ - return ((READ_BIT(FMPI2Cx->CR1, FMPI2C_CR1_TXIE) == (FMPI2C_CR1_TXIE)) ? 1UL : 0UL); -} - -/** - * @brief Enable RXNE interrupt. - * @rmtoll CR1 RXIE LL_FMPI2C_EnableIT_RX - * @param FMPI2Cx FMPI2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_FMPI2C_EnableIT_RX(FMPI2C_TypeDef *FMPI2Cx) -{ - SET_BIT(FMPI2Cx->CR1, FMPI2C_CR1_RXIE); -} - -/** - * @brief Disable RXNE interrupt. - * @rmtoll CR1 RXIE LL_FMPI2C_DisableIT_RX - * @param FMPI2Cx FMPI2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_FMPI2C_DisableIT_RX(FMPI2C_TypeDef *FMPI2Cx) -{ - CLEAR_BIT(FMPI2Cx->CR1, FMPI2C_CR1_RXIE); -} - -/** - * @brief Check if the RXNE Interrupt is enabled or disabled. - * @rmtoll CR1 RXIE LL_FMPI2C_IsEnabledIT_RX - * @param FMPI2Cx FMPI2C Instance. - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_FMPI2C_IsEnabledIT_RX(FMPI2C_TypeDef *FMPI2Cx) -{ - return ((READ_BIT(FMPI2Cx->CR1, FMPI2C_CR1_RXIE) == (FMPI2C_CR1_RXIE)) ? 1UL : 0UL); -} - -/** - * @brief Enable Address match interrupt (slave mode only). - * @rmtoll CR1 ADDRIE LL_FMPI2C_EnableIT_ADDR - * @param FMPI2Cx FMPI2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_FMPI2C_EnableIT_ADDR(FMPI2C_TypeDef *FMPI2Cx) -{ - SET_BIT(FMPI2Cx->CR1, FMPI2C_CR1_ADDRIE); -} - -/** - * @brief Disable Address match interrupt (slave mode only). - * @rmtoll CR1 ADDRIE LL_FMPI2C_DisableIT_ADDR - * @param FMPI2Cx FMPI2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_FMPI2C_DisableIT_ADDR(FMPI2C_TypeDef *FMPI2Cx) -{ - CLEAR_BIT(FMPI2Cx->CR1, FMPI2C_CR1_ADDRIE); -} - -/** - * @brief Check if Address match interrupt is enabled or disabled. - * @rmtoll CR1 ADDRIE LL_FMPI2C_IsEnabledIT_ADDR - * @param FMPI2Cx FMPI2C Instance. - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_FMPI2C_IsEnabledIT_ADDR(FMPI2C_TypeDef *FMPI2Cx) -{ - return ((READ_BIT(FMPI2Cx->CR1, FMPI2C_CR1_ADDRIE) == (FMPI2C_CR1_ADDRIE)) ? 1UL : 0UL); -} - -/** - * @brief Enable Not acknowledge received interrupt. - * @rmtoll CR1 NACKIE LL_FMPI2C_EnableIT_NACK - * @param FMPI2Cx FMPI2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_FMPI2C_EnableIT_NACK(FMPI2C_TypeDef *FMPI2Cx) -{ - SET_BIT(FMPI2Cx->CR1, FMPI2C_CR1_NACKIE); -} - -/** - * @brief Disable Not acknowledge received interrupt. - * @rmtoll CR1 NACKIE LL_FMPI2C_DisableIT_NACK - * @param FMPI2Cx FMPI2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_FMPI2C_DisableIT_NACK(FMPI2C_TypeDef *FMPI2Cx) -{ - CLEAR_BIT(FMPI2Cx->CR1, FMPI2C_CR1_NACKIE); -} - -/** - * @brief Check if Not acknowledge received interrupt is enabled or disabled. - * @rmtoll CR1 NACKIE LL_FMPI2C_IsEnabledIT_NACK - * @param FMPI2Cx FMPI2C Instance. - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_FMPI2C_IsEnabledIT_NACK(FMPI2C_TypeDef *FMPI2Cx) -{ - return ((READ_BIT(FMPI2Cx->CR1, FMPI2C_CR1_NACKIE) == (FMPI2C_CR1_NACKIE)) ? 1UL : 0UL); -} - -/** - * @brief Enable STOP detection interrupt. - * @rmtoll CR1 STOPIE LL_FMPI2C_EnableIT_STOP - * @param FMPI2Cx FMPI2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_FMPI2C_EnableIT_STOP(FMPI2C_TypeDef *FMPI2Cx) -{ - SET_BIT(FMPI2Cx->CR1, FMPI2C_CR1_STOPIE); -} - -/** - * @brief Disable STOP detection interrupt. - * @rmtoll CR1 STOPIE LL_FMPI2C_DisableIT_STOP - * @param FMPI2Cx FMPI2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_FMPI2C_DisableIT_STOP(FMPI2C_TypeDef *FMPI2Cx) -{ - CLEAR_BIT(FMPI2Cx->CR1, FMPI2C_CR1_STOPIE); -} - -/** - * @brief Check if STOP detection interrupt is enabled or disabled. - * @rmtoll CR1 STOPIE LL_FMPI2C_IsEnabledIT_STOP - * @param FMPI2Cx FMPI2C Instance. - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_FMPI2C_IsEnabledIT_STOP(FMPI2C_TypeDef *FMPI2Cx) -{ - return ((READ_BIT(FMPI2Cx->CR1, FMPI2C_CR1_STOPIE) == (FMPI2C_CR1_STOPIE)) ? 1UL : 0UL); -} - -/** - * @brief Enable Transfer Complete interrupt. - * @note Any of these events will generate interrupt : - * Transfer Complete (TC) - * Transfer Complete Reload (TCR) - * @rmtoll CR1 TCIE LL_FMPI2C_EnableIT_TC - * @param FMPI2Cx FMPI2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_FMPI2C_EnableIT_TC(FMPI2C_TypeDef *FMPI2Cx) -{ - SET_BIT(FMPI2Cx->CR1, FMPI2C_CR1_TCIE); -} - -/** - * @brief Disable Transfer Complete interrupt. - * @note Any of these events will generate interrupt : - * Transfer Complete (TC) - * Transfer Complete Reload (TCR) - * @rmtoll CR1 TCIE LL_FMPI2C_DisableIT_TC - * @param FMPI2Cx FMPI2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_FMPI2C_DisableIT_TC(FMPI2C_TypeDef *FMPI2Cx) -{ - CLEAR_BIT(FMPI2Cx->CR1, FMPI2C_CR1_TCIE); -} - -/** - * @brief Check if Transfer Complete interrupt is enabled or disabled. - * @rmtoll CR1 TCIE LL_FMPI2C_IsEnabledIT_TC - * @param FMPI2Cx FMPI2C Instance. - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_FMPI2C_IsEnabledIT_TC(FMPI2C_TypeDef *FMPI2Cx) -{ - return ((READ_BIT(FMPI2Cx->CR1, FMPI2C_CR1_TCIE) == (FMPI2C_CR1_TCIE)) ? 1UL : 0UL); -} - -/** - * @brief Enable Error interrupts. - * @note The macro IS_FMPSMBUS_ALL_INSTANCE(FMPI2Cx) can be used to check whether or not - * SMBus feature is supported by the FMPI2Cx Instance. - * @note Any of these errors will generate interrupt : - * Arbitration Loss (ARLO) - * Bus Error detection (BERR) - * Overrun/Underrun (OVR) - * SMBus Timeout detection (TIMEOUT) - * SMBus PEC error detection (PECERR) - * SMBus Alert pin event detection (ALERT) - * @rmtoll CR1 ERRIE LL_FMPI2C_EnableIT_ERR - * @param FMPI2Cx FMPI2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_FMPI2C_EnableIT_ERR(FMPI2C_TypeDef *FMPI2Cx) -{ - SET_BIT(FMPI2Cx->CR1, FMPI2C_CR1_ERRIE); -} - -/** - * @brief Disable Error interrupts. - * @note The macro IS_FMPSMBUS_ALL_INSTANCE(FMPI2Cx) can be used to check whether or not - * SMBus feature is supported by the FMPI2Cx Instance. - * @note Any of these errors will generate interrupt : - * Arbitration Loss (ARLO) - * Bus Error detection (BERR) - * Overrun/Underrun (OVR) - * SMBus Timeout detection (TIMEOUT) - * SMBus PEC error detection (PECERR) - * SMBus Alert pin event detection (ALERT) - * @rmtoll CR1 ERRIE LL_FMPI2C_DisableIT_ERR - * @param FMPI2Cx FMPI2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_FMPI2C_DisableIT_ERR(FMPI2C_TypeDef *FMPI2Cx) -{ - CLEAR_BIT(FMPI2Cx->CR1, FMPI2C_CR1_ERRIE); -} - -/** - * @brief Check if Error interrupts are enabled or disabled. - * @rmtoll CR1 ERRIE LL_FMPI2C_IsEnabledIT_ERR - * @param FMPI2Cx FMPI2C Instance. - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_FMPI2C_IsEnabledIT_ERR(FMPI2C_TypeDef *FMPI2Cx) -{ - return ((READ_BIT(FMPI2Cx->CR1, FMPI2C_CR1_ERRIE) == (FMPI2C_CR1_ERRIE)) ? 1UL : 0UL); -} - -/** - * @} - */ - -/** @defgroup FMPI2C_LL_EF_FLAG_management FLAG_management - * @{ - */ - -/** - * @brief Indicate the status of Transmit data register empty flag. - * @note RESET: When next data is written in Transmit data register. - * SET: When Transmit data register is empty. - * @rmtoll ISR TXE LL_FMPI2C_IsActiveFlag_TXE - * @param FMPI2Cx FMPI2C Instance. - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_FMPI2C_IsActiveFlag_TXE(FMPI2C_TypeDef *FMPI2Cx) -{ - return ((READ_BIT(FMPI2Cx->ISR, FMPI2C_ISR_TXE) == (FMPI2C_ISR_TXE)) ? 1UL : 0UL); -} - -/** - * @brief Indicate the status of Transmit interrupt flag. - * @note RESET: When next data is written in Transmit data register. - * SET: When Transmit data register is empty. - * @rmtoll ISR TXIS LL_FMPI2C_IsActiveFlag_TXIS - * @param FMPI2Cx FMPI2C Instance. - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_FMPI2C_IsActiveFlag_TXIS(FMPI2C_TypeDef *FMPI2Cx) -{ - return ((READ_BIT(FMPI2Cx->ISR, FMPI2C_ISR_TXIS) == (FMPI2C_ISR_TXIS)) ? 1UL : 0UL); -} - -/** - * @brief Indicate the status of Receive data register not empty flag. - * @note RESET: When Receive data register is read. - * SET: When the received data is copied in Receive data register. - * @rmtoll ISR RXNE LL_FMPI2C_IsActiveFlag_RXNE - * @param FMPI2Cx FMPI2C Instance. - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_FMPI2C_IsActiveFlag_RXNE(FMPI2C_TypeDef *FMPI2Cx) -{ - return ((READ_BIT(FMPI2Cx->ISR, FMPI2C_ISR_RXNE) == (FMPI2C_ISR_RXNE)) ? 1UL : 0UL); -} - -/** - * @brief Indicate the status of Address matched flag (slave mode). - * @note RESET: Clear default value. - * SET: When the received slave address matched with one of the enabled slave address. - * @rmtoll ISR ADDR LL_FMPI2C_IsActiveFlag_ADDR - * @param FMPI2Cx FMPI2C Instance. - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_FMPI2C_IsActiveFlag_ADDR(FMPI2C_TypeDef *FMPI2Cx) -{ - return ((READ_BIT(FMPI2Cx->ISR, FMPI2C_ISR_ADDR) == (FMPI2C_ISR_ADDR)) ? 1UL : 0UL); -} - -/** - * @brief Indicate the status of Not Acknowledge received flag. - * @note RESET: Clear default value. - * SET: When a NACK is received after a byte transmission. - * @rmtoll ISR NACKF LL_FMPI2C_IsActiveFlag_NACK - * @param FMPI2Cx FMPI2C Instance. - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_FMPI2C_IsActiveFlag_NACK(FMPI2C_TypeDef *FMPI2Cx) -{ - return ((READ_BIT(FMPI2Cx->ISR, FMPI2C_ISR_NACKF) == (FMPI2C_ISR_NACKF)) ? 1UL : 0UL); -} - -/** - * @brief Indicate the status of Stop detection flag. - * @note RESET: Clear default value. - * SET: When a Stop condition is detected. - * @rmtoll ISR STOPF LL_FMPI2C_IsActiveFlag_STOP - * @param FMPI2Cx FMPI2C Instance. - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_FMPI2C_IsActiveFlag_STOP(FMPI2C_TypeDef *FMPI2Cx) -{ - return ((READ_BIT(FMPI2Cx->ISR, FMPI2C_ISR_STOPF) == (FMPI2C_ISR_STOPF)) ? 1UL : 0UL); -} - -/** - * @brief Indicate the status of Transfer complete flag (master mode). - * @note RESET: Clear default value. - * SET: When RELOAD=0, AUTOEND=0 and NBYTES date have been transferred. - * @rmtoll ISR TC LL_FMPI2C_IsActiveFlag_TC - * @param FMPI2Cx FMPI2C Instance. - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_FMPI2C_IsActiveFlag_TC(FMPI2C_TypeDef *FMPI2Cx) -{ - return ((READ_BIT(FMPI2Cx->ISR, FMPI2C_ISR_TC) == (FMPI2C_ISR_TC)) ? 1UL : 0UL); -} - -/** - * @brief Indicate the status of Transfer complete flag (master mode). - * @note RESET: Clear default value. - * SET: When RELOAD=1 and NBYTES date have been transferred. - * @rmtoll ISR TCR LL_FMPI2C_IsActiveFlag_TCR - * @param FMPI2Cx FMPI2C Instance. - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_FMPI2C_IsActiveFlag_TCR(FMPI2C_TypeDef *FMPI2Cx) -{ - return ((READ_BIT(FMPI2Cx->ISR, FMPI2C_ISR_TCR) == (FMPI2C_ISR_TCR)) ? 1UL : 0UL); -} - -/** - * @brief Indicate the status of Bus error flag. - * @note RESET: Clear default value. - * SET: When a misplaced Start or Stop condition is detected. - * @rmtoll ISR BERR LL_FMPI2C_IsActiveFlag_BERR - * @param FMPI2Cx FMPI2C Instance. - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_FMPI2C_IsActiveFlag_BERR(FMPI2C_TypeDef *FMPI2Cx) -{ - return ((READ_BIT(FMPI2Cx->ISR, FMPI2C_ISR_BERR) == (FMPI2C_ISR_BERR)) ? 1UL : 0UL); -} - -/** - * @brief Indicate the status of Arbitration lost flag. - * @note RESET: Clear default value. - * SET: When arbitration lost. - * @rmtoll ISR ARLO LL_FMPI2C_IsActiveFlag_ARLO - * @param FMPI2Cx FMPI2C Instance. - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_FMPI2C_IsActiveFlag_ARLO(FMPI2C_TypeDef *FMPI2Cx) -{ - return ((READ_BIT(FMPI2Cx->ISR, FMPI2C_ISR_ARLO) == (FMPI2C_ISR_ARLO)) ? 1UL : 0UL); -} - -/** - * @brief Indicate the status of Overrun/Underrun flag (slave mode). - * @note RESET: Clear default value. - * SET: When an overrun/underrun error occurs (Clock Stretching Disabled). - * @rmtoll ISR OVR LL_FMPI2C_IsActiveFlag_OVR - * @param FMPI2Cx FMPI2C Instance. - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_FMPI2C_IsActiveFlag_OVR(FMPI2C_TypeDef *FMPI2Cx) -{ - return ((READ_BIT(FMPI2Cx->ISR, FMPI2C_ISR_OVR) == (FMPI2C_ISR_OVR)) ? 1UL : 0UL); -} - -/** - * @brief Indicate the status of SMBus PEC error flag in reception. - * @note The macro IS_FMPSMBUS_ALL_INSTANCE(FMPI2Cx) can be used to check whether or not - * SMBus feature is supported by the FMPI2Cx Instance. - * @note RESET: Clear default value. - * SET: When the received PEC does not match with the PEC register content. - * @rmtoll ISR PECERR LL_FMPI2C_IsActiveSMBusFlag_PECERR - * @param FMPI2Cx FMPI2C Instance. - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_FMPI2C_IsActiveSMBusFlag_PECERR(FMPI2C_TypeDef *FMPI2Cx) -{ - return ((READ_BIT(FMPI2Cx->ISR, FMPI2C_ISR_PECERR) == (FMPI2C_ISR_PECERR)) ? 1UL : 0UL); -} - -/** - * @brief Indicate the status of SMBus Timeout detection flag. - * @note The macro IS_FMPSMBUS_ALL_INSTANCE(FMPI2Cx) can be used to check whether or not - * SMBus feature is supported by the FMPI2Cx Instance. - * @note RESET: Clear default value. - * SET: When a timeout or extended clock timeout occurs. - * @rmtoll ISR TIMEOUT LL_FMPI2C_IsActiveSMBusFlag_TIMEOUT - * @param FMPI2Cx FMPI2C Instance. - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_FMPI2C_IsActiveSMBusFlag_TIMEOUT(FMPI2C_TypeDef *FMPI2Cx) -{ - return ((READ_BIT(FMPI2Cx->ISR, FMPI2C_ISR_TIMEOUT) == (FMPI2C_ISR_TIMEOUT)) ? 1UL : 0UL); -} - -/** - * @brief Indicate the status of SMBus alert flag. - * @note The macro IS_FMPSMBUS_ALL_INSTANCE(FMPI2Cx) can be used to check whether or not - * SMBus feature is supported by the FMPI2Cx Instance. - * @note RESET: Clear default value. - * SET: When SMBus host configuration, SMBus alert enabled and - * a falling edge event occurs on SMBA pin. - * @rmtoll ISR ALERT LL_FMPI2C_IsActiveSMBusFlag_ALERT - * @param FMPI2Cx FMPI2C Instance. - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_FMPI2C_IsActiveSMBusFlag_ALERT(FMPI2C_TypeDef *FMPI2Cx) -{ - return ((READ_BIT(FMPI2Cx->ISR, FMPI2C_ISR_ALERT) == (FMPI2C_ISR_ALERT)) ? 1UL : 0UL); -} - -/** - * @brief Indicate the status of Bus Busy flag. - * @note RESET: Clear default value. - * SET: When a Start condition is detected. - * @rmtoll ISR BUSY LL_FMPI2C_IsActiveFlag_BUSY - * @param FMPI2Cx FMPI2C Instance. - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_FMPI2C_IsActiveFlag_BUSY(FMPI2C_TypeDef *FMPI2Cx) -{ - return ((READ_BIT(FMPI2Cx->ISR, FMPI2C_ISR_BUSY) == (FMPI2C_ISR_BUSY)) ? 1UL : 0UL); -} - -/** - * @brief Clear Address Matched flag. - * @rmtoll ICR ADDRCF LL_FMPI2C_ClearFlag_ADDR - * @param FMPI2Cx FMPI2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_FMPI2C_ClearFlag_ADDR(FMPI2C_TypeDef *FMPI2Cx) -{ - SET_BIT(FMPI2Cx->ICR, FMPI2C_ICR_ADDRCF); -} - -/** - * @brief Clear Not Acknowledge flag. - * @rmtoll ICR NACKCF LL_FMPI2C_ClearFlag_NACK - * @param FMPI2Cx FMPI2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_FMPI2C_ClearFlag_NACK(FMPI2C_TypeDef *FMPI2Cx) -{ - SET_BIT(FMPI2Cx->ICR, FMPI2C_ICR_NACKCF); -} - -/** - * @brief Clear Stop detection flag. - * @rmtoll ICR STOPCF LL_FMPI2C_ClearFlag_STOP - * @param FMPI2Cx FMPI2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_FMPI2C_ClearFlag_STOP(FMPI2C_TypeDef *FMPI2Cx) -{ - SET_BIT(FMPI2Cx->ICR, FMPI2C_ICR_STOPCF); -} - -/** - * @brief Clear Transmit data register empty flag (TXE). - * @note This bit can be clear by software in order to flush the transmit data register (TXDR). - * @rmtoll ISR TXE LL_FMPI2C_ClearFlag_TXE - * @param FMPI2Cx FMPI2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_FMPI2C_ClearFlag_TXE(FMPI2C_TypeDef *FMPI2Cx) -{ - WRITE_REG(FMPI2Cx->ISR, FMPI2C_ISR_TXE); -} - -/** - * @brief Clear Bus error flag. - * @rmtoll ICR BERRCF LL_FMPI2C_ClearFlag_BERR - * @param FMPI2Cx FMPI2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_FMPI2C_ClearFlag_BERR(FMPI2C_TypeDef *FMPI2Cx) -{ - SET_BIT(FMPI2Cx->ICR, FMPI2C_ICR_BERRCF); -} - -/** - * @brief Clear Arbitration lost flag. - * @rmtoll ICR ARLOCF LL_FMPI2C_ClearFlag_ARLO - * @param FMPI2Cx FMPI2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_FMPI2C_ClearFlag_ARLO(FMPI2C_TypeDef *FMPI2Cx) -{ - SET_BIT(FMPI2Cx->ICR, FMPI2C_ICR_ARLOCF); -} - -/** - * @brief Clear Overrun/Underrun flag. - * @rmtoll ICR OVRCF LL_FMPI2C_ClearFlag_OVR - * @param FMPI2Cx FMPI2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_FMPI2C_ClearFlag_OVR(FMPI2C_TypeDef *FMPI2Cx) -{ - SET_BIT(FMPI2Cx->ICR, FMPI2C_ICR_OVRCF); -} - -/** - * @brief Clear SMBus PEC error flag. - * @note The macro IS_FMPSMBUS_ALL_INSTANCE(FMPI2Cx) can be used to check whether or not - * SMBus feature is supported by the FMPI2Cx Instance. - * @rmtoll ICR PECCF LL_FMPI2C_ClearSMBusFlag_PECERR - * @param FMPI2Cx FMPI2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_FMPI2C_ClearSMBusFlag_PECERR(FMPI2C_TypeDef *FMPI2Cx) -{ - SET_BIT(FMPI2Cx->ICR, FMPI2C_ICR_PECCF); -} - -/** - * @brief Clear SMBus Timeout detection flag. - * @note The macro IS_FMPSMBUS_ALL_INSTANCE(FMPI2Cx) can be used to check whether or not - * SMBus feature is supported by the FMPI2Cx Instance. - * @rmtoll ICR TIMOUTCF LL_FMPI2C_ClearSMBusFlag_TIMEOUT - * @param FMPI2Cx FMPI2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_FMPI2C_ClearSMBusFlag_TIMEOUT(FMPI2C_TypeDef *FMPI2Cx) -{ - SET_BIT(FMPI2Cx->ICR, FMPI2C_ICR_TIMOUTCF); -} - -/** - * @brief Clear SMBus Alert flag. - * @note The macro IS_FMPSMBUS_ALL_INSTANCE(FMPI2Cx) can be used to check whether or not - * SMBus feature is supported by the FMPI2Cx Instance. - * @rmtoll ICR ALERTCF LL_FMPI2C_ClearSMBusFlag_ALERT - * @param FMPI2Cx FMPI2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_FMPI2C_ClearSMBusFlag_ALERT(FMPI2C_TypeDef *FMPI2Cx) -{ - SET_BIT(FMPI2Cx->ICR, FMPI2C_ICR_ALERTCF); -} - -/** - * @} - */ - -/** @defgroup FMPI2C_LL_EF_Data_Management Data_Management - * @{ - */ - -/** - * @brief Enable automatic STOP condition generation (master mode). - * @note Automatic end mode : a STOP condition is automatically sent when NBYTES data are transferred. - * This bit has no effect in slave mode or when RELOAD bit is set. - * @rmtoll CR2 AUTOEND LL_FMPI2C_EnableAutoEndMode - * @param FMPI2Cx FMPI2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_FMPI2C_EnableAutoEndMode(FMPI2C_TypeDef *FMPI2Cx) -{ - SET_BIT(FMPI2Cx->CR2, FMPI2C_CR2_AUTOEND); -} - -/** - * @brief Disable automatic STOP condition generation (master mode). - * @note Software end mode : TC flag is set when NBYTES data are transferre, stretching SCL low. - * @rmtoll CR2 AUTOEND LL_FMPI2C_DisableAutoEndMode - * @param FMPI2Cx FMPI2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_FMPI2C_DisableAutoEndMode(FMPI2C_TypeDef *FMPI2Cx) -{ - CLEAR_BIT(FMPI2Cx->CR2, FMPI2C_CR2_AUTOEND); -} - -/** - * @brief Check if automatic STOP condition is enabled or disabled. - * @rmtoll CR2 AUTOEND LL_FMPI2C_IsEnabledAutoEndMode - * @param FMPI2Cx FMPI2C Instance. - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_FMPI2C_IsEnabledAutoEndMode(FMPI2C_TypeDef *FMPI2Cx) -{ - return ((READ_BIT(FMPI2Cx->CR2, FMPI2C_CR2_AUTOEND) == (FMPI2C_CR2_AUTOEND)) ? 1UL : 0UL); -} - -/** - * @brief Enable reload mode (master mode). - * @note The transfer is not completed after the NBYTES data transfer, NBYTES will be reloaded when TCR flag is set. - * @rmtoll CR2 RELOAD LL_FMPI2C_EnableReloadMode - * @param FMPI2Cx FMPI2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_FMPI2C_EnableReloadMode(FMPI2C_TypeDef *FMPI2Cx) -{ - SET_BIT(FMPI2Cx->CR2, FMPI2C_CR2_RELOAD); -} - -/** - * @brief Disable reload mode (master mode). - * @note The transfer is completed after the NBYTES data transfer(STOP or RESTART will follow). - * @rmtoll CR2 RELOAD LL_FMPI2C_DisableReloadMode - * @param FMPI2Cx FMPI2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_FMPI2C_DisableReloadMode(FMPI2C_TypeDef *FMPI2Cx) -{ - CLEAR_BIT(FMPI2Cx->CR2, FMPI2C_CR2_RELOAD); -} - -/** - * @brief Check if reload mode is enabled or disabled. - * @rmtoll CR2 RELOAD LL_FMPI2C_IsEnabledReloadMode - * @param FMPI2Cx FMPI2C Instance. - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_FMPI2C_IsEnabledReloadMode(FMPI2C_TypeDef *FMPI2Cx) -{ - return ((READ_BIT(FMPI2Cx->CR2, FMPI2C_CR2_RELOAD) == (FMPI2C_CR2_RELOAD)) ? 1UL : 0UL); -} - -/** - * @brief Configure the number of bytes for transfer. - * @note Changing these bits when START bit is set is not allowed. - * @rmtoll CR2 NBYTES LL_FMPI2C_SetTransferSize - * @param FMPI2Cx FMPI2C Instance. - * @param TransferSize This parameter must be a value between Min_Data=0x00 and Max_Data=0xFF. - * @retval None - */ -__STATIC_INLINE void LL_FMPI2C_SetTransferSize(FMPI2C_TypeDef *FMPI2Cx, uint32_t TransferSize) -{ - MODIFY_REG(FMPI2Cx->CR2, FMPI2C_CR2_NBYTES, TransferSize << FMPI2C_CR2_NBYTES_Pos); -} - -/** - * @brief Get the number of bytes configured for transfer. - * @rmtoll CR2 NBYTES LL_FMPI2C_GetTransferSize - * @param FMPI2Cx FMPI2C Instance. - * @retval Value between Min_Data=0x0 and Max_Data=0xFF - */ -__STATIC_INLINE uint32_t LL_FMPI2C_GetTransferSize(FMPI2C_TypeDef *FMPI2Cx) -{ - return (uint32_t)(READ_BIT(FMPI2Cx->CR2, FMPI2C_CR2_NBYTES) >> FMPI2C_CR2_NBYTES_Pos); -} - -/** - * @brief Prepare the generation of a ACKnowledge or Non ACKnowledge condition after the address receive match code - or next received byte. - * @note Usage in Slave mode only. - * @rmtoll CR2 NACK LL_FMPI2C_AcknowledgeNextData - * @param FMPI2Cx FMPI2C Instance. - * @param TypeAcknowledge This parameter can be one of the following values: - * @arg @ref LL_FMPI2C_ACK - * @arg @ref LL_FMPI2C_NACK - * @retval None - */ -__STATIC_INLINE void LL_FMPI2C_AcknowledgeNextData(FMPI2C_TypeDef *FMPI2Cx, uint32_t TypeAcknowledge) -{ - MODIFY_REG(FMPI2Cx->CR2, FMPI2C_CR2_NACK, TypeAcknowledge); -} - -/** - * @brief Generate a START or RESTART condition - * @note The START bit can be set even if bus is BUSY or FMPI2C is in slave mode. - * This action has no effect when RELOAD is set. - * @rmtoll CR2 START LL_FMPI2C_GenerateStartCondition - * @param FMPI2Cx FMPI2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_FMPI2C_GenerateStartCondition(FMPI2C_TypeDef *FMPI2Cx) -{ - SET_BIT(FMPI2Cx->CR2, FMPI2C_CR2_START); -} - -/** - * @brief Generate a STOP condition after the current byte transfer (master mode). - * @rmtoll CR2 STOP LL_FMPI2C_GenerateStopCondition - * @param FMPI2Cx FMPI2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_FMPI2C_GenerateStopCondition(FMPI2C_TypeDef *FMPI2Cx) -{ - SET_BIT(FMPI2Cx->CR2, FMPI2C_CR2_STOP); -} - -/** - * @brief Enable automatic RESTART Read request condition for 10bit address header (master mode). - * @note The master sends the complete 10bit slave address read sequence : - * Start + 2 bytes 10bit address in Write direction + Restart + first 7 bits of 10bit address - in Read direction. - * @rmtoll CR2 HEAD10R LL_FMPI2C_EnableAuto10BitRead - * @param FMPI2Cx FMPI2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_FMPI2C_EnableAuto10BitRead(FMPI2C_TypeDef *FMPI2Cx) -{ - CLEAR_BIT(FMPI2Cx->CR2, FMPI2C_CR2_HEAD10R); -} - -/** - * @brief Disable automatic RESTART Read request condition for 10bit address header (master mode). - * @note The master only sends the first 7 bits of 10bit address in Read direction. - * @rmtoll CR2 HEAD10R LL_FMPI2C_DisableAuto10BitRead - * @param FMPI2Cx FMPI2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_FMPI2C_DisableAuto10BitRead(FMPI2C_TypeDef *FMPI2Cx) -{ - SET_BIT(FMPI2Cx->CR2, FMPI2C_CR2_HEAD10R); -} - -/** - * @brief Check if automatic RESTART Read request condition for 10bit address header is enabled or disabled. - * @rmtoll CR2 HEAD10R LL_FMPI2C_IsEnabledAuto10BitRead - * @param FMPI2Cx FMPI2C Instance. - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_FMPI2C_IsEnabledAuto10BitRead(FMPI2C_TypeDef *FMPI2Cx) -{ - return ((READ_BIT(FMPI2Cx->CR2, FMPI2C_CR2_HEAD10R) != (FMPI2C_CR2_HEAD10R)) ? 1UL : 0UL); -} - -/** - * @brief Configure the transfer direction (master mode). - * @note Changing these bits when START bit is set is not allowed. - * @rmtoll CR2 RD_WRN LL_FMPI2C_SetTransferRequest - * @param FMPI2Cx FMPI2C Instance. - * @param TransferRequest This parameter can be one of the following values: - * @arg @ref LL_FMPI2C_REQUEST_WRITE - * @arg @ref LL_FMPI2C_REQUEST_READ - * @retval None - */ -__STATIC_INLINE void LL_FMPI2C_SetTransferRequest(FMPI2C_TypeDef *FMPI2Cx, uint32_t TransferRequest) -{ - MODIFY_REG(FMPI2Cx->CR2, FMPI2C_CR2_RD_WRN, TransferRequest); -} - -/** - * @brief Get the transfer direction requested (master mode). - * @rmtoll CR2 RD_WRN LL_FMPI2C_GetTransferRequest - * @param FMPI2Cx FMPI2C Instance. - * @retval Returned value can be one of the following values: - * @arg @ref LL_FMPI2C_REQUEST_WRITE - * @arg @ref LL_FMPI2C_REQUEST_READ - */ -__STATIC_INLINE uint32_t LL_FMPI2C_GetTransferRequest(FMPI2C_TypeDef *FMPI2Cx) -{ - return (uint32_t)(READ_BIT(FMPI2Cx->CR2, FMPI2C_CR2_RD_WRN)); -} - -/** - * @brief Configure the slave address for transfer (master mode). - * @note Changing these bits when START bit is set is not allowed. - * @rmtoll CR2 SADD LL_FMPI2C_SetSlaveAddr - * @param FMPI2Cx FMPI2C Instance. - * @param SlaveAddr This parameter must be a value between Min_Data=0x00 and Max_Data=0x3F. - * @retval None - */ -__STATIC_INLINE void LL_FMPI2C_SetSlaveAddr(FMPI2C_TypeDef *FMPI2Cx, uint32_t SlaveAddr) -{ - MODIFY_REG(FMPI2Cx->CR2, FMPI2C_CR2_SADD, SlaveAddr); -} - -/** - * @brief Get the slave address programmed for transfer. - * @rmtoll CR2 SADD LL_FMPI2C_GetSlaveAddr - * @param FMPI2Cx FMPI2C Instance. - * @retval Value between Min_Data=0x0 and Max_Data=0x3F - */ -__STATIC_INLINE uint32_t LL_FMPI2C_GetSlaveAddr(FMPI2C_TypeDef *FMPI2Cx) -{ - return (uint32_t)(READ_BIT(FMPI2Cx->CR2, FMPI2C_CR2_SADD)); -} - -/** - * @brief Handles FMPI2Cx communication when starting transfer or during transfer (TC or TCR flag are set). - * @rmtoll CR2 SADD LL_FMPI2C_HandleTransfer\n - * CR2 ADD10 LL_FMPI2C_HandleTransfer\n - * CR2 RD_WRN LL_FMPI2C_HandleTransfer\n - * CR2 START LL_FMPI2C_HandleTransfer\n - * CR2 STOP LL_FMPI2C_HandleTransfer\n - * CR2 RELOAD LL_FMPI2C_HandleTransfer\n - * CR2 NBYTES LL_FMPI2C_HandleTransfer\n - * CR2 AUTOEND LL_FMPI2C_HandleTransfer\n - * CR2 HEAD10R LL_FMPI2C_HandleTransfer - * @param FMPI2Cx FMPI2C Instance. - * @param SlaveAddr Specifies the slave address to be programmed. - * @param SlaveAddrSize This parameter can be one of the following values: - * @arg @ref LL_FMPI2C_ADDRSLAVE_7BIT - * @arg @ref LL_FMPI2C_ADDRSLAVE_10BIT - * @param TransferSize Specifies the number of bytes to be programmed. - * This parameter must be a value between Min_Data=0 and Max_Data=255. - * @param EndMode This parameter can be one of the following values: - * @arg @ref LL_FMPI2C_MODE_RELOAD - * @arg @ref LL_FMPI2C_MODE_AUTOEND - * @arg @ref LL_FMPI2C_MODE_SOFTEND - * @arg @ref LL_FMPI2C_MODE_SMBUS_RELOAD - * @arg @ref LL_FMPI2C_MODE_SMBUS_AUTOEND_NO_PEC - * @arg @ref LL_FMPI2C_MODE_SMBUS_SOFTEND_NO_PEC - * @arg @ref LL_FMPI2C_MODE_SMBUS_AUTOEND_WITH_PEC - * @arg @ref LL_FMPI2C_MODE_SMBUS_SOFTEND_WITH_PEC - * @param Request This parameter can be one of the following values: - * @arg @ref LL_FMPI2C_GENERATE_NOSTARTSTOP - * @arg @ref LL_FMPI2C_GENERATE_STOP - * @arg @ref LL_FMPI2C_GENERATE_START_READ - * @arg @ref LL_FMPI2C_GENERATE_START_WRITE - * @arg @ref LL_FMPI2C_GENERATE_RESTART_7BIT_READ - * @arg @ref LL_FMPI2C_GENERATE_RESTART_7BIT_WRITE - * @arg @ref LL_FMPI2C_GENERATE_RESTART_10BIT_READ - * @arg @ref LL_FMPI2C_GENERATE_RESTART_10BIT_WRITE - * @retval None - */ -__STATIC_INLINE void LL_FMPI2C_HandleTransfer(FMPI2C_TypeDef *FMPI2Cx, uint32_t SlaveAddr, uint32_t SlaveAddrSize, - uint32_t TransferSize, uint32_t EndMode, uint32_t Request) -{ - MODIFY_REG(FMPI2Cx->CR2, FMPI2C_CR2_SADD | FMPI2C_CR2_ADD10 | - (FMPI2C_CR2_RD_WRN & (uint32_t)(Request >> (31U - FMPI2C_CR2_RD_WRN_Pos))) | - FMPI2C_CR2_START | FMPI2C_CR2_STOP | FMPI2C_CR2_RELOAD | - FMPI2C_CR2_NBYTES | FMPI2C_CR2_AUTOEND | FMPI2C_CR2_HEAD10R, - SlaveAddr | SlaveAddrSize | (TransferSize << FMPI2C_CR2_NBYTES_Pos) | EndMode | Request); -} - -/** - * @brief Indicate the value of transfer direction (slave mode). - * @note RESET: Write transfer, Slave enters in receiver mode. - * SET: Read transfer, Slave enters in transmitter mode. - * @rmtoll ISR DIR LL_FMPI2C_GetTransferDirection - * @param FMPI2Cx FMPI2C Instance. - * @retval Returned value can be one of the following values: - * @arg @ref LL_FMPI2C_DIRECTION_WRITE - * @arg @ref LL_FMPI2C_DIRECTION_READ - */ -__STATIC_INLINE uint32_t LL_FMPI2C_GetTransferDirection(FMPI2C_TypeDef *FMPI2Cx) -{ - return (uint32_t)(READ_BIT(FMPI2Cx->ISR, FMPI2C_ISR_DIR)); -} - -/** - * @brief Return the slave matched address. - * @rmtoll ISR ADDCODE LL_FMPI2C_GetAddressMatchCode - * @param FMPI2Cx FMPI2C Instance. - * @retval Value between Min_Data=0x00 and Max_Data=0x3F - */ -__STATIC_INLINE uint32_t LL_FMPI2C_GetAddressMatchCode(FMPI2C_TypeDef *FMPI2Cx) -{ - return (uint32_t)(READ_BIT(FMPI2Cx->ISR, FMPI2C_ISR_ADDCODE) >> FMPI2C_ISR_ADDCODE_Pos << 1); -} - -/** - * @brief Enable internal comparison of the SMBus Packet Error byte (transmission or reception mode). - * @note The macro IS_FMPSMBUS_ALL_INSTANCE(FMPI2Cx) can be used to check whether or not - * SMBus feature is supported by the FMPI2Cx Instance. - * @note This feature is cleared by hardware when the PEC byte is transferred, or when a STOP condition - or an Address Matched is received. - * This bit has no effect when RELOAD bit is set. - * This bit has no effect in device mode when SBC bit is not set. - * @rmtoll CR2 PECBYTE LL_FMPI2C_EnableSMBusPECCompare - * @param FMPI2Cx FMPI2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_FMPI2C_EnableSMBusPECCompare(FMPI2C_TypeDef *FMPI2Cx) -{ - SET_BIT(FMPI2Cx->CR2, FMPI2C_CR2_PECBYTE); -} - -/** - * @brief Check if the SMBus Packet Error byte internal comparison is requested or not. - * @note The macro IS_FMPSMBUS_ALL_INSTANCE(FMPI2Cx) can be used to check whether or not - * SMBus feature is supported by the FMPI2Cx Instance. - * @rmtoll CR2 PECBYTE LL_FMPI2C_IsEnabledSMBusPECCompare - * @param FMPI2Cx FMPI2C Instance. - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_FMPI2C_IsEnabledSMBusPECCompare(FMPI2C_TypeDef *FMPI2Cx) -{ - return ((READ_BIT(FMPI2Cx->CR2, FMPI2C_CR2_PECBYTE) == (FMPI2C_CR2_PECBYTE)) ? 1UL : 0UL); -} - -/** - * @brief Get the SMBus Packet Error byte calculated. - * @note The macro IS_FMPSMBUS_ALL_INSTANCE(FMPI2Cx) can be used to check whether or not - * SMBus feature is supported by the FMPI2Cx Instance. - * @rmtoll PECR PEC LL_FMPI2C_GetSMBusPEC - * @param FMPI2Cx FMPI2C Instance. - * @retval Value between Min_Data=0x00 and Max_Data=0xFF - */ -__STATIC_INLINE uint32_t LL_FMPI2C_GetSMBusPEC(FMPI2C_TypeDef *FMPI2Cx) -{ - return (uint32_t)(READ_BIT(FMPI2Cx->PECR, FMPI2C_PECR_PEC)); -} - -/** - * @brief Read Receive Data register. - * @rmtoll RXDR RXDATA LL_FMPI2C_ReceiveData8 - * @param FMPI2Cx FMPI2C Instance. - * @retval Value between Min_Data=0x00 and Max_Data=0xFF - */ -__STATIC_INLINE uint8_t LL_FMPI2C_ReceiveData8(FMPI2C_TypeDef *FMPI2Cx) -{ - return (uint8_t)(READ_BIT(FMPI2Cx->RXDR, FMPI2C_RXDR_RXDATA)); -} - -/** - * @brief Write in Transmit Data Register . - * @rmtoll TXDR TXDATA LL_FMPI2C_TransmitData8 - * @param FMPI2Cx FMPI2C Instance. - * @param Data Value between Min_Data=0x00 and Max_Data=0xFF - * @retval None - */ -__STATIC_INLINE void LL_FMPI2C_TransmitData8(FMPI2C_TypeDef *FMPI2Cx, uint8_t Data) -{ - WRITE_REG(FMPI2Cx->TXDR, Data); -} - -/** - * @} - */ - -#if defined(USE_FULL_LL_DRIVER) -/** @defgroup FMPI2C_LL_EF_Init Initialization and de-initialization functions - * @{ - */ - -ErrorStatus LL_FMPI2C_Init(FMPI2C_TypeDef *FMPI2Cx, LL_FMPI2C_InitTypeDef *FMPI2C_InitStruct); -ErrorStatus LL_FMPI2C_DeInit(FMPI2C_TypeDef *FMPI2Cx); -void LL_FMPI2C_StructInit(LL_FMPI2C_InitTypeDef *FMPI2C_InitStruct); - - -/** - * @} - */ -#endif /* USE_FULL_LL_DRIVER */ - -/** - * @} - */ - -/** - * @} - */ - -#endif /* FMPI2C1 */ - -/** - * @} - */ - -#endif /* FMPI2C_CR1_PE */ -#ifdef __cplusplus -} -#endif - -#endif /* STM32F4xx_LL_FMPI2C_H */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_fsmc.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_fsmc.h deleted file mode 100644 index 12f3a14dfe5311..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_fsmc.h +++ /dev/null @@ -1,1033 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_ll_fsmc.h - * @author MCD Application Team - * @brief Header file of FSMC HAL module. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef __STM32F4xx_LL_FSMC_H -#define __STM32F4xx_LL_FSMC_H - -#ifdef __cplusplus - extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal_def.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @addtogroup FSMC_LL - * @{ - */ - -#if defined(STM32F405xx) || defined(STM32F415xx) || defined(STM32F407xx) || defined(STM32F417xx) || defined(STM32F412Zx) ||\ - defined(STM32F412Vx) || defined(STM32F412Rx) || defined(STM32F413xx) || defined(STM32F423xx) -/* Private types -------------------------------------------------------------*/ -/** @defgroup FSMC_LL_Private_Types FSMC Private Types - * @{ - */ - -/** - * @brief FSMC NORSRAM Configuration Structure definition - */ -typedef struct -{ - uint32_t NSBank; /*!< Specifies the NORSRAM memory device that will be used. - This parameter can be a value of @ref FSMC_NORSRAM_Bank */ - - uint32_t DataAddressMux; /*!< Specifies whether the address and data values are - multiplexed on the data bus or not. - This parameter can be a value of @ref FSMC_Data_Address_Bus_Multiplexing */ - - uint32_t MemoryType; /*!< Specifies the type of external memory attached to - the corresponding memory device. - This parameter can be a value of @ref FSMC_Memory_Type */ - - uint32_t MemoryDataWidth; /*!< Specifies the external memory device width. - This parameter can be a value of @ref FSMC_NORSRAM_Data_Width */ - - uint32_t BurstAccessMode; /*!< Enables or disables the burst access mode for Flash memory, - valid only with synchronous burst Flash memories. - This parameter can be a value of @ref FSMC_Burst_Access_Mode */ - - uint32_t WaitSignalPolarity; /*!< Specifies the wait signal polarity, valid only when accessing - the Flash memory in burst mode. - This parameter can be a value of @ref FSMC_Wait_Signal_Polarity */ - - uint32_t WrapMode; /*!< Enables or disables the Wrapped burst access mode for Flash - memory, valid only when accessing Flash memories in burst mode. - This parameter can be a value of @ref FSMC_Wrap_Mode - This mode is available only for the STM32F405/407/4015/417xx devices */ - - uint32_t WaitSignalActive; /*!< Specifies if the wait signal is asserted by the memory one - clock cycle before the wait state or during the wait state, - valid only when accessing memories in burst mode. - This parameter can be a value of @ref FSMC_Wait_Timing */ - - uint32_t WriteOperation; /*!< Enables or disables the write operation in the selected device by the FSMC. - This parameter can be a value of @ref FSMC_Write_Operation */ - - uint32_t WaitSignal; /*!< Enables or disables the wait state insertion via wait - signal, valid for Flash memory access in burst mode. - This parameter can be a value of @ref FSMC_Wait_Signal */ - - uint32_t ExtendedMode; /*!< Enables or disables the extended mode. - This parameter can be a value of @ref FSMC_Extended_Mode */ - - uint32_t AsynchronousWait; /*!< Enables or disables wait signal during asynchronous transfers, - valid only with asynchronous Flash memories. - This parameter can be a value of @ref FSMC_AsynchronousWait */ - - uint32_t WriteBurst; /*!< Enables or disables the write burst operation. - This parameter can be a value of @ref FSMC_Write_Burst */ - - uint32_t ContinuousClock; /*!< Enables or disables the FMC clock output to external memory devices. - This parameter is only enabled through the FMC_BCR1 register, and don't care - through FMC_BCR2..4 registers. - This parameter can be a value of @ref FMC_Continous_Clock - This mode is available only for the STM32F412Vx/Zx/Rx devices */ - - uint32_t WriteFifo; /*!< Enables or disables the write FIFO used by the FMC controller. - This parameter is only enabled through the FMC_BCR1 register, and don't care - through FMC_BCR2..4 registers. - This parameter can be a value of @ref FMC_Write_FIFO - This mode is available only for the STM32F412Vx/Vx devices */ - - uint32_t PageSize; /*!< Specifies the memory page size. - This parameter can be a value of @ref FMC_Page_Size */ -}FSMC_NORSRAM_InitTypeDef; - -/** - * @brief FSMC NORSRAM Timing parameters structure definition - */ -typedef struct -{ - uint32_t AddressSetupTime; /*!< Defines the number of HCLK cycles to configure - the duration of the address setup time. - This parameter can be a value between Min_Data = 0 and Max_Data = 15. - @note This parameter is not used with synchronous NOR Flash memories. */ - - uint32_t AddressHoldTime; /*!< Defines the number of HCLK cycles to configure - the duration of the address hold time. - This parameter can be a value between Min_Data = 1 and Max_Data = 15. - @note This parameter is not used with synchronous NOR Flash memories. */ - - uint32_t DataSetupTime; /*!< Defines the number of HCLK cycles to configure - the duration of the data setup time. - This parameter can be a value between Min_Data = 1 and Max_Data = 255. - @note This parameter is used for SRAMs, ROMs and asynchronous multiplexed - NOR Flash memories. */ - - uint32_t BusTurnAroundDuration; /*!< Defines the number of HCLK cycles to configure - the duration of the bus turnaround. - This parameter can be a value between Min_Data = 0 and Max_Data = 15. - @note This parameter is only used for multiplexed NOR Flash memories. */ - - uint32_t CLKDivision; /*!< Defines the period of CLK clock output signal, expressed in number of - HCLK cycles. This parameter can be a value between Min_Data = 2 and Max_Data = 16. - @note This parameter is not used for asynchronous NOR Flash, SRAM or ROM - accesses. */ - - uint32_t DataLatency; /*!< Defines the number of memory clock cycles to issue - to the memory before getting the first data. - The parameter value depends on the memory type as shown below: - - It must be set to 0 in case of a CRAM - - It is don't care in asynchronous NOR, SRAM or ROM accesses - - It may assume a value between Min_Data = 2 and Max_Data = 17 in NOR Flash memories - with synchronous burst mode enable */ - - uint32_t AccessMode; /*!< Specifies the asynchronous access mode. - This parameter can be a value of @ref FSMC_Access_Mode */ - -}FSMC_NORSRAM_TimingTypeDef; - -#if defined(STM32F405xx) || defined(STM32F415xx) || defined(STM32F407xx) || defined(STM32F417xx) -/** - * @brief FSMC NAND Configuration Structure definition - */ -typedef struct -{ - uint32_t NandBank; /*!< Specifies the NAND memory device that will be used. - This parameter can be a value of @ref FSMC_NAND_Bank */ - - uint32_t Waitfeature; /*!< Enables or disables the Wait feature for the NAND Memory device. - This parameter can be any value of @ref FSMC_Wait_feature */ - - uint32_t MemoryDataWidth; /*!< Specifies the external memory device width. - This parameter can be any value of @ref FSMC_NAND_Data_Width */ - - uint32_t EccComputation; /*!< Enables or disables the ECC computation. - This parameter can be any value of @ref FSMC_ECC */ - - uint32_t ECCPageSize; /*!< Defines the page size for the extended ECC. - This parameter can be any value of @ref FSMC_ECC_Page_Size */ - - uint32_t TCLRSetupTime; /*!< Defines the number of HCLK cycles to configure the - delay between CLE low and RE low. - This parameter can be a value between Min_Data = 0 and Max_Data = 255 */ - - uint32_t TARSetupTime; /*!< Defines the number of HCLK cycles to configure the - delay between ALE low and RE low. - This parameter can be a number between Min_Data = 0 and Max_Data = 255 */ - -}FSMC_NAND_InitTypeDef; - -/** - * @brief FSMC NAND/PCCARD Timing parameters structure definition - */ -typedef struct -{ - uint32_t SetupTime; /*!< Defines the number of HCLK cycles to setup address before - the command assertion for NAND-Flash read or write access - to common/Attribute or I/O memory space (depending on - the memory space timing to be configured). - This parameter can be a value between Min_Data = 0 and Max_Data = 255 */ - - uint32_t WaitSetupTime; /*!< Defines the minimum number of HCLK cycles to assert the - command for NAND-Flash read or write access to - common/Attribute or I/O memory space (depending on the - memory space timing to be configured). - This parameter can be a number between Min_Data = 0 and Max_Data = 255 */ - - uint32_t HoldSetupTime; /*!< Defines the number of HCLK clock cycles to hold address - (and data for write access) after the command de-assertion - for NAND-Flash read or write access to common/Attribute - or I/O memory space (depending on the memory space timing - to be configured). - This parameter can be a number between Min_Data = 0 and Max_Data = 255 */ - - uint32_t HiZSetupTime; /*!< Defines the number of HCLK clock cycles during which the - data bus is kept in HiZ after the start of a NAND-Flash - write access to common/Attribute or I/O memory space (depending - on the memory space timing to be configured). - This parameter can be a number between Min_Data = 0 and Max_Data = 255 */ - -}FSMC_NAND_PCC_TimingTypeDef; - -/** - * @brief FSMC NAND Configuration Structure definition - */ -typedef struct -{ - uint32_t Waitfeature; /*!< Enables or disables the Wait feature for the PCCARD Memory device. - This parameter can be any value of @ref FSMC_Wait_feature */ - - uint32_t TCLRSetupTime; /*!< Defines the number of HCLK cycles to configure the - delay between CLE low and RE low. - This parameter can be a value between Min_Data = 0 and Max_Data = 255 */ - - uint32_t TARSetupTime; /*!< Defines the number of HCLK cycles to configure the - delay between ALE low and RE low. - This parameter can be a number between Min_Data = 0 and Max_Data = 255 */ - -}FSMC_PCCARD_InitTypeDef; -/** - * @} - */ -#endif /* STM32F405xx || STM32F415xx || STM32F407xx || STM32F417xx */ - -/* Private constants ---------------------------------------------------------*/ -/** @defgroup FSMC_LL_Private_Constants FSMC Private Constants - * @{ - */ - -/** @defgroup FSMC_LL_NOR_SRAM_Controller FSMC NOR/SRAM Controller - * @{ - */ -/** @defgroup FSMC_NORSRAM_Bank FSMC NOR/SRAM Bank - * @{ - */ -#define FSMC_NORSRAM_BANK1 0x00000000U -#define FSMC_NORSRAM_BANK2 0x00000002U -#define FSMC_NORSRAM_BANK3 0x00000004U -#define FSMC_NORSRAM_BANK4 0x00000006U -/** - * @} - */ - -/** @defgroup FSMC_Data_Address_Bus_Multiplexing FSMC Data Address Bus Multiplexing - * @{ - */ -#define FSMC_DATA_ADDRESS_MUX_DISABLE 0x00000000U -#define FSMC_DATA_ADDRESS_MUX_ENABLE 0x00000002U -/** - * @} - */ - -/** @defgroup FSMC_Memory_Type FSMC Memory Type - * @{ - */ -#define FSMC_MEMORY_TYPE_SRAM 0x00000000U -#define FSMC_MEMORY_TYPE_PSRAM 0x00000004U -#define FSMC_MEMORY_TYPE_NOR 0x00000008U -/** - * @} - */ - -/** @defgroup FSMC_NORSRAM_Data_Width FSMC NOR/SRAM Data Width - * @{ - */ -#define FSMC_NORSRAM_MEM_BUS_WIDTH_8 0x00000000U -#define FSMC_NORSRAM_MEM_BUS_WIDTH_16 0x00000010U -#define FSMC_NORSRAM_MEM_BUS_WIDTH_32 0x00000020U -/** - * @} - */ - -/** @defgroup FSMC_NORSRAM_Flash_Access FSMC NOR/SRAM Flash Access - * @{ - */ -#define FSMC_NORSRAM_FLASH_ACCESS_ENABLE 0x00000040U -#define FSMC_NORSRAM_FLASH_ACCESS_DISABLE 0x00000000U -/** - * @} - */ - -/** @defgroup FSMC_Burst_Access_Mode FSMC Burst Access Mode - * @{ - */ -#define FSMC_BURST_ACCESS_MODE_DISABLE 0x00000000U -#define FSMC_BURST_ACCESS_MODE_ENABLE 0x00000100U -/** - * @} - */ - -/** @defgroup FSMC_Wait_Signal_Polarity FSMC Wait Signal Polarity - * @{ - */ -#define FSMC_WAIT_SIGNAL_POLARITY_LOW 0x00000000U -#define FSMC_WAIT_SIGNAL_POLARITY_HIGH 0x00000200U -/** - * @} - */ - -/** @defgroup FSMC_Wrap_Mode FSMC Wrap Mode - * @note These values are available only for the STM32F405/415/407/417xx devices. - * @{ - */ -#define FSMC_WRAP_MODE_DISABLE 0x00000000U -#define FSMC_WRAP_MODE_ENABLE 0x00000400U -/** - * @} - */ - -/** @defgroup FSMC_Wait_Timing FSMC Wait Timing - * @{ - */ -#define FSMC_WAIT_TIMING_BEFORE_WS 0x00000000U -#define FSMC_WAIT_TIMING_DURING_WS 0x00000800U -/** - * @} - */ - -/** @defgroup FSMC_Write_Operation FSMC Write Operation - * @{ - */ -#define FSMC_WRITE_OPERATION_DISABLE 0x00000000U -#define FSMC_WRITE_OPERATION_ENABLE 0x00001000U -/** - * @} - */ - -/** @defgroup FSMC_Wait_Signal FSMC Wait Signal - * @{ - */ -#define FSMC_WAIT_SIGNAL_DISABLE 0x00000000U -#define FSMC_WAIT_SIGNAL_ENABLE 0x00002000U -/** - * @} - */ - -/** @defgroup FSMC_Extended_Mode FSMC Extended Mode - * @{ - */ -#define FSMC_EXTENDED_MODE_DISABLE 0x00000000U -#define FSMC_EXTENDED_MODE_ENABLE 0x00004000U -/** - * @} - */ - -/** @defgroup FSMC_AsynchronousWait FSMC Asynchronous Wait - * @{ - */ -#define FSMC_ASYNCHRONOUS_WAIT_DISABLE 0x00000000U -#define FSMC_ASYNCHRONOUS_WAIT_ENABLE 0x00008000U -/** - * @} - */ - -/** @defgroup FSMC_Page_Size FSMC Page Size - * @{ - */ -#define FSMC_PAGE_SIZE_NONE 0x00000000U -#define FSMC_PAGE_SIZE_128 ((uint32_t)FSMC_BCR1_CPSIZE_0) -#define FSMC_PAGE_SIZE_256 ((uint32_t)FSMC_BCR1_CPSIZE_1) -#define FSMC_PAGE_SIZE_512 ((uint32_t)(FSMC_BCR1_CPSIZE_0 | FSMC_BCR1_CPSIZE_1)) -#define FSMC_PAGE_SIZE_1024 ((uint32_t)FSMC_BCR1_CPSIZE_2) -/** - * @} - */ - -/** @defgroup FSMC_Write_FIFO FSMC Write FIFO - * @note These values are available only for the STM32F412Vx/Zx/Rx devices. - * @{ - */ -#define FSMC_WRITE_FIFO_DISABLE ((uint32_t)FSMC_BCR1_WFDIS) -#define FSMC_WRITE_FIFO_ENABLE 0x00000000U -/** - * @} - */ - -/** @defgroup FSMC_Write_Burst FSMC Write Burst - * @{ - */ -#define FSMC_WRITE_BURST_DISABLE 0x00000000U -#define FSMC_WRITE_BURST_ENABLE 0x00080000U -/** - * @} - */ - -/** @defgroup FSMC_Continous_Clock FSMC Continous Clock - * @note These values are available only for the STM32F412Vx/Zx/Rx devices. - * @{ - */ -#define FSMC_CONTINUOUS_CLOCK_SYNC_ONLY 0x00000000U -#define FSMC_CONTINUOUS_CLOCK_SYNC_ASYNC 0x00100000U -/** - * @} - */ - -/** @defgroup FSMC_Access_Mode FSMC Access Mode - * @{ - */ -#define FSMC_ACCESS_MODE_A 0x00000000U -#define FSMC_ACCESS_MODE_B 0x10000000U -#define FSMC_ACCESS_MODE_C 0x20000000U -#define FSMC_ACCESS_MODE_D 0x30000000U -/** - * @} - */ -/** - * @} - */ - -#if defined(STM32F405xx) || defined(STM32F415xx) || defined(STM32F407xx) || defined(STM32F417xx) -/** @defgroup FSMC_LL_NAND_Controller FSMC NAND and PCCARD Controller - * @{ - */ -/** @defgroup FSMC_NAND_Bank FSMC NAND Bank - * @{ - */ -#define FSMC_NAND_BANK2 0x00000010U -#define FSMC_NAND_BANK3 0x00000100U -/** - * @} - */ - -/** @defgroup FSMC_Wait_feature FSMC Wait feature - * @{ - */ -#define FSMC_NAND_PCC_WAIT_FEATURE_DISABLE 0x00000000U -#define FSMC_NAND_PCC_WAIT_FEATURE_ENABLE 0x00000002U -/** - * @} - */ - -/** @defgroup FSMC_PCR_Memory_Type FSMC PCR Memory Type - * @{ - */ -#define FSMC_PCR_MEMORY_TYPE_PCCARD 0x00000000U -#define FSMC_PCR_MEMORY_TYPE_NAND 0x00000008U -/** - * @} - */ - -/** @defgroup FSMC_NAND_Data_Width FSMC NAND Data Width - * @{ - */ -#define FSMC_NAND_PCC_MEM_BUS_WIDTH_8 0x00000000U -#define FSMC_NAND_PCC_MEM_BUS_WIDTH_16 0x00000010U -/** - * @} - */ - -/** @defgroup FSMC_ECC FSMC ECC - * @{ - */ -#define FSMC_NAND_ECC_DISABLE 0x00000000U -#define FSMC_NAND_ECC_ENABLE 0x00000040U -/** - * @} - */ - -/** @defgroup FSMC_ECC_Page_Size FSMC ECC Page Size - * @{ - */ -#define FSMC_NAND_ECC_PAGE_SIZE_256BYTE 0x00000000U -#define FSMC_NAND_ECC_PAGE_SIZE_512BYTE 0x00020000U -#define FSMC_NAND_ECC_PAGE_SIZE_1024BYTE 0x00040000U -#define FSMC_NAND_ECC_PAGE_SIZE_2048BYTE 0x00060000U -#define FSMC_NAND_ECC_PAGE_SIZE_4096BYTE 0x00080000U -#define FSMC_NAND_ECC_PAGE_SIZE_8192BYTE 0x000A0000U -/** - * @} - */ -/** - * @} - */ -#endif /* STM32F405xx || STM32F415xx || STM32F407xx || STM32F417xx */ - -/** @defgroup FSMC_LL_Interrupt_definition FSMC Interrupt definition - * @{ - */ -#define FSMC_IT_RISING_EDGE 0x00000008U -#define FSMC_IT_LEVEL 0x00000010U -#define FSMC_IT_FALLING_EDGE 0x00000020U -#define FSMC_IT_REFRESH_ERROR 0x00004000U -/** - * @} - */ - -/** @defgroup FSMC_LL_Flag_definition FSMC Flag definition - * @{ - */ -#define FSMC_FLAG_RISING_EDGE 0x00000001U -#define FSMC_FLAG_LEVEL 0x00000002U -#define FSMC_FLAG_FALLING_EDGE 0x00000004U -#define FSMC_FLAG_FEMPT 0x00000040U -/** - * @} - */ - -/** @defgroup FSMC_LL_Alias_definition FSMC Alias definition - * @{ - */ -#define FSMC_NORSRAM_TypeDef FSMC_Bank1_TypeDef -#define FSMC_NORSRAM_EXTENDED_TypeDef FSMC_Bank1E_TypeDef -#if defined(STM32F405xx) || defined(STM32F415xx) || defined(STM32F407xx) || defined(STM32F417xx) -#define FSMC_NAND_TypeDef FSMC_Bank2_3_TypeDef -#define FSMC_PCCARD_TypeDef FSMC_Bank4_TypeDef -#endif /* STM32F405xx || STM32F415xx || STM32F407xx || STM32F417xx */ - -#define FSMC_NORSRAM_DEVICE FSMC_Bank1 -#define FSMC_NORSRAM_EXTENDED_DEVICE FSMC_Bank1E -#if defined(STM32F405xx) || defined(STM32F415xx) || defined(STM32F407xx) || defined(STM32F417xx) -#define FSMC_NAND_DEVICE FSMC_Bank2_3 -#define FSMC_PCCARD_DEVICE FSMC_Bank4 -#endif /* STM32F405xx || STM32F415xx || STM32F407xx || STM32F417xx */ - -#define FMC_NORSRAM_MEM_BUS_WIDTH_8 FSMC_NORSRAM_MEM_BUS_WIDTH_8 -#define FMC_NORSRAM_MEM_BUS_WIDTH_16 FSMC_NORSRAM_MEM_BUS_WIDTH_16 -#define FMC_NORSRAM_MEM_BUS_WIDTH_32 FSMC_NORSRAM_MEM_BUS_WIDTH_32 - -#define FMC_NORSRAM_TypeDef FSMC_NORSRAM_TypeDef -#define FMC_NORSRAM_EXTENDED_TypeDef FSMC_NORSRAM_EXTENDED_TypeDef -#define FMC_NORSRAM_InitTypeDef FSMC_NORSRAM_InitTypeDef -#define FMC_NORSRAM_TimingTypeDef FSMC_NORSRAM_TimingTypeDef - -#define FMC_NORSRAM_Init FSMC_NORSRAM_Init -#define FMC_NORSRAM_Timing_Init FSMC_NORSRAM_Timing_Init -#define FMC_NORSRAM_Extended_Timing_Init FSMC_NORSRAM_Extended_Timing_Init -#define FMC_NORSRAM_DeInit FSMC_NORSRAM_DeInit -#define FMC_NORSRAM_WriteOperation_Enable FSMC_NORSRAM_WriteOperation_Enable -#define FMC_NORSRAM_WriteOperation_Disable FSMC_NORSRAM_WriteOperation_Disable - -#define __FMC_NORSRAM_ENABLE __FSMC_NORSRAM_ENABLE -#define __FMC_NORSRAM_DISABLE __FSMC_NORSRAM_DISABLE - -#if defined(STM32F405xx) || defined(STM32F415xx) || defined(STM32F407xx) || defined(STM32F417xx) -#define FMC_NAND_InitTypeDef FSMC_NAND_InitTypeDef -#define FMC_PCCARD_InitTypeDef FSMC_PCCARD_InitTypeDef -#define FMC_NAND_PCC_TimingTypeDef FSMC_NAND_PCC_TimingTypeDef - -#define FMC_NAND_Init FSMC_NAND_Init -#define FMC_NAND_CommonSpace_Timing_Init FSMC_NAND_CommonSpace_Timing_Init -#define FMC_NAND_AttributeSpace_Timing_Init FSMC_NAND_AttributeSpace_Timing_Init -#define FMC_NAND_DeInit FSMC_NAND_DeInit -#define FMC_NAND_ECC_Enable FSMC_NAND_ECC_Enable -#define FMC_NAND_ECC_Disable FSMC_NAND_ECC_Disable -#define FMC_NAND_GetECC FSMC_NAND_GetECC -#define FMC_PCCARD_Init FSMC_PCCARD_Init -#define FMC_PCCARD_CommonSpace_Timing_Init FSMC_PCCARD_CommonSpace_Timing_Init -#define FMC_PCCARD_AttributeSpace_Timing_Init FSMC_PCCARD_AttributeSpace_Timing_Init -#define FMC_PCCARD_IOSpace_Timing_Init FSMC_PCCARD_IOSpace_Timing_Init -#define FMC_PCCARD_DeInit FSMC_PCCARD_DeInit - -#define __FMC_NAND_ENABLE __FSMC_NAND_ENABLE -#define __FMC_NAND_DISABLE __FSMC_NAND_DISABLE -#define __FMC_PCCARD_ENABLE __FSMC_PCCARD_ENABLE -#define __FMC_PCCARD_DISABLE __FSMC_PCCARD_DISABLE -#define __FMC_NAND_ENABLE_IT __FSMC_NAND_ENABLE_IT -#define __FMC_NAND_DISABLE_IT __FSMC_NAND_DISABLE_IT -#define __FMC_NAND_GET_FLAG __FSMC_NAND_GET_FLAG -#define __FMC_NAND_CLEAR_FLAG __FSMC_NAND_CLEAR_FLAG -#define __FMC_PCCARD_ENABLE_IT __FSMC_PCCARD_ENABLE_IT -#define __FMC_PCCARD_DISABLE_IT __FSMC_PCCARD_DISABLE_IT -#define __FMC_PCCARD_GET_FLAG __FSMC_PCCARD_GET_FLAG -#define __FMC_PCCARD_CLEAR_FLAG __FSMC_PCCARD_CLEAR_FLAG -#endif /* STM32F405xx || STM32F415xx || STM32F407xx || STM32F417xx */ - -#define FMC_NORSRAM_TypeDef FSMC_NORSRAM_TypeDef -#define FMC_NORSRAM_EXTENDED_TypeDef FSMC_NORSRAM_EXTENDED_TypeDef -#if defined(STM32F405xx) || defined(STM32F415xx) || defined(STM32F407xx) || defined(STM32F417xx) -#define FMC_NAND_TypeDef FSMC_NAND_TypeDef -#define FMC_PCCARD_TypeDef FSMC_PCCARD_TypeDef -#endif /* STM32F405xx || STM32F415xx || STM32F407xx || STM32F417xx */ - -#define FMC_NORSRAM_DEVICE FSMC_NORSRAM_DEVICE -#define FMC_NORSRAM_EXTENDED_DEVICE FSMC_NORSRAM_EXTENDED_DEVICE -#if defined(STM32F405xx) || defined(STM32F415xx) || defined(STM32F407xx) || defined(STM32F417xx) -#define FMC_NAND_DEVICE FSMC_NAND_DEVICE -#define FMC_PCCARD_DEVICE FSMC_PCCARD_DEVICE - -#define FMC_NAND_BANK2 FSMC_NAND_BANK2 -#endif /* STM32F405xx || STM32F415xx || STM32F407xx || STM32F417xx */ - -#define FMC_NORSRAM_BANK1 FSMC_NORSRAM_BANK1 -#define FMC_NORSRAM_BANK2 FSMC_NORSRAM_BANK2 -#define FMC_NORSRAM_BANK3 FSMC_NORSRAM_BANK3 - -#define FMC_IT_RISING_EDGE FSMC_IT_RISING_EDGE -#define FMC_IT_LEVEL FSMC_IT_LEVEL -#define FMC_IT_FALLING_EDGE FSMC_IT_FALLING_EDGE -#define FMC_IT_REFRESH_ERROR FSMC_IT_REFRESH_ERROR - -#define FMC_FLAG_RISING_EDGE FSMC_FLAG_RISING_EDGE -#define FMC_FLAG_LEVEL FSMC_FLAG_LEVEL -#define FMC_FLAG_FALLING_EDGE FSMC_FLAG_FALLING_EDGE -#define FMC_FLAG_FEMPT FSMC_FLAG_FEMPT -/** - * @} - */ - -/** - * @} - */ - -/* Private macro -------------------------------------------------------------*/ -/** @defgroup FSMC_LL_Private_Macros FSMC Private Macros - * @{ - */ - -/** @defgroup FSMC_LL_NOR_Macros FSMC NOR/SRAM Exported Macros - * @brief macros to handle NOR device enable/disable and read/write operations - * @{ - */ -/** - * @brief Enable the NORSRAM device access. - * @param __INSTANCE__ FSMC_NORSRAM Instance - * @param __BANK__ FSMC_NORSRAM Bank - * @retval none - */ -#define __FSMC_NORSRAM_ENABLE(__INSTANCE__, __BANK__) ((__INSTANCE__)->BTCR[(__BANK__)] |= FSMC_BCR1_MBKEN) - -/** - * @brief Disable the NORSRAM device access. - * @param __INSTANCE__ FSMC_NORSRAM Instance - * @param __BANK__ FSMC_NORSRAM Bank - * @retval none - */ -#define __FSMC_NORSRAM_DISABLE(__INSTANCE__, __BANK__) ((__INSTANCE__)->BTCR[(__BANK__)] &= ~FSMC_BCR1_MBKEN) -/** - * @} - */ - -/** @defgroup FSMC_LL_NAND_Macros FSMC NAND Macros - * @brief macros to handle NAND device enable/disable - * @{ - */ -#if defined(STM32F405xx) || defined(STM32F415xx) || defined(STM32F407xx) || defined(STM32F417xx) -/** - * @brief Enable the NAND device access. - * @param __INSTANCE__ FSMC_NAND Instance - * @param __BANK__ FSMC_NAND Bank - * @retval none - */ -#define __FSMC_NAND_ENABLE(__INSTANCE__, __BANK__) (((__BANK__) == FSMC_NAND_BANK2)? ((__INSTANCE__)->PCR2 |= FSMC_PCR2_PBKEN): \ - ((__INSTANCE__)->PCR3 |= FSMC_PCR3_PBKEN)) - -/** - * @brief Disable the NAND device access. - * @param __INSTANCE__ FSMC_NAND Instance - * @param __BANK__ FSMC_NAND Bank - * @retval none - */ -#define __FSMC_NAND_DISABLE(__INSTANCE__, __BANK__) (((__BANK__) == FSMC_NAND_BANK2)? ((__INSTANCE__)->PCR2 &= ~FSMC_PCR2_PBKEN): \ - ((__INSTANCE__)->PCR3 &= ~FSMC_PCR3_PBKEN)) -/** - * @} - */ - -/** @defgroup FSMC_LL_PCCARD_Macros FSMC PCCARD Macros - * @brief macros to handle SRAM read/write operations - * @{ - */ -/** - * @brief Enable the PCCARD device access. - * @param __INSTANCE__ FSMC_PCCARD Instance - * @retval none - */ -#define __FSMC_PCCARD_ENABLE(__INSTANCE__) ((__INSTANCE__)->PCR4 |= FSMC_PCR4_PBKEN) - -/** - * @brief Disable the PCCARD device access. - * @param __INSTANCE__ FSMC_PCCARD Instance - * @retval none - */ -#define __FSMC_PCCARD_DISABLE(__INSTANCE__) ((__INSTANCE__)->PCR4 &= ~FSMC_PCR4_PBKEN) -/** - * @} - */ - -/** @defgroup FSMC_LL_Flag_Interrupt_Macros FSMC Flag&Interrupt Macros - * @brief macros to handle FSMC flags and interrupts - * @{ - */ -/** - * @brief Enable the NAND device interrupt. - * @param __INSTANCE__ FSMC_NAND Instance - * @param __BANK__ FSMC_NAND Bank - * @param __INTERRUPT__ FSMC_NAND interrupt - * This parameter can be any combination of the following values: - * @arg FSMC_IT_RISING_EDGE: Interrupt rising edge. - * @arg FSMC_IT_LEVEL: Interrupt level. - * @arg FSMC_IT_FALLING_EDGE: Interrupt falling edge. - * @retval None - */ -#define __FSMC_NAND_ENABLE_IT(__INSTANCE__, __BANK__, __INTERRUPT__) (((__BANK__) == FSMC_NAND_BANK2)? ((__INSTANCE__)->SR2 |= (__INTERRUPT__)): \ - ((__INSTANCE__)->SR3 |= (__INTERRUPT__))) - -/** - * @brief Disable the NAND device interrupt. - * @param __INSTANCE__ FSMC_NAND Instance - * @param __BANK__ FSMC_NAND Bank - * @param __INTERRUPT__ FSMC_NAND interrupt - * This parameter can be any combination of the following values: - * @arg FSMC_IT_RISING_EDGE: Interrupt rising edge. - * @arg FSMC_IT_LEVEL: Interrupt level. - * @arg FSMC_IT_FALLING_EDGE: Interrupt falling edge. - * @retval None - */ -#define __FSMC_NAND_DISABLE_IT(__INSTANCE__, __BANK__, __INTERRUPT__) (((__BANK__) == FSMC_NAND_BANK2)? ((__INSTANCE__)->SR2 &= ~(__INTERRUPT__)): \ - ((__INSTANCE__)->SR3 &= ~(__INTERRUPT__))) - -/** - * @brief Get flag status of the NAND device. - * @param __INSTANCE__ FSMC_NAND Instance - * @param __BANK__ FSMC_NAND Bank - * @param __FLAG__ FSMC_NAND flag - * This parameter can be any combination of the following values: - * @arg FSMC_FLAG_RISING_EDGE: Interrupt rising edge flag. - * @arg FSMC_FLAG_LEVEL: Interrupt level edge flag. - * @arg FSMC_FLAG_FALLING_EDGE: Interrupt falling edge flag. - * @arg FSMC_FLAG_FEMPT: FIFO empty flag. - * @retval The state of FLAG (SET or RESET). - */ -#define __FSMC_NAND_GET_FLAG(__INSTANCE__, __BANK__, __FLAG__) (((__BANK__) == FSMC_NAND_BANK2)? (((__INSTANCE__)->SR2 &(__FLAG__)) == (__FLAG__)): \ - (((__INSTANCE__)->SR3 &(__FLAG__)) == (__FLAG__))) - -/** - * @brief Clear flag status of the NAND device. - * @param __INSTANCE__ FSMC_NAND Instance - * @param __BANK__ FSMC_NAND Bank - * @param __FLAG__ FSMC_NAND flag - * This parameter can be any combination of the following values: - * @arg FSMC_FLAG_RISING_EDGE: Interrupt rising edge flag. - * @arg FSMC_FLAG_LEVEL: Interrupt level edge flag. - * @arg FSMC_FLAG_FALLING_EDGE: Interrupt falling edge flag. - * @arg FSMC_FLAG_FEMPT: FIFO empty flag. - * @retval None - */ -#define __FSMC_NAND_CLEAR_FLAG(__INSTANCE__, __BANK__, __FLAG__) (((__BANK__) == FSMC_NAND_BANK2)? ((__INSTANCE__)->SR2 &= ~(__FLAG__)): \ - ((__INSTANCE__)->SR3 &= ~(__FLAG__))) - -/** - * @brief Enable the PCCARD device interrupt. - * @param __INSTANCE__ FSMC_PCCARD Instance - * @param __INTERRUPT__ FSMC_PCCARD interrupt - * This parameter can be any combination of the following values: - * @arg FSMC_IT_RISING_EDGE: Interrupt rising edge. - * @arg FSMC_IT_LEVEL: Interrupt level. - * @arg FSMC_IT_FALLING_EDGE: Interrupt falling edge. - * @retval None - */ -#define __FSMC_PCCARD_ENABLE_IT(__INSTANCE__, __INTERRUPT__) ((__INSTANCE__)->SR4 |= (__INTERRUPT__)) - -/** - * @brief Disable the PCCARD device interrupt. - * @param __INSTANCE__ FSMC_PCCARD Instance - * @param __INTERRUPT__ FSMC_PCCARD interrupt - * This parameter can be any combination of the following values: - * @arg FSMC_IT_RISING_EDGE: Interrupt rising edge. - * @arg FSMC_IT_LEVEL: Interrupt level. - * @arg FSMC_IT_FALLING_EDGE: Interrupt falling edge. - * @retval None - */ -#define __FSMC_PCCARD_DISABLE_IT(__INSTANCE__, __INTERRUPT__) ((__INSTANCE__)->SR4 &= ~(__INTERRUPT__)) - -/** - * @brief Get flag status of the PCCARD device. - * @param __INSTANCE__ FSMC_PCCARD Instance - * @param __FLAG__ FSMC_PCCARD flag - * This parameter can be any combination of the following values: - * @arg FSMC_FLAG_RISING_EDGE: Interrupt rising edge flag. - * @arg FSMC_FLAG_LEVEL: Interrupt level edge flag. - * @arg FSMC_FLAG_FALLING_EDGE: Interrupt falling edge flag. - * @arg FSMC_FLAG_FEMPT: FIFO empty flag. - * @retval The state of FLAG (SET or RESET). - */ -#define __FSMC_PCCARD_GET_FLAG(__INSTANCE__, __FLAG__) (((__INSTANCE__)->SR4 &(__FLAG__)) == (__FLAG__)) - -/** - * @brief Clear flag status of the PCCARD device. - * @param __INSTANCE__ FSMC_PCCARD Instance - * @param __FLAG__ FSMC_PCCARD flag - * This parameter can be any combination of the following values: - * @arg FSMC_FLAG_RISING_EDGE: Interrupt rising edge flag. - * @arg FSMC_FLAG_LEVEL: Interrupt level edge flag. - * @arg FSMC_FLAG_FALLING_EDGE: Interrupt falling edge flag. - * @arg FSMC_FLAG_FEMPT: FIFO empty flag. - * @retval None - */ -#define __FSMC_PCCARD_CLEAR_FLAG(__INSTANCE__, __FLAG__) ((__INSTANCE__)->SR4 &= ~(__FLAG__)) -/** - * @} - */ -#endif /* STM32F405xx || STM32F415xx || STM32F407xx || STM32F417xx */ - -/** @defgroup FSMC_LL_Assert_Macros FSMC Assert Macros - * @{ - */ -#define IS_FSMC_NORSRAM_BANK(__BANK__) (((__BANK__) == FSMC_NORSRAM_BANK1) || \ - ((__BANK__) == FSMC_NORSRAM_BANK2) || \ - ((__BANK__) == FSMC_NORSRAM_BANK3) || \ - ((__BANK__) == FSMC_NORSRAM_BANK4)) - -#define IS_FSMC_MUX(__MUX__) (((__MUX__) == FSMC_DATA_ADDRESS_MUX_DISABLE) || \ - ((__MUX__) == FSMC_DATA_ADDRESS_MUX_ENABLE)) - -#define IS_FSMC_MEMORY(__MEMORY__) (((__MEMORY__) == FSMC_MEMORY_TYPE_SRAM) || \ - ((__MEMORY__) == FSMC_MEMORY_TYPE_PSRAM)|| \ - ((__MEMORY__) == FSMC_MEMORY_TYPE_NOR)) - -#define IS_FSMC_NORSRAM_MEMORY_WIDTH(__WIDTH__) (((__WIDTH__) == FSMC_NORSRAM_MEM_BUS_WIDTH_8) || \ - ((__WIDTH__) == FSMC_NORSRAM_MEM_BUS_WIDTH_16) || \ - ((__WIDTH__) == FSMC_NORSRAM_MEM_BUS_WIDTH_32)) - -#define IS_FSMC_ACCESS_MODE(__MODE__) (((__MODE__) == FSMC_ACCESS_MODE_A) || \ - ((__MODE__) == FSMC_ACCESS_MODE_B) || \ - ((__MODE__) == FSMC_ACCESS_MODE_C) || \ - ((__MODE__) == FSMC_ACCESS_MODE_D)) - -#define IS_FSMC_NAND_BANK(BANK) (((BANK) == FSMC_NAND_BANK2) || \ - ((BANK) == FSMC_NAND_BANK3)) - -#define IS_FSMC_WAIT_FEATURE(FEATURE) (((FEATURE) == FSMC_NAND_PCC_WAIT_FEATURE_DISABLE) || \ - ((FEATURE) == FSMC_NAND_PCC_WAIT_FEATURE_ENABLE)) - -#define IS_FSMC_NAND_MEMORY_WIDTH(WIDTH) (((WIDTH) == FSMC_NAND_PCC_MEM_BUS_WIDTH_8) || \ - ((WIDTH) == FSMC_NAND_PCC_MEM_BUS_WIDTH_16)) - -#define IS_FSMC_ECC_STATE(STATE) (((STATE) == FSMC_NAND_ECC_DISABLE) || \ - ((STATE) == FSMC_NAND_ECC_ENABLE)) - -#define IS_FSMC_ECCPAGE_SIZE(SIZE) (((SIZE) == FSMC_NAND_ECC_PAGE_SIZE_256BYTE) || \ - ((SIZE) == FSMC_NAND_ECC_PAGE_SIZE_512BYTE) || \ - ((SIZE) == FSMC_NAND_ECC_PAGE_SIZE_1024BYTE) || \ - ((SIZE) == FSMC_NAND_ECC_PAGE_SIZE_2048BYTE) || \ - ((SIZE) == FSMC_NAND_ECC_PAGE_SIZE_4096BYTE) || \ - ((SIZE) == FSMC_NAND_ECC_PAGE_SIZE_8192BYTE)) - -#define IS_FSMC_TCLR_TIME(TIME) ((TIME) <= 255U) - -#define IS_FSMC_TAR_TIME(TIME) ((TIME) <= 255U) - -#define IS_FSMC_SETUP_TIME(TIME) ((TIME) <= 255U) - -#define IS_FSMC_WAIT_TIME(TIME) ((TIME) <= 255U) - -#define IS_FSMC_HOLD_TIME(TIME) ((TIME) <= 255U) - -#define IS_FSMC_HIZ_TIME(TIME) ((TIME) <= 255U) - -#define IS_FSMC_NORSRAM_DEVICE(__INSTANCE__) ((__INSTANCE__) == FSMC_NORSRAM_DEVICE) - -#define IS_FSMC_NORSRAM_EXTENDED_DEVICE(__INSTANCE__) ((__INSTANCE__) == FSMC_NORSRAM_EXTENDED_DEVICE) - -#define IS_FSMC_NAND_DEVICE(INSTANCE) ((INSTANCE) == FSMC_NAND_DEVICE) - -#define IS_FSMC_PCCARD_DEVICE(INSTANCE) ((INSTANCE) == FSMC_PCCARD_DEVICE) - -#define IS_FSMC_BURSTMODE(__STATE__) (((__STATE__) == FSMC_BURST_ACCESS_MODE_DISABLE) || \ - ((__STATE__) == FSMC_BURST_ACCESS_MODE_ENABLE)) - -#define IS_FSMC_WAIT_POLARITY(__POLARITY__) (((__POLARITY__) == FSMC_WAIT_SIGNAL_POLARITY_LOW) || \ - ((__POLARITY__) == FSMC_WAIT_SIGNAL_POLARITY_HIGH)) - -#define IS_FSMC_WRAP_MODE(__MODE__) (((__MODE__) == FSMC_WRAP_MODE_DISABLE) || \ - ((__MODE__) == FSMC_WRAP_MODE_ENABLE)) - -#define IS_FSMC_WAIT_SIGNAL_ACTIVE(__ACTIVE__) (((__ACTIVE__) == FSMC_WAIT_TIMING_BEFORE_WS) || \ - ((__ACTIVE__) == FSMC_WAIT_TIMING_DURING_WS)) - -#define IS_FSMC_WRITE_OPERATION(__OPERATION__) (((__OPERATION__) == FSMC_WRITE_OPERATION_DISABLE) || \ - ((__OPERATION__) == FSMC_WRITE_OPERATION_ENABLE)) - -#define IS_FSMC_WAITE_SIGNAL(__SIGNAL__) (((__SIGNAL__) == FSMC_WAIT_SIGNAL_DISABLE) || \ - ((__SIGNAL__) == FSMC_WAIT_SIGNAL_ENABLE)) - -#define IS_FSMC_EXTENDED_MODE(__MODE__) (((__MODE__) == FSMC_EXTENDED_MODE_DISABLE) || \ - ((__MODE__) == FSMC_EXTENDED_MODE_ENABLE)) - -#define IS_FSMC_ASYNWAIT(__STATE__) (((__STATE__) == FSMC_ASYNCHRONOUS_WAIT_DISABLE) || \ - ((__STATE__) == FSMC_ASYNCHRONOUS_WAIT_ENABLE)) - -#define IS_FSMC_DATA_LATENCY(__LATENCY__) (((__LATENCY__) > 1U) && ((__LATENCY__) <= 17U)) - -#define IS_FSMC_WRITE_BURST(__BURST__) (((__BURST__) == FSMC_WRITE_BURST_DISABLE) || \ - ((__BURST__) == FSMC_WRITE_BURST_ENABLE)) - -#define IS_FSMC_ADDRESS_SETUP_TIME(__TIME__) ((__TIME__) <= 15U) - -#define IS_FSMC_ADDRESS_HOLD_TIME(__TIME__) (((__TIME__) > 0U) && ((__TIME__) <= 15U)) - -#define IS_FSMC_DATASETUP_TIME(__TIME__) (((__TIME__) > 0U) && ((__TIME__) <= 255U)) - -#define IS_FSMC_TURNAROUND_TIME(__TIME__) ((__TIME__) <= 15U) - -#define IS_FSMC_CONTINOUS_CLOCK(CCLOCK) (((CCLOCK) == FSMC_CONTINUOUS_CLOCK_SYNC_ONLY) || \ - ((CCLOCK) == FSMC_CONTINUOUS_CLOCK_SYNC_ASYNC)) - -#define IS_FSMC_CLK_DIV(DIV) (((DIV) > 1U) && ((DIV) <= 16U)) - -#define IS_FSMC_PAGESIZE(SIZE) (((SIZE) == FSMC_PAGE_SIZE_NONE) || \ - ((SIZE) == FSMC_PAGE_SIZE_128) || \ - ((SIZE) == FSMC_PAGE_SIZE_256) || \ - ((SIZE) == FSMC_PAGE_SIZE_512) || \ - ((SIZE) == FSMC_PAGE_SIZE_1024)) - -#define IS_FSMC_WRITE_FIFO(FIFO) (((FIFO) == FSMC_WRITE_FIFO_DISABLE) || \ - ((FIFO) == FSMC_WRITE_FIFO_ENABLE)) - -/** - * @} - */ -/** - * @} - */ - -/* Private functions ---------------------------------------------------------*/ -/** @defgroup FSMC_LL_Private_Functions FSMC LL Private Functions - * @{ - */ - -/** @defgroup FSMC_LL_NORSRAM NOR SRAM - * @{ - */ - -/** @defgroup FSMC_LL_NORSRAM_Private_Functions_Group1 NOR SRAM Initialization/de-initialization functions - * @{ - */ -HAL_StatusTypeDef FSMC_NORSRAM_Init(FSMC_NORSRAM_TypeDef *Device, FSMC_NORSRAM_InitTypeDef *Init); -HAL_StatusTypeDef FSMC_NORSRAM_Timing_Init(FSMC_NORSRAM_TypeDef *Device, FSMC_NORSRAM_TimingTypeDef *Timing, uint32_t Bank); -HAL_StatusTypeDef FSMC_NORSRAM_Extended_Timing_Init(FSMC_NORSRAM_EXTENDED_TypeDef *Device, FSMC_NORSRAM_TimingTypeDef *Timing, uint32_t Bank, uint32_t ExtendedMode); -HAL_StatusTypeDef FSMC_NORSRAM_DeInit(FSMC_NORSRAM_TypeDef *Device, FSMC_NORSRAM_EXTENDED_TypeDef *ExDevice, uint32_t Bank); -/** - * @} - */ - -/** @defgroup FSMC_LL_NORSRAM_Private_Functions_Group2 NOR SRAM Control functions - * @{ - */ -HAL_StatusTypeDef FSMC_NORSRAM_WriteOperation_Enable(FSMC_NORSRAM_TypeDef *Device, uint32_t Bank); -HAL_StatusTypeDef FSMC_NORSRAM_WriteOperation_Disable(FSMC_NORSRAM_TypeDef *Device, uint32_t Bank); -/** - * @} - */ -/** - * @} - */ - -#if defined(STM32F405xx) || defined(STM32F415xx) || defined(STM32F407xx) || defined(STM32F417xx) -/** @defgroup FSMC_LL_NAND NAND - * @{ - */ -/** @defgroup FSMC_LL_NAND_Private_Functions_Group1 NAND Initialization/de-initialization functions - * @{ - */ -HAL_StatusTypeDef FSMC_NAND_Init(FSMC_NAND_TypeDef *Device, FSMC_NAND_InitTypeDef *Init); -HAL_StatusTypeDef FSMC_NAND_CommonSpace_Timing_Init(FSMC_NAND_TypeDef *Device, FSMC_NAND_PCC_TimingTypeDef *Timing, uint32_t Bank); -HAL_StatusTypeDef FSMC_NAND_AttributeSpace_Timing_Init(FSMC_NAND_TypeDef *Device, FSMC_NAND_PCC_TimingTypeDef *Timing, uint32_t Bank); -HAL_StatusTypeDef FSMC_NAND_DeInit(FSMC_NAND_TypeDef *Device, uint32_t Bank); -/** - * @} - */ - -/** @defgroup FSMC_LL_NAND_Private_Functions_Group2 NAND Control functions - * @{ - */ -HAL_StatusTypeDef FSMC_NAND_ECC_Enable(FSMC_NAND_TypeDef *Device, uint32_t Bank); -HAL_StatusTypeDef FSMC_NAND_ECC_Disable(FSMC_NAND_TypeDef *Device, uint32_t Bank); -HAL_StatusTypeDef FSMC_NAND_GetECC(FSMC_NAND_TypeDef *Device, uint32_t *ECCval, uint32_t Bank, uint32_t Timeout); -/** - * @} - */ -/** - * @} - */ - -/** @defgroup FSMC_LL_PCCARD PCCARD - * @{ - */ -/** @defgroup FSMC_LL_PCCARD_Private_Functions_Group1 PCCARD Initialization/de-initialization functions - * @{ - */ -HAL_StatusTypeDef FSMC_PCCARD_Init(FSMC_PCCARD_TypeDef *Device, FSMC_PCCARD_InitTypeDef *Init); -HAL_StatusTypeDef FSMC_PCCARD_CommonSpace_Timing_Init(FSMC_PCCARD_TypeDef *Device, FSMC_NAND_PCC_TimingTypeDef *Timing); -HAL_StatusTypeDef FSMC_PCCARD_AttributeSpace_Timing_Init(FSMC_PCCARD_TypeDef *Device, FSMC_NAND_PCC_TimingTypeDef *Timing); -HAL_StatusTypeDef FSMC_PCCARD_IOSpace_Timing_Init(FSMC_PCCARD_TypeDef *Device, FSMC_NAND_PCC_TimingTypeDef *Timing); -HAL_StatusTypeDef FSMC_PCCARD_DeInit(FSMC_PCCARD_TypeDef *Device); -/** - * @} - */ -/** - * @} - */ -#endif /* STM32F405xx || STM32F415xx || STM32F407xx || STM32F417xx */ - -/** - * @} - */ -#endif /* STM32F405xx || STM32F415xx || STM32F407xx || STM32F417xx || STM32F412Zx || STM32F412Vx || STM32F412Rx || STM32F412Cx || STM32F413xx || STM32F423xx */ - -/** - * @} - */ - -/** - * @} - */ - -#ifdef __cplusplus -} -#endif - -#endif /* __STM32F4xx_LL_FSMC_H */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_gpio.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_gpio.h deleted file mode 100644 index 76e9170a0d9214..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_gpio.h +++ /dev/null @@ -1,983 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_ll_gpio.h - * @author MCD Application Team - * @brief Header file of GPIO LL module. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef __STM32F4xx_LL_GPIO_H -#define __STM32F4xx_LL_GPIO_H - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx.h" - -/** @addtogroup STM32F4xx_LL_Driver - * @{ - */ - -#if defined (GPIOA) || defined (GPIOB) || defined (GPIOC) || defined (GPIOD) || defined (GPIOE) || defined (GPIOF) || defined (GPIOG) || defined (GPIOH) || defined (GPIOI) || defined (GPIOJ) || defined (GPIOK) - -/** @defgroup GPIO_LL GPIO - * @{ - */ - -/* Private types -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private constants ---------------------------------------------------------*/ -/* Private macros ------------------------------------------------------------*/ -#if defined(USE_FULL_LL_DRIVER) -/** @defgroup GPIO_LL_Private_Macros GPIO Private Macros - * @{ - */ - -/** - * @} - */ -#endif /*USE_FULL_LL_DRIVER*/ - -/* Exported types ------------------------------------------------------------*/ -#if defined(USE_FULL_LL_DRIVER) -/** @defgroup GPIO_LL_ES_INIT GPIO Exported Init structures - * @{ - */ - -/** - * @brief LL GPIO Init Structure definition - */ -typedef struct -{ - uint32_t Pin; /*!< Specifies the GPIO pins to be configured. - This parameter can be any value of @ref GPIO_LL_EC_PIN */ - - uint32_t Mode; /*!< Specifies the operating mode for the selected pins. - This parameter can be a value of @ref GPIO_LL_EC_MODE. - - GPIO HW configuration can be modified afterwards using unitary function @ref LL_GPIO_SetPinMode().*/ - - uint32_t Speed; /*!< Specifies the speed for the selected pins. - This parameter can be a value of @ref GPIO_LL_EC_SPEED. - - GPIO HW configuration can be modified afterwards using unitary function @ref LL_GPIO_SetPinSpeed().*/ - - uint32_t OutputType; /*!< Specifies the operating output type for the selected pins. - This parameter can be a value of @ref GPIO_LL_EC_OUTPUT. - - GPIO HW configuration can be modified afterwards using unitary function @ref LL_GPIO_SetPinOutputType().*/ - - uint32_t Pull; /*!< Specifies the operating Pull-up/Pull down for the selected pins. - This parameter can be a value of @ref GPIO_LL_EC_PULL. - - GPIO HW configuration can be modified afterwards using unitary function @ref LL_GPIO_SetPinPull().*/ - - uint32_t Alternate; /*!< Specifies the Peripheral to be connected to the selected pins. - This parameter can be a value of @ref GPIO_LL_EC_AF. - - GPIO HW configuration can be modified afterwards using unitary function @ref LL_GPIO_SetAFPin_0_7() and LL_GPIO_SetAFPin_8_15().*/ -} LL_GPIO_InitTypeDef; - -/** - * @} - */ -#endif /* USE_FULL_LL_DRIVER */ - -/* Exported constants --------------------------------------------------------*/ -/** @defgroup GPIO_LL_Exported_Constants GPIO Exported Constants - * @{ - */ - -/** @defgroup GPIO_LL_EC_PIN PIN - * @{ - */ -#define LL_GPIO_PIN_0 GPIO_BSRR_BS_0 /*!< Select pin 0 */ -#define LL_GPIO_PIN_1 GPIO_BSRR_BS_1 /*!< Select pin 1 */ -#define LL_GPIO_PIN_2 GPIO_BSRR_BS_2 /*!< Select pin 2 */ -#define LL_GPIO_PIN_3 GPIO_BSRR_BS_3 /*!< Select pin 3 */ -#define LL_GPIO_PIN_4 GPIO_BSRR_BS_4 /*!< Select pin 4 */ -#define LL_GPIO_PIN_5 GPIO_BSRR_BS_5 /*!< Select pin 5 */ -#define LL_GPIO_PIN_6 GPIO_BSRR_BS_6 /*!< Select pin 6 */ -#define LL_GPIO_PIN_7 GPIO_BSRR_BS_7 /*!< Select pin 7 */ -#define LL_GPIO_PIN_8 GPIO_BSRR_BS_8 /*!< Select pin 8 */ -#define LL_GPIO_PIN_9 GPIO_BSRR_BS_9 /*!< Select pin 9 */ -#define LL_GPIO_PIN_10 GPIO_BSRR_BS_10 /*!< Select pin 10 */ -#define LL_GPIO_PIN_11 GPIO_BSRR_BS_11 /*!< Select pin 11 */ -#define LL_GPIO_PIN_12 GPIO_BSRR_BS_12 /*!< Select pin 12 */ -#define LL_GPIO_PIN_13 GPIO_BSRR_BS_13 /*!< Select pin 13 */ -#define LL_GPIO_PIN_14 GPIO_BSRR_BS_14 /*!< Select pin 14 */ -#define LL_GPIO_PIN_15 GPIO_BSRR_BS_15 /*!< Select pin 15 */ -#define LL_GPIO_PIN_ALL (GPIO_BSRR_BS_0 | GPIO_BSRR_BS_1 | GPIO_BSRR_BS_2 | \ - GPIO_BSRR_BS_3 | GPIO_BSRR_BS_4 | GPIO_BSRR_BS_5 | \ - GPIO_BSRR_BS_6 | GPIO_BSRR_BS_7 | GPIO_BSRR_BS_8 | \ - GPIO_BSRR_BS_9 | GPIO_BSRR_BS_10 | GPIO_BSRR_BS_11 | \ - GPIO_BSRR_BS_12 | GPIO_BSRR_BS_13 | GPIO_BSRR_BS_14 | \ - GPIO_BSRR_BS_15) /*!< Select all pins */ -/** - * @} - */ - -/** @defgroup GPIO_LL_EC_MODE Mode - * @{ - */ -#define LL_GPIO_MODE_INPUT (0x00000000U) /*!< Select input mode */ -#define LL_GPIO_MODE_OUTPUT GPIO_MODER_MODER0_0 /*!< Select output mode */ -#define LL_GPIO_MODE_ALTERNATE GPIO_MODER_MODER0_1 /*!< Select alternate function mode */ -#define LL_GPIO_MODE_ANALOG GPIO_MODER_MODER0 /*!< Select analog mode */ -/** - * @} - */ - -/** @defgroup GPIO_LL_EC_OUTPUT Output Type - * @{ - */ -#define LL_GPIO_OUTPUT_PUSHPULL (0x00000000U) /*!< Select push-pull as output type */ -#define LL_GPIO_OUTPUT_OPENDRAIN GPIO_OTYPER_OT_0 /*!< Select open-drain as output type */ -/** - * @} - */ - -/** @defgroup GPIO_LL_EC_SPEED Output Speed - * @{ - */ -#define LL_GPIO_SPEED_FREQ_LOW (0x00000000U) /*!< Select I/O low output speed */ -#define LL_GPIO_SPEED_FREQ_MEDIUM GPIO_OSPEEDER_OSPEEDR0_0 /*!< Select I/O medium output speed */ -#define LL_GPIO_SPEED_FREQ_HIGH GPIO_OSPEEDER_OSPEEDR0_1 /*!< Select I/O fast output speed */ -#define LL_GPIO_SPEED_FREQ_VERY_HIGH GPIO_OSPEEDER_OSPEEDR0 /*!< Select I/O high output speed */ -/** - * @} - */ - -/** @defgroup GPIO_LL_EC_PULL Pull Up Pull Down - * @{ - */ -#define LL_GPIO_PULL_NO (0x00000000U) /*!< Select I/O no pull */ -#define LL_GPIO_PULL_UP GPIO_PUPDR_PUPDR0_0 /*!< Select I/O pull up */ -#define LL_GPIO_PULL_DOWN GPIO_PUPDR_PUPDR0_1 /*!< Select I/O pull down */ -/** - * @} - */ - -/** @defgroup GPIO_LL_EC_AF Alternate Function - * @{ - */ -#define LL_GPIO_AF_0 (0x0000000U) /*!< Select alternate function 0 */ -#define LL_GPIO_AF_1 (0x0000001U) /*!< Select alternate function 1 */ -#define LL_GPIO_AF_2 (0x0000002U) /*!< Select alternate function 2 */ -#define LL_GPIO_AF_3 (0x0000003U) /*!< Select alternate function 3 */ -#define LL_GPIO_AF_4 (0x0000004U) /*!< Select alternate function 4 */ -#define LL_GPIO_AF_5 (0x0000005U) /*!< Select alternate function 5 */ -#define LL_GPIO_AF_6 (0x0000006U) /*!< Select alternate function 6 */ -#define LL_GPIO_AF_7 (0x0000007U) /*!< Select alternate function 7 */ -#define LL_GPIO_AF_8 (0x0000008U) /*!< Select alternate function 8 */ -#define LL_GPIO_AF_9 (0x0000009U) /*!< Select alternate function 9 */ -#define LL_GPIO_AF_10 (0x000000AU) /*!< Select alternate function 10 */ -#define LL_GPIO_AF_11 (0x000000BU) /*!< Select alternate function 11 */ -#define LL_GPIO_AF_12 (0x000000CU) /*!< Select alternate function 12 */ -#define LL_GPIO_AF_13 (0x000000DU) /*!< Select alternate function 13 */ -#define LL_GPIO_AF_14 (0x000000EU) /*!< Select alternate function 14 */ -#define LL_GPIO_AF_15 (0x000000FU) /*!< Select alternate function 15 */ -/** - * @} - */ - -/** - * @} - */ - -/* Exported macro ------------------------------------------------------------*/ -/** @defgroup GPIO_LL_Exported_Macros GPIO Exported Macros - * @{ - */ - -/** @defgroup GPIO_LL_EM_WRITE_READ Common Write and read registers Macros - * @{ - */ - -/** - * @brief Write a value in GPIO register - * @param __INSTANCE__ GPIO Instance - * @param __REG__ Register to be written - * @param __VALUE__ Value to be written in the register - * @retval None - */ -#define LL_GPIO_WriteReg(__INSTANCE__, __REG__, __VALUE__) WRITE_REG(__INSTANCE__->__REG__, (__VALUE__)) - -/** - * @brief Read a value in GPIO register - * @param __INSTANCE__ GPIO Instance - * @param __REG__ Register to be read - * @retval Register value - */ -#define LL_GPIO_ReadReg(__INSTANCE__, __REG__) READ_REG(__INSTANCE__->__REG__) -/** - * @} - */ - -/** - * @} - */ - -/* Exported functions --------------------------------------------------------*/ -/** @defgroup GPIO_LL_Exported_Functions GPIO Exported Functions - * @{ - */ - -/** @defgroup GPIO_LL_EF_Port_Configuration Port Configuration - * @{ - */ - -/** - * @brief Configure gpio mode for a dedicated pin on dedicated port. - * @note I/O mode can be Input mode, General purpose output, Alternate function mode or Analog. - * @note Warning: only one pin can be passed as parameter. - * @rmtoll MODER MODEy LL_GPIO_SetPinMode - * @param GPIOx GPIO Port - * @param Pin This parameter can be one of the following values: - * @arg @ref LL_GPIO_PIN_0 - * @arg @ref LL_GPIO_PIN_1 - * @arg @ref LL_GPIO_PIN_2 - * @arg @ref LL_GPIO_PIN_3 - * @arg @ref LL_GPIO_PIN_4 - * @arg @ref LL_GPIO_PIN_5 - * @arg @ref LL_GPIO_PIN_6 - * @arg @ref LL_GPIO_PIN_7 - * @arg @ref LL_GPIO_PIN_8 - * @arg @ref LL_GPIO_PIN_9 - * @arg @ref LL_GPIO_PIN_10 - * @arg @ref LL_GPIO_PIN_11 - * @arg @ref LL_GPIO_PIN_12 - * @arg @ref LL_GPIO_PIN_13 - * @arg @ref LL_GPIO_PIN_14 - * @arg @ref LL_GPIO_PIN_15 - * @param Mode This parameter can be one of the following values: - * @arg @ref LL_GPIO_MODE_INPUT - * @arg @ref LL_GPIO_MODE_OUTPUT - * @arg @ref LL_GPIO_MODE_ALTERNATE - * @arg @ref LL_GPIO_MODE_ANALOG - * @retval None - */ -__STATIC_INLINE void LL_GPIO_SetPinMode(GPIO_TypeDef *GPIOx, uint32_t Pin, uint32_t Mode) -{ - MODIFY_REG(GPIOx->MODER, (GPIO_MODER_MODER0 << (POSITION_VAL(Pin) * 2U)), (Mode << (POSITION_VAL(Pin) * 2U))); -} - -/** - * @brief Return gpio mode for a dedicated pin on dedicated port. - * @note I/O mode can be Input mode, General purpose output, Alternate function mode or Analog. - * @note Warning: only one pin can be passed as parameter. - * @rmtoll MODER MODEy LL_GPIO_GetPinMode - * @param GPIOx GPIO Port - * @param Pin This parameter can be one of the following values: - * @arg @ref LL_GPIO_PIN_0 - * @arg @ref LL_GPIO_PIN_1 - * @arg @ref LL_GPIO_PIN_2 - * @arg @ref LL_GPIO_PIN_3 - * @arg @ref LL_GPIO_PIN_4 - * @arg @ref LL_GPIO_PIN_5 - * @arg @ref LL_GPIO_PIN_6 - * @arg @ref LL_GPIO_PIN_7 - * @arg @ref LL_GPIO_PIN_8 - * @arg @ref LL_GPIO_PIN_9 - * @arg @ref LL_GPIO_PIN_10 - * @arg @ref LL_GPIO_PIN_11 - * @arg @ref LL_GPIO_PIN_12 - * @arg @ref LL_GPIO_PIN_13 - * @arg @ref LL_GPIO_PIN_14 - * @arg @ref LL_GPIO_PIN_15 - * @retval Returned value can be one of the following values: - * @arg @ref LL_GPIO_MODE_INPUT - * @arg @ref LL_GPIO_MODE_OUTPUT - * @arg @ref LL_GPIO_MODE_ALTERNATE - * @arg @ref LL_GPIO_MODE_ANALOG - */ -__STATIC_INLINE uint32_t LL_GPIO_GetPinMode(GPIO_TypeDef *GPIOx, uint32_t Pin) -{ - return (uint32_t)(READ_BIT(GPIOx->MODER, - (GPIO_MODER_MODER0 << (POSITION_VAL(Pin) * 2U))) >> (POSITION_VAL(Pin) * 2U)); -} - -/** - * @brief Configure gpio output type for several pins on dedicated port. - * @note Output type as to be set when gpio pin is in output or - * alternate modes. Possible type are Push-pull or Open-drain. - * @rmtoll OTYPER OTy LL_GPIO_SetPinOutputType - * @param GPIOx GPIO Port - * @param PinMask This parameter can be a combination of the following values: - * @arg @ref LL_GPIO_PIN_0 - * @arg @ref LL_GPIO_PIN_1 - * @arg @ref LL_GPIO_PIN_2 - * @arg @ref LL_GPIO_PIN_3 - * @arg @ref LL_GPIO_PIN_4 - * @arg @ref LL_GPIO_PIN_5 - * @arg @ref LL_GPIO_PIN_6 - * @arg @ref LL_GPIO_PIN_7 - * @arg @ref LL_GPIO_PIN_8 - * @arg @ref LL_GPIO_PIN_9 - * @arg @ref LL_GPIO_PIN_10 - * @arg @ref LL_GPIO_PIN_11 - * @arg @ref LL_GPIO_PIN_12 - * @arg @ref LL_GPIO_PIN_13 - * @arg @ref LL_GPIO_PIN_14 - * @arg @ref LL_GPIO_PIN_15 - * @arg @ref LL_GPIO_PIN_ALL - * @param OutputType This parameter can be one of the following values: - * @arg @ref LL_GPIO_OUTPUT_PUSHPULL - * @arg @ref LL_GPIO_OUTPUT_OPENDRAIN - * @retval None - */ -__STATIC_INLINE void LL_GPIO_SetPinOutputType(GPIO_TypeDef *GPIOx, uint32_t PinMask, uint32_t OutputType) -{ - MODIFY_REG(GPIOx->OTYPER, PinMask, (PinMask * OutputType)); -} - -/** - * @brief Return gpio output type for several pins on dedicated port. - * @note Output type as to be set when gpio pin is in output or - * alternate modes. Possible type are Push-pull or Open-drain. - * @note Warning: only one pin can be passed as parameter. - * @rmtoll OTYPER OTy LL_GPIO_GetPinOutputType - * @param GPIOx GPIO Port - * @param Pin This parameter can be one of the following values: - * @arg @ref LL_GPIO_PIN_0 - * @arg @ref LL_GPIO_PIN_1 - * @arg @ref LL_GPIO_PIN_2 - * @arg @ref LL_GPIO_PIN_3 - * @arg @ref LL_GPIO_PIN_4 - * @arg @ref LL_GPIO_PIN_5 - * @arg @ref LL_GPIO_PIN_6 - * @arg @ref LL_GPIO_PIN_7 - * @arg @ref LL_GPIO_PIN_8 - * @arg @ref LL_GPIO_PIN_9 - * @arg @ref LL_GPIO_PIN_10 - * @arg @ref LL_GPIO_PIN_11 - * @arg @ref LL_GPIO_PIN_12 - * @arg @ref LL_GPIO_PIN_13 - * @arg @ref LL_GPIO_PIN_14 - * @arg @ref LL_GPIO_PIN_15 - * @arg @ref LL_GPIO_PIN_ALL - * @retval Returned value can be one of the following values: - * @arg @ref LL_GPIO_OUTPUT_PUSHPULL - * @arg @ref LL_GPIO_OUTPUT_OPENDRAIN - */ -__STATIC_INLINE uint32_t LL_GPIO_GetPinOutputType(GPIO_TypeDef *GPIOx, uint32_t Pin) -{ - return (uint32_t)(READ_BIT(GPIOx->OTYPER, Pin) >> POSITION_VAL(Pin)); -} - -/** - * @brief Configure gpio speed for a dedicated pin on dedicated port. - * @note I/O speed can be Low, Medium, Fast or High speed. - * @note Warning: only one pin can be passed as parameter. - * @note Refer to datasheet for frequency specifications and the power - * supply and load conditions for each speed. - * @rmtoll OSPEEDR OSPEEDy LL_GPIO_SetPinSpeed - * @param GPIOx GPIO Port - * @param Pin This parameter can be one of the following values: - * @arg @ref LL_GPIO_PIN_0 - * @arg @ref LL_GPIO_PIN_1 - * @arg @ref LL_GPIO_PIN_2 - * @arg @ref LL_GPIO_PIN_3 - * @arg @ref LL_GPIO_PIN_4 - * @arg @ref LL_GPIO_PIN_5 - * @arg @ref LL_GPIO_PIN_6 - * @arg @ref LL_GPIO_PIN_7 - * @arg @ref LL_GPIO_PIN_8 - * @arg @ref LL_GPIO_PIN_9 - * @arg @ref LL_GPIO_PIN_10 - * @arg @ref LL_GPIO_PIN_11 - * @arg @ref LL_GPIO_PIN_12 - * @arg @ref LL_GPIO_PIN_13 - * @arg @ref LL_GPIO_PIN_14 - * @arg @ref LL_GPIO_PIN_15 - * @param Speed This parameter can be one of the following values: - * @arg @ref LL_GPIO_SPEED_FREQ_LOW - * @arg @ref LL_GPIO_SPEED_FREQ_MEDIUM - * @arg @ref LL_GPIO_SPEED_FREQ_HIGH - * @arg @ref LL_GPIO_SPEED_FREQ_VERY_HIGH - * @retval None - */ -__STATIC_INLINE void LL_GPIO_SetPinSpeed(GPIO_TypeDef *GPIOx, uint32_t Pin, uint32_t Speed) -{ - MODIFY_REG(GPIOx->OSPEEDR, (GPIO_OSPEEDER_OSPEEDR0 << (POSITION_VAL(Pin) * 2U)), - (Speed << (POSITION_VAL(Pin) * 2U))); -} - -/** - * @brief Return gpio speed for a dedicated pin on dedicated port. - * @note I/O speed can be Low, Medium, Fast or High speed. - * @note Warning: only one pin can be passed as parameter. - * @note Refer to datasheet for frequency specifications and the power - * supply and load conditions for each speed. - * @rmtoll OSPEEDR OSPEEDy LL_GPIO_GetPinSpeed - * @param GPIOx GPIO Port - * @param Pin This parameter can be one of the following values: - * @arg @ref LL_GPIO_PIN_0 - * @arg @ref LL_GPIO_PIN_1 - * @arg @ref LL_GPIO_PIN_2 - * @arg @ref LL_GPIO_PIN_3 - * @arg @ref LL_GPIO_PIN_4 - * @arg @ref LL_GPIO_PIN_5 - * @arg @ref LL_GPIO_PIN_6 - * @arg @ref LL_GPIO_PIN_7 - * @arg @ref LL_GPIO_PIN_8 - * @arg @ref LL_GPIO_PIN_9 - * @arg @ref LL_GPIO_PIN_10 - * @arg @ref LL_GPIO_PIN_11 - * @arg @ref LL_GPIO_PIN_12 - * @arg @ref LL_GPIO_PIN_13 - * @arg @ref LL_GPIO_PIN_14 - * @arg @ref LL_GPIO_PIN_15 - * @retval Returned value can be one of the following values: - * @arg @ref LL_GPIO_SPEED_FREQ_LOW - * @arg @ref LL_GPIO_SPEED_FREQ_MEDIUM - * @arg @ref LL_GPIO_SPEED_FREQ_HIGH - * @arg @ref LL_GPIO_SPEED_FREQ_VERY_HIGH - */ -__STATIC_INLINE uint32_t LL_GPIO_GetPinSpeed(GPIO_TypeDef *GPIOx, uint32_t Pin) -{ - return (uint32_t)(READ_BIT(GPIOx->OSPEEDR, - (GPIO_OSPEEDER_OSPEEDR0 << (POSITION_VAL(Pin) * 2U))) >> (POSITION_VAL(Pin) * 2U)); -} - -/** - * @brief Configure gpio pull-up or pull-down for a dedicated pin on a dedicated port. - * @note Warning: only one pin can be passed as parameter. - * @rmtoll PUPDR PUPDy LL_GPIO_SetPinPull - * @param GPIOx GPIO Port - * @param Pin This parameter can be one of the following values: - * @arg @ref LL_GPIO_PIN_0 - * @arg @ref LL_GPIO_PIN_1 - * @arg @ref LL_GPIO_PIN_2 - * @arg @ref LL_GPIO_PIN_3 - * @arg @ref LL_GPIO_PIN_4 - * @arg @ref LL_GPIO_PIN_5 - * @arg @ref LL_GPIO_PIN_6 - * @arg @ref LL_GPIO_PIN_7 - * @arg @ref LL_GPIO_PIN_8 - * @arg @ref LL_GPIO_PIN_9 - * @arg @ref LL_GPIO_PIN_10 - * @arg @ref LL_GPIO_PIN_11 - * @arg @ref LL_GPIO_PIN_12 - * @arg @ref LL_GPIO_PIN_13 - * @arg @ref LL_GPIO_PIN_14 - * @arg @ref LL_GPIO_PIN_15 - * @param Pull This parameter can be one of the following values: - * @arg @ref LL_GPIO_PULL_NO - * @arg @ref LL_GPIO_PULL_UP - * @arg @ref LL_GPIO_PULL_DOWN - * @retval None - */ -__STATIC_INLINE void LL_GPIO_SetPinPull(GPIO_TypeDef *GPIOx, uint32_t Pin, uint32_t Pull) -{ - MODIFY_REG(GPIOx->PUPDR, (GPIO_PUPDR_PUPDR0 << (POSITION_VAL(Pin) * 2U)), (Pull << (POSITION_VAL(Pin) * 2U))); -} - -/** - * @brief Return gpio pull-up or pull-down for a dedicated pin on a dedicated port - * @note Warning: only one pin can be passed as parameter. - * @rmtoll PUPDR PUPDy LL_GPIO_GetPinPull - * @param GPIOx GPIO Port - * @param Pin This parameter can be one of the following values: - * @arg @ref LL_GPIO_PIN_0 - * @arg @ref LL_GPIO_PIN_1 - * @arg @ref LL_GPIO_PIN_2 - * @arg @ref LL_GPIO_PIN_3 - * @arg @ref LL_GPIO_PIN_4 - * @arg @ref LL_GPIO_PIN_5 - * @arg @ref LL_GPIO_PIN_6 - * @arg @ref LL_GPIO_PIN_7 - * @arg @ref LL_GPIO_PIN_8 - * @arg @ref LL_GPIO_PIN_9 - * @arg @ref LL_GPIO_PIN_10 - * @arg @ref LL_GPIO_PIN_11 - * @arg @ref LL_GPIO_PIN_12 - * @arg @ref LL_GPIO_PIN_13 - * @arg @ref LL_GPIO_PIN_14 - * @arg @ref LL_GPIO_PIN_15 - * @retval Returned value can be one of the following values: - * @arg @ref LL_GPIO_PULL_NO - * @arg @ref LL_GPIO_PULL_UP - * @arg @ref LL_GPIO_PULL_DOWN - */ -__STATIC_INLINE uint32_t LL_GPIO_GetPinPull(GPIO_TypeDef *GPIOx, uint32_t Pin) -{ - return (uint32_t)(READ_BIT(GPIOx->PUPDR, - (GPIO_PUPDR_PUPDR0 << (POSITION_VAL(Pin) * 2U))) >> (POSITION_VAL(Pin) * 2U)); -} - -/** - * @brief Configure gpio alternate function of a dedicated pin from 0 to 7 for a dedicated port. - * @note Possible values are from AF0 to AF15 depending on target. - * @note Warning: only one pin can be passed as parameter. - * @rmtoll AFRL AFSELy LL_GPIO_SetAFPin_0_7 - * @param GPIOx GPIO Port - * @param Pin This parameter can be one of the following values: - * @arg @ref LL_GPIO_PIN_0 - * @arg @ref LL_GPIO_PIN_1 - * @arg @ref LL_GPIO_PIN_2 - * @arg @ref LL_GPIO_PIN_3 - * @arg @ref LL_GPIO_PIN_4 - * @arg @ref LL_GPIO_PIN_5 - * @arg @ref LL_GPIO_PIN_6 - * @arg @ref LL_GPIO_PIN_7 - * @param Alternate This parameter can be one of the following values: - * @arg @ref LL_GPIO_AF_0 - * @arg @ref LL_GPIO_AF_1 - * @arg @ref LL_GPIO_AF_2 - * @arg @ref LL_GPIO_AF_3 - * @arg @ref LL_GPIO_AF_4 - * @arg @ref LL_GPIO_AF_5 - * @arg @ref LL_GPIO_AF_6 - * @arg @ref LL_GPIO_AF_7 - * @arg @ref LL_GPIO_AF_8 - * @arg @ref LL_GPIO_AF_9 - * @arg @ref LL_GPIO_AF_10 - * @arg @ref LL_GPIO_AF_11 - * @arg @ref LL_GPIO_AF_12 - * @arg @ref LL_GPIO_AF_13 - * @arg @ref LL_GPIO_AF_14 - * @arg @ref LL_GPIO_AF_15 - * @retval None - */ -__STATIC_INLINE void LL_GPIO_SetAFPin_0_7(GPIO_TypeDef *GPIOx, uint32_t Pin, uint32_t Alternate) -{ - MODIFY_REG(GPIOx->AFR[0], (GPIO_AFRL_AFSEL0 << (POSITION_VAL(Pin) * 4U)), - (Alternate << (POSITION_VAL(Pin) * 4U))); -} - -/** - * @brief Return gpio alternate function of a dedicated pin from 0 to 7 for a dedicated port. - * @rmtoll AFRL AFSELy LL_GPIO_GetAFPin_0_7 - * @param GPIOx GPIO Port - * @param Pin This parameter can be one of the following values: - * @arg @ref LL_GPIO_PIN_0 - * @arg @ref LL_GPIO_PIN_1 - * @arg @ref LL_GPIO_PIN_2 - * @arg @ref LL_GPIO_PIN_3 - * @arg @ref LL_GPIO_PIN_4 - * @arg @ref LL_GPIO_PIN_5 - * @arg @ref LL_GPIO_PIN_6 - * @arg @ref LL_GPIO_PIN_7 - * @retval Returned value can be one of the following values: - * @arg @ref LL_GPIO_AF_0 - * @arg @ref LL_GPIO_AF_1 - * @arg @ref LL_GPIO_AF_2 - * @arg @ref LL_GPIO_AF_3 - * @arg @ref LL_GPIO_AF_4 - * @arg @ref LL_GPIO_AF_5 - * @arg @ref LL_GPIO_AF_6 - * @arg @ref LL_GPIO_AF_7 - * @arg @ref LL_GPIO_AF_8 - * @arg @ref LL_GPIO_AF_9 - * @arg @ref LL_GPIO_AF_10 - * @arg @ref LL_GPIO_AF_11 - * @arg @ref LL_GPIO_AF_12 - * @arg @ref LL_GPIO_AF_13 - * @arg @ref LL_GPIO_AF_14 - * @arg @ref LL_GPIO_AF_15 - */ -__STATIC_INLINE uint32_t LL_GPIO_GetAFPin_0_7(GPIO_TypeDef *GPIOx, uint32_t Pin) -{ - return (uint32_t)(READ_BIT(GPIOx->AFR[0], - (GPIO_AFRL_AFSEL0 << (POSITION_VAL(Pin) * 4U))) >> (POSITION_VAL(Pin) * 4U)); -} - -/** - * @brief Configure gpio alternate function of a dedicated pin from 8 to 15 for a dedicated port. - * @note Possible values are from AF0 to AF15 depending on target. - * @note Warning: only one pin can be passed as parameter. - * @rmtoll AFRH AFSELy LL_GPIO_SetAFPin_8_15 - * @param GPIOx GPIO Port - * @param Pin This parameter can be one of the following values: - * @arg @ref LL_GPIO_PIN_8 - * @arg @ref LL_GPIO_PIN_9 - * @arg @ref LL_GPIO_PIN_10 - * @arg @ref LL_GPIO_PIN_11 - * @arg @ref LL_GPIO_PIN_12 - * @arg @ref LL_GPIO_PIN_13 - * @arg @ref LL_GPIO_PIN_14 - * @arg @ref LL_GPIO_PIN_15 - * @param Alternate This parameter can be one of the following values: - * @arg @ref LL_GPIO_AF_0 - * @arg @ref LL_GPIO_AF_1 - * @arg @ref LL_GPIO_AF_2 - * @arg @ref LL_GPIO_AF_3 - * @arg @ref LL_GPIO_AF_4 - * @arg @ref LL_GPIO_AF_5 - * @arg @ref LL_GPIO_AF_6 - * @arg @ref LL_GPIO_AF_7 - * @arg @ref LL_GPIO_AF_8 - * @arg @ref LL_GPIO_AF_9 - * @arg @ref LL_GPIO_AF_10 - * @arg @ref LL_GPIO_AF_11 - * @arg @ref LL_GPIO_AF_12 - * @arg @ref LL_GPIO_AF_13 - * @arg @ref LL_GPIO_AF_14 - * @arg @ref LL_GPIO_AF_15 - * @retval None - */ -__STATIC_INLINE void LL_GPIO_SetAFPin_8_15(GPIO_TypeDef *GPIOx, uint32_t Pin, uint32_t Alternate) -{ - MODIFY_REG(GPIOx->AFR[1], (GPIO_AFRH_AFSEL8 << (POSITION_VAL(Pin >> 8U) * 4U)), - (Alternate << (POSITION_VAL(Pin >> 8U) * 4U))); -} - -/** - * @brief Return gpio alternate function of a dedicated pin from 8 to 15 for a dedicated port. - * @note Possible values are from AF0 to AF15 depending on target. - * @rmtoll AFRH AFSELy LL_GPIO_GetAFPin_8_15 - * @param GPIOx GPIO Port - * @param Pin This parameter can be one of the following values: - * @arg @ref LL_GPIO_PIN_8 - * @arg @ref LL_GPIO_PIN_9 - * @arg @ref LL_GPIO_PIN_10 - * @arg @ref LL_GPIO_PIN_11 - * @arg @ref LL_GPIO_PIN_12 - * @arg @ref LL_GPIO_PIN_13 - * @arg @ref LL_GPIO_PIN_14 - * @arg @ref LL_GPIO_PIN_15 - * @retval Returned value can be one of the following values: - * @arg @ref LL_GPIO_AF_0 - * @arg @ref LL_GPIO_AF_1 - * @arg @ref LL_GPIO_AF_2 - * @arg @ref LL_GPIO_AF_3 - * @arg @ref LL_GPIO_AF_4 - * @arg @ref LL_GPIO_AF_5 - * @arg @ref LL_GPIO_AF_6 - * @arg @ref LL_GPIO_AF_7 - * @arg @ref LL_GPIO_AF_8 - * @arg @ref LL_GPIO_AF_9 - * @arg @ref LL_GPIO_AF_10 - * @arg @ref LL_GPIO_AF_11 - * @arg @ref LL_GPIO_AF_12 - * @arg @ref LL_GPIO_AF_13 - * @arg @ref LL_GPIO_AF_14 - * @arg @ref LL_GPIO_AF_15 - */ -__STATIC_INLINE uint32_t LL_GPIO_GetAFPin_8_15(GPIO_TypeDef *GPIOx, uint32_t Pin) -{ - return (uint32_t)(READ_BIT(GPIOx->AFR[1], - (GPIO_AFRH_AFSEL8 << (POSITION_VAL(Pin >> 8U) * 4U))) >> (POSITION_VAL(Pin >> 8U) * 4U)); -} - - -/** - * @brief Lock configuration of several pins for a dedicated port. - * @note When the lock sequence has been applied on a port bit, the - * value of this port bit can no longer be modified until the - * next reset. - * @note Each lock bit freezes a specific configuration register - * (control and alternate function registers). - * @rmtoll LCKR LCKK LL_GPIO_LockPin - * @param GPIOx GPIO Port - * @param PinMask This parameter can be a combination of the following values: - * @arg @ref LL_GPIO_PIN_0 - * @arg @ref LL_GPIO_PIN_1 - * @arg @ref LL_GPIO_PIN_2 - * @arg @ref LL_GPIO_PIN_3 - * @arg @ref LL_GPIO_PIN_4 - * @arg @ref LL_GPIO_PIN_5 - * @arg @ref LL_GPIO_PIN_6 - * @arg @ref LL_GPIO_PIN_7 - * @arg @ref LL_GPIO_PIN_8 - * @arg @ref LL_GPIO_PIN_9 - * @arg @ref LL_GPIO_PIN_10 - * @arg @ref LL_GPIO_PIN_11 - * @arg @ref LL_GPIO_PIN_12 - * @arg @ref LL_GPIO_PIN_13 - * @arg @ref LL_GPIO_PIN_14 - * @arg @ref LL_GPIO_PIN_15 - * @arg @ref LL_GPIO_PIN_ALL - * @retval None - */ -__STATIC_INLINE void LL_GPIO_LockPin(GPIO_TypeDef *GPIOx, uint32_t PinMask) -{ - __IO uint32_t temp; - WRITE_REG(GPIOx->LCKR, GPIO_LCKR_LCKK | PinMask); - WRITE_REG(GPIOx->LCKR, PinMask); - WRITE_REG(GPIOx->LCKR, GPIO_LCKR_LCKK | PinMask); - temp = READ_REG(GPIOx->LCKR); - (void) temp; -} - -/** - * @brief Return 1 if all pins passed as parameter, of a dedicated port, are locked. else Return 0. - * @rmtoll LCKR LCKy LL_GPIO_IsPinLocked - * @param GPIOx GPIO Port - * @param PinMask This parameter can be a combination of the following values: - * @arg @ref LL_GPIO_PIN_0 - * @arg @ref LL_GPIO_PIN_1 - * @arg @ref LL_GPIO_PIN_2 - * @arg @ref LL_GPIO_PIN_3 - * @arg @ref LL_GPIO_PIN_4 - * @arg @ref LL_GPIO_PIN_5 - * @arg @ref LL_GPIO_PIN_6 - * @arg @ref LL_GPIO_PIN_7 - * @arg @ref LL_GPIO_PIN_8 - * @arg @ref LL_GPIO_PIN_9 - * @arg @ref LL_GPIO_PIN_10 - * @arg @ref LL_GPIO_PIN_11 - * @arg @ref LL_GPIO_PIN_12 - * @arg @ref LL_GPIO_PIN_13 - * @arg @ref LL_GPIO_PIN_14 - * @arg @ref LL_GPIO_PIN_15 - * @arg @ref LL_GPIO_PIN_ALL - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_GPIO_IsPinLocked(GPIO_TypeDef *GPIOx, uint32_t PinMask) -{ - return (READ_BIT(GPIOx->LCKR, PinMask) == (PinMask)); -} - -/** - * @brief Return 1 if one of the pin of a dedicated port is locked. else return 0. - * @rmtoll LCKR LCKK LL_GPIO_IsAnyPinLocked - * @param GPIOx GPIO Port - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_GPIO_IsAnyPinLocked(GPIO_TypeDef *GPIOx) -{ - return (READ_BIT(GPIOx->LCKR, GPIO_LCKR_LCKK) == (GPIO_LCKR_LCKK)); -} - -/** - * @} - */ - -/** @defgroup GPIO_LL_EF_Data_Access Data Access - * @{ - */ - -/** - * @brief Return full input data register value for a dedicated port. - * @rmtoll IDR IDy LL_GPIO_ReadInputPort - * @param GPIOx GPIO Port - * @retval Input data register value of port - */ -__STATIC_INLINE uint32_t LL_GPIO_ReadInputPort(GPIO_TypeDef *GPIOx) -{ - return (uint32_t)(READ_REG(GPIOx->IDR)); -} - -/** - * @brief Return if input data level for several pins of dedicated port is high or low. - * @rmtoll IDR IDy LL_GPIO_IsInputPinSet - * @param GPIOx GPIO Port - * @param PinMask This parameter can be a combination of the following values: - * @arg @ref LL_GPIO_PIN_0 - * @arg @ref LL_GPIO_PIN_1 - * @arg @ref LL_GPIO_PIN_2 - * @arg @ref LL_GPIO_PIN_3 - * @arg @ref LL_GPIO_PIN_4 - * @arg @ref LL_GPIO_PIN_5 - * @arg @ref LL_GPIO_PIN_6 - * @arg @ref LL_GPIO_PIN_7 - * @arg @ref LL_GPIO_PIN_8 - * @arg @ref LL_GPIO_PIN_9 - * @arg @ref LL_GPIO_PIN_10 - * @arg @ref LL_GPIO_PIN_11 - * @arg @ref LL_GPIO_PIN_12 - * @arg @ref LL_GPIO_PIN_13 - * @arg @ref LL_GPIO_PIN_14 - * @arg @ref LL_GPIO_PIN_15 - * @arg @ref LL_GPIO_PIN_ALL - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_GPIO_IsInputPinSet(GPIO_TypeDef *GPIOx, uint32_t PinMask) -{ - return (READ_BIT(GPIOx->IDR, PinMask) == (PinMask)); -} - -/** - * @brief Write output data register for the port. - * @rmtoll ODR ODy LL_GPIO_WriteOutputPort - * @param GPIOx GPIO Port - * @param PortValue Level value for each pin of the port - * @retval None - */ -__STATIC_INLINE void LL_GPIO_WriteOutputPort(GPIO_TypeDef *GPIOx, uint32_t PortValue) -{ - WRITE_REG(GPIOx->ODR, PortValue); -} - -/** - * @brief Return full output data register value for a dedicated port. - * @rmtoll ODR ODy LL_GPIO_ReadOutputPort - * @param GPIOx GPIO Port - * @retval Output data register value of port - */ -__STATIC_INLINE uint32_t LL_GPIO_ReadOutputPort(GPIO_TypeDef *GPIOx) -{ - return (uint32_t)(READ_REG(GPIOx->ODR)); -} - -/** - * @brief Return if input data level for several pins of dedicated port is high or low. - * @rmtoll ODR ODy LL_GPIO_IsOutputPinSet - * @param GPIOx GPIO Port - * @param PinMask This parameter can be a combination of the following values: - * @arg @ref LL_GPIO_PIN_0 - * @arg @ref LL_GPIO_PIN_1 - * @arg @ref LL_GPIO_PIN_2 - * @arg @ref LL_GPIO_PIN_3 - * @arg @ref LL_GPIO_PIN_4 - * @arg @ref LL_GPIO_PIN_5 - * @arg @ref LL_GPIO_PIN_6 - * @arg @ref LL_GPIO_PIN_7 - * @arg @ref LL_GPIO_PIN_8 - * @arg @ref LL_GPIO_PIN_9 - * @arg @ref LL_GPIO_PIN_10 - * @arg @ref LL_GPIO_PIN_11 - * @arg @ref LL_GPIO_PIN_12 - * @arg @ref LL_GPIO_PIN_13 - * @arg @ref LL_GPIO_PIN_14 - * @arg @ref LL_GPIO_PIN_15 - * @arg @ref LL_GPIO_PIN_ALL - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_GPIO_IsOutputPinSet(GPIO_TypeDef *GPIOx, uint32_t PinMask) -{ - return (READ_BIT(GPIOx->ODR, PinMask) == (PinMask)); -} - -/** - * @brief Set several pins to high level on dedicated gpio port. - * @rmtoll BSRR BSy LL_GPIO_SetOutputPin - * @param GPIOx GPIO Port - * @param PinMask This parameter can be a combination of the following values: - * @arg @ref LL_GPIO_PIN_0 - * @arg @ref LL_GPIO_PIN_1 - * @arg @ref LL_GPIO_PIN_2 - * @arg @ref LL_GPIO_PIN_3 - * @arg @ref LL_GPIO_PIN_4 - * @arg @ref LL_GPIO_PIN_5 - * @arg @ref LL_GPIO_PIN_6 - * @arg @ref LL_GPIO_PIN_7 - * @arg @ref LL_GPIO_PIN_8 - * @arg @ref LL_GPIO_PIN_9 - * @arg @ref LL_GPIO_PIN_10 - * @arg @ref LL_GPIO_PIN_11 - * @arg @ref LL_GPIO_PIN_12 - * @arg @ref LL_GPIO_PIN_13 - * @arg @ref LL_GPIO_PIN_14 - * @arg @ref LL_GPIO_PIN_15 - * @arg @ref LL_GPIO_PIN_ALL - * @retval None - */ -__STATIC_INLINE void LL_GPIO_SetOutputPin(GPIO_TypeDef *GPIOx, uint32_t PinMask) -{ - WRITE_REG(GPIOx->BSRR, PinMask); -} - -/** - * @brief Set several pins to low level on dedicated gpio port. - * @rmtoll BSRR BRy LL_GPIO_ResetOutputPin - * @param GPIOx GPIO Port - * @param PinMask This parameter can be a combination of the following values: - * @arg @ref LL_GPIO_PIN_0 - * @arg @ref LL_GPIO_PIN_1 - * @arg @ref LL_GPIO_PIN_2 - * @arg @ref LL_GPIO_PIN_3 - * @arg @ref LL_GPIO_PIN_4 - * @arg @ref LL_GPIO_PIN_5 - * @arg @ref LL_GPIO_PIN_6 - * @arg @ref LL_GPIO_PIN_7 - * @arg @ref LL_GPIO_PIN_8 - * @arg @ref LL_GPIO_PIN_9 - * @arg @ref LL_GPIO_PIN_10 - * @arg @ref LL_GPIO_PIN_11 - * @arg @ref LL_GPIO_PIN_12 - * @arg @ref LL_GPIO_PIN_13 - * @arg @ref LL_GPIO_PIN_14 - * @arg @ref LL_GPIO_PIN_15 - * @arg @ref LL_GPIO_PIN_ALL - * @retval None - */ -__STATIC_INLINE void LL_GPIO_ResetOutputPin(GPIO_TypeDef *GPIOx, uint32_t PinMask) -{ - WRITE_REG(GPIOx->BSRR, (PinMask << 16)); -} - -/** - * @brief Toggle data value for several pin of dedicated port. - * @rmtoll ODR ODy LL_GPIO_TogglePin - * @param GPIOx GPIO Port - * @param PinMask This parameter can be a combination of the following values: - * @arg @ref LL_GPIO_PIN_0 - * @arg @ref LL_GPIO_PIN_1 - * @arg @ref LL_GPIO_PIN_2 - * @arg @ref LL_GPIO_PIN_3 - * @arg @ref LL_GPIO_PIN_4 - * @arg @ref LL_GPIO_PIN_5 - * @arg @ref LL_GPIO_PIN_6 - * @arg @ref LL_GPIO_PIN_7 - * @arg @ref LL_GPIO_PIN_8 - * @arg @ref LL_GPIO_PIN_9 - * @arg @ref LL_GPIO_PIN_10 - * @arg @ref LL_GPIO_PIN_11 - * @arg @ref LL_GPIO_PIN_12 - * @arg @ref LL_GPIO_PIN_13 - * @arg @ref LL_GPIO_PIN_14 - * @arg @ref LL_GPIO_PIN_15 - * @arg @ref LL_GPIO_PIN_ALL - * @retval None - */ -__STATIC_INLINE void LL_GPIO_TogglePin(GPIO_TypeDef *GPIOx, uint32_t PinMask) -{ - uint32_t odr = READ_REG(GPIOx->ODR); - WRITE_REG(GPIOx->BSRR, ((odr & PinMask) << 16u) | (~odr & PinMask)); -} - -/** - * @} - */ - -#if defined(USE_FULL_LL_DRIVER) -/** @defgroup GPIO_LL_EF_Init Initialization and de-initialization functions - * @{ - */ - -ErrorStatus LL_GPIO_DeInit(GPIO_TypeDef *GPIOx); -ErrorStatus LL_GPIO_Init(GPIO_TypeDef *GPIOx, LL_GPIO_InitTypeDef *GPIO_InitStruct); -void LL_GPIO_StructInit(LL_GPIO_InitTypeDef *GPIO_InitStruct); - -/** - * @} - */ -#endif /* USE_FULL_LL_DRIVER */ - -/** - * @} - */ - -/** - * @} - */ - -#endif /* defined (GPIOA) || defined (GPIOB) || defined (GPIOC) || defined (GPIOD) || defined (GPIOE) || defined (GPIOF) || defined (GPIOG) || defined (GPIOH) || defined (GPIOI) || defined (GPIOJ) || defined (GPIOK) */ -/** - * @} - */ - -#ifdef __cplusplus -} -#endif - -#endif /* __STM32F4xx_LL_GPIO_H */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_i2c.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_i2c.h deleted file mode 100644 index 5a46babfdc8cfc..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_i2c.h +++ /dev/null @@ -1,1892 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_ll_i2c.h - * @author MCD Application Team - * @brief Header file of I2C LL module. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef __STM32F4xx_LL_I2C_H -#define __STM32F4xx_LL_I2C_H - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx.h" - -/** @addtogroup STM32F4xx_LL_Driver - * @{ - */ - -#if defined (I2C1) || defined (I2C2) || defined (I2C3) - -/** @defgroup I2C_LL I2C - * @{ - */ - -/* Private types -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ - -/* Private constants ---------------------------------------------------------*/ -/** @defgroup I2C_LL_Private_Constants I2C Private Constants - * @{ - */ - -/* Defines used to perform compute and check in the macros */ -#define LL_I2C_MAX_SPEED_STANDARD 100000U -#define LL_I2C_MAX_SPEED_FAST 400000U -/** - * @} - */ - -/* Private macros ------------------------------------------------------------*/ -#if defined(USE_FULL_LL_DRIVER) -/** @defgroup I2C_LL_Private_Macros I2C Private Macros - * @{ - */ -/** - * @} - */ -#endif /*USE_FULL_LL_DRIVER*/ - -/* Exported types ------------------------------------------------------------*/ -#if defined(USE_FULL_LL_DRIVER) -/** @defgroup I2C_LL_ES_INIT I2C Exported Init structure - * @{ - */ -typedef struct -{ - uint32_t PeripheralMode; /*!< Specifies the peripheral mode. - This parameter can be a value of @ref I2C_LL_EC_PERIPHERAL_MODE - - This feature can be modified afterwards using unitary function @ref LL_I2C_SetMode(). */ - - uint32_t ClockSpeed; /*!< Specifies the clock frequency. - This parameter must be set to a value lower than 400kHz (in Hz) - - This feature can be modified afterwards using unitary function @ref LL_I2C_SetClockPeriod() - or @ref LL_I2C_SetDutyCycle() or @ref LL_I2C_SetClockSpeedMode() or @ref LL_I2C_ConfigSpeed(). */ - - uint32_t DutyCycle; /*!< Specifies the I2C fast mode duty cycle. - This parameter can be a value of @ref I2C_LL_EC_DUTYCYCLE - - This feature can be modified afterwards using unitary function @ref LL_I2C_SetDutyCycle(). */ - -#if defined(I2C_FLTR_ANOFF)&&defined(I2C_FLTR_DNF) - uint32_t AnalogFilter; /*!< Enables or disables analog noise filter. - This parameter can be a value of @ref I2C_LL_EC_ANALOGFILTER_SELECTION - - This feature can be modified afterwards using unitary functions @ref LL_I2C_EnableAnalogFilter() or LL_I2C_DisableAnalogFilter(). */ - - uint32_t DigitalFilter; /*!< Configures the digital noise filter. - This parameter can be a number between Min_Data = 0x00 and Max_Data = 0x0F - - This feature can be modified afterwards using unitary function @ref LL_I2C_SetDigitalFilter(). */ - -#endif - uint32_t OwnAddress1; /*!< Specifies the device own address 1. - This parameter must be a value between Min_Data = 0x00 and Max_Data = 0x3FF - - This feature can be modified afterwards using unitary function @ref LL_I2C_SetOwnAddress1(). */ - - uint32_t TypeAcknowledge; /*!< Specifies the ACKnowledge or Non ACKnowledge condition after the address receive match code or next received byte. - This parameter can be a value of @ref I2C_LL_EC_I2C_ACKNOWLEDGE - - This feature can be modified afterwards using unitary function @ref LL_I2C_AcknowledgeNextData(). */ - - uint32_t OwnAddrSize; /*!< Specifies the device own address 1 size (7-bit or 10-bit). - This parameter can be a value of @ref I2C_LL_EC_OWNADDRESS1 - - This feature can be modified afterwards using unitary function @ref LL_I2C_SetOwnAddress1(). */ -} LL_I2C_InitTypeDef; -/** - * @} - */ -#endif /*USE_FULL_LL_DRIVER*/ - -/* Exported constants --------------------------------------------------------*/ -/** @defgroup I2C_LL_Exported_Constants I2C Exported Constants - * @{ - */ - -/** @defgroup I2C_LL_EC_GET_FLAG Get Flags Defines - * @brief Flags defines which can be used with LL_I2C_ReadReg function - * @{ - */ -#define LL_I2C_SR1_SB I2C_SR1_SB /*!< Start Bit (master mode) */ -#define LL_I2C_SR1_ADDR I2C_SR1_ADDR /*!< Address sent (master mode) or - Address matched flag (slave mode) */ -#define LL_I2C_SR1_BTF I2C_SR1_BTF /*!< Byte Transfer Finished flag */ -#define LL_I2C_SR1_ADD10 I2C_SR1_ADD10 /*!< 10-bit header sent (master mode) */ -#define LL_I2C_SR1_STOPF I2C_SR1_STOPF /*!< Stop detection flag (slave mode) */ -#define LL_I2C_SR1_RXNE I2C_SR1_RXNE /*!< Data register not empty (receivers) */ -#define LL_I2C_SR1_TXE I2C_SR1_TXE /*!< Data register empty (transmitters) */ -#define LL_I2C_SR1_BERR I2C_SR1_BERR /*!< Bus error */ -#define LL_I2C_SR1_ARLO I2C_SR1_ARLO /*!< Arbitration lost */ -#define LL_I2C_SR1_AF I2C_SR1_AF /*!< Acknowledge failure flag */ -#define LL_I2C_SR1_OVR I2C_SR1_OVR /*!< Overrun/Underrun */ -#define LL_I2C_SR1_PECERR I2C_ISR_PECERR /*!< PEC Error in reception (SMBus mode) */ -#define LL_I2C_SR1_TIMEOUT I2C_ISR_TIMEOUT /*!< Timeout detection flag (SMBus mode) */ -#define LL_I2C_SR1_SMALERT I2C_ISR_SMALERT /*!< SMBus alert (SMBus mode) */ -#define LL_I2C_SR2_MSL I2C_SR2_MSL /*!< Master/Slave flag */ -#define LL_I2C_SR2_BUSY I2C_SR2_BUSY /*!< Bus busy flag */ -#define LL_I2C_SR2_TRA I2C_SR2_TRA /*!< Transmitter/receiver direction */ -#define LL_I2C_SR2_GENCALL I2C_SR2_GENCALL /*!< General call address (Slave mode) */ -#define LL_I2C_SR2_SMBDEFAULT I2C_SR2_SMBDEFAULT /*!< SMBus Device default address (Slave mode) */ -#define LL_I2C_SR2_SMBHOST I2C_SR2_SMBHOST /*!< SMBus Host address (Slave mode) */ -#define LL_I2C_SR2_DUALF I2C_SR2_DUALF /*!< Dual flag (Slave mode) */ -/** - * @} - */ - -/** @defgroup I2C_LL_EC_IT IT Defines - * @brief IT defines which can be used with LL_I2C_ReadReg and LL_I2C_WriteReg functions - * @{ - */ -#define LL_I2C_CR2_ITEVTEN I2C_CR2_ITEVTEN /*!< Events interrupts enable */ -#define LL_I2C_CR2_ITBUFEN I2C_CR2_ITBUFEN /*!< Buffer interrupts enable */ -#define LL_I2C_CR2_ITERREN I2C_CR2_ITERREN /*!< Error interrupts enable */ -/** - * @} - */ - -#if defined(I2C_FLTR_ANOFF) -/** @defgroup I2C_LL_EC_ANALOGFILTER_SELECTION Analog Filter Selection - * @{ - */ -#define LL_I2C_ANALOGFILTER_ENABLE 0x00000000U /*!< Analog filter is enabled. */ -#define LL_I2C_ANALOGFILTER_DISABLE I2C_FLTR_ANOFF /*!< Analog filter is disabled.*/ -/** - * @} - */ - -#endif -/** @defgroup I2C_LL_EC_OWNADDRESS1 Own Address 1 Length - * @{ - */ -#define LL_I2C_OWNADDRESS1_7BIT 0x00004000U /*!< Own address 1 is a 7-bit address. */ -#define LL_I2C_OWNADDRESS1_10BIT (uint32_t)(I2C_OAR1_ADDMODE | 0x00004000U) /*!< Own address 1 is a 10-bit address. */ -/** - * @} - */ - -/** @defgroup I2C_LL_EC_DUTYCYCLE Fast Mode Duty Cycle - * @{ - */ -#define LL_I2C_DUTYCYCLE_2 0x00000000U /*!< I2C fast mode Tlow/Thigh = 2 */ -#define LL_I2C_DUTYCYCLE_16_9 I2C_CCR_DUTY /*!< I2C fast mode Tlow/Thigh = 16/9 */ -/** - * @} - */ - -/** @defgroup I2C_LL_EC_CLOCK_SPEED_MODE Master Clock Speed Mode - * @{ - */ -#define LL_I2C_CLOCK_SPEED_STANDARD_MODE 0x00000000U /*!< Master clock speed range is standard mode */ -#define LL_I2C_CLOCK_SPEED_FAST_MODE I2C_CCR_FS /*!< Master clock speed range is fast mode */ -/** - * @} - */ - -/** @defgroup I2C_LL_EC_PERIPHERAL_MODE Peripheral Mode - * @{ - */ -#define LL_I2C_MODE_I2C 0x00000000U /*!< I2C Master or Slave mode */ -#define LL_I2C_MODE_SMBUS_HOST (uint32_t)(I2C_CR1_SMBUS | I2C_CR1_SMBTYPE | I2C_CR1_ENARP) /*!< SMBus Host address acknowledge */ -#define LL_I2C_MODE_SMBUS_DEVICE I2C_CR1_SMBUS /*!< SMBus Device default mode (Default address not acknowledge) */ -#define LL_I2C_MODE_SMBUS_DEVICE_ARP (uint32_t)(I2C_CR1_SMBUS | I2C_CR1_ENARP) /*!< SMBus Device Default address acknowledge */ -/** - * @} - */ - -/** @defgroup I2C_LL_EC_I2C_ACKNOWLEDGE Acknowledge Generation - * @{ - */ -#define LL_I2C_ACK I2C_CR1_ACK /*!< ACK is sent after current received byte. */ -#define LL_I2C_NACK 0x00000000U /*!< NACK is sent after current received byte.*/ -/** - * @} - */ - -/** @defgroup I2C_LL_EC_DIRECTION Read Write Direction - * @{ - */ -#define LL_I2C_DIRECTION_WRITE I2C_SR2_TRA /*!< Bus is in write transfer */ -#define LL_I2C_DIRECTION_READ 0x00000000U /*!< Bus is in read transfer */ -/** - * @} - */ - -/** - * @} - */ - -/* Exported macro ------------------------------------------------------------*/ -/** @defgroup I2C_LL_Exported_Macros I2C Exported Macros - * @{ - */ - -/** @defgroup I2C_LL_EM_WRITE_READ Common Write and read registers Macros - * @{ - */ - -/** - * @brief Write a value in I2C register - * @param __INSTANCE__ I2C Instance - * @param __REG__ Register to be written - * @param __VALUE__ Value to be written in the register - * @retval None - */ -#define LL_I2C_WriteReg(__INSTANCE__, __REG__, __VALUE__) WRITE_REG(__INSTANCE__->__REG__, (__VALUE__)) - -/** - * @brief Read a value in I2C register - * @param __INSTANCE__ I2C Instance - * @param __REG__ Register to be read - * @retval Register value - */ -#define LL_I2C_ReadReg(__INSTANCE__, __REG__) READ_REG(__INSTANCE__->__REG__) -/** - * @} - */ - -/** @defgroup I2C_LL_EM_Exported_Macros_Helper Exported_Macros_Helper - * @{ - */ - -/** - * @brief Convert Peripheral Clock Frequency in Mhz. - * @param __PCLK__ This parameter must be a value of peripheral clock (in Hz). - * @retval Value of peripheral clock (in Mhz) - */ -#define __LL_I2C_FREQ_HZ_TO_MHZ(__PCLK__) (uint32_t)((__PCLK__)/1000000U) - -/** - * @brief Convert Peripheral Clock Frequency in Hz. - * @param __PCLK__ This parameter must be a value of peripheral clock (in Mhz). - * @retval Value of peripheral clock (in Hz) - */ -#define __LL_I2C_FREQ_MHZ_TO_HZ(__PCLK__) (uint32_t)((__PCLK__)*1000000U) - -/** - * @brief Compute I2C Clock rising time. - * @param __FREQRANGE__ This parameter must be a value of peripheral clock (in Mhz). - * @param __SPEED__ This parameter must be a value lower than 400kHz (in Hz). - * @retval Value between Min_Data=0x02 and Max_Data=0x3F - */ -#define __LL_I2C_RISE_TIME(__FREQRANGE__, __SPEED__) (uint32_t)(((__SPEED__) <= LL_I2C_MAX_SPEED_STANDARD) ? ((__FREQRANGE__) + 1U) : ((((__FREQRANGE__) * 300U) / 1000U) + 1U)) - -/** - * @brief Compute Speed clock range to a Clock Control Register (I2C_CCR_CCR) value. - * @param __PCLK__ This parameter must be a value of peripheral clock (in Hz). - * @param __SPEED__ This parameter must be a value lower than 400kHz (in Hz). - * @param __DUTYCYCLE__ This parameter can be one of the following values: - * @arg @ref LL_I2C_DUTYCYCLE_2 - * @arg @ref LL_I2C_DUTYCYCLE_16_9 - * @retval Value between Min_Data=0x004 and Max_Data=0xFFF, except in FAST DUTY mode where Min_Data=0x001. - */ -#define __LL_I2C_SPEED_TO_CCR(__PCLK__, __SPEED__, __DUTYCYCLE__) (uint32_t)(((__SPEED__) <= LL_I2C_MAX_SPEED_STANDARD)? \ - (__LL_I2C_SPEED_STANDARD_TO_CCR((__PCLK__), (__SPEED__))) : \ - (__LL_I2C_SPEED_FAST_TO_CCR((__PCLK__), (__SPEED__), (__DUTYCYCLE__)))) - -/** - * @brief Compute Speed Standard clock range to a Clock Control Register (I2C_CCR_CCR) value. - * @param __PCLK__ This parameter must be a value of peripheral clock (in Hz). - * @param __SPEED__ This parameter must be a value lower than 100kHz (in Hz). - * @retval Value between Min_Data=0x004 and Max_Data=0xFFF. - */ -#define __LL_I2C_SPEED_STANDARD_TO_CCR(__PCLK__, __SPEED__) (uint32_t)(((((__PCLK__)/((__SPEED__) << 1U)) & I2C_CCR_CCR) < 4U)? 4U:((__PCLK__) / ((__SPEED__) << 1U))) - -/** - * @brief Compute Speed Fast clock range to a Clock Control Register (I2C_CCR_CCR) value. - * @param __PCLK__ This parameter must be a value of peripheral clock (in Hz). - * @param __SPEED__ This parameter must be a value between Min_Data=100Khz and Max_Data=400Khz (in Hz). - * @param __DUTYCYCLE__ This parameter can be one of the following values: - * @arg @ref LL_I2C_DUTYCYCLE_2 - * @arg @ref LL_I2C_DUTYCYCLE_16_9 - * @retval Value between Min_Data=0x001 and Max_Data=0xFFF - */ -#define __LL_I2C_SPEED_FAST_TO_CCR(__PCLK__, __SPEED__, __DUTYCYCLE__) (uint32_t)(((__DUTYCYCLE__) == LL_I2C_DUTYCYCLE_2)? \ - (((((__PCLK__) / ((__SPEED__) * 3U)) & I2C_CCR_CCR) == 0U)? 1U:((__PCLK__) / ((__SPEED__) * 3U))) : \ - (((((__PCLK__) / ((__SPEED__) * 25U)) & I2C_CCR_CCR) == 0U)? 1U:((__PCLK__) / ((__SPEED__) * 25U)))) - -/** - * @brief Get the Least significant bits of a 10-Bits address. - * @param __ADDRESS__ This parameter must be a value of a 10-Bits slave address. - * @retval Value between Min_Data=0x00 and Max_Data=0xFF - */ -#define __LL_I2C_10BIT_ADDRESS(__ADDRESS__) ((uint8_t)((uint16_t)((__ADDRESS__) & (uint16_t)(0x00FF)))) - -/** - * @brief Convert a 10-Bits address to a 10-Bits header with Write direction. - * @param __ADDRESS__ This parameter must be a value of a 10-Bits slave address. - * @retval Value between Min_Data=0xF0 and Max_Data=0xF6 - */ -#define __LL_I2C_10BIT_HEADER_WRITE(__ADDRESS__) ((uint8_t)((uint16_t)((uint16_t)(((uint16_t)((__ADDRESS__) & (uint16_t)(0x0300))) >> 7) | (uint16_t)(0xF0)))) - -/** - * @brief Convert a 10-Bits address to a 10-Bits header with Read direction. - * @param __ADDRESS__ This parameter must be a value of a 10-Bits slave address. - * @retval Value between Min_Data=0xF1 and Max_Data=0xF7 - */ -#define __LL_I2C_10BIT_HEADER_READ(__ADDRESS__) ((uint8_t)((uint16_t)((uint16_t)(((uint16_t)((__ADDRESS__) & (uint16_t)(0x0300))) >> 7) | (uint16_t)(0xF1)))) - -/** - * @} - */ - -/** - * @} - */ - -/* Exported functions --------------------------------------------------------*/ - -/** @defgroup I2C_LL_Exported_Functions I2C Exported Functions - * @{ - */ - -/** @defgroup I2C_LL_EF_Configuration Configuration - * @{ - */ - -/** - * @brief Enable I2C peripheral (PE = 1). - * @rmtoll CR1 PE LL_I2C_Enable - * @param I2Cx I2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_I2C_Enable(I2C_TypeDef *I2Cx) -{ - SET_BIT(I2Cx->CR1, I2C_CR1_PE); -} - -/** - * @brief Disable I2C peripheral (PE = 0). - * @rmtoll CR1 PE LL_I2C_Disable - * @param I2Cx I2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_I2C_Disable(I2C_TypeDef *I2Cx) -{ - CLEAR_BIT(I2Cx->CR1, I2C_CR1_PE); -} - -/** - * @brief Check if the I2C peripheral is enabled or disabled. - * @rmtoll CR1 PE LL_I2C_IsEnabled - * @param I2Cx I2C Instance. - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_I2C_IsEnabled(I2C_TypeDef *I2Cx) -{ - return (READ_BIT(I2Cx->CR1, I2C_CR1_PE) == (I2C_CR1_PE)); -} - -#if defined(I2C_FLTR_ANOFF)&&defined(I2C_FLTR_DNF) -/** - * @brief Configure Noise Filters (Analog and Digital). - * @note If the analog filter is also enabled, the digital filter is added to analog filter. - * The filters can only be programmed when the I2C is disabled (PE = 0). - * @rmtoll FLTR ANOFF LL_I2C_ConfigFilters\n - * FLTR DNF LL_I2C_ConfigFilters - * @param I2Cx I2C Instance. - * @param AnalogFilter This parameter can be one of the following values: - * @arg @ref LL_I2C_ANALOGFILTER_ENABLE - * @arg @ref LL_I2C_ANALOGFILTER_DISABLE - * @param DigitalFilter This parameter must be a value between Min_Data=0x00 (Digital filter disabled) and Max_Data=0x0F (Digital filter enabled and filtering capability up to 15*TPCLK1) - * This parameter is used to configure the digital noise filter on SDA and SCL input. The digital filter will suppress the spikes with a length of up to DNF[3:0]*TPCLK1. - * @retval None - */ -__STATIC_INLINE void LL_I2C_ConfigFilters(I2C_TypeDef *I2Cx, uint32_t AnalogFilter, uint32_t DigitalFilter) -{ - MODIFY_REG(I2Cx->FLTR, I2C_FLTR_ANOFF | I2C_FLTR_DNF, AnalogFilter | DigitalFilter); -} -#endif -#if defined(I2C_FLTR_DNF) - -/** - * @brief Configure Digital Noise Filter. - * @note If the analog filter is also enabled, the digital filter is added to analog filter. - * This filter can only be programmed when the I2C is disabled (PE = 0). - * @rmtoll FLTR DNF LL_I2C_SetDigitalFilter - * @param I2Cx I2C Instance. - * @param DigitalFilter This parameter must be a value between Min_Data=0x00 (Digital filter disabled) and Max_Data=0x0F (Digital filter enabled and filtering capability up to 15*TPCLK1) - * This parameter is used to configure the digital noise filter on SDA and SCL input. The digital filter will suppress the spikes with a length of up to DNF[3:0]*TPCLK1. - * @retval None - */ -__STATIC_INLINE void LL_I2C_SetDigitalFilter(I2C_TypeDef *I2Cx, uint32_t DigitalFilter) -{ - MODIFY_REG(I2Cx->FLTR, I2C_FLTR_DNF, DigitalFilter); -} - -/** - * @brief Get the current Digital Noise Filter configuration. - * @rmtoll FLTR DNF LL_I2C_GetDigitalFilter - * @param I2Cx I2C Instance. - * @retval Value between Min_Data=0x0 and Max_Data=0xF - */ -__STATIC_INLINE uint32_t LL_I2C_GetDigitalFilter(I2C_TypeDef *I2Cx) -{ - return (uint32_t)(READ_BIT(I2Cx->FLTR, I2C_FLTR_DNF)); -} -#endif -#if defined(I2C_FLTR_ANOFF) - -/** - * @brief Enable Analog Noise Filter. - * @note This filter can only be programmed when the I2C is disabled (PE = 0). - * @rmtoll FLTR ANOFF LL_I2C_EnableAnalogFilter - * @param I2Cx I2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_I2C_EnableAnalogFilter(I2C_TypeDef *I2Cx) -{ - CLEAR_BIT(I2Cx->FLTR, I2C_FLTR_ANOFF); -} - -/** - * @brief Disable Analog Noise Filter. - * @note This filter can only be programmed when the I2C is disabled (PE = 0). - * @rmtoll FLTR ANOFF LL_I2C_DisableAnalogFilter - * @param I2Cx I2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_I2C_DisableAnalogFilter(I2C_TypeDef *I2Cx) -{ - SET_BIT(I2Cx->FLTR, I2C_FLTR_ANOFF); -} - -/** - * @brief Check if Analog Noise Filter is enabled or disabled. - * @rmtoll FLTR ANOFF LL_I2C_IsEnabledAnalogFilter - * @param I2Cx I2C Instance. - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_I2C_IsEnabledAnalogFilter(I2C_TypeDef *I2Cx) -{ - return (READ_BIT(I2Cx->FLTR, I2C_FLTR_ANOFF) == (I2C_FLTR_ANOFF)); -} -#endif - -/** - * @brief Enable DMA transmission requests. - * @rmtoll CR2 DMAEN LL_I2C_EnableDMAReq_TX - * @param I2Cx I2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_I2C_EnableDMAReq_TX(I2C_TypeDef *I2Cx) -{ - SET_BIT(I2Cx->CR2, I2C_CR2_DMAEN); -} - -/** - * @brief Disable DMA transmission requests. - * @rmtoll CR2 DMAEN LL_I2C_DisableDMAReq_TX - * @param I2Cx I2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_I2C_DisableDMAReq_TX(I2C_TypeDef *I2Cx) -{ - CLEAR_BIT(I2Cx->CR2, I2C_CR2_DMAEN); -} - -/** - * @brief Check if DMA transmission requests are enabled or disabled. - * @rmtoll CR2 DMAEN LL_I2C_IsEnabledDMAReq_TX - * @param I2Cx I2C Instance. - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_I2C_IsEnabledDMAReq_TX(I2C_TypeDef *I2Cx) -{ - return (READ_BIT(I2Cx->CR2, I2C_CR2_DMAEN) == (I2C_CR2_DMAEN)); -} - -/** - * @brief Enable DMA reception requests. - * @rmtoll CR2 DMAEN LL_I2C_EnableDMAReq_RX - * @param I2Cx I2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_I2C_EnableDMAReq_RX(I2C_TypeDef *I2Cx) -{ - SET_BIT(I2Cx->CR2, I2C_CR2_DMAEN); -} - -/** - * @brief Disable DMA reception requests. - * @rmtoll CR2 DMAEN LL_I2C_DisableDMAReq_RX - * @param I2Cx I2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_I2C_DisableDMAReq_RX(I2C_TypeDef *I2Cx) -{ - CLEAR_BIT(I2Cx->CR2, I2C_CR2_DMAEN); -} - -/** - * @brief Check if DMA reception requests are enabled or disabled. - * @rmtoll CR2 DMAEN LL_I2C_IsEnabledDMAReq_RX - * @param I2Cx I2C Instance. - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_I2C_IsEnabledDMAReq_RX(I2C_TypeDef *I2Cx) -{ - return (READ_BIT(I2Cx->CR2, I2C_CR2_DMAEN) == (I2C_CR2_DMAEN)); -} - -/** - * @brief Get the data register address used for DMA transfer. - * @rmtoll DR DR LL_I2C_DMA_GetRegAddr - * @param I2Cx I2C Instance. - * @retval Address of data register - */ -__STATIC_INLINE uint32_t LL_I2C_DMA_GetRegAddr(I2C_TypeDef *I2Cx) -{ - return (uint32_t) & (I2Cx->DR); -} - -/** - * @brief Enable Clock stretching. - * @note This bit can only be programmed when the I2C is disabled (PE = 0). - * @rmtoll CR1 NOSTRETCH LL_I2C_EnableClockStretching - * @param I2Cx I2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_I2C_EnableClockStretching(I2C_TypeDef *I2Cx) -{ - CLEAR_BIT(I2Cx->CR1, I2C_CR1_NOSTRETCH); -} - -/** - * @brief Disable Clock stretching. - * @note This bit can only be programmed when the I2C is disabled (PE = 0). - * @rmtoll CR1 NOSTRETCH LL_I2C_DisableClockStretching - * @param I2Cx I2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_I2C_DisableClockStretching(I2C_TypeDef *I2Cx) -{ - SET_BIT(I2Cx->CR1, I2C_CR1_NOSTRETCH); -} - -/** - * @brief Check if Clock stretching is enabled or disabled. - * @rmtoll CR1 NOSTRETCH LL_I2C_IsEnabledClockStretching - * @param I2Cx I2C Instance. - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_I2C_IsEnabledClockStretching(I2C_TypeDef *I2Cx) -{ - return (READ_BIT(I2Cx->CR1, I2C_CR1_NOSTRETCH) != (I2C_CR1_NOSTRETCH)); -} - -/** - * @brief Enable General Call. - * @note When enabled the Address 0x00 is ACKed. - * @rmtoll CR1 ENGC LL_I2C_EnableGeneralCall - * @param I2Cx I2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_I2C_EnableGeneralCall(I2C_TypeDef *I2Cx) -{ - SET_BIT(I2Cx->CR1, I2C_CR1_ENGC); -} - -/** - * @brief Disable General Call. - * @note When disabled the Address 0x00 is NACKed. - * @rmtoll CR1 ENGC LL_I2C_DisableGeneralCall - * @param I2Cx I2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_I2C_DisableGeneralCall(I2C_TypeDef *I2Cx) -{ - CLEAR_BIT(I2Cx->CR1, I2C_CR1_ENGC); -} - -/** - * @brief Check if General Call is enabled or disabled. - * @rmtoll CR1 ENGC LL_I2C_IsEnabledGeneralCall - * @param I2Cx I2C Instance. - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_I2C_IsEnabledGeneralCall(I2C_TypeDef *I2Cx) -{ - return (READ_BIT(I2Cx->CR1, I2C_CR1_ENGC) == (I2C_CR1_ENGC)); -} - -/** - * @brief Set the Own Address1. - * @rmtoll OAR1 ADD0 LL_I2C_SetOwnAddress1\n - * OAR1 ADD1_7 LL_I2C_SetOwnAddress1\n - * OAR1 ADD8_9 LL_I2C_SetOwnAddress1\n - * OAR1 ADDMODE LL_I2C_SetOwnAddress1 - * @param I2Cx I2C Instance. - * @param OwnAddress1 This parameter must be a value between Min_Data=0 and Max_Data=0x3FF. - * @param OwnAddrSize This parameter can be one of the following values: - * @arg @ref LL_I2C_OWNADDRESS1_7BIT - * @arg @ref LL_I2C_OWNADDRESS1_10BIT - * @retval None - */ -__STATIC_INLINE void LL_I2C_SetOwnAddress1(I2C_TypeDef *I2Cx, uint32_t OwnAddress1, uint32_t OwnAddrSize) -{ - MODIFY_REG(I2Cx->OAR1, I2C_OAR1_ADD0 | I2C_OAR1_ADD1_7 | I2C_OAR1_ADD8_9 | I2C_OAR1_ADDMODE, OwnAddress1 | OwnAddrSize); -} - -/** - * @brief Set the 7bits Own Address2. - * @note This action has no effect if own address2 is enabled. - * @rmtoll OAR2 ADD2 LL_I2C_SetOwnAddress2 - * @param I2Cx I2C Instance. - * @param OwnAddress2 This parameter must be a value between Min_Data=0 and Max_Data=0x7F. - * @retval None - */ -__STATIC_INLINE void LL_I2C_SetOwnAddress2(I2C_TypeDef *I2Cx, uint32_t OwnAddress2) -{ - MODIFY_REG(I2Cx->OAR2, I2C_OAR2_ADD2, OwnAddress2); -} - -/** - * @brief Enable acknowledge on Own Address2 match address. - * @rmtoll OAR2 ENDUAL LL_I2C_EnableOwnAddress2 - * @param I2Cx I2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_I2C_EnableOwnAddress2(I2C_TypeDef *I2Cx) -{ - SET_BIT(I2Cx->OAR2, I2C_OAR2_ENDUAL); -} - -/** - * @brief Disable acknowledge on Own Address2 match address. - * @rmtoll OAR2 ENDUAL LL_I2C_DisableOwnAddress2 - * @param I2Cx I2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_I2C_DisableOwnAddress2(I2C_TypeDef *I2Cx) -{ - CLEAR_BIT(I2Cx->OAR2, I2C_OAR2_ENDUAL); -} - -/** - * @brief Check if Own Address1 acknowledge is enabled or disabled. - * @rmtoll OAR2 ENDUAL LL_I2C_IsEnabledOwnAddress2 - * @param I2Cx I2C Instance. - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_I2C_IsEnabledOwnAddress2(I2C_TypeDef *I2Cx) -{ - return (READ_BIT(I2Cx->OAR2, I2C_OAR2_ENDUAL) == (I2C_OAR2_ENDUAL)); -} - -/** - * @brief Configure the Peripheral clock frequency. - * @rmtoll CR2 FREQ LL_I2C_SetPeriphClock - * @param I2Cx I2C Instance. - * @param PeriphClock Peripheral Clock (in Hz) - * @retval None - */ -__STATIC_INLINE void LL_I2C_SetPeriphClock(I2C_TypeDef *I2Cx, uint32_t PeriphClock) -{ - MODIFY_REG(I2Cx->CR2, I2C_CR2_FREQ, __LL_I2C_FREQ_HZ_TO_MHZ(PeriphClock)); -} - -/** - * @brief Get the Peripheral clock frequency. - * @rmtoll CR2 FREQ LL_I2C_GetPeriphClock - * @param I2Cx I2C Instance. - * @retval Value of Peripheral Clock (in Hz) - */ -__STATIC_INLINE uint32_t LL_I2C_GetPeriphClock(I2C_TypeDef *I2Cx) -{ - return (uint32_t)(__LL_I2C_FREQ_MHZ_TO_HZ(READ_BIT(I2Cx->CR2, I2C_CR2_FREQ))); -} - -/** - * @brief Configure the Duty cycle (Fast mode only). - * @rmtoll CCR DUTY LL_I2C_SetDutyCycle - * @param I2Cx I2C Instance. - * @param DutyCycle This parameter can be one of the following values: - * @arg @ref LL_I2C_DUTYCYCLE_2 - * @arg @ref LL_I2C_DUTYCYCLE_16_9 - * @retval None - */ -__STATIC_INLINE void LL_I2C_SetDutyCycle(I2C_TypeDef *I2Cx, uint32_t DutyCycle) -{ - MODIFY_REG(I2Cx->CCR, I2C_CCR_DUTY, DutyCycle); -} - -/** - * @brief Get the Duty cycle (Fast mode only). - * @rmtoll CCR DUTY LL_I2C_GetDutyCycle - * @param I2Cx I2C Instance. - * @retval Returned value can be one of the following values: - * @arg @ref LL_I2C_DUTYCYCLE_2 - * @arg @ref LL_I2C_DUTYCYCLE_16_9 - */ -__STATIC_INLINE uint32_t LL_I2C_GetDutyCycle(I2C_TypeDef *I2Cx) -{ - return (uint32_t)(READ_BIT(I2Cx->CCR, I2C_CCR_DUTY)); -} - -/** - * @brief Configure the I2C master clock speed mode. - * @rmtoll CCR FS LL_I2C_SetClockSpeedMode - * @param I2Cx I2C Instance. - * @param ClockSpeedMode This parameter can be one of the following values: - * @arg @ref LL_I2C_CLOCK_SPEED_STANDARD_MODE - * @arg @ref LL_I2C_CLOCK_SPEED_FAST_MODE - * @retval None - */ -__STATIC_INLINE void LL_I2C_SetClockSpeedMode(I2C_TypeDef *I2Cx, uint32_t ClockSpeedMode) -{ - MODIFY_REG(I2Cx->CCR, I2C_CCR_FS, ClockSpeedMode); -} - -/** - * @brief Get the the I2C master speed mode. - * @rmtoll CCR FS LL_I2C_GetClockSpeedMode - * @param I2Cx I2C Instance. - * @retval Returned value can be one of the following values: - * @arg @ref LL_I2C_CLOCK_SPEED_STANDARD_MODE - * @arg @ref LL_I2C_CLOCK_SPEED_FAST_MODE - */ -__STATIC_INLINE uint32_t LL_I2C_GetClockSpeedMode(I2C_TypeDef *I2Cx) -{ - return (uint32_t)(READ_BIT(I2Cx->CCR, I2C_CCR_FS)); -} - -/** - * @brief Configure the SCL, SDA rising time. - * @note This bit can only be programmed when the I2C is disabled (PE = 0). - * @rmtoll TRISE TRISE LL_I2C_SetRiseTime - * @param I2Cx I2C Instance. - * @param RiseTime This parameter must be a value between Min_Data=0x02 and Max_Data=0x3F. - * @retval None - */ -__STATIC_INLINE void LL_I2C_SetRiseTime(I2C_TypeDef *I2Cx, uint32_t RiseTime) -{ - MODIFY_REG(I2Cx->TRISE, I2C_TRISE_TRISE, RiseTime); -} - -/** - * @brief Get the SCL, SDA rising time. - * @rmtoll TRISE TRISE LL_I2C_GetRiseTime - * @param I2Cx I2C Instance. - * @retval Value between Min_Data=0x02 and Max_Data=0x3F - */ -__STATIC_INLINE uint32_t LL_I2C_GetRiseTime(I2C_TypeDef *I2Cx) -{ - return (uint32_t)(READ_BIT(I2Cx->TRISE, I2C_TRISE_TRISE)); -} - -/** - * @brief Configure the SCL high and low period. - * @note This bit can only be programmed when the I2C is disabled (PE = 0). - * @rmtoll CCR CCR LL_I2C_SetClockPeriod - * @param I2Cx I2C Instance. - * @param ClockPeriod This parameter must be a value between Min_Data=0x004 and Max_Data=0xFFF, except in FAST DUTY mode where Min_Data=0x001. - * @retval None - */ -__STATIC_INLINE void LL_I2C_SetClockPeriod(I2C_TypeDef *I2Cx, uint32_t ClockPeriod) -{ - MODIFY_REG(I2Cx->CCR, I2C_CCR_CCR, ClockPeriod); -} - -/** - * @brief Get the SCL high and low period. - * @rmtoll CCR CCR LL_I2C_GetClockPeriod - * @param I2Cx I2C Instance. - * @retval Value between Min_Data=0x004 and Max_Data=0xFFF, except in FAST DUTY mode where Min_Data=0x001. - */ -__STATIC_INLINE uint32_t LL_I2C_GetClockPeriod(I2C_TypeDef *I2Cx) -{ - return (uint32_t)(READ_BIT(I2Cx->CCR, I2C_CCR_CCR)); -} - -/** - * @brief Configure the SCL speed. - * @note This bit can only be programmed when the I2C is disabled (PE = 0). - * @rmtoll CR2 FREQ LL_I2C_ConfigSpeed\n - * TRISE TRISE LL_I2C_ConfigSpeed\n - * CCR FS LL_I2C_ConfigSpeed\n - * CCR DUTY LL_I2C_ConfigSpeed\n - * CCR CCR LL_I2C_ConfigSpeed - * @param I2Cx I2C Instance. - * @param PeriphClock Peripheral Clock (in Hz) - * @param ClockSpeed This parameter must be a value lower than 400kHz (in Hz). - * @param DutyCycle This parameter can be one of the following values: - * @arg @ref LL_I2C_DUTYCYCLE_2 - * @arg @ref LL_I2C_DUTYCYCLE_16_9 - * @retval None - */ -__STATIC_INLINE void LL_I2C_ConfigSpeed(I2C_TypeDef *I2Cx, uint32_t PeriphClock, uint32_t ClockSpeed, - uint32_t DutyCycle) -{ - uint32_t freqrange = 0x0U; - uint32_t clockconfig = 0x0U; - - /* Compute frequency range */ - freqrange = __LL_I2C_FREQ_HZ_TO_MHZ(PeriphClock); - - /* Configure I2Cx: Frequency range register */ - MODIFY_REG(I2Cx->CR2, I2C_CR2_FREQ, freqrange); - - /* Configure I2Cx: Rise Time register */ - MODIFY_REG(I2Cx->TRISE, I2C_TRISE_TRISE, __LL_I2C_RISE_TIME(freqrange, ClockSpeed)); - - /* Configure Speed mode, Duty Cycle and Clock control register value */ - if (ClockSpeed > LL_I2C_MAX_SPEED_STANDARD) - { - /* Set Speed mode at fast and duty cycle for Clock Speed request in fast clock range */ - clockconfig = LL_I2C_CLOCK_SPEED_FAST_MODE | \ - __LL_I2C_SPEED_FAST_TO_CCR(PeriphClock, ClockSpeed, DutyCycle) | \ - DutyCycle; - } - else - { - /* Set Speed mode at standard for Clock Speed request in standard clock range */ - clockconfig = LL_I2C_CLOCK_SPEED_STANDARD_MODE | \ - __LL_I2C_SPEED_STANDARD_TO_CCR(PeriphClock, ClockSpeed); - } - - /* Configure I2Cx: Clock control register */ - MODIFY_REG(I2Cx->CCR, (I2C_CCR_FS | I2C_CCR_DUTY | I2C_CCR_CCR), clockconfig); -} - -/** - * @brief Configure peripheral mode. - * @note Macro @ref IS_SMBUS_ALL_INSTANCE(I2Cx) can be used to check whether or not - * SMBus feature is supported by the I2Cx Instance. - * @rmtoll CR1 SMBUS LL_I2C_SetMode\n - * CR1 SMBTYPE LL_I2C_SetMode\n - * CR1 ENARP LL_I2C_SetMode - * @param I2Cx I2C Instance. - * @param PeripheralMode This parameter can be one of the following values: - * @arg @ref LL_I2C_MODE_I2C - * @arg @ref LL_I2C_MODE_SMBUS_HOST - * @arg @ref LL_I2C_MODE_SMBUS_DEVICE - * @arg @ref LL_I2C_MODE_SMBUS_DEVICE_ARP - * @retval None - */ -__STATIC_INLINE void LL_I2C_SetMode(I2C_TypeDef *I2Cx, uint32_t PeripheralMode) -{ - MODIFY_REG(I2Cx->CR1, I2C_CR1_SMBUS | I2C_CR1_SMBTYPE | I2C_CR1_ENARP, PeripheralMode); -} - -/** - * @brief Get peripheral mode. - * @note Macro @ref IS_SMBUS_ALL_INSTANCE(I2Cx) can be used to check whether or not - * SMBus feature is supported by the I2Cx Instance. - * @rmtoll CR1 SMBUS LL_I2C_GetMode\n - * CR1 SMBTYPE LL_I2C_GetMode\n - * CR1 ENARP LL_I2C_GetMode - * @param I2Cx I2C Instance. - * @retval Returned value can be one of the following values: - * @arg @ref LL_I2C_MODE_I2C - * @arg @ref LL_I2C_MODE_SMBUS_HOST - * @arg @ref LL_I2C_MODE_SMBUS_DEVICE - * @arg @ref LL_I2C_MODE_SMBUS_DEVICE_ARP - */ -__STATIC_INLINE uint32_t LL_I2C_GetMode(I2C_TypeDef *I2Cx) -{ - return (uint32_t)(READ_BIT(I2Cx->CR1, I2C_CR1_SMBUS | I2C_CR1_SMBTYPE | I2C_CR1_ENARP)); -} - -/** - * @brief Enable SMBus alert (Host or Device mode) - * @note Macro @ref IS_SMBUS_ALL_INSTANCE(I2Cx) can be used to check whether or not - * SMBus feature is supported by the I2Cx Instance. - * @note SMBus Device mode: - * - SMBus Alert pin is drived low and - * Alert Response Address Header acknowledge is enabled. - * SMBus Host mode: - * - SMBus Alert pin management is supported. - * @rmtoll CR1 ALERT LL_I2C_EnableSMBusAlert - * @param I2Cx I2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_I2C_EnableSMBusAlert(I2C_TypeDef *I2Cx) -{ - SET_BIT(I2Cx->CR1, I2C_CR1_ALERT); -} - -/** - * @brief Disable SMBus alert (Host or Device mode) - * @note Macro @ref IS_SMBUS_ALL_INSTANCE(I2Cx) can be used to check whether or not - * SMBus feature is supported by the I2Cx Instance. - * @note SMBus Device mode: - * - SMBus Alert pin is not drived (can be used as a standard GPIO) and - * Alert Response Address Header acknowledge is disabled. - * SMBus Host mode: - * - SMBus Alert pin management is not supported. - * @rmtoll CR1 ALERT LL_I2C_DisableSMBusAlert - * @param I2Cx I2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_I2C_DisableSMBusAlert(I2C_TypeDef *I2Cx) -{ - CLEAR_BIT(I2Cx->CR1, I2C_CR1_ALERT); -} - -/** - * @brief Check if SMBus alert (Host or Device mode) is enabled or disabled. - * @note Macro @ref IS_SMBUS_ALL_INSTANCE(I2Cx) can be used to check whether or not - * SMBus feature is supported by the I2Cx Instance. - * @rmtoll CR1 ALERT LL_I2C_IsEnabledSMBusAlert - * @param I2Cx I2C Instance. - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_I2C_IsEnabledSMBusAlert(I2C_TypeDef *I2Cx) -{ - return (READ_BIT(I2Cx->CR1, I2C_CR1_ALERT) == (I2C_CR1_ALERT)); -} - -/** - * @brief Enable SMBus Packet Error Calculation (PEC). - * @note Macro @ref IS_SMBUS_ALL_INSTANCE(I2Cx) can be used to check whether or not - * SMBus feature is supported by the I2Cx Instance. - * @rmtoll CR1 ENPEC LL_I2C_EnableSMBusPEC - * @param I2Cx I2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_I2C_EnableSMBusPEC(I2C_TypeDef *I2Cx) -{ - SET_BIT(I2Cx->CR1, I2C_CR1_ENPEC); -} - -/** - * @brief Disable SMBus Packet Error Calculation (PEC). - * @note Macro @ref IS_SMBUS_ALL_INSTANCE(I2Cx) can be used to check whether or not - * SMBus feature is supported by the I2Cx Instance. - * @rmtoll CR1 ENPEC LL_I2C_DisableSMBusPEC - * @param I2Cx I2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_I2C_DisableSMBusPEC(I2C_TypeDef *I2Cx) -{ - CLEAR_BIT(I2Cx->CR1, I2C_CR1_ENPEC); -} - -/** - * @brief Check if SMBus Packet Error Calculation (PEC) is enabled or disabled. - * @note Macro @ref IS_SMBUS_ALL_INSTANCE(I2Cx) can be used to check whether or not - * SMBus feature is supported by the I2Cx Instance. - * @rmtoll CR1 ENPEC LL_I2C_IsEnabledSMBusPEC - * @param I2Cx I2C Instance. - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_I2C_IsEnabledSMBusPEC(I2C_TypeDef *I2Cx) -{ - return (READ_BIT(I2Cx->CR1, I2C_CR1_ENPEC) == (I2C_CR1_ENPEC)); -} - -/** - * @} - */ - -/** @defgroup I2C_LL_EF_IT_Management IT_Management - * @{ - */ - -/** - * @brief Enable TXE interrupt. - * @rmtoll CR2 ITEVTEN LL_I2C_EnableIT_TX\n - * CR2 ITBUFEN LL_I2C_EnableIT_TX - * @param I2Cx I2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_I2C_EnableIT_TX(I2C_TypeDef *I2Cx) -{ - SET_BIT(I2Cx->CR2, I2C_CR2_ITEVTEN | I2C_CR2_ITBUFEN); -} - -/** - * @brief Disable TXE interrupt. - * @rmtoll CR2 ITEVTEN LL_I2C_DisableIT_TX\n - * CR2 ITBUFEN LL_I2C_DisableIT_TX - * @param I2Cx I2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_I2C_DisableIT_TX(I2C_TypeDef *I2Cx) -{ - CLEAR_BIT(I2Cx->CR2, I2C_CR2_ITEVTEN | I2C_CR2_ITBUFEN); -} - -/** - * @brief Check if the TXE Interrupt is enabled or disabled. - * @rmtoll CR2 ITEVTEN LL_I2C_IsEnabledIT_TX\n - * CR2 ITBUFEN LL_I2C_IsEnabledIT_TX - * @param I2Cx I2C Instance. - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_I2C_IsEnabledIT_TX(I2C_TypeDef *I2Cx) -{ - return (READ_BIT(I2Cx->CR2, I2C_CR2_ITEVTEN | I2C_CR2_ITBUFEN) == (I2C_CR2_ITEVTEN | I2C_CR2_ITBUFEN)); -} - -/** - * @brief Enable RXNE interrupt. - * @rmtoll CR2 ITEVTEN LL_I2C_EnableIT_RX\n - * CR2 ITBUFEN LL_I2C_EnableIT_RX - * @param I2Cx I2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_I2C_EnableIT_RX(I2C_TypeDef *I2Cx) -{ - SET_BIT(I2Cx->CR2, I2C_CR2_ITEVTEN | I2C_CR2_ITBUFEN); -} - -/** - * @brief Disable RXNE interrupt. - * @rmtoll CR2 ITEVTEN LL_I2C_DisableIT_RX\n - * CR2 ITBUFEN LL_I2C_DisableIT_RX - * @param I2Cx I2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_I2C_DisableIT_RX(I2C_TypeDef *I2Cx) -{ - CLEAR_BIT(I2Cx->CR2, I2C_CR2_ITEVTEN | I2C_CR2_ITBUFEN); -} - -/** - * @brief Check if the RXNE Interrupt is enabled or disabled. - * @rmtoll CR2 ITEVTEN LL_I2C_IsEnabledIT_RX\n - * CR2 ITBUFEN LL_I2C_IsEnabledIT_RX - * @param I2Cx I2C Instance. - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_I2C_IsEnabledIT_RX(I2C_TypeDef *I2Cx) -{ - return (READ_BIT(I2Cx->CR2, I2C_CR2_ITEVTEN | I2C_CR2_ITBUFEN) == (I2C_CR2_ITEVTEN | I2C_CR2_ITBUFEN)); -} - -/** - * @brief Enable Events interrupts. - * @note Any of these events will generate interrupt : - * Start Bit (SB) - * Address sent, Address matched (ADDR) - * 10-bit header sent (ADD10) - * Stop detection (STOPF) - * Byte transfer finished (BTF) - * - * @note Any of these events will generate interrupt if Buffer interrupts are enabled too(using unitary function @ref LL_I2C_EnableIT_BUF()) : - * Receive buffer not empty (RXNE) - * Transmit buffer empty (TXE) - * @rmtoll CR2 ITEVTEN LL_I2C_EnableIT_EVT - * @param I2Cx I2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_I2C_EnableIT_EVT(I2C_TypeDef *I2Cx) -{ - SET_BIT(I2Cx->CR2, I2C_CR2_ITEVTEN); -} - -/** - * @brief Disable Events interrupts. - * @note Any of these events will generate interrupt : - * Start Bit (SB) - * Address sent, Address matched (ADDR) - * 10-bit header sent (ADD10) - * Stop detection (STOPF) - * Byte transfer finished (BTF) - * Receive buffer not empty (RXNE) - * Transmit buffer empty (TXE) - * @rmtoll CR2 ITEVTEN LL_I2C_DisableIT_EVT - * @param I2Cx I2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_I2C_DisableIT_EVT(I2C_TypeDef *I2Cx) -{ - CLEAR_BIT(I2Cx->CR2, I2C_CR2_ITEVTEN); -} - -/** - * @brief Check if Events interrupts are enabled or disabled. - * @rmtoll CR2 ITEVTEN LL_I2C_IsEnabledIT_EVT - * @param I2Cx I2C Instance. - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_I2C_IsEnabledIT_EVT(I2C_TypeDef *I2Cx) -{ - return (READ_BIT(I2Cx->CR2, I2C_CR2_ITEVTEN) == (I2C_CR2_ITEVTEN)); -} - -/** - * @brief Enable Buffer interrupts. - * @note Any of these Buffer events will generate interrupt if Events interrupts are enabled too(using unitary function @ref LL_I2C_EnableIT_EVT()) : - * Receive buffer not empty (RXNE) - * Transmit buffer empty (TXE) - * @rmtoll CR2 ITBUFEN LL_I2C_EnableIT_BUF - * @param I2Cx I2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_I2C_EnableIT_BUF(I2C_TypeDef *I2Cx) -{ - SET_BIT(I2Cx->CR2, I2C_CR2_ITBUFEN); -} - -/** - * @brief Disable Buffer interrupts. - * @note Any of these Buffer events will generate interrupt : - * Receive buffer not empty (RXNE) - * Transmit buffer empty (TXE) - * @rmtoll CR2 ITBUFEN LL_I2C_DisableIT_BUF - * @param I2Cx I2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_I2C_DisableIT_BUF(I2C_TypeDef *I2Cx) -{ - CLEAR_BIT(I2Cx->CR2, I2C_CR2_ITBUFEN); -} - -/** - * @brief Check if Buffer interrupts are enabled or disabled. - * @rmtoll CR2 ITBUFEN LL_I2C_IsEnabledIT_BUF - * @param I2Cx I2C Instance. - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_I2C_IsEnabledIT_BUF(I2C_TypeDef *I2Cx) -{ - return (READ_BIT(I2Cx->CR2, I2C_CR2_ITBUFEN) == (I2C_CR2_ITBUFEN)); -} - -/** - * @brief Enable Error interrupts. - * @note Macro @ref IS_SMBUS_ALL_INSTANCE(I2Cx) can be used to check whether or not - * SMBus feature is supported by the I2Cx Instance. - * @note Any of these errors will generate interrupt : - * Bus Error detection (BERR) - * Arbitration Loss (ARLO) - * Acknowledge Failure(AF) - * Overrun/Underrun (OVR) - * SMBus Timeout detection (TIMEOUT) - * SMBus PEC error detection (PECERR) - * SMBus Alert pin event detection (SMBALERT) - * @rmtoll CR2 ITERREN LL_I2C_EnableIT_ERR - * @param I2Cx I2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_I2C_EnableIT_ERR(I2C_TypeDef *I2Cx) -{ - SET_BIT(I2Cx->CR2, I2C_CR2_ITERREN); -} - -/** - * @brief Disable Error interrupts. - * @note Macro @ref IS_SMBUS_ALL_INSTANCE(I2Cx) can be used to check whether or not - * SMBus feature is supported by the I2Cx Instance. - * @note Any of these errors will generate interrupt : - * Bus Error detection (BERR) - * Arbitration Loss (ARLO) - * Acknowledge Failure(AF) - * Overrun/Underrun (OVR) - * SMBus Timeout detection (TIMEOUT) - * SMBus PEC error detection (PECERR) - * SMBus Alert pin event detection (SMBALERT) - * @rmtoll CR2 ITERREN LL_I2C_DisableIT_ERR - * @param I2Cx I2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_I2C_DisableIT_ERR(I2C_TypeDef *I2Cx) -{ - CLEAR_BIT(I2Cx->CR2, I2C_CR2_ITERREN); -} - -/** - * @brief Check if Error interrupts are enabled or disabled. - * @rmtoll CR2 ITERREN LL_I2C_IsEnabledIT_ERR - * @param I2Cx I2C Instance. - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_I2C_IsEnabledIT_ERR(I2C_TypeDef *I2Cx) -{ - return (READ_BIT(I2Cx->CR2, I2C_CR2_ITERREN) == (I2C_CR2_ITERREN)); -} - -/** - * @} - */ - -/** @defgroup I2C_LL_EF_FLAG_management FLAG_management - * @{ - */ - -/** - * @brief Indicate the status of Transmit data register empty flag. - * @note RESET: When next data is written in Transmit data register. - * SET: When Transmit data register is empty. - * @rmtoll SR1 TXE LL_I2C_IsActiveFlag_TXE - * @param I2Cx I2C Instance. - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_I2C_IsActiveFlag_TXE(I2C_TypeDef *I2Cx) -{ - return (READ_BIT(I2Cx->SR1, I2C_SR1_TXE) == (I2C_SR1_TXE)); -} - -/** - * @brief Indicate the status of Byte Transfer Finished flag. - * RESET: When Data byte transfer not done. - * SET: When Data byte transfer succeeded. - * @rmtoll SR1 BTF LL_I2C_IsActiveFlag_BTF - * @param I2Cx I2C Instance. - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_I2C_IsActiveFlag_BTF(I2C_TypeDef *I2Cx) -{ - return (READ_BIT(I2Cx->SR1, I2C_SR1_BTF) == (I2C_SR1_BTF)); -} - -/** - * @brief Indicate the status of Receive data register not empty flag. - * @note RESET: When Receive data register is read. - * SET: When the received data is copied in Receive data register. - * @rmtoll SR1 RXNE LL_I2C_IsActiveFlag_RXNE - * @param I2Cx I2C Instance. - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_I2C_IsActiveFlag_RXNE(I2C_TypeDef *I2Cx) -{ - return (READ_BIT(I2Cx->SR1, I2C_SR1_RXNE) == (I2C_SR1_RXNE)); -} - -/** - * @brief Indicate the status of Start Bit (master mode). - * @note RESET: When No Start condition. - * SET: When Start condition is generated. - * @rmtoll SR1 SB LL_I2C_IsActiveFlag_SB - * @param I2Cx I2C Instance. - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_I2C_IsActiveFlag_SB(I2C_TypeDef *I2Cx) -{ - return (READ_BIT(I2Cx->SR1, I2C_SR1_SB) == (I2C_SR1_SB)); -} - -/** - * @brief Indicate the status of Address sent (master mode) or Address matched flag (slave mode). - * @note RESET: Clear default value. - * SET: When the address is fully sent (master mode) or when the received slave address matched with one of the enabled slave address (slave mode). - * @rmtoll SR1 ADDR LL_I2C_IsActiveFlag_ADDR - * @param I2Cx I2C Instance. - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_I2C_IsActiveFlag_ADDR(I2C_TypeDef *I2Cx) -{ - return (READ_BIT(I2Cx->SR1, I2C_SR1_ADDR) == (I2C_SR1_ADDR)); -} - -/** - * @brief Indicate the status of 10-bit header sent (master mode). - * @note RESET: When no ADD10 event occurred. - * SET: When the master has sent the first address byte (header). - * @rmtoll SR1 ADD10 LL_I2C_IsActiveFlag_ADD10 - * @param I2Cx I2C Instance. - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_I2C_IsActiveFlag_ADD10(I2C_TypeDef *I2Cx) -{ - return (READ_BIT(I2Cx->SR1, I2C_SR1_ADD10) == (I2C_SR1_ADD10)); -} - -/** - * @brief Indicate the status of Acknowledge failure flag. - * @note RESET: No acknowledge failure. - * SET: When an acknowledge failure is received after a byte transmission. - * @rmtoll SR1 AF LL_I2C_IsActiveFlag_AF - * @param I2Cx I2C Instance. - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_I2C_IsActiveFlag_AF(I2C_TypeDef *I2Cx) -{ - return (READ_BIT(I2Cx->SR1, I2C_SR1_AF) == (I2C_SR1_AF)); -} - -/** - * @brief Indicate the status of Stop detection flag (slave mode). - * @note RESET: Clear default value. - * SET: When a Stop condition is detected. - * @rmtoll SR1 STOPF LL_I2C_IsActiveFlag_STOP - * @param I2Cx I2C Instance. - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_I2C_IsActiveFlag_STOP(I2C_TypeDef *I2Cx) -{ - return (READ_BIT(I2Cx->SR1, I2C_SR1_STOPF) == (I2C_SR1_STOPF)); -} - -/** - * @brief Indicate the status of Bus error flag. - * @note RESET: Clear default value. - * SET: When a misplaced Start or Stop condition is detected. - * @rmtoll SR1 BERR LL_I2C_IsActiveFlag_BERR - * @param I2Cx I2C Instance. - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_I2C_IsActiveFlag_BERR(I2C_TypeDef *I2Cx) -{ - return (READ_BIT(I2Cx->SR1, I2C_SR1_BERR) == (I2C_SR1_BERR)); -} - -/** - * @brief Indicate the status of Arbitration lost flag. - * @note RESET: Clear default value. - * SET: When arbitration lost. - * @rmtoll SR1 ARLO LL_I2C_IsActiveFlag_ARLO - * @param I2Cx I2C Instance. - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_I2C_IsActiveFlag_ARLO(I2C_TypeDef *I2Cx) -{ - return (READ_BIT(I2Cx->SR1, I2C_SR1_ARLO) == (I2C_SR1_ARLO)); -} - -/** - * @brief Indicate the status of Overrun/Underrun flag. - * @note RESET: Clear default value. - * SET: When an overrun/underrun error occurs (Clock Stretching Disabled). - * @rmtoll SR1 OVR LL_I2C_IsActiveFlag_OVR - * @param I2Cx I2C Instance. - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_I2C_IsActiveFlag_OVR(I2C_TypeDef *I2Cx) -{ - return (READ_BIT(I2Cx->SR1, I2C_SR1_OVR) == (I2C_SR1_OVR)); -} - -/** - * @brief Indicate the status of SMBus PEC error flag in reception. - * @note Macro @ref IS_SMBUS_ALL_INSTANCE(I2Cx) can be used to check whether or not - * SMBus feature is supported by the I2Cx Instance. - * @rmtoll SR1 PECERR LL_I2C_IsActiveSMBusFlag_PECERR - * @param I2Cx I2C Instance. - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_I2C_IsActiveSMBusFlag_PECERR(I2C_TypeDef *I2Cx) -{ - return (READ_BIT(I2Cx->SR1, I2C_SR1_PECERR) == (I2C_SR1_PECERR)); -} - -/** - * @brief Indicate the status of SMBus Timeout detection flag. - * @note Macro @ref IS_SMBUS_ALL_INSTANCE(I2Cx) can be used to check whether or not - * SMBus feature is supported by the I2Cx Instance. - * @rmtoll SR1 TIMEOUT LL_I2C_IsActiveSMBusFlag_TIMEOUT - * @param I2Cx I2C Instance. - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_I2C_IsActiveSMBusFlag_TIMEOUT(I2C_TypeDef *I2Cx) -{ - return (READ_BIT(I2Cx->SR1, I2C_SR1_TIMEOUT) == (I2C_SR1_TIMEOUT)); -} - -/** - * @brief Indicate the status of SMBus alert flag. - * @note Macro @ref IS_SMBUS_ALL_INSTANCE(I2Cx) can be used to check whether or not - * SMBus feature is supported by the I2Cx Instance. - * @rmtoll SR1 SMBALERT LL_I2C_IsActiveSMBusFlag_ALERT - * @param I2Cx I2C Instance. - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_I2C_IsActiveSMBusFlag_ALERT(I2C_TypeDef *I2Cx) -{ - return (READ_BIT(I2Cx->SR1, I2C_SR1_SMBALERT) == (I2C_SR1_SMBALERT)); -} - -/** - * @brief Indicate the status of Bus Busy flag. - * @note RESET: Clear default value. - * SET: When a Start condition is detected. - * @rmtoll SR2 BUSY LL_I2C_IsActiveFlag_BUSY - * @param I2Cx I2C Instance. - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_I2C_IsActiveFlag_BUSY(I2C_TypeDef *I2Cx) -{ - return (READ_BIT(I2Cx->SR2, I2C_SR2_BUSY) == (I2C_SR2_BUSY)); -} - -/** - * @brief Indicate the status of Dual flag. - * @note RESET: Received address matched with OAR1. - * SET: Received address matched with OAR2. - * @rmtoll SR2 DUALF LL_I2C_IsActiveFlag_DUAL - * @param I2Cx I2C Instance. - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_I2C_IsActiveFlag_DUAL(I2C_TypeDef *I2Cx) -{ - return (READ_BIT(I2Cx->SR2, I2C_SR2_DUALF) == (I2C_SR2_DUALF)); -} - -/** - * @brief Indicate the status of SMBus Host address reception (Slave mode). - * @note Macro @ref IS_SMBUS_ALL_INSTANCE(I2Cx) can be used to check whether or not - * SMBus feature is supported by the I2Cx Instance. - * @note RESET: No SMBus Host address - * SET: SMBus Host address received. - * @note This status is cleared by hardware after a STOP condition or repeated START condition. - * @rmtoll SR2 SMBHOST LL_I2C_IsActiveSMBusFlag_SMBHOST - * @param I2Cx I2C Instance. - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_I2C_IsActiveSMBusFlag_SMBHOST(I2C_TypeDef *I2Cx) -{ - return (READ_BIT(I2Cx->SR2, I2C_SR2_SMBHOST) == (I2C_SR2_SMBHOST)); -} - -/** - * @brief Indicate the status of SMBus Device default address reception (Slave mode). - * @note Macro @ref IS_SMBUS_ALL_INSTANCE(I2Cx) can be used to check whether or not - * SMBus feature is supported by the I2Cx Instance. - * @note RESET: No SMBus Device default address - * SET: SMBus Device default address received. - * @note This status is cleared by hardware after a STOP condition or repeated START condition. - * @rmtoll SR2 SMBDEFAULT LL_I2C_IsActiveSMBusFlag_SMBDEFAULT - * @param I2Cx I2C Instance. - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_I2C_IsActiveSMBusFlag_SMBDEFAULT(I2C_TypeDef *I2Cx) -{ - return (READ_BIT(I2Cx->SR2, I2C_SR2_SMBDEFAULT) == (I2C_SR2_SMBDEFAULT)); -} - -/** - * @brief Indicate the status of General call address reception (Slave mode). - * @note RESET: No General call address - * SET: General call address received. - * @note This status is cleared by hardware after a STOP condition or repeated START condition. - * @rmtoll SR2 GENCALL LL_I2C_IsActiveFlag_GENCALL - * @param I2Cx I2C Instance. - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_I2C_IsActiveFlag_GENCALL(I2C_TypeDef *I2Cx) -{ - return (READ_BIT(I2Cx->SR2, I2C_SR2_GENCALL) == (I2C_SR2_GENCALL)); -} - -/** - * @brief Indicate the status of Master/Slave flag. - * @note RESET: Slave Mode. - * SET: Master Mode. - * @rmtoll SR2 MSL LL_I2C_IsActiveFlag_MSL - * @param I2Cx I2C Instance. - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_I2C_IsActiveFlag_MSL(I2C_TypeDef *I2Cx) -{ - return (READ_BIT(I2Cx->SR2, I2C_SR2_MSL) == (I2C_SR2_MSL)); -} - -/** - * @brief Clear Address Matched flag. - * @note Clearing this flag is done by a read access to the I2Cx_SR1 - * register followed by a read access to the I2Cx_SR2 register. - * @rmtoll SR1 ADDR LL_I2C_ClearFlag_ADDR - * @param I2Cx I2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_I2C_ClearFlag_ADDR(I2C_TypeDef *I2Cx) -{ - __IO uint32_t tmpreg; - tmpreg = I2Cx->SR1; - (void) tmpreg; - tmpreg = I2Cx->SR2; - (void) tmpreg; -} - -/** - * @brief Clear Acknowledge failure flag. - * @rmtoll SR1 AF LL_I2C_ClearFlag_AF - * @param I2Cx I2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_I2C_ClearFlag_AF(I2C_TypeDef *I2Cx) -{ - CLEAR_BIT(I2Cx->SR1, I2C_SR1_AF); -} - -/** - * @brief Clear Stop detection flag. - * @note Clearing this flag is done by a read access to the I2Cx_SR1 - * register followed by a write access to I2Cx_CR1 register. - * @rmtoll SR1 STOPF LL_I2C_ClearFlag_STOP\n - * CR1 PE LL_I2C_ClearFlag_STOP - * @param I2Cx I2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_I2C_ClearFlag_STOP(I2C_TypeDef *I2Cx) -{ - __IO uint32_t tmpreg; - tmpreg = I2Cx->SR1; - (void) tmpreg; - SET_BIT(I2Cx->CR1, I2C_CR1_PE); -} - -/** - * @brief Clear Bus error flag. - * @rmtoll SR1 BERR LL_I2C_ClearFlag_BERR - * @param I2Cx I2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_I2C_ClearFlag_BERR(I2C_TypeDef *I2Cx) -{ - CLEAR_BIT(I2Cx->SR1, I2C_SR1_BERR); -} - -/** - * @brief Clear Arbitration lost flag. - * @rmtoll SR1 ARLO LL_I2C_ClearFlag_ARLO - * @param I2Cx I2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_I2C_ClearFlag_ARLO(I2C_TypeDef *I2Cx) -{ - CLEAR_BIT(I2Cx->SR1, I2C_SR1_ARLO); -} - -/** - * @brief Clear Overrun/Underrun flag. - * @rmtoll SR1 OVR LL_I2C_ClearFlag_OVR - * @param I2Cx I2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_I2C_ClearFlag_OVR(I2C_TypeDef *I2Cx) -{ - CLEAR_BIT(I2Cx->SR1, I2C_SR1_OVR); -} - -/** - * @brief Clear SMBus PEC error flag. - * @rmtoll SR1 PECERR LL_I2C_ClearSMBusFlag_PECERR - * @param I2Cx I2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_I2C_ClearSMBusFlag_PECERR(I2C_TypeDef *I2Cx) -{ - CLEAR_BIT(I2Cx->SR1, I2C_SR1_PECERR); -} - -/** - * @brief Clear SMBus Timeout detection flag. - * @note Macro @ref IS_SMBUS_ALL_INSTANCE(I2Cx) can be used to check whether or not - * SMBus feature is supported by the I2Cx Instance. - * @rmtoll SR1 TIMEOUT LL_I2C_ClearSMBusFlag_TIMEOUT - * @param I2Cx I2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_I2C_ClearSMBusFlag_TIMEOUT(I2C_TypeDef *I2Cx) -{ - CLEAR_BIT(I2Cx->SR1, I2C_SR1_TIMEOUT); -} - -/** - * @brief Clear SMBus Alert flag. - * @note Macro @ref IS_SMBUS_ALL_INSTANCE(I2Cx) can be used to check whether or not - * SMBus feature is supported by the I2Cx Instance. - * @rmtoll SR1 SMBALERT LL_I2C_ClearSMBusFlag_ALERT - * @param I2Cx I2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_I2C_ClearSMBusFlag_ALERT(I2C_TypeDef *I2Cx) -{ - CLEAR_BIT(I2Cx->SR1, I2C_SR1_SMBALERT); -} - -/** - * @} - */ - -/** @defgroup I2C_LL_EF_Data_Management Data_Management - * @{ - */ - -/** - * @brief Enable Reset of I2C peripheral. - * @rmtoll CR1 SWRST LL_I2C_EnableReset - * @param I2Cx I2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_I2C_EnableReset(I2C_TypeDef *I2Cx) -{ - SET_BIT(I2Cx->CR1, I2C_CR1_SWRST); -} - -/** - * @brief Disable Reset of I2C peripheral. - * @rmtoll CR1 SWRST LL_I2C_DisableReset - * @param I2Cx I2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_I2C_DisableReset(I2C_TypeDef *I2Cx) -{ - CLEAR_BIT(I2Cx->CR1, I2C_CR1_SWRST); -} - -/** - * @brief Check if the I2C peripheral is under reset state or not. - * @rmtoll CR1 SWRST LL_I2C_IsResetEnabled - * @param I2Cx I2C Instance. - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_I2C_IsResetEnabled(I2C_TypeDef *I2Cx) -{ - return (READ_BIT(I2Cx->CR1, I2C_CR1_SWRST) == (I2C_CR1_SWRST)); -} - -/** - * @brief Prepare the generation of a ACKnowledge or Non ACKnowledge condition after the address receive match code or next received byte. - * @note Usage in Slave or Master mode. - * @rmtoll CR1 ACK LL_I2C_AcknowledgeNextData - * @param I2Cx I2C Instance. - * @param TypeAcknowledge This parameter can be one of the following values: - * @arg @ref LL_I2C_ACK - * @arg @ref LL_I2C_NACK - * @retval None - */ -__STATIC_INLINE void LL_I2C_AcknowledgeNextData(I2C_TypeDef *I2Cx, uint32_t TypeAcknowledge) -{ - MODIFY_REG(I2Cx->CR1, I2C_CR1_ACK, TypeAcknowledge); -} - -/** - * @brief Generate a START or RESTART condition - * @note The START bit can be set even if bus is BUSY or I2C is in slave mode. - * This action has no effect when RELOAD is set. - * @rmtoll CR1 START LL_I2C_GenerateStartCondition - * @param I2Cx I2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_I2C_GenerateStartCondition(I2C_TypeDef *I2Cx) -{ - SET_BIT(I2Cx->CR1, I2C_CR1_START); -} - -/** - * @brief Generate a STOP condition after the current byte transfer (master mode). - * @rmtoll CR1 STOP LL_I2C_GenerateStopCondition - * @param I2Cx I2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_I2C_GenerateStopCondition(I2C_TypeDef *I2Cx) -{ - SET_BIT(I2Cx->CR1, I2C_CR1_STOP); -} - -/** - * @brief Enable bit POS (master/host mode). - * @note In that case, the ACK bit controls the (N)ACK of the next byte received or the PEC bit indicates that the next byte in shift register is a PEC. - * @rmtoll CR1 POS LL_I2C_EnableBitPOS - * @param I2Cx I2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_I2C_EnableBitPOS(I2C_TypeDef *I2Cx) -{ - SET_BIT(I2Cx->CR1, I2C_CR1_POS); -} - -/** - * @brief Disable bit POS (master/host mode). - * @note In that case, the ACK bit controls the (N)ACK of the current byte received or the PEC bit indicates that the current byte in shift register is a PEC. - * @rmtoll CR1 POS LL_I2C_DisableBitPOS - * @param I2Cx I2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_I2C_DisableBitPOS(I2C_TypeDef *I2Cx) -{ - CLEAR_BIT(I2Cx->CR1, I2C_CR1_POS); -} - -/** - * @brief Check if bit POS is enabled or disabled. - * @rmtoll CR1 POS LL_I2C_IsEnabledBitPOS - * @param I2Cx I2C Instance. - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_I2C_IsEnabledBitPOS(I2C_TypeDef *I2Cx) -{ - return (READ_BIT(I2Cx->CR1, I2C_CR1_POS) == (I2C_CR1_POS)); -} - -/** - * @brief Indicate the value of transfer direction. - * @note RESET: Bus is in read transfer (peripheral point of view). - * SET: Bus is in write transfer (peripheral point of view). - * @rmtoll SR2 TRA LL_I2C_GetTransferDirection - * @param I2Cx I2C Instance. - * @retval Returned value can be one of the following values: - * @arg @ref LL_I2C_DIRECTION_WRITE - * @arg @ref LL_I2C_DIRECTION_READ - */ -__STATIC_INLINE uint32_t LL_I2C_GetTransferDirection(I2C_TypeDef *I2Cx) -{ - return (uint32_t)(READ_BIT(I2Cx->SR2, I2C_SR2_TRA)); -} - -/** - * @brief Enable DMA last transfer. - * @note This action mean that next DMA EOT is the last transfer. - * @rmtoll CR2 LAST LL_I2C_EnableLastDMA - * @param I2Cx I2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_I2C_EnableLastDMA(I2C_TypeDef *I2Cx) -{ - SET_BIT(I2Cx->CR2, I2C_CR2_LAST); -} - -/** - * @brief Disable DMA last transfer. - * @note This action mean that next DMA EOT is not the last transfer. - * @rmtoll CR2 LAST LL_I2C_DisableLastDMA - * @param I2Cx I2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_I2C_DisableLastDMA(I2C_TypeDef *I2Cx) -{ - CLEAR_BIT(I2Cx->CR2, I2C_CR2_LAST); -} - -/** - * @brief Check if DMA last transfer is enabled or disabled. - * @rmtoll CR2 LAST LL_I2C_IsEnabledLastDMA - * @param I2Cx I2C Instance. - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_I2C_IsEnabledLastDMA(I2C_TypeDef *I2Cx) -{ - return (READ_BIT(I2Cx->CR2, I2C_CR2_LAST) == (I2C_CR2_LAST)); -} - -/** - * @brief Enable transfer or internal comparison of the SMBus Packet Error byte (transmission or reception mode). - * @note Macro @ref IS_SMBUS_ALL_INSTANCE(I2Cx) can be used to check whether or not - * SMBus feature is supported by the I2Cx Instance. - * @note This feature is cleared by hardware when the PEC byte is transferred or compared, - * or by a START or STOP condition, it is also cleared by software. - * @rmtoll CR1 PEC LL_I2C_EnableSMBusPECCompare - * @param I2Cx I2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_I2C_EnableSMBusPECCompare(I2C_TypeDef *I2Cx) -{ - SET_BIT(I2Cx->CR1, I2C_CR1_PEC); -} - -/** - * @brief Disable transfer or internal comparison of the SMBus Packet Error byte (transmission or reception mode). - * @note Macro @ref IS_SMBUS_ALL_INSTANCE(I2Cx) can be used to check whether or not - * SMBus feature is supported by the I2Cx Instance. - * @rmtoll CR1 PEC LL_I2C_DisableSMBusPECCompare - * @param I2Cx I2C Instance. - * @retval None - */ -__STATIC_INLINE void LL_I2C_DisableSMBusPECCompare(I2C_TypeDef *I2Cx) -{ - CLEAR_BIT(I2Cx->CR1, I2C_CR1_PEC); -} - -/** - * @brief Check if the SMBus Packet Error byte transfer or internal comparison is requested or not. - * @note Macro @ref IS_SMBUS_ALL_INSTANCE(I2Cx) can be used to check whether or not - * SMBus feature is supported by the I2Cx Instance. - * @rmtoll CR1 PEC LL_I2C_IsEnabledSMBusPECCompare - * @param I2Cx I2C Instance. - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_I2C_IsEnabledSMBusPECCompare(I2C_TypeDef *I2Cx) -{ - return (READ_BIT(I2Cx->CR1, I2C_CR1_PEC) == (I2C_CR1_PEC)); -} - -/** - * @brief Get the SMBus Packet Error byte calculated. - * @note Macro @ref IS_SMBUS_ALL_INSTANCE(I2Cx) can be used to check whether or not - * SMBus feature is supported by the I2Cx Instance. - * @rmtoll SR2 PEC LL_I2C_GetSMBusPEC - * @param I2Cx I2C Instance. - * @retval Value between Min_Data=0x00 and Max_Data=0xFF - */ -__STATIC_INLINE uint32_t LL_I2C_GetSMBusPEC(I2C_TypeDef *I2Cx) -{ - return (uint32_t)(READ_BIT(I2Cx->SR2, I2C_SR2_PEC) >> I2C_SR2_PEC_Pos); -} - -/** - * @brief Read Receive Data register. - * @rmtoll DR DR LL_I2C_ReceiveData8 - * @param I2Cx I2C Instance. - * @retval Value between Min_Data=0x0 and Max_Data=0xFF - */ -__STATIC_INLINE uint8_t LL_I2C_ReceiveData8(I2C_TypeDef *I2Cx) -{ - return (uint8_t)(READ_BIT(I2Cx->DR, I2C_DR_DR)); -} - -/** - * @brief Write in Transmit Data Register . - * @rmtoll DR DR LL_I2C_TransmitData8 - * @param I2Cx I2C Instance. - * @param Data Value between Min_Data=0x0 and Max_Data=0xFF - * @retval None - */ -__STATIC_INLINE void LL_I2C_TransmitData8(I2C_TypeDef *I2Cx, uint8_t Data) -{ - MODIFY_REG(I2Cx->DR, I2C_DR_DR, Data); -} - -/** - * @} - */ - -#if defined(USE_FULL_LL_DRIVER) -/** @defgroup I2C_LL_EF_Init Initialization and de-initialization functions - * @{ - */ - -uint32_t LL_I2C_Init(I2C_TypeDef *I2Cx, LL_I2C_InitTypeDef *I2C_InitStruct); -uint32_t LL_I2C_DeInit(I2C_TypeDef *I2Cx); -void LL_I2C_StructInit(LL_I2C_InitTypeDef *I2C_InitStruct); - - -/** - * @} - */ -#endif /* USE_FULL_LL_DRIVER */ - -/** - * @} - */ - -/** - * @} - */ - -#endif /* I2C1 || I2C2 || I2C3 */ - -/** - * @} - */ - -#ifdef __cplusplus -} -#endif - -#endif /* __STM32F4xx_LL_I2C_H */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_iwdg.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_iwdg.h deleted file mode 100644 index 2f1b844a9cea8f..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_iwdg.h +++ /dev/null @@ -1,305 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_ll_iwdg.h - * @author MCD Application Team - * @brief Header file of IWDG LL module. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef STM32F4xx_LL_IWDG_H -#define STM32F4xx_LL_IWDG_H - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx.h" - -/** @addtogroup STM32F4xx_LL_Driver - * @{ - */ - -#if defined(IWDG) - -/** @defgroup IWDG_LL IWDG - * @{ - */ - -/* Private types -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ - -/* Private constants ---------------------------------------------------------*/ -/** @defgroup IWDG_LL_Private_Constants IWDG Private Constants - * @{ - */ -#define LL_IWDG_KEY_RELOAD 0x0000AAAAU /*!< IWDG Reload Counter Enable */ -#define LL_IWDG_KEY_ENABLE 0x0000CCCCU /*!< IWDG Peripheral Enable */ -#define LL_IWDG_KEY_WR_ACCESS_ENABLE 0x00005555U /*!< IWDG KR Write Access Enable */ -#define LL_IWDG_KEY_WR_ACCESS_DISABLE 0x00000000U /*!< IWDG KR Write Access Disable */ -/** - * @} - */ - -/* Private macros ------------------------------------------------------------*/ - -/* Exported types ------------------------------------------------------------*/ -/* Exported constants --------------------------------------------------------*/ -/** @defgroup IWDG_LL_Exported_Constants IWDG Exported Constants - * @{ - */ - -/** @defgroup IWDG_LL_EC_GET_FLAG Get Flags Defines - * @brief Flags defines which can be used with LL_IWDG_ReadReg function - * @{ - */ -#define LL_IWDG_SR_PVU IWDG_SR_PVU /*!< Watchdog prescaler value update */ -#define LL_IWDG_SR_RVU IWDG_SR_RVU /*!< Watchdog counter reload value update */ -/** - * @} - */ - -/** @defgroup IWDG_LL_EC_PRESCALER Prescaler Divider - * @{ - */ -#define LL_IWDG_PRESCALER_4 0x00000000U /*!< Divider by 4 */ -#define LL_IWDG_PRESCALER_8 (IWDG_PR_PR_0) /*!< Divider by 8 */ -#define LL_IWDG_PRESCALER_16 (IWDG_PR_PR_1) /*!< Divider by 16 */ -#define LL_IWDG_PRESCALER_32 (IWDG_PR_PR_1 | IWDG_PR_PR_0) /*!< Divider by 32 */ -#define LL_IWDG_PRESCALER_64 (IWDG_PR_PR_2) /*!< Divider by 64 */ -#define LL_IWDG_PRESCALER_128 (IWDG_PR_PR_2 | IWDG_PR_PR_0) /*!< Divider by 128 */ -#define LL_IWDG_PRESCALER_256 (IWDG_PR_PR_2 | IWDG_PR_PR_1) /*!< Divider by 256 */ -/** - * @} - */ - -/** - * @} - */ - -/* Exported macro ------------------------------------------------------------*/ -/** @defgroup IWDG_LL_Exported_Macros IWDG Exported Macros - * @{ - */ - -/** @defgroup IWDG_LL_EM_WRITE_READ Common Write and read registers Macros - * @{ - */ - -/** - * @brief Write a value in IWDG register - * @param __INSTANCE__ IWDG Instance - * @param __REG__ Register to be written - * @param __VALUE__ Value to be written in the register - * @retval None - */ -#define LL_IWDG_WriteReg(__INSTANCE__, __REG__, __VALUE__) WRITE_REG(__INSTANCE__->__REG__, (__VALUE__)) - -/** - * @brief Read a value in IWDG register - * @param __INSTANCE__ IWDG Instance - * @param __REG__ Register to be read - * @retval Register value - */ -#define LL_IWDG_ReadReg(__INSTANCE__, __REG__) READ_REG(__INSTANCE__->__REG__) -/** - * @} - */ - -/** - * @} - */ - - -/* Exported functions --------------------------------------------------------*/ -/** @defgroup IWDG_LL_Exported_Functions IWDG Exported Functions - * @{ - */ -/** @defgroup IWDG_LL_EF_Configuration Configuration - * @{ - */ - -/** - * @brief Start the Independent Watchdog - * @note Except if the hardware watchdog option is selected - * @rmtoll KR KEY LL_IWDG_Enable - * @param IWDGx IWDG Instance - * @retval None - */ -__STATIC_INLINE void LL_IWDG_Enable(IWDG_TypeDef *IWDGx) -{ - WRITE_REG(IWDGx->KR, LL_IWDG_KEY_ENABLE); -} - -/** - * @brief Reloads IWDG counter with value defined in the reload register - * @rmtoll KR KEY LL_IWDG_ReloadCounter - * @param IWDGx IWDG Instance - * @retval None - */ -__STATIC_INLINE void LL_IWDG_ReloadCounter(IWDG_TypeDef *IWDGx) -{ - WRITE_REG(IWDGx->KR, LL_IWDG_KEY_RELOAD); -} - -/** - * @brief Enable write access to IWDG_PR, IWDG_RLR and IWDG_WINR registers - * @rmtoll KR KEY LL_IWDG_EnableWriteAccess - * @param IWDGx IWDG Instance - * @retval None - */ -__STATIC_INLINE void LL_IWDG_EnableWriteAccess(IWDG_TypeDef *IWDGx) -{ - WRITE_REG(IWDGx->KR, LL_IWDG_KEY_WR_ACCESS_ENABLE); -} - -/** - * @brief Disable write access to IWDG_PR, IWDG_RLR and IWDG_WINR registers - * @rmtoll KR KEY LL_IWDG_DisableWriteAccess - * @param IWDGx IWDG Instance - * @retval None - */ -__STATIC_INLINE void LL_IWDG_DisableWriteAccess(IWDG_TypeDef *IWDGx) -{ - WRITE_REG(IWDGx->KR, LL_IWDG_KEY_WR_ACCESS_DISABLE); -} - -/** - * @brief Select the prescaler of the IWDG - * @rmtoll PR PR LL_IWDG_SetPrescaler - * @param IWDGx IWDG Instance - * @param Prescaler This parameter can be one of the following values: - * @arg @ref LL_IWDG_PRESCALER_4 - * @arg @ref LL_IWDG_PRESCALER_8 - * @arg @ref LL_IWDG_PRESCALER_16 - * @arg @ref LL_IWDG_PRESCALER_32 - * @arg @ref LL_IWDG_PRESCALER_64 - * @arg @ref LL_IWDG_PRESCALER_128 - * @arg @ref LL_IWDG_PRESCALER_256 - * @retval None - */ -__STATIC_INLINE void LL_IWDG_SetPrescaler(IWDG_TypeDef *IWDGx, uint32_t Prescaler) -{ - WRITE_REG(IWDGx->PR, IWDG_PR_PR & Prescaler); -} - -/** - * @brief Get the selected prescaler of the IWDG - * @rmtoll PR PR LL_IWDG_GetPrescaler - * @param IWDGx IWDG Instance - * @retval Returned value can be one of the following values: - * @arg @ref LL_IWDG_PRESCALER_4 - * @arg @ref LL_IWDG_PRESCALER_8 - * @arg @ref LL_IWDG_PRESCALER_16 - * @arg @ref LL_IWDG_PRESCALER_32 - * @arg @ref LL_IWDG_PRESCALER_64 - * @arg @ref LL_IWDG_PRESCALER_128 - * @arg @ref LL_IWDG_PRESCALER_256 - */ -__STATIC_INLINE uint32_t LL_IWDG_GetPrescaler(IWDG_TypeDef *IWDGx) -{ - return (READ_REG(IWDGx->PR)); -} - -/** - * @brief Specify the IWDG down-counter reload value - * @rmtoll RLR RL LL_IWDG_SetReloadCounter - * @param IWDGx IWDG Instance - * @param Counter Value between Min_Data=0 and Max_Data=0x0FFF - * @retval None - */ -__STATIC_INLINE void LL_IWDG_SetReloadCounter(IWDG_TypeDef *IWDGx, uint32_t Counter) -{ - WRITE_REG(IWDGx->RLR, IWDG_RLR_RL & Counter); -} - -/** - * @brief Get the specified IWDG down-counter reload value - * @rmtoll RLR RL LL_IWDG_GetReloadCounter - * @param IWDGx IWDG Instance - * @retval Value between Min_Data=0 and Max_Data=0x0FFF - */ -__STATIC_INLINE uint32_t LL_IWDG_GetReloadCounter(IWDG_TypeDef *IWDGx) -{ - return (READ_REG(IWDGx->RLR)); -} - -/** - * @} - */ - -/** @defgroup IWDG_LL_EF_FLAG_Management FLAG_Management - * @{ - */ - -/** - * @brief Check if flag Prescaler Value Update is set or not - * @rmtoll SR PVU LL_IWDG_IsActiveFlag_PVU - * @param IWDGx IWDG Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_IWDG_IsActiveFlag_PVU(IWDG_TypeDef *IWDGx) -{ - return ((READ_BIT(IWDGx->SR, IWDG_SR_PVU) == (IWDG_SR_PVU)) ? 1UL : 0UL); -} - -/** - * @brief Check if flag Reload Value Update is set or not - * @rmtoll SR RVU LL_IWDG_IsActiveFlag_RVU - * @param IWDGx IWDG Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_IWDG_IsActiveFlag_RVU(IWDG_TypeDef *IWDGx) -{ - return ((READ_BIT(IWDGx->SR, IWDG_SR_RVU) == (IWDG_SR_RVU)) ? 1UL : 0UL); -} - -/** - * @brief Check if flags Prescaler & Reload Value Update are reset or not - * @rmtoll SR PVU LL_IWDG_IsReady\n - * SR RVU LL_IWDG_IsReady - * @param IWDGx IWDG Instance - * @retval State of bits (1 or 0). - */ -__STATIC_INLINE uint32_t LL_IWDG_IsReady(IWDG_TypeDef *IWDGx) -{ - return ((READ_BIT(IWDGx->SR, IWDG_SR_PVU | IWDG_SR_RVU) == 0U) ? 1UL : 0UL); -} - -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ - -#endif /* IWDG */ - -/** - * @} - */ - -#ifdef __cplusplus -} -#endif - -#endif /* STM32F4xx_LL_IWDG_H */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_lptim.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_lptim.h deleted file mode 100644 index a91bf920d0c523..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_lptim.h +++ /dev/null @@ -1,1381 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_ll_lptim.h - * @author MCD Application Team - * @brief Header file of LPTIM LL module. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef STM32F4xx_LL_LPTIM_H -#define STM32F4xx_LL_LPTIM_H - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx.h" - -/** @addtogroup STM32F4xx_LL_Driver - * @{ - */ - -#if defined (LPTIM1) - -/** @defgroup LPTIM_LL LPTIM - * @{ - */ - -/* Private types -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ - -/* Private constants ---------------------------------------------------------*/ - -/* Private macros ------------------------------------------------------------*/ -#if defined(USE_FULL_LL_DRIVER) -/** @defgroup LPTIM_LL_Private_Macros LPTIM Private Macros - * @{ - */ -/** - * @} - */ -#endif /*USE_FULL_LL_DRIVER*/ - -/* Exported types ------------------------------------------------------------*/ -#if defined(USE_FULL_LL_DRIVER) -/** @defgroup LPTIM_LL_ES_INIT LPTIM Exported Init structure - * @{ - */ - -/** - * @brief LPTIM Init structure definition - */ -typedef struct -{ - uint32_t ClockSource; /*!< Specifies the source of the clock used by the LPTIM instance. - This parameter can be a value of @ref LPTIM_LL_EC_CLK_SOURCE. - - This feature can be modified afterwards using unitary - function @ref LL_LPTIM_SetClockSource().*/ - - uint32_t Prescaler; /*!< Specifies the prescaler division ratio. - This parameter can be a value of @ref LPTIM_LL_EC_PRESCALER. - - This feature can be modified afterwards using using unitary - function @ref LL_LPTIM_SetPrescaler().*/ - - uint32_t Waveform; /*!< Specifies the waveform shape. - This parameter can be a value of @ref LPTIM_LL_EC_OUTPUT_WAVEFORM. - - This feature can be modified afterwards using unitary - function @ref LL_LPTIM_ConfigOutput().*/ - - uint32_t Polarity; /*!< Specifies waveform polarity. - This parameter can be a value of @ref LPTIM_LL_EC_OUTPUT_POLARITY. - - This feature can be modified afterwards using unitary - function @ref LL_LPTIM_ConfigOutput().*/ -} LL_LPTIM_InitTypeDef; - -/** - * @} - */ -#endif /* USE_FULL_LL_DRIVER */ - -/* Exported constants --------------------------------------------------------*/ -/** @defgroup LPTIM_LL_Exported_Constants LPTIM Exported Constants - * @{ - */ - -/** @defgroup LPTIM_LL_EC_GET_FLAG Get Flags Defines - * @brief Flags defines which can be used with LL_LPTIM_ReadReg function - * @{ - */ -#define LL_LPTIM_ISR_CMPM LPTIM_ISR_CMPM /*!< Compare match */ -#define LL_LPTIM_ISR_CMPOK LPTIM_ISR_CMPOK /*!< Compare register update OK */ -#define LL_LPTIM_ISR_ARRM LPTIM_ISR_ARRM /*!< Autoreload match */ -#define LL_LPTIM_ISR_EXTTRIG LPTIM_ISR_EXTTRIG /*!< External trigger edge event */ -#define LL_LPTIM_ISR_ARROK LPTIM_ISR_ARROK /*!< Autoreload register update OK */ -#define LL_LPTIM_ISR_UP LPTIM_ISR_UP /*!< Counter direction change down to up */ -#define LL_LPTIM_ISR_DOWN LPTIM_ISR_DOWN /*!< Counter direction change up to down */ -/** - * @} - */ - -/** @defgroup LPTIM_LL_EC_IT IT Defines - * @brief IT defines which can be used with LL_LPTIM_ReadReg and LL_LPTIM_WriteReg functions - * @{ - */ -#define LL_LPTIM_IER_CMPMIE LPTIM_IER_CMPMIE /*!< Compare match */ -#define LL_LPTIM_IER_CMPOKIE LPTIM_IER_CMPOKIE /*!< Compare register update OK */ -#define LL_LPTIM_IER_ARRMIE LPTIM_IER_ARRMIE /*!< Autoreload match */ -#define LL_LPTIM_IER_EXTTRIGIE LPTIM_IER_EXTTRIGIE /*!< External trigger edge event */ -#define LL_LPTIM_IER_ARROKIE LPTIM_IER_ARROKIE /*!< Autoreload register update OK */ -#define LL_LPTIM_IER_UPIE LPTIM_IER_UPIE /*!< Counter direction change down to up */ -#define LL_LPTIM_IER_DOWNIE LPTIM_IER_DOWNIE /*!< Counter direction change up to down */ -/** - * @} - */ - -/** @defgroup LPTIM_LL_EC_OPERATING_MODE Operating Mode - * @{ - */ -#define LL_LPTIM_OPERATING_MODE_CONTINUOUS LPTIM_CR_CNTSTRT /*!__REG__, (__VALUE__)) - -/** - * @brief Read a value in LPTIM register - * @param __INSTANCE__ LPTIM Instance - * @param __REG__ Register to be read - * @retval Register value - */ -#define LL_LPTIM_ReadReg(__INSTANCE__, __REG__) READ_REG((__INSTANCE__)->__REG__) -/** - * @} - */ - -/** - * @} - */ - -/* Exported functions --------------------------------------------------------*/ -/** @defgroup LPTIM_LL_Exported_Functions LPTIM Exported Functions - * @{ - */ - -#if defined(USE_FULL_LL_DRIVER) -/** @defgroup LPTIM_LL_EF_Init Initialisation and deinitialisation functions - * @{ - */ - -ErrorStatus LL_LPTIM_DeInit(LPTIM_TypeDef *LPTIMx); -void LL_LPTIM_StructInit(LL_LPTIM_InitTypeDef *LPTIM_InitStruct); -ErrorStatus LL_LPTIM_Init(LPTIM_TypeDef *LPTIMx, LL_LPTIM_InitTypeDef *LPTIM_InitStruct); -void LL_LPTIM_Disable(LPTIM_TypeDef *LPTIMx); -/** - * @} - */ -#endif /* USE_FULL_LL_DRIVER */ - -/** @defgroup LPTIM_LL_EF_LPTIM_Configuration LPTIM Configuration - * @{ - */ - -/** - * @brief Enable the LPTIM instance - * @note After setting the ENABLE bit, a delay of two counter clock is needed - * before the LPTIM instance is actually enabled. - * @rmtoll CR ENABLE LL_LPTIM_Enable - * @param LPTIMx Low-Power Timer instance - * @retval None - */ -__STATIC_INLINE void LL_LPTIM_Enable(LPTIM_TypeDef *LPTIMx) -{ - SET_BIT(LPTIMx->CR, LPTIM_CR_ENABLE); -} - -/** - * @brief Indicates whether the LPTIM instance is enabled. - * @rmtoll CR ENABLE LL_LPTIM_IsEnabled - * @param LPTIMx Low-Power Timer instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_LPTIM_IsEnabled(LPTIM_TypeDef *LPTIMx) -{ - return (((READ_BIT(LPTIMx->CR, LPTIM_CR_ENABLE) == LPTIM_CR_ENABLE) ? 1UL : 0UL)); -} - -/** - * @brief Starts the LPTIM counter in the desired mode. - * @note LPTIM instance must be enabled before starting the counter. - * @note It is possible to change on the fly from One Shot mode to - * Continuous mode. - * @rmtoll CR CNTSTRT LL_LPTIM_StartCounter\n - * CR SNGSTRT LL_LPTIM_StartCounter - * @param LPTIMx Low-Power Timer instance - * @param OperatingMode This parameter can be one of the following values: - * @arg @ref LL_LPTIM_OPERATING_MODE_CONTINUOUS - * @arg @ref LL_LPTIM_OPERATING_MODE_ONESHOT - * @retval None - */ -__STATIC_INLINE void LL_LPTIM_StartCounter(LPTIM_TypeDef *LPTIMx, uint32_t OperatingMode) -{ - MODIFY_REG(LPTIMx->CR, LPTIM_CR_CNTSTRT | LPTIM_CR_SNGSTRT, OperatingMode); -} - -/** - * @brief Set the LPTIM registers update mode (enable/disable register preload) - * @note This function must be called when the LPTIM instance is disabled. - * @rmtoll CFGR PRELOAD LL_LPTIM_SetUpdateMode - * @param LPTIMx Low-Power Timer instance - * @param UpdateMode This parameter can be one of the following values: - * @arg @ref LL_LPTIM_UPDATE_MODE_IMMEDIATE - * @arg @ref LL_LPTIM_UPDATE_MODE_ENDOFPERIOD - * @retval None - */ -__STATIC_INLINE void LL_LPTIM_SetUpdateMode(LPTIM_TypeDef *LPTIMx, uint32_t UpdateMode) -{ - MODIFY_REG(LPTIMx->CFGR, LPTIM_CFGR_PRELOAD, UpdateMode); -} - -/** - * @brief Get the LPTIM registers update mode - * @rmtoll CFGR PRELOAD LL_LPTIM_GetUpdateMode - * @param LPTIMx Low-Power Timer instance - * @retval Returned value can be one of the following values: - * @arg @ref LL_LPTIM_UPDATE_MODE_IMMEDIATE - * @arg @ref LL_LPTIM_UPDATE_MODE_ENDOFPERIOD - */ -__STATIC_INLINE uint32_t LL_LPTIM_GetUpdateMode(LPTIM_TypeDef *LPTIMx) -{ - return (uint32_t)(READ_BIT(LPTIMx->CFGR, LPTIM_CFGR_PRELOAD)); -} - -/** - * @brief Set the auto reload value - * @note The LPTIMx_ARR register content must only be modified when the LPTIM is enabled - * @note After a write to the LPTIMx_ARR register a new write operation to the - * same register can only be performed when the previous write operation - * is completed. Any successive write before the ARROK flag is set, will - * lead to unpredictable results. - * @note autoreload value be strictly greater than the compare value. - * @rmtoll ARR ARR LL_LPTIM_SetAutoReload - * @param LPTIMx Low-Power Timer instance - * @param AutoReload Value between Min_Data=0x00 and Max_Data=0xFFFF - * @retval None - */ -__STATIC_INLINE void LL_LPTIM_SetAutoReload(LPTIM_TypeDef *LPTIMx, uint32_t AutoReload) -{ - MODIFY_REG(LPTIMx->ARR, LPTIM_ARR_ARR, AutoReload); -} - -/** - * @brief Get actual auto reload value - * @rmtoll ARR ARR LL_LPTIM_GetAutoReload - * @param LPTIMx Low-Power Timer instance - * @retval AutoReload Value between Min_Data=0x00 and Max_Data=0xFFFF - */ -__STATIC_INLINE uint32_t LL_LPTIM_GetAutoReload(LPTIM_TypeDef *LPTIMx) -{ - return (uint32_t)(READ_BIT(LPTIMx->ARR, LPTIM_ARR_ARR)); -} - -/** - * @brief Set the compare value - * @note After a write to the LPTIMx_CMP register a new write operation to the - * same register can only be performed when the previous write operation - * is completed. Any successive write before the CMPOK flag is set, will - * lead to unpredictable results. - * @rmtoll CMP CMP LL_LPTIM_SetCompare - * @param LPTIMx Low-Power Timer instance - * @param CompareValue Value between Min_Data=0x00 and Max_Data=0xFFFF - * @retval None - */ -__STATIC_INLINE void LL_LPTIM_SetCompare(LPTIM_TypeDef *LPTIMx, uint32_t CompareValue) -{ - MODIFY_REG(LPTIMx->CMP, LPTIM_CMP_CMP, CompareValue); -} - -/** - * @brief Get actual compare value - * @rmtoll CMP CMP LL_LPTIM_GetCompare - * @param LPTIMx Low-Power Timer instance - * @retval CompareValue Value between Min_Data=0x00 and Max_Data=0xFFFF - */ -__STATIC_INLINE uint32_t LL_LPTIM_GetCompare(LPTIM_TypeDef *LPTIMx) -{ - return (uint32_t)(READ_BIT(LPTIMx->CMP, LPTIM_CMP_CMP)); -} - -/** - * @brief Get actual counter value - * @note When the LPTIM instance is running with an asynchronous clock, reading - * the LPTIMx_CNT register may return unreliable values. So in this case - * it is necessary to perform two consecutive read accesses and verify - * that the two returned values are identical. - * @rmtoll CNT CNT LL_LPTIM_GetCounter - * @param LPTIMx Low-Power Timer instance - * @retval Counter value - */ -__STATIC_INLINE uint32_t LL_LPTIM_GetCounter(LPTIM_TypeDef *LPTIMx) -{ - return (uint32_t)(READ_BIT(LPTIMx->CNT, LPTIM_CNT_CNT)); -} - -/** - * @brief Set the counter mode (selection of the LPTIM counter clock source). - * @note The counter mode can be set only when the LPTIM instance is disabled. - * @rmtoll CFGR COUNTMODE LL_LPTIM_SetCounterMode - * @param LPTIMx Low-Power Timer instance - * @param CounterMode This parameter can be one of the following values: - * @arg @ref LL_LPTIM_COUNTER_MODE_INTERNAL - * @arg @ref LL_LPTIM_COUNTER_MODE_EXTERNAL - * @retval None - */ -__STATIC_INLINE void LL_LPTIM_SetCounterMode(LPTIM_TypeDef *LPTIMx, uint32_t CounterMode) -{ - MODIFY_REG(LPTIMx->CFGR, LPTIM_CFGR_COUNTMODE, CounterMode); -} - -/** - * @brief Get the counter mode - * @rmtoll CFGR COUNTMODE LL_LPTIM_GetCounterMode - * @param LPTIMx Low-Power Timer instance - * @retval Returned value can be one of the following values: - * @arg @ref LL_LPTIM_COUNTER_MODE_INTERNAL - * @arg @ref LL_LPTIM_COUNTER_MODE_EXTERNAL - */ -__STATIC_INLINE uint32_t LL_LPTIM_GetCounterMode(LPTIM_TypeDef *LPTIMx) -{ - return (uint32_t)(READ_BIT(LPTIMx->CFGR, LPTIM_CFGR_COUNTMODE)); -} - -/** - * @brief Configure the LPTIM instance output (LPTIMx_OUT) - * @note This function must be called when the LPTIM instance is disabled. - * @note Regarding the LPTIM output polarity the change takes effect - * immediately, so the output default value will change immediately after - * the polarity is re-configured, even before the timer is enabled. - * @rmtoll CFGR WAVE LL_LPTIM_ConfigOutput\n - * CFGR WAVPOL LL_LPTIM_ConfigOutput - * @param LPTIMx Low-Power Timer instance - * @param Waveform This parameter can be one of the following values: - * @arg @ref LL_LPTIM_OUTPUT_WAVEFORM_PWM - * @arg @ref LL_LPTIM_OUTPUT_WAVEFORM_SETONCE - * @param Polarity This parameter can be one of the following values: - * @arg @ref LL_LPTIM_OUTPUT_POLARITY_REGULAR - * @arg @ref LL_LPTIM_OUTPUT_POLARITY_INVERSE - * @retval None - */ -__STATIC_INLINE void LL_LPTIM_ConfigOutput(LPTIM_TypeDef *LPTIMx, uint32_t Waveform, uint32_t Polarity) -{ - MODIFY_REG(LPTIMx->CFGR, LPTIM_CFGR_WAVE | LPTIM_CFGR_WAVPOL, Waveform | Polarity); -} - -/** - * @brief Set waveform shape - * @rmtoll CFGR WAVE LL_LPTIM_SetWaveform - * @param LPTIMx Low-Power Timer instance - * @param Waveform This parameter can be one of the following values: - * @arg @ref LL_LPTIM_OUTPUT_WAVEFORM_PWM - * @arg @ref LL_LPTIM_OUTPUT_WAVEFORM_SETONCE - * @retval None - */ -__STATIC_INLINE void LL_LPTIM_SetWaveform(LPTIM_TypeDef *LPTIMx, uint32_t Waveform) -{ - MODIFY_REG(LPTIMx->CFGR, LPTIM_CFGR_WAVE, Waveform); -} - -/** - * @brief Get actual waveform shape - * @rmtoll CFGR WAVE LL_LPTIM_GetWaveform - * @param LPTIMx Low-Power Timer instance - * @retval Returned value can be one of the following values: - * @arg @ref LL_LPTIM_OUTPUT_WAVEFORM_PWM - * @arg @ref LL_LPTIM_OUTPUT_WAVEFORM_SETONCE - */ -__STATIC_INLINE uint32_t LL_LPTIM_GetWaveform(LPTIM_TypeDef *LPTIMx) -{ - return (uint32_t)(READ_BIT(LPTIMx->CFGR, LPTIM_CFGR_WAVE)); -} - -/** - * @brief Set output polarity - * @rmtoll CFGR WAVPOL LL_LPTIM_SetPolarity - * @param LPTIMx Low-Power Timer instance - * @param Polarity This parameter can be one of the following values: - * @arg @ref LL_LPTIM_OUTPUT_POLARITY_REGULAR - * @arg @ref LL_LPTIM_OUTPUT_POLARITY_INVERSE - * @retval None - */ -__STATIC_INLINE void LL_LPTIM_SetPolarity(LPTIM_TypeDef *LPTIMx, uint32_t Polarity) -{ - MODIFY_REG(LPTIMx->CFGR, LPTIM_CFGR_WAVPOL, Polarity); -} - -/** - * @brief Get actual output polarity - * @rmtoll CFGR WAVPOL LL_LPTIM_GetPolarity - * @param LPTIMx Low-Power Timer instance - * @retval Returned value can be one of the following values: - * @arg @ref LL_LPTIM_OUTPUT_POLARITY_REGULAR - * @arg @ref LL_LPTIM_OUTPUT_POLARITY_INVERSE - */ -__STATIC_INLINE uint32_t LL_LPTIM_GetPolarity(LPTIM_TypeDef *LPTIMx) -{ - return (uint32_t)(READ_BIT(LPTIMx->CFGR, LPTIM_CFGR_WAVPOL)); -} - -/** - * @brief Set actual prescaler division ratio. - * @note This function must be called when the LPTIM instance is disabled. - * @note When the LPTIM is configured to be clocked by an internal clock source - * and the LPTIM counter is configured to be updated by active edges - * detected on the LPTIM external Input1, the internal clock provided to - * the LPTIM must be not be prescaled. - * @rmtoll CFGR PRESC LL_LPTIM_SetPrescaler - * @param LPTIMx Low-Power Timer instance - * @param Prescaler This parameter can be one of the following values: - * @arg @ref LL_LPTIM_PRESCALER_DIV1 - * @arg @ref LL_LPTIM_PRESCALER_DIV2 - * @arg @ref LL_LPTIM_PRESCALER_DIV4 - * @arg @ref LL_LPTIM_PRESCALER_DIV8 - * @arg @ref LL_LPTIM_PRESCALER_DIV16 - * @arg @ref LL_LPTIM_PRESCALER_DIV32 - * @arg @ref LL_LPTIM_PRESCALER_DIV64 - * @arg @ref LL_LPTIM_PRESCALER_DIV128 - * @retval None - */ -__STATIC_INLINE void LL_LPTIM_SetPrescaler(LPTIM_TypeDef *LPTIMx, uint32_t Prescaler) -{ - MODIFY_REG(LPTIMx->CFGR, LPTIM_CFGR_PRESC, Prescaler); -} - -/** - * @brief Get actual prescaler division ratio. - * @rmtoll CFGR PRESC LL_LPTIM_GetPrescaler - * @param LPTIMx Low-Power Timer instance - * @retval Returned value can be one of the following values: - * @arg @ref LL_LPTIM_PRESCALER_DIV1 - * @arg @ref LL_LPTIM_PRESCALER_DIV2 - * @arg @ref LL_LPTIM_PRESCALER_DIV4 - * @arg @ref LL_LPTIM_PRESCALER_DIV8 - * @arg @ref LL_LPTIM_PRESCALER_DIV16 - * @arg @ref LL_LPTIM_PRESCALER_DIV32 - * @arg @ref LL_LPTIM_PRESCALER_DIV64 - * @arg @ref LL_LPTIM_PRESCALER_DIV128 - */ -__STATIC_INLINE uint32_t LL_LPTIM_GetPrescaler(LPTIM_TypeDef *LPTIMx) -{ - return (uint32_t)(READ_BIT(LPTIMx->CFGR, LPTIM_CFGR_PRESC)); -} - -/** - * @brief Set LPTIM input 1 source (default GPIO). - * @rmtoll OR OR LL_LPTIM_SetInput1Src - * @param LPTIMx Low-Power Timer instance - * @param Src This parameter can be one of the following values: - * @arg @ref LL_LPTIM_INPUT1_SRC_PAD_AF - * @arg @ref LL_LPTIM_INPUT1_SRC_PAD_PA4 - * @arg @ref LL_LPTIM_INPUT1_SRC_PAD_PB9 - * @arg @ref LL_LPTIM_INPUT1_SRC_TIM_DAC - * @retval None - */ -__STATIC_INLINE void LL_LPTIM_SetInput1Src(LPTIM_TypeDef *LPTIMx, uint32_t Src) -{ - MODIFY_REG(LPTIMx->OR, LPTIM_OR_OR, Src); -} - -/** - * @} - */ - -/** @defgroup LPTIM_LL_EF_Trigger_Configuration Trigger Configuration - * @{ - */ - -/** - * @brief Enable the timeout function - * @note This function must be called when the LPTIM instance is disabled. - * @note The first trigger event will start the timer, any successive trigger - * event will reset the counter and the timer will restart. - * @note The timeout value corresponds to the compare value; if no trigger - * occurs within the expected time frame, the MCU is waked-up by the - * compare match event. - * @rmtoll CFGR TIMOUT LL_LPTIM_EnableTimeout - * @param LPTIMx Low-Power Timer instance - * @retval None - */ -__STATIC_INLINE void LL_LPTIM_EnableTimeout(LPTIM_TypeDef *LPTIMx) -{ - SET_BIT(LPTIMx->CFGR, LPTIM_CFGR_TIMOUT); -} - -/** - * @brief Disable the timeout function - * @note This function must be called when the LPTIM instance is disabled. - * @note A trigger event arriving when the timer is already started will be - * ignored. - * @rmtoll CFGR TIMOUT LL_LPTIM_DisableTimeout - * @param LPTIMx Low-Power Timer instance - * @retval None - */ -__STATIC_INLINE void LL_LPTIM_DisableTimeout(LPTIM_TypeDef *LPTIMx) -{ - CLEAR_BIT(LPTIMx->CFGR, LPTIM_CFGR_TIMOUT); -} - -/** - * @brief Indicate whether the timeout function is enabled. - * @rmtoll CFGR TIMOUT LL_LPTIM_IsEnabledTimeout - * @param LPTIMx Low-Power Timer instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_LPTIM_IsEnabledTimeout(LPTIM_TypeDef *LPTIMx) -{ - return (((READ_BIT(LPTIMx->CFGR, LPTIM_CFGR_TIMOUT) == LPTIM_CFGR_TIMOUT) ? 1UL : 0UL)); -} - -/** - * @brief Start the LPTIM counter - * @note This function must be called when the LPTIM instance is disabled. - * @rmtoll CFGR TRIGEN LL_LPTIM_TrigSw - * @param LPTIMx Low-Power Timer instance - * @retval None - */ -__STATIC_INLINE void LL_LPTIM_TrigSw(LPTIM_TypeDef *LPTIMx) -{ - CLEAR_BIT(LPTIMx->CFGR, LPTIM_CFGR_TRIGEN); -} - -/** - * @brief Configure the external trigger used as a trigger event for the LPTIM. - * @note This function must be called when the LPTIM instance is disabled. - * @note An internal clock source must be present when a digital filter is - * required for the trigger. - * @rmtoll CFGR TRIGSEL LL_LPTIM_ConfigTrigger\n - * CFGR TRGFLT LL_LPTIM_ConfigTrigger\n - * CFGR TRIGEN LL_LPTIM_ConfigTrigger - * @param LPTIMx Low-Power Timer instance - * @param Source This parameter can be one of the following values: - * @arg @ref LL_LPTIM_TRIG_SOURCE_GPIO - * @arg @ref LL_LPTIM_TRIG_SOURCE_RTCALARMA - * @arg @ref LL_LPTIM_TRIG_SOURCE_RTCALARMB - * @arg @ref LL_LPTIM_TRIG_SOURCE_RTCTAMP1 - * @arg @ref LL_LPTIM_TRIG_SOURCE_TIM1_TRGO - * @arg @ref LL_LPTIM_TRIG_SOURCE_TIM5_TRGO - * @param Filter This parameter can be one of the following values: - * @arg @ref LL_LPTIM_TRIG_FILTER_NONE - * @arg @ref LL_LPTIM_TRIG_FILTER_2 - * @arg @ref LL_LPTIM_TRIG_FILTER_4 - * @arg @ref LL_LPTIM_TRIG_FILTER_8 - * @param Polarity This parameter can be one of the following values: - * @arg @ref LL_LPTIM_TRIG_POLARITY_RISING - * @arg @ref LL_LPTIM_TRIG_POLARITY_FALLING - * @arg @ref LL_LPTIM_TRIG_POLARITY_RISING_FALLING - * @retval None - */ -__STATIC_INLINE void LL_LPTIM_ConfigTrigger(LPTIM_TypeDef *LPTIMx, uint32_t Source, uint32_t Filter, uint32_t Polarity) -{ - MODIFY_REG(LPTIMx->CFGR, LPTIM_CFGR_TRIGSEL | LPTIM_CFGR_TRGFLT | LPTIM_CFGR_TRIGEN, Source | Filter | Polarity); -} - -/** - * @brief Get actual external trigger source. - * @rmtoll CFGR TRIGSEL LL_LPTIM_GetTriggerSource - * @param LPTIMx Low-Power Timer instance - * @retval Returned value can be one of the following values: - * @arg @ref LL_LPTIM_TRIG_SOURCE_GPIO - * @arg @ref LL_LPTIM_TRIG_SOURCE_RTCALARMA - * @arg @ref LL_LPTIM_TRIG_SOURCE_RTCALARMB - * @arg @ref LL_LPTIM_TRIG_SOURCE_RTCTAMP1 - * @arg @ref LL_LPTIM_TRIG_SOURCE_TIM1_TRGO - * @arg @ref LL_LPTIM_TRIG_SOURCE_TIM5_TRGO - */ -__STATIC_INLINE uint32_t LL_LPTIM_GetTriggerSource(LPTIM_TypeDef *LPTIMx) -{ - return (uint32_t)(READ_BIT(LPTIMx->CFGR, LPTIM_CFGR_TRIGSEL)); -} - -/** - * @brief Get actual external trigger filter. - * @rmtoll CFGR TRGFLT LL_LPTIM_GetTriggerFilter - * @param LPTIMx Low-Power Timer instance - * @retval Returned value can be one of the following values: - * @arg @ref LL_LPTIM_TRIG_FILTER_NONE - * @arg @ref LL_LPTIM_TRIG_FILTER_2 - * @arg @ref LL_LPTIM_TRIG_FILTER_4 - * @arg @ref LL_LPTIM_TRIG_FILTER_8 - */ -__STATIC_INLINE uint32_t LL_LPTIM_GetTriggerFilter(LPTIM_TypeDef *LPTIMx) -{ - return (uint32_t)(READ_BIT(LPTIMx->CFGR, LPTIM_CFGR_TRGFLT)); -} - -/** - * @brief Get actual external trigger polarity. - * @rmtoll CFGR TRIGEN LL_LPTIM_GetTriggerPolarity - * @param LPTIMx Low-Power Timer instance - * @retval Returned value can be one of the following values: - * @arg @ref LL_LPTIM_TRIG_POLARITY_RISING - * @arg @ref LL_LPTIM_TRIG_POLARITY_FALLING - * @arg @ref LL_LPTIM_TRIG_POLARITY_RISING_FALLING - */ -__STATIC_INLINE uint32_t LL_LPTIM_GetTriggerPolarity(LPTIM_TypeDef *LPTIMx) -{ - return (uint32_t)(READ_BIT(LPTIMx->CFGR, LPTIM_CFGR_TRIGEN)); -} - -/** - * @} - */ - -/** @defgroup LPTIM_LL_EF_Clock_Configuration Clock Configuration - * @{ - */ - -/** - * @brief Set the source of the clock used by the LPTIM instance. - * @note This function must be called when the LPTIM instance is disabled. - * @rmtoll CFGR CKSEL LL_LPTIM_SetClockSource - * @param LPTIMx Low-Power Timer instance - * @param ClockSource This parameter can be one of the following values: - * @arg @ref LL_LPTIM_CLK_SOURCE_INTERNAL - * @arg @ref LL_LPTIM_CLK_SOURCE_EXTERNAL - * @retval None - */ -__STATIC_INLINE void LL_LPTIM_SetClockSource(LPTIM_TypeDef *LPTIMx, uint32_t ClockSource) -{ - MODIFY_REG(LPTIMx->CFGR, LPTIM_CFGR_CKSEL, ClockSource); -} - -/** - * @brief Get actual LPTIM instance clock source. - * @rmtoll CFGR CKSEL LL_LPTIM_GetClockSource - * @param LPTIMx Low-Power Timer instance - * @retval Returned value can be one of the following values: - * @arg @ref LL_LPTIM_CLK_SOURCE_INTERNAL - * @arg @ref LL_LPTIM_CLK_SOURCE_EXTERNAL - */ -__STATIC_INLINE uint32_t LL_LPTIM_GetClockSource(LPTIM_TypeDef *LPTIMx) -{ - return (uint32_t)(READ_BIT(LPTIMx->CFGR, LPTIM_CFGR_CKSEL)); -} - -/** - * @brief Configure the active edge or edges used by the counter when - the LPTIM is clocked by an external clock source. - * @note This function must be called when the LPTIM instance is disabled. - * @note When both external clock signal edges are considered active ones, - * the LPTIM must also be clocked by an internal clock source with a - * frequency equal to at least four times the external clock frequency. - * @note An internal clock source must be present when a digital filter is - * required for external clock. - * @rmtoll CFGR CKFLT LL_LPTIM_ConfigClock\n - * CFGR CKPOL LL_LPTIM_ConfigClock - * @param LPTIMx Low-Power Timer instance - * @param ClockFilter This parameter can be one of the following values: - * @arg @ref LL_LPTIM_CLK_FILTER_NONE - * @arg @ref LL_LPTIM_CLK_FILTER_2 - * @arg @ref LL_LPTIM_CLK_FILTER_4 - * @arg @ref LL_LPTIM_CLK_FILTER_8 - * @param ClockPolarity This parameter can be one of the following values: - * @arg @ref LL_LPTIM_CLK_POLARITY_RISING - * @arg @ref LL_LPTIM_CLK_POLARITY_FALLING - * @arg @ref LL_LPTIM_CLK_POLARITY_RISING_FALLING - * @retval None - */ -__STATIC_INLINE void LL_LPTIM_ConfigClock(LPTIM_TypeDef *LPTIMx, uint32_t ClockFilter, uint32_t ClockPolarity) -{ - MODIFY_REG(LPTIMx->CFGR, LPTIM_CFGR_CKFLT | LPTIM_CFGR_CKPOL, ClockFilter | ClockPolarity); -} - -/** - * @brief Get actual clock polarity - * @rmtoll CFGR CKPOL LL_LPTIM_GetClockPolarity - * @param LPTIMx Low-Power Timer instance - * @retval Returned value can be one of the following values: - * @arg @ref LL_LPTIM_CLK_POLARITY_RISING - * @arg @ref LL_LPTIM_CLK_POLARITY_FALLING - * @arg @ref LL_LPTIM_CLK_POLARITY_RISING_FALLING - */ -__STATIC_INLINE uint32_t LL_LPTIM_GetClockPolarity(LPTIM_TypeDef *LPTIMx) -{ - return (uint32_t)(READ_BIT(LPTIMx->CFGR, LPTIM_CFGR_CKPOL)); -} - -/** - * @brief Get actual clock digital filter - * @rmtoll CFGR CKFLT LL_LPTIM_GetClockFilter - * @param LPTIMx Low-Power Timer instance - * @retval Returned value can be one of the following values: - * @arg @ref LL_LPTIM_CLK_FILTER_NONE - * @arg @ref LL_LPTIM_CLK_FILTER_2 - * @arg @ref LL_LPTIM_CLK_FILTER_4 - * @arg @ref LL_LPTIM_CLK_FILTER_8 - */ -__STATIC_INLINE uint32_t LL_LPTIM_GetClockFilter(LPTIM_TypeDef *LPTIMx) -{ - return (uint32_t)(READ_BIT(LPTIMx->CFGR, LPTIM_CFGR_CKFLT)); -} - -/** - * @} - */ - -/** @defgroup LPTIM_LL_EF_Encoder_Mode Encoder Mode - * @{ - */ - -/** - * @brief Configure the encoder mode. - * @note This function must be called when the LPTIM instance is disabled. - * @rmtoll CFGR CKPOL LL_LPTIM_SetEncoderMode - * @param LPTIMx Low-Power Timer instance - * @param EncoderMode This parameter can be one of the following values: - * @arg @ref LL_LPTIM_ENCODER_MODE_RISING - * @arg @ref LL_LPTIM_ENCODER_MODE_FALLING - * @arg @ref LL_LPTIM_ENCODER_MODE_RISING_FALLING - * @retval None - */ -__STATIC_INLINE void LL_LPTIM_SetEncoderMode(LPTIM_TypeDef *LPTIMx, uint32_t EncoderMode) -{ - MODIFY_REG(LPTIMx->CFGR, LPTIM_CFGR_CKPOL, EncoderMode); -} - -/** - * @brief Get actual encoder mode. - * @rmtoll CFGR CKPOL LL_LPTIM_GetEncoderMode - * @param LPTIMx Low-Power Timer instance - * @retval Returned value can be one of the following values: - * @arg @ref LL_LPTIM_ENCODER_MODE_RISING - * @arg @ref LL_LPTIM_ENCODER_MODE_FALLING - * @arg @ref LL_LPTIM_ENCODER_MODE_RISING_FALLING - */ -__STATIC_INLINE uint32_t LL_LPTIM_GetEncoderMode(LPTIM_TypeDef *LPTIMx) -{ - return (uint32_t)(READ_BIT(LPTIMx->CFGR, LPTIM_CFGR_CKPOL)); -} - -/** - * @brief Enable the encoder mode - * @note This function must be called when the LPTIM instance is disabled. - * @note In this mode the LPTIM instance must be clocked by an internal clock - * source. Also, the prescaler division ratio must be equal to 1. - * @note LPTIM instance must be configured in continuous mode prior enabling - * the encoder mode. - * @rmtoll CFGR ENC LL_LPTIM_EnableEncoderMode - * @param LPTIMx Low-Power Timer instance - * @retval None - */ -__STATIC_INLINE void LL_LPTIM_EnableEncoderMode(LPTIM_TypeDef *LPTIMx) -{ - SET_BIT(LPTIMx->CFGR, LPTIM_CFGR_ENC); -} - -/** - * @brief Disable the encoder mode - * @note This function must be called when the LPTIM instance is disabled. - * @rmtoll CFGR ENC LL_LPTIM_DisableEncoderMode - * @param LPTIMx Low-Power Timer instance - * @retval None - */ -__STATIC_INLINE void LL_LPTIM_DisableEncoderMode(LPTIM_TypeDef *LPTIMx) -{ - CLEAR_BIT(LPTIMx->CFGR, LPTIM_CFGR_ENC); -} - -/** - * @brief Indicates whether the LPTIM operates in encoder mode. - * @rmtoll CFGR ENC LL_LPTIM_IsEnabledEncoderMode - * @param LPTIMx Low-Power Timer instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_LPTIM_IsEnabledEncoderMode(LPTIM_TypeDef *LPTIMx) -{ - return (((READ_BIT(LPTIMx->CFGR, LPTIM_CFGR_ENC) == LPTIM_CFGR_ENC) ? 1UL : 0UL)); -} - -/** - * @} - */ - -/** @defgroup LPTIM_LL_EF_FLAG_Management FLAG Management - * @{ - */ - -/** - * @brief Clear the compare match flag (CMPMCF) - * @rmtoll ICR CMPMCF LL_LPTIM_ClearFLAG_CMPM - * @param LPTIMx Low-Power Timer instance - * @retval None - */ -__STATIC_INLINE void LL_LPTIM_ClearFLAG_CMPM(LPTIM_TypeDef *LPTIMx) -{ - SET_BIT(LPTIMx->ICR, LPTIM_ICR_CMPMCF); -} - -/** - * @brief Inform application whether a compare match interrupt has occurred. - * @rmtoll ISR CMPM LL_LPTIM_IsActiveFlag_CMPM - * @param LPTIMx Low-Power Timer instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_LPTIM_IsActiveFlag_CMPM(LPTIM_TypeDef *LPTIMx) -{ - return (((READ_BIT(LPTIMx->ISR, LPTIM_ISR_CMPM) == LPTIM_ISR_CMPM) ? 1UL : 0UL)); -} - -/** - * @brief Clear the autoreload match flag (ARRMCF) - * @rmtoll ICR ARRMCF LL_LPTIM_ClearFLAG_ARRM - * @param LPTIMx Low-Power Timer instance - * @retval None - */ -__STATIC_INLINE void LL_LPTIM_ClearFLAG_ARRM(LPTIM_TypeDef *LPTIMx) -{ - SET_BIT(LPTIMx->ICR, LPTIM_ICR_ARRMCF); -} - -/** - * @brief Inform application whether a autoreload match interrupt has occurred. - * @rmtoll ISR ARRM LL_LPTIM_IsActiveFlag_ARRM - * @param LPTIMx Low-Power Timer instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_LPTIM_IsActiveFlag_ARRM(LPTIM_TypeDef *LPTIMx) -{ - return (((READ_BIT(LPTIMx->ISR, LPTIM_ISR_ARRM) == LPTIM_ISR_ARRM) ? 1UL : 0UL)); -} - -/** - * @brief Clear the external trigger valid edge flag(EXTTRIGCF). - * @rmtoll ICR EXTTRIGCF LL_LPTIM_ClearFlag_EXTTRIG - * @param LPTIMx Low-Power Timer instance - * @retval None - */ -__STATIC_INLINE void LL_LPTIM_ClearFlag_EXTTRIG(LPTIM_TypeDef *LPTIMx) -{ - SET_BIT(LPTIMx->ICR, LPTIM_ICR_EXTTRIGCF); -} - -/** - * @brief Inform application whether a valid edge on the selected external trigger input has occurred. - * @rmtoll ISR EXTTRIG LL_LPTIM_IsActiveFlag_EXTTRIG - * @param LPTIMx Low-Power Timer instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_LPTIM_IsActiveFlag_EXTTRIG(LPTIM_TypeDef *LPTIMx) -{ - return (((READ_BIT(LPTIMx->ISR, LPTIM_ISR_EXTTRIG) == LPTIM_ISR_EXTTRIG) ? 1UL : 0UL)); -} - -/** - * @brief Clear the compare register update interrupt flag (CMPOKCF). - * @rmtoll ICR CMPOKCF LL_LPTIM_ClearFlag_CMPOK - * @param LPTIMx Low-Power Timer instance - * @retval None - */ -__STATIC_INLINE void LL_LPTIM_ClearFlag_CMPOK(LPTIM_TypeDef *LPTIMx) -{ - SET_BIT(LPTIMx->ICR, LPTIM_ICR_CMPOKCF); -} - -/** - * @brief Informs application whether the APB bus write operation to the LPTIMx_CMP register has been successfully - completed. If so, a new one can be initiated. - * @rmtoll ISR CMPOK LL_LPTIM_IsActiveFlag_CMPOK - * @param LPTIMx Low-Power Timer instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_LPTIM_IsActiveFlag_CMPOK(LPTIM_TypeDef *LPTIMx) -{ - return (((READ_BIT(LPTIMx->ISR, LPTIM_ISR_CMPOK) == LPTIM_ISR_CMPOK) ? 1UL : 0UL)); -} - -/** - * @brief Clear the autoreload register update interrupt flag (ARROKCF). - * @rmtoll ICR ARROKCF LL_LPTIM_ClearFlag_ARROK - * @param LPTIMx Low-Power Timer instance - * @retval None - */ -__STATIC_INLINE void LL_LPTIM_ClearFlag_ARROK(LPTIM_TypeDef *LPTIMx) -{ - SET_BIT(LPTIMx->ICR, LPTIM_ICR_ARROKCF); -} - -/** - * @brief Informs application whether the APB bus write operation to the LPTIMx_ARR register has been successfully - completed. If so, a new one can be initiated. - * @rmtoll ISR ARROK LL_LPTIM_IsActiveFlag_ARROK - * @param LPTIMx Low-Power Timer instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_LPTIM_IsActiveFlag_ARROK(LPTIM_TypeDef *LPTIMx) -{ - return (((READ_BIT(LPTIMx->ISR, LPTIM_ISR_ARROK) == LPTIM_ISR_ARROK) ? 1UL : 0UL)); -} - -/** - * @brief Clear the counter direction change to up interrupt flag (UPCF). - * @rmtoll ICR UPCF LL_LPTIM_ClearFlag_UP - * @param LPTIMx Low-Power Timer instance - * @retval None - */ -__STATIC_INLINE void LL_LPTIM_ClearFlag_UP(LPTIM_TypeDef *LPTIMx) -{ - SET_BIT(LPTIMx->ICR, LPTIM_ICR_UPCF); -} - -/** - * @brief Informs the application whether the counter direction has changed from down to up (when the LPTIM instance - operates in encoder mode). - * @rmtoll ISR UP LL_LPTIM_IsActiveFlag_UP - * @param LPTIMx Low-Power Timer instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_LPTIM_IsActiveFlag_UP(LPTIM_TypeDef *LPTIMx) -{ - return (((READ_BIT(LPTIMx->ISR, LPTIM_ISR_UP) == LPTIM_ISR_UP) ? 1UL : 0UL)); -} - -/** - * @brief Clear the counter direction change to down interrupt flag (DOWNCF). - * @rmtoll ICR DOWNCF LL_LPTIM_ClearFlag_DOWN - * @param LPTIMx Low-Power Timer instance - * @retval None - */ -__STATIC_INLINE void LL_LPTIM_ClearFlag_DOWN(LPTIM_TypeDef *LPTIMx) -{ - SET_BIT(LPTIMx->ICR, LPTIM_ICR_DOWNCF); -} - -/** - * @brief Informs the application whether the counter direction has changed from up to down (when the LPTIM instance - operates in encoder mode). - * @rmtoll ISR DOWN LL_LPTIM_IsActiveFlag_DOWN - * @param LPTIMx Low-Power Timer instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_LPTIM_IsActiveFlag_DOWN(LPTIM_TypeDef *LPTIMx) -{ - return (((READ_BIT(LPTIMx->ISR, LPTIM_ISR_DOWN) == LPTIM_ISR_DOWN) ? 1UL : 0UL)); -} - -/** - * @} - */ - -/** @defgroup LPTIM_LL_EF_IT_Management Interrupt Management - * @{ - */ - -/** - * @brief Enable compare match interrupt (CMPMIE). - * @rmtoll IER CMPMIE LL_LPTIM_EnableIT_CMPM - * @param LPTIMx Low-Power Timer instance - * @retval None - */ -__STATIC_INLINE void LL_LPTIM_EnableIT_CMPM(LPTIM_TypeDef *LPTIMx) -{ - SET_BIT(LPTIMx->IER, LPTIM_IER_CMPMIE); -} - -/** - * @brief Disable compare match interrupt (CMPMIE). - * @rmtoll IER CMPMIE LL_LPTIM_DisableIT_CMPM - * @param LPTIMx Low-Power Timer instance - * @retval None - */ -__STATIC_INLINE void LL_LPTIM_DisableIT_CMPM(LPTIM_TypeDef *LPTIMx) -{ - CLEAR_BIT(LPTIMx->IER, LPTIM_IER_CMPMIE); -} - -/** - * @brief Indicates whether the compare match interrupt (CMPMIE) is enabled. - * @rmtoll IER CMPMIE LL_LPTIM_IsEnabledIT_CMPM - * @param LPTIMx Low-Power Timer instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_LPTIM_IsEnabledIT_CMPM(LPTIM_TypeDef *LPTIMx) -{ - return (((READ_BIT(LPTIMx->IER, LPTIM_IER_CMPMIE) == LPTIM_IER_CMPMIE) ? 1UL : 0UL)); -} - -/** - * @brief Enable autoreload match interrupt (ARRMIE). - * @rmtoll IER ARRMIE LL_LPTIM_EnableIT_ARRM - * @param LPTIMx Low-Power Timer instance - * @retval None - */ -__STATIC_INLINE void LL_LPTIM_EnableIT_ARRM(LPTIM_TypeDef *LPTIMx) -{ - SET_BIT(LPTIMx->IER, LPTIM_IER_ARRMIE); -} - -/** - * @brief Disable autoreload match interrupt (ARRMIE). - * @rmtoll IER ARRMIE LL_LPTIM_DisableIT_ARRM - * @param LPTIMx Low-Power Timer instance - * @retval None - */ -__STATIC_INLINE void LL_LPTIM_DisableIT_ARRM(LPTIM_TypeDef *LPTIMx) -{ - CLEAR_BIT(LPTIMx->IER, LPTIM_IER_ARRMIE); -} - -/** - * @brief Indicates whether the autoreload match interrupt (ARRMIE) is enabled. - * @rmtoll IER ARRMIE LL_LPTIM_IsEnabledIT_ARRM - * @param LPTIMx Low-Power Timer instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_LPTIM_IsEnabledIT_ARRM(LPTIM_TypeDef *LPTIMx) -{ - return (((READ_BIT(LPTIMx->IER, LPTIM_IER_ARRMIE) == LPTIM_IER_ARRMIE) ? 1UL : 0UL)); -} - -/** - * @brief Enable external trigger valid edge interrupt (EXTTRIGIE). - * @rmtoll IER EXTTRIGIE LL_LPTIM_EnableIT_EXTTRIG - * @param LPTIMx Low-Power Timer instance - * @retval None - */ -__STATIC_INLINE void LL_LPTIM_EnableIT_EXTTRIG(LPTIM_TypeDef *LPTIMx) -{ - SET_BIT(LPTIMx->IER, LPTIM_IER_EXTTRIGIE); -} - -/** - * @brief Disable external trigger valid edge interrupt (EXTTRIGIE). - * @rmtoll IER EXTTRIGIE LL_LPTIM_DisableIT_EXTTRIG - * @param LPTIMx Low-Power Timer instance - * @retval None - */ -__STATIC_INLINE void LL_LPTIM_DisableIT_EXTTRIG(LPTIM_TypeDef *LPTIMx) -{ - CLEAR_BIT(LPTIMx->IER, LPTIM_IER_EXTTRIGIE); -} - -/** - * @brief Indicates external trigger valid edge interrupt (EXTTRIGIE) is enabled. - * @rmtoll IER EXTTRIGIE LL_LPTIM_IsEnabledIT_EXTTRIG - * @param LPTIMx Low-Power Timer instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_LPTIM_IsEnabledIT_EXTTRIG(LPTIM_TypeDef *LPTIMx) -{ - return (((READ_BIT(LPTIMx->IER, LPTIM_IER_EXTTRIGIE) == LPTIM_IER_EXTTRIGIE) ? 1UL : 0UL)); -} - -/** - * @brief Enable compare register write completed interrupt (CMPOKIE). - * @rmtoll IER CMPOKIE LL_LPTIM_EnableIT_CMPOK - * @param LPTIMx Low-Power Timer instance - * @retval None - */ -__STATIC_INLINE void LL_LPTIM_EnableIT_CMPOK(LPTIM_TypeDef *LPTIMx) -{ - SET_BIT(LPTIMx->IER, LPTIM_IER_CMPOKIE); -} - -/** - * @brief Disable compare register write completed interrupt (CMPOKIE). - * @rmtoll IER CMPOKIE LL_LPTIM_DisableIT_CMPOK - * @param LPTIMx Low-Power Timer instance - * @retval None - */ -__STATIC_INLINE void LL_LPTIM_DisableIT_CMPOK(LPTIM_TypeDef *LPTIMx) -{ - CLEAR_BIT(LPTIMx->IER, LPTIM_IER_CMPOKIE); -} - -/** - * @brief Indicates whether the compare register write completed interrupt (CMPOKIE) is enabled. - * @rmtoll IER CMPOKIE LL_LPTIM_IsEnabledIT_CMPOK - * @param LPTIMx Low-Power Timer instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_LPTIM_IsEnabledIT_CMPOK(LPTIM_TypeDef *LPTIMx) -{ - return (((READ_BIT(LPTIMx->IER, LPTIM_IER_CMPOKIE) == LPTIM_IER_CMPOKIE) ? 1UL : 0UL)); -} - -/** - * @brief Enable autoreload register write completed interrupt (ARROKIE). - * @rmtoll IER ARROKIE LL_LPTIM_EnableIT_ARROK - * @param LPTIMx Low-Power Timer instance - * @retval None - */ -__STATIC_INLINE void LL_LPTIM_EnableIT_ARROK(LPTIM_TypeDef *LPTIMx) -{ - SET_BIT(LPTIMx->IER, LPTIM_IER_ARROKIE); -} - -/** - * @brief Disable autoreload register write completed interrupt (ARROKIE). - * @rmtoll IER ARROKIE LL_LPTIM_DisableIT_ARROK - * @param LPTIMx Low-Power Timer instance - * @retval None - */ -__STATIC_INLINE void LL_LPTIM_DisableIT_ARROK(LPTIM_TypeDef *LPTIMx) -{ - CLEAR_BIT(LPTIMx->IER, LPTIM_IER_ARROKIE); -} - -/** - * @brief Indicates whether the autoreload register write completed interrupt (ARROKIE) is enabled. - * @rmtoll IER ARROKIE LL_LPTIM_IsEnabledIT_ARROK - * @param LPTIMx Low-Power Timer instance - * @retval State of bit(1 or 0). - */ -__STATIC_INLINE uint32_t LL_LPTIM_IsEnabledIT_ARROK(LPTIM_TypeDef *LPTIMx) -{ - return (((READ_BIT(LPTIMx->IER, LPTIM_IER_ARROKIE) == LPTIM_IER_ARROKIE) ? 1UL : 0UL)); -} - -/** - * @brief Enable direction change to up interrupt (UPIE). - * @rmtoll IER UPIE LL_LPTIM_EnableIT_UP - * @param LPTIMx Low-Power Timer instance - * @retval None - */ -__STATIC_INLINE void LL_LPTIM_EnableIT_UP(LPTIM_TypeDef *LPTIMx) -{ - SET_BIT(LPTIMx->IER, LPTIM_IER_UPIE); -} - -/** - * @brief Disable direction change to up interrupt (UPIE). - * @rmtoll IER UPIE LL_LPTIM_DisableIT_UP - * @param LPTIMx Low-Power Timer instance - * @retval None - */ -__STATIC_INLINE void LL_LPTIM_DisableIT_UP(LPTIM_TypeDef *LPTIMx) -{ - CLEAR_BIT(LPTIMx->IER, LPTIM_IER_UPIE); -} - -/** - * @brief Indicates whether the direction change to up interrupt (UPIE) is enabled. - * @rmtoll IER UPIE LL_LPTIM_IsEnabledIT_UP - * @param LPTIMx Low-Power Timer instance - * @retval State of bit(1 or 0). - */ -__STATIC_INLINE uint32_t LL_LPTIM_IsEnabledIT_UP(LPTIM_TypeDef *LPTIMx) -{ - return (((READ_BIT(LPTIMx->IER, LPTIM_IER_UPIE) == LPTIM_IER_UPIE) ? 1UL : 0UL)); -} - -/** - * @brief Enable direction change to down interrupt (DOWNIE). - * @rmtoll IER DOWNIE LL_LPTIM_EnableIT_DOWN - * @param LPTIMx Low-Power Timer instance - * @retval None - */ -__STATIC_INLINE void LL_LPTIM_EnableIT_DOWN(LPTIM_TypeDef *LPTIMx) -{ - SET_BIT(LPTIMx->IER, LPTIM_IER_DOWNIE); -} - -/** - * @brief Disable direction change to down interrupt (DOWNIE). - * @rmtoll IER DOWNIE LL_LPTIM_DisableIT_DOWN - * @param LPTIMx Low-Power Timer instance - * @retval None - */ -__STATIC_INLINE void LL_LPTIM_DisableIT_DOWN(LPTIM_TypeDef *LPTIMx) -{ - CLEAR_BIT(LPTIMx->IER, LPTIM_IER_DOWNIE); -} - -/** - * @brief Indicates whether the direction change to down interrupt (DOWNIE) is enabled. - * @rmtoll IER DOWNIE LL_LPTIM_IsEnabledIT_DOWN - * @param LPTIMx Low-Power Timer instance - * @retval State of bit(1 or 0). - */ -__STATIC_INLINE uint32_t LL_LPTIM_IsEnabledIT_DOWN(LPTIM_TypeDef *LPTIMx) -{ - return ((READ_BIT(LPTIMx->IER, LPTIM_IER_DOWNIE) == LPTIM_IER_DOWNIE) ? 1UL : 0UL); -} - -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ - -#endif /* LPTIM1 */ - -/** - * @} - */ - -#ifdef __cplusplus -} -#endif - -#endif /* STM32F4xx_LL_LPTIM_H */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_pwr.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_pwr.h deleted file mode 100644 index 03b8706e98978a..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_pwr.h +++ /dev/null @@ -1,989 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_ll_pwr.h - * @author MCD Application Team - * @brief Header file of PWR LL module. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef __STM32F4xx_LL_PWR_H -#define __STM32F4xx_LL_PWR_H - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx.h" - -/** @addtogroup STM32F4xx_LL_Driver - * @{ - */ - -#if defined(PWR) - -/** @defgroup PWR_LL PWR - * @{ - */ - -/* Private types -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private constants ---------------------------------------------------------*/ -/* Private macros ------------------------------------------------------------*/ -/* Exported types ------------------------------------------------------------*/ -/* Exported constants --------------------------------------------------------*/ -/** @defgroup PWR_LL_Exported_Constants PWR Exported Constants - * @{ - */ - -/** @defgroup PWR_LL_EC_CLEAR_FLAG Clear Flags Defines - * @brief Flags defines which can be used with LL_PWR_WriteReg function - * @{ - */ -#define LL_PWR_CR_CSBF PWR_CR_CSBF /*!< Clear standby flag */ -#define LL_PWR_CR_CWUF PWR_CR_CWUF /*!< Clear wakeup flag */ -/** - * @} - */ - -/** @defgroup PWR_LL_EC_GET_FLAG Get Flags Defines - * @brief Flags defines which can be used with LL_PWR_ReadReg function - * @{ - */ -#define LL_PWR_CSR_WUF PWR_CSR_WUF /*!< Wakeup flag */ -#define LL_PWR_CSR_SBF PWR_CSR_SBF /*!< Standby flag */ -#define LL_PWR_CSR_PVDO PWR_CSR_PVDO /*!< Power voltage detector output flag */ -#define LL_PWR_CSR_VOS PWR_CSR_VOSRDY /*!< Voltage scaling select flag */ -#if defined(PWR_CSR_EWUP) -#define LL_PWR_CSR_EWUP1 PWR_CSR_EWUP /*!< Enable WKUP pin */ -#elif defined(PWR_CSR_EWUP1) -#define LL_PWR_CSR_EWUP1 PWR_CSR_EWUP1 /*!< Enable WKUP pin 1 */ -#endif /* PWR_CSR_EWUP */ -#if defined(PWR_CSR_EWUP2) -#define LL_PWR_CSR_EWUP2 PWR_CSR_EWUP2 /*!< Enable WKUP pin 2 */ -#endif /* PWR_CSR_EWUP2 */ -#if defined(PWR_CSR_EWUP3) -#define LL_PWR_CSR_EWUP3 PWR_CSR_EWUP3 /*!< Enable WKUP pin 3 */ -#endif /* PWR_CSR_EWUP3 */ -/** - * @} - */ - -/** @defgroup PWR_LL_EC_REGU_VOLTAGE Regulator Voltage - * @{ - */ -#if defined(PWR_CR_VOS_0) -#define LL_PWR_REGU_VOLTAGE_SCALE3 (PWR_CR_VOS_0) -#define LL_PWR_REGU_VOLTAGE_SCALE2 (PWR_CR_VOS_1) -#define LL_PWR_REGU_VOLTAGE_SCALE1 (PWR_CR_VOS_0 | PWR_CR_VOS_1) /* The SCALE1 is not available for STM32F401xx devices */ -#else -#define LL_PWR_REGU_VOLTAGE_SCALE1 (PWR_CR_VOS) -#define LL_PWR_REGU_VOLTAGE_SCALE2 0x00000000U -#endif /* PWR_CR_VOS_0 */ -/** - * @} - */ - -/** @defgroup PWR_LL_EC_MODE_PWR Mode Power - * @{ - */ -#define LL_PWR_MODE_STOP_MAINREGU 0x00000000U /*!< Enter Stop mode when the CPU enters deepsleep */ -#define LL_PWR_MODE_STOP_LPREGU (PWR_CR_LPDS) /*!< Enter Stop mode (with low power Regulator ON) when the CPU enters deepsleep */ -#if defined(PWR_CR_MRUDS) && defined(PWR_CR_LPUDS) && defined(PWR_CR_FPDS) -#define LL_PWR_MODE_STOP_MAINREGU_UNDERDRIVE (PWR_CR_MRUDS | PWR_CR_FPDS) /*!< Enter Stop mode (with main Regulator in under-drive mode) when the CPU enters deepsleep */ -#define LL_PWR_MODE_STOP_LPREGU_UNDERDRIVE (PWR_CR_LPDS | PWR_CR_LPUDS | PWR_CR_FPDS) /*!< Enter Stop mode (with low power Regulator in under-drive mode) when the CPU enters deepsleep */ -#endif /* PWR_CR_MRUDS && PWR_CR_LPUDS && PWR_CR_FPDS */ -#if defined(PWR_CR_MRLVDS) && defined(PWR_CR_LPLVDS) && defined(PWR_CR_FPDS) -#define LL_PWR_MODE_STOP_MAINREGU_DEEPSLEEP (PWR_CR_MRLVDS | PWR_CR_FPDS) /*!< Enter Stop mode (with main Regulator in Deep Sleep mode) when the CPU enters deepsleep */ -#define LL_PWR_MODE_STOP_LPREGU_DEEPSLEEP (PWR_CR_LPDS | PWR_CR_LPLVDS | PWR_CR_FPDS) /*!< Enter Stop mode (with low power Regulator in Deep Sleep mode) when the CPU enters deepsleep */ -#endif /* PWR_CR_MRLVDS && PWR_CR_LPLVDS && PWR_CR_FPDS */ -#define LL_PWR_MODE_STANDBY (PWR_CR_PDDS) /*!< Enter Standby mode when the CPU enters deepsleep */ -/** - * @} - */ - -/** @defgroup PWR_LL_EC_REGU_MODE_DS_MODE Regulator Mode In Deep Sleep Mode - * @{ - */ -#define LL_PWR_REGU_DSMODE_MAIN 0x00000000U /*!< Voltage Regulator in main mode during deepsleep mode */ -#define LL_PWR_REGU_DSMODE_LOW_POWER (PWR_CR_LPDS) /*!< Voltage Regulator in low-power mode during deepsleep mode */ -/** - * @} - */ - -/** @defgroup PWR_LL_EC_PVDLEVEL Power Voltage Detector Level - * @{ - */ -#define LL_PWR_PVDLEVEL_0 (PWR_CR_PLS_LEV0) /*!< Voltage threshold detected by PVD 2.2 V */ -#define LL_PWR_PVDLEVEL_1 (PWR_CR_PLS_LEV1) /*!< Voltage threshold detected by PVD 2.3 V */ -#define LL_PWR_PVDLEVEL_2 (PWR_CR_PLS_LEV2) /*!< Voltage threshold detected by PVD 2.4 V */ -#define LL_PWR_PVDLEVEL_3 (PWR_CR_PLS_LEV3) /*!< Voltage threshold detected by PVD 2.5 V */ -#define LL_PWR_PVDLEVEL_4 (PWR_CR_PLS_LEV4) /*!< Voltage threshold detected by PVD 2.6 V */ -#define LL_PWR_PVDLEVEL_5 (PWR_CR_PLS_LEV5) /*!< Voltage threshold detected by PVD 2.7 V */ -#define LL_PWR_PVDLEVEL_6 (PWR_CR_PLS_LEV6) /*!< Voltage threshold detected by PVD 2.8 V */ -#define LL_PWR_PVDLEVEL_7 (PWR_CR_PLS_LEV7) /*!< Voltage threshold detected by PVD 2.9 V */ -/** - * @} - */ -/** @defgroup PWR_LL_EC_WAKEUP_PIN Wakeup Pins - * @{ - */ -#if defined(PWR_CSR_EWUP) -#define LL_PWR_WAKEUP_PIN1 (PWR_CSR_EWUP) /*!< WKUP pin : PA0 */ -#endif /* PWR_CSR_EWUP */ -#if defined(PWR_CSR_EWUP1) -#define LL_PWR_WAKEUP_PIN1 (PWR_CSR_EWUP1) /*!< WKUP pin 1 : PA0 */ -#endif /* PWR_CSR_EWUP1 */ -#if defined(PWR_CSR_EWUP2) -#define LL_PWR_WAKEUP_PIN2 (PWR_CSR_EWUP2) /*!< WKUP pin 2 : PC0 or PC13 according to device */ -#endif /* PWR_CSR_EWUP2 */ -#if defined(PWR_CSR_EWUP3) -#define LL_PWR_WAKEUP_PIN3 (PWR_CSR_EWUP3) /*!< WKUP pin 3 : PC1 */ -#endif /* PWR_CSR_EWUP3 */ -/** - * @} - */ - -/** - * @} - */ - - -/* Exported macro ------------------------------------------------------------*/ -/** @defgroup PWR_LL_Exported_Macros PWR Exported Macros - * @{ - */ - -/** @defgroup PWR_LL_EM_WRITE_READ Common write and read registers Macros - * @{ - */ - -/** - * @brief Write a value in PWR register - * @param __REG__ Register to be written - * @param __VALUE__ Value to be written in the register - * @retval None - */ -#define LL_PWR_WriteReg(__REG__, __VALUE__) WRITE_REG(PWR->__REG__, (__VALUE__)) - -/** - * @brief Read a value in PWR register - * @param __REG__ Register to be read - * @retval Register value - */ -#define LL_PWR_ReadReg(__REG__) READ_REG(PWR->__REG__) -/** - * @} - */ - -/** - * @} - */ - -/* Exported functions --------------------------------------------------------*/ -/** @defgroup PWR_LL_Exported_Functions PWR Exported Functions - * @{ - */ - -/** @defgroup PWR_LL_EF_Configuration Configuration - * @{ - */ -#if defined(PWR_CR_FISSR) -/** - * @brief Enable FLASH interface STOP while system Run is ON - * @rmtoll CR FISSR LL_PWR_EnableFLASHInterfaceSTOP - * @note This mode is enabled only with STOP low power mode. - * @retval None - */ -__STATIC_INLINE void LL_PWR_EnableFLASHInterfaceSTOP(void) -{ - SET_BIT(PWR->CR, PWR_CR_FISSR); -} - -/** - * @brief Disable FLASH Interface STOP while system Run is ON - * @rmtoll CR FISSR LL_PWR_DisableFLASHInterfaceSTOP - * @retval None - */ -__STATIC_INLINE void LL_PWR_DisableFLASHInterfaceSTOP(void) -{ - CLEAR_BIT(PWR->CR, PWR_CR_FISSR); -} - -/** - * @brief Check if FLASH Interface STOP while system Run feature is enabled - * @rmtoll CR FISSR LL_PWR_IsEnabledFLASHInterfaceSTOP - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_PWR_IsEnabledFLASHInterfaceSTOP(void) -{ - return (READ_BIT(PWR->CR, PWR_CR_FISSR) == (PWR_CR_FISSR)); -} -#endif /* PWR_CR_FISSR */ - -#if defined(PWR_CR_FMSSR) -/** - * @brief Enable FLASH Memory STOP while system Run is ON - * @rmtoll CR FMSSR LL_PWR_EnableFLASHMemorySTOP - * @note This mode is enabled only with STOP low power mode. - * @retval None - */ -__STATIC_INLINE void LL_PWR_EnableFLASHMemorySTOP(void) -{ - SET_BIT(PWR->CR, PWR_CR_FMSSR); -} - -/** - * @brief Disable FLASH Memory STOP while system Run is ON - * @rmtoll CR FMSSR LL_PWR_DisableFLASHMemorySTOP - * @retval None - */ -__STATIC_INLINE void LL_PWR_DisableFLASHMemorySTOP(void) -{ - CLEAR_BIT(PWR->CR, PWR_CR_FMSSR); -} - -/** - * @brief Check if FLASH Memory STOP while system Run feature is enabled - * @rmtoll CR FMSSR LL_PWR_IsEnabledFLASHMemorySTOP - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_PWR_IsEnabledFLASHMemorySTOP(void) -{ - return (READ_BIT(PWR->CR, PWR_CR_FMSSR) == (PWR_CR_FMSSR)); -} -#endif /* PWR_CR_FMSSR */ -#if defined(PWR_CR_UDEN) -/** - * @brief Enable Under Drive Mode - * @rmtoll CR UDEN LL_PWR_EnableUnderDriveMode - * @note This mode is enabled only with STOP low power mode. - * In this mode, the 1.2V domain is preserved in reduced leakage mode. This - * mode is only available when the main Regulator or the low power Regulator - * is in low voltage mode. - * @note If the Under-drive mode was enabled, it is automatically disabled after - * exiting Stop mode. - * When the voltage Regulator operates in Under-drive mode, an additional - * startup delay is induced when waking up from Stop mode. - * @retval None - */ -__STATIC_INLINE void LL_PWR_EnableUnderDriveMode(void) -{ - SET_BIT(PWR->CR, PWR_CR_UDEN); -} - -/** - * @brief Disable Under Drive Mode - * @rmtoll CR UDEN LL_PWR_DisableUnderDriveMode - * @retval None - */ -__STATIC_INLINE void LL_PWR_DisableUnderDriveMode(void) -{ - CLEAR_BIT(PWR->CR, PWR_CR_UDEN); -} - -/** - * @brief Check if Under Drive Mode is enabled - * @rmtoll CR UDEN LL_PWR_IsEnabledUnderDriveMode - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_PWR_IsEnabledUnderDriveMode(void) -{ - return (READ_BIT(PWR->CR, PWR_CR_UDEN) == (PWR_CR_UDEN)); -} -#endif /* PWR_CR_UDEN */ - -#if defined(PWR_CR_ODSWEN) -/** - * @brief Enable Over drive switching - * @rmtoll CR ODSWEN LL_PWR_EnableOverDriveSwitching - * @retval None - */ -__STATIC_INLINE void LL_PWR_EnableOverDriveSwitching(void) -{ - SET_BIT(PWR->CR, PWR_CR_ODSWEN); -} - -/** - * @brief Disable Over drive switching - * @rmtoll CR ODSWEN LL_PWR_DisableOverDriveSwitching - * @retval None - */ -__STATIC_INLINE void LL_PWR_DisableOverDriveSwitching(void) -{ - CLEAR_BIT(PWR->CR, PWR_CR_ODSWEN); -} - -/** - * @brief Check if Over drive switching is enabled - * @rmtoll CR ODSWEN LL_PWR_IsEnabledOverDriveSwitching - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_PWR_IsEnabledOverDriveSwitching(void) -{ - return (READ_BIT(PWR->CR, PWR_CR_ODSWEN) == (PWR_CR_ODSWEN)); -} -#endif /* PWR_CR_ODSWEN */ -#if defined(PWR_CR_ODEN) -/** - * @brief Enable Over drive Mode - * @rmtoll CR ODEN LL_PWR_EnableOverDriveMode - * @retval None - */ -__STATIC_INLINE void LL_PWR_EnableOverDriveMode(void) -{ - SET_BIT(PWR->CR, PWR_CR_ODEN); -} - -/** - * @brief Disable Over drive Mode - * @rmtoll CR ODEN LL_PWR_DisableOverDriveMode - * @retval None - */ -__STATIC_INLINE void LL_PWR_DisableOverDriveMode(void) -{ - CLEAR_BIT(PWR->CR, PWR_CR_ODEN); -} - -/** - * @brief Check if Over drive switching is enabled - * @rmtoll CR ODEN LL_PWR_IsEnabledOverDriveMode - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_PWR_IsEnabledOverDriveMode(void) -{ - return (READ_BIT(PWR->CR, PWR_CR_ODEN) == (PWR_CR_ODEN)); -} -#endif /* PWR_CR_ODEN */ -#if defined(PWR_CR_MRUDS) -/** - * @brief Enable Main Regulator in deepsleep under-drive Mode - * @rmtoll CR MRUDS LL_PWR_EnableMainRegulatorDeepSleepUDMode - * @retval None - */ -__STATIC_INLINE void LL_PWR_EnableMainRegulatorDeepSleepUDMode(void) -{ - SET_BIT(PWR->CR, PWR_CR_MRUDS); -} - -/** - * @brief Disable Main Regulator in deepsleep under-drive Mode - * @rmtoll CR MRUDS LL_PWR_DisableMainRegulatorDeepSleepUDMode - * @retval None - */ -__STATIC_INLINE void LL_PWR_DisableMainRegulatorDeepSleepUDMode(void) -{ - CLEAR_BIT(PWR->CR, PWR_CR_MRUDS); -} - -/** - * @brief Check if Main Regulator in deepsleep under-drive Mode is enabled - * @rmtoll CR MRUDS LL_PWR_IsEnabledMainRegulatorDeepSleepUDMode - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_PWR_IsEnabledMainRegulatorDeepSleepUDMode(void) -{ - return (READ_BIT(PWR->CR, PWR_CR_MRUDS) == (PWR_CR_MRUDS)); -} -#endif /* PWR_CR_MRUDS */ - -#if defined(PWR_CR_LPUDS) -/** - * @brief Enable Low Power Regulator in deepsleep under-drive Mode - * @rmtoll CR LPUDS LL_PWR_EnableLowPowerRegulatorDeepSleepUDMode - * @retval None - */ -__STATIC_INLINE void LL_PWR_EnableLowPowerRegulatorDeepSleepUDMode(void) -{ - SET_BIT(PWR->CR, PWR_CR_LPUDS); -} - -/** - * @brief Disable Low Power Regulator in deepsleep under-drive Mode - * @rmtoll CR LPUDS LL_PWR_DisableLowPowerRegulatorDeepSleepUDMode - * @retval None - */ -__STATIC_INLINE void LL_PWR_DisableLowPowerRegulatorDeepSleepUDMode(void) -{ - CLEAR_BIT(PWR->CR, PWR_CR_LPUDS); -} - -/** - * @brief Check if Low Power Regulator in deepsleep under-drive Mode is enabled - * @rmtoll CR LPUDS LL_PWR_IsEnabledLowPowerRegulatorDeepSleepUDMode - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_PWR_IsEnabledLowPowerRegulatorDeepSleepUDMode(void) -{ - return (READ_BIT(PWR->CR, PWR_CR_LPUDS) == (PWR_CR_LPUDS)); -} -#endif /* PWR_CR_LPUDS */ - -#if defined(PWR_CR_MRLVDS) -/** - * @brief Enable Main Regulator low voltage Mode - * @rmtoll CR MRLVDS LL_PWR_EnableMainRegulatorLowVoltageMode - * @retval None - */ -__STATIC_INLINE void LL_PWR_EnableMainRegulatorLowVoltageMode(void) -{ - SET_BIT(PWR->CR, PWR_CR_MRLVDS); -} - -/** - * @brief Disable Main Regulator low voltage Mode - * @rmtoll CR MRLVDS LL_PWR_DisableMainRegulatorLowVoltageMode - * @retval None - */ -__STATIC_INLINE void LL_PWR_DisableMainRegulatorLowVoltageMode(void) -{ - CLEAR_BIT(PWR->CR, PWR_CR_MRLVDS); -} - -/** - * @brief Check if Main Regulator low voltage Mode is enabled - * @rmtoll CR MRLVDS LL_PWR_IsEnabledMainRegulatorLowVoltageMode - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_PWR_IsEnabledMainRegulatorLowVoltageMode(void) -{ - return (READ_BIT(PWR->CR, PWR_CR_MRLVDS) == (PWR_CR_MRLVDS)); -} -#endif /* PWR_CR_MRLVDS */ - -#if defined(PWR_CR_LPLVDS) -/** - * @brief Enable Low Power Regulator low voltage Mode - * @rmtoll CR LPLVDS LL_PWR_EnableLowPowerRegulatorLowVoltageMode - * @retval None - */ -__STATIC_INLINE void LL_PWR_EnableLowPowerRegulatorLowVoltageMode(void) -{ - SET_BIT(PWR->CR, PWR_CR_LPLVDS); -} - -/** - * @brief Disable Low Power Regulator low voltage Mode - * @rmtoll CR LPLVDS LL_PWR_DisableLowPowerRegulatorLowVoltageMode - * @retval None - */ -__STATIC_INLINE void LL_PWR_DisableLowPowerRegulatorLowVoltageMode(void) -{ - CLEAR_BIT(PWR->CR, PWR_CR_LPLVDS); -} - -/** - * @brief Check if Low Power Regulator low voltage Mode is enabled - * @rmtoll CR LPLVDS LL_PWR_IsEnabledLowPowerRegulatorLowVoltageMode - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_PWR_IsEnabledLowPowerRegulatorLowVoltageMode(void) -{ - return (READ_BIT(PWR->CR, PWR_CR_LPLVDS) == (PWR_CR_LPLVDS)); -} -#endif /* PWR_CR_LPLVDS */ -/** - * @brief Set the main internal Regulator output voltage - * @rmtoll CR VOS LL_PWR_SetRegulVoltageScaling - * @param VoltageScaling This parameter can be one of the following values: - * @arg @ref LL_PWR_REGU_VOLTAGE_SCALE1 (*) - * @arg @ref LL_PWR_REGU_VOLTAGE_SCALE2 - * @arg @ref LL_PWR_REGU_VOLTAGE_SCALE3 - * (*) LL_PWR_REGU_VOLTAGE_SCALE1 is not available for STM32F401xx devices - * @retval None - */ -__STATIC_INLINE void LL_PWR_SetRegulVoltageScaling(uint32_t VoltageScaling) -{ - MODIFY_REG(PWR->CR, PWR_CR_VOS, VoltageScaling); -} - -/** - * @brief Get the main internal Regulator output voltage - * @rmtoll CR VOS LL_PWR_GetRegulVoltageScaling - * @retval Returned value can be one of the following values: - * @arg @ref LL_PWR_REGU_VOLTAGE_SCALE1 (*) - * @arg @ref LL_PWR_REGU_VOLTAGE_SCALE2 - * @arg @ref LL_PWR_REGU_VOLTAGE_SCALE3 - * (*) LL_PWR_REGU_VOLTAGE_SCALE1 is not available for STM32F401xx devices - */ -__STATIC_INLINE uint32_t LL_PWR_GetRegulVoltageScaling(void) -{ - return (uint32_t)(READ_BIT(PWR->CR, PWR_CR_VOS)); -} -/** - * @brief Enable the Flash Power Down in Stop Mode - * @rmtoll CR FPDS LL_PWR_EnableFlashPowerDown - * @retval None - */ -__STATIC_INLINE void LL_PWR_EnableFlashPowerDown(void) -{ - SET_BIT(PWR->CR, PWR_CR_FPDS); -} - -/** - * @brief Disable the Flash Power Down in Stop Mode - * @rmtoll CR FPDS LL_PWR_DisableFlashPowerDown - * @retval None - */ -__STATIC_INLINE void LL_PWR_DisableFlashPowerDown(void) -{ - CLEAR_BIT(PWR->CR, PWR_CR_FPDS); -} - -/** - * @brief Check if the Flash Power Down in Stop Mode is enabled - * @rmtoll CR FPDS LL_PWR_IsEnabledFlashPowerDown - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_PWR_IsEnabledFlashPowerDown(void) -{ - return (READ_BIT(PWR->CR, PWR_CR_FPDS) == (PWR_CR_FPDS)); -} - -/** - * @brief Enable access to the backup domain - * @rmtoll CR DBP LL_PWR_EnableBkUpAccess - * @retval None - */ -__STATIC_INLINE void LL_PWR_EnableBkUpAccess(void) -{ - SET_BIT(PWR->CR, PWR_CR_DBP); -} - -/** - * @brief Disable access to the backup domain - * @rmtoll CR DBP LL_PWR_DisableBkUpAccess - * @retval None - */ -__STATIC_INLINE void LL_PWR_DisableBkUpAccess(void) -{ - CLEAR_BIT(PWR->CR, PWR_CR_DBP); -} - -/** - * @brief Check if the backup domain is enabled - * @rmtoll CR DBP LL_PWR_IsEnabledBkUpAccess - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_PWR_IsEnabledBkUpAccess(void) -{ - return (READ_BIT(PWR->CR, PWR_CR_DBP) == (PWR_CR_DBP)); -} -/** - * @brief Enable the backup Regulator - * @rmtoll CSR BRE LL_PWR_EnableBkUpRegulator - * @note The BRE bit of the PWR_CSR register is protected against parasitic write access. - * The LL_PWR_EnableBkUpAccess() must be called before using this API. - * @retval None - */ -__STATIC_INLINE void LL_PWR_EnableBkUpRegulator(void) -{ - SET_BIT(PWR->CSR, PWR_CSR_BRE); -} - -/** - * @brief Disable the backup Regulator - * @rmtoll CSR BRE LL_PWR_DisableBkUpRegulator - * @note The BRE bit of the PWR_CSR register is protected against parasitic write access. - * The LL_PWR_EnableBkUpAccess() must be called before using this API. - * @retval None - */ -__STATIC_INLINE void LL_PWR_DisableBkUpRegulator(void) -{ - CLEAR_BIT(PWR->CSR, PWR_CSR_BRE); -} - -/** - * @brief Check if the backup Regulator is enabled - * @rmtoll CSR BRE LL_PWR_IsEnabledBkUpRegulator - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_PWR_IsEnabledBkUpRegulator(void) -{ - return (READ_BIT(PWR->CSR, PWR_CSR_BRE) == (PWR_CSR_BRE)); -} - -/** - * @brief Set voltage Regulator mode during deep sleep mode - * @rmtoll CR LPDS LL_PWR_SetRegulModeDS - * @param RegulMode This parameter can be one of the following values: - * @arg @ref LL_PWR_REGU_DSMODE_MAIN - * @arg @ref LL_PWR_REGU_DSMODE_LOW_POWER - * @retval None - */ -__STATIC_INLINE void LL_PWR_SetRegulModeDS(uint32_t RegulMode) -{ - MODIFY_REG(PWR->CR, PWR_CR_LPDS, RegulMode); -} - -/** - * @brief Get voltage Regulator mode during deep sleep mode - * @rmtoll CR LPDS LL_PWR_GetRegulModeDS - * @retval Returned value can be one of the following values: - * @arg @ref LL_PWR_REGU_DSMODE_MAIN - * @arg @ref LL_PWR_REGU_DSMODE_LOW_POWER - */ -__STATIC_INLINE uint32_t LL_PWR_GetRegulModeDS(void) -{ - return (uint32_t)(READ_BIT(PWR->CR, PWR_CR_LPDS)); -} - -/** - * @brief Set Power Down mode when CPU enters deepsleep - * @rmtoll CR PDDS LL_PWR_SetPowerMode\n - * @rmtoll CR MRUDS LL_PWR_SetPowerMode\n - * @rmtoll CR LPUDS LL_PWR_SetPowerMode\n - * @rmtoll CR FPDS LL_PWR_SetPowerMode\n - * @rmtoll CR MRLVDS LL_PWR_SetPowerMode\n - * @rmtoll CR LPlVDS LL_PWR_SetPowerMode\n - * @rmtoll CR FPDS LL_PWR_SetPowerMode\n - * @rmtoll CR LPDS LL_PWR_SetPowerMode - * @param PDMode This parameter can be one of the following values: - * @arg @ref LL_PWR_MODE_STOP_MAINREGU - * @arg @ref LL_PWR_MODE_STOP_LPREGU - * @arg @ref LL_PWR_MODE_STOP_MAINREGU_UNDERDRIVE (*) - * @arg @ref LL_PWR_MODE_STOP_LPREGU_UNDERDRIVE (*) - * @arg @ref LL_PWR_MODE_STOP_MAINREGU_DEEPSLEEP (*) - * @arg @ref LL_PWR_MODE_STOP_LPREGU_DEEPSLEEP (*) - * - * (*) not available on all devices - * @arg @ref LL_PWR_MODE_STANDBY - * @retval None - */ -__STATIC_INLINE void LL_PWR_SetPowerMode(uint32_t PDMode) -{ -#if defined(PWR_CR_MRUDS) && defined(PWR_CR_LPUDS) && defined(PWR_CR_FPDS) - MODIFY_REG(PWR->CR, (PWR_CR_PDDS | PWR_CR_LPDS | PWR_CR_FPDS | PWR_CR_LPUDS | PWR_CR_MRUDS), PDMode); -#elif defined(PWR_CR_MRLVDS) && defined(PWR_CR_LPLVDS) && defined(PWR_CR_FPDS) - MODIFY_REG(PWR->CR, (PWR_CR_PDDS | PWR_CR_LPDS | PWR_CR_FPDS | PWR_CR_LPLVDS | PWR_CR_MRLVDS), PDMode); -#else - MODIFY_REG(PWR->CR, (PWR_CR_PDDS| PWR_CR_LPDS), PDMode); -#endif /* PWR_CR_MRUDS && PWR_CR_LPUDS && PWR_CR_FPDS */ -} - -/** - * @brief Get Power Down mode when CPU enters deepsleep - * @rmtoll CR PDDS LL_PWR_GetPowerMode\n - * @rmtoll CR MRUDS LL_PWR_GetPowerMode\n - * @rmtoll CR LPUDS LL_PWR_GetPowerMode\n - * @rmtoll CR FPDS LL_PWR_GetPowerMode\n - * @rmtoll CR MRLVDS LL_PWR_GetPowerMode\n - * @rmtoll CR LPLVDS LL_PWR_GetPowerMode\n - * @rmtoll CR FPDS LL_PWR_GetPowerMode\n - * @rmtoll CR LPDS LL_PWR_GetPowerMode - * @retval Returned value can be one of the following values: - * @arg @ref LL_PWR_MODE_STOP_MAINREGU - * @arg @ref LL_PWR_MODE_STOP_LPREGU - * @arg @ref LL_PWR_MODE_STOP_MAINREGU_UNDERDRIVE (*) - * @arg @ref LL_PWR_MODE_STOP_LPREGU_UNDERDRIVE (*) - * @arg @ref LL_PWR_MODE_STOP_MAINREGU_DEEPSLEEP (*) - * @arg @ref LL_PWR_MODE_STOP_LPREGU_DEEPSLEEP (*) - * - * (*) not available on all devices - * @arg @ref LL_PWR_MODE_STANDBY - */ -__STATIC_INLINE uint32_t LL_PWR_GetPowerMode(void) -{ -#if defined(PWR_CR_MRUDS) && defined(PWR_CR_LPUDS) && defined(PWR_CR_FPDS) - return (uint32_t)(READ_BIT(PWR->CR, (PWR_CR_PDDS | PWR_CR_LPDS | PWR_CR_FPDS | PWR_CR_LPUDS | PWR_CR_MRUDS))); -#elif defined(PWR_CR_MRLVDS) && defined(PWR_CR_LPLVDS) && defined(PWR_CR_FPDS) - return (uint32_t)(READ_BIT(PWR->CR, (PWR_CR_PDDS | PWR_CR_LPDS | PWR_CR_FPDS | PWR_CR_LPLVDS | PWR_CR_MRLVDS))); -#else - return (uint32_t)(READ_BIT(PWR->CR, (PWR_CR_PDDS| PWR_CR_LPDS))); -#endif /* PWR_CR_MRUDS && PWR_CR_LPUDS && PWR_CR_FPDS */ -} - -/** - * @brief Configure the voltage threshold detected by the Power Voltage Detector - * @rmtoll CR PLS LL_PWR_SetPVDLevel - * @param PVDLevel This parameter can be one of the following values: - * @arg @ref LL_PWR_PVDLEVEL_0 - * @arg @ref LL_PWR_PVDLEVEL_1 - * @arg @ref LL_PWR_PVDLEVEL_2 - * @arg @ref LL_PWR_PVDLEVEL_3 - * @arg @ref LL_PWR_PVDLEVEL_4 - * @arg @ref LL_PWR_PVDLEVEL_5 - * @arg @ref LL_PWR_PVDLEVEL_6 - * @arg @ref LL_PWR_PVDLEVEL_7 - * @retval None - */ -__STATIC_INLINE void LL_PWR_SetPVDLevel(uint32_t PVDLevel) -{ - MODIFY_REG(PWR->CR, PWR_CR_PLS, PVDLevel); -} - -/** - * @brief Get the voltage threshold detection - * @rmtoll CR PLS LL_PWR_GetPVDLevel - * @retval Returned value can be one of the following values: - * @arg @ref LL_PWR_PVDLEVEL_0 - * @arg @ref LL_PWR_PVDLEVEL_1 - * @arg @ref LL_PWR_PVDLEVEL_2 - * @arg @ref LL_PWR_PVDLEVEL_3 - * @arg @ref LL_PWR_PVDLEVEL_4 - * @arg @ref LL_PWR_PVDLEVEL_5 - * @arg @ref LL_PWR_PVDLEVEL_6 - * @arg @ref LL_PWR_PVDLEVEL_7 - */ -__STATIC_INLINE uint32_t LL_PWR_GetPVDLevel(void) -{ - return (uint32_t)(READ_BIT(PWR->CR, PWR_CR_PLS)); -} - -/** - * @brief Enable Power Voltage Detector - * @rmtoll CR PVDE LL_PWR_EnablePVD - * @retval None - */ -__STATIC_INLINE void LL_PWR_EnablePVD(void) -{ - SET_BIT(PWR->CR, PWR_CR_PVDE); -} - -/** - * @brief Disable Power Voltage Detector - * @rmtoll CR PVDE LL_PWR_DisablePVD - * @retval None - */ -__STATIC_INLINE void LL_PWR_DisablePVD(void) -{ - CLEAR_BIT(PWR->CR, PWR_CR_PVDE); -} - -/** - * @brief Check if Power Voltage Detector is enabled - * @rmtoll CR PVDE LL_PWR_IsEnabledPVD - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_PWR_IsEnabledPVD(void) -{ - return (READ_BIT(PWR->CR, PWR_CR_PVDE) == (PWR_CR_PVDE)); -} - -/** - * @brief Enable the WakeUp PINx functionality - * @rmtoll CSR EWUP LL_PWR_EnableWakeUpPin\n - * @rmtoll CSR EWUP1 LL_PWR_EnableWakeUpPin\n - * @rmtoll CSR EWUP2 LL_PWR_EnableWakeUpPin\n - * @rmtoll CSR EWUP3 LL_PWR_EnableWakeUpPin - * @param WakeUpPin This parameter can be one of the following values: - * @arg @ref LL_PWR_WAKEUP_PIN1 - * @arg @ref LL_PWR_WAKEUP_PIN2 (*) - * @arg @ref LL_PWR_WAKEUP_PIN3 (*) - * - * (*) not available on all devices - * @retval None - */ -__STATIC_INLINE void LL_PWR_EnableWakeUpPin(uint32_t WakeUpPin) -{ - SET_BIT(PWR->CSR, WakeUpPin); -} - -/** - * @brief Disable the WakeUp PINx functionality - * @rmtoll CSR EWUP LL_PWR_DisableWakeUpPin\n - * @rmtoll CSR EWUP1 LL_PWR_DisableWakeUpPin\n - * @rmtoll CSR EWUP2 LL_PWR_DisableWakeUpPin\n - * @rmtoll CSR EWUP3 LL_PWR_DisableWakeUpPin - * @param WakeUpPin This parameter can be one of the following values: - * @arg @ref LL_PWR_WAKEUP_PIN1 - * @arg @ref LL_PWR_WAKEUP_PIN2 (*) - * @arg @ref LL_PWR_WAKEUP_PIN3 (*) - * - * (*) not available on all devices - * @retval None - */ -__STATIC_INLINE void LL_PWR_DisableWakeUpPin(uint32_t WakeUpPin) -{ - CLEAR_BIT(PWR->CSR, WakeUpPin); -} - -/** - * @brief Check if the WakeUp PINx functionality is enabled - * @rmtoll CSR EWUP LL_PWR_IsEnabledWakeUpPin\n - * @rmtoll CSR EWUP1 LL_PWR_IsEnabledWakeUpPin\n - * @rmtoll CSR EWUP2 LL_PWR_IsEnabledWakeUpPin\n - * @rmtoll CSR EWUP3 LL_PWR_IsEnabledWakeUpPin - * @param WakeUpPin This parameter can be one of the following values: - * @arg @ref LL_PWR_WAKEUP_PIN1 - * @arg @ref LL_PWR_WAKEUP_PIN2 (*) - * @arg @ref LL_PWR_WAKEUP_PIN3 (*) - * - * (*) not available on all devices - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_PWR_IsEnabledWakeUpPin(uint32_t WakeUpPin) -{ - return (READ_BIT(PWR->CSR, WakeUpPin) == (WakeUpPin)); -} - - -/** - * @} - */ - -/** @defgroup PWR_LL_EF_FLAG_Management FLAG_Management - * @{ - */ - -/** - * @brief Get Wake-up Flag - * @rmtoll CSR WUF LL_PWR_IsActiveFlag_WU - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_PWR_IsActiveFlag_WU(void) -{ - return (READ_BIT(PWR->CSR, PWR_CSR_WUF) == (PWR_CSR_WUF)); -} - -/** - * @brief Get Standby Flag - * @rmtoll CSR SBF LL_PWR_IsActiveFlag_SB - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_PWR_IsActiveFlag_SB(void) -{ - return (READ_BIT(PWR->CSR, PWR_CSR_SBF) == (PWR_CSR_SBF)); -} - -/** - * @brief Get Backup Regulator ready Flag - * @rmtoll CSR BRR LL_PWR_IsActiveFlag_BRR - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_PWR_IsActiveFlag_BRR(void) -{ - return (READ_BIT(PWR->CSR, PWR_CSR_BRR) == (PWR_CSR_BRR)); -} -/** - * @brief Indicate whether VDD voltage is below the selected PVD threshold - * @rmtoll CSR PVDO LL_PWR_IsActiveFlag_PVDO - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_PWR_IsActiveFlag_PVDO(void) -{ - return (READ_BIT(PWR->CSR, PWR_CSR_PVDO) == (PWR_CSR_PVDO)); -} - -/** - * @brief Indicate whether the Regulator is ready in the selected voltage range or if its output voltage is still changing to the required voltage level - * @rmtoll CSR VOS LL_PWR_IsActiveFlag_VOS - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_PWR_IsActiveFlag_VOS(void) -{ - return (READ_BIT(PWR->CSR, LL_PWR_CSR_VOS) == (LL_PWR_CSR_VOS)); -} -#if defined(PWR_CR_ODEN) -/** - * @brief Indicate whether the Over-Drive mode is ready or not - * @rmtoll CSR ODRDY LL_PWR_IsActiveFlag_OD - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_PWR_IsActiveFlag_OD(void) -{ - return (READ_BIT(PWR->CSR, PWR_CSR_ODRDY) == (PWR_CSR_ODRDY)); -} -#endif /* PWR_CR_ODEN */ - -#if defined(PWR_CR_ODSWEN) -/** - * @brief Indicate whether the Over-Drive mode switching is ready or not - * @rmtoll CSR ODSWRDY LL_PWR_IsActiveFlag_ODSW - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_PWR_IsActiveFlag_ODSW(void) -{ - return (READ_BIT(PWR->CSR, PWR_CSR_ODSWRDY) == (PWR_CSR_ODSWRDY)); -} -#endif /* PWR_CR_ODSWEN */ - -#if defined(PWR_CR_UDEN) -/** - * @brief Indicate whether the Under-Drive mode is ready or not - * @rmtoll CSR UDRDY LL_PWR_IsActiveFlag_UD - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_PWR_IsActiveFlag_UD(void) -{ - return (READ_BIT(PWR->CSR, PWR_CSR_UDRDY) == (PWR_CSR_UDRDY)); -} -#endif /* PWR_CR_UDEN */ -/** - * @brief Clear Standby Flag - * @rmtoll CR CSBF LL_PWR_ClearFlag_SB - * @retval None - */ -__STATIC_INLINE void LL_PWR_ClearFlag_SB(void) -{ - SET_BIT(PWR->CR, PWR_CR_CSBF); -} - -/** - * @brief Clear Wake-up Flags - * @rmtoll CR CWUF LL_PWR_ClearFlag_WU - * @retval None - */ -__STATIC_INLINE void LL_PWR_ClearFlag_WU(void) -{ - SET_BIT(PWR->CR, PWR_CR_CWUF); -} -#if defined(PWR_CSR_UDRDY) -/** - * @brief Clear Under-Drive ready Flag - * @rmtoll CSR UDRDY LL_PWR_ClearFlag_UD - * @retval None - */ -__STATIC_INLINE void LL_PWR_ClearFlag_UD(void) -{ - WRITE_REG(PWR->CSR, PWR_CSR_UDRDY); -} -#endif /* PWR_CSR_UDRDY */ - -/** - * @} - */ - -#if defined(USE_FULL_LL_DRIVER) -/** @defgroup PWR_LL_EF_Init De-initialization function - * @{ - */ -ErrorStatus LL_PWR_DeInit(void); -/** - * @} - */ -#endif /* USE_FULL_LL_DRIVER */ - -/** - * @} - */ - -/** - * @} - */ - -#endif /* defined(PWR) */ - -/** - * @} - */ - -#ifdef __cplusplus -} -#endif - -#endif /* __STM32F4xx_LL_PWR_H */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_rcc.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_rcc.h deleted file mode 100644 index d4c249fc31d269..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_rcc.h +++ /dev/null @@ -1,7099 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_ll_rcc.h - * @author MCD Application Team - * @brief Header file of RCC LL module. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef __STM32F4xx_LL_RCC_H -#define __STM32F4xx_LL_RCC_H - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx.h" - -/** @addtogroup STM32F4xx_LL_Driver - * @{ - */ - -#if defined(RCC) - -/** @defgroup RCC_LL RCC - * @{ - */ - -/* Private types -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/** @defgroup RCC_LL_Private_Variables RCC Private Variables - * @{ - */ - -#if defined(RCC_DCKCFGR_PLLSAIDIVR) -static const uint8_t aRCC_PLLSAIDIVRPrescTable[4] = {2, 4, 8, 16}; -#endif /* RCC_DCKCFGR_PLLSAIDIVR */ - -/** - * @} - */ -/* Private constants ---------------------------------------------------------*/ -/* Private macros ------------------------------------------------------------*/ -#if defined(USE_FULL_LL_DRIVER) -/** @defgroup RCC_LL_Private_Macros RCC Private Macros - * @{ - */ -/** - * @} - */ -#endif /*USE_FULL_LL_DRIVER*/ -/* Exported types ------------------------------------------------------------*/ -#if defined(USE_FULL_LL_DRIVER) -/** @defgroup RCC_LL_Exported_Types RCC Exported Types - * @{ - */ - -/** @defgroup LL_ES_CLOCK_FREQ Clocks Frequency Structure - * @{ - */ - -/** - * @brief RCC Clocks Frequency Structure - */ -typedef struct -{ - uint32_t SYSCLK_Frequency; /*!< SYSCLK clock frequency */ - uint32_t HCLK_Frequency; /*!< HCLK clock frequency */ - uint32_t PCLK1_Frequency; /*!< PCLK1 clock frequency */ - uint32_t PCLK2_Frequency; /*!< PCLK2 clock frequency */ -} LL_RCC_ClocksTypeDef; - -/** - * @} - */ - -/** - * @} - */ -#endif /* USE_FULL_LL_DRIVER */ - -/* Exported constants --------------------------------------------------------*/ -/** @defgroup RCC_LL_Exported_Constants RCC Exported Constants - * @{ - */ - -/** @defgroup RCC_LL_EC_OSC_VALUES Oscillator Values adaptation - * @brief Defines used to adapt values of different oscillators - * @note These values could be modified in the user environment according to - * HW set-up. - * @{ - */ -#if !defined (HSE_VALUE) -#define HSE_VALUE 25000000U /*!< Value of the HSE oscillator in Hz */ -#endif /* HSE_VALUE */ - -#if !defined (HSI_VALUE) -#define HSI_VALUE 16000000U /*!< Value of the HSI oscillator in Hz */ -#endif /* HSI_VALUE */ - -#if !defined (LSE_VALUE) -#define LSE_VALUE 32768U /*!< Value of the LSE oscillator in Hz */ -#endif /* LSE_VALUE */ - -#if !defined (LSI_VALUE) -#define LSI_VALUE 32000U /*!< Value of the LSI oscillator in Hz */ -#endif /* LSI_VALUE */ - -#if !defined (EXTERNAL_CLOCK_VALUE) -#define EXTERNAL_CLOCK_VALUE 12288000U /*!< Value of the I2S_CKIN external oscillator in Hz */ -#endif /* EXTERNAL_CLOCK_VALUE */ -/** - * @} - */ - -/** @defgroup RCC_LL_EC_CLEAR_FLAG Clear Flags Defines - * @brief Flags defines which can be used with LL_RCC_WriteReg function - * @{ - */ -#define LL_RCC_CIR_LSIRDYC RCC_CIR_LSIRDYC /*!< LSI Ready Interrupt Clear */ -#define LL_RCC_CIR_LSERDYC RCC_CIR_LSERDYC /*!< LSE Ready Interrupt Clear */ -#define LL_RCC_CIR_HSIRDYC RCC_CIR_HSIRDYC /*!< HSI Ready Interrupt Clear */ -#define LL_RCC_CIR_HSERDYC RCC_CIR_HSERDYC /*!< HSE Ready Interrupt Clear */ -#define LL_RCC_CIR_PLLRDYC RCC_CIR_PLLRDYC /*!< PLL Ready Interrupt Clear */ -#if defined(RCC_PLLI2S_SUPPORT) -#define LL_RCC_CIR_PLLI2SRDYC RCC_CIR_PLLI2SRDYC /*!< PLLI2S Ready Interrupt Clear */ -#endif /* RCC_PLLI2S_SUPPORT */ -#if defined(RCC_PLLSAI_SUPPORT) -#define LL_RCC_CIR_PLLSAIRDYC RCC_CIR_PLLSAIRDYC /*!< PLLSAI Ready Interrupt Clear */ -#endif /* RCC_PLLSAI_SUPPORT */ -#define LL_RCC_CIR_CSSC RCC_CIR_CSSC /*!< Clock Security System Interrupt Clear */ -/** - * @} - */ - -/** @defgroup RCC_LL_EC_GET_FLAG Get Flags Defines - * @brief Flags defines which can be used with LL_RCC_ReadReg function - * @{ - */ -#define LL_RCC_CIR_LSIRDYF RCC_CIR_LSIRDYF /*!< LSI Ready Interrupt flag */ -#define LL_RCC_CIR_LSERDYF RCC_CIR_LSERDYF /*!< LSE Ready Interrupt flag */ -#define LL_RCC_CIR_HSIRDYF RCC_CIR_HSIRDYF /*!< HSI Ready Interrupt flag */ -#define LL_RCC_CIR_HSERDYF RCC_CIR_HSERDYF /*!< HSE Ready Interrupt flag */ -#define LL_RCC_CIR_PLLRDYF RCC_CIR_PLLRDYF /*!< PLL Ready Interrupt flag */ -#if defined(RCC_PLLI2S_SUPPORT) -#define LL_RCC_CIR_PLLI2SRDYF RCC_CIR_PLLI2SRDYF /*!< PLLI2S Ready Interrupt flag */ -#endif /* RCC_PLLI2S_SUPPORT */ -#if defined(RCC_PLLSAI_SUPPORT) -#define LL_RCC_CIR_PLLSAIRDYF RCC_CIR_PLLSAIRDYF /*!< PLLSAI Ready Interrupt flag */ -#endif /* RCC_PLLSAI_SUPPORT */ -#define LL_RCC_CIR_CSSF RCC_CIR_CSSF /*!< Clock Security System Interrupt flag */ -#define LL_RCC_CSR_LPWRRSTF RCC_CSR_LPWRRSTF /*!< Low-Power reset flag */ -#define LL_RCC_CSR_PINRSTF RCC_CSR_PINRSTF /*!< PIN reset flag */ -#define LL_RCC_CSR_PORRSTF RCC_CSR_PORRSTF /*!< POR/PDR reset flag */ -#define LL_RCC_CSR_SFTRSTF RCC_CSR_SFTRSTF /*!< Software Reset flag */ -#define LL_RCC_CSR_IWDGRSTF RCC_CSR_IWDGRSTF /*!< Independent Watchdog reset flag */ -#define LL_RCC_CSR_WWDGRSTF RCC_CSR_WWDGRSTF /*!< Window watchdog reset flag */ -#if defined(RCC_CSR_BORRSTF) -#define LL_RCC_CSR_BORRSTF RCC_CSR_BORRSTF /*!< BOR reset flag */ -#endif /* RCC_CSR_BORRSTF */ -/** - * @} - */ - -/** @defgroup RCC_LL_EC_IT IT Defines - * @brief IT defines which can be used with LL_RCC_ReadReg and LL_RCC_WriteReg functions - * @{ - */ -#define LL_RCC_CIR_LSIRDYIE RCC_CIR_LSIRDYIE /*!< LSI Ready Interrupt Enable */ -#define LL_RCC_CIR_LSERDYIE RCC_CIR_LSERDYIE /*!< LSE Ready Interrupt Enable */ -#define LL_RCC_CIR_HSIRDYIE RCC_CIR_HSIRDYIE /*!< HSI Ready Interrupt Enable */ -#define LL_RCC_CIR_HSERDYIE RCC_CIR_HSERDYIE /*!< HSE Ready Interrupt Enable */ -#define LL_RCC_CIR_PLLRDYIE RCC_CIR_PLLRDYIE /*!< PLL Ready Interrupt Enable */ -#if defined(RCC_PLLI2S_SUPPORT) -#define LL_RCC_CIR_PLLI2SRDYIE RCC_CIR_PLLI2SRDYIE /*!< PLLI2S Ready Interrupt Enable */ -#endif /* RCC_PLLI2S_SUPPORT */ -#if defined(RCC_PLLSAI_SUPPORT) -#define LL_RCC_CIR_PLLSAIRDYIE RCC_CIR_PLLSAIRDYIE /*!< PLLSAI Ready Interrupt Enable */ -#endif /* RCC_PLLSAI_SUPPORT */ -/** - * @} - */ - -/** @defgroup RCC_LL_EC_SYS_CLKSOURCE System clock switch - * @{ - */ -#define LL_RCC_SYS_CLKSOURCE_HSI RCC_CFGR_SW_HSI /*!< HSI selection as system clock */ -#define LL_RCC_SYS_CLKSOURCE_HSE RCC_CFGR_SW_HSE /*!< HSE selection as system clock */ -#define LL_RCC_SYS_CLKSOURCE_PLL RCC_CFGR_SW_PLL /*!< PLL selection as system clock */ -#if defined(RCC_CFGR_SW_PLLR) -#define LL_RCC_SYS_CLKSOURCE_PLLR RCC_CFGR_SW_PLLR /*!< PLLR selection as system clock */ -#endif /* RCC_CFGR_SW_PLLR */ -/** - * @} - */ - -/** @defgroup RCC_LL_EC_SYS_CLKSOURCE_STATUS System clock switch status - * @{ - */ -#define LL_RCC_SYS_CLKSOURCE_STATUS_HSI RCC_CFGR_SWS_HSI /*!< HSI used as system clock */ -#define LL_RCC_SYS_CLKSOURCE_STATUS_HSE RCC_CFGR_SWS_HSE /*!< HSE used as system clock */ -#define LL_RCC_SYS_CLKSOURCE_STATUS_PLL RCC_CFGR_SWS_PLL /*!< PLL used as system clock */ -#if defined(RCC_PLLR_SYSCLK_SUPPORT) -#define LL_RCC_SYS_CLKSOURCE_STATUS_PLLR RCC_CFGR_SWS_PLLR /*!< PLLR used as system clock */ -#endif /* RCC_PLLR_SYSCLK_SUPPORT */ -/** - * @} - */ - -/** @defgroup RCC_LL_EC_SYSCLK_DIV AHB prescaler - * @{ - */ -#define LL_RCC_SYSCLK_DIV_1 RCC_CFGR_HPRE_DIV1 /*!< SYSCLK not divided */ -#define LL_RCC_SYSCLK_DIV_2 RCC_CFGR_HPRE_DIV2 /*!< SYSCLK divided by 2 */ -#define LL_RCC_SYSCLK_DIV_4 RCC_CFGR_HPRE_DIV4 /*!< SYSCLK divided by 4 */ -#define LL_RCC_SYSCLK_DIV_8 RCC_CFGR_HPRE_DIV8 /*!< SYSCLK divided by 8 */ -#define LL_RCC_SYSCLK_DIV_16 RCC_CFGR_HPRE_DIV16 /*!< SYSCLK divided by 16 */ -#define LL_RCC_SYSCLK_DIV_64 RCC_CFGR_HPRE_DIV64 /*!< SYSCLK divided by 64 */ -#define LL_RCC_SYSCLK_DIV_128 RCC_CFGR_HPRE_DIV128 /*!< SYSCLK divided by 128 */ -#define LL_RCC_SYSCLK_DIV_256 RCC_CFGR_HPRE_DIV256 /*!< SYSCLK divided by 256 */ -#define LL_RCC_SYSCLK_DIV_512 RCC_CFGR_HPRE_DIV512 /*!< SYSCLK divided by 512 */ -/** - * @} - */ - -/** @defgroup RCC_LL_EC_APB1_DIV APB low-speed prescaler (APB1) - * @{ - */ -#define LL_RCC_APB1_DIV_1 RCC_CFGR_PPRE1_DIV1 /*!< HCLK not divided */ -#define LL_RCC_APB1_DIV_2 RCC_CFGR_PPRE1_DIV2 /*!< HCLK divided by 2 */ -#define LL_RCC_APB1_DIV_4 RCC_CFGR_PPRE1_DIV4 /*!< HCLK divided by 4 */ -#define LL_RCC_APB1_DIV_8 RCC_CFGR_PPRE1_DIV8 /*!< HCLK divided by 8 */ -#define LL_RCC_APB1_DIV_16 RCC_CFGR_PPRE1_DIV16 /*!< HCLK divided by 16 */ -/** - * @} - */ - -/** @defgroup RCC_LL_EC_APB2_DIV APB high-speed prescaler (APB2) - * @{ - */ -#define LL_RCC_APB2_DIV_1 RCC_CFGR_PPRE2_DIV1 /*!< HCLK not divided */ -#define LL_RCC_APB2_DIV_2 RCC_CFGR_PPRE2_DIV2 /*!< HCLK divided by 2 */ -#define LL_RCC_APB2_DIV_4 RCC_CFGR_PPRE2_DIV4 /*!< HCLK divided by 4 */ -#define LL_RCC_APB2_DIV_8 RCC_CFGR_PPRE2_DIV8 /*!< HCLK divided by 8 */ -#define LL_RCC_APB2_DIV_16 RCC_CFGR_PPRE2_DIV16 /*!< HCLK divided by 16 */ -/** - * @} - */ - -/** @defgroup RCC_LL_EC_MCOxSOURCE MCO source selection - * @{ - */ -#define LL_RCC_MCO1SOURCE_HSI (uint32_t)(RCC_CFGR_MCO1|0x00000000U) /*!< HSI selection as MCO1 source */ -#define LL_RCC_MCO1SOURCE_LSE (uint32_t)(RCC_CFGR_MCO1|(RCC_CFGR_MCO1_0 >> 16U)) /*!< LSE selection as MCO1 source */ -#define LL_RCC_MCO1SOURCE_HSE (uint32_t)(RCC_CFGR_MCO1|(RCC_CFGR_MCO1_1 >> 16U)) /*!< HSE selection as MCO1 source */ -#define LL_RCC_MCO1SOURCE_PLLCLK (uint32_t)(RCC_CFGR_MCO1|((RCC_CFGR_MCO1_1|RCC_CFGR_MCO1_0) >> 16U)) /*!< PLLCLK selection as MCO1 source */ -#if defined(RCC_CFGR_MCO2) -#define LL_RCC_MCO2SOURCE_SYSCLK (uint32_t)(RCC_CFGR_MCO2|0x00000000U) /*!< SYSCLK selection as MCO2 source */ -#define LL_RCC_MCO2SOURCE_PLLI2S (uint32_t)(RCC_CFGR_MCO2|(RCC_CFGR_MCO2_0 >> 16U)) /*!< PLLI2S selection as MCO2 source */ -#define LL_RCC_MCO2SOURCE_HSE (uint32_t)(RCC_CFGR_MCO2|(RCC_CFGR_MCO2_1 >> 16U)) /*!< HSE selection as MCO2 source */ -#define LL_RCC_MCO2SOURCE_PLLCLK (uint32_t)(RCC_CFGR_MCO2|((RCC_CFGR_MCO2_1|RCC_CFGR_MCO2_0) >> 16U)) /*!< PLLCLK selection as MCO2 source */ -#endif /* RCC_CFGR_MCO2 */ -/** - * @} - */ - -/** @defgroup RCC_LL_EC_MCOx_DIV MCO prescaler - * @{ - */ -#define LL_RCC_MCO1_DIV_1 (uint32_t)(RCC_CFGR_MCO1PRE|0x00000000U) /*!< MCO1 not divided */ -#define LL_RCC_MCO1_DIV_2 (uint32_t)(RCC_CFGR_MCO1PRE|(RCC_CFGR_MCO1PRE_2 >> 16U)) /*!< MCO1 divided by 2 */ -#define LL_RCC_MCO1_DIV_3 (uint32_t)(RCC_CFGR_MCO1PRE|((RCC_CFGR_MCO1PRE_2|RCC_CFGR_MCO1PRE_0) >> 16U)) /*!< MCO1 divided by 3 */ -#define LL_RCC_MCO1_DIV_4 (uint32_t)(RCC_CFGR_MCO1PRE|((RCC_CFGR_MCO1PRE_2|RCC_CFGR_MCO1PRE_1) >> 16U)) /*!< MCO1 divided by 4 */ -#define LL_RCC_MCO1_DIV_5 (uint32_t)(RCC_CFGR_MCO1PRE|(RCC_CFGR_MCO1PRE >> 16U)) /*!< MCO1 divided by 5 */ -#if defined(RCC_CFGR_MCO2PRE) -#define LL_RCC_MCO2_DIV_1 (uint32_t)(RCC_CFGR_MCO2PRE|0x00000000U) /*!< MCO2 not divided */ -#define LL_RCC_MCO2_DIV_2 (uint32_t)(RCC_CFGR_MCO2PRE|(RCC_CFGR_MCO2PRE_2 >> 16U)) /*!< MCO2 divided by 2 */ -#define LL_RCC_MCO2_DIV_3 (uint32_t)(RCC_CFGR_MCO2PRE|((RCC_CFGR_MCO2PRE_2|RCC_CFGR_MCO2PRE_0) >> 16U)) /*!< MCO2 divided by 3 */ -#define LL_RCC_MCO2_DIV_4 (uint32_t)(RCC_CFGR_MCO2PRE|((RCC_CFGR_MCO2PRE_2|RCC_CFGR_MCO2PRE_1) >> 16U)) /*!< MCO2 divided by 4 */ -#define LL_RCC_MCO2_DIV_5 (uint32_t)(RCC_CFGR_MCO2PRE|(RCC_CFGR_MCO2PRE >> 16U)) /*!< MCO2 divided by 5 */ -#endif /* RCC_CFGR_MCO2PRE */ -/** - * @} - */ - -/** @defgroup RCC_LL_EC_RTC_HSEDIV HSE prescaler for RTC clock - * @{ - */ -#define LL_RCC_RTC_NOCLOCK 0x00000000U /*!< HSE not divided */ -#define LL_RCC_RTC_HSE_DIV_2 RCC_CFGR_RTCPRE_1 /*!< HSE clock divided by 2 */ -#define LL_RCC_RTC_HSE_DIV_3 (RCC_CFGR_RTCPRE_1|RCC_CFGR_RTCPRE_0) /*!< HSE clock divided by 3 */ -#define LL_RCC_RTC_HSE_DIV_4 RCC_CFGR_RTCPRE_2 /*!< HSE clock divided by 4 */ -#define LL_RCC_RTC_HSE_DIV_5 (RCC_CFGR_RTCPRE_2|RCC_CFGR_RTCPRE_0) /*!< HSE clock divided by 5 */ -#define LL_RCC_RTC_HSE_DIV_6 (RCC_CFGR_RTCPRE_2|RCC_CFGR_RTCPRE_1) /*!< HSE clock divided by 6 */ -#define LL_RCC_RTC_HSE_DIV_7 (RCC_CFGR_RTCPRE_2|RCC_CFGR_RTCPRE_1|RCC_CFGR_RTCPRE_0) /*!< HSE clock divided by 7 */ -#define LL_RCC_RTC_HSE_DIV_8 RCC_CFGR_RTCPRE_3 /*!< HSE clock divided by 8 */ -#define LL_RCC_RTC_HSE_DIV_9 (RCC_CFGR_RTCPRE_3|RCC_CFGR_RTCPRE_0) /*!< HSE clock divided by 9 */ -#define LL_RCC_RTC_HSE_DIV_10 (RCC_CFGR_RTCPRE_3|RCC_CFGR_RTCPRE_1) /*!< HSE clock divided by 10 */ -#define LL_RCC_RTC_HSE_DIV_11 (RCC_CFGR_RTCPRE_3|RCC_CFGR_RTCPRE_1|RCC_CFGR_RTCPRE_0) /*!< HSE clock divided by 11 */ -#define LL_RCC_RTC_HSE_DIV_12 (RCC_CFGR_RTCPRE_3|RCC_CFGR_RTCPRE_2) /*!< HSE clock divided by 12 */ -#define LL_RCC_RTC_HSE_DIV_13 (RCC_CFGR_RTCPRE_3|RCC_CFGR_RTCPRE_2|RCC_CFGR_RTCPRE_0) /*!< HSE clock divided by 13 */ -#define LL_RCC_RTC_HSE_DIV_14 (RCC_CFGR_RTCPRE_3|RCC_CFGR_RTCPRE_2|RCC_CFGR_RTCPRE_1) /*!< HSE clock divided by 14 */ -#define LL_RCC_RTC_HSE_DIV_15 (RCC_CFGR_RTCPRE_3|RCC_CFGR_RTCPRE_2|RCC_CFGR_RTCPRE_1|RCC_CFGR_RTCPRE_0) /*!< HSE clock divided by 15 */ -#define LL_RCC_RTC_HSE_DIV_16 RCC_CFGR_RTCPRE_4 /*!< HSE clock divided by 16 */ -#define LL_RCC_RTC_HSE_DIV_17 (RCC_CFGR_RTCPRE_4|RCC_CFGR_RTCPRE_0) /*!< HSE clock divided by 17 */ -#define LL_RCC_RTC_HSE_DIV_18 (RCC_CFGR_RTCPRE_4|RCC_CFGR_RTCPRE_1) /*!< HSE clock divided by 18 */ -#define LL_RCC_RTC_HSE_DIV_19 (RCC_CFGR_RTCPRE_4|RCC_CFGR_RTCPRE_1|RCC_CFGR_RTCPRE_0) /*!< HSE clock divided by 19 */ -#define LL_RCC_RTC_HSE_DIV_20 (RCC_CFGR_RTCPRE_4|RCC_CFGR_RTCPRE_2) /*!< HSE clock divided by 20 */ -#define LL_RCC_RTC_HSE_DIV_21 (RCC_CFGR_RTCPRE_4|RCC_CFGR_RTCPRE_2|RCC_CFGR_RTCPRE_0) /*!< HSE clock divided by 21 */ -#define LL_RCC_RTC_HSE_DIV_22 (RCC_CFGR_RTCPRE_4|RCC_CFGR_RTCPRE_2|RCC_CFGR_RTCPRE_1) /*!< HSE clock divided by 22 */ -#define LL_RCC_RTC_HSE_DIV_23 (RCC_CFGR_RTCPRE_4|RCC_CFGR_RTCPRE_2|RCC_CFGR_RTCPRE_1|RCC_CFGR_RTCPRE_0) /*!< HSE clock divided by 23 */ -#define LL_RCC_RTC_HSE_DIV_24 (RCC_CFGR_RTCPRE_4|RCC_CFGR_RTCPRE_3) /*!< HSE clock divided by 24 */ -#define LL_RCC_RTC_HSE_DIV_25 (RCC_CFGR_RTCPRE_4|RCC_CFGR_RTCPRE_3|RCC_CFGR_RTCPRE_0) /*!< HSE clock divided by 25 */ -#define LL_RCC_RTC_HSE_DIV_26 (RCC_CFGR_RTCPRE_4|RCC_CFGR_RTCPRE_3|RCC_CFGR_RTCPRE_1) /*!< HSE clock divided by 26 */ -#define LL_RCC_RTC_HSE_DIV_27 (RCC_CFGR_RTCPRE_4|RCC_CFGR_RTCPRE_3|RCC_CFGR_RTCPRE_1|RCC_CFGR_RTCPRE_0) /*!< HSE clock divided by 27 */ -#define LL_RCC_RTC_HSE_DIV_28 (RCC_CFGR_RTCPRE_4|RCC_CFGR_RTCPRE_3|RCC_CFGR_RTCPRE_2) /*!< HSE clock divided by 28 */ -#define LL_RCC_RTC_HSE_DIV_29 (RCC_CFGR_RTCPRE_4|RCC_CFGR_RTCPRE_3|RCC_CFGR_RTCPRE_2|RCC_CFGR_RTCPRE_0) /*!< HSE clock divided by 29 */ -#define LL_RCC_RTC_HSE_DIV_30 (RCC_CFGR_RTCPRE_4|RCC_CFGR_RTCPRE_3|RCC_CFGR_RTCPRE_2|RCC_CFGR_RTCPRE_1) /*!< HSE clock divided by 30 */ -#define LL_RCC_RTC_HSE_DIV_31 (RCC_CFGR_RTCPRE_4|RCC_CFGR_RTCPRE_3|RCC_CFGR_RTCPRE_2|RCC_CFGR_RTCPRE_1|RCC_CFGR_RTCPRE_0) /*!< HSE clock divided by 31 */ -/** - * @} - */ - -#if defined(USE_FULL_LL_DRIVER) -/** @defgroup RCC_LL_EC_PERIPH_FREQUENCY Peripheral clock frequency - * @{ - */ -#define LL_RCC_PERIPH_FREQUENCY_NO 0x00000000U /*!< No clock enabled for the peripheral */ -#define LL_RCC_PERIPH_FREQUENCY_NA 0xFFFFFFFFU /*!< Frequency cannot be provided as external clock */ -/** - * @} - */ -#endif /* USE_FULL_LL_DRIVER */ - -#if defined(FMPI2C1) -/** @defgroup RCC_LL_EC_FMPI2C1_CLKSOURCE Peripheral FMPI2C clock source selection - * @{ - */ -#define LL_RCC_FMPI2C1_CLKSOURCE_PCLK1 0x00000000U /*!< PCLK1 clock used as FMPI2C1 clock source */ -#define LL_RCC_FMPI2C1_CLKSOURCE_SYSCLK RCC_DCKCFGR2_FMPI2C1SEL_0 /*!< SYSCLK clock used as FMPI2C1 clock source */ -#define LL_RCC_FMPI2C1_CLKSOURCE_HSI RCC_DCKCFGR2_FMPI2C1SEL_1 /*!< HSI clock used as FMPI2C1 clock source */ -/** - * @} - */ -#endif /* FMPI2C1 */ - -#if defined(LPTIM1) -/** @defgroup RCC_LL_EC_LPTIM1_CLKSOURCE Peripheral LPTIM clock source selection - * @{ - */ -#define LL_RCC_LPTIM1_CLKSOURCE_PCLK1 0x00000000U /*!< PCLK1 clock used as LPTIM1 clock */ -#define LL_RCC_LPTIM1_CLKSOURCE_HSI RCC_DCKCFGR2_LPTIM1SEL_0 /*!< LSI oscillator clock used as LPTIM1 clock */ -#define LL_RCC_LPTIM1_CLKSOURCE_LSI RCC_DCKCFGR2_LPTIM1SEL_1 /*!< HSI oscillator clock used as LPTIM1 clock */ -#define LL_RCC_LPTIM1_CLKSOURCE_LSE (uint32_t)(RCC_DCKCFGR2_LPTIM1SEL_1 | RCC_DCKCFGR2_LPTIM1SEL_0) /*!< LSE oscillator clock used as LPTIM1 clock */ -/** - * @} - */ -#endif /* LPTIM1 */ - -#if defined(SAI1) -/** @defgroup RCC_LL_EC_SAIx_CLKSOURCE Peripheral SAI clock source selection - * @{ - */ -#if defined(RCC_DCKCFGR_SAI1SRC) -#define LL_RCC_SAI1_CLKSOURCE_PLLSAI (uint32_t)(RCC_DCKCFGR_SAI1SRC | 0x00000000U) /*!< PLLSAI clock used as SAI1 clock source */ -#define LL_RCC_SAI1_CLKSOURCE_PLLI2S (uint32_t)(RCC_DCKCFGR_SAI1SRC | (RCC_DCKCFGR_SAI1SRC_0 >> 16)) /*!< PLLI2S clock used as SAI1 clock source */ -#define LL_RCC_SAI1_CLKSOURCE_PLL (uint32_t)(RCC_DCKCFGR_SAI1SRC | (RCC_DCKCFGR_SAI1SRC_1 >> 16)) /*!< PLL clock used as SAI1 clock source */ -#define LL_RCC_SAI1_CLKSOURCE_PIN (uint32_t)(RCC_DCKCFGR_SAI1SRC | (RCC_DCKCFGR_SAI1SRC >> 16)) /*!< External pin clock used as SAI1 clock source */ -#endif /* RCC_DCKCFGR_SAI1SRC */ -#if defined(RCC_DCKCFGR_SAI2SRC) -#define LL_RCC_SAI2_CLKSOURCE_PLLSAI (uint32_t)(RCC_DCKCFGR_SAI2SRC | 0x00000000U) /*!< PLLSAI clock used as SAI2 clock source */ -#define LL_RCC_SAI2_CLKSOURCE_PLLI2S (uint32_t)(RCC_DCKCFGR_SAI2SRC | (RCC_DCKCFGR_SAI2SRC_0 >> 16)) /*!< PLLI2S clock used as SAI2 clock source */ -#define LL_RCC_SAI2_CLKSOURCE_PLL (uint32_t)(RCC_DCKCFGR_SAI2SRC | (RCC_DCKCFGR_SAI2SRC_1 >> 16)) /*!< PLL clock used as SAI2 clock source */ -#define LL_RCC_SAI2_CLKSOURCE_PLLSRC (uint32_t)(RCC_DCKCFGR_SAI2SRC | (RCC_DCKCFGR_SAI2SRC >> 16)) /*!< PLL Main clock used as SAI2 clock source */ -#endif /* RCC_DCKCFGR_SAI2SRC */ -#if defined(RCC_DCKCFGR_SAI1ASRC) -#if defined(RCC_SAI1A_PLLSOURCE_SUPPORT) -#define LL_RCC_SAI1_A_CLKSOURCE_PLLI2S (uint32_t)(RCC_DCKCFGR_SAI1ASRC | 0x00000000U) /*!< PLLI2S clock used as SAI1 block A clock source */ -#define LL_RCC_SAI1_A_CLKSOURCE_PIN (uint32_t)(RCC_DCKCFGR_SAI1ASRC | (RCC_DCKCFGR_SAI1ASRC_0 >> 16)) /*!< External pin used as SAI1 block A clock source */ -#define LL_RCC_SAI1_A_CLKSOURCE_PLL (uint32_t)(RCC_DCKCFGR_SAI1ASRC | (RCC_DCKCFGR_SAI1ASRC_1 >> 16)) /*!< PLL clock used as SAI1 block A clock source */ -#define LL_RCC_SAI1_A_CLKSOURCE_PLLSRC (uint32_t)(RCC_DCKCFGR_SAI1ASRC | (RCC_DCKCFGR_SAI1ASRC >> 16)) /*!< PLL Main clock used as SAI1 block A clock source */ -#else -#define LL_RCC_SAI1_A_CLKSOURCE_PLLSAI (uint32_t)(RCC_DCKCFGR_SAI1ASRC | 0x00000000U) /*!< PLLSAI clock used as SAI1 block A clock source */ -#define LL_RCC_SAI1_A_CLKSOURCE_PLLI2S (uint32_t)(RCC_DCKCFGR_SAI1ASRC | (RCC_DCKCFGR_SAI1ASRC_0 >> 16)) /*!< PLLI2S clock used as SAI1 block A clock source */ -#define LL_RCC_SAI1_A_CLKSOURCE_PIN (uint32_t)(RCC_DCKCFGR_SAI1ASRC | (RCC_DCKCFGR_SAI1ASRC_1 >> 16)) /*!< External pin clock used as SAI1 block A clock source */ -#endif /* RCC_SAI1A_PLLSOURCE_SUPPORT */ -#endif /* RCC_DCKCFGR_SAI1ASRC */ -#if defined(RCC_DCKCFGR_SAI1BSRC) -#if defined(RCC_SAI1B_PLLSOURCE_SUPPORT) -#define LL_RCC_SAI1_B_CLKSOURCE_PLLI2S (uint32_t)(RCC_DCKCFGR_SAI1BSRC | 0x00000000U) /*!< PLLI2S clock used as SAI1 block B clock source */ -#define LL_RCC_SAI1_B_CLKSOURCE_PIN (uint32_t)(RCC_DCKCFGR_SAI1BSRC | (RCC_DCKCFGR_SAI1BSRC_0 >> 16)) /*!< External pin used as SAI1 block B clock source */ -#define LL_RCC_SAI1_B_CLKSOURCE_PLL (uint32_t)(RCC_DCKCFGR_SAI1BSRC | (RCC_DCKCFGR_SAI1BSRC_1 >> 16)) /*!< PLL clock used as SAI1 block B clock source */ -#define LL_RCC_SAI1_B_CLKSOURCE_PLLSRC (uint32_t)(RCC_DCKCFGR_SAI1BSRC | (RCC_DCKCFGR_SAI1BSRC >> 16)) /*!< PLL Main clock used as SAI1 block B clock source */ -#else -#define LL_RCC_SAI1_B_CLKSOURCE_PLLSAI (uint32_t)(RCC_DCKCFGR_SAI1BSRC | 0x00000000U) /*!< PLLSAI clock used as SAI1 block B clock source */ -#define LL_RCC_SAI1_B_CLKSOURCE_PLLI2S (uint32_t)(RCC_DCKCFGR_SAI1BSRC | (RCC_DCKCFGR_SAI1BSRC_0 >> 16)) /*!< PLLI2S clock used as SAI1 block B clock source */ -#define LL_RCC_SAI1_B_CLKSOURCE_PIN (uint32_t)(RCC_DCKCFGR_SAI1BSRC | (RCC_DCKCFGR_SAI1BSRC_1 >> 16)) /*!< External pin clock used as SAI1 block B clock source */ -#endif /* RCC_SAI1B_PLLSOURCE_SUPPORT */ -#endif /* RCC_DCKCFGR_SAI1BSRC */ -/** - * @} - */ -#endif /* SAI1 */ - -#if defined(RCC_DCKCFGR_SDIOSEL) || defined(RCC_DCKCFGR2_SDIOSEL) -/** @defgroup RCC_LL_EC_SDIOx_CLKSOURCE Peripheral SDIO clock source selection - * @{ - */ -#define LL_RCC_SDIO_CLKSOURCE_PLL48CLK 0x00000000U /*!< PLL 48M domain clock used as SDIO clock */ -#if defined(RCC_DCKCFGR_SDIOSEL) -#define LL_RCC_SDIO_CLKSOURCE_SYSCLK RCC_DCKCFGR_SDIOSEL /*!< System clock clock used as SDIO clock */ -#else -#define LL_RCC_SDIO_CLKSOURCE_SYSCLK RCC_DCKCFGR2_SDIOSEL /*!< System clock clock used as SDIO clock */ -#endif /* RCC_DCKCFGR_SDIOSEL */ -/** - * @} - */ -#endif /* RCC_DCKCFGR_SDIOSEL || RCC_DCKCFGR2_SDIOSEL */ - -#if defined(DSI) -/** @defgroup RCC_LL_EC_DSI_CLKSOURCE Peripheral DSI clock source selection - * @{ - */ -#define LL_RCC_DSI_CLKSOURCE_PHY 0x00000000U /*!< DSI-PHY clock used as DSI byte lane clock source */ -#define LL_RCC_DSI_CLKSOURCE_PLL RCC_DCKCFGR_DSISEL /*!< PLL clock used as DSI byte lane clock source */ -/** - * @} - */ -#endif /* DSI */ - -#if defined(CEC) -/** @defgroup RCC_LL_EC_CEC_CLKSOURCE Peripheral CEC clock source selection - * @{ - */ -#define LL_RCC_CEC_CLKSOURCE_HSI_DIV488 0x00000000U /*!< HSI oscillator clock divided by 488 used as CEC clock */ -#define LL_RCC_CEC_CLKSOURCE_LSE RCC_DCKCFGR2_CECSEL /*!< LSE oscillator clock used as CEC clock */ -/** - * @} - */ -#endif /* CEC */ - -/** @defgroup RCC_LL_EC_I2S1_CLKSOURCE Peripheral I2S clock source selection - * @{ - */ -#if defined(RCC_CFGR_I2SSRC) -#define LL_RCC_I2S1_CLKSOURCE_PLLI2S 0x00000000U /*!< I2S oscillator clock used as I2S1 clock */ -#define LL_RCC_I2S1_CLKSOURCE_PIN RCC_CFGR_I2SSRC /*!< External pin clock used as I2S1 clock */ -#endif /* RCC_CFGR_I2SSRC */ -#if defined(RCC_DCKCFGR_I2SSRC) -#define LL_RCC_I2S1_CLKSOURCE_PLL (uint32_t)(RCC_DCKCFGR_I2SSRC | 0x00000000U) /*!< PLL clock used as I2S1 clock source */ -#define LL_RCC_I2S1_CLKSOURCE_PIN (uint32_t)(RCC_DCKCFGR_I2SSRC | (RCC_DCKCFGR_I2SSRC_0 >> 16)) /*!< External pin used as I2S1 clock source */ -#define LL_RCC_I2S1_CLKSOURCE_PLLSRC (uint32_t)(RCC_DCKCFGR_I2SSRC | (RCC_DCKCFGR_I2SSRC_1 >> 16)) /*!< PLL Main clock used as I2S1 clock source */ -#endif /* RCC_DCKCFGR_I2SSRC */ -#if defined(RCC_DCKCFGR_I2S1SRC) -#define LL_RCC_I2S1_CLKSOURCE_PLLI2S (uint32_t)(RCC_DCKCFGR_I2S1SRC | 0x00000000U) /*!< PLLI2S clock used as I2S1 clock source */ -#define LL_RCC_I2S1_CLKSOURCE_PIN (uint32_t)(RCC_DCKCFGR_I2S1SRC | (RCC_DCKCFGR_I2S1SRC_0 >> 16)) /*!< External pin used as I2S1 clock source */ -#define LL_RCC_I2S1_CLKSOURCE_PLL (uint32_t)(RCC_DCKCFGR_I2S1SRC | (RCC_DCKCFGR_I2S1SRC_1 >> 16)) /*!< PLL clock used as I2S1 clock source */ -#define LL_RCC_I2S1_CLKSOURCE_PLLSRC (uint32_t)(RCC_DCKCFGR_I2S1SRC | (RCC_DCKCFGR_I2S1SRC >> 16)) /*!< PLL Main clock used as I2S1 clock source */ -#endif /* RCC_DCKCFGR_I2S1SRC */ -#if defined(RCC_DCKCFGR_I2S2SRC) -#define LL_RCC_I2S2_CLKSOURCE_PLLI2S (uint32_t)(RCC_DCKCFGR_I2S2SRC | 0x00000000U) /*!< PLLI2S clock used as I2S2 clock source */ -#define LL_RCC_I2S2_CLKSOURCE_PIN (uint32_t)(RCC_DCKCFGR_I2S2SRC | (RCC_DCKCFGR_I2S2SRC_0 >> 16)) /*!< External pin used as I2S2 clock source */ -#define LL_RCC_I2S2_CLKSOURCE_PLL (uint32_t)(RCC_DCKCFGR_I2S2SRC | (RCC_DCKCFGR_I2S2SRC_1 >> 16)) /*!< PLL clock used as I2S2 clock source */ -#define LL_RCC_I2S2_CLKSOURCE_PLLSRC (uint32_t)(RCC_DCKCFGR_I2S2SRC | (RCC_DCKCFGR_I2S2SRC >> 16)) /*!< PLL Main clock used as I2S2 clock source */ -#endif /* RCC_DCKCFGR_I2S2SRC */ -/** - * @} - */ - -#if defined(RCC_DCKCFGR_CK48MSEL) || defined(RCC_DCKCFGR2_CK48MSEL) -/** @defgroup RCC_LL_EC_CK48M_CLKSOURCE Peripheral 48Mhz domain clock source selection - * @{ - */ -#if defined(RCC_DCKCFGR_CK48MSEL) -#define LL_RCC_CK48M_CLKSOURCE_PLL 0x00000000U /*!< PLL oscillator clock used as 48Mhz domain clock */ -#define LL_RCC_CK48M_CLKSOURCE_PLLSAI RCC_DCKCFGR_CK48MSEL /*!< PLLSAI oscillator clock used as 48Mhz domain clock */ -#endif /* RCC_DCKCFGR_CK48MSEL */ -#if defined(RCC_DCKCFGR2_CK48MSEL) -#define LL_RCC_CK48M_CLKSOURCE_PLL 0x00000000U /*!< PLL oscillator clock used as 48Mhz domain clock */ -#if defined(RCC_PLLSAI_SUPPORT) -#define LL_RCC_CK48M_CLKSOURCE_PLLSAI RCC_DCKCFGR2_CK48MSEL /*!< PLLSAI oscillator clock used as 48Mhz domain clock */ -#endif /* RCC_PLLSAI_SUPPORT */ -#if defined(RCC_PLLI2SCFGR_PLLI2SQ) && !defined(RCC_DCKCFGR_PLLI2SDIVQ) -#define LL_RCC_CK48M_CLKSOURCE_PLLI2S RCC_DCKCFGR2_CK48MSEL /*!< PLLI2S oscillator clock used as 48Mhz domain clock */ -#endif /* RCC_PLLI2SCFGR_PLLI2SQ && !RCC_DCKCFGR_PLLI2SDIVQ */ -#endif /* RCC_DCKCFGR2_CK48MSEL */ -/** - * @} - */ - -#if defined(RNG) -/** @defgroup RCC_LL_EC_RNG_CLKSOURCE Peripheral RNG clock source selection - * @{ - */ -#define LL_RCC_RNG_CLKSOURCE_PLL LL_RCC_CK48M_CLKSOURCE_PLL /*!< PLL clock used as RNG clock source */ -#if defined(RCC_PLLSAI_SUPPORT) -#define LL_RCC_RNG_CLKSOURCE_PLLSAI LL_RCC_CK48M_CLKSOURCE_PLLSAI /*!< PLLSAI clock used as RNG clock source */ -#endif /* RCC_PLLSAI_SUPPORT */ -#if defined(RCC_PLLI2SCFGR_PLLI2SQ) && !defined(RCC_DCKCFGR_PLLI2SDIVQ) -#define LL_RCC_RNG_CLKSOURCE_PLLI2S LL_RCC_CK48M_CLKSOURCE_PLLI2S /*!< PLLI2S clock used as RNG clock source */ -#endif /* RCC_PLLI2SCFGR_PLLI2SQ && !RCC_DCKCFGR_PLLI2SDIVQ */ -/** - * @} - */ -#endif /* RNG */ - -#if defined(USB_OTG_FS) || defined(USB_OTG_HS) -/** @defgroup RCC_LL_EC_USB_CLKSOURCE Peripheral USB clock source selection - * @{ - */ -#define LL_RCC_USB_CLKSOURCE_PLL LL_RCC_CK48M_CLKSOURCE_PLL /*!< PLL clock used as USB clock source */ -#if defined(RCC_PLLSAI_SUPPORT) -#define LL_RCC_USB_CLKSOURCE_PLLSAI LL_RCC_CK48M_CLKSOURCE_PLLSAI /*!< PLLSAI clock used as USB clock source */ -#endif /* RCC_PLLSAI_SUPPORT */ -#if defined(RCC_PLLI2SCFGR_PLLI2SQ) && !defined(RCC_DCKCFGR_PLLI2SDIVQ) -#define LL_RCC_USB_CLKSOURCE_PLLI2S LL_RCC_CK48M_CLKSOURCE_PLLI2S /*!< PLLI2S clock used as USB clock source */ -#endif /* RCC_PLLI2SCFGR_PLLI2SQ && !RCC_DCKCFGR_PLLI2SDIVQ */ -/** - * @} - */ -#endif /* USB_OTG_FS || USB_OTG_HS */ - -#endif /* RCC_DCKCFGR_CK48MSEL || RCC_DCKCFGR2_CK48MSEL */ - -#if defined(DFSDM1_Channel0) || defined(DFSDM2_Channel0) -/** @defgroup RCC_LL_EC_DFSDM1_AUDIO_CLKSOURCE Peripheral DFSDM Audio clock source selection - * @{ - */ -#define LL_RCC_DFSDM1_AUDIO_CLKSOURCE_I2S1 (uint32_t)(RCC_DCKCFGR_CKDFSDM1ASEL | 0x00000000U) /*!< I2S1 clock used as DFSDM1 Audio clock source */ -#define LL_RCC_DFSDM1_AUDIO_CLKSOURCE_I2S2 (uint32_t)(RCC_DCKCFGR_CKDFSDM1ASEL | (RCC_DCKCFGR_CKDFSDM1ASEL << 16)) /*!< I2S2 clock used as DFSDM1 Audio clock source */ -#if defined(DFSDM2_Channel0) -#define LL_RCC_DFSDM2_AUDIO_CLKSOURCE_I2S1 (uint32_t)(RCC_DCKCFGR_CKDFSDM2ASEL | 0x00000000U) /*!< I2S1 clock used as DFSDM2 Audio clock source */ -#define LL_RCC_DFSDM2_AUDIO_CLKSOURCE_I2S2 (uint32_t)(RCC_DCKCFGR_CKDFSDM2ASEL | (RCC_DCKCFGR_CKDFSDM2ASEL << 16)) /*!< I2S2 clock used as DFSDM2 Audio clock source */ -#endif /* DFSDM2_Channel0 */ -/** - * @} - */ - -/** @defgroup RCC_LL_EC_DFSDM1_CLKSOURCE Peripheral DFSDM clock source selection - * @{ - */ -#define LL_RCC_DFSDM1_CLKSOURCE_PCLK2 0x00000000U /*!< PCLK2 clock used as DFSDM1 clock */ -#define LL_RCC_DFSDM1_CLKSOURCE_SYSCLK RCC_DCKCFGR_CKDFSDM1SEL /*!< System clock used as DFSDM1 clock */ -#if defined(DFSDM2_Channel0) -#define LL_RCC_DFSDM2_CLKSOURCE_PCLK2 0x00000000U /*!< PCLK2 clock used as DFSDM2 clock */ -#define LL_RCC_DFSDM2_CLKSOURCE_SYSCLK RCC_DCKCFGR_CKDFSDM1SEL /*!< System clock used as DFSDM2 clock */ -#endif /* DFSDM2_Channel0 */ -/** - * @} - */ -#endif /* DFSDM1_Channel0 || DFSDM2_Channel0 */ - -#if defined(FMPI2C1) -/** @defgroup RCC_LL_EC_FMPI2C1 Peripheral FMPI2C get clock source - * @{ - */ -#define LL_RCC_FMPI2C1_CLKSOURCE RCC_DCKCFGR2_FMPI2C1SEL /*!< FMPI2C1 Clock source selection */ -/** - * @} - */ -#endif /* FMPI2C1 */ - -#if defined(SPDIFRX) -/** @defgroup RCC_LL_EC_SPDIFRX_CLKSOURCE Peripheral SPDIFRX clock source selection - * @{ - */ -#define LL_RCC_SPDIFRX1_CLKSOURCE_PLL 0x00000000U /*!< PLL clock used as SPDIFRX clock source */ -#define LL_RCC_SPDIFRX1_CLKSOURCE_PLLI2S RCC_DCKCFGR2_SPDIFRXSEL /*!< PLLI2S clock used as SPDIFRX clock source */ -/** - * @} - */ -#endif /* SPDIFRX */ - -#if defined(LPTIM1) -/** @defgroup RCC_LL_EC_LPTIM1 Peripheral LPTIM get clock source - * @{ - */ -#define LL_RCC_LPTIM1_CLKSOURCE RCC_DCKCFGR2_LPTIM1SEL /*!< LPTIM1 Clock source selection */ -/** - * @} - */ -#endif /* LPTIM1 */ - -#if defined(SAI1) -/** @defgroup RCC_LL_EC_SAIx Peripheral SAI get clock source - * @{ - */ -#if defined(RCC_DCKCFGR_SAI1ASRC) -#define LL_RCC_SAI1_A_CLKSOURCE RCC_DCKCFGR_SAI1ASRC /*!< SAI1 block A Clock source selection */ -#endif /* RCC_DCKCFGR_SAI1ASRC */ -#if defined(RCC_DCKCFGR_SAI1BSRC) -#define LL_RCC_SAI1_B_CLKSOURCE RCC_DCKCFGR_SAI1BSRC /*!< SAI1 block B Clock source selection */ -#endif /* RCC_DCKCFGR_SAI1BSRC */ -#if defined(RCC_DCKCFGR_SAI1SRC) -#define LL_RCC_SAI1_CLKSOURCE RCC_DCKCFGR_SAI1SRC /*!< SAI1 Clock source selection */ -#endif /* RCC_DCKCFGR_SAI1SRC */ -#if defined(RCC_DCKCFGR_SAI2SRC) -#define LL_RCC_SAI2_CLKSOURCE RCC_DCKCFGR_SAI2SRC /*!< SAI2 Clock source selection */ -#endif /* RCC_DCKCFGR_SAI2SRC */ -/** - * @} - */ -#endif /* SAI1 */ - -#if defined(SDIO) -/** @defgroup RCC_LL_EC_SDIOx Peripheral SDIO get clock source - * @{ - */ -#if defined(RCC_DCKCFGR_SDIOSEL) -#define LL_RCC_SDIO_CLKSOURCE RCC_DCKCFGR_SDIOSEL /*!< SDIO Clock source selection */ -#elif defined(RCC_DCKCFGR2_SDIOSEL) -#define LL_RCC_SDIO_CLKSOURCE RCC_DCKCFGR2_SDIOSEL /*!< SDIO Clock source selection */ -#else -#define LL_RCC_SDIO_CLKSOURCE RCC_PLLCFGR_PLLQ /*!< SDIO Clock source selection */ -#endif -/** - * @} - */ -#endif /* SDIO */ - -#if defined(RCC_DCKCFGR_CK48MSEL) || defined(RCC_DCKCFGR2_CK48MSEL) -/** @defgroup RCC_LL_EC_CK48M Peripheral CK48M get clock source - * @{ - */ -#if defined(RCC_DCKCFGR_CK48MSEL) -#define LL_RCC_CK48M_CLKSOURCE RCC_DCKCFGR_CK48MSEL /*!< CK48M Domain clock source selection */ -#endif /* RCC_DCKCFGR_CK48MSEL */ -#if defined(RCC_DCKCFGR2_CK48MSEL) -#define LL_RCC_CK48M_CLKSOURCE RCC_DCKCFGR2_CK48MSEL /*!< CK48M Domain clock source selection */ -#endif /* RCC_DCKCFGR_CK48MSEL */ -/** - * @} - */ -#endif /* RCC_DCKCFGR_CK48MSEL || RCC_DCKCFGR2_CK48MSEL */ - -#if defined(RNG) -/** @defgroup RCC_LL_EC_RNG Peripheral RNG get clock source - * @{ - */ -#if defined(RCC_DCKCFGR_CK48MSEL) || defined(RCC_DCKCFGR2_CK48MSEL) -#define LL_RCC_RNG_CLKSOURCE LL_RCC_CK48M_CLKSOURCE /*!< RNG Clock source selection */ -#else -#define LL_RCC_RNG_CLKSOURCE RCC_PLLCFGR_PLLQ /*!< RNG Clock source selection */ -#endif /* RCC_DCKCFGR_CK48MSEL || RCC_DCKCFGR2_CK48MSEL */ -/** - * @} - */ -#endif /* RNG */ - -#if defined(USB_OTG_FS) || defined(USB_OTG_HS) -/** @defgroup RCC_LL_EC_USB Peripheral USB get clock source - * @{ - */ -#if defined(RCC_DCKCFGR_CK48MSEL) || defined(RCC_DCKCFGR2_CK48MSEL) -#define LL_RCC_USB_CLKSOURCE LL_RCC_CK48M_CLKSOURCE /*!< USB Clock source selection */ -#else -#define LL_RCC_USB_CLKSOURCE RCC_PLLCFGR_PLLQ /*!< USB Clock source selection */ -#endif /* RCC_DCKCFGR_CK48MSEL || RCC_DCKCFGR2_CK48MSEL */ -/** - * @} - */ -#endif /* USB_OTG_FS || USB_OTG_HS */ - -#if defined(CEC) -/** @defgroup RCC_LL_EC_CEC Peripheral CEC get clock source - * @{ - */ -#define LL_RCC_CEC_CLKSOURCE RCC_DCKCFGR2_CECSEL /*!< CEC Clock source selection */ -/** - * @} - */ -#endif /* CEC */ - -/** @defgroup RCC_LL_EC_I2S1 Peripheral I2S get clock source - * @{ - */ -#if defined(RCC_CFGR_I2SSRC) -#define LL_RCC_I2S1_CLKSOURCE RCC_CFGR_I2SSRC /*!< I2S1 Clock source selection */ -#endif /* RCC_CFGR_I2SSRC */ -#if defined(RCC_DCKCFGR_I2SSRC) -#define LL_RCC_I2S1_CLKSOURCE RCC_DCKCFGR_I2SSRC /*!< I2S1 Clock source selection */ -#endif /* RCC_DCKCFGR_I2SSRC */ -#if defined(RCC_DCKCFGR_I2S1SRC) -#define LL_RCC_I2S1_CLKSOURCE RCC_DCKCFGR_I2S1SRC /*!< I2S1 Clock source selection */ -#endif /* RCC_DCKCFGR_I2S1SRC */ -#if defined(RCC_DCKCFGR_I2S2SRC) -#define LL_RCC_I2S2_CLKSOURCE RCC_DCKCFGR_I2S2SRC /*!< I2S2 Clock source selection */ -#endif /* RCC_DCKCFGR_I2S2SRC */ -/** - * @} - */ - -#if defined(DFSDM1_Channel0) || defined(DFSDM2_Channel0) -/** @defgroup RCC_LL_EC_DFSDM_AUDIO Peripheral DFSDM Audio get clock source - * @{ - */ -#define LL_RCC_DFSDM1_AUDIO_CLKSOURCE RCC_DCKCFGR_CKDFSDM1ASEL /*!< DFSDM1 Audio Clock source selection */ -#if defined(DFSDM2_Channel0) -#define LL_RCC_DFSDM2_AUDIO_CLKSOURCE RCC_DCKCFGR_CKDFSDM2ASEL /*!< DFSDM2 Audio Clock source selection */ -#endif /* DFSDM2_Channel0 */ -/** - * @} - */ - -/** @defgroup RCC_LL_EC_DFSDM Peripheral DFSDM get clock source - * @{ - */ -#define LL_RCC_DFSDM1_CLKSOURCE RCC_DCKCFGR_CKDFSDM1SEL /*!< DFSDM1 Clock source selection */ -#if defined(DFSDM2_Channel0) -#define LL_RCC_DFSDM2_CLKSOURCE RCC_DCKCFGR_CKDFSDM1SEL /*!< DFSDM2 Clock source selection */ -#endif /* DFSDM2_Channel0 */ -/** - * @} - */ -#endif /* DFSDM1_Channel0 || DFSDM2_Channel0 */ - -#if defined(SPDIFRX) -/** @defgroup RCC_LL_EC_SPDIFRX Peripheral SPDIFRX get clock source - * @{ - */ -#define LL_RCC_SPDIFRX1_CLKSOURCE RCC_DCKCFGR2_SPDIFRXSEL /*!< SPDIFRX Clock source selection */ -/** - * @} - */ -#endif /* SPDIFRX */ - -#if defined(DSI) -/** @defgroup RCC_LL_EC_DSI Peripheral DSI get clock source - * @{ - */ -#define LL_RCC_DSI_CLKSOURCE RCC_DCKCFGR_DSISEL /*!< DSI Clock source selection */ -/** - * @} - */ -#endif /* DSI */ - -#if defined(LTDC) -/** @defgroup RCC_LL_EC_LTDC Peripheral LTDC get clock source - * @{ - */ -#define LL_RCC_LTDC_CLKSOURCE RCC_DCKCFGR_PLLSAIDIVR /*!< LTDC Clock source selection */ -/** - * @} - */ -#endif /* LTDC */ - - -/** @defgroup RCC_LL_EC_RTC_CLKSOURCE RTC clock source selection - * @{ - */ -#define LL_RCC_RTC_CLKSOURCE_NONE 0x00000000U /*!< No clock used as RTC clock */ -#define LL_RCC_RTC_CLKSOURCE_LSE RCC_BDCR_RTCSEL_0 /*!< LSE oscillator clock used as RTC clock */ -#define LL_RCC_RTC_CLKSOURCE_LSI RCC_BDCR_RTCSEL_1 /*!< LSI oscillator clock used as RTC clock */ -#define LL_RCC_RTC_CLKSOURCE_HSE RCC_BDCR_RTCSEL /*!< HSE oscillator clock divided by HSE prescaler used as RTC clock */ -/** - * @} - */ - -#if defined(RCC_DCKCFGR_TIMPRE) -/** @defgroup RCC_LL_EC_TIM_CLKPRESCALER Timers clocks prescalers selection - * @{ - */ -#define LL_RCC_TIM_PRESCALER_TWICE 0x00000000U /*!< Timers clock to twice PCLK */ -#define LL_RCC_TIM_PRESCALER_FOUR_TIMES RCC_DCKCFGR_TIMPRE /*!< Timers clock to four time PCLK */ -/** - * @} - */ -#endif /* RCC_DCKCFGR_TIMPRE */ - -/** @defgroup RCC_LL_EC_PLLSOURCE PLL, PLLI2S and PLLSAI entry clock source - * @{ - */ -#define LL_RCC_PLLSOURCE_HSI RCC_PLLCFGR_PLLSRC_HSI /*!< HSI16 clock selected as PLL entry clock source */ -#define LL_RCC_PLLSOURCE_HSE RCC_PLLCFGR_PLLSRC_HSE /*!< HSE clock selected as PLL entry clock source */ -#if defined(RCC_PLLI2SCFGR_PLLI2SSRC) -#define LL_RCC_PLLI2SSOURCE_PIN (RCC_PLLI2SCFGR_PLLI2SSRC | 0x80U) /*!< I2S External pin input clock selected as PLLI2S entry clock source */ -#endif /* RCC_PLLI2SCFGR_PLLI2SSRC */ -/** - * @} - */ - -/** @defgroup RCC_LL_EC_PLLM_DIV PLL, PLLI2S and PLLSAI division factor - * @{ - */ -#define LL_RCC_PLLM_DIV_2 (RCC_PLLCFGR_PLLM_1) /*!< PLL, PLLI2S and PLLSAI division factor by 2 */ -#define LL_RCC_PLLM_DIV_3 (RCC_PLLCFGR_PLLM_1 | RCC_PLLCFGR_PLLM_0) /*!< PLL, PLLI2S and PLLSAI division factor by 3 */ -#define LL_RCC_PLLM_DIV_4 (RCC_PLLCFGR_PLLM_2) /*!< PLL, PLLI2S and PLLSAI division factor by 4 */ -#define LL_RCC_PLLM_DIV_5 (RCC_PLLCFGR_PLLM_2 | RCC_PLLCFGR_PLLM_0) /*!< PLL, PLLI2S and PLLSAI division factor by 5 */ -#define LL_RCC_PLLM_DIV_6 (RCC_PLLCFGR_PLLM_2 | RCC_PLLCFGR_PLLM_1) /*!< PLL, PLLI2S and PLLSAI division factor by 6 */ -#define LL_RCC_PLLM_DIV_7 (RCC_PLLCFGR_PLLM_2 | RCC_PLLCFGR_PLLM_1 | RCC_PLLCFGR_PLLM_0) /*!< PLL, PLLI2S and PLLSAI division factor by 7 */ -#define LL_RCC_PLLM_DIV_8 (RCC_PLLCFGR_PLLM_3) /*!< PLL, PLLI2S and PLLSAI division factor by 8 */ -#define LL_RCC_PLLM_DIV_9 (RCC_PLLCFGR_PLLM_3 | RCC_PLLCFGR_PLLM_0) /*!< PLL, PLLI2S and PLLSAI division factor by 9 */ -#define LL_RCC_PLLM_DIV_10 (RCC_PLLCFGR_PLLM_3 | RCC_PLLCFGR_PLLM_1) /*!< PLL, PLLI2S and PLLSAI division factor by 10 */ -#define LL_RCC_PLLM_DIV_11 (RCC_PLLCFGR_PLLM_3 | RCC_PLLCFGR_PLLM_1 | RCC_PLLCFGR_PLLM_0) /*!< PLL, PLLI2S and PLLSAI division factor by 11 */ -#define LL_RCC_PLLM_DIV_12 (RCC_PLLCFGR_PLLM_3 | RCC_PLLCFGR_PLLM_2) /*!< PLL, PLLI2S and PLLSAI division factor by 12 */ -#define LL_RCC_PLLM_DIV_13 (RCC_PLLCFGR_PLLM_3 | RCC_PLLCFGR_PLLM_2 | RCC_PLLCFGR_PLLM_0) /*!< PLL, PLLI2S and PLLSAI division factor by 13 */ -#define LL_RCC_PLLM_DIV_14 (RCC_PLLCFGR_PLLM_3 | RCC_PLLCFGR_PLLM_2 | RCC_PLLCFGR_PLLM_1) /*!< PLL, PLLI2S and PLLSAI division factor by 14 */ -#define LL_RCC_PLLM_DIV_15 (RCC_PLLCFGR_PLLM_3 | RCC_PLLCFGR_PLLM_2 | RCC_PLLCFGR_PLLM_1 | RCC_PLLCFGR_PLLM_0) /*!< PLL, PLLI2S and PLLSAI division factor by 15 */ -#define LL_RCC_PLLM_DIV_16 (RCC_PLLCFGR_PLLM_4) /*!< PLL, PLLI2S and PLLSAI division factor by 16 */ -#define LL_RCC_PLLM_DIV_17 (RCC_PLLCFGR_PLLM_4 | RCC_PLLCFGR_PLLM_0) /*!< PLL, PLLI2S and PLLSAI division factor by 17 */ -#define LL_RCC_PLLM_DIV_18 (RCC_PLLCFGR_PLLM_4 | RCC_PLLCFGR_PLLM_1) /*!< PLL, PLLI2S and PLLSAI division factor by 18 */ -#define LL_RCC_PLLM_DIV_19 (RCC_PLLCFGR_PLLM_4 | RCC_PLLCFGR_PLLM_1 | RCC_PLLCFGR_PLLM_0) /*!< PLL, PLLI2S and PLLSAI division factor by 19 */ -#define LL_RCC_PLLM_DIV_20 (RCC_PLLCFGR_PLLM_4 | RCC_PLLCFGR_PLLM_2) /*!< PLL, PLLI2S and PLLSAI division factor by 20 */ -#define LL_RCC_PLLM_DIV_21 (RCC_PLLCFGR_PLLM_4 | RCC_PLLCFGR_PLLM_2 | RCC_PLLCFGR_PLLM_0) /*!< PLL, PLLI2S and PLLSAI division factor by 21 */ -#define LL_RCC_PLLM_DIV_22 (RCC_PLLCFGR_PLLM_4 | RCC_PLLCFGR_PLLM_2 | RCC_PLLCFGR_PLLM_1) /*!< PLL, PLLI2S and PLLSAI division factor by 22 */ -#define LL_RCC_PLLM_DIV_23 (RCC_PLLCFGR_PLLM_4 | RCC_PLLCFGR_PLLM_2 | RCC_PLLCFGR_PLLM_1 | RCC_PLLCFGR_PLLM_0) /*!< PLL, PLLI2S and PLLSAI division factor by 23 */ -#define LL_RCC_PLLM_DIV_24 (RCC_PLLCFGR_PLLM_4 | RCC_PLLCFGR_PLLM_3) /*!< PLL, PLLI2S and PLLSAI division factor by 24 */ -#define LL_RCC_PLLM_DIV_25 (RCC_PLLCFGR_PLLM_4 | RCC_PLLCFGR_PLLM_3 | RCC_PLLCFGR_PLLM_0) /*!< PLL, PLLI2S and PLLSAI division factor by 25 */ -#define LL_RCC_PLLM_DIV_26 (RCC_PLLCFGR_PLLM_4 | RCC_PLLCFGR_PLLM_3 | RCC_PLLCFGR_PLLM_1) /*!< PLL, PLLI2S and PLLSAI division factor by 26 */ -#define LL_RCC_PLLM_DIV_27 (RCC_PLLCFGR_PLLM_4 | RCC_PLLCFGR_PLLM_3 | RCC_PLLCFGR_PLLM_1 | RCC_PLLCFGR_PLLM_0) /*!< PLL, PLLI2S and PLLSAI division factor by 27 */ -#define LL_RCC_PLLM_DIV_28 (RCC_PLLCFGR_PLLM_4 | RCC_PLLCFGR_PLLM_3 | RCC_PLLCFGR_PLLM_2) /*!< PLL, PLLI2S and PLLSAI division factor by 28 */ -#define LL_RCC_PLLM_DIV_29 (RCC_PLLCFGR_PLLM_4 | RCC_PLLCFGR_PLLM_3 | RCC_PLLCFGR_PLLM_2 | RCC_PLLCFGR_PLLM_0) /*!< PLL, PLLI2S and PLLSAI division factor by 29 */ -#define LL_RCC_PLLM_DIV_30 (RCC_PLLCFGR_PLLM_4 | RCC_PLLCFGR_PLLM_3 | RCC_PLLCFGR_PLLM_2 | RCC_PLLCFGR_PLLM_1) /*!< PLL, PLLI2S and PLLSAI division factor by 30 */ -#define LL_RCC_PLLM_DIV_31 (RCC_PLLCFGR_PLLM_4 | RCC_PLLCFGR_PLLM_3 | RCC_PLLCFGR_PLLM_2 | RCC_PLLCFGR_PLLM_1 | RCC_PLLCFGR_PLLM_0) /*!< PLL, PLLI2S and PLLSAI division factor by 31 */ -#define LL_RCC_PLLM_DIV_32 (RCC_PLLCFGR_PLLM_5) /*!< PLL, PLLI2S and PLLSAI division factor by 32 */ -#define LL_RCC_PLLM_DIV_33 (RCC_PLLCFGR_PLLM_5 | RCC_PLLCFGR_PLLM_0) /*!< PLL, PLLI2S and PLLSAI division factor by 33 */ -#define LL_RCC_PLLM_DIV_34 (RCC_PLLCFGR_PLLM_5 | RCC_PLLCFGR_PLLM_1) /*!< PLL, PLLI2S and PLLSAI division factor by 34 */ -#define LL_RCC_PLLM_DIV_35 (RCC_PLLCFGR_PLLM_5 | RCC_PLLCFGR_PLLM_1 | RCC_PLLCFGR_PLLM_0) /*!< PLL, PLLI2S and PLLSAI division factor by 35 */ -#define LL_RCC_PLLM_DIV_36 (RCC_PLLCFGR_PLLM_5 | RCC_PLLCFGR_PLLM_2) /*!< PLL, PLLI2S and PLLSAI division factor by 36 */ -#define LL_RCC_PLLM_DIV_37 (RCC_PLLCFGR_PLLM_5 | RCC_PLLCFGR_PLLM_2 | RCC_PLLCFGR_PLLM_0) /*!< PLL, PLLI2S and PLLSAI division factor by 37 */ -#define LL_RCC_PLLM_DIV_38 (RCC_PLLCFGR_PLLM_5 | RCC_PLLCFGR_PLLM_2 | RCC_PLLCFGR_PLLM_1) /*!< PLL, PLLI2S and PLLSAI division factor by 38 */ -#define LL_RCC_PLLM_DIV_39 (RCC_PLLCFGR_PLLM_5 | RCC_PLLCFGR_PLLM_2 | RCC_PLLCFGR_PLLM_1 | RCC_PLLCFGR_PLLM_0) /*!< PLL, PLLI2S and PLLSAI division factor by 39 */ -#define LL_RCC_PLLM_DIV_40 (RCC_PLLCFGR_PLLM_5 | RCC_PLLCFGR_PLLM_3) /*!< PLL, PLLI2S and PLLSAI division factor by 40 */ -#define LL_RCC_PLLM_DIV_41 (RCC_PLLCFGR_PLLM_5 | RCC_PLLCFGR_PLLM_3 | RCC_PLLCFGR_PLLM_0) /*!< PLL, PLLI2S and PLLSAI division factor by 41 */ -#define LL_RCC_PLLM_DIV_42 (RCC_PLLCFGR_PLLM_5 | RCC_PLLCFGR_PLLM_3 | RCC_PLLCFGR_PLLM_1) /*!< PLL, PLLI2S and PLLSAI division factor by 42 */ -#define LL_RCC_PLLM_DIV_43 (RCC_PLLCFGR_PLLM_5 | RCC_PLLCFGR_PLLM_3 | RCC_PLLCFGR_PLLM_1 | RCC_PLLCFGR_PLLM_0) /*!< PLL, PLLI2S and PLLSAI division factor by 43 */ -#define LL_RCC_PLLM_DIV_44 (RCC_PLLCFGR_PLLM_5 | RCC_PLLCFGR_PLLM_3 | RCC_PLLCFGR_PLLM_2) /*!< PLL, PLLI2S and PLLSAI division factor by 44 */ -#define LL_RCC_PLLM_DIV_45 (RCC_PLLCFGR_PLLM_5 | RCC_PLLCFGR_PLLM_3 | RCC_PLLCFGR_PLLM_2 | RCC_PLLCFGR_PLLM_0) /*!< PLL, PLLI2S and PLLSAI division factor by 45 */ -#define LL_RCC_PLLM_DIV_46 (RCC_PLLCFGR_PLLM_5 | RCC_PLLCFGR_PLLM_3 | RCC_PLLCFGR_PLLM_2 | RCC_PLLCFGR_PLLM_1) /*!< PLL, PLLI2S and PLLSAI division factor by 46 */ -#define LL_RCC_PLLM_DIV_47 (RCC_PLLCFGR_PLLM_5 | RCC_PLLCFGR_PLLM_3 | RCC_PLLCFGR_PLLM_2 | RCC_PLLCFGR_PLLM_1 | RCC_PLLCFGR_PLLM_0) /*!< PLL, PLLI2S and PLLSAI division factor by 47 */ -#define LL_RCC_PLLM_DIV_48 (RCC_PLLCFGR_PLLM_5 | RCC_PLLCFGR_PLLM_4) /*!< PLL, PLLI2S and PLLSAI division factor by 48 */ -#define LL_RCC_PLLM_DIV_49 (RCC_PLLCFGR_PLLM_5 | RCC_PLLCFGR_PLLM_4 | RCC_PLLCFGR_PLLM_0) /*!< PLL, PLLI2S and PLLSAI division factor by 49 */ -#define LL_RCC_PLLM_DIV_50 (RCC_PLLCFGR_PLLM_5 | RCC_PLLCFGR_PLLM_4 | RCC_PLLCFGR_PLLM_1) /*!< PLL, PLLI2S and PLLSAI division factor by 50 */ -#define LL_RCC_PLLM_DIV_51 (RCC_PLLCFGR_PLLM_5 | RCC_PLLCFGR_PLLM_4 | RCC_PLLCFGR_PLLM_1 | RCC_PLLCFGR_PLLM_0) /*!< PLL, PLLI2S and PLLSAI division factor by 51 */ -#define LL_RCC_PLLM_DIV_52 (RCC_PLLCFGR_PLLM_5 | RCC_PLLCFGR_PLLM_4 | RCC_PLLCFGR_PLLM_2) /*!< PLL, PLLI2S and PLLSAI division factor by 52 */ -#define LL_RCC_PLLM_DIV_53 (RCC_PLLCFGR_PLLM_5 | RCC_PLLCFGR_PLLM_4 | RCC_PLLCFGR_PLLM_2 | RCC_PLLCFGR_PLLM_0) /*!< PLL, PLLI2S and PLLSAI division factor by 53 */ -#define LL_RCC_PLLM_DIV_54 (RCC_PLLCFGR_PLLM_5 | RCC_PLLCFGR_PLLM_4 | RCC_PLLCFGR_PLLM_2 | RCC_PLLCFGR_PLLM_1) /*!< PLL, PLLI2S and PLLSAI division factor by 54 */ -#define LL_RCC_PLLM_DIV_55 (RCC_PLLCFGR_PLLM_5 | RCC_PLLCFGR_PLLM_4 | RCC_PLLCFGR_PLLM_2 | RCC_PLLCFGR_PLLM_1 | RCC_PLLCFGR_PLLM_0) /*!< PLL, PLLI2S and PLLSAI division factor by 55 */ -#define LL_RCC_PLLM_DIV_56 (RCC_PLLCFGR_PLLM_5 | RCC_PLLCFGR_PLLM_4 | RCC_PLLCFGR_PLLM_3) /*!< PLL, PLLI2S and PLLSAI division factor by 56 */ -#define LL_RCC_PLLM_DIV_57 (RCC_PLLCFGR_PLLM_5 | RCC_PLLCFGR_PLLM_4 | RCC_PLLCFGR_PLLM_3 | RCC_PLLCFGR_PLLM_0) /*!< PLL, PLLI2S and PLLSAI division factor by 57 */ -#define LL_RCC_PLLM_DIV_58 (RCC_PLLCFGR_PLLM_5 | RCC_PLLCFGR_PLLM_4 | RCC_PLLCFGR_PLLM_3 | RCC_PLLCFGR_PLLM_1) /*!< PLL, PLLI2S and PLLSAI division factor by 58 */ -#define LL_RCC_PLLM_DIV_59 (RCC_PLLCFGR_PLLM_5 | RCC_PLLCFGR_PLLM_4 | RCC_PLLCFGR_PLLM_3 | RCC_PLLCFGR_PLLM_1 | RCC_PLLCFGR_PLLM_0) /*!< PLL, PLLI2S and PLLSAI division factor by 59 */ -#define LL_RCC_PLLM_DIV_60 (RCC_PLLCFGR_PLLM_5 | RCC_PLLCFGR_PLLM_4 | RCC_PLLCFGR_PLLM_3 | RCC_PLLCFGR_PLLM_2) /*!< PLL, PLLI2S and PLLSAI division factor by 60 */ -#define LL_RCC_PLLM_DIV_61 (RCC_PLLCFGR_PLLM_5 | RCC_PLLCFGR_PLLM_4 | RCC_PLLCFGR_PLLM_3 | RCC_PLLCFGR_PLLM_2 | RCC_PLLCFGR_PLLM_0) /*!< PLL, PLLI2S and PLLSAI division factor by 61 */ -#define LL_RCC_PLLM_DIV_62 (RCC_PLLCFGR_PLLM_5 | RCC_PLLCFGR_PLLM_4 | RCC_PLLCFGR_PLLM_3 | RCC_PLLCFGR_PLLM_2 | RCC_PLLCFGR_PLLM_1) /*!< PLL, PLLI2S and PLLSAI division factor by 62 */ -#define LL_RCC_PLLM_DIV_63 (RCC_PLLCFGR_PLLM_5 | RCC_PLLCFGR_PLLM_4 | RCC_PLLCFGR_PLLM_3 | RCC_PLLCFGR_PLLM_2 | RCC_PLLCFGR_PLLM_1 | RCC_PLLCFGR_PLLM_0) /*!< PLL, PLLI2S and PLLSAI division factor by 63 */ -/** - * @} - */ - -#if defined(RCC_PLLCFGR_PLLR) -/** @defgroup RCC_LL_EC_PLLR_DIV PLL division factor (PLLR) - * @{ - */ -#define LL_RCC_PLLR_DIV_2 (RCC_PLLCFGR_PLLR_1) /*!< Main PLL division factor for PLLCLK (system clock) by 2 */ -#define LL_RCC_PLLR_DIV_3 (RCC_PLLCFGR_PLLR_1|RCC_PLLCFGR_PLLR_0) /*!< Main PLL division factor for PLLCLK (system clock) by 3 */ -#define LL_RCC_PLLR_DIV_4 (RCC_PLLCFGR_PLLR_2) /*!< Main PLL division factor for PLLCLK (system clock) by 4 */ -#define LL_RCC_PLLR_DIV_5 (RCC_PLLCFGR_PLLR_2|RCC_PLLCFGR_PLLR_0) /*!< Main PLL division factor for PLLCLK (system clock) by 5 */ -#define LL_RCC_PLLR_DIV_6 (RCC_PLLCFGR_PLLR_2|RCC_PLLCFGR_PLLR_1) /*!< Main PLL division factor for PLLCLK (system clock) by 6 */ -#define LL_RCC_PLLR_DIV_7 (RCC_PLLCFGR_PLLR) /*!< Main PLL division factor for PLLCLK (system clock) by 7 */ -/** - * @} - */ -#endif /* RCC_PLLCFGR_PLLR */ - -#if defined(RCC_DCKCFGR_PLLDIVR) -/** @defgroup RCC_LL_EC_PLLDIVR PLLDIVR division factor (PLLDIVR) - * @{ - */ -#define LL_RCC_PLLDIVR_DIV_1 (RCC_DCKCFGR_PLLDIVR_0) /*!< PLL division factor for PLLDIVR output by 1 */ -#define LL_RCC_PLLDIVR_DIV_2 (RCC_DCKCFGR_PLLDIVR_1) /*!< PLL division factor for PLLDIVR output by 2 */ -#define LL_RCC_PLLDIVR_DIV_3 (RCC_DCKCFGR_PLLDIVR_1 | RCC_DCKCFGR_PLLDIVR_0) /*!< PLL division factor for PLLDIVR output by 3 */ -#define LL_RCC_PLLDIVR_DIV_4 (RCC_DCKCFGR_PLLDIVR_2) /*!< PLL division factor for PLLDIVR output by 4 */ -#define LL_RCC_PLLDIVR_DIV_5 (RCC_DCKCFGR_PLLDIVR_2 | RCC_DCKCFGR_PLLDIVR_0) /*!< PLL division factor for PLLDIVR output by 5 */ -#define LL_RCC_PLLDIVR_DIV_6 (RCC_DCKCFGR_PLLDIVR_2 | RCC_DCKCFGR_PLLDIVR_1) /*!< PLL division factor for PLLDIVR output by 6 */ -#define LL_RCC_PLLDIVR_DIV_7 (RCC_DCKCFGR_PLLDIVR_2 | RCC_DCKCFGR_PLLDIVR_1 | RCC_DCKCFGR_PLLDIVR_0) /*!< PLL division factor for PLLDIVR output by 7 */ -#define LL_RCC_PLLDIVR_DIV_8 (RCC_DCKCFGR_PLLDIVR_3) /*!< PLL division factor for PLLDIVR output by 8 */ -#define LL_RCC_PLLDIVR_DIV_9 (RCC_DCKCFGR_PLLDIVR_3 | RCC_DCKCFGR_PLLDIVR_0) /*!< PLL division factor for PLLDIVR output by 9 */ -#define LL_RCC_PLLDIVR_DIV_10 (RCC_DCKCFGR_PLLDIVR_3 | RCC_DCKCFGR_PLLDIVR_1) /*!< PLL division factor for PLLDIVR output by 10 */ -#define LL_RCC_PLLDIVR_DIV_11 (RCC_DCKCFGR_PLLDIVR_3 | RCC_DCKCFGR_PLLDIVR_1 | RCC_DCKCFGR_PLLDIVR_0) /*!< PLL division factor for PLLDIVR output by 11 */ -#define LL_RCC_PLLDIVR_DIV_12 (RCC_DCKCFGR_PLLDIVR_3 | RCC_DCKCFGR_PLLDIVR_2) /*!< PLL division factor for PLLDIVR output by 12 */ -#define LL_RCC_PLLDIVR_DIV_13 (RCC_DCKCFGR_PLLDIVR_3 | RCC_DCKCFGR_PLLDIVR_2 | RCC_DCKCFGR_PLLDIVR_0) /*!< PLL division factor for PLLDIVR output by 13 */ -#define LL_RCC_PLLDIVR_DIV_14 (RCC_DCKCFGR_PLLDIVR_3 | RCC_DCKCFGR_PLLDIVR_2 | RCC_DCKCFGR_PLLDIVR_1) /*!< PLL division factor for PLLDIVR output by 14 */ -#define LL_RCC_PLLDIVR_DIV_15 (RCC_DCKCFGR_PLLDIVR_3 | RCC_DCKCFGR_PLLDIVR_2 | RCC_DCKCFGR_PLLDIVR_1 | RCC_DCKCFGR_PLLDIVR_0) /*!< PLL division factor for PLLDIVR output by 15 */ -#define LL_RCC_PLLDIVR_DIV_16 (RCC_DCKCFGR_PLLDIVR_4) /*!< PLL division factor for PLLDIVR output by 16 */ -#define LL_RCC_PLLDIVR_DIV_17 (RCC_DCKCFGR_PLLDIVR_4 | RCC_DCKCFGR_PLLDIVR_0) /*!< PLL division factor for PLLDIVR output by 17 */ -#define LL_RCC_PLLDIVR_DIV_18 (RCC_DCKCFGR_PLLDIVR_4 | RCC_DCKCFGR_PLLDIVR_1) /*!< PLL division factor for PLLDIVR output by 18 */ -#define LL_RCC_PLLDIVR_DIV_19 (RCC_DCKCFGR_PLLDIVR_4 | RCC_DCKCFGR_PLLDIVR_1 | RCC_DCKCFGR_PLLDIVR_0) /*!< PLL division factor for PLLDIVR output by 19 */ -#define LL_RCC_PLLDIVR_DIV_20 (RCC_DCKCFGR_PLLDIVR_4 | RCC_DCKCFGR_PLLDIVR_2) /*!< PLL division factor for PLLDIVR output by 20 */ -#define LL_RCC_PLLDIVR_DIV_21 (RCC_DCKCFGR_PLLDIVR_4 | RCC_DCKCFGR_PLLDIVR_2 | RCC_DCKCFGR_PLLDIVR_0) /*!< PLL division factor for PLLDIVR output by 21 */ -#define LL_RCC_PLLDIVR_DIV_22 (RCC_DCKCFGR_PLLDIVR_4 | RCC_DCKCFGR_PLLDIVR_2 | RCC_DCKCFGR_PLLDIVR_1) /*!< PLL division factor for PLLDIVR output by 22 */ -#define LL_RCC_PLLDIVR_DIV_23 (RCC_DCKCFGR_PLLDIVR_4 | RCC_DCKCFGR_PLLDIVR_2 | RCC_DCKCFGR_PLLDIVR_1 | RCC_DCKCFGR_PLLDIVR_0) /*!< PLL division factor for PLLDIVR output by 23 */ -#define LL_RCC_PLLDIVR_DIV_24 (RCC_DCKCFGR_PLLDIVR_4 | RCC_DCKCFGR_PLLDIVR_3) /*!< PLL division factor for PLLDIVR output by 24 */ -#define LL_RCC_PLLDIVR_DIV_25 (RCC_DCKCFGR_PLLDIVR_4 | RCC_DCKCFGR_PLLDIVR_3 | RCC_DCKCFGR_PLLDIVR_0) /*!< PLL division factor for PLLDIVR output by 25 */ -#define LL_RCC_PLLDIVR_DIV_26 (RCC_DCKCFGR_PLLDIVR_4 | RCC_DCKCFGR_PLLDIVR_3 | RCC_DCKCFGR_PLLDIVR_1) /*!< PLL division factor for PLLDIVR output by 26 */ -#define LL_RCC_PLLDIVR_DIV_27 (RCC_DCKCFGR_PLLDIVR_4 | RCC_DCKCFGR_PLLDIVR_3 | RCC_DCKCFGR_PLLDIVR_1 | RCC_DCKCFGR_PLLDIVR_0) /*!< PLL division factor for PLLDIVR output by 27 */ -#define LL_RCC_PLLDIVR_DIV_28 (RCC_DCKCFGR_PLLDIVR_4 | RCC_DCKCFGR_PLLDIVR_3 | RCC_DCKCFGR_PLLDIVR_2) /*!< PLL division factor for PLLDIVR output by 28 */ -#define LL_RCC_PLLDIVR_DIV_29 (RCC_DCKCFGR_PLLDIVR_4 | RCC_DCKCFGR_PLLDIVR_3 | RCC_DCKCFGR_PLLDIVR_2 | RCC_DCKCFGR_PLLDIVR_0) /*!< PLL division factor for PLLDIVR output by 29 */ -#define LL_RCC_PLLDIVR_DIV_30 (RCC_DCKCFGR_PLLDIVR_4 | RCC_DCKCFGR_PLLDIVR_3 | RCC_DCKCFGR_PLLDIVR_2 | RCC_DCKCFGR_PLLDIVR_1) /*!< PLL division factor for PLLDIVR output by 30 */ -#define LL_RCC_PLLDIVR_DIV_31 (RCC_DCKCFGR_PLLDIVR_4 | RCC_DCKCFGR_PLLDIVR_3 | RCC_DCKCFGR_PLLDIVR_2 | RCC_DCKCFGR_PLLDIVR_1 | RCC_DCKCFGR_PLLDIVR_0) /*!< PLL division factor for PLLDIVR output by 31 */ -/** - * @} - */ -#endif /* RCC_DCKCFGR_PLLDIVR */ - -/** @defgroup RCC_LL_EC_PLLP_DIV PLL division factor (PLLP) - * @{ - */ -#define LL_RCC_PLLP_DIV_2 0x00000000U /*!< Main PLL division factor for PLLP output by 2 */ -#define LL_RCC_PLLP_DIV_4 RCC_PLLCFGR_PLLP_0 /*!< Main PLL division factor for PLLP output by 4 */ -#define LL_RCC_PLLP_DIV_6 RCC_PLLCFGR_PLLP_1 /*!< Main PLL division factor for PLLP output by 6 */ -#define LL_RCC_PLLP_DIV_8 (RCC_PLLCFGR_PLLP_1 | RCC_PLLCFGR_PLLP_0) /*!< Main PLL division factor for PLLP output by 8 */ -/** - * @} - */ - -/** @defgroup RCC_LL_EC_PLLQ_DIV PLL division factor (PLLQ) - * @{ - */ -#define LL_RCC_PLLQ_DIV_2 RCC_PLLCFGR_PLLQ_1 /*!< Main PLL division factor for PLLQ output by 2 */ -#define LL_RCC_PLLQ_DIV_3 (RCC_PLLCFGR_PLLQ_1|RCC_PLLCFGR_PLLQ_0) /*!< Main PLL division factor for PLLQ output by 3 */ -#define LL_RCC_PLLQ_DIV_4 RCC_PLLCFGR_PLLQ_2 /*!< Main PLL division factor for PLLQ output by 4 */ -#define LL_RCC_PLLQ_DIV_5 (RCC_PLLCFGR_PLLQ_2|RCC_PLLCFGR_PLLQ_0) /*!< Main PLL division factor for PLLQ output by 5 */ -#define LL_RCC_PLLQ_DIV_6 (RCC_PLLCFGR_PLLQ_2|RCC_PLLCFGR_PLLQ_1) /*!< Main PLL division factor for PLLQ output by 6 */ -#define LL_RCC_PLLQ_DIV_7 (RCC_PLLCFGR_PLLQ_2|RCC_PLLCFGR_PLLQ_1|RCC_PLLCFGR_PLLQ_0) /*!< Main PLL division factor for PLLQ output by 7 */ -#define LL_RCC_PLLQ_DIV_8 RCC_PLLCFGR_PLLQ_3 /*!< Main PLL division factor for PLLQ output by 8 */ -#define LL_RCC_PLLQ_DIV_9 (RCC_PLLCFGR_PLLQ_3|RCC_PLLCFGR_PLLQ_0) /*!< Main PLL division factor for PLLQ output by 9 */ -#define LL_RCC_PLLQ_DIV_10 (RCC_PLLCFGR_PLLQ_3|RCC_PLLCFGR_PLLQ_1) /*!< Main PLL division factor for PLLQ output by 10 */ -#define LL_RCC_PLLQ_DIV_11 (RCC_PLLCFGR_PLLQ_3|RCC_PLLCFGR_PLLQ_1|RCC_PLLCFGR_PLLQ_0) /*!< Main PLL division factor for PLLQ output by 11 */ -#define LL_RCC_PLLQ_DIV_12 (RCC_PLLCFGR_PLLQ_3|RCC_PLLCFGR_PLLQ_2) /*!< Main PLL division factor for PLLQ output by 12 */ -#define LL_RCC_PLLQ_DIV_13 (RCC_PLLCFGR_PLLQ_3|RCC_PLLCFGR_PLLQ_2|RCC_PLLCFGR_PLLQ_0) /*!< Main PLL division factor for PLLQ output by 13 */ -#define LL_RCC_PLLQ_DIV_14 (RCC_PLLCFGR_PLLQ_3|RCC_PLLCFGR_PLLQ_2|RCC_PLLCFGR_PLLQ_1) /*!< Main PLL division factor for PLLQ output by 14 */ -#define LL_RCC_PLLQ_DIV_15 (RCC_PLLCFGR_PLLQ_3|RCC_PLLCFGR_PLLQ_2|RCC_PLLCFGR_PLLQ_1|RCC_PLLCFGR_PLLQ_0) /*!< Main PLL division factor for PLLQ output by 15 */ -/** - * @} - */ - -/** @defgroup RCC_LL_EC_PLL_SPRE_SEL PLL Spread Spectrum Selection - * @{ - */ -#define LL_RCC_SPREAD_SELECT_CENTER 0x00000000U /*!< PLL center spread spectrum selection */ -#define LL_RCC_SPREAD_SELECT_DOWN RCC_SSCGR_SPREADSEL /*!< PLL down spread spectrum selection */ -/** - * @} - */ - -#if defined(RCC_PLLI2S_SUPPORT) -/** @defgroup RCC_LL_EC_PLLI2SM PLLI2SM division factor (PLLI2SM) - * @{ - */ -#if defined(RCC_PLLI2SCFGR_PLLI2SM) -#define LL_RCC_PLLI2SM_DIV_2 (RCC_PLLI2SCFGR_PLLI2SM_1) /*!< PLLI2S division factor for PLLI2SM output by 2 */ -#define LL_RCC_PLLI2SM_DIV_3 (RCC_PLLI2SCFGR_PLLI2SM_1 | RCC_PLLI2SCFGR_PLLI2SM_0) /*!< PLLI2S division factor for PLLI2SM output by 3 */ -#define LL_RCC_PLLI2SM_DIV_4 (RCC_PLLI2SCFGR_PLLI2SM_2) /*!< PLLI2S division factor for PLLI2SM output by 4 */ -#define LL_RCC_PLLI2SM_DIV_5 (RCC_PLLI2SCFGR_PLLI2SM_2 | RCC_PLLI2SCFGR_PLLI2SM_0) /*!< PLLI2S division factor for PLLI2SM output by 5 */ -#define LL_RCC_PLLI2SM_DIV_6 (RCC_PLLI2SCFGR_PLLI2SM_2 | RCC_PLLI2SCFGR_PLLI2SM_1) /*!< PLLI2S division factor for PLLI2SM output by 6 */ -#define LL_RCC_PLLI2SM_DIV_7 (RCC_PLLI2SCFGR_PLLI2SM_2 | RCC_PLLI2SCFGR_PLLI2SM_1 | RCC_PLLI2SCFGR_PLLI2SM_0) /*!< PLLI2S division factor for PLLI2SM output by 7 */ -#define LL_RCC_PLLI2SM_DIV_8 (RCC_PLLI2SCFGR_PLLI2SM_3) /*!< PLLI2S division factor for PLLI2SM output by 8 */ -#define LL_RCC_PLLI2SM_DIV_9 (RCC_PLLI2SCFGR_PLLI2SM_3 | RCC_PLLI2SCFGR_PLLI2SM_0) /*!< PLLI2S division factor for PLLI2SM output by 9 */ -#define LL_RCC_PLLI2SM_DIV_10 (RCC_PLLI2SCFGR_PLLI2SM_3 | RCC_PLLI2SCFGR_PLLI2SM_1) /*!< PLLI2S division factor for PLLI2SM output by 10 */ -#define LL_RCC_PLLI2SM_DIV_11 (RCC_PLLI2SCFGR_PLLI2SM_3 | RCC_PLLI2SCFGR_PLLI2SM_1 | RCC_PLLI2SCFGR_PLLI2SM_0) /*!< PLLI2S division factor for PLLI2SM output by 11 */ -#define LL_RCC_PLLI2SM_DIV_12 (RCC_PLLI2SCFGR_PLLI2SM_3 | RCC_PLLI2SCFGR_PLLI2SM_2) /*!< PLLI2S division factor for PLLI2SM output by 12 */ -#define LL_RCC_PLLI2SM_DIV_13 (RCC_PLLI2SCFGR_PLLI2SM_3 | RCC_PLLI2SCFGR_PLLI2SM_2 | RCC_PLLI2SCFGR_PLLI2SM_0) /*!< PLLI2S division factor for PLLI2SM output by 13 */ -#define LL_RCC_PLLI2SM_DIV_14 (RCC_PLLI2SCFGR_PLLI2SM_3 | RCC_PLLI2SCFGR_PLLI2SM_2 | RCC_PLLI2SCFGR_PLLI2SM_1) /*!< PLLI2S division factor for PLLI2SM output by 14 */ -#define LL_RCC_PLLI2SM_DIV_15 (RCC_PLLI2SCFGR_PLLI2SM_3 | RCC_PLLI2SCFGR_PLLI2SM_2 | RCC_PLLI2SCFGR_PLLI2SM_1 | RCC_PLLI2SCFGR_PLLI2SM_0) /*!< PLLI2S division factor for PLLI2SM output by 15 */ -#define LL_RCC_PLLI2SM_DIV_16 (RCC_PLLI2SCFGR_PLLI2SM_4) /*!< PLLI2S division factor for PLLI2SM output by 16 */ -#define LL_RCC_PLLI2SM_DIV_17 (RCC_PLLI2SCFGR_PLLI2SM_4 | RCC_PLLI2SCFGR_PLLI2SM_0) /*!< PLLI2S division factor for PLLI2SM output by 17 */ -#define LL_RCC_PLLI2SM_DIV_18 (RCC_PLLI2SCFGR_PLLI2SM_4 | RCC_PLLI2SCFGR_PLLI2SM_1) /*!< PLLI2S division factor for PLLI2SM output by 18 */ -#define LL_RCC_PLLI2SM_DIV_19 (RCC_PLLI2SCFGR_PLLI2SM_4 | RCC_PLLI2SCFGR_PLLI2SM_1 | RCC_PLLI2SCFGR_PLLI2SM_0) /*!< PLLI2S division factor for PLLI2SM output by 19 */ -#define LL_RCC_PLLI2SM_DIV_20 (RCC_PLLI2SCFGR_PLLI2SM_4 | RCC_PLLI2SCFGR_PLLI2SM_2) /*!< PLLI2S division factor for PLLI2SM output by 20 */ -#define LL_RCC_PLLI2SM_DIV_21 (RCC_PLLI2SCFGR_PLLI2SM_4 | RCC_PLLI2SCFGR_PLLI2SM_2 | RCC_PLLI2SCFGR_PLLI2SM_0) /*!< PLLI2S division factor for PLLI2SM output by 21 */ -#define LL_RCC_PLLI2SM_DIV_22 (RCC_PLLI2SCFGR_PLLI2SM_4 | RCC_PLLI2SCFGR_PLLI2SM_2 | RCC_PLLI2SCFGR_PLLI2SM_1) /*!< PLLI2S division factor for PLLI2SM output by 22 */ -#define LL_RCC_PLLI2SM_DIV_23 (RCC_PLLI2SCFGR_PLLI2SM_4 | RCC_PLLI2SCFGR_PLLI2SM_2 | RCC_PLLI2SCFGR_PLLI2SM_1 | RCC_PLLI2SCFGR_PLLI2SM_0) /*!< PLLI2S division factor for PLLI2SM output by 23 */ -#define LL_RCC_PLLI2SM_DIV_24 (RCC_PLLI2SCFGR_PLLI2SM_4 | RCC_PLLI2SCFGR_PLLI2SM_3) /*!< PLLI2S division factor for PLLI2SM output by 24 */ -#define LL_RCC_PLLI2SM_DIV_25 (RCC_PLLI2SCFGR_PLLI2SM_4 | RCC_PLLI2SCFGR_PLLI2SM_3 | RCC_PLLI2SCFGR_PLLI2SM_0) /*!< PLLI2S division factor for PLLI2SM output by 25 */ -#define LL_RCC_PLLI2SM_DIV_26 (RCC_PLLI2SCFGR_PLLI2SM_4 | RCC_PLLI2SCFGR_PLLI2SM_3 | RCC_PLLI2SCFGR_PLLI2SM_1) /*!< PLLI2S division factor for PLLI2SM output by 26 */ -#define LL_RCC_PLLI2SM_DIV_27 (RCC_PLLI2SCFGR_PLLI2SM_4 | RCC_PLLI2SCFGR_PLLI2SM_3 | RCC_PLLI2SCFGR_PLLI2SM_1 | RCC_PLLI2SCFGR_PLLI2SM_0) /*!< PLLI2S division factor for PLLI2SM output by 27 */ -#define LL_RCC_PLLI2SM_DIV_28 (RCC_PLLI2SCFGR_PLLI2SM_4 | RCC_PLLI2SCFGR_PLLI2SM_3 | RCC_PLLI2SCFGR_PLLI2SM_2) /*!< PLLI2S division factor for PLLI2SM output by 28 */ -#define LL_RCC_PLLI2SM_DIV_29 (RCC_PLLI2SCFGR_PLLI2SM_4 | RCC_PLLI2SCFGR_PLLI2SM_3 | RCC_PLLI2SCFGR_PLLI2SM_2 | RCC_PLLI2SCFGR_PLLI2SM_0) /*!< PLLI2S division factor for PLLI2SM output by 29 */ -#define LL_RCC_PLLI2SM_DIV_30 (RCC_PLLI2SCFGR_PLLI2SM_4 | RCC_PLLI2SCFGR_PLLI2SM_3 | RCC_PLLI2SCFGR_PLLI2SM_2 | RCC_PLLI2SCFGR_PLLI2SM_1) /*!< PLLI2S division factor for PLLI2SM output by 30 */ -#define LL_RCC_PLLI2SM_DIV_31 (RCC_PLLI2SCFGR_PLLI2SM_4 | RCC_PLLI2SCFGR_PLLI2SM_3 | RCC_PLLI2SCFGR_PLLI2SM_2 | RCC_PLLI2SCFGR_PLLI2SM_1 | RCC_PLLI2SCFGR_PLLI2SM_0) /*!< PLLI2S division factor for PLLI2SM output by 31 */ -#define LL_RCC_PLLI2SM_DIV_32 (RCC_PLLI2SCFGR_PLLI2SM_5) /*!< PLLI2S division factor for PLLI2SM output by 32 */ -#define LL_RCC_PLLI2SM_DIV_33 (RCC_PLLI2SCFGR_PLLI2SM_5 | RCC_PLLI2SCFGR_PLLI2SM_0) /*!< PLLI2S division factor for PLLI2SM output by 33 */ -#define LL_RCC_PLLI2SM_DIV_34 (RCC_PLLI2SCFGR_PLLI2SM_5 | RCC_PLLI2SCFGR_PLLI2SM_1) /*!< PLLI2S division factor for PLLI2SM output by 34 */ -#define LL_RCC_PLLI2SM_DIV_35 (RCC_PLLI2SCFGR_PLLI2SM_5 | RCC_PLLI2SCFGR_PLLI2SM_1 | RCC_PLLI2SCFGR_PLLI2SM_0) /*!< PLLI2S division factor for PLLI2SM output by 35 */ -#define LL_RCC_PLLI2SM_DIV_36 (RCC_PLLI2SCFGR_PLLI2SM_5 | RCC_PLLI2SCFGR_PLLI2SM_2) /*!< PLLI2S division factor for PLLI2SM output by 36 */ -#define LL_RCC_PLLI2SM_DIV_37 (RCC_PLLI2SCFGR_PLLI2SM_5 | RCC_PLLI2SCFGR_PLLI2SM_2 | RCC_PLLI2SCFGR_PLLI2SM_0) /*!< PLLI2S division factor for PLLI2SM output by 37 */ -#define LL_RCC_PLLI2SM_DIV_38 (RCC_PLLI2SCFGR_PLLI2SM_5 | RCC_PLLI2SCFGR_PLLI2SM_2 | RCC_PLLI2SCFGR_PLLI2SM_1) /*!< PLLI2S division factor for PLLI2SM output by 38 */ -#define LL_RCC_PLLI2SM_DIV_39 (RCC_PLLI2SCFGR_PLLI2SM_5 | RCC_PLLI2SCFGR_PLLI2SM_2 | RCC_PLLI2SCFGR_PLLI2SM_1 | RCC_PLLI2SCFGR_PLLI2SM_0) /*!< PLLI2S division factor for PLLI2SM output by 39 */ -#define LL_RCC_PLLI2SM_DIV_40 (RCC_PLLI2SCFGR_PLLI2SM_5 | RCC_PLLI2SCFGR_PLLI2SM_3) /*!< PLLI2S division factor for PLLI2SM output by 40 */ -#define LL_RCC_PLLI2SM_DIV_41 (RCC_PLLI2SCFGR_PLLI2SM_5 | RCC_PLLI2SCFGR_PLLI2SM_3 | RCC_PLLI2SCFGR_PLLI2SM_0) /*!< PLLI2S division factor for PLLI2SM output by 41 */ -#define LL_RCC_PLLI2SM_DIV_42 (RCC_PLLI2SCFGR_PLLI2SM_5 | RCC_PLLI2SCFGR_PLLI2SM_3 | RCC_PLLI2SCFGR_PLLI2SM_1) /*!< PLLI2S division factor for PLLI2SM output by 42 */ -#define LL_RCC_PLLI2SM_DIV_43 (RCC_PLLI2SCFGR_PLLI2SM_5 | RCC_PLLI2SCFGR_PLLI2SM_3 | RCC_PLLI2SCFGR_PLLI2SM_1 | RCC_PLLI2SCFGR_PLLI2SM_0) /*!< PLLI2S division factor for PLLI2SM output by 43 */ -#define LL_RCC_PLLI2SM_DIV_44 (RCC_PLLI2SCFGR_PLLI2SM_5 | RCC_PLLI2SCFGR_PLLI2SM_3 | RCC_PLLI2SCFGR_PLLI2SM_2) /*!< PLLI2S division factor for PLLI2SM output by 44 */ -#define LL_RCC_PLLI2SM_DIV_45 (RCC_PLLI2SCFGR_PLLI2SM_5 | RCC_PLLI2SCFGR_PLLI2SM_3 | RCC_PLLI2SCFGR_PLLI2SM_2 | RCC_PLLI2SCFGR_PLLI2SM_0) /*!< PLLI2S division factor for PLLI2SM output by 45 */ -#define LL_RCC_PLLI2SM_DIV_46 (RCC_PLLI2SCFGR_PLLI2SM_5 | RCC_PLLI2SCFGR_PLLI2SM_3 | RCC_PLLI2SCFGR_PLLI2SM_2 | RCC_PLLI2SCFGR_PLLI2SM_1) /*!< PLLI2S division factor for PLLI2SM output by 46 */ -#define LL_RCC_PLLI2SM_DIV_47 (RCC_PLLI2SCFGR_PLLI2SM_5 | RCC_PLLI2SCFGR_PLLI2SM_3 | RCC_PLLI2SCFGR_PLLI2SM_2 | RCC_PLLI2SCFGR_PLLI2SM_1 | RCC_PLLI2SCFGR_PLLI2SM_0) /*!< PLLI2S division factor for PLLI2SM output by 47 */ -#define LL_RCC_PLLI2SM_DIV_48 (RCC_PLLI2SCFGR_PLLI2SM_5 | RCC_PLLI2SCFGR_PLLI2SM_4) /*!< PLLI2S division factor for PLLI2SM output by 48 */ -#define LL_RCC_PLLI2SM_DIV_49 (RCC_PLLI2SCFGR_PLLI2SM_5 | RCC_PLLI2SCFGR_PLLI2SM_4 | RCC_PLLI2SCFGR_PLLI2SM_0) /*!< PLLI2S division factor for PLLI2SM output by 49 */ -#define LL_RCC_PLLI2SM_DIV_50 (RCC_PLLI2SCFGR_PLLI2SM_5 | RCC_PLLI2SCFGR_PLLI2SM_4 | RCC_PLLI2SCFGR_PLLI2SM_1) /*!< PLLI2S division factor for PLLI2SM output by 50 */ -#define LL_RCC_PLLI2SM_DIV_51 (RCC_PLLI2SCFGR_PLLI2SM_5 | RCC_PLLI2SCFGR_PLLI2SM_4 | RCC_PLLI2SCFGR_PLLI2SM_1 | RCC_PLLI2SCFGR_PLLI2SM_0) /*!< PLLI2S division factor for PLLI2SM output by 51 */ -#define LL_RCC_PLLI2SM_DIV_52 (RCC_PLLI2SCFGR_PLLI2SM_5 | RCC_PLLI2SCFGR_PLLI2SM_4 | RCC_PLLI2SCFGR_PLLI2SM_2) /*!< PLLI2S division factor for PLLI2SM output by 52 */ -#define LL_RCC_PLLI2SM_DIV_53 (RCC_PLLI2SCFGR_PLLI2SM_5 | RCC_PLLI2SCFGR_PLLI2SM_4 | RCC_PLLI2SCFGR_PLLI2SM_2 | RCC_PLLI2SCFGR_PLLI2SM_0) /*!< PLLI2S division factor for PLLI2SM output by 53 */ -#define LL_RCC_PLLI2SM_DIV_54 (RCC_PLLI2SCFGR_PLLI2SM_5 | RCC_PLLI2SCFGR_PLLI2SM_4 | RCC_PLLI2SCFGR_PLLI2SM_2 | RCC_PLLI2SCFGR_PLLI2SM_1) /*!< PLLI2S division factor for PLLI2SM output by 54 */ -#define LL_RCC_PLLI2SM_DIV_55 (RCC_PLLI2SCFGR_PLLI2SM_5 | RCC_PLLI2SCFGR_PLLI2SM_4 | RCC_PLLI2SCFGR_PLLI2SM_2 | RCC_PLLI2SCFGR_PLLI2SM_1 | RCC_PLLI2SCFGR_PLLI2SM_0) /*!< PLLI2S division factor for PLLI2SM output by 55 */ -#define LL_RCC_PLLI2SM_DIV_56 (RCC_PLLI2SCFGR_PLLI2SM_5 | RCC_PLLI2SCFGR_PLLI2SM_4 | RCC_PLLI2SCFGR_PLLI2SM_3) /*!< PLLI2S division factor for PLLI2SM output by 56 */ -#define LL_RCC_PLLI2SM_DIV_57 (RCC_PLLI2SCFGR_PLLI2SM_5 | RCC_PLLI2SCFGR_PLLI2SM_4 | RCC_PLLI2SCFGR_PLLI2SM_3 | RCC_PLLI2SCFGR_PLLI2SM_0) /*!< PLLI2S division factor for PLLI2SM output by 57 */ -#define LL_RCC_PLLI2SM_DIV_58 (RCC_PLLI2SCFGR_PLLI2SM_5 | RCC_PLLI2SCFGR_PLLI2SM_4 | RCC_PLLI2SCFGR_PLLI2SM_3 | RCC_PLLI2SCFGR_PLLI2SM_1) /*!< PLLI2S division factor for PLLI2SM output by 58 */ -#define LL_RCC_PLLI2SM_DIV_59 (RCC_PLLI2SCFGR_PLLI2SM_5 | RCC_PLLI2SCFGR_PLLI2SM_4 | RCC_PLLI2SCFGR_PLLI2SM_3 | RCC_PLLI2SCFGR_PLLI2SM_1 | RCC_PLLI2SCFGR_PLLI2SM_0) /*!< PLLI2S division factor for PLLI2SM output by 59 */ -#define LL_RCC_PLLI2SM_DIV_60 (RCC_PLLI2SCFGR_PLLI2SM_5 | RCC_PLLI2SCFGR_PLLI2SM_4 | RCC_PLLI2SCFGR_PLLI2SM_3 | RCC_PLLI2SCFGR_PLLI2SM_2) /*!< PLLI2S division factor for PLLI2SM output by 60 */ -#define LL_RCC_PLLI2SM_DIV_61 (RCC_PLLI2SCFGR_PLLI2SM_5 | RCC_PLLI2SCFGR_PLLI2SM_4 | RCC_PLLI2SCFGR_PLLI2SM_3 | RCC_PLLI2SCFGR_PLLI2SM_2 | RCC_PLLI2SCFGR_PLLI2SM_0) /*!< PLLI2S division factor for PLLI2SM output by 61 */ -#define LL_RCC_PLLI2SM_DIV_62 (RCC_PLLI2SCFGR_PLLI2SM_5 | RCC_PLLI2SCFGR_PLLI2SM_4 | RCC_PLLI2SCFGR_PLLI2SM_3 | RCC_PLLI2SCFGR_PLLI2SM_2 | RCC_PLLI2SCFGR_PLLI2SM_1) /*!< PLLI2S division factor for PLLI2SM output by 62 */ -#define LL_RCC_PLLI2SM_DIV_63 (RCC_PLLI2SCFGR_PLLI2SM_5 | RCC_PLLI2SCFGR_PLLI2SM_4 | RCC_PLLI2SCFGR_PLLI2SM_3 | RCC_PLLI2SCFGR_PLLI2SM_2 | RCC_PLLI2SCFGR_PLLI2SM_1 | RCC_PLLI2SCFGR_PLLI2SM_0) /*!< PLLI2S division factor for PLLI2SM output by 63 */ -#else -#define LL_RCC_PLLI2SM_DIV_2 LL_RCC_PLLM_DIV_2 /*!< PLLI2S division factor for PLLI2SM output by 2 */ -#define LL_RCC_PLLI2SM_DIV_3 LL_RCC_PLLM_DIV_3 /*!< PLLI2S division factor for PLLI2SM output by 3 */ -#define LL_RCC_PLLI2SM_DIV_4 LL_RCC_PLLM_DIV_4 /*!< PLLI2S division factor for PLLI2SM output by 4 */ -#define LL_RCC_PLLI2SM_DIV_5 LL_RCC_PLLM_DIV_5 /*!< PLLI2S division factor for PLLI2SM output by 5 */ -#define LL_RCC_PLLI2SM_DIV_6 LL_RCC_PLLM_DIV_6 /*!< PLLI2S division factor for PLLI2SM output by 6 */ -#define LL_RCC_PLLI2SM_DIV_7 LL_RCC_PLLM_DIV_7 /*!< PLLI2S division factor for PLLI2SM output by 7 */ -#define LL_RCC_PLLI2SM_DIV_8 LL_RCC_PLLM_DIV_8 /*!< PLLI2S division factor for PLLI2SM output by 8 */ -#define LL_RCC_PLLI2SM_DIV_9 LL_RCC_PLLM_DIV_9 /*!< PLLI2S division factor for PLLI2SM output by 9 */ -#define LL_RCC_PLLI2SM_DIV_10 LL_RCC_PLLM_DIV_10 /*!< PLLI2S division factor for PLLI2SM output by 10 */ -#define LL_RCC_PLLI2SM_DIV_11 LL_RCC_PLLM_DIV_11 /*!< PLLI2S division factor for PLLI2SM output by 11 */ -#define LL_RCC_PLLI2SM_DIV_12 LL_RCC_PLLM_DIV_12 /*!< PLLI2S division factor for PLLI2SM output by 12 */ -#define LL_RCC_PLLI2SM_DIV_13 LL_RCC_PLLM_DIV_13 /*!< PLLI2S division factor for PLLI2SM output by 13 */ -#define LL_RCC_PLLI2SM_DIV_14 LL_RCC_PLLM_DIV_14 /*!< PLLI2S division factor for PLLI2SM output by 14 */ -#define LL_RCC_PLLI2SM_DIV_15 LL_RCC_PLLM_DIV_15 /*!< PLLI2S division factor for PLLI2SM output by 15 */ -#define LL_RCC_PLLI2SM_DIV_16 LL_RCC_PLLM_DIV_16 /*!< PLLI2S division factor for PLLI2SM output by 16 */ -#define LL_RCC_PLLI2SM_DIV_17 LL_RCC_PLLM_DIV_17 /*!< PLLI2S division factor for PLLI2SM output by 17 */ -#define LL_RCC_PLLI2SM_DIV_18 LL_RCC_PLLM_DIV_18 /*!< PLLI2S division factor for PLLI2SM output by 18 */ -#define LL_RCC_PLLI2SM_DIV_19 LL_RCC_PLLM_DIV_19 /*!< PLLI2S division factor for PLLI2SM output by 19 */ -#define LL_RCC_PLLI2SM_DIV_20 LL_RCC_PLLM_DIV_20 /*!< PLLI2S division factor for PLLI2SM output by 20 */ -#define LL_RCC_PLLI2SM_DIV_21 LL_RCC_PLLM_DIV_21 /*!< PLLI2S division factor for PLLI2SM output by 21 */ -#define LL_RCC_PLLI2SM_DIV_22 LL_RCC_PLLM_DIV_22 /*!< PLLI2S division factor for PLLI2SM output by 22 */ -#define LL_RCC_PLLI2SM_DIV_23 LL_RCC_PLLM_DIV_23 /*!< PLLI2S division factor for PLLI2SM output by 23 */ -#define LL_RCC_PLLI2SM_DIV_24 LL_RCC_PLLM_DIV_24 /*!< PLLI2S division factor for PLLI2SM output by 24 */ -#define LL_RCC_PLLI2SM_DIV_25 LL_RCC_PLLM_DIV_25 /*!< PLLI2S division factor for PLLI2SM output by 25 */ -#define LL_RCC_PLLI2SM_DIV_26 LL_RCC_PLLM_DIV_26 /*!< PLLI2S division factor for PLLI2SM output by 26 */ -#define LL_RCC_PLLI2SM_DIV_27 LL_RCC_PLLM_DIV_27 /*!< PLLI2S division factor for PLLI2SM output by 27 */ -#define LL_RCC_PLLI2SM_DIV_28 LL_RCC_PLLM_DIV_28 /*!< PLLI2S division factor for PLLI2SM output by 28 */ -#define LL_RCC_PLLI2SM_DIV_29 LL_RCC_PLLM_DIV_29 /*!< PLLI2S division factor for PLLI2SM output by 29 */ -#define LL_RCC_PLLI2SM_DIV_30 LL_RCC_PLLM_DIV_30 /*!< PLLI2S division factor for PLLI2SM output by 30 */ -#define LL_RCC_PLLI2SM_DIV_31 LL_RCC_PLLM_DIV_31 /*!< PLLI2S division factor for PLLI2SM output by 31 */ -#define LL_RCC_PLLI2SM_DIV_32 LL_RCC_PLLM_DIV_32 /*!< PLLI2S division factor for PLLI2SM output by 32 */ -#define LL_RCC_PLLI2SM_DIV_33 LL_RCC_PLLM_DIV_33 /*!< PLLI2S division factor for PLLI2SM output by 33 */ -#define LL_RCC_PLLI2SM_DIV_34 LL_RCC_PLLM_DIV_34 /*!< PLLI2S division factor for PLLI2SM output by 34 */ -#define LL_RCC_PLLI2SM_DIV_35 LL_RCC_PLLM_DIV_35 /*!< PLLI2S division factor for PLLI2SM output by 35 */ -#define LL_RCC_PLLI2SM_DIV_36 LL_RCC_PLLM_DIV_36 /*!< PLLI2S division factor for PLLI2SM output by 36 */ -#define LL_RCC_PLLI2SM_DIV_37 LL_RCC_PLLM_DIV_37 /*!< PLLI2S division factor for PLLI2SM output by 37 */ -#define LL_RCC_PLLI2SM_DIV_38 LL_RCC_PLLM_DIV_38 /*!< PLLI2S division factor for PLLI2SM output by 38 */ -#define LL_RCC_PLLI2SM_DIV_39 LL_RCC_PLLM_DIV_39 /*!< PLLI2S division factor for PLLI2SM output by 39 */ -#define LL_RCC_PLLI2SM_DIV_40 LL_RCC_PLLM_DIV_40 /*!< PLLI2S division factor for PLLI2SM output by 40 */ -#define LL_RCC_PLLI2SM_DIV_41 LL_RCC_PLLM_DIV_41 /*!< PLLI2S division factor for PLLI2SM output by 41 */ -#define LL_RCC_PLLI2SM_DIV_42 LL_RCC_PLLM_DIV_42 /*!< PLLI2S division factor for PLLI2SM output by 42 */ -#define LL_RCC_PLLI2SM_DIV_43 LL_RCC_PLLM_DIV_43 /*!< PLLI2S division factor for PLLI2SM output by 43 */ -#define LL_RCC_PLLI2SM_DIV_44 LL_RCC_PLLM_DIV_44 /*!< PLLI2S division factor for PLLI2SM output by 44 */ -#define LL_RCC_PLLI2SM_DIV_45 LL_RCC_PLLM_DIV_45 /*!< PLLI2S division factor for PLLI2SM output by 45 */ -#define LL_RCC_PLLI2SM_DIV_46 LL_RCC_PLLM_DIV_46 /*!< PLLI2S division factor for PLLI2SM output by 46 */ -#define LL_RCC_PLLI2SM_DIV_47 LL_RCC_PLLM_DIV_47 /*!< PLLI2S division factor for PLLI2SM output by 47 */ -#define LL_RCC_PLLI2SM_DIV_48 LL_RCC_PLLM_DIV_48 /*!< PLLI2S division factor for PLLI2SM output by 48 */ -#define LL_RCC_PLLI2SM_DIV_49 LL_RCC_PLLM_DIV_49 /*!< PLLI2S division factor for PLLI2SM output by 49 */ -#define LL_RCC_PLLI2SM_DIV_50 LL_RCC_PLLM_DIV_50 /*!< PLLI2S division factor for PLLI2SM output by 50 */ -#define LL_RCC_PLLI2SM_DIV_51 LL_RCC_PLLM_DIV_51 /*!< PLLI2S division factor for PLLI2SM output by 51 */ -#define LL_RCC_PLLI2SM_DIV_52 LL_RCC_PLLM_DIV_52 /*!< PLLI2S division factor for PLLI2SM output by 52 */ -#define LL_RCC_PLLI2SM_DIV_53 LL_RCC_PLLM_DIV_53 /*!< PLLI2S division factor for PLLI2SM output by 53 */ -#define LL_RCC_PLLI2SM_DIV_54 LL_RCC_PLLM_DIV_54 /*!< PLLI2S division factor for PLLI2SM output by 54 */ -#define LL_RCC_PLLI2SM_DIV_55 LL_RCC_PLLM_DIV_55 /*!< PLLI2S division factor for PLLI2SM output by 55 */ -#define LL_RCC_PLLI2SM_DIV_56 LL_RCC_PLLM_DIV_56 /*!< PLLI2S division factor for PLLI2SM output by 56 */ -#define LL_RCC_PLLI2SM_DIV_57 LL_RCC_PLLM_DIV_57 /*!< PLLI2S division factor for PLLI2SM output by 57 */ -#define LL_RCC_PLLI2SM_DIV_58 LL_RCC_PLLM_DIV_58 /*!< PLLI2S division factor for PLLI2SM output by 58 */ -#define LL_RCC_PLLI2SM_DIV_59 LL_RCC_PLLM_DIV_59 /*!< PLLI2S division factor for PLLI2SM output by 59 */ -#define LL_RCC_PLLI2SM_DIV_60 LL_RCC_PLLM_DIV_60 /*!< PLLI2S division factor for PLLI2SM output by 60 */ -#define LL_RCC_PLLI2SM_DIV_61 LL_RCC_PLLM_DIV_61 /*!< PLLI2S division factor for PLLI2SM output by 61 */ -#define LL_RCC_PLLI2SM_DIV_62 LL_RCC_PLLM_DIV_62 /*!< PLLI2S division factor for PLLI2SM output by 62 */ -#define LL_RCC_PLLI2SM_DIV_63 LL_RCC_PLLM_DIV_63 /*!< PLLI2S division factor for PLLI2SM output by 63 */ -#endif /* RCC_PLLI2SCFGR_PLLI2SM */ -/** - * @} - */ - -#if defined(RCC_PLLI2SCFGR_PLLI2SQ) -/** @defgroup RCC_LL_EC_PLLI2SQ PLLI2SQ division factor (PLLI2SQ) - * @{ - */ -#define LL_RCC_PLLI2SQ_DIV_2 RCC_PLLI2SCFGR_PLLI2SQ_1 /*!< PLLI2S division factor for PLLI2SQ output by 2 */ -#define LL_RCC_PLLI2SQ_DIV_3 (RCC_PLLI2SCFGR_PLLI2SQ_1 | RCC_PLLI2SCFGR_PLLI2SQ_0) /*!< PLLI2S division factor for PLLI2SQ output by 3 */ -#define LL_RCC_PLLI2SQ_DIV_4 RCC_PLLI2SCFGR_PLLI2SQ_2 /*!< PLLI2S division factor for PLLI2SQ output by 4 */ -#define LL_RCC_PLLI2SQ_DIV_5 (RCC_PLLI2SCFGR_PLLI2SQ_2 | RCC_PLLI2SCFGR_PLLI2SQ_0) /*!< PLLI2S division factor for PLLI2SQ output by 5 */ -#define LL_RCC_PLLI2SQ_DIV_6 (RCC_PLLI2SCFGR_PLLI2SQ_2 | RCC_PLLI2SCFGR_PLLI2SQ_1) /*!< PLLI2S division factor for PLLI2SQ output by 6 */ -#define LL_RCC_PLLI2SQ_DIV_7 (RCC_PLLI2SCFGR_PLLI2SQ_2 | RCC_PLLI2SCFGR_PLLI2SQ_1 | RCC_PLLI2SCFGR_PLLI2SQ_0) /*!< PLLI2S division factor for PLLI2SQ output by 7 */ -#define LL_RCC_PLLI2SQ_DIV_8 RCC_PLLI2SCFGR_PLLI2SQ_3 /*!< PLLI2S division factor for PLLI2SQ output by 8 */ -#define LL_RCC_PLLI2SQ_DIV_9 (RCC_PLLI2SCFGR_PLLI2SQ_3 | RCC_PLLI2SCFGR_PLLI2SQ_0) /*!< PLLI2S division factor for PLLI2SQ output by 9 */ -#define LL_RCC_PLLI2SQ_DIV_10 (RCC_PLLI2SCFGR_PLLI2SQ_3 | RCC_PLLI2SCFGR_PLLI2SQ_1) /*!< PLLI2S division factor for PLLI2SQ output by 10 */ -#define LL_RCC_PLLI2SQ_DIV_11 (RCC_PLLI2SCFGR_PLLI2SQ_3 | RCC_PLLI2SCFGR_PLLI2SQ_1 | RCC_PLLI2SCFGR_PLLI2SQ_0) /*!< PLLI2S division factor for PLLI2SQ output by 11 */ -#define LL_RCC_PLLI2SQ_DIV_12 (RCC_PLLI2SCFGR_PLLI2SQ_3 | RCC_PLLI2SCFGR_PLLI2SQ_2) /*!< PLLI2S division factor for PLLI2SQ output by 12 */ -#define LL_RCC_PLLI2SQ_DIV_13 (RCC_PLLI2SCFGR_PLLI2SQ_3 | RCC_PLLI2SCFGR_PLLI2SQ_2 | RCC_PLLI2SCFGR_PLLI2SQ_0) /*!< PLLI2S division factor for PLLI2SQ output by 13 */ -#define LL_RCC_PLLI2SQ_DIV_14 (RCC_PLLI2SCFGR_PLLI2SQ_3 | RCC_PLLI2SCFGR_PLLI2SQ_2 | RCC_PLLI2SCFGR_PLLI2SQ_1) /*!< PLLI2S division factor for PLLI2SQ output by 14 */ -#define LL_RCC_PLLI2SQ_DIV_15 (RCC_PLLI2SCFGR_PLLI2SQ_3 | RCC_PLLI2SCFGR_PLLI2SQ_2 | RCC_PLLI2SCFGR_PLLI2SQ_1 | RCC_PLLI2SCFGR_PLLI2SQ_0) /*!< PLLI2S division factor for PLLI2SQ output by 15 */ -/** - * @} - */ -#endif /* RCC_PLLI2SCFGR_PLLI2SQ */ - -#if defined(RCC_DCKCFGR_PLLI2SDIVQ) -/** @defgroup RCC_LL_EC_PLLI2SDIVQ PLLI2SDIVQ division factor (PLLI2SDIVQ) - * @{ - */ -#define LL_RCC_PLLI2SDIVQ_DIV_1 0x00000000U /*!< PLLI2S division factor for PLLI2SDIVQ output by 1 */ -#define LL_RCC_PLLI2SDIVQ_DIV_2 RCC_DCKCFGR_PLLI2SDIVQ_0 /*!< PLLI2S division factor for PLLI2SDIVQ output by 2 */ -#define LL_RCC_PLLI2SDIVQ_DIV_3 RCC_DCKCFGR_PLLI2SDIVQ_1 /*!< PLLI2S division factor for PLLI2SDIVQ output by 3 */ -#define LL_RCC_PLLI2SDIVQ_DIV_4 (RCC_DCKCFGR_PLLI2SDIVQ_1 | RCC_DCKCFGR_PLLI2SDIVQ_0) /*!< PLLI2S division factor for PLLI2SDIVQ output by 4 */ -#define LL_RCC_PLLI2SDIVQ_DIV_5 RCC_DCKCFGR_PLLI2SDIVQ_2 /*!< PLLI2S division factor for PLLI2SDIVQ output by 5 */ -#define LL_RCC_PLLI2SDIVQ_DIV_6 (RCC_DCKCFGR_PLLI2SDIVQ_2 | RCC_DCKCFGR_PLLI2SDIVQ_0) /*!< PLLI2S division factor for PLLI2SDIVQ output by 6 */ -#define LL_RCC_PLLI2SDIVQ_DIV_7 (RCC_DCKCFGR_PLLI2SDIVQ_2 | RCC_DCKCFGR_PLLI2SDIVQ_1) /*!< PLLI2S division factor for PLLI2SDIVQ output by 7 */ -#define LL_RCC_PLLI2SDIVQ_DIV_8 (RCC_DCKCFGR_PLLI2SDIVQ_2 | RCC_DCKCFGR_PLLI2SDIVQ_1 | RCC_DCKCFGR_PLLI2SDIVQ_0) /*!< PLLI2S division factor for PLLI2SDIVQ output by 8 */ -#define LL_RCC_PLLI2SDIVQ_DIV_9 RCC_DCKCFGR_PLLI2SDIVQ_3 /*!< PLLI2S division factor for PLLI2SDIVQ output by 9 */ -#define LL_RCC_PLLI2SDIVQ_DIV_10 (RCC_DCKCFGR_PLLI2SDIVQ_3 | RCC_DCKCFGR_PLLI2SDIVQ_0) /*!< PLLI2S division factor for PLLI2SDIVQ output by 10 */ -#define LL_RCC_PLLI2SDIVQ_DIV_11 (RCC_DCKCFGR_PLLI2SDIVQ_3 | RCC_DCKCFGR_PLLI2SDIVQ_1) /*!< PLLI2S division factor for PLLI2SDIVQ output by 11 */ -#define LL_RCC_PLLI2SDIVQ_DIV_12 (RCC_DCKCFGR_PLLI2SDIVQ_3 | RCC_DCKCFGR_PLLI2SDIVQ_1 | RCC_DCKCFGR_PLLI2SDIVQ_0) /*!< PLLI2S division factor for PLLI2SDIVQ output by 12 */ -#define LL_RCC_PLLI2SDIVQ_DIV_13 (RCC_DCKCFGR_PLLI2SDIVQ_3 | RCC_DCKCFGR_PLLI2SDIVQ_2) /*!< PLLI2S division factor for PLLI2SDIVQ output by 13 */ -#define LL_RCC_PLLI2SDIVQ_DIV_14 (RCC_DCKCFGR_PLLI2SDIVQ_3 | RCC_DCKCFGR_PLLI2SDIVQ_2 | RCC_DCKCFGR_PLLI2SDIVQ_0) /*!< PLLI2S division factor for PLLI2SDIVQ output by 14 */ -#define LL_RCC_PLLI2SDIVQ_DIV_15 (RCC_DCKCFGR_PLLI2SDIVQ_3 | RCC_DCKCFGR_PLLI2SDIVQ_2 | RCC_DCKCFGR_PLLI2SDIVQ_1) /*!< PLLI2S division factor for PLLI2SDIVQ output by 15 */ -#define LL_RCC_PLLI2SDIVQ_DIV_16 (RCC_DCKCFGR_PLLI2SDIVQ_3 | RCC_DCKCFGR_PLLI2SDIVQ_2 | RCC_DCKCFGR_PLLI2SDIVQ_1 | RCC_DCKCFGR_PLLI2SDIVQ_0) /*!< PLLI2S division factor for PLLI2SDIVQ output by 16 */ -#define LL_RCC_PLLI2SDIVQ_DIV_17 RCC_DCKCFGR_PLLI2SDIVQ_4 /*!< PLLI2S division factor for PLLI2SDIVQ output by 17 */ -#define LL_RCC_PLLI2SDIVQ_DIV_18 (RCC_DCKCFGR_PLLI2SDIVQ_4 | RCC_DCKCFGR_PLLI2SDIVQ_0) /*!< PLLI2S division factor for PLLI2SDIVQ output by 18 */ -#define LL_RCC_PLLI2SDIVQ_DIV_19 (RCC_DCKCFGR_PLLI2SDIVQ_4 | RCC_DCKCFGR_PLLI2SDIVQ_1) /*!< PLLI2S division factor for PLLI2SDIVQ output by 19 */ -#define LL_RCC_PLLI2SDIVQ_DIV_20 (RCC_DCKCFGR_PLLI2SDIVQ_4 | RCC_DCKCFGR_PLLI2SDIVQ_1 | RCC_DCKCFGR_PLLI2SDIVQ_0) /*!< PLLI2S division factor for PLLI2SDIVQ output by 20 */ -#define LL_RCC_PLLI2SDIVQ_DIV_21 (RCC_DCKCFGR_PLLI2SDIVQ_4 | RCC_DCKCFGR_PLLI2SDIVQ_2) /*!< PLLI2S division factor for PLLI2SDIVQ output by 21 */ -#define LL_RCC_PLLI2SDIVQ_DIV_22 (RCC_DCKCFGR_PLLI2SDIVQ_4 | RCC_DCKCFGR_PLLI2SDIVQ_2 | RCC_DCKCFGR_PLLI2SDIVQ_0) /*!< PLLI2S division factor for PLLI2SDIVQ output by 22 */ -#define LL_RCC_PLLI2SDIVQ_DIV_23 (RCC_DCKCFGR_PLLI2SDIVQ_4 | RCC_DCKCFGR_PLLI2SDIVQ_2 | RCC_DCKCFGR_PLLI2SDIVQ_1) /*!< PLLI2S division factor for PLLI2SDIVQ output by 23 */ -#define LL_RCC_PLLI2SDIVQ_DIV_24 (RCC_DCKCFGR_PLLI2SDIVQ_4 | RCC_DCKCFGR_PLLI2SDIVQ_2 | RCC_DCKCFGR_PLLI2SDIVQ_1 | RCC_DCKCFGR_PLLI2SDIVQ_0) /*!< PLLI2S division factor for PLLI2SDIVQ output by 24 */ -#define LL_RCC_PLLI2SDIVQ_DIV_25 (RCC_DCKCFGR_PLLI2SDIVQ_4 | RCC_DCKCFGR_PLLI2SDIVQ_3) /*!< PLLI2S division factor for PLLI2SDIVQ output by 25 */ -#define LL_RCC_PLLI2SDIVQ_DIV_26 (RCC_DCKCFGR_PLLI2SDIVQ_4 | RCC_DCKCFGR_PLLI2SDIVQ_3 | RCC_DCKCFGR_PLLI2SDIVQ_0) /*!< PLLI2S division factor for PLLI2SDIVQ output by 26 */ -#define LL_RCC_PLLI2SDIVQ_DIV_27 (RCC_DCKCFGR_PLLI2SDIVQ_4 | RCC_DCKCFGR_PLLI2SDIVQ_3 | RCC_DCKCFGR_PLLI2SDIVQ_1) /*!< PLLI2S division factor for PLLI2SDIVQ output by 27 */ -#define LL_RCC_PLLI2SDIVQ_DIV_28 (RCC_DCKCFGR_PLLI2SDIVQ_4 | RCC_DCKCFGR_PLLI2SDIVQ_3 | RCC_DCKCFGR_PLLI2SDIVQ_1 | RCC_DCKCFGR_PLLI2SDIVQ_0) /*!< PLLI2S division factor for PLLI2SDIVQ output by 28 */ -#define LL_RCC_PLLI2SDIVQ_DIV_29 (RCC_DCKCFGR_PLLI2SDIVQ_4 | RCC_DCKCFGR_PLLI2SDIVQ_3 | RCC_DCKCFGR_PLLI2SDIVQ_2) /*!< PLLI2S division factor for PLLI2SDIVQ output by 29 */ -#define LL_RCC_PLLI2SDIVQ_DIV_30 (RCC_DCKCFGR_PLLI2SDIVQ_4 | RCC_DCKCFGR_PLLI2SDIVQ_3 | RCC_DCKCFGR_PLLI2SDIVQ_2 | RCC_DCKCFGR_PLLI2SDIVQ_0) /*!< PLLI2S division factor for PLLI2SDIVQ output by 30 */ -#define LL_RCC_PLLI2SDIVQ_DIV_31 (RCC_DCKCFGR_PLLI2SDIVQ_4 | RCC_DCKCFGR_PLLI2SDIVQ_3 | RCC_DCKCFGR_PLLI2SDIVQ_2 | RCC_DCKCFGR_PLLI2SDIVQ_1) /*!< PLLI2S division factor for PLLI2SDIVQ output by 31 */ -#define LL_RCC_PLLI2SDIVQ_DIV_32 (RCC_DCKCFGR_PLLI2SDIVQ_4 | RCC_DCKCFGR_PLLI2SDIVQ_3 | RCC_DCKCFGR_PLLI2SDIVQ_2 | RCC_DCKCFGR_PLLI2SDIVQ_1 | RCC_DCKCFGR_PLLI2SDIVQ_0) /*!< PLLI2S division factor for PLLI2SDIVQ output by 32 */ -/** - * @} - */ -#endif /* RCC_DCKCFGR_PLLI2SDIVQ */ - -#if defined(RCC_DCKCFGR_PLLI2SDIVR) -/** @defgroup RCC_LL_EC_PLLI2SDIVR PLLI2SDIVR division factor (PLLI2SDIVR) - * @{ - */ -#define LL_RCC_PLLI2SDIVR_DIV_1 (RCC_DCKCFGR_PLLI2SDIVR_0) /*!< PLLI2S division factor for PLLI2SDIVR output by 1 */ -#define LL_RCC_PLLI2SDIVR_DIV_2 (RCC_DCKCFGR_PLLI2SDIVR_1) /*!< PLLI2S division factor for PLLI2SDIVR output by 2 */ -#define LL_RCC_PLLI2SDIVR_DIV_3 (RCC_DCKCFGR_PLLI2SDIVR_1 | RCC_DCKCFGR_PLLI2SDIVR_0) /*!< PLLI2S division factor for PLLI2SDIVR output by 3 */ -#define LL_RCC_PLLI2SDIVR_DIV_4 (RCC_DCKCFGR_PLLI2SDIVR_2) /*!< PLLI2S division factor for PLLI2SDIVR output by 4 */ -#define LL_RCC_PLLI2SDIVR_DIV_5 (RCC_DCKCFGR_PLLI2SDIVR_2 | RCC_DCKCFGR_PLLI2SDIVR_0) /*!< PLLI2S division factor for PLLI2SDIVR output by 5 */ -#define LL_RCC_PLLI2SDIVR_DIV_6 (RCC_DCKCFGR_PLLI2SDIVR_2 | RCC_DCKCFGR_PLLI2SDIVR_1) /*!< PLLI2S division factor for PLLI2SDIVR output by 6 */ -#define LL_RCC_PLLI2SDIVR_DIV_7 (RCC_DCKCFGR_PLLI2SDIVR_2 | RCC_DCKCFGR_PLLI2SDIVR_1 | RCC_DCKCFGR_PLLI2SDIVR_0) /*!< PLLI2S division factor for PLLI2SDIVR output by 7 */ -#define LL_RCC_PLLI2SDIVR_DIV_8 (RCC_DCKCFGR_PLLI2SDIVR_3) /*!< PLLI2S division factor for PLLI2SDIVR output by 8 */ -#define LL_RCC_PLLI2SDIVR_DIV_9 (RCC_DCKCFGR_PLLI2SDIVR_3 | RCC_DCKCFGR_PLLI2SDIVR_0) /*!< PLLI2S division factor for PLLI2SDIVR output by 9 */ -#define LL_RCC_PLLI2SDIVR_DIV_10 (RCC_DCKCFGR_PLLI2SDIVR_3 | RCC_DCKCFGR_PLLI2SDIVR_1) /*!< PLLI2S division factor for PLLI2SDIVR output by 10 */ -#define LL_RCC_PLLI2SDIVR_DIV_11 (RCC_DCKCFGR_PLLI2SDIVR_3 | RCC_DCKCFGR_PLLI2SDIVR_1 | RCC_DCKCFGR_PLLI2SDIVR_0) /*!< PLLI2S division factor for PLLI2SDIVR output by 11 */ -#define LL_RCC_PLLI2SDIVR_DIV_12 (RCC_DCKCFGR_PLLI2SDIVR_3 | RCC_DCKCFGR_PLLI2SDIVR_2) /*!< PLLI2S division factor for PLLI2SDIVR output by 12 */ -#define LL_RCC_PLLI2SDIVR_DIV_13 (RCC_DCKCFGR_PLLI2SDIVR_3 | RCC_DCKCFGR_PLLI2SDIVR_2 | RCC_DCKCFGR_PLLI2SDIVR_0) /*!< PLLI2S division factor for PLLI2SDIVR output by 13 */ -#define LL_RCC_PLLI2SDIVR_DIV_14 (RCC_DCKCFGR_PLLI2SDIVR_3 | RCC_DCKCFGR_PLLI2SDIVR_2 | RCC_DCKCFGR_PLLI2SDIVR_1) /*!< PLLI2S division factor for PLLI2SDIVR output by 14 */ -#define LL_RCC_PLLI2SDIVR_DIV_15 (RCC_DCKCFGR_PLLI2SDIVR_3 | RCC_DCKCFGR_PLLI2SDIVR_2 | RCC_DCKCFGR_PLLI2SDIVR_1 | RCC_DCKCFGR_PLLI2SDIVR_0) /*!< PLLI2S division factor for PLLI2SDIVR output by 15 */ -#define LL_RCC_PLLI2SDIVR_DIV_16 (RCC_DCKCFGR_PLLI2SDIVR_4) /*!< PLLI2S division factor for PLLI2SDIVR output by 16 */ -#define LL_RCC_PLLI2SDIVR_DIV_17 (RCC_DCKCFGR_PLLI2SDIVR_4 | RCC_DCKCFGR_PLLI2SDIVR_0) /*!< PLLI2S division factor for PLLI2SDIVR output by 17 */ -#define LL_RCC_PLLI2SDIVR_DIV_18 (RCC_DCKCFGR_PLLI2SDIVR_4 | RCC_DCKCFGR_PLLI2SDIVR_1) /*!< PLLI2S division factor for PLLI2SDIVR output by 18 */ -#define LL_RCC_PLLI2SDIVR_DIV_19 (RCC_DCKCFGR_PLLI2SDIVR_4 | RCC_DCKCFGR_PLLI2SDIVR_1 | RCC_DCKCFGR_PLLI2SDIVR_0) /*!< PLLI2S division factor for PLLI2SDIVR output by 19 */ -#define LL_RCC_PLLI2SDIVR_DIV_20 (RCC_DCKCFGR_PLLI2SDIVR_4 | RCC_DCKCFGR_PLLI2SDIVR_2) /*!< PLLI2S division factor for PLLI2SDIVR output by 20 */ -#define LL_RCC_PLLI2SDIVR_DIV_21 (RCC_DCKCFGR_PLLI2SDIVR_4 | RCC_DCKCFGR_PLLI2SDIVR_2 | RCC_DCKCFGR_PLLI2SDIVR_0) /*!< PLLI2S division factor for PLLI2SDIVR output by 21 */ -#define LL_RCC_PLLI2SDIVR_DIV_22 (RCC_DCKCFGR_PLLI2SDIVR_4 | RCC_DCKCFGR_PLLI2SDIVR_2 | RCC_DCKCFGR_PLLI2SDIVR_1) /*!< PLLI2S division factor for PLLI2SDIVR output by 22 */ -#define LL_RCC_PLLI2SDIVR_DIV_23 (RCC_DCKCFGR_PLLI2SDIVR_4 | RCC_DCKCFGR_PLLI2SDIVR_2 | RCC_DCKCFGR_PLLI2SDIVR_1 | RCC_DCKCFGR_PLLI2SDIVR_0) /*!< PLLI2S division factor for PLLI2SDIVR output by 23 */ -#define LL_RCC_PLLI2SDIVR_DIV_24 (RCC_DCKCFGR_PLLI2SDIVR_4 | RCC_DCKCFGR_PLLI2SDIVR_3) /*!< PLLI2S division factor for PLLI2SDIVR output by 24 */ -#define LL_RCC_PLLI2SDIVR_DIV_25 (RCC_DCKCFGR_PLLI2SDIVR_4 | RCC_DCKCFGR_PLLI2SDIVR_3 | RCC_DCKCFGR_PLLI2SDIVR_0) /*!< PLLI2S division factor for PLLI2SDIVR output by 25 */ -#define LL_RCC_PLLI2SDIVR_DIV_26 (RCC_DCKCFGR_PLLI2SDIVR_4 | RCC_DCKCFGR_PLLI2SDIVR_3 | RCC_DCKCFGR_PLLI2SDIVR_1) /*!< PLLI2S division factor for PLLI2SDIVR output by 26 */ -#define LL_RCC_PLLI2SDIVR_DIV_27 (RCC_DCKCFGR_PLLI2SDIVR_4 | RCC_DCKCFGR_PLLI2SDIVR_3 | RCC_DCKCFGR_PLLI2SDIVR_1 | RCC_DCKCFGR_PLLI2SDIVR_0) /*!< PLLI2S division factor for PLLI2SDIVR output by 27 */ -#define LL_RCC_PLLI2SDIVR_DIV_28 (RCC_DCKCFGR_PLLI2SDIVR_4 | RCC_DCKCFGR_PLLI2SDIVR_3 | RCC_DCKCFGR_PLLI2SDIVR_2) /*!< PLLI2S division factor for PLLI2SDIVR output by 28 */ -#define LL_RCC_PLLI2SDIVR_DIV_29 (RCC_DCKCFGR_PLLI2SDIVR_4 | RCC_DCKCFGR_PLLI2SDIVR_3 | RCC_DCKCFGR_PLLI2SDIVR_2 | RCC_DCKCFGR_PLLI2SDIVR_0) /*!< PLLI2S division factor for PLLI2SDIVR output by 29 */ -#define LL_RCC_PLLI2SDIVR_DIV_30 (RCC_DCKCFGR_PLLI2SDIVR_4 | RCC_DCKCFGR_PLLI2SDIVR_3 | RCC_DCKCFGR_PLLI2SDIVR_2 | RCC_DCKCFGR_PLLI2SDIVR_1) /*!< PLLI2S division factor for PLLI2SDIVR output by 30 */ -#define LL_RCC_PLLI2SDIVR_DIV_31 (RCC_DCKCFGR_PLLI2SDIVR_4 | RCC_DCKCFGR_PLLI2SDIVR_3 | RCC_DCKCFGR_PLLI2SDIVR_2 | RCC_DCKCFGR_PLLI2SDIVR_1 | RCC_DCKCFGR_PLLI2SDIVR_0) /*!< PLLI2S division factor for PLLI2SDIVR output by 31 */ -/** - * @} - */ -#endif /* RCC_DCKCFGR_PLLI2SDIVR */ - -/** @defgroup RCC_LL_EC_PLLI2SR PLLI2SR division factor (PLLI2SR) - * @{ - */ -#define LL_RCC_PLLI2SR_DIV_2 RCC_PLLI2SCFGR_PLLI2SR_1 /*!< PLLI2S division factor for PLLI2SR output by 2 */ -#define LL_RCC_PLLI2SR_DIV_3 (RCC_PLLI2SCFGR_PLLI2SR_1 | RCC_PLLI2SCFGR_PLLI2SR_0) /*!< PLLI2S division factor for PLLI2SR output by 3 */ -#define LL_RCC_PLLI2SR_DIV_4 RCC_PLLI2SCFGR_PLLI2SR_2 /*!< PLLI2S division factor for PLLI2SR output by 4 */ -#define LL_RCC_PLLI2SR_DIV_5 (RCC_PLLI2SCFGR_PLLI2SR_2 | RCC_PLLI2SCFGR_PLLI2SR_0) /*!< PLLI2S division factor for PLLI2SR output by 5 */ -#define LL_RCC_PLLI2SR_DIV_6 (RCC_PLLI2SCFGR_PLLI2SR_2 | RCC_PLLI2SCFGR_PLLI2SR_1) /*!< PLLI2S division factor for PLLI2SR output by 6 */ -#define LL_RCC_PLLI2SR_DIV_7 (RCC_PLLI2SCFGR_PLLI2SR_2 | RCC_PLLI2SCFGR_PLLI2SR_1 | RCC_PLLI2SCFGR_PLLI2SR_0) /*!< PLLI2S division factor for PLLI2SR output by 7 */ -/** - * @} - */ - -#if defined(RCC_PLLI2SCFGR_PLLI2SP) -/** @defgroup RCC_LL_EC_PLLI2SP PLLI2SP division factor (PLLI2SP) - * @{ - */ -#define LL_RCC_PLLI2SP_DIV_2 0x00000000U /*!< PLLI2S division factor for PLLI2SP output by 2 */ -#define LL_RCC_PLLI2SP_DIV_4 RCC_PLLI2SCFGR_PLLI2SP_0 /*!< PLLI2S division factor for PLLI2SP output by 4 */ -#define LL_RCC_PLLI2SP_DIV_6 RCC_PLLI2SCFGR_PLLI2SP_1 /*!< PLLI2S division factor for PLLI2SP output by 6 */ -#define LL_RCC_PLLI2SP_DIV_8 (RCC_PLLI2SCFGR_PLLI2SP_1 | RCC_PLLI2SCFGR_PLLI2SP_0) /*!< PLLI2S division factor for PLLI2SP output by 8 */ -/** - * @} - */ -#endif /* RCC_PLLI2SCFGR_PLLI2SP */ -#endif /* RCC_PLLI2S_SUPPORT */ - -#if defined(RCC_PLLSAI_SUPPORT) -/** @defgroup RCC_LL_EC_PLLSAIM PLLSAIM division factor (PLLSAIM or PLLM) - * @{ - */ -#if defined(RCC_PLLSAICFGR_PLLSAIM) -#define LL_RCC_PLLSAIM_DIV_2 (RCC_PLLSAICFGR_PLLSAIM_1) /*!< PLLSAI division factor for PLLSAIM output by 2 */ -#define LL_RCC_PLLSAIM_DIV_3 (RCC_PLLSAICFGR_PLLSAIM_1 | RCC_PLLSAICFGR_PLLSAIM_0) /*!< PLLSAI division factor for PLLSAIM output by 3 */ -#define LL_RCC_PLLSAIM_DIV_4 (RCC_PLLSAICFGR_PLLSAIM_2) /*!< PLLSAI division factor for PLLSAIM output by 4 */ -#define LL_RCC_PLLSAIM_DIV_5 (RCC_PLLSAICFGR_PLLSAIM_2 | RCC_PLLSAICFGR_PLLSAIM_0) /*!< PLLSAI division factor for PLLSAIM output by 5 */ -#define LL_RCC_PLLSAIM_DIV_6 (RCC_PLLSAICFGR_PLLSAIM_2 | RCC_PLLSAICFGR_PLLSAIM_1) /*!< PLLSAI division factor for PLLSAIM output by 6 */ -#define LL_RCC_PLLSAIM_DIV_7 (RCC_PLLSAICFGR_PLLSAIM_2 | RCC_PLLSAICFGR_PLLSAIM_1 | RCC_PLLSAICFGR_PLLSAIM_0) /*!< PLLSAI division factor for PLLSAIM output by 7 */ -#define LL_RCC_PLLSAIM_DIV_8 (RCC_PLLSAICFGR_PLLSAIM_3) /*!< PLLSAI division factor for PLLSAIM output by 8 */ -#define LL_RCC_PLLSAIM_DIV_9 (RCC_PLLSAICFGR_PLLSAIM_3 | RCC_PLLSAICFGR_PLLSAIM_0) /*!< PLLSAI division factor for PLLSAIM output by 9 */ -#define LL_RCC_PLLSAIM_DIV_10 (RCC_PLLSAICFGR_PLLSAIM_3 | RCC_PLLSAICFGR_PLLSAIM_1) /*!< PLLSAI division factor for PLLSAIM output by 10 */ -#define LL_RCC_PLLSAIM_DIV_11 (RCC_PLLSAICFGR_PLLSAIM_3 | RCC_PLLSAICFGR_PLLSAIM_1 | RCC_PLLSAICFGR_PLLSAIM_0) /*!< PLLSAI division factor for PLLSAIM output by 11 */ -#define LL_RCC_PLLSAIM_DIV_12 (RCC_PLLSAICFGR_PLLSAIM_3 | RCC_PLLSAICFGR_PLLSAIM_2) /*!< PLLSAI division factor for PLLSAIM output by 12 */ -#define LL_RCC_PLLSAIM_DIV_13 (RCC_PLLSAICFGR_PLLSAIM_3 | RCC_PLLSAICFGR_PLLSAIM_2 | RCC_PLLSAICFGR_PLLSAIM_0) /*!< PLLSAI division factor for PLLSAIM output by 13 */ -#define LL_RCC_PLLSAIM_DIV_14 (RCC_PLLSAICFGR_PLLSAIM_3 | RCC_PLLSAICFGR_PLLSAIM_2 | RCC_PLLSAICFGR_PLLSAIM_1) /*!< PLLSAI division factor for PLLSAIM output by 14 */ -#define LL_RCC_PLLSAIM_DIV_15 (RCC_PLLSAICFGR_PLLSAIM_3 | RCC_PLLSAICFGR_PLLSAIM_2 | RCC_PLLSAICFGR_PLLSAIM_1 | RCC_PLLSAICFGR_PLLSAIM_0) /*!< PLLSAI division factor for PLLSAIM output by 15 */ -#define LL_RCC_PLLSAIM_DIV_16 (RCC_PLLSAICFGR_PLLSAIM_4) /*!< PLLSAI division factor for PLLSAIM output by 16 */ -#define LL_RCC_PLLSAIM_DIV_17 (RCC_PLLSAICFGR_PLLSAIM_4 | RCC_PLLSAICFGR_PLLSAIM_0) /*!< PLLSAI division factor for PLLSAIM output by 17 */ -#define LL_RCC_PLLSAIM_DIV_18 (RCC_PLLSAICFGR_PLLSAIM_4 | RCC_PLLSAICFGR_PLLSAIM_1) /*!< PLLSAI division factor for PLLSAIM output by 18 */ -#define LL_RCC_PLLSAIM_DIV_19 (RCC_PLLSAICFGR_PLLSAIM_4 | RCC_PLLSAICFGR_PLLSAIM_1 | RCC_PLLSAICFGR_PLLSAIM_0) /*!< PLLSAI division factor for PLLSAIM output by 19 */ -#define LL_RCC_PLLSAIM_DIV_20 (RCC_PLLSAICFGR_PLLSAIM_4 | RCC_PLLSAICFGR_PLLSAIM_2) /*!< PLLSAI division factor for PLLSAIM output by 20 */ -#define LL_RCC_PLLSAIM_DIV_21 (RCC_PLLSAICFGR_PLLSAIM_4 | RCC_PLLSAICFGR_PLLSAIM_2 | RCC_PLLSAICFGR_PLLSAIM_0) /*!< PLLSAI division factor for PLLSAIM output by 21 */ -#define LL_RCC_PLLSAIM_DIV_22 (RCC_PLLSAICFGR_PLLSAIM_4 | RCC_PLLSAICFGR_PLLSAIM_2 | RCC_PLLSAICFGR_PLLSAIM_1) /*!< PLLSAI division factor for PLLSAIM output by 22 */ -#define LL_RCC_PLLSAIM_DIV_23 (RCC_PLLSAICFGR_PLLSAIM_4 | RCC_PLLSAICFGR_PLLSAIM_2 | RCC_PLLSAICFGR_PLLSAIM_1 | RCC_PLLSAICFGR_PLLSAIM_0) /*!< PLLSAI division factor for PLLSAIM output by 23 */ -#define LL_RCC_PLLSAIM_DIV_24 (RCC_PLLSAICFGR_PLLSAIM_4 | RCC_PLLSAICFGR_PLLSAIM_3) /*!< PLLSAI division factor for PLLSAIM output by 24 */ -#define LL_RCC_PLLSAIM_DIV_25 (RCC_PLLSAICFGR_PLLSAIM_4 | RCC_PLLSAICFGR_PLLSAIM_3 | RCC_PLLSAICFGR_PLLSAIM_0) /*!< PLLSAI division factor for PLLSAIM output by 25 */ -#define LL_RCC_PLLSAIM_DIV_26 (RCC_PLLSAICFGR_PLLSAIM_4 | RCC_PLLSAICFGR_PLLSAIM_3 | RCC_PLLSAICFGR_PLLSAIM_1) /*!< PLLSAI division factor for PLLSAIM output by 26 */ -#define LL_RCC_PLLSAIM_DIV_27 (RCC_PLLSAICFGR_PLLSAIM_4 | RCC_PLLSAICFGR_PLLSAIM_3 | RCC_PLLSAICFGR_PLLSAIM_1 | RCC_PLLSAICFGR_PLLSAIM_0) /*!< PLLSAI division factor for PLLSAIM output by 27 */ -#define LL_RCC_PLLSAIM_DIV_28 (RCC_PLLSAICFGR_PLLSAIM_4 | RCC_PLLSAICFGR_PLLSAIM_3 | RCC_PLLSAICFGR_PLLSAIM_2) /*!< PLLSAI division factor for PLLSAIM output by 28 */ -#define LL_RCC_PLLSAIM_DIV_29 (RCC_PLLSAICFGR_PLLSAIM_4 | RCC_PLLSAICFGR_PLLSAIM_3 | RCC_PLLSAICFGR_PLLSAIM_2 | RCC_PLLSAICFGR_PLLSAIM_0) /*!< PLLSAI division factor for PLLSAIM output by 29 */ -#define LL_RCC_PLLSAIM_DIV_30 (RCC_PLLSAICFGR_PLLSAIM_4 | RCC_PLLSAICFGR_PLLSAIM_3 | RCC_PLLSAICFGR_PLLSAIM_2 | RCC_PLLSAICFGR_PLLSAIM_1) /*!< PLLSAI division factor for PLLSAIM output by 30 */ -#define LL_RCC_PLLSAIM_DIV_31 (RCC_PLLSAICFGR_PLLSAIM_4 | RCC_PLLSAICFGR_PLLSAIM_3 | RCC_PLLSAICFGR_PLLSAIM_2 | RCC_PLLSAICFGR_PLLSAIM_1 | RCC_PLLSAICFGR_PLLSAIM_0) /*!< PLLSAI division factor for PLLSAIM output by 31 */ -#define LL_RCC_PLLSAIM_DIV_32 (RCC_PLLSAICFGR_PLLSAIM_5) /*!< PLLSAI division factor for PLLSAIM output by 32 */ -#define LL_RCC_PLLSAIM_DIV_33 (RCC_PLLSAICFGR_PLLSAIM_5 | RCC_PLLSAICFGR_PLLSAIM_0) /*!< PLLSAI division factor for PLLSAIM output by 33 */ -#define LL_RCC_PLLSAIM_DIV_34 (RCC_PLLSAICFGR_PLLSAIM_5 | RCC_PLLSAICFGR_PLLSAIM_1) /*!< PLLSAI division factor for PLLSAIM output by 34 */ -#define LL_RCC_PLLSAIM_DIV_35 (RCC_PLLSAICFGR_PLLSAIM_5 | RCC_PLLSAICFGR_PLLSAIM_1 | RCC_PLLSAICFGR_PLLSAIM_0) /*!< PLLSAI division factor for PLLSAIM output by 35 */ -#define LL_RCC_PLLSAIM_DIV_36 (RCC_PLLSAICFGR_PLLSAIM_5 | RCC_PLLSAICFGR_PLLSAIM_2) /*!< PLLSAI division factor for PLLSAIM output by 36 */ -#define LL_RCC_PLLSAIM_DIV_37 (RCC_PLLSAICFGR_PLLSAIM_5 | RCC_PLLSAICFGR_PLLSAIM_2 | RCC_PLLSAICFGR_PLLSAIM_0) /*!< PLLSAI division factor for PLLSAIM output by 37 */ -#define LL_RCC_PLLSAIM_DIV_38 (RCC_PLLSAICFGR_PLLSAIM_5 | RCC_PLLSAICFGR_PLLSAIM_2 | RCC_PLLSAICFGR_PLLSAIM_1) /*!< PLLSAI division factor for PLLSAIM output by 38 */ -#define LL_RCC_PLLSAIM_DIV_39 (RCC_PLLSAICFGR_PLLSAIM_5 | RCC_PLLSAICFGR_PLLSAIM_2 | RCC_PLLSAICFGR_PLLSAIM_1 | RCC_PLLSAICFGR_PLLSAIM_0) /*!< PLLSAI division factor for PLLSAIM output by 39 */ -#define LL_RCC_PLLSAIM_DIV_40 (RCC_PLLSAICFGR_PLLSAIM_5 | RCC_PLLSAICFGR_PLLSAIM_3) /*!< PLLSAI division factor for PLLSAIM output by 40 */ -#define LL_RCC_PLLSAIM_DIV_41 (RCC_PLLSAICFGR_PLLSAIM_5 | RCC_PLLSAICFGR_PLLSAIM_3 | RCC_PLLSAICFGR_PLLSAIM_0) /*!< PLLSAI division factor for PLLSAIM output by 41 */ -#define LL_RCC_PLLSAIM_DIV_42 (RCC_PLLSAICFGR_PLLSAIM_5 | RCC_PLLSAICFGR_PLLSAIM_3 | RCC_PLLSAICFGR_PLLSAIM_1) /*!< PLLSAI division factor for PLLSAIM output by 42 */ -#define LL_RCC_PLLSAIM_DIV_43 (RCC_PLLSAICFGR_PLLSAIM_5 | RCC_PLLSAICFGR_PLLSAIM_3 | RCC_PLLSAICFGR_PLLSAIM_1 | RCC_PLLSAICFGR_PLLSAIM_0) /*!< PLLSAI division factor for PLLSAIM output by 43 */ -#define LL_RCC_PLLSAIM_DIV_44 (RCC_PLLSAICFGR_PLLSAIM_5 | RCC_PLLSAICFGR_PLLSAIM_3 | RCC_PLLSAICFGR_PLLSAIM_2) /*!< PLLSAI division factor for PLLSAIM output by 44 */ -#define LL_RCC_PLLSAIM_DIV_45 (RCC_PLLSAICFGR_PLLSAIM_5 | RCC_PLLSAICFGR_PLLSAIM_3 | RCC_PLLSAICFGR_PLLSAIM_2 | RCC_PLLSAICFGR_PLLSAIM_0) /*!< PLLSAI division factor for PLLSAIM output by 45 */ -#define LL_RCC_PLLSAIM_DIV_46 (RCC_PLLSAICFGR_PLLSAIM_5 | RCC_PLLSAICFGR_PLLSAIM_3 | RCC_PLLSAICFGR_PLLSAIM_2 | RCC_PLLSAICFGR_PLLSAIM_1) /*!< PLLSAI division factor for PLLSAIM output by 46 */ -#define LL_RCC_PLLSAIM_DIV_47 (RCC_PLLSAICFGR_PLLSAIM_5 | RCC_PLLSAICFGR_PLLSAIM_3 | RCC_PLLSAICFGR_PLLSAIM_2 | RCC_PLLSAICFGR_PLLSAIM_1 | RCC_PLLSAICFGR_PLLSAIM_0) /*!< PLLSAI division factor for PLLSAIM output by 47 */ -#define LL_RCC_PLLSAIM_DIV_48 (RCC_PLLSAICFGR_PLLSAIM_5 | RCC_PLLSAICFGR_PLLSAIM_4) /*!< PLLSAI division factor for PLLSAIM output by 48 */ -#define LL_RCC_PLLSAIM_DIV_49 (RCC_PLLSAICFGR_PLLSAIM_5 | RCC_PLLSAICFGR_PLLSAIM_4 | RCC_PLLSAICFGR_PLLSAIM_0) /*!< PLLSAI division factor for PLLSAIM output by 49 */ -#define LL_RCC_PLLSAIM_DIV_50 (RCC_PLLSAICFGR_PLLSAIM_5 | RCC_PLLSAICFGR_PLLSAIM_4 | RCC_PLLSAICFGR_PLLSAIM_1) /*!< PLLSAI division factor for PLLSAIM output by 50 */ -#define LL_RCC_PLLSAIM_DIV_51 (RCC_PLLSAICFGR_PLLSAIM_5 | RCC_PLLSAICFGR_PLLSAIM_4 | RCC_PLLSAICFGR_PLLSAIM_1 | RCC_PLLSAICFGR_PLLSAIM_0) /*!< PLLSAI division factor for PLLSAIM output by 51 */ -#define LL_RCC_PLLSAIM_DIV_52 (RCC_PLLSAICFGR_PLLSAIM_5 | RCC_PLLSAICFGR_PLLSAIM_4 | RCC_PLLSAICFGR_PLLSAIM_2) /*!< PLLSAI division factor for PLLSAIM output by 52 */ -#define LL_RCC_PLLSAIM_DIV_53 (RCC_PLLSAICFGR_PLLSAIM_5 | RCC_PLLSAICFGR_PLLSAIM_4 | RCC_PLLSAICFGR_PLLSAIM_2 | RCC_PLLSAICFGR_PLLSAIM_0) /*!< PLLSAI division factor for PLLSAIM output by 53 */ -#define LL_RCC_PLLSAIM_DIV_54 (RCC_PLLSAICFGR_PLLSAIM_5 | RCC_PLLSAICFGR_PLLSAIM_4 | RCC_PLLSAICFGR_PLLSAIM_2 | RCC_PLLSAICFGR_PLLSAIM_1) /*!< PLLSAI division factor for PLLSAIM output by 54 */ -#define LL_RCC_PLLSAIM_DIV_55 (RCC_PLLSAICFGR_PLLSAIM_5 | RCC_PLLSAICFGR_PLLSAIM_4 | RCC_PLLSAICFGR_PLLSAIM_2 | RCC_PLLSAICFGR_PLLSAIM_1 | RCC_PLLSAICFGR_PLLSAIM_0) /*!< PLLSAI division factor for PLLSAIM output by 55 */ -#define LL_RCC_PLLSAIM_DIV_56 (RCC_PLLSAICFGR_PLLSAIM_5 | RCC_PLLSAICFGR_PLLSAIM_4 | RCC_PLLSAICFGR_PLLSAIM_3) /*!< PLLSAI division factor for PLLSAIM output by 56 */ -#define LL_RCC_PLLSAIM_DIV_57 (RCC_PLLSAICFGR_PLLSAIM_5 | RCC_PLLSAICFGR_PLLSAIM_4 | RCC_PLLSAICFGR_PLLSAIM_3 | RCC_PLLSAICFGR_PLLSAIM_0) /*!< PLLSAI division factor for PLLSAIM output by 57 */ -#define LL_RCC_PLLSAIM_DIV_58 (RCC_PLLSAICFGR_PLLSAIM_5 | RCC_PLLSAICFGR_PLLSAIM_4 | RCC_PLLSAICFGR_PLLSAIM_3 | RCC_PLLSAICFGR_PLLSAIM_1) /*!< PLLSAI division factor for PLLSAIM output by 58 */ -#define LL_RCC_PLLSAIM_DIV_59 (RCC_PLLSAICFGR_PLLSAIM_5 | RCC_PLLSAICFGR_PLLSAIM_4 | RCC_PLLSAICFGR_PLLSAIM_3 | RCC_PLLSAICFGR_PLLSAIM_1 | RCC_PLLSAICFGR_PLLSAIM_0) /*!< PLLSAI division factor for PLLSAIM output by 59 */ -#define LL_RCC_PLLSAIM_DIV_60 (RCC_PLLSAICFGR_PLLSAIM_5 | RCC_PLLSAICFGR_PLLSAIM_4 | RCC_PLLSAICFGR_PLLSAIM_3 | RCC_PLLSAICFGR_PLLSAIM_2) /*!< PLLSAI division factor for PLLSAIM output by 60 */ -#define LL_RCC_PLLSAIM_DIV_61 (RCC_PLLSAICFGR_PLLSAIM_5 | RCC_PLLSAICFGR_PLLSAIM_4 | RCC_PLLSAICFGR_PLLSAIM_3 | RCC_PLLSAICFGR_PLLSAIM_2 | RCC_PLLSAICFGR_PLLSAIM_0) /*!< PLLSAI division factor for PLLSAIM output by 61 */ -#define LL_RCC_PLLSAIM_DIV_62 (RCC_PLLSAICFGR_PLLSAIM_5 | RCC_PLLSAICFGR_PLLSAIM_4 | RCC_PLLSAICFGR_PLLSAIM_3 | RCC_PLLSAICFGR_PLLSAIM_2 | RCC_PLLSAICFGR_PLLSAIM_1) /*!< PLLSAI division factor for PLLSAIM output by 62 */ -#define LL_RCC_PLLSAIM_DIV_63 (RCC_PLLSAICFGR_PLLSAIM_5 | RCC_PLLSAICFGR_PLLSAIM_4 | RCC_PLLSAICFGR_PLLSAIM_3 | RCC_PLLSAICFGR_PLLSAIM_2 | RCC_PLLSAICFGR_PLLSAIM_1 | RCC_PLLSAICFGR_PLLSAIM_0) /*!< PLLSAI division factor for PLLSAIM output by 63 */ -#else -#define LL_RCC_PLLSAIM_DIV_2 LL_RCC_PLLM_DIV_2 /*!< PLLSAI division factor for PLLSAIM output by 2 */ -#define LL_RCC_PLLSAIM_DIV_3 LL_RCC_PLLM_DIV_3 /*!< PLLSAI division factor for PLLSAIM output by 3 */ -#define LL_RCC_PLLSAIM_DIV_4 LL_RCC_PLLM_DIV_4 /*!< PLLSAI division factor for PLLSAIM output by 4 */ -#define LL_RCC_PLLSAIM_DIV_5 LL_RCC_PLLM_DIV_5 /*!< PLLSAI division factor for PLLSAIM output by 5 */ -#define LL_RCC_PLLSAIM_DIV_6 LL_RCC_PLLM_DIV_6 /*!< PLLSAI division factor for PLLSAIM output by 6 */ -#define LL_RCC_PLLSAIM_DIV_7 LL_RCC_PLLM_DIV_7 /*!< PLLSAI division factor for PLLSAIM output by 7 */ -#define LL_RCC_PLLSAIM_DIV_8 LL_RCC_PLLM_DIV_8 /*!< PLLSAI division factor for PLLSAIM output by 8 */ -#define LL_RCC_PLLSAIM_DIV_9 LL_RCC_PLLM_DIV_9 /*!< PLLSAI division factor for PLLSAIM output by 9 */ -#define LL_RCC_PLLSAIM_DIV_10 LL_RCC_PLLM_DIV_10 /*!< PLLSAI division factor for PLLSAIM output by 10 */ -#define LL_RCC_PLLSAIM_DIV_11 LL_RCC_PLLM_DIV_11 /*!< PLLSAI division factor for PLLSAIM output by 11 */ -#define LL_RCC_PLLSAIM_DIV_12 LL_RCC_PLLM_DIV_12 /*!< PLLSAI division factor for PLLSAIM output by 12 */ -#define LL_RCC_PLLSAIM_DIV_13 LL_RCC_PLLM_DIV_13 /*!< PLLSAI division factor for PLLSAIM output by 13 */ -#define LL_RCC_PLLSAIM_DIV_14 LL_RCC_PLLM_DIV_14 /*!< PLLSAI division factor for PLLSAIM output by 14 */ -#define LL_RCC_PLLSAIM_DIV_15 LL_RCC_PLLM_DIV_15 /*!< PLLSAI division factor for PLLSAIM output by 15 */ -#define LL_RCC_PLLSAIM_DIV_16 LL_RCC_PLLM_DIV_16 /*!< PLLSAI division factor for PLLSAIM output by 16 */ -#define LL_RCC_PLLSAIM_DIV_17 LL_RCC_PLLM_DIV_17 /*!< PLLSAI division factor for PLLSAIM output by 17 */ -#define LL_RCC_PLLSAIM_DIV_18 LL_RCC_PLLM_DIV_18 /*!< PLLSAI division factor for PLLSAIM output by 18 */ -#define LL_RCC_PLLSAIM_DIV_19 LL_RCC_PLLM_DIV_19 /*!< PLLSAI division factor for PLLSAIM output by 19 */ -#define LL_RCC_PLLSAIM_DIV_20 LL_RCC_PLLM_DIV_20 /*!< PLLSAI division factor for PLLSAIM output by 20 */ -#define LL_RCC_PLLSAIM_DIV_21 LL_RCC_PLLM_DIV_21 /*!< PLLSAI division factor for PLLSAIM output by 21 */ -#define LL_RCC_PLLSAIM_DIV_22 LL_RCC_PLLM_DIV_22 /*!< PLLSAI division factor for PLLSAIM output by 22 */ -#define LL_RCC_PLLSAIM_DIV_23 LL_RCC_PLLM_DIV_23 /*!< PLLSAI division factor for PLLSAIM output by 23 */ -#define LL_RCC_PLLSAIM_DIV_24 LL_RCC_PLLM_DIV_24 /*!< PLLSAI division factor for PLLSAIM output by 24 */ -#define LL_RCC_PLLSAIM_DIV_25 LL_RCC_PLLM_DIV_25 /*!< PLLSAI division factor for PLLSAIM output by 25 */ -#define LL_RCC_PLLSAIM_DIV_26 LL_RCC_PLLM_DIV_26 /*!< PLLSAI division factor for PLLSAIM output by 26 */ -#define LL_RCC_PLLSAIM_DIV_27 LL_RCC_PLLM_DIV_27 /*!< PLLSAI division factor for PLLSAIM output by 27 */ -#define LL_RCC_PLLSAIM_DIV_28 LL_RCC_PLLM_DIV_28 /*!< PLLSAI division factor for PLLSAIM output by 28 */ -#define LL_RCC_PLLSAIM_DIV_29 LL_RCC_PLLM_DIV_29 /*!< PLLSAI division factor for PLLSAIM output by 29 */ -#define LL_RCC_PLLSAIM_DIV_30 LL_RCC_PLLM_DIV_30 /*!< PLLSAI division factor for PLLSAIM output by 30 */ -#define LL_RCC_PLLSAIM_DIV_31 LL_RCC_PLLM_DIV_31 /*!< PLLSAI division factor for PLLSAIM output by 31 */ -#define LL_RCC_PLLSAIM_DIV_32 LL_RCC_PLLM_DIV_32 /*!< PLLSAI division factor for PLLSAIM output by 32 */ -#define LL_RCC_PLLSAIM_DIV_33 LL_RCC_PLLM_DIV_33 /*!< PLLSAI division factor for PLLSAIM output by 33 */ -#define LL_RCC_PLLSAIM_DIV_34 LL_RCC_PLLM_DIV_34 /*!< PLLSAI division factor for PLLSAIM output by 34 */ -#define LL_RCC_PLLSAIM_DIV_35 LL_RCC_PLLM_DIV_35 /*!< PLLSAI division factor for PLLSAIM output by 35 */ -#define LL_RCC_PLLSAIM_DIV_36 LL_RCC_PLLM_DIV_36 /*!< PLLSAI division factor for PLLSAIM output by 36 */ -#define LL_RCC_PLLSAIM_DIV_37 LL_RCC_PLLM_DIV_37 /*!< PLLSAI division factor for PLLSAIM output by 37 */ -#define LL_RCC_PLLSAIM_DIV_38 LL_RCC_PLLM_DIV_38 /*!< PLLSAI division factor for PLLSAIM output by 38 */ -#define LL_RCC_PLLSAIM_DIV_39 LL_RCC_PLLM_DIV_39 /*!< PLLSAI division factor for PLLSAIM output by 39 */ -#define LL_RCC_PLLSAIM_DIV_40 LL_RCC_PLLM_DIV_40 /*!< PLLSAI division factor for PLLSAIM output by 40 */ -#define LL_RCC_PLLSAIM_DIV_41 LL_RCC_PLLM_DIV_41 /*!< PLLSAI division factor for PLLSAIM output by 41 */ -#define LL_RCC_PLLSAIM_DIV_42 LL_RCC_PLLM_DIV_42 /*!< PLLSAI division factor for PLLSAIM output by 42 */ -#define LL_RCC_PLLSAIM_DIV_43 LL_RCC_PLLM_DIV_43 /*!< PLLSAI division factor for PLLSAIM output by 43 */ -#define LL_RCC_PLLSAIM_DIV_44 LL_RCC_PLLM_DIV_44 /*!< PLLSAI division factor for PLLSAIM output by 44 */ -#define LL_RCC_PLLSAIM_DIV_45 LL_RCC_PLLM_DIV_45 /*!< PLLSAI division factor for PLLSAIM output by 45 */ -#define LL_RCC_PLLSAIM_DIV_46 LL_RCC_PLLM_DIV_46 /*!< PLLSAI division factor for PLLSAIM output by 46 */ -#define LL_RCC_PLLSAIM_DIV_47 LL_RCC_PLLM_DIV_47 /*!< PLLSAI division factor for PLLSAIM output by 47 */ -#define LL_RCC_PLLSAIM_DIV_48 LL_RCC_PLLM_DIV_48 /*!< PLLSAI division factor for PLLSAIM output by 48 */ -#define LL_RCC_PLLSAIM_DIV_49 LL_RCC_PLLM_DIV_49 /*!< PLLSAI division factor for PLLSAIM output by 49 */ -#define LL_RCC_PLLSAIM_DIV_50 LL_RCC_PLLM_DIV_50 /*!< PLLSAI division factor for PLLSAIM output by 50 */ -#define LL_RCC_PLLSAIM_DIV_51 LL_RCC_PLLM_DIV_51 /*!< PLLSAI division factor for PLLSAIM output by 51 */ -#define LL_RCC_PLLSAIM_DIV_52 LL_RCC_PLLM_DIV_52 /*!< PLLSAI division factor for PLLSAIM output by 52 */ -#define LL_RCC_PLLSAIM_DIV_53 LL_RCC_PLLM_DIV_53 /*!< PLLSAI division factor for PLLSAIM output by 53 */ -#define LL_RCC_PLLSAIM_DIV_54 LL_RCC_PLLM_DIV_54 /*!< PLLSAI division factor for PLLSAIM output by 54 */ -#define LL_RCC_PLLSAIM_DIV_55 LL_RCC_PLLM_DIV_55 /*!< PLLSAI division factor for PLLSAIM output by 55 */ -#define LL_RCC_PLLSAIM_DIV_56 LL_RCC_PLLM_DIV_56 /*!< PLLSAI division factor for PLLSAIM output by 56 */ -#define LL_RCC_PLLSAIM_DIV_57 LL_RCC_PLLM_DIV_57 /*!< PLLSAI division factor for PLLSAIM output by 57 */ -#define LL_RCC_PLLSAIM_DIV_58 LL_RCC_PLLM_DIV_58 /*!< PLLSAI division factor for PLLSAIM output by 58 */ -#define LL_RCC_PLLSAIM_DIV_59 LL_RCC_PLLM_DIV_59 /*!< PLLSAI division factor for PLLSAIM output by 59 */ -#define LL_RCC_PLLSAIM_DIV_60 LL_RCC_PLLM_DIV_60 /*!< PLLSAI division factor for PLLSAIM output by 60 */ -#define LL_RCC_PLLSAIM_DIV_61 LL_RCC_PLLM_DIV_61 /*!< PLLSAI division factor for PLLSAIM output by 61 */ -#define LL_RCC_PLLSAIM_DIV_62 LL_RCC_PLLM_DIV_62 /*!< PLLSAI division factor for PLLSAIM output by 62 */ -#define LL_RCC_PLLSAIM_DIV_63 LL_RCC_PLLM_DIV_63 /*!< PLLSAI division factor for PLLSAIM output by 63 */ -#endif /* RCC_PLLSAICFGR_PLLSAIM */ -/** - * @} - */ - -/** @defgroup RCC_LL_EC_PLLSAIQ PLLSAIQ division factor (PLLSAIQ) - * @{ - */ -#define LL_RCC_PLLSAIQ_DIV_2 RCC_PLLSAICFGR_PLLSAIQ_1 /*!< PLLSAI division factor for PLLSAIQ output by 2 */ -#define LL_RCC_PLLSAIQ_DIV_3 (RCC_PLLSAICFGR_PLLSAIQ_1 | RCC_PLLSAICFGR_PLLSAIQ_0) /*!< PLLSAI division factor for PLLSAIQ output by 3 */ -#define LL_RCC_PLLSAIQ_DIV_4 RCC_PLLSAICFGR_PLLSAIQ_2 /*!< PLLSAI division factor for PLLSAIQ output by 4 */ -#define LL_RCC_PLLSAIQ_DIV_5 (RCC_PLLSAICFGR_PLLSAIQ_2 | RCC_PLLSAICFGR_PLLSAIQ_0) /*!< PLLSAI division factor for PLLSAIQ output by 5 */ -#define LL_RCC_PLLSAIQ_DIV_6 (RCC_PLLSAICFGR_PLLSAIQ_2 | RCC_PLLSAICFGR_PLLSAIQ_1) /*!< PLLSAI division factor for PLLSAIQ output by 6 */ -#define LL_RCC_PLLSAIQ_DIV_7 (RCC_PLLSAICFGR_PLLSAIQ_2 | RCC_PLLSAICFGR_PLLSAIQ_1 | RCC_PLLSAICFGR_PLLSAIQ_0) /*!< PLLSAI division factor for PLLSAIQ output by 7 */ -#define LL_RCC_PLLSAIQ_DIV_8 RCC_PLLSAICFGR_PLLSAIQ_3 /*!< PLLSAI division factor for PLLSAIQ output by 8 */ -#define LL_RCC_PLLSAIQ_DIV_9 (RCC_PLLSAICFGR_PLLSAIQ_3 | RCC_PLLSAICFGR_PLLSAIQ_0) /*!< PLLSAI division factor for PLLSAIQ output by 9 */ -#define LL_RCC_PLLSAIQ_DIV_10 (RCC_PLLSAICFGR_PLLSAIQ_3 | RCC_PLLSAICFGR_PLLSAIQ_1) /*!< PLLSAI division factor for PLLSAIQ output by 10 */ -#define LL_RCC_PLLSAIQ_DIV_11 (RCC_PLLSAICFGR_PLLSAIQ_3 | RCC_PLLSAICFGR_PLLSAIQ_1 | RCC_PLLSAICFGR_PLLSAIQ_0) /*!< PLLSAI division factor for PLLSAIQ output by 11 */ -#define LL_RCC_PLLSAIQ_DIV_12 (RCC_PLLSAICFGR_PLLSAIQ_3 | RCC_PLLSAICFGR_PLLSAIQ_2) /*!< PLLSAI division factor for PLLSAIQ output by 12 */ -#define LL_RCC_PLLSAIQ_DIV_13 (RCC_PLLSAICFGR_PLLSAIQ_3 | RCC_PLLSAICFGR_PLLSAIQ_2 | RCC_PLLSAICFGR_PLLSAIQ_0) /*!< PLLSAI division factor for PLLSAIQ output by 13 */ -#define LL_RCC_PLLSAIQ_DIV_14 (RCC_PLLSAICFGR_PLLSAIQ_3 | RCC_PLLSAICFGR_PLLSAIQ_2 | RCC_PLLSAICFGR_PLLSAIQ_1) /*!< PLLSAI division factor for PLLSAIQ output by 14 */ -#define LL_RCC_PLLSAIQ_DIV_15 (RCC_PLLSAICFGR_PLLSAIQ_3 | RCC_PLLSAICFGR_PLLSAIQ_2 | RCC_PLLSAICFGR_PLLSAIQ_1 | RCC_PLLSAICFGR_PLLSAIQ_0) /*!< PLLSAI division factor for PLLSAIQ output by 15 */ -/** - * @} - */ - -#if defined(RCC_DCKCFGR_PLLSAIDIVQ) -/** @defgroup RCC_LL_EC_PLLSAIDIVQ PLLSAIDIVQ division factor (PLLSAIDIVQ) - * @{ - */ -#define LL_RCC_PLLSAIDIVQ_DIV_1 0x00000000U /*!< PLLSAI division factor for PLLSAIDIVQ output by 1 */ -#define LL_RCC_PLLSAIDIVQ_DIV_2 RCC_DCKCFGR_PLLSAIDIVQ_0 /*!< PLLSAI division factor for PLLSAIDIVQ output by 2 */ -#define LL_RCC_PLLSAIDIVQ_DIV_3 RCC_DCKCFGR_PLLSAIDIVQ_1 /*!< PLLSAI division factor for PLLSAIDIVQ output by 3 */ -#define LL_RCC_PLLSAIDIVQ_DIV_4 (RCC_DCKCFGR_PLLSAIDIVQ_1 | RCC_DCKCFGR_PLLSAIDIVQ_0) /*!< PLLSAI division factor for PLLSAIDIVQ output by 4 */ -#define LL_RCC_PLLSAIDIVQ_DIV_5 RCC_DCKCFGR_PLLSAIDIVQ_2 /*!< PLLSAI division factor for PLLSAIDIVQ output by 5 */ -#define LL_RCC_PLLSAIDIVQ_DIV_6 (RCC_DCKCFGR_PLLSAIDIVQ_2 | RCC_DCKCFGR_PLLSAIDIVQ_0) /*!< PLLSAI division factor for PLLSAIDIVQ output by 6 */ -#define LL_RCC_PLLSAIDIVQ_DIV_7 (RCC_DCKCFGR_PLLSAIDIVQ_2 | RCC_DCKCFGR_PLLSAIDIVQ_1) /*!< PLLSAI division factor for PLLSAIDIVQ output by 7 */ -#define LL_RCC_PLLSAIDIVQ_DIV_8 (RCC_DCKCFGR_PLLSAIDIVQ_2 | RCC_DCKCFGR_PLLSAIDIVQ_1 | RCC_DCKCFGR_PLLSAIDIVQ_0) /*!< PLLSAI division factor for PLLSAIDIVQ output by 8 */ -#define LL_RCC_PLLSAIDIVQ_DIV_9 RCC_DCKCFGR_PLLSAIDIVQ_3 /*!< PLLSAI division factor for PLLSAIDIVQ output by 9 */ -#define LL_RCC_PLLSAIDIVQ_DIV_10 (RCC_DCKCFGR_PLLSAIDIVQ_3 | RCC_DCKCFGR_PLLSAIDIVQ_0) /*!< PLLSAI division factor for PLLSAIDIVQ output by 10 */ -#define LL_RCC_PLLSAIDIVQ_DIV_11 (RCC_DCKCFGR_PLLSAIDIVQ_3 | RCC_DCKCFGR_PLLSAIDIVQ_1) /*!< PLLSAI division factor for PLLSAIDIVQ output by 11 */ -#define LL_RCC_PLLSAIDIVQ_DIV_12 (RCC_DCKCFGR_PLLSAIDIVQ_3 | RCC_DCKCFGR_PLLSAIDIVQ_1 | RCC_DCKCFGR_PLLSAIDIVQ_0) /*!< PLLSAI division factor for PLLSAIDIVQ output by 12 */ -#define LL_RCC_PLLSAIDIVQ_DIV_13 (RCC_DCKCFGR_PLLSAIDIVQ_3 | RCC_DCKCFGR_PLLSAIDIVQ_2) /*!< PLLSAI division factor for PLLSAIDIVQ output by 13 */ -#define LL_RCC_PLLSAIDIVQ_DIV_14 (RCC_DCKCFGR_PLLSAIDIVQ_3 | RCC_DCKCFGR_PLLSAIDIVQ_2 | RCC_DCKCFGR_PLLSAIDIVQ_0) /*!< PLLSAI division factor for PLLSAIDIVQ output by 14 */ -#define LL_RCC_PLLSAIDIVQ_DIV_15 (RCC_DCKCFGR_PLLSAIDIVQ_3 | RCC_DCKCFGR_PLLSAIDIVQ_2 | RCC_DCKCFGR_PLLSAIDIVQ_1) /*!< PLLSAI division factor for PLLSAIDIVQ output by 15 */ -#define LL_RCC_PLLSAIDIVQ_DIV_16 (RCC_DCKCFGR_PLLSAIDIVQ_3 | RCC_DCKCFGR_PLLSAIDIVQ_2 | RCC_DCKCFGR_PLLSAIDIVQ_1 | RCC_DCKCFGR_PLLSAIDIVQ_0) /*!< PLLSAI division factor for PLLSAIDIVQ output by 16 */ -#define LL_RCC_PLLSAIDIVQ_DIV_17 RCC_DCKCFGR_PLLSAIDIVQ_4 /*!< PLLSAI division factor for PLLSAIDIVQ output by 17 */ -#define LL_RCC_PLLSAIDIVQ_DIV_18 (RCC_DCKCFGR_PLLSAIDIVQ_4 | RCC_DCKCFGR_PLLSAIDIVQ_0) /*!< PLLSAI division factor for PLLSAIDIVQ output by 18 */ -#define LL_RCC_PLLSAIDIVQ_DIV_19 (RCC_DCKCFGR_PLLSAIDIVQ_4 | RCC_DCKCFGR_PLLSAIDIVQ_1) /*!< PLLSAI division factor for PLLSAIDIVQ output by 19 */ -#define LL_RCC_PLLSAIDIVQ_DIV_20 (RCC_DCKCFGR_PLLSAIDIVQ_4 | RCC_DCKCFGR_PLLSAIDIVQ_1 | RCC_DCKCFGR_PLLSAIDIVQ_0) /*!< PLLSAI division factor for PLLSAIDIVQ output by 20 */ -#define LL_RCC_PLLSAIDIVQ_DIV_21 (RCC_DCKCFGR_PLLSAIDIVQ_4 | RCC_DCKCFGR_PLLSAIDIVQ_2) /*!< PLLSAI division factor for PLLSAIDIVQ output by 21 */ -#define LL_RCC_PLLSAIDIVQ_DIV_22 (RCC_DCKCFGR_PLLSAIDIVQ_4 | RCC_DCKCFGR_PLLSAIDIVQ_2 | RCC_DCKCFGR_PLLSAIDIVQ_0) /*!< PLLSAI division factor for PLLSAIDIVQ output by 22 */ -#define LL_RCC_PLLSAIDIVQ_DIV_23 (RCC_DCKCFGR_PLLSAIDIVQ_4 | RCC_DCKCFGR_PLLSAIDIVQ_2 | RCC_DCKCFGR_PLLSAIDIVQ_1) /*!< PLLSAI division factor for PLLSAIDIVQ output by 23 */ -#define LL_RCC_PLLSAIDIVQ_DIV_24 (RCC_DCKCFGR_PLLSAIDIVQ_4 | RCC_DCKCFGR_PLLSAIDIVQ_2 | RCC_DCKCFGR_PLLSAIDIVQ_1 | RCC_DCKCFGR_PLLSAIDIVQ_0) /*!< PLLSAI division factor for PLLSAIDIVQ output by 24 */ -#define LL_RCC_PLLSAIDIVQ_DIV_25 (RCC_DCKCFGR_PLLSAIDIVQ_4 | RCC_DCKCFGR_PLLSAIDIVQ_3) /*!< PLLSAI division factor for PLLSAIDIVQ output by 25 */ -#define LL_RCC_PLLSAIDIVQ_DIV_26 (RCC_DCKCFGR_PLLSAIDIVQ_4 | RCC_DCKCFGR_PLLSAIDIVQ_3 | RCC_DCKCFGR_PLLSAIDIVQ_0) /*!< PLLSAI division factor for PLLSAIDIVQ output by 26 */ -#define LL_RCC_PLLSAIDIVQ_DIV_27 (RCC_DCKCFGR_PLLSAIDIVQ_4 | RCC_DCKCFGR_PLLSAIDIVQ_3 | RCC_DCKCFGR_PLLSAIDIVQ_1) /*!< PLLSAI division factor for PLLSAIDIVQ output by 27 */ -#define LL_RCC_PLLSAIDIVQ_DIV_28 (RCC_DCKCFGR_PLLSAIDIVQ_4 | RCC_DCKCFGR_PLLSAIDIVQ_3 | RCC_DCKCFGR_PLLSAIDIVQ_1 | RCC_DCKCFGR_PLLSAIDIVQ_0) /*!< PLLSAI division factor for PLLSAIDIVQ output by 28 */ -#define LL_RCC_PLLSAIDIVQ_DIV_29 (RCC_DCKCFGR_PLLSAIDIVQ_4 | RCC_DCKCFGR_PLLSAIDIVQ_3 | RCC_DCKCFGR_PLLSAIDIVQ_2) /*!< PLLSAI division factor for PLLSAIDIVQ output by 29 */ -#define LL_RCC_PLLSAIDIVQ_DIV_30 (RCC_DCKCFGR_PLLSAIDIVQ_4 | RCC_DCKCFGR_PLLSAIDIVQ_3 | RCC_DCKCFGR_PLLSAIDIVQ_2 | RCC_DCKCFGR_PLLSAIDIVQ_0) /*!< PLLSAI division factor for PLLSAIDIVQ output by 30 */ -#define LL_RCC_PLLSAIDIVQ_DIV_31 (RCC_DCKCFGR_PLLSAIDIVQ_4 | RCC_DCKCFGR_PLLSAIDIVQ_3 | RCC_DCKCFGR_PLLSAIDIVQ_2 | RCC_DCKCFGR_PLLSAIDIVQ_1) /*!< PLLSAI division factor for PLLSAIDIVQ output by 31 */ -#define LL_RCC_PLLSAIDIVQ_DIV_32 (RCC_DCKCFGR_PLLSAIDIVQ_4 | RCC_DCKCFGR_PLLSAIDIVQ_3 | RCC_DCKCFGR_PLLSAIDIVQ_2 | RCC_DCKCFGR_PLLSAIDIVQ_1 | RCC_DCKCFGR_PLLSAIDIVQ_0) /*!< PLLSAI division factor for PLLSAIDIVQ output by 32 */ -/** - * @} - */ -#endif /* RCC_DCKCFGR_PLLSAIDIVQ */ - -#if defined(RCC_PLLSAICFGR_PLLSAIR) -/** @defgroup RCC_LL_EC_PLLSAIR PLLSAIR division factor (PLLSAIR) - * @{ - */ -#define LL_RCC_PLLSAIR_DIV_2 RCC_PLLSAICFGR_PLLSAIR_1 /*!< PLLSAI division factor for PLLSAIR output by 2 */ -#define LL_RCC_PLLSAIR_DIV_3 (RCC_PLLSAICFGR_PLLSAIR_1 | RCC_PLLSAICFGR_PLLSAIR_0) /*!< PLLSAI division factor for PLLSAIR output by 3 */ -#define LL_RCC_PLLSAIR_DIV_4 RCC_PLLSAICFGR_PLLSAIR_2 /*!< PLLSAI division factor for PLLSAIR output by 4 */ -#define LL_RCC_PLLSAIR_DIV_5 (RCC_PLLSAICFGR_PLLSAIR_2 | RCC_PLLSAICFGR_PLLSAIR_0) /*!< PLLSAI division factor for PLLSAIR output by 5 */ -#define LL_RCC_PLLSAIR_DIV_6 (RCC_PLLSAICFGR_PLLSAIR_2 | RCC_PLLSAICFGR_PLLSAIR_1) /*!< PLLSAI division factor for PLLSAIR output by 6 */ -#define LL_RCC_PLLSAIR_DIV_7 (RCC_PLLSAICFGR_PLLSAIR_2 | RCC_PLLSAICFGR_PLLSAIR_1 | RCC_PLLSAICFGR_PLLSAIR_0) /*!< PLLSAI division factor for PLLSAIR output by 7 */ -/** - * @} - */ -#endif /* RCC_PLLSAICFGR_PLLSAIR */ - -#if defined(RCC_DCKCFGR_PLLSAIDIVR) -/** @defgroup RCC_LL_EC_PLLSAIDIVR PLLSAIDIVR division factor (PLLSAIDIVR) - * @{ - */ -#define LL_RCC_PLLSAIDIVR_DIV_2 0x00000000U /*!< PLLSAI division factor for PLLSAIDIVR output by 2 */ -#define LL_RCC_PLLSAIDIVR_DIV_4 RCC_DCKCFGR_PLLSAIDIVR_0 /*!< PLLSAI division factor for PLLSAIDIVR output by 4 */ -#define LL_RCC_PLLSAIDIVR_DIV_8 RCC_DCKCFGR_PLLSAIDIVR_1 /*!< PLLSAI division factor for PLLSAIDIVR output by 8 */ -#define LL_RCC_PLLSAIDIVR_DIV_16 (RCC_DCKCFGR_PLLSAIDIVR_1 | RCC_DCKCFGR_PLLSAIDIVR_0) /*!< PLLSAI division factor for PLLSAIDIVR output by 16 */ -/** - * @} - */ -#endif /* RCC_DCKCFGR_PLLSAIDIVR */ - -#if defined(RCC_PLLSAICFGR_PLLSAIP) -/** @defgroup RCC_LL_EC_PLLSAIP PLLSAIP division factor (PLLSAIP) - * @{ - */ -#define LL_RCC_PLLSAIP_DIV_2 0x00000000U /*!< PLLSAI division factor for PLLSAIP output by 2 */ -#define LL_RCC_PLLSAIP_DIV_4 RCC_PLLSAICFGR_PLLSAIP_0 /*!< PLLSAI division factor for PLLSAIP output by 4 */ -#define LL_RCC_PLLSAIP_DIV_6 RCC_PLLSAICFGR_PLLSAIP_1 /*!< PLLSAI division factor for PLLSAIP output by 6 */ -#define LL_RCC_PLLSAIP_DIV_8 (RCC_PLLSAICFGR_PLLSAIP_1 | RCC_PLLSAICFGR_PLLSAIP_0) /*!< PLLSAI division factor for PLLSAIP output by 8 */ -/** - * @} - */ -#endif /* RCC_PLLSAICFGR_PLLSAIP */ -#endif /* RCC_PLLSAI_SUPPORT */ -/** - * @} - */ - -/* Exported macro ------------------------------------------------------------*/ -/** @defgroup RCC_LL_Exported_Macros RCC Exported Macros - * @{ - */ - -/** @defgroup RCC_LL_EM_WRITE_READ Common Write and read registers Macros - * @{ - */ - -/** - * @brief Write a value in RCC register - * @param __REG__ Register to be written - * @param __VALUE__ Value to be written in the register - * @retval None - */ -#define LL_RCC_WriteReg(__REG__, __VALUE__) WRITE_REG(RCC->__REG__, (__VALUE__)) - -/** - * @brief Read a value in RCC register - * @param __REG__ Register to be read - * @retval Register value - */ -#define LL_RCC_ReadReg(__REG__) READ_REG(RCC->__REG__) -/** - * @} - */ - -/** @defgroup RCC_LL_EM_CALC_FREQ Calculate frequencies - * @{ - */ - -/** - * @brief Helper macro to calculate the PLLCLK frequency on system domain - * @note ex: @ref __LL_RCC_CALC_PLLCLK_FREQ (HSE_VALUE,@ref LL_RCC_PLL_GetDivider (), - * @ref LL_RCC_PLL_GetN (), @ref LL_RCC_PLL_GetP ()); - * @param __INPUTFREQ__ PLL Input frequency (based on HSE/HSI) - * @param __PLLM__ This parameter can be one of the following values: - * @arg @ref LL_RCC_PLLM_DIV_2 - * @arg @ref LL_RCC_PLLM_DIV_3 - * @arg @ref LL_RCC_PLLM_DIV_4 - * @arg @ref LL_RCC_PLLM_DIV_5 - * @arg @ref LL_RCC_PLLM_DIV_6 - * @arg @ref LL_RCC_PLLM_DIV_7 - * @arg @ref LL_RCC_PLLM_DIV_8 - * @arg @ref LL_RCC_PLLM_DIV_9 - * @arg @ref LL_RCC_PLLM_DIV_10 - * @arg @ref LL_RCC_PLLM_DIV_11 - * @arg @ref LL_RCC_PLLM_DIV_12 - * @arg @ref LL_RCC_PLLM_DIV_13 - * @arg @ref LL_RCC_PLLM_DIV_14 - * @arg @ref LL_RCC_PLLM_DIV_15 - * @arg @ref LL_RCC_PLLM_DIV_16 - * @arg @ref LL_RCC_PLLM_DIV_17 - * @arg @ref LL_RCC_PLLM_DIV_18 - * @arg @ref LL_RCC_PLLM_DIV_19 - * @arg @ref LL_RCC_PLLM_DIV_20 - * @arg @ref LL_RCC_PLLM_DIV_21 - * @arg @ref LL_RCC_PLLM_DIV_22 - * @arg @ref LL_RCC_PLLM_DIV_23 - * @arg @ref LL_RCC_PLLM_DIV_24 - * @arg @ref LL_RCC_PLLM_DIV_25 - * @arg @ref LL_RCC_PLLM_DIV_26 - * @arg @ref LL_RCC_PLLM_DIV_27 - * @arg @ref LL_RCC_PLLM_DIV_28 - * @arg @ref LL_RCC_PLLM_DIV_29 - * @arg @ref LL_RCC_PLLM_DIV_30 - * @arg @ref LL_RCC_PLLM_DIV_31 - * @arg @ref LL_RCC_PLLM_DIV_32 - * @arg @ref LL_RCC_PLLM_DIV_33 - * @arg @ref LL_RCC_PLLM_DIV_34 - * @arg @ref LL_RCC_PLLM_DIV_35 - * @arg @ref LL_RCC_PLLM_DIV_36 - * @arg @ref LL_RCC_PLLM_DIV_37 - * @arg @ref LL_RCC_PLLM_DIV_38 - * @arg @ref LL_RCC_PLLM_DIV_39 - * @arg @ref LL_RCC_PLLM_DIV_40 - * @arg @ref LL_RCC_PLLM_DIV_41 - * @arg @ref LL_RCC_PLLM_DIV_42 - * @arg @ref LL_RCC_PLLM_DIV_43 - * @arg @ref LL_RCC_PLLM_DIV_44 - * @arg @ref LL_RCC_PLLM_DIV_45 - * @arg @ref LL_RCC_PLLM_DIV_46 - * @arg @ref LL_RCC_PLLM_DIV_47 - * @arg @ref LL_RCC_PLLM_DIV_48 - * @arg @ref LL_RCC_PLLM_DIV_49 - * @arg @ref LL_RCC_PLLM_DIV_50 - * @arg @ref LL_RCC_PLLM_DIV_51 - * @arg @ref LL_RCC_PLLM_DIV_52 - * @arg @ref LL_RCC_PLLM_DIV_53 - * @arg @ref LL_RCC_PLLM_DIV_54 - * @arg @ref LL_RCC_PLLM_DIV_55 - * @arg @ref LL_RCC_PLLM_DIV_56 - * @arg @ref LL_RCC_PLLM_DIV_57 - * @arg @ref LL_RCC_PLLM_DIV_58 - * @arg @ref LL_RCC_PLLM_DIV_59 - * @arg @ref LL_RCC_PLLM_DIV_60 - * @arg @ref LL_RCC_PLLM_DIV_61 - * @arg @ref LL_RCC_PLLM_DIV_62 - * @arg @ref LL_RCC_PLLM_DIV_63 - * @param __PLLN__ Between 50/192(*) and 432 - * - * (*) value not defined in all devices. - * @param __PLLP__ This parameter can be one of the following values: - * @arg @ref LL_RCC_PLLP_DIV_2 - * @arg @ref LL_RCC_PLLP_DIV_4 - * @arg @ref LL_RCC_PLLP_DIV_6 - * @arg @ref LL_RCC_PLLP_DIV_8 - * @retval PLL clock frequency (in Hz) - */ -#define __LL_RCC_CALC_PLLCLK_FREQ(__INPUTFREQ__, __PLLM__, __PLLN__, __PLLP__) ((__INPUTFREQ__) / (__PLLM__) * (__PLLN__) / \ - ((((__PLLP__) >> RCC_PLLCFGR_PLLP_Pos ) + 1U) * 2U)) - -#if defined(RCC_PLLR_SYSCLK_SUPPORT) -/** - * @brief Helper macro to calculate the PLLRCLK frequency on system domain - * @note ex: @ref __LL_RCC_CALC_PLLRCLK_FREQ (HSE_VALUE,@ref LL_RCC_PLL_GetDivider (), - * @ref LL_RCC_PLL_GetN (), @ref LL_RCC_PLL_GetR ()); - * @param __INPUTFREQ__ PLL Input frequency (based on HSE/HSI) - * @param __PLLM__ This parameter can be one of the following values: - * @arg @ref LL_RCC_PLLM_DIV_2 - * @arg @ref LL_RCC_PLLM_DIV_3 - * @arg @ref LL_RCC_PLLM_DIV_4 - * @arg @ref LL_RCC_PLLM_DIV_5 - * @arg @ref LL_RCC_PLLM_DIV_6 - * @arg @ref LL_RCC_PLLM_DIV_7 - * @arg @ref LL_RCC_PLLM_DIV_8 - * @arg @ref LL_RCC_PLLM_DIV_9 - * @arg @ref LL_RCC_PLLM_DIV_10 - * @arg @ref LL_RCC_PLLM_DIV_11 - * @arg @ref LL_RCC_PLLM_DIV_12 - * @arg @ref LL_RCC_PLLM_DIV_13 - * @arg @ref LL_RCC_PLLM_DIV_14 - * @arg @ref LL_RCC_PLLM_DIV_15 - * @arg @ref LL_RCC_PLLM_DIV_16 - * @arg @ref LL_RCC_PLLM_DIV_17 - * @arg @ref LL_RCC_PLLM_DIV_18 - * @arg @ref LL_RCC_PLLM_DIV_19 - * @arg @ref LL_RCC_PLLM_DIV_20 - * @arg @ref LL_RCC_PLLM_DIV_21 - * @arg @ref LL_RCC_PLLM_DIV_22 - * @arg @ref LL_RCC_PLLM_DIV_23 - * @arg @ref LL_RCC_PLLM_DIV_24 - * @arg @ref LL_RCC_PLLM_DIV_25 - * @arg @ref LL_RCC_PLLM_DIV_26 - * @arg @ref LL_RCC_PLLM_DIV_27 - * @arg @ref LL_RCC_PLLM_DIV_28 - * @arg @ref LL_RCC_PLLM_DIV_29 - * @arg @ref LL_RCC_PLLM_DIV_30 - * @arg @ref LL_RCC_PLLM_DIV_31 - * @arg @ref LL_RCC_PLLM_DIV_32 - * @arg @ref LL_RCC_PLLM_DIV_33 - * @arg @ref LL_RCC_PLLM_DIV_34 - * @arg @ref LL_RCC_PLLM_DIV_35 - * @arg @ref LL_RCC_PLLM_DIV_36 - * @arg @ref LL_RCC_PLLM_DIV_37 - * @arg @ref LL_RCC_PLLM_DIV_38 - * @arg @ref LL_RCC_PLLM_DIV_39 - * @arg @ref LL_RCC_PLLM_DIV_40 - * @arg @ref LL_RCC_PLLM_DIV_41 - * @arg @ref LL_RCC_PLLM_DIV_42 - * @arg @ref LL_RCC_PLLM_DIV_43 - * @arg @ref LL_RCC_PLLM_DIV_44 - * @arg @ref LL_RCC_PLLM_DIV_45 - * @arg @ref LL_RCC_PLLM_DIV_46 - * @arg @ref LL_RCC_PLLM_DIV_47 - * @arg @ref LL_RCC_PLLM_DIV_48 - * @arg @ref LL_RCC_PLLM_DIV_49 - * @arg @ref LL_RCC_PLLM_DIV_50 - * @arg @ref LL_RCC_PLLM_DIV_51 - * @arg @ref LL_RCC_PLLM_DIV_52 - * @arg @ref LL_RCC_PLLM_DIV_53 - * @arg @ref LL_RCC_PLLM_DIV_54 - * @arg @ref LL_RCC_PLLM_DIV_55 - * @arg @ref LL_RCC_PLLM_DIV_56 - * @arg @ref LL_RCC_PLLM_DIV_57 - * @arg @ref LL_RCC_PLLM_DIV_58 - * @arg @ref LL_RCC_PLLM_DIV_59 - * @arg @ref LL_RCC_PLLM_DIV_60 - * @arg @ref LL_RCC_PLLM_DIV_61 - * @arg @ref LL_RCC_PLLM_DIV_62 - * @arg @ref LL_RCC_PLLM_DIV_63 - * @param __PLLN__ Between 50 and 432 - * @param __PLLR__ This parameter can be one of the following values: - * @arg @ref LL_RCC_PLLR_DIV_2 - * @arg @ref LL_RCC_PLLR_DIV_3 - * @arg @ref LL_RCC_PLLR_DIV_4 - * @arg @ref LL_RCC_PLLR_DIV_5 - * @arg @ref LL_RCC_PLLR_DIV_6 - * @arg @ref LL_RCC_PLLR_DIV_7 - * @retval PLL clock frequency (in Hz) - */ -#define __LL_RCC_CALC_PLLRCLK_FREQ(__INPUTFREQ__, __PLLM__, __PLLN__, __PLLR__) ((__INPUTFREQ__) / (__PLLM__) * (__PLLN__) / \ - ((__PLLR__) >> RCC_PLLCFGR_PLLR_Pos )) - -#endif /* RCC_PLLR_SYSCLK_SUPPORT */ - -/** - * @brief Helper macro to calculate the PLLCLK frequency used on 48M domain - * @note ex: @ref __LL_RCC_CALC_PLLCLK_48M_FREQ (HSE_VALUE,@ref LL_RCC_PLL_GetDivider (), - * @ref LL_RCC_PLL_GetN (), @ref LL_RCC_PLL_GetQ ()); - * @param __INPUTFREQ__ PLL Input frequency (based on HSE/HSI) - * @param __PLLM__ This parameter can be one of the following values: - * @arg @ref LL_RCC_PLLM_DIV_2 - * @arg @ref LL_RCC_PLLM_DIV_3 - * @arg @ref LL_RCC_PLLM_DIV_4 - * @arg @ref LL_RCC_PLLM_DIV_5 - * @arg @ref LL_RCC_PLLM_DIV_6 - * @arg @ref LL_RCC_PLLM_DIV_7 - * @arg @ref LL_RCC_PLLM_DIV_8 - * @arg @ref LL_RCC_PLLM_DIV_9 - * @arg @ref LL_RCC_PLLM_DIV_10 - * @arg @ref LL_RCC_PLLM_DIV_11 - * @arg @ref LL_RCC_PLLM_DIV_12 - * @arg @ref LL_RCC_PLLM_DIV_13 - * @arg @ref LL_RCC_PLLM_DIV_14 - * @arg @ref LL_RCC_PLLM_DIV_15 - * @arg @ref LL_RCC_PLLM_DIV_16 - * @arg @ref LL_RCC_PLLM_DIV_17 - * @arg @ref LL_RCC_PLLM_DIV_18 - * @arg @ref LL_RCC_PLLM_DIV_19 - * @arg @ref LL_RCC_PLLM_DIV_20 - * @arg @ref LL_RCC_PLLM_DIV_21 - * @arg @ref LL_RCC_PLLM_DIV_22 - * @arg @ref LL_RCC_PLLM_DIV_23 - * @arg @ref LL_RCC_PLLM_DIV_24 - * @arg @ref LL_RCC_PLLM_DIV_25 - * @arg @ref LL_RCC_PLLM_DIV_26 - * @arg @ref LL_RCC_PLLM_DIV_27 - * @arg @ref LL_RCC_PLLM_DIV_28 - * @arg @ref LL_RCC_PLLM_DIV_29 - * @arg @ref LL_RCC_PLLM_DIV_30 - * @arg @ref LL_RCC_PLLM_DIV_31 - * @arg @ref LL_RCC_PLLM_DIV_32 - * @arg @ref LL_RCC_PLLM_DIV_33 - * @arg @ref LL_RCC_PLLM_DIV_34 - * @arg @ref LL_RCC_PLLM_DIV_35 - * @arg @ref LL_RCC_PLLM_DIV_36 - * @arg @ref LL_RCC_PLLM_DIV_37 - * @arg @ref LL_RCC_PLLM_DIV_38 - * @arg @ref LL_RCC_PLLM_DIV_39 - * @arg @ref LL_RCC_PLLM_DIV_40 - * @arg @ref LL_RCC_PLLM_DIV_41 - * @arg @ref LL_RCC_PLLM_DIV_42 - * @arg @ref LL_RCC_PLLM_DIV_43 - * @arg @ref LL_RCC_PLLM_DIV_44 - * @arg @ref LL_RCC_PLLM_DIV_45 - * @arg @ref LL_RCC_PLLM_DIV_46 - * @arg @ref LL_RCC_PLLM_DIV_47 - * @arg @ref LL_RCC_PLLM_DIV_48 - * @arg @ref LL_RCC_PLLM_DIV_49 - * @arg @ref LL_RCC_PLLM_DIV_50 - * @arg @ref LL_RCC_PLLM_DIV_51 - * @arg @ref LL_RCC_PLLM_DIV_52 - * @arg @ref LL_RCC_PLLM_DIV_53 - * @arg @ref LL_RCC_PLLM_DIV_54 - * @arg @ref LL_RCC_PLLM_DIV_55 - * @arg @ref LL_RCC_PLLM_DIV_56 - * @arg @ref LL_RCC_PLLM_DIV_57 - * @arg @ref LL_RCC_PLLM_DIV_58 - * @arg @ref LL_RCC_PLLM_DIV_59 - * @arg @ref LL_RCC_PLLM_DIV_60 - * @arg @ref LL_RCC_PLLM_DIV_61 - * @arg @ref LL_RCC_PLLM_DIV_62 - * @arg @ref LL_RCC_PLLM_DIV_63 - * @param __PLLN__ Between 50/192(*) and 432 - * - * (*) value not defined in all devices. - * @param __PLLQ__ This parameter can be one of the following values: - * @arg @ref LL_RCC_PLLQ_DIV_2 - * @arg @ref LL_RCC_PLLQ_DIV_3 - * @arg @ref LL_RCC_PLLQ_DIV_4 - * @arg @ref LL_RCC_PLLQ_DIV_5 - * @arg @ref LL_RCC_PLLQ_DIV_6 - * @arg @ref LL_RCC_PLLQ_DIV_7 - * @arg @ref LL_RCC_PLLQ_DIV_8 - * @arg @ref LL_RCC_PLLQ_DIV_9 - * @arg @ref LL_RCC_PLLQ_DIV_10 - * @arg @ref LL_RCC_PLLQ_DIV_11 - * @arg @ref LL_RCC_PLLQ_DIV_12 - * @arg @ref LL_RCC_PLLQ_DIV_13 - * @arg @ref LL_RCC_PLLQ_DIV_14 - * @arg @ref LL_RCC_PLLQ_DIV_15 - * @retval PLL clock frequency (in Hz) - */ -#define __LL_RCC_CALC_PLLCLK_48M_FREQ(__INPUTFREQ__, __PLLM__, __PLLN__, __PLLQ__) ((__INPUTFREQ__) / (__PLLM__) * (__PLLN__) / \ - ((__PLLQ__) >> RCC_PLLCFGR_PLLQ_Pos )) - -#if defined(DSI) -/** - * @brief Helper macro to calculate the PLLCLK frequency used on DSI - * @note ex: @ref __LL_RCC_CALC_PLLCLK_DSI_FREQ (HSE_VALUE, @ref LL_RCC_PLL_GetDivider (), - * @ref LL_RCC_PLL_GetN (), @ref LL_RCC_PLL_GetR ()); - * @param __INPUTFREQ__ PLL Input frequency (based on HSE/HSI) - * @param __PLLM__ This parameter can be one of the following values: - * @arg @ref LL_RCC_PLLM_DIV_2 - * @arg @ref LL_RCC_PLLM_DIV_3 - * @arg @ref LL_RCC_PLLM_DIV_4 - * @arg @ref LL_RCC_PLLM_DIV_5 - * @arg @ref LL_RCC_PLLM_DIV_6 - * @arg @ref LL_RCC_PLLM_DIV_7 - * @arg @ref LL_RCC_PLLM_DIV_8 - * @arg @ref LL_RCC_PLLM_DIV_9 - * @arg @ref LL_RCC_PLLM_DIV_10 - * @arg @ref LL_RCC_PLLM_DIV_11 - * @arg @ref LL_RCC_PLLM_DIV_12 - * @arg @ref LL_RCC_PLLM_DIV_13 - * @arg @ref LL_RCC_PLLM_DIV_14 - * @arg @ref LL_RCC_PLLM_DIV_15 - * @arg @ref LL_RCC_PLLM_DIV_16 - * @arg @ref LL_RCC_PLLM_DIV_17 - * @arg @ref LL_RCC_PLLM_DIV_18 - * @arg @ref LL_RCC_PLLM_DIV_19 - * @arg @ref LL_RCC_PLLM_DIV_20 - * @arg @ref LL_RCC_PLLM_DIV_21 - * @arg @ref LL_RCC_PLLM_DIV_22 - * @arg @ref LL_RCC_PLLM_DIV_23 - * @arg @ref LL_RCC_PLLM_DIV_24 - * @arg @ref LL_RCC_PLLM_DIV_25 - * @arg @ref LL_RCC_PLLM_DIV_26 - * @arg @ref LL_RCC_PLLM_DIV_27 - * @arg @ref LL_RCC_PLLM_DIV_28 - * @arg @ref LL_RCC_PLLM_DIV_29 - * @arg @ref LL_RCC_PLLM_DIV_30 - * @arg @ref LL_RCC_PLLM_DIV_31 - * @arg @ref LL_RCC_PLLM_DIV_32 - * @arg @ref LL_RCC_PLLM_DIV_33 - * @arg @ref LL_RCC_PLLM_DIV_34 - * @arg @ref LL_RCC_PLLM_DIV_35 - * @arg @ref LL_RCC_PLLM_DIV_36 - * @arg @ref LL_RCC_PLLM_DIV_37 - * @arg @ref LL_RCC_PLLM_DIV_38 - * @arg @ref LL_RCC_PLLM_DIV_39 - * @arg @ref LL_RCC_PLLM_DIV_40 - * @arg @ref LL_RCC_PLLM_DIV_41 - * @arg @ref LL_RCC_PLLM_DIV_42 - * @arg @ref LL_RCC_PLLM_DIV_43 - * @arg @ref LL_RCC_PLLM_DIV_44 - * @arg @ref LL_RCC_PLLM_DIV_45 - * @arg @ref LL_RCC_PLLM_DIV_46 - * @arg @ref LL_RCC_PLLM_DIV_47 - * @arg @ref LL_RCC_PLLM_DIV_48 - * @arg @ref LL_RCC_PLLM_DIV_49 - * @arg @ref LL_RCC_PLLM_DIV_50 - * @arg @ref LL_RCC_PLLM_DIV_51 - * @arg @ref LL_RCC_PLLM_DIV_52 - * @arg @ref LL_RCC_PLLM_DIV_53 - * @arg @ref LL_RCC_PLLM_DIV_54 - * @arg @ref LL_RCC_PLLM_DIV_55 - * @arg @ref LL_RCC_PLLM_DIV_56 - * @arg @ref LL_RCC_PLLM_DIV_57 - * @arg @ref LL_RCC_PLLM_DIV_58 - * @arg @ref LL_RCC_PLLM_DIV_59 - * @arg @ref LL_RCC_PLLM_DIV_60 - * @arg @ref LL_RCC_PLLM_DIV_61 - * @arg @ref LL_RCC_PLLM_DIV_62 - * @arg @ref LL_RCC_PLLM_DIV_63 - * @param __PLLN__ Between 50 and 432 - * @param __PLLR__ This parameter can be one of the following values: - * @arg @ref LL_RCC_PLLR_DIV_2 - * @arg @ref LL_RCC_PLLR_DIV_3 - * @arg @ref LL_RCC_PLLR_DIV_4 - * @arg @ref LL_RCC_PLLR_DIV_5 - * @arg @ref LL_RCC_PLLR_DIV_6 - * @arg @ref LL_RCC_PLLR_DIV_7 - * @retval PLL clock frequency (in Hz) - */ -#define __LL_RCC_CALC_PLLCLK_DSI_FREQ(__INPUTFREQ__, __PLLM__, __PLLN__, __PLLR__) ((__INPUTFREQ__) / (__PLLM__) * (__PLLN__) / \ - ((__PLLR__) >> RCC_PLLCFGR_PLLR_Pos )) -#endif /* DSI */ - -#if defined(RCC_PLLR_I2S_CLKSOURCE_SUPPORT) -/** - * @brief Helper macro to calculate the PLLCLK frequency used on I2S - * @note ex: @ref __LL_RCC_CALC_PLLCLK_I2S_FREQ (HSE_VALUE, @ref LL_RCC_PLL_GetDivider (), - * @ref LL_RCC_PLL_GetN (), @ref LL_RCC_PLL_GetR ()); - * @param __INPUTFREQ__ PLL Input frequency (based on HSE/HSI) - * @param __PLLM__ This parameter can be one of the following values: - * @arg @ref LL_RCC_PLLM_DIV_2 - * @arg @ref LL_RCC_PLLM_DIV_3 - * @arg @ref LL_RCC_PLLM_DIV_4 - * @arg @ref LL_RCC_PLLM_DIV_5 - * @arg @ref LL_RCC_PLLM_DIV_6 - * @arg @ref LL_RCC_PLLM_DIV_7 - * @arg @ref LL_RCC_PLLM_DIV_8 - * @arg @ref LL_RCC_PLLM_DIV_9 - * @arg @ref LL_RCC_PLLM_DIV_10 - * @arg @ref LL_RCC_PLLM_DIV_11 - * @arg @ref LL_RCC_PLLM_DIV_12 - * @arg @ref LL_RCC_PLLM_DIV_13 - * @arg @ref LL_RCC_PLLM_DIV_14 - * @arg @ref LL_RCC_PLLM_DIV_15 - * @arg @ref LL_RCC_PLLM_DIV_16 - * @arg @ref LL_RCC_PLLM_DIV_17 - * @arg @ref LL_RCC_PLLM_DIV_18 - * @arg @ref LL_RCC_PLLM_DIV_19 - * @arg @ref LL_RCC_PLLM_DIV_20 - * @arg @ref LL_RCC_PLLM_DIV_21 - * @arg @ref LL_RCC_PLLM_DIV_22 - * @arg @ref LL_RCC_PLLM_DIV_23 - * @arg @ref LL_RCC_PLLM_DIV_24 - * @arg @ref LL_RCC_PLLM_DIV_25 - * @arg @ref LL_RCC_PLLM_DIV_26 - * @arg @ref LL_RCC_PLLM_DIV_27 - * @arg @ref LL_RCC_PLLM_DIV_28 - * @arg @ref LL_RCC_PLLM_DIV_29 - * @arg @ref LL_RCC_PLLM_DIV_30 - * @arg @ref LL_RCC_PLLM_DIV_31 - * @arg @ref LL_RCC_PLLM_DIV_32 - * @arg @ref LL_RCC_PLLM_DIV_33 - * @arg @ref LL_RCC_PLLM_DIV_34 - * @arg @ref LL_RCC_PLLM_DIV_35 - * @arg @ref LL_RCC_PLLM_DIV_36 - * @arg @ref LL_RCC_PLLM_DIV_37 - * @arg @ref LL_RCC_PLLM_DIV_38 - * @arg @ref LL_RCC_PLLM_DIV_39 - * @arg @ref LL_RCC_PLLM_DIV_40 - * @arg @ref LL_RCC_PLLM_DIV_41 - * @arg @ref LL_RCC_PLLM_DIV_42 - * @arg @ref LL_RCC_PLLM_DIV_43 - * @arg @ref LL_RCC_PLLM_DIV_44 - * @arg @ref LL_RCC_PLLM_DIV_45 - * @arg @ref LL_RCC_PLLM_DIV_46 - * @arg @ref LL_RCC_PLLM_DIV_47 - * @arg @ref LL_RCC_PLLM_DIV_48 - * @arg @ref LL_RCC_PLLM_DIV_49 - * @arg @ref LL_RCC_PLLM_DIV_50 - * @arg @ref LL_RCC_PLLM_DIV_51 - * @arg @ref LL_RCC_PLLM_DIV_52 - * @arg @ref LL_RCC_PLLM_DIV_53 - * @arg @ref LL_RCC_PLLM_DIV_54 - * @arg @ref LL_RCC_PLLM_DIV_55 - * @arg @ref LL_RCC_PLLM_DIV_56 - * @arg @ref LL_RCC_PLLM_DIV_57 - * @arg @ref LL_RCC_PLLM_DIV_58 - * @arg @ref LL_RCC_PLLM_DIV_59 - * @arg @ref LL_RCC_PLLM_DIV_60 - * @arg @ref LL_RCC_PLLM_DIV_61 - * @arg @ref LL_RCC_PLLM_DIV_62 - * @arg @ref LL_RCC_PLLM_DIV_63 - * @param __PLLN__ Between 50 and 432 - * @param __PLLR__ This parameter can be one of the following values: - * @arg @ref LL_RCC_PLLR_DIV_2 - * @arg @ref LL_RCC_PLLR_DIV_3 - * @arg @ref LL_RCC_PLLR_DIV_4 - * @arg @ref LL_RCC_PLLR_DIV_5 - * @arg @ref LL_RCC_PLLR_DIV_6 - * @arg @ref LL_RCC_PLLR_DIV_7 - * @retval PLL clock frequency (in Hz) - */ -#define __LL_RCC_CALC_PLLCLK_I2S_FREQ(__INPUTFREQ__, __PLLM__, __PLLN__, __PLLR__) ((__INPUTFREQ__) / (__PLLM__) * (__PLLN__) / \ - ((__PLLR__) >> RCC_PLLCFGR_PLLR_Pos )) -#endif /* RCC_PLLR_I2S_CLKSOURCE_SUPPORT */ - -#if defined(SPDIFRX) -/** - * @brief Helper macro to calculate the PLLCLK frequency used on SPDIFRX - * @note ex: @ref __LL_RCC_CALC_PLLCLK_SPDIFRX_FREQ (HSE_VALUE, @ref LL_RCC_PLL_GetDivider (), - * @ref LL_RCC_PLL_GetN (), @ref LL_RCC_PLL_GetR ()); - * @param __INPUTFREQ__ PLL Input frequency (based on HSE/HSI) - * @param __PLLM__ This parameter can be one of the following values: - * @arg @ref LL_RCC_PLLM_DIV_2 - * @arg @ref LL_RCC_PLLM_DIV_3 - * @arg @ref LL_RCC_PLLM_DIV_4 - * @arg @ref LL_RCC_PLLM_DIV_5 - * @arg @ref LL_RCC_PLLM_DIV_6 - * @arg @ref LL_RCC_PLLM_DIV_7 - * @arg @ref LL_RCC_PLLM_DIV_8 - * @arg @ref LL_RCC_PLLM_DIV_9 - * @arg @ref LL_RCC_PLLM_DIV_10 - * @arg @ref LL_RCC_PLLM_DIV_11 - * @arg @ref LL_RCC_PLLM_DIV_12 - * @arg @ref LL_RCC_PLLM_DIV_13 - * @arg @ref LL_RCC_PLLM_DIV_14 - * @arg @ref LL_RCC_PLLM_DIV_15 - * @arg @ref LL_RCC_PLLM_DIV_16 - * @arg @ref LL_RCC_PLLM_DIV_17 - * @arg @ref LL_RCC_PLLM_DIV_18 - * @arg @ref LL_RCC_PLLM_DIV_19 - * @arg @ref LL_RCC_PLLM_DIV_20 - * @arg @ref LL_RCC_PLLM_DIV_21 - * @arg @ref LL_RCC_PLLM_DIV_22 - * @arg @ref LL_RCC_PLLM_DIV_23 - * @arg @ref LL_RCC_PLLM_DIV_24 - * @arg @ref LL_RCC_PLLM_DIV_25 - * @arg @ref LL_RCC_PLLM_DIV_26 - * @arg @ref LL_RCC_PLLM_DIV_27 - * @arg @ref LL_RCC_PLLM_DIV_28 - * @arg @ref LL_RCC_PLLM_DIV_29 - * @arg @ref LL_RCC_PLLM_DIV_30 - * @arg @ref LL_RCC_PLLM_DIV_31 - * @arg @ref LL_RCC_PLLM_DIV_32 - * @arg @ref LL_RCC_PLLM_DIV_33 - * @arg @ref LL_RCC_PLLM_DIV_34 - * @arg @ref LL_RCC_PLLM_DIV_35 - * @arg @ref LL_RCC_PLLM_DIV_36 - * @arg @ref LL_RCC_PLLM_DIV_37 - * @arg @ref LL_RCC_PLLM_DIV_38 - * @arg @ref LL_RCC_PLLM_DIV_39 - * @arg @ref LL_RCC_PLLM_DIV_40 - * @arg @ref LL_RCC_PLLM_DIV_41 - * @arg @ref LL_RCC_PLLM_DIV_42 - * @arg @ref LL_RCC_PLLM_DIV_43 - * @arg @ref LL_RCC_PLLM_DIV_44 - * @arg @ref LL_RCC_PLLM_DIV_45 - * @arg @ref LL_RCC_PLLM_DIV_46 - * @arg @ref LL_RCC_PLLM_DIV_47 - * @arg @ref LL_RCC_PLLM_DIV_48 - * @arg @ref LL_RCC_PLLM_DIV_49 - * @arg @ref LL_RCC_PLLM_DIV_50 - * @arg @ref LL_RCC_PLLM_DIV_51 - * @arg @ref LL_RCC_PLLM_DIV_52 - * @arg @ref LL_RCC_PLLM_DIV_53 - * @arg @ref LL_RCC_PLLM_DIV_54 - * @arg @ref LL_RCC_PLLM_DIV_55 - * @arg @ref LL_RCC_PLLM_DIV_56 - * @arg @ref LL_RCC_PLLM_DIV_57 - * @arg @ref LL_RCC_PLLM_DIV_58 - * @arg @ref LL_RCC_PLLM_DIV_59 - * @arg @ref LL_RCC_PLLM_DIV_60 - * @arg @ref LL_RCC_PLLM_DIV_61 - * @arg @ref LL_RCC_PLLM_DIV_62 - * @arg @ref LL_RCC_PLLM_DIV_63 - * @param __PLLN__ Between 50 and 432 - * @param __PLLR__ This parameter can be one of the following values: - * @arg @ref LL_RCC_PLLR_DIV_2 - * @arg @ref LL_RCC_PLLR_DIV_3 - * @arg @ref LL_RCC_PLLR_DIV_4 - * @arg @ref LL_RCC_PLLR_DIV_5 - * @arg @ref LL_RCC_PLLR_DIV_6 - * @arg @ref LL_RCC_PLLR_DIV_7 - * @retval PLL clock frequency (in Hz) - */ -#define __LL_RCC_CALC_PLLCLK_SPDIFRX_FREQ(__INPUTFREQ__, __PLLM__, __PLLN__, __PLLR__) ((__INPUTFREQ__) / (__PLLM__) * (__PLLN__) / \ - ((__PLLR__) >> RCC_PLLCFGR_PLLR_Pos )) -#endif /* SPDIFRX */ - -#if defined(RCC_PLLCFGR_PLLR) -#if defined(SAI1) -/** - * @brief Helper macro to calculate the PLLCLK frequency used on SAI - * @note ex: @ref __LL_RCC_CALC_PLLCLK_SAI_FREQ (HSE_VALUE, @ref LL_RCC_PLL_GetDivider (), - * @ref LL_RCC_PLL_GetN (), @ref LL_RCC_PLL_GetR (), @ref LL_RCC_PLL_GetDIVR ()); - * @param __INPUTFREQ__ PLL Input frequency (based on HSE/HSI) - * @param __PLLM__ This parameter can be one of the following values: - * @arg @ref LL_RCC_PLLM_DIV_2 - * @arg @ref LL_RCC_PLLM_DIV_3 - * @arg @ref LL_RCC_PLLM_DIV_4 - * @arg @ref LL_RCC_PLLM_DIV_5 - * @arg @ref LL_RCC_PLLM_DIV_6 - * @arg @ref LL_RCC_PLLM_DIV_7 - * @arg @ref LL_RCC_PLLM_DIV_8 - * @arg @ref LL_RCC_PLLM_DIV_9 - * @arg @ref LL_RCC_PLLM_DIV_10 - * @arg @ref LL_RCC_PLLM_DIV_11 - * @arg @ref LL_RCC_PLLM_DIV_12 - * @arg @ref LL_RCC_PLLM_DIV_13 - * @arg @ref LL_RCC_PLLM_DIV_14 - * @arg @ref LL_RCC_PLLM_DIV_15 - * @arg @ref LL_RCC_PLLM_DIV_16 - * @arg @ref LL_RCC_PLLM_DIV_17 - * @arg @ref LL_RCC_PLLM_DIV_18 - * @arg @ref LL_RCC_PLLM_DIV_19 - * @arg @ref LL_RCC_PLLM_DIV_20 - * @arg @ref LL_RCC_PLLM_DIV_21 - * @arg @ref LL_RCC_PLLM_DIV_22 - * @arg @ref LL_RCC_PLLM_DIV_23 - * @arg @ref LL_RCC_PLLM_DIV_24 - * @arg @ref LL_RCC_PLLM_DIV_25 - * @arg @ref LL_RCC_PLLM_DIV_26 - * @arg @ref LL_RCC_PLLM_DIV_27 - * @arg @ref LL_RCC_PLLM_DIV_28 - * @arg @ref LL_RCC_PLLM_DIV_29 - * @arg @ref LL_RCC_PLLM_DIV_30 - * @arg @ref LL_RCC_PLLM_DIV_31 - * @arg @ref LL_RCC_PLLM_DIV_32 - * @arg @ref LL_RCC_PLLM_DIV_33 - * @arg @ref LL_RCC_PLLM_DIV_34 - * @arg @ref LL_RCC_PLLM_DIV_35 - * @arg @ref LL_RCC_PLLM_DIV_36 - * @arg @ref LL_RCC_PLLM_DIV_37 - * @arg @ref LL_RCC_PLLM_DIV_38 - * @arg @ref LL_RCC_PLLM_DIV_39 - * @arg @ref LL_RCC_PLLM_DIV_40 - * @arg @ref LL_RCC_PLLM_DIV_41 - * @arg @ref LL_RCC_PLLM_DIV_42 - * @arg @ref LL_RCC_PLLM_DIV_43 - * @arg @ref LL_RCC_PLLM_DIV_44 - * @arg @ref LL_RCC_PLLM_DIV_45 - * @arg @ref LL_RCC_PLLM_DIV_46 - * @arg @ref LL_RCC_PLLM_DIV_47 - * @arg @ref LL_RCC_PLLM_DIV_48 - * @arg @ref LL_RCC_PLLM_DIV_49 - * @arg @ref LL_RCC_PLLM_DIV_50 - * @arg @ref LL_RCC_PLLM_DIV_51 - * @arg @ref LL_RCC_PLLM_DIV_52 - * @arg @ref LL_RCC_PLLM_DIV_53 - * @arg @ref LL_RCC_PLLM_DIV_54 - * @arg @ref LL_RCC_PLLM_DIV_55 - * @arg @ref LL_RCC_PLLM_DIV_56 - * @arg @ref LL_RCC_PLLM_DIV_57 - * @arg @ref LL_RCC_PLLM_DIV_58 - * @arg @ref LL_RCC_PLLM_DIV_59 - * @arg @ref LL_RCC_PLLM_DIV_60 - * @arg @ref LL_RCC_PLLM_DIV_61 - * @arg @ref LL_RCC_PLLM_DIV_62 - * @arg @ref LL_RCC_PLLM_DIV_63 - * @param __PLLN__ Between 50 and 432 - * @param __PLLR__ This parameter can be one of the following values: - * @arg @ref LL_RCC_PLLR_DIV_2 - * @arg @ref LL_RCC_PLLR_DIV_3 - * @arg @ref LL_RCC_PLLR_DIV_4 - * @arg @ref LL_RCC_PLLR_DIV_5 - * @arg @ref LL_RCC_PLLR_DIV_6 - * @arg @ref LL_RCC_PLLR_DIV_7 - * @param __PLLDIVR__ This parameter can be one of the following values: - * @arg @ref LL_RCC_PLLDIVR_DIV_1 (*) - * @arg @ref LL_RCC_PLLDIVR_DIV_2 (*) - * @arg @ref LL_RCC_PLLDIVR_DIV_3 (*) - * @arg @ref LL_RCC_PLLDIVR_DIV_4 (*) - * @arg @ref LL_RCC_PLLDIVR_DIV_5 (*) - * @arg @ref LL_RCC_PLLDIVR_DIV_6 (*) - * @arg @ref LL_RCC_PLLDIVR_DIV_7 (*) - * @arg @ref LL_RCC_PLLDIVR_DIV_8 (*) - * @arg @ref LL_RCC_PLLDIVR_DIV_9 (*) - * @arg @ref LL_RCC_PLLDIVR_DIV_10 (*) - * @arg @ref LL_RCC_PLLDIVR_DIV_11 (*) - * @arg @ref LL_RCC_PLLDIVR_DIV_12 (*) - * @arg @ref LL_RCC_PLLDIVR_DIV_13 (*) - * @arg @ref LL_RCC_PLLDIVR_DIV_14 (*) - * @arg @ref LL_RCC_PLLDIVR_DIV_15 (*) - * @arg @ref LL_RCC_PLLDIVR_DIV_16 (*) - * @arg @ref LL_RCC_PLLDIVR_DIV_17 (*) - * @arg @ref LL_RCC_PLLDIVR_DIV_18 (*) - * @arg @ref LL_RCC_PLLDIVR_DIV_19 (*) - * @arg @ref LL_RCC_PLLDIVR_DIV_20 (*) - * @arg @ref LL_RCC_PLLDIVR_DIV_21 (*) - * @arg @ref LL_RCC_PLLDIVR_DIV_22 (*) - * @arg @ref LL_RCC_PLLDIVR_DIV_23 (*) - * @arg @ref LL_RCC_PLLDIVR_DIV_24 (*) - * @arg @ref LL_RCC_PLLDIVR_DIV_25 (*) - * @arg @ref LL_RCC_PLLDIVR_DIV_26 (*) - * @arg @ref LL_RCC_PLLDIVR_DIV_27 (*) - * @arg @ref LL_RCC_PLLDIVR_DIV_28 (*) - * @arg @ref LL_RCC_PLLDIVR_DIV_29 (*) - * @arg @ref LL_RCC_PLLDIVR_DIV_30 (*) - * @arg @ref LL_RCC_PLLDIVR_DIV_31 (*) - * - * (*) value not defined in all devices. - * @retval PLL clock frequency (in Hz) - */ -#if defined(RCC_DCKCFGR_PLLDIVR) -#define __LL_RCC_CALC_PLLCLK_SAI_FREQ(__INPUTFREQ__, __PLLM__, __PLLN__, __PLLR__, __PLLDIVR__) (((__INPUTFREQ__) / (__PLLM__) * (__PLLN__) / \ - ((__PLLR__) >> RCC_PLLCFGR_PLLR_Pos )) / ((__PLLDIVR__) >> RCC_DCKCFGR_PLLDIVR_Pos )) -#else -#define __LL_RCC_CALC_PLLCLK_SAI_FREQ(__INPUTFREQ__, __PLLM__, __PLLN__, __PLLR__) ((__INPUTFREQ__) / (__PLLM__) * (__PLLN__) / \ - ((__PLLR__) >> RCC_PLLCFGR_PLLR_Pos )) -#endif /* RCC_DCKCFGR_PLLDIVR */ -#endif /* SAI1 */ -#endif /* RCC_PLLCFGR_PLLR */ - -#if defined(RCC_PLLSAI_SUPPORT) -/** - * @brief Helper macro to calculate the PLLSAI frequency used for SAI domain - * @note ex: @ref __LL_RCC_CALC_PLLSAI_SAI_FREQ (HSE_VALUE,@ref LL_RCC_PLLSAI_GetDivider (), - * @ref LL_RCC_PLLSAI_GetN (), @ref LL_RCC_PLLSAI_GetQ (), @ref LL_RCC_PLLSAI_GetDIVQ ()); - * @param __INPUTFREQ__ PLL Input frequency (based on HSE/HSI) - * @param __PLLM__ This parameter can be one of the following values: - * @arg @ref LL_RCC_PLLSAIM_DIV_2 - * @arg @ref LL_RCC_PLLSAIM_DIV_3 - * @arg @ref LL_RCC_PLLSAIM_DIV_4 - * @arg @ref LL_RCC_PLLSAIM_DIV_5 - * @arg @ref LL_RCC_PLLSAIM_DIV_6 - * @arg @ref LL_RCC_PLLSAIM_DIV_7 - * @arg @ref LL_RCC_PLLSAIM_DIV_8 - * @arg @ref LL_RCC_PLLSAIM_DIV_9 - * @arg @ref LL_RCC_PLLSAIM_DIV_10 - * @arg @ref LL_RCC_PLLSAIM_DIV_11 - * @arg @ref LL_RCC_PLLSAIM_DIV_12 - * @arg @ref LL_RCC_PLLSAIM_DIV_13 - * @arg @ref LL_RCC_PLLSAIM_DIV_14 - * @arg @ref LL_RCC_PLLSAIM_DIV_15 - * @arg @ref LL_RCC_PLLSAIM_DIV_16 - * @arg @ref LL_RCC_PLLSAIM_DIV_17 - * @arg @ref LL_RCC_PLLSAIM_DIV_18 - * @arg @ref LL_RCC_PLLSAIM_DIV_19 - * @arg @ref LL_RCC_PLLSAIM_DIV_20 - * @arg @ref LL_RCC_PLLSAIM_DIV_21 - * @arg @ref LL_RCC_PLLSAIM_DIV_22 - * @arg @ref LL_RCC_PLLSAIM_DIV_23 - * @arg @ref LL_RCC_PLLSAIM_DIV_24 - * @arg @ref LL_RCC_PLLSAIM_DIV_25 - * @arg @ref LL_RCC_PLLSAIM_DIV_26 - * @arg @ref LL_RCC_PLLSAIM_DIV_27 - * @arg @ref LL_RCC_PLLSAIM_DIV_28 - * @arg @ref LL_RCC_PLLSAIM_DIV_29 - * @arg @ref LL_RCC_PLLSAIM_DIV_30 - * @arg @ref LL_RCC_PLLSAIM_DIV_31 - * @arg @ref LL_RCC_PLLSAIM_DIV_32 - * @arg @ref LL_RCC_PLLSAIM_DIV_33 - * @arg @ref LL_RCC_PLLSAIM_DIV_34 - * @arg @ref LL_RCC_PLLSAIM_DIV_35 - * @arg @ref LL_RCC_PLLSAIM_DIV_36 - * @arg @ref LL_RCC_PLLSAIM_DIV_37 - * @arg @ref LL_RCC_PLLSAIM_DIV_38 - * @arg @ref LL_RCC_PLLSAIM_DIV_39 - * @arg @ref LL_RCC_PLLSAIM_DIV_40 - * @arg @ref LL_RCC_PLLSAIM_DIV_41 - * @arg @ref LL_RCC_PLLSAIM_DIV_42 - * @arg @ref LL_RCC_PLLSAIM_DIV_43 - * @arg @ref LL_RCC_PLLSAIM_DIV_44 - * @arg @ref LL_RCC_PLLSAIM_DIV_45 - * @arg @ref LL_RCC_PLLSAIM_DIV_46 - * @arg @ref LL_RCC_PLLSAIM_DIV_47 - * @arg @ref LL_RCC_PLLSAIM_DIV_48 - * @arg @ref LL_RCC_PLLSAIM_DIV_49 - * @arg @ref LL_RCC_PLLSAIM_DIV_50 - * @arg @ref LL_RCC_PLLSAIM_DIV_51 - * @arg @ref LL_RCC_PLLSAIM_DIV_52 - * @arg @ref LL_RCC_PLLSAIM_DIV_53 - * @arg @ref LL_RCC_PLLSAIM_DIV_54 - * @arg @ref LL_RCC_PLLSAIM_DIV_55 - * @arg @ref LL_RCC_PLLSAIM_DIV_56 - * @arg @ref LL_RCC_PLLSAIM_DIV_57 - * @arg @ref LL_RCC_PLLSAIM_DIV_58 - * @arg @ref LL_RCC_PLLSAIM_DIV_59 - * @arg @ref LL_RCC_PLLSAIM_DIV_60 - * @arg @ref LL_RCC_PLLSAIM_DIV_61 - * @arg @ref LL_RCC_PLLSAIM_DIV_62 - * @arg @ref LL_RCC_PLLSAIM_DIV_63 - * @param __PLLSAIN__ Between 49/50(*) and 432 - * - * (*) value not defined in all devices. - * @param __PLLSAIQ__ This parameter can be one of the following values: - * @arg @ref LL_RCC_PLLSAIQ_DIV_2 - * @arg @ref LL_RCC_PLLSAIQ_DIV_3 - * @arg @ref LL_RCC_PLLSAIQ_DIV_4 - * @arg @ref LL_RCC_PLLSAIQ_DIV_5 - * @arg @ref LL_RCC_PLLSAIQ_DIV_6 - * @arg @ref LL_RCC_PLLSAIQ_DIV_7 - * @arg @ref LL_RCC_PLLSAIQ_DIV_8 - * @arg @ref LL_RCC_PLLSAIQ_DIV_9 - * @arg @ref LL_RCC_PLLSAIQ_DIV_10 - * @arg @ref LL_RCC_PLLSAIQ_DIV_11 - * @arg @ref LL_RCC_PLLSAIQ_DIV_12 - * @arg @ref LL_RCC_PLLSAIQ_DIV_13 - * @arg @ref LL_RCC_PLLSAIQ_DIV_14 - * @arg @ref LL_RCC_PLLSAIQ_DIV_15 - * @param __PLLSAIDIVQ__ This parameter can be one of the following values: - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_1 - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_2 - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_3 - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_4 - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_5 - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_6 - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_7 - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_8 - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_9 - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_10 - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_11 - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_12 - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_13 - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_14 - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_15 - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_16 - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_17 - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_18 - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_19 - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_20 - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_21 - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_22 - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_23 - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_24 - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_25 - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_26 - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_27 - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_28 - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_29 - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_30 - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_31 - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_32 - * @retval PLLSAI clock frequency (in Hz) - */ -#define __LL_RCC_CALC_PLLSAI_SAI_FREQ(__INPUTFREQ__, __PLLM__, __PLLSAIN__, __PLLSAIQ__, __PLLSAIDIVQ__) (((__INPUTFREQ__) / (__PLLM__)) * (__PLLSAIN__) / \ - (((__PLLSAIQ__) >> RCC_PLLSAICFGR_PLLSAIQ_Pos) * (((__PLLSAIDIVQ__) >> RCC_DCKCFGR_PLLSAIDIVQ_Pos) + 1U))) - -#if defined(RCC_PLLSAICFGR_PLLSAIP) -/** - * @brief Helper macro to calculate the PLLSAI frequency used on 48Mhz domain - * @note ex: @ref __LL_RCC_CALC_PLLSAI_48M_FREQ (HSE_VALUE,@ref LL_RCC_PLLSAI_GetDivider (), - * @ref LL_RCC_PLLSAI_GetN (), @ref LL_RCC_PLLSAI_GetP ()); - * @param __INPUTFREQ__ PLL Input frequency (based on HSE/HSI) - * @param __PLLM__ This parameter can be one of the following values: - * @arg @ref LL_RCC_PLLSAIM_DIV_2 - * @arg @ref LL_RCC_PLLSAIM_DIV_3 - * @arg @ref LL_RCC_PLLSAIM_DIV_4 - * @arg @ref LL_RCC_PLLSAIM_DIV_5 - * @arg @ref LL_RCC_PLLSAIM_DIV_6 - * @arg @ref LL_RCC_PLLSAIM_DIV_7 - * @arg @ref LL_RCC_PLLSAIM_DIV_8 - * @arg @ref LL_RCC_PLLSAIM_DIV_9 - * @arg @ref LL_RCC_PLLSAIM_DIV_10 - * @arg @ref LL_RCC_PLLSAIM_DIV_11 - * @arg @ref LL_RCC_PLLSAIM_DIV_12 - * @arg @ref LL_RCC_PLLSAIM_DIV_13 - * @arg @ref LL_RCC_PLLSAIM_DIV_14 - * @arg @ref LL_RCC_PLLSAIM_DIV_15 - * @arg @ref LL_RCC_PLLSAIM_DIV_16 - * @arg @ref LL_RCC_PLLSAIM_DIV_17 - * @arg @ref LL_RCC_PLLSAIM_DIV_18 - * @arg @ref LL_RCC_PLLSAIM_DIV_19 - * @arg @ref LL_RCC_PLLSAIM_DIV_20 - * @arg @ref LL_RCC_PLLSAIM_DIV_21 - * @arg @ref LL_RCC_PLLSAIM_DIV_22 - * @arg @ref LL_RCC_PLLSAIM_DIV_23 - * @arg @ref LL_RCC_PLLSAIM_DIV_24 - * @arg @ref LL_RCC_PLLSAIM_DIV_25 - * @arg @ref LL_RCC_PLLSAIM_DIV_26 - * @arg @ref LL_RCC_PLLSAIM_DIV_27 - * @arg @ref LL_RCC_PLLSAIM_DIV_28 - * @arg @ref LL_RCC_PLLSAIM_DIV_29 - * @arg @ref LL_RCC_PLLSAIM_DIV_30 - * @arg @ref LL_RCC_PLLSAIM_DIV_31 - * @arg @ref LL_RCC_PLLSAIM_DIV_32 - * @arg @ref LL_RCC_PLLSAIM_DIV_33 - * @arg @ref LL_RCC_PLLSAIM_DIV_34 - * @arg @ref LL_RCC_PLLSAIM_DIV_35 - * @arg @ref LL_RCC_PLLSAIM_DIV_36 - * @arg @ref LL_RCC_PLLSAIM_DIV_37 - * @arg @ref LL_RCC_PLLSAIM_DIV_38 - * @arg @ref LL_RCC_PLLSAIM_DIV_39 - * @arg @ref LL_RCC_PLLSAIM_DIV_40 - * @arg @ref LL_RCC_PLLSAIM_DIV_41 - * @arg @ref LL_RCC_PLLSAIM_DIV_42 - * @arg @ref LL_RCC_PLLSAIM_DIV_43 - * @arg @ref LL_RCC_PLLSAIM_DIV_44 - * @arg @ref LL_RCC_PLLSAIM_DIV_45 - * @arg @ref LL_RCC_PLLSAIM_DIV_46 - * @arg @ref LL_RCC_PLLSAIM_DIV_47 - * @arg @ref LL_RCC_PLLSAIM_DIV_48 - * @arg @ref LL_RCC_PLLSAIM_DIV_49 - * @arg @ref LL_RCC_PLLSAIM_DIV_50 - * @arg @ref LL_RCC_PLLSAIM_DIV_51 - * @arg @ref LL_RCC_PLLSAIM_DIV_52 - * @arg @ref LL_RCC_PLLSAIM_DIV_53 - * @arg @ref LL_RCC_PLLSAIM_DIV_54 - * @arg @ref LL_RCC_PLLSAIM_DIV_55 - * @arg @ref LL_RCC_PLLSAIM_DIV_56 - * @arg @ref LL_RCC_PLLSAIM_DIV_57 - * @arg @ref LL_RCC_PLLSAIM_DIV_58 - * @arg @ref LL_RCC_PLLSAIM_DIV_59 - * @arg @ref LL_RCC_PLLSAIM_DIV_60 - * @arg @ref LL_RCC_PLLSAIM_DIV_61 - * @arg @ref LL_RCC_PLLSAIM_DIV_62 - * @arg @ref LL_RCC_PLLSAIM_DIV_63 - * @param __PLLSAIN__ Between 50 and 432 - * @param __PLLSAIP__ This parameter can be one of the following values: - * @arg @ref LL_RCC_PLLSAIP_DIV_2 - * @arg @ref LL_RCC_PLLSAIP_DIV_4 - * @arg @ref LL_RCC_PLLSAIP_DIV_6 - * @arg @ref LL_RCC_PLLSAIP_DIV_8 - * @retval PLLSAI clock frequency (in Hz) - */ -#define __LL_RCC_CALC_PLLSAI_48M_FREQ(__INPUTFREQ__, __PLLM__, __PLLSAIN__, __PLLSAIP__) (((__INPUTFREQ__) / (__PLLM__)) * (__PLLSAIN__) / \ - ((((__PLLSAIP__) >> RCC_PLLSAICFGR_PLLSAIP_Pos) + 1U) * 2U)) -#endif /* RCC_PLLSAICFGR_PLLSAIP */ - -#if defined(LTDC) -/** - * @brief Helper macro to calculate the PLLSAI frequency used for LTDC domain - * @note ex: @ref __LL_RCC_CALC_PLLSAI_LTDC_FREQ (HSE_VALUE,@ref LL_RCC_PLLSAI_GetDivider (), - * @ref LL_RCC_PLLSAI_GetN (), @ref LL_RCC_PLLSAI_GetR (), @ref LL_RCC_PLLSAI_GetDIVR ()); - * @param __INPUTFREQ__ PLL Input frequency (based on HSE/HSI) - * @param __PLLM__ This parameter can be one of the following values: - * @arg @ref LL_RCC_PLLSAIM_DIV_2 - * @arg @ref LL_RCC_PLLSAIM_DIV_3 - * @arg @ref LL_RCC_PLLSAIM_DIV_4 - * @arg @ref LL_RCC_PLLSAIM_DIV_5 - * @arg @ref LL_RCC_PLLSAIM_DIV_6 - * @arg @ref LL_RCC_PLLSAIM_DIV_7 - * @arg @ref LL_RCC_PLLSAIM_DIV_8 - * @arg @ref LL_RCC_PLLSAIM_DIV_9 - * @arg @ref LL_RCC_PLLSAIM_DIV_10 - * @arg @ref LL_RCC_PLLSAIM_DIV_11 - * @arg @ref LL_RCC_PLLSAIM_DIV_12 - * @arg @ref LL_RCC_PLLSAIM_DIV_13 - * @arg @ref LL_RCC_PLLSAIM_DIV_14 - * @arg @ref LL_RCC_PLLSAIM_DIV_15 - * @arg @ref LL_RCC_PLLSAIM_DIV_16 - * @arg @ref LL_RCC_PLLSAIM_DIV_17 - * @arg @ref LL_RCC_PLLSAIM_DIV_18 - * @arg @ref LL_RCC_PLLSAIM_DIV_19 - * @arg @ref LL_RCC_PLLSAIM_DIV_20 - * @arg @ref LL_RCC_PLLSAIM_DIV_21 - * @arg @ref LL_RCC_PLLSAIM_DIV_22 - * @arg @ref LL_RCC_PLLSAIM_DIV_23 - * @arg @ref LL_RCC_PLLSAIM_DIV_24 - * @arg @ref LL_RCC_PLLSAIM_DIV_25 - * @arg @ref LL_RCC_PLLSAIM_DIV_26 - * @arg @ref LL_RCC_PLLSAIM_DIV_27 - * @arg @ref LL_RCC_PLLSAIM_DIV_28 - * @arg @ref LL_RCC_PLLSAIM_DIV_29 - * @arg @ref LL_RCC_PLLSAIM_DIV_30 - * @arg @ref LL_RCC_PLLSAIM_DIV_31 - * @arg @ref LL_RCC_PLLSAIM_DIV_32 - * @arg @ref LL_RCC_PLLSAIM_DIV_33 - * @arg @ref LL_RCC_PLLSAIM_DIV_34 - * @arg @ref LL_RCC_PLLSAIM_DIV_35 - * @arg @ref LL_RCC_PLLSAIM_DIV_36 - * @arg @ref LL_RCC_PLLSAIM_DIV_37 - * @arg @ref LL_RCC_PLLSAIM_DIV_38 - * @arg @ref LL_RCC_PLLSAIM_DIV_39 - * @arg @ref LL_RCC_PLLSAIM_DIV_40 - * @arg @ref LL_RCC_PLLSAIM_DIV_41 - * @arg @ref LL_RCC_PLLSAIM_DIV_42 - * @arg @ref LL_RCC_PLLSAIM_DIV_43 - * @arg @ref LL_RCC_PLLSAIM_DIV_44 - * @arg @ref LL_RCC_PLLSAIM_DIV_45 - * @arg @ref LL_RCC_PLLSAIM_DIV_46 - * @arg @ref LL_RCC_PLLSAIM_DIV_47 - * @arg @ref LL_RCC_PLLSAIM_DIV_48 - * @arg @ref LL_RCC_PLLSAIM_DIV_49 - * @arg @ref LL_RCC_PLLSAIM_DIV_50 - * @arg @ref LL_RCC_PLLSAIM_DIV_51 - * @arg @ref LL_RCC_PLLSAIM_DIV_52 - * @arg @ref LL_RCC_PLLSAIM_DIV_53 - * @arg @ref LL_RCC_PLLSAIM_DIV_54 - * @arg @ref LL_RCC_PLLSAIM_DIV_55 - * @arg @ref LL_RCC_PLLSAIM_DIV_56 - * @arg @ref LL_RCC_PLLSAIM_DIV_57 - * @arg @ref LL_RCC_PLLSAIM_DIV_58 - * @arg @ref LL_RCC_PLLSAIM_DIV_59 - * @arg @ref LL_RCC_PLLSAIM_DIV_60 - * @arg @ref LL_RCC_PLLSAIM_DIV_61 - * @arg @ref LL_RCC_PLLSAIM_DIV_62 - * @arg @ref LL_RCC_PLLSAIM_DIV_63 - * @param __PLLSAIN__ Between 49/50(*) and 432 - * - * (*) value not defined in all devices. - * @param __PLLSAIR__ This parameter can be one of the following values: - * @arg @ref LL_RCC_PLLSAIR_DIV_2 - * @arg @ref LL_RCC_PLLSAIR_DIV_3 - * @arg @ref LL_RCC_PLLSAIR_DIV_4 - * @arg @ref LL_RCC_PLLSAIR_DIV_5 - * @arg @ref LL_RCC_PLLSAIR_DIV_6 - * @arg @ref LL_RCC_PLLSAIR_DIV_7 - * @param __PLLSAIDIVR__ This parameter can be one of the following values: - * @arg @ref LL_RCC_PLLSAIDIVR_DIV_2 - * @arg @ref LL_RCC_PLLSAIDIVR_DIV_4 - * @arg @ref LL_RCC_PLLSAIDIVR_DIV_8 - * @arg @ref LL_RCC_PLLSAIDIVR_DIV_16 - * @retval PLLSAI clock frequency (in Hz) - */ -#define __LL_RCC_CALC_PLLSAI_LTDC_FREQ(__INPUTFREQ__, __PLLM__, __PLLSAIN__, __PLLSAIR__, __PLLSAIDIVR__) (((__INPUTFREQ__) / (__PLLM__)) * (__PLLSAIN__) / \ - (((__PLLSAIR__) >> RCC_PLLSAICFGR_PLLSAIR_Pos) * (aRCC_PLLSAIDIVRPrescTable[(__PLLSAIDIVR__) >> RCC_DCKCFGR_PLLSAIDIVR_Pos]))) -#endif /* LTDC */ -#endif /* RCC_PLLSAI_SUPPORT */ - -#if defined(RCC_PLLI2S_SUPPORT) -#if defined(RCC_DCKCFGR_PLLI2SDIVQ) || defined(RCC_DCKCFGR_PLLI2SDIVR) -/** - * @brief Helper macro to calculate the PLLI2S frequency used for SAI domain - * @note ex: @ref __LL_RCC_CALC_PLLI2S_SAI_FREQ (HSE_VALUE,@ref LL_RCC_PLLI2S_GetDivider (), - * @ref LL_RCC_PLLI2S_GetN (), @ref LL_RCC_PLLI2S_GetQ (), @ref LL_RCC_PLLI2S_GetDIVQ ()); - * @param __INPUTFREQ__ PLL Input frequency (based on HSE/HSI) - * @param __PLLM__ This parameter can be one of the following values: - * @arg @ref LL_RCC_PLLI2SM_DIV_2 - * @arg @ref LL_RCC_PLLI2SM_DIV_3 - * @arg @ref LL_RCC_PLLI2SM_DIV_4 - * @arg @ref LL_RCC_PLLI2SM_DIV_5 - * @arg @ref LL_RCC_PLLI2SM_DIV_6 - * @arg @ref LL_RCC_PLLI2SM_DIV_7 - * @arg @ref LL_RCC_PLLI2SM_DIV_8 - * @arg @ref LL_RCC_PLLI2SM_DIV_9 - * @arg @ref LL_RCC_PLLI2SM_DIV_10 - * @arg @ref LL_RCC_PLLI2SM_DIV_11 - * @arg @ref LL_RCC_PLLI2SM_DIV_12 - * @arg @ref LL_RCC_PLLI2SM_DIV_13 - * @arg @ref LL_RCC_PLLI2SM_DIV_14 - * @arg @ref LL_RCC_PLLI2SM_DIV_15 - * @arg @ref LL_RCC_PLLI2SM_DIV_16 - * @arg @ref LL_RCC_PLLI2SM_DIV_17 - * @arg @ref LL_RCC_PLLI2SM_DIV_18 - * @arg @ref LL_RCC_PLLI2SM_DIV_19 - * @arg @ref LL_RCC_PLLI2SM_DIV_20 - * @arg @ref LL_RCC_PLLI2SM_DIV_21 - * @arg @ref LL_RCC_PLLI2SM_DIV_22 - * @arg @ref LL_RCC_PLLI2SM_DIV_23 - * @arg @ref LL_RCC_PLLI2SM_DIV_24 - * @arg @ref LL_RCC_PLLI2SM_DIV_25 - * @arg @ref LL_RCC_PLLI2SM_DIV_26 - * @arg @ref LL_RCC_PLLI2SM_DIV_27 - * @arg @ref LL_RCC_PLLI2SM_DIV_28 - * @arg @ref LL_RCC_PLLI2SM_DIV_29 - * @arg @ref LL_RCC_PLLI2SM_DIV_30 - * @arg @ref LL_RCC_PLLI2SM_DIV_31 - * @arg @ref LL_RCC_PLLI2SM_DIV_32 - * @arg @ref LL_RCC_PLLI2SM_DIV_33 - * @arg @ref LL_RCC_PLLI2SM_DIV_34 - * @arg @ref LL_RCC_PLLI2SM_DIV_35 - * @arg @ref LL_RCC_PLLI2SM_DIV_36 - * @arg @ref LL_RCC_PLLI2SM_DIV_37 - * @arg @ref LL_RCC_PLLI2SM_DIV_38 - * @arg @ref LL_RCC_PLLI2SM_DIV_39 - * @arg @ref LL_RCC_PLLI2SM_DIV_40 - * @arg @ref LL_RCC_PLLI2SM_DIV_41 - * @arg @ref LL_RCC_PLLI2SM_DIV_42 - * @arg @ref LL_RCC_PLLI2SM_DIV_43 - * @arg @ref LL_RCC_PLLI2SM_DIV_44 - * @arg @ref LL_RCC_PLLI2SM_DIV_45 - * @arg @ref LL_RCC_PLLI2SM_DIV_46 - * @arg @ref LL_RCC_PLLI2SM_DIV_47 - * @arg @ref LL_RCC_PLLI2SM_DIV_48 - * @arg @ref LL_RCC_PLLI2SM_DIV_49 - * @arg @ref LL_RCC_PLLI2SM_DIV_50 - * @arg @ref LL_RCC_PLLI2SM_DIV_51 - * @arg @ref LL_RCC_PLLI2SM_DIV_52 - * @arg @ref LL_RCC_PLLI2SM_DIV_53 - * @arg @ref LL_RCC_PLLI2SM_DIV_54 - * @arg @ref LL_RCC_PLLI2SM_DIV_55 - * @arg @ref LL_RCC_PLLI2SM_DIV_56 - * @arg @ref LL_RCC_PLLI2SM_DIV_57 - * @arg @ref LL_RCC_PLLI2SM_DIV_58 - * @arg @ref LL_RCC_PLLI2SM_DIV_59 - * @arg @ref LL_RCC_PLLI2SM_DIV_60 - * @arg @ref LL_RCC_PLLI2SM_DIV_61 - * @arg @ref LL_RCC_PLLI2SM_DIV_62 - * @arg @ref LL_RCC_PLLI2SM_DIV_63 - * @param __PLLI2SN__ Between 50/192(*) and 432 - * - * (*) value not defined in all devices. - * @param __PLLI2SQ_R__ This parameter can be one of the following values: - * @arg @ref LL_RCC_PLLI2SQ_DIV_2 (*) - * @arg @ref LL_RCC_PLLI2SQ_DIV_3 (*) - * @arg @ref LL_RCC_PLLI2SQ_DIV_4 (*) - * @arg @ref LL_RCC_PLLI2SQ_DIV_5 (*) - * @arg @ref LL_RCC_PLLI2SQ_DIV_6 (*) - * @arg @ref LL_RCC_PLLI2SQ_DIV_7 (*) - * @arg @ref LL_RCC_PLLI2SQ_DIV_8 (*) - * @arg @ref LL_RCC_PLLI2SQ_DIV_9 (*) - * @arg @ref LL_RCC_PLLI2SQ_DIV_10 (*) - * @arg @ref LL_RCC_PLLI2SQ_DIV_11 (*) - * @arg @ref LL_RCC_PLLI2SQ_DIV_12 (*) - * @arg @ref LL_RCC_PLLI2SQ_DIV_13 (*) - * @arg @ref LL_RCC_PLLI2SQ_DIV_14 (*) - * @arg @ref LL_RCC_PLLI2SQ_DIV_15 (*) - * @arg @ref LL_RCC_PLLI2SR_DIV_2 (*) - * @arg @ref LL_RCC_PLLI2SR_DIV_3 (*) - * @arg @ref LL_RCC_PLLI2SR_DIV_4 (*) - * @arg @ref LL_RCC_PLLI2SR_DIV_5 (*) - * @arg @ref LL_RCC_PLLI2SR_DIV_6 (*) - * @arg @ref LL_RCC_PLLI2SR_DIV_7 (*) - * - * (*) value not defined in all devices. - * @param __PLLI2SDIVQ_R__ This parameter can be one of the following values: - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_1 (*) - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_2 (*) - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_3 (*) - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_4 (*) - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_5 (*) - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_6 (*) - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_7 (*) - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_8 (*) - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_9 (*) - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_10 (*) - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_11 (*) - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_12 (*) - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_13 (*) - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_14 (*) - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_15 (*) - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_16 (*) - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_17 (*) - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_18 (*) - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_19 (*) - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_20 (*) - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_21 (*) - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_22 (*) - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_23 (*) - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_24 (*) - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_25 (*) - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_26 (*) - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_27 (*) - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_28 (*) - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_29 (*) - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_30 (*) - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_31 (*) - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_32 (*) - * @arg @ref LL_RCC_PLLI2SDIVR_DIV_1 (*) - * @arg @ref LL_RCC_PLLI2SDIVR_DIV_2 (*) - * @arg @ref LL_RCC_PLLI2SDIVR_DIV_3 (*) - * @arg @ref LL_RCC_PLLI2SDIVR_DIV_4 (*) - * @arg @ref LL_RCC_PLLI2SDIVR_DIV_5 (*) - * @arg @ref LL_RCC_PLLI2SDIVR_DIV_6 (*) - * @arg @ref LL_RCC_PLLI2SDIVR_DIV_7 (*) - * @arg @ref LL_RCC_PLLI2SDIVR_DIV_8 (*) - * @arg @ref LL_RCC_PLLI2SDIVR_DIV_9 (*) - * @arg @ref LL_RCC_PLLI2SDIVR_DIV_10 (*) - * @arg @ref LL_RCC_PLLI2SDIVR_DIV_11 (*) - * @arg @ref LL_RCC_PLLI2SDIVR_DIV_12 (*) - * @arg @ref LL_RCC_PLLI2SDIVR_DIV_13 (*) - * @arg @ref LL_RCC_PLLI2SDIVR_DIV_14 (*) - * @arg @ref LL_RCC_PLLI2SDIVR_DIV_15 (*) - * @arg @ref LL_RCC_PLLI2SDIVR_DIV_16 (*) - * @arg @ref LL_RCC_PLLI2SDIVR_DIV_17 (*) - * @arg @ref LL_RCC_PLLI2SDIVR_DIV_18 (*) - * @arg @ref LL_RCC_PLLI2SDIVR_DIV_19 (*) - * @arg @ref LL_RCC_PLLI2SDIVR_DIV_20 (*) - * @arg @ref LL_RCC_PLLI2SDIVR_DIV_21 (*) - * @arg @ref LL_RCC_PLLI2SDIVR_DIV_22 (*) - * @arg @ref LL_RCC_PLLI2SDIVR_DIV_23 (*) - * @arg @ref LL_RCC_PLLI2SDIVR_DIV_24 (*) - * @arg @ref LL_RCC_PLLI2SDIVR_DIV_25 (*) - * @arg @ref LL_RCC_PLLI2SDIVR_DIV_26 (*) - * @arg @ref LL_RCC_PLLI2SDIVR_DIV_27 (*) - * @arg @ref LL_RCC_PLLI2SDIVR_DIV_28 (*) - * @arg @ref LL_RCC_PLLI2SDIVR_DIV_29 (*) - * @arg @ref LL_RCC_PLLI2SDIVR_DIV_30 (*) - * @arg @ref LL_RCC_PLLI2SDIVR_DIV_31 (*) - * - * (*) value not defined in all devices. - * @retval PLLI2S clock frequency (in Hz) - */ -#if defined(RCC_DCKCFGR_PLLI2SDIVQ) -#define __LL_RCC_CALC_PLLI2S_SAI_FREQ(__INPUTFREQ__, __PLLM__, __PLLI2SN__, __PLLI2SQ_R__, __PLLI2SDIVQ_R__) (((__INPUTFREQ__) / (__PLLM__)) * (__PLLI2SN__) / \ - (((__PLLI2SQ_R__) >> RCC_PLLI2SCFGR_PLLI2SQ_Pos) * (((__PLLI2SDIVQ_R__) >> RCC_DCKCFGR_PLLI2SDIVQ_Pos) + 1U))) -#else -#define __LL_RCC_CALC_PLLI2S_SAI_FREQ(__INPUTFREQ__, __PLLM__, __PLLI2SN__, __PLLI2SQ_R__, __PLLI2SDIVQ_R__) (((__INPUTFREQ__) / (__PLLM__)) * (__PLLI2SN__) / \ - (((__PLLI2SQ_R__) >> RCC_PLLI2SCFGR_PLLI2SR_Pos) * ((__PLLI2SDIVQ_R__) >> RCC_DCKCFGR_PLLI2SDIVR_Pos))) - -#endif /* RCC_DCKCFGR_PLLI2SDIVQ */ -#endif /* RCC_DCKCFGR_PLLI2SDIVQ || RCC_DCKCFGR_PLLI2SDIVR */ - -#if defined(SPDIFRX) -/** - * @brief Helper macro to calculate the PLLI2S frequency used on SPDIFRX domain - * @note ex: @ref __LL_RCC_CALC_PLLI2S_SPDIFRX_FREQ (HSE_VALUE,@ref LL_RCC_PLLI2S_GetDivider (), - * @ref LL_RCC_PLLI2S_GetN (), @ref LL_RCC_PLLI2S_GetP ()); - * @param __INPUTFREQ__ PLL Input frequency (based on HSE/HSI) - * @param __PLLM__ This parameter can be one of the following values: - * @arg @ref LL_RCC_PLLI2SM_DIV_2 - * @arg @ref LL_RCC_PLLI2SM_DIV_3 - * @arg @ref LL_RCC_PLLI2SM_DIV_4 - * @arg @ref LL_RCC_PLLI2SM_DIV_5 - * @arg @ref LL_RCC_PLLI2SM_DIV_6 - * @arg @ref LL_RCC_PLLI2SM_DIV_7 - * @arg @ref LL_RCC_PLLI2SM_DIV_8 - * @arg @ref LL_RCC_PLLI2SM_DIV_9 - * @arg @ref LL_RCC_PLLI2SM_DIV_10 - * @arg @ref LL_RCC_PLLI2SM_DIV_11 - * @arg @ref LL_RCC_PLLI2SM_DIV_12 - * @arg @ref LL_RCC_PLLI2SM_DIV_13 - * @arg @ref LL_RCC_PLLI2SM_DIV_14 - * @arg @ref LL_RCC_PLLI2SM_DIV_15 - * @arg @ref LL_RCC_PLLI2SM_DIV_16 - * @arg @ref LL_RCC_PLLI2SM_DIV_17 - * @arg @ref LL_RCC_PLLI2SM_DIV_18 - * @arg @ref LL_RCC_PLLI2SM_DIV_19 - * @arg @ref LL_RCC_PLLI2SM_DIV_20 - * @arg @ref LL_RCC_PLLI2SM_DIV_21 - * @arg @ref LL_RCC_PLLI2SM_DIV_22 - * @arg @ref LL_RCC_PLLI2SM_DIV_23 - * @arg @ref LL_RCC_PLLI2SM_DIV_24 - * @arg @ref LL_RCC_PLLI2SM_DIV_25 - * @arg @ref LL_RCC_PLLI2SM_DIV_26 - * @arg @ref LL_RCC_PLLI2SM_DIV_27 - * @arg @ref LL_RCC_PLLI2SM_DIV_28 - * @arg @ref LL_RCC_PLLI2SM_DIV_29 - * @arg @ref LL_RCC_PLLI2SM_DIV_30 - * @arg @ref LL_RCC_PLLI2SM_DIV_31 - * @arg @ref LL_RCC_PLLI2SM_DIV_32 - * @arg @ref LL_RCC_PLLI2SM_DIV_33 - * @arg @ref LL_RCC_PLLI2SM_DIV_34 - * @arg @ref LL_RCC_PLLI2SM_DIV_35 - * @arg @ref LL_RCC_PLLI2SM_DIV_36 - * @arg @ref LL_RCC_PLLI2SM_DIV_37 - * @arg @ref LL_RCC_PLLI2SM_DIV_38 - * @arg @ref LL_RCC_PLLI2SM_DIV_39 - * @arg @ref LL_RCC_PLLI2SM_DIV_40 - * @arg @ref LL_RCC_PLLI2SM_DIV_41 - * @arg @ref LL_RCC_PLLI2SM_DIV_42 - * @arg @ref LL_RCC_PLLI2SM_DIV_43 - * @arg @ref LL_RCC_PLLI2SM_DIV_44 - * @arg @ref LL_RCC_PLLI2SM_DIV_45 - * @arg @ref LL_RCC_PLLI2SM_DIV_46 - * @arg @ref LL_RCC_PLLI2SM_DIV_47 - * @arg @ref LL_RCC_PLLI2SM_DIV_48 - * @arg @ref LL_RCC_PLLI2SM_DIV_49 - * @arg @ref LL_RCC_PLLI2SM_DIV_50 - * @arg @ref LL_RCC_PLLI2SM_DIV_51 - * @arg @ref LL_RCC_PLLI2SM_DIV_52 - * @arg @ref LL_RCC_PLLI2SM_DIV_53 - * @arg @ref LL_RCC_PLLI2SM_DIV_54 - * @arg @ref LL_RCC_PLLI2SM_DIV_55 - * @arg @ref LL_RCC_PLLI2SM_DIV_56 - * @arg @ref LL_RCC_PLLI2SM_DIV_57 - * @arg @ref LL_RCC_PLLI2SM_DIV_58 - * @arg @ref LL_RCC_PLLI2SM_DIV_59 - * @arg @ref LL_RCC_PLLI2SM_DIV_60 - * @arg @ref LL_RCC_PLLI2SM_DIV_61 - * @arg @ref LL_RCC_PLLI2SM_DIV_62 - * @arg @ref LL_RCC_PLLI2SM_DIV_63 - * @param __PLLI2SN__ Between 50 and 432 - * @param __PLLI2SP__ This parameter can be one of the following values: - * @arg @ref LL_RCC_PLLI2SP_DIV_2 - * @arg @ref LL_RCC_PLLI2SP_DIV_4 - * @arg @ref LL_RCC_PLLI2SP_DIV_6 - * @arg @ref LL_RCC_PLLI2SP_DIV_8 - * @retval PLLI2S clock frequency (in Hz) - */ -#define __LL_RCC_CALC_PLLI2S_SPDIFRX_FREQ(__INPUTFREQ__, __PLLM__, __PLLI2SN__, __PLLI2SP__) (((__INPUTFREQ__) / (__PLLM__)) * (__PLLI2SN__) / \ - ((((__PLLI2SP__) >> RCC_PLLI2SCFGR_PLLI2SP_Pos) + 1U) * 2U)) - -#endif /* SPDIFRX */ - -/** - * @brief Helper macro to calculate the PLLI2S frequency used for I2S domain - * @note ex: @ref __LL_RCC_CALC_PLLI2S_I2S_FREQ (HSE_VALUE,@ref LL_RCC_PLLI2S_GetDivider (), - * @ref LL_RCC_PLLI2S_GetN (), @ref LL_RCC_PLLI2S_GetR ()); - * @param __INPUTFREQ__ PLL Input frequency (based on HSE/HSI) - * @param __PLLM__ This parameter can be one of the following values: - * @arg @ref LL_RCC_PLLI2SM_DIV_2 - * @arg @ref LL_RCC_PLLI2SM_DIV_3 - * @arg @ref LL_RCC_PLLI2SM_DIV_4 - * @arg @ref LL_RCC_PLLI2SM_DIV_5 - * @arg @ref LL_RCC_PLLI2SM_DIV_6 - * @arg @ref LL_RCC_PLLI2SM_DIV_7 - * @arg @ref LL_RCC_PLLI2SM_DIV_8 - * @arg @ref LL_RCC_PLLI2SM_DIV_9 - * @arg @ref LL_RCC_PLLI2SM_DIV_10 - * @arg @ref LL_RCC_PLLI2SM_DIV_11 - * @arg @ref LL_RCC_PLLI2SM_DIV_12 - * @arg @ref LL_RCC_PLLI2SM_DIV_13 - * @arg @ref LL_RCC_PLLI2SM_DIV_14 - * @arg @ref LL_RCC_PLLI2SM_DIV_15 - * @arg @ref LL_RCC_PLLI2SM_DIV_16 - * @arg @ref LL_RCC_PLLI2SM_DIV_17 - * @arg @ref LL_RCC_PLLI2SM_DIV_18 - * @arg @ref LL_RCC_PLLI2SM_DIV_19 - * @arg @ref LL_RCC_PLLI2SM_DIV_20 - * @arg @ref LL_RCC_PLLI2SM_DIV_21 - * @arg @ref LL_RCC_PLLI2SM_DIV_22 - * @arg @ref LL_RCC_PLLI2SM_DIV_23 - * @arg @ref LL_RCC_PLLI2SM_DIV_24 - * @arg @ref LL_RCC_PLLI2SM_DIV_25 - * @arg @ref LL_RCC_PLLI2SM_DIV_26 - * @arg @ref LL_RCC_PLLI2SM_DIV_27 - * @arg @ref LL_RCC_PLLI2SM_DIV_28 - * @arg @ref LL_RCC_PLLI2SM_DIV_29 - * @arg @ref LL_RCC_PLLI2SM_DIV_30 - * @arg @ref LL_RCC_PLLI2SM_DIV_31 - * @arg @ref LL_RCC_PLLI2SM_DIV_32 - * @arg @ref LL_RCC_PLLI2SM_DIV_33 - * @arg @ref LL_RCC_PLLI2SM_DIV_34 - * @arg @ref LL_RCC_PLLI2SM_DIV_35 - * @arg @ref LL_RCC_PLLI2SM_DIV_36 - * @arg @ref LL_RCC_PLLI2SM_DIV_37 - * @arg @ref LL_RCC_PLLI2SM_DIV_38 - * @arg @ref LL_RCC_PLLI2SM_DIV_39 - * @arg @ref LL_RCC_PLLI2SM_DIV_40 - * @arg @ref LL_RCC_PLLI2SM_DIV_41 - * @arg @ref LL_RCC_PLLI2SM_DIV_42 - * @arg @ref LL_RCC_PLLI2SM_DIV_43 - * @arg @ref LL_RCC_PLLI2SM_DIV_44 - * @arg @ref LL_RCC_PLLI2SM_DIV_45 - * @arg @ref LL_RCC_PLLI2SM_DIV_46 - * @arg @ref LL_RCC_PLLI2SM_DIV_47 - * @arg @ref LL_RCC_PLLI2SM_DIV_48 - * @arg @ref LL_RCC_PLLI2SM_DIV_49 - * @arg @ref LL_RCC_PLLI2SM_DIV_50 - * @arg @ref LL_RCC_PLLI2SM_DIV_51 - * @arg @ref LL_RCC_PLLI2SM_DIV_52 - * @arg @ref LL_RCC_PLLI2SM_DIV_53 - * @arg @ref LL_RCC_PLLI2SM_DIV_54 - * @arg @ref LL_RCC_PLLI2SM_DIV_55 - * @arg @ref LL_RCC_PLLI2SM_DIV_56 - * @arg @ref LL_RCC_PLLI2SM_DIV_57 - * @arg @ref LL_RCC_PLLI2SM_DIV_58 - * @arg @ref LL_RCC_PLLI2SM_DIV_59 - * @arg @ref LL_RCC_PLLI2SM_DIV_60 - * @arg @ref LL_RCC_PLLI2SM_DIV_61 - * @arg @ref LL_RCC_PLLI2SM_DIV_62 - * @arg @ref LL_RCC_PLLI2SM_DIV_63 - * @param __PLLI2SN__ Between 50/192(*) and 432 - * - * (*) value not defined in all devices. - * @param __PLLI2SR__ This parameter can be one of the following values: - * @arg @ref LL_RCC_PLLI2SR_DIV_2 - * @arg @ref LL_RCC_PLLI2SR_DIV_3 - * @arg @ref LL_RCC_PLLI2SR_DIV_4 - * @arg @ref LL_RCC_PLLI2SR_DIV_5 - * @arg @ref LL_RCC_PLLI2SR_DIV_6 - * @arg @ref LL_RCC_PLLI2SR_DIV_7 - * @retval PLLI2S clock frequency (in Hz) - */ -#define __LL_RCC_CALC_PLLI2S_I2S_FREQ(__INPUTFREQ__, __PLLM__, __PLLI2SN__, __PLLI2SR__) (((__INPUTFREQ__) / (__PLLM__)) * (__PLLI2SN__) / \ - ((__PLLI2SR__) >> RCC_PLLI2SCFGR_PLLI2SR_Pos)) - -#if defined(RCC_PLLI2SCFGR_PLLI2SQ) && !defined(RCC_DCKCFGR_PLLI2SDIVQ) -/** - * @brief Helper macro to calculate the PLLI2S frequency used for 48Mhz domain - * @note ex: @ref __LL_RCC_CALC_PLLI2S_48M_FREQ (HSE_VALUE,@ref LL_RCC_PLLI2S_GetDivider (), - * @ref LL_RCC_PLLI2S_GetN (), @ref LL_RCC_PLLI2S_GetQ ()); - * @param __INPUTFREQ__ PLL Input frequency (based on HSE/HSI) - * @param __PLLM__ This parameter can be one of the following values: - * @arg @ref LL_RCC_PLLI2SM_DIV_2 - * @arg @ref LL_RCC_PLLI2SM_DIV_3 - * @arg @ref LL_RCC_PLLI2SM_DIV_4 - * @arg @ref LL_RCC_PLLI2SM_DIV_5 - * @arg @ref LL_RCC_PLLI2SM_DIV_6 - * @arg @ref LL_RCC_PLLI2SM_DIV_7 - * @arg @ref LL_RCC_PLLI2SM_DIV_8 - * @arg @ref LL_RCC_PLLI2SM_DIV_9 - * @arg @ref LL_RCC_PLLI2SM_DIV_10 - * @arg @ref LL_RCC_PLLI2SM_DIV_11 - * @arg @ref LL_RCC_PLLI2SM_DIV_12 - * @arg @ref LL_RCC_PLLI2SM_DIV_13 - * @arg @ref LL_RCC_PLLI2SM_DIV_14 - * @arg @ref LL_RCC_PLLI2SM_DIV_15 - * @arg @ref LL_RCC_PLLI2SM_DIV_16 - * @arg @ref LL_RCC_PLLI2SM_DIV_17 - * @arg @ref LL_RCC_PLLI2SM_DIV_18 - * @arg @ref LL_RCC_PLLI2SM_DIV_19 - * @arg @ref LL_RCC_PLLI2SM_DIV_20 - * @arg @ref LL_RCC_PLLI2SM_DIV_21 - * @arg @ref LL_RCC_PLLI2SM_DIV_22 - * @arg @ref LL_RCC_PLLI2SM_DIV_23 - * @arg @ref LL_RCC_PLLI2SM_DIV_24 - * @arg @ref LL_RCC_PLLI2SM_DIV_25 - * @arg @ref LL_RCC_PLLI2SM_DIV_26 - * @arg @ref LL_RCC_PLLI2SM_DIV_27 - * @arg @ref LL_RCC_PLLI2SM_DIV_28 - * @arg @ref LL_RCC_PLLI2SM_DIV_29 - * @arg @ref LL_RCC_PLLI2SM_DIV_30 - * @arg @ref LL_RCC_PLLI2SM_DIV_31 - * @arg @ref LL_RCC_PLLI2SM_DIV_32 - * @arg @ref LL_RCC_PLLI2SM_DIV_33 - * @arg @ref LL_RCC_PLLI2SM_DIV_34 - * @arg @ref LL_RCC_PLLI2SM_DIV_35 - * @arg @ref LL_RCC_PLLI2SM_DIV_36 - * @arg @ref LL_RCC_PLLI2SM_DIV_37 - * @arg @ref LL_RCC_PLLI2SM_DIV_38 - * @arg @ref LL_RCC_PLLI2SM_DIV_39 - * @arg @ref LL_RCC_PLLI2SM_DIV_40 - * @arg @ref LL_RCC_PLLI2SM_DIV_41 - * @arg @ref LL_RCC_PLLI2SM_DIV_42 - * @arg @ref LL_RCC_PLLI2SM_DIV_43 - * @arg @ref LL_RCC_PLLI2SM_DIV_44 - * @arg @ref LL_RCC_PLLI2SM_DIV_45 - * @arg @ref LL_RCC_PLLI2SM_DIV_46 - * @arg @ref LL_RCC_PLLI2SM_DIV_47 - * @arg @ref LL_RCC_PLLI2SM_DIV_48 - * @arg @ref LL_RCC_PLLI2SM_DIV_49 - * @arg @ref LL_RCC_PLLI2SM_DIV_50 - * @arg @ref LL_RCC_PLLI2SM_DIV_51 - * @arg @ref LL_RCC_PLLI2SM_DIV_52 - * @arg @ref LL_RCC_PLLI2SM_DIV_53 - * @arg @ref LL_RCC_PLLI2SM_DIV_54 - * @arg @ref LL_RCC_PLLI2SM_DIV_55 - * @arg @ref LL_RCC_PLLI2SM_DIV_56 - * @arg @ref LL_RCC_PLLI2SM_DIV_57 - * @arg @ref LL_RCC_PLLI2SM_DIV_58 - * @arg @ref LL_RCC_PLLI2SM_DIV_59 - * @arg @ref LL_RCC_PLLI2SM_DIV_60 - * @arg @ref LL_RCC_PLLI2SM_DIV_61 - * @arg @ref LL_RCC_PLLI2SM_DIV_62 - * @arg @ref LL_RCC_PLLI2SM_DIV_63 - * @param __PLLI2SN__ Between 50 and 432 - * @param __PLLI2SQ__ This parameter can be one of the following values: - * @arg @ref LL_RCC_PLLI2SQ_DIV_2 - * @arg @ref LL_RCC_PLLI2SQ_DIV_3 - * @arg @ref LL_RCC_PLLI2SQ_DIV_4 - * @arg @ref LL_RCC_PLLI2SQ_DIV_5 - * @arg @ref LL_RCC_PLLI2SQ_DIV_6 - * @arg @ref LL_RCC_PLLI2SQ_DIV_7 - * @arg @ref LL_RCC_PLLI2SQ_DIV_8 - * @arg @ref LL_RCC_PLLI2SQ_DIV_9 - * @arg @ref LL_RCC_PLLI2SQ_DIV_10 - * @arg @ref LL_RCC_PLLI2SQ_DIV_11 - * @arg @ref LL_RCC_PLLI2SQ_DIV_12 - * @arg @ref LL_RCC_PLLI2SQ_DIV_13 - * @arg @ref LL_RCC_PLLI2SQ_DIV_14 - * @arg @ref LL_RCC_PLLI2SQ_DIV_15 - * @retval PLLI2S clock frequency (in Hz) - */ -#define __LL_RCC_CALC_PLLI2S_48M_FREQ(__INPUTFREQ__, __PLLM__, __PLLI2SN__, __PLLI2SQ__) (((__INPUTFREQ__) / (__PLLM__)) * (__PLLI2SN__) / \ - ((__PLLI2SQ__) >> RCC_PLLI2SCFGR_PLLI2SQ_Pos)) - -#endif /* RCC_PLLI2SCFGR_PLLI2SQ && !RCC_DCKCFGR_PLLI2SDIVQ */ -#endif /* RCC_PLLI2S_SUPPORT */ - -/** - * @brief Helper macro to calculate the HCLK frequency - * @param __SYSCLKFREQ__ SYSCLK frequency (based on HSE/HSI/PLLCLK) - * @param __AHBPRESCALER__ This parameter can be one of the following values: - * @arg @ref LL_RCC_SYSCLK_DIV_1 - * @arg @ref LL_RCC_SYSCLK_DIV_2 - * @arg @ref LL_RCC_SYSCLK_DIV_4 - * @arg @ref LL_RCC_SYSCLK_DIV_8 - * @arg @ref LL_RCC_SYSCLK_DIV_16 - * @arg @ref LL_RCC_SYSCLK_DIV_64 - * @arg @ref LL_RCC_SYSCLK_DIV_128 - * @arg @ref LL_RCC_SYSCLK_DIV_256 - * @arg @ref LL_RCC_SYSCLK_DIV_512 - * @retval HCLK clock frequency (in Hz) - */ -#define __LL_RCC_CALC_HCLK_FREQ(__SYSCLKFREQ__, __AHBPRESCALER__) ((__SYSCLKFREQ__) >> AHBPrescTable[((__AHBPRESCALER__) & RCC_CFGR_HPRE) >> RCC_CFGR_HPRE_Pos]) - -/** - * @brief Helper macro to calculate the PCLK1 frequency (ABP1) - * @param __HCLKFREQ__ HCLK frequency - * @param __APB1PRESCALER__ This parameter can be one of the following values: - * @arg @ref LL_RCC_APB1_DIV_1 - * @arg @ref LL_RCC_APB1_DIV_2 - * @arg @ref LL_RCC_APB1_DIV_4 - * @arg @ref LL_RCC_APB1_DIV_8 - * @arg @ref LL_RCC_APB1_DIV_16 - * @retval PCLK1 clock frequency (in Hz) - */ -#define __LL_RCC_CALC_PCLK1_FREQ(__HCLKFREQ__, __APB1PRESCALER__) ((__HCLKFREQ__) >> APBPrescTable[(__APB1PRESCALER__) >> RCC_CFGR_PPRE1_Pos]) - -/** - * @brief Helper macro to calculate the PCLK2 frequency (ABP2) - * @param __HCLKFREQ__ HCLK frequency - * @param __APB2PRESCALER__ This parameter can be one of the following values: - * @arg @ref LL_RCC_APB2_DIV_1 - * @arg @ref LL_RCC_APB2_DIV_2 - * @arg @ref LL_RCC_APB2_DIV_4 - * @arg @ref LL_RCC_APB2_DIV_8 - * @arg @ref LL_RCC_APB2_DIV_16 - * @retval PCLK2 clock frequency (in Hz) - */ -#define __LL_RCC_CALC_PCLK2_FREQ(__HCLKFREQ__, __APB2PRESCALER__) ((__HCLKFREQ__) >> APBPrescTable[(__APB2PRESCALER__) >> RCC_CFGR_PPRE2_Pos]) - -/** - * @} - */ - -/** - * @} - */ - -/* Exported functions --------------------------------------------------------*/ -/** @defgroup RCC_LL_Exported_Functions RCC Exported Functions - * @{ - */ - -/** @defgroup RCC_LL_EF_HSE HSE - * @{ - */ - -/** - * @brief Enable the Clock Security System. - * @rmtoll CR CSSON LL_RCC_HSE_EnableCSS - * @retval None - */ -__STATIC_INLINE void LL_RCC_HSE_EnableCSS(void) -{ - SET_BIT(RCC->CR, RCC_CR_CSSON); -} - -/** - * @brief Enable HSE external oscillator (HSE Bypass) - * @rmtoll CR HSEBYP LL_RCC_HSE_EnableBypass - * @retval None - */ -__STATIC_INLINE void LL_RCC_HSE_EnableBypass(void) -{ - SET_BIT(RCC->CR, RCC_CR_HSEBYP); -} - -/** - * @brief Disable HSE external oscillator (HSE Bypass) - * @rmtoll CR HSEBYP LL_RCC_HSE_DisableBypass - * @retval None - */ -__STATIC_INLINE void LL_RCC_HSE_DisableBypass(void) -{ - CLEAR_BIT(RCC->CR, RCC_CR_HSEBYP); -} - -/** - * @brief Enable HSE crystal oscillator (HSE ON) - * @rmtoll CR HSEON LL_RCC_HSE_Enable - * @retval None - */ -__STATIC_INLINE void LL_RCC_HSE_Enable(void) -{ - SET_BIT(RCC->CR, RCC_CR_HSEON); -} - -/** - * @brief Disable HSE crystal oscillator (HSE ON) - * @rmtoll CR HSEON LL_RCC_HSE_Disable - * @retval None - */ -__STATIC_INLINE void LL_RCC_HSE_Disable(void) -{ - CLEAR_BIT(RCC->CR, RCC_CR_HSEON); -} - -/** - * @brief Check if HSE oscillator Ready - * @rmtoll CR HSERDY LL_RCC_HSE_IsReady - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_RCC_HSE_IsReady(void) -{ - return (READ_BIT(RCC->CR, RCC_CR_HSERDY) == (RCC_CR_HSERDY)); -} - -/** - * @} - */ - -/** @defgroup RCC_LL_EF_HSI HSI - * @{ - */ - -/** - * @brief Enable HSI oscillator - * @rmtoll CR HSION LL_RCC_HSI_Enable - * @retval None - */ -__STATIC_INLINE void LL_RCC_HSI_Enable(void) -{ - SET_BIT(RCC->CR, RCC_CR_HSION); -} - -/** - * @brief Disable HSI oscillator - * @rmtoll CR HSION LL_RCC_HSI_Disable - * @retval None - */ -__STATIC_INLINE void LL_RCC_HSI_Disable(void) -{ - CLEAR_BIT(RCC->CR, RCC_CR_HSION); -} - -/** - * @brief Check if HSI clock is ready - * @rmtoll CR HSIRDY LL_RCC_HSI_IsReady - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_RCC_HSI_IsReady(void) -{ - return (READ_BIT(RCC->CR, RCC_CR_HSIRDY) == (RCC_CR_HSIRDY)); -} - -/** - * @brief Get HSI Calibration value - * @note When HSITRIM is written, HSICAL is updated with the sum of - * HSITRIM and the factory trim value - * @rmtoll CR HSICAL LL_RCC_HSI_GetCalibration - * @retval Between Min_Data = 0x00 and Max_Data = 0xFF - */ -__STATIC_INLINE uint32_t LL_RCC_HSI_GetCalibration(void) -{ - return (uint32_t)(READ_BIT(RCC->CR, RCC_CR_HSICAL) >> RCC_CR_HSICAL_Pos); -} - -/** - * @brief Set HSI Calibration trimming - * @note user-programmable trimming value that is added to the HSICAL - * @note Default value is 16, which, when added to the HSICAL value, - * should trim the HSI to 16 MHz +/- 1 % - * @rmtoll CR HSITRIM LL_RCC_HSI_SetCalibTrimming - * @param Value Between Min_Data = 0 and Max_Data = 31 - * @retval None - */ -__STATIC_INLINE void LL_RCC_HSI_SetCalibTrimming(uint32_t Value) -{ - MODIFY_REG(RCC->CR, RCC_CR_HSITRIM, Value << RCC_CR_HSITRIM_Pos); -} - -/** - * @brief Get HSI Calibration trimming - * @rmtoll CR HSITRIM LL_RCC_HSI_GetCalibTrimming - * @retval Between Min_Data = 0 and Max_Data = 31 - */ -__STATIC_INLINE uint32_t LL_RCC_HSI_GetCalibTrimming(void) -{ - return (uint32_t)(READ_BIT(RCC->CR, RCC_CR_HSITRIM) >> RCC_CR_HSITRIM_Pos); -} - -/** - * @} - */ - -/** @defgroup RCC_LL_EF_LSE LSE - * @{ - */ - -/** - * @brief Enable Low Speed External (LSE) crystal. - * @rmtoll BDCR LSEON LL_RCC_LSE_Enable - * @retval None - */ -__STATIC_INLINE void LL_RCC_LSE_Enable(void) -{ - SET_BIT(RCC->BDCR, RCC_BDCR_LSEON); -} - -/** - * @brief Disable Low Speed External (LSE) crystal. - * @rmtoll BDCR LSEON LL_RCC_LSE_Disable - * @retval None - */ -__STATIC_INLINE void LL_RCC_LSE_Disable(void) -{ - CLEAR_BIT(RCC->BDCR, RCC_BDCR_LSEON); -} - -/** - * @brief Enable external clock source (LSE bypass). - * @rmtoll BDCR LSEBYP LL_RCC_LSE_EnableBypass - * @retval None - */ -__STATIC_INLINE void LL_RCC_LSE_EnableBypass(void) -{ - SET_BIT(RCC->BDCR, RCC_BDCR_LSEBYP); -} - -/** - * @brief Disable external clock source (LSE bypass). - * @rmtoll BDCR LSEBYP LL_RCC_LSE_DisableBypass - * @retval None - */ -__STATIC_INLINE void LL_RCC_LSE_DisableBypass(void) -{ - CLEAR_BIT(RCC->BDCR, RCC_BDCR_LSEBYP); -} - -/** - * @brief Check if LSE oscillator Ready - * @rmtoll BDCR LSERDY LL_RCC_LSE_IsReady - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_RCC_LSE_IsReady(void) -{ - return (READ_BIT(RCC->BDCR, RCC_BDCR_LSERDY) == (RCC_BDCR_LSERDY)); -} - -#if defined(RCC_BDCR_LSEMOD) -/** - * @brief Enable LSE high drive mode. - * @note LSE high drive mode can be enabled only when the LSE clock is disabled - * @rmtoll BDCR LSEMOD LL_RCC_LSE_EnableHighDriveMode - * @retval None - */ -__STATIC_INLINE void LL_RCC_LSE_EnableHighDriveMode(void) -{ - SET_BIT(RCC->BDCR, RCC_BDCR_LSEMOD); -} - -/** - * @brief Disable LSE high drive mode. - * @note LSE high drive mode can be disabled only when the LSE clock is disabled - * @rmtoll BDCR LSEMOD LL_RCC_LSE_DisableHighDriveMode - * @retval None - */ -__STATIC_INLINE void LL_RCC_LSE_DisableHighDriveMode(void) -{ - CLEAR_BIT(RCC->BDCR, RCC_BDCR_LSEMOD); -} -#endif /* RCC_BDCR_LSEMOD */ - -/** - * @} - */ - -/** @defgroup RCC_LL_EF_LSI LSI - * @{ - */ - -/** - * @brief Enable LSI Oscillator - * @rmtoll CSR LSION LL_RCC_LSI_Enable - * @retval None - */ -__STATIC_INLINE void LL_RCC_LSI_Enable(void) -{ - SET_BIT(RCC->CSR, RCC_CSR_LSION); -} - -/** - * @brief Disable LSI Oscillator - * @rmtoll CSR LSION LL_RCC_LSI_Disable - * @retval None - */ -__STATIC_INLINE void LL_RCC_LSI_Disable(void) -{ - CLEAR_BIT(RCC->CSR, RCC_CSR_LSION); -} - -/** - * @brief Check if LSI is Ready - * @rmtoll CSR LSIRDY LL_RCC_LSI_IsReady - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_RCC_LSI_IsReady(void) -{ - return (READ_BIT(RCC->CSR, RCC_CSR_LSIRDY) == (RCC_CSR_LSIRDY)); -} - -/** - * @} - */ - -/** @defgroup RCC_LL_EF_System System - * @{ - */ - -/** - * @brief Configure the system clock source - * @rmtoll CFGR SW LL_RCC_SetSysClkSource - * @param Source This parameter can be one of the following values: - * @arg @ref LL_RCC_SYS_CLKSOURCE_HSI - * @arg @ref LL_RCC_SYS_CLKSOURCE_HSE - * @arg @ref LL_RCC_SYS_CLKSOURCE_PLL - * @arg @ref LL_RCC_SYS_CLKSOURCE_PLLR (*) - * - * (*) value not defined in all devices. - * @retval None - */ -__STATIC_INLINE void LL_RCC_SetSysClkSource(uint32_t Source) -{ - MODIFY_REG(RCC->CFGR, RCC_CFGR_SW, Source); -} - -/** - * @brief Get the system clock source - * @rmtoll CFGR SWS LL_RCC_GetSysClkSource - * @retval Returned value can be one of the following values: - * @arg @ref LL_RCC_SYS_CLKSOURCE_STATUS_HSI - * @arg @ref LL_RCC_SYS_CLKSOURCE_STATUS_HSE - * @arg @ref LL_RCC_SYS_CLKSOURCE_STATUS_PLL - * @arg @ref LL_RCC_SYS_CLKSOURCE_STATUS_PLLR (*) - * - * (*) value not defined in all devices. - */ -__STATIC_INLINE uint32_t LL_RCC_GetSysClkSource(void) -{ - return (uint32_t)(READ_BIT(RCC->CFGR, RCC_CFGR_SWS)); -} - -/** - * @brief Set AHB prescaler - * @rmtoll CFGR HPRE LL_RCC_SetAHBPrescaler - * @param Prescaler This parameter can be one of the following values: - * @arg @ref LL_RCC_SYSCLK_DIV_1 - * @arg @ref LL_RCC_SYSCLK_DIV_2 - * @arg @ref LL_RCC_SYSCLK_DIV_4 - * @arg @ref LL_RCC_SYSCLK_DIV_8 - * @arg @ref LL_RCC_SYSCLK_DIV_16 - * @arg @ref LL_RCC_SYSCLK_DIV_64 - * @arg @ref LL_RCC_SYSCLK_DIV_128 - * @arg @ref LL_RCC_SYSCLK_DIV_256 - * @arg @ref LL_RCC_SYSCLK_DIV_512 - * @retval None - */ -__STATIC_INLINE void LL_RCC_SetAHBPrescaler(uint32_t Prescaler) -{ - MODIFY_REG(RCC->CFGR, RCC_CFGR_HPRE, Prescaler); -} - -/** - * @brief Set APB1 prescaler - * @rmtoll CFGR PPRE1 LL_RCC_SetAPB1Prescaler - * @param Prescaler This parameter can be one of the following values: - * @arg @ref LL_RCC_APB1_DIV_1 - * @arg @ref LL_RCC_APB1_DIV_2 - * @arg @ref LL_RCC_APB1_DIV_4 - * @arg @ref LL_RCC_APB1_DIV_8 - * @arg @ref LL_RCC_APB1_DIV_16 - * @retval None - */ -__STATIC_INLINE void LL_RCC_SetAPB1Prescaler(uint32_t Prescaler) -{ - MODIFY_REG(RCC->CFGR, RCC_CFGR_PPRE1, Prescaler); -} - -/** - * @brief Set APB2 prescaler - * @rmtoll CFGR PPRE2 LL_RCC_SetAPB2Prescaler - * @param Prescaler This parameter can be one of the following values: - * @arg @ref LL_RCC_APB2_DIV_1 - * @arg @ref LL_RCC_APB2_DIV_2 - * @arg @ref LL_RCC_APB2_DIV_4 - * @arg @ref LL_RCC_APB2_DIV_8 - * @arg @ref LL_RCC_APB2_DIV_16 - * @retval None - */ -__STATIC_INLINE void LL_RCC_SetAPB2Prescaler(uint32_t Prescaler) -{ - MODIFY_REG(RCC->CFGR, RCC_CFGR_PPRE2, Prescaler); -} - -/** - * @brief Get AHB prescaler - * @rmtoll CFGR HPRE LL_RCC_GetAHBPrescaler - * @retval Returned value can be one of the following values: - * @arg @ref LL_RCC_SYSCLK_DIV_1 - * @arg @ref LL_RCC_SYSCLK_DIV_2 - * @arg @ref LL_RCC_SYSCLK_DIV_4 - * @arg @ref LL_RCC_SYSCLK_DIV_8 - * @arg @ref LL_RCC_SYSCLK_DIV_16 - * @arg @ref LL_RCC_SYSCLK_DIV_64 - * @arg @ref LL_RCC_SYSCLK_DIV_128 - * @arg @ref LL_RCC_SYSCLK_DIV_256 - * @arg @ref LL_RCC_SYSCLK_DIV_512 - */ -__STATIC_INLINE uint32_t LL_RCC_GetAHBPrescaler(void) -{ - return (uint32_t)(READ_BIT(RCC->CFGR, RCC_CFGR_HPRE)); -} - -/** - * @brief Get APB1 prescaler - * @rmtoll CFGR PPRE1 LL_RCC_GetAPB1Prescaler - * @retval Returned value can be one of the following values: - * @arg @ref LL_RCC_APB1_DIV_1 - * @arg @ref LL_RCC_APB1_DIV_2 - * @arg @ref LL_RCC_APB1_DIV_4 - * @arg @ref LL_RCC_APB1_DIV_8 - * @arg @ref LL_RCC_APB1_DIV_16 - */ -__STATIC_INLINE uint32_t LL_RCC_GetAPB1Prescaler(void) -{ - return (uint32_t)(READ_BIT(RCC->CFGR, RCC_CFGR_PPRE1)); -} - -/** - * @brief Get APB2 prescaler - * @rmtoll CFGR PPRE2 LL_RCC_GetAPB2Prescaler - * @retval Returned value can be one of the following values: - * @arg @ref LL_RCC_APB2_DIV_1 - * @arg @ref LL_RCC_APB2_DIV_2 - * @arg @ref LL_RCC_APB2_DIV_4 - * @arg @ref LL_RCC_APB2_DIV_8 - * @arg @ref LL_RCC_APB2_DIV_16 - */ -__STATIC_INLINE uint32_t LL_RCC_GetAPB2Prescaler(void) -{ - return (uint32_t)(READ_BIT(RCC->CFGR, RCC_CFGR_PPRE2)); -} - -/** - * @} - */ - -/** @defgroup RCC_LL_EF_MCO MCO - * @{ - */ - -#if defined(RCC_CFGR_MCO1EN) -/** - * @brief Enable MCO1 output - * @rmtoll CFGR RCC_CFGR_MCO1EN LL_RCC_MCO1_Enable - * @retval None - */ -__STATIC_INLINE void LL_RCC_MCO1_Enable(void) -{ - SET_BIT(RCC->CFGR, RCC_CFGR_MCO1EN); -} - -/** - * @brief Disable MCO1 output - * @rmtoll CFGR RCC_CFGR_MCO1EN LL_RCC_MCO1_Disable - * @retval None - */ -__STATIC_INLINE void LL_RCC_MCO1_Disable(void) -{ - CLEAR_BIT(RCC->CFGR, RCC_CFGR_MCO1EN); -} -#endif /* RCC_CFGR_MCO1EN */ - -#if defined(RCC_CFGR_MCO2EN) -/** - * @brief Enable MCO2 output - * @rmtoll CFGR RCC_CFGR_MCO2EN LL_RCC_MCO2_Enable - * @retval None - */ -__STATIC_INLINE void LL_RCC_MCO2_Enable(void) -{ - SET_BIT(RCC->CFGR, RCC_CFGR_MCO2EN); -} - -/** - * @brief Disable MCO2 output - * @rmtoll CFGR RCC_CFGR_MCO2EN LL_RCC_MCO2_Disable - * @retval None - */ -__STATIC_INLINE void LL_RCC_MCO2_Disable(void) -{ - CLEAR_BIT(RCC->CFGR, RCC_CFGR_MCO2EN); -} -#endif /* RCC_CFGR_MCO2EN */ - -/** - * @brief Configure MCOx - * @rmtoll CFGR MCO1 LL_RCC_ConfigMCO\n - * CFGR MCO1PRE LL_RCC_ConfigMCO\n - * CFGR MCO2 LL_RCC_ConfigMCO\n - * CFGR MCO2PRE LL_RCC_ConfigMCO - * @param MCOxSource This parameter can be one of the following values: - * @arg @ref LL_RCC_MCO1SOURCE_HSI - * @arg @ref LL_RCC_MCO1SOURCE_LSE - * @arg @ref LL_RCC_MCO1SOURCE_HSE - * @arg @ref LL_RCC_MCO1SOURCE_PLLCLK - * @arg @ref LL_RCC_MCO2SOURCE_SYSCLK - * @arg @ref LL_RCC_MCO2SOURCE_PLLI2S - * @arg @ref LL_RCC_MCO2SOURCE_HSE - * @arg @ref LL_RCC_MCO2SOURCE_PLLCLK - * @param MCOxPrescaler This parameter can be one of the following values: - * @arg @ref LL_RCC_MCO1_DIV_1 - * @arg @ref LL_RCC_MCO1_DIV_2 - * @arg @ref LL_RCC_MCO1_DIV_3 - * @arg @ref LL_RCC_MCO1_DIV_4 - * @arg @ref LL_RCC_MCO1_DIV_5 - * @arg @ref LL_RCC_MCO2_DIV_1 - * @arg @ref LL_RCC_MCO2_DIV_2 - * @arg @ref LL_RCC_MCO2_DIV_3 - * @arg @ref LL_RCC_MCO2_DIV_4 - * @arg @ref LL_RCC_MCO2_DIV_5 - * @retval None - */ -__STATIC_INLINE void LL_RCC_ConfigMCO(uint32_t MCOxSource, uint32_t MCOxPrescaler) -{ - MODIFY_REG(RCC->CFGR, (MCOxSource & 0xFFFF0000U) | (MCOxPrescaler & 0xFFFF0000U), (MCOxSource << 16U) | (MCOxPrescaler << 16U)); -} - -/** - * @} - */ - -/** @defgroup RCC_LL_EF_Peripheral_Clock_Source Peripheral Clock Source - * @{ - */ -#if defined(FMPI2C1) -/** - * @brief Configure FMPI2C clock source - * @rmtoll DCKCFGR2 FMPI2C1SEL LL_RCC_SetFMPI2CClockSource - * @param FMPI2CxSource This parameter can be one of the following values: - * @arg @ref LL_RCC_FMPI2C1_CLKSOURCE_PCLK1 - * @arg @ref LL_RCC_FMPI2C1_CLKSOURCE_SYSCLK - * @arg @ref LL_RCC_FMPI2C1_CLKSOURCE_HSI - * @retval None - */ -__STATIC_INLINE void LL_RCC_SetFMPI2CClockSource(uint32_t FMPI2CxSource) -{ - MODIFY_REG(RCC->DCKCFGR2, RCC_DCKCFGR2_FMPI2C1SEL, FMPI2CxSource); -} -#endif /* FMPI2C1 */ - -#if defined(LPTIM1) -/** - * @brief Configure LPTIMx clock source - * @rmtoll DCKCFGR2 LPTIM1SEL LL_RCC_SetLPTIMClockSource - * @param LPTIMxSource This parameter can be one of the following values: - * @arg @ref LL_RCC_LPTIM1_CLKSOURCE_PCLK1 - * @arg @ref LL_RCC_LPTIM1_CLKSOURCE_HSI - * @arg @ref LL_RCC_LPTIM1_CLKSOURCE_LSI - * @arg @ref LL_RCC_LPTIM1_CLKSOURCE_LSE - * @retval None - */ -__STATIC_INLINE void LL_RCC_SetLPTIMClockSource(uint32_t LPTIMxSource) -{ - MODIFY_REG(RCC->DCKCFGR2, RCC_DCKCFGR2_LPTIM1SEL, LPTIMxSource); -} -#endif /* LPTIM1 */ - -#if defined(SAI1) -/** - * @brief Configure SAIx clock source - * @rmtoll DCKCFGR SAI1SRC LL_RCC_SetSAIClockSource\n - * DCKCFGR SAI2SRC LL_RCC_SetSAIClockSource\n - * DCKCFGR SAI1ASRC LL_RCC_SetSAIClockSource\n - * DCKCFGR SAI1BSRC LL_RCC_SetSAIClockSource - * @param SAIxSource This parameter can be one of the following values: - * @arg @ref LL_RCC_SAI1_CLKSOURCE_PLLSAI (*) - * @arg @ref LL_RCC_SAI1_CLKSOURCE_PLLI2S (*) - * @arg @ref LL_RCC_SAI1_CLKSOURCE_PLL (*) - * @arg @ref LL_RCC_SAI1_CLKSOURCE_PIN (*) - * @arg @ref LL_RCC_SAI2_CLKSOURCE_PLLSAI (*) - * @arg @ref LL_RCC_SAI2_CLKSOURCE_PLLI2S (*) - * @arg @ref LL_RCC_SAI2_CLKSOURCE_PLL (*) - * @arg @ref LL_RCC_SAI2_CLKSOURCE_PLLSRC (*) - * @arg @ref LL_RCC_SAI1_A_CLKSOURCE_PLLSAI (*) - * @arg @ref LL_RCC_SAI1_A_CLKSOURCE_PLLI2S (*) - * @arg @ref LL_RCC_SAI1_A_CLKSOURCE_PIN (*) - * @arg @ref LL_RCC_SAI1_A_CLKSOURCE_PLL (*) - * @arg @ref LL_RCC_SAI1_A_CLKSOURCE_PLLSRC (*) - * @arg @ref LL_RCC_SAI1_B_CLKSOURCE_PLLSAI (*) - * @arg @ref LL_RCC_SAI1_B_CLKSOURCE_PLLI2S (*) - * @arg @ref LL_RCC_SAI1_B_CLKSOURCE_PIN (*) - * @arg @ref LL_RCC_SAI1_B_CLKSOURCE_PLL (*) - * @arg @ref LL_RCC_SAI1_B_CLKSOURCE_PLLSRC (*) - * - * (*) value not defined in all devices. - * @retval None - */ -__STATIC_INLINE void LL_RCC_SetSAIClockSource(uint32_t SAIxSource) -{ - MODIFY_REG(RCC->DCKCFGR, (SAIxSource & 0xFFFF0000U), (SAIxSource << 16U)); -} -#endif /* SAI1 */ - -#if defined(RCC_DCKCFGR_SDIOSEL) || defined(RCC_DCKCFGR2_SDIOSEL) -/** - * @brief Configure SDIO clock source - * @rmtoll DCKCFGR SDIOSEL LL_RCC_SetSDIOClockSource\n - * DCKCFGR2 SDIOSEL LL_RCC_SetSDIOClockSource - * @param SDIOxSource This parameter can be one of the following values: - * @arg @ref LL_RCC_SDIO_CLKSOURCE_PLL48CLK - * @arg @ref LL_RCC_SDIO_CLKSOURCE_SYSCLK - * @retval None - */ -__STATIC_INLINE void LL_RCC_SetSDIOClockSource(uint32_t SDIOxSource) -{ -#if defined(RCC_DCKCFGR_SDIOSEL) - MODIFY_REG(RCC->DCKCFGR, RCC_DCKCFGR_SDIOSEL, SDIOxSource); -#else - MODIFY_REG(RCC->DCKCFGR2, RCC_DCKCFGR2_SDIOSEL, SDIOxSource); -#endif /* RCC_DCKCFGR_SDIOSEL */ -} -#endif /* RCC_DCKCFGR_SDIOSEL || RCC_DCKCFGR2_SDIOSEL */ - -#if defined(RCC_DCKCFGR_CK48MSEL) || defined(RCC_DCKCFGR2_CK48MSEL) -/** - * @brief Configure 48Mhz domain clock source - * @rmtoll DCKCFGR CK48MSEL LL_RCC_SetCK48MClockSource\n - * DCKCFGR2 CK48MSEL LL_RCC_SetCK48MClockSource - * @param CK48MxSource This parameter can be one of the following values: - * @arg @ref LL_RCC_CK48M_CLKSOURCE_PLL - * @arg @ref LL_RCC_CK48M_CLKSOURCE_PLLSAI (*) - * @arg @ref LL_RCC_CK48M_CLKSOURCE_PLLI2S (*) - * - * (*) value not defined in all devices. - * @retval None - */ -__STATIC_INLINE void LL_RCC_SetCK48MClockSource(uint32_t CK48MxSource) -{ -#if defined(RCC_DCKCFGR_CK48MSEL) - MODIFY_REG(RCC->DCKCFGR, RCC_DCKCFGR_CK48MSEL, CK48MxSource); -#else - MODIFY_REG(RCC->DCKCFGR2, RCC_DCKCFGR2_CK48MSEL, CK48MxSource); -#endif /* RCC_DCKCFGR_CK48MSEL */ -} - -#if defined(RNG) -/** - * @brief Configure RNG clock source - * @rmtoll DCKCFGR CK48MSEL LL_RCC_SetRNGClockSource\n - * DCKCFGR2 CK48MSEL LL_RCC_SetRNGClockSource - * @param RNGxSource This parameter can be one of the following values: - * @arg @ref LL_RCC_RNG_CLKSOURCE_PLL - * @arg @ref LL_RCC_RNG_CLKSOURCE_PLLSAI (*) - * @arg @ref LL_RCC_RNG_CLKSOURCE_PLLI2S (*) - * - * (*) value not defined in all devices. - * @retval None - */ -__STATIC_INLINE void LL_RCC_SetRNGClockSource(uint32_t RNGxSource) -{ -#if defined(RCC_DCKCFGR_CK48MSEL) - MODIFY_REG(RCC->DCKCFGR, RCC_DCKCFGR_CK48MSEL, RNGxSource); -#else - MODIFY_REG(RCC->DCKCFGR2, RCC_DCKCFGR2_CK48MSEL, RNGxSource); -#endif /* RCC_DCKCFGR_CK48MSEL */ -} -#endif /* RNG */ - -#if defined(USB_OTG_FS) || defined(USB_OTG_HS) -/** - * @brief Configure USB clock source - * @rmtoll DCKCFGR CK48MSEL LL_RCC_SetUSBClockSource\n - * DCKCFGR2 CK48MSEL LL_RCC_SetUSBClockSource - * @param USBxSource This parameter can be one of the following values: - * @arg @ref LL_RCC_USB_CLKSOURCE_PLL - * @arg @ref LL_RCC_USB_CLKSOURCE_PLLSAI (*) - * @arg @ref LL_RCC_USB_CLKSOURCE_PLLI2S (*) - * - * (*) value not defined in all devices. - * @retval None - */ -__STATIC_INLINE void LL_RCC_SetUSBClockSource(uint32_t USBxSource) -{ -#if defined(RCC_DCKCFGR_CK48MSEL) - MODIFY_REG(RCC->DCKCFGR, RCC_DCKCFGR_CK48MSEL, USBxSource); -#else - MODIFY_REG(RCC->DCKCFGR2, RCC_DCKCFGR2_CK48MSEL, USBxSource); -#endif /* RCC_DCKCFGR_CK48MSEL */ -} -#endif /* USB_OTG_FS || USB_OTG_HS */ -#endif /* RCC_DCKCFGR_CK48MSEL || RCC_DCKCFGR2_CK48MSEL */ - -#if defined(CEC) -/** - * @brief Configure CEC clock source - * @rmtoll DCKCFGR2 CECSEL LL_RCC_SetCECClockSource - * @param Source This parameter can be one of the following values: - * @arg @ref LL_RCC_CEC_CLKSOURCE_HSI_DIV488 - * @arg @ref LL_RCC_CEC_CLKSOURCE_LSE - * @retval None - */ -__STATIC_INLINE void LL_RCC_SetCECClockSource(uint32_t Source) -{ - MODIFY_REG(RCC->DCKCFGR2, RCC_DCKCFGR2_CECSEL, Source); -} -#endif /* CEC */ - -/** - * @brief Configure I2S clock source - * @rmtoll CFGR I2SSRC LL_RCC_SetI2SClockSource\n - * DCKCFGR I2SSRC LL_RCC_SetI2SClockSource\n - * DCKCFGR I2S1SRC LL_RCC_SetI2SClockSource\n - * DCKCFGR I2S2SRC LL_RCC_SetI2SClockSource - * @param Source This parameter can be one of the following values: - * @arg @ref LL_RCC_I2S1_CLKSOURCE_PLLI2S (*) - * @arg @ref LL_RCC_I2S1_CLKSOURCE_PIN - * @arg @ref LL_RCC_I2S1_CLKSOURCE_PLL (*) - * @arg @ref LL_RCC_I2S1_CLKSOURCE_PLLSRC (*) - * @arg @ref LL_RCC_I2S2_CLKSOURCE_PLLI2S (*) - * @arg @ref LL_RCC_I2S2_CLKSOURCE_PIN (*) - * @arg @ref LL_RCC_I2S2_CLKSOURCE_PLL (*) - * @arg @ref LL_RCC_I2S2_CLKSOURCE_PLLSRC (*) - * - * (*) value not defined in all devices. - * @retval None - */ -__STATIC_INLINE void LL_RCC_SetI2SClockSource(uint32_t Source) -{ -#if defined(RCC_CFGR_I2SSRC) - MODIFY_REG(RCC->CFGR, RCC_CFGR_I2SSRC, Source); -#else - MODIFY_REG(RCC->DCKCFGR, (Source & 0xFFFF0000U), (Source << 16U)); -#endif /* RCC_CFGR_I2SSRC */ -} - -#if defined(DSI) -/** - * @brief Configure DSI clock source - * @rmtoll DCKCFGR DSISEL LL_RCC_SetDSIClockSource - * @param Source This parameter can be one of the following values: - * @arg @ref LL_RCC_DSI_CLKSOURCE_PHY - * @arg @ref LL_RCC_DSI_CLKSOURCE_PLL - * @retval None - */ -__STATIC_INLINE void LL_RCC_SetDSIClockSource(uint32_t Source) -{ - MODIFY_REG(RCC->DCKCFGR, RCC_DCKCFGR_DSISEL, Source); -} -#endif /* DSI */ - -#if defined(DFSDM1_Channel0) -/** - * @brief Configure DFSDM Audio clock source - * @rmtoll DCKCFGR CKDFSDM1ASEL LL_RCC_SetDFSDMAudioClockSource\n - * DCKCFGR CKDFSDM2ASEL LL_RCC_SetDFSDMAudioClockSource - * @param Source This parameter can be one of the following values: - * @arg @ref LL_RCC_DFSDM1_AUDIO_CLKSOURCE_I2S1 - * @arg @ref LL_RCC_DFSDM1_AUDIO_CLKSOURCE_I2S2 - * @arg @ref LL_RCC_DFSDM2_AUDIO_CLKSOURCE_I2S1 (*) - * @arg @ref LL_RCC_DFSDM2_AUDIO_CLKSOURCE_I2S2 (*) - * - * (*) value not defined in all devices. - * @retval None - */ -__STATIC_INLINE void LL_RCC_SetDFSDMAudioClockSource(uint32_t Source) -{ - MODIFY_REG(RCC->DCKCFGR, (Source & 0x0000FFFFU), (Source >> 16U)); -} - -/** - * @brief Configure DFSDM Kernel clock source - * @rmtoll DCKCFGR CKDFSDM1SEL LL_RCC_SetDFSDMClockSource - * @param Source This parameter can be one of the following values: - * @arg @ref LL_RCC_DFSDM1_CLKSOURCE_PCLK2 - * @arg @ref LL_RCC_DFSDM1_CLKSOURCE_SYSCLK - * @arg @ref LL_RCC_DFSDM2_CLKSOURCE_PCLK2 (*) - * @arg @ref LL_RCC_DFSDM2_CLKSOURCE_SYSCLK (*) - * - * (*) value not defined in all devices. - * @retval None - */ -__STATIC_INLINE void LL_RCC_SetDFSDMClockSource(uint32_t Source) -{ - MODIFY_REG(RCC->DCKCFGR, RCC_DCKCFGR_CKDFSDM1SEL, Source); -} -#endif /* DFSDM1_Channel0 */ - -#if defined(SPDIFRX) -/** - * @brief Configure SPDIFRX clock source - * @rmtoll DCKCFGR2 SPDIFRXSEL LL_RCC_SetSPDIFRXClockSource - * @param SPDIFRXxSource This parameter can be one of the following values: - * @arg @ref LL_RCC_SPDIFRX1_CLKSOURCE_PLL - * @arg @ref LL_RCC_SPDIFRX1_CLKSOURCE_PLLI2S - * - * (*) value not defined in all devices. - * @retval None - */ -__STATIC_INLINE void LL_RCC_SetSPDIFRXClockSource(uint32_t SPDIFRXxSource) -{ - MODIFY_REG(RCC->DCKCFGR2, RCC_DCKCFGR2_SPDIFRXSEL, SPDIFRXxSource); -} -#endif /* SPDIFRX */ - -#if defined(FMPI2C1) -/** - * @brief Get FMPI2C clock source - * @rmtoll DCKCFGR2 FMPI2C1SEL LL_RCC_GetFMPI2CClockSource - * @param FMPI2Cx This parameter can be one of the following values: - * @arg @ref LL_RCC_FMPI2C1_CLKSOURCE - * @retval Returned value can be one of the following values: - * @arg @ref LL_RCC_FMPI2C1_CLKSOURCE_PCLK1 - * @arg @ref LL_RCC_FMPI2C1_CLKSOURCE_SYSCLK - * @arg @ref LL_RCC_FMPI2C1_CLKSOURCE_HSI - */ -__STATIC_INLINE uint32_t LL_RCC_GetFMPI2CClockSource(uint32_t FMPI2Cx) -{ - return (uint32_t)(READ_BIT(RCC->DCKCFGR2, FMPI2Cx)); -} -#endif /* FMPI2C1 */ - -#if defined(LPTIM1) -/** - * @brief Get LPTIMx clock source - * @rmtoll DCKCFGR2 LPTIM1SEL LL_RCC_GetLPTIMClockSource - * @param LPTIMx This parameter can be one of the following values: - * @arg @ref LL_RCC_LPTIM1_CLKSOURCE - * @retval Returned value can be one of the following values: - * @arg @ref LL_RCC_LPTIM1_CLKSOURCE_PCLK1 - * @arg @ref LL_RCC_LPTIM1_CLKSOURCE_HSI - * @arg @ref LL_RCC_LPTIM1_CLKSOURCE_LSI - * @arg @ref LL_RCC_LPTIM1_CLKSOURCE_LSE - */ -__STATIC_INLINE uint32_t LL_RCC_GetLPTIMClockSource(uint32_t LPTIMx) -{ - return (uint32_t)(READ_BIT(RCC->DCKCFGR2, RCC_DCKCFGR2_LPTIM1SEL)); -} -#endif /* LPTIM1 */ - -#if defined(SAI1) -/** - * @brief Get SAIx clock source - * @rmtoll DCKCFGR SAI1SEL LL_RCC_GetSAIClockSource\n - * DCKCFGR SAI2SEL LL_RCC_GetSAIClockSource\n - * DCKCFGR SAI1ASRC LL_RCC_GetSAIClockSource\n - * DCKCFGR SAI1BSRC LL_RCC_GetSAIClockSource - * @param SAIx This parameter can be one of the following values: - * @arg @ref LL_RCC_SAI1_CLKSOURCE (*) - * @arg @ref LL_RCC_SAI2_CLKSOURCE (*) - * @arg @ref LL_RCC_SAI1_A_CLKSOURCE (*) - * @arg @ref LL_RCC_SAI1_B_CLKSOURCE (*) - * - * (*) value not defined in all devices. - * @retval Returned value can be one of the following values: - * @arg @ref LL_RCC_SAI1_CLKSOURCE_PLLSAI (*) - * @arg @ref LL_RCC_SAI1_CLKSOURCE_PLLI2S (*) - * @arg @ref LL_RCC_SAI1_CLKSOURCE_PLL (*) - * @arg @ref LL_RCC_SAI1_CLKSOURCE_PIN (*) - * @arg @ref LL_RCC_SAI2_CLKSOURCE_PLLSAI (*) - * @arg @ref LL_RCC_SAI2_CLKSOURCE_PLLI2S (*) - * @arg @ref LL_RCC_SAI2_CLKSOURCE_PLL (*) - * @arg @ref LL_RCC_SAI2_CLKSOURCE_PLLSRC (*) - * @arg @ref LL_RCC_SAI1_A_CLKSOURCE_PLLSAI (*) - * @arg @ref LL_RCC_SAI1_A_CLKSOURCE_PLLI2S (*) - * @arg @ref LL_RCC_SAI1_A_CLKSOURCE_PIN (*) - * @arg @ref LL_RCC_SAI1_A_CLKSOURCE_PLL (*) - * @arg @ref LL_RCC_SAI1_A_CLKSOURCE_PLLSRC (*) - * @arg @ref LL_RCC_SAI1_B_CLKSOURCE_PLLSAI (*) - * @arg @ref LL_RCC_SAI1_B_CLKSOURCE_PLLI2S (*) - * @arg @ref LL_RCC_SAI1_B_CLKSOURCE_PIN (*) - * @arg @ref LL_RCC_SAI1_B_CLKSOURCE_PLL (*) - * @arg @ref LL_RCC_SAI1_B_CLKSOURCE_PLLSRC (*) - * - * (*) value not defined in all devices. - */ -__STATIC_INLINE uint32_t LL_RCC_GetSAIClockSource(uint32_t SAIx) -{ - return (uint32_t)(READ_BIT(RCC->DCKCFGR, SAIx) >> 16U | SAIx); -} -#endif /* SAI1 */ - -#if defined(RCC_DCKCFGR_SDIOSEL) || defined(RCC_DCKCFGR2_SDIOSEL) -/** - * @brief Get SDIOx clock source - * @rmtoll DCKCFGR SDIOSEL LL_RCC_GetSDIOClockSource\n - * DCKCFGR2 SDIOSEL LL_RCC_GetSDIOClockSource - * @param SDIOx This parameter can be one of the following values: - * @arg @ref LL_RCC_SDIO_CLKSOURCE - * @retval Returned value can be one of the following values: - * @arg @ref LL_RCC_SDIO_CLKSOURCE_PLL48CLK - * @arg @ref LL_RCC_SDIO_CLKSOURCE_SYSCLK - */ -__STATIC_INLINE uint32_t LL_RCC_GetSDIOClockSource(uint32_t SDIOx) -{ -#if defined(RCC_DCKCFGR_SDIOSEL) - return (uint32_t)(READ_BIT(RCC->DCKCFGR, SDIOx)); -#else - return (uint32_t)(READ_BIT(RCC->DCKCFGR2, SDIOx)); -#endif /* RCC_DCKCFGR_SDIOSEL */ -} -#endif /* RCC_DCKCFGR_SDIOSEL || RCC_DCKCFGR2_SDIOSEL */ - -#if defined(RCC_DCKCFGR_CK48MSEL) || defined(RCC_DCKCFGR2_CK48MSEL) -/** - * @brief Get 48Mhz domain clock source - * @rmtoll DCKCFGR CK48MSEL LL_RCC_GetCK48MClockSource\n - * DCKCFGR2 CK48MSEL LL_RCC_GetCK48MClockSource - * @param CK48Mx This parameter can be one of the following values: - * @arg @ref LL_RCC_CK48M_CLKSOURCE - * @retval Returned value can be one of the following values: - * @arg @ref LL_RCC_CK48M_CLKSOURCE_PLL - * @arg @ref LL_RCC_CK48M_CLKSOURCE_PLLSAI (*) - * @arg @ref LL_RCC_CK48M_CLKSOURCE_PLLI2S (*) - * - * (*) value not defined in all devices. - */ -__STATIC_INLINE uint32_t LL_RCC_GetCK48MClockSource(uint32_t CK48Mx) -{ -#if defined(RCC_DCKCFGR_CK48MSEL) - return (uint32_t)(READ_BIT(RCC->DCKCFGR, CK48Mx)); -#else - return (uint32_t)(READ_BIT(RCC->DCKCFGR2, CK48Mx)); -#endif /* RCC_DCKCFGR_CK48MSEL */ -} - -#if defined(RNG) -/** - * @brief Get RNGx clock source - * @rmtoll DCKCFGR CK48MSEL LL_RCC_GetRNGClockSource\n - * DCKCFGR2 CK48MSEL LL_RCC_GetRNGClockSource - * @param RNGx This parameter can be one of the following values: - * @arg @ref LL_RCC_RNG_CLKSOURCE - * @retval Returned value can be one of the following values: - * @arg @ref LL_RCC_RNG_CLKSOURCE_PLL - * @arg @ref LL_RCC_RNG_CLKSOURCE_PLLSAI (*) - * @arg @ref LL_RCC_RNG_CLKSOURCE_PLLI2S (*) - * - * (*) value not defined in all devices. - */ -__STATIC_INLINE uint32_t LL_RCC_GetRNGClockSource(uint32_t RNGx) -{ -#if defined(RCC_DCKCFGR_CK48MSEL) - return (uint32_t)(READ_BIT(RCC->DCKCFGR, RNGx)); -#else - return (uint32_t)(READ_BIT(RCC->DCKCFGR2, RNGx)); -#endif /* RCC_DCKCFGR_CK48MSEL */ -} -#endif /* RNG */ - -#if defined(USB_OTG_FS) || defined(USB_OTG_HS) -/** - * @brief Get USBx clock source - * @rmtoll DCKCFGR CK48MSEL LL_RCC_GetUSBClockSource\n - * DCKCFGR2 CK48MSEL LL_RCC_GetUSBClockSource - * @param USBx This parameter can be one of the following values: - * @arg @ref LL_RCC_USB_CLKSOURCE - * @retval Returned value can be one of the following values: - * @arg @ref LL_RCC_USB_CLKSOURCE_PLL - * @arg @ref LL_RCC_USB_CLKSOURCE_PLLSAI (*) - * @arg @ref LL_RCC_USB_CLKSOURCE_PLLI2S (*) - * - * (*) value not defined in all devices. - */ -__STATIC_INLINE uint32_t LL_RCC_GetUSBClockSource(uint32_t USBx) -{ -#if defined(RCC_DCKCFGR_CK48MSEL) - return (uint32_t)(READ_BIT(RCC->DCKCFGR, USBx)); -#else - return (uint32_t)(READ_BIT(RCC->DCKCFGR2, USBx)); -#endif /* RCC_DCKCFGR_CK48MSEL */ -} -#endif /* USB_OTG_FS || USB_OTG_HS */ -#endif /* RCC_DCKCFGR_CK48MSEL || RCC_DCKCFGR2_CK48MSEL */ - -#if defined(CEC) -/** - * @brief Get CEC Clock Source - * @rmtoll DCKCFGR2 CECSEL LL_RCC_GetCECClockSource - * @param CECx This parameter can be one of the following values: - * @arg @ref LL_RCC_CEC_CLKSOURCE - * @retval Returned value can be one of the following values: - * @arg @ref LL_RCC_CEC_CLKSOURCE_HSI_DIV488 - * @arg @ref LL_RCC_CEC_CLKSOURCE_LSE - */ -__STATIC_INLINE uint32_t LL_RCC_GetCECClockSource(uint32_t CECx) -{ - return (uint32_t)(READ_BIT(RCC->DCKCFGR2, CECx)); -} -#endif /* CEC */ - -/** - * @brief Get I2S Clock Source - * @rmtoll CFGR I2SSRC LL_RCC_GetI2SClockSource\n - * DCKCFGR I2SSRC LL_RCC_GetI2SClockSource\n - * DCKCFGR I2S1SRC LL_RCC_GetI2SClockSource\n - * DCKCFGR I2S2SRC LL_RCC_GetI2SClockSource - * @param I2Sx This parameter can be one of the following values: - * @arg @ref LL_RCC_I2S1_CLKSOURCE - * @arg @ref LL_RCC_I2S2_CLKSOURCE (*) - * @retval Returned value can be one of the following values: - * @arg @ref LL_RCC_I2S1_CLKSOURCE_PLLI2S (*) - * @arg @ref LL_RCC_I2S1_CLKSOURCE_PIN - * @arg @ref LL_RCC_I2S1_CLKSOURCE_PLL (*) - * @arg @ref LL_RCC_I2S1_CLKSOURCE_PLLSRC (*) - * @arg @ref LL_RCC_I2S2_CLKSOURCE_PLLI2S (*) - * @arg @ref LL_RCC_I2S2_CLKSOURCE_PIN (*) - * @arg @ref LL_RCC_I2S2_CLKSOURCE_PLL (*) - * @arg @ref LL_RCC_I2S2_CLKSOURCE_PLLSRC (*) - * - * (*) value not defined in all devices. - */ -__STATIC_INLINE uint32_t LL_RCC_GetI2SClockSource(uint32_t I2Sx) -{ -#if defined(RCC_CFGR_I2SSRC) - return (uint32_t)(READ_BIT(RCC->CFGR, I2Sx)); -#else - return (uint32_t)(READ_BIT(RCC->DCKCFGR, I2Sx) >> 16U | I2Sx); -#endif /* RCC_CFGR_I2SSRC */ -} - -#if defined(DFSDM1_Channel0) -/** - * @brief Get DFSDM Audio Clock Source - * @rmtoll DCKCFGR CKDFSDM1ASEL LL_RCC_GetDFSDMAudioClockSource\n - * DCKCFGR CKDFSDM2ASEL LL_RCC_GetDFSDMAudioClockSource - * @param DFSDMx This parameter can be one of the following values: - * @arg @ref LL_RCC_DFSDM1_AUDIO_CLKSOURCE - * @arg @ref LL_RCC_DFSDM2_AUDIO_CLKSOURCE (*) - * @retval Returned value can be one of the following values: - * @arg @ref LL_RCC_DFSDM1_AUDIO_CLKSOURCE_I2S1 - * @arg @ref LL_RCC_DFSDM1_AUDIO_CLKSOURCE_I2S2 - * @arg @ref LL_RCC_DFSDM2_AUDIO_CLKSOURCE_I2S1 (*) - * @arg @ref LL_RCC_DFSDM2_AUDIO_CLKSOURCE_I2S2 (*) - * - * (*) value not defined in all devices. - */ -__STATIC_INLINE uint32_t LL_RCC_GetDFSDMAudioClockSource(uint32_t DFSDMx) -{ - return (uint32_t)(READ_BIT(RCC->DCKCFGR, DFSDMx) << 16U | DFSDMx); -} - -/** - * @brief Get DFSDM Audio Clock Source - * @rmtoll DCKCFGR CKDFSDM1SEL LL_RCC_GetDFSDMClockSource - * @param DFSDMx This parameter can be one of the following values: - * @arg @ref LL_RCC_DFSDM1_CLKSOURCE - * @arg @ref LL_RCC_DFSDM2_CLKSOURCE (*) - * @retval Returned value can be one of the following values: - * @arg @ref LL_RCC_DFSDM1_CLKSOURCE_PCLK2 - * @arg @ref LL_RCC_DFSDM1_CLKSOURCE_SYSCLK - * @arg @ref LL_RCC_DFSDM2_CLKSOURCE_PCLK2 (*) - * @arg @ref LL_RCC_DFSDM2_CLKSOURCE_SYSCLK (*) - * - * (*) value not defined in all devices. - */ -__STATIC_INLINE uint32_t LL_RCC_GetDFSDMClockSource(uint32_t DFSDMx) -{ - return (uint32_t)(READ_BIT(RCC->DCKCFGR, DFSDMx)); -} -#endif /* DFSDM1_Channel0 */ - -#if defined(SPDIFRX) -/** - * @brief Get SPDIFRX clock source - * @rmtoll DCKCFGR2 SPDIFRXSEL LL_RCC_GetSPDIFRXClockSource - * @param SPDIFRXx This parameter can be one of the following values: - * @arg @ref LL_RCC_SPDIFRX1_CLKSOURCE - * @retval Returned value can be one of the following values: - * @arg @ref LL_RCC_SPDIFRX1_CLKSOURCE_PLL - * @arg @ref LL_RCC_SPDIFRX1_CLKSOURCE_PLLI2S - * - * (*) value not defined in all devices. - */ -__STATIC_INLINE uint32_t LL_RCC_GetSPDIFRXClockSource(uint32_t SPDIFRXx) -{ - return (uint32_t)(READ_BIT(RCC->DCKCFGR2, SPDIFRXx)); -} -#endif /* SPDIFRX */ - -#if defined(DSI) -/** - * @brief Get DSI Clock Source - * @rmtoll DCKCFGR DSISEL LL_RCC_GetDSIClockSource - * @param DSIx This parameter can be one of the following values: - * @arg @ref LL_RCC_DSI_CLKSOURCE - * @retval Returned value can be one of the following values: - * @arg @ref LL_RCC_DSI_CLKSOURCE_PHY - * @arg @ref LL_RCC_DSI_CLKSOURCE_PLL - */ -__STATIC_INLINE uint32_t LL_RCC_GetDSIClockSource(uint32_t DSIx) -{ - return (uint32_t)(READ_BIT(RCC->DCKCFGR, DSIx)); -} -#endif /* DSI */ - -/** - * @} - */ - -/** @defgroup RCC_LL_EF_RTC RTC - * @{ - */ - -/** - * @brief Set RTC Clock Source - * @note Once the RTC clock source has been selected, it cannot be changed anymore unless - * the Backup domain is reset, or unless a failure is detected on LSE (LSECSSD is - * set). The BDRST bit can be used to reset them. - * @rmtoll BDCR RTCSEL LL_RCC_SetRTCClockSource - * @param Source This parameter can be one of the following values: - * @arg @ref LL_RCC_RTC_CLKSOURCE_NONE - * @arg @ref LL_RCC_RTC_CLKSOURCE_LSE - * @arg @ref LL_RCC_RTC_CLKSOURCE_LSI - * @arg @ref LL_RCC_RTC_CLKSOURCE_HSE - * @retval None - */ -__STATIC_INLINE void LL_RCC_SetRTCClockSource(uint32_t Source) -{ - MODIFY_REG(RCC->BDCR, RCC_BDCR_RTCSEL, Source); -} - -/** - * @brief Get RTC Clock Source - * @rmtoll BDCR RTCSEL LL_RCC_GetRTCClockSource - * @retval Returned value can be one of the following values: - * @arg @ref LL_RCC_RTC_CLKSOURCE_NONE - * @arg @ref LL_RCC_RTC_CLKSOURCE_LSE - * @arg @ref LL_RCC_RTC_CLKSOURCE_LSI - * @arg @ref LL_RCC_RTC_CLKSOURCE_HSE - */ -__STATIC_INLINE uint32_t LL_RCC_GetRTCClockSource(void) -{ - return (uint32_t)(READ_BIT(RCC->BDCR, RCC_BDCR_RTCSEL)); -} - -/** - * @brief Enable RTC - * @rmtoll BDCR RTCEN LL_RCC_EnableRTC - * @retval None - */ -__STATIC_INLINE void LL_RCC_EnableRTC(void) -{ - SET_BIT(RCC->BDCR, RCC_BDCR_RTCEN); -} - -/** - * @brief Disable RTC - * @rmtoll BDCR RTCEN LL_RCC_DisableRTC - * @retval None - */ -__STATIC_INLINE void LL_RCC_DisableRTC(void) -{ - CLEAR_BIT(RCC->BDCR, RCC_BDCR_RTCEN); -} - -/** - * @brief Check if RTC has been enabled or not - * @rmtoll BDCR RTCEN LL_RCC_IsEnabledRTC - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_RCC_IsEnabledRTC(void) -{ - return (READ_BIT(RCC->BDCR, RCC_BDCR_RTCEN) == (RCC_BDCR_RTCEN)); -} - -/** - * @brief Force the Backup domain reset - * @rmtoll BDCR BDRST LL_RCC_ForceBackupDomainReset - * @retval None - */ -__STATIC_INLINE void LL_RCC_ForceBackupDomainReset(void) -{ - SET_BIT(RCC->BDCR, RCC_BDCR_BDRST); -} - -/** - * @brief Release the Backup domain reset - * @rmtoll BDCR BDRST LL_RCC_ReleaseBackupDomainReset - * @retval None - */ -__STATIC_INLINE void LL_RCC_ReleaseBackupDomainReset(void) -{ - CLEAR_BIT(RCC->BDCR, RCC_BDCR_BDRST); -} - -/** - * @brief Set HSE Prescalers for RTC Clock - * @rmtoll CFGR RTCPRE LL_RCC_SetRTC_HSEPrescaler - * @param Prescaler This parameter can be one of the following values: - * @arg @ref LL_RCC_RTC_NOCLOCK - * @arg @ref LL_RCC_RTC_HSE_DIV_2 - * @arg @ref LL_RCC_RTC_HSE_DIV_3 - * @arg @ref LL_RCC_RTC_HSE_DIV_4 - * @arg @ref LL_RCC_RTC_HSE_DIV_5 - * @arg @ref LL_RCC_RTC_HSE_DIV_6 - * @arg @ref LL_RCC_RTC_HSE_DIV_7 - * @arg @ref LL_RCC_RTC_HSE_DIV_8 - * @arg @ref LL_RCC_RTC_HSE_DIV_9 - * @arg @ref LL_RCC_RTC_HSE_DIV_10 - * @arg @ref LL_RCC_RTC_HSE_DIV_11 - * @arg @ref LL_RCC_RTC_HSE_DIV_12 - * @arg @ref LL_RCC_RTC_HSE_DIV_13 - * @arg @ref LL_RCC_RTC_HSE_DIV_14 - * @arg @ref LL_RCC_RTC_HSE_DIV_15 - * @arg @ref LL_RCC_RTC_HSE_DIV_16 - * @arg @ref LL_RCC_RTC_HSE_DIV_17 - * @arg @ref LL_RCC_RTC_HSE_DIV_18 - * @arg @ref LL_RCC_RTC_HSE_DIV_19 - * @arg @ref LL_RCC_RTC_HSE_DIV_20 - * @arg @ref LL_RCC_RTC_HSE_DIV_21 - * @arg @ref LL_RCC_RTC_HSE_DIV_22 - * @arg @ref LL_RCC_RTC_HSE_DIV_23 - * @arg @ref LL_RCC_RTC_HSE_DIV_24 - * @arg @ref LL_RCC_RTC_HSE_DIV_25 - * @arg @ref LL_RCC_RTC_HSE_DIV_26 - * @arg @ref LL_RCC_RTC_HSE_DIV_27 - * @arg @ref LL_RCC_RTC_HSE_DIV_28 - * @arg @ref LL_RCC_RTC_HSE_DIV_29 - * @arg @ref LL_RCC_RTC_HSE_DIV_30 - * @arg @ref LL_RCC_RTC_HSE_DIV_31 - * @retval None - */ -__STATIC_INLINE void LL_RCC_SetRTC_HSEPrescaler(uint32_t Prescaler) -{ - MODIFY_REG(RCC->CFGR, RCC_CFGR_RTCPRE, Prescaler); -} - -/** - * @brief Get HSE Prescalers for RTC Clock - * @rmtoll CFGR RTCPRE LL_RCC_GetRTC_HSEPrescaler - * @retval Returned value can be one of the following values: - * @arg @ref LL_RCC_RTC_NOCLOCK - * @arg @ref LL_RCC_RTC_HSE_DIV_2 - * @arg @ref LL_RCC_RTC_HSE_DIV_3 - * @arg @ref LL_RCC_RTC_HSE_DIV_4 - * @arg @ref LL_RCC_RTC_HSE_DIV_5 - * @arg @ref LL_RCC_RTC_HSE_DIV_6 - * @arg @ref LL_RCC_RTC_HSE_DIV_7 - * @arg @ref LL_RCC_RTC_HSE_DIV_8 - * @arg @ref LL_RCC_RTC_HSE_DIV_9 - * @arg @ref LL_RCC_RTC_HSE_DIV_10 - * @arg @ref LL_RCC_RTC_HSE_DIV_11 - * @arg @ref LL_RCC_RTC_HSE_DIV_12 - * @arg @ref LL_RCC_RTC_HSE_DIV_13 - * @arg @ref LL_RCC_RTC_HSE_DIV_14 - * @arg @ref LL_RCC_RTC_HSE_DIV_15 - * @arg @ref LL_RCC_RTC_HSE_DIV_16 - * @arg @ref LL_RCC_RTC_HSE_DIV_17 - * @arg @ref LL_RCC_RTC_HSE_DIV_18 - * @arg @ref LL_RCC_RTC_HSE_DIV_19 - * @arg @ref LL_RCC_RTC_HSE_DIV_20 - * @arg @ref LL_RCC_RTC_HSE_DIV_21 - * @arg @ref LL_RCC_RTC_HSE_DIV_22 - * @arg @ref LL_RCC_RTC_HSE_DIV_23 - * @arg @ref LL_RCC_RTC_HSE_DIV_24 - * @arg @ref LL_RCC_RTC_HSE_DIV_25 - * @arg @ref LL_RCC_RTC_HSE_DIV_26 - * @arg @ref LL_RCC_RTC_HSE_DIV_27 - * @arg @ref LL_RCC_RTC_HSE_DIV_28 - * @arg @ref LL_RCC_RTC_HSE_DIV_29 - * @arg @ref LL_RCC_RTC_HSE_DIV_30 - * @arg @ref LL_RCC_RTC_HSE_DIV_31 - */ -__STATIC_INLINE uint32_t LL_RCC_GetRTC_HSEPrescaler(void) -{ - return (uint32_t)(READ_BIT(RCC->CFGR, RCC_CFGR_RTCPRE)); -} - -/** - * @} - */ - -#if defined(RCC_DCKCFGR_TIMPRE) -/** @defgroup RCC_LL_EF_TIM_CLOCK_PRESCALER TIM - * @{ - */ - -/** - * @brief Set Timers Clock Prescalers - * @rmtoll DCKCFGR TIMPRE LL_RCC_SetTIMPrescaler - * @param Prescaler This parameter can be one of the following values: - * @arg @ref LL_RCC_TIM_PRESCALER_TWICE - * @arg @ref LL_RCC_TIM_PRESCALER_FOUR_TIMES - * @retval None - */ -__STATIC_INLINE void LL_RCC_SetTIMPrescaler(uint32_t Prescaler) -{ - MODIFY_REG(RCC->DCKCFGR, RCC_DCKCFGR_TIMPRE, Prescaler); -} - -/** - * @brief Get Timers Clock Prescalers - * @rmtoll DCKCFGR TIMPRE LL_RCC_GetTIMPrescaler - * @retval Returned value can be one of the following values: - * @arg @ref LL_RCC_TIM_PRESCALER_TWICE - * @arg @ref LL_RCC_TIM_PRESCALER_FOUR_TIMES - */ -__STATIC_INLINE uint32_t LL_RCC_GetTIMPrescaler(void) -{ - return (uint32_t)(READ_BIT(RCC->DCKCFGR, RCC_DCKCFGR_TIMPRE)); -} - -/** - * @} - */ -#endif /* RCC_DCKCFGR_TIMPRE */ - -/** @defgroup RCC_LL_EF_PLL PLL - * @{ - */ - -/** - * @brief Enable PLL - * @rmtoll CR PLLON LL_RCC_PLL_Enable - * @retval None - */ -__STATIC_INLINE void LL_RCC_PLL_Enable(void) -{ - SET_BIT(RCC->CR, RCC_CR_PLLON); -} - -/** - * @brief Disable PLL - * @note Cannot be disabled if the PLL clock is used as the system clock - * @rmtoll CR PLLON LL_RCC_PLL_Disable - * @retval None - */ -__STATIC_INLINE void LL_RCC_PLL_Disable(void) -{ - CLEAR_BIT(RCC->CR, RCC_CR_PLLON); -} - -/** - * @brief Check if PLL Ready - * @rmtoll CR PLLRDY LL_RCC_PLL_IsReady - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_RCC_PLL_IsReady(void) -{ - return (READ_BIT(RCC->CR, RCC_CR_PLLRDY) == (RCC_CR_PLLRDY)); -} - -/** - * @brief Configure PLL used for SYSCLK Domain - * @note PLL Source and PLLM Divider can be written only when PLL, - * PLLI2S and PLLSAI(*) are disabled - * @note PLLN/PLLP can be written only when PLL is disabled - * @rmtoll PLLCFGR PLLSRC LL_RCC_PLL_ConfigDomain_SYS\n - * PLLCFGR PLLM LL_RCC_PLL_ConfigDomain_SYS\n - * PLLCFGR PLLN LL_RCC_PLL_ConfigDomain_SYS\n - * PLLCFGR PLLR LL_RCC_PLL_ConfigDomain_SYS\n - * PLLCFGR PLLP LL_RCC_PLL_ConfigDomain_SYS - * @param Source This parameter can be one of the following values: - * @arg @ref LL_RCC_PLLSOURCE_HSI - * @arg @ref LL_RCC_PLLSOURCE_HSE - * @param PLLM This parameter can be one of the following values: - * @arg @ref LL_RCC_PLLM_DIV_2 - * @arg @ref LL_RCC_PLLM_DIV_3 - * @arg @ref LL_RCC_PLLM_DIV_4 - * @arg @ref LL_RCC_PLLM_DIV_5 - * @arg @ref LL_RCC_PLLM_DIV_6 - * @arg @ref LL_RCC_PLLM_DIV_7 - * @arg @ref LL_RCC_PLLM_DIV_8 - * @arg @ref LL_RCC_PLLM_DIV_9 - * @arg @ref LL_RCC_PLLM_DIV_10 - * @arg @ref LL_RCC_PLLM_DIV_11 - * @arg @ref LL_RCC_PLLM_DIV_12 - * @arg @ref LL_RCC_PLLM_DIV_13 - * @arg @ref LL_RCC_PLLM_DIV_14 - * @arg @ref LL_RCC_PLLM_DIV_15 - * @arg @ref LL_RCC_PLLM_DIV_16 - * @arg @ref LL_RCC_PLLM_DIV_17 - * @arg @ref LL_RCC_PLLM_DIV_18 - * @arg @ref LL_RCC_PLLM_DIV_19 - * @arg @ref LL_RCC_PLLM_DIV_20 - * @arg @ref LL_RCC_PLLM_DIV_21 - * @arg @ref LL_RCC_PLLM_DIV_22 - * @arg @ref LL_RCC_PLLM_DIV_23 - * @arg @ref LL_RCC_PLLM_DIV_24 - * @arg @ref LL_RCC_PLLM_DIV_25 - * @arg @ref LL_RCC_PLLM_DIV_26 - * @arg @ref LL_RCC_PLLM_DIV_27 - * @arg @ref LL_RCC_PLLM_DIV_28 - * @arg @ref LL_RCC_PLLM_DIV_29 - * @arg @ref LL_RCC_PLLM_DIV_30 - * @arg @ref LL_RCC_PLLM_DIV_31 - * @arg @ref LL_RCC_PLLM_DIV_32 - * @arg @ref LL_RCC_PLLM_DIV_33 - * @arg @ref LL_RCC_PLLM_DIV_34 - * @arg @ref LL_RCC_PLLM_DIV_35 - * @arg @ref LL_RCC_PLLM_DIV_36 - * @arg @ref LL_RCC_PLLM_DIV_37 - * @arg @ref LL_RCC_PLLM_DIV_38 - * @arg @ref LL_RCC_PLLM_DIV_39 - * @arg @ref LL_RCC_PLLM_DIV_40 - * @arg @ref LL_RCC_PLLM_DIV_41 - * @arg @ref LL_RCC_PLLM_DIV_42 - * @arg @ref LL_RCC_PLLM_DIV_43 - * @arg @ref LL_RCC_PLLM_DIV_44 - * @arg @ref LL_RCC_PLLM_DIV_45 - * @arg @ref LL_RCC_PLLM_DIV_46 - * @arg @ref LL_RCC_PLLM_DIV_47 - * @arg @ref LL_RCC_PLLM_DIV_48 - * @arg @ref LL_RCC_PLLM_DIV_49 - * @arg @ref LL_RCC_PLLM_DIV_50 - * @arg @ref LL_RCC_PLLM_DIV_51 - * @arg @ref LL_RCC_PLLM_DIV_52 - * @arg @ref LL_RCC_PLLM_DIV_53 - * @arg @ref LL_RCC_PLLM_DIV_54 - * @arg @ref LL_RCC_PLLM_DIV_55 - * @arg @ref LL_RCC_PLLM_DIV_56 - * @arg @ref LL_RCC_PLLM_DIV_57 - * @arg @ref LL_RCC_PLLM_DIV_58 - * @arg @ref LL_RCC_PLLM_DIV_59 - * @arg @ref LL_RCC_PLLM_DIV_60 - * @arg @ref LL_RCC_PLLM_DIV_61 - * @arg @ref LL_RCC_PLLM_DIV_62 - * @arg @ref LL_RCC_PLLM_DIV_63 - * @param PLLN Between 50/192(*) and 432 - * - * (*) value not defined in all devices. - * @param PLLP_R This parameter can be one of the following values: - * @arg @ref LL_RCC_PLLP_DIV_2 - * @arg @ref LL_RCC_PLLP_DIV_4 - * @arg @ref LL_RCC_PLLP_DIV_6 - * @arg @ref LL_RCC_PLLP_DIV_8 - * @arg @ref LL_RCC_PLLR_DIV_2 (*) - * @arg @ref LL_RCC_PLLR_DIV_3 (*) - * @arg @ref LL_RCC_PLLR_DIV_4 (*) - * @arg @ref LL_RCC_PLLR_DIV_5 (*) - * @arg @ref LL_RCC_PLLR_DIV_6 (*) - * @arg @ref LL_RCC_PLLR_DIV_7 (*) - * - * (*) value not defined in all devices. - * @retval None - */ -__STATIC_INLINE void LL_RCC_PLL_ConfigDomain_SYS(uint32_t Source, uint32_t PLLM, uint32_t PLLN, uint32_t PLLP_R) -{ - MODIFY_REG(RCC->PLLCFGR, RCC_PLLCFGR_PLLSRC | RCC_PLLCFGR_PLLM | RCC_PLLCFGR_PLLN, - Source | PLLM | PLLN << RCC_PLLCFGR_PLLN_Pos); - MODIFY_REG(RCC->PLLCFGR, RCC_PLLCFGR_PLLP, PLLP_R); -#if defined(RCC_PLLR_SYSCLK_SUPPORT) - MODIFY_REG(RCC->PLLCFGR, RCC_PLLCFGR_PLLR, PLLP_R); -#endif /* RCC_PLLR_SYSCLK_SUPPORT */ -} - -/** - * @brief Configure PLL used for 48Mhz domain clock - * @note PLL Source and PLLM Divider can be written only when PLL, - * PLLI2S and PLLSAI(*) are disabled - * @note PLLN/PLLQ can be written only when PLL is disabled - * @note This can be selected for USB, RNG, SDIO - * @rmtoll PLLCFGR PLLSRC LL_RCC_PLL_ConfigDomain_48M\n - * PLLCFGR PLLM LL_RCC_PLL_ConfigDomain_48M\n - * PLLCFGR PLLN LL_RCC_PLL_ConfigDomain_48M\n - * PLLCFGR PLLQ LL_RCC_PLL_ConfigDomain_48M - * @param Source This parameter can be one of the following values: - * @arg @ref LL_RCC_PLLSOURCE_HSI - * @arg @ref LL_RCC_PLLSOURCE_HSE - * @param PLLM This parameter can be one of the following values: - * @arg @ref LL_RCC_PLLM_DIV_2 - * @arg @ref LL_RCC_PLLM_DIV_3 - * @arg @ref LL_RCC_PLLM_DIV_4 - * @arg @ref LL_RCC_PLLM_DIV_5 - * @arg @ref LL_RCC_PLLM_DIV_6 - * @arg @ref LL_RCC_PLLM_DIV_7 - * @arg @ref LL_RCC_PLLM_DIV_8 - * @arg @ref LL_RCC_PLLM_DIV_9 - * @arg @ref LL_RCC_PLLM_DIV_10 - * @arg @ref LL_RCC_PLLM_DIV_11 - * @arg @ref LL_RCC_PLLM_DIV_12 - * @arg @ref LL_RCC_PLLM_DIV_13 - * @arg @ref LL_RCC_PLLM_DIV_14 - * @arg @ref LL_RCC_PLLM_DIV_15 - * @arg @ref LL_RCC_PLLM_DIV_16 - * @arg @ref LL_RCC_PLLM_DIV_17 - * @arg @ref LL_RCC_PLLM_DIV_18 - * @arg @ref LL_RCC_PLLM_DIV_19 - * @arg @ref LL_RCC_PLLM_DIV_20 - * @arg @ref LL_RCC_PLLM_DIV_21 - * @arg @ref LL_RCC_PLLM_DIV_22 - * @arg @ref LL_RCC_PLLM_DIV_23 - * @arg @ref LL_RCC_PLLM_DIV_24 - * @arg @ref LL_RCC_PLLM_DIV_25 - * @arg @ref LL_RCC_PLLM_DIV_26 - * @arg @ref LL_RCC_PLLM_DIV_27 - * @arg @ref LL_RCC_PLLM_DIV_28 - * @arg @ref LL_RCC_PLLM_DIV_29 - * @arg @ref LL_RCC_PLLM_DIV_30 - * @arg @ref LL_RCC_PLLM_DIV_31 - * @arg @ref LL_RCC_PLLM_DIV_32 - * @arg @ref LL_RCC_PLLM_DIV_33 - * @arg @ref LL_RCC_PLLM_DIV_34 - * @arg @ref LL_RCC_PLLM_DIV_35 - * @arg @ref LL_RCC_PLLM_DIV_36 - * @arg @ref LL_RCC_PLLM_DIV_37 - * @arg @ref LL_RCC_PLLM_DIV_38 - * @arg @ref LL_RCC_PLLM_DIV_39 - * @arg @ref LL_RCC_PLLM_DIV_40 - * @arg @ref LL_RCC_PLLM_DIV_41 - * @arg @ref LL_RCC_PLLM_DIV_42 - * @arg @ref LL_RCC_PLLM_DIV_43 - * @arg @ref LL_RCC_PLLM_DIV_44 - * @arg @ref LL_RCC_PLLM_DIV_45 - * @arg @ref LL_RCC_PLLM_DIV_46 - * @arg @ref LL_RCC_PLLM_DIV_47 - * @arg @ref LL_RCC_PLLM_DIV_48 - * @arg @ref LL_RCC_PLLM_DIV_49 - * @arg @ref LL_RCC_PLLM_DIV_50 - * @arg @ref LL_RCC_PLLM_DIV_51 - * @arg @ref LL_RCC_PLLM_DIV_52 - * @arg @ref LL_RCC_PLLM_DIV_53 - * @arg @ref LL_RCC_PLLM_DIV_54 - * @arg @ref LL_RCC_PLLM_DIV_55 - * @arg @ref LL_RCC_PLLM_DIV_56 - * @arg @ref LL_RCC_PLLM_DIV_57 - * @arg @ref LL_RCC_PLLM_DIV_58 - * @arg @ref LL_RCC_PLLM_DIV_59 - * @arg @ref LL_RCC_PLLM_DIV_60 - * @arg @ref LL_RCC_PLLM_DIV_61 - * @arg @ref LL_RCC_PLLM_DIV_62 - * @arg @ref LL_RCC_PLLM_DIV_63 - * @param PLLN Between 50/192(*) and 432 - * - * (*) value not defined in all devices. - * @param PLLQ This parameter can be one of the following values: - * @arg @ref LL_RCC_PLLQ_DIV_2 - * @arg @ref LL_RCC_PLLQ_DIV_3 - * @arg @ref LL_RCC_PLLQ_DIV_4 - * @arg @ref LL_RCC_PLLQ_DIV_5 - * @arg @ref LL_RCC_PLLQ_DIV_6 - * @arg @ref LL_RCC_PLLQ_DIV_7 - * @arg @ref LL_RCC_PLLQ_DIV_8 - * @arg @ref LL_RCC_PLLQ_DIV_9 - * @arg @ref LL_RCC_PLLQ_DIV_10 - * @arg @ref LL_RCC_PLLQ_DIV_11 - * @arg @ref LL_RCC_PLLQ_DIV_12 - * @arg @ref LL_RCC_PLLQ_DIV_13 - * @arg @ref LL_RCC_PLLQ_DIV_14 - * @arg @ref LL_RCC_PLLQ_DIV_15 - * @retval None - */ -__STATIC_INLINE void LL_RCC_PLL_ConfigDomain_48M(uint32_t Source, uint32_t PLLM, uint32_t PLLN, uint32_t PLLQ) -{ - MODIFY_REG(RCC->PLLCFGR, RCC_PLLCFGR_PLLSRC | RCC_PLLCFGR_PLLM | RCC_PLLCFGR_PLLN | RCC_PLLCFGR_PLLQ, - Source | PLLM | PLLN << RCC_PLLCFGR_PLLN_Pos | PLLQ); -} - -#if defined(DSI) -/** - * @brief Configure PLL used for DSI clock - * @note PLL Source and PLLM Divider can be written only when PLL, - * PLLI2S and PLLSAI are disabled - * @note PLLN/PLLR can be written only when PLL is disabled - * @note This can be selected for DSI - * @rmtoll PLLCFGR PLLSRC LL_RCC_PLL_ConfigDomain_DSI\n - * PLLCFGR PLLM LL_RCC_PLL_ConfigDomain_DSI\n - * PLLCFGR PLLN LL_RCC_PLL_ConfigDomain_DSI\n - * PLLCFGR PLLR LL_RCC_PLL_ConfigDomain_DSI - * @param Source This parameter can be one of the following values: - * @arg @ref LL_RCC_PLLSOURCE_HSI - * @arg @ref LL_RCC_PLLSOURCE_HSE - * @param PLLM This parameter can be one of the following values: - * @arg @ref LL_RCC_PLLM_DIV_2 - * @arg @ref LL_RCC_PLLM_DIV_3 - * @arg @ref LL_RCC_PLLM_DIV_4 - * @arg @ref LL_RCC_PLLM_DIV_5 - * @arg @ref LL_RCC_PLLM_DIV_6 - * @arg @ref LL_RCC_PLLM_DIV_7 - * @arg @ref LL_RCC_PLLM_DIV_8 - * @arg @ref LL_RCC_PLLM_DIV_9 - * @arg @ref LL_RCC_PLLM_DIV_10 - * @arg @ref LL_RCC_PLLM_DIV_11 - * @arg @ref LL_RCC_PLLM_DIV_12 - * @arg @ref LL_RCC_PLLM_DIV_13 - * @arg @ref LL_RCC_PLLM_DIV_14 - * @arg @ref LL_RCC_PLLM_DIV_15 - * @arg @ref LL_RCC_PLLM_DIV_16 - * @arg @ref LL_RCC_PLLM_DIV_17 - * @arg @ref LL_RCC_PLLM_DIV_18 - * @arg @ref LL_RCC_PLLM_DIV_19 - * @arg @ref LL_RCC_PLLM_DIV_20 - * @arg @ref LL_RCC_PLLM_DIV_21 - * @arg @ref LL_RCC_PLLM_DIV_22 - * @arg @ref LL_RCC_PLLM_DIV_23 - * @arg @ref LL_RCC_PLLM_DIV_24 - * @arg @ref LL_RCC_PLLM_DIV_25 - * @arg @ref LL_RCC_PLLM_DIV_26 - * @arg @ref LL_RCC_PLLM_DIV_27 - * @arg @ref LL_RCC_PLLM_DIV_28 - * @arg @ref LL_RCC_PLLM_DIV_29 - * @arg @ref LL_RCC_PLLM_DIV_30 - * @arg @ref LL_RCC_PLLM_DIV_31 - * @arg @ref LL_RCC_PLLM_DIV_32 - * @arg @ref LL_RCC_PLLM_DIV_33 - * @arg @ref LL_RCC_PLLM_DIV_34 - * @arg @ref LL_RCC_PLLM_DIV_35 - * @arg @ref LL_RCC_PLLM_DIV_36 - * @arg @ref LL_RCC_PLLM_DIV_37 - * @arg @ref LL_RCC_PLLM_DIV_38 - * @arg @ref LL_RCC_PLLM_DIV_39 - * @arg @ref LL_RCC_PLLM_DIV_40 - * @arg @ref LL_RCC_PLLM_DIV_41 - * @arg @ref LL_RCC_PLLM_DIV_42 - * @arg @ref LL_RCC_PLLM_DIV_43 - * @arg @ref LL_RCC_PLLM_DIV_44 - * @arg @ref LL_RCC_PLLM_DIV_45 - * @arg @ref LL_RCC_PLLM_DIV_46 - * @arg @ref LL_RCC_PLLM_DIV_47 - * @arg @ref LL_RCC_PLLM_DIV_48 - * @arg @ref LL_RCC_PLLM_DIV_49 - * @arg @ref LL_RCC_PLLM_DIV_50 - * @arg @ref LL_RCC_PLLM_DIV_51 - * @arg @ref LL_RCC_PLLM_DIV_52 - * @arg @ref LL_RCC_PLLM_DIV_53 - * @arg @ref LL_RCC_PLLM_DIV_54 - * @arg @ref LL_RCC_PLLM_DIV_55 - * @arg @ref LL_RCC_PLLM_DIV_56 - * @arg @ref LL_RCC_PLLM_DIV_57 - * @arg @ref LL_RCC_PLLM_DIV_58 - * @arg @ref LL_RCC_PLLM_DIV_59 - * @arg @ref LL_RCC_PLLM_DIV_60 - * @arg @ref LL_RCC_PLLM_DIV_61 - * @arg @ref LL_RCC_PLLM_DIV_62 - * @arg @ref LL_RCC_PLLM_DIV_63 - * @param PLLN Between 50 and 432 - * @param PLLR This parameter can be one of the following values: - * @arg @ref LL_RCC_PLLR_DIV_2 - * @arg @ref LL_RCC_PLLR_DIV_3 - * @arg @ref LL_RCC_PLLR_DIV_4 - * @arg @ref LL_RCC_PLLR_DIV_5 - * @arg @ref LL_RCC_PLLR_DIV_6 - * @arg @ref LL_RCC_PLLR_DIV_7 - * @retval None - */ -__STATIC_INLINE void LL_RCC_PLL_ConfigDomain_DSI(uint32_t Source, uint32_t PLLM, uint32_t PLLN, uint32_t PLLR) -{ - MODIFY_REG(RCC->PLLCFGR, RCC_PLLCFGR_PLLSRC | RCC_PLLCFGR_PLLM | RCC_PLLCFGR_PLLN | RCC_PLLCFGR_PLLR, - Source | PLLM | PLLN << RCC_PLLCFGR_PLLN_Pos | PLLR); -} -#endif /* DSI */ - -#if defined(RCC_PLLR_I2S_CLKSOURCE_SUPPORT) -/** - * @brief Configure PLL used for I2S clock - * @note PLL Source and PLLM Divider can be written only when PLL, - * PLLI2S and PLLSAI are disabled - * @note PLLN/PLLR can be written only when PLL is disabled - * @note This can be selected for I2S - * @rmtoll PLLCFGR PLLSRC LL_RCC_PLL_ConfigDomain_I2S\n - * PLLCFGR PLLM LL_RCC_PLL_ConfigDomain_I2S\n - * PLLCFGR PLLN LL_RCC_PLL_ConfigDomain_I2S\n - * PLLCFGR PLLR LL_RCC_PLL_ConfigDomain_I2S - * @param Source This parameter can be one of the following values: - * @arg @ref LL_RCC_PLLSOURCE_HSI - * @arg @ref LL_RCC_PLLSOURCE_HSE - * @param PLLM This parameter can be one of the following values: - * @arg @ref LL_RCC_PLLM_DIV_2 - * @arg @ref LL_RCC_PLLM_DIV_3 - * @arg @ref LL_RCC_PLLM_DIV_4 - * @arg @ref LL_RCC_PLLM_DIV_5 - * @arg @ref LL_RCC_PLLM_DIV_6 - * @arg @ref LL_RCC_PLLM_DIV_7 - * @arg @ref LL_RCC_PLLM_DIV_8 - * @arg @ref LL_RCC_PLLM_DIV_9 - * @arg @ref LL_RCC_PLLM_DIV_10 - * @arg @ref LL_RCC_PLLM_DIV_11 - * @arg @ref LL_RCC_PLLM_DIV_12 - * @arg @ref LL_RCC_PLLM_DIV_13 - * @arg @ref LL_RCC_PLLM_DIV_14 - * @arg @ref LL_RCC_PLLM_DIV_15 - * @arg @ref LL_RCC_PLLM_DIV_16 - * @arg @ref LL_RCC_PLLM_DIV_17 - * @arg @ref LL_RCC_PLLM_DIV_18 - * @arg @ref LL_RCC_PLLM_DIV_19 - * @arg @ref LL_RCC_PLLM_DIV_20 - * @arg @ref LL_RCC_PLLM_DIV_21 - * @arg @ref LL_RCC_PLLM_DIV_22 - * @arg @ref LL_RCC_PLLM_DIV_23 - * @arg @ref LL_RCC_PLLM_DIV_24 - * @arg @ref LL_RCC_PLLM_DIV_25 - * @arg @ref LL_RCC_PLLM_DIV_26 - * @arg @ref LL_RCC_PLLM_DIV_27 - * @arg @ref LL_RCC_PLLM_DIV_28 - * @arg @ref LL_RCC_PLLM_DIV_29 - * @arg @ref LL_RCC_PLLM_DIV_30 - * @arg @ref LL_RCC_PLLM_DIV_31 - * @arg @ref LL_RCC_PLLM_DIV_32 - * @arg @ref LL_RCC_PLLM_DIV_33 - * @arg @ref LL_RCC_PLLM_DIV_34 - * @arg @ref LL_RCC_PLLM_DIV_35 - * @arg @ref LL_RCC_PLLM_DIV_36 - * @arg @ref LL_RCC_PLLM_DIV_37 - * @arg @ref LL_RCC_PLLM_DIV_38 - * @arg @ref LL_RCC_PLLM_DIV_39 - * @arg @ref LL_RCC_PLLM_DIV_40 - * @arg @ref LL_RCC_PLLM_DIV_41 - * @arg @ref LL_RCC_PLLM_DIV_42 - * @arg @ref LL_RCC_PLLM_DIV_43 - * @arg @ref LL_RCC_PLLM_DIV_44 - * @arg @ref LL_RCC_PLLM_DIV_45 - * @arg @ref LL_RCC_PLLM_DIV_46 - * @arg @ref LL_RCC_PLLM_DIV_47 - * @arg @ref LL_RCC_PLLM_DIV_48 - * @arg @ref LL_RCC_PLLM_DIV_49 - * @arg @ref LL_RCC_PLLM_DIV_50 - * @arg @ref LL_RCC_PLLM_DIV_51 - * @arg @ref LL_RCC_PLLM_DIV_52 - * @arg @ref LL_RCC_PLLM_DIV_53 - * @arg @ref LL_RCC_PLLM_DIV_54 - * @arg @ref LL_RCC_PLLM_DIV_55 - * @arg @ref LL_RCC_PLLM_DIV_56 - * @arg @ref LL_RCC_PLLM_DIV_57 - * @arg @ref LL_RCC_PLLM_DIV_58 - * @arg @ref LL_RCC_PLLM_DIV_59 - * @arg @ref LL_RCC_PLLM_DIV_60 - * @arg @ref LL_RCC_PLLM_DIV_61 - * @arg @ref LL_RCC_PLLM_DIV_62 - * @arg @ref LL_RCC_PLLM_DIV_63 - * @param PLLN Between 50 and 432 - * @param PLLR This parameter can be one of the following values: - * @arg @ref LL_RCC_PLLR_DIV_2 - * @arg @ref LL_RCC_PLLR_DIV_3 - * @arg @ref LL_RCC_PLLR_DIV_4 - * @arg @ref LL_RCC_PLLR_DIV_5 - * @arg @ref LL_RCC_PLLR_DIV_6 - * @arg @ref LL_RCC_PLLR_DIV_7 - * @retval None - */ -__STATIC_INLINE void LL_RCC_PLL_ConfigDomain_I2S(uint32_t Source, uint32_t PLLM, uint32_t PLLN, uint32_t PLLR) -{ - MODIFY_REG(RCC->PLLCFGR, RCC_PLLCFGR_PLLSRC | RCC_PLLCFGR_PLLM | RCC_PLLCFGR_PLLN | RCC_PLLCFGR_PLLR, - Source | PLLM | PLLN << RCC_PLLCFGR_PLLN_Pos | PLLR); -} -#endif /* RCC_PLLR_I2S_CLKSOURCE_SUPPORT */ - -#if defined(SPDIFRX) -/** - * @brief Configure PLL used for SPDIFRX clock - * @note PLL Source and PLLM Divider can be written only when PLL, - * PLLI2S and PLLSAI are disabled - * @note PLLN/PLLR can be written only when PLL is disabled - * @note This can be selected for SPDIFRX - * @rmtoll PLLCFGR PLLSRC LL_RCC_PLL_ConfigDomain_SPDIFRX\n - * PLLCFGR PLLM LL_RCC_PLL_ConfigDomain_SPDIFRX\n - * PLLCFGR PLLN LL_RCC_PLL_ConfigDomain_SPDIFRX\n - * PLLCFGR PLLR LL_RCC_PLL_ConfigDomain_SPDIFRX - * @param Source This parameter can be one of the following values: - * @arg @ref LL_RCC_PLLSOURCE_HSI - * @arg @ref LL_RCC_PLLSOURCE_HSE - * @param PLLM This parameter can be one of the following values: - * @arg @ref LL_RCC_PLLM_DIV_2 - * @arg @ref LL_RCC_PLLM_DIV_3 - * @arg @ref LL_RCC_PLLM_DIV_4 - * @arg @ref LL_RCC_PLLM_DIV_5 - * @arg @ref LL_RCC_PLLM_DIV_6 - * @arg @ref LL_RCC_PLLM_DIV_7 - * @arg @ref LL_RCC_PLLM_DIV_8 - * @arg @ref LL_RCC_PLLM_DIV_9 - * @arg @ref LL_RCC_PLLM_DIV_10 - * @arg @ref LL_RCC_PLLM_DIV_11 - * @arg @ref LL_RCC_PLLM_DIV_12 - * @arg @ref LL_RCC_PLLM_DIV_13 - * @arg @ref LL_RCC_PLLM_DIV_14 - * @arg @ref LL_RCC_PLLM_DIV_15 - * @arg @ref LL_RCC_PLLM_DIV_16 - * @arg @ref LL_RCC_PLLM_DIV_17 - * @arg @ref LL_RCC_PLLM_DIV_18 - * @arg @ref LL_RCC_PLLM_DIV_19 - * @arg @ref LL_RCC_PLLM_DIV_20 - * @arg @ref LL_RCC_PLLM_DIV_21 - * @arg @ref LL_RCC_PLLM_DIV_22 - * @arg @ref LL_RCC_PLLM_DIV_23 - * @arg @ref LL_RCC_PLLM_DIV_24 - * @arg @ref LL_RCC_PLLM_DIV_25 - * @arg @ref LL_RCC_PLLM_DIV_26 - * @arg @ref LL_RCC_PLLM_DIV_27 - * @arg @ref LL_RCC_PLLM_DIV_28 - * @arg @ref LL_RCC_PLLM_DIV_29 - * @arg @ref LL_RCC_PLLM_DIV_30 - * @arg @ref LL_RCC_PLLM_DIV_31 - * @arg @ref LL_RCC_PLLM_DIV_32 - * @arg @ref LL_RCC_PLLM_DIV_33 - * @arg @ref LL_RCC_PLLM_DIV_34 - * @arg @ref LL_RCC_PLLM_DIV_35 - * @arg @ref LL_RCC_PLLM_DIV_36 - * @arg @ref LL_RCC_PLLM_DIV_37 - * @arg @ref LL_RCC_PLLM_DIV_38 - * @arg @ref LL_RCC_PLLM_DIV_39 - * @arg @ref LL_RCC_PLLM_DIV_40 - * @arg @ref LL_RCC_PLLM_DIV_41 - * @arg @ref LL_RCC_PLLM_DIV_42 - * @arg @ref LL_RCC_PLLM_DIV_43 - * @arg @ref LL_RCC_PLLM_DIV_44 - * @arg @ref LL_RCC_PLLM_DIV_45 - * @arg @ref LL_RCC_PLLM_DIV_46 - * @arg @ref LL_RCC_PLLM_DIV_47 - * @arg @ref LL_RCC_PLLM_DIV_48 - * @arg @ref LL_RCC_PLLM_DIV_49 - * @arg @ref LL_RCC_PLLM_DIV_50 - * @arg @ref LL_RCC_PLLM_DIV_51 - * @arg @ref LL_RCC_PLLM_DIV_52 - * @arg @ref LL_RCC_PLLM_DIV_53 - * @arg @ref LL_RCC_PLLM_DIV_54 - * @arg @ref LL_RCC_PLLM_DIV_55 - * @arg @ref LL_RCC_PLLM_DIV_56 - * @arg @ref LL_RCC_PLLM_DIV_57 - * @arg @ref LL_RCC_PLLM_DIV_58 - * @arg @ref LL_RCC_PLLM_DIV_59 - * @arg @ref LL_RCC_PLLM_DIV_60 - * @arg @ref LL_RCC_PLLM_DIV_61 - * @arg @ref LL_RCC_PLLM_DIV_62 - * @arg @ref LL_RCC_PLLM_DIV_63 - * @param PLLN Between 50 and 432 - * @param PLLR This parameter can be one of the following values: - * @arg @ref LL_RCC_PLLR_DIV_2 - * @arg @ref LL_RCC_PLLR_DIV_3 - * @arg @ref LL_RCC_PLLR_DIV_4 - * @arg @ref LL_RCC_PLLR_DIV_5 - * @arg @ref LL_RCC_PLLR_DIV_6 - * @arg @ref LL_RCC_PLLR_DIV_7 - * @retval None - */ -__STATIC_INLINE void LL_RCC_PLL_ConfigDomain_SPDIFRX(uint32_t Source, uint32_t PLLM, uint32_t PLLN, uint32_t PLLR) -{ - MODIFY_REG(RCC->PLLCFGR, RCC_PLLCFGR_PLLSRC | RCC_PLLCFGR_PLLM | RCC_PLLCFGR_PLLN | RCC_PLLCFGR_PLLR, - Source | PLLM | PLLN << RCC_PLLCFGR_PLLN_Pos | PLLR); -} -#endif /* SPDIFRX */ - -#if defined(RCC_PLLCFGR_PLLR) -#if defined(SAI1) -/** - * @brief Configure PLL used for SAI clock - * @note PLL Source and PLLM Divider can be written only when PLL, - * PLLI2S and PLLSAI are disabled - * @note PLLN/PLLR can be written only when PLL is disabled - * @note This can be selected for SAI - * @rmtoll PLLCFGR PLLSRC LL_RCC_PLL_ConfigDomain_SAI\n - * PLLCFGR PLLM LL_RCC_PLL_ConfigDomain_SAI\n - * PLLCFGR PLLN LL_RCC_PLL_ConfigDomain_SAI\n - * PLLCFGR PLLR LL_RCC_PLL_ConfigDomain_SAI\n - * DCKCFGR PLLDIVR LL_RCC_PLL_ConfigDomain_SAI - * @param Source This parameter can be one of the following values: - * @arg @ref LL_RCC_PLLSOURCE_HSI - * @arg @ref LL_RCC_PLLSOURCE_HSE - * @param PLLM This parameter can be one of the following values: - * @arg @ref LL_RCC_PLLM_DIV_2 - * @arg @ref LL_RCC_PLLM_DIV_3 - * @arg @ref LL_RCC_PLLM_DIV_4 - * @arg @ref LL_RCC_PLLM_DIV_5 - * @arg @ref LL_RCC_PLLM_DIV_6 - * @arg @ref LL_RCC_PLLM_DIV_7 - * @arg @ref LL_RCC_PLLM_DIV_8 - * @arg @ref LL_RCC_PLLM_DIV_9 - * @arg @ref LL_RCC_PLLM_DIV_10 - * @arg @ref LL_RCC_PLLM_DIV_11 - * @arg @ref LL_RCC_PLLM_DIV_12 - * @arg @ref LL_RCC_PLLM_DIV_13 - * @arg @ref LL_RCC_PLLM_DIV_14 - * @arg @ref LL_RCC_PLLM_DIV_15 - * @arg @ref LL_RCC_PLLM_DIV_16 - * @arg @ref LL_RCC_PLLM_DIV_17 - * @arg @ref LL_RCC_PLLM_DIV_18 - * @arg @ref LL_RCC_PLLM_DIV_19 - * @arg @ref LL_RCC_PLLM_DIV_20 - * @arg @ref LL_RCC_PLLM_DIV_21 - * @arg @ref LL_RCC_PLLM_DIV_22 - * @arg @ref LL_RCC_PLLM_DIV_23 - * @arg @ref LL_RCC_PLLM_DIV_24 - * @arg @ref LL_RCC_PLLM_DIV_25 - * @arg @ref LL_RCC_PLLM_DIV_26 - * @arg @ref LL_RCC_PLLM_DIV_27 - * @arg @ref LL_RCC_PLLM_DIV_28 - * @arg @ref LL_RCC_PLLM_DIV_29 - * @arg @ref LL_RCC_PLLM_DIV_30 - * @arg @ref LL_RCC_PLLM_DIV_31 - * @arg @ref LL_RCC_PLLM_DIV_32 - * @arg @ref LL_RCC_PLLM_DIV_33 - * @arg @ref LL_RCC_PLLM_DIV_34 - * @arg @ref LL_RCC_PLLM_DIV_35 - * @arg @ref LL_RCC_PLLM_DIV_36 - * @arg @ref LL_RCC_PLLM_DIV_37 - * @arg @ref LL_RCC_PLLM_DIV_38 - * @arg @ref LL_RCC_PLLM_DIV_39 - * @arg @ref LL_RCC_PLLM_DIV_40 - * @arg @ref LL_RCC_PLLM_DIV_41 - * @arg @ref LL_RCC_PLLM_DIV_42 - * @arg @ref LL_RCC_PLLM_DIV_43 - * @arg @ref LL_RCC_PLLM_DIV_44 - * @arg @ref LL_RCC_PLLM_DIV_45 - * @arg @ref LL_RCC_PLLM_DIV_46 - * @arg @ref LL_RCC_PLLM_DIV_47 - * @arg @ref LL_RCC_PLLM_DIV_48 - * @arg @ref LL_RCC_PLLM_DIV_49 - * @arg @ref LL_RCC_PLLM_DIV_50 - * @arg @ref LL_RCC_PLLM_DIV_51 - * @arg @ref LL_RCC_PLLM_DIV_52 - * @arg @ref LL_RCC_PLLM_DIV_53 - * @arg @ref LL_RCC_PLLM_DIV_54 - * @arg @ref LL_RCC_PLLM_DIV_55 - * @arg @ref LL_RCC_PLLM_DIV_56 - * @arg @ref LL_RCC_PLLM_DIV_57 - * @arg @ref LL_RCC_PLLM_DIV_58 - * @arg @ref LL_RCC_PLLM_DIV_59 - * @arg @ref LL_RCC_PLLM_DIV_60 - * @arg @ref LL_RCC_PLLM_DIV_61 - * @arg @ref LL_RCC_PLLM_DIV_62 - * @arg @ref LL_RCC_PLLM_DIV_63 - * @param PLLN Between 50 and 432 - * @param PLLR This parameter can be one of the following values: - * @arg @ref LL_RCC_PLLR_DIV_2 - * @arg @ref LL_RCC_PLLR_DIV_3 - * @arg @ref LL_RCC_PLLR_DIV_4 - * @arg @ref LL_RCC_PLLR_DIV_5 - * @arg @ref LL_RCC_PLLR_DIV_6 - * @arg @ref LL_RCC_PLLR_DIV_7 - * @param PLLDIVR This parameter can be one of the following values: - * @arg @ref LL_RCC_PLLDIVR_DIV_1 (*) - * @arg @ref LL_RCC_PLLDIVR_DIV_2 (*) - * @arg @ref LL_RCC_PLLDIVR_DIV_3 (*) - * @arg @ref LL_RCC_PLLDIVR_DIV_4 (*) - * @arg @ref LL_RCC_PLLDIVR_DIV_5 (*) - * @arg @ref LL_RCC_PLLDIVR_DIV_6 (*) - * @arg @ref LL_RCC_PLLDIVR_DIV_7 (*) - * @arg @ref LL_RCC_PLLDIVR_DIV_8 (*) - * @arg @ref LL_RCC_PLLDIVR_DIV_9 (*) - * @arg @ref LL_RCC_PLLDIVR_DIV_10 (*) - * @arg @ref LL_RCC_PLLDIVR_DIV_11 (*) - * @arg @ref LL_RCC_PLLDIVR_DIV_12 (*) - * @arg @ref LL_RCC_PLLDIVR_DIV_13 (*) - * @arg @ref LL_RCC_PLLDIVR_DIV_14 (*) - * @arg @ref LL_RCC_PLLDIVR_DIV_15 (*) - * @arg @ref LL_RCC_PLLDIVR_DIV_16 (*) - * @arg @ref LL_RCC_PLLDIVR_DIV_17 (*) - * @arg @ref LL_RCC_PLLDIVR_DIV_18 (*) - * @arg @ref LL_RCC_PLLDIVR_DIV_19 (*) - * @arg @ref LL_RCC_PLLDIVR_DIV_20 (*) - * @arg @ref LL_RCC_PLLDIVR_DIV_21 (*) - * @arg @ref LL_RCC_PLLDIVR_DIV_22 (*) - * @arg @ref LL_RCC_PLLDIVR_DIV_23 (*) - * @arg @ref LL_RCC_PLLDIVR_DIV_24 (*) - * @arg @ref LL_RCC_PLLDIVR_DIV_25 (*) - * @arg @ref LL_RCC_PLLDIVR_DIV_26 (*) - * @arg @ref LL_RCC_PLLDIVR_DIV_27 (*) - * @arg @ref LL_RCC_PLLDIVR_DIV_28 (*) - * @arg @ref LL_RCC_PLLDIVR_DIV_29 (*) - * @arg @ref LL_RCC_PLLDIVR_DIV_30 (*) - * @arg @ref LL_RCC_PLLDIVR_DIV_31 (*) - * - * (*) value not defined in all devices. - * @retval None - */ -#if defined(RCC_DCKCFGR_PLLDIVR) -__STATIC_INLINE void LL_RCC_PLL_ConfigDomain_SAI(uint32_t Source, uint32_t PLLM, uint32_t PLLN, uint32_t PLLR, uint32_t PLLDIVR) -#else -__STATIC_INLINE void LL_RCC_PLL_ConfigDomain_SAI(uint32_t Source, uint32_t PLLM, uint32_t PLLN, uint32_t PLLR) -#endif /* RCC_DCKCFGR_PLLDIVR */ -{ - MODIFY_REG(RCC->PLLCFGR, RCC_PLLCFGR_PLLSRC | RCC_PLLCFGR_PLLM | RCC_PLLCFGR_PLLN | RCC_PLLCFGR_PLLR, - Source | PLLM | PLLN << RCC_PLLCFGR_PLLN_Pos | PLLR); -#if defined(RCC_DCKCFGR_PLLDIVR) - MODIFY_REG(RCC->DCKCFGR, RCC_DCKCFGR_PLLDIVR, PLLDIVR); -#endif /* RCC_DCKCFGR_PLLDIVR */ -} -#endif /* SAI1 */ -#endif /* RCC_PLLCFGR_PLLR */ - -/** - * @brief Configure PLL clock source - * @rmtoll PLLCFGR PLLSRC LL_RCC_PLL_SetMainSource - * @param PLLSource This parameter can be one of the following values: - * @arg @ref LL_RCC_PLLSOURCE_HSI - * @arg @ref LL_RCC_PLLSOURCE_HSE - * @retval None - */ -__STATIC_INLINE void LL_RCC_PLL_SetMainSource(uint32_t PLLSource) -{ - MODIFY_REG(RCC->PLLCFGR, RCC_PLLCFGR_PLLSRC, PLLSource); -} - -/** - * @brief Get the oscillator used as PLL clock source. - * @rmtoll PLLCFGR PLLSRC LL_RCC_PLL_GetMainSource - * @retval Returned value can be one of the following values: - * @arg @ref LL_RCC_PLLSOURCE_HSI - * @arg @ref LL_RCC_PLLSOURCE_HSE - */ -__STATIC_INLINE uint32_t LL_RCC_PLL_GetMainSource(void) -{ - return (uint32_t)(READ_BIT(RCC->PLLCFGR, RCC_PLLCFGR_PLLSRC)); -} - -/** - * @brief Get Main PLL multiplication factor for VCO - * @rmtoll PLLCFGR PLLN LL_RCC_PLL_GetN - * @retval Between 50/192(*) and 432 - * - * (*) value not defined in all devices. - */ -__STATIC_INLINE uint32_t LL_RCC_PLL_GetN(void) -{ - return (uint32_t)(READ_BIT(RCC->PLLCFGR, RCC_PLLCFGR_PLLN) >> RCC_PLLCFGR_PLLN_Pos); -} - -/** - * @brief Get Main PLL division factor for PLLP - * @rmtoll PLLCFGR PLLP LL_RCC_PLL_GetP - * @retval Returned value can be one of the following values: - * @arg @ref LL_RCC_PLLP_DIV_2 - * @arg @ref LL_RCC_PLLP_DIV_4 - * @arg @ref LL_RCC_PLLP_DIV_6 - * @arg @ref LL_RCC_PLLP_DIV_8 - */ -__STATIC_INLINE uint32_t LL_RCC_PLL_GetP(void) -{ - return (uint32_t)(READ_BIT(RCC->PLLCFGR, RCC_PLLCFGR_PLLP)); -} - -/** - * @brief Get Main PLL division factor for PLLQ - * @note used for PLL48MCLK selected for USB, RNG, SDIO (48 MHz clock) - * @rmtoll PLLCFGR PLLQ LL_RCC_PLL_GetQ - * @retval Returned value can be one of the following values: - * @arg @ref LL_RCC_PLLQ_DIV_2 - * @arg @ref LL_RCC_PLLQ_DIV_3 - * @arg @ref LL_RCC_PLLQ_DIV_4 - * @arg @ref LL_RCC_PLLQ_DIV_5 - * @arg @ref LL_RCC_PLLQ_DIV_6 - * @arg @ref LL_RCC_PLLQ_DIV_7 - * @arg @ref LL_RCC_PLLQ_DIV_8 - * @arg @ref LL_RCC_PLLQ_DIV_9 - * @arg @ref LL_RCC_PLLQ_DIV_10 - * @arg @ref LL_RCC_PLLQ_DIV_11 - * @arg @ref LL_RCC_PLLQ_DIV_12 - * @arg @ref LL_RCC_PLLQ_DIV_13 - * @arg @ref LL_RCC_PLLQ_DIV_14 - * @arg @ref LL_RCC_PLLQ_DIV_15 - */ -__STATIC_INLINE uint32_t LL_RCC_PLL_GetQ(void) -{ - return (uint32_t)(READ_BIT(RCC->PLLCFGR, RCC_PLLCFGR_PLLQ)); -} - -#if defined(RCC_PLLCFGR_PLLR) -/** - * @brief Get Main PLL division factor for PLLR - * @note used for PLLCLK (system clock) - * @rmtoll PLLCFGR PLLR LL_RCC_PLL_GetR - * @retval Returned value can be one of the following values: - * @arg @ref LL_RCC_PLLR_DIV_2 - * @arg @ref LL_RCC_PLLR_DIV_3 - * @arg @ref LL_RCC_PLLR_DIV_4 - * @arg @ref LL_RCC_PLLR_DIV_5 - * @arg @ref LL_RCC_PLLR_DIV_6 - * @arg @ref LL_RCC_PLLR_DIV_7 - */ -__STATIC_INLINE uint32_t LL_RCC_PLL_GetR(void) -{ - return (uint32_t)(READ_BIT(RCC->PLLCFGR, RCC_PLLCFGR_PLLR)); -} -#endif /* RCC_PLLCFGR_PLLR */ - -#if defined(RCC_DCKCFGR_PLLDIVR) -/** - * @brief Get Main PLL division factor for PLLDIVR - * @note used for PLLSAICLK (SAI1 and SAI2 clock) - * @rmtoll DCKCFGR PLLDIVR LL_RCC_PLL_GetDIVR - * @retval Returned value can be one of the following values: - * @arg @ref LL_RCC_PLLDIVR_DIV_1 - * @arg @ref LL_RCC_PLLDIVR_DIV_2 - * @arg @ref LL_RCC_PLLDIVR_DIV_3 - * @arg @ref LL_RCC_PLLDIVR_DIV_4 - * @arg @ref LL_RCC_PLLDIVR_DIV_5 - * @arg @ref LL_RCC_PLLDIVR_DIV_6 - * @arg @ref LL_RCC_PLLDIVR_DIV_7 - * @arg @ref LL_RCC_PLLDIVR_DIV_8 - * @arg @ref LL_RCC_PLLDIVR_DIV_9 - * @arg @ref LL_RCC_PLLDIVR_DIV_10 - * @arg @ref LL_RCC_PLLDIVR_DIV_11 - * @arg @ref LL_RCC_PLLDIVR_DIV_12 - * @arg @ref LL_RCC_PLLDIVR_DIV_13 - * @arg @ref LL_RCC_PLLDIVR_DIV_14 - * @arg @ref LL_RCC_PLLDIVR_DIV_15 - * @arg @ref LL_RCC_PLLDIVR_DIV_16 - * @arg @ref LL_RCC_PLLDIVR_DIV_17 - * @arg @ref LL_RCC_PLLDIVR_DIV_18 - * @arg @ref LL_RCC_PLLDIVR_DIV_19 - * @arg @ref LL_RCC_PLLDIVR_DIV_20 - * @arg @ref LL_RCC_PLLDIVR_DIV_21 - * @arg @ref LL_RCC_PLLDIVR_DIV_22 - * @arg @ref LL_RCC_PLLDIVR_DIV_23 - * @arg @ref LL_RCC_PLLDIVR_DIV_24 - * @arg @ref LL_RCC_PLLDIVR_DIV_25 - * @arg @ref LL_RCC_PLLDIVR_DIV_26 - * @arg @ref LL_RCC_PLLDIVR_DIV_27 - * @arg @ref LL_RCC_PLLDIVR_DIV_28 - * @arg @ref LL_RCC_PLLDIVR_DIV_29 - * @arg @ref LL_RCC_PLLDIVR_DIV_30 - * @arg @ref LL_RCC_PLLDIVR_DIV_31 - */ -__STATIC_INLINE uint32_t LL_RCC_PLL_GetDIVR(void) -{ - return (uint32_t)(READ_BIT(RCC->DCKCFGR, RCC_DCKCFGR_PLLDIVR)); -} -#endif /* RCC_DCKCFGR_PLLDIVR */ - -/** - * @brief Get Division factor for the main PLL and other PLL - * @rmtoll PLLCFGR PLLM LL_RCC_PLL_GetDivider - * @retval Returned value can be one of the following values: - * @arg @ref LL_RCC_PLLM_DIV_2 - * @arg @ref LL_RCC_PLLM_DIV_3 - * @arg @ref LL_RCC_PLLM_DIV_4 - * @arg @ref LL_RCC_PLLM_DIV_5 - * @arg @ref LL_RCC_PLLM_DIV_6 - * @arg @ref LL_RCC_PLLM_DIV_7 - * @arg @ref LL_RCC_PLLM_DIV_8 - * @arg @ref LL_RCC_PLLM_DIV_9 - * @arg @ref LL_RCC_PLLM_DIV_10 - * @arg @ref LL_RCC_PLLM_DIV_11 - * @arg @ref LL_RCC_PLLM_DIV_12 - * @arg @ref LL_RCC_PLLM_DIV_13 - * @arg @ref LL_RCC_PLLM_DIV_14 - * @arg @ref LL_RCC_PLLM_DIV_15 - * @arg @ref LL_RCC_PLLM_DIV_16 - * @arg @ref LL_RCC_PLLM_DIV_17 - * @arg @ref LL_RCC_PLLM_DIV_18 - * @arg @ref LL_RCC_PLLM_DIV_19 - * @arg @ref LL_RCC_PLLM_DIV_20 - * @arg @ref LL_RCC_PLLM_DIV_21 - * @arg @ref LL_RCC_PLLM_DIV_22 - * @arg @ref LL_RCC_PLLM_DIV_23 - * @arg @ref LL_RCC_PLLM_DIV_24 - * @arg @ref LL_RCC_PLLM_DIV_25 - * @arg @ref LL_RCC_PLLM_DIV_26 - * @arg @ref LL_RCC_PLLM_DIV_27 - * @arg @ref LL_RCC_PLLM_DIV_28 - * @arg @ref LL_RCC_PLLM_DIV_29 - * @arg @ref LL_RCC_PLLM_DIV_30 - * @arg @ref LL_RCC_PLLM_DIV_31 - * @arg @ref LL_RCC_PLLM_DIV_32 - * @arg @ref LL_RCC_PLLM_DIV_33 - * @arg @ref LL_RCC_PLLM_DIV_34 - * @arg @ref LL_RCC_PLLM_DIV_35 - * @arg @ref LL_RCC_PLLM_DIV_36 - * @arg @ref LL_RCC_PLLM_DIV_37 - * @arg @ref LL_RCC_PLLM_DIV_38 - * @arg @ref LL_RCC_PLLM_DIV_39 - * @arg @ref LL_RCC_PLLM_DIV_40 - * @arg @ref LL_RCC_PLLM_DIV_41 - * @arg @ref LL_RCC_PLLM_DIV_42 - * @arg @ref LL_RCC_PLLM_DIV_43 - * @arg @ref LL_RCC_PLLM_DIV_44 - * @arg @ref LL_RCC_PLLM_DIV_45 - * @arg @ref LL_RCC_PLLM_DIV_46 - * @arg @ref LL_RCC_PLLM_DIV_47 - * @arg @ref LL_RCC_PLLM_DIV_48 - * @arg @ref LL_RCC_PLLM_DIV_49 - * @arg @ref LL_RCC_PLLM_DIV_50 - * @arg @ref LL_RCC_PLLM_DIV_51 - * @arg @ref LL_RCC_PLLM_DIV_52 - * @arg @ref LL_RCC_PLLM_DIV_53 - * @arg @ref LL_RCC_PLLM_DIV_54 - * @arg @ref LL_RCC_PLLM_DIV_55 - * @arg @ref LL_RCC_PLLM_DIV_56 - * @arg @ref LL_RCC_PLLM_DIV_57 - * @arg @ref LL_RCC_PLLM_DIV_58 - * @arg @ref LL_RCC_PLLM_DIV_59 - * @arg @ref LL_RCC_PLLM_DIV_60 - * @arg @ref LL_RCC_PLLM_DIV_61 - * @arg @ref LL_RCC_PLLM_DIV_62 - * @arg @ref LL_RCC_PLLM_DIV_63 - */ -__STATIC_INLINE uint32_t LL_RCC_PLL_GetDivider(void) -{ - return (uint32_t)(READ_BIT(RCC->PLLCFGR, RCC_PLLCFGR_PLLM)); -} - -/** - * @brief Configure Spread Spectrum used for PLL - * @note These bits must be written before enabling PLL - * @rmtoll SSCGR MODPER LL_RCC_PLL_ConfigSpreadSpectrum\n - * SSCGR INCSTEP LL_RCC_PLL_ConfigSpreadSpectrum\n - * SSCGR SPREADSEL LL_RCC_PLL_ConfigSpreadSpectrum - * @param Mod Between Min_Data=0 and Max_Data=8191 - * @param Inc Between Min_Data=0 and Max_Data=32767 - * @param Sel This parameter can be one of the following values: - * @arg @ref LL_RCC_SPREAD_SELECT_CENTER - * @arg @ref LL_RCC_SPREAD_SELECT_DOWN - * @retval None - */ -__STATIC_INLINE void LL_RCC_PLL_ConfigSpreadSpectrum(uint32_t Mod, uint32_t Inc, uint32_t Sel) -{ - MODIFY_REG(RCC->SSCGR, RCC_SSCGR_MODPER | RCC_SSCGR_INCSTEP | RCC_SSCGR_SPREADSEL, Mod | (Inc << RCC_SSCGR_INCSTEP_Pos) | Sel); -} - -/** - * @brief Get Spread Spectrum Modulation Period for PLL - * @rmtoll SSCGR MODPER LL_RCC_PLL_GetPeriodModulation - * @retval Between Min_Data=0 and Max_Data=8191 - */ -__STATIC_INLINE uint32_t LL_RCC_PLL_GetPeriodModulation(void) -{ - return (uint32_t)(READ_BIT(RCC->SSCGR, RCC_SSCGR_MODPER)); -} - -/** - * @brief Get Spread Spectrum Incrementation Step for PLL - * @note Must be written before enabling PLL - * @rmtoll SSCGR INCSTEP LL_RCC_PLL_GetStepIncrementation - * @retval Between Min_Data=0 and Max_Data=32767 - */ -__STATIC_INLINE uint32_t LL_RCC_PLL_GetStepIncrementation(void) -{ - return (uint32_t)(READ_BIT(RCC->SSCGR, RCC_SSCGR_INCSTEP) >> RCC_SSCGR_INCSTEP_Pos); -} - -/** - * @brief Get Spread Spectrum Selection for PLL - * @note Must be written before enabling PLL - * @rmtoll SSCGR SPREADSEL LL_RCC_PLL_GetSpreadSelection - * @retval Returned value can be one of the following values: - * @arg @ref LL_RCC_SPREAD_SELECT_CENTER - * @arg @ref LL_RCC_SPREAD_SELECT_DOWN - */ -__STATIC_INLINE uint32_t LL_RCC_PLL_GetSpreadSelection(void) -{ - return (uint32_t)(READ_BIT(RCC->SSCGR, RCC_SSCGR_SPREADSEL)); -} - -/** - * @brief Enable Spread Spectrum for PLL. - * @rmtoll SSCGR SSCGEN LL_RCC_PLL_SpreadSpectrum_Enable - * @retval None - */ -__STATIC_INLINE void LL_RCC_PLL_SpreadSpectrum_Enable(void) -{ - SET_BIT(RCC->SSCGR, RCC_SSCGR_SSCGEN); -} - -/** - * @brief Disable Spread Spectrum for PLL. - * @rmtoll SSCGR SSCGEN LL_RCC_PLL_SpreadSpectrum_Disable - * @retval None - */ -__STATIC_INLINE void LL_RCC_PLL_SpreadSpectrum_Disable(void) -{ - CLEAR_BIT(RCC->SSCGR, RCC_SSCGR_SSCGEN); -} - -/** - * @} - */ - -#if defined(RCC_PLLI2S_SUPPORT) -/** @defgroup RCC_LL_EF_PLLI2S PLLI2S - * @{ - */ - -/** - * @brief Enable PLLI2S - * @rmtoll CR PLLI2SON LL_RCC_PLLI2S_Enable - * @retval None - */ -__STATIC_INLINE void LL_RCC_PLLI2S_Enable(void) -{ - SET_BIT(RCC->CR, RCC_CR_PLLI2SON); -} - -/** - * @brief Disable PLLI2S - * @rmtoll CR PLLI2SON LL_RCC_PLLI2S_Disable - * @retval None - */ -__STATIC_INLINE void LL_RCC_PLLI2S_Disable(void) -{ - CLEAR_BIT(RCC->CR, RCC_CR_PLLI2SON); -} - -/** - * @brief Check if PLLI2S Ready - * @rmtoll CR PLLI2SRDY LL_RCC_PLLI2S_IsReady - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_RCC_PLLI2S_IsReady(void) -{ - return (READ_BIT(RCC->CR, RCC_CR_PLLI2SRDY) == (RCC_CR_PLLI2SRDY)); -} - -#if (defined(RCC_DCKCFGR_PLLI2SDIVQ) || defined(RCC_DCKCFGR_PLLI2SDIVR)) -/** - * @brief Configure PLLI2S used for SAI domain clock - * @note PLL Source and PLLM Divider can be written only when PLL, - * PLLI2S and PLLSAI(*) are disabled - * @note PLLN/PLLQ/PLLR can be written only when PLLI2S is disabled - * @note This can be selected for SAI - * @rmtoll PLLCFGR PLLSRC LL_RCC_PLLI2S_ConfigDomain_SAI\n - * PLLI2SCFGR PLLI2SSRC LL_RCC_PLLI2S_ConfigDomain_SAI\n - * PLLCFGR PLLM LL_RCC_PLLI2S_ConfigDomain_SAI\n - * PLLI2SCFGR PLLI2SM LL_RCC_PLLI2S_ConfigDomain_SAI\n - * PLLI2SCFGR PLLI2SN LL_RCC_PLLI2S_ConfigDomain_SAI\n - * PLLI2SCFGR PLLI2SQ LL_RCC_PLLI2S_ConfigDomain_SAI\n - * PLLI2SCFGR PLLI2SR LL_RCC_PLLI2S_ConfigDomain_SAI\n - * DCKCFGR PLLI2SDIVQ LL_RCC_PLLI2S_ConfigDomain_SAI\n - * DCKCFGR PLLI2SDIVR LL_RCC_PLLI2S_ConfigDomain_SAI - * @param Source This parameter can be one of the following values: - * @arg @ref LL_RCC_PLLSOURCE_HSI - * @arg @ref LL_RCC_PLLSOURCE_HSE - * @arg @ref LL_RCC_PLLI2SSOURCE_PIN (*) - * - * (*) value not defined in all devices. - * @param PLLM This parameter can be one of the following values: - * @arg @ref LL_RCC_PLLI2SM_DIV_2 - * @arg @ref LL_RCC_PLLI2SM_DIV_3 - * @arg @ref LL_RCC_PLLI2SM_DIV_4 - * @arg @ref LL_RCC_PLLI2SM_DIV_5 - * @arg @ref LL_RCC_PLLI2SM_DIV_6 - * @arg @ref LL_RCC_PLLI2SM_DIV_7 - * @arg @ref LL_RCC_PLLI2SM_DIV_8 - * @arg @ref LL_RCC_PLLI2SM_DIV_9 - * @arg @ref LL_RCC_PLLI2SM_DIV_10 - * @arg @ref LL_RCC_PLLI2SM_DIV_11 - * @arg @ref LL_RCC_PLLI2SM_DIV_12 - * @arg @ref LL_RCC_PLLI2SM_DIV_13 - * @arg @ref LL_RCC_PLLI2SM_DIV_14 - * @arg @ref LL_RCC_PLLI2SM_DIV_15 - * @arg @ref LL_RCC_PLLI2SM_DIV_16 - * @arg @ref LL_RCC_PLLI2SM_DIV_17 - * @arg @ref LL_RCC_PLLI2SM_DIV_18 - * @arg @ref LL_RCC_PLLI2SM_DIV_19 - * @arg @ref LL_RCC_PLLI2SM_DIV_20 - * @arg @ref LL_RCC_PLLI2SM_DIV_21 - * @arg @ref LL_RCC_PLLI2SM_DIV_22 - * @arg @ref LL_RCC_PLLI2SM_DIV_23 - * @arg @ref LL_RCC_PLLI2SM_DIV_24 - * @arg @ref LL_RCC_PLLI2SM_DIV_25 - * @arg @ref LL_RCC_PLLI2SM_DIV_26 - * @arg @ref LL_RCC_PLLI2SM_DIV_27 - * @arg @ref LL_RCC_PLLI2SM_DIV_28 - * @arg @ref LL_RCC_PLLI2SM_DIV_29 - * @arg @ref LL_RCC_PLLI2SM_DIV_30 - * @arg @ref LL_RCC_PLLI2SM_DIV_31 - * @arg @ref LL_RCC_PLLI2SM_DIV_32 - * @arg @ref LL_RCC_PLLI2SM_DIV_33 - * @arg @ref LL_RCC_PLLI2SM_DIV_34 - * @arg @ref LL_RCC_PLLI2SM_DIV_35 - * @arg @ref LL_RCC_PLLI2SM_DIV_36 - * @arg @ref LL_RCC_PLLI2SM_DIV_37 - * @arg @ref LL_RCC_PLLI2SM_DIV_38 - * @arg @ref LL_RCC_PLLI2SM_DIV_39 - * @arg @ref LL_RCC_PLLI2SM_DIV_40 - * @arg @ref LL_RCC_PLLI2SM_DIV_41 - * @arg @ref LL_RCC_PLLI2SM_DIV_42 - * @arg @ref LL_RCC_PLLI2SM_DIV_43 - * @arg @ref LL_RCC_PLLI2SM_DIV_44 - * @arg @ref LL_RCC_PLLI2SM_DIV_45 - * @arg @ref LL_RCC_PLLI2SM_DIV_46 - * @arg @ref LL_RCC_PLLI2SM_DIV_47 - * @arg @ref LL_RCC_PLLI2SM_DIV_48 - * @arg @ref LL_RCC_PLLI2SM_DIV_49 - * @arg @ref LL_RCC_PLLI2SM_DIV_50 - * @arg @ref LL_RCC_PLLI2SM_DIV_51 - * @arg @ref LL_RCC_PLLI2SM_DIV_52 - * @arg @ref LL_RCC_PLLI2SM_DIV_53 - * @arg @ref LL_RCC_PLLI2SM_DIV_54 - * @arg @ref LL_RCC_PLLI2SM_DIV_55 - * @arg @ref LL_RCC_PLLI2SM_DIV_56 - * @arg @ref LL_RCC_PLLI2SM_DIV_57 - * @arg @ref LL_RCC_PLLI2SM_DIV_58 - * @arg @ref LL_RCC_PLLI2SM_DIV_59 - * @arg @ref LL_RCC_PLLI2SM_DIV_60 - * @arg @ref LL_RCC_PLLI2SM_DIV_61 - * @arg @ref LL_RCC_PLLI2SM_DIV_62 - * @arg @ref LL_RCC_PLLI2SM_DIV_63 - * @param PLLN Between 50/192(*) and 432 - * - * (*) value not defined in all devices. - * @param PLLQ_R This parameter can be one of the following values: - * @arg @ref LL_RCC_PLLI2SQ_DIV_2 (*) - * @arg @ref LL_RCC_PLLI2SQ_DIV_3 (*) - * @arg @ref LL_RCC_PLLI2SQ_DIV_4 (*) - * @arg @ref LL_RCC_PLLI2SQ_DIV_5 (*) - * @arg @ref LL_RCC_PLLI2SQ_DIV_6 (*) - * @arg @ref LL_RCC_PLLI2SQ_DIV_7 (*) - * @arg @ref LL_RCC_PLLI2SQ_DIV_8 (*) - * @arg @ref LL_RCC_PLLI2SQ_DIV_9 (*) - * @arg @ref LL_RCC_PLLI2SQ_DIV_10 (*) - * @arg @ref LL_RCC_PLLI2SQ_DIV_11 (*) - * @arg @ref LL_RCC_PLLI2SQ_DIV_12 (*) - * @arg @ref LL_RCC_PLLI2SQ_DIV_13 (*) - * @arg @ref LL_RCC_PLLI2SQ_DIV_14 (*) - * @arg @ref LL_RCC_PLLI2SQ_DIV_15 (*) - * @arg @ref LL_RCC_PLLI2SR_DIV_2 (*) - * @arg @ref LL_RCC_PLLI2SR_DIV_3 (*) - * @arg @ref LL_RCC_PLLI2SR_DIV_4 (*) - * @arg @ref LL_RCC_PLLI2SR_DIV_5 (*) - * @arg @ref LL_RCC_PLLI2SR_DIV_6 (*) - * @arg @ref LL_RCC_PLLI2SR_DIV_7 (*) - * - * (*) value not defined in all devices. - * @param PLLDIVQ_R This parameter can be one of the following values: - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_1 (*) - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_2 (*) - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_3 (*) - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_4 (*) - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_5 (*) - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_6 (*) - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_7 (*) - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_8 (*) - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_9 (*) - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_10 (*) - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_11 (*) - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_12 (*) - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_13 (*) - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_14 (*) - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_15 (*) - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_16 (*) - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_17 (*) - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_18 (*) - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_19 (*) - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_20 (*) - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_21 (*) - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_22 (*) - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_23 (*) - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_24 (*) - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_25 (*) - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_26 (*) - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_27 (*) - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_28 (*) - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_29 (*) - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_30 (*) - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_31 (*) - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_32 (*) - * @arg @ref LL_RCC_PLLI2SDIVR_DIV_1 (*) - * @arg @ref LL_RCC_PLLI2SDIVR_DIV_2 (*) - * @arg @ref LL_RCC_PLLI2SDIVR_DIV_3 (*) - * @arg @ref LL_RCC_PLLI2SDIVR_DIV_4 (*) - * @arg @ref LL_RCC_PLLI2SDIVR_DIV_5 (*) - * @arg @ref LL_RCC_PLLI2SDIVR_DIV_6 (*) - * @arg @ref LL_RCC_PLLI2SDIVR_DIV_7 (*) - * @arg @ref LL_RCC_PLLI2SDIVR_DIV_8 (*) - * @arg @ref LL_RCC_PLLI2SDIVR_DIV_9 (*) - * @arg @ref LL_RCC_PLLI2SDIVR_DIV_10 (*) - * @arg @ref LL_RCC_PLLI2SDIVR_DIV_11 (*) - * @arg @ref LL_RCC_PLLI2SDIVR_DIV_12 (*) - * @arg @ref LL_RCC_PLLI2SDIVR_DIV_13 (*) - * @arg @ref LL_RCC_PLLI2SDIVR_DIV_14 (*) - * @arg @ref LL_RCC_PLLI2SDIVR_DIV_15 (*) - * @arg @ref LL_RCC_PLLI2SDIVR_DIV_16 (*) - * @arg @ref LL_RCC_PLLI2SDIVR_DIV_17 (*) - * @arg @ref LL_RCC_PLLI2SDIVR_DIV_18 (*) - * @arg @ref LL_RCC_PLLI2SDIVR_DIV_19 (*) - * @arg @ref LL_RCC_PLLI2SDIVR_DIV_20 (*) - * @arg @ref LL_RCC_PLLI2SDIVR_DIV_21 (*) - * @arg @ref LL_RCC_PLLI2SDIVR_DIV_22 (*) - * @arg @ref LL_RCC_PLLI2SDIVR_DIV_23 (*) - * @arg @ref LL_RCC_PLLI2SDIVR_DIV_24 (*) - * @arg @ref LL_RCC_PLLI2SDIVR_DIV_25 (*) - * @arg @ref LL_RCC_PLLI2SDIVR_DIV_26 (*) - * @arg @ref LL_RCC_PLLI2SDIVR_DIV_27 (*) - * @arg @ref LL_RCC_PLLI2SDIVR_DIV_28 (*) - * @arg @ref LL_RCC_PLLI2SDIVR_DIV_29 (*) - * @arg @ref LL_RCC_PLLI2SDIVR_DIV_30 (*) - * @arg @ref LL_RCC_PLLI2SDIVR_DIV_31 (*) - * - * (*) value not defined in all devices. - * @retval None - */ -__STATIC_INLINE void LL_RCC_PLLI2S_ConfigDomain_SAI(uint32_t Source, uint32_t PLLM, uint32_t PLLN, uint32_t PLLQ_R, uint32_t PLLDIVQ_R) -{ - __IO uint32_t *pReg = (__IO uint32_t *)((uint32_t)((uint32_t)(&RCC->PLLCFGR) + (Source & 0x80U))); - MODIFY_REG(*pReg, RCC_PLLCFGR_PLLSRC, (Source & (~0x80U))); -#if defined(RCC_PLLI2SCFGR_PLLI2SM) - MODIFY_REG(RCC->PLLI2SCFGR, RCC_PLLI2SCFGR_PLLI2SM, PLLM); -#else - MODIFY_REG(RCC->PLLCFGR, RCC_PLLCFGR_PLLM, PLLM); -#endif /* RCC_PLLI2SCFGR_PLLI2SM */ - MODIFY_REG(RCC->PLLI2SCFGR, RCC_PLLI2SCFGR_PLLI2SN, PLLN << RCC_PLLI2SCFGR_PLLI2SN_Pos); -#if defined(RCC_DCKCFGR_PLLI2SDIVQ) - MODIFY_REG(RCC->PLLI2SCFGR, RCC_PLLI2SCFGR_PLLI2SQ, PLLQ_R); - MODIFY_REG(RCC->DCKCFGR, RCC_DCKCFGR_PLLI2SDIVQ, PLLDIVQ_R); -#else - MODIFY_REG(RCC->PLLI2SCFGR, RCC_PLLI2SCFGR_PLLI2SR, PLLQ_R); - MODIFY_REG(RCC->DCKCFGR, RCC_DCKCFGR_PLLI2SDIVR, PLLDIVQ_R); -#endif /* RCC_DCKCFGR_PLLI2SDIVQ */ -} -#endif /* RCC_DCKCFGR_PLLI2SDIVQ && RCC_DCKCFGR_PLLI2SDIVR */ - -#if defined(RCC_PLLI2SCFGR_PLLI2SQ) && !defined(RCC_DCKCFGR_PLLI2SDIVQ) -/** - * @brief Configure PLLI2S used for 48Mhz domain clock - * @note PLL Source and PLLM Divider can be written only when PLL, - * PLLI2S and PLLSAI(*) are disabled - * @note PLLN/PLLQ can be written only when PLLI2S is disabled - * @note This can be selected for RNG, USB, SDIO - * @rmtoll PLLCFGR PLLSRC LL_RCC_PLLI2S_ConfigDomain_48M\n - * PLLI2SCFGR PLLI2SSRC LL_RCC_PLLI2S_ConfigDomain_48M\n - * PLLCFGR PLLM LL_RCC_PLLI2S_ConfigDomain_48M\n - * PLLI2SCFGR PLLI2SM LL_RCC_PLLI2S_ConfigDomain_48M\n - * PLLI2SCFGR PLLI2SN LL_RCC_PLLI2S_ConfigDomain_48M\n - * PLLI2SCFGR PLLI2SQ LL_RCC_PLLI2S_ConfigDomain_48M - * @param Source This parameter can be one of the following values: - * @arg @ref LL_RCC_PLLSOURCE_HSI - * @arg @ref LL_RCC_PLLSOURCE_HSE - * @arg @ref LL_RCC_PLLI2SSOURCE_PIN (*) - * - * (*) value not defined in all devices. - * @param PLLM This parameter can be one of the following values: - * @arg @ref LL_RCC_PLLI2SM_DIV_2 - * @arg @ref LL_RCC_PLLI2SM_DIV_3 - * @arg @ref LL_RCC_PLLI2SM_DIV_4 - * @arg @ref LL_RCC_PLLI2SM_DIV_5 - * @arg @ref LL_RCC_PLLI2SM_DIV_6 - * @arg @ref LL_RCC_PLLI2SM_DIV_7 - * @arg @ref LL_RCC_PLLI2SM_DIV_8 - * @arg @ref LL_RCC_PLLI2SM_DIV_9 - * @arg @ref LL_RCC_PLLI2SM_DIV_10 - * @arg @ref LL_RCC_PLLI2SM_DIV_11 - * @arg @ref LL_RCC_PLLI2SM_DIV_12 - * @arg @ref LL_RCC_PLLI2SM_DIV_13 - * @arg @ref LL_RCC_PLLI2SM_DIV_14 - * @arg @ref LL_RCC_PLLI2SM_DIV_15 - * @arg @ref LL_RCC_PLLI2SM_DIV_16 - * @arg @ref LL_RCC_PLLI2SM_DIV_17 - * @arg @ref LL_RCC_PLLI2SM_DIV_18 - * @arg @ref LL_RCC_PLLI2SM_DIV_19 - * @arg @ref LL_RCC_PLLI2SM_DIV_20 - * @arg @ref LL_RCC_PLLI2SM_DIV_21 - * @arg @ref LL_RCC_PLLI2SM_DIV_22 - * @arg @ref LL_RCC_PLLI2SM_DIV_23 - * @arg @ref LL_RCC_PLLI2SM_DIV_24 - * @arg @ref LL_RCC_PLLI2SM_DIV_25 - * @arg @ref LL_RCC_PLLI2SM_DIV_26 - * @arg @ref LL_RCC_PLLI2SM_DIV_27 - * @arg @ref LL_RCC_PLLI2SM_DIV_28 - * @arg @ref LL_RCC_PLLI2SM_DIV_29 - * @arg @ref LL_RCC_PLLI2SM_DIV_30 - * @arg @ref LL_RCC_PLLI2SM_DIV_31 - * @arg @ref LL_RCC_PLLI2SM_DIV_32 - * @arg @ref LL_RCC_PLLI2SM_DIV_33 - * @arg @ref LL_RCC_PLLI2SM_DIV_34 - * @arg @ref LL_RCC_PLLI2SM_DIV_35 - * @arg @ref LL_RCC_PLLI2SM_DIV_36 - * @arg @ref LL_RCC_PLLI2SM_DIV_37 - * @arg @ref LL_RCC_PLLI2SM_DIV_38 - * @arg @ref LL_RCC_PLLI2SM_DIV_39 - * @arg @ref LL_RCC_PLLI2SM_DIV_40 - * @arg @ref LL_RCC_PLLI2SM_DIV_41 - * @arg @ref LL_RCC_PLLI2SM_DIV_42 - * @arg @ref LL_RCC_PLLI2SM_DIV_43 - * @arg @ref LL_RCC_PLLI2SM_DIV_44 - * @arg @ref LL_RCC_PLLI2SM_DIV_45 - * @arg @ref LL_RCC_PLLI2SM_DIV_46 - * @arg @ref LL_RCC_PLLI2SM_DIV_47 - * @arg @ref LL_RCC_PLLI2SM_DIV_48 - * @arg @ref LL_RCC_PLLI2SM_DIV_49 - * @arg @ref LL_RCC_PLLI2SM_DIV_50 - * @arg @ref LL_RCC_PLLI2SM_DIV_51 - * @arg @ref LL_RCC_PLLI2SM_DIV_52 - * @arg @ref LL_RCC_PLLI2SM_DIV_53 - * @arg @ref LL_RCC_PLLI2SM_DIV_54 - * @arg @ref LL_RCC_PLLI2SM_DIV_55 - * @arg @ref LL_RCC_PLLI2SM_DIV_56 - * @arg @ref LL_RCC_PLLI2SM_DIV_57 - * @arg @ref LL_RCC_PLLI2SM_DIV_58 - * @arg @ref LL_RCC_PLLI2SM_DIV_59 - * @arg @ref LL_RCC_PLLI2SM_DIV_60 - * @arg @ref LL_RCC_PLLI2SM_DIV_61 - * @arg @ref LL_RCC_PLLI2SM_DIV_62 - * @arg @ref LL_RCC_PLLI2SM_DIV_63 - * @param PLLN Between 50 and 432 - * @param PLLQ This parameter can be one of the following values: - * @arg @ref LL_RCC_PLLI2SQ_DIV_2 - * @arg @ref LL_RCC_PLLI2SQ_DIV_3 - * @arg @ref LL_RCC_PLLI2SQ_DIV_4 - * @arg @ref LL_RCC_PLLI2SQ_DIV_5 - * @arg @ref LL_RCC_PLLI2SQ_DIV_6 - * @arg @ref LL_RCC_PLLI2SQ_DIV_7 - * @arg @ref LL_RCC_PLLI2SQ_DIV_8 - * @arg @ref LL_RCC_PLLI2SQ_DIV_9 - * @arg @ref LL_RCC_PLLI2SQ_DIV_10 - * @arg @ref LL_RCC_PLLI2SQ_DIV_11 - * @arg @ref LL_RCC_PLLI2SQ_DIV_12 - * @arg @ref LL_RCC_PLLI2SQ_DIV_13 - * @arg @ref LL_RCC_PLLI2SQ_DIV_14 - * @arg @ref LL_RCC_PLLI2SQ_DIV_15 - * @retval None - */ -__STATIC_INLINE void LL_RCC_PLLI2S_ConfigDomain_48M(uint32_t Source, uint32_t PLLM, uint32_t PLLN, uint32_t PLLQ) -{ - __IO uint32_t *pReg = (__IO uint32_t *)((uint32_t)((uint32_t)(&RCC->PLLCFGR) + (Source & 0x80U))); - MODIFY_REG(*pReg, RCC_PLLCFGR_PLLSRC, (Source & (~0x80U))); -#if defined(RCC_PLLI2SCFGR_PLLI2SM) - MODIFY_REG(RCC->PLLI2SCFGR, RCC_PLLI2SCFGR_PLLI2SM, PLLM); -#else - MODIFY_REG(RCC->PLLCFGR, RCC_PLLCFGR_PLLM, PLLM); -#endif /* RCC_PLLI2SCFGR_PLLI2SM */ - MODIFY_REG(RCC->PLLI2SCFGR, RCC_PLLI2SCFGR_PLLI2SN | RCC_PLLI2SCFGR_PLLI2SQ, PLLN << RCC_PLLI2SCFGR_PLLI2SN_Pos | PLLQ); -} -#endif /* RCC_PLLI2SCFGR_PLLI2SQ && !RCC_DCKCFGR_PLLI2SDIVQ */ - -#if defined(SPDIFRX) -/** - * @brief Configure PLLI2S used for SPDIFRX domain clock - * @note PLL Source and PLLM Divider can be written only when PLL, - * PLLI2S and PLLSAI(*) are disabled - * @note PLLN/PLLP can be written only when PLLI2S is disabled - * @note This can be selected for SPDIFRX - * @rmtoll PLLCFGR PLLSRC LL_RCC_PLLI2S_ConfigDomain_SPDIFRX\n - * PLLCFGR PLLM LL_RCC_PLLI2S_ConfigDomain_SPDIFRX\n - * PLLI2SCFGR PLLI2SM LL_RCC_PLLI2S_ConfigDomain_SPDIFRX\n - * PLLI2SCFGR PLLI2SN LL_RCC_PLLI2S_ConfigDomain_SPDIFRX\n - * PLLI2SCFGR PLLI2SP LL_RCC_PLLI2S_ConfigDomain_SPDIFRX - * @param Source This parameter can be one of the following values: - * @arg @ref LL_RCC_PLLSOURCE_HSI - * @arg @ref LL_RCC_PLLSOURCE_HSE - * @param PLLM This parameter can be one of the following values: - * @arg @ref LL_RCC_PLLI2SM_DIV_2 - * @arg @ref LL_RCC_PLLI2SM_DIV_3 - * @arg @ref LL_RCC_PLLI2SM_DIV_4 - * @arg @ref LL_RCC_PLLI2SM_DIV_5 - * @arg @ref LL_RCC_PLLI2SM_DIV_6 - * @arg @ref LL_RCC_PLLI2SM_DIV_7 - * @arg @ref LL_RCC_PLLI2SM_DIV_8 - * @arg @ref LL_RCC_PLLI2SM_DIV_9 - * @arg @ref LL_RCC_PLLI2SM_DIV_10 - * @arg @ref LL_RCC_PLLI2SM_DIV_11 - * @arg @ref LL_RCC_PLLI2SM_DIV_12 - * @arg @ref LL_RCC_PLLI2SM_DIV_13 - * @arg @ref LL_RCC_PLLI2SM_DIV_14 - * @arg @ref LL_RCC_PLLI2SM_DIV_15 - * @arg @ref LL_RCC_PLLI2SM_DIV_16 - * @arg @ref LL_RCC_PLLI2SM_DIV_17 - * @arg @ref LL_RCC_PLLI2SM_DIV_18 - * @arg @ref LL_RCC_PLLI2SM_DIV_19 - * @arg @ref LL_RCC_PLLI2SM_DIV_20 - * @arg @ref LL_RCC_PLLI2SM_DIV_21 - * @arg @ref LL_RCC_PLLI2SM_DIV_22 - * @arg @ref LL_RCC_PLLI2SM_DIV_23 - * @arg @ref LL_RCC_PLLI2SM_DIV_24 - * @arg @ref LL_RCC_PLLI2SM_DIV_25 - * @arg @ref LL_RCC_PLLI2SM_DIV_26 - * @arg @ref LL_RCC_PLLI2SM_DIV_27 - * @arg @ref LL_RCC_PLLI2SM_DIV_28 - * @arg @ref LL_RCC_PLLI2SM_DIV_29 - * @arg @ref LL_RCC_PLLI2SM_DIV_30 - * @arg @ref LL_RCC_PLLI2SM_DIV_31 - * @arg @ref LL_RCC_PLLI2SM_DIV_32 - * @arg @ref LL_RCC_PLLI2SM_DIV_33 - * @arg @ref LL_RCC_PLLI2SM_DIV_34 - * @arg @ref LL_RCC_PLLI2SM_DIV_35 - * @arg @ref LL_RCC_PLLI2SM_DIV_36 - * @arg @ref LL_RCC_PLLI2SM_DIV_37 - * @arg @ref LL_RCC_PLLI2SM_DIV_38 - * @arg @ref LL_RCC_PLLI2SM_DIV_39 - * @arg @ref LL_RCC_PLLI2SM_DIV_40 - * @arg @ref LL_RCC_PLLI2SM_DIV_41 - * @arg @ref LL_RCC_PLLI2SM_DIV_42 - * @arg @ref LL_RCC_PLLI2SM_DIV_43 - * @arg @ref LL_RCC_PLLI2SM_DIV_44 - * @arg @ref LL_RCC_PLLI2SM_DIV_45 - * @arg @ref LL_RCC_PLLI2SM_DIV_46 - * @arg @ref LL_RCC_PLLI2SM_DIV_47 - * @arg @ref LL_RCC_PLLI2SM_DIV_48 - * @arg @ref LL_RCC_PLLI2SM_DIV_49 - * @arg @ref LL_RCC_PLLI2SM_DIV_50 - * @arg @ref LL_RCC_PLLI2SM_DIV_51 - * @arg @ref LL_RCC_PLLI2SM_DIV_52 - * @arg @ref LL_RCC_PLLI2SM_DIV_53 - * @arg @ref LL_RCC_PLLI2SM_DIV_54 - * @arg @ref LL_RCC_PLLI2SM_DIV_55 - * @arg @ref LL_RCC_PLLI2SM_DIV_56 - * @arg @ref LL_RCC_PLLI2SM_DIV_57 - * @arg @ref LL_RCC_PLLI2SM_DIV_58 - * @arg @ref LL_RCC_PLLI2SM_DIV_59 - * @arg @ref LL_RCC_PLLI2SM_DIV_60 - * @arg @ref LL_RCC_PLLI2SM_DIV_61 - * @arg @ref LL_RCC_PLLI2SM_DIV_62 - * @arg @ref LL_RCC_PLLI2SM_DIV_63 - * @param PLLN Between 50 and 432 - * @param PLLP This parameter can be one of the following values: - * @arg @ref LL_RCC_PLLI2SP_DIV_2 - * @arg @ref LL_RCC_PLLI2SP_DIV_4 - * @arg @ref LL_RCC_PLLI2SP_DIV_6 - * @arg @ref LL_RCC_PLLI2SP_DIV_8 - * @retval None - */ -__STATIC_INLINE void LL_RCC_PLLI2S_ConfigDomain_SPDIFRX(uint32_t Source, uint32_t PLLM, uint32_t PLLN, uint32_t PLLP) -{ - MODIFY_REG(RCC->PLLCFGR, RCC_PLLCFGR_PLLSRC, Source); -#if defined(RCC_PLLI2SCFGR_PLLI2SM) - MODIFY_REG(RCC->PLLI2SCFGR, RCC_PLLI2SCFGR_PLLI2SM, PLLM); -#else - MODIFY_REG(RCC->PLLCFGR, RCC_PLLCFGR_PLLM, PLLM); -#endif /* RCC_PLLI2SCFGR_PLLI2SM */ - MODIFY_REG(RCC->PLLI2SCFGR, RCC_PLLI2SCFGR_PLLI2SN | RCC_PLLI2SCFGR_PLLI2SP, PLLN << RCC_PLLI2SCFGR_PLLI2SN_Pos | PLLP); -} -#endif /* SPDIFRX */ - -/** - * @brief Configure PLLI2S used for I2S1 domain clock - * @note PLL Source and PLLM Divider can be written only when PLL, - * PLLI2S and PLLSAI(*) are disabled - * @note PLLN/PLLR can be written only when PLLI2S is disabled - * @note This can be selected for I2S - * @rmtoll PLLCFGR PLLSRC LL_RCC_PLLI2S_ConfigDomain_I2S\n - * PLLCFGR PLLM LL_RCC_PLLI2S_ConfigDomain_I2S\n - * PLLI2SCFGR PLLI2SSRC LL_RCC_PLLI2S_ConfigDomain_I2S\n - * PLLI2SCFGR PLLI2SM LL_RCC_PLLI2S_ConfigDomain_I2S\n - * PLLI2SCFGR PLLI2SN LL_RCC_PLLI2S_ConfigDomain_I2S\n - * PLLI2SCFGR PLLI2SR LL_RCC_PLLI2S_ConfigDomain_I2S - * @param Source This parameter can be one of the following values: - * @arg @ref LL_RCC_PLLSOURCE_HSI - * @arg @ref LL_RCC_PLLSOURCE_HSE - * @arg @ref LL_RCC_PLLI2SSOURCE_PIN (*) - * - * (*) value not defined in all devices. - * @param PLLM This parameter can be one of the following values: - * @arg @ref LL_RCC_PLLI2SM_DIV_2 - * @arg @ref LL_RCC_PLLI2SM_DIV_3 - * @arg @ref LL_RCC_PLLI2SM_DIV_4 - * @arg @ref LL_RCC_PLLI2SM_DIV_5 - * @arg @ref LL_RCC_PLLI2SM_DIV_6 - * @arg @ref LL_RCC_PLLI2SM_DIV_7 - * @arg @ref LL_RCC_PLLI2SM_DIV_8 - * @arg @ref LL_RCC_PLLI2SM_DIV_9 - * @arg @ref LL_RCC_PLLI2SM_DIV_10 - * @arg @ref LL_RCC_PLLI2SM_DIV_11 - * @arg @ref LL_RCC_PLLI2SM_DIV_12 - * @arg @ref LL_RCC_PLLI2SM_DIV_13 - * @arg @ref LL_RCC_PLLI2SM_DIV_14 - * @arg @ref LL_RCC_PLLI2SM_DIV_15 - * @arg @ref LL_RCC_PLLI2SM_DIV_16 - * @arg @ref LL_RCC_PLLI2SM_DIV_17 - * @arg @ref LL_RCC_PLLI2SM_DIV_18 - * @arg @ref LL_RCC_PLLI2SM_DIV_19 - * @arg @ref LL_RCC_PLLI2SM_DIV_20 - * @arg @ref LL_RCC_PLLI2SM_DIV_21 - * @arg @ref LL_RCC_PLLI2SM_DIV_22 - * @arg @ref LL_RCC_PLLI2SM_DIV_23 - * @arg @ref LL_RCC_PLLI2SM_DIV_24 - * @arg @ref LL_RCC_PLLI2SM_DIV_25 - * @arg @ref LL_RCC_PLLI2SM_DIV_26 - * @arg @ref LL_RCC_PLLI2SM_DIV_27 - * @arg @ref LL_RCC_PLLI2SM_DIV_28 - * @arg @ref LL_RCC_PLLI2SM_DIV_29 - * @arg @ref LL_RCC_PLLI2SM_DIV_30 - * @arg @ref LL_RCC_PLLI2SM_DIV_31 - * @arg @ref LL_RCC_PLLI2SM_DIV_32 - * @arg @ref LL_RCC_PLLI2SM_DIV_33 - * @arg @ref LL_RCC_PLLI2SM_DIV_34 - * @arg @ref LL_RCC_PLLI2SM_DIV_35 - * @arg @ref LL_RCC_PLLI2SM_DIV_36 - * @arg @ref LL_RCC_PLLI2SM_DIV_37 - * @arg @ref LL_RCC_PLLI2SM_DIV_38 - * @arg @ref LL_RCC_PLLI2SM_DIV_39 - * @arg @ref LL_RCC_PLLI2SM_DIV_40 - * @arg @ref LL_RCC_PLLI2SM_DIV_41 - * @arg @ref LL_RCC_PLLI2SM_DIV_42 - * @arg @ref LL_RCC_PLLI2SM_DIV_43 - * @arg @ref LL_RCC_PLLI2SM_DIV_44 - * @arg @ref LL_RCC_PLLI2SM_DIV_45 - * @arg @ref LL_RCC_PLLI2SM_DIV_46 - * @arg @ref LL_RCC_PLLI2SM_DIV_47 - * @arg @ref LL_RCC_PLLI2SM_DIV_48 - * @arg @ref LL_RCC_PLLI2SM_DIV_49 - * @arg @ref LL_RCC_PLLI2SM_DIV_50 - * @arg @ref LL_RCC_PLLI2SM_DIV_51 - * @arg @ref LL_RCC_PLLI2SM_DIV_52 - * @arg @ref LL_RCC_PLLI2SM_DIV_53 - * @arg @ref LL_RCC_PLLI2SM_DIV_54 - * @arg @ref LL_RCC_PLLI2SM_DIV_55 - * @arg @ref LL_RCC_PLLI2SM_DIV_56 - * @arg @ref LL_RCC_PLLI2SM_DIV_57 - * @arg @ref LL_RCC_PLLI2SM_DIV_58 - * @arg @ref LL_RCC_PLLI2SM_DIV_59 - * @arg @ref LL_RCC_PLLI2SM_DIV_60 - * @arg @ref LL_RCC_PLLI2SM_DIV_61 - * @arg @ref LL_RCC_PLLI2SM_DIV_62 - * @arg @ref LL_RCC_PLLI2SM_DIV_63 - * @param PLLN Between 50/192(*) and 432 - * - * (*) value not defined in all devices. - * @param PLLR This parameter can be one of the following values: - * @arg @ref LL_RCC_PLLI2SR_DIV_2 - * @arg @ref LL_RCC_PLLI2SR_DIV_3 - * @arg @ref LL_RCC_PLLI2SR_DIV_4 - * @arg @ref LL_RCC_PLLI2SR_DIV_5 - * @arg @ref LL_RCC_PLLI2SR_DIV_6 - * @arg @ref LL_RCC_PLLI2SR_DIV_7 - * @retval None - */ -__STATIC_INLINE void LL_RCC_PLLI2S_ConfigDomain_I2S(uint32_t Source, uint32_t PLLM, uint32_t PLLN, uint32_t PLLR) -{ - __IO uint32_t *pReg = (__IO uint32_t *)((uint32_t)((uint32_t)(&RCC->PLLCFGR) + (Source & 0x80U))); - MODIFY_REG(*pReg, RCC_PLLCFGR_PLLSRC, (Source & (~0x80U))); -#if defined(RCC_PLLI2SCFGR_PLLI2SM) - MODIFY_REG(RCC->PLLI2SCFGR, RCC_PLLI2SCFGR_PLLI2SM, PLLM); -#else - MODIFY_REG(RCC->PLLCFGR, RCC_PLLCFGR_PLLM, PLLM); -#endif /* RCC_PLLI2SCFGR_PLLI2SM */ - MODIFY_REG(RCC->PLLI2SCFGR, RCC_PLLI2SCFGR_PLLI2SN | RCC_PLLI2SCFGR_PLLI2SR, PLLN << RCC_PLLI2SCFGR_PLLI2SN_Pos | PLLR); -} - -/** - * @brief Get I2SPLL multiplication factor for VCO - * @rmtoll PLLI2SCFGR PLLI2SN LL_RCC_PLLI2S_GetN - * @retval Between 50/192(*) and 432 - * - * (*) value not defined in all devices. - */ -__STATIC_INLINE uint32_t LL_RCC_PLLI2S_GetN(void) -{ - return (uint32_t)(READ_BIT(RCC->PLLI2SCFGR, RCC_PLLI2SCFGR_PLLI2SN) >> RCC_PLLI2SCFGR_PLLI2SN_Pos); -} - -#if defined(RCC_PLLI2SCFGR_PLLI2SQ) -/** - * @brief Get I2SPLL division factor for PLLI2SQ - * @rmtoll PLLI2SCFGR PLLI2SQ LL_RCC_PLLI2S_GetQ - * @retval Returned value can be one of the following values: - * @arg @ref LL_RCC_PLLI2SQ_DIV_2 - * @arg @ref LL_RCC_PLLI2SQ_DIV_3 - * @arg @ref LL_RCC_PLLI2SQ_DIV_4 - * @arg @ref LL_RCC_PLLI2SQ_DIV_5 - * @arg @ref LL_RCC_PLLI2SQ_DIV_6 - * @arg @ref LL_RCC_PLLI2SQ_DIV_7 - * @arg @ref LL_RCC_PLLI2SQ_DIV_8 - * @arg @ref LL_RCC_PLLI2SQ_DIV_9 - * @arg @ref LL_RCC_PLLI2SQ_DIV_10 - * @arg @ref LL_RCC_PLLI2SQ_DIV_11 - * @arg @ref LL_RCC_PLLI2SQ_DIV_12 - * @arg @ref LL_RCC_PLLI2SQ_DIV_13 - * @arg @ref LL_RCC_PLLI2SQ_DIV_14 - * @arg @ref LL_RCC_PLLI2SQ_DIV_15 - */ -__STATIC_INLINE uint32_t LL_RCC_PLLI2S_GetQ(void) -{ - return (uint32_t)(READ_BIT(RCC->PLLI2SCFGR, RCC_PLLI2SCFGR_PLLI2SQ)); -} -#endif /* RCC_PLLI2SCFGR_PLLI2SQ */ - -/** - * @brief Get I2SPLL division factor for PLLI2SR - * @note used for PLLI2SCLK (I2S clock) - * @rmtoll PLLI2SCFGR PLLI2SR LL_RCC_PLLI2S_GetR - * @retval Returned value can be one of the following values: - * @arg @ref LL_RCC_PLLI2SR_DIV_2 - * @arg @ref LL_RCC_PLLI2SR_DIV_3 - * @arg @ref LL_RCC_PLLI2SR_DIV_4 - * @arg @ref LL_RCC_PLLI2SR_DIV_5 - * @arg @ref LL_RCC_PLLI2SR_DIV_6 - * @arg @ref LL_RCC_PLLI2SR_DIV_7 - */ -__STATIC_INLINE uint32_t LL_RCC_PLLI2S_GetR(void) -{ - return (uint32_t)(READ_BIT(RCC->PLLI2SCFGR, RCC_PLLI2SCFGR_PLLI2SR)); -} - -#if defined(RCC_PLLI2SCFGR_PLLI2SP) -/** - * @brief Get I2SPLL division factor for PLLI2SP - * @note used for PLLSPDIFRXCLK (SPDIFRX clock) - * @rmtoll PLLI2SCFGR PLLI2SP LL_RCC_PLLI2S_GetP - * @retval Returned value can be one of the following values: - * @arg @ref LL_RCC_PLLI2SP_DIV_2 - * @arg @ref LL_RCC_PLLI2SP_DIV_4 - * @arg @ref LL_RCC_PLLI2SP_DIV_6 - * @arg @ref LL_RCC_PLLI2SP_DIV_8 - */ -__STATIC_INLINE uint32_t LL_RCC_PLLI2S_GetP(void) -{ - return (uint32_t)(READ_BIT(RCC->PLLI2SCFGR, RCC_PLLI2SCFGR_PLLI2SP)); -} -#endif /* RCC_PLLI2SCFGR_PLLI2SP */ - -#if defined(RCC_DCKCFGR_PLLI2SDIVQ) -/** - * @brief Get I2SPLL division factor for PLLI2SDIVQ - * @note used PLLSAICLK selected (SAI clock) - * @rmtoll DCKCFGR PLLI2SDIVQ LL_RCC_PLLI2S_GetDIVQ - * @retval Returned value can be one of the following values: - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_1 - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_2 - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_3 - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_4 - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_5 - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_6 - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_7 - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_8 - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_9 - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_10 - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_11 - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_12 - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_13 - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_14 - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_15 - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_16 - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_17 - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_18 - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_19 - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_20 - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_21 - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_22 - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_23 - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_24 - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_25 - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_26 - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_27 - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_28 - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_29 - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_30 - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_31 - * @arg @ref LL_RCC_PLLI2SDIVQ_DIV_32 - */ -__STATIC_INLINE uint32_t LL_RCC_PLLI2S_GetDIVQ(void) -{ - return (uint32_t)(READ_BIT(RCC->DCKCFGR, RCC_DCKCFGR_PLLI2SDIVQ)); -} -#endif /* RCC_DCKCFGR_PLLI2SDIVQ */ - -#if defined(RCC_DCKCFGR_PLLI2SDIVR) -/** - * @brief Get I2SPLL division factor for PLLI2SDIVR - * @note used PLLSAICLK selected (SAI clock) - * @rmtoll DCKCFGR PLLI2SDIVR LL_RCC_PLLI2S_GetDIVR - * @retval Returned value can be one of the following values: - * @arg @ref LL_RCC_PLLI2SDIVR_DIV_1 - * @arg @ref LL_RCC_PLLI2SDIVR_DIV_2 - * @arg @ref LL_RCC_PLLI2SDIVR_DIV_3 - * @arg @ref LL_RCC_PLLI2SDIVR_DIV_4 - * @arg @ref LL_RCC_PLLI2SDIVR_DIV_5 - * @arg @ref LL_RCC_PLLI2SDIVR_DIV_6 - * @arg @ref LL_RCC_PLLI2SDIVR_DIV_7 - * @arg @ref LL_RCC_PLLI2SDIVR_DIV_8 - * @arg @ref LL_RCC_PLLI2SDIVR_DIV_9 - * @arg @ref LL_RCC_PLLI2SDIVR_DIV_10 - * @arg @ref LL_RCC_PLLI2SDIVR_DIV_11 - * @arg @ref LL_RCC_PLLI2SDIVR_DIV_12 - * @arg @ref LL_RCC_PLLI2SDIVR_DIV_13 - * @arg @ref LL_RCC_PLLI2SDIVR_DIV_14 - * @arg @ref LL_RCC_PLLI2SDIVR_DIV_15 - * @arg @ref LL_RCC_PLLI2SDIVR_DIV_16 - * @arg @ref LL_RCC_PLLI2SDIVR_DIV_17 - * @arg @ref LL_RCC_PLLI2SDIVR_DIV_18 - * @arg @ref LL_RCC_PLLI2SDIVR_DIV_19 - * @arg @ref LL_RCC_PLLI2SDIVR_DIV_20 - * @arg @ref LL_RCC_PLLI2SDIVR_DIV_21 - * @arg @ref LL_RCC_PLLI2SDIVR_DIV_22 - * @arg @ref LL_RCC_PLLI2SDIVR_DIV_23 - * @arg @ref LL_RCC_PLLI2SDIVR_DIV_24 - * @arg @ref LL_RCC_PLLI2SDIVR_DIV_25 - * @arg @ref LL_RCC_PLLI2SDIVR_DIV_26 - * @arg @ref LL_RCC_PLLI2SDIVR_DIV_27 - * @arg @ref LL_RCC_PLLI2SDIVR_DIV_28 - * @arg @ref LL_RCC_PLLI2SDIVR_DIV_29 - * @arg @ref LL_RCC_PLLI2SDIVR_DIV_30 - * @arg @ref LL_RCC_PLLI2SDIVR_DIV_31 - */ -__STATIC_INLINE uint32_t LL_RCC_PLLI2S_GetDIVR(void) -{ - return (uint32_t)(READ_BIT(RCC->DCKCFGR, RCC_DCKCFGR_PLLI2SDIVR)); -} -#endif /* RCC_DCKCFGR_PLLI2SDIVR */ - -/** - * @brief Get division factor for PLLI2S input clock - * @rmtoll PLLCFGR PLLM LL_RCC_PLLI2S_GetDivider\n - * PLLI2SCFGR PLLI2SM LL_RCC_PLLI2S_GetDivider - * @retval Returned value can be one of the following values: - * @arg @ref LL_RCC_PLLI2SM_DIV_2 - * @arg @ref LL_RCC_PLLI2SM_DIV_3 - * @arg @ref LL_RCC_PLLI2SM_DIV_4 - * @arg @ref LL_RCC_PLLI2SM_DIV_5 - * @arg @ref LL_RCC_PLLI2SM_DIV_6 - * @arg @ref LL_RCC_PLLI2SM_DIV_7 - * @arg @ref LL_RCC_PLLI2SM_DIV_8 - * @arg @ref LL_RCC_PLLI2SM_DIV_9 - * @arg @ref LL_RCC_PLLI2SM_DIV_10 - * @arg @ref LL_RCC_PLLI2SM_DIV_11 - * @arg @ref LL_RCC_PLLI2SM_DIV_12 - * @arg @ref LL_RCC_PLLI2SM_DIV_13 - * @arg @ref LL_RCC_PLLI2SM_DIV_14 - * @arg @ref LL_RCC_PLLI2SM_DIV_15 - * @arg @ref LL_RCC_PLLI2SM_DIV_16 - * @arg @ref LL_RCC_PLLI2SM_DIV_17 - * @arg @ref LL_RCC_PLLI2SM_DIV_18 - * @arg @ref LL_RCC_PLLI2SM_DIV_19 - * @arg @ref LL_RCC_PLLI2SM_DIV_20 - * @arg @ref LL_RCC_PLLI2SM_DIV_21 - * @arg @ref LL_RCC_PLLI2SM_DIV_22 - * @arg @ref LL_RCC_PLLI2SM_DIV_23 - * @arg @ref LL_RCC_PLLI2SM_DIV_24 - * @arg @ref LL_RCC_PLLI2SM_DIV_25 - * @arg @ref LL_RCC_PLLI2SM_DIV_26 - * @arg @ref LL_RCC_PLLI2SM_DIV_27 - * @arg @ref LL_RCC_PLLI2SM_DIV_28 - * @arg @ref LL_RCC_PLLI2SM_DIV_29 - * @arg @ref LL_RCC_PLLI2SM_DIV_30 - * @arg @ref LL_RCC_PLLI2SM_DIV_31 - * @arg @ref LL_RCC_PLLI2SM_DIV_32 - * @arg @ref LL_RCC_PLLI2SM_DIV_33 - * @arg @ref LL_RCC_PLLI2SM_DIV_34 - * @arg @ref LL_RCC_PLLI2SM_DIV_35 - * @arg @ref LL_RCC_PLLI2SM_DIV_36 - * @arg @ref LL_RCC_PLLI2SM_DIV_37 - * @arg @ref LL_RCC_PLLI2SM_DIV_38 - * @arg @ref LL_RCC_PLLI2SM_DIV_39 - * @arg @ref LL_RCC_PLLI2SM_DIV_40 - * @arg @ref LL_RCC_PLLI2SM_DIV_41 - * @arg @ref LL_RCC_PLLI2SM_DIV_42 - * @arg @ref LL_RCC_PLLI2SM_DIV_43 - * @arg @ref LL_RCC_PLLI2SM_DIV_44 - * @arg @ref LL_RCC_PLLI2SM_DIV_45 - * @arg @ref LL_RCC_PLLI2SM_DIV_46 - * @arg @ref LL_RCC_PLLI2SM_DIV_47 - * @arg @ref LL_RCC_PLLI2SM_DIV_48 - * @arg @ref LL_RCC_PLLI2SM_DIV_49 - * @arg @ref LL_RCC_PLLI2SM_DIV_50 - * @arg @ref LL_RCC_PLLI2SM_DIV_51 - * @arg @ref LL_RCC_PLLI2SM_DIV_52 - * @arg @ref LL_RCC_PLLI2SM_DIV_53 - * @arg @ref LL_RCC_PLLI2SM_DIV_54 - * @arg @ref LL_RCC_PLLI2SM_DIV_55 - * @arg @ref LL_RCC_PLLI2SM_DIV_56 - * @arg @ref LL_RCC_PLLI2SM_DIV_57 - * @arg @ref LL_RCC_PLLI2SM_DIV_58 - * @arg @ref LL_RCC_PLLI2SM_DIV_59 - * @arg @ref LL_RCC_PLLI2SM_DIV_60 - * @arg @ref LL_RCC_PLLI2SM_DIV_61 - * @arg @ref LL_RCC_PLLI2SM_DIV_62 - * @arg @ref LL_RCC_PLLI2SM_DIV_63 - */ -__STATIC_INLINE uint32_t LL_RCC_PLLI2S_GetDivider(void) -{ -#if defined(RCC_PLLI2SCFGR_PLLI2SM) - return (uint32_t)(READ_BIT(RCC->PLLI2SCFGR, RCC_PLLI2SCFGR_PLLI2SM)); -#else - return (uint32_t)(READ_BIT(RCC->PLLCFGR, RCC_PLLCFGR_PLLM)); -#endif /* RCC_PLLI2SCFGR_PLLI2SM */ -} - -/** - * @brief Get the oscillator used as PLL clock source. - * @rmtoll PLLCFGR PLLSRC LL_RCC_PLLI2S_GetMainSource\n - * PLLI2SCFGR PLLI2SSRC LL_RCC_PLLI2S_GetMainSource - * @retval Returned value can be one of the following values: - * @arg @ref LL_RCC_PLLSOURCE_HSI - * @arg @ref LL_RCC_PLLSOURCE_HSE - * @arg @ref LL_RCC_PLLI2SSOURCE_PIN (*) - * - * (*) value not defined in all devices. - */ -__STATIC_INLINE uint32_t LL_RCC_PLLI2S_GetMainSource(void) -{ -#if defined(RCC_PLLI2SCFGR_PLLI2SSRC) - uint32_t pllsrc = READ_BIT(RCC->PLLCFGR, RCC_PLLCFGR_PLLSRC); - uint32_t plli2sssrc0 = READ_BIT(RCC->PLLI2SCFGR, RCC_PLLI2SCFGR_PLLI2SSRC); - uint32_t plli2sssrc1 = READ_BIT(RCC->PLLI2SCFGR, RCC_PLLI2SCFGR_PLLI2SSRC) >> 15U; - return (uint32_t)(pllsrc | plli2sssrc0 | plli2sssrc1); -#else - return (uint32_t)(READ_BIT(RCC->PLLCFGR, RCC_PLLCFGR_PLLSRC)); -#endif /* RCC_PLLI2SCFGR_PLLI2SSRC */ -} - -/** - * @} - */ -#endif /* RCC_PLLI2S_SUPPORT */ - -#if defined(RCC_PLLSAI_SUPPORT) -/** @defgroup RCC_LL_EF_PLLSAI PLLSAI - * @{ - */ - -/** - * @brief Enable PLLSAI - * @rmtoll CR PLLSAION LL_RCC_PLLSAI_Enable - * @retval None - */ -__STATIC_INLINE void LL_RCC_PLLSAI_Enable(void) -{ - SET_BIT(RCC->CR, RCC_CR_PLLSAION); -} - -/** - * @brief Disable PLLSAI - * @rmtoll CR PLLSAION LL_RCC_PLLSAI_Disable - * @retval None - */ -__STATIC_INLINE void LL_RCC_PLLSAI_Disable(void) -{ - CLEAR_BIT(RCC->CR, RCC_CR_PLLSAION); -} - -/** - * @brief Check if PLLSAI Ready - * @rmtoll CR PLLSAIRDY LL_RCC_PLLSAI_IsReady - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_RCC_PLLSAI_IsReady(void) -{ - return (READ_BIT(RCC->CR, RCC_CR_PLLSAIRDY) == (RCC_CR_PLLSAIRDY)); -} - -/** - * @brief Configure PLLSAI used for SAI domain clock - * @note PLL Source and PLLM Divider can be written only when PLL, - * PLLI2S and PLLSAI(*) are disabled - * @note PLLN/PLLQ can be written only when PLLSAI is disabled - * @note This can be selected for SAI - * @rmtoll PLLCFGR PLLSRC LL_RCC_PLLSAI_ConfigDomain_SAI\n - * PLLCFGR PLLM LL_RCC_PLLSAI_ConfigDomain_SAI\n - * PLLSAICFGR PLLSAIM LL_RCC_PLLSAI_ConfigDomain_SAI\n - * PLLSAICFGR PLLSAIN LL_RCC_PLLSAI_ConfigDomain_SAI\n - * PLLSAICFGR PLLSAIQ LL_RCC_PLLSAI_ConfigDomain_SAI\n - * DCKCFGR PLLSAIDIVQ LL_RCC_PLLSAI_ConfigDomain_SAI - * @param Source This parameter can be one of the following values: - * @arg @ref LL_RCC_PLLSOURCE_HSI - * @arg @ref LL_RCC_PLLSOURCE_HSE - * @param PLLM This parameter can be one of the following values: - * @arg @ref LL_RCC_PLLSAIM_DIV_2 - * @arg @ref LL_RCC_PLLSAIM_DIV_3 - * @arg @ref LL_RCC_PLLSAIM_DIV_4 - * @arg @ref LL_RCC_PLLSAIM_DIV_5 - * @arg @ref LL_RCC_PLLSAIM_DIV_6 - * @arg @ref LL_RCC_PLLSAIM_DIV_7 - * @arg @ref LL_RCC_PLLSAIM_DIV_8 - * @arg @ref LL_RCC_PLLSAIM_DIV_9 - * @arg @ref LL_RCC_PLLSAIM_DIV_10 - * @arg @ref LL_RCC_PLLSAIM_DIV_11 - * @arg @ref LL_RCC_PLLSAIM_DIV_12 - * @arg @ref LL_RCC_PLLSAIM_DIV_13 - * @arg @ref LL_RCC_PLLSAIM_DIV_14 - * @arg @ref LL_RCC_PLLSAIM_DIV_15 - * @arg @ref LL_RCC_PLLSAIM_DIV_16 - * @arg @ref LL_RCC_PLLSAIM_DIV_17 - * @arg @ref LL_RCC_PLLSAIM_DIV_18 - * @arg @ref LL_RCC_PLLSAIM_DIV_19 - * @arg @ref LL_RCC_PLLSAIM_DIV_20 - * @arg @ref LL_RCC_PLLSAIM_DIV_21 - * @arg @ref LL_RCC_PLLSAIM_DIV_22 - * @arg @ref LL_RCC_PLLSAIM_DIV_23 - * @arg @ref LL_RCC_PLLSAIM_DIV_24 - * @arg @ref LL_RCC_PLLSAIM_DIV_25 - * @arg @ref LL_RCC_PLLSAIM_DIV_26 - * @arg @ref LL_RCC_PLLSAIM_DIV_27 - * @arg @ref LL_RCC_PLLSAIM_DIV_28 - * @arg @ref LL_RCC_PLLSAIM_DIV_29 - * @arg @ref LL_RCC_PLLSAIM_DIV_30 - * @arg @ref LL_RCC_PLLSAIM_DIV_31 - * @arg @ref LL_RCC_PLLSAIM_DIV_32 - * @arg @ref LL_RCC_PLLSAIM_DIV_33 - * @arg @ref LL_RCC_PLLSAIM_DIV_34 - * @arg @ref LL_RCC_PLLSAIM_DIV_35 - * @arg @ref LL_RCC_PLLSAIM_DIV_36 - * @arg @ref LL_RCC_PLLSAIM_DIV_37 - * @arg @ref LL_RCC_PLLSAIM_DIV_38 - * @arg @ref LL_RCC_PLLSAIM_DIV_39 - * @arg @ref LL_RCC_PLLSAIM_DIV_40 - * @arg @ref LL_RCC_PLLSAIM_DIV_41 - * @arg @ref LL_RCC_PLLSAIM_DIV_42 - * @arg @ref LL_RCC_PLLSAIM_DIV_43 - * @arg @ref LL_RCC_PLLSAIM_DIV_44 - * @arg @ref LL_RCC_PLLSAIM_DIV_45 - * @arg @ref LL_RCC_PLLSAIM_DIV_46 - * @arg @ref LL_RCC_PLLSAIM_DIV_47 - * @arg @ref LL_RCC_PLLSAIM_DIV_48 - * @arg @ref LL_RCC_PLLSAIM_DIV_49 - * @arg @ref LL_RCC_PLLSAIM_DIV_50 - * @arg @ref LL_RCC_PLLSAIM_DIV_51 - * @arg @ref LL_RCC_PLLSAIM_DIV_52 - * @arg @ref LL_RCC_PLLSAIM_DIV_53 - * @arg @ref LL_RCC_PLLSAIM_DIV_54 - * @arg @ref LL_RCC_PLLSAIM_DIV_55 - * @arg @ref LL_RCC_PLLSAIM_DIV_56 - * @arg @ref LL_RCC_PLLSAIM_DIV_57 - * @arg @ref LL_RCC_PLLSAIM_DIV_58 - * @arg @ref LL_RCC_PLLSAIM_DIV_59 - * @arg @ref LL_RCC_PLLSAIM_DIV_60 - * @arg @ref LL_RCC_PLLSAIM_DIV_61 - * @arg @ref LL_RCC_PLLSAIM_DIV_62 - * @arg @ref LL_RCC_PLLSAIM_DIV_63 - * @param PLLN Between 49/50(*) and 432 - * - * (*) value not defined in all devices. - * @param PLLQ This parameter can be one of the following values: - * @arg @ref LL_RCC_PLLSAIQ_DIV_2 - * @arg @ref LL_RCC_PLLSAIQ_DIV_3 - * @arg @ref LL_RCC_PLLSAIQ_DIV_4 - * @arg @ref LL_RCC_PLLSAIQ_DIV_5 - * @arg @ref LL_RCC_PLLSAIQ_DIV_6 - * @arg @ref LL_RCC_PLLSAIQ_DIV_7 - * @arg @ref LL_RCC_PLLSAIQ_DIV_8 - * @arg @ref LL_RCC_PLLSAIQ_DIV_9 - * @arg @ref LL_RCC_PLLSAIQ_DIV_10 - * @arg @ref LL_RCC_PLLSAIQ_DIV_11 - * @arg @ref LL_RCC_PLLSAIQ_DIV_12 - * @arg @ref LL_RCC_PLLSAIQ_DIV_13 - * @arg @ref LL_RCC_PLLSAIQ_DIV_14 - * @arg @ref LL_RCC_PLLSAIQ_DIV_15 - * @param PLLDIVQ This parameter can be one of the following values: - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_1 - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_2 - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_3 - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_4 - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_5 - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_6 - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_7 - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_8 - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_9 - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_10 - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_11 - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_12 - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_13 - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_14 - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_15 - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_16 - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_17 - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_18 - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_19 - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_20 - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_21 - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_22 - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_23 - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_24 - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_25 - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_26 - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_27 - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_28 - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_29 - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_30 - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_31 - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_32 - * @retval None - */ -__STATIC_INLINE void LL_RCC_PLLSAI_ConfigDomain_SAI(uint32_t Source, uint32_t PLLM, uint32_t PLLN, uint32_t PLLQ, uint32_t PLLDIVQ) -{ - MODIFY_REG(RCC->PLLCFGR, RCC_PLLCFGR_PLLSRC, Source); -#if defined(RCC_PLLSAICFGR_PLLSAIM) - MODIFY_REG(RCC->PLLSAICFGR, RCC_PLLSAICFGR_PLLSAIM, PLLM); -#else - MODIFY_REG(RCC->PLLCFGR, RCC_PLLCFGR_PLLM, PLLM); -#endif /* RCC_PLLSAICFGR_PLLSAIM */ - MODIFY_REG(RCC->PLLSAICFGR, RCC_PLLSAICFGR_PLLSAIN | RCC_PLLSAICFGR_PLLSAIQ, PLLN << RCC_PLLSAICFGR_PLLSAIN_Pos | PLLQ); - MODIFY_REG(RCC->DCKCFGR, RCC_DCKCFGR_PLLSAIDIVQ, PLLDIVQ); -} - -#if defined(RCC_PLLSAICFGR_PLLSAIP) -/** - * @brief Configure PLLSAI used for 48Mhz domain clock - * @note PLL Source and PLLM Divider can be written only when PLL, - * PLLI2S and PLLSAI(*) are disabled - * @note PLLN/PLLP can be written only when PLLSAI is disabled - * @note This can be selected for USB, RNG, SDIO - * @rmtoll PLLCFGR PLLSRC LL_RCC_PLLSAI_ConfigDomain_48M\n - * PLLCFGR PLLM LL_RCC_PLLSAI_ConfigDomain_48M\n - * PLLSAICFGR PLLSAIM LL_RCC_PLLSAI_ConfigDomain_48M\n - * PLLSAICFGR PLLSAIN LL_RCC_PLLSAI_ConfigDomain_48M\n - * PLLSAICFGR PLLSAIP LL_RCC_PLLSAI_ConfigDomain_48M - * @param Source This parameter can be one of the following values: - * @arg @ref LL_RCC_PLLSOURCE_HSI - * @arg @ref LL_RCC_PLLSOURCE_HSE - * @param PLLM This parameter can be one of the following values: - * @arg @ref LL_RCC_PLLSAIM_DIV_2 - * @arg @ref LL_RCC_PLLSAIM_DIV_3 - * @arg @ref LL_RCC_PLLSAIM_DIV_4 - * @arg @ref LL_RCC_PLLSAIM_DIV_5 - * @arg @ref LL_RCC_PLLSAIM_DIV_6 - * @arg @ref LL_RCC_PLLSAIM_DIV_7 - * @arg @ref LL_RCC_PLLSAIM_DIV_8 - * @arg @ref LL_RCC_PLLSAIM_DIV_9 - * @arg @ref LL_RCC_PLLSAIM_DIV_10 - * @arg @ref LL_RCC_PLLSAIM_DIV_11 - * @arg @ref LL_RCC_PLLSAIM_DIV_12 - * @arg @ref LL_RCC_PLLSAIM_DIV_13 - * @arg @ref LL_RCC_PLLSAIM_DIV_14 - * @arg @ref LL_RCC_PLLSAIM_DIV_15 - * @arg @ref LL_RCC_PLLSAIM_DIV_16 - * @arg @ref LL_RCC_PLLSAIM_DIV_17 - * @arg @ref LL_RCC_PLLSAIM_DIV_18 - * @arg @ref LL_RCC_PLLSAIM_DIV_19 - * @arg @ref LL_RCC_PLLSAIM_DIV_20 - * @arg @ref LL_RCC_PLLSAIM_DIV_21 - * @arg @ref LL_RCC_PLLSAIM_DIV_22 - * @arg @ref LL_RCC_PLLSAIM_DIV_23 - * @arg @ref LL_RCC_PLLSAIM_DIV_24 - * @arg @ref LL_RCC_PLLSAIM_DIV_25 - * @arg @ref LL_RCC_PLLSAIM_DIV_26 - * @arg @ref LL_RCC_PLLSAIM_DIV_27 - * @arg @ref LL_RCC_PLLSAIM_DIV_28 - * @arg @ref LL_RCC_PLLSAIM_DIV_29 - * @arg @ref LL_RCC_PLLSAIM_DIV_30 - * @arg @ref LL_RCC_PLLSAIM_DIV_31 - * @arg @ref LL_RCC_PLLSAIM_DIV_32 - * @arg @ref LL_RCC_PLLSAIM_DIV_33 - * @arg @ref LL_RCC_PLLSAIM_DIV_34 - * @arg @ref LL_RCC_PLLSAIM_DIV_35 - * @arg @ref LL_RCC_PLLSAIM_DIV_36 - * @arg @ref LL_RCC_PLLSAIM_DIV_37 - * @arg @ref LL_RCC_PLLSAIM_DIV_38 - * @arg @ref LL_RCC_PLLSAIM_DIV_39 - * @arg @ref LL_RCC_PLLSAIM_DIV_40 - * @arg @ref LL_RCC_PLLSAIM_DIV_41 - * @arg @ref LL_RCC_PLLSAIM_DIV_42 - * @arg @ref LL_RCC_PLLSAIM_DIV_43 - * @arg @ref LL_RCC_PLLSAIM_DIV_44 - * @arg @ref LL_RCC_PLLSAIM_DIV_45 - * @arg @ref LL_RCC_PLLSAIM_DIV_46 - * @arg @ref LL_RCC_PLLSAIM_DIV_47 - * @arg @ref LL_RCC_PLLSAIM_DIV_48 - * @arg @ref LL_RCC_PLLSAIM_DIV_49 - * @arg @ref LL_RCC_PLLSAIM_DIV_50 - * @arg @ref LL_RCC_PLLSAIM_DIV_51 - * @arg @ref LL_RCC_PLLSAIM_DIV_52 - * @arg @ref LL_RCC_PLLSAIM_DIV_53 - * @arg @ref LL_RCC_PLLSAIM_DIV_54 - * @arg @ref LL_RCC_PLLSAIM_DIV_55 - * @arg @ref LL_RCC_PLLSAIM_DIV_56 - * @arg @ref LL_RCC_PLLSAIM_DIV_57 - * @arg @ref LL_RCC_PLLSAIM_DIV_58 - * @arg @ref LL_RCC_PLLSAIM_DIV_59 - * @arg @ref LL_RCC_PLLSAIM_DIV_60 - * @arg @ref LL_RCC_PLLSAIM_DIV_61 - * @arg @ref LL_RCC_PLLSAIM_DIV_62 - * @arg @ref LL_RCC_PLLSAIM_DIV_63 - * @param PLLN Between 50 and 432 - * @param PLLP This parameter can be one of the following values: - * @arg @ref LL_RCC_PLLSAIP_DIV_2 - * @arg @ref LL_RCC_PLLSAIP_DIV_4 - * @arg @ref LL_RCC_PLLSAIP_DIV_6 - * @arg @ref LL_RCC_PLLSAIP_DIV_8 - * @retval None - */ -__STATIC_INLINE void LL_RCC_PLLSAI_ConfigDomain_48M(uint32_t Source, uint32_t PLLM, uint32_t PLLN, uint32_t PLLP) -{ - MODIFY_REG(RCC->PLLCFGR, RCC_PLLCFGR_PLLSRC, Source); -#if defined(RCC_PLLSAICFGR_PLLSAIM) - MODIFY_REG(RCC->PLLSAICFGR, RCC_PLLSAICFGR_PLLSAIM, PLLM); -#else - MODIFY_REG(RCC->PLLCFGR, RCC_PLLCFGR_PLLM, PLLM); -#endif /* RCC_PLLSAICFGR_PLLSAIM */ - MODIFY_REG(RCC->PLLSAICFGR, RCC_PLLSAICFGR_PLLSAIN | RCC_PLLSAICFGR_PLLSAIP, PLLN << RCC_PLLSAICFGR_PLLSAIN_Pos | PLLP); -} -#endif /* RCC_PLLSAICFGR_PLLSAIP */ - -#if defined(LTDC) -/** - * @brief Configure PLLSAI used for LTDC domain clock - * @note PLL Source and PLLM Divider can be written only when PLL, - * PLLI2S and PLLSAI(*) are disabled - * @note PLLN/PLLR can be written only when PLLSAI is disabled - * @note This can be selected for LTDC - * @rmtoll PLLCFGR PLLSRC LL_RCC_PLLSAI_ConfigDomain_LTDC\n - * PLLCFGR PLLM LL_RCC_PLLSAI_ConfigDomain_LTDC\n - * PLLSAICFGR PLLSAIN LL_RCC_PLLSAI_ConfigDomain_LTDC\n - * PLLSAICFGR PLLSAIR LL_RCC_PLLSAI_ConfigDomain_LTDC\n - * DCKCFGR PLLSAIDIVR LL_RCC_PLLSAI_ConfigDomain_LTDC - * @param Source This parameter can be one of the following values: - * @arg @ref LL_RCC_PLLSOURCE_HSI - * @arg @ref LL_RCC_PLLSOURCE_HSE - * @param PLLM This parameter can be one of the following values: - * @arg @ref LL_RCC_PLLSAIM_DIV_2 - * @arg @ref LL_RCC_PLLSAIM_DIV_3 - * @arg @ref LL_RCC_PLLSAIM_DIV_4 - * @arg @ref LL_RCC_PLLSAIM_DIV_5 - * @arg @ref LL_RCC_PLLSAIM_DIV_6 - * @arg @ref LL_RCC_PLLSAIM_DIV_7 - * @arg @ref LL_RCC_PLLSAIM_DIV_8 - * @arg @ref LL_RCC_PLLSAIM_DIV_9 - * @arg @ref LL_RCC_PLLSAIM_DIV_10 - * @arg @ref LL_RCC_PLLSAIM_DIV_11 - * @arg @ref LL_RCC_PLLSAIM_DIV_12 - * @arg @ref LL_RCC_PLLSAIM_DIV_13 - * @arg @ref LL_RCC_PLLSAIM_DIV_14 - * @arg @ref LL_RCC_PLLSAIM_DIV_15 - * @arg @ref LL_RCC_PLLSAIM_DIV_16 - * @arg @ref LL_RCC_PLLSAIM_DIV_17 - * @arg @ref LL_RCC_PLLSAIM_DIV_18 - * @arg @ref LL_RCC_PLLSAIM_DIV_19 - * @arg @ref LL_RCC_PLLSAIM_DIV_20 - * @arg @ref LL_RCC_PLLSAIM_DIV_21 - * @arg @ref LL_RCC_PLLSAIM_DIV_22 - * @arg @ref LL_RCC_PLLSAIM_DIV_23 - * @arg @ref LL_RCC_PLLSAIM_DIV_24 - * @arg @ref LL_RCC_PLLSAIM_DIV_25 - * @arg @ref LL_RCC_PLLSAIM_DIV_26 - * @arg @ref LL_RCC_PLLSAIM_DIV_27 - * @arg @ref LL_RCC_PLLSAIM_DIV_28 - * @arg @ref LL_RCC_PLLSAIM_DIV_29 - * @arg @ref LL_RCC_PLLSAIM_DIV_30 - * @arg @ref LL_RCC_PLLSAIM_DIV_31 - * @arg @ref LL_RCC_PLLSAIM_DIV_32 - * @arg @ref LL_RCC_PLLSAIM_DIV_33 - * @arg @ref LL_RCC_PLLSAIM_DIV_34 - * @arg @ref LL_RCC_PLLSAIM_DIV_35 - * @arg @ref LL_RCC_PLLSAIM_DIV_36 - * @arg @ref LL_RCC_PLLSAIM_DIV_37 - * @arg @ref LL_RCC_PLLSAIM_DIV_38 - * @arg @ref LL_RCC_PLLSAIM_DIV_39 - * @arg @ref LL_RCC_PLLSAIM_DIV_40 - * @arg @ref LL_RCC_PLLSAIM_DIV_41 - * @arg @ref LL_RCC_PLLSAIM_DIV_42 - * @arg @ref LL_RCC_PLLSAIM_DIV_43 - * @arg @ref LL_RCC_PLLSAIM_DIV_44 - * @arg @ref LL_RCC_PLLSAIM_DIV_45 - * @arg @ref LL_RCC_PLLSAIM_DIV_46 - * @arg @ref LL_RCC_PLLSAIM_DIV_47 - * @arg @ref LL_RCC_PLLSAIM_DIV_48 - * @arg @ref LL_RCC_PLLSAIM_DIV_49 - * @arg @ref LL_RCC_PLLSAIM_DIV_50 - * @arg @ref LL_RCC_PLLSAIM_DIV_51 - * @arg @ref LL_RCC_PLLSAIM_DIV_52 - * @arg @ref LL_RCC_PLLSAIM_DIV_53 - * @arg @ref LL_RCC_PLLSAIM_DIV_54 - * @arg @ref LL_RCC_PLLSAIM_DIV_55 - * @arg @ref LL_RCC_PLLSAIM_DIV_56 - * @arg @ref LL_RCC_PLLSAIM_DIV_57 - * @arg @ref LL_RCC_PLLSAIM_DIV_58 - * @arg @ref LL_RCC_PLLSAIM_DIV_59 - * @arg @ref LL_RCC_PLLSAIM_DIV_60 - * @arg @ref LL_RCC_PLLSAIM_DIV_61 - * @arg @ref LL_RCC_PLLSAIM_DIV_62 - * @arg @ref LL_RCC_PLLSAIM_DIV_63 - * @param PLLN Between 49/50(*) and 432 - * - * (*) value not defined in all devices. - * @param PLLR This parameter can be one of the following values: - * @arg @ref LL_RCC_PLLSAIR_DIV_2 - * @arg @ref LL_RCC_PLLSAIR_DIV_3 - * @arg @ref LL_RCC_PLLSAIR_DIV_4 - * @arg @ref LL_RCC_PLLSAIR_DIV_5 - * @arg @ref LL_RCC_PLLSAIR_DIV_6 - * @arg @ref LL_RCC_PLLSAIR_DIV_7 - * @param PLLDIVR This parameter can be one of the following values: - * @arg @ref LL_RCC_PLLSAIDIVR_DIV_2 - * @arg @ref LL_RCC_PLLSAIDIVR_DIV_4 - * @arg @ref LL_RCC_PLLSAIDIVR_DIV_8 - * @arg @ref LL_RCC_PLLSAIDIVR_DIV_16 - * @retval None - */ -__STATIC_INLINE void LL_RCC_PLLSAI_ConfigDomain_LTDC(uint32_t Source, uint32_t PLLM, uint32_t PLLN, uint32_t PLLR, uint32_t PLLDIVR) -{ - MODIFY_REG(RCC->PLLCFGR, RCC_PLLCFGR_PLLSRC | RCC_PLLCFGR_PLLM, Source | PLLM); - MODIFY_REG(RCC->PLLSAICFGR, RCC_PLLSAICFGR_PLLSAIN | RCC_PLLSAICFGR_PLLSAIR, PLLN << RCC_PLLSAICFGR_PLLSAIN_Pos | PLLR); - MODIFY_REG(RCC->DCKCFGR, RCC_DCKCFGR_PLLSAIDIVR, PLLDIVR); -} -#endif /* LTDC */ - -/** - * @brief Get division factor for PLLSAI input clock - * @rmtoll PLLCFGR PLLM LL_RCC_PLLSAI_GetDivider\n - * PLLSAICFGR PLLSAIM LL_RCC_PLLSAI_GetDivider - * @retval Returned value can be one of the following values: - * @arg @ref LL_RCC_PLLSAIM_DIV_2 - * @arg @ref LL_RCC_PLLSAIM_DIV_3 - * @arg @ref LL_RCC_PLLSAIM_DIV_4 - * @arg @ref LL_RCC_PLLSAIM_DIV_5 - * @arg @ref LL_RCC_PLLSAIM_DIV_6 - * @arg @ref LL_RCC_PLLSAIM_DIV_7 - * @arg @ref LL_RCC_PLLSAIM_DIV_8 - * @arg @ref LL_RCC_PLLSAIM_DIV_9 - * @arg @ref LL_RCC_PLLSAIM_DIV_10 - * @arg @ref LL_RCC_PLLSAIM_DIV_11 - * @arg @ref LL_RCC_PLLSAIM_DIV_12 - * @arg @ref LL_RCC_PLLSAIM_DIV_13 - * @arg @ref LL_RCC_PLLSAIM_DIV_14 - * @arg @ref LL_RCC_PLLSAIM_DIV_15 - * @arg @ref LL_RCC_PLLSAIM_DIV_16 - * @arg @ref LL_RCC_PLLSAIM_DIV_17 - * @arg @ref LL_RCC_PLLSAIM_DIV_18 - * @arg @ref LL_RCC_PLLSAIM_DIV_19 - * @arg @ref LL_RCC_PLLSAIM_DIV_20 - * @arg @ref LL_RCC_PLLSAIM_DIV_21 - * @arg @ref LL_RCC_PLLSAIM_DIV_22 - * @arg @ref LL_RCC_PLLSAIM_DIV_23 - * @arg @ref LL_RCC_PLLSAIM_DIV_24 - * @arg @ref LL_RCC_PLLSAIM_DIV_25 - * @arg @ref LL_RCC_PLLSAIM_DIV_26 - * @arg @ref LL_RCC_PLLSAIM_DIV_27 - * @arg @ref LL_RCC_PLLSAIM_DIV_28 - * @arg @ref LL_RCC_PLLSAIM_DIV_29 - * @arg @ref LL_RCC_PLLSAIM_DIV_30 - * @arg @ref LL_RCC_PLLSAIM_DIV_31 - * @arg @ref LL_RCC_PLLSAIM_DIV_32 - * @arg @ref LL_RCC_PLLSAIM_DIV_33 - * @arg @ref LL_RCC_PLLSAIM_DIV_34 - * @arg @ref LL_RCC_PLLSAIM_DIV_35 - * @arg @ref LL_RCC_PLLSAIM_DIV_36 - * @arg @ref LL_RCC_PLLSAIM_DIV_37 - * @arg @ref LL_RCC_PLLSAIM_DIV_38 - * @arg @ref LL_RCC_PLLSAIM_DIV_39 - * @arg @ref LL_RCC_PLLSAIM_DIV_40 - * @arg @ref LL_RCC_PLLSAIM_DIV_41 - * @arg @ref LL_RCC_PLLSAIM_DIV_42 - * @arg @ref LL_RCC_PLLSAIM_DIV_43 - * @arg @ref LL_RCC_PLLSAIM_DIV_44 - * @arg @ref LL_RCC_PLLSAIM_DIV_45 - * @arg @ref LL_RCC_PLLSAIM_DIV_46 - * @arg @ref LL_RCC_PLLSAIM_DIV_47 - * @arg @ref LL_RCC_PLLSAIM_DIV_48 - * @arg @ref LL_RCC_PLLSAIM_DIV_49 - * @arg @ref LL_RCC_PLLSAIM_DIV_50 - * @arg @ref LL_RCC_PLLSAIM_DIV_51 - * @arg @ref LL_RCC_PLLSAIM_DIV_52 - * @arg @ref LL_RCC_PLLSAIM_DIV_53 - * @arg @ref LL_RCC_PLLSAIM_DIV_54 - * @arg @ref LL_RCC_PLLSAIM_DIV_55 - * @arg @ref LL_RCC_PLLSAIM_DIV_56 - * @arg @ref LL_RCC_PLLSAIM_DIV_57 - * @arg @ref LL_RCC_PLLSAIM_DIV_58 - * @arg @ref LL_RCC_PLLSAIM_DIV_59 - * @arg @ref LL_RCC_PLLSAIM_DIV_60 - * @arg @ref LL_RCC_PLLSAIM_DIV_61 - * @arg @ref LL_RCC_PLLSAIM_DIV_62 - * @arg @ref LL_RCC_PLLSAIM_DIV_63 - */ -__STATIC_INLINE uint32_t LL_RCC_PLLSAI_GetDivider(void) -{ -#if defined(RCC_PLLSAICFGR_PLLSAIM) - return (uint32_t)(READ_BIT(RCC->PLLSAICFGR, RCC_PLLSAICFGR_PLLSAIM)); -#else - return (uint32_t)(READ_BIT(RCC->PLLCFGR, RCC_PLLCFGR_PLLM)); -#endif /* RCC_PLLSAICFGR_PLLSAIM */ -} - -/** - * @brief Get SAIPLL multiplication factor for VCO - * @rmtoll PLLSAICFGR PLLSAIN LL_RCC_PLLSAI_GetN - * @retval Between 49/50(*) and 432 - * - * (*) value not defined in all devices. - */ -__STATIC_INLINE uint32_t LL_RCC_PLLSAI_GetN(void) -{ - return (uint32_t)(READ_BIT(RCC->PLLSAICFGR, RCC_PLLSAICFGR_PLLSAIN) >> RCC_PLLSAICFGR_PLLSAIN_Pos); -} - -/** - * @brief Get SAIPLL division factor for PLLSAIQ - * @rmtoll PLLSAICFGR PLLSAIQ LL_RCC_PLLSAI_GetQ - * @retval Returned value can be one of the following values: - * @arg @ref LL_RCC_PLLSAIQ_DIV_2 - * @arg @ref LL_RCC_PLLSAIQ_DIV_3 - * @arg @ref LL_RCC_PLLSAIQ_DIV_4 - * @arg @ref LL_RCC_PLLSAIQ_DIV_5 - * @arg @ref LL_RCC_PLLSAIQ_DIV_6 - * @arg @ref LL_RCC_PLLSAIQ_DIV_7 - * @arg @ref LL_RCC_PLLSAIQ_DIV_8 - * @arg @ref LL_RCC_PLLSAIQ_DIV_9 - * @arg @ref LL_RCC_PLLSAIQ_DIV_10 - * @arg @ref LL_RCC_PLLSAIQ_DIV_11 - * @arg @ref LL_RCC_PLLSAIQ_DIV_12 - * @arg @ref LL_RCC_PLLSAIQ_DIV_13 - * @arg @ref LL_RCC_PLLSAIQ_DIV_14 - * @arg @ref LL_RCC_PLLSAIQ_DIV_15 - */ -__STATIC_INLINE uint32_t LL_RCC_PLLSAI_GetQ(void) -{ - return (uint32_t)(READ_BIT(RCC->PLLSAICFGR, RCC_PLLSAICFGR_PLLSAIQ)); -} - -#if defined(RCC_PLLSAICFGR_PLLSAIR) -/** - * @brief Get SAIPLL division factor for PLLSAIR - * @note used for PLLSAICLK (SAI clock) - * @rmtoll PLLSAICFGR PLLSAIR LL_RCC_PLLSAI_GetR - * @retval Returned value can be one of the following values: - * @arg @ref LL_RCC_PLLSAIR_DIV_2 - * @arg @ref LL_RCC_PLLSAIR_DIV_3 - * @arg @ref LL_RCC_PLLSAIR_DIV_4 - * @arg @ref LL_RCC_PLLSAIR_DIV_5 - * @arg @ref LL_RCC_PLLSAIR_DIV_6 - * @arg @ref LL_RCC_PLLSAIR_DIV_7 - */ -__STATIC_INLINE uint32_t LL_RCC_PLLSAI_GetR(void) -{ - return (uint32_t)(READ_BIT(RCC->PLLSAICFGR, RCC_PLLSAICFGR_PLLSAIR)); -} -#endif /* RCC_PLLSAICFGR_PLLSAIR */ - -#if defined(RCC_PLLSAICFGR_PLLSAIP) -/** - * @brief Get SAIPLL division factor for PLLSAIP - * @note used for PLL48MCLK (48M domain clock) - * @rmtoll PLLSAICFGR PLLSAIP LL_RCC_PLLSAI_GetP - * @retval Returned value can be one of the following values: - * @arg @ref LL_RCC_PLLSAIP_DIV_2 - * @arg @ref LL_RCC_PLLSAIP_DIV_4 - * @arg @ref LL_RCC_PLLSAIP_DIV_6 - * @arg @ref LL_RCC_PLLSAIP_DIV_8 - */ -__STATIC_INLINE uint32_t LL_RCC_PLLSAI_GetP(void) -{ - return (uint32_t)(READ_BIT(RCC->PLLSAICFGR, RCC_PLLSAICFGR_PLLSAIP)); -} -#endif /* RCC_PLLSAICFGR_PLLSAIP */ - -/** - * @brief Get SAIPLL division factor for PLLSAIDIVQ - * @note used PLLSAICLK selected (SAI clock) - * @rmtoll DCKCFGR PLLSAIDIVQ LL_RCC_PLLSAI_GetDIVQ - * @retval Returned value can be one of the following values: - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_1 - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_2 - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_3 - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_4 - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_5 - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_6 - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_7 - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_8 - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_9 - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_10 - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_11 - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_12 - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_13 - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_14 - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_15 - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_16 - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_17 - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_18 - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_19 - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_20 - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_21 - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_22 - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_23 - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_24 - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_25 - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_26 - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_27 - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_28 - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_29 - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_30 - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_31 - * @arg @ref LL_RCC_PLLSAIDIVQ_DIV_32 - */ -__STATIC_INLINE uint32_t LL_RCC_PLLSAI_GetDIVQ(void) -{ - return (uint32_t)(READ_BIT(RCC->DCKCFGR, RCC_DCKCFGR_PLLSAIDIVQ)); -} - -#if defined(RCC_DCKCFGR_PLLSAIDIVR) -/** - * @brief Get SAIPLL division factor for PLLSAIDIVR - * @note used for LTDC domain clock - * @rmtoll DCKCFGR PLLSAIDIVR LL_RCC_PLLSAI_GetDIVR - * @retval Returned value can be one of the following values: - * @arg @ref LL_RCC_PLLSAIDIVR_DIV_2 - * @arg @ref LL_RCC_PLLSAIDIVR_DIV_4 - * @arg @ref LL_RCC_PLLSAIDIVR_DIV_8 - * @arg @ref LL_RCC_PLLSAIDIVR_DIV_16 - */ -__STATIC_INLINE uint32_t LL_RCC_PLLSAI_GetDIVR(void) -{ - return (uint32_t)(READ_BIT(RCC->DCKCFGR, RCC_DCKCFGR_PLLSAIDIVR)); -} -#endif /* RCC_DCKCFGR_PLLSAIDIVR */ - -/** - * @} - */ -#endif /* RCC_PLLSAI_SUPPORT */ - -/** @defgroup RCC_LL_EF_FLAG_Management FLAG Management - * @{ - */ - -/** - * @brief Clear LSI ready interrupt flag - * @rmtoll CIR LSIRDYC LL_RCC_ClearFlag_LSIRDY - * @retval None - */ -__STATIC_INLINE void LL_RCC_ClearFlag_LSIRDY(void) -{ - SET_BIT(RCC->CIR, RCC_CIR_LSIRDYC); -} - -/** - * @brief Clear LSE ready interrupt flag - * @rmtoll CIR LSERDYC LL_RCC_ClearFlag_LSERDY - * @retval None - */ -__STATIC_INLINE void LL_RCC_ClearFlag_LSERDY(void) -{ - SET_BIT(RCC->CIR, RCC_CIR_LSERDYC); -} - -/** - * @brief Clear HSI ready interrupt flag - * @rmtoll CIR HSIRDYC LL_RCC_ClearFlag_HSIRDY - * @retval None - */ -__STATIC_INLINE void LL_RCC_ClearFlag_HSIRDY(void) -{ - SET_BIT(RCC->CIR, RCC_CIR_HSIRDYC); -} - -/** - * @brief Clear HSE ready interrupt flag - * @rmtoll CIR HSERDYC LL_RCC_ClearFlag_HSERDY - * @retval None - */ -__STATIC_INLINE void LL_RCC_ClearFlag_HSERDY(void) -{ - SET_BIT(RCC->CIR, RCC_CIR_HSERDYC); -} - -/** - * @brief Clear PLL ready interrupt flag - * @rmtoll CIR PLLRDYC LL_RCC_ClearFlag_PLLRDY - * @retval None - */ -__STATIC_INLINE void LL_RCC_ClearFlag_PLLRDY(void) -{ - SET_BIT(RCC->CIR, RCC_CIR_PLLRDYC); -} - -#if defined(RCC_PLLI2S_SUPPORT) -/** - * @brief Clear PLLI2S ready interrupt flag - * @rmtoll CIR PLLI2SRDYC LL_RCC_ClearFlag_PLLI2SRDY - * @retval None - */ -__STATIC_INLINE void LL_RCC_ClearFlag_PLLI2SRDY(void) -{ - SET_BIT(RCC->CIR, RCC_CIR_PLLI2SRDYC); -} - -#endif /* RCC_PLLI2S_SUPPORT */ - -#if defined(RCC_PLLSAI_SUPPORT) -/** - * @brief Clear PLLSAI ready interrupt flag - * @rmtoll CIR PLLSAIRDYC LL_RCC_ClearFlag_PLLSAIRDY - * @retval None - */ -__STATIC_INLINE void LL_RCC_ClearFlag_PLLSAIRDY(void) -{ - SET_BIT(RCC->CIR, RCC_CIR_PLLSAIRDYC); -} - -#endif /* RCC_PLLSAI_SUPPORT */ - -/** - * @brief Clear Clock security system interrupt flag - * @rmtoll CIR CSSC LL_RCC_ClearFlag_HSECSS - * @retval None - */ -__STATIC_INLINE void LL_RCC_ClearFlag_HSECSS(void) -{ - SET_BIT(RCC->CIR, RCC_CIR_CSSC); -} - -/** - * @brief Check if LSI ready interrupt occurred or not - * @rmtoll CIR LSIRDYF LL_RCC_IsActiveFlag_LSIRDY - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_RCC_IsActiveFlag_LSIRDY(void) -{ - return (READ_BIT(RCC->CIR, RCC_CIR_LSIRDYF) == (RCC_CIR_LSIRDYF)); -} - -/** - * @brief Check if LSE ready interrupt occurred or not - * @rmtoll CIR LSERDYF LL_RCC_IsActiveFlag_LSERDY - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_RCC_IsActiveFlag_LSERDY(void) -{ - return (READ_BIT(RCC->CIR, RCC_CIR_LSERDYF) == (RCC_CIR_LSERDYF)); -} - -/** - * @brief Check if HSI ready interrupt occurred or not - * @rmtoll CIR HSIRDYF LL_RCC_IsActiveFlag_HSIRDY - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_RCC_IsActiveFlag_HSIRDY(void) -{ - return (READ_BIT(RCC->CIR, RCC_CIR_HSIRDYF) == (RCC_CIR_HSIRDYF)); -} - -/** - * @brief Check if HSE ready interrupt occurred or not - * @rmtoll CIR HSERDYF LL_RCC_IsActiveFlag_HSERDY - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_RCC_IsActiveFlag_HSERDY(void) -{ - return (READ_BIT(RCC->CIR, RCC_CIR_HSERDYF) == (RCC_CIR_HSERDYF)); -} - -/** - * @brief Check if PLL ready interrupt occurred or not - * @rmtoll CIR PLLRDYF LL_RCC_IsActiveFlag_PLLRDY - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_RCC_IsActiveFlag_PLLRDY(void) -{ - return (READ_BIT(RCC->CIR, RCC_CIR_PLLRDYF) == (RCC_CIR_PLLRDYF)); -} - -#if defined(RCC_PLLI2S_SUPPORT) -/** - * @brief Check if PLLI2S ready interrupt occurred or not - * @rmtoll CIR PLLI2SRDYF LL_RCC_IsActiveFlag_PLLI2SRDY - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_RCC_IsActiveFlag_PLLI2SRDY(void) -{ - return (READ_BIT(RCC->CIR, RCC_CIR_PLLI2SRDYF) == (RCC_CIR_PLLI2SRDYF)); -} -#endif /* RCC_PLLI2S_SUPPORT */ - -#if defined(RCC_PLLSAI_SUPPORT) -/** - * @brief Check if PLLSAI ready interrupt occurred or not - * @rmtoll CIR PLLSAIRDYF LL_RCC_IsActiveFlag_PLLSAIRDY - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_RCC_IsActiveFlag_PLLSAIRDY(void) -{ - return (READ_BIT(RCC->CIR, RCC_CIR_PLLSAIRDYF) == (RCC_CIR_PLLSAIRDYF)); -} -#endif /* RCC_PLLSAI_SUPPORT */ - -/** - * @brief Check if Clock security system interrupt occurred or not - * @rmtoll CIR CSSF LL_RCC_IsActiveFlag_HSECSS - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_RCC_IsActiveFlag_HSECSS(void) -{ - return (READ_BIT(RCC->CIR, RCC_CIR_CSSF) == (RCC_CIR_CSSF)); -} - -/** - * @brief Check if RCC flag Independent Watchdog reset is set or not. - * @rmtoll CSR IWDGRSTF LL_RCC_IsActiveFlag_IWDGRST - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_RCC_IsActiveFlag_IWDGRST(void) -{ - return (READ_BIT(RCC->CSR, RCC_CSR_IWDGRSTF) == (RCC_CSR_IWDGRSTF)); -} - -/** - * @brief Check if RCC flag Low Power reset is set or not. - * @rmtoll CSR LPWRRSTF LL_RCC_IsActiveFlag_LPWRRST - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_RCC_IsActiveFlag_LPWRRST(void) -{ - return (READ_BIT(RCC->CSR, RCC_CSR_LPWRRSTF) == (RCC_CSR_LPWRRSTF)); -} - -/** - * @brief Check if RCC flag Pin reset is set or not. - * @rmtoll CSR PINRSTF LL_RCC_IsActiveFlag_PINRST - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_RCC_IsActiveFlag_PINRST(void) -{ - return (READ_BIT(RCC->CSR, RCC_CSR_PINRSTF) == (RCC_CSR_PINRSTF)); -} - -/** - * @brief Check if RCC flag POR/PDR reset is set or not. - * @rmtoll CSR PORRSTF LL_RCC_IsActiveFlag_PORRST - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_RCC_IsActiveFlag_PORRST(void) -{ - return (READ_BIT(RCC->CSR, RCC_CSR_PORRSTF) == (RCC_CSR_PORRSTF)); -} - -/** - * @brief Check if RCC flag Software reset is set or not. - * @rmtoll CSR SFTRSTF LL_RCC_IsActiveFlag_SFTRST - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_RCC_IsActiveFlag_SFTRST(void) -{ - return (READ_BIT(RCC->CSR, RCC_CSR_SFTRSTF) == (RCC_CSR_SFTRSTF)); -} - -/** - * @brief Check if RCC flag Window Watchdog reset is set or not. - * @rmtoll CSR WWDGRSTF LL_RCC_IsActiveFlag_WWDGRST - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_RCC_IsActiveFlag_WWDGRST(void) -{ - return (READ_BIT(RCC->CSR, RCC_CSR_WWDGRSTF) == (RCC_CSR_WWDGRSTF)); -} - -#if defined(RCC_CSR_BORRSTF) -/** - * @brief Check if RCC flag BOR reset is set or not. - * @rmtoll CSR BORRSTF LL_RCC_IsActiveFlag_BORRST - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_RCC_IsActiveFlag_BORRST(void) -{ - return (READ_BIT(RCC->CSR, RCC_CSR_BORRSTF) == (RCC_CSR_BORRSTF)); -} -#endif /* RCC_CSR_BORRSTF */ - -/** - * @brief Set RMVF bit to clear the reset flags. - * @rmtoll CSR RMVF LL_RCC_ClearResetFlags - * @retval None - */ -__STATIC_INLINE void LL_RCC_ClearResetFlags(void) -{ - SET_BIT(RCC->CSR, RCC_CSR_RMVF); -} - -/** - * @} - */ - -/** @defgroup RCC_LL_EF_IT_Management IT Management - * @{ - */ - -/** - * @brief Enable LSI ready interrupt - * @rmtoll CIR LSIRDYIE LL_RCC_EnableIT_LSIRDY - * @retval None - */ -__STATIC_INLINE void LL_RCC_EnableIT_LSIRDY(void) -{ - SET_BIT(RCC->CIR, RCC_CIR_LSIRDYIE); -} - -/** - * @brief Enable LSE ready interrupt - * @rmtoll CIR LSERDYIE LL_RCC_EnableIT_LSERDY - * @retval None - */ -__STATIC_INLINE void LL_RCC_EnableIT_LSERDY(void) -{ - SET_BIT(RCC->CIR, RCC_CIR_LSERDYIE); -} - -/** - * @brief Enable HSI ready interrupt - * @rmtoll CIR HSIRDYIE LL_RCC_EnableIT_HSIRDY - * @retval None - */ -__STATIC_INLINE void LL_RCC_EnableIT_HSIRDY(void) -{ - SET_BIT(RCC->CIR, RCC_CIR_HSIRDYIE); -} - -/** - * @brief Enable HSE ready interrupt - * @rmtoll CIR HSERDYIE LL_RCC_EnableIT_HSERDY - * @retval None - */ -__STATIC_INLINE void LL_RCC_EnableIT_HSERDY(void) -{ - SET_BIT(RCC->CIR, RCC_CIR_HSERDYIE); -} - -/** - * @brief Enable PLL ready interrupt - * @rmtoll CIR PLLRDYIE LL_RCC_EnableIT_PLLRDY - * @retval None - */ -__STATIC_INLINE void LL_RCC_EnableIT_PLLRDY(void) -{ - SET_BIT(RCC->CIR, RCC_CIR_PLLRDYIE); -} - -#if defined(RCC_PLLI2S_SUPPORT) -/** - * @brief Enable PLLI2S ready interrupt - * @rmtoll CIR PLLI2SRDYIE LL_RCC_EnableIT_PLLI2SRDY - * @retval None - */ -__STATIC_INLINE void LL_RCC_EnableIT_PLLI2SRDY(void) -{ - SET_BIT(RCC->CIR, RCC_CIR_PLLI2SRDYIE); -} -#endif /* RCC_PLLI2S_SUPPORT */ - -#if defined(RCC_PLLSAI_SUPPORT) -/** - * @brief Enable PLLSAI ready interrupt - * @rmtoll CIR PLLSAIRDYIE LL_RCC_EnableIT_PLLSAIRDY - * @retval None - */ -__STATIC_INLINE void LL_RCC_EnableIT_PLLSAIRDY(void) -{ - SET_BIT(RCC->CIR, RCC_CIR_PLLSAIRDYIE); -} -#endif /* RCC_PLLSAI_SUPPORT */ - -/** - * @brief Disable LSI ready interrupt - * @rmtoll CIR LSIRDYIE LL_RCC_DisableIT_LSIRDY - * @retval None - */ -__STATIC_INLINE void LL_RCC_DisableIT_LSIRDY(void) -{ - CLEAR_BIT(RCC->CIR, RCC_CIR_LSIRDYIE); -} - -/** - * @brief Disable LSE ready interrupt - * @rmtoll CIR LSERDYIE LL_RCC_DisableIT_LSERDY - * @retval None - */ -__STATIC_INLINE void LL_RCC_DisableIT_LSERDY(void) -{ - CLEAR_BIT(RCC->CIR, RCC_CIR_LSERDYIE); -} - -/** - * @brief Disable HSI ready interrupt - * @rmtoll CIR HSIRDYIE LL_RCC_DisableIT_HSIRDY - * @retval None - */ -__STATIC_INLINE void LL_RCC_DisableIT_HSIRDY(void) -{ - CLEAR_BIT(RCC->CIR, RCC_CIR_HSIRDYIE); -} - -/** - * @brief Disable HSE ready interrupt - * @rmtoll CIR HSERDYIE LL_RCC_DisableIT_HSERDY - * @retval None - */ -__STATIC_INLINE void LL_RCC_DisableIT_HSERDY(void) -{ - CLEAR_BIT(RCC->CIR, RCC_CIR_HSERDYIE); -} - -/** - * @brief Disable PLL ready interrupt - * @rmtoll CIR PLLRDYIE LL_RCC_DisableIT_PLLRDY - * @retval None - */ -__STATIC_INLINE void LL_RCC_DisableIT_PLLRDY(void) -{ - CLEAR_BIT(RCC->CIR, RCC_CIR_PLLRDYIE); -} - -#if defined(RCC_PLLI2S_SUPPORT) -/** - * @brief Disable PLLI2S ready interrupt - * @rmtoll CIR PLLI2SRDYIE LL_RCC_DisableIT_PLLI2SRDY - * @retval None - */ -__STATIC_INLINE void LL_RCC_DisableIT_PLLI2SRDY(void) -{ - CLEAR_BIT(RCC->CIR, RCC_CIR_PLLI2SRDYIE); -} - -#endif /* RCC_PLLI2S_SUPPORT */ - -#if defined(RCC_PLLSAI_SUPPORT) -/** - * @brief Disable PLLSAI ready interrupt - * @rmtoll CIR PLLSAIRDYIE LL_RCC_DisableIT_PLLSAIRDY - * @retval None - */ -__STATIC_INLINE void LL_RCC_DisableIT_PLLSAIRDY(void) -{ - CLEAR_BIT(RCC->CIR, RCC_CIR_PLLSAIRDYIE); -} -#endif /* RCC_PLLSAI_SUPPORT */ - -/** - * @brief Checks if LSI ready interrupt source is enabled or disabled. - * @rmtoll CIR LSIRDYIE LL_RCC_IsEnabledIT_LSIRDY - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_RCC_IsEnabledIT_LSIRDY(void) -{ - return (READ_BIT(RCC->CIR, RCC_CIR_LSIRDYIE) == (RCC_CIR_LSIRDYIE)); -} - -/** - * @brief Checks if LSE ready interrupt source is enabled or disabled. - * @rmtoll CIR LSERDYIE LL_RCC_IsEnabledIT_LSERDY - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_RCC_IsEnabledIT_LSERDY(void) -{ - return (READ_BIT(RCC->CIR, RCC_CIR_LSERDYIE) == (RCC_CIR_LSERDYIE)); -} - -/** - * @brief Checks if HSI ready interrupt source is enabled or disabled. - * @rmtoll CIR HSIRDYIE LL_RCC_IsEnabledIT_HSIRDY - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_RCC_IsEnabledIT_HSIRDY(void) -{ - return (READ_BIT(RCC->CIR, RCC_CIR_HSIRDYIE) == (RCC_CIR_HSIRDYIE)); -} - -/** - * @brief Checks if HSE ready interrupt source is enabled or disabled. - * @rmtoll CIR HSERDYIE LL_RCC_IsEnabledIT_HSERDY - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_RCC_IsEnabledIT_HSERDY(void) -{ - return (READ_BIT(RCC->CIR, RCC_CIR_HSERDYIE) == (RCC_CIR_HSERDYIE)); -} - -/** - * @brief Checks if PLL ready interrupt source is enabled or disabled. - * @rmtoll CIR PLLRDYIE LL_RCC_IsEnabledIT_PLLRDY - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_RCC_IsEnabledIT_PLLRDY(void) -{ - return (READ_BIT(RCC->CIR, RCC_CIR_PLLRDYIE) == (RCC_CIR_PLLRDYIE)); -} - -#if defined(RCC_PLLI2S_SUPPORT) -/** - * @brief Checks if PLLI2S ready interrupt source is enabled or disabled. - * @rmtoll CIR PLLI2SRDYIE LL_RCC_IsEnabledIT_PLLI2SRDY - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_RCC_IsEnabledIT_PLLI2SRDY(void) -{ - return (READ_BIT(RCC->CIR, RCC_CIR_PLLI2SRDYIE) == (RCC_CIR_PLLI2SRDYIE)); -} - -#endif /* RCC_PLLI2S_SUPPORT */ - -#if defined(RCC_PLLSAI_SUPPORT) -/** - * @brief Checks if PLLSAI ready interrupt source is enabled or disabled. - * @rmtoll CIR PLLSAIRDYIE LL_RCC_IsEnabledIT_PLLSAIRDY - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_RCC_IsEnabledIT_PLLSAIRDY(void) -{ - return (READ_BIT(RCC->CIR, RCC_CIR_PLLSAIRDYIE) == (RCC_CIR_PLLSAIRDYIE)); -} -#endif /* RCC_PLLSAI_SUPPORT */ - -/** - * @} - */ - -#if defined(USE_FULL_LL_DRIVER) -/** @defgroup RCC_LL_EF_Init De-initialization function - * @{ - */ -ErrorStatus LL_RCC_DeInit(void); -/** - * @} - */ - -/** @defgroup RCC_LL_EF_Get_Freq Get system and peripherals clocks frequency functions - * @{ - */ -void LL_RCC_GetSystemClocksFreq(LL_RCC_ClocksTypeDef *RCC_Clocks); -#if defined(FMPI2C1) -uint32_t LL_RCC_GetFMPI2CClockFreq(uint32_t FMPI2CxSource); -#endif /* FMPI2C1 */ -#if defined(LPTIM1) -uint32_t LL_RCC_GetLPTIMClockFreq(uint32_t LPTIMxSource); -#endif /* LPTIM1 */ -#if defined(SAI1) -uint32_t LL_RCC_GetSAIClockFreq(uint32_t SAIxSource); -#endif /* SAI1 */ -#if defined(SDIO) -uint32_t LL_RCC_GetSDIOClockFreq(uint32_t SDIOxSource); -#endif /* SDIO */ -#if defined(RNG) -uint32_t LL_RCC_GetRNGClockFreq(uint32_t RNGxSource); -#endif /* RNG */ -#if defined(USB_OTG_FS) || defined(USB_OTG_HS) -uint32_t LL_RCC_GetUSBClockFreq(uint32_t USBxSource); -#endif /* USB_OTG_FS || USB_OTG_HS */ -#if defined(DFSDM1_Channel0) -uint32_t LL_RCC_GetDFSDMClockFreq(uint32_t DFSDMxSource); -uint32_t LL_RCC_GetDFSDMAudioClockFreq(uint32_t DFSDMxSource); -#endif /* DFSDM1_Channel0 */ -uint32_t LL_RCC_GetI2SClockFreq(uint32_t I2SxSource); -#if defined(CEC) -uint32_t LL_RCC_GetCECClockFreq(uint32_t CECxSource); -#endif /* CEC */ -#if defined(LTDC) -uint32_t LL_RCC_GetLTDCClockFreq(uint32_t LTDCxSource); -#endif /* LTDC */ -#if defined(SPDIFRX) -uint32_t LL_RCC_GetSPDIFRXClockFreq(uint32_t SPDIFRXxSource); -#endif /* SPDIFRX */ -#if defined(DSI) -uint32_t LL_RCC_GetDSIClockFreq(uint32_t DSIxSource); -#endif /* DSI */ -/** - * @} - */ -#endif /* USE_FULL_LL_DRIVER */ - -/** - * @} - */ - -/** - * @} - */ - -#endif /* defined(RCC) */ - -/** - * @} - */ - -#ifdef __cplusplus -} -#endif - -#endif /* __STM32F4xx_LL_RCC_H */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_rng.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_rng.h deleted file mode 100644 index c142717b0cfb92..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_rng.h +++ /dev/null @@ -1,337 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_ll_rng.h - * @author MCD Application Team - * @brief Header file of RNG LL module. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef STM32F4xx_LL_RNG_H -#define STM32F4xx_LL_RNG_H - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx.h" - -/** @addtogroup STM32F4xx_LL_Driver - * @{ - */ - -#if defined (RNG) - -/** @defgroup RNG_LL RNG - * @{ - */ - -/* Private types -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private constants ---------------------------------------------------------*/ -/* Private macros ------------------------------------------------------------*/ - -/* Exported types ------------------------------------------------------------*/ -/* Exported constants --------------------------------------------------------*/ -/** @defgroup RNG_LL_Exported_Constants RNG Exported Constants - * @{ - */ - - -/** @defgroup RNG_LL_EC_GET_FLAG Get Flags Defines - * @brief Flags defines which can be used with LL_RNG_ReadReg function - * @{ - */ -#define LL_RNG_SR_DRDY RNG_SR_DRDY /*!< Register contains valid random data */ -#define LL_RNG_SR_CECS RNG_SR_CECS /*!< Clock error current status */ -#define LL_RNG_SR_SECS RNG_SR_SECS /*!< Seed error current status */ -#define LL_RNG_SR_CEIS RNG_SR_CEIS /*!< Clock error interrupt status */ -#define LL_RNG_SR_SEIS RNG_SR_SEIS /*!< Seed error interrupt status */ -/** - * @} - */ - -/** @defgroup RNG_LL_EC_IT IT Defines - * @brief IT defines which can be used with LL_RNG_ReadReg and LL_RNG_WriteReg macros - * @{ - */ -#define LL_RNG_CR_IE RNG_CR_IE /*!< RNG Interrupt enable */ -/** - * @} - */ - -/** - * @} - */ - -/* Exported macro ------------------------------------------------------------*/ -/** @defgroup RNG_LL_Exported_Macros RNG Exported Macros - * @{ - */ - -/** @defgroup RNG_LL_EM_WRITE_READ Common Write and read registers Macros - * @{ - */ - -/** - * @brief Write a value in RNG register - * @param __INSTANCE__ RNG Instance - * @param __REG__ Register to be written - * @param __VALUE__ Value to be written in the register - * @retval None - */ -#define LL_RNG_WriteReg(__INSTANCE__, __REG__, __VALUE__) WRITE_REG(__INSTANCE__->__REG__, (__VALUE__)) - -/** - * @brief Read a value in RNG register - * @param __INSTANCE__ RNG Instance - * @param __REG__ Register to be read - * @retval Register value - */ -#define LL_RNG_ReadReg(__INSTANCE__, __REG__) READ_REG(__INSTANCE__->__REG__) -/** - * @} - */ - -/** - * @} - */ - - -/* Exported functions --------------------------------------------------------*/ -/** @defgroup RNG_LL_Exported_Functions RNG Exported Functions - * @{ - */ -/** @defgroup RNG_LL_EF_Configuration RNG Configuration functions - * @{ - */ - -/** - * @brief Enable Random Number Generation - * @rmtoll CR RNGEN LL_RNG_Enable - * @param RNGx RNG Instance - * @retval None - */ -__STATIC_INLINE void LL_RNG_Enable(RNG_TypeDef *RNGx) -{ - SET_BIT(RNGx->CR, RNG_CR_RNGEN); -} - -/** - * @brief Disable Random Number Generation - * @rmtoll CR RNGEN LL_RNG_Disable - * @param RNGx RNG Instance - * @retval None - */ -__STATIC_INLINE void LL_RNG_Disable(RNG_TypeDef *RNGx) -{ - CLEAR_BIT(RNGx->CR, RNG_CR_RNGEN); -} - -/** - * @brief Check if Random Number Generator is enabled - * @rmtoll CR RNGEN LL_RNG_IsEnabled - * @param RNGx RNG Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_RNG_IsEnabled(RNG_TypeDef *RNGx) -{ - return ((READ_BIT(RNGx->CR, RNG_CR_RNGEN) == (RNG_CR_RNGEN)) ? 1UL : 0UL); -} - -/** - * @} - */ - -/** @defgroup RNG_LL_EF_FLAG_Management FLAG Management - * @{ - */ - -/** - * @brief Indicate if the RNG Data ready Flag is set or not - * @rmtoll SR DRDY LL_RNG_IsActiveFlag_DRDY - * @param RNGx RNG Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_RNG_IsActiveFlag_DRDY(RNG_TypeDef *RNGx) -{ - return ((READ_BIT(RNGx->SR, RNG_SR_DRDY) == (RNG_SR_DRDY)) ? 1UL : 0UL); -} - -/** - * @brief Indicate if the Clock Error Current Status Flag is set or not - * @rmtoll SR CECS LL_RNG_IsActiveFlag_CECS - * @param RNGx RNG Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_RNG_IsActiveFlag_CECS(RNG_TypeDef *RNGx) -{ - return ((READ_BIT(RNGx->SR, RNG_SR_CECS) == (RNG_SR_CECS)) ? 1UL : 0UL); -} - -/** - * @brief Indicate if the Seed Error Current Status Flag is set or not - * @rmtoll SR SECS LL_RNG_IsActiveFlag_SECS - * @param RNGx RNG Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_RNG_IsActiveFlag_SECS(RNG_TypeDef *RNGx) -{ - return ((READ_BIT(RNGx->SR, RNG_SR_SECS) == (RNG_SR_SECS)) ? 1UL : 0UL); -} - -/** - * @brief Indicate if the Clock Error Interrupt Status Flag is set or not - * @rmtoll SR CEIS LL_RNG_IsActiveFlag_CEIS - * @param RNGx RNG Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_RNG_IsActiveFlag_CEIS(RNG_TypeDef *RNGx) -{ - return ((READ_BIT(RNGx->SR, RNG_SR_CEIS) == (RNG_SR_CEIS)) ? 1UL : 0UL); -} - -/** - * @brief Indicate if the Seed Error Interrupt Status Flag is set or not - * @rmtoll SR SEIS LL_RNG_IsActiveFlag_SEIS - * @param RNGx RNG Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_RNG_IsActiveFlag_SEIS(RNG_TypeDef *RNGx) -{ - return ((READ_BIT(RNGx->SR, RNG_SR_SEIS) == (RNG_SR_SEIS)) ? 1UL : 0UL); -} - -/** - * @brief Clear Clock Error interrupt Status (CEIS) Flag - * @rmtoll SR CEIS LL_RNG_ClearFlag_CEIS - * @param RNGx RNG Instance - * @retval None - */ -__STATIC_INLINE void LL_RNG_ClearFlag_CEIS(RNG_TypeDef *RNGx) -{ - WRITE_REG(RNGx->SR, ~RNG_SR_CEIS); -} - -/** - * @brief Clear Seed Error interrupt Status (SEIS) Flag - * @rmtoll SR SEIS LL_RNG_ClearFlag_SEIS - * @param RNGx RNG Instance - * @retval None - */ -__STATIC_INLINE void LL_RNG_ClearFlag_SEIS(RNG_TypeDef *RNGx) -{ - WRITE_REG(RNGx->SR, ~RNG_SR_SEIS); -} - -/** - * @} - */ - -/** @defgroup RNG_LL_EF_IT_Management IT Management - * @{ - */ - -/** - * @brief Enable Random Number Generator Interrupt - * (applies for either Seed error, Clock Error or Data ready interrupts) - * @rmtoll CR IE LL_RNG_EnableIT - * @param RNGx RNG Instance - * @retval None - */ -__STATIC_INLINE void LL_RNG_EnableIT(RNG_TypeDef *RNGx) -{ - SET_BIT(RNGx->CR, RNG_CR_IE); -} - -/** - * @brief Disable Random Number Generator Interrupt - * (applies for either Seed error, Clock Error or Data ready interrupts) - * @rmtoll CR IE LL_RNG_DisableIT - * @param RNGx RNG Instance - * @retval None - */ -__STATIC_INLINE void LL_RNG_DisableIT(RNG_TypeDef *RNGx) -{ - CLEAR_BIT(RNGx->CR, RNG_CR_IE); -} - -/** - * @brief Check if Random Number Generator Interrupt is enabled - * (applies for either Seed error, Clock Error or Data ready interrupts) - * @rmtoll CR IE LL_RNG_IsEnabledIT - * @param RNGx RNG Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_RNG_IsEnabledIT(RNG_TypeDef *RNGx) -{ - return ((READ_BIT(RNGx->CR, RNG_CR_IE) == (RNG_CR_IE)) ? 1UL : 0UL); -} - -/** - * @} - */ - -/** @defgroup RNG_LL_EF_Data_Management Data Management - * @{ - */ - -/** - * @brief Return32-bit Random Number value - * @rmtoll DR RNDATA LL_RNG_ReadRandData32 - * @param RNGx RNG Instance - * @retval Generated 32-bit random value - */ -__STATIC_INLINE uint32_t LL_RNG_ReadRandData32(RNG_TypeDef *RNGx) -{ - return (uint32_t)(READ_REG(RNGx->DR)); -} - -/** - * @} - */ - -#if defined(USE_FULL_LL_DRIVER) -/** @defgroup RNG_LL_EF_Init Initialization and de-initialization functions - * @{ - */ -ErrorStatus LL_RNG_DeInit(RNG_TypeDef *RNGx); - -/** - * @} - */ -#endif /* USE_FULL_LL_DRIVER */ - -/** - * @} - */ - -/** - * @} - */ - -#endif /* RNG */ - -/** - * @} - */ - -#ifdef __cplusplus -} -#endif - -#endif /* __STM32F4xx_LL_RNG_H */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_rtc.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_rtc.h deleted file mode 100644 index 1f57ce444543ec..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_rtc.h +++ /dev/null @@ -1,3793 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_ll_rtc.h - * @author MCD Application Team - * @brief Header file of RTC LL module. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef __STM32F4xx_LL_RTC_H -#define __STM32F4xx_LL_RTC_H - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx.h" - -/** @addtogroup STM32F4xx_LL_Driver - * @{ - */ - -#if defined(RTC) - -/** @defgroup RTC_LL RTC - * @{ - */ - -/* Private types -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private constants ---------------------------------------------------------*/ -/** @defgroup RTC_LL_Private_Constants RTC Private Constants - * @{ - */ -/* Masks Definition */ -#define RTC_INIT_MASK 0xFFFFFFFFU -#define RTC_RSF_MASK 0xFFFFFF5FU - -/* Write protection defines */ -#define RTC_WRITE_PROTECTION_DISABLE ((uint8_t)0xFFU) -#define RTC_WRITE_PROTECTION_ENABLE_1 ((uint8_t)0xCAU) -#define RTC_WRITE_PROTECTION_ENABLE_2 ((uint8_t)0x53U) - -/* Defines used to combine date & time */ -#define RTC_OFFSET_WEEKDAY 24U -#define RTC_OFFSET_DAY 16U -#define RTC_OFFSET_MONTH 8U -#define RTC_OFFSET_HOUR 16U -#define RTC_OFFSET_MINUTE 8U - -/** - * @} - */ - -/* Private macros ------------------------------------------------------------*/ -#if defined(USE_FULL_LL_DRIVER) -/** @defgroup RTC_LL_Private_Macros RTC Private Macros - * @{ - */ -/** - * @} - */ -#endif /*USE_FULL_LL_DRIVER*/ - -/* Exported types ------------------------------------------------------------*/ -#if defined(USE_FULL_LL_DRIVER) -/** @defgroup RTC_LL_ES_INIT RTC Exported Init structure - * @{ - */ - -/** - * @brief RTC Init structures definition - */ -typedef struct -{ - uint32_t HourFormat; /*!< Specifies the RTC Hours Format. - This parameter can be a value of @ref RTC_LL_EC_HOURFORMAT - - This feature can be modified afterwards using unitary function - @ref LL_RTC_SetHourFormat(). */ - - uint32_t AsynchPrescaler; /*!< Specifies the RTC Asynchronous Predivider value. - This parameter must be a number between Min_Data = 0x00 and Max_Data = 0x7F - - This feature can be modified afterwards using unitary function - @ref LL_RTC_SetAsynchPrescaler(). */ - - uint32_t SynchPrescaler; /*!< Specifies the RTC Synchronous Predivider value. - This parameter must be a number between Min_Data = 0x00 and Max_Data = 0x7FFF - - This feature can be modified afterwards using unitary function - @ref LL_RTC_SetSynchPrescaler(). */ -} LL_RTC_InitTypeDef; - -/** - * @brief RTC Time structure definition - */ -typedef struct -{ - uint32_t TimeFormat; /*!< Specifies the RTC AM/PM Time. - This parameter can be a value of @ref RTC_LL_EC_TIME_FORMAT - - This feature can be modified afterwards using unitary function @ref LL_RTC_TIME_SetFormat(). */ - - uint8_t Hours; /*!< Specifies the RTC Time Hours. - This parameter must be a number between Min_Data = 0 and Max_Data = 12 if the @ref LL_RTC_TIME_FORMAT_PM is selected. - This parameter must be a number between Min_Data = 0 and Max_Data = 23 if the @ref LL_RTC_TIME_FORMAT_AM_OR_24 is selected. - - This feature can be modified afterwards using unitary function @ref LL_RTC_TIME_SetHour(). */ - - uint8_t Minutes; /*!< Specifies the RTC Time Minutes. - This parameter must be a number between Min_Data = 0 and Max_Data = 59 - - This feature can be modified afterwards using unitary function @ref LL_RTC_TIME_SetMinute(). */ - - uint8_t Seconds; /*!< Specifies the RTC Time Seconds. - This parameter must be a number between Min_Data = 0 and Max_Data = 59 - - This feature can be modified afterwards using unitary function @ref LL_RTC_TIME_SetSecond(). */ -} LL_RTC_TimeTypeDef; - -/** - * @brief RTC Date structure definition - */ -typedef struct -{ - uint8_t WeekDay; /*!< Specifies the RTC Date WeekDay. - This parameter can be a value of @ref RTC_LL_EC_WEEKDAY - - This feature can be modified afterwards using unitary function @ref LL_RTC_DATE_SetWeekDay(). */ - - uint8_t Month; /*!< Specifies the RTC Date Month. - This parameter can be a value of @ref RTC_LL_EC_MONTH - - This feature can be modified afterwards using unitary function @ref LL_RTC_DATE_SetMonth(). */ - - uint8_t Day; /*!< Specifies the RTC Date Day. - This parameter must be a number between Min_Data = 1 and Max_Data = 31 - - This feature can be modified afterwards using unitary function @ref LL_RTC_DATE_SetDay(). */ - - uint8_t Year; /*!< Specifies the RTC Date Year. - This parameter must be a number between Min_Data = 0 and Max_Data = 99 - - This feature can be modified afterwards using unitary function @ref LL_RTC_DATE_SetYear(). */ -} LL_RTC_DateTypeDef; - -/** - * @brief RTC Alarm structure definition - */ -typedef struct -{ - LL_RTC_TimeTypeDef AlarmTime; /*!< Specifies the RTC Alarm Time members. */ - - uint32_t AlarmMask; /*!< Specifies the RTC Alarm Masks. - This parameter can be a value of @ref RTC_LL_EC_ALMA_MASK for ALARM A or @ref RTC_LL_EC_ALMB_MASK for ALARM B. - - This feature can be modified afterwards using unitary function @ref LL_RTC_ALMA_SetMask() for ALARM A - or @ref LL_RTC_ALMB_SetMask() for ALARM B - */ - - uint32_t AlarmDateWeekDaySel; /*!< Specifies the RTC Alarm is on day or WeekDay. - This parameter can be a value of @ref RTC_LL_EC_ALMA_WEEKDAY_SELECTION for ALARM A or @ref RTC_LL_EC_ALMB_WEEKDAY_SELECTION for ALARM B - - This feature can be modified afterwards using unitary function @ref LL_RTC_ALMA_EnableWeekday() or @ref LL_RTC_ALMA_DisableWeekday() - for ALARM A or @ref LL_RTC_ALMB_EnableWeekday() or @ref LL_RTC_ALMB_DisableWeekday() for ALARM B - */ - - uint8_t AlarmDateWeekDay; /*!< Specifies the RTC Alarm Day/WeekDay. - If AlarmDateWeekDaySel set to day, this parameter must be a number between Min_Data = 1 and Max_Data = 31. - - This feature can be modified afterwards using unitary function @ref LL_RTC_ALMA_SetDay() - for ALARM A or @ref LL_RTC_ALMB_SetDay() for ALARM B. - - If AlarmDateWeekDaySel set to Weekday, this parameter can be a value of @ref RTC_LL_EC_WEEKDAY. - - This feature can be modified afterwards using unitary function @ref LL_RTC_ALMA_SetWeekDay() - for ALARM A or @ref LL_RTC_ALMB_SetWeekDay() for ALARM B. - */ -} LL_RTC_AlarmTypeDef; - -/** - * @} - */ -#endif /* USE_FULL_LL_DRIVER */ - -/* Exported constants --------------------------------------------------------*/ -/** @defgroup RTC_LL_Exported_Constants RTC Exported Constants - * @{ - */ - -#if defined(USE_FULL_LL_DRIVER) -/** @defgroup RTC_LL_EC_FORMAT FORMAT - * @{ - */ -#define LL_RTC_FORMAT_BIN 0x000000000U /*!< Binary data format */ -#define LL_RTC_FORMAT_BCD 0x000000001U /*!< BCD data format */ -/** - * @} - */ - -/** @defgroup RTC_LL_EC_ALMA_WEEKDAY_SELECTION RTC Alarm A Date WeekDay - * @{ - */ -#define LL_RTC_ALMA_DATEWEEKDAYSEL_DATE 0x00000000U /*!< Alarm A Date is selected */ -#define LL_RTC_ALMA_DATEWEEKDAYSEL_WEEKDAY RTC_ALRMAR_WDSEL /*!< Alarm A WeekDay is selected */ -/** - * @} - */ - -/** @defgroup RTC_LL_EC_ALMB_WEEKDAY_SELECTION RTC Alarm B Date WeekDay - * @{ - */ -#define LL_RTC_ALMB_DATEWEEKDAYSEL_DATE 0x00000000U /*!< Alarm B Date is selected */ -#define LL_RTC_ALMB_DATEWEEKDAYSEL_WEEKDAY RTC_ALRMBR_WDSEL /*!< Alarm B WeekDay is selected */ -/** - * @} - */ - -#endif /* USE_FULL_LL_DRIVER */ - -/** @defgroup RTC_LL_EC_GET_FLAG Get Flags Defines - * @brief Flags defines which can be used with LL_RTC_ReadReg function - * @{ - */ -#define LL_RTC_ISR_RECALPF RTC_ISR_RECALPF -#define LL_RTC_ISR_TAMP3F RTC_ISR_TAMP3F -#define LL_RTC_ISR_TAMP2F RTC_ISR_TAMP2F -#define LL_RTC_ISR_TAMP1F RTC_ISR_TAMP1F -#define LL_RTC_ISR_TSOVF RTC_ISR_TSOVF -#define LL_RTC_ISR_TSF RTC_ISR_TSF -#define LL_RTC_ISR_WUTF RTC_ISR_WUTF -#define LL_RTC_ISR_ALRBF RTC_ISR_ALRBF -#define LL_RTC_ISR_ALRAF RTC_ISR_ALRAF -#define LL_RTC_ISR_INITF RTC_ISR_INITF -#define LL_RTC_ISR_RSF RTC_ISR_RSF -#define LL_RTC_ISR_INITS RTC_ISR_INITS -#define LL_RTC_ISR_SHPF RTC_ISR_SHPF -#define LL_RTC_ISR_WUTWF RTC_ISR_WUTWF -#define LL_RTC_ISR_ALRBWF RTC_ISR_ALRBWF -#define LL_RTC_ISR_ALRAWF RTC_ISR_ALRAWF -/** - * @} - */ - -/** @defgroup RTC_LL_EC_IT IT Defines - * @brief IT defines which can be used with LL_RTC_ReadReg and LL_RTC_WriteReg functions - * @{ - */ -#define LL_RTC_CR_TSIE RTC_CR_TSIE -#define LL_RTC_CR_WUTIE RTC_CR_WUTIE -#define LL_RTC_CR_ALRBIE RTC_CR_ALRBIE -#define LL_RTC_CR_ALRAIE RTC_CR_ALRAIE -#define LL_RTC_TAFCR_TAMPIE RTC_TAFCR_TAMPIE -/** - * @} - */ - -/** @defgroup RTC_LL_EC_WEEKDAY WEEK DAY - * @{ - */ -#define LL_RTC_WEEKDAY_MONDAY ((uint8_t)0x01U) /*!< Monday */ -#define LL_RTC_WEEKDAY_TUESDAY ((uint8_t)0x02U) /*!< Tuesday */ -#define LL_RTC_WEEKDAY_WEDNESDAY ((uint8_t)0x03U) /*!< Wednesday */ -#define LL_RTC_WEEKDAY_THURSDAY ((uint8_t)0x04U) /*!< Thrusday */ -#define LL_RTC_WEEKDAY_FRIDAY ((uint8_t)0x05U) /*!< Friday */ -#define LL_RTC_WEEKDAY_SATURDAY ((uint8_t)0x06U) /*!< Saturday */ -#define LL_RTC_WEEKDAY_SUNDAY ((uint8_t)0x07U) /*!< Sunday */ -/** - * @} - */ - -/** @defgroup RTC_LL_EC_MONTH MONTH - * @{ - */ -#define LL_RTC_MONTH_JANUARY ((uint8_t)0x01U) /*!< January */ -#define LL_RTC_MONTH_FEBRUARY ((uint8_t)0x02U) /*!< February */ -#define LL_RTC_MONTH_MARCH ((uint8_t)0x03U) /*!< March */ -#define LL_RTC_MONTH_APRIL ((uint8_t)0x04U) /*!< April */ -#define LL_RTC_MONTH_MAY ((uint8_t)0x05U) /*!< May */ -#define LL_RTC_MONTH_JUNE ((uint8_t)0x06U) /*!< June */ -#define LL_RTC_MONTH_JULY ((uint8_t)0x07U) /*!< July */ -#define LL_RTC_MONTH_AUGUST ((uint8_t)0x08U) /*!< August */ -#define LL_RTC_MONTH_SEPTEMBER ((uint8_t)0x09U) /*!< September */ -#define LL_RTC_MONTH_OCTOBER ((uint8_t)0x10U) /*!< October */ -#define LL_RTC_MONTH_NOVEMBER ((uint8_t)0x11U) /*!< November */ -#define LL_RTC_MONTH_DECEMBER ((uint8_t)0x12U) /*!< December */ -/** - * @} - */ - -/** @defgroup RTC_LL_EC_HOURFORMAT HOUR FORMAT - * @{ - */ -#define LL_RTC_HOURFORMAT_24HOUR 0x00000000U /*!< 24 hour/day format */ -#define LL_RTC_HOURFORMAT_AMPM RTC_CR_FMT /*!< AM/PM hour format */ -/** - * @} - */ - -/** @defgroup RTC_LL_EC_ALARMOUT ALARM OUTPUT - * @{ - */ -#define LL_RTC_ALARMOUT_DISABLE 0x00000000U /*!< Output disabled */ -#define LL_RTC_ALARMOUT_ALMA RTC_CR_OSEL_0 /*!< Alarm A output enabled */ -#define LL_RTC_ALARMOUT_ALMB RTC_CR_OSEL_1 /*!< Alarm B output enabled */ -#define LL_RTC_ALARMOUT_WAKEUP RTC_CR_OSEL /*!< Wakeup output enabled */ -/** - * @} - */ - -/** @defgroup RTC_LL_EC_ALARM_OUTPUTTYPE ALARM OUTPUT TYPE - * @{ - */ -#define LL_RTC_ALARM_OUTPUTTYPE_OPENDRAIN 0x00000000U /*!< RTC_ALARM, when mapped on PC13, is open-drain output */ -#define LL_RTC_ALARM_OUTPUTTYPE_PUSHPULL RTC_TAFCR_ALARMOUTTYPE /*!< RTC_ALARM, when mapped on PC13, is push-pull output */ -/** - * @} - */ - -/** @defgroup RTC_LL_EC_PIN PIN - * @{ - */ -#define LL_RTC_PIN_PC13 RTC_TAFCR_PC13MODE /*!< PC13 is forced to push-pull output if all RTC alternate functions are disabled */ -#define LL_RTC_PIN_PC14 RTC_TAFCR_PC14MODE /*!< PC14 is forced to push-pull output if LSE is disabled */ -#define LL_RTC_PIN_PC15 RTC_TAFCR_PC15MODE /*!< PC15 is forced to push-pull output if LSE is disabled */ -/** - * @} - */ - -/** @defgroup RTC_LL_EC_OUTPUTPOLARITY_PIN OUTPUT POLARITY PIN - * @{ - */ -#define LL_RTC_OUTPUTPOLARITY_PIN_HIGH 0x00000000U /*!< Pin is high when ALRAF/ALRBF/WUTF is asserted (depending on OSEL)*/ -#define LL_RTC_OUTPUTPOLARITY_PIN_LOW RTC_CR_POL /*!< Pin is low when ALRAF/ALRBF/WUTF is asserted (depending on OSEL) */ -/** - * @} - */ - -/** @defgroup RTC_LL_EC_TIME_FORMAT TIME FORMAT - * @{ - */ -#define LL_RTC_TIME_FORMAT_AM_OR_24 0x00000000U /*!< AM or 24-hour format */ -#define LL_RTC_TIME_FORMAT_PM RTC_TR_PM /*!< PM */ -/** - * @} - */ - -/** @defgroup RTC_LL_EC_SHIFT_SECOND SHIFT SECOND - * @{ - */ -#define LL_RTC_SHIFT_SECOND_DELAY 0x00000000U /* Delay (seconds) = SUBFS / (PREDIV_S + 1) */ -#define LL_RTC_SHIFT_SECOND_ADVANCE RTC_SHIFTR_ADD1S /* Advance (seconds) = (1 - (SUBFS / (PREDIV_S + 1))) */ -/** - * @} - */ - -/** @defgroup RTC_LL_EC_ALMA_MASK ALARMA MASK - * @{ - */ -#define LL_RTC_ALMA_MASK_NONE 0x00000000U /*!< No masks applied on Alarm A*/ -#define LL_RTC_ALMA_MASK_DATEWEEKDAY RTC_ALRMAR_MSK4 /*!< Date/day do not care in Alarm A comparison */ -#define LL_RTC_ALMA_MASK_HOURS RTC_ALRMAR_MSK3 /*!< Hours do not care in Alarm A comparison */ -#define LL_RTC_ALMA_MASK_MINUTES RTC_ALRMAR_MSK2 /*!< Minutes do not care in Alarm A comparison */ -#define LL_RTC_ALMA_MASK_SECONDS RTC_ALRMAR_MSK1 /*!< Seconds do not care in Alarm A comparison */ -#define LL_RTC_ALMA_MASK_ALL (RTC_ALRMAR_MSK4 | RTC_ALRMAR_MSK3 | RTC_ALRMAR_MSK2 | RTC_ALRMAR_MSK1) /*!< Masks all */ -/** - * @} - */ - -/** @defgroup RTC_LL_EC_ALMA_TIME_FORMAT ALARMA TIME FORMAT - * @{ - */ -#define LL_RTC_ALMA_TIME_FORMAT_AM 0x00000000U /*!< AM or 24-hour format */ -#define LL_RTC_ALMA_TIME_FORMAT_PM RTC_ALRMAR_PM /*!< PM */ -/** - * @} - */ - -/** @defgroup RTC_LL_EC_ALMB_MASK ALARMB MASK - * @{ - */ -#define LL_RTC_ALMB_MASK_NONE 0x00000000U /*!< No masks applied on Alarm B*/ -#define LL_RTC_ALMB_MASK_DATEWEEKDAY RTC_ALRMBR_MSK4 /*!< Date/day do not care in Alarm B comparison */ -#define LL_RTC_ALMB_MASK_HOURS RTC_ALRMBR_MSK3 /*!< Hours do not care in Alarm B comparison */ -#define LL_RTC_ALMB_MASK_MINUTES RTC_ALRMBR_MSK2 /*!< Minutes do not care in Alarm B comparison */ -#define LL_RTC_ALMB_MASK_SECONDS RTC_ALRMBR_MSK1 /*!< Seconds do not care in Alarm B comparison */ -#define LL_RTC_ALMB_MASK_ALL (RTC_ALRMBR_MSK4 | RTC_ALRMBR_MSK3 | RTC_ALRMBR_MSK2 | RTC_ALRMBR_MSK1) /*!< Masks all */ -/** - * @} - */ - -/** @defgroup RTC_LL_EC_ALMB_TIME_FORMAT ALARMB TIME FORMAT - * @{ - */ -#define LL_RTC_ALMB_TIME_FORMAT_AM 0x00000000U /*!< AM or 24-hour format */ -#define LL_RTC_ALMB_TIME_FORMAT_PM RTC_ALRMBR_PM /*!< PM */ -/** - * @} - */ - -/** @defgroup RTC_LL_EC_TIMESTAMP_EDGE TIMESTAMP EDGE - * @{ - */ -#define LL_RTC_TIMESTAMP_EDGE_RISING 0x00000000U /*!< RTC_TS input rising edge generates a time-stamp event */ -#define LL_RTC_TIMESTAMP_EDGE_FALLING RTC_CR_TSEDGE /*!< RTC_TS input falling edge generates a time-stamp even */ -/** - * @} - */ - -/** @defgroup RTC_LL_EC_TS_TIME_FORMAT TIMESTAMP TIME FORMAT - * @{ - */ -#define LL_RTC_TS_TIME_FORMAT_AM 0x00000000U /*!< AM or 24-hour format */ -#define LL_RTC_TS_TIME_FORMAT_PM RTC_TSTR_PM /*!< PM */ -/** - * @} - */ - -/** @defgroup RTC_LL_EC_TAMPER TAMPER - * @{ - */ -#define LL_RTC_TAMPER_1 RTC_TAFCR_TAMP1E /*!< RTC_TAMP1 input detection */ -#if defined(RTC_TAMPER2_SUPPORT) -#define LL_RTC_TAMPER_2 RTC_TAFCR_TAMP2E /*!< RTC_TAMP2 input detection */ -#endif /* RTC_TAMPER2_SUPPORT */ -/** - * @} - */ - -/** @defgroup RTC_LL_EC_TAMPER_MASK TAMPER MASK - * @{ - */ -#define LL_RTC_TAMPER_MASK_TAMPER1 RTC_TAFCR_TAMP1MF /*!< Tamper 1 event generates a trigger event. TAMP1F is masked and internally cleared by hardware.The backup registers are not erased */ -#if defined(RTC_TAMPER2_SUPPORT) -#define LL_RTC_TAMPER_MASK_TAMPER2 RTC_TAFCR_TAMP2MF /*!< Tamper 2 event generates a trigger event. TAMP2F is masked and internally cleared by hardware. The backup registers are not erased. */ -#endif /* RTC_TAMPER2_SUPPORT */ -/** - * @} - */ - -/** @defgroup RTC_LL_EC_TAMPER_NOERASE TAMPER NO ERASE - * @{ - */ -#define LL_RTC_TAMPER_NOERASE_TAMPER1 RTC_TAFCR_TAMP1NOERASE /*!< Tamper 1 event does not erase the backup registers. */ -#if defined(RTC_TAMPER2_SUPPORT) -#define LL_RTC_TAMPER_NOERASE_TAMPER2 RTC_TAFCR_TAMP2NOERASE /*!< Tamper 2 event does not erase the backup registers. */ -#endif /* RTC_TAMPER2_SUPPORT */ -/** - * @} - */ - -#if defined(RTC_TAFCR_TAMPPRCH) -/** @defgroup RTC_LL_EC_TAMPER_DURATION TAMPER DURATION - * @{ - */ -#define LL_RTC_TAMPER_DURATION_1RTCCLK 0x00000000U /*!< Tamper pins are pre-charged before sampling during 1 RTCCLK cycle */ -#define LL_RTC_TAMPER_DURATION_2RTCCLK RTC_TAFCR_TAMPPRCH_0 /*!< Tamper pins are pre-charged before sampling during 2 RTCCLK cycles */ -#define LL_RTC_TAMPER_DURATION_4RTCCLK RTC_TAFCR_TAMPPRCH_1 /*!< Tamper pins are pre-charged before sampling during 4 RTCCLK cycles */ -#define LL_RTC_TAMPER_DURATION_8RTCCLK RTC_TAFCR_TAMPPRCH /*!< Tamper pins are pre-charged before sampling during 8 RTCCLK cycles */ -/** - * @} - */ -#endif /* RTC_TAFCR_TAMPPRCH */ - -#if defined(RTC_TAFCR_TAMPFLT) -/** @defgroup RTC_LL_EC_TAMPER_FILTER TAMPER FILTER - * @{ - */ -#define LL_RTC_TAMPER_FILTER_DISABLE 0x00000000U /*!< Tamper filter is disabled */ -#define LL_RTC_TAMPER_FILTER_2SAMPLE RTC_TAFCR_TAMPFLT_0 /*!< Tamper is activated after 2 consecutive samples at the active level */ -#define LL_RTC_TAMPER_FILTER_4SAMPLE RTC_TAFCR_TAMPFLT_1 /*!< Tamper is activated after 4 consecutive samples at the active level */ -#define LL_RTC_TAMPER_FILTER_8SAMPLE RTC_TAFCR_TAMPFLT /*!< Tamper is activated after 8 consecutive samples at the active level. */ -/** - * @} - */ -#endif /* RTC_TAFCR_TAMPFLT */ - -#if defined(RTC_TAFCR_TAMPFREQ) -/** @defgroup RTC_LL_EC_TAMPER_SAMPLFREQDIV TAMPER SAMPLING FREQUENCY DIVIDER - * @{ - */ -#define LL_RTC_TAMPER_SAMPLFREQDIV_32768 0x00000000U /*!< Each of the tamper inputs are sampled with a frequency = RTCCLK / 32768 */ -#define LL_RTC_TAMPER_SAMPLFREQDIV_16384 RTC_TAFCR_TAMPFREQ_0 /*!< Each of the tamper inputs are sampled with a frequency = RTCCLK / 16384 */ -#define LL_RTC_TAMPER_SAMPLFREQDIV_8192 RTC_TAFCR_TAMPFREQ_1 /*!< Each of the tamper inputs are sampled with a frequency = RTCCLK / 8192 */ -#define LL_RTC_TAMPER_SAMPLFREQDIV_4096 (RTC_TAFCR_TAMPFREQ_1 | RTC_TAFCR_TAMPFREQ_0) /*!< Each of the tamper inputs are sampled with a frequency = RTCCLK / 4096 */ -#define LL_RTC_TAMPER_SAMPLFREQDIV_2048 RTC_TAFCR_TAMPFREQ_2 /*!< Each of the tamper inputs are sampled with a frequency = RTCCLK / 2048 */ -#define LL_RTC_TAMPER_SAMPLFREQDIV_1024 (RTC_TAFCR_TAMPFREQ_2 | RTC_TAFCR_TAMPFREQ_0) /*!< Each of the tamper inputs are sampled with a frequency = RTCCLK / 1024 */ -#define LL_RTC_TAMPER_SAMPLFREQDIV_512 (RTC_TAFCR_TAMPFREQ_2 | RTC_TAFCR_TAMPFREQ_1) /*!< Each of the tamper inputs are sampled with a frequency = RTCCLK / 512 */ -#define LL_RTC_TAMPER_SAMPLFREQDIV_256 RTC_TAFCR_TAMPFREQ /*!< Each of the tamper inputs are sampled with a frequency = RTCCLK / 256 */ -/** - * @} - */ -#endif /* RTC_TAFCR_TAMPFREQ */ - -/** @defgroup RTC_LL_EC_TAMPER_ACTIVELEVEL TAMPER ACTIVE LEVEL - * @{ - */ -#define LL_RTC_TAMPER_ACTIVELEVEL_TAMP1 RTC_TAFCR_TAMP1TRG /*!< RTC_TAMP1 input falling edge (if TAMPFLT = 00) or staying high (if TAMPFLT != 00) triggers a tamper detection event*/ -#if defined(RTC_TAMPER2_SUPPORT) -#define LL_RTC_TAMPER_ACTIVELEVEL_TAMP2 RTC_TAFCR_TAMP2TRG /*!< RTC_TAMP2 input falling edge (if TAMPFLT = 00) or staying high (if TAMPFLT != 00) triggers a tamper detection event*/ -#endif /* RTC_TAMPER2_SUPPORT */ -/** - * @} - */ - -/** @defgroup RTC_LL_EC_WAKEUPCLOCK_DIV WAKEUP CLOCK DIV - * @{ - */ -#define LL_RTC_WAKEUPCLOCK_DIV_16 0x00000000U /*!< RTC/16 clock is selected */ -#define LL_RTC_WAKEUPCLOCK_DIV_8 (RTC_CR_WUCKSEL_0) /*!< RTC/8 clock is selected */ -#define LL_RTC_WAKEUPCLOCK_DIV_4 (RTC_CR_WUCKSEL_1) /*!< RTC/4 clock is selected */ -#define LL_RTC_WAKEUPCLOCK_DIV_2 (RTC_CR_WUCKSEL_1 | RTC_CR_WUCKSEL_0) /*!< RTC/2 clock is selected */ -#define LL_RTC_WAKEUPCLOCK_CKSPRE (RTC_CR_WUCKSEL_2) /*!< ck_spre (usually 1 Hz) clock is selected */ -#define LL_RTC_WAKEUPCLOCK_CKSPRE_WUT (RTC_CR_WUCKSEL_2 | RTC_CR_WUCKSEL_1) /*!< ck_spre (usually 1 Hz) clock is selected and 2exp16 is added to the WUT counter value*/ -/** - * @} - */ - -/** @defgroup RTC_LL_EC_BKP BACKUP - * @{ - */ -#define LL_RTC_BKP_DR0 0x00000000U -#define LL_RTC_BKP_DR1 0x00000001U -#define LL_RTC_BKP_DR2 0x00000002U -#define LL_RTC_BKP_DR3 0x00000003U -#define LL_RTC_BKP_DR4 0x00000004U -#if RTC_BKP_NUMBER > 5 -#define LL_RTC_BKP_DR5 0x00000005U -#define LL_RTC_BKP_DR6 0x00000006U -#define LL_RTC_BKP_DR7 0x00000007U -#define LL_RTC_BKP_DR8 0x00000008U -#define LL_RTC_BKP_DR9 0x00000009U -#define LL_RTC_BKP_DR10 0x0000000AU -#define LL_RTC_BKP_DR11 0x0000000BU -#define LL_RTC_BKP_DR12 0x0000000CU -#define LL_RTC_BKP_DR13 0x0000000DU -#define LL_RTC_BKP_DR14 0x0000000EU -#define LL_RTC_BKP_DR15 0x0000000FU -#endif /* RTC_BKP_NUMBER > 5 */ - -#if RTC_BKP_NUMBER > 16 -#define LL_RTC_BKP_DR16 0x00000010U -#define LL_RTC_BKP_DR17 0x00000011U -#define LL_RTC_BKP_DR18 0x00000012U -#define LL_RTC_BKP_DR19 0x00000013U -#endif /* RTC_BKP_NUMBER > 16 */ -/** - * @} - */ - -/** @defgroup RTC_LL_EC_CALIB_OUTPUT Calibration output - * @{ - */ -#define LL_RTC_CALIB_OUTPUT_NONE 0x00000000U /*!< Calibration output disabled */ -#define LL_RTC_CALIB_OUTPUT_1HZ (RTC_CR_COE | RTC_CR_COSEL) /*!< Calibration output is 1 Hz */ -#define LL_RTC_CALIB_OUTPUT_512HZ (RTC_CR_COE) /*!< Calibration output is 512 Hz */ -/** - * @} - */ - -/** @defgroup RTC_LL_EC_CALIB_SIGN Coarse digital calibration sign - * @{ - */ -#define LL_RTC_CALIB_SIGN_POSITIVE 0x00000000U /*!< Positive calibration: calendar update frequency is increased */ -#define LL_RTC_CALIB_SIGN_NEGATIVE RTC_CALIBR_DCS /*!< Negative calibration: calendar update frequency is decreased */ -/** - * @} - */ - -/** @defgroup RTC_LL_EC_CALIB_INSERTPULSE Calibration pulse insertion - * @{ - */ -#define LL_RTC_CALIB_INSERTPULSE_NONE 0x00000000U /*!< No RTCCLK pulses are added */ -#define LL_RTC_CALIB_INSERTPULSE_SET RTC_CALR_CALP /*!< One RTCCLK pulse is effectively inserted every 2exp11 pulses (frequency increased by 488.5 ppm) */ -/** - * @} - */ - -/** @defgroup RTC_LL_EC_CALIB_PERIOD Calibration period - * @{ - */ -#define LL_RTC_CALIB_PERIOD_32SEC 0x00000000U /*!< Use a 32-second calibration cycle period */ -#define LL_RTC_CALIB_PERIOD_16SEC RTC_CALR_CALW16 /*!< Use a 16-second calibration cycle period */ -#define LL_RTC_CALIB_PERIOD_8SEC RTC_CALR_CALW8 /*!< Use a 8-second calibration cycle period */ -/** - * @} - */ - -/** @defgroup RTC_LL_EC_TSINSEL TIMESTAMP mapping - * @{ - */ -#define LL_RTC_TimeStampPin_Default 0x00000000U /*!< Use RTC_AF1 as TIMESTAMP */ -#if defined(RTC_AF2_SUPPORT) -#define LL_RTC_TimeStampPin_Pos1 RTC_TAFCR_TSINSEL /*!< Use RTC_AF2 as TIMESTAMP */ -#endif -/** - * @} - */ - -/** @defgroup RTC_LL_EC_TAMP1INSEL TAMPER1 mapping - * @{ - */ -#define LL_RTC_TamperPin_Default 0x00000000U /*!< Use RTC_AF1 as TAMPER1 */ -#if defined(RTC_AF2_SUPPORT) -#define LL_RTC_TamperPin_Pos1 RTC_TAFCR_TAMP1INSEL /*!< Use RTC_AF2 as TAMPER1 */ -#endif -/** - * @} - */ - -/** - * @} - */ - -/* Exported macro ------------------------------------------------------------*/ -/** @defgroup RTC_LL_Exported_Macros RTC Exported Macros - * @{ - */ - -/** @defgroup RTC_LL_EM_WRITE_READ Common Write and read registers Macros - * @{ - */ - -/** - * @brief Write a value in RTC register - * @param __INSTANCE__ RTC Instance - * @param __REG__ Register to be written - * @param __VALUE__ Value to be written in the register - * @retval None - */ -#define LL_RTC_WriteReg(__INSTANCE__, __REG__, __VALUE__) WRITE_REG(__INSTANCE__->__REG__, (__VALUE__)) - -/** - * @brief Read a value in RTC register - * @param __INSTANCE__ RTC Instance - * @param __REG__ Register to be read - * @retval Register value - */ -#define LL_RTC_ReadReg(__INSTANCE__, __REG__) READ_REG(__INSTANCE__->__REG__) -/** - * @} - */ - -/** @defgroup RTC_LL_EM_Convert Convert helper Macros - * @{ - */ - -/** - * @brief Helper macro to convert a value from 2 digit decimal format to BCD format - * @param __VALUE__ Byte to be converted - * @retval Converted byte - */ -#define __LL_RTC_CONVERT_BIN2BCD(__VALUE__) (uint8_t)((((__VALUE__) / 10U) << 4U) | ((__VALUE__) % 10U)) - -/** - * @brief Helper macro to convert a value from BCD format to 2 digit decimal format - * @param __VALUE__ BCD value to be converted - * @retval Converted byte - */ -#define __LL_RTC_CONVERT_BCD2BIN(__VALUE__) (uint8_t)(((uint8_t)((__VALUE__) & (uint8_t)0xF0U) >> (uint8_t)0x4U) * 10U + ((__VALUE__) & (uint8_t)0x0FU)) - -/** - * @} - */ - -/** @defgroup RTC_LL_EM_Date Date helper Macros - * @{ - */ - -/** - * @brief Helper macro to retrieve weekday. - * @param __RTC_DATE__ Date returned by @ref LL_RTC_DATE_Get function. - * @retval Returned value can be one of the following values: - * @arg @ref LL_RTC_WEEKDAY_MONDAY - * @arg @ref LL_RTC_WEEKDAY_TUESDAY - * @arg @ref LL_RTC_WEEKDAY_WEDNESDAY - * @arg @ref LL_RTC_WEEKDAY_THURSDAY - * @arg @ref LL_RTC_WEEKDAY_FRIDAY - * @arg @ref LL_RTC_WEEKDAY_SATURDAY - * @arg @ref LL_RTC_WEEKDAY_SUNDAY - */ -#define __LL_RTC_GET_WEEKDAY(__RTC_DATE__) (((__RTC_DATE__) >> RTC_OFFSET_WEEKDAY) & 0x000000FFU) - -/** - * @brief Helper macro to retrieve Year in BCD format - * @param __RTC_DATE__ Value returned by @ref LL_RTC_DATE_Get - * @retval Year in BCD format (0x00 . . . 0x99) - */ -#define __LL_RTC_GET_YEAR(__RTC_DATE__) ((__RTC_DATE__) & 0x000000FFU) - -/** - * @brief Helper macro to retrieve Month in BCD format - * @param __RTC_DATE__ Value returned by @ref LL_RTC_DATE_Get - * @retval Returned value can be one of the following values: - * @arg @ref LL_RTC_MONTH_JANUARY - * @arg @ref LL_RTC_MONTH_FEBRUARY - * @arg @ref LL_RTC_MONTH_MARCH - * @arg @ref LL_RTC_MONTH_APRIL - * @arg @ref LL_RTC_MONTH_MAY - * @arg @ref LL_RTC_MONTH_JUNE - * @arg @ref LL_RTC_MONTH_JULY - * @arg @ref LL_RTC_MONTH_AUGUST - * @arg @ref LL_RTC_MONTH_SEPTEMBER - * @arg @ref LL_RTC_MONTH_OCTOBER - * @arg @ref LL_RTC_MONTH_NOVEMBER - * @arg @ref LL_RTC_MONTH_DECEMBER - */ -#define __LL_RTC_GET_MONTH(__RTC_DATE__) (((__RTC_DATE__) >>RTC_OFFSET_MONTH) & 0x000000FFU) - -/** - * @brief Helper macro to retrieve Day in BCD format - * @param __RTC_DATE__ Value returned by @ref LL_RTC_DATE_Get - * @retval Day in BCD format (0x01 . . . 0x31) - */ -#define __LL_RTC_GET_DAY(__RTC_DATE__) (((__RTC_DATE__) >>RTC_OFFSET_DAY) & 0x000000FFU) - -/** - * @} - */ - -/** @defgroup RTC_LL_EM_Time Time helper Macros - * @{ - */ - -/** - * @brief Helper macro to retrieve hour in BCD format - * @param __RTC_TIME__ RTC time returned by @ref LL_RTC_TIME_Get function - * @retval Hours in BCD format (0x01. . .0x12 or between Min_Data=0x00 and Max_Data=0x23) - */ -#define __LL_RTC_GET_HOUR(__RTC_TIME__) (((__RTC_TIME__) >> RTC_OFFSET_HOUR) & 0x000000FFU) - -/** - * @brief Helper macro to retrieve minute in BCD format - * @param __RTC_TIME__ RTC time returned by @ref LL_RTC_TIME_Get function - * @retval Minutes in BCD format (0x00. . .0x59) - */ -#define __LL_RTC_GET_MINUTE(__RTC_TIME__) (((__RTC_TIME__) >> RTC_OFFSET_MINUTE) & 0x000000FFU) - -/** - * @brief Helper macro to retrieve second in BCD format - * @param __RTC_TIME__ RTC time returned by @ref LL_RTC_TIME_Get function - * @retval Seconds in format (0x00. . .0x59) - */ -#define __LL_RTC_GET_SECOND(__RTC_TIME__) ((__RTC_TIME__) & 0x000000FFU) - -/** - * @} - */ - -/** - * @} - */ - -/* Exported functions --------------------------------------------------------*/ -/** @defgroup RTC_LL_Exported_Functions RTC Exported Functions - * @{ - */ - -/** @defgroup RTC_LL_EF_Configuration Configuration - * @{ - */ - -/** - * @brief Set Hours format (24 hour/day or AM/PM hour format) - * @note Bit is write-protected. @ref LL_RTC_DisableWriteProtection function should be called before. - * @note It can be written in initialization mode only (@ref LL_RTC_EnableInitMode function) - * @rmtoll CR FMT LL_RTC_SetHourFormat - * @param RTCx RTC Instance - * @param HourFormat This parameter can be one of the following values: - * @arg @ref LL_RTC_HOURFORMAT_24HOUR - * @arg @ref LL_RTC_HOURFORMAT_AMPM - * @retval None - */ -__STATIC_INLINE void LL_RTC_SetHourFormat(RTC_TypeDef *RTCx, uint32_t HourFormat) -{ - MODIFY_REG(RTCx->CR, RTC_CR_FMT, HourFormat); -} - -/** - * @brief Get Hours format (24 hour/day or AM/PM hour format) - * @rmtoll CR FMT LL_RTC_GetHourFormat - * @param RTCx RTC Instance - * @retval Returned value can be one of the following values: - * @arg @ref LL_RTC_HOURFORMAT_24HOUR - * @arg @ref LL_RTC_HOURFORMAT_AMPM - */ -__STATIC_INLINE uint32_t LL_RTC_GetHourFormat(RTC_TypeDef *RTCx) -{ - return (uint32_t)(READ_BIT(RTCx->CR, RTC_CR_FMT)); -} - -/** - * @brief Select the flag to be routed to RTC_ALARM output - * @note Bit is write-protected. @ref LL_RTC_DisableWriteProtection function should be called before. - * @rmtoll CR OSEL LL_RTC_SetAlarmOutEvent - * @param RTCx RTC Instance - * @param AlarmOutput This parameter can be one of the following values: - * @arg @ref LL_RTC_ALARMOUT_DISABLE - * @arg @ref LL_RTC_ALARMOUT_ALMA - * @arg @ref LL_RTC_ALARMOUT_ALMB - * @arg @ref LL_RTC_ALARMOUT_WAKEUP - * @retval None - */ -__STATIC_INLINE void LL_RTC_SetAlarmOutEvent(RTC_TypeDef *RTCx, uint32_t AlarmOutput) -{ - MODIFY_REG(RTCx->CR, RTC_CR_OSEL, AlarmOutput); -} - -/** - * @brief Get the flag to be routed to RTC_ALARM output - * @rmtoll CR OSEL LL_RTC_GetAlarmOutEvent - * @param RTCx RTC Instance - * @retval Returned value can be one of the following values: - * @arg @ref LL_RTC_ALARMOUT_DISABLE - * @arg @ref LL_RTC_ALARMOUT_ALMA - * @arg @ref LL_RTC_ALARMOUT_ALMB - * @arg @ref LL_RTC_ALARMOUT_WAKEUP - */ -__STATIC_INLINE uint32_t LL_RTC_GetAlarmOutEvent(RTC_TypeDef *RTCx) -{ - return (uint32_t)(READ_BIT(RTCx->CR, RTC_CR_OSEL)); -} - -/** - * @brief Set RTC_ALARM output type (ALARM in push-pull or open-drain output) - * @note Used only when RTC_ALARM is mapped on PC13 - * @note If all RTC alternate functions are disabled and PC13MODE = 1, PC13VALUE configures the - * PC13 output data - * @rmtoll TAFCR ALARMOUTTYPE LL_RTC_SetAlarmOutputType - * @param RTCx RTC Instance - * @param Output This parameter can be one of the following values: - * @arg @ref LL_RTC_ALARM_OUTPUTTYPE_OPENDRAIN - * @arg @ref LL_RTC_ALARM_OUTPUTTYPE_PUSHPULL - * @retval None - */ -__STATIC_INLINE void LL_RTC_SetAlarmOutputType(RTC_TypeDef *RTCx, uint32_t Output) -{ - MODIFY_REG(RTCx->TAFCR, RTC_TAFCR_ALARMOUTTYPE, Output); -} - -/** - * @brief Get RTC_ALARM output type (ALARM in push-pull or open-drain output) - * @note used only when RTC_ALARM is mapped on PC13 - * @note If all RTC alternate functions are disabled and PC13MODE = 1, PC13VALUE configures the - * PC13 output data - * @rmtoll TAFCR ALARMOUTTYPE LL_RTC_GetAlarmOutputType - * @param RTCx RTC Instance - * @retval Returned value can be one of the following values: - * @arg @ref LL_RTC_ALARM_OUTPUTTYPE_OPENDRAIN - * @arg @ref LL_RTC_ALARM_OUTPUTTYPE_PUSHPULL - */ -__STATIC_INLINE uint32_t LL_RTC_GetAlarmOutputType(RTC_TypeDef *RTCx) -{ - return (uint32_t)(READ_BIT(RTCx->TAFCR, RTC_TAFCR_ALARMOUTTYPE)); -} - -/** - * @brief Enable push-pull output on PC13, PC14 and/or PC15 - * @note PC13 forced to push-pull output if all RTC alternate functions are disabled - * @note PC14 and PC15 forced to push-pull output if LSE is disabled - * @rmtoll TAFCR PC13MODE LL_RTC_EnablePushPullMode\n - * @rmtoll TAFCR PC14MODE LL_RTC_EnablePushPullMode\n - * @rmtoll TAFCR PC15MODE LL_RTC_EnablePushPullMode - * @param RTCx RTC Instance - * @param PinMask This parameter can be a combination of the following values: - * @arg @ref LL_RTC_PIN_PC13 - * @arg @ref LL_RTC_PIN_PC14 - * @arg @ref LL_RTC_PIN_PC15 - * @retval None - */ -__STATIC_INLINE void LL_RTC_EnablePushPullMode(RTC_TypeDef *RTCx, uint32_t PinMask) -{ - SET_BIT(RTCx->TAFCR, PinMask); -} - -/** - * @brief Disable push-pull output on PC13, PC14 and/or PC15 - * @note PC13, PC14 and/or PC15 are controlled by the GPIO configuration registers. - * Consequently PC13, PC14 and/or PC15 are floating in Standby mode. - * @rmtoll TAFCR PC13MODE LL_RTC_DisablePushPullMode\n - * TAFCR PC14MODE LL_RTC_DisablePushPullMode\n - * TAFCR PC15MODE LL_RTC_DisablePushPullMode - * @param RTCx RTC Instance - * @param PinMask This parameter can be a combination of the following values: - * @arg @ref LL_RTC_PIN_PC13 - * @arg @ref LL_RTC_PIN_PC14 - * @arg @ref LL_RTC_PIN_PC15 - * @retval None - */ -__STATIC_INLINE void LL_RTC_DisablePushPullMode(RTC_TypeDef* RTCx, uint32_t PinMask) -{ - CLEAR_BIT(RTCx->TAFCR, PinMask); -} - -/** - * @brief Set PC14 and/or PC15 to high level. - * @note Output data configuration is possible if the LSE is disabled and PushPull output is enabled (through @ref LL_RTC_EnablePushPullMode) - * @rmtoll TAFCR PC14VALUE LL_RTC_SetOutputPin\n - * TAFCR PC15VALUE LL_RTC_SetOutputPin - * @param RTCx RTC Instance - * @param PinMask This parameter can be a combination of the following values: - * @arg @ref LL_RTC_PIN_PC14 - * @arg @ref LL_RTC_PIN_PC15 - * @retval None - */ -__STATIC_INLINE void LL_RTC_SetOutputPin(RTC_TypeDef* RTCx, uint32_t PinMask) -{ - SET_BIT(RTCx->TAFCR, (PinMask >> 1)); -} - -/** - * @brief Set PC14 and/or PC15 to low level. - * @note Output data configuration is possible if the LSE is disabled and PushPull output is enabled (through @ref LL_RTC_EnablePushPullMode) - * @rmtoll TAFCR PC14VALUE LL_RTC_ResetOutputPin\n - * TAFCR PC15VALUE LL_RTC_ResetOutputPin - * @param RTCx RTC Instance - * @param PinMask This parameter can be a combination of the following values: - * @arg @ref LL_RTC_PIN_PC14 - * @arg @ref LL_RTC_PIN_PC15 - * @retval None - */ -__STATIC_INLINE void LL_RTC_ResetOutputPin(RTC_TypeDef* RTCx, uint32_t PinMask) -{ - CLEAR_BIT(RTCx->TAFCR, (PinMask >> 1)); -} - -/** - * @brief Enable initialization mode - * @note Initialization mode is used to program time and date register (RTC_TR and RTC_DR) - * and prescaler register (RTC_PRER). - * Counters are stopped and start counting from the new value when INIT is reset. - * @rmtoll ISR INIT LL_RTC_EnableInitMode - * @param RTCx RTC Instance - * @retval None - */ -__STATIC_INLINE void LL_RTC_EnableInitMode(RTC_TypeDef *RTCx) -{ - /* Set the Initialization mode */ - WRITE_REG(RTCx->ISR, RTC_INIT_MASK); -} - -/** - * @brief Disable initialization mode (Free running mode) - * @rmtoll ISR INIT LL_RTC_DisableInitMode - * @param RTCx RTC Instance - * @retval None - */ -__STATIC_INLINE void LL_RTC_DisableInitMode(RTC_TypeDef *RTCx) -{ - /* Exit Initialization mode */ - WRITE_REG(RTCx->ISR, (uint32_t)~RTC_ISR_INIT); -} - -/** - * @brief Set Output polarity (pin is low when ALRAF/ALRBF/WUTF is asserted) - * @note Bit is write-protected. @ref LL_RTC_DisableWriteProtection function should be called before. - * @rmtoll CR POL LL_RTC_SetOutputPolarity - * @param RTCx RTC Instance - * @param Polarity This parameter can be one of the following values: - * @arg @ref LL_RTC_OUTPUTPOLARITY_PIN_HIGH - * @arg @ref LL_RTC_OUTPUTPOLARITY_PIN_LOW - * @retval None - */ -__STATIC_INLINE void LL_RTC_SetOutputPolarity(RTC_TypeDef *RTCx, uint32_t Polarity) -{ - MODIFY_REG(RTCx->CR, RTC_CR_POL, Polarity); -} - -/** - * @brief Get Output polarity - * @rmtoll CR POL LL_RTC_GetOutputPolarity - * @param RTCx RTC Instance - * @retval Returned value can be one of the following values: - * @arg @ref LL_RTC_OUTPUTPOLARITY_PIN_HIGH - * @arg @ref LL_RTC_OUTPUTPOLARITY_PIN_LOW - */ -__STATIC_INLINE uint32_t LL_RTC_GetOutputPolarity(RTC_TypeDef *RTCx) -{ - return (uint32_t)(READ_BIT(RTCx->CR, RTC_CR_POL)); -} - -/** - * @brief Enable Bypass the shadow registers - * @note Bit is write-protected. @ref LL_RTC_DisableWriteProtection function should be called before. - * @rmtoll CR BYPSHAD LL_RTC_EnableShadowRegBypass - * @param RTCx RTC Instance - * @retval None - */ -__STATIC_INLINE void LL_RTC_EnableShadowRegBypass(RTC_TypeDef *RTCx) -{ - SET_BIT(RTCx->CR, RTC_CR_BYPSHAD); -} - -/** - * @brief Disable Bypass the shadow registers - * @rmtoll CR BYPSHAD LL_RTC_DisableShadowRegBypass - * @param RTCx RTC Instance - * @retval None - */ -__STATIC_INLINE void LL_RTC_DisableShadowRegBypass(RTC_TypeDef *RTCx) -{ - CLEAR_BIT(RTCx->CR, RTC_CR_BYPSHAD); -} - -/** - * @brief Check if Shadow registers bypass is enabled or not. - * @rmtoll CR BYPSHAD LL_RTC_IsShadowRegBypassEnabled - * @param RTCx RTC Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_RTC_IsShadowRegBypassEnabled(RTC_TypeDef *RTCx) -{ - return (READ_BIT(RTCx->CR, RTC_CR_BYPSHAD) == (RTC_CR_BYPSHAD)); -} - -/** - * @brief Enable RTC_REFIN reference clock detection (50 or 60 Hz) - * @note Bit is write-protected. @ref LL_RTC_DisableWriteProtection function should be called before. - * @note It can be written in initialization mode only (@ref LL_RTC_EnableInitMode function) - * @rmtoll CR REFCKON LL_RTC_EnableRefClock - * @param RTCx RTC Instance - * @retval None - */ -__STATIC_INLINE void LL_RTC_EnableRefClock(RTC_TypeDef *RTCx) -{ - SET_BIT(RTCx->CR, RTC_CR_REFCKON); -} - -/** - * @brief Disable RTC_REFIN reference clock detection (50 or 60 Hz) - * @note Bit is write-protected. @ref LL_RTC_DisableWriteProtection function should be called before. - * @note It can be written in initialization mode only (@ref LL_RTC_EnableInitMode function) - * @rmtoll CR REFCKON LL_RTC_DisableRefClock - * @param RTCx RTC Instance - * @retval None - */ -__STATIC_INLINE void LL_RTC_DisableRefClock(RTC_TypeDef *RTCx) -{ - CLEAR_BIT(RTCx->CR, RTC_CR_REFCKON); -} - -/** - * @brief Set Asynchronous prescaler factor - * @rmtoll PRER PREDIV_A LL_RTC_SetAsynchPrescaler - * @param RTCx RTC Instance - * @param AsynchPrescaler Value between Min_Data = 0 and Max_Data = 0x7F - * @retval None - */ -__STATIC_INLINE void LL_RTC_SetAsynchPrescaler(RTC_TypeDef *RTCx, uint32_t AsynchPrescaler) -{ - MODIFY_REG(RTCx->PRER, RTC_PRER_PREDIV_A, AsynchPrescaler << RTC_PRER_PREDIV_A_Pos); -} - -/** - * @brief Set Synchronous prescaler factor - * @rmtoll PRER PREDIV_S LL_RTC_SetSynchPrescaler - * @param RTCx RTC Instance - * @param SynchPrescaler Value between Min_Data = 0 and Max_Data = 0x7FFF - * @retval None - */ -__STATIC_INLINE void LL_RTC_SetSynchPrescaler(RTC_TypeDef *RTCx, uint32_t SynchPrescaler) -{ - MODIFY_REG(RTCx->PRER, RTC_PRER_PREDIV_S, SynchPrescaler); -} - -/** - * @brief Get Asynchronous prescaler factor - * @rmtoll PRER PREDIV_A LL_RTC_GetAsynchPrescaler - * @param RTCx RTC Instance - * @retval Value between Min_Data = 0 and Max_Data = 0x7F - */ -__STATIC_INLINE uint32_t LL_RTC_GetAsynchPrescaler(RTC_TypeDef *RTCx) -{ - return (uint32_t)(READ_BIT(RTCx->PRER, RTC_PRER_PREDIV_A) >> RTC_PRER_PREDIV_A_Pos); -} - -/** - * @brief Get Synchronous prescaler factor - * @rmtoll PRER PREDIV_S LL_RTC_GetSynchPrescaler - * @param RTCx RTC Instance - * @retval Value between Min_Data = 0 and Max_Data = 0x7FFF - */ -__STATIC_INLINE uint32_t LL_RTC_GetSynchPrescaler(RTC_TypeDef *RTCx) -{ - return (uint32_t)(READ_BIT(RTCx->PRER, RTC_PRER_PREDIV_S)); -} - -/** - * @brief Enable the write protection for RTC registers. - * @rmtoll WPR KEY LL_RTC_EnableWriteProtection - * @param RTCx RTC Instance - * @retval None - */ -__STATIC_INLINE void LL_RTC_EnableWriteProtection(RTC_TypeDef *RTCx) -{ - WRITE_REG(RTCx->WPR, RTC_WRITE_PROTECTION_DISABLE); -} - -/** - * @brief Disable the write protection for RTC registers. - * @rmtoll WPR KEY LL_RTC_DisableWriteProtection - * @param RTCx RTC Instance - * @retval None - */ -__STATIC_INLINE void LL_RTC_DisableWriteProtection(RTC_TypeDef *RTCx) -{ - WRITE_REG(RTCx->WPR, RTC_WRITE_PROTECTION_ENABLE_1); - WRITE_REG(RTCx->WPR, RTC_WRITE_PROTECTION_ENABLE_2); -} - -/** - * @} - */ - -/** @defgroup RTC_LL_EF_Time Time - * @{ - */ - -/** - * @brief Set time format (AM/24-hour or PM notation) - * @note Bit is write-protected. @ref LL_RTC_DisableWriteProtection function should be called before. - * @note It can be written in initialization mode only (@ref LL_RTC_EnableInitMode function) - * @rmtoll TR PM LL_RTC_TIME_SetFormat - * @param RTCx RTC Instance - * @param TimeFormat This parameter can be one of the following values: - * @arg @ref LL_RTC_TIME_FORMAT_AM_OR_24 - * @arg @ref LL_RTC_TIME_FORMAT_PM - * @retval None - */ -__STATIC_INLINE void LL_RTC_TIME_SetFormat(RTC_TypeDef *RTCx, uint32_t TimeFormat) -{ - MODIFY_REG(RTCx->TR, RTC_TR_PM, TimeFormat); -} - -/** - * @brief Get time format (AM or PM notation) - * @note if shadow mode is disabled (BYPSHAD=0), need to check if RSF flag is set - * before reading this bit - * @note Read either RTC_SSR or RTC_TR locks the values in the higher-order calendar - * shadow registers until RTC_DR is read (LL_RTC_ReadReg(RTC, DR)). - * @rmtoll TR PM LL_RTC_TIME_GetFormat - * @param RTCx RTC Instance - * @retval Returned value can be one of the following values: - * @arg @ref LL_RTC_TIME_FORMAT_AM_OR_24 - * @arg @ref LL_RTC_TIME_FORMAT_PM - */ -__STATIC_INLINE uint32_t LL_RTC_TIME_GetFormat(RTC_TypeDef *RTCx) -{ - return (uint32_t)(READ_BIT(RTCx->TR, RTC_TR_PM)); -} - -/** - * @brief Set Hours in BCD format - * @note Bit is write-protected. @ref LL_RTC_DisableWriteProtection function should be called before. - * @note It can be written in initialization mode only (@ref LL_RTC_EnableInitMode function) - * @note helper macro __LL_RTC_CONVERT_BIN2BCD is available to convert hour from binary to BCD format - * @rmtoll TR HT LL_RTC_TIME_SetHour\n - * TR HU LL_RTC_TIME_SetHour - * @param RTCx RTC Instance - * @param Hours Value between Min_Data=0x01 and Max_Data=0x12 or between Min_Data=0x00 and Max_Data=0x23 - * @retval None - */ -__STATIC_INLINE void LL_RTC_TIME_SetHour(RTC_TypeDef *RTCx, uint32_t Hours) -{ - MODIFY_REG(RTCx->TR, (RTC_TR_HT | RTC_TR_HU), - (((Hours & 0xF0U) << (RTC_TR_HT_Pos - 4U)) | ((Hours & 0x0FU) << RTC_TR_HU_Pos))); -} - -/** - * @brief Get Hours in BCD format - * @note if shadow mode is disabled (BYPSHAD=0), need to check if RSF flag is set - * before reading this bit - * @note Read either RTC_SSR or RTC_TR locks the values in the higher-order calendar - * shadow registers until RTC_DR is read (LL_RTC_ReadReg(RTC, DR)). - * @note helper macro __LL_RTC_CONVERT_BCD2BIN is available to convert hour from BCD to - * Binary format - * @rmtoll TR HT LL_RTC_TIME_GetHour\n - * TR HU LL_RTC_TIME_GetHour - * @param RTCx RTC Instance - * @retval Value between Min_Data=0x01 and Max_Data=0x12 or between Min_Data=0x00 and Max_Data=0x23 - */ -__STATIC_INLINE uint32_t LL_RTC_TIME_GetHour(RTC_TypeDef *RTCx) -{ - return (uint32_t)((READ_BIT(RTCx->TR, (RTC_TR_HT | RTC_TR_HU))) >> RTC_TR_HU_Pos); -} - -/** - * @brief Set Minutes in BCD format - * @note Bit is write-protected. @ref LL_RTC_DisableWriteProtection function should be called before. - * @note It can be written in initialization mode only (@ref LL_RTC_EnableInitMode function) - * @note helper macro __LL_RTC_CONVERT_BIN2BCD is available to convert Minutes from binary to BCD format - * @rmtoll TR MNT LL_RTC_TIME_SetMinute\n - * TR MNU LL_RTC_TIME_SetMinute - * @param RTCx RTC Instance - * @param Minutes Value between Min_Data=0x00 and Max_Data=0x59 - * @retval None - */ -__STATIC_INLINE void LL_RTC_TIME_SetMinute(RTC_TypeDef *RTCx, uint32_t Minutes) -{ - MODIFY_REG(RTCx->TR, (RTC_TR_MNT | RTC_TR_MNU), - (((Minutes & 0xF0U) << (RTC_TR_MNT_Pos - 4U)) | ((Minutes & 0x0FU) << RTC_TR_MNU_Pos))); -} - -/** - * @brief Get Minutes in BCD format - * @note if shadow mode is disabled (BYPSHAD=0), need to check if RSF flag is set - * before reading this bit - * @note Read either RTC_SSR or RTC_TR locks the values in the higher-order calendar - * shadow registers until RTC_DR is read (LL_RTC_ReadReg(RTC, DR)). - * @note helper macro __LL_RTC_CONVERT_BCD2BIN is available to convert minute from BCD - * to Binary format - * @rmtoll TR MNT LL_RTC_TIME_GetMinute\n - * TR MNU LL_RTC_TIME_GetMinute - * @param RTCx RTC Instance - * @retval Value between Min_Data=0x00 and Max_Data=0x59 - */ -__STATIC_INLINE uint32_t LL_RTC_TIME_GetMinute(RTC_TypeDef *RTCx) -{ - return (uint32_t)(READ_BIT(RTCx->TR, (RTC_TR_MNT | RTC_TR_MNU))>> RTC_TR_MNU_Pos); -} - -/** - * @brief Set Seconds in BCD format - * @note Bit is write-protected. @ref LL_RTC_DisableWriteProtection function should be called before. - * @note It can be written in initialization mode only (@ref LL_RTC_EnableInitMode function) - * @note helper macro __LL_RTC_CONVERT_BIN2BCD is available to convert Seconds from binary to BCD format - * @rmtoll TR ST LL_RTC_TIME_SetSecond\n - * TR SU LL_RTC_TIME_SetSecond - * @param RTCx RTC Instance - * @param Seconds Value between Min_Data=0x00 and Max_Data=0x59 - * @retval None - */ -__STATIC_INLINE void LL_RTC_TIME_SetSecond(RTC_TypeDef *RTCx, uint32_t Seconds) -{ - MODIFY_REG(RTCx->TR, (RTC_TR_ST | RTC_TR_SU), - (((Seconds & 0xF0U) << (RTC_TR_ST_Pos - 4U)) | ((Seconds & 0x0FU) << RTC_TR_SU_Pos))); -} - -/** - * @brief Get Seconds in BCD format - * @note if shadow mode is disabled (BYPSHAD=0), need to check if RSF flag is set - * before reading this bit - * @note Read either RTC_SSR or RTC_TR locks the values in the higher-order calendar - * shadow registers until RTC_DR is read (LL_RTC_ReadReg(RTC, DR)). - * @note helper macro __LL_RTC_CONVERT_BCD2BIN is available to convert Seconds from BCD - * to Binary format - * @rmtoll TR ST LL_RTC_TIME_GetSecond\n - * TR SU LL_RTC_TIME_GetSecond - * @param RTCx RTC Instance - * @retval Value between Min_Data=0x00 and Max_Data=0x59 - */ -__STATIC_INLINE uint32_t LL_RTC_TIME_GetSecond(RTC_TypeDef *RTCx) -{ - return (uint32_t)(READ_BIT(RTCx->TR, (RTC_TR_ST | RTC_TR_SU)) >> RTC_TR_SU_Pos); -} - -/** - * @brief Set time (hour, minute and second) in BCD format - * @note Bit is write-protected. @ref LL_RTC_DisableWriteProtection function should be called before. - * @note It can be written in initialization mode only (@ref LL_RTC_EnableInitMode function) - * @note TimeFormat and Hours should follow the same format - * @rmtoll TR PM LL_RTC_TIME_Config\n - * TR HT LL_RTC_TIME_Config\n - * TR HU LL_RTC_TIME_Config\n - * TR MNT LL_RTC_TIME_Config\n - * TR MNU LL_RTC_TIME_Config\n - * TR ST LL_RTC_TIME_Config\n - * TR SU LL_RTC_TIME_Config - * @param RTCx RTC Instance - * @param Format12_24 This parameter can be one of the following values: - * @arg @ref LL_RTC_TIME_FORMAT_AM_OR_24 - * @arg @ref LL_RTC_TIME_FORMAT_PM - * @param Hours Value between Min_Data=0x01 and Max_Data=0x12 or between Min_Data=0x00 and Max_Data=0x23 - * @param Minutes Value between Min_Data=0x00 and Max_Data=0x59 - * @param Seconds Value between Min_Data=0x00 and Max_Data=0x59 - * @retval None - */ -__STATIC_INLINE void LL_RTC_TIME_Config(RTC_TypeDef *RTCx, uint32_t Format12_24, uint32_t Hours, uint32_t Minutes, uint32_t Seconds) -{ - register uint32_t temp = 0U; - - temp = Format12_24 | \ - (((Hours & 0xF0U) << (RTC_TR_HT_Pos - 4U)) | ((Hours & 0x0FU) << RTC_TR_HU_Pos)) | \ - (((Minutes & 0xF0U) << (RTC_TR_MNT_Pos - 4U)) | ((Minutes & 0x0FU) << RTC_TR_MNU_Pos)) | \ - (((Seconds & 0xF0U) << (RTC_TR_ST_Pos - 4U)) | ((Seconds & 0x0FU) << RTC_TR_SU_Pos)); - MODIFY_REG(RTCx->TR, (RTC_TR_PM | RTC_TR_HT | RTC_TR_HU | RTC_TR_MNT | RTC_TR_MNU | RTC_TR_ST | RTC_TR_SU), temp); -} - -/** - * @brief Get time (hour, minute and second) in BCD format - * @note if shadow mode is disabled (BYPSHAD=0), need to check if RSF flag is set - * before reading this bit - * @note Read either RTC_SSR or RTC_TR locks the values in the higher-order calendar - * shadow registers until RTC_DR is read (LL_RTC_ReadReg(RTC, DR)). - * @note helper macros __LL_RTC_GET_HOUR, __LL_RTC_GET_MINUTE and __LL_RTC_GET_SECOND - * are available to get independently each parameter. - * @rmtoll TR HT LL_RTC_TIME_Get\n - * TR HU LL_RTC_TIME_Get\n - * TR MNT LL_RTC_TIME_Get\n - * TR MNU LL_RTC_TIME_Get\n - * TR ST LL_RTC_TIME_Get\n - * TR SU LL_RTC_TIME_Get - * @param RTCx RTC Instance - * @retval Combination of hours, minutes and seconds (Format: 0x00HHMMSS). - */ -__STATIC_INLINE uint32_t LL_RTC_TIME_Get(RTC_TypeDef *RTCx) -{ - register uint32_t temp = 0U; - - temp = READ_BIT(RTCx->TR, (RTC_TR_HT | RTC_TR_HU | RTC_TR_MNT | RTC_TR_MNU | RTC_TR_ST | RTC_TR_SU)); - return (uint32_t)((((((temp & RTC_TR_HT) >> RTC_TR_HT_Pos) << 4U) | ((temp & RTC_TR_HU) >> RTC_TR_HU_Pos)) << RTC_OFFSET_HOUR) | \ - (((((temp & RTC_TR_MNT) >> RTC_TR_MNT_Pos) << 4U) | ((temp & RTC_TR_MNU) >> RTC_TR_MNU_Pos)) << RTC_OFFSET_MINUTE) | \ - ((((temp & RTC_TR_ST) >> RTC_TR_ST_Pos) << 4U) | ((temp & RTC_TR_SU) >> RTC_TR_SU_Pos))); -} - -/** - * @brief Memorize whether the daylight saving time change has been performed - * @note Bit is write-protected. @ref LL_RTC_DisableWriteProtection function should be called before. - * @rmtoll CR BKP LL_RTC_TIME_EnableDayLightStore - * @param RTCx RTC Instance - * @retval None - */ -__STATIC_INLINE void LL_RTC_TIME_EnableDayLightStore(RTC_TypeDef *RTCx) -{ - SET_BIT(RTCx->CR, RTC_CR_BKP); -} - -/** - * @brief Disable memorization whether the daylight saving time change has been performed. - * @note Bit is write-protected. @ref LL_RTC_DisableWriteProtection function should be called before. - * @rmtoll CR BKP LL_RTC_TIME_DisableDayLightStore - * @param RTCx RTC Instance - * @retval None - */ -__STATIC_INLINE void LL_RTC_TIME_DisableDayLightStore(RTC_TypeDef *RTCx) -{ - CLEAR_BIT(RTCx->CR, RTC_CR_BKP); -} - -/** - * @brief Check if RTC Day Light Saving stored operation has been enabled or not - * @rmtoll CR BKP LL_RTC_TIME_IsDayLightStoreEnabled - * @param RTCx RTC Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_RTC_TIME_IsDayLightStoreEnabled(RTC_TypeDef *RTCx) -{ - return (READ_BIT(RTCx->CR, RTC_CR_BKP) == (RTC_CR_BKP)); -} - -/** - * @brief Subtract 1 hour (winter time change) - * @note Bit is write-protected. @ref LL_RTC_DisableWriteProtection function should be called before. - * @rmtoll CR SUB1H LL_RTC_TIME_DecHour - * @param RTCx RTC Instance - * @retval None - */ -__STATIC_INLINE void LL_RTC_TIME_DecHour(RTC_TypeDef *RTCx) -{ - SET_BIT(RTCx->CR, RTC_CR_SUB1H); -} - -/** - * @brief Add 1 hour (summer time change) - * @note Bit is write-protected. @ref LL_RTC_DisableWriteProtection function should be called before. - * @rmtoll CR ADD1H LL_RTC_TIME_IncHour - * @param RTCx RTC Instance - * @retval None - */ -__STATIC_INLINE void LL_RTC_TIME_IncHour(RTC_TypeDef *RTCx) -{ - SET_BIT(RTCx->CR, RTC_CR_ADD1H); -} - -/** - * @brief Get Sub second value in the synchronous prescaler counter. - * @note You can use both SubSeconds value and SecondFraction (PREDIV_S through - * LL_RTC_GetSynchPrescaler function) terms returned to convert Calendar - * SubSeconds value in second fraction ratio with time unit following - * generic formula: - * ==> Seconds fraction ratio * time_unit= [(SecondFraction-SubSeconds)/(SecondFraction+1)] * time_unit - * This conversion can be performed only if no shift operation is pending - * (ie. SHFP=0) when PREDIV_S >= SS. - * @rmtoll SSR SS LL_RTC_TIME_GetSubSecond - * @param RTCx RTC Instance - * @retval Sub second value (number between 0 and 65535) - */ -__STATIC_INLINE uint32_t LL_RTC_TIME_GetSubSecond(RTC_TypeDef *RTCx) -{ - return (uint32_t)(READ_BIT(RTCx->SSR, RTC_SSR_SS)); -} - -/** - * @brief Synchronize to a remote clock with a high degree of precision. - * @note This operation effectively subtracts from (delays) or advance the clock of a fraction of a second. - * @note Bit is write-protected. @ref LL_RTC_DisableWriteProtection function should be called before. - * @note When REFCKON is set, firmware must not write to Shift control register. - * @rmtoll SHIFTR ADD1S LL_RTC_TIME_Synchronize\n - * SHIFTR SUBFS LL_RTC_TIME_Synchronize - * @param RTCx RTC Instance - * @param ShiftSecond This parameter can be one of the following values: - * @arg @ref LL_RTC_SHIFT_SECOND_DELAY - * @arg @ref LL_RTC_SHIFT_SECOND_ADVANCE - * @param Fraction Number of Seconds Fractions (any value from 0 to 0x7FFF) - * @retval None - */ -__STATIC_INLINE void LL_RTC_TIME_Synchronize(RTC_TypeDef *RTCx, uint32_t ShiftSecond, uint32_t Fraction) -{ - WRITE_REG(RTCx->SHIFTR, ShiftSecond | Fraction); -} - -/** - * @} - */ - -/** @defgroup RTC_LL_EF_Date Date - * @{ - */ - -/** - * @brief Set Year in BCD format - * @note helper macro __LL_RTC_CONVERT_BIN2BCD is available to convert Year from binary to BCD format - * @rmtoll DR YT LL_RTC_DATE_SetYear\n - * DR YU LL_RTC_DATE_SetYear - * @param RTCx RTC Instance - * @param Year Value between Min_Data=0x00 and Max_Data=0x99 - * @retval None - */ -__STATIC_INLINE void LL_RTC_DATE_SetYear(RTC_TypeDef *RTCx, uint32_t Year) -{ - MODIFY_REG(RTCx->DR, (RTC_DR_YT | RTC_DR_YU), - (((Year & 0xF0U) << (RTC_DR_YT_Pos - 4U)) | ((Year & 0x0FU) << RTC_DR_YU_Pos))); -} - -/** - * @brief Get Year in BCD format - * @note if shadow mode is disabled (BYPSHAD=0), need to check if RSF flag is set - * before reading this bit - * @note helper macro __LL_RTC_CONVERT_BCD2BIN is available to convert Year from BCD to Binary format - * @rmtoll DR YT LL_RTC_DATE_GetYear\n - * DR YU LL_RTC_DATE_GetYear - * @param RTCx RTC Instance - * @retval Value between Min_Data=0x00 and Max_Data=0x99 - */ -__STATIC_INLINE uint32_t LL_RTC_DATE_GetYear(RTC_TypeDef *RTCx) -{ - return (uint32_t)((READ_BIT(RTCx->DR, (RTC_DR_YT | RTC_DR_YU))) >> RTC_DR_YU_Pos); -} - -/** - * @brief Set Week day - * @rmtoll DR WDU LL_RTC_DATE_SetWeekDay - * @param RTCx RTC Instance - * @param WeekDay This parameter can be one of the following values: - * @arg @ref LL_RTC_WEEKDAY_MONDAY - * @arg @ref LL_RTC_WEEKDAY_TUESDAY - * @arg @ref LL_RTC_WEEKDAY_WEDNESDAY - * @arg @ref LL_RTC_WEEKDAY_THURSDAY - * @arg @ref LL_RTC_WEEKDAY_FRIDAY - * @arg @ref LL_RTC_WEEKDAY_SATURDAY - * @arg @ref LL_RTC_WEEKDAY_SUNDAY - * @retval None - */ -__STATIC_INLINE void LL_RTC_DATE_SetWeekDay(RTC_TypeDef *RTCx, uint32_t WeekDay) -{ - MODIFY_REG(RTCx->DR, RTC_DR_WDU, WeekDay << RTC_DR_WDU_Pos); -} - -/** - * @brief Get Week day - * @note if shadow mode is disabled (BYPSHAD=0), need to check if RSF flag is set - * before reading this bit - * @rmtoll DR WDU LL_RTC_DATE_GetWeekDay - * @param RTCx RTC Instance - * @retval Returned value can be one of the following values: - * @arg @ref LL_RTC_WEEKDAY_MONDAY - * @arg @ref LL_RTC_WEEKDAY_TUESDAY - * @arg @ref LL_RTC_WEEKDAY_WEDNESDAY - * @arg @ref LL_RTC_WEEKDAY_THURSDAY - * @arg @ref LL_RTC_WEEKDAY_FRIDAY - * @arg @ref LL_RTC_WEEKDAY_SATURDAY - * @arg @ref LL_RTC_WEEKDAY_SUNDAY - */ -__STATIC_INLINE uint32_t LL_RTC_DATE_GetWeekDay(RTC_TypeDef *RTCx) -{ - return (uint32_t)(READ_BIT(RTCx->DR, RTC_DR_WDU) >> RTC_DR_WDU_Pos); -} - -/** - * @brief Set Month in BCD format - * @note helper macro __LL_RTC_CONVERT_BIN2BCD is available to convert Month from binary to BCD format - * @rmtoll DR MT LL_RTC_DATE_SetMonth\n - * DR MU LL_RTC_DATE_SetMonth - * @param RTCx RTC Instance - * @param Month This parameter can be one of the following values: - * @arg @ref LL_RTC_MONTH_JANUARY - * @arg @ref LL_RTC_MONTH_FEBRUARY - * @arg @ref LL_RTC_MONTH_MARCH - * @arg @ref LL_RTC_MONTH_APRIL - * @arg @ref LL_RTC_MONTH_MAY - * @arg @ref LL_RTC_MONTH_JUNE - * @arg @ref LL_RTC_MONTH_JULY - * @arg @ref LL_RTC_MONTH_AUGUST - * @arg @ref LL_RTC_MONTH_SEPTEMBER - * @arg @ref LL_RTC_MONTH_OCTOBER - * @arg @ref LL_RTC_MONTH_NOVEMBER - * @arg @ref LL_RTC_MONTH_DECEMBER - * @retval None - */ -__STATIC_INLINE void LL_RTC_DATE_SetMonth(RTC_TypeDef *RTCx, uint32_t Month) -{ - MODIFY_REG(RTCx->DR, (RTC_DR_MT | RTC_DR_MU), - (((Month & 0xF0U) << (RTC_DR_MT_Pos - 4U)) | ((Month & 0x0FU) << RTC_DR_MU_Pos))); -} - -/** - * @brief Get Month in BCD format - * @note if shadow mode is disabled (BYPSHAD=0), need to check if RSF flag is set - * before reading this bit - * @note helper macro __LL_RTC_CONVERT_BCD2BIN is available to convert Month from BCD to Binary format - * @rmtoll DR MT LL_RTC_DATE_GetMonth\n - * DR MU LL_RTC_DATE_GetMonth - * @param RTCx RTC Instance - * @retval Returned value can be one of the following values: - * @arg @ref LL_RTC_MONTH_JANUARY - * @arg @ref LL_RTC_MONTH_FEBRUARY - * @arg @ref LL_RTC_MONTH_MARCH - * @arg @ref LL_RTC_MONTH_APRIL - * @arg @ref LL_RTC_MONTH_MAY - * @arg @ref LL_RTC_MONTH_JUNE - * @arg @ref LL_RTC_MONTH_JULY - * @arg @ref LL_RTC_MONTH_AUGUST - * @arg @ref LL_RTC_MONTH_SEPTEMBER - * @arg @ref LL_RTC_MONTH_OCTOBER - * @arg @ref LL_RTC_MONTH_NOVEMBER - * @arg @ref LL_RTC_MONTH_DECEMBER - */ -__STATIC_INLINE uint32_t LL_RTC_DATE_GetMonth(RTC_TypeDef *RTCx) -{ - return (uint32_t)((READ_BIT(RTCx->DR, (RTC_DR_MT | RTC_DR_MU)))>> RTC_DR_MU_Pos); -} - -/** - * @brief Set Day in BCD format - * @note helper macro __LL_RTC_CONVERT_BIN2BCD is available to convert Day from binary to BCD format - * @rmtoll DR DT LL_RTC_DATE_SetDay\n - * DR DU LL_RTC_DATE_SetDay - * @param RTCx RTC Instance - * @param Day Value between Min_Data=0x01 and Max_Data=0x31 - * @retval None - */ -__STATIC_INLINE void LL_RTC_DATE_SetDay(RTC_TypeDef *RTCx, uint32_t Day) -{ - MODIFY_REG(RTCx->DR, (RTC_DR_DT | RTC_DR_DU), - (((Day & 0xF0U) << (RTC_DR_DT_Pos - 4U)) | ((Day & 0x0FU) << RTC_DR_DU_Pos))); -} - -/** - * @brief Get Day in BCD format - * @note if shadow mode is disabled (BYPSHAD=0), need to check if RSF flag is set - * before reading this bit - * @note helper macro __LL_RTC_CONVERT_BCD2BIN is available to convert Day from BCD to Binary format - * @rmtoll DR DT LL_RTC_DATE_GetDay\n - * DR DU LL_RTC_DATE_GetDay - * @param RTCx RTC Instance - * @retval Value between Min_Data=0x01 and Max_Data=0x31 - */ -__STATIC_INLINE uint32_t LL_RTC_DATE_GetDay(RTC_TypeDef *RTCx) -{ - return (uint32_t)((READ_BIT(RTCx->DR, (RTC_DR_DT | RTC_DR_DU))) >> RTC_DR_DU_Pos); -} - -/** - * @brief Set date (WeekDay, Day, Month and Year) in BCD format - * @rmtoll DR WDU LL_RTC_DATE_Config\n - * DR MT LL_RTC_DATE_Config\n - * DR MU LL_RTC_DATE_Config\n - * DR DT LL_RTC_DATE_Config\n - * DR DU LL_RTC_DATE_Config\n - * DR YT LL_RTC_DATE_Config\n - * DR YU LL_RTC_DATE_Config - * @param RTCx RTC Instance - * @param WeekDay This parameter can be one of the following values: - * @arg @ref LL_RTC_WEEKDAY_MONDAY - * @arg @ref LL_RTC_WEEKDAY_TUESDAY - * @arg @ref LL_RTC_WEEKDAY_WEDNESDAY - * @arg @ref LL_RTC_WEEKDAY_THURSDAY - * @arg @ref LL_RTC_WEEKDAY_FRIDAY - * @arg @ref LL_RTC_WEEKDAY_SATURDAY - * @arg @ref LL_RTC_WEEKDAY_SUNDAY - * @param Day Value between Min_Data=0x01 and Max_Data=0x31 - * @param Month This parameter can be one of the following values: - * @arg @ref LL_RTC_MONTH_JANUARY - * @arg @ref LL_RTC_MONTH_FEBRUARY - * @arg @ref LL_RTC_MONTH_MARCH - * @arg @ref LL_RTC_MONTH_APRIL - * @arg @ref LL_RTC_MONTH_MAY - * @arg @ref LL_RTC_MONTH_JUNE - * @arg @ref LL_RTC_MONTH_JULY - * @arg @ref LL_RTC_MONTH_AUGUST - * @arg @ref LL_RTC_MONTH_SEPTEMBER - * @arg @ref LL_RTC_MONTH_OCTOBER - * @arg @ref LL_RTC_MONTH_NOVEMBER - * @arg @ref LL_RTC_MONTH_DECEMBER - * @param Year Value between Min_Data=0x00 and Max_Data=0x99 - * @retval None - */ -__STATIC_INLINE void LL_RTC_DATE_Config(RTC_TypeDef *RTCx, uint32_t WeekDay, uint32_t Day, uint32_t Month, uint32_t Year) -{ - register uint32_t temp = 0U; - - temp = (WeekDay << RTC_DR_WDU_Pos) | \ - (((Year & 0xF0U) << (RTC_DR_YT_Pos - 4U)) | ((Year & 0x0FU) << RTC_DR_YU_Pos)) | \ - (((Month & 0xF0U) << (RTC_DR_MT_Pos - 4U)) | ((Month & 0x0FU) << RTC_DR_MU_Pos)) | \ - (((Day & 0xF0U) << (RTC_DR_DT_Pos - 4U)) | ((Day & 0x0FU) << RTC_DR_DU_Pos)); - - MODIFY_REG(RTCx->DR, (RTC_DR_WDU | RTC_DR_MT | RTC_DR_MU | RTC_DR_DT | RTC_DR_DU | RTC_DR_YT | RTC_DR_YU), temp); -} - -/** - * @brief Get date (WeekDay, Day, Month and Year) in BCD format - * @note if shadow mode is disabled (BYPSHAD=0), need to check if RSF flag is set - * before reading this bit - * @note helper macros __LL_RTC_GET_WEEKDAY, __LL_RTC_GET_YEAR, __LL_RTC_GET_MONTH, - * and __LL_RTC_GET_DAY are available to get independently each parameter. - * @rmtoll DR WDU LL_RTC_DATE_Get\n - * DR MT LL_RTC_DATE_Get\n - * DR MU LL_RTC_DATE_Get\n - * DR DT LL_RTC_DATE_Get\n - * DR DU LL_RTC_DATE_Get\n - * DR YT LL_RTC_DATE_Get\n - * DR YU LL_RTC_DATE_Get - * @param RTCx RTC Instance - * @retval Combination of WeekDay, Day, Month and Year (Format: 0xWWDDMMYY). - */ -__STATIC_INLINE uint32_t LL_RTC_DATE_Get(RTC_TypeDef *RTCx) -{ - register uint32_t temp = 0U; - - temp = READ_BIT(RTCx->DR, (RTC_DR_WDU | RTC_DR_MT | RTC_DR_MU | RTC_DR_DT | RTC_DR_DU | RTC_DR_YT | RTC_DR_YU)); - return (uint32_t)((((temp & RTC_DR_WDU) >> RTC_DR_WDU_Pos) << RTC_OFFSET_WEEKDAY) | \ - (((((temp & RTC_DR_DT) >> RTC_DR_DT_Pos) << 4U) | ((temp & RTC_DR_DU) >> RTC_DR_DU_Pos)) << RTC_OFFSET_DAY) | \ - (((((temp & RTC_DR_MT) >> RTC_DR_MT_Pos) << 4U) | ((temp & RTC_DR_MU) >> RTC_DR_MU_Pos)) << RTC_OFFSET_MONTH) | \ - ((((temp & RTC_DR_YT) >> RTC_DR_YT_Pos) << 4U) | ((temp & RTC_DR_YU) >> RTC_DR_YU_Pos))); -} - -/** - * @} - */ - -/** @defgroup RTC_LL_EF_ALARMA ALARMA - * @{ - */ - -/** - * @brief Enable Alarm A - * @note Bit is write-protected. @ref LL_RTC_DisableWriteProtection function should be called before. - * @rmtoll CR ALRAE LL_RTC_ALMA_Enable - * @param RTCx RTC Instance - * @retval None - */ -__STATIC_INLINE void LL_RTC_ALMA_Enable(RTC_TypeDef *RTCx) -{ - SET_BIT(RTCx->CR, RTC_CR_ALRAE); -} - -/** - * @brief Disable Alarm A - * @note Bit is write-protected. @ref LL_RTC_DisableWriteProtection function should be called before. - * @rmtoll CR ALRAE LL_RTC_ALMA_Disable - * @param RTCx RTC Instance - * @retval None - */ -__STATIC_INLINE void LL_RTC_ALMA_Disable(RTC_TypeDef *RTCx) -{ - CLEAR_BIT(RTCx->CR, RTC_CR_ALRAE); -} - -/** - * @brief Specify the Alarm A masks. - * @rmtoll ALRMAR MSK4 LL_RTC_ALMA_SetMask\n - * ALRMAR MSK3 LL_RTC_ALMA_SetMask\n - * ALRMAR MSK2 LL_RTC_ALMA_SetMask\n - * ALRMAR MSK1 LL_RTC_ALMA_SetMask - * @param RTCx RTC Instance - * @param Mask This parameter can be a combination of the following values: - * @arg @ref LL_RTC_ALMA_MASK_NONE - * @arg @ref LL_RTC_ALMA_MASK_DATEWEEKDAY - * @arg @ref LL_RTC_ALMA_MASK_HOURS - * @arg @ref LL_RTC_ALMA_MASK_MINUTES - * @arg @ref LL_RTC_ALMA_MASK_SECONDS - * @arg @ref LL_RTC_ALMA_MASK_ALL - * @retval None - */ -__STATIC_INLINE void LL_RTC_ALMA_SetMask(RTC_TypeDef *RTCx, uint32_t Mask) -{ - MODIFY_REG(RTCx->ALRMAR, RTC_ALRMAR_MSK4 | RTC_ALRMAR_MSK3 | RTC_ALRMAR_MSK2 | RTC_ALRMAR_MSK1, Mask); -} - -/** - * @brief Get the Alarm A masks. - * @rmtoll ALRMAR MSK4 LL_RTC_ALMA_GetMask\n - * ALRMAR MSK3 LL_RTC_ALMA_GetMask\n - * ALRMAR MSK2 LL_RTC_ALMA_GetMask\n - * ALRMAR MSK1 LL_RTC_ALMA_GetMask - * @param RTCx RTC Instance - * @retval Returned value can be can be a combination of the following values: - * @arg @ref LL_RTC_ALMA_MASK_NONE - * @arg @ref LL_RTC_ALMA_MASK_DATEWEEKDAY - * @arg @ref LL_RTC_ALMA_MASK_HOURS - * @arg @ref LL_RTC_ALMA_MASK_MINUTES - * @arg @ref LL_RTC_ALMA_MASK_SECONDS - * @arg @ref LL_RTC_ALMA_MASK_ALL - */ -__STATIC_INLINE uint32_t LL_RTC_ALMA_GetMask(RTC_TypeDef *RTCx) -{ - return (uint32_t)(READ_BIT(RTCx->ALRMAR, RTC_ALRMAR_MSK4 | RTC_ALRMAR_MSK3 | RTC_ALRMAR_MSK2 | RTC_ALRMAR_MSK1)); -} - -/** - * @brief Enable AlarmA Week day selection (DU[3:0] represents the week day. DT[1:0] is do not care) - * @rmtoll ALRMAR WDSEL LL_RTC_ALMA_EnableWeekday - * @param RTCx RTC Instance - * @retval None - */ -__STATIC_INLINE void LL_RTC_ALMA_EnableWeekday(RTC_TypeDef *RTCx) -{ - SET_BIT(RTCx->ALRMAR, RTC_ALRMAR_WDSEL); -} - -/** - * @brief Disable AlarmA Week day selection (DU[3:0] represents the date ) - * @rmtoll ALRMAR WDSEL LL_RTC_ALMA_DisableWeekday - * @param RTCx RTC Instance - * @retval None - */ -__STATIC_INLINE void LL_RTC_ALMA_DisableWeekday(RTC_TypeDef *RTCx) -{ - CLEAR_BIT(RTCx->ALRMAR, RTC_ALRMAR_WDSEL); -} - -/** - * @brief Set ALARM A Day in BCD format - * @note helper macro __LL_RTC_CONVERT_BIN2BCD is available to convert Day from binary to BCD format - * @rmtoll ALRMAR DT LL_RTC_ALMA_SetDay\n - * ALRMAR DU LL_RTC_ALMA_SetDay - * @param RTCx RTC Instance - * @param Day Value between Min_Data=0x01 and Max_Data=0x31 - * @retval None - */ -__STATIC_INLINE void LL_RTC_ALMA_SetDay(RTC_TypeDef *RTCx, uint32_t Day) -{ - MODIFY_REG(RTCx->ALRMAR, (RTC_ALRMAR_DT | RTC_ALRMAR_DU), - (((Day & 0xF0U) << (RTC_ALRMAR_DT_Pos - 4U)) | ((Day & 0x0FU) << RTC_ALRMAR_DU_Pos))); -} - -/** - * @brief Get ALARM A Day in BCD format - * @note helper macro __LL_RTC_CONVERT_BCD2BIN is available to convert Day from BCD to Binary format - * @rmtoll ALRMAR DT LL_RTC_ALMA_GetDay\n - * ALRMAR DU LL_RTC_ALMA_GetDay - * @param RTCx RTC Instance - * @retval Value between Min_Data=0x01 and Max_Data=0x31 - */ -__STATIC_INLINE uint32_t LL_RTC_ALMA_GetDay(RTC_TypeDef *RTCx) -{ - return (uint32_t)((READ_BIT(RTCx->ALRMAR, (RTC_ALRMAR_DT | RTC_ALRMAR_DU))) >> RTC_ALRMAR_DU_Pos); -} - -/** - * @brief Set ALARM A Weekday - * @rmtoll ALRMAR DU LL_RTC_ALMA_SetWeekDay - * @param RTCx RTC Instance - * @param WeekDay This parameter can be one of the following values: - * @arg @ref LL_RTC_WEEKDAY_MONDAY - * @arg @ref LL_RTC_WEEKDAY_TUESDAY - * @arg @ref LL_RTC_WEEKDAY_WEDNESDAY - * @arg @ref LL_RTC_WEEKDAY_THURSDAY - * @arg @ref LL_RTC_WEEKDAY_FRIDAY - * @arg @ref LL_RTC_WEEKDAY_SATURDAY - * @arg @ref LL_RTC_WEEKDAY_SUNDAY - * @retval None - */ -__STATIC_INLINE void LL_RTC_ALMA_SetWeekDay(RTC_TypeDef *RTCx, uint32_t WeekDay) -{ - MODIFY_REG(RTCx->ALRMAR, RTC_ALRMAR_DU, WeekDay << RTC_ALRMAR_DU_Pos); -} - -/** - * @brief Get ALARM A Weekday - * @rmtoll ALRMAR DU LL_RTC_ALMA_GetWeekDay - * @param RTCx RTC Instance - * @retval Returned value can be one of the following values: - * @arg @ref LL_RTC_WEEKDAY_MONDAY - * @arg @ref LL_RTC_WEEKDAY_TUESDAY - * @arg @ref LL_RTC_WEEKDAY_WEDNESDAY - * @arg @ref LL_RTC_WEEKDAY_THURSDAY - * @arg @ref LL_RTC_WEEKDAY_FRIDAY - * @arg @ref LL_RTC_WEEKDAY_SATURDAY - * @arg @ref LL_RTC_WEEKDAY_SUNDAY - */ -__STATIC_INLINE uint32_t LL_RTC_ALMA_GetWeekDay(RTC_TypeDef *RTCx) -{ - return (uint32_t)(READ_BIT(RTCx->ALRMAR, RTC_ALRMAR_DU) >> RTC_ALRMAR_DU_Pos); -} - -/** - * @brief Set Alarm A time format (AM/24-hour or PM notation) - * @rmtoll ALRMAR PM LL_RTC_ALMA_SetTimeFormat - * @param RTCx RTC Instance - * @param TimeFormat This parameter can be one of the following values: - * @arg @ref LL_RTC_ALMA_TIME_FORMAT_AM - * @arg @ref LL_RTC_ALMA_TIME_FORMAT_PM - * @retval None - */ -__STATIC_INLINE void LL_RTC_ALMA_SetTimeFormat(RTC_TypeDef *RTCx, uint32_t TimeFormat) -{ - MODIFY_REG(RTCx->ALRMAR, RTC_ALRMAR_PM, TimeFormat); -} - -/** - * @brief Get Alarm A time format (AM or PM notation) - * @rmtoll ALRMAR PM LL_RTC_ALMA_GetTimeFormat - * @param RTCx RTC Instance - * @retval Returned value can be one of the following values: - * @arg @ref LL_RTC_ALMA_TIME_FORMAT_AM - * @arg @ref LL_RTC_ALMA_TIME_FORMAT_PM - */ -__STATIC_INLINE uint32_t LL_RTC_ALMA_GetTimeFormat(RTC_TypeDef *RTCx) -{ - return (uint32_t)(READ_BIT(RTCx->ALRMAR, RTC_ALRMAR_PM)); -} - -/** - * @brief Set ALARM A Hours in BCD format - * @note helper macro __LL_RTC_CONVERT_BIN2BCD is available to convert Hours from binary to BCD format - * @rmtoll ALRMAR HT LL_RTC_ALMA_SetHour\n - * ALRMAR HU LL_RTC_ALMA_SetHour - * @param RTCx RTC Instance - * @param Hours Value between Min_Data=0x01 and Max_Data=0x12 or between Min_Data=0x00 and Max_Data=0x23 - * @retval None - */ -__STATIC_INLINE void LL_RTC_ALMA_SetHour(RTC_TypeDef *RTCx, uint32_t Hours) -{ - MODIFY_REG(RTCx->ALRMAR, (RTC_ALRMAR_HT | RTC_ALRMAR_HU), - (((Hours & 0xF0U) << (RTC_ALRMAR_HT_Pos - 4U)) | ((Hours & 0x0FU) << RTC_ALRMAR_HU_Pos))); -} - -/** - * @brief Get ALARM A Hours in BCD format - * @note helper macro __LL_RTC_CONVERT_BCD2BIN is available to convert Hours from BCD to Binary format - * @rmtoll ALRMAR HT LL_RTC_ALMA_GetHour\n - * ALRMAR HU LL_RTC_ALMA_GetHour - * @param RTCx RTC Instance - * @retval Value between Min_Data=0x01 and Max_Data=0x12 or between Min_Data=0x00 and Max_Data=0x23 - */ -__STATIC_INLINE uint32_t LL_RTC_ALMA_GetHour(RTC_TypeDef *RTCx) -{ - return (uint32_t)(( READ_BIT(RTCx->ALRMAR, (RTC_ALRMAR_HT | RTC_ALRMAR_HU))) >> RTC_ALRMAR_HU_Pos); -} - -/** - * @brief Set ALARM A Minutes in BCD format - * @note helper macro __LL_RTC_CONVERT_BIN2BCD is available to convert Minutes from binary to BCD format - * @rmtoll ALRMAR MNT LL_RTC_ALMA_SetMinute\n - * ALRMAR MNU LL_RTC_ALMA_SetMinute - * @param RTCx RTC Instance - * @param Minutes Value between Min_Data=0x00 and Max_Data=0x59 - * @retval None - */ -__STATIC_INLINE void LL_RTC_ALMA_SetMinute(RTC_TypeDef *RTCx, uint32_t Minutes) -{ - MODIFY_REG(RTCx->ALRMAR, (RTC_ALRMAR_MNT | RTC_ALRMAR_MNU), - (((Minutes & 0xF0U) << (RTC_ALRMAR_MNT_Pos - 4U)) | ((Minutes & 0x0FU) << RTC_ALRMAR_MNU_Pos))); -} - -/** - * @brief Get ALARM A Minutes in BCD format - * @note helper macro __LL_RTC_CONVERT_BCD2BIN is available to convert Minutes from BCD to Binary format - * @rmtoll ALRMAR MNT LL_RTC_ALMA_GetMinute\n - * ALRMAR MNU LL_RTC_ALMA_GetMinute - * @param RTCx RTC Instance - * @retval Value between Min_Data=0x00 and Max_Data=0x59 - */ -__STATIC_INLINE uint32_t LL_RTC_ALMA_GetMinute(RTC_TypeDef *RTCx) -{ - return (uint32_t)((READ_BIT(RTCx->ALRMAR, (RTC_ALRMAR_MNT | RTC_ALRMAR_MNU))) >> RTC_ALRMAR_MNU_Pos); -} - -/** - * @brief Set ALARM A Seconds in BCD format - * @note helper macro __LL_RTC_CONVERT_BIN2BCD is available to convert Seconds from binary to BCD format - * @rmtoll ALRMAR ST LL_RTC_ALMA_SetSecond\n - * ALRMAR SU LL_RTC_ALMA_SetSecond - * @param RTCx RTC Instance - * @param Seconds Value between Min_Data=0x00 and Max_Data=0x59 - * @retval None - */ -__STATIC_INLINE void LL_RTC_ALMA_SetSecond(RTC_TypeDef *RTCx, uint32_t Seconds) -{ - MODIFY_REG(RTCx->ALRMAR, (RTC_ALRMAR_ST | RTC_ALRMAR_SU), - (((Seconds & 0xF0U) << (RTC_ALRMAR_ST_Pos - 4U)) | ((Seconds & 0x0FU) << RTC_ALRMAR_SU_Pos))); -} - -/** - * @brief Get ALARM A Seconds in BCD format - * @note helper macro __LL_RTC_CONVERT_BCD2BIN is available to convert Seconds from BCD to Binary format - * @rmtoll ALRMAR ST LL_RTC_ALMA_GetSecond\n - * ALRMAR SU LL_RTC_ALMA_GetSecond - * @param RTCx RTC Instance - * @retval Value between Min_Data=0x00 and Max_Data=0x59 - */ -__STATIC_INLINE uint32_t LL_RTC_ALMA_GetSecond(RTC_TypeDef *RTCx) -{ - return (uint32_t)((READ_BIT(RTCx->ALRMAR, (RTC_ALRMAR_ST | RTC_ALRMAR_SU))) >> RTC_ALRMAR_SU_Pos); -} - -/** - * @brief Set Alarm A Time (hour, minute and second) in BCD format - * @rmtoll ALRMAR PM LL_RTC_ALMA_ConfigTime\n - * ALRMAR HT LL_RTC_ALMA_ConfigTime\n - * ALRMAR HU LL_RTC_ALMA_ConfigTime\n - * ALRMAR MNT LL_RTC_ALMA_ConfigTime\n - * ALRMAR MNU LL_RTC_ALMA_ConfigTime\n - * ALRMAR ST LL_RTC_ALMA_ConfigTime\n - * ALRMAR SU LL_RTC_ALMA_ConfigTime - * @param RTCx RTC Instance - * @param Format12_24 This parameter can be one of the following values: - * @arg @ref LL_RTC_ALMA_TIME_FORMAT_AM - * @arg @ref LL_RTC_ALMA_TIME_FORMAT_PM - * @param Hours Value between Min_Data=0x01 and Max_Data=0x12 or between Min_Data=0x00 and Max_Data=0x23 - * @param Minutes Value between Min_Data=0x00 and Max_Data=0x59 - * @param Seconds Value between Min_Data=0x00 and Max_Data=0x59 - * @retval None - */ -__STATIC_INLINE void LL_RTC_ALMA_ConfigTime(RTC_TypeDef *RTCx, uint32_t Format12_24, uint32_t Hours, uint32_t Minutes, uint32_t Seconds) -{ - register uint32_t temp = 0U; - - temp = Format12_24 | (((Hours & 0xF0U) << (RTC_ALRMAR_HT_Pos - 4U)) | ((Hours & 0x0FU) << RTC_ALRMAR_HU_Pos)) | \ - (((Minutes & 0xF0U) << (RTC_ALRMAR_MNT_Pos - 4U)) | ((Minutes & 0x0FU) << RTC_ALRMAR_MNU_Pos)) | \ - (((Seconds & 0xF0U) << (RTC_ALRMAR_ST_Pos - 4U)) | ((Seconds & 0x0FU) << RTC_ALRMAR_SU_Pos)); - - MODIFY_REG(RTCx->ALRMAR, RTC_ALRMAR_PM | RTC_ALRMAR_HT | RTC_ALRMAR_HU | RTC_ALRMAR_MNT | RTC_ALRMAR_MNU | RTC_ALRMAR_ST | RTC_ALRMAR_SU, temp); -} - -/** - * @brief Get Alarm B Time (hour, minute and second) in BCD format - * @note helper macros __LL_RTC_GET_HOUR, __LL_RTC_GET_MINUTE and __LL_RTC_GET_SECOND - * are available to get independently each parameter. - * @rmtoll ALRMAR HT LL_RTC_ALMA_GetTime\n - * ALRMAR HU LL_RTC_ALMA_GetTime\n - * ALRMAR MNT LL_RTC_ALMA_GetTime\n - * ALRMAR MNU LL_RTC_ALMA_GetTime\n - * ALRMAR ST LL_RTC_ALMA_GetTime\n - * ALRMAR SU LL_RTC_ALMA_GetTime - * @param RTCx RTC Instance - * @retval Combination of hours, minutes and seconds. - */ -__STATIC_INLINE uint32_t LL_RTC_ALMA_GetTime(RTC_TypeDef *RTCx) -{ - return (uint32_t)((LL_RTC_ALMA_GetHour(RTCx) << RTC_OFFSET_HOUR) | (LL_RTC_ALMA_GetMinute(RTCx) << RTC_OFFSET_MINUTE) | LL_RTC_ALMA_GetSecond(RTCx)); -} - -/** - * @brief Set Alarm A Mask the most-significant bits starting at this bit - * @note This register can be written only when ALRAE is reset in RTC_CR register, - * or in initialization mode. - * @rmtoll ALRMASSR MASKSS LL_RTC_ALMA_SetSubSecondMask - * @param RTCx RTC Instance - * @param Mask Value between Min_Data=0x00 and Max_Data=0xF - * @retval None - */ -__STATIC_INLINE void LL_RTC_ALMA_SetSubSecondMask(RTC_TypeDef *RTCx, uint32_t Mask) -{ - MODIFY_REG(RTCx->ALRMASSR, RTC_ALRMASSR_MASKSS, Mask << RTC_ALRMASSR_MASKSS_Pos); -} - -/** - * @brief Get Alarm A Mask the most-significant bits starting at this bit - * @rmtoll ALRMASSR MASKSS LL_RTC_ALMA_GetSubSecondMask - * @param RTCx RTC Instance - * @retval Value between Min_Data=0x00 and Max_Data=0xF - */ -__STATIC_INLINE uint32_t LL_RTC_ALMA_GetSubSecondMask(RTC_TypeDef *RTCx) -{ - return (uint32_t)(READ_BIT(RTCx->ALRMASSR, RTC_ALRMASSR_MASKSS) >> RTC_ALRMASSR_MASKSS_Pos); -} - -/** - * @brief Set Alarm A Sub seconds value - * @rmtoll ALRMASSR SS LL_RTC_ALMA_SetSubSecond - * @param RTCx RTC Instance - * @param Subsecond Value between Min_Data=0x00 and Max_Data=0x7FFF - * @retval None - */ -__STATIC_INLINE void LL_RTC_ALMA_SetSubSecond(RTC_TypeDef *RTCx, uint32_t Subsecond) -{ - MODIFY_REG(RTCx->ALRMASSR, RTC_ALRMASSR_SS, Subsecond); -} - -/** - * @brief Get Alarm A Sub seconds value - * @rmtoll ALRMASSR SS LL_RTC_ALMA_GetSubSecond - * @param RTCx RTC Instance - * @retval Value between Min_Data=0x00 and Max_Data=0x7FFF - */ -__STATIC_INLINE uint32_t LL_RTC_ALMA_GetSubSecond(RTC_TypeDef *RTCx) -{ - return (uint32_t)(READ_BIT(RTCx->ALRMASSR, RTC_ALRMASSR_SS)); -} - -/** - * @} - */ - -/** @defgroup RTC_LL_EF_ALARMB ALARMB - * @{ - */ - -/** - * @brief Enable Alarm B - * @note Bit is write-protected. @ref LL_RTC_DisableWriteProtection function should be called before. - * @rmtoll CR ALRBE LL_RTC_ALMB_Enable - * @param RTCx RTC Instance - * @retval None - */ -__STATIC_INLINE void LL_RTC_ALMB_Enable(RTC_TypeDef *RTCx) -{ - SET_BIT(RTCx->CR, RTC_CR_ALRBE); -} - -/** - * @brief Disable Alarm B - * @note Bit is write-protected. @ref LL_RTC_DisableWriteProtection function should be called before. - * @rmtoll CR ALRBE LL_RTC_ALMB_Disable - * @param RTCx RTC Instance - * @retval None - */ -__STATIC_INLINE void LL_RTC_ALMB_Disable(RTC_TypeDef *RTCx) -{ - CLEAR_BIT(RTCx->CR, RTC_CR_ALRBE); -} - -/** - * @brief Specify the Alarm B masks. - * @rmtoll ALRMBR MSK4 LL_RTC_ALMB_SetMask\n - * ALRMBR MSK3 LL_RTC_ALMB_SetMask\n - * ALRMBR MSK2 LL_RTC_ALMB_SetMask\n - * ALRMBR MSK1 LL_RTC_ALMB_SetMask - * @param RTCx RTC Instance - * @param Mask This parameter can be a combination of the following values: - * @arg @ref LL_RTC_ALMB_MASK_NONE - * @arg @ref LL_RTC_ALMB_MASK_DATEWEEKDAY - * @arg @ref LL_RTC_ALMB_MASK_HOURS - * @arg @ref LL_RTC_ALMB_MASK_MINUTES - * @arg @ref LL_RTC_ALMB_MASK_SECONDS - * @arg @ref LL_RTC_ALMB_MASK_ALL - * @retval None - */ -__STATIC_INLINE void LL_RTC_ALMB_SetMask(RTC_TypeDef *RTCx, uint32_t Mask) -{ - MODIFY_REG(RTCx->ALRMBR, RTC_ALRMBR_MSK4 | RTC_ALRMBR_MSK3 | RTC_ALRMBR_MSK2 | RTC_ALRMBR_MSK1, Mask); -} - -/** - * @brief Get the Alarm B masks. - * @rmtoll ALRMBR MSK4 LL_RTC_ALMB_GetMask\n - * ALRMBR MSK3 LL_RTC_ALMB_GetMask\n - * ALRMBR MSK2 LL_RTC_ALMB_GetMask\n - * ALRMBR MSK1 LL_RTC_ALMB_GetMask - * @param RTCx RTC Instance - * @retval Returned value can be can be a combination of the following values: - * @arg @ref LL_RTC_ALMB_MASK_NONE - * @arg @ref LL_RTC_ALMB_MASK_DATEWEEKDAY - * @arg @ref LL_RTC_ALMB_MASK_HOURS - * @arg @ref LL_RTC_ALMB_MASK_MINUTES - * @arg @ref LL_RTC_ALMB_MASK_SECONDS - * @arg @ref LL_RTC_ALMB_MASK_ALL - */ -__STATIC_INLINE uint32_t LL_RTC_ALMB_GetMask(RTC_TypeDef *RTCx) -{ - return (uint32_t)(READ_BIT(RTCx->ALRMBR, RTC_ALRMBR_MSK4 | RTC_ALRMBR_MSK3 | RTC_ALRMBR_MSK2 | RTC_ALRMBR_MSK1)); -} - -/** - * @brief Enable AlarmB Week day selection (DU[3:0] represents the week day. DT[1:0] is do not care) - * @rmtoll ALRMBR WDSEL LL_RTC_ALMB_EnableWeekday - * @param RTCx RTC Instance - * @retval None - */ -__STATIC_INLINE void LL_RTC_ALMB_EnableWeekday(RTC_TypeDef *RTCx) -{ - SET_BIT(RTCx->ALRMBR, RTC_ALRMBR_WDSEL); -} - -/** - * @brief Disable AlarmB Week day selection (DU[3:0] represents the date ) - * @rmtoll ALRMBR WDSEL LL_RTC_ALMB_DisableWeekday - * @param RTCx RTC Instance - * @retval None - */ -__STATIC_INLINE void LL_RTC_ALMB_DisableWeekday(RTC_TypeDef *RTCx) -{ - CLEAR_BIT(RTCx->ALRMBR, RTC_ALRMBR_WDSEL); -} - -/** - * @brief Set ALARM B Day in BCD format - * @note helper macro __LL_RTC_CONVERT_BIN2BCD is available to convert Day from binary to BCD format - * @rmtoll ALRMBR DT LL_RTC_ALMB_SetDay\n - * ALRMBR DU LL_RTC_ALMB_SetDay - * @param RTCx RTC Instance - * @param Day Value between Min_Data=0x01 and Max_Data=0x31 - * @retval None - */ -__STATIC_INLINE void LL_RTC_ALMB_SetDay(RTC_TypeDef *RTCx, uint32_t Day) -{ - MODIFY_REG(RTC->ALRMBR, (RTC_ALRMBR_DT | RTC_ALRMBR_DU), - (((Day & 0xF0U) << (RTC_ALRMBR_DT_Pos - 4U)) | ((Day & 0x0FU) << RTC_ALRMBR_DU_Pos))); -} - -/** - * @brief Get ALARM B Day in BCD format - * @note helper macro __LL_RTC_CONVERT_BCD2BIN is available to convert Day from BCD to Binary format - * @rmtoll ALRMBR DT LL_RTC_ALMB_GetDay\n - * ALRMBR DU LL_RTC_ALMB_GetDay - * @param RTCx RTC Instance - * @retval Value between Min_Data=0x01 and Max_Data=0x31 - */ -__STATIC_INLINE uint32_t LL_RTC_ALMB_GetDay(RTC_TypeDef *RTCx) -{ - return (uint32_t)(( READ_BIT(RTCx->ALRMBR, (RTC_ALRMBR_DT | RTC_ALRMBR_DU))) >> RTC_ALRMBR_DU_Pos); -} - -/** - * @brief Set ALARM B Weekday - * @rmtoll ALRMBR DU LL_RTC_ALMB_SetWeekDay - * @param RTCx RTC Instance - * @param WeekDay This parameter can be one of the following values: - * @arg @ref LL_RTC_WEEKDAY_MONDAY - * @arg @ref LL_RTC_WEEKDAY_TUESDAY - * @arg @ref LL_RTC_WEEKDAY_WEDNESDAY - * @arg @ref LL_RTC_WEEKDAY_THURSDAY - * @arg @ref LL_RTC_WEEKDAY_FRIDAY - * @arg @ref LL_RTC_WEEKDAY_SATURDAY - * @arg @ref LL_RTC_WEEKDAY_SUNDAY - * @retval None - */ -__STATIC_INLINE void LL_RTC_ALMB_SetWeekDay(RTC_TypeDef *RTCx, uint32_t WeekDay) -{ - MODIFY_REG(RTCx->ALRMBR, RTC_ALRMBR_DU, WeekDay << RTC_ALRMBR_DU_Pos); -} - -/** - * @brief Get ALARM B Weekday - * @rmtoll ALRMBR DU LL_RTC_ALMB_GetWeekDay - * @param RTCx RTC Instance - * @retval Returned value can be one of the following values: - * @arg @ref LL_RTC_WEEKDAY_MONDAY - * @arg @ref LL_RTC_WEEKDAY_TUESDAY - * @arg @ref LL_RTC_WEEKDAY_WEDNESDAY - * @arg @ref LL_RTC_WEEKDAY_THURSDAY - * @arg @ref LL_RTC_WEEKDAY_FRIDAY - * @arg @ref LL_RTC_WEEKDAY_SATURDAY - * @arg @ref LL_RTC_WEEKDAY_SUNDAY - */ -__STATIC_INLINE uint32_t LL_RTC_ALMB_GetWeekDay(RTC_TypeDef *RTCx) -{ - return (uint32_t)(READ_BIT(RTCx->ALRMBR, RTC_ALRMBR_DU) >> RTC_ALRMBR_DU_Pos); -} - -/** - * @brief Set ALARM B time format (AM/24-hour or PM notation) - * @rmtoll ALRMBR PM LL_RTC_ALMB_SetTimeFormat - * @param RTCx RTC Instance - * @param TimeFormat This parameter can be one of the following values: - * @arg @ref LL_RTC_ALMB_TIME_FORMAT_AM - * @arg @ref LL_RTC_ALMB_TIME_FORMAT_PM - * @retval None - */ -__STATIC_INLINE void LL_RTC_ALMB_SetTimeFormat(RTC_TypeDef *RTCx, uint32_t TimeFormat) -{ - MODIFY_REG(RTCx->ALRMBR, RTC_ALRMBR_PM, TimeFormat); -} - -/** - * @brief Get ALARM B time format (AM or PM notation) - * @rmtoll ALRMBR PM LL_RTC_ALMB_GetTimeFormat - * @param RTCx RTC Instance - * @retval Returned value can be one of the following values: - * @arg @ref LL_RTC_ALMB_TIME_FORMAT_AM - * @arg @ref LL_RTC_ALMB_TIME_FORMAT_PM - */ -__STATIC_INLINE uint32_t LL_RTC_ALMB_GetTimeFormat(RTC_TypeDef *RTCx) -{ - return (uint32_t)(READ_BIT(RTCx->ALRMBR, RTC_ALRMBR_PM)); -} - -/** - * @brief Set ALARM B Hours in BCD format - * @note helper macro __LL_RTC_CONVERT_BIN2BCD is available to convert Hours from binary to BCD format - * @rmtoll ALRMBR HT LL_RTC_ALMB_SetHour\n - * ALRMBR HU LL_RTC_ALMB_SetHour - * @param RTCx RTC Instance - * @param Hours Value between Min_Data=0x01 and Max_Data=0x12 or between Min_Data=0x00 and Max_Data=0x23 - * @retval None - */ -__STATIC_INLINE void LL_RTC_ALMB_SetHour(RTC_TypeDef *RTCx, uint32_t Hours) -{ - MODIFY_REG(RTCx->ALRMBR, (RTC_ALRMBR_HT | RTC_ALRMBR_HU), - (((Hours & 0xF0U) << (RTC_ALRMBR_HT_Pos - 4U)) | ((Hours & 0x0FU) << RTC_ALRMBR_HU_Pos))); -} - -/** - * @brief Get ALARM B Hours in BCD format - * @note helper macro __LL_RTC_CONVERT_BCD2BIN is available to convert Hours from BCD to Binary format - * @rmtoll ALRMBR HT LL_RTC_ALMB_GetHour\n - * ALRMBR HU LL_RTC_ALMB_GetHour - * @param RTCx RTC Instance - * @retval Value between Min_Data=0x01 and Max_Data=0x12 or between Min_Data=0x00 and Max_Data=0x23 - */ -__STATIC_INLINE uint32_t LL_RTC_ALMB_GetHour(RTC_TypeDef *RTCx) -{ - return (uint32_t)((READ_BIT(RTCx->ALRMBR, (RTC_ALRMBR_HT | RTC_ALRMBR_HU))) >> RTC_ALRMBR_HU_Pos); -} - -/** - * @brief Set ALARM B Minutes in BCD format - * @note helper macro __LL_RTC_CONVERT_BIN2BCD is available to convert Minutes from binary to BCD format - * @rmtoll ALRMBR MNT LL_RTC_ALMB_SetMinute\n - * ALRMBR MNU LL_RTC_ALMB_SetMinute - * @param RTCx RTC Instance - * @param Minutes between Min_Data=0x00 and Max_Data=0x59 - * @retval None - */ -__STATIC_INLINE void LL_RTC_ALMB_SetMinute(RTC_TypeDef *RTCx, uint32_t Minutes) -{ - MODIFY_REG(RTCx->ALRMBR, (RTC_ALRMBR_MNT | RTC_ALRMBR_MNU), - (((Minutes & 0xF0U) << (RTC_ALRMBR_MNT_Pos - 4U)) | ((Minutes & 0x0FU) << RTC_ALRMBR_MNU_Pos))); -} - -/** - * @brief Get ALARM B Minutes in BCD format - * @note helper macro __LL_RTC_CONVERT_BCD2BIN is available to convert Minutes from BCD to Binary format - * @rmtoll ALRMBR MNT LL_RTC_ALMB_GetMinute\n - * ALRMBR MNU LL_RTC_ALMB_GetMinute - * @param RTCx RTC Instance - * @retval Value between Min_Data=0x00 and Max_Data=0x59 - */ -__STATIC_INLINE uint32_t LL_RTC_ALMB_GetMinute(RTC_TypeDef *RTCx) -{ - return (uint32_t)((READ_BIT(RTCx->ALRMBR, (RTC_ALRMBR_MNT | RTC_ALRMBR_MNU))) >> RTC_ALRMBR_MNU_Pos); -} - -/** - * @brief Set ALARM B Seconds in BCD format - * @note helper macro __LL_RTC_CONVERT_BIN2BCD is available to convert Seconds from binary to BCD format - * @rmtoll ALRMBR ST LL_RTC_ALMB_SetSecond\n - * ALRMBR SU LL_RTC_ALMB_SetSecond - * @param RTCx RTC Instance - * @param Seconds Value between Min_Data=0x00 and Max_Data=0x59 - * @retval None - */ -__STATIC_INLINE void LL_RTC_ALMB_SetSecond(RTC_TypeDef *RTCx, uint32_t Seconds) -{ - MODIFY_REG(RTCx->ALRMBR, (RTC_ALRMBR_ST | RTC_ALRMBR_SU), - (((Seconds & 0xF0U) << (RTC_ALRMBR_ST_Pos - 4U)) | ((Seconds & 0x0FU) << RTC_ALRMBR_SU_Pos))); -} - -/** - * @brief Get ALARM B Seconds in BCD format - * @note helper macro __LL_RTC_CONVERT_BCD2BIN is available to convert Seconds from BCD to Binary format - * @rmtoll ALRMBR ST LL_RTC_ALMB_GetSecond\n - * ALRMBR SU LL_RTC_ALMB_GetSecond - * @param RTCx RTC Instance - * @retval Value between Min_Data=0x00 and Max_Data=0x59 - */ -__STATIC_INLINE uint32_t LL_RTC_ALMB_GetSecond(RTC_TypeDef *RTCx) -{ - register uint32_t temp = 0U; - - temp = READ_BIT(RTCx->ALRMBR, (RTC_ALRMBR_ST | RTC_ALRMBR_SU)); - return (uint32_t)((((temp & RTC_ALRMBR_ST) >> RTC_ALRMBR_ST_Pos) << 4U) | ((temp & RTC_ALRMBR_SU) >> RTC_ALRMBR_SU_Pos)); -} - -/** - * @brief Set Alarm B Time (hour, minute and second) in BCD format - * @rmtoll ALRMBR PM LL_RTC_ALMB_ConfigTime\n - * ALRMBR HT LL_RTC_ALMB_ConfigTime\n - * ALRMBR HU LL_RTC_ALMB_ConfigTime\n - * ALRMBR MNT LL_RTC_ALMB_ConfigTime\n - * ALRMBR MNU LL_RTC_ALMB_ConfigTime\n - * ALRMBR ST LL_RTC_ALMB_ConfigTime\n - * ALRMBR SU LL_RTC_ALMB_ConfigTime - * @param RTCx RTC Instance - * @param Format12_24 This parameter can be one of the following values: - * @arg @ref LL_RTC_ALMB_TIME_FORMAT_AM - * @arg @ref LL_RTC_ALMB_TIME_FORMAT_PM - * @param Hours Value between Min_Data=0x01 and Max_Data=0x12 or between Min_Data=0x00 and Max_Data=0x23 - * @param Minutes Value between Min_Data=0x00 and Max_Data=0x59 - * @param Seconds Value between Min_Data=0x00 and Max_Data=0x59 - * @retval None - */ -__STATIC_INLINE void LL_RTC_ALMB_ConfigTime(RTC_TypeDef *RTCx, uint32_t Format12_24, uint32_t Hours, uint32_t Minutes, uint32_t Seconds) -{ - register uint32_t temp = 0U; - - temp = Format12_24 | (((Hours & 0xF0U) << (RTC_ALRMBR_HT_Pos - 4U)) | ((Hours & 0x0FU) << RTC_ALRMBR_HU_Pos)) | \ - (((Minutes & 0xF0U) << (RTC_ALRMBR_MNT_Pos - 4U)) | ((Minutes & 0x0FU) << RTC_ALRMBR_MNU_Pos)) | \ - (((Seconds & 0xF0U) << (RTC_ALRMBR_ST_Pos - 4U)) | ((Seconds & 0x0FU) << RTC_ALRMBR_SU_Pos)); - - MODIFY_REG(RTCx->ALRMBR, RTC_ALRMBR_PM| RTC_ALRMBR_HT | RTC_ALRMBR_HU | RTC_ALRMBR_MNT | RTC_ALRMBR_MNU | RTC_ALRMBR_ST | RTC_ALRMBR_SU, temp); -} - -/** - * @brief Get Alarm B Time (hour, minute and second) in BCD format - * @note helper macros __LL_RTC_GET_HOUR, __LL_RTC_GET_MINUTE and __LL_RTC_GET_SECOND - * are available to get independently each parameter. - * @rmtoll ALRMBR HT LL_RTC_ALMB_GetTime\n - * ALRMBR HU LL_RTC_ALMB_GetTime\n - * ALRMBR MNT LL_RTC_ALMB_GetTime\n - * ALRMBR MNU LL_RTC_ALMB_GetTime\n - * ALRMBR ST LL_RTC_ALMB_GetTime\n - * ALRMBR SU LL_RTC_ALMB_GetTime - * @param RTCx RTC Instance - * @retval Combination of hours, minutes and seconds. - */ -__STATIC_INLINE uint32_t LL_RTC_ALMB_GetTime(RTC_TypeDef *RTCx) -{ - return (uint32_t)((LL_RTC_ALMB_GetHour(RTCx) << RTC_OFFSET_HOUR) | (LL_RTC_ALMB_GetMinute(RTCx) << RTC_OFFSET_MINUTE) | LL_RTC_ALMB_GetSecond(RTCx)); -} - -/** - * @brief Set Alarm B Mask the most-significant bits starting at this bit - * @note This register can be written only when ALRBE is reset in RTC_CR register, - * or in initialization mode. - * @rmtoll ALRMBSSR MASKSS LL_RTC_ALMB_SetSubSecondMask - * @param RTCx RTC Instance - * @param Mask Value between Min_Data=0x00 and Max_Data=0xF - * @retval None - */ -__STATIC_INLINE void LL_RTC_ALMB_SetSubSecondMask(RTC_TypeDef *RTCx, uint32_t Mask) -{ - MODIFY_REG(RTCx->ALRMBSSR, RTC_ALRMBSSR_MASKSS, Mask << RTC_ALRMBSSR_MASKSS_Pos); -} - -/** - * @brief Get Alarm B Mask the most-significant bits starting at this bit - * @rmtoll ALRMBSSR MASKSS LL_RTC_ALMB_GetSubSecondMask - * @param RTCx RTC Instance - * @retval Value between Min_Data=0x00 and Max_Data=0xF - */ -__STATIC_INLINE uint32_t LL_RTC_ALMB_GetSubSecondMask(RTC_TypeDef *RTCx) -{ - return (uint32_t)(READ_BIT(RTCx->ALRMBSSR, RTC_ALRMBSSR_MASKSS) >> RTC_ALRMBSSR_MASKSS_Pos); -} - -/** - * @brief Set Alarm B Sub seconds value - * @rmtoll ALRMBSSR SS LL_RTC_ALMB_SetSubSecond - * @param RTCx RTC Instance - * @param Subsecond Value between Min_Data=0x00 and Max_Data=0x7FFF - * @retval None - */ -__STATIC_INLINE void LL_RTC_ALMB_SetSubSecond(RTC_TypeDef *RTCx, uint32_t Subsecond) -{ - MODIFY_REG(RTCx->ALRMBSSR, RTC_ALRMBSSR_SS, Subsecond); -} - -/** - * @brief Get Alarm B Sub seconds value - * @rmtoll ALRMBSSR SS LL_RTC_ALMB_GetSubSecond - * @param RTCx RTC Instance - * @retval Value between Min_Data=0x00 and Max_Data=0x7FFF - */ -__STATIC_INLINE uint32_t LL_RTC_ALMB_GetSubSecond(RTC_TypeDef *RTCx) -{ - return (uint32_t)(READ_BIT(RTCx->ALRMBSSR, RTC_ALRMBSSR_SS)); -} - -/** - * @} - */ - -/** @defgroup RTC_LL_EF_Timestamp Timestamp - * @{ - */ - -/** - * @brief Enable Timestamp - * @note Bit is write-protected. @ref LL_RTC_DisableWriteProtection function should be called before. - * @rmtoll CR TSE LL_RTC_TS_Enable - * @param RTCx RTC Instance - * @retval None - */ -__STATIC_INLINE void LL_RTC_TS_Enable(RTC_TypeDef *RTCx) -{ - SET_BIT(RTCx->CR, RTC_CR_TSE); -} - -/** - * @brief Disable Timestamp - * @note Bit is write-protected. @ref LL_RTC_DisableWriteProtection function should be called before. - * @rmtoll CR TSE LL_RTC_TS_Disable - * @param RTCx RTC Instance - * @retval None - */ -__STATIC_INLINE void LL_RTC_TS_Disable(RTC_TypeDef *RTCx) -{ - CLEAR_BIT(RTCx->CR, RTC_CR_TSE); -} - -/** - * @brief Set Time-stamp event active edge - * @note Bit is write-protected. @ref LL_RTC_DisableWriteProtection function should be called before. - * @note TSE must be reset when TSEDGE is changed to avoid unwanted TSF setting - * @rmtoll CR TSEDGE LL_RTC_TS_SetActiveEdge - * @param RTCx RTC Instance - * @param Edge This parameter can be one of the following values: - * @arg @ref LL_RTC_TIMESTAMP_EDGE_RISING - * @arg @ref LL_RTC_TIMESTAMP_EDGE_FALLING - * @retval None - */ -__STATIC_INLINE void LL_RTC_TS_SetActiveEdge(RTC_TypeDef *RTCx, uint32_t Edge) -{ - MODIFY_REG(RTCx->CR, RTC_CR_TSEDGE, Edge); -} - -/** - * @brief Get Time-stamp event active edge - * @note Bit is write-protected. @ref LL_RTC_DisableWriteProtection function should be called before. - * @rmtoll CR TSEDGE LL_RTC_TS_GetActiveEdge - * @param RTCx RTC Instance - * @retval Returned value can be one of the following values: - * @arg @ref LL_RTC_TIMESTAMP_EDGE_RISING - * @arg @ref LL_RTC_TIMESTAMP_EDGE_FALLING - */ -__STATIC_INLINE uint32_t LL_RTC_TS_GetActiveEdge(RTC_TypeDef *RTCx) -{ - return (uint32_t)(READ_BIT(RTCx->CR, RTC_CR_TSEDGE)); -} - -/** - * @brief Get Timestamp AM/PM notation (AM or 24-hour format) - * @rmtoll TSTR PM LL_RTC_TS_GetTimeFormat - * @param RTCx RTC Instance - * @retval Returned value can be one of the following values: - * @arg @ref LL_RTC_TS_TIME_FORMAT_AM - * @arg @ref LL_RTC_TS_TIME_FORMAT_PM - */ -__STATIC_INLINE uint32_t LL_RTC_TS_GetTimeFormat(RTC_TypeDef *RTCx) -{ - return (uint32_t)(READ_BIT(RTCx->TSTR, RTC_TSTR_PM)); -} - -/** - * @brief Get Timestamp Hours in BCD format - * @note helper macro __LL_RTC_CONVERT_BCD2BIN is available to convert Hours from BCD to Binary format - * @rmtoll TSTR HT LL_RTC_TS_GetHour\n - * TSTR HU LL_RTC_TS_GetHour - * @param RTCx RTC Instance - * @retval Value between Min_Data=0x01 and Max_Data=0x12 or between Min_Data=0x00 and Max_Data=0x23 - */ -__STATIC_INLINE uint32_t LL_RTC_TS_GetHour(RTC_TypeDef *RTCx) -{ - return (uint32_t)(READ_BIT(RTCx->TSTR, RTC_TSTR_HT | RTC_TSTR_HU) >> RTC_TSTR_HU_Pos); -} - -/** - * @brief Get Timestamp Minutes in BCD format - * @note helper macro __LL_RTC_CONVERT_BCD2BIN is available to convert Minutes from BCD to Binary format - * @rmtoll TSTR MNT LL_RTC_TS_GetMinute\n - * TSTR MNU LL_RTC_TS_GetMinute - * @param RTCx RTC Instance - * @retval Value between Min_Data=0x00 and Max_Data=0x59 - */ -__STATIC_INLINE uint32_t LL_RTC_TS_GetMinute(RTC_TypeDef *RTCx) -{ - return (uint32_t)(READ_BIT(RTCx->TSTR, RTC_TSTR_MNT | RTC_TSTR_MNU) >> RTC_TSTR_MNU_Pos); -} - -/** - * @brief Get Timestamp Seconds in BCD format - * @note helper macro __LL_RTC_CONVERT_BCD2BIN is available to convert Seconds from BCD to Binary format - * @rmtoll TSTR ST LL_RTC_TS_GetSecond\n - * TSTR SU LL_RTC_TS_GetSecond - * @param RTCx RTC Instance - * @retval Value between Min_Data=0x00 and Max_Data=0x59 - */ -__STATIC_INLINE uint32_t LL_RTC_TS_GetSecond(RTC_TypeDef *RTCx) -{ - return (uint32_t)(READ_BIT(RTCx->TSTR, RTC_TSTR_ST | RTC_TSTR_SU)); -} - -/** - * @brief Get Timestamp time (hour, minute and second) in BCD format - * @note helper macros __LL_RTC_GET_HOUR, __LL_RTC_GET_MINUTE and __LL_RTC_GET_SECOND - * are available to get independently each parameter. - * @rmtoll TSTR HT LL_RTC_TS_GetTime\n - * TSTR HU LL_RTC_TS_GetTime\n - * TSTR MNT LL_RTC_TS_GetTime\n - * TSTR MNU LL_RTC_TS_GetTime\n - * TSTR ST LL_RTC_TS_GetTime\n - * TSTR SU LL_RTC_TS_GetTime - * @param RTCx RTC Instance - * @retval Combination of hours, minutes and seconds. - */ -__STATIC_INLINE uint32_t LL_RTC_TS_GetTime(RTC_TypeDef *RTCx) -{ - return (uint32_t)(READ_BIT(RTCx->TSTR, - RTC_TSTR_HT | RTC_TSTR_HU | RTC_TSTR_MNT | RTC_TSTR_MNU | RTC_TSTR_ST | RTC_TSTR_SU)); -} - -/** - * @brief Get Timestamp Week day - * @rmtoll TSDR WDU LL_RTC_TS_GetWeekDay - * @param RTCx RTC Instance - * @retval Returned value can be one of the following values: - * @arg @ref LL_RTC_WEEKDAY_MONDAY - * @arg @ref LL_RTC_WEEKDAY_TUESDAY - * @arg @ref LL_RTC_WEEKDAY_WEDNESDAY - * @arg @ref LL_RTC_WEEKDAY_THURSDAY - * @arg @ref LL_RTC_WEEKDAY_FRIDAY - * @arg @ref LL_RTC_WEEKDAY_SATURDAY - * @arg @ref LL_RTC_WEEKDAY_SUNDAY - */ -__STATIC_INLINE uint32_t LL_RTC_TS_GetWeekDay(RTC_TypeDef *RTCx) -{ - return (uint32_t)(READ_BIT(RTCx->TSDR, RTC_TSDR_WDU) >> RTC_TSDR_WDU_Pos); -} - -/** - * @brief Get Timestamp Month in BCD format - * @note helper macro __LL_RTC_CONVERT_BCD2BIN is available to convert Month from BCD to Binary format - * @rmtoll TSDR MT LL_RTC_TS_GetMonth\n - * TSDR MU LL_RTC_TS_GetMonth - * @param RTCx RTC Instance - * @retval Returned value can be one of the following values: - * @arg @ref LL_RTC_MONTH_JANUARY - * @arg @ref LL_RTC_MONTH_FEBRUARY - * @arg @ref LL_RTC_MONTH_MARCH - * @arg @ref LL_RTC_MONTH_APRIL - * @arg @ref LL_RTC_MONTH_MAY - * @arg @ref LL_RTC_MONTH_JUNE - * @arg @ref LL_RTC_MONTH_JULY - * @arg @ref LL_RTC_MONTH_AUGUST - * @arg @ref LL_RTC_MONTH_SEPTEMBER - * @arg @ref LL_RTC_MONTH_OCTOBER - * @arg @ref LL_RTC_MONTH_NOVEMBER - * @arg @ref LL_RTC_MONTH_DECEMBER - */ -__STATIC_INLINE uint32_t LL_RTC_TS_GetMonth(RTC_TypeDef *RTCx) -{ - return (uint32_t)(READ_BIT(RTCx->TSDR, RTC_TSDR_MT | RTC_TSDR_MU) >> RTC_TSDR_MU_Pos); -} - -/** - * @brief Get Timestamp Day in BCD format - * @note helper macro __LL_RTC_CONVERT_BCD2BIN is available to convert Day from BCD to Binary format - * @rmtoll TSDR DT LL_RTC_TS_GetDay\n - * TSDR DU LL_RTC_TS_GetDay - * @param RTCx RTC Instance - * @retval Value between Min_Data=0x01 and Max_Data=0x31 - */ -__STATIC_INLINE uint32_t LL_RTC_TS_GetDay(RTC_TypeDef *RTCx) -{ - return (uint32_t)(READ_BIT(RTCx->TSDR, RTC_TSDR_DT | RTC_TSDR_DU)); -} - -/** - * @brief Get Timestamp date (WeekDay, Day and Month) in BCD format - * @note helper macros __LL_RTC_GET_WEEKDAY, __LL_RTC_GET_MONTH, - * and __LL_RTC_GET_DAY are available to get independently each parameter. - * @rmtoll TSDR WDU LL_RTC_TS_GetDate\n - * TSDR MT LL_RTC_TS_GetDate\n - * TSDR MU LL_RTC_TS_GetDate\n - * TSDR DT LL_RTC_TS_GetDate\n - * TSDR DU LL_RTC_TS_GetDate - * @param RTCx RTC Instance - * @retval Combination of Weekday, Day and Month - */ -__STATIC_INLINE uint32_t LL_RTC_TS_GetDate(RTC_TypeDef *RTCx) -{ - return (uint32_t)(READ_BIT(RTCx->TSDR, RTC_TSDR_WDU | RTC_TSDR_MT | RTC_TSDR_MU | RTC_TSDR_DT | RTC_TSDR_DU)); -} - -/** - * @brief Get time-stamp sub second value - * @rmtoll TSSSR SS LL_RTC_TS_GetSubSecond - * @param RTCx RTC Instance - * @retval Value between Min_Data=0x00 and Max_Data=0xFFFF - */ -__STATIC_INLINE uint32_t LL_RTC_TS_GetSubSecond(RTC_TypeDef *RTCx) -{ - return (uint32_t)(READ_BIT(RTCx->TSSSR, RTC_TSSSR_SS)); -} - -#if defined(RTC_TAFCR_TAMPTS) -/** - * @brief Activate timestamp on tamper detection event - * @rmtoll TAFCR TAMPTS LL_RTC_TS_EnableOnTamper - * @param RTCx RTC Instance - * @retval None - */ -__STATIC_INLINE void LL_RTC_TS_EnableOnTamper(RTC_TypeDef *RTCx) -{ - SET_BIT(RTCx->TAFCR, RTC_TAFCR_TAMPTS); -} - -/** - * @brief Disable timestamp on tamper detection event - * @rmtoll TAFCR TAMPTS LL_RTC_TS_DisableOnTamper - * @param RTCx RTC Instance - * @retval None - */ -__STATIC_INLINE void LL_RTC_TS_DisableOnTamper(RTC_TypeDef *RTCx) -{ - CLEAR_BIT(RTCx->TAFCR, RTC_TAFCR_TAMPTS); -} -#endif /* RTC_TAFCR_TAMPTS */ - -/** - * @brief Set timestamp Pin - * @rmtoll TAFCR TSINSEL LL_RTC_TS_SetPin - * @param RTCx RTC Instance - * @param TSPin specifies the RTC TimeStamp Pin. - * This parameter can be one of the following values: - * @arg LL_RTC_TimeStampPin_Default: RTC_AF1 is used as RTC TimeStamp. - * @arg LL_RTC_TimeStampPin_Pos1: RTC_AF2 is selected as RTC TimeStamp. (*) - * - * (*) value not defined in all devices. - * @retval None - */ -__STATIC_INLINE void LL_RTC_TS_SetPin(RTC_TypeDef *RTCx, uint32_t TSPin) -{ - MODIFY_REG(RTCx->TAFCR, RTC_TAFCR_TSINSEL , TSPin); -} - -/** - * @brief Get timestamp Pin - * @rmtoll TAFCR TSINSEL LL_RTC_TS_GetPin - * @param RTCx RTC Instance - * @retval Returned value can be one of the following values: - * @arg LL_RTC_TimeStampPin_Default: RTC_AF1 is used as RTC TimeStamp Pin. - * @arg LL_RTC_TimeStampPin_Pos1: RTC_AF2 is selected as RTC TimeStamp Pin. (*) - * - * (*) value not defined in all devices. - * @retval None - */ - -__STATIC_INLINE uint32_t LL_RTC_TS_GetPin(RTC_TypeDef *RTCx) -{ - return (uint32_t)(READ_BIT(RTCx->TAFCR, RTC_TAFCR_TSINSEL)); -} - -/** - * @} - */ - -/** @defgroup RTC_LL_EF_Tamper Tamper - * @{ - */ - -/** - * @brief Enable RTC_TAMPx input detection - * @rmtoll TAFCR TAMP1E LL_RTC_TAMPER_Enable\n - * TAFCR TAMP2E LL_RTC_TAMPER_Enable\n - * @param RTCx RTC Instance - * @param Tamper This parameter can be a combination of the following values: - * @arg @ref LL_RTC_TAMPER_1 - * @arg @ref LL_RTC_TAMPER_2 (*) - * - * (*) value not defined in all devices. - * @retval None - */ -__STATIC_INLINE void LL_RTC_TAMPER_Enable(RTC_TypeDef *RTCx, uint32_t Tamper) -{ - SET_BIT(RTCx->TAFCR, Tamper); -} - -/** - * @brief Clear RTC_TAMPx input detection - * @rmtoll TAFCR TAMP1E LL_RTC_TAMPER_Disable\n - * TAFCR TAMP2E LL_RTC_TAMPER_Disable\n - * @param RTCx RTC Instance - * @param Tamper This parameter can be a combination of the following values: - * @arg @ref LL_RTC_TAMPER_1 - * @arg @ref LL_RTC_TAMPER_2 (*) - * - * (*) value not defined in all devices. - * @retval None - */ -__STATIC_INLINE void LL_RTC_TAMPER_Disable(RTC_TypeDef *RTCx, uint32_t Tamper) -{ - CLEAR_BIT(RTCx->TAFCR, Tamper); -} - -#if defined(RTC_TAFCR_TAMPPUDIS) -/** - * @brief Disable RTC_TAMPx pull-up disable (Disable precharge of RTC_TAMPx pins) - * @rmtoll TAFCR TAMPPUDIS LL_RTC_TAMPER_DisablePullUp - * @param RTCx RTC Instance - * @retval None - */ -__STATIC_INLINE void LL_RTC_TAMPER_DisablePullUp(RTC_TypeDef *RTCx) -{ - SET_BIT(RTCx->TAFCR, RTC_TAFCR_TAMPPUDIS); -} - -/** - * @brief Enable RTC_TAMPx pull-up disable ( Precharge RTC_TAMPx pins before sampling) - * @rmtoll TAFCR TAMPPUDIS LL_RTC_TAMPER_EnablePullUp - * @param RTCx RTC Instance - * @retval None - */ -__STATIC_INLINE void LL_RTC_TAMPER_EnablePullUp(RTC_TypeDef *RTCx) -{ - CLEAR_BIT(RTCx->TAFCR, RTC_TAFCR_TAMPPUDIS); -} -#endif /* RTC_TAFCR_TAMPPUDIS */ - -#if defined(RTC_TAFCR_TAMPPRCH) -/** - * @brief Set RTC_TAMPx precharge duration - * @rmtoll TAFCR TAMPPRCH LL_RTC_TAMPER_SetPrecharge - * @param RTCx RTC Instance - * @param Duration This parameter can be one of the following values: - * @arg @ref LL_RTC_TAMPER_DURATION_1RTCCLK - * @arg @ref LL_RTC_TAMPER_DURATION_2RTCCLK - * @arg @ref LL_RTC_TAMPER_DURATION_4RTCCLK - * @arg @ref LL_RTC_TAMPER_DURATION_8RTCCLK - * @retval None - */ -__STATIC_INLINE void LL_RTC_TAMPER_SetPrecharge(RTC_TypeDef *RTCx, uint32_t Duration) -{ - MODIFY_REG(RTCx->TAFCR, RTC_TAFCR_TAMPPRCH, Duration); -} - -/** - * @brief Get RTC_TAMPx precharge duration - * @rmtoll TAFCR TAMPPRCH LL_RTC_TAMPER_GetPrecharge - * @param RTCx RTC Instance - * @retval Returned value can be one of the following values: - * @arg @ref LL_RTC_TAMPER_DURATION_1RTCCLK - * @arg @ref LL_RTC_TAMPER_DURATION_2RTCCLK - * @arg @ref LL_RTC_TAMPER_DURATION_4RTCCLK - * @arg @ref LL_RTC_TAMPER_DURATION_8RTCCLK - */ -__STATIC_INLINE uint32_t LL_RTC_TAMPER_GetPrecharge(RTC_TypeDef *RTCx) -{ - return (uint32_t)(READ_BIT(RTCx->TAFCR, RTC_TAFCR_TAMPPRCH)); -} -#endif /* RTC_TAFCR_TAMPPRCH */ - -#if defined(RTC_TAFCR_TAMPFLT) -/** - * @brief Set RTC_TAMPx filter count - * @rmtoll TAFCR TAMPFLT LL_RTC_TAMPER_SetFilterCount - * @param RTCx RTC Instance - * @param FilterCount This parameter can be one of the following values: - * @arg @ref LL_RTC_TAMPER_FILTER_DISABLE - * @arg @ref LL_RTC_TAMPER_FILTER_2SAMPLE - * @arg @ref LL_RTC_TAMPER_FILTER_4SAMPLE - * @arg @ref LL_RTC_TAMPER_FILTER_8SAMPLE - * @retval None - */ -__STATIC_INLINE void LL_RTC_TAMPER_SetFilterCount(RTC_TypeDef *RTCx, uint32_t FilterCount) -{ - MODIFY_REG(RTCx->TAFCR, RTC_TAFCR_TAMPFLT, FilterCount); -} - -/** - * @brief Get RTC_TAMPx filter count - * @rmtoll TAFCR TAMPFLT LL_RTC_TAMPER_GetFilterCount - * @param RTCx RTC Instance - * @retval Returned value can be one of the following values: - * @arg @ref LL_RTC_TAMPER_FILTER_DISABLE - * @arg @ref LL_RTC_TAMPER_FILTER_2SAMPLE - * @arg @ref LL_RTC_TAMPER_FILTER_4SAMPLE - * @arg @ref LL_RTC_TAMPER_FILTER_8SAMPLE - */ -__STATIC_INLINE uint32_t LL_RTC_TAMPER_GetFilterCount(RTC_TypeDef *RTCx) -{ - return (uint32_t)(READ_BIT(RTCx->TAFCR, RTC_TAFCR_TAMPFLT)); -} -#endif /* RTC_TAFCR_TAMPFLT */ - -#if defined(RTC_TAFCR_TAMPFREQ) -/** - * @brief Set Tamper sampling frequency - * @rmtoll TAFCR TAMPFREQ LL_RTC_TAMPER_SetSamplingFreq - * @param RTCx RTC Instance - * @param SamplingFreq This parameter can be one of the following values: - * @arg @ref LL_RTC_TAMPER_SAMPLFREQDIV_32768 - * @arg @ref LL_RTC_TAMPER_SAMPLFREQDIV_16384 - * @arg @ref LL_RTC_TAMPER_SAMPLFREQDIV_8192 - * @arg @ref LL_RTC_TAMPER_SAMPLFREQDIV_4096 - * @arg @ref LL_RTC_TAMPER_SAMPLFREQDIV_2048 - * @arg @ref LL_RTC_TAMPER_SAMPLFREQDIV_1024 - * @arg @ref LL_RTC_TAMPER_SAMPLFREQDIV_512 - * @arg @ref LL_RTC_TAMPER_SAMPLFREQDIV_256 - * @retval None - */ -__STATIC_INLINE void LL_RTC_TAMPER_SetSamplingFreq(RTC_TypeDef *RTCx, uint32_t SamplingFreq) -{ - MODIFY_REG(RTCx->TAFCR, RTC_TAFCR_TAMPFREQ, SamplingFreq); -} - -/** - * @brief Get Tamper sampling frequency - * @rmtoll TAFCR TAMPFREQ LL_RTC_TAMPER_GetSamplingFreq - * @param RTCx RTC Instance - * @retval Returned value can be one of the following values: - * @arg @ref LL_RTC_TAMPER_SAMPLFREQDIV_32768 - * @arg @ref LL_RTC_TAMPER_SAMPLFREQDIV_16384 - * @arg @ref LL_RTC_TAMPER_SAMPLFREQDIV_8192 - * @arg @ref LL_RTC_TAMPER_SAMPLFREQDIV_4096 - * @arg @ref LL_RTC_TAMPER_SAMPLFREQDIV_2048 - * @arg @ref LL_RTC_TAMPER_SAMPLFREQDIV_1024 - * @arg @ref LL_RTC_TAMPER_SAMPLFREQDIV_512 - * @arg @ref LL_RTC_TAMPER_SAMPLFREQDIV_256 - */ -__STATIC_INLINE uint32_t LL_RTC_TAMPER_GetSamplingFreq(RTC_TypeDef *RTCx) -{ - return (uint32_t)(READ_BIT(RTCx->TAFCR, RTC_TAFCR_TAMPFREQ)); -} -#endif /* RTC_TAFCR_TAMPFREQ */ - -/** - * @brief Enable Active level for Tamper input - * @rmtoll TAFCR TAMP1TRG LL_RTC_TAMPER_EnableActiveLevel\n - * TAFCR TAMP2TRG LL_RTC_TAMPER_EnableActiveLevel\n - * @param RTCx RTC Instance - * @param Tamper This parameter can be a combination of the following values: - * @arg @ref LL_RTC_TAMPER_ACTIVELEVEL_TAMP1 - * @arg @ref LL_RTC_TAMPER_ACTIVELEVEL_TAMP2 (*) - * - * (*) value not defined in all devices. - * @retval None - */ -__STATIC_INLINE void LL_RTC_TAMPER_EnableActiveLevel(RTC_TypeDef *RTCx, uint32_t Tamper) -{ - SET_BIT(RTCx->TAFCR, Tamper); -} - -/** - * @brief Disable Active level for Tamper input - * @rmtoll TAFCR TAMP1TRG LL_RTC_TAMPER_DisableActiveLevel\n - * TAFCR TAMP2TRG LL_RTC_TAMPER_DisableActiveLevel\n - * @param RTCx RTC Instance - * @param Tamper This parameter can be a combination of the following values: - * @arg @ref LL_RTC_TAMPER_ACTIVELEVEL_TAMP1 - * @arg @ref LL_RTC_TAMPER_ACTIVELEVEL_TAMP2 (*) - * - * (*) value not defined in all devices. - * @retval None - */ -__STATIC_INLINE void LL_RTC_TAMPER_DisableActiveLevel(RTC_TypeDef *RTCx, uint32_t Tamper) -{ - CLEAR_BIT(RTCx->TAFCR, Tamper); -} - -/** - * @brief Set Tamper Pin - * @rmtoll TAFCR TAMP1INSEL LL_RTC_TAMPER_SetPin - * @param RTCx RTC Instance - * @param TamperPin specifies the RTC Tamper Pin. - * This parameter can be one of the following values: - * @arg LL_RTC_TamperPin_Default: RTC_AF1 is used as RTC Tamper. - * @arg LL_RTC_TamperPin_Pos1: RTC_AF2 is selected as RTC Tamper. (*) - * - * (*) value not defined in all devices. - * @retval None - */ -__STATIC_INLINE void LL_RTC_TAMPER_SetPin(RTC_TypeDef *RTCx, uint32_t TamperPin) -{ - MODIFY_REG(RTCx->TAFCR, RTC_TAFCR_TAMP1INSEL , TamperPin); -} - -/** - * @brief Get Tamper Pin - * @rmtoll TAFCR TAMP1INSEL LL_RTC_TAMPER_GetPin - * @param RTCx RTC Instance - * @retval Returned value can be one of the following values: - * @arg LL_RTC_TamperPin_Default: RTC_AF1 is used as RTC Tamper Pin. - * @arg LL_RTC_TamperPin_Pos1: RTC_AF2 is selected as RTC Tamper Pin. (*) - * - * (*) value not defined in all devices. - * @retval None - */ - -__STATIC_INLINE uint32_t LL_RTC_TAMPER_GetPin(RTC_TypeDef *RTCx) -{ - return (uint32_t)(READ_BIT(RTCx->TAFCR, RTC_TAFCR_TAMP1INSEL)); -} - -/** - * @} - */ - -/** @defgroup RTC_LL_EF_Wakeup Wakeup - * @{ - */ - -/** - * @brief Enable Wakeup timer - * @note Bit is write-protected. @ref LL_RTC_DisableWriteProtection function should be called before. - * @rmtoll CR WUTE LL_RTC_WAKEUP_Enable - * @param RTCx RTC Instance - * @retval None - */ -__STATIC_INLINE void LL_RTC_WAKEUP_Enable(RTC_TypeDef *RTCx) -{ - SET_BIT(RTCx->CR, RTC_CR_WUTE); -} - -/** - * @brief Disable Wakeup timer - * @note Bit is write-protected. @ref LL_RTC_DisableWriteProtection function should be called before. - * @rmtoll CR WUTE LL_RTC_WAKEUP_Disable - * @param RTCx RTC Instance - * @retval None - */ -__STATIC_INLINE void LL_RTC_WAKEUP_Disable(RTC_TypeDef *RTCx) -{ - CLEAR_BIT(RTCx->CR, RTC_CR_WUTE); -} - -/** - * @brief Check if Wakeup timer is enabled or not - * @rmtoll CR WUTE LL_RTC_WAKEUP_IsEnabled - * @param RTCx RTC Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_RTC_WAKEUP_IsEnabled(RTC_TypeDef *RTCx) -{ - return (READ_BIT(RTCx->CR, RTC_CR_WUTE) == (RTC_CR_WUTE)); -} - -/** - * @brief Select Wakeup clock - * @note Bit is write-protected. @ref LL_RTC_DisableWriteProtection function should be called before. - * @note Bit can be written only when RTC_CR WUTE bit = 0 and RTC_ISR WUTWF bit = 1 - * @rmtoll CR WUCKSEL LL_RTC_WAKEUP_SetClock - * @param RTCx RTC Instance - * @param WakeupClock This parameter can be one of the following values: - * @arg @ref LL_RTC_WAKEUPCLOCK_DIV_16 - * @arg @ref LL_RTC_WAKEUPCLOCK_DIV_8 - * @arg @ref LL_RTC_WAKEUPCLOCK_DIV_4 - * @arg @ref LL_RTC_WAKEUPCLOCK_DIV_2 - * @arg @ref LL_RTC_WAKEUPCLOCK_CKSPRE - * @arg @ref LL_RTC_WAKEUPCLOCK_CKSPRE_WUT - * @retval None - */ -__STATIC_INLINE void LL_RTC_WAKEUP_SetClock(RTC_TypeDef *RTCx, uint32_t WakeupClock) -{ - MODIFY_REG(RTCx->CR, RTC_CR_WUCKSEL, WakeupClock); -} - -/** - * @brief Get Wakeup clock - * @rmtoll CR WUCKSEL LL_RTC_WAKEUP_GetClock - * @param RTCx RTC Instance - * @retval Returned value can be one of the following values: - * @arg @ref LL_RTC_WAKEUPCLOCK_DIV_16 - * @arg @ref LL_RTC_WAKEUPCLOCK_DIV_8 - * @arg @ref LL_RTC_WAKEUPCLOCK_DIV_4 - * @arg @ref LL_RTC_WAKEUPCLOCK_DIV_2 - * @arg @ref LL_RTC_WAKEUPCLOCK_CKSPRE - * @arg @ref LL_RTC_WAKEUPCLOCK_CKSPRE_WUT - */ -__STATIC_INLINE uint32_t LL_RTC_WAKEUP_GetClock(RTC_TypeDef *RTCx) -{ - return (uint32_t)(READ_BIT(RTCx->CR, RTC_CR_WUCKSEL)); -} - -/** - * @brief Set Wakeup auto-reload value - * @note Bit can be written only when WUTWF is set to 1 in RTC_ISR - * @rmtoll WUTR WUT LL_RTC_WAKEUP_SetAutoReload - * @param RTCx RTC Instance - * @param Value Value between Min_Data=0x00 and Max_Data=0xFFFF - * @retval None - */ -__STATIC_INLINE void LL_RTC_WAKEUP_SetAutoReload(RTC_TypeDef *RTCx, uint32_t Value) -{ - MODIFY_REG(RTCx->WUTR, RTC_WUTR_WUT, Value); -} - -/** - * @brief Get Wakeup auto-reload value - * @rmtoll WUTR WUT LL_RTC_WAKEUP_GetAutoReload - * @param RTCx RTC Instance - * @retval Value between Min_Data=0x00 and Max_Data=0xFFFF - */ -__STATIC_INLINE uint32_t LL_RTC_WAKEUP_GetAutoReload(RTC_TypeDef *RTCx) -{ - return (uint32_t)(READ_BIT(RTCx->WUTR, RTC_WUTR_WUT)); -} - -/** - * @} - */ - -/** @defgroup RTC_LL_EF_Backup_Registers Backup_Registers - * @{ - */ - -/** - * @brief Writes a data in a specified RTC Backup data register. - * @rmtoll BKPxR BKP LL_RTC_BAK_SetRegister - * @param RTCx RTC Instance - * @param BackupRegister This parameter can be one of the following values: - * @arg @ref LL_RTC_BKP_DR0 - * @arg @ref LL_RTC_BKP_DR1 - * @arg @ref LL_RTC_BKP_DR2 - * @arg @ref LL_RTC_BKP_DR3 - * @arg @ref LL_RTC_BKP_DR4 - * @arg @ref LL_RTC_BKP_DR5 - * @arg @ref LL_RTC_BKP_DR6 - * @arg @ref LL_RTC_BKP_DR7 - * @arg @ref LL_RTC_BKP_DR8 - * @arg @ref LL_RTC_BKP_DR9 - * @arg @ref LL_RTC_BKP_DR10 - * @arg @ref LL_RTC_BKP_DR11 - * @arg @ref LL_RTC_BKP_DR12 - * @arg @ref LL_RTC_BKP_DR13 - * @arg @ref LL_RTC_BKP_DR14 - * @arg @ref LL_RTC_BKP_DR15 - * @arg @ref LL_RTC_BKP_DR16 - * @arg @ref LL_RTC_BKP_DR17 - * @arg @ref LL_RTC_BKP_DR18 - * @arg @ref LL_RTC_BKP_DR19 - * @param Data Value between Min_Data=0x00 and Max_Data=0xFFFFFFFF - * @retval None - */ -__STATIC_INLINE void LL_RTC_BAK_SetRegister(RTC_TypeDef *RTCx, uint32_t BackupRegister, uint32_t Data) -{ - register uint32_t tmp = 0U; - - tmp = (uint32_t)(&(RTCx->BKP0R)); - tmp += (BackupRegister * 4U); - - /* Write the specified register */ - *(__IO uint32_t *)tmp = (uint32_t)Data; -} - -/** - * @brief Reads data from the specified RTC Backup data Register. - * @rmtoll BKPxR BKP LL_RTC_BAK_GetRegister - * @param RTCx RTC Instance - * @param BackupRegister This parameter can be one of the following values: - * @arg @ref LL_RTC_BKP_DR0 - * @arg @ref LL_RTC_BKP_DR1 - * @arg @ref LL_RTC_BKP_DR2 - * @arg @ref LL_RTC_BKP_DR3 - * @arg @ref LL_RTC_BKP_DR4 - * @arg @ref LL_RTC_BKP_DR5 - * @arg @ref LL_RTC_BKP_DR6 - * @arg @ref LL_RTC_BKP_DR7 - * @arg @ref LL_RTC_BKP_DR8 - * @arg @ref LL_RTC_BKP_DR9 - * @arg @ref LL_RTC_BKP_DR10 - * @arg @ref LL_RTC_BKP_DR11 - * @arg @ref LL_RTC_BKP_DR12 - * @arg @ref LL_RTC_BKP_DR13 - * @arg @ref LL_RTC_BKP_DR14 - * @arg @ref LL_RTC_BKP_DR15 - * @arg @ref LL_RTC_BKP_DR16 - * @arg @ref LL_RTC_BKP_DR17 - * @arg @ref LL_RTC_BKP_DR18 - * @arg @ref LL_RTC_BKP_DR19 - * @retval Value between Min_Data=0x00 and Max_Data=0xFFFFFFFF - */ -__STATIC_INLINE uint32_t LL_RTC_BAK_GetRegister(RTC_TypeDef *RTCx, uint32_t BackupRegister) -{ - register uint32_t tmp = 0U; - - tmp = (uint32_t)(&(RTCx->BKP0R)); - tmp += (BackupRegister * 4U); - - /* Read the specified register */ - return (*(__IO uint32_t *)tmp); -} - -/** - * @} - */ - -/** @defgroup RTC_LL_EF_Calibration Calibration - * @{ - */ - -/** - * @brief Set Calibration output frequency (1 Hz or 512 Hz) - * @note Bits are write-protected. @ref LL_RTC_DisableWriteProtection function should be called before. - * @rmtoll CR COE LL_RTC_CAL_SetOutputFreq\n - * CR COSEL LL_RTC_CAL_SetOutputFreq - * @param RTCx RTC Instance - * @param Frequency This parameter can be one of the following values: - * @arg @ref LL_RTC_CALIB_OUTPUT_NONE - * @arg @ref LL_RTC_CALIB_OUTPUT_1HZ - * @arg @ref LL_RTC_CALIB_OUTPUT_512HZ - * @retval None - */ -__STATIC_INLINE void LL_RTC_CAL_SetOutputFreq(RTC_TypeDef *RTCx, uint32_t Frequency) -{ - MODIFY_REG(RTCx->CR, RTC_CR_COE | RTC_CR_COSEL, Frequency); -} - -/** - * @brief Get Calibration output frequency (1 Hz or 512 Hz) - * @rmtoll CR COE LL_RTC_CAL_GetOutputFreq\n - * CR COSEL LL_RTC_CAL_GetOutputFreq - * @param RTCx RTC Instance - * @retval Returned value can be one of the following values: - * @arg @ref LL_RTC_CALIB_OUTPUT_NONE - * @arg @ref LL_RTC_CALIB_OUTPUT_1HZ - * @arg @ref LL_RTC_CALIB_OUTPUT_512HZ - */ -__STATIC_INLINE uint32_t LL_RTC_CAL_GetOutputFreq(RTC_TypeDef *RTCx) -{ - return (uint32_t)(READ_BIT(RTCx->CR, RTC_CR_COE | RTC_CR_COSEL)); -} - -/** - * @brief Enable Coarse digital calibration - * @note Bit is write-protected. @ref LL_RTC_DisableWriteProtection function should be called before. - * @note It can be written in initialization mode only (@ref LL_RTC_EnableInitMode function) - * @rmtoll CR DCE LL_RTC_CAL_EnableCoarseDigital - * @param RTCx RTC Instance - * @retval None - */ -__STATIC_INLINE void LL_RTC_CAL_EnableCoarseDigital(RTC_TypeDef *RTCx) -{ - SET_BIT(RTCx->CR, RTC_CR_DCE); -} - -/** - * @brief Disable Coarse digital calibration - * @note Bit is write-protected. @ref LL_RTC_DisableWriteProtection function should be called before. - * @note It can be written in initialization mode only (@ref LL_RTC_EnableInitMode function) - * @rmtoll CR DCE LL_RTC_CAL_DisableCoarseDigital - * @param RTCx RTC Instance - * @retval None - */ -__STATIC_INLINE void LL_RTC_CAL_DisableCoarseDigital(RTC_TypeDef *RTCx) -{ - CLEAR_BIT(RTCx->CR, RTC_CR_DCE); -} - -/** - * @brief Set the coarse digital calibration - * @note Bit is write-protected. @ref LL_RTC_DisableWriteProtection function should be called before. - * @note It can be written in initialization mode only (@ref LL_RTC_EnableInitMode function) - * @rmtoll CALIBR DCS LL_RTC_CAL_ConfigCoarseDigital\n - * CALIBR DC LL_RTC_CAL_ConfigCoarseDigital - * @param RTCx RTC Instance - * @param Sign This parameter can be one of the following values: - * @arg @ref LL_RTC_CALIB_SIGN_POSITIVE - * @arg @ref LL_RTC_CALIB_SIGN_NEGATIVE - * @param Value value of coarse calibration expressed in ppm (coded on 5 bits) - * @note This Calibration value should be between 0 and 63 when using negative sign with a 2-ppm step. - * @note This Calibration value should be between 0 and 126 when using positive sign with a 4-ppm step. - * @retval None - */ -__STATIC_INLINE void LL_RTC_CAL_ConfigCoarseDigital(RTC_TypeDef* RTCx, uint32_t Sign, uint32_t Value) -{ - MODIFY_REG(RTCx->CALIBR, RTC_CALIBR_DCS | RTC_CALIBR_DC, Sign | Value); -} - -/** - * @brief Get the coarse digital calibration value - * @rmtoll CALIBR DC LL_RTC_CAL_GetCoarseDigitalValue - * @param RTCx RTC Instance - * @retval value of coarse calibration expressed in ppm (coded on 5 bits) - */ -__STATIC_INLINE uint32_t LL_RTC_CAL_GetCoarseDigitalValue(RTC_TypeDef *RTCx) -{ - return (uint32_t)(READ_BIT(RTCx->CALIBR, RTC_CALIBR_DC)); -} - -/** - * @brief Get the coarse digital calibration sign - * @rmtoll CALIBR DCS LL_RTC_CAL_GetCoarseDigitalSign - * @param RTCx RTC Instance - * @retval Returned value can be one of the following values: - * @arg @ref LL_RTC_CALIB_SIGN_POSITIVE - * @arg @ref LL_RTC_CALIB_SIGN_NEGATIVE - */ -__STATIC_INLINE uint32_t LL_RTC_CAL_GetCoarseDigitalSign(RTC_TypeDef* RTCx) -{ - return (uint32_t)(READ_BIT(RTCx->CALIBR, RTC_CALIBR_DCS)); -} - -/** - * @brief Insert or not One RTCCLK pulse every 2exp11 pulses (frequency increased by 488.5 ppm) - * @note Bit is write-protected. @ref LL_RTC_DisableWriteProtection function should be called before. - * @note Bit can be written only when RECALPF is set to 0 in RTC_ISR - * @rmtoll CALR CALP LL_RTC_CAL_SetPulse - * @param RTCx RTC Instance - * @param Pulse This parameter can be one of the following values: - * @arg @ref LL_RTC_CALIB_INSERTPULSE_NONE - * @arg @ref LL_RTC_CALIB_INSERTPULSE_SET - * @retval None - */ -__STATIC_INLINE void LL_RTC_CAL_SetPulse(RTC_TypeDef *RTCx, uint32_t Pulse) -{ - MODIFY_REG(RTCx->CALR, RTC_CALR_CALP, Pulse); -} - -/** - * @brief Check if one RTCCLK has been inserted or not every 2exp11 pulses (frequency increased by 488.5 ppm) - * @rmtoll CALR CALP LL_RTC_CAL_IsPulseInserted - * @param RTCx RTC Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_RTC_CAL_IsPulseInserted(RTC_TypeDef *RTCx) -{ - return (READ_BIT(RTCx->CALR, RTC_CALR_CALP) == (RTC_CALR_CALP)); -} - -/** - * @brief Set the calibration cycle period - * @note Bit is write-protected. @ref LL_RTC_DisableWriteProtection function should be called before. - * @note Bit can be written only when RECALPF is set to 0 in RTC_ISR - * @rmtoll CALR CALW8 LL_RTC_CAL_SetPeriod\n - * CALR CALW16 LL_RTC_CAL_SetPeriod - * @param RTCx RTC Instance - * @param Period This parameter can be one of the following values: - * @arg @ref LL_RTC_CALIB_PERIOD_32SEC - * @arg @ref LL_RTC_CALIB_PERIOD_16SEC - * @arg @ref LL_RTC_CALIB_PERIOD_8SEC - * @retval None - */ -__STATIC_INLINE void LL_RTC_CAL_SetPeriod(RTC_TypeDef *RTCx, uint32_t Period) -{ - MODIFY_REG(RTCx->CALR, RTC_CALR_CALW8 | RTC_CALR_CALW16, Period); -} - -/** - * @brief Get the calibration cycle period - * @rmtoll CALR CALW8 LL_RTC_CAL_GetPeriod\n - * CALR CALW16 LL_RTC_CAL_GetPeriod - * @param RTCx RTC Instance - * @retval Returned value can be one of the following values: - * @arg @ref LL_RTC_CALIB_PERIOD_32SEC - * @arg @ref LL_RTC_CALIB_PERIOD_16SEC - * @arg @ref LL_RTC_CALIB_PERIOD_8SEC - */ -__STATIC_INLINE uint32_t LL_RTC_CAL_GetPeriod(RTC_TypeDef *RTCx) -{ - return (uint32_t)(READ_BIT(RTCx->CALR, RTC_CALR_CALW8 | RTC_CALR_CALW16)); -} - -/** - * @brief Set Calibration minus - * @note Bit is write-protected. @ref LL_RTC_DisableWriteProtection function should be called before. - * @note Bit can be written only when RECALPF is set to 0 in RTC_ISR - * @rmtoll CALR CALM LL_RTC_CAL_SetMinus - * @param RTCx RTC Instance - * @param CalibMinus Value between Min_Data=0x00 and Max_Data=0x1FF - * @retval None - */ -__STATIC_INLINE void LL_RTC_CAL_SetMinus(RTC_TypeDef *RTCx, uint32_t CalibMinus) -{ - MODIFY_REG(RTCx->CALR, RTC_CALR_CALM, CalibMinus); -} - -/** - * @brief Get Calibration minus - * @rmtoll CALR CALM LL_RTC_CAL_GetMinus - * @param RTCx RTC Instance - * @retval Value between Min_Data=0x00 and Max_Data= 0x1FF - */ -__STATIC_INLINE uint32_t LL_RTC_CAL_GetMinus(RTC_TypeDef *RTCx) -{ - return (uint32_t)(READ_BIT(RTCx->CALR, RTC_CALR_CALM)); -} - -/** - * @} - */ - -/** @defgroup RTC_LL_EF_FLAG_Management FLAG_Management - * @{ - */ - -/** - * @brief Get Recalibration pending Flag - * @rmtoll ISR RECALPF LL_RTC_IsActiveFlag_RECALP - * @param RTCx RTC Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_RTC_IsActiveFlag_RECALP(RTC_TypeDef *RTCx) -{ - return (READ_BIT(RTCx->ISR, RTC_ISR_RECALPF) == (RTC_ISR_RECALPF)); -} - - -#if defined(RTC_TAMPER2_SUPPORT) -/** - * @brief Get RTC_TAMP2 detection flag - * @rmtoll ISR TAMP2F LL_RTC_IsActiveFlag_TAMP2 - * @param RTCx RTC Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_RTC_IsActiveFlag_TAMP2(RTC_TypeDef *RTCx) -{ - return (READ_BIT(RTCx->ISR, RTC_ISR_TAMP2F) == (RTC_ISR_TAMP2F)); -} -#endif /* RTC_TAMPER2_SUPPORT */ - -/** - * @brief Get RTC_TAMP1 detection flag - * @rmtoll ISR TAMP1F LL_RTC_IsActiveFlag_TAMP1 - * @param RTCx RTC Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_RTC_IsActiveFlag_TAMP1(RTC_TypeDef *RTCx) -{ - return (READ_BIT(RTCx->ISR, RTC_ISR_TAMP1F) == (RTC_ISR_TAMP1F)); -} - -/** - * @brief Get Time-stamp overflow flag - * @rmtoll ISR TSOVF LL_RTC_IsActiveFlag_TSOV - * @param RTCx RTC Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_RTC_IsActiveFlag_TSOV(RTC_TypeDef *RTCx) -{ - return (READ_BIT(RTCx->ISR, RTC_ISR_TSOVF) == (RTC_ISR_TSOVF)); -} - -/** - * @brief Get Time-stamp flag - * @rmtoll ISR TSF LL_RTC_IsActiveFlag_TS - * @param RTCx RTC Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_RTC_IsActiveFlag_TS(RTC_TypeDef *RTCx) -{ - return (READ_BIT(RTCx->ISR, RTC_ISR_TSF) == (RTC_ISR_TSF)); -} - -/** - * @brief Get Wakeup timer flag - * @rmtoll ISR WUTF LL_RTC_IsActiveFlag_WUT - * @param RTCx RTC Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_RTC_IsActiveFlag_WUT(RTC_TypeDef *RTCx) -{ - return (READ_BIT(RTCx->ISR, RTC_ISR_WUTF) == (RTC_ISR_WUTF)); -} - -/** - * @brief Get Alarm B flag - * @rmtoll ISR ALRBF LL_RTC_IsActiveFlag_ALRB - * @param RTCx RTC Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_RTC_IsActiveFlag_ALRB(RTC_TypeDef *RTCx) -{ - return (READ_BIT(RTCx->ISR, RTC_ISR_ALRBF) == (RTC_ISR_ALRBF)); -} - -/** - * @brief Get Alarm A flag - * @rmtoll ISR ALRAF LL_RTC_IsActiveFlag_ALRA - * @param RTCx RTC Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_RTC_IsActiveFlag_ALRA(RTC_TypeDef *RTCx) -{ - return (READ_BIT(RTCx->ISR, RTC_ISR_ALRAF) == (RTC_ISR_ALRAF)); -} - - -#if defined(RTC_TAMPER2_SUPPORT) -/** - * @brief Clear RTC_TAMP2 detection flag - * @rmtoll ISR TAMP2F LL_RTC_ClearFlag_TAMP2 - * @param RTCx RTC Instance - * @retval None - */ -__STATIC_INLINE void LL_RTC_ClearFlag_TAMP2(RTC_TypeDef *RTCx) -{ - WRITE_REG(RTCx->ISR, (~((RTC_ISR_TAMP2F | RTC_ISR_INIT) & 0x0000FFFFU) | (RTCx->ISR & RTC_ISR_INIT))); -} -#endif /* RTC_TAMPER2_SUPPORT */ - -/** - * @brief Clear RTC_TAMP1 detection flag - * @rmtoll ISR TAMP1F LL_RTC_ClearFlag_TAMP1 - * @param RTCx RTC Instance - * @retval None - */ -__STATIC_INLINE void LL_RTC_ClearFlag_TAMP1(RTC_TypeDef *RTCx) -{ - WRITE_REG(RTCx->ISR, (~((RTC_ISR_TAMP1F | RTC_ISR_INIT) & 0x0000FFFFU) | (RTCx->ISR & RTC_ISR_INIT))); -} - -/** - * @brief Clear Time-stamp overflow flag - * @rmtoll ISR TSOVF LL_RTC_ClearFlag_TSOV - * @param RTCx RTC Instance - * @retval None - */ -__STATIC_INLINE void LL_RTC_ClearFlag_TSOV(RTC_TypeDef *RTCx) -{ - WRITE_REG(RTCx->ISR, (~((RTC_ISR_TSOVF | RTC_ISR_INIT) & 0x0000FFFFU) | (RTCx->ISR & RTC_ISR_INIT))); -} - -/** - * @brief Clear Time-stamp flag - * @rmtoll ISR TSF LL_RTC_ClearFlag_TS - * @param RTCx RTC Instance - * @retval None - */ -__STATIC_INLINE void LL_RTC_ClearFlag_TS(RTC_TypeDef *RTCx) -{ - WRITE_REG(RTCx->ISR, (~((RTC_ISR_TSF | RTC_ISR_INIT) & 0x0000FFFFU) | (RTCx->ISR & RTC_ISR_INIT))); -} - -/** - * @brief Clear Wakeup timer flag - * @rmtoll ISR WUTF LL_RTC_ClearFlag_WUT - * @param RTCx RTC Instance - * @retval None - */ -__STATIC_INLINE void LL_RTC_ClearFlag_WUT(RTC_TypeDef *RTCx) -{ - WRITE_REG(RTCx->ISR, (~((RTC_ISR_WUTF | RTC_ISR_INIT) & 0x0000FFFFU) | (RTCx->ISR & RTC_ISR_INIT))); -} - -/** - * @brief Clear Alarm B flag - * @rmtoll ISR ALRBF LL_RTC_ClearFlag_ALRB - * @param RTCx RTC Instance - * @retval None - */ -__STATIC_INLINE void LL_RTC_ClearFlag_ALRB(RTC_TypeDef *RTCx) -{ - WRITE_REG(RTCx->ISR, (~((RTC_ISR_ALRBF | RTC_ISR_INIT) & 0x0000FFFFU) | (RTCx->ISR & RTC_ISR_INIT))); -} - -/** - * @brief Clear Alarm A flag - * @rmtoll ISR ALRAF LL_RTC_ClearFlag_ALRA - * @param RTCx RTC Instance - * @retval None - */ -__STATIC_INLINE void LL_RTC_ClearFlag_ALRA(RTC_TypeDef *RTCx) -{ - WRITE_REG(RTCx->ISR, (~((RTC_ISR_ALRAF | RTC_ISR_INIT) & 0x0000FFFFU) | (RTCx->ISR & RTC_ISR_INIT))); -} - -/** - * @brief Get Initialization flag - * @rmtoll ISR INITF LL_RTC_IsActiveFlag_INIT - * @param RTCx RTC Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_RTC_IsActiveFlag_INIT(RTC_TypeDef *RTCx) -{ - return (READ_BIT(RTCx->ISR, RTC_ISR_INITF) == (RTC_ISR_INITF)); -} - -/** - * @brief Get Registers synchronization flag - * @rmtoll ISR RSF LL_RTC_IsActiveFlag_RS - * @param RTCx RTC Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_RTC_IsActiveFlag_RS(RTC_TypeDef *RTCx) -{ - return (READ_BIT(RTCx->ISR, RTC_ISR_RSF) == (RTC_ISR_RSF)); -} - -/** - * @brief Clear Registers synchronization flag - * @rmtoll ISR RSF LL_RTC_ClearFlag_RS - * @param RTCx RTC Instance - * @retval None - */ -__STATIC_INLINE void LL_RTC_ClearFlag_RS(RTC_TypeDef *RTCx) -{ - WRITE_REG(RTCx->ISR, (~((RTC_ISR_RSF | RTC_ISR_INIT) & 0x0000FFFFU) | (RTCx->ISR & RTC_ISR_INIT))); -} - -/** - * @brief Get Initialization status flag - * @rmtoll ISR INITS LL_RTC_IsActiveFlag_INITS - * @param RTCx RTC Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_RTC_IsActiveFlag_INITS(RTC_TypeDef *RTCx) -{ - return (READ_BIT(RTCx->ISR, RTC_ISR_INITS) == (RTC_ISR_INITS)); -} - -/** - * @brief Get Shift operation pending flag - * @rmtoll ISR SHPF LL_RTC_IsActiveFlag_SHP - * @param RTCx RTC Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_RTC_IsActiveFlag_SHP(RTC_TypeDef *RTCx) -{ - return (READ_BIT(RTCx->ISR, RTC_ISR_SHPF) == (RTC_ISR_SHPF)); -} - -/** - * @brief Get Wakeup timer write flag - * @rmtoll ISR WUTWF LL_RTC_IsActiveFlag_WUTW - * @param RTCx RTC Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_RTC_IsActiveFlag_WUTW(RTC_TypeDef *RTCx) -{ - return (READ_BIT(RTCx->ISR, RTC_ISR_WUTWF) == (RTC_ISR_WUTWF)); -} - -/** - * @brief Get Alarm B write flag - * @rmtoll ISR ALRBWF LL_RTC_IsActiveFlag_ALRBW - * @param RTCx RTC Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_RTC_IsActiveFlag_ALRBW(RTC_TypeDef *RTCx) -{ - return (READ_BIT(RTCx->ISR, RTC_ISR_ALRBWF) == (RTC_ISR_ALRBWF)); -} - -/** - * @brief Get Alarm A write flag - * @rmtoll ISR ALRAWF LL_RTC_IsActiveFlag_ALRAW - * @param RTCx RTC Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_RTC_IsActiveFlag_ALRAW(RTC_TypeDef *RTCx) -{ - return (READ_BIT(RTCx->ISR, RTC_ISR_ALRAWF) == (RTC_ISR_ALRAWF)); -} - -/** - * @} - */ - -/** @defgroup RTC_LL_EF_IT_Management IT_Management - * @{ - */ - -/** - * @brief Enable Time-stamp interrupt - * @note Bit is write-protected. @ref LL_RTC_DisableWriteProtection function should be called before. - * @rmtoll CR TSIE LL_RTC_EnableIT_TS - * @param RTCx RTC Instance - * @retval None - */ -__STATIC_INLINE void LL_RTC_EnableIT_TS(RTC_TypeDef *RTCx) -{ - SET_BIT(RTCx->CR, RTC_CR_TSIE); -} - -/** - * @brief Disable Time-stamp interrupt - * @note Bit is write-protected. @ref LL_RTC_DisableWriteProtection function should be called before. - * @rmtoll CR TSIE LL_RTC_DisableIT_TS - * @param RTCx RTC Instance - * @retval None - */ -__STATIC_INLINE void LL_RTC_DisableIT_TS(RTC_TypeDef *RTCx) -{ - CLEAR_BIT(RTCx->CR, RTC_CR_TSIE); -} - -/** - * @brief Enable Wakeup timer interrupt - * @note Bit is write-protected. @ref LL_RTC_DisableWriteProtection function should be called before. - * @rmtoll CR WUTIE LL_RTC_EnableIT_WUT - * @param RTCx RTC Instance - * @retval None - */ -__STATIC_INLINE void LL_RTC_EnableIT_WUT(RTC_TypeDef *RTCx) -{ - SET_BIT(RTCx->CR, RTC_CR_WUTIE); -} - -/** - * @brief Disable Wakeup timer interrupt - * @note Bit is write-protected. @ref LL_RTC_DisableWriteProtection function should be called before. - * @rmtoll CR WUTIE LL_RTC_DisableIT_WUT - * @param RTCx RTC Instance - * @retval None - */ -__STATIC_INLINE void LL_RTC_DisableIT_WUT(RTC_TypeDef *RTCx) -{ - CLEAR_BIT(RTCx->CR, RTC_CR_WUTIE); -} - -/** - * @brief Enable Alarm B interrupt - * @note Bit is write-protected. @ref LL_RTC_DisableWriteProtection function should be called before. - * @rmtoll CR ALRBIE LL_RTC_EnableIT_ALRB - * @param RTCx RTC Instance - * @retval None - */ -__STATIC_INLINE void LL_RTC_EnableIT_ALRB(RTC_TypeDef *RTCx) -{ - SET_BIT(RTCx->CR, RTC_CR_ALRBIE); -} - -/** - * @brief Disable Alarm B interrupt - * @note Bit is write-protected. @ref LL_RTC_DisableWriteProtection function should be called before. - * @rmtoll CR ALRBIE LL_RTC_DisableIT_ALRB - * @param RTCx RTC Instance - * @retval None - */ -__STATIC_INLINE void LL_RTC_DisableIT_ALRB(RTC_TypeDef *RTCx) -{ - CLEAR_BIT(RTCx->CR, RTC_CR_ALRBIE); -} - -/** - * @brief Enable Alarm A interrupt - * @note Bit is write-protected. @ref LL_RTC_DisableWriteProtection function should be called before. - * @rmtoll CR ALRAIE LL_RTC_EnableIT_ALRA - * @param RTCx RTC Instance - * @retval None - */ -__STATIC_INLINE void LL_RTC_EnableIT_ALRA(RTC_TypeDef *RTCx) -{ - SET_BIT(RTCx->CR, RTC_CR_ALRAIE); -} - -/** - * @brief Disable Alarm A interrupt - * @note Bit is write-protected. @ref LL_RTC_DisableWriteProtection function should be called before. - * @rmtoll CR ALRAIE LL_RTC_DisableIT_ALRA - * @param RTCx RTC Instance - * @retval None - */ -__STATIC_INLINE void LL_RTC_DisableIT_ALRA(RTC_TypeDef *RTCx) -{ - CLEAR_BIT(RTCx->CR, RTC_CR_ALRAIE); -} - -/** - * @brief Enable all Tamper Interrupt - * @rmtoll TAFCR TAMPIE LL_RTC_EnableIT_TAMP - * @param RTCx RTC Instance - * @retval None - */ -__STATIC_INLINE void LL_RTC_EnableIT_TAMP(RTC_TypeDef *RTCx) -{ - SET_BIT(RTCx->TAFCR, RTC_TAFCR_TAMPIE); -} - -/** - * @brief Disable all Tamper Interrupt - * @rmtoll TAFCR TAMPIE LL_RTC_DisableIT_TAMP - * @param RTCx RTC Instance - * @retval None - */ -__STATIC_INLINE void LL_RTC_DisableIT_TAMP(RTC_TypeDef *RTCx) -{ - CLEAR_BIT(RTCx->TAFCR, RTC_TAFCR_TAMPIE); -} - -/** - * @brief Check if Time-stamp interrupt is enabled or not - * @rmtoll CR TSIE LL_RTC_IsEnabledIT_TS - * @param RTCx RTC Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_RTC_IsEnabledIT_TS(RTC_TypeDef *RTCx) -{ - return (READ_BIT(RTCx->CR, RTC_CR_TSIE) == (RTC_CR_TSIE)); -} - -/** - * @brief Check if Wakeup timer interrupt is enabled or not - * @rmtoll CR WUTIE LL_RTC_IsEnabledIT_WUT - * @param RTCx RTC Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_RTC_IsEnabledIT_WUT(RTC_TypeDef *RTCx) -{ - return (READ_BIT(RTCx->CR, RTC_CR_WUTIE) == (RTC_CR_WUTIE)); -} - -/** - * @brief Check if Alarm B interrupt is enabled or not - * @rmtoll CR ALRBIE LL_RTC_IsEnabledIT_ALRB - * @param RTCx RTC Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_RTC_IsEnabledIT_ALRB(RTC_TypeDef *RTCx) -{ - return (READ_BIT(RTCx->CR, RTC_CR_ALRBIE) == (RTC_CR_ALRBIE)); -} - -/** - * @brief Check if Alarm A interrupt is enabled or not - * @rmtoll CR ALRAIE LL_RTC_IsEnabledIT_ALRA - * @param RTCx RTC Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_RTC_IsEnabledIT_ALRA(RTC_TypeDef *RTCx) -{ - return (READ_BIT(RTCx->CR, RTC_CR_ALRAIE) == (RTC_CR_ALRAIE)); -} - -/** - * @brief Check if all the TAMPER interrupts are enabled or not - * @rmtoll TAFCR TAMPIE LL_RTC_IsEnabledIT_TAMP - * @param RTCx RTC Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_RTC_IsEnabledIT_TAMP(RTC_TypeDef *RTCx) -{ - return (READ_BIT(RTCx->TAFCR, - RTC_TAFCR_TAMPIE) == (RTC_TAFCR_TAMPIE)); -} - -/** - * @} - */ - -#if defined(USE_FULL_LL_DRIVER) -/** @defgroup RTC_LL_EF_Init Initialization and de-initialization functions - * @{ - */ - -ErrorStatus LL_RTC_DeInit(RTC_TypeDef *RTCx); -ErrorStatus LL_RTC_Init(RTC_TypeDef *RTCx, LL_RTC_InitTypeDef *RTC_InitStruct); -void LL_RTC_StructInit(LL_RTC_InitTypeDef *RTC_InitStruct); -ErrorStatus LL_RTC_TIME_Init(RTC_TypeDef *RTCx, uint32_t RTC_Format, LL_RTC_TimeTypeDef *RTC_TimeStruct); -void LL_RTC_TIME_StructInit(LL_RTC_TimeTypeDef *RTC_TimeStruct); -ErrorStatus LL_RTC_DATE_Init(RTC_TypeDef *RTCx, uint32_t RTC_Format, LL_RTC_DateTypeDef *RTC_DateStruct); -void LL_RTC_DATE_StructInit(LL_RTC_DateTypeDef *RTC_DateStruct); -ErrorStatus LL_RTC_ALMA_Init(RTC_TypeDef *RTCx, uint32_t RTC_Format, LL_RTC_AlarmTypeDef *RTC_AlarmStruct); -ErrorStatus LL_RTC_ALMB_Init(RTC_TypeDef *RTCx, uint32_t RTC_Format, LL_RTC_AlarmTypeDef *RTC_AlarmStruct); -void LL_RTC_ALMA_StructInit(LL_RTC_AlarmTypeDef *RTC_AlarmStruct); -void LL_RTC_ALMB_StructInit(LL_RTC_AlarmTypeDef *RTC_AlarmStruct); -ErrorStatus LL_RTC_EnterInitMode(RTC_TypeDef *RTCx); -ErrorStatus LL_RTC_ExitInitMode(RTC_TypeDef *RTCx); -ErrorStatus LL_RTC_WaitForSynchro(RTC_TypeDef *RTCx); - -/** - * @} - */ -#endif /* USE_FULL_LL_DRIVER */ - -/** - * @} - */ - -/** - * @} - */ - -#endif /* defined(RTC) */ - -/** - * @} - */ - -#ifdef __cplusplus -} -#endif - -#endif /* __STM32F4xx_LL_RTC_H */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_sdmmc.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_sdmmc.h deleted file mode 100644 index 540a0e180d2de6..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_sdmmc.h +++ /dev/null @@ -1,1125 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_ll_sdmmc.h - * @author MCD Application Team - * @brief Header file of SDMMC HAL module. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef STM32F4xx_LL_SDMMC_H -#define STM32F4xx_LL_SDMMC_H - -#ifdef __cplusplus - extern "C" { -#endif - -#if defined(SDIO) - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal_def.h" - -/** @addtogroup STM32F4xx_Driver - * @{ - */ - -/** @addtogroup SDMMC_LL - * @{ - */ - -/* Exported types ------------------------------------------------------------*/ -/** @defgroup SDMMC_LL_Exported_Types SDMMC_LL Exported Types - * @{ - */ - -/** - * @brief SDMMC Configuration Structure definition - */ -typedef struct -{ - uint32_t ClockEdge; /*!< Specifies the clock transition on which the bit capture is made. - This parameter can be a value of @ref SDMMC_LL_Clock_Edge */ - - uint32_t ClockBypass; /*!< Specifies whether the SDMMC Clock divider bypass is - enabled or disabled. - This parameter can be a value of @ref SDMMC_LL_Clock_Bypass */ - - uint32_t ClockPowerSave; /*!< Specifies whether SDMMC Clock output is enabled or - disabled when the bus is idle. - This parameter can be a value of @ref SDMMC_LL_Clock_Power_Save */ - - uint32_t BusWide; /*!< Specifies the SDMMC bus width. - This parameter can be a value of @ref SDMMC_LL_Bus_Wide */ - - uint32_t HardwareFlowControl; /*!< Specifies whether the SDMMC hardware flow control is enabled or disabled. - This parameter can be a value of @ref SDMMC_LL_Hardware_Flow_Control */ - - uint32_t ClockDiv; /*!< Specifies the clock frequency of the SDMMC controller. - This parameter can be a value between Min_Data = 0 and Max_Data = 255 */ - -}SDIO_InitTypeDef; - - -/** - * @brief SDMMC Command Control structure - */ -typedef struct -{ - uint32_t Argument; /*!< Specifies the SDMMC command argument which is sent - to a card as part of a command message. If a command - contains an argument, it must be loaded into this register - before writing the command to the command register. */ - - uint32_t CmdIndex; /*!< Specifies the SDMMC command index. It must be Min_Data = 0 and - Max_Data = 64 */ - - uint32_t Response; /*!< Specifies the SDMMC response type. - This parameter can be a value of @ref SDMMC_LL_Response_Type */ - - uint32_t WaitForInterrupt; /*!< Specifies whether SDMMC wait for interrupt request is - enabled or disabled. - This parameter can be a value of @ref SDMMC_LL_Wait_Interrupt_State */ - - uint32_t CPSM; /*!< Specifies whether SDMMC Command path state machine (CPSM) - is enabled or disabled. - This parameter can be a value of @ref SDMMC_LL_CPSM_State */ -}SDIO_CmdInitTypeDef; - - -/** - * @brief SDMMC Data Control structure - */ -typedef struct -{ - uint32_t DataTimeOut; /*!< Specifies the data timeout period in card bus clock periods. */ - - uint32_t DataLength; /*!< Specifies the number of data bytes to be transferred. */ - - uint32_t DataBlockSize; /*!< Specifies the data block size for block transfer. - This parameter can be a value of @ref SDMMC_LL_Data_Block_Size */ - - uint32_t TransferDir; /*!< Specifies the data transfer direction, whether the transfer - is a read or write. - This parameter can be a value of @ref SDMMC_LL_Transfer_Direction */ - - uint32_t TransferMode; /*!< Specifies whether data transfer is in stream or block mode. - This parameter can be a value of @ref SDMMC_LL_Transfer_Type */ - - uint32_t DPSM; /*!< Specifies whether SDMMC Data path state machine (DPSM) - is enabled or disabled. - This parameter can be a value of @ref SDMMC_LL_DPSM_State */ -}SDIO_DataInitTypeDef; - -/** - * @} - */ - -/* Exported constants --------------------------------------------------------*/ -/** @defgroup SDMMC_LL_Exported_Constants SDMMC_LL Exported Constants - * @{ - */ -#define SDMMC_ERROR_NONE 0x00000000U /*!< No error */ -#define SDMMC_ERROR_CMD_CRC_FAIL 0x00000001U /*!< Command response received (but CRC check failed) */ -#define SDMMC_ERROR_DATA_CRC_FAIL 0x00000002U /*!< Data block sent/received (CRC check failed) */ -#define SDMMC_ERROR_CMD_RSP_TIMEOUT 0x00000004U /*!< Command response timeout */ -#define SDMMC_ERROR_DATA_TIMEOUT 0x00000008U /*!< Data timeout */ -#define SDMMC_ERROR_TX_UNDERRUN 0x00000010U /*!< Transmit FIFO underrun */ -#define SDMMC_ERROR_RX_OVERRUN 0x00000020U /*!< Receive FIFO overrun */ -#define SDMMC_ERROR_ADDR_MISALIGNED 0x00000040U /*!< Misaligned address */ -#define SDMMC_ERROR_BLOCK_LEN_ERR 0x00000080U /*!< Transferred block length is not allowed for the card or the - number of transferred bytes does not match the block length */ -#define SDMMC_ERROR_ERASE_SEQ_ERR 0x00000100U /*!< An error in the sequence of erase command occurs */ -#define SDMMC_ERROR_BAD_ERASE_PARAM 0x00000200U /*!< An invalid selection for erase groups */ -#define SDMMC_ERROR_WRITE_PROT_VIOLATION 0x00000400U /*!< Attempt to program a write protect block */ -#define SDMMC_ERROR_LOCK_UNLOCK_FAILED 0x00000800U /*!< Sequence or password error has been detected in unlock - command or if there was an attempt to access a locked card */ -#define SDMMC_ERROR_COM_CRC_FAILED 0x00001000U /*!< CRC check of the previous command failed */ -#define SDMMC_ERROR_ILLEGAL_CMD 0x00002000U /*!< Command is not legal for the card state */ -#define SDMMC_ERROR_CARD_ECC_FAILED 0x00004000U /*!< Card internal ECC was applied but failed to correct the data */ -#define SDMMC_ERROR_CC_ERR 0x00008000U /*!< Internal card controller error */ -#define SDMMC_ERROR_GENERAL_UNKNOWN_ERR 0x00010000U /*!< General or unknown error */ -#define SDMMC_ERROR_STREAM_READ_UNDERRUN 0x00020000U /*!< The card could not sustain data reading in stream rmode */ -#define SDMMC_ERROR_STREAM_WRITE_OVERRUN 0x00040000U /*!< The card could not sustain data programming in stream mode */ -#define SDMMC_ERROR_CID_CSD_OVERWRITE 0x00080000U /*!< CID/CSD overwrite error */ -#define SDMMC_ERROR_WP_ERASE_SKIP 0x00100000U /*!< Only partial address space was erased */ -#define SDMMC_ERROR_CARD_ECC_DISABLED 0x00200000U /*!< Command has been executed without using internal ECC */ -#define SDMMC_ERROR_ERASE_RESET 0x00400000U /*!< Erase sequence was cleared before executing because an out - of erase sequence command was received */ -#define SDMMC_ERROR_AKE_SEQ_ERR 0x00800000U /*!< Error in sequence of authentication */ -#define SDMMC_ERROR_INVALID_VOLTRANGE 0x01000000U /*!< Error in case of invalid voltage range */ -#define SDMMC_ERROR_ADDR_OUT_OF_RANGE 0x02000000U /*!< Error when addressed block is out of range */ -#define SDMMC_ERROR_REQUEST_NOT_APPLICABLE 0x04000000U /*!< Error when command request is not applicable */ -#define SDMMC_ERROR_INVALID_PARAMETER 0x08000000U /*!< the used parameter is not valid */ -#define SDMMC_ERROR_UNSUPPORTED_FEATURE 0x10000000U /*!< Error when feature is not insupported */ -#define SDMMC_ERROR_BUSY 0x20000000U /*!< Error when transfer process is busy */ -#define SDMMC_ERROR_DMA 0x40000000U /*!< Error while DMA transfer */ -#define SDMMC_ERROR_TIMEOUT 0x80000000U /*!< Timeout error */ - -/** - * @brief SDMMC Commands Index - */ -#define SDMMC_CMD_GO_IDLE_STATE 0U /*!< Resets the SD memory card. */ -#define SDMMC_CMD_SEND_OP_COND 1U /*!< Sends host capacity support information and activates the card's initialization process. */ -#define SDMMC_CMD_ALL_SEND_CID 2U /*!< Asks any card connected to the host to send the CID numbers on the CMD line. */ -#define SDMMC_CMD_SET_REL_ADDR 3U /*!< Asks the card to publish a new relative address (RCA). */ -#define SDMMC_CMD_SET_DSR 4U /*!< Programs the DSR of all cards. */ -#define SDMMC_CMD_SDMMC_SEN_OP_COND 5U /*!< Sends host capacity support information (HCS) and asks the accessed card to send its - operating condition register (OCR) content in the response on the CMD line. */ -#define SDMMC_CMD_HS_SWITCH 6U /*!< Checks switchable function (mode 0) and switch card function (mode 1). */ -#define SDMMC_CMD_SEL_DESEL_CARD 7U /*!< Selects the card by its own relative address and gets deselected by any other address */ -#define SDMMC_CMD_HS_SEND_EXT_CSD 8U /*!< Sends SD Memory Card interface condition, which includes host supply voltage information - and asks the card whether card supports voltage. */ -#define SDMMC_CMD_SEND_CSD 9U /*!< Addressed card sends its card specific data (CSD) on the CMD line. */ -#define SDMMC_CMD_SEND_CID 10U /*!< Addressed card sends its card identification (CID) on the CMD line. */ -#define SDMMC_CMD_READ_DAT_UNTIL_STOP 11U /*!< SD card doesn't support it. */ -#define SDMMC_CMD_STOP_TRANSMISSION 12U /*!< Forces the card to stop transmission. */ -#define SDMMC_CMD_SEND_STATUS 13U /*!< Addressed card sends its status register. */ -#define SDMMC_CMD_HS_BUSTEST_READ 14U /*!< Reserved */ -#define SDMMC_CMD_GO_INACTIVE_STATE 15U /*!< Sends an addressed card into the inactive state. */ -#define SDMMC_CMD_SET_BLOCKLEN 16U /*!< Sets the block length (in bytes for SDSC) for all following block commands - (read, write, lock). Default block length is fixed to 512 Bytes. Not effective - for SDHS and SDXC. */ -#define SDMMC_CMD_READ_SINGLE_BLOCK 17U /*!< Reads single block of size selected by SET_BLOCKLEN in case of SDSC, and a block of - fixed 512 bytes in case of SDHC and SDXC. */ -#define SDMMC_CMD_READ_MULT_BLOCK 18U /*!< Continuously transfers data blocks from card to host until interrupted by - STOP_TRANSMISSION command. */ -#define SDMMC_CMD_HS_BUSTEST_WRITE 19U /*!< 64 bytes tuning pattern is sent for SDR50 and SDR104. */ -#define SDMMC_CMD_WRITE_DAT_UNTIL_STOP 20U /*!< Speed class control command. */ -#define SDMMC_CMD_SET_BLOCK_COUNT 23U /*!< Specify block count for CMD18 and CMD25. */ -#define SDMMC_CMD_WRITE_SINGLE_BLOCK 24U /*!< Writes single block of size selected by SET_BLOCKLEN in case of SDSC, and a block of - fixed 512 bytes in case of SDHC and SDXC. */ -#define SDMMC_CMD_WRITE_MULT_BLOCK 25U /*!< Continuously writes blocks of data until a STOP_TRANSMISSION follows. */ -#define SDMMC_CMD_PROG_CID 26U /*!< Reserved for manufacturers. */ -#define SDMMC_CMD_PROG_CSD 27U /*!< Programming of the programmable bits of the CSD. */ -#define SDMMC_CMD_SET_WRITE_PROT 28U /*!< Sets the write protection bit of the addressed group. */ -#define SDMMC_CMD_CLR_WRITE_PROT 29U /*!< Clears the write protection bit of the addressed group. */ -#define SDMMC_CMD_SEND_WRITE_PROT 30U /*!< Asks the card to send the status of the write protection bits. */ -#define SDMMC_CMD_SD_ERASE_GRP_START 32U /*!< Sets the address of the first write block to be erased. (For SD card only). */ -#define SDMMC_CMD_SD_ERASE_GRP_END 33U /*!< Sets the address of the last write block of the continuous range to be erased. */ -#define SDMMC_CMD_ERASE_GRP_START 35U /*!< Sets the address of the first write block to be erased. Reserved for each command - system set by switch function command (CMD6). */ -#define SDMMC_CMD_ERASE_GRP_END 36U /*!< Sets the address of the last write block of the continuous range to be erased. - Reserved for each command system set by switch function command (CMD6). */ -#define SDMMC_CMD_ERASE 38U /*!< Reserved for SD security applications. */ -#define SDMMC_CMD_FAST_IO 39U /*!< SD card doesn't support it (Reserved). */ -#define SDMMC_CMD_GO_IRQ_STATE 40U /*!< SD card doesn't support it (Reserved). */ -#define SDMMC_CMD_LOCK_UNLOCK 42U /*!< Sets/resets the password or lock/unlock the card. The size of the data block is set by - the SET_BLOCK_LEN command. */ -#define SDMMC_CMD_APP_CMD 55U /*!< Indicates to the card that the next command is an application specific command rather - than a standard command. */ -#define SDMMC_CMD_GEN_CMD 56U /*!< Used either to transfer a data block to the card or to get a data block from the card - for general purpose/application specific commands. */ -#define SDMMC_CMD_NO_CMD 64U /*!< No command */ - -/** - * @brief Following commands are SD Card Specific commands. - * SDMMC_APP_CMD should be sent before sending these commands. - */ -#define SDMMC_CMD_APP_SD_SET_BUSWIDTH 6U /*!< (ACMD6) Defines the data bus width to be used for data transfer. The allowed data bus - widths are given in SCR register. */ -#define SDMMC_CMD_SD_APP_STATUS 13U /*!< (ACMD13) Sends the SD status. */ -#define SDMMC_CMD_SD_APP_SEND_NUM_WRITE_BLOCKS 22U /*!< (ACMD22) Sends the number of the written (without errors) write blocks. Responds with - 32bit+CRC data block. */ -#define SDMMC_CMD_SD_APP_OP_COND 41U /*!< (ACMD41) Sends host capacity support information (HCS) and asks the accessed card to - send its operating condition register (OCR) content in the response on the CMD line. */ -#define SDMMC_CMD_SD_APP_SET_CLR_CARD_DETECT 42U /*!< (ACMD42) Connect/Disconnect the 50 KOhm pull-up resistor on CD/DAT3 (pin 1) of the card */ -#define SDMMC_CMD_SD_APP_SEND_SCR 51U /*!< Reads the SD Configuration Register (SCR). */ -#define SDMMC_CMD_SDMMC_RW_DIRECT 52U /*!< For SD I/O card only, reserved for security specification. */ -#define SDMMC_CMD_SDMMC_RW_EXTENDED 53U /*!< For SD I/O card only, reserved for security specification. */ - -/** - * @brief Following commands are SD Card Specific security commands. - * SDMMC_CMD_APP_CMD should be sent before sending these commands. - */ -#define SDMMC_CMD_SD_APP_GET_MKB 43U -#define SDMMC_CMD_SD_APP_GET_MID 44U -#define SDMMC_CMD_SD_APP_SET_CER_RN1 45U -#define SDMMC_CMD_SD_APP_GET_CER_RN2 46U -#define SDMMC_CMD_SD_APP_SET_CER_RES2 47U -#define SDMMC_CMD_SD_APP_GET_CER_RES1 48U -#define SDMMC_CMD_SD_APP_SECURE_READ_MULTIPLE_BLOCK 18U -#define SDMMC_CMD_SD_APP_SECURE_WRITE_MULTIPLE_BLOCK 25U -#define SDMMC_CMD_SD_APP_SECURE_ERASE 38U -#define SDMMC_CMD_SD_APP_CHANGE_SECURE_AREA 49U -#define SDMMC_CMD_SD_APP_SECURE_WRITE_MKB 48U - -/** - * @brief Masks for errors Card Status R1 (OCR Register) - */ -#define SDMMC_OCR_ADDR_OUT_OF_RANGE 0x80000000U -#define SDMMC_OCR_ADDR_MISALIGNED 0x40000000U -#define SDMMC_OCR_BLOCK_LEN_ERR 0x20000000U -#define SDMMC_OCR_ERASE_SEQ_ERR 0x10000000U -#define SDMMC_OCR_BAD_ERASE_PARAM 0x08000000U -#define SDMMC_OCR_WRITE_PROT_VIOLATION 0x04000000U -#define SDMMC_OCR_LOCK_UNLOCK_FAILED 0x01000000U -#define SDMMC_OCR_COM_CRC_FAILED 0x00800000U -#define SDMMC_OCR_ILLEGAL_CMD 0x00400000U -#define SDMMC_OCR_CARD_ECC_FAILED 0x00200000U -#define SDMMC_OCR_CC_ERROR 0x00100000U -#define SDMMC_OCR_GENERAL_UNKNOWN_ERROR 0x00080000U -#define SDMMC_OCR_STREAM_READ_UNDERRUN 0x00040000U -#define SDMMC_OCR_STREAM_WRITE_OVERRUN 0x00020000U -#define SDMMC_OCR_CID_CSD_OVERWRITE 0x00010000U -#define SDMMC_OCR_WP_ERASE_SKIP 0x00008000U -#define SDMMC_OCR_CARD_ECC_DISABLED 0x00004000U -#define SDMMC_OCR_ERASE_RESET 0x00002000U -#define SDMMC_OCR_AKE_SEQ_ERROR 0x00000008U -#define SDMMC_OCR_ERRORBITS 0xFDFFE008U - -/** - * @brief Masks for R6 Response - */ -#define SDMMC_R6_GENERAL_UNKNOWN_ERROR 0x00002000U -#define SDMMC_R6_ILLEGAL_CMD 0x00004000U -#define SDMMC_R6_COM_CRC_FAILED 0x00008000U - -#define SDMMC_VOLTAGE_WINDOW_SD 0x80100000U -#define SDMMC_HIGH_CAPACITY 0x40000000U -#define SDMMC_STD_CAPACITY 0x00000000U -#define SDMMC_CHECK_PATTERN 0x000001AAU -#define SD_SWITCH_1_8V_CAPACITY 0x01000000U - -#define SDMMC_MAX_VOLT_TRIAL 0x0000FFFFU - -#define SDMMC_MAX_TRIAL 0x0000FFFFU - -#define SDMMC_ALLZERO 0x00000000U - -#define SDMMC_WIDE_BUS_SUPPORT 0x00040000U -#define SDMMC_SINGLE_BUS_SUPPORT 0x00010000U -#define SDMMC_CARD_LOCKED 0x02000000U - -#ifndef SDMMC_DATATIMEOUT -#define SDMMC_DATATIMEOUT 0xFFFFFFFFU -#endif /* SDMMC_DATATIMEOUT */ - -#define SDMMC_0TO7BITS 0x000000FFU -#define SDMMC_8TO15BITS 0x0000FF00U -#define SDMMC_16TO23BITS 0x00FF0000U -#define SDMMC_24TO31BITS 0xFF000000U -#define SDMMC_MAX_DATA_LENGTH 0x01FFFFFFU - -#define SDMMC_HALFFIFO 0x00000008U -#define SDMMC_HALFFIFOBYTES 0x00000020U - -/** - * @brief Command Class supported - */ -#define SDIO_CCCC_ERASE 0x00000020U - -#define SDIO_CMDTIMEOUT 5000U /* Command send and response timeout */ -#define SDIO_MAXERASETIMEOUT 63000U /* Max erase Timeout 63 s */ -#define SDIO_STOPTRANSFERTIMEOUT 100000000U /* Timeout for STOP TRANSMISSION command */ - -/** @defgroup SDIO_LL_Clock_Edge Clock Edge - * @{ - */ -#define SDIO_CLOCK_EDGE_RISING 0x00000000U -#define SDIO_CLOCK_EDGE_FALLING SDIO_CLKCR_NEGEDGE - -#define IS_SDIO_CLOCK_EDGE(EDGE) (((EDGE) == SDIO_CLOCK_EDGE_RISING) || \ - ((EDGE) == SDIO_CLOCK_EDGE_FALLING)) -/** - * @} - */ - -/** @defgroup SDIO_LL_Clock_Bypass Clock Bypass - * @{ - */ -#define SDIO_CLOCK_BYPASS_DISABLE 0x00000000U -#define SDIO_CLOCK_BYPASS_ENABLE SDIO_CLKCR_BYPASS - -#define IS_SDIO_CLOCK_BYPASS(BYPASS) (((BYPASS) == SDIO_CLOCK_BYPASS_DISABLE) || \ - ((BYPASS) == SDIO_CLOCK_BYPASS_ENABLE)) -/** - * @} - */ - -/** @defgroup SDIO_LL_Clock_Power_Save Clock Power Saving - * @{ - */ -#define SDIO_CLOCK_POWER_SAVE_DISABLE 0x00000000U -#define SDIO_CLOCK_POWER_SAVE_ENABLE SDIO_CLKCR_PWRSAV - -#define IS_SDIO_CLOCK_POWER_SAVE(SAVE) (((SAVE) == SDIO_CLOCK_POWER_SAVE_DISABLE) || \ - ((SAVE) == SDIO_CLOCK_POWER_SAVE_ENABLE)) -/** - * @} - */ - -/** @defgroup SDIO_LL_Bus_Wide Bus Width - * @{ - */ -#define SDIO_BUS_WIDE_1B 0x00000000U -#define SDIO_BUS_WIDE_4B SDIO_CLKCR_WIDBUS_0 -#define SDIO_BUS_WIDE_8B SDIO_CLKCR_WIDBUS_1 - -#define IS_SDIO_BUS_WIDE(WIDE) (((WIDE) == SDIO_BUS_WIDE_1B) || \ - ((WIDE) == SDIO_BUS_WIDE_4B) || \ - ((WIDE) == SDIO_BUS_WIDE_8B)) -/** - * @} - */ - -/** @defgroup SDIO_LL_Hardware_Flow_Control Hardware Flow Control - * @{ - */ -#define SDIO_HARDWARE_FLOW_CONTROL_DISABLE 0x00000000U -#define SDIO_HARDWARE_FLOW_CONTROL_ENABLE SDIO_CLKCR_HWFC_EN - -#define IS_SDIO_HARDWARE_FLOW_CONTROL(CONTROL) (((CONTROL) == SDIO_HARDWARE_FLOW_CONTROL_DISABLE) || \ - ((CONTROL) == SDIO_HARDWARE_FLOW_CONTROL_ENABLE)) -/** - * @} - */ - -/** @defgroup SDIO_LL_Clock_Division Clock Division - * @{ - */ -#define IS_SDIO_CLKDIV(DIV) ((DIV) <= 0xFFU) -/** - * @} - */ - -/** @defgroup SDIO_LL_Command_Index Command Index - * @{ - */ -#define IS_SDIO_CMD_INDEX(INDEX) ((INDEX) < 0x40U) -/** - * @} - */ - -/** @defgroup SDIO_LL_Response_Type Response Type - * @{ - */ -#define SDIO_RESPONSE_NO 0x00000000U -#define SDIO_RESPONSE_SHORT SDIO_CMD_WAITRESP_0 -#define SDIO_RESPONSE_LONG SDIO_CMD_WAITRESP - -#define IS_SDIO_RESPONSE(RESPONSE) (((RESPONSE) == SDIO_RESPONSE_NO) || \ - ((RESPONSE) == SDIO_RESPONSE_SHORT) || \ - ((RESPONSE) == SDIO_RESPONSE_LONG)) -/** - * @} - */ - -/** @defgroup SDIO_LL_Wait_Interrupt_State Wait Interrupt - * @{ - */ -#define SDIO_WAIT_NO 0x00000000U -#define SDIO_WAIT_IT SDIO_CMD_WAITINT -#define SDIO_WAIT_PEND SDIO_CMD_WAITPEND - -#define IS_SDIO_WAIT(WAIT) (((WAIT) == SDIO_WAIT_NO) || \ - ((WAIT) == SDIO_WAIT_IT) || \ - ((WAIT) == SDIO_WAIT_PEND)) -/** - * @} - */ - -/** @defgroup SDIO_LL_CPSM_State CPSM State - * @{ - */ -#define SDIO_CPSM_DISABLE 0x00000000U -#define SDIO_CPSM_ENABLE SDIO_CMD_CPSMEN - -#define IS_SDIO_CPSM(CPSM) (((CPSM) == SDIO_CPSM_DISABLE) || \ - ((CPSM) == SDIO_CPSM_ENABLE)) -/** - * @} - */ - -/** @defgroup SDIO_LL_Response_Registers Response Register - * @{ - */ -#define SDIO_RESP1 0x00000000U -#define SDIO_RESP2 0x00000004U -#define SDIO_RESP3 0x00000008U -#define SDIO_RESP4 0x0000000CU - -#define IS_SDIO_RESP(RESP) (((RESP) == SDIO_RESP1) || \ - ((RESP) == SDIO_RESP2) || \ - ((RESP) == SDIO_RESP3) || \ - ((RESP) == SDIO_RESP4)) -/** - * @} - */ - -/** @defgroup SDIO_LL_Data_Length Data Length - * @{ - */ -#define IS_SDIO_DATA_LENGTH(LENGTH) ((LENGTH) <= 0x01FFFFFFU) -/** - * @} - */ - -/** @defgroup SDIO_LL_Data_Block_Size Data Block Size - * @{ - */ -#define SDIO_DATABLOCK_SIZE_1B 0x00000000U -#define SDIO_DATABLOCK_SIZE_2B SDIO_DCTRL_DBLOCKSIZE_0 -#define SDIO_DATABLOCK_SIZE_4B SDIO_DCTRL_DBLOCKSIZE_1 -#define SDIO_DATABLOCK_SIZE_8B (SDIO_DCTRL_DBLOCKSIZE_0|SDIO_DCTRL_DBLOCKSIZE_1) -#define SDIO_DATABLOCK_SIZE_16B SDIO_DCTRL_DBLOCKSIZE_2 -#define SDIO_DATABLOCK_SIZE_32B (SDIO_DCTRL_DBLOCKSIZE_0|SDIO_DCTRL_DBLOCKSIZE_2) -#define SDIO_DATABLOCK_SIZE_64B (SDIO_DCTRL_DBLOCKSIZE_1|SDIO_DCTRL_DBLOCKSIZE_2) -#define SDIO_DATABLOCK_SIZE_128B (SDIO_DCTRL_DBLOCKSIZE_0|SDIO_DCTRL_DBLOCKSIZE_1|SDIO_DCTRL_DBLOCKSIZE_2) -#define SDIO_DATABLOCK_SIZE_256B SDIO_DCTRL_DBLOCKSIZE_3 -#define SDIO_DATABLOCK_SIZE_512B (SDIO_DCTRL_DBLOCKSIZE_0|SDIO_DCTRL_DBLOCKSIZE_3) -#define SDIO_DATABLOCK_SIZE_1024B (SDIO_DCTRL_DBLOCKSIZE_1|SDIO_DCTRL_DBLOCKSIZE_3) -#define SDIO_DATABLOCK_SIZE_2048B (SDIO_DCTRL_DBLOCKSIZE_0|SDIO_DCTRL_DBLOCKSIZE_1|SDIO_DCTRL_DBLOCKSIZE_3) -#define SDIO_DATABLOCK_SIZE_4096B (SDIO_DCTRL_DBLOCKSIZE_2|SDIO_DCTRL_DBLOCKSIZE_3) -#define SDIO_DATABLOCK_SIZE_8192B (SDIO_DCTRL_DBLOCKSIZE_0|SDIO_DCTRL_DBLOCKSIZE_2|SDIO_DCTRL_DBLOCKSIZE_3) -#define SDIO_DATABLOCK_SIZE_16384B (SDIO_DCTRL_DBLOCKSIZE_1|SDIO_DCTRL_DBLOCKSIZE_2|SDIO_DCTRL_DBLOCKSIZE_3) - -#define IS_SDIO_BLOCK_SIZE(SIZE) (((SIZE) == SDIO_DATABLOCK_SIZE_1B) || \ - ((SIZE) == SDIO_DATABLOCK_SIZE_2B) || \ - ((SIZE) == SDIO_DATABLOCK_SIZE_4B) || \ - ((SIZE) == SDIO_DATABLOCK_SIZE_8B) || \ - ((SIZE) == SDIO_DATABLOCK_SIZE_16B) || \ - ((SIZE) == SDIO_DATABLOCK_SIZE_32B) || \ - ((SIZE) == SDIO_DATABLOCK_SIZE_64B) || \ - ((SIZE) == SDIO_DATABLOCK_SIZE_128B) || \ - ((SIZE) == SDIO_DATABLOCK_SIZE_256B) || \ - ((SIZE) == SDIO_DATABLOCK_SIZE_512B) || \ - ((SIZE) == SDIO_DATABLOCK_SIZE_1024B) || \ - ((SIZE) == SDIO_DATABLOCK_SIZE_2048B) || \ - ((SIZE) == SDIO_DATABLOCK_SIZE_4096B) || \ - ((SIZE) == SDIO_DATABLOCK_SIZE_8192B) || \ - ((SIZE) == SDIO_DATABLOCK_SIZE_16384B)) -/** - * @} - */ - -/** @defgroup SDIO_LL_Transfer_Direction Transfer Direction - * @{ - */ -#define SDIO_TRANSFER_DIR_TO_CARD 0x00000000U -#define SDIO_TRANSFER_DIR_TO_SDIO SDIO_DCTRL_DTDIR - -#define IS_SDIO_TRANSFER_DIR(DIR) (((DIR) == SDIO_TRANSFER_DIR_TO_CARD) || \ - ((DIR) == SDIO_TRANSFER_DIR_TO_SDIO)) -/** - * @} - */ - -/** @defgroup SDIO_LL_Transfer_Type Transfer Type - * @{ - */ -#define SDIO_TRANSFER_MODE_BLOCK 0x00000000U -#define SDIO_TRANSFER_MODE_STREAM SDIO_DCTRL_DTMODE - -#define IS_SDIO_TRANSFER_MODE(MODE) (((MODE) == SDIO_TRANSFER_MODE_BLOCK) || \ - ((MODE) == SDIO_TRANSFER_MODE_STREAM)) -/** - * @} - */ - -/** @defgroup SDIO_LL_DPSM_State DPSM State - * @{ - */ -#define SDIO_DPSM_DISABLE 0x00000000U -#define SDIO_DPSM_ENABLE SDIO_DCTRL_DTEN - -#define IS_SDIO_DPSM(DPSM) (((DPSM) == SDIO_DPSM_DISABLE) ||\ - ((DPSM) == SDIO_DPSM_ENABLE)) -/** - * @} - */ - -/** @defgroup SDIO_LL_Read_Wait_Mode Read Wait Mode - * @{ - */ -#define SDIO_READ_WAIT_MODE_DATA2 0x00000000U -#define SDIO_READ_WAIT_MODE_CLK (SDIO_DCTRL_RWMOD) - -#define IS_SDIO_READWAIT_MODE(MODE) (((MODE) == SDIO_READ_WAIT_MODE_CLK) || \ - ((MODE) == SDIO_READ_WAIT_MODE_DATA2)) -/** - * @} - */ - -/** @defgroup SDIO_LL_Interrupt_sources Interrupt Sources - * @{ - */ -#define SDIO_IT_CCRCFAIL SDIO_MASK_CCRCFAILIE -#define SDIO_IT_DCRCFAIL SDIO_MASK_DCRCFAILIE -#define SDIO_IT_CTIMEOUT SDIO_MASK_CTIMEOUTIE -#define SDIO_IT_DTIMEOUT SDIO_MASK_DTIMEOUTIE -#define SDIO_IT_TXUNDERR SDIO_MASK_TXUNDERRIE -#define SDIO_IT_RXOVERR SDIO_MASK_RXOVERRIE -#define SDIO_IT_CMDREND SDIO_MASK_CMDRENDIE -#define SDIO_IT_CMDSENT SDIO_MASK_CMDSENTIE -#define SDIO_IT_DATAEND SDIO_MASK_DATAENDIE -#if defined(SDIO_STA_STBITERR) -#define SDIO_IT_STBITERR SDIO_MASK_STBITERRIE -#endif -#define SDIO_IT_DBCKEND SDIO_MASK_DBCKENDIE -#define SDIO_IT_CMDACT SDIO_MASK_CMDACTIE -#define SDIO_IT_TXACT SDIO_MASK_TXACTIE -#define SDIO_IT_RXACT SDIO_MASK_RXACTIE -#define SDIO_IT_TXFIFOHE SDIO_MASK_TXFIFOHEIE -#define SDIO_IT_RXFIFOHF SDIO_MASK_RXFIFOHFIE -#define SDIO_IT_TXFIFOF SDIO_MASK_TXFIFOFIE -#define SDIO_IT_RXFIFOF SDIO_MASK_RXFIFOFIE -#define SDIO_IT_TXFIFOE SDIO_MASK_TXFIFOEIE -#define SDIO_IT_RXFIFOE SDIO_MASK_RXFIFOEIE -#define SDIO_IT_TXDAVL SDIO_MASK_TXDAVLIE -#define SDIO_IT_RXDAVL SDIO_MASK_RXDAVLIE -#define SDIO_IT_SDIOIT SDIO_MASK_SDIOITIE -#if defined(SDIO_CMD_CEATACMD) -#define SDIO_IT_CEATAEND SDIO_MASK_CEATAENDIE -#endif -/** - * @} - */ - -/** @defgroup SDIO_LL_Flags Flags - * @{ - */ -#define SDIO_FLAG_CCRCFAIL SDIO_STA_CCRCFAIL -#define SDIO_FLAG_DCRCFAIL SDIO_STA_DCRCFAIL -#define SDIO_FLAG_CTIMEOUT SDIO_STA_CTIMEOUT -#define SDIO_FLAG_DTIMEOUT SDIO_STA_DTIMEOUT -#define SDIO_FLAG_TXUNDERR SDIO_STA_TXUNDERR -#define SDIO_FLAG_RXOVERR SDIO_STA_RXOVERR -#define SDIO_FLAG_CMDREND SDIO_STA_CMDREND -#define SDIO_FLAG_CMDSENT SDIO_STA_CMDSENT -#define SDIO_FLAG_DATAEND SDIO_STA_DATAEND -#if defined(SDIO_STA_STBITERR) -#define SDIO_FLAG_STBITERR SDIO_STA_STBITERR -#endif -#define SDIO_FLAG_DBCKEND SDIO_STA_DBCKEND -#define SDIO_FLAG_CMDACT SDIO_STA_CMDACT -#define SDIO_FLAG_TXACT SDIO_STA_TXACT -#define SDIO_FLAG_RXACT SDIO_STA_RXACT -#define SDIO_FLAG_TXFIFOHE SDIO_STA_TXFIFOHE -#define SDIO_FLAG_RXFIFOHF SDIO_STA_RXFIFOHF -#define SDIO_FLAG_TXFIFOF SDIO_STA_TXFIFOF -#define SDIO_FLAG_RXFIFOF SDIO_STA_RXFIFOF -#define SDIO_FLAG_TXFIFOE SDIO_STA_TXFIFOE -#define SDIO_FLAG_RXFIFOE SDIO_STA_RXFIFOE -#define SDIO_FLAG_TXDAVL SDIO_STA_TXDAVL -#define SDIO_FLAG_RXDAVL SDIO_STA_RXDAVL -#define SDIO_FLAG_SDIOIT SDIO_STA_SDIOIT -#if defined(SDIO_CMD_CEATACMD) -#define SDIO_FLAG_CEATAEND SDIO_STA_CEATAEND -#endif -#define SDIO_STATIC_FLAGS ((uint32_t)(SDIO_FLAG_CCRCFAIL | SDIO_FLAG_DCRCFAIL | SDIO_FLAG_CTIMEOUT |\ - SDIO_FLAG_DTIMEOUT | SDIO_FLAG_TXUNDERR | SDIO_FLAG_RXOVERR |\ - SDIO_FLAG_CMDREND | SDIO_FLAG_CMDSENT | SDIO_FLAG_DATAEND |\ - SDIO_FLAG_DBCKEND | SDIO_FLAG_SDIOIT)) - -#define SDIO_STATIC_CMD_FLAGS ((uint32_t)(SDIO_FLAG_CCRCFAIL | SDIO_FLAG_CTIMEOUT | SDIO_FLAG_CMDREND |\ - SDIO_FLAG_CMDSENT)) - -#define SDIO_STATIC_DATA_FLAGS ((uint32_t)(SDIO_FLAG_DCRCFAIL | SDIO_FLAG_DTIMEOUT | SDIO_FLAG_TXUNDERR |\ - SDIO_FLAG_RXOVERR | SDIO_FLAG_DATAEND | SDIO_FLAG_DBCKEND)) -/** - * @} - */ - -/** - * @} - */ - -/* Exported macro ------------------------------------------------------------*/ -/** @defgroup SDIO_LL_Exported_macros SDIO_LL Exported Macros - * @{ - */ - -/** @defgroup SDMMC_LL_Alias_Region Bit Address in the alias region - * @{ - */ -/* ------------ SDIO registers bit address in the alias region -------------- */ -#define SDIO_OFFSET (SDIO_BASE - PERIPH_BASE) - -/* --- CLKCR Register ---*/ -/* Alias word address of CLKEN bit */ -#define CLKCR_OFFSET (SDIO_OFFSET + 0x04U) -#define CLKEN_BITNUMBER 0x08U -#define CLKCR_CLKEN_BB (PERIPH_BB_BASE + (CLKCR_OFFSET * 32U) + (CLKEN_BITNUMBER * 4U)) - -/* --- CMD Register ---*/ -/* Alias word address of SDIOSUSPEND bit */ -#define CMD_OFFSET (SDIO_OFFSET + 0x0CU) -#define SDIOSUSPEND_BITNUMBER 0x0BU -#define CMD_SDIOSUSPEND_BB (PERIPH_BB_BASE + (CMD_OFFSET * 32U) + (SDIOSUSPEND_BITNUMBER * 4U)) - -/* Alias word address of ENCMDCOMPL bit */ -#define ENCMDCOMPL_BITNUMBER 0x0CU -#define CMD_ENCMDCOMPL_BB (PERIPH_BB_BASE + (CMD_OFFSET * 32U) + (ENCMDCOMPL_BITNUMBER * 4U)) - -/* Alias word address of NIEN bit */ -#define NIEN_BITNUMBER 0x0DU -#define CMD_NIEN_BB (PERIPH_BB_BASE + (CMD_OFFSET * 32U) + (NIEN_BITNUMBER * 4U)) - -/* Alias word address of ATACMD bit */ -#define ATACMD_BITNUMBER 0x0EU -#define CMD_ATACMD_BB (PERIPH_BB_BASE + (CMD_OFFSET * 32U) + (ATACMD_BITNUMBER * 4U)) - -/* --- DCTRL Register ---*/ -/* Alias word address of DMAEN bit */ -#define DCTRL_OFFSET (SDIO_OFFSET + 0x2CU) -#define DMAEN_BITNUMBER 0x03U -#define DCTRL_DMAEN_BB (PERIPH_BB_BASE + (DCTRL_OFFSET * 32U) + (DMAEN_BITNUMBER * 4U)) - -/* Alias word address of RWSTART bit */ -#define RWSTART_BITNUMBER 0x08U -#define DCTRL_RWSTART_BB (PERIPH_BB_BASE + (DCTRL_OFFSET * 32U) + (RWSTART_BITNUMBER * 4U)) - -/* Alias word address of RWSTOP bit */ -#define RWSTOP_BITNUMBER 0x09U -#define DCTRL_RWSTOP_BB (PERIPH_BB_BASE + (DCTRL_OFFSET * 32U) + (RWSTOP_BITNUMBER * 4U)) - -/* Alias word address of RWMOD bit */ -#define RWMOD_BITNUMBER 0x0AU -#define DCTRL_RWMOD_BB (PERIPH_BB_BASE + (DCTRL_OFFSET * 32U) + (RWMOD_BITNUMBER * 4U)) - -/* Alias word address of SDIOEN bit */ -#define SDIOEN_BITNUMBER 0x0BU -#define DCTRL_SDIOEN_BB (PERIPH_BB_BASE + (DCTRL_OFFSET * 32U) + (SDIOEN_BITNUMBER * 4U)) -/** - * @} - */ - -/** @defgroup SDIO_LL_Register Bits And Addresses Definitions - * @brief SDIO_LL registers bit address in the alias region - * @{ - */ -/* ---------------------- SDIO registers bit mask --------------------------- */ -/* --- CLKCR Register ---*/ -/* CLKCR register clear mask */ -#define CLKCR_CLEAR_MASK ((uint32_t)(SDIO_CLKCR_CLKDIV | SDIO_CLKCR_PWRSAV |\ - SDIO_CLKCR_BYPASS | SDIO_CLKCR_WIDBUS |\ - SDIO_CLKCR_NEGEDGE | SDIO_CLKCR_HWFC_EN)) - -/* --- DCTRL Register ---*/ -/* SDIO DCTRL Clear Mask */ -#define DCTRL_CLEAR_MASK ((uint32_t)(SDIO_DCTRL_DTEN | SDIO_DCTRL_DTDIR |\ - SDIO_DCTRL_DTMODE | SDIO_DCTRL_DBLOCKSIZE)) - -/* --- CMD Register ---*/ -/* CMD Register clear mask */ -#define CMD_CLEAR_MASK ((uint32_t)(SDIO_CMD_CMDINDEX | SDIO_CMD_WAITRESP |\ - SDIO_CMD_WAITINT | SDIO_CMD_WAITPEND |\ - SDIO_CMD_CPSMEN | SDIO_CMD_SDIOSUSPEND)) - -/* SDIO Initialization Frequency (400KHz max) */ -#define SDIO_INIT_CLK_DIV ((uint8_t)0x76) /* 48MHz / (SDMMC_INIT_CLK_DIV + 2) < 400KHz */ - -/* SDIO Data Transfer Frequency (25MHz max) */ -#define SDIO_TRANSFER_CLK_DIV ((uint8_t)0x0) /* 48MHz / (SDMMC_TRANSFER_CLK_DIV + 2) < 25MHz */ -/** - * @} - */ - -/** @defgroup SDIO_LL_Interrupt_Clock Interrupt And Clock Configuration - * @brief macros to handle interrupts and specific clock configurations - * @{ - */ - -/** - * @brief Enable the SDIO device. - * @param __INSTANCE__: SDIO Instance - * @retval None - */ -#define __SDIO_ENABLE(__INSTANCE__) (*(__IO uint32_t *)CLKCR_CLKEN_BB = ENABLE) - -/** - * @brief Disable the SDIO device. - * @param __INSTANCE__: SDIO Instance - * @retval None - */ -#define __SDIO_DISABLE(__INSTANCE__) (*(__IO uint32_t *)CLKCR_CLKEN_BB = DISABLE) - -/** - * @brief Enable the SDIO DMA transfer. - * @param __INSTANCE__: SDIO Instance - * @retval None - */ -#define __SDIO_DMA_ENABLE(__INSTANCE__) (*(__IO uint32_t *)DCTRL_DMAEN_BB = ENABLE) - -/** - * @brief Disable the SDIO DMA transfer. - * @param __INSTANCE__: SDIO Instance - * @retval None - */ -#define __SDIO_DMA_DISABLE(__INSTANCE__) (*(__IO uint32_t *)DCTRL_DMAEN_BB = DISABLE) - -/** - * @brief Enable the SDIO device interrupt. - * @param __INSTANCE__ : Pointer to SDIO register base - * @param __INTERRUPT__ : specifies the SDIO interrupt sources to be enabled. - * This parameter can be one or a combination of the following values: - * @arg SDIO_IT_CCRCFAIL: Command response received (CRC check failed) interrupt - * @arg SDIO_IT_DCRCFAIL: Data block sent/received (CRC check failed) interrupt - * @arg SDIO_IT_CTIMEOUT: Command response timeout interrupt - * @arg SDIO_IT_DTIMEOUT: Data timeout interrupt - * @arg SDIO_IT_TXUNDERR: Transmit FIFO underrun error interrupt - * @arg SDIO_IT_RXOVERR: Received FIFO overrun error interrupt - * @arg SDIO_IT_CMDREND: Command response received (CRC check passed) interrupt - * @arg SDIO_IT_CMDSENT: Command sent (no response required) interrupt - * @arg SDIO_IT_DATAEND: Data end (data counter, DATACOUNT, is zero) interrupt - * @arg SDIO_IT_DBCKEND: Data block sent/received (CRC check passed) interrupt - * @arg SDIO_IT_CMDACT: Command transfer in progress interrupt - * @arg SDIO_IT_TXACT: Data transmit in progress interrupt - * @arg SDIO_IT_RXACT: Data receive in progress interrupt - * @arg SDIO_IT_TXFIFOHE: Transmit FIFO Half Empty interrupt - * @arg SDIO_IT_RXFIFOHF: Receive FIFO Half Full interrupt - * @arg SDIO_IT_TXFIFOF: Transmit FIFO full interrupt - * @arg SDIO_IT_RXFIFOF: Receive FIFO full interrupt - * @arg SDIO_IT_TXFIFOE: Transmit FIFO empty interrupt - * @arg SDIO_IT_RXFIFOE: Receive FIFO empty interrupt - * @arg SDIO_IT_TXDAVL: Data available in transmit FIFO interrupt - * @arg SDIO_IT_RXDAVL: Data available in receive FIFO interrupt - * @arg SDIO_IT_SDIOIT: SDIO interrupt received interrupt - * @retval None - */ -#define __SDIO_ENABLE_IT(__INSTANCE__, __INTERRUPT__) ((__INSTANCE__)->MASK |= (__INTERRUPT__)) - -/** - * @brief Disable the SDIO device interrupt. - * @param __INSTANCE__ : Pointer to SDIO register base - * @param __INTERRUPT__ : specifies the SDIO interrupt sources to be disabled. - * This parameter can be one or a combination of the following values: - * @arg SDIO_IT_CCRCFAIL: Command response received (CRC check failed) interrupt - * @arg SDIO_IT_DCRCFAIL: Data block sent/received (CRC check failed) interrupt - * @arg SDIO_IT_CTIMEOUT: Command response timeout interrupt - * @arg SDIO_IT_DTIMEOUT: Data timeout interrupt - * @arg SDIO_IT_TXUNDERR: Transmit FIFO underrun error interrupt - * @arg SDIO_IT_RXOVERR: Received FIFO overrun error interrupt - * @arg SDIO_IT_CMDREND: Command response received (CRC check passed) interrupt - * @arg SDIO_IT_CMDSENT: Command sent (no response required) interrupt - * @arg SDIO_IT_DATAEND: Data end (data counter, DATACOUNT, is zero) interrupt - * @arg SDIO_IT_DBCKEND: Data block sent/received (CRC check passed) interrupt - * @arg SDIO_IT_CMDACT: Command transfer in progress interrupt - * @arg SDIO_IT_TXACT: Data transmit in progress interrupt - * @arg SDIO_IT_RXACT: Data receive in progress interrupt - * @arg SDIO_IT_TXFIFOHE: Transmit FIFO Half Empty interrupt - * @arg SDIO_IT_RXFIFOHF: Receive FIFO Half Full interrupt - * @arg SDIO_IT_TXFIFOF: Transmit FIFO full interrupt - * @arg SDIO_IT_RXFIFOF: Receive FIFO full interrupt - * @arg SDIO_IT_TXFIFOE: Transmit FIFO empty interrupt - * @arg SDIO_IT_RXFIFOE: Receive FIFO empty interrupt - * @arg SDIO_IT_TXDAVL: Data available in transmit FIFO interrupt - * @arg SDIO_IT_RXDAVL: Data available in receive FIFO interrupt - * @arg SDIO_IT_SDIOIT: SDIO interrupt received interrupt - * @retval None - */ -#define __SDIO_DISABLE_IT(__INSTANCE__, __INTERRUPT__) ((__INSTANCE__)->MASK &= ~(__INTERRUPT__)) - -/** - * @brief Checks whether the specified SDIO flag is set or not. - * @param __INSTANCE__ : Pointer to SDIO register base - * @param __FLAG__: specifies the flag to check. - * This parameter can be one of the following values: - * @arg SDIO_FLAG_CCRCFAIL: Command response received (CRC check failed) - * @arg SDIO_FLAG_DCRCFAIL: Data block sent/received (CRC check failed) - * @arg SDIO_FLAG_CTIMEOUT: Command response timeout - * @arg SDIO_FLAG_DTIMEOUT: Data timeout - * @arg SDIO_FLAG_TXUNDERR: Transmit FIFO underrun error - * @arg SDIO_FLAG_RXOVERR: Received FIFO overrun error - * @arg SDIO_FLAG_CMDREND: Command response received (CRC check passed) - * @arg SDIO_FLAG_CMDSENT: Command sent (no response required) - * @arg SDIO_FLAG_DATAEND: Data end (data counter, DATACOUNT, is zero) - * @arg SDIO_FLAG_DBCKEND: Data block sent/received (CRC check passed) - * @arg SDIO_FLAG_CMDACT: Command transfer in progress - * @arg SDIO_FLAG_TXACT: Data transmit in progress - * @arg SDIO_FLAG_RXACT: Data receive in progress - * @arg SDIO_FLAG_TXFIFOHE: Transmit FIFO Half Empty - * @arg SDIO_FLAG_RXFIFOHF: Receive FIFO Half Full - * @arg SDIO_FLAG_TXFIFOF: Transmit FIFO full - * @arg SDIO_FLAG_RXFIFOF: Receive FIFO full - * @arg SDIO_FLAG_TXFIFOE: Transmit FIFO empty - * @arg SDIO_FLAG_RXFIFOE: Receive FIFO empty - * @arg SDIO_FLAG_TXDAVL: Data available in transmit FIFO - * @arg SDIO_FLAG_RXDAVL: Data available in receive FIFO - * @arg SDIO_FLAG_SDIOIT: SDIO interrupt received - * @retval The new state of SDIO_FLAG (SET or RESET). - */ -#define __SDIO_GET_FLAG(__INSTANCE__, __FLAG__) (((__INSTANCE__)->STA &(__FLAG__)) != 0U) - - -/** - * @brief Clears the SDIO pending flags. - * @param __INSTANCE__ : Pointer to SDIO register base - * @param __FLAG__: specifies the flag to clear. - * This parameter can be one or a combination of the following values: - * @arg SDIO_FLAG_CCRCFAIL: Command response received (CRC check failed) - * @arg SDIO_FLAG_DCRCFAIL: Data block sent/received (CRC check failed) - * @arg SDIO_FLAG_CTIMEOUT: Command response timeout - * @arg SDIO_FLAG_DTIMEOUT: Data timeout - * @arg SDIO_FLAG_TXUNDERR: Transmit FIFO underrun error - * @arg SDIO_FLAG_RXOVERR: Received FIFO overrun error - * @arg SDIO_FLAG_CMDREND: Command response received (CRC check passed) - * @arg SDIO_FLAG_CMDSENT: Command sent (no response required) - * @arg SDIO_FLAG_DATAEND: Data end (data counter, DATACOUNT, is zero) - * @arg SDIO_FLAG_DBCKEND: Data block sent/received (CRC check passed) - * @arg SDIO_FLAG_SDIOIT: SDIO interrupt received - * @retval None - */ -#define __SDIO_CLEAR_FLAG(__INSTANCE__, __FLAG__) ((__INSTANCE__)->ICR = (__FLAG__)) - -/** - * @brief Checks whether the specified SDIO interrupt has occurred or not. - * @param __INSTANCE__ : Pointer to SDIO register base - * @param __INTERRUPT__: specifies the SDIO interrupt source to check. - * This parameter can be one of the following values: - * @arg SDIO_IT_CCRCFAIL: Command response received (CRC check failed) interrupt - * @arg SDIO_IT_DCRCFAIL: Data block sent/received (CRC check failed) interrupt - * @arg SDIO_IT_CTIMEOUT: Command response timeout interrupt - * @arg SDIO_IT_DTIMEOUT: Data timeout interrupt - * @arg SDIO_IT_TXUNDERR: Transmit FIFO underrun error interrupt - * @arg SDIO_IT_RXOVERR: Received FIFO overrun error interrupt - * @arg SDIO_IT_CMDREND: Command response received (CRC check passed) interrupt - * @arg SDIO_IT_CMDSENT: Command sent (no response required) interrupt - * @arg SDIO_IT_DATAEND: Data end (data counter, DATACOUNT, is zero) interrupt - * @arg SDIO_IT_DBCKEND: Data block sent/received (CRC check passed) interrupt - * @arg SDIO_IT_CMDACT: Command transfer in progress interrupt - * @arg SDIO_IT_TXACT: Data transmit in progress interrupt - * @arg SDIO_IT_RXACT: Data receive in progress interrupt - * @arg SDIO_IT_TXFIFOHE: Transmit FIFO Half Empty interrupt - * @arg SDIO_IT_RXFIFOHF: Receive FIFO Half Full interrupt - * @arg SDIO_IT_TXFIFOF: Transmit FIFO full interrupt - * @arg SDIO_IT_RXFIFOF: Receive FIFO full interrupt - * @arg SDIO_IT_TXFIFOE: Transmit FIFO empty interrupt - * @arg SDIO_IT_RXFIFOE: Receive FIFO empty interrupt - * @arg SDIO_IT_TXDAVL: Data available in transmit FIFO interrupt - * @arg SDIO_IT_RXDAVL: Data available in receive FIFO interrupt - * @arg SDIO_IT_SDIOIT: SDIO interrupt received interrupt - * @retval The new state of SDIO_IT (SET or RESET). - */ -#define __SDIO_GET_IT (__INSTANCE__, __INTERRUPT__) (((__INSTANCE__)->STA &(__INTERRUPT__)) == (__INTERRUPT__)) - -/** - * @brief Clears the SDIO's interrupt pending bits. - * @param __INSTANCE__ : Pointer to SDIO register base - * @param __INTERRUPT__: specifies the interrupt pending bit to clear. - * This parameter can be one or a combination of the following values: - * @arg SDIO_IT_CCRCFAIL: Command response received (CRC check failed) interrupt - * @arg SDIO_IT_DCRCFAIL: Data block sent/received (CRC check failed) interrupt - * @arg SDIO_IT_CTIMEOUT: Command response timeout interrupt - * @arg SDIO_IT_DTIMEOUT: Data timeout interrupt - * @arg SDIO_IT_TXUNDERR: Transmit FIFO underrun error interrupt - * @arg SDIO_IT_RXOVERR: Received FIFO overrun error interrupt - * @arg SDIO_IT_CMDREND: Command response received (CRC check passed) interrupt - * @arg SDIO_IT_CMDSENT: Command sent (no response required) interrupt - * @arg SDIO_IT_DATAEND: Data end (data counter, DATACOUNT, is zero) interrupt - * @arg SDIO_IT_SDIOIT: SDIO interrupt received interrupt - * @retval None - */ -#define __SDIO_CLEAR_IT(__INSTANCE__, __INTERRUPT__) ((__INSTANCE__)->ICR = (__INTERRUPT__)) - -/** - * @brief Enable Start the SD I/O Read Wait operation. - * @param __INSTANCE__ : Pointer to SDIO register base - * @retval None - */ -#define __SDIO_START_READWAIT_ENABLE(__INSTANCE__) (*(__IO uint32_t *) DCTRL_RWSTART_BB = ENABLE) - -/** - * @brief Disable Start the SD I/O Read Wait operations. - * @param __INSTANCE__ : Pointer to SDIO register base - * @retval None - */ -#define __SDIO_START_READWAIT_DISABLE(__INSTANCE__) (*(__IO uint32_t *) DCTRL_RWSTART_BB = DISABLE) - -/** - * @brief Enable Start the SD I/O Read Wait operation. - * @param __INSTANCE__ : Pointer to SDIO register base - * @retval None - */ -#define __SDIO_STOP_READWAIT_ENABLE(__INSTANCE__) (*(__IO uint32_t *) DCTRL_RWSTOP_BB = ENABLE) - -/** - * @brief Disable Stop the SD I/O Read Wait operations. - * @param __INSTANCE__ : Pointer to SDIO register base - * @retval None - */ -#define __SDIO_STOP_READWAIT_DISABLE(__INSTANCE__) (*(__IO uint32_t *) DCTRL_RWSTOP_BB = DISABLE) - -/** - * @brief Enable the SD I/O Mode Operation. - * @param __INSTANCE__ : Pointer to SDIO register base - * @retval None - */ -#define __SDIO_OPERATION_ENABLE(__INSTANCE__) (*(__IO uint32_t *) DCTRL_SDIOEN_BB = ENABLE) - -/** - * @brief Disable the SD I/O Mode Operation. - * @param __INSTANCE__ : Pointer to SDIO register base - * @retval None - */ -#define __SDIO_OPERATION_DISABLE(__INSTANCE__) (*(__IO uint32_t *) DCTRL_SDIOEN_BB = DISABLE) - -/** - * @brief Enable the SD I/O Suspend command sending. - * @param __INSTANCE__ : Pointer to SDIO register base - * @retval None - */ -#define __SDIO_SUSPEND_CMD_ENABLE(__INSTANCE__) (*(__IO uint32_t *) CMD_SDIOSUSPEND_BB = ENABLE) - -/** - * @brief Disable the SD I/O Suspend command sending. - * @param __INSTANCE__ : Pointer to SDIO register base - * @retval None - */ -#define __SDIO_SUSPEND_CMD_DISABLE(__INSTANCE__) (*(__IO uint32_t *) CMD_SDIOSUSPEND_BB = DISABLE) - -#if defined(SDIO_CMD_CEATACMD) -/** - * @brief Enable the command completion signal. - * @retval None - */ -#define __SDIO_CEATA_CMD_COMPLETION_ENABLE() (*(__IO uint32_t *) CMD_ENCMDCOMPL_BB = ENABLE) - -/** - * @brief Disable the command completion signal. - * @retval None - */ -#define __SDIO_CEATA_CMD_COMPLETION_DISABLE() (*(__IO uint32_t *) CMD_ENCMDCOMPL_BB = DISABLE) - -/** - * @brief Enable the CE-ATA interrupt. - * @retval None - */ -#define __SDIO_CEATA_ENABLE_IT() (*(__IO uint32_t *) CMD_NIEN_BB = (uint32_t)0U) - -/** - * @brief Disable the CE-ATA interrupt. - * @retval None - */ -#define __SDIO_CEATA_DISABLE_IT() (*(__IO uint32_t *) CMD_NIEN_BB = (uint32_t)1U) - -/** - * @brief Enable send CE-ATA command (CMD61). - * @retval None - */ -#define __SDIO_CEATA_SENDCMD_ENABLE() (*(__IO uint32_t *) CMD_ATACMD_BB = ENABLE) - -/** - * @brief Disable send CE-ATA command (CMD61). - * @retval None - */ -#define __SDIO_CEATA_SENDCMD_DISABLE() (*(__IO uint32_t *) CMD_ATACMD_BB = DISABLE) - -#endif -/** - * @} - */ - -/** - * @} - */ - -/* Exported functions --------------------------------------------------------*/ -/** @addtogroup SDMMC_LL_Exported_Functions - * @{ - */ - -/* Initialization/de-initialization functions **********************************/ -/** @addtogroup HAL_SDMMC_LL_Group1 - * @{ - */ -HAL_StatusTypeDef SDIO_Init(SDIO_TypeDef *SDIOx, SDIO_InitTypeDef Init); -/** - * @} - */ - -/* I/O operation functions *****************************************************/ -/** @addtogroup HAL_SDMMC_LL_Group2 - * @{ - */ -uint32_t SDIO_ReadFIFO(SDIO_TypeDef *SDIOx); -HAL_StatusTypeDef SDIO_WriteFIFO(SDIO_TypeDef *SDIOx, uint32_t *pWriteData); -/** - * @} - */ - -/* Peripheral Control functions ************************************************/ -/** @addtogroup HAL_SDMMC_LL_Group3 - * @{ - */ -HAL_StatusTypeDef SDIO_PowerState_ON(SDIO_TypeDef *SDIOx); -HAL_StatusTypeDef SDIO_PowerState_OFF(SDIO_TypeDef *SDIOx); -uint32_t SDIO_GetPowerState(SDIO_TypeDef *SDIOx); - -/* Command path state machine (CPSM) management functions */ -HAL_StatusTypeDef SDIO_SendCommand(SDIO_TypeDef *SDIOx, SDIO_CmdInitTypeDef *Command); -uint8_t SDIO_GetCommandResponse(SDIO_TypeDef *SDIOx); -uint32_t SDIO_GetResponse(SDIO_TypeDef *SDIOx, uint32_t Response); - -/* Data path state machine (DPSM) management functions */ -HAL_StatusTypeDef SDIO_ConfigData(SDIO_TypeDef *SDIOx, SDIO_DataInitTypeDef* Data); -uint32_t SDIO_GetDataCounter(SDIO_TypeDef *SDIOx); -uint32_t SDIO_GetFIFOCount(SDIO_TypeDef *SDIOx); - -/* SDMMC Cards mode management functions */ -HAL_StatusTypeDef SDIO_SetSDMMCReadWaitMode(SDIO_TypeDef *SDIOx, uint32_t SDIO_ReadWaitMode); - -/* SDMMC Commands management functions */ -uint32_t SDMMC_CmdBlockLength(SDIO_TypeDef *SDIOx, uint32_t BlockSize); -uint32_t SDMMC_CmdReadSingleBlock(SDIO_TypeDef *SDIOx, uint32_t ReadAdd); -uint32_t SDMMC_CmdReadMultiBlock(SDIO_TypeDef *SDIOx, uint32_t ReadAdd); -uint32_t SDMMC_CmdWriteSingleBlock(SDIO_TypeDef *SDIOx, uint32_t WriteAdd); -uint32_t SDMMC_CmdWriteMultiBlock(SDIO_TypeDef *SDIOx, uint32_t WriteAdd); -uint32_t SDMMC_CmdEraseStartAdd(SDIO_TypeDef *SDIOx, uint32_t StartAdd); -uint32_t SDMMC_CmdSDEraseStartAdd(SDIO_TypeDef *SDIOx, uint32_t StartAdd); -uint32_t SDMMC_CmdEraseEndAdd(SDIO_TypeDef *SDIOx, uint32_t EndAdd); -uint32_t SDMMC_CmdSDEraseEndAdd(SDIO_TypeDef *SDIOx, uint32_t EndAdd); -uint32_t SDMMC_CmdErase(SDIO_TypeDef *SDIOx); -uint32_t SDMMC_CmdStopTransfer(SDIO_TypeDef *SDIOx); -uint32_t SDMMC_CmdSelDesel(SDIO_TypeDef *SDIOx, uint64_t Addr); -uint32_t SDMMC_CmdGoIdleState(SDIO_TypeDef *SDIOx); -uint32_t SDMMC_CmdOperCond(SDIO_TypeDef *SDIOx); -uint32_t SDMMC_CmdAppCommand(SDIO_TypeDef *SDIOx, uint32_t Argument); -uint32_t SDMMC_CmdAppOperCommand(SDIO_TypeDef *SDIOx, uint32_t Argument); -uint32_t SDMMC_CmdBusWidth(SDIO_TypeDef *SDIOx, uint32_t BusWidth); -uint32_t SDMMC_CmdSendSCR(SDIO_TypeDef *SDIOx); -uint32_t SDMMC_CmdSendCID(SDIO_TypeDef *SDIOx); -uint32_t SDMMC_CmdSendCSD(SDIO_TypeDef *SDIOx, uint32_t Argument); -uint32_t SDMMC_CmdSendEXTCSD(SDIO_TypeDef *SDIOx, uint32_t Argument); -uint32_t SDMMC_CmdSetRelAdd(SDIO_TypeDef *SDIOx, uint16_t *pRCA); -uint32_t SDMMC_CmdSendStatus(SDIO_TypeDef *SDIOx, uint32_t Argument); -uint32_t SDMMC_CmdStatusRegister(SDIO_TypeDef *SDIOx); -uint32_t SDMMC_CmdOpCondition(SDIO_TypeDef *SDIOx, uint32_t Argument); -uint32_t SDMMC_CmdSwitch(SDIO_TypeDef *SDIOx, uint32_t Argument); - -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ - -#endif /* SDIO */ - -#ifdef __cplusplus -} -#endif - -#endif /* STM32F4xx_LL_SDMMC_H */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_spi.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_spi.h deleted file mode 100644 index d7ef2f6b1f9dd9..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_spi.h +++ /dev/null @@ -1,2029 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_ll_spi.h - * @author MCD Application Team - * @brief Header file of SPI LL module. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef STM32F4xx_LL_SPI_H -#define STM32F4xx_LL_SPI_H - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx.h" - -/** @addtogroup STM32F4xx_LL_Driver - * @{ - */ - -#if defined (SPI1) || defined (SPI2) || defined (SPI3) || defined (SPI4) || defined (SPI5) || defined(SPI6) - -/** @defgroup SPI_LL SPI - * @{ - */ - -/* Private types -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private macros ------------------------------------------------------------*/ - -/* Exported types ------------------------------------------------------------*/ -#if defined(USE_FULL_LL_DRIVER) -/** @defgroup SPI_LL_ES_INIT SPI Exported Init structure - * @{ - */ - -/** - * @brief SPI Init structures definition - */ -typedef struct -{ - uint32_t TransferDirection; /*!< Specifies the SPI unidirectional or bidirectional data mode. - This parameter can be a value of @ref SPI_LL_EC_TRANSFER_MODE. - - This feature can be modified afterwards using unitary function @ref LL_SPI_SetTransferDirection().*/ - - uint32_t Mode; /*!< Specifies the SPI mode (Master/Slave). - This parameter can be a value of @ref SPI_LL_EC_MODE. - - This feature can be modified afterwards using unitary function @ref LL_SPI_SetMode().*/ - - uint32_t DataWidth; /*!< Specifies the SPI data width. - This parameter can be a value of @ref SPI_LL_EC_DATAWIDTH. - - This feature can be modified afterwards using unitary function @ref LL_SPI_SetDataWidth().*/ - - uint32_t ClockPolarity; /*!< Specifies the serial clock steady state. - This parameter can be a value of @ref SPI_LL_EC_POLARITY. - - This feature can be modified afterwards using unitary function @ref LL_SPI_SetClockPolarity().*/ - - uint32_t ClockPhase; /*!< Specifies the clock active edge for the bit capture. - This parameter can be a value of @ref SPI_LL_EC_PHASE. - - This feature can be modified afterwards using unitary function @ref LL_SPI_SetClockPhase().*/ - - uint32_t NSS; /*!< Specifies whether the NSS signal is managed by hardware (NSS pin) or by software using the SSI bit. - This parameter can be a value of @ref SPI_LL_EC_NSS_MODE. - - This feature can be modified afterwards using unitary function @ref LL_SPI_SetNSSMode().*/ - - uint32_t BaudRate; /*!< Specifies the BaudRate prescaler value which will be used to configure the transmit and receive SCK clock. - This parameter can be a value of @ref SPI_LL_EC_BAUDRATEPRESCALER. - @note The communication clock is derived from the master clock. The slave clock does not need to be set. - - This feature can be modified afterwards using unitary function @ref LL_SPI_SetBaudRatePrescaler().*/ - - uint32_t BitOrder; /*!< Specifies whether data transfers start from MSB or LSB bit. - This parameter can be a value of @ref SPI_LL_EC_BIT_ORDER. - - This feature can be modified afterwards using unitary function @ref LL_SPI_SetTransferBitOrder().*/ - - uint32_t CRCCalculation; /*!< Specifies if the CRC calculation is enabled or not. - This parameter can be a value of @ref SPI_LL_EC_CRC_CALCULATION. - - This feature can be modified afterwards using unitary functions @ref LL_SPI_EnableCRC() and @ref LL_SPI_DisableCRC().*/ - - uint32_t CRCPoly; /*!< Specifies the polynomial used for the CRC calculation. - This parameter must be a number between Min_Data = 0x00 and Max_Data = 0xFFFF. - - This feature can be modified afterwards using unitary function @ref LL_SPI_SetCRCPolynomial().*/ - -} LL_SPI_InitTypeDef; - -/** - * @} - */ -#endif /* USE_FULL_LL_DRIVER */ - -/* Exported constants --------------------------------------------------------*/ -/** @defgroup SPI_LL_Exported_Constants SPI Exported Constants - * @{ - */ - -/** @defgroup SPI_LL_EC_GET_FLAG Get Flags Defines - * @brief Flags defines which can be used with LL_SPI_ReadReg function - * @{ - */ -#define LL_SPI_SR_RXNE SPI_SR_RXNE /*!< Rx buffer not empty flag */ -#define LL_SPI_SR_TXE SPI_SR_TXE /*!< Tx buffer empty flag */ -#define LL_SPI_SR_BSY SPI_SR_BSY /*!< Busy flag */ -#define LL_SPI_SR_CRCERR SPI_SR_CRCERR /*!< CRC error flag */ -#define LL_SPI_SR_MODF SPI_SR_MODF /*!< Mode fault flag */ -#define LL_SPI_SR_OVR SPI_SR_OVR /*!< Overrun flag */ -#define LL_SPI_SR_FRE SPI_SR_FRE /*!< TI mode frame format error flag */ -/** - * @} - */ - -/** @defgroup SPI_LL_EC_IT IT Defines - * @brief IT defines which can be used with LL_SPI_ReadReg and LL_SPI_WriteReg functions - * @{ - */ -#define LL_SPI_CR2_RXNEIE SPI_CR2_RXNEIE /*!< Rx buffer not empty interrupt enable */ -#define LL_SPI_CR2_TXEIE SPI_CR2_TXEIE /*!< Tx buffer empty interrupt enable */ -#define LL_SPI_CR2_ERRIE SPI_CR2_ERRIE /*!< Error interrupt enable */ -/** - * @} - */ - -/** @defgroup SPI_LL_EC_MODE Operation Mode - * @{ - */ -#define LL_SPI_MODE_MASTER (SPI_CR1_MSTR | SPI_CR1_SSI) /*!< Master configuration */ -#define LL_SPI_MODE_SLAVE 0x00000000U /*!< Slave configuration */ -/** - * @} - */ - -/** @defgroup SPI_LL_EC_PROTOCOL Serial Protocol - * @{ - */ -#define LL_SPI_PROTOCOL_MOTOROLA 0x00000000U /*!< Motorola mode. Used as default value */ -#define LL_SPI_PROTOCOL_TI (SPI_CR2_FRF) /*!< TI mode */ -/** - * @} - */ - -/** @defgroup SPI_LL_EC_PHASE Clock Phase - * @{ - */ -#define LL_SPI_PHASE_1EDGE 0x00000000U /*!< First clock transition is the first data capture edge */ -#define LL_SPI_PHASE_2EDGE (SPI_CR1_CPHA) /*!< Second clock transition is the first data capture edge */ -/** - * @} - */ - -/** @defgroup SPI_LL_EC_POLARITY Clock Polarity - * @{ - */ -#define LL_SPI_POLARITY_LOW 0x00000000U /*!< Clock to 0 when idle */ -#define LL_SPI_POLARITY_HIGH (SPI_CR1_CPOL) /*!< Clock to 1 when idle */ -/** - * @} - */ - -/** @defgroup SPI_LL_EC_BAUDRATEPRESCALER Baud Rate Prescaler - * @{ - */ -#define LL_SPI_BAUDRATEPRESCALER_DIV2 0x00000000U /*!< BaudRate control equal to fPCLK/2 */ -#define LL_SPI_BAUDRATEPRESCALER_DIV4 (SPI_CR1_BR_0) /*!< BaudRate control equal to fPCLK/4 */ -#define LL_SPI_BAUDRATEPRESCALER_DIV8 (SPI_CR1_BR_1) /*!< BaudRate control equal to fPCLK/8 */ -#define LL_SPI_BAUDRATEPRESCALER_DIV16 (SPI_CR1_BR_1 | SPI_CR1_BR_0) /*!< BaudRate control equal to fPCLK/16 */ -#define LL_SPI_BAUDRATEPRESCALER_DIV32 (SPI_CR1_BR_2) /*!< BaudRate control equal to fPCLK/32 */ -#define LL_SPI_BAUDRATEPRESCALER_DIV64 (SPI_CR1_BR_2 | SPI_CR1_BR_0) /*!< BaudRate control equal to fPCLK/64 */ -#define LL_SPI_BAUDRATEPRESCALER_DIV128 (SPI_CR1_BR_2 | SPI_CR1_BR_1) /*!< BaudRate control equal to fPCLK/128 */ -#define LL_SPI_BAUDRATEPRESCALER_DIV256 (SPI_CR1_BR_2 | SPI_CR1_BR_1 | SPI_CR1_BR_0) /*!< BaudRate control equal to fPCLK/256 */ -/** - * @} - */ - -/** @defgroup SPI_LL_EC_BIT_ORDER Transmission Bit Order - * @{ - */ -#define LL_SPI_LSB_FIRST (SPI_CR1_LSBFIRST) /*!< Data is transmitted/received with the LSB first */ -#define LL_SPI_MSB_FIRST 0x00000000U /*!< Data is transmitted/received with the MSB first */ -/** - * @} - */ - -/** @defgroup SPI_LL_EC_TRANSFER_MODE Transfer Mode - * @{ - */ -#define LL_SPI_FULL_DUPLEX 0x00000000U /*!< Full-Duplex mode. Rx and Tx transfer on 2 lines */ -#define LL_SPI_SIMPLEX_RX (SPI_CR1_RXONLY) /*!< Simplex Rx mode. Rx transfer only on 1 line */ -#define LL_SPI_HALF_DUPLEX_RX (SPI_CR1_BIDIMODE) /*!< Half-Duplex Rx mode. Rx transfer on 1 line */ -#define LL_SPI_HALF_DUPLEX_TX (SPI_CR1_BIDIMODE | SPI_CR1_BIDIOE) /*!< Half-Duplex Tx mode. Tx transfer on 1 line */ -/** - * @} - */ - -/** @defgroup SPI_LL_EC_NSS_MODE Slave Select Pin Mode - * @{ - */ -#define LL_SPI_NSS_SOFT (SPI_CR1_SSM) /*!< NSS managed internally. NSS pin not used and free */ -#define LL_SPI_NSS_HARD_INPUT 0x00000000U /*!< NSS pin used in Input. Only used in Master mode */ -#define LL_SPI_NSS_HARD_OUTPUT (((uint32_t)SPI_CR2_SSOE << 16U)) /*!< NSS pin used in Output. Only used in Slave mode as chip select */ -/** - * @} - */ - -/** @defgroup SPI_LL_EC_DATAWIDTH Datawidth - * @{ - */ -#define LL_SPI_DATAWIDTH_8BIT 0x00000000U /*!< Data length for SPI transfer: 8 bits */ -#define LL_SPI_DATAWIDTH_16BIT (SPI_CR1_DFF) /*!< Data length for SPI transfer: 16 bits */ -/** - * @} - */ -#if defined(USE_FULL_LL_DRIVER) - -/** @defgroup SPI_LL_EC_CRC_CALCULATION CRC Calculation - * @{ - */ -#define LL_SPI_CRCCALCULATION_DISABLE 0x00000000U /*!< CRC calculation disabled */ -#define LL_SPI_CRCCALCULATION_ENABLE (SPI_CR1_CRCEN) /*!< CRC calculation enabled */ -/** - * @} - */ -#endif /* USE_FULL_LL_DRIVER */ - -/** - * @} - */ - -/* Exported macro ------------------------------------------------------------*/ -/** @defgroup SPI_LL_Exported_Macros SPI Exported Macros - * @{ - */ - -/** @defgroup SPI_LL_EM_WRITE_READ Common Write and read registers Macros - * @{ - */ - -/** - * @brief Write a value in SPI register - * @param __INSTANCE__ SPI Instance - * @param __REG__ Register to be written - * @param __VALUE__ Value to be written in the register - * @retval None - */ -#define LL_SPI_WriteReg(__INSTANCE__, __REG__, __VALUE__) WRITE_REG(__INSTANCE__->__REG__, (__VALUE__)) - -/** - * @brief Read a value in SPI register - * @param __INSTANCE__ SPI Instance - * @param __REG__ Register to be read - * @retval Register value - */ -#define LL_SPI_ReadReg(__INSTANCE__, __REG__) READ_REG(__INSTANCE__->__REG__) -/** - * @} - */ - -/** - * @} - */ - -/* Exported functions --------------------------------------------------------*/ -/** @defgroup SPI_LL_Exported_Functions SPI Exported Functions - * @{ - */ - -/** @defgroup SPI_LL_EF_Configuration Configuration - * @{ - */ - -/** - * @brief Enable SPI peripheral - * @rmtoll CR1 SPE LL_SPI_Enable - * @param SPIx SPI Instance - * @retval None - */ -__STATIC_INLINE void LL_SPI_Enable(SPI_TypeDef *SPIx) -{ - SET_BIT(SPIx->CR1, SPI_CR1_SPE); -} - -/** - * @brief Disable SPI peripheral - * @note When disabling the SPI, follow the procedure described in the Reference Manual. - * @rmtoll CR1 SPE LL_SPI_Disable - * @param SPIx SPI Instance - * @retval None - */ -__STATIC_INLINE void LL_SPI_Disable(SPI_TypeDef *SPIx) -{ - CLEAR_BIT(SPIx->CR1, SPI_CR1_SPE); -} - -/** - * @brief Check if SPI peripheral is enabled - * @rmtoll CR1 SPE LL_SPI_IsEnabled - * @param SPIx SPI Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_SPI_IsEnabled(SPI_TypeDef *SPIx) -{ - return ((READ_BIT(SPIx->CR1, SPI_CR1_SPE) == (SPI_CR1_SPE)) ? 1UL : 0UL); -} - -/** - * @brief Set SPI operation mode to Master or Slave - * @note This bit should not be changed when communication is ongoing. - * @rmtoll CR1 MSTR LL_SPI_SetMode\n - * CR1 SSI LL_SPI_SetMode - * @param SPIx SPI Instance - * @param Mode This parameter can be one of the following values: - * @arg @ref LL_SPI_MODE_MASTER - * @arg @ref LL_SPI_MODE_SLAVE - * @retval None - */ -__STATIC_INLINE void LL_SPI_SetMode(SPI_TypeDef *SPIx, uint32_t Mode) -{ - MODIFY_REG(SPIx->CR1, SPI_CR1_MSTR | SPI_CR1_SSI, Mode); -} - -/** - * @brief Get SPI operation mode (Master or Slave) - * @rmtoll CR1 MSTR LL_SPI_GetMode\n - * CR1 SSI LL_SPI_GetMode - * @param SPIx SPI Instance - * @retval Returned value can be one of the following values: - * @arg @ref LL_SPI_MODE_MASTER - * @arg @ref LL_SPI_MODE_SLAVE - */ -__STATIC_INLINE uint32_t LL_SPI_GetMode(SPI_TypeDef *SPIx) -{ - return (uint32_t)(READ_BIT(SPIx->CR1, SPI_CR1_MSTR | SPI_CR1_SSI)); -} - -/** - * @brief Set serial protocol used - * @note This bit should be written only when SPI is disabled (SPE = 0) for correct operation. - * @rmtoll CR2 FRF LL_SPI_SetStandard - * @param SPIx SPI Instance - * @param Standard This parameter can be one of the following values: - * @arg @ref LL_SPI_PROTOCOL_MOTOROLA - * @arg @ref LL_SPI_PROTOCOL_TI - * @retval None - */ -__STATIC_INLINE void LL_SPI_SetStandard(SPI_TypeDef *SPIx, uint32_t Standard) -{ - MODIFY_REG(SPIx->CR2, SPI_CR2_FRF, Standard); -} - -/** - * @brief Get serial protocol used - * @rmtoll CR2 FRF LL_SPI_GetStandard - * @param SPIx SPI Instance - * @retval Returned value can be one of the following values: - * @arg @ref LL_SPI_PROTOCOL_MOTOROLA - * @arg @ref LL_SPI_PROTOCOL_TI - */ -__STATIC_INLINE uint32_t LL_SPI_GetStandard(SPI_TypeDef *SPIx) -{ - return (uint32_t)(READ_BIT(SPIx->CR2, SPI_CR2_FRF)); -} - -/** - * @brief Set clock phase - * @note This bit should not be changed when communication is ongoing. - * This bit is not used in SPI TI mode. - * @rmtoll CR1 CPHA LL_SPI_SetClockPhase - * @param SPIx SPI Instance - * @param ClockPhase This parameter can be one of the following values: - * @arg @ref LL_SPI_PHASE_1EDGE - * @arg @ref LL_SPI_PHASE_2EDGE - * @retval None - */ -__STATIC_INLINE void LL_SPI_SetClockPhase(SPI_TypeDef *SPIx, uint32_t ClockPhase) -{ - MODIFY_REG(SPIx->CR1, SPI_CR1_CPHA, ClockPhase); -} - -/** - * @brief Get clock phase - * @rmtoll CR1 CPHA LL_SPI_GetClockPhase - * @param SPIx SPI Instance - * @retval Returned value can be one of the following values: - * @arg @ref LL_SPI_PHASE_1EDGE - * @arg @ref LL_SPI_PHASE_2EDGE - */ -__STATIC_INLINE uint32_t LL_SPI_GetClockPhase(SPI_TypeDef *SPIx) -{ - return (uint32_t)(READ_BIT(SPIx->CR1, SPI_CR1_CPHA)); -} - -/** - * @brief Set clock polarity - * @note This bit should not be changed when communication is ongoing. - * This bit is not used in SPI TI mode. - * @rmtoll CR1 CPOL LL_SPI_SetClockPolarity - * @param SPIx SPI Instance - * @param ClockPolarity This parameter can be one of the following values: - * @arg @ref LL_SPI_POLARITY_LOW - * @arg @ref LL_SPI_POLARITY_HIGH - * @retval None - */ -__STATIC_INLINE void LL_SPI_SetClockPolarity(SPI_TypeDef *SPIx, uint32_t ClockPolarity) -{ - MODIFY_REG(SPIx->CR1, SPI_CR1_CPOL, ClockPolarity); -} - -/** - * @brief Get clock polarity - * @rmtoll CR1 CPOL LL_SPI_GetClockPolarity - * @param SPIx SPI Instance - * @retval Returned value can be one of the following values: - * @arg @ref LL_SPI_POLARITY_LOW - * @arg @ref LL_SPI_POLARITY_HIGH - */ -__STATIC_INLINE uint32_t LL_SPI_GetClockPolarity(SPI_TypeDef *SPIx) -{ - return (uint32_t)(READ_BIT(SPIx->CR1, SPI_CR1_CPOL)); -} - -/** - * @brief Set baud rate prescaler - * @note These bits should not be changed when communication is ongoing. SPI BaudRate = fPCLK/Prescaler. - * @rmtoll CR1 BR LL_SPI_SetBaudRatePrescaler - * @param SPIx SPI Instance - * @param BaudRate This parameter can be one of the following values: - * @arg @ref LL_SPI_BAUDRATEPRESCALER_DIV2 - * @arg @ref LL_SPI_BAUDRATEPRESCALER_DIV4 - * @arg @ref LL_SPI_BAUDRATEPRESCALER_DIV8 - * @arg @ref LL_SPI_BAUDRATEPRESCALER_DIV16 - * @arg @ref LL_SPI_BAUDRATEPRESCALER_DIV32 - * @arg @ref LL_SPI_BAUDRATEPRESCALER_DIV64 - * @arg @ref LL_SPI_BAUDRATEPRESCALER_DIV128 - * @arg @ref LL_SPI_BAUDRATEPRESCALER_DIV256 - * @retval None - */ -__STATIC_INLINE void LL_SPI_SetBaudRatePrescaler(SPI_TypeDef *SPIx, uint32_t BaudRate) -{ - MODIFY_REG(SPIx->CR1, SPI_CR1_BR, BaudRate); -} - -/** - * @brief Get baud rate prescaler - * @rmtoll CR1 BR LL_SPI_GetBaudRatePrescaler - * @param SPIx SPI Instance - * @retval Returned value can be one of the following values: - * @arg @ref LL_SPI_BAUDRATEPRESCALER_DIV2 - * @arg @ref LL_SPI_BAUDRATEPRESCALER_DIV4 - * @arg @ref LL_SPI_BAUDRATEPRESCALER_DIV8 - * @arg @ref LL_SPI_BAUDRATEPRESCALER_DIV16 - * @arg @ref LL_SPI_BAUDRATEPRESCALER_DIV32 - * @arg @ref LL_SPI_BAUDRATEPRESCALER_DIV64 - * @arg @ref LL_SPI_BAUDRATEPRESCALER_DIV128 - * @arg @ref LL_SPI_BAUDRATEPRESCALER_DIV256 - */ -__STATIC_INLINE uint32_t LL_SPI_GetBaudRatePrescaler(SPI_TypeDef *SPIx) -{ - return (uint32_t)(READ_BIT(SPIx->CR1, SPI_CR1_BR)); -} - -/** - * @brief Set transfer bit order - * @note This bit should not be changed when communication is ongoing. This bit is not used in SPI TI mode. - * @rmtoll CR1 LSBFIRST LL_SPI_SetTransferBitOrder - * @param SPIx SPI Instance - * @param BitOrder This parameter can be one of the following values: - * @arg @ref LL_SPI_LSB_FIRST - * @arg @ref LL_SPI_MSB_FIRST - * @retval None - */ -__STATIC_INLINE void LL_SPI_SetTransferBitOrder(SPI_TypeDef *SPIx, uint32_t BitOrder) -{ - MODIFY_REG(SPIx->CR1, SPI_CR1_LSBFIRST, BitOrder); -} - -/** - * @brief Get transfer bit order - * @rmtoll CR1 LSBFIRST LL_SPI_GetTransferBitOrder - * @param SPIx SPI Instance - * @retval Returned value can be one of the following values: - * @arg @ref LL_SPI_LSB_FIRST - * @arg @ref LL_SPI_MSB_FIRST - */ -__STATIC_INLINE uint32_t LL_SPI_GetTransferBitOrder(SPI_TypeDef *SPIx) -{ - return (uint32_t)(READ_BIT(SPIx->CR1, SPI_CR1_LSBFIRST)); -} - -/** - * @brief Set transfer direction mode - * @note For Half-Duplex mode, Rx Direction is set by default. - * In master mode, the MOSI pin is used and in slave mode, the MISO pin is used for Half-Duplex. - * @rmtoll CR1 RXONLY LL_SPI_SetTransferDirection\n - * CR1 BIDIMODE LL_SPI_SetTransferDirection\n - * CR1 BIDIOE LL_SPI_SetTransferDirection - * @param SPIx SPI Instance - * @param TransferDirection This parameter can be one of the following values: - * @arg @ref LL_SPI_FULL_DUPLEX - * @arg @ref LL_SPI_SIMPLEX_RX - * @arg @ref LL_SPI_HALF_DUPLEX_RX - * @arg @ref LL_SPI_HALF_DUPLEX_TX - * @retval None - */ -__STATIC_INLINE void LL_SPI_SetTransferDirection(SPI_TypeDef *SPIx, uint32_t TransferDirection) -{ - MODIFY_REG(SPIx->CR1, SPI_CR1_RXONLY | SPI_CR1_BIDIMODE | SPI_CR1_BIDIOE, TransferDirection); -} - -/** - * @brief Get transfer direction mode - * @rmtoll CR1 RXONLY LL_SPI_GetTransferDirection\n - * CR1 BIDIMODE LL_SPI_GetTransferDirection\n - * CR1 BIDIOE LL_SPI_GetTransferDirection - * @param SPIx SPI Instance - * @retval Returned value can be one of the following values: - * @arg @ref LL_SPI_FULL_DUPLEX - * @arg @ref LL_SPI_SIMPLEX_RX - * @arg @ref LL_SPI_HALF_DUPLEX_RX - * @arg @ref LL_SPI_HALF_DUPLEX_TX - */ -__STATIC_INLINE uint32_t LL_SPI_GetTransferDirection(SPI_TypeDef *SPIx) -{ - return (uint32_t)(READ_BIT(SPIx->CR1, SPI_CR1_RXONLY | SPI_CR1_BIDIMODE | SPI_CR1_BIDIOE)); -} - -/** - * @brief Set frame data width - * @rmtoll CR1 DFF LL_SPI_SetDataWidth - * @param SPIx SPI Instance - * @param DataWidth This parameter can be one of the following values: - * @arg @ref LL_SPI_DATAWIDTH_8BIT - * @arg @ref LL_SPI_DATAWIDTH_16BIT - * @retval None - */ -__STATIC_INLINE void LL_SPI_SetDataWidth(SPI_TypeDef *SPIx, uint32_t DataWidth) -{ - MODIFY_REG(SPIx->CR1, SPI_CR1_DFF, DataWidth); -} - -/** - * @brief Get frame data width - * @rmtoll CR1 DFF LL_SPI_GetDataWidth - * @param SPIx SPI Instance - * @retval Returned value can be one of the following values: - * @arg @ref LL_SPI_DATAWIDTH_8BIT - * @arg @ref LL_SPI_DATAWIDTH_16BIT - */ -__STATIC_INLINE uint32_t LL_SPI_GetDataWidth(SPI_TypeDef *SPIx) -{ - return (uint32_t)(READ_BIT(SPIx->CR1, SPI_CR1_DFF)); -} - -/** - * @} - */ - -/** @defgroup SPI_LL_EF_CRC_Management CRC Management - * @{ - */ - -/** - * @brief Enable CRC - * @note This bit should be written only when SPI is disabled (SPE = 0) for correct operation. - * @rmtoll CR1 CRCEN LL_SPI_EnableCRC - * @param SPIx SPI Instance - * @retval None - */ -__STATIC_INLINE void LL_SPI_EnableCRC(SPI_TypeDef *SPIx) -{ - SET_BIT(SPIx->CR1, SPI_CR1_CRCEN); -} - -/** - * @brief Disable CRC - * @note This bit should be written only when SPI is disabled (SPE = 0) for correct operation. - * @rmtoll CR1 CRCEN LL_SPI_DisableCRC - * @param SPIx SPI Instance - * @retval None - */ -__STATIC_INLINE void LL_SPI_DisableCRC(SPI_TypeDef *SPIx) -{ - CLEAR_BIT(SPIx->CR1, SPI_CR1_CRCEN); -} - -/** - * @brief Check if CRC is enabled - * @note This bit should be written only when SPI is disabled (SPE = 0) for correct operation. - * @rmtoll CR1 CRCEN LL_SPI_IsEnabledCRC - * @param SPIx SPI Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_SPI_IsEnabledCRC(SPI_TypeDef *SPIx) -{ - return ((READ_BIT(SPIx->CR1, SPI_CR1_CRCEN) == (SPI_CR1_CRCEN)) ? 1UL : 0UL); -} - -/** - * @brief Set CRCNext to transfer CRC on the line - * @note This bit has to be written as soon as the last data is written in the SPIx_DR register. - * @rmtoll CR1 CRCNEXT LL_SPI_SetCRCNext - * @param SPIx SPI Instance - * @retval None - */ -__STATIC_INLINE void LL_SPI_SetCRCNext(SPI_TypeDef *SPIx) -{ - SET_BIT(SPIx->CR1, SPI_CR1_CRCNEXT); -} - -/** - * @brief Set polynomial for CRC calculation - * @rmtoll CRCPR CRCPOLY LL_SPI_SetCRCPolynomial - * @param SPIx SPI Instance - * @param CRCPoly This parameter must be a number between Min_Data = 0x00 and Max_Data = 0xFFFF - * @retval None - */ -__STATIC_INLINE void LL_SPI_SetCRCPolynomial(SPI_TypeDef *SPIx, uint32_t CRCPoly) -{ - WRITE_REG(SPIx->CRCPR, (uint16_t)CRCPoly); -} - -/** - * @brief Get polynomial for CRC calculation - * @rmtoll CRCPR CRCPOLY LL_SPI_GetCRCPolynomial - * @param SPIx SPI Instance - * @retval Returned value is a number between Min_Data = 0x00 and Max_Data = 0xFFFF - */ -__STATIC_INLINE uint32_t LL_SPI_GetCRCPolynomial(SPI_TypeDef *SPIx) -{ - return (uint32_t)(READ_REG(SPIx->CRCPR)); -} - -/** - * @brief Get Rx CRC - * @rmtoll RXCRCR RXCRC LL_SPI_GetRxCRC - * @param SPIx SPI Instance - * @retval Returned value is a number between Min_Data = 0x00 and Max_Data = 0xFFFF - */ -__STATIC_INLINE uint32_t LL_SPI_GetRxCRC(SPI_TypeDef *SPIx) -{ - return (uint32_t)(READ_REG(SPIx->RXCRCR)); -} - -/** - * @brief Get Tx CRC - * @rmtoll TXCRCR TXCRC LL_SPI_GetTxCRC - * @param SPIx SPI Instance - * @retval Returned value is a number between Min_Data = 0x00 and Max_Data = 0xFFFF - */ -__STATIC_INLINE uint32_t LL_SPI_GetTxCRC(SPI_TypeDef *SPIx) -{ - return (uint32_t)(READ_REG(SPIx->TXCRCR)); -} - -/** - * @} - */ - -/** @defgroup SPI_LL_EF_NSS_Management Slave Select Pin Management - * @{ - */ - -/** - * @brief Set NSS mode - * @note LL_SPI_NSS_SOFT Mode is not used in SPI TI mode. - * @rmtoll CR1 SSM LL_SPI_SetNSSMode\n - * @rmtoll CR2 SSOE LL_SPI_SetNSSMode - * @param SPIx SPI Instance - * @param NSS This parameter can be one of the following values: - * @arg @ref LL_SPI_NSS_SOFT - * @arg @ref LL_SPI_NSS_HARD_INPUT - * @arg @ref LL_SPI_NSS_HARD_OUTPUT - * @retval None - */ -__STATIC_INLINE void LL_SPI_SetNSSMode(SPI_TypeDef *SPIx, uint32_t NSS) -{ - MODIFY_REG(SPIx->CR1, SPI_CR1_SSM, NSS); - MODIFY_REG(SPIx->CR2, SPI_CR2_SSOE, ((uint32_t)(NSS >> 16U))); -} - -/** - * @brief Get NSS mode - * @rmtoll CR1 SSM LL_SPI_GetNSSMode\n - * @rmtoll CR2 SSOE LL_SPI_GetNSSMode - * @param SPIx SPI Instance - * @retval Returned value can be one of the following values: - * @arg @ref LL_SPI_NSS_SOFT - * @arg @ref LL_SPI_NSS_HARD_INPUT - * @arg @ref LL_SPI_NSS_HARD_OUTPUT - */ -__STATIC_INLINE uint32_t LL_SPI_GetNSSMode(SPI_TypeDef *SPIx) -{ - uint32_t Ssm = (READ_BIT(SPIx->CR1, SPI_CR1_SSM)); - uint32_t Ssoe = (READ_BIT(SPIx->CR2, SPI_CR2_SSOE) << 16U); - return (Ssm | Ssoe); -} - -/** - * @} - */ - -/** @defgroup SPI_LL_EF_FLAG_Management FLAG Management - * @{ - */ - -/** - * @brief Check if Rx buffer is not empty - * @rmtoll SR RXNE LL_SPI_IsActiveFlag_RXNE - * @param SPIx SPI Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_SPI_IsActiveFlag_RXNE(SPI_TypeDef *SPIx) -{ - return ((READ_BIT(SPIx->SR, SPI_SR_RXNE) == (SPI_SR_RXNE)) ? 1UL : 0UL); -} - -/** - * @brief Check if Tx buffer is empty - * @rmtoll SR TXE LL_SPI_IsActiveFlag_TXE - * @param SPIx SPI Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_SPI_IsActiveFlag_TXE(SPI_TypeDef *SPIx) -{ - return ((READ_BIT(SPIx->SR, SPI_SR_TXE) == (SPI_SR_TXE)) ? 1UL : 0UL); -} - -/** - * @brief Get CRC error flag - * @rmtoll SR CRCERR LL_SPI_IsActiveFlag_CRCERR - * @param SPIx SPI Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_SPI_IsActiveFlag_CRCERR(SPI_TypeDef *SPIx) -{ - return ((READ_BIT(SPIx->SR, SPI_SR_CRCERR) == (SPI_SR_CRCERR)) ? 1UL : 0UL); -} - -/** - * @brief Get mode fault error flag - * @rmtoll SR MODF LL_SPI_IsActiveFlag_MODF - * @param SPIx SPI Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_SPI_IsActiveFlag_MODF(SPI_TypeDef *SPIx) -{ - return ((READ_BIT(SPIx->SR, SPI_SR_MODF) == (SPI_SR_MODF)) ? 1UL : 0UL); -} - -/** - * @brief Get overrun error flag - * @rmtoll SR OVR LL_SPI_IsActiveFlag_OVR - * @param SPIx SPI Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_SPI_IsActiveFlag_OVR(SPI_TypeDef *SPIx) -{ - return ((READ_BIT(SPIx->SR, SPI_SR_OVR) == (SPI_SR_OVR)) ? 1UL : 0UL); -} - -/** - * @brief Get busy flag - * @note The BSY flag is cleared under any one of the following conditions: - * -When the SPI is correctly disabled - * -When a fault is detected in Master mode (MODF bit set to 1) - * -In Master mode, when it finishes a data transmission and no new data is ready to be - * sent - * -In Slave mode, when the BSY flag is set to '0' for at least one SPI clock cycle between - * each data transfer. - * @rmtoll SR BSY LL_SPI_IsActiveFlag_BSY - * @param SPIx SPI Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_SPI_IsActiveFlag_BSY(SPI_TypeDef *SPIx) -{ - return ((READ_BIT(SPIx->SR, SPI_SR_BSY) == (SPI_SR_BSY)) ? 1UL : 0UL); -} - -/** - * @brief Get frame format error flag - * @rmtoll SR FRE LL_SPI_IsActiveFlag_FRE - * @param SPIx SPI Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_SPI_IsActiveFlag_FRE(SPI_TypeDef *SPIx) -{ - return ((READ_BIT(SPIx->SR, SPI_SR_FRE) == (SPI_SR_FRE)) ? 1UL : 0UL); -} - -/** - * @brief Clear CRC error flag - * @rmtoll SR CRCERR LL_SPI_ClearFlag_CRCERR - * @param SPIx SPI Instance - * @retval None - */ -__STATIC_INLINE void LL_SPI_ClearFlag_CRCERR(SPI_TypeDef *SPIx) -{ - CLEAR_BIT(SPIx->SR, SPI_SR_CRCERR); -} - -/** - * @brief Clear mode fault error flag - * @note Clearing this flag is done by a read access to the SPIx_SR - * register followed by a write access to the SPIx_CR1 register - * @rmtoll SR MODF LL_SPI_ClearFlag_MODF - * @param SPIx SPI Instance - * @retval None - */ -__STATIC_INLINE void LL_SPI_ClearFlag_MODF(SPI_TypeDef *SPIx) -{ - __IO uint32_t tmpreg_sr; - tmpreg_sr = SPIx->SR; - (void) tmpreg_sr; - CLEAR_BIT(SPIx->CR1, SPI_CR1_SPE); -} - -/** - * @brief Clear overrun error flag - * @note Clearing this flag is done by a read access to the SPIx_DR - * register followed by a read access to the SPIx_SR register - * @rmtoll SR OVR LL_SPI_ClearFlag_OVR - * @param SPIx SPI Instance - * @retval None - */ -__STATIC_INLINE void LL_SPI_ClearFlag_OVR(SPI_TypeDef *SPIx) -{ - __IO uint32_t tmpreg; - tmpreg = SPIx->DR; - (void) tmpreg; - tmpreg = SPIx->SR; - (void) tmpreg; -} - -/** - * @brief Clear frame format error flag - * @note Clearing this flag is done by reading SPIx_SR register - * @rmtoll SR FRE LL_SPI_ClearFlag_FRE - * @param SPIx SPI Instance - * @retval None - */ -__STATIC_INLINE void LL_SPI_ClearFlag_FRE(SPI_TypeDef *SPIx) -{ - __IO uint32_t tmpreg; - tmpreg = SPIx->SR; - (void) tmpreg; -} - -/** - * @} - */ - -/** @defgroup SPI_LL_EF_IT_Management Interrupt Management - * @{ - */ - -/** - * @brief Enable error interrupt - * @note This bit controls the generation of an interrupt when an error condition occurs (CRCERR, OVR, MODF in SPI mode, FRE at TI mode). - * @rmtoll CR2 ERRIE LL_SPI_EnableIT_ERR - * @param SPIx SPI Instance - * @retval None - */ -__STATIC_INLINE void LL_SPI_EnableIT_ERR(SPI_TypeDef *SPIx) -{ - SET_BIT(SPIx->CR2, SPI_CR2_ERRIE); -} - -/** - * @brief Enable Rx buffer not empty interrupt - * @rmtoll CR2 RXNEIE LL_SPI_EnableIT_RXNE - * @param SPIx SPI Instance - * @retval None - */ -__STATIC_INLINE void LL_SPI_EnableIT_RXNE(SPI_TypeDef *SPIx) -{ - SET_BIT(SPIx->CR2, SPI_CR2_RXNEIE); -} - -/** - * @brief Enable Tx buffer empty interrupt - * @rmtoll CR2 TXEIE LL_SPI_EnableIT_TXE - * @param SPIx SPI Instance - * @retval None - */ -__STATIC_INLINE void LL_SPI_EnableIT_TXE(SPI_TypeDef *SPIx) -{ - SET_BIT(SPIx->CR2, SPI_CR2_TXEIE); -} - -/** - * @brief Disable error interrupt - * @note This bit controls the generation of an interrupt when an error condition occurs (CRCERR, OVR, MODF in SPI mode, FRE at TI mode). - * @rmtoll CR2 ERRIE LL_SPI_DisableIT_ERR - * @param SPIx SPI Instance - * @retval None - */ -__STATIC_INLINE void LL_SPI_DisableIT_ERR(SPI_TypeDef *SPIx) -{ - CLEAR_BIT(SPIx->CR2, SPI_CR2_ERRIE); -} - -/** - * @brief Disable Rx buffer not empty interrupt - * @rmtoll CR2 RXNEIE LL_SPI_DisableIT_RXNE - * @param SPIx SPI Instance - * @retval None - */ -__STATIC_INLINE void LL_SPI_DisableIT_RXNE(SPI_TypeDef *SPIx) -{ - CLEAR_BIT(SPIx->CR2, SPI_CR2_RXNEIE); -} - -/** - * @brief Disable Tx buffer empty interrupt - * @rmtoll CR2 TXEIE LL_SPI_DisableIT_TXE - * @param SPIx SPI Instance - * @retval None - */ -__STATIC_INLINE void LL_SPI_DisableIT_TXE(SPI_TypeDef *SPIx) -{ - CLEAR_BIT(SPIx->CR2, SPI_CR2_TXEIE); -} - -/** - * @brief Check if error interrupt is enabled - * @rmtoll CR2 ERRIE LL_SPI_IsEnabledIT_ERR - * @param SPIx SPI Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_SPI_IsEnabledIT_ERR(SPI_TypeDef *SPIx) -{ - return ((READ_BIT(SPIx->CR2, SPI_CR2_ERRIE) == (SPI_CR2_ERRIE)) ? 1UL : 0UL); -} - -/** - * @brief Check if Rx buffer not empty interrupt is enabled - * @rmtoll CR2 RXNEIE LL_SPI_IsEnabledIT_RXNE - * @param SPIx SPI Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_SPI_IsEnabledIT_RXNE(SPI_TypeDef *SPIx) -{ - return ((READ_BIT(SPIx->CR2, SPI_CR2_RXNEIE) == (SPI_CR2_RXNEIE)) ? 1UL : 0UL); -} - -/** - * @brief Check if Tx buffer empty interrupt - * @rmtoll CR2 TXEIE LL_SPI_IsEnabledIT_TXE - * @param SPIx SPI Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_SPI_IsEnabledIT_TXE(SPI_TypeDef *SPIx) -{ - return ((READ_BIT(SPIx->CR2, SPI_CR2_TXEIE) == (SPI_CR2_TXEIE)) ? 1UL : 0UL); -} - -/** - * @} - */ - -/** @defgroup SPI_LL_EF_DMA_Management DMA Management - * @{ - */ - -/** - * @brief Enable DMA Rx - * @rmtoll CR2 RXDMAEN LL_SPI_EnableDMAReq_RX - * @param SPIx SPI Instance - * @retval None - */ -__STATIC_INLINE void LL_SPI_EnableDMAReq_RX(SPI_TypeDef *SPIx) -{ - SET_BIT(SPIx->CR2, SPI_CR2_RXDMAEN); -} - -/** - * @brief Disable DMA Rx - * @rmtoll CR2 RXDMAEN LL_SPI_DisableDMAReq_RX - * @param SPIx SPI Instance - * @retval None - */ -__STATIC_INLINE void LL_SPI_DisableDMAReq_RX(SPI_TypeDef *SPIx) -{ - CLEAR_BIT(SPIx->CR2, SPI_CR2_RXDMAEN); -} - -/** - * @brief Check if DMA Rx is enabled - * @rmtoll CR2 RXDMAEN LL_SPI_IsEnabledDMAReq_RX - * @param SPIx SPI Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_SPI_IsEnabledDMAReq_RX(SPI_TypeDef *SPIx) -{ - return ((READ_BIT(SPIx->CR2, SPI_CR2_RXDMAEN) == (SPI_CR2_RXDMAEN)) ? 1UL : 0UL); -} - -/** - * @brief Enable DMA Tx - * @rmtoll CR2 TXDMAEN LL_SPI_EnableDMAReq_TX - * @param SPIx SPI Instance - * @retval None - */ -__STATIC_INLINE void LL_SPI_EnableDMAReq_TX(SPI_TypeDef *SPIx) -{ - SET_BIT(SPIx->CR2, SPI_CR2_TXDMAEN); -} - -/** - * @brief Disable DMA Tx - * @rmtoll CR2 TXDMAEN LL_SPI_DisableDMAReq_TX - * @param SPIx SPI Instance - * @retval None - */ -__STATIC_INLINE void LL_SPI_DisableDMAReq_TX(SPI_TypeDef *SPIx) -{ - CLEAR_BIT(SPIx->CR2, SPI_CR2_TXDMAEN); -} - -/** - * @brief Check if DMA Tx is enabled - * @rmtoll CR2 TXDMAEN LL_SPI_IsEnabledDMAReq_TX - * @param SPIx SPI Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_SPI_IsEnabledDMAReq_TX(SPI_TypeDef *SPIx) -{ - return ((READ_BIT(SPIx->CR2, SPI_CR2_TXDMAEN) == (SPI_CR2_TXDMAEN)) ? 1UL : 0UL); -} - -/** - * @brief Get the data register address used for DMA transfer - * @rmtoll DR DR LL_SPI_DMA_GetRegAddr - * @param SPIx SPI Instance - * @retval Address of data register - */ -__STATIC_INLINE uint32_t LL_SPI_DMA_GetRegAddr(SPI_TypeDef *SPIx) -{ - return (uint32_t) &(SPIx->DR); -} - -/** - * @} - */ - -/** @defgroup SPI_LL_EF_DATA_Management DATA Management - * @{ - */ - -/** - * @brief Read 8-Bits in the data register - * @rmtoll DR DR LL_SPI_ReceiveData8 - * @param SPIx SPI Instance - * @retval RxData Value between Min_Data=0x00 and Max_Data=0xFF - */ -__STATIC_INLINE uint8_t LL_SPI_ReceiveData8(SPI_TypeDef *SPIx) -{ - return (*((__IO uint8_t *)&SPIx->DR)); -} - -/** - * @brief Read 16-Bits in the data register - * @rmtoll DR DR LL_SPI_ReceiveData16 - * @param SPIx SPI Instance - * @retval RxData Value between Min_Data=0x00 and Max_Data=0xFFFF - */ -__STATIC_INLINE uint16_t LL_SPI_ReceiveData16(SPI_TypeDef *SPIx) -{ - return (uint16_t)(READ_REG(SPIx->DR)); -} - -/** - * @brief Write 8-Bits in the data register - * @rmtoll DR DR LL_SPI_TransmitData8 - * @param SPIx SPI Instance - * @param TxData Value between Min_Data=0x00 and Max_Data=0xFF - * @retval None - */ -__STATIC_INLINE void LL_SPI_TransmitData8(SPI_TypeDef *SPIx, uint8_t TxData) -{ -#if defined (__GNUC__) - __IO uint8_t *spidr = ((__IO uint8_t *)&SPIx->DR); - *spidr = TxData; -#else - *((__IO uint8_t *)&SPIx->DR) = TxData; -#endif /* __GNUC__ */ -} - -/** - * @brief Write 16-Bits in the data register - * @rmtoll DR DR LL_SPI_TransmitData16 - * @param SPIx SPI Instance - * @param TxData Value between Min_Data=0x00 and Max_Data=0xFFFF - * @retval None - */ -__STATIC_INLINE void LL_SPI_TransmitData16(SPI_TypeDef *SPIx, uint16_t TxData) -{ -#if defined (__GNUC__) - __IO uint16_t *spidr = ((__IO uint16_t *)&SPIx->DR); - *spidr = TxData; -#else - SPIx->DR = TxData; -#endif /* __GNUC__ */ -} - -/** - * @} - */ -#if defined(USE_FULL_LL_DRIVER) -/** @defgroup SPI_LL_EF_Init Initialization and de-initialization functions - * @{ - */ - -ErrorStatus LL_SPI_DeInit(SPI_TypeDef *SPIx); -ErrorStatus LL_SPI_Init(SPI_TypeDef *SPIx, LL_SPI_InitTypeDef *SPI_InitStruct); -void LL_SPI_StructInit(LL_SPI_InitTypeDef *SPI_InitStruct); - -/** - * @} - */ -#endif /* USE_FULL_LL_DRIVER */ -/** - * @} - */ - -/** - * @} - */ - -/** @defgroup I2S_LL I2S - * @{ - */ - -/* Private variables ---------------------------------------------------------*/ -/* Private constants ---------------------------------------------------------*/ -/* Private macros ------------------------------------------------------------*/ - -/* Exported types ------------------------------------------------------------*/ -#if defined(USE_FULL_LL_DRIVER) -/** @defgroup I2S_LL_ES_INIT I2S Exported Init structure - * @{ - */ - -/** - * @brief I2S Init structure definition - */ - -typedef struct -{ - uint32_t Mode; /*!< Specifies the I2S operating mode. - This parameter can be a value of @ref I2S_LL_EC_MODE - - This feature can be modified afterwards using unitary function @ref LL_I2S_SetTransferMode().*/ - - uint32_t Standard; /*!< Specifies the standard used for the I2S communication. - This parameter can be a value of @ref I2S_LL_EC_STANDARD - - This feature can be modified afterwards using unitary function @ref LL_I2S_SetStandard().*/ - - - uint32_t DataFormat; /*!< Specifies the data format for the I2S communication. - This parameter can be a value of @ref I2S_LL_EC_DATA_FORMAT - - This feature can be modified afterwards using unitary function @ref LL_I2S_SetDataFormat().*/ - - - uint32_t MCLKOutput; /*!< Specifies whether the I2S MCLK output is enabled or not. - This parameter can be a value of @ref I2S_LL_EC_MCLK_OUTPUT - - This feature can be modified afterwards using unitary functions @ref LL_I2S_EnableMasterClock() or @ref LL_I2S_DisableMasterClock.*/ - - - uint32_t AudioFreq; /*!< Specifies the frequency selected for the I2S communication. - This parameter can be a value of @ref I2S_LL_EC_AUDIO_FREQ - - Audio Frequency can be modified afterwards using Reference manual formulas to calculate Prescaler Linear, Parity - and unitary functions @ref LL_I2S_SetPrescalerLinear() and @ref LL_I2S_SetPrescalerParity() to set it.*/ - - - uint32_t ClockPolarity; /*!< Specifies the idle state of the I2S clock. - This parameter can be a value of @ref I2S_LL_EC_POLARITY - - This feature can be modified afterwards using unitary function @ref LL_I2S_SetClockPolarity().*/ - -} LL_I2S_InitTypeDef; - -/** - * @} - */ -#endif /*USE_FULL_LL_DRIVER*/ - -/* Exported constants --------------------------------------------------------*/ -/** @defgroup I2S_LL_Exported_Constants I2S Exported Constants - * @{ - */ - -/** @defgroup I2S_LL_EC_GET_FLAG Get Flags Defines - * @brief Flags defines which can be used with LL_I2S_ReadReg function - * @{ - */ -#define LL_I2S_SR_RXNE LL_SPI_SR_RXNE /*!< Rx buffer not empty flag */ -#define LL_I2S_SR_TXE LL_SPI_SR_TXE /*!< Tx buffer empty flag */ -#define LL_I2S_SR_BSY LL_SPI_SR_BSY /*!< Busy flag */ -#define LL_I2S_SR_UDR SPI_SR_UDR /*!< Underrun flag */ -#define LL_I2S_SR_OVR LL_SPI_SR_OVR /*!< Overrun flag */ -#define LL_I2S_SR_FRE LL_SPI_SR_FRE /*!< TI mode frame format error flag */ -/** - * @} - */ - -/** @defgroup SPI_LL_EC_IT IT Defines - * @brief IT defines which can be used with LL_SPI_ReadReg and LL_SPI_WriteReg functions - * @{ - */ -#define LL_I2S_CR2_RXNEIE LL_SPI_CR2_RXNEIE /*!< Rx buffer not empty interrupt enable */ -#define LL_I2S_CR2_TXEIE LL_SPI_CR2_TXEIE /*!< Tx buffer empty interrupt enable */ -#define LL_I2S_CR2_ERRIE LL_SPI_CR2_ERRIE /*!< Error interrupt enable */ -/** - * @} - */ - -/** @defgroup I2S_LL_EC_DATA_FORMAT Data format - * @{ - */ -#define LL_I2S_DATAFORMAT_16B 0x00000000U /*!< Data length 16 bits, Channel length 16bit */ -#define LL_I2S_DATAFORMAT_16B_EXTENDED (SPI_I2SCFGR_CHLEN) /*!< Data length 16 bits, Channel length 32bit */ -#define LL_I2S_DATAFORMAT_24B (SPI_I2SCFGR_CHLEN | SPI_I2SCFGR_DATLEN_0) /*!< Data length 24 bits, Channel length 32bit */ -#define LL_I2S_DATAFORMAT_32B (SPI_I2SCFGR_CHLEN | SPI_I2SCFGR_DATLEN_1) /*!< Data length 16 bits, Channel length 32bit */ -/** - * @} - */ - -/** @defgroup I2S_LL_EC_POLARITY Clock Polarity - * @{ - */ -#define LL_I2S_POLARITY_LOW 0x00000000U /*!< Clock steady state is low level */ -#define LL_I2S_POLARITY_HIGH (SPI_I2SCFGR_CKPOL) /*!< Clock steady state is high level */ -/** - * @} - */ - -/** @defgroup I2S_LL_EC_STANDARD I2s Standard - * @{ - */ -#define LL_I2S_STANDARD_PHILIPS 0x00000000U /*!< I2S standard philips */ -#define LL_I2S_STANDARD_MSB (SPI_I2SCFGR_I2SSTD_0) /*!< MSB justified standard (left justified) */ -#define LL_I2S_STANDARD_LSB (SPI_I2SCFGR_I2SSTD_1) /*!< LSB justified standard (right justified) */ -#define LL_I2S_STANDARD_PCM_SHORT (SPI_I2SCFGR_I2SSTD_0 | SPI_I2SCFGR_I2SSTD_1) /*!< PCM standard, short frame synchronization */ -#define LL_I2S_STANDARD_PCM_LONG (SPI_I2SCFGR_I2SSTD_0 | SPI_I2SCFGR_I2SSTD_1 | SPI_I2SCFGR_PCMSYNC) /*!< PCM standard, long frame synchronization */ -/** - * @} - */ - -/** @defgroup I2S_LL_EC_MODE Operation Mode - * @{ - */ -#define LL_I2S_MODE_SLAVE_TX 0x00000000U /*!< Slave Tx configuration */ -#define LL_I2S_MODE_SLAVE_RX (SPI_I2SCFGR_I2SCFG_0) /*!< Slave Rx configuration */ -#define LL_I2S_MODE_MASTER_TX (SPI_I2SCFGR_I2SCFG_1) /*!< Master Tx configuration */ -#define LL_I2S_MODE_MASTER_RX (SPI_I2SCFGR_I2SCFG_0 | SPI_I2SCFGR_I2SCFG_1) /*!< Master Rx configuration */ -/** - * @} - */ - -/** @defgroup I2S_LL_EC_PRESCALER_FACTOR Prescaler Factor - * @{ - */ -#define LL_I2S_PRESCALER_PARITY_EVEN 0x00000000U /*!< Odd factor: Real divider value is = I2SDIV * 2 */ -#define LL_I2S_PRESCALER_PARITY_ODD (SPI_I2SPR_ODD >> 8U) /*!< Odd factor: Real divider value is = (I2SDIV * 2)+1 */ -/** - * @} - */ - -#if defined(USE_FULL_LL_DRIVER) - -/** @defgroup I2S_LL_EC_MCLK_OUTPUT MCLK Output - * @{ - */ -#define LL_I2S_MCLK_OUTPUT_DISABLE 0x00000000U /*!< Master clock output is disabled */ -#define LL_I2S_MCLK_OUTPUT_ENABLE (SPI_I2SPR_MCKOE) /*!< Master clock output is enabled */ -/** - * @} - */ - -/** @defgroup I2S_LL_EC_AUDIO_FREQ Audio Frequency - * @{ - */ - -#define LL_I2S_AUDIOFREQ_192K 192000U /*!< Audio Frequency configuration 192000 Hz */ -#define LL_I2S_AUDIOFREQ_96K 96000U /*!< Audio Frequency configuration 96000 Hz */ -#define LL_I2S_AUDIOFREQ_48K 48000U /*!< Audio Frequency configuration 48000 Hz */ -#define LL_I2S_AUDIOFREQ_44K 44100U /*!< Audio Frequency configuration 44100 Hz */ -#define LL_I2S_AUDIOFREQ_32K 32000U /*!< Audio Frequency configuration 32000 Hz */ -#define LL_I2S_AUDIOFREQ_22K 22050U /*!< Audio Frequency configuration 22050 Hz */ -#define LL_I2S_AUDIOFREQ_16K 16000U /*!< Audio Frequency configuration 16000 Hz */ -#define LL_I2S_AUDIOFREQ_11K 11025U /*!< Audio Frequency configuration 11025 Hz */ -#define LL_I2S_AUDIOFREQ_8K 8000U /*!< Audio Frequency configuration 8000 Hz */ -#define LL_I2S_AUDIOFREQ_DEFAULT 2U /*!< Audio Freq not specified. Register I2SDIV = 2 */ -/** - * @} - */ -#endif /* USE_FULL_LL_DRIVER */ - -/** - * @} - */ - -/* Exported macro ------------------------------------------------------------*/ -/** @defgroup I2S_LL_Exported_Macros I2S Exported Macros - * @{ - */ - -/** @defgroup I2S_LL_EM_WRITE_READ Common Write and read registers Macros - * @{ - */ - -/** - * @brief Write a value in I2S register - * @param __INSTANCE__ I2S Instance - * @param __REG__ Register to be written - * @param __VALUE__ Value to be written in the register - * @retval None - */ -#define LL_I2S_WriteReg(__INSTANCE__, __REG__, __VALUE__) WRITE_REG(__INSTANCE__->__REG__, (__VALUE__)) - -/** - * @brief Read a value in I2S register - * @param __INSTANCE__ I2S Instance - * @param __REG__ Register to be read - * @retval Register value - */ -#define LL_I2S_ReadReg(__INSTANCE__, __REG__) READ_REG(__INSTANCE__->__REG__) -/** - * @} - */ - -/** - * @} - */ - - -/* Exported functions --------------------------------------------------------*/ - -/** @defgroup I2S_LL_Exported_Functions I2S Exported Functions - * @{ - */ - -/** @defgroup I2S_LL_EF_Configuration Configuration - * @{ - */ - -/** - * @brief Select I2S mode and Enable I2S peripheral - * @rmtoll I2SCFGR I2SMOD LL_I2S_Enable\n - * I2SCFGR I2SE LL_I2S_Enable - * @param SPIx SPI Instance - * @retval None - */ -__STATIC_INLINE void LL_I2S_Enable(SPI_TypeDef *SPIx) -{ - SET_BIT(SPIx->I2SCFGR, SPI_I2SCFGR_I2SMOD | SPI_I2SCFGR_I2SE); -} - -/** - * @brief Disable I2S peripheral - * @rmtoll I2SCFGR I2SE LL_I2S_Disable - * @param SPIx SPI Instance - * @retval None - */ -__STATIC_INLINE void LL_I2S_Disable(SPI_TypeDef *SPIx) -{ - CLEAR_BIT(SPIx->I2SCFGR, SPI_I2SCFGR_I2SMOD | SPI_I2SCFGR_I2SE); -} - -/** - * @brief Check if I2S peripheral is enabled - * @rmtoll I2SCFGR I2SE LL_I2S_IsEnabled - * @param SPIx SPI Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_I2S_IsEnabled(SPI_TypeDef *SPIx) -{ - return ((READ_BIT(SPIx->I2SCFGR, SPI_I2SCFGR_I2SE) == (SPI_I2SCFGR_I2SE)) ? 1UL : 0UL); -} - -/** - * @brief Set I2S data frame length - * @rmtoll I2SCFGR DATLEN LL_I2S_SetDataFormat\n - * I2SCFGR CHLEN LL_I2S_SetDataFormat - * @param SPIx SPI Instance - * @param DataFormat This parameter can be one of the following values: - * @arg @ref LL_I2S_DATAFORMAT_16B - * @arg @ref LL_I2S_DATAFORMAT_16B_EXTENDED - * @arg @ref LL_I2S_DATAFORMAT_24B - * @arg @ref LL_I2S_DATAFORMAT_32B - * @retval None - */ -__STATIC_INLINE void LL_I2S_SetDataFormat(SPI_TypeDef *SPIx, uint32_t DataFormat) -{ - MODIFY_REG(SPIx->I2SCFGR, SPI_I2SCFGR_DATLEN | SPI_I2SCFGR_CHLEN, DataFormat); -} - -/** - * @brief Get I2S data frame length - * @rmtoll I2SCFGR DATLEN LL_I2S_GetDataFormat\n - * I2SCFGR CHLEN LL_I2S_GetDataFormat - * @param SPIx SPI Instance - * @retval Returned value can be one of the following values: - * @arg @ref LL_I2S_DATAFORMAT_16B - * @arg @ref LL_I2S_DATAFORMAT_16B_EXTENDED - * @arg @ref LL_I2S_DATAFORMAT_24B - * @arg @ref LL_I2S_DATAFORMAT_32B - */ -__STATIC_INLINE uint32_t LL_I2S_GetDataFormat(SPI_TypeDef *SPIx) -{ - return (uint32_t)(READ_BIT(SPIx->I2SCFGR, SPI_I2SCFGR_DATLEN | SPI_I2SCFGR_CHLEN)); -} - -/** - * @brief Set I2S clock polarity - * @rmtoll I2SCFGR CKPOL LL_I2S_SetClockPolarity - * @param SPIx SPI Instance - * @param ClockPolarity This parameter can be one of the following values: - * @arg @ref LL_I2S_POLARITY_LOW - * @arg @ref LL_I2S_POLARITY_HIGH - * @retval None - */ -__STATIC_INLINE void LL_I2S_SetClockPolarity(SPI_TypeDef *SPIx, uint32_t ClockPolarity) -{ - SET_BIT(SPIx->I2SCFGR, ClockPolarity); -} - -/** - * @brief Get I2S clock polarity - * @rmtoll I2SCFGR CKPOL LL_I2S_GetClockPolarity - * @param SPIx SPI Instance - * @retval Returned value can be one of the following values: - * @arg @ref LL_I2S_POLARITY_LOW - * @arg @ref LL_I2S_POLARITY_HIGH - */ -__STATIC_INLINE uint32_t LL_I2S_GetClockPolarity(SPI_TypeDef *SPIx) -{ - return (uint32_t)(READ_BIT(SPIx->I2SCFGR, SPI_I2SCFGR_CKPOL)); -} - -/** - * @brief Set I2S standard protocol - * @rmtoll I2SCFGR I2SSTD LL_I2S_SetStandard\n - * I2SCFGR PCMSYNC LL_I2S_SetStandard - * @param SPIx SPI Instance - * @param Standard This parameter can be one of the following values: - * @arg @ref LL_I2S_STANDARD_PHILIPS - * @arg @ref LL_I2S_STANDARD_MSB - * @arg @ref LL_I2S_STANDARD_LSB - * @arg @ref LL_I2S_STANDARD_PCM_SHORT - * @arg @ref LL_I2S_STANDARD_PCM_LONG - * @retval None - */ -__STATIC_INLINE void LL_I2S_SetStandard(SPI_TypeDef *SPIx, uint32_t Standard) -{ - MODIFY_REG(SPIx->I2SCFGR, SPI_I2SCFGR_I2SSTD | SPI_I2SCFGR_PCMSYNC, Standard); -} - -/** - * @brief Get I2S standard protocol - * @rmtoll I2SCFGR I2SSTD LL_I2S_GetStandard\n - * I2SCFGR PCMSYNC LL_I2S_GetStandard - * @param SPIx SPI Instance - * @retval Returned value can be one of the following values: - * @arg @ref LL_I2S_STANDARD_PHILIPS - * @arg @ref LL_I2S_STANDARD_MSB - * @arg @ref LL_I2S_STANDARD_LSB - * @arg @ref LL_I2S_STANDARD_PCM_SHORT - * @arg @ref LL_I2S_STANDARD_PCM_LONG - */ -__STATIC_INLINE uint32_t LL_I2S_GetStandard(SPI_TypeDef *SPIx) -{ - return (uint32_t)(READ_BIT(SPIx->I2SCFGR, SPI_I2SCFGR_I2SSTD | SPI_I2SCFGR_PCMSYNC)); -} - -/** - * @brief Set I2S transfer mode - * @rmtoll I2SCFGR I2SCFG LL_I2S_SetTransferMode - * @param SPIx SPI Instance - * @param Mode This parameter can be one of the following values: - * @arg @ref LL_I2S_MODE_SLAVE_TX - * @arg @ref LL_I2S_MODE_SLAVE_RX - * @arg @ref LL_I2S_MODE_MASTER_TX - * @arg @ref LL_I2S_MODE_MASTER_RX - * @retval None - */ -__STATIC_INLINE void LL_I2S_SetTransferMode(SPI_TypeDef *SPIx, uint32_t Mode) -{ - MODIFY_REG(SPIx->I2SCFGR, SPI_I2SCFGR_I2SCFG, Mode); -} - -/** - * @brief Get I2S transfer mode - * @rmtoll I2SCFGR I2SCFG LL_I2S_GetTransferMode - * @param SPIx SPI Instance - * @retval Returned value can be one of the following values: - * @arg @ref LL_I2S_MODE_SLAVE_TX - * @arg @ref LL_I2S_MODE_SLAVE_RX - * @arg @ref LL_I2S_MODE_MASTER_TX - * @arg @ref LL_I2S_MODE_MASTER_RX - */ -__STATIC_INLINE uint32_t LL_I2S_GetTransferMode(SPI_TypeDef *SPIx) -{ - return (uint32_t)(READ_BIT(SPIx->I2SCFGR, SPI_I2SCFGR_I2SCFG)); -} - -/** - * @brief Set I2S linear prescaler - * @rmtoll I2SPR I2SDIV LL_I2S_SetPrescalerLinear - * @param SPIx SPI Instance - * @param PrescalerLinear Value between Min_Data=0x02 and Max_Data=0xFF - * @retval None - */ -__STATIC_INLINE void LL_I2S_SetPrescalerLinear(SPI_TypeDef *SPIx, uint8_t PrescalerLinear) -{ - MODIFY_REG(SPIx->I2SPR, SPI_I2SPR_I2SDIV, PrescalerLinear); -} - -/** - * @brief Get I2S linear prescaler - * @rmtoll I2SPR I2SDIV LL_I2S_GetPrescalerLinear - * @param SPIx SPI Instance - * @retval PrescalerLinear Value between Min_Data=0x02 and Max_Data=0xFF - */ -__STATIC_INLINE uint32_t LL_I2S_GetPrescalerLinear(SPI_TypeDef *SPIx) -{ - return (uint32_t)(READ_BIT(SPIx->I2SPR, SPI_I2SPR_I2SDIV)); -} - -/** - * @brief Set I2S parity prescaler - * @rmtoll I2SPR ODD LL_I2S_SetPrescalerParity - * @param SPIx SPI Instance - * @param PrescalerParity This parameter can be one of the following values: - * @arg @ref LL_I2S_PRESCALER_PARITY_EVEN - * @arg @ref LL_I2S_PRESCALER_PARITY_ODD - * @retval None - */ -__STATIC_INLINE void LL_I2S_SetPrescalerParity(SPI_TypeDef *SPIx, uint32_t PrescalerParity) -{ - MODIFY_REG(SPIx->I2SPR, SPI_I2SPR_ODD, PrescalerParity << 8U); -} - -/** - * @brief Get I2S parity prescaler - * @rmtoll I2SPR ODD LL_I2S_GetPrescalerParity - * @param SPIx SPI Instance - * @retval Returned value can be one of the following values: - * @arg @ref LL_I2S_PRESCALER_PARITY_EVEN - * @arg @ref LL_I2S_PRESCALER_PARITY_ODD - */ -__STATIC_INLINE uint32_t LL_I2S_GetPrescalerParity(SPI_TypeDef *SPIx) -{ - return (uint32_t)(READ_BIT(SPIx->I2SPR, SPI_I2SPR_ODD) >> 8U); -} - -/** - * @brief Enable the master clock output (Pin MCK) - * @rmtoll I2SPR MCKOE LL_I2S_EnableMasterClock - * @param SPIx SPI Instance - * @retval None - */ -__STATIC_INLINE void LL_I2S_EnableMasterClock(SPI_TypeDef *SPIx) -{ - SET_BIT(SPIx->I2SPR, SPI_I2SPR_MCKOE); -} - -/** - * @brief Disable the master clock output (Pin MCK) - * @rmtoll I2SPR MCKOE LL_I2S_DisableMasterClock - * @param SPIx SPI Instance - * @retval None - */ -__STATIC_INLINE void LL_I2S_DisableMasterClock(SPI_TypeDef *SPIx) -{ - CLEAR_BIT(SPIx->I2SPR, SPI_I2SPR_MCKOE); -} - -/** - * @brief Check if the master clock output (Pin MCK) is enabled - * @rmtoll I2SPR MCKOE LL_I2S_IsEnabledMasterClock - * @param SPIx SPI Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_I2S_IsEnabledMasterClock(SPI_TypeDef *SPIx) -{ - return ((READ_BIT(SPIx->I2SPR, SPI_I2SPR_MCKOE) == (SPI_I2SPR_MCKOE)) ? 1UL : 0UL); -} - -#if defined(SPI_I2SCFGR_ASTRTEN) -/** - * @brief Enable asynchronous start - * @rmtoll I2SCFGR ASTRTEN LL_I2S_EnableAsyncStart - * @param SPIx SPI Instance - * @retval None - */ -__STATIC_INLINE void LL_I2S_EnableAsyncStart(SPI_TypeDef *SPIx) -{ - SET_BIT(SPIx->I2SCFGR, SPI_I2SCFGR_ASTRTEN); -} - -/** - * @brief Disable asynchronous start - * @rmtoll I2SCFGR ASTRTEN LL_I2S_DisableAsyncStart - * @param SPIx SPI Instance - * @retval None - */ -__STATIC_INLINE void LL_I2S_DisableAsyncStart(SPI_TypeDef *SPIx) -{ - CLEAR_BIT(SPIx->I2SCFGR, SPI_I2SCFGR_ASTRTEN); -} - -/** - * @brief Check if asynchronous start is enabled - * @rmtoll I2SCFGR ASTRTEN LL_I2S_IsEnabledAsyncStart - * @param SPIx SPI Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_I2S_IsEnabledAsyncStart(SPI_TypeDef *SPIx) -{ - return ((READ_BIT(SPIx->I2SCFGR, SPI_I2SCFGR_ASTRTEN) == (SPI_I2SCFGR_ASTRTEN)) ? 1UL : 0UL); -} -#endif /* SPI_I2SCFGR_ASTRTEN */ - -/** - * @} - */ - -/** @defgroup I2S_LL_EF_FLAG FLAG Management - * @{ - */ - -/** - * @brief Check if Rx buffer is not empty - * @rmtoll SR RXNE LL_I2S_IsActiveFlag_RXNE - * @param SPIx SPI Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_I2S_IsActiveFlag_RXNE(SPI_TypeDef *SPIx) -{ - return LL_SPI_IsActiveFlag_RXNE(SPIx); -} - -/** - * @brief Check if Tx buffer is empty - * @rmtoll SR TXE LL_I2S_IsActiveFlag_TXE - * @param SPIx SPI Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_I2S_IsActiveFlag_TXE(SPI_TypeDef *SPIx) -{ - return LL_SPI_IsActiveFlag_TXE(SPIx); -} - -/** - * @brief Get busy flag - * @rmtoll SR BSY LL_I2S_IsActiveFlag_BSY - * @param SPIx SPI Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_I2S_IsActiveFlag_BSY(SPI_TypeDef *SPIx) -{ - return LL_SPI_IsActiveFlag_BSY(SPIx); -} - -/** - * @brief Get overrun error flag - * @rmtoll SR OVR LL_I2S_IsActiveFlag_OVR - * @param SPIx SPI Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_I2S_IsActiveFlag_OVR(SPI_TypeDef *SPIx) -{ - return LL_SPI_IsActiveFlag_OVR(SPIx); -} - -/** - * @brief Get underrun error flag - * @rmtoll SR UDR LL_I2S_IsActiveFlag_UDR - * @param SPIx SPI Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_I2S_IsActiveFlag_UDR(SPI_TypeDef *SPIx) -{ - return ((READ_BIT(SPIx->SR, SPI_SR_UDR) == (SPI_SR_UDR)) ? 1UL : 0UL); -} - -/** - * @brief Get frame format error flag - * @rmtoll SR FRE LL_I2S_IsActiveFlag_FRE - * @param SPIx SPI Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_I2S_IsActiveFlag_FRE(SPI_TypeDef *SPIx) -{ - return LL_SPI_IsActiveFlag_FRE(SPIx); -} - -/** - * @brief Get channel side flag. - * @note 0: Channel Left has to be transmitted or has been received\n - * 1: Channel Right has to be transmitted or has been received\n - * It has no significance in PCM mode. - * @rmtoll SR CHSIDE LL_I2S_IsActiveFlag_CHSIDE - * @param SPIx SPI Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_I2S_IsActiveFlag_CHSIDE(SPI_TypeDef *SPIx) -{ - return ((READ_BIT(SPIx->SR, SPI_SR_CHSIDE) == (SPI_SR_CHSIDE)) ? 1UL : 0UL); -} - -/** - * @brief Clear overrun error flag - * @rmtoll SR OVR LL_I2S_ClearFlag_OVR - * @param SPIx SPI Instance - * @retval None - */ -__STATIC_INLINE void LL_I2S_ClearFlag_OVR(SPI_TypeDef *SPIx) -{ - LL_SPI_ClearFlag_OVR(SPIx); -} - -/** - * @brief Clear underrun error flag - * @rmtoll SR UDR LL_I2S_ClearFlag_UDR - * @param SPIx SPI Instance - * @retval None - */ -__STATIC_INLINE void LL_I2S_ClearFlag_UDR(SPI_TypeDef *SPIx) -{ - __IO uint32_t tmpreg; - tmpreg = SPIx->SR; - (void)tmpreg; -} - -/** - * @brief Clear frame format error flag - * @rmtoll SR FRE LL_I2S_ClearFlag_FRE - * @param SPIx SPI Instance - * @retval None - */ -__STATIC_INLINE void LL_I2S_ClearFlag_FRE(SPI_TypeDef *SPIx) -{ - LL_SPI_ClearFlag_FRE(SPIx); -} - -/** - * @} - */ - -/** @defgroup I2S_LL_EF_IT Interrupt Management - * @{ - */ - -/** - * @brief Enable error IT - * @note This bit controls the generation of an interrupt when an error condition occurs (OVR, UDR and FRE in I2S mode). - * @rmtoll CR2 ERRIE LL_I2S_EnableIT_ERR - * @param SPIx SPI Instance - * @retval None - */ -__STATIC_INLINE void LL_I2S_EnableIT_ERR(SPI_TypeDef *SPIx) -{ - LL_SPI_EnableIT_ERR(SPIx); -} - -/** - * @brief Enable Rx buffer not empty IT - * @rmtoll CR2 RXNEIE LL_I2S_EnableIT_RXNE - * @param SPIx SPI Instance - * @retval None - */ -__STATIC_INLINE void LL_I2S_EnableIT_RXNE(SPI_TypeDef *SPIx) -{ - LL_SPI_EnableIT_RXNE(SPIx); -} - -/** - * @brief Enable Tx buffer empty IT - * @rmtoll CR2 TXEIE LL_I2S_EnableIT_TXE - * @param SPIx SPI Instance - * @retval None - */ -__STATIC_INLINE void LL_I2S_EnableIT_TXE(SPI_TypeDef *SPIx) -{ - LL_SPI_EnableIT_TXE(SPIx); -} - -/** - * @brief Disable error IT - * @note This bit controls the generation of an interrupt when an error condition occurs (OVR, UDR and FRE in I2S mode). - * @rmtoll CR2 ERRIE LL_I2S_DisableIT_ERR - * @param SPIx SPI Instance - * @retval None - */ -__STATIC_INLINE void LL_I2S_DisableIT_ERR(SPI_TypeDef *SPIx) -{ - LL_SPI_DisableIT_ERR(SPIx); -} - -/** - * @brief Disable Rx buffer not empty IT - * @rmtoll CR2 RXNEIE LL_I2S_DisableIT_RXNE - * @param SPIx SPI Instance - * @retval None - */ -__STATIC_INLINE void LL_I2S_DisableIT_RXNE(SPI_TypeDef *SPIx) -{ - LL_SPI_DisableIT_RXNE(SPIx); -} - -/** - * @brief Disable Tx buffer empty IT - * @rmtoll CR2 TXEIE LL_I2S_DisableIT_TXE - * @param SPIx SPI Instance - * @retval None - */ -__STATIC_INLINE void LL_I2S_DisableIT_TXE(SPI_TypeDef *SPIx) -{ - LL_SPI_DisableIT_TXE(SPIx); -} - -/** - * @brief Check if ERR IT is enabled - * @rmtoll CR2 ERRIE LL_I2S_IsEnabledIT_ERR - * @param SPIx SPI Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_I2S_IsEnabledIT_ERR(SPI_TypeDef *SPIx) -{ - return LL_SPI_IsEnabledIT_ERR(SPIx); -} - -/** - * @brief Check if RXNE IT is enabled - * @rmtoll CR2 RXNEIE LL_I2S_IsEnabledIT_RXNE - * @param SPIx SPI Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_I2S_IsEnabledIT_RXNE(SPI_TypeDef *SPIx) -{ - return LL_SPI_IsEnabledIT_RXNE(SPIx); -} - -/** - * @brief Check if TXE IT is enabled - * @rmtoll CR2 TXEIE LL_I2S_IsEnabledIT_TXE - * @param SPIx SPI Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_I2S_IsEnabledIT_TXE(SPI_TypeDef *SPIx) -{ - return LL_SPI_IsEnabledIT_TXE(SPIx); -} - -/** - * @} - */ - -/** @defgroup I2S_LL_EF_DMA DMA Management - * @{ - */ - -/** - * @brief Enable DMA Rx - * @rmtoll CR2 RXDMAEN LL_I2S_EnableDMAReq_RX - * @param SPIx SPI Instance - * @retval None - */ -__STATIC_INLINE void LL_I2S_EnableDMAReq_RX(SPI_TypeDef *SPIx) -{ - LL_SPI_EnableDMAReq_RX(SPIx); -} - -/** - * @brief Disable DMA Rx - * @rmtoll CR2 RXDMAEN LL_I2S_DisableDMAReq_RX - * @param SPIx SPI Instance - * @retval None - */ -__STATIC_INLINE void LL_I2S_DisableDMAReq_RX(SPI_TypeDef *SPIx) -{ - LL_SPI_DisableDMAReq_RX(SPIx); -} - -/** - * @brief Check if DMA Rx is enabled - * @rmtoll CR2 RXDMAEN LL_I2S_IsEnabledDMAReq_RX - * @param SPIx SPI Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_I2S_IsEnabledDMAReq_RX(SPI_TypeDef *SPIx) -{ - return LL_SPI_IsEnabledDMAReq_RX(SPIx); -} - -/** - * @brief Enable DMA Tx - * @rmtoll CR2 TXDMAEN LL_I2S_EnableDMAReq_TX - * @param SPIx SPI Instance - * @retval None - */ -__STATIC_INLINE void LL_I2S_EnableDMAReq_TX(SPI_TypeDef *SPIx) -{ - LL_SPI_EnableDMAReq_TX(SPIx); -} - -/** - * @brief Disable DMA Tx - * @rmtoll CR2 TXDMAEN LL_I2S_DisableDMAReq_TX - * @param SPIx SPI Instance - * @retval None - */ -__STATIC_INLINE void LL_I2S_DisableDMAReq_TX(SPI_TypeDef *SPIx) -{ - LL_SPI_DisableDMAReq_TX(SPIx); -} - -/** - * @brief Check if DMA Tx is enabled - * @rmtoll CR2 TXDMAEN LL_I2S_IsEnabledDMAReq_TX - * @param SPIx SPI Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_I2S_IsEnabledDMAReq_TX(SPI_TypeDef *SPIx) -{ - return LL_SPI_IsEnabledDMAReq_TX(SPIx); -} - -/** - * @} - */ - -/** @defgroup I2S_LL_EF_DATA DATA Management - * @{ - */ - -/** - * @brief Read 16-Bits in data register - * @rmtoll DR DR LL_I2S_ReceiveData16 - * @param SPIx SPI Instance - * @retval RxData Value between Min_Data=0x0000 and Max_Data=0xFFFF - */ -__STATIC_INLINE uint16_t LL_I2S_ReceiveData16(SPI_TypeDef *SPIx) -{ - return LL_SPI_ReceiveData16(SPIx); -} - -/** - * @brief Write 16-Bits in data register - * @rmtoll DR DR LL_I2S_TransmitData16 - * @param SPIx SPI Instance - * @param TxData Value between Min_Data=0x0000 and Max_Data=0xFFFF - * @retval None - */ -__STATIC_INLINE void LL_I2S_TransmitData16(SPI_TypeDef *SPIx, uint16_t TxData) -{ - LL_SPI_TransmitData16(SPIx, TxData); -} - -/** - * @} - */ - -#if defined(USE_FULL_LL_DRIVER) -/** @defgroup I2S_LL_EF_Init Initialization and de-initialization functions - * @{ - */ - -ErrorStatus LL_I2S_DeInit(SPI_TypeDef *SPIx); -ErrorStatus LL_I2S_Init(SPI_TypeDef *SPIx, LL_I2S_InitTypeDef *I2S_InitStruct); -void LL_I2S_StructInit(LL_I2S_InitTypeDef *I2S_InitStruct); -void LL_I2S_ConfigPrescaler(SPI_TypeDef *SPIx, uint32_t PrescalerLinear, uint32_t PrescalerParity); -#if defined (SPI_I2S_FULLDUPLEX_SUPPORT) -ErrorStatus LL_I2S_InitFullDuplex(SPI_TypeDef *I2Sxext, LL_I2S_InitTypeDef *I2S_InitStruct); -#endif /* SPI_I2S_FULLDUPLEX_SUPPORT */ - -/** - * @} - */ -#endif /* USE_FULL_LL_DRIVER */ - -/** - * @} - */ - -/** - * @} - */ - -#endif /* defined (SPI1) || defined (SPI2) || defined (SPI3) || defined (SPI4) || defined (SPI5) || defined(SPI6) */ - -/** - * @} - */ - -#ifdef __cplusplus -} -#endif - -#endif /* STM32F4xx_LL_SPI_H */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_system.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_system.h deleted file mode 100644 index cc7635e9f88b45..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_system.h +++ /dev/null @@ -1,1710 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_ll_system.h - * @author MCD Application Team - * @brief Header file of SYSTEM LL module. - @verbatim - ============================================================================== - ##### How to use this driver ##### - ============================================================================== - [..] - The LL SYSTEM driver contains a set of generic APIs that can be - used by user: - (+) Some of the FLASH features need to be handled in the SYSTEM file. - (+) Access to DBGCMU registers - (+) Access to SYSCFG registers - - @endverbatim - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef __STM32F4xx_LL_SYSTEM_H -#define __STM32F4xx_LL_SYSTEM_H - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx.h" - -/** @addtogroup STM32F4xx_LL_Driver - * @{ - */ - -#if defined (FLASH) || defined (SYSCFG) || defined (DBGMCU) - -/** @defgroup SYSTEM_LL SYSTEM - * @{ - */ - -/* Private types -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ - -/* Private constants ---------------------------------------------------------*/ -/** @defgroup SYSTEM_LL_Private_Constants SYSTEM Private Constants - * @{ - */ - -/** - * @} - */ - -/* Private macros ------------------------------------------------------------*/ - -/* Exported types ------------------------------------------------------------*/ -/* Exported constants --------------------------------------------------------*/ -/** @defgroup SYSTEM_LL_Exported_Constants SYSTEM Exported Constants - * @{ - */ - -/** @defgroup SYSTEM_LL_EC_REMAP SYSCFG REMAP -* @{ -*/ -#define LL_SYSCFG_REMAP_FLASH (uint32_t)0x00000000 /*!< Main Flash memory mapped at 0x00000000 */ -#define LL_SYSCFG_REMAP_SYSTEMFLASH SYSCFG_MEMRMP_MEM_MODE_0 /*!< System Flash memory mapped at 0x00000000 */ -#if defined(FSMC_Bank1) -#define LL_SYSCFG_REMAP_FSMC SYSCFG_MEMRMP_MEM_MODE_1 /*!< FSMC(NOR/PSRAM 1 and 2) mapped at 0x00000000 */ -#endif /* FSMC_Bank1 */ -#if defined(FMC_Bank1) -#define LL_SYSCFG_REMAP_FMC SYSCFG_MEMRMP_MEM_MODE_1 /*!< FMC(NOR/PSRAM 1 and 2) mapped at 0x00000000 */ -#define LL_SYSCFG_REMAP_SDRAM SYSCFG_MEMRMP_MEM_MODE_2 /*!< FMC/SDRAM mapped at 0x00000000 */ -#endif /* FMC_Bank1 */ -#define LL_SYSCFG_REMAP_SRAM (SYSCFG_MEMRMP_MEM_MODE_1 | SYSCFG_MEMRMP_MEM_MODE_0) /*!< SRAM1 mapped at 0x00000000 */ - -/** - * @} - */ - -#if defined(SYSCFG_PMC_MII_RMII_SEL) - /** @defgroup SYSTEM_LL_EC_PMC SYSCFG PMC -* @{ -*/ -#define LL_SYSCFG_PMC_ETHMII (uint32_t)0x00000000 /*!< ETH Media MII interface */ -#define LL_SYSCFG_PMC_ETHRMII (uint32_t)SYSCFG_PMC_MII_RMII_SEL /*!< ETH Media RMII interface */ - -/** - * @} - */ -#endif /* SYSCFG_PMC_MII_RMII_SEL */ - - - -#if defined(SYSCFG_MEMRMP_UFB_MODE) -/** @defgroup SYSTEM_LL_EC_BANKMODE SYSCFG BANK MODE - * @{ - */ -#define LL_SYSCFG_BANKMODE_BANK1 (uint32_t)0x00000000 /*!< Flash Bank 1 base address mapped at 0x0800 0000 (AXI) and 0x0020 0000 (TCM) - and Flash Bank 2 base address mapped at 0x0810 0000 (AXI) and 0x0030 0000 (TCM)*/ -#define LL_SYSCFG_BANKMODE_BANK2 SYSCFG_MEMRMP_UFB_MODE /*!< Flash Bank 2 base address mapped at 0x0800 0000 (AXI) and 0x0020 0000(TCM) - and Flash Bank 1 base address mapped at 0x0810 0000 (AXI) and 0x0030 0000(TCM) */ -/** - * @} - */ -#endif /* SYSCFG_MEMRMP_UFB_MODE */ -/** @defgroup SYSTEM_LL_EC_I2C_FASTMODEPLUS SYSCFG I2C FASTMODEPLUS - * @{ - */ -#if defined(SYSCFG_CFGR_FMPI2C1_SCL) -#define LL_SYSCFG_I2C_FASTMODEPLUS_SCL SYSCFG_CFGR_FMPI2C1_SCL /*!< Enable Fast Mode Plus on FMPI2C_SCL pin */ -#define LL_SYSCFG_I2C_FASTMODEPLUS_SDA SYSCFG_CFGR_FMPI2C1_SDA /*!< Enable Fast Mode Plus on FMPI2C_SDA pin*/ -#endif /* SYSCFG_CFGR_FMPI2C1_SCL */ -/** - * @} - */ - -/** @defgroup SYSTEM_LL_EC_EXTI_PORT SYSCFG EXTI PORT - * @{ - */ -#define LL_SYSCFG_EXTI_PORTA (uint32_t)0 /*!< EXTI PORT A */ -#define LL_SYSCFG_EXTI_PORTB (uint32_t)1 /*!< EXTI PORT B */ -#define LL_SYSCFG_EXTI_PORTC (uint32_t)2 /*!< EXTI PORT C */ -#define LL_SYSCFG_EXTI_PORTD (uint32_t)3 /*!< EXTI PORT D */ -#define LL_SYSCFG_EXTI_PORTE (uint32_t)4 /*!< EXTI PORT E */ -#if defined(GPIOF) -#define LL_SYSCFG_EXTI_PORTF (uint32_t)5 /*!< EXTI PORT F */ -#endif /* GPIOF */ -#if defined(GPIOG) -#define LL_SYSCFG_EXTI_PORTG (uint32_t)6 /*!< EXTI PORT G */ -#endif /* GPIOG */ -#define LL_SYSCFG_EXTI_PORTH (uint32_t)7 /*!< EXTI PORT H */ -#if defined(GPIOI) -#define LL_SYSCFG_EXTI_PORTI (uint32_t)8 /*!< EXTI PORT I */ -#endif /* GPIOI */ -#if defined(GPIOJ) -#define LL_SYSCFG_EXTI_PORTJ (uint32_t)9 /*!< EXTI PORT J */ -#endif /* GPIOJ */ -#if defined(GPIOK) -#define LL_SYSCFG_EXTI_PORTK (uint32_t)10 /*!< EXTI PORT k */ -#endif /* GPIOK */ -/** - * @} - */ - -/** @defgroup SYSTEM_LL_EC_EXTI_LINE SYSCFG EXTI LINE - * @{ - */ -#define LL_SYSCFG_EXTI_LINE0 (uint32_t)(0x000FU << 16 | 0) /*!< EXTI_POSITION_0 | EXTICR[0] */ -#define LL_SYSCFG_EXTI_LINE1 (uint32_t)(0x00F0U << 16 | 0) /*!< EXTI_POSITION_4 | EXTICR[0] */ -#define LL_SYSCFG_EXTI_LINE2 (uint32_t)(0x0F00U << 16 | 0) /*!< EXTI_POSITION_8 | EXTICR[0] */ -#define LL_SYSCFG_EXTI_LINE3 (uint32_t)(0xF000U << 16 | 0) /*!< EXTI_POSITION_12 | EXTICR[0] */ -#define LL_SYSCFG_EXTI_LINE4 (uint32_t)(0x000FU << 16 | 1) /*!< EXTI_POSITION_0 | EXTICR[1] */ -#define LL_SYSCFG_EXTI_LINE5 (uint32_t)(0x00F0U << 16 | 1) /*!< EXTI_POSITION_4 | EXTICR[1] */ -#define LL_SYSCFG_EXTI_LINE6 (uint32_t)(0x0F00U << 16 | 1) /*!< EXTI_POSITION_8 | EXTICR[1] */ -#define LL_SYSCFG_EXTI_LINE7 (uint32_t)(0xF000U << 16 | 1) /*!< EXTI_POSITION_12 | EXTICR[1] */ -#define LL_SYSCFG_EXTI_LINE8 (uint32_t)(0x000FU << 16 | 2) /*!< EXTI_POSITION_0 | EXTICR[2] */ -#define LL_SYSCFG_EXTI_LINE9 (uint32_t)(0x00F0U << 16 | 2) /*!< EXTI_POSITION_4 | EXTICR[2] */ -#define LL_SYSCFG_EXTI_LINE10 (uint32_t)(0x0F00U << 16 | 2) /*!< EXTI_POSITION_8 | EXTICR[2] */ -#define LL_SYSCFG_EXTI_LINE11 (uint32_t)(0xF000U << 16 | 2) /*!< EXTI_POSITION_12 | EXTICR[2] */ -#define LL_SYSCFG_EXTI_LINE12 (uint32_t)(0x000FU << 16 | 3) /*!< EXTI_POSITION_0 | EXTICR[3] */ -#define LL_SYSCFG_EXTI_LINE13 (uint32_t)(0x00F0U << 16 | 3) /*!< EXTI_POSITION_4 | EXTICR[3] */ -#define LL_SYSCFG_EXTI_LINE14 (uint32_t)(0x0F00U << 16 | 3) /*!< EXTI_POSITION_8 | EXTICR[3] */ -#define LL_SYSCFG_EXTI_LINE15 (uint32_t)(0xF000U << 16 | 3) /*!< EXTI_POSITION_12 | EXTICR[3] */ -/** - * @} - */ - -/** @defgroup SYSTEM_LL_EC_TIMBREAK SYSCFG TIMER BREAK - * @{ - */ -#if defined(SYSCFG_CFGR2_LOCKUP_LOCK) -#define LL_SYSCFG_TIMBREAK_LOCKUP SYSCFG_CFGR2_LOCKUP_LOCK /*!< Enables and locks the LOCKUP output of CortexM4 - with Break Input of TIM1/8 */ -#define LL_SYSCFG_TIMBREAK_PVD SYSCFG_CFGR2_PVD_LOCK /*!< Enables and locks the PVD connection with TIM1/8 Break Input - and also the PVDE and PLS bits of the Power Control Interface */ -#endif /* SYSCFG_CFGR2_CLL */ -/** - * @} - */ - -#if defined(SYSCFG_MCHDLYCR_BSCKSEL) -/** @defgroup SYSTEM_LL_DFSDM_BitStream_ClockSource SYSCFG MCHDLY BCKKSEL - * @{ - */ -#define LL_SYSCFG_BITSTREAM_CLOCK_TIM2OC1 (uint32_t)0x00000000 -#define LL_SYSCFG_BITSTREAM_CLOCK_DFSDM2 SYSCFG_MCHDLYCR_BSCKSEL -/** - * @} - */ -/** @defgroup SYSTEM_LL_DFSDM_MCHDLYEN SYSCFG MCHDLY MCHDLYEN - * @{ - */ -#define LL_SYSCFG_DFSDM1_MCHDLYEN SYSCFG_MCHDLYCR_MCHDLY1EN -#define LL_SYSCFG_DFSDM2_MCHDLYEN SYSCFG_MCHDLYCR_MCHDLY2EN -/** - * @} - */ -/** @defgroup SYSTEM_LL_DFSDM_DataIn0_Source SYSCFG MCHDLY DFSDMD0SEL - * @{ - */ -#define LL_SYSCFG_DFSDM1_DataIn0 SYSCFG_MCHDLYCR_DFSDM1D0SEL -#define LL_SYSCFG_DFSDM2_DataIn0 SYSCFG_MCHDLYCR_DFSDM2D0SEL - -#define LL_SYSCFG_DFSDM1_DataIn0_PAD (uint32_t)((SYSCFG_MCHDLYCR_DFSDM1D0SEL << 16) | 0x00000000) -#define LL_SYSCFG_DFSDM1_DataIn0_DM (uint32_t)((SYSCFG_MCHDLYCR_DFSDM1D0SEL << 16) | SYSCFG_MCHDLYCR_DFSDM1D0SEL) -#define LL_SYSCFG_DFSDM2_DataIn0_PAD (uint32_t)((SYSCFG_MCHDLYCR_DFSDM2D0SEL << 16) | 0x00000000) -#define LL_SYSCFG_DFSDM2_DataIn0_DM (uint32_t)((SYSCFG_MCHDLYCR_DFSDM2D0SEL << 16) | SYSCFG_MCHDLYCR_DFSDM2D0SEL) -/** - * @} - */ -/** @defgroup SYSTEM_LL_DFSDM_DataIn2_Source SYSCFG MCHDLY DFSDMD2SEL - * @{ - */ -#define LL_SYSCFG_DFSDM1_DataIn2 SYSCFG_MCHDLYCR_DFSDM1D2SEL -#define LL_SYSCFG_DFSDM2_DataIn2 SYSCFG_MCHDLYCR_DFSDM2D2SEL - -#define LL_SYSCFG_DFSDM1_DataIn2_PAD (uint32_t)((SYSCFG_MCHDLYCR_DFSDM1D2SEL << 16) | 0x00000000) -#define LL_SYSCFG_DFSDM1_DataIn2_DM (uint32_t)((SYSCFG_MCHDLYCR_DFSDM1D2SEL << 16) | SYSCFG_MCHDLYCR_DFSDM1D2SEL) -#define LL_SYSCFG_DFSDM2_DataIn2_PAD (uint32_t)((SYSCFG_MCHDLYCR_DFSDM2D2SEL << 16) | 0x00000000) -#define LL_SYSCFG_DFSDM2_DataIn2_DM (uint32_t)((SYSCFG_MCHDLYCR_DFSDM2D2SEL << 16) | SYSCFG_MCHDLYCR_DFSDM2D2SEL) -/** - * @} - */ -/** @defgroup SYSTEM_LL_DFSDM1_TIM4OC2_BitstreamDistribution SYSCFG MCHDLY DFSDM1CK02SEL - * @{ - */ -#define LL_SYSCFG_DFSDM1_TIM4OC2_CLKIN0 (uint32_t)0x00000000 -#define LL_SYSCFG_DFSDM1_TIM4OC2_CLKIN2 SYSCFG_MCHDLYCR_DFSDM1CK02SEL -/** - * @} - */ -/** @defgroup SYSTEM_LL_DFSDM1_TIM4OC1_BitstreamDistribution SYSCFG MCHDLY DFSDM1CK13SEL - * @{ - */ -#define LL_SYSCFG_DFSDM1_TIM4OC1_CLKIN1 (uint32_t)0x00000000 -#define LL_SYSCFG_DFSDM1_TIM4OC1_CLKIN3 SYSCFG_MCHDLYCR_DFSDM1CK13SEL -/** - * @} - */ -/** @defgroup SYSTEM_LL_DFSDM1_CLKIN_SourceSelection SYSCFG MCHDLY DFSDMCFG - * @{ - */ -#define LL_SYSCFG_DFSDM1_CKIN_PAD (uint32_t)0x00000000 -#define LL_SYSCFG_DFSDM1_CKIN_DM SYSCFG_MCHDLYCR_DFSDM1CFG -/** - * @} - */ -/** @defgroup SYSTEM_LL_DFSDM1_CLKOUT_SourceSelection SYSCFG MCHDLY DFSDM1CKOSEL - * @{ - */ -#define LL_SYSCFG_DFSDM1_CKOUT (uint32_t)0x00000000 -#define LL_SYSCFG_DFSDM1_CKOUT_M27 SYSCFG_MCHDLYCR_DFSDM1CKOSEL -/** - * @} - */ - -/** @defgroup SYSTEM_LL_DFSDM2_DataIn4_SourceSelection SYSCFG MCHDLY DFSDM2D4SEL - * @{ - */ -#define LL_SYSCFG_DFSDM2_DataIn4_PAD (uint32_t)0x00000000 -#define LL_SYSCFG_DFSDM2_DataIn4_DM SYSCFG_MCHDLYCR_DFSDM2D4SEL -/** - * @} - */ -/** @defgroup SYSTEM_LL_DFSDM2_DataIn6_SourceSelection SYSCFG MCHDLY DFSDM2D6SEL - * @{ - */ -#define LL_SYSCFG_DFSDM2_DataIn6_PAD (uint32_t)0x00000000 -#define LL_SYSCFG_DFSDM2_DataIn6_DM SYSCFG_MCHDLYCR_DFSDM2D6SEL -/** - * @} - */ -/** @defgroup SYSTEM_LL_DFSDM2_TIM3OC4_BitstreamDistribution SYSCFG MCHDLY DFSDM2CK04SEL - * @{ - */ -#define LL_SYSCFG_DFSDM2_TIM3OC4_CLKIN0 (uint32_t)0x00000000 -#define LL_SYSCFG_DFSDM2_TIM3OC4_CLKIN4 SYSCFG_MCHDLYCR_DFSDM2CK04SEL -/** - * @} - */ -/** @defgroup SYSTEM_LL_DFSDM2_TIM3OC3_BitstreamDistribution SYSCFG MCHDLY DFSDM2CK15SEL - * @{ - */ -#define LL_SYSCFG_DFSDM2_TIM3OC3_CLKIN1 (uint32_t)0x00000000 -#define LL_SYSCFG_DFSDM2_TIM3OC3_CLKIN5 SYSCFG_MCHDLYCR_DFSDM2CK15SEL -/** - * @} - */ -/** @defgroup SYSTEM_LL_DFSDM2_TIM3OC2_BitstreamDistribution SYSCFG MCHDLY DFSDM2CK26SEL - * @{ - */ -#define LL_SYSCFG_DFSDM2_TIM3OC2_CLKIN2 (uint32_t)0x00000000 -#define LL_SYSCFG_DFSDM2_TIM3OC2_CLKIN6 SYSCFG_MCHDLYCR_DFSDM2CK26SEL -/** - * @} - */ -/** @defgroup SYSTEM_LL_DFSDM2_TIM3OC1_BitstreamDistribution SYSCFG MCHDLY DFSDM2CK37SEL - * @{ - */ -#define LL_SYSCFG_DFSDM2_TIM3OC1_CLKIN3 (uint32_t)0x00000000 -#define LL_SYSCFG_DFSDM2_TIM3OC1_CLKIN7 SYSCFG_MCHDLYCR_DFSDM2CK37SEL -/** - * @} - */ -/** @defgroup SYSTEM_LL_DFSDM2_CLKIN_SourceSelection SYSCFG MCHDLY DFSDM2CFG - * @{ - */ -#define LL_SYSCFG_DFSDM2_CKIN_PAD (uint32_t)0x00000000 -#define LL_SYSCFG_DFSDM2_CKIN_DM SYSCFG_MCHDLYCR_DFSDM2CFG -/** - * @} - */ -/** @defgroup SYSTEM_LL_DFSDM2_CLKOUT_SourceSelection SYSCFG MCHDLY DFSDM2CKOSEL - * @{ - */ -#define LL_SYSCFG_DFSDM2_CKOUT (uint32_t)0x00000000 -#define LL_SYSCFG_DFSDM2_CKOUT_M27 SYSCFG_MCHDLYCR_DFSDM2CKOSEL -/** - * @} - */ -#endif /* SYSCFG_MCHDLYCR_BSCKSEL */ - -/** @defgroup SYSTEM_LL_EC_TRACE DBGMCU TRACE Pin Assignment - * @{ - */ -#define LL_DBGMCU_TRACE_NONE 0x00000000U /*!< TRACE pins not assigned (default state) */ -#define LL_DBGMCU_TRACE_ASYNCH DBGMCU_CR_TRACE_IOEN /*!< TRACE pin assignment for Asynchronous Mode */ -#define LL_DBGMCU_TRACE_SYNCH_SIZE1 (DBGMCU_CR_TRACE_IOEN | DBGMCU_CR_TRACE_MODE_0) /*!< TRACE pin assignment for Synchronous Mode with a TRACEDATA size of 1 */ -#define LL_DBGMCU_TRACE_SYNCH_SIZE2 (DBGMCU_CR_TRACE_IOEN | DBGMCU_CR_TRACE_MODE_1) /*!< TRACE pin assignment for Synchronous Mode with a TRACEDATA size of 2 */ -#define LL_DBGMCU_TRACE_SYNCH_SIZE4 (DBGMCU_CR_TRACE_IOEN | DBGMCU_CR_TRACE_MODE) /*!< TRACE pin assignment for Synchronous Mode with a TRACEDATA size of 4 */ -/** - * @} - */ - -/** @defgroup SYSTEM_LL_EC_APB1_GRP1_STOP_IP DBGMCU APB1 GRP1 STOP IP - * @{ - */ -#if defined(DBGMCU_APB1_FZ_DBG_TIM2_STOP) -#define LL_DBGMCU_APB1_GRP1_TIM2_STOP DBGMCU_APB1_FZ_DBG_TIM2_STOP /*!< TIM2 counter stopped when core is halted */ -#endif /* DBGMCU_APB1_FZ_DBG_TIM2_STOP */ -#if defined(DBGMCU_APB1_FZ_DBG_TIM3_STOP) -#define LL_DBGMCU_APB1_GRP1_TIM3_STOP DBGMCU_APB1_FZ_DBG_TIM3_STOP /*!< TIM3 counter stopped when core is halted */ -#endif /* DBGMCU_APB1_FZ_DBG_TIM3_STOP */ -#if defined(DBGMCU_APB1_FZ_DBG_TIM4_STOP) -#define LL_DBGMCU_APB1_GRP1_TIM4_STOP DBGMCU_APB1_FZ_DBG_TIM4_STOP /*!< TIM4 counter stopped when core is halted */ -#endif /* DBGMCU_APB1_FZ_DBG_TIM4_STOP */ -#define LL_DBGMCU_APB1_GRP1_TIM5_STOP DBGMCU_APB1_FZ_DBG_TIM5_STOP /*!< TIM5 counter stopped when core is halted */ -#if defined(DBGMCU_APB1_FZ_DBG_TIM6_STOP) -#define LL_DBGMCU_APB1_GRP1_TIM6_STOP DBGMCU_APB1_FZ_DBG_TIM6_STOP /*!< TIM6 counter stopped when core is halted */ -#endif /* DBGMCU_APB1_FZ_DBG_TIM6_STOP */ -#if defined(DBGMCU_APB1_FZ_DBG_TIM7_STOP) -#define LL_DBGMCU_APB1_GRP1_TIM7_STOP DBGMCU_APB1_FZ_DBG_TIM7_STOP /*!< TIM7 counter stopped when core is halted */ -#endif /* DBGMCU_APB1_FZ_DBG_TIM7_STOP */ -#if defined(DBGMCU_APB1_FZ_DBG_TIM12_STOP) -#define LL_DBGMCU_APB1_GRP1_TIM12_STOP DBGMCU_APB1_FZ_DBG_TIM12_STOP /*!< TIM12 counter stopped when core is halted */ -#endif /* DBGMCU_APB1_FZ_DBG_TIM12_STOP */ -#if defined(DBGMCU_APB1_FZ_DBG_TIM13_STOP) -#define LL_DBGMCU_APB1_GRP1_TIM13_STOP DBGMCU_APB1_FZ_DBG_TIM13_STOP /*!< TIM13 counter stopped when core is halted */ -#endif /* DBGMCU_APB1_FZ_DBG_TIM13_STOP */ -#if defined(DBGMCU_APB1_FZ_DBG_TIM14_STOP) -#define LL_DBGMCU_APB1_GRP1_TIM14_STOP DBGMCU_APB1_FZ_DBG_TIM14_STOP /*!< TIM14 counter stopped when core is halted */ -#endif /* DBGMCU_APB1_FZ_DBG_TIM14_STOP */ -#if defined(DBGMCU_APB1_FZ_DBG_LPTIM_STOP) -#define LL_DBGMCU_APB1_GRP1_LPTIM_STOP DBGMCU_APB1_FZ_DBG_LPTIM_STOP /*!< LPTIM counter stopped when core is halted */ -#endif /* DBGMCU_APB1_FZ_DBG_LPTIM_STOP */ -#define LL_DBGMCU_APB1_GRP1_RTC_STOP DBGMCU_APB1_FZ_DBG_RTC_STOP /*!< RTC counter stopped when core is halted */ -#define LL_DBGMCU_APB1_GRP1_WWDG_STOP DBGMCU_APB1_FZ_DBG_WWDG_STOP /*!< Debug Window Watchdog stopped when Core is halted */ -#define LL_DBGMCU_APB1_GRP1_IWDG_STOP DBGMCU_APB1_FZ_DBG_IWDG_STOP /*!< Debug Independent Watchdog stopped when Core is halted */ -#define LL_DBGMCU_APB1_GRP1_I2C1_STOP DBGMCU_APB1_FZ_DBG_I2C1_SMBUS_TIMEOUT /*!< I2C1 SMBUS timeout mode stopped when Core is halted */ -#define LL_DBGMCU_APB1_GRP1_I2C2_STOP DBGMCU_APB1_FZ_DBG_I2C2_SMBUS_TIMEOUT /*!< I2C2 SMBUS timeout mode stopped when Core is halted */ -#if defined(DBGMCU_APB1_FZ_DBG_I2C3_SMBUS_TIMEOUT) -#define LL_DBGMCU_APB1_GRP1_I2C3_STOP DBGMCU_APB1_FZ_DBG_I2C3_SMBUS_TIMEOUT /*!< I2C3 SMBUS timeout mode stopped when Core is halted */ -#endif /* DBGMCU_APB1_FZ_DBG_I2C3_SMBUS_TIMEOUT */ -#if defined(DBGMCU_APB1_FZ_DBG_I2C4_SMBUS_TIMEOUT) -#define LL_DBGMCU_APB1_GRP1_I2C4_STOP DBGMCU_APB1_FZ_DBG_I2C4_SMBUS_TIMEOUT /*!< I2C4 SMBUS timeout mode stopped when Core is halted */ -#endif /* DBGMCU_APB1_FZ_DBG_I2C4_SMBUS_TIMEOUT */ -#if defined(DBGMCU_APB1_FZ_DBG_CAN1_STOP) -#define LL_DBGMCU_APB1_GRP1_CAN1_STOP DBGMCU_APB1_FZ_DBG_CAN1_STOP /*!< CAN1 debug stopped when Core is halted */ -#endif /* DBGMCU_APB1_FZ_DBG_CAN1_STOP */ -#if defined(DBGMCU_APB1_FZ_DBG_CAN2_STOP) -#define LL_DBGMCU_APB1_GRP1_CAN2_STOP DBGMCU_APB1_FZ_DBG_CAN2_STOP /*!< CAN2 debug stopped when Core is halted */ -#endif /* DBGMCU_APB1_FZ_DBG_CAN2_STOP */ -#if defined(DBGMCU_APB1_FZ_DBG_CAN3_STOP) -#define LL_DBGMCU_APB1_GRP1_CAN3_STOP DBGMCU_APB1_FZ_DBG_CAN3_STOP /*!< CAN3 debug stopped when Core is halted */ -#endif /* DBGMCU_APB1_FZ_DBG_CAN3_STOP */ -/** - * @} - */ - -/** @defgroup SYSTEM_LL_EC_APB2_GRP1_STOP_IP DBGMCU APB2 GRP1 STOP IP - * @{ - */ -#define LL_DBGMCU_APB2_GRP1_TIM1_STOP DBGMCU_APB2_FZ_DBG_TIM1_STOP /*!< TIM1 counter stopped when core is halted */ -#if defined(DBGMCU_APB2_FZ_DBG_TIM8_STOP) -#define LL_DBGMCU_APB2_GRP1_TIM8_STOP DBGMCU_APB2_FZ_DBG_TIM8_STOP /*!< TIM8 counter stopped when core is halted */ -#endif /* DBGMCU_APB2_FZ_DBG_TIM8_STOP */ -#define LL_DBGMCU_APB2_GRP1_TIM9_STOP DBGMCU_APB2_FZ_DBG_TIM9_STOP /*!< TIM9 counter stopped when core is halted */ -#if defined(DBGMCU_APB2_FZ_DBG_TIM10_STOP) -#define LL_DBGMCU_APB2_GRP1_TIM10_STOP DBGMCU_APB2_FZ_DBG_TIM10_STOP /*!< TIM10 counter stopped when core is halted */ -#endif /* DBGMCU_APB2_FZ_DBG_TIM10_STOP */ -#define LL_DBGMCU_APB2_GRP1_TIM11_STOP DBGMCU_APB2_FZ_DBG_TIM11_STOP /*!< TIM11 counter stopped when core is halted */ -/** - * @} - */ - -/** @defgroup SYSTEM_LL_EC_LATENCY FLASH LATENCY - * @{ - */ -#define LL_FLASH_LATENCY_0 FLASH_ACR_LATENCY_0WS /*!< FLASH Zero wait state */ -#define LL_FLASH_LATENCY_1 FLASH_ACR_LATENCY_1WS /*!< FLASH One wait state */ -#define LL_FLASH_LATENCY_2 FLASH_ACR_LATENCY_2WS /*!< FLASH Two wait states */ -#define LL_FLASH_LATENCY_3 FLASH_ACR_LATENCY_3WS /*!< FLASH Three wait states */ -#define LL_FLASH_LATENCY_4 FLASH_ACR_LATENCY_4WS /*!< FLASH Four wait states */ -#define LL_FLASH_LATENCY_5 FLASH_ACR_LATENCY_5WS /*!< FLASH five wait state */ -#define LL_FLASH_LATENCY_6 FLASH_ACR_LATENCY_6WS /*!< FLASH six wait state */ -#define LL_FLASH_LATENCY_7 FLASH_ACR_LATENCY_7WS /*!< FLASH seven wait states */ -#define LL_FLASH_LATENCY_8 FLASH_ACR_LATENCY_8WS /*!< FLASH eight wait states */ -#define LL_FLASH_LATENCY_9 FLASH_ACR_LATENCY_9WS /*!< FLASH nine wait states */ -#define LL_FLASH_LATENCY_10 FLASH_ACR_LATENCY_10WS /*!< FLASH ten wait states */ -#define LL_FLASH_LATENCY_11 FLASH_ACR_LATENCY_11WS /*!< FLASH eleven wait states */ -#define LL_FLASH_LATENCY_12 FLASH_ACR_LATENCY_12WS /*!< FLASH twelve wait states */ -#define LL_FLASH_LATENCY_13 FLASH_ACR_LATENCY_13WS /*!< FLASH thirteen wait states */ -#define LL_FLASH_LATENCY_14 FLASH_ACR_LATENCY_14WS /*!< FLASH fourteen wait states */ -#define LL_FLASH_LATENCY_15 FLASH_ACR_LATENCY_15WS /*!< FLASH fifteen wait states */ -/** - * @} - */ - -/** - * @} - */ - -/* Exported macro ------------------------------------------------------------*/ - -/* Exported functions --------------------------------------------------------*/ -/** @defgroup SYSTEM_LL_Exported_Functions SYSTEM Exported Functions - * @{ - */ - -/** @defgroup SYSTEM_LL_EF_SYSCFG SYSCFG - * @{ - */ -/** - * @brief Set memory mapping at address 0x00000000 - * @rmtoll SYSCFG_MEMRMP MEM_MODE LL_SYSCFG_SetRemapMemory - * @param Memory This parameter can be one of the following values: - * @arg @ref LL_SYSCFG_REMAP_FLASH - * @arg @ref LL_SYSCFG_REMAP_SYSTEMFLASH - * @arg @ref LL_SYSCFG_REMAP_SRAM - * @arg @ref LL_SYSCFG_REMAP_FSMC (*) - * @arg @ref LL_SYSCFG_REMAP_FMC (*) - * @retval None - */ -__STATIC_INLINE void LL_SYSCFG_SetRemapMemory(uint32_t Memory) -{ - MODIFY_REG(SYSCFG->MEMRMP, SYSCFG_MEMRMP_MEM_MODE, Memory); -} - -/** - * @brief Get memory mapping at address 0x00000000 - * @rmtoll SYSCFG_MEMRMP MEM_MODE LL_SYSCFG_GetRemapMemory - * @retval Returned value can be one of the following values: - * @arg @ref LL_SYSCFG_REMAP_FLASH - * @arg @ref LL_SYSCFG_REMAP_SYSTEMFLASH - * @arg @ref LL_SYSCFG_REMAP_SRAM - * @arg @ref LL_SYSCFG_REMAP_FSMC (*) - * @arg @ref LL_SYSCFG_REMAP_FMC (*) - */ -__STATIC_INLINE uint32_t LL_SYSCFG_GetRemapMemory(void) -{ - return (uint32_t)(READ_BIT(SYSCFG->MEMRMP, SYSCFG_MEMRMP_MEM_MODE)); -} - -#if defined(SYSCFG_MEMRMP_SWP_FMC) -/** - * @brief Enables the FMC Memory Mapping Swapping - * @rmtoll SYSCFG_MEMRMP SWP_FMC LL_SYSCFG_EnableFMCMemorySwapping - * @note SDRAM is accessible at 0x60000000 and NOR/RAM - * is accessible at 0xC0000000 - * @retval None - */ -__STATIC_INLINE void LL_SYSCFG_EnableFMCMemorySwapping(void) -{ - SET_BIT(SYSCFG->MEMRMP, SYSCFG_MEMRMP_SWP_FMC_0); -} - -/** - * @brief Disables the FMC Memory Mapping Swapping - * @rmtoll SYSCFG_MEMRMP SWP_FMC LL_SYSCFG_DisableFMCMemorySwapping - * @note SDRAM is accessible at 0xC0000000 (default mapping) - * and NOR/RAM is accessible at 0x60000000 (default mapping) - * @retval None - */ -__STATIC_INLINE void LL_SYSCFG_DisableFMCMemorySwapping(void) -{ - CLEAR_BIT(SYSCFG->MEMRMP, SYSCFG_MEMRMP_SWP_FMC); -} - -#endif /* SYSCFG_MEMRMP_SWP_FMC */ -/** - * @brief Enables the Compensation cell Power Down - * @rmtoll SYSCFG_CMPCR CMP_PD LL_SYSCFG_EnableCompensationCell - * @note The I/O compensation cell can be used only when the device supply - * voltage ranges from 2.4 to 3.6 V - * @retval None - */ -__STATIC_INLINE void LL_SYSCFG_EnableCompensationCell(void) -{ - SET_BIT(SYSCFG->CMPCR, SYSCFG_CMPCR_CMP_PD); -} - -/** - * @brief Disables the Compensation cell Power Down - * @rmtoll SYSCFG_CMPCR CMP_PD LL_SYSCFG_DisableCompensationCell - * @note The I/O compensation cell can be used only when the device supply - * voltage ranges from 2.4 to 3.6 V - * @retval None - */ -__STATIC_INLINE void LL_SYSCFG_DisableCompensationCell(void) -{ - CLEAR_BIT(SYSCFG->CMPCR, SYSCFG_CMPCR_CMP_PD); -} - -/** - * @brief Get Compensation Cell ready Flag - * @rmtoll SYSCFG_CMPCR READY LL_SYSCFG_IsActiveFlag_CMPCR - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_SYSCFG_IsActiveFlag_CMPCR(void) -{ - return (READ_BIT(SYSCFG->CMPCR, SYSCFG_CMPCR_READY) == (SYSCFG_CMPCR_READY)); -} - -#if defined(SYSCFG_PMC_MII_RMII_SEL) -/** - * @brief Select Ethernet PHY interface - * @rmtoll SYSCFG_PMC MII_RMII_SEL LL_SYSCFG_SetPHYInterface - * @param Interface This parameter can be one of the following values: - * @arg @ref LL_SYSCFG_PMC_ETHMII - * @arg @ref LL_SYSCFG_PMC_ETHRMII - * @retval None - */ -__STATIC_INLINE void LL_SYSCFG_SetPHYInterface(uint32_t Interface) -{ - MODIFY_REG(SYSCFG->PMC, SYSCFG_PMC_MII_RMII_SEL, Interface); -} - -/** - * @brief Get Ethernet PHY interface - * @rmtoll SYSCFG_PMC MII_RMII_SEL LL_SYSCFG_GetPHYInterface - * @retval Returned value can be one of the following values: - * @arg @ref LL_SYSCFG_PMC_ETHMII - * @arg @ref LL_SYSCFG_PMC_ETHRMII - * @retval None - */ -__STATIC_INLINE uint32_t LL_SYSCFG_GetPHYInterface(void) -{ - return (uint32_t)(READ_BIT(SYSCFG->PMC, SYSCFG_PMC_MII_RMII_SEL)); -} -#endif /* SYSCFG_PMC_MII_RMII_SEL */ - - - -#if defined(SYSCFG_MEMRMP_UFB_MODE) -/** - * @brief Select Flash bank mode (Bank flashed at 0x08000000) - * @rmtoll SYSCFG_MEMRMP UFB_MODE LL_SYSCFG_SetFlashBankMode - * @param Bank This parameter can be one of the following values: - * @arg @ref LL_SYSCFG_BANKMODE_BANK1 - * @arg @ref LL_SYSCFG_BANKMODE_BANK2 - * @retval None - */ -__STATIC_INLINE void LL_SYSCFG_SetFlashBankMode(uint32_t Bank) -{ - MODIFY_REG(SYSCFG->MEMRMP, SYSCFG_MEMRMP_UFB_MODE, Bank); -} - -/** - * @brief Get Flash bank mode (Bank flashed at 0x08000000) - * @rmtoll SYSCFG_MEMRMP UFB_MODE LL_SYSCFG_GetFlashBankMode - * @retval Returned value can be one of the following values: - * @arg @ref LL_SYSCFG_BANKMODE_BANK1 - * @arg @ref LL_SYSCFG_BANKMODE_BANK2 - */ -__STATIC_INLINE uint32_t LL_SYSCFG_GetFlashBankMode(void) -{ - return (uint32_t)(READ_BIT(SYSCFG->MEMRMP, SYSCFG_MEMRMP_UFB_MODE)); -} -#endif /* SYSCFG_MEMRMP_UFB_MODE */ - -#if defined(SYSCFG_CFGR_FMPI2C1_SCL) -/** - * @brief Enable the I2C fast mode plus driving capability. - * @rmtoll SYSCFG_CFGR FMPI2C1_SCL LL_SYSCFG_EnableFastModePlus\n - * SYSCFG_CFGR FMPI2C1_SDA LL_SYSCFG_EnableFastModePlus - * @param ConfigFastModePlus This parameter can be a combination of the following values: - * @arg @ref LL_SYSCFG_I2C_FASTMODEPLUS_SCL - * @arg @ref LL_SYSCFG_I2C_FASTMODEPLUS_SDA - * (*) value not defined in all devices - * @retval None - */ -__STATIC_INLINE void LL_SYSCFG_EnableFastModePlus(uint32_t ConfigFastModePlus) -{ - SET_BIT(SYSCFG->CFGR, ConfigFastModePlus); -} - -/** - * @brief Disable the I2C fast mode plus driving capability. - * @rmtoll SYSCFG_CFGR FMPI2C1_SCL LL_SYSCFG_DisableFastModePlus\n - * SYSCFG_CFGR FMPI2C1_SDA LL_SYSCFG_DisableFastModePlus\n - * @param ConfigFastModePlus This parameter can be a combination of the following values: - * @arg @ref LL_SYSCFG_I2C_FASTMODEPLUS_SCL - * @arg @ref LL_SYSCFG_I2C_FASTMODEPLUS_SDA - * (*) value not defined in all devices - * @retval None - */ -__STATIC_INLINE void LL_SYSCFG_DisableFastModePlus(uint32_t ConfigFastModePlus) -{ - CLEAR_BIT(SYSCFG->CFGR, ConfigFastModePlus); -} -#endif /* SYSCFG_CFGR_FMPI2C1_SCL */ - -/** - * @brief Configure source input for the EXTI external interrupt. - * @rmtoll SYSCFG_EXTICR1 EXTIx LL_SYSCFG_SetEXTISource\n - * SYSCFG_EXTICR2 EXTIx LL_SYSCFG_SetEXTISource\n - * SYSCFG_EXTICR3 EXTIx LL_SYSCFG_SetEXTISource\n - * SYSCFG_EXTICR4 EXTIx LL_SYSCFG_SetEXTISource - * @param Port This parameter can be one of the following values: - * @arg @ref LL_SYSCFG_EXTI_PORTA - * @arg @ref LL_SYSCFG_EXTI_PORTB - * @arg @ref LL_SYSCFG_EXTI_PORTC - * @arg @ref LL_SYSCFG_EXTI_PORTD - * @arg @ref LL_SYSCFG_EXTI_PORTE - * @arg @ref LL_SYSCFG_EXTI_PORTF (*) - * @arg @ref LL_SYSCFG_EXTI_PORTG (*) - * @arg @ref LL_SYSCFG_EXTI_PORTH - * - * (*) value not defined in all devices - * @param Line This parameter can be one of the following values: - * @arg @ref LL_SYSCFG_EXTI_LINE0 - * @arg @ref LL_SYSCFG_EXTI_LINE1 - * @arg @ref LL_SYSCFG_EXTI_LINE2 - * @arg @ref LL_SYSCFG_EXTI_LINE3 - * @arg @ref LL_SYSCFG_EXTI_LINE4 - * @arg @ref LL_SYSCFG_EXTI_LINE5 - * @arg @ref LL_SYSCFG_EXTI_LINE6 - * @arg @ref LL_SYSCFG_EXTI_LINE7 - * @arg @ref LL_SYSCFG_EXTI_LINE8 - * @arg @ref LL_SYSCFG_EXTI_LINE9 - * @arg @ref LL_SYSCFG_EXTI_LINE10 - * @arg @ref LL_SYSCFG_EXTI_LINE11 - * @arg @ref LL_SYSCFG_EXTI_LINE12 - * @arg @ref LL_SYSCFG_EXTI_LINE13 - * @arg @ref LL_SYSCFG_EXTI_LINE14 - * @arg @ref LL_SYSCFG_EXTI_LINE15 - * @retval None - */ -__STATIC_INLINE void LL_SYSCFG_SetEXTISource(uint32_t Port, uint32_t Line) -{ - MODIFY_REG(SYSCFG->EXTICR[Line & 0xFF], (Line >> 16), Port << POSITION_VAL((Line >> 16))); -} - -/** - * @brief Get the configured defined for specific EXTI Line - * @rmtoll SYSCFG_EXTICR1 EXTIx LL_SYSCFG_GetEXTISource\n - * SYSCFG_EXTICR2 EXTIx LL_SYSCFG_GetEXTISource\n - * SYSCFG_EXTICR3 EXTIx LL_SYSCFG_GetEXTISource\n - * SYSCFG_EXTICR4 EXTIx LL_SYSCFG_GetEXTISource - * @param Line This parameter can be one of the following values: - * @arg @ref LL_SYSCFG_EXTI_LINE0 - * @arg @ref LL_SYSCFG_EXTI_LINE1 - * @arg @ref LL_SYSCFG_EXTI_LINE2 - * @arg @ref LL_SYSCFG_EXTI_LINE3 - * @arg @ref LL_SYSCFG_EXTI_LINE4 - * @arg @ref LL_SYSCFG_EXTI_LINE5 - * @arg @ref LL_SYSCFG_EXTI_LINE6 - * @arg @ref LL_SYSCFG_EXTI_LINE7 - * @arg @ref LL_SYSCFG_EXTI_LINE8 - * @arg @ref LL_SYSCFG_EXTI_LINE9 - * @arg @ref LL_SYSCFG_EXTI_LINE10 - * @arg @ref LL_SYSCFG_EXTI_LINE11 - * @arg @ref LL_SYSCFG_EXTI_LINE12 - * @arg @ref LL_SYSCFG_EXTI_LINE13 - * @arg @ref LL_SYSCFG_EXTI_LINE14 - * @arg @ref LL_SYSCFG_EXTI_LINE15 - * @retval Returned value can be one of the following values: - * @arg @ref LL_SYSCFG_EXTI_PORTA - * @arg @ref LL_SYSCFG_EXTI_PORTB - * @arg @ref LL_SYSCFG_EXTI_PORTC - * @arg @ref LL_SYSCFG_EXTI_PORTD - * @arg @ref LL_SYSCFG_EXTI_PORTE - * @arg @ref LL_SYSCFG_EXTI_PORTF (*) - * @arg @ref LL_SYSCFG_EXTI_PORTG (*) - * @arg @ref LL_SYSCFG_EXTI_PORTH - * (*) value not defined in all devices - */ -__STATIC_INLINE uint32_t LL_SYSCFG_GetEXTISource(uint32_t Line) -{ - return (uint32_t)(READ_BIT(SYSCFG->EXTICR[Line & 0xFF], (Line >> 16)) >> POSITION_VAL(Line >> 16)); -} - -#if defined(SYSCFG_CFGR2_LOCKUP_LOCK) -/** - * @brief Set connections to TIM1/8 break inputs - * @rmtoll SYSCFG_CFGR2 LockUp Lock LL_SYSCFG_SetTIMBreakInputs \n - * SYSCFG_CFGR2 PVD Lock LL_SYSCFG_SetTIMBreakInputs - * @param Break This parameter can be a combination of the following values: - * @arg @ref LL_SYSCFG_TIMBREAK_LOCKUP - * @arg @ref LL_SYSCFG_TIMBREAK_PVD - * @retval None - */ -__STATIC_INLINE void LL_SYSCFG_SetTIMBreakInputs(uint32_t Break) -{ - MODIFY_REG(SYSCFG->CFGR2, SYSCFG_CFGR2_LOCKUP_LOCK | SYSCFG_CFGR2_PVD_LOCK, Break); -} - -/** - * @brief Get connections to TIM1/8 Break inputs - * @rmtoll SYSCFG_CFGR2 LockUp Lock LL_SYSCFG_SetTIMBreakInputs \n - * SYSCFG_CFGR2 PVD Lock LL_SYSCFG_SetTIMBreakInputs - * @retval Returned value can be can be a combination of the following values: - * @arg @ref LL_SYSCFG_TIMBREAK_LOCKUP - * @arg @ref LL_SYSCFG_TIMBREAK_PVD - */ -__STATIC_INLINE uint32_t LL_SYSCFG_GetTIMBreakInputs(void) -{ - return (uint32_t)(READ_BIT(SYSCFG->CFGR2, SYSCFG_CFGR2_LOCKUP_LOCK | SYSCFG_CFGR2_PVD_LOCK)); -} -#endif /* SYSCFG_CFGR2_LOCKUP_LOCK */ -#if defined(SYSCFG_MCHDLYCR_BSCKSEL) -/** - * @brief Select the DFSDM2 or TIM2_OC1 as clock source for the bitstream clock. - * @rmtoll SYSCFG_MCHDLYCR BSCKSEL LL_SYSCFG_DFSDM_SetBitstreamClockSourceSelection - * @param ClockSource This parameter can be one of the following values: - * @arg @ref LL_SYSCFG_BITSTREAM_CLOCK_DFSDM2 - * @arg @ref LL_SYSCFG_BITSTREAM_CLOCK_TIM2OC1 - * @retval None - */ -__STATIC_INLINE void LL_SYSCFG_DFSDM_SetBitstreamClockSourceSelection(uint32_t ClockSource) -{ - MODIFY_REG(SYSCFG->MCHDLYCR, SYSCFG_MCHDLYCR_BSCKSEL, ClockSource); -} -/** - * @brief Get the DFSDM2 or TIM2_OC1 as clock source for the bitstream clock. - * @rmtoll SYSCFG_MCHDLYCR BSCKSEL LL_SYSCFG_DFSDM_GetBitstreamClockSourceSelection - * @retval Returned value can be one of the following values: - * @arg @ref LL_SYSCFG_BITSTREAM_CLOCK_DFSDM2 - * @arg @ref LL_SYSCFG_BITSTREAM_CLOCK_TIM2OC1 - * @retval None - */ -__STATIC_INLINE uint32_t LL_SYSCFG_DFSDM_GetBitstreamClockSourceSelection(void) -{ - return (uint32_t)(READ_BIT(SYSCFG->MCHDLYCR, SYSCFG_MCHDLYCR_BSCKSEL)); -} -/** - * @brief Enables the DFSDM1 or DFSDM2 Delay clock - * @rmtoll SYSCFG_MCHDLYCR MCHDLYEN LL_SYSCFG_DFSDM_EnableDelayClock - * @param MCHDLY This paramater can be one of the following values - * @arg @ref LL_SYSCFG_DFSDM1_MCHDLYEN - * @arg @ref LL_SYSCFG_DFSDM2_MCHDLYEN - * @retval None - */ -__STATIC_INLINE void LL_SYSCFG_DFSDM_EnableDelayClock(uint32_t MCHDLY) -{ - SET_BIT(SYSCFG->MCHDLYCR, MCHDLY); -} - -/** - * @brief Disables the DFSDM1 or the DFSDM2 Delay clock - * @rmtoll SYSCFG_MCHDLYCR MCHDLY1EN LL_SYSCFG_DFSDM1_DisableDelayClock - * @param MCHDLY This paramater can be one of the following values - * @arg @ref LL_SYSCFG_DFSDM1_MCHDLYEN - * @arg @ref LL_SYSCFG_DFSDM2_MCHDLYEN - * @retval None - */ -__STATIC_INLINE void LL_SYSCFG_DFSDM_DisableDelayClock(uint32_t MCHDLY) -{ - CLEAR_BIT(SYSCFG->MCHDLYCR, MCHDLY); -} - -/** - * @brief Select the source for DFSDM1 or DFSDM2 DatIn0 - * @rmtoll SYSCFG_MCHDLYCR DFSDMD0SEL LL_SYSCFG_DFSDM_SetDataIn0Source - * @param Source This parameter can be one of the following values: - * @arg @ref LL_SYSCFG_DFSDM1_DataIn0_PAD - * @arg @ref LL_SYSCFG_DFSDM1_DataIn0_DM - * @arg @ref LL_SYSCFG_DFSDM2_DataIn0_PAD - * @arg @ref LL_SYSCFG_DFSDM2_DataIn0_DM - * @retval None - */ -__STATIC_INLINE void LL_SYSCFG_DFSDM_SetDataIn0Source(uint32_t Source) -{ - MODIFY_REG(SYSCFG->MCHDLYCR, (Source >> 16), (Source & 0x0000FFFF)); -} -/** - * @brief Get the source for DFSDM1 or DFSDM2 DatIn0. - * @rmtoll SYSCFG_MCHDLYCR DFSDMD0SEL LL_SYSCFG_DFSDM_GetDataIn0Source - * @param Source This parameter can be one of the following values: - * @arg @ref LL_SYSCFG_DFSDM1_DataIn0 - * @arg @ref LL_SYSCFG_DFSDM2_DataIn0 - * @retval Returned value can be one of the following values: - * @arg @ref LL_SYSCFG_DFSDM1_DataIn0_PAD - * @arg @ref LL_SYSCFG_DFSDM1_DataIn0_DM - * @arg @ref LL_SYSCFG_DFSDM2_DataIn0_PAD - * @arg @ref LL_SYSCFG_DFSDM2_DataIn0_DM - * @retval None - */ -__STATIC_INLINE uint32_t LL_SYSCFG_DFSDM_GetDataIn0Source(uint32_t Source) -{ - return (uint32_t)(READ_BIT(SYSCFG->MCHDLYCR, Source)); -} -/** - * @brief Select the source for DFSDM1 or DFSDM2 DatIn2 - * @rmtoll SYSCFG_MCHDLYCR DFSDMD2SEL LL_SYSCFG_DFSDM_SetDataIn2Source - * @param Source This parameter can be one of the following values: - * @arg @ref LL_SYSCFG_DFSDM1_DataIn2_PAD - * @arg @ref LL_SYSCFG_DFSDM1_DataIn2_DM - * @arg @ref LL_SYSCFG_DFSDM2_DataIn2_PAD - * @arg @ref LL_SYSCFG_DFSDM2_DataIn2_DM - * @retval None - */ -__STATIC_INLINE void LL_SYSCFG_DFSDM_SetDataIn2Source(uint32_t Source) -{ - MODIFY_REG(SYSCFG->MCHDLYCR, (Source >> 16), (Source & 0x0000FFFF)); -} -/** - * @brief Get the source for DFSDM1 or DFSDM2 DatIn2. - * @rmtoll SYSCFG_MCHDLYCR DFSDMD2SEL LL_SYSCFG_DFSDM_GetDataIn2Source - * @param Source This parameter can be one of the following values: - * @arg @ref LL_SYSCFG_DFSDM1_DataIn2 - * @arg @ref LL_SYSCFG_DFSDM2_DataIn2 - * @retval Returned value can be one of the following values: - * @arg @ref LL_SYSCFG_DFSDM1_DataIn2_PAD - * @arg @ref LL_SYSCFG_DFSDM1_DataIn2_DM - * @arg @ref LL_SYSCFG_DFSDM2_DataIn2_PAD - * @arg @ref LL_SYSCFG_DFSDM2_DataIn2_DM - * @retval None - */ -__STATIC_INLINE uint32_t LL_SYSCFG_DFSDM_GetDataIn2Source(uint32_t Source) -{ - return (uint32_t)(READ_BIT(SYSCFG->MCHDLYCR, Source)); -} - -/** - * @brief Select the distribution of the bitsream lock gated by TIM4 OC2 - * @rmtoll SYSCFG_MCHDLYCR DFSDM1CK02SEL LL_SYSCFG_DFSDM1_SetTIM4OC2BitStreamDistribution - * @param Source This parameter can be one of the following values: - * @arg @ref LL_SYSCFG_DFSDM1_TIM4OC2_CLKIN0 - * @arg @ref LL_SYSCFG_DFSDM1_TIM4OC2_CLKIN2 - * @retval None - */ -__STATIC_INLINE void LL_SYSCFG_DFSDM1_SetTIM4OC2BitStreamDistribution(uint32_t Source) -{ - MODIFY_REG(SYSCFG->MCHDLYCR, SYSCFG_MCHDLYCR_DFSDM1CK02SEL, Source); -} -/** - * @brief Get the distribution of the bitsream lock gated by TIM4 OC2 - * @rmtoll SYSCFG_MCHDLYCR DFSDM1D2SEL LL_SYSCFG_DFSDM1_GetTIM4OC2BitStreamDistribution - * @retval Returned value can be one of the following values: - * @arg @ref LL_SYSCFG_DFSDM1_TIM4OC2_CLKIN0 - * @arg @ref LL_SYSCFG_DFSDM1_TIM4OC2_CLKIN2 - * @retval None - */ -__STATIC_INLINE uint32_t LL_SYSCFG_DFSDM1_GetTIM4OC2BitStreamDistribution(void) -{ - return (uint32_t)(READ_BIT(SYSCFG->MCHDLYCR, SYSCFG_MCHDLYCR_DFSDM1CK02SEL)); -} - -/** - * @brief Select the distribution of the bitsream lock gated by TIM4 OC1 - * @rmtoll SYSCFG_MCHDLYCR DFSDM1CK13SEL LL_SYSCFG_DFSDM1_SetTIM4OC1BitStreamDistribution - * @param Source This parameter can be one of the following values: - * @arg @ref LL_SYSCFG_DFSDM1_TIM4OC1_CLKIN1 - * @arg @ref LL_SYSCFG_DFSDM1_TIM4OC1_CLKIN3 - * @retval None - */ -__STATIC_INLINE void LL_SYSCFG_DFSDM1_SetTIM4OC1BitStreamDistribution(uint32_t Source) -{ - MODIFY_REG(SYSCFG->MCHDLYCR, SYSCFG_MCHDLYCR_DFSDM1CK13SEL, Source); -} -/** - * @brief Get the distribution of the bitsream lock gated by TIM4 OC1 - * @rmtoll SYSCFG_MCHDLYCR DFSDM1D2SEL LL_SYSCFG_DFSDM1_GetTIM4OC1BitStreamDistribution - * @retval Returned value can be one of the following values: - * @arg @ref LL_SYSCFG_DFSDM1_TIM4OC1_CLKIN1 - * @arg @ref LL_SYSCFG_DFSDM1_TIM4OC1_CLKIN3 - * @retval None - */ -__STATIC_INLINE uint32_t LL_SYSCFG_DFSDM1_GetTIM4OC1BitStreamDistribution(void) -{ - return (uint32_t)(READ_BIT(SYSCFG->MCHDLYCR, SYSCFG_MCHDLYCR_DFSDM1CK13SEL)); -} - -/** - * @brief Select the DFSDM1 Clock In - * @rmtoll SYSCFG_MCHDLYCR DFSDM1CFG LL_SYSCFG_DFSDM1_SetClockInSourceSelection - * @param ClockSource This parameter can be one of the following values: - * @arg @ref LL_SYSCFG_DFSDM1_CKIN_PAD - * @arg @ref LL_SYSCFG_DFSDM1_CKIN_DM - * @retval None - */ -__STATIC_INLINE void LL_SYSCFG_DFSDM1_SetClockInSourceSelection(uint32_t ClockSource) -{ - MODIFY_REG(SYSCFG->MCHDLYCR, SYSCFG_MCHDLYCR_DFSDM1CFG, ClockSource); -} -/** - * @brief GET the DFSDM1 Clock In - * @rmtoll SYSCFG_MCHDLYCR DFSDM1CFG LL_SYSCFG_DFSDM1_GetClockInSourceSelection - * @retval Returned value can be one of the following values: - * @arg @ref LL_SYSCFG_DFSDM1_CKIN_PAD - * @arg @ref LL_SYSCFG_DFSDM1_CKIN_DM - * @retval None - */ -__STATIC_INLINE uint32_t LL_SYSCFG_DFSDM1_GetClockInSourceSelection(void) -{ - return (uint32_t)(READ_BIT(SYSCFG->MCHDLYCR, SYSCFG_MCHDLYCR_DFSDM1CFG)); -} - -/** - * @brief Select the DFSDM1 Clock Out - * @rmtoll SYSCFG_MCHDLYCR DFSDM1CKOSEL LL_SYSCFG_DFSDM1_SetClockOutSourceSelection - * @param ClockSource This parameter can be one of the following values: - * @arg @ref LL_SYSCFG_DFSDM1_CKOUT - * @arg @ref LL_SYSCFG_DFSDM1_CKOUT_M27 - * @retval None - */ -__STATIC_INLINE void LL_SYSCFG_DFSDM1_SetClockOutSourceSelection(uint32_t ClockSource) -{ - MODIFY_REG(SYSCFG->MCHDLYCR, SYSCFG_MCHDLYCR_DFSDM1CKOSEL, ClockSource); -} -/** - * @brief GET the DFSDM1 Clock Out - * @rmtoll SYSCFG_MCHDLYCR DFSDM1CKOSEL LL_SYSCFG_DFSDM1_GetClockOutSourceSelection - * @retval Returned value can be one of the following values: - * @arg @ref LL_SYSCFG_DFSDM1_CKOUT - * @arg @ref LL_SYSCFG_DFSDM1_CKOUT_M27 - * @retval None - */ -__STATIC_INLINE uint32_t LL_SYSCFG_DFSDM1_GetClockOutSourceSelection(void) -{ - return (uint32_t)(READ_BIT(SYSCFG->MCHDLYCR, SYSCFG_MCHDLYCR_DFSDM1CKOSEL)); -} - -/** - * @brief Enables the DFSDM2 Delay clock - * @rmtoll SYSCFG_MCHDLYCR MCHDLY2EN LL_SYSCFG_DFSDM2_EnableDelayClock - * @retval None - */ -__STATIC_INLINE void LL_SYSCFG_DFSDM2_EnableDelayClock(void) -{ - SET_BIT(SYSCFG->MCHDLYCR, SYSCFG_MCHDLYCR_MCHDLY2EN); -} - -/** - * @brief Disables the DFSDM2 Delay clock - * @rmtoll SYSCFG_MCHDLYCR MCHDLY2EN LL_SYSCFG_DFSDM2_DisableDelayClock - * @retval None - */ -__STATIC_INLINE void LL_SYSCFG_DFSDM2_DisableDelayClock(void) -{ - CLEAR_BIT(SYSCFG->MCHDLYCR, SYSCFG_MCHDLYCR_MCHDLY2EN); -} -/** - * @brief Select the source for DFSDM2 DatIn0 - * @rmtoll SYSCFG_MCHDLYCR DFSDM2D0SEL LL_SYSCFG_DFSDM2_SetDataIn0Source - * @param Source This parameter can be one of the following values: - * @arg @ref LL_SYSCFG_DFSDM2_DataIn0_PAD - * @arg @ref LL_SYSCFG_DFSDM2_DataIn0_DM - * @retval None - */ -__STATIC_INLINE void LL_SYSCFG_DFSDM2_SetDataIn0Source(uint32_t Source) -{ - MODIFY_REG(SYSCFG->MCHDLYCR, SYSCFG_MCHDLYCR_DFSDM2D0SEL, Source); -} -/** - * @brief Get the source for DFSDM2 DatIn0. - * @rmtoll SYSCFG_MCHDLYCR DFSDM2D0SEL LL_SYSCFG_DFSDM2_GetDataIn0Source - * @retval Returned value can be one of the following values: - * @arg @ref LL_SYSCFG_DFSDM2_DataIn0_PAD - * @arg @ref LL_SYSCFG_DFSDM2_DataIn0_DM - * @retval None - */ -__STATIC_INLINE uint32_t LL_SYSCFG_DFSDM2_GetDataIn0Source(void) -{ - return (uint32_t)(READ_BIT(SYSCFG->MCHDLYCR, SYSCFG_MCHDLYCR_DFSDM2D0SEL)); -} - -/** - * @brief Select the source for DFSDM2 DatIn2 - * @rmtoll SYSCFG_MCHDLYCR DFSDM2D2SEL LL_SYSCFG_DFSDM2_SetDataIn2Source - * @param Source This parameter can be one of the following values: - * @arg @ref LL_SYSCFG_DFSDM2_DataIn2_PAD - * @arg @ref LL_SYSCFG_DFSDM2_DataIn2_DM - * @retval None - */ -__STATIC_INLINE void LL_SYSCFG_DFSDM2_SetDataIn2Source(uint32_t Source) -{ - MODIFY_REG(SYSCFG->MCHDLYCR, SYSCFG_MCHDLYCR_DFSDM2D2SEL, Source); -} -/** - * @brief Get the source for DFSDM2 DatIn2. - * @rmtoll SYSCFG_MCHDLYCR DFSDM2D2SEL LL_SYSCFG_DFSDM2_GetDataIn2Source - * @retval Returned value can be one of the following values: - * @arg @ref LL_SYSCFG_DFSDM2_DataIn2_PAD - * @arg @ref LL_SYSCFG_DFSDM2_DataIn2_DM - * @retval None - */ -__STATIC_INLINE uint32_t LL_SYSCFG_DFSDM2_GetDataIn2Source(void) -{ - return (uint32_t)(READ_BIT(SYSCFG->MCHDLYCR, SYSCFG_MCHDLYCR_DFSDM2D2SEL)); -} - -/** - * @brief Select the source for DFSDM2 DatIn4 - * @rmtoll SYSCFG_MCHDLYCR DFSDM2D4SEL LL_SYSCFG_DFSDM2_SetDataIn4Source - * @param Source This parameter can be one of the following values: - * @arg @ref LL_SYSCFG_DFSDM2_DataIn4_PAD - * @arg @ref LL_SYSCFG_DFSDM2_DataIn4_DM - * @retval None - */ -__STATIC_INLINE void LL_SYSCFG_DFSDM2_SetDataIn4Source(uint32_t Source) -{ - MODIFY_REG(SYSCFG->MCHDLYCR, SYSCFG_MCHDLYCR_DFSDM2D4SEL, Source); -} -/** - * @brief Get the source for DFSDM2 DatIn4. - * @rmtoll SYSCFG_MCHDLYCR DFSDM2D4SEL LL_SYSCFG_DFSDM2_GetDataIn4Source - * @retval Returned value can be one of the following values: - * @arg @ref LL_SYSCFG_DFSDM2_DataIn4_PAD - * @arg @ref LL_SYSCFG_DFSDM2_DataIn4_DM - * @retval None - */ -__STATIC_INLINE uint32_t LL_SYSCFG_DFSDM2_GetDataIn4Source(void) -{ - return (uint32_t)(READ_BIT(SYSCFG->MCHDLYCR, SYSCFG_MCHDLYCR_DFSDM2D4SEL)); -} - -/** - * @brief Select the source for DFSDM2 DatIn6 - * @rmtoll SYSCFG_MCHDLYCR DFSDM2D6SEL LL_SYSCFG_DFSDM2_SetDataIn6Source - * @param Source This parameter can be one of the following values: - * @arg @ref LL_SYSCFG_DFSDM2_DataIn6_PAD - * @arg @ref LL_SYSCFG_DFSDM2_DataIn6_DM - * @retval None - */ -__STATIC_INLINE void LL_SYSCFG_DFSDM2_SetDataIn6Source(uint32_t Source) -{ - MODIFY_REG(SYSCFG->MCHDLYCR, SYSCFG_MCHDLYCR_DFSDM2D6SEL, Source); -} -/** - * @brief Get the source for DFSDM2 DatIn6. - * @rmtoll SYSCFG_MCHDLYCR DFSDM2D6SEL LL_SYSCFG_DFSDM2_GetDataIn6Source - * @retval Returned value can be one of the following values: - * @arg @ref LL_SYSCFG_DFSDM2_DataIn6_PAD - * @arg @ref LL_SYSCFG_DFSDM2_DataIn6_DM - * @retval None - */ -__STATIC_INLINE uint32_t LL_SYSCFG_DFSDM2_GetDataIn6Source(void) -{ - return (uint32_t)(READ_BIT(SYSCFG->MCHDLYCR, SYSCFG_MCHDLYCR_DFSDM2D6SEL)); -} - -/** - * @brief Select the distribution of the bitsream lock gated by TIM3 OC4 - * @rmtoll SYSCFG_MCHDLYCR DFSDM2CK04SEL LL_SYSCFG_DFSDM2_SetTIM3OC4BitStreamDistribution - * @param Source This parameter can be one of the following values: - * @arg @ref LL_SYSCFG_DFSDM2_TIM3OC4_CLKIN0 - * @arg @ref LL_SYSCFG_DFSDM2_TIM3OC4_CLKIN4 - * @retval None - */ -__STATIC_INLINE void LL_SYSCFG_DFSDM2_SetTIM3OC4BitStreamDistribution(uint32_t Source) -{ - MODIFY_REG(SYSCFG->MCHDLYCR, SYSCFG_MCHDLYCR_DFSDM2CK04SEL, Source); -} -/** - * @brief Get the distribution of the bitsream lock gated by TIM3 OC4 - * @rmtoll SYSCFG_MCHDLYCR DFSDM2CK04SEL LL_SYSCFG_DFSDM2_GetTIM3OC4BitStreamDistribution - * @retval Returned value can be one of the following values: - * @arg @ref LL_SYSCFG_DFSDM2_TIM3OC4_CLKIN0 - * @arg @ref LL_SYSCFG_DFSDM2_TIM3OC4_CLKIN4 - * @retval None - */ -__STATIC_INLINE uint32_t LL_SYSCFG_DFSDM2_GetTIM3OC4BitStreamDistribution(void) -{ - return (uint32_t)(READ_BIT(SYSCFG->MCHDLYCR, SYSCFG_MCHDLYCR_DFSDM2CK04SEL)); -} - -/** - * @brief Select the distribution of the bitsream lock gated by TIM3 OC3 - * @rmtoll SYSCFG_MCHDLYCR DFSDM2CK15SEL LL_SYSCFG_DFSDM2_SetTIM3OC3BitStreamDistribution - * @param Source This parameter can be one of the following values: - * @arg @ref LL_SYSCFG_DFSDM2_TIM3OC3_CLKIN1 - * @arg @ref LL_SYSCFG_DFSDM2_TIM3OC3_CLKIN5 - * @retval None - */ -__STATIC_INLINE void LL_SYSCFG_DFSDM2_SetTIM3OC3BitStreamDistribution(uint32_t Source) -{ - MODIFY_REG(SYSCFG->MCHDLYCR, SYSCFG_MCHDLYCR_DFSDM2CK15SEL, Source); -} -/** - * @brief Get the distribution of the bitsream lock gated by TIM3 OC4 - * @rmtoll SYSCFG_MCHDLYCR DFSDM2CK04SEL LL_SYSCFG_DFSDM2_GetTIM3OC3BitStreamDistribution - * @retval Returned value can be one of the following values: - * @arg @ref LL_SYSCFG_DFSDM2_TIM3OC3_CLKIN1 - * @arg @ref LL_SYSCFG_DFSDM2_TIM3OC3_CLKIN5 - * @retval None - */ -__STATIC_INLINE uint32_t LL_SYSCFG_DFSDM2_GetTIM3OC3BitStreamDistribution(void) -{ - return (uint32_t)(READ_BIT(SYSCFG->MCHDLYCR, SYSCFG_MCHDLYCR_DFSDM2CK15SEL)); -} - -/** - * @brief Select the distribution of the bitsream lock gated by TIM3 OC2 - * @rmtoll SYSCFG_MCHDLYCR DFSDM2CK26SEL LL_SYSCFG_DFSDM2_SetTIM3OC2BitStreamDistribution - * @param Source This parameter can be one of the following values: - * @arg @ref LL_SYSCFG_DFSDM2_TIM3OC2_CLKIN2 - * @arg @ref LL_SYSCFG_DFSDM2_TIM3OC2_CLKIN6 - * @retval None - */ -__STATIC_INLINE void LL_SYSCFG_DFSDM2_SetTIM3OC2BitStreamDistribution(uint32_t Source) -{ - MODIFY_REG(SYSCFG->MCHDLYCR, SYSCFG_MCHDLYCR_DFSDM2CK26SEL, Source); -} -/** - * @brief Get the distribution of the bitsream lock gated by TIM3 OC2 - * @rmtoll SYSCFG_MCHDLYCR DFSDM2CK04SEL LL_SYSCFG_DFSDM2_GetTIM3OC2BitStreamDistribution - * @retval Returned value can be one of the following values: - * @arg @ref LL_SYSCFG_DFSDM2_TIM3OC2_CLKIN2 - * @arg @ref LL_SYSCFG_DFSDM2_TIM3OC2_CLKIN6 - * @retval None - */ -__STATIC_INLINE uint32_t LL_SYSCFG_DFSDM2_GetTIM3OC2BitStreamDistribution(void) -{ - return (uint32_t)(READ_BIT(SYSCFG->MCHDLYCR, SYSCFG_MCHDLYCR_DFSDM2CK26SEL)); -} - -/** - * @brief Select the distribution of the bitsream lock gated by TIM3 OC1 - * @rmtoll SYSCFG_MCHDLYCR DFSDM2CK37SEL LL_SYSCFG_DFSDM2_SetTIM3OC1BitStreamDistribution - * @param Source This parameter can be one of the following values: - * @arg @ref LL_SYSCFG_DFSDM2_TIM3OC1_CLKIN3 - * @arg @ref LL_SYSCFG_DFSDM2_TIM3OC1_CLKIN7 - * @retval None - */ -__STATIC_INLINE void LL_SYSCFG_DFSDM2_SetTIM3OC1BitStreamDistribution(uint32_t Source) -{ - MODIFY_REG(SYSCFG->MCHDLYCR, SYSCFG_MCHDLYCR_DFSDM2CK37SEL, Source); -} -/** - * @brief Get the distribution of the bitsream lock gated by TIM3 OC1 - * @rmtoll SYSCFG_MCHDLYCR DFSDM2CK37SEL LL_SYSCFG_DFSDM2_GetTIM3OC1BitStreamDistribution - * @retval Returned value can be one of the following values: - * @arg @ref LL_SYSCFG_DFSDM2_TIM3OC1_CLKIN3 - * @arg @ref LL_SYSCFG_DFSDM2_TIM3OC1_CLKIN7 - * @retval None - */ -__STATIC_INLINE uint32_t LL_SYSCFG_DFSDM2_GetTIM3OC1BitStreamDistribution(void) -{ - return (uint32_t)(READ_BIT(SYSCFG->MCHDLYCR, SYSCFG_MCHDLYCR_DFSDM2CK37SEL)); -} - -/** - * @brief Select the DFSDM2 Clock In - * @rmtoll SYSCFG_MCHDLYCR DFSDM2CFG LL_SYSCFG_DFSDM2_SetClockInSourceSelection - * @param ClockSource This parameter can be one of the following values: - * @arg @ref LL_SYSCFG_DFSDM2_CKIN_PAD - * @arg @ref LL_SYSCFG_DFSDM2_CKIN_DM - * @retval None - */ -__STATIC_INLINE void LL_SYSCFG_DFSDM2_SetClockInSourceSelection(uint32_t ClockSource) -{ - MODIFY_REG(SYSCFG->MCHDLYCR, SYSCFG_MCHDLYCR_DFSDM2CFG, ClockSource); -} -/** - * @brief GET the DFSDM2 Clock In - * @rmtoll SYSCFG_MCHDLYCR DFSDM2CFG LL_SYSCFG_DFSDM2_GetClockInSourceSelection - * @retval Returned value can be one of the following values: - * @arg @ref LL_SYSCFG_DFSDM2_CKIN_PAD - * @arg @ref LL_SYSCFG_DFSDM2_CKIN_DM - * @retval None - */ -__STATIC_INLINE uint32_t LL_SYSCFG_DFSDM2_GetClockInSourceSelection(void) -{ - return (uint32_t)(READ_BIT(SYSCFG->MCHDLYCR, SYSCFG_MCHDLYCR_DFSDM2CFG)); -} - -/** - * @brief Select the DFSDM2 Clock Out - * @rmtoll SYSCFG_MCHDLYCR DFSDM2CKOSEL LL_SYSCFG_DFSDM2_SetClockOutSourceSelection - * @param ClockSource This parameter can be one of the following values: - * @arg @ref LL_SYSCFG_DFSDM2_CKOUT - * @arg @ref LL_SYSCFG_DFSDM2_CKOUT_M27 - * @retval None - */ -__STATIC_INLINE void LL_SYSCFG_DFSDM2_SetClockOutSourceSelection(uint32_t ClockSource) -{ - MODIFY_REG(SYSCFG->MCHDLYCR, SYSCFG_MCHDLYCR_DFSDM2CKOSEL, ClockSource); -} -/** - * @brief GET the DFSDM2 Clock Out - * @rmtoll SYSCFG_MCHDLYCR DFSDM2CKOSEL LL_SYSCFG_DFSDM2_GetClockOutSourceSelection - * @retval Returned value can be one of the following values: - * @arg @ref LL_SYSCFG_DFSDM2_CKOUT - * @arg @ref LL_SYSCFG_DFSDM2_CKOUT_M27 - * @retval None - */ -__STATIC_INLINE uint32_t LL_SYSCFG_DFSDM2_GetClockOutSourceSelection(void) -{ - return (uint32_t)(READ_BIT(SYSCFG->MCHDLYCR, SYSCFG_MCHDLYCR_DFSDM2CKOSEL)); -} - -#endif /* SYSCFG_MCHDLYCR_BSCKSEL */ -/** - * @} - */ - - -/** @defgroup SYSTEM_LL_EF_DBGMCU DBGMCU - * @{ - */ - -/** - * @brief Return the device identifier - * @note For STM32F405/407xx and STM32F415/417xx devices, the device ID is 0x413 - * @note For STM32F42xxx and STM32F43xxx devices, the device ID is 0x419 - * @note For STM32F401xx devices, the device ID is 0x423 - * @note For STM32F401xx devices, the device ID is 0x433 - * @note For STM32F411xx devices, the device ID is 0x431 - * @note For STM32F410xx devices, the device ID is 0x458 - * @note For STM32F412xx devices, the device ID is 0x441 - * @note For STM32F413xx and STM32423xx devices, the device ID is 0x463 - * @note For STM32F446xx devices, the device ID is 0x421 - * @note For STM32F469xx and STM32F479xx devices, the device ID is 0x434 - * @rmtoll DBGMCU_IDCODE DEV_ID LL_DBGMCU_GetDeviceID - * @retval Values between Min_Data=0x00 and Max_Data=0xFFF - */ -__STATIC_INLINE uint32_t LL_DBGMCU_GetDeviceID(void) -{ - return (uint32_t)(READ_BIT(DBGMCU->IDCODE, DBGMCU_IDCODE_DEV_ID)); -} - -/** - * @brief Return the device revision identifier - * @note This field indicates the revision of the device. - For example, it is read as RevA -> 0x1000, Cat 2 revZ -> 0x1001, rev1 -> 0x1003, rev2 ->0x1007, revY -> 0x100F for STM32F405/407xx and STM32F415/417xx devices - For example, it is read as RevA -> 0x1000, Cat 2 revY -> 0x1003, rev1 -> 0x1007, rev3 ->0x2001 for STM32F42xxx and STM32F43xxx devices - For example, it is read as RevZ -> 0x1000, Cat 2 revA -> 0x1001 for STM32F401xB/C devices - For example, it is read as RevA -> 0x1000, Cat 2 revZ -> 0x1001 for STM32F401xD/E devices - For example, it is read as RevA -> 0x1000 for STM32F411xx,STM32F413/423xx,STM32F469/423xx, STM32F446xx and STM32F410xx devices - For example, it is read as RevZ -> 0x1001, Cat 2 revB -> 0x2000, revC -> 0x3000 for STM32F412xx devices - * @rmtoll DBGMCU_IDCODE REV_ID LL_DBGMCU_GetRevisionID - * @retval Values between Min_Data=0x00 and Max_Data=0xFFFF - */ -__STATIC_INLINE uint32_t LL_DBGMCU_GetRevisionID(void) -{ - return (uint32_t)(READ_BIT(DBGMCU->IDCODE, DBGMCU_IDCODE_REV_ID) >> DBGMCU_IDCODE_REV_ID_Pos); -} - -/** - * @brief Enable the Debug Module during SLEEP mode - * @rmtoll DBGMCU_CR DBG_SLEEP LL_DBGMCU_EnableDBGSleepMode - * @retval None - */ -__STATIC_INLINE void LL_DBGMCU_EnableDBGSleepMode(void) -{ - SET_BIT(DBGMCU->CR, DBGMCU_CR_DBG_SLEEP); -} - -/** - * @brief Disable the Debug Module during SLEEP mode - * @rmtoll DBGMCU_CR DBG_SLEEP LL_DBGMCU_DisableDBGSleepMode - * @retval None - */ -__STATIC_INLINE void LL_DBGMCU_DisableDBGSleepMode(void) -{ - CLEAR_BIT(DBGMCU->CR, DBGMCU_CR_DBG_SLEEP); -} - -/** - * @brief Enable the Debug Module during STOP mode - * @rmtoll DBGMCU_CR DBG_STOP LL_DBGMCU_EnableDBGStopMode - * @retval None - */ -__STATIC_INLINE void LL_DBGMCU_EnableDBGStopMode(void) -{ - SET_BIT(DBGMCU->CR, DBGMCU_CR_DBG_STOP); -} - -/** - * @brief Disable the Debug Module during STOP mode - * @rmtoll DBGMCU_CR DBG_STOP LL_DBGMCU_DisableDBGStopMode - * @retval None - */ -__STATIC_INLINE void LL_DBGMCU_DisableDBGStopMode(void) -{ - CLEAR_BIT(DBGMCU->CR, DBGMCU_CR_DBG_STOP); -} - -/** - * @brief Enable the Debug Module during STANDBY mode - * @rmtoll DBGMCU_CR DBG_STANDBY LL_DBGMCU_EnableDBGStandbyMode - * @retval None - */ -__STATIC_INLINE void LL_DBGMCU_EnableDBGStandbyMode(void) -{ - SET_BIT(DBGMCU->CR, DBGMCU_CR_DBG_STANDBY); -} - -/** - * @brief Disable the Debug Module during STANDBY mode - * @rmtoll DBGMCU_CR DBG_STANDBY LL_DBGMCU_DisableDBGStandbyMode - * @retval None - */ -__STATIC_INLINE void LL_DBGMCU_DisableDBGStandbyMode(void) -{ - CLEAR_BIT(DBGMCU->CR, DBGMCU_CR_DBG_STANDBY); -} - -/** - * @brief Set Trace pin assignment control - * @rmtoll DBGMCU_CR TRACE_IOEN LL_DBGMCU_SetTracePinAssignment\n - * DBGMCU_CR TRACE_MODE LL_DBGMCU_SetTracePinAssignment - * @param PinAssignment This parameter can be one of the following values: - * @arg @ref LL_DBGMCU_TRACE_NONE - * @arg @ref LL_DBGMCU_TRACE_ASYNCH - * @arg @ref LL_DBGMCU_TRACE_SYNCH_SIZE1 - * @arg @ref LL_DBGMCU_TRACE_SYNCH_SIZE2 - * @arg @ref LL_DBGMCU_TRACE_SYNCH_SIZE4 - * @retval None - */ -__STATIC_INLINE void LL_DBGMCU_SetTracePinAssignment(uint32_t PinAssignment) -{ - MODIFY_REG(DBGMCU->CR, DBGMCU_CR_TRACE_IOEN | DBGMCU_CR_TRACE_MODE, PinAssignment); -} - -/** - * @brief Get Trace pin assignment control - * @rmtoll DBGMCU_CR TRACE_IOEN LL_DBGMCU_GetTracePinAssignment\n - * DBGMCU_CR TRACE_MODE LL_DBGMCU_GetTracePinAssignment - * @retval Returned value can be one of the following values: - * @arg @ref LL_DBGMCU_TRACE_NONE - * @arg @ref LL_DBGMCU_TRACE_ASYNCH - * @arg @ref LL_DBGMCU_TRACE_SYNCH_SIZE1 - * @arg @ref LL_DBGMCU_TRACE_SYNCH_SIZE2 - * @arg @ref LL_DBGMCU_TRACE_SYNCH_SIZE4 - */ -__STATIC_INLINE uint32_t LL_DBGMCU_GetTracePinAssignment(void) -{ - return (uint32_t)(READ_BIT(DBGMCU->CR, DBGMCU_CR_TRACE_IOEN | DBGMCU_CR_TRACE_MODE)); -} - -/** - * @brief Freeze APB1 peripherals (group1 peripherals) - * @rmtoll DBGMCU_APB1_FZ DBG_TIM2_STOP LL_DBGMCU_APB1_GRP1_FreezePeriph\n - * DBGMCU_APB1_FZ DBG_TIM3_STOP LL_DBGMCU_APB1_GRP1_FreezePeriph\n - * DBGMCU_APB1_FZ DBG_TIM4_STOP LL_DBGMCU_APB1_GRP1_FreezePeriph\n - * DBGMCU_APB1_FZ DBG_TIM5_STOP LL_DBGMCU_APB1_GRP1_FreezePeriph\n - * DBGMCU_APB1_FZ DBG_TIM6_STOP LL_DBGMCU_APB1_GRP1_FreezePeriph\n - * DBGMCU_APB1_FZ DBG_TIM7_STOP LL_DBGMCU_APB1_GRP1_FreezePeriph\n - * DBGMCU_APB1_FZ DBG_TIM12_STOP LL_DBGMCU_APB1_GRP1_FreezePeriph\n - * DBGMCU_APB1_FZ DBG_TIM13_STOP LL_DBGMCU_APB1_GRP1_FreezePeriph\n - * DBGMCU_APB1_FZ DBG_TIM14_STOP LL_DBGMCU_APB1_GRP1_FreezePeriph\n - * DBGMCU_APB1_FZ DBG_LPTIM_STOP LL_DBGMCU_APB1_GRP1_FreezePeriph\n - * DBGMCU_APB1_FZ DBG_RTC_STOP LL_DBGMCU_APB1_GRP1_FreezePeriph\n - * DBGMCU_APB1_FZ DBG_WWDG_STOP LL_DBGMCU_APB1_GRP1_FreezePeriph\n - * DBGMCU_APB1_FZ DBG_IWDG_STOP LL_DBGMCU_APB1_GRP1_FreezePeriph\n - * DBGMCU_APB1_FZ DBG_I2C1_SMBUS_TIMEOUT LL_DBGMCU_APB1_GRP1_FreezePeriph\n - * DBGMCU_APB1_FZ DBG_I2C2_SMBUS_TIMEOUT LL_DBGMCU_APB1_GRP1_FreezePeriph\n - * DBGMCU_APB1_FZ DBG_I2C3_SMBUS_TIMEOUT LL_DBGMCU_APB1_GRP1_FreezePeriph\n - * DBGMCU_APB1_FZ DBG_I2C4_SMBUS_TIMEOUT LL_DBGMCU_APB1_GRP1_FreezePeriph\n - * DBGMCU_APB1_FZ DBG_CAN1_STOP LL_DBGMCU_APB1_GRP1_FreezePeriph\n - * DBGMCU_APB1_FZ DBG_CAN2_STOP LL_DBGMCU_APB1_GRP1_FreezePeriph\n - * DBGMCU_APB1_FZ DBG_CAN3_STOP LL_DBGMCU_APB1_GRP1_FreezePeriph - * @param Periphs This parameter can be a combination of the following values: - * @arg @ref LL_DBGMCU_APB1_GRP1_TIM2_STOP (*) - * @arg @ref LL_DBGMCU_APB1_GRP1_TIM3_STOP (*) - * @arg @ref LL_DBGMCU_APB1_GRP1_TIM4_STOP (*) - * @arg @ref LL_DBGMCU_APB1_GRP1_TIM5_STOP - * @arg @ref LL_DBGMCU_APB1_GRP1_TIM6_STOP (*) - * @arg @ref LL_DBGMCU_APB1_GRP1_TIM7_STOP (*) - * @arg @ref LL_DBGMCU_APB1_GRP1_TIM12_STOP (*) - * @arg @ref LL_DBGMCU_APB1_GRP1_TIM13_STOP (*) - * @arg @ref LL_DBGMCU_APB1_GRP1_TIM14_STOP (*) - * @arg @ref LL_DBGMCU_APB1_GRP1_LPTIM_STOP (*) - * @arg @ref LL_DBGMCU_APB1_GRP1_RTC_STOP - * @arg @ref LL_DBGMCU_APB1_GRP1_WWDG_STOP - * @arg @ref LL_DBGMCU_APB1_GRP1_IWDG_STOP - * @arg @ref LL_DBGMCU_APB1_GRP1_I2C1_STOP - * @arg @ref LL_DBGMCU_APB1_GRP1_I2C2_STOP - * @arg @ref LL_DBGMCU_APB1_GRP1_I2C3_STOP (*) - * @arg @ref LL_DBGMCU_APB1_GRP1_I2C4_STOP (*) - * @arg @ref LL_DBGMCU_APB1_GRP1_CAN1_STOP (*) - * @arg @ref LL_DBGMCU_APB1_GRP1_CAN2_STOP (*) - * @arg @ref LL_DBGMCU_APB1_GRP1_CAN3_STOP (*) - * - * (*) value not defined in all devices. - * @retval None - */ -__STATIC_INLINE void LL_DBGMCU_APB1_GRP1_FreezePeriph(uint32_t Periphs) -{ - SET_BIT(DBGMCU->APB1FZ, Periphs); -} - -/** - * @brief Unfreeze APB1 peripherals (group1 peripherals) - * @rmtoll DBGMCU_APB1_FZ DBG_TIM2_STOP LL_DBGMCU_APB1_GRP1_UnFreezePeriph\n - * DBGMCU_APB1_FZ DBG_TIM3_STOP LL_DBGMCU_APB1_GRP1_UnFreezePeriph\n - * DBGMCU_APB1_FZ DBG_TIM4_STOP LL_DBGMCU_APB1_GRP1_UnFreezePeriph\n - * DBGMCU_APB1_FZ DBG_TIM5_STOP LL_DBGMCU_APB1_GRP1_UnFreezePeriph\n - * DBGMCU_APB1_FZ DBG_TIM6_STOP LL_DBGMCU_APB1_GRP1_UnFreezePeriph\n - * DBGMCU_APB1_FZ DBG_TIM7_STOP LL_DBGMCU_APB1_GRP1_UnFreezePeriph\n - * DBGMCU_APB1_FZ DBG_TIM12_STOP LL_DBGMCU_APB1_GRP1_UnFreezePeriph\n - * DBGMCU_APB1_FZ DBG_TIM13_STOP LL_DBGMCU_APB1_GRP1_UnFreezePeriph\n - * DBGMCU_APB1_FZ DBG_TIM14_STOP LL_DBGMCU_APB1_GRP1_UnFreezePeriph\n - * DBGMCU_APB1_FZ DBG_LPTIM_STOP LL_DBGMCU_APB1_GRP1_UnFreezePeriph\n - * DBGMCU_APB1_FZ DBG_RTC_STOP LL_DBGMCU_APB1_GRP1_UnFreezePeriph\n - * DBGMCU_APB1_FZ DBG_WWDG_STOP LL_DBGMCU_APB1_GRP1_UnFreezePeriph\n - * DBGMCU_APB1_FZ DBG_IWDG_STOP LL_DBGMCU_APB1_GRP1_UnFreezePeriph\n - * DBGMCU_APB1_FZ DBG_I2C1_SMBUS_TIMEOUT LL_DBGMCU_APB1_GRP1_UnFreezePeriph\n - * DBGMCU_APB1_FZ DBG_I2C2_SMBUS_TIMEOUT LL_DBGMCU_APB1_GRP1_UnFreezePeriph\n - * DBGMCU_APB1_FZ DBG_I2C3_SMBUS_TIMEOUT LL_DBGMCU_APB1_GRP1_UnFreezePeriph\n - * DBGMCU_APB1_FZ DBG_I2C4_SMBUS_TIMEOUT LL_DBGMCU_APB1_GRP1_UnFreezePeriph\n - * DBGMCU_APB1_FZ DBG_CAN1_STOP LL_DBGMCU_APB1_GRP1_UnFreezePeriph\n - * DBGMCU_APB1_FZ DBG_CAN2_STOP LL_DBGMCU_APB1_GRP1_UnFreezePeriph\n - * DBGMCU_APB1_FZ DBG_CAN3_STOP LL_DBGMCU_APB1_GRP1_UnFreezePeriph - * @param Periphs This parameter can be a combination of the following values: - * @arg @ref LL_DBGMCU_APB1_GRP1_TIM2_STOP (*) - * @arg @ref LL_DBGMCU_APB1_GRP1_TIM3_STOP (*) - * @arg @ref LL_DBGMCU_APB1_GRP1_TIM4_STOP (*) - * @arg @ref LL_DBGMCU_APB1_GRP1_TIM5_STOP - * @arg @ref LL_DBGMCU_APB1_GRP1_TIM6_STOP (*) - * @arg @ref LL_DBGMCU_APB1_GRP1_TIM7_STOP (*) - * @arg @ref LL_DBGMCU_APB1_GRP1_TIM12_STOP (*) - * @arg @ref LL_DBGMCU_APB1_GRP1_TIM13_STOP (*) - * @arg @ref LL_DBGMCU_APB1_GRP1_TIM14_STOP (*) - * @arg @ref LL_DBGMCU_APB1_GRP1_LPTIM_STOP (*) - * @arg @ref LL_DBGMCU_APB1_GRP1_RTC_STOP - * @arg @ref LL_DBGMCU_APB1_GRP1_WWDG_STOP - * @arg @ref LL_DBGMCU_APB1_GRP1_IWDG_STOP - * @arg @ref LL_DBGMCU_APB1_GRP1_I2C1_STOP - * @arg @ref LL_DBGMCU_APB1_GRP1_I2C2_STOP - * @arg @ref LL_DBGMCU_APB1_GRP1_I2C3_STOP (*) - * @arg @ref LL_DBGMCU_APB1_GRP1_I2C4_STOP (*) - * @arg @ref LL_DBGMCU_APB1_GRP1_CAN1_STOP (*) - * @arg @ref LL_DBGMCU_APB1_GRP1_CAN2_STOP (*) - * @arg @ref LL_DBGMCU_APB1_GRP1_CAN3_STOP (*) - * - * (*) value not defined in all devices. - * @retval None - */ -__STATIC_INLINE void LL_DBGMCU_APB1_GRP1_UnFreezePeriph(uint32_t Periphs) -{ - CLEAR_BIT(DBGMCU->APB1FZ, Periphs); -} - -/** - * @brief Freeze APB2 peripherals - * @rmtoll DBGMCU_APB2_FZ DBG_TIM1_STOP LL_DBGMCU_APB2_GRP1_FreezePeriph\n - * DBGMCU_APB2_FZ DBG_TIM8_STOP LL_DBGMCU_APB2_GRP1_FreezePeriph\n - * DBGMCU_APB2_FZ DBG_TIM9_STOP LL_DBGMCU_APB2_GRP1_FreezePeriph\n - * DBGMCU_APB2_FZ DBG_TIM10_STOP LL_DBGMCU_APB2_GRP1_FreezePeriph\n - * DBGMCU_APB2_FZ DBG_TIM11_STOP LL_DBGMCU_APB2_GRP1_FreezePeriph - * @param Periphs This parameter can be a combination of the following values: - * @arg @ref LL_DBGMCU_APB2_GRP1_TIM1_STOP - * @arg @ref LL_DBGMCU_APB2_GRP1_TIM8_STOP (*) - * @arg @ref LL_DBGMCU_APB2_GRP1_TIM9_STOP (*) - * @arg @ref LL_DBGMCU_APB2_GRP1_TIM10_STOP (*) - * @arg @ref LL_DBGMCU_APB2_GRP1_TIM11_STOP (*) - * - * (*) value not defined in all devices. - * @retval None - */ -__STATIC_INLINE void LL_DBGMCU_APB2_GRP1_FreezePeriph(uint32_t Periphs) -{ - SET_BIT(DBGMCU->APB2FZ, Periphs); -} - -/** - * @brief Unfreeze APB2 peripherals - * @rmtoll DBGMCU_APB2_FZ DBG_TIM1_STOP LL_DBGMCU_APB2_GRP1_UnFreezePeriph\n - * DBGMCU_APB2_FZ DBG_TIM8_STOP LL_DBGMCU_APB2_GRP1_UnFreezePeriph\n - * DBGMCU_APB2_FZ DBG_TIM9_STOP LL_DBGMCU_APB2_GRP1_UnFreezePeriph\n - * DBGMCU_APB2_FZ DBG_TIM10_STOP LL_DBGMCU_APB2_GRP1_UnFreezePeriph\n - * DBGMCU_APB2_FZ DBG_TIM11_STOP LL_DBGMCU_APB2_GRP1_UnFreezePeriph - * @param Periphs This parameter can be a combination of the following values: - * @arg @ref LL_DBGMCU_APB2_GRP1_TIM1_STOP - * @arg @ref LL_DBGMCU_APB2_GRP1_TIM8_STOP (*) - * @arg @ref LL_DBGMCU_APB2_GRP1_TIM9_STOP (*) - * @arg @ref LL_DBGMCU_APB2_GRP1_TIM10_STOP (*) - * @arg @ref LL_DBGMCU_APB2_GRP1_TIM11_STOP (*) - * - * (*) value not defined in all devices. - * @retval None - */ -__STATIC_INLINE void LL_DBGMCU_APB2_GRP1_UnFreezePeriph(uint32_t Periphs) -{ - CLEAR_BIT(DBGMCU->APB2FZ, Periphs); -} -/** - * @} - */ - -/** @defgroup SYSTEM_LL_EF_FLASH FLASH - * @{ - */ - -/** - * @brief Set FLASH Latency - * @rmtoll FLASH_ACR LATENCY LL_FLASH_SetLatency - * @param Latency This parameter can be one of the following values: - * @arg @ref LL_FLASH_LATENCY_0 - * @arg @ref LL_FLASH_LATENCY_1 - * @arg @ref LL_FLASH_LATENCY_2 - * @arg @ref LL_FLASH_LATENCY_3 - * @arg @ref LL_FLASH_LATENCY_4 - * @arg @ref LL_FLASH_LATENCY_5 - * @arg @ref LL_FLASH_LATENCY_6 - * @arg @ref LL_FLASH_LATENCY_7 - * @arg @ref LL_FLASH_LATENCY_8 - * @arg @ref LL_FLASH_LATENCY_9 - * @arg @ref LL_FLASH_LATENCY_10 - * @arg @ref LL_FLASH_LATENCY_11 - * @arg @ref LL_FLASH_LATENCY_12 - * @arg @ref LL_FLASH_LATENCY_13 - * @arg @ref LL_FLASH_LATENCY_14 - * @arg @ref LL_FLASH_LATENCY_15 - * @retval None - */ -__STATIC_INLINE void LL_FLASH_SetLatency(uint32_t Latency) -{ - MODIFY_REG(FLASH->ACR, FLASH_ACR_LATENCY, Latency); -} - -/** - * @brief Get FLASH Latency - * @rmtoll FLASH_ACR LATENCY LL_FLASH_GetLatency - * @retval Returned value can be one of the following values: - * @arg @ref LL_FLASH_LATENCY_0 - * @arg @ref LL_FLASH_LATENCY_1 - * @arg @ref LL_FLASH_LATENCY_2 - * @arg @ref LL_FLASH_LATENCY_3 - * @arg @ref LL_FLASH_LATENCY_4 - * @arg @ref LL_FLASH_LATENCY_5 - * @arg @ref LL_FLASH_LATENCY_6 - * @arg @ref LL_FLASH_LATENCY_7 - * @arg @ref LL_FLASH_LATENCY_8 - * @arg @ref LL_FLASH_LATENCY_9 - * @arg @ref LL_FLASH_LATENCY_10 - * @arg @ref LL_FLASH_LATENCY_11 - * @arg @ref LL_FLASH_LATENCY_12 - * @arg @ref LL_FLASH_LATENCY_13 - * @arg @ref LL_FLASH_LATENCY_14 - * @arg @ref LL_FLASH_LATENCY_15 - */ -__STATIC_INLINE uint32_t LL_FLASH_GetLatency(void) -{ - return (uint32_t)(READ_BIT(FLASH->ACR, FLASH_ACR_LATENCY)); -} - -/** - * @brief Enable Prefetch - * @rmtoll FLASH_ACR PRFTEN LL_FLASH_EnablePrefetch - * @retval None - */ -__STATIC_INLINE void LL_FLASH_EnablePrefetch(void) -{ - SET_BIT(FLASH->ACR, FLASH_ACR_PRFTEN); -} - -/** - * @brief Disable Prefetch - * @rmtoll FLASH_ACR PRFTEN LL_FLASH_DisablePrefetch - * @retval None - */ -__STATIC_INLINE void LL_FLASH_DisablePrefetch(void) -{ - CLEAR_BIT(FLASH->ACR, FLASH_ACR_PRFTEN); -} - -/** - * @brief Check if Prefetch buffer is enabled - * @rmtoll FLASH_ACR PRFTEN LL_FLASH_IsPrefetchEnabled - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_FLASH_IsPrefetchEnabled(void) -{ - return (READ_BIT(FLASH->ACR, FLASH_ACR_PRFTEN) == (FLASH_ACR_PRFTEN)); -} - -/** - * @brief Enable Instruction cache - * @rmtoll FLASH_ACR ICEN LL_FLASH_EnableInstCache - * @retval None - */ -__STATIC_INLINE void LL_FLASH_EnableInstCache(void) -{ - SET_BIT(FLASH->ACR, FLASH_ACR_ICEN); -} - -/** - * @brief Disable Instruction cache - * @rmtoll FLASH_ACR ICEN LL_FLASH_DisableInstCache - * @retval None - */ -__STATIC_INLINE void LL_FLASH_DisableInstCache(void) -{ - CLEAR_BIT(FLASH->ACR, FLASH_ACR_ICEN); -} - -/** - * @brief Enable Data cache - * @rmtoll FLASH_ACR DCEN LL_FLASH_EnableDataCache - * @retval None - */ -__STATIC_INLINE void LL_FLASH_EnableDataCache(void) -{ - SET_BIT(FLASH->ACR, FLASH_ACR_DCEN); -} - -/** - * @brief Disable Data cache - * @rmtoll FLASH_ACR DCEN LL_FLASH_DisableDataCache - * @retval None - */ -__STATIC_INLINE void LL_FLASH_DisableDataCache(void) -{ - CLEAR_BIT(FLASH->ACR, FLASH_ACR_DCEN); -} - -/** - * @brief Enable Instruction cache reset - * @note bit can be written only when the instruction cache is disabled - * @rmtoll FLASH_ACR ICRST LL_FLASH_EnableInstCacheReset - * @retval None - */ -__STATIC_INLINE void LL_FLASH_EnableInstCacheReset(void) -{ - SET_BIT(FLASH->ACR, FLASH_ACR_ICRST); -} - -/** - * @brief Disable Instruction cache reset - * @rmtoll FLASH_ACR ICRST LL_FLASH_DisableInstCacheReset - * @retval None - */ -__STATIC_INLINE void LL_FLASH_DisableInstCacheReset(void) -{ - CLEAR_BIT(FLASH->ACR, FLASH_ACR_ICRST); -} - -/** - * @brief Enable Data cache reset - * @note bit can be written only when the data cache is disabled - * @rmtoll FLASH_ACR DCRST LL_FLASH_EnableDataCacheReset - * @retval None - */ -__STATIC_INLINE void LL_FLASH_EnableDataCacheReset(void) -{ - SET_BIT(FLASH->ACR, FLASH_ACR_DCRST); -} - -/** - * @brief Disable Data cache reset - * @rmtoll FLASH_ACR DCRST LL_FLASH_DisableDataCacheReset - * @retval None - */ -__STATIC_INLINE void LL_FLASH_DisableDataCacheReset(void) -{ - CLEAR_BIT(FLASH->ACR, FLASH_ACR_DCRST); -} - - -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ - -#endif /* defined (FLASH) || defined (SYSCFG) || defined (DBGMCU) */ - -/** - * @} - */ - -#ifdef __cplusplus -} -#endif - -#endif /* __STM32F4xx_LL_SYSTEM_H */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_tim.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_tim.h deleted file mode 100644 index 3f83c98dd9f947..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_tim.h +++ /dev/null @@ -1,4095 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_ll_tim.h - * @author MCD Application Team - * @brief Header file of TIM LL module. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef __STM32F4xx_LL_TIM_H -#define __STM32F4xx_LL_TIM_H - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx.h" - -/** @addtogroup STM32F4xx_LL_Driver - * @{ - */ - -#if defined (TIM1) || defined (TIM2) || defined (TIM3) || defined (TIM4) || defined (TIM5) || defined (TIM6) || defined (TIM7) || defined (TIM8) || defined (TIM9) || defined (TIM10) || defined (TIM11) || defined (TIM12) || defined (TIM13) || defined (TIM14) - -/** @defgroup TIM_LL TIM - * @{ - */ - -/* Private types -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/** @defgroup TIM_LL_Private_Variables TIM Private Variables - * @{ - */ -static const uint8_t OFFSET_TAB_CCMRx[] = -{ - 0x00U, /* 0: TIMx_CH1 */ - 0x00U, /* 1: TIMx_CH1N */ - 0x00U, /* 2: TIMx_CH2 */ - 0x00U, /* 3: TIMx_CH2N */ - 0x04U, /* 4: TIMx_CH3 */ - 0x04U, /* 5: TIMx_CH3N */ - 0x04U /* 6: TIMx_CH4 */ -}; - -static const uint8_t SHIFT_TAB_OCxx[] = -{ - 0U, /* 0: OC1M, OC1FE, OC1PE */ - 0U, /* 1: - NA */ - 8U, /* 2: OC2M, OC2FE, OC2PE */ - 0U, /* 3: - NA */ - 0U, /* 4: OC3M, OC3FE, OC3PE */ - 0U, /* 5: - NA */ - 8U /* 6: OC4M, OC4FE, OC4PE */ -}; - -static const uint8_t SHIFT_TAB_ICxx[] = -{ - 0U, /* 0: CC1S, IC1PSC, IC1F */ - 0U, /* 1: - NA */ - 8U, /* 2: CC2S, IC2PSC, IC2F */ - 0U, /* 3: - NA */ - 0U, /* 4: CC3S, IC3PSC, IC3F */ - 0U, /* 5: - NA */ - 8U /* 6: CC4S, IC4PSC, IC4F */ -}; - -static const uint8_t SHIFT_TAB_CCxP[] = -{ - 0U, /* 0: CC1P */ - 2U, /* 1: CC1NP */ - 4U, /* 2: CC2P */ - 6U, /* 3: CC2NP */ - 8U, /* 4: CC3P */ - 10U, /* 5: CC3NP */ - 12U /* 6: CC4P */ -}; - -static const uint8_t SHIFT_TAB_OISx[] = -{ - 0U, /* 0: OIS1 */ - 1U, /* 1: OIS1N */ - 2U, /* 2: OIS2 */ - 3U, /* 3: OIS2N */ - 4U, /* 4: OIS3 */ - 5U, /* 5: OIS3N */ - 6U /* 6: OIS4 */ -}; -/** - * @} - */ - -/* Private constants ---------------------------------------------------------*/ -/** @defgroup TIM_LL_Private_Constants TIM Private Constants - * @{ - */ - - -/* Remap mask definitions */ -#define TIMx_OR_RMP_SHIFT 16U -#define TIMx_OR_RMP_MASK 0x0000FFFFU -#define TIM2_OR_RMP_MASK (TIM_OR_ITR1_RMP << TIMx_OR_RMP_SHIFT) -#define TIM5_OR_RMP_MASK (TIM_OR_TI4_RMP << TIMx_OR_RMP_SHIFT) -#define TIM11_OR_RMP_MASK (TIM_OR_TI1_RMP << TIMx_OR_RMP_SHIFT) - -/* Mask used to set the TDG[x:0] of the DTG bits of the TIMx_BDTR register */ -#define DT_DELAY_1 ((uint8_t)0x7F) -#define DT_DELAY_2 ((uint8_t)0x3F) -#define DT_DELAY_3 ((uint8_t)0x1F) -#define DT_DELAY_4 ((uint8_t)0x1F) - -/* Mask used to set the DTG[7:5] bits of the DTG bits of the TIMx_BDTR register */ -#define DT_RANGE_1 ((uint8_t)0x00) -#define DT_RANGE_2 ((uint8_t)0x80) -#define DT_RANGE_3 ((uint8_t)0xC0) -#define DT_RANGE_4 ((uint8_t)0xE0) - - -/** - * @} - */ - -/* Private macros ------------------------------------------------------------*/ -/** @defgroup TIM_LL_Private_Macros TIM Private Macros - * @{ - */ -/** @brief Convert channel id into channel index. - * @param __CHANNEL__ This parameter can be one of the following values: - * @arg @ref LL_TIM_CHANNEL_CH1 - * @arg @ref LL_TIM_CHANNEL_CH1N - * @arg @ref LL_TIM_CHANNEL_CH2 - * @arg @ref LL_TIM_CHANNEL_CH2N - * @arg @ref LL_TIM_CHANNEL_CH3 - * @arg @ref LL_TIM_CHANNEL_CH3N - * @arg @ref LL_TIM_CHANNEL_CH4 - * @retval none - */ -#define TIM_GET_CHANNEL_INDEX( __CHANNEL__) \ - (((__CHANNEL__) == LL_TIM_CHANNEL_CH1) ? 0U :\ - ((__CHANNEL__) == LL_TIM_CHANNEL_CH1N) ? 1U :\ - ((__CHANNEL__) == LL_TIM_CHANNEL_CH2) ? 2U :\ - ((__CHANNEL__) == LL_TIM_CHANNEL_CH2N) ? 3U :\ - ((__CHANNEL__) == LL_TIM_CHANNEL_CH3) ? 4U :\ - ((__CHANNEL__) == LL_TIM_CHANNEL_CH3N) ? 5U : 6U) - -/** @brief Calculate the deadtime sampling period(in ps). - * @param __TIMCLK__ timer input clock frequency (in Hz). - * @param __CKD__ This parameter can be one of the following values: - * @arg @ref LL_TIM_CLOCKDIVISION_DIV1 - * @arg @ref LL_TIM_CLOCKDIVISION_DIV2 - * @arg @ref LL_TIM_CLOCKDIVISION_DIV4 - * @retval none - */ -#define TIM_CALC_DTS(__TIMCLK__, __CKD__) \ - (((__CKD__) == LL_TIM_CLOCKDIVISION_DIV1) ? ((uint64_t)1000000000000U/(__TIMCLK__)) : \ - ((__CKD__) == LL_TIM_CLOCKDIVISION_DIV2) ? ((uint64_t)1000000000000U/((__TIMCLK__) >> 1U)) : \ - ((uint64_t)1000000000000U/((__TIMCLK__) >> 2U))) -/** - * @} - */ - - -/* Exported types ------------------------------------------------------------*/ -#if defined(USE_FULL_LL_DRIVER) -/** @defgroup TIM_LL_ES_INIT TIM Exported Init structure - * @{ - */ - -/** - * @brief TIM Time Base configuration structure definition. - */ -typedef struct -{ - uint16_t Prescaler; /*!< Specifies the prescaler value used to divide the TIM clock. - This parameter can be a number between Min_Data=0x0000 and Max_Data=0xFFFF. - - This feature can be modified afterwards using unitary function - @ref LL_TIM_SetPrescaler().*/ - - uint32_t CounterMode; /*!< Specifies the counter mode. - This parameter can be a value of @ref TIM_LL_EC_COUNTERMODE. - - This feature can be modified afterwards using unitary function - @ref LL_TIM_SetCounterMode().*/ - - uint32_t Autoreload; /*!< Specifies the auto reload value to be loaded into the active - Auto-Reload Register at the next update event. - This parameter must be a number between Min_Data=0x0000 and Max_Data=0xFFFF. - Some timer instances may support 32 bits counters. In that case this parameter must - be a number between 0x0000 and 0xFFFFFFFF. - - This feature can be modified afterwards using unitary function - @ref LL_TIM_SetAutoReload().*/ - - uint32_t ClockDivision; /*!< Specifies the clock division. - This parameter can be a value of @ref TIM_LL_EC_CLOCKDIVISION. - - This feature can be modified afterwards using unitary function - @ref LL_TIM_SetClockDivision().*/ - - uint32_t RepetitionCounter; /*!< Specifies the repetition counter value. Each time the RCR downcounter - reaches zero, an update event is generated and counting restarts - from the RCR value (N). - This means in PWM mode that (N+1) corresponds to: - - the number of PWM periods in edge-aligned mode - - the number of half PWM period in center-aligned mode - GP timers: this parameter must be a number between Min_Data = 0x00 and - Max_Data = 0xFF. - Advanced timers: this parameter must be a number between Min_Data = 0x0000 and - Max_Data = 0xFFFF. - - This feature can be modified afterwards using unitary function - @ref LL_TIM_SetRepetitionCounter().*/ -} LL_TIM_InitTypeDef; - -/** - * @brief TIM Output Compare configuration structure definition. - */ -typedef struct -{ - uint32_t OCMode; /*!< Specifies the output mode. - This parameter can be a value of @ref TIM_LL_EC_OCMODE. - - This feature can be modified afterwards using unitary function - @ref LL_TIM_OC_SetMode().*/ - - uint32_t OCState; /*!< Specifies the TIM Output Compare state. - This parameter can be a value of @ref TIM_LL_EC_OCSTATE. - - This feature can be modified afterwards using unitary functions - @ref LL_TIM_CC_EnableChannel() or @ref LL_TIM_CC_DisableChannel().*/ - - uint32_t OCNState; /*!< Specifies the TIM complementary Output Compare state. - This parameter can be a value of @ref TIM_LL_EC_OCSTATE. - - This feature can be modified afterwards using unitary functions - @ref LL_TIM_CC_EnableChannel() or @ref LL_TIM_CC_DisableChannel().*/ - - uint32_t CompareValue; /*!< Specifies the Compare value to be loaded into the Capture Compare Register. - This parameter can be a number between Min_Data=0x0000 and Max_Data=0xFFFF. - - This feature can be modified afterwards using unitary function - LL_TIM_OC_SetCompareCHx (x=1..6).*/ - - uint32_t OCPolarity; /*!< Specifies the output polarity. - This parameter can be a value of @ref TIM_LL_EC_OCPOLARITY. - - This feature can be modified afterwards using unitary function - @ref LL_TIM_OC_SetPolarity().*/ - - uint32_t OCNPolarity; /*!< Specifies the complementary output polarity. - This parameter can be a value of @ref TIM_LL_EC_OCPOLARITY. - - This feature can be modified afterwards using unitary function - @ref LL_TIM_OC_SetPolarity().*/ - - - uint32_t OCIdleState; /*!< Specifies the TIM Output Compare pin state during Idle state. - This parameter can be a value of @ref TIM_LL_EC_OCIDLESTATE. - - This feature can be modified afterwards using unitary function - @ref LL_TIM_OC_SetIdleState().*/ - - uint32_t OCNIdleState; /*!< Specifies the TIM Output Compare pin state during Idle state. - This parameter can be a value of @ref TIM_LL_EC_OCIDLESTATE. - - This feature can be modified afterwards using unitary function - @ref LL_TIM_OC_SetIdleState().*/ -} LL_TIM_OC_InitTypeDef; - -/** - * @brief TIM Input Capture configuration structure definition. - */ - -typedef struct -{ - - uint32_t ICPolarity; /*!< Specifies the active edge of the input signal. - This parameter can be a value of @ref TIM_LL_EC_IC_POLARITY. - - This feature can be modified afterwards using unitary function - @ref LL_TIM_IC_SetPolarity().*/ - - uint32_t ICActiveInput; /*!< Specifies the input. - This parameter can be a value of @ref TIM_LL_EC_ACTIVEINPUT. - - This feature can be modified afterwards using unitary function - @ref LL_TIM_IC_SetActiveInput().*/ - - uint32_t ICPrescaler; /*!< Specifies the Input Capture Prescaler. - This parameter can be a value of @ref TIM_LL_EC_ICPSC. - - This feature can be modified afterwards using unitary function - @ref LL_TIM_IC_SetPrescaler().*/ - - uint32_t ICFilter; /*!< Specifies the input capture filter. - This parameter can be a value of @ref TIM_LL_EC_IC_FILTER. - - This feature can be modified afterwards using unitary function - @ref LL_TIM_IC_SetFilter().*/ -} LL_TIM_IC_InitTypeDef; - - -/** - * @brief TIM Encoder interface configuration structure definition. - */ -typedef struct -{ - uint32_t EncoderMode; /*!< Specifies the encoder resolution (x2 or x4). - This parameter can be a value of @ref TIM_LL_EC_ENCODERMODE. - - This feature can be modified afterwards using unitary function - @ref LL_TIM_SetEncoderMode().*/ - - uint32_t IC1Polarity; /*!< Specifies the active edge of TI1 input. - This parameter can be a value of @ref TIM_LL_EC_IC_POLARITY. - - This feature can be modified afterwards using unitary function - @ref LL_TIM_IC_SetPolarity().*/ - - uint32_t IC1ActiveInput; /*!< Specifies the TI1 input source - This parameter can be a value of @ref TIM_LL_EC_ACTIVEINPUT. - - This feature can be modified afterwards using unitary function - @ref LL_TIM_IC_SetActiveInput().*/ - - uint32_t IC1Prescaler; /*!< Specifies the TI1 input prescaler value. - This parameter can be a value of @ref TIM_LL_EC_ICPSC. - - This feature can be modified afterwards using unitary function - @ref LL_TIM_IC_SetPrescaler().*/ - - uint32_t IC1Filter; /*!< Specifies the TI1 input filter. - This parameter can be a value of @ref TIM_LL_EC_IC_FILTER. - - This feature can be modified afterwards using unitary function - @ref LL_TIM_IC_SetFilter().*/ - - uint32_t IC2Polarity; /*!< Specifies the active edge of TI2 input. - This parameter can be a value of @ref TIM_LL_EC_IC_POLARITY. - - This feature can be modified afterwards using unitary function - @ref LL_TIM_IC_SetPolarity().*/ - - uint32_t IC2ActiveInput; /*!< Specifies the TI2 input source - This parameter can be a value of @ref TIM_LL_EC_ACTIVEINPUT. - - This feature can be modified afterwards using unitary function - @ref LL_TIM_IC_SetActiveInput().*/ - - uint32_t IC2Prescaler; /*!< Specifies the TI2 input prescaler value. - This parameter can be a value of @ref TIM_LL_EC_ICPSC. - - This feature can be modified afterwards using unitary function - @ref LL_TIM_IC_SetPrescaler().*/ - - uint32_t IC2Filter; /*!< Specifies the TI2 input filter. - This parameter can be a value of @ref TIM_LL_EC_IC_FILTER. - - This feature can be modified afterwards using unitary function - @ref LL_TIM_IC_SetFilter().*/ - -} LL_TIM_ENCODER_InitTypeDef; - -/** - * @brief TIM Hall sensor interface configuration structure definition. - */ -typedef struct -{ - - uint32_t IC1Polarity; /*!< Specifies the active edge of TI1 input. - This parameter can be a value of @ref TIM_LL_EC_IC_POLARITY. - - This feature can be modified afterwards using unitary function - @ref LL_TIM_IC_SetPolarity().*/ - - uint32_t IC1Prescaler; /*!< Specifies the TI1 input prescaler value. - Prescaler must be set to get a maximum counter period longer than the - time interval between 2 consecutive changes on the Hall inputs. - This parameter can be a value of @ref TIM_LL_EC_ICPSC. - - This feature can be modified afterwards using unitary function - @ref LL_TIM_IC_SetPrescaler().*/ - - uint32_t IC1Filter; /*!< Specifies the TI1 input filter. - This parameter can be a value of - @ref TIM_LL_EC_IC_FILTER. - - This feature can be modified afterwards using unitary function - @ref LL_TIM_IC_SetFilter().*/ - - uint32_t CommutationDelay; /*!< Specifies the compare value to be loaded into the Capture Compare Register. - A positive pulse (TRGO event) is generated with a programmable delay every time - a change occurs on the Hall inputs. - This parameter can be a number between Min_Data = 0x0000 and Max_Data = 0xFFFF. - - This feature can be modified afterwards using unitary function - @ref LL_TIM_OC_SetCompareCH2().*/ -} LL_TIM_HALLSENSOR_InitTypeDef; - -/** - * @brief BDTR (Break and Dead Time) structure definition - */ -typedef struct -{ - uint32_t OSSRState; /*!< Specifies the Off-State selection used in Run mode. - This parameter can be a value of @ref TIM_LL_EC_OSSR - - This feature can be modified afterwards using unitary function - @ref LL_TIM_SetOffStates() - - @note This bit-field cannot be modified as long as LOCK level 2 has been - programmed. */ - - uint32_t OSSIState; /*!< Specifies the Off-State used in Idle state. - This parameter can be a value of @ref TIM_LL_EC_OSSI - - This feature can be modified afterwards using unitary function - @ref LL_TIM_SetOffStates() - - @note This bit-field cannot be modified as long as LOCK level 2 has been - programmed. */ - - uint32_t LockLevel; /*!< Specifies the LOCK level parameters. - This parameter can be a value of @ref TIM_LL_EC_LOCKLEVEL - - @note The LOCK bits can be written only once after the reset. Once the TIMx_BDTR - register has been written, their content is frozen until the next reset.*/ - - uint8_t DeadTime; /*!< Specifies the delay time between the switching-off and the - switching-on of the outputs. - This parameter can be a number between Min_Data = 0x00 and Max_Data = 0xFF. - - This feature can be modified afterwards using unitary function - @ref LL_TIM_OC_SetDeadTime() - - @note This bit-field can not be modified as long as LOCK level 1, 2 or 3 has been - programmed. */ - - uint16_t BreakState; /*!< Specifies whether the TIM Break input is enabled or not. - This parameter can be a value of @ref TIM_LL_EC_BREAK_ENABLE - - This feature can be modified afterwards using unitary functions - @ref LL_TIM_EnableBRK() or @ref LL_TIM_DisableBRK() - - @note This bit-field can not be modified as long as LOCK level 1 has been - programmed. */ - - uint32_t BreakPolarity; /*!< Specifies the TIM Break Input pin polarity. - This parameter can be a value of @ref TIM_LL_EC_BREAK_POLARITY - - This feature can be modified afterwards using unitary function - @ref LL_TIM_ConfigBRK() - - @note This bit-field can not be modified as long as LOCK level 1 has been - programmed. */ - - uint32_t AutomaticOutput; /*!< Specifies whether the TIM Automatic Output feature is enabled or not. - This parameter can be a value of @ref TIM_LL_EC_AUTOMATICOUTPUT_ENABLE - - This feature can be modified afterwards using unitary functions - @ref LL_TIM_EnableAutomaticOutput() or @ref LL_TIM_DisableAutomaticOutput() - - @note This bit-field can not be modified as long as LOCK level 1 has been - programmed. */ -} LL_TIM_BDTR_InitTypeDef; - -/** - * @} - */ -#endif /* USE_FULL_LL_DRIVER */ - -/* Exported constants --------------------------------------------------------*/ -/** @defgroup TIM_LL_Exported_Constants TIM Exported Constants - * @{ - */ - -/** @defgroup TIM_LL_EC_GET_FLAG Get Flags Defines - * @brief Flags defines which can be used with LL_TIM_ReadReg function. - * @{ - */ -#define LL_TIM_SR_UIF TIM_SR_UIF /*!< Update interrupt flag */ -#define LL_TIM_SR_CC1IF TIM_SR_CC1IF /*!< Capture/compare 1 interrupt flag */ -#define LL_TIM_SR_CC2IF TIM_SR_CC2IF /*!< Capture/compare 2 interrupt flag */ -#define LL_TIM_SR_CC3IF TIM_SR_CC3IF /*!< Capture/compare 3 interrupt flag */ -#define LL_TIM_SR_CC4IF TIM_SR_CC4IF /*!< Capture/compare 4 interrupt flag */ -#define LL_TIM_SR_COMIF TIM_SR_COMIF /*!< COM interrupt flag */ -#define LL_TIM_SR_TIF TIM_SR_TIF /*!< Trigger interrupt flag */ -#define LL_TIM_SR_BIF TIM_SR_BIF /*!< Break interrupt flag */ -#define LL_TIM_SR_CC1OF TIM_SR_CC1OF /*!< Capture/Compare 1 overcapture flag */ -#define LL_TIM_SR_CC2OF TIM_SR_CC2OF /*!< Capture/Compare 2 overcapture flag */ -#define LL_TIM_SR_CC3OF TIM_SR_CC3OF /*!< Capture/Compare 3 overcapture flag */ -#define LL_TIM_SR_CC4OF TIM_SR_CC4OF /*!< Capture/Compare 4 overcapture flag */ -/** - * @} - */ - -#if defined(USE_FULL_LL_DRIVER) -/** @defgroup TIM_LL_EC_BREAK_ENABLE Break Enable - * @{ - */ -#define LL_TIM_BREAK_DISABLE 0x00000000U /*!< Break function disabled */ -#define LL_TIM_BREAK_ENABLE TIM_BDTR_BKE /*!< Break function enabled */ -/** - * @} - */ - -/** @defgroup TIM_LL_EC_AUTOMATICOUTPUT_ENABLE Automatic output enable - * @{ - */ -#define LL_TIM_AUTOMATICOUTPUT_DISABLE 0x00000000U /*!< MOE can be set only by software */ -#define LL_TIM_AUTOMATICOUTPUT_ENABLE TIM_BDTR_AOE /*!< MOE can be set by software or automatically at the next update event */ -/** - * @} - */ -#endif /* USE_FULL_LL_DRIVER */ - -/** @defgroup TIM_LL_EC_IT IT Defines - * @brief IT defines which can be used with LL_TIM_ReadReg and LL_TIM_WriteReg functions. - * @{ - */ -#define LL_TIM_DIER_UIE TIM_DIER_UIE /*!< Update interrupt enable */ -#define LL_TIM_DIER_CC1IE TIM_DIER_CC1IE /*!< Capture/compare 1 interrupt enable */ -#define LL_TIM_DIER_CC2IE TIM_DIER_CC2IE /*!< Capture/compare 2 interrupt enable */ -#define LL_TIM_DIER_CC3IE TIM_DIER_CC3IE /*!< Capture/compare 3 interrupt enable */ -#define LL_TIM_DIER_CC4IE TIM_DIER_CC4IE /*!< Capture/compare 4 interrupt enable */ -#define LL_TIM_DIER_COMIE TIM_DIER_COMIE /*!< COM interrupt enable */ -#define LL_TIM_DIER_TIE TIM_DIER_TIE /*!< Trigger interrupt enable */ -#define LL_TIM_DIER_BIE TIM_DIER_BIE /*!< Break interrupt enable */ -/** - * @} - */ - -/** @defgroup TIM_LL_EC_UPDATESOURCE Update Source - * @{ - */ -#define LL_TIM_UPDATESOURCE_REGULAR 0x00000000U /*!< Counter overflow/underflow, Setting the UG bit or Update generation through the slave mode controller generates an update request */ -#define LL_TIM_UPDATESOURCE_COUNTER TIM_CR1_URS /*!< Only counter overflow/underflow generates an update request */ -/** - * @} - */ - -/** @defgroup TIM_LL_EC_ONEPULSEMODE One Pulse Mode - * @{ - */ -#define LL_TIM_ONEPULSEMODE_SINGLE TIM_CR1_OPM /*!< Counter stops counting at the next update event */ -#define LL_TIM_ONEPULSEMODE_REPETITIVE 0x00000000U /*!< Counter is not stopped at update event */ -/** - * @} - */ - -/** @defgroup TIM_LL_EC_COUNTERMODE Counter Mode - * @{ - */ -#define LL_TIM_COUNTERMODE_UP 0x00000000U /*!TIMx_CCRy else active.*/ -#define LL_TIM_OCMODE_PWM2 (TIM_CCMR1_OC1M_2 | TIM_CCMR1_OC1M_1 | TIM_CCMR1_OC1M_0) /*!TIMx_CCRy else inactive*/ -/** - * @} - */ - -/** @defgroup TIM_LL_EC_OCPOLARITY Output Configuration Polarity - * @{ - */ -#define LL_TIM_OCPOLARITY_HIGH 0x00000000U /*!< OCxactive high*/ -#define LL_TIM_OCPOLARITY_LOW TIM_CCER_CC1P /*!< OCxactive low*/ -/** - * @} - */ - -/** @defgroup TIM_LL_EC_OCIDLESTATE Output Configuration Idle State - * @{ - */ -#define LL_TIM_OCIDLESTATE_LOW 0x00000000U /*!__REG__, (__VALUE__)) - -/** - * @brief Read a value in TIM register. - * @param __INSTANCE__ TIM Instance - * @param __REG__ Register to be read - * @retval Register value - */ -#define LL_TIM_ReadReg(__INSTANCE__, __REG__) READ_REG((__INSTANCE__)->__REG__) -/** - * @} - */ - -/** @defgroup TIM_LL_EM_Exported_Macros Exported_Macros - * @{ - */ - -/** - * @brief HELPER macro calculating DTG[0:7] in the TIMx_BDTR register to achieve the requested dead time duration. - * @note ex: @ref __LL_TIM_CALC_DEADTIME (80000000, @ref LL_TIM_GetClockDivision (), 120); - * @param __TIMCLK__ timer input clock frequency (in Hz) - * @param __CKD__ This parameter can be one of the following values: - * @arg @ref LL_TIM_CLOCKDIVISION_DIV1 - * @arg @ref LL_TIM_CLOCKDIVISION_DIV2 - * @arg @ref LL_TIM_CLOCKDIVISION_DIV4 - * @param __DT__ deadtime duration (in ns) - * @retval DTG[0:7] - */ -#define __LL_TIM_CALC_DEADTIME(__TIMCLK__, __CKD__, __DT__) \ - ( (((uint64_t)((__DT__)*1000U)) < ((DT_DELAY_1+1U) * TIM_CALC_DTS((__TIMCLK__), (__CKD__)))) ? \ - (uint8_t)(((uint64_t)((__DT__)*1000U) / TIM_CALC_DTS((__TIMCLK__), (__CKD__))) & DT_DELAY_1) : \ - (((uint64_t)((__DT__)*1000U)) < ((64U + (DT_DELAY_2+1U)) * 2U * TIM_CALC_DTS((__TIMCLK__), (__CKD__)))) ? \ - (uint8_t)(DT_RANGE_2 | ((uint8_t)((uint8_t)((((uint64_t)((__DT__)*1000U))/ TIM_CALC_DTS((__TIMCLK__), \ - (__CKD__))) >> 1U) - (uint8_t) 64) & DT_DELAY_2)) :\ - (((uint64_t)((__DT__)*1000U)) < ((32U + (DT_DELAY_3+1U)) * 8U * TIM_CALC_DTS((__TIMCLK__), (__CKD__)))) ? \ - (uint8_t)(DT_RANGE_3 | ((uint8_t)((uint8_t)(((((uint64_t)(__DT__)*1000U))/ TIM_CALC_DTS((__TIMCLK__), \ - (__CKD__))) >> 3U) - (uint8_t) 32) & DT_DELAY_3)) :\ - (((uint64_t)((__DT__)*1000U)) < ((32U + (DT_DELAY_4+1U)) * 16U * TIM_CALC_DTS((__TIMCLK__), (__CKD__)))) ? \ - (uint8_t)(DT_RANGE_4 | ((uint8_t)((uint8_t)(((((uint64_t)(__DT__)*1000U))/ TIM_CALC_DTS((__TIMCLK__), \ - (__CKD__))) >> 4U) - (uint8_t) 32) & DT_DELAY_4)) :\ - 0U) - -/** - * @brief HELPER macro calculating the prescaler value to achieve the required counter clock frequency. - * @note ex: @ref __LL_TIM_CALC_PSC (80000000, 1000000); - * @param __TIMCLK__ timer input clock frequency (in Hz) - * @param __CNTCLK__ counter clock frequency (in Hz) - * @retval Prescaler value (between Min_Data=0 and Max_Data=65535) - */ -#define __LL_TIM_CALC_PSC(__TIMCLK__, __CNTCLK__) \ - (((__TIMCLK__) >= (__CNTCLK__)) ? (uint32_t)(((__TIMCLK__)/(__CNTCLK__)) - 1U) : 0U) - -/** - * @brief HELPER macro calculating the auto-reload value to achieve the required output signal frequency. - * @note ex: @ref __LL_TIM_CALC_ARR (1000000, @ref LL_TIM_GetPrescaler (), 10000); - * @param __TIMCLK__ timer input clock frequency (in Hz) - * @param __PSC__ prescaler - * @param __FREQ__ output signal frequency (in Hz) - * @retval Auto-reload value (between Min_Data=0 and Max_Data=65535) - */ -#define __LL_TIM_CALC_ARR(__TIMCLK__, __PSC__, __FREQ__) \ - ((((__TIMCLK__)/((__PSC__) + 1U)) >= (__FREQ__)) ? (((__TIMCLK__)/((__FREQ__) * ((__PSC__) + 1U))) - 1U) : 0U) - -/** - * @brief HELPER macro calculating the compare value required to achieve the required timer output compare - * active/inactive delay. - * @note ex: @ref __LL_TIM_CALC_DELAY (1000000, @ref LL_TIM_GetPrescaler (), 10); - * @param __TIMCLK__ timer input clock frequency (in Hz) - * @param __PSC__ prescaler - * @param __DELAY__ timer output compare active/inactive delay (in us) - * @retval Compare value (between Min_Data=0 and Max_Data=65535) - */ -#define __LL_TIM_CALC_DELAY(__TIMCLK__, __PSC__, __DELAY__) \ - ((uint32_t)(((uint64_t)(__TIMCLK__) * (uint64_t)(__DELAY__)) \ - / ((uint64_t)1000000U * (uint64_t)((__PSC__) + 1U)))) - -/** - * @brief HELPER macro calculating the auto-reload value to achieve the required pulse duration - * (when the timer operates in one pulse mode). - * @note ex: @ref __LL_TIM_CALC_PULSE (1000000, @ref LL_TIM_GetPrescaler (), 10, 20); - * @param __TIMCLK__ timer input clock frequency (in Hz) - * @param __PSC__ prescaler - * @param __DELAY__ timer output compare active/inactive delay (in us) - * @param __PULSE__ pulse duration (in us) - * @retval Auto-reload value (between Min_Data=0 and Max_Data=65535) - */ -#define __LL_TIM_CALC_PULSE(__TIMCLK__, __PSC__, __DELAY__, __PULSE__) \ - ((uint32_t)(__LL_TIM_CALC_DELAY((__TIMCLK__), (__PSC__), (__PULSE__)) \ - + __LL_TIM_CALC_DELAY((__TIMCLK__), (__PSC__), (__DELAY__)))) - -/** - * @brief HELPER macro retrieving the ratio of the input capture prescaler - * @note ex: @ref __LL_TIM_GET_ICPSC_RATIO (@ref LL_TIM_IC_GetPrescaler ()); - * @param __ICPSC__ This parameter can be one of the following values: - * @arg @ref LL_TIM_ICPSC_DIV1 - * @arg @ref LL_TIM_ICPSC_DIV2 - * @arg @ref LL_TIM_ICPSC_DIV4 - * @arg @ref LL_TIM_ICPSC_DIV8 - * @retval Input capture prescaler ratio (1, 2, 4 or 8) - */ -#define __LL_TIM_GET_ICPSC_RATIO(__ICPSC__) \ - ((uint32_t)(0x01U << (((__ICPSC__) >> 16U) >> TIM_CCMR1_IC1PSC_Pos))) - - -/** - * @} - */ - - -/** - * @} - */ - -/* Exported functions --------------------------------------------------------*/ -/** @defgroup TIM_LL_Exported_Functions TIM Exported Functions - * @{ - */ - -/** @defgroup TIM_LL_EF_Time_Base Time Base configuration - * @{ - */ -/** - * @brief Enable timer counter. - * @rmtoll CR1 CEN LL_TIM_EnableCounter - * @param TIMx Timer instance - * @retval None - */ -__STATIC_INLINE void LL_TIM_EnableCounter(TIM_TypeDef *TIMx) -{ - SET_BIT(TIMx->CR1, TIM_CR1_CEN); -} - -/** - * @brief Disable timer counter. - * @rmtoll CR1 CEN LL_TIM_DisableCounter - * @param TIMx Timer instance - * @retval None - */ -__STATIC_INLINE void LL_TIM_DisableCounter(TIM_TypeDef *TIMx) -{ - CLEAR_BIT(TIMx->CR1, TIM_CR1_CEN); -} - -/** - * @brief Indicates whether the timer counter is enabled. - * @rmtoll CR1 CEN LL_TIM_IsEnabledCounter - * @param TIMx Timer instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_TIM_IsEnabledCounter(TIM_TypeDef *TIMx) -{ - return ((READ_BIT(TIMx->CR1, TIM_CR1_CEN) == (TIM_CR1_CEN)) ? 1UL : 0UL); -} - -/** - * @brief Enable update event generation. - * @rmtoll CR1 UDIS LL_TIM_EnableUpdateEvent - * @param TIMx Timer instance - * @retval None - */ -__STATIC_INLINE void LL_TIM_EnableUpdateEvent(TIM_TypeDef *TIMx) -{ - CLEAR_BIT(TIMx->CR1, TIM_CR1_UDIS); -} - -/** - * @brief Disable update event generation. - * @rmtoll CR1 UDIS LL_TIM_DisableUpdateEvent - * @param TIMx Timer instance - * @retval None - */ -__STATIC_INLINE void LL_TIM_DisableUpdateEvent(TIM_TypeDef *TIMx) -{ - SET_BIT(TIMx->CR1, TIM_CR1_UDIS); -} - -/** - * @brief Indicates whether update event generation is enabled. - * @rmtoll CR1 UDIS LL_TIM_IsEnabledUpdateEvent - * @param TIMx Timer instance - * @retval Inverted state of bit (0 or 1). - */ -__STATIC_INLINE uint32_t LL_TIM_IsEnabledUpdateEvent(TIM_TypeDef *TIMx) -{ - return ((READ_BIT(TIMx->CR1, TIM_CR1_UDIS) == (uint32_t)RESET) ? 1UL : 0UL); -} - -/** - * @brief Set update event source - * @note Update event source set to LL_TIM_UPDATESOURCE_REGULAR: any of the following events - * generate an update interrupt or DMA request if enabled: - * - Counter overflow/underflow - * - Setting the UG bit - * - Update generation through the slave mode controller - * @note Update event source set to LL_TIM_UPDATESOURCE_COUNTER: only counter - * overflow/underflow generates an update interrupt or DMA request if enabled. - * @rmtoll CR1 URS LL_TIM_SetUpdateSource - * @param TIMx Timer instance - * @param UpdateSource This parameter can be one of the following values: - * @arg @ref LL_TIM_UPDATESOURCE_REGULAR - * @arg @ref LL_TIM_UPDATESOURCE_COUNTER - * @retval None - */ -__STATIC_INLINE void LL_TIM_SetUpdateSource(TIM_TypeDef *TIMx, uint32_t UpdateSource) -{ - MODIFY_REG(TIMx->CR1, TIM_CR1_URS, UpdateSource); -} - -/** - * @brief Get actual event update source - * @rmtoll CR1 URS LL_TIM_GetUpdateSource - * @param TIMx Timer instance - * @retval Returned value can be one of the following values: - * @arg @ref LL_TIM_UPDATESOURCE_REGULAR - * @arg @ref LL_TIM_UPDATESOURCE_COUNTER - */ -__STATIC_INLINE uint32_t LL_TIM_GetUpdateSource(TIM_TypeDef *TIMx) -{ - return (uint32_t)(READ_BIT(TIMx->CR1, TIM_CR1_URS)); -} - -/** - * @brief Set one pulse mode (one shot v.s. repetitive). - * @rmtoll CR1 OPM LL_TIM_SetOnePulseMode - * @param TIMx Timer instance - * @param OnePulseMode This parameter can be one of the following values: - * @arg @ref LL_TIM_ONEPULSEMODE_SINGLE - * @arg @ref LL_TIM_ONEPULSEMODE_REPETITIVE - * @retval None - */ -__STATIC_INLINE void LL_TIM_SetOnePulseMode(TIM_TypeDef *TIMx, uint32_t OnePulseMode) -{ - MODIFY_REG(TIMx->CR1, TIM_CR1_OPM, OnePulseMode); -} - -/** - * @brief Get actual one pulse mode. - * @rmtoll CR1 OPM LL_TIM_GetOnePulseMode - * @param TIMx Timer instance - * @retval Returned value can be one of the following values: - * @arg @ref LL_TIM_ONEPULSEMODE_SINGLE - * @arg @ref LL_TIM_ONEPULSEMODE_REPETITIVE - */ -__STATIC_INLINE uint32_t LL_TIM_GetOnePulseMode(TIM_TypeDef *TIMx) -{ - return (uint32_t)(READ_BIT(TIMx->CR1, TIM_CR1_OPM)); -} - -/** - * @brief Set the timer counter counting mode. - * @note Macro IS_TIM_COUNTER_MODE_SELECT_INSTANCE(TIMx) can be used to - * check whether or not the counter mode selection feature is supported - * by a timer instance. - * @note Switching from Center Aligned counter mode to Edge counter mode (or reverse) - * requires a timer reset to avoid unexpected direction - * due to DIR bit readonly in center aligned mode. - * @rmtoll CR1 DIR LL_TIM_SetCounterMode\n - * CR1 CMS LL_TIM_SetCounterMode - * @param TIMx Timer instance - * @param CounterMode This parameter can be one of the following values: - * @arg @ref LL_TIM_COUNTERMODE_UP - * @arg @ref LL_TIM_COUNTERMODE_DOWN - * @arg @ref LL_TIM_COUNTERMODE_CENTER_UP - * @arg @ref LL_TIM_COUNTERMODE_CENTER_DOWN - * @arg @ref LL_TIM_COUNTERMODE_CENTER_UP_DOWN - * @retval None - */ -__STATIC_INLINE void LL_TIM_SetCounterMode(TIM_TypeDef *TIMx, uint32_t CounterMode) -{ - MODIFY_REG(TIMx->CR1, (TIM_CR1_DIR | TIM_CR1_CMS), CounterMode); -} - -/** - * @brief Get actual counter mode. - * @note Macro IS_TIM_COUNTER_MODE_SELECT_INSTANCE(TIMx) can be used to - * check whether or not the counter mode selection feature is supported - * by a timer instance. - * @rmtoll CR1 DIR LL_TIM_GetCounterMode\n - * CR1 CMS LL_TIM_GetCounterMode - * @param TIMx Timer instance - * @retval Returned value can be one of the following values: - * @arg @ref LL_TIM_COUNTERMODE_UP - * @arg @ref LL_TIM_COUNTERMODE_DOWN - * @arg @ref LL_TIM_COUNTERMODE_CENTER_UP - * @arg @ref LL_TIM_COUNTERMODE_CENTER_DOWN - * @arg @ref LL_TIM_COUNTERMODE_CENTER_UP_DOWN - */ -__STATIC_INLINE uint32_t LL_TIM_GetCounterMode(TIM_TypeDef *TIMx) -{ - uint32_t counter_mode; - - counter_mode = (uint32_t)(READ_BIT(TIMx->CR1, TIM_CR1_CMS)); - - if (counter_mode == 0U) - { - counter_mode = (uint32_t)(READ_BIT(TIMx->CR1, TIM_CR1_DIR)); - } - - return counter_mode; -} - -/** - * @brief Enable auto-reload (ARR) preload. - * @rmtoll CR1 ARPE LL_TIM_EnableARRPreload - * @param TIMx Timer instance - * @retval None - */ -__STATIC_INLINE void LL_TIM_EnableARRPreload(TIM_TypeDef *TIMx) -{ - SET_BIT(TIMx->CR1, TIM_CR1_ARPE); -} - -/** - * @brief Disable auto-reload (ARR) preload. - * @rmtoll CR1 ARPE LL_TIM_DisableARRPreload - * @param TIMx Timer instance - * @retval None - */ -__STATIC_INLINE void LL_TIM_DisableARRPreload(TIM_TypeDef *TIMx) -{ - CLEAR_BIT(TIMx->CR1, TIM_CR1_ARPE); -} - -/** - * @brief Indicates whether auto-reload (ARR) preload is enabled. - * @rmtoll CR1 ARPE LL_TIM_IsEnabledARRPreload - * @param TIMx Timer instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_TIM_IsEnabledARRPreload(TIM_TypeDef *TIMx) -{ - return ((READ_BIT(TIMx->CR1, TIM_CR1_ARPE) == (TIM_CR1_ARPE)) ? 1UL : 0UL); -} - -/** - * @brief Set the division ratio between the timer clock and the sampling clock used by the dead-time generators - * (when supported) and the digital filters. - * @note Macro IS_TIM_CLOCK_DIVISION_INSTANCE(TIMx) can be used to check - * whether or not the clock division feature is supported by the timer - * instance. - * @rmtoll CR1 CKD LL_TIM_SetClockDivision - * @param TIMx Timer instance - * @param ClockDivision This parameter can be one of the following values: - * @arg @ref LL_TIM_CLOCKDIVISION_DIV1 - * @arg @ref LL_TIM_CLOCKDIVISION_DIV2 - * @arg @ref LL_TIM_CLOCKDIVISION_DIV4 - * @retval None - */ -__STATIC_INLINE void LL_TIM_SetClockDivision(TIM_TypeDef *TIMx, uint32_t ClockDivision) -{ - MODIFY_REG(TIMx->CR1, TIM_CR1_CKD, ClockDivision); -} - -/** - * @brief Get the actual division ratio between the timer clock and the sampling clock used by the dead-time - * generators (when supported) and the digital filters. - * @note Macro IS_TIM_CLOCK_DIVISION_INSTANCE(TIMx) can be used to check - * whether or not the clock division feature is supported by the timer - * instance. - * @rmtoll CR1 CKD LL_TIM_GetClockDivision - * @param TIMx Timer instance - * @retval Returned value can be one of the following values: - * @arg @ref LL_TIM_CLOCKDIVISION_DIV1 - * @arg @ref LL_TIM_CLOCKDIVISION_DIV2 - * @arg @ref LL_TIM_CLOCKDIVISION_DIV4 - */ -__STATIC_INLINE uint32_t LL_TIM_GetClockDivision(TIM_TypeDef *TIMx) -{ - return (uint32_t)(READ_BIT(TIMx->CR1, TIM_CR1_CKD)); -} - -/** - * @brief Set the counter value. - * @note Macro IS_TIM_32B_COUNTER_INSTANCE(TIMx) can be used to check - * whether or not a timer instance supports a 32 bits counter. - * @rmtoll CNT CNT LL_TIM_SetCounter - * @param TIMx Timer instance - * @param Counter Counter value (between Min_Data=0 and Max_Data=0xFFFF or 0xFFFFFFFF) - * @retval None - */ -__STATIC_INLINE void LL_TIM_SetCounter(TIM_TypeDef *TIMx, uint32_t Counter) -{ - WRITE_REG(TIMx->CNT, Counter); -} - -/** - * @brief Get the counter value. - * @note Macro IS_TIM_32B_COUNTER_INSTANCE(TIMx) can be used to check - * whether or not a timer instance supports a 32 bits counter. - * @rmtoll CNT CNT LL_TIM_GetCounter - * @param TIMx Timer instance - * @retval Counter value (between Min_Data=0 and Max_Data=0xFFFF or 0xFFFFFFFF) - */ -__STATIC_INLINE uint32_t LL_TIM_GetCounter(TIM_TypeDef *TIMx) -{ - return (uint32_t)(READ_REG(TIMx->CNT)); -} - -/** - * @brief Get the current direction of the counter - * @rmtoll CR1 DIR LL_TIM_GetDirection - * @param TIMx Timer instance - * @retval Returned value can be one of the following values: - * @arg @ref LL_TIM_COUNTERDIRECTION_UP - * @arg @ref LL_TIM_COUNTERDIRECTION_DOWN - */ -__STATIC_INLINE uint32_t LL_TIM_GetDirection(TIM_TypeDef *TIMx) -{ - return (uint32_t)(READ_BIT(TIMx->CR1, TIM_CR1_DIR)); -} - -/** - * @brief Set the prescaler value. - * @note The counter clock frequency CK_CNT is equal to fCK_PSC / (PSC[15:0] + 1). - * @note The prescaler can be changed on the fly as this control register is buffered. The new - * prescaler ratio is taken into account at the next update event. - * @note Helper macro @ref __LL_TIM_CALC_PSC can be used to calculate the Prescaler parameter - * @rmtoll PSC PSC LL_TIM_SetPrescaler - * @param TIMx Timer instance - * @param Prescaler between Min_Data=0 and Max_Data=65535 - * @retval None - */ -__STATIC_INLINE void LL_TIM_SetPrescaler(TIM_TypeDef *TIMx, uint32_t Prescaler) -{ - WRITE_REG(TIMx->PSC, Prescaler); -} - -/** - * @brief Get the prescaler value. - * @rmtoll PSC PSC LL_TIM_GetPrescaler - * @param TIMx Timer instance - * @retval Prescaler value between Min_Data=0 and Max_Data=65535 - */ -__STATIC_INLINE uint32_t LL_TIM_GetPrescaler(TIM_TypeDef *TIMx) -{ - return (uint32_t)(READ_REG(TIMx->PSC)); -} - -/** - * @brief Set the auto-reload value. - * @note The counter is blocked while the auto-reload value is null. - * @note Macro IS_TIM_32B_COUNTER_INSTANCE(TIMx) can be used to check - * whether or not a timer instance supports a 32 bits counter. - * @note Helper macro @ref __LL_TIM_CALC_ARR can be used to calculate the AutoReload parameter - * @rmtoll ARR ARR LL_TIM_SetAutoReload - * @param TIMx Timer instance - * @param AutoReload between Min_Data=0 and Max_Data=65535 - * @retval None - */ -__STATIC_INLINE void LL_TIM_SetAutoReload(TIM_TypeDef *TIMx, uint32_t AutoReload) -{ - WRITE_REG(TIMx->ARR, AutoReload); -} - -/** - * @brief Get the auto-reload value. - * @rmtoll ARR ARR LL_TIM_GetAutoReload - * @note Macro IS_TIM_32B_COUNTER_INSTANCE(TIMx) can be used to check - * whether or not a timer instance supports a 32 bits counter. - * @param TIMx Timer instance - * @retval Auto-reload value - */ -__STATIC_INLINE uint32_t LL_TIM_GetAutoReload(TIM_TypeDef *TIMx) -{ - return (uint32_t)(READ_REG(TIMx->ARR)); -} - -/** - * @brief Set the repetition counter value. - * @note Macro IS_TIM_REPETITION_COUNTER_INSTANCE(TIMx) can be used to check - * whether or not a timer instance supports a repetition counter. - * @rmtoll RCR REP LL_TIM_SetRepetitionCounter - * @param TIMx Timer instance - * @param RepetitionCounter between Min_Data=0 and Max_Data=255 or 65535 for advanced timer. - * @retval None - */ -__STATIC_INLINE void LL_TIM_SetRepetitionCounter(TIM_TypeDef *TIMx, uint32_t RepetitionCounter) -{ - WRITE_REG(TIMx->RCR, RepetitionCounter); -} - -/** - * @brief Get the repetition counter value. - * @note Macro IS_TIM_REPETITION_COUNTER_INSTANCE(TIMx) can be used to check - * whether or not a timer instance supports a repetition counter. - * @rmtoll RCR REP LL_TIM_GetRepetitionCounter - * @param TIMx Timer instance - * @retval Repetition counter value - */ -__STATIC_INLINE uint32_t LL_TIM_GetRepetitionCounter(TIM_TypeDef *TIMx) -{ - return (uint32_t)(READ_REG(TIMx->RCR)); -} - -/** - * @} - */ - -/** @defgroup TIM_LL_EF_Capture_Compare Capture Compare configuration - * @{ - */ -/** - * @brief Enable the capture/compare control bits (CCxE, CCxNE and OCxM) preload. - * @note CCxE, CCxNE and OCxM bits are preloaded, after having been written, - * they are updated only when a commutation event (COM) occurs. - * @note Only on channels that have a complementary output. - * @note Macro IS_TIM_COMMUTATION_EVENT_INSTANCE(TIMx) can be used to check - * whether or not a timer instance is able to generate a commutation event. - * @rmtoll CR2 CCPC LL_TIM_CC_EnablePreload - * @param TIMx Timer instance - * @retval None - */ -__STATIC_INLINE void LL_TIM_CC_EnablePreload(TIM_TypeDef *TIMx) -{ - SET_BIT(TIMx->CR2, TIM_CR2_CCPC); -} - -/** - * @brief Disable the capture/compare control bits (CCxE, CCxNE and OCxM) preload. - * @note Macro IS_TIM_COMMUTATION_EVENT_INSTANCE(TIMx) can be used to check - * whether or not a timer instance is able to generate a commutation event. - * @rmtoll CR2 CCPC LL_TIM_CC_DisablePreload - * @param TIMx Timer instance - * @retval None - */ -__STATIC_INLINE void LL_TIM_CC_DisablePreload(TIM_TypeDef *TIMx) -{ - CLEAR_BIT(TIMx->CR2, TIM_CR2_CCPC); -} - -/** - * @brief Set the updated source of the capture/compare control bits (CCxE, CCxNE and OCxM). - * @note Macro IS_TIM_COMMUTATION_EVENT_INSTANCE(TIMx) can be used to check - * whether or not a timer instance is able to generate a commutation event. - * @rmtoll CR2 CCUS LL_TIM_CC_SetUpdate - * @param TIMx Timer instance - * @param CCUpdateSource This parameter can be one of the following values: - * @arg @ref LL_TIM_CCUPDATESOURCE_COMG_ONLY - * @arg @ref LL_TIM_CCUPDATESOURCE_COMG_AND_TRGI - * @retval None - */ -__STATIC_INLINE void LL_TIM_CC_SetUpdate(TIM_TypeDef *TIMx, uint32_t CCUpdateSource) -{ - MODIFY_REG(TIMx->CR2, TIM_CR2_CCUS, CCUpdateSource); -} - -/** - * @brief Set the trigger of the capture/compare DMA request. - * @rmtoll CR2 CCDS LL_TIM_CC_SetDMAReqTrigger - * @param TIMx Timer instance - * @param DMAReqTrigger This parameter can be one of the following values: - * @arg @ref LL_TIM_CCDMAREQUEST_CC - * @arg @ref LL_TIM_CCDMAREQUEST_UPDATE - * @retval None - */ -__STATIC_INLINE void LL_TIM_CC_SetDMAReqTrigger(TIM_TypeDef *TIMx, uint32_t DMAReqTrigger) -{ - MODIFY_REG(TIMx->CR2, TIM_CR2_CCDS, DMAReqTrigger); -} - -/** - * @brief Get actual trigger of the capture/compare DMA request. - * @rmtoll CR2 CCDS LL_TIM_CC_GetDMAReqTrigger - * @param TIMx Timer instance - * @retval Returned value can be one of the following values: - * @arg @ref LL_TIM_CCDMAREQUEST_CC - * @arg @ref LL_TIM_CCDMAREQUEST_UPDATE - */ -__STATIC_INLINE uint32_t LL_TIM_CC_GetDMAReqTrigger(TIM_TypeDef *TIMx) -{ - return (uint32_t)(READ_BIT(TIMx->CR2, TIM_CR2_CCDS)); -} - -/** - * @brief Set the lock level to freeze the - * configuration of several capture/compare parameters. - * @note Macro IS_TIM_BREAK_INSTANCE(TIMx) can be used to check whether or not - * the lock mechanism is supported by a timer instance. - * @rmtoll BDTR LOCK LL_TIM_CC_SetLockLevel - * @param TIMx Timer instance - * @param LockLevel This parameter can be one of the following values: - * @arg @ref LL_TIM_LOCKLEVEL_OFF - * @arg @ref LL_TIM_LOCKLEVEL_1 - * @arg @ref LL_TIM_LOCKLEVEL_2 - * @arg @ref LL_TIM_LOCKLEVEL_3 - * @retval None - */ -__STATIC_INLINE void LL_TIM_CC_SetLockLevel(TIM_TypeDef *TIMx, uint32_t LockLevel) -{ - MODIFY_REG(TIMx->BDTR, TIM_BDTR_LOCK, LockLevel); -} - -/** - * @brief Enable capture/compare channels. - * @rmtoll CCER CC1E LL_TIM_CC_EnableChannel\n - * CCER CC1NE LL_TIM_CC_EnableChannel\n - * CCER CC2E LL_TIM_CC_EnableChannel\n - * CCER CC2NE LL_TIM_CC_EnableChannel\n - * CCER CC3E LL_TIM_CC_EnableChannel\n - * CCER CC3NE LL_TIM_CC_EnableChannel\n - * CCER CC4E LL_TIM_CC_EnableChannel - * @param TIMx Timer instance - * @param Channels This parameter can be a combination of the following values: - * @arg @ref LL_TIM_CHANNEL_CH1 - * @arg @ref LL_TIM_CHANNEL_CH1N - * @arg @ref LL_TIM_CHANNEL_CH2 - * @arg @ref LL_TIM_CHANNEL_CH2N - * @arg @ref LL_TIM_CHANNEL_CH3 - * @arg @ref LL_TIM_CHANNEL_CH3N - * @arg @ref LL_TIM_CHANNEL_CH4 - * @retval None - */ -__STATIC_INLINE void LL_TIM_CC_EnableChannel(TIM_TypeDef *TIMx, uint32_t Channels) -{ - SET_BIT(TIMx->CCER, Channels); -} - -/** - * @brief Disable capture/compare channels. - * @rmtoll CCER CC1E LL_TIM_CC_DisableChannel\n - * CCER CC1NE LL_TIM_CC_DisableChannel\n - * CCER CC2E LL_TIM_CC_DisableChannel\n - * CCER CC2NE LL_TIM_CC_DisableChannel\n - * CCER CC3E LL_TIM_CC_DisableChannel\n - * CCER CC3NE LL_TIM_CC_DisableChannel\n - * CCER CC4E LL_TIM_CC_DisableChannel - * @param TIMx Timer instance - * @param Channels This parameter can be a combination of the following values: - * @arg @ref LL_TIM_CHANNEL_CH1 - * @arg @ref LL_TIM_CHANNEL_CH1N - * @arg @ref LL_TIM_CHANNEL_CH2 - * @arg @ref LL_TIM_CHANNEL_CH2N - * @arg @ref LL_TIM_CHANNEL_CH3 - * @arg @ref LL_TIM_CHANNEL_CH3N - * @arg @ref LL_TIM_CHANNEL_CH4 - * @retval None - */ -__STATIC_INLINE void LL_TIM_CC_DisableChannel(TIM_TypeDef *TIMx, uint32_t Channels) -{ - CLEAR_BIT(TIMx->CCER, Channels); -} - -/** - * @brief Indicate whether channel(s) is(are) enabled. - * @rmtoll CCER CC1E LL_TIM_CC_IsEnabledChannel\n - * CCER CC1NE LL_TIM_CC_IsEnabledChannel\n - * CCER CC2E LL_TIM_CC_IsEnabledChannel\n - * CCER CC2NE LL_TIM_CC_IsEnabledChannel\n - * CCER CC3E LL_TIM_CC_IsEnabledChannel\n - * CCER CC3NE LL_TIM_CC_IsEnabledChannel\n - * CCER CC4E LL_TIM_CC_IsEnabledChannel - * @param TIMx Timer instance - * @param Channels This parameter can be a combination of the following values: - * @arg @ref LL_TIM_CHANNEL_CH1 - * @arg @ref LL_TIM_CHANNEL_CH1N - * @arg @ref LL_TIM_CHANNEL_CH2 - * @arg @ref LL_TIM_CHANNEL_CH2N - * @arg @ref LL_TIM_CHANNEL_CH3 - * @arg @ref LL_TIM_CHANNEL_CH3N - * @arg @ref LL_TIM_CHANNEL_CH4 - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_TIM_CC_IsEnabledChannel(TIM_TypeDef *TIMx, uint32_t Channels) -{ - return ((READ_BIT(TIMx->CCER, Channels) == (Channels)) ? 1UL : 0UL); -} - -/** - * @} - */ - -/** @defgroup TIM_LL_EF_Output_Channel Output channel configuration - * @{ - */ -/** - * @brief Configure an output channel. - * @rmtoll CCMR1 CC1S LL_TIM_OC_ConfigOutput\n - * CCMR1 CC2S LL_TIM_OC_ConfigOutput\n - * CCMR2 CC3S LL_TIM_OC_ConfigOutput\n - * CCMR2 CC4S LL_TIM_OC_ConfigOutput\n - * CCER CC1P LL_TIM_OC_ConfigOutput\n - * CCER CC2P LL_TIM_OC_ConfigOutput\n - * CCER CC3P LL_TIM_OC_ConfigOutput\n - * CCER CC4P LL_TIM_OC_ConfigOutput\n - * CR2 OIS1 LL_TIM_OC_ConfigOutput\n - * CR2 OIS2 LL_TIM_OC_ConfigOutput\n - * CR2 OIS3 LL_TIM_OC_ConfigOutput\n - * CR2 OIS4 LL_TIM_OC_ConfigOutput - * @param TIMx Timer instance - * @param Channel This parameter can be one of the following values: - * @arg @ref LL_TIM_CHANNEL_CH1 - * @arg @ref LL_TIM_CHANNEL_CH2 - * @arg @ref LL_TIM_CHANNEL_CH3 - * @arg @ref LL_TIM_CHANNEL_CH4 - * @param Configuration This parameter must be a combination of all the following values: - * @arg @ref LL_TIM_OCPOLARITY_HIGH or @ref LL_TIM_OCPOLARITY_LOW - * @arg @ref LL_TIM_OCIDLESTATE_LOW or @ref LL_TIM_OCIDLESTATE_HIGH - * @retval None - */ -__STATIC_INLINE void LL_TIM_OC_ConfigOutput(TIM_TypeDef *TIMx, uint32_t Channel, uint32_t Configuration) -{ - uint8_t iChannel = TIM_GET_CHANNEL_INDEX(Channel); - __IO uint32_t *pReg = (__IO uint32_t *)((uint32_t)((uint32_t)(&TIMx->CCMR1) + OFFSET_TAB_CCMRx[iChannel])); - CLEAR_BIT(*pReg, (TIM_CCMR1_CC1S << SHIFT_TAB_OCxx[iChannel])); - MODIFY_REG(TIMx->CCER, (TIM_CCER_CC1P << SHIFT_TAB_CCxP[iChannel]), - (Configuration & TIM_CCER_CC1P) << SHIFT_TAB_CCxP[iChannel]); - MODIFY_REG(TIMx->CR2, (TIM_CR2_OIS1 << SHIFT_TAB_OISx[iChannel]), - (Configuration & TIM_CR2_OIS1) << SHIFT_TAB_OISx[iChannel]); -} - -/** - * @brief Define the behavior of the output reference signal OCxREF from which - * OCx and OCxN (when relevant) are derived. - * @rmtoll CCMR1 OC1M LL_TIM_OC_SetMode\n - * CCMR1 OC2M LL_TIM_OC_SetMode\n - * CCMR2 OC3M LL_TIM_OC_SetMode\n - * CCMR2 OC4M LL_TIM_OC_SetMode - * @param TIMx Timer instance - * @param Channel This parameter can be one of the following values: - * @arg @ref LL_TIM_CHANNEL_CH1 - * @arg @ref LL_TIM_CHANNEL_CH2 - * @arg @ref LL_TIM_CHANNEL_CH3 - * @arg @ref LL_TIM_CHANNEL_CH4 - * @param Mode This parameter can be one of the following values: - * @arg @ref LL_TIM_OCMODE_FROZEN - * @arg @ref LL_TIM_OCMODE_ACTIVE - * @arg @ref LL_TIM_OCMODE_INACTIVE - * @arg @ref LL_TIM_OCMODE_TOGGLE - * @arg @ref LL_TIM_OCMODE_FORCED_INACTIVE - * @arg @ref LL_TIM_OCMODE_FORCED_ACTIVE - * @arg @ref LL_TIM_OCMODE_PWM1 - * @arg @ref LL_TIM_OCMODE_PWM2 - * @retval None - */ -__STATIC_INLINE void LL_TIM_OC_SetMode(TIM_TypeDef *TIMx, uint32_t Channel, uint32_t Mode) -{ - uint8_t iChannel = TIM_GET_CHANNEL_INDEX(Channel); - __IO uint32_t *pReg = (__IO uint32_t *)((uint32_t)((uint32_t)(&TIMx->CCMR1) + OFFSET_TAB_CCMRx[iChannel])); - MODIFY_REG(*pReg, ((TIM_CCMR1_OC1M | TIM_CCMR1_CC1S) << SHIFT_TAB_OCxx[iChannel]), Mode << SHIFT_TAB_OCxx[iChannel]); -} - -/** - * @brief Get the output compare mode of an output channel. - * @rmtoll CCMR1 OC1M LL_TIM_OC_GetMode\n - * CCMR1 OC2M LL_TIM_OC_GetMode\n - * CCMR2 OC3M LL_TIM_OC_GetMode\n - * CCMR2 OC4M LL_TIM_OC_GetMode - * @param TIMx Timer instance - * @param Channel This parameter can be one of the following values: - * @arg @ref LL_TIM_CHANNEL_CH1 - * @arg @ref LL_TIM_CHANNEL_CH2 - * @arg @ref LL_TIM_CHANNEL_CH3 - * @arg @ref LL_TIM_CHANNEL_CH4 - * @retval Returned value can be one of the following values: - * @arg @ref LL_TIM_OCMODE_FROZEN - * @arg @ref LL_TIM_OCMODE_ACTIVE - * @arg @ref LL_TIM_OCMODE_INACTIVE - * @arg @ref LL_TIM_OCMODE_TOGGLE - * @arg @ref LL_TIM_OCMODE_FORCED_INACTIVE - * @arg @ref LL_TIM_OCMODE_FORCED_ACTIVE - * @arg @ref LL_TIM_OCMODE_PWM1 - * @arg @ref LL_TIM_OCMODE_PWM2 - */ -__STATIC_INLINE uint32_t LL_TIM_OC_GetMode(TIM_TypeDef *TIMx, uint32_t Channel) -{ - uint8_t iChannel = TIM_GET_CHANNEL_INDEX(Channel); - const __IO uint32_t *pReg = (__IO uint32_t *)((uint32_t)((uint32_t)(&TIMx->CCMR1) + OFFSET_TAB_CCMRx[iChannel])); - return (READ_BIT(*pReg, ((TIM_CCMR1_OC1M | TIM_CCMR1_CC1S) << SHIFT_TAB_OCxx[iChannel])) >> SHIFT_TAB_OCxx[iChannel]); -} - -/** - * @brief Set the polarity of an output channel. - * @rmtoll CCER CC1P LL_TIM_OC_SetPolarity\n - * CCER CC1NP LL_TIM_OC_SetPolarity\n - * CCER CC2P LL_TIM_OC_SetPolarity\n - * CCER CC2NP LL_TIM_OC_SetPolarity\n - * CCER CC3P LL_TIM_OC_SetPolarity\n - * CCER CC3NP LL_TIM_OC_SetPolarity\n - * CCER CC4P LL_TIM_OC_SetPolarity - * @param TIMx Timer instance - * @param Channel This parameter can be one of the following values: - * @arg @ref LL_TIM_CHANNEL_CH1 - * @arg @ref LL_TIM_CHANNEL_CH1N - * @arg @ref LL_TIM_CHANNEL_CH2 - * @arg @ref LL_TIM_CHANNEL_CH2N - * @arg @ref LL_TIM_CHANNEL_CH3 - * @arg @ref LL_TIM_CHANNEL_CH3N - * @arg @ref LL_TIM_CHANNEL_CH4 - * @param Polarity This parameter can be one of the following values: - * @arg @ref LL_TIM_OCPOLARITY_HIGH - * @arg @ref LL_TIM_OCPOLARITY_LOW - * @retval None - */ -__STATIC_INLINE void LL_TIM_OC_SetPolarity(TIM_TypeDef *TIMx, uint32_t Channel, uint32_t Polarity) -{ - uint8_t iChannel = TIM_GET_CHANNEL_INDEX(Channel); - MODIFY_REG(TIMx->CCER, (TIM_CCER_CC1P << SHIFT_TAB_CCxP[iChannel]), Polarity << SHIFT_TAB_CCxP[iChannel]); -} - -/** - * @brief Get the polarity of an output channel. - * @rmtoll CCER CC1P LL_TIM_OC_GetPolarity\n - * CCER CC1NP LL_TIM_OC_GetPolarity\n - * CCER CC2P LL_TIM_OC_GetPolarity\n - * CCER CC2NP LL_TIM_OC_GetPolarity\n - * CCER CC3P LL_TIM_OC_GetPolarity\n - * CCER CC3NP LL_TIM_OC_GetPolarity\n - * CCER CC4P LL_TIM_OC_GetPolarity - * @param TIMx Timer instance - * @param Channel This parameter can be one of the following values: - * @arg @ref LL_TIM_CHANNEL_CH1 - * @arg @ref LL_TIM_CHANNEL_CH1N - * @arg @ref LL_TIM_CHANNEL_CH2 - * @arg @ref LL_TIM_CHANNEL_CH2N - * @arg @ref LL_TIM_CHANNEL_CH3 - * @arg @ref LL_TIM_CHANNEL_CH3N - * @arg @ref LL_TIM_CHANNEL_CH4 - * @retval Returned value can be one of the following values: - * @arg @ref LL_TIM_OCPOLARITY_HIGH - * @arg @ref LL_TIM_OCPOLARITY_LOW - */ -__STATIC_INLINE uint32_t LL_TIM_OC_GetPolarity(TIM_TypeDef *TIMx, uint32_t Channel) -{ - uint8_t iChannel = TIM_GET_CHANNEL_INDEX(Channel); - return (READ_BIT(TIMx->CCER, (TIM_CCER_CC1P << SHIFT_TAB_CCxP[iChannel])) >> SHIFT_TAB_CCxP[iChannel]); -} - -/** - * @brief Set the IDLE state of an output channel - * @note This function is significant only for the timer instances - * supporting the break feature. Macro IS_TIM_BREAK_INSTANCE(TIMx) - * can be used to check whether or not a timer instance provides - * a break input. - * @rmtoll CR2 OIS1 LL_TIM_OC_SetIdleState\n - * CR2 OIS1N LL_TIM_OC_SetIdleState\n - * CR2 OIS2 LL_TIM_OC_SetIdleState\n - * CR2 OIS2N LL_TIM_OC_SetIdleState\n - * CR2 OIS3 LL_TIM_OC_SetIdleState\n - * CR2 OIS3N LL_TIM_OC_SetIdleState\n - * CR2 OIS4 LL_TIM_OC_SetIdleState - * @param TIMx Timer instance - * @param Channel This parameter can be one of the following values: - * @arg @ref LL_TIM_CHANNEL_CH1 - * @arg @ref LL_TIM_CHANNEL_CH1N - * @arg @ref LL_TIM_CHANNEL_CH2 - * @arg @ref LL_TIM_CHANNEL_CH2N - * @arg @ref LL_TIM_CHANNEL_CH3 - * @arg @ref LL_TIM_CHANNEL_CH3N - * @arg @ref LL_TIM_CHANNEL_CH4 - * @param IdleState This parameter can be one of the following values: - * @arg @ref LL_TIM_OCIDLESTATE_LOW - * @arg @ref LL_TIM_OCIDLESTATE_HIGH - * @retval None - */ -__STATIC_INLINE void LL_TIM_OC_SetIdleState(TIM_TypeDef *TIMx, uint32_t Channel, uint32_t IdleState) -{ - uint8_t iChannel = TIM_GET_CHANNEL_INDEX(Channel); - MODIFY_REG(TIMx->CR2, (TIM_CR2_OIS1 << SHIFT_TAB_OISx[iChannel]), IdleState << SHIFT_TAB_OISx[iChannel]); -} - -/** - * @brief Get the IDLE state of an output channel - * @rmtoll CR2 OIS1 LL_TIM_OC_GetIdleState\n - * CR2 OIS1N LL_TIM_OC_GetIdleState\n - * CR2 OIS2 LL_TIM_OC_GetIdleState\n - * CR2 OIS2N LL_TIM_OC_GetIdleState\n - * CR2 OIS3 LL_TIM_OC_GetIdleState\n - * CR2 OIS3N LL_TIM_OC_GetIdleState\n - * CR2 OIS4 LL_TIM_OC_GetIdleState - * @param TIMx Timer instance - * @param Channel This parameter can be one of the following values: - * @arg @ref LL_TIM_CHANNEL_CH1 - * @arg @ref LL_TIM_CHANNEL_CH1N - * @arg @ref LL_TIM_CHANNEL_CH2 - * @arg @ref LL_TIM_CHANNEL_CH2N - * @arg @ref LL_TIM_CHANNEL_CH3 - * @arg @ref LL_TIM_CHANNEL_CH3N - * @arg @ref LL_TIM_CHANNEL_CH4 - * @retval Returned value can be one of the following values: - * @arg @ref LL_TIM_OCIDLESTATE_LOW - * @arg @ref LL_TIM_OCIDLESTATE_HIGH - */ -__STATIC_INLINE uint32_t LL_TIM_OC_GetIdleState(TIM_TypeDef *TIMx, uint32_t Channel) -{ - uint8_t iChannel = TIM_GET_CHANNEL_INDEX(Channel); - return (READ_BIT(TIMx->CR2, (TIM_CR2_OIS1 << SHIFT_TAB_OISx[iChannel])) >> SHIFT_TAB_OISx[iChannel]); -} - -/** - * @brief Enable fast mode for the output channel. - * @note Acts only if the channel is configured in PWM1 or PWM2 mode. - * @rmtoll CCMR1 OC1FE LL_TIM_OC_EnableFast\n - * CCMR1 OC2FE LL_TIM_OC_EnableFast\n - * CCMR2 OC3FE LL_TIM_OC_EnableFast\n - * CCMR2 OC4FE LL_TIM_OC_EnableFast - * @param TIMx Timer instance - * @param Channel This parameter can be one of the following values: - * @arg @ref LL_TIM_CHANNEL_CH1 - * @arg @ref LL_TIM_CHANNEL_CH2 - * @arg @ref LL_TIM_CHANNEL_CH3 - * @arg @ref LL_TIM_CHANNEL_CH4 - * @retval None - */ -__STATIC_INLINE void LL_TIM_OC_EnableFast(TIM_TypeDef *TIMx, uint32_t Channel) -{ - uint8_t iChannel = TIM_GET_CHANNEL_INDEX(Channel); - __IO uint32_t *pReg = (__IO uint32_t *)((uint32_t)((uint32_t)(&TIMx->CCMR1) + OFFSET_TAB_CCMRx[iChannel])); - SET_BIT(*pReg, (TIM_CCMR1_OC1FE << SHIFT_TAB_OCxx[iChannel])); - -} - -/** - * @brief Disable fast mode for the output channel. - * @rmtoll CCMR1 OC1FE LL_TIM_OC_DisableFast\n - * CCMR1 OC2FE LL_TIM_OC_DisableFast\n - * CCMR2 OC3FE LL_TIM_OC_DisableFast\n - * CCMR2 OC4FE LL_TIM_OC_DisableFast - * @param TIMx Timer instance - * @param Channel This parameter can be one of the following values: - * @arg @ref LL_TIM_CHANNEL_CH1 - * @arg @ref LL_TIM_CHANNEL_CH2 - * @arg @ref LL_TIM_CHANNEL_CH3 - * @arg @ref LL_TIM_CHANNEL_CH4 - * @retval None - */ -__STATIC_INLINE void LL_TIM_OC_DisableFast(TIM_TypeDef *TIMx, uint32_t Channel) -{ - uint8_t iChannel = TIM_GET_CHANNEL_INDEX(Channel); - __IO uint32_t *pReg = (__IO uint32_t *)((uint32_t)((uint32_t)(&TIMx->CCMR1) + OFFSET_TAB_CCMRx[iChannel])); - CLEAR_BIT(*pReg, (TIM_CCMR1_OC1FE << SHIFT_TAB_OCxx[iChannel])); - -} - -/** - * @brief Indicates whether fast mode is enabled for the output channel. - * @rmtoll CCMR1 OC1FE LL_TIM_OC_IsEnabledFast\n - * CCMR1 OC2FE LL_TIM_OC_IsEnabledFast\n - * CCMR2 OC3FE LL_TIM_OC_IsEnabledFast\n - * CCMR2 OC4FE LL_TIM_OC_IsEnabledFast\n - * @param TIMx Timer instance - * @param Channel This parameter can be one of the following values: - * @arg @ref LL_TIM_CHANNEL_CH1 - * @arg @ref LL_TIM_CHANNEL_CH2 - * @arg @ref LL_TIM_CHANNEL_CH3 - * @arg @ref LL_TIM_CHANNEL_CH4 - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_TIM_OC_IsEnabledFast(TIM_TypeDef *TIMx, uint32_t Channel) -{ - uint8_t iChannel = TIM_GET_CHANNEL_INDEX(Channel); - const __IO uint32_t *pReg = (__IO uint32_t *)((uint32_t)((uint32_t)(&TIMx->CCMR1) + OFFSET_TAB_CCMRx[iChannel])); - uint32_t bitfield = TIM_CCMR1_OC1FE << SHIFT_TAB_OCxx[iChannel]; - return ((READ_BIT(*pReg, bitfield) == bitfield) ? 1UL : 0UL); -} - -/** - * @brief Enable compare register (TIMx_CCRx) preload for the output channel. - * @rmtoll CCMR1 OC1PE LL_TIM_OC_EnablePreload\n - * CCMR1 OC2PE LL_TIM_OC_EnablePreload\n - * CCMR2 OC3PE LL_TIM_OC_EnablePreload\n - * CCMR2 OC4PE LL_TIM_OC_EnablePreload - * @param TIMx Timer instance - * @param Channel This parameter can be one of the following values: - * @arg @ref LL_TIM_CHANNEL_CH1 - * @arg @ref LL_TIM_CHANNEL_CH2 - * @arg @ref LL_TIM_CHANNEL_CH3 - * @arg @ref LL_TIM_CHANNEL_CH4 - * @retval None - */ -__STATIC_INLINE void LL_TIM_OC_EnablePreload(TIM_TypeDef *TIMx, uint32_t Channel) -{ - uint8_t iChannel = TIM_GET_CHANNEL_INDEX(Channel); - __IO uint32_t *pReg = (__IO uint32_t *)((uint32_t)((uint32_t)(&TIMx->CCMR1) + OFFSET_TAB_CCMRx[iChannel])); - SET_BIT(*pReg, (TIM_CCMR1_OC1PE << SHIFT_TAB_OCxx[iChannel])); -} - -/** - * @brief Disable compare register (TIMx_CCRx) preload for the output channel. - * @rmtoll CCMR1 OC1PE LL_TIM_OC_DisablePreload\n - * CCMR1 OC2PE LL_TIM_OC_DisablePreload\n - * CCMR2 OC3PE LL_TIM_OC_DisablePreload\n - * CCMR2 OC4PE LL_TIM_OC_DisablePreload - * @param TIMx Timer instance - * @param Channel This parameter can be one of the following values: - * @arg @ref LL_TIM_CHANNEL_CH1 - * @arg @ref LL_TIM_CHANNEL_CH2 - * @arg @ref LL_TIM_CHANNEL_CH3 - * @arg @ref LL_TIM_CHANNEL_CH4 - * @retval None - */ -__STATIC_INLINE void LL_TIM_OC_DisablePreload(TIM_TypeDef *TIMx, uint32_t Channel) -{ - uint8_t iChannel = TIM_GET_CHANNEL_INDEX(Channel); - __IO uint32_t *pReg = (__IO uint32_t *)((uint32_t)((uint32_t)(&TIMx->CCMR1) + OFFSET_TAB_CCMRx[iChannel])); - CLEAR_BIT(*pReg, (TIM_CCMR1_OC1PE << SHIFT_TAB_OCxx[iChannel])); -} - -/** - * @brief Indicates whether compare register (TIMx_CCRx) preload is enabled for the output channel. - * @rmtoll CCMR1 OC1PE LL_TIM_OC_IsEnabledPreload\n - * CCMR1 OC2PE LL_TIM_OC_IsEnabledPreload\n - * CCMR2 OC3PE LL_TIM_OC_IsEnabledPreload\n - * CCMR2 OC4PE LL_TIM_OC_IsEnabledPreload\n - * @param TIMx Timer instance - * @param Channel This parameter can be one of the following values: - * @arg @ref LL_TIM_CHANNEL_CH1 - * @arg @ref LL_TIM_CHANNEL_CH2 - * @arg @ref LL_TIM_CHANNEL_CH3 - * @arg @ref LL_TIM_CHANNEL_CH4 - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_TIM_OC_IsEnabledPreload(TIM_TypeDef *TIMx, uint32_t Channel) -{ - uint8_t iChannel = TIM_GET_CHANNEL_INDEX(Channel); - const __IO uint32_t *pReg = (__IO uint32_t *)((uint32_t)((uint32_t)(&TIMx->CCMR1) + OFFSET_TAB_CCMRx[iChannel])); - uint32_t bitfield = TIM_CCMR1_OC1PE << SHIFT_TAB_OCxx[iChannel]; - return ((READ_BIT(*pReg, bitfield) == bitfield) ? 1UL : 0UL); -} - -/** - * @brief Enable clearing the output channel on an external event. - * @note This function can only be used in Output compare and PWM modes. It does not work in Forced mode. - * @note Macro IS_TIM_OCXREF_CLEAR_INSTANCE(TIMx) can be used to check whether - * or not a timer instance can clear the OCxREF signal on an external event. - * @rmtoll CCMR1 OC1CE LL_TIM_OC_EnableClear\n - * CCMR1 OC2CE LL_TIM_OC_EnableClear\n - * CCMR2 OC3CE LL_TIM_OC_EnableClear\n - * CCMR2 OC4CE LL_TIM_OC_EnableClear - * @param TIMx Timer instance - * @param Channel This parameter can be one of the following values: - * @arg @ref LL_TIM_CHANNEL_CH1 - * @arg @ref LL_TIM_CHANNEL_CH2 - * @arg @ref LL_TIM_CHANNEL_CH3 - * @arg @ref LL_TIM_CHANNEL_CH4 - * @retval None - */ -__STATIC_INLINE void LL_TIM_OC_EnableClear(TIM_TypeDef *TIMx, uint32_t Channel) -{ - uint8_t iChannel = TIM_GET_CHANNEL_INDEX(Channel); - __IO uint32_t *pReg = (__IO uint32_t *)((uint32_t)((uint32_t)(&TIMx->CCMR1) + OFFSET_TAB_CCMRx[iChannel])); - SET_BIT(*pReg, (TIM_CCMR1_OC1CE << SHIFT_TAB_OCxx[iChannel])); -} - -/** - * @brief Disable clearing the output channel on an external event. - * @note Macro IS_TIM_OCXREF_CLEAR_INSTANCE(TIMx) can be used to check whether - * or not a timer instance can clear the OCxREF signal on an external event. - * @rmtoll CCMR1 OC1CE LL_TIM_OC_DisableClear\n - * CCMR1 OC2CE LL_TIM_OC_DisableClear\n - * CCMR2 OC3CE LL_TIM_OC_DisableClear\n - * CCMR2 OC4CE LL_TIM_OC_DisableClear - * @param TIMx Timer instance - * @param Channel This parameter can be one of the following values: - * @arg @ref LL_TIM_CHANNEL_CH1 - * @arg @ref LL_TIM_CHANNEL_CH2 - * @arg @ref LL_TIM_CHANNEL_CH3 - * @arg @ref LL_TIM_CHANNEL_CH4 - * @retval None - */ -__STATIC_INLINE void LL_TIM_OC_DisableClear(TIM_TypeDef *TIMx, uint32_t Channel) -{ - uint8_t iChannel = TIM_GET_CHANNEL_INDEX(Channel); - __IO uint32_t *pReg = (__IO uint32_t *)((uint32_t)((uint32_t)(&TIMx->CCMR1) + OFFSET_TAB_CCMRx[iChannel])); - CLEAR_BIT(*pReg, (TIM_CCMR1_OC1CE << SHIFT_TAB_OCxx[iChannel])); -} - -/** - * @brief Indicates clearing the output channel on an external event is enabled for the output channel. - * @note This function enables clearing the output channel on an external event. - * @note This function can only be used in Output compare and PWM modes. It does not work in Forced mode. - * @note Macro IS_TIM_OCXREF_CLEAR_INSTANCE(TIMx) can be used to check whether - * or not a timer instance can clear the OCxREF signal on an external event. - * @rmtoll CCMR1 OC1CE LL_TIM_OC_IsEnabledClear\n - * CCMR1 OC2CE LL_TIM_OC_IsEnabledClear\n - * CCMR2 OC3CE LL_TIM_OC_IsEnabledClear\n - * CCMR2 OC4CE LL_TIM_OC_IsEnabledClear\n - * @param TIMx Timer instance - * @param Channel This parameter can be one of the following values: - * @arg @ref LL_TIM_CHANNEL_CH1 - * @arg @ref LL_TIM_CHANNEL_CH2 - * @arg @ref LL_TIM_CHANNEL_CH3 - * @arg @ref LL_TIM_CHANNEL_CH4 - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_TIM_OC_IsEnabledClear(TIM_TypeDef *TIMx, uint32_t Channel) -{ - uint8_t iChannel = TIM_GET_CHANNEL_INDEX(Channel); - const __IO uint32_t *pReg = (__IO uint32_t *)((uint32_t)((uint32_t)(&TIMx->CCMR1) + OFFSET_TAB_CCMRx[iChannel])); - uint32_t bitfield = TIM_CCMR1_OC1CE << SHIFT_TAB_OCxx[iChannel]; - return ((READ_BIT(*pReg, bitfield) == bitfield) ? 1UL : 0UL); -} - -/** - * @brief Set the dead-time delay (delay inserted between the rising edge of the OCxREF signal and the rising edge of - * the Ocx and OCxN signals). - * @note Macro IS_TIM_BREAK_INSTANCE(TIMx) can be used to check whether or not - * dead-time insertion feature is supported by a timer instance. - * @note Helper macro @ref __LL_TIM_CALC_DEADTIME can be used to calculate the DeadTime parameter - * @rmtoll BDTR DTG LL_TIM_OC_SetDeadTime - * @param TIMx Timer instance - * @param DeadTime between Min_Data=0 and Max_Data=255 - * @retval None - */ -__STATIC_INLINE void LL_TIM_OC_SetDeadTime(TIM_TypeDef *TIMx, uint32_t DeadTime) -{ - MODIFY_REG(TIMx->BDTR, TIM_BDTR_DTG, DeadTime); -} - -/** - * @brief Set compare value for output channel 1 (TIMx_CCR1). - * @note In 32-bit timer implementations compare value can be between 0x00000000 and 0xFFFFFFFF. - * @note Macro IS_TIM_32B_COUNTER_INSTANCE(TIMx) can be used to check - * whether or not a timer instance supports a 32 bits counter. - * @note Macro IS_TIM_CC1_INSTANCE(TIMx) can be used to check whether or not - * output channel 1 is supported by a timer instance. - * @rmtoll CCR1 CCR1 LL_TIM_OC_SetCompareCH1 - * @param TIMx Timer instance - * @param CompareValue between Min_Data=0 and Max_Data=65535 - * @retval None - */ -__STATIC_INLINE void LL_TIM_OC_SetCompareCH1(TIM_TypeDef *TIMx, uint32_t CompareValue) -{ - WRITE_REG(TIMx->CCR1, CompareValue); -} - -/** - * @brief Set compare value for output channel 2 (TIMx_CCR2). - * @note In 32-bit timer implementations compare value can be between 0x00000000 and 0xFFFFFFFF. - * @note Macro IS_TIM_32B_COUNTER_INSTANCE(TIMx) can be used to check - * whether or not a timer instance supports a 32 bits counter. - * @note Macro IS_TIM_CC2_INSTANCE(TIMx) can be used to check whether or not - * output channel 2 is supported by a timer instance. - * @rmtoll CCR2 CCR2 LL_TIM_OC_SetCompareCH2 - * @param TIMx Timer instance - * @param CompareValue between Min_Data=0 and Max_Data=65535 - * @retval None - */ -__STATIC_INLINE void LL_TIM_OC_SetCompareCH2(TIM_TypeDef *TIMx, uint32_t CompareValue) -{ - WRITE_REG(TIMx->CCR2, CompareValue); -} - -/** - * @brief Set compare value for output channel 3 (TIMx_CCR3). - * @note In 32-bit timer implementations compare value can be between 0x00000000 and 0xFFFFFFFF. - * @note Macro IS_TIM_32B_COUNTER_INSTANCE(TIMx) can be used to check - * whether or not a timer instance supports a 32 bits counter. - * @note Macro IS_TIM_CC3_INSTANCE(TIMx) can be used to check whether or not - * output channel is supported by a timer instance. - * @rmtoll CCR3 CCR3 LL_TIM_OC_SetCompareCH3 - * @param TIMx Timer instance - * @param CompareValue between Min_Data=0 and Max_Data=65535 - * @retval None - */ -__STATIC_INLINE void LL_TIM_OC_SetCompareCH3(TIM_TypeDef *TIMx, uint32_t CompareValue) -{ - WRITE_REG(TIMx->CCR3, CompareValue); -} - -/** - * @brief Set compare value for output channel 4 (TIMx_CCR4). - * @note In 32-bit timer implementations compare value can be between 0x00000000 and 0xFFFFFFFF. - * @note Macro IS_TIM_32B_COUNTER_INSTANCE(TIMx) can be used to check - * whether or not a timer instance supports a 32 bits counter. - * @note Macro IS_TIM_CC4_INSTANCE(TIMx) can be used to check whether or not - * output channel 4 is supported by a timer instance. - * @rmtoll CCR4 CCR4 LL_TIM_OC_SetCompareCH4 - * @param TIMx Timer instance - * @param CompareValue between Min_Data=0 and Max_Data=65535 - * @retval None - */ -__STATIC_INLINE void LL_TIM_OC_SetCompareCH4(TIM_TypeDef *TIMx, uint32_t CompareValue) -{ - WRITE_REG(TIMx->CCR4, CompareValue); -} - -/** - * @brief Get compare value (TIMx_CCR1) set for output channel 1. - * @note In 32-bit timer implementations returned compare value can be between 0x00000000 and 0xFFFFFFFF. - * @note Macro IS_TIM_32B_COUNTER_INSTANCE(TIMx) can be used to check - * whether or not a timer instance supports a 32 bits counter. - * @note Macro IS_TIM_CC1_INSTANCE(TIMx) can be used to check whether or not - * output channel 1 is supported by a timer instance. - * @rmtoll CCR1 CCR1 LL_TIM_OC_GetCompareCH1 - * @param TIMx Timer instance - * @retval CompareValue (between Min_Data=0 and Max_Data=65535) - */ -__STATIC_INLINE uint32_t LL_TIM_OC_GetCompareCH1(TIM_TypeDef *TIMx) -{ - return (uint32_t)(READ_REG(TIMx->CCR1)); -} - -/** - * @brief Get compare value (TIMx_CCR2) set for output channel 2. - * @note In 32-bit timer implementations returned compare value can be between 0x00000000 and 0xFFFFFFFF. - * @note Macro IS_TIM_32B_COUNTER_INSTANCE(TIMx) can be used to check - * whether or not a timer instance supports a 32 bits counter. - * @note Macro IS_TIM_CC2_INSTANCE(TIMx) can be used to check whether or not - * output channel 2 is supported by a timer instance. - * @rmtoll CCR2 CCR2 LL_TIM_OC_GetCompareCH2 - * @param TIMx Timer instance - * @retval CompareValue (between Min_Data=0 and Max_Data=65535) - */ -__STATIC_INLINE uint32_t LL_TIM_OC_GetCompareCH2(TIM_TypeDef *TIMx) -{ - return (uint32_t)(READ_REG(TIMx->CCR2)); -} - -/** - * @brief Get compare value (TIMx_CCR3) set for output channel 3. - * @note In 32-bit timer implementations returned compare value can be between 0x00000000 and 0xFFFFFFFF. - * @note Macro IS_TIM_32B_COUNTER_INSTANCE(TIMx) can be used to check - * whether or not a timer instance supports a 32 bits counter. - * @note Macro IS_TIM_CC3_INSTANCE(TIMx) can be used to check whether or not - * output channel 3 is supported by a timer instance. - * @rmtoll CCR3 CCR3 LL_TIM_OC_GetCompareCH3 - * @param TIMx Timer instance - * @retval CompareValue (between Min_Data=0 and Max_Data=65535) - */ -__STATIC_INLINE uint32_t LL_TIM_OC_GetCompareCH3(TIM_TypeDef *TIMx) -{ - return (uint32_t)(READ_REG(TIMx->CCR3)); -} - -/** - * @brief Get compare value (TIMx_CCR4) set for output channel 4. - * @note In 32-bit timer implementations returned compare value can be between 0x00000000 and 0xFFFFFFFF. - * @note Macro IS_TIM_32B_COUNTER_INSTANCE(TIMx) can be used to check - * whether or not a timer instance supports a 32 bits counter. - * @note Macro IS_TIM_CC4_INSTANCE(TIMx) can be used to check whether or not - * output channel 4 is supported by a timer instance. - * @rmtoll CCR4 CCR4 LL_TIM_OC_GetCompareCH4 - * @param TIMx Timer instance - * @retval CompareValue (between Min_Data=0 and Max_Data=65535) - */ -__STATIC_INLINE uint32_t LL_TIM_OC_GetCompareCH4(TIM_TypeDef *TIMx) -{ - return (uint32_t)(READ_REG(TIMx->CCR4)); -} - -/** - * @} - */ - -/** @defgroup TIM_LL_EF_Input_Channel Input channel configuration - * @{ - */ -/** - * @brief Configure input channel. - * @rmtoll CCMR1 CC1S LL_TIM_IC_Config\n - * CCMR1 IC1PSC LL_TIM_IC_Config\n - * CCMR1 IC1F LL_TIM_IC_Config\n - * CCMR1 CC2S LL_TIM_IC_Config\n - * CCMR1 IC2PSC LL_TIM_IC_Config\n - * CCMR1 IC2F LL_TIM_IC_Config\n - * CCMR2 CC3S LL_TIM_IC_Config\n - * CCMR2 IC3PSC LL_TIM_IC_Config\n - * CCMR2 IC3F LL_TIM_IC_Config\n - * CCMR2 CC4S LL_TIM_IC_Config\n - * CCMR2 IC4PSC LL_TIM_IC_Config\n - * CCMR2 IC4F LL_TIM_IC_Config\n - * CCER CC1P LL_TIM_IC_Config\n - * CCER CC1NP LL_TIM_IC_Config\n - * CCER CC2P LL_TIM_IC_Config\n - * CCER CC2NP LL_TIM_IC_Config\n - * CCER CC3P LL_TIM_IC_Config\n - * CCER CC3NP LL_TIM_IC_Config\n - * CCER CC4P LL_TIM_IC_Config\n - * CCER CC4NP LL_TIM_IC_Config - * @param TIMx Timer instance - * @param Channel This parameter can be one of the following values: - * @arg @ref LL_TIM_CHANNEL_CH1 - * @arg @ref LL_TIM_CHANNEL_CH2 - * @arg @ref LL_TIM_CHANNEL_CH3 - * @arg @ref LL_TIM_CHANNEL_CH4 - * @param Configuration This parameter must be a combination of all the following values: - * @arg @ref LL_TIM_ACTIVEINPUT_DIRECTTI or @ref LL_TIM_ACTIVEINPUT_INDIRECTTI or @ref LL_TIM_ACTIVEINPUT_TRC - * @arg @ref LL_TIM_ICPSC_DIV1 or ... or @ref LL_TIM_ICPSC_DIV8 - * @arg @ref LL_TIM_IC_FILTER_FDIV1 or ... or @ref LL_TIM_IC_FILTER_FDIV32_N8 - * @arg @ref LL_TIM_IC_POLARITY_RISING or @ref LL_TIM_IC_POLARITY_FALLING or @ref LL_TIM_IC_POLARITY_BOTHEDGE - * @retval None - */ -__STATIC_INLINE void LL_TIM_IC_Config(TIM_TypeDef *TIMx, uint32_t Channel, uint32_t Configuration) -{ - uint8_t iChannel = TIM_GET_CHANNEL_INDEX(Channel); - __IO uint32_t *pReg = (__IO uint32_t *)((uint32_t)((uint32_t)(&TIMx->CCMR1) + OFFSET_TAB_CCMRx[iChannel])); - MODIFY_REG(*pReg, ((TIM_CCMR1_IC1F | TIM_CCMR1_IC1PSC | TIM_CCMR1_CC1S) << SHIFT_TAB_ICxx[iChannel]), - ((Configuration >> 16U) & (TIM_CCMR1_IC1F | TIM_CCMR1_IC1PSC | TIM_CCMR1_CC1S)) \ - << SHIFT_TAB_ICxx[iChannel]); - MODIFY_REG(TIMx->CCER, ((TIM_CCER_CC1NP | TIM_CCER_CC1P) << SHIFT_TAB_CCxP[iChannel]), - (Configuration & (TIM_CCER_CC1NP | TIM_CCER_CC1P)) << SHIFT_TAB_CCxP[iChannel]); -} - -/** - * @brief Set the active input. - * @rmtoll CCMR1 CC1S LL_TIM_IC_SetActiveInput\n - * CCMR1 CC2S LL_TIM_IC_SetActiveInput\n - * CCMR2 CC3S LL_TIM_IC_SetActiveInput\n - * CCMR2 CC4S LL_TIM_IC_SetActiveInput - * @param TIMx Timer instance - * @param Channel This parameter can be one of the following values: - * @arg @ref LL_TIM_CHANNEL_CH1 - * @arg @ref LL_TIM_CHANNEL_CH2 - * @arg @ref LL_TIM_CHANNEL_CH3 - * @arg @ref LL_TIM_CHANNEL_CH4 - * @param ICActiveInput This parameter can be one of the following values: - * @arg @ref LL_TIM_ACTIVEINPUT_DIRECTTI - * @arg @ref LL_TIM_ACTIVEINPUT_INDIRECTTI - * @arg @ref LL_TIM_ACTIVEINPUT_TRC - * @retval None - */ -__STATIC_INLINE void LL_TIM_IC_SetActiveInput(TIM_TypeDef *TIMx, uint32_t Channel, uint32_t ICActiveInput) -{ - uint8_t iChannel = TIM_GET_CHANNEL_INDEX(Channel); - __IO uint32_t *pReg = (__IO uint32_t *)((uint32_t)((uint32_t)(&TIMx->CCMR1) + OFFSET_TAB_CCMRx[iChannel])); - MODIFY_REG(*pReg, ((TIM_CCMR1_CC1S) << SHIFT_TAB_ICxx[iChannel]), (ICActiveInput >> 16U) << SHIFT_TAB_ICxx[iChannel]); -} - -/** - * @brief Get the current active input. - * @rmtoll CCMR1 CC1S LL_TIM_IC_GetActiveInput\n - * CCMR1 CC2S LL_TIM_IC_GetActiveInput\n - * CCMR2 CC3S LL_TIM_IC_GetActiveInput\n - * CCMR2 CC4S LL_TIM_IC_GetActiveInput - * @param TIMx Timer instance - * @param Channel This parameter can be one of the following values: - * @arg @ref LL_TIM_CHANNEL_CH1 - * @arg @ref LL_TIM_CHANNEL_CH2 - * @arg @ref LL_TIM_CHANNEL_CH3 - * @arg @ref LL_TIM_CHANNEL_CH4 - * @retval Returned value can be one of the following values: - * @arg @ref LL_TIM_ACTIVEINPUT_DIRECTTI - * @arg @ref LL_TIM_ACTIVEINPUT_INDIRECTTI - * @arg @ref LL_TIM_ACTIVEINPUT_TRC - */ -__STATIC_INLINE uint32_t LL_TIM_IC_GetActiveInput(TIM_TypeDef *TIMx, uint32_t Channel) -{ - uint8_t iChannel = TIM_GET_CHANNEL_INDEX(Channel); - const __IO uint32_t *pReg = (__IO uint32_t *)((uint32_t)((uint32_t)(&TIMx->CCMR1) + OFFSET_TAB_CCMRx[iChannel])); - return ((READ_BIT(*pReg, ((TIM_CCMR1_CC1S) << SHIFT_TAB_ICxx[iChannel])) >> SHIFT_TAB_ICxx[iChannel]) << 16U); -} - -/** - * @brief Set the prescaler of input channel. - * @rmtoll CCMR1 IC1PSC LL_TIM_IC_SetPrescaler\n - * CCMR1 IC2PSC LL_TIM_IC_SetPrescaler\n - * CCMR2 IC3PSC LL_TIM_IC_SetPrescaler\n - * CCMR2 IC4PSC LL_TIM_IC_SetPrescaler - * @param TIMx Timer instance - * @param Channel This parameter can be one of the following values: - * @arg @ref LL_TIM_CHANNEL_CH1 - * @arg @ref LL_TIM_CHANNEL_CH2 - * @arg @ref LL_TIM_CHANNEL_CH3 - * @arg @ref LL_TIM_CHANNEL_CH4 - * @param ICPrescaler This parameter can be one of the following values: - * @arg @ref LL_TIM_ICPSC_DIV1 - * @arg @ref LL_TIM_ICPSC_DIV2 - * @arg @ref LL_TIM_ICPSC_DIV4 - * @arg @ref LL_TIM_ICPSC_DIV8 - * @retval None - */ -__STATIC_INLINE void LL_TIM_IC_SetPrescaler(TIM_TypeDef *TIMx, uint32_t Channel, uint32_t ICPrescaler) -{ - uint8_t iChannel = TIM_GET_CHANNEL_INDEX(Channel); - __IO uint32_t *pReg = (__IO uint32_t *)((uint32_t)((uint32_t)(&TIMx->CCMR1) + OFFSET_TAB_CCMRx[iChannel])); - MODIFY_REG(*pReg, ((TIM_CCMR1_IC1PSC) << SHIFT_TAB_ICxx[iChannel]), (ICPrescaler >> 16U) << SHIFT_TAB_ICxx[iChannel]); -} - -/** - * @brief Get the current prescaler value acting on an input channel. - * @rmtoll CCMR1 IC1PSC LL_TIM_IC_GetPrescaler\n - * CCMR1 IC2PSC LL_TIM_IC_GetPrescaler\n - * CCMR2 IC3PSC LL_TIM_IC_GetPrescaler\n - * CCMR2 IC4PSC LL_TIM_IC_GetPrescaler - * @param TIMx Timer instance - * @param Channel This parameter can be one of the following values: - * @arg @ref LL_TIM_CHANNEL_CH1 - * @arg @ref LL_TIM_CHANNEL_CH2 - * @arg @ref LL_TIM_CHANNEL_CH3 - * @arg @ref LL_TIM_CHANNEL_CH4 - * @retval Returned value can be one of the following values: - * @arg @ref LL_TIM_ICPSC_DIV1 - * @arg @ref LL_TIM_ICPSC_DIV2 - * @arg @ref LL_TIM_ICPSC_DIV4 - * @arg @ref LL_TIM_ICPSC_DIV8 - */ -__STATIC_INLINE uint32_t LL_TIM_IC_GetPrescaler(TIM_TypeDef *TIMx, uint32_t Channel) -{ - uint8_t iChannel = TIM_GET_CHANNEL_INDEX(Channel); - const __IO uint32_t *pReg = (__IO uint32_t *)((uint32_t)((uint32_t)(&TIMx->CCMR1) + OFFSET_TAB_CCMRx[iChannel])); - return ((READ_BIT(*pReg, ((TIM_CCMR1_IC1PSC) << SHIFT_TAB_ICxx[iChannel])) >> SHIFT_TAB_ICxx[iChannel]) << 16U); -} - -/** - * @brief Set the input filter duration. - * @rmtoll CCMR1 IC1F LL_TIM_IC_SetFilter\n - * CCMR1 IC2F LL_TIM_IC_SetFilter\n - * CCMR2 IC3F LL_TIM_IC_SetFilter\n - * CCMR2 IC4F LL_TIM_IC_SetFilter - * @param TIMx Timer instance - * @param Channel This parameter can be one of the following values: - * @arg @ref LL_TIM_CHANNEL_CH1 - * @arg @ref LL_TIM_CHANNEL_CH2 - * @arg @ref LL_TIM_CHANNEL_CH3 - * @arg @ref LL_TIM_CHANNEL_CH4 - * @param ICFilter This parameter can be one of the following values: - * @arg @ref LL_TIM_IC_FILTER_FDIV1 - * @arg @ref LL_TIM_IC_FILTER_FDIV1_N2 - * @arg @ref LL_TIM_IC_FILTER_FDIV1_N4 - * @arg @ref LL_TIM_IC_FILTER_FDIV1_N8 - * @arg @ref LL_TIM_IC_FILTER_FDIV2_N6 - * @arg @ref LL_TIM_IC_FILTER_FDIV2_N8 - * @arg @ref LL_TIM_IC_FILTER_FDIV4_N6 - * @arg @ref LL_TIM_IC_FILTER_FDIV4_N8 - * @arg @ref LL_TIM_IC_FILTER_FDIV8_N6 - * @arg @ref LL_TIM_IC_FILTER_FDIV8_N8 - * @arg @ref LL_TIM_IC_FILTER_FDIV16_N5 - * @arg @ref LL_TIM_IC_FILTER_FDIV16_N6 - * @arg @ref LL_TIM_IC_FILTER_FDIV16_N8 - * @arg @ref LL_TIM_IC_FILTER_FDIV32_N5 - * @arg @ref LL_TIM_IC_FILTER_FDIV32_N6 - * @arg @ref LL_TIM_IC_FILTER_FDIV32_N8 - * @retval None - */ -__STATIC_INLINE void LL_TIM_IC_SetFilter(TIM_TypeDef *TIMx, uint32_t Channel, uint32_t ICFilter) -{ - uint8_t iChannel = TIM_GET_CHANNEL_INDEX(Channel); - __IO uint32_t *pReg = (__IO uint32_t *)((uint32_t)((uint32_t)(&TIMx->CCMR1) + OFFSET_TAB_CCMRx[iChannel])); - MODIFY_REG(*pReg, ((TIM_CCMR1_IC1F) << SHIFT_TAB_ICxx[iChannel]), (ICFilter >> 16U) << SHIFT_TAB_ICxx[iChannel]); -} - -/** - * @brief Get the input filter duration. - * @rmtoll CCMR1 IC1F LL_TIM_IC_GetFilter\n - * CCMR1 IC2F LL_TIM_IC_GetFilter\n - * CCMR2 IC3F LL_TIM_IC_GetFilter\n - * CCMR2 IC4F LL_TIM_IC_GetFilter - * @param TIMx Timer instance - * @param Channel This parameter can be one of the following values: - * @arg @ref LL_TIM_CHANNEL_CH1 - * @arg @ref LL_TIM_CHANNEL_CH2 - * @arg @ref LL_TIM_CHANNEL_CH3 - * @arg @ref LL_TIM_CHANNEL_CH4 - * @retval Returned value can be one of the following values: - * @arg @ref LL_TIM_IC_FILTER_FDIV1 - * @arg @ref LL_TIM_IC_FILTER_FDIV1_N2 - * @arg @ref LL_TIM_IC_FILTER_FDIV1_N4 - * @arg @ref LL_TIM_IC_FILTER_FDIV1_N8 - * @arg @ref LL_TIM_IC_FILTER_FDIV2_N6 - * @arg @ref LL_TIM_IC_FILTER_FDIV2_N8 - * @arg @ref LL_TIM_IC_FILTER_FDIV4_N6 - * @arg @ref LL_TIM_IC_FILTER_FDIV4_N8 - * @arg @ref LL_TIM_IC_FILTER_FDIV8_N6 - * @arg @ref LL_TIM_IC_FILTER_FDIV8_N8 - * @arg @ref LL_TIM_IC_FILTER_FDIV16_N5 - * @arg @ref LL_TIM_IC_FILTER_FDIV16_N6 - * @arg @ref LL_TIM_IC_FILTER_FDIV16_N8 - * @arg @ref LL_TIM_IC_FILTER_FDIV32_N5 - * @arg @ref LL_TIM_IC_FILTER_FDIV32_N6 - * @arg @ref LL_TIM_IC_FILTER_FDIV32_N8 - */ -__STATIC_INLINE uint32_t LL_TIM_IC_GetFilter(TIM_TypeDef *TIMx, uint32_t Channel) -{ - uint8_t iChannel = TIM_GET_CHANNEL_INDEX(Channel); - const __IO uint32_t *pReg = (__IO uint32_t *)((uint32_t)((uint32_t)(&TIMx->CCMR1) + OFFSET_TAB_CCMRx[iChannel])); - return ((READ_BIT(*pReg, ((TIM_CCMR1_IC1F) << SHIFT_TAB_ICxx[iChannel])) >> SHIFT_TAB_ICxx[iChannel]) << 16U); -} - -/** - * @brief Set the input channel polarity. - * @rmtoll CCER CC1P LL_TIM_IC_SetPolarity\n - * CCER CC1NP LL_TIM_IC_SetPolarity\n - * CCER CC2P LL_TIM_IC_SetPolarity\n - * CCER CC2NP LL_TIM_IC_SetPolarity\n - * CCER CC3P LL_TIM_IC_SetPolarity\n - * CCER CC3NP LL_TIM_IC_SetPolarity\n - * CCER CC4P LL_TIM_IC_SetPolarity\n - * CCER CC4NP LL_TIM_IC_SetPolarity - * @param TIMx Timer instance - * @param Channel This parameter can be one of the following values: - * @arg @ref LL_TIM_CHANNEL_CH1 - * @arg @ref LL_TIM_CHANNEL_CH2 - * @arg @ref LL_TIM_CHANNEL_CH3 - * @arg @ref LL_TIM_CHANNEL_CH4 - * @param ICPolarity This parameter can be one of the following values: - * @arg @ref LL_TIM_IC_POLARITY_RISING - * @arg @ref LL_TIM_IC_POLARITY_FALLING - * @arg @ref LL_TIM_IC_POLARITY_BOTHEDGE - * @retval None - */ -__STATIC_INLINE void LL_TIM_IC_SetPolarity(TIM_TypeDef *TIMx, uint32_t Channel, uint32_t ICPolarity) -{ - uint8_t iChannel = TIM_GET_CHANNEL_INDEX(Channel); - MODIFY_REG(TIMx->CCER, ((TIM_CCER_CC1NP | TIM_CCER_CC1P) << SHIFT_TAB_CCxP[iChannel]), - ICPolarity << SHIFT_TAB_CCxP[iChannel]); -} - -/** - * @brief Get the current input channel polarity. - * @rmtoll CCER CC1P LL_TIM_IC_GetPolarity\n - * CCER CC1NP LL_TIM_IC_GetPolarity\n - * CCER CC2P LL_TIM_IC_GetPolarity\n - * CCER CC2NP LL_TIM_IC_GetPolarity\n - * CCER CC3P LL_TIM_IC_GetPolarity\n - * CCER CC3NP LL_TIM_IC_GetPolarity\n - * CCER CC4P LL_TIM_IC_GetPolarity\n - * CCER CC4NP LL_TIM_IC_GetPolarity - * @param TIMx Timer instance - * @param Channel This parameter can be one of the following values: - * @arg @ref LL_TIM_CHANNEL_CH1 - * @arg @ref LL_TIM_CHANNEL_CH2 - * @arg @ref LL_TIM_CHANNEL_CH3 - * @arg @ref LL_TIM_CHANNEL_CH4 - * @retval Returned value can be one of the following values: - * @arg @ref LL_TIM_IC_POLARITY_RISING - * @arg @ref LL_TIM_IC_POLARITY_FALLING - * @arg @ref LL_TIM_IC_POLARITY_BOTHEDGE - */ -__STATIC_INLINE uint32_t LL_TIM_IC_GetPolarity(TIM_TypeDef *TIMx, uint32_t Channel) -{ - uint8_t iChannel = TIM_GET_CHANNEL_INDEX(Channel); - return (READ_BIT(TIMx->CCER, ((TIM_CCER_CC1NP | TIM_CCER_CC1P) << SHIFT_TAB_CCxP[iChannel])) >> - SHIFT_TAB_CCxP[iChannel]); -} - -/** - * @brief Connect the TIMx_CH1, CH2 and CH3 pins to the TI1 input (XOR combination). - * @note Macro IS_TIM_XOR_INSTANCE(TIMx) can be used to check whether or not - * a timer instance provides an XOR input. - * @rmtoll CR2 TI1S LL_TIM_IC_EnableXORCombination - * @param TIMx Timer instance - * @retval None - */ -__STATIC_INLINE void LL_TIM_IC_EnableXORCombination(TIM_TypeDef *TIMx) -{ - SET_BIT(TIMx->CR2, TIM_CR2_TI1S); -} - -/** - * @brief Disconnect the TIMx_CH1, CH2 and CH3 pins from the TI1 input. - * @note Macro IS_TIM_XOR_INSTANCE(TIMx) can be used to check whether or not - * a timer instance provides an XOR input. - * @rmtoll CR2 TI1S LL_TIM_IC_DisableXORCombination - * @param TIMx Timer instance - * @retval None - */ -__STATIC_INLINE void LL_TIM_IC_DisableXORCombination(TIM_TypeDef *TIMx) -{ - CLEAR_BIT(TIMx->CR2, TIM_CR2_TI1S); -} - -/** - * @brief Indicates whether the TIMx_CH1, CH2 and CH3 pins are connectected to the TI1 input. - * @note Macro IS_TIM_XOR_INSTANCE(TIMx) can be used to check whether or not - * a timer instance provides an XOR input. - * @rmtoll CR2 TI1S LL_TIM_IC_IsEnabledXORCombination - * @param TIMx Timer instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_TIM_IC_IsEnabledXORCombination(TIM_TypeDef *TIMx) -{ - return ((READ_BIT(TIMx->CR2, TIM_CR2_TI1S) == (TIM_CR2_TI1S)) ? 1UL : 0UL); -} - -/** - * @brief Get captured value for input channel 1. - * @note In 32-bit timer implementations returned captured value can be between 0x00000000 and 0xFFFFFFFF. - * @note Macro IS_TIM_32B_COUNTER_INSTANCE(TIMx) can be used to check - * whether or not a timer instance supports a 32 bits counter. - * @note Macro IS_TIM_CC1_INSTANCE(TIMx) can be used to check whether or not - * input channel 1 is supported by a timer instance. - * @rmtoll CCR1 CCR1 LL_TIM_IC_GetCaptureCH1 - * @param TIMx Timer instance - * @retval CapturedValue (between Min_Data=0 and Max_Data=65535) - */ -__STATIC_INLINE uint32_t LL_TIM_IC_GetCaptureCH1(TIM_TypeDef *TIMx) -{ - return (uint32_t)(READ_REG(TIMx->CCR1)); -} - -/** - * @brief Get captured value for input channel 2. - * @note In 32-bit timer implementations returned captured value can be between 0x00000000 and 0xFFFFFFFF. - * @note Macro IS_TIM_32B_COUNTER_INSTANCE(TIMx) can be used to check - * whether or not a timer instance supports a 32 bits counter. - * @note Macro IS_TIM_CC2_INSTANCE(TIMx) can be used to check whether or not - * input channel 2 is supported by a timer instance. - * @rmtoll CCR2 CCR2 LL_TIM_IC_GetCaptureCH2 - * @param TIMx Timer instance - * @retval CapturedValue (between Min_Data=0 and Max_Data=65535) - */ -__STATIC_INLINE uint32_t LL_TIM_IC_GetCaptureCH2(TIM_TypeDef *TIMx) -{ - return (uint32_t)(READ_REG(TIMx->CCR2)); -} - -/** - * @brief Get captured value for input channel 3. - * @note In 32-bit timer implementations returned captured value can be between 0x00000000 and 0xFFFFFFFF. - * @note Macro IS_TIM_32B_COUNTER_INSTANCE(TIMx) can be used to check - * whether or not a timer instance supports a 32 bits counter. - * @note Macro IS_TIM_CC3_INSTANCE(TIMx) can be used to check whether or not - * input channel 3 is supported by a timer instance. - * @rmtoll CCR3 CCR3 LL_TIM_IC_GetCaptureCH3 - * @param TIMx Timer instance - * @retval CapturedValue (between Min_Data=0 and Max_Data=65535) - */ -__STATIC_INLINE uint32_t LL_TIM_IC_GetCaptureCH3(TIM_TypeDef *TIMx) -{ - return (uint32_t)(READ_REG(TIMx->CCR3)); -} - -/** - * @brief Get captured value for input channel 4. - * @note In 32-bit timer implementations returned captured value can be between 0x00000000 and 0xFFFFFFFF. - * @note Macro IS_TIM_32B_COUNTER_INSTANCE(TIMx) can be used to check - * whether or not a timer instance supports a 32 bits counter. - * @note Macro IS_TIM_CC4_INSTANCE(TIMx) can be used to check whether or not - * input channel 4 is supported by a timer instance. - * @rmtoll CCR4 CCR4 LL_TIM_IC_GetCaptureCH4 - * @param TIMx Timer instance - * @retval CapturedValue (between Min_Data=0 and Max_Data=65535) - */ -__STATIC_INLINE uint32_t LL_TIM_IC_GetCaptureCH4(TIM_TypeDef *TIMx) -{ - return (uint32_t)(READ_REG(TIMx->CCR4)); -} - -/** - * @} - */ - -/** @defgroup TIM_LL_EF_Clock_Selection Counter clock selection - * @{ - */ -/** - * @brief Enable external clock mode 2. - * @note When external clock mode 2 is enabled the counter is clocked by any active edge on the ETRF signal. - * @note Macro IS_TIM_CLOCKSOURCE_ETRMODE2_INSTANCE(TIMx) can be used to check - * whether or not a timer instance supports external clock mode2. - * @rmtoll SMCR ECE LL_TIM_EnableExternalClock - * @param TIMx Timer instance - * @retval None - */ -__STATIC_INLINE void LL_TIM_EnableExternalClock(TIM_TypeDef *TIMx) -{ - SET_BIT(TIMx->SMCR, TIM_SMCR_ECE); -} - -/** - * @brief Disable external clock mode 2. - * @note Macro IS_TIM_CLOCKSOURCE_ETRMODE2_INSTANCE(TIMx) can be used to check - * whether or not a timer instance supports external clock mode2. - * @rmtoll SMCR ECE LL_TIM_DisableExternalClock - * @param TIMx Timer instance - * @retval None - */ -__STATIC_INLINE void LL_TIM_DisableExternalClock(TIM_TypeDef *TIMx) -{ - CLEAR_BIT(TIMx->SMCR, TIM_SMCR_ECE); -} - -/** - * @brief Indicate whether external clock mode 2 is enabled. - * @note Macro IS_TIM_CLOCKSOURCE_ETRMODE2_INSTANCE(TIMx) can be used to check - * whether or not a timer instance supports external clock mode2. - * @rmtoll SMCR ECE LL_TIM_IsEnabledExternalClock - * @param TIMx Timer instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_TIM_IsEnabledExternalClock(TIM_TypeDef *TIMx) -{ - return ((READ_BIT(TIMx->SMCR, TIM_SMCR_ECE) == (TIM_SMCR_ECE)) ? 1UL : 0UL); -} - -/** - * @brief Set the clock source of the counter clock. - * @note when selected clock source is external clock mode 1, the timer input - * the external clock is applied is selected by calling the @ref LL_TIM_SetTriggerInput() - * function. This timer input must be configured by calling - * the @ref LL_TIM_IC_Config() function. - * @note Macro IS_TIM_CLOCKSOURCE_ETRMODE1_INSTANCE(TIMx) can be used to check - * whether or not a timer instance supports external clock mode1. - * @note Macro IS_TIM_CLOCKSOURCE_ETRMODE2_INSTANCE(TIMx) can be used to check - * whether or not a timer instance supports external clock mode2. - * @rmtoll SMCR SMS LL_TIM_SetClockSource\n - * SMCR ECE LL_TIM_SetClockSource - * @param TIMx Timer instance - * @param ClockSource This parameter can be one of the following values: - * @arg @ref LL_TIM_CLOCKSOURCE_INTERNAL - * @arg @ref LL_TIM_CLOCKSOURCE_EXT_MODE1 - * @arg @ref LL_TIM_CLOCKSOURCE_EXT_MODE2 - * @retval None - */ -__STATIC_INLINE void LL_TIM_SetClockSource(TIM_TypeDef *TIMx, uint32_t ClockSource) -{ - MODIFY_REG(TIMx->SMCR, TIM_SMCR_SMS | TIM_SMCR_ECE, ClockSource); -} - -/** - * @brief Set the encoder interface mode. - * @note Macro IS_TIM_ENCODER_INTERFACE_INSTANCE(TIMx) can be used to check - * whether or not a timer instance supports the encoder mode. - * @rmtoll SMCR SMS LL_TIM_SetEncoderMode - * @param TIMx Timer instance - * @param EncoderMode This parameter can be one of the following values: - * @arg @ref LL_TIM_ENCODERMODE_X2_TI1 - * @arg @ref LL_TIM_ENCODERMODE_X2_TI2 - * @arg @ref LL_TIM_ENCODERMODE_X4_TI12 - * @retval None - */ -__STATIC_INLINE void LL_TIM_SetEncoderMode(TIM_TypeDef *TIMx, uint32_t EncoderMode) -{ - MODIFY_REG(TIMx->SMCR, TIM_SMCR_SMS, EncoderMode); -} - -/** - * @} - */ - -/** @defgroup TIM_LL_EF_Timer_Synchronization Timer synchronisation configuration - * @{ - */ -/** - * @brief Set the trigger output (TRGO) used for timer synchronization . - * @note Macro IS_TIM_MASTER_INSTANCE(TIMx) can be used to check - * whether or not a timer instance can operate as a master timer. - * @rmtoll CR2 MMS LL_TIM_SetTriggerOutput - * @param TIMx Timer instance - * @param TimerSynchronization This parameter can be one of the following values: - * @arg @ref LL_TIM_TRGO_RESET - * @arg @ref LL_TIM_TRGO_ENABLE - * @arg @ref LL_TIM_TRGO_UPDATE - * @arg @ref LL_TIM_TRGO_CC1IF - * @arg @ref LL_TIM_TRGO_OC1REF - * @arg @ref LL_TIM_TRGO_OC2REF - * @arg @ref LL_TIM_TRGO_OC3REF - * @arg @ref LL_TIM_TRGO_OC4REF - * @retval None - */ -__STATIC_INLINE void LL_TIM_SetTriggerOutput(TIM_TypeDef *TIMx, uint32_t TimerSynchronization) -{ - MODIFY_REG(TIMx->CR2, TIM_CR2_MMS, TimerSynchronization); -} - -/** - * @brief Set the synchronization mode of a slave timer. - * @note Macro IS_TIM_SLAVE_INSTANCE(TIMx) can be used to check whether or not - * a timer instance can operate as a slave timer. - * @rmtoll SMCR SMS LL_TIM_SetSlaveMode - * @param TIMx Timer instance - * @param SlaveMode This parameter can be one of the following values: - * @arg @ref LL_TIM_SLAVEMODE_DISABLED - * @arg @ref LL_TIM_SLAVEMODE_RESET - * @arg @ref LL_TIM_SLAVEMODE_GATED - * @arg @ref LL_TIM_SLAVEMODE_TRIGGER - * @retval None - */ -__STATIC_INLINE void LL_TIM_SetSlaveMode(TIM_TypeDef *TIMx, uint32_t SlaveMode) -{ - MODIFY_REG(TIMx->SMCR, TIM_SMCR_SMS, SlaveMode); -} - -/** - * @brief Set the selects the trigger input to be used to synchronize the counter. - * @note Macro IS_TIM_SLAVE_INSTANCE(TIMx) can be used to check whether or not - * a timer instance can operate as a slave timer. - * @rmtoll SMCR TS LL_TIM_SetTriggerInput - * @param TIMx Timer instance - * @param TriggerInput This parameter can be one of the following values: - * @arg @ref LL_TIM_TS_ITR0 - * @arg @ref LL_TIM_TS_ITR1 - * @arg @ref LL_TIM_TS_ITR2 - * @arg @ref LL_TIM_TS_ITR3 - * @arg @ref LL_TIM_TS_TI1F_ED - * @arg @ref LL_TIM_TS_TI1FP1 - * @arg @ref LL_TIM_TS_TI2FP2 - * @arg @ref LL_TIM_TS_ETRF - * @retval None - */ -__STATIC_INLINE void LL_TIM_SetTriggerInput(TIM_TypeDef *TIMx, uint32_t TriggerInput) -{ - MODIFY_REG(TIMx->SMCR, TIM_SMCR_TS, TriggerInput); -} - -/** - * @brief Enable the Master/Slave mode. - * @note Macro IS_TIM_SLAVE_INSTANCE(TIMx) can be used to check whether or not - * a timer instance can operate as a slave timer. - * @rmtoll SMCR MSM LL_TIM_EnableMasterSlaveMode - * @param TIMx Timer instance - * @retval None - */ -__STATIC_INLINE void LL_TIM_EnableMasterSlaveMode(TIM_TypeDef *TIMx) -{ - SET_BIT(TIMx->SMCR, TIM_SMCR_MSM); -} - -/** - * @brief Disable the Master/Slave mode. - * @note Macro IS_TIM_SLAVE_INSTANCE(TIMx) can be used to check whether or not - * a timer instance can operate as a slave timer. - * @rmtoll SMCR MSM LL_TIM_DisableMasterSlaveMode - * @param TIMx Timer instance - * @retval None - */ -__STATIC_INLINE void LL_TIM_DisableMasterSlaveMode(TIM_TypeDef *TIMx) -{ - CLEAR_BIT(TIMx->SMCR, TIM_SMCR_MSM); -} - -/** - * @brief Indicates whether the Master/Slave mode is enabled. - * @note Macro IS_TIM_SLAVE_INSTANCE(TIMx) can be used to check whether or not - * a timer instance can operate as a slave timer. - * @rmtoll SMCR MSM LL_TIM_IsEnabledMasterSlaveMode - * @param TIMx Timer instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_TIM_IsEnabledMasterSlaveMode(TIM_TypeDef *TIMx) -{ - return ((READ_BIT(TIMx->SMCR, TIM_SMCR_MSM) == (TIM_SMCR_MSM)) ? 1UL : 0UL); -} - -/** - * @brief Configure the external trigger (ETR) input. - * @note Macro IS_TIM_ETR_INSTANCE(TIMx) can be used to check whether or not - * a timer instance provides an external trigger input. - * @rmtoll SMCR ETP LL_TIM_ConfigETR\n - * SMCR ETPS LL_TIM_ConfigETR\n - * SMCR ETF LL_TIM_ConfigETR - * @param TIMx Timer instance - * @param ETRPolarity This parameter can be one of the following values: - * @arg @ref LL_TIM_ETR_POLARITY_NONINVERTED - * @arg @ref LL_TIM_ETR_POLARITY_INVERTED - * @param ETRPrescaler This parameter can be one of the following values: - * @arg @ref LL_TIM_ETR_PRESCALER_DIV1 - * @arg @ref LL_TIM_ETR_PRESCALER_DIV2 - * @arg @ref LL_TIM_ETR_PRESCALER_DIV4 - * @arg @ref LL_TIM_ETR_PRESCALER_DIV8 - * @param ETRFilter This parameter can be one of the following values: - * @arg @ref LL_TIM_ETR_FILTER_FDIV1 - * @arg @ref LL_TIM_ETR_FILTER_FDIV1_N2 - * @arg @ref LL_TIM_ETR_FILTER_FDIV1_N4 - * @arg @ref LL_TIM_ETR_FILTER_FDIV1_N8 - * @arg @ref LL_TIM_ETR_FILTER_FDIV2_N6 - * @arg @ref LL_TIM_ETR_FILTER_FDIV2_N8 - * @arg @ref LL_TIM_ETR_FILTER_FDIV4_N6 - * @arg @ref LL_TIM_ETR_FILTER_FDIV4_N8 - * @arg @ref LL_TIM_ETR_FILTER_FDIV8_N6 - * @arg @ref LL_TIM_ETR_FILTER_FDIV8_N8 - * @arg @ref LL_TIM_ETR_FILTER_FDIV16_N5 - * @arg @ref LL_TIM_ETR_FILTER_FDIV16_N6 - * @arg @ref LL_TIM_ETR_FILTER_FDIV16_N8 - * @arg @ref LL_TIM_ETR_FILTER_FDIV32_N5 - * @arg @ref LL_TIM_ETR_FILTER_FDIV32_N6 - * @arg @ref LL_TIM_ETR_FILTER_FDIV32_N8 - * @retval None - */ -__STATIC_INLINE void LL_TIM_ConfigETR(TIM_TypeDef *TIMx, uint32_t ETRPolarity, uint32_t ETRPrescaler, - uint32_t ETRFilter) -{ - MODIFY_REG(TIMx->SMCR, TIM_SMCR_ETP | TIM_SMCR_ETPS | TIM_SMCR_ETF, ETRPolarity | ETRPrescaler | ETRFilter); -} - -/** - * @} - */ - -/** @defgroup TIM_LL_EF_Break_Function Break function configuration - * @{ - */ -/** - * @brief Enable the break function. - * @note Macro IS_TIM_BREAK_INSTANCE(TIMx) can be used to check whether or not - * a timer instance provides a break input. - * @rmtoll BDTR BKE LL_TIM_EnableBRK - * @param TIMx Timer instance - * @retval None - */ -__STATIC_INLINE void LL_TIM_EnableBRK(TIM_TypeDef *TIMx) -{ - __IO uint32_t tmpreg; - SET_BIT(TIMx->BDTR, TIM_BDTR_BKE); - /* Note: Any write operation to this bit takes a delay of 1 APB clock cycle to become effective. */ - tmpreg = READ_REG(TIMx->BDTR); - (void)(tmpreg); -} - -/** - * @brief Disable the break function. - * @rmtoll BDTR BKE LL_TIM_DisableBRK - * @param TIMx Timer instance - * @note Macro IS_TIM_BREAK_INSTANCE(TIMx) can be used to check whether or not - * a timer instance provides a break input. - * @retval None - */ -__STATIC_INLINE void LL_TIM_DisableBRK(TIM_TypeDef *TIMx) -{ - __IO uint32_t tmpreg; - CLEAR_BIT(TIMx->BDTR, TIM_BDTR_BKE); - /* Note: Any write operation to this bit takes a delay of 1 APB clock cycle to become effective. */ - tmpreg = READ_REG(TIMx->BDTR); - (void)(tmpreg); -} - -/** - * @brief Configure the break input. - * @note Macro IS_TIM_BREAK_INSTANCE(TIMx) can be used to check whether or not - * a timer instance provides a break input. - * @rmtoll BDTR BKP LL_TIM_ConfigBRK - * @param TIMx Timer instance - * @param BreakPolarity This parameter can be one of the following values: - * @arg @ref LL_TIM_BREAK_POLARITY_LOW - * @arg @ref LL_TIM_BREAK_POLARITY_HIGH - * @retval None - */ -__STATIC_INLINE void LL_TIM_ConfigBRK(TIM_TypeDef *TIMx, uint32_t BreakPolarity) -{ - __IO uint32_t tmpreg; - MODIFY_REG(TIMx->BDTR, TIM_BDTR_BKP, BreakPolarity); - /* Note: Any write operation to BKP bit takes a delay of 1 APB clock cycle to become effective. */ - tmpreg = READ_REG(TIMx->BDTR); - (void)(tmpreg); -} - -/** - * @brief Select the outputs off state (enabled v.s. disabled) in Idle and Run modes. - * @note Macro IS_TIM_BREAK_INSTANCE(TIMx) can be used to check whether or not - * a timer instance provides a break input. - * @rmtoll BDTR OSSI LL_TIM_SetOffStates\n - * BDTR OSSR LL_TIM_SetOffStates - * @param TIMx Timer instance - * @param OffStateIdle This parameter can be one of the following values: - * @arg @ref LL_TIM_OSSI_DISABLE - * @arg @ref LL_TIM_OSSI_ENABLE - * @param OffStateRun This parameter can be one of the following values: - * @arg @ref LL_TIM_OSSR_DISABLE - * @arg @ref LL_TIM_OSSR_ENABLE - * @retval None - */ -__STATIC_INLINE void LL_TIM_SetOffStates(TIM_TypeDef *TIMx, uint32_t OffStateIdle, uint32_t OffStateRun) -{ - MODIFY_REG(TIMx->BDTR, TIM_BDTR_OSSI | TIM_BDTR_OSSR, OffStateIdle | OffStateRun); -} - -/** - * @brief Enable automatic output (MOE can be set by software or automatically when a break input is active). - * @note Macro IS_TIM_BREAK_INSTANCE(TIMx) can be used to check whether or not - * a timer instance provides a break input. - * @rmtoll BDTR AOE LL_TIM_EnableAutomaticOutput - * @param TIMx Timer instance - * @retval None - */ -__STATIC_INLINE void LL_TIM_EnableAutomaticOutput(TIM_TypeDef *TIMx) -{ - SET_BIT(TIMx->BDTR, TIM_BDTR_AOE); -} - -/** - * @brief Disable automatic output (MOE can be set only by software). - * @note Macro IS_TIM_BREAK_INSTANCE(TIMx) can be used to check whether or not - * a timer instance provides a break input. - * @rmtoll BDTR AOE LL_TIM_DisableAutomaticOutput - * @param TIMx Timer instance - * @retval None - */ -__STATIC_INLINE void LL_TIM_DisableAutomaticOutput(TIM_TypeDef *TIMx) -{ - CLEAR_BIT(TIMx->BDTR, TIM_BDTR_AOE); -} - -/** - * @brief Indicate whether automatic output is enabled. - * @note Macro IS_TIM_BREAK_INSTANCE(TIMx) can be used to check whether or not - * a timer instance provides a break input. - * @rmtoll BDTR AOE LL_TIM_IsEnabledAutomaticOutput - * @param TIMx Timer instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_TIM_IsEnabledAutomaticOutput(TIM_TypeDef *TIMx) -{ - return ((READ_BIT(TIMx->BDTR, TIM_BDTR_AOE) == (TIM_BDTR_AOE)) ? 1UL : 0UL); -} - -/** - * @brief Enable the outputs (set the MOE bit in TIMx_BDTR register). - * @note The MOE bit in TIMx_BDTR register allows to enable /disable the outputs by - * software and is reset in case of break or break2 event - * @note Macro IS_TIM_BREAK_INSTANCE(TIMx) can be used to check whether or not - * a timer instance provides a break input. - * @rmtoll BDTR MOE LL_TIM_EnableAllOutputs - * @param TIMx Timer instance - * @retval None - */ -__STATIC_INLINE void LL_TIM_EnableAllOutputs(TIM_TypeDef *TIMx) -{ - SET_BIT(TIMx->BDTR, TIM_BDTR_MOE); -} - -/** - * @brief Disable the outputs (reset the MOE bit in TIMx_BDTR register). - * @note The MOE bit in TIMx_BDTR register allows to enable /disable the outputs by - * software and is reset in case of break or break2 event. - * @note Macro IS_TIM_BREAK_INSTANCE(TIMx) can be used to check whether or not - * a timer instance provides a break input. - * @rmtoll BDTR MOE LL_TIM_DisableAllOutputs - * @param TIMx Timer instance - * @retval None - */ -__STATIC_INLINE void LL_TIM_DisableAllOutputs(TIM_TypeDef *TIMx) -{ - CLEAR_BIT(TIMx->BDTR, TIM_BDTR_MOE); -} - -/** - * @brief Indicates whether outputs are enabled. - * @note Macro IS_TIM_BREAK_INSTANCE(TIMx) can be used to check whether or not - * a timer instance provides a break input. - * @rmtoll BDTR MOE LL_TIM_IsEnabledAllOutputs - * @param TIMx Timer instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_TIM_IsEnabledAllOutputs(TIM_TypeDef *TIMx) -{ - return ((READ_BIT(TIMx->BDTR, TIM_BDTR_MOE) == (TIM_BDTR_MOE)) ? 1UL : 0UL); -} - -/** - * @} - */ - -/** @defgroup TIM_LL_EF_DMA_Burst_Mode DMA burst mode configuration - * @{ - */ -/** - * @brief Configures the timer DMA burst feature. - * @note Macro IS_TIM_DMABURST_INSTANCE(TIMx) can be used to check whether or - * not a timer instance supports the DMA burst mode. - * @rmtoll DCR DBL LL_TIM_ConfigDMABurst\n - * DCR DBA LL_TIM_ConfigDMABurst - * @param TIMx Timer instance - * @param DMABurstBaseAddress This parameter can be one of the following values: - * @arg @ref LL_TIM_DMABURST_BASEADDR_CR1 - * @arg @ref LL_TIM_DMABURST_BASEADDR_CR2 - * @arg @ref LL_TIM_DMABURST_BASEADDR_SMCR - * @arg @ref LL_TIM_DMABURST_BASEADDR_DIER - * @arg @ref LL_TIM_DMABURST_BASEADDR_SR - * @arg @ref LL_TIM_DMABURST_BASEADDR_EGR - * @arg @ref LL_TIM_DMABURST_BASEADDR_CCMR1 - * @arg @ref LL_TIM_DMABURST_BASEADDR_CCMR2 - * @arg @ref LL_TIM_DMABURST_BASEADDR_CCER - * @arg @ref LL_TIM_DMABURST_BASEADDR_CNT - * @arg @ref LL_TIM_DMABURST_BASEADDR_PSC - * @arg @ref LL_TIM_DMABURST_BASEADDR_ARR - * @arg @ref LL_TIM_DMABURST_BASEADDR_RCR - * @arg @ref LL_TIM_DMABURST_BASEADDR_CCR1 - * @arg @ref LL_TIM_DMABURST_BASEADDR_CCR2 - * @arg @ref LL_TIM_DMABURST_BASEADDR_CCR3 - * @arg @ref LL_TIM_DMABURST_BASEADDR_CCR4 - * @arg @ref LL_TIM_DMABURST_BASEADDR_BDTR - * @param DMABurstLength This parameter can be one of the following values: - * @arg @ref LL_TIM_DMABURST_LENGTH_1TRANSFER - * @arg @ref LL_TIM_DMABURST_LENGTH_2TRANSFERS - * @arg @ref LL_TIM_DMABURST_LENGTH_3TRANSFERS - * @arg @ref LL_TIM_DMABURST_LENGTH_4TRANSFERS - * @arg @ref LL_TIM_DMABURST_LENGTH_5TRANSFERS - * @arg @ref LL_TIM_DMABURST_LENGTH_6TRANSFERS - * @arg @ref LL_TIM_DMABURST_LENGTH_7TRANSFERS - * @arg @ref LL_TIM_DMABURST_LENGTH_8TRANSFERS - * @arg @ref LL_TIM_DMABURST_LENGTH_9TRANSFERS - * @arg @ref LL_TIM_DMABURST_LENGTH_10TRANSFERS - * @arg @ref LL_TIM_DMABURST_LENGTH_11TRANSFERS - * @arg @ref LL_TIM_DMABURST_LENGTH_12TRANSFERS - * @arg @ref LL_TIM_DMABURST_LENGTH_13TRANSFERS - * @arg @ref LL_TIM_DMABURST_LENGTH_14TRANSFERS - * @arg @ref LL_TIM_DMABURST_LENGTH_15TRANSFERS - * @arg @ref LL_TIM_DMABURST_LENGTH_16TRANSFERS - * @arg @ref LL_TIM_DMABURST_LENGTH_17TRANSFERS - * @arg @ref LL_TIM_DMABURST_LENGTH_18TRANSFERS - * @retval None - */ -__STATIC_INLINE void LL_TIM_ConfigDMABurst(TIM_TypeDef *TIMx, uint32_t DMABurstBaseAddress, uint32_t DMABurstLength) -{ - MODIFY_REG(TIMx->DCR, (TIM_DCR_DBL | TIM_DCR_DBA), (DMABurstBaseAddress | DMABurstLength)); -} - -/** - * @} - */ - -/** @defgroup TIM_LL_EF_Timer_Inputs_Remapping Timer input remapping - * @{ - */ -/** - * @brief Remap TIM inputs (input channel, internal/external triggers). - * @note Macro IS_TIM_REMAP_INSTANCE(TIMx) can be used to check whether or not - * a some timer inputs can be remapped. - * @rmtoll TIM1_OR ITR2_RMP LL_TIM_SetRemap\n - * TIM2_OR ITR1_RMP LL_TIM_SetRemap\n - * TIM5_OR ITR1_RMP LL_TIM_SetRemap\n - * TIM5_OR TI4_RMP LL_TIM_SetRemap\n - * TIM9_OR ITR1_RMP LL_TIM_SetRemap\n - * TIM11_OR TI1_RMP LL_TIM_SetRemap\n - * LPTIM1_OR OR LL_TIM_SetRemap - * @param TIMx Timer instance - * @param Remap Remap param depends on the TIMx. Description available only - * in CHM version of the User Manual (not in .pdf). - * Otherwise see Reference Manual description of OR registers. - * - * Below description summarizes "Timer Instance" and "Remap" param combinations: - * - * TIM1: one of the following values - * - * ITR2_RMP can be one of the following values - * @arg @ref LL_TIM_TIM1_ITR2_RMP_TIM3_TRGO (*) - * @arg @ref LL_TIM_TIM1_ITR2_RMP_LPTIM (*) - * - * TIM2: one of the following values - * - * ITR1_RMP can be one of the following values - * @arg @ref LL_TIM_TIM2_ITR1_RMP_TIM8_TRGO - * @arg @ref LL_TIM_TIM2_ITR1_RMP_OTG_FS_SOF - * @arg @ref LL_TIM_TIM2_ITR1_RMP_OTG_HS_SOF - * - * TIM5: one of the following values - * - * @arg @ref LL_TIM_TIM5_TI4_RMP_GPIO - * @arg @ref LL_TIM_TIM5_TI4_RMP_LSI - * @arg @ref LL_TIM_TIM5_TI4_RMP_LSE - * @arg @ref LL_TIM_TIM5_TI4_RMP_RTC - * @arg @ref LL_TIM_TIM5_ITR1_RMP_TIM3_TRGO (*) - * @arg @ref LL_TIM_TIM5_ITR1_RMP_LPTIM (*) - * - * TIM9: one of the following values - * - * ITR1_RMP can be one of the following values - * @arg @ref LL_TIM_TIM9_ITR1_RMP_TIM3_TRGO (*) - * @arg @ref LL_TIM_TIM9_ITR1_RMP_LPTIM (*) - * - * TIM11: one of the following values - * - * @arg @ref LL_TIM_TIM11_TI1_RMP_GPIO - * @arg @ref LL_TIM_TIM11_TI1_RMP_GPIO1 (*) - * @arg @ref LL_TIM_TIM11_TI1_RMP_HSE_RTC - * @arg @ref LL_TIM_TIM11_TI1_RMP_GPIO2 - * @arg @ref LL_TIM_TIM11_TI1_RMP_SPDIFRX (*) - * - * (*) Value not defined in all devices. \n - * - * @retval None - */ -__STATIC_INLINE void LL_TIM_SetRemap(TIM_TypeDef *TIMx, uint32_t Remap) -{ -#if defined(LPTIM_OR_TIM1_ITR2_RMP) && defined(LPTIM_OR_TIM5_ITR1_RMP) && defined(LPTIM_OR_TIM9_ITR1_RMP) - if ((Remap & LL_TIM_LPTIM_REMAP_MASK) == LL_TIM_LPTIM_REMAP_MASK) - { - /* Connect TIMx internal trigger to LPTIM1 output */ - SET_BIT(RCC->APB1ENR, RCC_APB1ENR_LPTIM1EN); - MODIFY_REG(LPTIM1->OR, - (LPTIM_OR_TIM1_ITR2_RMP | LPTIM_OR_TIM5_ITR1_RMP | LPTIM_OR_TIM9_ITR1_RMP), - Remap & ~(LL_TIM_LPTIM_REMAP_MASK)); - } - else - { - MODIFY_REG(TIMx->OR, (Remap >> TIMx_OR_RMP_SHIFT), (Remap & TIMx_OR_RMP_MASK)); - } -#else - MODIFY_REG(TIMx->OR, (Remap >> TIMx_OR_RMP_SHIFT), (Remap & TIMx_OR_RMP_MASK)); -#endif /* LPTIM_OR_TIM1_ITR2_RMP && LPTIM_OR_TIM5_ITR1_RMP && LPTIM_OR_TIM9_ITR1_RMP */ -} - -/** - * @} - */ - -/** @defgroup TIM_LL_EF_FLAG_Management FLAG-Management - * @{ - */ -/** - * @brief Clear the update interrupt flag (UIF). - * @rmtoll SR UIF LL_TIM_ClearFlag_UPDATE - * @param TIMx Timer instance - * @retval None - */ -__STATIC_INLINE void LL_TIM_ClearFlag_UPDATE(TIM_TypeDef *TIMx) -{ - WRITE_REG(TIMx->SR, ~(TIM_SR_UIF)); -} - -/** - * @brief Indicate whether update interrupt flag (UIF) is set (update interrupt is pending). - * @rmtoll SR UIF LL_TIM_IsActiveFlag_UPDATE - * @param TIMx Timer instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_TIM_IsActiveFlag_UPDATE(TIM_TypeDef *TIMx) -{ - return ((READ_BIT(TIMx->SR, TIM_SR_UIF) == (TIM_SR_UIF)) ? 1UL : 0UL); -} - -/** - * @brief Clear the Capture/Compare 1 interrupt flag (CC1F). - * @rmtoll SR CC1IF LL_TIM_ClearFlag_CC1 - * @param TIMx Timer instance - * @retval None - */ -__STATIC_INLINE void LL_TIM_ClearFlag_CC1(TIM_TypeDef *TIMx) -{ - WRITE_REG(TIMx->SR, ~(TIM_SR_CC1IF)); -} - -/** - * @brief Indicate whether Capture/Compare 1 interrupt flag (CC1F) is set (Capture/Compare 1 interrupt is pending). - * @rmtoll SR CC1IF LL_TIM_IsActiveFlag_CC1 - * @param TIMx Timer instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_TIM_IsActiveFlag_CC1(TIM_TypeDef *TIMx) -{ - return ((READ_BIT(TIMx->SR, TIM_SR_CC1IF) == (TIM_SR_CC1IF)) ? 1UL : 0UL); -} - -/** - * @brief Clear the Capture/Compare 2 interrupt flag (CC2F). - * @rmtoll SR CC2IF LL_TIM_ClearFlag_CC2 - * @param TIMx Timer instance - * @retval None - */ -__STATIC_INLINE void LL_TIM_ClearFlag_CC2(TIM_TypeDef *TIMx) -{ - WRITE_REG(TIMx->SR, ~(TIM_SR_CC2IF)); -} - -/** - * @brief Indicate whether Capture/Compare 2 interrupt flag (CC2F) is set (Capture/Compare 2 interrupt is pending). - * @rmtoll SR CC2IF LL_TIM_IsActiveFlag_CC2 - * @param TIMx Timer instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_TIM_IsActiveFlag_CC2(TIM_TypeDef *TIMx) -{ - return ((READ_BIT(TIMx->SR, TIM_SR_CC2IF) == (TIM_SR_CC2IF)) ? 1UL : 0UL); -} - -/** - * @brief Clear the Capture/Compare 3 interrupt flag (CC3F). - * @rmtoll SR CC3IF LL_TIM_ClearFlag_CC3 - * @param TIMx Timer instance - * @retval None - */ -__STATIC_INLINE void LL_TIM_ClearFlag_CC3(TIM_TypeDef *TIMx) -{ - WRITE_REG(TIMx->SR, ~(TIM_SR_CC3IF)); -} - -/** - * @brief Indicate whether Capture/Compare 3 interrupt flag (CC3F) is set (Capture/Compare 3 interrupt is pending). - * @rmtoll SR CC3IF LL_TIM_IsActiveFlag_CC3 - * @param TIMx Timer instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_TIM_IsActiveFlag_CC3(TIM_TypeDef *TIMx) -{ - return ((READ_BIT(TIMx->SR, TIM_SR_CC3IF) == (TIM_SR_CC3IF)) ? 1UL : 0UL); -} - -/** - * @brief Clear the Capture/Compare 4 interrupt flag (CC4F). - * @rmtoll SR CC4IF LL_TIM_ClearFlag_CC4 - * @param TIMx Timer instance - * @retval None - */ -__STATIC_INLINE void LL_TIM_ClearFlag_CC4(TIM_TypeDef *TIMx) -{ - WRITE_REG(TIMx->SR, ~(TIM_SR_CC4IF)); -} - -/** - * @brief Indicate whether Capture/Compare 4 interrupt flag (CC4F) is set (Capture/Compare 4 interrupt is pending). - * @rmtoll SR CC4IF LL_TIM_IsActiveFlag_CC4 - * @param TIMx Timer instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_TIM_IsActiveFlag_CC4(TIM_TypeDef *TIMx) -{ - return ((READ_BIT(TIMx->SR, TIM_SR_CC4IF) == (TIM_SR_CC4IF)) ? 1UL : 0UL); -} - -/** - * @brief Clear the commutation interrupt flag (COMIF). - * @rmtoll SR COMIF LL_TIM_ClearFlag_COM - * @param TIMx Timer instance - * @retval None - */ -__STATIC_INLINE void LL_TIM_ClearFlag_COM(TIM_TypeDef *TIMx) -{ - WRITE_REG(TIMx->SR, ~(TIM_SR_COMIF)); -} - -/** - * @brief Indicate whether commutation interrupt flag (COMIF) is set (commutation interrupt is pending). - * @rmtoll SR COMIF LL_TIM_IsActiveFlag_COM - * @param TIMx Timer instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_TIM_IsActiveFlag_COM(TIM_TypeDef *TIMx) -{ - return ((READ_BIT(TIMx->SR, TIM_SR_COMIF) == (TIM_SR_COMIF)) ? 1UL : 0UL); -} - -/** - * @brief Clear the trigger interrupt flag (TIF). - * @rmtoll SR TIF LL_TIM_ClearFlag_TRIG - * @param TIMx Timer instance - * @retval None - */ -__STATIC_INLINE void LL_TIM_ClearFlag_TRIG(TIM_TypeDef *TIMx) -{ - WRITE_REG(TIMx->SR, ~(TIM_SR_TIF)); -} - -/** - * @brief Indicate whether trigger interrupt flag (TIF) is set (trigger interrupt is pending). - * @rmtoll SR TIF LL_TIM_IsActiveFlag_TRIG - * @param TIMx Timer instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_TIM_IsActiveFlag_TRIG(TIM_TypeDef *TIMx) -{ - return ((READ_BIT(TIMx->SR, TIM_SR_TIF) == (TIM_SR_TIF)) ? 1UL : 0UL); -} - -/** - * @brief Clear the break interrupt flag (BIF). - * @rmtoll SR BIF LL_TIM_ClearFlag_BRK - * @param TIMx Timer instance - * @retval None - */ -__STATIC_INLINE void LL_TIM_ClearFlag_BRK(TIM_TypeDef *TIMx) -{ - WRITE_REG(TIMx->SR, ~(TIM_SR_BIF)); -} - -/** - * @brief Indicate whether break interrupt flag (BIF) is set (break interrupt is pending). - * @rmtoll SR BIF LL_TIM_IsActiveFlag_BRK - * @param TIMx Timer instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_TIM_IsActiveFlag_BRK(TIM_TypeDef *TIMx) -{ - return ((READ_BIT(TIMx->SR, TIM_SR_BIF) == (TIM_SR_BIF)) ? 1UL : 0UL); -} - -/** - * @brief Clear the Capture/Compare 1 over-capture interrupt flag (CC1OF). - * @rmtoll SR CC1OF LL_TIM_ClearFlag_CC1OVR - * @param TIMx Timer instance - * @retval None - */ -__STATIC_INLINE void LL_TIM_ClearFlag_CC1OVR(TIM_TypeDef *TIMx) -{ - WRITE_REG(TIMx->SR, ~(TIM_SR_CC1OF)); -} - -/** - * @brief Indicate whether Capture/Compare 1 over-capture interrupt flag (CC1OF) is set - * (Capture/Compare 1 interrupt is pending). - * @rmtoll SR CC1OF LL_TIM_IsActiveFlag_CC1OVR - * @param TIMx Timer instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_TIM_IsActiveFlag_CC1OVR(TIM_TypeDef *TIMx) -{ - return ((READ_BIT(TIMx->SR, TIM_SR_CC1OF) == (TIM_SR_CC1OF)) ? 1UL : 0UL); -} - -/** - * @brief Clear the Capture/Compare 2 over-capture interrupt flag (CC2OF). - * @rmtoll SR CC2OF LL_TIM_ClearFlag_CC2OVR - * @param TIMx Timer instance - * @retval None - */ -__STATIC_INLINE void LL_TIM_ClearFlag_CC2OVR(TIM_TypeDef *TIMx) -{ - WRITE_REG(TIMx->SR, ~(TIM_SR_CC2OF)); -} - -/** - * @brief Indicate whether Capture/Compare 2 over-capture interrupt flag (CC2OF) is set - * (Capture/Compare 2 over-capture interrupt is pending). - * @rmtoll SR CC2OF LL_TIM_IsActiveFlag_CC2OVR - * @param TIMx Timer instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_TIM_IsActiveFlag_CC2OVR(TIM_TypeDef *TIMx) -{ - return ((READ_BIT(TIMx->SR, TIM_SR_CC2OF) == (TIM_SR_CC2OF)) ? 1UL : 0UL); -} - -/** - * @brief Clear the Capture/Compare 3 over-capture interrupt flag (CC3OF). - * @rmtoll SR CC3OF LL_TIM_ClearFlag_CC3OVR - * @param TIMx Timer instance - * @retval None - */ -__STATIC_INLINE void LL_TIM_ClearFlag_CC3OVR(TIM_TypeDef *TIMx) -{ - WRITE_REG(TIMx->SR, ~(TIM_SR_CC3OF)); -} - -/** - * @brief Indicate whether Capture/Compare 3 over-capture interrupt flag (CC3OF) is set - * (Capture/Compare 3 over-capture interrupt is pending). - * @rmtoll SR CC3OF LL_TIM_IsActiveFlag_CC3OVR - * @param TIMx Timer instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_TIM_IsActiveFlag_CC3OVR(TIM_TypeDef *TIMx) -{ - return ((READ_BIT(TIMx->SR, TIM_SR_CC3OF) == (TIM_SR_CC3OF)) ? 1UL : 0UL); -} - -/** - * @brief Clear the Capture/Compare 4 over-capture interrupt flag (CC4OF). - * @rmtoll SR CC4OF LL_TIM_ClearFlag_CC4OVR - * @param TIMx Timer instance - * @retval None - */ -__STATIC_INLINE void LL_TIM_ClearFlag_CC4OVR(TIM_TypeDef *TIMx) -{ - WRITE_REG(TIMx->SR, ~(TIM_SR_CC4OF)); -} - -/** - * @brief Indicate whether Capture/Compare 4 over-capture interrupt flag (CC4OF) is set - * (Capture/Compare 4 over-capture interrupt is pending). - * @rmtoll SR CC4OF LL_TIM_IsActiveFlag_CC4OVR - * @param TIMx Timer instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_TIM_IsActiveFlag_CC4OVR(TIM_TypeDef *TIMx) -{ - return ((READ_BIT(TIMx->SR, TIM_SR_CC4OF) == (TIM_SR_CC4OF)) ? 1UL : 0UL); -} - -/** - * @} - */ - -/** @defgroup TIM_LL_EF_IT_Management IT-Management - * @{ - */ -/** - * @brief Enable update interrupt (UIE). - * @rmtoll DIER UIE LL_TIM_EnableIT_UPDATE - * @param TIMx Timer instance - * @retval None - */ -__STATIC_INLINE void LL_TIM_EnableIT_UPDATE(TIM_TypeDef *TIMx) -{ - SET_BIT(TIMx->DIER, TIM_DIER_UIE); -} - -/** - * @brief Disable update interrupt (UIE). - * @rmtoll DIER UIE LL_TIM_DisableIT_UPDATE - * @param TIMx Timer instance - * @retval None - */ -__STATIC_INLINE void LL_TIM_DisableIT_UPDATE(TIM_TypeDef *TIMx) -{ - CLEAR_BIT(TIMx->DIER, TIM_DIER_UIE); -} - -/** - * @brief Indicates whether the update interrupt (UIE) is enabled. - * @rmtoll DIER UIE LL_TIM_IsEnabledIT_UPDATE - * @param TIMx Timer instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_TIM_IsEnabledIT_UPDATE(TIM_TypeDef *TIMx) -{ - return ((READ_BIT(TIMx->DIER, TIM_DIER_UIE) == (TIM_DIER_UIE)) ? 1UL : 0UL); -} - -/** - * @brief Enable capture/compare 1 interrupt (CC1IE). - * @rmtoll DIER CC1IE LL_TIM_EnableIT_CC1 - * @param TIMx Timer instance - * @retval None - */ -__STATIC_INLINE void LL_TIM_EnableIT_CC1(TIM_TypeDef *TIMx) -{ - SET_BIT(TIMx->DIER, TIM_DIER_CC1IE); -} - -/** - * @brief Disable capture/compare 1 interrupt (CC1IE). - * @rmtoll DIER CC1IE LL_TIM_DisableIT_CC1 - * @param TIMx Timer instance - * @retval None - */ -__STATIC_INLINE void LL_TIM_DisableIT_CC1(TIM_TypeDef *TIMx) -{ - CLEAR_BIT(TIMx->DIER, TIM_DIER_CC1IE); -} - -/** - * @brief Indicates whether the capture/compare 1 interrupt (CC1IE) is enabled. - * @rmtoll DIER CC1IE LL_TIM_IsEnabledIT_CC1 - * @param TIMx Timer instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_TIM_IsEnabledIT_CC1(TIM_TypeDef *TIMx) -{ - return ((READ_BIT(TIMx->DIER, TIM_DIER_CC1IE) == (TIM_DIER_CC1IE)) ? 1UL : 0UL); -} - -/** - * @brief Enable capture/compare 2 interrupt (CC2IE). - * @rmtoll DIER CC2IE LL_TIM_EnableIT_CC2 - * @param TIMx Timer instance - * @retval None - */ -__STATIC_INLINE void LL_TIM_EnableIT_CC2(TIM_TypeDef *TIMx) -{ - SET_BIT(TIMx->DIER, TIM_DIER_CC2IE); -} - -/** - * @brief Disable capture/compare 2 interrupt (CC2IE). - * @rmtoll DIER CC2IE LL_TIM_DisableIT_CC2 - * @param TIMx Timer instance - * @retval None - */ -__STATIC_INLINE void LL_TIM_DisableIT_CC2(TIM_TypeDef *TIMx) -{ - CLEAR_BIT(TIMx->DIER, TIM_DIER_CC2IE); -} - -/** - * @brief Indicates whether the capture/compare 2 interrupt (CC2IE) is enabled. - * @rmtoll DIER CC2IE LL_TIM_IsEnabledIT_CC2 - * @param TIMx Timer instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_TIM_IsEnabledIT_CC2(TIM_TypeDef *TIMx) -{ - return ((READ_BIT(TIMx->DIER, TIM_DIER_CC2IE) == (TIM_DIER_CC2IE)) ? 1UL : 0UL); -} - -/** - * @brief Enable capture/compare 3 interrupt (CC3IE). - * @rmtoll DIER CC3IE LL_TIM_EnableIT_CC3 - * @param TIMx Timer instance - * @retval None - */ -__STATIC_INLINE void LL_TIM_EnableIT_CC3(TIM_TypeDef *TIMx) -{ - SET_BIT(TIMx->DIER, TIM_DIER_CC3IE); -} - -/** - * @brief Disable capture/compare 3 interrupt (CC3IE). - * @rmtoll DIER CC3IE LL_TIM_DisableIT_CC3 - * @param TIMx Timer instance - * @retval None - */ -__STATIC_INLINE void LL_TIM_DisableIT_CC3(TIM_TypeDef *TIMx) -{ - CLEAR_BIT(TIMx->DIER, TIM_DIER_CC3IE); -} - -/** - * @brief Indicates whether the capture/compare 3 interrupt (CC3IE) is enabled. - * @rmtoll DIER CC3IE LL_TIM_IsEnabledIT_CC3 - * @param TIMx Timer instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_TIM_IsEnabledIT_CC3(TIM_TypeDef *TIMx) -{ - return ((READ_BIT(TIMx->DIER, TIM_DIER_CC3IE) == (TIM_DIER_CC3IE)) ? 1UL : 0UL); -} - -/** - * @brief Enable capture/compare 4 interrupt (CC4IE). - * @rmtoll DIER CC4IE LL_TIM_EnableIT_CC4 - * @param TIMx Timer instance - * @retval None - */ -__STATIC_INLINE void LL_TIM_EnableIT_CC4(TIM_TypeDef *TIMx) -{ - SET_BIT(TIMx->DIER, TIM_DIER_CC4IE); -} - -/** - * @brief Disable capture/compare 4 interrupt (CC4IE). - * @rmtoll DIER CC4IE LL_TIM_DisableIT_CC4 - * @param TIMx Timer instance - * @retval None - */ -__STATIC_INLINE void LL_TIM_DisableIT_CC4(TIM_TypeDef *TIMx) -{ - CLEAR_BIT(TIMx->DIER, TIM_DIER_CC4IE); -} - -/** - * @brief Indicates whether the capture/compare 4 interrupt (CC4IE) is enabled. - * @rmtoll DIER CC4IE LL_TIM_IsEnabledIT_CC4 - * @param TIMx Timer instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_TIM_IsEnabledIT_CC4(TIM_TypeDef *TIMx) -{ - return ((READ_BIT(TIMx->DIER, TIM_DIER_CC4IE) == (TIM_DIER_CC4IE)) ? 1UL : 0UL); -} - -/** - * @brief Enable commutation interrupt (COMIE). - * @rmtoll DIER COMIE LL_TIM_EnableIT_COM - * @param TIMx Timer instance - * @retval None - */ -__STATIC_INLINE void LL_TIM_EnableIT_COM(TIM_TypeDef *TIMx) -{ - SET_BIT(TIMx->DIER, TIM_DIER_COMIE); -} - -/** - * @brief Disable commutation interrupt (COMIE). - * @rmtoll DIER COMIE LL_TIM_DisableIT_COM - * @param TIMx Timer instance - * @retval None - */ -__STATIC_INLINE void LL_TIM_DisableIT_COM(TIM_TypeDef *TIMx) -{ - CLEAR_BIT(TIMx->DIER, TIM_DIER_COMIE); -} - -/** - * @brief Indicates whether the commutation interrupt (COMIE) is enabled. - * @rmtoll DIER COMIE LL_TIM_IsEnabledIT_COM - * @param TIMx Timer instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_TIM_IsEnabledIT_COM(TIM_TypeDef *TIMx) -{ - return ((READ_BIT(TIMx->DIER, TIM_DIER_COMIE) == (TIM_DIER_COMIE)) ? 1UL : 0UL); -} - -/** - * @brief Enable trigger interrupt (TIE). - * @rmtoll DIER TIE LL_TIM_EnableIT_TRIG - * @param TIMx Timer instance - * @retval None - */ -__STATIC_INLINE void LL_TIM_EnableIT_TRIG(TIM_TypeDef *TIMx) -{ - SET_BIT(TIMx->DIER, TIM_DIER_TIE); -} - -/** - * @brief Disable trigger interrupt (TIE). - * @rmtoll DIER TIE LL_TIM_DisableIT_TRIG - * @param TIMx Timer instance - * @retval None - */ -__STATIC_INLINE void LL_TIM_DisableIT_TRIG(TIM_TypeDef *TIMx) -{ - CLEAR_BIT(TIMx->DIER, TIM_DIER_TIE); -} - -/** - * @brief Indicates whether the trigger interrupt (TIE) is enabled. - * @rmtoll DIER TIE LL_TIM_IsEnabledIT_TRIG - * @param TIMx Timer instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_TIM_IsEnabledIT_TRIG(TIM_TypeDef *TIMx) -{ - return ((READ_BIT(TIMx->DIER, TIM_DIER_TIE) == (TIM_DIER_TIE)) ? 1UL : 0UL); -} - -/** - * @brief Enable break interrupt (BIE). - * @rmtoll DIER BIE LL_TIM_EnableIT_BRK - * @param TIMx Timer instance - * @retval None - */ -__STATIC_INLINE void LL_TIM_EnableIT_BRK(TIM_TypeDef *TIMx) -{ - SET_BIT(TIMx->DIER, TIM_DIER_BIE); -} - -/** - * @brief Disable break interrupt (BIE). - * @rmtoll DIER BIE LL_TIM_DisableIT_BRK - * @param TIMx Timer instance - * @retval None - */ -__STATIC_INLINE void LL_TIM_DisableIT_BRK(TIM_TypeDef *TIMx) -{ - CLEAR_BIT(TIMx->DIER, TIM_DIER_BIE); -} - -/** - * @brief Indicates whether the break interrupt (BIE) is enabled. - * @rmtoll DIER BIE LL_TIM_IsEnabledIT_BRK - * @param TIMx Timer instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_TIM_IsEnabledIT_BRK(TIM_TypeDef *TIMx) -{ - return ((READ_BIT(TIMx->DIER, TIM_DIER_BIE) == (TIM_DIER_BIE)) ? 1UL : 0UL); -} - -/** - * @} - */ - -/** @defgroup TIM_LL_EF_DMA_Management DMA Management - * @{ - */ -/** - * @brief Enable update DMA request (UDE). - * @rmtoll DIER UDE LL_TIM_EnableDMAReq_UPDATE - * @param TIMx Timer instance - * @retval None - */ -__STATIC_INLINE void LL_TIM_EnableDMAReq_UPDATE(TIM_TypeDef *TIMx) -{ - SET_BIT(TIMx->DIER, TIM_DIER_UDE); -} - -/** - * @brief Disable update DMA request (UDE). - * @rmtoll DIER UDE LL_TIM_DisableDMAReq_UPDATE - * @param TIMx Timer instance - * @retval None - */ -__STATIC_INLINE void LL_TIM_DisableDMAReq_UPDATE(TIM_TypeDef *TIMx) -{ - CLEAR_BIT(TIMx->DIER, TIM_DIER_UDE); -} - -/** - * @brief Indicates whether the update DMA request (UDE) is enabled. - * @rmtoll DIER UDE LL_TIM_IsEnabledDMAReq_UPDATE - * @param TIMx Timer instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_TIM_IsEnabledDMAReq_UPDATE(TIM_TypeDef *TIMx) -{ - return ((READ_BIT(TIMx->DIER, TIM_DIER_UDE) == (TIM_DIER_UDE)) ? 1UL : 0UL); -} - -/** - * @brief Enable capture/compare 1 DMA request (CC1DE). - * @rmtoll DIER CC1DE LL_TIM_EnableDMAReq_CC1 - * @param TIMx Timer instance - * @retval None - */ -__STATIC_INLINE void LL_TIM_EnableDMAReq_CC1(TIM_TypeDef *TIMx) -{ - SET_BIT(TIMx->DIER, TIM_DIER_CC1DE); -} - -/** - * @brief Disable capture/compare 1 DMA request (CC1DE). - * @rmtoll DIER CC1DE LL_TIM_DisableDMAReq_CC1 - * @param TIMx Timer instance - * @retval None - */ -__STATIC_INLINE void LL_TIM_DisableDMAReq_CC1(TIM_TypeDef *TIMx) -{ - CLEAR_BIT(TIMx->DIER, TIM_DIER_CC1DE); -} - -/** - * @brief Indicates whether the capture/compare 1 DMA request (CC1DE) is enabled. - * @rmtoll DIER CC1DE LL_TIM_IsEnabledDMAReq_CC1 - * @param TIMx Timer instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_TIM_IsEnabledDMAReq_CC1(TIM_TypeDef *TIMx) -{ - return ((READ_BIT(TIMx->DIER, TIM_DIER_CC1DE) == (TIM_DIER_CC1DE)) ? 1UL : 0UL); -} - -/** - * @brief Enable capture/compare 2 DMA request (CC2DE). - * @rmtoll DIER CC2DE LL_TIM_EnableDMAReq_CC2 - * @param TIMx Timer instance - * @retval None - */ -__STATIC_INLINE void LL_TIM_EnableDMAReq_CC2(TIM_TypeDef *TIMx) -{ - SET_BIT(TIMx->DIER, TIM_DIER_CC2DE); -} - -/** - * @brief Disable capture/compare 2 DMA request (CC2DE). - * @rmtoll DIER CC2DE LL_TIM_DisableDMAReq_CC2 - * @param TIMx Timer instance - * @retval None - */ -__STATIC_INLINE void LL_TIM_DisableDMAReq_CC2(TIM_TypeDef *TIMx) -{ - CLEAR_BIT(TIMx->DIER, TIM_DIER_CC2DE); -} - -/** - * @brief Indicates whether the capture/compare 2 DMA request (CC2DE) is enabled. - * @rmtoll DIER CC2DE LL_TIM_IsEnabledDMAReq_CC2 - * @param TIMx Timer instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_TIM_IsEnabledDMAReq_CC2(TIM_TypeDef *TIMx) -{ - return ((READ_BIT(TIMx->DIER, TIM_DIER_CC2DE) == (TIM_DIER_CC2DE)) ? 1UL : 0UL); -} - -/** - * @brief Enable capture/compare 3 DMA request (CC3DE). - * @rmtoll DIER CC3DE LL_TIM_EnableDMAReq_CC3 - * @param TIMx Timer instance - * @retval None - */ -__STATIC_INLINE void LL_TIM_EnableDMAReq_CC3(TIM_TypeDef *TIMx) -{ - SET_BIT(TIMx->DIER, TIM_DIER_CC3DE); -} - -/** - * @brief Disable capture/compare 3 DMA request (CC3DE). - * @rmtoll DIER CC3DE LL_TIM_DisableDMAReq_CC3 - * @param TIMx Timer instance - * @retval None - */ -__STATIC_INLINE void LL_TIM_DisableDMAReq_CC3(TIM_TypeDef *TIMx) -{ - CLEAR_BIT(TIMx->DIER, TIM_DIER_CC3DE); -} - -/** - * @brief Indicates whether the capture/compare 3 DMA request (CC3DE) is enabled. - * @rmtoll DIER CC3DE LL_TIM_IsEnabledDMAReq_CC3 - * @param TIMx Timer instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_TIM_IsEnabledDMAReq_CC3(TIM_TypeDef *TIMx) -{ - return ((READ_BIT(TIMx->DIER, TIM_DIER_CC3DE) == (TIM_DIER_CC3DE)) ? 1UL : 0UL); -} - -/** - * @brief Enable capture/compare 4 DMA request (CC4DE). - * @rmtoll DIER CC4DE LL_TIM_EnableDMAReq_CC4 - * @param TIMx Timer instance - * @retval None - */ -__STATIC_INLINE void LL_TIM_EnableDMAReq_CC4(TIM_TypeDef *TIMx) -{ - SET_BIT(TIMx->DIER, TIM_DIER_CC4DE); -} - -/** - * @brief Disable capture/compare 4 DMA request (CC4DE). - * @rmtoll DIER CC4DE LL_TIM_DisableDMAReq_CC4 - * @param TIMx Timer instance - * @retval None - */ -__STATIC_INLINE void LL_TIM_DisableDMAReq_CC4(TIM_TypeDef *TIMx) -{ - CLEAR_BIT(TIMx->DIER, TIM_DIER_CC4DE); -} - -/** - * @brief Indicates whether the capture/compare 4 DMA request (CC4DE) is enabled. - * @rmtoll DIER CC4DE LL_TIM_IsEnabledDMAReq_CC4 - * @param TIMx Timer instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_TIM_IsEnabledDMAReq_CC4(TIM_TypeDef *TIMx) -{ - return ((READ_BIT(TIMx->DIER, TIM_DIER_CC4DE) == (TIM_DIER_CC4DE)) ? 1UL : 0UL); -} - -/** - * @brief Enable commutation DMA request (COMDE). - * @rmtoll DIER COMDE LL_TIM_EnableDMAReq_COM - * @param TIMx Timer instance - * @retval None - */ -__STATIC_INLINE void LL_TIM_EnableDMAReq_COM(TIM_TypeDef *TIMx) -{ - SET_BIT(TIMx->DIER, TIM_DIER_COMDE); -} - -/** - * @brief Disable commutation DMA request (COMDE). - * @rmtoll DIER COMDE LL_TIM_DisableDMAReq_COM - * @param TIMx Timer instance - * @retval None - */ -__STATIC_INLINE void LL_TIM_DisableDMAReq_COM(TIM_TypeDef *TIMx) -{ - CLEAR_BIT(TIMx->DIER, TIM_DIER_COMDE); -} - -/** - * @brief Indicates whether the commutation DMA request (COMDE) is enabled. - * @rmtoll DIER COMDE LL_TIM_IsEnabledDMAReq_COM - * @param TIMx Timer instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_TIM_IsEnabledDMAReq_COM(TIM_TypeDef *TIMx) -{ - return ((READ_BIT(TIMx->DIER, TIM_DIER_COMDE) == (TIM_DIER_COMDE)) ? 1UL : 0UL); -} - -/** - * @brief Enable trigger interrupt (TDE). - * @rmtoll DIER TDE LL_TIM_EnableDMAReq_TRIG - * @param TIMx Timer instance - * @retval None - */ -__STATIC_INLINE void LL_TIM_EnableDMAReq_TRIG(TIM_TypeDef *TIMx) -{ - SET_BIT(TIMx->DIER, TIM_DIER_TDE); -} - -/** - * @brief Disable trigger interrupt (TDE). - * @rmtoll DIER TDE LL_TIM_DisableDMAReq_TRIG - * @param TIMx Timer instance - * @retval None - */ -__STATIC_INLINE void LL_TIM_DisableDMAReq_TRIG(TIM_TypeDef *TIMx) -{ - CLEAR_BIT(TIMx->DIER, TIM_DIER_TDE); -} - -/** - * @brief Indicates whether the trigger interrupt (TDE) is enabled. - * @rmtoll DIER TDE LL_TIM_IsEnabledDMAReq_TRIG - * @param TIMx Timer instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_TIM_IsEnabledDMAReq_TRIG(TIM_TypeDef *TIMx) -{ - return ((READ_BIT(TIMx->DIER, TIM_DIER_TDE) == (TIM_DIER_TDE)) ? 1UL : 0UL); -} - -/** - * @} - */ - -/** @defgroup TIM_LL_EF_EVENT_Management EVENT-Management - * @{ - */ -/** - * @brief Generate an update event. - * @rmtoll EGR UG LL_TIM_GenerateEvent_UPDATE - * @param TIMx Timer instance - * @retval None - */ -__STATIC_INLINE void LL_TIM_GenerateEvent_UPDATE(TIM_TypeDef *TIMx) -{ - SET_BIT(TIMx->EGR, TIM_EGR_UG); -} - -/** - * @brief Generate Capture/Compare 1 event. - * @rmtoll EGR CC1G LL_TIM_GenerateEvent_CC1 - * @param TIMx Timer instance - * @retval None - */ -__STATIC_INLINE void LL_TIM_GenerateEvent_CC1(TIM_TypeDef *TIMx) -{ - SET_BIT(TIMx->EGR, TIM_EGR_CC1G); -} - -/** - * @brief Generate Capture/Compare 2 event. - * @rmtoll EGR CC2G LL_TIM_GenerateEvent_CC2 - * @param TIMx Timer instance - * @retval None - */ -__STATIC_INLINE void LL_TIM_GenerateEvent_CC2(TIM_TypeDef *TIMx) -{ - SET_BIT(TIMx->EGR, TIM_EGR_CC2G); -} - -/** - * @brief Generate Capture/Compare 3 event. - * @rmtoll EGR CC3G LL_TIM_GenerateEvent_CC3 - * @param TIMx Timer instance - * @retval None - */ -__STATIC_INLINE void LL_TIM_GenerateEvent_CC3(TIM_TypeDef *TIMx) -{ - SET_BIT(TIMx->EGR, TIM_EGR_CC3G); -} - -/** - * @brief Generate Capture/Compare 4 event. - * @rmtoll EGR CC4G LL_TIM_GenerateEvent_CC4 - * @param TIMx Timer instance - * @retval None - */ -__STATIC_INLINE void LL_TIM_GenerateEvent_CC4(TIM_TypeDef *TIMx) -{ - SET_BIT(TIMx->EGR, TIM_EGR_CC4G); -} - -/** - * @brief Generate commutation event. - * @rmtoll EGR COMG LL_TIM_GenerateEvent_COM - * @param TIMx Timer instance - * @retval None - */ -__STATIC_INLINE void LL_TIM_GenerateEvent_COM(TIM_TypeDef *TIMx) -{ - SET_BIT(TIMx->EGR, TIM_EGR_COMG); -} - -/** - * @brief Generate trigger event. - * @rmtoll EGR TG LL_TIM_GenerateEvent_TRIG - * @param TIMx Timer instance - * @retval None - */ -__STATIC_INLINE void LL_TIM_GenerateEvent_TRIG(TIM_TypeDef *TIMx) -{ - SET_BIT(TIMx->EGR, TIM_EGR_TG); -} - -/** - * @brief Generate break event. - * @rmtoll EGR BG LL_TIM_GenerateEvent_BRK - * @param TIMx Timer instance - * @retval None - */ -__STATIC_INLINE void LL_TIM_GenerateEvent_BRK(TIM_TypeDef *TIMx) -{ - SET_BIT(TIMx->EGR, TIM_EGR_BG); -} - -/** - * @} - */ - -#if defined(USE_FULL_LL_DRIVER) -/** @defgroup TIM_LL_EF_Init Initialisation and deinitialisation functions - * @{ - */ - -ErrorStatus LL_TIM_DeInit(TIM_TypeDef *TIMx); -void LL_TIM_StructInit(LL_TIM_InitTypeDef *TIM_InitStruct); -ErrorStatus LL_TIM_Init(TIM_TypeDef *TIMx, LL_TIM_InitTypeDef *TIM_InitStruct); -void LL_TIM_OC_StructInit(LL_TIM_OC_InitTypeDef *TIM_OC_InitStruct); -ErrorStatus LL_TIM_OC_Init(TIM_TypeDef *TIMx, uint32_t Channel, LL_TIM_OC_InitTypeDef *TIM_OC_InitStruct); -void LL_TIM_IC_StructInit(LL_TIM_IC_InitTypeDef *TIM_ICInitStruct); -ErrorStatus LL_TIM_IC_Init(TIM_TypeDef *TIMx, uint32_t Channel, LL_TIM_IC_InitTypeDef *TIM_IC_InitStruct); -void LL_TIM_ENCODER_StructInit(LL_TIM_ENCODER_InitTypeDef *TIM_EncoderInitStruct); -ErrorStatus LL_TIM_ENCODER_Init(TIM_TypeDef *TIMx, LL_TIM_ENCODER_InitTypeDef *TIM_EncoderInitStruct); -void LL_TIM_HALLSENSOR_StructInit(LL_TIM_HALLSENSOR_InitTypeDef *TIM_HallSensorInitStruct); -ErrorStatus LL_TIM_HALLSENSOR_Init(TIM_TypeDef *TIMx, LL_TIM_HALLSENSOR_InitTypeDef *TIM_HallSensorInitStruct); -void LL_TIM_BDTR_StructInit(LL_TIM_BDTR_InitTypeDef *TIM_BDTRInitStruct); -ErrorStatus LL_TIM_BDTR_Init(TIM_TypeDef *TIMx, LL_TIM_BDTR_InitTypeDef *TIM_BDTRInitStruct); -/** - * @} - */ -#endif /* USE_FULL_LL_DRIVER */ - -/** - * @} - */ - -/** - * @} - */ - -#endif /* TIM1 || TIM2 || TIM3 || TIM4 || TIM5 || TIM6 || TIM7 || TIM8 || TIM9 || TIM10 || TIM11 || TIM12 || TIM13 || TIM14 */ - -/** - * @} - */ - -#ifdef __cplusplus -} -#endif - -#endif /* __STM32F4xx_LL_TIM_H */ -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_usart.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_usart.h deleted file mode 100644 index 86ee731cb3c920..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_usart.h +++ /dev/null @@ -1,2523 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_ll_usart.h - * @author MCD Application Team - * @brief Header file of USART LL module. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef __STM32F4xx_LL_USART_H -#define __STM32F4xx_LL_USART_H - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx.h" - -/** @addtogroup STM32F4xx_LL_Driver - * @{ - */ - -#if defined (USART1) || defined (USART2) || defined (USART3) || defined (USART6) || defined (UART4) || defined (UART5) || defined (UART7) || defined (UART8) || defined (UART9) || defined (UART10) - -/** @defgroup USART_LL USART - * @{ - */ - -/* Private types -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ - -/* Private constants ---------------------------------------------------------*/ -/** @defgroup USART_LL_Private_Constants USART Private Constants - * @{ - */ - -/* Defines used for the bit position in the register and perform offsets*/ -#define USART_POSITION_GTPR_GT USART_GTPR_GT_Pos -/** - * @} - */ - -/* Private macros ------------------------------------------------------------*/ -#if defined(USE_FULL_LL_DRIVER) -/** @defgroup USART_LL_Private_Macros USART Private Macros - * @{ - */ -/** - * @} - */ -#endif /*USE_FULL_LL_DRIVER*/ - -/* Exported types ------------------------------------------------------------*/ -#if defined(USE_FULL_LL_DRIVER) -/** @defgroup USART_LL_ES_INIT USART Exported Init structures - * @{ - */ - -/** - * @brief LL USART Init Structure definition - */ -typedef struct -{ - uint32_t BaudRate; /*!< This field defines expected Usart communication baud rate. - - This feature can be modified afterwards using unitary function @ref LL_USART_SetBaudRate().*/ - - uint32_t DataWidth; /*!< Specifies the number of data bits transmitted or received in a frame. - This parameter can be a value of @ref USART_LL_EC_DATAWIDTH. - - This feature can be modified afterwards using unitary function @ref LL_USART_SetDataWidth().*/ - - uint32_t StopBits; /*!< Specifies the number of stop bits transmitted. - This parameter can be a value of @ref USART_LL_EC_STOPBITS. - - This feature can be modified afterwards using unitary function @ref LL_USART_SetStopBitsLength().*/ - - uint32_t Parity; /*!< Specifies the parity mode. - This parameter can be a value of @ref USART_LL_EC_PARITY. - - This feature can be modified afterwards using unitary function @ref LL_USART_SetParity().*/ - - uint32_t TransferDirection; /*!< Specifies whether the Receive and/or Transmit mode is enabled or disabled. - This parameter can be a value of @ref USART_LL_EC_DIRECTION. - - This feature can be modified afterwards using unitary function @ref LL_USART_SetTransferDirection().*/ - - uint32_t HardwareFlowControl; /*!< Specifies whether the hardware flow control mode is enabled or disabled. - This parameter can be a value of @ref USART_LL_EC_HWCONTROL. - - This feature can be modified afterwards using unitary function @ref LL_USART_SetHWFlowCtrl().*/ - - uint32_t OverSampling; /*!< Specifies whether USART oversampling mode is 16 or 8. - This parameter can be a value of @ref USART_LL_EC_OVERSAMPLING. - - This feature can be modified afterwards using unitary function @ref LL_USART_SetOverSampling().*/ - -} LL_USART_InitTypeDef; - -/** - * @brief LL USART Clock Init Structure definition - */ -typedef struct -{ - uint32_t ClockOutput; /*!< Specifies whether the USART clock is enabled or disabled. - This parameter can be a value of @ref USART_LL_EC_CLOCK. - - USART HW configuration can be modified afterwards using unitary functions - @ref LL_USART_EnableSCLKOutput() or @ref LL_USART_DisableSCLKOutput(). - For more details, refer to description of this function. */ - - uint32_t ClockPolarity; /*!< Specifies the steady state of the serial clock. - This parameter can be a value of @ref USART_LL_EC_POLARITY. - - USART HW configuration can be modified afterwards using unitary functions @ref LL_USART_SetClockPolarity(). - For more details, refer to description of this function. */ - - uint32_t ClockPhase; /*!< Specifies the clock transition on which the bit capture is made. - This parameter can be a value of @ref USART_LL_EC_PHASE. - - USART HW configuration can be modified afterwards using unitary functions @ref LL_USART_SetClockPhase(). - For more details, refer to description of this function. */ - - uint32_t LastBitClockPulse; /*!< Specifies whether the clock pulse corresponding to the last transmitted - data bit (MSB) has to be output on the SCLK pin in synchronous mode. - This parameter can be a value of @ref USART_LL_EC_LASTCLKPULSE. - - USART HW configuration can be modified afterwards using unitary functions @ref LL_USART_SetLastClkPulseOutput(). - For more details, refer to description of this function. */ - -} LL_USART_ClockInitTypeDef; - -/** - * @} - */ -#endif /* USE_FULL_LL_DRIVER */ - -/* Exported constants --------------------------------------------------------*/ -/** @defgroup USART_LL_Exported_Constants USART Exported Constants - * @{ - */ - -/** @defgroup USART_LL_EC_GET_FLAG Get Flags Defines - * @brief Flags defines which can be used with LL_USART_ReadReg function - * @{ - */ -#define LL_USART_SR_PE USART_SR_PE /*!< Parity error flag */ -#define LL_USART_SR_FE USART_SR_FE /*!< Framing error flag */ -#define LL_USART_SR_NE USART_SR_NE /*!< Noise detected flag */ -#define LL_USART_SR_ORE USART_SR_ORE /*!< Overrun error flag */ -#define LL_USART_SR_IDLE USART_SR_IDLE /*!< Idle line detected flag */ -#define LL_USART_SR_RXNE USART_SR_RXNE /*!< Read data register not empty flag */ -#define LL_USART_SR_TC USART_SR_TC /*!< Transmission complete flag */ -#define LL_USART_SR_TXE USART_SR_TXE /*!< Transmit data register empty flag */ -#define LL_USART_SR_LBD USART_SR_LBD /*!< LIN break detection flag */ -#define LL_USART_SR_CTS USART_SR_CTS /*!< CTS flag */ -/** - * @} - */ - -/** @defgroup USART_LL_EC_IT IT Defines - * @brief IT defines which can be used with LL_USART_ReadReg and LL_USART_WriteReg functions - * @{ - */ -#define LL_USART_CR1_IDLEIE USART_CR1_IDLEIE /*!< IDLE interrupt enable */ -#define LL_USART_CR1_RXNEIE USART_CR1_RXNEIE /*!< Read data register not empty interrupt enable */ -#define LL_USART_CR1_TCIE USART_CR1_TCIE /*!< Transmission complete interrupt enable */ -#define LL_USART_CR1_TXEIE USART_CR1_TXEIE /*!< Transmit data register empty interrupt enable */ -#define LL_USART_CR1_PEIE USART_CR1_PEIE /*!< Parity error */ -#define LL_USART_CR2_LBDIE USART_CR2_LBDIE /*!< LIN break detection interrupt enable */ -#define LL_USART_CR3_EIE USART_CR3_EIE /*!< Error interrupt enable */ -#define LL_USART_CR3_CTSIE USART_CR3_CTSIE /*!< CTS interrupt enable */ -/** - * @} - */ - -/** @defgroup USART_LL_EC_DIRECTION Communication Direction - * @{ - */ -#define LL_USART_DIRECTION_NONE 0x00000000U /*!< Transmitter and Receiver are disabled */ -#define LL_USART_DIRECTION_RX USART_CR1_RE /*!< Transmitter is disabled and Receiver is enabled */ -#define LL_USART_DIRECTION_TX USART_CR1_TE /*!< Transmitter is enabled and Receiver is disabled */ -#define LL_USART_DIRECTION_TX_RX (USART_CR1_TE |USART_CR1_RE) /*!< Transmitter and Receiver are enabled */ -/** - * @} - */ - -/** @defgroup USART_LL_EC_PARITY Parity Control - * @{ - */ -#define LL_USART_PARITY_NONE 0x00000000U /*!< Parity control disabled */ -#define LL_USART_PARITY_EVEN USART_CR1_PCE /*!< Parity control enabled and Even Parity is selected */ -#define LL_USART_PARITY_ODD (USART_CR1_PCE | USART_CR1_PS) /*!< Parity control enabled and Odd Parity is selected */ -/** - * @} - */ - -/** @defgroup USART_LL_EC_WAKEUP Wakeup - * @{ - */ -#define LL_USART_WAKEUP_IDLELINE 0x00000000U /*!< USART wake up from Mute mode on Idle Line */ -#define LL_USART_WAKEUP_ADDRESSMARK USART_CR1_WAKE /*!< USART wake up from Mute mode on Address Mark */ -/** - * @} - */ - -/** @defgroup USART_LL_EC_DATAWIDTH Datawidth - * @{ - */ -#define LL_USART_DATAWIDTH_8B 0x00000000U /*!< 8 bits word length : Start bit, 8 data bits, n stop bits */ -#define LL_USART_DATAWIDTH_9B USART_CR1_M /*!< 9 bits word length : Start bit, 9 data bits, n stop bits */ -/** - * @} - */ - -/** @defgroup USART_LL_EC_OVERSAMPLING Oversampling - * @{ - */ -#define LL_USART_OVERSAMPLING_16 0x00000000U /*!< Oversampling by 16 */ -#define LL_USART_OVERSAMPLING_8 USART_CR1_OVER8 /*!< Oversampling by 8 */ -/** - * @} - */ - -#if defined(USE_FULL_LL_DRIVER) -/** @defgroup USART_LL_EC_CLOCK Clock Signal - * @{ - */ - -#define LL_USART_CLOCK_DISABLE 0x00000000U /*!< Clock signal not provided */ -#define LL_USART_CLOCK_ENABLE USART_CR2_CLKEN /*!< Clock signal provided */ -/** - * @} - */ -#endif /*USE_FULL_LL_DRIVER*/ - -/** @defgroup USART_LL_EC_LASTCLKPULSE Last Clock Pulse - * @{ - */ -#define LL_USART_LASTCLKPULSE_NO_OUTPUT 0x00000000U /*!< The clock pulse of the last data bit is not output to the SCLK pin */ -#define LL_USART_LASTCLKPULSE_OUTPUT USART_CR2_LBCL /*!< The clock pulse of the last data bit is output to the SCLK pin */ -/** - * @} - */ - -/** @defgroup USART_LL_EC_PHASE Clock Phase - * @{ - */ -#define LL_USART_PHASE_1EDGE 0x00000000U /*!< The first clock transition is the first data capture edge */ -#define LL_USART_PHASE_2EDGE USART_CR2_CPHA /*!< The second clock transition is the first data capture edge */ -/** - * @} - */ - -/** @defgroup USART_LL_EC_POLARITY Clock Polarity - * @{ - */ -#define LL_USART_POLARITY_LOW 0x00000000U /*!< Steady low value on SCLK pin outside transmission window*/ -#define LL_USART_POLARITY_HIGH USART_CR2_CPOL /*!< Steady high value on SCLK pin outside transmission window */ -/** - * @} - */ - -/** @defgroup USART_LL_EC_STOPBITS Stop Bits - * @{ - */ -#define LL_USART_STOPBITS_0_5 USART_CR2_STOP_0 /*!< 0.5 stop bit */ -#define LL_USART_STOPBITS_1 0x00000000U /*!< 1 stop bit */ -#define LL_USART_STOPBITS_1_5 (USART_CR2_STOP_0 | USART_CR2_STOP_1) /*!< 1.5 stop bits */ -#define LL_USART_STOPBITS_2 USART_CR2_STOP_1 /*!< 2 stop bits */ -/** - * @} - */ - -/** @defgroup USART_LL_EC_HWCONTROL Hardware Control - * @{ - */ -#define LL_USART_HWCONTROL_NONE 0x00000000U /*!< CTS and RTS hardware flow control disabled */ -#define LL_USART_HWCONTROL_RTS USART_CR3_RTSE /*!< RTS output enabled, data is only requested when there is space in the receive buffer */ -#define LL_USART_HWCONTROL_CTS USART_CR3_CTSE /*!< CTS mode enabled, data is only transmitted when the nCTS input is asserted (tied to 0) */ -#define LL_USART_HWCONTROL_RTS_CTS (USART_CR3_RTSE | USART_CR3_CTSE) /*!< CTS and RTS hardware flow control enabled */ -/** - * @} - */ - -/** @defgroup USART_LL_EC_IRDA_POWER IrDA Power - * @{ - */ -#define LL_USART_IRDA_POWER_NORMAL 0x00000000U /*!< IrDA normal power mode */ -#define LL_USART_IRDA_POWER_LOW USART_CR3_IRLP /*!< IrDA low power mode */ -/** - * @} - */ - -/** @defgroup USART_LL_EC_LINBREAK_DETECT LIN Break Detection Length - * @{ - */ -#define LL_USART_LINBREAK_DETECT_10B 0x00000000U /*!< 10-bit break detection method selected */ -#define LL_USART_LINBREAK_DETECT_11B USART_CR2_LBDL /*!< 11-bit break detection method selected */ -/** - * @} - */ - -/** - * @} - */ - -/* Exported macro ------------------------------------------------------------*/ -/** @defgroup USART_LL_Exported_Macros USART Exported Macros - * @{ - */ - -/** @defgroup USART_LL_EM_WRITE_READ Common Write and read registers Macros - * @{ - */ - -/** - * @brief Write a value in USART register - * @param __INSTANCE__ USART Instance - * @param __REG__ Register to be written - * @param __VALUE__ Value to be written in the register - * @retval None - */ -#define LL_USART_WriteReg(__INSTANCE__, __REG__, __VALUE__) WRITE_REG(__INSTANCE__->__REG__, (__VALUE__)) - -/** - * @brief Read a value in USART register - * @param __INSTANCE__ USART Instance - * @param __REG__ Register to be read - * @retval Register value - */ -#define LL_USART_ReadReg(__INSTANCE__, __REG__) READ_REG(__INSTANCE__->__REG__) -/** - * @} - */ - -/** @defgroup USART_LL_EM_Exported_Macros_Helper Exported_Macros_Helper - * @{ - */ - -/** - * @brief Compute USARTDIV value according to Peripheral Clock and - * expected Baud Rate in 8 bits sampling mode (32 bits value of USARTDIV is returned) - * @param __PERIPHCLK__ Peripheral Clock frequency used for USART instance - * @param __BAUDRATE__ Baud rate value to achieve - * @retval USARTDIV value to be used for BRR register filling in OverSampling_8 case - */ -#define __LL_USART_DIV_SAMPLING8_100(__PERIPHCLK__, __BAUDRATE__) ((uint32_t)((((uint64_t)(__PERIPHCLK__))*25)/(2*((uint64_t)(__BAUDRATE__))))) -#define __LL_USART_DIVMANT_SAMPLING8(__PERIPHCLK__, __BAUDRATE__) (__LL_USART_DIV_SAMPLING8_100((__PERIPHCLK__), (__BAUDRATE__))/100) -#define __LL_USART_DIVFRAQ_SAMPLING8(__PERIPHCLK__, __BAUDRATE__) ((((__LL_USART_DIV_SAMPLING8_100((__PERIPHCLK__), (__BAUDRATE__)) - (__LL_USART_DIVMANT_SAMPLING8((__PERIPHCLK__), (__BAUDRATE__)) * 100)) * 8)\ - + 50) / 100) -/* UART BRR = mantissa + overflow + fraction - = (UART DIVMANT << 4) + ((UART DIVFRAQ & 0xF8) << 1) + (UART DIVFRAQ & 0x07) */ -#define __LL_USART_DIV_SAMPLING8(__PERIPHCLK__, __BAUDRATE__) (((__LL_USART_DIVMANT_SAMPLING8((__PERIPHCLK__), (__BAUDRATE__)) << 4) + \ - ((__LL_USART_DIVFRAQ_SAMPLING8((__PERIPHCLK__), (__BAUDRATE__)) & 0xF8) << 1)) + \ - (__LL_USART_DIVFRAQ_SAMPLING8((__PERIPHCLK__), (__BAUDRATE__)) & 0x07)) - -/** - * @brief Compute USARTDIV value according to Peripheral Clock and - * expected Baud Rate in 16 bits sampling mode (32 bits value of USARTDIV is returned) - * @param __PERIPHCLK__ Peripheral Clock frequency used for USART instance - * @param __BAUDRATE__ Baud rate value to achieve - * @retval USARTDIV value to be used for BRR register filling in OverSampling_16 case - */ -#define __LL_USART_DIV_SAMPLING16_100(__PERIPHCLK__, __BAUDRATE__) ((uint32_t)((((uint64_t)(__PERIPHCLK__))*25)/(4*((uint64_t)(__BAUDRATE__))))) -#define __LL_USART_DIVMANT_SAMPLING16(__PERIPHCLK__, __BAUDRATE__) (__LL_USART_DIV_SAMPLING16_100((__PERIPHCLK__), (__BAUDRATE__))/100) -#define __LL_USART_DIVFRAQ_SAMPLING16(__PERIPHCLK__, __BAUDRATE__) ((((__LL_USART_DIV_SAMPLING16_100((__PERIPHCLK__), (__BAUDRATE__)) - (__LL_USART_DIVMANT_SAMPLING16((__PERIPHCLK__), (__BAUDRATE__)) * 100)) * 16)\ - + 50) / 100) -/* USART BRR = mantissa + overflow + fraction - = (USART DIVMANT << 4) + (USART DIVFRAQ & 0xF0) + (USART DIVFRAQ & 0x0F) */ -#define __LL_USART_DIV_SAMPLING16(__PERIPHCLK__, __BAUDRATE__) (((__LL_USART_DIVMANT_SAMPLING16((__PERIPHCLK__), (__BAUDRATE__)) << 4) + \ - (__LL_USART_DIVFRAQ_SAMPLING16((__PERIPHCLK__), (__BAUDRATE__)) & 0xF0)) + \ - (__LL_USART_DIVFRAQ_SAMPLING16((__PERIPHCLK__), (__BAUDRATE__)) & 0x0F)) - -/** - * @} - */ - -/** - * @} - */ - -/* Exported functions --------------------------------------------------------*/ - -/** @defgroup USART_LL_Exported_Functions USART Exported Functions - * @{ - */ - -/** @defgroup USART_LL_EF_Configuration Configuration functions - * @{ - */ - -/** - * @brief USART Enable - * @rmtoll CR1 UE LL_USART_Enable - * @param USARTx USART Instance - * @retval None - */ -__STATIC_INLINE void LL_USART_Enable(USART_TypeDef *USARTx) -{ - SET_BIT(USARTx->CR1, USART_CR1_UE); -} - -/** - * @brief USART Disable (all USART prescalers and outputs are disabled) - * @note When USART is disabled, USART prescalers and outputs are stopped immediately, - * and current operations are discarded. The configuration of the USART is kept, but all the status - * flags, in the USARTx_SR are set to their default values. - * @rmtoll CR1 UE LL_USART_Disable - * @param USARTx USART Instance - * @retval None - */ -__STATIC_INLINE void LL_USART_Disable(USART_TypeDef *USARTx) -{ - CLEAR_BIT(USARTx->CR1, USART_CR1_UE); -} - -/** - * @brief Indicate if USART is enabled - * @rmtoll CR1 UE LL_USART_IsEnabled - * @param USARTx USART Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_USART_IsEnabled(USART_TypeDef *USARTx) -{ - return (READ_BIT(USARTx->CR1, USART_CR1_UE) == (USART_CR1_UE)); -} - -/** - * @brief Receiver Enable (Receiver is enabled and begins searching for a start bit) - * @rmtoll CR1 RE LL_USART_EnableDirectionRx - * @param USARTx USART Instance - * @retval None - */ -__STATIC_INLINE void LL_USART_EnableDirectionRx(USART_TypeDef *USARTx) -{ - ATOMIC_SET_BIT(USARTx->CR1, USART_CR1_RE); -} - -/** - * @brief Receiver Disable - * @rmtoll CR1 RE LL_USART_DisableDirectionRx - * @param USARTx USART Instance - * @retval None - */ -__STATIC_INLINE void LL_USART_DisableDirectionRx(USART_TypeDef *USARTx) -{ - ATOMIC_CLEAR_BIT(USARTx->CR1, USART_CR1_RE); -} - -/** - * @brief Transmitter Enable - * @rmtoll CR1 TE LL_USART_EnableDirectionTx - * @param USARTx USART Instance - * @retval None - */ -__STATIC_INLINE void LL_USART_EnableDirectionTx(USART_TypeDef *USARTx) -{ - ATOMIC_SET_BIT(USARTx->CR1, USART_CR1_TE); -} - -/** - * @brief Transmitter Disable - * @rmtoll CR1 TE LL_USART_DisableDirectionTx - * @param USARTx USART Instance - * @retval None - */ -__STATIC_INLINE void LL_USART_DisableDirectionTx(USART_TypeDef *USARTx) -{ - ATOMIC_CLEAR_BIT(USARTx->CR1, USART_CR1_TE); -} - -/** - * @brief Configure simultaneously enabled/disabled states - * of Transmitter and Receiver - * @rmtoll CR1 RE LL_USART_SetTransferDirection\n - * CR1 TE LL_USART_SetTransferDirection - * @param USARTx USART Instance - * @param TransferDirection This parameter can be one of the following values: - * @arg @ref LL_USART_DIRECTION_NONE - * @arg @ref LL_USART_DIRECTION_RX - * @arg @ref LL_USART_DIRECTION_TX - * @arg @ref LL_USART_DIRECTION_TX_RX - * @retval None - */ -__STATIC_INLINE void LL_USART_SetTransferDirection(USART_TypeDef *USARTx, uint32_t TransferDirection) -{ - ATOMIC_MODIFY_REG(USARTx->CR1, USART_CR1_RE | USART_CR1_TE, TransferDirection); -} - -/** - * @brief Return enabled/disabled states of Transmitter and Receiver - * @rmtoll CR1 RE LL_USART_GetTransferDirection\n - * CR1 TE LL_USART_GetTransferDirection - * @param USARTx USART Instance - * @retval Returned value can be one of the following values: - * @arg @ref LL_USART_DIRECTION_NONE - * @arg @ref LL_USART_DIRECTION_RX - * @arg @ref LL_USART_DIRECTION_TX - * @arg @ref LL_USART_DIRECTION_TX_RX - */ -__STATIC_INLINE uint32_t LL_USART_GetTransferDirection(USART_TypeDef *USARTx) -{ - return (uint32_t)(READ_BIT(USARTx->CR1, USART_CR1_RE | USART_CR1_TE)); -} - -/** - * @brief Configure Parity (enabled/disabled and parity mode if enabled). - * @note This function selects if hardware parity control (generation and detection) is enabled or disabled. - * When the parity control is enabled (Odd or Even), computed parity bit is inserted at the MSB position - * (9th or 8th bit depending on data width) and parity is checked on the received data. - * @rmtoll CR1 PS LL_USART_SetParity\n - * CR1 PCE LL_USART_SetParity - * @param USARTx USART Instance - * @param Parity This parameter can be one of the following values: - * @arg @ref LL_USART_PARITY_NONE - * @arg @ref LL_USART_PARITY_EVEN - * @arg @ref LL_USART_PARITY_ODD - * @retval None - */ -__STATIC_INLINE void LL_USART_SetParity(USART_TypeDef *USARTx, uint32_t Parity) -{ - MODIFY_REG(USARTx->CR1, USART_CR1_PS | USART_CR1_PCE, Parity); -} - -/** - * @brief Return Parity configuration (enabled/disabled and parity mode if enabled) - * @rmtoll CR1 PS LL_USART_GetParity\n - * CR1 PCE LL_USART_GetParity - * @param USARTx USART Instance - * @retval Returned value can be one of the following values: - * @arg @ref LL_USART_PARITY_NONE - * @arg @ref LL_USART_PARITY_EVEN - * @arg @ref LL_USART_PARITY_ODD - */ -__STATIC_INLINE uint32_t LL_USART_GetParity(USART_TypeDef *USARTx) -{ - return (uint32_t)(READ_BIT(USARTx->CR1, USART_CR1_PS | USART_CR1_PCE)); -} - -/** - * @brief Set Receiver Wake Up method from Mute mode. - * @rmtoll CR1 WAKE LL_USART_SetWakeUpMethod - * @param USARTx USART Instance - * @param Method This parameter can be one of the following values: - * @arg @ref LL_USART_WAKEUP_IDLELINE - * @arg @ref LL_USART_WAKEUP_ADDRESSMARK - * @retval None - */ -__STATIC_INLINE void LL_USART_SetWakeUpMethod(USART_TypeDef *USARTx, uint32_t Method) -{ - MODIFY_REG(USARTx->CR1, USART_CR1_WAKE, Method); -} - -/** - * @brief Return Receiver Wake Up method from Mute mode - * @rmtoll CR1 WAKE LL_USART_GetWakeUpMethod - * @param USARTx USART Instance - * @retval Returned value can be one of the following values: - * @arg @ref LL_USART_WAKEUP_IDLELINE - * @arg @ref LL_USART_WAKEUP_ADDRESSMARK - */ -__STATIC_INLINE uint32_t LL_USART_GetWakeUpMethod(USART_TypeDef *USARTx) -{ - return (uint32_t)(READ_BIT(USARTx->CR1, USART_CR1_WAKE)); -} - -/** - * @brief Set Word length (i.e. nb of data bits, excluding start and stop bits) - * @rmtoll CR1 M LL_USART_SetDataWidth - * @param USARTx USART Instance - * @param DataWidth This parameter can be one of the following values: - * @arg @ref LL_USART_DATAWIDTH_8B - * @arg @ref LL_USART_DATAWIDTH_9B - * @retval None - */ -__STATIC_INLINE void LL_USART_SetDataWidth(USART_TypeDef *USARTx, uint32_t DataWidth) -{ - MODIFY_REG(USARTx->CR1, USART_CR1_M, DataWidth); -} - -/** - * @brief Return Word length (i.e. nb of data bits, excluding start and stop bits) - * @rmtoll CR1 M LL_USART_GetDataWidth - * @param USARTx USART Instance - * @retval Returned value can be one of the following values: - * @arg @ref LL_USART_DATAWIDTH_8B - * @arg @ref LL_USART_DATAWIDTH_9B - */ -__STATIC_INLINE uint32_t LL_USART_GetDataWidth(USART_TypeDef *USARTx) -{ - return (uint32_t)(READ_BIT(USARTx->CR1, USART_CR1_M)); -} - -/** - * @brief Set Oversampling to 8-bit or 16-bit mode - * @rmtoll CR1 OVER8 LL_USART_SetOverSampling - * @param USARTx USART Instance - * @param OverSampling This parameter can be one of the following values: - * @arg @ref LL_USART_OVERSAMPLING_16 - * @arg @ref LL_USART_OVERSAMPLING_8 - * @retval None - */ -__STATIC_INLINE void LL_USART_SetOverSampling(USART_TypeDef *USARTx, uint32_t OverSampling) -{ - MODIFY_REG(USARTx->CR1, USART_CR1_OVER8, OverSampling); -} - -/** - * @brief Return Oversampling mode - * @rmtoll CR1 OVER8 LL_USART_GetOverSampling - * @param USARTx USART Instance - * @retval Returned value can be one of the following values: - * @arg @ref LL_USART_OVERSAMPLING_16 - * @arg @ref LL_USART_OVERSAMPLING_8 - */ -__STATIC_INLINE uint32_t LL_USART_GetOverSampling(USART_TypeDef *USARTx) -{ - return (uint32_t)(READ_BIT(USARTx->CR1, USART_CR1_OVER8)); -} - -/** - * @brief Configure if Clock pulse of the last data bit is output to the SCLK pin or not - * @note Macro @ref IS_USART_INSTANCE(USARTx) can be used to check whether or not - * Synchronous mode is supported by the USARTx instance. - * @rmtoll CR2 LBCL LL_USART_SetLastClkPulseOutput - * @param USARTx USART Instance - * @param LastBitClockPulse This parameter can be one of the following values: - * @arg @ref LL_USART_LASTCLKPULSE_NO_OUTPUT - * @arg @ref LL_USART_LASTCLKPULSE_OUTPUT - * @retval None - */ -__STATIC_INLINE void LL_USART_SetLastClkPulseOutput(USART_TypeDef *USARTx, uint32_t LastBitClockPulse) -{ - MODIFY_REG(USARTx->CR2, USART_CR2_LBCL, LastBitClockPulse); -} - -/** - * @brief Retrieve Clock pulse of the last data bit output configuration - * (Last bit Clock pulse output to the SCLK pin or not) - * @note Macro @ref IS_USART_INSTANCE(USARTx) can be used to check whether or not - * Synchronous mode is supported by the USARTx instance. - * @rmtoll CR2 LBCL LL_USART_GetLastClkPulseOutput - * @param USARTx USART Instance - * @retval Returned value can be one of the following values: - * @arg @ref LL_USART_LASTCLKPULSE_NO_OUTPUT - * @arg @ref LL_USART_LASTCLKPULSE_OUTPUT - */ -__STATIC_INLINE uint32_t LL_USART_GetLastClkPulseOutput(USART_TypeDef *USARTx) -{ - return (uint32_t)(READ_BIT(USARTx->CR2, USART_CR2_LBCL)); -} - -/** - * @brief Select the phase of the clock output on the SCLK pin in synchronous mode - * @note Macro @ref IS_USART_INSTANCE(USARTx) can be used to check whether or not - * Synchronous mode is supported by the USARTx instance. - * @rmtoll CR2 CPHA LL_USART_SetClockPhase - * @param USARTx USART Instance - * @param ClockPhase This parameter can be one of the following values: - * @arg @ref LL_USART_PHASE_1EDGE - * @arg @ref LL_USART_PHASE_2EDGE - * @retval None - */ -__STATIC_INLINE void LL_USART_SetClockPhase(USART_TypeDef *USARTx, uint32_t ClockPhase) -{ - MODIFY_REG(USARTx->CR2, USART_CR2_CPHA, ClockPhase); -} - -/** - * @brief Return phase of the clock output on the SCLK pin in synchronous mode - * @note Macro @ref IS_USART_INSTANCE(USARTx) can be used to check whether or not - * Synchronous mode is supported by the USARTx instance. - * @rmtoll CR2 CPHA LL_USART_GetClockPhase - * @param USARTx USART Instance - * @retval Returned value can be one of the following values: - * @arg @ref LL_USART_PHASE_1EDGE - * @arg @ref LL_USART_PHASE_2EDGE - */ -__STATIC_INLINE uint32_t LL_USART_GetClockPhase(USART_TypeDef *USARTx) -{ - return (uint32_t)(READ_BIT(USARTx->CR2, USART_CR2_CPHA)); -} - -/** - * @brief Select the polarity of the clock output on the SCLK pin in synchronous mode - * @note Macro @ref IS_USART_INSTANCE(USARTx) can be used to check whether or not - * Synchronous mode is supported by the USARTx instance. - * @rmtoll CR2 CPOL LL_USART_SetClockPolarity - * @param USARTx USART Instance - * @param ClockPolarity This parameter can be one of the following values: - * @arg @ref LL_USART_POLARITY_LOW - * @arg @ref LL_USART_POLARITY_HIGH - * @retval None - */ -__STATIC_INLINE void LL_USART_SetClockPolarity(USART_TypeDef *USARTx, uint32_t ClockPolarity) -{ - MODIFY_REG(USARTx->CR2, USART_CR2_CPOL, ClockPolarity); -} - -/** - * @brief Return polarity of the clock output on the SCLK pin in synchronous mode - * @note Macro @ref IS_USART_INSTANCE(USARTx) can be used to check whether or not - * Synchronous mode is supported by the USARTx instance. - * @rmtoll CR2 CPOL LL_USART_GetClockPolarity - * @param USARTx USART Instance - * @retval Returned value can be one of the following values: - * @arg @ref LL_USART_POLARITY_LOW - * @arg @ref LL_USART_POLARITY_HIGH - */ -__STATIC_INLINE uint32_t LL_USART_GetClockPolarity(USART_TypeDef *USARTx) -{ - return (uint32_t)(READ_BIT(USARTx->CR2, USART_CR2_CPOL)); -} - -/** - * @brief Configure Clock signal format (Phase Polarity and choice about output of last bit clock pulse) - * @note Macro @ref IS_USART_INSTANCE(USARTx) can be used to check whether or not - * Synchronous mode is supported by the USARTx instance. - * @note Call of this function is equivalent to following function call sequence : - * - Clock Phase configuration using @ref LL_USART_SetClockPhase() function - * - Clock Polarity configuration using @ref LL_USART_SetClockPolarity() function - * - Output of Last bit Clock pulse configuration using @ref LL_USART_SetLastClkPulseOutput() function - * @rmtoll CR2 CPHA LL_USART_ConfigClock\n - * CR2 CPOL LL_USART_ConfigClock\n - * CR2 LBCL LL_USART_ConfigClock - * @param USARTx USART Instance - * @param Phase This parameter can be one of the following values: - * @arg @ref LL_USART_PHASE_1EDGE - * @arg @ref LL_USART_PHASE_2EDGE - * @param Polarity This parameter can be one of the following values: - * @arg @ref LL_USART_POLARITY_LOW - * @arg @ref LL_USART_POLARITY_HIGH - * @param LBCPOutput This parameter can be one of the following values: - * @arg @ref LL_USART_LASTCLKPULSE_NO_OUTPUT - * @arg @ref LL_USART_LASTCLKPULSE_OUTPUT - * @retval None - */ -__STATIC_INLINE void LL_USART_ConfigClock(USART_TypeDef *USARTx, uint32_t Phase, uint32_t Polarity, uint32_t LBCPOutput) -{ - MODIFY_REG(USARTx->CR2, USART_CR2_CPHA | USART_CR2_CPOL | USART_CR2_LBCL, Phase | Polarity | LBCPOutput); -} - -/** - * @brief Enable Clock output on SCLK pin - * @note Macro @ref IS_USART_INSTANCE(USARTx) can be used to check whether or not - * Synchronous mode is supported by the USARTx instance. - * @rmtoll CR2 CLKEN LL_USART_EnableSCLKOutput - * @param USARTx USART Instance - * @retval None - */ -__STATIC_INLINE void LL_USART_EnableSCLKOutput(USART_TypeDef *USARTx) -{ - SET_BIT(USARTx->CR2, USART_CR2_CLKEN); -} - -/** - * @brief Disable Clock output on SCLK pin - * @note Macro @ref IS_USART_INSTANCE(USARTx) can be used to check whether or not - * Synchronous mode is supported by the USARTx instance. - * @rmtoll CR2 CLKEN LL_USART_DisableSCLKOutput - * @param USARTx USART Instance - * @retval None - */ -__STATIC_INLINE void LL_USART_DisableSCLKOutput(USART_TypeDef *USARTx) -{ - CLEAR_BIT(USARTx->CR2, USART_CR2_CLKEN); -} - -/** - * @brief Indicate if Clock output on SCLK pin is enabled - * @note Macro @ref IS_USART_INSTANCE(USARTx) can be used to check whether or not - * Synchronous mode is supported by the USARTx instance. - * @rmtoll CR2 CLKEN LL_USART_IsEnabledSCLKOutput - * @param USARTx USART Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_USART_IsEnabledSCLKOutput(USART_TypeDef *USARTx) -{ - return (READ_BIT(USARTx->CR2, USART_CR2_CLKEN) == (USART_CR2_CLKEN)); -} - -/** - * @brief Set the length of the stop bits - * @rmtoll CR2 STOP LL_USART_SetStopBitsLength - * @param USARTx USART Instance - * @param StopBits This parameter can be one of the following values: - * @arg @ref LL_USART_STOPBITS_0_5 - * @arg @ref LL_USART_STOPBITS_1 - * @arg @ref LL_USART_STOPBITS_1_5 - * @arg @ref LL_USART_STOPBITS_2 - * @retval None - */ -__STATIC_INLINE void LL_USART_SetStopBitsLength(USART_TypeDef *USARTx, uint32_t StopBits) -{ - MODIFY_REG(USARTx->CR2, USART_CR2_STOP, StopBits); -} - -/** - * @brief Retrieve the length of the stop bits - * @rmtoll CR2 STOP LL_USART_GetStopBitsLength - * @param USARTx USART Instance - * @retval Returned value can be one of the following values: - * @arg @ref LL_USART_STOPBITS_0_5 - * @arg @ref LL_USART_STOPBITS_1 - * @arg @ref LL_USART_STOPBITS_1_5 - * @arg @ref LL_USART_STOPBITS_2 - */ -__STATIC_INLINE uint32_t LL_USART_GetStopBitsLength(USART_TypeDef *USARTx) -{ - return (uint32_t)(READ_BIT(USARTx->CR2, USART_CR2_STOP)); -} - -/** - * @brief Configure Character frame format (Datawidth, Parity control, Stop Bits) - * @note Call of this function is equivalent to following function call sequence : - * - Data Width configuration using @ref LL_USART_SetDataWidth() function - * - Parity Control and mode configuration using @ref LL_USART_SetParity() function - * - Stop bits configuration using @ref LL_USART_SetStopBitsLength() function - * @rmtoll CR1 PS LL_USART_ConfigCharacter\n - * CR1 PCE LL_USART_ConfigCharacter\n - * CR1 M LL_USART_ConfigCharacter\n - * CR2 STOP LL_USART_ConfigCharacter - * @param USARTx USART Instance - * @param DataWidth This parameter can be one of the following values: - * @arg @ref LL_USART_DATAWIDTH_8B - * @arg @ref LL_USART_DATAWIDTH_9B - * @param Parity This parameter can be one of the following values: - * @arg @ref LL_USART_PARITY_NONE - * @arg @ref LL_USART_PARITY_EVEN - * @arg @ref LL_USART_PARITY_ODD - * @param StopBits This parameter can be one of the following values: - * @arg @ref LL_USART_STOPBITS_0_5 - * @arg @ref LL_USART_STOPBITS_1 - * @arg @ref LL_USART_STOPBITS_1_5 - * @arg @ref LL_USART_STOPBITS_2 - * @retval None - */ -__STATIC_INLINE void LL_USART_ConfigCharacter(USART_TypeDef *USARTx, uint32_t DataWidth, uint32_t Parity, - uint32_t StopBits) -{ - MODIFY_REG(USARTx->CR1, USART_CR1_PS | USART_CR1_PCE | USART_CR1_M, Parity | DataWidth); - MODIFY_REG(USARTx->CR2, USART_CR2_STOP, StopBits); -} - -/** - * @brief Set Address of the USART node. - * @note This is used in multiprocessor communication during Mute mode or Stop mode, - * for wake up with address mark detection. - * @rmtoll CR2 ADD LL_USART_SetNodeAddress - * @param USARTx USART Instance - * @param NodeAddress 4 bit Address of the USART node. - * @retval None - */ -__STATIC_INLINE void LL_USART_SetNodeAddress(USART_TypeDef *USARTx, uint32_t NodeAddress) -{ - MODIFY_REG(USARTx->CR2, USART_CR2_ADD, (NodeAddress & USART_CR2_ADD)); -} - -/** - * @brief Return 4 bit Address of the USART node as set in ADD field of CR2. - * @note only 4bits (b3-b0) of returned value are relevant (b31-b4 are not relevant) - * @rmtoll CR2 ADD LL_USART_GetNodeAddress - * @param USARTx USART Instance - * @retval Address of the USART node (Value between Min_Data=0 and Max_Data=255) - */ -__STATIC_INLINE uint32_t LL_USART_GetNodeAddress(USART_TypeDef *USARTx) -{ - return (uint32_t)(READ_BIT(USARTx->CR2, USART_CR2_ADD)); -} - -/** - * @brief Enable RTS HW Flow Control - * @note Macro @ref IS_UART_HWFLOW_INSTANCE(USARTx) can be used to check whether or not - * Hardware Flow control feature is supported by the USARTx instance. - * @rmtoll CR3 RTSE LL_USART_EnableRTSHWFlowCtrl - * @param USARTx USART Instance - * @retval None - */ -__STATIC_INLINE void LL_USART_EnableRTSHWFlowCtrl(USART_TypeDef *USARTx) -{ - SET_BIT(USARTx->CR3, USART_CR3_RTSE); -} - -/** - * @brief Disable RTS HW Flow Control - * @note Macro @ref IS_UART_HWFLOW_INSTANCE(USARTx) can be used to check whether or not - * Hardware Flow control feature is supported by the USARTx instance. - * @rmtoll CR3 RTSE LL_USART_DisableRTSHWFlowCtrl - * @param USARTx USART Instance - * @retval None - */ -__STATIC_INLINE void LL_USART_DisableRTSHWFlowCtrl(USART_TypeDef *USARTx) -{ - CLEAR_BIT(USARTx->CR3, USART_CR3_RTSE); -} - -/** - * @brief Enable CTS HW Flow Control - * @note Macro @ref IS_UART_HWFLOW_INSTANCE(USARTx) can be used to check whether or not - * Hardware Flow control feature is supported by the USARTx instance. - * @rmtoll CR3 CTSE LL_USART_EnableCTSHWFlowCtrl - * @param USARTx USART Instance - * @retval None - */ -__STATIC_INLINE void LL_USART_EnableCTSHWFlowCtrl(USART_TypeDef *USARTx) -{ - SET_BIT(USARTx->CR3, USART_CR3_CTSE); -} - -/** - * @brief Disable CTS HW Flow Control - * @note Macro @ref IS_UART_HWFLOW_INSTANCE(USARTx) can be used to check whether or not - * Hardware Flow control feature is supported by the USARTx instance. - * @rmtoll CR3 CTSE LL_USART_DisableCTSHWFlowCtrl - * @param USARTx USART Instance - * @retval None - */ -__STATIC_INLINE void LL_USART_DisableCTSHWFlowCtrl(USART_TypeDef *USARTx) -{ - CLEAR_BIT(USARTx->CR3, USART_CR3_CTSE); -} - -/** - * @brief Configure HW Flow Control mode (both CTS and RTS) - * @note Macro @ref IS_UART_HWFLOW_INSTANCE(USARTx) can be used to check whether or not - * Hardware Flow control feature is supported by the USARTx instance. - * @rmtoll CR3 RTSE LL_USART_SetHWFlowCtrl\n - * CR3 CTSE LL_USART_SetHWFlowCtrl - * @param USARTx USART Instance - * @param HardwareFlowControl This parameter can be one of the following values: - * @arg @ref LL_USART_HWCONTROL_NONE - * @arg @ref LL_USART_HWCONTROL_RTS - * @arg @ref LL_USART_HWCONTROL_CTS - * @arg @ref LL_USART_HWCONTROL_RTS_CTS - * @retval None - */ -__STATIC_INLINE void LL_USART_SetHWFlowCtrl(USART_TypeDef *USARTx, uint32_t HardwareFlowControl) -{ - MODIFY_REG(USARTx->CR3, USART_CR3_RTSE | USART_CR3_CTSE, HardwareFlowControl); -} - -/** - * @brief Return HW Flow Control configuration (both CTS and RTS) - * @note Macro @ref IS_UART_HWFLOW_INSTANCE(USARTx) can be used to check whether or not - * Hardware Flow control feature is supported by the USARTx instance. - * @rmtoll CR3 RTSE LL_USART_GetHWFlowCtrl\n - * CR3 CTSE LL_USART_GetHWFlowCtrl - * @param USARTx USART Instance - * @retval Returned value can be one of the following values: - * @arg @ref LL_USART_HWCONTROL_NONE - * @arg @ref LL_USART_HWCONTROL_RTS - * @arg @ref LL_USART_HWCONTROL_CTS - * @arg @ref LL_USART_HWCONTROL_RTS_CTS - */ -__STATIC_INLINE uint32_t LL_USART_GetHWFlowCtrl(USART_TypeDef *USARTx) -{ - return (uint32_t)(READ_BIT(USARTx->CR3, USART_CR3_RTSE | USART_CR3_CTSE)); -} - -/** - * @brief Enable One bit sampling method - * @rmtoll CR3 ONEBIT LL_USART_EnableOneBitSamp - * @param USARTx USART Instance - * @retval None - */ -__STATIC_INLINE void LL_USART_EnableOneBitSamp(USART_TypeDef *USARTx) -{ - SET_BIT(USARTx->CR3, USART_CR3_ONEBIT); -} - -/** - * @brief Disable One bit sampling method - * @rmtoll CR3 ONEBIT LL_USART_DisableOneBitSamp - * @param USARTx USART Instance - * @retval None - */ -__STATIC_INLINE void LL_USART_DisableOneBitSamp(USART_TypeDef *USARTx) -{ - CLEAR_BIT(USARTx->CR3, USART_CR3_ONEBIT); -} - -/** - * @brief Indicate if One bit sampling method is enabled - * @rmtoll CR3 ONEBIT LL_USART_IsEnabledOneBitSamp - * @param USARTx USART Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_USART_IsEnabledOneBitSamp(USART_TypeDef *USARTx) -{ - return (READ_BIT(USARTx->CR3, USART_CR3_ONEBIT) == (USART_CR3_ONEBIT)); -} - -/** - * @brief Configure USART BRR register for achieving expected Baud Rate value. - * @note Compute and set USARTDIV value in BRR Register (full BRR content) - * according to used Peripheral Clock, Oversampling mode, and expected Baud Rate values - * @note Peripheral clock and Baud rate values provided as function parameters should be valid - * (Baud rate value != 0) - * @rmtoll BRR BRR LL_USART_SetBaudRate - * @param USARTx USART Instance - * @param PeriphClk Peripheral Clock - * @param OverSampling This parameter can be one of the following values: - * @arg @ref LL_USART_OVERSAMPLING_16 - * @arg @ref LL_USART_OVERSAMPLING_8 - * @param BaudRate Baud Rate - * @retval None - */ -__STATIC_INLINE void LL_USART_SetBaudRate(USART_TypeDef *USARTx, uint32_t PeriphClk, uint32_t OverSampling, - uint32_t BaudRate) -{ - if (OverSampling == LL_USART_OVERSAMPLING_8) - { - USARTx->BRR = (uint16_t)(__LL_USART_DIV_SAMPLING8(PeriphClk, BaudRate)); - } - else - { - USARTx->BRR = (uint16_t)(__LL_USART_DIV_SAMPLING16(PeriphClk, BaudRate)); - } -} - -/** - * @brief Return current Baud Rate value, according to USARTDIV present in BRR register - * (full BRR content), and to used Peripheral Clock and Oversampling mode values - * @note In case of non-initialized or invalid value stored in BRR register, value 0 will be returned. - * @rmtoll BRR BRR LL_USART_GetBaudRate - * @param USARTx USART Instance - * @param PeriphClk Peripheral Clock - * @param OverSampling This parameter can be one of the following values: - * @arg @ref LL_USART_OVERSAMPLING_16 - * @arg @ref LL_USART_OVERSAMPLING_8 - * @retval Baud Rate - */ -__STATIC_INLINE uint32_t LL_USART_GetBaudRate(USART_TypeDef *USARTx, uint32_t PeriphClk, uint32_t OverSampling) -{ - uint32_t usartdiv = 0x0U; - uint32_t brrresult = 0x0U; - - usartdiv = USARTx->BRR; - - if (OverSampling == LL_USART_OVERSAMPLING_8) - { - if ((usartdiv & 0xFFF7U) != 0U) - { - usartdiv = (uint16_t)((usartdiv & 0xFFF0U) | ((usartdiv & 0x0007U) << 1U)) ; - brrresult = (PeriphClk * 2U) / usartdiv; - } - } - else - { - if ((usartdiv & 0xFFFFU) != 0U) - { - brrresult = PeriphClk / usartdiv; - } - } - return (brrresult); -} - -/** - * @} - */ - -/** @defgroup USART_LL_EF_Configuration_IRDA Configuration functions related to Irda feature - * @{ - */ - -/** - * @brief Enable IrDA mode - * @note Macro @ref IS_IRDA_INSTANCE(USARTx) can be used to check whether or not - * IrDA feature is supported by the USARTx instance. - * @rmtoll CR3 IREN LL_USART_EnableIrda - * @param USARTx USART Instance - * @retval None - */ -__STATIC_INLINE void LL_USART_EnableIrda(USART_TypeDef *USARTx) -{ - SET_BIT(USARTx->CR3, USART_CR3_IREN); -} - -/** - * @brief Disable IrDA mode - * @note Macro @ref IS_IRDA_INSTANCE(USARTx) can be used to check whether or not - * IrDA feature is supported by the USARTx instance. - * @rmtoll CR3 IREN LL_USART_DisableIrda - * @param USARTx USART Instance - * @retval None - */ -__STATIC_INLINE void LL_USART_DisableIrda(USART_TypeDef *USARTx) -{ - CLEAR_BIT(USARTx->CR3, USART_CR3_IREN); -} - -/** - * @brief Indicate if IrDA mode is enabled - * @note Macro @ref IS_IRDA_INSTANCE(USARTx) can be used to check whether or not - * IrDA feature is supported by the USARTx instance. - * @rmtoll CR3 IREN LL_USART_IsEnabledIrda - * @param USARTx USART Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_USART_IsEnabledIrda(USART_TypeDef *USARTx) -{ - return (READ_BIT(USARTx->CR3, USART_CR3_IREN) == (USART_CR3_IREN)); -} - -/** - * @brief Configure IrDA Power Mode (Normal or Low Power) - * @note Macro @ref IS_IRDA_INSTANCE(USARTx) can be used to check whether or not - * IrDA feature is supported by the USARTx instance. - * @rmtoll CR3 IRLP LL_USART_SetIrdaPowerMode - * @param USARTx USART Instance - * @param PowerMode This parameter can be one of the following values: - * @arg @ref LL_USART_IRDA_POWER_NORMAL - * @arg @ref LL_USART_IRDA_POWER_LOW - * @retval None - */ -__STATIC_INLINE void LL_USART_SetIrdaPowerMode(USART_TypeDef *USARTx, uint32_t PowerMode) -{ - MODIFY_REG(USARTx->CR3, USART_CR3_IRLP, PowerMode); -} - -/** - * @brief Retrieve IrDA Power Mode configuration (Normal or Low Power) - * @note Macro @ref IS_IRDA_INSTANCE(USARTx) can be used to check whether or not - * IrDA feature is supported by the USARTx instance. - * @rmtoll CR3 IRLP LL_USART_GetIrdaPowerMode - * @param USARTx USART Instance - * @retval Returned value can be one of the following values: - * @arg @ref LL_USART_IRDA_POWER_NORMAL - * @arg @ref LL_USART_PHASE_2EDGE - */ -__STATIC_INLINE uint32_t LL_USART_GetIrdaPowerMode(USART_TypeDef *USARTx) -{ - return (uint32_t)(READ_BIT(USARTx->CR3, USART_CR3_IRLP)); -} - -/** - * @brief Set Irda prescaler value, used for dividing the USART clock source - * to achieve the Irda Low Power frequency (8 bits value) - * @note Macro @ref IS_IRDA_INSTANCE(USARTx) can be used to check whether or not - * IrDA feature is supported by the USARTx instance. - * @rmtoll GTPR PSC LL_USART_SetIrdaPrescaler - * @param USARTx USART Instance - * @param PrescalerValue Value between Min_Data=0x00 and Max_Data=0xFF - * @retval None - */ -__STATIC_INLINE void LL_USART_SetIrdaPrescaler(USART_TypeDef *USARTx, uint32_t PrescalerValue) -{ - MODIFY_REG(USARTx->GTPR, USART_GTPR_PSC, PrescalerValue); -} - -/** - * @brief Return Irda prescaler value, used for dividing the USART clock source - * to achieve the Irda Low Power frequency (8 bits value) - * @note Macro @ref IS_IRDA_INSTANCE(USARTx) can be used to check whether or not - * IrDA feature is supported by the USARTx instance. - * @rmtoll GTPR PSC LL_USART_GetIrdaPrescaler - * @param USARTx USART Instance - * @retval Irda prescaler value (Value between Min_Data=0x00 and Max_Data=0xFF) - */ -__STATIC_INLINE uint32_t LL_USART_GetIrdaPrescaler(USART_TypeDef *USARTx) -{ - return (uint32_t)(READ_BIT(USARTx->GTPR, USART_GTPR_PSC)); -} - -/** - * @} - */ - -/** @defgroup USART_LL_EF_Configuration_Smartcard Configuration functions related to Smartcard feature - * @{ - */ - -/** - * @brief Enable Smartcard NACK transmission - * @note Macro @ref IS_SMARTCARD_INSTANCE(USARTx) can be used to check whether or not - * Smartcard feature is supported by the USARTx instance. - * @rmtoll CR3 NACK LL_USART_EnableSmartcardNACK - * @param USARTx USART Instance - * @retval None - */ -__STATIC_INLINE void LL_USART_EnableSmartcardNACK(USART_TypeDef *USARTx) -{ - SET_BIT(USARTx->CR3, USART_CR3_NACK); -} - -/** - * @brief Disable Smartcard NACK transmission - * @note Macro @ref IS_SMARTCARD_INSTANCE(USARTx) can be used to check whether or not - * Smartcard feature is supported by the USARTx instance. - * @rmtoll CR3 NACK LL_USART_DisableSmartcardNACK - * @param USARTx USART Instance - * @retval None - */ -__STATIC_INLINE void LL_USART_DisableSmartcardNACK(USART_TypeDef *USARTx) -{ - CLEAR_BIT(USARTx->CR3, USART_CR3_NACK); -} - -/** - * @brief Indicate if Smartcard NACK transmission is enabled - * @note Macro @ref IS_SMARTCARD_INSTANCE(USARTx) can be used to check whether or not - * Smartcard feature is supported by the USARTx instance. - * @rmtoll CR3 NACK LL_USART_IsEnabledSmartcardNACK - * @param USARTx USART Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_USART_IsEnabledSmartcardNACK(USART_TypeDef *USARTx) -{ - return (READ_BIT(USARTx->CR3, USART_CR3_NACK) == (USART_CR3_NACK)); -} - -/** - * @brief Enable Smartcard mode - * @note Macro @ref IS_SMARTCARD_INSTANCE(USARTx) can be used to check whether or not - * Smartcard feature is supported by the USARTx instance. - * @rmtoll CR3 SCEN LL_USART_EnableSmartcard - * @param USARTx USART Instance - * @retval None - */ -__STATIC_INLINE void LL_USART_EnableSmartcard(USART_TypeDef *USARTx) -{ - SET_BIT(USARTx->CR3, USART_CR3_SCEN); -} - -/** - * @brief Disable Smartcard mode - * @note Macro @ref IS_SMARTCARD_INSTANCE(USARTx) can be used to check whether or not - * Smartcard feature is supported by the USARTx instance. - * @rmtoll CR3 SCEN LL_USART_DisableSmartcard - * @param USARTx USART Instance - * @retval None - */ -__STATIC_INLINE void LL_USART_DisableSmartcard(USART_TypeDef *USARTx) -{ - CLEAR_BIT(USARTx->CR3, USART_CR3_SCEN); -} - -/** - * @brief Indicate if Smartcard mode is enabled - * @note Macro @ref IS_SMARTCARD_INSTANCE(USARTx) can be used to check whether or not - * Smartcard feature is supported by the USARTx instance. - * @rmtoll CR3 SCEN LL_USART_IsEnabledSmartcard - * @param USARTx USART Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_USART_IsEnabledSmartcard(USART_TypeDef *USARTx) -{ - return (READ_BIT(USARTx->CR3, USART_CR3_SCEN) == (USART_CR3_SCEN)); -} - -/** - * @brief Set Smartcard prescaler value, used for dividing the USART clock - * source to provide the SMARTCARD Clock (5 bits value) - * @note Macro @ref IS_SMARTCARD_INSTANCE(USARTx) can be used to check whether or not - * Smartcard feature is supported by the USARTx instance. - * @rmtoll GTPR PSC LL_USART_SetSmartcardPrescaler - * @param USARTx USART Instance - * @param PrescalerValue Value between Min_Data=0 and Max_Data=31 - * @retval None - */ -__STATIC_INLINE void LL_USART_SetSmartcardPrescaler(USART_TypeDef *USARTx, uint32_t PrescalerValue) -{ - MODIFY_REG(USARTx->GTPR, USART_GTPR_PSC, PrescalerValue); -} - -/** - * @brief Return Smartcard prescaler value, used for dividing the USART clock - * source to provide the SMARTCARD Clock (5 bits value) - * @note Macro @ref IS_SMARTCARD_INSTANCE(USARTx) can be used to check whether or not - * Smartcard feature is supported by the USARTx instance. - * @rmtoll GTPR PSC LL_USART_GetSmartcardPrescaler - * @param USARTx USART Instance - * @retval Smartcard prescaler value (Value between Min_Data=0 and Max_Data=31) - */ -__STATIC_INLINE uint32_t LL_USART_GetSmartcardPrescaler(USART_TypeDef *USARTx) -{ - return (uint32_t)(READ_BIT(USARTx->GTPR, USART_GTPR_PSC)); -} - -/** - * @brief Set Smartcard Guard time value, expressed in nb of baud clocks periods - * (GT[7:0] bits : Guard time value) - * @note Macro @ref IS_SMARTCARD_INSTANCE(USARTx) can be used to check whether or not - * Smartcard feature is supported by the USARTx instance. - * @rmtoll GTPR GT LL_USART_SetSmartcardGuardTime - * @param USARTx USART Instance - * @param GuardTime Value between Min_Data=0x00 and Max_Data=0xFF - * @retval None - */ -__STATIC_INLINE void LL_USART_SetSmartcardGuardTime(USART_TypeDef *USARTx, uint32_t GuardTime) -{ - MODIFY_REG(USARTx->GTPR, USART_GTPR_GT, GuardTime << USART_POSITION_GTPR_GT); -} - -/** - * @brief Return Smartcard Guard time value, expressed in nb of baud clocks periods - * (GT[7:0] bits : Guard time value) - * @note Macro @ref IS_SMARTCARD_INSTANCE(USARTx) can be used to check whether or not - * Smartcard feature is supported by the USARTx instance. - * @rmtoll GTPR GT LL_USART_GetSmartcardGuardTime - * @param USARTx USART Instance - * @retval Smartcard Guard time value (Value between Min_Data=0x00 and Max_Data=0xFF) - */ -__STATIC_INLINE uint32_t LL_USART_GetSmartcardGuardTime(USART_TypeDef *USARTx) -{ - return (uint32_t)(READ_BIT(USARTx->GTPR, USART_GTPR_GT) >> USART_POSITION_GTPR_GT); -} - -/** - * @} - */ - -/** @defgroup USART_LL_EF_Configuration_HalfDuplex Configuration functions related to Half Duplex feature - * @{ - */ - -/** - * @brief Enable Single Wire Half-Duplex mode - * @note Macro @ref IS_UART_HALFDUPLEX_INSTANCE(USARTx) can be used to check whether or not - * Half-Duplex mode is supported by the USARTx instance. - * @rmtoll CR3 HDSEL LL_USART_EnableHalfDuplex - * @param USARTx USART Instance - * @retval None - */ -__STATIC_INLINE void LL_USART_EnableHalfDuplex(USART_TypeDef *USARTx) -{ - SET_BIT(USARTx->CR3, USART_CR3_HDSEL); -} - -/** - * @brief Disable Single Wire Half-Duplex mode - * @note Macro @ref IS_UART_HALFDUPLEX_INSTANCE(USARTx) can be used to check whether or not - * Half-Duplex mode is supported by the USARTx instance. - * @rmtoll CR3 HDSEL LL_USART_DisableHalfDuplex - * @param USARTx USART Instance - * @retval None - */ -__STATIC_INLINE void LL_USART_DisableHalfDuplex(USART_TypeDef *USARTx) -{ - CLEAR_BIT(USARTx->CR3, USART_CR3_HDSEL); -} - -/** - * @brief Indicate if Single Wire Half-Duplex mode is enabled - * @note Macro @ref IS_UART_HALFDUPLEX_INSTANCE(USARTx) can be used to check whether or not - * Half-Duplex mode is supported by the USARTx instance. - * @rmtoll CR3 HDSEL LL_USART_IsEnabledHalfDuplex - * @param USARTx USART Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_USART_IsEnabledHalfDuplex(USART_TypeDef *USARTx) -{ - return (READ_BIT(USARTx->CR3, USART_CR3_HDSEL) == (USART_CR3_HDSEL)); -} - -/** - * @} - */ - -/** @defgroup USART_LL_EF_Configuration_LIN Configuration functions related to LIN feature - * @{ - */ - -/** - * @brief Set LIN Break Detection Length - * @note Macro @ref IS_UART_LIN_INSTANCE(USARTx) can be used to check whether or not - * LIN feature is supported by the USARTx instance. - * @rmtoll CR2 LBDL LL_USART_SetLINBrkDetectionLen - * @param USARTx USART Instance - * @param LINBDLength This parameter can be one of the following values: - * @arg @ref LL_USART_LINBREAK_DETECT_10B - * @arg @ref LL_USART_LINBREAK_DETECT_11B - * @retval None - */ -__STATIC_INLINE void LL_USART_SetLINBrkDetectionLen(USART_TypeDef *USARTx, uint32_t LINBDLength) -{ - MODIFY_REG(USARTx->CR2, USART_CR2_LBDL, LINBDLength); -} - -/** - * @brief Return LIN Break Detection Length - * @note Macro @ref IS_UART_LIN_INSTANCE(USARTx) can be used to check whether or not - * LIN feature is supported by the USARTx instance. - * @rmtoll CR2 LBDL LL_USART_GetLINBrkDetectionLen - * @param USARTx USART Instance - * @retval Returned value can be one of the following values: - * @arg @ref LL_USART_LINBREAK_DETECT_10B - * @arg @ref LL_USART_LINBREAK_DETECT_11B - */ -__STATIC_INLINE uint32_t LL_USART_GetLINBrkDetectionLen(USART_TypeDef *USARTx) -{ - return (uint32_t)(READ_BIT(USARTx->CR2, USART_CR2_LBDL)); -} - -/** - * @brief Enable LIN mode - * @note Macro @ref IS_UART_LIN_INSTANCE(USARTx) can be used to check whether or not - * LIN feature is supported by the USARTx instance. - * @rmtoll CR2 LINEN LL_USART_EnableLIN - * @param USARTx USART Instance - * @retval None - */ -__STATIC_INLINE void LL_USART_EnableLIN(USART_TypeDef *USARTx) -{ - SET_BIT(USARTx->CR2, USART_CR2_LINEN); -} - -/** - * @brief Disable LIN mode - * @note Macro @ref IS_UART_LIN_INSTANCE(USARTx) can be used to check whether or not - * LIN feature is supported by the USARTx instance. - * @rmtoll CR2 LINEN LL_USART_DisableLIN - * @param USARTx USART Instance - * @retval None - */ -__STATIC_INLINE void LL_USART_DisableLIN(USART_TypeDef *USARTx) -{ - CLEAR_BIT(USARTx->CR2, USART_CR2_LINEN); -} - -/** - * @brief Indicate if LIN mode is enabled - * @note Macro @ref IS_UART_LIN_INSTANCE(USARTx) can be used to check whether or not - * LIN feature is supported by the USARTx instance. - * @rmtoll CR2 LINEN LL_USART_IsEnabledLIN - * @param USARTx USART Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_USART_IsEnabledLIN(USART_TypeDef *USARTx) -{ - return (READ_BIT(USARTx->CR2, USART_CR2_LINEN) == (USART_CR2_LINEN)); -} - -/** - * @} - */ - -/** @defgroup USART_LL_EF_AdvancedConfiguration Advanced Configurations services - * @{ - */ - -/** - * @brief Perform basic configuration of USART for enabling use in Asynchronous Mode (UART) - * @note In UART mode, the following bits must be kept cleared: - * - LINEN bit in the USART_CR2 register, - * - CLKEN bit in the USART_CR2 register, - * - SCEN bit in the USART_CR3 register, - * - IREN bit in the USART_CR3 register, - * - HDSEL bit in the USART_CR3 register. - * @note Call of this function is equivalent to following function call sequence : - * - Clear LINEN in CR2 using @ref LL_USART_DisableLIN() function - * - Clear CLKEN in CR2 using @ref LL_USART_DisableSCLKOutput() function - * - Clear SCEN in CR3 using @ref LL_USART_DisableSmartcard() function - * - Clear IREN in CR3 using @ref LL_USART_DisableIrda() function - * - Clear HDSEL in CR3 using @ref LL_USART_DisableHalfDuplex() function - * @note Other remaining configurations items related to Asynchronous Mode - * (as Baud Rate, Word length, Parity, ...) should be set using - * dedicated functions - * @rmtoll CR2 LINEN LL_USART_ConfigAsyncMode\n - * CR2 CLKEN LL_USART_ConfigAsyncMode\n - * CR3 SCEN LL_USART_ConfigAsyncMode\n - * CR3 IREN LL_USART_ConfigAsyncMode\n - * CR3 HDSEL LL_USART_ConfigAsyncMode - * @param USARTx USART Instance - * @retval None - */ -__STATIC_INLINE void LL_USART_ConfigAsyncMode(USART_TypeDef *USARTx) -{ - /* In Asynchronous mode, the following bits must be kept cleared: - - LINEN, CLKEN bits in the USART_CR2 register, - - SCEN, IREN and HDSEL bits in the USART_CR3 register.*/ - CLEAR_BIT(USARTx->CR2, (USART_CR2_LINEN | USART_CR2_CLKEN)); - CLEAR_BIT(USARTx->CR3, (USART_CR3_SCEN | USART_CR3_IREN | USART_CR3_HDSEL)); -} - -/** - * @brief Perform basic configuration of USART for enabling use in Synchronous Mode - * @note In Synchronous mode, the following bits must be kept cleared: - * - LINEN bit in the USART_CR2 register, - * - SCEN bit in the USART_CR3 register, - * - IREN bit in the USART_CR3 register, - * - HDSEL bit in the USART_CR3 register. - * This function also sets the USART in Synchronous mode. - * @note Macro @ref IS_USART_INSTANCE(USARTx) can be used to check whether or not - * Synchronous mode is supported by the USARTx instance. - * @note Call of this function is equivalent to following function call sequence : - * - Clear LINEN in CR2 using @ref LL_USART_DisableLIN() function - * - Clear IREN in CR3 using @ref LL_USART_DisableIrda() function - * - Clear SCEN in CR3 using @ref LL_USART_DisableSmartcard() function - * - Clear HDSEL in CR3 using @ref LL_USART_DisableHalfDuplex() function - * - Set CLKEN in CR2 using @ref LL_USART_EnableSCLKOutput() function - * @note Other remaining configurations items related to Synchronous Mode - * (as Baud Rate, Word length, Parity, Clock Polarity, ...) should be set using - * dedicated functions - * @rmtoll CR2 LINEN LL_USART_ConfigSyncMode\n - * CR2 CLKEN LL_USART_ConfigSyncMode\n - * CR3 SCEN LL_USART_ConfigSyncMode\n - * CR3 IREN LL_USART_ConfigSyncMode\n - * CR3 HDSEL LL_USART_ConfigSyncMode - * @param USARTx USART Instance - * @retval None - */ -__STATIC_INLINE void LL_USART_ConfigSyncMode(USART_TypeDef *USARTx) -{ - /* In Synchronous mode, the following bits must be kept cleared: - - LINEN bit in the USART_CR2 register, - - SCEN, IREN and HDSEL bits in the USART_CR3 register.*/ - CLEAR_BIT(USARTx->CR2, (USART_CR2_LINEN)); - CLEAR_BIT(USARTx->CR3, (USART_CR3_SCEN | USART_CR3_IREN | USART_CR3_HDSEL)); - /* set the UART/USART in Synchronous mode */ - SET_BIT(USARTx->CR2, USART_CR2_CLKEN); -} - -/** - * @brief Perform basic configuration of USART for enabling use in LIN Mode - * @note In LIN mode, the following bits must be kept cleared: - * - STOP and CLKEN bits in the USART_CR2 register, - * - SCEN bit in the USART_CR3 register, - * - IREN bit in the USART_CR3 register, - * - HDSEL bit in the USART_CR3 register. - * This function also set the UART/USART in LIN mode. - * @note Macro @ref IS_UART_LIN_INSTANCE(USARTx) can be used to check whether or not - * LIN feature is supported by the USARTx instance. - * @note Call of this function is equivalent to following function call sequence : - * - Clear CLKEN in CR2 using @ref LL_USART_DisableSCLKOutput() function - * - Clear STOP in CR2 using @ref LL_USART_SetStopBitsLength() function - * - Clear SCEN in CR3 using @ref LL_USART_DisableSmartcard() function - * - Clear IREN in CR3 using @ref LL_USART_DisableIrda() function - * - Clear HDSEL in CR3 using @ref LL_USART_DisableHalfDuplex() function - * - Set LINEN in CR2 using @ref LL_USART_EnableLIN() function - * @note Other remaining configurations items related to LIN Mode - * (as Baud Rate, Word length, LIN Break Detection Length, ...) should be set using - * dedicated functions - * @rmtoll CR2 CLKEN LL_USART_ConfigLINMode\n - * CR2 STOP LL_USART_ConfigLINMode\n - * CR2 LINEN LL_USART_ConfigLINMode\n - * CR3 IREN LL_USART_ConfigLINMode\n - * CR3 SCEN LL_USART_ConfigLINMode\n - * CR3 HDSEL LL_USART_ConfigLINMode - * @param USARTx USART Instance - * @retval None - */ -__STATIC_INLINE void LL_USART_ConfigLINMode(USART_TypeDef *USARTx) -{ - /* In LIN mode, the following bits must be kept cleared: - - STOP and CLKEN bits in the USART_CR2 register, - - IREN, SCEN and HDSEL bits in the USART_CR3 register.*/ - CLEAR_BIT(USARTx->CR2, (USART_CR2_CLKEN | USART_CR2_STOP)); - CLEAR_BIT(USARTx->CR3, (USART_CR3_IREN | USART_CR3_SCEN | USART_CR3_HDSEL)); - /* Set the UART/USART in LIN mode */ - SET_BIT(USARTx->CR2, USART_CR2_LINEN); -} - -/** - * @brief Perform basic configuration of USART for enabling use in Half Duplex Mode - * @note In Half Duplex mode, the following bits must be kept cleared: - * - LINEN bit in the USART_CR2 register, - * - CLKEN bit in the USART_CR2 register, - * - SCEN bit in the USART_CR3 register, - * - IREN bit in the USART_CR3 register, - * This function also sets the UART/USART in Half Duplex mode. - * @note Macro @ref IS_UART_HALFDUPLEX_INSTANCE(USARTx) can be used to check whether or not - * Half-Duplex mode is supported by the USARTx instance. - * @note Call of this function is equivalent to following function call sequence : - * - Clear LINEN in CR2 using @ref LL_USART_DisableLIN() function - * - Clear CLKEN in CR2 using @ref LL_USART_DisableSCLKOutput() function - * - Clear SCEN in CR3 using @ref LL_USART_DisableSmartcard() function - * - Clear IREN in CR3 using @ref LL_USART_DisableIrda() function - * - Set HDSEL in CR3 using @ref LL_USART_EnableHalfDuplex() function - * @note Other remaining configurations items related to Half Duplex Mode - * (as Baud Rate, Word length, Parity, ...) should be set using - * dedicated functions - * @rmtoll CR2 LINEN LL_USART_ConfigHalfDuplexMode\n - * CR2 CLKEN LL_USART_ConfigHalfDuplexMode\n - * CR3 HDSEL LL_USART_ConfigHalfDuplexMode\n - * CR3 SCEN LL_USART_ConfigHalfDuplexMode\n - * CR3 IREN LL_USART_ConfigHalfDuplexMode - * @param USARTx USART Instance - * @retval None - */ -__STATIC_INLINE void LL_USART_ConfigHalfDuplexMode(USART_TypeDef *USARTx) -{ - /* In Half Duplex mode, the following bits must be kept cleared: - - LINEN and CLKEN bits in the USART_CR2 register, - - SCEN and IREN bits in the USART_CR3 register.*/ - CLEAR_BIT(USARTx->CR2, (USART_CR2_LINEN | USART_CR2_CLKEN)); - CLEAR_BIT(USARTx->CR3, (USART_CR3_SCEN | USART_CR3_IREN)); - /* set the UART/USART in Half Duplex mode */ - SET_BIT(USARTx->CR3, USART_CR3_HDSEL); -} - -/** - * @brief Perform basic configuration of USART for enabling use in Smartcard Mode - * @note In Smartcard mode, the following bits must be kept cleared: - * - LINEN bit in the USART_CR2 register, - * - IREN bit in the USART_CR3 register, - * - HDSEL bit in the USART_CR3 register. - * This function also configures Stop bits to 1.5 bits and - * sets the USART in Smartcard mode (SCEN bit). - * Clock Output is also enabled (CLKEN). - * @note Macro @ref IS_SMARTCARD_INSTANCE(USARTx) can be used to check whether or not - * Smartcard feature is supported by the USARTx instance. - * @note Call of this function is equivalent to following function call sequence : - * - Clear LINEN in CR2 using @ref LL_USART_DisableLIN() function - * - Clear IREN in CR3 using @ref LL_USART_DisableIrda() function - * - Clear HDSEL in CR3 using @ref LL_USART_DisableHalfDuplex() function - * - Configure STOP in CR2 using @ref LL_USART_SetStopBitsLength() function - * - Set CLKEN in CR2 using @ref LL_USART_EnableSCLKOutput() function - * - Set SCEN in CR3 using @ref LL_USART_EnableSmartcard() function - * @note Other remaining configurations items related to Smartcard Mode - * (as Baud Rate, Word length, Parity, ...) should be set using - * dedicated functions - * @rmtoll CR2 LINEN LL_USART_ConfigSmartcardMode\n - * CR2 STOP LL_USART_ConfigSmartcardMode\n - * CR2 CLKEN LL_USART_ConfigSmartcardMode\n - * CR3 HDSEL LL_USART_ConfigSmartcardMode\n - * CR3 SCEN LL_USART_ConfigSmartcardMode - * @param USARTx USART Instance - * @retval None - */ -__STATIC_INLINE void LL_USART_ConfigSmartcardMode(USART_TypeDef *USARTx) -{ - /* In Smartcard mode, the following bits must be kept cleared: - - LINEN bit in the USART_CR2 register, - - IREN and HDSEL bits in the USART_CR3 register.*/ - CLEAR_BIT(USARTx->CR2, (USART_CR2_LINEN)); - CLEAR_BIT(USARTx->CR3, (USART_CR3_IREN | USART_CR3_HDSEL)); - /* Configure Stop bits to 1.5 bits */ - /* Synchronous mode is activated by default */ - SET_BIT(USARTx->CR2, (USART_CR2_STOP_0 | USART_CR2_STOP_1 | USART_CR2_CLKEN)); - /* set the UART/USART in Smartcard mode */ - SET_BIT(USARTx->CR3, USART_CR3_SCEN); -} - -/** - * @brief Perform basic configuration of USART for enabling use in Irda Mode - * @note In IRDA mode, the following bits must be kept cleared: - * - LINEN bit in the USART_CR2 register, - * - STOP and CLKEN bits in the USART_CR2 register, - * - SCEN bit in the USART_CR3 register, - * - HDSEL bit in the USART_CR3 register. - * This function also sets the UART/USART in IRDA mode (IREN bit). - * @note Macro @ref IS_IRDA_INSTANCE(USARTx) can be used to check whether or not - * IrDA feature is supported by the USARTx instance. - * @note Call of this function is equivalent to following function call sequence : - * - Clear LINEN in CR2 using @ref LL_USART_DisableLIN() function - * - Clear CLKEN in CR2 using @ref LL_USART_DisableSCLKOutput() function - * - Clear SCEN in CR3 using @ref LL_USART_DisableSmartcard() function - * - Clear HDSEL in CR3 using @ref LL_USART_DisableHalfDuplex() function - * - Configure STOP in CR2 using @ref LL_USART_SetStopBitsLength() function - * - Set IREN in CR3 using @ref LL_USART_EnableIrda() function - * @note Other remaining configurations items related to Irda Mode - * (as Baud Rate, Word length, Power mode, ...) should be set using - * dedicated functions - * @rmtoll CR2 LINEN LL_USART_ConfigIrdaMode\n - * CR2 CLKEN LL_USART_ConfigIrdaMode\n - * CR2 STOP LL_USART_ConfigIrdaMode\n - * CR3 SCEN LL_USART_ConfigIrdaMode\n - * CR3 HDSEL LL_USART_ConfigIrdaMode\n - * CR3 IREN LL_USART_ConfigIrdaMode - * @param USARTx USART Instance - * @retval None - */ -__STATIC_INLINE void LL_USART_ConfigIrdaMode(USART_TypeDef *USARTx) -{ - /* In IRDA mode, the following bits must be kept cleared: - - LINEN, STOP and CLKEN bits in the USART_CR2 register, - - SCEN and HDSEL bits in the USART_CR3 register.*/ - CLEAR_BIT(USARTx->CR2, (USART_CR2_LINEN | USART_CR2_CLKEN | USART_CR2_STOP)); - CLEAR_BIT(USARTx->CR3, (USART_CR3_SCEN | USART_CR3_HDSEL)); - /* set the UART/USART in IRDA mode */ - SET_BIT(USARTx->CR3, USART_CR3_IREN); -} - -/** - * @brief Perform basic configuration of USART for enabling use in Multi processor Mode - * (several USARTs connected in a network, one of the USARTs can be the master, - * its TX output connected to the RX inputs of the other slaves USARTs). - * @note In MultiProcessor mode, the following bits must be kept cleared: - * - LINEN bit in the USART_CR2 register, - * - CLKEN bit in the USART_CR2 register, - * - SCEN bit in the USART_CR3 register, - * - IREN bit in the USART_CR3 register, - * - HDSEL bit in the USART_CR3 register. - * @note Call of this function is equivalent to following function call sequence : - * - Clear LINEN in CR2 using @ref LL_USART_DisableLIN() function - * - Clear CLKEN in CR2 using @ref LL_USART_DisableSCLKOutput() function - * - Clear SCEN in CR3 using @ref LL_USART_DisableSmartcard() function - * - Clear IREN in CR3 using @ref LL_USART_DisableIrda() function - * - Clear HDSEL in CR3 using @ref LL_USART_DisableHalfDuplex() function - * @note Other remaining configurations items related to Multi processor Mode - * (as Baud Rate, Wake Up Method, Node address, ...) should be set using - * dedicated functions - * @rmtoll CR2 LINEN LL_USART_ConfigMultiProcessMode\n - * CR2 CLKEN LL_USART_ConfigMultiProcessMode\n - * CR3 SCEN LL_USART_ConfigMultiProcessMode\n - * CR3 HDSEL LL_USART_ConfigMultiProcessMode\n - * CR3 IREN LL_USART_ConfigMultiProcessMode - * @param USARTx USART Instance - * @retval None - */ -__STATIC_INLINE void LL_USART_ConfigMultiProcessMode(USART_TypeDef *USARTx) -{ - /* In Multi Processor mode, the following bits must be kept cleared: - - LINEN and CLKEN bits in the USART_CR2 register, - - IREN, SCEN and HDSEL bits in the USART_CR3 register.*/ - CLEAR_BIT(USARTx->CR2, (USART_CR2_LINEN | USART_CR2_CLKEN)); - CLEAR_BIT(USARTx->CR3, (USART_CR3_SCEN | USART_CR3_HDSEL | USART_CR3_IREN)); -} - -/** - * @} - */ - -/** @defgroup USART_LL_EF_FLAG_Management FLAG_Management - * @{ - */ - -/** - * @brief Check if the USART Parity Error Flag is set or not - * @rmtoll SR PE LL_USART_IsActiveFlag_PE - * @param USARTx USART Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_USART_IsActiveFlag_PE(USART_TypeDef *USARTx) -{ - return (READ_BIT(USARTx->SR, USART_SR_PE) == (USART_SR_PE)); -} - -/** - * @brief Check if the USART Framing Error Flag is set or not - * @rmtoll SR FE LL_USART_IsActiveFlag_FE - * @param USARTx USART Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_USART_IsActiveFlag_FE(USART_TypeDef *USARTx) -{ - return (READ_BIT(USARTx->SR, USART_SR_FE) == (USART_SR_FE)); -} - -/** - * @brief Check if the USART Noise error detected Flag is set or not - * @rmtoll SR NF LL_USART_IsActiveFlag_NE - * @param USARTx USART Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_USART_IsActiveFlag_NE(USART_TypeDef *USARTx) -{ - return (READ_BIT(USARTx->SR, USART_SR_NE) == (USART_SR_NE)); -} - -/** - * @brief Check if the USART OverRun Error Flag is set or not - * @rmtoll SR ORE LL_USART_IsActiveFlag_ORE - * @param USARTx USART Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_USART_IsActiveFlag_ORE(USART_TypeDef *USARTx) -{ - return (READ_BIT(USARTx->SR, USART_SR_ORE) == (USART_SR_ORE)); -} - -/** - * @brief Check if the USART IDLE line detected Flag is set or not - * @rmtoll SR IDLE LL_USART_IsActiveFlag_IDLE - * @param USARTx USART Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_USART_IsActiveFlag_IDLE(USART_TypeDef *USARTx) -{ - return (READ_BIT(USARTx->SR, USART_SR_IDLE) == (USART_SR_IDLE)); -} - -/** - * @brief Check if the USART Read Data Register Not Empty Flag is set or not - * @rmtoll SR RXNE LL_USART_IsActiveFlag_RXNE - * @param USARTx USART Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_USART_IsActiveFlag_RXNE(USART_TypeDef *USARTx) -{ - return (READ_BIT(USARTx->SR, USART_SR_RXNE) == (USART_SR_RXNE)); -} - -/** - * @brief Check if the USART Transmission Complete Flag is set or not - * @rmtoll SR TC LL_USART_IsActiveFlag_TC - * @param USARTx USART Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_USART_IsActiveFlag_TC(USART_TypeDef *USARTx) -{ - return (READ_BIT(USARTx->SR, USART_SR_TC) == (USART_SR_TC)); -} - -/** - * @brief Check if the USART Transmit Data Register Empty Flag is set or not - * @rmtoll SR TXE LL_USART_IsActiveFlag_TXE - * @param USARTx USART Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_USART_IsActiveFlag_TXE(USART_TypeDef *USARTx) -{ - return (READ_BIT(USARTx->SR, USART_SR_TXE) == (USART_SR_TXE)); -} - -/** - * @brief Check if the USART LIN Break Detection Flag is set or not - * @note Macro @ref IS_UART_LIN_INSTANCE(USARTx) can be used to check whether or not - * LIN feature is supported by the USARTx instance. - * @rmtoll SR LBD LL_USART_IsActiveFlag_LBD - * @param USARTx USART Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_USART_IsActiveFlag_LBD(USART_TypeDef *USARTx) -{ - return (READ_BIT(USARTx->SR, USART_SR_LBD) == (USART_SR_LBD)); -} - -/** - * @brief Check if the USART CTS Flag is set or not - * @note Macro @ref IS_UART_HWFLOW_INSTANCE(USARTx) can be used to check whether or not - * Hardware Flow control feature is supported by the USARTx instance. - * @rmtoll SR CTS LL_USART_IsActiveFlag_nCTS - * @param USARTx USART Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_USART_IsActiveFlag_nCTS(USART_TypeDef *USARTx) -{ - return (READ_BIT(USARTx->SR, USART_SR_CTS) == (USART_SR_CTS)); -} - -/** - * @brief Check if the USART Send Break Flag is set or not - * @rmtoll CR1 SBK LL_USART_IsActiveFlag_SBK - * @param USARTx USART Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_USART_IsActiveFlag_SBK(USART_TypeDef *USARTx) -{ - return (READ_BIT(USARTx->CR1, USART_CR1_SBK) == (USART_CR1_SBK)); -} - -/** - * @brief Check if the USART Receive Wake Up from mute mode Flag is set or not - * @rmtoll CR1 RWU LL_USART_IsActiveFlag_RWU - * @param USARTx USART Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_USART_IsActiveFlag_RWU(USART_TypeDef *USARTx) -{ - return (READ_BIT(USARTx->CR1, USART_CR1_RWU) == (USART_CR1_RWU)); -} - -/** - * @brief Clear Parity Error Flag - * @note Clearing this flag is done by a read access to the USARTx_SR - * register followed by a read access to the USARTx_DR register. - * @note Please also consider that when clearing this flag, other flags as - * NE, FE, ORE, IDLE would also be cleared. - * @rmtoll SR PE LL_USART_ClearFlag_PE - * @param USARTx USART Instance - * @retval None - */ -__STATIC_INLINE void LL_USART_ClearFlag_PE(USART_TypeDef *USARTx) -{ - __IO uint32_t tmpreg; - tmpreg = USARTx->SR; - (void) tmpreg; - tmpreg = USARTx->DR; - (void) tmpreg; -} - -/** - * @brief Clear Framing Error Flag - * @note Clearing this flag is done by a read access to the USARTx_SR - * register followed by a read access to the USARTx_DR register. - * @note Please also consider that when clearing this flag, other flags as - * PE, NE, ORE, IDLE would also be cleared. - * @rmtoll SR FE LL_USART_ClearFlag_FE - * @param USARTx USART Instance - * @retval None - */ -__STATIC_INLINE void LL_USART_ClearFlag_FE(USART_TypeDef *USARTx) -{ - __IO uint32_t tmpreg; - tmpreg = USARTx->SR; - (void) tmpreg; - tmpreg = USARTx->DR; - (void) tmpreg; -} - -/** - * @brief Clear Noise detected Flag - * @note Clearing this flag is done by a read access to the USARTx_SR - * register followed by a read access to the USARTx_DR register. - * @note Please also consider that when clearing this flag, other flags as - * PE, FE, ORE, IDLE would also be cleared. - * @rmtoll SR NF LL_USART_ClearFlag_NE - * @param USARTx USART Instance - * @retval None - */ -__STATIC_INLINE void LL_USART_ClearFlag_NE(USART_TypeDef *USARTx) -{ - __IO uint32_t tmpreg; - tmpreg = USARTx->SR; - (void) tmpreg; - tmpreg = USARTx->DR; - (void) tmpreg; -} - -/** - * @brief Clear OverRun Error Flag - * @note Clearing this flag is done by a read access to the USARTx_SR - * register followed by a read access to the USARTx_DR register. - * @note Please also consider that when clearing this flag, other flags as - * PE, NE, FE, IDLE would also be cleared. - * @rmtoll SR ORE LL_USART_ClearFlag_ORE - * @param USARTx USART Instance - * @retval None - */ -__STATIC_INLINE void LL_USART_ClearFlag_ORE(USART_TypeDef *USARTx) -{ - __IO uint32_t tmpreg; - tmpreg = USARTx->SR; - (void) tmpreg; - tmpreg = USARTx->DR; - (void) tmpreg; -} - -/** - * @brief Clear IDLE line detected Flag - * @note Clearing this flag is done by a read access to the USARTx_SR - * register followed by a read access to the USARTx_DR register. - * @note Please also consider that when clearing this flag, other flags as - * PE, NE, FE, ORE would also be cleared. - * @rmtoll SR IDLE LL_USART_ClearFlag_IDLE - * @param USARTx USART Instance - * @retval None - */ -__STATIC_INLINE void LL_USART_ClearFlag_IDLE(USART_TypeDef *USARTx) -{ - __IO uint32_t tmpreg; - tmpreg = USARTx->SR; - (void) tmpreg; - tmpreg = USARTx->DR; - (void) tmpreg; -} - -/** - * @brief Clear Transmission Complete Flag - * @rmtoll SR TC LL_USART_ClearFlag_TC - * @param USARTx USART Instance - * @retval None - */ -__STATIC_INLINE void LL_USART_ClearFlag_TC(USART_TypeDef *USARTx) -{ - WRITE_REG(USARTx->SR, ~(USART_SR_TC)); -} - -/** - * @brief Clear RX Not Empty Flag - * @rmtoll SR RXNE LL_USART_ClearFlag_RXNE - * @param USARTx USART Instance - * @retval None - */ -__STATIC_INLINE void LL_USART_ClearFlag_RXNE(USART_TypeDef *USARTx) -{ - WRITE_REG(USARTx->SR, ~(USART_SR_RXNE)); -} - -/** - * @brief Clear LIN Break Detection Flag - * @note Macro @ref IS_UART_LIN_INSTANCE(USARTx) can be used to check whether or not - * LIN feature is supported by the USARTx instance. - * @rmtoll SR LBD LL_USART_ClearFlag_LBD - * @param USARTx USART Instance - * @retval None - */ -__STATIC_INLINE void LL_USART_ClearFlag_LBD(USART_TypeDef *USARTx) -{ - WRITE_REG(USARTx->SR, ~(USART_SR_LBD)); -} - -/** - * @brief Clear CTS Interrupt Flag - * @note Macro @ref IS_UART_HWFLOW_INSTANCE(USARTx) can be used to check whether or not - * Hardware Flow control feature is supported by the USARTx instance. - * @rmtoll SR CTS LL_USART_ClearFlag_nCTS - * @param USARTx USART Instance - * @retval None - */ -__STATIC_INLINE void LL_USART_ClearFlag_nCTS(USART_TypeDef *USARTx) -{ - WRITE_REG(USARTx->SR, ~(USART_SR_CTS)); -} - -/** - * @} - */ - -/** @defgroup USART_LL_EF_IT_Management IT_Management - * @{ - */ - -/** - * @brief Enable IDLE Interrupt - * @rmtoll CR1 IDLEIE LL_USART_EnableIT_IDLE - * @param USARTx USART Instance - * @retval None - */ -__STATIC_INLINE void LL_USART_EnableIT_IDLE(USART_TypeDef *USARTx) -{ - ATOMIC_SET_BIT(USARTx->CR1, USART_CR1_IDLEIE); -} - -/** - * @brief Enable RX Not Empty Interrupt - * @rmtoll CR1 RXNEIE LL_USART_EnableIT_RXNE - * @param USARTx USART Instance - * @retval None - */ -__STATIC_INLINE void LL_USART_EnableIT_RXNE(USART_TypeDef *USARTx) -{ - ATOMIC_SET_BIT(USARTx->CR1, USART_CR1_RXNEIE); -} - -/** - * @brief Enable Transmission Complete Interrupt - * @rmtoll CR1 TCIE LL_USART_EnableIT_TC - * @param USARTx USART Instance - * @retval None - */ -__STATIC_INLINE void LL_USART_EnableIT_TC(USART_TypeDef *USARTx) -{ - ATOMIC_SET_BIT(USARTx->CR1, USART_CR1_TCIE); -} - -/** - * @brief Enable TX Empty Interrupt - * @rmtoll CR1 TXEIE LL_USART_EnableIT_TXE - * @param USARTx USART Instance - * @retval None - */ -__STATIC_INLINE void LL_USART_EnableIT_TXE(USART_TypeDef *USARTx) -{ - ATOMIC_SET_BIT(USARTx->CR1, USART_CR1_TXEIE); -} - -/** - * @brief Enable Parity Error Interrupt - * @rmtoll CR1 PEIE LL_USART_EnableIT_PE - * @param USARTx USART Instance - * @retval None - */ -__STATIC_INLINE void LL_USART_EnableIT_PE(USART_TypeDef *USARTx) -{ - ATOMIC_SET_BIT(USARTx->CR1, USART_CR1_PEIE); -} - -/** - * @brief Enable LIN Break Detection Interrupt - * @note Macro @ref IS_UART_LIN_INSTANCE(USARTx) can be used to check whether or not - * LIN feature is supported by the USARTx instance. - * @rmtoll CR2 LBDIE LL_USART_EnableIT_LBD - * @param USARTx USART Instance - * @retval None - */ -__STATIC_INLINE void LL_USART_EnableIT_LBD(USART_TypeDef *USARTx) -{ - SET_BIT(USARTx->CR2, USART_CR2_LBDIE); -} - -/** - * @brief Enable Error Interrupt - * @note When set, Error Interrupt Enable Bit is enabling interrupt generation in case of a framing - * error, overrun error or noise flag (FE=1 or ORE=1 or NF=1 in the USARTx_SR register). - * 0: Interrupt is inhibited - * 1: An interrupt is generated when FE=1 or ORE=1 or NF=1 in the USARTx_SR register. - * @rmtoll CR3 EIE LL_USART_EnableIT_ERROR - * @param USARTx USART Instance - * @retval None - */ -__STATIC_INLINE void LL_USART_EnableIT_ERROR(USART_TypeDef *USARTx) -{ - ATOMIC_SET_BIT(USARTx->CR3, USART_CR3_EIE); -} - -/** - * @brief Enable CTS Interrupt - * @note Macro @ref IS_UART_HWFLOW_INSTANCE(USARTx) can be used to check whether or not - * Hardware Flow control feature is supported by the USARTx instance. - * @rmtoll CR3 CTSIE LL_USART_EnableIT_CTS - * @param USARTx USART Instance - * @retval None - */ -__STATIC_INLINE void LL_USART_EnableIT_CTS(USART_TypeDef *USARTx) -{ - ATOMIC_SET_BIT(USARTx->CR3, USART_CR3_CTSIE); -} - -/** - * @brief Disable IDLE Interrupt - * @rmtoll CR1 IDLEIE LL_USART_DisableIT_IDLE - * @param USARTx USART Instance - * @retval None - */ -__STATIC_INLINE void LL_USART_DisableIT_IDLE(USART_TypeDef *USARTx) -{ - ATOMIC_CLEAR_BIT(USARTx->CR1, USART_CR1_IDLEIE); -} - -/** - * @brief Disable RX Not Empty Interrupt - * @rmtoll CR1 RXNEIE LL_USART_DisableIT_RXNE - * @param USARTx USART Instance - * @retval None - */ -__STATIC_INLINE void LL_USART_DisableIT_RXNE(USART_TypeDef *USARTx) -{ - ATOMIC_CLEAR_BIT(USARTx->CR1, USART_CR1_RXNEIE); -} - -/** - * @brief Disable Transmission Complete Interrupt - * @rmtoll CR1 TCIE LL_USART_DisableIT_TC - * @param USARTx USART Instance - * @retval None - */ -__STATIC_INLINE void LL_USART_DisableIT_TC(USART_TypeDef *USARTx) -{ - ATOMIC_CLEAR_BIT(USARTx->CR1, USART_CR1_TCIE); -} - -/** - * @brief Disable TX Empty Interrupt - * @rmtoll CR1 TXEIE LL_USART_DisableIT_TXE - * @param USARTx USART Instance - * @retval None - */ -__STATIC_INLINE void LL_USART_DisableIT_TXE(USART_TypeDef *USARTx) -{ - ATOMIC_CLEAR_BIT(USARTx->CR1, USART_CR1_TXEIE); -} - -/** - * @brief Disable Parity Error Interrupt - * @rmtoll CR1 PEIE LL_USART_DisableIT_PE - * @param USARTx USART Instance - * @retval None - */ -__STATIC_INLINE void LL_USART_DisableIT_PE(USART_TypeDef *USARTx) -{ - ATOMIC_CLEAR_BIT(USARTx->CR1, USART_CR1_PEIE); -} - -/** - * @brief Disable LIN Break Detection Interrupt - * @note Macro @ref IS_UART_LIN_INSTANCE(USARTx) can be used to check whether or not - * LIN feature is supported by the USARTx instance. - * @rmtoll CR2 LBDIE LL_USART_DisableIT_LBD - * @param USARTx USART Instance - * @retval None - */ -__STATIC_INLINE void LL_USART_DisableIT_LBD(USART_TypeDef *USARTx) -{ - CLEAR_BIT(USARTx->CR2, USART_CR2_LBDIE); -} - -/** - * @brief Disable Error Interrupt - * @note When set, Error Interrupt Enable Bit is enabling interrupt generation in case of a framing - * error, overrun error or noise flag (FE=1 or ORE=1 or NF=1 in the USARTx_SR register). - * 0: Interrupt is inhibited - * 1: An interrupt is generated when FE=1 or ORE=1 or NF=1 in the USARTx_SR register. - * @rmtoll CR3 EIE LL_USART_DisableIT_ERROR - * @param USARTx USART Instance - * @retval None - */ -__STATIC_INLINE void LL_USART_DisableIT_ERROR(USART_TypeDef *USARTx) -{ - ATOMIC_CLEAR_BIT(USARTx->CR3, USART_CR3_EIE); -} - -/** - * @brief Disable CTS Interrupt - * @note Macro @ref IS_UART_HWFLOW_INSTANCE(USARTx) can be used to check whether or not - * Hardware Flow control feature is supported by the USARTx instance. - * @rmtoll CR3 CTSIE LL_USART_DisableIT_CTS - * @param USARTx USART Instance - * @retval None - */ -__STATIC_INLINE void LL_USART_DisableIT_CTS(USART_TypeDef *USARTx) -{ - ATOMIC_CLEAR_BIT(USARTx->CR3, USART_CR3_CTSIE); -} - -/** - * @brief Check if the USART IDLE Interrupt source is enabled or disabled. - * @rmtoll CR1 IDLEIE LL_USART_IsEnabledIT_IDLE - * @param USARTx USART Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_USART_IsEnabledIT_IDLE(USART_TypeDef *USARTx) -{ - return (READ_BIT(USARTx->CR1, USART_CR1_IDLEIE) == (USART_CR1_IDLEIE)); -} - -/** - * @brief Check if the USART RX Not Empty Interrupt is enabled or disabled. - * @rmtoll CR1 RXNEIE LL_USART_IsEnabledIT_RXNE - * @param USARTx USART Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_USART_IsEnabledIT_RXNE(USART_TypeDef *USARTx) -{ - return (READ_BIT(USARTx->CR1, USART_CR1_RXNEIE) == (USART_CR1_RXNEIE)); -} - -/** - * @brief Check if the USART Transmission Complete Interrupt is enabled or disabled. - * @rmtoll CR1 TCIE LL_USART_IsEnabledIT_TC - * @param USARTx USART Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_USART_IsEnabledIT_TC(USART_TypeDef *USARTx) -{ - return (READ_BIT(USARTx->CR1, USART_CR1_TCIE) == (USART_CR1_TCIE)); -} - -/** - * @brief Check if the USART TX Empty Interrupt is enabled or disabled. - * @rmtoll CR1 TXEIE LL_USART_IsEnabledIT_TXE - * @param USARTx USART Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_USART_IsEnabledIT_TXE(USART_TypeDef *USARTx) -{ - return (READ_BIT(USARTx->CR1, USART_CR1_TXEIE) == (USART_CR1_TXEIE)); -} - -/** - * @brief Check if the USART Parity Error Interrupt is enabled or disabled. - * @rmtoll CR1 PEIE LL_USART_IsEnabledIT_PE - * @param USARTx USART Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_USART_IsEnabledIT_PE(USART_TypeDef *USARTx) -{ - return (READ_BIT(USARTx->CR1, USART_CR1_PEIE) == (USART_CR1_PEIE)); -} - -/** - * @brief Check if the USART LIN Break Detection Interrupt is enabled or disabled. - * @note Macro @ref IS_UART_LIN_INSTANCE(USARTx) can be used to check whether or not - * LIN feature is supported by the USARTx instance. - * @rmtoll CR2 LBDIE LL_USART_IsEnabledIT_LBD - * @param USARTx USART Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_USART_IsEnabledIT_LBD(USART_TypeDef *USARTx) -{ - return (READ_BIT(USARTx->CR2, USART_CR2_LBDIE) == (USART_CR2_LBDIE)); -} - -/** - * @brief Check if the USART Error Interrupt is enabled or disabled. - * @rmtoll CR3 EIE LL_USART_IsEnabledIT_ERROR - * @param USARTx USART Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_USART_IsEnabledIT_ERROR(USART_TypeDef *USARTx) -{ - return (READ_BIT(USARTx->CR3, USART_CR3_EIE) == (USART_CR3_EIE)); -} - -/** - * @brief Check if the USART CTS Interrupt is enabled or disabled. - * @note Macro @ref IS_UART_HWFLOW_INSTANCE(USARTx) can be used to check whether or not - * Hardware Flow control feature is supported by the USARTx instance. - * @rmtoll CR3 CTSIE LL_USART_IsEnabledIT_CTS - * @param USARTx USART Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_USART_IsEnabledIT_CTS(USART_TypeDef *USARTx) -{ - return (READ_BIT(USARTx->CR3, USART_CR3_CTSIE) == (USART_CR3_CTSIE)); -} - -/** - * @} - */ - -/** @defgroup USART_LL_EF_DMA_Management DMA_Management - * @{ - */ - -/** - * @brief Enable DMA Mode for reception - * @rmtoll CR3 DMAR LL_USART_EnableDMAReq_RX - * @param USARTx USART Instance - * @retval None - */ -__STATIC_INLINE void LL_USART_EnableDMAReq_RX(USART_TypeDef *USARTx) -{ - ATOMIC_SET_BIT(USARTx->CR3, USART_CR3_DMAR); -} - -/** - * @brief Disable DMA Mode for reception - * @rmtoll CR3 DMAR LL_USART_DisableDMAReq_RX - * @param USARTx USART Instance - * @retval None - */ -__STATIC_INLINE void LL_USART_DisableDMAReq_RX(USART_TypeDef *USARTx) -{ - ATOMIC_CLEAR_BIT(USARTx->CR3, USART_CR3_DMAR); -} - -/** - * @brief Check if DMA Mode is enabled for reception - * @rmtoll CR3 DMAR LL_USART_IsEnabledDMAReq_RX - * @param USARTx USART Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_USART_IsEnabledDMAReq_RX(USART_TypeDef *USARTx) -{ - return (READ_BIT(USARTx->CR3, USART_CR3_DMAR) == (USART_CR3_DMAR)); -} - -/** - * @brief Enable DMA Mode for transmission - * @rmtoll CR3 DMAT LL_USART_EnableDMAReq_TX - * @param USARTx USART Instance - * @retval None - */ -__STATIC_INLINE void LL_USART_EnableDMAReq_TX(USART_TypeDef *USARTx) -{ - ATOMIC_SET_BIT(USARTx->CR3, USART_CR3_DMAT); -} - -/** - * @brief Disable DMA Mode for transmission - * @rmtoll CR3 DMAT LL_USART_DisableDMAReq_TX - * @param USARTx USART Instance - * @retval None - */ -__STATIC_INLINE void LL_USART_DisableDMAReq_TX(USART_TypeDef *USARTx) -{ - ATOMIC_CLEAR_BIT(USARTx->CR3, USART_CR3_DMAT); -} - -/** - * @brief Check if DMA Mode is enabled for transmission - * @rmtoll CR3 DMAT LL_USART_IsEnabledDMAReq_TX - * @param USARTx USART Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_USART_IsEnabledDMAReq_TX(USART_TypeDef *USARTx) -{ - return (READ_BIT(USARTx->CR3, USART_CR3_DMAT) == (USART_CR3_DMAT)); -} - -/** - * @brief Get the data register address used for DMA transfer - * @rmtoll DR DR LL_USART_DMA_GetRegAddr - * @note Address of Data Register is valid for both Transmit and Receive transfers. - * @param USARTx USART Instance - * @retval Address of data register - */ -__STATIC_INLINE uint32_t LL_USART_DMA_GetRegAddr(USART_TypeDef *USARTx) -{ - /* return address of DR register */ - return ((uint32_t) &(USARTx->DR)); -} - -/** - * @} - */ - -/** @defgroup USART_LL_EF_Data_Management Data_Management - * @{ - */ - -/** - * @brief Read Receiver Data register (Receive Data value, 8 bits) - * @rmtoll DR DR LL_USART_ReceiveData8 - * @param USARTx USART Instance - * @retval Value between Min_Data=0x00 and Max_Data=0xFF - */ -__STATIC_INLINE uint8_t LL_USART_ReceiveData8(USART_TypeDef *USARTx) -{ - return (uint8_t)(READ_BIT(USARTx->DR, USART_DR_DR)); -} - -/** - * @brief Read Receiver Data register (Receive Data value, 9 bits) - * @rmtoll DR DR LL_USART_ReceiveData9 - * @param USARTx USART Instance - * @retval Value between Min_Data=0x00 and Max_Data=0x1FF - */ -__STATIC_INLINE uint16_t LL_USART_ReceiveData9(USART_TypeDef *USARTx) -{ - return (uint16_t)(READ_BIT(USARTx->DR, USART_DR_DR)); -} - -/** - * @brief Write in Transmitter Data Register (Transmit Data value, 8 bits) - * @rmtoll DR DR LL_USART_TransmitData8 - * @param USARTx USART Instance - * @param Value between Min_Data=0x00 and Max_Data=0xFF - * @retval None - */ -__STATIC_INLINE void LL_USART_TransmitData8(USART_TypeDef *USARTx, uint8_t Value) -{ - USARTx->DR = Value; -} - -/** - * @brief Write in Transmitter Data Register (Transmit Data value, 9 bits) - * @rmtoll DR DR LL_USART_TransmitData9 - * @param USARTx USART Instance - * @param Value between Min_Data=0x00 and Max_Data=0x1FF - * @retval None - */ -__STATIC_INLINE void LL_USART_TransmitData9(USART_TypeDef *USARTx, uint16_t Value) -{ - USARTx->DR = Value & 0x1FFU; -} - -/** - * @} - */ - -/** @defgroup USART_LL_EF_Execution Execution - * @{ - */ - -/** - * @brief Request Break sending - * @rmtoll CR1 SBK LL_USART_RequestBreakSending - * @param USARTx USART Instance - * @retval None - */ -__STATIC_INLINE void LL_USART_RequestBreakSending(USART_TypeDef *USARTx) -{ - SET_BIT(USARTx->CR1, USART_CR1_SBK); -} - -/** - * @brief Put USART in Mute mode - * @rmtoll CR1 RWU LL_USART_RequestEnterMuteMode - * @param USARTx USART Instance - * @retval None - */ -__STATIC_INLINE void LL_USART_RequestEnterMuteMode(USART_TypeDef *USARTx) -{ - SET_BIT(USARTx->CR1, USART_CR1_RWU); -} - -/** - * @brief Put USART in Active mode - * @rmtoll CR1 RWU LL_USART_RequestExitMuteMode - * @param USARTx USART Instance - * @retval None - */ -__STATIC_INLINE void LL_USART_RequestExitMuteMode(USART_TypeDef *USARTx) -{ - CLEAR_BIT(USARTx->CR1, USART_CR1_RWU); -} - -/** - * @} - */ - -#if defined(USE_FULL_LL_DRIVER) -/** @defgroup USART_LL_EF_Init Initialization and de-initialization functions - * @{ - */ -ErrorStatus LL_USART_DeInit(USART_TypeDef *USARTx); -ErrorStatus LL_USART_Init(USART_TypeDef *USARTx, LL_USART_InitTypeDef *USART_InitStruct); -void LL_USART_StructInit(LL_USART_InitTypeDef *USART_InitStruct); -ErrorStatus LL_USART_ClockInit(USART_TypeDef *USARTx, LL_USART_ClockInitTypeDef *USART_ClockInitStruct); -void LL_USART_ClockStructInit(LL_USART_ClockInitTypeDef *USART_ClockInitStruct); -/** - * @} - */ -#endif /* USE_FULL_LL_DRIVER */ - -/** - * @} - */ - -/** - * @} - */ - -#endif /* USART1 || USART2 || USART3 || USART6 || UART4 || UART5 || UART7 || UART8 || UART9 || UART10 */ - -/** - * @} - */ - -#ifdef __cplusplus -} -#endif - -#endif /* __STM32F4xx_LL_USART_H */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_usb.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_usb.h deleted file mode 100644 index ca78e2a350af87..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_usb.h +++ /dev/null @@ -1,522 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_ll_usb.h - * @author MCD Application Team - * @brief Header file of USB Low Layer HAL module. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef STM32F4xx_LL_USB_H -#define STM32F4xx_LL_USB_H - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal_def.h" - -#if defined (USB_OTG_FS) || defined (USB_OTG_HS) -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @addtogroup USB_LL - * @{ - */ - -/* Exported types ------------------------------------------------------------*/ - -/** - * @brief USB Mode definition - */ -#if defined (USB_OTG_FS) || defined (USB_OTG_HS) - -typedef enum -{ - USB_DEVICE_MODE = 0, - USB_HOST_MODE = 1, - USB_DRD_MODE = 2 -} USB_OTG_ModeTypeDef; - -/** - * @brief URB States definition - */ -typedef enum -{ - URB_IDLE = 0, - URB_DONE, - URB_NOTREADY, - URB_NYET, - URB_ERROR, - URB_STALL -} USB_OTG_URBStateTypeDef; - -/** - * @brief Host channel States definition - */ -typedef enum -{ - HC_IDLE = 0, - HC_XFRC, - HC_HALTED, - HC_NAK, - HC_NYET, - HC_STALL, - HC_XACTERR, - HC_BBLERR, - HC_DATATGLERR -} USB_OTG_HCStateTypeDef; - -/** - * @brief USB Instance Initialization Structure definition - */ -typedef struct -{ - uint32_t dev_endpoints; /*!< Device Endpoints number. - This parameter depends on the used USB core. - This parameter must be a number between Min_Data = 1 and Max_Data = 15 */ - - uint32_t Host_channels; /*!< Host Channels number. - This parameter Depends on the used USB core. - This parameter must be a number between Min_Data = 1 and Max_Data = 15 */ - - uint32_t speed; /*!< USB Core speed. - This parameter can be any value of @ref PCD_Speed/HCD_Speed - (HCD_SPEED_xxx, HCD_SPEED_xxx) */ - - uint32_t dma_enable; /*!< Enable or disable of the USB embedded DMA used only for OTG HS. */ - - uint32_t ep0_mps; /*!< Set the Endpoint 0 Max Packet size. */ - - uint32_t phy_itface; /*!< Select the used PHY interface. - This parameter can be any value of @ref PCD_PHY_Module/HCD_PHY_Module */ - - uint32_t Sof_enable; /*!< Enable or disable the output of the SOF signal. */ - - uint32_t low_power_enable; /*!< Enable or disable the low power mode. */ - - uint32_t lpm_enable; /*!< Enable or disable Link Power Management. */ - - uint32_t battery_charging_enable; /*!< Enable or disable Battery charging. */ - - uint32_t vbus_sensing_enable; /*!< Enable or disable the VBUS Sensing feature. */ - - uint32_t use_dedicated_ep1; /*!< Enable or disable the use of the dedicated EP1 interrupt. */ - - uint32_t use_external_vbus; /*!< Enable or disable the use of the external VBUS. */ - -} USB_OTG_CfgTypeDef; - -typedef struct -{ - uint8_t num; /*!< Endpoint number - This parameter must be a number between Min_Data = 1 and Max_Data = 15 */ - - uint8_t is_in; /*!< Endpoint direction - This parameter must be a number between Min_Data = 0 and Max_Data = 1 */ - - uint8_t is_stall; /*!< Endpoint stall condition - This parameter must be a number between Min_Data = 0 and Max_Data = 1 */ - - uint8_t type; /*!< Endpoint type - This parameter can be any value of @ref USB_LL_EP_Type */ - - uint8_t data_pid_start; /*!< Initial data PID - This parameter must be a number between Min_Data = 0 and Max_Data = 1 */ - - uint8_t even_odd_frame; /*!< IFrame parity - This parameter must be a number between Min_Data = 0 and Max_Data = 1 */ - - uint16_t tx_fifo_num; /*!< Transmission FIFO number - This parameter must be a number between Min_Data = 1 and Max_Data = 15 */ - - uint32_t maxpacket; /*!< Endpoint Max packet size - This parameter must be a number between Min_Data = 0 and Max_Data = 64KB */ - - uint8_t *xfer_buff; /*!< Pointer to transfer buffer */ - - uint32_t dma_addr; /*!< 32 bits aligned transfer buffer address */ - - uint32_t xfer_len; /*!< Current transfer length */ - - uint32_t xfer_count; /*!< Partial transfer length in case of multi packet transfer */ -} USB_OTG_EPTypeDef; - -typedef struct -{ - uint8_t dev_addr; /*!< USB device address. - This parameter must be a number between Min_Data = 1 and Max_Data = 255 */ - - uint8_t ch_num; /*!< Host channel number. - This parameter must be a number between Min_Data = 1 and Max_Data = 15 */ - - uint8_t ep_num; /*!< Endpoint number. - This parameter must be a number between Min_Data = 1 and Max_Data = 15 */ - - uint8_t ep_is_in; /*!< Endpoint direction - This parameter must be a number between Min_Data = 0 and Max_Data = 1 */ - - uint8_t speed; /*!< USB Host Channel speed. - This parameter can be any value of @ref HCD_Device_Speed: - (HCD_DEVICE_SPEED_xxx) */ - - uint8_t do_ping; /*!< Enable or disable the use of the PING protocol for HS mode. */ - - uint8_t process_ping; /*!< Execute the PING protocol for HS mode. */ - - uint8_t ep_type; /*!< Endpoint Type. - This parameter can be any value of @ref USB_LL_EP_Type */ - - uint16_t max_packet; /*!< Endpoint Max packet size. - This parameter must be a number between Min_Data = 0 and Max_Data = 64KB */ - - uint8_t data_pid; /*!< Initial data PID. - This parameter must be a number between Min_Data = 0 and Max_Data = 1 */ - - uint8_t *xfer_buff; /*!< Pointer to transfer buffer. */ - - uint32_t XferSize; /*!< OTG Channel transfer size. */ - - uint32_t xfer_len; /*!< Current transfer length. */ - - uint32_t xfer_count; /*!< Partial transfer length in case of multi packet transfer. */ - - uint8_t toggle_in; /*!< IN transfer current toggle flag. - This parameter must be a number between Min_Data = 0 and Max_Data = 1 */ - - uint8_t toggle_out; /*!< OUT transfer current toggle flag - This parameter must be a number between Min_Data = 0 and Max_Data = 1 */ - - uint32_t dma_addr; /*!< 32 bits aligned transfer buffer address. */ - - uint32_t ErrCnt; /*!< Host channel error count. */ - - USB_OTG_URBStateTypeDef urb_state; /*!< URB state. - This parameter can be any value of @ref USB_OTG_URBStateTypeDef */ - - USB_OTG_HCStateTypeDef state; /*!< Host Channel state. - This parameter can be any value of @ref USB_OTG_HCStateTypeDef */ -} USB_OTG_HCTypeDef; -#endif /* defined (USB_OTG_FS) || defined (USB_OTG_HS) */ - - -/* Exported constants --------------------------------------------------------*/ - -/** @defgroup PCD_Exported_Constants PCD Exported Constants - * @{ - */ - -#if defined (USB_OTG_FS) || defined (USB_OTG_HS) -/** @defgroup USB_OTG_CORE VERSION ID - * @{ - */ -#define USB_OTG_CORE_ID_300A 0x4F54300AU -#define USB_OTG_CORE_ID_310A 0x4F54310AU -/** - * @} - */ - -/** @defgroup USB_Core_Mode_ USB Core Mode - * @{ - */ -#define USB_OTG_MODE_DEVICE 0U -#define USB_OTG_MODE_HOST 1U -#define USB_OTG_MODE_DRD 2U -/** - * @} - */ - -/** @defgroup USB_LL Device Speed - * @{ - */ -#define USBD_HS_SPEED 0U -#define USBD_HSINFS_SPEED 1U -#define USBH_HS_SPEED 0U -#define USBD_FS_SPEED 2U -#define USBH_FSLS_SPEED 1U -/** - * @} - */ - -/** @defgroup USB_LL_Core_Speed USB Low Layer Core Speed - * @{ - */ -#define USB_OTG_SPEED_HIGH 0U -#define USB_OTG_SPEED_HIGH_IN_FULL 1U -#define USB_OTG_SPEED_FULL 3U -/** - * @} - */ - -/** @defgroup USB_LL_Core_PHY USB Low Layer Core PHY - * @{ - */ -#define USB_OTG_ULPI_PHY 1U -#define USB_OTG_EMBEDDED_PHY 2U -/** - * @} - */ - -/** @defgroup USB_LL_Turnaround_Timeout Turnaround Timeout Value - * @{ - */ -#ifndef USBD_HS_TRDT_VALUE -#define USBD_HS_TRDT_VALUE 9U -#endif /* USBD_HS_TRDT_VALUE */ -#ifndef USBD_FS_TRDT_VALUE -#define USBD_FS_TRDT_VALUE 5U -#define USBD_DEFAULT_TRDT_VALUE 9U -#endif /* USBD_HS_TRDT_VALUE */ -/** - * @} - */ - -/** @defgroup USB_LL_Core_MPS USB Low Layer Core MPS - * @{ - */ -#define USB_OTG_HS_MAX_PACKET_SIZE 512U -#define USB_OTG_FS_MAX_PACKET_SIZE 64U -#define USB_OTG_MAX_EP0_SIZE 64U -/** - * @} - */ - -/** @defgroup USB_LL_Core_PHY_Frequency USB Low Layer Core PHY Frequency - * @{ - */ -#define DSTS_ENUMSPD_HS_PHY_30MHZ_OR_60MHZ (0U << 1) -#define DSTS_ENUMSPD_FS_PHY_30MHZ_OR_60MHZ (1U << 1) -#define DSTS_ENUMSPD_FS_PHY_48MHZ (3U << 1) -/** - * @} - */ - -/** @defgroup USB_LL_CORE_Frame_Interval USB Low Layer Core Frame Interval - * @{ - */ -#define DCFG_FRAME_INTERVAL_80 0U -#define DCFG_FRAME_INTERVAL_85 1U -#define DCFG_FRAME_INTERVAL_90 2U -#define DCFG_FRAME_INTERVAL_95 3U -/** - * @} - */ - -/** @defgroup USB_LL_EP0_MPS USB Low Layer EP0 MPS - * @{ - */ -#define EP_MPS_64 0U -#define EP_MPS_32 1U -#define EP_MPS_16 2U -#define EP_MPS_8 3U -/** - * @} - */ - -/** @defgroup USB_LL_EP_Speed USB Low Layer EP Speed - * @{ - */ -#define EP_SPEED_LOW 0U -#define EP_SPEED_FULL 1U -#define EP_SPEED_HIGH 2U -/** - * @} - */ - -/** @defgroup USB_LL_EP_Type USB Low Layer EP Type - * @{ - */ -#define EP_TYPE_CTRL 0U -#define EP_TYPE_ISOC 1U -#define EP_TYPE_BULK 2U -#define EP_TYPE_INTR 3U -#define EP_TYPE_MSK 3U -/** - * @} - */ - -/** @defgroup USB_LL_STS_Defines USB Low Layer STS Defines - * @{ - */ -#define STS_GOUT_NAK 1U -#define STS_DATA_UPDT 2U -#define STS_XFER_COMP 3U -#define STS_SETUP_COMP 4U -#define STS_SETUP_UPDT 6U -/** - * @} - */ - -/** @defgroup USB_LL_HCFG_SPEED_Defines USB Low Layer HCFG Speed Defines - * @{ - */ -#define HCFG_30_60_MHZ 0U -#define HCFG_48_MHZ 1U -#define HCFG_6_MHZ 2U -/** - * @} - */ - -/** @defgroup USB_LL_HPRT0_PRTSPD_SPEED_Defines USB Low Layer HPRT0 PRTSPD Speed Defines - * @{ - */ -#define HPRT0_PRTSPD_HIGH_SPEED 0U -#define HPRT0_PRTSPD_FULL_SPEED 1U -#define HPRT0_PRTSPD_LOW_SPEED 2U -/** - * @} - */ - -#define HCCHAR_CTRL 0U -#define HCCHAR_ISOC 1U -#define HCCHAR_BULK 2U -#define HCCHAR_INTR 3U - -#define HC_PID_DATA0 0U -#define HC_PID_DATA2 1U -#define HC_PID_DATA1 2U -#define HC_PID_SETUP 3U - -#define GRXSTS_PKTSTS_IN 2U -#define GRXSTS_PKTSTS_IN_XFER_COMP 3U -#define GRXSTS_PKTSTS_DATA_TOGGLE_ERR 5U -#define GRXSTS_PKTSTS_CH_HALTED 7U - -#define USBx_PCGCCTL *(__IO uint32_t *)((uint32_t)USBx_BASE + USB_OTG_PCGCCTL_BASE) -#define USBx_HPRT0 *(__IO uint32_t *)((uint32_t)USBx_BASE + USB_OTG_HOST_PORT_BASE) - -#define USBx_DEVICE ((USB_OTG_DeviceTypeDef *)(USBx_BASE + USB_OTG_DEVICE_BASE)) -#define USBx_INEP(i) ((USB_OTG_INEndpointTypeDef *)(USBx_BASE\ - + USB_OTG_IN_ENDPOINT_BASE + ((i) * USB_OTG_EP_REG_SIZE))) - -#define USBx_OUTEP(i) ((USB_OTG_OUTEndpointTypeDef *)(USBx_BASE\ - + USB_OTG_OUT_ENDPOINT_BASE + ((i) * USB_OTG_EP_REG_SIZE))) - -#define USBx_DFIFO(i) *(__IO uint32_t *)(USBx_BASE + USB_OTG_FIFO_BASE + ((i) * USB_OTG_FIFO_SIZE)) - -#define USBx_HOST ((USB_OTG_HostTypeDef *)(USBx_BASE + USB_OTG_HOST_BASE)) -#define USBx_HC(i) ((USB_OTG_HostChannelTypeDef *)(USBx_BASE\ - + USB_OTG_HOST_CHANNEL_BASE\ - + ((i) * USB_OTG_HOST_CHANNEL_SIZE))) - -#endif /* defined (USB_OTG_FS) || defined (USB_OTG_HS) */ - -#define EP_ADDR_MSK 0xFU -/** - * @} - */ - -/* Exported macro ------------------------------------------------------------*/ -/** @defgroup USB_LL_Exported_Macros USB Low Layer Exported Macros - * @{ - */ -#if defined (USB_OTG_FS) || defined (USB_OTG_HS) -#define USB_MASK_INTERRUPT(__INSTANCE__, __INTERRUPT__) ((__INSTANCE__)->GINTMSK &= ~(__INTERRUPT__)) -#define USB_UNMASK_INTERRUPT(__INSTANCE__, __INTERRUPT__) ((__INSTANCE__)->GINTMSK |= (__INTERRUPT__)) - -#define CLEAR_IN_EP_INTR(__EPNUM__, __INTERRUPT__) (USBx_INEP(__EPNUM__)->DIEPINT = (__INTERRUPT__)) -#define CLEAR_OUT_EP_INTR(__EPNUM__, __INTERRUPT__) (USBx_OUTEP(__EPNUM__)->DOEPINT = (__INTERRUPT__)) -#endif /* defined (USB_OTG_FS) || defined (USB_OTG_HS) */ -/** - * @} - */ - -/* Exported functions --------------------------------------------------------*/ -/** @addtogroup USB_LL_Exported_Functions USB Low Layer Exported Functions - * @{ - */ -#if defined (USB_OTG_FS) || defined (USB_OTG_HS) -HAL_StatusTypeDef USB_CoreInit(USB_OTG_GlobalTypeDef *USBx, USB_OTG_CfgTypeDef cfg); -HAL_StatusTypeDef USB_DevInit(USB_OTG_GlobalTypeDef *USBx, USB_OTG_CfgTypeDef cfg); -HAL_StatusTypeDef USB_EnableGlobalInt(USB_OTG_GlobalTypeDef *USBx); -HAL_StatusTypeDef USB_DisableGlobalInt(USB_OTG_GlobalTypeDef *USBx); -HAL_StatusTypeDef USB_SetTurnaroundTime(USB_OTG_GlobalTypeDef *USBx, uint32_t hclk, uint8_t speed); -HAL_StatusTypeDef USB_SetCurrentMode(USB_OTG_GlobalTypeDef *USBx, USB_OTG_ModeTypeDef mode); -HAL_StatusTypeDef USB_SetDevSpeed(USB_OTG_GlobalTypeDef *USBx, uint8_t speed); -HAL_StatusTypeDef USB_FlushRxFifo(USB_OTG_GlobalTypeDef *USBx); -HAL_StatusTypeDef USB_FlushTxFifo(USB_OTG_GlobalTypeDef *USBx, uint32_t num); -HAL_StatusTypeDef USB_ActivateEndpoint(USB_OTG_GlobalTypeDef *USBx, USB_OTG_EPTypeDef *ep); -HAL_StatusTypeDef USB_DeactivateEndpoint(USB_OTG_GlobalTypeDef *USBx, USB_OTG_EPTypeDef *ep); -HAL_StatusTypeDef USB_ActivateDedicatedEndpoint(USB_OTG_GlobalTypeDef *USBx, USB_OTG_EPTypeDef *ep); -HAL_StatusTypeDef USB_DeactivateDedicatedEndpoint(USB_OTG_GlobalTypeDef *USBx, USB_OTG_EPTypeDef *ep); -HAL_StatusTypeDef USB_EPStartXfer(USB_OTG_GlobalTypeDef *USBx, USB_OTG_EPTypeDef *ep, uint8_t dma); -HAL_StatusTypeDef USB_EP0StartXfer(USB_OTG_GlobalTypeDef *USBx, USB_OTG_EPTypeDef *ep, uint8_t dma); -HAL_StatusTypeDef USB_WritePacket(USB_OTG_GlobalTypeDef *USBx, uint8_t *src, - uint8_t ch_ep_num, uint16_t len, uint8_t dma); - -void *USB_ReadPacket(USB_OTG_GlobalTypeDef *USBx, uint8_t *dest, uint16_t len); -HAL_StatusTypeDef USB_EPSetStall(USB_OTG_GlobalTypeDef *USBx, USB_OTG_EPTypeDef *ep); -HAL_StatusTypeDef USB_EPClearStall(USB_OTG_GlobalTypeDef *USBx, USB_OTG_EPTypeDef *ep); -HAL_StatusTypeDef USB_SetDevAddress(USB_OTG_GlobalTypeDef *USBx, uint8_t address); -HAL_StatusTypeDef USB_DevConnect(USB_OTG_GlobalTypeDef *USBx); -HAL_StatusTypeDef USB_DevDisconnect(USB_OTG_GlobalTypeDef *USBx); -HAL_StatusTypeDef USB_StopDevice(USB_OTG_GlobalTypeDef *USBx); -HAL_StatusTypeDef USB_ActivateSetup(USB_OTG_GlobalTypeDef *USBx); -HAL_StatusTypeDef USB_EP0_OutStart(USB_OTG_GlobalTypeDef *USBx, uint8_t dma, uint8_t *psetup); -uint8_t USB_GetDevSpeed(USB_OTG_GlobalTypeDef *USBx); -uint32_t USB_GetMode(USB_OTG_GlobalTypeDef *USBx); -uint32_t USB_ReadInterrupts(USB_OTG_GlobalTypeDef *USBx); -uint32_t USB_ReadDevAllOutEpInterrupt(USB_OTG_GlobalTypeDef *USBx); -uint32_t USB_ReadDevOutEPInterrupt(USB_OTG_GlobalTypeDef *USBx, uint8_t epnum); -uint32_t USB_ReadDevAllInEpInterrupt(USB_OTG_GlobalTypeDef *USBx); -uint32_t USB_ReadDevInEPInterrupt(USB_OTG_GlobalTypeDef *USBx, uint8_t epnum); -void USB_ClearInterrupts(USB_OTG_GlobalTypeDef *USBx, uint32_t interrupt); - -HAL_StatusTypeDef USB_HostInit(USB_OTG_GlobalTypeDef *USBx, USB_OTG_CfgTypeDef cfg); -HAL_StatusTypeDef USB_InitFSLSPClkSel(USB_OTG_GlobalTypeDef *USBx, uint8_t freq); -HAL_StatusTypeDef USB_ResetPort(USB_OTG_GlobalTypeDef *USBx); -HAL_StatusTypeDef USB_DriveVbus(USB_OTG_GlobalTypeDef *USBx, uint8_t state); -uint32_t USB_GetHostSpeed(USB_OTG_GlobalTypeDef *USBx); -uint32_t USB_GetCurrentFrame(USB_OTG_GlobalTypeDef *USBx); -HAL_StatusTypeDef USB_HC_Init(USB_OTG_GlobalTypeDef *USBx, uint8_t ch_num, - uint8_t epnum, uint8_t dev_address, uint8_t speed, - uint8_t ep_type, uint16_t mps); -HAL_StatusTypeDef USB_HC_StartXfer(USB_OTG_GlobalTypeDef *USBx, - USB_OTG_HCTypeDef *hc, uint8_t dma); - -uint32_t USB_HC_ReadInterrupt(USB_OTG_GlobalTypeDef *USBx); -HAL_StatusTypeDef USB_HC_Halt(USB_OTG_GlobalTypeDef *USBx, uint8_t hc_num); -HAL_StatusTypeDef USB_DoPing(USB_OTG_GlobalTypeDef *USBx, uint8_t ch_num); -HAL_StatusTypeDef USB_StopHost(USB_OTG_GlobalTypeDef *USBx); -HAL_StatusTypeDef USB_ActivateRemoteWakeup(USB_OTG_GlobalTypeDef *USBx); -HAL_StatusTypeDef USB_DeActivateRemoteWakeup(USB_OTG_GlobalTypeDef *USBx); -#endif /* defined (USB_OTG_FS) || defined (USB_OTG_HS) */ - -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ -#endif /* defined (USB_OTG_FS) || defined (USB_OTG_HS) */ - -#ifdef __cplusplus -} -#endif - - -#endif /* STM32F4xx_LL_USB_H */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_utils.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_utils.h deleted file mode 100644 index 3bac30cf08d1d9..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_utils.h +++ /dev/null @@ -1,310 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_ll_utils.h - * @author MCD Application Team - * @brief Header file of UTILS LL module. - @verbatim - ============================================================================== - ##### How to use this driver ##### - ============================================================================== - [..] - The LL UTILS driver contains a set of generic APIs that can be - used by user: - (+) Device electronic signature - (+) Timing functions - (+) PLL configuration functions - - @endverbatim - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef __STM32F4xx_LL_UTILS_H -#define __STM32F4xx_LL_UTILS_H - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx.h" - -/** @addtogroup STM32F4xx_LL_Driver - * @{ - */ - -/** @defgroup UTILS_LL UTILS - * @{ - */ - -/* Private types -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ - -/* Private constants ---------------------------------------------------------*/ -/** @defgroup UTILS_LL_Private_Constants UTILS Private Constants - * @{ - */ - -/* Max delay can be used in LL_mDelay */ -#define LL_MAX_DELAY 0xFFFFFFFFU - -/** - * @brief Unique device ID register base address - */ -#define UID_BASE_ADDRESS UID_BASE - -/** - * @brief Flash size data register base address - */ -#define FLASHSIZE_BASE_ADDRESS FLASHSIZE_BASE - -/** - * @brief Package data register base address - */ -#define PACKAGE_BASE_ADDRESS PACKAGE_BASE - -/** - * @} - */ - -/* Private macros ------------------------------------------------------------*/ -/** @defgroup UTILS_LL_Private_Macros UTILS Private Macros - * @{ - */ -/** - * @} - */ -/* Exported types ------------------------------------------------------------*/ -/** @defgroup UTILS_LL_ES_INIT UTILS Exported structures - * @{ - */ -/** - * @brief UTILS PLL structure definition - */ -typedef struct -{ - uint32_t PLLM; /*!< Division factor for PLL VCO input clock. - This parameter can be a value of @ref RCC_LL_EC_PLLM_DIV - - This feature can be modified afterwards using unitary function - @ref LL_RCC_PLL_ConfigDomain_SYS(). */ - - uint32_t PLLN; /*!< Multiplication factor for PLL VCO output clock. - This parameter must be a number between Min_Data = @ref RCC_PLLN_MIN_VALUE - and Max_Data = @ref RCC_PLLN_MIN_VALUE - - This feature can be modified afterwards using unitary function - @ref LL_RCC_PLL_ConfigDomain_SYS(). */ - - uint32_t PLLP; /*!< Division for the main system clock. - This parameter can be a value of @ref RCC_LL_EC_PLLP_DIV - - This feature can be modified afterwards using unitary function - @ref LL_RCC_PLL_ConfigDomain_SYS(). */ -} LL_UTILS_PLLInitTypeDef; - -/** - * @brief UTILS System, AHB and APB buses clock configuration structure definition - */ -typedef struct -{ - uint32_t AHBCLKDivider; /*!< The AHB clock (HCLK) divider. This clock is derived from the system clock (SYSCLK). - This parameter can be a value of @ref RCC_LL_EC_SYSCLK_DIV - - This feature can be modified afterwards using unitary function - @ref LL_RCC_SetAHBPrescaler(). */ - - uint32_t APB1CLKDivider; /*!< The APB1 clock (PCLK1) divider. This clock is derived from the AHB clock (HCLK). - This parameter can be a value of @ref RCC_LL_EC_APB1_DIV - - This feature can be modified afterwards using unitary function - @ref LL_RCC_SetAPB1Prescaler(). */ - - uint32_t APB2CLKDivider; /*!< The APB2 clock (PCLK2) divider. This clock is derived from the AHB clock (HCLK). - This parameter can be a value of @ref RCC_LL_EC_APB2_DIV - - This feature can be modified afterwards using unitary function - @ref LL_RCC_SetAPB2Prescaler(). */ - -} LL_UTILS_ClkInitTypeDef; - -/** - * @} - */ - -/* Exported constants --------------------------------------------------------*/ -/** @defgroup UTILS_LL_Exported_Constants UTILS Exported Constants - * @{ - */ - -/** @defgroup UTILS_EC_HSE_BYPASS HSE Bypass activation - * @{ - */ -#define LL_UTILS_HSEBYPASS_OFF 0x00000000U /*!< HSE Bypass is not enabled */ -#define LL_UTILS_HSEBYPASS_ON 0x00000001U /*!< HSE Bypass is enabled */ -/** - * @} - */ - -/** @defgroup UTILS_EC_PACKAGETYPE PACKAGE TYPE - * @{ - */ -#define LL_UTILS_PACKAGETYPE_WLCSP36_UFQFPN48_LQFP64 0x00000000U /*!< WLCSP36 or UFQFPN48 or LQFP64 package type */ -#define LL_UTILS_PACKAGETYPE_WLCSP168_FBGA169_LQFP100_LQFP64_UFQFPN48 0x00000100U /*!< WLCSP168 or FBGA169 or LQFP100 or LQFP64 or UFQFPN48 package type */ -#define LL_UTILS_PACKAGETYPE_WLCSP64_WLCSP81_LQFP176_UFBGA176 0x00000200U /*!< WLCSP64 or WLCSP81 or LQFP176 or UFBGA176 package type */ -#define LL_UTILS_PACKAGETYPE_LQFP144_UFBGA144_UFBGA144_UFBGA100 0x00000300U /*!< LQFP144 or UFBGA144 or UFBGA144 or UFBGA100 package type */ -#define LL_UTILS_PACKAGETYPE_LQFP100_LQFP208_TFBGA216 0x00000400U /*!< LQFP100 or LQFP208 or TFBGA216 package type */ -#define LL_UTILS_PACKAGETYPE_LQFP208_TFBGA216 0x00000500U /*!< LQFP208 or TFBGA216 package type */ -#define LL_UTILS_PACKAGETYPE_TQFP64_UFBGA144_LQFP144 0x00000700U /*!< TQFP64 or UFBGA144 or LQFP144 package type */ -/** - * @} - */ - -/** - * @} - */ - -/* Exported macro ------------------------------------------------------------*/ - -/* Exported functions --------------------------------------------------------*/ -/** @defgroup UTILS_LL_Exported_Functions UTILS Exported Functions - * @{ - */ - -/** @defgroup UTILS_EF_DEVICE_ELECTRONIC_SIGNATURE DEVICE ELECTRONIC SIGNATURE - * @{ - */ - -/** - * @brief Get Word0 of the unique device identifier (UID based on 96 bits) - * @retval UID[31:0] - */ -__STATIC_INLINE uint32_t LL_GetUID_Word0(void) -{ - return (uint32_t)(READ_REG(*((uint32_t *)UID_BASE_ADDRESS))); -} - -/** - * @brief Get Word1 of the unique device identifier (UID based on 96 bits) - * @retval UID[63:32] - */ -__STATIC_INLINE uint32_t LL_GetUID_Word1(void) -{ - return (uint32_t)(READ_REG(*((uint32_t *)(UID_BASE_ADDRESS + 4U)))); -} - -/** - * @brief Get Word2 of the unique device identifier (UID based on 96 bits) - * @retval UID[95:64] - */ -__STATIC_INLINE uint32_t LL_GetUID_Word2(void) -{ - return (uint32_t)(READ_REG(*((uint32_t *)(UID_BASE_ADDRESS + 8U)))); -} - -/** - * @brief Get Flash memory size - * @note This bitfield indicates the size of the device Flash memory expressed in - * Kbytes. As an example, 0x040 corresponds to 64 Kbytes. - * @retval FLASH_SIZE[15:0]: Flash memory size - */ -__STATIC_INLINE uint32_t LL_GetFlashSize(void) -{ - return (uint32_t)(READ_REG(*((uint32_t *)FLASHSIZE_BASE_ADDRESS)) & 0xFFFF); -} - -/** - * @brief Get Package type - * @retval Returned value can be one of the following values: - * @arg @ref LL_UTILS_PACKAGETYPE_WLCSP36_UFQFPN48_LQFP64 (*) - * @arg @ref LL_UTILS_PACKAGETYPE_WLCSP168_FBGA169_LQFP100_LQFP64_UFQFPN48 (*) - * @arg @ref LL_UTILS_PACKAGETYPE_WLCSP64_WLCSP81_LQFP176_UFBGA176 (*) - * @arg @ref LL_UTILS_PACKAGETYPE_LQFP144_UFBGA144_UFBGA144_UFBGA100 (*) - * @arg @ref LL_UTILS_PACKAGETYPE_LQFP100_LQFP208_TFBGA216 (*) - * @arg @ref LL_UTILS_PACKAGETYPE_LQFP208_TFBGA216 (*) - * @arg @ref LL_UTILS_PACKAGETYPE_TQFP64_UFBGA144_LQFP144 (*) - * - * (*) value not defined in all devices. - */ -__STATIC_INLINE uint32_t LL_GetPackageType(void) -{ - return (uint32_t)(READ_REG(*((uint32_t *)PACKAGE_BASE_ADDRESS)) & 0x0700U); -} - -/** - * @} - */ - -/** @defgroup UTILS_LL_EF_DELAY DELAY - * @{ - */ - -/** - * @brief This function configures the Cortex-M SysTick source of the time base. - * @param HCLKFrequency HCLK frequency in Hz (can be calculated thanks to RCC helper macro) - * @note When a RTOS is used, it is recommended to avoid changing the SysTick - * configuration by calling this function, for a delay use rather osDelay RTOS service. - * @param Ticks Number of ticks - * @retval None - */ -__STATIC_INLINE void LL_InitTick(uint32_t HCLKFrequency, uint32_t Ticks) -{ - /* Configure the SysTick to have interrupt in 1ms time base */ - SysTick->LOAD = (uint32_t)((HCLKFrequency / Ticks) - 1UL); /* set reload register */ - SysTick->VAL = 0UL; /* Load the SysTick Counter Value */ - SysTick->CTRL = SysTick_CTRL_CLKSOURCE_Msk | - SysTick_CTRL_ENABLE_Msk; /* Enable the Systick Timer */ -} - -void LL_Init1msTick(uint32_t HCLKFrequency); -void LL_mDelay(uint32_t Delay); - -/** - * @} - */ - -/** @defgroup UTILS_EF_SYSTEM SYSTEM - * @{ - */ - -void LL_SetSystemCoreClock(uint32_t HCLKFrequency); -ErrorStatus LL_SetFlashLatency(uint32_t HCLK_Frequency); -ErrorStatus LL_PLL_ConfigSystemClock_HSI(LL_UTILS_PLLInitTypeDef *UTILS_PLLInitStruct, - LL_UTILS_ClkInitTypeDef *UTILS_ClkInitStruct); -ErrorStatus LL_PLL_ConfigSystemClock_HSE(uint32_t HSEFrequency, uint32_t HSEBypass, - LL_UTILS_PLLInitTypeDef *UTILS_PLLInitStruct, LL_UTILS_ClkInitTypeDef *UTILS_ClkInitStruct); - -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ - -#ifdef __cplusplus -} -#endif - -#endif /* __STM32F4xx_LL_UTILS_H */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_wwdg.h b/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_wwdg.h deleted file mode 100644 index f20b82dd80522c..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Inc/stm32f4xx_ll_wwdg.h +++ /dev/null @@ -1,319 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_ll_wwdg.h - * @author MCD Application Team - * @brief Header file of WWDG LL module. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef STM32F4xx_LL_WWDG_H -#define STM32F4xx_LL_WWDG_H - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx.h" - -/** @addtogroup STM32F4xx_LL_Driver - * @{ - */ - -#if defined (WWDG) - -/** @defgroup WWDG_LL WWDG - * @{ - */ - -/* Private types -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private constants ---------------------------------------------------------*/ -/* Private macros ------------------------------------------------------------*/ -/* Exported types ------------------------------------------------------------*/ -/* Exported constants --------------------------------------------------------*/ -/** @defgroup WWDG_LL_Exported_Constants WWDG Exported Constants - * @{ - */ - -/** @defgroup WWDG_LL_EC_IT IT Defines - * @brief IT defines which can be used with LL_WWDG_ReadReg and LL_WWDG_WriteReg functions - * @{ - */ -#define LL_WWDG_CFR_EWI WWDG_CFR_EWI -/** - * @} - */ - -/** @defgroup WWDG_LL_EC_PRESCALER PRESCALER - * @{ - */ -#define LL_WWDG_PRESCALER_1 0x00000000u /*!< WWDG counter clock = (PCLK1/4096)/1 */ -#define LL_WWDG_PRESCALER_2 WWDG_CFR_WDGTB_0 /*!< WWDG counter clock = (PCLK1/4096)/2 */ -#define LL_WWDG_PRESCALER_4 WWDG_CFR_WDGTB_1 /*!< WWDG counter clock = (PCLK1/4096)/4 */ -#define LL_WWDG_PRESCALER_8 (WWDG_CFR_WDGTB_0 | WWDG_CFR_WDGTB_1) /*!< WWDG counter clock = (PCLK1/4096)/8 */ -/** - * @} - */ - -/** - * @} - */ - -/* Exported macro ------------------------------------------------------------*/ -/** @defgroup WWDG_LL_Exported_Macros WWDG Exported Macros - * @{ - */ -/** @defgroup WWDG_LL_EM_WRITE_READ Common Write and read registers macros - * @{ - */ -/** - * @brief Write a value in WWDG register - * @param __INSTANCE__ WWDG Instance - * @param __REG__ Register to be written - * @param __VALUE__ Value to be written in the register - * @retval None - */ -#define LL_WWDG_WriteReg(__INSTANCE__, __REG__, __VALUE__) WRITE_REG(__INSTANCE__->__REG__, (__VALUE__)) - -/** - * @brief Read a value in WWDG register - * @param __INSTANCE__ WWDG Instance - * @param __REG__ Register to be read - * @retval Register value - */ -#define LL_WWDG_ReadReg(__INSTANCE__, __REG__) READ_REG(__INSTANCE__->__REG__) -/** - * @} - */ - -/** - * @} - */ - -/* Exported functions --------------------------------------------------------*/ -/** @defgroup WWDG_LL_Exported_Functions WWDG Exported Functions - * @{ - */ - -/** @defgroup WWDG_LL_EF_Configuration Configuration - * @{ - */ -/** - * @brief Enable Window Watchdog. The watchdog is always disabled after a reset. - * @note It is enabled by setting the WDGA bit in the WWDG_CR register, - * then it cannot be disabled again except by a reset. - * This bit is set by software and only cleared by hardware after a reset. - * When WDGA = 1, the watchdog can generate a reset. - * @rmtoll CR WDGA LL_WWDG_Enable - * @param WWDGx WWDG Instance - * @retval None - */ -__STATIC_INLINE void LL_WWDG_Enable(WWDG_TypeDef *WWDGx) -{ - SET_BIT(WWDGx->CR, WWDG_CR_WDGA); -} - -/** - * @brief Checks if Window Watchdog is enabled - * @rmtoll CR WDGA LL_WWDG_IsEnabled - * @param WWDGx WWDG Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_WWDG_IsEnabled(WWDG_TypeDef *WWDGx) -{ - return ((READ_BIT(WWDGx->CR, WWDG_CR_WDGA) == (WWDG_CR_WDGA)) ? 1UL : 0UL); -} - -/** - * @brief Set the Watchdog counter value to provided value (7-bits T[6:0]) - * @note When writing to the WWDG_CR register, always write 1 in the MSB b6 to avoid generating an immediate reset - * This counter is decremented every (4096 x 2expWDGTB) PCLK cycles - * A reset is produced when it rolls over from 0x40 to 0x3F (bit T6 becomes cleared) - * Setting the counter lower then 0x40 causes an immediate reset (if WWDG enabled) - * @rmtoll CR T LL_WWDG_SetCounter - * @param WWDGx WWDG Instance - * @param Counter 0..0x7F (7 bit counter value) - * @retval None - */ -__STATIC_INLINE void LL_WWDG_SetCounter(WWDG_TypeDef *WWDGx, uint32_t Counter) -{ - MODIFY_REG(WWDGx->CR, WWDG_CR_T, Counter); -} - -/** - * @brief Return current Watchdog Counter Value (7 bits counter value) - * @rmtoll CR T LL_WWDG_GetCounter - * @param WWDGx WWDG Instance - * @retval 7 bit Watchdog Counter value - */ -__STATIC_INLINE uint32_t LL_WWDG_GetCounter(WWDG_TypeDef *WWDGx) -{ - return (READ_BIT(WWDGx->CR, WWDG_CR_T)); -} - -/** - * @brief Set the time base of the prescaler (WDGTB). - * @note Prescaler is used to apply ratio on PCLK clock, so that Watchdog counter - * is decremented every (4096 x 2expWDGTB) PCLK cycles - * @rmtoll CFR WDGTB LL_WWDG_SetPrescaler - * @param WWDGx WWDG Instance - * @param Prescaler This parameter can be one of the following values: - * @arg @ref LL_WWDG_PRESCALER_1 - * @arg @ref LL_WWDG_PRESCALER_2 - * @arg @ref LL_WWDG_PRESCALER_4 - * @arg @ref LL_WWDG_PRESCALER_8 - * @retval None - */ -__STATIC_INLINE void LL_WWDG_SetPrescaler(WWDG_TypeDef *WWDGx, uint32_t Prescaler) -{ - MODIFY_REG(WWDGx->CFR, WWDG_CFR_WDGTB, Prescaler); -} - -/** - * @brief Return current Watchdog Prescaler Value - * @rmtoll CFR WDGTB LL_WWDG_GetPrescaler - * @param WWDGx WWDG Instance - * @retval Returned value can be one of the following values: - * @arg @ref LL_WWDG_PRESCALER_1 - * @arg @ref LL_WWDG_PRESCALER_2 - * @arg @ref LL_WWDG_PRESCALER_4 - * @arg @ref LL_WWDG_PRESCALER_8 - */ -__STATIC_INLINE uint32_t LL_WWDG_GetPrescaler(WWDG_TypeDef *WWDGx) -{ - return (READ_BIT(WWDGx->CFR, WWDG_CFR_WDGTB)); -} - -/** - * @brief Set the Watchdog Window value to be compared to the downcounter (7-bits W[6:0]). - * @note This window value defines when write in the WWDG_CR register - * to program Watchdog counter is allowed. - * Watchdog counter value update must occur only when the counter value - * is lower than the Watchdog window register value. - * Otherwise, a MCU reset is generated if the 7-bit Watchdog counter value - * (in the control register) is refreshed before the downcounter has reached - * the watchdog window register value. - * Physically is possible to set the Window lower then 0x40 but it is not recommended. - * To generate an immediate reset, it is possible to set the Counter lower than 0x40. - * @rmtoll CFR W LL_WWDG_SetWindow - * @param WWDGx WWDG Instance - * @param Window 0x00..0x7F (7 bit Window value) - * @retval None - */ -__STATIC_INLINE void LL_WWDG_SetWindow(WWDG_TypeDef *WWDGx, uint32_t Window) -{ - MODIFY_REG(WWDGx->CFR, WWDG_CFR_W, Window); -} - -/** - * @brief Return current Watchdog Window Value (7 bits value) - * @rmtoll CFR W LL_WWDG_GetWindow - * @param WWDGx WWDG Instance - * @retval 7 bit Watchdog Window value - */ -__STATIC_INLINE uint32_t LL_WWDG_GetWindow(WWDG_TypeDef *WWDGx) -{ - return (READ_BIT(WWDGx->CFR, WWDG_CFR_W)); -} - -/** - * @} - */ - -/** @defgroup WWDG_LL_EF_FLAG_Management FLAG_Management - * @{ - */ -/** - * @brief Indicates if the WWDG Early Wakeup Interrupt Flag is set or not. - * @note This bit is set by hardware when the counter has reached the value 0x40. - * It must be cleared by software by writing 0. - * A write of 1 has no effect. This bit is also set if the interrupt is not enabled. - * @rmtoll SR EWIF LL_WWDG_IsActiveFlag_EWKUP - * @param WWDGx WWDG Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_WWDG_IsActiveFlag_EWKUP(WWDG_TypeDef *WWDGx) -{ - return ((READ_BIT(WWDGx->SR, WWDG_SR_EWIF) == (WWDG_SR_EWIF)) ? 1UL : 0UL); -} - -/** - * @brief Clear WWDG Early Wakeup Interrupt Flag (EWIF) - * @rmtoll SR EWIF LL_WWDG_ClearFlag_EWKUP - * @param WWDGx WWDG Instance - * @retval None - */ -__STATIC_INLINE void LL_WWDG_ClearFlag_EWKUP(WWDG_TypeDef *WWDGx) -{ - WRITE_REG(WWDGx->SR, ~WWDG_SR_EWIF); -} - -/** - * @} - */ - -/** @defgroup WWDG_LL_EF_IT_Management IT_Management - * @{ - */ -/** - * @brief Enable the Early Wakeup Interrupt. - * @note When set, an interrupt occurs whenever the counter reaches value 0x40. - * This interrupt is only cleared by hardware after a reset - * @rmtoll CFR EWI LL_WWDG_EnableIT_EWKUP - * @param WWDGx WWDG Instance - * @retval None - */ -__STATIC_INLINE void LL_WWDG_EnableIT_EWKUP(WWDG_TypeDef *WWDGx) -{ - SET_BIT(WWDGx->CFR, WWDG_CFR_EWI); -} - -/** - * @brief Check if Early Wakeup Interrupt is enabled - * @rmtoll CFR EWI LL_WWDG_IsEnabledIT_EWKUP - * @param WWDGx WWDG Instance - * @retval State of bit (1 or 0). - */ -__STATIC_INLINE uint32_t LL_WWDG_IsEnabledIT_EWKUP(WWDG_TypeDef *WWDGx) -{ - return ((READ_BIT(WWDGx->CFR, WWDG_CFR_EWI) == (WWDG_CFR_EWI)) ? 1UL : 0UL); -} - -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ - -#endif /* WWDG */ - -/** - * @} - */ - -#ifdef __cplusplus -} -#endif - -#endif /* STM32F4xx_LL_WWDG_H */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/Legacy/stm32f4xx_hal_can.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/Legacy/stm32f4xx_hal_can.c deleted file mode 100644 index 7a4cf5378eb742..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/Legacy/stm32f4xx_hal_can.c +++ /dev/null @@ -1,1697 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_can.c - * @author MCD Application Team - * @brief This file provides firmware functions to manage the following - * functionalities of the Controller Area Network (CAN) peripheral: - * + Initialization and de-initialization functions - * + IO operation functions - * + Peripheral Control functions - * + Peripheral State and Error functions - * - @verbatim - ============================================================================== - ##### User NOTE ##### - ============================================================================== - [..] - (#) This HAL CAN driver is deprecated, it contains some CAN Tx/Rx FIFO management limitations. - Another HAL CAN driver version has been designed with new API's, to fix these limitations. - - ============================================================================== - ##### How to use this driver ##### - ============================================================================== - [..] - (#) Enable the CAN controller interface clock using - __HAL_RCC_CAN1_CLK_ENABLE() for CAN1, __HAL_RCC_CAN2_CLK_ENABLE() for CAN2 - and __HAL_RCC_CAN3_CLK_ENABLE() for CAN3 - -@- In case you are using CAN2 only, you have to enable the CAN1 clock. - - (#) CAN pins configuration - (++) Enable the clock for the CAN GPIOs using the following function: - __GPIOx_CLK_ENABLE() - (++) Connect and configure the involved CAN pins to AF9 using the - following function HAL_GPIO_Init() - - (#) Initialize and configure the CAN using CAN_Init() function. - - (#) Transmit the desired CAN frame using HAL_CAN_Transmit() function. - - (#) Or transmit the desired CAN frame using HAL_CAN_Transmit_IT() function. - - (#) Receive a CAN frame using HAL_CAN_Receive() function. - - (#) Or receive a CAN frame using HAL_CAN_Receive_IT() function. - - *** Polling mode IO operation *** - ================================= - [..] - (+) Start the CAN peripheral transmission and wait the end of this operation - using HAL_CAN_Transmit(), at this stage user can specify the value of timeout - according to his end application - (+) Start the CAN peripheral reception and wait the end of this operation - using HAL_CAN_Receive(), at this stage user can specify the value of timeout - according to his end application - - *** Interrupt mode IO operation *** - =================================== - [..] - (+) Start the CAN peripheral transmission using HAL_CAN_Transmit_IT() - (+) Start the CAN peripheral reception using HAL_CAN_Receive_IT() - (+) Use HAL_CAN_IRQHandler() called under the used CAN Interrupt subroutine - (+) At CAN end of transmission HAL_CAN_TxCpltCallback() function is executed and user can - add his own code by customization of function pointer HAL_CAN_TxCpltCallback - (+) In case of CAN Error, HAL_CAN_ErrorCallback() function is executed and user can - add his own code by customization of function pointer HAL_CAN_ErrorCallback - - *** CAN HAL driver macros list *** - ============================================= - [..] - Below the list of most used macros in CAN HAL driver. - - (+) __HAL_CAN_ENABLE_IT: Enable the specified CAN interrupts - (+) __HAL_CAN_DISABLE_IT: Disable the specified CAN interrupts - (+) __HAL_CAN_GET_IT_SOURCE: Check if the specified CAN interrupt source is enabled or disabled - (+) __HAL_CAN_CLEAR_FLAG: Clear the CAN's pending flags - (+) __HAL_CAN_GET_FLAG: Get the selected CAN's flag status - - [..] - (@) You can refer to the CAN Legacy HAL driver header file for more useful macros - - @endverbatim - - ****************************************************************************** - * @attention - * - *

© COPYRIGHT(c) 2017 STMicroelectronics

- * - * Redistribution and use in source and binary forms, with or without modification, - * are permitted provided that the following conditions are met: - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * 3. Neither the name of STMicroelectronics nor the names of its contributors - * may be used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE - * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL - * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR - * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, - * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE - * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************** - */ - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @defgroup CAN CAN - * @brief CAN driver modules - * @{ - */ - -#ifdef HAL_CAN_LEGACY_MODULE_ENABLED - -#if defined(STM32F405xx) || defined(STM32F415xx) || defined(STM32F407xx) || defined(STM32F417xx) ||\ - defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) ||\ - defined(STM32F446xx) || defined(STM32F469xx) || defined(STM32F479xx) || defined(STM32F412Zx) ||\ - defined(STM32F412Vx) || defined(STM32F412Rx) || defined(STM32F412Cx) || defined(STM32F413xx) ||\ - defined(STM32F423xx) - -#ifdef HAL_CAN_MODULE_ENABLED -/* Select HAL CAN module in stm32f4xx_hal_conf.h file: - (#) HAL_CAN_MODULE_ENABLED for new HAL CAN driver fixing FIFO limitations - (#) HAL_CAN_LEGACY_MODULE_ENABLED for legacy HAL CAN driver */ -#error 'The HAL CAN driver cannot be used with its legacy, Please ensure to enable only one HAL CAN module at once in stm32f4xx_hal_conf.h file' -#endif /* HAL_CAN_MODULE_ENABLED */ - -#warning 'Legacy HAL CAN driver is enabled! It can be used with known limitations, refer to the release notes. However it is recommended to use rather the new HAL CAN driver' - -/* Private typedef -----------------------------------------------------------*/ -/* Private define ------------------------------------------------------------*/ -/** @addtogroup CAN_Private_Constants - * @{ - */ -#define CAN_TIMEOUT_VALUE 10U -/** - * @} - */ -/* Private macro -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private function prototypes -----------------------------------------------*/ -/** @addtogroup CAN_Private_Functions - * @{ - */ -static HAL_StatusTypeDef CAN_Receive_IT(CAN_HandleTypeDef* hcan, uint8_t FIFONumber); -static HAL_StatusTypeDef CAN_Transmit_IT(CAN_HandleTypeDef* hcan); -/** - * @} - */ - -/* Exported functions --------------------------------------------------------*/ -/** @defgroup CAN_Exported_Functions CAN Exported Functions - * @{ - */ - -/** @defgroup CAN_Exported_Functions_Group1 Initialization and de-initialization functions - * @brief Initialization and Configuration functions - * -@verbatim - ============================================================================== - ##### Initialization and de-initialization functions ##### - ============================================================================== - [..] This section provides functions allowing to: - (+) Initialize and configure the CAN. - (+) De-initialize the CAN. - -@endverbatim - * @{ - */ - -/** - * @brief Initializes the CAN peripheral according to the specified - * parameters in the CAN_InitStruct. - * @param hcan pointer to a CAN_HandleTypeDef structure that contains - * the configuration information for the specified CAN. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_CAN_Init(CAN_HandleTypeDef* hcan) -{ - uint32_t InitStatus = CAN_INITSTATUS_FAILED; - uint32_t tickstart = 0U; - - /* Check CAN handle */ - if(hcan == NULL) - { - return HAL_ERROR; - } - - /* Check the parameters */ - assert_param(IS_CAN_ALL_INSTANCE(hcan->Instance)); - assert_param(IS_FUNCTIONAL_STATE(hcan->Init.TTCM)); - assert_param(IS_FUNCTIONAL_STATE(hcan->Init.ABOM)); - assert_param(IS_FUNCTIONAL_STATE(hcan->Init.AWUM)); - assert_param(IS_FUNCTIONAL_STATE(hcan->Init.NART)); - assert_param(IS_FUNCTIONAL_STATE(hcan->Init.RFLM)); - assert_param(IS_FUNCTIONAL_STATE(hcan->Init.TXFP)); - assert_param(IS_CAN_MODE(hcan->Init.Mode)); - assert_param(IS_CAN_SJW(hcan->Init.SJW)); - assert_param(IS_CAN_BS1(hcan->Init.BS1)); - assert_param(IS_CAN_BS2(hcan->Init.BS2)); - assert_param(IS_CAN_PRESCALER(hcan->Init.Prescaler)); - - - if(hcan->State == HAL_CAN_STATE_RESET) - { - /* Allocate lock resource and initialize it */ - hcan->Lock = HAL_UNLOCKED; - /* Init the low level hardware */ - HAL_CAN_MspInit(hcan); - } - - /* Initialize the CAN state*/ - hcan->State = HAL_CAN_STATE_BUSY; - - /* Exit from sleep mode */ - hcan->Instance->MCR &= (~(uint32_t)CAN_MCR_SLEEP); - - /* Request initialisation */ - hcan->Instance->MCR |= CAN_MCR_INRQ ; - - /* Get tick */ - tickstart = HAL_GetTick(); - - /* Wait the acknowledge */ - while((hcan->Instance->MSR & CAN_MSR_INAK) != CAN_MSR_INAK) - { - if((HAL_GetTick() - tickstart ) > CAN_TIMEOUT_VALUE) - { - hcan->State= HAL_CAN_STATE_TIMEOUT; - /* Process unlocked */ - __HAL_UNLOCK(hcan); - return HAL_TIMEOUT; - } - } - - /* Check acknowledge */ - if ((hcan->Instance->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) - { - /* Set the time triggered communication mode */ - if (hcan->Init.TTCM == ENABLE) - { - hcan->Instance->MCR |= CAN_MCR_TTCM; - } - else - { - hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_TTCM; - } - - /* Set the automatic bus-off management */ - if (hcan->Init.ABOM == ENABLE) - { - hcan->Instance->MCR |= CAN_MCR_ABOM; - } - else - { - hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_ABOM; - } - - /* Set the automatic wake-up mode */ - if (hcan->Init.AWUM == ENABLE) - { - hcan->Instance->MCR |= CAN_MCR_AWUM; - } - else - { - hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_AWUM; - } - - /* Set the no automatic retransmission */ - if (hcan->Init.NART == ENABLE) - { - hcan->Instance->MCR |= CAN_MCR_NART; - } - else - { - hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_NART; - } - - /* Set the receive FIFO locked mode */ - if (hcan->Init.RFLM == ENABLE) - { - hcan->Instance->MCR |= CAN_MCR_RFLM; - } - else - { - hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_RFLM; - } - - /* Set the transmit FIFO priority */ - if (hcan->Init.TXFP == ENABLE) - { - hcan->Instance->MCR |= CAN_MCR_TXFP; - } - else - { - hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_TXFP; - } - - /* Set the bit timing register */ - hcan->Instance->BTR = (uint32_t)((uint32_t)hcan->Init.Mode) | \ - ((uint32_t)hcan->Init.SJW) | \ - ((uint32_t)hcan->Init.BS1) | \ - ((uint32_t)hcan->Init.BS2) | \ - ((uint32_t)hcan->Init.Prescaler - 1U); - - /* Request leave initialisation */ - hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_INRQ; - - /* Get tick */ - tickstart = HAL_GetTick(); - - /* Wait the acknowledge */ - while((hcan->Instance->MSR & CAN_MSR_INAK) == CAN_MSR_INAK) - { - if((HAL_GetTick() - tickstart ) > CAN_TIMEOUT_VALUE) - { - hcan->State= HAL_CAN_STATE_TIMEOUT; - /* Process unlocked */ - __HAL_UNLOCK(hcan); - return HAL_TIMEOUT; - } - } - - /* Check acknowledged */ - if ((hcan->Instance->MSR & CAN_MSR_INAK) != CAN_MSR_INAK) - { - InitStatus = CAN_INITSTATUS_SUCCESS; - } - } - - if(InitStatus == CAN_INITSTATUS_SUCCESS) - { - /* Set CAN error code to none */ - hcan->ErrorCode = HAL_CAN_ERROR_NONE; - - /* Initialize the CAN state */ - hcan->State = HAL_CAN_STATE_READY; - - /* Return function status */ - return HAL_OK; - } - else - { - /* Initialize the CAN state */ - hcan->State = HAL_CAN_STATE_ERROR; - - /* Return function status */ - return HAL_ERROR; - } -} - -/** - * @brief Configures the CAN reception filter according to the specified - * parameters in the CAN_FilterInitStruct. - * @param hcan pointer to a CAN_HandleTypeDef structure that contains - * the configuration information for the specified CAN. - * @param sFilterConfig pointer to a CAN_FilterConfTypeDef structure that - * contains the filter configuration information. - * @retval None - */ -HAL_StatusTypeDef HAL_CAN_ConfigFilter(CAN_HandleTypeDef* hcan, CAN_FilterConfTypeDef* sFilterConfig) -{ - uint32_t filternbrbitpos = 0U; - CAN_TypeDef *can_ip; - - /* Prevent unused argument(s) compilation warning */ - UNUSED(hcan); - - /* Check the parameters */ - assert_param(IS_CAN_FILTER_NUMBER(sFilterConfig->FilterNumber)); - assert_param(IS_CAN_FILTER_MODE(sFilterConfig->FilterMode)); - assert_param(IS_CAN_FILTER_SCALE(sFilterConfig->FilterScale)); - assert_param(IS_CAN_FILTER_FIFO(sFilterConfig->FilterFIFOAssignment)); - assert_param(IS_FUNCTIONAL_STATE(sFilterConfig->FilterActivation)); - assert_param(IS_CAN_BANKNUMBER(sFilterConfig->BankNumber)); - - filternbrbitpos = 1U << sFilterConfig->FilterNumber; -#if defined (CAN3) - /* Check the CAN instance */ - if(hcan->Instance == CAN3) - { - can_ip = CAN3; - } - else - { - can_ip = CAN1; - } -#else - can_ip = CAN1; -#endif - - /* Initialisation mode for the filter */ - can_ip->FMR |= (uint32_t)CAN_FMR_FINIT; - -#if defined (CAN2) - /* Select the start slave bank */ - can_ip->FMR &= ~((uint32_t)CAN_FMR_CAN2SB); - can_ip->FMR |= (uint32_t)(sFilterConfig->BankNumber << 8U); -#endif - - /* Filter Deactivation */ - can_ip->FA1R &= ~(uint32_t)filternbrbitpos; - - /* Filter Scale */ - if (sFilterConfig->FilterScale == CAN_FILTERSCALE_16BIT) - { - /* 16-bit scale for the filter */ - can_ip->FS1R &= ~(uint32_t)filternbrbitpos; - - /* First 16-bit identifier and First 16-bit mask */ - /* Or First 16-bit identifier and Second 16-bit identifier */ - can_ip->sFilterRegister[sFilterConfig->FilterNumber].FR1 = - ((0x0000FFFFU & (uint32_t)sFilterConfig->FilterMaskIdLow) << 16U) | - (0x0000FFFFU & (uint32_t)sFilterConfig->FilterIdLow); - - /* Second 16-bit identifier and Second 16-bit mask */ - /* Or Third 16-bit identifier and Fourth 16-bit identifier */ - can_ip->sFilterRegister[sFilterConfig->FilterNumber].FR2 = - ((0x0000FFFFU & (uint32_t)sFilterConfig->FilterMaskIdHigh) << 16U) | - (0x0000FFFFU & (uint32_t)sFilterConfig->FilterIdHigh); - } - - if (sFilterConfig->FilterScale == CAN_FILTERSCALE_32BIT) - { - /* 32-bit scale for the filter */ - can_ip->FS1R |= filternbrbitpos; - - /* 32-bit identifier or First 32-bit identifier */ - can_ip->sFilterRegister[sFilterConfig->FilterNumber].FR1 = - ((0x0000FFFFU & (uint32_t)sFilterConfig->FilterIdHigh) << 16U) | - (0x0000FFFFU & (uint32_t)sFilterConfig->FilterIdLow); - /* 32-bit mask or Second 32-bit identifier */ - can_ip->sFilterRegister[sFilterConfig->FilterNumber].FR2 = - ((0x0000FFFFU & (uint32_t)sFilterConfig->FilterMaskIdHigh) << 16U) | - (0x0000FFFFU & (uint32_t)sFilterConfig->FilterMaskIdLow); - } - - /* Filter Mode */ - if (sFilterConfig->FilterMode == CAN_FILTERMODE_IDMASK) - { - /*Id/Mask mode for the filter*/ - can_ip->FM1R &= ~(uint32_t)filternbrbitpos; - } - else /* CAN_FilterInitStruct->CAN_FilterMode == CAN_FilterMode_IdList */ - { - /*Identifier list mode for the filter*/ - can_ip->FM1R |= (uint32_t)filternbrbitpos; - } - - /* Filter FIFO assignment */ - if (sFilterConfig->FilterFIFOAssignment == CAN_FILTER_FIFO0) - { - /* FIFO 0 assignation for the filter */ - can_ip->FFA1R &= ~(uint32_t)filternbrbitpos; - } - - if (sFilterConfig->FilterFIFOAssignment == CAN_FILTER_FIFO1) - { - /* FIFO 1 assignation for the filter */ - can_ip->FFA1R |= (uint32_t)filternbrbitpos; - } - - /* Filter activation */ - if (sFilterConfig->FilterActivation == ENABLE) - { - can_ip->FA1R |= filternbrbitpos; - } - - /* Leave the initialisation mode for the filter */ - can_ip->FMR &= ~((uint32_t)CAN_FMR_FINIT); - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Deinitializes the CANx peripheral registers to their default reset values. - * @param hcan pointer to a CAN_HandleTypeDef structure that contains - * the configuration information for the specified CAN. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_CAN_DeInit(CAN_HandleTypeDef* hcan) -{ - /* Check CAN handle */ - if(hcan == NULL) - { - return HAL_ERROR; - } - - /* Check the parameters */ - assert_param(IS_CAN_ALL_INSTANCE(hcan->Instance)); - - /* Change CAN state */ - hcan->State = HAL_CAN_STATE_BUSY; - - /* DeInit the low level hardware */ - HAL_CAN_MspDeInit(hcan); - - /* Change CAN state */ - hcan->State = HAL_CAN_STATE_RESET; - - /* Release Lock */ - __HAL_UNLOCK(hcan); - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Initializes the CAN MSP. - * @param hcan pointer to a CAN_HandleTypeDef structure that contains - * the configuration information for the specified CAN. - * @retval None - */ -__weak void HAL_CAN_MspInit(CAN_HandleTypeDef* hcan) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hcan); - /* NOTE : This function Should not be modified, when the callback is needed, - the HAL_CAN_MspInit could be implemented in the user file - */ -} - -/** - * @brief DeInitializes the CAN MSP. - * @param hcan pointer to a CAN_HandleTypeDef structure that contains - * the configuration information for the specified CAN. - * @retval None - */ -__weak void HAL_CAN_MspDeInit(CAN_HandleTypeDef* hcan) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hcan); - /* NOTE : This function Should not be modified, when the callback is needed, - the HAL_CAN_MspDeInit could be implemented in the user file - */ -} - -/** - * @} - */ - -/** @defgroup CAN_Exported_Functions_Group2 IO operation functions - * @brief IO operation functions - * -@verbatim - ============================================================================== - ##### IO operation functions ##### - ============================================================================== - [..] This section provides functions allowing to: - (+) Transmit a CAN frame message. - (+) Receive a CAN frame message. - (+) Enter CAN peripheral in sleep mode. - (+) Wake up the CAN peripheral from sleep mode. - -@endverbatim - * @{ - */ - -/** - * @brief Initiates and transmits a CAN frame message. - * @param hcan pointer to a CAN_HandleTypeDef structure that contains - * the configuration information for the specified CAN. - * @param Timeout Specify Timeout value - * @retval HAL status - */ -HAL_StatusTypeDef HAL_CAN_Transmit(CAN_HandleTypeDef* hcan, uint32_t Timeout) -{ - uint32_t transmitmailbox = CAN_TXSTATUS_NOMAILBOX; - uint32_t tickstart = 0U; - - /* Check the parameters */ - assert_param(IS_CAN_IDTYPE(hcan->pTxMsg->IDE)); - assert_param(IS_CAN_RTR(hcan->pTxMsg->RTR)); - assert_param(IS_CAN_DLC(hcan->pTxMsg->DLC)); - - if(((hcan->Instance->TSR&CAN_TSR_TME0) == CAN_TSR_TME0) || \ - ((hcan->Instance->TSR&CAN_TSR_TME1) == CAN_TSR_TME1) || \ - ((hcan->Instance->TSR&CAN_TSR_TME2) == CAN_TSR_TME2)) - { - /* Process locked */ - __HAL_LOCK(hcan); - - /* Change CAN state */ - switch(hcan->State) - { - case(HAL_CAN_STATE_BUSY_RX0): - hcan->State = HAL_CAN_STATE_BUSY_TX_RX0; - break; - case(HAL_CAN_STATE_BUSY_RX1): - hcan->State = HAL_CAN_STATE_BUSY_TX_RX1; - break; - case(HAL_CAN_STATE_BUSY_RX0_RX1): - hcan->State = HAL_CAN_STATE_BUSY_TX_RX0_RX1; - break; - default: /* HAL_CAN_STATE_READY */ - hcan->State = HAL_CAN_STATE_BUSY_TX; - break; - } - - /* Select one empty transmit mailbox */ - if ((hcan->Instance->TSR&CAN_TSR_TME0) == CAN_TSR_TME0) - { - transmitmailbox = CAN_TXMAILBOX_0; - } - else if ((hcan->Instance->TSR&CAN_TSR_TME1) == CAN_TSR_TME1) - { - transmitmailbox = CAN_TXMAILBOX_1; - } - else - { - transmitmailbox = CAN_TXMAILBOX_2; - } - - /* Set up the Id */ - hcan->Instance->sTxMailBox[transmitmailbox].TIR &= CAN_TI0R_TXRQ; - if (hcan->pTxMsg->IDE == CAN_ID_STD) - { - assert_param(IS_CAN_STDID(hcan->pTxMsg->StdId)); - hcan->Instance->sTxMailBox[transmitmailbox].TIR |= ((hcan->pTxMsg->StdId << 21U) | \ - hcan->pTxMsg->RTR); - } - else - { - assert_param(IS_CAN_EXTID(hcan->pTxMsg->ExtId)); - hcan->Instance->sTxMailBox[transmitmailbox].TIR |= ((hcan->pTxMsg->ExtId << 3U) | \ - hcan->pTxMsg->IDE | \ - hcan->pTxMsg->RTR); - } - - /* Set up the DLC */ - hcan->pTxMsg->DLC &= (uint8_t)0x0000000F; - hcan->Instance->sTxMailBox[transmitmailbox].TDTR &= (uint32_t)0xFFFFFFF0U; - hcan->Instance->sTxMailBox[transmitmailbox].TDTR |= hcan->pTxMsg->DLC; - - /* Set up the data field */ - hcan->Instance->sTxMailBox[transmitmailbox].TDLR = (((uint32_t)hcan->pTxMsg->Data[3U] << 24U) | - ((uint32_t)hcan->pTxMsg->Data[2U] << 16U) | - ((uint32_t)hcan->pTxMsg->Data[1U] << 8U) | - ((uint32_t)hcan->pTxMsg->Data[0U])); - hcan->Instance->sTxMailBox[transmitmailbox].TDHR = (((uint32_t)hcan->pTxMsg->Data[7U] << 24U) | - ((uint32_t)hcan->pTxMsg->Data[6U] << 16U) | - ((uint32_t)hcan->pTxMsg->Data[5U] << 8U) | - ((uint32_t)hcan->pTxMsg->Data[4U])); - /* Request transmission */ - hcan->Instance->sTxMailBox[transmitmailbox].TIR |= CAN_TI0R_TXRQ; - - /* Get tick */ - tickstart = HAL_GetTick(); - - /* Check End of transmission flag */ - while(!(__HAL_CAN_TRANSMIT_STATUS(hcan, transmitmailbox))) - { - /* Check for the Timeout */ - if(Timeout != HAL_MAX_DELAY) - { - if((Timeout == 0U)||((HAL_GetTick() - tickstart ) > Timeout)) - { - hcan->State = HAL_CAN_STATE_TIMEOUT; - - __HAL_CAN_CANCEL_TRANSMIT(hcan, transmitmailbox); - - /* Process unlocked */ - __HAL_UNLOCK(hcan); - return HAL_TIMEOUT; - } - } - } - - /* Change CAN state */ - switch(hcan->State) - { - case(HAL_CAN_STATE_BUSY_TX_RX0): - hcan->State = HAL_CAN_STATE_BUSY_RX0; - break; - case(HAL_CAN_STATE_BUSY_TX_RX1): - hcan->State = HAL_CAN_STATE_BUSY_RX1; - break; - case(HAL_CAN_STATE_BUSY_TX_RX0_RX1): - hcan->State = HAL_CAN_STATE_BUSY_RX0_RX1; - break; - default: /* HAL_CAN_STATE_BUSY_TX */ - hcan->State = HAL_CAN_STATE_READY; - break; - } - - /* Process unlocked */ - __HAL_UNLOCK(hcan); - - /* Return function status */ - return HAL_OK; - } - else - { - /* Change CAN state */ - hcan->State = HAL_CAN_STATE_ERROR; - - /* Return function status */ - return HAL_ERROR; - } -} - -/** - * @brief Initiates and transmits a CAN frame message. - * @param hcan pointer to a CAN_HandleTypeDef structure that contains - * the configuration information for the specified CAN. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_CAN_Transmit_IT(CAN_HandleTypeDef* hcan) -{ - uint32_t transmitmailbox = CAN_TXSTATUS_NOMAILBOX; - - /* Check the parameters */ - assert_param(IS_CAN_IDTYPE(hcan->pTxMsg->IDE)); - assert_param(IS_CAN_RTR(hcan->pTxMsg->RTR)); - assert_param(IS_CAN_DLC(hcan->pTxMsg->DLC)); - - if(((hcan->Instance->TSR&CAN_TSR_TME0) == CAN_TSR_TME0) || \ - ((hcan->Instance->TSR&CAN_TSR_TME1) == CAN_TSR_TME1) || \ - ((hcan->Instance->TSR&CAN_TSR_TME2) == CAN_TSR_TME2)) - { - /* Process Locked */ - __HAL_LOCK(hcan); - - /* Select one empty transmit mailbox */ - if((hcan->Instance->TSR&CAN_TSR_TME0) == CAN_TSR_TME0) - { - transmitmailbox = CAN_TXMAILBOX_0; - } - else if((hcan->Instance->TSR&CAN_TSR_TME1) == CAN_TSR_TME1) - { - transmitmailbox = CAN_TXMAILBOX_1; - } - else - { - transmitmailbox = CAN_TXMAILBOX_2; - } - - /* Set up the Id */ - hcan->Instance->sTxMailBox[transmitmailbox].TIR &= CAN_TI0R_TXRQ; - if(hcan->pTxMsg->IDE == CAN_ID_STD) - { - assert_param(IS_CAN_STDID(hcan->pTxMsg->StdId)); - hcan->Instance->sTxMailBox[transmitmailbox].TIR |= ((hcan->pTxMsg->StdId << 21U) | \ - hcan->pTxMsg->RTR); - } - else - { - assert_param(IS_CAN_EXTID(hcan->pTxMsg->ExtId)); - hcan->Instance->sTxMailBox[transmitmailbox].TIR |= ((hcan->pTxMsg->ExtId << 3U) | \ - hcan->pTxMsg->IDE | \ - hcan->pTxMsg->RTR); - } - - /* Set up the DLC */ - hcan->pTxMsg->DLC &= (uint8_t)0x0000000F; - hcan->Instance->sTxMailBox[transmitmailbox].TDTR &= (uint32_t)0xFFFFFFF0U; - hcan->Instance->sTxMailBox[transmitmailbox].TDTR |= hcan->pTxMsg->DLC; - - /* Set up the data field */ - hcan->Instance->sTxMailBox[transmitmailbox].TDLR = (((uint32_t)hcan->pTxMsg->Data[3U] << 24U) | - ((uint32_t)hcan->pTxMsg->Data[2U] << 16U) | - ((uint32_t)hcan->pTxMsg->Data[1U] << 8U) | - ((uint32_t)hcan->pTxMsg->Data[0U])); - hcan->Instance->sTxMailBox[transmitmailbox].TDHR = (((uint32_t)hcan->pTxMsg->Data[7U] << 24U) | - ((uint32_t)hcan->pTxMsg->Data[6U] << 16U) | - ((uint32_t)hcan->pTxMsg->Data[5U] << 8U) | - ((uint32_t)hcan->pTxMsg->Data[4U])); - - /* Change CAN state */ - switch(hcan->State) - { - case(HAL_CAN_STATE_BUSY_RX0): - hcan->State = HAL_CAN_STATE_BUSY_TX_RX0; - break; - case(HAL_CAN_STATE_BUSY_RX1): - hcan->State = HAL_CAN_STATE_BUSY_TX_RX1; - break; - case(HAL_CAN_STATE_BUSY_RX0_RX1): - hcan->State = HAL_CAN_STATE_BUSY_TX_RX0_RX1; - break; - default: /* HAL_CAN_STATE_READY */ - hcan->State = HAL_CAN_STATE_BUSY_TX; - break; - } - - /* Set CAN error code to none */ - hcan->ErrorCode = HAL_CAN_ERROR_NONE; - - /* Process Unlocked */ - __HAL_UNLOCK(hcan); - - /* Request transmission */ - hcan->Instance->sTxMailBox[transmitmailbox].TIR |= CAN_TI0R_TXRQ; - - /* Enable Error warning, Error passive, Bus-off, - Last error and Error Interrupts */ - __HAL_CAN_ENABLE_IT(hcan, CAN_IT_EWG | - CAN_IT_EPV | - CAN_IT_BOF | - CAN_IT_LEC | - CAN_IT_ERR | - CAN_IT_TME); - } - else - { - /* Change CAN state */ - hcan->State = HAL_CAN_STATE_ERROR; - - /* Return function status */ - return HAL_ERROR; - } - - return HAL_OK; -} - -/** - * @brief Receives a correct CAN frame. - * @param hcan pointer to a CAN_HandleTypeDef structure that contains - * the configuration information for the specified CAN. - * @param FIFONumber FIFO Number value - * @param Timeout Specify Timeout value - * @retval HAL status - */ -HAL_StatusTypeDef HAL_CAN_Receive(CAN_HandleTypeDef* hcan, uint8_t FIFONumber, uint32_t Timeout) -{ - uint32_t tickstart = 0U; - CanRxMsgTypeDef* pRxMsg = NULL; - - /* Check the parameters */ - assert_param(IS_CAN_FIFO(FIFONumber)); - - /* Check if CAN state is not busy for RX FIFO0 */ - if ((FIFONumber == CAN_FIFO0) && ((hcan->State == HAL_CAN_STATE_BUSY_RX0) || \ - (hcan->State == HAL_CAN_STATE_BUSY_TX_RX0) || \ - (hcan->State == HAL_CAN_STATE_BUSY_RX0_RX1) || \ - (hcan->State == HAL_CAN_STATE_BUSY_TX_RX0_RX1))) - { - return HAL_BUSY; - } - - /* Check if CAN state is not busy for RX FIFO1 */ - if ((FIFONumber == CAN_FIFO1) && ((hcan->State == HAL_CAN_STATE_BUSY_RX1) || \ - (hcan->State == HAL_CAN_STATE_BUSY_TX_RX1) || \ - (hcan->State == HAL_CAN_STATE_BUSY_RX0_RX1) || \ - (hcan->State == HAL_CAN_STATE_BUSY_TX_RX0_RX1))) - { - return HAL_BUSY; - } - - /* Process locked */ - __HAL_LOCK(hcan); - - /* Change CAN state */ - if (FIFONumber == CAN_FIFO0) - { - switch(hcan->State) - { - case(HAL_CAN_STATE_BUSY_TX): - hcan->State = HAL_CAN_STATE_BUSY_TX_RX0; - break; - case(HAL_CAN_STATE_BUSY_RX1): - hcan->State = HAL_CAN_STATE_BUSY_RX0_RX1; - break; - case(HAL_CAN_STATE_BUSY_TX_RX1): - hcan->State = HAL_CAN_STATE_BUSY_TX_RX0_RX1; - break; - default: /* HAL_CAN_STATE_READY */ - hcan->State = HAL_CAN_STATE_BUSY_RX0; - break; - } - } - else /* FIFONumber == CAN_FIFO1 */ - { - switch(hcan->State) - { - case(HAL_CAN_STATE_BUSY_TX): - hcan->State = HAL_CAN_STATE_BUSY_TX_RX1; - break; - case(HAL_CAN_STATE_BUSY_RX0): - hcan->State = HAL_CAN_STATE_BUSY_RX0_RX1; - break; - case(HAL_CAN_STATE_BUSY_TX_RX0): - hcan->State = HAL_CAN_STATE_BUSY_TX_RX0_RX1; - break; - default: /* HAL_CAN_STATE_READY */ - hcan->State = HAL_CAN_STATE_BUSY_RX1; - break; - } - } - - /* Get tick */ - tickstart = HAL_GetTick(); - - /* Check pending message */ - while(__HAL_CAN_MSG_PENDING(hcan, FIFONumber) == 0U) - { - /* Check for the Timeout */ - if(Timeout != HAL_MAX_DELAY) - { - if((Timeout == 0U)||((HAL_GetTick() - tickstart ) > Timeout)) - { - hcan->State = HAL_CAN_STATE_TIMEOUT; - /* Process unlocked */ - __HAL_UNLOCK(hcan); - return HAL_TIMEOUT; - } - } - } - - /* Set RxMsg pointer */ - if(FIFONumber == CAN_FIFO0) - { - pRxMsg = hcan->pRxMsg; - } - else /* FIFONumber == CAN_FIFO1 */ - { - pRxMsg = hcan->pRx1Msg; - } - - /* Get the Id */ - pRxMsg->IDE = (uint8_t)0x04 & hcan->Instance->sFIFOMailBox[FIFONumber].RIR; - if (pRxMsg->IDE == CAN_ID_STD) - { - pRxMsg->StdId = 0x000007FFU & (hcan->Instance->sFIFOMailBox[FIFONumber].RIR >> 21U); - } - else - { - pRxMsg->ExtId = 0x1FFFFFFFU & (hcan->Instance->sFIFOMailBox[FIFONumber].RIR >> 3U); - } - - pRxMsg->RTR = (uint8_t)0x02 & hcan->Instance->sFIFOMailBox[FIFONumber].RIR; - /* Get the DLC */ - pRxMsg->DLC = (uint8_t)0x0F & hcan->Instance->sFIFOMailBox[FIFONumber].RDTR; - /* Get the FMI */ - pRxMsg->FMI = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDTR >> 8U); - /* Get the FIFONumber */ - pRxMsg->FIFONumber = FIFONumber; - /* Get the data field */ - pRxMsg->Data[0] = (uint8_t)0xFF & hcan->Instance->sFIFOMailBox[FIFONumber].RDLR; - pRxMsg->Data[1] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 8U); - pRxMsg->Data[2] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 16U); - pRxMsg->Data[3] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 24U); - pRxMsg->Data[4] = (uint8_t)0xFF & hcan->Instance->sFIFOMailBox[FIFONumber].RDHR; - pRxMsg->Data[5] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 8U); - pRxMsg->Data[6] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 16U); - pRxMsg->Data[7] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 24U); - - /* Release the FIFO */ - if(FIFONumber == CAN_FIFO0) - { - /* Release FIFO0 */ - __HAL_CAN_FIFO_RELEASE(hcan, CAN_FIFO0); - } - else /* FIFONumber == CAN_FIFO1 */ - { - /* Release FIFO1 */ - __HAL_CAN_FIFO_RELEASE(hcan, CAN_FIFO1); - } - - /* Change CAN state */ - if (FIFONumber == CAN_FIFO0) - { - switch(hcan->State) - { - case(HAL_CAN_STATE_BUSY_TX_RX0): - hcan->State = HAL_CAN_STATE_BUSY_TX; - break; - case(HAL_CAN_STATE_BUSY_RX0_RX1): - hcan->State = HAL_CAN_STATE_BUSY_RX1; - break; - case(HAL_CAN_STATE_BUSY_TX_RX0_RX1): - hcan->State = HAL_CAN_STATE_BUSY_TX_RX1; - break; - default: /* HAL_CAN_STATE_BUSY_RX0 */ - hcan->State = HAL_CAN_STATE_READY; - break; - } - } - else /* FIFONumber == CAN_FIFO1 */ - { - switch(hcan->State) - { - case(HAL_CAN_STATE_BUSY_TX_RX1): - hcan->State = HAL_CAN_STATE_BUSY_TX; - break; - case(HAL_CAN_STATE_BUSY_RX0_RX1): - hcan->State = HAL_CAN_STATE_BUSY_RX0; - break; - case(HAL_CAN_STATE_BUSY_TX_RX0_RX1): - hcan->State = HAL_CAN_STATE_BUSY_TX_RX0; - break; - default: /* HAL_CAN_STATE_BUSY_RX1 */ - hcan->State = HAL_CAN_STATE_READY; - break; - } - } - - /* Process unlocked */ - __HAL_UNLOCK(hcan); - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Receives a correct CAN frame. - * @param hcan Pointer to a CAN_HandleTypeDef structure that contains - * the configuration information for the specified CAN. - * @param FIFONumber Specify the FIFO number - * @retval HAL status - */ -HAL_StatusTypeDef HAL_CAN_Receive_IT(CAN_HandleTypeDef* hcan, uint8_t FIFONumber) -{ - /* Check the parameters */ - assert_param(IS_CAN_FIFO(FIFONumber)); - - /* Check if CAN state is not busy for RX FIFO0 */ - if((FIFONumber == CAN_FIFO0) && ((hcan->State == HAL_CAN_STATE_BUSY_RX0) || \ - (hcan->State == HAL_CAN_STATE_BUSY_TX_RX0) || \ - (hcan->State == HAL_CAN_STATE_BUSY_RX0_RX1) || \ - (hcan->State == HAL_CAN_STATE_BUSY_TX_RX0_RX1))) - { - return HAL_BUSY; - } - - /* Check if CAN state is not busy for RX FIFO1 */ - if((FIFONumber == CAN_FIFO1) && ((hcan->State == HAL_CAN_STATE_BUSY_RX1) || \ - (hcan->State == HAL_CAN_STATE_BUSY_TX_RX1) || \ - (hcan->State == HAL_CAN_STATE_BUSY_RX0_RX1) || \ - (hcan->State == HAL_CAN_STATE_BUSY_TX_RX0_RX1))) - { - return HAL_BUSY; - } - - /* Process locked */ - __HAL_LOCK(hcan); - - /* Change CAN state */ - if(FIFONumber == CAN_FIFO0) - { - switch(hcan->State) - { - case(HAL_CAN_STATE_BUSY_TX): - hcan->State = HAL_CAN_STATE_BUSY_TX_RX0; - break; - case(HAL_CAN_STATE_BUSY_RX1): - hcan->State = HAL_CAN_STATE_BUSY_RX0_RX1; - break; - case(HAL_CAN_STATE_BUSY_TX_RX1): - hcan->State = HAL_CAN_STATE_BUSY_TX_RX0_RX1; - break; - default: /* HAL_CAN_STATE_READY */ - hcan->State = HAL_CAN_STATE_BUSY_RX0; - break; - } - } - else /* FIFONumber == CAN_FIFO1 */ - { - switch(hcan->State) - { - case(HAL_CAN_STATE_BUSY_TX): - hcan->State = HAL_CAN_STATE_BUSY_TX_RX1; - break; - case(HAL_CAN_STATE_BUSY_RX0): - hcan->State = HAL_CAN_STATE_BUSY_RX0_RX1; - break; - case(HAL_CAN_STATE_BUSY_TX_RX0): - hcan->State = HAL_CAN_STATE_BUSY_TX_RX0_RX1; - break; - default: /* HAL_CAN_STATE_READY */ - hcan->State = HAL_CAN_STATE_BUSY_RX1; - break; - } - } - /* Set CAN error code to none */ - hcan->ErrorCode = HAL_CAN_ERROR_NONE; - - /* Enable interrupts: */ - /* - Enable Error warning Interrupt */ - /* - Enable Error passive Interrupt */ - /* - Enable Bus-off Interrupt */ - /* - Enable Last error code Interrupt */ - /* - Enable Error Interrupt */ - /* - Enable Transmit mailbox empty Interrupt */ - __HAL_CAN_ENABLE_IT(hcan, CAN_IT_EWG | - CAN_IT_EPV | - CAN_IT_BOF | - CAN_IT_LEC | - CAN_IT_ERR | - CAN_IT_TME); - - /* Process unlocked */ - __HAL_UNLOCK(hcan); - - if(FIFONumber == CAN_FIFO0) - { - /* Enable FIFO 0 overrun and message pending Interrupt */ - __HAL_CAN_ENABLE_IT(hcan, CAN_IT_FOV0 | CAN_IT_FMP0); - } - else - { - /* Enable FIFO 1 overrun and message pending Interrupt */ - __HAL_CAN_ENABLE_IT(hcan, CAN_IT_FOV1 | CAN_IT_FMP1); - } - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Enters the Sleep (low power) mode. - * @param hcan pointer to a CAN_HandleTypeDef structure that contains - * the configuration information for the specified CAN. - * @retval HAL status. - */ -HAL_StatusTypeDef HAL_CAN_Sleep(CAN_HandleTypeDef* hcan) -{ - uint32_t tickstart = 0U; - - /* Process locked */ - __HAL_LOCK(hcan); - - /* Change CAN state */ - hcan->State = HAL_CAN_STATE_BUSY; - - /* Request Sleep mode */ - hcan->Instance->MCR = (((hcan->Instance->MCR) & (uint32_t)(~(uint32_t)CAN_MCR_INRQ)) | CAN_MCR_SLEEP); - - /* Sleep mode status */ - if ((hcan->Instance->MSR & (CAN_MSR_SLAK|CAN_MSR_INAK)) != CAN_MSR_SLAK) - { - /* Process unlocked */ - __HAL_UNLOCK(hcan); - - /* Return function status */ - return HAL_ERROR; - } - - /* Get tick */ - tickstart = HAL_GetTick(); - - /* Wait the acknowledge */ - while((hcan->Instance->MSR & (CAN_MSR_SLAK|CAN_MSR_INAK)) != CAN_MSR_SLAK) - { - if((HAL_GetTick() - tickstart) > CAN_TIMEOUT_VALUE) - { - hcan->State = HAL_CAN_STATE_TIMEOUT; - /* Process unlocked */ - __HAL_UNLOCK(hcan); - return HAL_TIMEOUT; - } - } - - /* Change CAN state */ - hcan->State = HAL_CAN_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hcan); - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Wakes up the CAN peripheral from sleep mode, after that the CAN peripheral - * is in the normal mode. - * @param hcan pointer to a CAN_HandleTypeDef structure that contains - * the configuration information for the specified CAN. - * @retval HAL status. - */ -HAL_StatusTypeDef HAL_CAN_WakeUp(CAN_HandleTypeDef* hcan) -{ - uint32_t tickstart = 0U; - - /* Process locked */ - __HAL_LOCK(hcan); - - /* Change CAN state */ - hcan->State = HAL_CAN_STATE_BUSY; - - /* Wake up request */ - hcan->Instance->MCR &= ~(uint32_t)CAN_MCR_SLEEP; - - /* Get tick */ - tickstart = HAL_GetTick(); - - /* Sleep mode status */ - while((hcan->Instance->MSR & CAN_MSR_SLAK) == CAN_MSR_SLAK) - { - if((HAL_GetTick() - tickstart) > CAN_TIMEOUT_VALUE) - { - hcan->State= HAL_CAN_STATE_TIMEOUT; - /* Process unlocked */ - __HAL_UNLOCK(hcan); - return HAL_TIMEOUT; - } - } - if((hcan->Instance->MSR & CAN_MSR_SLAK) == CAN_MSR_SLAK) - { - /* Process unlocked */ - __HAL_UNLOCK(hcan); - - /* Return function status */ - return HAL_ERROR; - } - - /* Change CAN state */ - hcan->State = HAL_CAN_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hcan); - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Handles CAN interrupt request - * @param hcan pointer to a CAN_HandleTypeDef structure that contains - * the configuration information for the specified CAN. - * @retval None - */ -void HAL_CAN_IRQHandler(CAN_HandleTypeDef* hcan) -{ - uint32_t tmp1 = 0U, tmp2 = 0U, tmp3 = 0U; - uint32_t errorcode = HAL_CAN_ERROR_NONE; - - /* Check Overrun flag for FIFO0 */ - tmp1 = __HAL_CAN_GET_FLAG(hcan, CAN_FLAG_FOV0); - tmp2 = __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_FOV0); - if(tmp1 && tmp2) - { - /* Set CAN error code to FOV0 error */ - errorcode |= HAL_CAN_ERROR_FOV0; - - /* Clear FIFO0 Overrun Flag */ - __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_FOV0); - } - /* Check Overrun flag for FIFO1 */ - tmp1 = __HAL_CAN_GET_FLAG(hcan, CAN_FLAG_FOV1); - tmp2 = __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_FOV1); - - if(tmp1 && tmp2) - { - /* Set CAN error code to FOV1 error */ - errorcode |= HAL_CAN_ERROR_FOV1; - - /* Clear FIFO1 Overrun Flag */ - __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_FOV1); - } - - /* Check End of transmission flag */ - if(__HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_TME)) - { - tmp1 = __HAL_CAN_TRANSMIT_STATUS(hcan, CAN_TXMAILBOX_0); - tmp2 = __HAL_CAN_TRANSMIT_STATUS(hcan, CAN_TXMAILBOX_1); - tmp3 = __HAL_CAN_TRANSMIT_STATUS(hcan, CAN_TXMAILBOX_2); - if(tmp1 || tmp2 || tmp3) - { - tmp1 = __HAL_CAN_GET_FLAG(hcan, CAN_FLAG_TXOK0); - tmp2 = __HAL_CAN_GET_FLAG(hcan, CAN_FLAG_TXOK1); - tmp3 = __HAL_CAN_GET_FLAG(hcan, CAN_FLAG_TXOK2); - /* Check Transmit success */ - if(tmp1 || tmp2 || tmp3) - { - /* Call transmit function */ - CAN_Transmit_IT(hcan); - } - else /* Transmit failure */ - { - /* Set CAN error code to TXFAIL error */ - errorcode |= HAL_CAN_ERROR_TXFAIL; - } - - /* Clear transmission status flags (RQCPx and TXOKx) */ - SET_BIT(hcan->Instance->TSR, CAN_TSR_RQCP0 | CAN_TSR_RQCP1 | CAN_TSR_RQCP2 | \ - CAN_FLAG_TXOK0 | CAN_FLAG_TXOK1 | CAN_FLAG_TXOK2); - } - } - - tmp1 = __HAL_CAN_MSG_PENDING(hcan, CAN_FIFO0); - tmp2 = __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_FMP0); - /* Check End of reception flag for FIFO0 */ - if((tmp1 != 0U) && tmp2) - { - /* Call receive function */ - CAN_Receive_IT(hcan, CAN_FIFO0); - } - - tmp1 = __HAL_CAN_MSG_PENDING(hcan, CAN_FIFO1); - tmp2 = __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_FMP1); - /* Check End of reception flag for FIFO1 */ - if((tmp1 != 0U) && tmp2) - { - /* Call receive function */ - CAN_Receive_IT(hcan, CAN_FIFO1); - } - - /* Set error code in handle */ - hcan->ErrorCode |= errorcode; - - tmp1 = __HAL_CAN_GET_FLAG(hcan, CAN_FLAG_EWG); - tmp2 = __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_EWG); - tmp3 = __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_ERR); - /* Check Error Warning Flag */ - if(tmp1 && tmp2 && tmp3) - { - /* Set CAN error code to EWG error */ - hcan->ErrorCode |= HAL_CAN_ERROR_EWG; - } - - tmp1 = __HAL_CAN_GET_FLAG(hcan, CAN_FLAG_EPV); - tmp2 = __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_EPV); - tmp3 = __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_ERR); - /* Check Error Passive Flag */ - if(tmp1 && tmp2 && tmp3) - { - /* Set CAN error code to EPV error */ - hcan->ErrorCode |= HAL_CAN_ERROR_EPV; - } - - tmp1 = __HAL_CAN_GET_FLAG(hcan, CAN_FLAG_BOF); - tmp2 = __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_BOF); - tmp3 = __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_ERR); - /* Check Bus-Off Flag */ - if(tmp1 && tmp2 && tmp3) - { - /* Set CAN error code to BOF error */ - hcan->ErrorCode |= HAL_CAN_ERROR_BOF; - } - - tmp1 = HAL_IS_BIT_CLR(hcan->Instance->ESR, CAN_ESR_LEC); - tmp2 = __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_LEC); - tmp3 = __HAL_CAN_GET_IT_SOURCE(hcan, CAN_IT_ERR); - /* Check Last error code Flag */ - if((!tmp1) && tmp2 && tmp3) - { - tmp1 = (hcan->Instance->ESR) & CAN_ESR_LEC; - switch(tmp1) - { - case(CAN_ESR_LEC_0): - /* Set CAN error code to STF error */ - hcan->ErrorCode |= HAL_CAN_ERROR_STF; - break; - case(CAN_ESR_LEC_1): - /* Set CAN error code to FOR error */ - hcan->ErrorCode |= HAL_CAN_ERROR_FOR; - break; - case(CAN_ESR_LEC_1 | CAN_ESR_LEC_0): - /* Set CAN error code to ACK error */ - hcan->ErrorCode |= HAL_CAN_ERROR_ACK; - break; - case(CAN_ESR_LEC_2): - /* Set CAN error code to BR error */ - hcan->ErrorCode |= HAL_CAN_ERROR_BR; - break; - case(CAN_ESR_LEC_2 | CAN_ESR_LEC_0): - /* Set CAN error code to BD error */ - hcan->ErrorCode |= HAL_CAN_ERROR_BD; - break; - case(CAN_ESR_LEC_2 | CAN_ESR_LEC_1): - /* Set CAN error code to CRC error */ - hcan->ErrorCode |= HAL_CAN_ERROR_CRC; - break; - default: - break; - } - - /* Clear Last error code Flag */ - hcan->Instance->ESR &= ~(CAN_ESR_LEC); - } - - /* Call the Error call Back in case of Errors */ - if(hcan->ErrorCode != HAL_CAN_ERROR_NONE) - { - /* Clear ERRI Flag */ - hcan->Instance->MSR = CAN_MSR_ERRI; - /* Set the CAN state ready to be able to start again the process */ - hcan->State = HAL_CAN_STATE_READY; - - /* Disable interrupts: */ - /* - Disable Error warning Interrupt */ - /* - Disable Error passive Interrupt */ - /* - Disable Bus-off Interrupt */ - /* - Disable Last error code Interrupt */ - /* - Disable Error Interrupt */ - /* - Disable FIFO 0 message pending Interrupt */ - /* - Disable FIFO 0 Overrun Interrupt */ - /* - Disable FIFO 1 message pending Interrupt */ - /* - Disable FIFO 1 Overrun Interrupt */ - /* - Disable Transmit mailbox empty Interrupt */ - __HAL_CAN_DISABLE_IT(hcan, CAN_IT_EWG | - CAN_IT_EPV | - CAN_IT_BOF | - CAN_IT_LEC | - CAN_IT_ERR | - CAN_IT_FMP0| - CAN_IT_FOV0| - CAN_IT_FMP1| - CAN_IT_FOV1| - CAN_IT_TME); - - /* Call Error callback function */ - HAL_CAN_ErrorCallback(hcan); - } -} - -/** - * @brief Transmission complete callback in non blocking mode - * @param hcan pointer to a CAN_HandleTypeDef structure that contains - * the configuration information for the specified CAN. - * @retval None - */ -__weak void HAL_CAN_TxCpltCallback(CAN_HandleTypeDef* hcan) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hcan); - /* NOTE : This function Should not be modified, when the callback is needed, - the HAL_CAN_TxCpltCallback could be implemented in the user file - */ -} - -/** - * @brief Transmission complete callback in non blocking mode - * @param hcan pointer to a CAN_HandleTypeDef structure that contains - * the configuration information for the specified CAN. - * @retval None - */ -__weak void HAL_CAN_RxCpltCallback(CAN_HandleTypeDef* hcan) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hcan); - /* NOTE : This function Should not be modified, when the callback is needed, - the HAL_CAN_RxCpltCallback could be implemented in the user file - */ -} - -/** - * @brief Error CAN callback. - * @param hcan pointer to a CAN_HandleTypeDef structure that contains - * the configuration information for the specified CAN. - * @retval None - */ -__weak void HAL_CAN_ErrorCallback(CAN_HandleTypeDef *hcan) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hcan); - /* NOTE : This function Should not be modified, when the callback is needed, - the HAL_CAN_ErrorCallback could be implemented in the user file - */ -} - -/** - * @} - */ - -/** @defgroup CAN_Exported_Functions_Group3 Peripheral State and Error functions - * @brief CAN Peripheral State functions - * -@verbatim - ============================================================================== - ##### Peripheral State and Error functions ##### - ============================================================================== - [..] - This subsection provides functions allowing to : - (+) Check the CAN state. - (+) Check CAN Errors detected during interrupt process - -@endverbatim - * @{ - */ - -/** - * @brief return the CAN state - * @param hcan pointer to a CAN_HandleTypeDef structure that contains - * the configuration information for the specified CAN. - * @retval HAL state - */ -HAL_CAN_StateTypeDef HAL_CAN_GetState(CAN_HandleTypeDef* hcan) -{ - /* Return CAN state */ - return hcan->State; -} - -/** - * @brief Return the CAN error code - * @param hcan pointer to a CAN_HandleTypeDef structure that contains - * the configuration information for the specified CAN. - * @retval CAN Error Code - */ -uint32_t HAL_CAN_GetError(CAN_HandleTypeDef *hcan) -{ - return hcan->ErrorCode; -} - -/** - * @} - */ -/** - * @brief Initiates and transmits a CAN frame message. - * @param hcan pointer to a CAN_HandleTypeDef structure that contains - * the configuration information for the specified CAN. - * @retval HAL status - */ -static HAL_StatusTypeDef CAN_Transmit_IT(CAN_HandleTypeDef* hcan) -{ - /* Disable Transmit mailbox empty Interrupt */ - __HAL_CAN_DISABLE_IT(hcan, CAN_IT_TME); - - if(hcan->State == HAL_CAN_STATE_BUSY_TX) - { - /* Disable Error warning, Error passive, Bus-off, Last error code - and Error Interrupts */ - __HAL_CAN_DISABLE_IT(hcan, CAN_IT_EWG | - CAN_IT_EPV | - CAN_IT_BOF | - CAN_IT_LEC | - CAN_IT_ERR ); - } - - /* Change CAN state */ - switch(hcan->State) - { - case(HAL_CAN_STATE_BUSY_TX_RX0): - hcan->State = HAL_CAN_STATE_BUSY_RX0; - break; - case(HAL_CAN_STATE_BUSY_TX_RX1): - hcan->State = HAL_CAN_STATE_BUSY_RX1; - break; - case(HAL_CAN_STATE_BUSY_TX_RX0_RX1): - hcan->State = HAL_CAN_STATE_BUSY_RX0_RX1; - break; - default: /* HAL_CAN_STATE_BUSY_TX */ - hcan->State = HAL_CAN_STATE_READY; - break; - } - - /* Transmission complete callback */ - HAL_CAN_TxCpltCallback(hcan); - - return HAL_OK; -} - -/** - * @brief Receives a correct CAN frame. - * @param hcan Pointer to a CAN_HandleTypeDef structure that contains - * the configuration information for the specified CAN. - * @param FIFONumber Specify the FIFO number - * @retval HAL status - * @retval None - */ -static HAL_StatusTypeDef CAN_Receive_IT(CAN_HandleTypeDef* hcan, uint8_t FIFONumber) -{ - uint32_t tmp1 = 0U; - CanRxMsgTypeDef* pRxMsg = NULL; - - /* Set RxMsg pointer */ - if(FIFONumber == CAN_FIFO0) - { - pRxMsg = hcan->pRxMsg; - } - else /* FIFONumber == CAN_FIFO1 */ - { - pRxMsg = hcan->pRx1Msg; - } - - /* Get the Id */ - pRxMsg->IDE = (uint8_t)0x04 & hcan->Instance->sFIFOMailBox[FIFONumber].RIR; - if (pRxMsg->IDE == CAN_ID_STD) - { - pRxMsg->StdId = 0x000007FFU & (hcan->Instance->sFIFOMailBox[FIFONumber].RIR >> 21U); - } - else - { - pRxMsg->ExtId = 0x1FFFFFFFU & (hcan->Instance->sFIFOMailBox[FIFONumber].RIR >> 3U); - } - - pRxMsg->RTR = (uint8_t)0x02 & hcan->Instance->sFIFOMailBox[FIFONumber].RIR; - /* Get the DLC */ - pRxMsg->DLC = (uint8_t)0x0F & hcan->Instance->sFIFOMailBox[FIFONumber].RDTR; - /* Get the FIFONumber */ - pRxMsg->FIFONumber = FIFONumber; - /* Get the FMI */ - pRxMsg->FMI = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDTR >> 8U); - /* Get the data field */ - pRxMsg->Data[0] = (uint8_t)0xFF & hcan->Instance->sFIFOMailBox[FIFONumber].RDLR; - pRxMsg->Data[1] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 8U); - pRxMsg->Data[2] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 16U); - pRxMsg->Data[3] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDLR >> 24U); - pRxMsg->Data[4] = (uint8_t)0xFF & hcan->Instance->sFIFOMailBox[FIFONumber].RDHR; - pRxMsg->Data[5] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 8U); - pRxMsg->Data[6] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 16U); - pRxMsg->Data[7] = (uint8_t)0xFF & (hcan->Instance->sFIFOMailBox[FIFONumber].RDHR >> 24U); - /* Release the FIFO */ - /* Release FIFO0 */ - if (FIFONumber == CAN_FIFO0) - { - __HAL_CAN_FIFO_RELEASE(hcan, CAN_FIFO0); - - /* Disable FIFO 0 overrun and message pending Interrupt */ - __HAL_CAN_DISABLE_IT(hcan, CAN_IT_FOV0 | CAN_IT_FMP0); - } - /* Release FIFO1 */ - else /* FIFONumber == CAN_FIFO1 */ - { - __HAL_CAN_FIFO_RELEASE(hcan, CAN_FIFO1); - - /* Disable FIFO 1 overrun and message pending Interrupt */ - __HAL_CAN_DISABLE_IT(hcan, CAN_IT_FOV1 | CAN_IT_FMP1); - } - - tmp1 = hcan->State; - if((tmp1 == HAL_CAN_STATE_BUSY_RX0) || (tmp1 == HAL_CAN_STATE_BUSY_RX1)) - { - /* Disable Error warning, Error passive, Bus-off, Last error code - and Error Interrupts */ - __HAL_CAN_DISABLE_IT(hcan, CAN_IT_EWG | - CAN_IT_EPV | - CAN_IT_BOF | - CAN_IT_LEC | - CAN_IT_ERR); - } - - /* Change CAN state */ - if (FIFONumber == CAN_FIFO0) - { - switch(hcan->State) - { - case(HAL_CAN_STATE_BUSY_TX_RX0): - hcan->State = HAL_CAN_STATE_BUSY_TX; - break; - case(HAL_CAN_STATE_BUSY_RX0_RX1): - hcan->State = HAL_CAN_STATE_BUSY_RX1; - break; - case(HAL_CAN_STATE_BUSY_TX_RX0_RX1): - hcan->State = HAL_CAN_STATE_BUSY_TX_RX1; - break; - default: /* HAL_CAN_STATE_BUSY_RX0 */ - hcan->State = HAL_CAN_STATE_READY; - break; - } - } - else /* FIFONumber == CAN_FIFO1 */ - { - switch(hcan->State) - { - case(HAL_CAN_STATE_BUSY_TX_RX1): - hcan->State = HAL_CAN_STATE_BUSY_TX; - break; - case(HAL_CAN_STATE_BUSY_RX0_RX1): - hcan->State = HAL_CAN_STATE_BUSY_RX0; - break; - case(HAL_CAN_STATE_BUSY_TX_RX0_RX1): - hcan->State = HAL_CAN_STATE_BUSY_TX_RX0; - break; - default: /* HAL_CAN_STATE_BUSY_RX1 */ - hcan->State = HAL_CAN_STATE_READY; - break; - } - } - - /* Receive complete callback */ - HAL_CAN_RxCpltCallback(hcan); - - /* Return function status */ - return HAL_OK; -} - -/** - * @} - */ -#endif /* STM32F405xx || STM32F415xx || STM32F407xx || STM32F417xx || STM32F427xx || STM32F437xx ||\ - STM32F429xx || STM32F439xx || STM32F446xx || STM32F469xx || STM32F479xx || STM32F412Zx ||\ - STM32F412Vx || STM32F412Rx || STM32F412Cx || STM32F413xx || STM32F423xx */ - -#endif /* HAL_CAN_LEGACY_MODULE_ENABLED */ -/** - * @} - */ - -/** - * @} - */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c deleted file mode 100644 index d0afdd373bf346..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c +++ /dev/null @@ -1,615 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal.c - * @author MCD Application Team - * @brief HAL module driver. - * This is the common part of the HAL initialization - * - @verbatim - ============================================================================== - ##### How to use this driver ##### - ============================================================================== - [..] - The common HAL driver contains a set of generic and common APIs that can be - used by the PPP peripheral drivers and the user to start using the HAL. - [..] - The HAL contains two APIs' categories: - (+) Common HAL APIs - (+) Services HAL APIs - - @endverbatim - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @defgroup HAL HAL - * @brief HAL module driver. - * @{ - */ - -/* Private typedef -----------------------------------------------------------*/ -/* Private define ------------------------------------------------------------*/ -/** @addtogroup HAL_Private_Constants - * @{ - */ -/** - * @brief STM32F4xx HAL Driver version number V1.7.13 - */ -#define __STM32F4xx_HAL_VERSION_MAIN (0x01U) /*!< [31:24] main version */ -#define __STM32F4xx_HAL_VERSION_SUB1 (0x07U) /*!< [23:16] sub1 version */ -#define __STM32F4xx_HAL_VERSION_SUB2 (0x0DU) /*!< [15:8] sub2 version */ -#define __STM32F4xx_HAL_VERSION_RC (0x00U) /*!< [7:0] release candidate */ -#define __STM32F4xx_HAL_VERSION ((__STM32F4xx_HAL_VERSION_MAIN << 24U)\ - |(__STM32F4xx_HAL_VERSION_SUB1 << 16U)\ - |(__STM32F4xx_HAL_VERSION_SUB2 << 8U )\ - |(__STM32F4xx_HAL_VERSION_RC)) - -#define IDCODE_DEVID_MASK 0x00000FFFU - -/* ------------ RCC registers bit address in the alias region ----------- */ -#define SYSCFG_OFFSET (SYSCFG_BASE - PERIPH_BASE) -/* --- MEMRMP Register ---*/ -/* Alias word address of UFB_MODE bit */ -#define MEMRMP_OFFSET SYSCFG_OFFSET -#define UFB_MODE_BIT_NUMBER SYSCFG_MEMRMP_UFB_MODE_Pos -#define UFB_MODE_BB (uint32_t)(PERIPH_BB_BASE + (MEMRMP_OFFSET * 32U) + (UFB_MODE_BIT_NUMBER * 4U)) - -/* --- CMPCR Register ---*/ -/* Alias word address of CMP_PD bit */ -#define CMPCR_OFFSET (SYSCFG_OFFSET + 0x20U) -#define CMP_PD_BIT_NUMBER SYSCFG_CMPCR_CMP_PD_Pos -#define CMPCR_CMP_PD_BB (uint32_t)(PERIPH_BB_BASE + (CMPCR_OFFSET * 32U) + (CMP_PD_BIT_NUMBER * 4U)) - -/* --- MCHDLYCR Register ---*/ -/* Alias word address of BSCKSEL bit */ -#define MCHDLYCR_OFFSET (SYSCFG_OFFSET + 0x30U) -#define BSCKSEL_BIT_NUMBER SYSCFG_MCHDLYCR_BSCKSEL_Pos -#define MCHDLYCR_BSCKSEL_BB (uint32_t)(PERIPH_BB_BASE + (MCHDLYCR_OFFSET * 32U) + (BSCKSEL_BIT_NUMBER * 4U)) -/** - * @} - */ - -/* Private macro -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/** @addtogroup HAL_Private_Variables - * @{ - */ -__IO uint32_t uwTick; -uint32_t uwTickPrio = (1UL << __NVIC_PRIO_BITS); /* Invalid PRIO */ -HAL_TickFreqTypeDef uwTickFreq = HAL_TICK_FREQ_DEFAULT; /* 1KHz */ -/** - * @} - */ -/* Private function prototypes -----------------------------------------------*/ -/* Private functions ---------------------------------------------------------*/ - -/** @defgroup HAL_Exported_Functions HAL Exported Functions - * @{ - */ - -/** @defgroup HAL_Exported_Functions_Group1 Initialization and de-initialization Functions - * @brief Initialization and de-initialization functions - * -@verbatim - =============================================================================== - ##### Initialization and Configuration functions ##### - =============================================================================== - [..] This section provides functions allowing to: - (+) Initializes the Flash interface the NVIC allocation and initial clock - configuration. It initializes the systick also when timeout is needed - and the backup domain when enabled. - (+) De-Initializes common part of the HAL. - (+) Configure the time base source to have 1ms time base with a dedicated - Tick interrupt priority. - (++) SysTick timer is used by default as source of time base, but user - can eventually implement his proper time base source (a general purpose - timer for example or other time source), keeping in mind that Time base - duration should be kept 1ms since PPP_TIMEOUT_VALUEs are defined and - handled in milliseconds basis. - (++) Time base configuration function (HAL_InitTick ()) is called automatically - at the beginning of the program after reset by HAL_Init() or at any time - when clock is configured, by HAL_RCC_ClockConfig(). - (++) Source of time base is configured to generate interrupts at regular - time intervals. Care must be taken if HAL_Delay() is called from a - peripheral ISR process, the Tick interrupt line must have higher priority - (numerically lower) than the peripheral interrupt. Otherwise the caller - ISR process will be blocked. - (++) functions affecting time base configurations are declared as __weak - to make override possible in case of other implementations in user file. -@endverbatim - * @{ - */ - -/** - * @brief This function is used to initialize the HAL Library; it must be the first - * instruction to be executed in the main program (before to call any other - * HAL function), it performs the following: - * Configure the Flash prefetch, instruction and Data caches. - * Configures the SysTick to generate an interrupt each 1 millisecond, - * which is clocked by the HSI (at this stage, the clock is not yet - * configured and thus the system is running from the internal HSI at 16 MHz). - * Set NVIC Group Priority to 4. - * Calls the HAL_MspInit() callback function defined in user file - * "stm32f4xx_hal_msp.c" to do the global low level hardware initialization - * - * @note SysTick is used as time base for the HAL_Delay() function, the application - * need to ensure that the SysTick time base is always set to 1 millisecond - * to have correct HAL operation. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_Init(void) -{ - /* Configure Flash prefetch, Instruction cache, Data cache */ -#if (INSTRUCTION_CACHE_ENABLE != 0U) - __HAL_FLASH_INSTRUCTION_CACHE_ENABLE(); -#endif /* INSTRUCTION_CACHE_ENABLE */ - -#if (DATA_CACHE_ENABLE != 0U) - __HAL_FLASH_DATA_CACHE_ENABLE(); -#endif /* DATA_CACHE_ENABLE */ - -#if (PREFETCH_ENABLE != 0U) - __HAL_FLASH_PREFETCH_BUFFER_ENABLE(); -#endif /* PREFETCH_ENABLE */ - - /* Set Interrupt Group Priority */ - HAL_NVIC_SetPriorityGrouping(NVIC_PRIORITYGROUP_4); - - /* Use systick as time base source and configure 1ms tick (default clock after Reset is HSI) */ - HAL_InitTick(TICK_INT_PRIORITY); - - /* Init the low level hardware */ - HAL_MspInit(); - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief This function de-Initializes common part of the HAL and stops the systick. - * This function is optional. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DeInit(void) -{ - /* Reset of all peripherals */ - __HAL_RCC_APB1_FORCE_RESET(); - __HAL_RCC_APB1_RELEASE_RESET(); - - __HAL_RCC_APB2_FORCE_RESET(); - __HAL_RCC_APB2_RELEASE_RESET(); - - __HAL_RCC_AHB1_FORCE_RESET(); - __HAL_RCC_AHB1_RELEASE_RESET(); - - __HAL_RCC_AHB2_FORCE_RESET(); - __HAL_RCC_AHB2_RELEASE_RESET(); - - __HAL_RCC_AHB3_FORCE_RESET(); - __HAL_RCC_AHB3_RELEASE_RESET(); - - /* De-Init the low level hardware */ - HAL_MspDeInit(); - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Initialize the MSP. - * @retval None - */ -__weak void HAL_MspInit(void) -{ - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_MspInit could be implemented in the user file - */ -} - -/** - * @brief DeInitializes the MSP. - * @retval None - */ -__weak void HAL_MspDeInit(void) -{ - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_MspDeInit could be implemented in the user file - */ -} - -/** - * @brief This function configures the source of the time base. - * The time source is configured to have 1ms time base with a dedicated - * Tick interrupt priority. - * @note This function is called automatically at the beginning of program after - * reset by HAL_Init() or at any time when clock is reconfigured by HAL_RCC_ClockConfig(). - * @note In the default implementation, SysTick timer is the source of time base. - * It is used to generate interrupts at regular time intervals. - * Care must be taken if HAL_Delay() is called from a peripheral ISR process, - * The SysTick interrupt must have higher priority (numerically lower) - * than the peripheral interrupt. Otherwise the caller ISR process will be blocked. - * The function is declared as __weak to be overwritten in case of other - * implementation in user file. - * @param TickPriority Tick interrupt priority. - * @retval HAL status - */ -__weak HAL_StatusTypeDef HAL_InitTick(uint32_t TickPriority) -{ - /* Configure the SysTick to have interrupt in 1ms time basis*/ - if (HAL_SYSTICK_Config(SystemCoreClock / (1000U / uwTickFreq)) > 0U) - { - return HAL_ERROR; - } - - /* Configure the SysTick IRQ priority */ - if (TickPriority < (1UL << __NVIC_PRIO_BITS)) - { - HAL_NVIC_SetPriority(SysTick_IRQn, TickPriority, 0U); - uwTickPrio = TickPriority; - } - else - { - return HAL_ERROR; - } - - /* Return function status */ - return HAL_OK; -} - -/** - * @} - */ - -/** @defgroup HAL_Exported_Functions_Group2 HAL Control functions - * @brief HAL Control functions - * -@verbatim - =============================================================================== - ##### HAL Control functions ##### - =============================================================================== - [..] This section provides functions allowing to: - (+) Provide a tick value in millisecond - (+) Provide a blocking delay in millisecond - (+) Suspend the time base source interrupt - (+) Resume the time base source interrupt - (+) Get the HAL API driver version - (+) Get the device identifier - (+) Get the device revision identifier - (+) Enable/Disable Debug module during SLEEP mode - (+) Enable/Disable Debug module during STOP mode - (+) Enable/Disable Debug module during STANDBY mode - -@endverbatim - * @{ - */ - -/** - * @brief This function is called to increment a global variable "uwTick" - * used as application time base. - * @note In the default implementation, this variable is incremented each 1ms - * in SysTick ISR. - * @note This function is declared as __weak to be overwritten in case of other - * implementations in user file. - * @retval None - */ -__weak void HAL_IncTick(void) -{ - uwTick += uwTickFreq; -} - -/** - * @brief Provides a tick value in millisecond. - * @note This function is declared as __weak to be overwritten in case of other - * implementations in user file. - * @retval tick value - */ -__weak uint32_t HAL_GetTick(void) -{ - return uwTick; -} - -/** - * @brief This function returns a tick priority. - * @retval tick priority - */ -uint32_t HAL_GetTickPrio(void) -{ - return uwTickPrio; -} - -/** - * @brief Set new tick Freq. - * @retval Status - */ -HAL_StatusTypeDef HAL_SetTickFreq(HAL_TickFreqTypeDef Freq) -{ - HAL_StatusTypeDef status = HAL_OK; - HAL_TickFreqTypeDef prevTickFreq; - - assert_param(IS_TICKFREQ(Freq)); - - if (uwTickFreq != Freq) - { - /* Back up uwTickFreq frequency */ - prevTickFreq = uwTickFreq; - - /* Update uwTickFreq global variable used by HAL_InitTick() */ - uwTickFreq = Freq; - - /* Apply the new tick Freq */ - status = HAL_InitTick(uwTickPrio); - - if (status != HAL_OK) - { - /* Restore previous tick frequency */ - uwTickFreq = prevTickFreq; - } - } - - return status; -} - -/** - * @brief Return tick frequency. - * @retval tick period in Hz - */ -HAL_TickFreqTypeDef HAL_GetTickFreq(void) -{ - return uwTickFreq; -} - -/** - * @brief This function provides minimum delay (in milliseconds) based - * on variable incremented. - * @note In the default implementation , SysTick timer is the source of time base. - * It is used to generate interrupts at regular time intervals where uwTick - * is incremented. - * @note This function is declared as __weak to be overwritten in case of other - * implementations in user file. - * @param Delay specifies the delay time length, in milliseconds. - * @retval None - */ -__weak void HAL_Delay(uint32_t Delay) -{ - uint32_t tickstart = HAL_GetTick(); - uint32_t wait = Delay; - - /* Add a freq to guarantee minimum wait */ - if (wait < HAL_MAX_DELAY) - { - wait += (uint32_t)(uwTickFreq); - } - - while((HAL_GetTick() - tickstart) < wait) - { - } -} - -/** - * @brief Suspend Tick increment. - * @note In the default implementation , SysTick timer is the source of time base. It is - * used to generate interrupts at regular time intervals. Once HAL_SuspendTick() - * is called, the SysTick interrupt will be disabled and so Tick increment - * is suspended. - * @note This function is declared as __weak to be overwritten in case of other - * implementations in user file. - * @retval None - */ -__weak void HAL_SuspendTick(void) -{ - /* Disable SysTick Interrupt */ - SysTick->CTRL &= ~SysTick_CTRL_TICKINT_Msk; -} - -/** - * @brief Resume Tick increment. - * @note In the default implementation , SysTick timer is the source of time base. It is - * used to generate interrupts at regular time intervals. Once HAL_ResumeTick() - * is called, the SysTick interrupt will be enabled and so Tick increment - * is resumed. - * @note This function is declared as __weak to be overwritten in case of other - * implementations in user file. - * @retval None - */ -__weak void HAL_ResumeTick(void) -{ - /* Enable SysTick Interrupt */ - SysTick->CTRL |= SysTick_CTRL_TICKINT_Msk; -} - -/** - * @brief Returns the HAL revision - * @retval version : 0xXYZR (8bits for each decimal, R for RC) - */ -uint32_t HAL_GetHalVersion(void) -{ - return __STM32F4xx_HAL_VERSION; -} - -/** - * @brief Returns the device revision identifier. - * @retval Device revision identifier - */ -uint32_t HAL_GetREVID(void) -{ - return((DBGMCU->IDCODE) >> 16U); -} - -/** - * @brief Returns the device identifier. - * @retval Device identifier - */ -uint32_t HAL_GetDEVID(void) -{ - return((DBGMCU->IDCODE) & IDCODE_DEVID_MASK); -} - -/** - * @brief Enable the Debug Module during SLEEP mode - * @retval None - */ -void HAL_DBGMCU_EnableDBGSleepMode(void) -{ - SET_BIT(DBGMCU->CR, DBGMCU_CR_DBG_SLEEP); -} - -/** - * @brief Disable the Debug Module during SLEEP mode - * @retval None - */ -void HAL_DBGMCU_DisableDBGSleepMode(void) -{ - CLEAR_BIT(DBGMCU->CR, DBGMCU_CR_DBG_SLEEP); -} - -/** - * @brief Enable the Debug Module during STOP mode - * @retval None - */ -void HAL_DBGMCU_EnableDBGStopMode(void) -{ - SET_BIT(DBGMCU->CR, DBGMCU_CR_DBG_STOP); -} - -/** - * @brief Disable the Debug Module during STOP mode - * @retval None - */ -void HAL_DBGMCU_DisableDBGStopMode(void) -{ - CLEAR_BIT(DBGMCU->CR, DBGMCU_CR_DBG_STOP); -} - -/** - * @brief Enable the Debug Module during STANDBY mode - * @retval None - */ -void HAL_DBGMCU_EnableDBGStandbyMode(void) -{ - SET_BIT(DBGMCU->CR, DBGMCU_CR_DBG_STANDBY); -} - -/** - * @brief Disable the Debug Module during STANDBY mode - * @retval None - */ -void HAL_DBGMCU_DisableDBGStandbyMode(void) -{ - CLEAR_BIT(DBGMCU->CR, DBGMCU_CR_DBG_STANDBY); -} - -/** - * @brief Enables the I/O Compensation Cell. - * @note The I/O compensation cell can be used only when the device supply - * voltage ranges from 2.4 to 3.6 V. - * @retval None - */ -void HAL_EnableCompensationCell(void) -{ - *(__IO uint32_t *)CMPCR_CMP_PD_BB = (uint32_t)ENABLE; -} - -/** - * @brief Power-down the I/O Compensation Cell. - * @note The I/O compensation cell can be used only when the device supply - * voltage ranges from 2.4 to 3.6 V. - * @retval None - */ -void HAL_DisableCompensationCell(void) -{ - *(__IO uint32_t *)CMPCR_CMP_PD_BB = (uint32_t)DISABLE; -} - -/** - * @brief Returns first word of the unique device identifier (UID based on 96 bits) - * @retval Device identifier - */ -uint32_t HAL_GetUIDw0(void) -{ - return (READ_REG(*((uint32_t *)UID_BASE))); -} - -/** - * @brief Returns second word of the unique device identifier (UID based on 96 bits) - * @retval Device identifier - */ -uint32_t HAL_GetUIDw1(void) -{ - return (READ_REG(*((uint32_t *)(UID_BASE + 4U)))); -} - -/** - * @brief Returns third word of the unique device identifier (UID based on 96 bits) - * @retval Device identifier - */ -uint32_t HAL_GetUIDw2(void) -{ - return (READ_REG(*((uint32_t *)(UID_BASE + 8U)))); -} - -#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx)|| defined(STM32F439xx) ||\ - defined(STM32F469xx) || defined(STM32F479xx) -/** - * @brief Enables the Internal FLASH Bank Swapping. - * - * @note This function can be used only for STM32F42xxx/43xxx/469xx/479xx devices. - * - * @note Flash Bank2 mapped at 0x08000000 (and aliased @0x00000000) - * and Flash Bank1 mapped at 0x08100000 (and aliased at 0x00100000) - * - * @retval None - */ -void HAL_EnableMemorySwappingBank(void) -{ - *(__IO uint32_t *)UFB_MODE_BB = (uint32_t)ENABLE; -} - -/** - * @brief Disables the Internal FLASH Bank Swapping. - * - * @note This function can be used only for STM32F42xxx/43xxx/469xx/479xx devices. - * - * @note The default state : Flash Bank1 mapped at 0x08000000 (and aliased @0x00000000) - * and Flash Bank2 mapped at 0x08100000 (and aliased at 0x00100000) - * - * @retval None - */ -void HAL_DisableMemorySwappingBank(void) -{ - *(__IO uint32_t *)UFB_MODE_BB = (uint32_t)DISABLE; -} -#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || STM32F469xx || STM32F479xx */ -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c deleted file mode 100644 index cf3df802b48fd4..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c +++ /dev/null @@ -1,2109 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_adc.c - * @author MCD Application Team - * @brief This file provides firmware functions to manage the following - * functionalities of the Analog to Digital Converter (ADC) peripheral: - * + Initialization and de-initialization functions - * + IO operation functions - * + State and errors functions - * - @verbatim - ============================================================================== - ##### ADC Peripheral features ##### - ============================================================================== - [..] - (#) 12-bit, 10-bit, 8-bit or 6-bit configurable resolution. - (#) Interrupt generation at the end of conversion, end of injected conversion, - and in case of analog watchdog or overrun events - (#) Single and continuous conversion modes. - (#) Scan mode for automatic conversion of channel 0 to channel x. - (#) Data alignment with in-built data coherency. - (#) Channel-wise programmable sampling time. - (#) External trigger option with configurable polarity for both regular and - injected conversion. - (#) Dual/Triple mode (on devices with 2 ADCs or more). - (#) Configurable DMA data storage in Dual/Triple ADC mode. - (#) Configurable delay between conversions in Dual/Triple interleaved mode. - (#) ADC conversion type (refer to the datasheets). - (#) ADC supply requirements: 2.4 V to 3.6 V at full speed and down to 1.8 V at - slower speed. - (#) ADC input range: VREF(minus) = VIN = VREF(plus). - (#) DMA request generation during regular channel conversion. - - - ##### How to use this driver ##### - ============================================================================== - [..] - (#)Initialize the ADC low level resources by implementing the HAL_ADC_MspInit(): - (##) Enable the ADC interface clock using __HAL_RCC_ADC_CLK_ENABLE() - (##) ADC pins configuration - (+++) Enable the clock for the ADC GPIOs using the following function: - __HAL_RCC_GPIOx_CLK_ENABLE() - (+++) Configure these ADC pins in analog mode using HAL_GPIO_Init() - (##) In case of using interrupts (e.g. HAL_ADC_Start_IT()) - (+++) Configure the ADC interrupt priority using HAL_NVIC_SetPriority() - (+++) Enable the ADC IRQ handler using HAL_NVIC_EnableIRQ() - (+++) In ADC IRQ handler, call HAL_ADC_IRQHandler() - (##) In case of using DMA to control data transfer (e.g. HAL_ADC_Start_DMA()) - (+++) Enable the DMAx interface clock using __HAL_RCC_DMAx_CLK_ENABLE() - (+++) Configure and enable two DMA streams stream for managing data - transfer from peripheral to memory (output stream) - (+++) Associate the initialized DMA handle to the CRYP DMA handle - using __HAL_LINKDMA() - (+++) Configure the priority and enable the NVIC for the transfer complete - interrupt on the two DMA Streams. The output stream should have higher - priority than the input stream. - - *** Configuration of ADC, groups regular/injected, channels parameters *** - ============================================================================== - [..] - (#) Configure the ADC parameters (resolution, data alignment, ...) - and regular group parameters (conversion trigger, sequencer, ...) - using function HAL_ADC_Init(). - - (#) Configure the channels for regular group parameters (channel number, - channel rank into sequencer, ..., into regular group) - using function HAL_ADC_ConfigChannel(). - - (#) Optionally, configure the injected group parameters (conversion trigger, - sequencer, ..., of injected group) - and the channels for injected group parameters (channel number, - channel rank into sequencer, ..., into injected group) - using function HAL_ADCEx_InjectedConfigChannel(). - - (#) Optionally, configure the analog watchdog parameters (channels - monitored, thresholds, ...) using function HAL_ADC_AnalogWDGConfig(). - - (#) Optionally, for devices with several ADC instances: configure the - multimode parameters using function HAL_ADCEx_MultiModeConfigChannel(). - - *** Execution of ADC conversions *** - ============================================================================== - [..] - (#) ADC driver can be used among three modes: polling, interruption, - transfer by DMA. - - *** Polling mode IO operation *** - ================================= - [..] - (+) Start the ADC peripheral using HAL_ADC_Start() - (+) Wait for end of conversion using HAL_ADC_PollForConversion(), at this stage - user can specify the value of timeout according to his end application - (+) To read the ADC converted values, use the HAL_ADC_GetValue() function. - (+) Stop the ADC peripheral using HAL_ADC_Stop() - - *** Interrupt mode IO operation *** - =================================== - [..] - (+) Start the ADC peripheral using HAL_ADC_Start_IT() - (+) Use HAL_ADC_IRQHandler() called under ADC_IRQHandler() Interrupt subroutine - (+) At ADC end of conversion HAL_ADC_ConvCpltCallback() function is executed and user can - add his own code by customization of function pointer HAL_ADC_ConvCpltCallback - (+) In case of ADC Error, HAL_ADC_ErrorCallback() function is executed and user can - add his own code by customization of function pointer HAL_ADC_ErrorCallback - (+) Stop the ADC peripheral using HAL_ADC_Stop_IT() - - *** DMA mode IO operation *** - ============================== - [..] - (+) Start the ADC peripheral using HAL_ADC_Start_DMA(), at this stage the user specify the length - of data to be transferred at each end of conversion - (+) At The end of data transfer by HAL_ADC_ConvCpltCallback() function is executed and user can - add his own code by customization of function pointer HAL_ADC_ConvCpltCallback - (+) In case of transfer Error, HAL_ADC_ErrorCallback() function is executed and user can - add his own code by customization of function pointer HAL_ADC_ErrorCallback - (+) Stop the ADC peripheral using HAL_ADC_Stop_DMA() - - *** ADC HAL driver macros list *** - ============================================= - [..] - Below the list of most used macros in ADC HAL driver. - - (+) __HAL_ADC_ENABLE : Enable the ADC peripheral - (+) __HAL_ADC_DISABLE : Disable the ADC peripheral - (+) __HAL_ADC_ENABLE_IT: Enable the ADC end of conversion interrupt - (+) __HAL_ADC_DISABLE_IT: Disable the ADC end of conversion interrupt - (+) __HAL_ADC_GET_IT_SOURCE: Check if the specified ADC interrupt source is enabled or disabled - (+) __HAL_ADC_CLEAR_FLAG: Clear the ADC's pending flags - (+) __HAL_ADC_GET_FLAG: Get the selected ADC's flag status - (+) ADC_GET_RESOLUTION: Return resolution bits in CR1 register - - [..] - (@) You can refer to the ADC HAL driver header file for more useful macros - - *** Deinitialization of ADC *** - ============================================================================== - [..] - (#) Disable the ADC interface - (++) ADC clock can be hard reset and disabled at RCC top level. - (++) Hard reset of ADC peripherals - using macro __HAL_RCC_ADC_FORCE_RESET(), __HAL_RCC_ADC_RELEASE_RESET(). - (++) ADC clock disable using the equivalent macro/functions as configuration step. - (+++) Example: - Into HAL_ADC_MspDeInit() (recommended code location) or with - other device clock parameters configuration: - (+++) HAL_RCC_GetOscConfig(&RCC_OscInitStructure); - (+++) RCC_OscInitStructure.OscillatorType = RCC_OSCILLATORTYPE_HSI; - (+++) RCC_OscInitStructure.HSIState = RCC_HSI_OFF; (if not used for system clock) - (+++) HAL_RCC_OscConfig(&RCC_OscInitStructure); - - (#) ADC pins configuration - (++) Disable the clock for the ADC GPIOs using macro __HAL_RCC_GPIOx_CLK_DISABLE() - - (#) Optionally, in case of usage of ADC with interruptions: - (++) Disable the NVIC for ADC using function HAL_NVIC_DisableIRQ(ADCx_IRQn) - - (#) Optionally, in case of usage of DMA: - (++) Deinitialize the DMA using function HAL_DMA_DeInit(). - (++) Disable the NVIC for DMA using function HAL_NVIC_DisableIRQ(DMAx_Channelx_IRQn) - *** Callback registration *** - ============================================================================== - [..] - - The compilation flag USE_HAL_ADC_REGISTER_CALLBACKS, when set to 1, - allows the user to configure dynamically the driver callbacks. - Use Functions HAL_ADC_RegisterCallback() - to register an interrupt callback. - [..] - - Function HAL_ADC_RegisterCallback() allows to register following callbacks: - (+) ConvCpltCallback : ADC conversion complete callback - (+) ConvHalfCpltCallback : ADC conversion DMA half-transfer callback - (+) LevelOutOfWindowCallback : ADC analog watchdog 1 callback - (+) ErrorCallback : ADC error callback - (+) InjectedConvCpltCallback : ADC group injected conversion complete callback - (+) InjectedQueueOverflowCallback : ADC group injected context queue overflow callback - (+) LevelOutOfWindow2Callback : ADC analog watchdog 2 callback - (+) LevelOutOfWindow3Callback : ADC analog watchdog 3 callback - (+) EndOfSamplingCallback : ADC end of sampling callback - (+) MspInitCallback : ADC Msp Init callback - (+) MspDeInitCallback : ADC Msp DeInit callback - This function takes as parameters the HAL peripheral handle, the Callback ID - and a pointer to the user callback function. - [..] - - Use function HAL_ADC_UnRegisterCallback to reset a callback to the default - weak function. - [..] - - HAL_ADC_UnRegisterCallback takes as parameters the HAL peripheral handle, - and the Callback ID. - This function allows to reset following callbacks: - (+) ConvCpltCallback : ADC conversion complete callback - (+) ConvHalfCpltCallback : ADC conversion DMA half-transfer callback - (+) LevelOutOfWindowCallback : ADC analog watchdog 1 callback - (+) ErrorCallback : ADC error callback - (+) InjectedConvCpltCallback : ADC group injected conversion complete callback - (+) InjectedQueueOverflowCallback : ADC group injected context queue overflow callback - (+) LevelOutOfWindow2Callback : ADC analog watchdog 2 callback - (+) LevelOutOfWindow3Callback : ADC analog watchdog 3 callback - (+) EndOfSamplingCallback : ADC end of sampling callback - (+) MspInitCallback : ADC Msp Init callback - (+) MspDeInitCallback : ADC Msp DeInit callback - [..] - - By default, after the HAL_ADC_Init() and when the state is HAL_ADC_STATE_RESET - all callbacks are set to the corresponding weak functions: - examples HAL_ADC_ConvCpltCallback(), HAL_ADC_ErrorCallback(). - Exception done for MspInit and MspDeInit functions that are - reset to the legacy weak functions in the HAL_ADC_Init()/ HAL_ADC_DeInit() only when - these callbacks are null (not registered beforehand). - [..] - - If MspInit or MspDeInit are not null, the HAL_ADC_Init()/ HAL_ADC_DeInit() - keep and use the user MspInit/MspDeInit callbacks (registered beforehand) whatever the state. - [..] - - Callbacks can be registered/unregistered in HAL_ADC_STATE_READY state only. - Exception done MspInit/MspDeInit functions that can be registered/unregistered - in HAL_ADC_STATE_READY or HAL_ADC_STATE_RESET state, - thus registered (user) MspInit/DeInit callbacks can be used during the Init/DeInit. - [..] - - Then, the user first registers the MspInit/MspDeInit user callbacks - using HAL_ADC_RegisterCallback() before calling HAL_ADC_DeInit() - or HAL_ADC_Init() function. - [..] - - When the compilation flag USE_HAL_ADC_REGISTER_CALLBACKS is set to 0 or - not defined, the callback registration feature is not available and all callbacks - are set to the corresponding weak functions. - - @endverbatim - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @defgroup ADC ADC - * @brief ADC driver modules - * @{ - */ - -#ifdef HAL_ADC_MODULE_ENABLED - -/* Private typedef -----------------------------------------------------------*/ -/* Private define ------------------------------------------------------------*/ -/* Private macro -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/** @addtogroup ADC_Private_Functions - * @{ - */ -/* Private function prototypes -----------------------------------------------*/ -static void ADC_Init(ADC_HandleTypeDef* hadc); -static void ADC_DMAConvCplt(DMA_HandleTypeDef *hdma); -static void ADC_DMAError(DMA_HandleTypeDef *hdma); -static void ADC_DMAHalfConvCplt(DMA_HandleTypeDef *hdma); -/** - * @} - */ -/* Exported functions --------------------------------------------------------*/ -/** @defgroup ADC_Exported_Functions ADC Exported Functions - * @{ - */ - -/** @defgroup ADC_Exported_Functions_Group1 Initialization and de-initialization functions - * @brief Initialization and Configuration functions - * -@verbatim - =============================================================================== - ##### Initialization and de-initialization functions ##### - =============================================================================== - [..] This section provides functions allowing to: - (+) Initialize and configure the ADC. - (+) De-initialize the ADC. - -@endverbatim - * @{ - */ - -/** - * @brief Initializes the ADCx peripheral according to the specified parameters - * in the ADC_InitStruct and initializes the ADC MSP. - * - * @note This function is used to configure the global features of the ADC ( - * ClockPrescaler, Resolution, Data Alignment and number of conversion), however, - * the rest of the configuration parameters are specific to the regular - * channels group (scan mode activation, continuous mode activation, - * External trigger source and edge, DMA continuous request after the - * last transfer and End of conversion selection). - * - * @param hadc pointer to a ADC_HandleTypeDef structure that contains - * the configuration information for the specified ADC. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_ADC_Init(ADC_HandleTypeDef* hadc) -{ - HAL_StatusTypeDef tmp_hal_status = HAL_OK; - - /* Check ADC handle */ - if(hadc == NULL) - { - return HAL_ERROR; - } - - /* Check the parameters */ - assert_param(IS_ADC_ALL_INSTANCE(hadc->Instance)); - assert_param(IS_ADC_CLOCKPRESCALER(hadc->Init.ClockPrescaler)); - assert_param(IS_ADC_RESOLUTION(hadc->Init.Resolution)); - assert_param(IS_FUNCTIONAL_STATE(hadc->Init.ScanConvMode)); - assert_param(IS_FUNCTIONAL_STATE(hadc->Init.ContinuousConvMode)); - assert_param(IS_ADC_EXT_TRIG(hadc->Init.ExternalTrigConv)); - assert_param(IS_ADC_DATA_ALIGN(hadc->Init.DataAlign)); - assert_param(IS_ADC_REGULAR_LENGTH(hadc->Init.NbrOfConversion)); - assert_param(IS_FUNCTIONAL_STATE(hadc->Init.DMAContinuousRequests)); - assert_param(IS_ADC_EOCSelection(hadc->Init.EOCSelection)); - assert_param(IS_FUNCTIONAL_STATE(hadc->Init.DiscontinuousConvMode)); - - if(hadc->Init.ExternalTrigConv != ADC_SOFTWARE_START) - { - assert_param(IS_ADC_EXT_TRIG_EDGE(hadc->Init.ExternalTrigConvEdge)); - } - - if(hadc->State == HAL_ADC_STATE_RESET) - { -#if (USE_HAL_ADC_REGISTER_CALLBACKS == 1) - /* Init the ADC Callback settings */ - hadc->ConvCpltCallback = HAL_ADC_ConvCpltCallback; /* Legacy weak callback */ - hadc->ConvHalfCpltCallback = HAL_ADC_ConvHalfCpltCallback; /* Legacy weak callback */ - hadc->LevelOutOfWindowCallback = HAL_ADC_LevelOutOfWindowCallback; /* Legacy weak callback */ - hadc->ErrorCallback = HAL_ADC_ErrorCallback; /* Legacy weak callback */ - hadc->InjectedConvCpltCallback = HAL_ADCEx_InjectedConvCpltCallback; /* Legacy weak callback */ - if (hadc->MspInitCallback == NULL) - { - hadc->MspInitCallback = HAL_ADC_MspInit; /* Legacy weak MspInit */ - } - - /* Init the low level hardware */ - hadc->MspInitCallback(hadc); -#else - /* Init the low level hardware */ - HAL_ADC_MspInit(hadc); -#endif /* USE_HAL_ADC_REGISTER_CALLBACKS */ - - /* Initialize ADC error code */ - ADC_CLEAR_ERRORCODE(hadc); - - /* Allocate lock resource and initialize it */ - hadc->Lock = HAL_UNLOCKED; - } - - /* Configuration of ADC parameters if previous preliminary actions are */ - /* correctly completed. */ - if (HAL_IS_BIT_CLR(hadc->State, HAL_ADC_STATE_ERROR_INTERNAL)) - { - /* Set ADC state */ - ADC_STATE_CLR_SET(hadc->State, - HAL_ADC_STATE_REG_BUSY | HAL_ADC_STATE_INJ_BUSY, - HAL_ADC_STATE_BUSY_INTERNAL); - - /* Set ADC parameters */ - ADC_Init(hadc); - - /* Set ADC error code to none */ - ADC_CLEAR_ERRORCODE(hadc); - - /* Set the ADC state */ - ADC_STATE_CLR_SET(hadc->State, - HAL_ADC_STATE_BUSY_INTERNAL, - HAL_ADC_STATE_READY); - } - else - { - tmp_hal_status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(hadc); - - /* Return function status */ - return tmp_hal_status; -} - -/** - * @brief Deinitializes the ADCx peripheral registers to their default reset values. - * @param hadc pointer to a ADC_HandleTypeDef structure that contains - * the configuration information for the specified ADC. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_ADC_DeInit(ADC_HandleTypeDef* hadc) -{ - HAL_StatusTypeDef tmp_hal_status = HAL_OK; - - /* Check ADC handle */ - if(hadc == NULL) - { - return HAL_ERROR; - } - - /* Check the parameters */ - assert_param(IS_ADC_ALL_INSTANCE(hadc->Instance)); - - /* Set ADC state */ - SET_BIT(hadc->State, HAL_ADC_STATE_BUSY_INTERNAL); - - /* Stop potential conversion on going, on regular and injected groups */ - /* Disable ADC peripheral */ - __HAL_ADC_DISABLE(hadc); - - /* Configuration of ADC parameters if previous preliminary actions are */ - /* correctly completed. */ - if(HAL_IS_BIT_CLR(hadc->Instance->CR2, ADC_CR2_ADON)) - { -#if (USE_HAL_ADC_REGISTER_CALLBACKS == 1) - if (hadc->MspDeInitCallback == NULL) - { - hadc->MspDeInitCallback = HAL_ADC_MspDeInit; /* Legacy weak MspDeInit */ - } - - /* DeInit the low level hardware: RCC clock, NVIC */ - hadc->MspDeInitCallback(hadc); -#else - /* DeInit the low level hardware: RCC clock, NVIC */ - HAL_ADC_MspDeInit(hadc); -#endif /* USE_HAL_ADC_REGISTER_CALLBACKS */ - - /* Set ADC error code to none */ - ADC_CLEAR_ERRORCODE(hadc); - - /* Set ADC state */ - hadc->State = HAL_ADC_STATE_RESET; - } - - /* Process unlocked */ - __HAL_UNLOCK(hadc); - - /* Return function status */ - return tmp_hal_status; -} - -#if (USE_HAL_ADC_REGISTER_CALLBACKS == 1) -/** - * @brief Register a User ADC Callback - * To be used instead of the weak predefined callback - * @param hadc Pointer to a ADC_HandleTypeDef structure that contains - * the configuration information for the specified ADC. - * @param CallbackID ID of the callback to be registered - * This parameter can be one of the following values: - * @arg @ref HAL_ADC_CONVERSION_COMPLETE_CB_ID ADC conversion complete callback ID - * @arg @ref HAL_ADC_CONVERSION_HALF_CB_ID ADC conversion DMA half-transfer callback ID - * @arg @ref HAL_ADC_LEVEL_OUT_OF_WINDOW_1_CB_ID ADC analog watchdog 1 callback ID - * @arg @ref HAL_ADC_ERROR_CB_ID ADC error callback ID - * @arg @ref HAL_ADC_INJ_CONVERSION_COMPLETE_CB_ID ADC group injected conversion complete callback ID - * @arg @ref HAL_ADC_MSPINIT_CB_ID ADC Msp Init callback ID - * @arg @ref HAL_ADC_MSPDEINIT_CB_ID ADC Msp DeInit callback ID - * @param pCallback pointer to the Callback function - * @retval HAL status - */ -HAL_StatusTypeDef HAL_ADC_RegisterCallback(ADC_HandleTypeDef *hadc, HAL_ADC_CallbackIDTypeDef CallbackID, pADC_CallbackTypeDef pCallback) -{ - HAL_StatusTypeDef status = HAL_OK; - - if (pCallback == NULL) - { - /* Update the error code */ - hadc->ErrorCode |= HAL_ADC_ERROR_INVALID_CALLBACK; - - return HAL_ERROR; - } - - if ((hadc->State & HAL_ADC_STATE_READY) != 0UL) - { - switch (CallbackID) - { - case HAL_ADC_CONVERSION_COMPLETE_CB_ID : - hadc->ConvCpltCallback = pCallback; - break; - - case HAL_ADC_CONVERSION_HALF_CB_ID : - hadc->ConvHalfCpltCallback = pCallback; - break; - - case HAL_ADC_LEVEL_OUT_OF_WINDOW_1_CB_ID : - hadc->LevelOutOfWindowCallback = pCallback; - break; - - case HAL_ADC_ERROR_CB_ID : - hadc->ErrorCallback = pCallback; - break; - - case HAL_ADC_INJ_CONVERSION_COMPLETE_CB_ID : - hadc->InjectedConvCpltCallback = pCallback; - break; - - case HAL_ADC_MSPINIT_CB_ID : - hadc->MspInitCallback = pCallback; - break; - - case HAL_ADC_MSPDEINIT_CB_ID : - hadc->MspDeInitCallback = pCallback; - break; - - default : - /* Update the error code */ - hadc->ErrorCode |= HAL_ADC_ERROR_INVALID_CALLBACK; - - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else if (HAL_ADC_STATE_RESET == hadc->State) - { - switch (CallbackID) - { - case HAL_ADC_MSPINIT_CB_ID : - hadc->MspInitCallback = pCallback; - break; - - case HAL_ADC_MSPDEINIT_CB_ID : - hadc->MspDeInitCallback = pCallback; - break; - - default : - /* Update the error code */ - hadc->ErrorCode |= HAL_ADC_ERROR_INVALID_CALLBACK; - - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else - { - /* Update the error code */ - hadc->ErrorCode |= HAL_ADC_ERROR_INVALID_CALLBACK; - - /* Return error status */ - status = HAL_ERROR; - } - - return status; -} - -/** - * @brief Unregister a ADC Callback - * ADC callback is redirected to the weak predefined callback - * @param hadc Pointer to a ADC_HandleTypeDef structure that contains - * the configuration information for the specified ADC. - * @param CallbackID ID of the callback to be unregistered - * This parameter can be one of the following values: - * @arg @ref HAL_ADC_CONVERSION_COMPLETE_CB_ID ADC conversion complete callback ID - * @arg @ref HAL_ADC_CONVERSION_HALF_CB_ID ADC conversion DMA half-transfer callback ID - * @arg @ref HAL_ADC_LEVEL_OUT_OF_WINDOW_1_CB_ID ADC analog watchdog 1 callback ID - * @arg @ref HAL_ADC_ERROR_CB_ID ADC error callback ID - * @arg @ref HAL_ADC_INJ_CONVERSION_COMPLETE_CB_ID ADC group injected conversion complete callback ID - * @arg @ref HAL_ADC_MSPINIT_CB_ID ADC Msp Init callback ID - * @arg @ref HAL_ADC_MSPDEINIT_CB_ID ADC Msp DeInit callback ID - * @retval HAL status - */ -HAL_StatusTypeDef HAL_ADC_UnRegisterCallback(ADC_HandleTypeDef *hadc, HAL_ADC_CallbackIDTypeDef CallbackID) -{ - HAL_StatusTypeDef status = HAL_OK; - - if ((hadc->State & HAL_ADC_STATE_READY) != 0UL) - { - switch (CallbackID) - { - case HAL_ADC_CONVERSION_COMPLETE_CB_ID : - hadc->ConvCpltCallback = HAL_ADC_ConvCpltCallback; - break; - - case HAL_ADC_CONVERSION_HALF_CB_ID : - hadc->ConvHalfCpltCallback = HAL_ADC_ConvHalfCpltCallback; - break; - - case HAL_ADC_LEVEL_OUT_OF_WINDOW_1_CB_ID : - hadc->LevelOutOfWindowCallback = HAL_ADC_LevelOutOfWindowCallback; - break; - - case HAL_ADC_ERROR_CB_ID : - hadc->ErrorCallback = HAL_ADC_ErrorCallback; - break; - - case HAL_ADC_INJ_CONVERSION_COMPLETE_CB_ID : - hadc->InjectedConvCpltCallback = HAL_ADCEx_InjectedConvCpltCallback; - break; - - case HAL_ADC_MSPINIT_CB_ID : - hadc->MspInitCallback = HAL_ADC_MspInit; /* Legacy weak MspInit */ - break; - - case HAL_ADC_MSPDEINIT_CB_ID : - hadc->MspDeInitCallback = HAL_ADC_MspDeInit; /* Legacy weak MspDeInit */ - break; - - default : - /* Update the error code */ - hadc->ErrorCode |= HAL_ADC_ERROR_INVALID_CALLBACK; - - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else if (HAL_ADC_STATE_RESET == hadc->State) - { - switch (CallbackID) - { - case HAL_ADC_MSPINIT_CB_ID : - hadc->MspInitCallback = HAL_ADC_MspInit; /* Legacy weak MspInit */ - break; - - case HAL_ADC_MSPDEINIT_CB_ID : - hadc->MspDeInitCallback = HAL_ADC_MspDeInit; /* Legacy weak MspDeInit */ - break; - - default : - /* Update the error code */ - hadc->ErrorCode |= HAL_ADC_ERROR_INVALID_CALLBACK; - - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else - { - /* Update the error code */ - hadc->ErrorCode |= HAL_ADC_ERROR_INVALID_CALLBACK; - - /* Return error status */ - status = HAL_ERROR; - } - - return status; -} - -#endif /* USE_HAL_ADC_REGISTER_CALLBACKS */ - -/** - * @brief Initializes the ADC MSP. - * @param hadc pointer to a ADC_HandleTypeDef structure that contains - * the configuration information for the specified ADC. - * @retval None - */ -__weak void HAL_ADC_MspInit(ADC_HandleTypeDef* hadc) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hadc); - /* NOTE : This function Should not be modified, when the callback is needed, - the HAL_ADC_MspInit could be implemented in the user file - */ -} - -/** - * @brief DeInitializes the ADC MSP. - * @param hadc pointer to a ADC_HandleTypeDef structure that contains - * the configuration information for the specified ADC. - * @retval None - */ -__weak void HAL_ADC_MspDeInit(ADC_HandleTypeDef* hadc) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hadc); - /* NOTE : This function Should not be modified, when the callback is needed, - the HAL_ADC_MspDeInit could be implemented in the user file - */ -} - -/** - * @} - */ - -/** @defgroup ADC_Exported_Functions_Group2 IO operation functions - * @brief IO operation functions - * -@verbatim - =============================================================================== - ##### IO operation functions ##### - =============================================================================== - [..] This section provides functions allowing to: - (+) Start conversion of regular channel. - (+) Stop conversion of regular channel. - (+) Start conversion of regular channel and enable interrupt. - (+) Stop conversion of regular channel and disable interrupt. - (+) Start conversion of regular channel and enable DMA transfer. - (+) Stop conversion of regular channel and disable DMA transfer. - (+) Handle ADC interrupt request. - -@endverbatim - * @{ - */ - -/** - * @brief Enables ADC and starts conversion of the regular channels. - * @param hadc pointer to a ADC_HandleTypeDef structure that contains - * the configuration information for the specified ADC. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_ADC_Start(ADC_HandleTypeDef* hadc) -{ - __IO uint32_t counter = 0U; - ADC_Common_TypeDef *tmpADC_Common; - - /* Check the parameters */ - assert_param(IS_FUNCTIONAL_STATE(hadc->Init.ContinuousConvMode)); - assert_param(IS_ADC_EXT_TRIG_EDGE(hadc->Init.ExternalTrigConvEdge)); - - /* Process locked */ - __HAL_LOCK(hadc); - - /* Enable the ADC peripheral */ - /* Check if ADC peripheral is disabled in order to enable it and wait during - Tstab time the ADC's stabilization */ - if((hadc->Instance->CR2 & ADC_CR2_ADON) != ADC_CR2_ADON) - { - /* Enable the Peripheral */ - __HAL_ADC_ENABLE(hadc); - - /* Delay for ADC stabilization time */ - /* Compute number of CPU cycles to wait for */ - counter = (ADC_STAB_DELAY_US * (SystemCoreClock / 1000000U)); - while(counter != 0U) - { - counter--; - } - } - - /* Start conversion if ADC is effectively enabled */ - if(HAL_IS_BIT_SET(hadc->Instance->CR2, ADC_CR2_ADON)) - { - /* Set ADC state */ - /* - Clear state bitfield related to regular group conversion results */ - /* - Set state bitfield related to regular group operation */ - ADC_STATE_CLR_SET(hadc->State, - HAL_ADC_STATE_READY | HAL_ADC_STATE_REG_EOC | HAL_ADC_STATE_REG_OVR, - HAL_ADC_STATE_REG_BUSY); - - /* If conversions on group regular are also triggering group injected, */ - /* update ADC state. */ - if (READ_BIT(hadc->Instance->CR1, ADC_CR1_JAUTO) != RESET) - { - ADC_STATE_CLR_SET(hadc->State, HAL_ADC_STATE_INJ_EOC, HAL_ADC_STATE_INJ_BUSY); - } - - /* State machine update: Check if an injected conversion is ongoing */ - if (HAL_IS_BIT_SET(hadc->State, HAL_ADC_STATE_INJ_BUSY)) - { - /* Reset ADC error code fields related to conversions on group regular */ - CLEAR_BIT(hadc->ErrorCode, (HAL_ADC_ERROR_OVR | HAL_ADC_ERROR_DMA)); - } - else - { - /* Reset ADC all error code fields */ - ADC_CLEAR_ERRORCODE(hadc); - } - - /* Process unlocked */ - /* Unlock before starting ADC conversions: in case of potential */ - /* interruption, to let the process to ADC IRQ Handler. */ - __HAL_UNLOCK(hadc); - - /* Pointer to the common control register to which is belonging hadc */ - /* (Depending on STM32F4 product, there may be up to 3 ADCs and 1 common */ - /* control register) */ - tmpADC_Common = ADC_COMMON_REGISTER(hadc); - - /* Clear regular group conversion flag and overrun flag */ - /* (To ensure of no unknown state from potential previous ADC operations) */ - __HAL_ADC_CLEAR_FLAG(hadc, ADC_FLAG_EOC | ADC_FLAG_OVR); - - /* Check if Multimode enabled */ - if(HAL_IS_BIT_CLR(tmpADC_Common->CCR, ADC_CCR_MULTI)) - { -#if defined(ADC2) && defined(ADC3) - if((hadc->Instance == ADC1) || ((hadc->Instance == ADC2) && ((ADC->CCR & ADC_CCR_MULTI_Msk) < ADC_CCR_MULTI_0)) \ - || ((hadc->Instance == ADC3) && ((ADC->CCR & ADC_CCR_MULTI_Msk) < ADC_CCR_MULTI_4))) - { -#endif /* ADC2 || ADC3 */ - /* if no external trigger present enable software conversion of regular channels */ - if((hadc->Instance->CR2 & ADC_CR2_EXTEN) == RESET) - { - /* Enable the selected ADC software conversion for regular group */ - hadc->Instance->CR2 |= (uint32_t)ADC_CR2_SWSTART; - } -#if defined(ADC2) && defined(ADC3) - } -#endif /* ADC2 || ADC3 */ - } - else - { - /* if instance of handle correspond to ADC1 and no external trigger present enable software conversion of regular channels */ - if((hadc->Instance == ADC1) && ((hadc->Instance->CR2 & ADC_CR2_EXTEN) == RESET)) - { - /* Enable the selected ADC software conversion for regular group */ - hadc->Instance->CR2 |= (uint32_t)ADC_CR2_SWSTART; - } - } - } - else - { - /* Update ADC state machine to error */ - SET_BIT(hadc->State, HAL_ADC_STATE_ERROR_INTERNAL); - - /* Set ADC error code to ADC IP internal error */ - SET_BIT(hadc->ErrorCode, HAL_ADC_ERROR_INTERNAL); - } - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Disables ADC and stop conversion of regular channels. - * - * @note Caution: This function will stop also injected channels. - * - * @param hadc pointer to a ADC_HandleTypeDef structure that contains - * the configuration information for the specified ADC. - * - * @retval HAL status. - */ -HAL_StatusTypeDef HAL_ADC_Stop(ADC_HandleTypeDef* hadc) -{ - /* Check the parameters */ - assert_param(IS_ADC_ALL_INSTANCE(hadc->Instance)); - - /* Process locked */ - __HAL_LOCK(hadc); - - /* Stop potential conversion on going, on regular and injected groups */ - /* Disable ADC peripheral */ - __HAL_ADC_DISABLE(hadc); - - /* Check if ADC is effectively disabled */ - if(HAL_IS_BIT_CLR(hadc->Instance->CR2, ADC_CR2_ADON)) - { - /* Set ADC state */ - ADC_STATE_CLR_SET(hadc->State, - HAL_ADC_STATE_REG_BUSY | HAL_ADC_STATE_INJ_BUSY, - HAL_ADC_STATE_READY); - } - - /* Process unlocked */ - __HAL_UNLOCK(hadc); - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Poll for regular conversion complete - * @note ADC conversion flags EOS (end of sequence) and EOC (end of - * conversion) are cleared by this function. - * @note This function cannot be used in a particular setup: ADC configured - * in DMA mode and polling for end of each conversion (ADC init - * parameter "EOCSelection" set to ADC_EOC_SINGLE_CONV). - * In this case, DMA resets the flag EOC and polling cannot be - * performed on each conversion. Nevertheless, polling can still - * be performed on the complete sequence. - * @param hadc pointer to a ADC_HandleTypeDef structure that contains - * the configuration information for the specified ADC. - * @param Timeout Timeout value in millisecond. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_ADC_PollForConversion(ADC_HandleTypeDef* hadc, uint32_t Timeout) -{ - uint32_t tickstart = 0U; - - /* Verification that ADC configuration is compliant with polling for */ - /* each conversion: */ - /* Particular case is ADC configured in DMA mode and ADC sequencer with */ - /* several ranks and polling for end of each conversion. */ - /* For code simplicity sake, this particular case is generalized to */ - /* ADC configured in DMA mode and polling for end of each conversion. */ - if (HAL_IS_BIT_SET(hadc->Instance->CR2, ADC_CR2_EOCS) && - HAL_IS_BIT_SET(hadc->Instance->CR2, ADC_CR2_DMA) ) - { - /* Update ADC state machine to error */ - SET_BIT(hadc->State, HAL_ADC_STATE_ERROR_CONFIG); - - /* Process unlocked */ - __HAL_UNLOCK(hadc); - - return HAL_ERROR; - } - - /* Get tick */ - tickstart = HAL_GetTick(); - - /* Check End of conversion flag */ - while(!(__HAL_ADC_GET_FLAG(hadc, ADC_FLAG_EOC))) - { - /* Check if timeout is disabled (set to infinite wait) */ - if(Timeout != HAL_MAX_DELAY) - { - if((Timeout == 0U) || ((HAL_GetTick() - tickstart ) > Timeout)) - { - /* New check to avoid false timeout detection in case of preemption */ - if(!(__HAL_ADC_GET_FLAG(hadc, ADC_FLAG_EOC))) - { - /* Update ADC state machine to timeout */ - SET_BIT(hadc->State, HAL_ADC_STATE_TIMEOUT); - - /* Process unlocked */ - __HAL_UNLOCK(hadc); - - return HAL_TIMEOUT; - } - } - } - } - - /* Clear regular group conversion flag */ - __HAL_ADC_CLEAR_FLAG(hadc, ADC_FLAG_STRT | ADC_FLAG_EOC); - - /* Update ADC state machine */ - SET_BIT(hadc->State, HAL_ADC_STATE_REG_EOC); - - /* Determine whether any further conversion upcoming on group regular */ - /* by external trigger, continuous mode or scan sequence on going. */ - /* Note: On STM32F4, there is no independent flag of end of sequence. */ - /* The test of scan sequence on going is done either with scan */ - /* sequence disabled or with end of conversion flag set to */ - /* of end of sequence. */ - if(ADC_IS_SOFTWARE_START_REGULAR(hadc) && - (hadc->Init.ContinuousConvMode == DISABLE) && - (HAL_IS_BIT_CLR(hadc->Instance->SQR1, ADC_SQR1_L) || - HAL_IS_BIT_CLR(hadc->Instance->CR2, ADC_CR2_EOCS) ) ) - { - /* Set ADC state */ - CLEAR_BIT(hadc->State, HAL_ADC_STATE_REG_BUSY); - - if (HAL_IS_BIT_CLR(hadc->State, HAL_ADC_STATE_INJ_BUSY)) - { - SET_BIT(hadc->State, HAL_ADC_STATE_READY); - } - } - - /* Return ADC state */ - return HAL_OK; -} - -/** - * @brief Poll for conversion event - * @param hadc pointer to a ADC_HandleTypeDef structure that contains - * the configuration information for the specified ADC. - * @param EventType the ADC event type. - * This parameter can be one of the following values: - * @arg ADC_AWD_EVENT: ADC Analog watch Dog event. - * @arg ADC_OVR_EVENT: ADC Overrun event. - * @param Timeout Timeout value in millisecond. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_ADC_PollForEvent(ADC_HandleTypeDef* hadc, uint32_t EventType, uint32_t Timeout) -{ - uint32_t tickstart = 0U; - - /* Check the parameters */ - assert_param(IS_ADC_ALL_INSTANCE(hadc->Instance)); - assert_param(IS_ADC_EVENT_TYPE(EventType)); - - /* Get tick */ - tickstart = HAL_GetTick(); - - /* Check selected event flag */ - while(!(__HAL_ADC_GET_FLAG(hadc,EventType))) - { - /* Check for the Timeout */ - if(Timeout != HAL_MAX_DELAY) - { - if((Timeout == 0U) || ((HAL_GetTick() - tickstart ) > Timeout)) - { - /* New check to avoid false timeout detection in case of preemption */ - if(!(__HAL_ADC_GET_FLAG(hadc,EventType))) - { - /* Update ADC state machine to timeout */ - SET_BIT(hadc->State, HAL_ADC_STATE_TIMEOUT); - - /* Process unlocked */ - __HAL_UNLOCK(hadc); - - return HAL_TIMEOUT; - } - } - } - } - - /* Analog watchdog (level out of window) event */ - if(EventType == ADC_AWD_EVENT) - { - /* Set ADC state */ - SET_BIT(hadc->State, HAL_ADC_STATE_AWD1); - - /* Clear ADC analog watchdog flag */ - __HAL_ADC_CLEAR_FLAG(hadc, ADC_FLAG_AWD); - } - /* Overrun event */ - else - { - /* Set ADC state */ - SET_BIT(hadc->State, HAL_ADC_STATE_REG_OVR); - /* Set ADC error code to overrun */ - SET_BIT(hadc->ErrorCode, HAL_ADC_ERROR_OVR); - - /* Clear ADC overrun flag */ - __HAL_ADC_CLEAR_FLAG(hadc, ADC_FLAG_OVR); - } - - /* Return ADC state */ - return HAL_OK; -} - - -/** - * @brief Enables the interrupt and starts ADC conversion of regular channels. - * @param hadc pointer to a ADC_HandleTypeDef structure that contains - * the configuration information for the specified ADC. - * @retval HAL status. - */ -HAL_StatusTypeDef HAL_ADC_Start_IT(ADC_HandleTypeDef* hadc) -{ - __IO uint32_t counter = 0U; - ADC_Common_TypeDef *tmpADC_Common; - - /* Check the parameters */ - assert_param(IS_FUNCTIONAL_STATE(hadc->Init.ContinuousConvMode)); - assert_param(IS_ADC_EXT_TRIG_EDGE(hadc->Init.ExternalTrigConvEdge)); - - /* Process locked */ - __HAL_LOCK(hadc); - - /* Enable the ADC peripheral */ - /* Check if ADC peripheral is disabled in order to enable it and wait during - Tstab time the ADC's stabilization */ - if((hadc->Instance->CR2 & ADC_CR2_ADON) != ADC_CR2_ADON) - { - /* Enable the Peripheral */ - __HAL_ADC_ENABLE(hadc); - - /* Delay for ADC stabilization time */ - /* Compute number of CPU cycles to wait for */ - counter = (ADC_STAB_DELAY_US * (SystemCoreClock / 1000000U)); - while(counter != 0U) - { - counter--; - } - } - - /* Start conversion if ADC is effectively enabled */ - if(HAL_IS_BIT_SET(hadc->Instance->CR2, ADC_CR2_ADON)) - { - /* Set ADC state */ - /* - Clear state bitfield related to regular group conversion results */ - /* - Set state bitfield related to regular group operation */ - ADC_STATE_CLR_SET(hadc->State, - HAL_ADC_STATE_READY | HAL_ADC_STATE_REG_EOC | HAL_ADC_STATE_REG_OVR, - HAL_ADC_STATE_REG_BUSY); - - /* If conversions on group regular are also triggering group injected, */ - /* update ADC state. */ - if (READ_BIT(hadc->Instance->CR1, ADC_CR1_JAUTO) != RESET) - { - ADC_STATE_CLR_SET(hadc->State, HAL_ADC_STATE_INJ_EOC, HAL_ADC_STATE_INJ_BUSY); - } - - /* State machine update: Check if an injected conversion is ongoing */ - if (HAL_IS_BIT_SET(hadc->State, HAL_ADC_STATE_INJ_BUSY)) - { - /* Reset ADC error code fields related to conversions on group regular */ - CLEAR_BIT(hadc->ErrorCode, (HAL_ADC_ERROR_OVR | HAL_ADC_ERROR_DMA)); - } - else - { - /* Reset ADC all error code fields */ - ADC_CLEAR_ERRORCODE(hadc); - } - - /* Process unlocked */ - /* Unlock before starting ADC conversions: in case of potential */ - /* interruption, to let the process to ADC IRQ Handler. */ - __HAL_UNLOCK(hadc); - - /* Pointer to the common control register to which is belonging hadc */ - /* (Depending on STM32F4 product, there may be up to 3 ADCs and 1 common */ - /* control register) */ - tmpADC_Common = ADC_COMMON_REGISTER(hadc); - - /* Clear regular group conversion flag and overrun flag */ - /* (To ensure of no unknown state from potential previous ADC operations) */ - __HAL_ADC_CLEAR_FLAG(hadc, ADC_FLAG_EOC | ADC_FLAG_OVR); - - /* Enable end of conversion interrupt for regular group */ - __HAL_ADC_ENABLE_IT(hadc, (ADC_IT_EOC | ADC_IT_OVR)); - - /* Check if Multimode enabled */ - if(HAL_IS_BIT_CLR(tmpADC_Common->CCR, ADC_CCR_MULTI)) - { -#if defined(ADC2) && defined(ADC3) - if((hadc->Instance == ADC1) || ((hadc->Instance == ADC2) && ((ADC->CCR & ADC_CCR_MULTI_Msk) < ADC_CCR_MULTI_0)) \ - || ((hadc->Instance == ADC3) && ((ADC->CCR & ADC_CCR_MULTI_Msk) < ADC_CCR_MULTI_4))) - { -#endif /* ADC2 || ADC3 */ - /* if no external trigger present enable software conversion of regular channels */ - if((hadc->Instance->CR2 & ADC_CR2_EXTEN) == RESET) - { - /* Enable the selected ADC software conversion for regular group */ - hadc->Instance->CR2 |= (uint32_t)ADC_CR2_SWSTART; - } -#if defined(ADC2) && defined(ADC3) - } -#endif /* ADC2 || ADC3 */ - } - else - { - /* if instance of handle correspond to ADC1 and no external trigger present enable software conversion of regular channels */ - if((hadc->Instance == ADC1) && ((hadc->Instance->CR2 & ADC_CR2_EXTEN) == RESET)) - { - /* Enable the selected ADC software conversion for regular group */ - hadc->Instance->CR2 |= (uint32_t)ADC_CR2_SWSTART; - } - } - } - else - { - /* Update ADC state machine to error */ - SET_BIT(hadc->State, HAL_ADC_STATE_ERROR_INTERNAL); - - /* Set ADC error code to ADC IP internal error */ - SET_BIT(hadc->ErrorCode, HAL_ADC_ERROR_INTERNAL); - } - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Disables the interrupt and stop ADC conversion of regular channels. - * - * @note Caution: This function will stop also injected channels. - * - * @param hadc pointer to a ADC_HandleTypeDef structure that contains - * the configuration information for the specified ADC. - * @retval HAL status. - */ -HAL_StatusTypeDef HAL_ADC_Stop_IT(ADC_HandleTypeDef* hadc) -{ - /* Check the parameters */ - assert_param(IS_ADC_ALL_INSTANCE(hadc->Instance)); - - /* Process locked */ - __HAL_LOCK(hadc); - - /* Stop potential conversion on going, on regular and injected groups */ - /* Disable ADC peripheral */ - __HAL_ADC_DISABLE(hadc); - - /* Check if ADC is effectively disabled */ - if(HAL_IS_BIT_CLR(hadc->Instance->CR2, ADC_CR2_ADON)) - { - /* Disable ADC end of conversion interrupt for regular group */ - __HAL_ADC_DISABLE_IT(hadc, (ADC_IT_EOC | ADC_IT_OVR)); - - /* Set ADC state */ - ADC_STATE_CLR_SET(hadc->State, - HAL_ADC_STATE_REG_BUSY | HAL_ADC_STATE_INJ_BUSY, - HAL_ADC_STATE_READY); - } - - /* Process unlocked */ - __HAL_UNLOCK(hadc); - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Handles ADC interrupt request - * @param hadc pointer to a ADC_HandleTypeDef structure that contains - * the configuration information for the specified ADC. - * @retval None - */ -void HAL_ADC_IRQHandler(ADC_HandleTypeDef* hadc) -{ - uint32_t tmp1 = 0U, tmp2 = 0U; - - /* Check the parameters */ - assert_param(IS_FUNCTIONAL_STATE(hadc->Init.ContinuousConvMode)); - assert_param(IS_ADC_REGULAR_LENGTH(hadc->Init.NbrOfConversion)); - assert_param(IS_ADC_EOCSelection(hadc->Init.EOCSelection)); - - tmp1 = __HAL_ADC_GET_FLAG(hadc, ADC_FLAG_EOC); - tmp2 = __HAL_ADC_GET_IT_SOURCE(hadc, ADC_IT_EOC); - /* Check End of conversion flag for regular channels */ - if(tmp1 && tmp2) - { - /* Update state machine on conversion status if not in error state */ - if (HAL_IS_BIT_CLR(hadc->State, HAL_ADC_STATE_ERROR_INTERNAL)) - { - /* Set ADC state */ - SET_BIT(hadc->State, HAL_ADC_STATE_REG_EOC); - } - - /* Determine whether any further conversion upcoming on group regular */ - /* by external trigger, continuous mode or scan sequence on going. */ - /* Note: On STM32F4, there is no independent flag of end of sequence. */ - /* The test of scan sequence on going is done either with scan */ - /* sequence disabled or with end of conversion flag set to */ - /* of end of sequence. */ - if(ADC_IS_SOFTWARE_START_REGULAR(hadc) && - (hadc->Init.ContinuousConvMode == DISABLE) && - (HAL_IS_BIT_CLR(hadc->Instance->SQR1, ADC_SQR1_L) || - HAL_IS_BIT_CLR(hadc->Instance->CR2, ADC_CR2_EOCS) ) ) - { - /* Disable ADC end of single conversion interrupt on group regular */ - /* Note: Overrun interrupt was enabled with EOC interrupt in */ - /* HAL_ADC_Start_IT(), but is not disabled here because can be used */ - /* by overrun IRQ process below. */ - __HAL_ADC_DISABLE_IT(hadc, ADC_IT_EOC); - - /* Set ADC state */ - CLEAR_BIT(hadc->State, HAL_ADC_STATE_REG_BUSY); - - if (HAL_IS_BIT_CLR(hadc->State, HAL_ADC_STATE_INJ_BUSY)) - { - SET_BIT(hadc->State, HAL_ADC_STATE_READY); - } - } - - /* Conversion complete callback */ -#if (USE_HAL_ADC_REGISTER_CALLBACKS == 1) - hadc->ConvCpltCallback(hadc); -#else - HAL_ADC_ConvCpltCallback(hadc); -#endif /* USE_HAL_ADC_REGISTER_CALLBACKS */ - - /* Clear regular group conversion flag */ - __HAL_ADC_CLEAR_FLAG(hadc, ADC_FLAG_STRT | ADC_FLAG_EOC); - } - - tmp1 = __HAL_ADC_GET_FLAG(hadc, ADC_FLAG_JEOC); - tmp2 = __HAL_ADC_GET_IT_SOURCE(hadc, ADC_IT_JEOC); - /* Check End of conversion flag for injected channels */ - if(tmp1 && tmp2) - { - /* Update state machine on conversion status if not in error state */ - if (HAL_IS_BIT_CLR(hadc->State, HAL_ADC_STATE_ERROR_INTERNAL)) - { - /* Set ADC state */ - SET_BIT(hadc->State, HAL_ADC_STATE_INJ_EOC); - } - - /* Determine whether any further conversion upcoming on group injected */ - /* by external trigger, scan sequence on going or by automatic injected */ - /* conversion from group regular (same conditions as group regular */ - /* interruption disabling above). */ - if(ADC_IS_SOFTWARE_START_INJECTED(hadc) && - (HAL_IS_BIT_CLR(hadc->Instance->JSQR, ADC_JSQR_JL) || - HAL_IS_BIT_CLR(hadc->Instance->CR2, ADC_CR2_EOCS) ) && - (HAL_IS_BIT_CLR(hadc->Instance->CR1, ADC_CR1_JAUTO) && - (ADC_IS_SOFTWARE_START_REGULAR(hadc) && - (hadc->Init.ContinuousConvMode == DISABLE) ) ) ) - { - /* Disable ADC end of single conversion interrupt on group injected */ - __HAL_ADC_DISABLE_IT(hadc, ADC_IT_JEOC); - - /* Set ADC state */ - CLEAR_BIT(hadc->State, HAL_ADC_STATE_INJ_BUSY); - - if (HAL_IS_BIT_CLR(hadc->State, HAL_ADC_STATE_REG_BUSY)) - { - SET_BIT(hadc->State, HAL_ADC_STATE_READY); - } - } - - /* Conversion complete callback */ - /* Conversion complete callback */ -#if (USE_HAL_ADC_REGISTER_CALLBACKS == 1) - hadc->InjectedConvCpltCallback(hadc); -#else - HAL_ADCEx_InjectedConvCpltCallback(hadc); -#endif /* USE_HAL_ADC_REGISTER_CALLBACKS */ - - /* Clear injected group conversion flag */ - __HAL_ADC_CLEAR_FLAG(hadc, (ADC_FLAG_JSTRT | ADC_FLAG_JEOC)); - } - - tmp1 = __HAL_ADC_GET_FLAG(hadc, ADC_FLAG_AWD); - tmp2 = __HAL_ADC_GET_IT_SOURCE(hadc, ADC_IT_AWD); - /* Check Analog watchdog flag */ - if(tmp1 && tmp2) - { - if(__HAL_ADC_GET_FLAG(hadc, ADC_FLAG_AWD)) - { - /* Set ADC state */ - SET_BIT(hadc->State, HAL_ADC_STATE_AWD1); - - /* Level out of window callback */ -#if (USE_HAL_ADC_REGISTER_CALLBACKS == 1) - hadc->LevelOutOfWindowCallback(hadc); -#else - HAL_ADC_LevelOutOfWindowCallback(hadc); -#endif /* USE_HAL_ADC_REGISTER_CALLBACKS */ - - /* Clear the ADC analog watchdog flag */ - __HAL_ADC_CLEAR_FLAG(hadc, ADC_FLAG_AWD); - } - } - - tmp1 = __HAL_ADC_GET_FLAG(hadc, ADC_FLAG_OVR); - tmp2 = __HAL_ADC_GET_IT_SOURCE(hadc, ADC_IT_OVR); - /* Check Overrun flag */ - if(tmp1 && tmp2) - { - /* Note: On STM32F4, ADC overrun can be set through other parameters */ - /* refer to description of parameter "EOCSelection" for more */ - /* details. */ - - /* Set ADC error code to overrun */ - SET_BIT(hadc->ErrorCode, HAL_ADC_ERROR_OVR); - - /* Clear ADC overrun flag */ - __HAL_ADC_CLEAR_FLAG(hadc, ADC_FLAG_OVR); - - /* Error callback */ -#if (USE_HAL_ADC_REGISTER_CALLBACKS == 1) - hadc->ErrorCallback(hadc); -#else - HAL_ADC_ErrorCallback(hadc); -#endif /* USE_HAL_ADC_REGISTER_CALLBACKS */ - - /* Clear the Overrun flag */ - __HAL_ADC_CLEAR_FLAG(hadc, ADC_FLAG_OVR); - } -} - -/** - * @brief Enables ADC DMA request after last transfer (Single-ADC mode) and enables ADC peripheral - * @param hadc pointer to a ADC_HandleTypeDef structure that contains - * the configuration information for the specified ADC. - * @param pData The destination Buffer address. - * @param Length The length of data to be transferred from ADC peripheral to memory. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_ADC_Start_DMA(ADC_HandleTypeDef* hadc, uint32_t* pData, uint32_t Length) -{ - __IO uint32_t counter = 0U; - ADC_Common_TypeDef *tmpADC_Common; - - /* Check the parameters */ - assert_param(IS_FUNCTIONAL_STATE(hadc->Init.ContinuousConvMode)); - assert_param(IS_ADC_EXT_TRIG_EDGE(hadc->Init.ExternalTrigConvEdge)); - - /* Process locked */ - __HAL_LOCK(hadc); - - /* Enable the ADC peripheral */ - /* Check if ADC peripheral is disabled in order to enable it and wait during - Tstab time the ADC's stabilization */ - if((hadc->Instance->CR2 & ADC_CR2_ADON) != ADC_CR2_ADON) - { - /* Enable the Peripheral */ - __HAL_ADC_ENABLE(hadc); - - /* Delay for ADC stabilization time */ - /* Compute number of CPU cycles to wait for */ - counter = (ADC_STAB_DELAY_US * (SystemCoreClock / 1000000U)); - while(counter != 0U) - { - counter--; - } - } - - /* Check ADC DMA Mode */ - /* - disable the DMA Mode if it is already enabled */ - if((hadc->Instance->CR2 & ADC_CR2_DMA) == ADC_CR2_DMA) - { - CLEAR_BIT(hadc->Instance->CR2, ADC_CR2_DMA); - } - - /* Start conversion if ADC is effectively enabled */ - if(HAL_IS_BIT_SET(hadc->Instance->CR2, ADC_CR2_ADON)) - { - /* Set ADC state */ - /* - Clear state bitfield related to regular group conversion results */ - /* - Set state bitfield related to regular group operation */ - ADC_STATE_CLR_SET(hadc->State, - HAL_ADC_STATE_READY | HAL_ADC_STATE_REG_EOC | HAL_ADC_STATE_REG_OVR, - HAL_ADC_STATE_REG_BUSY); - - /* If conversions on group regular are also triggering group injected, */ - /* update ADC state. */ - if (READ_BIT(hadc->Instance->CR1, ADC_CR1_JAUTO) != RESET) - { - ADC_STATE_CLR_SET(hadc->State, HAL_ADC_STATE_INJ_EOC, HAL_ADC_STATE_INJ_BUSY); - } - - /* State machine update: Check if an injected conversion is ongoing */ - if (HAL_IS_BIT_SET(hadc->State, HAL_ADC_STATE_INJ_BUSY)) - { - /* Reset ADC error code fields related to conversions on group regular */ - CLEAR_BIT(hadc->ErrorCode, (HAL_ADC_ERROR_OVR | HAL_ADC_ERROR_DMA)); - } - else - { - /* Reset ADC all error code fields */ - ADC_CLEAR_ERRORCODE(hadc); - } - - /* Process unlocked */ - /* Unlock before starting ADC conversions: in case of potential */ - /* interruption, to let the process to ADC IRQ Handler. */ - __HAL_UNLOCK(hadc); - - /* Pointer to the common control register to which is belonging hadc */ - /* (Depending on STM32F4 product, there may be up to 3 ADCs and 1 common */ - /* control register) */ - tmpADC_Common = ADC_COMMON_REGISTER(hadc); - - /* Set the DMA transfer complete callback */ - hadc->DMA_Handle->XferCpltCallback = ADC_DMAConvCplt; - - /* Set the DMA half transfer complete callback */ - hadc->DMA_Handle->XferHalfCpltCallback = ADC_DMAHalfConvCplt; - - /* Set the DMA error callback */ - hadc->DMA_Handle->XferErrorCallback = ADC_DMAError; - - - /* Manage ADC and DMA start: ADC overrun interruption, DMA start, ADC */ - /* start (in case of SW start): */ - - /* Clear regular group conversion flag and overrun flag */ - /* (To ensure of no unknown state from potential previous ADC operations) */ - __HAL_ADC_CLEAR_FLAG(hadc, ADC_FLAG_EOC | ADC_FLAG_OVR); - - /* Enable ADC overrun interrupt */ - __HAL_ADC_ENABLE_IT(hadc, ADC_IT_OVR); - - /* Enable ADC DMA mode */ - hadc->Instance->CR2 |= ADC_CR2_DMA; - - /* Start the DMA channel */ - HAL_DMA_Start_IT(hadc->DMA_Handle, (uint32_t)&hadc->Instance->DR, (uint32_t)pData, Length); - - /* Check if Multimode enabled */ - if(HAL_IS_BIT_CLR(tmpADC_Common->CCR, ADC_CCR_MULTI)) - { -#if defined(ADC2) && defined(ADC3) - if((hadc->Instance == ADC1) || ((hadc->Instance == ADC2) && ((ADC->CCR & ADC_CCR_MULTI_Msk) < ADC_CCR_MULTI_0)) \ - || ((hadc->Instance == ADC3) && ((ADC->CCR & ADC_CCR_MULTI_Msk) < ADC_CCR_MULTI_4))) - { -#endif /* ADC2 || ADC3 */ - /* if no external trigger present enable software conversion of regular channels */ - if((hadc->Instance->CR2 & ADC_CR2_EXTEN) == RESET) - { - /* Enable the selected ADC software conversion for regular group */ - hadc->Instance->CR2 |= (uint32_t)ADC_CR2_SWSTART; - } -#if defined(ADC2) && defined(ADC3) - } -#endif /* ADC2 || ADC3 */ - } - else - { - /* if instance of handle correspond to ADC1 and no external trigger present enable software conversion of regular channels */ - if((hadc->Instance == ADC1) && ((hadc->Instance->CR2 & ADC_CR2_EXTEN) == RESET)) - { - /* Enable the selected ADC software conversion for regular group */ - hadc->Instance->CR2 |= (uint32_t)ADC_CR2_SWSTART; - } - } - } - else - { - /* Update ADC state machine to error */ - SET_BIT(hadc->State, HAL_ADC_STATE_ERROR_INTERNAL); - - /* Set ADC error code to ADC IP internal error */ - SET_BIT(hadc->ErrorCode, HAL_ADC_ERROR_INTERNAL); - } - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Disables ADC DMA (Single-ADC mode) and disables ADC peripheral - * @param hadc pointer to a ADC_HandleTypeDef structure that contains - * the configuration information for the specified ADC. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_ADC_Stop_DMA(ADC_HandleTypeDef* hadc) -{ - HAL_StatusTypeDef tmp_hal_status = HAL_OK; - - /* Check the parameters */ - assert_param(IS_ADC_ALL_INSTANCE(hadc->Instance)); - - /* Process locked */ - __HAL_LOCK(hadc); - - /* Stop potential conversion on going, on regular and injected groups */ - /* Disable ADC peripheral */ - __HAL_ADC_DISABLE(hadc); - - /* Check if ADC is effectively disabled */ - if(HAL_IS_BIT_CLR(hadc->Instance->CR2, ADC_CR2_ADON)) - { - /* Disable the selected ADC DMA mode */ - hadc->Instance->CR2 &= ~ADC_CR2_DMA; - - /* Disable the DMA channel (in case of DMA in circular mode or stop while */ - /* DMA transfer is on going) */ - if (hadc->DMA_Handle->State == HAL_DMA_STATE_BUSY) - { - tmp_hal_status = HAL_DMA_Abort(hadc->DMA_Handle); - - /* Check if DMA channel effectively disabled */ - if (tmp_hal_status != HAL_OK) - { - /* Update ADC state machine to error */ - SET_BIT(hadc->State, HAL_ADC_STATE_ERROR_DMA); - } - } - - /* Disable ADC overrun interrupt */ - __HAL_ADC_DISABLE_IT(hadc, ADC_IT_OVR); - - /* Set ADC state */ - ADC_STATE_CLR_SET(hadc->State, - HAL_ADC_STATE_REG_BUSY | HAL_ADC_STATE_INJ_BUSY, - HAL_ADC_STATE_READY); - } - - /* Process unlocked */ - __HAL_UNLOCK(hadc); - - /* Return function status */ - return tmp_hal_status; -} - -/** - * @brief Gets the converted value from data register of regular channel. - * @param hadc pointer to a ADC_HandleTypeDef structure that contains - * the configuration information for the specified ADC. - * @retval Converted value - */ -uint32_t HAL_ADC_GetValue(ADC_HandleTypeDef* hadc) -{ - /* Return the selected ADC converted value */ - return hadc->Instance->DR; -} - -/** - * @brief Regular conversion complete callback in non blocking mode - * @param hadc pointer to a ADC_HandleTypeDef structure that contains - * the configuration information for the specified ADC. - * @retval None - */ -__weak void HAL_ADC_ConvCpltCallback(ADC_HandleTypeDef* hadc) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hadc); - /* NOTE : This function Should not be modified, when the callback is needed, - the HAL_ADC_ConvCpltCallback could be implemented in the user file - */ -} - -/** - * @brief Regular conversion half DMA transfer callback in non blocking mode - * @param hadc pointer to a ADC_HandleTypeDef structure that contains - * the configuration information for the specified ADC. - * @retval None - */ -__weak void HAL_ADC_ConvHalfCpltCallback(ADC_HandleTypeDef* hadc) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hadc); - /* NOTE : This function Should not be modified, when the callback is needed, - the HAL_ADC_ConvHalfCpltCallback could be implemented in the user file - */ -} - -/** - * @brief Analog watchdog callback in non blocking mode - * @param hadc pointer to a ADC_HandleTypeDef structure that contains - * the configuration information for the specified ADC. - * @retval None - */ -__weak void HAL_ADC_LevelOutOfWindowCallback(ADC_HandleTypeDef* hadc) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hadc); - /* NOTE : This function Should not be modified, when the callback is needed, - the HAL_ADC_LevelOoutOfWindowCallback could be implemented in the user file - */ -} - -/** - * @brief Error ADC callback. - * @note In case of error due to overrun when using ADC with DMA transfer - * (HAL ADC handle paramater "ErrorCode" to state "HAL_ADC_ERROR_OVR"): - * - Reinitialize the DMA using function "HAL_ADC_Stop_DMA()". - * - If needed, restart a new ADC conversion using function - * "HAL_ADC_Start_DMA()" - * (this function is also clearing overrun flag) - * @param hadc pointer to a ADC_HandleTypeDef structure that contains - * the configuration information for the specified ADC. - * @retval None - */ -__weak void HAL_ADC_ErrorCallback(ADC_HandleTypeDef *hadc) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hadc); - /* NOTE : This function Should not be modified, when the callback is needed, - the HAL_ADC_ErrorCallback could be implemented in the user file - */ -} - -/** - * @} - */ - -/** @defgroup ADC_Exported_Functions_Group3 Peripheral Control functions - * @brief Peripheral Control functions - * -@verbatim - =============================================================================== - ##### Peripheral Control functions ##### - =============================================================================== - [..] This section provides functions allowing to: - (+) Configure regular channels. - (+) Configure injected channels. - (+) Configure multimode. - (+) Configure the analog watch dog. - -@endverbatim - * @{ - */ - - /** - * @brief Configures for the selected ADC regular channel its corresponding - * rank in the sequencer and its sample time. - * @param hadc pointer to a ADC_HandleTypeDef structure that contains - * the configuration information for the specified ADC. - * @param sConfig ADC configuration structure. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_ADC_ConfigChannel(ADC_HandleTypeDef* hadc, ADC_ChannelConfTypeDef* sConfig) -{ - __IO uint32_t counter = 0U; - ADC_Common_TypeDef *tmpADC_Common; - - /* Check the parameters */ - assert_param(IS_ADC_CHANNEL(sConfig->Channel)); - assert_param(IS_ADC_REGULAR_RANK(sConfig->Rank)); - assert_param(IS_ADC_SAMPLE_TIME(sConfig->SamplingTime)); - - /* Process locked */ - __HAL_LOCK(hadc); - - /* if ADC_Channel_10 ... ADC_Channel_18 is selected */ - if (sConfig->Channel > ADC_CHANNEL_9) - { - /* Clear the old sample time */ - hadc->Instance->SMPR1 &= ~ADC_SMPR1(ADC_SMPR1_SMP10, sConfig->Channel); - - /* Set the new sample time */ - hadc->Instance->SMPR1 |= ADC_SMPR1(sConfig->SamplingTime, sConfig->Channel); - } - else /* ADC_Channel include in ADC_Channel_[0..9] */ - { - /* Clear the old sample time */ - hadc->Instance->SMPR2 &= ~ADC_SMPR2(ADC_SMPR2_SMP0, sConfig->Channel); - - /* Set the new sample time */ - hadc->Instance->SMPR2 |= ADC_SMPR2(sConfig->SamplingTime, sConfig->Channel); - } - - /* For Rank 1 to 6 */ - if (sConfig->Rank < 7U) - { - /* Clear the old SQx bits for the selected rank */ - hadc->Instance->SQR3 &= ~ADC_SQR3_RK(ADC_SQR3_SQ1, sConfig->Rank); - - /* Set the SQx bits for the selected rank */ - hadc->Instance->SQR3 |= ADC_SQR3_RK(sConfig->Channel, sConfig->Rank); - } - /* For Rank 7 to 12 */ - else if (sConfig->Rank < 13U) - { - /* Clear the old SQx bits for the selected rank */ - hadc->Instance->SQR2 &= ~ADC_SQR2_RK(ADC_SQR2_SQ7, sConfig->Rank); - - /* Set the SQx bits for the selected rank */ - hadc->Instance->SQR2 |= ADC_SQR2_RK(sConfig->Channel, sConfig->Rank); - } - /* For Rank 13 to 16 */ - else - { - /* Clear the old SQx bits for the selected rank */ - hadc->Instance->SQR1 &= ~ADC_SQR1_RK(ADC_SQR1_SQ13, sConfig->Rank); - - /* Set the SQx bits for the selected rank */ - hadc->Instance->SQR1 |= ADC_SQR1_RK(sConfig->Channel, sConfig->Rank); - } - - /* Pointer to the common control register to which is belonging hadc */ - /* (Depending on STM32F4 product, there may be up to 3 ADCs and 1 common */ - /* control register) */ - tmpADC_Common = ADC_COMMON_REGISTER(hadc); - - /* if ADC1 Channel_18 is selected for VBAT Channel ennable VBATE */ - if ((hadc->Instance == ADC1) && (sConfig->Channel == ADC_CHANNEL_VBAT)) - { - /* Disable the TEMPSENSOR channel in case of using board with multiplixed ADC_CHANNEL_VBAT & ADC_CHANNEL_TEMPSENSOR*/ - if ((uint16_t)ADC_CHANNEL_TEMPSENSOR == (uint16_t)ADC_CHANNEL_VBAT) - { - tmpADC_Common->CCR &= ~ADC_CCR_TSVREFE; - } - /* Enable the VBAT channel*/ - tmpADC_Common->CCR |= ADC_CCR_VBATE; - } - - /* if ADC1 Channel_16 or Channel_18 is selected for Temperature sensor or - Channel_17 is selected for VREFINT enable TSVREFE */ - if ((hadc->Instance == ADC1) && ((sConfig->Channel == ADC_CHANNEL_TEMPSENSOR) || (sConfig->Channel == ADC_CHANNEL_VREFINT))) - { - /* Disable the VBAT channel in case of using board with multiplixed ADC_CHANNEL_VBAT & ADC_CHANNEL_TEMPSENSOR*/ - if ((uint16_t)ADC_CHANNEL_TEMPSENSOR == (uint16_t)ADC_CHANNEL_VBAT) - { - tmpADC_Common->CCR &= ~ADC_CCR_VBATE; - } - /* Enable the Temperature sensor and VREFINT channel*/ - tmpADC_Common->CCR |= ADC_CCR_TSVREFE; - - if(sConfig->Channel == ADC_CHANNEL_TEMPSENSOR) - { - /* Delay for temperature sensor stabilization time */ - /* Compute number of CPU cycles to wait for */ - counter = (ADC_TEMPSENSOR_DELAY_US * (SystemCoreClock / 1000000U)); - while(counter != 0U) - { - counter--; - } - } - } - - /* Process unlocked */ - __HAL_UNLOCK(hadc); - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Configures the analog watchdog. - * @note Analog watchdog thresholds can be modified while ADC conversion - * is on going. - * In this case, some constraints must be taken into account: - * The programmed threshold values are effective from the next - * ADC EOC (end of unitary conversion). - * Considering that registers write delay may happen due to - * bus activity, this might cause an uncertainty on the - * effective timing of the new programmed threshold values. - * @param hadc pointer to a ADC_HandleTypeDef structure that contains - * the configuration information for the specified ADC. - * @param AnalogWDGConfig pointer to an ADC_AnalogWDGConfTypeDef structure - * that contains the configuration information of ADC analog watchdog. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_ADC_AnalogWDGConfig(ADC_HandleTypeDef* hadc, ADC_AnalogWDGConfTypeDef* AnalogWDGConfig) -{ -#ifdef USE_FULL_ASSERT - uint32_t tmp = 0U; -#endif /* USE_FULL_ASSERT */ - - /* Check the parameters */ - assert_param(IS_ADC_ANALOG_WATCHDOG(AnalogWDGConfig->WatchdogMode)); - assert_param(IS_ADC_CHANNEL(AnalogWDGConfig->Channel)); - assert_param(IS_FUNCTIONAL_STATE(AnalogWDGConfig->ITMode)); - -#ifdef USE_FULL_ASSERT - tmp = ADC_GET_RESOLUTION(hadc); - assert_param(IS_ADC_RANGE(tmp, AnalogWDGConfig->HighThreshold)); - assert_param(IS_ADC_RANGE(tmp, AnalogWDGConfig->LowThreshold)); -#endif /* USE_FULL_ASSERT */ - - /* Process locked */ - __HAL_LOCK(hadc); - - if(AnalogWDGConfig->ITMode == ENABLE) - { - /* Enable the ADC Analog watchdog interrupt */ - __HAL_ADC_ENABLE_IT(hadc, ADC_IT_AWD); - } - else - { - /* Disable the ADC Analog watchdog interrupt */ - __HAL_ADC_DISABLE_IT(hadc, ADC_IT_AWD); - } - - /* Clear AWDEN, JAWDEN and AWDSGL bits */ - hadc->Instance->CR1 &= ~(ADC_CR1_AWDSGL | ADC_CR1_JAWDEN | ADC_CR1_AWDEN); - - /* Set the analog watchdog enable mode */ - hadc->Instance->CR1 |= AnalogWDGConfig->WatchdogMode; - - /* Set the high threshold */ - hadc->Instance->HTR = AnalogWDGConfig->HighThreshold; - - /* Set the low threshold */ - hadc->Instance->LTR = AnalogWDGConfig->LowThreshold; - - /* Clear the Analog watchdog channel select bits */ - hadc->Instance->CR1 &= ~ADC_CR1_AWDCH; - - /* Set the Analog watchdog channel */ - hadc->Instance->CR1 |= (uint32_t)((uint16_t)(AnalogWDGConfig->Channel)); - - /* Process unlocked */ - __HAL_UNLOCK(hadc); - - /* Return function status */ - return HAL_OK; -} - -/** - * @} - */ - -/** @defgroup ADC_Exported_Functions_Group4 ADC Peripheral State functions - * @brief ADC Peripheral State functions - * -@verbatim - =============================================================================== - ##### Peripheral State and errors functions ##### - =============================================================================== - [..] - This subsection provides functions allowing to - (+) Check the ADC state - (+) Check the ADC Error - -@endverbatim - * @{ - */ - -/** - * @brief return the ADC state - * @param hadc pointer to a ADC_HandleTypeDef structure that contains - * the configuration information for the specified ADC. - * @retval HAL state - */ -uint32_t HAL_ADC_GetState(ADC_HandleTypeDef* hadc) -{ - /* Return ADC state */ - return hadc->State; -} - -/** - * @brief Return the ADC error code - * @param hadc pointer to a ADC_HandleTypeDef structure that contains - * the configuration information for the specified ADC. - * @retval ADC Error Code - */ -uint32_t HAL_ADC_GetError(ADC_HandleTypeDef *hadc) -{ - return hadc->ErrorCode; -} - -/** - * @} - */ - -/** @addtogroup ADC_Private_Functions - * @{ - */ - -/** - * @brief Initializes the ADCx peripheral according to the specified parameters - * in the ADC_InitStruct without initializing the ADC MSP. - * @param hadc pointer to a ADC_HandleTypeDef structure that contains - * the configuration information for the specified ADC. - * @retval None - */ -static void ADC_Init(ADC_HandleTypeDef* hadc) -{ - ADC_Common_TypeDef *tmpADC_Common; - - /* Set ADC parameters */ - /* Pointer to the common control register to which is belonging hadc */ - /* (Depending on STM32F4 product, there may be up to 3 ADCs and 1 common */ - /* control register) */ - tmpADC_Common = ADC_COMMON_REGISTER(hadc); - - /* Set the ADC clock prescaler */ - tmpADC_Common->CCR &= ~(ADC_CCR_ADCPRE); - tmpADC_Common->CCR |= hadc->Init.ClockPrescaler; - - /* Set ADC scan mode */ - hadc->Instance->CR1 &= ~(ADC_CR1_SCAN); - hadc->Instance->CR1 |= ADC_CR1_SCANCONV(hadc->Init.ScanConvMode); - - /* Set ADC resolution */ - hadc->Instance->CR1 &= ~(ADC_CR1_RES); - hadc->Instance->CR1 |= hadc->Init.Resolution; - - /* Set ADC data alignment */ - hadc->Instance->CR2 &= ~(ADC_CR2_ALIGN); - hadc->Instance->CR2 |= hadc->Init.DataAlign; - - /* Enable external trigger if trigger selection is different of software */ - /* start. */ - /* Note: This configuration keeps the hardware feature of parameter */ - /* ExternalTrigConvEdge "trigger edge none" equivalent to */ - /* software start. */ - if(hadc->Init.ExternalTrigConv != ADC_SOFTWARE_START) - { - /* Select external trigger to start conversion */ - hadc->Instance->CR2 &= ~(ADC_CR2_EXTSEL); - hadc->Instance->CR2 |= hadc->Init.ExternalTrigConv; - - /* Select external trigger polarity */ - hadc->Instance->CR2 &= ~(ADC_CR2_EXTEN); - hadc->Instance->CR2 |= hadc->Init.ExternalTrigConvEdge; - } - else - { - /* Reset the external trigger */ - hadc->Instance->CR2 &= ~(ADC_CR2_EXTSEL); - hadc->Instance->CR2 &= ~(ADC_CR2_EXTEN); - } - - /* Enable or disable ADC continuous conversion mode */ - hadc->Instance->CR2 &= ~(ADC_CR2_CONT); - hadc->Instance->CR2 |= ADC_CR2_CONTINUOUS((uint32_t)hadc->Init.ContinuousConvMode); - - if(hadc->Init.DiscontinuousConvMode != DISABLE) - { - assert_param(IS_ADC_REGULAR_DISC_NUMBER(hadc->Init.NbrOfDiscConversion)); - - /* Enable the selected ADC regular discontinuous mode */ - hadc->Instance->CR1 |= (uint32_t)ADC_CR1_DISCEN; - - /* Set the number of channels to be converted in discontinuous mode */ - hadc->Instance->CR1 &= ~(ADC_CR1_DISCNUM); - hadc->Instance->CR1 |= ADC_CR1_DISCONTINUOUS(hadc->Init.NbrOfDiscConversion); - } - else - { - /* Disable the selected ADC regular discontinuous mode */ - hadc->Instance->CR1 &= ~(ADC_CR1_DISCEN); - } - - /* Set ADC number of conversion */ - hadc->Instance->SQR1 &= ~(ADC_SQR1_L); - hadc->Instance->SQR1 |= ADC_SQR1(hadc->Init.NbrOfConversion); - - /* Enable or disable ADC DMA continuous request */ - hadc->Instance->CR2 &= ~(ADC_CR2_DDS); - hadc->Instance->CR2 |= ADC_CR2_DMAContReq((uint32_t)hadc->Init.DMAContinuousRequests); - - /* Enable or disable ADC end of conversion selection */ - hadc->Instance->CR2 &= ~(ADC_CR2_EOCS); - hadc->Instance->CR2 |= ADC_CR2_EOCSelection(hadc->Init.EOCSelection); -} - -/** - * @brief DMA transfer complete callback. - * @param hdma pointer to a DMA_HandleTypeDef structure that contains - * the configuration information for the specified DMA module. - * @retval None - */ -static void ADC_DMAConvCplt(DMA_HandleTypeDef *hdma) -{ - /* Retrieve ADC handle corresponding to current DMA handle */ - ADC_HandleTypeDef* hadc = ( ADC_HandleTypeDef* )((DMA_HandleTypeDef* )hdma)->Parent; - - /* Update state machine on conversion status if not in error state */ - if (HAL_IS_BIT_CLR(hadc->State, HAL_ADC_STATE_ERROR_INTERNAL | HAL_ADC_STATE_ERROR_DMA)) - { - /* Update ADC state machine */ - SET_BIT(hadc->State, HAL_ADC_STATE_REG_EOC); - - /* Determine whether any further conversion upcoming on group regular */ - /* by external trigger, continuous mode or scan sequence on going. */ - /* Note: On STM32F4, there is no independent flag of end of sequence. */ - /* The test of scan sequence on going is done either with scan */ - /* sequence disabled or with end of conversion flag set to */ - /* of end of sequence. */ - if(ADC_IS_SOFTWARE_START_REGULAR(hadc) && - (hadc->Init.ContinuousConvMode == DISABLE) && - (HAL_IS_BIT_CLR(hadc->Instance->SQR1, ADC_SQR1_L) || - HAL_IS_BIT_CLR(hadc->Instance->CR2, ADC_CR2_EOCS) ) ) - { - /* Disable ADC end of single conversion interrupt on group regular */ - /* Note: Overrun interrupt was enabled with EOC interrupt in */ - /* HAL_ADC_Start_IT(), but is not disabled here because can be used */ - /* by overrun IRQ process below. */ - __HAL_ADC_DISABLE_IT(hadc, ADC_IT_EOC); - - /* Set ADC state */ - CLEAR_BIT(hadc->State, HAL_ADC_STATE_REG_BUSY); - - if (HAL_IS_BIT_CLR(hadc->State, HAL_ADC_STATE_INJ_BUSY)) - { - SET_BIT(hadc->State, HAL_ADC_STATE_READY); - } - } - - /* Conversion complete callback */ -#if (USE_HAL_ADC_REGISTER_CALLBACKS == 1) - hadc->ConvCpltCallback(hadc); -#else - HAL_ADC_ConvCpltCallback(hadc); -#endif /* USE_HAL_ADC_REGISTER_CALLBACKS */ - } - else /* DMA and-or internal error occurred */ - { - if ((hadc->State & HAL_ADC_STATE_ERROR_INTERNAL) != 0UL) - { - /* Call HAL ADC Error Callback function */ -#if (USE_HAL_ADC_REGISTER_CALLBACKS == 1) - hadc->ErrorCallback(hadc); -#else - HAL_ADC_ErrorCallback(hadc); -#endif /* USE_HAL_ADC_REGISTER_CALLBACKS */ - } - else - { - /* Call DMA error callback */ - hadc->DMA_Handle->XferErrorCallback(hdma); - } - } -} - -/** - * @brief DMA half transfer complete callback. - * @param hdma pointer to a DMA_HandleTypeDef structure that contains - * the configuration information for the specified DMA module. - * @retval None - */ -static void ADC_DMAHalfConvCplt(DMA_HandleTypeDef *hdma) -{ - ADC_HandleTypeDef* hadc = ( ADC_HandleTypeDef* )((DMA_HandleTypeDef* )hdma)->Parent; - /* Half conversion callback */ -#if (USE_HAL_ADC_REGISTER_CALLBACKS == 1) - hadc->ConvHalfCpltCallback(hadc); -#else - HAL_ADC_ConvHalfCpltCallback(hadc); -#endif /* USE_HAL_ADC_REGISTER_CALLBACKS */ -} - -/** - * @brief DMA error callback - * @param hdma pointer to a DMA_HandleTypeDef structure that contains - * the configuration information for the specified DMA module. - * @retval None - */ -static void ADC_DMAError(DMA_HandleTypeDef *hdma) -{ - ADC_HandleTypeDef* hadc = ( ADC_HandleTypeDef* )((DMA_HandleTypeDef* )hdma)->Parent; - hadc->State= HAL_ADC_STATE_ERROR_DMA; - /* Set ADC error code to DMA error */ - hadc->ErrorCode |= HAL_ADC_ERROR_DMA; - /* Error callback */ -#if (USE_HAL_ADC_REGISTER_CALLBACKS == 1) - hadc->ErrorCallback(hadc); -#else - HAL_ADC_ErrorCallback(hadc); -#endif /* USE_HAL_ADC_REGISTER_CALLBACKS */ -} - -/** - * @} - */ - -/** - * @} - */ - -#endif /* HAL_ADC_MODULE_ENABLED */ -/** - * @} - */ - -/** - * @} - */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c deleted file mode 100644 index 1b6ee8551b91cb..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c +++ /dev/null @@ -1,1115 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_adc_ex.c - * @author MCD Application Team - * @brief This file provides firmware functions to manage the following - * functionalities of the ADC extension peripheral: - * + Extended features functions - * - @verbatim - ============================================================================== - ##### How to use this driver ##### - ============================================================================== - [..] - (#)Initialize the ADC low level resources by implementing the HAL_ADC_MspInit(): - (##) Enable the ADC interface clock using __HAL_RCC_ADC_CLK_ENABLE() - (##) ADC pins configuration - (+++) Enable the clock for the ADC GPIOs using the following function: - __HAL_RCC_GPIOx_CLK_ENABLE() - (+++) Configure these ADC pins in analog mode using HAL_GPIO_Init() - (##) In case of using interrupts (e.g. HAL_ADC_Start_IT()) - (+++) Configure the ADC interrupt priority using HAL_NVIC_SetPriority() - (+++) Enable the ADC IRQ handler using HAL_NVIC_EnableIRQ() - (+++) In ADC IRQ handler, call HAL_ADC_IRQHandler() - (##) In case of using DMA to control data transfer (e.g. HAL_ADC_Start_DMA()) - (+++) Enable the DMAx interface clock using __HAL_RCC_DMAx_CLK_ENABLE() - (+++) Configure and enable two DMA streams stream for managing data - transfer from peripheral to memory (output stream) - (+++) Associate the initialized DMA handle to the ADC DMA handle - using __HAL_LINKDMA() - (+++) Configure the priority and enable the NVIC for the transfer complete - interrupt on the two DMA Streams. The output stream should have higher - priority than the input stream. - (#) Configure the ADC Prescaler, conversion resolution and data alignment - using the HAL_ADC_Init() function. - - (#) Configure the ADC Injected channels group features, use HAL_ADC_Init() - and HAL_ADC_ConfigChannel() functions. - - (#) Three operation modes are available within this driver: - - *** Polling mode IO operation *** - ================================= - [..] - (+) Start the ADC peripheral using HAL_ADCEx_InjectedStart() - (+) Wait for end of conversion using HAL_ADC_PollForConversion(), at this stage - user can specify the value of timeout according to his end application - (+) To read the ADC converted values, use the HAL_ADCEx_InjectedGetValue() function. - (+) Stop the ADC peripheral using HAL_ADCEx_InjectedStop() - - *** Interrupt mode IO operation *** - =================================== - [..] - (+) Start the ADC peripheral using HAL_ADCEx_InjectedStart_IT() - (+) Use HAL_ADC_IRQHandler() called under ADC_IRQHandler() Interrupt subroutine - (+) At ADC end of conversion HAL_ADCEx_InjectedConvCpltCallback() function is executed and user can - add his own code by customization of function pointer HAL_ADCEx_InjectedConvCpltCallback - (+) In case of ADC Error, HAL_ADCEx_InjectedErrorCallback() function is executed and user can - add his own code by customization of function pointer HAL_ADCEx_InjectedErrorCallback - (+) Stop the ADC peripheral using HAL_ADCEx_InjectedStop_IT() - - *** Multi mode ADCs Regular channels configuration *** - ====================================================== - [..] - (+) Select the Multi mode ADC regular channels features (dual or triple mode) - and configure the DMA mode using HAL_ADCEx_MultiModeConfigChannel() functions. - (+) Start the ADC peripheral using HAL_ADCEx_MultiModeStart_DMA(), at this stage the user specify the length - of data to be transferred at each end of conversion - (+) Read the ADCs converted values using the HAL_ADCEx_MultiModeGetValue() function. - - - @endverbatim - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @defgroup ADCEx ADCEx - * @brief ADC Extended driver modules - * @{ - */ - -#ifdef HAL_ADC_MODULE_ENABLED - -/* Private typedef -----------------------------------------------------------*/ -/* Private define ------------------------------------------------------------*/ -/* Private macro -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/** @addtogroup ADCEx_Private_Functions - * @{ - */ -/* Private function prototypes -----------------------------------------------*/ -static void ADC_MultiModeDMAConvCplt(DMA_HandleTypeDef *hdma); -static void ADC_MultiModeDMAError(DMA_HandleTypeDef *hdma); -static void ADC_MultiModeDMAHalfConvCplt(DMA_HandleTypeDef *hdma); -/** - * @} - */ - -/* Exported functions --------------------------------------------------------*/ -/** @defgroup ADCEx_Exported_Functions ADC Exported Functions - * @{ - */ - -/** @defgroup ADCEx_Exported_Functions_Group1 Extended features functions - * @brief Extended features functions - * -@verbatim - =============================================================================== - ##### Extended features functions ##### - =============================================================================== - [..] This section provides functions allowing to: - (+) Start conversion of injected channel. - (+) Stop conversion of injected channel. - (+) Start multimode and enable DMA transfer. - (+) Stop multimode and disable DMA transfer. - (+) Get result of injected channel conversion. - (+) Get result of multimode conversion. - (+) Configure injected channels. - (+) Configure multimode. - -@endverbatim - * @{ - */ - -/** - * @brief Enables the selected ADC software start conversion of the injected channels. - * @param hadc pointer to a ADC_HandleTypeDef structure that contains - * the configuration information for the specified ADC. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_ADCEx_InjectedStart(ADC_HandleTypeDef* hadc) -{ - __IO uint32_t counter = 0U; - uint32_t tmp1 = 0U, tmp2 = 0U; - ADC_Common_TypeDef *tmpADC_Common; - - /* Process locked */ - __HAL_LOCK(hadc); - - /* Enable the ADC peripheral */ - - /* Check if ADC peripheral is disabled in order to enable it and wait during - Tstab time the ADC's stabilization */ - if((hadc->Instance->CR2 & ADC_CR2_ADON) != ADC_CR2_ADON) - { - /* Enable the Peripheral */ - __HAL_ADC_ENABLE(hadc); - - /* Delay for ADC stabilization time */ - /* Compute number of CPU cycles to wait for */ - counter = (ADC_STAB_DELAY_US * (SystemCoreClock / 1000000U)); - while(counter != 0U) - { - counter--; - } - } - - /* Start conversion if ADC is effectively enabled */ - if(HAL_IS_BIT_SET(hadc->Instance->CR2, ADC_CR2_ADON)) - { - /* Set ADC state */ - /* - Clear state bitfield related to injected group conversion results */ - /* - Set state bitfield related to injected operation */ - ADC_STATE_CLR_SET(hadc->State, - HAL_ADC_STATE_READY | HAL_ADC_STATE_INJ_EOC, - HAL_ADC_STATE_INJ_BUSY); - - /* Check if a regular conversion is ongoing */ - /* Note: On this device, there is no ADC error code fields related to */ - /* conversions on group injected only. In case of conversion on */ - /* going on group regular, no error code is reset. */ - if (HAL_IS_BIT_CLR(hadc->State, HAL_ADC_STATE_REG_BUSY)) - { - /* Reset ADC all error code fields */ - ADC_CLEAR_ERRORCODE(hadc); - } - - /* Process unlocked */ - /* Unlock before starting ADC conversions: in case of potential */ - /* interruption, to let the process to ADC IRQ Handler. */ - __HAL_UNLOCK(hadc); - - /* Clear injected group conversion flag */ - /* (To ensure of no unknown state from potential previous ADC operations) */ - __HAL_ADC_CLEAR_FLAG(hadc, ADC_FLAG_JEOC); - - /* Pointer to the common control register to which is belonging hadc */ - /* (Depending on STM32F4 product, there may be up to 3 ADC and 1 common */ - /* control register) */ - tmpADC_Common = ADC_COMMON_REGISTER(hadc); - - /* Check if Multimode enabled */ - if(HAL_IS_BIT_CLR(tmpADC_Common->CCR, ADC_CCR_MULTI)) - { - tmp1 = HAL_IS_BIT_CLR(hadc->Instance->CR2, ADC_CR2_JEXTEN); - tmp2 = HAL_IS_BIT_CLR(hadc->Instance->CR1, ADC_CR1_JAUTO); - if(tmp1 && tmp2) - { - /* Enable the selected ADC software conversion for injected group */ - hadc->Instance->CR2 |= ADC_CR2_JSWSTART; - } - } - else - { - tmp1 = HAL_IS_BIT_CLR(hadc->Instance->CR2, ADC_CR2_JEXTEN); - tmp2 = HAL_IS_BIT_CLR(hadc->Instance->CR1, ADC_CR1_JAUTO); - if((hadc->Instance == ADC1) && tmp1 && tmp2) - { - /* Enable the selected ADC software conversion for injected group */ - hadc->Instance->CR2 |= ADC_CR2_JSWSTART; - } - } - } - else - { - /* Update ADC state machine to error */ - SET_BIT(hadc->State, HAL_ADC_STATE_ERROR_INTERNAL); - - /* Set ADC error code to ADC IP internal error */ - SET_BIT(hadc->ErrorCode, HAL_ADC_ERROR_INTERNAL); - } - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Enables the interrupt and starts ADC conversion of injected channels. - * @param hadc pointer to a ADC_HandleTypeDef structure that contains - * the configuration information for the specified ADC. - * - * @retval HAL status. - */ -HAL_StatusTypeDef HAL_ADCEx_InjectedStart_IT(ADC_HandleTypeDef* hadc) -{ - __IO uint32_t counter = 0U; - uint32_t tmp1 = 0U, tmp2 = 0U; - ADC_Common_TypeDef *tmpADC_Common; - - /* Process locked */ - __HAL_LOCK(hadc); - - /* Enable the ADC peripheral */ - - /* Check if ADC peripheral is disabled in order to enable it and wait during - Tstab time the ADC's stabilization */ - if((hadc->Instance->CR2 & ADC_CR2_ADON) != ADC_CR2_ADON) - { - /* Enable the Peripheral */ - __HAL_ADC_ENABLE(hadc); - - /* Delay for ADC stabilization time */ - /* Compute number of CPU cycles to wait for */ - counter = (ADC_STAB_DELAY_US * (SystemCoreClock / 1000000U)); - while(counter != 0U) - { - counter--; - } - } - - /* Start conversion if ADC is effectively enabled */ - if(HAL_IS_BIT_SET(hadc->Instance->CR2, ADC_CR2_ADON)) - { - /* Set ADC state */ - /* - Clear state bitfield related to injected group conversion results */ - /* - Set state bitfield related to injected operation */ - ADC_STATE_CLR_SET(hadc->State, - HAL_ADC_STATE_READY | HAL_ADC_STATE_INJ_EOC, - HAL_ADC_STATE_INJ_BUSY); - - /* Check if a regular conversion is ongoing */ - /* Note: On this device, there is no ADC error code fields related to */ - /* conversions on group injected only. In case of conversion on */ - /* going on group regular, no error code is reset. */ - if (HAL_IS_BIT_CLR(hadc->State, HAL_ADC_STATE_REG_BUSY)) - { - /* Reset ADC all error code fields */ - ADC_CLEAR_ERRORCODE(hadc); - } - - /* Process unlocked */ - /* Unlock before starting ADC conversions: in case of potential */ - /* interruption, to let the process to ADC IRQ Handler. */ - __HAL_UNLOCK(hadc); - - /* Clear injected group conversion flag */ - /* (To ensure of no unknown state from potential previous ADC operations) */ - __HAL_ADC_CLEAR_FLAG(hadc, ADC_FLAG_JEOC); - - /* Enable end of conversion interrupt for injected channels */ - __HAL_ADC_ENABLE_IT(hadc, ADC_IT_JEOC); - - /* Pointer to the common control register to which is belonging hadc */ - /* (Depending on STM32F4 product, there may be up to 3 ADC and 1 common */ - /* control register) */ - tmpADC_Common = ADC_COMMON_REGISTER(hadc); - - /* Check if Multimode enabled */ - if(HAL_IS_BIT_CLR(tmpADC_Common->CCR, ADC_CCR_MULTI)) - { - tmp1 = HAL_IS_BIT_CLR(hadc->Instance->CR2, ADC_CR2_JEXTEN); - tmp2 = HAL_IS_BIT_CLR(hadc->Instance->CR1, ADC_CR1_JAUTO); - if(tmp1 && tmp2) - { - /* Enable the selected ADC software conversion for injected group */ - hadc->Instance->CR2 |= ADC_CR2_JSWSTART; - } - } - else - { - tmp1 = HAL_IS_BIT_CLR(hadc->Instance->CR2, ADC_CR2_JEXTEN); - tmp2 = HAL_IS_BIT_CLR(hadc->Instance->CR1, ADC_CR1_JAUTO); - if((hadc->Instance == ADC1) && tmp1 && tmp2) - { - /* Enable the selected ADC software conversion for injected group */ - hadc->Instance->CR2 |= ADC_CR2_JSWSTART; - } - } - } - else - { - /* Update ADC state machine to error */ - SET_BIT(hadc->State, HAL_ADC_STATE_ERROR_INTERNAL); - - /* Set ADC error code to ADC IP internal error */ - SET_BIT(hadc->ErrorCode, HAL_ADC_ERROR_INTERNAL); - } - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Stop conversion of injected channels. Disable ADC peripheral if - * no regular conversion is on going. - * @note If ADC must be disabled and if conversion is on going on - * regular group, function HAL_ADC_Stop must be used to stop both - * injected and regular groups, and disable the ADC. - * @note If injected group mode auto-injection is enabled, - * function HAL_ADC_Stop must be used. - * @note In case of auto-injection mode, HAL_ADC_Stop must be used. - * @param hadc ADC handle - * @retval None - */ -HAL_StatusTypeDef HAL_ADCEx_InjectedStop(ADC_HandleTypeDef* hadc) -{ - HAL_StatusTypeDef tmp_hal_status = HAL_OK; - - /* Check the parameters */ - assert_param(IS_ADC_ALL_INSTANCE(hadc->Instance)); - - /* Process locked */ - __HAL_LOCK(hadc); - - /* Stop potential conversion and disable ADC peripheral */ - /* Conditioned to: */ - /* - No conversion on the other group (regular group) is intended to */ - /* continue (injected and regular groups stop conversion and ADC disable */ - /* are common) */ - /* - In case of auto-injection mode, HAL_ADC_Stop must be used. */ - if(((hadc->State & HAL_ADC_STATE_REG_BUSY) == RESET) && - HAL_IS_BIT_CLR(hadc->Instance->CR1, ADC_CR1_JAUTO) ) - { - /* Stop potential conversion on going, on regular and injected groups */ - /* Disable ADC peripheral */ - __HAL_ADC_DISABLE(hadc); - - /* Check if ADC is effectively disabled */ - if(HAL_IS_BIT_CLR(hadc->Instance->CR2, ADC_CR2_ADON)) - { - /* Set ADC state */ - ADC_STATE_CLR_SET(hadc->State, - HAL_ADC_STATE_REG_BUSY | HAL_ADC_STATE_INJ_BUSY, - HAL_ADC_STATE_READY); - } - } - else - { - /* Update ADC state machine to error */ - SET_BIT(hadc->State, HAL_ADC_STATE_ERROR_CONFIG); - - tmp_hal_status = HAL_ERROR; - } - - /* Process unlocked */ - __HAL_UNLOCK(hadc); - - /* Return function status */ - return tmp_hal_status; -} - -/** - * @brief Poll for injected conversion complete - * @param hadc pointer to a ADC_HandleTypeDef structure that contains - * the configuration information for the specified ADC. - * @param Timeout Timeout value in millisecond. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_ADCEx_InjectedPollForConversion(ADC_HandleTypeDef* hadc, uint32_t Timeout) -{ - uint32_t tickstart = 0U; - - /* Get tick */ - tickstart = HAL_GetTick(); - - /* Check End of conversion flag */ - while(!(__HAL_ADC_GET_FLAG(hadc, ADC_FLAG_JEOC))) - { - /* Check for the Timeout */ - if(Timeout != HAL_MAX_DELAY) - { - if((Timeout == 0U)||((HAL_GetTick() - tickstart ) > Timeout)) - { - /* New check to avoid false timeout detection in case of preemption */ - if(!(__HAL_ADC_GET_FLAG(hadc, ADC_FLAG_JEOC))) - { - hadc->State= HAL_ADC_STATE_TIMEOUT; - /* Process unlocked */ - __HAL_UNLOCK(hadc); - return HAL_TIMEOUT; - } - } - } - } - - /* Clear injected group conversion flag */ - __HAL_ADC_CLEAR_FLAG(hadc, ADC_FLAG_JSTRT | ADC_FLAG_JEOC); - - /* Update ADC state machine */ - SET_BIT(hadc->State, HAL_ADC_STATE_INJ_EOC); - - /* Determine whether any further conversion upcoming on group injected */ - /* by external trigger, continuous mode or scan sequence on going. */ - /* Note: On STM32F4, there is no independent flag of end of sequence. */ - /* The test of scan sequence on going is done either with scan */ - /* sequence disabled or with end of conversion flag set to */ - /* of end of sequence. */ - if(ADC_IS_SOFTWARE_START_INJECTED(hadc) && - (HAL_IS_BIT_CLR(hadc->Instance->JSQR, ADC_JSQR_JL) || - HAL_IS_BIT_CLR(hadc->Instance->CR2, ADC_CR2_EOCS) ) && - (HAL_IS_BIT_CLR(hadc->Instance->CR1, ADC_CR1_JAUTO) && - (ADC_IS_SOFTWARE_START_REGULAR(hadc) && - (hadc->Init.ContinuousConvMode == DISABLE) ) ) ) - { - /* Set ADC state */ - CLEAR_BIT(hadc->State, HAL_ADC_STATE_INJ_BUSY); - - if (HAL_IS_BIT_CLR(hadc->State, HAL_ADC_STATE_REG_BUSY)) - { - SET_BIT(hadc->State, HAL_ADC_STATE_READY); - } - } - - /* Return ADC state */ - return HAL_OK; -} - -/** - * @brief Stop conversion of injected channels, disable interruption of - * end-of-conversion. Disable ADC peripheral if no regular conversion - * is on going. - * @note If ADC must be disabled and if conversion is on going on - * regular group, function HAL_ADC_Stop must be used to stop both - * injected and regular groups, and disable the ADC. - * @note If injected group mode auto-injection is enabled, - * function HAL_ADC_Stop must be used. - * @param hadc ADC handle - * @retval None - */ -HAL_StatusTypeDef HAL_ADCEx_InjectedStop_IT(ADC_HandleTypeDef* hadc) -{ - HAL_StatusTypeDef tmp_hal_status = HAL_OK; - - /* Check the parameters */ - assert_param(IS_ADC_ALL_INSTANCE(hadc->Instance)); - - /* Process locked */ - __HAL_LOCK(hadc); - - /* Stop potential conversion and disable ADC peripheral */ - /* Conditioned to: */ - /* - No conversion on the other group (regular group) is intended to */ - /* continue (injected and regular groups stop conversion and ADC disable */ - /* are common) */ - /* - In case of auto-injection mode, HAL_ADC_Stop must be used. */ - if(((hadc->State & HAL_ADC_STATE_REG_BUSY) == RESET) && - HAL_IS_BIT_CLR(hadc->Instance->CR1, ADC_CR1_JAUTO) ) - { - /* Stop potential conversion on going, on regular and injected groups */ - /* Disable ADC peripheral */ - __HAL_ADC_DISABLE(hadc); - - /* Check if ADC is effectively disabled */ - if(HAL_IS_BIT_CLR(hadc->Instance->CR2, ADC_CR2_ADON)) - { - /* Disable ADC end of conversion interrupt for injected channels */ - __HAL_ADC_DISABLE_IT(hadc, ADC_IT_JEOC); - - /* Set ADC state */ - ADC_STATE_CLR_SET(hadc->State, - HAL_ADC_STATE_REG_BUSY | HAL_ADC_STATE_INJ_BUSY, - HAL_ADC_STATE_READY); - } - } - else - { - /* Update ADC state machine to error */ - SET_BIT(hadc->State, HAL_ADC_STATE_ERROR_CONFIG); - - tmp_hal_status = HAL_ERROR; - } - - /* Process unlocked */ - __HAL_UNLOCK(hadc); - - /* Return function status */ - return tmp_hal_status; -} - -/** - * @brief Gets the converted value from data register of injected channel. - * @param hadc pointer to a ADC_HandleTypeDef structure that contains - * the configuration information for the specified ADC. - * @param InjectedRank the ADC injected rank. - * This parameter can be one of the following values: - * @arg ADC_INJECTED_RANK_1: Injected Channel1 selected - * @arg ADC_INJECTED_RANK_2: Injected Channel2 selected - * @arg ADC_INJECTED_RANK_3: Injected Channel3 selected - * @arg ADC_INJECTED_RANK_4: Injected Channel4 selected - * @retval None - */ -uint32_t HAL_ADCEx_InjectedGetValue(ADC_HandleTypeDef* hadc, uint32_t InjectedRank) -{ - __IO uint32_t tmp = 0U; - - /* Check the parameters */ - assert_param(IS_ADC_INJECTED_RANK(InjectedRank)); - - /* Clear injected group conversion flag to have similar behaviour as */ - /* regular group: reading data register also clears end of conversion flag. */ - __HAL_ADC_CLEAR_FLAG(hadc, ADC_FLAG_JEOC); - - /* Return the selected ADC converted value */ - switch(InjectedRank) - { - case ADC_INJECTED_RANK_4: - { - tmp = hadc->Instance->JDR4; - } - break; - case ADC_INJECTED_RANK_3: - { - tmp = hadc->Instance->JDR3; - } - break; - case ADC_INJECTED_RANK_2: - { - tmp = hadc->Instance->JDR2; - } - break; - case ADC_INJECTED_RANK_1: - { - tmp = hadc->Instance->JDR1; - } - break; - default: - break; - } - return tmp; -} - -/** - * @brief Enables ADC DMA request after last transfer (Multi-ADC mode) and enables ADC peripheral - * - * @note Caution: This function must be used only with the ADC master. - * - * @param hadc pointer to a ADC_HandleTypeDef structure that contains - * the configuration information for the specified ADC. - * @param pData Pointer to buffer in which transferred from ADC peripheral to memory will be stored. - * @param Length The length of data to be transferred from ADC peripheral to memory. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_ADCEx_MultiModeStart_DMA(ADC_HandleTypeDef* hadc, uint32_t* pData, uint32_t Length) -{ - __IO uint32_t counter = 0U; - ADC_Common_TypeDef *tmpADC_Common; - - /* Check the parameters */ - assert_param(IS_FUNCTIONAL_STATE(hadc->Init.ContinuousConvMode)); - assert_param(IS_ADC_EXT_TRIG_EDGE(hadc->Init.ExternalTrigConvEdge)); - assert_param(IS_FUNCTIONAL_STATE(hadc->Init.DMAContinuousRequests)); - - /* Process locked */ - __HAL_LOCK(hadc); - - /* Check if ADC peripheral is disabled in order to enable it and wait during - Tstab time the ADC's stabilization */ - if((hadc->Instance->CR2 & ADC_CR2_ADON) != ADC_CR2_ADON) - { - /* Enable the Peripheral */ - __HAL_ADC_ENABLE(hadc); - - /* Delay for temperature sensor stabilization time */ - /* Compute number of CPU cycles to wait for */ - counter = (ADC_STAB_DELAY_US * (SystemCoreClock / 1000000U)); - while(counter != 0U) - { - counter--; - } - } - - /* Start conversion if ADC is effectively enabled */ - if(HAL_IS_BIT_SET(hadc->Instance->CR2, ADC_CR2_ADON)) - { - /* Set ADC state */ - /* - Clear state bitfield related to regular group conversion results */ - /* - Set state bitfield related to regular group operation */ - ADC_STATE_CLR_SET(hadc->State, - HAL_ADC_STATE_READY | HAL_ADC_STATE_REG_EOC | HAL_ADC_STATE_REG_OVR, - HAL_ADC_STATE_REG_BUSY); - - /* If conversions on group regular are also triggering group injected, */ - /* update ADC state. */ - if (READ_BIT(hadc->Instance->CR1, ADC_CR1_JAUTO) != RESET) - { - ADC_STATE_CLR_SET(hadc->State, HAL_ADC_STATE_INJ_EOC, HAL_ADC_STATE_INJ_BUSY); - } - - /* State machine update: Check if an injected conversion is ongoing */ - if (HAL_IS_BIT_SET(hadc->State, HAL_ADC_STATE_INJ_BUSY)) - { - /* Reset ADC error code fields related to conversions on group regular */ - CLEAR_BIT(hadc->ErrorCode, (HAL_ADC_ERROR_OVR | HAL_ADC_ERROR_DMA)); - } - else - { - /* Reset ADC all error code fields */ - ADC_CLEAR_ERRORCODE(hadc); - } - - /* Process unlocked */ - /* Unlock before starting ADC conversions: in case of potential */ - /* interruption, to let the process to ADC IRQ Handler. */ - __HAL_UNLOCK(hadc); - - /* Set the DMA transfer complete callback */ - hadc->DMA_Handle->XferCpltCallback = ADC_MultiModeDMAConvCplt; - - /* Set the DMA half transfer complete callback */ - hadc->DMA_Handle->XferHalfCpltCallback = ADC_MultiModeDMAHalfConvCplt; - - /* Set the DMA error callback */ - hadc->DMA_Handle->XferErrorCallback = ADC_MultiModeDMAError ; - - /* Manage ADC and DMA start: ADC overrun interruption, DMA start, ADC */ - /* start (in case of SW start): */ - - /* Clear regular group conversion flag and overrun flag */ - /* (To ensure of no unknown state from potential previous ADC operations) */ - __HAL_ADC_CLEAR_FLAG(hadc, ADC_FLAG_EOC); - - /* Enable ADC overrun interrupt */ - __HAL_ADC_ENABLE_IT(hadc, ADC_IT_OVR); - - /* Pointer to the common control register to which is belonging hadc */ - /* (Depending on STM32F4 product, there may be up to 3 ADC and 1 common */ - /* control register) */ - tmpADC_Common = ADC_COMMON_REGISTER(hadc); - - if (hadc->Init.DMAContinuousRequests != DISABLE) - { - /* Enable the selected ADC DMA request after last transfer */ - tmpADC_Common->CCR |= ADC_CCR_DDS; - } - else - { - /* Disable the selected ADC EOC rising on each regular channel conversion */ - tmpADC_Common->CCR &= ~ADC_CCR_DDS; - } - - /* Enable the DMA Stream */ - HAL_DMA_Start_IT(hadc->DMA_Handle, (uint32_t)&tmpADC_Common->CDR, (uint32_t)pData, Length); - - /* if no external trigger present enable software conversion of regular channels */ - if((hadc->Instance->CR2 & ADC_CR2_EXTEN) == RESET) - { - /* Enable the selected ADC software conversion for regular group */ - hadc->Instance->CR2 |= (uint32_t)ADC_CR2_SWSTART; - } - } - else - { - /* Update ADC state machine to error */ - SET_BIT(hadc->State, HAL_ADC_STATE_ERROR_INTERNAL); - - /* Set ADC error code to ADC IP internal error */ - SET_BIT(hadc->ErrorCode, HAL_ADC_ERROR_INTERNAL); - } - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Disables ADC DMA (multi-ADC mode) and disables ADC peripheral - * @param hadc pointer to a ADC_HandleTypeDef structure that contains - * the configuration information for the specified ADC. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_ADCEx_MultiModeStop_DMA(ADC_HandleTypeDef* hadc) -{ - HAL_StatusTypeDef tmp_hal_status = HAL_OK; - ADC_Common_TypeDef *tmpADC_Common; - - /* Check the parameters */ - assert_param(IS_ADC_ALL_INSTANCE(hadc->Instance)); - - /* Process locked */ - __HAL_LOCK(hadc); - - /* Stop potential conversion on going, on regular and injected groups */ - /* Disable ADC peripheral */ - __HAL_ADC_DISABLE(hadc); - - /* Pointer to the common control register to which is belonging hadc */ - /* (Depending on STM32F4 product, there may be up to 3 ADC and 1 common */ - /* control register) */ - tmpADC_Common = ADC_COMMON_REGISTER(hadc); - - /* Check if ADC is effectively disabled */ - if(HAL_IS_BIT_CLR(hadc->Instance->CR2, ADC_CR2_ADON)) - { - /* Disable the selected ADC DMA mode for multimode */ - tmpADC_Common->CCR &= ~ADC_CCR_DDS; - - /* Disable the DMA channel (in case of DMA in circular mode or stop while */ - /* DMA transfer is on going) */ - tmp_hal_status = HAL_DMA_Abort(hadc->DMA_Handle); - - /* Disable ADC overrun interrupt */ - __HAL_ADC_DISABLE_IT(hadc, ADC_IT_OVR); - - /* Set ADC state */ - ADC_STATE_CLR_SET(hadc->State, - HAL_ADC_STATE_REG_BUSY | HAL_ADC_STATE_INJ_BUSY, - HAL_ADC_STATE_READY); - } - - /* Process unlocked */ - __HAL_UNLOCK(hadc); - - /* Return function status */ - return tmp_hal_status; -} - -/** - * @brief Returns the last ADC1, ADC2 and ADC3 regular conversions results - * data in the selected multi mode. - * @param hadc pointer to a ADC_HandleTypeDef structure that contains - * the configuration information for the specified ADC. - * @retval The converted data value. - */ -uint32_t HAL_ADCEx_MultiModeGetValue(ADC_HandleTypeDef* hadc) -{ - ADC_Common_TypeDef *tmpADC_Common; - UNUSED(hadc); // TODO: check if not breaks something! - - /* Pointer to the common control register to which is belonging hadc */ - /* (Depending on STM32F4 product, there may be up to 3 ADC and 1 common */ - /* control register) */ - tmpADC_Common = ADC_COMMON_REGISTER(hadc); - - /* Return the multi mode conversion value */ - return tmpADC_Common->CDR; -} - -/** - * @brief Injected conversion complete callback in non blocking mode - * @param hadc pointer to a ADC_HandleTypeDef structure that contains - * the configuration information for the specified ADC. - * @retval None - */ -__weak void HAL_ADCEx_InjectedConvCpltCallback(ADC_HandleTypeDef* hadc) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hadc); - /* NOTE : This function Should not be modified, when the callback is needed, - the HAL_ADC_InjectedConvCpltCallback could be implemented in the user file - */ -} - -/** - * @brief Configures for the selected ADC injected channel its corresponding - * rank in the sequencer and its sample time. - * @param hadc pointer to a ADC_HandleTypeDef structure that contains - * the configuration information for the specified ADC. - * @param sConfigInjected ADC configuration structure for injected channel. - * @retval None - */ -HAL_StatusTypeDef HAL_ADCEx_InjectedConfigChannel(ADC_HandleTypeDef* hadc, ADC_InjectionConfTypeDef* sConfigInjected) -{ - -#ifdef USE_FULL_ASSERT - uint32_t tmp = 0U; - -#endif /* USE_FULL_ASSERT */ - - ADC_Common_TypeDef *tmpADC_Common; - - /* Check the parameters */ - assert_param(IS_ADC_CHANNEL(sConfigInjected->InjectedChannel)); - assert_param(IS_ADC_INJECTED_RANK(sConfigInjected->InjectedRank)); - assert_param(IS_ADC_SAMPLE_TIME(sConfigInjected->InjectedSamplingTime)); - assert_param(IS_ADC_EXT_INJEC_TRIG(sConfigInjected->ExternalTrigInjecConv)); - assert_param(IS_ADC_INJECTED_LENGTH(sConfigInjected->InjectedNbrOfConversion)); - assert_param(IS_FUNCTIONAL_STATE(sConfigInjected->AutoInjectedConv)); - assert_param(IS_FUNCTIONAL_STATE(sConfigInjected->InjectedDiscontinuousConvMode)); - -#ifdef USE_FULL_ASSERT - tmp = ADC_GET_RESOLUTION(hadc); - assert_param(IS_ADC_RANGE(tmp, sConfigInjected->InjectedOffset)); -#endif /* USE_FULL_ASSERT */ - - if(sConfigInjected->ExternalTrigInjecConv != ADC_INJECTED_SOFTWARE_START) - { - assert_param(IS_ADC_EXT_INJEC_TRIG_EDGE(sConfigInjected->ExternalTrigInjecConvEdge)); - } - - /* Process locked */ - __HAL_LOCK(hadc); - - /* if ADC_Channel_10 ... ADC_Channel_18 is selected */ - if (sConfigInjected->InjectedChannel > ADC_CHANNEL_9) - { - /* Clear the old sample time */ - hadc->Instance->SMPR1 &= ~ADC_SMPR1(ADC_SMPR1_SMP10, sConfigInjected->InjectedChannel); - - /* Set the new sample time */ - hadc->Instance->SMPR1 |= ADC_SMPR1(sConfigInjected->InjectedSamplingTime, sConfigInjected->InjectedChannel); - } - else /* ADC_Channel include in ADC_Channel_[0..9] */ - { - /* Clear the old sample time */ - hadc->Instance->SMPR2 &= ~ADC_SMPR2(ADC_SMPR2_SMP0, sConfigInjected->InjectedChannel); - - /* Set the new sample time */ - hadc->Instance->SMPR2 |= ADC_SMPR2(sConfigInjected->InjectedSamplingTime, sConfigInjected->InjectedChannel); - } - - /*---------------------------- ADCx JSQR Configuration -----------------*/ - hadc->Instance->JSQR &= ~(ADC_JSQR_JL); - hadc->Instance->JSQR |= ADC_SQR1(sConfigInjected->InjectedNbrOfConversion); - - /* Rank configuration */ - - /* Clear the old SQx bits for the selected rank */ - hadc->Instance->JSQR &= ~ADC_JSQR(ADC_JSQR_JSQ1, sConfigInjected->InjectedRank,sConfigInjected->InjectedNbrOfConversion); - - /* Set the SQx bits for the selected rank */ - hadc->Instance->JSQR |= ADC_JSQR(sConfigInjected->InjectedChannel, sConfigInjected->InjectedRank,sConfigInjected->InjectedNbrOfConversion); - - /* Enable external trigger if trigger selection is different of software */ - /* start. */ - /* Note: This configuration keeps the hardware feature of parameter */ - /* ExternalTrigConvEdge "trigger edge none" equivalent to */ - /* software start. */ - if(sConfigInjected->ExternalTrigInjecConv != ADC_INJECTED_SOFTWARE_START) - { - /* Select external trigger to start conversion */ - hadc->Instance->CR2 &= ~(ADC_CR2_JEXTSEL); - hadc->Instance->CR2 |= sConfigInjected->ExternalTrigInjecConv; - - /* Select external trigger polarity */ - hadc->Instance->CR2 &= ~(ADC_CR2_JEXTEN); - hadc->Instance->CR2 |= sConfigInjected->ExternalTrigInjecConvEdge; - } - else - { - /* Reset the external trigger */ - hadc->Instance->CR2 &= ~(ADC_CR2_JEXTSEL); - hadc->Instance->CR2 &= ~(ADC_CR2_JEXTEN); - } - - if (sConfigInjected->AutoInjectedConv != DISABLE) - { - /* Enable the selected ADC automatic injected group conversion */ - hadc->Instance->CR1 |= ADC_CR1_JAUTO; - } - else - { - /* Disable the selected ADC automatic injected group conversion */ - hadc->Instance->CR1 &= ~(ADC_CR1_JAUTO); - } - - if (sConfigInjected->InjectedDiscontinuousConvMode != DISABLE) - { - /* Enable the selected ADC injected discontinuous mode */ - hadc->Instance->CR1 |= ADC_CR1_JDISCEN; - } - else - { - /* Disable the selected ADC injected discontinuous mode */ - hadc->Instance->CR1 &= ~(ADC_CR1_JDISCEN); - } - - switch(sConfigInjected->InjectedRank) - { - case 1U: - /* Set injected channel 1 offset */ - hadc->Instance->JOFR1 &= ~(ADC_JOFR1_JOFFSET1); - hadc->Instance->JOFR1 |= sConfigInjected->InjectedOffset; - break; - case 2U: - /* Set injected channel 2 offset */ - hadc->Instance->JOFR2 &= ~(ADC_JOFR2_JOFFSET2); - hadc->Instance->JOFR2 |= sConfigInjected->InjectedOffset; - break; - case 3U: - /* Set injected channel 3 offset */ - hadc->Instance->JOFR3 &= ~(ADC_JOFR3_JOFFSET3); - hadc->Instance->JOFR3 |= sConfigInjected->InjectedOffset; - break; - default: - /* Set injected channel 4 offset */ - hadc->Instance->JOFR4 &= ~(ADC_JOFR4_JOFFSET4); - hadc->Instance->JOFR4 |= sConfigInjected->InjectedOffset; - break; - } - - /* Pointer to the common control register to which is belonging hadc */ - /* (Depending on STM32F4 product, there may be up to 3 ADC and 1 common */ - /* control register) */ - tmpADC_Common = ADC_COMMON_REGISTER(hadc); - - /* if ADC1 Channel_18 is selected enable VBAT Channel */ - if ((hadc->Instance == ADC1) && (sConfigInjected->InjectedChannel == ADC_CHANNEL_VBAT)) - { - /* Enable the VBAT channel*/ - tmpADC_Common->CCR |= ADC_CCR_VBATE; - } - - /* if ADC1 Channel_16 or Channel_17 is selected enable TSVREFE Channel(Temperature sensor and VREFINT) */ - if ((hadc->Instance == ADC1) && ((sConfigInjected->InjectedChannel == ADC_CHANNEL_TEMPSENSOR) || (sConfigInjected->InjectedChannel == ADC_CHANNEL_VREFINT))) - { - /* Enable the TSVREFE channel*/ - tmpADC_Common->CCR |= ADC_CCR_TSVREFE; - } - - /* Process unlocked */ - __HAL_UNLOCK(hadc); - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Configures the ADC multi-mode - * @param hadc pointer to a ADC_HandleTypeDef structure that contains - * the configuration information for the specified ADC. - * @param multimode pointer to an ADC_MultiModeTypeDef structure that contains - * the configuration information for multimode. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_ADCEx_MultiModeConfigChannel(ADC_HandleTypeDef* hadc, ADC_MultiModeTypeDef* multimode) -{ - - ADC_Common_TypeDef *tmpADC_Common; - - /* Check the parameters */ - assert_param(IS_ADC_MODE(multimode->Mode)); - assert_param(IS_ADC_DMA_ACCESS_MODE(multimode->DMAAccessMode)); - assert_param(IS_ADC_SAMPLING_DELAY(multimode->TwoSamplingDelay)); - - /* Process locked */ - __HAL_LOCK(hadc); - - /* Pointer to the common control register to which is belonging hadc */ - /* (Depending on STM32F4 product, there may be up to 3 ADC and 1 common */ - /* control register) */ - tmpADC_Common = ADC_COMMON_REGISTER(hadc); - - /* Set ADC mode */ - tmpADC_Common->CCR &= ~(ADC_CCR_MULTI); - tmpADC_Common->CCR |= multimode->Mode; - - /* Set the ADC DMA access mode */ - tmpADC_Common->CCR &= ~(ADC_CCR_DMA); - tmpADC_Common->CCR |= multimode->DMAAccessMode; - - /* Set delay between two sampling phases */ - tmpADC_Common->CCR &= ~(ADC_CCR_DELAY); - tmpADC_Common->CCR |= multimode->TwoSamplingDelay; - - /* Process unlocked */ - __HAL_UNLOCK(hadc); - - /* Return function status */ - return HAL_OK; -} - -/** - * @} - */ - -/** - * @brief DMA transfer complete callback. - * @param hdma pointer to a DMA_HandleTypeDef structure that contains - * the configuration information for the specified DMA module. - * @retval None - */ -static void ADC_MultiModeDMAConvCplt(DMA_HandleTypeDef *hdma) -{ - /* Retrieve ADC handle corresponding to current DMA handle */ - ADC_HandleTypeDef* hadc = ( ADC_HandleTypeDef* )((DMA_HandleTypeDef* )hdma)->Parent; - - /* Update state machine on conversion status if not in error state */ - if (HAL_IS_BIT_CLR(hadc->State, HAL_ADC_STATE_ERROR_INTERNAL | HAL_ADC_STATE_ERROR_DMA)) - { - /* Update ADC state machine */ - SET_BIT(hadc->State, HAL_ADC_STATE_REG_EOC); - - /* Determine whether any further conversion upcoming on group regular */ - /* by external trigger, continuous mode or scan sequence on going. */ - /* Note: On STM32F4, there is no independent flag of end of sequence. */ - /* The test of scan sequence on going is done either with scan */ - /* sequence disabled or with end of conversion flag set to */ - /* of end of sequence. */ - if(ADC_IS_SOFTWARE_START_REGULAR(hadc) && - (hadc->Init.ContinuousConvMode == DISABLE) && - (HAL_IS_BIT_CLR(hadc->Instance->SQR1, ADC_SQR1_L) || - HAL_IS_BIT_CLR(hadc->Instance->CR2, ADC_CR2_EOCS) ) ) - { - /* Disable ADC end of single conversion interrupt on group regular */ - /* Note: Overrun interrupt was enabled with EOC interrupt in */ - /* HAL_ADC_Start_IT(), but is not disabled here because can be used */ - /* by overrun IRQ process below. */ - __HAL_ADC_DISABLE_IT(hadc, ADC_IT_EOC); - - /* Set ADC state */ - CLEAR_BIT(hadc->State, HAL_ADC_STATE_REG_BUSY); - - if (HAL_IS_BIT_CLR(hadc->State, HAL_ADC_STATE_INJ_BUSY)) - { - SET_BIT(hadc->State, HAL_ADC_STATE_READY); - } - } - - /* Conversion complete callback */ - HAL_ADC_ConvCpltCallback(hadc); - } - else - { - /* Call DMA error callback */ - hadc->DMA_Handle->XferErrorCallback(hdma); - } -} - -/** - * @brief DMA half transfer complete callback. - * @param hdma pointer to a DMA_HandleTypeDef structure that contains - * the configuration information for the specified DMA module. - * @retval None - */ -static void ADC_MultiModeDMAHalfConvCplt(DMA_HandleTypeDef *hdma) -{ - ADC_HandleTypeDef* hadc = ( ADC_HandleTypeDef* )((DMA_HandleTypeDef* )hdma)->Parent; - /* Conversion complete callback */ - HAL_ADC_ConvHalfCpltCallback(hadc); -} - -/** - * @brief DMA error callback - * @param hdma pointer to a DMA_HandleTypeDef structure that contains - * the configuration information for the specified DMA module. - * @retval None - */ -static void ADC_MultiModeDMAError(DMA_HandleTypeDef *hdma) -{ - ADC_HandleTypeDef* hadc = ( ADC_HandleTypeDef* )((DMA_HandleTypeDef* )hdma)->Parent; - hadc->State= HAL_ADC_STATE_ERROR_DMA; - /* Set ADC error code to DMA error */ - hadc->ErrorCode |= HAL_ADC_ERROR_DMA; - HAL_ADC_ErrorCallback(hadc); -} - -/** - * @} - */ - -#endif /* HAL_ADC_MODULE_ENABLED */ -/** - * @} - */ - -/** - * @} - */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c deleted file mode 100644 index 3e03475802ed7a..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c +++ /dev/null @@ -1,2464 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_can.c - * @author MCD Application Team - * @brief CAN HAL module driver. - * This file provides firmware functions to manage the following - * functionalities of the Controller Area Network (CAN) peripheral: - * + Initialization and de-initialization functions - * + Configuration functions - * + Control functions - * + Interrupts management - * + Callbacks functions - * + Peripheral State and Error functions - * - @verbatim - ============================================================================== - ##### How to use this driver ##### - ============================================================================== - [..] - (#) Initialize the CAN low level resources by implementing the - HAL_CAN_MspInit(): - (++) Enable the CAN interface clock using __HAL_RCC_CANx_CLK_ENABLE() - (++) Configure CAN pins - (+++) Enable the clock for the CAN GPIOs - (+++) Configure CAN pins as alternate function open-drain - (++) In case of using interrupts (e.g. HAL_CAN_ActivateNotification()) - (+++) Configure the CAN interrupt priority using - HAL_NVIC_SetPriority() - (+++) Enable the CAN IRQ handler using HAL_NVIC_EnableIRQ() - (+++) In CAN IRQ handler, call HAL_CAN_IRQHandler() - - (#) Initialize the CAN peripheral using HAL_CAN_Init() function. This - function resorts to HAL_CAN_MspInit() for low-level initialization. - - (#) Configure the reception filters using the following configuration - functions: - (++) HAL_CAN_ConfigFilter() - - (#) Start the CAN module using HAL_CAN_Start() function. At this level - the node is active on the bus: it receive messages, and can send - messages. - - (#) To manage messages transmission, the following Tx control functions - can be used: - (++) HAL_CAN_AddTxMessage() to request transmission of a new - message. - (++) HAL_CAN_AbortTxRequest() to abort transmission of a pending - message. - (++) HAL_CAN_GetTxMailboxesFreeLevel() to get the number of free Tx - mailboxes. - (++) HAL_CAN_IsTxMessagePending() to check if a message is pending - in a Tx mailbox. - (++) HAL_CAN_GetTxTimestamp() to get the timestamp of Tx message - sent, if time triggered communication mode is enabled. - - (#) When a message is received into the CAN Rx FIFOs, it can be retrieved - using the HAL_CAN_GetRxMessage() function. The function - HAL_CAN_GetRxFifoFillLevel() allows to know how many Rx message are - stored in the Rx Fifo. - - (#) Calling the HAL_CAN_Stop() function stops the CAN module. - - (#) The deinitialization is achieved with HAL_CAN_DeInit() function. - - - *** Polling mode operation *** - ============================== - [..] - (#) Reception: - (++) Monitor reception of message using HAL_CAN_GetRxFifoFillLevel() - until at least one message is received. - (++) Then get the message using HAL_CAN_GetRxMessage(). - - (#) Transmission: - (++) Monitor the Tx mailboxes availability until at least one Tx - mailbox is free, using HAL_CAN_GetTxMailboxesFreeLevel(). - (++) Then request transmission of a message using - HAL_CAN_AddTxMessage(). - - - *** Interrupt mode operation *** - ================================ - [..] - (#) Notifications are activated using HAL_CAN_ActivateNotification() - function. Then, the process can be controlled through the - available user callbacks: HAL_CAN_xxxCallback(), using same APIs - HAL_CAN_GetRxMessage() and HAL_CAN_AddTxMessage(). - - (#) Notifications can be deactivated using - HAL_CAN_DeactivateNotification() function. - - (#) Special care should be taken for CAN_IT_RX_FIFO0_MSG_PENDING and - CAN_IT_RX_FIFO1_MSG_PENDING notifications. These notifications trig - the callbacks HAL_CAN_RxFIFO0MsgPendingCallback() and - HAL_CAN_RxFIFO1MsgPendingCallback(). User has two possible options - here. - (++) Directly get the Rx message in the callback, using - HAL_CAN_GetRxMessage(). - (++) Or deactivate the notification in the callback without - getting the Rx message. The Rx message can then be got later - using HAL_CAN_GetRxMessage(). Once the Rx message have been - read, the notification can be activated again. - - - *** Sleep mode *** - ================== - [..] - (#) The CAN peripheral can be put in sleep mode (low power), using - HAL_CAN_RequestSleep(). The sleep mode will be entered as soon as the - current CAN activity (transmission or reception of a CAN frame) will - be completed. - - (#) A notification can be activated to be informed when the sleep mode - will be entered. - - (#) It can be checked if the sleep mode is entered using - HAL_CAN_IsSleepActive(). - Note that the CAN state (accessible from the API HAL_CAN_GetState()) - is HAL_CAN_STATE_SLEEP_PENDING as soon as the sleep mode request is - submitted (the sleep mode is not yet entered), and become - HAL_CAN_STATE_SLEEP_ACTIVE when the sleep mode is effective. - - (#) The wake-up from sleep mode can be triggered by two ways: - (++) Using HAL_CAN_WakeUp(). When returning from this function, - the sleep mode is exited (if return status is HAL_OK). - (++) When a start of Rx CAN frame is detected by the CAN peripheral, - if automatic wake up mode is enabled. - - *** Callback registration *** - ============================================= - - The compilation define USE_HAL_CAN_REGISTER_CALLBACKS when set to 1 - allows the user to configure dynamically the driver callbacks. - Use Function HAL_CAN_RegisterCallback() to register an interrupt callback. - - Function HAL_CAN_RegisterCallback() allows to register following callbacks: - (+) TxMailbox0CompleteCallback : Tx Mailbox 0 Complete Callback. - (+) TxMailbox1CompleteCallback : Tx Mailbox 1 Complete Callback. - (+) TxMailbox2CompleteCallback : Tx Mailbox 2 Complete Callback. - (+) TxMailbox0AbortCallback : Tx Mailbox 0 Abort Callback. - (+) TxMailbox1AbortCallback : Tx Mailbox 1 Abort Callback. - (+) TxMailbox2AbortCallback : Tx Mailbox 2 Abort Callback. - (+) RxFifo0MsgPendingCallback : Rx Fifo 0 Message Pending Callback. - (+) RxFifo0FullCallback : Rx Fifo 0 Full Callback. - (+) RxFifo1MsgPendingCallback : Rx Fifo 1 Message Pending Callback. - (+) RxFifo1FullCallback : Rx Fifo 1 Full Callback. - (+) SleepCallback : Sleep Callback. - (+) WakeUpFromRxMsgCallback : Wake Up From Rx Message Callback. - (+) ErrorCallback : Error Callback. - (+) MspInitCallback : CAN MspInit. - (+) MspDeInitCallback : CAN MspDeInit. - This function takes as parameters the HAL peripheral handle, the Callback ID - and a pointer to the user callback function. - - Use function HAL_CAN_UnRegisterCallback() to reset a callback to the default - weak function. - HAL_CAN_UnRegisterCallback takes as parameters the HAL peripheral handle, - and the Callback ID. - This function allows to reset following callbacks: - (+) TxMailbox0CompleteCallback : Tx Mailbox 0 Complete Callback. - (+) TxMailbox1CompleteCallback : Tx Mailbox 1 Complete Callback. - (+) TxMailbox2CompleteCallback : Tx Mailbox 2 Complete Callback. - (+) TxMailbox0AbortCallback : Tx Mailbox 0 Abort Callback. - (+) TxMailbox1AbortCallback : Tx Mailbox 1 Abort Callback. - (+) TxMailbox2AbortCallback : Tx Mailbox 2 Abort Callback. - (+) RxFifo0MsgPendingCallback : Rx Fifo 0 Message Pending Callback. - (+) RxFifo0FullCallback : Rx Fifo 0 Full Callback. - (+) RxFifo1MsgPendingCallback : Rx Fifo 1 Message Pending Callback. - (+) RxFifo1FullCallback : Rx Fifo 1 Full Callback. - (+) SleepCallback : Sleep Callback. - (+) WakeUpFromRxMsgCallback : Wake Up From Rx Message Callback. - (+) ErrorCallback : Error Callback. - (+) MspInitCallback : CAN MspInit. - (+) MspDeInitCallback : CAN MspDeInit. - - By default, after the HAL_CAN_Init() and when the state is HAL_CAN_STATE_RESET, - all callbacks are set to the corresponding weak functions: - example HAL_CAN_ErrorCallback(). - Exception done for MspInit and MspDeInit functions that are - reset to the legacy weak function in the HAL_CAN_Init()/ HAL_CAN_DeInit() only when - these callbacks are null (not registered beforehand). - if not, MspInit or MspDeInit are not null, the HAL_CAN_Init()/ HAL_CAN_DeInit() - keep and use the user MspInit/MspDeInit callbacks (registered beforehand) - - Callbacks can be registered/unregistered in HAL_CAN_STATE_READY state only. - Exception done MspInit/MspDeInit that can be registered/unregistered - in HAL_CAN_STATE_READY or HAL_CAN_STATE_RESET state, - thus registered (user) MspInit/DeInit callbacks can be used during the Init/DeInit. - In that case first register the MspInit/MspDeInit user callbacks - using HAL_CAN_RegisterCallback() before calling HAL_CAN_DeInit() - or HAL_CAN_Init() function. - - When The compilation define USE_HAL_CAN_REGISTER_CALLBACKS is set to 0 or - not defined, the callback registration feature is not available and all callbacks - are set to the corresponding weak functions. - - @endverbatim - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -#if defined(CAN1) - -/** @defgroup CAN CAN - * @brief CAN driver modules - * @{ - */ - -#ifdef HAL_CAN_MODULE_ENABLED - -#ifdef HAL_CAN_LEGACY_MODULE_ENABLED - #error "The CAN driver cannot be used with its legacy, Please enable only one CAN module at once" -#endif - -/* Private typedef -----------------------------------------------------------*/ -/* Private define ------------------------------------------------------------*/ -/** @defgroup CAN_Private_Constants CAN Private Constants - * @{ - */ -#define CAN_TIMEOUT_VALUE 10U -/** - * @} - */ -/* Private macro -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private function prototypes -----------------------------------------------*/ -/* Exported functions --------------------------------------------------------*/ - -/** @defgroup CAN_Exported_Functions CAN Exported Functions - * @{ - */ - -/** @defgroup CAN_Exported_Functions_Group1 Initialization and de-initialization functions - * @brief Initialization and Configuration functions - * -@verbatim - ============================================================================== - ##### Initialization and de-initialization functions ##### - ============================================================================== - [..] This section provides functions allowing to: - (+) HAL_CAN_Init : Initialize and configure the CAN. - (+) HAL_CAN_DeInit : De-initialize the CAN. - (+) HAL_CAN_MspInit : Initialize the CAN MSP. - (+) HAL_CAN_MspDeInit : DeInitialize the CAN MSP. - -@endverbatim - * @{ - */ - -/** - * @brief Initializes the CAN peripheral according to the specified - * parameters in the CAN_InitStruct. - * @param hcan pointer to a CAN_HandleTypeDef structure that contains - * the configuration information for the specified CAN. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_CAN_Init(CAN_HandleTypeDef *hcan) -{ - uint32_t tickstart; - - /* Check CAN handle */ - if (hcan == NULL) - { - return HAL_ERROR; - } - - /* Check the parameters */ - assert_param(IS_CAN_ALL_INSTANCE(hcan->Instance)); - assert_param(IS_FUNCTIONAL_STATE(hcan->Init.TimeTriggeredMode)); - assert_param(IS_FUNCTIONAL_STATE(hcan->Init.AutoBusOff)); - assert_param(IS_FUNCTIONAL_STATE(hcan->Init.AutoWakeUp)); - assert_param(IS_FUNCTIONAL_STATE(hcan->Init.AutoRetransmission)); - assert_param(IS_FUNCTIONAL_STATE(hcan->Init.ReceiveFifoLocked)); - assert_param(IS_FUNCTIONAL_STATE(hcan->Init.TransmitFifoPriority)); - assert_param(IS_CAN_MODE(hcan->Init.Mode)); - assert_param(IS_CAN_SJW(hcan->Init.SyncJumpWidth)); - assert_param(IS_CAN_BS1(hcan->Init.TimeSeg1)); - assert_param(IS_CAN_BS2(hcan->Init.TimeSeg2)); - assert_param(IS_CAN_PRESCALER(hcan->Init.Prescaler)); - -#if USE_HAL_CAN_REGISTER_CALLBACKS == 1 - if (hcan->State == HAL_CAN_STATE_RESET) - { - /* Reset callbacks to legacy functions */ - hcan->RxFifo0MsgPendingCallback = HAL_CAN_RxFifo0MsgPendingCallback; /* Legacy weak RxFifo0MsgPendingCallback */ - hcan->RxFifo0FullCallback = HAL_CAN_RxFifo0FullCallback; /* Legacy weak RxFifo0FullCallback */ - hcan->RxFifo1MsgPendingCallback = HAL_CAN_RxFifo1MsgPendingCallback; /* Legacy weak RxFifo1MsgPendingCallback */ - hcan->RxFifo1FullCallback = HAL_CAN_RxFifo1FullCallback; /* Legacy weak RxFifo1FullCallback */ - hcan->TxMailbox0CompleteCallback = HAL_CAN_TxMailbox0CompleteCallback; /* Legacy weak TxMailbox0CompleteCallback */ - hcan->TxMailbox1CompleteCallback = HAL_CAN_TxMailbox1CompleteCallback; /* Legacy weak TxMailbox1CompleteCallback */ - hcan->TxMailbox2CompleteCallback = HAL_CAN_TxMailbox2CompleteCallback; /* Legacy weak TxMailbox2CompleteCallback */ - hcan->TxMailbox0AbortCallback = HAL_CAN_TxMailbox0AbortCallback; /* Legacy weak TxMailbox0AbortCallback */ - hcan->TxMailbox1AbortCallback = HAL_CAN_TxMailbox1AbortCallback; /* Legacy weak TxMailbox1AbortCallback */ - hcan->TxMailbox2AbortCallback = HAL_CAN_TxMailbox2AbortCallback; /* Legacy weak TxMailbox2AbortCallback */ - hcan->SleepCallback = HAL_CAN_SleepCallback; /* Legacy weak SleepCallback */ - hcan->WakeUpFromRxMsgCallback = HAL_CAN_WakeUpFromRxMsgCallback; /* Legacy weak WakeUpFromRxMsgCallback */ - hcan->ErrorCallback = HAL_CAN_ErrorCallback; /* Legacy weak ErrorCallback */ - - if (hcan->MspInitCallback == NULL) - { - hcan->MspInitCallback = HAL_CAN_MspInit; /* Legacy weak MspInit */ - } - - /* Init the low level hardware: CLOCK, NVIC */ - hcan->MspInitCallback(hcan); - } - -#else - if (hcan->State == HAL_CAN_STATE_RESET) - { - /* Init the low level hardware: CLOCK, NVIC */ - HAL_CAN_MspInit(hcan); - } -#endif /* (USE_HAL_CAN_REGISTER_CALLBACKS) */ - - /* Request initialisation */ - SET_BIT(hcan->Instance->MCR, CAN_MCR_INRQ); - - /* Get tick */ - tickstart = HAL_GetTick(); - - /* Wait initialisation acknowledge */ - while ((hcan->Instance->MSR & CAN_MSR_INAK) == 0U) - { - if ((HAL_GetTick() - tickstart) > CAN_TIMEOUT_VALUE) - { - /* Update error code */ - hcan->ErrorCode |= HAL_CAN_ERROR_TIMEOUT; - - /* Change CAN state */ - hcan->State = HAL_CAN_STATE_ERROR; - - return HAL_ERROR; - } - } - - /* Exit from sleep mode */ - CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_SLEEP); - - /* Get tick */ - tickstart = HAL_GetTick(); - - /* Check Sleep mode leave acknowledge */ - while ((hcan->Instance->MSR & CAN_MSR_SLAK) != 0U) - { - if ((HAL_GetTick() - tickstart) > CAN_TIMEOUT_VALUE) - { - /* Update error code */ - hcan->ErrorCode |= HAL_CAN_ERROR_TIMEOUT; - - /* Change CAN state */ - hcan->State = HAL_CAN_STATE_ERROR; - - return HAL_ERROR; - } - } - - /* Set the time triggered communication mode */ - if (hcan->Init.TimeTriggeredMode == ENABLE) - { - SET_BIT(hcan->Instance->MCR, CAN_MCR_TTCM); - } - else - { - CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_TTCM); - } - - /* Set the automatic bus-off management */ - if (hcan->Init.AutoBusOff == ENABLE) - { - SET_BIT(hcan->Instance->MCR, CAN_MCR_ABOM); - } - else - { - CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_ABOM); - } - - /* Set the automatic wake-up mode */ - if (hcan->Init.AutoWakeUp == ENABLE) - { - SET_BIT(hcan->Instance->MCR, CAN_MCR_AWUM); - } - else - { - CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_AWUM); - } - - /* Set the automatic retransmission */ - if (hcan->Init.AutoRetransmission == ENABLE) - { - CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_NART); - } - else - { - SET_BIT(hcan->Instance->MCR, CAN_MCR_NART); - } - - /* Set the receive FIFO locked mode */ - if (hcan->Init.ReceiveFifoLocked == ENABLE) - { - SET_BIT(hcan->Instance->MCR, CAN_MCR_RFLM); - } - else - { - CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_RFLM); - } - - /* Set the transmit FIFO priority */ - if (hcan->Init.TransmitFifoPriority == ENABLE) - { - SET_BIT(hcan->Instance->MCR, CAN_MCR_TXFP); - } - else - { - CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_TXFP); - } - - /* Set the bit timing register */ - WRITE_REG(hcan->Instance->BTR, (uint32_t)(hcan->Init.Mode | - hcan->Init.SyncJumpWidth | - hcan->Init.TimeSeg1 | - hcan->Init.TimeSeg2 | - (hcan->Init.Prescaler - 1U))); - - /* Initialize the error code */ - hcan->ErrorCode = HAL_CAN_ERROR_NONE; - - /* Initialize the CAN state */ - hcan->State = HAL_CAN_STATE_READY; - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Deinitializes the CAN peripheral registers to their default - * reset values. - * @param hcan pointer to a CAN_HandleTypeDef structure that contains - * the configuration information for the specified CAN. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_CAN_DeInit(CAN_HandleTypeDef *hcan) -{ - /* Check CAN handle */ - if (hcan == NULL) - { - return HAL_ERROR; - } - - /* Check the parameters */ - assert_param(IS_CAN_ALL_INSTANCE(hcan->Instance)); - - /* Stop the CAN module */ - (void)HAL_CAN_Stop(hcan); - -#if USE_HAL_CAN_REGISTER_CALLBACKS == 1 - if (hcan->MspDeInitCallback == NULL) - { - hcan->MspDeInitCallback = HAL_CAN_MspDeInit; /* Legacy weak MspDeInit */ - } - - /* DeInit the low level hardware: CLOCK, NVIC */ - hcan->MspDeInitCallback(hcan); - -#else - /* DeInit the low level hardware: CLOCK, NVIC */ - HAL_CAN_MspDeInit(hcan); -#endif /* (USE_HAL_CAN_REGISTER_CALLBACKS) */ - - /* Reset the CAN peripheral */ - SET_BIT(hcan->Instance->MCR, CAN_MCR_RESET); - - /* Reset the CAN ErrorCode */ - hcan->ErrorCode = HAL_CAN_ERROR_NONE; - - /* Change CAN state */ - hcan->State = HAL_CAN_STATE_RESET; - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Initializes the CAN MSP. - * @param hcan pointer to a CAN_HandleTypeDef structure that contains - * the configuration information for the specified CAN. - * @retval None - */ -__weak void HAL_CAN_MspInit(CAN_HandleTypeDef *hcan) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hcan); - - /* NOTE : This function Should not be modified, when the callback is needed, - the HAL_CAN_MspInit could be implemented in the user file - */ -} - -/** - * @brief DeInitializes the CAN MSP. - * @param hcan pointer to a CAN_HandleTypeDef structure that contains - * the configuration information for the specified CAN. - * @retval None - */ -__weak void HAL_CAN_MspDeInit(CAN_HandleTypeDef *hcan) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hcan); - - /* NOTE : This function Should not be modified, when the callback is needed, - the HAL_CAN_MspDeInit could be implemented in the user file - */ -} - -#if USE_HAL_CAN_REGISTER_CALLBACKS == 1 -/** - * @brief Register a CAN CallBack. - * To be used instead of the weak predefined callback - * @param hcan pointer to a CAN_HandleTypeDef structure that contains - * the configuration information for CAN module - * @param CallbackID ID of the callback to be registered - * This parameter can be one of the following values: - * @arg @ref HAL_CAN_TX_MAILBOX0_COMPLETE_CB_ID Tx Mailbox 0 Complete callback ID - * @arg @ref HAL_CAN_TX_MAILBOX1_COMPLETE_CB_ID Tx Mailbox 1 Complete callback ID - * @arg @ref HAL_CAN_TX_MAILBOX2_COMPLETE_CB_ID Tx Mailbox 2 Complete callback ID - * @arg @ref HAL_CAN_TX_MAILBOX0_ABORT_CB_ID Tx Mailbox 0 Abort callback ID - * @arg @ref HAL_CAN_TX_MAILBOX1_ABORT_CB_ID Tx Mailbox 1 Abort callback ID - * @arg @ref HAL_CAN_TX_MAILBOX2_ABORT_CB_ID Tx Mailbox 2 Abort callback ID - * @arg @ref HAL_CAN_RX_FIFO0_MSG_PENDING_CB_ID Rx Fifo 0 message pending callback ID - * @arg @ref HAL_CAN_RX_FIFO0_FULL_CB_ID Rx Fifo 0 full callback ID - * @arg @ref HAL_CAN_RX_FIFO1_MSG_PENDING_CB_ID Rx Fifo 1 message pending callback ID - * @arg @ref HAL_CAN_RX_FIFO1_FULL_CB_ID Rx Fifo 1 full callback ID - * @arg @ref HAL_CAN_SLEEP_CB_ID Sleep callback ID - * @arg @ref HAL_CAN_WAKEUP_FROM_RX_MSG_CB_ID Wake Up from Rx message callback ID - * @arg @ref HAL_CAN_ERROR_CB_ID Error callback ID - * @arg @ref HAL_CAN_MSPINIT_CB_ID MspInit callback ID - * @arg @ref HAL_CAN_MSPDEINIT_CB_ID MspDeInit callback ID - * @param pCallback pointer to the Callback function - * @retval HAL status - */ -HAL_StatusTypeDef HAL_CAN_RegisterCallback(CAN_HandleTypeDef *hcan, HAL_CAN_CallbackIDTypeDef CallbackID, void (* pCallback)(CAN_HandleTypeDef *_hcan)) -{ - HAL_StatusTypeDef status = HAL_OK; - - if (pCallback == NULL) - { - /* Update the error code */ - hcan->ErrorCode |= HAL_CAN_ERROR_INVALID_CALLBACK; - - return HAL_ERROR; - } - - if (hcan->State == HAL_CAN_STATE_READY) - { - switch (CallbackID) - { - case HAL_CAN_TX_MAILBOX0_COMPLETE_CB_ID : - hcan->TxMailbox0CompleteCallback = pCallback; - break; - - case HAL_CAN_TX_MAILBOX1_COMPLETE_CB_ID : - hcan->TxMailbox1CompleteCallback = pCallback; - break; - - case HAL_CAN_TX_MAILBOX2_COMPLETE_CB_ID : - hcan->TxMailbox2CompleteCallback = pCallback; - break; - - case HAL_CAN_TX_MAILBOX0_ABORT_CB_ID : - hcan->TxMailbox0AbortCallback = pCallback; - break; - - case HAL_CAN_TX_MAILBOX1_ABORT_CB_ID : - hcan->TxMailbox1AbortCallback = pCallback; - break; - - case HAL_CAN_TX_MAILBOX2_ABORT_CB_ID : - hcan->TxMailbox2AbortCallback = pCallback; - break; - - case HAL_CAN_RX_FIFO0_MSG_PENDING_CB_ID : - hcan->RxFifo0MsgPendingCallback = pCallback; - break; - - case HAL_CAN_RX_FIFO0_FULL_CB_ID : - hcan->RxFifo0FullCallback = pCallback; - break; - - case HAL_CAN_RX_FIFO1_MSG_PENDING_CB_ID : - hcan->RxFifo1MsgPendingCallback = pCallback; - break; - - case HAL_CAN_RX_FIFO1_FULL_CB_ID : - hcan->RxFifo1FullCallback = pCallback; - break; - - case HAL_CAN_SLEEP_CB_ID : - hcan->SleepCallback = pCallback; - break; - - case HAL_CAN_WAKEUP_FROM_RX_MSG_CB_ID : - hcan->WakeUpFromRxMsgCallback = pCallback; - break; - - case HAL_CAN_ERROR_CB_ID : - hcan->ErrorCallback = pCallback; - break; - - case HAL_CAN_MSPINIT_CB_ID : - hcan->MspInitCallback = pCallback; - break; - - case HAL_CAN_MSPDEINIT_CB_ID : - hcan->MspDeInitCallback = pCallback; - break; - - default : - /* Update the error code */ - hcan->ErrorCode |= HAL_CAN_ERROR_INVALID_CALLBACK; - - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else if (hcan->State == HAL_CAN_STATE_RESET) - { - switch (CallbackID) - { - case HAL_CAN_MSPINIT_CB_ID : - hcan->MspInitCallback = pCallback; - break; - - case HAL_CAN_MSPDEINIT_CB_ID : - hcan->MspDeInitCallback = pCallback; - break; - - default : - /* Update the error code */ - hcan->ErrorCode |= HAL_CAN_ERROR_INVALID_CALLBACK; - - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else - { - /* Update the error code */ - hcan->ErrorCode |= HAL_CAN_ERROR_INVALID_CALLBACK; - - /* Return error status */ - status = HAL_ERROR; - } - - return status; -} - -/** - * @brief Unregister a CAN CallBack. - * CAN callabck is redirected to the weak predefined callback - * @param hcan pointer to a CAN_HandleTypeDef structure that contains - * the configuration information for CAN module - * @param CallbackID ID of the callback to be unregistered - * This parameter can be one of the following values: - * @arg @ref HAL_CAN_TX_MAILBOX0_COMPLETE_CB_ID Tx Mailbox 0 Complete callback ID - * @arg @ref HAL_CAN_TX_MAILBOX1_COMPLETE_CB_ID Tx Mailbox 1 Complete callback ID - * @arg @ref HAL_CAN_TX_MAILBOX2_COMPLETE_CB_ID Tx Mailbox 2 Complete callback ID - * @arg @ref HAL_CAN_TX_MAILBOX0_ABORT_CB_ID Tx Mailbox 0 Abort callback ID - * @arg @ref HAL_CAN_TX_MAILBOX1_ABORT_CB_ID Tx Mailbox 1 Abort callback ID - * @arg @ref HAL_CAN_TX_MAILBOX2_ABORT_CB_ID Tx Mailbox 2 Abort callback ID - * @arg @ref HAL_CAN_RX_FIFO0_MSG_PENDING_CB_ID Rx Fifo 0 message pending callback ID - * @arg @ref HAL_CAN_RX_FIFO0_FULL_CB_ID Rx Fifo 0 full callback ID - * @arg @ref HAL_CAN_RX_FIFO1_MSG_PENDING_CB_ID Rx Fifo 1 message pending callback ID - * @arg @ref HAL_CAN_RX_FIFO1_FULL_CB_ID Rx Fifo 1 full callback ID - * @arg @ref HAL_CAN_SLEEP_CB_ID Sleep callback ID - * @arg @ref HAL_CAN_WAKEUP_FROM_RX_MSG_CB_ID Wake Up from Rx message callback ID - * @arg @ref HAL_CAN_ERROR_CB_ID Error callback ID - * @arg @ref HAL_CAN_MSPINIT_CB_ID MspInit callback ID - * @arg @ref HAL_CAN_MSPDEINIT_CB_ID MspDeInit callback ID - * @retval HAL status - */ -HAL_StatusTypeDef HAL_CAN_UnRegisterCallback(CAN_HandleTypeDef *hcan, HAL_CAN_CallbackIDTypeDef CallbackID) -{ - HAL_StatusTypeDef status = HAL_OK; - - if (hcan->State == HAL_CAN_STATE_READY) - { - switch (CallbackID) - { - case HAL_CAN_TX_MAILBOX0_COMPLETE_CB_ID : - hcan->TxMailbox0CompleteCallback = HAL_CAN_TxMailbox0CompleteCallback; - break; - - case HAL_CAN_TX_MAILBOX1_COMPLETE_CB_ID : - hcan->TxMailbox1CompleteCallback = HAL_CAN_TxMailbox1CompleteCallback; - break; - - case HAL_CAN_TX_MAILBOX2_COMPLETE_CB_ID : - hcan->TxMailbox2CompleteCallback = HAL_CAN_TxMailbox2CompleteCallback; - break; - - case HAL_CAN_TX_MAILBOX0_ABORT_CB_ID : - hcan->TxMailbox0AbortCallback = HAL_CAN_TxMailbox0AbortCallback; - break; - - case HAL_CAN_TX_MAILBOX1_ABORT_CB_ID : - hcan->TxMailbox1AbortCallback = HAL_CAN_TxMailbox1AbortCallback; - break; - - case HAL_CAN_TX_MAILBOX2_ABORT_CB_ID : - hcan->TxMailbox2AbortCallback = HAL_CAN_TxMailbox2AbortCallback; - break; - - case HAL_CAN_RX_FIFO0_MSG_PENDING_CB_ID : - hcan->RxFifo0MsgPendingCallback = HAL_CAN_RxFifo0MsgPendingCallback; - break; - - case HAL_CAN_RX_FIFO0_FULL_CB_ID : - hcan->RxFifo0FullCallback = HAL_CAN_RxFifo0FullCallback; - break; - - case HAL_CAN_RX_FIFO1_MSG_PENDING_CB_ID : - hcan->RxFifo1MsgPendingCallback = HAL_CAN_RxFifo1MsgPendingCallback; - break; - - case HAL_CAN_RX_FIFO1_FULL_CB_ID : - hcan->RxFifo1FullCallback = HAL_CAN_RxFifo1FullCallback; - break; - - case HAL_CAN_SLEEP_CB_ID : - hcan->SleepCallback = HAL_CAN_SleepCallback; - break; - - case HAL_CAN_WAKEUP_FROM_RX_MSG_CB_ID : - hcan->WakeUpFromRxMsgCallback = HAL_CAN_WakeUpFromRxMsgCallback; - break; - - case HAL_CAN_ERROR_CB_ID : - hcan->ErrorCallback = HAL_CAN_ErrorCallback; - break; - - case HAL_CAN_MSPINIT_CB_ID : - hcan->MspInitCallback = HAL_CAN_MspInit; - break; - - case HAL_CAN_MSPDEINIT_CB_ID : - hcan->MspDeInitCallback = HAL_CAN_MspDeInit; - break; - - default : - /* Update the error code */ - hcan->ErrorCode |= HAL_CAN_ERROR_INVALID_CALLBACK; - - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else if (hcan->State == HAL_CAN_STATE_RESET) - { - switch (CallbackID) - { - case HAL_CAN_MSPINIT_CB_ID : - hcan->MspInitCallback = HAL_CAN_MspInit; - break; - - case HAL_CAN_MSPDEINIT_CB_ID : - hcan->MspDeInitCallback = HAL_CAN_MspDeInit; - break; - - default : - /* Update the error code */ - hcan->ErrorCode |= HAL_CAN_ERROR_INVALID_CALLBACK; - - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else - { - /* Update the error code */ - hcan->ErrorCode |= HAL_CAN_ERROR_INVALID_CALLBACK; - - /* Return error status */ - status = HAL_ERROR; - } - - return status; -} -#endif /* USE_HAL_CAN_REGISTER_CALLBACKS */ - -/** - * @} - */ - -/** @defgroup CAN_Exported_Functions_Group2 Configuration functions - * @brief Configuration functions. - * -@verbatim - ============================================================================== - ##### Configuration functions ##### - ============================================================================== - [..] This section provides functions allowing to: - (+) HAL_CAN_ConfigFilter : Configure the CAN reception filters - -@endverbatim - * @{ - */ - -/** - * @brief Configures the CAN reception filter according to the specified - * parameters in the CAN_FilterInitStruct. - * @param hcan pointer to a CAN_HandleTypeDef structure that contains - * the configuration information for the specified CAN. - * @param sFilterConfig pointer to a CAN_FilterTypeDef structure that - * contains the filter configuration information. - * @retval None - */ -HAL_StatusTypeDef HAL_CAN_ConfigFilter(CAN_HandleTypeDef *hcan, CAN_FilterTypeDef *sFilterConfig) -{ - uint32_t filternbrbitpos; - CAN_TypeDef *can_ip = hcan->Instance; - HAL_CAN_StateTypeDef state = hcan->State; - - if ((state == HAL_CAN_STATE_READY) || - (state == HAL_CAN_STATE_LISTENING)) - { - /* Check the parameters */ - assert_param(IS_CAN_FILTER_ID_HALFWORD(sFilterConfig->FilterIdHigh)); - assert_param(IS_CAN_FILTER_ID_HALFWORD(sFilterConfig->FilterIdLow)); - assert_param(IS_CAN_FILTER_ID_HALFWORD(sFilterConfig->FilterMaskIdHigh)); - assert_param(IS_CAN_FILTER_ID_HALFWORD(sFilterConfig->FilterMaskIdLow)); - assert_param(IS_CAN_FILTER_MODE(sFilterConfig->FilterMode)); - assert_param(IS_CAN_FILTER_SCALE(sFilterConfig->FilterScale)); - assert_param(IS_CAN_FILTER_FIFO(sFilterConfig->FilterFIFOAssignment)); - assert_param(IS_CAN_FILTER_ACTIVATION(sFilterConfig->FilterActivation)); - -#if defined(CAN3) - /* Check the CAN instance */ - if (hcan->Instance == CAN3) - { - /* CAN3 is single instance with 14 dedicated filters banks */ - - /* Check the parameters */ - assert_param(IS_CAN_FILTER_BANK_SINGLE(sFilterConfig->FilterBank)); - } - else - { - /* CAN1 and CAN2 are dual instances with 28 common filters banks */ - /* Select master instance to access the filter banks */ - can_ip = CAN1; - - /* Check the parameters */ - assert_param(IS_CAN_FILTER_BANK_DUAL(sFilterConfig->FilterBank)); - assert_param(IS_CAN_FILTER_BANK_DUAL(sFilterConfig->SlaveStartFilterBank)); - } -#elif defined(CAN2) - /* CAN1 and CAN2 are dual instances with 28 common filters banks */ - /* Select master instance to access the filter banks */ - can_ip = CAN1; - - /* Check the parameters */ - assert_param(IS_CAN_FILTER_BANK_DUAL(sFilterConfig->FilterBank)); - assert_param(IS_CAN_FILTER_BANK_DUAL(sFilterConfig->SlaveStartFilterBank)); -#else - /* CAN1 is single instance with 14 dedicated filters banks */ - - /* Check the parameters */ - assert_param(IS_CAN_FILTER_BANK_SINGLE(sFilterConfig->FilterBank)); -#endif - - /* Initialisation mode for the filter */ - SET_BIT(can_ip->FMR, CAN_FMR_FINIT); - -#if defined(CAN3) - /* Check the CAN instance */ - if (can_ip == CAN1) - { - /* Select the start filter number of CAN2 slave instance */ - CLEAR_BIT(can_ip->FMR, CAN_FMR_CAN2SB); - SET_BIT(can_ip->FMR, sFilterConfig->SlaveStartFilterBank << CAN_FMR_CAN2SB_Pos); - } - -#elif defined(CAN2) - /* Select the start filter number of CAN2 slave instance */ - CLEAR_BIT(can_ip->FMR, CAN_FMR_CAN2SB); - SET_BIT(can_ip->FMR, sFilterConfig->SlaveStartFilterBank << CAN_FMR_CAN2SB_Pos); - -#endif - /* Convert filter number into bit position */ - filternbrbitpos = (uint32_t)1 << (sFilterConfig->FilterBank & 0x1FU); - - /* Filter Deactivation */ - CLEAR_BIT(can_ip->FA1R, filternbrbitpos); - - /* Filter Scale */ - if (sFilterConfig->FilterScale == CAN_FILTERSCALE_16BIT) - { - /* 16-bit scale for the filter */ - CLEAR_BIT(can_ip->FS1R, filternbrbitpos); - - /* First 16-bit identifier and First 16-bit mask */ - /* Or First 16-bit identifier and Second 16-bit identifier */ - can_ip->sFilterRegister[sFilterConfig->FilterBank].FR1 = - ((0x0000FFFFU & (uint32_t)sFilterConfig->FilterMaskIdLow) << 16U) | - (0x0000FFFFU & (uint32_t)sFilterConfig->FilterIdLow); - - /* Second 16-bit identifier and Second 16-bit mask */ - /* Or Third 16-bit identifier and Fourth 16-bit identifier */ - can_ip->sFilterRegister[sFilterConfig->FilterBank].FR2 = - ((0x0000FFFFU & (uint32_t)sFilterConfig->FilterMaskIdHigh) << 16U) | - (0x0000FFFFU & (uint32_t)sFilterConfig->FilterIdHigh); - } - - if (sFilterConfig->FilterScale == CAN_FILTERSCALE_32BIT) - { - /* 32-bit scale for the filter */ - SET_BIT(can_ip->FS1R, filternbrbitpos); - - /* 32-bit identifier or First 32-bit identifier */ - can_ip->sFilterRegister[sFilterConfig->FilterBank].FR1 = - ((0x0000FFFFU & (uint32_t)sFilterConfig->FilterIdHigh) << 16U) | - (0x0000FFFFU & (uint32_t)sFilterConfig->FilterIdLow); - - /* 32-bit mask or Second 32-bit identifier */ - can_ip->sFilterRegister[sFilterConfig->FilterBank].FR2 = - ((0x0000FFFFU & (uint32_t)sFilterConfig->FilterMaskIdHigh) << 16U) | - (0x0000FFFFU & (uint32_t)sFilterConfig->FilterMaskIdLow); - } - - /* Filter Mode */ - if (sFilterConfig->FilterMode == CAN_FILTERMODE_IDMASK) - { - /* Id/Mask mode for the filter*/ - CLEAR_BIT(can_ip->FM1R, filternbrbitpos); - } - else /* CAN_FilterInitStruct->CAN_FilterMode == CAN_FilterMode_IdList */ - { - /* Identifier list mode for the filter*/ - SET_BIT(can_ip->FM1R, filternbrbitpos); - } - - /* Filter FIFO assignment */ - if (sFilterConfig->FilterFIFOAssignment == CAN_FILTER_FIFO0) - { - /* FIFO 0 assignation for the filter */ - CLEAR_BIT(can_ip->FFA1R, filternbrbitpos); - } - else - { - /* FIFO 1 assignation for the filter */ - SET_BIT(can_ip->FFA1R, filternbrbitpos); - } - - /* Filter activation */ - if (sFilterConfig->FilterActivation == CAN_FILTER_ENABLE) - { - SET_BIT(can_ip->FA1R, filternbrbitpos); - } - - /* Leave the initialisation mode for the filter */ - CLEAR_BIT(can_ip->FMR, CAN_FMR_FINIT); - - /* Return function status */ - return HAL_OK; - } - else - { - /* Update error code */ - hcan->ErrorCode |= HAL_CAN_ERROR_NOT_INITIALIZED; - - return HAL_ERROR; - } -} - -/** - * @} - */ - -/** @defgroup CAN_Exported_Functions_Group3 Control functions - * @brief Control functions - * -@verbatim - ============================================================================== - ##### Control functions ##### - ============================================================================== - [..] This section provides functions allowing to: - (+) HAL_CAN_Start : Start the CAN module - (+) HAL_CAN_Stop : Stop the CAN module - (+) HAL_CAN_RequestSleep : Request sleep mode entry. - (+) HAL_CAN_WakeUp : Wake up from sleep mode. - (+) HAL_CAN_IsSleepActive : Check is sleep mode is active. - (+) HAL_CAN_AddTxMessage : Add a message to the Tx mailboxes - and activate the corresponding - transmission request - (+) HAL_CAN_AbortTxRequest : Abort transmission request - (+) HAL_CAN_GetTxMailboxesFreeLevel : Return Tx mailboxes free level - (+) HAL_CAN_IsTxMessagePending : Check if a transmission request is - pending on the selected Tx mailbox - (+) HAL_CAN_GetRxMessage : Get a CAN frame from the Rx FIFO - (+) HAL_CAN_GetRxFifoFillLevel : Return Rx FIFO fill level - -@endverbatim - * @{ - */ - -/** - * @brief Start the CAN module. - * @param hcan pointer to an CAN_HandleTypeDef structure that contains - * the configuration information for the specified CAN. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_CAN_Start(CAN_HandleTypeDef *hcan) -{ - uint32_t tickstart; - - if (hcan->State == HAL_CAN_STATE_READY) - { - /* Change CAN peripheral state */ - hcan->State = HAL_CAN_STATE_LISTENING; - - /* Request leave initialisation */ - CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_INRQ); - - /* Get tick */ - tickstart = HAL_GetTick(); - - /* Wait the acknowledge */ - while ((hcan->Instance->MSR & CAN_MSR_INAK) != 0U) - { - /* Check for the Timeout */ - if ((HAL_GetTick() - tickstart) > CAN_TIMEOUT_VALUE) - { - /* Update error code */ - hcan->ErrorCode |= HAL_CAN_ERROR_TIMEOUT; - - /* Change CAN state */ - hcan->State = HAL_CAN_STATE_ERROR; - - return HAL_ERROR; - } - } - - /* Reset the CAN ErrorCode */ - hcan->ErrorCode = HAL_CAN_ERROR_NONE; - - /* Return function status */ - return HAL_OK; - } - else - { - /* Update error code */ - hcan->ErrorCode |= HAL_CAN_ERROR_NOT_READY; - - return HAL_ERROR; - } -} - -/** - * @brief Stop the CAN module and enable access to configuration registers. - * @param hcan pointer to an CAN_HandleTypeDef structure that contains - * the configuration information for the specified CAN. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_CAN_Stop(CAN_HandleTypeDef *hcan) -{ - uint32_t tickstart; - - if (hcan->State == HAL_CAN_STATE_LISTENING) - { - /* Request initialisation */ - SET_BIT(hcan->Instance->MCR, CAN_MCR_INRQ); - - /* Get tick */ - tickstart = HAL_GetTick(); - - /* Wait the acknowledge */ - while ((hcan->Instance->MSR & CAN_MSR_INAK) == 0U) - { - /* Check for the Timeout */ - if ((HAL_GetTick() - tickstart) > CAN_TIMEOUT_VALUE) - { - /* Update error code */ - hcan->ErrorCode |= HAL_CAN_ERROR_TIMEOUT; - - /* Change CAN state */ - hcan->State = HAL_CAN_STATE_ERROR; - - return HAL_ERROR; - } - } - - /* Exit from sleep mode */ - CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_SLEEP); - - /* Change CAN peripheral state */ - hcan->State = HAL_CAN_STATE_READY; - - /* Return function status */ - return HAL_OK; - } - else - { - /* Update error code */ - hcan->ErrorCode |= HAL_CAN_ERROR_NOT_STARTED; - - return HAL_ERROR; - } -} - -/** - * @brief Request the sleep mode (low power) entry. - * When returning from this function, Sleep mode will be entered - * as soon as the current CAN activity (transmission or reception - * of a CAN frame) has been completed. - * @param hcan pointer to a CAN_HandleTypeDef structure that contains - * the configuration information for the specified CAN. - * @retval HAL status. - */ -HAL_StatusTypeDef HAL_CAN_RequestSleep(CAN_HandleTypeDef *hcan) -{ - HAL_CAN_StateTypeDef state = hcan->State; - - if ((state == HAL_CAN_STATE_READY) || - (state == HAL_CAN_STATE_LISTENING)) - { - /* Request Sleep mode */ - SET_BIT(hcan->Instance->MCR, CAN_MCR_SLEEP); - - /* Return function status */ - return HAL_OK; - } - else - { - /* Update error code */ - hcan->ErrorCode |= HAL_CAN_ERROR_NOT_INITIALIZED; - - /* Return function status */ - return HAL_ERROR; - } -} - -/** - * @brief Wake up from sleep mode. - * When returning with HAL_OK status from this function, Sleep mode - * is exited. - * @param hcan pointer to a CAN_HandleTypeDef structure that contains - * the configuration information for the specified CAN. - * @retval HAL status. - */ -HAL_StatusTypeDef HAL_CAN_WakeUp(CAN_HandleTypeDef *hcan) -{ - __IO uint32_t count = 0; - uint32_t timeout = 1000000U; - HAL_CAN_StateTypeDef state = hcan->State; - - if ((state == HAL_CAN_STATE_READY) || - (state == HAL_CAN_STATE_LISTENING)) - { - /* Wake up request */ - CLEAR_BIT(hcan->Instance->MCR, CAN_MCR_SLEEP); - - /* Wait sleep mode is exited */ - do - { - /* Increment counter */ - count++; - - /* Check if timeout is reached */ - if (count > timeout) - { - /* Update error code */ - hcan->ErrorCode |= HAL_CAN_ERROR_TIMEOUT; - - return HAL_ERROR; - } - } - while ((hcan->Instance->MSR & CAN_MSR_SLAK) != 0U); - - /* Return function status */ - return HAL_OK; - } - else - { - /* Update error code */ - hcan->ErrorCode |= HAL_CAN_ERROR_NOT_INITIALIZED; - - return HAL_ERROR; - } -} - -/** - * @brief Check is sleep mode is active. - * @param hcan pointer to a CAN_HandleTypeDef structure that contains - * the configuration information for the specified CAN. - * @retval Status - * - 0 : Sleep mode is not active. - * - 1 : Sleep mode is active. - */ -uint32_t HAL_CAN_IsSleepActive(CAN_HandleTypeDef *hcan) -{ - uint32_t status = 0U; - HAL_CAN_StateTypeDef state = hcan->State; - - if ((state == HAL_CAN_STATE_READY) || - (state == HAL_CAN_STATE_LISTENING)) - { - /* Check Sleep mode */ - if ((hcan->Instance->MSR & CAN_MSR_SLAK) != 0U) - { - status = 1U; - } - } - - /* Return function status */ - return status; -} - -/** - * @brief Add a message to the first free Tx mailbox and activate the - * corresponding transmission request. - * @param hcan pointer to a CAN_HandleTypeDef structure that contains - * the configuration information for the specified CAN. - * @param pHeader pointer to a CAN_TxHeaderTypeDef structure. - * @param aData array containing the payload of the Tx frame. - * @param pTxMailbox pointer to a variable where the function will return - * the TxMailbox used to store the Tx message. - * This parameter can be a value of @arg CAN_Tx_Mailboxes. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_CAN_AddTxMessage(CAN_HandleTypeDef *hcan, CAN_TxHeaderTypeDef *pHeader, uint8_t aData[], uint32_t *pTxMailbox) -{ - uint32_t transmitmailbox; - HAL_CAN_StateTypeDef state = hcan->State; - uint32_t tsr = READ_REG(hcan->Instance->TSR); - - /* Check the parameters */ - assert_param(IS_CAN_IDTYPE(pHeader->IDE)); - assert_param(IS_CAN_RTR(pHeader->RTR)); - assert_param(IS_CAN_DLC(pHeader->DLC)); - if (pHeader->IDE == CAN_ID_STD) - { - assert_param(IS_CAN_STDID(pHeader->StdId)); - } - else - { - assert_param(IS_CAN_EXTID(pHeader->ExtId)); - } - assert_param(IS_FUNCTIONAL_STATE(pHeader->TransmitGlobalTime)); - - if ((state == HAL_CAN_STATE_READY) || - (state == HAL_CAN_STATE_LISTENING)) - { - /* Check that all the Tx mailboxes are not full */ - if (((tsr & CAN_TSR_TME0) != 0U) || - ((tsr & CAN_TSR_TME1) != 0U) || - ((tsr & CAN_TSR_TME2) != 0U)) - { - /* Select an empty transmit mailbox */ - transmitmailbox = (tsr & CAN_TSR_CODE) >> CAN_TSR_CODE_Pos; - - /* Check transmit mailbox value */ - if (transmitmailbox > 2U) - { - /* Update error code */ - hcan->ErrorCode |= HAL_CAN_ERROR_INTERNAL; - - return HAL_ERROR; - } - - /* Store the Tx mailbox */ - *pTxMailbox = (uint32_t)1 << transmitmailbox; - - /* Set up the Id */ - if (pHeader->IDE == CAN_ID_STD) - { - hcan->Instance->sTxMailBox[transmitmailbox].TIR = ((pHeader->StdId << CAN_TI0R_STID_Pos) | - pHeader->RTR); - } - else - { - hcan->Instance->sTxMailBox[transmitmailbox].TIR = ((pHeader->ExtId << CAN_TI0R_EXID_Pos) | - pHeader->IDE | - pHeader->RTR); - } - - /* Set up the DLC */ - hcan->Instance->sTxMailBox[transmitmailbox].TDTR = (pHeader->DLC); - - /* Set up the Transmit Global Time mode */ - if (pHeader->TransmitGlobalTime == ENABLE) - { - SET_BIT(hcan->Instance->sTxMailBox[transmitmailbox].TDTR, CAN_TDT0R_TGT); - } - - /* Set up the data field */ - WRITE_REG(hcan->Instance->sTxMailBox[transmitmailbox].TDHR, - ((uint32_t)aData[7] << CAN_TDH0R_DATA7_Pos) | - ((uint32_t)aData[6] << CAN_TDH0R_DATA6_Pos) | - ((uint32_t)aData[5] << CAN_TDH0R_DATA5_Pos) | - ((uint32_t)aData[4] << CAN_TDH0R_DATA4_Pos)); - WRITE_REG(hcan->Instance->sTxMailBox[transmitmailbox].TDLR, - ((uint32_t)aData[3] << CAN_TDL0R_DATA3_Pos) | - ((uint32_t)aData[2] << CAN_TDL0R_DATA2_Pos) | - ((uint32_t)aData[1] << CAN_TDL0R_DATA1_Pos) | - ((uint32_t)aData[0] << CAN_TDL0R_DATA0_Pos)); - - /* Request transmission */ - SET_BIT(hcan->Instance->sTxMailBox[transmitmailbox].TIR, CAN_TI0R_TXRQ); - - /* Return function status */ - return HAL_OK; - } - else - { - /* Update error code */ - hcan->ErrorCode |= HAL_CAN_ERROR_PARAM; - - return HAL_ERROR; - } - } - else - { - /* Update error code */ - hcan->ErrorCode |= HAL_CAN_ERROR_NOT_INITIALIZED; - - return HAL_ERROR; - } -} - -/** - * @brief Abort transmission requests - * @param hcan pointer to an CAN_HandleTypeDef structure that contains - * the configuration information for the specified CAN. - * @param TxMailboxes List of the Tx Mailboxes to abort. - * This parameter can be any combination of @arg CAN_Tx_Mailboxes. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_CAN_AbortTxRequest(CAN_HandleTypeDef *hcan, uint32_t TxMailboxes) -{ - HAL_CAN_StateTypeDef state = hcan->State; - - /* Check function parameters */ - assert_param(IS_CAN_TX_MAILBOX_LIST(TxMailboxes)); - - if ((state == HAL_CAN_STATE_READY) || - (state == HAL_CAN_STATE_LISTENING)) - { - /* Check Tx Mailbox 0 */ - if ((TxMailboxes & CAN_TX_MAILBOX0) != 0U) - { - /* Add cancellation request for Tx Mailbox 0 */ - SET_BIT(hcan->Instance->TSR, CAN_TSR_ABRQ0); - } - - /* Check Tx Mailbox 1 */ - if ((TxMailboxes & CAN_TX_MAILBOX1) != 0U) - { - /* Add cancellation request for Tx Mailbox 1 */ - SET_BIT(hcan->Instance->TSR, CAN_TSR_ABRQ1); - } - - /* Check Tx Mailbox 2 */ - if ((TxMailboxes & CAN_TX_MAILBOX2) != 0U) - { - /* Add cancellation request for Tx Mailbox 2 */ - SET_BIT(hcan->Instance->TSR, CAN_TSR_ABRQ2); - } - - /* Return function status */ - return HAL_OK; - } - else - { - /* Update error code */ - hcan->ErrorCode |= HAL_CAN_ERROR_NOT_INITIALIZED; - - return HAL_ERROR; - } -} - -/** - * @brief Return Tx Mailboxes free level: number of free Tx Mailboxes. - * @param hcan pointer to a CAN_HandleTypeDef structure that contains - * the configuration information for the specified CAN. - * @retval Number of free Tx Mailboxes. - */ -uint32_t HAL_CAN_GetTxMailboxesFreeLevel(CAN_HandleTypeDef *hcan) -{ - uint32_t freelevel = 0U; - HAL_CAN_StateTypeDef state = hcan->State; - - if ((state == HAL_CAN_STATE_READY) || - (state == HAL_CAN_STATE_LISTENING)) - { - /* Check Tx Mailbox 0 status */ - if ((hcan->Instance->TSR & CAN_TSR_TME0) != 0U) - { - freelevel++; - } - - /* Check Tx Mailbox 1 status */ - if ((hcan->Instance->TSR & CAN_TSR_TME1) != 0U) - { - freelevel++; - } - - /* Check Tx Mailbox 2 status */ - if ((hcan->Instance->TSR & CAN_TSR_TME2) != 0U) - { - freelevel++; - } - } - - /* Return Tx Mailboxes free level */ - return freelevel; -} - -/** - * @brief Check if a transmission request is pending on the selected Tx - * Mailboxes. - * @param hcan pointer to an CAN_HandleTypeDef structure that contains - * the configuration information for the specified CAN. - * @param TxMailboxes List of Tx Mailboxes to check. - * This parameter can be any combination of @arg CAN_Tx_Mailboxes. - * @retval Status - * - 0 : No pending transmission request on any selected Tx Mailboxes. - * - 1 : Pending transmission request on at least one of the selected - * Tx Mailbox. - */ -uint32_t HAL_CAN_IsTxMessagePending(CAN_HandleTypeDef *hcan, uint32_t TxMailboxes) -{ - uint32_t status = 0U; - HAL_CAN_StateTypeDef state = hcan->State; - - /* Check function parameters */ - assert_param(IS_CAN_TX_MAILBOX_LIST(TxMailboxes)); - - if ((state == HAL_CAN_STATE_READY) || - (state == HAL_CAN_STATE_LISTENING)) - { - /* Check pending transmission request on the selected Tx Mailboxes */ - if ((hcan->Instance->TSR & (TxMailboxes << CAN_TSR_TME0_Pos)) != (TxMailboxes << CAN_TSR_TME0_Pos)) - { - status = 1U; - } - } - - /* Return status */ - return status; -} - -/** - * @brief Return timestamp of Tx message sent, if time triggered communication - mode is enabled. - * @param hcan pointer to a CAN_HandleTypeDef structure that contains - * the configuration information for the specified CAN. - * @param TxMailbox Tx Mailbox where the timestamp of message sent will be - * read. - * This parameter can be one value of @arg CAN_Tx_Mailboxes. - * @retval Timestamp of message sent from Tx Mailbox. - */ -uint32_t HAL_CAN_GetTxTimestamp(CAN_HandleTypeDef *hcan, uint32_t TxMailbox) -{ - uint32_t timestamp = 0U; - uint32_t transmitmailbox; - HAL_CAN_StateTypeDef state = hcan->State; - - /* Check function parameters */ - assert_param(IS_CAN_TX_MAILBOX(TxMailbox)); - - if ((state == HAL_CAN_STATE_READY) || - (state == HAL_CAN_STATE_LISTENING)) - { - /* Select the Tx mailbox */ - transmitmailbox = POSITION_VAL(TxMailbox); - - /* Get timestamp */ - timestamp = (hcan->Instance->sTxMailBox[transmitmailbox].TDTR & CAN_TDT0R_TIME) >> CAN_TDT0R_TIME_Pos; - } - - /* Return the timestamp */ - return timestamp; -} - -/** - * @brief Get an CAN frame from the Rx FIFO zone into the message RAM. - * @param hcan pointer to an CAN_HandleTypeDef structure that contains - * the configuration information for the specified CAN. - * @param RxFifo Fifo number of the received message to be read. - * This parameter can be a value of @arg CAN_receive_FIFO_number. - * @param pHeader pointer to a CAN_RxHeaderTypeDef structure where the header - * of the Rx frame will be stored. - * @param aData array where the payload of the Rx frame will be stored. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_CAN_GetRxMessage(CAN_HandleTypeDef *hcan, uint32_t RxFifo, CAN_RxHeaderTypeDef *pHeader, uint8_t aData[]) -{ - HAL_CAN_StateTypeDef state = hcan->State; - - assert_param(IS_CAN_RX_FIFO(RxFifo)); - - if ((state == HAL_CAN_STATE_READY) || - (state == HAL_CAN_STATE_LISTENING)) - { - /* Check the Rx FIFO */ - if (RxFifo == CAN_RX_FIFO0) /* Rx element is assigned to Rx FIFO 0 */ - { - /* Check that the Rx FIFO 0 is not empty */ - if ((hcan->Instance->RF0R & CAN_RF0R_FMP0) == 0U) - { - /* Update error code */ - hcan->ErrorCode |= HAL_CAN_ERROR_PARAM; - - return HAL_ERROR; - } - } - else /* Rx element is assigned to Rx FIFO 1 */ - { - /* Check that the Rx FIFO 1 is not empty */ - if ((hcan->Instance->RF1R & CAN_RF1R_FMP1) == 0U) - { - /* Update error code */ - hcan->ErrorCode |= HAL_CAN_ERROR_PARAM; - - return HAL_ERROR; - } - } - - /* Get the header */ - pHeader->IDE = CAN_RI0R_IDE & hcan->Instance->sFIFOMailBox[RxFifo].RIR; - if (pHeader->IDE == CAN_ID_STD) - { - pHeader->StdId = (CAN_RI0R_STID & hcan->Instance->sFIFOMailBox[RxFifo].RIR) >> CAN_TI0R_STID_Pos; - } - else - { - pHeader->ExtId = ((CAN_RI0R_EXID | CAN_RI0R_STID) & hcan->Instance->sFIFOMailBox[RxFifo].RIR) >> CAN_RI0R_EXID_Pos; - } - pHeader->RTR = (CAN_RI0R_RTR & hcan->Instance->sFIFOMailBox[RxFifo].RIR); - pHeader->DLC = (CAN_RDT0R_DLC & hcan->Instance->sFIFOMailBox[RxFifo].RDTR) >> CAN_RDT0R_DLC_Pos; - pHeader->FilterMatchIndex = (CAN_RDT0R_FMI & hcan->Instance->sFIFOMailBox[RxFifo].RDTR) >> CAN_RDT0R_FMI_Pos; - pHeader->Timestamp = (CAN_RDT0R_TIME & hcan->Instance->sFIFOMailBox[RxFifo].RDTR) >> CAN_RDT0R_TIME_Pos; - - /* Get the data */ - aData[0] = (uint8_t)((CAN_RDL0R_DATA0 & hcan->Instance->sFIFOMailBox[RxFifo].RDLR) >> CAN_RDL0R_DATA0_Pos); - aData[1] = (uint8_t)((CAN_RDL0R_DATA1 & hcan->Instance->sFIFOMailBox[RxFifo].RDLR) >> CAN_RDL0R_DATA1_Pos); - aData[2] = (uint8_t)((CAN_RDL0R_DATA2 & hcan->Instance->sFIFOMailBox[RxFifo].RDLR) >> CAN_RDL0R_DATA2_Pos); - aData[3] = (uint8_t)((CAN_RDL0R_DATA3 & hcan->Instance->sFIFOMailBox[RxFifo].RDLR) >> CAN_RDL0R_DATA3_Pos); - aData[4] = (uint8_t)((CAN_RDH0R_DATA4 & hcan->Instance->sFIFOMailBox[RxFifo].RDHR) >> CAN_RDH0R_DATA4_Pos); - aData[5] = (uint8_t)((CAN_RDH0R_DATA5 & hcan->Instance->sFIFOMailBox[RxFifo].RDHR) >> CAN_RDH0R_DATA5_Pos); - aData[6] = (uint8_t)((CAN_RDH0R_DATA6 & hcan->Instance->sFIFOMailBox[RxFifo].RDHR) >> CAN_RDH0R_DATA6_Pos); - aData[7] = (uint8_t)((CAN_RDH0R_DATA7 & hcan->Instance->sFIFOMailBox[RxFifo].RDHR) >> CAN_RDH0R_DATA7_Pos); - - /* Release the FIFO */ - if (RxFifo == CAN_RX_FIFO0) /* Rx element is assigned to Rx FIFO 0 */ - { - /* Release RX FIFO 0 */ - SET_BIT(hcan->Instance->RF0R, CAN_RF0R_RFOM0); - } - else /* Rx element is assigned to Rx FIFO 1 */ - { - /* Release RX FIFO 1 */ - SET_BIT(hcan->Instance->RF1R, CAN_RF1R_RFOM1); - } - - /* Return function status */ - return HAL_OK; - } - else - { - /* Update error code */ - hcan->ErrorCode |= HAL_CAN_ERROR_NOT_INITIALIZED; - - return HAL_ERROR; - } -} - -/** - * @brief Return Rx FIFO fill level. - * @param hcan pointer to an CAN_HandleTypeDef structure that contains - * the configuration information for the specified CAN. - * @param RxFifo Rx FIFO. - * This parameter can be a value of @arg CAN_receive_FIFO_number. - * @retval Number of messages available in Rx FIFO. - */ -uint32_t HAL_CAN_GetRxFifoFillLevel(CAN_HandleTypeDef *hcan, uint32_t RxFifo) -{ - uint32_t filllevel = 0U; - HAL_CAN_StateTypeDef state = hcan->State; - - /* Check function parameters */ - assert_param(IS_CAN_RX_FIFO(RxFifo)); - - if ((state == HAL_CAN_STATE_READY) || - (state == HAL_CAN_STATE_LISTENING)) - { - if (RxFifo == CAN_RX_FIFO0) - { - filllevel = hcan->Instance->RF0R & CAN_RF0R_FMP0; - } - else /* RxFifo == CAN_RX_FIFO1 */ - { - filllevel = hcan->Instance->RF1R & CAN_RF1R_FMP1; - } - } - - /* Return Rx FIFO fill level */ - return filllevel; -} - -/** - * @} - */ - -/** @defgroup CAN_Exported_Functions_Group4 Interrupts management - * @brief Interrupts management - * -@verbatim - ============================================================================== - ##### Interrupts management ##### - ============================================================================== - [..] This section provides functions allowing to: - (+) HAL_CAN_ActivateNotification : Enable interrupts - (+) HAL_CAN_DeactivateNotification : Disable interrupts - (+) HAL_CAN_IRQHandler : Handles CAN interrupt request - -@endverbatim - * @{ - */ - -/** - * @brief Enable interrupts. - * @param hcan pointer to an CAN_HandleTypeDef structure that contains - * the configuration information for the specified CAN. - * @param ActiveITs indicates which interrupts will be enabled. - * This parameter can be any combination of @arg CAN_Interrupts. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_CAN_ActivateNotification(CAN_HandleTypeDef *hcan, uint32_t ActiveITs) -{ - HAL_CAN_StateTypeDef state = hcan->State; - - /* Check function parameters */ - assert_param(IS_CAN_IT(ActiveITs)); - - if ((state == HAL_CAN_STATE_READY) || - (state == HAL_CAN_STATE_LISTENING)) - { - /* Enable the selected interrupts */ - __HAL_CAN_ENABLE_IT(hcan, ActiveITs); - - /* Return function status */ - return HAL_OK; - } - else - { - /* Update error code */ - hcan->ErrorCode |= HAL_CAN_ERROR_NOT_INITIALIZED; - - return HAL_ERROR; - } -} - -/** - * @brief Disable interrupts. - * @param hcan pointer to an CAN_HandleTypeDef structure that contains - * the configuration information for the specified CAN. - * @param InactiveITs indicates which interrupts will be disabled. - * This parameter can be any combination of @arg CAN_Interrupts. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_CAN_DeactivateNotification(CAN_HandleTypeDef *hcan, uint32_t InactiveITs) -{ - HAL_CAN_StateTypeDef state = hcan->State; - - /* Check function parameters */ - assert_param(IS_CAN_IT(InactiveITs)); - - if ((state == HAL_CAN_STATE_READY) || - (state == HAL_CAN_STATE_LISTENING)) - { - /* Disable the selected interrupts */ - __HAL_CAN_DISABLE_IT(hcan, InactiveITs); - - /* Return function status */ - return HAL_OK; - } - else - { - /* Update error code */ - hcan->ErrorCode |= HAL_CAN_ERROR_NOT_INITIALIZED; - - return HAL_ERROR; - } -} - -/** - * @brief Handles CAN interrupt request - * @param hcan pointer to a CAN_HandleTypeDef structure that contains - * the configuration information for the specified CAN. - * @retval None - */ -void HAL_CAN_IRQHandler(CAN_HandleTypeDef *hcan) -{ - uint32_t errorcode = HAL_CAN_ERROR_NONE; - uint32_t interrupts = READ_REG(hcan->Instance->IER); - uint32_t msrflags = READ_REG(hcan->Instance->MSR); - uint32_t tsrflags = READ_REG(hcan->Instance->TSR); - uint32_t rf0rflags = READ_REG(hcan->Instance->RF0R); - uint32_t rf1rflags = READ_REG(hcan->Instance->RF1R); - uint32_t esrflags = READ_REG(hcan->Instance->ESR); - - /* Transmit Mailbox empty interrupt management *****************************/ - if ((interrupts & CAN_IT_TX_MAILBOX_EMPTY) != 0U) - { - /* Transmit Mailbox 0 management *****************************************/ - if ((tsrflags & CAN_TSR_RQCP0) != 0U) - { - /* Clear the Transmission Complete flag (and TXOK0,ALST0,TERR0 bits) */ - __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_RQCP0); - - if ((tsrflags & CAN_TSR_TXOK0) != 0U) - { - /* Transmission Mailbox 0 complete callback */ -#if USE_HAL_CAN_REGISTER_CALLBACKS == 1 - /* Call registered callback*/ - hcan->TxMailbox0CompleteCallback(hcan); -#else - /* Call weak (surcharged) callback */ - HAL_CAN_TxMailbox0CompleteCallback(hcan); -#endif /* USE_HAL_CAN_REGISTER_CALLBACKS */ - } - else - { - if ((tsrflags & CAN_TSR_ALST0) != 0U) - { - /* Update error code */ - errorcode |= HAL_CAN_ERROR_TX_ALST0; - } - else if ((tsrflags & CAN_TSR_TERR0) != 0U) - { - /* Update error code */ - errorcode |= HAL_CAN_ERROR_TX_TERR0; - } - else - { - /* Transmission Mailbox 0 abort callback */ -#if USE_HAL_CAN_REGISTER_CALLBACKS == 1 - /* Call registered callback*/ - hcan->TxMailbox0AbortCallback(hcan); -#else - /* Call weak (surcharged) callback */ - HAL_CAN_TxMailbox0AbortCallback(hcan); -#endif /* USE_HAL_CAN_REGISTER_CALLBACKS */ - } - } - } - - /* Transmit Mailbox 1 management *****************************************/ - if ((tsrflags & CAN_TSR_RQCP1) != 0U) - { - /* Clear the Transmission Complete flag (and TXOK1,ALST1,TERR1 bits) */ - __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_RQCP1); - - if ((tsrflags & CAN_TSR_TXOK1) != 0U) - { - /* Transmission Mailbox 1 complete callback */ -#if USE_HAL_CAN_REGISTER_CALLBACKS == 1 - /* Call registered callback*/ - hcan->TxMailbox1CompleteCallback(hcan); -#else - /* Call weak (surcharged) callback */ - HAL_CAN_TxMailbox1CompleteCallback(hcan); -#endif /* USE_HAL_CAN_REGISTER_CALLBACKS */ - } - else - { - if ((tsrflags & CAN_TSR_ALST1) != 0U) - { - /* Update error code */ - errorcode |= HAL_CAN_ERROR_TX_ALST1; - } - else if ((tsrflags & CAN_TSR_TERR1) != 0U) - { - /* Update error code */ - errorcode |= HAL_CAN_ERROR_TX_TERR1; - } - else - { - /* Transmission Mailbox 1 abort callback */ -#if USE_HAL_CAN_REGISTER_CALLBACKS == 1 - /* Call registered callback*/ - hcan->TxMailbox1AbortCallback(hcan); -#else - /* Call weak (surcharged) callback */ - HAL_CAN_TxMailbox1AbortCallback(hcan); -#endif /* USE_HAL_CAN_REGISTER_CALLBACKS */ - } - } - } - - /* Transmit Mailbox 2 management *****************************************/ - if ((tsrflags & CAN_TSR_RQCP2) != 0U) - { - /* Clear the Transmission Complete flag (and TXOK2,ALST2,TERR2 bits) */ - __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_RQCP2); - - if ((tsrflags & CAN_TSR_TXOK2) != 0U) - { - /* Transmission Mailbox 2 complete callback */ -#if USE_HAL_CAN_REGISTER_CALLBACKS == 1 - /* Call registered callback*/ - hcan->TxMailbox2CompleteCallback(hcan); -#else - /* Call weak (surcharged) callback */ - HAL_CAN_TxMailbox2CompleteCallback(hcan); -#endif /* USE_HAL_CAN_REGISTER_CALLBACKS */ - } - else - { - if ((tsrflags & CAN_TSR_ALST2) != 0U) - { - /* Update error code */ - errorcode |= HAL_CAN_ERROR_TX_ALST2; - } - else if ((tsrflags & CAN_TSR_TERR2) != 0U) - { - /* Update error code */ - errorcode |= HAL_CAN_ERROR_TX_TERR2; - } - else - { - /* Transmission Mailbox 2 abort callback */ -#if USE_HAL_CAN_REGISTER_CALLBACKS == 1 - /* Call registered callback*/ - hcan->TxMailbox2AbortCallback(hcan); -#else - /* Call weak (surcharged) callback */ - HAL_CAN_TxMailbox2AbortCallback(hcan); -#endif /* USE_HAL_CAN_REGISTER_CALLBACKS */ - } - } - } - } - - /* Receive FIFO 0 overrun interrupt management *****************************/ - if ((interrupts & CAN_IT_RX_FIFO0_OVERRUN) != 0U) - { - if ((rf0rflags & CAN_RF0R_FOVR0) != 0U) - { - /* Set CAN error code to Rx Fifo 0 overrun error */ - errorcode |= HAL_CAN_ERROR_RX_FOV0; - - /* Clear FIFO0 Overrun Flag */ - __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_FOV0); - } - } - - /* Receive FIFO 0 full interrupt management ********************************/ - if ((interrupts & CAN_IT_RX_FIFO0_FULL) != 0U) - { - if ((rf0rflags & CAN_RF0R_FULL0) != 0U) - { - /* Clear FIFO 0 full Flag */ - __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_FF0); - - /* Receive FIFO 0 full Callback */ -#if USE_HAL_CAN_REGISTER_CALLBACKS == 1 - /* Call registered callback*/ - hcan->RxFifo0FullCallback(hcan); -#else - /* Call weak (surcharged) callback */ - HAL_CAN_RxFifo0FullCallback(hcan); -#endif /* USE_HAL_CAN_REGISTER_CALLBACKS */ - } - } - - /* Receive FIFO 0 message pending interrupt management *********************/ - if ((interrupts & CAN_IT_RX_FIFO0_MSG_PENDING) != 0U) - { - /* Check if message is still pending */ - if ((hcan->Instance->RF0R & CAN_RF0R_FMP0) != 0U) - { - /* Receive FIFO 0 message pending Callback */ -#if USE_HAL_CAN_REGISTER_CALLBACKS == 1 - /* Call registered callback*/ - hcan->RxFifo0MsgPendingCallback(hcan); -#else - /* Call weak (surcharged) callback */ - HAL_CAN_RxFifo0MsgPendingCallback(hcan); -#endif /* USE_HAL_CAN_REGISTER_CALLBACKS */ - } - } - - /* Receive FIFO 1 overrun interrupt management *****************************/ - if ((interrupts & CAN_IT_RX_FIFO1_OVERRUN) != 0U) - { - if ((rf1rflags & CAN_RF1R_FOVR1) != 0U) - { - /* Set CAN error code to Rx Fifo 1 overrun error */ - errorcode |= HAL_CAN_ERROR_RX_FOV1; - - /* Clear FIFO1 Overrun Flag */ - __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_FOV1); - } - } - - /* Receive FIFO 1 full interrupt management ********************************/ - if ((interrupts & CAN_IT_RX_FIFO1_FULL) != 0U) - { - if ((rf1rflags & CAN_RF1R_FULL1) != 0U) - { - /* Clear FIFO 1 full Flag */ - __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_FF1); - - /* Receive FIFO 1 full Callback */ -#if USE_HAL_CAN_REGISTER_CALLBACKS == 1 - /* Call registered callback*/ - hcan->RxFifo1FullCallback(hcan); -#else - /* Call weak (surcharged) callback */ - HAL_CAN_RxFifo1FullCallback(hcan); -#endif /* USE_HAL_CAN_REGISTER_CALLBACKS */ - } - } - - /* Receive FIFO 1 message pending interrupt management *********************/ - if ((interrupts & CAN_IT_RX_FIFO1_MSG_PENDING) != 0U) - { - /* Check if message is still pending */ - if ((hcan->Instance->RF1R & CAN_RF1R_FMP1) != 0U) - { - /* Receive FIFO 1 message pending Callback */ -#if USE_HAL_CAN_REGISTER_CALLBACKS == 1 - /* Call registered callback*/ - hcan->RxFifo1MsgPendingCallback(hcan); -#else - /* Call weak (surcharged) callback */ - HAL_CAN_RxFifo1MsgPendingCallback(hcan); -#endif /* USE_HAL_CAN_REGISTER_CALLBACKS */ - } - } - - /* Sleep interrupt management *********************************************/ - if ((interrupts & CAN_IT_SLEEP_ACK) != 0U) - { - if ((msrflags & CAN_MSR_SLAKI) != 0U) - { - /* Clear Sleep interrupt Flag */ - __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_SLAKI); - - /* Sleep Callback */ -#if USE_HAL_CAN_REGISTER_CALLBACKS == 1 - /* Call registered callback*/ - hcan->SleepCallback(hcan); -#else - /* Call weak (surcharged) callback */ - HAL_CAN_SleepCallback(hcan); -#endif /* USE_HAL_CAN_REGISTER_CALLBACKS */ - } - } - - /* WakeUp interrupt management *********************************************/ - if ((interrupts & CAN_IT_WAKEUP) != 0U) - { - if ((msrflags & CAN_MSR_WKUI) != 0U) - { - /* Clear WakeUp Flag */ - __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_WKU); - - /* WakeUp Callback */ -#if USE_HAL_CAN_REGISTER_CALLBACKS == 1 - /* Call registered callback*/ - hcan->WakeUpFromRxMsgCallback(hcan); -#else - /* Call weak (surcharged) callback */ - HAL_CAN_WakeUpFromRxMsgCallback(hcan); -#endif /* USE_HAL_CAN_REGISTER_CALLBACKS */ - } - } - - /* Error interrupts management *********************************************/ - if ((interrupts & CAN_IT_ERROR) != 0U) - { - if ((msrflags & CAN_MSR_ERRI) != 0U) - { - /* Check Error Warning Flag */ - if (((interrupts & CAN_IT_ERROR_WARNING) != 0U) && - ((esrflags & CAN_ESR_EWGF) != 0U)) - { - /* Set CAN error code to Error Warning */ - errorcode |= HAL_CAN_ERROR_EWG; - - /* No need for clear of Error Warning Flag as read-only */ - } - - /* Check Error Passive Flag */ - if (((interrupts & CAN_IT_ERROR_PASSIVE) != 0U) && - ((esrflags & CAN_ESR_EPVF) != 0U)) - { - /* Set CAN error code to Error Passive */ - errorcode |= HAL_CAN_ERROR_EPV; - - /* No need for clear of Error Passive Flag as read-only */ - } - - /* Check Bus-off Flag */ - if (((interrupts & CAN_IT_BUSOFF) != 0U) && - ((esrflags & CAN_ESR_BOFF) != 0U)) - { - /* Set CAN error code to Bus-Off */ - errorcode |= HAL_CAN_ERROR_BOF; - - /* No need for clear of Error Bus-Off as read-only */ - } - - /* Check Last Error Code Flag */ - if (((interrupts & CAN_IT_LAST_ERROR_CODE) != 0U) && - ((esrflags & CAN_ESR_LEC) != 0U)) - { - switch (esrflags & CAN_ESR_LEC) - { - case (CAN_ESR_LEC_0): - /* Set CAN error code to Stuff error */ - errorcode |= HAL_CAN_ERROR_STF; - break; - case (CAN_ESR_LEC_1): - /* Set CAN error code to Form error */ - errorcode |= HAL_CAN_ERROR_FOR; - break; - case (CAN_ESR_LEC_1 | CAN_ESR_LEC_0): - /* Set CAN error code to Acknowledgement error */ - errorcode |= HAL_CAN_ERROR_ACK; - break; - case (CAN_ESR_LEC_2): - /* Set CAN error code to Bit recessive error */ - errorcode |= HAL_CAN_ERROR_BR; - break; - case (CAN_ESR_LEC_2 | CAN_ESR_LEC_0): - /* Set CAN error code to Bit Dominant error */ - errorcode |= HAL_CAN_ERROR_BD; - break; - case (CAN_ESR_LEC_2 | CAN_ESR_LEC_1): - /* Set CAN error code to CRC error */ - errorcode |= HAL_CAN_ERROR_CRC; - break; - default: - break; - } - - /* Clear Last error code Flag */ - CLEAR_BIT(hcan->Instance->ESR, CAN_ESR_LEC); - } - } - - /* Clear ERRI Flag */ - __HAL_CAN_CLEAR_FLAG(hcan, CAN_FLAG_ERRI); - } - - /* Call the Error call Back in case of Errors */ - if (errorcode != HAL_CAN_ERROR_NONE) - { - /* Update error code in handle */ - hcan->ErrorCode |= errorcode; - - /* Call Error callback function */ -#if USE_HAL_CAN_REGISTER_CALLBACKS == 1 - /* Call registered callback*/ - hcan->ErrorCallback(hcan); -#else - /* Call weak (surcharged) callback */ - HAL_CAN_ErrorCallback(hcan); -#endif /* USE_HAL_CAN_REGISTER_CALLBACKS */ - } -} - -/** - * @} - */ - -/** @defgroup CAN_Exported_Functions_Group5 Callback functions - * @brief CAN Callback functions - * -@verbatim - ============================================================================== - ##### Callback functions ##### - ============================================================================== - [..] - This subsection provides the following callback functions: - (+) HAL_CAN_TxMailbox0CompleteCallback - (+) HAL_CAN_TxMailbox1CompleteCallback - (+) HAL_CAN_TxMailbox2CompleteCallback - (+) HAL_CAN_TxMailbox0AbortCallback - (+) HAL_CAN_TxMailbox1AbortCallback - (+) HAL_CAN_TxMailbox2AbortCallback - (+) HAL_CAN_RxFifo0MsgPendingCallback - (+) HAL_CAN_RxFifo0FullCallback - (+) HAL_CAN_RxFifo1MsgPendingCallback - (+) HAL_CAN_RxFifo1FullCallback - (+) HAL_CAN_SleepCallback - (+) HAL_CAN_WakeUpFromRxMsgCallback - (+) HAL_CAN_ErrorCallback - -@endverbatim - * @{ - */ - -/** - * @brief Transmission Mailbox 0 complete callback. - * @param hcan pointer to a CAN_HandleTypeDef structure that contains - * the configuration information for the specified CAN. - * @retval None - */ -__weak void HAL_CAN_TxMailbox0CompleteCallback(CAN_HandleTypeDef *hcan) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hcan); - - /* NOTE : This function Should not be modified, when the callback is needed, - the HAL_CAN_TxMailbox0CompleteCallback could be implemented in the - user file - */ -} - -/** - * @brief Transmission Mailbox 1 complete callback. - * @param hcan pointer to a CAN_HandleTypeDef structure that contains - * the configuration information for the specified CAN. - * @retval None - */ -__weak void HAL_CAN_TxMailbox1CompleteCallback(CAN_HandleTypeDef *hcan) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hcan); - - /* NOTE : This function Should not be modified, when the callback is needed, - the HAL_CAN_TxMailbox1CompleteCallback could be implemented in the - user file - */ -} - -/** - * @brief Transmission Mailbox 2 complete callback. - * @param hcan pointer to a CAN_HandleTypeDef structure that contains - * the configuration information for the specified CAN. - * @retval None - */ -__weak void HAL_CAN_TxMailbox2CompleteCallback(CAN_HandleTypeDef *hcan) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hcan); - - /* NOTE : This function Should not be modified, when the callback is needed, - the HAL_CAN_TxMailbox2CompleteCallback could be implemented in the - user file - */ -} - -/** - * @brief Transmission Mailbox 0 Cancellation callback. - * @param hcan pointer to an CAN_HandleTypeDef structure that contains - * the configuration information for the specified CAN. - * @retval None - */ -__weak void HAL_CAN_TxMailbox0AbortCallback(CAN_HandleTypeDef *hcan) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hcan); - - /* NOTE : This function Should not be modified, when the callback is needed, - the HAL_CAN_TxMailbox0AbortCallback could be implemented in the - user file - */ -} - -/** - * @brief Transmission Mailbox 1 Cancellation callback. - * @param hcan pointer to an CAN_HandleTypeDef structure that contains - * the configuration information for the specified CAN. - * @retval None - */ -__weak void HAL_CAN_TxMailbox1AbortCallback(CAN_HandleTypeDef *hcan) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hcan); - - /* NOTE : This function Should not be modified, when the callback is needed, - the HAL_CAN_TxMailbox1AbortCallback could be implemented in the - user file - */ -} - -/** - * @brief Transmission Mailbox 2 Cancellation callback. - * @param hcan pointer to an CAN_HandleTypeDef structure that contains - * the configuration information for the specified CAN. - * @retval None - */ -__weak void HAL_CAN_TxMailbox2AbortCallback(CAN_HandleTypeDef *hcan) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hcan); - - /* NOTE : This function Should not be modified, when the callback is needed, - the HAL_CAN_TxMailbox2AbortCallback could be implemented in the - user file - */ -} - -/** - * @brief Rx FIFO 0 message pending callback. - * @param hcan pointer to a CAN_HandleTypeDef structure that contains - * the configuration information for the specified CAN. - * @retval None - */ -__weak void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hcan); - - /* NOTE : This function Should not be modified, when the callback is needed, - the HAL_CAN_RxFifo0MsgPendingCallback could be implemented in the - user file - */ -} - -/** - * @brief Rx FIFO 0 full callback. - * @param hcan pointer to a CAN_HandleTypeDef structure that contains - * the configuration information for the specified CAN. - * @retval None - */ -__weak void HAL_CAN_RxFifo0FullCallback(CAN_HandleTypeDef *hcan) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hcan); - - /* NOTE : This function Should not be modified, when the callback is needed, - the HAL_CAN_RxFifo0FullCallback could be implemented in the user - file - */ -} - -/** - * @brief Rx FIFO 1 message pending callback. - * @param hcan pointer to a CAN_HandleTypeDef structure that contains - * the configuration information for the specified CAN. - * @retval None - */ -__weak void HAL_CAN_RxFifo1MsgPendingCallback(CAN_HandleTypeDef *hcan) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hcan); - - /* NOTE : This function Should not be modified, when the callback is needed, - the HAL_CAN_RxFifo1MsgPendingCallback could be implemented in the - user file - */ -} - -/** - * @brief Rx FIFO 1 full callback. - * @param hcan pointer to a CAN_HandleTypeDef structure that contains - * the configuration information for the specified CAN. - * @retval None - */ -__weak void HAL_CAN_RxFifo1FullCallback(CAN_HandleTypeDef *hcan) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hcan); - - /* NOTE : This function Should not be modified, when the callback is needed, - the HAL_CAN_RxFifo1FullCallback could be implemented in the user - file - */ -} - -/** - * @brief Sleep callback. - * @param hcan pointer to a CAN_HandleTypeDef structure that contains - * the configuration information for the specified CAN. - * @retval None - */ -__weak void HAL_CAN_SleepCallback(CAN_HandleTypeDef *hcan) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hcan); - - /* NOTE : This function Should not be modified, when the callback is needed, - the HAL_CAN_SleepCallback could be implemented in the user file - */ -} - -/** - * @brief WakeUp from Rx message callback. - * @param hcan pointer to a CAN_HandleTypeDef structure that contains - * the configuration information for the specified CAN. - * @retval None - */ -__weak void HAL_CAN_WakeUpFromRxMsgCallback(CAN_HandleTypeDef *hcan) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hcan); - - /* NOTE : This function Should not be modified, when the callback is needed, - the HAL_CAN_WakeUpFromRxMsgCallback could be implemented in the - user file - */ -} - -/** - * @brief Error CAN callback. - * @param hcan pointer to a CAN_HandleTypeDef structure that contains - * the configuration information for the specified CAN. - * @retval None - */ -__weak void HAL_CAN_ErrorCallback(CAN_HandleTypeDef *hcan) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hcan); - - /* NOTE : This function Should not be modified, when the callback is needed, - the HAL_CAN_ErrorCallback could be implemented in the user file - */ -} - -/** - * @} - */ - -/** @defgroup CAN_Exported_Functions_Group6 Peripheral State and Error functions - * @brief CAN Peripheral State functions - * -@verbatim - ============================================================================== - ##### Peripheral State and Error functions ##### - ============================================================================== - [..] - This subsection provides functions allowing to : - (+) HAL_CAN_GetState() : Return the CAN state. - (+) HAL_CAN_GetError() : Return the CAN error codes if any. - (+) HAL_CAN_ResetError(): Reset the CAN error codes if any. - -@endverbatim - * @{ - */ - -/** - * @brief Return the CAN state. - * @param hcan pointer to a CAN_HandleTypeDef structure that contains - * the configuration information for the specified CAN. - * @retval HAL state - */ -HAL_CAN_StateTypeDef HAL_CAN_GetState(CAN_HandleTypeDef *hcan) -{ - HAL_CAN_StateTypeDef state = hcan->State; - - if ((state == HAL_CAN_STATE_READY) || - (state == HAL_CAN_STATE_LISTENING)) - { - /* Check sleep mode acknowledge flag */ - if ((hcan->Instance->MSR & CAN_MSR_SLAK) != 0U) - { - /* Sleep mode is active */ - state = HAL_CAN_STATE_SLEEP_ACTIVE; - } - /* Check sleep mode request flag */ - else if ((hcan->Instance->MCR & CAN_MCR_SLEEP) != 0U) - { - /* Sleep mode request is pending */ - state = HAL_CAN_STATE_SLEEP_PENDING; - } - else - { - /* Neither sleep mode request nor sleep mode acknowledge */ - } - } - - /* Return CAN state */ - return state; -} - -/** - * @brief Return the CAN error code. - * @param hcan pointer to a CAN_HandleTypeDef structure that contains - * the configuration information for the specified CAN. - * @retval CAN Error Code - */ -uint32_t HAL_CAN_GetError(CAN_HandleTypeDef *hcan) -{ - /* Return CAN error code */ - return hcan->ErrorCode; -} - -/** - * @brief Reset the CAN error code. - * @param hcan pointer to a CAN_HandleTypeDef structure that contains - * the configuration information for the specified CAN. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_CAN_ResetError(CAN_HandleTypeDef *hcan) -{ - HAL_StatusTypeDef status = HAL_OK; - HAL_CAN_StateTypeDef state = hcan->State; - - if ((state == HAL_CAN_STATE_READY) || - (state == HAL_CAN_STATE_LISTENING)) - { - /* Reset CAN error code */ - hcan->ErrorCode = 0U; - } - else - { - /* Update error code */ - hcan->ErrorCode |= HAL_CAN_ERROR_NOT_INITIALIZED; - - status = HAL_ERROR; - } - - /* Return the status */ - return status; -} - -/** - * @} - */ - -/** - * @} - */ - -#endif /* HAL_CAN_MODULE_ENABLED */ - -/** - * @} - */ - -#endif /* CAN1 */ - -/** - * @} - */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cec.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cec.c deleted file mode 100644 index c599bcfc4a3ec1..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cec.c +++ /dev/null @@ -1,997 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_cec.c - * @author MCD Application Team - * @brief CEC HAL module driver. - * This file provides firmware functions to manage the following - * functionalities of the High Definition Multimedia Interface - * Consumer Electronics Control Peripheral (CEC). - * + Initialization and de-initialization function - * + IO operation function - * + Peripheral Control function - * - * - @verbatim - =============================================================================== - ##### How to use this driver ##### - =============================================================================== - [..] - The CEC HAL driver can be used as follow: - - (#) Declare a CEC_HandleTypeDef handle structure. - (#) Initialize the CEC low level resources by implementing the HAL_CEC_MspInit ()API: - (##) Enable the CEC interface clock. - (##) CEC pins configuration: - (+++) Enable the clock for the CEC GPIOs. - (+++) Configure these CEC pins as alternate function pull-up. - (##) NVIC configuration if you need to use interrupt process (HAL_CEC_Transmit_IT() - and HAL_CEC_Receive_IT() APIs): - (+++) Configure the CEC interrupt priority. - (+++) Enable the NVIC CEC IRQ handle. - (+++) The specific CEC interrupts (Transmission complete interrupt, - RXNE interrupt and Error Interrupts) will be managed using the macros - __HAL_CEC_ENABLE_IT() and __HAL_CEC_DISABLE_IT() inside the transmit - and receive process. - - (#) Program the Signal Free Time (SFT) and SFT option, Tolerance, reception stop in - in case of Bit Rising Error, Error-Bit generation conditions, device logical - address and Listen mode in the hcec Init structure. - - (#) Initialize the CEC registers by calling the HAL_CEC_Init() API. - - [..] - (@) This API (HAL_CEC_Init()) configures also the low level Hardware (GPIO, CLOCK, CORTEX...etc) - by calling the customed HAL_CEC_MspInit() API. - *** Callback registration *** - ============================================= - - The compilation define USE_HAL_CEC_REGISTER_CALLBACKS when set to 1 - allows the user to configure dynamically the driver callbacks. - Use Functions HAL_CEC_RegisterCallback() or HAL_CEC_RegisterXXXCallback() - to register an interrupt callback. - - Function HAL_CEC_RegisterCallback() allows to register following callbacks: - (+) TxCpltCallback : Tx Transfer completed callback. - (+) ErrorCallback : callback for error detection. - (+) MspInitCallback : CEC MspInit. - (+) MspDeInitCallback : CEC MspDeInit. - This function takes as parameters the HAL peripheral handle, the Callback ID - and a pointer to the user callback function. - - For specific callback HAL_CEC_RxCpltCallback use dedicated register callbacks - HAL_CEC_RegisterRxCpltCallback(). - - Use function HAL_CEC_UnRegisterCallback() to reset a callback to the default - weak function. - HAL_CEC_UnRegisterCallback() takes as parameters the HAL peripheral handle, - and the Callback ID. - This function allows to reset following callbacks: - (+) TxCpltCallback : Tx Transfer completed callback. - (+) ErrorCallback : callback for error detection. - (+) MspInitCallback : CEC MspInit. - (+) MspDeInitCallback : CEC MspDeInit. - - For callback HAL_CEC_RxCpltCallback use dedicated unregister callback : - HAL_CEC_UnRegisterRxCpltCallback(). - - By default, after the HAL_CEC_Init() and when the state is HAL_CEC_STATE_RESET - all callbacks are set to the corresponding weak functions : - examples HAL_CEC_TxCpltCallback() , HAL_CEC_RxCpltCallback(). - Exception done for MspInit and MspDeInit functions that are - reset to the legacy weak function in the HAL_CEC_Init()/ HAL_CEC_DeInit() only when - these callbacks are null (not registered beforehand). - if not, MspInit or MspDeInit are not null, the HAL_CEC_Init() / HAL_CEC_DeInit() - keep and use the user MspInit/MspDeInit functions (registered beforehand) - - Callbacks can be registered/unregistered in HAL_CEC_STATE_READY state only. - Exception done MspInit/MspDeInit callbacks that can be registered/unregistered - in HAL_CEC_STATE_READY or HAL_CEC_STATE_RESET state, - thus registered (user) MspInit/DeInit callbacks can be used during the Init/DeInit. - In that case first register the MspInit/MspDeInit user callbacks - using HAL_CEC_RegisterCallback() before calling HAL_CEC_DeInit() - or HAL_CEC_Init() function. - - When the compilation define USE_HAL_CEC_REGISTER_CALLBACKS is set to 0 or - not defined, the callback registration feature is not available and all callbacks - are set to the corresponding weak functions. - @endverbatim - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @defgroup CEC CEC - * @brief HAL CEC module driver - * @{ - */ -#ifdef HAL_CEC_MODULE_ENABLED -#if defined (CEC) - -/* Private typedef -----------------------------------------------------------*/ -/* Private define ------------------------------------------------------------*/ -/** @defgroup CEC_Private_Constants CEC Private Constants - * @{ - */ -/** - * @} - */ - -/* Private macro -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private function prototypes -----------------------------------------------*/ -/** @defgroup CEC_Private_Functions CEC Private Functions - * @{ - */ -/** - * @} - */ - -/* Exported functions ---------------------------------------------------------*/ - -/** @defgroup CEC_Exported_Functions CEC Exported Functions - * @{ - */ - -/** @defgroup CEC_Exported_Functions_Group1 Initialization and de-initialization functions - * @brief Initialization and Configuration functions - * -@verbatim -=============================================================================== - ##### Initialization and Configuration functions ##### - =============================================================================== - [..] - This subsection provides a set of functions allowing to initialize the CEC - (+) The following parameters need to be configured: - (++) SignalFreeTime - (++) Tolerance - (++) BRERxStop (RX stopped or not upon Bit Rising Error) - (++) BREErrorBitGen (Error-Bit generation in case of Bit Rising Error) - (++) LBPEErrorBitGen (Error-Bit generation in case of Long Bit Period Error) - (++) BroadcastMsgNoErrorBitGen (Error-bit generation in case of broadcast message error) - (++) SignalFreeTimeOption (SFT Timer start definition) - (++) OwnAddress (CEC device address) - (++) ListenMode - -@endverbatim - * @{ - */ - -/** - * @brief Initializes the CEC mode according to the specified - * parameters in the CEC_InitTypeDef and creates the associated handle . - * @param hcec CEC handle - * @retval HAL status - */ -HAL_StatusTypeDef HAL_CEC_Init(CEC_HandleTypeDef *hcec) -{ - /* Check the CEC handle allocation */ - if ((hcec == NULL) || (hcec->Init.RxBuffer == NULL)) - { - return HAL_ERROR; - } - - /* Check the parameters */ - assert_param(IS_CEC_ALL_INSTANCE(hcec->Instance)); - assert_param(IS_CEC_SIGNALFREETIME(hcec->Init.SignalFreeTime)); - assert_param(IS_CEC_TOLERANCE(hcec->Init.Tolerance)); - assert_param(IS_CEC_BRERXSTOP(hcec->Init.BRERxStop)); - assert_param(IS_CEC_BREERRORBITGEN(hcec->Init.BREErrorBitGen)); - assert_param(IS_CEC_LBPEERRORBITGEN(hcec->Init.LBPEErrorBitGen)); - assert_param(IS_CEC_BROADCASTERROR_NO_ERRORBIT_GENERATION(hcec->Init.BroadcastMsgNoErrorBitGen)); - assert_param(IS_CEC_SFTOP(hcec->Init.SignalFreeTimeOption)); - assert_param(IS_CEC_LISTENING_MODE(hcec->Init.ListenMode)); - assert_param(IS_CEC_OWN_ADDRESS(hcec->Init.OwnAddress)); - -#if (USE_HAL_CEC_REGISTER_CALLBACKS == 1) - if (hcec->gState == HAL_CEC_STATE_RESET) - { - /* Allocate lock resource and initialize it */ - hcec->Lock = HAL_UNLOCKED; - - hcec->TxCpltCallback = HAL_CEC_TxCpltCallback; /* Legacy weak TxCpltCallback */ - hcec->RxCpltCallback = HAL_CEC_RxCpltCallback; /* Legacy weak RxCpltCallback */ - hcec->ErrorCallback = HAL_CEC_ErrorCallback; /* Legacy weak ErrorCallback */ - - if (hcec->MspInitCallback == NULL) - { - hcec->MspInitCallback = HAL_CEC_MspInit; /* Legacy weak MspInit */ - } - - /* Init the low level hardware */ - hcec->MspInitCallback(hcec); - } -#else - if (hcec->gState == HAL_CEC_STATE_RESET) - { - /* Allocate lock resource and initialize it */ - hcec->Lock = HAL_UNLOCKED; - /* Init the low level hardware : GPIO, CLOCK */ - HAL_CEC_MspInit(hcec); - } -#endif /* USE_HAL_CEC_REGISTER_CALLBACKS */ - - hcec->gState = HAL_CEC_STATE_BUSY; - - /* Disable the Peripheral */ - __HAL_CEC_DISABLE(hcec); - - /* Write to CEC Control Register */ - hcec->Instance->CFGR = hcec->Init.SignalFreeTime | hcec->Init.Tolerance | hcec->Init.BRERxStop | \ - hcec->Init.BREErrorBitGen | hcec->Init.LBPEErrorBitGen | hcec->Init.BroadcastMsgNoErrorBitGen | \ - hcec->Init.SignalFreeTimeOption | ((uint32_t)(hcec->Init.OwnAddress) << 16U) | \ - hcec->Init.ListenMode; - - /* Enable the following CEC Transmission/Reception interrupts as - * well as the following CEC Transmission/Reception Errors interrupts - * Rx Byte Received IT - * End of Reception IT - * Rx overrun - * Rx bit rising error - * Rx short bit period error - * Rx long bit period error - * Rx missing acknowledge - * Tx Byte Request IT - * End of Transmission IT - * Tx Missing Acknowledge IT - * Tx-Error IT - * Tx-Buffer Underrun IT - * Tx arbitration lost */ - __HAL_CEC_ENABLE_IT(hcec, CEC_IT_RXBR | CEC_IT_RXEND | CEC_IER_RX_ALL_ERR | CEC_IT_TXBR | CEC_IT_TXEND | - CEC_IER_TX_ALL_ERR); - - /* Enable the CEC Peripheral */ - __HAL_CEC_ENABLE(hcec); - - hcec->ErrorCode = HAL_CEC_ERROR_NONE; - hcec->gState = HAL_CEC_STATE_READY; - hcec->RxState = HAL_CEC_STATE_READY; - - return HAL_OK; -} - -/** - * @brief DeInitializes the CEC peripheral - * @param hcec CEC handle - * @retval HAL status - */ -HAL_StatusTypeDef HAL_CEC_DeInit(CEC_HandleTypeDef *hcec) -{ - /* Check the CEC handle allocation */ - if (hcec == NULL) - { - return HAL_ERROR; - } - - /* Check the parameters */ - assert_param(IS_CEC_ALL_INSTANCE(hcec->Instance)); - - hcec->gState = HAL_CEC_STATE_BUSY; - -#if (USE_HAL_CEC_REGISTER_CALLBACKS == 1) - if (hcec->MspDeInitCallback == NULL) - { - hcec->MspDeInitCallback = HAL_CEC_MspDeInit; /* Legacy weak MspDeInit */ - } - - /* DeInit the low level hardware */ - hcec->MspDeInitCallback(hcec); - -#else - /* DeInit the low level hardware */ - HAL_CEC_MspDeInit(hcec); -#endif /* USE_HAL_CEC_REGISTER_CALLBACKS */ - - /* Disable the Peripheral */ - __HAL_CEC_DISABLE(hcec); - - /* Clear Flags */ - __HAL_CEC_CLEAR_FLAG(hcec, CEC_FLAG_TXEND | CEC_FLAG_TXBR | CEC_FLAG_RXBR | CEC_FLAG_RXEND | CEC_ISR_ALL_ERROR); - - /* Disable the following CEC Transmission/Reception interrupts as - * well as the following CEC Transmission/Reception Errors interrupts - * Rx Byte Received IT - * End of Reception IT - * Rx overrun - * Rx bit rising error - * Rx short bit period error - * Rx long bit period error - * Rx missing acknowledge - * Tx Byte Request IT - * End of Transmission IT - * Tx Missing Acknowledge IT - * Tx-Error IT - * Tx-Buffer Underrun IT - * Tx arbitration lost */ - __HAL_CEC_DISABLE_IT(hcec, CEC_IT_RXBR | CEC_IT_RXEND | CEC_IER_RX_ALL_ERR | CEC_IT_TXBR | CEC_IT_TXEND | - CEC_IER_TX_ALL_ERR); - - hcec->ErrorCode = HAL_CEC_ERROR_NONE; - hcec->gState = HAL_CEC_STATE_RESET; - hcec->RxState = HAL_CEC_STATE_RESET; - - /* Process Unlock */ - __HAL_UNLOCK(hcec); - - return HAL_OK; -} - -/** - * @brief Initializes the Own Address of the CEC device - * @param hcec CEC handle - * @param CEC_OwnAddress The CEC own address. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_CEC_SetDeviceAddress(CEC_HandleTypeDef *hcec, uint16_t CEC_OwnAddress) -{ - /* Check the parameters */ - assert_param(IS_CEC_OWN_ADDRESS(CEC_OwnAddress)); - - if ((hcec->gState == HAL_CEC_STATE_READY) && (hcec->RxState == HAL_CEC_STATE_READY)) - { - /* Process Locked */ - __HAL_LOCK(hcec); - - hcec->gState = HAL_CEC_STATE_BUSY; - - /* Disable the Peripheral */ - __HAL_CEC_DISABLE(hcec); - - if (CEC_OwnAddress != CEC_OWN_ADDRESS_NONE) - { - hcec->Instance->CFGR |= ((uint32_t)CEC_OwnAddress << 16); - } - else - { - hcec->Instance->CFGR &= ~(CEC_CFGR_OAR); - } - - hcec->gState = HAL_CEC_STATE_READY; - hcec->ErrorCode = HAL_CEC_ERROR_NONE; - - /* Process Unlocked */ - __HAL_UNLOCK(hcec); - - /* Enable the Peripheral */ - __HAL_CEC_ENABLE(hcec); - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief CEC MSP Init - * @param hcec CEC handle - * @retval None - */ -__weak void HAL_CEC_MspInit(CEC_HandleTypeDef *hcec) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hcec); - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_CEC_MspInit can be implemented in the user file - */ -} - -/** - * @brief CEC MSP DeInit - * @param hcec CEC handle - * @retval None - */ -__weak void HAL_CEC_MspDeInit(CEC_HandleTypeDef *hcec) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hcec); - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_CEC_MspDeInit can be implemented in the user file - */ -} -#if (USE_HAL_CEC_REGISTER_CALLBACKS == 1) -/** - * @brief Register a User CEC Callback - * To be used instead of the weak predefined callback - * @param hcec CEC handle - * @param CallbackID ID of the callback to be registered - * This parameter can be one of the following values: - * @arg @ref HAL_CEC_TX_CPLT_CB_ID Tx Complete callback ID - * @arg @ref HAL_CEC_ERROR_CB_ID Error callback ID - * @arg @ref HAL_CEC_MSPINIT_CB_ID MspInit callback ID - * @arg @ref HAL_CEC_MSPDEINIT_CB_ID MspDeInit callback ID - * @param pCallback pointer to the Callback function - * @retval HAL status - */ -HAL_StatusTypeDef HAL_CEC_RegisterCallback(CEC_HandleTypeDef *hcec, HAL_CEC_CallbackIDTypeDef CallbackID, - pCEC_CallbackTypeDef pCallback) -{ - HAL_StatusTypeDef status = HAL_OK; - - if (pCallback == NULL) - { - /* Update the error code */ - hcec->ErrorCode |= HAL_CEC_ERROR_INVALID_CALLBACK; - return HAL_ERROR; - } - /* Process locked */ - __HAL_LOCK(hcec); - - if (hcec->gState == HAL_CEC_STATE_READY) - { - switch (CallbackID) - { - case HAL_CEC_TX_CPLT_CB_ID : - hcec->TxCpltCallback = pCallback; - break; - - case HAL_CEC_ERROR_CB_ID : - hcec->ErrorCallback = pCallback; - break; - - case HAL_CEC_MSPINIT_CB_ID : - hcec->MspInitCallback = pCallback; - break; - - case HAL_CEC_MSPDEINIT_CB_ID : - hcec->MspDeInitCallback = pCallback; - break; - - default : - /* Update the error code */ - hcec->ErrorCode |= HAL_CEC_ERROR_INVALID_CALLBACK; - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else if (hcec->gState == HAL_CEC_STATE_RESET) - { - switch (CallbackID) - { - case HAL_CEC_MSPINIT_CB_ID : - hcec->MspInitCallback = pCallback; - break; - - case HAL_CEC_MSPDEINIT_CB_ID : - hcec->MspDeInitCallback = pCallback; - break; - - default : - /* Update the error code */ - hcec->ErrorCode |= HAL_CEC_ERROR_INVALID_CALLBACK; - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else - { - /* Update the error code */ - hcec->ErrorCode |= HAL_CEC_ERROR_INVALID_CALLBACK; - /* Return error status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(hcec); - - return status; -} - -/** - * @brief Unregister an CEC Callback - * CEC callabck is redirected to the weak predefined callback - * @param hcec uart handle - * @param CallbackID ID of the callback to be unregistered - * This parameter can be one of the following values: - * @arg @ref HAL_CEC_TX_CPLT_CB_ID Tx Complete callback ID - * @arg @ref HAL_CEC_ERROR_CB_ID Error callback ID - * @arg @ref HAL_CEC_MSPINIT_CB_ID MspInit callback ID - * @arg @ref HAL_CEC_MSPDEINIT_CB_ID MspDeInit callback ID - * @retval status - */ -HAL_StatusTypeDef HAL_CEC_UnRegisterCallback(CEC_HandleTypeDef *hcec, HAL_CEC_CallbackIDTypeDef CallbackID) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Process locked */ - __HAL_LOCK(hcec); - - if (hcec->gState == HAL_CEC_STATE_READY) - { - switch (CallbackID) - { - case HAL_CEC_TX_CPLT_CB_ID : - hcec->TxCpltCallback = HAL_CEC_TxCpltCallback; /* Legacy weak TxCpltCallback */ - break; - - case HAL_CEC_ERROR_CB_ID : - hcec->ErrorCallback = HAL_CEC_ErrorCallback; /* Legacy weak ErrorCallback */ - break; - - case HAL_CEC_MSPINIT_CB_ID : - hcec->MspInitCallback = HAL_CEC_MspInit; - break; - - case HAL_CEC_MSPDEINIT_CB_ID : - hcec->MspDeInitCallback = HAL_CEC_MspDeInit; - break; - - default : - /* Update the error code */ - hcec->ErrorCode |= HAL_CEC_ERROR_INVALID_CALLBACK; - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else if (hcec->gState == HAL_CEC_STATE_RESET) - { - switch (CallbackID) - { - case HAL_CEC_MSPINIT_CB_ID : - hcec->MspInitCallback = HAL_CEC_MspInit; - break; - - case HAL_CEC_MSPDEINIT_CB_ID : - hcec->MspDeInitCallback = HAL_CEC_MspDeInit; - break; - - default : - /* Update the error code */ - hcec->ErrorCode |= HAL_CEC_ERROR_INVALID_CALLBACK; - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else - { - /* Update the error code */ - hcec->ErrorCode |= HAL_CEC_ERROR_INVALID_CALLBACK; - /* Return error status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(hcec); - - return status; -} - -/** - * @brief Register CEC RX complete Callback - * To be used instead of the weak HAL_CEC_RxCpltCallback() predefined callback - * @param hcec CEC handle - * @param pCallback pointer to the Rx transfer compelete Callback function - * @retval HAL status - */ -HAL_StatusTypeDef HAL_CEC_RegisterRxCpltCallback(CEC_HandleTypeDef *hcec, pCEC_RxCallbackTypeDef pCallback) -{ - HAL_StatusTypeDef status = HAL_OK; - - if (pCallback == NULL) - { - /* Update the error code */ - hcec->ErrorCode |= HAL_CEC_ERROR_INVALID_CALLBACK; - return HAL_ERROR; - } - /* Process locked */ - __HAL_LOCK(hcec); - - if (HAL_CEC_STATE_READY == hcec->RxState) - { - hcec->RxCpltCallback = pCallback; - } - else - { - /* Update the error code */ - hcec->ErrorCode |= HAL_CEC_ERROR_INVALID_CALLBACK; - /* Return error status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(hcec); - return status; -} - -/** - * @brief UnRegister CEC RX complete Callback - * CEC RX complete Callback is redirected to the weak HAL_CEC_RxCpltCallback() predefined callback - * @param hcec CEC handle - * @retval HAL status - */ -HAL_StatusTypeDef HAL_CEC_UnRegisterRxCpltCallback(CEC_HandleTypeDef *hcec) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Process locked */ - __HAL_LOCK(hcec); - - if (HAL_CEC_STATE_READY == hcec->RxState) - { - hcec->RxCpltCallback = HAL_CEC_RxCpltCallback; /* Legacy weak CEC RxCpltCallback */ - } - else - { - /* Update the error code */ - hcec->ErrorCode |= HAL_CEC_ERROR_INVALID_CALLBACK; - /* Return error status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(hcec); - return status; -} -#endif /* USE_HAL_CEC_REGISTER_CALLBACKS */ - -/** - * @} - */ - -/** @defgroup CEC_Exported_Functions_Group2 Input and Output operation functions - * @brief CEC Transmit/Receive functions - * -@verbatim - =============================================================================== - ##### IO operation functions ##### - =============================================================================== - This subsection provides a set of functions allowing to manage the CEC data transfers. - - (#) The CEC handle must contain the initiator (TX side) and the destination (RX side) - logical addresses (4-bit long addresses, 0xF for broadcast messages destination) - - (#) The communication is performed using Interrupts. - These API's return the HAL status. - The end of the data processing will be indicated through the - dedicated CEC IRQ when using Interrupt mode. - The HAL_CEC_TxCpltCallback(), HAL_CEC_RxCpltCallback() user callbacks - will be executed respectively at the end of the transmit or Receive process - The HAL_CEC_ErrorCallback() user callback will be executed when a communication - error is detected - - (#) API's with Interrupt are : - (+) HAL_CEC_Transmit_IT() - (+) HAL_CEC_IRQHandler() - - (#) A set of User Callbacks are provided: - (+) HAL_CEC_TxCpltCallback() - (+) HAL_CEC_RxCpltCallback() - (+) HAL_CEC_ErrorCallback() - -@endverbatim - * @{ - */ - -/** - * @brief Send data in interrupt mode - * @param hcec CEC handle - * @param InitiatorAddress Initiator address - * @param DestinationAddress destination logical address - * @param pData pointer to input byte data buffer - * @param Size amount of data to be sent in bytes (without counting the header). - * 0 means only the header is sent (ping operation). - * Maximum TX size is 15 bytes (1 opcode and up to 14 operands). - * @retval HAL status - */ -HAL_StatusTypeDef HAL_CEC_Transmit_IT(CEC_HandleTypeDef *hcec, uint8_t InitiatorAddress, uint8_t DestinationAddress, - uint8_t *pData, uint32_t Size) -{ - /* if the peripheral isn't already busy and if there is no previous transmission - already pending due to arbitration lost */ - if (hcec->gState == HAL_CEC_STATE_READY) - { - if ((pData == NULL) && (Size > 0U)) - { - return HAL_ERROR; - } - - assert_param(IS_CEC_ADDRESS(DestinationAddress)); - assert_param(IS_CEC_ADDRESS(InitiatorAddress)); - assert_param(IS_CEC_MSGSIZE(Size)); - - /* Process Locked */ - __HAL_LOCK(hcec); - hcec->pTxBuffPtr = pData; - hcec->gState = HAL_CEC_STATE_BUSY_TX; - hcec->ErrorCode = HAL_CEC_ERROR_NONE; - - /* initialize the number of bytes to send, - * 0 means only one header is sent (ping operation) */ - hcec->TxXferCount = (uint16_t)Size; - - /* in case of no payload (Size = 0), sender is only pinging the system; - Set TX End of Message (TXEOM) bit, must be set before writing data to TXDR */ - if (Size == 0U) - { - __HAL_CEC_LAST_BYTE_TX_SET(hcec); - } - - /* send header block */ - hcec->Instance->TXDR = (uint32_t)(((uint32_t)InitiatorAddress << CEC_INITIATOR_LSB_POS) | DestinationAddress); - - /* Set TX Start of Message (TXSOM) bit */ - __HAL_CEC_FIRST_BYTE_TX_SET(hcec); - - /* Process Unlocked */ - __HAL_UNLOCK(hcec); - - return HAL_OK; - - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Get size of the received frame. - * @param hcec CEC handle - * @retval Frame size - */ -uint32_t HAL_CEC_GetLastReceivedFrameSize(CEC_HandleTypeDef *hcec) -{ - return hcec->RxXferSize; -} - -/** - * @brief Change Rx Buffer. - * @param hcec CEC handle - * @param Rxbuffer Rx Buffer - * @note This function can be called only inside the HAL_CEC_RxCpltCallback() - * @retval Frame size - */ -void HAL_CEC_ChangeRxBuffer(CEC_HandleTypeDef *hcec, uint8_t *Rxbuffer) -{ - hcec->Init.RxBuffer = Rxbuffer; -} - -/** - * @brief This function handles CEC interrupt requests. - * @param hcec CEC handle - * @retval None - */ -void HAL_CEC_IRQHandler(CEC_HandleTypeDef *hcec) -{ - - /* save interrupts register for further error or interrupts handling purposes */ - uint32_t reg; - reg = hcec->Instance->ISR; - - - /* ----------------------------Arbitration Lost Management----------------------------------*/ - /* CEC TX arbitration error interrupt occurred --------------------------------------*/ - if ((reg & CEC_FLAG_ARBLST) != 0U) - { - hcec->ErrorCode = HAL_CEC_ERROR_ARBLST; - __HAL_CEC_CLEAR_FLAG(hcec, CEC_FLAG_ARBLST); - } - - /* ----------------------------Rx Management----------------------------------*/ - /* CEC RX byte received interrupt ---------------------------------------------------*/ - if ((reg & CEC_FLAG_RXBR) != 0U) - { - /* reception is starting */ - hcec->RxState = HAL_CEC_STATE_BUSY_RX; - hcec->RxXferSize++; - /* read received byte */ - *hcec->Init.RxBuffer = (uint8_t) hcec->Instance->RXDR; - hcec->Init.RxBuffer++; - __HAL_CEC_CLEAR_FLAG(hcec, CEC_FLAG_RXBR); - } - - /* CEC RX end received interrupt ---------------------------------------------------*/ - if ((reg & CEC_FLAG_RXEND) != 0U) - { - /* clear IT */ - __HAL_CEC_CLEAR_FLAG(hcec, CEC_FLAG_RXEND); - - /* Rx process is completed, restore hcec->RxState to Ready */ - hcec->RxState = HAL_CEC_STATE_READY; - hcec->ErrorCode = HAL_CEC_ERROR_NONE; - hcec->Init.RxBuffer -= hcec->RxXferSize; -#if (USE_HAL_CEC_REGISTER_CALLBACKS == 1U) - hcec->RxCpltCallback(hcec, hcec->RxXferSize); -#else - HAL_CEC_RxCpltCallback(hcec, hcec->RxXferSize); -#endif /* USE_HAL_CEC_REGISTER_CALLBACKS */ - hcec->RxXferSize = 0U; - } - - /* ----------------------------Tx Management----------------------------------*/ - /* CEC TX byte request interrupt ------------------------------------------------*/ - if ((reg & CEC_FLAG_TXBR) != 0U) - { - --hcec->TxXferCount; - if (hcec->TxXferCount == 0U) - { - /* if this is the last byte transmission, set TX End of Message (TXEOM) bit */ - __HAL_CEC_LAST_BYTE_TX_SET(hcec); - } - /* In all cases transmit the byte */ - hcec->Instance->TXDR = *hcec->pTxBuffPtr; - hcec->pTxBuffPtr++; - /* clear Tx-Byte request flag */ - __HAL_CEC_CLEAR_FLAG(hcec, CEC_FLAG_TXBR); - } - - /* CEC TX end interrupt ------------------------------------------------*/ - if ((reg & CEC_FLAG_TXEND) != 0U) - { - __HAL_CEC_CLEAR_FLAG(hcec, CEC_FLAG_TXEND); - - /* Tx process is ended, restore hcec->gState to Ready */ - hcec->gState = HAL_CEC_STATE_READY; - /* Call the Process Unlocked before calling the Tx call back API to give the possibility to - start again the Transmission under the Tx call back API */ - __HAL_UNLOCK(hcec); - hcec->ErrorCode = HAL_CEC_ERROR_NONE; -#if (USE_HAL_CEC_REGISTER_CALLBACKS == 1U) - hcec->TxCpltCallback(hcec); -#else - HAL_CEC_TxCpltCallback(hcec); -#endif /* USE_HAL_CEC_REGISTER_CALLBACKS */ - } - - /* ----------------------------Rx/Tx Error Management----------------------------------*/ - if ((reg & (CEC_ISR_RXOVR | CEC_ISR_BRE | CEC_ISR_SBPE | CEC_ISR_LBPE | CEC_ISR_RXACKE | CEC_ISR_TXUDR | CEC_ISR_TXERR | - CEC_ISR_TXACKE)) != 0U) - { - hcec->ErrorCode = reg; - __HAL_CEC_CLEAR_FLAG(hcec, HAL_CEC_ERROR_RXOVR | HAL_CEC_ERROR_BRE | CEC_FLAG_LBPE | CEC_FLAG_SBPE | - HAL_CEC_ERROR_RXACKE | HAL_CEC_ERROR_TXUDR | HAL_CEC_ERROR_TXERR | HAL_CEC_ERROR_TXACKE); - - - if ((reg & (CEC_ISR_RXOVR | CEC_ISR_BRE | CEC_ISR_SBPE | CEC_ISR_LBPE | CEC_ISR_RXACKE)) != 0U) - { - hcec->Init.RxBuffer -= hcec->RxXferSize; - hcec->RxXferSize = 0U; - hcec->RxState = HAL_CEC_STATE_READY; - } - else if (((reg & CEC_ISR_ARBLST) == 0U) && ((reg & (CEC_ISR_TXUDR | CEC_ISR_TXERR | CEC_ISR_TXACKE)) != 0U)) - { - /* Set the CEC state ready to be able to start again the process */ - hcec->gState = HAL_CEC_STATE_READY; - } - else - { - /* Nothing todo*/ - } -#if (USE_HAL_CEC_REGISTER_CALLBACKS == 1U) - hcec->ErrorCallback(hcec); -#else - /* Error Call Back */ - HAL_CEC_ErrorCallback(hcec); -#endif /* USE_HAL_CEC_REGISTER_CALLBACKS */ - } - else - { - /* Nothing todo*/ - } -} - -/** - * @brief Tx Transfer completed callback - * @param hcec CEC handle - * @retval None - */ -__weak void HAL_CEC_TxCpltCallback(CEC_HandleTypeDef *hcec) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hcec); - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_CEC_TxCpltCallback can be implemented in the user file - */ -} - -/** - * @brief Rx Transfer completed callback - * @param hcec CEC handle - * @param RxFrameSize Size of frame - * @retval None - */ -__weak void HAL_CEC_RxCpltCallback(CEC_HandleTypeDef *hcec, uint32_t RxFrameSize) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hcec); - UNUSED(RxFrameSize); - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_CEC_RxCpltCallback can be implemented in the user file - */ -} - -/** - * @brief CEC error callbacks - * @param hcec CEC handle - * @retval None - */ -__weak void HAL_CEC_ErrorCallback(CEC_HandleTypeDef *hcec) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hcec); - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_CEC_ErrorCallback can be implemented in the user file - */ -} -/** - * @} - */ - -/** @defgroup CEC_Exported_Functions_Group3 Peripheral Control function - * @brief CEC control functions - * -@verbatim - =============================================================================== - ##### Peripheral Control function ##### - =============================================================================== - [..] - This subsection provides a set of functions allowing to control the CEC. - (+) HAL_CEC_GetState() API can be helpful to check in run-time the state of the CEC peripheral. - (+) HAL_CEC_GetError() API can be helpful to check in run-time the error of the CEC peripheral. -@endverbatim - * @{ - */ -/** - * @brief return the CEC state - * @param hcec pointer to a CEC_HandleTypeDef structure that contains - * the configuration information for the specified CEC module. - * @retval HAL state - */ -HAL_CEC_StateTypeDef HAL_CEC_GetState(CEC_HandleTypeDef *hcec) -{ - uint32_t temp1, temp2; - temp1 = hcec->gState; - temp2 = hcec->RxState; - - return (HAL_CEC_StateTypeDef)(temp1 | temp2); -} - -/** - * @brief Return the CEC error code - * @param hcec pointer to a CEC_HandleTypeDef structure that contains - * the configuration information for the specified CEC. - * @retval CEC Error Code - */ -uint32_t HAL_CEC_GetError(CEC_HandleTypeDef *hcec) -{ - return hcec->ErrorCode; -} - -/** - * @} - */ - -/** - * @} - */ -#endif /* CEC */ -#endif /* HAL_CEC_MODULE_ENABLED */ -/** - * @} - */ - -/** - * @} - */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c deleted file mode 100644 index 2efb98640c4ab1..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c +++ /dev/null @@ -1,505 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_cortex.c - * @author MCD Application Team - * @brief CORTEX HAL module driver. - * This file provides firmware functions to manage the following - * functionalities of the CORTEX: - * + Initialization and de-initialization functions - * + Peripheral Control functions - * - @verbatim - ============================================================================== - ##### How to use this driver ##### - ============================================================================== - - [..] - *** How to configure Interrupts using CORTEX HAL driver *** - =========================================================== - [..] - This section provides functions allowing to configure the NVIC interrupts (IRQ). - The Cortex-M4 exceptions are managed by CMSIS functions. - - (#) Configure the NVIC Priority Grouping using HAL_NVIC_SetPriorityGrouping() - function according to the following table. - (#) Configure the priority of the selected IRQ Channels using HAL_NVIC_SetPriority(). - (#) Enable the selected IRQ Channels using HAL_NVIC_EnableIRQ(). - (#) please refer to programming manual for details in how to configure priority. - - -@- When the NVIC_PRIORITYGROUP_0 is selected, IRQ preemption is no more possible. - The pending IRQ priority will be managed only by the sub priority. - - -@- IRQ priority order (sorted by highest to lowest priority): - (+@) Lowest preemption priority - (+@) Lowest sub priority - (+@) Lowest hardware priority (IRQ number) - - [..] - *** How to configure Systick using CORTEX HAL driver *** - ======================================================== - [..] - Setup SysTick Timer for time base. - - (+) The HAL_SYSTICK_Config() function calls the SysTick_Config() function which - is a CMSIS function that: - (++) Configures the SysTick Reload register with value passed as function parameter. - (++) Configures the SysTick IRQ priority to the lowest value 0x0F. - (++) Resets the SysTick Counter register. - (++) Configures the SysTick Counter clock source to be Core Clock Source (HCLK). - (++) Enables the SysTick Interrupt. - (++) Starts the SysTick Counter. - - (+) You can change the SysTick Clock source to be HCLK_Div8 by calling the macro - __HAL_CORTEX_SYSTICKCLK_CONFIG(SYSTICK_CLKSOURCE_HCLK_DIV8) just after the - HAL_SYSTICK_Config() function call. The __HAL_CORTEX_SYSTICKCLK_CONFIG() macro is defined - inside the stm32f4xx_hal_cortex.h file. - - (+) You can change the SysTick IRQ priority by calling the - HAL_NVIC_SetPriority(SysTick_IRQn,...) function just after the HAL_SYSTICK_Config() function - call. The HAL_NVIC_SetPriority() call the NVIC_SetPriority() function which is a CMSIS function. - - (+) To adjust the SysTick time base, use the following formula: - - Reload Value = SysTick Counter Clock (Hz) x Desired Time base (s) - (++) Reload Value is the parameter to be passed for HAL_SYSTICK_Config() function - (++) Reload Value should not exceed 0xFFFFFF - - @endverbatim - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @defgroup CORTEX CORTEX - * @brief CORTEX HAL module driver - * @{ - */ - -#ifdef HAL_CORTEX_MODULE_ENABLED - -/* Private types -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private constants ---------------------------------------------------------*/ -/* Private macros ------------------------------------------------------------*/ -/* Private functions ---------------------------------------------------------*/ -/* Exported functions --------------------------------------------------------*/ - -/** @defgroup CORTEX_Exported_Functions CORTEX Exported Functions - * @{ - */ - - -/** @defgroup CORTEX_Exported_Functions_Group1 Initialization and de-initialization functions - * @brief Initialization and Configuration functions - * -@verbatim - ============================================================================== - ##### Initialization and de-initialization functions ##### - ============================================================================== - [..] - This section provides the CORTEX HAL driver functions allowing to configure Interrupts - Systick functionalities - -@endverbatim - * @{ - */ - - -/** - * @brief Sets the priority grouping field (preemption priority and subpriority) - * using the required unlock sequence. - * @param PriorityGroup The priority grouping bits length. - * This parameter can be one of the following values: - * @arg NVIC_PRIORITYGROUP_0: 0 bits for preemption priority - * 4 bits for subpriority - * @arg NVIC_PRIORITYGROUP_1: 1 bits for preemption priority - * 3 bits for subpriority - * @arg NVIC_PRIORITYGROUP_2: 2 bits for preemption priority - * 2 bits for subpriority - * @arg NVIC_PRIORITYGROUP_3: 3 bits for preemption priority - * 1 bits for subpriority - * @arg NVIC_PRIORITYGROUP_4: 4 bits for preemption priority - * 0 bits for subpriority - * @note When the NVIC_PriorityGroup_0 is selected, IRQ preemption is no more possible. - * The pending IRQ priority will be managed only by the subpriority. - * @retval None - */ -void HAL_NVIC_SetPriorityGrouping(uint32_t PriorityGroup) -{ - /* Check the parameters */ - assert_param(IS_NVIC_PRIORITY_GROUP(PriorityGroup)); - - /* Set the PRIGROUP[10:8] bits according to the PriorityGroup parameter value */ - NVIC_SetPriorityGrouping(PriorityGroup); -} - -/** - * @brief Sets the priority of an interrupt. - * @param IRQn External interrupt number. - * This parameter can be an enumerator of IRQn_Type enumeration - * (For the complete STM32 Devices IRQ Channels list, please refer to the appropriate CMSIS device file (stm32f4xxxx.h)) - * @param PreemptPriority The preemption priority for the IRQn channel. - * This parameter can be a value between 0 and 15 - * A lower priority value indicates a higher priority - * @param SubPriority the subpriority level for the IRQ channel. - * This parameter can be a value between 0 and 15 - * A lower priority value indicates a higher priority. - * @retval None - */ -void HAL_NVIC_SetPriority(IRQn_Type IRQn, uint32_t PreemptPriority, uint32_t SubPriority) -{ - uint32_t prioritygroup = 0x00U; - - /* Check the parameters */ - assert_param(IS_NVIC_SUB_PRIORITY(SubPriority)); - assert_param(IS_NVIC_PREEMPTION_PRIORITY(PreemptPriority)); - - prioritygroup = NVIC_GetPriorityGrouping(); - - NVIC_SetPriority(IRQn, NVIC_EncodePriority(prioritygroup, PreemptPriority, SubPriority)); -} - -/** - * @brief Enables a device specific interrupt in the NVIC interrupt controller. - * @note To configure interrupts priority correctly, the NVIC_PriorityGroupConfig() - * function should be called before. - * @param IRQn External interrupt number. - * This parameter can be an enumerator of IRQn_Type enumeration - * (For the complete STM32 Devices IRQ Channels list, please refer to the appropriate CMSIS device file (stm32f4xxxx.h)) - * @retval None - */ -void HAL_NVIC_EnableIRQ(IRQn_Type IRQn) -{ - /* Check the parameters */ - assert_param(IS_NVIC_DEVICE_IRQ(IRQn)); - - /* Enable interrupt */ - NVIC_EnableIRQ(IRQn); -} - -/** - * @brief Disables a device specific interrupt in the NVIC interrupt controller. - * @param IRQn External interrupt number. - * This parameter can be an enumerator of IRQn_Type enumeration - * (For the complete STM32 Devices IRQ Channels list, please refer to the appropriate CMSIS device file (stm32f4xxxx.h)) - * @retval None - */ -void HAL_NVIC_DisableIRQ(IRQn_Type IRQn) -{ - /* Check the parameters */ - assert_param(IS_NVIC_DEVICE_IRQ(IRQn)); - - /* Disable interrupt */ - NVIC_DisableIRQ(IRQn); -} - -/** - * @brief Initiates a system reset request to reset the MCU. - * @retval None - */ -void HAL_NVIC_SystemReset(void) -{ - /* System Reset */ - NVIC_SystemReset(); -} - -/** - * @brief Initializes the System Timer and its interrupt, and starts the System Tick Timer. - * Counter is in free running mode to generate periodic interrupts. - * @param TicksNumb Specifies the ticks Number of ticks between two interrupts. - * @retval status: - 0 Function succeeded. - * - 1 Function failed. - */ -uint32_t HAL_SYSTICK_Config(uint32_t TicksNumb) -{ - return SysTick_Config(TicksNumb); -} -/** - * @} - */ - -/** @defgroup CORTEX_Exported_Functions_Group2 Peripheral Control functions - * @brief Cortex control functions - * -@verbatim - ============================================================================== - ##### Peripheral Control functions ##### - ============================================================================== - [..] - This subsection provides a set of functions allowing to control the CORTEX - (NVIC, SYSTICK, MPU) functionalities. - - -@endverbatim - * @{ - */ - -#if (__MPU_PRESENT == 1U) -/** - * @brief Disables the MPU - * @retval None - */ -void HAL_MPU_Disable(void) -{ - /* Make sure outstanding transfers are done */ - __DMB(); - - /* Disable fault exceptions */ - SCB->SHCSR &= ~SCB_SHCSR_MEMFAULTENA_Msk; - - /* Disable the MPU and clear the control register*/ - MPU->CTRL = 0U; -} - -/** - * @brief Enable the MPU. - * @param MPU_Control Specifies the control mode of the MPU during hard fault, - * NMI, FAULTMASK and privileged access to the default memory - * This parameter can be one of the following values: - * @arg MPU_HFNMI_PRIVDEF_NONE - * @arg MPU_HARDFAULT_NMI - * @arg MPU_PRIVILEGED_DEFAULT - * @arg MPU_HFNMI_PRIVDEF - * @retval None - */ -void HAL_MPU_Enable(uint32_t MPU_Control) -{ - /* Enable the MPU */ - MPU->CTRL = MPU_Control | MPU_CTRL_ENABLE_Msk; - - /* Enable fault exceptions */ - SCB->SHCSR |= SCB_SHCSR_MEMFAULTENA_Msk; - - /* Ensure MPU setting take effects */ - __DSB(); - __ISB(); -} - -/** - * @brief Initializes and configures the Region and the memory to be protected. - * @param MPU_Init Pointer to a MPU_Region_InitTypeDef structure that contains - * the initialization and configuration information. - * @retval None - */ -void HAL_MPU_ConfigRegion(MPU_Region_InitTypeDef *MPU_Init) -{ - /* Check the parameters */ - assert_param(IS_MPU_REGION_NUMBER(MPU_Init->Number)); - assert_param(IS_MPU_REGION_ENABLE(MPU_Init->Enable)); - - /* Set the Region number */ - MPU->RNR = MPU_Init->Number; - - if ((MPU_Init->Enable) != RESET) - { - /* Check the parameters */ - assert_param(IS_MPU_INSTRUCTION_ACCESS(MPU_Init->DisableExec)); - assert_param(IS_MPU_REGION_PERMISSION_ATTRIBUTE(MPU_Init->AccessPermission)); - assert_param(IS_MPU_TEX_LEVEL(MPU_Init->TypeExtField)); - assert_param(IS_MPU_ACCESS_SHAREABLE(MPU_Init->IsShareable)); - assert_param(IS_MPU_ACCESS_CACHEABLE(MPU_Init->IsCacheable)); - assert_param(IS_MPU_ACCESS_BUFFERABLE(MPU_Init->IsBufferable)); - assert_param(IS_MPU_SUB_REGION_DISABLE(MPU_Init->SubRegionDisable)); - assert_param(IS_MPU_REGION_SIZE(MPU_Init->Size)); - - MPU->RBAR = MPU_Init->BaseAddress; - MPU->RASR = ((uint32_t)MPU_Init->DisableExec << MPU_RASR_XN_Pos) | - ((uint32_t)MPU_Init->AccessPermission << MPU_RASR_AP_Pos) | - ((uint32_t)MPU_Init->TypeExtField << MPU_RASR_TEX_Pos) | - ((uint32_t)MPU_Init->IsShareable << MPU_RASR_S_Pos) | - ((uint32_t)MPU_Init->IsCacheable << MPU_RASR_C_Pos) | - ((uint32_t)MPU_Init->IsBufferable << MPU_RASR_B_Pos) | - ((uint32_t)MPU_Init->SubRegionDisable << MPU_RASR_SRD_Pos) | - ((uint32_t)MPU_Init->Size << MPU_RASR_SIZE_Pos) | - ((uint32_t)MPU_Init->Enable << MPU_RASR_ENABLE_Pos); - } - else - { - MPU->RBAR = 0x00U; - MPU->RASR = 0x00U; - } -} -#endif /* __MPU_PRESENT */ - -/** - * @brief Gets the priority grouping field from the NVIC Interrupt Controller. - * @retval Priority grouping field (SCB->AIRCR [10:8] PRIGROUP field) - */ -uint32_t HAL_NVIC_GetPriorityGrouping(void) -{ - /* Get the PRIGROUP[10:8] field value */ - return NVIC_GetPriorityGrouping(); -} - -/** - * @brief Gets the priority of an interrupt. - * @param IRQn External interrupt number. - * This parameter can be an enumerator of IRQn_Type enumeration - * (For the complete STM32 Devices IRQ Channels list, please refer to the appropriate CMSIS device file (stm32f4xxxx.h)) - * @param PriorityGroup the priority grouping bits length. - * This parameter can be one of the following values: - * @arg NVIC_PRIORITYGROUP_0: 0 bits for preemption priority - * 4 bits for subpriority - * @arg NVIC_PRIORITYGROUP_1: 1 bits for preemption priority - * 3 bits for subpriority - * @arg NVIC_PRIORITYGROUP_2: 2 bits for preemption priority - * 2 bits for subpriority - * @arg NVIC_PRIORITYGROUP_3: 3 bits for preemption priority - * 1 bits for subpriority - * @arg NVIC_PRIORITYGROUP_4: 4 bits for preemption priority - * 0 bits for subpriority - * @param pPreemptPriority Pointer on the Preemptive priority value (starting from 0). - * @param pSubPriority Pointer on the Subpriority value (starting from 0). - * @retval None - */ -void HAL_NVIC_GetPriority(IRQn_Type IRQn, uint32_t PriorityGroup, uint32_t *pPreemptPriority, uint32_t *pSubPriority) -{ - /* Check the parameters */ - assert_param(IS_NVIC_PRIORITY_GROUP(PriorityGroup)); - /* Get priority for Cortex-M system or device specific interrupts */ - NVIC_DecodePriority(NVIC_GetPriority(IRQn), PriorityGroup, pPreemptPriority, pSubPriority); -} - -/** - * @brief Sets Pending bit of an external interrupt. - * @param IRQn External interrupt number - * This parameter can be an enumerator of IRQn_Type enumeration - * (For the complete STM32 Devices IRQ Channels list, please refer to the appropriate CMSIS device file (stm32f4xxxx.h)) - * @retval None - */ -void HAL_NVIC_SetPendingIRQ(IRQn_Type IRQn) -{ - /* Check the parameters */ - assert_param(IS_NVIC_DEVICE_IRQ(IRQn)); - - /* Set interrupt pending */ - NVIC_SetPendingIRQ(IRQn); -} - -/** - * @brief Gets Pending Interrupt (reads the pending register in the NVIC - * and returns the pending bit for the specified interrupt). - * @param IRQn External interrupt number. - * This parameter can be an enumerator of IRQn_Type enumeration - * (For the complete STM32 Devices IRQ Channels list, please refer to the appropriate CMSIS device file (stm32f4xxxx.h)) - * @retval status: - 0 Interrupt status is not pending. - * - 1 Interrupt status is pending. - */ -uint32_t HAL_NVIC_GetPendingIRQ(IRQn_Type IRQn) -{ - /* Check the parameters */ - assert_param(IS_NVIC_DEVICE_IRQ(IRQn)); - - /* Return 1 if pending else 0 */ - return NVIC_GetPendingIRQ(IRQn); -} - -/** - * @brief Clears the pending bit of an external interrupt. - * @param IRQn External interrupt number. - * This parameter can be an enumerator of IRQn_Type enumeration - * (For the complete STM32 Devices IRQ Channels list, please refer to the appropriate CMSIS device file (stm32f4xxxx.h)) - * @retval None - */ -void HAL_NVIC_ClearPendingIRQ(IRQn_Type IRQn) -{ - /* Check the parameters */ - assert_param(IS_NVIC_DEVICE_IRQ(IRQn)); - - /* Clear pending interrupt */ - NVIC_ClearPendingIRQ(IRQn); -} - -/** - * @brief Gets active interrupt ( reads the active register in NVIC and returns the active bit). - * @param IRQn External interrupt number - * This parameter can be an enumerator of IRQn_Type enumeration - * (For the complete STM32 Devices IRQ Channels list, please refer to the appropriate CMSIS device file (stm32f4xxxx.h)) - * @retval status: - 0 Interrupt status is not pending. - * - 1 Interrupt status is pending. - */ -uint32_t HAL_NVIC_GetActive(IRQn_Type IRQn) -{ - /* Check the parameters */ - assert_param(IS_NVIC_DEVICE_IRQ(IRQn)); - - /* Return 1 if active else 0 */ - return NVIC_GetActive(IRQn); -} - -/** - * @brief Configures the SysTick clock source. - * @param CLKSource specifies the SysTick clock source. - * This parameter can be one of the following values: - * @arg SYSTICK_CLKSOURCE_HCLK_DIV8: AHB clock divided by 8 selected as SysTick clock source. - * @arg SYSTICK_CLKSOURCE_HCLK: AHB clock selected as SysTick clock source. - * @retval None - */ -void HAL_SYSTICK_CLKSourceConfig(uint32_t CLKSource) -{ - /* Check the parameters */ - assert_param(IS_SYSTICK_CLK_SOURCE(CLKSource)); - if (CLKSource == SYSTICK_CLKSOURCE_HCLK) - { - SysTick->CTRL |= SYSTICK_CLKSOURCE_HCLK; - } - else - { - SysTick->CTRL &= ~SYSTICK_CLKSOURCE_HCLK; - } -} - -/** - * @brief This function handles SYSTICK interrupt request. - * @retval None - */ -void HAL_SYSTICK_IRQHandler(void) -{ - HAL_SYSTICK_Callback(); -} - -/** - * @brief SYSTICK callback. - * @retval None - */ -__weak void HAL_SYSTICK_Callback(void) -{ - /* NOTE : This function Should not be modified, when the callback is needed, - the HAL_SYSTICK_Callback could be implemented in the user file - */ -} - -/** - * @} - */ - -/** - * @} - */ - -#endif /* HAL_CORTEX_MODULE_ENABLED */ -/** - * @} - */ - -/** - * @} - */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_crc.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_crc.c deleted file mode 100644 index 652eeda37db462..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_crc.c +++ /dev/null @@ -1,330 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_crc.c - * @author MCD Application Team - * @brief CRC HAL module driver. - * This file provides firmware functions to manage the following - * functionalities of the Cyclic Redundancy Check (CRC) peripheral: - * + Initialization and de-initialization functions - * + Peripheral Control functions - * + Peripheral State functions - * - @verbatim - =============================================================================== - ##### How to use this driver ##### - =============================================================================== - [..] - (+) Enable CRC AHB clock using __HAL_RCC_CRC_CLK_ENABLE(); - (+) Initialize CRC calculator - (++) specify generating polynomial (peripheral default or non-default one) - (++) specify initialization value (peripheral default or non-default one) - (++) specify input data format - (++) specify input or output data inversion mode if any - (+) Use HAL_CRC_Accumulate() function to compute the CRC value of the - input data buffer starting with the previously computed CRC as - initialization value - (+) Use HAL_CRC_Calculate() function to compute the CRC value of the - input data buffer starting with the defined initialization value - (default or non-default) to initiate CRC calculation - - @endverbatim - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @defgroup CRC CRC - * @brief CRC HAL module driver. - * @{ - */ - -#ifdef HAL_CRC_MODULE_ENABLED - -/* Private typedef -----------------------------------------------------------*/ -/* Private define ------------------------------------------------------------*/ -/* Private macro -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private function prototypes -----------------------------------------------*/ - -/* Exported functions --------------------------------------------------------*/ - -/** @defgroup CRC_Exported_Functions CRC Exported Functions - * @{ - */ - -/** @defgroup CRC_Exported_Functions_Group1 Initialization and de-initialization functions - * @brief Initialization and Configuration functions. - * -@verbatim - =============================================================================== - ##### Initialization and de-initialization functions ##### - =============================================================================== - [..] This section provides functions allowing to: - (+) Initialize the CRC according to the specified parameters - in the CRC_InitTypeDef and create the associated handle - (+) DeInitialize the CRC peripheral - (+) Initialize the CRC MSP (MCU Specific Package) - (+) DeInitialize the CRC MSP - -@endverbatim - * @{ - */ - -/** - * @brief Initialize the CRC according to the specified - * parameters in the CRC_InitTypeDef and create the associated handle. - * @param hcrc CRC handle - * @retval HAL status - */ -HAL_StatusTypeDef HAL_CRC_Init(CRC_HandleTypeDef *hcrc) -{ - /* Check the CRC handle allocation */ - if (hcrc == NULL) - { - return HAL_ERROR; - } - - /* Check the parameters */ - assert_param(IS_CRC_ALL_INSTANCE(hcrc->Instance)); - - if (hcrc->State == HAL_CRC_STATE_RESET) - { - /* Allocate lock resource and initialize it */ - hcrc->Lock = HAL_UNLOCKED; - /* Init the low level hardware */ - HAL_CRC_MspInit(hcrc); - } - - /* Change CRC peripheral state */ - hcrc->State = HAL_CRC_STATE_READY; - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief DeInitialize the CRC peripheral. - * @param hcrc CRC handle - * @retval HAL status - */ -HAL_StatusTypeDef HAL_CRC_DeInit(CRC_HandleTypeDef *hcrc) -{ - /* Check the CRC handle allocation */ - if (hcrc == NULL) - { - return HAL_ERROR; - } - - /* Check the parameters */ - assert_param(IS_CRC_ALL_INSTANCE(hcrc->Instance)); - - /* Check the CRC peripheral state */ - if (hcrc->State == HAL_CRC_STATE_BUSY) - { - return HAL_BUSY; - } - - /* Change CRC peripheral state */ - hcrc->State = HAL_CRC_STATE_BUSY; - - /* Reset CRC calculation unit */ - __HAL_CRC_DR_RESET(hcrc); - - /* Reset IDR register content */ - CLEAR_BIT(hcrc->Instance->IDR, CRC_IDR_IDR); - - /* DeInit the low level hardware */ - HAL_CRC_MspDeInit(hcrc); - - /* Change CRC peripheral state */ - hcrc->State = HAL_CRC_STATE_RESET; - - /* Process unlocked */ - __HAL_UNLOCK(hcrc); - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Initializes the CRC MSP. - * @param hcrc CRC handle - * @retval None - */ -__weak void HAL_CRC_MspInit(CRC_HandleTypeDef *hcrc) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hcrc); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_CRC_MspInit can be implemented in the user file - */ -} - -/** - * @brief DeInitialize the CRC MSP. - * @param hcrc CRC handle - * @retval None - */ -__weak void HAL_CRC_MspDeInit(CRC_HandleTypeDef *hcrc) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hcrc); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_CRC_MspDeInit can be implemented in the user file - */ -} - -/** - * @} - */ - -/** @defgroup CRC_Exported_Functions_Group2 Peripheral Control functions - * @brief management functions. - * -@verbatim - =============================================================================== - ##### Peripheral Control functions ##### - =============================================================================== - [..] This section provides functions allowing to: - (+) compute the 32-bit CRC value of a 32-bit data buffer - using combination of the previous CRC value and the new one. - - [..] or - - (+) compute the 32-bit CRC value of a 32-bit data buffer - independently of the previous CRC value. - -@endverbatim - * @{ - */ - -/** - * @brief Compute the 32-bit CRC value of a 32-bit data buffer - * starting with the previously computed CRC as initialization value. - * @param hcrc CRC handle - * @param pBuffer pointer to the input data buffer. - * @param BufferLength input data buffer length (number of uint32_t words). - * @retval uint32_t CRC (returned value LSBs for CRC shorter than 32 bits) - */ -uint32_t HAL_CRC_Accumulate(CRC_HandleTypeDef *hcrc, uint32_t pBuffer[], uint32_t BufferLength) -{ - uint32_t index; /* CRC input data buffer index */ - uint32_t temp = 0U; /* CRC output (read from hcrc->Instance->DR register) */ - - /* Change CRC peripheral state */ - hcrc->State = HAL_CRC_STATE_BUSY; - - /* Enter Data to the CRC calculator */ - for (index = 0U; index < BufferLength; index++) - { - hcrc->Instance->DR = pBuffer[index]; - } - temp = hcrc->Instance->DR; - - /* Change CRC peripheral state */ - hcrc->State = HAL_CRC_STATE_READY; - - /* Return the CRC computed value */ - return temp; -} - -/** - * @brief Compute the 32-bit CRC value of a 32-bit data buffer - * starting with hcrc->Instance->INIT as initialization value. - * @param hcrc CRC handle - * @param pBuffer pointer to the input data buffer. - * @param BufferLength input data buffer length (number of uint32_t words). - * @retval uint32_t CRC (returned value LSBs for CRC shorter than 32 bits) - */ -uint32_t HAL_CRC_Calculate(CRC_HandleTypeDef *hcrc, uint32_t pBuffer[], uint32_t BufferLength) -{ - uint32_t index; /* CRC input data buffer index */ - uint32_t temp = 0U; /* CRC output (read from hcrc->Instance->DR register) */ - - /* Change CRC peripheral state */ - hcrc->State = HAL_CRC_STATE_BUSY; - - /* Reset CRC Calculation Unit (hcrc->Instance->INIT is - * written in hcrc->Instance->DR) */ - __HAL_CRC_DR_RESET(hcrc); - - /* Enter 32-bit input data to the CRC calculator */ - for (index = 0U; index < BufferLength; index++) - { - hcrc->Instance->DR = pBuffer[index]; - } - temp = hcrc->Instance->DR; - - /* Change CRC peripheral state */ - hcrc->State = HAL_CRC_STATE_READY; - - /* Return the CRC computed value */ - return temp; -} - -/** - * @} - */ - -/** @defgroup CRC_Exported_Functions_Group3 Peripheral State functions - * @brief Peripheral State functions. - * -@verbatim - =============================================================================== - ##### Peripheral State functions ##### - =============================================================================== - [..] - This subsection permits to get in run-time the status of the peripheral. - -@endverbatim - * @{ - */ - -/** - * @brief Return the CRC handle state. - * @param hcrc CRC handle - * @retval HAL state - */ -HAL_CRC_StateTypeDef HAL_CRC_GetState(CRC_HandleTypeDef *hcrc) -{ - /* Return CRC handle state */ - return hcrc->State; -} - -/** - * @} - */ - -/** - * @} - */ - - -#endif /* HAL_CRC_MODULE_ENABLED */ -/** - * @} - */ - -/** - * @} - */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cryp.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cryp.c deleted file mode 100644 index efb64e596a6292..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cryp.c +++ /dev/null @@ -1,7133 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_cryp.c - * @author MCD Application Team - * @brief CRYP HAL module driver. - * This file provides firmware functions to manage the following - * functionalities of the Cryptography (CRYP) peripheral: - * + Initialization, de-initialization, set config and get config functions - * + DES/TDES, AES processing functions - * + DMA callback functions - * + CRYP IRQ handler management - * + Peripheral State functions - * - @verbatim - ============================================================================== - ##### How to use this driver ##### - ============================================================================== - [..] - The CRYP HAL driver can be used in CRYP or TinyAES IP as follows: - - (#)Initialize the CRYP low level resources by implementing the HAL_CRYP_MspInit(): - (##) Enable the CRYP interface clock using __HAL_RCC_CRYP_CLK_ENABLE()or __HAL_RCC_AES_CLK_ENABLE for TinyAES IP - (##) In case of using interrupts (e.g. HAL_CRYP_Encrypt_IT()) - (+++) Configure the CRYP interrupt priority using HAL_NVIC_SetPriority() - (+++) Enable the CRYP IRQ handler using HAL_NVIC_EnableIRQ() - (+++) In CRYP IRQ handler, call HAL_CRYP_IRQHandler() - (##) In case of using DMA to control data transfer (e.g. HAL_CRYP_Encrypt_DMA()) - (+++) Enable the DMAx interface clock using __RCC_DMAx_CLK_ENABLE() - (+++) Configure and enable two DMA streams one for managing data transfer from - memory to peripheral (input stream) and another stream for managing data - transfer from peripheral to memory (output stream) - (+++) Associate the initialized DMA handle to the CRYP DMA handle - using __HAL_LINKDMA() - (+++) Configure the priority and enable the NVIC for the transfer complete - interrupt on the two DMA Streams. The output stream should have higher - priority than the input stream HAL_NVIC_SetPriority() and HAL_NVIC_EnableIRQ() - - (#)Initialize the CRYP according to the specified parameters : - (##) The data type: 1-bit, 8-bit, 16-bit or 32-bit. - (##) The key size: 128, 192 or 256. - (##) The AlgoMode DES/ TDES Algorithm ECB/CBC or AES Algorithm ECB/CBC/CTR/GCM or CCM. - (##) The initialization vector (counter). It is not used in ECB mode. - (##) The key buffer used for encryption/decryption. - (##) The Header used only in AES GCM and CCM Algorithm for authentication. - (##) The HeaderSize The size of header buffer in word. - (##) The B0 block is the first authentication block used only in AES CCM mode. - - (#)Three processing (encryption/decryption) functions are available: - (##) Polling mode: encryption and decryption APIs are blocking functions - i.e. they process the data and wait till the processing is finished, - e.g. HAL_CRYP_Encrypt & HAL_CRYP_Decrypt - (##) Interrupt mode: encryption and decryption APIs are not blocking functions - i.e. they process the data under interrupt, - e.g. HAL_CRYP_Encrypt_IT & HAL_CRYP_Decrypt_IT - (##) DMA mode: encryption and decryption APIs are not blocking functions - i.e. the data transfer is ensured by DMA, - e.g. HAL_CRYP_Encrypt_DMA & HAL_CRYP_Decrypt_DMA - - (#)When the processing function is called at first time after HAL_CRYP_Init() - the CRYP peripheral is configured and processes the buffer in input. - At second call, no need to Initialize the CRYP, user have to get current configuration via - HAL_CRYP_GetConfig() API, then only HAL_CRYP_SetConfig() is requested to set - new parametres, finally user can start encryption/decryption. - - (#)Call HAL_CRYP_DeInit() to deinitialize the CRYP peripheral. - - (#)To process a single message with consecutive calls to HAL_CRYP_Encrypt() or HAL_CRYP_Decrypt() - without having to configure again the Key or the Initialization Vector between each API call, - the field KeyIVConfigSkip of the initialization structure must be set to CRYP_KEYIVCONFIG_ONCE. - Same is true for consecutive calls of HAL_CRYP_Encrypt_IT(), HAL_CRYP_Decrypt_IT(), HAL_CRYP_Encrypt_DMA() - or HAL_CRYP_Decrypt_DMA(). - - [..] - The cryptographic processor supports following standards: - (#) The data encryption standard (DES) and Triple-DES (TDES) supported only by CRYP1 IP: - (##)64-bit data block processing - (##) chaining modes supported : - (+++) Electronic Code Book(ECB) - (+++) Cipher Block Chaining (CBC) - (##) keys length supported :64-bit, 128-bit and 192-bit. - (#) The advanced encryption standard (AES) supported by CRYP1 & TinyAES IP: - (##)128-bit data block processing - (##) chaining modes supported : - (+++) Electronic Code Book(ECB) - (+++) Cipher Block Chaining (CBC) - (+++) Counter mode (CTR) - (+++) Galois/counter mode (GCM/GMAC) - (+++) Counter with Cipher Block Chaining-Message(CCM) - (##) keys length Supported : - (+++) for CRYP1 IP: 128-bit, 192-bit and 256-bit. - (+++) for TinyAES IP: 128-bit and 256-bit - - [..] This section describes the AES Galois/counter mode (GCM) supported by both CRYP1 IP: - (#) Algorithm supported : - (##) Galois/counter mode (GCM) - (##) Galois message authentication code (GMAC) :is exactly the same as - GCM algorithm composed only by an header. - (#) Four phases are performed in GCM : - (##) Init phase: IP prepares the GCM hash subkey (H) and do the IV processing - (##) Header phase: IP processes the Additional Authenticated Data (AAD), with hash - computation only. - (##) Payload phase: IP processes the plaintext (P) with hash computation + keystream - encryption + data XORing. It works in a similar way for ciphertext (C). - (##) Final phase: IP generates the authenticated tag (T) using the last block of data. - (#) structure of message construction in GCM is defined as below : - (##) 16 bytes Initial Counter Block (ICB)composed of IV and counter - (##) The authenticated header A (also knows as Additional Authentication Data AAD) - this part of the message is only authenticated, not encrypted. - (##) The plaintext message P is both authenticated and encrypted as ciphertext. - GCM standard specifies that ciphertext has same bit length as the plaintext. - (##) The last block is composed of the length of A (on 64 bits) and the length of ciphertext - (on 64 bits) - - [..] This section describe The AES Counter with Cipher Block Chaining-Message - Authentication Code (CCM) supported by both CRYP1 IP: - (#) Specific parameters for CCM : - - (##) B0 block : According to NIST Special Publication 800-38C, - The first block B0 is formatted as follows, where l(m) is encoded in - most-significant-byte first order(see below table 3) - - (+++) Q: a bit string representation of the octet length of P (plaintext) - (+++) q The octet length of the binary representation of the octet length of the payload - (+++) A nonce (N), n The octet length of the where n+q=15. - (+++) Flags: most significant octet containing four flags for control information, - (+++) t The octet length of the MAC. - (##) B1 block (header) : associated data length(a) concatenated with Associated Data (A) - the associated data length expressed in bytes (a) defined as below: - (+++) If 0 < a < 216-28, then it is encoded as [a]16, i.e. two octets - (+++) If 216-28 < a < 232, then it is encoded as 0xff || 0xfe || [a]32, i.e. six octets - (+++) If 232 < a < 264, then it is encoded as 0xff || 0xff || [a]64, i.e. ten octets - (##) CTRx block : control blocks - (+++) Generation of CTR1 from first block B0 information : - equal to B0 with first 5 bits zeroed and most significant bits storing octet - length of P also zeroed, then incremented by one ( see below Table 4) - (+++) Generation of CTR0: same as CTR1 with bit[0] set to zero. - - (#) Four phases are performed in CCM for CRYP1 IP: - (##) Init phase: IP prepares the GCM hash subkey (H) and do the IV processing - (##) Header phase: IP processes the Additional Authenticated Data (AAD), with hash - computation only. - (##) Payload phase: IP processes the plaintext (P) with hash computation + keystream - encryption + data XORing. It works in a similar way for ciphertext (C). - (##) Final phase: IP generates the authenticated tag (T) using the last block of data. - - *** Callback registration *** - ============================================= - - The compilation define USE_HAL_CRYP_REGISTER_CALLBACKS when set to 1 - allows the user to configure dynamically the driver callbacks. - Use Functions @ref HAL_CRYP_RegisterCallback() or HAL_CRYP_RegisterXXXCallback() - to register an interrupt callback. - - Function @ref HAL_CRYP_RegisterCallback() allows to register following callbacks: - (+) InCpltCallback : Input FIFO transfer completed callback. - (+) OutCpltCallback : Output FIFO transfer completed callback. - (+) ErrorCallback : callback for error detection. - (+) MspInitCallback : CRYP MspInit. - (+) MspDeInitCallback : CRYP MspDeInit. - This function takes as parameters the HAL peripheral handle, the Callback ID - and a pointer to the user callback function. - - Use function @ref HAL_CRYP_UnRegisterCallback() to reset a callback to the default - weak function. - @ref HAL_CRYP_UnRegisterCallback() takes as parameters the HAL peripheral handle, - and the Callback ID. - This function allows to reset following callbacks: - (+) InCpltCallback : Input FIFO transfer completed callback. - (+) OutCpltCallback : Output FIFO transfer completed callback. - (+) ErrorCallback : callback for error detection. - (+) MspInitCallback : CRYP MspInit. - (+) MspDeInitCallback : CRYP MspDeInit. - - By default, after the @ref HAL_CRYP_Init() and when the state is HAL_CRYP_STATE_RESET - all callbacks are set to the corresponding weak functions : - examples @ref HAL_CRYP_InCpltCallback() , @ref HAL_CRYP_OutCpltCallback(). - Exception done for MspInit and MspDeInit functions that are - reset to the legacy weak function in the @ref HAL_CRYP_Init()/ @ref HAL_CRYP_DeInit() only when - these callbacks are null (not registered beforehand). - if not, MspInit or MspDeInit are not null, the @ref HAL_CRYP_Init() / @ref HAL_CRYP_DeInit() - keep and use the user MspInit/MspDeInit functions (registered beforehand) - - Callbacks can be registered/unregistered in HAL_CRYP_STATE_READY state only. - Exception done MspInit/MspDeInit callbacks that can be registered/unregistered - in HAL_CRYP_STATE_READY or HAL_CRYP_STATE_RESET state, - thus registered (user) MspInit/DeInit callbacks can be used during the Init/DeInit. - In that case first register the MspInit/MspDeInit user callbacks - using @ref HAL_CRYP_RegisterCallback() before calling @ref HAL_CRYP_DeInit() - or @ref HAL_CRYP_Init() function. - - When The compilation define USE_HAL_CRYP_REGISTER_CALLBACKS is set to 0 or - not defined, the callback registration feature is not available and all callbacks - are set to the corresponding weak functions. - - Table 1. Initial Counter Block (ICB) - +-------------------------------------------------------+ - | Initialization vector (IV) | Counter | - |----------------|----------------|-----------|---------| - 127 95 63 31 0 - - - Bit Number Register Contents - ---------- --------------- ----------- - 127 ...96 CRYP_IV1R[31:0] ICB[127:96] - 95 ...64 CRYP_IV1L[31:0] B0[95:64] - 63 ... 32 CRYP_IV0R[31:0] ICB[63:32] - 31 ... 0 CRYP_IV0L[31:0] ICB[31:0], where 32-bit counter= 0x2 - - Table 2. GCM last block definition - - +-------------------------------------------------------------------+ - | Bit[0] | Bit[32] | Bit[64] | Bit[96] | - |-----------|--------------------|-----------|----------------------| - | 0x0 | Header length[31:0]| 0x0 | Payload length[31:0] | - |-----------|--------------------|-----------|----------------------| - - Table 3. B0 block - Octet Number Contents - ------------ --------- - 0 Flags - 1 ... 15-q Nonce N - 16-q ... 15 Q - - the Flags field is formatted as follows: - - Bit Number Contents - ---------- ---------------------- - 7 Reserved (always zero) - 6 Adata - 5 ... 3 (t-2)/2 - 2 ... 0 [q-1]3 - - Table 4. CTRx block - Bit Number Register Contents - ---------- --------------- ----------- - 127 ...96 CRYP_IV1R[31:0] B0[127:96], where Q length bits are set to 0, except for - bit 0 that is set to 1 - 95 ...64 CRYP_IV1L[31:0] B0[95:64] - 63 ... 32 CRYP_IV0R[31:0] B0[63:32] - 31 ... 0 CRYP_IV0L[31:0] B0[31:0], where flag bits set to 0 - - @endverbatim - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -#if defined (AES) || defined (CRYP) - -/** @defgroup CRYP CRYP - * @brief CRYP HAL module driver. - * @{ - */ - - -#ifdef HAL_CRYP_MODULE_ENABLED - -/* Private typedef -----------------------------------------------------------*/ -/* Private define ------------------------------------------------------------*/ -/** @addtogroup CRYP_Private_Defines - * @{ - */ -#define CRYP_TIMEOUT_KEYPREPARATION 82U /*The latency of key preparation operation is 82 clock cycles.*/ -#define CRYP_TIMEOUT_GCMCCMINITPHASE 299U /* The latency of GCM/CCM init phase to prepare hash subkey is 299 clock cycles.*/ -#define CRYP_TIMEOUT_GCMCCMHEADERPHASE 290U /* The latency of GCM/CCM header phase is 290 clock cycles.*/ - -#define CRYP_PHASE_READY 0x00000001U /*!< CRYP peripheral is ready for initialization. */ -#define CRYP_PHASE_PROCESS 0x00000002U /*!< CRYP peripheral is in processing phase */ - -#if defined(AES) -#define CRYP_OPERATINGMODE_ENCRYPT 0x00000000U /*!< Encryption mode(Mode 1) */ -#define CRYP_OPERATINGMODE_KEYDERIVATION AES_CR_MODE_0 /*!< Key derivation mode only used when performing ECB and CBC decryptions (Mode 2) */ -#define CRYP_OPERATINGMODE_DECRYPT AES_CR_MODE_1 /*!< Decryption (Mode 3) */ -#define CRYP_OPERATINGMODE_KEYDERIVATION_DECRYPT AES_CR_MODE /*!< Key derivation and decryption only used when performing ECB and CBC decryptions (Mode 4) */ -#define CRYP_PHASE_INIT 0x00000000U /*!< GCM/GMAC (or CCM) init phase */ -#define CRYP_PHASE_HEADER AES_CR_GCMPH_0 /*!< GCM/GMAC or CCM header phase */ -#define CRYP_PHASE_PAYLOAD AES_CR_GCMPH_1 /*!< GCM(/CCM) payload phase */ -#define CRYP_PHASE_FINAL AES_CR_GCMPH /*!< GCM/GMAC or CCM final phase */ -#else /* CRYP */ -#define CRYP_PHASE_INIT 0x00000000U /*!< GCM/GMAC (or CCM) init phase */ -#define CRYP_PHASE_HEADER CRYP_CR_GCM_CCMPH_0 /*!< GCM/GMAC or CCM header phase */ -#define CRYP_PHASE_PAYLOAD CRYP_CR_GCM_CCMPH_1 /*!< GCM(/CCM) payload phase */ -#define CRYP_PHASE_FINAL CRYP_CR_GCM_CCMPH /*!< GCM/GMAC or CCM final phase */ -#define CRYP_OPERATINGMODE_ENCRYPT 0x00000000U /*!< Encryption mode */ -#define CRYP_OPERATINGMODE_DECRYPT CRYP_CR_ALGODIR /*!< Decryption */ -#endif /* End CRYP or AES */ - -/* CTR1 information to use in CCM algorithm */ -#define CRYP_CCM_CTR1_0 0x07FFFFFFU -#define CRYP_CCM_CTR1_1 0xFFFFFF00U -#define CRYP_CCM_CTR1_2 0x00000001U - - -/** - * @} - */ - - -/* Private macro -------------------------------------------------------------*/ -/** @addtogroup CRYP_Private_Macros - * @{ - */ - -#if defined(CRYP) - -#define CRYP_SET_PHASE(__HANDLE__, __PHASE__) do{(__HANDLE__)->Instance->CR &= (uint32_t)(~CRYP_CR_GCM_CCMPH);\ - (__HANDLE__)->Instance->CR |= (uint32_t)(__PHASE__);\ - }while(0) - -#define HAL_CRYP_FIFO_FLUSH(__HANDLE__) ((__HANDLE__)->Instance->CR |= CRYP_CR_FFLUSH) - -#else /*AES*/ -#define CRYP_SET_PHASE(__HANDLE__, __PHASE__) do{(__HANDLE__)->Instance->CR &= (uint32_t)(~AES_CR_GCMPH);\ - (__HANDLE__)->Instance->CR |= (uint32_t)(__PHASE__);\ - }while(0) -#endif /* End AES or CRYP*/ - - -/** - * @} - */ - -/* Private struct -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private function prototypes -----------------------------------------------*/ -/** @addtogroup CRYP_Private_Functions_prototypes - * @{ - */ - -static void CRYP_SetDMAConfig(CRYP_HandleTypeDef *hcryp, uint32_t inputaddr, uint16_t Size, uint32_t outputaddr); -static void CRYP_DMAInCplt(DMA_HandleTypeDef *hdma); -static void CRYP_DMAOutCplt(DMA_HandleTypeDef *hdma); -static void CRYP_DMAError(DMA_HandleTypeDef *hdma); -static void CRYP_SetKey(CRYP_HandleTypeDef *hcryp, uint32_t KeySize); -static void CRYP_AES_IT(CRYP_HandleTypeDef *hcryp); -#if defined (CRYP_CR_ALGOMODE_AES_GCM)|| defined (AES) -static HAL_StatusTypeDef CRYP_GCMCCM_SetHeaderPhase(CRYP_HandleTypeDef *hcryp, uint32_t Timeout); -static void CRYP_GCMCCM_SetPayloadPhase_IT(CRYP_HandleTypeDef *hcryp); -static void CRYP_GCMCCM_SetHeaderPhase_IT(CRYP_HandleTypeDef *hcryp); -static HAL_StatusTypeDef CRYP_GCMCCM_SetHeaderPhase_DMA(CRYP_HandleTypeDef *hcryp); -static void CRYP_Workaround(CRYP_HandleTypeDef *hcryp, uint32_t Timeout); -static HAL_StatusTypeDef CRYP_AESGCM_Process_DMA(CRYP_HandleTypeDef *hcryp); -static HAL_StatusTypeDef CRYP_AESGCM_Process_IT(CRYP_HandleTypeDef *hcryp); -static HAL_StatusTypeDef CRYP_AESGCM_Process(CRYP_HandleTypeDef *hcryp, uint32_t Timeout); -static HAL_StatusTypeDef CRYP_AESCCM_Process(CRYP_HandleTypeDef *hcryp, uint32_t Timeout); -static HAL_StatusTypeDef CRYP_AESCCM_Process_IT(CRYP_HandleTypeDef *hcryp); -static HAL_StatusTypeDef CRYP_AESCCM_Process_DMA(CRYP_HandleTypeDef *hcryp); -#endif /* AES or GCM CCM defined*/ -static void CRYP_AES_ProcessData(CRYP_HandleTypeDef *hcrypt, uint32_t Timeout); -static HAL_StatusTypeDef CRYP_AES_Encrypt(CRYP_HandleTypeDef *hcryp, uint32_t Timeout); -static HAL_StatusTypeDef CRYP_AES_Decrypt(CRYP_HandleTypeDef *hcryp, uint32_t Timeout); -static HAL_StatusTypeDef CRYP_AES_Decrypt_IT(CRYP_HandleTypeDef *hcryp); -static HAL_StatusTypeDef CRYP_AES_Encrypt_IT(CRYP_HandleTypeDef *hcryp); -static HAL_StatusTypeDef CRYP_AES_Decrypt_DMA(CRYP_HandleTypeDef *hcryp); -#if defined (CRYP) -static void CRYP_TDES_IT(CRYP_HandleTypeDef *hcryp); -#if defined (CRYP_CR_ALGOMODE_AES_GCM) -static HAL_StatusTypeDef CRYP_WaitOnIFEMFlag(CRYP_HandleTypeDef *hcryp, uint32_t Timeout); -#endif /* GCM CCM defined*/ -static HAL_StatusTypeDef CRYP_WaitOnBUSYFlag(CRYP_HandleTypeDef *hcryp, uint32_t Timeout); -static HAL_StatusTypeDef CRYP_WaitOnOFNEFlag(CRYP_HandleTypeDef *hcryp, uint32_t Timeout); -static HAL_StatusTypeDef CRYP_TDES_Process(CRYP_HandleTypeDef *hcryp, uint32_t Timeout); -#else /*AES*/ -static HAL_StatusTypeDef CRYP_WaitOnCCFlag(CRYP_HandleTypeDef *hcryp, uint32_t Timeout); -#endif /* End CRYP or AES */ - -/** - * @} - */ - -/* Exported functions ---------------------------------------------------------*/ - -/** @defgroup CRYP_Exported_Functions CRYP Exported Functions - * @{ - */ - - -/** @defgroup CRYP_Exported_Functions_Group1 Initialization and de-initialization functions - * @brief Initialization and Configuration functions. - * -@verbatim - ======================================================================================== - ##### Initialization, de-initialization and Set and Get configuration functions ##### - ======================================================================================== - [..] This section provides functions allowing to: - (+) Initialize the CRYP - (+) DeInitialize the CRYP - (+) Initialize the CRYP MSP - (+) DeInitialize the CRYP MSP - (+) configure CRYP (HAL_CRYP_SetConfig) with the specified parameters in the CRYP_ConfigTypeDef - Parameters which are configured in This section are : - (+) Key size - (+) Data Type : 32,16, 8 or 1bit - (+) AlgoMode : - - for CRYP1 IP : - ECB and CBC in DES/TDES Standard - ECB,CBC,CTR,GCM/GMAC and CCM in AES Standard. - - for TinyAES2 IP, only ECB,CBC,CTR,GCM/GMAC and CCM in AES Standard are supported. - (+) Get CRYP configuration (HAL_CRYP_GetConfig) from the specified parameters in the CRYP_HandleTypeDef - - -@endverbatim - * @{ - */ - - -/** - * @brief Initializes the CRYP according to the specified - * parameters in the CRYP_ConfigTypeDef and creates the associated handle. - * @param hcryp: pointer to a CRYP_HandleTypeDef structure that contains - * the configuration information for CRYP module - * @retval HAL status - */ -HAL_StatusTypeDef HAL_CRYP_Init(CRYP_HandleTypeDef *hcryp) -{ - /* Check the CRYP handle allocation */ - if (hcryp == NULL) - { - return HAL_ERROR; - } - - /* Check parameters */ - assert_param(IS_CRYP_KEYSIZE(hcryp->Init.KeySize)); - assert_param(IS_CRYP_DATATYPE(hcryp->Init.DataType)); - assert_param(IS_CRYP_ALGORITHM(hcryp->Init.Algorithm)); - assert_param(IS_CRYP_INIT(hcryp->Init.KeyIVConfigSkip)); - -#if (USE_HAL_CRYP_REGISTER_CALLBACKS == 1) - if (hcryp->State == HAL_CRYP_STATE_RESET) - { - /* Allocate lock resource and initialize it */ - hcryp->Lock = HAL_UNLOCKED; - - hcryp->InCpltCallback = HAL_CRYP_InCpltCallback; /* Legacy weak InCpltCallback */ - hcryp->OutCpltCallback = HAL_CRYP_OutCpltCallback; /* Legacy weak OutCpltCallback */ - hcryp->ErrorCallback = HAL_CRYP_ErrorCallback; /* Legacy weak ErrorCallback */ - - if (hcryp->MspInitCallback == NULL) - { - hcryp->MspInitCallback = HAL_CRYP_MspInit; /* Legacy weak MspInit */ - } - - /* Init the low level hardware */ - hcryp->MspInitCallback(hcryp); - } -#else - if (hcryp->State == HAL_CRYP_STATE_RESET) - { - /* Allocate lock resource and initialize it */ - hcryp->Lock = HAL_UNLOCKED; - - /* Init the low level hardware */ - HAL_CRYP_MspInit(hcryp); - } -#endif /* (USE_HAL_CRYP_REGISTER_CALLBACKS) */ - - /* Set the key size(This bit field is dont care in the DES or TDES modes) data type and Algorithm */ -#if defined (CRYP) - - MODIFY_REG(hcryp->Instance->CR, CRYP_CR_DATATYPE | CRYP_CR_KEYSIZE | CRYP_CR_ALGOMODE, - hcryp->Init.DataType | hcryp->Init.KeySize | hcryp->Init.Algorithm); - -#else /*AES*/ - - MODIFY_REG(hcryp->Instance->CR, AES_CR_DATATYPE | AES_CR_KEYSIZE | AES_CR_CHMOD, - hcryp->Init.DataType | hcryp->Init.KeySize | hcryp->Init.Algorithm); - -#endif /* End AES or CRYP*/ - - /* Reset Error Code field */ - hcryp->ErrorCode = HAL_CRYP_ERROR_NONE; - - /* Change the CRYP state */ - hcryp->State = HAL_CRYP_STATE_READY; - - /* Set the default CRYP phase */ - hcryp->Phase = CRYP_PHASE_READY; - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief De-Initializes the CRYP peripheral. - * @param hcryp: pointer to a CRYP_HandleTypeDef structure that contains - * the configuration information for CRYP module - * @retval HAL status - */ -HAL_StatusTypeDef HAL_CRYP_DeInit(CRYP_HandleTypeDef *hcryp) -{ - /* Check the CRYP handle allocation */ - if (hcryp == NULL) - { - return HAL_ERROR; - } - - /* Set the default CRYP phase */ - hcryp->Phase = CRYP_PHASE_READY; - - /* Reset CrypInCount and CrypOutCount */ - hcryp->CrypInCount = 0; - hcryp->CrypOutCount = 0; - hcryp->CrypHeaderCount = 0; - - /* Disable the CRYP peripheral clock */ - __HAL_CRYP_DISABLE(hcryp); - -#if (USE_HAL_CRYP_REGISTER_CALLBACKS == 1) - - if (hcryp->MspDeInitCallback == NULL) - { - hcryp->MspDeInitCallback = HAL_CRYP_MspDeInit; /* Legacy weak MspDeInit */ - } - /* DeInit the low level hardware */ - hcryp->MspDeInitCallback(hcryp); - -#else - - /* DeInit the low level hardware: CLOCK, NVIC.*/ - HAL_CRYP_MspDeInit(hcryp); - -#endif /* USE_HAL_CRYP_REGISTER_CALLBACKS */ - - /* Change the CRYP state */ - hcryp->State = HAL_CRYP_STATE_RESET; - - /* Release Lock */ - __HAL_UNLOCK(hcryp); - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Configure the CRYP according to the specified - * parameters in the CRYP_ConfigTypeDef - * @param hcryp: pointer to a CRYP_HandleTypeDef structure - * @param pConf: pointer to a CRYP_ConfigTypeDef structure that contains - * the configuration information for CRYP module - * @retval HAL status - */ -HAL_StatusTypeDef HAL_CRYP_SetConfig(CRYP_HandleTypeDef *hcryp, CRYP_ConfigTypeDef *pConf) -{ - /* Check the CRYP handle allocation */ - if ((hcryp == NULL) || (pConf == NULL)) - { - return HAL_ERROR; - } - - /* Check parameters */ - assert_param(IS_CRYP_KEYSIZE(pConf->KeySize)); - assert_param(IS_CRYP_DATATYPE(pConf->DataType)); - assert_param(IS_CRYP_ALGORITHM(pConf->Algorithm)); - - if (hcryp->State == HAL_CRYP_STATE_READY) - { - /* Change the CRYP state */ - hcryp->State = HAL_CRYP_STATE_BUSY; - - /* Process locked */ - __HAL_LOCK(hcryp); - - /* Set CRYP parameters */ - hcryp->Init.DataType = pConf->DataType; - hcryp->Init.pKey = pConf->pKey; - hcryp->Init.Algorithm = pConf->Algorithm; - hcryp->Init.KeySize = pConf->KeySize; - hcryp->Init.pInitVect = pConf->pInitVect; - hcryp->Init.Header = pConf->Header; - hcryp->Init.HeaderSize = pConf->HeaderSize; - hcryp->Init.B0 = pConf->B0; - hcryp->Init.DataWidthUnit = pConf->DataWidthUnit; - hcryp->Init.KeyIVConfigSkip = pConf->KeyIVConfigSkip; - hcryp->Init.HeaderWidthUnit = pConf->HeaderWidthUnit; - - /* Set the key size(This bit field is dont care in the DES or TDES modes) data type, AlgoMode and operating mode*/ -#if defined (CRYP) - - MODIFY_REG(hcryp->Instance->CR, CRYP_CR_DATATYPE | CRYP_CR_KEYSIZE | CRYP_CR_ALGOMODE, - hcryp->Init.DataType | hcryp->Init.KeySize | hcryp->Init.Algorithm); - -#else /*AES*/ - MODIFY_REG(hcryp->Instance->CR, AES_CR_DATATYPE | AES_CR_KEYSIZE | AES_CR_CHMOD, - hcryp->Init.DataType | hcryp->Init.KeySize | hcryp->Init.Algorithm); - - /*clear error flags*/ - __HAL_CRYP_CLEAR_FLAG(hcryp, CRYP_ERR_CLEAR); - -#endif /* End AES or CRYP */ - - /* Process Unlocked */ - __HAL_UNLOCK(hcryp); - - /* Reset Error Code field */ - hcryp->ErrorCode = HAL_CRYP_ERROR_NONE; - - /* Change the CRYP state */ - hcryp->State = HAL_CRYP_STATE_READY; - - /* Set the default CRYP phase */ - hcryp->Phase = CRYP_PHASE_READY; - - /* Return function status */ - return HAL_OK; - } - else - { - /* Process Unlocked */ - __HAL_UNLOCK(hcryp); - - /* Busy error code field */ - hcryp->ErrorCode |= HAL_CRYP_ERROR_BUSY; - return HAL_ERROR; - } -} - -/** - * @brief Get CRYP Configuration parameters in associated handle. - * @param pConf: pointer to a CRYP_ConfigTypeDef structure - * @param hcryp: pointer to a CRYP_HandleTypeDef structure that contains - * the configuration information for CRYP module - * @retval HAL status - */ -HAL_StatusTypeDef HAL_CRYP_GetConfig(CRYP_HandleTypeDef *hcryp, CRYP_ConfigTypeDef *pConf) -{ - /* Check the CRYP handle allocation */ - if ((hcryp == NULL) || (pConf == NULL)) - { - return HAL_ERROR; - } - - if (hcryp->State == HAL_CRYP_STATE_READY) - { - /* Change the CRYP state */ - hcryp->State = HAL_CRYP_STATE_BUSY; - - /* Process locked */ - __HAL_LOCK(hcryp); - - /* Get CRYP parameters */ - pConf->DataType = hcryp->Init.DataType; - pConf->pKey = hcryp->Init.pKey; - pConf->Algorithm = hcryp->Init.Algorithm; - pConf->KeySize = hcryp->Init.KeySize ; - pConf->pInitVect = hcryp->Init.pInitVect; - pConf->Header = hcryp->Init.Header ; - pConf->HeaderSize = hcryp->Init.HeaderSize; - pConf->B0 = hcryp->Init.B0; - pConf->DataWidthUnit = hcryp->Init.DataWidthUnit; - pConf->KeyIVConfigSkip = hcryp->Init.KeyIVConfigSkip; - pConf->HeaderWidthUnit = hcryp->Init.HeaderWidthUnit; - - /* Process Unlocked */ - __HAL_UNLOCK(hcryp); - - /* Change the CRYP state */ - hcryp->State = HAL_CRYP_STATE_READY; - - /* Return function status */ - return HAL_OK; - } - else - { - /* Process Unlocked */ - __HAL_UNLOCK(hcryp); - - /* Busy error code field */ - hcryp->ErrorCode |= HAL_CRYP_ERROR_BUSY; - return HAL_ERROR; - } -} -/** - * @brief Initializes the CRYP MSP. - * @param hcryp: pointer to a CRYP_HandleTypeDef structure that contains - * the configuration information for CRYP module - * @retval None - */ -__weak void HAL_CRYP_MspInit(CRYP_HandleTypeDef *hcryp) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hcryp); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_CRYP_MspInit can be implemented in the user file - */ -} - -/** - * @brief DeInitializes CRYP MSP. - * @param hcryp: pointer to a CRYP_HandleTypeDef structure that contains - * the configuration information for CRYP module - * @retval None - */ -__weak void HAL_CRYP_MspDeInit(CRYP_HandleTypeDef *hcryp) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hcryp); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_CRYP_MspDeInit can be implemented in the user file - */ -} - -#if (USE_HAL_CRYP_REGISTER_CALLBACKS == 1) -/** - * @brief Register a User CRYP Callback - * To be used instead of the weak predefined callback - * @param hcryp cryp handle - * @param CallbackID ID of the callback to be registered - * This parameter can be one of the following values: - * @arg @ref HAL_CRYP_INPUT_COMPLETE_CB_ID Input FIFO transfer completed callback ID - * @arg @ref HAL_CRYP_OUTPUT_COMPLETE_CB_ID Output FIFO transfer completed callback ID - * @arg @ref HAL_CRYP_ERROR_CB_ID Error callback ID - * @arg @ref HAL_CRYP_MSPINIT_CB_ID MspInit callback ID - * @arg @ref HAL_CRYP_MSPDEINIT_CB_ID MspDeInit callback ID - * @param pCallback pointer to the Callback function - * @retval status - */ -HAL_StatusTypeDef HAL_CRYP_RegisterCallback(CRYP_HandleTypeDef *hcryp, HAL_CRYP_CallbackIDTypeDef CallbackID, - pCRYP_CallbackTypeDef pCallback) -{ - HAL_StatusTypeDef status = HAL_OK; - - if (pCallback == NULL) - { - /* Update the error code */ - hcryp->ErrorCode |= HAL_CRYP_ERROR_INVALID_CALLBACK; - - return HAL_ERROR; - } - /* Process locked */ - __HAL_LOCK(hcryp); - - if (hcryp->State == HAL_CRYP_STATE_READY) - { - switch (CallbackID) - { - case HAL_CRYP_INPUT_COMPLETE_CB_ID : - hcryp->InCpltCallback = pCallback; - break; - - case HAL_CRYP_OUTPUT_COMPLETE_CB_ID : - hcryp->OutCpltCallback = pCallback; - break; - - case HAL_CRYP_ERROR_CB_ID : - hcryp->ErrorCallback = pCallback; - break; - - case HAL_CRYP_MSPINIT_CB_ID : - hcryp->MspInitCallback = pCallback; - break; - - case HAL_CRYP_MSPDEINIT_CB_ID : - hcryp->MspDeInitCallback = pCallback; - break; - - default : - /* Update the error code */ - hcryp->ErrorCode |= HAL_CRYP_ERROR_INVALID_CALLBACK; - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else if (hcryp->State == HAL_CRYP_STATE_RESET) - { - switch (CallbackID) - { - case HAL_CRYP_MSPINIT_CB_ID : - hcryp->MspInitCallback = pCallback; - break; - - case HAL_CRYP_MSPDEINIT_CB_ID : - hcryp->MspDeInitCallback = pCallback; - break; - - default : - /* Update the error code */ - hcryp->ErrorCode |= HAL_CRYP_ERROR_INVALID_CALLBACK; - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else - { - /* Update the error code */ - hcryp->ErrorCode |= HAL_CRYP_ERROR_INVALID_CALLBACK; - /* Return error status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(hcryp); - - return status; -} - -/** - * @brief Unregister an CRYP Callback - * CRYP callback is redirected to the weak predefined callback - * @param hcryp cryp handle - * @param CallbackID ID of the callback to be unregistered - * This parameter can be one of the following values: - * @arg @ref HAL_CRYP_INPUT_COMPLETE_CB_ID Input FIFO transfer completed callback ID - * @arg @ref HAL_CRYP_OUTPUT_COMPLETE_CB_ID Output FIFO transfer completed callback ID - * @arg @ref HAL_CRYP_ERROR_CB_ID Error callback ID - * @arg @ref HAL_CRYP_MSPINIT_CB_ID MspInit callback ID - * @arg @ref HAL_CRYP_MSPDEINIT_CB_ID MspDeInit callback ID - * @retval status - */ -HAL_StatusTypeDef HAL_CRYP_UnRegisterCallback(CRYP_HandleTypeDef *hcryp, HAL_CRYP_CallbackIDTypeDef CallbackID) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Process locked */ - __HAL_LOCK(hcryp); - - if (hcryp->State == HAL_CRYP_STATE_READY) - { - switch (CallbackID) - { - case HAL_CRYP_INPUT_COMPLETE_CB_ID : - hcryp->InCpltCallback = HAL_CRYP_InCpltCallback; /* Legacy weak InCpltCallback */ - break; - - case HAL_CRYP_OUTPUT_COMPLETE_CB_ID : - hcryp->OutCpltCallback = HAL_CRYP_OutCpltCallback; /* Legacy weak OutCpltCallback */ - break; - - case HAL_CRYP_ERROR_CB_ID : - hcryp->ErrorCallback = HAL_CRYP_ErrorCallback; /* Legacy weak ErrorCallback */ - break; - - case HAL_CRYP_MSPINIT_CB_ID : - hcryp->MspInitCallback = HAL_CRYP_MspInit; - break; - - case HAL_CRYP_MSPDEINIT_CB_ID : - hcryp->MspDeInitCallback = HAL_CRYP_MspDeInit; - break; - - default : - /* Update the error code */ - hcryp->ErrorCode |= HAL_CRYP_ERROR_INVALID_CALLBACK; - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else if (hcryp->State == HAL_CRYP_STATE_RESET) - { - switch (CallbackID) - { - case HAL_CRYP_MSPINIT_CB_ID : - hcryp->MspInitCallback = HAL_CRYP_MspInit; - break; - - case HAL_CRYP_MSPDEINIT_CB_ID : - hcryp->MspDeInitCallback = HAL_CRYP_MspDeInit; - break; - - default : - /* Update the error code */ - hcryp->ErrorCode |= HAL_CRYP_ERROR_INVALID_CALLBACK; - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else - { - /* Update the error code */ - hcryp->ErrorCode |= HAL_CRYP_ERROR_INVALID_CALLBACK; - /* Return error status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(hcryp); - - return status; -} -#endif /* USE_HAL_UART_REGISTER_CALLBACKS */ -/** - * @} - */ - -/** @defgroup CRYP_Exported_Functions_Group2 Encrypt Decrypt functions - * @brief processing functions. - * -@verbatim - ============================================================================== - ##### Encrypt Decrypt functions ##### - ============================================================================== - [..] This section provides API allowing to Encrypt/Decrypt Data following - Standard DES/TDES or AES, and Algorithm configured by the user: - (+) Standard DES/TDES only supported by CRYP1 IP, below list of Algorithm supported : - - Electronic Code Book(ECB) - - Cipher Block Chaining (CBC) - (+) Standard AES supported by CRYP1 IP & TinyAES, list of Algorithm supported: - - Electronic Code Book(ECB) - - Cipher Block Chaining (CBC) - - Counter mode (CTR) - - Cipher Block Chaining (CBC) - - Counter mode (CTR) - - Galois/counter mode (GCM) - - Counter with Cipher Block Chaining-Message(CCM) - [..] Three processing functions are available: - (+) Polling mode : HAL_CRYP_Encrypt & HAL_CRYP_Decrypt - (+) Interrupt mode : HAL_CRYP_Encrypt_IT & HAL_CRYP_Decrypt_IT - (+) DMA mode : HAL_CRYP_Encrypt_DMA & HAL_CRYP_Decrypt_DMA - -@endverbatim - * @{ - */ - - -/** - * @brief Encryption mode. - * @param hcryp: pointer to a CRYP_HandleTypeDef structure that contains - * the configuration information for CRYP module - * @param Input: Pointer to the input buffer (plaintext) - * @param Size: Length of the plaintext buffer in word. - * @param Output: Pointer to the output buffer(ciphertext) - * @param Timeout: Specify Timeout value - * @retval HAL status - */ -HAL_StatusTypeDef HAL_CRYP_Encrypt(CRYP_HandleTypeDef *hcryp, uint32_t *Input, uint16_t Size, uint32_t *Output, - uint32_t Timeout) -{ - uint32_t algo; - HAL_StatusTypeDef status; - - if (hcryp->State == HAL_CRYP_STATE_READY) - { - /* Change state Busy */ - hcryp->State = HAL_CRYP_STATE_BUSY; - - /* Process locked */ - __HAL_LOCK(hcryp); - - /* Reset CrypInCount, CrypOutCount and Initialize pCrypInBuffPtr and pCrypOutBuffPtr parameters*/ - hcryp->CrypInCount = 0U; - hcryp->CrypOutCount = 0U; - hcryp->pCrypInBuffPtr = Input; - hcryp->pCrypOutBuffPtr = Output; - - /* Calculate Size parameter in Byte*/ - if (hcryp->Init.DataWidthUnit == CRYP_DATAWIDTHUNIT_WORD) - { - hcryp->Size = Size * 4U; - } - else - { - hcryp->Size = Size; - } - -#if defined (CRYP) - /* Set Encryption operating mode*/ - MODIFY_REG(hcryp->Instance->CR, CRYP_CR_ALGODIR, CRYP_OPERATINGMODE_ENCRYPT); - - /* algo get algorithm selected */ - algo = hcryp->Instance->CR & CRYP_CR_ALGOMODE; - - switch (algo) - { - case CRYP_DES_ECB: - case CRYP_DES_CBC: - case CRYP_TDES_ECB: - case CRYP_TDES_CBC: - - /*Set Key */ - hcryp->Instance->K1LR = *(uint32_t *)(hcryp->Init.pKey); - hcryp->Instance->K1RR = *(uint32_t *)(hcryp->Init.pKey + 1); - if ((hcryp->Init.Algorithm == CRYP_TDES_ECB) || (hcryp->Init.Algorithm == CRYP_TDES_CBC)) - { - hcryp->Instance->K2LR = *(uint32_t *)(hcryp->Init.pKey + 2); - hcryp->Instance->K2RR = *(uint32_t *)(hcryp->Init.pKey + 3); - hcryp->Instance->K3LR = *(uint32_t *)(hcryp->Init.pKey + 4); - hcryp->Instance->K3RR = *(uint32_t *)(hcryp->Init.pKey + 5); - } - - /*Set Initialization Vector (IV)*/ - if ((hcryp->Init.Algorithm == CRYP_DES_CBC) || (hcryp->Init.Algorithm == CRYP_TDES_CBC)) - { - hcryp->Instance->IV0LR = *(uint32_t *)(hcryp->Init.pInitVect); - hcryp->Instance->IV0RR = *(uint32_t *)(hcryp->Init.pInitVect + 1); - } - - /* Flush FIFO */ - HAL_CRYP_FIFO_FLUSH(hcryp); - - /* Set the phase */ - hcryp->Phase = CRYP_PHASE_PROCESS; - - /* Statrt DES/TDES encryption process */ - status = CRYP_TDES_Process(hcryp, Timeout); - break; - - case CRYP_AES_ECB: - case CRYP_AES_CBC: - case CRYP_AES_CTR: - - /* AES encryption */ - status = CRYP_AES_Encrypt(hcryp, Timeout); - break; - #if defined (CRYP_CR_ALGOMODE_AES_GCM) - case CRYP_AES_GCM: - - /* AES GCM encryption */ - status = CRYP_AESGCM_Process(hcryp, Timeout); - - break; - - case CRYP_AES_CCM: - - /* AES CCM encryption */ - status = CRYP_AESCCM_Process(hcryp, Timeout); - break; - #endif /* GCM CCM defined*/ - default: - hcryp->ErrorCode |= HAL_CRYP_ERROR_NOT_SUPPORTED; - /* Change the CRYP peripheral state */ - hcryp->State = HAL_CRYP_STATE_READY; - /* Process unlocked */ - __HAL_UNLOCK(hcryp); - return HAL_ERROR; - } - -#else /*AES*/ - - /* Set the operating mode*/ - MODIFY_REG(hcryp->Instance->CR, AES_CR_MODE, CRYP_OPERATINGMODE_ENCRYPT); - - /* algo get algorithm selected */ - algo = hcryp->Instance->CR & AES_CR_CHMOD; - - switch (algo) - { - - case CRYP_AES_ECB: - case CRYP_AES_CBC: - case CRYP_AES_CTR: - - /* AES encryption */ - status = CRYP_AES_Encrypt(hcryp, Timeout); - break; - - case CRYP_AES_GCM_GMAC: - - /* AES GCM encryption */ - status = CRYP_AESGCM_Process(hcryp, Timeout) ; - break; - - case CRYP_AES_CCM: - - /* AES CCM encryption */ - status = CRYP_AESCCM_Process(hcryp, Timeout); - break; - - default: - hcryp->ErrorCode |= HAL_CRYP_ERROR_NOT_SUPPORTED; - /* Change the CRYP peripheral state */ - hcryp->State = HAL_CRYP_STATE_READY; - /* Process unlocked */ - __HAL_UNLOCK(hcryp); - return HAL_ERROR; - } -#endif /*end AES or CRYP */ - - if (status == HAL_OK) - { - /* Change the CRYP peripheral state */ - hcryp->State = HAL_CRYP_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hcryp); - } - } - else - { - /* Busy error code field */ - hcryp->ErrorCode |= HAL_CRYP_ERROR_BUSY; - return HAL_ERROR; - } - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Decryption mode. - * @param hcryp: pointer to a CRYP_HandleTypeDef structure that contains - * the configuration information for CRYP module - * @param Input: Pointer to the input buffer (ciphertext ) - * @param Size: Length of the plaintext buffer in word. - * @param Output: Pointer to the output buffer(plaintext) - * @param Timeout: Specify Timeout value - * @retval HAL status - */ -HAL_StatusTypeDef HAL_CRYP_Decrypt(CRYP_HandleTypeDef *hcryp, uint32_t *Input, uint16_t Size, uint32_t *Output, - uint32_t Timeout) -{ - HAL_StatusTypeDef status; - uint32_t algo; - - if (hcryp->State == HAL_CRYP_STATE_READY) - { - /* Change state Busy */ - hcryp->State = HAL_CRYP_STATE_BUSY; - - /* Process locked */ - __HAL_LOCK(hcryp); - - /* Reset CrypInCount, CrypOutCount and Initialize pCrypInBuffPtr and pCrypOutBuffPtr parameters*/ - hcryp->CrypInCount = 0U; - hcryp->CrypOutCount = 0U; - hcryp->pCrypInBuffPtr = Input; - hcryp->pCrypOutBuffPtr = Output; - - /* Calculate Size parameter in Byte*/ - if (hcryp->Init.DataWidthUnit == CRYP_DATAWIDTHUNIT_WORD) - { - hcryp->Size = Size * 4U; - } - else - { - hcryp->Size = Size; - } - -#if defined (CRYP) - - /* Set Decryption operating mode*/ - MODIFY_REG(hcryp->Instance->CR, CRYP_CR_ALGODIR, CRYP_OPERATINGMODE_DECRYPT); - - /* algo get algorithm selected */ - algo = hcryp->Instance->CR & CRYP_CR_ALGOMODE; - - switch (algo) - { - case CRYP_DES_ECB: - case CRYP_DES_CBC: - case CRYP_TDES_ECB: - case CRYP_TDES_CBC: - - /*Set Key */ - hcryp->Instance->K1LR = *(uint32_t *)(hcryp->Init.pKey); - hcryp->Instance->K1RR = *(uint32_t *)(hcryp->Init.pKey + 1); - if ((hcryp->Init.Algorithm == CRYP_TDES_ECB) || (hcryp->Init.Algorithm == CRYP_TDES_CBC)) - { - hcryp->Instance->K2LR = *(uint32_t *)(hcryp->Init.pKey + 2); - hcryp->Instance->K2RR = *(uint32_t *)(hcryp->Init.pKey + 3); - hcryp->Instance->K3LR = *(uint32_t *)(hcryp->Init.pKey + 4); - hcryp->Instance->K3RR = *(uint32_t *)(hcryp->Init.pKey + 5); - } - - /*Set Initialization Vector (IV)*/ - if ((hcryp->Init.Algorithm == CRYP_DES_CBC) || (hcryp->Init.Algorithm == CRYP_TDES_CBC)) - { - hcryp->Instance->IV0LR = *(uint32_t *)(hcryp->Init.pInitVect); - hcryp->Instance->IV0RR = *(uint32_t *)(hcryp->Init.pInitVect + 1); - } - - /* Flush FIFO */ - HAL_CRYP_FIFO_FLUSH(hcryp); - - /* Set the phase */ - hcryp->Phase = CRYP_PHASE_PROCESS; - - /* Start DES/TDES decryption process */ - status = CRYP_TDES_Process(hcryp, Timeout); - - break; - - case CRYP_AES_ECB: - case CRYP_AES_CBC: - case CRYP_AES_CTR: - - /* AES decryption */ - status = CRYP_AES_Decrypt(hcryp, Timeout); - break; - #if defined (CRYP_CR_ALGOMODE_AES_GCM) - case CRYP_AES_GCM: - - /* AES GCM decryption */ - status = CRYP_AESGCM_Process(hcryp, Timeout) ; - break; - - case CRYP_AES_CCM: - - /* AES CCM decryption */ - status = CRYP_AESCCM_Process(hcryp, Timeout); - break; - #endif /* GCM CCM defined*/ - default: - hcryp->ErrorCode |= HAL_CRYP_ERROR_NOT_SUPPORTED; - /* Change the CRYP peripheral state */ - hcryp->State = HAL_CRYP_STATE_READY; - /* Process unlocked */ - __HAL_UNLOCK(hcryp); - return HAL_ERROR; - } - -#else /*AES*/ - - /* Set Decryption operating mode*/ - MODIFY_REG(hcryp->Instance->CR, AES_CR_MODE, CRYP_OPERATINGMODE_DECRYPT); - - /* algo get algorithm selected */ - algo = hcryp->Instance->CR & AES_CR_CHMOD; - - switch (algo) - { - - case CRYP_AES_ECB: - case CRYP_AES_CBC: - case CRYP_AES_CTR: - - /* AES decryption */ - status = CRYP_AES_Decrypt(hcryp, Timeout); - break; - - case CRYP_AES_GCM_GMAC: - - /* AES GCM decryption */ - status = CRYP_AESGCM_Process(hcryp, Timeout) ; - break; - - case CRYP_AES_CCM: - - /* AES CCM decryption */ - status = CRYP_AESCCM_Process(hcryp, Timeout); - break; - - default: - hcryp->ErrorCode |= HAL_CRYP_ERROR_NOT_SUPPORTED; - /* Change the CRYP peripheral state */ - hcryp->State = HAL_CRYP_STATE_READY; - /* Process unlocked */ - __HAL_UNLOCK(hcryp); - return HAL_ERROR; - } -#endif /* End AES or CRYP */ - - if (status == HAL_OK) - { - /* Change the CRYP peripheral state */ - hcryp->State = HAL_CRYP_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hcryp); - } - } - else - { - /* Busy error code field */ - hcryp->ErrorCode |= HAL_CRYP_ERROR_BUSY; - return HAL_ERROR; - } - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Encryption in interrupt mode. - * @param hcryp: pointer to a CRYP_HandleTypeDef structure that contains - * the configuration information for CRYP module - * @param Input: Pointer to the input buffer (plaintext) - * @param Size: Length of the plaintext buffer in word - * @param Output: Pointer to the output buffer(ciphertext) - * @retval HAL status - */ -HAL_StatusTypeDef HAL_CRYP_Encrypt_IT(CRYP_HandleTypeDef *hcryp, uint32_t *Input, uint16_t Size, uint32_t *Output) -{ - uint32_t algo; - HAL_StatusTypeDef status = HAL_OK; - - if (hcryp->State == HAL_CRYP_STATE_READY) - { - /* Change state Busy */ - hcryp->State = HAL_CRYP_STATE_BUSY; - - /* Process locked */ - __HAL_LOCK(hcryp); - - /* Reset CrypInCount, CrypOutCount and Initialize pCrypInBuffPtr and pCrypOutBuffPtr parameters*/ - hcryp->CrypInCount = 0U; - hcryp->CrypOutCount = 0U; - hcryp->pCrypInBuffPtr = Input; - hcryp->pCrypOutBuffPtr = Output; - - /* Calculate Size parameter in Byte*/ - if (hcryp->Init.DataWidthUnit == CRYP_DATAWIDTHUNIT_WORD) - { - hcryp->Size = Size * 4U; - } - else - { - hcryp->Size = Size; - } - -#if defined (CRYP) - - /* Set encryption operating mode*/ - MODIFY_REG(hcryp->Instance->CR, CRYP_CR_ALGODIR, CRYP_OPERATINGMODE_ENCRYPT); - - /* algo get algorithm selected */ - algo = (hcryp->Instance->CR & CRYP_CR_ALGOMODE); - - switch (algo) - { - case CRYP_DES_ECB: - case CRYP_DES_CBC: - case CRYP_TDES_ECB: - case CRYP_TDES_CBC: - - /*Set Key */ - hcryp->Instance->K1LR = *(uint32_t *)(hcryp->Init.pKey); - hcryp->Instance->K1RR = *(uint32_t *)(hcryp->Init.pKey + 1); - if ((hcryp->Init.Algorithm == CRYP_TDES_ECB) || (hcryp->Init.Algorithm == CRYP_TDES_CBC)) - { - hcryp->Instance->K2LR = *(uint32_t *)(hcryp->Init.pKey + 2); - hcryp->Instance->K2RR = *(uint32_t *)(hcryp->Init.pKey + 3); - hcryp->Instance->K3LR = *(uint32_t *)(hcryp->Init.pKey + 4); - hcryp->Instance->K3RR = *(uint32_t *)(hcryp->Init.pKey + 5); - } - /* Set the Initialization Vector*/ - if ((hcryp->Init.Algorithm == CRYP_DES_CBC) || (hcryp->Init.Algorithm == CRYP_TDES_CBC)) - { - hcryp->Instance->IV0LR = *(uint32_t *)(hcryp->Init.pInitVect); - hcryp->Instance->IV0RR = *(uint32_t *)(hcryp->Init.pInitVect + 1); - } - - /* Flush FIFO */ - HAL_CRYP_FIFO_FLUSH(hcryp); - - /* Set the phase */ - hcryp->Phase = CRYP_PHASE_PROCESS; - - /* Enable interrupts */ - __HAL_CRYP_ENABLE_IT(hcryp, CRYP_IT_INI | CRYP_IT_OUTI); - - /* Enable CRYP to start DES/TDES process*/ - __HAL_CRYP_ENABLE(hcryp); - break; - - case CRYP_AES_ECB: - case CRYP_AES_CBC: - case CRYP_AES_CTR: - - status = CRYP_AES_Encrypt_IT(hcryp); - break; - #if defined (CRYP_CR_ALGOMODE_AES_GCM) - case CRYP_AES_GCM: - - status = CRYP_AESGCM_Process_IT(hcryp) ; - break; - - case CRYP_AES_CCM: - - status = CRYP_AESCCM_Process_IT(hcryp); - break; - #endif /* GCM CCM defined*/ - default: - hcryp->ErrorCode |= HAL_CRYP_ERROR_NOT_SUPPORTED; - /* Change the CRYP peripheral state */ - hcryp->State = HAL_CRYP_STATE_READY; - /* Process unlocked */ - __HAL_UNLOCK(hcryp); - status = HAL_ERROR; - break; - } - -#else /* AES */ - - /* Set encryption operating mode*/ - MODIFY_REG(hcryp->Instance->CR, AES_CR_MODE, CRYP_OPERATINGMODE_ENCRYPT); - - /* algo get algorithm selected */ - algo = hcryp->Instance->CR & AES_CR_CHMOD; - - switch (algo) - { - case CRYP_AES_ECB: - case CRYP_AES_CBC: - case CRYP_AES_CTR: - - /* AES encryption */ - status = CRYP_AES_Encrypt_IT(hcryp); - break; - - case CRYP_AES_GCM_GMAC: - - /* AES GCM encryption */ - status = CRYP_AESGCM_Process_IT(hcryp) ; - break; - - case CRYP_AES_CCM: - - /* AES CCM encryption */ - status = CRYP_AESCCM_Process_IT(hcryp); - break; - - default: - hcryp->ErrorCode |= HAL_CRYP_ERROR_NOT_SUPPORTED; - /* Change the CRYP peripheral state */ - hcryp->State = HAL_CRYP_STATE_READY; - /* Process unlocked */ - __HAL_UNLOCK(hcryp); - status = HAL_ERROR; - break; - } -#endif /*end AES or CRYP*/ - - } - else - { - /* Busy error code field */ - hcryp->ErrorCode |= HAL_CRYP_ERROR_BUSY; - status = HAL_ERROR; - } - - /* Return function status */ - return status; -} - -/** - * @brief Decryption in itnterrupt mode. - * @param hcryp: pointer to a CRYP_HandleTypeDef structure that contains - * the configuration information for CRYP module - * @param Input: Pointer to the input buffer (ciphertext ) - * @param Size: Length of the plaintext buffer in word. - * @param Output: Pointer to the output buffer(plaintext) - * @retval HAL status - */ -HAL_StatusTypeDef HAL_CRYP_Decrypt_IT(CRYP_HandleTypeDef *hcryp, uint32_t *Input, uint16_t Size, uint32_t *Output) -{ - uint32_t algo; - HAL_StatusTypeDef status = HAL_OK; - - if (hcryp->State == HAL_CRYP_STATE_READY) - { - /* Change state Busy */ - hcryp->State = HAL_CRYP_STATE_BUSY; - - /* Process locked */ - __HAL_LOCK(hcryp); - - /* Reset CrypInCount, CrypOutCount and Initialize pCrypInBuffPtr and pCrypOutBuffPtr parameters*/ - hcryp->CrypInCount = 0U; - hcryp->CrypOutCount = 0U; - hcryp->pCrypInBuffPtr = Input; - hcryp->pCrypOutBuffPtr = Output; - - /* Calculate Size parameter in Byte*/ - if (hcryp->Init.DataWidthUnit == CRYP_DATAWIDTHUNIT_WORD) - { - hcryp->Size = Size * 4U; - } - else - { - hcryp->Size = Size; - } - -#if defined (CRYP) - - /* Set decryption operating mode*/ - MODIFY_REG(hcryp->Instance->CR, CRYP_CR_ALGODIR, CRYP_OPERATINGMODE_DECRYPT); - - /* algo get algorithm selected */ - algo = hcryp->Instance->CR & CRYP_CR_ALGOMODE; - - switch (algo) - { - case CRYP_DES_ECB: - case CRYP_DES_CBC: - case CRYP_TDES_ECB: - case CRYP_TDES_CBC: - - /*Set Key */ - hcryp->Instance->K1LR = *(uint32_t *)(hcryp->Init.pKey); - hcryp->Instance->K1RR = *(uint32_t *)(hcryp->Init.pKey + 1); - if ((hcryp->Init.Algorithm == CRYP_TDES_ECB) || (hcryp->Init.Algorithm == CRYP_TDES_CBC)) - { - hcryp->Instance->K2LR = *(uint32_t *)(hcryp->Init.pKey + 2); - hcryp->Instance->K2RR = *(uint32_t *)(hcryp->Init.pKey + 3); - hcryp->Instance->K3LR = *(uint32_t *)(hcryp->Init.pKey + 4); - hcryp->Instance->K3RR = *(uint32_t *)(hcryp->Init.pKey + 5); - } - - /* Set the Initialization Vector*/ - if ((hcryp->Init.Algorithm == CRYP_DES_CBC) || (hcryp->Init.Algorithm == CRYP_TDES_CBC)) - { - hcryp->Instance->IV0LR = *(uint32_t *)(hcryp->Init.pInitVect); - hcryp->Instance->IV0RR = *(uint32_t *)(hcryp->Init.pInitVect + 1); - } - /* Flush FIFO */ - HAL_CRYP_FIFO_FLUSH(hcryp); - - /* Set the phase */ - hcryp->Phase = CRYP_PHASE_PROCESS; - - /* Enable interrupts */ - __HAL_CRYP_ENABLE_IT(hcryp, CRYP_IT_INI | CRYP_IT_OUTI); - - /* Enable CRYP and start DES/TDES process*/ - __HAL_CRYP_ENABLE(hcryp); - - break; - - case CRYP_AES_ECB: - case CRYP_AES_CBC: - case CRYP_AES_CTR: - - /* AES decryption */ - status = CRYP_AES_Decrypt_IT(hcryp); - break; - #if defined (CRYP_CR_ALGOMODE_AES_GCM) - case CRYP_AES_GCM: - - /* AES GCM decryption */ - status = CRYP_AESGCM_Process_IT(hcryp) ; - break; - - case CRYP_AES_CCM: - - /* AES CCMdecryption */ - status = CRYP_AESCCM_Process_IT(hcryp); - break; - #endif /* GCM CCM defined*/ - default: - hcryp->ErrorCode |= HAL_CRYP_ERROR_NOT_SUPPORTED; - /* Change the CRYP peripheral state */ - hcryp->State = HAL_CRYP_STATE_READY; - /* Process unlocked */ - __HAL_UNLOCK(hcryp); - status = HAL_ERROR; - break; - } - -#else /*AES*/ - - /* Set decryption operating mode*/ - MODIFY_REG(hcryp->Instance->CR, AES_CR_MODE, CRYP_OPERATINGMODE_DECRYPT); - - /* algo get algorithm selected */ - algo = hcryp->Instance->CR & AES_CR_CHMOD; - - switch (algo) - { - case CRYP_AES_ECB: - case CRYP_AES_CBC: - case CRYP_AES_CTR: - - /* AES decryption */ - status = CRYP_AES_Decrypt_IT(hcryp); - break; - - case CRYP_AES_GCM_GMAC: - - /* AES GCM decryption */ - status = CRYP_AESGCM_Process_IT(hcryp) ; - break; - - case CRYP_AES_CCM: - - /* AES CCM decryption */ - status = CRYP_AESCCM_Process_IT(hcryp); - break; - - default: - hcryp->ErrorCode |= HAL_CRYP_ERROR_NOT_SUPPORTED; - /* Change the CRYP peripheral state */ - hcryp->State = HAL_CRYP_STATE_READY; - /* Process unlocked */ - __HAL_UNLOCK(hcryp); - status = HAL_ERROR; - break; - } -#endif /* End AES or CRYP */ - - } - else - { - /* Busy error code field */ - hcryp->ErrorCode |= HAL_CRYP_ERROR_BUSY; - status = HAL_ERROR; - } - - /* Return function status */ - return status; -} - -/** - * @brief Encryption in DMA mode. - * @param hcryp: pointer to a CRYP_HandleTypeDef structure that contains - * the configuration information for CRYP module - * @param Input: Pointer to the input buffer (plaintext) - * @param Size: Length of the plaintext buffer in word. - * @param Output: Pointer to the output buffer(ciphertext) - * @retval HAL status - */ -HAL_StatusTypeDef HAL_CRYP_Encrypt_DMA(CRYP_HandleTypeDef *hcryp, uint32_t *Input, uint16_t Size, uint32_t *Output) -{ - uint32_t algo; - HAL_StatusTypeDef status = HAL_OK; - uint32_t DoKeyIVConfig = 1U; /* By default, carry out peripheral Key and IV configuration */ - - if (hcryp->State == HAL_CRYP_STATE_READY) - { - /* Change state Busy */ - hcryp->State = HAL_CRYP_STATE_BUSY; - - /* Process locked */ - __HAL_LOCK(hcryp); - - /* Reset CrypInCount, CrypOutCount and Initialize pCrypInBuffPtr and pCrypOutBuffPtr parameters*/ - hcryp->CrypInCount = 0U; - hcryp->CrypOutCount = 0U; - hcryp->pCrypInBuffPtr = Input; - hcryp->pCrypOutBuffPtr = Output; - - /* Calculate Size parameter in Byte*/ - if (hcryp->Init.DataWidthUnit == CRYP_DATAWIDTHUNIT_WORD) - { - hcryp->Size = Size * 4U; - } - else - { - hcryp->Size = Size; - } - -#if defined (CRYP) - - /* Set encryption operating mode*/ - MODIFY_REG(hcryp->Instance->CR, CRYP_CR_ALGODIR, CRYP_OPERATINGMODE_ENCRYPT); - - /* algo get algorithm selected */ - algo = hcryp->Instance->CR & CRYP_CR_ALGOMODE; - - switch (algo) - { - case CRYP_DES_ECB: - case CRYP_DES_CBC: - case CRYP_TDES_ECB: - case CRYP_TDES_CBC: - - /*Set Key */ - hcryp->Instance->K1LR = *(uint32_t *)(hcryp->Init.pKey); - hcryp->Instance->K1RR = *(uint32_t *)(hcryp->Init.pKey + 1); - if ((hcryp->Init.Algorithm == CRYP_TDES_ECB) || (hcryp->Init.Algorithm == CRYP_TDES_CBC)) - { - hcryp->Instance->K2LR = *(uint32_t *)(hcryp->Init.pKey + 2); - hcryp->Instance->K2RR = *(uint32_t *)(hcryp->Init.pKey + 3); - hcryp->Instance->K3LR = *(uint32_t *)(hcryp->Init.pKey + 4); - hcryp->Instance->K3RR = *(uint32_t *)(hcryp->Init.pKey + 5); - } - - /* Set the Initialization Vector*/ - if ((hcryp->Init.Algorithm == CRYP_DES_CBC) || (hcryp->Init.Algorithm == CRYP_TDES_CBC)) - { - hcryp->Instance->IV0LR = *(uint32_t *)(hcryp->Init.pInitVect); - hcryp->Instance->IV0RR = *(uint32_t *)(hcryp->Init.pInitVect + 1); - } - - /* Flush FIFO */ - HAL_CRYP_FIFO_FLUSH(hcryp); - - /* Set the phase */ - hcryp->Phase = CRYP_PHASE_PROCESS; - - /* Start DMA process transfer for DES/TDES */ - CRYP_SetDMAConfig(hcryp, (uint32_t)(hcryp->pCrypInBuffPtr), ((uint16_t)(hcryp->Size) / 4U), - (uint32_t)(hcryp->pCrypOutBuffPtr)); - break; - - case CRYP_AES_ECB: - case CRYP_AES_CBC: - case CRYP_AES_CTR: - - if (hcryp->Init.KeyIVConfigSkip == CRYP_KEYIVCONFIG_ONCE) - { - if (hcryp->KeyIVConfig == 1U) - { - /* If the Key and IV configuration has to be done only once - and if it has already been done, skip it */ - DoKeyIVConfig = 0U; - } - else - { - /* If the Key and IV configuration has to be done only once - and if it has not been done already, do it and set KeyIVConfig - to keep track it won't have to be done again next time */ - hcryp->KeyIVConfig = 1U; - } - } - - if (DoKeyIVConfig == 1U) - { - /* Set the Key*/ - CRYP_SetKey(hcryp, hcryp->Init.KeySize); - - /* Set the Initialization Vector*/ - if (hcryp->Init.Algorithm != CRYP_AES_ECB) - { - hcryp->Instance->IV0LR = *(uint32_t *)(hcryp->Init.pInitVect); - hcryp->Instance->IV0RR = *(uint32_t *)(hcryp->Init.pInitVect + 1U); - hcryp->Instance->IV1LR = *(uint32_t *)(hcryp->Init.pInitVect + 2U); - hcryp->Instance->IV1RR = *(uint32_t *)(hcryp->Init.pInitVect + 3U); - } - } /* if (DoKeyIVConfig == 1U) */ - - /* Set the phase */ - hcryp->Phase = CRYP_PHASE_PROCESS; - - /* Start DMA process transfer for AES */ - CRYP_SetDMAConfig(hcryp, (uint32_t)(hcryp->pCrypInBuffPtr), ((uint16_t)(hcryp->Size) / 4U), - (uint32_t)(hcryp->pCrypOutBuffPtr)); - break; - #if defined (CRYP_CR_ALGOMODE_AES_GCM) - case CRYP_AES_GCM: - /* AES GCM encryption */ - status = CRYP_AESGCM_Process_DMA(hcryp) ; - break; - - case CRYP_AES_CCM: - /* AES CCM encryption */ - status = CRYP_AESCCM_Process_DMA(hcryp); - break; - #endif /* GCM CCM defined*/ - default: - hcryp->ErrorCode |= HAL_CRYP_ERROR_NOT_SUPPORTED; - /* Change the CRYP peripheral state */ - hcryp->State = HAL_CRYP_STATE_READY; - /* Process unlocked */ - __HAL_UNLOCK(hcryp); - status = HAL_ERROR; - break; - } - -#else /*AES*/ - /* Set encryption operating mode*/ - MODIFY_REG(hcryp->Instance->CR, AES_CR_MODE, CRYP_OPERATINGMODE_ENCRYPT); - - /* algo get algorithm selected */ - algo = hcryp->Instance->CR & AES_CR_CHMOD; - - switch (algo) - { - - case CRYP_AES_ECB: - case CRYP_AES_CBC: - case CRYP_AES_CTR: - - if (hcryp->Init.KeyIVConfigSkip == CRYP_KEYIVCONFIG_ONCE) - { - if (hcryp->KeyIVConfig == 1U) - { - /* If the Key and IV configuration has to be done only once - and if it has already been done, skip it */ - DoKeyIVConfig = 0U; - } - else - { - /* If the Key and IV configuration has to be done only once - and if it has not been done already, do it and set KeyIVConfig - to keep track it won't have to be done again next time */ - hcryp->KeyIVConfig = 1U; - } - } - - if (DoKeyIVConfig == 1U) - { - /* Set the Key*/ - CRYP_SetKey(hcryp, hcryp->Init.KeySize); - - /* Set the Initialization Vector*/ - if (hcryp->Init.Algorithm != CRYP_AES_ECB) - { - hcryp->Instance->IVR3 = *(uint32_t *)(hcryp->Init.pInitVect); - hcryp->Instance->IVR2 = *(uint32_t *)(hcryp->Init.pInitVect + 1); - hcryp->Instance->IVR1 = *(uint32_t *)(hcryp->Init.pInitVect + 2); - hcryp->Instance->IVR0 = *(uint32_t *)(hcryp->Init.pInitVect + 3); - } - } /* if (DoKeyIVConfig == 1U) */ - /* Set the phase */ - hcryp->Phase = CRYP_PHASE_PROCESS; - - /* Start DMA process transfer for AES */ - CRYP_SetDMAConfig(hcryp, (uint32_t)(hcryp->pCrypInBuffPtr), (hcryp->Size / 4U), (uint32_t)(hcryp->pCrypOutBuffPtr)); - break; - - case CRYP_AES_GCM_GMAC: - /* AES GCM encryption */ - status = CRYP_AESGCM_Process_DMA(hcryp) ; - break; - - case CRYP_AES_CCM: - /* AES CCM encryption */ - status = CRYP_AESCCM_Process_DMA(hcryp); - break; - - default: - hcryp->ErrorCode |= HAL_CRYP_ERROR_NOT_SUPPORTED; - /* Change the CRYP peripheral state */ - hcryp->State = HAL_CRYP_STATE_READY; - /* Process unlocked */ - __HAL_UNLOCK(hcryp); - status = HAL_ERROR; - break; - } -#endif /* End AES or CRYP */ - - } - else - { - /* Busy error code field */ - hcryp->ErrorCode |= HAL_CRYP_ERROR_BUSY; - status = HAL_ERROR; - } - - /* Return function status */ - return status; -} - -/** - * @brief Decryption in DMA mode. - * @param hcryp: pointer to a CRYP_HandleTypeDef structure that contains - * the configuration information for CRYP module - * @param Input: Pointer to the input buffer (ciphertext ) - * @param Size: Length of the plaintext buffer in word - * @param Output: Pointer to the output buffer(plaintext) - * @retval HAL status - */ -HAL_StatusTypeDef HAL_CRYP_Decrypt_DMA(CRYP_HandleTypeDef *hcryp, uint32_t *Input, uint16_t Size, uint32_t *Output) -{ - uint32_t algo; - HAL_StatusTypeDef status = HAL_OK; - - if (hcryp->State == HAL_CRYP_STATE_READY) - { - - /* Change state Busy */ - hcryp->State = HAL_CRYP_STATE_BUSY; - - /* Process locked */ - __HAL_LOCK(hcryp); - - /* Reset CrypInCount, CrypOutCount and Initialize pCrypInBuffPtr, pCrypOutBuffPtr and Size parameters*/ - hcryp->CrypInCount = 0U; - hcryp->CrypOutCount = 0U; - hcryp->pCrypInBuffPtr = Input; - hcryp->pCrypOutBuffPtr = Output; - - /* Calculate Size parameter in Byte*/ - if (hcryp->Init.DataWidthUnit == CRYP_DATAWIDTHUNIT_WORD) - { - hcryp->Size = Size * 4U; - } - else - { - hcryp->Size = Size; - } - -#if defined (CRYP) - - /* Set decryption operating mode*/ - MODIFY_REG(hcryp->Instance->CR, CRYP_CR_ALGODIR, CRYP_OPERATINGMODE_DECRYPT); - - /* algo get algorithm selected */ - algo = hcryp->Instance->CR & CRYP_CR_ALGOMODE; - - switch (algo) - { - case CRYP_DES_ECB: - case CRYP_DES_CBC: - case CRYP_TDES_ECB: - case CRYP_TDES_CBC: - - /*Set Key */ - hcryp->Instance->K1LR = *(uint32_t *)(hcryp->Init.pKey); - hcryp->Instance->K1RR = *(uint32_t *)(hcryp->Init.pKey + 1); - if ((hcryp->Init.Algorithm == CRYP_TDES_ECB) || (hcryp->Init.Algorithm == CRYP_TDES_CBC)) - { - hcryp->Instance->K2LR = *(uint32_t *)(hcryp->Init.pKey + 2); - hcryp->Instance->K2RR = *(uint32_t *)(hcryp->Init.pKey + 3); - hcryp->Instance->K3LR = *(uint32_t *)(hcryp->Init.pKey + 4); - hcryp->Instance->K3RR = *(uint32_t *)(hcryp->Init.pKey + 5); - } - - /* Set the Initialization Vector*/ - if ((hcryp->Init.Algorithm == CRYP_DES_CBC) || (hcryp->Init.Algorithm == CRYP_TDES_CBC)) - { - hcryp->Instance->IV0LR = *(uint32_t *)(hcryp->Init.pInitVect); - hcryp->Instance->IV0RR = *(uint32_t *)(hcryp->Init.pInitVect + 1); - } - - /* Flush FIFO */ - HAL_CRYP_FIFO_FLUSH(hcryp); - - /* Set the phase */ - hcryp->Phase = CRYP_PHASE_PROCESS; - - /* Start DMA process transfer for DES/TDES */ - CRYP_SetDMAConfig(hcryp, (uint32_t)(hcryp->pCrypInBuffPtr), ((uint16_t)(hcryp->Size) / 4U), - (uint32_t)(hcryp->pCrypOutBuffPtr)); - break; - - case CRYP_AES_ECB: - case CRYP_AES_CBC: - case CRYP_AES_CTR: - - /* AES decryption */ - status = CRYP_AES_Decrypt_DMA(hcryp); - break; - #if defined (CRYP_CR_ALGOMODE_AES_GCM) - case CRYP_AES_GCM: - /* AES GCM decryption */ - status = CRYP_AESGCM_Process_DMA(hcryp) ; - break; - - case CRYP_AES_CCM: - /* AES CCM decryption */ - status = CRYP_AESCCM_Process_DMA(hcryp); - break; - #endif /* GCM CCM defined*/ - default: - hcryp->ErrorCode |= HAL_CRYP_ERROR_NOT_SUPPORTED; - /* Change the CRYP peripheral state */ - hcryp->State = HAL_CRYP_STATE_READY; - /* Process unlocked */ - __HAL_UNLOCK(hcryp); - status = HAL_ERROR; - break; - } - -#else /*AES*/ - - /* Set decryption operating mode*/ - MODIFY_REG(hcryp->Instance->CR, AES_CR_MODE, CRYP_OPERATINGMODE_DECRYPT); - - /* algo get algorithm selected */ - algo = hcryp->Instance->CR & AES_CR_CHMOD; - - switch (algo) - { - - case CRYP_AES_ECB: - case CRYP_AES_CBC: - case CRYP_AES_CTR: - - /* AES decryption */ - status = CRYP_AES_Decrypt_DMA(hcryp); - break; - - case CRYP_AES_GCM_GMAC: - /* AES GCM decryption */ - status = CRYP_AESGCM_Process_DMA(hcryp) ; - break; - - case CRYP_AES_CCM: - /* AES CCM decryption */ - status = CRYP_AESCCM_Process_DMA(hcryp); - break; - - default: - hcryp->ErrorCode |= HAL_CRYP_ERROR_NOT_SUPPORTED; - /* Change the CRYP peripheral state */ - hcryp->State = HAL_CRYP_STATE_READY; - /* Process unlocked */ - __HAL_UNLOCK(hcryp); - status = HAL_ERROR; - break; - } -#endif /* End AES or CRYP */ - } - else - { - /* Busy error code field */ - hcryp->ErrorCode |= HAL_CRYP_ERROR_BUSY; - status = HAL_ERROR; - } - - /* Return function status */ - return status; -} - -/** - * @} - */ - -/** @defgroup CRYP_Exported_Functions_Group3 CRYP IRQ handler management - * @brief CRYP IRQ handler. - * -@verbatim - ============================================================================== - ##### CRYP IRQ handler management ##### - ============================================================================== -[..] This section provides CRYP IRQ handler and callback functions. - (+) HAL_CRYP_IRQHandler CRYP interrupt request - (+) HAL_CRYP_InCpltCallback input data transfer complete callback - (+) HAL_CRYP_OutCpltCallback output data transfer complete callback - (+) HAL_CRYP_ErrorCallback CRYP error callback - (+) HAL_CRYP_GetState return the CRYP state - (+) HAL_CRYP_GetError return the CRYP error code -@endverbatim - * @{ - */ - -/** - * @brief This function handles cryptographic interrupt request. - * @param hcryp: pointer to a CRYP_HandleTypeDef structure that contains - * the configuration information for CRYP module - * @retval None - */ -void HAL_CRYP_IRQHandler(CRYP_HandleTypeDef *hcryp) -{ - -#if defined (CRYP) - - uint32_t itstatus = hcryp->Instance->MISR; - - if ((itstatus & (CRYP_IT_INI | CRYP_IT_OUTI)) != 0U) - { - if ((hcryp->Init.Algorithm == CRYP_DES_ECB) || (hcryp->Init.Algorithm == CRYP_DES_CBC) - || (hcryp->Init.Algorithm == CRYP_TDES_ECB) || (hcryp->Init.Algorithm == CRYP_TDES_CBC)) - { - CRYP_TDES_IT(hcryp); /* DES or TDES*/ - } - else if ((hcryp->Init.Algorithm == CRYP_AES_ECB) || (hcryp->Init.Algorithm == CRYP_AES_CBC) - || (hcryp->Init.Algorithm == CRYP_AES_CTR)) - { - CRYP_AES_IT(hcryp); /*AES*/ - } - #if defined (CRYP_CR_ALGOMODE_AES_GCM) - else if ((hcryp->Init.Algorithm == CRYP_AES_GCM) || (hcryp->Init.Algorithm == CRYP_CR_ALGOMODE_AES_CCM)) - { - /* if header phase */ - if ((hcryp->Instance->CR & CRYP_PHASE_HEADER) == CRYP_PHASE_HEADER) - { - CRYP_GCMCCM_SetHeaderPhase_IT(hcryp); - } - else /* if payload phase */ - { - CRYP_GCMCCM_SetPayloadPhase_IT(hcryp); - } - } - #endif /* GCM CCM defined*/ - else - { - /* Nothing to do */ - } - } - -#else /*AES*/ - if (__HAL_CRYP_GET_FLAG(hcryp, CRYP_IT_CCF) != RESET) - { - if (__HAL_CRYP_GET_IT_SOURCE(hcryp, CRYP_IT_CCFIE) != RESET) - { - - /* Clear computation complete flag */ - __HAL_CRYP_CLEAR_FLAG(hcryp, CRYP_CCF_CLEAR); - - if (hcryp->Init.Algorithm == CRYP_AES_GCM_GMAC) - { - - /* if header phase */ - if ((hcryp->Instance->CR & CRYP_PHASE_HEADER) == CRYP_PHASE_HEADER) - { - CRYP_GCMCCM_SetHeaderPhase_IT(hcryp); - } - else /* if payload phase */ - { - CRYP_GCMCCM_SetPayloadPhase_IT(hcryp); - } - } - else if (hcryp->Init.Algorithm == CRYP_AES_CCM) - { - /* if header phase */ - if (hcryp->Init.HeaderSize >= hcryp->CrypHeaderCount) - { - CRYP_GCMCCM_SetHeaderPhase_IT(hcryp); - } - else /* if payload phase */ - { - CRYP_GCMCCM_SetPayloadPhase_IT(hcryp); - } - } - else /* AES Algorithm ECB,CBC or CTR*/ - { - CRYP_AES_IT(hcryp); - } - } - } - /* Check if error occurred */ - if (__HAL_CRYP_GET_IT_SOURCE(hcryp, CRYP_IT_ERRIE) != RESET) - { - /* If write Error occurred */ - if (__HAL_CRYP_GET_FLAG(hcryp, CRYP_IT_WRERR) != RESET) - { - hcryp->ErrorCode |= HAL_CRYP_ERROR_WRITE; - } - /* If read Error occurred */ - if (__HAL_CRYP_GET_FLAG(hcryp, CRYP_IT_RDERR) != RESET) - { - hcryp->ErrorCode |= HAL_CRYP_ERROR_READ; - } - } -#endif /* End AES or CRYP */ -} - -/** - * @brief Return the CRYP error code. - * @param hcryp : pointer to a CRYP_HandleTypeDef structure that contains - * the configuration information for the CRYP IP - * @retval CRYP error code - */ -uint32_t HAL_CRYP_GetError(CRYP_HandleTypeDef *hcryp) -{ - return hcryp->ErrorCode; -} - -/** - * @brief Returns the CRYP state. - * @param hcryp: pointer to a CRYP_HandleTypeDef structure that contains - * the configuration information for CRYP module. - * @retval HAL state - */ -HAL_CRYP_STATETypeDef HAL_CRYP_GetState(CRYP_HandleTypeDef *hcryp) -{ - return hcryp->State; -} - -/** - * @brief Input FIFO transfer completed callback. - * @param hcryp: pointer to a CRYP_HandleTypeDef structure that contains - * the configuration information for CRYP module. - * @retval None - */ -__weak void HAL_CRYP_InCpltCallback(CRYP_HandleTypeDef *hcryp) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hcryp); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_CRYP_InCpltCallback can be implemented in the user file - */ -} - -/** - * @brief Output FIFO transfer completed callback. - * @param hcryp: pointer to a CRYP_HandleTypeDef structure that contains - * the configuration information for CRYP module. - * @retval None - */ -__weak void HAL_CRYP_OutCpltCallback(CRYP_HandleTypeDef *hcryp) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hcryp); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_CRYP_OutCpltCallback can be implemented in the user file - */ -} - -/** - * @brief CRYP error callback. - * @param hcryp: pointer to a CRYP_HandleTypeDef structure that contains - * the configuration information for CRYP module. - * @retval None - */ -__weak void HAL_CRYP_ErrorCallback(CRYP_HandleTypeDef *hcryp) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hcryp); - - /* NOTE : This function Should not be modified, when the callback is needed, - the HAL_CRYP_ErrorCallback could be implemented in the user file - */ -} -/** - * @} - */ - -/* Private functions ---------------------------------------------------------*/ -/** @addtogroup CRYP_Private_Functions - * @{ - */ - -#if defined (CRYP) - -/** - * @brief Encryption in ECB/CBC Algorithm with DES/TDES standard. - * @param hcryp: pointer to a CRYP_HandleTypeDef structure that contains - * the configuration information for CRYP module - * @param Timeout: specify Timeout value - * @retval HAL status - */ -static HAL_StatusTypeDef CRYP_TDES_Process(CRYP_HandleTypeDef *hcryp, uint32_t Timeout) -{ - uint32_t temp[2]; /* Temporary CrypOutBuff */ - uint16_t incount; /* Temporary CrypInCount Value */ - uint16_t outcount; /* Temporary CrypOutCount Value */ - uint32_t i; - - /* Enable CRYP */ - __HAL_CRYP_ENABLE(hcryp); - /*Temporary CrypOutCount Value*/ - outcount = hcryp->CrypOutCount; - - /*Start processing*/ - while ((hcryp->CrypInCount < (hcryp->Size / 4U)) && (outcount < (hcryp->Size / 4U))) - { - /* Temporary CrypInCount Value */ - incount = hcryp->CrypInCount; - /* Write plain data and get cipher data */ - if (((hcryp->Instance->SR & CRYP_FLAG_IFNF) != 0x0U) && (incount < (hcryp->Size / 4U))) - { - /* Write the input block in the IN FIFO */ - hcryp->Instance->DIN = *(uint32_t *)(hcryp->pCrypInBuffPtr + hcryp->CrypInCount); - hcryp->CrypInCount++; - hcryp->Instance->DIN = *(uint32_t *)(hcryp->pCrypInBuffPtr + hcryp->CrypInCount); - hcryp->CrypInCount++; - } - - /* Wait for OFNE flag to be raised */ - if (CRYP_WaitOnOFNEFlag(hcryp, Timeout) != HAL_OK) - { - /* Disable the CRYP peripheral clock */ - __HAL_CRYP_DISABLE(hcryp); - - /* Change state & errorCode*/ - hcryp->ErrorCode |= HAL_CRYP_ERROR_TIMEOUT; - hcryp->State = HAL_CRYP_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hcryp); -#if (USE_HAL_CRYP_REGISTER_CALLBACKS == 1) - /*Call registered error callback*/ - hcryp->ErrorCallback(hcryp); -#else - /*Call legacy weak error callback*/ - HAL_CRYP_ErrorCallback(hcryp); -#endif /* USE_HAL_CRYP_REGISTER_CALLBACKS */ - } - - /*Temporary CrypOutCount Value*/ - outcount = hcryp->CrypOutCount; - - if (((hcryp->Instance->SR & CRYP_FLAG_OFNE) != 0x0U) && (outcount < (hcryp->Size / 4U))) - { - /* Read the output block from the Output FIFO and put them in temporary Buffer then get CrypOutBuff from temporary buffer */ - for (i = 0U; i < 2U; i++) - { - temp[i] = hcryp->Instance->DOUT; - } - i = 0U; - while (((hcryp->CrypOutCount < ((hcryp->Size) / 4U))) && (i < 2U)) - { - *(uint32_t *)(hcryp->pCrypOutBuffPtr + hcryp->CrypOutCount) = temp[i]; - hcryp->CrypOutCount++; - i++; - } - } - /*Temporary CrypOutCount Value*/ - outcount = hcryp->CrypOutCount; - } - /* Disable CRYP */ - __HAL_CRYP_DISABLE(hcryp); - /* Change the CRYP state */ - hcryp->State = HAL_CRYP_STATE_READY; - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief CRYP block input/output data handling under interruption with DES/TDES standard. - * @note The function is called under interruption only, once - * interruptions have been enabled by CRYP_Decrypt_IT() and CRYP_Encrypt_IT(). - * @param hcryp: pointer to a CRYP_HandleTypeDef structure that contains - * the configuration information for CRYP module. - * @retval none - */ -static void CRYP_TDES_IT(CRYP_HandleTypeDef *hcryp) -{ - uint32_t temp[2]; /* Temporary CrypOutBuff */ - uint32_t i; - - if (hcryp->State == HAL_CRYP_STATE_BUSY) - { - if (__HAL_CRYP_GET_IT(hcryp, CRYP_IT_INI) != 0x0U) - { - if (__HAL_CRYP_GET_FLAG(hcryp, CRYP_FLAG_INRIS) != 0x0U) - { - /* Write input block in the IN FIFO */ - hcryp->Instance->DIN = *(uint32_t *)(hcryp->pCrypInBuffPtr + hcryp->CrypInCount); - hcryp->CrypInCount++; - hcryp->Instance->DIN = *(uint32_t *)(hcryp->pCrypInBuffPtr + hcryp->CrypInCount); - hcryp->CrypInCount++; - - if (hcryp->CrypInCount == ((uint16_t)(hcryp->Size) / 4U)) - { - /* Disable interruption */ - __HAL_CRYP_DISABLE_IT(hcryp, CRYP_IT_INI); - /* Call the input data transfer complete callback */ -#if (USE_HAL_CRYP_REGISTER_CALLBACKS == 1U) - /*Call registered Input complete callback*/ - hcryp->InCpltCallback(hcryp); -#else - /*Call legacy weak Input complete callback*/ - HAL_CRYP_InCpltCallback(hcryp); -#endif /* USE_HAL_CRYP_REGISTER_CALLBACKS */ - } - } - } - if (__HAL_CRYP_GET_IT(hcryp, CRYP_IT_OUTI) != 0x0U) - { - if (__HAL_CRYP_GET_FLAG(hcryp, CRYP_FLAG_OUTRIS) != 0x0U) - { - /* Read the output block from the Output FIFO and put them in temporary Buffer then get CrypOutBuff from temporary buffer */ - for (i = 0U; i < 2U; i++) - { - temp[i] = hcryp->Instance->DOUT; - } - i = 0U; - while (((hcryp->CrypOutCount < ((hcryp->Size) / 4U))) && (i < 2U)) - { - *(uint32_t *)(hcryp->pCrypOutBuffPtr + hcryp->CrypOutCount) = temp[i]; - hcryp->CrypOutCount++; - i++; - } - if (hcryp->CrypOutCount == ((uint16_t)(hcryp->Size) / 4U)) - { - /* Disable interruption */ - __HAL_CRYP_DISABLE_IT(hcryp, CRYP_IT_OUTI); - - /* Disable CRYP */ - __HAL_CRYP_DISABLE(hcryp); - - /* Process unlocked */ - __HAL_UNLOCK(hcryp); - - /* Change the CRYP state */ - hcryp->State = HAL_CRYP_STATE_READY; - /* Call output transfer complete callback */ -#if (USE_HAL_CRYP_REGISTER_CALLBACKS == 1) - /*Call registered Output complete callback*/ - hcryp->OutCpltCallback(hcryp); -#else - /*Call legacy weak Output complete callback*/ - HAL_CRYP_OutCpltCallback(hcryp); -#endif /* USE_HAL_CRYP_REGISTER_CALLBACKS */ - } - } - } - } - else - { - /* Process unlocked */ - __HAL_UNLOCK(hcryp); - /* Busy error code field */ - hcryp->ErrorCode |= HAL_CRYP_ERROR_BUSY; -#if (USE_HAL_CRYP_REGISTER_CALLBACKS == 1) - /*Call registered error callback*/ - hcryp->ErrorCallback(hcryp); -#else - /*Call legacy weak error callback*/ - HAL_CRYP_ErrorCallback(hcryp); -#endif /* USE_HAL_CRYP_REGISTER_CALLBACKS */ - } -} - -#endif /* CRYP */ - -/** - * @brief Encryption in ECB/CBC & CTR Algorithm with AES Standard - * @param hcryp: pointer to a CRYP_HandleTypeDef structure - * @param Timeout: specify Timeout value - * @retval HAL status - */ -static HAL_StatusTypeDef CRYP_AES_Encrypt(CRYP_HandleTypeDef *hcryp, uint32_t Timeout) -{ - uint16_t outcount; /* Temporary CrypOutCount Value */ - uint32_t DoKeyIVConfig = 1U; /* By default, carry out peripheral Key and IV configuration */ - - if (hcryp->Init.KeyIVConfigSkip == CRYP_KEYIVCONFIG_ONCE) - { - if (hcryp->KeyIVConfig == 1U) - { - /* If the Key and IV configuration has to be done only once - and if it has already been done, skip it */ - DoKeyIVConfig = 0U; - } - else - { - /* If the Key and IV configuration has to be done only once - and if it has not been done already, do it and set KeyIVConfig - to keep track it won't have to be done again next time */ - hcryp->KeyIVConfig = 1U; - } - } - - if (DoKeyIVConfig == 1U) - { - - /* Set the Key*/ - CRYP_SetKey(hcryp, hcryp->Init.KeySize); - - if (hcryp->Init.Algorithm != CRYP_AES_ECB) - { - /* Set the Initialization Vector*/ -#if defined (AES) - hcryp->Instance->IVR3 = *(uint32_t *)(hcryp->Init.pInitVect); - hcryp->Instance->IVR2 = *(uint32_t *)(hcryp->Init.pInitVect + 1); - hcryp->Instance->IVR1 = *(uint32_t *)(hcryp->Init.pInitVect + 2); - hcryp->Instance->IVR0 = *(uint32_t *)(hcryp->Init.pInitVect + 3); -#else /* CRYP */ - hcryp->Instance->IV0LR = *(uint32_t *)(hcryp->Init.pInitVect); - hcryp->Instance->IV0RR = *(uint32_t *)(hcryp->Init.pInitVect + 1); - hcryp->Instance->IV1LR = *(uint32_t *)(hcryp->Init.pInitVect + 2); - hcryp->Instance->IV1RR = *(uint32_t *)(hcryp->Init.pInitVect + 3); -#endif /* End AES or CRYP */ - } - } /* if (DoKeyIVConfig == 1U) */ - - /* Set the phase */ - hcryp->Phase = CRYP_PHASE_PROCESS; - - /* Enable CRYP */ - __HAL_CRYP_ENABLE(hcryp); - - /*Temporary CrypOutCount Value*/ - outcount = hcryp->CrypOutCount; - - while ((hcryp->CrypInCount < (hcryp->Size / 4U)) && (outcount < (hcryp->Size / 4U))) - { - /* Write plain Ddta and get cipher data */ - CRYP_AES_ProcessData(hcryp, Timeout); - /*Temporary CrypOutCount Value*/ - outcount = hcryp->CrypOutCount; - } - - /* Disable CRYP */ - __HAL_CRYP_DISABLE(hcryp); - - /* Change the CRYP state */ - hcryp->State = HAL_CRYP_STATE_READY; - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Encryption in ECB/CBC & CTR mode with AES Standard using interrupt mode - * @param hcryp: pointer to a CRYP_HandleTypeDef structure that contains - * the configuration information for CRYP module - * @retval HAL status - */ -static HAL_StatusTypeDef CRYP_AES_Encrypt_IT(CRYP_HandleTypeDef *hcryp) -{ - uint32_t DoKeyIVConfig = 1U; /* By default, carry out peripheral Key and IV configuration */ - - if (hcryp->Init.KeyIVConfigSkip == CRYP_KEYIVCONFIG_ONCE) - { - if (hcryp->KeyIVConfig == 1U) - { - /* If the Key and IV configuration has to be done only once - and if it has already been done, skip it */ - DoKeyIVConfig = 0U; - } - else - { - /* If the Key and IV configuration has to be done only once - and if it has not been done already, do it and set KeyIVConfig - to keep track it won't have to be done again next time */ - hcryp->KeyIVConfig = 1U; - } - } - - if (DoKeyIVConfig == 1U) - { - /* Set the Key*/ - CRYP_SetKey(hcryp, hcryp->Init.KeySize); - - if (hcryp->Init.Algorithm != CRYP_AES_ECB) - { - /* Set the Initialization Vector*/ -#if defined (AES) - hcryp->Instance->IVR3 = *(uint32_t *)(hcryp->Init.pInitVect); - hcryp->Instance->IVR2 = *(uint32_t *)(hcryp->Init.pInitVect + 1); - hcryp->Instance->IVR1 = *(uint32_t *)(hcryp->Init.pInitVect + 2); - hcryp->Instance->IVR0 = *(uint32_t *)(hcryp->Init.pInitVect + 3); - -#else /* CRYP */ - hcryp->Instance->IV0LR = *(uint32_t *)(hcryp->Init.pInitVect); - hcryp->Instance->IV0RR = *(uint32_t *)(hcryp->Init.pInitVect + 1); - hcryp->Instance->IV1LR = *(uint32_t *)(hcryp->Init.pInitVect + 2); - hcryp->Instance->IV1RR = *(uint32_t *)(hcryp->Init.pInitVect + 3); -#endif /* End AES or CRYP */ - } - } /* if (DoKeyIVConfig == 1U) */ - - /* Set the phase */ - hcryp->Phase = CRYP_PHASE_PROCESS; - - if (hcryp->Size != 0U) - { -#if defined (AES) - - /* Enable computation complete flag and error interrupts */ - __HAL_CRYP_ENABLE_IT(hcryp, CRYP_IT_CCFIE | CRYP_IT_ERRIE); - - /* Enable CRYP */ - __HAL_CRYP_ENABLE(hcryp); - - /* Write the input block in the IN FIFO */ - hcryp->Instance->DINR = *(uint32_t *)(hcryp->pCrypInBuffPtr + hcryp->CrypInCount); - hcryp->CrypInCount++; - hcryp->Instance->DINR = *(uint32_t *)(hcryp->pCrypInBuffPtr + hcryp->CrypInCount); - hcryp->CrypInCount++; - hcryp->Instance->DINR = *(uint32_t *)(hcryp->pCrypInBuffPtr + hcryp->CrypInCount); - hcryp->CrypInCount++; - hcryp->Instance->DINR = *(uint32_t *)(hcryp->pCrypInBuffPtr + hcryp->CrypInCount); - hcryp->CrypInCount++; - -#else /* CRYP */ - - /* Enable interrupts */ - __HAL_CRYP_ENABLE_IT(hcryp, CRYP_IT_INI | CRYP_IT_OUTI); - - /* Enable CRYP */ - __HAL_CRYP_ENABLE(hcryp); - -#endif /* End AES or CRYP */ - } - else - { - /* Change the CRYP state */ - hcryp->State = HAL_CRYP_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hcryp); - } - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Decryption in ECB/CBC & CTR mode with AES Standard - * @param hcryp: pointer to a CRYP_HandleTypeDef structure - * @param Timeout: Specify Timeout value - * @retval HAL status - */ -static HAL_StatusTypeDef CRYP_AES_Decrypt(CRYP_HandleTypeDef *hcryp, uint32_t Timeout) -{ - uint16_t outcount; /* Temporary CrypOutCount Value */ - uint32_t DoKeyIVConfig = 1U; /* By default, carry out peripheral Key and IV configuration */ - - if (hcryp->Init.KeyIVConfigSkip == CRYP_KEYIVCONFIG_ONCE) - { - if (hcryp->KeyIVConfig == 1U) - { - /* If the Key and IV configuration has to be done only once - and if it has already been done, skip it */ - DoKeyIVConfig = 0U; - } - else - { - /* If the Key and IV configuration has to be done only once - and if it has not been done already, do it and set KeyIVConfig - to keep track it won't have to be done again next time */ - hcryp->KeyIVConfig = 1U; - } - } - - if (DoKeyIVConfig == 1U) - { - /* Key preparation for ECB/CBC */ - if (hcryp->Init.Algorithm != CRYP_AES_CTR) - { -#if defined (AES) - if (hcryp->AutoKeyDerivation == DISABLE)/*Mode 2 Key preparation*/ - { - /* Set key preparation for decryption operating mode*/ - MODIFY_REG(hcryp->Instance->CR, AES_CR_MODE, CRYP_OPERATINGMODE_KEYDERIVATION); - - /* Set the Key*/ - CRYP_SetKey(hcryp, hcryp->Init.KeySize); - - /* Enable CRYP */ - __HAL_CRYP_ENABLE(hcryp); - - /* Wait for CCF flag to be raised */ - if (CRYP_WaitOnCCFlag(hcryp, Timeout) != HAL_OK) - { - /* Disable the CRYP peripheral clock */ - __HAL_CRYP_DISABLE(hcryp); - - /* Change state & error code*/ - hcryp->ErrorCode |= HAL_CRYP_ERROR_TIMEOUT; - hcryp->State = HAL_CRYP_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hcryp); - return HAL_ERROR; - } - /* Clear CCF Flag */ - __HAL_CRYP_CLEAR_FLAG(hcryp, CRYP_CCF_CLEAR); - - /* Return to decryption operating mode(Mode 3)*/ - MODIFY_REG(hcryp->Instance->CR, AES_CR_MODE, CRYP_OPERATINGMODE_DECRYPT); - } - else /*Mode 4 : decryption & Key preparation*/ - { - /* Set the Key*/ - CRYP_SetKey(hcryp, hcryp->Init.KeySize); - - /* Set decryption & Key preparation operating mode*/ - MODIFY_REG(hcryp->Instance->CR, AES_CR_MODE, CRYP_OPERATINGMODE_KEYDERIVATION_DECRYPT); - } -#else /* CRYP */ - /* change ALGOMODE to key preparation for decryption*/ - MODIFY_REG(hcryp->Instance->CR, CRYP_CR_ALGOMODE, CRYP_CR_ALGOMODE_AES_KEY); - - /* Set the Key*/ - CRYP_SetKey(hcryp, hcryp->Init.KeySize); - - /* Enable CRYP */ - __HAL_CRYP_ENABLE(hcryp); - - /* Wait for BUSY flag to be raised */ - if (CRYP_WaitOnBUSYFlag(hcryp, Timeout) != HAL_OK) - { - /* Disable the CRYP peripheral clock */ - __HAL_CRYP_DISABLE(hcryp); - - /* Change state */ - hcryp->ErrorCode |= HAL_CRYP_ERROR_TIMEOUT; - hcryp->State = HAL_CRYP_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hcryp); - return HAL_ERROR; - } - /* Turn back to ALGOMODE of the configuration */ - MODIFY_REG(hcryp->Instance->CR, CRYP_CR_ALGOMODE, hcryp->Init.Algorithm); - -#endif /* End AES or CRYP */ - } - else /*Algorithm CTR */ - { - /* Set the Key*/ - CRYP_SetKey(hcryp, hcryp->Init.KeySize); - } - - /* Set IV */ - if (hcryp->Init.Algorithm != CRYP_AES_ECB) - { - /* Set the Initialization Vector*/ -#if defined (AES) - hcryp->Instance->IVR3 = *(uint32_t *)(hcryp->Init.pInitVect); - hcryp->Instance->IVR2 = *(uint32_t *)(hcryp->Init.pInitVect + 1); - hcryp->Instance->IVR1 = *(uint32_t *)(hcryp->Init.pInitVect + 2); - hcryp->Instance->IVR0 = *(uint32_t *)(hcryp->Init.pInitVect + 3); -#else /* CRYP */ - hcryp->Instance->IV0LR = *(uint32_t *)(hcryp->Init.pInitVect); - hcryp->Instance->IV0RR = *(uint32_t *)(hcryp->Init.pInitVect + 1); - hcryp->Instance->IV1LR = *(uint32_t *)(hcryp->Init.pInitVect + 2); - hcryp->Instance->IV1RR = *(uint32_t *)(hcryp->Init.pInitVect + 3); -#endif /* End AES or CRYP */ - } - } /* if (DoKeyIVConfig == 1U) */ - /* Set the phase */ - hcryp->Phase = CRYP_PHASE_PROCESS; - - /* Enable CRYP */ - __HAL_CRYP_ENABLE(hcryp); - - /*Temporary CrypOutCount Value*/ - outcount = hcryp->CrypOutCount; - - while ((hcryp->CrypInCount < (hcryp->Size / 4U)) && (outcount < (hcryp->Size / 4U))) - { - /* Write plain data and get cipher data */ - CRYP_AES_ProcessData(hcryp, Timeout); - /*Temporary CrypOutCount Value*/ - outcount = hcryp->CrypOutCount; - } - - /* Disable CRYP */ - __HAL_CRYP_DISABLE(hcryp); - - /* Change the CRYP state */ - hcryp->State = HAL_CRYP_STATE_READY; - - /* Return function status */ - return HAL_OK; -} -/** - * @brief Decryption in ECB/CBC & CTR mode with AES Standard using interrupt mode - * @param hcryp: pointer to a CRYP_HandleTypeDef structure that contains - * the configuration information for CRYP module - * @retval HAL status - */ -static HAL_StatusTypeDef CRYP_AES_Decrypt_IT(CRYP_HandleTypeDef *hcryp) -{ - __IO uint32_t count = 0U; - uint32_t DoKeyIVConfig = 1U; /* By default, carry out peripheral Key and IV configuration */ - - if (hcryp->Init.KeyIVConfigSkip == CRYP_KEYIVCONFIG_ONCE) - { - if (hcryp->KeyIVConfig == 1U) - { - /* If the Key and IV configuration has to be done only once - and if it has already been done, skip it */ - DoKeyIVConfig = 0U; - } - else - { - /* If the Key and IV configuration has to be done only once - and if it has not been done already, do it and set KeyIVConfig - to keep track it won't have to be done again next time */ - hcryp->KeyIVConfig = 1U; - } - } - - if (DoKeyIVConfig == 1U) - { - /* Key preparation for ECB/CBC */ - if (hcryp->Init.Algorithm != CRYP_AES_CTR) - { -#if defined (AES) - if (hcryp->AutoKeyDerivation == DISABLE)/*Mode 2 Key preparation*/ - { - /* Set key preparation for decryption operating mode*/ - MODIFY_REG(hcryp->Instance->CR, AES_CR_MODE, CRYP_OPERATINGMODE_KEYDERIVATION); - - /* Set the Key*/ - CRYP_SetKey(hcryp, hcryp->Init.KeySize); - - /* Enable CRYP */ - __HAL_CRYP_ENABLE(hcryp); - - /* Wait for CCF flag to be raised */ - count = CRYP_TIMEOUT_KEYPREPARATION; - do - { - count-- ; - if (count == 0U) - { - /* Disable the CRYP peripheral clock */ - __HAL_CRYP_DISABLE(hcryp); - - /* Change state */ - hcryp->ErrorCode |= HAL_CRYP_ERROR_TIMEOUT; - hcryp->State = HAL_CRYP_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hcryp); - return HAL_ERROR; - } - } while (HAL_IS_BIT_CLR(hcryp->Instance->SR, AES_SR_CCF)); - - /* Clear CCF Flag */ - __HAL_CRYP_CLEAR_FLAG(hcryp, CRYP_CCF_CLEAR); - - /* Return to decryption operating mode(Mode 3)*/ - MODIFY_REG(hcryp->Instance->CR, AES_CR_MODE, CRYP_OPERATINGMODE_DECRYPT); - } - else /*Mode 4 : decryption & key preparation*/ - { - /* Set the Key*/ - CRYP_SetKey(hcryp, hcryp->Init.KeySize); - - /* Set decryption & key preparation operating mode*/ - MODIFY_REG(hcryp->Instance->CR, AES_CR_MODE, CRYP_OPERATINGMODE_KEYDERIVATION_DECRYPT); - } -#else /* CRYP */ - - /* change ALGOMODE to key preparation for decryption*/ - MODIFY_REG(hcryp->Instance->CR, CRYP_CR_ALGOMODE, CRYP_CR_ALGOMODE_AES_KEY); - - /* Set the Key*/ - CRYP_SetKey(hcryp, hcryp->Init.KeySize); - - /* Enable CRYP */ - __HAL_CRYP_ENABLE(hcryp); - - /* Wait for BUSY flag to be raised */ - count = CRYP_TIMEOUT_KEYPREPARATION; - do - { - count-- ; - if (count == 0U) - { - /* Change state */ - hcryp->ErrorCode |= HAL_CRYP_ERROR_TIMEOUT; - hcryp->State = HAL_CRYP_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hcryp); - return HAL_ERROR; - } - } while (HAL_IS_BIT_SET(hcryp->Instance->SR, CRYP_FLAG_BUSY)); - - /* Turn back to ALGOMODE of the configuration */ - MODIFY_REG(hcryp->Instance->CR, CRYP_CR_ALGOMODE, hcryp->Init.Algorithm); - -#endif /* End AES or CRYP */ - } - - else /*Algorithm CTR */ - { - /* Set the Key*/ - CRYP_SetKey(hcryp, hcryp->Init.KeySize); - } - - /* Set IV */ - if (hcryp->Init.Algorithm != CRYP_AES_ECB) - { - /* Set the Initialization Vector*/ -#if defined (AES) - hcryp->Instance->IVR3 = *(uint32_t *)(hcryp->Init.pInitVect); - hcryp->Instance->IVR2 = *(uint32_t *)(hcryp->Init.pInitVect + 1); - hcryp->Instance->IVR1 = *(uint32_t *)(hcryp->Init.pInitVect + 2); - hcryp->Instance->IVR0 = *(uint32_t *)(hcryp->Init.pInitVect + 3); -#else /* CRYP */ - hcryp->Instance->IV0LR = *(uint32_t *)(hcryp->Init.pInitVect); - hcryp->Instance->IV0RR = *(uint32_t *)(hcryp->Init.pInitVect + 1); - hcryp->Instance->IV1LR = *(uint32_t *)(hcryp->Init.pInitVect + 2); - hcryp->Instance->IV1RR = *(uint32_t *)(hcryp->Init.pInitVect + 3); -#endif /* End AES or CRYP */ - } - } /* if (DoKeyIVConfig == 1U) */ - - /* Set the phase */ - hcryp->Phase = CRYP_PHASE_PROCESS; - if (hcryp->Size != 0U) - { - -#if defined (AES) - - /* Enable computation complete flag and error interrupts */ - __HAL_CRYP_ENABLE_IT(hcryp, CRYP_IT_CCFIE | CRYP_IT_ERRIE); - - /* Enable CRYP */ - __HAL_CRYP_ENABLE(hcryp); - - /* Write the input block in the IN FIFO */ - hcryp->Instance->DINR = *(uint32_t *)(hcryp->pCrypInBuffPtr + hcryp->CrypInCount); - hcryp->CrypInCount++; - hcryp->Instance->DINR = *(uint32_t *)(hcryp->pCrypInBuffPtr + hcryp->CrypInCount); - hcryp->CrypInCount++; - hcryp->Instance->DINR = *(uint32_t *)(hcryp->pCrypInBuffPtr + hcryp->CrypInCount); - hcryp->CrypInCount++; - hcryp->Instance->DINR = *(uint32_t *)(hcryp->pCrypInBuffPtr + hcryp->CrypInCount); - hcryp->CrypInCount++; - -#else /* CRYP */ - - /* Enable interrupts */ - __HAL_CRYP_ENABLE_IT(hcryp, CRYP_IT_INI | CRYP_IT_OUTI); - - /* Enable CRYP */ - __HAL_CRYP_ENABLE(hcryp); - -#endif /* End AES or CRYP */ - } - else - { - /* Process locked */ - __HAL_UNLOCK(hcryp); - - /* Change the CRYP state */ - hcryp->State = HAL_CRYP_STATE_READY; - } - - /* Return function status */ - return HAL_OK; -} -/** - * @brief Decryption in ECB/CBC & CTR mode with AES Standard using DMA mode - * @param hcryp: pointer to a CRYP_HandleTypeDef structure that contains - * the configuration information for CRYP module - * @retval HAL status - */ -static HAL_StatusTypeDef CRYP_AES_Decrypt_DMA(CRYP_HandleTypeDef *hcryp) -{ - __IO uint32_t count = 0U; - uint32_t DoKeyIVConfig = 1U; /* By default, carry out peripheral Key and IV configuration */ - - if (hcryp->Init.KeyIVConfigSkip == CRYP_KEYIVCONFIG_ONCE) - { - if (hcryp->KeyIVConfig == 1U) - { - /* If the Key and IV configuration has to be done only once - and if it has already been done, skip it */ - DoKeyIVConfig = 0U; - } - else - { - /* If the Key and IV configuration has to be done only once - and if it has not been done already, do it and set KeyIVConfig - to keep track it won't have to be done again next time */ - hcryp->KeyIVConfig = 1U; - } - } - if (DoKeyIVConfig == 1U) - { - /* Key preparation for ECB/CBC */ - if (hcryp->Init.Algorithm != CRYP_AES_CTR) - { -#if defined (AES) - if (hcryp->AutoKeyDerivation == DISABLE)/*Mode 2 key preparation*/ - { - /* Set key preparation for decryption operating mode*/ - MODIFY_REG(hcryp->Instance->CR, AES_CR_MODE, CRYP_OPERATINGMODE_KEYDERIVATION); - - /* Set the Key*/ - CRYP_SetKey(hcryp, hcryp->Init.KeySize); - - /* Enable CRYP */ - __HAL_CRYP_ENABLE(hcryp); - - /* Wait for CCF flag to be raised */ - count = CRYP_TIMEOUT_KEYPREPARATION; - do - { - count-- ; - if (count == 0U) - { - /* Disable the CRYP peripheral clock */ - __HAL_CRYP_DISABLE(hcryp); - - /* Change state */ - hcryp->ErrorCode |= HAL_CRYP_ERROR_TIMEOUT; - hcryp->State = HAL_CRYP_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hcryp); - return HAL_ERROR; - } - } while (HAL_IS_BIT_CLR(hcryp->Instance->SR, AES_SR_CCF)); - - /* Clear CCF Flag */ - __HAL_CRYP_CLEAR_FLAG(hcryp, CRYP_CCF_CLEAR); - - /* Return to decryption operating mode(Mode 3)*/ - MODIFY_REG(hcryp->Instance->CR, AES_CR_MODE, CRYP_OPERATINGMODE_DECRYPT); - } - else /*Mode 4 : decryption & key preparation*/ - { - /* Set the Key*/ - CRYP_SetKey(hcryp, hcryp->Init.KeySize); - - /* Set decryption & Key preparation operating mode*/ - MODIFY_REG(hcryp->Instance->CR, AES_CR_MODE, CRYP_OPERATINGMODE_KEYDERIVATION_DECRYPT); - } -#else /* CRYP */ - /* change ALGOMODE to key preparation for decryption*/ - MODIFY_REG(hcryp->Instance->CR, CRYP_CR_ALGOMODE, CRYP_CR_ALGOMODE_AES_KEY); - - /* Set the Key*/ - CRYP_SetKey(hcryp, hcryp->Init.KeySize); - - /* Enable CRYP */ - __HAL_CRYP_ENABLE(hcryp); - - /* Wait for BUSY flag to be raised */ - count = CRYP_TIMEOUT_KEYPREPARATION; - do - { - count-- ; - if (count == 0U) - { - /* Disable the CRYP peripheral clock */ - __HAL_CRYP_DISABLE(hcryp); - - /* Change state */ - hcryp->ErrorCode |= HAL_CRYP_ERROR_TIMEOUT; - hcryp->State = HAL_CRYP_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hcryp); - return HAL_ERROR; - } - } while (HAL_IS_BIT_SET(hcryp->Instance->SR, CRYP_FLAG_BUSY)); - - /* Turn back to ALGOMODE of the configuration */ - MODIFY_REG(hcryp->Instance->CR, CRYP_CR_ALGOMODE, hcryp->Init.Algorithm); - -#endif /* End AES or CRYP */ - } - else /*Algorithm CTR */ - { - /* Set the Key*/ - CRYP_SetKey(hcryp, hcryp->Init.KeySize); - } - - if (hcryp->Init.Algorithm != CRYP_AES_ECB) - { - /* Set the Initialization Vector*/ -#if defined (AES) - hcryp->Instance->IVR3 = *(uint32_t *)(hcryp->Init.pInitVect); - hcryp->Instance->IVR2 = *(uint32_t *)(hcryp->Init.pInitVect + 1); - hcryp->Instance->IVR1 = *(uint32_t *)(hcryp->Init.pInitVect + 2); - hcryp->Instance->IVR0 = *(uint32_t *)(hcryp->Init.pInitVect + 3); -#else /* CRYP */ - hcryp->Instance->IV0LR = *(uint32_t *)(hcryp->Init.pInitVect); - hcryp->Instance->IV0RR = *(uint32_t *)(hcryp->Init.pInitVect + 1); - hcryp->Instance->IV1LR = *(uint32_t *)(hcryp->Init.pInitVect + 2); - hcryp->Instance->IV1RR = *(uint32_t *)(hcryp->Init.pInitVect + 3); -#endif /* End AES or CRYP */ - } - } /* if (DoKeyIVConfig == 1U) */ - - /* Set the phase */ - hcryp->Phase = CRYP_PHASE_PROCESS; - - if (hcryp->Size != 0U) - { - /* Set the input and output addresses and start DMA transfer */ - CRYP_SetDMAConfig(hcryp, (uint32_t)(hcryp->pCrypInBuffPtr), (hcryp->Size / 4U), (uint32_t)(hcryp->pCrypOutBuffPtr)); - } - else - { - /* Process unlocked */ - __HAL_UNLOCK(hcryp); - - /* Change the CRYP state */ - hcryp->State = HAL_CRYP_STATE_READY; - } - - /* Return function status */ - return HAL_OK; -} - - -/** - * @brief DMA CRYP input data process complete callback. - * @param hdma: DMA handle - * @retval None - */ -static void CRYP_DMAInCplt(DMA_HandleTypeDef *hdma) -{ - CRYP_HandleTypeDef *hcryp = (CRYP_HandleTypeDef *)((DMA_HandleTypeDef *)hdma)->Parent; - - /* Disable the DMA transfer for input FIFO request by resetting the DIEN bit - in the DMACR register */ -#if defined (CRYP) - hcryp->Instance->DMACR &= (uint32_t)(~CRYP_DMACR_DIEN); - -#else /* AES */ - CLEAR_BIT(hcryp->Instance->CR, AES_CR_DMAINEN); - - /* TinyAES2, No output on CCM AES, unlock should be done when input data process complete */ - if ((hcryp->Init.Algorithm & CRYP_AES_CCM) == CRYP_AES_CCM) - { - /* Clear CCF flag */ - __HAL_CRYP_CLEAR_FLAG(hcryp, CRYP_CCF_CLEAR); - - /* Change the CRYP state to ready */ - hcryp->State = HAL_CRYP_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hcryp); - } -#endif /* End AES or CRYP */ - - /* Call input data transfer complete callback */ -#if (USE_HAL_CRYP_REGISTER_CALLBACKS == 1) - /*Call registered Input complete callback*/ - hcryp->InCpltCallback(hcryp); -#else - /*Call legacy weak Input complete callback*/ - HAL_CRYP_InCpltCallback(hcryp); -#endif /* USE_HAL_CRYP_REGISTER_CALLBACKS */ -} - -/** - * @brief DMA CRYP output data process complete callback. - * @param hdma: DMA handle - * @retval None - */ -static void CRYP_DMAOutCplt(DMA_HandleTypeDef *hdma) -{ - CRYP_HandleTypeDef *hcryp = (CRYP_HandleTypeDef *)((DMA_HandleTypeDef *)hdma)->Parent; - - /* Disable the DMA transfer for output FIFO request by resetting - the DOEN bit in the DMACR register */ - -#if defined (CRYP) - - hcryp->Instance->DMACR &= (uint32_t)(~CRYP_DMACR_DOEN); - #if defined (CRYP_CR_ALGOMODE_AES_GCM) - if ((hcryp->Init.Algorithm & CRYP_AES_GCM) != CRYP_AES_GCM) - { - /* Disable CRYP (not allowed in GCM)*/ - __HAL_CRYP_DISABLE(hcryp); - } - - #else /*NO GCM CCM */ - /* Disable CRYP */ - __HAL_CRYP_DISABLE(hcryp); - #endif /* GCM CCM defined*/ -#else /* AES */ - - CLEAR_BIT(hcryp->Instance->CR, AES_CR_DMAOUTEN); - - /* Clear CCF flag */ - __HAL_CRYP_CLEAR_FLAG(hcryp, CRYP_CCF_CLEAR); - - if ((hcryp->Init.Algorithm & CRYP_AES_GCM_GMAC) != CRYP_AES_GCM_GMAC) - { - /* Disable CRYP (not allowed in GCM)*/ - __HAL_CRYP_DISABLE(hcryp); - } -#endif /* End AES or CRYP */ - - /* Change the CRYP state to ready */ - hcryp->State = HAL_CRYP_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hcryp); - /* Call output data transfer complete callback */ -#if (USE_HAL_CRYP_REGISTER_CALLBACKS == 1) - /*Call registered Output complete callback*/ - hcryp->OutCpltCallback(hcryp); -#else - /*Call legacy weak Output complete callback*/ - HAL_CRYP_OutCpltCallback(hcryp); -#endif /* USE_HAL_CRYP_REGISTER_CALLBACKS */ -} - -/** - * @brief DMA CRYP communication error callback. - * @param hdma: DMA handle - * @retval None - */ -static void CRYP_DMAError(DMA_HandleTypeDef *hdma) -{ - CRYP_HandleTypeDef *hcryp = (CRYP_HandleTypeDef *)((DMA_HandleTypeDef *)hdma)->Parent; - - /* Change the CRYP peripheral state */ - hcryp->State = HAL_CRYP_STATE_READY; - - /* DMA error code field */ - hcryp->ErrorCode |= HAL_CRYP_ERROR_DMA; - -#if defined (AES) - - /* Clear CCF flag */ - __HAL_CRYP_CLEAR_FLAG(hcryp, CRYP_CCF_CLEAR); - -#endif /* AES */ - - /* Call error callback */ -#if (USE_HAL_CRYP_REGISTER_CALLBACKS == 1) - /*Call registered error callback*/ - hcryp->ErrorCallback(hcryp); -#else - /*Call legacy weak error callback*/ - HAL_CRYP_ErrorCallback(hcryp); -#endif /* USE_HAL_CRYP_REGISTER_CALLBACKS */ -} - -/** - * @brief Set the DMA configuration and start the DMA transfer - * @param hcryp: pointer to a CRYP_HandleTypeDef structure that contains - * the configuration information for CRYP module - * @param inputaddr: address of the input buffer - * @param Size: size of the input buffer, must be a multiple of 16. - * @param outputaddr: address of the output buffer - * @retval None - */ -static void CRYP_SetDMAConfig(CRYP_HandleTypeDef *hcryp, uint32_t inputaddr, uint16_t Size, uint32_t outputaddr) -{ - /* Set the CRYP DMA transfer complete callback */ - hcryp->hdmain->XferCpltCallback = CRYP_DMAInCplt; - - /* Set the DMA input error callback */ - hcryp->hdmain->XferErrorCallback = CRYP_DMAError; - - /* Set the CRYP DMA transfer complete callback */ - hcryp->hdmaout->XferCpltCallback = CRYP_DMAOutCplt; - - /* Set the DMA output error callback */ - hcryp->hdmaout->XferErrorCallback = CRYP_DMAError; - -#if defined (CRYP) - - /* Enable CRYP */ - __HAL_CRYP_ENABLE(hcryp); - - /* Enable the input DMA Stream */ - if (HAL_DMA_Start_IT(hcryp->hdmain, inputaddr, (uint32_t)&hcryp->Instance->DIN, Size) != HAL_OK) - { - /* DMA error code field */ - hcryp->ErrorCode |= HAL_CRYP_ERROR_DMA; - - /* Call error callback */ -#if (USE_HAL_CRYP_REGISTER_CALLBACKS == 1) - /*Call registered error callback*/ - hcryp->ErrorCallback(hcryp); -#else - /*Call legacy weak error callback*/ - HAL_CRYP_ErrorCallback(hcryp); -#endif /* USE_HAL_CRYP_REGISTER_CALLBACKS */ - } - /* Enable the output DMA Stream */ - if (HAL_DMA_Start_IT(hcryp->hdmaout, (uint32_t)&hcryp->Instance->DOUT, outputaddr, Size) != HAL_OK) - { - /* DMA error code field */ - hcryp->ErrorCode |= HAL_CRYP_ERROR_DMA; - - /* Call error callback */ -#if (USE_HAL_CRYP_REGISTER_CALLBACKS == 1) - /*Call registered error callback*/ - hcryp->ErrorCallback(hcryp); -#else - /*Call legacy weak error callback*/ - HAL_CRYP_ErrorCallback(hcryp); -#endif /* USE_HAL_CRYP_REGISTER_CALLBACKS */ - } - /* Enable In/Out DMA request */ - hcryp->Instance->DMACR = CRYP_DMACR_DOEN | CRYP_DMACR_DIEN; - -#else /* AES */ - - if (((hcryp->Init.Algorithm & CRYP_AES_GCM_GMAC) != CRYP_AES_GCM_GMAC) - && ((hcryp->Init.Algorithm & CRYP_AES_CCM) != CRYP_AES_CCM)) - { - /* Enable CRYP (not allowed in GCM & CCM)*/ - __HAL_CRYP_ENABLE(hcryp); - } - - /* Enable the DMA input stream */ - if (HAL_DMA_Start_IT(hcryp->hdmain, inputaddr, (uint32_t)&hcryp->Instance->DINR, Size) != HAL_OK) - { - /* DMA error code field */ - hcryp->ErrorCode |= HAL_CRYP_ERROR_DMA; - - /* Call error callback */ -#if (USE_HAL_CRYP_REGISTER_CALLBACKS == 1) - /*Call registered error callback*/ - hcryp->ErrorCallback(hcryp); -#else - /*Call legacy weak error callback*/ - HAL_CRYP_ErrorCallback(hcryp); -#endif /* USE_HAL_CRYP_REGISTER_CALLBACKS */ - } - /* Enable the DMA output stream */ - if (HAL_DMA_Start_IT(hcryp->hdmaout, (uint32_t)&hcryp->Instance->DOUTR, outputaddr, Size) != HAL_OK) - { - /* DMA error code field */ - hcryp->ErrorCode |= HAL_CRYP_ERROR_DMA; - - /* Call error callback */ -#if (USE_HAL_CRYP_REGISTER_CALLBACKS == 1) - /*Call registered error callback*/ - hcryp->ErrorCallback(hcryp); -#else - /*Call legacy weak error callback*/ - HAL_CRYP_ErrorCallback(hcryp); -#endif /* USE_HAL_CRYP_REGISTER_CALLBACKS */ - } - /*AES2v1.1.1 : CCM authentication : no init phase, only header and final phase */ - /* Enable In and Out DMA requests */ - if ((hcryp->Init.Algorithm & CRYP_AES_CCM) == CRYP_AES_CCM) - { - /* Enable only In DMA requests for CCM*/ - SET_BIT(hcryp->Instance->CR, (AES_CR_DMAINEN)); - } - else - { - /* Enable In and Out DMA requests */ - SET_BIT(hcryp->Instance->CR, (AES_CR_DMAINEN | AES_CR_DMAOUTEN)); - } -#endif /* End AES or CRYP */ -} - -/** - * @brief Process Data: Write Input data in polling mode and used in AES functions. - * @param hcryp: pointer to a CRYP_HandleTypeDef structure that contains - * the configuration information for CRYP module - * @param Timeout: Specify Timeout value - * @retval None - */ -static void CRYP_AES_ProcessData(CRYP_HandleTypeDef *hcryp, uint32_t Timeout) -{ - - uint32_t temp[4]; /* Temporary CrypOutBuff */ - uint32_t i; -#if defined (CRYP) - uint16_t incount; /* Temporary CrypInCount Value */ - uint16_t outcount; /* Temporary CrypOutCount Value */ -#endif - -#if defined (CRYP) - - /*Temporary CrypOutCount Value*/ - incount = hcryp->CrypInCount; - - if (((hcryp->Instance->SR & CRYP_FLAG_IFNF) != 0x0U) && (incount < (hcryp->Size / 4U))) - { - /* Write the input block in the IN FIFO */ - hcryp->Instance->DIN = *(uint32_t *)(hcryp->pCrypInBuffPtr + hcryp->CrypInCount); - hcryp->CrypInCount++; - hcryp->Instance->DIN = *(uint32_t *)(hcryp->pCrypInBuffPtr + hcryp->CrypInCount); - hcryp->CrypInCount++; - hcryp->Instance->DIN = *(uint32_t *)(hcryp->pCrypInBuffPtr + hcryp->CrypInCount); - hcryp->CrypInCount++; - hcryp->Instance->DIN = *(uint32_t *)(hcryp->pCrypInBuffPtr + hcryp->CrypInCount); - hcryp->CrypInCount++; - } - - /* Wait for OFNE flag to be raised */ - if (CRYP_WaitOnOFNEFlag(hcryp, Timeout) != HAL_OK) - { - /* Disable the CRYP peripheral clock */ - __HAL_CRYP_DISABLE(hcryp); - - /* Change state & error code*/ - hcryp->ErrorCode |= HAL_CRYP_ERROR_TIMEOUT; - hcryp->State = HAL_CRYP_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hcryp); -#if (USE_HAL_CRYP_REGISTER_CALLBACKS == 1) - /*Call registered error callback*/ - hcryp->ErrorCallback(hcryp); -#else - /*Call legacy weak error callback*/ - HAL_CRYP_ErrorCallback(hcryp); -#endif /* USE_HAL_CRYP_REGISTER_CALLBACKS */ - } - - /*Temporary CrypOutCount Value*/ - outcount = hcryp->CrypOutCount; - - if (((hcryp->Instance->SR & CRYP_FLAG_OFNE) != 0x0U) && (outcount < (hcryp->Size / 4U))) - { - /* Read the output block from the Output FIFO and put them in temporary buffer then get CrypOutBuff from temporary buffer */ - for (i = 0U; i < 4U; i++) - { - temp[i] = hcryp->Instance->DOUT; - } - i = 0U; - while (((hcryp->CrypOutCount < ((hcryp->Size) / 4U))) && (i < 4U)) - { - *(uint32_t *)(hcryp->pCrypOutBuffPtr + hcryp->CrypOutCount) = temp[i]; - hcryp->CrypOutCount++; - i++; - } - } - -#else /* AES */ - - /* Write the input block in the IN FIFO */ - hcryp->Instance->DINR = *(uint32_t *)(hcryp->pCrypInBuffPtr + hcryp->CrypInCount); - hcryp->CrypInCount++; - hcryp->Instance->DINR = *(uint32_t *)(hcryp->pCrypInBuffPtr + hcryp->CrypInCount); - hcryp->CrypInCount++; - hcryp->Instance->DINR = *(uint32_t *)(hcryp->pCrypInBuffPtr + hcryp->CrypInCount); - hcryp->CrypInCount++; - hcryp->Instance->DINR = *(uint32_t *)(hcryp->pCrypInBuffPtr + hcryp->CrypInCount); - hcryp->CrypInCount++; - - /* Wait for CCF flag to be raised */ - if (CRYP_WaitOnCCFlag(hcryp, Timeout) != HAL_OK) - { - /* Disable the CRYP peripheral clock */ - __HAL_CRYP_DISABLE(hcryp); - - /* Change state */ - hcryp->ErrorCode |= HAL_CRYP_ERROR_TIMEOUT; - hcryp->State = HAL_CRYP_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hcryp); -#if (USE_HAL_CRYP_REGISTER_CALLBACKS == 1) - /*Call registered error callback*/ - hcryp->ErrorCallback(hcryp); -#else - /*Call legacy weak error callback*/ - HAL_CRYP_ErrorCallback(hcryp); -#endif /* USE_HAL_CRYP_REGISTER_CALLBACKS */ - } - - /* Clear CCF Flag */ - __HAL_CRYP_CLEAR_FLAG(hcryp, CRYP_CCF_CLEAR); - - /* Read the output block from the output FIFO and put them in temporary buffer then get CrypOutBuff from temporary buffer*/ - for (i = 0U; i < 4U; i++) - { - temp[i] = hcryp->Instance->DOUTR; - } - i = 0U; - while ((hcryp->CrypOutCount < ((hcryp->Size + 3U) / 4U)) && (i < 4U)) - { - *(uint32_t *)(hcryp->pCrypOutBuffPtr + hcryp->CrypOutCount) = temp[i]; - hcryp->CrypOutCount++; - i++; - } -#endif /* End AES or CRYP */ -} - -/** - * @brief Handle CRYP block input/output data handling under interruption. - * @note The function is called under interruption only, once - * interruptions have been enabled by HAL_CRYP_Encrypt_IT or HAL_CRYP_Decrypt_IT. - * @param hcryp: pointer to a CRYP_HandleTypeDef structure that contains - * the configuration information for CRYP module. - * @retval HAL status - */ -static void CRYP_AES_IT(CRYP_HandleTypeDef *hcryp) -{ - uint32_t temp[4]; /* Temporary CrypOutBuff */ - uint32_t i; -#if defined (CRYP) - uint16_t incount; /* Temporary CrypInCount Value */ - uint16_t outcount; /* Temporary CrypOutCount Value */ -#endif - - if (hcryp->State == HAL_CRYP_STATE_BUSY) - { -#if defined (CRYP) - - /*Temporary CrypOutCount Value*/ - incount = hcryp->CrypInCount; - if (((hcryp->Instance->SR & CRYP_FLAG_IFNF) != 0x0U) && (incount < (hcryp->Size / 4U))) - { - /* Write the input block in the IN FIFO */ - hcryp->Instance->DIN = *(uint32_t *)(hcryp->pCrypInBuffPtr + hcryp->CrypInCount); - hcryp->CrypInCount++; - hcryp->Instance->DIN = *(uint32_t *)(hcryp->pCrypInBuffPtr + hcryp->CrypInCount); - hcryp->CrypInCount++; - hcryp->Instance->DIN = *(uint32_t *)(hcryp->pCrypInBuffPtr + hcryp->CrypInCount); - hcryp->CrypInCount++; - hcryp->Instance->DIN = *(uint32_t *)(hcryp->pCrypInBuffPtr + hcryp->CrypInCount); - hcryp->CrypInCount++; - if (hcryp->CrypInCount == ((uint16_t)(hcryp->Size) / 4U)) - { - /* Disable interrupts */ - __HAL_CRYP_DISABLE_IT(hcryp, CRYP_IT_INI); - - /* Call the input data transfer complete callback */ -#if (USE_HAL_CRYP_REGISTER_CALLBACKS == 1) - /*Call registered Input complete callback*/ - hcryp->InCpltCallback(hcryp); -#else - /*Call legacy weak Input complete callback*/ - HAL_CRYP_InCpltCallback(hcryp); -#endif /* USE_HAL_CRYP_REGISTER_CALLBACKS */ - } - } - /*Temporary CrypOutCount Value*/ - outcount = hcryp->CrypOutCount; - - if (((hcryp->Instance->SR & CRYP_FLAG_OFNE) != 0x0U) && (outcount < (hcryp->Size / 4U))) - { - /* Read the output block from the output FIFO and put them in temporary buffer then get CrypOutBuff from temporary buffer */ - for (i = 0U; i < 4U; i++) - { - temp[i] = hcryp->Instance->DOUT; - } - i = 0U; - while (((hcryp->CrypOutCount < ((hcryp->Size) / 4U))) && (i < 4U)) - { - *(uint32_t *)(hcryp->pCrypOutBuffPtr + hcryp->CrypOutCount) = temp[i]; - hcryp->CrypOutCount++; - i++; - } - if (hcryp->CrypOutCount == ((uint16_t)(hcryp->Size) / 4U)) - { - /* Disable interrupts */ - __HAL_CRYP_DISABLE_IT(hcryp, CRYP_IT_OUTI); - - /* Change the CRYP state */ - hcryp->State = HAL_CRYP_STATE_READY; - - /* Disable CRYP */ - __HAL_CRYP_DISABLE(hcryp); - - /* Process unlocked */ - __HAL_UNLOCK(hcryp); - - /* Call Output transfer complete callback */ -#if (USE_HAL_CRYP_REGISTER_CALLBACKS == 1) - /*Call registered Output complete callback*/ - hcryp->OutCpltCallback(hcryp); -#else - /*Call legacy weak Output complete callback*/ - HAL_CRYP_OutCpltCallback(hcryp); -#endif /* USE_HAL_CRYP_REGISTER_CALLBACKS */ - } - } - -#else /*AES*/ - - /* Read the output block from the output FIFO and put them in temporary buffer then get CrypOutBuff from temporary buffer*/ - for (i = 0U; i < 4U; i++) - { - temp[i] = hcryp->Instance->DOUTR; - } - i = 0U; - while ((hcryp->CrypOutCount < ((hcryp->Size + 3U) / 4U)) && (i < 4U)) - { - *(uint32_t *)(hcryp->pCrypOutBuffPtr + hcryp->CrypOutCount) = temp[i]; - hcryp->CrypOutCount++; - i++; - } - - if (hcryp->CrypOutCount == (hcryp->Size / 4U)) - { - /* Disable Computation Complete flag and errors interrupts */ - __HAL_CRYP_DISABLE_IT(hcryp, CRYP_IT_CCFIE | CRYP_IT_ERRIE); - - /* Change the CRYP state */ - hcryp->State = HAL_CRYP_STATE_READY; - - /* Disable CRYP */ - __HAL_CRYP_DISABLE(hcryp); - - /* Process Unlocked */ - __HAL_UNLOCK(hcryp); - - /* Call Output transfer complete callback */ -#if (USE_HAL_CRYP_REGISTER_CALLBACKS == 1) - /*Call registered Output complete callback*/ - hcryp->OutCpltCallback(hcryp); -#else - /*Call legacy weak Output complete callback*/ - HAL_CRYP_OutCpltCallback(hcryp); -#endif /* USE_HAL_CRYP_REGISTER_CALLBACKS */ - } - else - { - /* Write the input block in the IN FIFO */ - hcryp->Instance->DINR = *(uint32_t *)(hcryp->pCrypInBuffPtr + hcryp->CrypInCount); - hcryp->CrypInCount++; - hcryp->Instance->DINR = *(uint32_t *)(hcryp->pCrypInBuffPtr + hcryp->CrypInCount); - hcryp->CrypInCount++; - hcryp->Instance->DINR = *(uint32_t *)(hcryp->pCrypInBuffPtr + hcryp->CrypInCount); - hcryp->CrypInCount++; - hcryp->Instance->DINR = *(uint32_t *)(hcryp->pCrypInBuffPtr + hcryp->CrypInCount); - hcryp->CrypInCount++; - - if (hcryp->CrypInCount == (hcryp->Size / 4U)) - { - /* Call Input transfer complete callback */ -#if (USE_HAL_CRYP_REGISTER_CALLBACKS == 1U) - /*Call registered Input complete callback*/ - hcryp->InCpltCallback(hcryp); -#else - /*Call legacy weak Input complete callback*/ - HAL_CRYP_InCpltCallback(hcryp); -#endif /* USE_HAL_CRYP_REGISTER_CALLBACKS */ - } - } -#endif /* End AES or CRYP */ - - } - else - { - /* Busy error code field */ - hcryp->ErrorCode |= HAL_CRYP_ERROR_BUSY; -#if (USE_HAL_CRYP_REGISTER_CALLBACKS == 1) - /*Call registered error callback*/ - hcryp->ErrorCallback(hcryp); -#else - /*Call legacy weak error callback*/ - HAL_CRYP_ErrorCallback(hcryp); -#endif /* USE_HAL_CRYP_REGISTER_CALLBACKS */ - } -} - -/** - * @brief Writes Key in Key registers. - * @param hcryp: pointer to a CRYP_HandleTypeDef structure that contains - * the configuration information for CRYP module - * @param KeySize: Size of Key - * @retval None - */ -static void CRYP_SetKey(CRYP_HandleTypeDef *hcryp, uint32_t KeySize) -{ -#if defined (CRYP) - - switch (KeySize) - { - case CRYP_KEYSIZE_256B: - hcryp->Instance->K0LR = *(uint32_t *)(hcryp->Init.pKey); - hcryp->Instance->K0RR = *(uint32_t *)(hcryp->Init.pKey + 1); - hcryp->Instance->K1LR = *(uint32_t *)(hcryp->Init.pKey + 2); - hcryp->Instance->K1RR = *(uint32_t *)(hcryp->Init.pKey + 3); - hcryp->Instance->K2LR = *(uint32_t *)(hcryp->Init.pKey + 4); - hcryp->Instance->K2RR = *(uint32_t *)(hcryp->Init.pKey + 5); - hcryp->Instance->K3LR = *(uint32_t *)(hcryp->Init.pKey + 6); - hcryp->Instance->K3RR = *(uint32_t *)(hcryp->Init.pKey + 7); - break; - case CRYP_KEYSIZE_192B: - hcryp->Instance->K1LR = *(uint32_t *)(hcryp->Init.pKey); - hcryp->Instance->K1RR = *(uint32_t *)(hcryp->Init.pKey + 1); - hcryp->Instance->K2LR = *(uint32_t *)(hcryp->Init.pKey + 2); - hcryp->Instance->K2RR = *(uint32_t *)(hcryp->Init.pKey + 3); - hcryp->Instance->K3LR = *(uint32_t *)(hcryp->Init.pKey + 4); - hcryp->Instance->K3RR = *(uint32_t *)(hcryp->Init.pKey + 5); - break; - case CRYP_KEYSIZE_128B: - hcryp->Instance->K2LR = *(uint32_t *)(hcryp->Init.pKey); - hcryp->Instance->K2RR = *(uint32_t *)(hcryp->Init.pKey + 1); - hcryp->Instance->K3LR = *(uint32_t *)(hcryp->Init.pKey + 2); - hcryp->Instance->K3RR = *(uint32_t *)(hcryp->Init.pKey + 3); - - break; - default: - break; - } -#else /*AES*/ - switch (KeySize) - { - case CRYP_KEYSIZE_256B: - hcryp->Instance->KEYR7 = *(uint32_t *)(hcryp->Init.pKey); - hcryp->Instance->KEYR6 = *(uint32_t *)(hcryp->Init.pKey + 1); - hcryp->Instance->KEYR5 = *(uint32_t *)(hcryp->Init.pKey + 2); - hcryp->Instance->KEYR4 = *(uint32_t *)(hcryp->Init.pKey + 3); - hcryp->Instance->KEYR3 = *(uint32_t *)(hcryp->Init.pKey + 4); - hcryp->Instance->KEYR2 = *(uint32_t *)(hcryp->Init.pKey + 5); - hcryp->Instance->KEYR1 = *(uint32_t *)(hcryp->Init.pKey + 6); - hcryp->Instance->KEYR0 = *(uint32_t *)(hcryp->Init.pKey + 7); - break; - case CRYP_KEYSIZE_128B: - hcryp->Instance->KEYR3 = *(uint32_t *)(hcryp->Init.pKey); - hcryp->Instance->KEYR2 = *(uint32_t *)(hcryp->Init.pKey + 1); - hcryp->Instance->KEYR1 = *(uint32_t *)(hcryp->Init.pKey + 2); - hcryp->Instance->KEYR0 = *(uint32_t *)(hcryp->Init.pKey + 3); - - break; - default: - break; - } -#endif /* End AES or CRYP */ -} - -#if defined (CRYP_CR_ALGOMODE_AES_GCM)|| defined (AES) -/** - * @brief Encryption/Decryption process in AES GCM mode and prepare the authentication TAG - * @param hcryp: pointer to a CRYP_HandleTypeDef structure that contains - * the configuration information for CRYP module - * @param Timeout: Timeout duration - * @retval HAL status - */ -static HAL_StatusTypeDef CRYP_AESGCM_Process(CRYP_HandleTypeDef *hcryp, uint32_t Timeout) -{ - uint32_t tickstart; - uint32_t wordsize = (uint32_t)(hcryp->Size) / 4U ; - uint16_t outcount; /* Temporary CrypOutCount Value */ - uint32_t DoKeyIVConfig = 1U; /* By default, carry out peripheral Key and IV configuration */ - - if (hcryp->Init.KeyIVConfigSkip == CRYP_KEYIVCONFIG_ONCE) - { - if (hcryp->KeyIVConfig == 1U) - { - /* If the Key and IV configuration has to be done only once - and if it has already been done, skip it */ - DoKeyIVConfig = 0U; - hcryp->SizesSum += hcryp->Size; /* Compute message total payload length */ - } - else - { - /* If the Key and IV configuration has to be done only once - and if it has not been done already, do it and set KeyIVConfig - to keep track it won't have to be done again next time */ - hcryp->KeyIVConfig = 1U; - hcryp->SizesSum = hcryp->Size; /* Merely store payload length */ - } - } - else - { - hcryp->SizesSum = hcryp->Size; - } - - if (DoKeyIVConfig == 1U) - { - /* Reset CrypHeaderCount */ - hcryp->CrypHeaderCount = 0U; - - /****************************** Init phase **********************************/ - - CRYP_SET_PHASE(hcryp, CRYP_PHASE_INIT); - - /* Set the key */ - CRYP_SetKey(hcryp, hcryp->Init.KeySize); - -#if defined(CRYP) - - /* Set the initialization vector and the counter : Initial Counter Block (ICB)*/ - hcryp->Instance->IV0LR = *(uint32_t *)(hcryp->Init.pInitVect); - hcryp->Instance->IV0RR = *(uint32_t *)(hcryp->Init.pInitVect + 1); - hcryp->Instance->IV1LR = *(uint32_t *)(hcryp->Init.pInitVect + 2); - hcryp->Instance->IV1RR = *(uint32_t *)(hcryp->Init.pInitVect + 3); - - /* Enable the CRYP peripheral */ - __HAL_CRYP_ENABLE(hcryp); - - /* Get tick */ - tickstart = HAL_GetTick(); - - /*Wait for the CRYPEN bit to be cleared*/ - while ((hcryp->Instance->CR & CRYP_CR_CRYPEN) == CRYP_CR_CRYPEN) - { - /* Check for the Timeout */ - if (Timeout != HAL_MAX_DELAY) - { - if (((HAL_GetTick() - tickstart) > Timeout) || (Timeout == 0U)) - { - /* Disable the CRYP peripheral clock */ - __HAL_CRYP_DISABLE(hcryp); - - /* Change state */ - hcryp->ErrorCode |= HAL_CRYP_ERROR_TIMEOUT; - hcryp->State = HAL_CRYP_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hcryp); - return HAL_ERROR; - } - } - } - -#else /* AES */ - /* Workaround 1 : only AES. - Datatype configuration must be 32 bits during Init phase. Only, after Init, and before re - enabling the IP, datatype different from 32 bits can be configured.*/ - /* Select DATATYPE 32 */ - MODIFY_REG(hcryp->Instance->CR, AES_CR_DATATYPE, CRYP_DATATYPE_32B); - - /* Set the initialization vector and the counter : Initial Counter Block (ICB)*/ - hcryp->Instance->IVR3 = *(uint32_t *)(hcryp->Init.pInitVect); - hcryp->Instance->IVR2 = *(uint32_t *)(hcryp->Init.pInitVect + 1); - hcryp->Instance->IVR1 = *(uint32_t *)(hcryp->Init.pInitVect + 2); - hcryp->Instance->IVR0 = *(uint32_t *)(hcryp->Init.pInitVect + 3); - - /* Enable the CRYP peripheral */ - __HAL_CRYP_ENABLE(hcryp); - - /* just wait for hash computation */ - if (CRYP_WaitOnCCFlag(hcryp, Timeout) != HAL_OK) - { - /* Change state */ - hcryp->ErrorCode |= HAL_CRYP_ERROR_TIMEOUT; - hcryp->State = HAL_CRYP_STATE_READY; - - /* Process unlocked & return error */ - __HAL_UNLOCK(hcryp); - return HAL_ERROR; - } - /* Clear CCF flag */ - __HAL_CRYP_CLEAR_FLAG(hcryp, CRYP_CCF_CLEAR); - -#endif /* End AES or CRYP */ - - /************************ Header phase *************************************/ - - if (CRYP_GCMCCM_SetHeaderPhase(hcryp, Timeout) != HAL_OK) - { - return HAL_ERROR; - } - - /*************************Payload phase ************************************/ - - /* Set the phase */ - hcryp->Phase = CRYP_PHASE_PROCESS; - -#if defined(CRYP) - - /* Disable the CRYP peripheral */ - __HAL_CRYP_DISABLE(hcryp); - - /* Select payload phase once the header phase is performed */ - CRYP_SET_PHASE(hcryp, CRYP_PHASE_PAYLOAD); - - /* Enable the CRYP peripheral */ - __HAL_CRYP_ENABLE(hcryp); - -#else /* AES */ - - /* Select payload phase once the header phase is performed */ - CRYP_SET_PHASE(hcryp, CRYP_PHASE_PAYLOAD); - -#endif /* End AES or CRYP */ - } /* if (DoKeyIVConfig == 1U) */ - - if ((hcryp->Size % 16U) != 0U) - { - /* recalculate wordsize */ - wordsize = ((wordsize / 4U) * 4U) ; - } - - /* Get tick */ - tickstart = HAL_GetTick(); - /*Temporary CrypOutCount Value*/ - outcount = hcryp->CrypOutCount; - - /* Write input data and get output Data */ - while ((hcryp->CrypInCount < wordsize) && (outcount < wordsize)) - { - /* Write plain data and get cipher data */ - CRYP_AES_ProcessData(hcryp, Timeout); - - /*Temporary CrypOutCount Value*/ - outcount = hcryp->CrypOutCount; - - /* Check for the Timeout */ - if (Timeout != HAL_MAX_DELAY) - { - if (((HAL_GetTick() - tickstart) > Timeout) || (Timeout == 0U)) - { - /* Disable the CRYP peripheral clock */ - __HAL_CRYP_DISABLE(hcryp); - - /* Change state & error code */ - hcryp->ErrorCode |= HAL_CRYP_ERROR_TIMEOUT; - hcryp->State = HAL_CRYP_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hcryp); - return HAL_ERROR; - } - } - } - - if ((hcryp->Size % 16U) != 0U) - { - /* Workaround 2 : CRYP1 & AES generates correct TAG for GCM mode only when input block size is multiple of - 128 bits. If lthe size of the last block of payload is inferior to 128 bits, when GCM encryption - is selected, then the TAG message will be wrong.*/ - CRYP_Workaround(hcryp, Timeout); - } - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Encryption/Decryption process in AES GCM mode and prepare the authentication TAG in interrupt mode - * @param hcryp: pointer to a CRYP_HandleTypeDef structure that contains - * the configuration information for CRYP module - * @retval HAL status - */ -static HAL_StatusTypeDef CRYP_AESGCM_Process_IT(CRYP_HandleTypeDef *hcryp) -{ - __IO uint32_t count = 0U; - uint32_t DoKeyIVConfig = 1U; /* By default, carry out peripheral Key and IV configuration */ -#if defined(AES) - uint32_t loopcounter; - uint32_t lastwordsize; - uint32_t npblb; -#endif /* AES */ - - if (hcryp->Init.KeyIVConfigSkip == CRYP_KEYIVCONFIG_ONCE) - { - if (hcryp->KeyIVConfig == 1U) - { - /* If the Key and IV configuration has to be done only once - and if it has already been done, skip it */ - DoKeyIVConfig = 0U; - hcryp->SizesSum += hcryp->Size; /* Compute message total payload length */ - } - else - { - /* If the Key and IV configuration has to be done only once - and if it has not been done already, do it and set KeyIVConfig - to keep track it won't have to be done again next time */ - hcryp->KeyIVConfig = 1U; - hcryp->SizesSum = hcryp->Size; /* Merely store payload length */ - } - } - else - { - hcryp->SizesSum = hcryp->Size; - } - - /* Configure Key, IV and process message (header and payload) */ - if (DoKeyIVConfig == 1U) - { - /* Reset CrypHeaderCount */ - hcryp->CrypHeaderCount = 0U; - - /******************************* Init phase *********************************/ - - CRYP_SET_PHASE(hcryp, CRYP_PHASE_INIT); - - /* Set the key */ - CRYP_SetKey(hcryp, hcryp->Init.KeySize); - -#if defined(CRYP) - /* Set the initialization vector and the counter : Initial Counter Block (ICB)*/ - hcryp->Instance->IV0LR = *(uint32_t *)(hcryp->Init.pInitVect); - hcryp->Instance->IV0RR = *(uint32_t *)(hcryp->Init.pInitVect + 1); - hcryp->Instance->IV1LR = *(uint32_t *)(hcryp->Init.pInitVect + 2); - hcryp->Instance->IV1RR = *(uint32_t *)(hcryp->Init.pInitVect + 3); - - /* Enable the CRYP peripheral */ - __HAL_CRYP_ENABLE(hcryp); - - /*Wait for the CRYPEN bit to be cleared*/ - count = CRYP_TIMEOUT_GCMCCMINITPHASE; - do - { - count-- ; - if (count == 0U) - { - /* Disable the CRYP peripheral clock */ - __HAL_CRYP_DISABLE(hcryp); - - /* Change state */ - hcryp->ErrorCode |= HAL_CRYP_ERROR_TIMEOUT; - hcryp->State = HAL_CRYP_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hcryp); - return HAL_ERROR; - } - } while ((hcryp->Instance->CR & CRYP_CR_CRYPEN) == CRYP_CR_CRYPEN); - -#else /* AES */ - - /* Workaround 1 : only AES - Datatype configuration must be 32 bits during INIT phase. Only, after INIT, and before re - enabling the IP, datatype different from 32 bits can be configured.*/ - /* Select DATATYPE 32 */ - MODIFY_REG(hcryp->Instance->CR, AES_CR_DATATYPE, CRYP_DATATYPE_32B); - - /* Set the initialization vector and the counter : Initial Counter Block (ICB)*/ - hcryp->Instance->IVR3 = *(uint32_t *)(hcryp->Init.pInitVect); - hcryp->Instance->IVR2 = *(uint32_t *)(hcryp->Init.pInitVect + 1); - hcryp->Instance->IVR1 = *(uint32_t *)(hcryp->Init.pInitVect + 2); - hcryp->Instance->IVR0 = *(uint32_t *)(hcryp->Init.pInitVect + 3); - - /* Enable the CRYP peripheral */ - __HAL_CRYP_ENABLE(hcryp); - - /* just wait for hash computation */ - count = CRYP_TIMEOUT_GCMCCMINITPHASE; - do - { - count-- ; - if (count == 0U) - { - /* Disable the CRYP peripheral clock */ - __HAL_CRYP_DISABLE(hcryp); - - /* Change state */ - hcryp->ErrorCode |= HAL_CRYP_ERROR_TIMEOUT; - hcryp->State = HAL_CRYP_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hcryp); - return HAL_ERROR; - } - } while (HAL_IS_BIT_CLR(hcryp->Instance->SR, AES_SR_CCF)); - - /* Clear CCF flag */ - __HAL_CRYP_CLEAR_FLAG(hcryp, CRYP_CCF_CLEAR); - -#endif /* End AES or CRYP */ - - /***************************** Header phase *********************************/ - -#if defined(CRYP) - - /* Select header phase */ - CRYP_SET_PHASE(hcryp, CRYP_PHASE_HEADER); - - /* Enable interrupts */ - __HAL_CRYP_ENABLE_IT(hcryp, CRYP_IT_INI); - - /* Enable CRYP */ - __HAL_CRYP_ENABLE(hcryp); - -#else /* AES */ - - /* Workaround 1: only AES , before re-enabling the IP, datatype can be configured*/ - MODIFY_REG(hcryp->Instance->CR, AES_CR_DATATYPE, hcryp->Init.DataType); - - /* Select header phase */ - CRYP_SET_PHASE(hcryp, CRYP_PHASE_HEADER); - - /* Enable computation complete flag and error interrupts */ - __HAL_CRYP_ENABLE_IT(hcryp, CRYP_IT_CCFIE | CRYP_IT_ERRIE); - - /* Enable the CRYP peripheral */ - __HAL_CRYP_ENABLE(hcryp); - - if (hcryp->Init.HeaderSize == 0U) /*header phase is skipped*/ - { - /* Set the phase */ - hcryp->Phase = CRYP_PHASE_PROCESS; - - /* Select payload phase once the header phase is performed */ - MODIFY_REG(hcryp->Instance->CR, AES_CR_GCMPH, CRYP_PHASE_PAYLOAD); - - /* Write the payload Input block in the IN FIFO */ - if (hcryp->Size == 0U) - { - /* Disable interrupts */ - __HAL_CRYP_DISABLE_IT(hcryp, CRYP_IT_CCFIE | CRYP_IT_ERRIE); - - /* Change the CRYP state */ - hcryp->State = HAL_CRYP_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hcryp); - } - else if (hcryp->Size >= 16U) - { - hcryp->Instance->DINR = *(uint32_t *)(hcryp->pCrypInBuffPtr + hcryp->CrypInCount); - hcryp->CrypInCount++; - hcryp->Instance->DINR = *(uint32_t *)(hcryp->pCrypInBuffPtr + hcryp->CrypInCount); - hcryp->CrypInCount++; - hcryp->Instance->DINR = *(uint32_t *)(hcryp->pCrypInBuffPtr + hcryp->CrypInCount); - hcryp->CrypInCount++; - hcryp->Instance->DINR = *(uint32_t *)(hcryp->pCrypInBuffPtr + hcryp->CrypInCount); - hcryp->CrypInCount++; - if (hcryp->CrypInCount == (hcryp->Size / 4U)) - { - /* Call Input transfer complete callback */ -#if (USE_HAL_CRYP_REGISTER_CALLBACKS == 1) - /*Call registered Input complete callback*/ - hcryp->InCpltCallback(hcryp); -#else - /*Call legacy weak Input complete callback*/ - HAL_CRYP_InCpltCallback(hcryp); -#endif /* USE_HAL_CRYP_REGISTER_CALLBACKS */ - } - } - else /* Size < 16Bytes : first block is the last block*/ - { - /* Workaround not implemented*/ - /* Size should be %4 otherwise Tag will be incorrectly generated for GCM Encryption: - Workaround is implemented in polling mode, so if last block of - payload <128bit don't use CRYP_Encrypt_IT otherwise TAG is incorrectly generated for GCM Encryption. */ - - /* Compute the number of padding bytes in last block of payload */ - npblb = 16U - (uint32_t)(hcryp->Size); - - /* Number of valid words (lastwordsize) in last block */ - if ((npblb % 4U) == 0U) - { - lastwordsize = (16U - npblb) / 4U; - } - else - { - lastwordsize = ((16U - npblb) / 4U) + 1U; - } - - /* last block optionally pad the data with zeros*/ - for (loopcounter = 0U; loopcounter < lastwordsize ; loopcounter++) - { - hcryp->Instance->DINR = *(uint32_t *)(hcryp->pCrypInBuffPtr + hcryp->CrypInCount); - hcryp->CrypInCount++; - } - while (loopcounter < 4U) - { - /* pad the data with zeros to have a complete block */ - hcryp->Instance->DINR = 0x0U; - loopcounter++; - } - } - } - else if ((hcryp->Init.HeaderSize) < 4U) - { - for (loopcounter = 0U; loopcounter < hcryp->Init.HeaderSize ; loopcounter++) - { - hcryp->Instance->DINR = *(uint32_t *)(hcryp->Init.Header + hcryp->CrypHeaderCount); - hcryp->CrypHeaderCount++ ; - } - while (loopcounter < 4U) - { - /* pad the data with zeros to have a complete block */ - hcryp->Instance->DINR = 0x0U; - loopcounter++; - } - /* Set the phase */ - hcryp->Phase = CRYP_PHASE_PROCESS; - - /* Select payload phase once the header phase is performed */ - CRYP_SET_PHASE(hcryp, CRYP_PHASE_PAYLOAD); - - /* Call Input transfer complete callback */ -#if (USE_HAL_CRYP_REGISTER_CALLBACKS == 1) - /*Call registered Input complete callback*/ - hcryp->InCpltCallback(hcryp); -#else - /*Call legacy weak Input complete callback*/ - HAL_CRYP_InCpltCallback(hcryp); -#endif /* USE_HAL_CRYP_REGISTER_CALLBACKS */ - } - else if ((hcryp->Init.HeaderSize) >= 4U) - { - /* Write the input block in the IN FIFO */ - hcryp->Instance->DINR = *(uint32_t *)(hcryp->Init.Header + hcryp->CrypHeaderCount); - hcryp->CrypHeaderCount++; - hcryp->Instance->DINR = *(uint32_t *)(hcryp->Init.Header + hcryp->CrypHeaderCount); - hcryp->CrypHeaderCount++; - hcryp->Instance->DINR = *(uint32_t *)(hcryp->Init.Header + hcryp->CrypHeaderCount); - hcryp->CrypHeaderCount++; - hcryp->Instance->DINR = *(uint32_t *)(hcryp->Init.Header + hcryp->CrypHeaderCount); - hcryp->CrypHeaderCount++; - } - else - { - /* Nothing to do */ - } - -#endif /* End AES or CRYP */ - } /* end of if (DoKeyIVConfig == 1U) */ - - /* Return function status */ - return HAL_OK; -} - - -/** - * @brief Encryption/Decryption process in AES GCM mode and prepare the authentication TAG using DMA - * @param hcryp: pointer to a CRYP_HandleTypeDef structure that contains - * the configuration information for CRYP module - * @retval HAL status - */ -static HAL_StatusTypeDef CRYP_AESGCM_Process_DMA(CRYP_HandleTypeDef *hcryp) -{ - __IO uint32_t count = 0U; - uint32_t wordsize; - uint32_t DoKeyIVConfig = 1U; /* By default, carry out peripheral Key and IV configuration */ - - if (hcryp->Init.KeyIVConfigSkip == CRYP_KEYIVCONFIG_ONCE) - { - if (hcryp->KeyIVConfig == 1U) - { - /* If the Key and IV configuration has to be done only once - and if it has already been done, skip it */ - DoKeyIVConfig = 0U; - hcryp->SizesSum += hcryp->Size; /* Compute message total payload length */ - } - else - { - /* If the Key and IV configuration has to be done only once - and if it has not been done already, do it and set KeyIVConfig - to keep track it won't have to be done again next time */ - hcryp->KeyIVConfig = 1U; - hcryp->SizesSum = hcryp->Size; /* Merely store payload length */ - } - } - else - { - hcryp->SizesSum = hcryp->Size; - } - - if (DoKeyIVConfig == 1U) - { - /* Reset CrypHeaderCount */ - hcryp->CrypHeaderCount = 0U; - - /*************************** Init phase ************************************/ - - CRYP_SET_PHASE(hcryp, CRYP_PHASE_INIT); - - /* Set the key */ - CRYP_SetKey(hcryp, hcryp->Init.KeySize); - -#if defined(CRYP) - /* Set the initialization vector and the counter : Initial Counter Block (ICB)*/ - hcryp->Instance->IV0LR = *(uint32_t *)(hcryp->Init.pInitVect); - hcryp->Instance->IV0RR = *(uint32_t *)(hcryp->Init.pInitVect + 1); - hcryp->Instance->IV1LR = *(uint32_t *)(hcryp->Init.pInitVect + 2); - hcryp->Instance->IV1RR = *(uint32_t *)(hcryp->Init.pInitVect + 3); - - /* Enable the CRYP peripheral */ - __HAL_CRYP_ENABLE(hcryp); - - /*Wait for the CRYPEN bit to be cleared*/ - count = CRYP_TIMEOUT_GCMCCMINITPHASE; - do - { - count-- ; - if (count == 0U) - { - /* Disable the CRYP peripheral clock */ - __HAL_CRYP_DISABLE(hcryp); - - /* Change state */ - hcryp->ErrorCode |= HAL_CRYP_ERROR_TIMEOUT; - hcryp->State = HAL_CRYP_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hcryp); - return HAL_ERROR; - } - } while ((hcryp->Instance->CR & CRYP_CR_CRYPEN) == CRYP_CR_CRYPEN); - -#else /* AES */ - - /*Workaround 1 : only AES - Datatype configuration must be 32 bits during Init phase. Only, after Init, and before re - enabling the IP, datatype different from 32 bits can be configured.*/ - /* Select DATATYPE 32 */ - MODIFY_REG(hcryp->Instance->CR, AES_CR_DATATYPE, CRYP_DATATYPE_32B); - - /* Set the initialization vector and the counter : Initial Counter Block (ICB)*/ - hcryp->Instance->IVR3 = *(uint32_t *)(hcryp->Init.pInitVect); - hcryp->Instance->IVR2 = *(uint32_t *)(hcryp->Init.pInitVect + 1); - hcryp->Instance->IVR1 = *(uint32_t *)(hcryp->Init.pInitVect + 2); - hcryp->Instance->IVR0 = *(uint32_t *)(hcryp->Init.pInitVect + 3); - - /* Enable the CRYP peripheral */ - __HAL_CRYP_ENABLE(hcryp); - - /* just wait for hash computation */ - count = CRYP_TIMEOUT_GCMCCMINITPHASE; - do - { - count-- ; - if (count == 0U) - { - /* Disable the CRYP peripheral clock */ - __HAL_CRYP_DISABLE(hcryp); - - /* Change state */ - hcryp->ErrorCode |= HAL_CRYP_ERROR_TIMEOUT; - hcryp->State = HAL_CRYP_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hcryp); - return HAL_ERROR; - } - } while (HAL_IS_BIT_CLR(hcryp->Instance->SR, AES_SR_CCF)); - - /* Clear CCF flag */ - __HAL_CRYP_CLEAR_FLAG(hcryp, CRYP_CCF_CLEAR); - -#endif /* End AES or CRYP */ - - /************************ Header phase *************************************/ - - if (CRYP_GCMCCM_SetHeaderPhase_DMA(hcryp) != HAL_OK) - { - return HAL_ERROR; - } - - /************************ Payload phase ************************************/ - - /* Set the phase */ - hcryp->Phase = CRYP_PHASE_PROCESS; - -#if defined(CRYP) - - /* Disable the CRYP peripheral */ - __HAL_CRYP_DISABLE(hcryp); - -#endif /* CRYP */ - - /* Select payload phase once the header phase is performed */ - CRYP_SET_PHASE(hcryp, CRYP_PHASE_PAYLOAD); - - } /* if (DoKeyIVConfig == 1U) */ - - if (hcryp->Size != 0U) - { - /* CRYP1 IP V < 2.2.1 Size should be %4 otherwise Tag will be incorrectly generated for GCM Encryption: - Workaround is implemented in polling mode, so if last block of - payload <128bit don't use DMA mode otherwise TAG is incorrectly generated . */ - /* Set the input and output addresses and start DMA transfer */ - if ((hcryp->Size % 16U) == 0U) - { - CRYP_SetDMAConfig(hcryp, (uint32_t)(hcryp->pCrypInBuffPtr), (hcryp->Size / 4U), (uint32_t)(hcryp->pCrypOutBuffPtr)); - } - else /*to compute last word<128bits, otherwise it will not be encrypted/decrypted */ - { - wordsize = (uint32_t)(hcryp->Size) + (16U - ((uint32_t)(hcryp->Size) % 16U)) ; - - /* Set the input and output addresses and start DMA transfer, pCrypOutBuffPtr size should be %4 */ - CRYP_SetDMAConfig(hcryp, (uint32_t)(hcryp->pCrypInBuffPtr), ((uint16_t)wordsize / 4U), - (uint32_t)(hcryp->pCrypOutBuffPtr)); - } - } - else - { - /* Process unLocked */ - __HAL_UNLOCK(hcryp); - - /* Change the CRYP state and phase */ - hcryp->State = HAL_CRYP_STATE_READY; - } - - /* Return function status */ - return HAL_OK; -} - - -/** - * @brief AES CCM encryption/decryption processing in polling mode - * for TinyAES IP, no encrypt/decrypt performed, only authentication preparation. - * @param hcryp: pointer to a CRYP_HandleTypeDef structure that contains - * the configuration information for CRYP module - * @param Timeout: Timeout duration - * @retval HAL status - */ -static HAL_StatusTypeDef CRYP_AESCCM_Process(CRYP_HandleTypeDef *hcryp, uint32_t Timeout) -{ - uint32_t tickstart; - uint32_t wordsize = (uint32_t)(hcryp->Size) / 4U; - uint16_t outcount; /* Temporary CrypOutCount Value */ - uint32_t DoKeyIVConfig = 1U; /* By default, carry out peripheral Key and IV configuration */ -#if defined(AES) - uint32_t loopcounter; - uint32_t npblb; - uint32_t lastwordsize; -#endif /* AES */ - - if (hcryp->Init.KeyIVConfigSkip == CRYP_KEYIVCONFIG_ONCE) - { - if (hcryp->KeyIVConfig == 1U) - { - /* If the Key and IV configuration has to be done only once - and if it has already been done, skip it */ - DoKeyIVConfig = 0U; - hcryp->SizesSum += hcryp->Size; /* Compute message total payload length */ - } - else - { - /* If the Key and IV configuration has to be done only once - and if it has not been done already, do it and set KeyIVConfig - to keep track it won't have to be done again next time */ - hcryp->KeyIVConfig = 1U; - hcryp->SizesSum = hcryp->Size; /* Merely store payload length */ - } - } - else - { - hcryp->SizesSum = hcryp->Size; - } - - if (DoKeyIVConfig == 1U) - { - - /* Reset CrypHeaderCount */ - hcryp->CrypHeaderCount = 0U; - -#if defined(CRYP) - - /********************** Init phase ******************************************/ - - CRYP_SET_PHASE(hcryp, CRYP_PHASE_INIT); - - /* Set the key */ - CRYP_SetKey(hcryp, hcryp->Init.KeySize); - - /* Set the initialization vector (IV) with CTR1 information */ - hcryp->Instance->IV0LR = (hcryp->Init.B0[0]) & CRYP_CCM_CTR1_0; - hcryp->Instance->IV0RR = hcryp->Init.B0[1]; - hcryp->Instance->IV1LR = hcryp->Init.B0[2]; - hcryp->Instance->IV1RR = (hcryp->Init.B0[3] & CRYP_CCM_CTR1_1) | CRYP_CCM_CTR1_2; - - - /* Enable the CRYP peripheral */ - __HAL_CRYP_ENABLE(hcryp); - - /*Write B0 packet into CRYP_DIN Register*/ - if (hcryp->Init.DataType == CRYP_DATATYPE_8B) - { - hcryp->Instance->DIN = __REV(*(uint32_t *)(hcryp->Init.B0)); - hcryp->Instance->DIN = __REV(*(uint32_t *)(hcryp->Init.B0 + 1)); - hcryp->Instance->DIN = __REV(*(uint32_t *)(hcryp->Init.B0 + 2)); - hcryp->Instance->DIN = __REV(*(uint32_t *)(hcryp->Init.B0 + 3)); - } - else if (hcryp->Init.DataType == CRYP_DATATYPE_16B) - { - hcryp->Instance->DIN = __ROR(*(uint32_t *)(hcryp->Init.B0), 16); - hcryp->Instance->DIN = __ROR(*(uint32_t *)(hcryp->Init.B0 + 1), 16); - hcryp->Instance->DIN = __ROR(*(uint32_t *)(hcryp->Init.B0 + 2), 16); - hcryp->Instance->DIN = __ROR(*(uint32_t *)(hcryp->Init.B0 + 3), 16); - } - else if (hcryp->Init.DataType == CRYP_DATATYPE_1B) - { - hcryp->Instance->DIN = __RBIT(*(uint32_t *)(hcryp->Init.B0)); - hcryp->Instance->DIN = __RBIT(*(uint32_t *)(hcryp->Init.B0 + 1)); - hcryp->Instance->DIN = __RBIT(*(uint32_t *)(hcryp->Init.B0 + 2)); - hcryp->Instance->DIN = __RBIT(*(uint32_t *)(hcryp->Init.B0 + 3)); - } - else - { - hcryp->Instance->DIN = *(uint32_t *)(hcryp->Init.B0); - hcryp->Instance->DIN = *(uint32_t *)(hcryp->Init.B0 + 1); - hcryp->Instance->DIN = *(uint32_t *)(hcryp->Init.B0 + 2); - hcryp->Instance->DIN = *(uint32_t *)(hcryp->Init.B0 + 3); - } - /* Get tick */ - tickstart = HAL_GetTick(); - - /*Wait for the CRYPEN bit to be cleared*/ - while ((hcryp->Instance->CR & CRYP_CR_CRYPEN) == CRYP_CR_CRYPEN) - { - /* Check for the Timeout */ - if (Timeout != HAL_MAX_DELAY) - { - if (((HAL_GetTick() - tickstart) > Timeout) || (Timeout == 0U)) - { - /* Disable the CRYP peripheral clock */ - __HAL_CRYP_DISABLE(hcryp); - - /* Change state */ - hcryp->ErrorCode |= HAL_CRYP_ERROR_TIMEOUT; - hcryp->State = HAL_CRYP_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hcryp); - return HAL_ERROR; - } - } - } -#else /* AES */ - /*AES2v1.1.1 : CCM authentication : no init phase, only header and final phase */ - /* Select header phase */ - CRYP_SET_PHASE(hcryp, CRYP_PHASE_HEADER); - - /* configured encryption mode */ - MODIFY_REG(hcryp->Instance->CR, AES_CR_MODE, CRYP_OPERATINGMODE_ENCRYPT); - - /* Set the key */ - CRYP_SetKey(hcryp, hcryp->Init.KeySize); - - /* Set the initialization vector with zero values*/ - hcryp->Instance->IVR3 = 0U; - hcryp->Instance->IVR2 = 0U; - hcryp->Instance->IVR1 = 0U; - hcryp->Instance->IVR0 = 0U; - - /* Enable the CRYP peripheral */ - __HAL_CRYP_ENABLE(hcryp); - - /*Write the B0 packet into CRYP_DIN*/ - hcryp->Instance->DINR = *(uint32_t *)(hcryp->Init.B0); - hcryp->Instance->DINR = *(uint32_t *)(hcryp->Init.B0 + 1); - hcryp->Instance->DINR = *(uint32_t *)(hcryp->Init.B0 + 2); - hcryp->Instance->DINR = *(uint32_t *)(hcryp->Init.B0 + 3); - - /* wait until the end of computation */ - if (CRYP_WaitOnCCFlag(hcryp, Timeout) != HAL_OK) - { - /* Change state */ - hcryp->ErrorCode |= HAL_CRYP_ERROR_TIMEOUT; - hcryp->State = HAL_CRYP_STATE_READY; - - /* Process unlocked & return error */ - __HAL_UNLOCK(hcryp); - return HAL_ERROR; - } - /* Clear CCF flag */ - __HAL_CRYP_CLEAR_FLAG(hcryp, CRYP_CCF_CLEAR); - - /* Set the phase */ - hcryp->Phase = CRYP_PHASE_PROCESS; - - /* From that point the whole message must be processed, first the Header then the payload. - First the Header block(B1) : associated data length expressed in bytes concatenated with Associated Data (A)*/ - - if (hcryp->Init.HeaderSize != 0U) - { - if ((hcryp->Init.HeaderSize % 4U) == 0U) - { - /* HeaderSize %4, no padding */ - for (loopcounter = 0U; (loopcounter < hcryp->Init.HeaderSize); loopcounter += 4U) - { - /* Write the Input block in the Data Input register */ - hcryp->Instance->DINR = *(uint32_t *)(hcryp->Init.Header + hcryp->CrypHeaderCount); - hcryp->CrypHeaderCount++ ; - hcryp->Instance->DINR = *(uint32_t *)(hcryp->Init.Header + hcryp->CrypHeaderCount); - hcryp->CrypHeaderCount++ ; - hcryp->Instance->DINR = *(uint32_t *)(hcryp->Init.Header + hcryp->CrypHeaderCount); - hcryp->CrypHeaderCount++ ; - hcryp->Instance->DINR = *(uint32_t *)(hcryp->Init.Header + hcryp->CrypHeaderCount); - hcryp->CrypHeaderCount++ ; - - if (CRYP_WaitOnCCFlag(hcryp, Timeout) != HAL_OK) - { - /* Disable the CRYP peripheral clock */ - __HAL_CRYP_DISABLE(hcryp); - - /* Change state */ - hcryp->ErrorCode |= HAL_CRYP_ERROR_TIMEOUT; - hcryp->State = HAL_CRYP_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hcryp); - return HAL_ERROR; - } - /* Clear CCF Flag */ - __HAL_CRYP_CLEAR_FLAG(hcryp, CRYP_CCF_CLEAR); - } - } - else - { - /*Write Header block in the IN FIFO without last block */ - for (loopcounter = 0U; (loopcounter < ((hcryp->Init.HeaderSize) - (hcryp->Init.HeaderSize % 4U))); loopcounter += 4U) - { - /* Write the input block in the data input register */ - hcryp->Instance->DINR = *(uint32_t *)(hcryp->Init.Header + hcryp->CrypHeaderCount); - hcryp->CrypHeaderCount++ ; - hcryp->Instance->DINR = *(uint32_t *)(hcryp->Init.Header + hcryp->CrypHeaderCount); - hcryp->CrypHeaderCount++ ; - hcryp->Instance->DINR = *(uint32_t *)(hcryp->Init.Header + hcryp->CrypHeaderCount); - hcryp->CrypHeaderCount++ ; - hcryp->Instance->DINR = *(uint32_t *)(hcryp->Init.Header + hcryp->CrypHeaderCount); - hcryp->CrypHeaderCount++ ; - - if (CRYP_WaitOnCCFlag(hcryp, Timeout) != HAL_OK) - { - /* Disable the CRYP peripheral clock */ - __HAL_CRYP_DISABLE(hcryp); - - /* Change state */ - hcryp->ErrorCode |= HAL_CRYP_ERROR_TIMEOUT; - hcryp->State = HAL_CRYP_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hcryp); - return HAL_ERROR; - } - /* Clear CCF Flag */ - __HAL_CRYP_CLEAR_FLAG(hcryp, CRYP_CCF_CLEAR); - } - /* Last block optionally pad the data with zeros*/ - for (loopcounter = 0U; (loopcounter < (hcryp->Init.HeaderSize % 4U)); loopcounter++) - { - hcryp->Instance->DINR = *(uint32_t *)(hcryp->Init.Header + hcryp->CrypHeaderCount); - hcryp->CrypHeaderCount++ ; - } - while (loopcounter < 4U) - { - /* Pad the data with zeros to have a complete block */ - hcryp->Instance->DINR = 0x0U; - loopcounter++; - } - - if (CRYP_WaitOnCCFlag(hcryp, Timeout) != HAL_OK) - { - /* Disable the CRYP peripheral clock */ - __HAL_CRYP_DISABLE(hcryp); - - /* Change state */ - hcryp->ErrorCode |= HAL_CRYP_ERROR_TIMEOUT; - hcryp->State = HAL_CRYP_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hcryp); - return HAL_ERROR; - } - /* Clear CCF flag */ - __HAL_CRYP_CLEAR_FLAG(hcryp, CRYP_CCF_CLEAR); - } - } - } /* if (DoKeyIVConfig == 1U) */ - /* Then the payload: cleartext payload (not the ciphertext payload). - Write input Data, no output Data to get */ - if (hcryp->Size != 0U) - { - if ((hcryp->Size % 16U) != 0U) - { - /* recalculate wordsize */ - wordsize = ((wordsize / 4U) * 4U) ; - } - - /* Get tick */ - tickstart = HAL_GetTick(); - /*Temporary CrypOutCount Value*/ - outcount = hcryp->CrypOutCount; - - while ((hcryp->CrypInCount < wordsize) && (outcount < wordsize)) - { - /* Write plain data and get cipher data */ - CRYP_AES_ProcessData(hcryp, Timeout); - - /*Temporary CrypOutCount Value*/ - outcount = hcryp->CrypOutCount; - - /* Check for the Timeout */ - if (Timeout != HAL_MAX_DELAY) - { - if (((HAL_GetTick() - tickstart) > Timeout) || (Timeout == 0U)) - { - /* Disable the CRYP peripheral clock */ - __HAL_CRYP_DISABLE(hcryp); - - /* Change state */ - hcryp->ErrorCode |= HAL_CRYP_ERROR_TIMEOUT; - hcryp->State = HAL_CRYP_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hcryp); - return HAL_ERROR; - } - } - } - - if ((hcryp->Size % 16U) != 0U) - { - /* Compute the number of padding bytes in last block of payload */ - npblb = ((((uint32_t)(hcryp->Size) / 16U) + 1U) * 16U) - (uint32_t)(hcryp->Size); - - /* Number of valid words (lastwordsize) in last block */ - if ((npblb % 4U) == 0U) - { - lastwordsize = (16U - npblb) / 4U; - } - else - { - lastwordsize = ((16U - npblb) / 4U) + 1U; - } - /* Last block optionally pad the data with zeros*/ - for (loopcounter = 0U; loopcounter < lastwordsize; loopcounter ++) - { - /* Write the last input block in the IN FIFO */ - hcryp->Instance->DINR = *(uint32_t *)(hcryp->pCrypInBuffPtr + hcryp->CrypInCount); - hcryp->CrypInCount++; - } - while (loopcounter < 4U) - { - /* Pad the data with zeros to have a complete block */ - hcryp->Instance->DINR = 0U; - loopcounter++; - } - /* Wait for CCF flag to be raised */ - if (CRYP_WaitOnCCFlag(hcryp, Timeout) != HAL_OK) - { - /* Disable the CRYP peripheral clock */ - __HAL_CRYP_DISABLE(hcryp); - - /* Change state */ - hcryp->ErrorCode |= HAL_CRYP_ERROR_TIMEOUT; - hcryp->State = HAL_CRYP_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hcryp); - return HAL_ERROR; - } - /* Clear CCF flag */ - __HAL_CRYP_CLEAR_FLAG(hcryp, CRYP_CCF_CLEAR); - - } - } -#endif /* End AES or CRYP */ - -#if defined(CRYP) - - /************************* Header phase *************************************/ - /* Header block(B1) : associated data length expressed in bytes concatenated - with Associated Data (A)*/ - - if (CRYP_GCMCCM_SetHeaderPhase(hcryp, Timeout) != HAL_OK) - { - return HAL_ERROR; - } - - /********************** Payload phase ***************************************/ - - /* Set the phase */ - hcryp->Phase = CRYP_PHASE_PROCESS; - - /* Disable the CRYP peripheral */ - __HAL_CRYP_DISABLE(hcryp); - - /* Select payload phase once the header phase is performed */ - CRYP_SET_PHASE(hcryp, CRYP_PHASE_PAYLOAD); - - /* Enable the CRYP peripheral */ - __HAL_CRYP_ENABLE(hcryp); - - } /* if (DoKeyIVConfig == 1U) */ - - if ((hcryp->Size % 16U) != 0U) - { - /* recalculate wordsize */ - wordsize = ((wordsize / 4U) * 4U) ; - } - /* Get tick */ - tickstart = HAL_GetTick(); - /*Temporary CrypOutCount Value*/ - outcount = hcryp->CrypOutCount; - - /* Write input data and get output data */ - while ((hcryp->CrypInCount < wordsize) && (outcount < wordsize)) - { - /* Write plain data and get cipher data */ - CRYP_AES_ProcessData(hcryp, Timeout); - - /* Check for the Timeout */ - if (Timeout != HAL_MAX_DELAY) - { - if (((HAL_GetTick() - tickstart) > Timeout) || (Timeout == 0U)) - { - /* Disable the CRYP peripheral clock */ - __HAL_CRYP_DISABLE(hcryp); - - /* Change state */ - hcryp->ErrorCode |= HAL_CRYP_ERROR_TIMEOUT; - hcryp->State = HAL_CRYP_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hcryp); - return HAL_ERROR; - } - } - } - - if ((hcryp->Size % 16U) != 0U) - { - /* CRYP Workaround : CRYP1 generates correct TAG during CCM decryption only when ciphertext blocks size is multiple of - 128 bits. If lthe size of the last block of payload is inferior to 128 bits, when CCM decryption - is selected, then the TAG message will be wrong.*/ - CRYP_Workaround(hcryp, Timeout); - } -#endif /* CRYP */ - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief AES CCM encryption/decryption process in interrupt mode - * for TinyAES IP, no encrypt/decrypt performed, only authentication preparation. - * @param hcryp: pointer to a CRYP_HandleTypeDef structure that contains - * the configuration information for CRYP module - * @retval HAL status - */ -static HAL_StatusTypeDef CRYP_AESCCM_Process_IT(CRYP_HandleTypeDef *hcryp) -{ - uint32_t DoKeyIVConfig = 1U; /* By default, carry out peripheral Key and IV configuration */ -#if defined(CRYP) - __IO uint32_t count = 0U; -#endif /* CRYP */ - - if (hcryp->Init.KeyIVConfigSkip == CRYP_KEYIVCONFIG_ONCE) - { - if (hcryp->KeyIVConfig == 1U) - { - /* If the Key and IV configuration has to be done only once - and if it has already been done, skip it */ - DoKeyIVConfig = 0U; - hcryp->SizesSum += hcryp->Size; /* Compute message total payload length */ - } - else - { - /* If the Key and IV configuration has to be done only once - and if it has not been done already, do it and set KeyIVConfig - to keep track it won't have to be done again next time */ - hcryp->KeyIVConfig = 1U; - hcryp->SizesSum = hcryp->Size; /* Merely store payload length */ - } - } - else - { - hcryp->SizesSum = hcryp->Size; - } - - /* Configure Key, IV and process message (header and payload) */ - if (DoKeyIVConfig == 1U) - { - /* Reset CrypHeaderCount */ - hcryp->CrypHeaderCount = 0U; - -#if defined(CRYP) - - /************ Init phase ************/ - - CRYP_SET_PHASE(hcryp, CRYP_PHASE_INIT); - - /* Set the key */ - CRYP_SetKey(hcryp, hcryp->Init.KeySize); - - /* Set the initialization vector (IV) with CTR1 information */ - hcryp->Instance->IV0LR = (hcryp->Init.B0[0]) & CRYP_CCM_CTR1_0; - hcryp->Instance->IV0RR = hcryp->Init.B0[1]; - hcryp->Instance->IV1LR = hcryp->Init.B0[2]; - hcryp->Instance->IV1RR = (hcryp->Init.B0[3] & CRYP_CCM_CTR1_1) | CRYP_CCM_CTR1_2; - - /* Enable the CRYP peripheral */ - __HAL_CRYP_ENABLE(hcryp); - - /*Write the B0 packet into CRYP_DIN Register*/ - if (hcryp->Init.DataType == CRYP_DATATYPE_8B) - { - hcryp->Instance->DIN = __REV(*(uint32_t *)(hcryp->Init.B0)); - hcryp->Instance->DIN = __REV(*(uint32_t *)(hcryp->Init.B0 + 1)); - hcryp->Instance->DIN = __REV(*(uint32_t *)(hcryp->Init.B0 + 2)); - hcryp->Instance->DIN = __REV(*(uint32_t *)(hcryp->Init.B0 + 3)); - } - else if (hcryp->Init.DataType == CRYP_DATATYPE_16B) - { - hcryp->Instance->DIN = __ROR(*(uint32_t *)(hcryp->Init.B0), 16); - hcryp->Instance->DIN = __ROR(*(uint32_t *)(hcryp->Init.B0 + 1), 16); - hcryp->Instance->DIN = __ROR(*(uint32_t *)(hcryp->Init.B0 + 2), 16); - hcryp->Instance->DIN = __ROR(*(uint32_t *)(hcryp->Init.B0 + 3), 16); - } - else if (hcryp->Init.DataType == CRYP_DATATYPE_1B) - { - hcryp->Instance->DIN = __RBIT(*(uint32_t *)(hcryp->Init.B0)); - hcryp->Instance->DIN = __RBIT(*(uint32_t *)(hcryp->Init.B0 + 1)); - hcryp->Instance->DIN = __RBIT(*(uint32_t *)(hcryp->Init.B0 + 2)); - hcryp->Instance->DIN = __RBIT(*(uint32_t *)(hcryp->Init.B0 + 3)); - } - else - { - hcryp->Instance->DIN = *(uint32_t *)(hcryp->Init.B0); - hcryp->Instance->DIN = *(uint32_t *)(hcryp->Init.B0 + 1); - hcryp->Instance->DIN = *(uint32_t *)(hcryp->Init.B0 + 2); - hcryp->Instance->DIN = *(uint32_t *)(hcryp->Init.B0 + 3); - } - /*Wait for the CRYPEN bit to be cleared*/ - count = CRYP_TIMEOUT_GCMCCMINITPHASE; - do - { - count-- ; - if (count == 0U) - { - /* Disable the CRYP peripheral clock */ - __HAL_CRYP_DISABLE(hcryp); - - /* Change state */ - hcryp->ErrorCode |= HAL_CRYP_ERROR_TIMEOUT; - hcryp->State = HAL_CRYP_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hcryp); - return HAL_ERROR; - } - } while ((hcryp->Instance->CR & CRYP_CR_CRYPEN) == CRYP_CR_CRYPEN); - - /* Select header phase */ - CRYP_SET_PHASE(hcryp, CRYP_PHASE_HEADER); - - } /* end of if (DoKeyIVConfig == 1U) */ - - /* Enable interrupts */ - __HAL_CRYP_ENABLE_IT(hcryp, CRYP_IT_INI); - - /* Enable CRYP */ - __HAL_CRYP_ENABLE(hcryp); - -#else /* AES */ - - /*AES2v1.1.1 : CCM authentication : no init phase, only header and final phase */ - /* Select header phase */ - CRYP_SET_PHASE(hcryp, CRYP_PHASE_HEADER); - - /* configured mode and encryption mode */ - MODIFY_REG(hcryp->Instance->CR, AES_CR_MODE, CRYP_OPERATINGMODE_ENCRYPT); - - /* Set the key */ - CRYP_SetKey(hcryp, hcryp->Init.KeySize); - - /* Set the initialization vector with zero values*/ - hcryp->Instance->IVR3 = 0U; - hcryp->Instance->IVR2 = 0U; - hcryp->Instance->IVR1 = 0U; - hcryp->Instance->IVR0 = 0U; - - /* Enable interrupts */ - __HAL_CRYP_ENABLE_IT(hcryp, CRYP_IT_CCFIE | CRYP_IT_ERRIE); - /* Enable the CRYP peripheral */ - __HAL_CRYP_ENABLE(hcryp); - - /*Write the B0 packet into CRYP_DIN*/ - hcryp->Instance->DINR = *(uint32_t *)(hcryp->Init.B0); - hcryp->Instance->DINR = *(uint32_t *)(hcryp->Init.B0 + 1); - hcryp->Instance->DINR = *(uint32_t *)(hcryp->Init.B0 + 2); - hcryp->Instance->DINR = *(uint32_t *)(hcryp->Init.B0 + 3); - - } /* end of if (DoKeyIVConfig == 1U) */ -#endif /* End AES or CRYP */ - - /* Return function status */ - return HAL_OK; -} -/** - * @brief AES CCM encryption/decryption process in DMA mode - * for TinyAES IP, no encrypt/decrypt performed, only authentication preparation. - * @param hcryp: pointer to a CRYP_HandleTypeDef structure that contains - * the configuration information for CRYP module - * @retval HAL status - */ -static HAL_StatusTypeDef CRYP_AESCCM_Process_DMA(CRYP_HandleTypeDef *hcryp) -{ - uint32_t wordsize; - __IO uint32_t count = 0U; - uint32_t DoKeyIVConfig = 1U; /* By default, carry out peripheral Key and IV configuration */ -#if defined(AES) - uint32_t loopcounter; - uint32_t npblb; - uint32_t lastwordsize; -#endif - - if (hcryp->Init.KeyIVConfigSkip == CRYP_KEYIVCONFIG_ONCE) - { - if (hcryp->KeyIVConfig == 1U) - { - /* If the Key and IV configuration has to be done only once - and if it has already been done, skip it */ - DoKeyIVConfig = 0U; - hcryp->SizesSum += hcryp->Size; /* Compute message total payload length */ - } - else - { - /* If the Key and IV configuration has to be done only once - and if it has not been done already, do it and set KeyIVConfig - to keep track it won't have to be done again next time */ - hcryp->KeyIVConfig = 1U; - hcryp->SizesSum = hcryp->Size; /* Merely store payload length */ - } - } - else - { - hcryp->SizesSum = hcryp->Size; - } - - if (DoKeyIVConfig == 1U) - { - - /* Reset CrypHeaderCount */ - hcryp->CrypHeaderCount = 0U; - -#if defined(CRYP) - - /************************** Init phase **************************************/ - - CRYP_SET_PHASE(hcryp, CRYP_PHASE_INIT); - - /* Set the key */ - CRYP_SetKey(hcryp, hcryp->Init.KeySize); - - /* Set the initialization vector (IV) with CTR1 information */ - hcryp->Instance->IV0LR = (hcryp->Init.B0[0]) & CRYP_CCM_CTR1_0; - hcryp->Instance->IV0RR = hcryp->Init.B0[1]; - hcryp->Instance->IV1LR = hcryp->Init.B0[2]; - hcryp->Instance->IV1RR = (hcryp->Init.B0[3] & CRYP_CCM_CTR1_1) | CRYP_CCM_CTR1_2; - - /* Enable the CRYP peripheral */ - __HAL_CRYP_ENABLE(hcryp); - - /*Write the B0 packet into CRYP_DIN Register*/ - if (hcryp->Init.DataType == CRYP_DATATYPE_8B) - { - hcryp->Instance->DIN = __REV(*(uint32_t *)(hcryp->Init.B0)); - hcryp->Instance->DIN = __REV(*(uint32_t *)(hcryp->Init.B0 + 1)); - hcryp->Instance->DIN = __REV(*(uint32_t *)(hcryp->Init.B0 + 2)); - hcryp->Instance->DIN = __REV(*(uint32_t *)(hcryp->Init.B0 + 3)); - } - else if (hcryp->Init.DataType == CRYP_DATATYPE_16B) - { - hcryp->Instance->DIN = __ROR(*(uint32_t *)(hcryp->Init.B0), 16); - hcryp->Instance->DIN = __ROR(*(uint32_t *)(hcryp->Init.B0 + 1), 16); - hcryp->Instance->DIN = __ROR(*(uint32_t *)(hcryp->Init.B0 + 2), 16); - hcryp->Instance->DIN = __ROR(*(uint32_t *)(hcryp->Init.B0 + 3), 16); - } - else if (hcryp->Init.DataType == CRYP_DATATYPE_1B) - { - hcryp->Instance->DIN = __RBIT(*(uint32_t *)(hcryp->Init.B0)); - hcryp->Instance->DIN = __RBIT(*(uint32_t *)(hcryp->Init.B0 + 1)); - hcryp->Instance->DIN = __RBIT(*(uint32_t *)(hcryp->Init.B0 + 2)); - hcryp->Instance->DIN = __RBIT(*(uint32_t *)(hcryp->Init.B0 + 3)); - } - else - { - hcryp->Instance->DIN = *(uint32_t *)(hcryp->Init.B0); - hcryp->Instance->DIN = *(uint32_t *)(hcryp->Init.B0 + 1); - hcryp->Instance->DIN = *(uint32_t *)(hcryp->Init.B0 + 2); - hcryp->Instance->DIN = *(uint32_t *)(hcryp->Init.B0 + 3); - } - - /*Wait for the CRYPEN bit to be cleared*/ - count = CRYP_TIMEOUT_GCMCCMINITPHASE; - do - { - count-- ; - if (count == 0U) - { - /* Disable the CRYP peripheral clock */ - __HAL_CRYP_DISABLE(hcryp); - - /* Change state */ - hcryp->ErrorCode |= HAL_CRYP_ERROR_TIMEOUT; - hcryp->State = HAL_CRYP_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hcryp); - return HAL_ERROR; - } - } while ((hcryp->Instance->CR & CRYP_CR_CRYPEN) == CRYP_CR_CRYPEN); - -#else /* AES */ - - /*AES2v1.1.1 : CCM authentication : no init phase, only header and final phase */ - /* Select header phase */ - CRYP_SET_PHASE(hcryp, CRYP_PHASE_HEADER); - - /* configured encryption mode */ - MODIFY_REG(hcryp->Instance->CR, AES_CR_MODE, CRYP_OPERATINGMODE_ENCRYPT); - - /* Set the key */ - CRYP_SetKey(hcryp, hcryp->Init.KeySize); - - /* Set the initialization vector with zero values*/ - hcryp->Instance->IVR3 = 0U; - hcryp->Instance->IVR2 = 0U; - hcryp->Instance->IVR1 = 0U; - hcryp->Instance->IVR0 = 0U; - - /* Enable the CRYP peripheral */ - __HAL_CRYP_ENABLE(hcryp); - - /*Write the B0 packet into CRYP_DIN*/ - hcryp->Instance->DINR = *(uint32_t *)(hcryp->Init.B0); - hcryp->Instance->DINR = *(uint32_t *)(hcryp->Init.B0 + 1); - hcryp->Instance->DINR = *(uint32_t *)(hcryp->Init.B0 + 2); - hcryp->Instance->DINR = *(uint32_t *)(hcryp->Init.B0 + 3); - - count = CRYP_TIMEOUT_GCMCCMINITPHASE; - do - { - count-- ; - if (count == 0U) - { - /* Disable the CRYP peripheral clock */ - __HAL_CRYP_DISABLE(hcryp); - - /* Change state */ - hcryp->ErrorCode |= HAL_CRYP_ERROR_TIMEOUT; - hcryp->State = HAL_CRYP_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hcryp); - return HAL_ERROR; - } - } while (HAL_IS_BIT_CLR(hcryp->Instance->SR, AES_SR_CCF)); - /* Clear CCF flag */ - __HAL_CRYP_CLEAR_FLAG(hcryp, CRYP_CCF_CLEAR); - - /* Set the phase */ - hcryp->Phase = CRYP_PHASE_PROCESS; - - /* From that point the whole message must be processed, first the Header then the payload. - First the Header block(B1) : associated data length expressed in bytes concatenated with Associated Data (A)*/ - - if (hcryp->Init.HeaderSize != 0U) - { - if ((hcryp->Init.HeaderSize % 4U) == 0U) - { - /* HeaderSize %4, no padding */ - for (loopcounter = 0U; (loopcounter < hcryp->Init.HeaderSize); loopcounter += 4U) - { - /* Write the Input block in the Data Input register */ - hcryp->Instance->DINR = *(uint32_t *)(hcryp->Init.Header + hcryp->CrypHeaderCount); - hcryp->CrypHeaderCount++ ; - hcryp->Instance->DINR = *(uint32_t *)(hcryp->Init.Header + hcryp->CrypHeaderCount); - hcryp->CrypHeaderCount++ ; - hcryp->Instance->DINR = *(uint32_t *)(hcryp->Init.Header + hcryp->CrypHeaderCount); - hcryp->CrypHeaderCount++ ; - hcryp->Instance->DINR = *(uint32_t *)(hcryp->Init.Header + hcryp->CrypHeaderCount); - hcryp->CrypHeaderCount++ ; - - /* wait until the end of computation */ - count = CRYP_TIMEOUT_GCMCCMINITPHASE; - do - { - count-- ; - if (count == 0U) - { - /* Disable the CRYP peripheral clock */ - __HAL_CRYP_DISABLE(hcryp); - - /* Change state */ - hcryp->ErrorCode |= HAL_CRYP_ERROR_TIMEOUT; - hcryp->State = HAL_CRYP_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hcryp); - return HAL_ERROR; - } - } while (HAL_IS_BIT_CLR(hcryp->Instance->SR, AES_SR_CCF)); - /* Clear CCF flag */ - __HAL_CRYP_CLEAR_FLAG(hcryp, CRYP_CCF_CLEAR); - } - } - else - { - /*Write Header block in the IN FIFO without last block */ - for (loopcounter = 0U; (loopcounter < ((hcryp->Init.HeaderSize) - (hcryp->Init.HeaderSize % 4U))); loopcounter += 4U) - { - /* Write the input block in the data input register */ - hcryp->Instance->DINR = *(uint32_t *)(hcryp->Init.Header + hcryp->CrypHeaderCount); - hcryp->CrypHeaderCount++ ; - hcryp->Instance->DINR = *(uint32_t *)(hcryp->Init.Header + hcryp->CrypHeaderCount); - hcryp->CrypHeaderCount++ ; - hcryp->Instance->DINR = *(uint32_t *)(hcryp->Init.Header + hcryp->CrypHeaderCount); - hcryp->CrypHeaderCount++ ; - hcryp->Instance->DINR = *(uint32_t *)(hcryp->Init.Header + hcryp->CrypHeaderCount); - hcryp->CrypHeaderCount++ ; - - count = CRYP_TIMEOUT_GCMCCMINITPHASE; - do - { - count-- ; - if (count == 0U) - { - /* Disable the CRYP peripheral clock */ - __HAL_CRYP_DISABLE(hcryp); - - /* Change state */ - hcryp->ErrorCode |= HAL_CRYP_ERROR_TIMEOUT; - hcryp->State = HAL_CRYP_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hcryp); - return HAL_ERROR; - } - } while (HAL_IS_BIT_CLR(hcryp->Instance->SR, AES_SR_CCF)); - /* Clear CCF flag */ - __HAL_CRYP_CLEAR_FLAG(hcryp, CRYP_CCF_CLEAR); - } - /* Last block optionally pad the data with zeros*/ - for (loopcounter = 0U; (loopcounter < (hcryp->Init.HeaderSize % 4U)); loopcounter++) - { - hcryp->Instance->DINR = *(uint32_t *)(hcryp->Init.Header + hcryp->CrypHeaderCount); - hcryp->CrypHeaderCount++ ; - } - while (loopcounter < 4U) - { - /* Pad the data with zeros to have a complete block */ - hcryp->Instance->DINR = 0x0U; - loopcounter++; - } - - count = CRYP_TIMEOUT_GCMCCMINITPHASE; - do - { - count-- ; - if (count == 0U) - { - /* Disable the CRYP peripheral clock */ - __HAL_CRYP_DISABLE(hcryp); - - /* Change state */ - hcryp->ErrorCode |= HAL_CRYP_ERROR_TIMEOUT; - hcryp->State = HAL_CRYP_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hcryp); - return HAL_ERROR; - } - } while (HAL_IS_BIT_CLR(hcryp->Instance->SR, AES_SR_CCF)); - /* Clear CCF flag */ - __HAL_CRYP_CLEAR_FLAG(hcryp, CRYP_CCF_CLEAR); - } - } - } /* if (DoKeyIVConfig == 1U) */ - /* Then the payload: cleartext payload (not the ciphertext payload). - Write input Data, no output Data to get */ - if (hcryp->Size != 0U) - { - if (hcryp->Size >= 16U) - { - if ((hcryp->Size % 16U) == 0U) - { - CRYP_SetDMAConfig(hcryp, (uint32_t)(hcryp->pCrypInBuffPtr), (hcryp->Size / 4U), (uint32_t)(hcryp->pCrypOutBuffPtr)); - } - else /*to compute last word<128bits, otherwise it will not be encrypted/decrypted */ - { - wordsize = (uint32_t)(hcryp->Size) + (16U - ((uint32_t)(hcryp->Size) % 16U)) ; - - /* Set the input and output addresses and start DMA transfer, pCrypOutBuffPtr size should be %4 */ - CRYP_SetDMAConfig(hcryp, (uint32_t)(hcryp->pCrypInBuffPtr), ((uint16_t)wordsize / 4U), - (uint32_t)(hcryp->pCrypOutBuffPtr)); - } - } - if ((hcryp->Size < 16U) != 0U) - { - /* Compute the number of padding bytes in last block of payload */ - npblb = ((((uint32_t)(hcryp->Size) / 16U) + 1U) * 16U) - (uint32_t)(hcryp->Size); - - /* Number of valid words (lastwordsize) in last block */ - if ((npblb % 4U) == 0U) - { - lastwordsize = (16U - npblb) / 4U; - } - else - { - lastwordsize = ((16U - npblb) / 4U) + 1U; - } - /* Last block optionally pad the data with zeros*/ - for (loopcounter = 0U; loopcounter < lastwordsize; loopcounter ++) - { - /* Write the last input block in the IN FIFO */ - hcryp->Instance->DINR = *(uint32_t *)(hcryp->pCrypInBuffPtr + hcryp->CrypInCount); - hcryp->CrypInCount++; - } - while (loopcounter < 4U) - { - /* Pad the data with zeros to have a complete block */ - hcryp->Instance->DINR = 0U; - loopcounter++; - } - count = CRYP_TIMEOUT_GCMCCMINITPHASE; - do - { - count-- ; - if (count == 0U) - { - /* Disable the CRYP peripheral clock */ - __HAL_CRYP_DISABLE(hcryp); - - /* Change state */ - hcryp->ErrorCode |= HAL_CRYP_ERROR_TIMEOUT; - hcryp->State = HAL_CRYP_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hcryp); - return HAL_ERROR; - } - } while (HAL_IS_BIT_CLR(hcryp->Instance->SR, AES_SR_CCF)); - /* Clear CCF flag */ - __HAL_CRYP_CLEAR_FLAG(hcryp, CRYP_CCF_CLEAR); - - /* Process unlocked */ - __HAL_UNLOCK(hcryp); - - /* Change the CRYP state and phase */ - hcryp->State = HAL_CRYP_STATE_READY; - } - } - else - { - /* Process unLocked */ - __HAL_UNLOCK(hcryp); - - /* Change the CRYP state and phase */ - hcryp->State = HAL_CRYP_STATE_READY; - } -#endif /* AES */ -#if defined(CRYP) - /********************* Header phase *****************************************/ - - if (CRYP_GCMCCM_SetHeaderPhase_DMA(hcryp) != HAL_OK) - { - return HAL_ERROR; - } - - /******************** Payload phase *****************************************/ - - /* Set the phase */ - hcryp->Phase = CRYP_PHASE_PROCESS; - - /* Disable the CRYP peripheral */ - __HAL_CRYP_DISABLE(hcryp); - - /* Select payload phase once the header phase is performed */ - CRYP_SET_PHASE(hcryp, CRYP_PHASE_PAYLOAD); - - } /* if (DoKeyIVConfig == 1U) */ - if (hcryp->Size != 0U) - { - /* Size should be %4 otherwise Tag will be incorrectly generated for GCM Encryption & CCM Decryption - Workaround is implemented in polling mode, so if last block of - payload <128bit don't use HAL_CRYP_AESGCM_DMA otherwise TAG is incorrectly generated for GCM Encryption. */ - /* Set the input and output addresses and start DMA transfer */ - if ((hcryp->Size % 16U) == 0U) - { - CRYP_SetDMAConfig(hcryp, (uint32_t)(hcryp->pCrypInBuffPtr), hcryp->Size / 4U, (uint32_t)(hcryp->pCrypOutBuffPtr)); - } - else - { - wordsize = (uint32_t)(hcryp->Size) + 16U - ((uint32_t)(hcryp->Size) % 16U) ; - - /* Set the input and output addresses and start DMA transfer, pCrypOutBuffPtr size should be %4*/ - CRYP_SetDMAConfig(hcryp, (uint32_t)(hcryp->pCrypInBuffPtr), (uint16_t)wordsize / 4U, - (uint32_t)(hcryp->pCrypOutBuffPtr)); - } - } - else /*Size = 0*/ - { - /* Process unlocked */ - __HAL_UNLOCK(hcryp); - - /* Change the CRYP state and phase */ - hcryp->State = HAL_CRYP_STATE_READY; - } -#endif /* CRYP */ - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Sets the payload phase in iterrupt mode - * @param hcryp: pointer to a CRYP_HandleTypeDef structure that contains - * the configuration information for CRYP module - * @retval state - */ -static void CRYP_GCMCCM_SetPayloadPhase_IT(CRYP_HandleTypeDef *hcryp) -{ - uint32_t loopcounter; - uint32_t temp[4]; /* Temporary CrypOutBuff */ - uint32_t lastwordsize; - uint32_t npblb; - uint32_t i; -#if defined(AES) - uint16_t outcount; /* Temporary CrypOutCount Value */ -#endif /* AES */ - - /***************************** Payload phase *******************************/ - -#if defined(CRYP) - if (hcryp->Size == 0U) - { - /* Disable interrupts */ - __HAL_CRYP_DISABLE_IT(hcryp, CRYP_IT_INI | CRYP_IT_OUTI); - - /* Process unlocked */ - __HAL_UNLOCK(hcryp); - - /* Change the CRYP state */ - hcryp->State = HAL_CRYP_STATE_READY; - } - - else if (((hcryp->Size / 4U) - (hcryp->CrypInCount)) >= 4U) - { - /* Write the input block in the IN FIFO */ - hcryp->Instance->DIN = *(uint32_t *)(hcryp->pCrypInBuffPtr + hcryp->CrypInCount); - hcryp->CrypInCount++; - hcryp->Instance->DIN = *(uint32_t *)(hcryp->pCrypInBuffPtr + hcryp->CrypInCount); - hcryp->CrypInCount++; - hcryp->Instance->DIN = *(uint32_t *)(hcryp->pCrypInBuffPtr + hcryp->CrypInCount); - hcryp->CrypInCount++; - hcryp->Instance->DIN = *(uint32_t *)(hcryp->pCrypInBuffPtr + hcryp->CrypInCount); - hcryp->CrypInCount++; - if (((hcryp->Size / 4U) == hcryp->CrypInCount) && ((hcryp->Size % 16U) == 0U)) - { - /* Disable interrupts */ - __HAL_CRYP_DISABLE_IT(hcryp, CRYP_IT_INI); - - /* Call the input data transfer complete callback */ -#if (USE_HAL_CRYP_REGISTER_CALLBACKS == 1U) - /*Call registered Input complete callback*/ - hcryp->InCpltCallback(hcryp); -#else - /*Call legacy weak Input complete callback*/ - HAL_CRYP_InCpltCallback(hcryp); -#endif /* USE_HAL_CRYP_REGISTER_CALLBACKS */ - } - if (hcryp->CrypOutCount < (hcryp->Size / 4U)) - { - /* Read the output block from the Output FIFO and put them in temporary buffer then get CrypOutBuff from temporary buffer */ - for (i = 0U; i < 4U; i++) - { - temp[i] = hcryp->Instance->DOUT; - } - i = 0U; - while (((hcryp->CrypOutCount < ((hcryp->Size) / 4U))) && (i < 4U)) - { - *(uint32_t *)(hcryp->pCrypOutBuffPtr + hcryp->CrypOutCount) = temp[i]; - hcryp->CrypOutCount++; - i++; - } - if (((hcryp->Size / 4U) == hcryp->CrypOutCount) && ((hcryp->Size % 16U) == 0U)) - { - /* Disable interrupts */ - __HAL_CRYP_DISABLE_IT(hcryp, CRYP_IT_OUTI); - - /* Change the CRYP state */ - hcryp->State = HAL_CRYP_STATE_READY; - - /* Disable CRYP */ - __HAL_CRYP_DISABLE(hcryp); - - /* Process unlocked */ - __HAL_UNLOCK(hcryp); - - /* Call output transfer complete callback */ -#if (USE_HAL_CRYP_REGISTER_CALLBACKS == 1) - /*Call registered Output complete callback*/ - hcryp->OutCpltCallback(hcryp); -#else - /*Call legacy weak Output complete callback*/ - HAL_CRYP_OutCpltCallback(hcryp); -#endif /* USE_HAL_CRYP_REGISTER_CALLBACKS */ - } - } - } - else if ((hcryp->Size % 16U) != 0U) - { - /* Size should be %4 in word and %16 in byte otherwise TAG will be incorrectly generated for GCM Encryption & CCM Decryption - Workaround is implemented in polling mode, so if last block of - payload <128bit don't use CRYP_AESGCM_Encrypt_IT otherwise TAG is incorrectly generated. */ - - /* Compute the number of padding bytes in last block of payload */ - npblb = ((((uint32_t)(hcryp->Size) / 16U) + 1U) * 16U) - (uint32_t)(hcryp->Size); - - /* Number of valid words (lastwordsize) in last block */ - if ((npblb % 4U) == 0U) - { - lastwordsize = (16U - npblb) / 4U; - } - else - { - lastwordsize = ((16U - npblb) / 4U) + 1U; - } - - /* Last block optionally pad the data with zeros*/ - for (loopcounter = 0U; loopcounter < lastwordsize; loopcounter++) - { - hcryp->Instance->DIN = *(uint32_t *)(hcryp->pCrypInBuffPtr + hcryp->CrypInCount); - hcryp->CrypInCount++; - } - while (loopcounter < 4U) - { - /* Pad the data with zeros to have a complete block */ - hcryp->Instance->DIN = 0x0U; - loopcounter++; - } - __HAL_CRYP_DISABLE_IT(hcryp, CRYP_IT_INI); - - if ((hcryp->Instance->SR & CRYP_FLAG_OFNE) != 0x0U) - { - for (i = 0U; i < 4U; i++) - { - temp[i] = hcryp->Instance->DOUT; - } - if (((hcryp->Size) / 4U) == 0U) - { - for (i = 0U; i < ((uint32_t)(hcryp->Size) % 4U); i++) - { - *(uint32_t *)(hcryp->pCrypOutBuffPtr + hcryp->CrypOutCount) = temp[i]; - hcryp->CrypOutCount++; - } - } - i = 0x0U; - while (((hcryp->CrypOutCount < ((hcryp->Size) / 4U))) && (i < 4U)) - { - *(uint32_t *)(hcryp->pCrypOutBuffPtr + hcryp->CrypOutCount) = temp[i]; - hcryp->CrypOutCount++; - i++; - } - } - if (hcryp->CrypOutCount >= (hcryp->Size / 4U)) - { - /* Disable interrupts */ - __HAL_CRYP_DISABLE_IT(hcryp, CRYP_IT_OUTI | CRYP_IT_INI); - - /* Change the CRYP peripheral state */ - hcryp->State = HAL_CRYP_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hcryp); - - /* Call output transfer complete callback */ -#if (USE_HAL_CRYP_REGISTER_CALLBACKS == 1) - /*Call registered Output complete callback*/ - hcryp->OutCpltCallback(hcryp); -#else - /*Call legacy weak Output complete callback*/ - HAL_CRYP_OutCpltCallback(hcryp); -#endif /* USE_HAL_CRYP_REGISTER_CALLBACKS */ - } - } - else - { - /* Nothing to do */ - } -#else /* AES */ - - /* Read the output block from the output FIFO and put them in temporary buffer then get CrypOutBuff from temporary buffer*/ - for (i = 0U; i < 4U; i++) - { - temp[i] = hcryp->Instance->DOUTR; - } - i = 0U; - while ((hcryp->CrypOutCount < ((hcryp->Size + 3U) / 4U)) && (i < 4U)) - { - *(uint32_t *)(hcryp->pCrypOutBuffPtr + hcryp->CrypOutCount) = temp[i]; - hcryp->CrypOutCount++; - i++; - } - /*Temporary CrypOutCount Value*/ - outcount = hcryp->CrypOutCount; - - if ((hcryp->CrypOutCount >= (hcryp->Size / 4U)) && ((outcount * 4U) >= hcryp->Size)) - { - /* Disable computation complete flag and errors interrupts */ - __HAL_CRYP_DISABLE_IT(hcryp, CRYP_IT_CCFIE | CRYP_IT_ERRIE); - - /* Change the CRYP state */ - hcryp->State = HAL_CRYP_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hcryp); - - /* Call output transfer complete callback */ -#if (USE_HAL_CRYP_REGISTER_CALLBACKS == 1) - /*Call registered Output complete callback*/ - hcryp->OutCpltCallback(hcryp); -#else - /*Call legacy weak Output complete callback*/ - HAL_CRYP_OutCpltCallback(hcryp); -#endif /* USE_HAL_CRYP_REGISTER_CALLBACKS */ - } - - else if (((hcryp->Size / 4U) - (hcryp->CrypInCount)) >= 4U) - { - /* Write the input block in the IN FIFO */ - hcryp->Instance->DINR = *(uint32_t *)(hcryp->pCrypInBuffPtr + hcryp->CrypInCount); - hcryp->CrypInCount++; - hcryp->Instance->DINR = *(uint32_t *)(hcryp->pCrypInBuffPtr + hcryp->CrypInCount); - hcryp->CrypInCount++; - hcryp->Instance->DINR = *(uint32_t *)(hcryp->pCrypInBuffPtr + hcryp->CrypInCount); - hcryp->CrypInCount++; - hcryp->Instance->DINR = *(uint32_t *)(hcryp->pCrypInBuffPtr + hcryp->CrypInCount); - hcryp->CrypInCount++; - if ((hcryp->CrypInCount == (hcryp->Size / 4U)) && ((hcryp->Size % 16U) == 0U)) - { - /* Call Input transfer complete callback */ -#if (USE_HAL_CRYP_REGISTER_CALLBACKS == 1) - /*Call registered Input complete callback*/ - hcryp->InCpltCallback(hcryp); -#else - /*Call legacy weak Input complete callback*/ - HAL_CRYP_InCpltCallback(hcryp); -#endif /* USE_HAL_CRYP_REGISTER_CALLBACKS */ - } - } - else /* Last block of payload < 128bit*/ - { - /* Workaround not implemented, Size should be %4 otherwise Tag will be incorrectly - generated for GCM Encryption & CCM Decryption. Workaround is implemented in polling mode, so if last block of - payload <128bit don't use CRYP_Encrypt_IT otherwise TAG is incorrectly generated for GCM Encryption & CCM Decryption. */ - - /* Compute the number of padding bytes in last block of payload */ - npblb = ((((uint32_t)(hcryp->Size) / 16U) + 1U) * 16U) - (uint32_t)(hcryp->Size); - - /* Number of valid words (lastwordsize) in last block */ - if ((npblb % 4U) == 0U) - { - lastwordsize = (16U - npblb) / 4U; - } - else - { - lastwordsize = ((16U - npblb) / 4U) + 1U; - } - - /* Last block optionally pad the data with zeros*/ - for (loopcounter = 0U; loopcounter < lastwordsize; loopcounter++) - { - hcryp->Instance->DINR = *(uint32_t *)(hcryp->pCrypInBuffPtr + hcryp->CrypInCount); - hcryp->CrypInCount++; - } - while (loopcounter < 4U) - { - /* pad the data with zeros to have a complete block */ - hcryp->Instance->DINR = 0x0U; - loopcounter++; - } - } -#endif /* AES */ - -} - - -/** - * @brief Sets the header phase in polling mode - * @param hcryp: pointer to a CRYP_HandleTypeDef structure that contains - * the configuration information for CRYP module(Header & HeaderSize) - * @param Timeout: Timeout value - * @retval state - */ -static HAL_StatusTypeDef CRYP_GCMCCM_SetHeaderPhase(CRYP_HandleTypeDef *hcryp, uint32_t Timeout) -{ - uint32_t loopcounter; - uint32_t size_in_bytes; - uint32_t tmp; - uint32_t mask[12] = {0x0U, 0xFF000000U, 0xFFFF0000U, 0xFFFFFF00U, /* 32-bit data type */ - 0x0U, 0x0000FF00U, 0x0000FFFFU, 0xFF00FFFFU, /* 16-bit data type */ - 0x0U, 0x000000FFU, 0x0000FFFFU, 0x00FFFFFFU}; /* 8-bit data type */ - - /***************************** Header phase for GCM/GMAC or CCM *********************************/ - - if (hcryp->Init.HeaderWidthUnit == CRYP_HEADERWIDTHUNIT_WORD) - { - size_in_bytes = hcryp->Init.HeaderSize * 4U; - } - else - { - size_in_bytes = hcryp->Init.HeaderSize; - } - - if (size_in_bytes != 0U) - { - -#if defined(CRYP) - - /* Select header phase */ - CRYP_SET_PHASE(hcryp, CRYP_PHASE_HEADER); - - /* Enable the CRYP peripheral */ - __HAL_CRYP_ENABLE(hcryp); - - if ((size_in_bytes % 16U) == 0U) - { - /* HeaderSize %4, no padding */ - for (loopcounter = 0U; (loopcounter < (size_in_bytes / 4U)); loopcounter += 4U) - { - hcryp->Instance->DIN = *(uint32_t *)(hcryp->Init.Header + hcryp->CrypHeaderCount); - hcryp->CrypHeaderCount++ ; - hcryp->Instance->DIN = *(uint32_t *)(hcryp->Init.Header + hcryp->CrypHeaderCount); - hcryp->CrypHeaderCount++ ; - hcryp->Instance->DIN = *(uint32_t *)(hcryp->Init.Header + hcryp->CrypHeaderCount); - hcryp->CrypHeaderCount++ ; - hcryp->Instance->DIN = *(uint32_t *)(hcryp->Init.Header + hcryp->CrypHeaderCount); - hcryp->CrypHeaderCount++ ; - - /* Wait for IFEM to be raised */ - if (CRYP_WaitOnIFEMFlag(hcryp, Timeout) != HAL_OK) - { - /* Disable the CRYP peripheral clock */ - __HAL_CRYP_DISABLE(hcryp); - - /* Change state */ - hcryp->ErrorCode |= HAL_CRYP_ERROR_TIMEOUT; - hcryp->State = HAL_CRYP_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hcryp); - return HAL_ERROR; - } - } - } - else - { - /*Write header block in the IN FIFO without last block */ - for (loopcounter = 0U; (loopcounter < ((size_in_bytes / 16U) * 4U)); loopcounter += 4U) - { - hcryp->Instance->DIN = *(uint32_t *)(hcryp->Init.Header + hcryp->CrypHeaderCount); - hcryp->CrypHeaderCount++ ; - hcryp->Instance->DIN = *(uint32_t *)(hcryp->Init.Header + hcryp->CrypHeaderCount); - hcryp->CrypHeaderCount++ ; - hcryp->Instance->DIN = *(uint32_t *)(hcryp->Init.Header + hcryp->CrypHeaderCount); - hcryp->CrypHeaderCount++ ; - hcryp->Instance->DIN = *(uint32_t *)(hcryp->Init.Header + hcryp->CrypHeaderCount); - hcryp->CrypHeaderCount++ ; - - /* Wait for IFEM to be raised */ - if (CRYP_WaitOnIFEMFlag(hcryp, Timeout) != HAL_OK) - { - /* Disable the CRYP peripheral clock */ - __HAL_CRYP_DISABLE(hcryp); - - /* Change state */ - hcryp->ErrorCode |= HAL_CRYP_ERROR_TIMEOUT; - hcryp->State = HAL_CRYP_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hcryp); - return HAL_ERROR; - } - } - /* Last block optionally pad the data with zeros*/ - for (loopcounter = 0U; (loopcounter < ((size_in_bytes / 4U) % 4U)); loopcounter++) - { - hcryp->Instance->DIN = *(uint32_t *)(hcryp->Init.Header + hcryp->CrypHeaderCount); - hcryp->CrypHeaderCount++ ; - } - /* If the header size is a multiple of words */ - if ((size_in_bytes % 4U) == 0U) - { - /* Pad the data with zeros to have a complete block */ - while (loopcounter < 4U) - { - hcryp->Instance->DIN = 0x0U; - loopcounter++; - } - } - else - { - /* Enter last bytes, padded with zeroes */ - tmp = *(uint32_t *)(hcryp->Init.Header + hcryp->CrypHeaderCount); - tmp &= mask[(hcryp->Init.DataType * 2U) + (size_in_bytes % 4U)]; - hcryp->Instance->DIN = tmp; - loopcounter++; - /* Pad the data with zeros to have a complete block */ - while (loopcounter < 4U) - { - hcryp->Instance->DIN = 0x0U; - loopcounter++; - } - } - /* Wait for CCF IFEM to be raised */ - if (CRYP_WaitOnIFEMFlag(hcryp, Timeout) != HAL_OK) - { - /* Disable the CRYP peripheral clock */ - __HAL_CRYP_DISABLE(hcryp); - - /* Change state */ - hcryp->ErrorCode |= HAL_CRYP_ERROR_TIMEOUT; - hcryp->State = HAL_CRYP_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hcryp); - return HAL_ERROR; - } - } - /* Wait until the complete message has been processed */ - if (CRYP_WaitOnBUSYFlag(hcryp, Timeout) != HAL_OK) - { - /* Disable the CRYP peripheral clock */ - __HAL_CRYP_DISABLE(hcryp); - - /* Change state */ - hcryp->ErrorCode |= HAL_CRYP_ERROR_TIMEOUT; - hcryp->State = HAL_CRYP_STATE_READY; - - /* Process unlocked & return error */ - __HAL_UNLOCK(hcryp); - return HAL_ERROR; - } - -#else /* AES */ - - if (hcryp->Init.Algorithm == CRYP_AES_GCM_GMAC) - { - /* Workaround 1 :only AES before re-enabling the IP, datatype can be configured.*/ - MODIFY_REG(hcryp->Instance->CR, AES_CR_DATATYPE, hcryp->Init.DataType); - - /* Select header phase */ - CRYP_SET_PHASE(hcryp, CRYP_PHASE_HEADER); - - /* Enable the CRYP peripheral */ - __HAL_CRYP_ENABLE(hcryp); - - } - /* If size_in_bytes is a multiple of blocks (a multiple of four 32-bits words ) */ - if ((size_in_bytes % 16U) == 0U) - { - /* No padding */ - for (loopcounter = 0U; (loopcounter < (size_in_bytes / 4U)); loopcounter += 4U) - { - /* Write the input block in the data input register */ - hcryp->Instance->DINR = *(uint32_t *)(hcryp->Init.Header + hcryp->CrypHeaderCount); - hcryp->CrypHeaderCount++ ; - hcryp->Instance->DINR = *(uint32_t *)(hcryp->Init.Header + hcryp->CrypHeaderCount); - hcryp->CrypHeaderCount++ ; - hcryp->Instance->DINR = *(uint32_t *)(hcryp->Init.Header + hcryp->CrypHeaderCount); - hcryp->CrypHeaderCount++ ; - hcryp->Instance->DINR = *(uint32_t *)(hcryp->Init.Header + hcryp->CrypHeaderCount); - hcryp->CrypHeaderCount++ ; - - if (CRYP_WaitOnCCFlag(hcryp, Timeout) != HAL_OK) - { - /* Disable the CRYP peripheral clock */ - __HAL_CRYP_DISABLE(hcryp); - - /* Change state */ - hcryp->ErrorCode |= HAL_CRYP_ERROR_TIMEOUT; - hcryp->State = HAL_CRYP_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hcryp); - return HAL_ERROR; - } - /* Clear CCF flag */ - __HAL_CRYP_CLEAR_FLAG(hcryp, CRYP_CCF_CLEAR); - } - } - else - { - /*Write header block in the IN FIFO without last block */ - for (loopcounter = 0U; (loopcounter < ((size_in_bytes / 16U) * 4U)); loopcounter += 4U) - { - /* Write the input block in the data input register */ - hcryp->Instance->DINR = *(uint32_t *)(hcryp->Init.Header + hcryp->CrypHeaderCount); - hcryp->CrypHeaderCount++ ; - hcryp->Instance->DINR = *(uint32_t *)(hcryp->Init.Header + hcryp->CrypHeaderCount); - hcryp->CrypHeaderCount++ ; - hcryp->Instance->DINR = *(uint32_t *)(hcryp->Init.Header + hcryp->CrypHeaderCount); - hcryp->CrypHeaderCount++ ; - hcryp->Instance->DINR = *(uint32_t *)(hcryp->Init.Header + hcryp->CrypHeaderCount); - hcryp->CrypHeaderCount++ ; - - if (CRYP_WaitOnCCFlag(hcryp, Timeout) != HAL_OK) - { - /* Disable the CRYP peripheral clock */ - __HAL_CRYP_DISABLE(hcryp); - - /* Change state */ - hcryp->ErrorCode |= HAL_CRYP_ERROR_TIMEOUT; - hcryp->State = HAL_CRYP_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hcryp); - return HAL_ERROR; - } - /* Clear CCF flag */ - __HAL_CRYP_CLEAR_FLAG(hcryp, CRYP_CCF_CLEAR); - } - /* Write last complete words */ - for (loopcounter = 0U; (loopcounter < ((size_in_bytes / 4U) % 4U)); loopcounter++) - { - hcryp->Instance->DINR = *(uint32_t *)(hcryp->Init.Header + hcryp->CrypHeaderCount); - hcryp->CrypHeaderCount++ ; - } - /* If the header size is a multiple of words */ - if ((size_in_bytes % 4U) == 0U) - { - /* Pad the data with zeros to have a complete block */ - while (loopcounter < 4U) - { - hcryp->Instance->DINR = 0x0U; - loopcounter++; - } - } - else - { - /* Enter last bytes, padded with zeroes */ - tmp = *(uint32_t *)(hcryp->Init.Header + hcryp->CrypHeaderCount); - tmp &= mask[(hcryp->Init.DataType * 2U) + (size_in_bytes % 4U)]; - hcryp->Instance->DINR = tmp; - loopcounter++; - /* Pad the data with zeros to have a complete block */ - while (loopcounter < 4U) - { - hcryp->Instance->DINR = 0x0U; - loopcounter++; - } - } - - if (CRYP_WaitOnCCFlag(hcryp, Timeout) != HAL_OK) - { - /* Disable the CRYP peripheral clock */ - __HAL_CRYP_DISABLE(hcryp); - - /* Change state */ - hcryp->ErrorCode |= HAL_CRYP_ERROR_TIMEOUT; - hcryp->State = HAL_CRYP_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hcryp); - return HAL_ERROR; - } - /* Clear CCF flag */ - __HAL_CRYP_CLEAR_FLAG(hcryp, CRYP_CCF_CLEAR); - } -#endif /* End AES or CRYP */ - } - else - { -#if defined(AES) - if (hcryp->Init.Algorithm == CRYP_AES_GCM_GMAC) - { - /*Workaround 1: only AES, before re-enabling the IP, datatype can be configured.*/ - MODIFY_REG(hcryp->Instance->CR, AES_CR_DATATYPE, hcryp->Init.DataType); - - /* Select header phase */ - CRYP_SET_PHASE(hcryp, CRYP_PHASE_HEADER); - - /* Enable the CRYP peripheral */ - __HAL_CRYP_ENABLE(hcryp); - } -#endif /* AES */ - } - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Sets the header phase when using DMA in process - * @param hcryp: pointer to a CRYP_HandleTypeDef structure that contains - * the configuration information for CRYP module(Header & HeaderSize) - * @retval None - */ -static HAL_StatusTypeDef CRYP_GCMCCM_SetHeaderPhase_DMA(CRYP_HandleTypeDef *hcryp) -{ - __IO uint32_t count = 0U; - uint32_t loopcounter; - uint32_t headersize_in_bytes; - uint32_t tmp; - uint32_t mask[12] = {0x0U, 0xFF000000U, 0xFFFF0000U, 0xFFFFFF00U, /* 32-bit data type */ - 0x0U, 0x0000FF00U, 0x0000FFFFU, 0xFF00FFFFU, /* 16-bit data type */ - 0x0U, 0x000000FFU, 0x0000FFFFU, 0x00FFFFFFU}; /* 8-bit data type */ - - /***************************** Header phase for GCM/GMAC or CCM *********************************/ - if (hcryp->Init.HeaderWidthUnit == CRYP_HEADERWIDTHUNIT_WORD) - { - headersize_in_bytes = hcryp->Init.HeaderSize * 4U; - } - else - { - headersize_in_bytes = hcryp->Init.HeaderSize; - } - - if (headersize_in_bytes != 0U) - { - -#if defined(CRYP) - - /* Select header phase */ - CRYP_SET_PHASE(hcryp, CRYP_PHASE_HEADER); - - /* Enable the CRYP peripheral */ - __HAL_CRYP_ENABLE(hcryp); - - if ((headersize_in_bytes % 16U) == 0U) - { - /* HeaderSize %4, no padding */ - for (loopcounter = 0U; (loopcounter < (headersize_in_bytes / 4U)); loopcounter += 4U) - { - hcryp->Instance->DIN = *(uint32_t *)(hcryp->Init.Header + hcryp->CrypHeaderCount); - hcryp->CrypHeaderCount++ ; - hcryp->Instance->DIN = *(uint32_t *)(hcryp->Init.Header + hcryp->CrypHeaderCount); - hcryp->CrypHeaderCount++ ; - hcryp->Instance->DIN = *(uint32_t *)(hcryp->Init.Header + hcryp->CrypHeaderCount); - hcryp->CrypHeaderCount++ ; - hcryp->Instance->DIN = *(uint32_t *)(hcryp->Init.Header + hcryp->CrypHeaderCount); - hcryp->CrypHeaderCount++ ; - - /* Wait for IFEM to be raised */ - count = CRYP_TIMEOUT_GCMCCMHEADERPHASE; - do - { - count-- ; - if (count == 0U) - { - /* Disable the CRYP peripheral clock */ - __HAL_CRYP_DISABLE(hcryp); - - /* Change state */ - hcryp->ErrorCode |= HAL_CRYP_ERROR_TIMEOUT; - hcryp->State = HAL_CRYP_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hcryp); - return HAL_ERROR; - } - } while (HAL_IS_BIT_CLR(hcryp->Instance->SR, CRYP_FLAG_IFEM)); - } - } - else - { - /*Write header block in the IN FIFO without last block */ - for (loopcounter = 0U; (loopcounter < ((headersize_in_bytes / 16U) * 4U)); loopcounter += 4U) - { - hcryp->Instance->DIN = *(uint32_t *)(hcryp->Init.Header + hcryp->CrypHeaderCount); - hcryp->CrypHeaderCount++ ; - hcryp->Instance->DIN = *(uint32_t *)(hcryp->Init.Header + hcryp->CrypHeaderCount); - hcryp->CrypHeaderCount++ ; - hcryp->Instance->DIN = *(uint32_t *)(hcryp->Init.Header + hcryp->CrypHeaderCount); - hcryp->CrypHeaderCount++ ; - hcryp->Instance->DIN = *(uint32_t *)(hcryp->Init.Header + hcryp->CrypHeaderCount); - hcryp->CrypHeaderCount++ ; - - /* Wait for IFEM to be raised */ - count = CRYP_TIMEOUT_GCMCCMHEADERPHASE; - do - { - count-- ; - if (count == 0U) - { - /* Disable the CRYP peripheral clock */ - __HAL_CRYP_DISABLE(hcryp); - - /* Change state */ - hcryp->ErrorCode |= HAL_CRYP_ERROR_TIMEOUT; - hcryp->State = HAL_CRYP_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hcryp); - return HAL_ERROR; - } - } while (HAL_IS_BIT_CLR(hcryp->Instance->SR, CRYP_FLAG_IFEM)); - } - /* Last block optionally pad the data with zeros*/ - for (loopcounter = 0U; (loopcounter < ((headersize_in_bytes / 4U) % 4U)); loopcounter++) - { - hcryp->Instance->DIN = *(uint32_t *)(hcryp->Init.Header + hcryp->CrypHeaderCount); - hcryp->CrypHeaderCount++ ; - } - /* If the header size is a multiple of words */ - if ((headersize_in_bytes % 4U) == 0U) - { - /* Pad the data with zeros to have a complete block */ - while (loopcounter < 4U) - { - hcryp->Instance->DIN = 0x0U; - loopcounter++; - } - } - else - { - /* Enter last bytes, padded with zeroes */ - tmp = *(uint32_t *)(hcryp->Init.Header + hcryp->CrypHeaderCount); - tmp &= mask[(hcryp->Init.DataType * 2U) + (headersize_in_bytes % 4U)]; - hcryp->Instance->DIN = tmp; - loopcounter++; - /* Pad the data with zeros to have a complete block */ - while (loopcounter < 4U) - { - hcryp->Instance->DIN = 0x0U; - loopcounter++; - } - } - /* Wait for IFEM to be raised */ - count = CRYP_TIMEOUT_GCMCCMHEADERPHASE; - do - { - count-- ; - if (count == 0U) - { - /* Disable the CRYP peripheral clock */ - __HAL_CRYP_DISABLE(hcryp); - - /* Change state */ - hcryp->ErrorCode |= HAL_CRYP_ERROR_TIMEOUT; - hcryp->State = HAL_CRYP_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hcryp); - return HAL_ERROR; - } - } while (HAL_IS_BIT_CLR(hcryp->Instance->SR, CRYP_FLAG_IFEM)); - } - /* Wait until the complete message has been processed */ - count = CRYP_TIMEOUT_GCMCCMHEADERPHASE; - do - { - count-- ; - if (count == 0U) - { - /* Disable the CRYP peripheral clock */ - __HAL_CRYP_DISABLE(hcryp); - - /* Change state */ - hcryp->ErrorCode |= HAL_CRYP_ERROR_TIMEOUT; - hcryp->State = HAL_CRYP_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hcryp); - return HAL_ERROR; - } - } while (HAL_IS_BIT_SET(hcryp->Instance->SR, CRYP_FLAG_BUSY)); - -#else /* AES */ - - if (hcryp->Init.Algorithm == CRYP_AES_GCM_GMAC) - { - /* Workaround 1: only AES, before re-enabling the IP, datatype can be configured.*/ - MODIFY_REG(hcryp->Instance->CR, AES_CR_DATATYPE, hcryp->Init.DataType); - - /* Select header phase */ - CRYP_SET_PHASE(hcryp, CRYP_PHASE_HEADER); - - /* Enable the CRYP peripheral */ - __HAL_CRYP_ENABLE(hcryp); - } - if ((headersize_in_bytes % 16U) == 0U) - { - /* HeaderSize %4, no padding */ - for (loopcounter = 0U; (loopcounter < (headersize_in_bytes / 4U)); loopcounter += 4U) - { - /* Write the input block in the data input register */ - hcryp->Instance->DINR = *(uint32_t *)(hcryp->Init.Header + hcryp->CrypHeaderCount); - hcryp->CrypHeaderCount++ ; - hcryp->Instance->DINR = *(uint32_t *)(hcryp->Init.Header + hcryp->CrypHeaderCount); - hcryp->CrypHeaderCount++ ; - hcryp->Instance->DINR = *(uint32_t *)(hcryp->Init.Header + hcryp->CrypHeaderCount); - hcryp->CrypHeaderCount++ ; - hcryp->Instance->DINR = *(uint32_t *)(hcryp->Init.Header + hcryp->CrypHeaderCount); - hcryp->CrypHeaderCount++ ; - - /*Wait on CCF flag*/ - count = CRYP_TIMEOUT_GCMCCMHEADERPHASE; - do - { - count-- ; - if (count == 0U) - { - /* Disable the CRYP peripheral clock */ - __HAL_CRYP_DISABLE(hcryp); - - /* Change state */ - hcryp->ErrorCode |= HAL_CRYP_ERROR_TIMEOUT; - hcryp->State = HAL_CRYP_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hcryp); - return HAL_ERROR; - } - } while (HAL_IS_BIT_CLR(hcryp->Instance->SR, AES_SR_CCF)); - - /* Clear CCF flag */ - __HAL_CRYP_CLEAR_FLAG(hcryp, CRYP_CCF_CLEAR); - } - } - else - { - /*Write header block in the IN FIFO without last block */ - for (loopcounter = 0U; (loopcounter < ((headersize_in_bytes / 16U) * 4U)); loopcounter += 4U) - { - /* Write the Input block in the Data Input register */ - hcryp->Instance->DINR = *(uint32_t *)(hcryp->Init.Header + hcryp->CrypHeaderCount); - hcryp->CrypHeaderCount++ ; - hcryp->Instance->DINR = *(uint32_t *)(hcryp->Init.Header + hcryp->CrypHeaderCount); - hcryp->CrypHeaderCount++ ; - hcryp->Instance->DINR = *(uint32_t *)(hcryp->Init.Header + hcryp->CrypHeaderCount); - hcryp->CrypHeaderCount++ ; - hcryp->Instance->DINR = *(uint32_t *)(hcryp->Init.Header + hcryp->CrypHeaderCount); - hcryp->CrypHeaderCount++ ; - - /*Wait on CCF flag*/ - count = CRYP_TIMEOUT_GCMCCMHEADERPHASE; - do - { - count-- ; - if (count == 0U) - { - /* Disable the CRYP peripheral clock */ - __HAL_CRYP_DISABLE(hcryp); - - /* Change state */ - hcryp->ErrorCode |= HAL_CRYP_ERROR_TIMEOUT; - hcryp->State = HAL_CRYP_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hcryp); - return HAL_ERROR; - } - } while (HAL_IS_BIT_CLR(hcryp->Instance->SR, AES_SR_CCF)); - - /* Clear CCF flag */ - __HAL_CRYP_CLEAR_FLAG(hcryp, CRYP_CCF_CLEAR); - } - /* Last block optionally pad the data with zeros*/ - for (loopcounter = 0U; (loopcounter < ((headersize_in_bytes /4U) % 4U)); loopcounter++) - { - hcryp->Instance->DINR = *(uint32_t *)(hcryp->Init.Header + hcryp->CrypHeaderCount); - hcryp->CrypHeaderCount++ ; - } - /* If the header size is a multiple of words */ - if ((headersize_in_bytes % 4U) == 0U) - { - /* Pad the data with zeros to have a complete block */ - while (loopcounter < 4U) - { - hcryp->Instance->DINR = 0x0U; - loopcounter++; - } - } - else - { - /* Enter last bytes, padded with zeroes */ - tmp = *(uint32_t *)(hcryp->Init.Header + hcryp->CrypHeaderCount); - tmp &= mask[(hcryp->Init.DataType * 2U) + (headersize_in_bytes % 4U)]; - hcryp->Instance->DINR = tmp; - loopcounter++; - /* Pad the data with zeros to have a complete block */ - while (loopcounter < 4U) - { - hcryp->Instance->DINR = 0x0U; - loopcounter++; - } - } - /*Wait on CCF flag*/ - count = CRYP_TIMEOUT_GCMCCMHEADERPHASE; - do - { - count-- ; - if (count == 0U) - { - /* Disable the CRYP peripheral clock */ - __HAL_CRYP_DISABLE(hcryp); - - /* Change state */ - hcryp->ErrorCode |= HAL_CRYP_ERROR_TIMEOUT; - hcryp->State = HAL_CRYP_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hcryp); - return HAL_ERROR; - } - } while (HAL_IS_BIT_CLR(hcryp->Instance->SR, AES_SR_CCF)); - - /* Clear CCF flag */ - __HAL_CRYP_CLEAR_FLAG(hcryp, CRYP_CCF_CLEAR); - } -#endif /* End AES or CRYP */ - } - else - { -#if defined(AES) - if (hcryp->Init.Algorithm == CRYP_AES_GCM_GMAC) - { - /*Workaround 1: only AES, before re-enabling the IP, datatype can be configured.*/ - MODIFY_REG(hcryp->Instance->CR, AES_CR_DATATYPE, hcryp->Init.DataType); - - /* Select header phase */ - CRYP_SET_PHASE(hcryp, CRYP_PHASE_HEADER); - - /* Enable the CRYP peripheral */ - __HAL_CRYP_ENABLE(hcryp); - } -#endif /* AES */ - } - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Sets the header phase in interrupt mode - * @param hcryp: pointer to a CRYP_HandleTypeDef structure that contains - * the configuration information for CRYP module(Header & HeaderSize) - * @retval None - */ -static void CRYP_GCMCCM_SetHeaderPhase_IT(CRYP_HandleTypeDef *hcryp) -{ - uint32_t loopcounter; -#if defined(AES) - uint32_t lastwordsize; - uint32_t npblb; -#endif - uint32_t headersize_in_bytes; - uint32_t tmp; - uint32_t mask[12] = {0x0U, 0xFF000000U, 0xFFFF0000U, 0xFFFFFF00U, /* 32-bit data type */ - 0x0U, 0x0000FF00U, 0x0000FFFFU, 0xFF00FFFFU, /* 16-bit data type */ - 0x0U, 0x000000FFU, 0x0000FFFFU, 0x00FFFFFFU}; /* 8-bit data type */ - - if (hcryp->Init.HeaderWidthUnit == CRYP_HEADERWIDTHUNIT_WORD) - { - headersize_in_bytes = hcryp->Init.HeaderSize * 4U; - } - else - { - headersize_in_bytes = hcryp->Init.HeaderSize; - } - - /***************************** Header phase *********************************/ - -#if defined(CRYP) - if (headersize_in_bytes <= ((uint32_t)(hcryp->CrypHeaderCount) * 4U)) - { - /* Disable interrupts */ - __HAL_CRYP_DISABLE_IT(hcryp, CRYP_IT_INI); - - /* Disable the CRYP peripheral */ - __HAL_CRYP_DISABLE(hcryp); - - /* Set the phase */ - hcryp->Phase = CRYP_PHASE_PROCESS; - - /* Select payload phase once the header phase is performed */ - CRYP_SET_PHASE(hcryp, CRYP_PHASE_PAYLOAD); - - /* Enable Interrupts */ - __HAL_CRYP_ENABLE_IT(hcryp, CRYP_IT_INI | CRYP_IT_OUTI); - - /* Enable the CRYP peripheral */ - __HAL_CRYP_ENABLE(hcryp); - } - else if (((headersize_in_bytes / 4U) - (hcryp->CrypHeaderCount)) >= 4U) - - { - /* HeaderSize %4, no padding */ - hcryp->Instance->DIN = *(uint32_t *)(hcryp->Init.Header + hcryp->CrypHeaderCount); - hcryp->CrypHeaderCount++ ; - hcryp->Instance->DIN = *(uint32_t *)(hcryp->Init.Header + hcryp->CrypHeaderCount); - hcryp->CrypHeaderCount++ ; - hcryp->Instance->DIN = *(uint32_t *)(hcryp->Init.Header + hcryp->CrypHeaderCount); - hcryp->CrypHeaderCount++ ; - hcryp->Instance->DIN = *(uint32_t *)(hcryp->Init.Header + hcryp->CrypHeaderCount); - hcryp->CrypHeaderCount++ ; - } - else - { - /* Last block optionally pad the data with zeros*/ - for (loopcounter = 0U; loopcounter < ((headersize_in_bytes / 4U) % 4U); loopcounter++) - { - hcryp->Instance->DIN = *(uint32_t *)(hcryp->Init.Header + hcryp->CrypHeaderCount); - hcryp->CrypHeaderCount++ ; - } - if ((headersize_in_bytes % 4U) == 0U) - { - /* Pad the data with zeros to have a complete block */ - while (loopcounter < 4U) - { - hcryp->Instance->DIN = 0x0U; - loopcounter++; - hcryp->CrypHeaderCount++; - } - } - else - { - /* Enter last bytes, padded with zeros */ - tmp = *(uint32_t *)(hcryp->Init.Header + hcryp->CrypHeaderCount); - tmp &= mask[(hcryp->Init.DataType * 2U) + (headersize_in_bytes % 4U)]; - hcryp->Instance->DIN = tmp; - loopcounter++; - hcryp->CrypHeaderCount++; - /* Pad the data with zeros to have a complete block */ - while (loopcounter < 4U) - { - hcryp->Instance->DIN = 0x0U; - loopcounter++; - hcryp->CrypHeaderCount++; - } - } - } -#else /* AES */ - - if (headersize_in_bytes <= ((uint32_t)(hcryp->CrypHeaderCount) * 4U)) - { - /* Set the phase */ - hcryp->Phase = CRYP_PHASE_PROCESS; - - /* Payload phase not supported in CCM AES2 */ - if (hcryp->Init.Algorithm == CRYP_AES_GCM_GMAC) - { - /* Select payload phase once the header phase is performed */ - MODIFY_REG(hcryp->Instance->CR, AES_CR_GCMPH, CRYP_PHASE_PAYLOAD); - } - if (hcryp->Init.Algorithm == CRYP_AES_CCM) - { - /* Increment CrypHeaderCount to pass in CRYP_GCMCCM_SetPayloadPhase_IT */ - hcryp->CrypHeaderCount++; - } - /* Write the payload Input block in the IN FIFO */ - if (hcryp->Size == 0U) - { - /* Disable interrupts */ - __HAL_CRYP_DISABLE_IT(hcryp, CRYP_IT_CCFIE | CRYP_IT_ERRIE); - - /* Change the CRYP state */ - hcryp->State = HAL_CRYP_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hcryp); - } - else if (hcryp->Size >= 16U) - { - hcryp->Instance->DINR = *(uint32_t *)(hcryp->pCrypInBuffPtr + hcryp->CrypInCount); - hcryp->CrypInCount++; - hcryp->Instance->DINR = *(uint32_t *)(hcryp->pCrypInBuffPtr + hcryp->CrypInCount); - hcryp->CrypInCount++; - hcryp->Instance->DINR = *(uint32_t *)(hcryp->pCrypInBuffPtr + hcryp->CrypInCount); - hcryp->CrypInCount++; - hcryp->Instance->DINR = *(uint32_t *)(hcryp->pCrypInBuffPtr + hcryp->CrypInCount); - hcryp->CrypInCount++; - - if ((hcryp->CrypInCount == (hcryp->Size / 4U)) && ((hcryp->Size % 16U) == 0U)) - { - /* Call the input data transfer complete callback */ -#if (USE_HAL_CRYP_REGISTER_CALLBACKS == 1) - /*Call registered Input complete callback*/ - hcryp->InCpltCallback(hcryp); -#else - /*Call legacy weak Input complete callback*/ - HAL_CRYP_InCpltCallback(hcryp); -#endif /* USE_HAL_CRYP_REGISTER_CALLBACKS */ - } - } - else /* Size < 4 words : first block is the last block*/ - { - /* Workaround not implemented, Size should be %4 otherwise Tag will be incorrectly - generated for GCM Encryption. Workaround is implemented in polling mode, so if last block of - payload <128bit don't use CRYP_Encrypt_IT otherwise TAG is incorrectly generated for GCM Encryption. */ - - /* Compute the number of padding bytes in last block of payload */ - npblb = ((((uint32_t)(hcryp->Size) / 16U) + 1U) * 16U) - (uint32_t)(hcryp->Size); - - /* Number of valid words (lastwordsize) in last block */ - if ((npblb % 4U) == 0U) - { - lastwordsize = (16U - npblb) / 4U; - } - else - { - lastwordsize = ((16U - npblb) / 4U) + 1U; - } - - /* Last block optionally pad the data with zeros*/ - for (loopcounter = 0U; loopcounter < lastwordsize; loopcounter++) - { - hcryp->Instance->DINR = *(uint32_t *)(hcryp->pCrypInBuffPtr + hcryp->CrypInCount); - hcryp->CrypInCount++; - } - while (loopcounter < 4U) - { - /* Pad the data with zeros to have a complete block */ - hcryp->Instance->DINR = 0x0U; - loopcounter++; - } - } - } - else if (((headersize_in_bytes / 4U) - (hcryp->CrypHeaderCount)) >= 4U) - { - /* Write the input block in the IN FIFO */ - hcryp->Instance->DINR = *(uint32_t *)(hcryp->Init.Header + hcryp->CrypHeaderCount); - hcryp->CrypHeaderCount++; - hcryp->Instance->DINR = *(uint32_t *)(hcryp->Init.Header + hcryp->CrypHeaderCount); - hcryp->CrypHeaderCount++; - hcryp->Instance->DINR = *(uint32_t *)(hcryp->Init.Header + hcryp->CrypHeaderCount); - hcryp->CrypHeaderCount++; - hcryp->Instance->DINR = *(uint32_t *)(hcryp->Init.Header + hcryp->CrypHeaderCount); - hcryp->CrypHeaderCount++; - } - else /*HeaderSize < 4 or HeaderSize >4 & HeaderSize %4 != 0*/ - { - /* Last block optionally pad the data with zeros*/ - for (loopcounter = 0U; loopcounter < ((headersize_in_bytes / 4U) % 4U); loopcounter++) - { - hcryp->Instance->DINR = *(uint32_t *)(hcryp->Init.Header + hcryp->CrypHeaderCount); - hcryp->CrypHeaderCount++ ; - } - /* If the header size is a multiple of words */ - if ((headersize_in_bytes % 4U) == 0U) - { - /* Pad the data with zeros to have a complete block */ - while (loopcounter < 4U) - { - hcryp->Instance->DINR = 0x0U; - loopcounter++; - hcryp->CrypHeaderCount++; - } - } - else - { - /* Enter last bytes, padded with zeros */ - tmp = *(uint32_t *)(hcryp->Init.Header + hcryp->CrypHeaderCount); - tmp &= mask[(hcryp->Init.DataType * 2U) + (headersize_in_bytes % 4U)]; - hcryp->Instance->DINR = tmp; - loopcounter++; - hcryp->CrypHeaderCount++; - /* Pad the data with zeros to have a complete block */ - while (loopcounter < 4U) - { - hcryp->Instance->DINR = 0x0U; - loopcounter++; - hcryp->CrypHeaderCount++; - } - } - } -#endif /* End AES or CRYP */ -} - - -/** - * @brief Workaround used for GCM/CCM mode. - * @param hcryp: pointer to a CRYP_HandleTypeDef structure that contains - * the configuration information for CRYP module - * @param Timeout: specify Timeout value - * @retval None - */ -static void CRYP_Workaround(CRYP_HandleTypeDef *hcryp, uint32_t Timeout) -{ - uint32_t lastwordsize; - uint32_t npblb; -#if defined(CRYP) - uint32_t iv1temp; - uint32_t temp[4] = {0}; - uint32_t temp2[4] = {0}; -#endif /* CRYP */ - uint32_t intermediate_data[4] = {0}; - uint32_t index; - - /* Compute the number of padding bytes in last block of payload */ - npblb = ((((uint32_t)(hcryp->Size) / 16U) + 1U) * 16U) - (uint32_t)(hcryp->Size); - - /* Number of valid words (lastwordsize) in last block */ - if ((npblb % 4U) == 0U) - { - lastwordsize = (16U - npblb) / 4U; - } - else - { - lastwordsize = ((16U - npblb) / 4U) + 1U; - } - -#if defined(CRYP) - - /* Workaround 2, case GCM encryption */ - if (hcryp->Init.Algorithm == CRYP_AES_GCM) - { - if ((hcryp->Instance->CR & CRYP_CR_ALGODIR) == CRYP_OPERATINGMODE_ENCRYPT) - { - /*Workaround in order to properly compute authentication tags while doing - a GCM encryption with the last block of payload size inferior to 128 bits*/ - /* Disable CRYP to start the final phase */ - __HAL_CRYP_DISABLE(hcryp); - - /*Update CRYP_IV1R register and ALGOMODE*/ - hcryp->Instance->IV1RR = ((hcryp->Instance->CSGCMCCM7R) - 1U); - MODIFY_REG(hcryp->Instance->CR, CRYP_CR_ALGOMODE, CRYP_AES_CTR); - - /* Enable CRYP to start the final phase */ - __HAL_CRYP_ENABLE(hcryp); - } - /* Last block optionally pad the data with zeros*/ - for (index = 0; index < lastwordsize; index ++) - { - /* Write the last input block in the IN FIFO */ - hcryp->Instance->DIN = *(uint32_t *)(hcryp->pCrypInBuffPtr + hcryp->CrypInCount); - hcryp->CrypInCount++; - } - while (index < 4U) - { - /* Pad the data with zeros to have a complete block */ - hcryp->Instance->DIN = 0U; - index++; - } - /* Wait for OFNE flag to be raised */ - if (CRYP_WaitOnOFNEFlag(hcryp, Timeout) != HAL_OK) - { - /* Disable the CRYP peripheral clock */ - __HAL_CRYP_DISABLE(hcryp); - - /* Change state */ - hcryp->ErrorCode |= HAL_CRYP_ERROR_TIMEOUT; - hcryp->State = HAL_CRYP_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hcryp); -#if (USE_HAL_CRYP_REGISTER_CALLBACKS == 1) - /*Call registered error callback*/ - hcryp->ErrorCallback(hcryp); -#else - /*Call legacy weak error callback*/ - HAL_CRYP_ErrorCallback(hcryp); -#endif /* USE_HAL_CRYP_REGISTER_CALLBACKS */ - } - if ((hcryp->Instance->SR & CRYP_FLAG_OFNE) != 0x0U) - { - for (index = 0U; index < 4U; index++) - { - /* Read the output block from the output FIFO */ - intermediate_data[index] = hcryp->Instance->DOUT; - - /* Intermediate data buffer to be used in for the workaround*/ - *(uint32_t *)(hcryp->pCrypOutBuffPtr + (hcryp->CrypOutCount)) = intermediate_data[index]; - hcryp->CrypOutCount++; - } - } - - if ((hcryp->Instance->CR & CRYP_CR_ALGODIR) == CRYP_OPERATINGMODE_ENCRYPT) - { - /*workaround in order to properly compute authentication tags while doing - a GCM encryption with the last block of payload size inferior to 128 bits*/ - /* Change the AES mode to GCM mode and Select Final phase */ - /* configured CHMOD GCM */ - MODIFY_REG(hcryp->Instance->CR, CRYP_CR_ALGOMODE, CRYP_AES_GCM); - - /* configured final phase */ - MODIFY_REG(hcryp->Instance->CR, CRYP_CR_GCM_CCMPH, CRYP_PHASE_FINAL); - - if ((hcryp->Instance->CR & CRYP_CR_DATATYPE) == CRYP_DATATYPE_32B) - { - if ((npblb % 4U) == 1U) - { - intermediate_data[lastwordsize - 1U] &= 0xFFFFFF00U; - } - if ((npblb % 4U) == 2U) - { - intermediate_data[lastwordsize - 1U] &= 0xFFFF0000U; - } - if ((npblb % 4U) == 3U) - { - intermediate_data[lastwordsize - 1U] &= 0xFF000000U; - } - } - else if ((hcryp->Instance->CR & CRYP_CR_DATATYPE) == CRYP_DATATYPE_8B) - { - if ((npblb % 4U) == 1U) - { - intermediate_data[lastwordsize - 1U] &= __REV(0xFFFFFF00U); - } - if ((npblb % 4U) == 2U) - { - intermediate_data[lastwordsize - 1U] &= __REV(0xFFFF0000U); - } - if ((npblb % 4U) == 3U) - { - intermediate_data[lastwordsize - 1U] &= __REV(0xFF000000U); - } - } - else if ((hcryp->Instance->CR & CRYP_CR_DATATYPE) == CRYP_DATATYPE_16B) - { - if ((npblb % 4U) == 1U) - { - intermediate_data[lastwordsize - 1U] &= __ROR((0xFFFFFF00U), 16); - } - if ((npblb % 4U) == 2U) - { - intermediate_data[lastwordsize - 1U] &= __ROR((0xFFFF0000U), 16); - } - if ((npblb % 4U) == 3U) - { - intermediate_data[lastwordsize - 1U] &= __ROR((0xFF000000U), 16); - } - } - else /*CRYP_DATATYPE_1B*/ - { - if ((npblb % 4U) == 1U) - { - intermediate_data[lastwordsize - 1U] &= __RBIT(0xFFFFFF00U); - } - if ((npblb % 4U) == 2U) - { - intermediate_data[lastwordsize - 1U] &= __RBIT(0xFFFF0000U); - } - if ((npblb % 4U) == 3U) - { - intermediate_data[lastwordsize - 1U] &= __RBIT(0xFF000000U); - } - } - for (index = 0U; index < lastwordsize; index ++) - { - /*Write the intermediate_data in the IN FIFO */ - hcryp->Instance->DIN = intermediate_data[index]; - } - while (index < 4U) - { - /* Pad the data with zeros to have a complete block */ - hcryp->Instance->DIN = 0x0U; - index++; - } - /* Wait for OFNE flag to be raised */ - if (CRYP_WaitOnOFNEFlag(hcryp, Timeout) != HAL_OK) - { - /* Disable the CRYP peripheral clock */ - __HAL_CRYP_DISABLE(hcryp); - - /* Change state */ - hcryp->ErrorCode |= HAL_CRYP_ERROR_TIMEOUT; - hcryp->State = HAL_CRYP_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hcryp); -#if (USE_HAL_CRYP_REGISTER_CALLBACKS == 1) - /*Call registered error callback*/ - hcryp->ErrorCallback(hcryp); -#else - /*Call legacy weak error callback*/ - HAL_CRYP_ErrorCallback(hcryp); -#endif /* USE_HAL_CRYP_REGISTER_CALLBACKS */ - } - - if ((hcryp->Instance->SR & CRYP_FLAG_OFNE) != 0x0U) - { - for (index = 0U; index < 4U; index++) - { - intermediate_data[index] = hcryp->Instance->DOUT; - } - } - } - } /* End of GCM encryption */ - else - { - /* Workaround 2, case CCM decryption, in order to properly compute - authentication tags while doing a CCM decryption with the last block - of payload size inferior to 128 bits*/ - - if ((hcryp->Instance->CR & CRYP_CR_ALGODIR) == CRYP_OPERATINGMODE_DECRYPT) - { - iv1temp = hcryp->Instance->CSGCMCCM7R; - - /* Disable CRYP to start the final phase */ - __HAL_CRYP_DISABLE(hcryp); - - temp[0] = hcryp->Instance->CSGCMCCM0R; - temp[1] = hcryp->Instance->CSGCMCCM1R; - temp[2] = hcryp->Instance->CSGCMCCM2R; - temp[3] = hcryp->Instance->CSGCMCCM3R; - - hcryp->Instance->IV1RR = iv1temp; - - /* Configured CHMOD CTR */ - MODIFY_REG(hcryp->Instance->CR, CRYP_CR_ALGOMODE, CRYP_AES_CTR); - - /* Enable CRYP to start the final phase */ - __HAL_CRYP_ENABLE(hcryp); - } - /* Last block optionally pad the data with zeros*/ - for (index = 0; index < lastwordsize; index ++) - { - /* Write the last Input block in the IN FIFO */ - hcryp->Instance->DIN = *(uint32_t *)(hcryp->pCrypInBuffPtr + hcryp->CrypInCount); - hcryp->CrypInCount++; - } - while (index < 4U) - { - /* Pad the data with zeros to have a complete block */ - hcryp->Instance->DIN = 0U; - index++; - } - /* Wait for OFNE flag to be raised */ - if (CRYP_WaitOnOFNEFlag(hcryp, Timeout) != HAL_OK) - { - /* Disable the CRYP peripheral clock */ - __HAL_CRYP_DISABLE(hcryp); - - /* Change state */ - hcryp->ErrorCode |= HAL_CRYP_ERROR_TIMEOUT; - hcryp->State = HAL_CRYP_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hcryp); -#if (USE_HAL_CRYP_REGISTER_CALLBACKS == 1U) - /*Call registered error callback*/ - hcryp->ErrorCallback(hcryp); -#else - /*Call legacy weak error callback*/ - HAL_CRYP_ErrorCallback(hcryp); -#endif /* USE_HAL_CRYP_REGISTER_CALLBACKS */ - } - - if ((hcryp->Instance->SR & CRYP_FLAG_OFNE) != 0x0U) - { - for (index = 0U; index < 4U; index++) - { - /* Read the Output block from the Output FIFO */ - intermediate_data[index] = hcryp->Instance->DOUT; - - /*intermediate data buffer to be used in for the workaround*/ - *(uint32_t *)(hcryp->pCrypOutBuffPtr + (hcryp->CrypOutCount)) = intermediate_data[index]; - hcryp->CrypOutCount++; - } - } - - if ((hcryp->Instance->CR & CRYP_CR_ALGODIR) == CRYP_OPERATINGMODE_DECRYPT) - { - temp2[0] = hcryp->Instance->CSGCMCCM0R; - temp2[1] = hcryp->Instance->CSGCMCCM1R; - temp2[2] = hcryp->Instance->CSGCMCCM2R; - temp2[3] = hcryp->Instance->CSGCMCCM3R; - - /* configured CHMOD CCM */ - MODIFY_REG(hcryp->Instance->CR, CRYP_CR_ALGOMODE, CRYP_AES_CCM); - - /* configured Header phase */ - MODIFY_REG(hcryp->Instance->CR, CRYP_CR_GCM_CCMPH, CRYP_PHASE_HEADER); - - /*set to zero the bits corresponding to the padded bits*/ - for (index = lastwordsize; index < 4U; index ++) - { - intermediate_data[index] = 0U; - } - if ((npblb % 4U) == 1U) - { - intermediate_data[lastwordsize - 1U] &= 0xFFFFFF00U; - } - if ((npblb % 4U) == 2U) - { - intermediate_data[lastwordsize - 1U] &= 0xFFFF0000U; - } - if ((npblb % 4U) == 3U) - { - intermediate_data[lastwordsize - 1U] &= 0xFF000000U; - } - for (index = 0U; index < 4U ; index ++) - { - intermediate_data[index] ^= temp[index]; - intermediate_data[index] ^= temp2[index]; - } - for (index = 0U; index < 4U; index ++) - { - /* Write the last Input block in the IN FIFO */ - hcryp->Instance->DIN = intermediate_data[index] ; - } - - /* Wait for BUSY flag to be raised */ - if (CRYP_WaitOnBUSYFlag(hcryp, Timeout) != HAL_OK) - { - /* Disable the CRYP peripheral clock */ - __HAL_CRYP_DISABLE(hcryp); - - /* Change state */ - hcryp->ErrorCode |= HAL_CRYP_ERROR_TIMEOUT; - hcryp->State = HAL_CRYP_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hcryp); -#if (USE_HAL_CRYP_REGISTER_CALLBACKS == 1U) - /*Call registered error callback*/ - hcryp->ErrorCallback(hcryp); -#else - /*Call legacy weak error callback*/ - HAL_CRYP_ErrorCallback(hcryp); -#endif /* USE_HAL_CRYP_REGISTER_CALLBACKS */ - } - } - } /* End of CCM WKA*/ - - /* Process Unlocked */ - __HAL_UNLOCK(hcryp); - -#else /* AES */ - - /*Workaround 2: case GCM encryption, during payload phase and before inserting - the last block of paylaod, which size is inferior to 128 bits */ - - if ((hcryp->Instance->CR & AES_CR_MODE) == CRYP_OPERATINGMODE_ENCRYPT) - { - /* configured CHMOD CTR */ - MODIFY_REG(hcryp->Instance->CR, AES_CR_CHMOD, CRYP_AES_CTR); - } - /* last block optionally pad the data with zeros*/ - for (index = 0U; index < lastwordsize; index ++) - { - /* Write the last Input block in the IN FIFO */ - hcryp->Instance->DINR = *(uint32_t *)(hcryp->pCrypInBuffPtr + hcryp->CrypInCount); - hcryp->CrypInCount++; - } - while (index < 4U) - { - /* pad the data with zeros to have a complete block */ - hcryp->Instance->DINR = 0U; - index++; - } - /* Wait for CCF flag to be raised */ - if (CRYP_WaitOnCCFlag(hcryp, Timeout) != HAL_OK) - { - hcryp->State = HAL_CRYP_STATE_READY; - __HAL_UNLOCK(hcryp); -#if (USE_HAL_CRYP_REGISTER_CALLBACKS == 1U) - /*Call registered error callback*/ - hcryp->ErrorCallback(hcryp); -#else - /*Call legacy weak error callback*/ - HAL_CRYP_ErrorCallback(hcryp); -#endif /* USE_HAL_CRYP_REGISTER_CALLBACKS */ - } - - /* Clear CCF Flag */ - __HAL_CRYP_CLEAR_FLAG(hcryp, CRYP_CCF_CLEAR); - - for (index = 0U; index < 4U; index++) - { - /* Read the Output block from the Output FIFO */ - intermediate_data[index] = hcryp->Instance->DOUTR; - - /*intermediate data buffer to be used in the workaround*/ - *(uint32_t *)(hcryp->pCrypOutBuffPtr + (hcryp->CrypOutCount)) = intermediate_data[index]; - hcryp->CrypOutCount++; - } - - if ((hcryp->Instance->CR & AES_CR_MODE) == CRYP_OPERATINGMODE_ENCRYPT) - { - /* configured CHMOD GCM */ - MODIFY_REG(hcryp->Instance->CR, AES_CR_CHMOD, CRYP_AES_GCM_GMAC); - - /* Select final phase */ - MODIFY_REG(hcryp->Instance->CR, AES_CR_GCMPH, CRYP_PHASE_FINAL); - - if ((hcryp->Instance->CR & AES_CR_DATATYPE) == CRYP_DATATYPE_32B) - { - if ((npblb % 4U) == 1U) - { - intermediate_data[lastwordsize - 1U] &= 0xFFFFFF00U; - } - if ((npblb % 4U) == 2U) - { - intermediate_data[lastwordsize - 1U] &= 0xFFFF0000U; - } - if ((npblb % 4U) == 3U) - { - intermediate_data[lastwordsize - 1U] &= 0xFF000000U; - } - } - else if ((hcryp->Instance->CR & AES_CR_DATATYPE) == CRYP_DATATYPE_8B) - { - if ((npblb % 4U) == 1U) - { - intermediate_data[lastwordsize - 1U] &= __REV(0xFFFFFF00U); - } - if ((npblb % 4U) == 2U) - { - intermediate_data[lastwordsize - 1U] &= __REV(0xFFFF0000U); - } - if ((npblb % 4U) == 3U) - { - intermediate_data[lastwordsize - 1U] &= __REV(0xFF000000U); - } - } - else if ((hcryp->Instance->CR & AES_CR_DATATYPE) == CRYP_DATATYPE_16B) - { - if ((npblb % 4U) == 1U) - { - intermediate_data[lastwordsize - 1U] &= __ROR((0xFFFFFF00U), 16); - } - if ((npblb % 4U) == 2U) - { - intermediate_data[lastwordsize - 1U] &= __ROR((0xFFFF0000U), 16); - } - if ((npblb % 4U) == 3U) - { - intermediate_data[lastwordsize - 1U] &= __ROR((0xFF000000U), 16); - } - } - else /*CRYP_DATATYPE_1B*/ - { - if ((npblb % 4U) == 1U) - { - intermediate_data[lastwordsize - 1U] &= __RBIT(0xFFFFFF00U); - } - if ((npblb % 4U) == 2U) - { - intermediate_data[lastwordsize - 1U] &= __RBIT(0xFFFF0000U); - } - if ((npblb % 4U) == 3U) - { - intermediate_data[lastwordsize - 1U] &= __RBIT(0xFF000000U); - } - } - - /*Write the intermediate_data in the IN FIFO */ - for (index = 0U; index < lastwordsize; index ++) - { - hcryp->Instance->DINR = intermediate_data[index]; - } - while (index < 4U) - { - /* pad the data with zeros to have a complete block */ - hcryp->Instance->DINR = 0U; - index++; - } - /* Wait for CCF flag to be raised */ - if (CRYP_WaitOnCCFlag(hcryp, Timeout) != HAL_OK) - { - /* Disable the CRYP peripheral clock */ - __HAL_CRYP_DISABLE(hcryp); - - /* Change state */ - hcryp->ErrorCode |= HAL_CRYP_ERROR_TIMEOUT; - hcryp->State = HAL_CRYP_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hcryp); -#if (USE_HAL_CRYP_REGISTER_CALLBACKS == 1U) - /*Call registered error callback*/ - hcryp->ErrorCallback(hcryp); -#else - /*Call legacy weak error callback*/ - HAL_CRYP_ErrorCallback(hcryp); -#endif /* USE_HAL_CRYP_REGISTER_CALLBACKS */ - } - /* Clear CCF Flag */ - __HAL_CRYP_CLEAR_FLAG(hcryp, CRYP_CCF_CLEAR); - - for (index = 0U; index < 4U; index++) - { - intermediate_data[index] = hcryp->Instance->DOUTR; - } - }/*End of Workaround 2*/ -#endif /* End AES or CRYP */ -} -#endif /* AES or GCM CCM defined*/ -#if defined (CRYP) -#if defined (CRYP_CR_ALGOMODE_AES_GCM) -/** - * @brief Handle CRYP hardware block Timeout when waiting for IFEM flag to be raised. - * @param hcryp: pointer to a CRYP_HandleTypeDef structure that contains - * the configuration information for CRYP module. - * @param Timeout: Timeout duration. - * @retval HAL status - */ -static HAL_StatusTypeDef CRYP_WaitOnIFEMFlag(CRYP_HandleTypeDef *hcryp, uint32_t Timeout) -{ - uint32_t tickstart; - - /* Get timeout */ - tickstart = HAL_GetTick(); - - while (HAL_IS_BIT_CLR(hcryp->Instance->SR, CRYP_FLAG_IFEM)) - { - /* Check for the Timeout */ - if (Timeout != HAL_MAX_DELAY) - { - if (((HAL_GetTick() - tickstart) > Timeout) || (Timeout == 0U)) - { - return HAL_ERROR; - } - } - } - return HAL_OK; -} -#endif /* GCM CCM defined*/ -/** - * @brief Handle CRYP hardware block Timeout when waiting for BUSY flag to be raised. - * @param hcryp: pointer to a CRYP_HandleTypeDef structure that contains - * the configuration information for CRYP module. - * @param Timeout: Timeout duration. - * @retval HAL status - */ -static HAL_StatusTypeDef CRYP_WaitOnBUSYFlag(CRYP_HandleTypeDef *hcryp, uint32_t Timeout) -{ - uint32_t tickstart; - - /* Get timeout */ - tickstart = HAL_GetTick(); - - while (HAL_IS_BIT_SET(hcryp->Instance->SR, CRYP_FLAG_BUSY)) - { - /* Check for the Timeout */ - if (Timeout != HAL_MAX_DELAY) - { - if (((HAL_GetTick() - tickstart) > Timeout) || (Timeout == 0U)) - { - return HAL_ERROR; - } - } - } - return HAL_OK; -} - - -/** - * @brief Handle CRYP hardware block Timeout when waiting for OFNE flag to be raised. - * @param hcryp: pointer to a CRYP_HandleTypeDef structure that contains - * the configuration information for CRYP module. - * @param Timeout: Timeout duration. - * @retval HAL status - */ -static HAL_StatusTypeDef CRYP_WaitOnOFNEFlag(CRYP_HandleTypeDef *hcryp, uint32_t Timeout) -{ - uint32_t tickstart; - - /* Get timeout */ - tickstart = HAL_GetTick(); - - while (HAL_IS_BIT_CLR(hcryp->Instance->SR, CRYP_FLAG_OFNE)) - { - /* Check for the Timeout */ - if (Timeout != HAL_MAX_DELAY) - { - if (((HAL_GetTick() - tickstart) > Timeout) || (Timeout == 0U)) - { - return HAL_ERROR; - } - } - } - return HAL_OK; -} - -#else /* AES */ - -/** - * @brief Handle CRYP hardware block Timeout when waiting for CCF flag to be raised. - * @param hcryp: pointer to a CRYP_HandleTypeDef structure that contains - * the configuration information for CRYP module. - * @param Timeout: Timeout duration. - * @retval HAL status - */ -static HAL_StatusTypeDef CRYP_WaitOnCCFlag(CRYP_HandleTypeDef *hcryp, uint32_t Timeout) -{ - uint32_t tickstart; - - /* Get timeout */ - tickstart = HAL_GetTick(); - - while (HAL_IS_BIT_CLR(hcryp->Instance->SR, AES_SR_CCF)) - { - /* Check for the Timeout */ - if (Timeout != HAL_MAX_DELAY) - { - if (((HAL_GetTick() - tickstart) > Timeout) || (Timeout == 0U)) - { - return HAL_ERROR; - } - } - } - return HAL_OK; -} - -#endif /* End AES or CRYP */ - - -/** - * @} - */ - - - -/** - * @} - */ - -/** - * @} - */ - -#endif /* HAL_CRYP_MODULE_ENABLED */ - - -/** - * @} - */ -#endif /* TinyAES or CRYP*/ -/** - * @} - */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cryp_ex.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cryp_ex.c deleted file mode 100644 index 43b238a13bde20..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cryp_ex.c +++ /dev/null @@ -1,681 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_cryp_ex.c - * @author MCD Application Team - * @brief Extended CRYP HAL module driver - * This file provides firmware functions to manage the following - * functionalities of CRYP extension peripheral: - * + Extended AES processing functions - * - @verbatim - ============================================================================== - ##### How to use this driver ##### - ============================================================================== - [..] - The CRYP extension HAL driver can be used as follows: - (#)After AES-GCM or AES-CCM Encryption/Decryption user can start following API - to get the authentication messages : - (##) HAL_CRYPEx_AESGCM_GenerateAuthTAG - (##) HAL_CRYPEx_AESCCM_GenerateAuthTAG - - @endverbatim - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ -#if defined (AES) || defined (CRYP) -#if defined (CRYP_CR_ALGOMODE_AES_GCM)|| defined (AES) -/** @defgroup CRYPEx CRYPEx - * @brief CRYP Extension HAL module driver. - * @{ - */ - - -#ifdef HAL_CRYP_MODULE_ENABLED - -/* Private typedef -----------------------------------------------------------*/ -/* Private define ------------------------------------------------------------*/ -/** @addtogroup CRYPEx_Private_Defines - * @{ - */ -#if defined(AES) -#define CRYP_PHASE_INIT 0x00000000U /*!< GCM/GMAC (or CCM) init phase */ -#define CRYP_PHASE_HEADER AES_CR_GCMPH_0 /*!< GCM/GMAC or CCM header phase */ -#define CRYP_PHASE_PAYLOAD AES_CR_GCMPH_1 /*!< GCM(/CCM) payload phase */ -#define CRYP_PHASE_FINAL AES_CR_GCMPH /*!< GCM/GMAC or CCM final phase */ - -#define CRYP_OPERATINGMODE_ENCRYPT 0x00000000U /*!< Encryption mode */ -#define CRYP_OPERATINGMODE_KEYDERIVATION AES_CR_MODE_0 /*!< Key derivation mode only used when performing ECB and CBC decryptions */ -#define CRYP_OPERATINGMODE_DECRYPT AES_CR_MODE_1 /*!< Decryption */ -#define CRYP_OPERATINGMODE_KEYDERIVATION_DECRYPT AES_CR_MODE /*!< Key derivation and decryption only used when performing ECB and CBC decryptions */ - -#else /* CRYP */ - -#define CRYP_PHASE_INIT 0x00000000U -#define CRYP_PHASE_HEADER CRYP_CR_GCM_CCMPH_0 -#define CRYP_PHASE_PAYLOAD CRYP_CR_GCM_CCMPH_1 -#define CRYP_PHASE_FINAL CRYP_CR_GCM_CCMPH - -#define CRYP_OPERATINGMODE_ENCRYPT 0x00000000U -#define CRYP_OPERATINGMODE_DECRYPT CRYP_CR_ALGODIR -#endif /* End AES or CRYP */ - -#define CRYPEx_PHASE_PROCESS 0x02U /*!< CRYP peripheral is in processing phase */ -#define CRYPEx_PHASE_FINAL 0x03U /*!< CRYP peripheral is in final phase this is relevant only with CCM and GCM modes */ - -/* CTR0 information to use in CCM algorithm */ -#define CRYP_CCM_CTR0_0 0x07FFFFFFU -#define CRYP_CCM_CTR0_3 0xFFFFFF00U - - -/** - * @} - */ - -/* Private macro -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private function prototypes -----------------------------------------------*/ - - - -/* Exported functions---------------------------------------------------------*/ -/** @addtogroup CRYPEx_Exported_Functions - * @{ - */ - -/** @defgroup CRYPEx_Exported_Functions_Group1 Extended AES processing functions - * @brief Extended processing functions. - * -@verbatim - ============================================================================== - ##### Extended AES processing functions ##### - ============================================================================== - [..] This section provides functions allowing to generate the authentication - TAG in Polling mode - (#)HAL_CRYPEx_AESGCM_GenerateAuthTAG - (#)HAL_CRYPEx_AESCCM_GenerateAuthTAG - they should be used after Encrypt/Decrypt operation. - -@endverbatim - * @{ - */ - - -/** - * @brief generate the GCM authentication TAG. - * @param hcryp: pointer to a CRYP_HandleTypeDef structure that contains - * the configuration information for CRYP module - * @param AuthTag: Pointer to the authentication buffer - * @param Timeout: Timeout duration - * @retval HAL status - */ -HAL_StatusTypeDef HAL_CRYPEx_AESGCM_GenerateAuthTAG(CRYP_HandleTypeDef *hcryp, uint32_t *AuthTag, uint32_t Timeout) -{ - uint32_t tickstart; - /* Assume first Init.HeaderSize is in words */ - uint64_t headerlength = (uint64_t)(hcryp->Init.HeaderSize) * 32U; /* Header length in bits */ - uint64_t inputlength = (uint64_t)hcryp->SizesSum * 8U; /* Input length in bits */ - uint32_t tagaddr = (uint32_t)AuthTag; - - /* Correct headerlength if Init.HeaderSize is actually in bytes */ - if (hcryp->Init.HeaderWidthUnit == CRYP_HEADERWIDTHUNIT_BYTE) - { - headerlength /= 4U; - } - - if (hcryp->State == HAL_CRYP_STATE_READY) - { - /* Process locked */ - __HAL_LOCK(hcryp); - - /* Change the CRYP peripheral state */ - hcryp->State = HAL_CRYP_STATE_BUSY; - - /* Check if initialization phase has already been performed */ - if (hcryp->Phase == CRYPEx_PHASE_PROCESS) - { - /* Change the CRYP phase */ - hcryp->Phase = CRYPEx_PHASE_FINAL; - } - else /* Initialization phase has not been performed*/ - { - /* Disable the Peripheral */ - __HAL_CRYP_DISABLE(hcryp); - - /* Sequence error code field */ - hcryp->ErrorCode |= HAL_CRYP_ERROR_AUTH_TAG_SEQUENCE; - - /* Change the CRYP peripheral state */ - hcryp->State = HAL_CRYP_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hcryp); - return HAL_ERROR; - } - -#if defined(CRYP) - - /* Disable CRYP to start the final phase */ - __HAL_CRYP_DISABLE(hcryp); - - /* Select final phase */ - MODIFY_REG(hcryp->Instance->CR, CRYP_CR_GCM_CCMPH, CRYP_PHASE_FINAL); - - /*ALGODIR bit must be set to 0.*/ - hcryp->Instance->CR &= ~CRYP_CR_ALGODIR; - - /* Enable the CRYP peripheral */ - __HAL_CRYP_ENABLE(hcryp); - - /* Write the number of bits in header (64 bits) followed by the number of bits - in the payload */ - if (hcryp->Init.DataType == CRYP_DATATYPE_1B) - { - hcryp->Instance->DIN = 0U; - hcryp->Instance->DIN = __RBIT((uint32_t)(headerlength)); - hcryp->Instance->DIN = 0U; - hcryp->Instance->DIN = __RBIT((uint32_t)(inputlength)); - } - else if (hcryp->Init.DataType == CRYP_DATATYPE_8B) - { - hcryp->Instance->DIN = 0U; - hcryp->Instance->DIN = __REV((uint32_t)(headerlength)); - hcryp->Instance->DIN = 0U; - hcryp->Instance->DIN = __REV((uint32_t)(inputlength)); - } - else if (hcryp->Init.DataType == CRYP_DATATYPE_16B) - { - hcryp->Instance->DIN = 0U; - hcryp->Instance->DIN = __ROR((uint32_t)headerlength, 16U); - hcryp->Instance->DIN = 0U; - hcryp->Instance->DIN = __ROR((uint32_t)inputlength, 16U); - } - else if (hcryp->Init.DataType == CRYP_DATATYPE_32B) - { - hcryp->Instance->DIN = 0U; - hcryp->Instance->DIN = (uint32_t)(headerlength); - hcryp->Instance->DIN = 0U; - hcryp->Instance->DIN = (uint32_t)(inputlength); - } - else - { - /* Nothing to do */ - } - - /* Wait for OFNE flag to be raised */ - tickstart = HAL_GetTick(); - while (HAL_IS_BIT_CLR(hcryp->Instance->SR, CRYP_FLAG_OFNE)) - { - /* Check for the Timeout */ - if (Timeout != HAL_MAX_DELAY) - { - if (((HAL_GetTick() - tickstart) > Timeout) || (Timeout == 0U)) - { - /* Disable the CRYP Peripheral Clock */ - __HAL_CRYP_DISABLE(hcryp); - - /* Change state */ - hcryp->ErrorCode |= HAL_CRYP_ERROR_TIMEOUT; - hcryp->State = HAL_CRYP_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hcryp); - return HAL_ERROR; - } - } - } - - /* Read the authentication TAG in the output FIFO */ - *(uint32_t *)(tagaddr) = hcryp->Instance->DOUT; - tagaddr += 4U; - *(uint32_t *)(tagaddr) = hcryp->Instance->DOUT; - tagaddr += 4U; - *(uint32_t *)(tagaddr) = hcryp->Instance->DOUT; - tagaddr += 4U; - *(uint32_t *)(tagaddr) = hcryp->Instance->DOUT; - -#else /* AES*/ - - /* Select final phase */ - MODIFY_REG(hcryp->Instance->CR, AES_CR_GCMPH, CRYP_PHASE_FINAL); - - /* Write the number of bits in header (64 bits) followed by the number of bits - in the payload */ - if (hcryp->Init.DataType == CRYP_DATATYPE_1B) - { - hcryp->Instance->DINR = 0U; - hcryp->Instance->DINR = __RBIT((uint32_t)(headerlength)); - hcryp->Instance->DINR = 0U; - hcryp->Instance->DINR = __RBIT((uint32_t)(inputlength)); - } - else if (hcryp->Init.DataType == CRYP_DATATYPE_8B) - { - hcryp->Instance->DINR = 0U; - hcryp->Instance->DINR = __REV((uint32_t)(headerlength)); - hcryp->Instance->DINR = 0U; - hcryp->Instance->DINR = __REV((uint32_t)(inputlength)); - } - else if (hcryp->Init.DataType == CRYP_DATATYPE_16B) - { - hcryp->Instance->DINR = 0U; - hcryp->Instance->DINR = __ROR((uint32_t)headerlength, 16U); - hcryp->Instance->DINR = 0U; - hcryp->Instance->DINR = __ROR((uint32_t)inputlength, 16U); - } - else if (hcryp->Init.DataType == CRYP_DATATYPE_32B) - { - hcryp->Instance->DINR = 0U; - hcryp->Instance->DINR = (uint32_t)(headerlength); - hcryp->Instance->DINR = 0U; - hcryp->Instance->DINR = (uint32_t)(inputlength); - } - else - { - /* Nothing to do */ - } - /* Wait for CCF flag to be raised */ - tickstart = HAL_GetTick(); - while (HAL_IS_BIT_CLR(hcryp->Instance->SR, AES_SR_CCF)) - { - /* Check for the Timeout */ - if (Timeout != HAL_MAX_DELAY) - { - if (((HAL_GetTick() - tickstart) > Timeout) || (Timeout == 0U)) - { - /* Disable the CRYP peripheral clock */ - __HAL_CRYP_DISABLE(hcryp); - - /* Change state */ - hcryp->ErrorCode |= HAL_CRYP_ERROR_TIMEOUT; - hcryp->State = HAL_CRYP_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hcryp); - return HAL_ERROR; - } - } - } - - /* Read the authentication TAG in the output FIFO */ - *(uint32_t *)(tagaddr) = hcryp->Instance->DOUTR; - tagaddr += 4U; - *(uint32_t *)(tagaddr) = hcryp->Instance->DOUTR; - tagaddr += 4U; - *(uint32_t *)(tagaddr) = hcryp->Instance->DOUTR; - tagaddr += 4U; - *(uint32_t *)(tagaddr) = hcryp->Instance->DOUTR; - - /* Clear CCF flag */ - __HAL_CRYP_CLEAR_FLAG(hcryp, CRYP_CCF_CLEAR); - -#endif /* End AES or CRYP */ - - /* Disable the peripheral */ - __HAL_CRYP_DISABLE(hcryp); - - /* Change the CRYP peripheral state */ - hcryp->State = HAL_CRYP_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hcryp); - } - else - { - /* Busy error code field */ - hcryp->ErrorCode |= HAL_CRYP_ERROR_BUSY; - return HAL_ERROR; - } - /* Return function status */ - return HAL_OK; -} - -/** - * @brief AES CCM Authentication TAG generation. - * @param hcryp: pointer to a CRYP_HandleTypeDef structure that contains - * the configuration information for CRYP module - * @param AuthTag: Pointer to the authentication buffer - * @param Timeout: Timeout duration - * @retval HAL status - */ -HAL_StatusTypeDef HAL_CRYPEx_AESCCM_GenerateAuthTAG(CRYP_HandleTypeDef *hcryp, uint32_t *AuthTag, uint32_t Timeout) -{ - uint32_t tagaddr = (uint32_t)AuthTag; - uint32_t ctr0 [4] = {0}; - uint32_t ctr0addr = (uint32_t)ctr0; - uint32_t tickstart; - - if (hcryp->State == HAL_CRYP_STATE_READY) - { - /* Process locked */ - __HAL_LOCK(hcryp); - - /* Change the CRYP peripheral state */ - hcryp->State = HAL_CRYP_STATE_BUSY; - - /* Check if initialization phase has already been performed */ - if (hcryp->Phase == CRYPEx_PHASE_PROCESS) - { - /* Change the CRYP phase */ - hcryp->Phase = CRYPEx_PHASE_FINAL; - } - else /* Initialization phase has not been performed*/ - { - /* Disable the peripheral */ - __HAL_CRYP_DISABLE(hcryp); - - /* Sequence error code field */ - hcryp->ErrorCode |= HAL_CRYP_ERROR_AUTH_TAG_SEQUENCE; - - /* Change the CRYP peripheral state */ - hcryp->State = HAL_CRYP_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hcryp); - return HAL_ERROR; - } - -#if defined(CRYP) - - /* Disable CRYP to start the final phase */ - __HAL_CRYP_DISABLE(hcryp); - - /* Select final phase & ALGODIR bit must be set to 0. */ - MODIFY_REG(hcryp->Instance->CR, CRYP_CR_GCM_CCMPH | CRYP_CR_ALGODIR, CRYP_PHASE_FINAL | CRYP_OPERATINGMODE_ENCRYPT); - - /* Enable the CRYP peripheral */ - __HAL_CRYP_ENABLE(hcryp); - - /* Write the counter block in the IN FIFO, CTR0 information from B0 - data has to be swapped according to the DATATYPE*/ - ctr0[0] = (hcryp->Init.B0[0]) & CRYP_CCM_CTR0_0; - ctr0[1] = hcryp->Init.B0[1]; - ctr0[2] = hcryp->Init.B0[2]; - ctr0[3] = hcryp->Init.B0[3] & CRYP_CCM_CTR0_3; - - if (hcryp->Init.DataType == CRYP_DATATYPE_8B) - { - hcryp->Instance->DIN = __REV(*(uint32_t *)(ctr0addr)); - ctr0addr += 4U; - hcryp->Instance->DIN = __REV(*(uint32_t *)(ctr0addr)); - ctr0addr += 4U; - hcryp->Instance->DIN = __REV(*(uint32_t *)(ctr0addr)); - ctr0addr += 4U; - hcryp->Instance->DIN = __REV(*(uint32_t *)(ctr0addr)); - } - else if (hcryp->Init.DataType == CRYP_DATATYPE_16B) - { - hcryp->Instance->DIN = __ROR(*(uint32_t *)(ctr0addr), 16U); - ctr0addr += 4U; - hcryp->Instance->DIN = __ROR(*(uint32_t *)(ctr0addr), 16U); - ctr0addr += 4U; - hcryp->Instance->DIN = __ROR(*(uint32_t *)(ctr0addr), 16U); - ctr0addr += 4U; - hcryp->Instance->DIN = __ROR(*(uint32_t *)(ctr0addr), 16U); - } - else if (hcryp->Init.DataType == CRYP_DATATYPE_1B) - { - hcryp->Instance->DIN = __RBIT(*(uint32_t *)(ctr0addr)); - ctr0addr += 4U; - hcryp->Instance->DIN = __RBIT(*(uint32_t *)(ctr0addr)); - ctr0addr += 4U; - hcryp->Instance->DIN = __RBIT(*(uint32_t *)(ctr0addr)); - ctr0addr += 4U; - hcryp->Instance->DIN = __RBIT(*(uint32_t *)(ctr0addr)); - } - else - { - hcryp->Instance->DIN = *(uint32_t *)(ctr0addr); - ctr0addr += 4U; - hcryp->Instance->DIN = *(uint32_t *)(ctr0addr); - ctr0addr += 4U; - hcryp->Instance->DIN = *(uint32_t *)(ctr0addr); - ctr0addr += 4U; - hcryp->Instance->DIN = *(uint32_t *)(ctr0addr); - } - /* Wait for OFNE flag to be raised */ - tickstart = HAL_GetTick(); - while (HAL_IS_BIT_CLR(hcryp->Instance->SR, CRYP_FLAG_OFNE)) - { - /* Check for the Timeout */ - if (Timeout != HAL_MAX_DELAY) - { - if (((HAL_GetTick() - tickstart) > Timeout) || (Timeout == 0U)) - { - /* Disable the CRYP peripheral Clock */ - __HAL_CRYP_DISABLE(hcryp); - - /* Change state */ - hcryp->ErrorCode |= HAL_CRYP_ERROR_TIMEOUT; - hcryp->State = HAL_CRYP_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hcryp); - return HAL_ERROR; - } - } - } - - /* Read the Auth TAG in the IN FIFO */ - *(uint32_t *)(tagaddr) = hcryp->Instance->DOUT; - tagaddr += 4U; - *(uint32_t *)(tagaddr) = hcryp->Instance->DOUT; - tagaddr += 4U; - *(uint32_t *)(tagaddr) = hcryp->Instance->DOUT; - tagaddr += 4U; - *(uint32_t *)(tagaddr) = hcryp->Instance->DOUT; - -#else /* AES */ - - /* Select final phase */ - MODIFY_REG(hcryp->Instance->CR, AES_CR_GCMPH, CRYP_PHASE_FINAL); - - /* Write the counter block in the IN FIFO, CTR0 information from B0 - data has to be swapped according to the DATATYPE*/ - if (hcryp->Init.DataType == CRYP_DATATYPE_8B) - { - ctr0[0] = (__REV(hcryp->Init.B0[0]) & CRYP_CCM_CTR0_0); - ctr0[1] = __REV(hcryp->Init.B0[1]); - ctr0[2] = __REV(hcryp->Init.B0[2]); - ctr0[3] = (__REV(hcryp->Init.B0[3])& CRYP_CCM_CTR0_3); - - hcryp->Instance->DINR = __REV(*(uint32_t *)(ctr0addr)); - ctr0addr += 4U; - hcryp->Instance->DINR = __REV(*(uint32_t *)(ctr0addr)); - ctr0addr += 4U; - hcryp->Instance->DINR = __REV(*(uint32_t *)(ctr0addr)); - ctr0addr += 4U; - hcryp->Instance->DINR = __REV(*(uint32_t *)(ctr0addr)); - } - else if (hcryp->Init.DataType == CRYP_DATATYPE_16B) - { - ctr0[0] = (__ROR((hcryp->Init.B0[0]), 16U)& CRYP_CCM_CTR0_0); - ctr0[1] = __ROR((hcryp->Init.B0[1]), 16U); - ctr0[2] = __ROR((hcryp->Init.B0[2]), 16U); - ctr0[3] = (__ROR((hcryp->Init.B0[3]), 16U)& CRYP_CCM_CTR0_3); - - hcryp->Instance->DINR = __ROR(*(uint32_t *)(ctr0addr), 16U); - ctr0addr += 4U; - hcryp->Instance->DINR = __ROR(*(uint32_t *)(ctr0addr), 16U); - ctr0addr += 4U; - hcryp->Instance->DINR = __ROR(*(uint32_t *)(ctr0addr), 16U); - ctr0addr += 4U; - hcryp->Instance->DINR = __ROR(*(uint32_t *)(ctr0addr), 16U); - } - else if (hcryp->Init.DataType == CRYP_DATATYPE_1B) - { - ctr0[0] = (__RBIT(hcryp->Init.B0[0])& CRYP_CCM_CTR0_0); - ctr0[1] = __RBIT(hcryp->Init.B0[1]); - ctr0[2] = __RBIT(hcryp->Init.B0[2]); - ctr0[3] = (__RBIT(hcryp->Init.B0[3])& CRYP_CCM_CTR0_3); - - hcryp->Instance->DINR = __RBIT(*(uint32_t *)(ctr0addr)); - ctr0addr += 4U; - hcryp->Instance->DINR = __RBIT(*(uint32_t *)(ctr0addr)); - ctr0addr += 4U; - hcryp->Instance->DINR = __RBIT(*(uint32_t *)(ctr0addr)); - ctr0addr += 4U; - hcryp->Instance->DINR = __RBIT(*(uint32_t *)(ctr0addr)); - } - else - { - ctr0[0] = (hcryp->Init.B0[0]) & CRYP_CCM_CTR0_0; - ctr0[1] = hcryp->Init.B0[1]; - ctr0[2] = hcryp->Init.B0[2]; - ctr0[3] = hcryp->Init.B0[3] & CRYP_CCM_CTR0_3; - - hcryp->Instance->DINR = *(uint32_t *)(ctr0addr); - ctr0addr += 4U; - hcryp->Instance->DINR = *(uint32_t *)(ctr0addr); - ctr0addr += 4U; - hcryp->Instance->DINR = *(uint32_t *)(ctr0addr); - ctr0addr += 4U; - hcryp->Instance->DINR = *(uint32_t *)(ctr0addr); - } - - /* Wait for CCF flag to be raised */ - tickstart = HAL_GetTick(); - while (HAL_IS_BIT_CLR(hcryp->Instance->SR, AES_SR_CCF)) - { - /* Check for the Timeout */ - if (Timeout != HAL_MAX_DELAY) - { - if (((HAL_GetTick() - tickstart) > Timeout) || (Timeout == 0U)) - { - /* Disable the CRYP peripheral Clock */ - __HAL_CRYP_DISABLE(hcryp); - - /* Change state */ - hcryp->ErrorCode |= HAL_CRYP_ERROR_TIMEOUT; - hcryp->State = HAL_CRYP_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hcryp); - return HAL_ERROR; - } - } - } - - /* Read the authentication TAG in the output FIFO */ - *(uint32_t *)(tagaddr) = hcryp->Instance->DOUTR; - tagaddr += 4U; - *(uint32_t *)(tagaddr) = hcryp->Instance->DOUTR; - tagaddr += 4U; - *(uint32_t *)(tagaddr) = hcryp->Instance->DOUTR; - tagaddr += 4U; - *(uint32_t *)(tagaddr) = hcryp->Instance->DOUTR; - - /* Clear CCF Flag */ - __HAL_CRYP_CLEAR_FLAG(hcryp, CRYP_CCF_CLEAR); - -#endif /* End of AES || CRYP */ - - /* Change the CRYP peripheral state */ - hcryp->State = HAL_CRYP_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hcryp); - - /* Disable CRYP */ - __HAL_CRYP_DISABLE(hcryp); - } - else - { - /* Busy error code field */ - hcryp->ErrorCode = HAL_CRYP_ERROR_BUSY; - return HAL_ERROR; - } - /* Return function status */ - return HAL_OK; -} - -/** - * @} - */ - -#if defined (AES) -/** @defgroup CRYPEx_Exported_Functions_Group2 Key Derivation functions - * @brief AutoKeyDerivation functions - * -@verbatim - ============================================================================== - ##### Key Derivation functions ##### - ============================================================================== - [..] This section provides functions allowing to Enable or Disable the - the AutoKeyDerivation parameter in CRYP_HandleTypeDef structure - These function are allowed only in TinyAES IP. - -@endverbatim - * @{ - */ - -/** - * @brief AES enable key derivation functions - * @param hcryp: pointer to a CRYP_HandleTypeDef structure. - * @retval None - */ -void HAL_CRYPEx_EnableAutoKeyDerivation(CRYP_HandleTypeDef *hcryp) -{ - if (hcryp->State == HAL_CRYP_STATE_READY) - { - hcryp->AutoKeyDerivation = ENABLE; - } - else - { - /* Busy error code field */ - hcryp->ErrorCode = HAL_CRYP_ERROR_BUSY; - } -} -/** - * @brief AES disable key derivation functions - * @param hcryp: pointer to a CRYP_HandleTypeDef structure. - * @retval None - */ -void HAL_CRYPEx_DisableAutoKeyDerivation(CRYP_HandleTypeDef *hcryp) -{ - if (hcryp->State == HAL_CRYP_STATE_READY) - { - hcryp->AutoKeyDerivation = DISABLE; - } - else - { - /* Busy error code field */ - hcryp->ErrorCode = HAL_CRYP_ERROR_BUSY; - } -} - -/** - * @} - */ -#endif /* AES or GCM CCM defined*/ -#endif /* AES */ -#endif /* HAL_CRYP_MODULE_ENABLED */ - -/** - * @} - */ -#endif /* TinyAES or CRYP*/ -/** - * @} - */ - -/** - * @} - */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dac.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dac.c deleted file mode 100644 index 5efc497f777d25..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dac.c +++ /dev/null @@ -1,1342 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_dac.c - * @author MCD Application Team - * @brief DAC HAL module driver. - * This file provides firmware functions to manage the following - * functionalities of the Digital to Analog Converter (DAC) peripheral: - * + Initialization and de-initialization functions - * + IO operation functions - * + Peripheral Control functions - * + Peripheral State and Errors functions - * - * - @verbatim - ============================================================================== - ##### DAC Peripheral features ##### - ============================================================================== - [..] - *** DAC Channels *** - ==================== - [..] - STM32F4 devices integrate two 12-bit Digital Analog Converters - - The 2 converters (i.e. channel1 & channel2) - can be used independently or simultaneously (dual mode): - (#) DAC channel1 with DAC_OUT1 (PA4) as output - (#) DAC channel2 with DAC_OUT2 (PA5) as output - - *** DAC Triggers *** - ==================== - [..] - Digital to Analog conversion can be non-triggered using DAC_TRIGGER_NONE - and DAC_OUT1/DAC_OUT2 is available once writing to DHRx register. - [..] - Digital to Analog conversion can be triggered by: - (#) External event: EXTI Line 9 (any GPIOx_PIN_9) using DAC_TRIGGER_EXT_IT9. - The used pin (GPIOx_PIN_9) must be configured in input mode. - - (#) Timers TRGO: TIM2, TIM4, TIM5, TIM6, TIM7 and TIM8 - (DAC_TRIGGER_T2_TRGO, DAC_TRIGGER_T4_TRGO...) - - (#) Software using DAC_TRIGGER_SOFTWARE - - *** DAC Buffer mode feature *** - =============================== - [..] - Each DAC channel integrates an output buffer that can be used to - reduce the output impedance, and to drive external loads directly - without having to add an external operational amplifier. - To enable, the output buffer use - sConfig.DAC_OutputBuffer = DAC_OUTPUTBUFFER_ENABLE; - [..] - (@) Refer to the device datasheet for more details about output - impedance value with and without output buffer. - - *** DAC wave generation feature *** - =================================== - [..] - Both DAC channels can be used to generate - (#) Noise wave - (#) Triangle wave - - *** DAC data format *** - ======================= - [..] - The DAC data format can be: - (#) 8-bit right alignment using DAC_ALIGN_8B_R - (#) 12-bit left alignment using DAC_ALIGN_12B_L - (#) 12-bit right alignment using DAC_ALIGN_12B_R - - *** DAC data value to voltage correspondence *** - ================================================ - [..] - The analog output voltage on each DAC channel pin is determined - by the following equation: - [..] - DAC_OUTx = VREF+ * DOR / 4095 - (+) with DOR is the Data Output Register - [..] - VREF+ is the input voltage reference (refer to the device datasheet) - [..] - e.g. To set DAC_OUT1 to 0.7V, use - (+) Assuming that VREF+ = 3.3V, DAC_OUT1 = (3.3 * 868) / 4095 = 0.7V - - *** DMA requests *** - ===================== - [..] - A DMA request can be generated when an external trigger (but not a software trigger) - occurs if DMA1 requests are enabled using HAL_DAC_Start_DMA(). - DMA1 requests are mapped as following: - (#) DAC channel1 mapped on DMA1 Stream5 channel7 which must be - already configured - (#) DAC channel2 mapped on DMA1 Stream6 channel7 which must be - already configured - - [..] - (@) For Dual mode and specific signal (Triangle and noise) generation please - refer to Extended Features Driver description - - ##### How to use this driver ##### - ============================================================================== - [..] - (+) DAC APB clock must be enabled to get write access to DAC - registers using HAL_DAC_Init() - (+) Configure DAC_OUTx (DAC_OUT1: PA4, DAC_OUT2: PA5) in analog mode. - (+) Configure the DAC channel using HAL_DAC_ConfigChannel() function. - (+) Enable the DAC channel using HAL_DAC_Start() or HAL_DAC_Start_DMA() functions. - - - *** Polling mode IO operation *** - ================================= - [..] - (+) Start the DAC peripheral using HAL_DAC_Start() - (+) To read the DAC last data output value, use the HAL_DAC_GetValue() function. - (+) Stop the DAC peripheral using HAL_DAC_Stop() - - *** DMA mode IO operation *** - ============================== - [..] - (+) Start the DAC peripheral using HAL_DAC_Start_DMA(), at this stage the user specify the length - of data to be transferred at each end of conversion - First issued trigger will start the conversion of the value previously set by HAL_DAC_SetValue(). - (+) At the middle of data transfer HAL_DAC_ConvHalfCpltCallbackCh1() or HAL_DACEx_ConvHalfCpltCallbackCh2() - function is executed and user can add his own code by customization of function pointer - HAL_DAC_ConvHalfCpltCallbackCh1() or HAL_DACEx_ConvHalfCpltCallbackCh2() - (+) At The end of data transfer HAL_DAC_ConvCpltCallbackCh1() or HAL_DACEx_ConvHalfCpltCallbackCh2() - function is executed and user can add his own code by customization of function pointer - HAL_DAC_ConvCpltCallbackCh1() or HAL_DACEx_ConvHalfCpltCallbackCh2() - (+) In case of transfer Error, HAL_DAC_ErrorCallbackCh1() function is executed and user can - add his own code by customization of function pointer HAL_DAC_ErrorCallbackCh1 - (+) In case of DMA underrun, DAC interruption triggers and execute internal function HAL_DAC_IRQHandler. - HAL_DAC_DMAUnderrunCallbackCh1() or HAL_DACEx_DMAUnderrunCallbackCh2() - function is executed and user can add his own code by customization of function pointer - HAL_DAC_DMAUnderrunCallbackCh1() or HAL_DACEx_DMAUnderrunCallbackCh2() and - add his own code by customization of function pointer HAL_DAC_ErrorCallbackCh1() - (+) Stop the DAC peripheral using HAL_DAC_Stop_DMA() - - *** Callback registration *** - ============================================= - [..] - The compilation define USE_HAL_DAC_REGISTER_CALLBACKS when set to 1 - allows the user to configure dynamically the driver callbacks. - - Use Functions HAL_DAC_RegisterCallback() to register a user callback, - it allows to register following callbacks: - (+) ConvCpltCallbackCh1 : callback when a half transfer is completed on Ch1. - (+) ConvHalfCpltCallbackCh1 : callback when a transfer is completed on Ch1. - (+) ErrorCallbackCh1 : callback when an error occurs on Ch1. - (+) DMAUnderrunCallbackCh1 : callback when an underrun error occurs on Ch1. - (+) ConvCpltCallbackCh2 : callback when a half transfer is completed on Ch2. - (+) ConvHalfCpltCallbackCh2 : callback when a transfer is completed on Ch2. - (+) ErrorCallbackCh2 : callback when an error occurs on Ch2. - (+) DMAUnderrunCallbackCh2 : callback when an underrun error occurs on Ch2. - (+) MspInitCallback : DAC MspInit. - (+) MspDeInitCallback : DAC MspdeInit. - This function takes as parameters the HAL peripheral handle, the Callback ID - and a pointer to the user callback function. - - Use function HAL_DAC_UnRegisterCallback() to reset a callback to the default - weak (surcharged) function. It allows to reset following callbacks: - (+) ConvCpltCallbackCh1 : callback when a half transfer is completed on Ch1. - (+) ConvHalfCpltCallbackCh1 : callback when a transfer is completed on Ch1. - (+) ErrorCallbackCh1 : callback when an error occurs on Ch1. - (+) DMAUnderrunCallbackCh1 : callback when an underrun error occurs on Ch1. - (+) ConvCpltCallbackCh2 : callback when a half transfer is completed on Ch2. - (+) ConvHalfCpltCallbackCh2 : callback when a transfer is completed on Ch2. - (+) ErrorCallbackCh2 : callback when an error occurs on Ch2. - (+) DMAUnderrunCallbackCh2 : callback when an underrun error occurs on Ch2. - (+) MspInitCallback : DAC MspInit. - (+) MspDeInitCallback : DAC MspdeInit. - (+) All Callbacks - This function) takes as parameters the HAL peripheral handle and the Callback ID. - - By default, after the HAL_DAC_Init and if the state is HAL_DAC_STATE_RESET - all callbacks are reset to the corresponding legacy weak (surcharged) functions. - Exception done for MspInit and MspDeInit callbacks that are respectively - reset to the legacy weak (surcharged) functions in the HAL_DAC_Init - and HAL_DAC_DeInit only when these callbacks are null (not registered beforehand). - If not, MspInit or MspDeInit are not null, the HAL_DAC_Init and HAL_DAC_DeInit - keep and use the user MspInit/MspDeInit callbacks (registered beforehand) - - Callbacks can be registered/unregistered in READY state only. - Exception done for MspInit/MspDeInit callbacks that can be registered/unregistered - in READY or RESET state, thus registered (user) MspInit/DeInit callbacks can be used - during the Init/DeInit. - In that case first register the MspInit/MspDeInit user callbacks - using HAL_DAC_RegisterCallback before calling HAL_DAC_DeInit - or HAL_DAC_Init function. - - When The compilation define USE_HAL_DAC_REGISTER_CALLBACKS is set to 0 or - not defined, the callback registering feature is not available - and weak (surcharged) callbacks are used. - - *** DAC HAL driver macros list *** - ============================================= - [..] - Below the list of most used macros in DAC HAL driver. - - (+) __HAL_DAC_ENABLE : Enable the DAC peripheral - (+) __HAL_DAC_DISABLE : Disable the DAC peripheral - (+) __HAL_DAC_CLEAR_FLAG: Clear the DAC's pending flags - (+) __HAL_DAC_GET_FLAG: Get the selected DAC's flag status - - [..] - (@) You can refer to the DAC HAL driver header file for more useful macros - -@endverbatim - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -#ifdef HAL_DAC_MODULE_ENABLED -#if defined(DAC) - -/** @defgroup DAC DAC - * @brief DAC driver modules - * @{ - */ - -/* Private typedef -----------------------------------------------------------*/ -/* Private define ------------------------------------------------------------*/ -/* Private constants ---------------------------------------------------------*/ -/* Private macro -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private function prototypes -----------------------------------------------*/ -/* Exported functions -------------------------------------------------------*/ - -/** @defgroup DAC_Exported_Functions DAC Exported Functions - * @{ - */ - -/** @defgroup DAC_Exported_Functions_Group1 Initialization and de-initialization functions - * @brief Initialization and Configuration functions - * -@verbatim - ============================================================================== - ##### Initialization and de-initialization functions ##### - ============================================================================== - [..] This section provides functions allowing to: - (+) Initialize and configure the DAC. - (+) De-initialize the DAC. - -@endverbatim - * @{ - */ - -/** - * @brief Initialize the DAC peripheral according to the specified parameters - * in the DAC_InitStruct and initialize the associated handle. - * @param hdac pointer to a DAC_HandleTypeDef structure that contains - * the configuration information for the specified DAC. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DAC_Init(DAC_HandleTypeDef *hdac) -{ - /* Check DAC handle */ - if (hdac == NULL) - { - return HAL_ERROR; - } - /* Check the parameters */ - assert_param(IS_DAC_ALL_INSTANCE(hdac->Instance)); - - if (hdac->State == HAL_DAC_STATE_RESET) - { -#if (USE_HAL_DAC_REGISTER_CALLBACKS == 1) - /* Init the DAC Callback settings */ - hdac->ConvCpltCallbackCh1 = HAL_DAC_ConvCpltCallbackCh1; - hdac->ConvHalfCpltCallbackCh1 = HAL_DAC_ConvHalfCpltCallbackCh1; - hdac->ErrorCallbackCh1 = HAL_DAC_ErrorCallbackCh1; - hdac->DMAUnderrunCallbackCh1 = HAL_DAC_DMAUnderrunCallbackCh1; -#if defined(DAC_CHANNEL2_SUPPORT) - hdac->ConvCpltCallbackCh2 = HAL_DACEx_ConvCpltCallbackCh2; - hdac->ConvHalfCpltCallbackCh2 = HAL_DACEx_ConvHalfCpltCallbackCh2; - hdac->ErrorCallbackCh2 = HAL_DACEx_ErrorCallbackCh2; - hdac->DMAUnderrunCallbackCh2 = HAL_DACEx_DMAUnderrunCallbackCh2; -#endif /* DAC_CHANNEL2_SUPPORT */ - if (hdac->MspInitCallback == NULL) - { - hdac->MspInitCallback = HAL_DAC_MspInit; - } -#endif /* USE_HAL_DAC_REGISTER_CALLBACKS */ - - /* Allocate lock resource and initialize it */ - hdac->Lock = HAL_UNLOCKED; - -#if (USE_HAL_DAC_REGISTER_CALLBACKS == 1) - /* Init the low level hardware */ - hdac->MspInitCallback(hdac); -#else - /* Init the low level hardware */ - HAL_DAC_MspInit(hdac); -#endif /* USE_HAL_DAC_REGISTER_CALLBACKS */ - } - - /* Initialize the DAC state*/ - hdac->State = HAL_DAC_STATE_BUSY; - - /* Set DAC error code to none */ - hdac->ErrorCode = HAL_DAC_ERROR_NONE; - - /* Initialize the DAC state*/ - hdac->State = HAL_DAC_STATE_READY; - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Deinitialize the DAC peripheral registers to their default reset values. - * @param hdac pointer to a DAC_HandleTypeDef structure that contains - * the configuration information for the specified DAC. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DAC_DeInit(DAC_HandleTypeDef *hdac) -{ - /* Check DAC handle */ - if (hdac == NULL) - { - return HAL_ERROR; - } - - /* Check the parameters */ - assert_param(IS_DAC_ALL_INSTANCE(hdac->Instance)); - - /* Change DAC state */ - hdac->State = HAL_DAC_STATE_BUSY; - -#if (USE_HAL_DAC_REGISTER_CALLBACKS == 1) - if (hdac->MspDeInitCallback == NULL) - { - hdac->MspDeInitCallback = HAL_DAC_MspDeInit; - } - /* DeInit the low level hardware */ - hdac->MspDeInitCallback(hdac); -#else - /* DeInit the low level hardware */ - HAL_DAC_MspDeInit(hdac); -#endif /* USE_HAL_DAC_REGISTER_CALLBACKS */ - - /* Set DAC error code to none */ - hdac->ErrorCode = HAL_DAC_ERROR_NONE; - - /* Change DAC state */ - hdac->State = HAL_DAC_STATE_RESET; - - /* Release Lock */ - __HAL_UNLOCK(hdac); - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Initialize the DAC MSP. - * @param hdac pointer to a DAC_HandleTypeDef structure that contains - * the configuration information for the specified DAC. - * @retval None - */ -__weak void HAL_DAC_MspInit(DAC_HandleTypeDef *hdac) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hdac); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_DAC_MspInit could be implemented in the user file - */ -} - -/** - * @brief DeInitialize the DAC MSP. - * @param hdac pointer to a DAC_HandleTypeDef structure that contains - * the configuration information for the specified DAC. - * @retval None - */ -__weak void HAL_DAC_MspDeInit(DAC_HandleTypeDef *hdac) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hdac); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_DAC_MspDeInit could be implemented in the user file - */ -} - -/** - * @} - */ - -/** @defgroup DAC_Exported_Functions_Group2 IO operation functions - * @brief IO operation functions - * -@verbatim - ============================================================================== - ##### IO operation functions ##### - ============================================================================== - [..] This section provides functions allowing to: - (+) Start conversion. - (+) Stop conversion. - (+) Start conversion and enable DMA transfer. - (+) Stop conversion and disable DMA transfer. - (+) Get result of conversion. - -@endverbatim - * @{ - */ - -/** - * @brief Enables DAC and starts conversion of channel. - * @param hdac pointer to a DAC_HandleTypeDef structure that contains - * the configuration information for the specified DAC. - * @param Channel The selected DAC channel. - * This parameter can be one of the following values: - * @arg DAC_CHANNEL_1: DAC Channel1 selected - * @arg DAC_CHANNEL_2: DAC Channel2 selected - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DAC_Start(DAC_HandleTypeDef *hdac, uint32_t Channel) -{ - /* Check the parameters */ - assert_param(IS_DAC_CHANNEL(Channel)); - - /* Process locked */ - __HAL_LOCK(hdac); - - /* Change DAC state */ - hdac->State = HAL_DAC_STATE_BUSY; - - /* Enable the Peripheral */ - __HAL_DAC_ENABLE(hdac, Channel); - - if (Channel == DAC_CHANNEL_1) - { - /* Check if software trigger enabled */ - if ((hdac->Instance->CR & (DAC_CR_TEN1 | DAC_CR_TSEL1)) == DAC_TRIGGER_SOFTWARE) - { - /* Enable the selected DAC software conversion */ - SET_BIT(hdac->Instance->SWTRIGR, DAC_SWTRIGR_SWTRIG1); - } - } -#if defined(DAC_CHANNEL2_SUPPORT) - else - { - /* Check if software trigger enabled */ - if ((hdac->Instance->CR & (DAC_CR_TEN2 | DAC_CR_TSEL2)) == (DAC_TRIGGER_SOFTWARE << (Channel & 0x10UL))) - { - /* Enable the selected DAC software conversion*/ - SET_BIT(hdac->Instance->SWTRIGR, DAC_SWTRIGR_SWTRIG2); - } - } -#endif /* DAC_CHANNEL2_SUPPORT */ - - /* Change DAC state */ - hdac->State = HAL_DAC_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hdac); - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Disables DAC and stop conversion of channel. - * @param hdac pointer to a DAC_HandleTypeDef structure that contains - * the configuration information for the specified DAC. - * @param Channel The selected DAC channel. - * This parameter can be one of the following values: - * @arg DAC_CHANNEL_1: DAC Channel1 selected - * @arg DAC_CHANNEL_2: DAC Channel2 selected - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DAC_Stop(DAC_HandleTypeDef *hdac, uint32_t Channel) -{ - /* Check the parameters */ - assert_param(IS_DAC_CHANNEL(Channel)); - - /* Disable the Peripheral */ - __HAL_DAC_DISABLE(hdac, Channel); - - /* Change DAC state */ - hdac->State = HAL_DAC_STATE_READY; - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Enables DAC and starts conversion of channel. - * @param hdac pointer to a DAC_HandleTypeDef structure that contains - * the configuration information for the specified DAC. - * @param Channel The selected DAC channel. - * This parameter can be one of the following values: - * @arg DAC_CHANNEL_1: DAC Channel1 selected - * @arg DAC_CHANNEL_2: DAC Channel2 selected - * @param pData The source Buffer address. - * @param Length The length of data to be transferred from memory to DAC peripheral - * @param Alignment Specifies the data alignment for DAC channel. - * This parameter can be one of the following values: - * @arg DAC_ALIGN_8B_R: 8bit right data alignment selected - * @arg DAC_ALIGN_12B_L: 12bit left data alignment selected - * @arg DAC_ALIGN_12B_R: 12bit right data alignment selected - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DAC_Start_DMA(DAC_HandleTypeDef *hdac, uint32_t Channel, uint32_t *pData, uint32_t Length, - uint32_t Alignment) -{ - HAL_StatusTypeDef status = HAL_OK; - uint32_t tmpreg = 0U; - - /* Check the parameters */ - assert_param(IS_DAC_CHANNEL(Channel)); - assert_param(IS_DAC_ALIGN(Alignment)); - - /* Process locked */ - __HAL_LOCK(hdac); - - /* Change DAC state */ - hdac->State = HAL_DAC_STATE_BUSY; - - if (Channel == DAC_CHANNEL_1) - { - /* Set the DMA transfer complete callback for channel1 */ - hdac->DMA_Handle1->XferCpltCallback = DAC_DMAConvCpltCh1; - - /* Set the DMA half transfer complete callback for channel1 */ - hdac->DMA_Handle1->XferHalfCpltCallback = DAC_DMAHalfConvCpltCh1; - - /* Set the DMA error callback for channel1 */ - hdac->DMA_Handle1->XferErrorCallback = DAC_DMAErrorCh1; - - /* Enable the selected DAC channel1 DMA request */ - SET_BIT(hdac->Instance->CR, DAC_CR_DMAEN1); - - /* Case of use of channel 1 */ - switch (Alignment) - { - case DAC_ALIGN_12B_R: - /* Get DHR12R1 address */ - tmpreg = (uint32_t)&hdac->Instance->DHR12R1; - break; - case DAC_ALIGN_12B_L: - /* Get DHR12L1 address */ - tmpreg = (uint32_t)&hdac->Instance->DHR12L1; - break; - case DAC_ALIGN_8B_R: - /* Get DHR8R1 address */ - tmpreg = (uint32_t)&hdac->Instance->DHR8R1; - break; - default: - break; - } - } -#if defined(DAC_CHANNEL2_SUPPORT) - else - { - /* Set the DMA transfer complete callback for channel2 */ - hdac->DMA_Handle2->XferCpltCallback = DAC_DMAConvCpltCh2; - - /* Set the DMA half transfer complete callback for channel2 */ - hdac->DMA_Handle2->XferHalfCpltCallback = DAC_DMAHalfConvCpltCh2; - - /* Set the DMA error callback for channel2 */ - hdac->DMA_Handle2->XferErrorCallback = DAC_DMAErrorCh2; - - /* Enable the selected DAC channel2 DMA request */ - SET_BIT(hdac->Instance->CR, DAC_CR_DMAEN2); - - /* Case of use of channel 2 */ - switch (Alignment) - { - case DAC_ALIGN_12B_R: - /* Get DHR12R2 address */ - tmpreg = (uint32_t)&hdac->Instance->DHR12R2; - break; - case DAC_ALIGN_12B_L: - /* Get DHR12L2 address */ - tmpreg = (uint32_t)&hdac->Instance->DHR12L2; - break; - case DAC_ALIGN_8B_R: - /* Get DHR8R2 address */ - tmpreg = (uint32_t)&hdac->Instance->DHR8R2; - break; - default: - break; - } - } -#endif /* DAC_CHANNEL2_SUPPORT */ - - /* Enable the DMA Stream */ - if (Channel == DAC_CHANNEL_1) - { - /* Enable the DAC DMA underrun interrupt */ - __HAL_DAC_ENABLE_IT(hdac, DAC_IT_DMAUDR1); - - /* Enable the DMA Stream */ - status = HAL_DMA_Start_IT(hdac->DMA_Handle1, (uint32_t)pData, tmpreg, Length); - } -#if defined(DAC_CHANNEL2_SUPPORT) - else - { - /* Enable the DAC DMA underrun interrupt */ - __HAL_DAC_ENABLE_IT(hdac, DAC_IT_DMAUDR2); - - /* Enable the DMA Stream */ - status = HAL_DMA_Start_IT(hdac->DMA_Handle2, (uint32_t)pData, tmpreg, Length); - } -#endif /* DAC_CHANNEL2_SUPPORT */ - - /* Process Unlocked */ - __HAL_UNLOCK(hdac); - - if (status == HAL_OK) - { - /* Enable the Peripheral */ - __HAL_DAC_ENABLE(hdac, Channel); - } - else - { - hdac->ErrorCode |= HAL_DAC_ERROR_DMA; - } - - /* Return function status */ - return status; -} - -/** - * @brief Disables DAC and stop conversion of channel. - * @param hdac pointer to a DAC_HandleTypeDef structure that contains - * the configuration information for the specified DAC. - * @param Channel The selected DAC channel. - * This parameter can be one of the following values: - * @arg DAC_CHANNEL_1: DAC Channel1 selected - * @arg DAC_CHANNEL_2: DAC Channel2 selected - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DAC_Stop_DMA(DAC_HandleTypeDef *hdac, uint32_t Channel) -{ - /* Check the parameters */ - assert_param(IS_DAC_CHANNEL(Channel)); - - /* Disable the selected DAC channel DMA request */ - hdac->Instance->CR &= ~(DAC_CR_DMAEN1 << (Channel & 0x10UL)); - - /* Disable the Peripheral */ - __HAL_DAC_DISABLE(hdac, Channel); - - /* Disable the DMA Stream */ - - /* Channel1 is used */ - if (Channel == DAC_CHANNEL_1) - { - /* Disable the DMA Stream */ - (void)HAL_DMA_Abort(hdac->DMA_Handle1); - - /* Disable the DAC DMA underrun interrupt */ - __HAL_DAC_DISABLE_IT(hdac, DAC_IT_DMAUDR1); - } -#if defined(DAC_CHANNEL2_SUPPORT) - else /* Channel2 is used for */ - { - /* Disable the DMA Stream */ - (void)HAL_DMA_Abort(hdac->DMA_Handle2); - - /* Disable the DAC DMA underrun interrupt */ - __HAL_DAC_DISABLE_IT(hdac, DAC_IT_DMAUDR2); - } -#endif /* DAC_CHANNEL2_SUPPORT */ - - /* Change DAC state */ - hdac->State = HAL_DAC_STATE_READY; - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Handles DAC interrupt request - * This function uses the interruption of DMA - * underrun. - * @param hdac pointer to a DAC_HandleTypeDef structure that contains - * the configuration information for the specified DAC. - * @retval None - */ -void HAL_DAC_IRQHandler(DAC_HandleTypeDef *hdac) -{ - if (__HAL_DAC_GET_IT_SOURCE(hdac, DAC_IT_DMAUDR1)) - { - /* Check underrun flag of DAC channel 1 */ - if (__HAL_DAC_GET_FLAG(hdac, DAC_FLAG_DMAUDR1)) - { - /* Change DAC state to error state */ - hdac->State = HAL_DAC_STATE_ERROR; - - /* Set DAC error code to channel1 DMA underrun error */ - SET_BIT(hdac->ErrorCode, HAL_DAC_ERROR_DMAUNDERRUNCH1); - - /* Clear the underrun flag */ - __HAL_DAC_CLEAR_FLAG(hdac, DAC_FLAG_DMAUDR1); - - /* Disable the selected DAC channel1 DMA request */ - CLEAR_BIT(hdac->Instance->CR, DAC_CR_DMAEN1); - - /* Error callback */ -#if (USE_HAL_DAC_REGISTER_CALLBACKS == 1) - hdac->DMAUnderrunCallbackCh1(hdac); -#else - HAL_DAC_DMAUnderrunCallbackCh1(hdac); -#endif /* USE_HAL_DAC_REGISTER_CALLBACKS */ - } - } - -#if defined(DAC_CHANNEL2_SUPPORT) - if (__HAL_DAC_GET_IT_SOURCE(hdac, DAC_IT_DMAUDR2)) - { - /* Check underrun flag of DAC channel 2 */ - if (__HAL_DAC_GET_FLAG(hdac, DAC_FLAG_DMAUDR2)) - { - /* Change DAC state to error state */ - hdac->State = HAL_DAC_STATE_ERROR; - - /* Set DAC error code to channel2 DMA underrun error */ - SET_BIT(hdac->ErrorCode, HAL_DAC_ERROR_DMAUNDERRUNCH2); - - /* Clear the underrun flag */ - __HAL_DAC_CLEAR_FLAG(hdac, DAC_FLAG_DMAUDR2); - - /* Disable the selected DAC channel2 DMA request */ - CLEAR_BIT(hdac->Instance->CR, DAC_CR_DMAEN2); - - /* Error callback */ -#if (USE_HAL_DAC_REGISTER_CALLBACKS == 1) - hdac->DMAUnderrunCallbackCh2(hdac); -#else - HAL_DACEx_DMAUnderrunCallbackCh2(hdac); -#endif /* USE_HAL_DAC_REGISTER_CALLBACKS */ - } - } -#endif /* DAC_CHANNEL2_SUPPORT */ -} - -/** - * @brief Set the specified data holding register value for DAC channel. - * @param hdac pointer to a DAC_HandleTypeDef structure that contains - * the configuration information for the specified DAC. - * @param Channel The selected DAC channel. - * This parameter can be one of the following values: - * @arg DAC_CHANNEL_1: DAC Channel1 selected - * @arg DAC_CHANNEL_2: DAC Channel2 selected - * @param Alignment Specifies the data alignment. - * This parameter can be one of the following values: - * @arg DAC_ALIGN_8B_R: 8bit right data alignment selected - * @arg DAC_ALIGN_12B_L: 12bit left data alignment selected - * @arg DAC_ALIGN_12B_R: 12bit right data alignment selected - * @param Data Data to be loaded in the selected data holding register. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DAC_SetValue(DAC_HandleTypeDef *hdac, uint32_t Channel, uint32_t Alignment, uint32_t Data) -{ - __IO uint32_t tmp = 0UL; - - /* Check the parameters */ - assert_param(IS_DAC_CHANNEL(Channel)); - assert_param(IS_DAC_ALIGN(Alignment)); - assert_param(IS_DAC_DATA(Data)); - - tmp = (uint32_t)hdac->Instance; - if (Channel == DAC_CHANNEL_1) - { - tmp += DAC_DHR12R1_ALIGNMENT(Alignment); - } -#if defined(DAC_CHANNEL2_SUPPORT) - else - { - tmp += DAC_DHR12R2_ALIGNMENT(Alignment); - } -#endif /* DAC_CHANNEL2_SUPPORT */ - - /* Set the DAC channel selected data holding register */ - *(__IO uint32_t *) tmp = Data; - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Conversion complete callback in non-blocking mode for Channel1 - * @param hdac pointer to a DAC_HandleTypeDef structure that contains - * the configuration information for the specified DAC. - * @retval None - */ -__weak void HAL_DAC_ConvCpltCallbackCh1(DAC_HandleTypeDef *hdac) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hdac); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_DAC_ConvCpltCallbackCh1 could be implemented in the user file - */ -} - -/** - * @brief Conversion half DMA transfer callback in non-blocking mode for Channel1 - * @param hdac pointer to a DAC_HandleTypeDef structure that contains - * the configuration information for the specified DAC. - * @retval None - */ -__weak void HAL_DAC_ConvHalfCpltCallbackCh1(DAC_HandleTypeDef *hdac) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hdac); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_DAC_ConvHalfCpltCallbackCh1 could be implemented in the user file - */ -} - -/** - * @brief Error DAC callback for Channel1. - * @param hdac pointer to a DAC_HandleTypeDef structure that contains - * the configuration information for the specified DAC. - * @retval None - */ -__weak void HAL_DAC_ErrorCallbackCh1(DAC_HandleTypeDef *hdac) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hdac); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_DAC_ErrorCallbackCh1 could be implemented in the user file - */ -} - -/** - * @brief DMA underrun DAC callback for channel1. - * @param hdac pointer to a DAC_HandleTypeDef structure that contains - * the configuration information for the specified DAC. - * @retval None - */ -__weak void HAL_DAC_DMAUnderrunCallbackCh1(DAC_HandleTypeDef *hdac) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hdac); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_DAC_DMAUnderrunCallbackCh1 could be implemented in the user file - */ -} - -/** - * @} - */ - -/** @defgroup DAC_Exported_Functions_Group3 Peripheral Control functions - * @brief Peripheral Control functions - * -@verbatim - ============================================================================== - ##### Peripheral Control functions ##### - ============================================================================== - [..] This section provides functions allowing to: - (+) Configure channels. - (+) Set the specified data holding register value for DAC channel. - -@endverbatim - * @{ - */ - -/** - * @brief Returns the last data output value of the selected DAC channel. - * @param hdac pointer to a DAC_HandleTypeDef structure that contains - * the configuration information for the specified DAC. - * @param Channel The selected DAC channel. - * This parameter can be one of the following values: - * @arg DAC_CHANNEL_1: DAC Channel1 selected - * @arg DAC_CHANNEL_2: DAC Channel2 selected - * @retval The selected DAC channel data output value. - */ -uint32_t HAL_DAC_GetValue(DAC_HandleTypeDef *hdac, uint32_t Channel) -{ - uint32_t result = 0; - - /* Check the parameters */ - assert_param(IS_DAC_CHANNEL(Channel)); - - if (Channel == DAC_CHANNEL_1) - { - result = hdac->Instance->DOR1; - } -#if defined(DAC_CHANNEL2_SUPPORT) - else - { - result = hdac->Instance->DOR2; - } -#endif /* DAC_CHANNEL2_SUPPORT */ - /* Returns the DAC channel data output register value */ - return result; -} - -/** - * @brief Configures the selected DAC channel. - * @param hdac pointer to a DAC_HandleTypeDef structure that contains - * the configuration information for the specified DAC. - * @param sConfig DAC configuration structure. - * @param Channel The selected DAC channel. - * This parameter can be one of the following values: - * @arg DAC_CHANNEL_1: DAC Channel1 selected - * @arg DAC_CHANNEL_2: DAC Channel2 selected - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DAC_ConfigChannel(DAC_HandleTypeDef *hdac, DAC_ChannelConfTypeDef *sConfig, uint32_t Channel) -{ - uint32_t tmpreg1; - uint32_t tmpreg2; - - /* Check the DAC parameters */ - assert_param(IS_DAC_TRIGGER(sConfig->DAC_Trigger)); - assert_param(IS_DAC_OUTPUT_BUFFER_STATE(sConfig->DAC_OutputBuffer)); - assert_param(IS_DAC_CHANNEL(Channel)); - - /* Process locked */ - __HAL_LOCK(hdac); - - /* Change DAC state */ - hdac->State = HAL_DAC_STATE_BUSY; - - /* Get the DAC CR value */ - tmpreg1 = hdac->Instance->CR; - /* Clear BOFFx, TENx, TSELx, WAVEx and MAMPx bits */ - tmpreg1 &= ~(((uint32_t)(DAC_CR_MAMP1 | DAC_CR_WAVE1 | DAC_CR_TSEL1 | DAC_CR_TEN1 | DAC_CR_BOFF1)) << (Channel & 0x10UL)); - /* Configure for the selected DAC channel: buffer output, trigger */ - /* Set TSELx and TENx bits according to DAC_Trigger value */ - /* Set BOFFx bit according to DAC_OutputBuffer value */ - tmpreg2 = (sConfig->DAC_Trigger | sConfig->DAC_OutputBuffer); - /* Calculate CR register value depending on DAC_Channel */ - tmpreg1 |= tmpreg2 << (Channel & 0x10UL); - /* Write to DAC CR */ - hdac->Instance->CR = tmpreg1; - /* Disable wave generation */ - CLEAR_BIT(hdac->Instance->CR, (DAC_CR_WAVE1 << (Channel & 0x10UL))); - - /* Change DAC state */ - hdac->State = HAL_DAC_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hdac); - - /* Return function status */ - return HAL_OK; -} - -/** - * @} - */ - -/** @defgroup DAC_Exported_Functions_Group4 Peripheral State and Errors functions - * @brief Peripheral State and Errors functions - * -@verbatim - ============================================================================== - ##### Peripheral State and Errors functions ##### - ============================================================================== - [..] - This subsection provides functions allowing to - (+) Check the DAC state. - (+) Check the DAC Errors. - -@endverbatim - * @{ - */ - -/** - * @brief return the DAC handle state - * @param hdac pointer to a DAC_HandleTypeDef structure that contains - * the configuration information for the specified DAC. - * @retval HAL state - */ -HAL_DAC_StateTypeDef HAL_DAC_GetState(DAC_HandleTypeDef *hdac) -{ - /* Return DAC handle state */ - return hdac->State; -} - - -/** - * @brief Return the DAC error code - * @param hdac pointer to a DAC_HandleTypeDef structure that contains - * the configuration information for the specified DAC. - * @retval DAC Error Code - */ -uint32_t HAL_DAC_GetError(DAC_HandleTypeDef *hdac) -{ - return hdac->ErrorCode; -} - -/** - * @} - */ - -/** - * @} - */ - -/** @addtogroup DAC_Exported_Functions - * @{ - */ - -/** @addtogroup DAC_Exported_Functions_Group1 - * @{ - */ -#if (USE_HAL_DAC_REGISTER_CALLBACKS == 1) -/** - * @brief Register a User DAC Callback - * To be used instead of the weak (surcharged) predefined callback - * @param hdac DAC handle - * @param CallbackID ID of the callback to be registered - * This parameter can be one of the following values: - * @arg @ref HAL_DAC_ERROR_INVALID_CALLBACK DAC Error Callback ID - * @arg @ref HAL_DAC_CH1_COMPLETE_CB_ID DAC CH1 Complete Callback ID - * @arg @ref HAL_DAC_CH1_HALF_COMPLETE_CB_ID DAC CH1 Half Complete Callback ID - * @arg @ref HAL_DAC_CH1_ERROR_ID DAC CH1 Error Callback ID - * @arg @ref HAL_DAC_CH1_UNDERRUN_CB_ID DAC CH1 UnderRun Callback ID - * @arg @ref HAL_DAC_CH2_COMPLETE_CB_ID DAC CH2 Complete Callback ID - * @arg @ref HAL_DAC_CH2_HALF_COMPLETE_CB_ID DAC CH2 Half Complete Callback ID - * @arg @ref HAL_DAC_CH2_ERROR_ID DAC CH2 Error Callback ID - * @arg @ref HAL_DAC_CH2_UNDERRUN_CB_ID DAC CH2 UnderRun Callback ID - * @arg @ref HAL_DAC_MSPINIT_CB_ID DAC MSP Init Callback ID - * @arg @ref HAL_DAC_MSPDEINIT_CB_ID DAC MSP DeInit Callback ID - * - * @param pCallback pointer to the Callback function - * @retval status - */ -HAL_StatusTypeDef HAL_DAC_RegisterCallback(DAC_HandleTypeDef *hdac, HAL_DAC_CallbackIDTypeDef CallbackID, - pDAC_CallbackTypeDef pCallback) -{ - HAL_StatusTypeDef status = HAL_OK; - - if (pCallback == NULL) - { - /* Update the error code */ - hdac->ErrorCode |= HAL_DAC_ERROR_INVALID_CALLBACK; - return HAL_ERROR; - } - - /* Process locked */ - __HAL_LOCK(hdac); - - if (hdac->State == HAL_DAC_STATE_READY) - { - switch (CallbackID) - { - case HAL_DAC_CH1_COMPLETE_CB_ID : - hdac->ConvCpltCallbackCh1 = pCallback; - break; - case HAL_DAC_CH1_HALF_COMPLETE_CB_ID : - hdac->ConvHalfCpltCallbackCh1 = pCallback; - break; - case HAL_DAC_CH1_ERROR_ID : - hdac->ErrorCallbackCh1 = pCallback; - break; - case HAL_DAC_CH1_UNDERRUN_CB_ID : - hdac->DMAUnderrunCallbackCh1 = pCallback; - break; -#if defined(DAC_CHANNEL2_SUPPORT) - case HAL_DAC_CH2_COMPLETE_CB_ID : - hdac->ConvCpltCallbackCh2 = pCallback; - break; - case HAL_DAC_CH2_HALF_COMPLETE_CB_ID : - hdac->ConvHalfCpltCallbackCh2 = pCallback; - break; - case HAL_DAC_CH2_ERROR_ID : - hdac->ErrorCallbackCh2 = pCallback; - break; - case HAL_DAC_CH2_UNDERRUN_CB_ID : - hdac->DMAUnderrunCallbackCh2 = pCallback; - break; -#endif /* DAC_CHANNEL2_SUPPORT */ - case HAL_DAC_MSPINIT_CB_ID : - hdac->MspInitCallback = pCallback; - break; - case HAL_DAC_MSPDEINIT_CB_ID : - hdac->MspDeInitCallback = pCallback; - break; - default : - /* Update the error code */ - hdac->ErrorCode |= HAL_DAC_ERROR_INVALID_CALLBACK; - /* update return status */ - status = HAL_ERROR; - break; - } - } - else if (hdac->State == HAL_DAC_STATE_RESET) - { - switch (CallbackID) - { - case HAL_DAC_MSPINIT_CB_ID : - hdac->MspInitCallback = pCallback; - break; - case HAL_DAC_MSPDEINIT_CB_ID : - hdac->MspDeInitCallback = pCallback; - break; - default : - /* Update the error code */ - hdac->ErrorCode |= HAL_DAC_ERROR_INVALID_CALLBACK; - /* update return status */ - status = HAL_ERROR; - break; - } - } - else - { - /* Update the error code */ - hdac->ErrorCode |= HAL_DAC_ERROR_INVALID_CALLBACK; - /* update return status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(hdac); - return status; -} - -/** - * @brief Unregister a User DAC Callback - * DAC Callback is redirected to the weak (surcharged) predefined callback - * @param hdac DAC handle - * @param CallbackID ID of the callback to be unregistered - * This parameter can be one of the following values: - * @arg @ref HAL_DAC_CH1_COMPLETE_CB_ID DAC CH1 transfer Complete Callback ID - * @arg @ref HAL_DAC_CH1_HALF_COMPLETE_CB_ID DAC CH1 Half Complete Callback ID - * @arg @ref HAL_DAC_CH1_ERROR_ID DAC CH1 Error Callback ID - * @arg @ref HAL_DAC_CH1_UNDERRUN_CB_ID DAC CH1 UnderRun Callback ID - * @arg @ref HAL_DAC_CH2_COMPLETE_CB_ID DAC CH2 Complete Callback ID - * @arg @ref HAL_DAC_CH2_HALF_COMPLETE_CB_ID DAC CH2 Half Complete Callback ID - * @arg @ref HAL_DAC_CH2_ERROR_ID DAC CH2 Error Callback ID - * @arg @ref HAL_DAC_CH2_UNDERRUN_CB_ID DAC CH2 UnderRun Callback ID - * @arg @ref HAL_DAC_MSPINIT_CB_ID DAC MSP Init Callback ID - * @arg @ref HAL_DAC_MSPDEINIT_CB_ID DAC MSP DeInit Callback ID - * @arg @ref HAL_DAC_ALL_CB_ID DAC All callbacks - * @retval status - */ -HAL_StatusTypeDef HAL_DAC_UnRegisterCallback(DAC_HandleTypeDef *hdac, HAL_DAC_CallbackIDTypeDef CallbackID) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Process locked */ - __HAL_LOCK(hdac); - - if (hdac->State == HAL_DAC_STATE_READY) - { - switch (CallbackID) - { - case HAL_DAC_CH1_COMPLETE_CB_ID : - hdac->ConvCpltCallbackCh1 = HAL_DAC_ConvCpltCallbackCh1; - break; - case HAL_DAC_CH1_HALF_COMPLETE_CB_ID : - hdac->ConvHalfCpltCallbackCh1 = HAL_DAC_ConvHalfCpltCallbackCh1; - break; - case HAL_DAC_CH1_ERROR_ID : - hdac->ErrorCallbackCh1 = HAL_DAC_ErrorCallbackCh1; - break; - case HAL_DAC_CH1_UNDERRUN_CB_ID : - hdac->DMAUnderrunCallbackCh1 = HAL_DAC_DMAUnderrunCallbackCh1; - break; -#if defined(DAC_CHANNEL2_SUPPORT) - case HAL_DAC_CH2_COMPLETE_CB_ID : - hdac->ConvCpltCallbackCh2 = HAL_DACEx_ConvCpltCallbackCh2; - break; - case HAL_DAC_CH2_HALF_COMPLETE_CB_ID : - hdac->ConvHalfCpltCallbackCh2 = HAL_DACEx_ConvHalfCpltCallbackCh2; - break; - case HAL_DAC_CH2_ERROR_ID : - hdac->ErrorCallbackCh2 = HAL_DACEx_ErrorCallbackCh2; - break; - case HAL_DAC_CH2_UNDERRUN_CB_ID : - hdac->DMAUnderrunCallbackCh2 = HAL_DACEx_DMAUnderrunCallbackCh2; - break; -#endif /* DAC_CHANNEL2_SUPPORT */ - case HAL_DAC_MSPINIT_CB_ID : - hdac->MspInitCallback = HAL_DAC_MspInit; - break; - case HAL_DAC_MSPDEINIT_CB_ID : - hdac->MspDeInitCallback = HAL_DAC_MspDeInit; - break; - case HAL_DAC_ALL_CB_ID : - hdac->ConvCpltCallbackCh1 = HAL_DAC_ConvCpltCallbackCh1; - hdac->ConvHalfCpltCallbackCh1 = HAL_DAC_ConvHalfCpltCallbackCh1; - hdac->ErrorCallbackCh1 = HAL_DAC_ErrorCallbackCh1; - hdac->DMAUnderrunCallbackCh1 = HAL_DAC_DMAUnderrunCallbackCh1; -#if defined(DAC_CHANNEL2_SUPPORT) - hdac->ConvCpltCallbackCh2 = HAL_DACEx_ConvCpltCallbackCh2; - hdac->ConvHalfCpltCallbackCh2 = HAL_DACEx_ConvHalfCpltCallbackCh2; - hdac->ErrorCallbackCh2 = HAL_DACEx_ErrorCallbackCh2; - hdac->DMAUnderrunCallbackCh2 = HAL_DACEx_DMAUnderrunCallbackCh2; -#endif /* DAC_CHANNEL2_SUPPORT */ - hdac->MspInitCallback = HAL_DAC_MspInit; - hdac->MspDeInitCallback = HAL_DAC_MspDeInit; - break; - default : - /* Update the error code */ - hdac->ErrorCode |= HAL_DAC_ERROR_INVALID_CALLBACK; - /* update return status */ - status = HAL_ERROR; - break; - } - } - else if (hdac->State == HAL_DAC_STATE_RESET) - { - switch (CallbackID) - { - case HAL_DAC_MSPINIT_CB_ID : - hdac->MspInitCallback = HAL_DAC_MspInit; - break; - case HAL_DAC_MSPDEINIT_CB_ID : - hdac->MspDeInitCallback = HAL_DAC_MspDeInit; - break; - default : - /* Update the error code */ - hdac->ErrorCode |= HAL_DAC_ERROR_INVALID_CALLBACK; - /* update return status */ - status = HAL_ERROR; - break; - } - } - else - { - /* Update the error code */ - hdac->ErrorCode |= HAL_DAC_ERROR_INVALID_CALLBACK; - /* update return status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(hdac); - return status; -} -#endif /* USE_HAL_DAC_REGISTER_CALLBACKS */ - -/** - * @} - */ - -/** - * @} - */ - -/** @addtogroup DAC_Private_Functions - * @{ - */ - -/** - * @brief DMA conversion complete callback. - * @param hdma pointer to a DMA_HandleTypeDef structure that contains - * the configuration information for the specified DMA module. - * @retval None - */ -void DAC_DMAConvCpltCh1(DMA_HandleTypeDef *hdma) -{ - DAC_HandleTypeDef *hdac = (DAC_HandleTypeDef *)((DMA_HandleTypeDef *)hdma)->Parent; - -#if (USE_HAL_DAC_REGISTER_CALLBACKS == 1) - hdac->ConvCpltCallbackCh1(hdac); -#else - HAL_DAC_ConvCpltCallbackCh1(hdac); -#endif /* USE_HAL_DAC_REGISTER_CALLBACKS */ - - hdac->State = HAL_DAC_STATE_READY; -} - -/** - * @brief DMA half transfer complete callback. - * @param hdma pointer to a DMA_HandleTypeDef structure that contains - * the configuration information for the specified DMA module. - * @retval None - */ -void DAC_DMAHalfConvCpltCh1(DMA_HandleTypeDef *hdma) -{ - DAC_HandleTypeDef *hdac = (DAC_HandleTypeDef *)((DMA_HandleTypeDef *)hdma)->Parent; - /* Conversion complete callback */ -#if (USE_HAL_DAC_REGISTER_CALLBACKS == 1) - hdac->ConvHalfCpltCallbackCh1(hdac); -#else - HAL_DAC_ConvHalfCpltCallbackCh1(hdac); -#endif /* USE_HAL_DAC_REGISTER_CALLBACKS */ -} - -/** - * @brief DMA error callback - * @param hdma pointer to a DMA_HandleTypeDef structure that contains - * the configuration information for the specified DMA module. - * @retval None - */ -void DAC_DMAErrorCh1(DMA_HandleTypeDef *hdma) -{ - DAC_HandleTypeDef *hdac = (DAC_HandleTypeDef *)((DMA_HandleTypeDef *)hdma)->Parent; - - /* Set DAC error code to DMA error */ - hdac->ErrorCode |= HAL_DAC_ERROR_DMA; - -#if (USE_HAL_DAC_REGISTER_CALLBACKS == 1) - hdac->ErrorCallbackCh1(hdac); -#else - HAL_DAC_ErrorCallbackCh1(hdac); -#endif /* USE_HAL_DAC_REGISTER_CALLBACKS */ - - hdac->State = HAL_DAC_STATE_READY; -} - -/** - * @} - */ - -/** - * @} - */ - -#endif /* DAC */ - -#endif /* HAL_DAC_MODULE_ENABLED */ - -/** - * @} - */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dac_ex.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dac_ex.c deleted file mode 100644 index 4a05998fef4d10..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dac_ex.c +++ /dev/null @@ -1,496 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_dac_ex.c - * @author MCD Application Team - * @brief Extended DAC HAL module driver. - * This file provides firmware functions to manage the extended - * functionalities of the DAC peripheral. - * - * - @verbatim - ============================================================================== - ##### How to use this driver ##### - ============================================================================== - [..] - - *** Dual mode IO operation *** - ============================== - [..] - (+) When Dual mode is enabled (i.e. DAC Channel1 and Channel2 are used simultaneously) : - Use HAL_DACEx_DualGetValue() to get digital data to be converted and use - HAL_DACEx_DualSetValue() to set digital value to converted simultaneously in - Channel 1 and Channel 2. - - *** Signal generation operation *** - =================================== - [..] - (+) Use HAL_DACEx_TriangleWaveGenerate() to generate Triangle signal. - (+) Use HAL_DACEx_NoiseWaveGenerate() to generate Noise signal. - - @endverbatim - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -#ifdef HAL_DAC_MODULE_ENABLED - -#if defined(DAC) - -/** @defgroup DACEx DACEx - * @brief DAC Extended HAL module driver - * @{ - */ - -/* Private typedef -----------------------------------------------------------*/ -/* Private define ------------------------------------------------------------*/ -/* Private macro -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private function prototypes -----------------------------------------------*/ -/* Exported functions --------------------------------------------------------*/ - -/** @defgroup DACEx_Exported_Functions DACEx Exported Functions - * @{ - */ - -/** @defgroup DACEx_Exported_Functions_Group2 IO operation functions - * @brief Extended IO operation functions - * -@verbatim - ============================================================================== - ##### Extended features functions ##### - ============================================================================== - [..] This section provides functions allowing to: - (+) Start conversion. - (+) Stop conversion. - (+) Start conversion and enable DMA transfer. - (+) Stop conversion and disable DMA transfer. - (+) Get result of conversion. - (+) Get result of dual mode conversion. - -@endverbatim - * @{ - */ - -#if defined(DAC_CHANNEL2_SUPPORT) -/** - * @brief Enables DAC and starts conversion of both channels. - * @param hdac pointer to a DAC_HandleTypeDef structure that contains - * the configuration information for the specified DAC. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DACEx_DualStart(DAC_HandleTypeDef *hdac) -{ - uint32_t tmp_swtrig = 0UL; - - - /* Process locked */ - __HAL_LOCK(hdac); - - /* Change DAC state */ - hdac->State = HAL_DAC_STATE_BUSY; - - /* Enable the Peripheral */ - __HAL_DAC_ENABLE(hdac, DAC_CHANNEL_1); - __HAL_DAC_ENABLE(hdac, DAC_CHANNEL_2); - - /* Check if software trigger enabled */ - if ((hdac->Instance->CR & (DAC_CR_TEN1 | DAC_CR_TSEL1)) == DAC_TRIGGER_SOFTWARE) - { - tmp_swtrig |= DAC_SWTRIGR_SWTRIG1; - } - if ((hdac->Instance->CR & (DAC_CR_TEN2 | DAC_CR_TSEL2)) == (DAC_TRIGGER_SOFTWARE << (DAC_CHANNEL_2 & 0x10UL))) - { - tmp_swtrig |= DAC_SWTRIGR_SWTRIG2; - } - /* Enable the selected DAC software conversion*/ - SET_BIT(hdac->Instance->SWTRIGR, tmp_swtrig); - - /* Change DAC state */ - hdac->State = HAL_DAC_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hdac); - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Disables DAC and stop conversion of both channels. - * @param hdac pointer to a DAC_HandleTypeDef structure that contains - * the configuration information for the specified DAC. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DACEx_DualStop(DAC_HandleTypeDef *hdac) -{ - - /* Disable the Peripheral */ - __HAL_DAC_DISABLE(hdac, DAC_CHANNEL_1); - __HAL_DAC_DISABLE(hdac, DAC_CHANNEL_2); - - /* Change DAC state */ - hdac->State = HAL_DAC_STATE_READY; - - /* Return function status */ - return HAL_OK; -} -#endif /* DAC_CHANNEL2_SUPPORT */ - -/** - * @brief Enable or disable the selected DAC channel wave generation. - * @param hdac pointer to a DAC_HandleTypeDef structure that contains - * the configuration information for the specified DAC. - * @param Channel The selected DAC channel. - * This parameter can be one of the following values: - * @arg DAC_CHANNEL_1: DAC Channel1 selected - * @arg DAC_CHANNEL_2: DAC Channel2 selected - * @param Amplitude Select max triangle amplitude. - * This parameter can be one of the following values: - * @arg DAC_TRIANGLEAMPLITUDE_1: Select max triangle amplitude of 1 - * @arg DAC_TRIANGLEAMPLITUDE_3: Select max triangle amplitude of 3 - * @arg DAC_TRIANGLEAMPLITUDE_7: Select max triangle amplitude of 7 - * @arg DAC_TRIANGLEAMPLITUDE_15: Select max triangle amplitude of 15 - * @arg DAC_TRIANGLEAMPLITUDE_31: Select max triangle amplitude of 31 - * @arg DAC_TRIANGLEAMPLITUDE_63: Select max triangle amplitude of 63 - * @arg DAC_TRIANGLEAMPLITUDE_127: Select max triangle amplitude of 127 - * @arg DAC_TRIANGLEAMPLITUDE_255: Select max triangle amplitude of 255 - * @arg DAC_TRIANGLEAMPLITUDE_511: Select max triangle amplitude of 511 - * @arg DAC_TRIANGLEAMPLITUDE_1023: Select max triangle amplitude of 1023 - * @arg DAC_TRIANGLEAMPLITUDE_2047: Select max triangle amplitude of 2047 - * @arg DAC_TRIANGLEAMPLITUDE_4095: Select max triangle amplitude of 4095 - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DACEx_TriangleWaveGenerate(DAC_HandleTypeDef *hdac, uint32_t Channel, uint32_t Amplitude) -{ - /* Check the parameters */ - assert_param(IS_DAC_CHANNEL(Channel)); - assert_param(IS_DAC_LFSR_UNMASK_TRIANGLE_AMPLITUDE(Amplitude)); - - /* Process locked */ - __HAL_LOCK(hdac); - - /* Change DAC state */ - hdac->State = HAL_DAC_STATE_BUSY; - - /* Enable the triangle wave generation for the selected DAC channel */ - MODIFY_REG(hdac->Instance->CR, ((DAC_CR_WAVE1) | (DAC_CR_MAMP1)) << (Channel & 0x10UL), - (DAC_CR_WAVE1_1 | Amplitude) << (Channel & 0x10UL)); - - /* Change DAC state */ - hdac->State = HAL_DAC_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hdac); - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Enable or disable the selected DAC channel wave generation. - * @param hdac pointer to a DAC_HandleTypeDef structure that contains - * the configuration information for the specified DAC. - * @param Channel The selected DAC channel. - * This parameter can be one of the following values: - * @arg DAC_CHANNEL_1: DAC Channel1 selected - * @arg DAC_CHANNEL_2: DAC Channel2 selected - * @param Amplitude Unmask DAC channel LFSR for noise wave generation. - * This parameter can be one of the following values: - * @arg DAC_LFSRUNMASK_BIT0: Unmask DAC channel LFSR bit0 for noise wave generation - * @arg DAC_LFSRUNMASK_BITS1_0: Unmask DAC channel LFSR bit[1:0] for noise wave generation - * @arg DAC_LFSRUNMASK_BITS2_0: Unmask DAC channel LFSR bit[2:0] for noise wave generation - * @arg DAC_LFSRUNMASK_BITS3_0: Unmask DAC channel LFSR bit[3:0] for noise wave generation - * @arg DAC_LFSRUNMASK_BITS4_0: Unmask DAC channel LFSR bit[4:0] for noise wave generation - * @arg DAC_LFSRUNMASK_BITS5_0: Unmask DAC channel LFSR bit[5:0] for noise wave generation - * @arg DAC_LFSRUNMASK_BITS6_0: Unmask DAC channel LFSR bit[6:0] for noise wave generation - * @arg DAC_LFSRUNMASK_BITS7_0: Unmask DAC channel LFSR bit[7:0] for noise wave generation - * @arg DAC_LFSRUNMASK_BITS8_0: Unmask DAC channel LFSR bit[8:0] for noise wave generation - * @arg DAC_LFSRUNMASK_BITS9_0: Unmask DAC channel LFSR bit[9:0] for noise wave generation - * @arg DAC_LFSRUNMASK_BITS10_0: Unmask DAC channel LFSR bit[10:0] for noise wave generation - * @arg DAC_LFSRUNMASK_BITS11_0: Unmask DAC channel LFSR bit[11:0] for noise wave generation - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DACEx_NoiseWaveGenerate(DAC_HandleTypeDef *hdac, uint32_t Channel, uint32_t Amplitude) -{ - /* Check the parameters */ - assert_param(IS_DAC_CHANNEL(Channel)); - assert_param(IS_DAC_LFSR_UNMASK_TRIANGLE_AMPLITUDE(Amplitude)); - - /* Process locked */ - __HAL_LOCK(hdac); - - /* Change DAC state */ - hdac->State = HAL_DAC_STATE_BUSY; - - /* Enable the noise wave generation for the selected DAC channel */ - MODIFY_REG(hdac->Instance->CR, ((DAC_CR_WAVE1) | (DAC_CR_MAMP1)) << (Channel & 0x10UL), - (DAC_CR_WAVE1_0 | Amplitude) << (Channel & 0x10UL)); - - /* Change DAC state */ - hdac->State = HAL_DAC_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hdac); - - /* Return function status */ - return HAL_OK; -} - -#if defined(DAC_CHANNEL2_SUPPORT) -/** - * @brief Set the specified data holding register value for dual DAC channel. - * @param hdac pointer to a DAC_HandleTypeDef structure that contains - * the configuration information for the specified DAC. - * @param Alignment Specifies the data alignment for dual channel DAC. - * This parameter can be one of the following values: - * DAC_ALIGN_8B_R: 8bit right data alignment selected - * DAC_ALIGN_12B_L: 12bit left data alignment selected - * DAC_ALIGN_12B_R: 12bit right data alignment selected - * @param Data1 Data for DAC Channel1 to be loaded in the selected data holding register. - * @param Data2 Data for DAC Channel2 to be loaded in the selected data holding register. - * @note In dual mode, a unique register access is required to write in both - * DAC channels at the same time. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DACEx_DualSetValue(DAC_HandleTypeDef *hdac, uint32_t Alignment, uint32_t Data1, uint32_t Data2) -{ - uint32_t data; - uint32_t tmp; - - /* Check the parameters */ - assert_param(IS_DAC_ALIGN(Alignment)); - assert_param(IS_DAC_DATA(Data1)); - assert_param(IS_DAC_DATA(Data2)); - - /* Calculate and set dual DAC data holding register value */ - if (Alignment == DAC_ALIGN_8B_R) - { - data = ((uint32_t)Data2 << 8U) | Data1; - } - else - { - data = ((uint32_t)Data2 << 16U) | Data1; - } - - tmp = (uint32_t)hdac->Instance; - tmp += DAC_DHR12RD_ALIGNMENT(Alignment); - - /* Set the dual DAC selected data holding register */ - *(__IO uint32_t *)tmp = data; - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Conversion complete callback in non-blocking mode for Channel2. - * @param hdac pointer to a DAC_HandleTypeDef structure that contains - * the configuration information for the specified DAC. - * @retval None - */ -__weak void HAL_DACEx_ConvCpltCallbackCh2(DAC_HandleTypeDef *hdac) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hdac); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_DACEx_ConvCpltCallbackCh2 could be implemented in the user file - */ -} - -/** - * @brief Conversion half DMA transfer callback in non-blocking mode for Channel2. - * @param hdac pointer to a DAC_HandleTypeDef structure that contains - * the configuration information for the specified DAC. - * @retval None - */ -__weak void HAL_DACEx_ConvHalfCpltCallbackCh2(DAC_HandleTypeDef *hdac) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hdac); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_DACEx_ConvHalfCpltCallbackCh2 could be implemented in the user file - */ -} - -/** - * @brief Error DAC callback for Channel2. - * @param hdac pointer to a DAC_HandleTypeDef structure that contains - * the configuration information for the specified DAC. - * @retval None - */ -__weak void HAL_DACEx_ErrorCallbackCh2(DAC_HandleTypeDef *hdac) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hdac); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_DACEx_ErrorCallbackCh2 could be implemented in the user file - */ -} - -/** - * @brief DMA underrun DAC callback for Channel2. - * @param hdac pointer to a DAC_HandleTypeDef structure that contains - * the configuration information for the specified DAC. - * @retval None - */ -__weak void HAL_DACEx_DMAUnderrunCallbackCh2(DAC_HandleTypeDef *hdac) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hdac); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_DACEx_DMAUnderrunCallbackCh2 could be implemented in the user file - */ -} -#endif /* DAC_CHANNEL2_SUPPORT */ - - -/** - * @} - */ - -/** @defgroup DACEx_Exported_Functions_Group3 Peripheral Control functions - * @brief Extended Peripheral Control functions - * -@verbatim - ============================================================================== - ##### Peripheral Control functions ##### - ============================================================================== - [..] This section provides functions allowing to: - (+) Set the specified data holding register value for DAC channel. - -@endverbatim - * @{ - */ - -#if defined(DAC_CHANNEL2_SUPPORT) -/** - * @brief Return the last data output value of the selected DAC channel. - * @param hdac pointer to a DAC_HandleTypeDef structure that contains - * the configuration information for the specified DAC. - * @retval The selected DAC channel data output value. - */ -uint32_t HAL_DACEx_DualGetValue(DAC_HandleTypeDef *hdac) -{ - uint32_t tmp = 0UL; - - tmp |= hdac->Instance->DOR1; - - tmp |= hdac->Instance->DOR2 << 16UL; - - /* Returns the DAC channel data output register value */ - return tmp; -} -#endif /* DAC_CHANNEL2_SUPPORT */ - -/** - * @} - */ -/** - * @} - */ - -/* Private functions ---------------------------------------------------------*/ -/** @defgroup DACEx_Private_Functions DACEx private functions - * @brief Extended private functions - * @{ - */ - -#if defined(DAC_CHANNEL2_SUPPORT) -/** - * @brief DMA conversion complete callback. - * @param hdma pointer to a DMA_HandleTypeDef structure that contains - * the configuration information for the specified DMA module. - * @retval None - */ -void DAC_DMAConvCpltCh2(DMA_HandleTypeDef *hdma) -{ - DAC_HandleTypeDef *hdac = (DAC_HandleTypeDef *)((DMA_HandleTypeDef *)hdma)->Parent; - -#if (USE_HAL_DAC_REGISTER_CALLBACKS == 1) - hdac->ConvCpltCallbackCh2(hdac); -#else - HAL_DACEx_ConvCpltCallbackCh2(hdac); -#endif /* USE_HAL_DAC_REGISTER_CALLBACKS */ - - hdac->State = HAL_DAC_STATE_READY; -} - -/** - * @brief DMA half transfer complete callback. - * @param hdma pointer to a DMA_HandleTypeDef structure that contains - * the configuration information for the specified DMA module. - * @retval None - */ -void DAC_DMAHalfConvCpltCh2(DMA_HandleTypeDef *hdma) -{ - DAC_HandleTypeDef *hdac = (DAC_HandleTypeDef *)((DMA_HandleTypeDef *)hdma)->Parent; - /* Conversion complete callback */ -#if (USE_HAL_DAC_REGISTER_CALLBACKS == 1) - hdac->ConvHalfCpltCallbackCh2(hdac); -#else - HAL_DACEx_ConvHalfCpltCallbackCh2(hdac); -#endif /* USE_HAL_DAC_REGISTER_CALLBACKS */ -} - -/** - * @brief DMA error callback. - * @param hdma pointer to a DMA_HandleTypeDef structure that contains - * the configuration information for the specified DMA module. - * @retval None - */ -void DAC_DMAErrorCh2(DMA_HandleTypeDef *hdma) -{ - DAC_HandleTypeDef *hdac = (DAC_HandleTypeDef *)((DMA_HandleTypeDef *)hdma)->Parent; - - /* Set DAC error code to DMA error */ - hdac->ErrorCode |= HAL_DAC_ERROR_DMA; - -#if (USE_HAL_DAC_REGISTER_CALLBACKS == 1) - hdac->ErrorCallbackCh2(hdac); -#else - HAL_DACEx_ErrorCallbackCh2(hdac); -#endif /* USE_HAL_DAC_REGISTER_CALLBACKS */ - - hdac->State = HAL_DAC_STATE_READY; -} -#endif /* DAC_CHANNEL2_SUPPORT */ - -/** - * @} - */ - -/** - * @} - */ - -#endif /* DAC */ - -#endif /* HAL_DAC_MODULE_ENABLED */ - -/** - * @} - */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dcmi.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dcmi.c deleted file mode 100644 index aa237c68436673..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dcmi.c +++ /dev/null @@ -1,1164 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_dcmi.c - * @author MCD Application Team - * @brief DCMI HAL module driver - * This file provides firmware functions to manage the following - * functionalities of the Digital Camera Interface (DCMI) peripheral: - * + Initialization and de-initialization functions - * + IO operation functions - * + Peripheral Control functions - * + Peripheral State and Error functions - * - @verbatim - ============================================================================== - ##### How to use this driver ##### - ============================================================================== - [..] - The sequence below describes how to use this driver to capture image - from a camera module connected to the DCMI Interface. - This sequence does not take into account the configuration of the - camera module, which should be made before to configure and enable - the DCMI to capture images. - - (#) Program the required configuration through following parameters: - horizontal and vertical polarity, pixel clock polarity, Capture Rate, - Synchronization Mode, code of the frame delimiter and data width - using HAL_DCMI_Init() function. - - (#) Configure the DMA2_Stream1 channel1 to transfer Data from DCMI DR - register to the destination memory buffer. - - (#) Program the required configuration through following parameters: - DCMI mode, destination memory Buffer address and the data length - and enable capture using HAL_DCMI_Start_DMA() function. - - (#) Optionally, configure and Enable the CROP feature to select a rectangular - window from the received image using HAL_DCMI_ConfigCrop() - and HAL_DCMI_EnableCROP() functions - - (#) The capture can be stopped using HAL_DCMI_Stop() function. - - (#) To control DCMI state you can use the function HAL_DCMI_GetState(). - - *** DCMI HAL driver macros list *** - ============================================= - [..] - Below the list of most used macros in DCMI HAL driver. - - (+) __HAL_DCMI_ENABLE: Enable the DCMI peripheral. - (+) __HAL_DCMI_DISABLE: Disable the DCMI peripheral. - (+) __HAL_DCMI_GET_FLAG: Get the DCMI pending flags. - (+) __HAL_DCMI_CLEAR_FLAG: Clear the DCMI pending flags. - (+) __HAL_DCMI_ENABLE_IT: Enable the specified DCMI interrupts. - (+) __HAL_DCMI_DISABLE_IT: Disable the specified DCMI interrupts. - (+) __HAL_DCMI_GET_IT_SOURCE: Check whether the specified DCMI interrupt has occurred or not. - - [..] - (@) You can refer to the DCMI HAL driver header file for more useful macros - - *** Callback registration *** - ============================= - - The compilation define USE_HAL_DCMI_REGISTER_CALLBACKS when set to 1 - allows the user to configure dynamically the driver callbacks. - Use functions HAL_DCMI_RegisterCallback() to register a user callback. - - Function HAL_DCMI_RegisterCallback() allows to register following callbacks: - (+) FrameEventCallback : DCMI Frame Event. - (+) VsyncEventCallback : DCMI Vsync Event. - (+) LineEventCallback : DCMI Line Event. - (+) ErrorCallback : DCMI error. - (+) MspInitCallback : DCMI MspInit. - (+) MspDeInitCallback : DCMI MspDeInit. - This function takes as parameters the HAL peripheral handle, the callback ID - and a pointer to the user callback function. - - Use function HAL_DCMI_UnRegisterCallback() to reset a callback to the default - weak (surcharged) function. - HAL_DCMI_UnRegisterCallback() takes as parameters the HAL peripheral handle, - and the callback ID. - This function allows to reset following callbacks: - (+) FrameEventCallback : DCMI Frame Event. - (+) VsyncEventCallback : DCMI Vsync Event. - (+) LineEventCallback : DCMI Line Event. - (+) ErrorCallback : DCMI error. - (+) MspInitCallback : DCMI MspInit. - (+) MspDeInitCallback : DCMI MspDeInit. - - By default, after the HAL_DCMI_Init and if the state is HAL_DCMI_STATE_RESET - all callbacks are reset to the corresponding legacy weak (surcharged) functions: - examples FrameEventCallback(), HAL_DCMI_ErrorCallback(). - Exception done for MspInit and MspDeInit callbacks that are respectively - reset to the legacy weak (surcharged) functions in the HAL_DCMI_Init - and HAL_DCMI_DeInit only when these callbacks are null (not registered beforehand). - If not, MspInit or MspDeInit are not null, the HAL_DCMI_Init and HAL_DCMI_DeInit - keep and use the user MspInit/MspDeInit callbacks (registered beforehand). - - Callbacks can be registered/unregistered in READY state only. - Exception done for MspInit/MspDeInit callbacks that can be registered/unregistered - in READY or RESET state, thus registered (user) MspInit/DeInit callbacks can be used - during the Init/DeInit. - In that case first register the MspInit/MspDeInit user callbacks - using HAL_DCMI_RegisterCallback before calling HAL_DCMI_DeInit - or HAL_DCMI_Init function. - - When the compilation define USE_HAL_DCMI_REGISTER_CALLBACKS is set to 0 or - not defined, the callback registering feature is not available - and weak (surcharged) callbacks are used. - - @endverbatim - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ -/** @defgroup DCMI DCMI - * @brief DCMI HAL module driver - * @{ - */ - -#ifdef HAL_DCMI_MODULE_ENABLED - -#if defined(STM32F407xx) || defined(STM32F417xx) || defined(STM32F427xx) || defined(STM32F437xx) ||\ - defined(STM32F429xx) || defined(STM32F439xx) || defined(STM32F446xx) || defined(STM32F469xx) ||\ - defined(STM32F479xx) -/* Private typedef -----------------------------------------------------------*/ -/* Private define ------------------------------------------------------------*/ -#define HAL_TIMEOUT_DCMI_STOP 14U /* Set timeout to 1s */ -/* Private macro -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private function prototypes -----------------------------------------------*/ -static void DCMI_DMAXferCplt(DMA_HandleTypeDef *hdma); -static void DCMI_DMAError(DMA_HandleTypeDef *hdma); - -/* Exported functions --------------------------------------------------------*/ - -/** @defgroup DCMI_Exported_Functions DCMI Exported Functions - * @{ - */ - -/** @defgroup DCMI_Exported_Functions_Group1 Initialization and Configuration functions - * @brief Initialization and Configuration functions - * -@verbatim - =============================================================================== - ##### Initialization and Configuration functions ##### - =============================================================================== - [..] This section provides functions allowing to: - (+) Initialize and configure the DCMI - (+) De-initialize the DCMI - -@endverbatim - * @{ - */ - -/** - * @brief Initializes the DCMI according to the specified - * parameters in the DCMI_InitTypeDef and create the associated handle. - * @param hdcmi pointer to a DCMI_HandleTypeDef structure that contains - * the configuration information for DCMI. - * @retval HAL status - */ -__weak HAL_StatusTypeDef HAL_DCMI_Init(DCMI_HandleTypeDef *hdcmi) -{ - /* Check the DCMI peripheral state */ - if(hdcmi == NULL) - { - return HAL_ERROR; - } - - /* Check function parameters */ - assert_param(IS_DCMI_ALL_INSTANCE(hdcmi->Instance)); - assert_param(IS_DCMI_PCKPOLARITY(hdcmi->Init.PCKPolarity)); - assert_param(IS_DCMI_VSPOLARITY(hdcmi->Init.VSPolarity)); - assert_param(IS_DCMI_HSPOLARITY(hdcmi->Init.HSPolarity)); - assert_param(IS_DCMI_SYNCHRO(hdcmi->Init.SynchroMode)); - assert_param(IS_DCMI_CAPTURE_RATE(hdcmi->Init.CaptureRate)); - assert_param(IS_DCMI_EXTENDED_DATA(hdcmi->Init.ExtendedDataMode)); - assert_param(IS_DCMI_MODE_JPEG(hdcmi->Init.JPEGMode)); - - if(hdcmi->State == HAL_DCMI_STATE_RESET) - { - /* Allocate lock resource and initialize it */ - hdcmi->Lock = HAL_UNLOCKED; - /* Init the low level hardware */ - /* Init the DCMI Callback settings */ -#if (USE_HAL_DCMI_REGISTER_CALLBACKS == 1) - hdcmi->FrameEventCallback = HAL_DCMI_FrameEventCallback; /* Legacy weak FrameEventCallback */ - hdcmi->VsyncEventCallback = HAL_DCMI_VsyncEventCallback; /* Legacy weak VsyncEventCallback */ - hdcmi->LineEventCallback = HAL_DCMI_LineEventCallback; /* Legacy weak LineEventCallback */ - hdcmi->ErrorCallback = HAL_DCMI_ErrorCallback; /* Legacy weak ErrorCallback */ - - if(hdcmi->MspInitCallback == NULL) - { - /* Legacy weak MspInit Callback */ - hdcmi->MspInitCallback = HAL_DCMI_MspInit; - } - /* Initialize the low level hardware (MSP) */ - hdcmi->MspInitCallback(hdcmi); -#else - /* Init the low level hardware : GPIO, CLOCK, NVIC and DMA */ - HAL_DCMI_MspInit(hdcmi); -#endif /* (USE_HAL_DCMI_REGISTER_CALLBACKS) */ - HAL_DCMI_MspInit(hdcmi); - } - - /* Change the DCMI state */ - hdcmi->State = HAL_DCMI_STATE_BUSY; - - /* Set DCMI parameters */ - /* Configures the HS, VS, DE and PC polarity */ - hdcmi->Instance->CR &= ~(DCMI_CR_PCKPOL | DCMI_CR_HSPOL | DCMI_CR_VSPOL | DCMI_CR_EDM_0 | - DCMI_CR_EDM_1 | DCMI_CR_FCRC_0 | DCMI_CR_FCRC_1 | DCMI_CR_JPEG | - DCMI_CR_ESS); - hdcmi->Instance->CR |= (uint32_t)(hdcmi->Init.SynchroMode | hdcmi->Init.CaptureRate | \ - hdcmi->Init.VSPolarity | hdcmi->Init.HSPolarity | \ - hdcmi->Init.PCKPolarity | hdcmi->Init.ExtendedDataMode | \ - hdcmi->Init.JPEGMode); - - if(hdcmi->Init.SynchroMode == DCMI_SYNCHRO_EMBEDDED) - { - hdcmi->Instance->ESCR = (((uint32_t)hdcmi->Init.SyncroCode.FrameStartCode) | - ((uint32_t)hdcmi->Init.SyncroCode.LineStartCode << DCMI_POSITION_ESCR_LSC)| - ((uint32_t)hdcmi->Init.SyncroCode.LineEndCode << DCMI_POSITION_ESCR_LEC) | - ((uint32_t)hdcmi->Init.SyncroCode.FrameEndCode << DCMI_POSITION_ESCR_FEC)); - } - - /* Enable the Line, Vsync, Error and Overrun interrupts */ - __HAL_DCMI_ENABLE_IT(hdcmi, DCMI_IT_LINE | DCMI_IT_VSYNC | DCMI_IT_ERR | DCMI_IT_OVR); - - /* Update error code */ - hdcmi->ErrorCode = HAL_DCMI_ERROR_NONE; - - /* Initialize the DCMI state*/ - hdcmi->State = HAL_DCMI_STATE_READY; - - return HAL_OK; -} - -/** - * @brief Deinitializes the DCMI peripheral registers to their default reset - * values. - * @param hdcmi pointer to a DCMI_HandleTypeDef structure that contains - * the configuration information for DCMI. - * @retval HAL status - */ - -HAL_StatusTypeDef HAL_DCMI_DeInit(DCMI_HandleTypeDef *hdcmi) -{ -#if (USE_HAL_DCMI_REGISTER_CALLBACKS == 1) - if(hdcmi->MspDeInitCallback == NULL) - { - hdcmi->MspDeInitCallback = HAL_DCMI_MspDeInit; - } - /* De-Initialize the low level hardware (MSP) */ - hdcmi->MspDeInitCallback(hdcmi); -#else - /* DeInit the low level hardware: GPIO, CLOCK, NVIC and DMA */ - HAL_DCMI_MspDeInit(hdcmi); -#endif /* (USE_HAL_DCMI_REGISTER_CALLBACKS) */ - - /* Update error code */ - hdcmi->ErrorCode = HAL_DCMI_ERROR_NONE; - - /* Initialize the DCMI state*/ - hdcmi->State = HAL_DCMI_STATE_RESET; - - /* Release Lock */ - __HAL_UNLOCK(hdcmi); - - return HAL_OK; -} - -/** - * @brief Initializes the DCMI MSP. - * @param hdcmi pointer to a DCMI_HandleTypeDef structure that contains - * the configuration information for DCMI. - * @retval None - */ -__weak void HAL_DCMI_MspInit(DCMI_HandleTypeDef* hdcmi) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hdcmi); - /* NOTE : This function Should not be modified, when the callback is needed, - the HAL_DCMI_MspInit could be implemented in the user file - */ -} - -/** - * @brief DeInitializes the DCMI MSP. - * @param hdcmi pointer to a DCMI_HandleTypeDef structure that contains - * the configuration information for DCMI. - * @retval None - */ -__weak void HAL_DCMI_MspDeInit(DCMI_HandleTypeDef* hdcmi) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hdcmi); - /* NOTE : This function Should not be modified, when the callback is needed, - the HAL_DCMI_MspDeInit could be implemented in the user file - */ -} - -/** - * @} - */ -/** @defgroup DCMI_Exported_Functions_Group2 IO operation functions - * @brief IO operation functions - * -@verbatim - =============================================================================== - ##### IO operation functions ##### - =============================================================================== - [..] This section provides functions allowing to: - (+) Configure destination address and data length and - Enables DCMI DMA request and enables DCMI capture - (+) Stop the DCMI capture. - (+) Handles DCMI interrupt request. - -@endverbatim - * @{ - */ - -/** - * @brief Enables DCMI DMA request and enables DCMI capture - * @param hdcmi pointer to a DCMI_HandleTypeDef structure that contains - * the configuration information for DCMI. - * @param DCMI_Mode DCMI capture mode snapshot or continuous grab. - * @param pData The destination memory Buffer address (LCD Frame buffer). - * @param Length The length of capture to be transferred. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DCMI_Start_DMA(DCMI_HandleTypeDef* hdcmi, uint32_t DCMI_Mode, uint32_t pData, uint32_t Length) -{ - /* Initialize the second memory address */ - uint32_t SecondMemAddress = 0U; - - /* Check function parameters */ - assert_param(IS_DCMI_CAPTURE_MODE(DCMI_Mode)); - - /* Process Locked */ - __HAL_LOCK(hdcmi); - - /* Lock the DCMI peripheral state */ - hdcmi->State = HAL_DCMI_STATE_BUSY; - - /* Enable DCMI by setting DCMIEN bit */ - __HAL_DCMI_ENABLE(hdcmi); - - /* Configure the DCMI Mode */ - hdcmi->Instance->CR &= ~(DCMI_CR_CM); - hdcmi->Instance->CR |= (uint32_t)(DCMI_Mode); - - /* Set the DMA memory0 conversion complete callback */ - hdcmi->DMA_Handle->XferCpltCallback = DCMI_DMAXferCplt; - - /* Set the DMA error callback */ - hdcmi->DMA_Handle->XferErrorCallback = DCMI_DMAError; - - /* Set the dma abort callback */ - hdcmi->DMA_Handle->XferAbortCallback = NULL; - - /* Reset transfer counters value */ - hdcmi->XferCount = 0U; - hdcmi->XferTransferNumber = 0U; - - if(Length <= 0xFFFFU) - { - /* Enable the DMA Stream */ - HAL_DMA_Start_IT(hdcmi->DMA_Handle, (uint32_t)&hdcmi->Instance->DR, (uint32_t)pData, Length); - } - else /* DCMI_DOUBLE_BUFFER Mode */ - { - /* Set the DMA memory1 conversion complete callback */ - hdcmi->DMA_Handle->XferM1CpltCallback = DCMI_DMAXferCplt; - - /* Initialize transfer parameters */ - hdcmi->XferCount = 1U; - hdcmi->XferSize = Length; - hdcmi->pBuffPtr = pData; - - /* Get the number of buffer */ - while(hdcmi->XferSize > 0xFFFFU) - { - hdcmi->XferSize = (hdcmi->XferSize/2U); - hdcmi->XferCount = hdcmi->XferCount*2U; - } - - /* Update DCMI counter and transfer number*/ - hdcmi->XferCount = (hdcmi->XferCount - 2U); - hdcmi->XferTransferNumber = hdcmi->XferCount; - - /* Update second memory address */ - SecondMemAddress = (uint32_t)(pData + (4U*hdcmi->XferSize)); - - /* Start DMA multi buffer transfer */ - HAL_DMAEx_MultiBufferStart_IT(hdcmi->DMA_Handle, (uint32_t)&hdcmi->Instance->DR, (uint32_t)pData, SecondMemAddress, hdcmi->XferSize); - } - - /* Enable Capture */ - hdcmi->Instance->CR |= DCMI_CR_CAPTURE; - - /* Release Lock */ - __HAL_UNLOCK(hdcmi); - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Disable DCMI DMA request and Disable DCMI capture - * @param hdcmi pointer to a DCMI_HandleTypeDef structure that contains - * the configuration information for DCMI. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DCMI_Stop(DCMI_HandleTypeDef* hdcmi) -{ - __IO uint32_t count = SystemCoreClock / HAL_TIMEOUT_DCMI_STOP; - HAL_StatusTypeDef status = HAL_OK; - - /* Process locked */ - __HAL_LOCK(hdcmi); - - /* Lock the DCMI peripheral state */ - hdcmi->State = HAL_DCMI_STATE_BUSY; - - /* Disable Capture */ - hdcmi->Instance->CR &= ~(DCMI_CR_CAPTURE); - - /* Check if the DCMI capture effectively disabled */ - do - { - if (count-- == 0U) - { - /* Update error code */ - hdcmi->ErrorCode |= HAL_DCMI_ERROR_TIMEOUT; - - status = HAL_TIMEOUT; - break; - } - } - while((hdcmi->Instance->CR & DCMI_CR_CAPTURE) != 0U); - - /* Disable the DCMI */ - __HAL_DCMI_DISABLE(hdcmi); - - /* Disable the DMA */ - HAL_DMA_Abort(hdcmi->DMA_Handle); - - /* Update error code */ - hdcmi->ErrorCode |= HAL_DCMI_ERROR_NONE; - - /* Change DCMI state */ - hdcmi->State = HAL_DCMI_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hdcmi); - - /* Return function status */ - return status; -} - -/** - * @brief Suspend DCMI capture - * @param hdcmi pointer to a DCMI_HandleTypeDef structure that contains - * the configuration information for DCMI. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DCMI_Suspend(DCMI_HandleTypeDef* hdcmi) -{ - __IO uint32_t count = SystemCoreClock / HAL_TIMEOUT_DCMI_STOP; - HAL_StatusTypeDef status = HAL_OK; - - /* Process locked */ - __HAL_LOCK(hdcmi); - - if(hdcmi->State == HAL_DCMI_STATE_BUSY) - { - /* Change DCMI state */ - hdcmi->State = HAL_DCMI_STATE_SUSPENDED; - - /* Disable Capture */ - hdcmi->Instance->CR &= ~(DCMI_CR_CAPTURE); - - /* Check if the DCMI capture effectively disabled */ - do - { - if (count-- == 0U) - { - /* Update error code */ - hdcmi->ErrorCode |= HAL_DCMI_ERROR_TIMEOUT; - - /* Change DCMI state */ - hdcmi->State = HAL_DCMI_STATE_READY; - - status = HAL_TIMEOUT; - break; - } - } - while((hdcmi->Instance->CR & DCMI_CR_CAPTURE) != 0); - } - /* Process Unlocked */ - __HAL_UNLOCK(hdcmi); - - /* Return function status */ - return status; -} - -/** - * @brief Resume DCMI capture - * @param hdcmi pointer to a DCMI_HandleTypeDef structure that contains - * the configuration information for DCMI. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DCMI_Resume(DCMI_HandleTypeDef* hdcmi) -{ - /* Process locked */ - __HAL_LOCK(hdcmi); - - if(hdcmi->State == HAL_DCMI_STATE_SUSPENDED) - { - /* Change DCMI state */ - hdcmi->State = HAL_DCMI_STATE_BUSY; - - /* Disable Capture */ - hdcmi->Instance->CR |= DCMI_CR_CAPTURE; - } - /* Process Unlocked */ - __HAL_UNLOCK(hdcmi); - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Handles DCMI interrupt request. - * @param hdcmi pointer to a DCMI_HandleTypeDef structure that contains - * the configuration information for the DCMI. - * @retval None - */ -void HAL_DCMI_IRQHandler(DCMI_HandleTypeDef *hdcmi) -{ - uint32_t isr_value = READ_REG(hdcmi->Instance->MISR); - - /* Synchronization error interrupt management *******************************/ - if((isr_value & DCMI_FLAG_ERRRI) == DCMI_FLAG_ERRRI) - { - /* Clear the Synchronization error flag */ - __HAL_DCMI_CLEAR_FLAG(hdcmi, DCMI_FLAG_ERRRI); - - /* Update error code */ - hdcmi->ErrorCode |= HAL_DCMI_ERROR_SYNC; - - /* Change DCMI state */ - hdcmi->State = HAL_DCMI_STATE_ERROR; - - /* Set the synchronization error callback */ - hdcmi->DMA_Handle->XferAbortCallback = DCMI_DMAError; - - /* Abort the DMA Transfer */ - HAL_DMA_Abort_IT(hdcmi->DMA_Handle); - } - /* Overflow interrupt management ********************************************/ - if((isr_value & DCMI_FLAG_OVRRI) == DCMI_FLAG_OVRRI) - { - /* Clear the Overflow flag */ - __HAL_DCMI_CLEAR_FLAG(hdcmi, DCMI_FLAG_OVRRI); - - /* Update error code */ - hdcmi->ErrorCode |= HAL_DCMI_ERROR_OVR; - - /* Change DCMI state */ - hdcmi->State = HAL_DCMI_STATE_ERROR; - - /* Set the overflow callback */ - hdcmi->DMA_Handle->XferAbortCallback = DCMI_DMAError; - - /* Abort the DMA Transfer */ - HAL_DMA_Abort_IT(hdcmi->DMA_Handle); - } - /* Line Interrupt management ************************************************/ - if((isr_value & DCMI_FLAG_LINERI) == DCMI_FLAG_LINERI) - { - /* Clear the Line interrupt flag */ - __HAL_DCMI_CLEAR_FLAG(hdcmi, DCMI_FLAG_LINERI); - - /* Line interrupt Callback */ -#if (USE_HAL_DCMI_REGISTER_CALLBACKS == 1) - /*Call registered DCMI line event callback*/ - hdcmi->LineEventCallback(hdcmi); -#else - HAL_DCMI_LineEventCallback(hdcmi); -#endif /* USE_HAL_DCMI_REGISTER_CALLBACKS */ - } - /* VSYNC interrupt management ***********************************************/ - if((isr_value & DCMI_FLAG_VSYNCRI) == DCMI_FLAG_VSYNCRI) - { - /* Clear the VSYNC flag */ - __HAL_DCMI_CLEAR_FLAG(hdcmi, DCMI_FLAG_VSYNCRI); - - /* VSYNC Callback */ -#if (USE_HAL_DCMI_REGISTER_CALLBACKS == 1) - /*Call registered DCMI vsync event callback*/ - hdcmi->VsyncEventCallback(hdcmi); -#else - HAL_DCMI_VsyncEventCallback(hdcmi); -#endif /* USE_HAL_DCMI_REGISTER_CALLBACKS */ - } - /* FRAME interrupt management ***********************************************/ - if((isr_value & DCMI_FLAG_FRAMERI) == DCMI_FLAG_FRAMERI) - { - /* When snapshot mode, disable Vsync, Error and Overrun interrupts */ - if((hdcmi->Instance->CR & DCMI_CR_CM) == DCMI_MODE_SNAPSHOT) - { - /* Disable the Line, Vsync, Error and Overrun interrupts */ - __HAL_DCMI_DISABLE_IT(hdcmi, DCMI_IT_LINE | DCMI_IT_VSYNC | DCMI_IT_ERR | DCMI_IT_OVR); - } - - /* Disable the Frame interrupt */ - __HAL_DCMI_DISABLE_IT(hdcmi, DCMI_IT_FRAME); - - /* Frame Callback */ -#if (USE_HAL_DCMI_REGISTER_CALLBACKS == 1) - /*Call registered DCMI frame event callback*/ - hdcmi->FrameEventCallback(hdcmi); -#else - HAL_DCMI_FrameEventCallback(hdcmi); -#endif /* USE_HAL_DCMI_REGISTER_CALLBACKS */ - } -} - -/** - * @brief Error DCMI callback. - * @param hdcmi pointer to a DCMI_HandleTypeDef structure that contains - * the configuration information for DCMI. - * @retval None - */ -__weak void HAL_DCMI_ErrorCallback(DCMI_HandleTypeDef *hdcmi) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hdcmi); - /* NOTE : This function Should not be modified, when the callback is needed, - the HAL_DCMI_ErrorCallback could be implemented in the user file - */ -} - -/** - * @brief Line Event callback. - * @param hdcmi pointer to a DCMI_HandleTypeDef structure that contains - * the configuration information for DCMI. - * @retval None - */ -__weak void HAL_DCMI_LineEventCallback(DCMI_HandleTypeDef *hdcmi) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hdcmi); - /* NOTE : This function Should not be modified, when the callback is needed, - the HAL_DCMI_LineEventCallback could be implemented in the user file - */ -} - -/** - * @brief VSYNC Event callback. - * @param hdcmi pointer to a DCMI_HandleTypeDef structure that contains - * the configuration information for DCMI. - * @retval None - */ -__weak void HAL_DCMI_VsyncEventCallback(DCMI_HandleTypeDef *hdcmi) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hdcmi); - /* NOTE : This function Should not be modified, when the callback is needed, - the HAL_DCMI_VsyncEventCallback could be implemented in the user file - */ -} - -/** - * @brief Frame Event callback. - * @param hdcmi pointer to a DCMI_HandleTypeDef structure that contains - * the configuration information for DCMI. - * @retval None - */ -__weak void HAL_DCMI_FrameEventCallback(DCMI_HandleTypeDef *hdcmi) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hdcmi); - /* NOTE : This function Should not be modified, when the callback is needed, - the HAL_DCMI_FrameEventCallback could be implemented in the user file - */ -} - -/** - * @} - */ - -/** @defgroup DCMI_Exported_Functions_Group3 Peripheral Control functions - * @brief Peripheral Control functions - * -@verbatim - =============================================================================== - ##### Peripheral Control functions ##### - =============================================================================== -[..] This section provides functions allowing to: - (+) Configure the CROP feature. - (+) Enable/Disable the CROP feature. - -@endverbatim - * @{ - */ - -/** - * @brief Configure the DCMI CROP coordinate. - * @param hdcmi pointer to a DCMI_HandleTypeDef structure that contains - * the configuration information for DCMI. - * @param X0 DCMI window X offset - * @param Y0 DCMI window Y offset - * @param XSize DCMI Pixel per line - * @param YSize DCMI Line number - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DCMI_ConfigCrop(DCMI_HandleTypeDef *hdcmi, uint32_t X0, uint32_t Y0, uint32_t XSize, uint32_t YSize) -{ - /* Process Locked */ - __HAL_LOCK(hdcmi); - - /* Lock the DCMI peripheral state */ - hdcmi->State = HAL_DCMI_STATE_BUSY; - - /* Check the parameters */ - assert_param(IS_DCMI_WINDOW_COORDINATE(X0)); - assert_param(IS_DCMI_WINDOW_COORDINATE(YSize)); - assert_param(IS_DCMI_WINDOW_COORDINATE(XSize)); - assert_param(IS_DCMI_WINDOW_HEIGHT(Y0)); - - /* Configure CROP */ - hdcmi->Instance->CWSIZER = (XSize | (YSize << DCMI_POSITION_CWSIZE_VLINE)); - hdcmi->Instance->CWSTRTR = (X0 | (Y0 << DCMI_POSITION_CWSTRT_VST)); - - /* Initialize the DCMI state*/ - hdcmi->State = HAL_DCMI_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hdcmi); - - return HAL_OK; -} - -/** - * @brief Disable the Crop feature. - * @param hdcmi pointer to a DCMI_HandleTypeDef structure that contains - * the configuration information for DCMI. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DCMI_DisableCrop(DCMI_HandleTypeDef *hdcmi) -{ - /* Process Locked */ - __HAL_LOCK(hdcmi); - - /* Lock the DCMI peripheral state */ - hdcmi->State = HAL_DCMI_STATE_BUSY; - - /* Disable DCMI Crop feature */ - hdcmi->Instance->CR &= ~(uint32_t)DCMI_CR_CROP; - - /* Change the DCMI state*/ - hdcmi->State = HAL_DCMI_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hdcmi); - - return HAL_OK; -} - -/** - * @brief Enable the Crop feature. - * @param hdcmi pointer to a DCMI_HandleTypeDef structure that contains - * the configuration information for DCMI. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DCMI_EnableCrop(DCMI_HandleTypeDef *hdcmi) -{ - /* Process Locked */ - __HAL_LOCK(hdcmi); - - /* Lock the DCMI peripheral state */ - hdcmi->State = HAL_DCMI_STATE_BUSY; - - /* Enable DCMI Crop feature */ - hdcmi->Instance->CR |= (uint32_t)DCMI_CR_CROP; - - /* Change the DCMI state*/ - hdcmi->State = HAL_DCMI_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hdcmi); - - return HAL_OK; -} - -/** - * @brief Set embedded synchronization delimiters unmasks. - * @param hdcmi pointer to a DCMI_HandleTypeDef structure that contains - * the configuration information for DCMI. - * @param SyncUnmask pointer to a DCMI_SyncUnmaskTypeDef structure that contains - * the embedded synchronization delimiters unmasks. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DCMI_ConfigSyncUnmask(DCMI_HandleTypeDef *hdcmi, DCMI_SyncUnmaskTypeDef *SyncUnmask) -{ - /* Process Locked */ - __HAL_LOCK(hdcmi); - - /* Lock the DCMI peripheral state */ - hdcmi->State = HAL_DCMI_STATE_BUSY; - - /* Write DCMI embedded synchronization unmask register */ - hdcmi->Instance->ESUR = (((uint32_t)SyncUnmask->FrameStartUnmask) |\ - ((uint32_t)SyncUnmask->LineStartUnmask << DCMI_ESUR_LSU_Pos)|\ - ((uint32_t)SyncUnmask->LineEndUnmask << DCMI_ESUR_LEU_Pos)|\ - ((uint32_t)SyncUnmask->FrameEndUnmask << DCMI_ESUR_FEU_Pos)); - - /* Change the DCMI state*/ - hdcmi->State = HAL_DCMI_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hdcmi); - - return HAL_OK; -} - -/** - * @} - */ - -/** @defgroup DCMI_Exported_Functions_Group4 Peripheral State functions - * @brief Peripheral State functions - * -@verbatim - =============================================================================== - ##### Peripheral State and Errors functions ##### - =============================================================================== - [..] - This subsection provides functions allowing to - (+) Check the DCMI state. - (+) Get the specific DCMI error flag. - -@endverbatim - * @{ - */ - -/** - * @brief Return the DCMI state - * @param hdcmi pointer to a DCMI_HandleTypeDef structure that contains - * the configuration information for DCMI. - * @retval HAL state - */ -HAL_DCMI_StateTypeDef HAL_DCMI_GetState(DCMI_HandleTypeDef *hdcmi) -{ - return hdcmi->State; -} - -/** - * @brief Return the DCMI error code - * @param hdcmi pointer to a DCMI_HandleTypeDef structure that contains - * the configuration information for DCMI. - * @retval DCMI Error Code - */ -uint32_t HAL_DCMI_GetError(DCMI_HandleTypeDef *hdcmi) -{ - return hdcmi->ErrorCode; -} - -#if (USE_HAL_DCMI_REGISTER_CALLBACKS == 1) -/** - * @brief DCMI Callback registering - * @param hdcmi pointer to a DCMI_HandleTypeDef structure that contains - * the configuration information for DCMI. - * @param CallbackID dcmi Callback ID - * @param pCallback pointer to DCMI_CallbackTypeDef structure - * @retval status - */ -HAL_StatusTypeDef HAL_DCMI_RegisterCallback(DCMI_HandleTypeDef *hdcmi, HAL_DCMI_CallbackIDTypeDef CallbackID, pDCMI_CallbackTypeDef pCallback) -{ - HAL_StatusTypeDef status = HAL_OK; - - if(pCallback == NULL) - { - /* update the error code */ - hdcmi->ErrorCode |= HAL_DCMI_ERROR_INVALID_CALLBACK; - /* update return status */ - status = HAL_ERROR; - } - else - { - if(hdcmi->State == HAL_DCMI_STATE_READY) - { - switch (CallbackID) - { - case HAL_DCMI_FRAME_EVENT_CB_ID : - hdcmi->FrameEventCallback = pCallback; - break; - - case HAL_DCMI_VSYNC_EVENT_CB_ID : - hdcmi->VsyncEventCallback = pCallback; - break; - - case HAL_DCMI_LINE_EVENT_CB_ID : - hdcmi->LineEventCallback = pCallback; - break; - - case HAL_DCMI_ERROR_CB_ID : - hdcmi->ErrorCallback = pCallback; - break; - - case HAL_DCMI_MSPINIT_CB_ID : - hdcmi->MspInitCallback = pCallback; - break; - - case HAL_DCMI_MSPDEINIT_CB_ID : - hdcmi->MspDeInitCallback = pCallback; - break; - - default : - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else if(hdcmi->State == HAL_DCMI_STATE_RESET) - { - switch (CallbackID) - { - case HAL_DCMI_MSPINIT_CB_ID : - hdcmi->MspInitCallback = pCallback; - break; - - case HAL_DCMI_MSPDEINIT_CB_ID : - hdcmi->MspDeInitCallback = pCallback; - break; - - default : - /* update the error code */ - hdcmi->ErrorCode |= HAL_DCMI_ERROR_INVALID_CALLBACK; - /* update return status */ - status = HAL_ERROR; - break; - } - } - else - { - /* update the error code */ - hdcmi->ErrorCode |= HAL_DCMI_ERROR_INVALID_CALLBACK; - /* update return status */ - status = HAL_ERROR; - } - } - - return status; -} - -/** - * @brief DCMI Callback Unregistering - * @param hdcmi dcmi handle - * @param CallbackID dcmi Callback ID - * @retval status - */ -HAL_StatusTypeDef HAL_DCMI_UnRegisterCallback(DCMI_HandleTypeDef *hdcmi, HAL_DCMI_CallbackIDTypeDef CallbackID) -{ - HAL_StatusTypeDef status = HAL_OK; - - if(hdcmi->State == HAL_DCMI_STATE_READY) - { - switch (CallbackID) - { - case HAL_DCMI_FRAME_EVENT_CB_ID : - hdcmi->FrameEventCallback = HAL_DCMI_FrameEventCallback; /* Legacy weak FrameEventCallback */ - break; - - case HAL_DCMI_VSYNC_EVENT_CB_ID : - hdcmi->VsyncEventCallback = HAL_DCMI_VsyncEventCallback; /* Legacy weak VsyncEventCallback */ - break; - - case HAL_DCMI_LINE_EVENT_CB_ID : - hdcmi->LineEventCallback = HAL_DCMI_LineEventCallback; /* Legacy weak LineEventCallback */ - break; - - case HAL_DCMI_ERROR_CB_ID : - hdcmi->ErrorCallback = HAL_DCMI_ErrorCallback; /* Legacy weak ErrorCallback */ - break; - - case HAL_DCMI_MSPINIT_CB_ID : - hdcmi->MspInitCallback = HAL_DCMI_MspInit; - break; - - case HAL_DCMI_MSPDEINIT_CB_ID : - hdcmi->MspDeInitCallback = HAL_DCMI_MspDeInit; - break; - - default : - /* update the error code */ - hdcmi->ErrorCode |= HAL_DCMI_ERROR_INVALID_CALLBACK; - /* update return status */ - status = HAL_ERROR; - break; - } - } - else if(hdcmi->State == HAL_DCMI_STATE_RESET) - { - switch (CallbackID) - { - case HAL_DCMI_MSPINIT_CB_ID : - hdcmi->MspInitCallback = HAL_DCMI_MspInit; - break; - - case HAL_DCMI_MSPDEINIT_CB_ID : - hdcmi->MspDeInitCallback = HAL_DCMI_MspDeInit; - break; - - default : - /* update the error code */ - hdcmi->ErrorCode |= HAL_DCMI_ERROR_INVALID_CALLBACK; - /* update return status */ - status = HAL_ERROR; - break; - } - } - else - { - /* update the error code */ - hdcmi->ErrorCode |= HAL_DCMI_ERROR_INVALID_CALLBACK; - /* update return status */ - status = HAL_ERROR; - } - - return status; -} -#endif /* USE_HAL_DCMI_REGISTER_CALLBACKS */ - -/** - * @} - */ -/* Private functions ---------------------------------------------------------*/ -/** @defgroup DCMI_Private_Functions DCMI Private Functions - * @{ - */ - -/** - * @brief DMA conversion complete callback. - * @param hdma pointer to a DMA_HandleTypeDef structure that contains - * the configuration information for the specified DMA module. - * @retval None - */ -static void DCMI_DMAXferCplt(DMA_HandleTypeDef *hdma) -{ - uint32_t tmp = 0U; - - DCMI_HandleTypeDef* hdcmi = ( DCMI_HandleTypeDef* )((DMA_HandleTypeDef* )hdma)->Parent; - - if(hdcmi->XferCount != 0U) - { - /* Update memory 0 address location */ - tmp = ((hdcmi->DMA_Handle->Instance->CR) & DMA_SxCR_CT); - if(((hdcmi->XferCount % 2U) == 0U) && (tmp != 0U)) - { - tmp = hdcmi->DMA_Handle->Instance->M0AR; - HAL_DMAEx_ChangeMemory(hdcmi->DMA_Handle, (tmp + (8U*hdcmi->XferSize)), MEMORY0); - hdcmi->XferCount--; - } - /* Update memory 1 address location */ - else if((hdcmi->DMA_Handle->Instance->CR & DMA_SxCR_CT) == 0U) - { - tmp = hdcmi->DMA_Handle->Instance->M1AR; - HAL_DMAEx_ChangeMemory(hdcmi->DMA_Handle, (tmp + (8U*hdcmi->XferSize)), MEMORY1); - hdcmi->XferCount--; - } - } - /* Update memory 0 address location */ - else if((hdcmi->DMA_Handle->Instance->CR & DMA_SxCR_CT) != 0U) - { - hdcmi->DMA_Handle->Instance->M0AR = hdcmi->pBuffPtr; - } - /* Update memory 1 address location */ - else if((hdcmi->DMA_Handle->Instance->CR & DMA_SxCR_CT) == 0U) - { - tmp = hdcmi->pBuffPtr; - hdcmi->DMA_Handle->Instance->M1AR = (tmp + (4U*hdcmi->XferSize)); - hdcmi->XferCount = hdcmi->XferTransferNumber; - } - - /* Check if the frame is transferred */ - if(hdcmi->XferCount == hdcmi->XferTransferNumber) - { - /* Enable the Frame interrupt */ - __HAL_DCMI_ENABLE_IT(hdcmi, DCMI_IT_FRAME); - - /* When snapshot mode, set dcmi state to ready */ - if((hdcmi->Instance->CR & DCMI_CR_CM) == DCMI_MODE_SNAPSHOT) - { - hdcmi->State= HAL_DCMI_STATE_READY; - } - } -} - -/** - * @brief DMA error callback - * @param hdma pointer to a DMA_HandleTypeDef structure that contains - * the configuration information for the specified DMA module. - * @retval None - */ -static void DCMI_DMAError(DMA_HandleTypeDef *hdma) -{ - DCMI_HandleTypeDef* hdcmi = ( DCMI_HandleTypeDef* )((DMA_HandleTypeDef* )hdma)->Parent; - - if(hdcmi->DMA_Handle->ErrorCode != HAL_DMA_ERROR_FE) - { - /* Initialize the DCMI state*/ - hdcmi->State = HAL_DCMI_STATE_READY; - } - - /* DCMI error Callback */ -#if (USE_HAL_DCMI_REGISTER_CALLBACKS == 1) - /*Call registered DCMI error callback*/ - hdcmi->ErrorCallback(hdcmi); -#else - HAL_DCMI_ErrorCallback(hdcmi); -#endif /* USE_HAL_DCMI_REGISTER_CALLBACKS */ - -} - -/** - * @} - */ - -/** - * @} - */ -#endif /* STM32F407xx || STM32F417xx || STM32F427xx || STM32F437xx ||\ - STM32F429xx || STM32F439xx || STM32F446xx || STM32F469xx ||\ - STM32F479xx */ -#endif /* HAL_DCMI_MODULE_ENABLED */ -/** - * @} - */ - -/** - * @} - */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dcmi_ex.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dcmi_ex.c deleted file mode 100644 index b21454c90d9fbe..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dcmi_ex.c +++ /dev/null @@ -1,185 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_dcmi_ex.c - * @author MCD Application Team - * @brief DCMI Extension HAL module driver - * This file provides firmware functions to manage the following - * functionalities of DCMI extension peripheral: - * + Extension features functions - * - @verbatim - ============================================================================== - ##### DCMI peripheral extension features ##### - ============================================================================== - - [..] Comparing to other previous devices, the DCMI interface for STM32F446xx - devices contains the following additional features : - - (+) Support of Black and White cameras - - ##### How to use this driver ##### - ============================================================================== - [..] This driver provides functions to manage the Black and White feature - - @endverbatim - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ -/** @defgroup DCMIEx DCMIEx - * @brief DCMI Extended HAL module driver - * @{ - */ - -#ifdef HAL_DCMI_MODULE_ENABLED - -#if defined(STM32F407xx) || defined(STM32F417xx) || defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) ||\ - defined(STM32F439xx) || defined(STM32F446xx) || defined(STM32F469xx) || defined(STM32F479xx) -/* Private typedef -----------------------------------------------------------*/ -/* Private define ------------------------------------------------------------*/ -/* Private macro -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private function prototypes -----------------------------------------------*/ -/* Exported functions --------------------------------------------------------*/ - -/** @defgroup DCMIEx_Exported_Functions DCMI Extended Exported Functions - * @{ - */ - -/** - * @} - */ - -/** @addtogroup DCMI_Exported_Functions_Group1 Initialization and Configuration functions - * @{ - */ - -/** - * @brief Initializes the DCMI according to the specified - * parameters in the DCMI_InitTypeDef and create the associated handle. - * @param hdcmi pointer to a DCMI_HandleTypeDef structure that contains - * the configuration information for DCMI. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DCMI_Init(DCMI_HandleTypeDef *hdcmi) -{ - /* Check the DCMI peripheral state */ - if(hdcmi == NULL) - { - return HAL_ERROR; - } - - /* Check function parameters */ - assert_param(IS_DCMI_ALL_INSTANCE(hdcmi->Instance)); - assert_param(IS_DCMI_PCKPOLARITY(hdcmi->Init.PCKPolarity)); - assert_param(IS_DCMI_VSPOLARITY(hdcmi->Init.VSPolarity)); - assert_param(IS_DCMI_HSPOLARITY(hdcmi->Init.HSPolarity)); - assert_param(IS_DCMI_SYNCHRO(hdcmi->Init.SynchroMode)); - assert_param(IS_DCMI_CAPTURE_RATE(hdcmi->Init.CaptureRate)); - assert_param(IS_DCMI_EXTENDED_DATA(hdcmi->Init.ExtendedDataMode)); - assert_param(IS_DCMI_MODE_JPEG(hdcmi->Init.JPEGMode)); -#if defined(STM32F446xx) || defined(STM32F469xx) || defined(STM32F479xx) - assert_param(IS_DCMI_BYTE_SELECT_MODE(hdcmi->Init.ByteSelectMode)); - assert_param(IS_DCMI_BYTE_SELECT_START(hdcmi->Init.ByteSelectStart)); - assert_param(IS_DCMI_LINE_SELECT_MODE(hdcmi->Init.LineSelectMode)); - assert_param(IS_DCMI_LINE_SELECT_START(hdcmi->Init.LineSelectStart)); -#endif /* STM32F446xx || STM32F469xx || STM32F479xx */ - if(hdcmi->State == HAL_DCMI_STATE_RESET) - { - /* Allocate lock resource and initialize it */ - hdcmi->Lock = HAL_UNLOCKED; - /* Init the low level hardware */ - /* Init the DCMI Callback settings */ -#if (USE_HAL_DCMI_REGISTER_CALLBACKS == 1) - hdcmi->FrameEventCallback = HAL_DCMI_FrameEventCallback; /* Legacy weak FrameEventCallback */ - hdcmi->VsyncEventCallback = HAL_DCMI_VsyncEventCallback; /* Legacy weak VsyncEventCallback */ - hdcmi->LineEventCallback = HAL_DCMI_LineEventCallback; /* Legacy weak LineEventCallback */ - hdcmi->ErrorCallback = HAL_DCMI_ErrorCallback; /* Legacy weak ErrorCallback */ - - if(hdcmi->MspInitCallback == NULL) - { - /* Legacy weak MspInit Callback */ - hdcmi->MspInitCallback = HAL_DCMI_MspInit; - } - /* Initialize the low level hardware (MSP) */ - hdcmi->MspInitCallback(hdcmi); -#else - /* Init the low level hardware : GPIO, CLOCK, NVIC and DMA */ - HAL_DCMI_MspInit(hdcmi); -#endif /* (USE_HAL_DCMI_REGISTER_CALLBACKS) */ - HAL_DCMI_MspInit(hdcmi); - } - - /* Change the DCMI state */ - hdcmi->State = HAL_DCMI_STATE_BUSY; - /* Configures the HS, VS, DE and PC polarity */ - hdcmi->Instance->CR &= ~(DCMI_CR_PCKPOL | DCMI_CR_HSPOL | DCMI_CR_VSPOL | DCMI_CR_EDM_0 |\ - DCMI_CR_EDM_1 | DCMI_CR_FCRC_0 | DCMI_CR_FCRC_1 | DCMI_CR_JPEG |\ - DCMI_CR_ESS -#if defined(STM32F446xx) || defined(STM32F469xx) || defined(STM32F479xx) - | DCMI_CR_BSM_0 | DCMI_CR_BSM_1 | DCMI_CR_OEBS |\ - DCMI_CR_LSM | DCMI_CR_OELS -#endif /* STM32F446xx || STM32F469xx || STM32F479xx */ - ); - hdcmi->Instance->CR |= (uint32_t)(hdcmi->Init.SynchroMode | hdcmi->Init.CaptureRate |\ - hdcmi->Init.VSPolarity | hdcmi->Init.HSPolarity |\ - hdcmi->Init.PCKPolarity | hdcmi->Init.ExtendedDataMode |\ - hdcmi->Init.JPEGMode -#if defined(STM32F446xx) || defined(STM32F469xx) || defined(STM32F479xx) - | hdcmi->Init.ByteSelectMode |\ - hdcmi->Init.ByteSelectStart | hdcmi->Init.LineSelectMode |\ - hdcmi->Init.LineSelectStart -#endif /* STM32F446xx || STM32F469xx || STM32F479xx */ - ); - if(hdcmi->Init.SynchroMode == DCMI_SYNCHRO_EMBEDDED) - { - hdcmi->Instance->ESCR = (((uint32_t)hdcmi->Init.SyncroCode.FrameStartCode) | - ((uint32_t)hdcmi->Init.SyncroCode.LineStartCode << DCMI_POSITION_ESCR_LSC)| - ((uint32_t)hdcmi->Init.SyncroCode.LineEndCode << DCMI_POSITION_ESCR_LEC) | - ((uint32_t)hdcmi->Init.SyncroCode.FrameEndCode << DCMI_POSITION_ESCR_FEC)); - - } - - /* Enable the Line, Vsync, Error and Overrun interrupts */ - __HAL_DCMI_ENABLE_IT(hdcmi, DCMI_IT_LINE | DCMI_IT_VSYNC | DCMI_IT_ERR | DCMI_IT_OVR); - - /* Update error code */ - hdcmi->ErrorCode = HAL_DCMI_ERROR_NONE; - - /* Initialize the DCMI state*/ - hdcmi->State = HAL_DCMI_STATE_READY; - - return HAL_OK; -} - -/** - * @} - */ -#endif /* STM32F407xx || STM32F417xx || STM32F427xx || STM32F437xx || STM32F429xx ||\ - STM32F439xx || STM32F446xx || STM32F469xx || STM32F479xx */ -#endif /* HAL_DCMI_MODULE_ENABLED */ -/** - * @} - */ - -/** - * @} - */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dfsdm.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dfsdm.c deleted file mode 100644 index c57ebebf7ff350..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dfsdm.c +++ /dev/null @@ -1,4425 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_dfsdm.c - * @author MCD Application Team - * @brief This file provides firmware functions to manage the following - * functionalities of the Digital Filter for Sigma-Delta Modulators - * (DFSDM) peripherals: - * + Initialization and configuration of channels and filters - * + Regular channels configuration - * + Injected channels configuration - * + Regular/Injected Channels DMA Configuration - * + Interrupts and flags management - * + Analog watchdog feature - * + Short-circuit detector feature - * + Extremes detector feature - * + Clock absence detector feature - * + Break generation on analog watchdog or short-circuit event - * - @verbatim - ============================================================================== - ##### How to use this driver ##### - ============================================================================== - [..] - *** Channel initialization *** - ============================== - [..] - (#) User has first to initialize channels (before filters initialization). - (#) As prerequisite, fill in the HAL_DFSDM_ChannelMspInit() : - (++) Enable DFSDMz clock interface with __HAL_RCC_DFSDMz_CLK_ENABLE(). - (++) Enable the clocks for the DFSDMz GPIOS with __HAL_RCC_GPIOx_CLK_ENABLE(). - (++) Configure these DFSDMz pins in alternate mode using HAL_GPIO_Init(). - (++) If interrupt mode is used, enable and configure DFSDMz_FLT0 global - interrupt with HAL_NVIC_SetPriority() and HAL_NVIC_EnableIRQ(). - (#) Configure the output clock, input, serial interface, analog watchdog, - offset and data right bit shift parameters for this channel using the - HAL_DFSDM_ChannelInit() function. - - *** Channel clock absence detector *** - ====================================== - [..] - (#) Start clock absence detector using HAL_DFSDM_ChannelCkabStart() or - HAL_DFSDM_ChannelCkabStart_IT(). - (#) In polling mode, use HAL_DFSDM_ChannelPollForCkab() to detect the clock - absence. - (#) In interrupt mode, HAL_DFSDM_ChannelCkabCallback() will be called if - clock absence is detected. - (#) Stop clock absence detector using HAL_DFSDM_ChannelCkabStop() or - HAL_DFSDM_ChannelCkabStop_IT(). - (#) Please note that the same mode (polling or interrupt) has to be used - for all channels because the channels are sharing the same interrupt. - (#) Please note also that in interrupt mode, if clock absence detector is - stopped for one channel, interrupt will be disabled for all channels. - - *** Channel short circuit detector *** - ====================================== - [..] - (#) Start short circuit detector using HAL_DFSDM_ChannelScdStart() or - or HAL_DFSDM_ChannelScdStart_IT(). - (#) In polling mode, use HAL_DFSDM_ChannelPollForScd() to detect short - circuit. - (#) In interrupt mode, HAL_DFSDM_ChannelScdCallback() will be called if - short circuit is detected. - (#) Stop short circuit detector using HAL_DFSDM_ChannelScdStop() or - or HAL_DFSDM_ChannelScdStop_IT(). - (#) Please note that the same mode (polling or interrupt) has to be used - for all channels because the channels are sharing the same interrupt. - (#) Please note also that in interrupt mode, if short circuit detector is - stopped for one channel, interrupt will be disabled for all channels. - - *** Channel analog watchdog value *** - ===================================== - [..] - (#) Get analog watchdog filter value of a channel using - HAL_DFSDM_ChannelGetAwdValue(). - - *** Channel offset value *** - ===================================== - [..] - (#) Modify offset value of a channel using HAL_DFSDM_ChannelModifyOffset(). - - *** Filter initialization *** - ============================= - [..] - (#) After channel initialization, user has to init filters. - (#) As prerequisite, fill in the HAL_DFSDM_FilterMspInit() : - (++) If interrupt mode is used , enable and configure DFSDMz_FLTx global - interrupt with HAL_NVIC_SetPriority() and HAL_NVIC_EnableIRQ(). - Please note that DFSDMz_FLT0 global interrupt could be already - enabled if interrupt is used for channel. - (++) If DMA mode is used, configure DMA with HAL_DMA_Init() and link it - with DFSDMz filter handle using __HAL_LINKDMA(). - (#) Configure the regular conversion, injected conversion and filter - parameters for this filter using the HAL_DFSDM_FilterInit() function. - - *** Filter regular channel conversion *** - ========================================= - [..] - (#) Select regular channel and enable/disable continuous mode using - HAL_DFSDM_FilterConfigRegChannel(). - (#) Start regular conversion using HAL_DFSDM_FilterRegularStart(), - HAL_DFSDM_FilterRegularStart_IT(), HAL_DFSDM_FilterRegularStart_DMA() or - HAL_DFSDM_FilterRegularMsbStart_DMA(). - (#) In polling mode, use HAL_DFSDM_FilterPollForRegConversion() to detect - the end of regular conversion. - (#) In interrupt mode, HAL_DFSDM_FilterRegConvCpltCallback() will be called - at the end of regular conversion. - (#) Get value of regular conversion and corresponding channel using - HAL_DFSDM_FilterGetRegularValue(). - (#) In DMA mode, HAL_DFSDM_FilterRegConvHalfCpltCallback() and - HAL_DFSDM_FilterRegConvCpltCallback() will be called respectively at the - half transfer and at the transfer complete. Please note that - HAL_DFSDM_FilterRegConvHalfCpltCallback() will be called only in DMA - circular mode. - (#) Stop regular conversion using HAL_DFSDM_FilterRegularStop(), - HAL_DFSDM_FilterRegularStop_IT() or HAL_DFSDM_FilterRegularStop_DMA(). - - *** Filter injected channels conversion *** - =========================================== - [..] - (#) Select injected channels using HAL_DFSDM_FilterConfigInjChannel(). - (#) Start injected conversion using HAL_DFSDM_FilterInjectedStart(), - HAL_DFSDM_FilterInjectedStart_IT(), HAL_DFSDM_FilterInjectedStart_DMA() or - HAL_DFSDM_FilterInjectedMsbStart_DMA(). - (#) In polling mode, use HAL_DFSDM_FilterPollForInjConversion() to detect - the end of injected conversion. - (#) In interrupt mode, HAL_DFSDM_FilterInjConvCpltCallback() will be called - at the end of injected conversion. - (#) Get value of injected conversion and corresponding channel using - HAL_DFSDM_FilterGetInjectedValue(). - (#) In DMA mode, HAL_DFSDM_FilterInjConvHalfCpltCallback() and - HAL_DFSDM_FilterInjConvCpltCallback() will be called respectively at the - half transfer and at the transfer complete. Please note that - HAL_DFSDM_FilterInjConvCpltCallback() will be called only in DMA - circular mode. - (#) Stop injected conversion using HAL_DFSDM_FilterInjectedStop(), - HAL_DFSDM_FilterInjectedStop_IT() or HAL_DFSDM_FilterInjectedStop_DMA(). - - *** Filter analog watchdog *** - ============================== - [..] - (#) Start filter analog watchdog using HAL_DFSDM_FilterAwdStart_IT(). - (#) HAL_DFSDM_FilterAwdCallback() will be called if analog watchdog occurs. - (#) Stop filter analog watchdog using HAL_DFSDM_FilterAwdStop_IT(). - - *** Filter extreme detector *** - =============================== - [..] - (#) Start filter extreme detector using HAL_DFSDM_FilterExdStart(). - (#) Get extreme detector maximum value using HAL_DFSDM_FilterGetExdMaxValue(). - (#) Get extreme detector minimum value using HAL_DFSDM_FilterGetExdMinValue(). - (#) Start filter extreme detector using HAL_DFSDM_FilterExdStop(). - - *** Filter conversion time *** - ============================== - [..] - (#) Get conversion time value using HAL_DFSDM_FilterGetConvTimeValue(). - - *** Callback registration *** - ============================= - [..] - The compilation define USE_HAL_DFSDM_REGISTER_CALLBACKS when set to 1 - allows the user to configure dynamically the driver callbacks. - Use functions HAL_DFSDM_Channel_RegisterCallback(), - HAL_DFSDM_Filter_RegisterCallback() or - HAL_DFSDM_Filter_RegisterAwdCallback() to register a user callback. - - [..] - Function HAL_DFSDM_Channel_RegisterCallback() allows to register - following callbacks: - (+) CkabCallback : DFSDM channel clock absence detection callback. - (+) ScdCallback : DFSDM channel short circuit detection callback. - (+) MspInitCallback : DFSDM channel MSP init callback. - (+) MspDeInitCallback : DFSDM channel MSP de-init callback. - [..] - This function takes as parameters the HAL peripheral handle, the Callback ID - and a pointer to the user callback function. - - [..] - Function HAL_DFSDM_Filter_RegisterCallback() allows to register - following callbacks: - (+) RegConvCpltCallback : DFSDM filter regular conversion complete callback. - (+) RegConvHalfCpltCallback : DFSDM filter half regular conversion complete callback. - (+) InjConvCpltCallback : DFSDM filter injected conversion complete callback. - (+) InjConvHalfCpltCallback : DFSDM filter half injected conversion complete callback. - (+) ErrorCallback : DFSDM filter error callback. - (+) MspInitCallback : DFSDM filter MSP init callback. - (+) MspDeInitCallback : DFSDM filter MSP de-init callback. - [..] - This function takes as parameters the HAL peripheral handle, the Callback ID - and a pointer to the user callback function. - - [..] - For specific DFSDM filter analog watchdog callback use dedicated register callback: - HAL_DFSDM_Filter_RegisterAwdCallback(). - - [..] - Use functions HAL_DFSDM_Channel_UnRegisterCallback() or - HAL_DFSDM_Filter_UnRegisterCallback() to reset a callback to the default - weak function. - - [..] - HAL_DFSDM_Channel_UnRegisterCallback() takes as parameters the HAL peripheral handle, - and the Callback ID. - [..] - This function allows to reset following callbacks: - (+) CkabCallback : DFSDM channel clock absence detection callback. - (+) ScdCallback : DFSDM channel short circuit detection callback. - (+) MspInitCallback : DFSDM channel MSP init callback. - (+) MspDeInitCallback : DFSDM channel MSP de-init callback. - - [..] - HAL_DFSDM_Filter_UnRegisterCallback() takes as parameters the HAL peripheral handle, - and the Callback ID. - [..] - This function allows to reset following callbacks: - (+) RegConvCpltCallback : DFSDM filter regular conversion complete callback. - (+) RegConvHalfCpltCallback : DFSDM filter half regular conversion complete callback. - (+) InjConvCpltCallback : DFSDM filter injected conversion complete callback. - (+) InjConvHalfCpltCallback : DFSDM filter half injected conversion complete callback. - (+) ErrorCallback : DFSDM filter error callback. - (+) MspInitCallback : DFSDM filter MSP init callback. - (+) MspDeInitCallback : DFSDM filter MSP de-init callback. - - [..] - For specific DFSDM filter analog watchdog callback use dedicated unregister callback: - HAL_DFSDM_Filter_UnRegisterAwdCallback(). - - [..] - By default, after the call of init function and if the state is RESET - all callbacks are reset to the corresponding legacy weak functions: - examples HAL_DFSDM_ChannelScdCallback(), HAL_DFSDM_FilterErrorCallback(). - Exception done for MspInit and MspDeInit callbacks that are respectively - reset to the legacy weak functions in the init and de-init only when these - callbacks are null (not registered beforehand). - If not, MspInit or MspDeInit are not null, the init and de-init keep and use - the user MspInit/MspDeInit callbacks (registered beforehand) - - [..] - Callbacks can be registered/unregistered in READY state only. - Exception done for MspInit/MspDeInit callbacks that can be registered/unregistered - in READY or RESET state, thus registered (user) MspInit/DeInit callbacks can be used - during the init/de-init. - In that case first register the MspInit/MspDeInit user callbacks using - HAL_DFSDM_Channel_RegisterCallback() or - HAL_DFSDM_Filter_RegisterCallback() before calling init or de-init function. - - [..] - When The compilation define USE_HAL_DFSDM_REGISTER_CALLBACKS is set to 0 or - not defined, the callback registering feature is not available - and weak callbacks are used. - - @endverbatim - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ -#ifdef HAL_DFSDM_MODULE_ENABLED -#if defined(STM32F412Zx) || defined(STM32F412Vx) || defined(STM32F412Rx) || defined(STM32F412Cx) || defined(STM32F413xx) || defined(STM32F423xx) -/** @defgroup DFSDM DFSDM - * @brief DFSDM HAL driver module - * @{ - */ - -/* Private typedef -----------------------------------------------------------*/ -/* Private define ------------------------------------------------------------*/ -/** @defgroup DFSDM_Private_Define DFSDM Private Define - * @{ - */ - -#define DFSDM_FLTCR1_MSB_RCH_OFFSET 8U - -#define DFSDM_MSB_MASK 0xFFFF0000U -#define DFSDM_LSB_MASK 0x0000FFFFU -#define DFSDM_CKAB_TIMEOUT 5000U -#define DFSDM1_CHANNEL_NUMBER 4U -#if defined (DFSDM2_Channel0) -#define DFSDM2_CHANNEL_NUMBER 8U -#endif /* DFSDM2_Channel0 */ - -/** - * @} - */ -/** @addtogroup DFSDM_Private_Macros -* @{ -*/ - -/** - * @} - */ -/* Private macro -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/** @defgroup DFSDM_Private_Variables DFSDM Private Variables - * @{ - */ -__IO uint32_t v_dfsdm1ChannelCounter = 0U; -DFSDM_Channel_HandleTypeDef* a_dfsdm1ChannelHandle[DFSDM1_CHANNEL_NUMBER] = {NULL}; - -#if defined (DFSDM2_Channel0) -__IO uint32_t v_dfsdm2ChannelCounter = 0U; -DFSDM_Channel_HandleTypeDef* a_dfsdm2ChannelHandle[DFSDM2_CHANNEL_NUMBER] = {NULL}; -#endif /* DFSDM2_Channel0 */ -/** - * @} - */ - -/* Private function prototypes -----------------------------------------------*/ -/** @defgroup DFSDM_Private_Functions DFSDM Private Functions - * @{ - */ -static uint32_t DFSDM_GetInjChannelsNbr(uint32_t Channels); -static uint32_t DFSDM_GetChannelFromInstance(DFSDM_Channel_TypeDef* Instance); -static void DFSDM_RegConvStart(DFSDM_Filter_HandleTypeDef *hdfsdm_filter); -static void DFSDM_RegConvStop(DFSDM_Filter_HandleTypeDef* hdfsdm_filter); -static void DFSDM_InjConvStart(DFSDM_Filter_HandleTypeDef* hdfsdm_filter); -static void DFSDM_InjConvStop(DFSDM_Filter_HandleTypeDef* hdfsdm_filter); -static void DFSDM_DMARegularHalfConvCplt(DMA_HandleTypeDef *hdma); -static void DFSDM_DMARegularConvCplt(DMA_HandleTypeDef *hdma); -static void DFSDM_DMAInjectedHalfConvCplt(DMA_HandleTypeDef *hdma); -static void DFSDM_DMAInjectedConvCplt(DMA_HandleTypeDef *hdma); -static void DFSDM_DMAError(DMA_HandleTypeDef *hdma); - -/** - * @} - */ - -/* Exported functions --------------------------------------------------------*/ -/** @defgroup DFSDM_Exported_Functions DFSDM Exported Functions - * @{ - */ - -/** @defgroup DFSDM_Exported_Functions_Group1_Channel Channel initialization and de-initialization functions - * @brief Channel initialization and de-initialization functions - * -@verbatim - ============================================================================== - ##### Channel initialization and de-initialization functions ##### - ============================================================================== - [..] This section provides functions allowing to: - (+) Initialize the DFSDM channel. - (+) De-initialize the DFSDM channel. -@endverbatim - * @{ - */ - -/** - * @brief Initialize the DFSDM channel according to the specified parameters - * in the DFSDM_ChannelInitTypeDef structure and initialize the associated handle. - * @param hdfsdm_channel DFSDM channel handle. - * @retval HAL status. - */ -HAL_StatusTypeDef HAL_DFSDM_ChannelInit(DFSDM_Channel_HandleTypeDef *hdfsdm_channel) -{ -#if defined(DFSDM2_Channel0) - __IO uint32_t* channelCounterPtr; - DFSDM_Channel_HandleTypeDef **channelHandleTable; - DFSDM_Channel_TypeDef* channel0Instance; -#endif /* defined(DFSDM2_Channel0) */ - - /* Check DFSDM Channel handle */ - if(hdfsdm_channel == NULL) - { - return HAL_ERROR; - } - - /* Check parameters */ - assert_param(IS_DFSDM_CHANNEL_ALL_INSTANCE(hdfsdm_channel->Instance)); - assert_param(IS_FUNCTIONAL_STATE(hdfsdm_channel->Init.OutputClock.Activation)); - assert_param(IS_DFSDM_CHANNEL_INPUT(hdfsdm_channel->Init.Input.Multiplexer)); - assert_param(IS_DFSDM_CHANNEL_DATA_PACKING(hdfsdm_channel->Init.Input.DataPacking)); - assert_param(IS_DFSDM_CHANNEL_INPUT_PINS(hdfsdm_channel->Init.Input.Pins)); - assert_param(IS_DFSDM_CHANNEL_SERIAL_INTERFACE_TYPE(hdfsdm_channel->Init.SerialInterface.Type)); - assert_param(IS_DFSDM_CHANNEL_SPI_CLOCK(hdfsdm_channel->Init.SerialInterface.SpiClock)); - assert_param(IS_DFSDM_CHANNEL_FILTER_ORDER(hdfsdm_channel->Init.Awd.FilterOrder)); - assert_param(IS_DFSDM_CHANNEL_FILTER_OVS_RATIO(hdfsdm_channel->Init.Awd.Oversampling)); - assert_param(IS_DFSDM_CHANNEL_OFFSET(hdfsdm_channel->Init.Offset)); - assert_param(IS_DFSDM_CHANNEL_RIGHT_BIT_SHIFT(hdfsdm_channel->Init.RightBitShift)); - -#if defined(DFSDM2_Channel0) - /* Get channel counter, channel handle table and channel 0 instance */ - if(IS_DFSDM1_CHANNEL_INSTANCE(hdfsdm_channel->Instance)) - { - channelCounterPtr = &v_dfsdm1ChannelCounter; - channelHandleTable = a_dfsdm1ChannelHandle; - channel0Instance = DFSDM1_Channel0; - } - else - { - channelCounterPtr = &v_dfsdm2ChannelCounter; - channelHandleTable = a_dfsdm2ChannelHandle; - channel0Instance = DFSDM2_Channel0; - } - - /* Check that channel has not been already initialized */ - if(channelHandleTable[DFSDM_GetChannelFromInstance(hdfsdm_channel->Instance)] != NULL) - { - return HAL_ERROR; - } - -#if (USE_HAL_DFSDM_REGISTER_CALLBACKS == 1) - /* Reset callback pointers to the weak predefined callbacks */ - hdfsdm_channel->CkabCallback = HAL_DFSDM_ChannelCkabCallback; - hdfsdm_channel->ScdCallback = HAL_DFSDM_ChannelScdCallback; - - /* Call MSP init function */ - if(hdfsdm_channel->MspInitCallback == NULL) - { - hdfsdm_channel->MspInitCallback = HAL_DFSDM_ChannelMspInit; - } - hdfsdm_channel->MspInitCallback(hdfsdm_channel); -#else - /* Call MSP init function */ - HAL_DFSDM_ChannelMspInit(hdfsdm_channel); -#endif - - /* Update the channel counter */ - (*channelCounterPtr)++; - - /* Configure output serial clock and enable global DFSDM interface only for first channel */ - if(*channelCounterPtr == 1U) - { - assert_param(IS_DFSDM_CHANNEL_OUTPUT_CLOCK(hdfsdm_channel->Init.OutputClock.Selection)); - /* Set the output serial clock source */ - channel0Instance->CHCFGR1 &= ~(DFSDM_CHCFGR1_CKOUTSRC); - channel0Instance->CHCFGR1 |= hdfsdm_channel->Init.OutputClock.Selection; - - /* Reset clock divider */ - channel0Instance->CHCFGR1 &= ~(DFSDM_CHCFGR1_CKOUTDIV); - if(hdfsdm_channel->Init.OutputClock.Activation == ENABLE) - { - assert_param(IS_DFSDM_CHANNEL_OUTPUT_CLOCK_DIVIDER(hdfsdm_channel->Init.OutputClock.Divider)); - /* Set the output clock divider */ - channel0Instance->CHCFGR1 |= (uint32_t) ((hdfsdm_channel->Init.OutputClock.Divider - 1U) << - DFSDM_CHCFGR1_CKOUTDIV_Pos); - } - - /* enable the DFSDM global interface */ - channel0Instance->CHCFGR1 |= DFSDM_CHCFGR1_DFSDMEN; - } - - /* Set channel input parameters */ - hdfsdm_channel->Instance->CHCFGR1 &= ~(DFSDM_CHCFGR1_DATPACK | DFSDM_CHCFGR1_DATMPX | - DFSDM_CHCFGR1_CHINSEL); - hdfsdm_channel->Instance->CHCFGR1 |= (hdfsdm_channel->Init.Input.Multiplexer | - hdfsdm_channel->Init.Input.DataPacking | - hdfsdm_channel->Init.Input.Pins); - - /* Set serial interface parameters */ - hdfsdm_channel->Instance->CHCFGR1 &= ~(DFSDM_CHCFGR1_SITP | DFSDM_CHCFGR1_SPICKSEL); - hdfsdm_channel->Instance->CHCFGR1 |= (hdfsdm_channel->Init.SerialInterface.Type | - hdfsdm_channel->Init.SerialInterface.SpiClock); - - /* Set analog watchdog parameters */ - hdfsdm_channel->Instance->CHAWSCDR &= ~(DFSDM_CHAWSCDR_AWFORD | DFSDM_CHAWSCDR_AWFOSR); - hdfsdm_channel->Instance->CHAWSCDR |= (hdfsdm_channel->Init.Awd.FilterOrder | - ((hdfsdm_channel->Init.Awd.Oversampling - 1U) << DFSDM_CHAWSCDR_AWFOSR_Pos)); - - /* Set channel offset and right bit shift */ - hdfsdm_channel->Instance->CHCFGR2 &= ~(DFSDM_CHCFGR2_OFFSET | DFSDM_CHCFGR2_DTRBS); - hdfsdm_channel->Instance->CHCFGR2 |= (((uint32_t) hdfsdm_channel->Init.Offset << DFSDM_CHCFGR2_OFFSET_Pos) | - (hdfsdm_channel->Init.RightBitShift << DFSDM_CHCFGR2_DTRBS_Pos)); - - /* Enable DFSDM channel */ - hdfsdm_channel->Instance->CHCFGR1 |= DFSDM_CHCFGR1_CHEN; - - /* Set DFSDM Channel to ready state */ - hdfsdm_channel->State = HAL_DFSDM_CHANNEL_STATE_READY; - - /* Store channel handle in DFSDM channel handle table */ - channelHandleTable[DFSDM_GetChannelFromInstance(hdfsdm_channel->Instance)] = hdfsdm_channel; - -#else - /* Check that channel has not been already initialized */ - if(a_dfsdm1ChannelHandle[DFSDM_GetChannelFromInstance(hdfsdm_channel->Instance)] != NULL) - { - return HAL_ERROR; - } - -#if (USE_HAL_DFSDM_REGISTER_CALLBACKS == 1) - /* Reset callback pointers to the weak predefined callbacks */ - hdfsdm_channel->CkabCallback = HAL_DFSDM_ChannelCkabCallback; - hdfsdm_channel->ScdCallback = HAL_DFSDM_ChannelScdCallback; - - /* Call MSP init function */ - if(hdfsdm_channel->MspInitCallback == NULL) - { - hdfsdm_channel->MspInitCallback = HAL_DFSDM_ChannelMspInit; - } - hdfsdm_channel->MspInitCallback(hdfsdm_channel); -#else - /* Call MSP init function */ - HAL_DFSDM_ChannelMspInit(hdfsdm_channel); -#endif - - /* Update the channel counter */ - v_dfsdm1ChannelCounter++; - - /* Configure output serial clock and enable global DFSDM interface only for first channel */ - if(v_dfsdm1ChannelCounter == 1U) - { - assert_param(IS_DFSDM_CHANNEL_OUTPUT_CLOCK(hdfsdm_channel->Init.OutputClock.Selection)); - /* Set the output serial clock source */ - DFSDM1_Channel0->CHCFGR1 &= ~(DFSDM_CHCFGR1_CKOUTSRC); - DFSDM1_Channel0->CHCFGR1 |= hdfsdm_channel->Init.OutputClock.Selection; - - /* Reset clock divider */ - DFSDM1_Channel0->CHCFGR1 &= ~(DFSDM_CHCFGR1_CKOUTDIV); - if(hdfsdm_channel->Init.OutputClock.Activation == ENABLE) - { - assert_param(IS_DFSDM_CHANNEL_OUTPUT_CLOCK_DIVIDER(hdfsdm_channel->Init.OutputClock.Divider)); - /* Set the output clock divider */ - DFSDM1_Channel0->CHCFGR1 |= (uint32_t) ((hdfsdm_channel->Init.OutputClock.Divider - 1U) << - DFSDM_CHCFGR1_CKOUTDIV_Pos); - } - - /* enable the DFSDM global interface */ - DFSDM1_Channel0->CHCFGR1 |= DFSDM_CHCFGR1_DFSDMEN; - } - - /* Set channel input parameters */ - hdfsdm_channel->Instance->CHCFGR1 &= ~(DFSDM_CHCFGR1_DATPACK | DFSDM_CHCFGR1_DATMPX | - DFSDM_CHCFGR1_CHINSEL); - hdfsdm_channel->Instance->CHCFGR1 |= (hdfsdm_channel->Init.Input.Multiplexer | - hdfsdm_channel->Init.Input.DataPacking | - hdfsdm_channel->Init.Input.Pins); - - /* Set serial interface parameters */ - hdfsdm_channel->Instance->CHCFGR1 &= ~(DFSDM_CHCFGR1_SITP | DFSDM_CHCFGR1_SPICKSEL); - hdfsdm_channel->Instance->CHCFGR1 |= (hdfsdm_channel->Init.SerialInterface.Type | - hdfsdm_channel->Init.SerialInterface.SpiClock); - - /* Set analog watchdog parameters */ - hdfsdm_channel->Instance->CHAWSCDR &= ~(DFSDM_CHAWSCDR_AWFORD | DFSDM_CHAWSCDR_AWFOSR); - hdfsdm_channel->Instance->CHAWSCDR |= (hdfsdm_channel->Init.Awd.FilterOrder | - ((hdfsdm_channel->Init.Awd.Oversampling - 1U) << DFSDM_CHAWSCDR_AWFOSR_Pos)); - - /* Set channel offset and right bit shift */ - hdfsdm_channel->Instance->CHCFGR2 &= ~(DFSDM_CHCFGR2_OFFSET | DFSDM_CHCFGR2_DTRBS); - hdfsdm_channel->Instance->CHCFGR2 |= (((uint32_t) hdfsdm_channel->Init.Offset << DFSDM_CHCFGR2_OFFSET_Pos) | - (hdfsdm_channel->Init.RightBitShift << DFSDM_CHCFGR2_DTRBS_Pos)); - - /* Enable DFSDM channel */ - hdfsdm_channel->Instance->CHCFGR1 |= DFSDM_CHCFGR1_CHEN; - - /* Set DFSDM Channel to ready state */ - hdfsdm_channel->State = HAL_DFSDM_CHANNEL_STATE_READY; - - /* Store channel handle in DFSDM channel handle table */ - a_dfsdm1ChannelHandle[DFSDM_GetChannelFromInstance(hdfsdm_channel->Instance)] = hdfsdm_channel; -#endif /* DFSDM2_Channel0 */ - - return HAL_OK; -} - -/** - * @brief De-initialize the DFSDM channel. - * @param hdfsdm_channel DFSDM channel handle. - * @retval HAL status. - */ -HAL_StatusTypeDef HAL_DFSDM_ChannelDeInit(DFSDM_Channel_HandleTypeDef *hdfsdm_channel) -{ -#if defined(DFSDM2_Channel0) - __IO uint32_t* channelCounterPtr; - DFSDM_Channel_HandleTypeDef **channelHandleTable; - DFSDM_Channel_TypeDef* channel0Instance; -#endif /* defined(DFSDM2_Channel0) */ - - /* Check DFSDM Channel handle */ - if(hdfsdm_channel == NULL) - { - return HAL_ERROR; - } - - /* Check parameters */ - assert_param(IS_DFSDM_CHANNEL_ALL_INSTANCE(hdfsdm_channel->Instance)); - -#if defined(DFSDM2_Channel0) - /* Get channel counter, channel handle table and channel 0 instance */ - if(IS_DFSDM1_CHANNEL_INSTANCE(hdfsdm_channel->Instance)) - { - channelCounterPtr = &v_dfsdm1ChannelCounter; - channelHandleTable = a_dfsdm1ChannelHandle; - channel0Instance = DFSDM1_Channel0; - } - else - { - channelCounterPtr = &v_dfsdm2ChannelCounter; - channelHandleTable = a_dfsdm2ChannelHandle; - channel0Instance = DFSDM2_Channel0; - } - - /* Check that channel has not been already deinitialized */ - if(channelHandleTable[DFSDM_GetChannelFromInstance(hdfsdm_channel->Instance)] == NULL) - { - return HAL_ERROR; - } - - /* Disable the DFSDM channel */ - hdfsdm_channel->Instance->CHCFGR1 &= ~(DFSDM_CHCFGR1_CHEN); - - /* Update the channel counter */ - (*channelCounterPtr)--; - - /* Disable global DFSDM at deinit of last channel */ - if(*channelCounterPtr == 0U) - { - channel0Instance->CHCFGR1 &= ~(DFSDM_CHCFGR1_DFSDMEN); - } - - /* Call MSP deinit function */ -#if (USE_HAL_DFSDM_REGISTER_CALLBACKS == 1) - if(hdfsdm_channel->MspDeInitCallback == NULL) - { - hdfsdm_channel->MspDeInitCallback = HAL_DFSDM_ChannelMspDeInit; - } - hdfsdm_channel->MspDeInitCallback(hdfsdm_channel); -#else - HAL_DFSDM_ChannelMspDeInit(hdfsdm_channel); -#endif - - /* Set DFSDM Channel in reset state */ - hdfsdm_channel->State = HAL_DFSDM_CHANNEL_STATE_RESET; - - /* Reset channel handle in DFSDM channel handle table */ - channelHandleTable[DFSDM_GetChannelFromInstance(hdfsdm_channel->Instance)] = NULL; -#else - /* Check that channel has not been already deinitialized */ - if(a_dfsdm1ChannelHandle[DFSDM_GetChannelFromInstance(hdfsdm_channel->Instance)] == NULL) - { - return HAL_ERROR; - } - - /* Disable the DFSDM channel */ - hdfsdm_channel->Instance->CHCFGR1 &= ~(DFSDM_CHCFGR1_CHEN); - - /* Update the channel counter */ - v_dfsdm1ChannelCounter--; - - /* Disable global DFSDM at deinit of last channel */ - if(v_dfsdm1ChannelCounter == 0U) - { - DFSDM1_Channel0->CHCFGR1 &= ~(DFSDM_CHCFGR1_DFSDMEN); - } - - /* Call MSP deinit function */ -#if (USE_HAL_DFSDM_REGISTER_CALLBACKS == 1) - if(hdfsdm_channel->MspDeInitCallback == NULL) - { - hdfsdm_channel->MspDeInitCallback = HAL_DFSDM_ChannelMspDeInit; - } - hdfsdm_channel->MspDeInitCallback(hdfsdm_channel); -#else - HAL_DFSDM_ChannelMspDeInit(hdfsdm_channel); -#endif - - /* Set DFSDM Channel in reset state */ - hdfsdm_channel->State = HAL_DFSDM_CHANNEL_STATE_RESET; - - /* Reset channel handle in DFSDM channel handle table */ - a_dfsdm1ChannelHandle[DFSDM_GetChannelFromInstance(hdfsdm_channel->Instance)] = (DFSDM_Channel_HandleTypeDef *) NULL; -#endif /* defined(DFSDM2_Channel0) */ - - return HAL_OK; -} - -/** - * @brief Initialize the DFSDM channel MSP. - * @param hdfsdm_channel DFSDM channel handle. - * @retval None - */ -__weak void HAL_DFSDM_ChannelMspInit(DFSDM_Channel_HandleTypeDef *hdfsdm_channel) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hdfsdm_channel); - /* NOTE : This function should not be modified, when the function is needed, - the HAL_DFSDM_ChannelMspInit could be implemented in the user file. - */ -} - -/** - * @brief De-initialize the DFSDM channel MSP. - * @param hdfsdm_channel DFSDM channel handle. - * @retval None - */ -__weak void HAL_DFSDM_ChannelMspDeInit(DFSDM_Channel_HandleTypeDef *hdfsdm_channel) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hdfsdm_channel); - /* NOTE : This function should not be modified, when the function is needed, - the HAL_DFSDM_ChannelMspDeInit could be implemented in the user file. - */ -} - -#if (USE_HAL_DFSDM_REGISTER_CALLBACKS == 1) -/** - * @brief Register a user DFSDM channel callback - * to be used instead of the weak predefined callback. - * @param hdfsdm_channel DFSDM channel handle. - * @param CallbackID ID of the callback to be registered. - * This parameter can be one of the following values: - * @arg @ref HAL_DFSDM_CHANNEL_CKAB_CB_ID clock absence detection callback ID. - * @arg @ref HAL_DFSDM_CHANNEL_SCD_CB_ID short circuit detection callback ID. - * @arg @ref HAL_DFSDM_CHANNEL_MSPINIT_CB_ID MSP init callback ID. - * @arg @ref HAL_DFSDM_CHANNEL_MSPDEINIT_CB_ID MSP de-init callback ID. - * @param pCallback pointer to the callback function. - * @retval HAL status. - */ -HAL_StatusTypeDef HAL_DFSDM_Channel_RegisterCallback(DFSDM_Channel_HandleTypeDef *hdfsdm_channel, - HAL_DFSDM_Channel_CallbackIDTypeDef CallbackID, - pDFSDM_Channel_CallbackTypeDef pCallback) -{ - HAL_StatusTypeDef status = HAL_OK; - - if(pCallback == NULL) - { - /* update return status */ - status = HAL_ERROR; - } - else - { - if(HAL_DFSDM_CHANNEL_STATE_READY == hdfsdm_channel->State) - { - switch (CallbackID) - { - case HAL_DFSDM_CHANNEL_CKAB_CB_ID : - hdfsdm_channel->CkabCallback = pCallback; - break; - case HAL_DFSDM_CHANNEL_SCD_CB_ID : - hdfsdm_channel->ScdCallback = pCallback; - break; - case HAL_DFSDM_CHANNEL_MSPINIT_CB_ID : - hdfsdm_channel->MspInitCallback = pCallback; - break; - case HAL_DFSDM_CHANNEL_MSPDEINIT_CB_ID : - hdfsdm_channel->MspDeInitCallback = pCallback; - break; - default : - /* update return status */ - status = HAL_ERROR; - break; - } - } - else if(HAL_DFSDM_CHANNEL_STATE_RESET == hdfsdm_channel->State) - { - switch (CallbackID) - { - case HAL_DFSDM_CHANNEL_MSPINIT_CB_ID : - hdfsdm_channel->MspInitCallback = pCallback; - break; - case HAL_DFSDM_CHANNEL_MSPDEINIT_CB_ID : - hdfsdm_channel->MspDeInitCallback = pCallback; - break; - default : - /* update return status */ - status = HAL_ERROR; - break; - } - } - else - { - /* update return status */ - status = HAL_ERROR; - } - } - return status; -} - -/** - * @brief Unregister a user DFSDM channel callback. - * DFSDM channel callback is redirected to the weak predefined callback. - * @param hdfsdm_channel DFSDM channel handle. - * @param CallbackID ID of the callback to be unregistered. - * This parameter can be one of the following values: - * @arg @ref HAL_DFSDM_CHANNEL_CKAB_CB_ID clock absence detection callback ID. - * @arg @ref HAL_DFSDM_CHANNEL_SCD_CB_ID short circuit detection callback ID. - * @arg @ref HAL_DFSDM_CHANNEL_MSPINIT_CB_ID MSP init callback ID. - * @arg @ref HAL_DFSDM_CHANNEL_MSPDEINIT_CB_ID MSP de-init callback ID. - * @retval HAL status. - */ -HAL_StatusTypeDef HAL_DFSDM_Channel_UnRegisterCallback(DFSDM_Channel_HandleTypeDef *hdfsdm_channel, - HAL_DFSDM_Channel_CallbackIDTypeDef CallbackID) -{ - HAL_StatusTypeDef status = HAL_OK; - - if(HAL_DFSDM_CHANNEL_STATE_READY == hdfsdm_channel->State) - { - switch (CallbackID) - { - case HAL_DFSDM_CHANNEL_CKAB_CB_ID : - hdfsdm_channel->CkabCallback = HAL_DFSDM_ChannelCkabCallback; - break; - case HAL_DFSDM_CHANNEL_SCD_CB_ID : - hdfsdm_channel->ScdCallback = HAL_DFSDM_ChannelScdCallback; - break; - case HAL_DFSDM_CHANNEL_MSPINIT_CB_ID : - hdfsdm_channel->MspInitCallback = HAL_DFSDM_ChannelMspInit; - break; - case HAL_DFSDM_CHANNEL_MSPDEINIT_CB_ID : - hdfsdm_channel->MspDeInitCallback = HAL_DFSDM_ChannelMspDeInit; - break; - default : - /* update return status */ - status = HAL_ERROR; - break; - } - } - else if(HAL_DFSDM_CHANNEL_STATE_RESET == hdfsdm_channel->State) - { - switch (CallbackID) - { - case HAL_DFSDM_CHANNEL_MSPINIT_CB_ID : - hdfsdm_channel->MspInitCallback = HAL_DFSDM_ChannelMspInit; - break; - case HAL_DFSDM_CHANNEL_MSPDEINIT_CB_ID : - hdfsdm_channel->MspDeInitCallback = HAL_DFSDM_ChannelMspDeInit; - break; - default : - /* update return status */ - status = HAL_ERROR; - break; - } - } - else - { - /* update return status */ - status = HAL_ERROR; - } - return status; -} -#endif /* USE_HAL_DFSDM_REGISTER_CALLBACKS */ -/** - * @} - */ - -/** @defgroup DFSDM_Exported_Functions_Group2_Channel Channel operation functions - * @brief Channel operation functions - * -@verbatim - ============================================================================== - ##### Channel operation functions ##### - ============================================================================== - [..] This section provides functions allowing to: - (+) Manage clock absence detector feature. - (+) Manage short circuit detector feature. - (+) Get analog watchdog value. - (+) Modify offset value. -@endverbatim - * @{ - */ - -/** - * @brief This function allows to start clock absence detection in polling mode. - * @note Same mode has to be used for all channels. - * @note If clock is not available on this channel during 5 seconds, - * clock absence detection will not be activated and function - * will return HAL_TIMEOUT error. - * @param hdfsdm_channel DFSDM channel handle. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DFSDM_ChannelCkabStart(DFSDM_Channel_HandleTypeDef *hdfsdm_channel) -{ - HAL_StatusTypeDef status = HAL_OK; - uint32_t tickstart; - uint32_t channel; - -#if defined(DFSDM2_Channel0) - DFSDM_Filter_TypeDef* filter0Instance; -#endif /* defined(DFSDM2_Channel0) */ - - /* Check parameters */ - assert_param(IS_DFSDM_CHANNEL_ALL_INSTANCE(hdfsdm_channel->Instance)); - - /* Check DFSDM channel state */ - if(hdfsdm_channel->State != HAL_DFSDM_CHANNEL_STATE_READY) - { - /* Return error status */ - status = HAL_ERROR; - } - else - { -#if defined (DFSDM2_Channel0) - /* Get channel counter, channel handle table and channel 0 instance */ - if(IS_DFSDM1_CHANNEL_INSTANCE(hdfsdm_channel->Instance)) - { - filter0Instance = DFSDM1_Filter0; - } - else - { - filter0Instance = DFSDM2_Filter0; - } - /* Get channel number from channel instance */ - channel = DFSDM_GetChannelFromInstance(hdfsdm_channel->Instance); - - /* Get timeout */ - tickstart = HAL_GetTick(); - - /* Clear clock absence flag */ - while((((filter0Instance->FLTISR & DFSDM_FLTISR_CKABF) >> (DFSDM_FLTISR_CKABF_Pos + channel)) & 1U) != 0U) - { - filter0Instance->FLTICR = (1U << (DFSDM_FLTICR_CLRCKABF_Pos + channel)); - - /* Check the Timeout */ - if((HAL_GetTick()-tickstart) > DFSDM_CKAB_TIMEOUT) - { - /* Set timeout status */ - status = HAL_TIMEOUT; - break; - } - } -#else - /* Get channel number from channel instance */ - channel = DFSDM_GetChannelFromInstance(hdfsdm_channel->Instance); - - /* Get timeout */ - tickstart = HAL_GetTick(); - - /* Clear clock absence flag */ - while((((DFSDM1_Filter0->FLTISR & DFSDM_FLTISR_CKABF) >> (DFSDM_FLTISR_CKABF_Pos + channel)) & 1U) != 0U) - { - DFSDM1_Filter0->FLTICR = (1U << (DFSDM_FLTICR_CLRCKABF_Pos + channel)); - - /* Check the Timeout */ - if((HAL_GetTick()-tickstart) > DFSDM_CKAB_TIMEOUT) - { - /* Set timeout status */ - status = HAL_TIMEOUT; - break; - } - } -#endif /* DFSDM2_Channel0 */ - - if(status == HAL_OK) - { - /* Start clock absence detection */ - hdfsdm_channel->Instance->CHCFGR1 |= DFSDM_CHCFGR1_CKABEN; - } - } - /* Return function status */ - return status; -} - -/** - * @brief This function allows to poll for the clock absence detection. - * @param hdfsdm_channel DFSDM channel handle. - * @param Timeout Timeout value in milliseconds. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DFSDM_ChannelPollForCkab(DFSDM_Channel_HandleTypeDef *hdfsdm_channel, - uint32_t Timeout) -{ - uint32_t tickstart; - uint32_t channel; -#if defined(DFSDM2_Channel0) - DFSDM_Filter_TypeDef* filter0Instance; -#endif /* defined(DFSDM2_Channel0) */ - - /* Check parameters */ - assert_param(IS_DFSDM_CHANNEL_ALL_INSTANCE(hdfsdm_channel->Instance)); - - /* Check DFSDM channel state */ - if(hdfsdm_channel->State != HAL_DFSDM_CHANNEL_STATE_READY) - { - /* Return error status */ - return HAL_ERROR; - } - else - { -#if defined(DFSDM2_Channel0) - - /* Get channel counter, channel handle table and channel 0 instance */ - if(IS_DFSDM1_CHANNEL_INSTANCE(hdfsdm_channel->Instance)) - { - filter0Instance = DFSDM1_Filter0; - } - else - { - filter0Instance = DFSDM2_Filter0; - } - - /* Get channel number from channel instance */ - channel = DFSDM_GetChannelFromInstance(hdfsdm_channel->Instance); - - /* Get timeout */ - tickstart = HAL_GetTick(); - - /* Wait clock absence detection */ - while((((filter0Instance->FLTISR & DFSDM_FLTISR_CKABF) >> (DFSDM_FLTISR_CKABF_Pos + channel)) & 1U) == 0U) - { - /* Check the Timeout */ - if(Timeout != HAL_MAX_DELAY) - { - if((Timeout == 0U) || ((HAL_GetTick()-tickstart) > Timeout)) - { - /* Return timeout status */ - return HAL_TIMEOUT; - } - } - } - - /* Clear clock absence detection flag */ - filter0Instance->FLTICR = (1U << (DFSDM_FLTICR_CLRCKABF_Pos + channel)); -#else - /* Get channel number from channel instance */ - channel = DFSDM_GetChannelFromInstance(hdfsdm_channel->Instance); - - /* Get timeout */ - tickstart = HAL_GetTick(); - - /* Wait clock absence detection */ - while((((DFSDM1_Filter0->FLTISR & DFSDM_FLTISR_CKABF) >> (DFSDM_FLTISR_CKABF_Pos + channel)) & 1U) == 0U) - { - /* Check the Timeout */ - if(Timeout != HAL_MAX_DELAY) - { - if(((HAL_GetTick()-tickstart) > Timeout) || (Timeout == 0U)) - { - /* Return timeout status */ - return HAL_TIMEOUT; - } - } - } - - /* Clear clock absence detection flag */ - DFSDM1_Filter0->FLTICR = (1U << (DFSDM_FLTICR_CLRCKABF_Pos + channel)); -#endif /* defined(DFSDM2_Channel0) */ - /* Return function status */ - return HAL_OK; - } -} - -/** - * @brief This function allows to stop clock absence detection in polling mode. - * @param hdfsdm_channel DFSDM channel handle. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DFSDM_ChannelCkabStop(DFSDM_Channel_HandleTypeDef *hdfsdm_channel) -{ - HAL_StatusTypeDef status = HAL_OK; - uint32_t channel; -#if defined(DFSDM2_Channel0) - DFSDM_Filter_TypeDef* filter0Instance; -#endif /* defined(DFSDM2_Channel0) */ - - /* Check parameters */ - assert_param(IS_DFSDM_CHANNEL_ALL_INSTANCE(hdfsdm_channel->Instance)); - - /* Check DFSDM channel state */ - if(hdfsdm_channel->State != HAL_DFSDM_CHANNEL_STATE_READY) - { - /* Return error status */ - status = HAL_ERROR; - } - else - { -#if defined(DFSDM2_Channel0) - - /* Get channel counter, channel handle table and channel 0 instance */ - if(IS_DFSDM1_CHANNEL_INSTANCE(hdfsdm_channel->Instance)) - { - filter0Instance = DFSDM1_Filter0; - } - else - { - filter0Instance = DFSDM2_Filter0; - } - - /* Stop clock absence detection */ - hdfsdm_channel->Instance->CHCFGR1 &= ~(DFSDM_CHCFGR1_CKABEN); - - /* Clear clock absence flag */ - channel = DFSDM_GetChannelFromInstance(hdfsdm_channel->Instance); - filter0Instance->FLTICR = (1U << (DFSDM_FLTICR_CLRCKABF_Pos + channel)); - -#else - /* Stop clock absence detection */ - hdfsdm_channel->Instance->CHCFGR1 &= ~(DFSDM_CHCFGR1_CKABEN); - - /* Clear clock absence flag */ - channel = DFSDM_GetChannelFromInstance(hdfsdm_channel->Instance); - DFSDM1_Filter0->FLTICR = (1U << (DFSDM_FLTICR_CLRCKABF_Pos + channel)); -#endif /* DFSDM2_Channel0 */ - } - /* Return function status */ - return status; -} - -/** - * @brief This function allows to start clock absence detection in interrupt mode. - * @note Same mode has to be used for all channels. - * @note If clock is not available on this channel during 5 seconds, - * clock absence detection will not be activated and function - * will return HAL_TIMEOUT error. - * @param hdfsdm_channel DFSDM channel handle. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DFSDM_ChannelCkabStart_IT(DFSDM_Channel_HandleTypeDef *hdfsdm_channel) -{ - HAL_StatusTypeDef status = HAL_OK; - uint32_t channel; - uint32_t tickstart; -#if defined(DFSDM2_Channel0) - DFSDM_Filter_TypeDef* filter0Instance; -#endif /* defined(DFSDM2_Channel0) */ - - /* Check parameters */ - assert_param(IS_DFSDM_CHANNEL_ALL_INSTANCE(hdfsdm_channel->Instance)); - - /* Check DFSDM channel state */ - if(hdfsdm_channel->State != HAL_DFSDM_CHANNEL_STATE_READY) - { - /* Return error status */ - status = HAL_ERROR; - } - else - { -#if defined(DFSDM2_Channel0) - - /* Get channel counter, channel handle table and channel 0 instance */ - if(IS_DFSDM1_CHANNEL_INSTANCE(hdfsdm_channel->Instance)) - { - filter0Instance = DFSDM1_Filter0; - } - else - { - filter0Instance = DFSDM2_Filter0; - } - - /* Get channel number from channel instance */ - channel = DFSDM_GetChannelFromInstance(hdfsdm_channel->Instance); - - /* Get timeout */ - tickstart = HAL_GetTick(); - - /* Clear clock absence flag */ - while((((filter0Instance->FLTISR & DFSDM_FLTISR_CKABF) >> (DFSDM_FLTISR_CKABF_Pos + channel)) & 1U) != 0U) - { - filter0Instance->FLTICR = (1U << (DFSDM_FLTICR_CLRCKABF_Pos + channel)); - - /* Check the Timeout */ - if((HAL_GetTick()-tickstart) > DFSDM_CKAB_TIMEOUT) - { - /* Set timeout status */ - status = HAL_TIMEOUT; - break; - } - } - - if(status == HAL_OK) - { - /* Activate clock absence detection interrupt */ - filter0Instance->FLTCR2 |= DFSDM_FLTCR2_CKABIE; - - /* Start clock absence detection */ - hdfsdm_channel->Instance->CHCFGR1 |= DFSDM_CHCFGR1_CKABEN; - } -#else - /* Get channel number from channel instance */ - channel = DFSDM_GetChannelFromInstance(hdfsdm_channel->Instance); - - /* Get timeout */ - tickstart = HAL_GetTick(); - - /* Clear clock absence flag */ - while((((DFSDM1_Filter0->FLTISR & DFSDM_FLTISR_CKABF) >> (DFSDM_FLTISR_CKABF_Pos + channel)) & 1U) != 0U) - { - DFSDM1_Filter0->FLTICR = (1U << (DFSDM_FLTICR_CLRCKABF_Pos + channel)); - - /* Check the Timeout */ - if((HAL_GetTick()-tickstart) > DFSDM_CKAB_TIMEOUT) - { - /* Set timeout status */ - status = HAL_TIMEOUT; - break; - } - } - - if(status == HAL_OK) - { - /* Activate clock absence detection interrupt */ - DFSDM1_Filter0->FLTCR2 |= DFSDM_FLTCR2_CKABIE; - - /* Start clock absence detection */ - hdfsdm_channel->Instance->CHCFGR1 |= DFSDM_CHCFGR1_CKABEN; - } - -#endif /* defined(DFSDM2_Channel0) */ - } - /* Return function status */ - return status; -} - -/** - * @brief Clock absence detection callback. - * @param hdfsdm_channel DFSDM channel handle. - * @retval None - */ -__weak void HAL_DFSDM_ChannelCkabCallback(DFSDM_Channel_HandleTypeDef *hdfsdm_channel) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hdfsdm_channel); - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_DFSDM_ChannelCkabCallback could be implemented in the user file - */ -} - -/** - * @brief This function allows to stop clock absence detection in interrupt mode. - * @note Interrupt will be disabled for all channels - * @param hdfsdm_channel DFSDM channel handle. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DFSDM_ChannelCkabStop_IT(DFSDM_Channel_HandleTypeDef *hdfsdm_channel) -{ - HAL_StatusTypeDef status = HAL_OK; - uint32_t channel; -#if defined(DFSDM2_Channel0) - DFSDM_Filter_TypeDef* filter0Instance; -#endif /* defined(DFSDM2_Channel0) */ - - /* Check parameters */ - assert_param(IS_DFSDM_CHANNEL_ALL_INSTANCE(hdfsdm_channel->Instance)); - - /* Check DFSDM channel state */ - if(hdfsdm_channel->State != HAL_DFSDM_CHANNEL_STATE_READY) - { - /* Return error status */ - status = HAL_ERROR; - } - else - { -#if defined(DFSDM2_Channel0) - - /* Get channel counter, channel handle table and channel 0 instance */ - if(IS_DFSDM1_CHANNEL_INSTANCE(hdfsdm_channel->Instance)) - { - filter0Instance = DFSDM1_Filter0; - } - else - { - filter0Instance = DFSDM2_Filter0; - } - - /* Stop clock absence detection */ - hdfsdm_channel->Instance->CHCFGR1 &= ~(DFSDM_CHCFGR1_CKABEN); - - /* Clear clock absence flag */ - channel = DFSDM_GetChannelFromInstance(hdfsdm_channel->Instance); - filter0Instance->FLTICR = (1U << (DFSDM_FLTICR_CLRCKABF_Pos + channel)); - - /* Disable clock absence detection interrupt */ - filter0Instance->FLTCR2 &= ~(DFSDM_FLTCR2_CKABIE); -#else - - /* Stop clock absence detection */ - hdfsdm_channel->Instance->CHCFGR1 &= ~(DFSDM_CHCFGR1_CKABEN); - - /* Clear clock absence flag */ - channel = DFSDM_GetChannelFromInstance(hdfsdm_channel->Instance); - DFSDM1_Filter0->FLTICR = (1U << (DFSDM_FLTICR_CLRCKABF_Pos + channel)); - - /* Disable clock absence detection interrupt */ - DFSDM1_Filter0->FLTCR2 &= ~(DFSDM_FLTCR2_CKABIE); -#endif /* DFSDM2_Channel0 */ - } - - /* Return function status */ - return status; -} - -/** - * @brief This function allows to start short circuit detection in polling mode. - * @note Same mode has to be used for all channels - * @param hdfsdm_channel DFSDM channel handle. - * @param Threshold Short circuit detector threshold. - * This parameter must be a number between Min_Data = 0 and Max_Data = 255. - * @param BreakSignal Break signals assigned to short circuit event. - * This parameter can be a values combination of @ref DFSDM_BreakSignals. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DFSDM_ChannelScdStart(DFSDM_Channel_HandleTypeDef *hdfsdm_channel, - uint32_t Threshold, - uint32_t BreakSignal) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Check parameters */ - assert_param(IS_DFSDM_CHANNEL_ALL_INSTANCE(hdfsdm_channel->Instance)); - assert_param(IS_DFSDM_CHANNEL_SCD_THRESHOLD(Threshold)); - assert_param(IS_DFSDM_BREAK_SIGNALS(BreakSignal)); - - /* Check DFSDM channel state */ - if(hdfsdm_channel->State != HAL_DFSDM_CHANNEL_STATE_READY) - { - /* Return error status */ - status = HAL_ERROR; - } - else - { - /* Configure threshold and break signals */ - hdfsdm_channel->Instance->CHAWSCDR &= ~(DFSDM_CHAWSCDR_BKSCD | DFSDM_CHAWSCDR_SCDT); - hdfsdm_channel->Instance->CHAWSCDR |= ((BreakSignal << DFSDM_CHAWSCDR_BKSCD_Pos) | \ - Threshold); - - /* Start short circuit detection */ - hdfsdm_channel->Instance->CHCFGR1 |= DFSDM_CHCFGR1_SCDEN; - } - /* Return function status */ - return status; -} - -/** - * @brief This function allows to poll for the short circuit detection. - * @param hdfsdm_channel DFSDM channel handle. - * @param Timeout Timeout value in milliseconds. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DFSDM_ChannelPollForScd(DFSDM_Channel_HandleTypeDef *hdfsdm_channel, - uint32_t Timeout) -{ - uint32_t tickstart; - uint32_t channel; -#if defined(DFSDM2_Channel0) - DFSDM_Filter_TypeDef* filter0Instance; -#endif /* defined(DFSDM2_Channel0) */ - - /* Check parameters */ - assert_param(IS_DFSDM_CHANNEL_ALL_INSTANCE(hdfsdm_channel->Instance)); - - /* Check DFSDM channel state */ - if(hdfsdm_channel->State != HAL_DFSDM_CHANNEL_STATE_READY) - { - /* Return error status */ - return HAL_ERROR; - } - else - { - /* Get channel number from channel instance */ - channel = DFSDM_GetChannelFromInstance(hdfsdm_channel->Instance); - -#if defined(DFSDM2_Channel0) - /* Get channel counter, channel handle table and channel 0 instance */ - if(IS_DFSDM1_CHANNEL_INSTANCE(hdfsdm_channel->Instance)) - { - filter0Instance = DFSDM1_Filter0; - } - else - { - filter0Instance = DFSDM2_Filter0; - } - - /* Get timeout */ - tickstart = HAL_GetTick(); - - /* Wait short circuit detection */ - while(((filter0Instance->FLTISR & DFSDM_FLTISR_SCDF) >> (DFSDM_FLTISR_SCDF_Pos + channel)) == 0U) - { - /* Check the Timeout */ - if(Timeout != HAL_MAX_DELAY) - { - if((Timeout == 0U) || ((HAL_GetTick()-tickstart) > Timeout)) - { - /* Return timeout status */ - return HAL_TIMEOUT; - } - } - } - - /* Clear short circuit detection flag */ - filter0Instance->FLTICR = (1U << (DFSDM_FLTICR_CLRSCDF_Pos + channel)); - -#else - /* Get timeout */ - tickstart = HAL_GetTick(); - - /* Wait short circuit detection */ - while(((DFSDM1_Filter0->FLTISR & DFSDM_FLTISR_SCDF) >> (DFSDM_FLTISR_SCDF_Pos + channel)) == 0U) - { - /* Check the Timeout */ - if(Timeout != HAL_MAX_DELAY) - { - if(((HAL_GetTick()-tickstart) > Timeout) || (Timeout == 0U)) - { - /* Return timeout status */ - return HAL_TIMEOUT; - } - } - } - - /* Clear short circuit detection flag */ - DFSDM1_Filter0->FLTICR = (1U << (DFSDM_FLTICR_CLRSCDF_Pos + channel)); -#endif /* DFSDM2_Channel0 */ - - /* Return function status */ - return HAL_OK; - } -} - -/** - * @brief This function allows to stop short circuit detection in polling mode. - * @param hdfsdm_channel DFSDM channel handle. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DFSDM_ChannelScdStop(DFSDM_Channel_HandleTypeDef *hdfsdm_channel) -{ - HAL_StatusTypeDef status = HAL_OK; - uint32_t channel; -#if defined(DFSDM2_Channel0) - DFSDM_Filter_TypeDef* filter0Instance; -#endif /* defined(DFSDM2_Channel0) */ - - /* Check parameters */ - assert_param(IS_DFSDM_CHANNEL_ALL_INSTANCE(hdfsdm_channel->Instance)); - - /* Check DFSDM channel state */ - if(hdfsdm_channel->State != HAL_DFSDM_CHANNEL_STATE_READY) - { - /* Return error status */ - status = HAL_ERROR; - } - else - { - /* Stop short circuit detection */ - hdfsdm_channel->Instance->CHCFGR1 &= ~(DFSDM_CHCFGR1_SCDEN); - - /* Clear short circuit detection flag */ - channel = DFSDM_GetChannelFromInstance(hdfsdm_channel->Instance); - -#if defined(DFSDM2_Channel0) - /* Get channel counter, channel handle table and channel 0 instance */ - if(IS_DFSDM1_CHANNEL_INSTANCE(hdfsdm_channel->Instance)) - { - filter0Instance = DFSDM1_Filter0; - } - else - { - filter0Instance = DFSDM2_Filter0; - } - - filter0Instance->FLTICR = (1U << (DFSDM_FLTICR_CLRSCDF_Pos + channel)); -#else - DFSDM1_Filter0->FLTICR = (1U << (DFSDM_FLTICR_CLRSCDF_Pos + channel)); -#endif /* DFSDM2_Channel0*/ - } - /* Return function status */ - return status; -} - -/** - * @brief This function allows to start short circuit detection in interrupt mode. - * @note Same mode has to be used for all channels - * @param hdfsdm_channel DFSDM channel handle. - * @param Threshold Short circuit detector threshold. - * This parameter must be a number between Min_Data = 0 and Max_Data = 255. - * @param BreakSignal Break signals assigned to short circuit event. - * This parameter can be a values combination of @ref DFSDM_BreakSignals. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DFSDM_ChannelScdStart_IT(DFSDM_Channel_HandleTypeDef *hdfsdm_channel, - uint32_t Threshold, - uint32_t BreakSignal) -{ - HAL_StatusTypeDef status = HAL_OK; -#if defined(DFSDM2_Channel0) - DFSDM_Filter_TypeDef* filter0Instance; -#endif /* defined(DFSDM2_Channel0) */ - - /* Check parameters */ - assert_param(IS_DFSDM_CHANNEL_ALL_INSTANCE(hdfsdm_channel->Instance)); - assert_param(IS_DFSDM_CHANNEL_SCD_THRESHOLD(Threshold)); - assert_param(IS_DFSDM_BREAK_SIGNALS(BreakSignal)); - - /* Check DFSDM channel state */ - if(hdfsdm_channel->State != HAL_DFSDM_CHANNEL_STATE_READY) - { - /* Return error status */ - status = HAL_ERROR; - } - else - { -#if defined(DFSDM2_Channel0) - /* Get channel counter, channel handle table and channel 0 instance */ - if(IS_DFSDM1_CHANNEL_INSTANCE(hdfsdm_channel->Instance)) - { - filter0Instance = DFSDM1_Filter0; - } - else - { - filter0Instance = DFSDM2_Filter0; - } - /* Activate short circuit detection interrupt */ - filter0Instance->FLTCR2 |= DFSDM_FLTCR2_SCDIE; -#else - /* Activate short circuit detection interrupt */ - DFSDM1_Filter0->FLTCR2 |= DFSDM_FLTCR2_SCDIE; -#endif /* DFSDM2_Channel0 */ - - /* Configure threshold and break signals */ - hdfsdm_channel->Instance->CHAWSCDR &= ~(DFSDM_CHAWSCDR_BKSCD | DFSDM_CHAWSCDR_SCDT); - hdfsdm_channel->Instance->CHAWSCDR |= ((BreakSignal << DFSDM_CHAWSCDR_BKSCD_Pos) | \ - Threshold); - - /* Start short circuit detection */ - hdfsdm_channel->Instance->CHCFGR1 |= DFSDM_CHCFGR1_SCDEN; - } - /* Return function status */ - return status; -} - -/** - * @brief Short circuit detection callback. - * @param hdfsdm_channel DFSDM channel handle. - * @retval None - */ -__weak void HAL_DFSDM_ChannelScdCallback(DFSDM_Channel_HandleTypeDef *hdfsdm_channel) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hdfsdm_channel); - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_DFSDM_ChannelScdCallback could be implemented in the user file - */ -} - -/** - * @brief This function allows to stop short circuit detection in interrupt mode. - * @note Interrupt will be disabled for all channels - * @param hdfsdm_channel DFSDM channel handle. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DFSDM_ChannelScdStop_IT(DFSDM_Channel_HandleTypeDef *hdfsdm_channel) -{ - HAL_StatusTypeDef status = HAL_OK; - uint32_t channel; -#if defined(DFSDM2_Channel0) - DFSDM_Filter_TypeDef* filter0Instance; -#endif /* defined(DFSDM2_Channel0) */ - - /* Check parameters */ - assert_param(IS_DFSDM_CHANNEL_ALL_INSTANCE(hdfsdm_channel->Instance)); - - /* Check DFSDM channel state */ - if(hdfsdm_channel->State != HAL_DFSDM_CHANNEL_STATE_READY) - { - /* Return error status */ - status = HAL_ERROR; - } - else - { - /* Stop short circuit detection */ - hdfsdm_channel->Instance->CHCFGR1 &= ~(DFSDM_CHCFGR1_SCDEN); - - /* Clear short circuit detection flag */ - channel = DFSDM_GetChannelFromInstance(hdfsdm_channel->Instance); -#if defined(DFSDM2_Channel0) - /* Get channel counter, channel handle table and channel 0 instance */ - if(IS_DFSDM1_CHANNEL_INSTANCE(hdfsdm_channel->Instance)) - { - filter0Instance = DFSDM1_Filter0; - } - else - { - filter0Instance = DFSDM2_Filter0; - } - - filter0Instance->FLTICR = (1U << (DFSDM_FLTICR_CLRSCDF_Pos + channel)); - - /* Disable short circuit detection interrupt */ - filter0Instance->FLTCR2 &= ~(DFSDM_FLTCR2_SCDIE); -#else - DFSDM1_Filter0->FLTICR = (1U << (DFSDM_FLTICR_CLRSCDF_Pos + channel)); - - /* Disable short circuit detection interrupt */ - DFSDM1_Filter0->FLTCR2 &= ~(DFSDM_FLTCR2_SCDIE); -#endif /* DFSDM2_Channel0 */ - } - /* Return function status */ - return status; -} - -/** - * @brief This function allows to get channel analog watchdog value. - * @param hdfsdm_channel DFSDM channel handle. - * @retval Channel analog watchdog value. - */ -int16_t HAL_DFSDM_ChannelGetAwdValue(DFSDM_Channel_HandleTypeDef *hdfsdm_channel) -{ - return (int16_t) hdfsdm_channel->Instance->CHWDATAR; -} - -/** - * @brief This function allows to modify channel offset value. - * @param hdfsdm_channel DFSDM channel handle. - * @param Offset DFSDM channel offset. - * This parameter must be a number between Min_Data = -8388608 and Max_Data = 8388607. - * @retval HAL status. - */ -HAL_StatusTypeDef HAL_DFSDM_ChannelModifyOffset(DFSDM_Channel_HandleTypeDef *hdfsdm_channel, - int32_t Offset) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Check parameters */ - assert_param(IS_DFSDM_CHANNEL_ALL_INSTANCE(hdfsdm_channel->Instance)); - assert_param(IS_DFSDM_CHANNEL_OFFSET(Offset)); - - /* Check DFSDM channel state */ - if(hdfsdm_channel->State != HAL_DFSDM_CHANNEL_STATE_READY) - { - /* Return error status */ - status = HAL_ERROR; - } - else - { - /* Modify channel offset */ - hdfsdm_channel->Instance->CHCFGR2 &= ~(DFSDM_CHCFGR2_OFFSET); - hdfsdm_channel->Instance->CHCFGR2 |= ((uint32_t) Offset << DFSDM_CHCFGR2_OFFSET_Pos); - } - /* Return function status */ - return status; -} - -/** - * @} - */ - -/** @defgroup DFSDM_Exported_Functions_Group3_Channel Channel state function - * @brief Channel state function - * -@verbatim - ============================================================================== - ##### Channel state function ##### - ============================================================================== - [..] This section provides function allowing to: - (+) Get channel handle state. -@endverbatim - * @{ - */ - -/** - * @brief This function allows to get the current DFSDM channel handle state. - * @param hdfsdm_channel DFSDM channel handle. - * @retval DFSDM channel state. - */ -HAL_DFSDM_Channel_StateTypeDef HAL_DFSDM_ChannelGetState(DFSDM_Channel_HandleTypeDef *hdfsdm_channel) -{ - /* Return DFSDM channel handle state */ - return hdfsdm_channel->State; -} - -/** - * @} - */ - -/** @defgroup DFSDM_Exported_Functions_Group1_Filter Filter initialization and de-initialization functions - * @brief Filter initialization and de-initialization functions - * -@verbatim - ============================================================================== - ##### Filter initialization and de-initialization functions ##### - ============================================================================== - [..] This section provides functions allowing to: - (+) Initialize the DFSDM filter. - (+) De-initialize the DFSDM filter. -@endverbatim - * @{ - */ - -/** - * @brief Initialize the DFSDM filter according to the specified parameters - * in the DFSDM_FilterInitTypeDef structure and initialize the associated handle. - * @param hdfsdm_filter DFSDM filter handle. - * @retval HAL status. - */ -HAL_StatusTypeDef HAL_DFSDM_FilterInit(DFSDM_Filter_HandleTypeDef *hdfsdm_filter) -{ - /* Check DFSDM Channel handle */ - if(hdfsdm_filter == NULL) - { - return HAL_ERROR; - } - - /* Check parameters */ - assert_param(IS_DFSDM_FILTER_ALL_INSTANCE(hdfsdm_filter->Instance)); - assert_param(IS_DFSDM_FILTER_REG_TRIGGER(hdfsdm_filter->Init.RegularParam.Trigger)); - assert_param(IS_FUNCTIONAL_STATE(hdfsdm_filter->Init.RegularParam.FastMode)); - assert_param(IS_FUNCTIONAL_STATE(hdfsdm_filter->Init.RegularParam.DmaMode)); - assert_param(IS_DFSDM_FILTER_INJ_TRIGGER(hdfsdm_filter->Init.InjectedParam.Trigger)); - assert_param(IS_FUNCTIONAL_STATE(hdfsdm_filter->Init.InjectedParam.ScanMode)); - assert_param(IS_FUNCTIONAL_STATE(hdfsdm_filter->Init.InjectedParam.DmaMode)); - assert_param(IS_DFSDM_FILTER_SINC_ORDER(hdfsdm_filter->Init.FilterParam.SincOrder)); - assert_param(IS_DFSDM_FILTER_OVS_RATIO(hdfsdm_filter->Init.FilterParam.Oversampling)); - assert_param(IS_DFSDM_FILTER_INTEGRATOR_OVS_RATIO(hdfsdm_filter->Init.FilterParam.IntOversampling)); - - /* Check parameters compatibility */ - if((hdfsdm_filter->Instance == DFSDM1_Filter0) && - ((hdfsdm_filter->Init.RegularParam.Trigger == DFSDM_FILTER_SYNC_TRIGGER) || - (hdfsdm_filter->Init.InjectedParam.Trigger == DFSDM_FILTER_SYNC_TRIGGER))) - { - return HAL_ERROR; - } -#if defined (DFSDM2_Channel0) - if((hdfsdm_filter->Instance == DFSDM2_Filter0) && - ((hdfsdm_filter->Init.RegularParam.Trigger == DFSDM_FILTER_SYNC_TRIGGER) || - (hdfsdm_filter->Init.InjectedParam.Trigger == DFSDM_FILTER_SYNC_TRIGGER))) - { - return HAL_ERROR; - } -#endif /* DFSDM2_Channel0 */ - - /* Initialize DFSDM filter variables with default values */ - hdfsdm_filter->RegularContMode = DFSDM_CONTINUOUS_CONV_OFF; - hdfsdm_filter->InjectedChannelsNbr = 1U; - hdfsdm_filter->InjConvRemaining = 1U; - hdfsdm_filter->ErrorCode = DFSDM_FILTER_ERROR_NONE; - -#if (USE_HAL_DFSDM_REGISTER_CALLBACKS == 1) - /* Reset callback pointers to the weak predefined callbacks */ - hdfsdm_filter->AwdCallback = HAL_DFSDM_FilterAwdCallback; - hdfsdm_filter->RegConvCpltCallback = HAL_DFSDM_FilterRegConvCpltCallback; - hdfsdm_filter->RegConvHalfCpltCallback = HAL_DFSDM_FilterRegConvHalfCpltCallback; - hdfsdm_filter->InjConvCpltCallback = HAL_DFSDM_FilterInjConvCpltCallback; - hdfsdm_filter->InjConvHalfCpltCallback = HAL_DFSDM_FilterInjConvHalfCpltCallback; - hdfsdm_filter->ErrorCallback = HAL_DFSDM_FilterErrorCallback; - - /* Call MSP init function */ - if(hdfsdm_filter->MspInitCallback == NULL) - { - hdfsdm_filter->MspInitCallback = HAL_DFSDM_FilterMspInit; - } - hdfsdm_filter->MspInitCallback(hdfsdm_filter); -#else - /* Call MSP init function */ - HAL_DFSDM_FilterMspInit(hdfsdm_filter); -#endif - - /* Set regular parameters */ - hdfsdm_filter->Instance->FLTCR1 &= ~(DFSDM_FLTCR1_RSYNC); - if(hdfsdm_filter->Init.RegularParam.FastMode == ENABLE) - { - hdfsdm_filter->Instance->FLTCR1 |= DFSDM_FLTCR1_FAST; - } - else - { - hdfsdm_filter->Instance->FLTCR1 &= ~(DFSDM_FLTCR1_FAST); - } - - if(hdfsdm_filter->Init.RegularParam.DmaMode == ENABLE) - { - hdfsdm_filter->Instance->FLTCR1 |= DFSDM_FLTCR1_RDMAEN; - } - else - { - hdfsdm_filter->Instance->FLTCR1 &= ~(DFSDM_FLTCR1_RDMAEN); - } - - /* Set injected parameters */ - hdfsdm_filter->Instance->FLTCR1 &= ~(DFSDM_FLTCR1_JSYNC | DFSDM_FLTCR1_JEXTEN | DFSDM_FLTCR1_JEXTSEL); - if(hdfsdm_filter->Init.InjectedParam.Trigger == DFSDM_FILTER_EXT_TRIGGER) - { - assert_param(IS_DFSDM_FILTER_EXT_TRIG(hdfsdm_filter->Init.InjectedParam.ExtTrigger)); - assert_param(IS_DFSDM_FILTER_EXT_TRIG_EDGE(hdfsdm_filter->Init.InjectedParam.ExtTriggerEdge)); - hdfsdm_filter->Instance->FLTCR1 |= (hdfsdm_filter->Init.InjectedParam.ExtTrigger); - } - - if(hdfsdm_filter->Init.InjectedParam.ScanMode == ENABLE) - { - hdfsdm_filter->Instance->FLTCR1 |= DFSDM_FLTCR1_JSCAN; - } - else - { - hdfsdm_filter->Instance->FLTCR1 &= ~(DFSDM_FLTCR1_JSCAN); - } - - if(hdfsdm_filter->Init.InjectedParam.DmaMode == ENABLE) - { - hdfsdm_filter->Instance->FLTCR1 |= DFSDM_FLTCR1_JDMAEN; - } - else - { - hdfsdm_filter->Instance->FLTCR1 &= ~(DFSDM_FLTCR1_JDMAEN); - } - - /* Set filter parameters */ - hdfsdm_filter->Instance->FLTFCR &= ~(DFSDM_FLTFCR_FORD | DFSDM_FLTFCR_FOSR | DFSDM_FLTFCR_IOSR); - hdfsdm_filter->Instance->FLTFCR |= (hdfsdm_filter->Init.FilterParam.SincOrder | - ((hdfsdm_filter->Init.FilterParam.Oversampling - 1U) << DFSDM_FLTFCR_FOSR_Pos) | - (hdfsdm_filter->Init.FilterParam.IntOversampling - 1U)); - - /* Store regular and injected triggers and injected scan mode*/ - hdfsdm_filter->RegularTrigger = hdfsdm_filter->Init.RegularParam.Trigger; - hdfsdm_filter->InjectedTrigger = hdfsdm_filter->Init.InjectedParam.Trigger; - hdfsdm_filter->ExtTriggerEdge = hdfsdm_filter->Init.InjectedParam.ExtTriggerEdge; - hdfsdm_filter->InjectedScanMode = hdfsdm_filter->Init.InjectedParam.ScanMode; - - /* Enable DFSDM filter */ - hdfsdm_filter->Instance->FLTCR1 |= DFSDM_FLTCR1_DFEN; - - /* Set DFSDM filter to ready state */ - hdfsdm_filter->State = HAL_DFSDM_FILTER_STATE_READY; - - return HAL_OK; -} - -/** - * @brief De-initializes the DFSDM filter. - * @param hdfsdm_filter DFSDM filter handle. - * @retval HAL status. - */ -HAL_StatusTypeDef HAL_DFSDM_FilterDeInit(DFSDM_Filter_HandleTypeDef *hdfsdm_filter) -{ - /* Check DFSDM filter handle */ - if(hdfsdm_filter == NULL) - { - return HAL_ERROR; - } - - /* Check parameters */ - assert_param(IS_DFSDM_FILTER_ALL_INSTANCE(hdfsdm_filter->Instance)); - - /* Disable the DFSDM filter */ - hdfsdm_filter->Instance->FLTCR1 &= ~(DFSDM_FLTCR1_DFEN); - - /* Call MSP deinit function */ -#if (USE_HAL_DFSDM_REGISTER_CALLBACKS == 1) - if(hdfsdm_filter->MspDeInitCallback == NULL) - { - hdfsdm_filter->MspDeInitCallback = HAL_DFSDM_FilterMspDeInit; - } - hdfsdm_filter->MspDeInitCallback(hdfsdm_filter); -#else - HAL_DFSDM_FilterMspDeInit(hdfsdm_filter); -#endif - - /* Set DFSDM filter in reset state */ - hdfsdm_filter->State = HAL_DFSDM_FILTER_STATE_RESET; - - return HAL_OK; -} - -/** - * @brief Initializes the DFSDM filter MSP. - * @param hdfsdm_filter DFSDM filter handle. - * @retval None - */ -__weak void HAL_DFSDM_FilterMspInit(DFSDM_Filter_HandleTypeDef *hdfsdm_filter) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hdfsdm_filter); - /* NOTE : This function should not be modified, when the function is needed, - the HAL_DFSDM_FilterMspInit could be implemented in the user file. - */ -} - -/** - * @brief De-initializes the DFSDM filter MSP. - * @param hdfsdm_filter DFSDM filter handle. - * @retval None - */ -__weak void HAL_DFSDM_FilterMspDeInit(DFSDM_Filter_HandleTypeDef *hdfsdm_filter) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hdfsdm_filter); - /* NOTE : This function should not be modified, when the function is needed, - the HAL_DFSDM_FilterMspDeInit could be implemented in the user file. - */ -} - -#if (USE_HAL_DFSDM_REGISTER_CALLBACKS == 1) -/** - * @brief Register a user DFSDM filter callback - * to be used instead of the weak predefined callback. - * @param hdfsdm_filter DFSDM filter handle. - * @param CallbackID ID of the callback to be registered. - * This parameter can be one of the following values: - * @arg @ref HAL_DFSDM_FILTER_REGCONV_COMPLETE_CB_ID regular conversion complete callback ID. - * @arg @ref HAL_DFSDM_FILTER_REGCONV_HALFCOMPLETE_CB_ID half regular conversion complete callback ID. - * @arg @ref HAL_DFSDM_FILTER_INJCONV_COMPLETE_CB_ID injected conversion complete callback ID. - * @arg @ref HAL_DFSDM_FILTER_INJCONV_HALFCOMPLETE_CB_ID half injected conversion complete callback ID. - * @arg @ref HAL_DFSDM_FILTER_ERROR_CB_ID error callback ID. - * @arg @ref HAL_DFSDM_FILTER_MSPINIT_CB_ID MSP init callback ID. - * @arg @ref HAL_DFSDM_FILTER_MSPDEINIT_CB_ID MSP de-init callback ID. - * @param pCallback pointer to the callback function. - * @retval HAL status. - */ -HAL_StatusTypeDef HAL_DFSDM_Filter_RegisterCallback(DFSDM_Filter_HandleTypeDef *hdfsdm_filter, - HAL_DFSDM_Filter_CallbackIDTypeDef CallbackID, - pDFSDM_Filter_CallbackTypeDef pCallback) -{ - HAL_StatusTypeDef status = HAL_OK; - - if(pCallback == NULL) - { - /* update the error code */ - hdfsdm_filter->ErrorCode = DFSDM_FILTER_ERROR_INVALID_CALLBACK; - /* update return status */ - status = HAL_ERROR; - } - else - { - if(HAL_DFSDM_FILTER_STATE_READY == hdfsdm_filter->State) - { - switch (CallbackID) - { - case HAL_DFSDM_FILTER_REGCONV_COMPLETE_CB_ID : - hdfsdm_filter->RegConvCpltCallback = pCallback; - break; - case HAL_DFSDM_FILTER_REGCONV_HALFCOMPLETE_CB_ID : - hdfsdm_filter->RegConvHalfCpltCallback = pCallback; - break; - case HAL_DFSDM_FILTER_INJCONV_COMPLETE_CB_ID : - hdfsdm_filter->InjConvCpltCallback = pCallback; - break; - case HAL_DFSDM_FILTER_INJCONV_HALFCOMPLETE_CB_ID : - hdfsdm_filter->InjConvHalfCpltCallback = pCallback; - break; - case HAL_DFSDM_FILTER_ERROR_CB_ID : - hdfsdm_filter->ErrorCallback = pCallback; - break; - case HAL_DFSDM_FILTER_MSPINIT_CB_ID : - hdfsdm_filter->MspInitCallback = pCallback; - break; - case HAL_DFSDM_FILTER_MSPDEINIT_CB_ID : - hdfsdm_filter->MspDeInitCallback = pCallback; - break; - default : - /* update the error code */ - hdfsdm_filter->ErrorCode = DFSDM_FILTER_ERROR_INVALID_CALLBACK; - /* update return status */ - status = HAL_ERROR; - break; - } - } - else if(HAL_DFSDM_FILTER_STATE_RESET == hdfsdm_filter->State) - { - switch (CallbackID) - { - case HAL_DFSDM_FILTER_MSPINIT_CB_ID : - hdfsdm_filter->MspInitCallback = pCallback; - break; - case HAL_DFSDM_FILTER_MSPDEINIT_CB_ID : - hdfsdm_filter->MspDeInitCallback = pCallback; - break; - default : - /* update the error code */ - hdfsdm_filter->ErrorCode = DFSDM_FILTER_ERROR_INVALID_CALLBACK; - /* update return status */ - status = HAL_ERROR; - break; - } - } - else - { - /* update the error code */ - hdfsdm_filter->ErrorCode = DFSDM_FILTER_ERROR_INVALID_CALLBACK; - /* update return status */ - status = HAL_ERROR; - } - } - return status; -} - -/** - * @brief Unregister a user DFSDM filter callback. - * DFSDM filter callback is redirected to the weak predefined callback. - * @param hdfsdm_filter DFSDM filter handle. - * @param CallbackID ID of the callback to be unregistered. - * This parameter can be one of the following values: - * @arg @ref HAL_DFSDM_FILTER_REGCONV_COMPLETE_CB_ID regular conversion complete callback ID. - * @arg @ref HAL_DFSDM_FILTER_REGCONV_HALFCOMPLETE_CB_ID half regular conversion complete callback ID. - * @arg @ref HAL_DFSDM_FILTER_INJCONV_COMPLETE_CB_ID injected conversion complete callback ID. - * @arg @ref HAL_DFSDM_FILTER_INJCONV_HALFCOMPLETE_CB_ID half injected conversion complete callback ID. - * @arg @ref HAL_DFSDM_FILTER_ERROR_CB_ID error callback ID. - * @arg @ref HAL_DFSDM_FILTER_MSPINIT_CB_ID MSP init callback ID. - * @arg @ref HAL_DFSDM_FILTER_MSPDEINIT_CB_ID MSP de-init callback ID. - * @retval HAL status. - */ -HAL_StatusTypeDef HAL_DFSDM_Filter_UnRegisterCallback(DFSDM_Filter_HandleTypeDef *hdfsdm_filter, - HAL_DFSDM_Filter_CallbackIDTypeDef CallbackID) -{ - HAL_StatusTypeDef status = HAL_OK; - - if(HAL_DFSDM_FILTER_STATE_READY == hdfsdm_filter->State) - { - switch (CallbackID) - { - case HAL_DFSDM_FILTER_REGCONV_COMPLETE_CB_ID : - hdfsdm_filter->RegConvCpltCallback = HAL_DFSDM_FilterRegConvCpltCallback; - break; - case HAL_DFSDM_FILTER_REGCONV_HALFCOMPLETE_CB_ID : - hdfsdm_filter->RegConvHalfCpltCallback = HAL_DFSDM_FilterRegConvHalfCpltCallback; - break; - case HAL_DFSDM_FILTER_INJCONV_COMPLETE_CB_ID : - hdfsdm_filter->InjConvCpltCallback = HAL_DFSDM_FilterInjConvCpltCallback; - break; - case HAL_DFSDM_FILTER_INJCONV_HALFCOMPLETE_CB_ID : - hdfsdm_filter->InjConvHalfCpltCallback = HAL_DFSDM_FilterInjConvHalfCpltCallback; - break; - case HAL_DFSDM_FILTER_ERROR_CB_ID : - hdfsdm_filter->ErrorCallback = HAL_DFSDM_FilterErrorCallback; - break; - case HAL_DFSDM_FILTER_MSPINIT_CB_ID : - hdfsdm_filter->MspInitCallback = HAL_DFSDM_FilterMspInit; - break; - case HAL_DFSDM_FILTER_MSPDEINIT_CB_ID : - hdfsdm_filter->MspDeInitCallback = HAL_DFSDM_FilterMspDeInit; - break; - default : - /* update the error code */ - hdfsdm_filter->ErrorCode = DFSDM_FILTER_ERROR_INVALID_CALLBACK; - /* update return status */ - status = HAL_ERROR; - break; - } - } - else if(HAL_DFSDM_FILTER_STATE_RESET == hdfsdm_filter->State) - { - switch (CallbackID) - { - case HAL_DFSDM_FILTER_MSPINIT_CB_ID : - hdfsdm_filter->MspInitCallback = HAL_DFSDM_FilterMspInit; - break; - case HAL_DFSDM_FILTER_MSPDEINIT_CB_ID : - hdfsdm_filter->MspDeInitCallback = HAL_DFSDM_FilterMspDeInit; - break; - default : - /* update the error code */ - hdfsdm_filter->ErrorCode = DFSDM_FILTER_ERROR_INVALID_CALLBACK; - /* update return status */ - status = HAL_ERROR; - break; - } - } - else - { - /* update the error code */ - hdfsdm_filter->ErrorCode = DFSDM_FILTER_ERROR_INVALID_CALLBACK; - /* update return status */ - status = HAL_ERROR; - } - return status; -} - -/** - * @brief Register a user DFSDM filter analog watchdog callback - * to be used instead of the weak predefined callback. - * @param hdfsdm_filter DFSDM filter handle. - * @param pCallback pointer to the DFSDM filter analog watchdog callback function. - * @retval HAL status. - */ -HAL_StatusTypeDef HAL_DFSDM_Filter_RegisterAwdCallback(DFSDM_Filter_HandleTypeDef *hdfsdm_filter, - pDFSDM_Filter_AwdCallbackTypeDef pCallback) -{ - HAL_StatusTypeDef status = HAL_OK; - - if(pCallback == NULL) - { - /* update the error code */ - hdfsdm_filter->ErrorCode = DFSDM_FILTER_ERROR_INVALID_CALLBACK; - /* update return status */ - status = HAL_ERROR; - } - else - { - if(HAL_DFSDM_FILTER_STATE_READY == hdfsdm_filter->State) - { - hdfsdm_filter->AwdCallback = pCallback; - } - else - { - /* update the error code */ - hdfsdm_filter->ErrorCode = DFSDM_FILTER_ERROR_INVALID_CALLBACK; - /* update return status */ - status = HAL_ERROR; - } - } - return status; -} - -/** - * @brief Unregister a user DFSDM filter analog watchdog callback. - * DFSDM filter AWD callback is redirected to the weak predefined callback. - * @param hdfsdm_filter DFSDM filter handle. - * @retval HAL status. - */ -HAL_StatusTypeDef HAL_DFSDM_Filter_UnRegisterAwdCallback(DFSDM_Filter_HandleTypeDef *hdfsdm_filter) -{ - HAL_StatusTypeDef status = HAL_OK; - - if(HAL_DFSDM_FILTER_STATE_READY == hdfsdm_filter->State) - { - hdfsdm_filter->AwdCallback = HAL_DFSDM_FilterAwdCallback; - } - else - { - /* update the error code */ - hdfsdm_filter->ErrorCode = DFSDM_FILTER_ERROR_INVALID_CALLBACK; - /* update return status */ - status = HAL_ERROR; - } - return status; -} -#endif /* USE_HAL_DFSDM_REGISTER_CALLBACKS */ -/** - * @} - */ - -/** @defgroup DFSDM_Exported_Functions_Group2_Filter Filter control functions - * @brief Filter control functions - * -@verbatim - ============================================================================== - ##### Filter control functions ##### - ============================================================================== - [..] This section provides functions allowing to: - (+) Select channel and enable/disable continuous mode for regular conversion. - (+) Select channels for injected conversion. -@endverbatim - * @{ - */ - -/** - * @brief This function allows to select channel and to enable/disable - * continuous mode for regular conversion. - * @param hdfsdm_filter DFSDM filter handle. - * @param Channel Channel for regular conversion. - * This parameter can be a value of @ref DFSDM_Channel_Selection. - * @param ContinuousMode Enable/disable continuous mode for regular conversion. - * This parameter can be a value of @ref DFSDM_ContinuousMode. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DFSDM_FilterConfigRegChannel(DFSDM_Filter_HandleTypeDef *hdfsdm_filter, - uint32_t Channel, - uint32_t ContinuousMode) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Check parameters */ - assert_param(IS_DFSDM_FILTER_ALL_INSTANCE(hdfsdm_filter->Instance)); - assert_param(IS_DFSDM_REGULAR_CHANNEL(Channel)); - assert_param(IS_DFSDM_CONTINUOUS_MODE(ContinuousMode)); - - /* Check DFSDM filter state */ - if((hdfsdm_filter->State != HAL_DFSDM_FILTER_STATE_RESET) && - (hdfsdm_filter->State != HAL_DFSDM_FILTER_STATE_ERROR)) - { - /* Configure channel and continuous mode for regular conversion */ - hdfsdm_filter->Instance->FLTCR1 &= ~(DFSDM_FLTCR1_RCH | DFSDM_FLTCR1_RCONT); - if(ContinuousMode == DFSDM_CONTINUOUS_CONV_ON) - { - hdfsdm_filter->Instance->FLTCR1 |= (uint32_t) (((Channel & DFSDM_MSB_MASK) << DFSDM_FLTCR1_MSB_RCH_OFFSET) | - DFSDM_FLTCR1_RCONT); - } - else - { - hdfsdm_filter->Instance->FLTCR1 |= (uint32_t) ((Channel & DFSDM_MSB_MASK) << DFSDM_FLTCR1_MSB_RCH_OFFSET); - } - /* Store continuous mode information */ - hdfsdm_filter->RegularContMode = ContinuousMode; - } - else - { - status = HAL_ERROR; - } - - /* Return function status */ - return status; -} - -/** - * @brief This function allows to select channels for injected conversion. - * @param hdfsdm_filter DFSDM filter handle. - * @param Channel Channels for injected conversion. - * This parameter can be a values combination of @ref DFSDM_Channel_Selection. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DFSDM_FilterConfigInjChannel(DFSDM_Filter_HandleTypeDef *hdfsdm_filter, - uint32_t Channel) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Check parameters */ - assert_param(IS_DFSDM_FILTER_ALL_INSTANCE(hdfsdm_filter->Instance)); - assert_param(IS_DFSDM_INJECTED_CHANNEL(Channel)); - - /* Check DFSDM filter state */ - if((hdfsdm_filter->State != HAL_DFSDM_FILTER_STATE_RESET) && - (hdfsdm_filter->State != HAL_DFSDM_FILTER_STATE_ERROR)) - { - /* Configure channel for injected conversion */ - hdfsdm_filter->Instance->FLTJCHGR = (uint32_t) (Channel & DFSDM_LSB_MASK); - /* Store number of injected channels */ - hdfsdm_filter->InjectedChannelsNbr = DFSDM_GetInjChannelsNbr(Channel); - /* Update number of injected channels remaining */ - hdfsdm_filter->InjConvRemaining = (hdfsdm_filter->InjectedScanMode == ENABLE) ? \ - hdfsdm_filter->InjectedChannelsNbr : 1U; - } - else - { - status = HAL_ERROR; - } - /* Return function status */ - return status; -} - -/** - * @} - */ - -/** @defgroup DFSDM_Exported_Functions_Group3_Filter Filter operation functions - * @brief Filter operation functions - * -@verbatim - ============================================================================== - ##### Filter operation functions ##### - ============================================================================== - [..] This section provides functions allowing to: - (+) Start conversion of regular/injected channel. - (+) Poll for the end of regular/injected conversion. - (+) Stop conversion of regular/injected channel. - (+) Start conversion of regular/injected channel and enable interrupt. - (+) Call the callback functions at the end of regular/injected conversions. - (+) Stop conversion of regular/injected channel and disable interrupt. - (+) Start conversion of regular/injected channel and enable DMA transfer. - (+) Stop conversion of regular/injected channel and disable DMA transfer. - (+) Start analog watchdog and enable interrupt. - (+) Call the callback function when analog watchdog occurs. - (+) Stop analog watchdog and disable interrupt. - (+) Start extreme detector. - (+) Stop extreme detector. - (+) Get result of regular channel conversion. - (+) Get result of injected channel conversion. - (+) Get extreme detector maximum and minimum values. - (+) Get conversion time. - (+) Handle DFSDM interrupt request. -@endverbatim - * @{ - */ - -/** - * @brief This function allows to start regular conversion in polling mode. - * @note This function should be called only when DFSDM filter instance is - * in idle state or if injected conversion is ongoing. - * @param hdfsdm_filter DFSDM filter handle. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DFSDM_FilterRegularStart(DFSDM_Filter_HandleTypeDef *hdfsdm_filter) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Check parameters */ - assert_param(IS_DFSDM_FILTER_ALL_INSTANCE(hdfsdm_filter->Instance)); - - /* Check DFSDM filter state */ - if((hdfsdm_filter->State == HAL_DFSDM_FILTER_STATE_READY) || \ - (hdfsdm_filter->State == HAL_DFSDM_FILTER_STATE_INJ)) - { - /* Start regular conversion */ - DFSDM_RegConvStart(hdfsdm_filter); - } - else - { - status = HAL_ERROR; - } - /* Return function status */ - return status; -} - -/** - * @brief This function allows to poll for the end of regular conversion. - * @note This function should be called only if regular conversion is ongoing. - * @param hdfsdm_filter DFSDM filter handle. - * @param Timeout Timeout value in milliseconds. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DFSDM_FilterPollForRegConversion(DFSDM_Filter_HandleTypeDef *hdfsdm_filter, - uint32_t Timeout) -{ - uint32_t tickstart; - - /* Check parameters */ - assert_param(IS_DFSDM_FILTER_ALL_INSTANCE(hdfsdm_filter->Instance)); - - /* Check DFSDM filter state */ - if((hdfsdm_filter->State != HAL_DFSDM_FILTER_STATE_REG) && \ - (hdfsdm_filter->State != HAL_DFSDM_FILTER_STATE_REG_INJ)) - { - /* Return error status */ - return HAL_ERROR; - } - else - { - /* Get timeout */ - tickstart = HAL_GetTick(); - - /* Wait end of regular conversion */ - while((hdfsdm_filter->Instance->FLTISR & DFSDM_FLTISR_REOCF) != DFSDM_FLTISR_REOCF) - { - /* Check the Timeout */ - if(Timeout != HAL_MAX_DELAY) - { - if(((HAL_GetTick()-tickstart) > Timeout) || (Timeout == 0U)) - { - /* Return timeout status */ - return HAL_TIMEOUT; - } - } - } - /* Check if overrun occurs */ - if((hdfsdm_filter->Instance->FLTISR & DFSDM_FLTISR_ROVRF) == DFSDM_FLTISR_ROVRF) - { - /* Update error code and call error callback */ - hdfsdm_filter->ErrorCode = DFSDM_FILTER_ERROR_REGULAR_OVERRUN; -#if (USE_HAL_DFSDM_REGISTER_CALLBACKS == 1) - hdfsdm_filter->ErrorCallback(hdfsdm_filter); -#else - HAL_DFSDM_FilterErrorCallback(hdfsdm_filter); -#endif - - /* Clear regular overrun flag */ - hdfsdm_filter->Instance->FLTICR = DFSDM_FLTICR_CLRROVRF; - } - /* Update DFSDM filter state only if not continuous conversion and SW trigger */ - if((hdfsdm_filter->RegularContMode == DFSDM_CONTINUOUS_CONV_OFF) && \ - (hdfsdm_filter->RegularTrigger == DFSDM_FILTER_SW_TRIGGER)) - { - hdfsdm_filter->State = (hdfsdm_filter->State == HAL_DFSDM_FILTER_STATE_REG) ? \ - HAL_DFSDM_FILTER_STATE_READY : HAL_DFSDM_FILTER_STATE_INJ; - } - /* Return function status */ - return HAL_OK; - } -} - -/** - * @brief This function allows to stop regular conversion in polling mode. - * @note This function should be called only if regular conversion is ongoing. - * @param hdfsdm_filter DFSDM filter handle. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DFSDM_FilterRegularStop(DFSDM_Filter_HandleTypeDef *hdfsdm_filter) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Check parameters */ - assert_param(IS_DFSDM_FILTER_ALL_INSTANCE(hdfsdm_filter->Instance)); - - /* Check DFSDM filter state */ - if((hdfsdm_filter->State != HAL_DFSDM_FILTER_STATE_REG) && \ - (hdfsdm_filter->State != HAL_DFSDM_FILTER_STATE_REG_INJ)) - { - /* Return error status */ - status = HAL_ERROR; - } - else - { - /* Stop regular conversion */ - DFSDM_RegConvStop(hdfsdm_filter); - } - /* Return function status */ - return status; -} - -/** - * @brief This function allows to start regular conversion in interrupt mode. - * @note This function should be called only when DFSDM filter instance is - * in idle state or if injected conversion is ongoing. - * @param hdfsdm_filter DFSDM filter handle. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DFSDM_FilterRegularStart_IT(DFSDM_Filter_HandleTypeDef *hdfsdm_filter) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Check parameters */ - assert_param(IS_DFSDM_FILTER_ALL_INSTANCE(hdfsdm_filter->Instance)); - - /* Check DFSDM filter state */ - if((hdfsdm_filter->State == HAL_DFSDM_FILTER_STATE_READY) || \ - (hdfsdm_filter->State == HAL_DFSDM_FILTER_STATE_INJ)) - { - /* Enable interrupts for regular conversions */ - hdfsdm_filter->Instance->FLTCR2 |= (DFSDM_FLTCR2_REOCIE | DFSDM_FLTCR2_ROVRIE); - - /* Start regular conversion */ - DFSDM_RegConvStart(hdfsdm_filter); - } - else - { - status = HAL_ERROR; - } - /* Return function status */ - return status; -} - -/** - * @brief This function allows to stop regular conversion in interrupt mode. - * @note This function should be called only if regular conversion is ongoing. - * @param hdfsdm_filter DFSDM filter handle. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DFSDM_FilterRegularStop_IT(DFSDM_Filter_HandleTypeDef *hdfsdm_filter) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Check parameters */ - assert_param(IS_DFSDM_FILTER_ALL_INSTANCE(hdfsdm_filter->Instance)); - - /* Check DFSDM filter state */ - if((hdfsdm_filter->State != HAL_DFSDM_FILTER_STATE_REG) && \ - (hdfsdm_filter->State != HAL_DFSDM_FILTER_STATE_REG_INJ)) - { - /* Return error status */ - status = HAL_ERROR; - } - else - { - /* Disable interrupts for regular conversions */ - hdfsdm_filter->Instance->FLTCR2 &= ~(DFSDM_FLTCR2_REOCIE | DFSDM_FLTCR2_ROVRIE); - - /* Stop regular conversion */ - DFSDM_RegConvStop(hdfsdm_filter); - } - /* Return function status */ - return status; -} - -/** - * @brief This function allows to start regular conversion in DMA mode. - * @note This function should be called only when DFSDM filter instance is - * in idle state or if injected conversion is ongoing. - * Please note that data on buffer will contain signed regular conversion - * value on 24 most significant bits and corresponding channel on 3 least - * significant bits. - * @param hdfsdm_filter DFSDM filter handle. - * @param pData The destination buffer address. - * @param Length The length of data to be transferred from DFSDM filter to memory. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DFSDM_FilterRegularStart_DMA(DFSDM_Filter_HandleTypeDef *hdfsdm_filter, - int32_t *pData, - uint32_t Length) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Check parameters */ - assert_param(IS_DFSDM_FILTER_ALL_INSTANCE(hdfsdm_filter->Instance)); - - /* Check destination address and length */ - if((pData == NULL) || (Length == 0U)) - { - status = HAL_ERROR; - } - /* Check that DMA is enabled for regular conversion */ - else if((hdfsdm_filter->Instance->FLTCR1 & DFSDM_FLTCR1_RDMAEN) != DFSDM_FLTCR1_RDMAEN) - { - status = HAL_ERROR; - } - /* Check parameters compatibility */ - else if((hdfsdm_filter->RegularTrigger == DFSDM_FILTER_SW_TRIGGER) && \ - (hdfsdm_filter->RegularContMode == DFSDM_CONTINUOUS_CONV_OFF) && \ - (hdfsdm_filter->hdmaReg->Init.Mode == DMA_NORMAL) && \ - (Length != 1U)) - { - status = HAL_ERROR; - } - else if((hdfsdm_filter->RegularTrigger == DFSDM_FILTER_SW_TRIGGER) && \ - (hdfsdm_filter->RegularContMode == DFSDM_CONTINUOUS_CONV_OFF) && \ - (hdfsdm_filter->hdmaReg->Init.Mode == DMA_CIRCULAR)) - { - status = HAL_ERROR; - } - /* Check DFSDM filter state */ - else if((hdfsdm_filter->State == HAL_DFSDM_FILTER_STATE_READY) || \ - (hdfsdm_filter->State == HAL_DFSDM_FILTER_STATE_INJ)) - { - /* Set callbacks on DMA handler */ - hdfsdm_filter->hdmaReg->XferCpltCallback = DFSDM_DMARegularConvCplt; - hdfsdm_filter->hdmaReg->XferErrorCallback = DFSDM_DMAError; - hdfsdm_filter->hdmaReg->XferHalfCpltCallback = (hdfsdm_filter->hdmaReg->Init.Mode == DMA_CIRCULAR) ?\ - DFSDM_DMARegularHalfConvCplt : NULL; - - /* Start DMA in interrupt mode */ - if(HAL_DMA_Start_IT(hdfsdm_filter->hdmaReg, (uint32_t)&hdfsdm_filter->Instance->FLTRDATAR, \ - (uint32_t) pData, Length) != HAL_OK) - { - /* Set DFSDM filter in error state */ - hdfsdm_filter->State = HAL_DFSDM_FILTER_STATE_ERROR; - status = HAL_ERROR; - } - else - { - /* Start regular conversion */ - DFSDM_RegConvStart(hdfsdm_filter); - } - } - else - { - status = HAL_ERROR; - } - /* Return function status */ - return status; -} - -/** - * @brief This function allows to start regular conversion in DMA mode and to get - * only the 16 most significant bits of conversion. - * @note This function should be called only when DFSDM filter instance is - * in idle state or if injected conversion is ongoing. - * Please note that data on buffer will contain signed 16 most significant - * bits of regular conversion. - * @param hdfsdm_filter DFSDM filter handle. - * @param pData The destination buffer address. - * @param Length The length of data to be transferred from DFSDM filter to memory. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DFSDM_FilterRegularMsbStart_DMA(DFSDM_Filter_HandleTypeDef *hdfsdm_filter, - int16_t *pData, - uint32_t Length) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Check parameters */ - assert_param(IS_DFSDM_FILTER_ALL_INSTANCE(hdfsdm_filter->Instance)); - - /* Check destination address and length */ - if((pData == NULL) || (Length == 0U)) - { - status = HAL_ERROR; - } - /* Check that DMA is enabled for regular conversion */ - else if((hdfsdm_filter->Instance->FLTCR1 & DFSDM_FLTCR1_RDMAEN) != DFSDM_FLTCR1_RDMAEN) - { - status = HAL_ERROR; - } - /* Check parameters compatibility */ - else if((hdfsdm_filter->RegularTrigger == DFSDM_FILTER_SW_TRIGGER) && \ - (hdfsdm_filter->RegularContMode == DFSDM_CONTINUOUS_CONV_OFF) && \ - (hdfsdm_filter->hdmaReg->Init.Mode == DMA_NORMAL) && \ - (Length != 1U)) - { - status = HAL_ERROR; - } - else if((hdfsdm_filter->RegularTrigger == DFSDM_FILTER_SW_TRIGGER) && \ - (hdfsdm_filter->RegularContMode == DFSDM_CONTINUOUS_CONV_OFF) && \ - (hdfsdm_filter->hdmaReg->Init.Mode == DMA_CIRCULAR)) - { - status = HAL_ERROR; - } - /* Check DFSDM filter state */ - else if((hdfsdm_filter->State == HAL_DFSDM_FILTER_STATE_READY) || \ - (hdfsdm_filter->State == HAL_DFSDM_FILTER_STATE_INJ)) - { - /* Set callbacks on DMA handler */ - hdfsdm_filter->hdmaReg->XferCpltCallback = DFSDM_DMARegularConvCplt; - hdfsdm_filter->hdmaReg->XferErrorCallback = DFSDM_DMAError; - hdfsdm_filter->hdmaReg->XferHalfCpltCallback = (hdfsdm_filter->hdmaReg->Init.Mode == DMA_CIRCULAR) ?\ - DFSDM_DMARegularHalfConvCplt : NULL; - - /* Start DMA in interrupt mode */ - if(HAL_DMA_Start_IT(hdfsdm_filter->hdmaReg, (uint32_t)(&hdfsdm_filter->Instance->FLTRDATAR) + 2U, \ - (uint32_t) pData, Length) != HAL_OK) - { - /* Set DFSDM filter in error state */ - hdfsdm_filter->State = HAL_DFSDM_FILTER_STATE_ERROR; - status = HAL_ERROR; - } - else - { - /* Start regular conversion */ - DFSDM_RegConvStart(hdfsdm_filter); - } - } - else - { - status = HAL_ERROR; - } - /* Return function status */ - return status; -} - -/** - * @brief This function allows to stop regular conversion in DMA mode. - * @note This function should be called only if regular conversion is ongoing. - * @param hdfsdm_filter DFSDM filter handle. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DFSDM_FilterRegularStop_DMA(DFSDM_Filter_HandleTypeDef *hdfsdm_filter) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Check parameters */ - assert_param(IS_DFSDM_FILTER_ALL_INSTANCE(hdfsdm_filter->Instance)); - - /* Check DFSDM filter state */ - if((hdfsdm_filter->State != HAL_DFSDM_FILTER_STATE_REG) && \ - (hdfsdm_filter->State != HAL_DFSDM_FILTER_STATE_REG_INJ)) - { - /* Return error status */ - status = HAL_ERROR; - } - else - { - /* Stop current DMA transfer */ - if(HAL_DMA_Abort(hdfsdm_filter->hdmaReg) != HAL_OK) - { - /* Set DFSDM filter in error state */ - hdfsdm_filter->State = HAL_DFSDM_FILTER_STATE_ERROR; - status = HAL_ERROR; - } - else - { - /* Stop regular conversion */ - DFSDM_RegConvStop(hdfsdm_filter); - } - } - /* Return function status */ - return status; -} - -/** - * @brief This function allows to get regular conversion value. - * @param hdfsdm_filter DFSDM filter handle. - * @param Channel Corresponding channel of regular conversion. - * @retval Regular conversion value - */ -int32_t HAL_DFSDM_FilterGetRegularValue(DFSDM_Filter_HandleTypeDef *hdfsdm_filter, - uint32_t *Channel) -{ - uint32_t reg = 0U; - int32_t value = 0; - - /* Check parameters */ - assert_param(IS_DFSDM_FILTER_ALL_INSTANCE(hdfsdm_filter->Instance)); - assert_param(Channel != NULL); - - /* Get value of data register for regular channel */ - reg = hdfsdm_filter->Instance->FLTRDATAR; - - /* Extract channel and regular conversion value */ - *Channel = (reg & DFSDM_FLTRDATAR_RDATACH); - value = ((int32_t)(reg & DFSDM_FLTRDATAR_RDATA) >> DFSDM_FLTRDATAR_RDATA_Pos); - - /* return regular conversion value */ - return value; -} - -/** - * @brief This function allows to start injected conversion in polling mode. - * @note This function should be called only when DFSDM filter instance is - * in idle state or if regular conversion is ongoing. - * @param hdfsdm_filter DFSDM filter handle. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DFSDM_FilterInjectedStart(DFSDM_Filter_HandleTypeDef *hdfsdm_filter) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Check parameters */ - assert_param(IS_DFSDM_FILTER_ALL_INSTANCE(hdfsdm_filter->Instance)); - - /* Check DFSDM filter state */ - if((hdfsdm_filter->State == HAL_DFSDM_FILTER_STATE_READY) || \ - (hdfsdm_filter->State == HAL_DFSDM_FILTER_STATE_REG)) - { - /* Start injected conversion */ - DFSDM_InjConvStart(hdfsdm_filter); - } - else - { - status = HAL_ERROR; - } - /* Return function status */ - return status; -} - -/** - * @brief This function allows to poll for the end of injected conversion. - * @note This function should be called only if injected conversion is ongoing. - * @param hdfsdm_filter DFSDM filter handle. - * @param Timeout Timeout value in milliseconds. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DFSDM_FilterPollForInjConversion(DFSDM_Filter_HandleTypeDef *hdfsdm_filter, - uint32_t Timeout) -{ - uint32_t tickstart; - - /* Check parameters */ - assert_param(IS_DFSDM_FILTER_ALL_INSTANCE(hdfsdm_filter->Instance)); - - /* Check DFSDM filter state */ - if((hdfsdm_filter->State != HAL_DFSDM_FILTER_STATE_INJ) && \ - (hdfsdm_filter->State != HAL_DFSDM_FILTER_STATE_REG_INJ)) - { - /* Return error status */ - return HAL_ERROR; - } - else - { - /* Get timeout */ - tickstart = HAL_GetTick(); - - /* Wait end of injected conversions */ - while((hdfsdm_filter->Instance->FLTISR & DFSDM_FLTISR_JEOCF) != DFSDM_FLTISR_JEOCF) - { - /* Check the Timeout */ - if(Timeout != HAL_MAX_DELAY) - { - if( ((HAL_GetTick()-tickstart) > Timeout) || (Timeout == 0U)) - { - /* Return timeout status */ - return HAL_TIMEOUT; - } - } - } - /* Check if overrun occurs */ - if((hdfsdm_filter->Instance->FLTISR & DFSDM_FLTISR_JOVRF) == DFSDM_FLTISR_JOVRF) - { - /* Update error code and call error callback */ - hdfsdm_filter->ErrorCode = DFSDM_FILTER_ERROR_INJECTED_OVERRUN; -#if (USE_HAL_DFSDM_REGISTER_CALLBACKS == 1) - hdfsdm_filter->ErrorCallback(hdfsdm_filter); -#else - HAL_DFSDM_FilterErrorCallback(hdfsdm_filter); -#endif - - /* Clear injected overrun flag */ - hdfsdm_filter->Instance->FLTICR = DFSDM_FLTICR_CLRJOVRF; - } - - /* Update remaining injected conversions */ - hdfsdm_filter->InjConvRemaining--; - if(hdfsdm_filter->InjConvRemaining == 0U) - { - /* Update DFSDM filter state only if trigger is software */ - if(hdfsdm_filter->InjectedTrigger == DFSDM_FILTER_SW_TRIGGER) - { - hdfsdm_filter->State = (hdfsdm_filter->State == HAL_DFSDM_FILTER_STATE_INJ) ? \ - HAL_DFSDM_FILTER_STATE_READY : HAL_DFSDM_FILTER_STATE_REG; - } - - /* end of injected sequence, reset the value */ - hdfsdm_filter->InjConvRemaining = (hdfsdm_filter->InjectedScanMode == ENABLE) ? \ - hdfsdm_filter->InjectedChannelsNbr : 1U; - } - - /* Return function status */ - return HAL_OK; - } -} - -/** - * @brief This function allows to stop injected conversion in polling mode. - * @note This function should be called only if injected conversion is ongoing. - * @param hdfsdm_filter DFSDM filter handle. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DFSDM_FilterInjectedStop(DFSDM_Filter_HandleTypeDef *hdfsdm_filter) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Check parameters */ - assert_param(IS_DFSDM_FILTER_ALL_INSTANCE(hdfsdm_filter->Instance)); - - /* Check DFSDM filter state */ - if((hdfsdm_filter->State != HAL_DFSDM_FILTER_STATE_INJ) && \ - (hdfsdm_filter->State != HAL_DFSDM_FILTER_STATE_REG_INJ)) - { - /* Return error status */ - status = HAL_ERROR; - } - else - { - /* Stop injected conversion */ - DFSDM_InjConvStop(hdfsdm_filter); - } - /* Return function status */ - return status; -} - -/** - * @brief This function allows to start injected conversion in interrupt mode. - * @note This function should be called only when DFSDM filter instance is - * in idle state or if regular conversion is ongoing. - * @param hdfsdm_filter DFSDM filter handle. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DFSDM_FilterInjectedStart_IT(DFSDM_Filter_HandleTypeDef *hdfsdm_filter) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Check parameters */ - assert_param(IS_DFSDM_FILTER_ALL_INSTANCE(hdfsdm_filter->Instance)); - - /* Check DFSDM filter state */ - if((hdfsdm_filter->State == HAL_DFSDM_FILTER_STATE_READY) || \ - (hdfsdm_filter->State == HAL_DFSDM_FILTER_STATE_REG)) - { - /* Enable interrupts for injected conversions */ - hdfsdm_filter->Instance->FLTCR2 |= (DFSDM_FLTCR2_JEOCIE | DFSDM_FLTCR2_JOVRIE); - - /* Start injected conversion */ - DFSDM_InjConvStart(hdfsdm_filter); - } - else - { - status = HAL_ERROR; - } - /* Return function status */ - return status; -} - -/** - * @brief This function allows to stop injected conversion in interrupt mode. - * @note This function should be called only if injected conversion is ongoing. - * @param hdfsdm_filter DFSDM filter handle. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DFSDM_FilterInjectedStop_IT(DFSDM_Filter_HandleTypeDef *hdfsdm_filter) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Check parameters */ - assert_param(IS_DFSDM_FILTER_ALL_INSTANCE(hdfsdm_filter->Instance)); - - /* Check DFSDM filter state */ - if((hdfsdm_filter->State != HAL_DFSDM_FILTER_STATE_INJ) && \ - (hdfsdm_filter->State != HAL_DFSDM_FILTER_STATE_REG_INJ)) - { - /* Return error status */ - status = HAL_ERROR; - } - else - { - /* Disable interrupts for injected conversions */ - hdfsdm_filter->Instance->FLTCR2 &= ~(DFSDM_FLTCR2_JEOCIE | DFSDM_FLTCR2_JOVRIE); - - /* Stop injected conversion */ - DFSDM_InjConvStop(hdfsdm_filter); - } - /* Return function status */ - return status; -} - -/** - * @brief This function allows to start injected conversion in DMA mode. - * @note This function should be called only when DFSDM filter instance is - * in idle state or if regular conversion is ongoing. - * Please note that data on buffer will contain signed injected conversion - * value on 24 most significant bits and corresponding channel on 3 least - * significant bits. - * @param hdfsdm_filter DFSDM filter handle. - * @param pData The destination buffer address. - * @param Length The length of data to be transferred from DFSDM filter to memory. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DFSDM_FilterInjectedStart_DMA(DFSDM_Filter_HandleTypeDef *hdfsdm_filter, - int32_t *pData, - uint32_t Length) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Check parameters */ - assert_param(IS_DFSDM_FILTER_ALL_INSTANCE(hdfsdm_filter->Instance)); - - /* Check destination address and length */ - if((pData == NULL) || (Length == 0U)) - { - status = HAL_ERROR; - } - /* Check that DMA is enabled for injected conversion */ - else if((hdfsdm_filter->Instance->FLTCR1 & DFSDM_FLTCR1_JDMAEN) != DFSDM_FLTCR1_JDMAEN) - { - status = HAL_ERROR; - } - /* Check parameters compatibility */ - else if((hdfsdm_filter->InjectedTrigger == DFSDM_FILTER_SW_TRIGGER) && \ - (hdfsdm_filter->hdmaInj->Init.Mode == DMA_NORMAL) && \ - (Length > hdfsdm_filter->InjConvRemaining)) - { - status = HAL_ERROR; - } - else if((hdfsdm_filter->InjectedTrigger == DFSDM_FILTER_SW_TRIGGER) && \ - (hdfsdm_filter->hdmaInj->Init.Mode == DMA_CIRCULAR)) - { - status = HAL_ERROR; - } - /* Check DFSDM filter state */ - else if((hdfsdm_filter->State == HAL_DFSDM_FILTER_STATE_READY) || \ - (hdfsdm_filter->State == HAL_DFSDM_FILTER_STATE_REG)) - { - /* Set callbacks on DMA handler */ - hdfsdm_filter->hdmaInj->XferCpltCallback = DFSDM_DMAInjectedConvCplt; - hdfsdm_filter->hdmaInj->XferErrorCallback = DFSDM_DMAError; - hdfsdm_filter->hdmaInj->XferHalfCpltCallback = (hdfsdm_filter->hdmaInj->Init.Mode == DMA_CIRCULAR) ?\ - DFSDM_DMAInjectedHalfConvCplt : NULL; - - /* Start DMA in interrupt mode */ - if(HAL_DMA_Start_IT(hdfsdm_filter->hdmaInj, (uint32_t)&hdfsdm_filter->Instance->FLTJDATAR, \ - (uint32_t) pData, Length) != HAL_OK) - { - /* Set DFSDM filter in error state */ - hdfsdm_filter->State = HAL_DFSDM_FILTER_STATE_ERROR; - status = HAL_ERROR; - } - else - { - /* Start injected conversion */ - DFSDM_InjConvStart(hdfsdm_filter); - } - } - else - { - status = HAL_ERROR; - } - /* Return function status */ - return status; -} - -/** - * @brief This function allows to start injected conversion in DMA mode and to get - * only the 16 most significant bits of conversion. - * @note This function should be called only when DFSDM filter instance is - * in idle state or if regular conversion is ongoing. - * Please note that data on buffer will contain signed 16 most significant - * bits of injected conversion. - * @param hdfsdm_filter DFSDM filter handle. - * @param pData The destination buffer address. - * @param Length The length of data to be transferred from DFSDM filter to memory. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DFSDM_FilterInjectedMsbStart_DMA(DFSDM_Filter_HandleTypeDef *hdfsdm_filter, - int16_t *pData, - uint32_t Length) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Check parameters */ - assert_param(IS_DFSDM_FILTER_ALL_INSTANCE(hdfsdm_filter->Instance)); - - /* Check destination address and length */ - if((pData == NULL) || (Length == 0U)) - { - status = HAL_ERROR; - } - /* Check that DMA is enabled for injected conversion */ - else if((hdfsdm_filter->Instance->FLTCR1 & DFSDM_FLTCR1_JDMAEN) != DFSDM_FLTCR1_JDMAEN) - { - status = HAL_ERROR; - } - /* Check parameters compatibility */ - else if((hdfsdm_filter->InjectedTrigger == DFSDM_FILTER_SW_TRIGGER) && \ - (hdfsdm_filter->hdmaInj->Init.Mode == DMA_NORMAL) && \ - (Length > hdfsdm_filter->InjConvRemaining)) - { - status = HAL_ERROR; - } - else if((hdfsdm_filter->InjectedTrigger == DFSDM_FILTER_SW_TRIGGER) && \ - (hdfsdm_filter->hdmaInj->Init.Mode == DMA_CIRCULAR)) - { - status = HAL_ERROR; - } - /* Check DFSDM filter state */ - else if((hdfsdm_filter->State == HAL_DFSDM_FILTER_STATE_READY) || \ - (hdfsdm_filter->State == HAL_DFSDM_FILTER_STATE_REG)) - { - /* Set callbacks on DMA handler */ - hdfsdm_filter->hdmaInj->XferCpltCallback = DFSDM_DMAInjectedConvCplt; - hdfsdm_filter->hdmaInj->XferErrorCallback = DFSDM_DMAError; - hdfsdm_filter->hdmaInj->XferHalfCpltCallback = (hdfsdm_filter->hdmaInj->Init.Mode == DMA_CIRCULAR) ?\ - DFSDM_DMAInjectedHalfConvCplt : NULL; - - /* Start DMA in interrupt mode */ - if(HAL_DMA_Start_IT(hdfsdm_filter->hdmaInj, (uint32_t)(&hdfsdm_filter->Instance->FLTJDATAR) + 2U, \ - (uint32_t) pData, Length) != HAL_OK) - { - /* Set DFSDM filter in error state */ - hdfsdm_filter->State = HAL_DFSDM_FILTER_STATE_ERROR; - status = HAL_ERROR; - } - else - { - /* Start injected conversion */ - DFSDM_InjConvStart(hdfsdm_filter); - } - } - else - { - status = HAL_ERROR; - } - /* Return function status */ - return status; -} - -/** - * @brief This function allows to stop injected conversion in DMA mode. - * @note This function should be called only if injected conversion is ongoing. - * @param hdfsdm_filter DFSDM filter handle. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DFSDM_FilterInjectedStop_DMA(DFSDM_Filter_HandleTypeDef *hdfsdm_filter) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Check parameters */ - assert_param(IS_DFSDM_FILTER_ALL_INSTANCE(hdfsdm_filter->Instance)); - - /* Check DFSDM filter state */ - if((hdfsdm_filter->State != HAL_DFSDM_FILTER_STATE_INJ) && \ - (hdfsdm_filter->State != HAL_DFSDM_FILTER_STATE_REG_INJ)) - { - /* Return error status */ - status = HAL_ERROR; - } - else - { - /* Stop current DMA transfer */ - if(HAL_DMA_Abort(hdfsdm_filter->hdmaInj) != HAL_OK) - { - /* Set DFSDM filter in error state */ - hdfsdm_filter->State = HAL_DFSDM_FILTER_STATE_ERROR; - status = HAL_ERROR; - } - else - { - /* Stop regular conversion */ - DFSDM_InjConvStop(hdfsdm_filter); - } - } - /* Return function status */ - return status; -} - -/** - * @brief This function allows to get injected conversion value. - * @param hdfsdm_filter DFSDM filter handle. - * @param Channel Corresponding channel of injected conversion. - * @retval Injected conversion value - */ -int32_t HAL_DFSDM_FilterGetInjectedValue(DFSDM_Filter_HandleTypeDef *hdfsdm_filter, - uint32_t *Channel) -{ - uint32_t reg = 0U; - int32_t value = 0; - - /* Check parameters */ - assert_param(IS_DFSDM_FILTER_ALL_INSTANCE(hdfsdm_filter->Instance)); - assert_param(Channel != NULL); - - /* Get value of data register for injected channel */ - reg = hdfsdm_filter->Instance->FLTJDATAR; - - /* Extract channel and injected conversion value */ - *Channel = (reg & DFSDM_FLTJDATAR_JDATACH); - value = ((int32_t)(reg & DFSDM_FLTJDATAR_JDATA) >> DFSDM_FLTJDATAR_JDATA_Pos); - - /* return regular conversion value */ - return value; -} - -/** - * @brief This function allows to start filter analog watchdog in interrupt mode. - * @param hdfsdm_filter DFSDM filter handle. - * @param awdParam DFSDM filter analog watchdog parameters. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DFSDM_FilterAwdStart_IT(DFSDM_Filter_HandleTypeDef *hdfsdm_filter, - DFSDM_Filter_AwdParamTypeDef *awdParam) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Check parameters */ - assert_param(IS_DFSDM_FILTER_ALL_INSTANCE(hdfsdm_filter->Instance)); - assert_param(IS_DFSDM_FILTER_AWD_DATA_SOURCE(awdParam->DataSource)); - assert_param(IS_DFSDM_INJECTED_CHANNEL(awdParam->Channel)); - assert_param(IS_DFSDM_FILTER_AWD_THRESHOLD(awdParam->HighThreshold)); - assert_param(IS_DFSDM_FILTER_AWD_THRESHOLD(awdParam->LowThreshold)); - assert_param(IS_DFSDM_BREAK_SIGNALS(awdParam->HighBreakSignal)); - assert_param(IS_DFSDM_BREAK_SIGNALS(awdParam->LowBreakSignal)); - - /* Check DFSDM filter state */ - if((hdfsdm_filter->State == HAL_DFSDM_FILTER_STATE_RESET) || \ - (hdfsdm_filter->State == HAL_DFSDM_FILTER_STATE_ERROR)) - { - /* Return error status */ - status = HAL_ERROR; - } - else - { - /* Set analog watchdog data source */ - hdfsdm_filter->Instance->FLTCR1 &= ~(DFSDM_FLTCR1_AWFSEL); - hdfsdm_filter->Instance->FLTCR1 |= awdParam->DataSource; - - /* Set thresholds and break signals */ - hdfsdm_filter->Instance->FLTAWHTR &= ~(DFSDM_FLTAWHTR_AWHT | DFSDM_FLTAWHTR_BKAWH); - hdfsdm_filter->Instance->FLTAWHTR |= (((uint32_t) awdParam->HighThreshold << DFSDM_FLTAWHTR_AWHT_Pos) | \ - awdParam->HighBreakSignal); - hdfsdm_filter->Instance->FLTAWLTR &= ~(DFSDM_FLTAWLTR_AWLT | DFSDM_FLTAWLTR_BKAWL); - hdfsdm_filter->Instance->FLTAWLTR |= (((uint32_t) awdParam->LowThreshold << DFSDM_FLTAWLTR_AWLT_Pos) | \ - awdParam->LowBreakSignal); - - /* Set channels and interrupt for analog watchdog */ - hdfsdm_filter->Instance->FLTCR2 &= ~(DFSDM_FLTCR2_AWDCH); - hdfsdm_filter->Instance->FLTCR2 |= (((awdParam->Channel & DFSDM_LSB_MASK) << DFSDM_FLTCR2_AWDCH_Pos) | \ - DFSDM_FLTCR2_AWDIE); - } - /* Return function status */ - return status; -} - -/** - * @brief This function allows to stop filter analog watchdog in interrupt mode. - * @param hdfsdm_filter DFSDM filter handle. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DFSDM_FilterAwdStop_IT(DFSDM_Filter_HandleTypeDef *hdfsdm_filter) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Check parameters */ - assert_param(IS_DFSDM_FILTER_ALL_INSTANCE(hdfsdm_filter->Instance)); - - /* Check DFSDM filter state */ - if((hdfsdm_filter->State == HAL_DFSDM_FILTER_STATE_RESET) || \ - (hdfsdm_filter->State == HAL_DFSDM_FILTER_STATE_ERROR)) - { - /* Return error status */ - status = HAL_ERROR; - } - else - { - /* Reset channels for analog watchdog and deactivate interrupt */ - hdfsdm_filter->Instance->FLTCR2 &= ~(DFSDM_FLTCR2_AWDCH | DFSDM_FLTCR2_AWDIE); - - /* Clear all analog watchdog flags */ - hdfsdm_filter->Instance->FLTAWCFR = (DFSDM_FLTAWCFR_CLRAWHTF | DFSDM_FLTAWCFR_CLRAWLTF); - - /* Reset thresholds and break signals */ - hdfsdm_filter->Instance->FLTAWHTR &= ~(DFSDM_FLTAWHTR_AWHT | DFSDM_FLTAWHTR_BKAWH); - hdfsdm_filter->Instance->FLTAWLTR &= ~(DFSDM_FLTAWLTR_AWLT | DFSDM_FLTAWLTR_BKAWL); - - /* Reset analog watchdog data source */ - hdfsdm_filter->Instance->FLTCR1 &= ~(DFSDM_FLTCR1_AWFSEL); - } - /* Return function status */ - return status; -} - -/** - * @brief This function allows to start extreme detector feature. - * @param hdfsdm_filter DFSDM filter handle. - * @param Channel Channels where extreme detector is enabled. - * This parameter can be a values combination of @ref DFSDM_Channel_Selection. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DFSDM_FilterExdStart(DFSDM_Filter_HandleTypeDef *hdfsdm_filter, - uint32_t Channel) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Check parameters */ - assert_param(IS_DFSDM_FILTER_ALL_INSTANCE(hdfsdm_filter->Instance)); - assert_param(IS_DFSDM_INJECTED_CHANNEL(Channel)); - - /* Check DFSDM filter state */ - if((hdfsdm_filter->State == HAL_DFSDM_FILTER_STATE_RESET) || \ - (hdfsdm_filter->State == HAL_DFSDM_FILTER_STATE_ERROR)) - { - /* Return error status */ - status = HAL_ERROR; - } - else - { - /* Set channels for extreme detector */ - hdfsdm_filter->Instance->FLTCR2 &= ~(DFSDM_FLTCR2_EXCH); - hdfsdm_filter->Instance->FLTCR2 |= ((Channel & DFSDM_LSB_MASK) << DFSDM_FLTCR2_EXCH_Pos); - } - /* Return function status */ - return status; -} - -/** - * @brief This function allows to stop extreme detector feature. - * @param hdfsdm_filter DFSDM filter handle. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DFSDM_FilterExdStop(DFSDM_Filter_HandleTypeDef *hdfsdm_filter) -{ - HAL_StatusTypeDef status = HAL_OK; - __IO uint32_t reg1; - __IO uint32_t reg2; - - /* Check parameters */ - assert_param(IS_DFSDM_FILTER_ALL_INSTANCE(hdfsdm_filter->Instance)); - - /* Check DFSDM filter state */ - if((hdfsdm_filter->State == HAL_DFSDM_FILTER_STATE_RESET) || \ - (hdfsdm_filter->State == HAL_DFSDM_FILTER_STATE_ERROR)) - { - /* Return error status */ - status = HAL_ERROR; - } - else - { - /* Reset channels for extreme detector */ - hdfsdm_filter->Instance->FLTCR2 &= ~(DFSDM_FLTCR2_EXCH); - - /* Clear extreme detector values */ - reg1 = hdfsdm_filter->Instance->FLTEXMAX; - reg2 = hdfsdm_filter->Instance->FLTEXMIN; - UNUSED(reg1); /* To avoid GCC warning */ - UNUSED(reg2); /* To avoid GCC warning */ - } - /* Return function status */ - return status; -} - -/** - * @brief This function allows to get extreme detector maximum value. - * @param hdfsdm_filter DFSDM filter handle. - * @param Channel Corresponding channel. - * @retval Extreme detector maximum value - * This value is between Min_Data = -8388608 and Max_Data = 8388607. - */ -int32_t HAL_DFSDM_FilterGetExdMaxValue(DFSDM_Filter_HandleTypeDef *hdfsdm_filter, - uint32_t *Channel) -{ - uint32_t reg = 0U; - int32_t value = 0; - - /* Check parameters */ - assert_param(IS_DFSDM_FILTER_ALL_INSTANCE(hdfsdm_filter->Instance)); - assert_param(Channel != NULL); - - /* Get value of extreme detector maximum register */ - reg = hdfsdm_filter->Instance->FLTEXMAX; - - /* Extract channel and extreme detector maximum value */ - *Channel = (reg & DFSDM_FLTEXMAX_EXMAXCH); - value = ((int32_t)(reg & DFSDM_FLTEXMAX_EXMAX) >> DFSDM_FLTEXMAX_EXMAX_Pos); - - /* return extreme detector maximum value */ - return value; -} - -/** - * @brief This function allows to get extreme detector minimum value. - * @param hdfsdm_filter DFSDM filter handle. - * @param Channel Corresponding channel. - * @retval Extreme detector minimum value - * This value is between Min_Data = -8388608 and Max_Data = 8388607. - */ -int32_t HAL_DFSDM_FilterGetExdMinValue(DFSDM_Filter_HandleTypeDef *hdfsdm_filter, - uint32_t *Channel) -{ - uint32_t reg = 0U; - int32_t value = 0; - - /* Check parameters */ - assert_param(IS_DFSDM_FILTER_ALL_INSTANCE(hdfsdm_filter->Instance)); - assert_param(Channel != NULL); - - /* Get value of extreme detector minimum register */ - reg = hdfsdm_filter->Instance->FLTEXMIN; - - /* Extract channel and extreme detector minimum value */ - *Channel = (reg & DFSDM_FLTEXMIN_EXMINCH); - value = ((int32_t)(reg & DFSDM_FLTEXMIN_EXMIN) >> DFSDM_FLTEXMIN_EXMIN_Pos); - - /* return extreme detector minimum value */ - return value; -} - -/** - * @brief This function allows to get conversion time value. - * @param hdfsdm_filter DFSDM filter handle. - * @retval Conversion time value - * @note To get time in second, this value has to be divided by DFSDM clock frequency. - */ -uint32_t HAL_DFSDM_FilterGetConvTimeValue(DFSDM_Filter_HandleTypeDef *hdfsdm_filter) -{ - uint32_t reg = 0U; - uint32_t value = 0U; - - /* Check parameters */ - assert_param(IS_DFSDM_FILTER_ALL_INSTANCE(hdfsdm_filter->Instance)); - - /* Get value of conversion timer register */ - reg = hdfsdm_filter->Instance->FLTCNVTIMR; - - /* Extract conversion time value */ - value = ((reg & DFSDM_FLTCNVTIMR_CNVCNT) >> DFSDM_FLTCNVTIMR_CNVCNT_Pos); - - /* return extreme detector minimum value */ - return value; -} - -/** - * @brief This function handles the DFSDM interrupts. - * @param hdfsdm_filter DFSDM filter handle. - * @retval None - */ -void HAL_DFSDM_IRQHandler(DFSDM_Filter_HandleTypeDef *hdfsdm_filter) -{ - /* Check if overrun occurs during regular conversion */ - if(((hdfsdm_filter->Instance->FLTISR & DFSDM_FLTISR_ROVRF) != 0U) && \ - ((hdfsdm_filter->Instance->FLTCR2 & DFSDM_FLTCR2_ROVRIE) != 0U)) - { - /* Clear regular overrun flag */ - hdfsdm_filter->Instance->FLTICR = DFSDM_FLTICR_CLRROVRF; - - /* Update error code */ - hdfsdm_filter->ErrorCode = DFSDM_FILTER_ERROR_REGULAR_OVERRUN; - - /* Call error callback */ -#if (USE_HAL_DFSDM_REGISTER_CALLBACKS == 1) - hdfsdm_filter->ErrorCallback(hdfsdm_filter); -#else - HAL_DFSDM_FilterErrorCallback(hdfsdm_filter); -#endif - } - /* Check if overrun occurs during injected conversion */ - else if(((hdfsdm_filter->Instance->FLTISR & DFSDM_FLTISR_JOVRF) != 0U) && \ - ((hdfsdm_filter->Instance->FLTCR2 & DFSDM_FLTCR2_JOVRIE) != 0U)) - { - /* Clear injected overrun flag */ - hdfsdm_filter->Instance->FLTICR = DFSDM_FLTICR_CLRJOVRF; - - /* Update error code */ - hdfsdm_filter->ErrorCode = DFSDM_FILTER_ERROR_INJECTED_OVERRUN; - - /* Call error callback */ -#if (USE_HAL_DFSDM_REGISTER_CALLBACKS == 1) - hdfsdm_filter->ErrorCallback(hdfsdm_filter); -#else - HAL_DFSDM_FilterErrorCallback(hdfsdm_filter); -#endif - } - /* Check if end of regular conversion */ - else if(((hdfsdm_filter->Instance->FLTISR & DFSDM_FLTISR_REOCF) != 0U) && \ - ((hdfsdm_filter->Instance->FLTCR2 & DFSDM_FLTCR2_REOCIE) != 0U)) - { - /* Call regular conversion complete callback */ -#if (USE_HAL_DFSDM_REGISTER_CALLBACKS == 1) - hdfsdm_filter->RegConvCpltCallback(hdfsdm_filter); -#else - HAL_DFSDM_FilterRegConvCpltCallback(hdfsdm_filter); -#endif - - /* End of conversion if mode is not continuous and software trigger */ - if((hdfsdm_filter->RegularContMode == DFSDM_CONTINUOUS_CONV_OFF) && \ - (hdfsdm_filter->RegularTrigger == DFSDM_FILTER_SW_TRIGGER)) - { - /* Disable interrupts for regular conversions */ - hdfsdm_filter->Instance->FLTCR2 &= ~(DFSDM_FLTCR2_REOCIE); - - /* Update DFSDM filter state */ - hdfsdm_filter->State = (hdfsdm_filter->State == HAL_DFSDM_FILTER_STATE_REG) ? \ - HAL_DFSDM_FILTER_STATE_READY : HAL_DFSDM_FILTER_STATE_INJ; - } - } - /* Check if end of injected conversion */ - else if(((hdfsdm_filter->Instance->FLTISR & DFSDM_FLTISR_JEOCF) != 0U) && \ - ((hdfsdm_filter->Instance->FLTCR2 & DFSDM_FLTCR2_JEOCIE) != 0U)) - { - /* Call injected conversion complete callback */ -#if (USE_HAL_DFSDM_REGISTER_CALLBACKS == 1) - hdfsdm_filter->InjConvCpltCallback(hdfsdm_filter); -#else - HAL_DFSDM_FilterInjConvCpltCallback(hdfsdm_filter); -#endif - - /* Update remaining injected conversions */ - hdfsdm_filter->InjConvRemaining--; - if(hdfsdm_filter->InjConvRemaining == 0U) - { - /* End of conversion if trigger is software */ - if(hdfsdm_filter->InjectedTrigger == DFSDM_FILTER_SW_TRIGGER) - { - /* Disable interrupts for injected conversions */ - hdfsdm_filter->Instance->FLTCR2 &= ~(DFSDM_FLTCR2_JEOCIE); - - /* Update DFSDM filter state */ - hdfsdm_filter->State = (hdfsdm_filter->State == HAL_DFSDM_FILTER_STATE_INJ) ? \ - HAL_DFSDM_FILTER_STATE_READY : HAL_DFSDM_FILTER_STATE_REG; - } - /* end of injected sequence, reset the value */ - hdfsdm_filter->InjConvRemaining = (hdfsdm_filter->InjectedScanMode == ENABLE) ? \ - hdfsdm_filter->InjectedChannelsNbr : 1U; - } - } - /* Check if analog watchdog occurs */ - else if(((hdfsdm_filter->Instance->FLTISR & DFSDM_FLTISR_AWDF) != 0U) && \ - ((hdfsdm_filter->Instance->FLTCR2 & DFSDM_FLTCR2_AWDIE) != 0U)) - { - uint32_t reg = 0U; - uint32_t threshold = 0U; - uint32_t channel = 0U; - - /* Get channel and threshold */ - reg = hdfsdm_filter->Instance->FLTAWSR; - threshold = ((reg & DFSDM_FLTAWSR_AWLTF) != 0U) ? DFSDM_AWD_LOW_THRESHOLD : DFSDM_AWD_HIGH_THRESHOLD; - if(threshold == DFSDM_AWD_HIGH_THRESHOLD) - { - reg = reg >> DFSDM_FLTAWSR_AWHTF_Pos; - } - while((reg & 1U) == 0U) - { - channel++; - reg = reg >> 1U; - } - /* Clear analog watchdog flag */ - hdfsdm_filter->Instance->FLTAWCFR = (threshold == DFSDM_AWD_HIGH_THRESHOLD) ? \ - (1U << (DFSDM_FLTAWSR_AWHTF_Pos + channel)) : \ - (1U << channel); - - /* Call analog watchdog callback */ -#if (USE_HAL_DFSDM_REGISTER_CALLBACKS == 1) - hdfsdm_filter->AwdCallback(hdfsdm_filter, channel, threshold); -#else - HAL_DFSDM_FilterAwdCallback(hdfsdm_filter, channel, threshold); -#endif - } - /* Check if clock absence occurs */ - else if((hdfsdm_filter->Instance == DFSDM1_Filter0) && \ - ((hdfsdm_filter->Instance->FLTISR & DFSDM_FLTISR_CKABF) != 0U) && \ - ((hdfsdm_filter->Instance->FLTCR2 & DFSDM_FLTCR2_CKABIE) != 0U)) - { - uint32_t reg = 0U; - uint32_t channel = 0U; - - reg = ((hdfsdm_filter->Instance->FLTISR & DFSDM_FLTISR_CKABF) >> DFSDM_FLTISR_CKABF_Pos); - - while(channel < DFSDM1_CHANNEL_NUMBER) - { - /* Check if flag is set and corresponding channel is enabled */ - if(((reg & 1U) != 0U) && (a_dfsdm1ChannelHandle[channel] != NULL)) - { - /* Check clock absence has been enabled for this channel */ - if((a_dfsdm1ChannelHandle[channel]->Instance->CHCFGR1 & DFSDM_CHCFGR1_CKABEN) != 0U) - { - /* Clear clock absence flag */ - hdfsdm_filter->Instance->FLTICR = (1U << (DFSDM_FLTICR_CLRCKABF_Pos + channel)); - - /* Call clock absence callback */ -#if (USE_HAL_DFSDM_REGISTER_CALLBACKS == 1) - a_dfsdm1ChannelHandle[channel]->CkabCallback(a_dfsdm1ChannelHandle[channel]); -#else - HAL_DFSDM_ChannelCkabCallback(a_dfsdm1ChannelHandle[channel]); -#endif - } - } - channel++; - reg = reg >> 1U; - } - } -#if defined (DFSDM2_Channel0) - /* Check if clock absence occurs */ - else if((hdfsdm_filter->Instance == DFSDM2_Filter0) && \ - ((hdfsdm_filter->Instance->FLTISR & DFSDM_FLTISR_CKABF) != 0U) && \ - ((hdfsdm_filter->Instance->FLTCR2 & DFSDM_FLTCR2_CKABIE) != 0U)) - { - uint32_t reg = 0U; - uint32_t channel = 0U; - - reg = ((hdfsdm_filter->Instance->FLTISR & DFSDM_FLTISR_CKABF) >> DFSDM_FLTISR_CKABF_Pos); - - while(channel < DFSDM2_CHANNEL_NUMBER) - { - /* Check if flag is set and corresponding channel is enabled */ - if(((reg & 1U) != 0U) && (a_dfsdm2ChannelHandle[channel] != NULL)) - { - /* Check clock absence has been enabled for this channel */ - if((a_dfsdm2ChannelHandle[channel]->Instance->CHCFGR1 & DFSDM_CHCFGR1_CKABEN) != 0U) - { - /* Clear clock absence flag */ - hdfsdm_filter->Instance->FLTICR = (1U << (DFSDM_FLTICR_CLRCKABF_Pos + channel)); - - /* Call clock absence callback */ -#if (USE_HAL_DFSDM_REGISTER_CALLBACKS == 1) - a_dfsdm2ChannelHandle[channel]->CkabCallback(a_dfsdm2ChannelHandle[channel]); -#else - HAL_DFSDM_ChannelCkabCallback(a_dfsdm2ChannelHandle[channel]); -#endif - } - } - channel++; - reg = reg >> 1U; - } - } -#endif /* DFSDM2_Channel0 */ - /* Check if short circuit detection occurs */ - else if((hdfsdm_filter->Instance == DFSDM1_Filter0) && \ - ((hdfsdm_filter->Instance->FLTISR & DFSDM_FLTISR_SCDF) != 0U) && \ - ((hdfsdm_filter->Instance->FLTCR2 & DFSDM_FLTCR2_SCDIE) != 0U)) - { - uint32_t reg = 0U; - uint32_t channel = 0U; - - /* Get channel */ - reg = ((hdfsdm_filter->Instance->FLTISR & DFSDM_FLTISR_SCDF) >> DFSDM_FLTISR_SCDF_Pos); - while((reg & 1U) == 0U) - { - channel++; - reg = reg >> 1U; - } - - /* Clear short circuit detection flag */ - hdfsdm_filter->Instance->FLTICR = (1U << (DFSDM_FLTICR_CLRSCDF_Pos + channel)); - - /* Call short circuit detection callback */ -#if (USE_HAL_DFSDM_REGISTER_CALLBACKS == 1) - a_dfsdm1ChannelHandle[channel]->ScdCallback(a_dfsdm1ChannelHandle[channel]); -#else - HAL_DFSDM_ChannelScdCallback(a_dfsdm1ChannelHandle[channel]); -#endif - } -#if defined (DFSDM2_Channel0) - /* Check if short circuit detection occurs */ - else if((hdfsdm_filter->Instance == DFSDM2_Filter0) && \ - ((hdfsdm_filter->Instance->FLTISR & DFSDM_FLTISR_SCDF) != 0U) && \ - ((hdfsdm_filter->Instance->FLTCR2 & DFSDM_FLTCR2_SCDIE) != 0U)) - { - uint32_t reg = 0U; - uint32_t channel = 0U; - - /* Get channel */ - reg = ((hdfsdm_filter->Instance->FLTISR & DFSDM_FLTISR_SCDF) >> DFSDM_FLTISR_SCDF_Pos); - while((reg & 1U) == 0U) - { - channel++; - reg = reg >> 1U; - } - - /* Clear short circuit detection flag */ - hdfsdm_filter->Instance->FLTICR = (1U << (DFSDM_FLTICR_CLRSCDF_Pos + channel)); - - /* Call short circuit detection callback */ -#if (USE_HAL_DFSDM_REGISTER_CALLBACKS == 1) - a_dfsdm2ChannelHandle[channel]->ScdCallback(a_dfsdm2ChannelHandle[channel]); -#else - HAL_DFSDM_ChannelScdCallback(a_dfsdm2ChannelHandle[channel]); -#endif - } -#endif /* DFSDM2_Channel0 */ -} - -/** - * @brief Regular conversion complete callback. - * @note In interrupt mode, user has to read conversion value in this function - * using HAL_DFSDM_FilterGetRegularValue. - * @param hdfsdm_filter DFSDM filter handle. - * @retval None - */ -__weak void HAL_DFSDM_FilterRegConvCpltCallback(DFSDM_Filter_HandleTypeDef *hdfsdm_filter) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hdfsdm_filter); - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_DFSDM_FilterRegConvCpltCallback could be implemented in the user file. - */ -} - -/** - * @brief Half regular conversion complete callback. - * @param hdfsdm_filter DFSDM filter handle. - * @retval None - */ -__weak void HAL_DFSDM_FilterRegConvHalfCpltCallback(DFSDM_Filter_HandleTypeDef *hdfsdm_filter) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hdfsdm_filter); - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_DFSDM_FilterRegConvHalfCpltCallback could be implemented in the user file. - */ -} - -/** - * @brief Injected conversion complete callback. - * @note In interrupt mode, user has to read conversion value in this function - * using HAL_DFSDM_FilterGetInjectedValue. - * @param hdfsdm_filter DFSDM filter handle. - * @retval None - */ -__weak void HAL_DFSDM_FilterInjConvCpltCallback(DFSDM_Filter_HandleTypeDef *hdfsdm_filter) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hdfsdm_filter); - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_DFSDM_FilterInjConvCpltCallback could be implemented in the user file. - */ -} - -/** - * @brief Half injected conversion complete callback. - * @param hdfsdm_filter DFSDM filter handle. - * @retval None - */ -__weak void HAL_DFSDM_FilterInjConvHalfCpltCallback(DFSDM_Filter_HandleTypeDef *hdfsdm_filter) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hdfsdm_filter); - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_DFSDM_FilterInjConvHalfCpltCallback could be implemented in the user file. - */ -} - -/** - * @brief Filter analog watchdog callback. - * @param hdfsdm_filter DFSDM filter handle. - * @param Channel Corresponding channel. - * @param Threshold Low or high threshold has been reached. - * @retval None - */ -__weak void HAL_DFSDM_FilterAwdCallback(DFSDM_Filter_HandleTypeDef *hdfsdm_filter, - uint32_t Channel, uint32_t Threshold) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hdfsdm_filter); - UNUSED(Channel); - UNUSED(Threshold); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_DFSDM_FilterAwdCallback could be implemented in the user file. - */ -} - -/** - * @brief Error callback. - * @param hdfsdm_filter DFSDM filter handle. - * @retval None - */ -__weak void HAL_DFSDM_FilterErrorCallback(DFSDM_Filter_HandleTypeDef *hdfsdm_filter) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hdfsdm_filter); - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_DFSDM_FilterErrorCallback could be implemented in the user file. - */ -} - -/** - * @} - */ - -/** @defgroup DFSDM_Exported_Functions_Group4_Filter Filter state functions - * @brief Filter state functions - * -@verbatim - ============================================================================== - ##### Filter state functions ##### - ============================================================================== - [..] This section provides functions allowing to: - (+) Get the DFSDM filter state. - (+) Get the DFSDM filter error. -@endverbatim - * @{ - */ - -/** - * @brief This function allows to get the current DFSDM filter handle state. - * @param hdfsdm_filter DFSDM filter handle. - * @retval DFSDM filter state. - */ -HAL_DFSDM_Filter_StateTypeDef HAL_DFSDM_FilterGetState(DFSDM_Filter_HandleTypeDef *hdfsdm_filter) -{ - /* Return DFSDM filter handle state */ - return hdfsdm_filter->State; -} - -/** - * @brief This function allows to get the current DFSDM filter error. - * @param hdfsdm_filter DFSDM filter handle. - * @retval DFSDM filter error code. - */ -uint32_t HAL_DFSDM_FilterGetError(DFSDM_Filter_HandleTypeDef *hdfsdm_filter) -{ - return hdfsdm_filter->ErrorCode; -} - -/** - * @} - */ - -/** @defgroup DFSDM_Exported_Functions_Group5_Filter MultiChannel operation functions - * @brief Filter state functions - * -@verbatim - ============================================================================== - ##### Filter MultiChannel operation functions ##### - ============================================================================== - [..] This section provides functions allowing to: - (+) Control the DFSDM Multi channel delay block -@endverbatim - * @{ - */ -#if defined(SYSCFG_MCHDLYCR_BSCKSEL) -/** - * @brief Select the DFSDM2 as clock source for the bitstream clock. - * @note The SYSCFG clock marco __HAL_RCC_SYSCFG_CLK_ENABLE() must be called - * before HAL_DFSDM_BitstreamClock_Start() - */ -void HAL_DFSDM_BitstreamClock_Start(void) -{ - uint32_t tmp = 0; - - tmp = SYSCFG->MCHDLYCR; - tmp = (tmp &(~SYSCFG_MCHDLYCR_BSCKSEL)); - - SYSCFG->MCHDLYCR = (tmp|SYSCFG_MCHDLYCR_BSCKSEL); -} - -/** - * @brief Stop the DFSDM2 as clock source for the bitstream clock. - * @note The SYSCFG clock marco __HAL_RCC_SYSCFG_CLK_ENABLE() must be called - * before HAL_DFSDM_BitstreamClock_Stop() - * @retval None - */ -void HAL_DFSDM_BitstreamClock_Stop(void) -{ - uint32_t tmp = 0U; - - tmp = SYSCFG->MCHDLYCR; - tmp = (tmp &(~SYSCFG_MCHDLYCR_BSCKSEL)); - - SYSCFG->MCHDLYCR = tmp; -} - -/** - * @brief Disable Delay Clock for DFSDM1/2. - * @param MCHDLY HAL_MCHDLY_CLOCK_DFSDM2. - * HAL_MCHDLY_CLOCK_DFSDM1. - * @note The SYSCFG clock marco __HAL_RCC_SYSCFG_CLK_ENABLE() must be called - * before HAL_DFSDM_DisableDelayClock() - * @retval None - */ -void HAL_DFSDM_DisableDelayClock(uint32_t MCHDLY) -{ - uint32_t tmp = 0U; - - assert_param(IS_DFSDM_DELAY_CLOCK(MCHDLY)); - - tmp = SYSCFG->MCHDLYCR; - if(MCHDLY == HAL_MCHDLY_CLOCK_DFSDM2) - { - tmp = tmp &(~SYSCFG_MCHDLYCR_MCHDLY2EN); - } - else - { - tmp = tmp &(~SYSCFG_MCHDLYCR_MCHDLY1EN); - } - - SYSCFG->MCHDLYCR = tmp; -} - -/** - * @brief Enable Delay Clock for DFSDM1/2. - * @param MCHDLY HAL_MCHDLY_CLOCK_DFSDM2. - * HAL_MCHDLY_CLOCK_DFSDM1. - * @note The SYSCFG clock marco __HAL_RCC_SYSCFG_CLK_ENABLE() must be called - * before HAL_DFSDM_EnableDelayClock() - * @retval None - */ -void HAL_DFSDM_EnableDelayClock(uint32_t MCHDLY) -{ - uint32_t tmp = 0U; - - assert_param(IS_DFSDM_DELAY_CLOCK(MCHDLY)); - - tmp = SYSCFG->MCHDLYCR; - tmp = tmp & ~MCHDLY; - - SYSCFG->MCHDLYCR = (tmp|MCHDLY); -} - -/** - * @brief Select the source for CKin signals for DFSDM1/2. - * @param source DFSDM2_CKIN_PAD. - * DFSDM2_CKIN_DM. - * DFSDM1_CKIN_PAD. - * DFSDM1_CKIN_DM. - * @retval None - */ -void HAL_DFSDM_ClockIn_SourceSelection(uint32_t source) -{ - uint32_t tmp = 0U; - - assert_param(IS_DFSDM_CLOCKIN_SELECTION(source)); - - tmp = SYSCFG->MCHDLYCR; - - if((source == HAL_DFSDM2_CKIN_PAD) || (source == HAL_DFSDM2_CKIN_DM)) - { - tmp = (tmp & ~SYSCFG_MCHDLYCR_DFSDM2CFG); - - if(source == HAL_DFSDM2_CKIN_PAD) - { - source = 0x000000U; - } - } - else - { - tmp = (tmp & ~SYSCFG_MCHDLYCR_DFSDM1CFG); - } - - SYSCFG->MCHDLYCR = (source|tmp); -} - -/** - * @brief Select the source for CKOut signals for DFSDM1/2. - * @param source: DFSDM2_CKOUT_DFSDM2. - * DFSDM2_CKOUT_M27. - * DFSDM1_CKOUT_DFSDM1. - * DFSDM1_CKOUT_M27. - * @retval None - */ -void HAL_DFSDM_ClockOut_SourceSelection(uint32_t source) -{ - uint32_t tmp = 0U; - - assert_param(IS_DFSDM_CLOCKOUT_SELECTION(source)); - - tmp = SYSCFG->MCHDLYCR; - - if((source == HAL_DFSDM2_CKOUT_DFSDM2) || (source == HAL_DFSDM2_CKOUT_M27)) - { - tmp = (tmp & ~SYSCFG_MCHDLYCR_DFSDM2CKOSEL); - - if(source == HAL_DFSDM2_CKOUT_DFSDM2) - { - source = 0x000U; - } - } - else - { - tmp = (tmp & ~SYSCFG_MCHDLYCR_DFSDM1CKOSEL); - } - - SYSCFG->MCHDLYCR = (source|tmp); -} - -/** - * @brief Select the source for DataIn0 signals for DFSDM1/2. - * @param source DATAIN0_DFSDM2_PAD. - * DATAIN0_DFSDM2_DATAIN1. - * DATAIN0_DFSDM1_PAD. - * DATAIN0_DFSDM1_DATAIN1. - * @retval None - */ -void HAL_DFSDM_DataIn0_SourceSelection(uint32_t source) -{ - uint32_t tmp = 0U; - - assert_param(IS_DFSDM_DATAIN0_SRC_SELECTION(source)); - - tmp = SYSCFG->MCHDLYCR; - - if((source == HAL_DATAIN0_DFSDM2_PAD)|| (source == HAL_DATAIN0_DFSDM2_DATAIN1)) - { - tmp = (tmp & ~SYSCFG_MCHDLYCR_DFSDM2D0SEL); - if(source == HAL_DATAIN0_DFSDM2_PAD) - { - source = 0x00000U; - } - } - else - { - tmp = (tmp & ~SYSCFG_MCHDLYCR_DFSDM1D0SEL); - } - SYSCFG->MCHDLYCR = (source|tmp); -} - -/** - * @brief Select the source for DataIn2 signals for DFSDM1/2. - * @param source DATAIN2_DFSDM2_PAD. - * DATAIN2_DFSDM2_DATAIN3. - * DATAIN2_DFSDM1_PAD. - * DATAIN2_DFSDM1_DATAIN3. - * @retval None - */ -void HAL_DFSDM_DataIn2_SourceSelection(uint32_t source) -{ - uint32_t tmp = 0U; - - assert_param(IS_DFSDM_DATAIN2_SRC_SELECTION(source)); - - tmp = SYSCFG->MCHDLYCR; - - if((source == HAL_DATAIN2_DFSDM2_PAD)|| (source == HAL_DATAIN2_DFSDM2_DATAIN3)) - { - tmp = (tmp & ~SYSCFG_MCHDLYCR_DFSDM2D2SEL); - if (source == HAL_DATAIN2_DFSDM2_PAD) - { - source = 0x0000U; - } - } - else - { - tmp = (tmp & ~SYSCFG_MCHDLYCR_DFSDM1D2SEL); - } - SYSCFG->MCHDLYCR = (source|tmp); -} - -/** - * @brief Select the source for DataIn4 signals for DFSDM2. - * @param source DATAIN4_DFSDM2_PAD. - * DATAIN4_DFSDM2_DATAIN5 - * @retval None - */ -void HAL_DFSDM_DataIn4_SourceSelection(uint32_t source) -{ - uint32_t tmp = 0U; - - assert_param(IS_DFSDM_DATAIN4_SRC_SELECTION(source)); - - tmp = SYSCFG->MCHDLYCR; - tmp = (tmp & ~SYSCFG_MCHDLYCR_DFSDM2D4SEL); - - SYSCFG->MCHDLYCR = (source|tmp); -} - -/** - * @brief Select the source for DataIn6 signals for DFSDM2. - * @param source DATAIN6_DFSDM2_PAD. - * DATAIN6_DFSDM2_DATAIN7. - * @retval None - */ -void HAL_DFSDM_DataIn6_SourceSelection(uint32_t source) -{ - uint32_t tmp = 0U; - - assert_param(IS_DFSDM_DATAIN6_SRC_SELECTION(source)); - - tmp = SYSCFG->MCHDLYCR; - - tmp = (tmp & ~SYSCFG_MCHDLYCR_DFSDM2D6SEL); - - SYSCFG->MCHDLYCR = (source|tmp); -} - -/** - * @brief Configure the distribution of the bitstream clock gated from TIM4_OC - * for DFSDM1 or TIM3_OC for DFSDM2 - * @param source DFSDM1_CLKIN0_TIM4OC2 - * DFSDM1_CLKIN2_TIM4OC2 - * DFSDM1_CLKIN1_TIM4OC1 - * DFSDM1_CLKIN3_TIM4OC1 - * DFSDM2_CLKIN0_TIM3OC4 - * DFSDM2_CLKIN4_TIM3OC4 - * DFSDM2_CLKIN1_TIM3OC3 - * DFSDM2_CLKIN5_TIM3OC3 - * DFSDM2_CLKIN2_TIM3OC2 - * DFSDM2_CLKIN6_TIM3OC2 - * DFSDM2_CLKIN3_TIM3OC1 - * DFSDM2_CLKIN7_TIM3OC1 - * @retval None - */ -void HAL_DFSDM_BitStreamClkDistribution_Config(uint32_t source) -{ - uint32_t tmp = 0U; - - assert_param(IS_DFSDM_BITSTREM_CLK_DISTRIBUTION(source)); - - tmp = SYSCFG->MCHDLYCR; - - if ((source == HAL_DFSDM1_CLKIN0_TIM4OC2) || (source == HAL_DFSDM1_CLKIN2_TIM4OC2)) - { - tmp = (tmp & ~SYSCFG_MCHDLYCR_DFSDM1CK02SEL); - } - else if ((source == HAL_DFSDM1_CLKIN1_TIM4OC1) || (source == HAL_DFSDM1_CLKIN3_TIM4OC1)) - { - tmp = (tmp & ~SYSCFG_MCHDLYCR_DFSDM1CK13SEL); - } - else if ((source == HAL_DFSDM2_CLKIN0_TIM3OC4) || (source == HAL_DFSDM2_CLKIN4_TIM3OC4)) - { - tmp = (tmp & ~SYSCFG_MCHDLYCR_DFSDM2CK04SEL); - } - else if ((source == HAL_DFSDM2_CLKIN1_TIM3OC3) || (source == HAL_DFSDM2_CLKIN5_TIM3OC3)) - { - tmp = (tmp & ~SYSCFG_MCHDLYCR_DFSDM2CK15SEL); - - }else if ((source == HAL_DFSDM2_CLKIN2_TIM3OC2) || (source == HAL_DFSDM2_CLKIN6_TIM3OC2)) - { - tmp = (tmp & ~SYSCFG_MCHDLYCR_DFSDM2CK26SEL); - } - else - { - tmp = (tmp & ~SYSCFG_MCHDLYCR_DFSDM2CK37SEL); - } - - if((source == HAL_DFSDM1_CLKIN0_TIM4OC2) ||(source == HAL_DFSDM1_CLKIN1_TIM4OC1)|| - (source == HAL_DFSDM2_CLKIN0_TIM3OC4) ||(source == HAL_DFSDM2_CLKIN1_TIM3OC3)|| - (source == HAL_DFSDM2_CLKIN2_TIM3OC2) ||(source == HAL_DFSDM2_CLKIN3_TIM3OC1)) - { - source = 0x0000U; - } - - SYSCFG->MCHDLYCR = (source|tmp); -} - -/** - * @brief Configure multi channel delay block: Use DFSDM2 audio clock source as input - * clock for DFSDM1 and DFSDM2 filters to Synchronize DFSDMx filters. - * Set the path of the DFSDM2 clock output (dfsdm2_ckout) to the - * DFSDM1/2 CkInx and data inputs channels by configuring following MCHDLY muxes - * or demuxes: M1, M2, M3, M4, M5, M6, M7, M8, DM1, DM2, DM3, DM4, DM5, DM6, - * M9, M10, M11, M12, M13, M14, M15, M16, M17, M18, M19, M20 based on the - * contains of the DFSDM_MultiChannelConfigTypeDef structure - * @param mchdlystruct Structure of multi channel configuration - * @retval None - * @note The SYSCFG clock marco __HAL_RCC_SYSCFG_CLK_ENABLE() must be called - * before HAL_DFSDM_ConfigMultiChannelDelay() - * @note The HAL_DFSDM_ConfigMultiChannelDelay() function clears the SYSCFG-MCHDLYCR - * register before setting the new configuration. - */ -void HAL_DFSDM_ConfigMultiChannelDelay(DFSDM_MultiChannelConfigTypeDef* mchdlystruct) -{ - uint32_t mchdlyreg = 0U; - - assert_param(IS_DFSDM_DFSDM1_CLKOUT(mchdlystruct->DFSDM1ClockOut)); - assert_param(IS_DFSDM_DFSDM2_CLKOUT(mchdlystruct->DFSDM2ClockOut)); - assert_param(IS_DFSDM_DFSDM1_CLKIN(mchdlystruct->DFSDM1ClockIn)); - assert_param(IS_DFSDM_DFSDM2_CLKIN(mchdlystruct->DFSDM2ClockIn)); - assert_param(IS_DFSDM_DFSDM1_BIT_CLK((mchdlystruct->DFSDM1BitClkDistribution))); - assert_param(IS_DFSDM_DFSDM2_BIT_CLK(mchdlystruct->DFSDM2BitClkDistribution)); - assert_param(IS_DFSDM_DFSDM1_DATA_DISTRIBUTION(mchdlystruct->DFSDM1DataDistribution)); - assert_param(IS_DFSDM_DFSDM2_DATA_DISTRIBUTION(mchdlystruct->DFSDM2DataDistribution)); - - mchdlyreg = (SYSCFG->MCHDLYCR & 0x80103U); - - SYSCFG->MCHDLYCR = (mchdlyreg |(mchdlystruct->DFSDM1ClockOut)|(mchdlystruct->DFSDM2ClockOut)| - (mchdlystruct->DFSDM1ClockIn)|(mchdlystruct->DFSDM2ClockIn)| - (mchdlystruct->DFSDM1BitClkDistribution)| (mchdlystruct->DFSDM2BitClkDistribution)| - (mchdlystruct->DFSDM1DataDistribution)| (mchdlystruct->DFSDM2DataDistribution)); - -} -#endif /* SYSCFG_MCHDLYCR_BSCKSEL */ -/** - * @} - */ -/** - * @} - */ -/* End of exported functions -------------------------------------------------*/ - -/* Private functions ---------------------------------------------------------*/ -/** @addtogroup DFSDM_Private_Functions DFSDM Private Functions - * @{ - */ - -/** - * @brief DMA half transfer complete callback for regular conversion. - * @param hdma DMA handle. - * @retval None - */ -static void DFSDM_DMARegularHalfConvCplt(DMA_HandleTypeDef *hdma) -{ - /* Get DFSDM filter handle */ - DFSDM_Filter_HandleTypeDef* hdfsdm_filter = (DFSDM_Filter_HandleTypeDef*) ((DMA_HandleTypeDef*)hdma)->Parent; - - /* Call regular half conversion complete callback */ -#if (USE_HAL_DFSDM_REGISTER_CALLBACKS == 1) - hdfsdm_filter->RegConvHalfCpltCallback(hdfsdm_filter); -#else - HAL_DFSDM_FilterRegConvHalfCpltCallback(hdfsdm_filter); -#endif -} - -/** - * @brief DMA transfer complete callback for regular conversion. - * @param hdma DMA handle. - * @retval None - */ -static void DFSDM_DMARegularConvCplt(DMA_HandleTypeDef *hdma) -{ - /* Get DFSDM filter handle */ - DFSDM_Filter_HandleTypeDef* hdfsdm_filter = (DFSDM_Filter_HandleTypeDef*) ((DMA_HandleTypeDef*)hdma)->Parent; - - /* Call regular conversion complete callback */ -#if (USE_HAL_DFSDM_REGISTER_CALLBACKS == 1) - hdfsdm_filter->RegConvCpltCallback(hdfsdm_filter); -#else - HAL_DFSDM_FilterRegConvCpltCallback(hdfsdm_filter); -#endif -} - -/** - * @brief DMA half transfer complete callback for injected conversion. - * @param hdma DMA handle. - * @retval None - */ -static void DFSDM_DMAInjectedHalfConvCplt(DMA_HandleTypeDef *hdma) -{ - /* Get DFSDM filter handle */ - DFSDM_Filter_HandleTypeDef* hdfsdm_filter = (DFSDM_Filter_HandleTypeDef*) ((DMA_HandleTypeDef*)hdma)->Parent; - - /* Call injected half conversion complete callback */ -#if (USE_HAL_DFSDM_REGISTER_CALLBACKS == 1) - hdfsdm_filter->InjConvHalfCpltCallback(hdfsdm_filter); -#else - HAL_DFSDM_FilterInjConvHalfCpltCallback(hdfsdm_filter); -#endif -} - -/** - * @brief DMA transfer complete callback for injected conversion. - * @param hdma DMA handle. - * @retval None - */ -static void DFSDM_DMAInjectedConvCplt(DMA_HandleTypeDef *hdma) -{ - /* Get DFSDM filter handle */ - DFSDM_Filter_HandleTypeDef* hdfsdm_filter = (DFSDM_Filter_HandleTypeDef*) ((DMA_HandleTypeDef*)hdma)->Parent; - - /* Call injected conversion complete callback */ -#if (USE_HAL_DFSDM_REGISTER_CALLBACKS == 1) - hdfsdm_filter->InjConvCpltCallback(hdfsdm_filter); -#else - HAL_DFSDM_FilterInjConvCpltCallback(hdfsdm_filter); -#endif -} - -/** - * @brief DMA error callback. - * @param hdma DMA handle. - * @retval None - */ -static void DFSDM_DMAError(DMA_HandleTypeDef *hdma) -{ - /* Get DFSDM filter handle */ - DFSDM_Filter_HandleTypeDef* hdfsdm_filter = (DFSDM_Filter_HandleTypeDef*) ((DMA_HandleTypeDef*)hdma)->Parent; - - /* Update error code */ - hdfsdm_filter->ErrorCode = DFSDM_FILTER_ERROR_DMA; - - /* Call error callback */ -#if (USE_HAL_DFSDM_REGISTER_CALLBACKS == 1) - hdfsdm_filter->ErrorCallback(hdfsdm_filter); -#else - HAL_DFSDM_FilterErrorCallback(hdfsdm_filter); -#endif -} - -/** - * @brief This function allows to get the number of injected channels. - * @param Channels bitfield of injected channels. - * @retval Number of injected channels. - */ -static uint32_t DFSDM_GetInjChannelsNbr(uint32_t Channels) -{ - uint32_t nbChannels = 0U; - uint32_t tmp; - - /* Get the number of channels from bitfield */ - tmp = (uint32_t) (Channels & DFSDM_LSB_MASK); - while(tmp != 0U) - { - if((tmp & 1U) != 0U) - { - nbChannels++; - } - tmp = (uint32_t) (tmp >> 1U); - } - return nbChannels; -} - -/** - * @brief This function allows to get the channel number from channel instance. - * @param Instance DFSDM channel instance. - * @retval Channel number. - */ -static uint32_t DFSDM_GetChannelFromInstance(DFSDM_Channel_TypeDef* Instance) -{ - uint32_t channel; - - /* Get channel from instance */ -#if defined(DFSDM2_Channel0) - if((Instance == DFSDM1_Channel0) || (Instance == DFSDM2_Channel0)) - { - channel = 0U; - } - else if((Instance == DFSDM1_Channel1) || (Instance == DFSDM2_Channel1)) - { - channel = 1U; - } - else if((Instance == DFSDM1_Channel2) || (Instance == DFSDM2_Channel2)) - { - channel = 2U; - } - else if((Instance == DFSDM1_Channel3) || (Instance == DFSDM2_Channel3)) - { - channel = 3U; - } - else if(Instance == DFSDM2_Channel4) - { - channel = 4U; - } - else if(Instance == DFSDM2_Channel5) - { - channel = 5U; - } - else if(Instance == DFSDM2_Channel6) - { - channel = 6U; - } - else /* DFSDM2_Channel7 */ - { - channel = 7U; - } - -#else - if(Instance == DFSDM1_Channel0) - { - channel = 0U; - } - else if(Instance == DFSDM1_Channel1) - { - channel = 1U; - } - else if(Instance == DFSDM1_Channel2) - { - channel = 2U; - } - else /* DFSDM1_Channel3 */ - { - channel = 3U; - } -#endif /* defined(DFSDM2_Channel0) */ - - return channel; -} - -/** - * @brief This function allows to really start regular conversion. - * @param hdfsdm_filter DFSDM filter handle. - * @retval None - */ -static void DFSDM_RegConvStart(DFSDM_Filter_HandleTypeDef* hdfsdm_filter) -{ - /* Check regular trigger */ - if(hdfsdm_filter->RegularTrigger == DFSDM_FILTER_SW_TRIGGER) - { - /* Software start of regular conversion */ - hdfsdm_filter->Instance->FLTCR1 |= DFSDM_FLTCR1_RSWSTART; - } - else /* synchronous trigger */ - { - /* Disable DFSDM filter */ - hdfsdm_filter->Instance->FLTCR1 &= ~(DFSDM_FLTCR1_DFEN); - - /* Set RSYNC bit in DFSDM_FLTCR1 register */ - hdfsdm_filter->Instance->FLTCR1 |= DFSDM_FLTCR1_RSYNC; - - /* Enable DFSDM filter */ - hdfsdm_filter->Instance->FLTCR1 |= DFSDM_FLTCR1_DFEN; - - /* If injected conversion was in progress, restart it */ - if(hdfsdm_filter->State == HAL_DFSDM_FILTER_STATE_INJ) - { - if(hdfsdm_filter->InjectedTrigger == DFSDM_FILTER_SW_TRIGGER) - { - hdfsdm_filter->Instance->FLTCR1 |= DFSDM_FLTCR1_JSWSTART; - } - /* Update remaining injected conversions */ - hdfsdm_filter->InjConvRemaining = (hdfsdm_filter->InjectedScanMode == ENABLE) ? \ - hdfsdm_filter->InjectedChannelsNbr : 1U; - } - } - /* Update DFSDM filter state */ - hdfsdm_filter->State = (hdfsdm_filter->State == HAL_DFSDM_FILTER_STATE_READY) ? \ - HAL_DFSDM_FILTER_STATE_REG : HAL_DFSDM_FILTER_STATE_REG_INJ; -} - -/** - * @brief This function allows to really stop regular conversion. - * @param hdfsdm_filter DFSDM filter handle. - * @retval None - */ -static void DFSDM_RegConvStop(DFSDM_Filter_HandleTypeDef* hdfsdm_filter) -{ - /* Disable DFSDM filter */ - hdfsdm_filter->Instance->FLTCR1 &= ~(DFSDM_FLTCR1_DFEN); - - /* If regular trigger was synchronous, reset RSYNC bit in DFSDM_FLTCR1 register */ - if(hdfsdm_filter->RegularTrigger == DFSDM_FILTER_SYNC_TRIGGER) - { - hdfsdm_filter->Instance->FLTCR1 &= ~(DFSDM_FLTCR1_RSYNC); - } - - /* Enable DFSDM filter */ - hdfsdm_filter->Instance->FLTCR1 |= DFSDM_FLTCR1_DFEN; - - /* If injected conversion was in progress, restart it */ - if(hdfsdm_filter->State == HAL_DFSDM_FILTER_STATE_REG_INJ) - { - if(hdfsdm_filter->InjectedTrigger == DFSDM_FILTER_SW_TRIGGER) - { - hdfsdm_filter->Instance->FLTCR1 |= DFSDM_FLTCR1_JSWSTART; - } - /* Update remaining injected conversions */ - hdfsdm_filter->InjConvRemaining = (hdfsdm_filter->InjectedScanMode == ENABLE) ? \ - hdfsdm_filter->InjectedChannelsNbr : 1U; - } - - /* Update DFSDM filter state */ - hdfsdm_filter->State = (hdfsdm_filter->State == HAL_DFSDM_FILTER_STATE_REG) ? \ - HAL_DFSDM_FILTER_STATE_READY : HAL_DFSDM_FILTER_STATE_INJ; -} - -/** - * @brief This function allows to really start injected conversion. - * @param hdfsdm_filter DFSDM filter handle. - * @retval None - */ -static void DFSDM_InjConvStart(DFSDM_Filter_HandleTypeDef* hdfsdm_filter) -{ - /* Check injected trigger */ - if(hdfsdm_filter->InjectedTrigger == DFSDM_FILTER_SW_TRIGGER) - { - /* Software start of injected conversion */ - hdfsdm_filter->Instance->FLTCR1 |= DFSDM_FLTCR1_JSWSTART; - } - else /* external or synchronous trigger */ - { - /* Disable DFSDM filter */ - hdfsdm_filter->Instance->FLTCR1 &= ~(DFSDM_FLTCR1_DFEN); - - if(hdfsdm_filter->InjectedTrigger == DFSDM_FILTER_SYNC_TRIGGER) - { - /* Set JSYNC bit in DFSDM_FLTCR1 register */ - hdfsdm_filter->Instance->FLTCR1 |= DFSDM_FLTCR1_JSYNC; - } - else /* external trigger */ - { - /* Set JEXTEN[1:0] bits in DFSDM_FLTCR1 register */ - hdfsdm_filter->Instance->FLTCR1 |= hdfsdm_filter->ExtTriggerEdge; - } - - /* Enable DFSDM filter */ - hdfsdm_filter->Instance->FLTCR1 |= DFSDM_FLTCR1_DFEN; - - /* If regular conversion was in progress, restart it */ - if((hdfsdm_filter->State == HAL_DFSDM_FILTER_STATE_REG) && \ - (hdfsdm_filter->RegularTrigger == DFSDM_FILTER_SW_TRIGGER)) - { - hdfsdm_filter->Instance->FLTCR1 |= DFSDM_FLTCR1_RSWSTART; - } - } - /* Update DFSDM filter state */ - hdfsdm_filter->State = (hdfsdm_filter->State == HAL_DFSDM_FILTER_STATE_READY) ? \ - HAL_DFSDM_FILTER_STATE_INJ : HAL_DFSDM_FILTER_STATE_REG_INJ; -} - -/** - * @brief This function allows to really stop injected conversion. - * @param hdfsdm_filter DFSDM filter handle. - * @retval None - */ -static void DFSDM_InjConvStop(DFSDM_Filter_HandleTypeDef* hdfsdm_filter) -{ - /* Disable DFSDM filter */ - hdfsdm_filter->Instance->FLTCR1 &= ~(DFSDM_FLTCR1_DFEN); - - /* If injected trigger was synchronous, reset JSYNC bit in DFSDM_FLTCR1 register */ - if(hdfsdm_filter->InjectedTrigger == DFSDM_FILTER_SYNC_TRIGGER) - { - hdfsdm_filter->Instance->FLTCR1 &= ~(DFSDM_FLTCR1_JSYNC); - } - else if(hdfsdm_filter->InjectedTrigger == DFSDM_FILTER_EXT_TRIGGER) - { - /* Reset JEXTEN[1:0] bits in DFSDM_FLTCR1 register */ - hdfsdm_filter->Instance->FLTCR1 &= ~(DFSDM_FLTCR1_JEXTEN); - } - - else - { - /* Nothing to do */ - } - /* Enable DFSDM filter */ - hdfsdm_filter->Instance->FLTCR1 |= DFSDM_FLTCR1_DFEN; - - /* If regular conversion was in progress, restart it */ - if((hdfsdm_filter->State == HAL_DFSDM_FILTER_STATE_REG_INJ) && \ - (hdfsdm_filter->RegularTrigger == DFSDM_FILTER_SW_TRIGGER)) - { - hdfsdm_filter->Instance->FLTCR1 |= DFSDM_FLTCR1_RSWSTART; - } - - /* Update remaining injected conversions */ - hdfsdm_filter->InjConvRemaining = (hdfsdm_filter->InjectedScanMode == ENABLE) ? \ - hdfsdm_filter->InjectedChannelsNbr : 1U; - - /* Update DFSDM filter state */ - hdfsdm_filter->State = (hdfsdm_filter->State == HAL_DFSDM_FILTER_STATE_INJ) ? \ - HAL_DFSDM_FILTER_STATE_READY : HAL_DFSDM_FILTER_STATE_REG; -} -/** - * @} - */ -/* End of private functions --------------------------------------------------*/ - -/** - * @} - */ -#endif /* STM32F412Zx || STM32F412Vx || STM32F412Rx || STM32F412Cx || STM32F413xx || STM32F423xx */ -#endif /* HAL_DFSDM_MODULE_ENABLED */ -/** - * @} - */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c deleted file mode 100644 index 9b4f8d8c2f6271..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c +++ /dev/null @@ -1,1305 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_dma.c - * @author MCD Application Team - * @brief DMA HAL module driver. - * - * This file provides firmware functions to manage the following - * functionalities of the Direct Memory Access (DMA) peripheral: - * + Initialization and de-initialization functions - * + IO operation functions - * + Peripheral State and errors functions - @verbatim - ============================================================================== - ##### How to use this driver ##### - ============================================================================== - [..] - (#) Enable and configure the peripheral to be connected to the DMA Stream - (except for internal SRAM/FLASH memories: no initialization is - necessary) please refer to Reference manual for connection between peripherals - and DMA requests. - - (#) For a given Stream, program the required configuration through the following parameters: - Transfer Direction, Source and Destination data formats, - Circular, Normal or peripheral flow control mode, Stream Priority level, - Source and Destination Increment mode, FIFO mode and its Threshold (if needed), - Burst mode for Source and/or Destination (if needed) using HAL_DMA_Init() function. - - -@- Prior to HAL_DMA_Init() the clock must be enabled for DMA through the following macros: - __HAL_RCC_DMA1_CLK_ENABLE() or __HAL_RCC_DMA2_CLK_ENABLE(). - - *** Polling mode IO operation *** - ================================= - [..] - (+) Use HAL_DMA_Start() to start DMA transfer after the configuration of Source - address and destination address and the Length of data to be transferred. - (+) Use HAL_DMA_PollForTransfer() to poll for the end of current transfer, in this - case a fixed Timeout can be configured by User depending from his application. - (+) Use HAL_DMA_Abort() function to abort the current transfer. - - *** Interrupt mode IO operation *** - =================================== - [..] - (+) Configure the DMA interrupt priority using HAL_NVIC_SetPriority() - (+) Enable the DMA IRQ handler using HAL_NVIC_EnableIRQ() - (+) Use HAL_DMA_Start_IT() to start DMA transfer after the configuration of - Source address and destination address and the Length of data to be transferred. In this - case the DMA interrupt is configured - (+) Use HAL_DMA_IRQHandler() called under DMA_IRQHandler() Interrupt subroutine - (+) At the end of data transfer HAL_DMA_IRQHandler() function is executed and user can - add his own function by customization of function pointer XferCpltCallback and - XferErrorCallback (i.e a member of DMA handle structure). - [..] - (#) Use HAL_DMA_GetState() function to return the DMA state and HAL_DMA_GetError() in case of error - detection. - - (#) Use HAL_DMA_Abort_IT() function to abort the current transfer - - -@- In Memory-to-Memory transfer mode, Circular mode is not allowed. - - -@- The FIFO is used mainly to reduce bus usage and to allow data packing/unpacking: it is - possible to set different Data Sizes for the Peripheral and the Memory (ie. you can set - Half-Word data size for the peripheral to access its data register and set Word data size - for the Memory to gain in access time. Each two half words will be packed and written in - a single access to a Word in the Memory). - - -@- When FIFO is disabled, it is not allowed to configure different Data Sizes for Source - and Destination. In this case the Peripheral Data Size will be applied to both Source - and Destination. - - *** DMA HAL driver macros list *** - ============================================= - [..] - Below the list of most used macros in DMA HAL driver. - - (+) __HAL_DMA_ENABLE: Enable the specified DMA Stream. - (+) __HAL_DMA_DISABLE: Disable the specified DMA Stream. - (+) __HAL_DMA_GET_IT_SOURCE: Check whether the specified DMA Stream interrupt has occurred or not. - - [..] - (@) You can refer to the DMA HAL driver header file for more useful macros - - @endverbatim - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @defgroup DMA DMA - * @brief DMA HAL module driver - * @{ - */ - -#ifdef HAL_DMA_MODULE_ENABLED - -/* Private types -------------------------------------------------------------*/ -typedef struct -{ - __IO uint32_t ISR; /*!< DMA interrupt status register */ - __IO uint32_t Reserved0; - __IO uint32_t IFCR; /*!< DMA interrupt flag clear register */ -} DMA_Base_Registers; - -/* Private variables ---------------------------------------------------------*/ -/* Private constants ---------------------------------------------------------*/ -/** @addtogroup DMA_Private_Constants - * @{ - */ - #define HAL_TIMEOUT_DMA_ABORT 5U /* 5 ms */ -/** - * @} - */ -/* Private macros ------------------------------------------------------------*/ -/* Private functions ---------------------------------------------------------*/ -/** @addtogroup DMA_Private_Functions - * @{ - */ -static void DMA_SetConfig(DMA_HandleTypeDef *hdma, uint32_t SrcAddress, uint32_t DstAddress, uint32_t DataLength); -static uint32_t DMA_CalcBaseAndBitshift(DMA_HandleTypeDef *hdma); -static HAL_StatusTypeDef DMA_CheckFifoParam(DMA_HandleTypeDef *hdma); - -/** - * @} - */ - -/* Exported functions ---------------------------------------------------------*/ -/** @addtogroup DMA_Exported_Functions - * @{ - */ - -/** @addtogroup DMA_Exported_Functions_Group1 - * -@verbatim - =============================================================================== - ##### Initialization and de-initialization functions ##### - =============================================================================== - [..] - This section provides functions allowing to initialize the DMA Stream source - and destination addresses, incrementation and data sizes, transfer direction, - circular/normal mode selection, memory-to-memory mode selection and Stream priority value. - [..] - The HAL_DMA_Init() function follows the DMA configuration procedures as described in - reference manual. - -@endverbatim - * @{ - */ - -/** - * @brief Initialize the DMA according to the specified - * parameters in the DMA_InitTypeDef and create the associated handle. - * @param hdma Pointer to a DMA_HandleTypeDef structure that contains - * the configuration information for the specified DMA Stream. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DMA_Init(DMA_HandleTypeDef *hdma) -{ - uint32_t tmp = 0U; - uint32_t tickstart = HAL_GetTick(); - DMA_Base_Registers *regs; - - /* Check the DMA peripheral state */ - if(hdma == NULL) - { - return HAL_ERROR; - } - - /* Check the parameters */ - assert_param(IS_DMA_STREAM_ALL_INSTANCE(hdma->Instance)); - assert_param(IS_DMA_CHANNEL(hdma->Init.Channel)); - assert_param(IS_DMA_DIRECTION(hdma->Init.Direction)); - assert_param(IS_DMA_PERIPHERAL_INC_STATE(hdma->Init.PeriphInc)); - assert_param(IS_DMA_MEMORY_INC_STATE(hdma->Init.MemInc)); - assert_param(IS_DMA_PERIPHERAL_DATA_SIZE(hdma->Init.PeriphDataAlignment)); - assert_param(IS_DMA_MEMORY_DATA_SIZE(hdma->Init.MemDataAlignment)); - assert_param(IS_DMA_MODE(hdma->Init.Mode)); - assert_param(IS_DMA_PRIORITY(hdma->Init.Priority)); - assert_param(IS_DMA_FIFO_MODE_STATE(hdma->Init.FIFOMode)); - /* Check the memory burst, peripheral burst and FIFO threshold parameters only - when FIFO mode is enabled */ - if(hdma->Init.FIFOMode != DMA_FIFOMODE_DISABLE) - { - assert_param(IS_DMA_FIFO_THRESHOLD(hdma->Init.FIFOThreshold)); - assert_param(IS_DMA_MEMORY_BURST(hdma->Init.MemBurst)); - assert_param(IS_DMA_PERIPHERAL_BURST(hdma->Init.PeriphBurst)); - } - - /* Change DMA peripheral state */ - hdma->State = HAL_DMA_STATE_BUSY; - - /* Allocate lock resource */ - __HAL_UNLOCK(hdma); - - /* Disable the peripheral */ - __HAL_DMA_DISABLE(hdma); - - /* Check if the DMA Stream is effectively disabled */ - while((hdma->Instance->CR & DMA_SxCR_EN) != RESET) - { - /* Check for the Timeout */ - if((HAL_GetTick() - tickstart ) > HAL_TIMEOUT_DMA_ABORT) - { - /* Update error code */ - hdma->ErrorCode = HAL_DMA_ERROR_TIMEOUT; - - /* Change the DMA state */ - hdma->State = HAL_DMA_STATE_TIMEOUT; - - return HAL_TIMEOUT; - } - } - - /* Get the CR register value */ - tmp = hdma->Instance->CR; - - /* Clear CHSEL, MBURST, PBURST, PL, MSIZE, PSIZE, MINC, PINC, CIRC, DIR, CT and DBM bits */ - tmp &= ((uint32_t)~(DMA_SxCR_CHSEL | DMA_SxCR_MBURST | DMA_SxCR_PBURST | \ - DMA_SxCR_PL | DMA_SxCR_MSIZE | DMA_SxCR_PSIZE | \ - DMA_SxCR_MINC | DMA_SxCR_PINC | DMA_SxCR_CIRC | \ - DMA_SxCR_DIR | DMA_SxCR_CT | DMA_SxCR_DBM)); - - /* Prepare the DMA Stream configuration */ - tmp |= hdma->Init.Channel | hdma->Init.Direction | - hdma->Init.PeriphInc | hdma->Init.MemInc | - hdma->Init.PeriphDataAlignment | hdma->Init.MemDataAlignment | - hdma->Init.Mode | hdma->Init.Priority; - - /* the Memory burst and peripheral burst are not used when the FIFO is disabled */ - if(hdma->Init.FIFOMode == DMA_FIFOMODE_ENABLE) - { - /* Get memory burst and peripheral burst */ - tmp |= hdma->Init.MemBurst | hdma->Init.PeriphBurst; - } - - /* Write to DMA Stream CR register */ - hdma->Instance->CR = tmp; - - /* Get the FCR register value */ - tmp = hdma->Instance->FCR; - - /* Clear Direct mode and FIFO threshold bits */ - tmp &= (uint32_t)~(DMA_SxFCR_DMDIS | DMA_SxFCR_FTH); - - /* Prepare the DMA Stream FIFO configuration */ - tmp |= hdma->Init.FIFOMode; - - /* The FIFO threshold is not used when the FIFO mode is disabled */ - if(hdma->Init.FIFOMode == DMA_FIFOMODE_ENABLE) - { - /* Get the FIFO threshold */ - tmp |= hdma->Init.FIFOThreshold; - - /* Check compatibility between FIFO threshold level and size of the memory burst */ - /* for INCR4, INCR8, INCR16 bursts */ - if (hdma->Init.MemBurst != DMA_MBURST_SINGLE) - { - if (DMA_CheckFifoParam(hdma) != HAL_OK) - { - /* Update error code */ - hdma->ErrorCode = HAL_DMA_ERROR_PARAM; - - /* Change the DMA state */ - hdma->State = HAL_DMA_STATE_READY; - - return HAL_ERROR; - } - } - } - - /* Write to DMA Stream FCR */ - hdma->Instance->FCR = tmp; - - /* Initialize StreamBaseAddress and StreamIndex parameters to be used to calculate - DMA steam Base Address needed by HAL_DMA_IRQHandler() and HAL_DMA_PollForTransfer() */ - regs = (DMA_Base_Registers *)DMA_CalcBaseAndBitshift(hdma); - - /* Clear all interrupt flags */ - regs->IFCR = 0x3FU << hdma->StreamIndex; - - /* Initialize the error code */ - hdma->ErrorCode = HAL_DMA_ERROR_NONE; - - /* Initialize the DMA state */ - hdma->State = HAL_DMA_STATE_READY; - - return HAL_OK; -} - -/** - * @brief DeInitializes the DMA peripheral - * @param hdma pointer to a DMA_HandleTypeDef structure that contains - * the configuration information for the specified DMA Stream. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DMA_DeInit(DMA_HandleTypeDef *hdma) -{ - DMA_Base_Registers *regs; - - /* Check the DMA peripheral state */ - if(hdma == NULL) - { - return HAL_ERROR; - } - - /* Check the DMA peripheral state */ - if(hdma->State == HAL_DMA_STATE_BUSY) - { - /* Return error status */ - return HAL_BUSY; - } - - /* Check the parameters */ - assert_param(IS_DMA_STREAM_ALL_INSTANCE(hdma->Instance)); - - /* Disable the selected DMA Streamx */ - __HAL_DMA_DISABLE(hdma); - - /* Reset DMA Streamx control register */ - hdma->Instance->CR = 0U; - - /* Reset DMA Streamx number of data to transfer register */ - hdma->Instance->NDTR = 0U; - - /* Reset DMA Streamx peripheral address register */ - hdma->Instance->PAR = 0U; - - /* Reset DMA Streamx memory 0 address register */ - hdma->Instance->M0AR = 0U; - - /* Reset DMA Streamx memory 1 address register */ - hdma->Instance->M1AR = 0U; - - /* Reset DMA Streamx FIFO control register */ - hdma->Instance->FCR = 0x00000021U; - - /* Get DMA steam Base Address */ - regs = (DMA_Base_Registers *)DMA_CalcBaseAndBitshift(hdma); - - /* Clean all callbacks */ - hdma->XferCpltCallback = NULL; - hdma->XferHalfCpltCallback = NULL; - hdma->XferM1CpltCallback = NULL; - hdma->XferM1HalfCpltCallback = NULL; - hdma->XferErrorCallback = NULL; - hdma->XferAbortCallback = NULL; - - /* Clear all interrupt flags at correct offset within the register */ - regs->IFCR = 0x3FU << hdma->StreamIndex; - - /* Reset the error code */ - hdma->ErrorCode = HAL_DMA_ERROR_NONE; - - /* Reset the DMA state */ - hdma->State = HAL_DMA_STATE_RESET; - - /* Release Lock */ - __HAL_UNLOCK(hdma); - - return HAL_OK; -} - -/** - * @} - */ - -/** @addtogroup DMA_Exported_Functions_Group2 - * -@verbatim - =============================================================================== - ##### IO operation functions ##### - =============================================================================== - [..] This section provides functions allowing to: - (+) Configure the source, destination address and data length and Start DMA transfer - (+) Configure the source, destination address and data length and - Start DMA transfer with interrupt - (+) Abort DMA transfer - (+) Poll for transfer complete - (+) Handle DMA interrupt request - -@endverbatim - * @{ - */ - -/** - * @brief Starts the DMA Transfer. - * @param hdma pointer to a DMA_HandleTypeDef structure that contains - * the configuration information for the specified DMA Stream. - * @param SrcAddress The source memory Buffer address - * @param DstAddress The destination memory Buffer address - * @param DataLength The length of data to be transferred from source to destination - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DMA_Start(DMA_HandleTypeDef *hdma, uint32_t SrcAddress, uint32_t DstAddress, uint32_t DataLength) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Check the parameters */ - assert_param(IS_DMA_BUFFER_SIZE(DataLength)); - - /* Process locked */ - __HAL_LOCK(hdma); - - if(HAL_DMA_STATE_READY == hdma->State) - { - /* Change DMA peripheral state */ - hdma->State = HAL_DMA_STATE_BUSY; - - /* Initialize the error code */ - hdma->ErrorCode = HAL_DMA_ERROR_NONE; - - /* Configure the source, destination address and the data length */ - DMA_SetConfig(hdma, SrcAddress, DstAddress, DataLength); - - /* Enable the Peripheral */ - __HAL_DMA_ENABLE(hdma); - } - else - { - /* Process unlocked */ - __HAL_UNLOCK(hdma); - - /* Return error status */ - status = HAL_BUSY; - } - return status; -} - -/** - * @brief Start the DMA Transfer with interrupt enabled. - * @param hdma pointer to a DMA_HandleTypeDef structure that contains - * the configuration information for the specified DMA Stream. - * @param SrcAddress The source memory Buffer address - * @param DstAddress The destination memory Buffer address - * @param DataLength The length of data to be transferred from source to destination - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DMA_Start_IT(DMA_HandleTypeDef *hdma, uint32_t SrcAddress, uint32_t DstAddress, uint32_t DataLength) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* calculate DMA base and stream number */ - DMA_Base_Registers *regs = (DMA_Base_Registers *)hdma->StreamBaseAddress; - - /* Check the parameters */ - assert_param(IS_DMA_BUFFER_SIZE(DataLength)); - - /* Process locked */ - __HAL_LOCK(hdma); - - if(HAL_DMA_STATE_READY == hdma->State) - { - /* Change DMA peripheral state */ - hdma->State = HAL_DMA_STATE_BUSY; - - /* Initialize the error code */ - hdma->ErrorCode = HAL_DMA_ERROR_NONE; - - /* Configure the source, destination address and the data length */ - DMA_SetConfig(hdma, SrcAddress, DstAddress, DataLength); - - /* Clear all interrupt flags at correct offset within the register */ - regs->IFCR = 0x3FU << hdma->StreamIndex; - - /* Enable Common interrupts*/ - hdma->Instance->CR |= DMA_IT_TC | DMA_IT_TE | DMA_IT_DME; - - if(hdma->XferHalfCpltCallback != NULL) - { - hdma->Instance->CR |= DMA_IT_HT; - } - - /* Enable the Peripheral */ - __HAL_DMA_ENABLE(hdma); - } - else - { - /* Process unlocked */ - __HAL_UNLOCK(hdma); - - /* Return error status */ - status = HAL_BUSY; - } - - return status; -} - -/** - * @brief Aborts the DMA Transfer. - * @param hdma pointer to a DMA_HandleTypeDef structure that contains - * the configuration information for the specified DMA Stream. - * - * @note After disabling a DMA Stream, a check for wait until the DMA Stream is - * effectively disabled is added. If a Stream is disabled - * while a data transfer is ongoing, the current data will be transferred - * and the Stream will be effectively disabled only after the transfer of - * this single data is finished. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DMA_Abort(DMA_HandleTypeDef *hdma) -{ - /* calculate DMA base and stream number */ - DMA_Base_Registers *regs = (DMA_Base_Registers *)hdma->StreamBaseAddress; - - uint32_t tickstart = HAL_GetTick(); - - if(hdma->State != HAL_DMA_STATE_BUSY) - { - hdma->ErrorCode = HAL_DMA_ERROR_NO_XFER; - - /* Process Unlocked */ - __HAL_UNLOCK(hdma); - - return HAL_ERROR; - } - else - { - /* Disable all the transfer interrupts */ - hdma->Instance->CR &= ~(DMA_IT_TC | DMA_IT_TE | DMA_IT_DME); - hdma->Instance->FCR &= ~(DMA_IT_FE); - - if((hdma->XferHalfCpltCallback != NULL) || (hdma->XferM1HalfCpltCallback != NULL)) - { - hdma->Instance->CR &= ~(DMA_IT_HT); - } - - /* Disable the stream */ - __HAL_DMA_DISABLE(hdma); - - /* Check if the DMA Stream is effectively disabled */ - while((hdma->Instance->CR & DMA_SxCR_EN) != RESET) - { - /* Check for the Timeout */ - if((HAL_GetTick() - tickstart ) > HAL_TIMEOUT_DMA_ABORT) - { - /* Update error code */ - hdma->ErrorCode = HAL_DMA_ERROR_TIMEOUT; - - /* Change the DMA state */ - hdma->State = HAL_DMA_STATE_TIMEOUT; - - /* Process Unlocked */ - __HAL_UNLOCK(hdma); - - return HAL_TIMEOUT; - } - } - - /* Clear all interrupt flags at correct offset within the register */ - regs->IFCR = 0x3FU << hdma->StreamIndex; - - /* Change the DMA state*/ - hdma->State = HAL_DMA_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hdma); - } - return HAL_OK; -} - -/** - * @brief Aborts the DMA Transfer in Interrupt mode. - * @param hdma pointer to a DMA_HandleTypeDef structure that contains - * the configuration information for the specified DMA Stream. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DMA_Abort_IT(DMA_HandleTypeDef *hdma) -{ - if(hdma->State != HAL_DMA_STATE_BUSY) - { - hdma->ErrorCode = HAL_DMA_ERROR_NO_XFER; - return HAL_ERROR; - } - else - { - /* Set Abort State */ - hdma->State = HAL_DMA_STATE_ABORT; - - /* Disable the stream */ - __HAL_DMA_DISABLE(hdma); - } - - return HAL_OK; -} - -/** - * @brief Polling for transfer complete. - * @param hdma pointer to a DMA_HandleTypeDef structure that contains - * the configuration information for the specified DMA Stream. - * @param CompleteLevel Specifies the DMA level complete. - * @note The polling mode is kept in this version for legacy. it is recommanded to use the IT model instead. - * This model could be used for debug purpose. - * @note The HAL_DMA_PollForTransfer API cannot be used in circular and double buffering mode (automatic circular mode). - * @param Timeout Timeout duration. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DMA_PollForTransfer(DMA_HandleTypeDef *hdma, HAL_DMA_LevelCompleteTypeDef CompleteLevel, uint32_t Timeout) -{ - HAL_StatusTypeDef status = HAL_OK; - uint32_t mask_cpltlevel; - uint32_t tickstart = HAL_GetTick(); - uint32_t tmpisr; - - /* calculate DMA base and stream number */ - DMA_Base_Registers *regs; - - if(HAL_DMA_STATE_BUSY != hdma->State) - { - /* No transfer ongoing */ - hdma->ErrorCode = HAL_DMA_ERROR_NO_XFER; - __HAL_UNLOCK(hdma); - return HAL_ERROR; - } - - /* Polling mode not supported in circular mode and double buffering mode */ - if ((hdma->Instance->CR & DMA_SxCR_CIRC) != RESET) - { - hdma->ErrorCode = HAL_DMA_ERROR_NOT_SUPPORTED; - return HAL_ERROR; - } - - /* Get the level transfer complete flag */ - if(CompleteLevel == HAL_DMA_FULL_TRANSFER) - { - /* Transfer Complete flag */ - mask_cpltlevel = DMA_FLAG_TCIF0_4 << hdma->StreamIndex; - } - else - { - /* Half Transfer Complete flag */ - mask_cpltlevel = DMA_FLAG_HTIF0_4 << hdma->StreamIndex; - } - - regs = (DMA_Base_Registers *)hdma->StreamBaseAddress; - tmpisr = regs->ISR; - - while(((tmpisr & mask_cpltlevel) == RESET) && ((hdma->ErrorCode & HAL_DMA_ERROR_TE) == RESET)) - { - /* Check for the Timeout (Not applicable in circular mode)*/ - if(Timeout != HAL_MAX_DELAY) - { - if((Timeout == 0U)||((HAL_GetTick() - tickstart ) > Timeout)) - { - /* Update error code */ - hdma->ErrorCode = HAL_DMA_ERROR_TIMEOUT; - - /* Change the DMA state */ - hdma->State = HAL_DMA_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hdma); - - return HAL_TIMEOUT; - } - } - - /* Get the ISR register value */ - tmpisr = regs->ISR; - - if((tmpisr & (DMA_FLAG_TEIF0_4 << hdma->StreamIndex)) != RESET) - { - /* Update error code */ - hdma->ErrorCode |= HAL_DMA_ERROR_TE; - - /* Clear the transfer error flag */ - regs->IFCR = DMA_FLAG_TEIF0_4 << hdma->StreamIndex; - } - - if((tmpisr & (DMA_FLAG_FEIF0_4 << hdma->StreamIndex)) != RESET) - { - /* Update error code */ - hdma->ErrorCode |= HAL_DMA_ERROR_FE; - - /* Clear the FIFO error flag */ - regs->IFCR = DMA_FLAG_FEIF0_4 << hdma->StreamIndex; - } - - if((tmpisr & (DMA_FLAG_DMEIF0_4 << hdma->StreamIndex)) != RESET) - { - /* Update error code */ - hdma->ErrorCode |= HAL_DMA_ERROR_DME; - - /* Clear the Direct Mode error flag */ - regs->IFCR = DMA_FLAG_DMEIF0_4 << hdma->StreamIndex; - } - } - - if(hdma->ErrorCode != HAL_DMA_ERROR_NONE) - { - if((hdma->ErrorCode & HAL_DMA_ERROR_TE) != RESET) - { - HAL_DMA_Abort(hdma); - - /* Clear the half transfer and transfer complete flags */ - regs->IFCR = (DMA_FLAG_HTIF0_4 | DMA_FLAG_TCIF0_4) << hdma->StreamIndex; - - /* Change the DMA state */ - hdma->State= HAL_DMA_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hdma); - - return HAL_ERROR; - } - } - - /* Get the level transfer complete flag */ - if(CompleteLevel == HAL_DMA_FULL_TRANSFER) - { - /* Clear the half transfer and transfer complete flags */ - regs->IFCR = (DMA_FLAG_HTIF0_4 | DMA_FLAG_TCIF0_4) << hdma->StreamIndex; - - hdma->State = HAL_DMA_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hdma); - } - else - { - /* Clear the half transfer and transfer complete flags */ - regs->IFCR = (DMA_FLAG_HTIF0_4) << hdma->StreamIndex; - } - - return status; -} - -/** - * @brief Handles DMA interrupt request. - * @param hdma pointer to a DMA_HandleTypeDef structure that contains - * the configuration information for the specified DMA Stream. - * @retval None - */ -void HAL_DMA_IRQHandler(DMA_HandleTypeDef *hdma) -{ - uint32_t tmpisr; - __IO uint32_t count = 0U; - uint32_t timeout = SystemCoreClock / 9600U; - - /* calculate DMA base and stream number */ - DMA_Base_Registers *regs = (DMA_Base_Registers *)hdma->StreamBaseAddress; - - tmpisr = regs->ISR; - - /* Transfer Error Interrupt management ***************************************/ - if ((tmpisr & (DMA_FLAG_TEIF0_4 << hdma->StreamIndex)) != RESET) - { - if(__HAL_DMA_GET_IT_SOURCE(hdma, DMA_IT_TE) != RESET) - { - /* Disable the transfer error interrupt */ - hdma->Instance->CR &= ~(DMA_IT_TE); - - /* Clear the transfer error flag */ - regs->IFCR = DMA_FLAG_TEIF0_4 << hdma->StreamIndex; - - /* Update error code */ - hdma->ErrorCode |= HAL_DMA_ERROR_TE; - } - } - /* FIFO Error Interrupt management ******************************************/ - if ((tmpisr & (DMA_FLAG_FEIF0_4 << hdma->StreamIndex)) != RESET) - { - if(__HAL_DMA_GET_IT_SOURCE(hdma, DMA_IT_FE) != RESET) - { - /* Clear the FIFO error flag */ - regs->IFCR = DMA_FLAG_FEIF0_4 << hdma->StreamIndex; - - /* Update error code */ - hdma->ErrorCode |= HAL_DMA_ERROR_FE; - } - } - /* Direct Mode Error Interrupt management ***********************************/ - if ((tmpisr & (DMA_FLAG_DMEIF0_4 << hdma->StreamIndex)) != RESET) - { - if(__HAL_DMA_GET_IT_SOURCE(hdma, DMA_IT_DME) != RESET) - { - /* Clear the direct mode error flag */ - regs->IFCR = DMA_FLAG_DMEIF0_4 << hdma->StreamIndex; - - /* Update error code */ - hdma->ErrorCode |= HAL_DMA_ERROR_DME; - } - } - /* Half Transfer Complete Interrupt management ******************************/ - if ((tmpisr & (DMA_FLAG_HTIF0_4 << hdma->StreamIndex)) != RESET) - { - if(__HAL_DMA_GET_IT_SOURCE(hdma, DMA_IT_HT) != RESET) - { - /* Clear the half transfer complete flag */ - regs->IFCR = DMA_FLAG_HTIF0_4 << hdma->StreamIndex; - - /* Multi_Buffering mode enabled */ - if(((hdma->Instance->CR) & (uint32_t)(DMA_SxCR_DBM)) != RESET) - { - /* Current memory buffer used is Memory 0 */ - if((hdma->Instance->CR & DMA_SxCR_CT) == RESET) - { - if(hdma->XferHalfCpltCallback != NULL) - { - /* Half transfer callback */ - hdma->XferHalfCpltCallback(hdma); - } - } - /* Current memory buffer used is Memory 1 */ - else - { - if(hdma->XferM1HalfCpltCallback != NULL) - { - /* Half transfer callback */ - hdma->XferM1HalfCpltCallback(hdma); - } - } - } - else - { - /* Disable the half transfer interrupt if the DMA mode is not CIRCULAR */ - if((hdma->Instance->CR & DMA_SxCR_CIRC) == RESET) - { - /* Disable the half transfer interrupt */ - hdma->Instance->CR &= ~(DMA_IT_HT); - } - - if(hdma->XferHalfCpltCallback != NULL) - { - /* Half transfer callback */ - hdma->XferHalfCpltCallback(hdma); - } - } - } - } - /* Transfer Complete Interrupt management ***********************************/ - if ((tmpisr & (DMA_FLAG_TCIF0_4 << hdma->StreamIndex)) != RESET) - { - if(__HAL_DMA_GET_IT_SOURCE(hdma, DMA_IT_TC) != RESET) - { - /* Clear the transfer complete flag */ - regs->IFCR = DMA_FLAG_TCIF0_4 << hdma->StreamIndex; - - if(HAL_DMA_STATE_ABORT == hdma->State) - { - /* Disable all the transfer interrupts */ - hdma->Instance->CR &= ~(DMA_IT_TC | DMA_IT_TE | DMA_IT_DME); - hdma->Instance->FCR &= ~(DMA_IT_FE); - - if((hdma->XferHalfCpltCallback != NULL) || (hdma->XferM1HalfCpltCallback != NULL)) - { - hdma->Instance->CR &= ~(DMA_IT_HT); - } - - /* Clear all interrupt flags at correct offset within the register */ - regs->IFCR = 0x3FU << hdma->StreamIndex; - - /* Change the DMA state */ - hdma->State = HAL_DMA_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hdma); - - if(hdma->XferAbortCallback != NULL) - { - hdma->XferAbortCallback(hdma); - } - return; - } - - if(((hdma->Instance->CR) & (uint32_t)(DMA_SxCR_DBM)) != RESET) - { - /* Current memory buffer used is Memory 0 */ - if((hdma->Instance->CR & DMA_SxCR_CT) == RESET) - { - if(hdma->XferM1CpltCallback != NULL) - { - /* Transfer complete Callback for memory1 */ - hdma->XferM1CpltCallback(hdma); - } - } - /* Current memory buffer used is Memory 1 */ - else - { - if(hdma->XferCpltCallback != NULL) - { - /* Transfer complete Callback for memory0 */ - hdma->XferCpltCallback(hdma); - } - } - } - /* Disable the transfer complete interrupt if the DMA mode is not CIRCULAR */ - else - { - if((hdma->Instance->CR & DMA_SxCR_CIRC) == RESET) - { - /* Disable the transfer complete interrupt */ - hdma->Instance->CR &= ~(DMA_IT_TC); - - /* Change the DMA state */ - hdma->State = HAL_DMA_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hdma); - } - - if(hdma->XferCpltCallback != NULL) - { - /* Transfer complete callback */ - hdma->XferCpltCallback(hdma); - } - } - } - } - - /* manage error case */ - if(hdma->ErrorCode != HAL_DMA_ERROR_NONE) - { - if((hdma->ErrorCode & HAL_DMA_ERROR_TE) != RESET) - { - hdma->State = HAL_DMA_STATE_ABORT; - - /* Disable the stream */ - __HAL_DMA_DISABLE(hdma); - - do - { - if (++count > timeout) - { - break; - } - } - while((hdma->Instance->CR & DMA_SxCR_EN) != RESET); - - /* Change the DMA state */ - hdma->State = HAL_DMA_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hdma); - } - - if(hdma->XferErrorCallback != NULL) - { - /* Transfer error callback */ - hdma->XferErrorCallback(hdma); - } - } -} - -/** - * @brief Register callbacks - * @param hdma pointer to a DMA_HandleTypeDef structure that contains - * the configuration information for the specified DMA Stream. - * @param CallbackID User Callback identifer - * a DMA_HandleTypeDef structure as parameter. - * @param pCallback pointer to private callbacsk function which has pointer to - * a DMA_HandleTypeDef structure as parameter. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DMA_RegisterCallback(DMA_HandleTypeDef *hdma, HAL_DMA_CallbackIDTypeDef CallbackID, void (* pCallback)(DMA_HandleTypeDef *_hdma)) -{ - - HAL_StatusTypeDef status = HAL_OK; - - /* Process locked */ - __HAL_LOCK(hdma); - - if(HAL_DMA_STATE_READY == hdma->State) - { - switch (CallbackID) - { - case HAL_DMA_XFER_CPLT_CB_ID: - hdma->XferCpltCallback = pCallback; - break; - - case HAL_DMA_XFER_HALFCPLT_CB_ID: - hdma->XferHalfCpltCallback = pCallback; - break; - - case HAL_DMA_XFER_M1CPLT_CB_ID: - hdma->XferM1CpltCallback = pCallback; - break; - - case HAL_DMA_XFER_M1HALFCPLT_CB_ID: - hdma->XferM1HalfCpltCallback = pCallback; - break; - - case HAL_DMA_XFER_ERROR_CB_ID: - hdma->XferErrorCallback = pCallback; - break; - - case HAL_DMA_XFER_ABORT_CB_ID: - hdma->XferAbortCallback = pCallback; - break; - - default: - break; - } - } - else - { - /* Return error status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(hdma); - - return status; -} - -/** - * @brief UnRegister callbacks - * @param hdma pointer to a DMA_HandleTypeDef structure that contains - * the configuration information for the specified DMA Stream. - * @param CallbackID User Callback identifer - * a HAL_DMA_CallbackIDTypeDef ENUM as parameter. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DMA_UnRegisterCallback(DMA_HandleTypeDef *hdma, HAL_DMA_CallbackIDTypeDef CallbackID) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Process locked */ - __HAL_LOCK(hdma); - - if(HAL_DMA_STATE_READY == hdma->State) - { - switch (CallbackID) - { - case HAL_DMA_XFER_CPLT_CB_ID: - hdma->XferCpltCallback = NULL; - break; - - case HAL_DMA_XFER_HALFCPLT_CB_ID: - hdma->XferHalfCpltCallback = NULL; - break; - - case HAL_DMA_XFER_M1CPLT_CB_ID: - hdma->XferM1CpltCallback = NULL; - break; - - case HAL_DMA_XFER_M1HALFCPLT_CB_ID: - hdma->XferM1HalfCpltCallback = NULL; - break; - - case HAL_DMA_XFER_ERROR_CB_ID: - hdma->XferErrorCallback = NULL; - break; - - case HAL_DMA_XFER_ABORT_CB_ID: - hdma->XferAbortCallback = NULL; - break; - - case HAL_DMA_XFER_ALL_CB_ID: - hdma->XferCpltCallback = NULL; - hdma->XferHalfCpltCallback = NULL; - hdma->XferM1CpltCallback = NULL; - hdma->XferM1HalfCpltCallback = NULL; - hdma->XferErrorCallback = NULL; - hdma->XferAbortCallback = NULL; - break; - - default: - status = HAL_ERROR; - break; - } - } - else - { - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(hdma); - - return status; -} - -/** - * @} - */ - -/** @addtogroup DMA_Exported_Functions_Group3 - * -@verbatim - =============================================================================== - ##### State and Errors functions ##### - =============================================================================== - [..] - This subsection provides functions allowing to - (+) Check the DMA state - (+) Get error code - -@endverbatim - * @{ - */ - -/** - * @brief Returns the DMA state. - * @param hdma pointer to a DMA_HandleTypeDef structure that contains - * the configuration information for the specified DMA Stream. - * @retval HAL state - */ -HAL_DMA_StateTypeDef HAL_DMA_GetState(DMA_HandleTypeDef *hdma) -{ - return hdma->State; -} - -/** - * @brief Return the DMA error code - * @param hdma pointer to a DMA_HandleTypeDef structure that contains - * the configuration information for the specified DMA Stream. - * @retval DMA Error Code - */ -uint32_t HAL_DMA_GetError(DMA_HandleTypeDef *hdma) -{ - return hdma->ErrorCode; -} - -/** - * @} - */ - -/** - * @} - */ - -/** @addtogroup DMA_Private_Functions - * @{ - */ - -/** - * @brief Sets the DMA Transfer parameter. - * @param hdma pointer to a DMA_HandleTypeDef structure that contains - * the configuration information for the specified DMA Stream. - * @param SrcAddress The source memory Buffer address - * @param DstAddress The destination memory Buffer address - * @param DataLength The length of data to be transferred from source to destination - * @retval HAL status - */ -static void DMA_SetConfig(DMA_HandleTypeDef *hdma, uint32_t SrcAddress, uint32_t DstAddress, uint32_t DataLength) -{ - /* Clear DBM bit */ - hdma->Instance->CR &= (uint32_t)(~DMA_SxCR_DBM); - - /* Configure DMA Stream data length */ - hdma->Instance->NDTR = DataLength; - - /* Memory to Peripheral */ - if((hdma->Init.Direction) == DMA_MEMORY_TO_PERIPH) - { - /* Configure DMA Stream destination address */ - hdma->Instance->PAR = DstAddress; - - /* Configure DMA Stream source address */ - hdma->Instance->M0AR = SrcAddress; - } - /* Peripheral to Memory */ - else - { - /* Configure DMA Stream source address */ - hdma->Instance->PAR = SrcAddress; - - /* Configure DMA Stream destination address */ - hdma->Instance->M0AR = DstAddress; - } -} - -/** - * @brief Returns the DMA Stream base address depending on stream number - * @param hdma pointer to a DMA_HandleTypeDef structure that contains - * the configuration information for the specified DMA Stream. - * @retval Stream base address - */ -static uint32_t DMA_CalcBaseAndBitshift(DMA_HandleTypeDef *hdma) -{ - uint32_t stream_number = (((uint32_t)hdma->Instance & 0xFFU) - 16U) / 24U; - - /* lookup table for necessary bitshift of flags within status registers */ - static const uint8_t flagBitshiftOffset[8U] = {0U, 6U, 16U, 22U, 0U, 6U, 16U, 22U}; - hdma->StreamIndex = flagBitshiftOffset[stream_number]; - - if (stream_number > 3U) - { - /* return pointer to HISR and HIFCR */ - hdma->StreamBaseAddress = (((uint32_t)hdma->Instance & (uint32_t)(~0x3FFU)) + 4U); - } - else - { - /* return pointer to LISR and LIFCR */ - hdma->StreamBaseAddress = ((uint32_t)hdma->Instance & (uint32_t)(~0x3FFU)); - } - - return hdma->StreamBaseAddress; -} - -/** - * @brief Check compatibility between FIFO threshold level and size of the memory burst - * @param hdma pointer to a DMA_HandleTypeDef structure that contains - * the configuration information for the specified DMA Stream. - * @retval HAL status - */ -static HAL_StatusTypeDef DMA_CheckFifoParam(DMA_HandleTypeDef *hdma) -{ - HAL_StatusTypeDef status = HAL_OK; - uint32_t tmp = hdma->Init.FIFOThreshold; - - /* Memory Data size equal to Byte */ - if(hdma->Init.MemDataAlignment == DMA_MDATAALIGN_BYTE) - { - switch (tmp) - { - case DMA_FIFO_THRESHOLD_1QUARTERFULL: - case DMA_FIFO_THRESHOLD_3QUARTERSFULL: - if ((hdma->Init.MemBurst & DMA_SxCR_MBURST_1) == DMA_SxCR_MBURST_1) - { - status = HAL_ERROR; - } - break; - case DMA_FIFO_THRESHOLD_HALFFULL: - if (hdma->Init.MemBurst == DMA_MBURST_INC16) - { - status = HAL_ERROR; - } - break; - case DMA_FIFO_THRESHOLD_FULL: - break; - default: - break; - } - } - - /* Memory Data size equal to Half-Word */ - else if (hdma->Init.MemDataAlignment == DMA_MDATAALIGN_HALFWORD) - { - switch (tmp) - { - case DMA_FIFO_THRESHOLD_1QUARTERFULL: - case DMA_FIFO_THRESHOLD_3QUARTERSFULL: - status = HAL_ERROR; - break; - case DMA_FIFO_THRESHOLD_HALFFULL: - if ((hdma->Init.MemBurst & DMA_SxCR_MBURST_1) == DMA_SxCR_MBURST_1) - { - status = HAL_ERROR; - } - break; - case DMA_FIFO_THRESHOLD_FULL: - if (hdma->Init.MemBurst == DMA_MBURST_INC16) - { - status = HAL_ERROR; - } - break; - default: - break; - } - } - - /* Memory Data size equal to Word */ - else - { - switch (tmp) - { - case DMA_FIFO_THRESHOLD_1QUARTERFULL: - case DMA_FIFO_THRESHOLD_HALFFULL: - case DMA_FIFO_THRESHOLD_3QUARTERSFULL: - status = HAL_ERROR; - break; - case DMA_FIFO_THRESHOLD_FULL: - if ((hdma->Init.MemBurst & DMA_SxCR_MBURST_1) == DMA_SxCR_MBURST_1) - { - status = HAL_ERROR; - } - break; - default: - break; - } - } - - return status; -} - -/** - * @} - */ - -#endif /* HAL_DMA_MODULE_ENABLED */ -/** - * @} - */ - -/** - * @} - */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma2d.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma2d.c deleted file mode 100644 index f3582b643d3397..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma2d.c +++ /dev/null @@ -1,2128 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_dma2d.c - * @author MCD Application Team - * @brief DMA2D HAL module driver. - * This file provides firmware functions to manage the following - * functionalities of the DMA2D peripheral: - * + Initialization and de-initialization functions - * + IO operation functions - * + Peripheral Control functions - * + Peripheral State and Errors functions - * - @verbatim - ============================================================================== - ##### How to use this driver ##### - ============================================================================== - [..] - (#) Program the required configuration through the following parameters: - the transfer mode, the output color mode and the output offset using - HAL_DMA2D_Init() function. - - (#) Program the required configuration through the following parameters: - the input color mode, the input color, the input alpha value, the alpha mode, - the red/blue swap mode, the inverted alpha mode and the input offset using - HAL_DMA2D_ConfigLayer() function for foreground or/and background layer. - - *** Polling mode IO operation *** - ================================= - [..] - (#) Configure pdata parameter (explained hereafter), destination and data length - and enable the transfer using HAL_DMA2D_Start(). - (#) Wait for end of transfer using HAL_DMA2D_PollForTransfer(), at this stage - user can specify the value of timeout according to his end application. - - *** Interrupt mode IO operation *** - =================================== - [..] - (#) Configure pdata parameter, destination and data length and enable - the transfer using HAL_DMA2D_Start_IT(). - (#) Use HAL_DMA2D_IRQHandler() called under DMA2D_IRQHandler() interrupt subroutine. - (#) At the end of data transfer HAL_DMA2D_IRQHandler() function is executed and user can - add his own function by customization of function pointer XferCpltCallback (member - of DMA2D handle structure). - (#) In case of error, the HAL_DMA2D_IRQHandler() function calls the callback - XferErrorCallback. - - -@- In Register-to-Memory transfer mode, pdata parameter is the register - color, in Memory-to-memory or Memory-to-Memory with pixel format - conversion pdata is the source address. - - -@- Configure the foreground source address, the background source address, - the destination and data length then Enable the transfer using - HAL_DMA2D_BlendingStart() in polling mode and HAL_DMA2D_BlendingStart_IT() - in interrupt mode. - - -@- HAL_DMA2D_BlendingStart() and HAL_DMA2D_BlendingStart_IT() functions - are used if the memory to memory with blending transfer mode is selected. - - (#) Optionally, configure and enable the CLUT using HAL_DMA2D_CLUTLoad() in polling - mode or HAL_DMA2D_CLUTLoad_IT() in interrupt mode. - - (#) Optionally, configure the line watermark in using the API HAL_DMA2D_ProgramLineEvent(). - - (#) Optionally, configure the dead time value in the AHB clock cycle inserted between two - consecutive accesses on the AHB master port in using the API HAL_DMA2D_ConfigDeadTime() - and enable/disable the functionality with the APIs HAL_DMA2D_EnableDeadTime() or - HAL_DMA2D_DisableDeadTime(). - - (#) The transfer can be suspended, resumed and aborted using the following - functions: HAL_DMA2D_Suspend(), HAL_DMA2D_Resume(), HAL_DMA2D_Abort(). - - (#) The CLUT loading can be suspended, resumed and aborted using the following - functions: HAL_DMA2D_CLUTLoading_Suspend(), HAL_DMA2D_CLUTLoading_Resume(), - HAL_DMA2D_CLUTLoading_Abort(). - - (#) To control the DMA2D state, use the following function: HAL_DMA2D_GetState(). - - (#) To read the DMA2D error code, use the following function: HAL_DMA2D_GetError(). - - *** DMA2D HAL driver macros list *** - ============================================= - [..] - Below the list of most used macros in DMA2D HAL driver : - - (+) __HAL_DMA2D_ENABLE: Enable the DMA2D peripheral. - (+) __HAL_DMA2D_GET_FLAG: Get the DMA2D pending flags. - (+) __HAL_DMA2D_CLEAR_FLAG: Clear the DMA2D pending flags. - (+) __HAL_DMA2D_ENABLE_IT: Enable the specified DMA2D interrupts. - (+) __HAL_DMA2D_DISABLE_IT: Disable the specified DMA2D interrupts. - (+) __HAL_DMA2D_GET_IT_SOURCE: Check whether the specified DMA2D interrupt is enabled or not. - - *** Callback registration *** - =================================== - [..] - (#) The compilation define USE_HAL_DMA2D_REGISTER_CALLBACKS when set to 1 - allows the user to configure dynamically the driver callbacks. - Use function HAL_DMA2D_RegisterCallback() to register a user callback. - - (#) Function HAL_DMA2D_RegisterCallback() allows to register following callbacks: - (+) XferCpltCallback : callback for transfer complete. - (+) XferErrorCallback : callback for transfer error. - (+) LineEventCallback : callback for line event. - (+) CLUTLoadingCpltCallback : callback for CLUT loading completion. - (+) MspInitCallback : DMA2D MspInit. - (+) MspDeInitCallback : DMA2D MspDeInit. - This function takes as parameters the HAL peripheral handle, the Callback ID - and a pointer to the user callback function. - - (#) Use function HAL_DMA2D_UnRegisterCallback() to reset a callback to the default - weak (surcharged) function. - HAL_DMA2D_UnRegisterCallback() takes as parameters the HAL peripheral handle, - and the Callback ID. - This function allows to reset following callbacks: - (+) XferCpltCallback : callback for transfer complete. - (+) XferErrorCallback : callback for transfer error. - (+) LineEventCallback : callback for line event. - (+) CLUTLoadingCpltCallback : callback for CLUT loading completion. - (+) MspInitCallback : DMA2D MspInit. - (+) MspDeInitCallback : DMA2D MspDeInit. - - (#) By default, after the HAL_DMA2D_Init and if the state is HAL_DMA2D_STATE_RESET - all callbacks are reset to the corresponding legacy weak (surcharged) functions: - examples HAL_DMA2D_LineEventCallback(), HAL_DMA2D_CLUTLoadingCpltCallback() - Exception done for MspInit and MspDeInit callbacks that are respectively - reset to the legacy weak (surcharged) functions in the HAL_DMA2D_Init - and HAL_DMA2D_DeInit only when these callbacks are null (not registered beforehand) - If not, MspInit or MspDeInit are not null, the HAL_DMA2D_Init and HAL_DMA2D_DeInit - keep and use the user MspInit/MspDeInit callbacks (registered beforehand). - - Exception as well for Transfer Completion and Transfer Error callbacks that are not defined - as weak (surcharged) functions. They must be defined by the user to be resorted to. - - Callbacks can be registered/unregistered in READY state only. - Exception done for MspInit/MspDeInit callbacks that can be registered/unregistered - in READY or RESET state, thus registered (user) MspInit/DeInit callbacks can be used - during the Init/DeInit. - In that case first register the MspInit/MspDeInit user callbacks - using HAL_DMA2D_RegisterCallback before calling HAL_DMA2D_DeInit - or HAL_DMA2D_Init function. - - When The compilation define USE_HAL_DMA2D_REGISTER_CALLBACKS is set to 0 or - not defined, the callback registering feature is not available - and weak (surcharged) callbacks are used. - - [..] - (@) You can refer to the DMA2D HAL driver header file for more useful macros - - @endverbatim - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal.h" - -#ifdef HAL_DMA2D_MODULE_ENABLED -#if defined (DMA2D) - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @defgroup DMA2D DMA2D - * @brief DMA2D HAL module driver - * @{ - */ - -/* Private types -------------------------------------------------------------*/ -/* Private define ------------------------------------------------------------*/ -/** @defgroup DMA2D_Private_Constants DMA2D Private Constants - * @{ - */ - -/** @defgroup DMA2D_TimeOut DMA2D Time Out - * @{ - */ -#define DMA2D_TIMEOUT_ABORT (1000U) /*!< 1s */ -#define DMA2D_TIMEOUT_SUSPEND (1000U) /*!< 1s */ -/** - * @} - */ - -/** - * @} - */ - -/* Private variables ---------------------------------------------------------*/ -/* Private constants ---------------------------------------------------------*/ -/* Private macro -------------------------------------------------------------*/ -/* Private function prototypes -----------------------------------------------*/ -/** @addtogroup DMA2D_Private_Functions DMA2D Private Functions - * @{ - */ -static void DMA2D_SetConfig(DMA2D_HandleTypeDef *hdma2d, uint32_t pdata, uint32_t DstAddress, uint32_t Width, - uint32_t Height); -/** - * @} - */ - -/* Private functions ---------------------------------------------------------*/ -/* Exported functions --------------------------------------------------------*/ -/** @defgroup DMA2D_Exported_Functions DMA2D Exported Functions - * @{ - */ - -/** @defgroup DMA2D_Exported_Functions_Group1 Initialization and de-initialization functions - * @brief Initialization and Configuration functions - * -@verbatim - =============================================================================== - ##### Initialization and Configuration functions ##### - =============================================================================== - [..] This section provides functions allowing to: - (+) Initialize and configure the DMA2D - (+) De-initialize the DMA2D - -@endverbatim - * @{ - */ - -/** - * @brief Initialize the DMA2D according to the specified - * parameters in the DMA2D_InitTypeDef and create the associated handle. - * @param hdma2d pointer to a DMA2D_HandleTypeDef structure that contains - * the configuration information for the DMA2D. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DMA2D_Init(DMA2D_HandleTypeDef *hdma2d) -{ - /* Check the DMA2D peripheral state */ - if (hdma2d == NULL) - { - return HAL_ERROR; - } - - /* Check the parameters */ - assert_param(IS_DMA2D_ALL_INSTANCE(hdma2d->Instance)); - assert_param(IS_DMA2D_MODE(hdma2d->Init.Mode)); - assert_param(IS_DMA2D_CMODE(hdma2d->Init.ColorMode)); - assert_param(IS_DMA2D_OFFSET(hdma2d->Init.OutputOffset)); - -#if (USE_HAL_DMA2D_REGISTER_CALLBACKS == 1) - if (hdma2d->State == HAL_DMA2D_STATE_RESET) - { - /* Reset Callback pointers in HAL_DMA2D_STATE_RESET only */ - hdma2d->LineEventCallback = HAL_DMA2D_LineEventCallback; - hdma2d->CLUTLoadingCpltCallback = HAL_DMA2D_CLUTLoadingCpltCallback; - if (hdma2d->MspInitCallback == NULL) - { - hdma2d->MspInitCallback = HAL_DMA2D_MspInit; - } - - /* Init the low level hardware */ - hdma2d->MspInitCallback(hdma2d); - } -#else - if (hdma2d->State == HAL_DMA2D_STATE_RESET) - { - /* Allocate lock resource and initialize it */ - hdma2d->Lock = HAL_UNLOCKED; - /* Init the low level hardware */ - HAL_DMA2D_MspInit(hdma2d); - } -#endif /* (USE_HAL_DMA2D_REGISTER_CALLBACKS) */ - - /* Change DMA2D peripheral state */ - hdma2d->State = HAL_DMA2D_STATE_BUSY; - - /* DMA2D CR register configuration -------------------------------------------*/ - MODIFY_REG(hdma2d->Instance->CR, DMA2D_CR_MODE, hdma2d->Init.Mode); - - /* DMA2D OPFCCR register configuration ---------------------------------------*/ - MODIFY_REG(hdma2d->Instance->OPFCCR, DMA2D_OPFCCR_CM, hdma2d->Init.ColorMode); - - /* DMA2D OOR register configuration ------------------------------------------*/ - MODIFY_REG(hdma2d->Instance->OOR, DMA2D_OOR_LO, hdma2d->Init.OutputOffset); - - - /* Update error code */ - hdma2d->ErrorCode = HAL_DMA2D_ERROR_NONE; - - /* Initialize the DMA2D state*/ - hdma2d->State = HAL_DMA2D_STATE_READY; - - return HAL_OK; -} - -/** - * @brief Deinitializes the DMA2D peripheral registers to their default reset - * values. - * @param hdma2d pointer to a DMA2D_HandleTypeDef structure that contains - * the configuration information for the DMA2D. - * @retval None - */ - -HAL_StatusTypeDef HAL_DMA2D_DeInit(DMA2D_HandleTypeDef *hdma2d) -{ - - /* Check the DMA2D peripheral state */ - if (hdma2d == NULL) - { - return HAL_ERROR; - } - - /* Before aborting any DMA2D transfer or CLUT loading, check - first whether or not DMA2D clock is enabled */ - if (__HAL_RCC_DMA2D_IS_CLK_ENABLED()) - { - /* Abort DMA2D transfer if any */ - if ((hdma2d->Instance->CR & DMA2D_CR_START) == DMA2D_CR_START) - { - if (HAL_DMA2D_Abort(hdma2d) != HAL_OK) - { - /* Issue when aborting DMA2D transfer */ - return HAL_ERROR; - } - } - else - { - /* Abort background CLUT loading if any */ - if ((hdma2d->Instance->BGPFCCR & DMA2D_BGPFCCR_START) == DMA2D_BGPFCCR_START) - { - if (HAL_DMA2D_CLUTLoading_Abort(hdma2d, 0U) != HAL_OK) - { - /* Issue when aborting background CLUT loading */ - return HAL_ERROR; - } - } - else - { - /* Abort foreground CLUT loading if any */ - if ((hdma2d->Instance->FGPFCCR & DMA2D_FGPFCCR_START) == DMA2D_FGPFCCR_START) - { - if (HAL_DMA2D_CLUTLoading_Abort(hdma2d, 1U) != HAL_OK) - { - /* Issue when aborting foreground CLUT loading */ - return HAL_ERROR; - } - } - } - } - } - - /* Reset DMA2D control registers*/ - hdma2d->Instance->CR = 0U; - hdma2d->Instance->IFCR = 0x3FU; - hdma2d->Instance->FGOR = 0U; - hdma2d->Instance->BGOR = 0U; - hdma2d->Instance->FGPFCCR = 0U; - hdma2d->Instance->BGPFCCR = 0U; - hdma2d->Instance->OPFCCR = 0U; - -#if (USE_HAL_DMA2D_REGISTER_CALLBACKS == 1) - - if (hdma2d->MspDeInitCallback == NULL) - { - hdma2d->MspDeInitCallback = HAL_DMA2D_MspDeInit; - } - - /* DeInit the low level hardware */ - hdma2d->MspDeInitCallback(hdma2d); - -#else - /* Carry on with de-initialization of low level hardware */ - HAL_DMA2D_MspDeInit(hdma2d); -#endif /* (USE_HAL_DMA2D_REGISTER_CALLBACKS) */ - - /* Update error code */ - hdma2d->ErrorCode = HAL_DMA2D_ERROR_NONE; - - /* Initialize the DMA2D state*/ - hdma2d->State = HAL_DMA2D_STATE_RESET; - - /* Release Lock */ - __HAL_UNLOCK(hdma2d); - - return HAL_OK; -} - -/** - * @brief Initializes the DMA2D MSP. - * @param hdma2d pointer to a DMA2D_HandleTypeDef structure that contains - * the configuration information for the DMA2D. - * @retval None - */ -__weak void HAL_DMA2D_MspInit(DMA2D_HandleTypeDef *hdma2d) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hdma2d); - - /* NOTE : This function should not be modified; when the callback is needed, - the HAL_DMA2D_MspInit can be implemented in the user file. - */ -} - -/** - * @brief DeInitializes the DMA2D MSP. - * @param hdma2d pointer to a DMA2D_HandleTypeDef structure that contains - * the configuration information for the DMA2D. - * @retval None - */ -__weak void HAL_DMA2D_MspDeInit(DMA2D_HandleTypeDef *hdma2d) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hdma2d); - - /* NOTE : This function should not be modified; when the callback is needed, - the HAL_DMA2D_MspDeInit can be implemented in the user file. - */ -} - -#if (USE_HAL_DMA2D_REGISTER_CALLBACKS == 1) -/** - * @brief Register a User DMA2D Callback - * To be used instead of the weak (surcharged) predefined callback - * @param hdma2d DMA2D handle - * @param CallbackID ID of the callback to be registered - * This parameter can be one of the following values: - * @arg @ref HAL_DMA2D_TRANSFERCOMPLETE_CB_ID DMA2D transfer complete Callback ID - * @arg @ref HAL_DMA2D_TRANSFERERROR_CB_ID DMA2D transfer error Callback ID - * @arg @ref HAL_DMA2D_LINEEVENT_CB_ID DMA2D line event Callback ID - * @arg @ref HAL_DMA2D_CLUTLOADINGCPLT_CB_ID DMA2D CLUT loading completion Callback ID - * @arg @ref HAL_DMA2D_MSPINIT_CB_ID DMA2D MspInit callback ID - * @arg @ref HAL_DMA2D_MSPDEINIT_CB_ID DMA2D MspDeInit callback ID - * @param pCallback pointer to the Callback function - * @note No weak predefined callbacks are defined for HAL_DMA2D_TRANSFERCOMPLETE_CB_ID or HAL_DMA2D_TRANSFERERROR_CB_ID - * @retval status - */ -HAL_StatusTypeDef HAL_DMA2D_RegisterCallback(DMA2D_HandleTypeDef *hdma2d, HAL_DMA2D_CallbackIDTypeDef CallbackID, - pDMA2D_CallbackTypeDef pCallback) -{ - HAL_StatusTypeDef status = HAL_OK; - - if (pCallback == NULL) - { - /* Update the error code */ - hdma2d->ErrorCode |= HAL_DMA2D_ERROR_INVALID_CALLBACK; - return HAL_ERROR; - } - /* Process locked */ - __HAL_LOCK(hdma2d); - - if (HAL_DMA2D_STATE_READY == hdma2d->State) - { - switch (CallbackID) - { - case HAL_DMA2D_TRANSFERCOMPLETE_CB_ID : - hdma2d->XferCpltCallback = pCallback; - break; - - case HAL_DMA2D_TRANSFERERROR_CB_ID : - hdma2d->XferErrorCallback = pCallback; - break; - - case HAL_DMA2D_LINEEVENT_CB_ID : - hdma2d->LineEventCallback = pCallback; - break; - - case HAL_DMA2D_CLUTLOADINGCPLT_CB_ID : - hdma2d->CLUTLoadingCpltCallback = pCallback; - break; - - case HAL_DMA2D_MSPINIT_CB_ID : - hdma2d->MspInitCallback = pCallback; - break; - - case HAL_DMA2D_MSPDEINIT_CB_ID : - hdma2d->MspDeInitCallback = pCallback; - break; - - default : - /* Update the error code */ - hdma2d->ErrorCode |= HAL_DMA2D_ERROR_INVALID_CALLBACK; - /* update return status */ - status = HAL_ERROR; - break; - } - } - else if (HAL_DMA2D_STATE_RESET == hdma2d->State) - { - switch (CallbackID) - { - case HAL_DMA2D_MSPINIT_CB_ID : - hdma2d->MspInitCallback = pCallback; - break; - - case HAL_DMA2D_MSPDEINIT_CB_ID : - hdma2d->MspDeInitCallback = pCallback; - break; - - default : - /* Update the error code */ - hdma2d->ErrorCode |= HAL_DMA2D_ERROR_INVALID_CALLBACK; - /* update return status */ - status = HAL_ERROR; - break; - } - } - else - { - /* Update the error code */ - hdma2d->ErrorCode |= HAL_DMA2D_ERROR_INVALID_CALLBACK; - /* update return status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(hdma2d); - return status; -} - -/** - * @brief Unregister a DMA2D Callback - * DMA2D Callback is redirected to the weak (surcharged) predefined callback - * @param hdma2d DMA2D handle - * @param CallbackID ID of the callback to be unregistered - * This parameter can be one of the following values: - * @arg @ref HAL_DMA2D_TRANSFERCOMPLETE_CB_ID DMA2D transfer complete Callback ID - * @arg @ref HAL_DMA2D_TRANSFERERROR_CB_ID DMA2D transfer error Callback ID - * @arg @ref HAL_DMA2D_LINEEVENT_CB_ID DMA2D line event Callback ID - * @arg @ref HAL_DMA2D_CLUTLOADINGCPLT_CB_ID DMA2D CLUT loading completion Callback ID - * @arg @ref HAL_DMA2D_MSPINIT_CB_ID DMA2D MspInit callback ID - * @arg @ref HAL_DMA2D_MSPDEINIT_CB_ID DMA2D MspDeInit callback ID - * @note No weak predefined callbacks are defined for HAL_DMA2D_TRANSFERCOMPLETE_CB_ID or HAL_DMA2D_TRANSFERERROR_CB_ID - * @retval status - */ -HAL_StatusTypeDef HAL_DMA2D_UnRegisterCallback(DMA2D_HandleTypeDef *hdma2d, HAL_DMA2D_CallbackIDTypeDef CallbackID) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Process locked */ - __HAL_LOCK(hdma2d); - - if (HAL_DMA2D_STATE_READY == hdma2d->State) - { - switch (CallbackID) - { - case HAL_DMA2D_TRANSFERCOMPLETE_CB_ID : - hdma2d->XferCpltCallback = NULL; - break; - - case HAL_DMA2D_TRANSFERERROR_CB_ID : - hdma2d->XferErrorCallback = NULL; - break; - - case HAL_DMA2D_LINEEVENT_CB_ID : - hdma2d->LineEventCallback = HAL_DMA2D_LineEventCallback; - break; - - case HAL_DMA2D_CLUTLOADINGCPLT_CB_ID : - hdma2d->CLUTLoadingCpltCallback = HAL_DMA2D_CLUTLoadingCpltCallback; - break; - - case HAL_DMA2D_MSPINIT_CB_ID : - hdma2d->MspInitCallback = HAL_DMA2D_MspInit; /* Legacy weak (surcharged) Msp Init */ - break; - - case HAL_DMA2D_MSPDEINIT_CB_ID : - hdma2d->MspDeInitCallback = HAL_DMA2D_MspDeInit; /* Legacy weak (surcharged) Msp DeInit */ - break; - - default : - /* Update the error code */ - hdma2d->ErrorCode |= HAL_DMA2D_ERROR_INVALID_CALLBACK; - /* update return status */ - status = HAL_ERROR; - break; - } - } - else if (HAL_DMA2D_STATE_RESET == hdma2d->State) - { - switch (CallbackID) - { - case HAL_DMA2D_MSPINIT_CB_ID : - hdma2d->MspInitCallback = HAL_DMA2D_MspInit; /* Legacy weak (surcharged) Msp Init */ - break; - - case HAL_DMA2D_MSPDEINIT_CB_ID : - hdma2d->MspDeInitCallback = HAL_DMA2D_MspDeInit; /* Legacy weak (surcharged) Msp DeInit */ - break; - - default : - /* Update the error code */ - hdma2d->ErrorCode |= HAL_DMA2D_ERROR_INVALID_CALLBACK; - /* update return status */ - status = HAL_ERROR; - break; - } - } - else - { - /* Update the error code */ - hdma2d->ErrorCode |= HAL_DMA2D_ERROR_INVALID_CALLBACK; - /* update return status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(hdma2d); - return status; -} -#endif /* USE_HAL_DMA2D_REGISTER_CALLBACKS */ - -/** - * @} - */ - - -/** @defgroup DMA2D_Exported_Functions_Group2 IO operation functions - * @brief IO operation functions - * -@verbatim - =============================================================================== - ##### IO operation functions ##### - =============================================================================== - [..] This section provides functions allowing to: - (+) Configure the pdata, destination address and data size then - start the DMA2D transfer. - (+) Configure the source for foreground and background, destination address - and data size then start a MultiBuffer DMA2D transfer. - (+) Configure the pdata, destination address and data size then - start the DMA2D transfer with interrupt. - (+) Configure the source for foreground and background, destination address - and data size then start a MultiBuffer DMA2D transfer with interrupt. - (+) Abort DMA2D transfer. - (+) Suspend DMA2D transfer. - (+) Resume DMA2D transfer. - (+) Enable CLUT transfer. - (+) Configure CLUT loading then start transfer in polling mode. - (+) Configure CLUT loading then start transfer in interrupt mode. - (+) Abort DMA2D CLUT loading. - (+) Suspend DMA2D CLUT loading. - (+) Resume DMA2D CLUT loading. - (+) Poll for transfer complete. - (+) handle DMA2D interrupt request. - (+) Transfer watermark callback. - (+) CLUT Transfer Complete callback. - - -@endverbatim - * @{ - */ - -/** - * @brief Start the DMA2D Transfer. - * @param hdma2d Pointer to a DMA2D_HandleTypeDef structure that contains - * the configuration information for the DMA2D. - * @param pdata Configure the source memory Buffer address if - * Memory-to-Memory or Memory-to-Memory with pixel format - * conversion mode is selected, or configure - * the color value if Register-to-Memory mode is selected. - * @param DstAddress The destination memory Buffer address. - * @param Width The width of data to be transferred from source - * to destination (expressed in number of pixels per line). - * @param Height The height of data to be transferred from source to destination (expressed in number of lines). - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DMA2D_Start(DMA2D_HandleTypeDef *hdma2d, uint32_t pdata, uint32_t DstAddress, uint32_t Width, - uint32_t Height) -{ - /* Check the parameters */ - assert_param(IS_DMA2D_LINE(Height)); - assert_param(IS_DMA2D_PIXEL(Width)); - - /* Process locked */ - __HAL_LOCK(hdma2d); - - /* Change DMA2D peripheral state */ - hdma2d->State = HAL_DMA2D_STATE_BUSY; - - /* Configure the source, destination address and the data size */ - DMA2D_SetConfig(hdma2d, pdata, DstAddress, Width, Height); - - /* Enable the Peripheral */ - __HAL_DMA2D_ENABLE(hdma2d); - - return HAL_OK; -} - -/** - * @brief Start the DMA2D Transfer with interrupt enabled. - * @param hdma2d Pointer to a DMA2D_HandleTypeDef structure that contains - * the configuration information for the DMA2D. - * @param pdata Configure the source memory Buffer address if - * the Memory-to-Memory or Memory-to-Memory with pixel format - * conversion mode is selected, or configure - * the color value if Register-to-Memory mode is selected. - * @param DstAddress The destination memory Buffer address. - * @param Width The width of data to be transferred from source - * to destination (expressed in number of pixels per line). - * @param Height The height of data to be transferred from source to destination (expressed in number of lines). - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DMA2D_Start_IT(DMA2D_HandleTypeDef *hdma2d, uint32_t pdata, uint32_t DstAddress, uint32_t Width, - uint32_t Height) -{ - /* Check the parameters */ - assert_param(IS_DMA2D_LINE(Height)); - assert_param(IS_DMA2D_PIXEL(Width)); - - /* Process locked */ - __HAL_LOCK(hdma2d); - - /* Change DMA2D peripheral state */ - hdma2d->State = HAL_DMA2D_STATE_BUSY; - - /* Configure the source, destination address and the data size */ - DMA2D_SetConfig(hdma2d, pdata, DstAddress, Width, Height); - - /* Enable the transfer complete, transfer error and configuration error interrupts */ - __HAL_DMA2D_ENABLE_IT(hdma2d, DMA2D_IT_TC | DMA2D_IT_TE | DMA2D_IT_CE); - - /* Enable the Peripheral */ - __HAL_DMA2D_ENABLE(hdma2d); - - return HAL_OK; -} - -/** - * @brief Start the multi-source DMA2D Transfer. - * @param hdma2d Pointer to a DMA2D_HandleTypeDef structure that contains - * the configuration information for the DMA2D. - * @param SrcAddress1 The source memory Buffer address for the foreground layer. - * @param SrcAddress2 The source memory Buffer address for the background layer. - * @param DstAddress The destination memory Buffer address. - * @param Width The width of data to be transferred from source - * to destination (expressed in number of pixels per line). - * @param Height The height of data to be transferred from source to destination (expressed in number of lines). - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DMA2D_BlendingStart(DMA2D_HandleTypeDef *hdma2d, uint32_t SrcAddress1, uint32_t SrcAddress2, - uint32_t DstAddress, uint32_t Width, uint32_t Height) -{ - /* Check the parameters */ - assert_param(IS_DMA2D_LINE(Height)); - assert_param(IS_DMA2D_PIXEL(Width)); - - /* Process locked */ - __HAL_LOCK(hdma2d); - - /* Change DMA2D peripheral state */ - hdma2d->State = HAL_DMA2D_STATE_BUSY; - - /* Configure DMA2D Stream source2 address */ - WRITE_REG(hdma2d->Instance->BGMAR, SrcAddress2); - - /* Configure the source, destination address and the data size */ - DMA2D_SetConfig(hdma2d, SrcAddress1, DstAddress, Width, Height); - - /* Enable the Peripheral */ - __HAL_DMA2D_ENABLE(hdma2d); - - return HAL_OK; -} - -/** - * @brief Start the multi-source DMA2D Transfer with interrupt enabled. - * @param hdma2d Pointer to a DMA2D_HandleTypeDef structure that contains - * the configuration information for the DMA2D. - * @param SrcAddress1 The source memory Buffer address for the foreground layer. - * @param SrcAddress2 The source memory Buffer address for the background layer. - * @param DstAddress The destination memory Buffer address. - * @param Width The width of data to be transferred from source - * to destination (expressed in number of pixels per line). - * @param Height The height of data to be transferred from source to destination (expressed in number of lines). - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DMA2D_BlendingStart_IT(DMA2D_HandleTypeDef *hdma2d, uint32_t SrcAddress1, uint32_t SrcAddress2, - uint32_t DstAddress, uint32_t Width, uint32_t Height) -{ - /* Check the parameters */ - assert_param(IS_DMA2D_LINE(Height)); - assert_param(IS_DMA2D_PIXEL(Width)); - - /* Process locked */ - __HAL_LOCK(hdma2d); - - /* Change DMA2D peripheral state */ - hdma2d->State = HAL_DMA2D_STATE_BUSY; - - /* Configure DMA2D Stream source2 address */ - WRITE_REG(hdma2d->Instance->BGMAR, SrcAddress2); - - /* Configure the source, destination address and the data size */ - DMA2D_SetConfig(hdma2d, SrcAddress1, DstAddress, Width, Height); - - /* Enable the transfer complete, transfer error and configuration error interrupts */ - __HAL_DMA2D_ENABLE_IT(hdma2d, DMA2D_IT_TC | DMA2D_IT_TE | DMA2D_IT_CE); - - /* Enable the Peripheral */ - __HAL_DMA2D_ENABLE(hdma2d); - - return HAL_OK; -} - -/** - * @brief Abort the DMA2D Transfer. - * @param hdma2d pointer to a DMA2D_HandleTypeDef structure that contains - * the configuration information for the DMA2D. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DMA2D_Abort(DMA2D_HandleTypeDef *hdma2d) -{ - uint32_t tickstart; - - /* Abort the DMA2D transfer */ - /* START bit is reset to make sure not to set it again, in the event the HW clears it - between the register read and the register write by the CPU (writing 0 has no - effect on START bitvalue) */ - MODIFY_REG(hdma2d->Instance->CR, DMA2D_CR_ABORT | DMA2D_CR_START, DMA2D_CR_ABORT); - - /* Get tick */ - tickstart = HAL_GetTick(); - - /* Check if the DMA2D is effectively disabled */ - while ((hdma2d->Instance->CR & DMA2D_CR_START) != 0U) - { - if ((HAL_GetTick() - tickstart) > DMA2D_TIMEOUT_ABORT) - { - /* Update error code */ - hdma2d->ErrorCode |= HAL_DMA2D_ERROR_TIMEOUT; - - /* Change the DMA2D state */ - hdma2d->State = HAL_DMA2D_STATE_TIMEOUT; - - /* Process Unlocked */ - __HAL_UNLOCK(hdma2d); - - return HAL_TIMEOUT; - } - } - - /* Disable the Transfer Complete, Transfer Error and Configuration Error interrupts */ - __HAL_DMA2D_DISABLE_IT(hdma2d, DMA2D_IT_TC | DMA2D_IT_TE | DMA2D_IT_CE); - - /* Change the DMA2D state*/ - hdma2d->State = HAL_DMA2D_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hdma2d); - - return HAL_OK; -} - -/** - * @brief Suspend the DMA2D Transfer. - * @param hdma2d pointer to a DMA2D_HandleTypeDef structure that contains - * the configuration information for the DMA2D. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DMA2D_Suspend(DMA2D_HandleTypeDef *hdma2d) -{ - uint32_t tickstart; - - /* Suspend the DMA2D transfer */ - /* START bit is reset to make sure not to set it again, in the event the HW clears it - between the register read and the register write by the CPU (writing 0 has no - effect on START bitvalue). */ - MODIFY_REG(hdma2d->Instance->CR, DMA2D_CR_SUSP | DMA2D_CR_START, DMA2D_CR_SUSP); - - /* Get tick */ - tickstart = HAL_GetTick(); - - /* Check if the DMA2D is effectively suspended */ - while ((hdma2d->Instance->CR & (DMA2D_CR_SUSP | DMA2D_CR_START)) == DMA2D_CR_START) - { - if ((HAL_GetTick() - tickstart) > DMA2D_TIMEOUT_SUSPEND) - { - /* Update error code */ - hdma2d->ErrorCode |= HAL_DMA2D_ERROR_TIMEOUT; - - /* Change the DMA2D state */ - hdma2d->State = HAL_DMA2D_STATE_TIMEOUT; - - return HAL_TIMEOUT; - } - } - - /* Check whether or not a transfer is actually suspended and change the DMA2D state accordingly */ - if ((hdma2d->Instance->CR & DMA2D_CR_START) != 0U) - { - hdma2d->State = HAL_DMA2D_STATE_SUSPEND; - } - else - { - /* Make sure SUSP bit is cleared since it is meaningless - when no transfer is on-going */ - CLEAR_BIT(hdma2d->Instance->CR, DMA2D_CR_SUSP); - } - - return HAL_OK; -} - -/** - * @brief Resume the DMA2D Transfer. - * @param hdma2d pointer to a DMA2D_HandleTypeDef structure that contains - * the configuration information for the DMA2D. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DMA2D_Resume(DMA2D_HandleTypeDef *hdma2d) -{ - /* Check the SUSP and START bits */ - if ((hdma2d->Instance->CR & (DMA2D_CR_SUSP | DMA2D_CR_START)) == (DMA2D_CR_SUSP | DMA2D_CR_START)) - { - /* Ongoing transfer is suspended: change the DMA2D state before resuming */ - hdma2d->State = HAL_DMA2D_STATE_BUSY; - } - - /* Resume the DMA2D transfer */ - /* START bit is reset to make sure not to set it again, in the event the HW clears it - between the register read and the register write by the CPU (writing 0 has no - effect on START bitvalue). */ - CLEAR_BIT(hdma2d->Instance->CR, (DMA2D_CR_SUSP | DMA2D_CR_START)); - - return HAL_OK; -} - - -/** - * @brief Enable the DMA2D CLUT Transfer. - * @param hdma2d Pointer to a DMA2D_HandleTypeDef structure that contains - * the configuration information for the DMA2D. - * @param LayerIdx DMA2D Layer index. - * This parameter can be one of the following values: - * DMA2D_BACKGROUND_LAYER(0) / DMA2D_FOREGROUND_LAYER(1) - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DMA2D_EnableCLUT(DMA2D_HandleTypeDef *hdma2d, uint32_t LayerIdx) -{ - /* Check the parameters */ - assert_param(IS_DMA2D_LAYER(LayerIdx)); - - /* Process locked */ - __HAL_LOCK(hdma2d); - - /* Change DMA2D peripheral state */ - hdma2d->State = HAL_DMA2D_STATE_BUSY; - - if (LayerIdx == DMA2D_BACKGROUND_LAYER) - { - /* Enable the background CLUT loading */ - SET_BIT(hdma2d->Instance->BGPFCCR, DMA2D_BGPFCCR_START); - } - else - { - /* Enable the foreground CLUT loading */ - SET_BIT(hdma2d->Instance->FGPFCCR, DMA2D_FGPFCCR_START); - } - - return HAL_OK; -} - -/** - * @brief Start DMA2D CLUT Loading. - * @param hdma2d Pointer to a DMA2D_HandleTypeDef structure that contains - * the configuration information for the DMA2D. - * @param CLUTCfg Pointer to a DMA2D_CLUTCfgTypeDef structure that contains - * the configuration information for the color look up table. - * @param LayerIdx DMA2D Layer index. - * This parameter can be one of the following values: - * DMA2D_BACKGROUND_LAYER(0) / DMA2D_FOREGROUND_LAYER(1) - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DMA2D_CLUTStartLoad(DMA2D_HandleTypeDef *hdma2d, DMA2D_CLUTCfgTypeDef *CLUTCfg, uint32_t LayerIdx) -{ - /* Check the parameters */ - assert_param(IS_DMA2D_LAYER(LayerIdx)); - assert_param(IS_DMA2D_CLUT_CM(CLUTCfg->CLUTColorMode)); - assert_param(IS_DMA2D_CLUT_SIZE(CLUTCfg->Size)); - - /* Process locked */ - __HAL_LOCK(hdma2d); - - /* Change DMA2D peripheral state */ - hdma2d->State = HAL_DMA2D_STATE_BUSY; - - /* Configure the CLUT of the background DMA2D layer */ - if (LayerIdx == DMA2D_BACKGROUND_LAYER) - { - /* Write background CLUT memory address */ - WRITE_REG(hdma2d->Instance->BGCMAR, (uint32_t)CLUTCfg->pCLUT); - - /* Write background CLUT size and CLUT color mode */ - MODIFY_REG(hdma2d->Instance->BGPFCCR, (DMA2D_BGPFCCR_CS | DMA2D_BGPFCCR_CCM), - ((CLUTCfg->Size << DMA2D_BGPFCCR_CS_Pos) | (CLUTCfg->CLUTColorMode << DMA2D_BGPFCCR_CCM_Pos))); - - /* Enable the CLUT loading for the background */ - SET_BIT(hdma2d->Instance->BGPFCCR, DMA2D_BGPFCCR_START); - } - /* Configure the CLUT of the foreground DMA2D layer */ - else - { - /* Write foreground CLUT memory address */ - WRITE_REG(hdma2d->Instance->FGCMAR, (uint32_t)CLUTCfg->pCLUT); - - /* Write foreground CLUT size and CLUT color mode */ - MODIFY_REG(hdma2d->Instance->FGPFCCR, (DMA2D_FGPFCCR_CS | DMA2D_FGPFCCR_CCM), - ((CLUTCfg->Size << DMA2D_FGPFCCR_CS_Pos) | (CLUTCfg->CLUTColorMode << DMA2D_FGPFCCR_CCM_Pos))); - - /* Enable the CLUT loading for the foreground */ - SET_BIT(hdma2d->Instance->FGPFCCR, DMA2D_FGPFCCR_START); - } - - return HAL_OK; -} - -/** - * @brief Start DMA2D CLUT Loading with interrupt enabled. - * @param hdma2d Pointer to a DMA2D_HandleTypeDef structure that contains - * the configuration information for the DMA2D. - * @param CLUTCfg Pointer to a DMA2D_CLUTCfgTypeDef structure that contains - * the configuration information for the color look up table. - * @param LayerIdx DMA2D Layer index. - * This parameter can be one of the following values: - * DMA2D_BACKGROUND_LAYER(0) / DMA2D_FOREGROUND_LAYER(1) - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DMA2D_CLUTStartLoad_IT(DMA2D_HandleTypeDef *hdma2d, DMA2D_CLUTCfgTypeDef *CLUTCfg, - uint32_t LayerIdx) -{ - /* Check the parameters */ - assert_param(IS_DMA2D_LAYER(LayerIdx)); - assert_param(IS_DMA2D_CLUT_CM(CLUTCfg->CLUTColorMode)); - assert_param(IS_DMA2D_CLUT_SIZE(CLUTCfg->Size)); - - /* Process locked */ - __HAL_LOCK(hdma2d); - - /* Change DMA2D peripheral state */ - hdma2d->State = HAL_DMA2D_STATE_BUSY; - - /* Configure the CLUT of the background DMA2D layer */ - if (LayerIdx == DMA2D_BACKGROUND_LAYER) - { - /* Write background CLUT memory address */ - WRITE_REG(hdma2d->Instance->BGCMAR, (uint32_t)CLUTCfg->pCLUT); - - /* Write background CLUT size and CLUT color mode */ - MODIFY_REG(hdma2d->Instance->BGPFCCR, (DMA2D_BGPFCCR_CS | DMA2D_BGPFCCR_CCM), - ((CLUTCfg->Size << DMA2D_BGPFCCR_CS_Pos) | (CLUTCfg->CLUTColorMode << DMA2D_BGPFCCR_CCM_Pos))); - - /* Enable the CLUT Transfer Complete, transfer Error, configuration Error and CLUT Access Error interrupts */ - __HAL_DMA2D_ENABLE_IT(hdma2d, DMA2D_IT_CTC | DMA2D_IT_TE | DMA2D_IT_CE | DMA2D_IT_CAE); - - /* Enable the CLUT loading for the background */ - SET_BIT(hdma2d->Instance->BGPFCCR, DMA2D_BGPFCCR_START); - } - /* Configure the CLUT of the foreground DMA2D layer */ - else - { - /* Write foreground CLUT memory address */ - WRITE_REG(hdma2d->Instance->FGCMAR, (uint32_t)CLUTCfg->pCLUT); - - /* Write foreground CLUT size and CLUT color mode */ - MODIFY_REG(hdma2d->Instance->FGPFCCR, (DMA2D_FGPFCCR_CS | DMA2D_FGPFCCR_CCM), - ((CLUTCfg->Size << DMA2D_FGPFCCR_CS_Pos) | (CLUTCfg->CLUTColorMode << DMA2D_FGPFCCR_CCM_Pos))); - - /* Enable the CLUT Transfer Complete, transfer Error, configuration Error and CLUT Access Error interrupts */ - __HAL_DMA2D_ENABLE_IT(hdma2d, DMA2D_IT_CTC | DMA2D_IT_TE | DMA2D_IT_CE | DMA2D_IT_CAE); - - /* Enable the CLUT loading for the foreground */ - SET_BIT(hdma2d->Instance->FGPFCCR, DMA2D_FGPFCCR_START); - } - - return HAL_OK; -} - -/** - * @brief Start DMA2D CLUT Loading. - * @param hdma2d Pointer to a DMA2D_HandleTypeDef structure that contains - * the configuration information for the DMA2D. - * @param CLUTCfg Pointer to a DMA2D_CLUTCfgTypeDef structure that contains - * the configuration information for the color look up table. - * @param LayerIdx DMA2D Layer index. - * This parameter can be one of the following values: - * DMA2D_BACKGROUND_LAYER(0) / DMA2D_FOREGROUND_LAYER(1) - * @note API obsolete and maintained for compatibility with legacy. User is - * invited to resort to HAL_DMA2D_CLUTStartLoad() instead to benefit from - * code compactness, code size and improved heap usage. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DMA2D_CLUTLoad(DMA2D_HandleTypeDef *hdma2d, DMA2D_CLUTCfgTypeDef CLUTCfg, uint32_t LayerIdx) -{ - /* Check the parameters */ - assert_param(IS_DMA2D_LAYER(LayerIdx)); - assert_param(IS_DMA2D_CLUT_CM(CLUTCfg.CLUTColorMode)); - assert_param(IS_DMA2D_CLUT_SIZE(CLUTCfg.Size)); - - /* Process locked */ - __HAL_LOCK(hdma2d); - - /* Change DMA2D peripheral state */ - hdma2d->State = HAL_DMA2D_STATE_BUSY; - - /* Configure the CLUT of the background DMA2D layer */ - if (LayerIdx == DMA2D_BACKGROUND_LAYER) - { - /* Write background CLUT memory address */ - WRITE_REG(hdma2d->Instance->BGCMAR, (uint32_t)CLUTCfg.pCLUT); - - /* Write background CLUT size and CLUT color mode */ - MODIFY_REG(hdma2d->Instance->BGPFCCR, (DMA2D_BGPFCCR_CS | DMA2D_BGPFCCR_CCM), - ((CLUTCfg.Size << DMA2D_BGPFCCR_CS_Pos) | (CLUTCfg.CLUTColorMode << DMA2D_BGPFCCR_CCM_Pos))); - - /* Enable the CLUT loading for the background */ - SET_BIT(hdma2d->Instance->BGPFCCR, DMA2D_BGPFCCR_START); - } - /* Configure the CLUT of the foreground DMA2D layer */ - else - { - /* Write foreground CLUT memory address */ - WRITE_REG(hdma2d->Instance->FGCMAR, (uint32_t)CLUTCfg.pCLUT); - - /* Write foreground CLUT size and CLUT color mode */ - MODIFY_REG(hdma2d->Instance->FGPFCCR, (DMA2D_FGPFCCR_CS | DMA2D_FGPFCCR_CCM), - ((CLUTCfg.Size << DMA2D_FGPFCCR_CS_Pos) | (CLUTCfg.CLUTColorMode << DMA2D_FGPFCCR_CCM_Pos))); - - /* Enable the CLUT loading for the foreground */ - SET_BIT(hdma2d->Instance->FGPFCCR, DMA2D_FGPFCCR_START); - } - - return HAL_OK; -} - -/** - * @brief Start DMA2D CLUT Loading with interrupt enabled. - * @param hdma2d Pointer to a DMA2D_HandleTypeDef structure that contains - * the configuration information for the DMA2D. - * @param CLUTCfg Pointer to a DMA2D_CLUTCfgTypeDef structure that contains - * the configuration information for the color look up table. - * @param LayerIdx DMA2D Layer index. - * This parameter can be one of the following values: - * DMA2D_BACKGROUND_LAYER(0) / DMA2D_FOREGROUND_LAYER(1) - * @note API obsolete and maintained for compatibility with legacy. User is - * invited to resort to HAL_DMA2D_CLUTStartLoad_IT() instead to benefit - * from code compactness, code size and improved heap usage. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DMA2D_CLUTLoad_IT(DMA2D_HandleTypeDef *hdma2d, DMA2D_CLUTCfgTypeDef CLUTCfg, uint32_t LayerIdx) -{ - /* Check the parameters */ - assert_param(IS_DMA2D_LAYER(LayerIdx)); - assert_param(IS_DMA2D_CLUT_CM(CLUTCfg.CLUTColorMode)); - assert_param(IS_DMA2D_CLUT_SIZE(CLUTCfg.Size)); - - /* Process locked */ - __HAL_LOCK(hdma2d); - - /* Change DMA2D peripheral state */ - hdma2d->State = HAL_DMA2D_STATE_BUSY; - - /* Configure the CLUT of the background DMA2D layer */ - if (LayerIdx == DMA2D_BACKGROUND_LAYER) - { - /* Write background CLUT memory address */ - WRITE_REG(hdma2d->Instance->BGCMAR, (uint32_t)CLUTCfg.pCLUT); - - /* Write background CLUT size and CLUT color mode */ - MODIFY_REG(hdma2d->Instance->BGPFCCR, (DMA2D_BGPFCCR_CS | DMA2D_BGPFCCR_CCM), - ((CLUTCfg.Size << DMA2D_BGPFCCR_CS_Pos) | (CLUTCfg.CLUTColorMode << DMA2D_BGPFCCR_CCM_Pos))); - - /* Enable the CLUT Transfer Complete, transfer Error, configuration Error and CLUT Access Error interrupts */ - __HAL_DMA2D_ENABLE_IT(hdma2d, DMA2D_IT_CTC | DMA2D_IT_TE | DMA2D_IT_CE | DMA2D_IT_CAE); - - /* Enable the CLUT loading for the background */ - SET_BIT(hdma2d->Instance->BGPFCCR, DMA2D_BGPFCCR_START); - } - /* Configure the CLUT of the foreground DMA2D layer */ - else - { - /* Write foreground CLUT memory address */ - WRITE_REG(hdma2d->Instance->FGCMAR, (uint32_t)CLUTCfg.pCLUT); - - /* Write foreground CLUT size and CLUT color mode */ - MODIFY_REG(hdma2d->Instance->FGPFCCR, (DMA2D_FGPFCCR_CS | DMA2D_FGPFCCR_CCM), - ((CLUTCfg.Size << DMA2D_FGPFCCR_CS_Pos) | (CLUTCfg.CLUTColorMode << DMA2D_FGPFCCR_CCM_Pos))); - - /* Enable the CLUT Transfer Complete, transfer Error, configuration Error and CLUT Access Error interrupts */ - __HAL_DMA2D_ENABLE_IT(hdma2d, DMA2D_IT_CTC | DMA2D_IT_TE | DMA2D_IT_CE | DMA2D_IT_CAE); - - /* Enable the CLUT loading for the foreground */ - SET_BIT(hdma2d->Instance->FGPFCCR, DMA2D_FGPFCCR_START); - } - - return HAL_OK; -} - -/** - * @brief Abort the DMA2D CLUT loading. - * @param hdma2d Pointer to a DMA2D_HandleTypeDef structure that contains - * the configuration information for the DMA2D. - * @param LayerIdx DMA2D Layer index. - * This parameter can be one of the following values: - * DMA2D_BACKGROUND_LAYER(0) / DMA2D_FOREGROUND_LAYER(1) - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DMA2D_CLUTLoading_Abort(DMA2D_HandleTypeDef *hdma2d, uint32_t LayerIdx) -{ - uint32_t tickstart; - const __IO uint32_t *reg = &(hdma2d->Instance->BGPFCCR); /* by default, point at background register */ - - /* Abort the CLUT loading */ - SET_BIT(hdma2d->Instance->CR, DMA2D_CR_ABORT); - - /* If foreground CLUT loading is considered, update local variables */ - if (LayerIdx == DMA2D_FOREGROUND_LAYER) - { - reg = &(hdma2d->Instance->FGPFCCR); - } - - - /* Get tick */ - tickstart = HAL_GetTick(); - - /* Check if the CLUT loading is aborted */ - while ((*reg & DMA2D_BGPFCCR_START) != 0U) - { - if ((HAL_GetTick() - tickstart) > DMA2D_TIMEOUT_ABORT) - { - /* Update error code */ - hdma2d->ErrorCode |= HAL_DMA2D_ERROR_TIMEOUT; - - /* Change the DMA2D state */ - hdma2d->State = HAL_DMA2D_STATE_TIMEOUT; - - /* Process Unlocked */ - __HAL_UNLOCK(hdma2d); - - return HAL_TIMEOUT; - } - } - - /* Disable the CLUT Transfer Complete, Transfer Error, Configuration Error and CLUT Access Error interrupts */ - __HAL_DMA2D_DISABLE_IT(hdma2d, DMA2D_IT_CTC | DMA2D_IT_TE | DMA2D_IT_CE | DMA2D_IT_CAE); - - /* Change the DMA2D state*/ - hdma2d->State = HAL_DMA2D_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hdma2d); - - return HAL_OK; -} - -/** - * @brief Suspend the DMA2D CLUT loading. - * @param hdma2d Pointer to a DMA2D_HandleTypeDef structure that contains - * the configuration information for the DMA2D. - * @param LayerIdx DMA2D Layer index. - * This parameter can be one of the following values: - * DMA2D_BACKGROUND_LAYER(0) / DMA2D_FOREGROUND_LAYER(1) - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DMA2D_CLUTLoading_Suspend(DMA2D_HandleTypeDef *hdma2d, uint32_t LayerIdx) -{ - uint32_t tickstart; - uint32_t loadsuspended; - const __IO uint32_t *reg = &(hdma2d->Instance->BGPFCCR); /* by default, point at background register */ - - /* Suspend the CLUT loading */ - SET_BIT(hdma2d->Instance->CR, DMA2D_CR_SUSP); - - /* If foreground CLUT loading is considered, update local variables */ - if (LayerIdx == DMA2D_FOREGROUND_LAYER) - { - reg = &(hdma2d->Instance->FGPFCCR); - } - - /* Get tick */ - tickstart = HAL_GetTick(); - - /* Check if the CLUT loading is suspended */ - /* 1st condition: Suspend Check */ - loadsuspended = ((hdma2d->Instance->CR & DMA2D_CR_SUSP) == DMA2D_CR_SUSP) ? 1UL : 0UL; - /* 2nd condition: Not Start Check */ - loadsuspended |= ((*reg & DMA2D_BGPFCCR_START) != DMA2D_BGPFCCR_START) ? 1UL : 0UL; - while (loadsuspended == 0UL) - { - if ((HAL_GetTick() - tickstart) > DMA2D_TIMEOUT_SUSPEND) - { - /* Update error code */ - hdma2d->ErrorCode |= HAL_DMA2D_ERROR_TIMEOUT; - - /* Change the DMA2D state */ - hdma2d->State = HAL_DMA2D_STATE_TIMEOUT; - - return HAL_TIMEOUT; - } - /* 1st condition: Suspend Check */ - loadsuspended = ((hdma2d->Instance->CR & DMA2D_CR_SUSP) == DMA2D_CR_SUSP) ? 1UL : 0UL; - /* 2nd condition: Not Start Check */ - loadsuspended |= ((*reg & DMA2D_BGPFCCR_START) != DMA2D_BGPFCCR_START) ? 1UL : 0UL; - } - - /* Check whether or not a transfer is actually suspended and change the DMA2D state accordingly */ - if ((*reg & DMA2D_BGPFCCR_START) != 0U) - { - hdma2d->State = HAL_DMA2D_STATE_SUSPEND; - } - else - { - /* Make sure SUSP bit is cleared since it is meaningless - when no transfer is on-going */ - CLEAR_BIT(hdma2d->Instance->CR, DMA2D_CR_SUSP); - } - - return HAL_OK; -} - -/** - * @brief Resume the DMA2D CLUT loading. - * @param hdma2d pointer to a DMA2D_HandleTypeDef structure that contains - * the configuration information for the DMA2D. - * @param LayerIdx DMA2D Layer index. - * This parameter can be one of the following values: - * DMA2D_BACKGROUND_LAYER(0) / DMA2D_FOREGROUND_LAYER(1) - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DMA2D_CLUTLoading_Resume(DMA2D_HandleTypeDef *hdma2d, uint32_t LayerIdx) -{ - /* Check the SUSP and START bits for background or foreground CLUT loading */ - if (LayerIdx == DMA2D_BACKGROUND_LAYER) - { - /* Background CLUT loading suspension check */ - if ((hdma2d->Instance->CR & DMA2D_CR_SUSP) == DMA2D_CR_SUSP) - { - if ((hdma2d->Instance->BGPFCCR & DMA2D_BGPFCCR_START) == DMA2D_BGPFCCR_START) - { - /* Ongoing CLUT loading is suspended: change the DMA2D state before resuming */ - hdma2d->State = HAL_DMA2D_STATE_BUSY; - } - } - } - else - { - /* Foreground CLUT loading suspension check */ - if ((hdma2d->Instance->CR & DMA2D_CR_SUSP) == DMA2D_CR_SUSP) - { - if ((hdma2d->Instance->FGPFCCR & DMA2D_FGPFCCR_START) == DMA2D_FGPFCCR_START) - { - /* Ongoing CLUT loading is suspended: change the DMA2D state before resuming */ - hdma2d->State = HAL_DMA2D_STATE_BUSY; - } - } - } - - /* Resume the CLUT loading */ - CLEAR_BIT(hdma2d->Instance->CR, DMA2D_CR_SUSP); - - return HAL_OK; -} - - -/** - - * @brief Polling for transfer complete or CLUT loading. - * @param hdma2d Pointer to a DMA2D_HandleTypeDef structure that contains - * the configuration information for the DMA2D. - * @param Timeout Timeout duration - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DMA2D_PollForTransfer(DMA2D_HandleTypeDef *hdma2d, uint32_t Timeout) -{ - uint32_t tickstart; - uint32_t layer_start; - __IO uint32_t isrflags = 0x0U; - - /* Polling for DMA2D transfer */ - if ((hdma2d->Instance->CR & DMA2D_CR_START) != 0U) - { - /* Get tick */ - tickstart = HAL_GetTick(); - - while (__HAL_DMA2D_GET_FLAG(hdma2d, DMA2D_FLAG_TC) == 0U) - { - isrflags = READ_REG(hdma2d->Instance->ISR); - if ((isrflags & (DMA2D_FLAG_CE | DMA2D_FLAG_TE)) != 0U) - { - if ((isrflags & DMA2D_FLAG_CE) != 0U) - { - hdma2d->ErrorCode |= HAL_DMA2D_ERROR_CE; - } - if ((isrflags & DMA2D_FLAG_TE) != 0U) - { - hdma2d->ErrorCode |= HAL_DMA2D_ERROR_TE; - } - /* Clear the transfer and configuration error flags */ - __HAL_DMA2D_CLEAR_FLAG(hdma2d, DMA2D_FLAG_CE | DMA2D_FLAG_TE); - - /* Change DMA2D state */ - hdma2d->State = HAL_DMA2D_STATE_ERROR; - - /* Process unlocked */ - __HAL_UNLOCK(hdma2d); - - return HAL_ERROR; - } - /* Check for the Timeout */ - if (Timeout != HAL_MAX_DELAY) - { - if (((HAL_GetTick() - tickstart) > Timeout) || (Timeout == 0U)) - { - /* Update error code */ - hdma2d->ErrorCode |= HAL_DMA2D_ERROR_TIMEOUT; - - /* Change the DMA2D state */ - hdma2d->State = HAL_DMA2D_STATE_TIMEOUT; - - /* Process unlocked */ - __HAL_UNLOCK(hdma2d); - - return HAL_TIMEOUT; - } - } - } - } - /* Polling for CLUT loading (foreground or background) */ - layer_start = hdma2d->Instance->FGPFCCR & DMA2D_FGPFCCR_START; - layer_start |= hdma2d->Instance->BGPFCCR & DMA2D_BGPFCCR_START; - if (layer_start != 0U) - { - /* Get tick */ - tickstart = HAL_GetTick(); - - while (__HAL_DMA2D_GET_FLAG(hdma2d, DMA2D_FLAG_CTC) == 0U) - { - isrflags = READ_REG(hdma2d->Instance->ISR); - if ((isrflags & (DMA2D_FLAG_CAE | DMA2D_FLAG_CE | DMA2D_FLAG_TE)) != 0U) - { - if ((isrflags & DMA2D_FLAG_CAE) != 0U) - { - hdma2d->ErrorCode |= HAL_DMA2D_ERROR_CAE; - } - if ((isrflags & DMA2D_FLAG_CE) != 0U) - { - hdma2d->ErrorCode |= HAL_DMA2D_ERROR_CE; - } - if ((isrflags & DMA2D_FLAG_TE) != 0U) - { - hdma2d->ErrorCode |= HAL_DMA2D_ERROR_TE; - } - /* Clear the CLUT Access Error, Configuration Error and Transfer Error flags */ - __HAL_DMA2D_CLEAR_FLAG(hdma2d, DMA2D_FLAG_CAE | DMA2D_FLAG_CE | DMA2D_FLAG_TE); - - /* Change DMA2D state */ - hdma2d->State = HAL_DMA2D_STATE_ERROR; - - /* Process unlocked */ - __HAL_UNLOCK(hdma2d); - - return HAL_ERROR; - } - /* Check for the Timeout */ - if (Timeout != HAL_MAX_DELAY) - { - if (((HAL_GetTick() - tickstart) > Timeout) || (Timeout == 0U)) - { - /* Update error code */ - hdma2d->ErrorCode |= HAL_DMA2D_ERROR_TIMEOUT; - - /* Change the DMA2D state */ - hdma2d->State = HAL_DMA2D_STATE_TIMEOUT; - - /* Process unlocked */ - __HAL_UNLOCK(hdma2d); - - return HAL_TIMEOUT; - } - } - } - } - - /* Clear the transfer complete and CLUT loading flags */ - __HAL_DMA2D_CLEAR_FLAG(hdma2d, DMA2D_FLAG_TC | DMA2D_FLAG_CTC); - - /* Change DMA2D state */ - hdma2d->State = HAL_DMA2D_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hdma2d); - - return HAL_OK; -} -/** - * @brief Handle DMA2D interrupt request. - * @param hdma2d Pointer to a DMA2D_HandleTypeDef structure that contains - * the configuration information for the DMA2D. - * @retval HAL status - */ -void HAL_DMA2D_IRQHandler(DMA2D_HandleTypeDef *hdma2d) -{ - uint32_t isrflags = READ_REG(hdma2d->Instance->ISR); - uint32_t crflags = READ_REG(hdma2d->Instance->CR); - - /* Transfer Error Interrupt management ***************************************/ - if ((isrflags & DMA2D_FLAG_TE) != 0U) - { - if ((crflags & DMA2D_IT_TE) != 0U) - { - /* Disable the transfer Error interrupt */ - __HAL_DMA2D_DISABLE_IT(hdma2d, DMA2D_IT_TE); - - /* Update error code */ - hdma2d->ErrorCode |= HAL_DMA2D_ERROR_TE; - - /* Clear the transfer error flag */ - __HAL_DMA2D_CLEAR_FLAG(hdma2d, DMA2D_FLAG_TE); - - /* Change DMA2D state */ - hdma2d->State = HAL_DMA2D_STATE_ERROR; - - /* Process Unlocked */ - __HAL_UNLOCK(hdma2d); - - if (hdma2d->XferErrorCallback != NULL) - { - /* Transfer error Callback */ - hdma2d->XferErrorCallback(hdma2d); - } - } - } - /* Configuration Error Interrupt management **********************************/ - if ((isrflags & DMA2D_FLAG_CE) != 0U) - { - if ((crflags & DMA2D_IT_CE) != 0U) - { - /* Disable the Configuration Error interrupt */ - __HAL_DMA2D_DISABLE_IT(hdma2d, DMA2D_IT_CE); - - /* Clear the Configuration error flag */ - __HAL_DMA2D_CLEAR_FLAG(hdma2d, DMA2D_FLAG_CE); - - /* Update error code */ - hdma2d->ErrorCode |= HAL_DMA2D_ERROR_CE; - - /* Change DMA2D state */ - hdma2d->State = HAL_DMA2D_STATE_ERROR; - - /* Process Unlocked */ - __HAL_UNLOCK(hdma2d); - - if (hdma2d->XferErrorCallback != NULL) - { - /* Transfer error Callback */ - hdma2d->XferErrorCallback(hdma2d); - } - } - } - /* CLUT access Error Interrupt management ***********************************/ - if ((isrflags & DMA2D_FLAG_CAE) != 0U) - { - if ((crflags & DMA2D_IT_CAE) != 0U) - { - /* Disable the CLUT access error interrupt */ - __HAL_DMA2D_DISABLE_IT(hdma2d, DMA2D_IT_CAE); - - /* Clear the CLUT access error flag */ - __HAL_DMA2D_CLEAR_FLAG(hdma2d, DMA2D_FLAG_CAE); - - /* Update error code */ - hdma2d->ErrorCode |= HAL_DMA2D_ERROR_CAE; - - /* Change DMA2D state */ - hdma2d->State = HAL_DMA2D_STATE_ERROR; - - /* Process Unlocked */ - __HAL_UNLOCK(hdma2d); - - if (hdma2d->XferErrorCallback != NULL) - { - /* Transfer error Callback */ - hdma2d->XferErrorCallback(hdma2d); - } - } - } - /* Transfer watermark Interrupt management **********************************/ - if ((isrflags & DMA2D_FLAG_TW) != 0U) - { - if ((crflags & DMA2D_IT_TW) != 0U) - { - /* Disable the transfer watermark interrupt */ - __HAL_DMA2D_DISABLE_IT(hdma2d, DMA2D_IT_TW); - - /* Clear the transfer watermark flag */ - __HAL_DMA2D_CLEAR_FLAG(hdma2d, DMA2D_FLAG_TW); - - /* Transfer watermark Callback */ -#if (USE_HAL_DMA2D_REGISTER_CALLBACKS == 1) - hdma2d->LineEventCallback(hdma2d); -#else - HAL_DMA2D_LineEventCallback(hdma2d); -#endif /* USE_HAL_DMA2D_REGISTER_CALLBACKS */ - - } - } - /* Transfer Complete Interrupt management ************************************/ - if ((isrflags & DMA2D_FLAG_TC) != 0U) - { - if ((crflags & DMA2D_IT_TC) != 0U) - { - /* Disable the transfer complete interrupt */ - __HAL_DMA2D_DISABLE_IT(hdma2d, DMA2D_IT_TC); - - /* Clear the transfer complete flag */ - __HAL_DMA2D_CLEAR_FLAG(hdma2d, DMA2D_FLAG_TC); - - /* Update error code */ - hdma2d->ErrorCode |= HAL_DMA2D_ERROR_NONE; - - /* Change DMA2D state */ - hdma2d->State = HAL_DMA2D_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hdma2d); - - if (hdma2d->XferCpltCallback != NULL) - { - /* Transfer complete Callback */ - hdma2d->XferCpltCallback(hdma2d); - } - } - } - /* CLUT Transfer Complete Interrupt management ******************************/ - if ((isrflags & DMA2D_FLAG_CTC) != 0U) - { - if ((crflags & DMA2D_IT_CTC) != 0U) - { - /* Disable the CLUT transfer complete interrupt */ - __HAL_DMA2D_DISABLE_IT(hdma2d, DMA2D_IT_CTC); - - /* Clear the CLUT transfer complete flag */ - __HAL_DMA2D_CLEAR_FLAG(hdma2d, DMA2D_FLAG_CTC); - - /* Update error code */ - hdma2d->ErrorCode |= HAL_DMA2D_ERROR_NONE; - - /* Change DMA2D state */ - hdma2d->State = HAL_DMA2D_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hdma2d); - - /* CLUT Transfer complete Callback */ -#if (USE_HAL_DMA2D_REGISTER_CALLBACKS == 1) - hdma2d->CLUTLoadingCpltCallback(hdma2d); -#else - HAL_DMA2D_CLUTLoadingCpltCallback(hdma2d); -#endif /* USE_HAL_DMA2D_REGISTER_CALLBACKS */ - } - } - -} - -/** - * @brief Transfer watermark callback. - * @param hdma2d pointer to a DMA2D_HandleTypeDef structure that contains - * the configuration information for the DMA2D. - * @retval None - */ -__weak void HAL_DMA2D_LineEventCallback(DMA2D_HandleTypeDef *hdma2d) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hdma2d); - - /* NOTE : This function should not be modified; when the callback is needed, - the HAL_DMA2D_LineEventCallback can be implemented in the user file. - */ -} - -/** - * @brief CLUT Transfer Complete callback. - * @param hdma2d pointer to a DMA2D_HandleTypeDef structure that contains - * the configuration information for the DMA2D. - * @retval None - */ -__weak void HAL_DMA2D_CLUTLoadingCpltCallback(DMA2D_HandleTypeDef *hdma2d) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hdma2d); - - /* NOTE : This function should not be modified; when the callback is needed, - the HAL_DMA2D_CLUTLoadingCpltCallback can be implemented in the user file. - */ -} - -/** - * @} - */ - -/** @defgroup DMA2D_Exported_Functions_Group3 Peripheral Control functions - * @brief Peripheral Control functions - * -@verbatim - =============================================================================== - ##### Peripheral Control functions ##### - =============================================================================== - [..] This section provides functions allowing to: - (+) Configure the DMA2D foreground or background layer parameters. - (+) Configure the DMA2D CLUT transfer. - (+) Configure the line watermark - (+) Configure the dead time value. - (+) Enable or disable the dead time value functionality. - - -@endverbatim - * @{ - */ - -/** - * @brief Configure the DMA2D Layer according to the specified - * parameters in the DMA2D_HandleTypeDef. - * @param hdma2d Pointer to a DMA2D_HandleTypeDef structure that contains - * the configuration information for the DMA2D. - * @param LayerIdx DMA2D Layer index. - * This parameter can be one of the following values: - * DMA2D_BACKGROUND_LAYER(0) / DMA2D_FOREGROUND_LAYER(1) - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DMA2D_ConfigLayer(DMA2D_HandleTypeDef *hdma2d, uint32_t LayerIdx) -{ - DMA2D_LayerCfgTypeDef *pLayerCfg; - uint32_t regMask; - uint32_t regValue; - - /* Check the parameters */ - assert_param(IS_DMA2D_LAYER(LayerIdx)); - assert_param(IS_DMA2D_OFFSET(hdma2d->LayerCfg[LayerIdx].InputOffset)); - if (hdma2d->Init.Mode != DMA2D_R2M) - { - assert_param(IS_DMA2D_INPUT_COLOR_MODE(hdma2d->LayerCfg[LayerIdx].InputColorMode)); - if (hdma2d->Init.Mode != DMA2D_M2M) - { - assert_param(IS_DMA2D_ALPHA_MODE(hdma2d->LayerCfg[LayerIdx].AlphaMode)); - } - } - - /* Process locked */ - __HAL_LOCK(hdma2d); - - /* Change DMA2D peripheral state */ - hdma2d->State = HAL_DMA2D_STATE_BUSY; - - pLayerCfg = &hdma2d->LayerCfg[LayerIdx]; - - /* Prepare the value to be written to the BGPFCCR or FGPFCCR register */ - regValue = pLayerCfg->InputColorMode | (pLayerCfg->AlphaMode << DMA2D_BGPFCCR_AM_Pos); - regMask = DMA2D_BGPFCCR_CM | DMA2D_BGPFCCR_AM | DMA2D_BGPFCCR_ALPHA; - - - if ((pLayerCfg->InputColorMode == DMA2D_INPUT_A4) || (pLayerCfg->InputColorMode == DMA2D_INPUT_A8)) - { - regValue |= (pLayerCfg->InputAlpha & DMA2D_BGPFCCR_ALPHA); - } - else - { - regValue |= (pLayerCfg->InputAlpha << DMA2D_BGPFCCR_ALPHA_Pos); - } - - /* Configure the background DMA2D layer */ - if (LayerIdx == DMA2D_BACKGROUND_LAYER) - { - /* Write DMA2D BGPFCCR register */ - MODIFY_REG(hdma2d->Instance->BGPFCCR, regMask, regValue); - - /* DMA2D BGOR register configuration -------------------------------------*/ - WRITE_REG(hdma2d->Instance->BGOR, pLayerCfg->InputOffset); - - /* DMA2D BGCOLR register configuration -------------------------------------*/ - if ((pLayerCfg->InputColorMode == DMA2D_INPUT_A4) || (pLayerCfg->InputColorMode == DMA2D_INPUT_A8)) - { - WRITE_REG(hdma2d->Instance->BGCOLR, pLayerCfg->InputAlpha & (DMA2D_BGCOLR_BLUE | DMA2D_BGCOLR_GREEN | \ - DMA2D_BGCOLR_RED)); - } - } - /* Configure the foreground DMA2D layer */ - else - { - - - /* Write DMA2D FGPFCCR register */ - MODIFY_REG(hdma2d->Instance->FGPFCCR, regMask, regValue); - - /* DMA2D FGOR register configuration -------------------------------------*/ - WRITE_REG(hdma2d->Instance->FGOR, pLayerCfg->InputOffset); - - /* DMA2D FGCOLR register configuration -------------------------------------*/ - if ((pLayerCfg->InputColorMode == DMA2D_INPUT_A4) || (pLayerCfg->InputColorMode == DMA2D_INPUT_A8)) - { - WRITE_REG(hdma2d->Instance->FGCOLR, pLayerCfg->InputAlpha & (DMA2D_FGCOLR_BLUE | DMA2D_FGCOLR_GREEN | \ - DMA2D_FGCOLR_RED)); - } - } - /* Initialize the DMA2D state*/ - hdma2d->State = HAL_DMA2D_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hdma2d); - - return HAL_OK; -} - -/** - * @brief Configure the DMA2D CLUT Transfer. - * @param hdma2d Pointer to a DMA2D_HandleTypeDef structure that contains - * the configuration information for the DMA2D. - * @param CLUTCfg Pointer to a DMA2D_CLUTCfgTypeDef structure that contains - * the configuration information for the color look up table. - * @param LayerIdx DMA2D Layer index. - * This parameter can be one of the following values: - * DMA2D_BACKGROUND_LAYER(0) / DMA2D_FOREGROUND_LAYER(1) - * @note API obsolete and maintained for compatibility with legacy. User is invited - * to resort to HAL_DMA2D_CLUTStartLoad() instead to benefit from code compactness, - * code size and improved heap usage. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DMA2D_ConfigCLUT(DMA2D_HandleTypeDef *hdma2d, DMA2D_CLUTCfgTypeDef CLUTCfg, uint32_t LayerIdx) -{ - /* Check the parameters */ - assert_param(IS_DMA2D_LAYER(LayerIdx)); - assert_param(IS_DMA2D_CLUT_CM(CLUTCfg.CLUTColorMode)); - assert_param(IS_DMA2D_CLUT_SIZE(CLUTCfg.Size)); - - /* Process locked */ - __HAL_LOCK(hdma2d); - - /* Change DMA2D peripheral state */ - hdma2d->State = HAL_DMA2D_STATE_BUSY; - - /* Configure the CLUT of the background DMA2D layer */ - if (LayerIdx == DMA2D_BACKGROUND_LAYER) - { - /* Write background CLUT memory address */ - WRITE_REG(hdma2d->Instance->BGCMAR, (uint32_t)CLUTCfg.pCLUT); - - /* Write background CLUT size and CLUT color mode */ - MODIFY_REG(hdma2d->Instance->BGPFCCR, (DMA2D_BGPFCCR_CS | DMA2D_BGPFCCR_CCM), - ((CLUTCfg.Size << DMA2D_BGPFCCR_CS_Pos) | (CLUTCfg.CLUTColorMode << DMA2D_BGPFCCR_CCM_Pos))); - } - /* Configure the CLUT of the foreground DMA2D layer */ - else - { - /* Write foreground CLUT memory address */ - WRITE_REG(hdma2d->Instance->FGCMAR, (uint32_t)CLUTCfg.pCLUT); - - /* Write foreground CLUT size and CLUT color mode */ - MODIFY_REG(hdma2d->Instance->FGPFCCR, (DMA2D_FGPFCCR_CS | DMA2D_FGPFCCR_CCM), - ((CLUTCfg.Size << DMA2D_FGPFCCR_CS_Pos) | (CLUTCfg.CLUTColorMode << DMA2D_FGPFCCR_CCM_Pos))); - } - - /* Set the DMA2D state to Ready*/ - hdma2d->State = HAL_DMA2D_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hdma2d); - - return HAL_OK; -} - - -/** - * @brief Configure the line watermark. - * @param hdma2d Pointer to a DMA2D_HandleTypeDef structure that contains - * the configuration information for the DMA2D. - * @param Line Line Watermark configuration (maximum 16-bit long value expected). - * @note HAL_DMA2D_ProgramLineEvent() API enables the transfer watermark interrupt. - * @note The transfer watermark interrupt is disabled once it has occurred. - * @retval HAL status - */ - -HAL_StatusTypeDef HAL_DMA2D_ProgramLineEvent(DMA2D_HandleTypeDef *hdma2d, uint32_t Line) -{ - /* Check the parameters */ - if (Line > DMA2D_LWR_LW) - { - return HAL_ERROR; - } - else - { - /* Process locked */ - __HAL_LOCK(hdma2d); - - /* Change DMA2D peripheral state */ - hdma2d->State = HAL_DMA2D_STATE_BUSY; - - /* Sets the Line watermark configuration */ - WRITE_REG(hdma2d->Instance->LWR, Line); - - /* Enable the Line interrupt */ - __HAL_DMA2D_ENABLE_IT(hdma2d, DMA2D_IT_TW); - - /* Initialize the DMA2D state*/ - hdma2d->State = HAL_DMA2D_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hdma2d); - - return HAL_OK; - } -} - -/** - * @brief Enable DMA2D dead time feature. - * @param hdma2d DMA2D handle. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DMA2D_EnableDeadTime(DMA2D_HandleTypeDef *hdma2d) -{ - /* Process Locked */ - __HAL_LOCK(hdma2d); - - hdma2d->State = HAL_DMA2D_STATE_BUSY; - - /* Set DMA2D_AMTCR EN bit */ - SET_BIT(hdma2d->Instance->AMTCR, DMA2D_AMTCR_EN); - - hdma2d->State = HAL_DMA2D_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hdma2d); - - return HAL_OK; -} - -/** - * @brief Disable DMA2D dead time feature. - * @param hdma2d DMA2D handle. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DMA2D_DisableDeadTime(DMA2D_HandleTypeDef *hdma2d) -{ - /* Process Locked */ - __HAL_LOCK(hdma2d); - - hdma2d->State = HAL_DMA2D_STATE_BUSY; - - /* Clear DMA2D_AMTCR EN bit */ - CLEAR_BIT(hdma2d->Instance->AMTCR, DMA2D_AMTCR_EN); - - hdma2d->State = HAL_DMA2D_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hdma2d); - - return HAL_OK; -} - -/** - * @brief Configure dead time. - * @note The dead time value represents the guaranteed minimum number of cycles between - * two consecutive transactions on the AHB bus. - * @param hdma2d DMA2D handle. - * @param DeadTime dead time value. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DMA2D_ConfigDeadTime(DMA2D_HandleTypeDef *hdma2d, uint8_t DeadTime) -{ - /* Process Locked */ - __HAL_LOCK(hdma2d); - - hdma2d->State = HAL_DMA2D_STATE_BUSY; - - /* Set DMA2D_AMTCR DT field */ - MODIFY_REG(hdma2d->Instance->AMTCR, DMA2D_AMTCR_DT, (((uint32_t) DeadTime) << DMA2D_AMTCR_DT_Pos)); - - hdma2d->State = HAL_DMA2D_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hdma2d); - - return HAL_OK; -} - -/** - * @} - */ - - -/** @defgroup DMA2D_Exported_Functions_Group4 Peripheral State and Error functions - * @brief Peripheral State functions - * -@verbatim - =============================================================================== - ##### Peripheral State and Errors functions ##### - =============================================================================== - [..] - This subsection provides functions allowing to: - (+) Get the DMA2D state - (+) Get the DMA2D error code - -@endverbatim - * @{ - */ - -/** - * @brief Return the DMA2D state - * @param hdma2d pointer to a DMA2D_HandleTypeDef structure that contains - * the configuration information for the DMA2D. - * @retval HAL state - */ -HAL_DMA2D_StateTypeDef HAL_DMA2D_GetState(DMA2D_HandleTypeDef *hdma2d) -{ - return hdma2d->State; -} - -/** - * @brief Return the DMA2D error code - * @param hdma2d pointer to a DMA2D_HandleTypeDef structure that contains - * the configuration information for DMA2D. - * @retval DMA2D Error Code - */ -uint32_t HAL_DMA2D_GetError(DMA2D_HandleTypeDef *hdma2d) -{ - return hdma2d->ErrorCode; -} - -/** - * @} - */ - -/** - * @} - */ - - -/** @defgroup DMA2D_Private_Functions DMA2D Private Functions - * @{ - */ - -/** - * @brief Set the DMA2D transfer parameters. - * @param hdma2d Pointer to a DMA2D_HandleTypeDef structure that contains - * the configuration information for the specified DMA2D. - * @param pdata The source memory Buffer address - * @param DstAddress The destination memory Buffer address - * @param Width The width of data to be transferred from source to destination. - * @param Height The height of data to be transferred from source to destination. - * @retval HAL status - */ -static void DMA2D_SetConfig(DMA2D_HandleTypeDef *hdma2d, uint32_t pdata, uint32_t DstAddress, uint32_t Width, - uint32_t Height) -{ - uint32_t tmp; - uint32_t tmp1; - uint32_t tmp2; - uint32_t tmp3; - uint32_t tmp4; - - /* Configure DMA2D data size */ - MODIFY_REG(hdma2d->Instance->NLR, (DMA2D_NLR_NL | DMA2D_NLR_PL), (Height | (Width << DMA2D_NLR_PL_Pos))); - - /* Configure DMA2D destination address */ - WRITE_REG(hdma2d->Instance->OMAR, DstAddress); - - /* Register to memory DMA2D mode selected */ - if (hdma2d->Init.Mode == DMA2D_R2M) - { - tmp1 = pdata & DMA2D_OCOLR_ALPHA_1; - tmp2 = pdata & DMA2D_OCOLR_RED_1; - tmp3 = pdata & DMA2D_OCOLR_GREEN_1; - tmp4 = pdata & DMA2D_OCOLR_BLUE_1; - - /* Prepare the value to be written to the OCOLR register according to the color mode */ - if (hdma2d->Init.ColorMode == DMA2D_OUTPUT_ARGB8888) - { - tmp = (tmp3 | tmp2 | tmp1 | tmp4); - } - else if (hdma2d->Init.ColorMode == DMA2D_OUTPUT_RGB888) - { - tmp = (tmp3 | tmp2 | tmp4); - } - else if (hdma2d->Init.ColorMode == DMA2D_OUTPUT_RGB565) - { - tmp2 = (tmp2 >> 19U); - tmp3 = (tmp3 >> 10U); - tmp4 = (tmp4 >> 3U); - tmp = ((tmp3 << 5U) | (tmp2 << 11U) | tmp4); - } - else if (hdma2d->Init.ColorMode == DMA2D_OUTPUT_ARGB1555) - { - tmp1 = (tmp1 >> 31U); - tmp2 = (tmp2 >> 19U); - tmp3 = (tmp3 >> 11U); - tmp4 = (tmp4 >> 3U); - tmp = ((tmp3 << 5U) | (tmp2 << 10U) | (tmp1 << 15U) | tmp4); - } - else /* Dhdma2d->Init.ColorMode = DMA2D_OUTPUT_ARGB4444 */ - { - tmp1 = (tmp1 >> 28U); - tmp2 = (tmp2 >> 20U); - tmp3 = (tmp3 >> 12U); - tmp4 = (tmp4 >> 4U); - tmp = ((tmp3 << 4U) | (tmp2 << 8U) | (tmp1 << 12U) | tmp4); - } - /* Write to DMA2D OCOLR register */ - WRITE_REG(hdma2d->Instance->OCOLR, tmp); - } - else /* M2M, M2M_PFC or M2M_Blending DMA2D Mode */ - { - /* Configure DMA2D source address */ - WRITE_REG(hdma2d->Instance->FGMAR, pdata); - } -} - -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ -#endif /* DMA2D */ -#endif /* HAL_DMA2D_MODULE_ENABLED */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c deleted file mode 100644 index 6e073768347ad7..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c +++ /dev/null @@ -1,315 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_dma_ex.c - * @author MCD Application Team - * @brief DMA Extension HAL module driver - * This file provides firmware functions to manage the following - * functionalities of the DMA Extension peripheral: - * + Extended features functions - * - @verbatim - ============================================================================== - ##### How to use this driver ##### - ============================================================================== - [..] - The DMA Extension HAL driver can be used as follows: - (#) Start a multi buffer transfer using the HAL_DMA_MultiBufferStart() function - for polling mode or HAL_DMA_MultiBufferStart_IT() for interrupt mode. - - -@- In Memory-to-Memory transfer mode, Multi (Double) Buffer mode is not allowed. - -@- When Multi (Double) Buffer mode is enabled the, transfer is circular by default. - -@- In Multi (Double) buffer mode, it is possible to update the base address for - the AHB memory port on the fly (DMA_SxM0AR or DMA_SxM1AR) when the stream is enabled. - - @endverbatim - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @defgroup DMAEx DMAEx - * @brief DMA Extended HAL module driver - * @{ - */ - -#ifdef HAL_DMA_MODULE_ENABLED - -/* Private types -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private Constants ---------------------------------------------------------*/ -/* Private macros ------------------------------------------------------------*/ -/* Private functions ---------------------------------------------------------*/ -/** @addtogroup DMAEx_Private_Functions - * @{ - */ -static void DMA_MultiBufferSetConfig(DMA_HandleTypeDef *hdma, uint32_t SrcAddress, uint32_t DstAddress, uint32_t DataLength); -/** - * @} - */ - -/* Exported functions ---------------------------------------------------------*/ - -/** @addtogroup DMAEx_Exported_Functions - * @{ - */ - - -/** @addtogroup DMAEx_Exported_Functions_Group1 - * -@verbatim - =============================================================================== - ##### Extended features functions ##### - =============================================================================== - [..] This section provides functions allowing to: - (+) Configure the source, destination address and data length and - Start MultiBuffer DMA transfer - (+) Configure the source, destination address and data length and - Start MultiBuffer DMA transfer with interrupt - (+) Change on the fly the memory0 or memory1 address. - -@endverbatim - * @{ - */ - - -/** - * @brief Starts the multi_buffer DMA Transfer. - * @param hdma pointer to a DMA_HandleTypeDef structure that contains - * the configuration information for the specified DMA Stream. - * @param SrcAddress The source memory Buffer address - * @param DstAddress The destination memory Buffer address - * @param SecondMemAddress The second memory Buffer address in case of multi buffer Transfer - * @param DataLength The length of data to be transferred from source to destination - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DMAEx_MultiBufferStart(DMA_HandleTypeDef *hdma, uint32_t SrcAddress, uint32_t DstAddress, uint32_t SecondMemAddress, uint32_t DataLength) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Check the parameters */ - assert_param(IS_DMA_BUFFER_SIZE(DataLength)); - - /* Memory-to-memory transfer not supported in double buffering mode */ - if (hdma->Init.Direction == DMA_MEMORY_TO_MEMORY) - { - hdma->ErrorCode = HAL_DMA_ERROR_NOT_SUPPORTED; - status = HAL_ERROR; - } - else - { - /* Process Locked */ - __HAL_LOCK(hdma); - - if(HAL_DMA_STATE_READY == hdma->State) - { - /* Change DMA peripheral state */ - hdma->State = HAL_DMA_STATE_BUSY; - - /* Enable the double buffer mode */ - hdma->Instance->CR |= (uint32_t)DMA_SxCR_DBM; - - /* Configure DMA Stream destination address */ - hdma->Instance->M1AR = SecondMemAddress; - - /* Configure the source, destination address and the data length */ - DMA_MultiBufferSetConfig(hdma, SrcAddress, DstAddress, DataLength); - - /* Enable the peripheral */ - __HAL_DMA_ENABLE(hdma); - } - else - { - /* Return error status */ - status = HAL_BUSY; - } - } - return status; -} - -/** - * @brief Starts the multi_buffer DMA Transfer with interrupt enabled. - * @param hdma pointer to a DMA_HandleTypeDef structure that contains - * the configuration information for the specified DMA Stream. - * @param SrcAddress The source memory Buffer address - * @param DstAddress The destination memory Buffer address - * @param SecondMemAddress The second memory Buffer address in case of multi buffer Transfer - * @param DataLength The length of data to be transferred from source to destination - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DMAEx_MultiBufferStart_IT(DMA_HandleTypeDef *hdma, uint32_t SrcAddress, uint32_t DstAddress, uint32_t SecondMemAddress, uint32_t DataLength) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Check the parameters */ - assert_param(IS_DMA_BUFFER_SIZE(DataLength)); - - /* Memory-to-memory transfer not supported in double buffering mode */ - if (hdma->Init.Direction == DMA_MEMORY_TO_MEMORY) - { - hdma->ErrorCode = HAL_DMA_ERROR_NOT_SUPPORTED; - return HAL_ERROR; - } - - /* Check callback functions */ - if ((NULL == hdma->XferCpltCallback) || (NULL == hdma->XferM1CpltCallback) || (NULL == hdma->XferErrorCallback)) - { - hdma->ErrorCode = HAL_DMA_ERROR_PARAM; - return HAL_ERROR; - } - - /* Process locked */ - __HAL_LOCK(hdma); - - if(HAL_DMA_STATE_READY == hdma->State) - { - /* Change DMA peripheral state */ - hdma->State = HAL_DMA_STATE_BUSY; - - /* Initialize the error code */ - hdma->ErrorCode = HAL_DMA_ERROR_NONE; - - /* Enable the Double buffer mode */ - hdma->Instance->CR |= (uint32_t)DMA_SxCR_DBM; - - /* Configure DMA Stream destination address */ - hdma->Instance->M1AR = SecondMemAddress; - - /* Configure the source, destination address and the data length */ - DMA_MultiBufferSetConfig(hdma, SrcAddress, DstAddress, DataLength); - - /* Clear all flags */ - __HAL_DMA_CLEAR_FLAG (hdma, __HAL_DMA_GET_TC_FLAG_INDEX(hdma)); - __HAL_DMA_CLEAR_FLAG (hdma, __HAL_DMA_GET_HT_FLAG_INDEX(hdma)); - __HAL_DMA_CLEAR_FLAG (hdma, __HAL_DMA_GET_TE_FLAG_INDEX(hdma)); - __HAL_DMA_CLEAR_FLAG (hdma, __HAL_DMA_GET_DME_FLAG_INDEX(hdma)); - __HAL_DMA_CLEAR_FLAG (hdma, __HAL_DMA_GET_FE_FLAG_INDEX(hdma)); - - /* Enable Common interrupts*/ - hdma->Instance->CR |= DMA_IT_TC | DMA_IT_TE | DMA_IT_DME; - hdma->Instance->FCR |= DMA_IT_FE; - - if((hdma->XferHalfCpltCallback != NULL) || (hdma->XferM1HalfCpltCallback != NULL)) - { - hdma->Instance->CR |= DMA_IT_HT; - } - - /* Enable the peripheral */ - __HAL_DMA_ENABLE(hdma); - } - else - { - /* Process unlocked */ - __HAL_UNLOCK(hdma); - - /* Return error status */ - status = HAL_BUSY; - } - return status; -} - -/** - * @brief Change the memory0 or memory1 address on the fly. - * @param hdma pointer to a DMA_HandleTypeDef structure that contains - * the configuration information for the specified DMA Stream. - * @param Address The new address - * @param memory the memory to be changed, This parameter can be one of - * the following values: - * MEMORY0 / - * MEMORY1 - * @note The MEMORY0 address can be changed only when the current transfer use - * MEMORY1 and the MEMORY1 address can be changed only when the current - * transfer use MEMORY0. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DMAEx_ChangeMemory(DMA_HandleTypeDef *hdma, uint32_t Address, HAL_DMA_MemoryTypeDef memory) -{ - if(memory == MEMORY0) - { - /* change the memory0 address */ - hdma->Instance->M0AR = Address; - } - else - { - /* change the memory1 address */ - hdma->Instance->M1AR = Address; - } - - return HAL_OK; -} - -/** - * @} - */ - -/** - * @} - */ - -/** @addtogroup DMAEx_Private_Functions - * @{ - */ - -/** - * @brief Set the DMA Transfer parameter. - * @param hdma pointer to a DMA_HandleTypeDef structure that contains - * the configuration information for the specified DMA Stream. - * @param SrcAddress The source memory Buffer address - * @param DstAddress The destination memory Buffer address - * @param DataLength The length of data to be transferred from source to destination - * @retval HAL status - */ -static void DMA_MultiBufferSetConfig(DMA_HandleTypeDef *hdma, uint32_t SrcAddress, uint32_t DstAddress, uint32_t DataLength) -{ - /* Configure DMA Stream data length */ - hdma->Instance->NDTR = DataLength; - - /* Peripheral to Memory */ - if((hdma->Init.Direction) == DMA_MEMORY_TO_PERIPH) - { - /* Configure DMA Stream destination address */ - hdma->Instance->PAR = DstAddress; - - /* Configure DMA Stream source address */ - hdma->Instance->M0AR = SrcAddress; - } - /* Memory to Peripheral */ - else - { - /* Configure DMA Stream source address */ - hdma->Instance->PAR = SrcAddress; - - /* Configure DMA Stream destination address */ - hdma->Instance->M0AR = DstAddress; - } -} - -/** - * @} - */ - -#endif /* HAL_DMA_MODULE_ENABLED */ -/** - * @} - */ - -/** - * @} - */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dsi.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dsi.c deleted file mode 100644 index da57a8fa69decb..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dsi.c +++ /dev/null @@ -1,2731 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_dsi.c - * @author MCD Application Team - * @brief DSI HAL module driver. - * This file provides firmware functions to manage the following - * functionalities of the DSI peripheral: - * + Initialization and de-initialization functions - * + IO operation functions - * + Peripheral Control functions - * + Peripheral State and Errors functions - @verbatim - ============================================================================== - ##### How to use this driver ##### - ============================================================================== - [..] - The DSI HAL driver can be used as follows: - - (#) Declare a DSI_HandleTypeDef handle structure, for example: DSI_HandleTypeDef hdsi; - - (#) Initialize the DSI low level resources by implementing the HAL_DSI_MspInit() API: - (##) Enable the DSI interface clock - (##) NVIC configuration if you need to use interrupt process - (+++) Configure the DSI interrupt priority - (+++) Enable the NVIC DSI IRQ Channel - - (#) Initialize the DSI Host peripheral, the required PLL parameters, number of lances and - TX Escape clock divider by calling the HAL_DSI_Init() API which calls HAL_DSI_MspInit(). - - *** Configuration *** - ========================= - [..] - (#) Use HAL_DSI_ConfigAdaptedCommandMode() function to configure the DSI host in adapted - command mode. - - (#) When operating in video mode , use HAL_DSI_ConfigVideoMode() to configure the DSI host. - - (#) Function HAL_DSI_ConfigCommand() is used to configure the DSI commands behavior in low power mode. - - (#) To configure the DSI PHY timings parameters, use function HAL_DSI_ConfigPhyTimer(). - - (#) The DSI Host can be started/stopped using respectively functions HAL_DSI_Start() and HAL_DSI_Stop(). - Functions HAL_DSI_ShortWrite(), HAL_DSI_LongWrite() and HAL_DSI_Read() allows respectively - to write DSI short packets, long packets and to read DSI packets. - - (#) The DSI Host Offers two Low power modes : - (++) Low Power Mode on data lanes only: Only DSI data lanes are shut down. - It is possible to enter/exit from this mode using respectively functions HAL_DSI_EnterULPMData() - and HAL_DSI_ExitULPMData() - - (++) Low Power Mode on data and clock lanes : All DSI lanes are shut down including data and clock lanes. - It is possible to enter/exit from this mode using respectively functions HAL_DSI_EnterULPM() - and HAL_DSI_ExitULPM() - - (#) To control DSI state you can use the following function: HAL_DSI_GetState() - - *** Error management *** - ======================== - [..] - (#) User can select the DSI errors to be reported/monitored using function HAL_DSI_ConfigErrorMonitor() - When an error occurs, the callback HAL_DSI_ErrorCallback() is asserted and then user can retrieve - the error code by calling function HAL_DSI_GetError() - - *** DSI HAL driver macros list *** - ============================================= - [..] - Below the list of most used macros in DSI HAL driver. - - (+) __HAL_DSI_ENABLE: Enable the DSI Host. - (+) __HAL_DSI_DISABLE: Disable the DSI Host. - (+) __HAL_DSI_WRAPPER_ENABLE: Enables the DSI wrapper. - (+) __HAL_DSI_WRAPPER_DISABLE: Disable the DSI wrapper. - (+) __HAL_DSI_PLL_ENABLE: Enables the DSI PLL. - (+) __HAL_DSI_PLL_DISABLE: Disables the DSI PLL. - (+) __HAL_DSI_REG_ENABLE: Enables the DSI regulator. - (+) __HAL_DSI_REG_DISABLE: Disables the DSI regulator. - (+) __HAL_DSI_GET_FLAG: Get the DSI pending flags. - (+) __HAL_DSI_CLEAR_FLAG: Clears the DSI pending flags. - (+) __HAL_DSI_ENABLE_IT: Enables the specified DSI interrupts. - (+) __HAL_DSI_DISABLE_IT: Disables the specified DSI interrupts. - (+) __HAL_DSI_GET_IT_SOURCE: Checks whether the specified DSI interrupt source is enabled or not. - - [..] - (@) You can refer to the DSI HAL driver header file for more useful macros - - *** Callback registration *** - ============================================= - [..] - The compilation define USE_HAL_DSI_REGISTER_CALLBACKS when set to 1 - allows the user to configure dynamically the driver callbacks. - Use Function HAL_DSI_RegisterCallback() to register a callback. - - [..] - Function HAL_DSI_RegisterCallback() allows to register following callbacks: - (+) TearingEffectCallback : DSI Tearing Effect Callback. - (+) EndOfRefreshCallback : DSI End Of Refresh Callback. - (+) ErrorCallback : DSI Error Callback - (+) MspInitCallback : DSI MspInit. - (+) MspDeInitCallback : DSI MspDeInit. - [..] - This function takes as parameters the HAL peripheral handle, the callback ID - and a pointer to the user callback function. - - [..] - Use function HAL_DSI_UnRegisterCallback() to reset a callback to the default - weak function. - HAL_DSI_UnRegisterCallback takes as parameters the HAL peripheral handle, - and the callback ID. - [..] - This function allows to reset following callbacks: - (+) TearingEffectCallback : DSI Tearing Effect Callback. - (+) EndOfRefreshCallback : DSI End Of Refresh Callback. - (+) ErrorCallback : DSI Error Callback - (+) MspInitCallback : DSI MspInit. - (+) MspDeInitCallback : DSI MspDeInit. - - [..] - By default, after the HAL_DSI_Init and when the state is HAL_DSI_STATE_RESET - all callbacks are set to the corresponding weak functions: - examples HAL_DSI_TearingEffectCallback(), HAL_DSI_EndOfRefreshCallback(). - Exception done for MspInit and MspDeInit functions that are respectively - reset to the legacy weak (surcharged) functions in the HAL_DSI_Init() - and HAL_DSI_DeInit() only when these callbacks are null (not registered beforehand). - If not, MspInit or MspDeInit are not null, the HAL_DSI_Init() and HAL_DSI_DeInit() - keep and use the user MspInit/MspDeInit callbacks (registered beforehand). - - [..] - Callbacks can be registered/unregistered in HAL_DSI_STATE_READY state only. - Exception done MspInit/MspDeInit that can be registered/unregistered - in HAL_DSI_STATE_READY or HAL_DSI_STATE_RESET state, - thus registered (user) MspInit/DeInit callbacks can be used during the Init/DeInit. - In that case first register the MspInit/MspDeInit user callbacks - using HAL_DSI_RegisterCallback() before calling HAL_DSI_DeInit() - or HAL_DSI_Init() function. - - [..] - When The compilation define USE_HAL_DSI_REGISTER_CALLBACKS is set to 0 or - not defined, the callback registration feature is not available and all callbacks - are set to the corresponding weak functions. - - @endverbatim - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -#ifdef HAL_DSI_MODULE_ENABLED - -#if defined(DSI) - -/** @addtogroup DSI - * @{ - */ - -/* Private types -------------------------------------------------------------*/ -/* Private defines -----------------------------------------------------------*/ -/** @addtogroup DSI_Private_Constants - * @{ - */ -#define DSI_TIMEOUT_VALUE ((uint32_t)1000U) /* 1s */ - -#define DSI_ERROR_ACK_MASK (DSI_ISR0_AE0 | DSI_ISR0_AE1 | DSI_ISR0_AE2 | DSI_ISR0_AE3 | \ - DSI_ISR0_AE4 | DSI_ISR0_AE5 | DSI_ISR0_AE6 | DSI_ISR0_AE7 | \ - DSI_ISR0_AE8 | DSI_ISR0_AE9 | DSI_ISR0_AE10 | DSI_ISR0_AE11 | \ - DSI_ISR0_AE12 | DSI_ISR0_AE13 | DSI_ISR0_AE14 | DSI_ISR0_AE15) -#define DSI_ERROR_PHY_MASK (DSI_ISR0_PE0 | DSI_ISR0_PE1 | DSI_ISR0_PE2 | DSI_ISR0_PE3 | DSI_ISR0_PE4) -#define DSI_ERROR_TX_MASK DSI_ISR1_TOHSTX -#define DSI_ERROR_RX_MASK DSI_ISR1_TOLPRX -#define DSI_ERROR_ECC_MASK (DSI_ISR1_ECCSE | DSI_ISR1_ECCME) -#define DSI_ERROR_CRC_MASK DSI_ISR1_CRCE -#define DSI_ERROR_PSE_MASK DSI_ISR1_PSE -#define DSI_ERROR_EOT_MASK DSI_ISR1_EOTPE -#define DSI_ERROR_OVF_MASK DSI_ISR1_LPWRE -#define DSI_ERROR_GEN_MASK (DSI_ISR1_GCWRE | DSI_ISR1_GPWRE | DSI_ISR1_GPTXE | DSI_ISR1_GPRDE | DSI_ISR1_GPRXE) -/** - * @} - */ - -/* Private variables ---------------------------------------------------------*/ -/* Private constants ---------------------------------------------------------*/ -/* Private macros ------------------------------------------------------------*/ -/* Private function prototypes -----------------------------------------------*/ -static void DSI_ConfigPacketHeader(DSI_TypeDef *DSIx, uint32_t ChannelID, uint32_t DataType, uint32_t Data0, - uint32_t Data1); - -static HAL_StatusTypeDef DSI_ShortWrite(DSI_HandleTypeDef *hdsi, - uint32_t ChannelID, - uint32_t Mode, - uint32_t Param1, - uint32_t Param2); - -/* Private functions ---------------------------------------------------------*/ -/** - * @brief Generic DSI packet header configuration - * @param DSIx Pointer to DSI register base - * @param ChannelID Virtual channel ID of the header packet - * @param DataType Packet data type of the header packet - * This parameter can be any value of : - * @arg DSI_SHORT_WRITE_PKT_Data_Type - * @arg DSI_LONG_WRITE_PKT_Data_Type - * @arg DSI_SHORT_READ_PKT_Data_Type - * @arg DSI_MAX_RETURN_PKT_SIZE - * @param Data0 Word count LSB - * @param Data1 Word count MSB - * @retval None - */ -static void DSI_ConfigPacketHeader(DSI_TypeDef *DSIx, - uint32_t ChannelID, - uint32_t DataType, - uint32_t Data0, - uint32_t Data1) -{ - /* Update the DSI packet header with new information */ - DSIx->GHCR = (DataType | (ChannelID << 6U) | (Data0 << 8U) | (Data1 << 16U)); -} - -/** - * @brief write short DCS or short Generic command - * @param hdsi pointer to a DSI_HandleTypeDef structure that contains - * the configuration information for the DSI. - * @param ChannelID Virtual channel ID. - * @param Mode DSI short packet data type. - * This parameter can be any value of @arg DSI_SHORT_WRITE_PKT_Data_Type. - * @param Param1 DSC command or first generic parameter. - * This parameter can be any value of @arg DSI_DCS_Command or a - * generic command code. - * @param Param2 DSC parameter or second generic parameter. - * @retval HAL status - */ -static HAL_StatusTypeDef DSI_ShortWrite(DSI_HandleTypeDef *hdsi, - uint32_t ChannelID, - uint32_t Mode, - uint32_t Param1, - uint32_t Param2) -{ - uint32_t tickstart; - - /* Get tick */ - tickstart = HAL_GetTick(); - - /* Wait for Command FIFO Empty */ - while((hdsi->Instance->GPSR & DSI_GPSR_CMDFE) == 0U) - { - /* Check for the Timeout */ - if((HAL_GetTick() - tickstart ) > DSI_TIMEOUT_VALUE) - { - return HAL_TIMEOUT; - } - } - - /* Configure the packet to send a short DCS command with 0 or 1 parameter */ - /* Update the DSI packet header with new information */ - hdsi->Instance->GHCR = (Mode | (ChannelID << 6U) | (Param1 << 8U) | (Param2 << 16U)); - - return HAL_OK; -} - -/* Exported functions --------------------------------------------------------*/ -/** @addtogroup DSI_Exported_Functions - * @{ - */ - -/** @defgroup DSI_Group1 Initialization and Configuration functions - * @brief Initialization and Configuration functions - * -@verbatim - =============================================================================== - ##### Initialization and Configuration functions ##### - =============================================================================== - [..] This section provides functions allowing to: - (+) Initialize and configure the DSI - (+) De-initialize the DSI - -@endverbatim - * @{ - */ - -/** - * @brief Initializes the DSI according to the specified - * parameters in the DSI_InitTypeDef and create the associated handle. - * @param hdsi pointer to a DSI_HandleTypeDef structure that contains - * the configuration information for the DSI. - * @param PLLInit pointer to a DSI_PLLInitTypeDef structure that contains - * the PLL Clock structure definition for the DSI. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DSI_Init(DSI_HandleTypeDef *hdsi, DSI_PLLInitTypeDef *PLLInit) -{ - uint32_t tickstart; - uint32_t unitIntervalx4; - uint32_t tempIDF; - - /* Check the DSI handle allocation */ - if (hdsi == NULL) - { - return HAL_ERROR; - } - - /* Check function parameters */ - assert_param(IS_DSI_PLL_NDIV(PLLInit->PLLNDIV)); - assert_param(IS_DSI_PLL_IDF(PLLInit->PLLIDF)); - assert_param(IS_DSI_PLL_ODF(PLLInit->PLLODF)); - assert_param(IS_DSI_AUTO_CLKLANE_CONTROL(hdsi->Init.AutomaticClockLaneControl)); - assert_param(IS_DSI_NUMBER_OF_LANES(hdsi->Init.NumberOfLanes)); - -#if (USE_HAL_DSI_REGISTER_CALLBACKS == 1) - if (hdsi->State == HAL_DSI_STATE_RESET) - { - /* Reset the DSI callback to the legacy weak callbacks */ - hdsi->TearingEffectCallback = HAL_DSI_TearingEffectCallback; /* Legacy weak TearingEffectCallback */ - hdsi->EndOfRefreshCallback = HAL_DSI_EndOfRefreshCallback; /* Legacy weak EndOfRefreshCallback */ - hdsi->ErrorCallback = HAL_DSI_ErrorCallback; /* Legacy weak ErrorCallback */ - - if (hdsi->MspInitCallback == NULL) - { - hdsi->MspInitCallback = HAL_DSI_MspInit; - } - /* Initialize the low level hardware */ - hdsi->MspInitCallback(hdsi); - } -#else - if (hdsi->State == HAL_DSI_STATE_RESET) - { - /* Initialize the low level hardware */ - HAL_DSI_MspInit(hdsi); - } -#endif /* USE_HAL_DSI_REGISTER_CALLBACKS */ - - /* Change DSI peripheral state */ - hdsi->State = HAL_DSI_STATE_BUSY; - - /**************** Turn on the regulator and enable the DSI PLL ****************/ - - /* Enable the regulator */ - __HAL_DSI_REG_ENABLE(hdsi); - - /* Get tick */ - tickstart = HAL_GetTick(); - - /* Wait until the regulator is ready */ - while (__HAL_DSI_GET_FLAG(hdsi, DSI_FLAG_RRS) == 0U) - { - /* Check for the Timeout */ - if ((HAL_GetTick() - tickstart) > DSI_TIMEOUT_VALUE) - { - return HAL_TIMEOUT; - } - } - - /* Set the PLL division factors */ - hdsi->Instance->WRPCR &= ~(DSI_WRPCR_PLL_NDIV | DSI_WRPCR_PLL_IDF | DSI_WRPCR_PLL_ODF); - hdsi->Instance->WRPCR |= (((PLLInit->PLLNDIV) << 2U) | ((PLLInit->PLLIDF) << 11U) | ((PLLInit->PLLODF) << 16U)); - - /* Enable the DSI PLL */ - __HAL_DSI_PLL_ENABLE(hdsi); - - /* Get tick */ - tickstart = HAL_GetTick(); - - /* Wait for the lock of the PLL */ - while (__HAL_DSI_GET_FLAG(hdsi, DSI_FLAG_PLLLS) == 0U) - { - /* Check for the Timeout */ - if ((HAL_GetTick() - tickstart) > DSI_TIMEOUT_VALUE) - { - return HAL_TIMEOUT; - } - } - - /*************************** Set the PHY parameters ***************************/ - - /* D-PHY clock and digital enable*/ - hdsi->Instance->PCTLR |= (DSI_PCTLR_CKE | DSI_PCTLR_DEN); - - /* Clock lane configuration */ - hdsi->Instance->CLCR &= ~(DSI_CLCR_DPCC | DSI_CLCR_ACR); - hdsi->Instance->CLCR |= (DSI_CLCR_DPCC | hdsi->Init.AutomaticClockLaneControl); - - /* Configure the number of active data lanes */ - hdsi->Instance->PCONFR &= ~DSI_PCONFR_NL; - hdsi->Instance->PCONFR |= hdsi->Init.NumberOfLanes; - - /************************ Set the DSI clock parameters ************************/ - - /* Set the TX escape clock division factor */ - hdsi->Instance->CCR &= ~DSI_CCR_TXECKDIV; - hdsi->Instance->CCR |= hdsi->Init.TXEscapeCkdiv; - - /* Calculate the bit period in high-speed mode in unit of 0.25 ns (UIX4) */ - /* The equation is : UIX4 = IntegerPart( (1000/F_PHY_Mhz) * 4 ) */ - /* Where : F_PHY_Mhz = (NDIV * HSE_Mhz) / (IDF * ODF) */ - tempIDF = (PLLInit->PLLIDF > 0U) ? PLLInit->PLLIDF : 1U; - unitIntervalx4 = (4000000U * tempIDF * ((1UL << (0x3U & PLLInit->PLLODF)))) / ((HSE_VALUE / 1000U) * PLLInit->PLLNDIV); - - /* Set the bit period in high-speed mode */ - hdsi->Instance->WPCR[0U] &= ~DSI_WPCR0_UIX4; - hdsi->Instance->WPCR[0U] |= unitIntervalx4; - - /****************************** Error management *****************************/ - - /* Disable all error interrupts and reset the Error Mask */ - hdsi->Instance->IER[0U] = 0U; - hdsi->Instance->IER[1U] = 0U; - hdsi->ErrorMsk = 0U; - - /* Initialise the error code */ - hdsi->ErrorCode = HAL_DSI_ERROR_NONE; - - /* Initialize the DSI state*/ - hdsi->State = HAL_DSI_STATE_READY; - - return HAL_OK; -} - -/** - * @brief De-initializes the DSI peripheral registers to their default reset - * values. - * @param hdsi pointer to a DSI_HandleTypeDef structure that contains - * the configuration information for the DSI. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DSI_DeInit(DSI_HandleTypeDef *hdsi) -{ - /* Check the DSI handle allocation */ - if (hdsi == NULL) - { - return HAL_ERROR; - } - - /* Change DSI peripheral state */ - hdsi->State = HAL_DSI_STATE_BUSY; - - /* Disable the DSI wrapper */ - __HAL_DSI_WRAPPER_DISABLE(hdsi); - - /* Disable the DSI host */ - __HAL_DSI_DISABLE(hdsi); - - /* D-PHY clock and digital disable */ - hdsi->Instance->PCTLR &= ~(DSI_PCTLR_CKE | DSI_PCTLR_DEN); - - /* Turn off the DSI PLL */ - __HAL_DSI_PLL_DISABLE(hdsi); - - /* Disable the regulator */ - __HAL_DSI_REG_DISABLE(hdsi); - -#if (USE_HAL_DSI_REGISTER_CALLBACKS == 1) - if (hdsi->MspDeInitCallback == NULL) - { - hdsi->MspDeInitCallback = HAL_DSI_MspDeInit; - } - /* DeInit the low level hardware */ - hdsi->MspDeInitCallback(hdsi); -#else - /* DeInit the low level hardware */ - HAL_DSI_MspDeInit(hdsi); -#endif /* USE_HAL_DSI_REGISTER_CALLBACKS */ - - /* Initialise the error code */ - hdsi->ErrorCode = HAL_DSI_ERROR_NONE; - - /* Initialize the DSI state*/ - hdsi->State = HAL_DSI_STATE_RESET; - - /* Release Lock */ - __HAL_UNLOCK(hdsi); - - return HAL_OK; -} - -/** - * @brief Enable the error monitor flags - * @param hdsi pointer to a DSI_HandleTypeDef structure that contains - * the configuration information for the DSI. - * @param ActiveErrors indicates which error interrupts will be enabled. - * This parameter can be any combination of @arg DSI_Error_Data_Type. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DSI_ConfigErrorMonitor(DSI_HandleTypeDef *hdsi, uint32_t ActiveErrors) -{ - /* Process locked */ - __HAL_LOCK(hdsi); - - hdsi->Instance->IER[0U] = 0U; - hdsi->Instance->IER[1U] = 0U; - - /* Store active errors to the handle */ - hdsi->ErrorMsk = ActiveErrors; - - if ((ActiveErrors & HAL_DSI_ERROR_ACK) != 0U) - { - /* Enable the interrupt generation on selected errors */ - hdsi->Instance->IER[0U] |= DSI_ERROR_ACK_MASK; - } - - if ((ActiveErrors & HAL_DSI_ERROR_PHY) != 0U) - { - /* Enable the interrupt generation on selected errors */ - hdsi->Instance->IER[0U] |= DSI_ERROR_PHY_MASK; - } - - if ((ActiveErrors & HAL_DSI_ERROR_TX) != 0U) - { - /* Enable the interrupt generation on selected errors */ - hdsi->Instance->IER[1U] |= DSI_ERROR_TX_MASK; - } - - if ((ActiveErrors & HAL_DSI_ERROR_RX) != 0U) - { - /* Enable the interrupt generation on selected errors */ - hdsi->Instance->IER[1U] |= DSI_ERROR_RX_MASK; - } - - if ((ActiveErrors & HAL_DSI_ERROR_ECC) != 0U) - { - /* Enable the interrupt generation on selected errors */ - hdsi->Instance->IER[1U] |= DSI_ERROR_ECC_MASK; - } - - if ((ActiveErrors & HAL_DSI_ERROR_CRC) != 0U) - { - /* Enable the interrupt generation on selected errors */ - hdsi->Instance->IER[1U] |= DSI_ERROR_CRC_MASK; - } - - if ((ActiveErrors & HAL_DSI_ERROR_PSE) != 0U) - { - /* Enable the interrupt generation on selected errors */ - hdsi->Instance->IER[1U] |= DSI_ERROR_PSE_MASK; - } - - if ((ActiveErrors & HAL_DSI_ERROR_EOT) != 0U) - { - /* Enable the interrupt generation on selected errors */ - hdsi->Instance->IER[1U] |= DSI_ERROR_EOT_MASK; - } - - if ((ActiveErrors & HAL_DSI_ERROR_OVF) != 0U) - { - /* Enable the interrupt generation on selected errors */ - hdsi->Instance->IER[1U] |= DSI_ERROR_OVF_MASK; - } - - if ((ActiveErrors & HAL_DSI_ERROR_GEN) != 0U) - { - /* Enable the interrupt generation on selected errors */ - hdsi->Instance->IER[1U] |= DSI_ERROR_GEN_MASK; - } - - /* Process Unlocked */ - __HAL_UNLOCK(hdsi); - - return HAL_OK; -} - -/** - * @brief Initializes the DSI MSP. - * @param hdsi pointer to a DSI_HandleTypeDef structure that contains - * the configuration information for the DSI. - * @retval None - */ -__weak void HAL_DSI_MspInit(DSI_HandleTypeDef *hdsi) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hdsi); - /* NOTE : This function Should not be modified, when the callback is needed, - the HAL_DSI_MspInit could be implemented in the user file - */ -} - -/** - * @brief De-initializes the DSI MSP. - * @param hdsi pointer to a DSI_HandleTypeDef structure that contains - * the configuration information for the DSI. - * @retval None - */ -__weak void HAL_DSI_MspDeInit(DSI_HandleTypeDef *hdsi) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hdsi); - /* NOTE : This function Should not be modified, when the callback is needed, - the HAL_DSI_MspDeInit could be implemented in the user file - */ -} - -#if (USE_HAL_DSI_REGISTER_CALLBACKS == 1) -/** - * @brief Register a User DSI Callback - * To be used instead of the weak predefined callback - * @param hdsi dsi handle - * @param CallbackID ID of the callback to be registered - * This parameter can be one of the following values: - * @arg HAL_DSI_TEARING_EFFECT_CB_ID Tearing Effect Callback ID - * @arg HAL_DSI_ENDOF_REFRESH_CB_ID End Of Refresh Callback ID - * @arg HAL_DSI_ERROR_CB_ID Error Callback ID - * @arg HAL_DSI_MSPINIT_CB_ID MspInit callback ID - * @arg HAL_DSI_MSPDEINIT_CB_ID MspDeInit callback ID - * @param pCallback pointer to the Callback function - * @retval status - */ -HAL_StatusTypeDef HAL_DSI_RegisterCallback(DSI_HandleTypeDef *hdsi, HAL_DSI_CallbackIDTypeDef CallbackID, - pDSI_CallbackTypeDef pCallback) -{ - HAL_StatusTypeDef status = HAL_OK; - - if (pCallback == NULL) - { - /* Update the error code */ - hdsi->ErrorCode |= HAL_DSI_ERROR_INVALID_CALLBACK; - - return HAL_ERROR; - } - /* Process locked */ - __HAL_LOCK(hdsi); - - if (hdsi->State == HAL_DSI_STATE_READY) - { - switch (CallbackID) - { - case HAL_DSI_TEARING_EFFECT_CB_ID : - hdsi->TearingEffectCallback = pCallback; - break; - - case HAL_DSI_ENDOF_REFRESH_CB_ID : - hdsi->EndOfRefreshCallback = pCallback; - break; - - case HAL_DSI_ERROR_CB_ID : - hdsi->ErrorCallback = pCallback; - break; - - case HAL_DSI_MSPINIT_CB_ID : - hdsi->MspInitCallback = pCallback; - break; - - case HAL_DSI_MSPDEINIT_CB_ID : - hdsi->MspDeInitCallback = pCallback; - break; - - default : - /* Update the error code */ - hdsi->ErrorCode |= HAL_DSI_ERROR_INVALID_CALLBACK; - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else if (hdsi->State == HAL_DSI_STATE_RESET) - { - switch (CallbackID) - { - case HAL_DSI_MSPINIT_CB_ID : - hdsi->MspInitCallback = pCallback; - break; - - case HAL_DSI_MSPDEINIT_CB_ID : - hdsi->MspDeInitCallback = pCallback; - break; - - default : - /* Update the error code */ - hdsi->ErrorCode |= HAL_DSI_ERROR_INVALID_CALLBACK; - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else - { - /* Update the error code */ - hdsi->ErrorCode |= HAL_DSI_ERROR_INVALID_CALLBACK; - /* Return error status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(hdsi); - - return status; -} - -/** - * @brief Unregister a DSI Callback - * DSI callabck is redirected to the weak predefined callback - * @param hdsi dsi handle - * @param CallbackID ID of the callback to be unregistered - * This parameter can be one of the following values: - * @arg HAL_DSI_TEARING_EFFECT_CB_ID Tearing Effect Callback ID - * @arg HAL_DSI_ENDOF_REFRESH_CB_ID End Of Refresh Callback ID - * @arg HAL_DSI_ERROR_CB_ID Error Callback ID - * @arg HAL_DSI_MSPINIT_CB_ID MspInit callback ID - * @arg HAL_DSI_MSPDEINIT_CB_ID MspDeInit callback ID - * @retval status - */ -HAL_StatusTypeDef HAL_DSI_UnRegisterCallback(DSI_HandleTypeDef *hdsi, HAL_DSI_CallbackIDTypeDef CallbackID) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Process locked */ - __HAL_LOCK(hdsi); - - if (hdsi->State == HAL_DSI_STATE_READY) - { - switch (CallbackID) - { - case HAL_DSI_TEARING_EFFECT_CB_ID : - hdsi->TearingEffectCallback = HAL_DSI_TearingEffectCallback; /* Legacy weak TearingEffectCallback */ - break; - - case HAL_DSI_ENDOF_REFRESH_CB_ID : - hdsi->EndOfRefreshCallback = HAL_DSI_EndOfRefreshCallback; /* Legacy weak EndOfRefreshCallback */ - break; - - case HAL_DSI_ERROR_CB_ID : - hdsi->ErrorCallback = HAL_DSI_ErrorCallback; /* Legacy weak ErrorCallback */ - break; - - case HAL_DSI_MSPINIT_CB_ID : - hdsi->MspInitCallback = HAL_DSI_MspInit; /* Legcay weak MspInit Callback */ - break; - - case HAL_DSI_MSPDEINIT_CB_ID : - hdsi->MspDeInitCallback = HAL_DSI_MspDeInit; /* Legcay weak MspDeInit Callback */ - break; - - default : - /* Update the error code */ - hdsi->ErrorCode |= HAL_DSI_ERROR_INVALID_CALLBACK; - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else if (hdsi->State == HAL_DSI_STATE_RESET) - { - switch (CallbackID) - { - case HAL_DSI_MSPINIT_CB_ID : - hdsi->MspInitCallback = HAL_DSI_MspInit; /* Legcay weak MspInit Callback */ - break; - - case HAL_DSI_MSPDEINIT_CB_ID : - hdsi->MspDeInitCallback = HAL_DSI_MspDeInit; /* Legcay weak MspDeInit Callback */ - break; - - default : - /* Update the error code */ - hdsi->ErrorCode |= HAL_DSI_ERROR_INVALID_CALLBACK; - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else - { - /* Update the error code */ - hdsi->ErrorCode |= HAL_DSI_ERROR_INVALID_CALLBACK; - /* Return error status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(hdsi); - - return status; -} -#endif /* USE_HAL_DSI_REGISTER_CALLBACKS */ - -/** - * @} - */ - -/** @defgroup DSI_Group2 IO operation functions - * @brief IO operation functions - * -@verbatim - =============================================================================== - ##### IO operation functions ##### - =============================================================================== - [..] This section provides function allowing to: - (+) Handle DSI interrupt request - -@endverbatim - * @{ - */ -/** - * @brief Handles DSI interrupt request. - * @param hdsi pointer to a DSI_HandleTypeDef structure that contains - * the configuration information for the DSI. - * @retval HAL status - */ -void HAL_DSI_IRQHandler(DSI_HandleTypeDef *hdsi) -{ - uint32_t ErrorStatus0, ErrorStatus1; - - /* Tearing Effect Interrupt management ***************************************/ - if (__HAL_DSI_GET_FLAG(hdsi, DSI_FLAG_TE) != 0U) - { - if (__HAL_DSI_GET_IT_SOURCE(hdsi, DSI_IT_TE) != 0U) - { - /* Clear the Tearing Effect Interrupt Flag */ - __HAL_DSI_CLEAR_FLAG(hdsi, DSI_FLAG_TE); - - /* Tearing Effect Callback */ -#if (USE_HAL_DSI_REGISTER_CALLBACKS == 1) - /*Call registered Tearing Effect callback */ - hdsi->TearingEffectCallback(hdsi); -#else - /*Call legacy Tearing Effect callback*/ - HAL_DSI_TearingEffectCallback(hdsi); -#endif /* USE_HAL_DSI_REGISTER_CALLBACKS */ - } - } - - /* End of Refresh Interrupt management ***************************************/ - if (__HAL_DSI_GET_FLAG(hdsi, DSI_FLAG_ER) != 0U) - { - if (__HAL_DSI_GET_IT_SOURCE(hdsi, DSI_IT_ER) != 0U) - { - /* Clear the End of Refresh Interrupt Flag */ - __HAL_DSI_CLEAR_FLAG(hdsi, DSI_FLAG_ER); - - /* End of Refresh Callback */ -#if (USE_HAL_DSI_REGISTER_CALLBACKS == 1) - /*Call registered End of refresh callback */ - hdsi->EndOfRefreshCallback(hdsi); -#else - /*Call Legacy End of refresh callback */ - HAL_DSI_EndOfRefreshCallback(hdsi); -#endif /* USE_HAL_DSI_REGISTER_CALLBACKS */ - } - } - - /* Error Interrupts management ***********************************************/ - if (hdsi->ErrorMsk != 0U) - { - ErrorStatus0 = hdsi->Instance->ISR[0U]; - ErrorStatus0 &= hdsi->Instance->IER[0U]; - ErrorStatus1 = hdsi->Instance->ISR[1U]; - ErrorStatus1 &= hdsi->Instance->IER[1U]; - - if ((ErrorStatus0 & DSI_ERROR_ACK_MASK) != 0U) - { - hdsi->ErrorCode |= HAL_DSI_ERROR_ACK; - } - - if ((ErrorStatus0 & DSI_ERROR_PHY_MASK) != 0U) - { - hdsi->ErrorCode |= HAL_DSI_ERROR_PHY; - } - - if ((ErrorStatus1 & DSI_ERROR_TX_MASK) != 0U) - { - hdsi->ErrorCode |= HAL_DSI_ERROR_TX; - } - - if ((ErrorStatus1 & DSI_ERROR_RX_MASK) != 0U) - { - hdsi->ErrorCode |= HAL_DSI_ERROR_RX; - } - - if ((ErrorStatus1 & DSI_ERROR_ECC_MASK) != 0U) - { - hdsi->ErrorCode |= HAL_DSI_ERROR_ECC; - } - - if ((ErrorStatus1 & DSI_ERROR_CRC_MASK) != 0U) - { - hdsi->ErrorCode |= HAL_DSI_ERROR_CRC; - } - - if ((ErrorStatus1 & DSI_ERROR_PSE_MASK) != 0U) - { - hdsi->ErrorCode |= HAL_DSI_ERROR_PSE; - } - - if ((ErrorStatus1 & DSI_ERROR_EOT_MASK) != 0U) - { - hdsi->ErrorCode |= HAL_DSI_ERROR_EOT; - } - - if ((ErrorStatus1 & DSI_ERROR_OVF_MASK) != 0U) - { - hdsi->ErrorCode |= HAL_DSI_ERROR_OVF; - } - - if ((ErrorStatus1 & DSI_ERROR_GEN_MASK) != 0U) - { - hdsi->ErrorCode |= HAL_DSI_ERROR_GEN; - } - - /* Check only selected errors */ - if (hdsi->ErrorCode != HAL_DSI_ERROR_NONE) - { - /* DSI error interrupt callback */ -#if (USE_HAL_DSI_REGISTER_CALLBACKS == 1) - /*Call registered Error callback */ - hdsi->ErrorCallback(hdsi); -#else - /*Call Legacy Error callback */ - HAL_DSI_ErrorCallback(hdsi); -#endif /* USE_HAL_DSI_REGISTER_CALLBACKS */ - } - } -} - -/** - * @brief Tearing Effect DSI callback. - * @param hdsi pointer to a DSI_HandleTypeDef structure that contains - * the configuration information for the DSI. - * @retval None - */ -__weak void HAL_DSI_TearingEffectCallback(DSI_HandleTypeDef *hdsi) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hdsi); - /* NOTE : This function Should not be modified, when the callback is needed, - the HAL_DSI_TearingEffectCallback could be implemented in the user file - */ -} - -/** - * @brief End of Refresh DSI callback. - * @param hdsi pointer to a DSI_HandleTypeDef structure that contains - * the configuration information for the DSI. - * @retval None - */ -__weak void HAL_DSI_EndOfRefreshCallback(DSI_HandleTypeDef *hdsi) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hdsi); - /* NOTE : This function Should not be modified, when the callback is needed, - the HAL_DSI_EndOfRefreshCallback could be implemented in the user file - */ -} - -/** - * @brief Operation Error DSI callback. - * @param hdsi pointer to a DSI_HandleTypeDef structure that contains - * the configuration information for the DSI. - * @retval None - */ -__weak void HAL_DSI_ErrorCallback(DSI_HandleTypeDef *hdsi) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hdsi); - /* NOTE : This function Should not be modified, when the callback is needed, - the HAL_DSI_ErrorCallback could be implemented in the user file - */ -} - -/** - * @} - */ - -/** @defgroup DSI_Group3 Peripheral Control functions - * @brief Peripheral Control functions - * -@verbatim - =============================================================================== - ##### Peripheral Control functions ##### - =============================================================================== - [..] This section provides functions allowing to: - (+) Configure the Generic interface read-back Virtual Channel ID - (+) Select video mode and configure the corresponding parameters - (+) Configure command transmission mode: High-speed or Low-power - (+) Configure the flow control - (+) Configure the DSI PHY timer - (+) Configure the DSI HOST timeout - (+) Configure the DSI HOST timeout - (+) Start/Stop the DSI module - (+) Refresh the display in command mode - (+) Controls the display color mode in Video mode - (+) Control the display shutdown in Video mode - (+) write short DCS or short Generic command - (+) write long DCS or long Generic command - (+) Read command (DCS or generic) - (+) Enter/Exit the Ultra Low Power Mode on data only (D-PHY PLL running) - (+) Enter/Exit the Ultra Low Power Mode on data only and clock (D-PHY PLL turned off) - (+) Start/Stop test pattern generation - (+) Slew-Rate And Delay Tuning - (+) Low-Power Reception Filter Tuning - (+) Activate an additional current path on all lanes to meet the SDDTx parameter - (+) Custom lane pins configuration - (+) Set custom timing for the PHY - (+) Force the Clock/Data Lane in TX Stop Mode - (+) Force LP Receiver in Low-Power Mode - (+) Force Data Lanes in RX Mode after a BTA - (+) Enable a pull-down on the lanes to prevent from floating states when unused - (+) Switch off the contention detection on data lanes - -@endverbatim - * @{ - */ - -/** - * @brief Configure the Generic interface read-back Virtual Channel ID. - * @param hdsi pointer to a DSI_HandleTypeDef structure that contains - * the configuration information for the DSI. - * @param VirtualChannelID Virtual channel ID - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DSI_SetGenericVCID(DSI_HandleTypeDef *hdsi, uint32_t VirtualChannelID) -{ - /* Process locked */ - __HAL_LOCK(hdsi); - - /* Update the GVCID register */ - hdsi->Instance->GVCIDR &= ~DSI_GVCIDR_VCID; - hdsi->Instance->GVCIDR |= VirtualChannelID; - - /* Process unlocked */ - __HAL_UNLOCK(hdsi); - - return HAL_OK; -} - -/** - * @brief Select video mode and configure the corresponding parameters - * @param hdsi pointer to a DSI_HandleTypeDef structure that contains - * the configuration information for the DSI. - * @param VidCfg pointer to a DSI_VidCfgTypeDef structure that contains - * the DSI video mode configuration parameters - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DSI_ConfigVideoMode(DSI_HandleTypeDef *hdsi, DSI_VidCfgTypeDef *VidCfg) -{ - /* Process locked */ - __HAL_LOCK(hdsi); - - /* Check the parameters */ - assert_param(IS_DSI_COLOR_CODING(VidCfg->ColorCoding)); - assert_param(IS_DSI_VIDEO_MODE_TYPE(VidCfg->Mode)); - assert_param(IS_DSI_LP_COMMAND(VidCfg->LPCommandEnable)); - assert_param(IS_DSI_LP_HFP(VidCfg->LPHorizontalFrontPorchEnable)); - assert_param(IS_DSI_LP_HBP(VidCfg->LPHorizontalBackPorchEnable)); - assert_param(IS_DSI_LP_VACTIVE(VidCfg->LPVerticalActiveEnable)); - assert_param(IS_DSI_LP_VFP(VidCfg->LPVerticalFrontPorchEnable)); - assert_param(IS_DSI_LP_VBP(VidCfg->LPVerticalBackPorchEnable)); - assert_param(IS_DSI_LP_VSYNC(VidCfg->LPVerticalSyncActiveEnable)); - assert_param(IS_DSI_FBTAA(VidCfg->FrameBTAAcknowledgeEnable)); - assert_param(IS_DSI_DE_POLARITY(VidCfg->DEPolarity)); - assert_param(IS_DSI_VSYNC_POLARITY(VidCfg->VSPolarity)); - assert_param(IS_DSI_HSYNC_POLARITY(VidCfg->HSPolarity)); - /* Check the LooselyPacked variant only in 18-bit mode */ - if (VidCfg->ColorCoding == DSI_RGB666) - { - assert_param(IS_DSI_LOOSELY_PACKED(VidCfg->LooselyPacked)); - } - - /* Select video mode by resetting CMDM and DSIM bits */ - hdsi->Instance->MCR &= ~DSI_MCR_CMDM; - hdsi->Instance->WCFGR &= ~DSI_WCFGR_DSIM; - - /* Configure the video mode transmission type */ - hdsi->Instance->VMCR &= ~DSI_VMCR_VMT; - hdsi->Instance->VMCR |= VidCfg->Mode; - - /* Configure the video packet size */ - hdsi->Instance->VPCR &= ~DSI_VPCR_VPSIZE; - hdsi->Instance->VPCR |= VidCfg->PacketSize; - - /* Set the chunks number to be transmitted through the DSI link */ - hdsi->Instance->VCCR &= ~DSI_VCCR_NUMC; - hdsi->Instance->VCCR |= VidCfg->NumberOfChunks; - - /* Set the size of the null packet */ - hdsi->Instance->VNPCR &= ~DSI_VNPCR_NPSIZE; - hdsi->Instance->VNPCR |= VidCfg->NullPacketSize; - - /* Select the virtual channel for the LTDC interface traffic */ - hdsi->Instance->LVCIDR &= ~DSI_LVCIDR_VCID; - hdsi->Instance->LVCIDR |= VidCfg->VirtualChannelID; - - /* Configure the polarity of control signals */ - hdsi->Instance->LPCR &= ~(DSI_LPCR_DEP | DSI_LPCR_VSP | DSI_LPCR_HSP); - hdsi->Instance->LPCR |= (VidCfg->DEPolarity | VidCfg->VSPolarity | VidCfg->HSPolarity); - - /* Select the color coding for the host */ - hdsi->Instance->LCOLCR &= ~DSI_LCOLCR_COLC; - hdsi->Instance->LCOLCR |= VidCfg->ColorCoding; - - /* Select the color coding for the wrapper */ - hdsi->Instance->WCFGR &= ~DSI_WCFGR_COLMUX; - hdsi->Instance->WCFGR |= ((VidCfg->ColorCoding) << 1U); - - /* Enable/disable the loosely packed variant to 18-bit configuration */ - if (VidCfg->ColorCoding == DSI_RGB666) - { - hdsi->Instance->LCOLCR &= ~DSI_LCOLCR_LPE; - hdsi->Instance->LCOLCR |= VidCfg->LooselyPacked; - } - - /* Set the Horizontal Synchronization Active (HSA) in lane byte clock cycles */ - hdsi->Instance->VHSACR &= ~DSI_VHSACR_HSA; - hdsi->Instance->VHSACR |= VidCfg->HorizontalSyncActive; - - /* Set the Horizontal Back Porch (HBP) in lane byte clock cycles */ - hdsi->Instance->VHBPCR &= ~DSI_VHBPCR_HBP; - hdsi->Instance->VHBPCR |= VidCfg->HorizontalBackPorch; - - /* Set the total line time (HLINE=HSA+HBP+HACT+HFP) in lane byte clock cycles */ - hdsi->Instance->VLCR &= ~DSI_VLCR_HLINE; - hdsi->Instance->VLCR |= VidCfg->HorizontalLine; - - /* Set the Vertical Synchronization Active (VSA) */ - hdsi->Instance->VVSACR &= ~DSI_VVSACR_VSA; - hdsi->Instance->VVSACR |= VidCfg->VerticalSyncActive; - - /* Set the Vertical Back Porch (VBP)*/ - hdsi->Instance->VVBPCR &= ~DSI_VVBPCR_VBP; - hdsi->Instance->VVBPCR |= VidCfg->VerticalBackPorch; - - /* Set the Vertical Front Porch (VFP)*/ - hdsi->Instance->VVFPCR &= ~DSI_VVFPCR_VFP; - hdsi->Instance->VVFPCR |= VidCfg->VerticalFrontPorch; - - /* Set the Vertical Active period*/ - hdsi->Instance->VVACR &= ~DSI_VVACR_VA; - hdsi->Instance->VVACR |= VidCfg->VerticalActive; - - /* Configure the command transmission mode */ - hdsi->Instance->VMCR &= ~DSI_VMCR_LPCE; - hdsi->Instance->VMCR |= VidCfg->LPCommandEnable; - - /* Low power largest packet size */ - hdsi->Instance->LPMCR &= ~DSI_LPMCR_LPSIZE; - hdsi->Instance->LPMCR |= ((VidCfg->LPLargestPacketSize) << 16U); - - /* Low power VACT largest packet size */ - hdsi->Instance->LPMCR &= ~DSI_LPMCR_VLPSIZE; - hdsi->Instance->LPMCR |= VidCfg->LPVACTLargestPacketSize; - - /* Enable LP transition in HFP period */ - hdsi->Instance->VMCR &= ~DSI_VMCR_LPHFPE; - hdsi->Instance->VMCR |= VidCfg->LPHorizontalFrontPorchEnable; - - /* Enable LP transition in HBP period */ - hdsi->Instance->VMCR &= ~DSI_VMCR_LPHBPE; - hdsi->Instance->VMCR |= VidCfg->LPHorizontalBackPorchEnable; - - /* Enable LP transition in VACT period */ - hdsi->Instance->VMCR &= ~DSI_VMCR_LPVAE; - hdsi->Instance->VMCR |= VidCfg->LPVerticalActiveEnable; - - /* Enable LP transition in VFP period */ - hdsi->Instance->VMCR &= ~DSI_VMCR_LPVFPE; - hdsi->Instance->VMCR |= VidCfg->LPVerticalFrontPorchEnable; - - /* Enable LP transition in VBP period */ - hdsi->Instance->VMCR &= ~DSI_VMCR_LPVBPE; - hdsi->Instance->VMCR |= VidCfg->LPVerticalBackPorchEnable; - - /* Enable LP transition in vertical sync period */ - hdsi->Instance->VMCR &= ~DSI_VMCR_LPVSAE; - hdsi->Instance->VMCR |= VidCfg->LPVerticalSyncActiveEnable; - - /* Enable the request for an acknowledge response at the end of a frame */ - hdsi->Instance->VMCR &= ~DSI_VMCR_FBTAAE; - hdsi->Instance->VMCR |= VidCfg->FrameBTAAcknowledgeEnable; - - /* Process unlocked */ - __HAL_UNLOCK(hdsi); - - return HAL_OK; -} - -/** - * @brief Select adapted command mode and configure the corresponding parameters - * @param hdsi pointer to a DSI_HandleTypeDef structure that contains - * the configuration information for the DSI. - * @param CmdCfg pointer to a DSI_CmdCfgTypeDef structure that contains - * the DSI command mode configuration parameters - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DSI_ConfigAdaptedCommandMode(DSI_HandleTypeDef *hdsi, DSI_CmdCfgTypeDef *CmdCfg) -{ - /* Process locked */ - __HAL_LOCK(hdsi); - - /* Check the parameters */ - assert_param(IS_DSI_COLOR_CODING(CmdCfg->ColorCoding)); - assert_param(IS_DSI_TE_SOURCE(CmdCfg->TearingEffectSource)); - assert_param(IS_DSI_TE_POLARITY(CmdCfg->TearingEffectPolarity)); - assert_param(IS_DSI_AUTOMATIC_REFRESH(CmdCfg->AutomaticRefresh)); - assert_param(IS_DSI_VS_POLARITY(CmdCfg->VSyncPol)); - assert_param(IS_DSI_TE_ACK_REQUEST(CmdCfg->TEAcknowledgeRequest)); - assert_param(IS_DSI_DE_POLARITY(CmdCfg->DEPolarity)); - assert_param(IS_DSI_VSYNC_POLARITY(CmdCfg->VSPolarity)); - assert_param(IS_DSI_HSYNC_POLARITY(CmdCfg->HSPolarity)); - - /* Select command mode by setting CMDM and DSIM bits */ - hdsi->Instance->MCR |= DSI_MCR_CMDM; - hdsi->Instance->WCFGR &= ~DSI_WCFGR_DSIM; - hdsi->Instance->WCFGR |= DSI_WCFGR_DSIM; - - /* Select the virtual channel for the LTDC interface traffic */ - hdsi->Instance->LVCIDR &= ~DSI_LVCIDR_VCID; - hdsi->Instance->LVCIDR |= CmdCfg->VirtualChannelID; - - /* Configure the polarity of control signals */ - hdsi->Instance->LPCR &= ~(DSI_LPCR_DEP | DSI_LPCR_VSP | DSI_LPCR_HSP); - hdsi->Instance->LPCR |= (CmdCfg->DEPolarity | CmdCfg->VSPolarity | CmdCfg->HSPolarity); - - /* Select the color coding for the host */ - hdsi->Instance->LCOLCR &= ~DSI_LCOLCR_COLC; - hdsi->Instance->LCOLCR |= CmdCfg->ColorCoding; - - /* Select the color coding for the wrapper */ - hdsi->Instance->WCFGR &= ~DSI_WCFGR_COLMUX; - hdsi->Instance->WCFGR |= ((CmdCfg->ColorCoding) << 1U); - - /* Configure the maximum allowed size for write memory command */ - hdsi->Instance->LCCR &= ~DSI_LCCR_CMDSIZE; - hdsi->Instance->LCCR |= CmdCfg->CommandSize; - - /* Configure the tearing effect source and polarity and select the refresh mode */ - hdsi->Instance->WCFGR &= ~(DSI_WCFGR_TESRC | DSI_WCFGR_TEPOL | DSI_WCFGR_AR | DSI_WCFGR_VSPOL); - hdsi->Instance->WCFGR |= (CmdCfg->TearingEffectSource | CmdCfg->TearingEffectPolarity | CmdCfg->AutomaticRefresh | - CmdCfg->VSyncPol); - - /* Configure the tearing effect acknowledge request */ - hdsi->Instance->CMCR &= ~DSI_CMCR_TEARE; - hdsi->Instance->CMCR |= CmdCfg->TEAcknowledgeRequest; - - /* Enable the Tearing Effect interrupt */ - __HAL_DSI_ENABLE_IT(hdsi, DSI_IT_TE); - - /* Enable the End of Refresh interrupt */ - __HAL_DSI_ENABLE_IT(hdsi, DSI_IT_ER); - - /* Process unlocked */ - __HAL_UNLOCK(hdsi); - - return HAL_OK; -} - -/** - * @brief Configure command transmission mode: High-speed or Low-power - * and enable/disable acknowledge request after packet transmission - * @param hdsi pointer to a DSI_HandleTypeDef structure that contains - * the configuration information for the DSI. - * @param LPCmd pointer to a DSI_LPCmdTypeDef structure that contains - * the DSI command transmission mode configuration parameters - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DSI_ConfigCommand(DSI_HandleTypeDef *hdsi, DSI_LPCmdTypeDef *LPCmd) -{ - /* Process locked */ - __HAL_LOCK(hdsi); - - assert_param(IS_DSI_LP_GSW0P(LPCmd->LPGenShortWriteNoP)); - assert_param(IS_DSI_LP_GSW1P(LPCmd->LPGenShortWriteOneP)); - assert_param(IS_DSI_LP_GSW2P(LPCmd->LPGenShortWriteTwoP)); - assert_param(IS_DSI_LP_GSR0P(LPCmd->LPGenShortReadNoP)); - assert_param(IS_DSI_LP_GSR1P(LPCmd->LPGenShortReadOneP)); - assert_param(IS_DSI_LP_GSR2P(LPCmd->LPGenShortReadTwoP)); - assert_param(IS_DSI_LP_GLW(LPCmd->LPGenLongWrite)); - assert_param(IS_DSI_LP_DSW0P(LPCmd->LPDcsShortWriteNoP)); - assert_param(IS_DSI_LP_DSW1P(LPCmd->LPDcsShortWriteOneP)); - assert_param(IS_DSI_LP_DSR0P(LPCmd->LPDcsShortReadNoP)); - assert_param(IS_DSI_LP_DLW(LPCmd->LPDcsLongWrite)); - assert_param(IS_DSI_LP_MRDP(LPCmd->LPMaxReadPacket)); - assert_param(IS_DSI_ACK_REQUEST(LPCmd->AcknowledgeRequest)); - - /* Select High-speed or Low-power for command transmission */ - hdsi->Instance->CMCR &= ~(DSI_CMCR_GSW0TX | \ - DSI_CMCR_GSW1TX | \ - DSI_CMCR_GSW2TX | \ - DSI_CMCR_GSR0TX | \ - DSI_CMCR_GSR1TX | \ - DSI_CMCR_GSR2TX | \ - DSI_CMCR_GLWTX | \ - DSI_CMCR_DSW0TX | \ - DSI_CMCR_DSW1TX | \ - DSI_CMCR_DSR0TX | \ - DSI_CMCR_DLWTX | \ - DSI_CMCR_MRDPS); - hdsi->Instance->CMCR |= (LPCmd->LPGenShortWriteNoP | \ - LPCmd->LPGenShortWriteOneP | \ - LPCmd->LPGenShortWriteTwoP | \ - LPCmd->LPGenShortReadNoP | \ - LPCmd->LPGenShortReadOneP | \ - LPCmd->LPGenShortReadTwoP | \ - LPCmd->LPGenLongWrite | \ - LPCmd->LPDcsShortWriteNoP | \ - LPCmd->LPDcsShortWriteOneP | \ - LPCmd->LPDcsShortReadNoP | \ - LPCmd->LPDcsLongWrite | \ - LPCmd->LPMaxReadPacket); - - /* Configure the acknowledge request after each packet transmission */ - hdsi->Instance->CMCR &= ~DSI_CMCR_ARE; - hdsi->Instance->CMCR |= LPCmd->AcknowledgeRequest; - - /* Process unlocked */ - __HAL_UNLOCK(hdsi); - - return HAL_OK; -} - -/** - * @brief Configure the flow control parameters - * @param hdsi pointer to a DSI_HandleTypeDef structure that contains - * the configuration information for the DSI. - * @param FlowControl flow control feature(s) to be enabled. - * This parameter can be any combination of @arg DSI_FlowControl. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DSI_ConfigFlowControl(DSI_HandleTypeDef *hdsi, uint32_t FlowControl) -{ - /* Process locked */ - __HAL_LOCK(hdsi); - - /* Check the parameters */ - assert_param(IS_DSI_FLOW_CONTROL(FlowControl)); - - /* Set the DSI Host Protocol Configuration Register */ - hdsi->Instance->PCR &= ~DSI_FLOW_CONTROL_ALL; - hdsi->Instance->PCR |= FlowControl; - - /* Process unlocked */ - __HAL_UNLOCK(hdsi); - - return HAL_OK; -} - -/** - * @brief Configure the DSI PHY timer parameters - * @param hdsi pointer to a DSI_HandleTypeDef structure that contains - * the configuration information for the DSI. - * @param PhyTimers DSI_PHY_TimerTypeDef structure that contains - * the DSI PHY timing parameters - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DSI_ConfigPhyTimer(DSI_HandleTypeDef *hdsi, DSI_PHY_TimerTypeDef *PhyTimers) -{ - uint32_t maxTime; - /* Process locked */ - __HAL_LOCK(hdsi); - - maxTime = (PhyTimers->ClockLaneLP2HSTime > PhyTimers->ClockLaneHS2LPTime) ? PhyTimers->ClockLaneLP2HSTime : - PhyTimers->ClockLaneHS2LPTime; - - /* Clock lane timer configuration */ - - /* In Automatic Clock Lane control mode, the DSI Host can turn off the clock lane between two - High-Speed transmission. - To do so, the DSI Host calculates the time required for the clock lane to change from HighSpeed - to Low-Power and from Low-Power to High-Speed. - This timings are configured by the HS2LP_TIME and LP2HS_TIME in the DSI Host Clock Lane Timer Configuration Register (DSI_CLTCR). - But the DSI Host is not calculating LP2HS_TIME + HS2LP_TIME but 2 x HS2LP_TIME. - - Workaround : Configure HS2LP_TIME and LP2HS_TIME with the same value being the max of HS2LP_TIME or LP2HS_TIME. - */ - hdsi->Instance->CLTCR &= ~(DSI_CLTCR_LP2HS_TIME | DSI_CLTCR_HS2LP_TIME); - hdsi->Instance->CLTCR |= (maxTime | ((maxTime) << 16U)); - - /* Data lane timer configuration */ - hdsi->Instance->DLTCR &= ~(DSI_DLTCR_MRD_TIME | DSI_DLTCR_LP2HS_TIME | DSI_DLTCR_HS2LP_TIME); - hdsi->Instance->DLTCR |= (PhyTimers->DataLaneMaxReadTime | ((PhyTimers->DataLaneLP2HSTime) << 16U) | (( - PhyTimers->DataLaneHS2LPTime) << 24U)); - - /* Configure the wait period to request HS transmission after a stop state */ - hdsi->Instance->PCONFR &= ~DSI_PCONFR_SW_TIME; - hdsi->Instance->PCONFR |= ((PhyTimers->StopWaitTime) << 8U); - - /* Process unlocked */ - __HAL_UNLOCK(hdsi); - - return HAL_OK; -} - -/** - * @brief Configure the DSI HOST timeout parameters - * @param hdsi pointer to a DSI_HandleTypeDef structure that contains - * the configuration information for the DSI. - * @param HostTimeouts DSI_HOST_TimeoutTypeDef structure that contains - * the DSI host timeout parameters - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DSI_ConfigHostTimeouts(DSI_HandleTypeDef *hdsi, DSI_HOST_TimeoutTypeDef *HostTimeouts) -{ - /* Process locked */ - __HAL_LOCK(hdsi); - - /* Set the timeout clock division factor */ - hdsi->Instance->CCR &= ~DSI_CCR_TOCKDIV; - hdsi->Instance->CCR |= ((HostTimeouts->TimeoutCkdiv) << 8U); - - /* High-speed transmission timeout */ - hdsi->Instance->TCCR[0U] &= ~DSI_TCCR0_HSTX_TOCNT; - hdsi->Instance->TCCR[0U] |= ((HostTimeouts->HighSpeedTransmissionTimeout) << 16U); - - /* Low-power reception timeout */ - hdsi->Instance->TCCR[0U] &= ~DSI_TCCR0_LPRX_TOCNT; - hdsi->Instance->TCCR[0U] |= HostTimeouts->LowPowerReceptionTimeout; - - /* High-speed read timeout */ - hdsi->Instance->TCCR[1U] &= ~DSI_TCCR1_HSRD_TOCNT; - hdsi->Instance->TCCR[1U] |= HostTimeouts->HighSpeedReadTimeout; - - /* Low-power read timeout */ - hdsi->Instance->TCCR[2U] &= ~DSI_TCCR2_LPRD_TOCNT; - hdsi->Instance->TCCR[2U] |= HostTimeouts->LowPowerReadTimeout; - - /* High-speed write timeout */ - hdsi->Instance->TCCR[3U] &= ~DSI_TCCR3_HSWR_TOCNT; - hdsi->Instance->TCCR[3U] |= HostTimeouts->HighSpeedWriteTimeout; - - /* High-speed write presp mode */ - hdsi->Instance->TCCR[3U] &= ~DSI_TCCR3_PM; - hdsi->Instance->TCCR[3U] |= HostTimeouts->HighSpeedWritePrespMode; - - /* Low-speed write timeout */ - hdsi->Instance->TCCR[4U] &= ~DSI_TCCR4_LPWR_TOCNT; - hdsi->Instance->TCCR[4U] |= HostTimeouts->LowPowerWriteTimeout; - - /* BTA timeout */ - hdsi->Instance->TCCR[5U] &= ~DSI_TCCR5_BTA_TOCNT; - hdsi->Instance->TCCR[5U] |= HostTimeouts->BTATimeout; - - /* Process unlocked */ - __HAL_UNLOCK(hdsi); - - return HAL_OK; -} - -/** - * @brief Start the DSI module - * @param hdsi pointer to a DSI_HandleTypeDef structure that contains - * the configuration information for the DSI. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DSI_Start(DSI_HandleTypeDef *hdsi) -{ - /* Process locked */ - __HAL_LOCK(hdsi); - - /* Enable the DSI host */ - __HAL_DSI_ENABLE(hdsi); - - /* Enable the DSI wrapper */ - __HAL_DSI_WRAPPER_ENABLE(hdsi); - - /* Process unlocked */ - __HAL_UNLOCK(hdsi); - - return HAL_OK; -} - -/** - * @brief Stop the DSI module - * @param hdsi pointer to a DSI_HandleTypeDef structure that contains - * the configuration information for the DSI. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DSI_Stop(DSI_HandleTypeDef *hdsi) -{ - /* Process locked */ - __HAL_LOCK(hdsi); - - /* Disable the DSI host */ - __HAL_DSI_DISABLE(hdsi); - - /* Disable the DSI wrapper */ - __HAL_DSI_WRAPPER_DISABLE(hdsi); - - /* Process unlocked */ - __HAL_UNLOCK(hdsi); - - return HAL_OK; -} - -/** - * @brief Refresh the display in command mode - * @param hdsi pointer to a DSI_HandleTypeDef structure that contains - * the configuration information for the DSI. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DSI_Refresh(DSI_HandleTypeDef *hdsi) -{ - /* Process locked */ - __HAL_LOCK(hdsi); - - /* Update the display */ - hdsi->Instance->WCR |= DSI_WCR_LTDCEN; - - /* Process unlocked */ - __HAL_UNLOCK(hdsi); - - return HAL_OK; -} - -/** - * @brief Controls the display color mode in Video mode - * @param hdsi pointer to a DSI_HandleTypeDef structure that contains - * the configuration information for the DSI. - * @param ColorMode Color mode (full or 8-colors). - * This parameter can be any value of @arg DSI_Color_Mode - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DSI_ColorMode(DSI_HandleTypeDef *hdsi, uint32_t ColorMode) -{ - /* Process locked */ - __HAL_LOCK(hdsi); - - /* Check the parameters */ - assert_param(IS_DSI_COLOR_MODE(ColorMode)); - - /* Update the display color mode */ - hdsi->Instance->WCR &= ~DSI_WCR_COLM; - hdsi->Instance->WCR |= ColorMode; - - /* Process unlocked */ - __HAL_UNLOCK(hdsi); - - return HAL_OK; -} - -/** - * @brief Control the display shutdown in Video mode - * @param hdsi pointer to a DSI_HandleTypeDef structure that contains - * the configuration information for the DSI. - * @param Shutdown Shut-down (Display-ON or Display-OFF). - * This parameter can be any value of @arg DSI_ShutDown - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DSI_Shutdown(DSI_HandleTypeDef *hdsi, uint32_t Shutdown) -{ - /* Process locked */ - __HAL_LOCK(hdsi); - - /* Check the parameters */ - assert_param(IS_DSI_SHUT_DOWN(Shutdown)); - - /* Update the display Shutdown */ - hdsi->Instance->WCR &= ~DSI_WCR_SHTDN; - hdsi->Instance->WCR |= Shutdown; - - /* Process unlocked */ - __HAL_UNLOCK(hdsi); - - return HAL_OK; -} - -/** - * @brief write short DCS or short Generic command - * @param hdsi pointer to a DSI_HandleTypeDef structure that contains - * the configuration information for the DSI. - * @param ChannelID Virtual channel ID. - * @param Mode DSI short packet data type. - * This parameter can be any value of @arg DSI_SHORT_WRITE_PKT_Data_Type. - * @param Param1 DSC command or first generic parameter. - * This parameter can be any value of @arg DSI_DCS_Command or a - * generic command code. - * @param Param2 DSC parameter or second generic parameter. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DSI_ShortWrite(DSI_HandleTypeDef *hdsi, - uint32_t ChannelID, - uint32_t Mode, - uint32_t Param1, - uint32_t Param2) -{ - HAL_StatusTypeDef status; - /* Check the parameters */ - assert_param(IS_DSI_SHORT_WRITE_PACKET_TYPE(Mode)); - - /* Process locked */ - __HAL_LOCK(hdsi); - - status = DSI_ShortWrite(hdsi, ChannelID, Mode, Param1, Param2); - - /* Process unlocked */ - __HAL_UNLOCK(hdsi); - - return status; -} - -/** - * @brief write long DCS or long Generic command - * @param hdsi pointer to a DSI_HandleTypeDef structure that contains - * the configuration information for the DSI. - * @param ChannelID Virtual channel ID. - * @param Mode DSI long packet data type. - * This parameter can be any value of @arg DSI_LONG_WRITE_PKT_Data_Type. - * @param NbParams Number of parameters. - * @param Param1 DSC command or first generic parameter. - * This parameter can be any value of @arg DSI_DCS_Command or a - * generic command code - * @param ParametersTable Pointer to parameter values table. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DSI_LongWrite(DSI_HandleTypeDef *hdsi, - uint32_t ChannelID, - uint32_t Mode, - uint32_t NbParams, - uint32_t Param1, - uint8_t *ParametersTable) -{ - uint32_t uicounter, nbBytes, count; - uint32_t tickstart; - uint32_t fifoword; - uint8_t *pparams = ParametersTable; - - /* Process locked */ - __HAL_LOCK(hdsi); - - /* Check the parameters */ - assert_param(IS_DSI_LONG_WRITE_PACKET_TYPE(Mode)); - - /* Get tick */ - tickstart = HAL_GetTick(); - - /* Wait for Command FIFO Empty */ - while ((hdsi->Instance->GPSR & DSI_GPSR_CMDFE) == 0U) - { - /* Check for the Timeout */ - if ((HAL_GetTick() - tickstart) > DSI_TIMEOUT_VALUE) - { - /* Process Unlocked */ - __HAL_UNLOCK(hdsi); - - return HAL_TIMEOUT; - } - } - - /* Set the DCS code on payload byte 1, and the other parameters on the write FIFO command*/ - fifoword = Param1; - nbBytes = (NbParams < 3U) ? NbParams : 3U; - - for (count = 0U; count < nbBytes; count++) - { - fifoword |= (((uint32_t)(*(pparams + count))) << (8U + (8U * count))); - } - hdsi->Instance->GPDR = fifoword; - - uicounter = NbParams - nbBytes; - pparams += nbBytes; - /* Set the Next parameters on the write FIFO command*/ - while (uicounter != 0U) - { - nbBytes = (uicounter < 4U) ? uicounter : 4U; - fifoword = 0U; - for (count = 0U; count < nbBytes; count++) - { - fifoword |= (((uint32_t)(*(pparams + count))) << (8U * count)); - } - hdsi->Instance->GPDR = fifoword; - - uicounter -= nbBytes; - pparams += nbBytes; - } - - /* Configure the packet to send a long DCS command */ - DSI_ConfigPacketHeader(hdsi->Instance, - ChannelID, - Mode, - ((NbParams + 1U) & 0x00FFU), - (((NbParams + 1U) & 0xFF00U) >> 8U)); - - /* Process unlocked */ - __HAL_UNLOCK(hdsi); - - return HAL_OK; -} - -/** - * @brief Read command (DCS or generic) - * @param hdsi pointer to a DSI_HandleTypeDef structure that contains - * the configuration information for the DSI. - * @param ChannelNbr Virtual channel ID - * @param Array pointer to a buffer to store the payload of a read back operation. - * @param Size Data size to be read (in byte). - * @param Mode DSI read packet data type. - * This parameter can be any value of @arg DSI_SHORT_READ_PKT_Data_Type. - * @param DCSCmd DCS get/read command. - * @param ParametersTable Pointer to parameter values table. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DSI_Read(DSI_HandleTypeDef *hdsi, - uint32_t ChannelNbr, - uint8_t *Array, - uint32_t Size, - uint32_t Mode, - uint32_t DCSCmd, - uint8_t *ParametersTable) -{ - uint32_t tickstart; - uint8_t *pdata = Array; - uint32_t datasize = Size; - uint32_t fifoword; - uint32_t nbbytes; - uint32_t count; - - /* Process locked */ - __HAL_LOCK(hdsi); - - /* Check the parameters */ - assert_param(IS_DSI_READ_PACKET_TYPE(Mode)); - - if (datasize > 2U) - { - /* set max return packet size */ - if (DSI_ShortWrite(hdsi, ChannelNbr, DSI_MAX_RETURN_PKT_SIZE, ((datasize) & 0xFFU), - (((datasize) >> 8U) & 0xFFU)) != HAL_OK) - { - /* Process Unlocked */ - __HAL_UNLOCK(hdsi); - - return HAL_ERROR; - } - } - - /* Configure the packet to read command */ - if (Mode == DSI_DCS_SHORT_PKT_READ) - { - DSI_ConfigPacketHeader(hdsi->Instance, ChannelNbr, Mode, DCSCmd, 0U); - } - else if (Mode == DSI_GEN_SHORT_PKT_READ_P0) - { - DSI_ConfigPacketHeader(hdsi->Instance, ChannelNbr, Mode, 0U, 0U); - } - else if (Mode == DSI_GEN_SHORT_PKT_READ_P1) - { - DSI_ConfigPacketHeader(hdsi->Instance, ChannelNbr, Mode, ParametersTable[0U], 0U); - } - else if (Mode == DSI_GEN_SHORT_PKT_READ_P2) - { - DSI_ConfigPacketHeader(hdsi->Instance, ChannelNbr, Mode, ParametersTable[0U], ParametersTable[1U]); - } - else - { - /* Process Unlocked */ - __HAL_UNLOCK(hdsi); - - return HAL_ERROR; - } - - /* Get tick */ - tickstart = HAL_GetTick(); - - /* If DSI fifo is not empty, read requested bytes */ - while (((int32_t)(datasize)) > 0) - { - if ((hdsi->Instance->GPSR & DSI_GPSR_PRDFE) == 0U) - { - fifoword = hdsi->Instance->GPDR; - nbbytes = (datasize < 4U) ? datasize : 4U; - - for (count = 0U; count < nbbytes; count++) - { - *pdata = (uint8_t)(fifoword >> (8U * count)); - pdata++; - datasize--; - } - } - - /* Check for the Timeout */ - if ((HAL_GetTick() - tickstart) > DSI_TIMEOUT_VALUE) - { - /* Process Unlocked */ - __HAL_UNLOCK(hdsi); - - return HAL_TIMEOUT; - } - } - - /* Process unlocked */ - __HAL_UNLOCK(hdsi); - - return HAL_OK; -} - -/** - * @brief Enter the ULPM (Ultra Low Power Mode) with the D-PHY PLL running - * (only data lanes are in ULPM) - * @param hdsi pointer to a DSI_HandleTypeDef structure that contains - * the configuration information for the DSI. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DSI_EnterULPMData(DSI_HandleTypeDef *hdsi) -{ - uint32_t tickstart; - - /* Process locked */ - __HAL_LOCK(hdsi); - - /* ULPS Request on Data Lanes */ - hdsi->Instance->PUCR |= DSI_PUCR_URDL; - - /* Get tick */ - tickstart = HAL_GetTick(); - - /* Wait until the D-PHY active lanes enter into ULPM */ - if ((hdsi->Instance->PCONFR & DSI_PCONFR_NL) == DSI_ONE_DATA_LANE) - { - while ((hdsi->Instance->PSR & DSI_PSR_UAN0) != 0U) - { - /* Check for the Timeout */ - if ((HAL_GetTick() - tickstart) > DSI_TIMEOUT_VALUE) - { - /* Process Unlocked */ - __HAL_UNLOCK(hdsi); - - return HAL_TIMEOUT; - } - } - } - else if ((hdsi->Instance->PCONFR & DSI_PCONFR_NL) == DSI_TWO_DATA_LANES) - { - while ((hdsi->Instance->PSR & (DSI_PSR_UAN0 | DSI_PSR_UAN1)) != 0U) - { - /* Check for the Timeout */ - if ((HAL_GetTick() - tickstart) > DSI_TIMEOUT_VALUE) - { - /* Process Unlocked */ - __HAL_UNLOCK(hdsi); - - return HAL_TIMEOUT; - } - } - } - else - { - /* Process unlocked */ - __HAL_UNLOCK(hdsi); - - return HAL_ERROR; - } - - /* Process unlocked */ - __HAL_UNLOCK(hdsi); - - return HAL_OK; -} - -/** - * @brief Exit the ULPM (Ultra Low Power Mode) with the D-PHY PLL running - * (only data lanes are in ULPM) - * @param hdsi pointer to a DSI_HandleTypeDef structure that contains - * the configuration information for the DSI. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DSI_ExitULPMData(DSI_HandleTypeDef *hdsi) -{ - uint32_t tickstart; - - /* Process locked */ - __HAL_LOCK(hdsi); - - /* Exit ULPS on Data Lanes */ - hdsi->Instance->PUCR |= DSI_PUCR_UEDL; - - /* Get tick */ - tickstart = HAL_GetTick(); - - /* Wait until all active lanes exit ULPM */ - if ((hdsi->Instance->PCONFR & DSI_PCONFR_NL) == DSI_ONE_DATA_LANE) - { - while ((hdsi->Instance->PSR & DSI_PSR_UAN0) != DSI_PSR_UAN0) - { - /* Check for the Timeout */ - if ((HAL_GetTick() - tickstart) > DSI_TIMEOUT_VALUE) - { - /* Process Unlocked */ - __HAL_UNLOCK(hdsi); - - return HAL_TIMEOUT; - } - } - } - else if ((hdsi->Instance->PCONFR & DSI_PCONFR_NL) == DSI_TWO_DATA_LANES) - { - while ((hdsi->Instance->PSR & (DSI_PSR_UAN0 | DSI_PSR_UAN1)) != (DSI_PSR_UAN0 | DSI_PSR_UAN1)) - { - /* Check for the Timeout */ - if ((HAL_GetTick() - tickstart) > DSI_TIMEOUT_VALUE) - { - /* Process Unlocked */ - __HAL_UNLOCK(hdsi); - - return HAL_TIMEOUT; - } - } - } - else - { - /* Process unlocked */ - __HAL_UNLOCK(hdsi); - - return HAL_ERROR; - } - - /* wait for 1 ms*/ - HAL_Delay(1U); - - /* De-assert the ULPM requests and the ULPM exit bits */ - hdsi->Instance->PUCR = 0U; - - /* Process unlocked */ - __HAL_UNLOCK(hdsi); - - return HAL_OK; -} - -/** - * @brief Enter the ULPM (Ultra Low Power Mode) with the D-PHY PLL turned off - * (both data and clock lanes are in ULPM) - * @param hdsi pointer to a DSI_HandleTypeDef structure that contains - * the configuration information for the DSI. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DSI_EnterULPM(DSI_HandleTypeDef *hdsi) -{ - uint32_t tickstart; - - /* Process locked */ - __HAL_LOCK(hdsi); - - /* Clock lane configuration: no more HS request */ - hdsi->Instance->CLCR &= ~DSI_CLCR_DPCC; - - /* Use system PLL as byte lane clock source before stopping DSIPHY clock source */ - __HAL_RCC_DSI_CONFIG(RCC_DSICLKSOURCE_PLLR); - - /* ULPS Request on Clock and Data Lanes */ - hdsi->Instance->PUCR |= (DSI_PUCR_URCL | DSI_PUCR_URDL); - - /* Get tick */ - tickstart = HAL_GetTick(); - - /* Wait until all active lanes exit ULPM */ - if ((hdsi->Instance->PCONFR & DSI_PCONFR_NL) == DSI_ONE_DATA_LANE) - { - while ((hdsi->Instance->PSR & (DSI_PSR_UAN0 | DSI_PSR_UANC)) != 0U) - { - /* Check for the Timeout */ - if ((HAL_GetTick() - tickstart) > DSI_TIMEOUT_VALUE) - { - /* Process Unlocked */ - __HAL_UNLOCK(hdsi); - - return HAL_TIMEOUT; - } - } - } - else if ((hdsi->Instance->PCONFR & DSI_PCONFR_NL) == DSI_TWO_DATA_LANES) - { - while ((hdsi->Instance->PSR & (DSI_PSR_UAN0 | DSI_PSR_UAN1 | DSI_PSR_UANC)) != 0U) - { - /* Check for the Timeout */ - if ((HAL_GetTick() - tickstart) > DSI_TIMEOUT_VALUE) - { - /* Process Unlocked */ - __HAL_UNLOCK(hdsi); - - return HAL_TIMEOUT; - } - } - } - else - { - /* Process unlocked */ - __HAL_UNLOCK(hdsi); - - return HAL_ERROR; - } - - /* Turn off the DSI PLL */ - __HAL_DSI_PLL_DISABLE(hdsi); - - /* Process unlocked */ - __HAL_UNLOCK(hdsi); - - return HAL_OK; -} - -/** - * @brief Exit the ULPM (Ultra Low Power Mode) with the D-PHY PLL turned off - * (both data and clock lanes are in ULPM) - * @param hdsi pointer to a DSI_HandleTypeDef structure that contains - * the configuration information for the DSI. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DSI_ExitULPM(DSI_HandleTypeDef *hdsi) -{ - uint32_t tickstart; - - /* Process locked */ - __HAL_LOCK(hdsi); - - /* Turn on the DSI PLL */ - __HAL_DSI_PLL_ENABLE(hdsi); - - /* Get tick */ - tickstart = HAL_GetTick(); - - /* Wait for the lock of the PLL */ - while (__HAL_DSI_GET_FLAG(hdsi, DSI_FLAG_PLLLS) == 0U) - { - /* Check for the Timeout */ - if ((HAL_GetTick() - tickstart) > DSI_TIMEOUT_VALUE) - { - /* Process Unlocked */ - __HAL_UNLOCK(hdsi); - - return HAL_TIMEOUT; - } - } - - /* Exit ULPS on Clock and Data Lanes */ - hdsi->Instance->PUCR |= (DSI_PUCR_UECL | DSI_PUCR_UEDL); - - /* Get tick */ - tickstart = HAL_GetTick(); - - /* Wait until all active lanes exit ULPM */ - if ((hdsi->Instance->PCONFR & DSI_PCONFR_NL) == DSI_ONE_DATA_LANE) - { - while ((hdsi->Instance->PSR & (DSI_PSR_UAN0 | DSI_PSR_UANC)) != (DSI_PSR_UAN0 | DSI_PSR_UANC)) - { - /* Check for the Timeout */ - if ((HAL_GetTick() - tickstart) > DSI_TIMEOUT_VALUE) - { - /* Process Unlocked */ - __HAL_UNLOCK(hdsi); - - return HAL_TIMEOUT; - } - } - } - else if ((hdsi->Instance->PCONFR & DSI_PCONFR_NL) == DSI_TWO_DATA_LANES) - { - while ((hdsi->Instance->PSR & (DSI_PSR_UAN0 | DSI_PSR_UAN1 | DSI_PSR_UANC)) != (DSI_PSR_UAN0 | DSI_PSR_UAN1 | - DSI_PSR_UANC)) - { - /* Check for the Timeout */ - if ((HAL_GetTick() - tickstart) > DSI_TIMEOUT_VALUE) - { - /* Process Unlocked */ - __HAL_UNLOCK(hdsi); - - return HAL_TIMEOUT; - } - } - } - else - { - /* Process unlocked */ - __HAL_UNLOCK(hdsi); - - return HAL_ERROR; - } - - /* wait for 1 ms */ - HAL_Delay(1U); - - /* De-assert the ULPM requests and the ULPM exit bits */ - hdsi->Instance->PUCR = 0U; - - /* Switch the lanbyteclock source in the RCC from system PLL to D-PHY */ - __HAL_RCC_DSI_CONFIG(RCC_DSICLKSOURCE_DSIPHY); - - /* Restore clock lane configuration to HS */ - hdsi->Instance->CLCR |= DSI_CLCR_DPCC; - - /* Process unlocked */ - __HAL_UNLOCK(hdsi); - - return HAL_OK; -} - -/** - * @brief Start test pattern generation - * @param hdsi pointer to a DSI_HandleTypeDef structure that contains - * the configuration information for the DSI. - * @param Mode Pattern generator mode - * This parameter can be one of the following values: - * 0 : Color bars (horizontal or vertical) - * 1 : BER pattern (vertical only) - * @param Orientation Pattern generator orientation - * This parameter can be one of the following values: - * 0 : Vertical color bars - * 1 : Horizontal color bars - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DSI_PatternGeneratorStart(DSI_HandleTypeDef *hdsi, uint32_t Mode, uint32_t Orientation) -{ - /* Process locked */ - __HAL_LOCK(hdsi); - - /* Configure pattern generator mode and orientation */ - hdsi->Instance->VMCR &= ~(DSI_VMCR_PGM | DSI_VMCR_PGO); - hdsi->Instance->VMCR |= ((Mode << 20U) | (Orientation << 24U)); - - /* Enable pattern generator by setting PGE bit */ - hdsi->Instance->VMCR |= DSI_VMCR_PGE; - - /* Process unlocked */ - __HAL_UNLOCK(hdsi); - - return HAL_OK; -} - -/** - * @brief Stop test pattern generation - * @param hdsi pointer to a DSI_HandleTypeDef structure that contains - * the configuration information for the DSI. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DSI_PatternGeneratorStop(DSI_HandleTypeDef *hdsi) -{ - /* Process locked */ - __HAL_LOCK(hdsi); - - /* Disable pattern generator by clearing PGE bit */ - hdsi->Instance->VMCR &= ~DSI_VMCR_PGE; - - /* Process unlocked */ - __HAL_UNLOCK(hdsi); - - return HAL_OK; -} - -/** - * @brief Set Slew-Rate And Delay Tuning - * @param hdsi pointer to a DSI_HandleTypeDef structure that contains - * the configuration information for the DSI. - * @param CommDelay Communication delay to be adjusted. - * This parameter can be any value of @arg DSI_Communication_Delay - * @param Lane select between clock or data lanes. - * This parameter can be any value of @arg DSI_Lane_Group - * @param Value Custom value of the slew-rate or delay - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DSI_SetSlewRateAndDelayTuning(DSI_HandleTypeDef *hdsi, uint32_t CommDelay, uint32_t Lane, - uint32_t Value) -{ - /* Process locked */ - __HAL_LOCK(hdsi); - - /* Check function parameters */ - assert_param(IS_DSI_COMMUNICATION_DELAY(CommDelay)); - assert_param(IS_DSI_LANE_GROUP(Lane)); - - switch (CommDelay) - { - case DSI_SLEW_RATE_HSTX: - if (Lane == DSI_CLOCK_LANE) - { - /* High-Speed Transmission Slew Rate Control on Clock Lane */ - hdsi->Instance->WPCR[1U] &= ~DSI_WPCR1_HSTXSRCCL; - hdsi->Instance->WPCR[1U] |= Value << 16U; - } - else if (Lane == DSI_DATA_LANES) - { - /* High-Speed Transmission Slew Rate Control on Data Lanes */ - hdsi->Instance->WPCR[1U] &= ~DSI_WPCR1_HSTXSRCDL; - hdsi->Instance->WPCR[1U] |= Value << 18U; - } - else - { - /* Process unlocked */ - __HAL_UNLOCK(hdsi); - - return HAL_ERROR; - } - break; - case DSI_SLEW_RATE_LPTX: - if (Lane == DSI_CLOCK_LANE) - { - /* Low-Power transmission Slew Rate Compensation on Clock Lane */ - hdsi->Instance->WPCR[1U] &= ~DSI_WPCR1_LPSRCCL; - hdsi->Instance->WPCR[1U] |= Value << 6U; - } - else if (Lane == DSI_DATA_LANES) - { - /* Low-Power transmission Slew Rate Compensation on Data Lanes */ - hdsi->Instance->WPCR[1U] &= ~DSI_WPCR1_LPSRCDL; - hdsi->Instance->WPCR[1U] |= Value << 8U; - } - else - { - /* Process unlocked */ - __HAL_UNLOCK(hdsi); - - return HAL_ERROR; - } - break; - case DSI_HS_DELAY: - if (Lane == DSI_CLOCK_LANE) - { - /* High-Speed Transmission Delay on Clock Lane */ - hdsi->Instance->WPCR[1U] &= ~DSI_WPCR1_HSTXDCL; - hdsi->Instance->WPCR[1U] |= Value; - } - else if (Lane == DSI_DATA_LANES) - { - /* High-Speed Transmission Delay on Data Lanes */ - hdsi->Instance->WPCR[1U] &= ~DSI_WPCR1_HSTXDDL; - hdsi->Instance->WPCR[1U] |= Value << 2U; - } - else - { - /* Process unlocked */ - __HAL_UNLOCK(hdsi); - - return HAL_ERROR; - } - break; - default: - break; - } - - /* Process unlocked */ - __HAL_UNLOCK(hdsi); - - return HAL_OK; -} - -/** - * @brief Low-Power Reception Filter Tuning - * @param hdsi pointer to a DSI_HandleTypeDef structure that contains - * the configuration information for the DSI. - * @param Frequency cutoff frequency of low-pass filter at the input of LPRX - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DSI_SetLowPowerRXFilter(DSI_HandleTypeDef *hdsi, uint32_t Frequency) -{ - /* Process locked */ - __HAL_LOCK(hdsi); - - /* Low-Power RX low-pass Filtering Tuning */ - hdsi->Instance->WPCR[1U] &= ~DSI_WPCR1_LPRXFT; - hdsi->Instance->WPCR[1U] |= Frequency << 25U; - - /* Process unlocked */ - __HAL_UNLOCK(hdsi); - - return HAL_OK; -} - -/** - * @brief Activate an additional current path on all lanes to meet the SDDTx parameter - * defined in the MIPI D-PHY specification - * @param hdsi pointer to a DSI_HandleTypeDef structure that contains - * the configuration information for the DSI. - * @param State ENABLE or DISABLE - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DSI_SetSDD(DSI_HandleTypeDef *hdsi, FunctionalState State) -{ - /* Process locked */ - __HAL_LOCK(hdsi); - - /* Check function parameters */ - assert_param(IS_FUNCTIONAL_STATE(State)); - - /* Activate/Disactivate additional current path on all lanes */ - hdsi->Instance->WPCR[1U] &= ~DSI_WPCR1_SDDC; - hdsi->Instance->WPCR[1U] |= ((uint32_t)State << 12U); - - /* Process unlocked */ - __HAL_UNLOCK(hdsi); - - return HAL_OK; -} - -/** - * @brief Custom lane pins configuration - * @param hdsi pointer to a DSI_HandleTypeDef structure that contains - * the configuration information for the DSI. - * @param CustomLane Function to be applied on selected lane. - * This parameter can be any value of @arg DSI_CustomLane - * @param Lane select between clock or data lane 0 or data lane 1. - * This parameter can be any value of @arg DSI_Lane_Select - * @param State ENABLE or DISABLE - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DSI_SetLanePinsConfiguration(DSI_HandleTypeDef *hdsi, uint32_t CustomLane, uint32_t Lane, - FunctionalState State) -{ - /* Process locked */ - __HAL_LOCK(hdsi); - - /* Check function parameters */ - assert_param(IS_DSI_CUSTOM_LANE(CustomLane)); - assert_param(IS_DSI_LANE(Lane)); - assert_param(IS_FUNCTIONAL_STATE(State)); - - switch (CustomLane) - { - case DSI_SWAP_LANE_PINS: - if (Lane == DSI_CLK_LANE) - { - /* Swap pins on clock lane */ - hdsi->Instance->WPCR[0U] &= ~DSI_WPCR0_SWCL; - hdsi->Instance->WPCR[0U] |= ((uint32_t)State << 6U); - } - else if (Lane == DSI_DATA_LANE0) - { - /* Swap pins on data lane 0 */ - hdsi->Instance->WPCR[0U] &= ~DSI_WPCR0_SWDL0; - hdsi->Instance->WPCR[0U] |= ((uint32_t)State << 7U); - } - else if (Lane == DSI_DATA_LANE1) - { - /* Swap pins on data lane 1 */ - hdsi->Instance->WPCR[0U] &= ~DSI_WPCR0_SWDL1; - hdsi->Instance->WPCR[0U] |= ((uint32_t)State << 8U); - } - else - { - /* Process unlocked */ - __HAL_UNLOCK(hdsi); - - return HAL_ERROR; - } - break; - case DSI_INVERT_HS_SIGNAL: - if (Lane == DSI_CLK_LANE) - { - /* Invert HS signal on clock lane */ - hdsi->Instance->WPCR[0U] &= ~DSI_WPCR0_HSICL; - hdsi->Instance->WPCR[0U] |= ((uint32_t)State << 9U); - } - else if (Lane == DSI_DATA_LANE0) - { - /* Invert HS signal on data lane 0 */ - hdsi->Instance->WPCR[0U] &= ~DSI_WPCR0_HSIDL0; - hdsi->Instance->WPCR[0U] |= ((uint32_t)State << 10U); - } - else if (Lane == DSI_DATA_LANE1) - { - /* Invert HS signal on data lane 1 */ - hdsi->Instance->WPCR[0U] &= ~DSI_WPCR0_HSIDL1; - hdsi->Instance->WPCR[0U] |= ((uint32_t)State << 11U); - } - else - { - /* Process unlocked */ - __HAL_UNLOCK(hdsi); - - return HAL_ERROR; - } - break; - default: - break; - } - - /* Process unlocked */ - __HAL_UNLOCK(hdsi); - - return HAL_OK; -} - -/** - * @brief Set custom timing for the PHY - * @param hdsi pointer to a DSI_HandleTypeDef structure that contains - * the configuration information for the DSI. - * @param Timing PHY timing to be adjusted. - * This parameter can be any value of @arg DSI_PHY_Timing - * @param State ENABLE or DISABLE - * @param Value Custom value of the timing - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DSI_SetPHYTimings(DSI_HandleTypeDef *hdsi, uint32_t Timing, FunctionalState State, uint32_t Value) -{ - /* Process locked */ - __HAL_LOCK(hdsi); - - /* Check function parameters */ - assert_param(IS_DSI_PHY_TIMING(Timing)); - assert_param(IS_FUNCTIONAL_STATE(State)); - - switch (Timing) - { - case DSI_TCLK_POST: - /* Enable/Disable custom timing setting */ - hdsi->Instance->WPCR[0U] &= ~DSI_WPCR0_TCLKPOSTEN; - hdsi->Instance->WPCR[0U] |= ((uint32_t)State << 27U); - - if (State != DISABLE) - { - /* Set custom value */ - hdsi->Instance->WPCR[4U] &= ~DSI_WPCR4_TCLKPOST; - hdsi->Instance->WPCR[4U] |= Value & DSI_WPCR4_TCLKPOST; - } - - break; - case DSI_TLPX_CLK: - /* Enable/Disable custom timing setting */ - hdsi->Instance->WPCR[0U] &= ~DSI_WPCR0_TLPXCEN; - hdsi->Instance->WPCR[0U] |= ((uint32_t)State << 26U); - - if (State != DISABLE) - { - /* Set custom value */ - hdsi->Instance->WPCR[3U] &= ~DSI_WPCR3_TLPXC; - hdsi->Instance->WPCR[3U] |= (Value << 24U) & DSI_WPCR3_TLPXC; - } - - break; - case DSI_THS_EXIT: - /* Enable/Disable custom timing setting */ - hdsi->Instance->WPCR[0U] &= ~DSI_WPCR0_THSEXITEN; - hdsi->Instance->WPCR[0U] |= ((uint32_t)State << 25U); - - if (State != DISABLE) - { - /* Set custom value */ - hdsi->Instance->WPCR[3U] &= ~DSI_WPCR3_THSEXIT; - hdsi->Instance->WPCR[3U] |= (Value << 16U) & DSI_WPCR3_THSEXIT; - } - - break; - case DSI_TLPX_DATA: - /* Enable/Disable custom timing setting */ - hdsi->Instance->WPCR[0U] &= ~DSI_WPCR0_TLPXDEN; - hdsi->Instance->WPCR[0U] |= ((uint32_t)State << 24U); - - if (State != DISABLE) - { - /* Set custom value */ - hdsi->Instance->WPCR[3U] &= ~DSI_WPCR3_TLPXD; - hdsi->Instance->WPCR[3U] |= (Value << 8U) & DSI_WPCR3_TLPXD; - } - - break; - case DSI_THS_ZERO: - /* Enable/Disable custom timing setting */ - hdsi->Instance->WPCR[0U] &= ~DSI_WPCR0_THSZEROEN; - hdsi->Instance->WPCR[0U] |= ((uint32_t)State << 23U); - - if (State != DISABLE) - { - /* Set custom value */ - hdsi->Instance->WPCR[3U] &= ~DSI_WPCR3_THSZERO; - hdsi->Instance->WPCR[3U] |= Value & DSI_WPCR3_THSZERO; - } - - break; - case DSI_THS_TRAIL: - /* Enable/Disable custom timing setting */ - hdsi->Instance->WPCR[0U] &= ~DSI_WPCR0_THSTRAILEN; - hdsi->Instance->WPCR[0U] |= ((uint32_t)State << 22U); - - if (State != DISABLE) - { - /* Set custom value */ - hdsi->Instance->WPCR[2U] &= ~DSI_WPCR2_THSTRAIL; - hdsi->Instance->WPCR[2U] |= (Value << 24U) & DSI_WPCR2_THSTRAIL; - } - - break; - case DSI_THS_PREPARE: - /* Enable/Disable custom timing setting */ - hdsi->Instance->WPCR[0U] &= ~DSI_WPCR0_THSPREPEN; - hdsi->Instance->WPCR[0U] |= ((uint32_t)State << 21U); - - if (State != DISABLE) - { - /* Set custom value */ - hdsi->Instance->WPCR[2U] &= ~DSI_WPCR2_THSPREP; - hdsi->Instance->WPCR[2U] |= (Value << 16U) & DSI_WPCR2_THSPREP; - } - - break; - case DSI_TCLK_ZERO: - /* Enable/Disable custom timing setting */ - hdsi->Instance->WPCR[0U] &= ~DSI_WPCR0_TCLKZEROEN; - hdsi->Instance->WPCR[0U] |= ((uint32_t)State << 20U); - - if (State != DISABLE) - { - /* Set custom value */ - hdsi->Instance->WPCR[2U] &= ~DSI_WPCR2_TCLKZERO; - hdsi->Instance->WPCR[2U] |= (Value << 8U) & DSI_WPCR2_TCLKZERO; - } - - break; - case DSI_TCLK_PREPARE: - /* Enable/Disable custom timing setting */ - hdsi->Instance->WPCR[0U] &= ~DSI_WPCR0_TCLKPREPEN; - hdsi->Instance->WPCR[0U] |= ((uint32_t)State << 19U); - - if (State != DISABLE) - { - /* Set custom value */ - hdsi->Instance->WPCR[2U] &= ~DSI_WPCR2_TCLKPREP; - hdsi->Instance->WPCR[2U] |= Value & DSI_WPCR2_TCLKPREP; - } - - break; - default: - break; - } - - /* Process unlocked */ - __HAL_UNLOCK(hdsi); - - return HAL_OK; -} - -/** - * @brief Force the Clock/Data Lane in TX Stop Mode - * @param hdsi pointer to a DSI_HandleTypeDef structure that contains - * the configuration information for the DSI. - * @param Lane select between clock or data lanes. - * This parameter can be any value of @arg DSI_Lane_Group - * @param State ENABLE or DISABLE - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DSI_ForceTXStopMode(DSI_HandleTypeDef *hdsi, uint32_t Lane, FunctionalState State) -{ - /* Process locked */ - __HAL_LOCK(hdsi); - - /* Check function parameters */ - assert_param(IS_DSI_LANE_GROUP(Lane)); - assert_param(IS_FUNCTIONAL_STATE(State)); - - if (Lane == DSI_CLOCK_LANE) - { - /* Force/Unforce the Clock Lane in TX Stop Mode */ - hdsi->Instance->WPCR[0U] &= ~DSI_WPCR0_FTXSMCL; - hdsi->Instance->WPCR[0U] |= ((uint32_t)State << 12U); - } - else if (Lane == DSI_DATA_LANES) - { - /* Force/Unforce the Data Lanes in TX Stop Mode */ - hdsi->Instance->WPCR[0U] &= ~DSI_WPCR0_FTXSMDL; - hdsi->Instance->WPCR[0U] |= ((uint32_t)State << 13U); - } - else - { - /* Process unlocked */ - __HAL_UNLOCK(hdsi); - - return HAL_ERROR; - } - - /* Process unlocked */ - __HAL_UNLOCK(hdsi); - - return HAL_OK; -} - -/** - * @brief Force LP Receiver in Low-Power Mode - * @param hdsi pointer to a DSI_HandleTypeDef structure that contains - * the configuration information for the DSI. - * @param State ENABLE or DISABLE - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DSI_ForceRXLowPower(DSI_HandleTypeDef *hdsi, FunctionalState State) -{ - /* Process locked */ - __HAL_LOCK(hdsi); - - /* Check function parameters */ - assert_param(IS_FUNCTIONAL_STATE(State)); - - /* Force/Unforce LP Receiver in Low-Power Mode */ - hdsi->Instance->WPCR[1U] &= ~DSI_WPCR1_FLPRXLPM; - hdsi->Instance->WPCR[1U] |= ((uint32_t)State << 22U); - - /* Process unlocked */ - __HAL_UNLOCK(hdsi); - - return HAL_OK; -} - -/** - * @brief Force Data Lanes in RX Mode after a BTA - * @param hdsi pointer to a DSI_HandleTypeDef structure that contains - * the configuration information for the DSI. - * @param State ENABLE or DISABLE - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DSI_ForceDataLanesInRX(DSI_HandleTypeDef *hdsi, FunctionalState State) -{ - /* Process locked */ - __HAL_LOCK(hdsi); - - /* Check function parameters */ - assert_param(IS_FUNCTIONAL_STATE(State)); - - /* Force Data Lanes in RX Mode */ - hdsi->Instance->WPCR[0U] &= ~DSI_WPCR0_TDDL; - hdsi->Instance->WPCR[0U] |= ((uint32_t)State << 16U); - - /* Process unlocked */ - __HAL_UNLOCK(hdsi); - - return HAL_OK; -} - -/** - * @brief Enable a pull-down on the lanes to prevent from floating states when unused - * @param hdsi pointer to a DSI_HandleTypeDef structure that contains - * the configuration information for the DSI. - * @param State ENABLE or DISABLE - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DSI_SetPullDown(DSI_HandleTypeDef *hdsi, FunctionalState State) -{ - /* Process locked */ - __HAL_LOCK(hdsi); - - /* Check function parameters */ - assert_param(IS_FUNCTIONAL_STATE(State)); - - /* Enable/Disable pull-down on lanes */ - hdsi->Instance->WPCR[0U] &= ~DSI_WPCR0_PDEN; - hdsi->Instance->WPCR[0U] |= ((uint32_t)State << 18U); - - /* Process unlocked */ - __HAL_UNLOCK(hdsi); - - return HAL_OK; -} - -/** - * @brief Switch off the contention detection on data lanes - * @param hdsi pointer to a DSI_HandleTypeDef structure that contains - * the configuration information for the DSI. - * @param State ENABLE or DISABLE - * @retval HAL status - */ -HAL_StatusTypeDef HAL_DSI_SetContentionDetectionOff(DSI_HandleTypeDef *hdsi, FunctionalState State) -{ - /* Process locked */ - __HAL_LOCK(hdsi); - - /* Check function parameters */ - assert_param(IS_FUNCTIONAL_STATE(State)); - - /* Contention Detection on Data Lanes OFF */ - hdsi->Instance->WPCR[0U] &= ~DSI_WPCR0_CDOFFDL; - hdsi->Instance->WPCR[0U] |= ((uint32_t)State << 14U); - - /* Process unlocked */ - __HAL_UNLOCK(hdsi); - - return HAL_OK; -} - -/** - * @} - */ - -/** @defgroup DSI_Group4 Peripheral State and Errors functions - * @brief Peripheral State and Errors functions - * -@verbatim - =============================================================================== - ##### Peripheral State and Errors functions ##### - =============================================================================== - [..] - This subsection provides functions allowing to - (+) Check the DSI state. - (+) Get error code. - -@endverbatim - * @{ - */ - -/** - * @brief Return the DSI state - * @param hdsi pointer to a DSI_HandleTypeDef structure that contains - * the configuration information for the DSI. - * @retval HAL state - */ -HAL_DSI_StateTypeDef HAL_DSI_GetState(DSI_HandleTypeDef *hdsi) -{ - return hdsi->State; -} - -/** - * @brief Return the DSI error code - * @param hdsi pointer to a DSI_HandleTypeDef structure that contains - * the configuration information for the DSI. - * @retval DSI Error Code - */ -uint32_t HAL_DSI_GetError(DSI_HandleTypeDef *hdsi) -{ - /* Get the error code */ - return hdsi->ErrorCode; -} - -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ - -#endif /* DSI */ - -#endif /* HAL_DSI_MODULE_ENABLED */ - -/** - * @} - */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_eth.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_eth.c deleted file mode 100644 index dbaeb3eee437d8..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_eth.c +++ /dev/null @@ -1,2309 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_eth.c - * @author MCD Application Team - * @brief ETH HAL module driver. - * This file provides firmware functions to manage the following - * functionalities of the Ethernet (ETH) peripheral: - * + Initialization and de-initialization functions - * + IO operation functions - * + Peripheral Control functions - * + Peripheral State and Errors functions - * - @verbatim - ============================================================================== - ##### How to use this driver ##### - ============================================================================== - [..] - (#)Declare a ETH_HandleTypeDef handle structure, for example: - ETH_HandleTypeDef heth; - - (#)Fill parameters of Init structure in heth handle - - (#)Call HAL_ETH_Init() API to initialize the Ethernet peripheral (MAC, DMA, ...) - - (#)Initialize the ETH low level resources through the HAL_ETH_MspInit() API: - (##) Enable the Ethernet interface clock using - (+++) __HAL_RCC_ETHMAC_CLK_ENABLE(); - (+++) __HAL_RCC_ETHMACTX_CLK_ENABLE(); - (+++) __HAL_RCC_ETHMACRX_CLK_ENABLE(); - - (##) Initialize the related GPIO clocks - (##) Configure Ethernet pin-out - (##) Configure Ethernet NVIC interrupt (IT mode) - - (#)Initialize Ethernet DMA Descriptors in chain mode and point to allocated buffers: - (##) HAL_ETH_DMATxDescListInit(); for Transmission process - (##) HAL_ETH_DMARxDescListInit(); for Reception process - - (#)Enable MAC and DMA transmission and reception: - (##) HAL_ETH_Start(); - - (#)Prepare ETH DMA TX Descriptors and give the hand to ETH DMA to transfer - the frame to MAC TX FIFO: - (##) HAL_ETH_TransmitFrame(); - - (#)Poll for a received frame in ETH RX DMA Descriptors and get received - frame parameters - (##) HAL_ETH_GetReceivedFrame(); (should be called into an infinite loop) - - (#) Get a received frame when an ETH RX interrupt occurs: - (##) HAL_ETH_GetReceivedFrame_IT(); (called in IT mode only) - - (#) Communicate with external PHY device: - (##) Read a specific register from the PHY - HAL_ETH_ReadPHYRegister(); - (##) Write data to a specific RHY register: - HAL_ETH_WritePHYRegister(); - - (#) Configure the Ethernet MAC after ETH peripheral initialization - HAL_ETH_ConfigMAC(); all MAC parameters should be filled. - - (#) Configure the Ethernet DMA after ETH peripheral initialization - HAL_ETH_ConfigDMA(); all DMA parameters should be filled. - - -@- The PTP protocol and the DMA descriptors ring mode are not supported - in this driver -*** Callback registration *** - ============================================= - - The compilation define USE_HAL_ETH_REGISTER_CALLBACKS when set to 1 - allows the user to configure dynamically the driver callbacks. - Use Function @ref HAL_ETH_RegisterCallback() to register an interrupt callback. - - Function @ref HAL_ETH_RegisterCallback() allows to register following callbacks: - (+) TxCpltCallback : Tx Complete Callback. - (+) RxCpltCallback : Rx Complete Callback. - (+) DMAErrorCallback : DMA Error Callback. - (+) MspInitCallback : MspInit Callback. - (+) MspDeInitCallback: MspDeInit Callback. - - This function takes as parameters the HAL peripheral handle, the Callback ID - and a pointer to the user callback function. - - Use function @ref HAL_ETH_UnRegisterCallback() to reset a callback to the default - weak function. - @ref HAL_ETH_UnRegisterCallback takes as parameters the HAL peripheral handle, - and the Callback ID. - This function allows to reset following callbacks: - (+) TxCpltCallback : Tx Complete Callback. - (+) RxCpltCallback : Rx Complete Callback. - (+) DMAErrorCallback : DMA Error Callback. - (+) MspInitCallback : MspInit Callback. - (+) MspDeInitCallback: MspDeInit Callback. - - By default, after the HAL_ETH_Init and when the state is HAL_ETH_STATE_RESET - all callbacks are set to the corresponding weak functions: - examples @ref HAL_ETH_TxCpltCallback(), @ref HAL_ETH_RxCpltCallback(). - Exception done for MspInit and MspDeInit functions that are - reset to the legacy weak function in the HAL_ETH_Init/ @ref HAL_ETH_DeInit only when - these callbacks are null (not registered beforehand). - if not, MspInit or MspDeInit are not null, the HAL_ETH_Init/ @ref HAL_ETH_DeInit - keep and use the user MspInit/MspDeInit callbacks (registered beforehand) - - Callbacks can be registered/unregistered in HAL_ETH_STATE_READY state only. - Exception done MspInit/MspDeInit that can be registered/unregistered - in HAL_ETH_STATE_READY or HAL_ETH_STATE_RESET state, - thus registered (user) MspInit/DeInit callbacks can be used during the Init/DeInit. - In that case first register the MspInit/MspDeInit user callbacks - using @ref HAL_ETH_RegisterCallback() before calling @ref HAL_ETH_DeInit - or HAL_ETH_Init function. - - When The compilation define USE_HAL_ETH_REGISTER_CALLBACKS is set to 0 or - not defined, the callback registration feature is not available and all callbacks - are set to the corresponding weak functions. - - @endverbatim - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @defgroup ETH ETH - * @brief ETH HAL module driver - * @{ - */ - -#ifdef HAL_ETH_MODULE_ENABLED - -#if defined(STM32F407xx) || defined(STM32F417xx) || defined(STM32F427xx) || defined(STM32F437xx) ||\ - defined(STM32F429xx) || defined(STM32F439xx) || defined(STM32F469xx) || defined(STM32F479xx) - -/* Private typedef -----------------------------------------------------------*/ -/* Private define ------------------------------------------------------------*/ -/** @defgroup ETH_Private_Constants ETH Private Constants - * @{ - */ -#define ETH_TIMEOUT_SWRESET 500U -#define ETH_TIMEOUT_LINKED_STATE 5000U -#define ETH_TIMEOUT_AUTONEGO_COMPLETED 5000U - -/** - * @} - */ -/* Private macro -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private function prototypes -----------------------------------------------*/ -/** @defgroup ETH_Private_Functions ETH Private Functions - * @{ - */ -static void ETH_MACDMAConfig(ETH_HandleTypeDef *heth, uint32_t err); -static void ETH_MACAddressConfig(ETH_HandleTypeDef *heth, uint32_t MacAddr, uint8_t *Addr); -static void ETH_MACReceptionEnable(ETH_HandleTypeDef *heth); -static void ETH_MACReceptionDisable(ETH_HandleTypeDef *heth); -static void ETH_MACTransmissionEnable(ETH_HandleTypeDef *heth); -static void ETH_MACTransmissionDisable(ETH_HandleTypeDef *heth); -static void ETH_DMATransmissionEnable(ETH_HandleTypeDef *heth); -static void ETH_DMATransmissionDisable(ETH_HandleTypeDef *heth); -static void ETH_DMAReceptionEnable(ETH_HandleTypeDef *heth); -static void ETH_DMAReceptionDisable(ETH_HandleTypeDef *heth); -static void ETH_FlushTransmitFIFO(ETH_HandleTypeDef *heth); -static void ETH_Delay(uint32_t mdelay); -#if (USE_HAL_ETH_REGISTER_CALLBACKS == 1) -static void ETH_InitCallbacksToDefault(ETH_HandleTypeDef *heth); -#endif /* USE_HAL_ETH_REGISTER_CALLBACKS */ - -/** - * @} - */ -/* Private functions ---------------------------------------------------------*/ - -/** @defgroup ETH_Exported_Functions ETH Exported Functions - * @{ - */ - -/** @defgroup ETH_Exported_Functions_Group1 Initialization and de-initialization functions - * @brief Initialization and Configuration functions - * - @verbatim - =============================================================================== - ##### Initialization and de-initialization functions ##### - =============================================================================== - [..] This section provides functions allowing to: - (+) Initialize and configure the Ethernet peripheral - (+) De-initialize the Ethernet peripheral - - @endverbatim - * @{ - */ - -/** - * @brief Initializes the Ethernet MAC and DMA according to default - * parameters. - * @param heth pointer to a ETH_HandleTypeDef structure that contains - * the configuration information for ETHERNET module - * @retval HAL status - */ -HAL_StatusTypeDef HAL_ETH_Init(ETH_HandleTypeDef *heth) -{ - uint32_t tmpreg1 = 0U, phyreg = 0U; - uint32_t hclk = 60000000U; - uint32_t tickstart = 0U; - uint32_t err = ETH_SUCCESS; - - /* Check the ETH peripheral state */ - if(heth == NULL) - { - return HAL_ERROR; - } - - /* Check parameters */ - assert_param(IS_ETH_AUTONEGOTIATION(heth->Init.AutoNegotiation)); - assert_param(IS_ETH_RX_MODE(heth->Init.RxMode)); - assert_param(IS_ETH_CHECKSUM_MODE(heth->Init.ChecksumMode)); - assert_param(IS_ETH_MEDIA_INTERFACE(heth->Init.MediaInterface)); - - if(heth->State == HAL_ETH_STATE_RESET) - { - /* Allocate lock resource and initialize it */ - heth->Lock = HAL_UNLOCKED; -#if (USE_HAL_ETH_REGISTER_CALLBACKS == 1) - ETH_InitCallbacksToDefault(heth); - - if(heth->MspInitCallback == NULL) - { - /* Init the low level hardware : GPIO, CLOCK, NVIC. */ - heth->MspInitCallback = HAL_ETH_MspInit; - } - heth->MspInitCallback(heth); - -#else - /* Init the low level hardware : GPIO, CLOCK, NVIC. */ - HAL_ETH_MspInit(heth); -#endif /* USE_HAL_ETH_REGISTER_CALLBACKS */ - } - - /* Enable SYSCFG Clock */ - __HAL_RCC_SYSCFG_CLK_ENABLE(); - - /* Select MII or RMII Mode*/ - SYSCFG->PMC &= ~(SYSCFG_PMC_MII_RMII_SEL); - SYSCFG->PMC |= (uint32_t)heth->Init.MediaInterface; - - /* Ethernet Software reset */ - /* Set the SWR bit: resets all MAC subsystem internal registers and logic */ - /* After reset all the registers holds their respective reset values */ - (heth->Instance)->DMABMR |= ETH_DMABMR_SR; - - /* Get tick */ - tickstart = HAL_GetTick(); - - /* Wait for software reset */ - while (((heth->Instance)->DMABMR & ETH_DMABMR_SR) != (uint32_t)RESET) - { - /* Check for the Timeout */ - if((HAL_GetTick() - tickstart ) > ETH_TIMEOUT_SWRESET) - { - heth->State= HAL_ETH_STATE_TIMEOUT; - - /* Process Unlocked */ - __HAL_UNLOCK(heth); - - /* Note: The SWR is not performed if the ETH_RX_CLK or the ETH_TX_CLK are - not available, please check your external PHY or the IO configuration */ - return HAL_TIMEOUT; - } - } - - /*-------------------------------- MAC Initialization ----------------------*/ - /* Get the ETHERNET MACMIIAR value */ - tmpreg1 = (heth->Instance)->MACMIIAR; - /* Clear CSR Clock Range CR[2:0] bits */ - tmpreg1 &= ETH_MACMIIAR_CR_MASK; - - /* Get hclk frequency value */ - hclk = HAL_RCC_GetHCLKFreq(); - - /* Set CR bits depending on hclk value */ - if((hclk >= 20000000U)&&(hclk < 35000000U)) - { - /* CSR Clock Range between 20-35 MHz */ - tmpreg1 |= (uint32_t)ETH_MACMIIAR_CR_Div16; - } - else if((hclk >= 35000000U)&&(hclk < 60000000U)) - { - /* CSR Clock Range between 35-60 MHz */ - tmpreg1 |= (uint32_t)ETH_MACMIIAR_CR_Div26; - } - else if((hclk >= 60000000U)&&(hclk < 100000000U)) - { - /* CSR Clock Range between 60-100 MHz */ - tmpreg1 |= (uint32_t)ETH_MACMIIAR_CR_Div42; - } - else if((hclk >= 100000000U)&&(hclk < 150000000U)) - { - /* CSR Clock Range between 100-150 MHz */ - tmpreg1 |= (uint32_t)ETH_MACMIIAR_CR_Div62; - } - else /* ((hclk >= 150000000)&&(hclk <= 183000000)) */ - { - /* CSR Clock Range between 150-183 MHz */ - tmpreg1 |= (uint32_t)ETH_MACMIIAR_CR_Div102; - } - - /* Write to ETHERNET MAC MIIAR: Configure the ETHERNET CSR Clock Range */ - (heth->Instance)->MACMIIAR = (uint32_t)tmpreg1; - - /*-------------------- PHY initialization and configuration ----------------*/ - /* Put the PHY in reset mode */ - if((HAL_ETH_WritePHYRegister(heth, PHY_BCR, PHY_RESET)) != HAL_OK) - { - /* In case of write timeout */ - err = ETH_ERROR; - - /* Config MAC and DMA */ - ETH_MACDMAConfig(heth, err); - - /* Set the ETH peripheral state to READY */ - heth->State = HAL_ETH_STATE_READY; - - /* Return HAL_ERROR */ - return HAL_ERROR; - } - - /* Delay to assure PHY reset */ - HAL_Delay(PHY_RESET_DELAY); - - if((heth->Init).AutoNegotiation != ETH_AUTONEGOTIATION_DISABLE) - { - /* Get tick */ - tickstart = HAL_GetTick(); - - /* We wait for linked status */ - do - { - HAL_ETH_ReadPHYRegister(heth, PHY_BSR, &phyreg); - - /* Check for the Timeout */ - if((HAL_GetTick() - tickstart ) > ETH_TIMEOUT_LINKED_STATE) - { - /* In case of write timeout */ - err = ETH_ERROR; - - /* Config MAC and DMA */ - ETH_MACDMAConfig(heth, err); - - heth->State= HAL_ETH_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(heth); - - return HAL_TIMEOUT; - } - } while (((phyreg & PHY_LINKED_STATUS) != PHY_LINKED_STATUS)); - - - /* Enable Auto-Negotiation */ - if((HAL_ETH_WritePHYRegister(heth, PHY_BCR, PHY_AUTONEGOTIATION)) != HAL_OK) - { - /* In case of write timeout */ - err = ETH_ERROR; - - /* Config MAC and DMA */ - ETH_MACDMAConfig(heth, err); - - /* Set the ETH peripheral state to READY */ - heth->State = HAL_ETH_STATE_READY; - - /* Return HAL_ERROR */ - return HAL_ERROR; - } - - /* Get tick */ - tickstart = HAL_GetTick(); - - /* Wait until the auto-negotiation will be completed */ - do - { - HAL_ETH_ReadPHYRegister(heth, PHY_BSR, &phyreg); - - /* Check for the Timeout */ - if((HAL_GetTick() - tickstart ) > ETH_TIMEOUT_AUTONEGO_COMPLETED) - { - /* In case of write timeout */ - err = ETH_ERROR; - - /* Config MAC and DMA */ - ETH_MACDMAConfig(heth, err); - - heth->State= HAL_ETH_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(heth); - - return HAL_TIMEOUT; - } - - } while (((phyreg & PHY_AUTONEGO_COMPLETE) != PHY_AUTONEGO_COMPLETE)); - - /* Read the result of the auto-negotiation */ - if((HAL_ETH_ReadPHYRegister(heth, PHY_SR, &phyreg)) != HAL_OK) - { - /* In case of write timeout */ - err = ETH_ERROR; - - /* Config MAC and DMA */ - ETH_MACDMAConfig(heth, err); - - /* Set the ETH peripheral state to READY */ - heth->State = HAL_ETH_STATE_READY; - - /* Return HAL_ERROR */ - return HAL_ERROR; - } - - /* Configure the MAC with the Duplex Mode fixed by the auto-negotiation process */ - if((phyreg & PHY_DUPLEX_STATUS) != (uint32_t)RESET) - { - /* Set Ethernet duplex mode to Full-duplex following the auto-negotiation */ - (heth->Init).DuplexMode = ETH_MODE_FULLDUPLEX; - } - else - { - /* Set Ethernet duplex mode to Half-duplex following the auto-negotiation */ - (heth->Init).DuplexMode = ETH_MODE_HALFDUPLEX; - } - /* Configure the MAC with the speed fixed by the auto-negotiation process */ - if((phyreg & PHY_SPEED_STATUS) == PHY_SPEED_STATUS) - { - /* Set Ethernet speed to 10M following the auto-negotiation */ - (heth->Init).Speed = ETH_SPEED_10M; - } - else - { - /* Set Ethernet speed to 100M following the auto-negotiation */ - (heth->Init).Speed = ETH_SPEED_100M; - } - } - else /* AutoNegotiation Disable */ - { - /* Check parameters */ - assert_param(IS_ETH_SPEED(heth->Init.Speed)); - assert_param(IS_ETH_DUPLEX_MODE(heth->Init.DuplexMode)); - - /* Set MAC Speed and Duplex Mode */ - if(HAL_ETH_WritePHYRegister(heth, PHY_BCR, ((uint16_t)((heth->Init).DuplexMode >> 3U) | - (uint16_t)((heth->Init).Speed >> 1U))) != HAL_OK) - { - /* In case of write timeout */ - err = ETH_ERROR; - - /* Config MAC and DMA */ - ETH_MACDMAConfig(heth, err); - - /* Set the ETH peripheral state to READY */ - heth->State = HAL_ETH_STATE_READY; - - /* Return HAL_ERROR */ - return HAL_ERROR; - } - - /* Delay to assure PHY configuration */ - HAL_Delay(PHY_CONFIG_DELAY); - } - - /* Config MAC and DMA */ - ETH_MACDMAConfig(heth, err); - - /* Set ETH HAL State to Ready */ - heth->State= HAL_ETH_STATE_READY; - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief De-Initializes the ETH peripheral. - * @param heth pointer to a ETH_HandleTypeDef structure that contains - * the configuration information for ETHERNET module - * @retval HAL status - */ -HAL_StatusTypeDef HAL_ETH_DeInit(ETH_HandleTypeDef *heth) -{ - /* Set the ETH peripheral state to BUSY */ - heth->State = HAL_ETH_STATE_BUSY; - -#if (USE_HAL_ETH_REGISTER_CALLBACKS == 1) - if(heth->MspDeInitCallback == NULL) - { - heth->MspDeInitCallback = HAL_ETH_MspDeInit; - } - /* De-Init the low level hardware : GPIO, CLOCK, NVIC. */ - heth->MspDeInitCallback(heth); -#else - /* De-Init the low level hardware : GPIO, CLOCK, NVIC. */ - HAL_ETH_MspDeInit(heth); -#endif - - /* Set ETH HAL state to Disabled */ - heth->State= HAL_ETH_STATE_RESET; - - /* Release Lock */ - __HAL_UNLOCK(heth); - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Initializes the DMA Tx descriptors in chain mode. - * @param heth pointer to a ETH_HandleTypeDef structure that contains - * the configuration information for ETHERNET module - * @param DMATxDescTab Pointer to the first Tx desc list - * @param TxBuff Pointer to the first TxBuffer list - * @param TxBuffCount Number of the used Tx desc in the list - * @retval HAL status - */ -HAL_StatusTypeDef HAL_ETH_DMATxDescListInit(ETH_HandleTypeDef *heth, ETH_DMADescTypeDef *DMATxDescTab, uint8_t *TxBuff, uint32_t TxBuffCount) -{ - uint32_t i = 0U; - ETH_DMADescTypeDef *dmatxdesc; - - /* Process Locked */ - __HAL_LOCK(heth); - - /* Set the ETH peripheral state to BUSY */ - heth->State = HAL_ETH_STATE_BUSY; - - /* Set the DMATxDescToSet pointer with the first one of the DMATxDescTab list */ - heth->TxDesc = DMATxDescTab; - - /* Fill each DMATxDesc descriptor with the right values */ - for(i=0U; i < TxBuffCount; i++) - { - /* Get the pointer on the ith member of the Tx Desc list */ - dmatxdesc = DMATxDescTab + i; - - /* Set Second Address Chained bit */ - dmatxdesc->Status = ETH_DMATXDESC_TCH; - - /* Set Buffer1 address pointer */ - dmatxdesc->Buffer1Addr = (uint32_t)(&TxBuff[i*ETH_TX_BUF_SIZE]); - - if ((heth->Init).ChecksumMode == ETH_CHECKSUM_BY_HARDWARE) - { - /* Set the DMA Tx descriptors checksum insertion */ - dmatxdesc->Status |= ETH_DMATXDESC_CHECKSUMTCPUDPICMPFULL; - } - - /* Initialize the next descriptor with the Next Descriptor Polling Enable */ - if(i < (TxBuffCount-1U)) - { - /* Set next descriptor address register with next descriptor base address */ - dmatxdesc->Buffer2NextDescAddr = (uint32_t)(DMATxDescTab+i+1U); - } - else - { - /* For last descriptor, set next descriptor address register equal to the first descriptor base address */ - dmatxdesc->Buffer2NextDescAddr = (uint32_t) DMATxDescTab; - } - } - - /* Set Transmit Descriptor List Address Register */ - (heth->Instance)->DMATDLAR = (uint32_t) DMATxDescTab; - - /* Set ETH HAL State to Ready */ - heth->State= HAL_ETH_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(heth); - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Initializes the DMA Rx descriptors in chain mode. - * @param heth pointer to a ETH_HandleTypeDef structure that contains - * the configuration information for ETHERNET module - * @param DMARxDescTab Pointer to the first Rx desc list - * @param RxBuff Pointer to the first RxBuffer list - * @param RxBuffCount Number of the used Rx desc in the list - * @retval HAL status - */ -HAL_StatusTypeDef HAL_ETH_DMARxDescListInit(ETH_HandleTypeDef *heth, ETH_DMADescTypeDef *DMARxDescTab, uint8_t *RxBuff, uint32_t RxBuffCount) -{ - uint32_t i = 0U; - ETH_DMADescTypeDef *DMARxDesc; - - /* Process Locked */ - __HAL_LOCK(heth); - - /* Set the ETH peripheral state to BUSY */ - heth->State = HAL_ETH_STATE_BUSY; - - /* Set the Ethernet RxDesc pointer with the first one of the DMARxDescTab list */ - heth->RxDesc = DMARxDescTab; - - /* Fill each DMARxDesc descriptor with the right values */ - for(i=0U; i < RxBuffCount; i++) - { - /* Get the pointer on the ith member of the Rx Desc list */ - DMARxDesc = DMARxDescTab+i; - - /* Set Own bit of the Rx descriptor Status */ - DMARxDesc->Status = ETH_DMARXDESC_OWN; - - /* Set Buffer1 size and Second Address Chained bit */ - DMARxDesc->ControlBufferSize = ETH_DMARXDESC_RCH | ETH_RX_BUF_SIZE; - - /* Set Buffer1 address pointer */ - DMARxDesc->Buffer1Addr = (uint32_t)(&RxBuff[i*ETH_RX_BUF_SIZE]); - - if((heth->Init).RxMode == ETH_RXINTERRUPT_MODE) - { - /* Enable Ethernet DMA Rx Descriptor interrupt */ - DMARxDesc->ControlBufferSize &= ~ETH_DMARXDESC_DIC; - } - - /* Initialize the next descriptor with the Next Descriptor Polling Enable */ - if(i < (RxBuffCount-1U)) - { - /* Set next descriptor address register with next descriptor base address */ - DMARxDesc->Buffer2NextDescAddr = (uint32_t)(DMARxDescTab+i+1U); - } - else - { - /* For last descriptor, set next descriptor address register equal to the first descriptor base address */ - DMARxDesc->Buffer2NextDescAddr = (uint32_t)(DMARxDescTab); - } - } - - /* Set Receive Descriptor List Address Register */ - (heth->Instance)->DMARDLAR = (uint32_t) DMARxDescTab; - - /* Set ETH HAL State to Ready */ - heth->State= HAL_ETH_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(heth); - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Initializes the ETH MSP. - * @param heth pointer to a ETH_HandleTypeDef structure that contains - * the configuration information for ETHERNET module - * @retval None - */ -__weak void HAL_ETH_MspInit(ETH_HandleTypeDef *heth) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(heth); - /* NOTE : This function Should not be modified, when the callback is needed, - the HAL_ETH_MspInit could be implemented in the user file - */ -} - -/** - * @brief DeInitializes ETH MSP. - * @param heth pointer to a ETH_HandleTypeDef structure that contains - * the configuration information for ETHERNET module - * @retval None - */ -__weak void HAL_ETH_MspDeInit(ETH_HandleTypeDef *heth) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(heth); - /* NOTE : This function Should not be modified, when the callback is needed, - the HAL_ETH_MspDeInit could be implemented in the user file - */ -} - -#if (USE_HAL_ETH_REGISTER_CALLBACKS == 1) -/** - * @brief Register a User ETH Callback - * To be used instead of the weak predefined callback - * @param heth eth handle - * @param CallbackID ID of the callback to be registered - * This parameter can be one of the following values: - * @arg @ref HAL_ETH_TX_COMPLETE_CB_ID Tx Complete Callback ID - * @arg @ref HAL_ETH_RX_COMPLETE_CB_ID Rx Complete Callback ID - * @arg @ref HAL_ETH_DMA_ERROR_CB_ID DMA Error Callback ID - * @arg @ref HAL_ETH_MSPINIT_CB_ID MspInit callback ID - * @arg @ref HAL_ETH_MSPDEINIT_CB_ID MspDeInit callback ID - * @param pCallback pointer to the Callback function - * @retval status - */ -HAL_StatusTypeDef HAL_ETH_RegisterCallback(ETH_HandleTypeDef *heth, HAL_ETH_CallbackIDTypeDef CallbackID, pETH_CallbackTypeDef pCallback) -{ - HAL_StatusTypeDef status = HAL_OK; - - if(pCallback == NULL) - { - return HAL_ERROR; - } - /* Process locked */ - __HAL_LOCK(heth); - - if(heth->State == HAL_ETH_STATE_READY) - { - switch (CallbackID) - { - case HAL_ETH_TX_COMPLETE_CB_ID : - heth->TxCpltCallback = pCallback; - break; - - case HAL_ETH_RX_COMPLETE_CB_ID : - heth->RxCpltCallback = pCallback; - break; - - case HAL_ETH_DMA_ERROR_CB_ID : - heth->DMAErrorCallback = pCallback; - break; - - case HAL_ETH_MSPINIT_CB_ID : - heth->MspInitCallback = pCallback; - break; - - case HAL_ETH_MSPDEINIT_CB_ID : - heth->MspDeInitCallback = pCallback; - break; - - default : - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else if(heth->State == HAL_ETH_STATE_RESET) - { - switch (CallbackID) - { - case HAL_ETH_MSPINIT_CB_ID : - heth->MspInitCallback = pCallback; - break; - - case HAL_ETH_MSPDEINIT_CB_ID : - heth->MspDeInitCallback = pCallback; - break; - - default : - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else - { - /* Return error status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(heth); - - return status; -} - -/** - * @brief Unregister an ETH Callback - * ETH callabck is redirected to the weak predefined callback - * @param heth eth handle - * @param CallbackID ID of the callback to be unregistered - * This parameter can be one of the following values: - * @arg @ref HAL_ETH_TX_COMPLETE_CB_ID Tx Complete Callback ID - * @arg @ref HAL_ETH_RX_COMPLETE_CB_ID Rx Complete Callback ID - * @arg @ref HAL_ETH_DMA_ERROR_CB_ID DMA Error Callback ID - * @arg @ref HAL_ETH_MSPINIT_CB_ID MspInit callback ID - * @arg @ref HAL_ETH_MSPDEINIT_CB_ID MspDeInit callback ID - * @retval status - */ -HAL_StatusTypeDef HAL_ETH_UnRegisterCallback(ETH_HandleTypeDef *heth, HAL_ETH_CallbackIDTypeDef CallbackID) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Process locked */ - __HAL_LOCK(heth); - - if(heth->State == HAL_ETH_STATE_READY) - { - switch (CallbackID) - { - case HAL_ETH_TX_COMPLETE_CB_ID : - heth->TxCpltCallback = HAL_ETH_TxCpltCallback; - break; - - case HAL_ETH_RX_COMPLETE_CB_ID : - heth->RxCpltCallback = HAL_ETH_RxCpltCallback; - break; - - case HAL_ETH_DMA_ERROR_CB_ID : - heth->DMAErrorCallback = HAL_ETH_ErrorCallback; - break; - - case HAL_ETH_MSPINIT_CB_ID : - heth->MspInitCallback = HAL_ETH_MspInit; - break; - - case HAL_ETH_MSPDEINIT_CB_ID : - heth->MspDeInitCallback = HAL_ETH_MspDeInit; - break; - - default : - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else if(heth->State == HAL_ETH_STATE_RESET) - { - switch (CallbackID) - { - case HAL_ETH_MSPINIT_CB_ID : - heth->MspInitCallback = HAL_ETH_MspInit; - break; - - case HAL_ETH_MSPDEINIT_CB_ID : - heth->MspDeInitCallback = HAL_ETH_MspDeInit; - break; - - default : - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else - { - /* Return error status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(heth); - - return status; -} -#endif /* USE_HAL_ETH_REGISTER_CALLBACKS */ - -/** - * @} - */ - -/** @defgroup ETH_Exported_Functions_Group2 IO operation functions - * @brief Data transfers functions - * - @verbatim - ============================================================================== - ##### IO operation functions ##### - ============================================================================== - [..] This section provides functions allowing to: - (+) Transmit a frame - HAL_ETH_TransmitFrame(); - (+) Receive a frame - HAL_ETH_GetReceivedFrame(); - HAL_ETH_GetReceivedFrame_IT(); - (+) Read from an External PHY register - HAL_ETH_ReadPHYRegister(); - (+) Write to an External PHY register - HAL_ETH_WritePHYRegister(); - - @endverbatim - - * @{ - */ - -/** - * @brief Sends an Ethernet frame. - * @param heth pointer to a ETH_HandleTypeDef structure that contains - * the configuration information for ETHERNET module - * @param FrameLength Amount of data to be sent - * @retval HAL status - */ -HAL_StatusTypeDef HAL_ETH_TransmitFrame(ETH_HandleTypeDef *heth, uint32_t FrameLength) -{ - uint32_t bufcount = 0U, size = 0U, i = 0U; - - /* Process Locked */ - __HAL_LOCK(heth); - - /* Set the ETH peripheral state to BUSY */ - heth->State = HAL_ETH_STATE_BUSY; - - if (FrameLength == 0U) - { - /* Set ETH HAL state to READY */ - heth->State = HAL_ETH_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(heth); - - return HAL_ERROR; - } - - /* Check if the descriptor is owned by the ETHERNET DMA (when set) or CPU (when reset) */ - if(((heth->TxDesc)->Status & ETH_DMATXDESC_OWN) != (uint32_t)RESET) - { - /* OWN bit set */ - heth->State = HAL_ETH_STATE_BUSY_TX; - - /* Process Unlocked */ - __HAL_UNLOCK(heth); - - return HAL_ERROR; - } - - /* Get the number of needed Tx buffers for the current frame */ - if (FrameLength > ETH_TX_BUF_SIZE) - { - bufcount = FrameLength/ETH_TX_BUF_SIZE; - if (FrameLength % ETH_TX_BUF_SIZE) - { - bufcount++; - } - } - else - { - bufcount = 1U; - } - if (bufcount == 1U) - { - /* Set LAST and FIRST segment */ - heth->TxDesc->Status |=ETH_DMATXDESC_FS|ETH_DMATXDESC_LS; - /* Set frame size */ - heth->TxDesc->ControlBufferSize = (FrameLength & ETH_DMATXDESC_TBS1); - /* Set Own bit of the Tx descriptor Status: gives the buffer back to ETHERNET DMA */ - heth->TxDesc->Status |= ETH_DMATXDESC_OWN; - /* Point to next descriptor */ - heth->TxDesc= (ETH_DMADescTypeDef *)(heth->TxDesc->Buffer2NextDescAddr); - } - else - { - for (i=0U; i< bufcount; i++) - { - /* Clear FIRST and LAST segment bits */ - heth->TxDesc->Status &= ~(ETH_DMATXDESC_FS | ETH_DMATXDESC_LS); - - if (i == 0U) - { - /* Setting the first segment bit */ - heth->TxDesc->Status |= ETH_DMATXDESC_FS; - } - - /* Program size */ - heth->TxDesc->ControlBufferSize = (ETH_TX_BUF_SIZE & ETH_DMATXDESC_TBS1); - - if (i == (bufcount-1U)) - { - /* Setting the last segment bit */ - heth->TxDesc->Status |= ETH_DMATXDESC_LS; - size = FrameLength - (bufcount-1U)*ETH_TX_BUF_SIZE; - heth->TxDesc->ControlBufferSize = (size & ETH_DMATXDESC_TBS1); - } - - /* Set Own bit of the Tx descriptor Status: gives the buffer back to ETHERNET DMA */ - heth->TxDesc->Status |= ETH_DMATXDESC_OWN; - /* point to next descriptor */ - heth->TxDesc = (ETH_DMADescTypeDef *)(heth->TxDesc->Buffer2NextDescAddr); - } - } - - /* When Tx Buffer unavailable flag is set: clear it and resume transmission */ - if (((heth->Instance)->DMASR & ETH_DMASR_TBUS) != (uint32_t)RESET) - { - /* Clear TBUS ETHERNET DMA flag */ - (heth->Instance)->DMASR = ETH_DMASR_TBUS; - /* Resume DMA transmission*/ - (heth->Instance)->DMATPDR = 0U; - } - - /* Set ETH HAL State to Ready */ - heth->State = HAL_ETH_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(heth); - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Checks for received frames. - * @param heth pointer to a ETH_HandleTypeDef structure that contains - * the configuration information for ETHERNET module - * @retval HAL status - */ -HAL_StatusTypeDef HAL_ETH_GetReceivedFrame(ETH_HandleTypeDef *heth) -{ - uint32_t framelength = 0U; - - /* Process Locked */ - __HAL_LOCK(heth); - - /* Check the ETH state to BUSY */ - heth->State = HAL_ETH_STATE_BUSY; - - /* Check if segment is not owned by DMA */ - /* (((heth->RxDesc->Status & ETH_DMARXDESC_OWN) == (uint32_t)RESET) && ((heth->RxDesc->Status & ETH_DMARXDESC_LS) != (uint32_t)RESET)) */ - if(((heth->RxDesc->Status & ETH_DMARXDESC_OWN) == (uint32_t)RESET)) - { - /* Check if last segment */ - if(((heth->RxDesc->Status & ETH_DMARXDESC_LS) != (uint32_t)RESET)) - { - /* increment segment count */ - (heth->RxFrameInfos).SegCount++; - - /* Check if last segment is first segment: one segment contains the frame */ - if ((heth->RxFrameInfos).SegCount == 1U) - { - (heth->RxFrameInfos).FSRxDesc =heth->RxDesc; - } - - heth->RxFrameInfos.LSRxDesc = heth->RxDesc; - - /* Get the Frame Length of the received packet: substruct 4 bytes of the CRC */ - framelength = (((heth->RxDesc)->Status & ETH_DMARXDESC_FL) >> ETH_DMARXDESC_FRAMELENGTHSHIFT) - 4U; - heth->RxFrameInfos.length = framelength; - - /* Get the address of the buffer start address */ - heth->RxFrameInfos.buffer = ((heth->RxFrameInfos).FSRxDesc)->Buffer1Addr; - /* point to next descriptor */ - heth->RxDesc = (ETH_DMADescTypeDef*) ((heth->RxDesc)->Buffer2NextDescAddr); - - /* Set HAL State to Ready */ - heth->State = HAL_ETH_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(heth); - - /* Return function status */ - return HAL_OK; - } - /* Check if first segment */ - else if((heth->RxDesc->Status & ETH_DMARXDESC_FS) != (uint32_t)RESET) - { - (heth->RxFrameInfos).FSRxDesc = heth->RxDesc; - (heth->RxFrameInfos).LSRxDesc = NULL; - (heth->RxFrameInfos).SegCount = 1U; - /* Point to next descriptor */ - heth->RxDesc = (ETH_DMADescTypeDef*) (heth->RxDesc->Buffer2NextDescAddr); - } - /* Check if intermediate segment */ - else - { - (heth->RxFrameInfos).SegCount++; - /* Point to next descriptor */ - heth->RxDesc = (ETH_DMADescTypeDef*) (heth->RxDesc->Buffer2NextDescAddr); - } - } - - /* Set ETH HAL State to Ready */ - heth->State = HAL_ETH_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(heth); - - /* Return function status */ - return HAL_ERROR; -} - -/** - * @brief Gets the Received frame in interrupt mode. - * @param heth pointer to a ETH_HandleTypeDef structure that contains - * the configuration information for ETHERNET module - * @retval HAL status - */ -HAL_StatusTypeDef HAL_ETH_GetReceivedFrame_IT(ETH_HandleTypeDef *heth) -{ - uint32_t descriptorscancounter = 0U; - - /* Process Locked */ - __HAL_LOCK(heth); - - /* Set ETH HAL State to BUSY */ - heth->State = HAL_ETH_STATE_BUSY; - - /* Scan descriptors owned by CPU */ - while (((heth->RxDesc->Status & ETH_DMARXDESC_OWN) == (uint32_t)RESET) && (descriptorscancounter < ETH_RXBUFNB)) - { - /* Just for security */ - descriptorscancounter++; - - /* Check if first segment in frame */ - /* ((heth->RxDesc->Status & ETH_DMARXDESC_FS) != (uint32_t)RESET) && ((heth->RxDesc->Status & ETH_DMARXDESC_LS) == (uint32_t)RESET)) */ - if((heth->RxDesc->Status & (ETH_DMARXDESC_FS | ETH_DMARXDESC_LS)) == (uint32_t)ETH_DMARXDESC_FS) - { - heth->RxFrameInfos.FSRxDesc = heth->RxDesc; - heth->RxFrameInfos.SegCount = 1U; - /* Point to next descriptor */ - heth->RxDesc = (ETH_DMADescTypeDef*) (heth->RxDesc->Buffer2NextDescAddr); - } - /* Check if intermediate segment */ - /* ((heth->RxDesc->Status & ETH_DMARXDESC_LS) == (uint32_t)RESET)&& ((heth->RxDesc->Status & ETH_DMARXDESC_FS) == (uint32_t)RESET)) */ - else if ((heth->RxDesc->Status & (ETH_DMARXDESC_LS | ETH_DMARXDESC_FS)) == (uint32_t)RESET) - { - /* Increment segment count */ - (heth->RxFrameInfos.SegCount)++; - /* Point to next descriptor */ - heth->RxDesc = (ETH_DMADescTypeDef*)(heth->RxDesc->Buffer2NextDescAddr); - } - /* Should be last segment */ - else - { - /* Last segment */ - heth->RxFrameInfos.LSRxDesc = heth->RxDesc; - - /* Increment segment count */ - (heth->RxFrameInfos.SegCount)++; - - /* Check if last segment is first segment: one segment contains the frame */ - if ((heth->RxFrameInfos.SegCount) == 1U) - { - heth->RxFrameInfos.FSRxDesc = heth->RxDesc; - } - - /* Get the Frame Length of the received packet: substruct 4 bytes of the CRC */ - heth->RxFrameInfos.length = (((heth->RxDesc)->Status & ETH_DMARXDESC_FL) >> ETH_DMARXDESC_FRAMELENGTHSHIFT) - 4U; - - /* Get the address of the buffer start address */ - heth->RxFrameInfos.buffer =((heth->RxFrameInfos).FSRxDesc)->Buffer1Addr; - - /* Point to next descriptor */ - heth->RxDesc = (ETH_DMADescTypeDef*) (heth->RxDesc->Buffer2NextDescAddr); - - /* Set HAL State to Ready */ - heth->State = HAL_ETH_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(heth); - - /* Return function status */ - return HAL_OK; - } - } - - /* Set HAL State to Ready */ - heth->State = HAL_ETH_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(heth); - - /* Return function status */ - return HAL_ERROR; -} - -/** - * @brief This function handles ETH interrupt request. - * @param heth pointer to a ETH_HandleTypeDef structure that contains - * the configuration information for ETHERNET module - * @retval HAL status - */ -void HAL_ETH_IRQHandler(ETH_HandleTypeDef *heth) -{ - /* Frame received */ - if (__HAL_ETH_DMA_GET_FLAG(heth, ETH_DMA_FLAG_R)) - { -#if (USE_HAL_ETH_REGISTER_CALLBACKS == 1) - /*Call registered Receive complete callback*/ - heth->RxCpltCallback(heth); -#else - /* Receive complete callback */ - HAL_ETH_RxCpltCallback(heth); -#endif /* USE_HAL_ETH_REGISTER_CALLBACKS */ - - /* Clear the Eth DMA Rx IT pending bits */ - __HAL_ETH_DMA_CLEAR_IT(heth, ETH_DMA_IT_R); - - /* Set HAL State to Ready */ - heth->State = HAL_ETH_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(heth); - - } - /* Frame transmitted */ - else if (__HAL_ETH_DMA_GET_FLAG(heth, ETH_DMA_FLAG_T)) - { -#if (USE_HAL_ETH_REGISTER_CALLBACKS == 1) - /* Call resgistered Transfer complete callback*/ - heth->TxCpltCallback(heth); -#else - /* Transfer complete callback */ - HAL_ETH_TxCpltCallback(heth); -#endif /* USE_HAL_ETH_REGISTER_CALLBACKS */ - - /* Clear the Eth DMA Tx IT pending bits */ - __HAL_ETH_DMA_CLEAR_IT(heth, ETH_DMA_IT_T); - - /* Set HAL State to Ready */ - heth->State = HAL_ETH_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(heth); - } - - /* Clear the interrupt flags */ - __HAL_ETH_DMA_CLEAR_IT(heth, ETH_DMA_IT_NIS); - - /* ETH DMA Error */ - if(__HAL_ETH_DMA_GET_FLAG(heth, ETH_DMA_FLAG_AIS)) - { -#if (USE_HAL_ETH_REGISTER_CALLBACKS == 1) - heth->DMAErrorCallback(heth); -#else - /* Ethernet Error callback */ - HAL_ETH_ErrorCallback(heth); -#endif /* USE_HAL_ETH_REGISTER_CALLBACKS */ - - /* Clear the interrupt flags */ - __HAL_ETH_DMA_CLEAR_IT(heth, ETH_DMA_FLAG_AIS); - - /* Set HAL State to Ready */ - heth->State = HAL_ETH_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(heth); - } -} - -/** - * @brief Tx Transfer completed callbacks. - * @param heth pointer to a ETH_HandleTypeDef structure that contains - * the configuration information for ETHERNET module - * @retval None - */ -__weak void HAL_ETH_TxCpltCallback(ETH_HandleTypeDef *heth) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(heth); - /* NOTE : This function Should not be modified, when the callback is needed, - the HAL_ETH_TxCpltCallback could be implemented in the user file - */ -} - -/** - * @brief Rx Transfer completed callbacks. - * @param heth pointer to a ETH_HandleTypeDef structure that contains - * the configuration information for ETHERNET module - * @retval None - */ -__weak void HAL_ETH_RxCpltCallback(ETH_HandleTypeDef *heth) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(heth); - /* NOTE : This function Should not be modified, when the callback is needed, - the HAL_ETH_TxCpltCallback could be implemented in the user file - */ -} - -/** - * @brief Ethernet transfer error callbacks - * @param heth pointer to a ETH_HandleTypeDef structure that contains - * the configuration information for ETHERNET module - * @retval None - */ -__weak void HAL_ETH_ErrorCallback(ETH_HandleTypeDef *heth) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(heth); - /* NOTE : This function Should not be modified, when the callback is needed, - the HAL_ETH_TxCpltCallback could be implemented in the user file - */ -} - -/** - * @brief Reads a PHY register - * @param heth pointer to a ETH_HandleTypeDef structure that contains - * the configuration information for ETHERNET module - * @param PHYReg PHY register address, is the index of one of the 32 PHY register. - * This parameter can be one of the following values: - * PHY_BCR: Transceiver Basic Control Register, - * PHY_BSR: Transceiver Basic Status Register. - * More PHY register could be read depending on the used PHY - * @param RegValue PHY register value - * @retval HAL status - */ -HAL_StatusTypeDef HAL_ETH_ReadPHYRegister(ETH_HandleTypeDef *heth, uint16_t PHYReg, uint32_t *RegValue) -{ - uint32_t tmpreg1 = 0U; - uint32_t tickstart = 0U; - - /* Check parameters */ - assert_param(IS_ETH_PHY_ADDRESS(heth->Init.PhyAddress)); - - /* Check the ETH peripheral state */ - if(heth->State == HAL_ETH_STATE_BUSY_RD) - { - return HAL_BUSY; - } - /* Set ETH HAL State to BUSY_RD */ - heth->State = HAL_ETH_STATE_BUSY_RD; - - /* Get the ETHERNET MACMIIAR value */ - tmpreg1 = heth->Instance->MACMIIAR; - - /* Keep only the CSR Clock Range CR[2:0] bits value */ - tmpreg1 &= ~ETH_MACMIIAR_CR_MASK; - - /* Prepare the MII address register value */ - tmpreg1 |=(((uint32_t)heth->Init.PhyAddress << 11U) & ETH_MACMIIAR_PA); /* Set the PHY device address */ - tmpreg1 |=(((uint32_t)PHYReg<<6U) & ETH_MACMIIAR_MR); /* Set the PHY register address */ - tmpreg1 &= ~ETH_MACMIIAR_MW; /* Set the read mode */ - tmpreg1 |= ETH_MACMIIAR_MB; /* Set the MII Busy bit */ - - /* Write the result value into the MII Address register */ - heth->Instance->MACMIIAR = tmpreg1; - - /* Get tick */ - tickstart = HAL_GetTick(); - - /* Check for the Busy flag */ - while((tmpreg1 & ETH_MACMIIAR_MB) == ETH_MACMIIAR_MB) - { - /* Check for the Timeout */ - if((HAL_GetTick() - tickstart ) > PHY_READ_TO) - { - heth->State= HAL_ETH_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(heth); - - return HAL_TIMEOUT; - } - - tmpreg1 = heth->Instance->MACMIIAR; - } - - /* Get MACMIIDR value */ - *RegValue = (uint16_t)(heth->Instance->MACMIIDR); - - /* Set ETH HAL State to READY */ - heth->State = HAL_ETH_STATE_READY; - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Writes to a PHY register. - * @param heth pointer to a ETH_HandleTypeDef structure that contains - * the configuration information for ETHERNET module - * @param PHYReg PHY register address, is the index of one of the 32 PHY register. - * This parameter can be one of the following values: - * PHY_BCR: Transceiver Control Register. - * More PHY register could be written depending on the used PHY - * @param RegValue the value to write - * @retval HAL status - */ -HAL_StatusTypeDef HAL_ETH_WritePHYRegister(ETH_HandleTypeDef *heth, uint16_t PHYReg, uint32_t RegValue) -{ - uint32_t tmpreg1 = 0U; - uint32_t tickstart = 0U; - - /* Check parameters */ - assert_param(IS_ETH_PHY_ADDRESS(heth->Init.PhyAddress)); - - /* Check the ETH peripheral state */ - if(heth->State == HAL_ETH_STATE_BUSY_WR) - { - return HAL_BUSY; - } - /* Set ETH HAL State to BUSY_WR */ - heth->State = HAL_ETH_STATE_BUSY_WR; - - /* Get the ETHERNET MACMIIAR value */ - tmpreg1 = heth->Instance->MACMIIAR; - - /* Keep only the CSR Clock Range CR[2:0] bits value */ - tmpreg1 &= ~ETH_MACMIIAR_CR_MASK; - - /* Prepare the MII register address value */ - tmpreg1 |=(((uint32_t)heth->Init.PhyAddress<<11U) & ETH_MACMIIAR_PA); /* Set the PHY device address */ - tmpreg1 |=(((uint32_t)PHYReg<<6U) & ETH_MACMIIAR_MR); /* Set the PHY register address */ - tmpreg1 |= ETH_MACMIIAR_MW; /* Set the write mode */ - tmpreg1 |= ETH_MACMIIAR_MB; /* Set the MII Busy bit */ - - /* Give the value to the MII data register */ - heth->Instance->MACMIIDR = (uint16_t)RegValue; - - /* Write the result value into the MII Address register */ - heth->Instance->MACMIIAR = tmpreg1; - - /* Get tick */ - tickstart = HAL_GetTick(); - - /* Check for the Busy flag */ - while((tmpreg1 & ETH_MACMIIAR_MB) == ETH_MACMIIAR_MB) - { - /* Check for the Timeout */ - if((HAL_GetTick() - tickstart ) > PHY_WRITE_TO) - { - heth->State= HAL_ETH_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(heth); - - return HAL_TIMEOUT; - } - - tmpreg1 = heth->Instance->MACMIIAR; - } - - /* Set ETH HAL State to READY */ - heth->State = HAL_ETH_STATE_READY; - - /* Return function status */ - return HAL_OK; -} - -/** - * @} - */ - -/** @defgroup ETH_Exported_Functions_Group3 Peripheral Control functions - * @brief Peripheral Control functions - * -@verbatim - =============================================================================== - ##### Peripheral Control functions ##### - =============================================================================== - [..] This section provides functions allowing to: - (+) Enable MAC and DMA transmission and reception. - HAL_ETH_Start(); - (+) Disable MAC and DMA transmission and reception. - HAL_ETH_Stop(); - (+) Set the MAC configuration in runtime mode - HAL_ETH_ConfigMAC(); - (+) Set the DMA configuration in runtime mode - HAL_ETH_ConfigDMA(); - -@endverbatim - * @{ - */ - - /** - * @brief Enables Ethernet MAC and DMA reception/transmission - * @param heth pointer to a ETH_HandleTypeDef structure that contains - * the configuration information for ETHERNET module - * @retval HAL status - */ -HAL_StatusTypeDef HAL_ETH_Start(ETH_HandleTypeDef *heth) -{ - /* Process Locked */ - __HAL_LOCK(heth); - - /* Set the ETH peripheral state to BUSY */ - heth->State = HAL_ETH_STATE_BUSY; - - /* Enable transmit state machine of the MAC for transmission on the MII */ - ETH_MACTransmissionEnable(heth); - - /* Enable receive state machine of the MAC for reception from the MII */ - ETH_MACReceptionEnable(heth); - - /* Flush Transmit FIFO */ - ETH_FlushTransmitFIFO(heth); - - /* Start DMA transmission */ - ETH_DMATransmissionEnable(heth); - - /* Start DMA reception */ - ETH_DMAReceptionEnable(heth); - - /* Set the ETH state to READY*/ - heth->State= HAL_ETH_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(heth); - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Stop Ethernet MAC and DMA reception/transmission - * @param heth pointer to a ETH_HandleTypeDef structure that contains - * the configuration information for ETHERNET module - * @retval HAL status - */ -HAL_StatusTypeDef HAL_ETH_Stop(ETH_HandleTypeDef *heth) -{ - /* Process Locked */ - __HAL_LOCK(heth); - - /* Set the ETH peripheral state to BUSY */ - heth->State = HAL_ETH_STATE_BUSY; - - /* Stop DMA transmission */ - ETH_DMATransmissionDisable(heth); - - /* Stop DMA reception */ - ETH_DMAReceptionDisable(heth); - - /* Disable receive state machine of the MAC for reception from the MII */ - ETH_MACReceptionDisable(heth); - - /* Flush Transmit FIFO */ - ETH_FlushTransmitFIFO(heth); - - /* Disable transmit state machine of the MAC for transmission on the MII */ - ETH_MACTransmissionDisable(heth); - - /* Set the ETH state*/ - heth->State = HAL_ETH_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(heth); - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Set ETH MAC Configuration. - * @param heth pointer to a ETH_HandleTypeDef structure that contains - * the configuration information for ETHERNET module - * @param macconf MAC Configuration structure - * @retval HAL status - */ -HAL_StatusTypeDef HAL_ETH_ConfigMAC(ETH_HandleTypeDef *heth, ETH_MACInitTypeDef *macconf) -{ - uint32_t tmpreg1 = 0U; - - /* Process Locked */ - __HAL_LOCK(heth); - - /* Set the ETH peripheral state to BUSY */ - heth->State= HAL_ETH_STATE_BUSY; - - assert_param(IS_ETH_SPEED(heth->Init.Speed)); - assert_param(IS_ETH_DUPLEX_MODE(heth->Init.DuplexMode)); - - if (macconf != NULL) - { - /* Check the parameters */ - assert_param(IS_ETH_WATCHDOG(macconf->Watchdog)); - assert_param(IS_ETH_JABBER(macconf->Jabber)); - assert_param(IS_ETH_INTER_FRAME_GAP(macconf->InterFrameGap)); - assert_param(IS_ETH_CARRIER_SENSE(macconf->CarrierSense)); - assert_param(IS_ETH_RECEIVE_OWN(macconf->ReceiveOwn)); - assert_param(IS_ETH_LOOPBACK_MODE(macconf->LoopbackMode)); - assert_param(IS_ETH_CHECKSUM_OFFLOAD(macconf->ChecksumOffload)); - assert_param(IS_ETH_RETRY_TRANSMISSION(macconf->RetryTransmission)); - assert_param(IS_ETH_AUTOMATIC_PADCRC_STRIP(macconf->AutomaticPadCRCStrip)); - assert_param(IS_ETH_BACKOFF_LIMIT(macconf->BackOffLimit)); - assert_param(IS_ETH_DEFERRAL_CHECK(macconf->DeferralCheck)); - assert_param(IS_ETH_RECEIVE_ALL(macconf->ReceiveAll)); - assert_param(IS_ETH_SOURCE_ADDR_FILTER(macconf->SourceAddrFilter)); - assert_param(IS_ETH_CONTROL_FRAMES(macconf->PassControlFrames)); - assert_param(IS_ETH_BROADCAST_FRAMES_RECEPTION(macconf->BroadcastFramesReception)); - assert_param(IS_ETH_DESTINATION_ADDR_FILTER(macconf->DestinationAddrFilter)); - assert_param(IS_ETH_PROMISCUOUS_MODE(macconf->PromiscuousMode)); - assert_param(IS_ETH_MULTICAST_FRAMES_FILTER(macconf->MulticastFramesFilter)); - assert_param(IS_ETH_UNICAST_FRAMES_FILTER(macconf->UnicastFramesFilter)); - assert_param(IS_ETH_PAUSE_TIME(macconf->PauseTime)); - assert_param(IS_ETH_ZEROQUANTA_PAUSE(macconf->ZeroQuantaPause)); - assert_param(IS_ETH_PAUSE_LOW_THRESHOLD(macconf->PauseLowThreshold)); - assert_param(IS_ETH_UNICAST_PAUSE_FRAME_DETECT(macconf->UnicastPauseFrameDetect)); - assert_param(IS_ETH_RECEIVE_FLOWCONTROL(macconf->ReceiveFlowControl)); - assert_param(IS_ETH_TRANSMIT_FLOWCONTROL(macconf->TransmitFlowControl)); - assert_param(IS_ETH_VLAN_TAG_COMPARISON(macconf->VLANTagComparison)); - assert_param(IS_ETH_VLAN_TAG_IDENTIFIER(macconf->VLANTagIdentifier)); - - /*------------------------ ETHERNET MACCR Configuration --------------------*/ - /* Get the ETHERNET MACCR value */ - tmpreg1 = (heth->Instance)->MACCR; - /* Clear WD, PCE, PS, TE and RE bits */ - tmpreg1 &= ETH_MACCR_CLEAR_MASK; - - tmpreg1 |= (uint32_t)(macconf->Watchdog | - macconf->Jabber | - macconf->InterFrameGap | - macconf->CarrierSense | - (heth->Init).Speed | - macconf->ReceiveOwn | - macconf->LoopbackMode | - (heth->Init).DuplexMode | - macconf->ChecksumOffload | - macconf->RetryTransmission | - macconf->AutomaticPadCRCStrip | - macconf->BackOffLimit | - macconf->DeferralCheck); - - /* Write to ETHERNET MACCR */ - (heth->Instance)->MACCR = (uint32_t)tmpreg1; - - /* Wait until the write operation will be taken into account : - at least four TX_CLK/RX_CLK clock cycles */ - tmpreg1 = (heth->Instance)->MACCR; - HAL_Delay(ETH_REG_WRITE_DELAY); - (heth->Instance)->MACCR = tmpreg1; - - /*----------------------- ETHERNET MACFFR Configuration --------------------*/ - /* Write to ETHERNET MACFFR */ - (heth->Instance)->MACFFR = (uint32_t)(macconf->ReceiveAll | - macconf->SourceAddrFilter | - macconf->PassControlFrames | - macconf->BroadcastFramesReception | - macconf->DestinationAddrFilter | - macconf->PromiscuousMode | - macconf->MulticastFramesFilter | - macconf->UnicastFramesFilter); - - /* Wait until the write operation will be taken into account : - at least four TX_CLK/RX_CLK clock cycles */ - tmpreg1 = (heth->Instance)->MACFFR; - HAL_Delay(ETH_REG_WRITE_DELAY); - (heth->Instance)->MACFFR = tmpreg1; - - /*--------------- ETHERNET MACHTHR and MACHTLR Configuration ---------------*/ - /* Write to ETHERNET MACHTHR */ - (heth->Instance)->MACHTHR = (uint32_t)macconf->HashTableHigh; - - /* Write to ETHERNET MACHTLR */ - (heth->Instance)->MACHTLR = (uint32_t)macconf->HashTableLow; - /*----------------------- ETHERNET MACFCR Configuration --------------------*/ - - /* Get the ETHERNET MACFCR value */ - tmpreg1 = (heth->Instance)->MACFCR; - /* Clear xx bits */ - tmpreg1 &= ETH_MACFCR_CLEAR_MASK; - - tmpreg1 |= (uint32_t)((macconf->PauseTime << 16U) | - macconf->ZeroQuantaPause | - macconf->PauseLowThreshold | - macconf->UnicastPauseFrameDetect | - macconf->ReceiveFlowControl | - macconf->TransmitFlowControl); - - /* Write to ETHERNET MACFCR */ - (heth->Instance)->MACFCR = (uint32_t)tmpreg1; - - /* Wait until the write operation will be taken into account : - at least four TX_CLK/RX_CLK clock cycles */ - tmpreg1 = (heth->Instance)->MACFCR; - HAL_Delay(ETH_REG_WRITE_DELAY); - (heth->Instance)->MACFCR = tmpreg1; - - /*----------------------- ETHERNET MACVLANTR Configuration -----------------*/ - (heth->Instance)->MACVLANTR = (uint32_t)(macconf->VLANTagComparison | - macconf->VLANTagIdentifier); - - /* Wait until the write operation will be taken into account : - at least four TX_CLK/RX_CLK clock cycles */ - tmpreg1 = (heth->Instance)->MACVLANTR; - HAL_Delay(ETH_REG_WRITE_DELAY); - (heth->Instance)->MACVLANTR = tmpreg1; - } - else /* macconf == NULL : here we just configure Speed and Duplex mode */ - { - /*------------------------ ETHERNET MACCR Configuration --------------------*/ - /* Get the ETHERNET MACCR value */ - tmpreg1 = (heth->Instance)->MACCR; - - /* Clear FES and DM bits */ - tmpreg1 &= ~(0x00004800U); - - tmpreg1 |= (uint32_t)(heth->Init.Speed | heth->Init.DuplexMode); - - /* Write to ETHERNET MACCR */ - (heth->Instance)->MACCR = (uint32_t)tmpreg1; - - /* Wait until the write operation will be taken into account: - at least four TX_CLK/RX_CLK clock cycles */ - tmpreg1 = (heth->Instance)->MACCR; - HAL_Delay(ETH_REG_WRITE_DELAY); - (heth->Instance)->MACCR = tmpreg1; - } - - /* Set the ETH state to Ready */ - heth->State= HAL_ETH_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(heth); - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Sets ETH DMA Configuration. - * @param heth pointer to a ETH_HandleTypeDef structure that contains - * the configuration information for ETHERNET module - * @param dmaconf DMA Configuration structure - * @retval HAL status - */ -HAL_StatusTypeDef HAL_ETH_ConfigDMA(ETH_HandleTypeDef *heth, ETH_DMAInitTypeDef *dmaconf) -{ - uint32_t tmpreg1 = 0U; - - /* Process Locked */ - __HAL_LOCK(heth); - - /* Set the ETH peripheral state to BUSY */ - heth->State= HAL_ETH_STATE_BUSY; - - /* Check parameters */ - assert_param(IS_ETH_DROP_TCPIP_CHECKSUM_FRAME(dmaconf->DropTCPIPChecksumErrorFrame)); - assert_param(IS_ETH_RECEIVE_STORE_FORWARD(dmaconf->ReceiveStoreForward)); - assert_param(IS_ETH_FLUSH_RECEIVE_FRAME(dmaconf->FlushReceivedFrame)); - assert_param(IS_ETH_TRANSMIT_STORE_FORWARD(dmaconf->TransmitStoreForward)); - assert_param(IS_ETH_TRANSMIT_THRESHOLD_CONTROL(dmaconf->TransmitThresholdControl)); - assert_param(IS_ETH_FORWARD_ERROR_FRAMES(dmaconf->ForwardErrorFrames)); - assert_param(IS_ETH_FORWARD_UNDERSIZED_GOOD_FRAMES(dmaconf->ForwardUndersizedGoodFrames)); - assert_param(IS_ETH_RECEIVE_THRESHOLD_CONTROL(dmaconf->ReceiveThresholdControl)); - assert_param(IS_ETH_SECOND_FRAME_OPERATE(dmaconf->SecondFrameOperate)); - assert_param(IS_ETH_ADDRESS_ALIGNED_BEATS(dmaconf->AddressAlignedBeats)); - assert_param(IS_ETH_FIXED_BURST(dmaconf->FixedBurst)); - assert_param(IS_ETH_RXDMA_BURST_LENGTH(dmaconf->RxDMABurstLength)); - assert_param(IS_ETH_TXDMA_BURST_LENGTH(dmaconf->TxDMABurstLength)); - assert_param(IS_ETH_ENHANCED_DESCRIPTOR_FORMAT(dmaconf->EnhancedDescriptorFormat)); - assert_param(IS_ETH_DMA_DESC_SKIP_LENGTH(dmaconf->DescriptorSkipLength)); - assert_param(IS_ETH_DMA_ARBITRATION_ROUNDROBIN_RXTX(dmaconf->DMAArbitration)); - - /*----------------------- ETHERNET DMAOMR Configuration --------------------*/ - /* Get the ETHERNET DMAOMR value */ - tmpreg1 = (heth->Instance)->DMAOMR; - /* Clear xx bits */ - tmpreg1 &= ETH_DMAOMR_CLEAR_MASK; - - tmpreg1 |= (uint32_t)(dmaconf->DropTCPIPChecksumErrorFrame | - dmaconf->ReceiveStoreForward | - dmaconf->FlushReceivedFrame | - dmaconf->TransmitStoreForward | - dmaconf->TransmitThresholdControl | - dmaconf->ForwardErrorFrames | - dmaconf->ForwardUndersizedGoodFrames | - dmaconf->ReceiveThresholdControl | - dmaconf->SecondFrameOperate); - - /* Write to ETHERNET DMAOMR */ - (heth->Instance)->DMAOMR = (uint32_t)tmpreg1; - - /* Wait until the write operation will be taken into account: - at least four TX_CLK/RX_CLK clock cycles */ - tmpreg1 = (heth->Instance)->DMAOMR; - HAL_Delay(ETH_REG_WRITE_DELAY); - (heth->Instance)->DMAOMR = tmpreg1; - - /*----------------------- ETHERNET DMABMR Configuration --------------------*/ - (heth->Instance)->DMABMR = (uint32_t)(dmaconf->AddressAlignedBeats | - dmaconf->FixedBurst | - dmaconf->RxDMABurstLength | /* !! if 4xPBL is selected for Tx or Rx it is applied for the other */ - dmaconf->TxDMABurstLength | - dmaconf->EnhancedDescriptorFormat | - (dmaconf->DescriptorSkipLength << 2U) | - dmaconf->DMAArbitration | - ETH_DMABMR_USP); /* Enable use of separate PBL for Rx and Tx */ - - /* Wait until the write operation will be taken into account: - at least four TX_CLK/RX_CLK clock cycles */ - tmpreg1 = (heth->Instance)->DMABMR; - HAL_Delay(ETH_REG_WRITE_DELAY); - (heth->Instance)->DMABMR = tmpreg1; - - /* Set the ETH state to Ready */ - heth->State= HAL_ETH_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(heth); - - /* Return function status */ - return HAL_OK; -} - -/** - * @} - */ - -/** @defgroup ETH_Exported_Functions_Group4 Peripheral State functions - * @brief Peripheral State functions - * - @verbatim - =============================================================================== - ##### Peripheral State functions ##### - =============================================================================== - [..] - This subsection permits to get in run-time the status of the peripheral - and the data flow. - (+) Get the ETH handle state: - HAL_ETH_GetState(); - - - @endverbatim - * @{ - */ - -/** - * @brief Return the ETH HAL state - * @param heth pointer to a ETH_HandleTypeDef structure that contains - * the configuration information for ETHERNET module - * @retval HAL state - */ -HAL_ETH_StateTypeDef HAL_ETH_GetState(ETH_HandleTypeDef *heth) -{ - /* Return ETH state */ - return heth->State; -} - -/** - * @} - */ - -/** - * @} - */ - -/** @addtogroup ETH_Private_Functions - * @{ - */ - -/** - * @brief Configures Ethernet MAC and DMA with default parameters. - * @param heth pointer to a ETH_HandleTypeDef structure that contains - * the configuration information for ETHERNET module - * @param err Ethernet Init error - * @retval HAL status - */ -static void ETH_MACDMAConfig(ETH_HandleTypeDef *heth, uint32_t err) -{ - ETH_MACInitTypeDef macinit; - ETH_DMAInitTypeDef dmainit; - uint32_t tmpreg1 = 0U; - - if (err != ETH_SUCCESS) /* Auto-negotiation failed */ - { - /* Set Ethernet duplex mode to Full-duplex */ - (heth->Init).DuplexMode = ETH_MODE_FULLDUPLEX; - - /* Set Ethernet speed to 100M */ - (heth->Init).Speed = ETH_SPEED_100M; - } - - /* Ethernet MAC default initialization **************************************/ - macinit.Watchdog = ETH_WATCHDOG_ENABLE; - macinit.Jabber = ETH_JABBER_ENABLE; - macinit.InterFrameGap = ETH_INTERFRAMEGAP_96BIT; - macinit.CarrierSense = ETH_CARRIERSENCE_ENABLE; - macinit.ReceiveOwn = ETH_RECEIVEOWN_ENABLE; - macinit.LoopbackMode = ETH_LOOPBACKMODE_DISABLE; - if(heth->Init.ChecksumMode == ETH_CHECKSUM_BY_HARDWARE) - { - macinit.ChecksumOffload = ETH_CHECKSUMOFFLAOD_ENABLE; - } - else - { - macinit.ChecksumOffload = ETH_CHECKSUMOFFLAOD_DISABLE; - } - macinit.RetryTransmission = ETH_RETRYTRANSMISSION_DISABLE; - macinit.AutomaticPadCRCStrip = ETH_AUTOMATICPADCRCSTRIP_DISABLE; - macinit.BackOffLimit = ETH_BACKOFFLIMIT_10; - macinit.DeferralCheck = ETH_DEFFERRALCHECK_DISABLE; - macinit.ReceiveAll = ETH_RECEIVEAll_DISABLE; - macinit.SourceAddrFilter = ETH_SOURCEADDRFILTER_DISABLE; - macinit.PassControlFrames = ETH_PASSCONTROLFRAMES_BLOCKALL; - macinit.BroadcastFramesReception = ETH_BROADCASTFRAMESRECEPTION_ENABLE; - macinit.DestinationAddrFilter = ETH_DESTINATIONADDRFILTER_NORMAL; - macinit.PromiscuousMode = ETH_PROMISCUOUS_MODE_DISABLE; - macinit.MulticastFramesFilter = ETH_MULTICASTFRAMESFILTER_PERFECT; - macinit.UnicastFramesFilter = ETH_UNICASTFRAMESFILTER_PERFECT; - macinit.HashTableHigh = 0x0U; - macinit.HashTableLow = 0x0U; - macinit.PauseTime = 0x0U; - macinit.ZeroQuantaPause = ETH_ZEROQUANTAPAUSE_DISABLE; - macinit.PauseLowThreshold = ETH_PAUSELOWTHRESHOLD_MINUS4; - macinit.UnicastPauseFrameDetect = ETH_UNICASTPAUSEFRAMEDETECT_DISABLE; - macinit.ReceiveFlowControl = ETH_RECEIVEFLOWCONTROL_DISABLE; - macinit.TransmitFlowControl = ETH_TRANSMITFLOWCONTROL_DISABLE; - macinit.VLANTagComparison = ETH_VLANTAGCOMPARISON_16BIT; - macinit.VLANTagIdentifier = 0x0U; - - /*------------------------ ETHERNET MACCR Configuration --------------------*/ - /* Get the ETHERNET MACCR value */ - tmpreg1 = (heth->Instance)->MACCR; - /* Clear WD, PCE, PS, TE and RE bits */ - tmpreg1 &= ETH_MACCR_CLEAR_MASK; - /* Set the WD bit according to ETH Watchdog value */ - /* Set the JD: bit according to ETH Jabber value */ - /* Set the IFG bit according to ETH InterFrameGap value */ - /* Set the DCRS bit according to ETH CarrierSense value */ - /* Set the FES bit according to ETH Speed value */ - /* Set the DO bit according to ETH ReceiveOwn value */ - /* Set the LM bit according to ETH LoopbackMode value */ - /* Set the DM bit according to ETH Mode value */ - /* Set the IPCO bit according to ETH ChecksumOffload value */ - /* Set the DR bit according to ETH RetryTransmission value */ - /* Set the ACS bit according to ETH AutomaticPadCRCStrip value */ - /* Set the BL bit according to ETH BackOffLimit value */ - /* Set the DC bit according to ETH DeferralCheck value */ - tmpreg1 |= (uint32_t)(macinit.Watchdog | - macinit.Jabber | - macinit.InterFrameGap | - macinit.CarrierSense | - (heth->Init).Speed | - macinit.ReceiveOwn | - macinit.LoopbackMode | - (heth->Init).DuplexMode | - macinit.ChecksumOffload | - macinit.RetryTransmission | - macinit.AutomaticPadCRCStrip | - macinit.BackOffLimit | - macinit.DeferralCheck); - - /* Write to ETHERNET MACCR */ - (heth->Instance)->MACCR = (uint32_t)tmpreg1; - - /* Wait until the write operation will be taken into account: - at least four TX_CLK/RX_CLK clock cycles */ - tmpreg1 = (heth->Instance)->MACCR; - HAL_Delay(ETH_REG_WRITE_DELAY); - (heth->Instance)->MACCR = tmpreg1; - - /*----------------------- ETHERNET MACFFR Configuration --------------------*/ - /* Set the RA bit according to ETH ReceiveAll value */ - /* Set the SAF and SAIF bits according to ETH SourceAddrFilter value */ - /* Set the PCF bit according to ETH PassControlFrames value */ - /* Set the DBF bit according to ETH BroadcastFramesReception value */ - /* Set the DAIF bit according to ETH DestinationAddrFilter value */ - /* Set the PR bit according to ETH PromiscuousMode value */ - /* Set the PM, HMC and HPF bits according to ETH MulticastFramesFilter value */ - /* Set the HUC and HPF bits according to ETH UnicastFramesFilter value */ - /* Write to ETHERNET MACFFR */ - (heth->Instance)->MACFFR = (uint32_t)(macinit.ReceiveAll | - macinit.SourceAddrFilter | - macinit.PassControlFrames | - macinit.BroadcastFramesReception | - macinit.DestinationAddrFilter | - macinit.PromiscuousMode | - macinit.MulticastFramesFilter | - macinit.UnicastFramesFilter); - - /* Wait until the write operation will be taken into account: - at least four TX_CLK/RX_CLK clock cycles */ - tmpreg1 = (heth->Instance)->MACFFR; - HAL_Delay(ETH_REG_WRITE_DELAY); - (heth->Instance)->MACFFR = tmpreg1; - - /*--------------- ETHERNET MACHTHR and MACHTLR Configuration --------------*/ - /* Write to ETHERNET MACHTHR */ - (heth->Instance)->MACHTHR = (uint32_t)macinit.HashTableHigh; - - /* Write to ETHERNET MACHTLR */ - (heth->Instance)->MACHTLR = (uint32_t)macinit.HashTableLow; - /*----------------------- ETHERNET MACFCR Configuration -------------------*/ - - /* Get the ETHERNET MACFCR value */ - tmpreg1 = (heth->Instance)->MACFCR; - /* Clear xx bits */ - tmpreg1 &= ETH_MACFCR_CLEAR_MASK; - - /* Set the PT bit according to ETH PauseTime value */ - /* Set the DZPQ bit according to ETH ZeroQuantaPause value */ - /* Set the PLT bit according to ETH PauseLowThreshold value */ - /* Set the UP bit according to ETH UnicastPauseFrameDetect value */ - /* Set the RFE bit according to ETH ReceiveFlowControl value */ - /* Set the TFE bit according to ETH TransmitFlowControl value */ - tmpreg1 |= (uint32_t)((macinit.PauseTime << 16U) | - macinit.ZeroQuantaPause | - macinit.PauseLowThreshold | - macinit.UnicastPauseFrameDetect | - macinit.ReceiveFlowControl | - macinit.TransmitFlowControl); - - /* Write to ETHERNET MACFCR */ - (heth->Instance)->MACFCR = (uint32_t)tmpreg1; - - /* Wait until the write operation will be taken into account: - at least four TX_CLK/RX_CLK clock cycles */ - tmpreg1 = (heth->Instance)->MACFCR; - HAL_Delay(ETH_REG_WRITE_DELAY); - (heth->Instance)->MACFCR = tmpreg1; - - /*----------------------- ETHERNET MACVLANTR Configuration ----------------*/ - /* Set the ETV bit according to ETH VLANTagComparison value */ - /* Set the VL bit according to ETH VLANTagIdentifier value */ - (heth->Instance)->MACVLANTR = (uint32_t)(macinit.VLANTagComparison | - macinit.VLANTagIdentifier); - - /* Wait until the write operation will be taken into account: - at least four TX_CLK/RX_CLK clock cycles */ - tmpreg1 = (heth->Instance)->MACVLANTR; - HAL_Delay(ETH_REG_WRITE_DELAY); - (heth->Instance)->MACVLANTR = tmpreg1; - - /* Ethernet DMA default initialization ************************************/ - dmainit.DropTCPIPChecksumErrorFrame = ETH_DROPTCPIPCHECKSUMERRORFRAME_ENABLE; - dmainit.ReceiveStoreForward = ETH_RECEIVESTOREFORWARD_ENABLE; - dmainit.FlushReceivedFrame = ETH_FLUSHRECEIVEDFRAME_ENABLE; - dmainit.TransmitStoreForward = ETH_TRANSMITSTOREFORWARD_ENABLE; - dmainit.TransmitThresholdControl = ETH_TRANSMITTHRESHOLDCONTROL_64BYTES; - dmainit.ForwardErrorFrames = ETH_FORWARDERRORFRAMES_DISABLE; - dmainit.ForwardUndersizedGoodFrames = ETH_FORWARDUNDERSIZEDGOODFRAMES_DISABLE; - dmainit.ReceiveThresholdControl = ETH_RECEIVEDTHRESHOLDCONTROL_64BYTES; - dmainit.SecondFrameOperate = ETH_SECONDFRAMEOPERARTE_ENABLE; - dmainit.AddressAlignedBeats = ETH_ADDRESSALIGNEDBEATS_ENABLE; - dmainit.FixedBurst = ETH_FIXEDBURST_ENABLE; - dmainit.RxDMABurstLength = ETH_RXDMABURSTLENGTH_32BEAT; - dmainit.TxDMABurstLength = ETH_TXDMABURSTLENGTH_32BEAT; - dmainit.EnhancedDescriptorFormat = ETH_DMAENHANCEDDESCRIPTOR_ENABLE; - dmainit.DescriptorSkipLength = 0x0U; - dmainit.DMAArbitration = ETH_DMAARBITRATION_ROUNDROBIN_RXTX_1_1; - - /* Get the ETHERNET DMAOMR value */ - tmpreg1 = (heth->Instance)->DMAOMR; - /* Clear xx bits */ - tmpreg1 &= ETH_DMAOMR_CLEAR_MASK; - - /* Set the DT bit according to ETH DropTCPIPChecksumErrorFrame value */ - /* Set the RSF bit according to ETH ReceiveStoreForward value */ - /* Set the DFF bit according to ETH FlushReceivedFrame value */ - /* Set the TSF bit according to ETH TransmitStoreForward value */ - /* Set the TTC bit according to ETH TransmitThresholdControl value */ - /* Set the FEF bit according to ETH ForwardErrorFrames value */ - /* Set the FUF bit according to ETH ForwardUndersizedGoodFrames value */ - /* Set the RTC bit according to ETH ReceiveThresholdControl value */ - /* Set the OSF bit according to ETH SecondFrameOperate value */ - tmpreg1 |= (uint32_t)(dmainit.DropTCPIPChecksumErrorFrame | - dmainit.ReceiveStoreForward | - dmainit.FlushReceivedFrame | - dmainit.TransmitStoreForward | - dmainit.TransmitThresholdControl | - dmainit.ForwardErrorFrames | - dmainit.ForwardUndersizedGoodFrames | - dmainit.ReceiveThresholdControl | - dmainit.SecondFrameOperate); - - /* Write to ETHERNET DMAOMR */ - (heth->Instance)->DMAOMR = (uint32_t)tmpreg1; - - /* Wait until the write operation will be taken into account: - at least four TX_CLK/RX_CLK clock cycles */ - tmpreg1 = (heth->Instance)->DMAOMR; - HAL_Delay(ETH_REG_WRITE_DELAY); - (heth->Instance)->DMAOMR = tmpreg1; - - /*----------------------- ETHERNET DMABMR Configuration ------------------*/ - /* Set the AAL bit according to ETH AddressAlignedBeats value */ - /* Set the FB bit according to ETH FixedBurst value */ - /* Set the RPBL and 4*PBL bits according to ETH RxDMABurstLength value */ - /* Set the PBL and 4*PBL bits according to ETH TxDMABurstLength value */ - /* Set the Enhanced DMA descriptors bit according to ETH EnhancedDescriptorFormat value*/ - /* Set the DSL bit according to ETH DesciptorSkipLength value */ - /* Set the PR and DA bits according to ETH DMAArbitration value */ - (heth->Instance)->DMABMR = (uint32_t)(dmainit.AddressAlignedBeats | - dmainit.FixedBurst | - dmainit.RxDMABurstLength | /* !! if 4xPBL is selected for Tx or Rx it is applied for the other */ - dmainit.TxDMABurstLength | - dmainit.EnhancedDescriptorFormat | - (dmainit.DescriptorSkipLength << 2U) | - dmainit.DMAArbitration | - ETH_DMABMR_USP); /* Enable use of separate PBL for Rx and Tx */ - - /* Wait until the write operation will be taken into account: - at least four TX_CLK/RX_CLK clock cycles */ - tmpreg1 = (heth->Instance)->DMABMR; - HAL_Delay(ETH_REG_WRITE_DELAY); - (heth->Instance)->DMABMR = tmpreg1; - - if((heth->Init).RxMode == ETH_RXINTERRUPT_MODE) - { - /* Enable the Ethernet Rx Interrupt */ - __HAL_ETH_DMA_ENABLE_IT((heth), ETH_DMA_IT_NIS | ETH_DMA_IT_R); - } - - /* Initialize MAC address in ethernet MAC */ - ETH_MACAddressConfig(heth, ETH_MAC_ADDRESS0, heth->Init.MACAddr); -} - -/** - * @brief Configures the selected MAC address. - * @param heth pointer to a ETH_HandleTypeDef structure that contains - * the configuration information for ETHERNET module - * @param MacAddr The MAC address to configure - * This parameter can be one of the following values: - * @arg ETH_MAC_Address0: MAC Address0 - * @arg ETH_MAC_Address1: MAC Address1 - * @arg ETH_MAC_Address2: MAC Address2 - * @arg ETH_MAC_Address3: MAC Address3 - * @param Addr Pointer to MAC address buffer data (6 bytes) - * @retval HAL status - */ -static void ETH_MACAddressConfig(ETH_HandleTypeDef *heth, uint32_t MacAddr, uint8_t *Addr) -{ - uint32_t tmpreg1; - - /* Prevent unused argument(s) compilation warning */ - UNUSED(heth); - - /* Check the parameters */ - assert_param(IS_ETH_MAC_ADDRESS0123(MacAddr)); - - /* Calculate the selected MAC address high register */ - tmpreg1 = ((uint32_t)Addr[5U] << 8U) | (uint32_t)Addr[4U]; - /* Load the selected MAC address high register */ - (*(__IO uint32_t *)((uint32_t)(ETH_MAC_ADDR_HBASE + MacAddr))) = tmpreg1; - /* Calculate the selected MAC address low register */ - tmpreg1 = ((uint32_t)Addr[3U] << 24U) | ((uint32_t)Addr[2U] << 16U) | ((uint32_t)Addr[1U] << 8U) | Addr[0U]; - - /* Load the selected MAC address low register */ - (*(__IO uint32_t *)((uint32_t)(ETH_MAC_ADDR_LBASE + MacAddr))) = tmpreg1; -} - -/** - * @brief Enables the MAC transmission. - * @param heth pointer to a ETH_HandleTypeDef structure that contains - * the configuration information for ETHERNET module - * @retval None - */ -static void ETH_MACTransmissionEnable(ETH_HandleTypeDef *heth) -{ - __IO uint32_t tmpreg1 = 0U; - - /* Enable the MAC transmission */ - (heth->Instance)->MACCR |= ETH_MACCR_TE; - - /* Wait until the write operation will be taken into account: - at least four TX_CLK/RX_CLK clock cycles */ - tmpreg1 = (heth->Instance)->MACCR; - ETH_Delay(ETH_REG_WRITE_DELAY); - (heth->Instance)->MACCR = tmpreg1; -} - -/** - * @brief Disables the MAC transmission. - * @param heth pointer to a ETH_HandleTypeDef structure that contains - * the configuration information for ETHERNET module - * @retval None - */ -static void ETH_MACTransmissionDisable(ETH_HandleTypeDef *heth) -{ - __IO uint32_t tmpreg1 = 0U; - - /* Disable the MAC transmission */ - (heth->Instance)->MACCR &= ~ETH_MACCR_TE; - - /* Wait until the write operation will be taken into account: - at least four TX_CLK/RX_CLK clock cycles */ - tmpreg1 = (heth->Instance)->MACCR; - ETH_Delay(ETH_REG_WRITE_DELAY); - (heth->Instance)->MACCR = tmpreg1; -} - -/** - * @brief Enables the MAC reception. - * @param heth pointer to a ETH_HandleTypeDef structure that contains - * the configuration information for ETHERNET module - * @retval None - */ -static void ETH_MACReceptionEnable(ETH_HandleTypeDef *heth) -{ - __IO uint32_t tmpreg1 = 0U; - - /* Enable the MAC reception */ - (heth->Instance)->MACCR |= ETH_MACCR_RE; - - /* Wait until the write operation will be taken into account: - at least four TX_CLK/RX_CLK clock cycles */ - tmpreg1 = (heth->Instance)->MACCR; - ETH_Delay(ETH_REG_WRITE_DELAY); - (heth->Instance)->MACCR = tmpreg1; -} - -/** - * @brief Disables the MAC reception. - * @param heth pointer to a ETH_HandleTypeDef structure that contains - * the configuration information for ETHERNET module - * @retval None - */ -static void ETH_MACReceptionDisable(ETH_HandleTypeDef *heth) -{ - __IO uint32_t tmpreg1 = 0U; - - /* Disable the MAC reception */ - (heth->Instance)->MACCR &= ~ETH_MACCR_RE; - - /* Wait until the write operation will be taken into account: - at least four TX_CLK/RX_CLK clock cycles */ - tmpreg1 = (heth->Instance)->MACCR; - ETH_Delay(ETH_REG_WRITE_DELAY); - (heth->Instance)->MACCR = tmpreg1; -} - -/** - * @brief Enables the DMA transmission. - * @param heth pointer to a ETH_HandleTypeDef structure that contains - * the configuration information for ETHERNET module - * @retval None - */ -static void ETH_DMATransmissionEnable(ETH_HandleTypeDef *heth) -{ - /* Enable the DMA transmission */ - (heth->Instance)->DMAOMR |= ETH_DMAOMR_ST; -} - -/** - * @brief Disables the DMA transmission. - * @param heth pointer to a ETH_HandleTypeDef structure that contains - * the configuration information for ETHERNET module - * @retval None - */ -static void ETH_DMATransmissionDisable(ETH_HandleTypeDef *heth) -{ - /* Disable the DMA transmission */ - (heth->Instance)->DMAOMR &= ~ETH_DMAOMR_ST; -} - -/** - * @brief Enables the DMA reception. - * @param heth pointer to a ETH_HandleTypeDef structure that contains - * the configuration information for ETHERNET module - * @retval None - */ -static void ETH_DMAReceptionEnable(ETH_HandleTypeDef *heth) -{ - /* Enable the DMA reception */ - (heth->Instance)->DMAOMR |= ETH_DMAOMR_SR; -} - -/** - * @brief Disables the DMA reception. - * @param heth pointer to a ETH_HandleTypeDef structure that contains - * the configuration information for ETHERNET module - * @retval None - */ -static void ETH_DMAReceptionDisable(ETH_HandleTypeDef *heth) -{ - /* Disable the DMA reception */ - (heth->Instance)->DMAOMR &= ~ETH_DMAOMR_SR; -} - -/** - * @brief Clears the ETHERNET transmit FIFO. - * @param heth pointer to a ETH_HandleTypeDef structure that contains - * the configuration information for ETHERNET module - * @retval None - */ -static void ETH_FlushTransmitFIFO(ETH_HandleTypeDef *heth) -{ - __IO uint32_t tmpreg1 = 0U; - - /* Set the Flush Transmit FIFO bit */ - (heth->Instance)->DMAOMR |= ETH_DMAOMR_FTF; - - /* Wait until the write operation will be taken into account: - at least four TX_CLK/RX_CLK clock cycles */ - tmpreg1 = (heth->Instance)->DMAOMR; - ETH_Delay(ETH_REG_WRITE_DELAY); - (heth->Instance)->DMAOMR = tmpreg1; -} - -/** - * @brief This function provides delay (in milliseconds) based on CPU cycles method. - * @param mdelay specifies the delay time length, in milliseconds. - * @retval None - */ -static void ETH_Delay(uint32_t mdelay) -{ - __IO uint32_t Delay = mdelay * (SystemCoreClock / 8U / 1000U); - do - { - __NOP(); - } - while (Delay --); -} - -#if (USE_HAL_ETH_REGISTER_CALLBACKS == 1) -static void ETH_InitCallbacksToDefault(ETH_HandleTypeDef *heth) -{ - /* Init the ETH Callback settings */ - heth->TxCpltCallback = HAL_ETH_TxCpltCallback; /* Legacy weak TxCpltCallback */ - heth->RxCpltCallback = HAL_ETH_RxCpltCallback; /* Legacy weak RxCpltCallback */ - heth->DMAErrorCallback = HAL_ETH_ErrorCallback; /* Legacy weak DMAErrorCallback */ -} -#endif /* USE_HAL_ETH_REGISTER_CALLBACKS */ - -/** - * @} - */ - -#endif /* STM32F405xx || STM32F415xx || STM32F407xx || STM32F417xx || STM32F427xx ||\ - STM32F437xx || STM32F429xx || STM32F439xx || STM32F469xx || STM32F479xx */ -#endif /* HAL_ETH_MODULE_ENABLED */ -/** - * @} - */ - -/** - * @} - */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c deleted file mode 100644 index 099bf1ea250fd8..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c +++ /dev/null @@ -1,549 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_exti.c - * @author MCD Application Team - * @brief EXTI HAL module driver. - * This file provides firmware functions to manage the following - * functionalities of the Extended Interrupts and events controller (EXTI) peripheral: - * + Initialization and de-initialization functions - * + IO operation functions - * - @verbatim - ============================================================================== - ##### EXTI Peripheral features ##### - ============================================================================== - [..] - (+) Each Exti line can be configured within this driver. - - (+) Exti line can be configured in 3 different modes - (++) Interrupt - (++) Event - (++) Both of them - - (+) Configurable Exti lines can be configured with 3 different triggers - (++) Rising - (++) Falling - (++) Both of them - - (+) When set in interrupt mode, configurable Exti lines have two different - interrupts pending registers which allow to distinguish which transition - occurs: - (++) Rising edge pending interrupt - (++) Falling - - (+) Exti lines 0 to 15 are linked to gpio pin number 0 to 15. Gpio port can - be selected through multiplexer. - - ##### How to use this driver ##### - ============================================================================== - [..] - - (#) Configure the EXTI line using HAL_EXTI_SetConfigLine(). - (++) Choose the interrupt line number by setting "Line" member from - EXTI_ConfigTypeDef structure. - (++) Configure the interrupt and/or event mode using "Mode" member from - EXTI_ConfigTypeDef structure. - (++) For configurable lines, configure rising and/or falling trigger - "Trigger" member from EXTI_ConfigTypeDef structure. - (++) For Exti lines linked to gpio, choose gpio port using "GPIOSel" - member from GPIO_InitTypeDef structure. - - (#) Get current Exti configuration of a dedicated line using - HAL_EXTI_GetConfigLine(). - (++) Provide exiting handle as parameter. - (++) Provide pointer on EXTI_ConfigTypeDef structure as second parameter. - - (#) Clear Exti configuration of a dedicated line using HAL_EXTI_GetConfigLine(). - (++) Provide exiting handle as parameter. - - (#) Register callback to treat Exti interrupts using HAL_EXTI_RegisterCallback(). - (++) Provide exiting handle as first parameter. - (++) Provide which callback will be registered using one value from - EXTI_CallbackIDTypeDef. - (++) Provide callback function pointer. - - (#) Get interrupt pending bit using HAL_EXTI_GetPending(). - - (#) Clear interrupt pending bit using HAL_EXTI_GetPending(). - - (#) Generate software interrupt using HAL_EXTI_GenerateSWI(). - - @endverbatim - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2018 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @addtogroup EXTI - * @{ - */ -/** MISRA C:2012 deviation rule has been granted for following rule: - * Rule-18.1_b - Medium: Array `EXTICR' 1st subscript interval [0,7] may be out - * of bounds [0,3] in following API : - * HAL_EXTI_SetConfigLine - * HAL_EXTI_GetConfigLine - * HAL_EXTI_ClearConfigLine - */ - -#ifdef HAL_EXTI_MODULE_ENABLED - -/* Private typedef -----------------------------------------------------------*/ -/* Private defines -----------------------------------------------------------*/ -/** @defgroup EXTI_Private_Constants EXTI Private Constants - * @{ - */ - -/** - * @} - */ - -/* Private macros ------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private function prototypes -----------------------------------------------*/ -/* Exported functions --------------------------------------------------------*/ - -/** @addtogroup EXTI_Exported_Functions - * @{ - */ - -/** @addtogroup EXTI_Exported_Functions_Group1 - * @brief Configuration functions - * -@verbatim - =============================================================================== - ##### Configuration functions ##### - =============================================================================== - -@endverbatim - * @{ - */ - -/** - * @brief Set configuration of a dedicated Exti line. - * @param hexti Exti handle. - * @param pExtiConfig Pointer on EXTI configuration to be set. - * @retval HAL Status. - */ -HAL_StatusTypeDef HAL_EXTI_SetConfigLine(EXTI_HandleTypeDef *hexti, EXTI_ConfigTypeDef *pExtiConfig) -{ - uint32_t regval; - uint32_t linepos; - uint32_t maskline; - - /* Check null pointer */ - if ((hexti == NULL) || (pExtiConfig == NULL)) - { - return HAL_ERROR; - } - - /* Check parameters */ - assert_param(IS_EXTI_LINE(pExtiConfig->Line)); - assert_param(IS_EXTI_MODE(pExtiConfig->Mode)); - - /* Assign line number to handle */ - hexti->Line = pExtiConfig->Line; - - /* Compute line mask */ - linepos = (pExtiConfig->Line & EXTI_PIN_MASK); - maskline = (1uL << linepos); - - /* Configure triggers for configurable lines */ - if ((pExtiConfig->Line & EXTI_CONFIG) != 0x00u) - { - assert_param(IS_EXTI_TRIGGER(pExtiConfig->Trigger)); - - /* Configure rising trigger */ - /* Mask or set line */ - if ((pExtiConfig->Trigger & EXTI_TRIGGER_RISING) != 0x00u) - { - EXTI->RTSR |= maskline; - } - else - { - EXTI->RTSR &= ~maskline; - } - - /* Configure falling trigger */ - /* Mask or set line */ - if ((pExtiConfig->Trigger & EXTI_TRIGGER_FALLING) != 0x00u) - { - EXTI->FTSR |= maskline; - } - else - { - EXTI->FTSR &= ~maskline; - } - - - /* Configure gpio port selection in case of gpio exti line */ - if ((pExtiConfig->Line & EXTI_GPIO) == EXTI_GPIO) - { - assert_param(IS_EXTI_GPIO_PORT(pExtiConfig->GPIOSel)); - assert_param(IS_EXTI_GPIO_PIN(linepos)); - - regval = SYSCFG->EXTICR[linepos >> 2u]; - regval &= ~(SYSCFG_EXTICR1_EXTI0 << (SYSCFG_EXTICR1_EXTI1_Pos * (linepos & 0x03u))); - regval |= (pExtiConfig->GPIOSel << (SYSCFG_EXTICR1_EXTI1_Pos * (linepos & 0x03u))); - SYSCFG->EXTICR[linepos >> 2u] = regval; - } - } - - /* Configure interrupt mode : read current mode */ - /* Mask or set line */ - if ((pExtiConfig->Mode & EXTI_MODE_INTERRUPT) != 0x00u) - { - EXTI->IMR |= maskline; - } - else - { - EXTI->IMR &= ~maskline; - } - - /* Configure event mode : read current mode */ - /* Mask or set line */ - if ((pExtiConfig->Mode & EXTI_MODE_EVENT) != 0x00u) - { - EXTI->EMR |= maskline; - } - else - { - EXTI->EMR &= ~maskline; - } - - return HAL_OK; -} - -/** - * @brief Get configuration of a dedicated Exti line. - * @param hexti Exti handle. - * @param pExtiConfig Pointer on structure to store Exti configuration. - * @retval HAL Status. - */ -HAL_StatusTypeDef HAL_EXTI_GetConfigLine(EXTI_HandleTypeDef *hexti, EXTI_ConfigTypeDef *pExtiConfig) -{ - uint32_t regval; - uint32_t linepos; - uint32_t maskline; - - /* Check null pointer */ - if ((hexti == NULL) || (pExtiConfig == NULL)) - { - return HAL_ERROR; - } - - /* Check the parameter */ - assert_param(IS_EXTI_LINE(hexti->Line)); - - /* Store handle line number to configuration structure */ - pExtiConfig->Line = hexti->Line; - - /* Compute line mask */ - linepos = (pExtiConfig->Line & EXTI_PIN_MASK); - maskline = (1uL << linepos); - - /* 1] Get core mode : interrupt */ - - /* Check if selected line is enable */ - if ((EXTI->IMR & maskline) != 0x00u) - { - pExtiConfig->Mode = EXTI_MODE_INTERRUPT; - } - else - { - pExtiConfig->Mode = EXTI_MODE_NONE; - } - - /* Get event mode */ - /* Check if selected line is enable */ - if ((EXTI->EMR & maskline) != 0x00u) - { - pExtiConfig->Mode |= EXTI_MODE_EVENT; - } - - /* Get default Trigger and GPIOSel configuration */ - pExtiConfig->Trigger = EXTI_TRIGGER_NONE; - pExtiConfig->GPIOSel = 0x00u; - - /* 2] Get trigger for configurable lines : rising */ - if ((pExtiConfig->Line & EXTI_CONFIG) != 0x00u) - { - /* Check if configuration of selected line is enable */ - if ((EXTI->RTSR & maskline) != 0x00u) - { - pExtiConfig->Trigger = EXTI_TRIGGER_RISING; - } - - /* Get falling configuration */ - /* Check if configuration of selected line is enable */ - if ((EXTI->FTSR & maskline) != 0x00u) - { - pExtiConfig->Trigger |= EXTI_TRIGGER_FALLING; - } - - /* Get Gpio port selection for gpio lines */ - if ((pExtiConfig->Line & EXTI_GPIO) == EXTI_GPIO) - { - assert_param(IS_EXTI_GPIO_PIN(linepos)); - - regval = SYSCFG->EXTICR[linepos >> 2u]; - pExtiConfig->GPIOSel = ((regval << (SYSCFG_EXTICR1_EXTI1_Pos * (3uL - (linepos & 0x03u)))) >> 24); - } - } - - return HAL_OK; -} - -/** - * @brief Clear whole configuration of a dedicated Exti line. - * @param hexti Exti handle. - * @retval HAL Status. - */ -HAL_StatusTypeDef HAL_EXTI_ClearConfigLine(EXTI_HandleTypeDef *hexti) -{ - uint32_t regval; - uint32_t linepos; - uint32_t maskline; - - /* Check null pointer */ - if (hexti == NULL) - { - return HAL_ERROR; - } - - /* Check the parameter */ - assert_param(IS_EXTI_LINE(hexti->Line)); - - /* compute line mask */ - linepos = (hexti->Line & EXTI_PIN_MASK); - maskline = (1uL << linepos); - - /* 1] Clear interrupt mode */ - EXTI->IMR = (EXTI->IMR & ~maskline); - - /* 2] Clear event mode */ - EXTI->EMR = (EXTI->EMR & ~maskline); - - /* 3] Clear triggers in case of configurable lines */ - if ((hexti->Line & EXTI_CONFIG) != 0x00u) - { - EXTI->RTSR = (EXTI->RTSR & ~maskline); - EXTI->FTSR = (EXTI->FTSR & ~maskline); - - /* Get Gpio port selection for gpio lines */ - if ((hexti->Line & EXTI_GPIO) == EXTI_GPIO) - { - assert_param(IS_EXTI_GPIO_PIN(linepos)); - - regval = SYSCFG->EXTICR[linepos >> 2u]; - regval &= ~(SYSCFG_EXTICR1_EXTI0 << (SYSCFG_EXTICR1_EXTI1_Pos * (linepos & 0x03u))); - SYSCFG->EXTICR[linepos >> 2u] = regval; - } - } - - return HAL_OK; -} - -/** - * @brief Register callback for a dedicated Exti line. - * @param hexti Exti handle. - * @param CallbackID User callback identifier. - * This parameter can be one of @arg @ref EXTI_CallbackIDTypeDef values. - * @param pPendingCbfn function pointer to be stored as callback. - * @retval HAL Status. - */ -HAL_StatusTypeDef HAL_EXTI_RegisterCallback(EXTI_HandleTypeDef *hexti, EXTI_CallbackIDTypeDef CallbackID, void (*pPendingCbfn)(void)) -{ - HAL_StatusTypeDef status = HAL_OK; - - switch (CallbackID) - { - case HAL_EXTI_COMMON_CB_ID: - hexti->PendingCallback = pPendingCbfn; - break; - - default: - status = HAL_ERROR; - break; - } - - return status; -} - -/** - * @brief Store line number as handle private field. - * @param hexti Exti handle. - * @param ExtiLine Exti line number. - * This parameter can be from 0 to @ref EXTI_LINE_NB. - * @retval HAL Status. - */ -HAL_StatusTypeDef HAL_EXTI_GetHandle(EXTI_HandleTypeDef *hexti, uint32_t ExtiLine) -{ - /* Check the parameters */ - assert_param(IS_EXTI_LINE(ExtiLine)); - - /* Check null pointer */ - if (hexti == NULL) - { - return HAL_ERROR; - } - else - { - /* Store line number as handle private field */ - hexti->Line = ExtiLine; - - return HAL_OK; - } -} - -/** - * @} - */ - -/** @addtogroup EXTI_Exported_Functions_Group2 - * @brief EXTI IO functions. - * -@verbatim - =============================================================================== - ##### IO operation functions ##### - =============================================================================== - -@endverbatim - * @{ - */ - -/** - * @brief Handle EXTI interrupt request. - * @param hexti Exti handle. - * @retval none. - */ -void HAL_EXTI_IRQHandler(EXTI_HandleTypeDef *hexti) -{ - uint32_t regval; - uint32_t maskline; - - /* Compute line mask */ - maskline = (1uL << (hexti->Line & EXTI_PIN_MASK)); - - /* Get pending bit */ - regval = (EXTI->PR & maskline); - if (regval != 0x00u) - { - /* Clear pending bit */ - EXTI->PR = maskline; - - /* Call callback */ - if (hexti->PendingCallback != NULL) - { - hexti->PendingCallback(); - } - } -} - -/** - * @brief Get interrupt pending bit of a dedicated line. - * @param hexti Exti handle. - * @param Edge Specify which pending edge as to be checked. - * This parameter can be one of the following values: - * @arg @ref EXTI_TRIGGER_RISING_FALLING - * This parameter is kept for compatibility with other series. - * @retval 1 if interrupt is pending else 0. - */ -uint32_t HAL_EXTI_GetPending(EXTI_HandleTypeDef *hexti, uint32_t Edge) -{ - uint32_t regval; - uint32_t linepos; - uint32_t maskline; - - /* Check parameters */ - assert_param(IS_EXTI_LINE(hexti->Line)); - assert_param(IS_EXTI_CONFIG_LINE(hexti->Line)); - assert_param(IS_EXTI_PENDING_EDGE(Edge)); - - /* Compute line mask */ - linepos = (hexti->Line & EXTI_PIN_MASK); - maskline = (1uL << linepos); - - /* return 1 if bit is set else 0 */ - regval = ((EXTI->PR & maskline) >> linepos); - return regval; -} - -/** - * @brief Clear interrupt pending bit of a dedicated line. - * @param hexti Exti handle. - * @param Edge Specify which pending edge as to be clear. - * This parameter can be one of the following values: - * @arg @ref EXTI_TRIGGER_RISING_FALLING - * This parameter is kept for compatibility with other series. - * @retval None. - */ -void HAL_EXTI_ClearPending(EXTI_HandleTypeDef *hexti, uint32_t Edge) -{ - uint32_t maskline; - - /* Check parameters */ - assert_param(IS_EXTI_LINE(hexti->Line)); - assert_param(IS_EXTI_CONFIG_LINE(hexti->Line)); - assert_param(IS_EXTI_PENDING_EDGE(Edge)); - - /* Compute line mask */ - maskline = (1uL << (hexti->Line & EXTI_PIN_MASK)); - - /* Clear Pending bit */ - EXTI->PR = maskline; -} - -/** - * @brief Generate a software interrupt for a dedicated line. - * @param hexti Exti handle. - * @retval None. - */ -void HAL_EXTI_GenerateSWI(EXTI_HandleTypeDef *hexti) -{ - uint32_t maskline; - - /* Check parameters */ - assert_param(IS_EXTI_LINE(hexti->Line)); - assert_param(IS_EXTI_CONFIG_LINE(hexti->Line)); - - /* Compute line mask */ - maskline = (1uL << (hexti->Line & EXTI_PIN_MASK)); - - /* Generate Software interrupt */ - EXTI->SWIER = maskline; -} - -/** - * @} - */ - -/** - * @} - */ - -#endif /* HAL_EXTI_MODULE_ENABLED */ -/** - * @} - */ - -/** - * @} - */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c deleted file mode 100644 index 69b47a6eca7957..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c +++ /dev/null @@ -1,778 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_flash.c - * @author MCD Application Team - * @brief FLASH HAL module driver. - * This file provides firmware functions to manage the following - * functionalities of the internal FLASH memory: - * + Program operations functions - * + Memory Control functions - * + Peripheral Errors functions - * - @verbatim - ============================================================================== - ##### FLASH peripheral features ##### - ============================================================================== - - [..] The Flash memory interface manages CPU AHB I-Code and D-Code accesses - to the Flash memory. It implements the erase and program Flash memory operations - and the read and write protection mechanisms. - - [..] The Flash memory interface accelerates code execution with a system of instruction - prefetch and cache lines. - - [..] The FLASH main features are: - (+) Flash memory read operations - (+) Flash memory program/erase operations - (+) Read / write protections - (+) Prefetch on I-Code - (+) 64 cache lines of 128 bits on I-Code - (+) 8 cache lines of 128 bits on D-Code - - - ##### How to use this driver ##### - ============================================================================== - [..] - This driver provides functions and macros to configure and program the FLASH - memory of all STM32F4xx devices. - - (#) FLASH Memory IO Programming functions: - (++) Lock and Unlock the FLASH interface using HAL_FLASH_Unlock() and - HAL_FLASH_Lock() functions - (++) Program functions: byte, half word, word and double word - (++) There Two modes of programming : - (+++) Polling mode using HAL_FLASH_Program() function - (+++) Interrupt mode using HAL_FLASH_Program_IT() function - - (#) Interrupts and flags management functions : - (++) Handle FLASH interrupts by calling HAL_FLASH_IRQHandler() - (++) Wait for last FLASH operation according to its status - (++) Get error flag status by calling HAL_SetErrorCode() - - [..] - In addition to these functions, this driver includes a set of macros allowing - to handle the following operations: - (+) Set the latency - (+) Enable/Disable the prefetch buffer - (+) Enable/Disable the Instruction cache and the Data cache - (+) Reset the Instruction cache and the Data cache - (+) Enable/Disable the FLASH interrupts - (+) Monitor the FLASH flags status - - @endverbatim - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @defgroup FLASH FLASH - * @brief FLASH HAL module driver - * @{ - */ - -#ifdef HAL_FLASH_MODULE_ENABLED - -/* Private typedef -----------------------------------------------------------*/ -/* Private define ------------------------------------------------------------*/ -/** @addtogroup FLASH_Private_Constants - * @{ - */ -#define FLASH_TIMEOUT_VALUE 50000U /* 50 s */ -/** - * @} - */ -/* Private macro -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/** @addtogroup FLASH_Private_Variables - * @{ - */ -/* Variable used for Erase sectors under interruption */ -FLASH_ProcessTypeDef pFlash; -/** - * @} - */ - -/* Private function prototypes -----------------------------------------------*/ -/** @addtogroup FLASH_Private_Functions - * @{ - */ -/* Program operations */ -static void FLASH_Program_DoubleWord(uint32_t Address, uint64_t Data); -static void FLASH_Program_Word(uint32_t Address, uint32_t Data); -static void FLASH_Program_HalfWord(uint32_t Address, uint16_t Data); -static void FLASH_Program_Byte(uint32_t Address, uint8_t Data); -static void FLASH_SetErrorCode(void); - -HAL_StatusTypeDef FLASH_WaitForLastOperation(uint32_t Timeout); -/** - * @} - */ - -/* Exported functions --------------------------------------------------------*/ -/** @defgroup FLASH_Exported_Functions FLASH Exported Functions - * @{ - */ - -/** @defgroup FLASH_Exported_Functions_Group1 Programming operation functions - * @brief Programming operation functions - * -@verbatim - =============================================================================== - ##### Programming operation functions ##### - =============================================================================== - [..] - This subsection provides a set of functions allowing to manage the FLASH - program operations. - -@endverbatim - * @{ - */ - -/** - * @brief Program byte, halfword, word or double word at a specified address - * @param TypeProgram Indicate the way to program at a specified address. - * This parameter can be a value of @ref FLASH_Type_Program - * @param Address specifies the address to be programmed. - * @param Data specifies the data to be programmed - * - * @retval HAL_StatusTypeDef HAL Status - */ -HAL_StatusTypeDef HAL_FLASH_Program(uint32_t TypeProgram, uint32_t Address, uint64_t Data) -{ - HAL_StatusTypeDef status = HAL_ERROR; - - /* Process Locked */ - __HAL_LOCK(&pFlash); - - /* Check the parameters */ - assert_param(IS_FLASH_TYPEPROGRAM(TypeProgram)); - - /* Wait for last operation to be completed */ - status = FLASH_WaitForLastOperation((uint32_t)FLASH_TIMEOUT_VALUE); - - if(status == HAL_OK) - { - if(TypeProgram == FLASH_TYPEPROGRAM_BYTE) - { - /*Program byte (8-bit) at a specified address.*/ - FLASH_Program_Byte(Address, (uint8_t) Data); - } - else if(TypeProgram == FLASH_TYPEPROGRAM_HALFWORD) - { - /*Program halfword (16-bit) at a specified address.*/ - FLASH_Program_HalfWord(Address, (uint16_t) Data); - } - else if(TypeProgram == FLASH_TYPEPROGRAM_WORD) - { - /*Program word (32-bit) at a specified address.*/ - FLASH_Program_Word(Address, (uint32_t) Data); - } - else - { - /*Program double word (64-bit) at a specified address.*/ - FLASH_Program_DoubleWord(Address, Data); - } - - /* Wait for last operation to be completed */ - status = FLASH_WaitForLastOperation((uint32_t)FLASH_TIMEOUT_VALUE); - - /* If the program operation is completed, disable the PG Bit */ - FLASH->CR &= (~FLASH_CR_PG); - } - - /* Process Unlocked */ - __HAL_UNLOCK(&pFlash); - - return status; -} - -/** - * @brief Program byte, halfword, word or double word at a specified address with interrupt enabled. - * @param TypeProgram Indicate the way to program at a specified address. - * This parameter can be a value of @ref FLASH_Type_Program - * @param Address specifies the address to be programmed. - * @param Data specifies the data to be programmed - * - * @retval HAL Status - */ -HAL_StatusTypeDef HAL_FLASH_Program_IT(uint32_t TypeProgram, uint32_t Address, uint64_t Data) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Process Locked */ - __HAL_LOCK(&pFlash); - - /* Check the parameters */ - assert_param(IS_FLASH_TYPEPROGRAM(TypeProgram)); - - /* Enable End of FLASH Operation interrupt */ - __HAL_FLASH_ENABLE_IT(FLASH_IT_EOP); - - /* Enable Error source interrupt */ - __HAL_FLASH_ENABLE_IT(FLASH_IT_ERR); - - pFlash.ProcedureOnGoing = FLASH_PROC_PROGRAM; - pFlash.Address = Address; - - if(TypeProgram == FLASH_TYPEPROGRAM_BYTE) - { - /*Program byte (8-bit) at a specified address.*/ - FLASH_Program_Byte(Address, (uint8_t) Data); - } - else if(TypeProgram == FLASH_TYPEPROGRAM_HALFWORD) - { - /*Program halfword (16-bit) at a specified address.*/ - FLASH_Program_HalfWord(Address, (uint16_t) Data); - } - else if(TypeProgram == FLASH_TYPEPROGRAM_WORD) - { - /*Program word (32-bit) at a specified address.*/ - FLASH_Program_Word(Address, (uint32_t) Data); - } - else - { - /*Program double word (64-bit) at a specified address.*/ - FLASH_Program_DoubleWord(Address, Data); - } - - return status; -} - -/** - * @brief This function handles FLASH interrupt request. - * @retval None - */ -void HAL_FLASH_IRQHandler(void) -{ - uint32_t addresstmp = 0U; - - /* Check FLASH operation error flags */ -#if defined(FLASH_SR_RDERR) - if(__HAL_FLASH_GET_FLAG((FLASH_FLAG_OPERR | FLASH_FLAG_WRPERR | FLASH_FLAG_PGAERR | \ - FLASH_FLAG_PGPERR | FLASH_FLAG_PGSERR | FLASH_FLAG_RDERR)) != RESET) -#else - if(__HAL_FLASH_GET_FLAG((FLASH_FLAG_OPERR | FLASH_FLAG_WRPERR | FLASH_FLAG_PGAERR | \ - FLASH_FLAG_PGPERR | FLASH_FLAG_PGSERR)) != RESET) -#endif /* FLASH_SR_RDERR */ - { - if(pFlash.ProcedureOnGoing == FLASH_PROC_SECTERASE) - { - /*return the faulty sector*/ - addresstmp = pFlash.Sector; - pFlash.Sector = 0xFFFFFFFFU; - } - else if(pFlash.ProcedureOnGoing == FLASH_PROC_MASSERASE) - { - /*return the faulty bank*/ - addresstmp = pFlash.Bank; - } - else - { - /*return the faulty address*/ - addresstmp = pFlash.Address; - } - - /*Save the Error code*/ - FLASH_SetErrorCode(); - - /* FLASH error interrupt user callback */ - HAL_FLASH_OperationErrorCallback(addresstmp); - - /*Stop the procedure ongoing*/ - pFlash.ProcedureOnGoing = FLASH_PROC_NONE; - } - - /* Check FLASH End of Operation flag */ - if(__HAL_FLASH_GET_FLAG(FLASH_FLAG_EOP) != RESET) - { - /* Clear FLASH End of Operation pending bit */ - __HAL_FLASH_CLEAR_FLAG(FLASH_FLAG_EOP); - - if(pFlash.ProcedureOnGoing == FLASH_PROC_SECTERASE) - { - /*Nb of sector to erased can be decreased*/ - pFlash.NbSectorsToErase--; - - /* Check if there are still sectors to erase*/ - if(pFlash.NbSectorsToErase != 0U) - { - addresstmp = pFlash.Sector; - /*Indicate user which sector has been erased*/ - HAL_FLASH_EndOfOperationCallback(addresstmp); - - /*Increment sector number*/ - pFlash.Sector++; - addresstmp = pFlash.Sector; - FLASH_Erase_Sector(addresstmp, pFlash.VoltageForErase); - } - else - { - /*No more sectors to Erase, user callback can be called.*/ - /*Reset Sector and stop Erase sectors procedure*/ - pFlash.Sector = addresstmp = 0xFFFFFFFFU; - pFlash.ProcedureOnGoing = FLASH_PROC_NONE; - - /* Flush the caches to be sure of the data consistency */ - FLASH_FlushCaches() ; - - /* FLASH EOP interrupt user callback */ - HAL_FLASH_EndOfOperationCallback(addresstmp); - } - } - else - { - if(pFlash.ProcedureOnGoing == FLASH_PROC_MASSERASE) - { - /* MassErase ended. Return the selected bank */ - /* Flush the caches to be sure of the data consistency */ - FLASH_FlushCaches() ; - - /* FLASH EOP interrupt user callback */ - HAL_FLASH_EndOfOperationCallback(pFlash.Bank); - } - else - { - /*Program ended. Return the selected address*/ - /* FLASH EOP interrupt user callback */ - HAL_FLASH_EndOfOperationCallback(pFlash.Address); - } - pFlash.ProcedureOnGoing = FLASH_PROC_NONE; - } - } - - if(pFlash.ProcedureOnGoing == FLASH_PROC_NONE) - { - /* Operation is completed, disable the PG, SER, SNB and MER Bits */ - CLEAR_BIT(FLASH->CR, (FLASH_CR_PG | FLASH_CR_SER | FLASH_CR_SNB | FLASH_MER_BIT)); - - /* Disable End of FLASH Operation interrupt */ - __HAL_FLASH_DISABLE_IT(FLASH_IT_EOP); - - /* Disable Error source interrupt */ - __HAL_FLASH_DISABLE_IT(FLASH_IT_ERR); - - /* Process Unlocked */ - __HAL_UNLOCK(&pFlash); - } -} - -/** - * @brief FLASH end of operation interrupt callback - * @param ReturnValue The value saved in this parameter depends on the ongoing procedure - * Mass Erase: Bank number which has been requested to erase - * Sectors Erase: Sector which has been erased - * (if 0xFFFFFFFFU, it means that all the selected sectors have been erased) - * Program: Address which was selected for data program - * @retval None - */ -__weak void HAL_FLASH_EndOfOperationCallback(uint32_t ReturnValue) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(ReturnValue); - /* NOTE : This function Should not be modified, when the callback is needed, - the HAL_FLASH_EndOfOperationCallback could be implemented in the user file - */ -} - -/** - * @brief FLASH operation error interrupt callback - * @param ReturnValue The value saved in this parameter depends on the ongoing procedure - * Mass Erase: Bank number which has been requested to erase - * Sectors Erase: Sector number which returned an error - * Program: Address which was selected for data program - * @retval None - */ -__weak void HAL_FLASH_OperationErrorCallback(uint32_t ReturnValue) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(ReturnValue); - /* NOTE : This function Should not be modified, when the callback is needed, - the HAL_FLASH_OperationErrorCallback could be implemented in the user file - */ -} - -/** - * @} - */ - -/** @defgroup FLASH_Exported_Functions_Group2 Peripheral Control functions - * @brief management functions - * -@verbatim - =============================================================================== - ##### Peripheral Control functions ##### - =============================================================================== - [..] - This subsection provides a set of functions allowing to control the FLASH - memory operations. - -@endverbatim - * @{ - */ - -/** - * @brief Unlock the FLASH control register access - * @retval HAL Status - */ -HAL_StatusTypeDef HAL_FLASH_Unlock(void) -{ - HAL_StatusTypeDef status = HAL_OK; - - if(READ_BIT(FLASH->CR, FLASH_CR_LOCK) != RESET) - { - /* Authorize the FLASH Registers access */ - WRITE_REG(FLASH->KEYR, FLASH_KEY1); - WRITE_REG(FLASH->KEYR, FLASH_KEY2); - - /* Verify Flash is unlocked */ - if(READ_BIT(FLASH->CR, FLASH_CR_LOCK) != RESET) - { - status = HAL_ERROR; - } - } - - return status; -} - -/** - * @brief Locks the FLASH control register access - * @retval HAL Status - */ -HAL_StatusTypeDef HAL_FLASH_Lock(void) -{ - /* Set the LOCK Bit to lock the FLASH Registers access */ - FLASH->CR |= FLASH_CR_LOCK; - - return HAL_OK; -} - -/** - * @brief Unlock the FLASH Option Control Registers access. - * @retval HAL Status - */ -HAL_StatusTypeDef HAL_FLASH_OB_Unlock(void) -{ - if((FLASH->OPTCR & FLASH_OPTCR_OPTLOCK) != RESET) - { - /* Authorizes the Option Byte register programming */ - FLASH->OPTKEYR = FLASH_OPT_KEY1; - FLASH->OPTKEYR = FLASH_OPT_KEY2; - } - else - { - return HAL_ERROR; - } - - return HAL_OK; -} - -/** - * @brief Lock the FLASH Option Control Registers access. - * @retval HAL Status - */ -HAL_StatusTypeDef HAL_FLASH_OB_Lock(void) -{ - /* Set the OPTLOCK Bit to lock the FLASH Option Byte Registers access */ - FLASH->OPTCR |= FLASH_OPTCR_OPTLOCK; - - return HAL_OK; -} - -/** - * @brief Launch the option byte loading. - * @retval HAL Status - */ -HAL_StatusTypeDef HAL_FLASH_OB_Launch(void) -{ - /* Set the OPTSTRT bit in OPTCR register */ - *(__IO uint8_t *)OPTCR_BYTE0_ADDRESS |= FLASH_OPTCR_OPTSTRT; - - /* Wait for last operation to be completed */ - return(FLASH_WaitForLastOperation((uint32_t)FLASH_TIMEOUT_VALUE)); -} - -/** - * @} - */ - -/** @defgroup FLASH_Exported_Functions_Group3 Peripheral State and Errors functions - * @brief Peripheral Errors functions - * -@verbatim - =============================================================================== - ##### Peripheral Errors functions ##### - =============================================================================== - [..] - This subsection permits to get in run-time Errors of the FLASH peripheral. - -@endverbatim - * @{ - */ - -/** - * @brief Get the specific FLASH error flag. - * @retval FLASH_ErrorCode: The returned value can be a combination of: - * @arg HAL_FLASH_ERROR_RD: FLASH Read Protection error flag (PCROP) - * @arg HAL_FLASH_ERROR_PGS: FLASH Programming Sequence error flag - * @arg HAL_FLASH_ERROR_PGP: FLASH Programming Parallelism error flag - * @arg HAL_FLASH_ERROR_PGA: FLASH Programming Alignment error flag - * @arg HAL_FLASH_ERROR_WRP: FLASH Write protected error flag - * @arg HAL_FLASH_ERROR_OPERATION: FLASH operation Error flag - */ -uint32_t HAL_FLASH_GetError(void) -{ - return pFlash.ErrorCode; -} - -/** - * @} - */ - -/** - * @brief Wait for a FLASH operation to complete. - * @param Timeout maximum flash operationtimeout - * @retval HAL Status - */ -HAL_StatusTypeDef FLASH_WaitForLastOperation(uint32_t Timeout) -{ - uint32_t tickstart = 0U; - - /* Clear Error Code */ - pFlash.ErrorCode = HAL_FLASH_ERROR_NONE; - - /* Wait for the FLASH operation to complete by polling on BUSY flag to be reset. - Even if the FLASH operation fails, the BUSY flag will be reset and an error - flag will be set */ - /* Get tick */ - tickstart = HAL_GetTick(); - - while(__HAL_FLASH_GET_FLAG(FLASH_FLAG_BSY) != RESET) - { - if(Timeout != HAL_MAX_DELAY) - { - if((Timeout == 0U)||((HAL_GetTick() - tickstart ) > Timeout)) - { - return HAL_TIMEOUT; - } - } - } - - /* Check FLASH End of Operation flag */ - if (__HAL_FLASH_GET_FLAG(FLASH_FLAG_EOP) != RESET) - { - /* Clear FLASH End of Operation pending bit */ - __HAL_FLASH_CLEAR_FLAG(FLASH_FLAG_EOP); - } -#if defined(FLASH_SR_RDERR) - if(__HAL_FLASH_GET_FLAG((FLASH_FLAG_OPERR | FLASH_FLAG_WRPERR | FLASH_FLAG_PGAERR | \ - FLASH_FLAG_PGPERR | FLASH_FLAG_PGSERR | FLASH_FLAG_RDERR)) != RESET) -#else - if(__HAL_FLASH_GET_FLAG((FLASH_FLAG_OPERR | FLASH_FLAG_WRPERR | FLASH_FLAG_PGAERR | \ - FLASH_FLAG_PGPERR | FLASH_FLAG_PGSERR)) != RESET) -#endif /* FLASH_SR_RDERR */ - { - /*Save the error code*/ - FLASH_SetErrorCode(); - return HAL_ERROR; - } - - /* If there is no error flag set */ - return HAL_OK; - -} - -/** - * @brief Program a double word (64-bit) at a specified address. - * @note This function must be used when the device voltage range is from - * 2.7V to 3.6V and Vpp in the range 7V to 9V. - * - * @note If an erase and a program operations are requested simultaneously, - * the erase operation is performed before the program one. - * - * @param Address specifies the address to be programmed. - * @param Data specifies the data to be programmed. - * @retval None - */ -static void FLASH_Program_DoubleWord(uint32_t Address, uint64_t Data) -{ - /* Check the parameters */ - assert_param(IS_FLASH_ADDRESS(Address)); - - /* If the previous operation is completed, proceed to program the new data */ - CLEAR_BIT(FLASH->CR, FLASH_CR_PSIZE); - FLASH->CR |= FLASH_PSIZE_DOUBLE_WORD; - FLASH->CR |= FLASH_CR_PG; - - /* Program first word */ - *(__IO uint32_t*)Address = (uint32_t)Data; - - /* Barrier to ensure programming is performed in 2 steps, in right order - (independently of compiler optimization behavior) */ - __ISB(); - - /* Program second word */ - *(__IO uint32_t*)(Address+4) = (uint32_t)(Data >> 32); -} - - -/** - * @brief Program word (32-bit) at a specified address. - * @note This function must be used when the device voltage range is from - * 2.7V to 3.6V. - * - * @note If an erase and a program operations are requested simultaneously, - * the erase operation is performed before the program one. - * - * @param Address specifies the address to be programmed. - * @param Data specifies the data to be programmed. - * @retval None - */ -static void FLASH_Program_Word(uint32_t Address, uint32_t Data) -{ - /* Check the parameters */ - assert_param(IS_FLASH_ADDRESS(Address)); - - /* If the previous operation is completed, proceed to program the new data */ - CLEAR_BIT(FLASH->CR, FLASH_CR_PSIZE); - FLASH->CR |= FLASH_PSIZE_WORD; - FLASH->CR |= FLASH_CR_PG; - - *(__IO uint32_t*)Address = Data; -} - -/** - * @brief Program a half-word (16-bit) at a specified address. - * @note This function must be used when the device voltage range is from - * 2.1V to 3.6V. - * - * @note If an erase and a program operations are requested simultaneously, - * the erase operation is performed before the program one. - * - * @param Address specifies the address to be programmed. - * @param Data specifies the data to be programmed. - * @retval None - */ -static void FLASH_Program_HalfWord(uint32_t Address, uint16_t Data) -{ - /* Check the parameters */ - assert_param(IS_FLASH_ADDRESS(Address)); - - /* If the previous operation is completed, proceed to program the new data */ - CLEAR_BIT(FLASH->CR, FLASH_CR_PSIZE); - FLASH->CR |= FLASH_PSIZE_HALF_WORD; - FLASH->CR |= FLASH_CR_PG; - - *(__IO uint16_t*)Address = Data; -} - -/** - * @brief Program byte (8-bit) at a specified address. - * @note This function must be used when the device voltage range is from - * 1.8V to 3.6V. - * - * @note If an erase and a program operations are requested simultaneously, - * the erase operation is performed before the program one. - * - * @param Address specifies the address to be programmed. - * @param Data specifies the data to be programmed. - * @retval None - */ -static void FLASH_Program_Byte(uint32_t Address, uint8_t Data) -{ - /* Check the parameters */ - assert_param(IS_FLASH_ADDRESS(Address)); - - /* If the previous operation is completed, proceed to program the new data */ - CLEAR_BIT(FLASH->CR, FLASH_CR_PSIZE); - FLASH->CR |= FLASH_PSIZE_BYTE; - FLASH->CR |= FLASH_CR_PG; - - *(__IO uint8_t*)Address = Data; -} - -/** - * @brief Set the specific FLASH error flag. - * @retval None - */ -static void FLASH_SetErrorCode(void) -{ - if(__HAL_FLASH_GET_FLAG(FLASH_FLAG_WRPERR) != RESET) - { - pFlash.ErrorCode |= HAL_FLASH_ERROR_WRP; - - /* Clear FLASH write protection error pending bit */ - __HAL_FLASH_CLEAR_FLAG(FLASH_FLAG_WRPERR); - } - - if(__HAL_FLASH_GET_FLAG(FLASH_FLAG_PGAERR) != RESET) - { - pFlash.ErrorCode |= HAL_FLASH_ERROR_PGA; - - /* Clear FLASH Programming alignment error pending bit */ - __HAL_FLASH_CLEAR_FLAG(FLASH_FLAG_PGAERR); - } - - if(__HAL_FLASH_GET_FLAG(FLASH_FLAG_PGPERR) != RESET) - { - pFlash.ErrorCode |= HAL_FLASH_ERROR_PGP; - - /* Clear FLASH Programming parallelism error pending bit */ - __HAL_FLASH_CLEAR_FLAG(FLASH_FLAG_PGPERR); - } - - if(__HAL_FLASH_GET_FLAG(FLASH_FLAG_PGSERR) != RESET) - { - pFlash.ErrorCode |= HAL_FLASH_ERROR_PGS; - - /* Clear FLASH Programming sequence error pending bit */ - __HAL_FLASH_CLEAR_FLAG(FLASH_FLAG_PGSERR); - } -#if defined(FLASH_SR_RDERR) - if(__HAL_FLASH_GET_FLAG(FLASH_FLAG_RDERR) != RESET) - { - pFlash.ErrorCode |= HAL_FLASH_ERROR_RD; - - /* Clear FLASH Proprietary readout protection error pending bit */ - __HAL_FLASH_CLEAR_FLAG(FLASH_FLAG_RDERR); - } -#endif /* FLASH_SR_RDERR */ - if(__HAL_FLASH_GET_FLAG(FLASH_FLAG_OPERR) != RESET) - { - pFlash.ErrorCode |= HAL_FLASH_ERROR_OPERATION; - - /* Clear FLASH Operation error pending bit */ - __HAL_FLASH_CLEAR_FLAG(FLASH_FLAG_OPERR); - } -} - -/** - * @} - */ - -#endif /* HAL_FLASH_MODULE_ENABLED */ - -/** - * @} - */ - -/** - * @} - */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c deleted file mode 100644 index 628e78958503d6..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c +++ /dev/null @@ -1,1353 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_flash_ex.c - * @author MCD Application Team - * @brief Extended FLASH HAL module driver. - * This file provides firmware functions to manage the following - * functionalities of the FLASH extension peripheral: - * + Extended programming operations functions - * - @verbatim - ============================================================================== - ##### Flash Extension features ##### - ============================================================================== - - [..] Comparing to other previous devices, the FLASH interface for STM32F427xx/437xx and - STM32F429xx/439xx devices contains the following additional features - - (+) Capacity up to 2 Mbyte with dual bank architecture supporting read-while-write - capability (RWW) - (+) Dual bank memory organization - (+) PCROP protection for all banks - - ##### How to use this driver ##### - ============================================================================== - [..] This driver provides functions to configure and program the FLASH memory - of all STM32F427xx/437xx, STM32F429xx/439xx, STM32F469xx/479xx and STM32F446xx - devices. It includes - (#) FLASH Memory Erase functions: - (++) Lock and Unlock the FLASH interface using HAL_FLASH_Unlock() and - HAL_FLASH_Lock() functions - (++) Erase function: Erase sector, erase all sectors - (++) There are two modes of erase : - (+++) Polling Mode using HAL_FLASHEx_Erase() - (+++) Interrupt Mode using HAL_FLASHEx_Erase_IT() - - (#) Option Bytes Programming functions: Use HAL_FLASHEx_OBProgram() to : - (++) Set/Reset the write protection - (++) Set the Read protection Level - (++) Set the BOR level - (++) Program the user Option Bytes - (#) Advanced Option Bytes Programming functions: Use HAL_FLASHEx_AdvOBProgram() to : - (++) Extended space (bank 2) erase function - (++) Full FLASH space (2 Mo) erase (bank 1 and bank 2) - (++) Dual Boot activation - (++) Write protection configuration for bank 2 - (++) PCROP protection configuration and control for both banks - - @endverbatim - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @defgroup FLASHEx FLASHEx - * @brief FLASH HAL Extension module driver - * @{ - */ - -#ifdef HAL_FLASH_MODULE_ENABLED - -/* Private typedef -----------------------------------------------------------*/ -/* Private define ------------------------------------------------------------*/ -/** @addtogroup FLASHEx_Private_Constants - * @{ - */ -#define FLASH_TIMEOUT_VALUE 50000U /* 50 s */ -/** - * @} - */ - -/* Private macro -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/** @addtogroup FLASHEx_Private_Variables - * @{ - */ -extern FLASH_ProcessTypeDef pFlash; -/** - * @} - */ - -/* Private function prototypes -----------------------------------------------*/ -/** @addtogroup FLASHEx_Private_Functions - * @{ - */ -/* Option bytes control */ -static void FLASH_MassErase(uint8_t VoltageRange, uint32_t Banks); -static HAL_StatusTypeDef FLASH_OB_EnableWRP(uint32_t WRPSector, uint32_t Banks); -static HAL_StatusTypeDef FLASH_OB_DisableWRP(uint32_t WRPSector, uint32_t Banks); -static HAL_StatusTypeDef FLASH_OB_RDP_LevelConfig(uint8_t Level); -static HAL_StatusTypeDef FLASH_OB_UserConfig(uint8_t Iwdg, uint8_t Stop, uint8_t Stdby); -static HAL_StatusTypeDef FLASH_OB_BOR_LevelConfig(uint8_t Level); -static uint8_t FLASH_OB_GetUser(void); -static uint16_t FLASH_OB_GetWRP(void); -static uint8_t FLASH_OB_GetRDP(void); -static uint8_t FLASH_OB_GetBOR(void); - -#if defined(STM32F401xC) || defined(STM32F401xE) || defined(STM32F410Tx) || defined(STM32F410Cx) || defined(STM32F410Rx) || defined(STM32F411xE) ||\ - defined(STM32F446xx) || defined(STM32F412Zx) || defined(STM32F412Vx) || defined(STM32F412Rx) || defined(STM32F412Cx) || defined(STM32F413xx) ||\ - defined(STM32F423xx) -static HAL_StatusTypeDef FLASH_OB_EnablePCROP(uint32_t Sector); -static HAL_StatusTypeDef FLASH_OB_DisablePCROP(uint32_t Sector); -#endif /* STM32F401xC || STM32F401xE || STM32F410xx || STM32F411xE || STM32F446xx || STM32F412Zx || STM32F412Vx || STM32F412Rx || STM32F412Cx - STM32F413xx || STM32F423xx */ - -#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx)|| defined(STM32F439xx) || defined(STM32F469xx) || defined(STM32F479xx) -static HAL_StatusTypeDef FLASH_OB_EnablePCROP(uint32_t SectorBank1, uint32_t SectorBank2, uint32_t Banks); -static HAL_StatusTypeDef FLASH_OB_DisablePCROP(uint32_t SectorBank1, uint32_t SectorBank2, uint32_t Banks); -static HAL_StatusTypeDef FLASH_OB_BootConfig(uint8_t BootConfig); -#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || STM32F469xx || STM32F479xx */ - -extern HAL_StatusTypeDef FLASH_WaitForLastOperation(uint32_t Timeout); -/** - * @} - */ - -/* Exported functions --------------------------------------------------------*/ -/** @defgroup FLASHEx_Exported_Functions FLASHEx Exported Functions - * @{ - */ - -/** @defgroup FLASHEx_Exported_Functions_Group1 Extended IO operation functions - * @brief Extended IO operation functions - * -@verbatim - =============================================================================== - ##### Extended programming operation functions ##### - =============================================================================== - [..] - This subsection provides a set of functions allowing to manage the Extension FLASH - programming operations. - -@endverbatim - * @{ - */ -/** - * @brief Perform a mass erase or erase the specified FLASH memory sectors - * @param[in] pEraseInit pointer to an FLASH_EraseInitTypeDef structure that - * contains the configuration information for the erasing. - * - * @param[out] SectorError pointer to variable that - * contains the configuration information on faulty sector in case of error - * (0xFFFFFFFFU means that all the sectors have been correctly erased) - * - * @retval HAL Status - */ -HAL_StatusTypeDef HAL_FLASHEx_Erase(FLASH_EraseInitTypeDef *pEraseInit, uint32_t *SectorError) -{ - HAL_StatusTypeDef status = HAL_ERROR; - uint32_t index = 0U; - - /* Process Locked */ - __HAL_LOCK(&pFlash); - - /* Check the parameters */ - assert_param(IS_FLASH_TYPEERASE(pEraseInit->TypeErase)); - - /* Wait for last operation to be completed */ - status = FLASH_WaitForLastOperation((uint32_t)FLASH_TIMEOUT_VALUE); - - if (status == HAL_OK) - { - /*Initialization of SectorError variable*/ - *SectorError = 0xFFFFFFFFU; - - if (pEraseInit->TypeErase == FLASH_TYPEERASE_MASSERASE) - { - /*Mass erase to be done*/ - FLASH_MassErase((uint8_t) pEraseInit->VoltageRange, pEraseInit->Banks); - - /* Wait for last operation to be completed */ - status = FLASH_WaitForLastOperation((uint32_t)FLASH_TIMEOUT_VALUE); - - /* if the erase operation is completed, disable the MER Bit */ - FLASH->CR &= (~FLASH_MER_BIT); - } - else - { - /* Check the parameters */ - assert_param(IS_FLASH_NBSECTORS(pEraseInit->NbSectors + pEraseInit->Sector)); - - /* Erase by sector by sector to be done*/ - for (index = pEraseInit->Sector; index < (pEraseInit->NbSectors + pEraseInit->Sector); index++) - { - FLASH_Erase_Sector(index, (uint8_t) pEraseInit->VoltageRange); - - /* Wait for last operation to be completed */ - status = FLASH_WaitForLastOperation((uint32_t)FLASH_TIMEOUT_VALUE); - - /* If the erase operation is completed, disable the SER and SNB Bits */ - CLEAR_BIT(FLASH->CR, (FLASH_CR_SER | FLASH_CR_SNB)); - - if (status != HAL_OK) - { - /* In case of error, stop erase procedure and return the faulty sector*/ - *SectorError = index; - break; - } - } - } - /* Flush the caches to be sure of the data consistency */ - FLASH_FlushCaches(); - } - - /* Process Unlocked */ - __HAL_UNLOCK(&pFlash); - - return status; -} - -/** - * @brief Perform a mass erase or erase the specified FLASH memory sectors with interrupt enabled - * @param pEraseInit pointer to an FLASH_EraseInitTypeDef structure that - * contains the configuration information for the erasing. - * - * @retval HAL Status - */ -HAL_StatusTypeDef HAL_FLASHEx_Erase_IT(FLASH_EraseInitTypeDef *pEraseInit) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Process Locked */ - __HAL_LOCK(&pFlash); - - /* Check the parameters */ - assert_param(IS_FLASH_TYPEERASE(pEraseInit->TypeErase)); - - /* Enable End of FLASH Operation interrupt */ - __HAL_FLASH_ENABLE_IT(FLASH_IT_EOP); - - /* Enable Error source interrupt */ - __HAL_FLASH_ENABLE_IT(FLASH_IT_ERR); - - /* Clear pending flags (if any) */ - __HAL_FLASH_CLEAR_FLAG(FLASH_FLAG_EOP | FLASH_FLAG_OPERR | FLASH_FLAG_WRPERR | \ - FLASH_FLAG_PGAERR | FLASH_FLAG_PGPERR | FLASH_FLAG_PGSERR); - - if (pEraseInit->TypeErase == FLASH_TYPEERASE_MASSERASE) - { - /*Mass erase to be done*/ - pFlash.ProcedureOnGoing = FLASH_PROC_MASSERASE; - pFlash.Bank = pEraseInit->Banks; - FLASH_MassErase((uint8_t) pEraseInit->VoltageRange, pEraseInit->Banks); - } - else - { - /* Erase by sector to be done*/ - - /* Check the parameters */ - assert_param(IS_FLASH_NBSECTORS(pEraseInit->NbSectors + pEraseInit->Sector)); - - pFlash.ProcedureOnGoing = FLASH_PROC_SECTERASE; - pFlash.NbSectorsToErase = pEraseInit->NbSectors; - pFlash.Sector = pEraseInit->Sector; - pFlash.VoltageForErase = (uint8_t)pEraseInit->VoltageRange; - - /*Erase 1st sector and wait for IT*/ - FLASH_Erase_Sector(pEraseInit->Sector, pEraseInit->VoltageRange); - } - - return status; -} - -/** - * @brief Program option bytes - * @param pOBInit pointer to an FLASH_OBInitStruct structure that - * contains the configuration information for the programming. - * - * @retval HAL Status - */ -HAL_StatusTypeDef HAL_FLASHEx_OBProgram(FLASH_OBProgramInitTypeDef *pOBInit) -{ - HAL_StatusTypeDef status = HAL_ERROR; - - /* Process Locked */ - __HAL_LOCK(&pFlash); - - /* Check the parameters */ - assert_param(IS_OPTIONBYTE(pOBInit->OptionType)); - - /*Write protection configuration*/ - if ((pOBInit->OptionType & OPTIONBYTE_WRP) == OPTIONBYTE_WRP) - { - assert_param(IS_WRPSTATE(pOBInit->WRPState)); - if (pOBInit->WRPState == OB_WRPSTATE_ENABLE) - { - /*Enable of Write protection on the selected Sector*/ - status = FLASH_OB_EnableWRP(pOBInit->WRPSector, pOBInit->Banks); - } - else - { - /*Disable of Write protection on the selected Sector*/ - status = FLASH_OB_DisableWRP(pOBInit->WRPSector, pOBInit->Banks); - } - } - - /*Read protection configuration*/ - if ((pOBInit->OptionType & OPTIONBYTE_RDP) == OPTIONBYTE_RDP) - { - status = FLASH_OB_RDP_LevelConfig(pOBInit->RDPLevel); - } - - /*USER configuration*/ - if ((pOBInit->OptionType & OPTIONBYTE_USER) == OPTIONBYTE_USER) - { - status = FLASH_OB_UserConfig(pOBInit->USERConfig & OB_IWDG_SW, - pOBInit->USERConfig & OB_STOP_NO_RST, - pOBInit->USERConfig & OB_STDBY_NO_RST); - } - - /*BOR Level configuration*/ - if ((pOBInit->OptionType & OPTIONBYTE_BOR) == OPTIONBYTE_BOR) - { - status = FLASH_OB_BOR_LevelConfig(pOBInit->BORLevel); - } - - /* Process Unlocked */ - __HAL_UNLOCK(&pFlash); - - return status; -} - -/** - * @brief Get the Option byte configuration - * @param pOBInit pointer to an FLASH_OBInitStruct structure that - * contains the configuration information for the programming. - * - * @retval None - */ -void HAL_FLASHEx_OBGetConfig(FLASH_OBProgramInitTypeDef *pOBInit) -{ - pOBInit->OptionType = OPTIONBYTE_WRP | OPTIONBYTE_RDP | OPTIONBYTE_USER | OPTIONBYTE_BOR; - - /*Get WRP*/ - pOBInit->WRPSector = (uint32_t)FLASH_OB_GetWRP(); - - /*Get RDP Level*/ - pOBInit->RDPLevel = (uint32_t)FLASH_OB_GetRDP(); - - /*Get USER*/ - pOBInit->USERConfig = (uint8_t)FLASH_OB_GetUser(); - - /*Get BOR Level*/ - pOBInit->BORLevel = (uint32_t)FLASH_OB_GetBOR(); -} - -#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) ||\ - defined(STM32F401xC) || defined(STM32F401xE) || defined(STM32F410Tx) || defined(STM32F410Cx) ||\ - defined(STM32F410Rx) || defined(STM32F411xE) || defined(STM32F446xx) || defined(STM32F469xx) ||\ - defined(STM32F479xx) || defined(STM32F412Zx) || defined(STM32F412Vx) || defined(STM32F412Rx) ||\ - defined(STM32F412Cx) || defined(STM32F413xx) || defined(STM32F423xx) -/** - * @brief Program option bytes - * @param pAdvOBInit pointer to an FLASH_AdvOBProgramInitTypeDef structure that - * contains the configuration information for the programming. - * - * @retval HAL Status - */ -HAL_StatusTypeDef HAL_FLASHEx_AdvOBProgram(FLASH_AdvOBProgramInitTypeDef *pAdvOBInit) -{ - HAL_StatusTypeDef status = HAL_ERROR; - - /* Check the parameters */ - assert_param(IS_OBEX(pAdvOBInit->OptionType)); - - /*Program PCROP option byte*/ - if (((pAdvOBInit->OptionType) & OPTIONBYTE_PCROP) == OPTIONBYTE_PCROP) - { - /* Check the parameters */ - assert_param(IS_PCROPSTATE(pAdvOBInit->PCROPState)); - if ((pAdvOBInit->PCROPState) == OB_PCROP_STATE_ENABLE) - { - /*Enable of Write protection on the selected Sector*/ -#if defined(STM32F401xC) || defined(STM32F401xE) || defined(STM32F410Tx) || defined(STM32F410Cx) || defined(STM32F410Rx) ||\ - defined(STM32F411xE) || defined(STM32F446xx) || defined(STM32F412Zx) || defined(STM32F412Vx) || defined(STM32F412Rx) ||\ - defined(STM32F412Cx) || defined(STM32F413xx) || defined(STM32F423xx) - status = FLASH_OB_EnablePCROP(pAdvOBInit->Sectors); -#else /* STM32F427xx || STM32F437xx || STM32F429xx|| STM32F439xx || STM32F469xx || STM32F479xx */ - status = FLASH_OB_EnablePCROP(pAdvOBInit->SectorsBank1, pAdvOBInit->SectorsBank2, pAdvOBInit->Banks); -#endif /* STM32F401xC || STM32F401xE || STM32F410xx || STM32F411xE || STM32F446xx || STM32F412Zx || STM32F412Vx || STM32F412Rx || STM32F412Cx || - STM32F413xx || STM32F423xx */ - } - else - { - /*Disable of Write protection on the selected Sector*/ -#if defined(STM32F401xC) || defined(STM32F401xE) || defined(STM32F410Tx) || defined(STM32F410Cx) || defined(STM32F410Rx) ||\ - defined(STM32F411xE) || defined(STM32F446xx) || defined(STM32F412Zx) || defined(STM32F412Vx) || defined(STM32F412Rx) ||\ - defined(STM32F412Cx) || defined(STM32F413xx) || defined(STM32F423xx) - status = FLASH_OB_DisablePCROP(pAdvOBInit->Sectors); -#else /* STM32F427xx || STM32F437xx || STM32F429xx|| STM32F439xx || STM32F469xx || STM32F479xx */ - status = FLASH_OB_DisablePCROP(pAdvOBInit->SectorsBank1, pAdvOBInit->SectorsBank2, pAdvOBInit->Banks); -#endif /* STM32F401xC || STM32F401xE || STM32F410xx || STM32F411xE || STM32F446xx || STM32F412Zx || STM32F412Vx || STM32F412Rx || STM32F412Cx || - STM32F413xx || STM32F423xx */ - } - } - -#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) || defined(STM32F469xx) || defined(STM32F479xx) - /*Program BOOT config option byte*/ - if (((pAdvOBInit->OptionType) & OPTIONBYTE_BOOTCONFIG) == OPTIONBYTE_BOOTCONFIG) - { - status = FLASH_OB_BootConfig(pAdvOBInit->BootConfig); - } -#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || STM32F469xx || STM32F479xx */ - - return status; -} - -/** - * @brief Get the OBEX byte configuration - * @param pAdvOBInit pointer to an FLASH_AdvOBProgramInitTypeDef structure that - * contains the configuration information for the programming. - * - * @retval None - */ -void HAL_FLASHEx_AdvOBGetConfig(FLASH_AdvOBProgramInitTypeDef *pAdvOBInit) -{ -#if defined(STM32F401xC) || defined(STM32F401xE) || defined(STM32F410Tx) || defined(STM32F410Cx) || defined(STM32F410Rx) ||\ - defined(STM32F411xE) || defined(STM32F446xx) || defined(STM32F412Zx) || defined(STM32F412Vx) || defined(STM32F412Rx) ||\ - defined(STM32F412Cx) || defined(STM32F413xx) || defined(STM32F423xx) - /*Get Sector*/ - pAdvOBInit->Sectors = (*(__IO uint16_t *)(OPTCR_BYTE2_ADDRESS)); -#else /* STM32F427xx || STM32F437xx || STM32F429xx|| STM32F439xx || STM32F469xx || STM32F479xx */ - /*Get Sector for Bank1*/ - pAdvOBInit->SectorsBank1 = (*(__IO uint16_t *)(OPTCR_BYTE2_ADDRESS)); - - /*Get Sector for Bank2*/ - pAdvOBInit->SectorsBank2 = (*(__IO uint16_t *)(OPTCR1_BYTE2_ADDRESS)); - - /*Get Boot config OB*/ - pAdvOBInit->BootConfig = *(__IO uint8_t *)OPTCR_BYTE0_ADDRESS; -#endif /* STM32F401xC || STM32F401xE || STM32F410xx || STM32F411xE || STM32F446xx || STM32F412Zx || STM32F412Vx || STM32F412Rx || STM32F412Cx || - STM32F413xx || STM32F423xx */ -} - -/** - * @brief Select the Protection Mode - * - * @note After PCROP activated Option Byte modification NOT POSSIBLE! excepted - * Global Read Out Protection modification (from level1 to level0) - * @note Once SPRMOD bit is active unprotection of a protected sector is not possible - * @note Read a protected sector will set RDERR Flag and write a protected sector will set WRPERR Flag - * @note This function can be used only for STM32F42xxx/STM32F43xxx/STM32F401xx/STM32F411xx/STM32F446xx/ - * STM32F469xx/STM32F479xx/STM32F412xx/STM32F413xx devices. - * - * @retval HAL Status - */ -HAL_StatusTypeDef HAL_FLASHEx_OB_SelectPCROP(void) -{ - uint8_t optiontmp = 0xFF; - - /* Mask SPRMOD bit */ - optiontmp = (uint8_t)((*(__IO uint8_t *)OPTCR_BYTE3_ADDRESS) & (uint8_t)0x7F); - - /* Update Option Byte */ - *(__IO uint8_t *)OPTCR_BYTE3_ADDRESS = (uint8_t)(OB_PCROP_SELECTED | optiontmp); - - return HAL_OK; -} - -/** - * @brief Deselect the Protection Mode - * - * @note After PCROP activated Option Byte modification NOT POSSIBLE! excepted - * Global Read Out Protection modification (from level1 to level0) - * @note Once SPRMOD bit is active unprotection of a protected sector is not possible - * @note Read a protected sector will set RDERR Flag and write a protected sector will set WRPERR Flag - * @note This function can be used only for STM32F42xxx/STM32F43xxx/STM32F401xx/STM32F411xx/STM32F446xx/ - * STM32F469xx/STM32F479xx/STM32F412xx/STM32F413xx devices. - * - * @retval HAL Status - */ -HAL_StatusTypeDef HAL_FLASHEx_OB_DeSelectPCROP(void) -{ - uint8_t optiontmp = 0xFF; - - /* Mask SPRMOD bit */ - optiontmp = (uint8_t)((*(__IO uint8_t *)OPTCR_BYTE3_ADDRESS) & (uint8_t)0x7F); - - /* Update Option Byte */ - *(__IO uint8_t *)OPTCR_BYTE3_ADDRESS = (uint8_t)(OB_PCROP_DESELECTED | optiontmp); - - return HAL_OK; -} -#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || STM32F401xC || STM32F401xE || STM32F410xx ||\ - STM32F411xE || STM32F469xx || STM32F479xx || STM32F412Zx || STM32F412Vx || STM32F412Rx || STM32F412Cx || - STM32F413xx || STM32F423xx */ - -#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx)|| defined(STM32F439xx) || defined(STM32F469xx) || defined(STM32F479xx) -/** - * @brief Returns the FLASH Write Protection Option Bytes value for Bank 2 - * @note This function can be used only for STM32F42xxx/STM32F43xxx/STM32F469xx/STM32F479xx devices. - * @retval The FLASH Write Protection Option Bytes value - */ -uint16_t HAL_FLASHEx_OB_GetBank2WRP(void) -{ - /* Return the FLASH write protection Register value */ - return (*(__IO uint16_t *)(OPTCR1_BYTE2_ADDRESS)); -} -#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || STM32F469xx || STM32F479xx */ - -/** - * @} - */ - -#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) || defined(STM32F469xx) || defined(STM32F479xx) -/** - * @brief Full erase of FLASH memory sectors - * @param VoltageRange The device voltage range which defines the erase parallelism. - * This parameter can be one of the following values: - * @arg FLASH_VOLTAGE_RANGE_1: when the device voltage range is 1.8V to 2.1V, - * the operation will be done by byte (8-bit) - * @arg FLASH_VOLTAGE_RANGE_2: when the device voltage range is 2.1V to 2.7V, - * the operation will be done by half word (16-bit) - * @arg FLASH_VOLTAGE_RANGE_3: when the device voltage range is 2.7V to 3.6V, - * the operation will be done by word (32-bit) - * @arg FLASH_VOLTAGE_RANGE_4: when the device voltage range is 2.7V to 3.6V + External Vpp, - * the operation will be done by double word (64-bit) - * - * @param Banks Banks to be erased - * This parameter can be one of the following values: - * @arg FLASH_BANK_1: Bank1 to be erased - * @arg FLASH_BANK_2: Bank2 to be erased - * @arg FLASH_BANK_BOTH: Bank1 and Bank2 to be erased - * - * @retval HAL Status - */ -static void FLASH_MassErase(uint8_t VoltageRange, uint32_t Banks) -{ - /* Check the parameters */ - assert_param(IS_VOLTAGERANGE(VoltageRange)); - assert_param(IS_FLASH_BANK(Banks)); - - /* if the previous operation is completed, proceed to erase all sectors */ - CLEAR_BIT(FLASH->CR, FLASH_CR_PSIZE); - - if (Banks == FLASH_BANK_BOTH) - { - /* bank1 & bank2 will be erased*/ - FLASH->CR |= FLASH_MER_BIT; - } - else if (Banks == FLASH_BANK_1) - { - /*Only bank1 will be erased*/ - FLASH->CR |= FLASH_CR_MER1; - } - else - { - /*Only bank2 will be erased*/ - FLASH->CR |= FLASH_CR_MER2; - } - FLASH->CR |= FLASH_CR_STRT | ((uint32_t)VoltageRange << 8U); -} - -/** - * @brief Erase the specified FLASH memory sector - * @param Sector FLASH sector to erase - * The value of this parameter depend on device used within the same series - * @param VoltageRange The device voltage range which defines the erase parallelism. - * This parameter can be one of the following values: - * @arg FLASH_VOLTAGE_RANGE_1: when the device voltage range is 1.8V to 2.1V, - * the operation will be done by byte (8-bit) - * @arg FLASH_VOLTAGE_RANGE_2: when the device voltage range is 2.1V to 2.7V, - * the operation will be done by half word (16-bit) - * @arg FLASH_VOLTAGE_RANGE_3: when the device voltage range is 2.7V to 3.6V, - * the operation will be done by word (32-bit) - * @arg FLASH_VOLTAGE_RANGE_4: when the device voltage range is 2.7V to 3.6V + External Vpp, - * the operation will be done by double word (64-bit) - * - * @retval None - */ -void FLASH_Erase_Sector(uint32_t Sector, uint8_t VoltageRange) -{ - uint32_t tmp_psize = 0U; - - /* Check the parameters */ - assert_param(IS_FLASH_SECTOR(Sector)); - assert_param(IS_VOLTAGERANGE(VoltageRange)); - - if (VoltageRange == FLASH_VOLTAGE_RANGE_1) - { - tmp_psize = FLASH_PSIZE_BYTE; - } - else if (VoltageRange == FLASH_VOLTAGE_RANGE_2) - { - tmp_psize = FLASH_PSIZE_HALF_WORD; - } - else if (VoltageRange == FLASH_VOLTAGE_RANGE_3) - { - tmp_psize = FLASH_PSIZE_WORD; - } - else - { - tmp_psize = FLASH_PSIZE_DOUBLE_WORD; - } - - /* Need to add offset of 4 when sector higher than FLASH_SECTOR_11 */ - if (Sector > FLASH_SECTOR_11) - { - Sector += 4U; - } - /* If the previous operation is completed, proceed to erase the sector */ - CLEAR_BIT(FLASH->CR, FLASH_CR_PSIZE); - FLASH->CR |= tmp_psize; - CLEAR_BIT(FLASH->CR, FLASH_CR_SNB); - FLASH->CR |= FLASH_CR_SER | (Sector << FLASH_CR_SNB_Pos); - FLASH->CR |= FLASH_CR_STRT; -} - -/** - * @brief Enable the write protection of the desired bank1 or bank 2 sectors - * - * @note When the memory read protection level is selected (RDP level = 1), - * it is not possible to program or erase the flash sector i if CortexM4 - * debug features are connected or boot code is executed in RAM, even if nWRPi = 1 - * @note Active value of nWRPi bits is inverted when PCROP mode is active (SPRMOD =1). - * - * @param WRPSector specifies the sector(s) to be write protected. - * This parameter can be one of the following values: - * @arg WRPSector: A value between OB_WRP_SECTOR_0 and OB_WRP_SECTOR_23 - * @arg OB_WRP_SECTOR_All - * @note BANK2 starts from OB_WRP_SECTOR_12 - * - * @param Banks Enable write protection on all the sectors for the specific bank - * This parameter can be one of the following values: - * @arg FLASH_BANK_1: WRP on all sectors of bank1 - * @arg FLASH_BANK_2: WRP on all sectors of bank2 - * @arg FLASH_BANK_BOTH: WRP on all sectors of bank1 & bank2 - * - * @retval HAL FLASH State - */ -static HAL_StatusTypeDef FLASH_OB_EnableWRP(uint32_t WRPSector, uint32_t Banks) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Check the parameters */ - assert_param(IS_OB_WRP_SECTOR(WRPSector)); - assert_param(IS_FLASH_BANK(Banks)); - - /* Wait for last operation to be completed */ - status = FLASH_WaitForLastOperation((uint32_t)FLASH_TIMEOUT_VALUE); - - if (status == HAL_OK) - { - if (((WRPSector == OB_WRP_SECTOR_All) && ((Banks == FLASH_BANK_1) || (Banks == FLASH_BANK_BOTH))) || - (WRPSector < OB_WRP_SECTOR_12)) - { - if (WRPSector == OB_WRP_SECTOR_All) - { - /*Write protection on all sector of BANK1*/ - *(__IO uint16_t *)OPTCR_BYTE2_ADDRESS &= (~(WRPSector >> 12)); - } - else - { - /*Write protection done on sectors of BANK1*/ - *(__IO uint16_t *)OPTCR_BYTE2_ADDRESS &= (~WRPSector); - } - } - else - { - /*Write protection done on sectors of BANK2*/ - *(__IO uint16_t *)OPTCR1_BYTE2_ADDRESS &= (~(WRPSector >> 12)); - } - - /*Write protection on all sector of BANK2*/ - if ((WRPSector == OB_WRP_SECTOR_All) && (Banks == FLASH_BANK_BOTH)) - { - /* Wait for last operation to be completed */ - status = FLASH_WaitForLastOperation((uint32_t)FLASH_TIMEOUT_VALUE); - - if (status == HAL_OK) - { - *(__IO uint16_t *)OPTCR1_BYTE2_ADDRESS &= (~(WRPSector >> 12)); - } - } - - } - return status; -} - -/** - * @brief Disable the write protection of the desired bank1 or bank 2 sectors - * - * @note When the memory read protection level is selected (RDP level = 1), - * it is not possible to program or erase the flash sector i if CortexM4 - * debug features are connected or boot code is executed in RAM, even if nWRPi = 1 - * @note Active value of nWRPi bits is inverted when PCROP mode is active (SPRMOD =1). - * - * @param WRPSector specifies the sector(s) to be write protected. - * This parameter can be one of the following values: - * @arg WRPSector: A value between OB_WRP_SECTOR_0 and OB_WRP_SECTOR_23 - * @arg OB_WRP_Sector_All - * @note BANK2 starts from OB_WRP_SECTOR_12 - * - * @param Banks Disable write protection on all the sectors for the specific bank - * This parameter can be one of the following values: - * @arg FLASH_BANK_1: Bank1 to be erased - * @arg FLASH_BANK_2: Bank2 to be erased - * @arg FLASH_BANK_BOTH: Bank1 and Bank2 to be erased - * - * @retval HAL Status - */ -static HAL_StatusTypeDef FLASH_OB_DisableWRP(uint32_t WRPSector, uint32_t Banks) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Check the parameters */ - assert_param(IS_OB_WRP_SECTOR(WRPSector)); - assert_param(IS_FLASH_BANK(Banks)); - - /* Wait for last operation to be completed */ - status = FLASH_WaitForLastOperation((uint32_t)FLASH_TIMEOUT_VALUE); - - if (status == HAL_OK) - { - if (((WRPSector == OB_WRP_SECTOR_All) && ((Banks == FLASH_BANK_1) || (Banks == FLASH_BANK_BOTH))) || - (WRPSector < OB_WRP_SECTOR_12)) - { - if (WRPSector == OB_WRP_SECTOR_All) - { - /*Write protection on all sector of BANK1*/ - *(__IO uint16_t *)OPTCR_BYTE2_ADDRESS |= (uint16_t)(WRPSector >> 12); - } - else - { - /*Write protection done on sectors of BANK1*/ - *(__IO uint16_t *)OPTCR_BYTE2_ADDRESS |= (uint16_t)WRPSector; - } - } - else - { - /*Write protection done on sectors of BANK2*/ - *(__IO uint16_t *)OPTCR1_BYTE2_ADDRESS |= (uint16_t)(WRPSector >> 12); - } - - /*Write protection on all sector of BANK2*/ - if ((WRPSector == OB_WRP_SECTOR_All) && (Banks == FLASH_BANK_BOTH)) - { - /* Wait for last operation to be completed */ - status = FLASH_WaitForLastOperation((uint32_t)FLASH_TIMEOUT_VALUE); - - if (status == HAL_OK) - { - *(__IO uint16_t *)OPTCR1_BYTE2_ADDRESS |= (uint16_t)(WRPSector >> 12); - } - } - - } - - return status; -} - -/** - * @brief Configure the Dual Bank Boot. - * - * @note This function can be used only for STM32F42xxx/43xxx devices. - * - * @param BootConfig specifies the Dual Bank Boot Option byte. - * This parameter can be one of the following values: - * @arg OB_Dual_BootEnabled: Dual Bank Boot Enable - * @arg OB_Dual_BootDisabled: Dual Bank Boot Disabled - * @retval None - */ -static HAL_StatusTypeDef FLASH_OB_BootConfig(uint8_t BootConfig) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Check the parameters */ - assert_param(IS_OB_BOOT(BootConfig)); - - /* Wait for last operation to be completed */ - status = FLASH_WaitForLastOperation((uint32_t)FLASH_TIMEOUT_VALUE); - - if (status == HAL_OK) - { - /* Set Dual Bank Boot */ - *(__IO uint8_t *)OPTCR_BYTE0_ADDRESS &= (~FLASH_OPTCR_BFB2); - *(__IO uint8_t *)OPTCR_BYTE0_ADDRESS |= BootConfig; - } - - return status; -} - -/** - * @brief Enable the read/write protection (PCROP) of the desired - * sectors of Bank 1 and/or Bank 2. - * @note This function can be used only for STM32F42xxx/43xxx devices. - * @param SectorBank1 Specifies the sector(s) to be read/write protected or unprotected for bank1. - * This parameter can be one of the following values: - * @arg OB_PCROP: A value between OB_PCROP_SECTOR_0 and OB_PCROP_SECTOR_11 - * @arg OB_PCROP_SECTOR__All - * @param SectorBank2 Specifies the sector(s) to be read/write protected or unprotected for bank2. - * This parameter can be one of the following values: - * @arg OB_PCROP: A value between OB_PCROP_SECTOR_12 and OB_PCROP_SECTOR_23 - * @arg OB_PCROP_SECTOR__All - * @param Banks Enable PCROP protection on all the sectors for the specific bank - * This parameter can be one of the following values: - * @arg FLASH_BANK_1: WRP on all sectors of bank1 - * @arg FLASH_BANK_2: WRP on all sectors of bank2 - * @arg FLASH_BANK_BOTH: WRP on all sectors of bank1 & bank2 - * - * @retval HAL Status - */ -static HAL_StatusTypeDef FLASH_OB_EnablePCROP(uint32_t SectorBank1, uint32_t SectorBank2, uint32_t Banks) -{ - HAL_StatusTypeDef status = HAL_OK; - - assert_param(IS_FLASH_BANK(Banks)); - - /* Wait for last operation to be completed */ - status = FLASH_WaitForLastOperation((uint32_t)FLASH_TIMEOUT_VALUE); - - if (status == HAL_OK) - { - if ((Banks == FLASH_BANK_1) || (Banks == FLASH_BANK_BOTH)) - { - assert_param(IS_OB_PCROP(SectorBank1)); - /*Write protection done on sectors of BANK1*/ - *(__IO uint16_t *)OPTCR_BYTE2_ADDRESS |= (uint16_t)SectorBank1; - } - else - { - assert_param(IS_OB_PCROP(SectorBank2)); - /*Write protection done on sectors of BANK2*/ - *(__IO uint16_t *)OPTCR1_BYTE2_ADDRESS |= (uint16_t)SectorBank2; - } - - /*Write protection on all sector of BANK2*/ - if (Banks == FLASH_BANK_BOTH) - { - assert_param(IS_OB_PCROP(SectorBank2)); - /* Wait for last operation to be completed */ - status = FLASH_WaitForLastOperation((uint32_t)FLASH_TIMEOUT_VALUE); - - if (status == HAL_OK) - { - /*Write protection done on sectors of BANK2*/ - *(__IO uint16_t *)OPTCR1_BYTE2_ADDRESS |= (uint16_t)SectorBank2; - } - } - - } - - return status; -} - - -/** - * @brief Disable the read/write protection (PCROP) of the desired - * sectors of Bank 1 and/or Bank 2. - * @note This function can be used only for STM32F42xxx/43xxx devices. - * @param SectorBank1 specifies the sector(s) to be read/write protected or unprotected for bank1. - * This parameter can be one of the following values: - * @arg OB_PCROP: A value between OB_PCROP_SECTOR_0 and OB_PCROP_SECTOR_11 - * @arg OB_PCROP_SECTOR__All - * @param SectorBank2 Specifies the sector(s) to be read/write protected or unprotected for bank2. - * This parameter can be one of the following values: - * @arg OB_PCROP: A value between OB_PCROP_SECTOR_12 and OB_PCROP_SECTOR_23 - * @arg OB_PCROP_SECTOR__All - * @param Banks Disable PCROP protection on all the sectors for the specific bank - * This parameter can be one of the following values: - * @arg FLASH_BANK_1: WRP on all sectors of bank1 - * @arg FLASH_BANK_2: WRP on all sectors of bank2 - * @arg FLASH_BANK_BOTH: WRP on all sectors of bank1 & bank2 - * - * @retval HAL Status - */ -static HAL_StatusTypeDef FLASH_OB_DisablePCROP(uint32_t SectorBank1, uint32_t SectorBank2, uint32_t Banks) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Check the parameters */ - assert_param(IS_FLASH_BANK(Banks)); - - /* Wait for last operation to be completed */ - status = FLASH_WaitForLastOperation((uint32_t)FLASH_TIMEOUT_VALUE); - - if (status == HAL_OK) - { - if ((Banks == FLASH_BANK_1) || (Banks == FLASH_BANK_BOTH)) - { - assert_param(IS_OB_PCROP(SectorBank1)); - /*Write protection done on sectors of BANK1*/ - *(__IO uint16_t *)OPTCR_BYTE2_ADDRESS &= (~SectorBank1); - } - else - { - /*Write protection done on sectors of BANK2*/ - assert_param(IS_OB_PCROP(SectorBank2)); - *(__IO uint16_t *)OPTCR1_BYTE2_ADDRESS &= (~SectorBank2); - } - - /*Write protection on all sector of BANK2*/ - if (Banks == FLASH_BANK_BOTH) - { - assert_param(IS_OB_PCROP(SectorBank2)); - /* Wait for last operation to be completed */ - status = FLASH_WaitForLastOperation((uint32_t)FLASH_TIMEOUT_VALUE); - - if (status == HAL_OK) - { - /*Write protection done on sectors of BANK2*/ - *(__IO uint16_t *)OPTCR1_BYTE2_ADDRESS &= (~SectorBank2); - } - } - - } - - return status; - -} - -#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || STM32F469xx || STM32F479xx */ - -#if defined(STM32F405xx) || defined(STM32F415xx) || defined(STM32F407xx) || defined(STM32F417xx) ||\ - defined(STM32F401xC) || defined(STM32F401xE) || defined(STM32F410Tx) || defined(STM32F410Cx) ||\ - defined(STM32F410Rx) || defined(STM32F411xE) || defined(STM32F446xx) || defined(STM32F412Zx) ||\ - defined(STM32F412Vx) || defined(STM32F412Rx) || defined(STM32F412Cx) || defined(STM32F413xx) ||\ - defined(STM32F423xx) -/** - * @brief Mass erase of FLASH memory - * @param VoltageRange The device voltage range which defines the erase parallelism. - * This parameter can be one of the following values: - * @arg FLASH_VOLTAGE_RANGE_1: when the device voltage range is 1.8V to 2.1V, - * the operation will be done by byte (8-bit) - * @arg FLASH_VOLTAGE_RANGE_2: when the device voltage range is 2.1V to 2.7V, - * the operation will be done by half word (16-bit) - * @arg FLASH_VOLTAGE_RANGE_3: when the device voltage range is 2.7V to 3.6V, - * the operation will be done by word (32-bit) - * @arg FLASH_VOLTAGE_RANGE_4: when the device voltage range is 2.7V to 3.6V + External Vpp, - * the operation will be done by double word (64-bit) - * - * @param Banks Banks to be erased - * This parameter can be one of the following values: - * @arg FLASH_BANK_1: Bank1 to be erased - * - * @retval None - */ -static void FLASH_MassErase(uint8_t VoltageRange, uint32_t Banks) -{ - /* Check the parameters */ - assert_param(IS_VOLTAGERANGE(VoltageRange)); - assert_param(IS_FLASH_BANK(Banks)); - UNUSED(Banks); - - /* If the previous operation is completed, proceed to erase all sectors */ - CLEAR_BIT(FLASH->CR, FLASH_CR_PSIZE); - FLASH->CR |= FLASH_CR_MER; - FLASH->CR |= FLASH_CR_STRT | ((uint32_t)VoltageRange << 8U); -} - -/** - * @brief Erase the specified FLASH memory sector - * @param Sector FLASH sector to erase - * The value of this parameter depend on device used within the same series - * @param VoltageRange The device voltage range which defines the erase parallelism. - * This parameter can be one of the following values: - * @arg FLASH_VOLTAGE_RANGE_1: when the device voltage range is 1.8V to 2.1V, - * the operation will be done by byte (8-bit) - * @arg FLASH_VOLTAGE_RANGE_2: when the device voltage range is 2.1V to 2.7V, - * the operation will be done by half word (16-bit) - * @arg FLASH_VOLTAGE_RANGE_3: when the device voltage range is 2.7V to 3.6V, - * the operation will be done by word (32-bit) - * @arg FLASH_VOLTAGE_RANGE_4: when the device voltage range is 2.7V to 3.6V + External Vpp, - * the operation will be done by double word (64-bit) - * - * @retval None - */ -void FLASH_Erase_Sector(uint32_t Sector, uint8_t VoltageRange) -{ - uint32_t tmp_psize = 0U; - - /* Check the parameters */ - assert_param(IS_FLASH_SECTOR(Sector)); - assert_param(IS_VOLTAGERANGE(VoltageRange)); - - if (VoltageRange == FLASH_VOLTAGE_RANGE_1) - { - tmp_psize = FLASH_PSIZE_BYTE; - } - else if (VoltageRange == FLASH_VOLTAGE_RANGE_2) - { - tmp_psize = FLASH_PSIZE_HALF_WORD; - } - else if (VoltageRange == FLASH_VOLTAGE_RANGE_3) - { - tmp_psize = FLASH_PSIZE_WORD; - } - else - { - tmp_psize = FLASH_PSIZE_DOUBLE_WORD; - } - - /* If the previous operation is completed, proceed to erase the sector */ - CLEAR_BIT(FLASH->CR, FLASH_CR_PSIZE); - FLASH->CR |= tmp_psize; - CLEAR_BIT(FLASH->CR, FLASH_CR_SNB); - FLASH->CR |= FLASH_CR_SER | (Sector << FLASH_CR_SNB_Pos); - FLASH->CR |= FLASH_CR_STRT; -} - -/** - * @brief Enable the write protection of the desired bank 1 sectors - * - * @note When the memory read protection level is selected (RDP level = 1), - * it is not possible to program or erase the flash sector i if CortexM4 - * debug features are connected or boot code is executed in RAM, even if nWRPi = 1 - * @note Active value of nWRPi bits is inverted when PCROP mode is active (SPRMOD =1). - * - * @param WRPSector specifies the sector(s) to be write protected. - * The value of this parameter depend on device used within the same series - * - * @param Banks Enable write protection on all the sectors for the specific bank - * This parameter can be one of the following values: - * @arg FLASH_BANK_1: WRP on all sectors of bank1 - * - * @retval HAL Status - */ -static HAL_StatusTypeDef FLASH_OB_EnableWRP(uint32_t WRPSector, uint32_t Banks) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Check the parameters */ - assert_param(IS_OB_WRP_SECTOR(WRPSector)); - assert_param(IS_FLASH_BANK(Banks)); - UNUSED(Banks); - - /* Wait for last operation to be completed */ - status = FLASH_WaitForLastOperation((uint32_t)FLASH_TIMEOUT_VALUE); - - if (status == HAL_OK) - { - *(__IO uint16_t *)OPTCR_BYTE2_ADDRESS &= (~WRPSector); - } - - return status; -} - -/** - * @brief Disable the write protection of the desired bank 1 sectors - * - * @note When the memory read protection level is selected (RDP level = 1), - * it is not possible to program or erase the flash sector i if CortexM4 - * debug features are connected or boot code is executed in RAM, even if nWRPi = 1 - * @note Active value of nWRPi bits is inverted when PCROP mode is active (SPRMOD =1). - * - * @param WRPSector specifies the sector(s) to be write protected. - * The value of this parameter depend on device used within the same series - * - * @param Banks Enable write protection on all the sectors for the specific bank - * This parameter can be one of the following values: - * @arg FLASH_BANK_1: WRP on all sectors of bank1 - * - * @retval HAL Status - */ -static HAL_StatusTypeDef FLASH_OB_DisableWRP(uint32_t WRPSector, uint32_t Banks) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Check the parameters */ - assert_param(IS_OB_WRP_SECTOR(WRPSector)); - assert_param(IS_FLASH_BANK(Banks)); - UNUSED(Banks); - - /* Wait for last operation to be completed */ - status = FLASH_WaitForLastOperation((uint32_t)FLASH_TIMEOUT_VALUE); - - if (status == HAL_OK) - { - *(__IO uint16_t *)OPTCR_BYTE2_ADDRESS |= (uint16_t)WRPSector; - } - - return status; -} -#endif /* STM32F40xxx || STM32F41xxx || STM32F401xx || STM32F410xx || STM32F411xE || STM32F446xx || STM32F412Zx || STM32F412Vx || STM32F412Rx || STM32F412Cx - STM32F413xx || STM32F423xx */ - -#if defined(STM32F401xC) || defined(STM32F401xE) || defined(STM32F410Tx) || defined(STM32F410Cx) || defined(STM32F410Rx) ||\ - defined(STM32F411xE) || defined(STM32F446xx) || defined(STM32F412Zx) || defined(STM32F412Vx) || defined(STM32F412Rx) ||\ - defined(STM32F412Cx) || defined(STM32F413xx) || defined(STM32F423xx) -/** - * @brief Enable the read/write protection (PCROP) of the desired sectors. - * @note This function can be used only for STM32F401xx devices. - * @param Sector specifies the sector(s) to be read/write protected or unprotected. - * This parameter can be one of the following values: - * @arg OB_PCROP: A value between OB_PCROP_Sector0 and OB_PCROP_Sector5 - * @arg OB_PCROP_Sector_All - * @retval HAL Status - */ -static HAL_StatusTypeDef FLASH_OB_EnablePCROP(uint32_t Sector) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Check the parameters */ - assert_param(IS_OB_PCROP(Sector)); - - /* Wait for last operation to be completed */ - status = FLASH_WaitForLastOperation((uint32_t)FLASH_TIMEOUT_VALUE); - - if (status == HAL_OK) - { - *(__IO uint16_t *)OPTCR_BYTE2_ADDRESS |= (uint16_t)Sector; - } - - return status; -} - - -/** - * @brief Disable the read/write protection (PCROP) of the desired sectors. - * @note This function can be used only for STM32F401xx devices. - * @param Sector specifies the sector(s) to be read/write protected or unprotected. - * This parameter can be one of the following values: - * @arg OB_PCROP: A value between OB_PCROP_Sector0 and OB_PCROP_Sector5 - * @arg OB_PCROP_Sector_All - * @retval HAL Status - */ -static HAL_StatusTypeDef FLASH_OB_DisablePCROP(uint32_t Sector) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Check the parameters */ - assert_param(IS_OB_PCROP(Sector)); - - /* Wait for last operation to be completed */ - status = FLASH_WaitForLastOperation((uint32_t)FLASH_TIMEOUT_VALUE); - - if (status == HAL_OK) - { - *(__IO uint16_t *)OPTCR_BYTE2_ADDRESS &= (~Sector); - } - - return status; - -} -#endif /* STM32F401xC || STM32F401xE || STM32F411xE || STM32F446xx || STM32F412Zx || STM32F412Vx || STM32F412Rx || STM32F412Cx - STM32F413xx || STM32F423xx */ - -/** - * @brief Set the read protection level. - * @param Level specifies the read protection level. - * This parameter can be one of the following values: - * @arg OB_RDP_LEVEL_0: No protection - * @arg OB_RDP_LEVEL_1: Read protection of the memory - * @arg OB_RDP_LEVEL_2: Full chip protection - * - * @note WARNING: When enabling OB_RDP level 2 it's no more possible to go back to level 1 or 0 - * - * @retval HAL Status - */ -static HAL_StatusTypeDef FLASH_OB_RDP_LevelConfig(uint8_t Level) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Check the parameters */ - assert_param(IS_OB_RDP_LEVEL(Level)); - - /* Wait for last operation to be completed */ - status = FLASH_WaitForLastOperation((uint32_t)FLASH_TIMEOUT_VALUE); - - if (status == HAL_OK) - { - *(__IO uint8_t *)OPTCR_BYTE1_ADDRESS = Level; - } - - return status; -} - -/** - * @brief Program the FLASH User Option Byte: IWDG_SW / RST_STOP / RST_STDBY. - * @param Iwdg Selects the IWDG mode - * This parameter can be one of the following values: - * @arg OB_IWDG_SW: Software IWDG selected - * @arg OB_IWDG_HW: Hardware IWDG selected - * @param Stop Reset event when entering STOP mode. - * This parameter can be one of the following values: - * @arg OB_STOP_NO_RST: No reset generated when entering in STOP - * @arg OB_STOP_RST: Reset generated when entering in STOP - * @param Stdby Reset event when entering Standby mode. - * This parameter can be one of the following values: - * @arg OB_STDBY_NO_RST: No reset generated when entering in STANDBY - * @arg OB_STDBY_RST: Reset generated when entering in STANDBY - * @retval HAL Status - */ -static HAL_StatusTypeDef FLASH_OB_UserConfig(uint8_t Iwdg, uint8_t Stop, uint8_t Stdby) -{ - uint8_t optiontmp = 0xFF; - HAL_StatusTypeDef status = HAL_OK; - - /* Check the parameters */ - assert_param(IS_OB_IWDG_SOURCE(Iwdg)); - assert_param(IS_OB_STOP_SOURCE(Stop)); - assert_param(IS_OB_STDBY_SOURCE(Stdby)); - - /* Wait for last operation to be completed */ - status = FLASH_WaitForLastOperation((uint32_t)FLASH_TIMEOUT_VALUE); - - if (status == HAL_OK) - { - /* Mask OPTLOCK, OPTSTRT, BOR_LEV and BFB2 bits */ - optiontmp = (uint8_t)((*(__IO uint8_t *)OPTCR_BYTE0_ADDRESS) & (uint8_t)0x1F); - - /* Update User Option Byte */ - *(__IO uint8_t *)OPTCR_BYTE0_ADDRESS = Iwdg | (uint8_t)(Stdby | (uint8_t)(Stop | ((uint8_t)optiontmp))); - } - - return status; -} - -/** - * @brief Set the BOR Level. - * @param Level specifies the Option Bytes BOR Reset Level. - * This parameter can be one of the following values: - * @arg OB_BOR_LEVEL3: Supply voltage ranges from 2.7 to 3.6 V - * @arg OB_BOR_LEVEL2: Supply voltage ranges from 2.4 to 2.7 V - * @arg OB_BOR_LEVEL1: Supply voltage ranges from 2.1 to 2.4 V - * @arg OB_BOR_OFF: Supply voltage ranges from 1.62 to 2.1 V - * @retval HAL Status - */ -static HAL_StatusTypeDef FLASH_OB_BOR_LevelConfig(uint8_t Level) -{ - /* Check the parameters */ - assert_param(IS_OB_BOR_LEVEL(Level)); - - /* Set the BOR Level */ - *(__IO uint8_t *)OPTCR_BYTE0_ADDRESS &= (~FLASH_OPTCR_BOR_LEV); - *(__IO uint8_t *)OPTCR_BYTE0_ADDRESS |= Level; - - return HAL_OK; - -} - -/** - * @brief Return the FLASH User Option Byte value. - * @retval uint8_t FLASH User Option Bytes values: IWDG_SW(Bit0), RST_STOP(Bit1) - * and RST_STDBY(Bit2). - */ -static uint8_t FLASH_OB_GetUser(void) -{ - /* Return the User Option Byte */ - return ((uint8_t)(FLASH->OPTCR & 0xE0)); -} - -/** - * @brief Return the FLASH Write Protection Option Bytes value. - * @retval uint16_t FLASH Write Protection Option Bytes value - */ -static uint16_t FLASH_OB_GetWRP(void) -{ - /* Return the FLASH write protection Register value */ - return (*(__IO uint16_t *)(OPTCR_BYTE2_ADDRESS)); -} - -/** - * @brief Returns the FLASH Read Protection level. - * @retval FLASH ReadOut Protection Status: - * This parameter can be one of the following values: - * @arg OB_RDP_LEVEL_0: No protection - * @arg OB_RDP_LEVEL_1: Read protection of the memory - * @arg OB_RDP_LEVEL_2: Full chip protection - */ -static uint8_t FLASH_OB_GetRDP(void) -{ - uint8_t readstatus = OB_RDP_LEVEL_0; - - if (*(__IO uint8_t *)(OPTCR_BYTE1_ADDRESS) == (uint8_t)OB_RDP_LEVEL_2) - { - readstatus = OB_RDP_LEVEL_2; - } - else if (*(__IO uint8_t *)(OPTCR_BYTE1_ADDRESS) == (uint8_t)OB_RDP_LEVEL_0) - { - readstatus = OB_RDP_LEVEL_0; - } - else - { - readstatus = OB_RDP_LEVEL_1; - } - - return readstatus; -} - -/** - * @brief Returns the FLASH BOR level. - * @retval uint8_t The FLASH BOR level: - * - OB_BOR_LEVEL3: Supply voltage ranges from 2.7 to 3.6 V - * - OB_BOR_LEVEL2: Supply voltage ranges from 2.4 to 2.7 V - * - OB_BOR_LEVEL1: Supply voltage ranges from 2.1 to 2.4 V - * - OB_BOR_OFF : Supply voltage ranges from 1.62 to 2.1 V - */ -static uint8_t FLASH_OB_GetBOR(void) -{ - /* Return the FLASH BOR level */ - return (uint8_t)(*(__IO uint8_t *)(OPTCR_BYTE0_ADDRESS) & (uint8_t)0x0C); -} - -/** - * @brief Flush the instruction and data caches - * @retval None - */ -void FLASH_FlushCaches(void) -{ - /* Flush instruction cache */ - if (READ_BIT(FLASH->ACR, FLASH_ACR_ICEN) != RESET) - { - /* Disable instruction cache */ - __HAL_FLASH_INSTRUCTION_CACHE_DISABLE(); - /* Reset instruction cache */ - __HAL_FLASH_INSTRUCTION_CACHE_RESET(); - /* Enable instruction cache */ - __HAL_FLASH_INSTRUCTION_CACHE_ENABLE(); - } - - /* Flush data cache */ - if (READ_BIT(FLASH->ACR, FLASH_ACR_DCEN) != RESET) - { - /* Disable data cache */ - __HAL_FLASH_DATA_CACHE_DISABLE(); - /* Reset data cache */ - __HAL_FLASH_DATA_CACHE_RESET(); - /* Enable data cache */ - __HAL_FLASH_DATA_CACHE_ENABLE(); - } -} - -/** - * @} - */ - -#endif /* HAL_FLASH_MODULE_ENABLED */ - -/** - * @} - */ - -/** - * @} - */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c deleted file mode 100644 index 12db458b5766cc..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c +++ /dev/null @@ -1,175 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_flash_ramfunc.c - * @author MCD Application Team - * @brief FLASH RAMFUNC module driver. - * This file provides a FLASH firmware functions which should be - * executed from internal SRAM - * + Stop/Start the flash interface while System Run - * + Enable/Disable the flash sleep while System Run - @verbatim - ============================================================================== - ##### APIs executed from Internal RAM ##### - ============================================================================== - [..] - *** ARM Compiler *** - -------------------- - [..] RAM functions are defined using the toolchain options. - Functions that are be executed in RAM should reside in a separate - source module. Using the 'Options for File' dialog you can simply change - the 'Code / Const' area of a module to a memory space in physical RAM. - Available memory areas are declared in the 'Target' tab of the - Options for Target' dialog. - - *** ICCARM Compiler *** - ----------------------- - [..] RAM functions are defined using a specific toolchain keyword "__ramfunc". - - *** GNU Compiler *** - -------------------- - [..] RAM functions are defined using a specific toolchain attribute - "__attribute__((section(".RamFunc")))". - - @endverbatim - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @defgroup FLASH_RAMFUNC FLASH RAMFUNC - * @brief FLASH functions executed from RAM - * @{ - */ -#ifdef HAL_FLASH_MODULE_ENABLED -#if defined(STM32F410Tx) || defined(STM32F410Cx) || defined(STM32F410Rx) || defined(STM32F411xE) || defined(STM32F446xx) || defined(STM32F412Zx) || defined(STM32F412Vx) || \ - defined(STM32F412Rx) || defined(STM32F412Cx) - -/* Private typedef -----------------------------------------------------------*/ -/* Private define ------------------------------------------------------------*/ -/* Private macro -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private function prototypes -----------------------------------------------*/ -/* Exported functions --------------------------------------------------------*/ -/** @defgroup FLASH_RAMFUNC_Exported_Functions FLASH RAMFUNC Exported Functions - * @{ - */ - -/** @defgroup FLASH_RAMFUNC_Exported_Functions_Group1 Peripheral features functions executed from internal RAM - * @brief Peripheral Extended features functions - * -@verbatim - - =============================================================================== - ##### ramfunc functions ##### - =============================================================================== - [..] - This subsection provides a set of functions that should be executed from RAM - transfers. - -@endverbatim - * @{ - */ - -/** - * @brief Stop the flash interface while System Run - * @note This mode is only available for STM32F41xxx/STM32F446xx devices. - * @note This mode couldn't be set while executing with the flash itself. - * It should be done with specific routine executed from RAM. - * @retval HAL status - */ -__RAM_FUNC HAL_StatusTypeDef HAL_FLASHEx_StopFlashInterfaceClk(void) -{ - /* Enable Power ctrl clock */ - __HAL_RCC_PWR_CLK_ENABLE(); - /* Stop the flash interface while System Run */ - SET_BIT(PWR->CR, PWR_CR_FISSR); - - return HAL_OK; -} - -/** - * @brief Start the flash interface while System Run - * @note This mode is only available for STM32F411xx/STM32F446xx devices. - * @note This mode couldn't be set while executing with the flash itself. - * It should be done with specific routine executed from RAM. - * @retval HAL status - */ -__RAM_FUNC HAL_StatusTypeDef HAL_FLASHEx_StartFlashInterfaceClk(void) -{ - /* Enable Power ctrl clock */ - __HAL_RCC_PWR_CLK_ENABLE(); - /* Start the flash interface while System Run */ - CLEAR_BIT(PWR->CR, PWR_CR_FISSR); - - return HAL_OK; -} - -/** - * @brief Enable the flash sleep while System Run - * @note This mode is only available for STM32F41xxx/STM32F446xx devices. - * @note This mode could n't be set while executing with the flash itself. - * It should be done with specific routine executed from RAM. - * @retval HAL status - */ -__RAM_FUNC HAL_StatusTypeDef HAL_FLASHEx_EnableFlashSleepMode(void) -{ - /* Enable Power ctrl clock */ - __HAL_RCC_PWR_CLK_ENABLE(); - /* Enable the flash sleep while System Run */ - SET_BIT(PWR->CR, PWR_CR_FMSSR); - - return HAL_OK; -} - -/** - * @brief Disable the flash sleep while System Run - * @note This mode is only available for STM32F41xxx/STM32F446xx devices. - * @note This mode couldn't be set while executing with the flash itself. - * It should be done with specific routine executed from RAM. - * @retval HAL status - */ -__RAM_FUNC HAL_StatusTypeDef HAL_FLASHEx_DisableFlashSleepMode(void) -{ - /* Enable Power ctrl clock */ - __HAL_RCC_PWR_CLK_ENABLE(); - /* Disable the flash sleep while System Run */ - CLEAR_BIT(PWR->CR, PWR_CR_FMSSR); - - return HAL_OK; -} - -/** - * @} - */ - -/** - * @} - */ - -#endif /* STM32F410xx || STM32F411xE || STM32F446xx || STM32F412Zx || STM32F412Vx || STM32F412Rx || STM32F412Cx */ -#endif /* HAL_FLASH_MODULE_ENABLED */ -/** - * @} - */ - -/** - * @} - */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_fmpi2c.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_fmpi2c.c deleted file mode 100644 index 306475925d481f..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_fmpi2c.c +++ /dev/null @@ -1,6813 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_fmpi2c.c - * @author MCD Application Team - * @brief FMPI2C HAL module driver. - * This file provides firmware functions to manage the following - * functionalities of the Inter Integrated Circuit (FMPI2C) peripheral: - * + Initialization and de-initialization functions - * + IO operation functions - * + Peripheral State and Errors functions - * - @verbatim - ============================================================================== - ##### How to use this driver ##### - ============================================================================== - [..] - The FMPI2C HAL driver can be used as follows: - - (#) Declare a FMPI2C_HandleTypeDef handle structure, for example: - FMPI2C_HandleTypeDef hfmpi2c; - - (#)Initialize the FMPI2C low level resources by implementing the HAL_FMPI2C_MspInit() API: - (##) Enable the FMPI2Cx interface clock - (##) FMPI2C pins configuration - (+++) Enable the clock for the FMPI2C GPIOs - (+++) Configure FMPI2C pins as alternate function open-drain - (##) NVIC configuration if you need to use interrupt process - (+++) Configure the FMPI2Cx interrupt priority - (+++) Enable the NVIC FMPI2C IRQ Channel - (##) DMA Configuration if you need to use DMA process - (+++) Declare a DMA_HandleTypeDef handle structure for - the transmit or receive stream - (+++) Enable the DMAx interface clock using - (+++) Configure the DMA handle parameters - (+++) Configure the DMA Tx or Rx stream - (+++) Associate the initialized DMA handle to the hfmpi2c DMA Tx or Rx handle - (+++) Configure the priority and enable the NVIC for the transfer complete interrupt on - the DMA Tx or Rx stream - - (#) Configure the Communication Clock Timing, Own Address1, Master Addressing mode, Dual Addressing mode, - Own Address2, Own Address2 Mask, General call and Nostretch mode in the hfmpi2c Init structure. - - (#) Initialize the FMPI2C registers by calling the HAL_FMPI2C_Init(), configures also the low level Hardware - (GPIO, CLOCK, NVIC...etc) by calling the customized HAL_FMPI2C_MspInit(&hfmpi2c) API. - - (#) To check if target device is ready for communication, use the function HAL_FMPI2C_IsDeviceReady() - - (#) For FMPI2C IO and IO MEM operations, three operation modes are available within this driver : - - *** Polling mode IO operation *** - ================================= - [..] - (+) Transmit in master mode an amount of data in blocking mode using HAL_FMPI2C_Master_Transmit() - (+) Receive in master mode an amount of data in blocking mode using HAL_FMPI2C_Master_Receive() - (+) Transmit in slave mode an amount of data in blocking mode using HAL_FMPI2C_Slave_Transmit() - (+) Receive in slave mode an amount of data in blocking mode using HAL_FMPI2C_Slave_Receive() - - *** Polling mode IO MEM operation *** - ===================================== - [..] - (+) Write an amount of data in blocking mode to a specific memory address using HAL_FMPI2C_Mem_Write() - (+) Read an amount of data in blocking mode from a specific memory address using HAL_FMPI2C_Mem_Read() - - - *** Interrupt mode IO operation *** - =================================== - [..] - (+) Transmit in master mode an amount of data in non-blocking mode using HAL_FMPI2C_Master_Transmit_IT() - (+) At transmission end of transfer, HAL_FMPI2C_MasterTxCpltCallback() is executed and user can - add his own code by customization of function pointer HAL_FMPI2C_MasterTxCpltCallback() - (+) Receive in master mode an amount of data in non-blocking mode using HAL_FMPI2C_Master_Receive_IT() - (+) At reception end of transfer, HAL_FMPI2C_MasterRxCpltCallback() is executed and user can - add his own code by customization of function pointer HAL_FMPI2C_MasterRxCpltCallback() - (+) Transmit in slave mode an amount of data in non-blocking mode using HAL_FMPI2C_Slave_Transmit_IT() - (+) At transmission end of transfer, HAL_FMPI2C_SlaveTxCpltCallback() is executed and user can - add his own code by customization of function pointer HAL_FMPI2C_SlaveTxCpltCallback() - (+) Receive in slave mode an amount of data in non-blocking mode using HAL_FMPI2C_Slave_Receive_IT() - (+) At reception end of transfer, HAL_FMPI2C_SlaveRxCpltCallback() is executed and user can - add his own code by customization of function pointer HAL_FMPI2C_SlaveRxCpltCallback() - (+) In case of transfer Error, HAL_FMPI2C_ErrorCallback() function is executed and user can - add his own code by customization of function pointer HAL_FMPI2C_ErrorCallback() - (+) Abort a master FMPI2C process communication with Interrupt using HAL_FMPI2C_Master_Abort_IT() - (+) End of abort process, HAL_FMPI2C_AbortCpltCallback() is executed and user can - add his own code by customization of function pointer HAL_FMPI2C_AbortCpltCallback() - (+) Discard a slave FMPI2C process communication using __HAL_FMPI2C_GENERATE_NACK() macro. - This action will inform Master to generate a Stop condition to discard the communication. - - - *** Interrupt mode or DMA mode IO sequential operation *** - ========================================================== - [..] - (@) These interfaces allow to manage a sequential transfer with a repeated start condition - when a direction change during transfer - [..] - (+) A specific option field manage the different steps of a sequential transfer - (+) Option field values are defined through FMPI2C_XFEROPTIONS and are listed below: - (++) FMPI2C_FIRST_AND_LAST_FRAME: No sequential usage, functional is same as associated interfaces in no sequential mode - (++) FMPI2C_FIRST_FRAME: Sequential usage, this option allow to manage a sequence with start condition, address - and data to transfer without a final stop condition - (++) FMPI2C_FIRST_AND_NEXT_FRAME: Sequential usage (Master only), this option allow to manage a sequence with start condition, address - and data to transfer without a final stop condition, an then permit a call the same master sequential interface - several times (like HAL_FMPI2C_Master_Seq_Transmit_IT() then HAL_FMPI2C_Master_Seq_Transmit_IT() - or HAL_FMPI2C_Master_Seq_Transmit_DMA() then HAL_FMPI2C_Master_Seq_Transmit_DMA()) - (++) FMPI2C_NEXT_FRAME: Sequential usage, this option allow to manage a sequence with a restart condition, address - and with new data to transfer if the direction change or manage only the new data to - transfer - if no direction change and without a final stop condition in both cases - (++) FMPI2C_LAST_FRAME: Sequential usage, this option allow to manage a sequance with a restart condition, address - and with new data to transfer if the direction change or manage only the new data to - transfer - if no direction change and with a final stop condition in both cases - (++) FMPI2C_LAST_FRAME_NO_STOP: Sequential usage (Master only), this option allow to manage a restart condition - after several call of the same master sequential interface several times - (link with option FMPI2C_FIRST_AND_NEXT_FRAME). - Usage can, transfer several bytes one by one using - HAL_FMPI2C_Master_Seq_Transmit_IT - or HAL_FMPI2C_Master_Seq_Receive_IT - or HAL_FMPI2C_Master_Seq_Transmit_DMA - or HAL_FMPI2C_Master_Seq_Receive_DMA - with option FMPI2C_FIRST_AND_NEXT_FRAME then FMPI2C_NEXT_FRAME. - Then usage of this option FMPI2C_LAST_FRAME_NO_STOP at the last Transmit or - Receive sequence permit to call the opposite interface Receive or Transmit - without stopping the communication and so generate a restart condition. - (++) FMPI2C_OTHER_FRAME: Sequential usage (Master only), this option allow to manage a restart condition after - each call of the same master sequential - interface. - Usage can, transfer several bytes one by one with a restart with slave address between - each bytes using - HAL_FMPI2C_Master_Seq_Transmit_IT - or HAL_FMPI2C_Master_Seq_Receive_IT - or HAL_FMPI2C_Master_Seq_Transmit_DMA - or HAL_FMPI2C_Master_Seq_Receive_DMA - with option FMPI2C_FIRST_FRAME then FMPI2C_OTHER_FRAME. - Then usage of this option FMPI2C_OTHER_AND_LAST_FRAME at the last frame to help automatic - generation of STOP condition. - - (+) Different sequential FMPI2C interfaces are listed below: - (++) Sequential transmit in master FMPI2C mode an amount of data in non-blocking mode using HAL_FMPI2C_Master_Seq_Transmit_IT() - or using HAL_FMPI2C_Master_Seq_Transmit_DMA() - (+++) At transmission end of current frame transfer, HAL_FMPI2C_MasterTxCpltCallback() is executed and user can - add his own code by customization of function pointer HAL_FMPI2C_MasterTxCpltCallback() - (++) Sequential receive in master FMPI2C mode an amount of data in non-blocking mode using HAL_FMPI2C_Master_Seq_Receive_IT() - or using HAL_FMPI2C_Master_Seq_Receive_DMA() - (+++) At reception end of current frame transfer, HAL_FMPI2C_MasterRxCpltCallback() is executed and user can - add his own code by customization of function pointer HAL_FMPI2C_MasterRxCpltCallback() - (++) Abort a master IT or DMA FMPI2C process communication with Interrupt using HAL_FMPI2C_Master_Abort_IT() - (+++) End of abort process, HAL_FMPI2C_AbortCpltCallback() is executed and user can - add his own code by customization of function pointer HAL_FMPI2C_AbortCpltCallback() - (++) Enable/disable the Address listen mode in slave FMPI2C mode using HAL_FMPI2C_EnableListen_IT() HAL_FMPI2C_DisableListen_IT() - (+++) When address slave FMPI2C match, HAL_FMPI2C_AddrCallback() is executed and user can - add his own code to check the Address Match Code and the transmission direction request by master (Write/Read). - (+++) At Listen mode end HAL_FMPI2C_ListenCpltCallback() is executed and user can - add his own code by customization of function pointer HAL_FMPI2C_ListenCpltCallback() - (++) Sequential transmit in slave FMPI2C mode an amount of data in non-blocking mode using HAL_FMPI2C_Slave_Seq_Transmit_IT() - or using HAL_FMPI2C_Slave_Seq_Transmit_DMA() - (+++) At transmission end of current frame transfer, HAL_FMPI2C_SlaveTxCpltCallback() is executed and user can - add his own code by customization of function pointer HAL_FMPI2C_SlaveTxCpltCallback() - (++) Sequential receive in slave FMPI2C mode an amount of data in non-blocking mode using HAL_FMPI2C_Slave_Seq_Receive_IT() - or using HAL_FMPI2C_Slave_Seq_Receive_DMA() - (+++) At reception end of current frame transfer, HAL_FMPI2C_SlaveRxCpltCallback() is executed and user can - add his own code by customization of function pointer HAL_FMPI2C_SlaveRxCpltCallback() - (++) In case of transfer Error, HAL_FMPI2C_ErrorCallback() function is executed and user can - add his own code by customization of function pointer HAL_FMPI2C_ErrorCallback() - (++) Discard a slave FMPI2C process communication using __HAL_FMPI2C_GENERATE_NACK() macro. - This action will inform Master to generate a Stop condition to discard the communication. - - *** Interrupt mode IO MEM operation *** - ======================================= - [..] - (+) Write an amount of data in non-blocking mode with Interrupt to a specific memory address using - HAL_FMPI2C_Mem_Write_IT() - (+) At Memory end of write transfer, HAL_FMPI2C_MemTxCpltCallback() is executed and user can - add his own code by customization of function pointer HAL_FMPI2C_MemTxCpltCallback() - (+) Read an amount of data in non-blocking mode with Interrupt from a specific memory address using - HAL_FMPI2C_Mem_Read_IT() - (+) At Memory end of read transfer, HAL_FMPI2C_MemRxCpltCallback() is executed and user can - add his own code by customization of function pointer HAL_FMPI2C_MemRxCpltCallback() - (+) In case of transfer Error, HAL_FMPI2C_ErrorCallback() function is executed and user can - add his own code by customization of function pointer HAL_FMPI2C_ErrorCallback() - - *** DMA mode IO operation *** - ============================== - [..] - (+) Transmit in master mode an amount of data in non-blocking mode (DMA) using - HAL_FMPI2C_Master_Transmit_DMA() - (+) At transmission end of transfer, HAL_FMPI2C_MasterTxCpltCallback() is executed and user can - add his own code by customization of function pointer HAL_FMPI2C_MasterTxCpltCallback() - (+) Receive in master mode an amount of data in non-blocking mode (DMA) using - HAL_FMPI2C_Master_Receive_DMA() - (+) At reception end of transfer, HAL_FMPI2C_MasterRxCpltCallback() is executed and user can - add his own code by customization of function pointer HAL_FMPI2C_MasterRxCpltCallback() - (+) Transmit in slave mode an amount of data in non-blocking mode (DMA) using - HAL_FMPI2C_Slave_Transmit_DMA() - (+) At transmission end of transfer, HAL_FMPI2C_SlaveTxCpltCallback() is executed and user can - add his own code by customization of function pointer HAL_FMPI2C_SlaveTxCpltCallback() - (+) Receive in slave mode an amount of data in non-blocking mode (DMA) using - HAL_FMPI2C_Slave_Receive_DMA() - (+) At reception end of transfer, HAL_FMPI2C_SlaveRxCpltCallback() is executed and user can - add his own code by customization of function pointer HAL_FMPI2C_SlaveRxCpltCallback() - (+) In case of transfer Error, HAL_FMPI2C_ErrorCallback() function is executed and user can - add his own code by customization of function pointer HAL_FMPI2C_ErrorCallback() - (+) Abort a master FMPI2C process communication with Interrupt using HAL_FMPI2C_Master_Abort_IT() - (+) End of abort process, HAL_FMPI2C_AbortCpltCallback() is executed and user can - add his own code by customization of function pointer HAL_FMPI2C_AbortCpltCallback() - (+) Discard a slave FMPI2C process communication using __HAL_FMPI2C_GENERATE_NACK() macro. - This action will inform Master to generate a Stop condition to discard the communication. - - *** DMA mode IO MEM operation *** - ================================= - [..] - (+) Write an amount of data in non-blocking mode with DMA to a specific memory address using - HAL_FMPI2C_Mem_Write_DMA() - (+) At Memory end of write transfer, HAL_FMPI2C_MemTxCpltCallback() is executed and user can - add his own code by customization of function pointer HAL_FMPI2C_MemTxCpltCallback() - (+) Read an amount of data in non-blocking mode with DMA from a specific memory address using - HAL_FMPI2C_Mem_Read_DMA() - (+) At Memory end of read transfer, HAL_FMPI2C_MemRxCpltCallback() is executed and user can - add his own code by customization of function pointer HAL_FMPI2C_MemRxCpltCallback() - (+) In case of transfer Error, HAL_FMPI2C_ErrorCallback() function is executed and user can - add his own code by customization of function pointer HAL_FMPI2C_ErrorCallback() - - - *** FMPI2C HAL driver macros list *** - ================================== - [..] - Below the list of most used macros in FMPI2C HAL driver. - - (+) __HAL_FMPI2C_ENABLE: Enable the FMPI2C peripheral - (+) __HAL_FMPI2C_DISABLE: Disable the FMPI2C peripheral - (+) __HAL_FMPI2C_GENERATE_NACK: Generate a Non-Acknowledge FMPI2C peripheral in Slave mode - (+) __HAL_FMPI2C_GET_FLAG: Check whether the specified FMPI2C flag is set or not - (+) __HAL_FMPI2C_CLEAR_FLAG: Clear the specified FMPI2C pending flag - (+) __HAL_FMPI2C_ENABLE_IT: Enable the specified FMPI2C interrupt - (+) __HAL_FMPI2C_DISABLE_IT: Disable the specified FMPI2C interrupt - - *** Callback registration *** - ============================================= - [..] - The compilation flag USE_HAL_FMPI2C_REGISTER_CALLBACKS when set to 1 - allows the user to configure dynamically the driver callbacks. - Use Functions HAL_FMPI2C_RegisterCallback() or HAL_FMPI2C_RegisterAddrCallback() - to register an interrupt callback. - [..] - Function HAL_FMPI2C_RegisterCallback() allows to register following callbacks: - (+) MasterTxCpltCallback : callback for Master transmission end of transfer. - (+) MasterRxCpltCallback : callback for Master reception end of transfer. - (+) SlaveTxCpltCallback : callback for Slave transmission end of transfer. - (+) SlaveRxCpltCallback : callback for Slave reception end of transfer. - (+) ListenCpltCallback : callback for end of listen mode. - (+) MemTxCpltCallback : callback for Memory transmission end of transfer. - (+) MemRxCpltCallback : callback for Memory reception end of transfer. - (+) ErrorCallback : callback for error detection. - (+) AbortCpltCallback : callback for abort completion process. - (+) MspInitCallback : callback for Msp Init. - (+) MspDeInitCallback : callback for Msp DeInit. - This function takes as parameters the HAL peripheral handle, the Callback ID - and a pointer to the user callback function. - [..] - For specific callback AddrCallback use dedicated register callbacks : HAL_FMPI2C_RegisterAddrCallback(). - [..] - Use function HAL_FMPI2C_UnRegisterCallback to reset a callback to the default - weak function. - HAL_FMPI2C_UnRegisterCallback takes as parameters the HAL peripheral handle, - and the Callback ID. - This function allows to reset following callbacks: - (+) MasterTxCpltCallback : callback for Master transmission end of transfer. - (+) MasterRxCpltCallback : callback for Master reception end of transfer. - (+) SlaveTxCpltCallback : callback for Slave transmission end of transfer. - (+) SlaveRxCpltCallback : callback for Slave reception end of transfer. - (+) ListenCpltCallback : callback for end of listen mode. - (+) MemTxCpltCallback : callback for Memory transmission end of transfer. - (+) MemRxCpltCallback : callback for Memory reception end of transfer. - (+) ErrorCallback : callback for error detection. - (+) AbortCpltCallback : callback for abort completion process. - (+) MspInitCallback : callback for Msp Init. - (+) MspDeInitCallback : callback for Msp DeInit. - [..] - For callback AddrCallback use dedicated register callbacks : HAL_FMPI2C_UnRegisterAddrCallback(). - [..] - By default, after the HAL_FMPI2C_Init() and when the state is HAL_FMPI2C_STATE_RESET - all callbacks are set to the corresponding weak functions: - examples HAL_FMPI2C_MasterTxCpltCallback(), HAL_FMPI2C_MasterRxCpltCallback(). - Exception done for MspInit and MspDeInit functions that are - reset to the legacy weak functions in the HAL_FMPI2C_Init()/ HAL_FMPI2C_DeInit() only when - these callbacks are null (not registered beforehand). - If MspInit or MspDeInit are not null, the HAL_FMPI2C_Init()/ HAL_FMPI2C_DeInit() - keep and use the user MspInit/MspDeInit callbacks (registered beforehand) whatever the state. - [..] - Callbacks can be registered/unregistered in HAL_FMPI2C_STATE_READY state only. - Exception done MspInit/MspDeInit functions that can be registered/unregistered - in HAL_FMPI2C_STATE_READY or HAL_FMPI2C_STATE_RESET state, - thus registered (user) MspInit/DeInit callbacks can be used during the Init/DeInit. - Then, the user first registers the MspInit/MspDeInit user callbacks - using HAL_FMPI2C_RegisterCallback() before calling HAL_FMPI2C_DeInit() - or HAL_FMPI2C_Init() function. - [..] - When the compilation flag USE_HAL_FMPI2C_REGISTER_CALLBACKS is set to 0 or - not defined, the callback registration feature is not available and all callbacks - are set to the corresponding weak functions. - - [..] - (@) You can refer to the FMPI2C HAL driver header file for more useful macros - - @endverbatim - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @defgroup FMPI2C FMPI2C - * @brief FMPI2C HAL module driver - * @{ - */ - -#ifdef HAL_FMPI2C_MODULE_ENABLED -#if defined(FMPI2C_CR1_PE) - -/* Private typedef -----------------------------------------------------------*/ -/* Private define ------------------------------------------------------------*/ - -/** @defgroup FMPI2C_Private_Define FMPI2C Private Define - * @{ - */ -#define TIMING_CLEAR_MASK (0xF0FFFFFFU) /*!< FMPI2C TIMING clear register Mask */ -#define FMPI2C_TIMEOUT_ADDR (10000U) /*!< 10 s */ -#define FMPI2C_TIMEOUT_BUSY (25U) /*!< 25 ms */ -#define FMPI2C_TIMEOUT_DIR (25U) /*!< 25 ms */ -#define FMPI2C_TIMEOUT_RXNE (25U) /*!< 25 ms */ -#define FMPI2C_TIMEOUT_STOPF (25U) /*!< 25 ms */ -#define FMPI2C_TIMEOUT_TC (25U) /*!< 25 ms */ -#define FMPI2C_TIMEOUT_TCR (25U) /*!< 25 ms */ -#define FMPI2C_TIMEOUT_TXIS (25U) /*!< 25 ms */ -#define FMPI2C_TIMEOUT_FLAG (25U) /*!< 25 ms */ - -#define MAX_NBYTE_SIZE 255U -#define SLAVE_ADDR_SHIFT 7U -#define SLAVE_ADDR_MSK 0x06U - -/* Private define for @ref PreviousState usage */ -#define FMPI2C_STATE_MSK ((uint32_t)((uint32_t)((uint32_t)HAL_FMPI2C_STATE_BUSY_TX | \ - (uint32_t)HAL_FMPI2C_STATE_BUSY_RX) & \ - (uint32_t)(~((uint32_t)HAL_FMPI2C_STATE_READY)))) -/*!< Mask State define, keep only RX and TX bits */ -#define FMPI2C_STATE_NONE ((uint32_t)(HAL_FMPI2C_MODE_NONE)) -/*!< Default Value */ -#define FMPI2C_STATE_MASTER_BUSY_TX ((uint32_t)(((uint32_t)HAL_FMPI2C_STATE_BUSY_TX & FMPI2C_STATE_MSK) | \ - (uint32_t)HAL_FMPI2C_MODE_MASTER)) -/*!< Master Busy TX, combinaison of State LSB and Mode enum */ -#define FMPI2C_STATE_MASTER_BUSY_RX ((uint32_t)(((uint32_t)HAL_FMPI2C_STATE_BUSY_RX & FMPI2C_STATE_MSK) | \ - (uint32_t)HAL_FMPI2C_MODE_MASTER)) -/*!< Master Busy RX, combinaison of State LSB and Mode enum */ -#define FMPI2C_STATE_SLAVE_BUSY_TX ((uint32_t)(((uint32_t)HAL_FMPI2C_STATE_BUSY_TX & FMPI2C_STATE_MSK) | \ - (uint32_t)HAL_FMPI2C_MODE_SLAVE)) -/*!< Slave Busy TX, combinaison of State LSB and Mode enum */ -#define FMPI2C_STATE_SLAVE_BUSY_RX ((uint32_t)(((uint32_t)HAL_FMPI2C_STATE_BUSY_RX & FMPI2C_STATE_MSK) | \ - (uint32_t)HAL_FMPI2C_MODE_SLAVE)) -/*!< Slave Busy RX, combinaison of State LSB and Mode enum */ -#define FMPI2C_STATE_MEM_BUSY_TX ((uint32_t)(((uint32_t)HAL_FMPI2C_STATE_BUSY_TX & FMPI2C_STATE_MSK) | \ - (uint32_t)HAL_FMPI2C_MODE_MEM)) -/*!< Memory Busy TX, combinaison of State LSB and Mode enum */ -#define FMPI2C_STATE_MEM_BUSY_RX ((uint32_t)(((uint32_t)HAL_FMPI2C_STATE_BUSY_RX & FMPI2C_STATE_MSK) | \ - (uint32_t)HAL_FMPI2C_MODE_MEM)) -/*!< Memory Busy RX, combinaison of State LSB and Mode enum */ - - -/* Private define to centralize the enable/disable of Interrupts */ -#define FMPI2C_XFER_TX_IT (uint16_t)(0x0001U) /*!< Bit field can be combinated with - @ref FMPI2C_XFER_LISTEN_IT */ -#define FMPI2C_XFER_RX_IT (uint16_t)(0x0002U) /*!< Bit field can be combinated with - @ref FMPI2C_XFER_LISTEN_IT */ -#define FMPI2C_XFER_LISTEN_IT (uint16_t)(0x8000U) /*!< Bit field can be combinated with @ref FMPI2C_XFER_TX_IT - and @ref FMPI2C_XFER_RX_IT */ - -#define FMPI2C_XFER_ERROR_IT (uint16_t)(0x0010U) /*!< Bit definition to manage addition of global Error - and NACK treatment */ -#define FMPI2C_XFER_CPLT_IT (uint16_t)(0x0020U) /*!< Bit definition to manage only STOP evenement */ -#define FMPI2C_XFER_RELOAD_IT (uint16_t)(0x0040U) /*!< Bit definition to manage only Reload of NBYTE */ - -/* Private define Sequential Transfer Options default/reset value */ -#define FMPI2C_NO_OPTION_FRAME (0xFFFF0000U) -/** - * @} - */ - -/* Private macro -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private function prototypes -----------------------------------------------*/ - -/** @defgroup FMPI2C_Private_Functions FMPI2C Private Functions - * @{ - */ -/* Private functions to handle DMA transfer */ -static void FMPI2C_DMAMasterTransmitCplt(DMA_HandleTypeDef *hdma); -static void FMPI2C_DMAMasterReceiveCplt(DMA_HandleTypeDef *hdma); -static void FMPI2C_DMASlaveTransmitCplt(DMA_HandleTypeDef *hdma); -static void FMPI2C_DMASlaveReceiveCplt(DMA_HandleTypeDef *hdma); -static void FMPI2C_DMAError(DMA_HandleTypeDef *hdma); -static void FMPI2C_DMAAbort(DMA_HandleTypeDef *hdma); - -/* Private functions to handle IT transfer */ -static void FMPI2C_ITAddrCplt(FMPI2C_HandleTypeDef *hfmpi2c, uint32_t ITFlags); -static void FMPI2C_ITMasterSeqCplt(FMPI2C_HandleTypeDef *hfmpi2c); -static void FMPI2C_ITSlaveSeqCplt(FMPI2C_HandleTypeDef *hfmpi2c); -static void FMPI2C_ITMasterCplt(FMPI2C_HandleTypeDef *hfmpi2c, uint32_t ITFlags); -static void FMPI2C_ITSlaveCplt(FMPI2C_HandleTypeDef *hfmpi2c, uint32_t ITFlags); -static void FMPI2C_ITListenCplt(FMPI2C_HandleTypeDef *hfmpi2c, uint32_t ITFlags); -static void FMPI2C_ITError(FMPI2C_HandleTypeDef *hfmpi2c, uint32_t ErrorCode); - -/* Private functions to handle IT transfer */ -static HAL_StatusTypeDef FMPI2C_RequestMemoryWrite(FMPI2C_HandleTypeDef *hfmpi2c, uint16_t DevAddress, - uint16_t MemAddress, uint16_t MemAddSize, uint32_t Timeout, - uint32_t Tickstart); -static HAL_StatusTypeDef FMPI2C_RequestMemoryRead(FMPI2C_HandleTypeDef *hfmpi2c, uint16_t DevAddress, - uint16_t MemAddress, uint16_t MemAddSize, uint32_t Timeout, - uint32_t Tickstart); - -/* Private functions for FMPI2C transfer IRQ handler */ -static HAL_StatusTypeDef FMPI2C_Master_ISR_IT(struct __FMPI2C_HandleTypeDef *hfmpi2c, uint32_t ITFlags, - uint32_t ITSources); -static HAL_StatusTypeDef FMPI2C_Slave_ISR_IT(struct __FMPI2C_HandleTypeDef *hfmpi2c, uint32_t ITFlags, - uint32_t ITSources); -static HAL_StatusTypeDef FMPI2C_Master_ISR_DMA(struct __FMPI2C_HandleTypeDef *hfmpi2c, uint32_t ITFlags, - uint32_t ITSources); -static HAL_StatusTypeDef FMPI2C_Slave_ISR_DMA(struct __FMPI2C_HandleTypeDef *hfmpi2c, uint32_t ITFlags, - uint32_t ITSources); - -/* Private functions to handle flags during polling transfer */ -static HAL_StatusTypeDef FMPI2C_WaitOnFlagUntilTimeout(FMPI2C_HandleTypeDef *hfmpi2c, uint32_t Flag, FlagStatus Status, - uint32_t Timeout, uint32_t Tickstart); -static HAL_StatusTypeDef FMPI2C_WaitOnTXISFlagUntilTimeout(FMPI2C_HandleTypeDef *hfmpi2c, uint32_t Timeout, - uint32_t Tickstart); -static HAL_StatusTypeDef FMPI2C_WaitOnRXNEFlagUntilTimeout(FMPI2C_HandleTypeDef *hfmpi2c, uint32_t Timeout, - uint32_t Tickstart); -static HAL_StatusTypeDef FMPI2C_WaitOnSTOPFlagUntilTimeout(FMPI2C_HandleTypeDef *hfmpi2c, uint32_t Timeout, - uint32_t Tickstart); -static HAL_StatusTypeDef FMPI2C_IsAcknowledgeFailed(FMPI2C_HandleTypeDef *hfmpi2c, uint32_t Timeout, - uint32_t Tickstart); - -/* Private functions to centralize the enable/disable of Interrupts */ -static void FMPI2C_Enable_IRQ(FMPI2C_HandleTypeDef *hfmpi2c, uint16_t InterruptRequest); -static void FMPI2C_Disable_IRQ(FMPI2C_HandleTypeDef *hfmpi2c, uint16_t InterruptRequest); - -/* Private function to treat different error callback */ -static void FMPI2C_TreatErrorCallback(FMPI2C_HandleTypeDef *hfmpi2c); - -/* Private function to flush TXDR register */ -static void FMPI2C_Flush_TXDR(FMPI2C_HandleTypeDef *hfmpi2c); - -/* Private function to handle start, restart or stop a transfer */ -static void FMPI2C_TransferConfig(FMPI2C_HandleTypeDef *hfmpi2c, uint16_t DevAddress, uint8_t Size, uint32_t Mode, - uint32_t Request); - -/* Private function to Convert Specific options */ -static void FMPI2C_ConvertOtherXferOptions(FMPI2C_HandleTypeDef *hfmpi2c); -/** - * @} - */ - -/* Exported functions --------------------------------------------------------*/ - -/** @defgroup FMPI2C_Exported_Functions FMPI2C Exported Functions - * @{ - */ - -/** @defgroup FMPI2C_Exported_Functions_Group1 Initialization and de-initialization functions - * @brief Initialization and Configuration functions - * -@verbatim - =============================================================================== - ##### Initialization and de-initialization functions ##### - =============================================================================== - [..] This subsection provides a set of functions allowing to initialize and - deinitialize the FMPI2Cx peripheral: - - (+) User must Implement HAL_FMPI2C_MspInit() function in which he configures - all related peripherals resources (CLOCK, GPIO, DMA, IT and NVIC ). - - (+) Call the function HAL_FMPI2C_Init() to configure the selected device with - the selected configuration: - (++) Clock Timing - (++) Own Address 1 - (++) Addressing mode (Master, Slave) - (++) Dual Addressing mode - (++) Own Address 2 - (++) Own Address 2 Mask - (++) General call mode - (++) Nostretch mode - - (+) Call the function HAL_FMPI2C_DeInit() to restore the default configuration - of the selected FMPI2Cx peripheral. - -@endverbatim - * @{ - */ - -/** - * @brief Initializes the FMPI2C according to the specified parameters - * in the FMPI2C_InitTypeDef and initialize the associated handle. - * @param hfmpi2c Pointer to a FMPI2C_HandleTypeDef structure that contains - * the configuration information for the specified FMPI2C. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_FMPI2C_Init(FMPI2C_HandleTypeDef *hfmpi2c) -{ - /* Check the FMPI2C handle allocation */ - if (hfmpi2c == NULL) - { - return HAL_ERROR; - } - - /* Check the parameters */ - assert_param(IS_FMPI2C_ALL_INSTANCE(hfmpi2c->Instance)); - assert_param(IS_FMPI2C_OWN_ADDRESS1(hfmpi2c->Init.OwnAddress1)); - assert_param(IS_FMPI2C_ADDRESSING_MODE(hfmpi2c->Init.AddressingMode)); - assert_param(IS_FMPI2C_DUAL_ADDRESS(hfmpi2c->Init.DualAddressMode)); - assert_param(IS_FMPI2C_OWN_ADDRESS2(hfmpi2c->Init.OwnAddress2)); - assert_param(IS_FMPI2C_OWN_ADDRESS2_MASK(hfmpi2c->Init.OwnAddress2Masks)); - assert_param(IS_FMPI2C_GENERAL_CALL(hfmpi2c->Init.GeneralCallMode)); - assert_param(IS_FMPI2C_NO_STRETCH(hfmpi2c->Init.NoStretchMode)); - - if (hfmpi2c->State == HAL_FMPI2C_STATE_RESET) - { - /* Allocate lock resource and initialize it */ - hfmpi2c->Lock = HAL_UNLOCKED; - -#if (USE_HAL_FMPI2C_REGISTER_CALLBACKS == 1) - /* Init the FMPI2C Callback settings */ - hfmpi2c->MasterTxCpltCallback = HAL_FMPI2C_MasterTxCpltCallback; /* Legacy weak MasterTxCpltCallback */ - hfmpi2c->MasterRxCpltCallback = HAL_FMPI2C_MasterRxCpltCallback; /* Legacy weak MasterRxCpltCallback */ - hfmpi2c->SlaveTxCpltCallback = HAL_FMPI2C_SlaveTxCpltCallback; /* Legacy weak SlaveTxCpltCallback */ - hfmpi2c->SlaveRxCpltCallback = HAL_FMPI2C_SlaveRxCpltCallback; /* Legacy weak SlaveRxCpltCallback */ - hfmpi2c->ListenCpltCallback = HAL_FMPI2C_ListenCpltCallback; /* Legacy weak ListenCpltCallback */ - hfmpi2c->MemTxCpltCallback = HAL_FMPI2C_MemTxCpltCallback; /* Legacy weak MemTxCpltCallback */ - hfmpi2c->MemRxCpltCallback = HAL_FMPI2C_MemRxCpltCallback; /* Legacy weak MemRxCpltCallback */ - hfmpi2c->ErrorCallback = HAL_FMPI2C_ErrorCallback; /* Legacy weak ErrorCallback */ - hfmpi2c->AbortCpltCallback = HAL_FMPI2C_AbortCpltCallback; /* Legacy weak AbortCpltCallback */ - hfmpi2c->AddrCallback = HAL_FMPI2C_AddrCallback; /* Legacy weak AddrCallback */ - - if (hfmpi2c->MspInitCallback == NULL) - { - hfmpi2c->MspInitCallback = HAL_FMPI2C_MspInit; /* Legacy weak MspInit */ - } - - /* Init the low level hardware : GPIO, CLOCK, CORTEX...etc */ - hfmpi2c->MspInitCallback(hfmpi2c); -#else - /* Init the low level hardware : GPIO, CLOCK, CORTEX...etc */ - HAL_FMPI2C_MspInit(hfmpi2c); -#endif /* USE_HAL_FMPI2C_REGISTER_CALLBACKS */ - } - - hfmpi2c->State = HAL_FMPI2C_STATE_BUSY; - - /* Disable the selected FMPI2C peripheral */ - __HAL_FMPI2C_DISABLE(hfmpi2c); - - /*---------------------------- FMPI2Cx TIMINGR Configuration ------------------*/ - /* Configure FMPI2Cx: Frequency range */ - hfmpi2c->Instance->TIMINGR = hfmpi2c->Init.Timing & TIMING_CLEAR_MASK; - - /*---------------------------- FMPI2Cx OAR1 Configuration ---------------------*/ - /* Disable Own Address1 before set the Own Address1 configuration */ - hfmpi2c->Instance->OAR1 &= ~FMPI2C_OAR1_OA1EN; - - /* Configure FMPI2Cx: Own Address1 and ack own address1 mode */ - if (hfmpi2c->Init.AddressingMode == FMPI2C_ADDRESSINGMODE_7BIT) - { - hfmpi2c->Instance->OAR1 = (FMPI2C_OAR1_OA1EN | hfmpi2c->Init.OwnAddress1); - } - else /* FMPI2C_ADDRESSINGMODE_10BIT */ - { - hfmpi2c->Instance->OAR1 = (FMPI2C_OAR1_OA1EN | FMPI2C_OAR1_OA1MODE | hfmpi2c->Init.OwnAddress1); - } - - /*---------------------------- FMPI2Cx CR2 Configuration ----------------------*/ - /* Configure FMPI2Cx: Addressing Master mode */ - if (hfmpi2c->Init.AddressingMode == FMPI2C_ADDRESSINGMODE_10BIT) - { - hfmpi2c->Instance->CR2 = (FMPI2C_CR2_ADD10); - } - /* Enable the AUTOEND by default, and enable NACK (should be disable only during Slave process */ - hfmpi2c->Instance->CR2 |= (FMPI2C_CR2_AUTOEND | FMPI2C_CR2_NACK); - - /*---------------------------- FMPI2Cx OAR2 Configuration ---------------------*/ - /* Disable Own Address2 before set the Own Address2 configuration */ - hfmpi2c->Instance->OAR2 &= ~FMPI2C_DUALADDRESS_ENABLE; - - /* Configure FMPI2Cx: Dual mode and Own Address2 */ - hfmpi2c->Instance->OAR2 = (hfmpi2c->Init.DualAddressMode | hfmpi2c->Init.OwnAddress2 | \ - (hfmpi2c->Init.OwnAddress2Masks << 8)); - - /*---------------------------- FMPI2Cx CR1 Configuration ----------------------*/ - /* Configure FMPI2Cx: Generalcall and NoStretch mode */ - hfmpi2c->Instance->CR1 = (hfmpi2c->Init.GeneralCallMode | hfmpi2c->Init.NoStretchMode); - - /* Enable the selected FMPI2C peripheral */ - __HAL_FMPI2C_ENABLE(hfmpi2c); - - hfmpi2c->ErrorCode = HAL_FMPI2C_ERROR_NONE; - hfmpi2c->State = HAL_FMPI2C_STATE_READY; - hfmpi2c->PreviousState = FMPI2C_STATE_NONE; - hfmpi2c->Mode = HAL_FMPI2C_MODE_NONE; - - return HAL_OK; -} - -/** - * @brief DeInitialize the FMPI2C peripheral. - * @param hfmpi2c Pointer to a FMPI2C_HandleTypeDef structure that contains - * the configuration information for the specified FMPI2C. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_FMPI2C_DeInit(FMPI2C_HandleTypeDef *hfmpi2c) -{ - /* Check the FMPI2C handle allocation */ - if (hfmpi2c == NULL) - { - return HAL_ERROR; - } - - /* Check the parameters */ - assert_param(IS_FMPI2C_ALL_INSTANCE(hfmpi2c->Instance)); - - hfmpi2c->State = HAL_FMPI2C_STATE_BUSY; - - /* Disable the FMPI2C Peripheral Clock */ - __HAL_FMPI2C_DISABLE(hfmpi2c); - -#if (USE_HAL_FMPI2C_REGISTER_CALLBACKS == 1) - if (hfmpi2c->MspDeInitCallback == NULL) - { - hfmpi2c->MspDeInitCallback = HAL_FMPI2C_MspDeInit; /* Legacy weak MspDeInit */ - } - - /* DeInit the low level hardware: GPIO, CLOCK, NVIC */ - hfmpi2c->MspDeInitCallback(hfmpi2c); -#else - /* DeInit the low level hardware: GPIO, CLOCK, NVIC */ - HAL_FMPI2C_MspDeInit(hfmpi2c); -#endif /* USE_HAL_FMPI2C_REGISTER_CALLBACKS */ - - hfmpi2c->ErrorCode = HAL_FMPI2C_ERROR_NONE; - hfmpi2c->State = HAL_FMPI2C_STATE_RESET; - hfmpi2c->PreviousState = FMPI2C_STATE_NONE; - hfmpi2c->Mode = HAL_FMPI2C_MODE_NONE; - - /* Release Lock */ - __HAL_UNLOCK(hfmpi2c); - - return HAL_OK; -} - -/** - * @brief Initialize the FMPI2C MSP. - * @param hfmpi2c Pointer to a FMPI2C_HandleTypeDef structure that contains - * the configuration information for the specified FMPI2C. - * @retval None - */ -__weak void HAL_FMPI2C_MspInit(FMPI2C_HandleTypeDef *hfmpi2c) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hfmpi2c); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_FMPI2C_MspInit could be implemented in the user file - */ -} - -/** - * @brief DeInitialize the FMPI2C MSP. - * @param hfmpi2c Pointer to a FMPI2C_HandleTypeDef structure that contains - * the configuration information for the specified FMPI2C. - * @retval None - */ -__weak void HAL_FMPI2C_MspDeInit(FMPI2C_HandleTypeDef *hfmpi2c) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hfmpi2c); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_FMPI2C_MspDeInit could be implemented in the user file - */ -} - -#if (USE_HAL_FMPI2C_REGISTER_CALLBACKS == 1) -/** - * @brief Register a User FMPI2C Callback - * To be used instead of the weak predefined callback - * @param hfmpi2c Pointer to a FMPI2C_HandleTypeDef structure that contains - * the configuration information for the specified FMPI2C. - * @param CallbackID ID of the callback to be registered - * This parameter can be one of the following values: - * @arg @ref HAL_FMPI2C_MASTER_TX_COMPLETE_CB_ID Master Tx Transfer completed callback ID - * @arg @ref HAL_FMPI2C_MASTER_RX_COMPLETE_CB_ID Master Rx Transfer completed callback ID - * @arg @ref HAL_FMPI2C_SLAVE_TX_COMPLETE_CB_ID Slave Tx Transfer completed callback ID - * @arg @ref HAL_FMPI2C_SLAVE_RX_COMPLETE_CB_ID Slave Rx Transfer completed callback ID - * @arg @ref HAL_FMPI2C_LISTEN_COMPLETE_CB_ID Listen Complete callback ID - * @arg @ref HAL_FMPI2C_MEM_TX_COMPLETE_CB_ID Memory Tx Transfer callback ID - * @arg @ref HAL_FMPI2C_MEM_RX_COMPLETE_CB_ID Memory Rx Transfer completed callback ID - * @arg @ref HAL_FMPI2C_ERROR_CB_ID Error callback ID - * @arg @ref HAL_FMPI2C_ABORT_CB_ID Abort callback ID - * @arg @ref HAL_FMPI2C_MSPINIT_CB_ID MspInit callback ID - * @arg @ref HAL_FMPI2C_MSPDEINIT_CB_ID MspDeInit callback ID - * @param pCallback pointer to the Callback function - * @retval HAL status - */ -HAL_StatusTypeDef HAL_FMPI2C_RegisterCallback(FMPI2C_HandleTypeDef *hfmpi2c, HAL_FMPI2C_CallbackIDTypeDef CallbackID, - pFMPI2C_CallbackTypeDef pCallback) -{ - HAL_StatusTypeDef status = HAL_OK; - - if (pCallback == NULL) - { - /* Update the error code */ - hfmpi2c->ErrorCode |= HAL_FMPI2C_ERROR_INVALID_CALLBACK; - - return HAL_ERROR; - } - /* Process locked */ - __HAL_LOCK(hfmpi2c); - - if (HAL_FMPI2C_STATE_READY == hfmpi2c->State) - { - switch (CallbackID) - { - case HAL_FMPI2C_MASTER_TX_COMPLETE_CB_ID : - hfmpi2c->MasterTxCpltCallback = pCallback; - break; - - case HAL_FMPI2C_MASTER_RX_COMPLETE_CB_ID : - hfmpi2c->MasterRxCpltCallback = pCallback; - break; - - case HAL_FMPI2C_SLAVE_TX_COMPLETE_CB_ID : - hfmpi2c->SlaveTxCpltCallback = pCallback; - break; - - case HAL_FMPI2C_SLAVE_RX_COMPLETE_CB_ID : - hfmpi2c->SlaveRxCpltCallback = pCallback; - break; - - case HAL_FMPI2C_LISTEN_COMPLETE_CB_ID : - hfmpi2c->ListenCpltCallback = pCallback; - break; - - case HAL_FMPI2C_MEM_TX_COMPLETE_CB_ID : - hfmpi2c->MemTxCpltCallback = pCallback; - break; - - case HAL_FMPI2C_MEM_RX_COMPLETE_CB_ID : - hfmpi2c->MemRxCpltCallback = pCallback; - break; - - case HAL_FMPI2C_ERROR_CB_ID : - hfmpi2c->ErrorCallback = pCallback; - break; - - case HAL_FMPI2C_ABORT_CB_ID : - hfmpi2c->AbortCpltCallback = pCallback; - break; - - case HAL_FMPI2C_MSPINIT_CB_ID : - hfmpi2c->MspInitCallback = pCallback; - break; - - case HAL_FMPI2C_MSPDEINIT_CB_ID : - hfmpi2c->MspDeInitCallback = pCallback; - break; - - default : - /* Update the error code */ - hfmpi2c->ErrorCode |= HAL_FMPI2C_ERROR_INVALID_CALLBACK; - - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else if (HAL_FMPI2C_STATE_RESET == hfmpi2c->State) - { - switch (CallbackID) - { - case HAL_FMPI2C_MSPINIT_CB_ID : - hfmpi2c->MspInitCallback = pCallback; - break; - - case HAL_FMPI2C_MSPDEINIT_CB_ID : - hfmpi2c->MspDeInitCallback = pCallback; - break; - - default : - /* Update the error code */ - hfmpi2c->ErrorCode |= HAL_FMPI2C_ERROR_INVALID_CALLBACK; - - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else - { - /* Update the error code */ - hfmpi2c->ErrorCode |= HAL_FMPI2C_ERROR_INVALID_CALLBACK; - - /* Return error status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(hfmpi2c); - return status; -} - -/** - * @brief Unregister an FMPI2C Callback - * FMPI2C callback is redirected to the weak predefined callback - * @param hfmpi2c Pointer to a FMPI2C_HandleTypeDef structure that contains - * the configuration information for the specified FMPI2C. - * @param CallbackID ID of the callback to be unregistered - * This parameter can be one of the following values: - * This parameter can be one of the following values: - * @arg @ref HAL_FMPI2C_MASTER_TX_COMPLETE_CB_ID Master Tx Transfer completed callback ID - * @arg @ref HAL_FMPI2C_MASTER_RX_COMPLETE_CB_ID Master Rx Transfer completed callback ID - * @arg @ref HAL_FMPI2C_SLAVE_TX_COMPLETE_CB_ID Slave Tx Transfer completed callback ID - * @arg @ref HAL_FMPI2C_SLAVE_RX_COMPLETE_CB_ID Slave Rx Transfer completed callback ID - * @arg @ref HAL_FMPI2C_LISTEN_COMPLETE_CB_ID Listen Complete callback ID - * @arg @ref HAL_FMPI2C_MEM_TX_COMPLETE_CB_ID Memory Tx Transfer callback ID - * @arg @ref HAL_FMPI2C_MEM_RX_COMPLETE_CB_ID Memory Rx Transfer completed callback ID - * @arg @ref HAL_FMPI2C_ERROR_CB_ID Error callback ID - * @arg @ref HAL_FMPI2C_ABORT_CB_ID Abort callback ID - * @arg @ref HAL_FMPI2C_MSPINIT_CB_ID MspInit callback ID - * @arg @ref HAL_FMPI2C_MSPDEINIT_CB_ID MspDeInit callback ID - * @retval HAL status - */ -HAL_StatusTypeDef HAL_FMPI2C_UnRegisterCallback(FMPI2C_HandleTypeDef *hfmpi2c, HAL_FMPI2C_CallbackIDTypeDef CallbackID) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Process locked */ - __HAL_LOCK(hfmpi2c); - - if (HAL_FMPI2C_STATE_READY == hfmpi2c->State) - { - switch (CallbackID) - { - case HAL_FMPI2C_MASTER_TX_COMPLETE_CB_ID : - hfmpi2c->MasterTxCpltCallback = HAL_FMPI2C_MasterTxCpltCallback; /* Legacy weak MasterTxCpltCallback */ - break; - - case HAL_FMPI2C_MASTER_RX_COMPLETE_CB_ID : - hfmpi2c->MasterRxCpltCallback = HAL_FMPI2C_MasterRxCpltCallback; /* Legacy weak MasterRxCpltCallback */ - break; - - case HAL_FMPI2C_SLAVE_TX_COMPLETE_CB_ID : - hfmpi2c->SlaveTxCpltCallback = HAL_FMPI2C_SlaveTxCpltCallback; /* Legacy weak SlaveTxCpltCallback */ - break; - - case HAL_FMPI2C_SLAVE_RX_COMPLETE_CB_ID : - hfmpi2c->SlaveRxCpltCallback = HAL_FMPI2C_SlaveRxCpltCallback; /* Legacy weak SlaveRxCpltCallback */ - break; - - case HAL_FMPI2C_LISTEN_COMPLETE_CB_ID : - hfmpi2c->ListenCpltCallback = HAL_FMPI2C_ListenCpltCallback; /* Legacy weak ListenCpltCallback */ - break; - - case HAL_FMPI2C_MEM_TX_COMPLETE_CB_ID : - hfmpi2c->MemTxCpltCallback = HAL_FMPI2C_MemTxCpltCallback; /* Legacy weak MemTxCpltCallback */ - break; - - case HAL_FMPI2C_MEM_RX_COMPLETE_CB_ID : - hfmpi2c->MemRxCpltCallback = HAL_FMPI2C_MemRxCpltCallback; /* Legacy weak MemRxCpltCallback */ - break; - - case HAL_FMPI2C_ERROR_CB_ID : - hfmpi2c->ErrorCallback = HAL_FMPI2C_ErrorCallback; /* Legacy weak ErrorCallback */ - break; - - case HAL_FMPI2C_ABORT_CB_ID : - hfmpi2c->AbortCpltCallback = HAL_FMPI2C_AbortCpltCallback; /* Legacy weak AbortCpltCallback */ - break; - - case HAL_FMPI2C_MSPINIT_CB_ID : - hfmpi2c->MspInitCallback = HAL_FMPI2C_MspInit; /* Legacy weak MspInit */ - break; - - case HAL_FMPI2C_MSPDEINIT_CB_ID : - hfmpi2c->MspDeInitCallback = HAL_FMPI2C_MspDeInit; /* Legacy weak MspDeInit */ - break; - - default : - /* Update the error code */ - hfmpi2c->ErrorCode |= HAL_FMPI2C_ERROR_INVALID_CALLBACK; - - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else if (HAL_FMPI2C_STATE_RESET == hfmpi2c->State) - { - switch (CallbackID) - { - case HAL_FMPI2C_MSPINIT_CB_ID : - hfmpi2c->MspInitCallback = HAL_FMPI2C_MspInit; /* Legacy weak MspInit */ - break; - - case HAL_FMPI2C_MSPDEINIT_CB_ID : - hfmpi2c->MspDeInitCallback = HAL_FMPI2C_MspDeInit; /* Legacy weak MspDeInit */ - break; - - default : - /* Update the error code */ - hfmpi2c->ErrorCode |= HAL_FMPI2C_ERROR_INVALID_CALLBACK; - - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else - { - /* Update the error code */ - hfmpi2c->ErrorCode |= HAL_FMPI2C_ERROR_INVALID_CALLBACK; - - /* Return error status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(hfmpi2c); - return status; -} - -/** - * @brief Register the Slave Address Match FMPI2C Callback - * To be used instead of the weak HAL_FMPI2C_AddrCallback() predefined callback - * @param hfmpi2c Pointer to a FMPI2C_HandleTypeDef structure that contains - * the configuration information for the specified FMPI2C. - * @param pCallback pointer to the Address Match Callback function - * @retval HAL status - */ -HAL_StatusTypeDef HAL_FMPI2C_RegisterAddrCallback(FMPI2C_HandleTypeDef *hfmpi2c, pFMPI2C_AddrCallbackTypeDef pCallback) -{ - HAL_StatusTypeDef status = HAL_OK; - - if (pCallback == NULL) - { - /* Update the error code */ - hfmpi2c->ErrorCode |= HAL_FMPI2C_ERROR_INVALID_CALLBACK; - - return HAL_ERROR; - } - /* Process locked */ - __HAL_LOCK(hfmpi2c); - - if (HAL_FMPI2C_STATE_READY == hfmpi2c->State) - { - hfmpi2c->AddrCallback = pCallback; - } - else - { - /* Update the error code */ - hfmpi2c->ErrorCode |= HAL_FMPI2C_ERROR_INVALID_CALLBACK; - - /* Return error status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(hfmpi2c); - return status; -} - -/** - * @brief UnRegister the Slave Address Match FMPI2C Callback - * Info Ready FMPI2C Callback is redirected to the weak HAL_FMPI2C_AddrCallback() predefined callback - * @param hfmpi2c Pointer to a FMPI2C_HandleTypeDef structure that contains - * the configuration information for the specified FMPI2C. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_FMPI2C_UnRegisterAddrCallback(FMPI2C_HandleTypeDef *hfmpi2c) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Process locked */ - __HAL_LOCK(hfmpi2c); - - if (HAL_FMPI2C_STATE_READY == hfmpi2c->State) - { - hfmpi2c->AddrCallback = HAL_FMPI2C_AddrCallback; /* Legacy weak AddrCallback */ - } - else - { - /* Update the error code */ - hfmpi2c->ErrorCode |= HAL_FMPI2C_ERROR_INVALID_CALLBACK; - - /* Return error status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(hfmpi2c); - return status; -} - -#endif /* USE_HAL_FMPI2C_REGISTER_CALLBACKS */ - -/** - * @} - */ - -/** @defgroup FMPI2C_Exported_Functions_Group2 Input and Output operation functions - * @brief Data transfers functions - * -@verbatim - =============================================================================== - ##### IO operation functions ##### - =============================================================================== - [..] - This subsection provides a set of functions allowing to manage the FMPI2C data - transfers. - - (#) There are two modes of transfer: - (++) Blocking mode : The communication is performed in the polling mode. - The status of all data processing is returned by the same function - after finishing transfer. - (++) No-Blocking mode : The communication is performed using Interrupts - or DMA. These functions return the status of the transfer startup. - The end of the data processing will be indicated through the - dedicated FMPI2C IRQ when using Interrupt mode or the DMA IRQ when - using DMA mode. - - (#) Blocking mode functions are : - (++) HAL_FMPI2C_Master_Transmit() - (++) HAL_FMPI2C_Master_Receive() - (++) HAL_FMPI2C_Slave_Transmit() - (++) HAL_FMPI2C_Slave_Receive() - (++) HAL_FMPI2C_Mem_Write() - (++) HAL_FMPI2C_Mem_Read() - (++) HAL_FMPI2C_IsDeviceReady() - - (#) No-Blocking mode functions with Interrupt are : - (++) HAL_FMPI2C_Master_Transmit_IT() - (++) HAL_FMPI2C_Master_Receive_IT() - (++) HAL_FMPI2C_Slave_Transmit_IT() - (++) HAL_FMPI2C_Slave_Receive_IT() - (++) HAL_FMPI2C_Mem_Write_IT() - (++) HAL_FMPI2C_Mem_Read_IT() - (++) HAL_FMPI2C_Master_Seq_Transmit_IT() - (++) HAL_FMPI2C_Master_Seq_Receive_IT() - (++) HAL_FMPI2C_Slave_Seq_Transmit_IT() - (++) HAL_FMPI2C_Slave_Seq_Receive_IT() - (++) HAL_FMPI2C_EnableListen_IT() - (++) HAL_FMPI2C_DisableListen_IT() - (++) HAL_FMPI2C_Master_Abort_IT() - - (#) No-Blocking mode functions with DMA are : - (++) HAL_FMPI2C_Master_Transmit_DMA() - (++) HAL_FMPI2C_Master_Receive_DMA() - (++) HAL_FMPI2C_Slave_Transmit_DMA() - (++) HAL_FMPI2C_Slave_Receive_DMA() - (++) HAL_FMPI2C_Mem_Write_DMA() - (++) HAL_FMPI2C_Mem_Read_DMA() - (++) HAL_FMPI2C_Master_Seq_Transmit_DMA() - (++) HAL_FMPI2C_Master_Seq_Receive_DMA() - (++) HAL_FMPI2C_Slave_Seq_Transmit_DMA() - (++) HAL_FMPI2C_Slave_Seq_Receive_DMA() - - (#) A set of Transfer Complete Callbacks are provided in non Blocking mode: - (++) HAL_FMPI2C_MasterTxCpltCallback() - (++) HAL_FMPI2C_MasterRxCpltCallback() - (++) HAL_FMPI2C_SlaveTxCpltCallback() - (++) HAL_FMPI2C_SlaveRxCpltCallback() - (++) HAL_FMPI2C_MemTxCpltCallback() - (++) HAL_FMPI2C_MemRxCpltCallback() - (++) HAL_FMPI2C_AddrCallback() - (++) HAL_FMPI2C_ListenCpltCallback() - (++) HAL_FMPI2C_ErrorCallback() - (++) HAL_FMPI2C_AbortCpltCallback() - -@endverbatim - * @{ - */ - -/** - * @brief Transmits in master mode an amount of data in blocking mode. - * @param hfmpi2c Pointer to a FMPI2C_HandleTypeDef structure that contains - * the configuration information for the specified FMPI2C. - * @param DevAddress Target device address: The device 7 bits address value - * in datasheet must be shifted to the left before calling the interface - * @param pData Pointer to data buffer - * @param Size Amount of data to be sent - * @param Timeout Timeout duration - * @retval HAL status - */ -HAL_StatusTypeDef HAL_FMPI2C_Master_Transmit(FMPI2C_HandleTypeDef *hfmpi2c, uint16_t DevAddress, uint8_t *pData, - uint16_t Size, uint32_t Timeout) -{ - uint32_t tickstart; - - if (hfmpi2c->State == HAL_FMPI2C_STATE_READY) - { - /* Process Locked */ - __HAL_LOCK(hfmpi2c); - - /* Init tickstart for timeout management*/ - tickstart = HAL_GetTick(); - - if (FMPI2C_WaitOnFlagUntilTimeout(hfmpi2c, FMPI2C_FLAG_BUSY, SET, FMPI2C_TIMEOUT_BUSY, tickstart) != HAL_OK) - { - return HAL_ERROR; - } - - hfmpi2c->State = HAL_FMPI2C_STATE_BUSY_TX; - hfmpi2c->Mode = HAL_FMPI2C_MODE_MASTER; - hfmpi2c->ErrorCode = HAL_FMPI2C_ERROR_NONE; - - /* Prepare transfer parameters */ - hfmpi2c->pBuffPtr = pData; - hfmpi2c->XferCount = Size; - hfmpi2c->XferISR = NULL; - - /* Send Slave Address */ - /* Set NBYTES to write and reload if hfmpi2c->XferCount > MAX_NBYTE_SIZE and generate RESTART */ - if (hfmpi2c->XferCount > MAX_NBYTE_SIZE) - { - hfmpi2c->XferSize = MAX_NBYTE_SIZE; - FMPI2C_TransferConfig(hfmpi2c, DevAddress, (uint8_t)hfmpi2c->XferSize, FMPI2C_RELOAD_MODE, - FMPI2C_GENERATE_START_WRITE); - } - else - { - hfmpi2c->XferSize = hfmpi2c->XferCount; - FMPI2C_TransferConfig(hfmpi2c, DevAddress, (uint8_t)hfmpi2c->XferSize, FMPI2C_AUTOEND_MODE, - FMPI2C_GENERATE_START_WRITE); - } - - while (hfmpi2c->XferCount > 0U) - { - /* Wait until TXIS flag is set */ - if (FMPI2C_WaitOnTXISFlagUntilTimeout(hfmpi2c, Timeout, tickstart) != HAL_OK) - { - return HAL_ERROR; - } - /* Write data to TXDR */ - hfmpi2c->Instance->TXDR = *hfmpi2c->pBuffPtr; - - /* Increment Buffer pointer */ - hfmpi2c->pBuffPtr++; - - hfmpi2c->XferCount--; - hfmpi2c->XferSize--; - - if ((hfmpi2c->XferCount != 0U) && (hfmpi2c->XferSize == 0U)) - { - /* Wait until TCR flag is set */ - if (FMPI2C_WaitOnFlagUntilTimeout(hfmpi2c, FMPI2C_FLAG_TCR, RESET, Timeout, tickstart) != HAL_OK) - { - return HAL_ERROR; - } - - if (hfmpi2c->XferCount > MAX_NBYTE_SIZE) - { - hfmpi2c->XferSize = MAX_NBYTE_SIZE; - FMPI2C_TransferConfig(hfmpi2c, DevAddress, (uint8_t)hfmpi2c->XferSize, FMPI2C_RELOAD_MODE, - FMPI2C_NO_STARTSTOP); - } - else - { - hfmpi2c->XferSize = hfmpi2c->XferCount; - FMPI2C_TransferConfig(hfmpi2c, DevAddress, (uint8_t)hfmpi2c->XferSize, FMPI2C_AUTOEND_MODE, - FMPI2C_NO_STARTSTOP); - } - } - } - - /* No need to Check TC flag, with AUTOEND mode the stop is automatically generated */ - /* Wait until STOPF flag is set */ - if (FMPI2C_WaitOnSTOPFlagUntilTimeout(hfmpi2c, Timeout, tickstart) != HAL_OK) - { - return HAL_ERROR; - } - - /* Clear STOP Flag */ - __HAL_FMPI2C_CLEAR_FLAG(hfmpi2c, FMPI2C_FLAG_STOPF); - - /* Clear Configuration Register 2 */ - FMPI2C_RESET_CR2(hfmpi2c); - - hfmpi2c->State = HAL_FMPI2C_STATE_READY; - hfmpi2c->Mode = HAL_FMPI2C_MODE_NONE; - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpi2c); - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Receives in master mode an amount of data in blocking mode. - * @param hfmpi2c Pointer to a FMPI2C_HandleTypeDef structure that contains - * the configuration information for the specified FMPI2C. - * @param DevAddress Target device address: The device 7 bits address value - * in datasheet must be shifted to the left before calling the interface - * @param pData Pointer to data buffer - * @param Size Amount of data to be sent - * @param Timeout Timeout duration - * @retval HAL status - */ -HAL_StatusTypeDef HAL_FMPI2C_Master_Receive(FMPI2C_HandleTypeDef *hfmpi2c, uint16_t DevAddress, uint8_t *pData, - uint16_t Size, uint32_t Timeout) -{ - uint32_t tickstart; - - if (hfmpi2c->State == HAL_FMPI2C_STATE_READY) - { - /* Process Locked */ - __HAL_LOCK(hfmpi2c); - - /* Init tickstart for timeout management*/ - tickstart = HAL_GetTick(); - - if (FMPI2C_WaitOnFlagUntilTimeout(hfmpi2c, FMPI2C_FLAG_BUSY, SET, FMPI2C_TIMEOUT_BUSY, tickstart) != HAL_OK) - { - return HAL_ERROR; - } - - hfmpi2c->State = HAL_FMPI2C_STATE_BUSY_RX; - hfmpi2c->Mode = HAL_FMPI2C_MODE_MASTER; - hfmpi2c->ErrorCode = HAL_FMPI2C_ERROR_NONE; - - /* Prepare transfer parameters */ - hfmpi2c->pBuffPtr = pData; - hfmpi2c->XferCount = Size; - hfmpi2c->XferISR = NULL; - - /* Send Slave Address */ - /* Set NBYTES to write and reload if hfmpi2c->XferCount > MAX_NBYTE_SIZE and generate RESTART */ - if (hfmpi2c->XferCount > MAX_NBYTE_SIZE) - { - hfmpi2c->XferSize = MAX_NBYTE_SIZE; - FMPI2C_TransferConfig(hfmpi2c, DevAddress, (uint8_t)hfmpi2c->XferSize, FMPI2C_RELOAD_MODE, - FMPI2C_GENERATE_START_READ); - } - else - { - hfmpi2c->XferSize = hfmpi2c->XferCount; - FMPI2C_TransferConfig(hfmpi2c, DevAddress, (uint8_t)hfmpi2c->XferSize, FMPI2C_AUTOEND_MODE, - FMPI2C_GENERATE_START_READ); - } - - while (hfmpi2c->XferCount > 0U) - { - /* Wait until RXNE flag is set */ - if (FMPI2C_WaitOnRXNEFlagUntilTimeout(hfmpi2c, Timeout, tickstart) != HAL_OK) - { - return HAL_ERROR; - } - - /* Read data from RXDR */ - *hfmpi2c->pBuffPtr = (uint8_t)hfmpi2c->Instance->RXDR; - - /* Increment Buffer pointer */ - hfmpi2c->pBuffPtr++; - - hfmpi2c->XferSize--; - hfmpi2c->XferCount--; - - if ((hfmpi2c->XferCount != 0U) && (hfmpi2c->XferSize == 0U)) - { - /* Wait until TCR flag is set */ - if (FMPI2C_WaitOnFlagUntilTimeout(hfmpi2c, FMPI2C_FLAG_TCR, RESET, Timeout, tickstart) != HAL_OK) - { - return HAL_ERROR; - } - - if (hfmpi2c->XferCount > MAX_NBYTE_SIZE) - { - hfmpi2c->XferSize = MAX_NBYTE_SIZE; - FMPI2C_TransferConfig(hfmpi2c, DevAddress, (uint8_t)hfmpi2c->XferSize, FMPI2C_RELOAD_MODE, - FMPI2C_NO_STARTSTOP); - } - else - { - hfmpi2c->XferSize = hfmpi2c->XferCount; - FMPI2C_TransferConfig(hfmpi2c, DevAddress, (uint8_t)hfmpi2c->XferSize, FMPI2C_AUTOEND_MODE, - FMPI2C_NO_STARTSTOP); - } - } - } - - /* No need to Check TC flag, with AUTOEND mode the stop is automatically generated */ - /* Wait until STOPF flag is set */ - if (FMPI2C_WaitOnSTOPFlagUntilTimeout(hfmpi2c, Timeout, tickstart) != HAL_OK) - { - return HAL_ERROR; - } - - /* Clear STOP Flag */ - __HAL_FMPI2C_CLEAR_FLAG(hfmpi2c, FMPI2C_FLAG_STOPF); - - /* Clear Configuration Register 2 */ - FMPI2C_RESET_CR2(hfmpi2c); - - hfmpi2c->State = HAL_FMPI2C_STATE_READY; - hfmpi2c->Mode = HAL_FMPI2C_MODE_NONE; - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpi2c); - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Transmits in slave mode an amount of data in blocking mode. - * @param hfmpi2c Pointer to a FMPI2C_HandleTypeDef structure that contains - * the configuration information for the specified FMPI2C. - * @param pData Pointer to data buffer - * @param Size Amount of data to be sent - * @param Timeout Timeout duration - * @retval HAL status - */ -HAL_StatusTypeDef HAL_FMPI2C_Slave_Transmit(FMPI2C_HandleTypeDef *hfmpi2c, uint8_t *pData, uint16_t Size, - uint32_t Timeout) -{ - uint32_t tickstart; - - if (hfmpi2c->State == HAL_FMPI2C_STATE_READY) - { - if ((pData == NULL) || (Size == 0U)) - { - hfmpi2c->ErrorCode = HAL_FMPI2C_ERROR_INVALID_PARAM; - return HAL_ERROR; - } - /* Process Locked */ - __HAL_LOCK(hfmpi2c); - - /* Init tickstart for timeout management*/ - tickstart = HAL_GetTick(); - - hfmpi2c->State = HAL_FMPI2C_STATE_BUSY_TX; - hfmpi2c->Mode = HAL_FMPI2C_MODE_SLAVE; - hfmpi2c->ErrorCode = HAL_FMPI2C_ERROR_NONE; - - /* Prepare transfer parameters */ - hfmpi2c->pBuffPtr = pData; - hfmpi2c->XferCount = Size; - hfmpi2c->XferISR = NULL; - - /* Enable Address Acknowledge */ - hfmpi2c->Instance->CR2 &= ~FMPI2C_CR2_NACK; - - /* Wait until ADDR flag is set */ - if (FMPI2C_WaitOnFlagUntilTimeout(hfmpi2c, FMPI2C_FLAG_ADDR, RESET, Timeout, tickstart) != HAL_OK) - { - /* Disable Address Acknowledge */ - hfmpi2c->Instance->CR2 |= FMPI2C_CR2_NACK; - return HAL_ERROR; - } - - /* Clear ADDR flag */ - __HAL_FMPI2C_CLEAR_FLAG(hfmpi2c, FMPI2C_FLAG_ADDR); - - /* If 10bit addressing mode is selected */ - if (hfmpi2c->Init.AddressingMode == FMPI2C_ADDRESSINGMODE_10BIT) - { - /* Wait until ADDR flag is set */ - if (FMPI2C_WaitOnFlagUntilTimeout(hfmpi2c, FMPI2C_FLAG_ADDR, RESET, Timeout, tickstart) != HAL_OK) - { - /* Disable Address Acknowledge */ - hfmpi2c->Instance->CR2 |= FMPI2C_CR2_NACK; - return HAL_ERROR; - } - - /* Clear ADDR flag */ - __HAL_FMPI2C_CLEAR_FLAG(hfmpi2c, FMPI2C_FLAG_ADDR); - } - - /* Wait until DIR flag is set Transmitter mode */ - if (FMPI2C_WaitOnFlagUntilTimeout(hfmpi2c, FMPI2C_FLAG_DIR, RESET, Timeout, tickstart) != HAL_OK) - { - /* Disable Address Acknowledge */ - hfmpi2c->Instance->CR2 |= FMPI2C_CR2_NACK; - return HAL_ERROR; - } - - while (hfmpi2c->XferCount > 0U) - { - /* Wait until TXIS flag is set */ - if (FMPI2C_WaitOnTXISFlagUntilTimeout(hfmpi2c, Timeout, tickstart) != HAL_OK) - { - /* Disable Address Acknowledge */ - hfmpi2c->Instance->CR2 |= FMPI2C_CR2_NACK; - return HAL_ERROR; - } - - /* Write data to TXDR */ - hfmpi2c->Instance->TXDR = *hfmpi2c->pBuffPtr; - - /* Increment Buffer pointer */ - hfmpi2c->pBuffPtr++; - - hfmpi2c->XferCount--; - } - - /* Wait until STOP flag is set */ - if (FMPI2C_WaitOnSTOPFlagUntilTimeout(hfmpi2c, Timeout, tickstart) != HAL_OK) - { - /* Disable Address Acknowledge */ - hfmpi2c->Instance->CR2 |= FMPI2C_CR2_NACK; - - if (hfmpi2c->ErrorCode == HAL_FMPI2C_ERROR_AF) - { - /* Normal use case for Transmitter mode */ - /* A NACK is generated to confirm the end of transfer */ - hfmpi2c->ErrorCode = HAL_FMPI2C_ERROR_NONE; - } - else - { - return HAL_ERROR; - } - } - - /* Clear STOP flag */ - __HAL_FMPI2C_CLEAR_FLAG(hfmpi2c, FMPI2C_FLAG_STOPF); - - /* Wait until BUSY flag is reset */ - if (FMPI2C_WaitOnFlagUntilTimeout(hfmpi2c, FMPI2C_FLAG_BUSY, SET, Timeout, tickstart) != HAL_OK) - { - /* Disable Address Acknowledge */ - hfmpi2c->Instance->CR2 |= FMPI2C_CR2_NACK; - return HAL_ERROR; - } - - /* Disable Address Acknowledge */ - hfmpi2c->Instance->CR2 |= FMPI2C_CR2_NACK; - - hfmpi2c->State = HAL_FMPI2C_STATE_READY; - hfmpi2c->Mode = HAL_FMPI2C_MODE_NONE; - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpi2c); - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Receive in slave mode an amount of data in blocking mode - * @param hfmpi2c Pointer to a FMPI2C_HandleTypeDef structure that contains - * the configuration information for the specified FMPI2C. - * @param pData Pointer to data buffer - * @param Size Amount of data to be sent - * @param Timeout Timeout duration - * @retval HAL status - */ -HAL_StatusTypeDef HAL_FMPI2C_Slave_Receive(FMPI2C_HandleTypeDef *hfmpi2c, uint8_t *pData, uint16_t Size, - uint32_t Timeout) -{ - uint32_t tickstart; - - if (hfmpi2c->State == HAL_FMPI2C_STATE_READY) - { - if ((pData == NULL) || (Size == 0U)) - { - hfmpi2c->ErrorCode = HAL_FMPI2C_ERROR_INVALID_PARAM; - return HAL_ERROR; - } - /* Process Locked */ - __HAL_LOCK(hfmpi2c); - - /* Init tickstart for timeout management*/ - tickstart = HAL_GetTick(); - - hfmpi2c->State = HAL_FMPI2C_STATE_BUSY_RX; - hfmpi2c->Mode = HAL_FMPI2C_MODE_SLAVE; - hfmpi2c->ErrorCode = HAL_FMPI2C_ERROR_NONE; - - /* Prepare transfer parameters */ - hfmpi2c->pBuffPtr = pData; - hfmpi2c->XferCount = Size; - hfmpi2c->XferISR = NULL; - - /* Enable Address Acknowledge */ - hfmpi2c->Instance->CR2 &= ~FMPI2C_CR2_NACK; - - /* Wait until ADDR flag is set */ - if (FMPI2C_WaitOnFlagUntilTimeout(hfmpi2c, FMPI2C_FLAG_ADDR, RESET, Timeout, tickstart) != HAL_OK) - { - /* Disable Address Acknowledge */ - hfmpi2c->Instance->CR2 |= FMPI2C_CR2_NACK; - return HAL_ERROR; - } - - /* Clear ADDR flag */ - __HAL_FMPI2C_CLEAR_FLAG(hfmpi2c, FMPI2C_FLAG_ADDR); - - /* Wait until DIR flag is reset Receiver mode */ - if (FMPI2C_WaitOnFlagUntilTimeout(hfmpi2c, FMPI2C_FLAG_DIR, SET, Timeout, tickstart) != HAL_OK) - { - /* Disable Address Acknowledge */ - hfmpi2c->Instance->CR2 |= FMPI2C_CR2_NACK; - return HAL_ERROR; - } - - while (hfmpi2c->XferCount > 0U) - { - /* Wait until RXNE flag is set */ - if (FMPI2C_WaitOnRXNEFlagUntilTimeout(hfmpi2c, Timeout, tickstart) != HAL_OK) - { - /* Disable Address Acknowledge */ - hfmpi2c->Instance->CR2 |= FMPI2C_CR2_NACK; - - /* Store Last receive data if any */ - if (__HAL_FMPI2C_GET_FLAG(hfmpi2c, FMPI2C_FLAG_RXNE) == SET) - { - /* Read data from RXDR */ - *hfmpi2c->pBuffPtr = (uint8_t)hfmpi2c->Instance->RXDR; - - /* Increment Buffer pointer */ - hfmpi2c->pBuffPtr++; - - hfmpi2c->XferCount--; - } - - return HAL_ERROR; - } - - /* Read data from RXDR */ - *hfmpi2c->pBuffPtr = (uint8_t)hfmpi2c->Instance->RXDR; - - /* Increment Buffer pointer */ - hfmpi2c->pBuffPtr++; - - hfmpi2c->XferCount--; - } - - /* Wait until STOP flag is set */ - if (FMPI2C_WaitOnSTOPFlagUntilTimeout(hfmpi2c, Timeout, tickstart) != HAL_OK) - { - /* Disable Address Acknowledge */ - hfmpi2c->Instance->CR2 |= FMPI2C_CR2_NACK; - return HAL_ERROR; - } - - /* Clear STOP flag */ - __HAL_FMPI2C_CLEAR_FLAG(hfmpi2c, FMPI2C_FLAG_STOPF); - - /* Wait until BUSY flag is reset */ - if (FMPI2C_WaitOnFlagUntilTimeout(hfmpi2c, FMPI2C_FLAG_BUSY, SET, Timeout, tickstart) != HAL_OK) - { - /* Disable Address Acknowledge */ - hfmpi2c->Instance->CR2 |= FMPI2C_CR2_NACK; - return HAL_ERROR; - } - - /* Disable Address Acknowledge */ - hfmpi2c->Instance->CR2 |= FMPI2C_CR2_NACK; - - hfmpi2c->State = HAL_FMPI2C_STATE_READY; - hfmpi2c->Mode = HAL_FMPI2C_MODE_NONE; - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpi2c); - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Transmit in master mode an amount of data in non-blocking mode with Interrupt - * @param hfmpi2c Pointer to a FMPI2C_HandleTypeDef structure that contains - * the configuration information for the specified FMPI2C. - * @param DevAddress Target device address: The device 7 bits address value - * in datasheet must be shifted to the left before calling the interface - * @param pData Pointer to data buffer - * @param Size Amount of data to be sent - * @retval HAL status - */ -HAL_StatusTypeDef HAL_FMPI2C_Master_Transmit_IT(FMPI2C_HandleTypeDef *hfmpi2c, uint16_t DevAddress, uint8_t *pData, - uint16_t Size) -{ - uint32_t xfermode; - - if (hfmpi2c->State == HAL_FMPI2C_STATE_READY) - { - if (__HAL_FMPI2C_GET_FLAG(hfmpi2c, FMPI2C_FLAG_BUSY) == SET) - { - return HAL_BUSY; - } - - /* Process Locked */ - __HAL_LOCK(hfmpi2c); - - hfmpi2c->State = HAL_FMPI2C_STATE_BUSY_TX; - hfmpi2c->Mode = HAL_FMPI2C_MODE_MASTER; - hfmpi2c->ErrorCode = HAL_FMPI2C_ERROR_NONE; - - /* Prepare transfer parameters */ - hfmpi2c->pBuffPtr = pData; - hfmpi2c->XferCount = Size; - hfmpi2c->XferOptions = FMPI2C_NO_OPTION_FRAME; - hfmpi2c->XferISR = FMPI2C_Master_ISR_IT; - - if (hfmpi2c->XferCount > MAX_NBYTE_SIZE) - { - hfmpi2c->XferSize = MAX_NBYTE_SIZE; - xfermode = FMPI2C_RELOAD_MODE; - } - else - { - hfmpi2c->XferSize = hfmpi2c->XferCount; - xfermode = FMPI2C_AUTOEND_MODE; - } - - /* Send Slave Address */ - /* Set NBYTES to write and reload if hfmpi2c->XferCount > MAX_NBYTE_SIZE */ - FMPI2C_TransferConfig(hfmpi2c, DevAddress, (uint8_t)hfmpi2c->XferSize, xfermode, FMPI2C_GENERATE_START_WRITE); - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpi2c); - - /* Note : The FMPI2C interrupts must be enabled after unlocking current process - to avoid the risk of FMPI2C interrupt handle execution before current - process unlock */ - - /* Enable ERR, TC, STOP, NACK, TXI interrupt */ - /* possible to enable all of these */ - /* FMPI2C_IT_ERRI | FMPI2C_IT_TCI | FMPI2C_IT_STOPI | FMPI2C_IT_NACKI | - FMPI2C_IT_ADDRI | FMPI2C_IT_RXI | FMPI2C_IT_TXI */ - FMPI2C_Enable_IRQ(hfmpi2c, FMPI2C_XFER_TX_IT); - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Receive in master mode an amount of data in non-blocking mode with Interrupt - * @param hfmpi2c Pointer to a FMPI2C_HandleTypeDef structure that contains - * the configuration information for the specified FMPI2C. - * @param DevAddress Target device address: The device 7 bits address value - * in datasheet must be shifted to the left before calling the interface - * @param pData Pointer to data buffer - * @param Size Amount of data to be sent - * @retval HAL status - */ -HAL_StatusTypeDef HAL_FMPI2C_Master_Receive_IT(FMPI2C_HandleTypeDef *hfmpi2c, uint16_t DevAddress, uint8_t *pData, - uint16_t Size) -{ - uint32_t xfermode; - - if (hfmpi2c->State == HAL_FMPI2C_STATE_READY) - { - if (__HAL_FMPI2C_GET_FLAG(hfmpi2c, FMPI2C_FLAG_BUSY) == SET) - { - return HAL_BUSY; - } - - /* Process Locked */ - __HAL_LOCK(hfmpi2c); - - hfmpi2c->State = HAL_FMPI2C_STATE_BUSY_RX; - hfmpi2c->Mode = HAL_FMPI2C_MODE_MASTER; - hfmpi2c->ErrorCode = HAL_FMPI2C_ERROR_NONE; - - /* Prepare transfer parameters */ - hfmpi2c->pBuffPtr = pData; - hfmpi2c->XferCount = Size; - hfmpi2c->XferOptions = FMPI2C_NO_OPTION_FRAME; - hfmpi2c->XferISR = FMPI2C_Master_ISR_IT; - - if (hfmpi2c->XferCount > MAX_NBYTE_SIZE) - { - hfmpi2c->XferSize = MAX_NBYTE_SIZE; - xfermode = FMPI2C_RELOAD_MODE; - } - else - { - hfmpi2c->XferSize = hfmpi2c->XferCount; - xfermode = FMPI2C_AUTOEND_MODE; - } - - /* Send Slave Address */ - /* Set NBYTES to write and reload if hfmpi2c->XferCount > MAX_NBYTE_SIZE */ - FMPI2C_TransferConfig(hfmpi2c, DevAddress, (uint8_t)hfmpi2c->XferSize, xfermode, FMPI2C_GENERATE_START_READ); - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpi2c); - - /* Note : The FMPI2C interrupts must be enabled after unlocking current process - to avoid the risk of FMPI2C interrupt handle execution before current - process unlock */ - - /* Enable ERR, TC, STOP, NACK, RXI interrupt */ - /* possible to enable all of these */ - /* FMPI2C_IT_ERRI | FMPI2C_IT_TCI | FMPI2C_IT_STOPI | FMPI2C_IT_NACKI | - FMPI2C_IT_ADDRI | FMPI2C_IT_RXI | FMPI2C_IT_TXI */ - FMPI2C_Enable_IRQ(hfmpi2c, FMPI2C_XFER_RX_IT); - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Transmit in slave mode an amount of data in non-blocking mode with Interrupt - * @param hfmpi2c Pointer to a FMPI2C_HandleTypeDef structure that contains - * the configuration information for the specified FMPI2C. - * @param pData Pointer to data buffer - * @param Size Amount of data to be sent - * @retval HAL status - */ -HAL_StatusTypeDef HAL_FMPI2C_Slave_Transmit_IT(FMPI2C_HandleTypeDef *hfmpi2c, uint8_t *pData, uint16_t Size) -{ - if (hfmpi2c->State == HAL_FMPI2C_STATE_READY) - { - /* Process Locked */ - __HAL_LOCK(hfmpi2c); - - hfmpi2c->State = HAL_FMPI2C_STATE_BUSY_TX; - hfmpi2c->Mode = HAL_FMPI2C_MODE_SLAVE; - hfmpi2c->ErrorCode = HAL_FMPI2C_ERROR_NONE; - - /* Enable Address Acknowledge */ - hfmpi2c->Instance->CR2 &= ~FMPI2C_CR2_NACK; - - /* Prepare transfer parameters */ - hfmpi2c->pBuffPtr = pData; - hfmpi2c->XferCount = Size; - hfmpi2c->XferSize = hfmpi2c->XferCount; - hfmpi2c->XferOptions = FMPI2C_NO_OPTION_FRAME; - hfmpi2c->XferISR = FMPI2C_Slave_ISR_IT; - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpi2c); - - /* Note : The FMPI2C interrupts must be enabled after unlocking current process - to avoid the risk of FMPI2C interrupt handle execution before current - process unlock */ - - /* Enable ERR, TC, STOP, NACK, TXI interrupt */ - /* possible to enable all of these */ - /* FMPI2C_IT_ERRI | FMPI2C_IT_TCI | FMPI2C_IT_STOPI | FMPI2C_IT_NACKI | - FMPI2C_IT_ADDRI | FMPI2C_IT_RXI | FMPI2C_IT_TXI */ - FMPI2C_Enable_IRQ(hfmpi2c, FMPI2C_XFER_TX_IT | FMPI2C_XFER_LISTEN_IT); - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Receive in slave mode an amount of data in non-blocking mode with Interrupt - * @param hfmpi2c Pointer to a FMPI2C_HandleTypeDef structure that contains - * the configuration information for the specified FMPI2C. - * @param pData Pointer to data buffer - * @param Size Amount of data to be sent - * @retval HAL status - */ -HAL_StatusTypeDef HAL_FMPI2C_Slave_Receive_IT(FMPI2C_HandleTypeDef *hfmpi2c, uint8_t *pData, uint16_t Size) -{ - if (hfmpi2c->State == HAL_FMPI2C_STATE_READY) - { - /* Process Locked */ - __HAL_LOCK(hfmpi2c); - - hfmpi2c->State = HAL_FMPI2C_STATE_BUSY_RX; - hfmpi2c->Mode = HAL_FMPI2C_MODE_SLAVE; - hfmpi2c->ErrorCode = HAL_FMPI2C_ERROR_NONE; - - /* Enable Address Acknowledge */ - hfmpi2c->Instance->CR2 &= ~FMPI2C_CR2_NACK; - - /* Prepare transfer parameters */ - hfmpi2c->pBuffPtr = pData; - hfmpi2c->XferCount = Size; - hfmpi2c->XferSize = hfmpi2c->XferCount; - hfmpi2c->XferOptions = FMPI2C_NO_OPTION_FRAME; - hfmpi2c->XferISR = FMPI2C_Slave_ISR_IT; - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpi2c); - - /* Note : The FMPI2C interrupts must be enabled after unlocking current process - to avoid the risk of FMPI2C interrupt handle execution before current - process unlock */ - - /* Enable ERR, TC, STOP, NACK, RXI interrupt */ - /* possible to enable all of these */ - /* FMPI2C_IT_ERRI | FMPI2C_IT_TCI | FMPI2C_IT_STOPI | FMPI2C_IT_NACKI | - FMPI2C_IT_ADDRI | FMPI2C_IT_RXI | FMPI2C_IT_TXI */ - FMPI2C_Enable_IRQ(hfmpi2c, FMPI2C_XFER_RX_IT | FMPI2C_XFER_LISTEN_IT); - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Transmit in master mode an amount of data in non-blocking mode with DMA - * @param hfmpi2c Pointer to a FMPI2C_HandleTypeDef structure that contains - * the configuration information for the specified FMPI2C. - * @param DevAddress Target device address: The device 7 bits address value - * in datasheet must be shifted to the left before calling the interface - * @param pData Pointer to data buffer - * @param Size Amount of data to be sent - * @retval HAL status - */ -HAL_StatusTypeDef HAL_FMPI2C_Master_Transmit_DMA(FMPI2C_HandleTypeDef *hfmpi2c, uint16_t DevAddress, uint8_t *pData, - uint16_t Size) -{ - uint32_t xfermode; - HAL_StatusTypeDef dmaxferstatus; - - if (hfmpi2c->State == HAL_FMPI2C_STATE_READY) - { - if (__HAL_FMPI2C_GET_FLAG(hfmpi2c, FMPI2C_FLAG_BUSY) == SET) - { - return HAL_BUSY; - } - - /* Process Locked */ - __HAL_LOCK(hfmpi2c); - - hfmpi2c->State = HAL_FMPI2C_STATE_BUSY_TX; - hfmpi2c->Mode = HAL_FMPI2C_MODE_MASTER; - hfmpi2c->ErrorCode = HAL_FMPI2C_ERROR_NONE; - - /* Prepare transfer parameters */ - hfmpi2c->pBuffPtr = pData; - hfmpi2c->XferCount = Size; - hfmpi2c->XferOptions = FMPI2C_NO_OPTION_FRAME; - hfmpi2c->XferISR = FMPI2C_Master_ISR_DMA; - - if (hfmpi2c->XferCount > MAX_NBYTE_SIZE) - { - hfmpi2c->XferSize = MAX_NBYTE_SIZE; - xfermode = FMPI2C_RELOAD_MODE; - } - else - { - hfmpi2c->XferSize = hfmpi2c->XferCount; - xfermode = FMPI2C_AUTOEND_MODE; - } - - if (hfmpi2c->XferSize > 0U) - { - if (hfmpi2c->hdmatx != NULL) - { - /* Set the FMPI2C DMA transfer complete callback */ - hfmpi2c->hdmatx->XferCpltCallback = FMPI2C_DMAMasterTransmitCplt; - - /* Set the DMA error callback */ - hfmpi2c->hdmatx->XferErrorCallback = FMPI2C_DMAError; - - /* Set the unused DMA callbacks to NULL */ - hfmpi2c->hdmatx->XferHalfCpltCallback = NULL; - hfmpi2c->hdmatx->XferAbortCallback = NULL; - - /* Enable the DMA stream */ - dmaxferstatus = HAL_DMA_Start_IT(hfmpi2c->hdmatx, (uint32_t)pData, (uint32_t)&hfmpi2c->Instance->TXDR, - hfmpi2c->XferSize); - } - else - { - /* Update FMPI2C state */ - hfmpi2c->State = HAL_FMPI2C_STATE_READY; - hfmpi2c->Mode = HAL_FMPI2C_MODE_NONE; - - /* Update FMPI2C error code */ - hfmpi2c->ErrorCode |= HAL_FMPI2C_ERROR_DMA_PARAM; - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpi2c); - - return HAL_ERROR; - } - - if (dmaxferstatus == HAL_OK) - { - /* Send Slave Address */ - /* Set NBYTES to write and reload if hfmpi2c->XferCount > MAX_NBYTE_SIZE and generate RESTART */ - FMPI2C_TransferConfig(hfmpi2c, DevAddress, (uint8_t)hfmpi2c->XferSize, xfermode, FMPI2C_GENERATE_START_WRITE); - - /* Update XferCount value */ - hfmpi2c->XferCount -= hfmpi2c->XferSize; - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpi2c); - - /* Note : The FMPI2C interrupts must be enabled after unlocking current process - to avoid the risk of FMPI2C interrupt handle execution before current - process unlock */ - /* Enable ERR and NACK interrupts */ - FMPI2C_Enable_IRQ(hfmpi2c, FMPI2C_XFER_ERROR_IT); - - /* Enable DMA Request */ - hfmpi2c->Instance->CR1 |= FMPI2C_CR1_TXDMAEN; - } - else - { - /* Update FMPI2C state */ - hfmpi2c->State = HAL_FMPI2C_STATE_READY; - hfmpi2c->Mode = HAL_FMPI2C_MODE_NONE; - - /* Update FMPI2C error code */ - hfmpi2c->ErrorCode |= HAL_FMPI2C_ERROR_DMA; - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpi2c); - - return HAL_ERROR; - } - } - else - { - /* Update Transfer ISR function pointer */ - hfmpi2c->XferISR = FMPI2C_Master_ISR_IT; - - /* Send Slave Address */ - /* Set NBYTES to write and generate START condition */ - FMPI2C_TransferConfig(hfmpi2c, DevAddress, (uint8_t)hfmpi2c->XferSize, FMPI2C_AUTOEND_MODE, - FMPI2C_GENERATE_START_WRITE); - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpi2c); - - /* Note : The FMPI2C interrupts must be enabled after unlocking current process - to avoid the risk of FMPI2C interrupt handle execution before current - process unlock */ - /* Enable ERR, TC, STOP, NACK, TXI interrupt */ - /* possible to enable all of these */ - /* FMPI2C_IT_ERRI | FMPI2C_IT_TCI | FMPI2C_IT_STOPI | FMPI2C_IT_NACKI | - FMPI2C_IT_ADDRI | FMPI2C_IT_RXI | FMPI2C_IT_TXI */ - FMPI2C_Enable_IRQ(hfmpi2c, FMPI2C_XFER_TX_IT); - } - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Receive in master mode an amount of data in non-blocking mode with DMA - * @param hfmpi2c Pointer to a FMPI2C_HandleTypeDef structure that contains - * the configuration information for the specified FMPI2C. - * @param DevAddress Target device address: The device 7 bits address value - * in datasheet must be shifted to the left before calling the interface - * @param pData Pointer to data buffer - * @param Size Amount of data to be sent - * @retval HAL status - */ -HAL_StatusTypeDef HAL_FMPI2C_Master_Receive_DMA(FMPI2C_HandleTypeDef *hfmpi2c, uint16_t DevAddress, uint8_t *pData, - uint16_t Size) -{ - uint32_t xfermode; - HAL_StatusTypeDef dmaxferstatus; - - if (hfmpi2c->State == HAL_FMPI2C_STATE_READY) - { - if (__HAL_FMPI2C_GET_FLAG(hfmpi2c, FMPI2C_FLAG_BUSY) == SET) - { - return HAL_BUSY; - } - - /* Process Locked */ - __HAL_LOCK(hfmpi2c); - - hfmpi2c->State = HAL_FMPI2C_STATE_BUSY_RX; - hfmpi2c->Mode = HAL_FMPI2C_MODE_MASTER; - hfmpi2c->ErrorCode = HAL_FMPI2C_ERROR_NONE; - - /* Prepare transfer parameters */ - hfmpi2c->pBuffPtr = pData; - hfmpi2c->XferCount = Size; - hfmpi2c->XferOptions = FMPI2C_NO_OPTION_FRAME; - hfmpi2c->XferISR = FMPI2C_Master_ISR_DMA; - - if (hfmpi2c->XferCount > MAX_NBYTE_SIZE) - { - hfmpi2c->XferSize = MAX_NBYTE_SIZE; - xfermode = FMPI2C_RELOAD_MODE; - } - else - { - hfmpi2c->XferSize = hfmpi2c->XferCount; - xfermode = FMPI2C_AUTOEND_MODE; - } - - if (hfmpi2c->XferSize > 0U) - { - if (hfmpi2c->hdmarx != NULL) - { - /* Set the FMPI2C DMA transfer complete callback */ - hfmpi2c->hdmarx->XferCpltCallback = FMPI2C_DMAMasterReceiveCplt; - - /* Set the DMA error callback */ - hfmpi2c->hdmarx->XferErrorCallback = FMPI2C_DMAError; - - /* Set the unused DMA callbacks to NULL */ - hfmpi2c->hdmarx->XferHalfCpltCallback = NULL; - hfmpi2c->hdmarx->XferAbortCallback = NULL; - - /* Enable the DMA stream */ - dmaxferstatus = HAL_DMA_Start_IT(hfmpi2c->hdmarx, (uint32_t)&hfmpi2c->Instance->RXDR, (uint32_t)pData, - hfmpi2c->XferSize); - } - else - { - /* Update FMPI2C state */ - hfmpi2c->State = HAL_FMPI2C_STATE_READY; - hfmpi2c->Mode = HAL_FMPI2C_MODE_NONE; - - /* Update FMPI2C error code */ - hfmpi2c->ErrorCode |= HAL_FMPI2C_ERROR_DMA_PARAM; - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpi2c); - - return HAL_ERROR; - } - - if (dmaxferstatus == HAL_OK) - { - /* Send Slave Address */ - /* Set NBYTES to read and reload if hfmpi2c->XferCount > MAX_NBYTE_SIZE and generate RESTART */ - FMPI2C_TransferConfig(hfmpi2c, DevAddress, (uint8_t)hfmpi2c->XferSize, xfermode, FMPI2C_GENERATE_START_READ); - - /* Update XferCount value */ - hfmpi2c->XferCount -= hfmpi2c->XferSize; - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpi2c); - - /* Note : The FMPI2C interrupts must be enabled after unlocking current process - to avoid the risk of FMPI2C interrupt handle execution before current - process unlock */ - /* Enable ERR and NACK interrupts */ - FMPI2C_Enable_IRQ(hfmpi2c, FMPI2C_XFER_ERROR_IT); - - /* Enable DMA Request */ - hfmpi2c->Instance->CR1 |= FMPI2C_CR1_RXDMAEN; - } - else - { - /* Update FMPI2C state */ - hfmpi2c->State = HAL_FMPI2C_STATE_READY; - hfmpi2c->Mode = HAL_FMPI2C_MODE_NONE; - - /* Update FMPI2C error code */ - hfmpi2c->ErrorCode |= HAL_FMPI2C_ERROR_DMA; - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpi2c); - - return HAL_ERROR; - } - } - else - { - /* Update Transfer ISR function pointer */ - hfmpi2c->XferISR = FMPI2C_Master_ISR_IT; - - /* Send Slave Address */ - /* Set NBYTES to read and generate START condition */ - FMPI2C_TransferConfig(hfmpi2c, DevAddress, (uint8_t)hfmpi2c->XferSize, FMPI2C_AUTOEND_MODE, - FMPI2C_GENERATE_START_READ); - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpi2c); - - /* Note : The FMPI2C interrupts must be enabled after unlocking current process - to avoid the risk of FMPI2C interrupt handle execution before current - process unlock */ - /* Enable ERR, TC, STOP, NACK, TXI interrupt */ - /* possible to enable all of these */ - /* FMPI2C_IT_ERRI | FMPI2C_IT_TCI | FMPI2C_IT_STOPI | FMPI2C_IT_NACKI | - FMPI2C_IT_ADDRI | FMPI2C_IT_RXI | FMPI2C_IT_TXI */ - FMPI2C_Enable_IRQ(hfmpi2c, FMPI2C_XFER_TX_IT); - } - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Transmit in slave mode an amount of data in non-blocking mode with DMA - * @param hfmpi2c Pointer to a FMPI2C_HandleTypeDef structure that contains - * the configuration information for the specified FMPI2C. - * @param pData Pointer to data buffer - * @param Size Amount of data to be sent - * @retval HAL status - */ -HAL_StatusTypeDef HAL_FMPI2C_Slave_Transmit_DMA(FMPI2C_HandleTypeDef *hfmpi2c, uint8_t *pData, uint16_t Size) -{ - HAL_StatusTypeDef dmaxferstatus; - - if (hfmpi2c->State == HAL_FMPI2C_STATE_READY) - { - if ((pData == NULL) || (Size == 0U)) - { - hfmpi2c->ErrorCode = HAL_FMPI2C_ERROR_INVALID_PARAM; - return HAL_ERROR; - } - /* Process Locked */ - __HAL_LOCK(hfmpi2c); - - hfmpi2c->State = HAL_FMPI2C_STATE_BUSY_TX; - hfmpi2c->Mode = HAL_FMPI2C_MODE_SLAVE; - hfmpi2c->ErrorCode = HAL_FMPI2C_ERROR_NONE; - - /* Prepare transfer parameters */ - hfmpi2c->pBuffPtr = pData; - hfmpi2c->XferCount = Size; - hfmpi2c->XferSize = hfmpi2c->XferCount; - hfmpi2c->XferOptions = FMPI2C_NO_OPTION_FRAME; - hfmpi2c->XferISR = FMPI2C_Slave_ISR_DMA; - - if (hfmpi2c->hdmatx != NULL) - { - /* Set the FMPI2C DMA transfer complete callback */ - hfmpi2c->hdmatx->XferCpltCallback = FMPI2C_DMASlaveTransmitCplt; - - /* Set the DMA error callback */ - hfmpi2c->hdmatx->XferErrorCallback = FMPI2C_DMAError; - - /* Set the unused DMA callbacks to NULL */ - hfmpi2c->hdmatx->XferHalfCpltCallback = NULL; - hfmpi2c->hdmatx->XferAbortCallback = NULL; - - /* Enable the DMA stream */ - dmaxferstatus = HAL_DMA_Start_IT(hfmpi2c->hdmatx, (uint32_t)pData, (uint32_t)&hfmpi2c->Instance->TXDR, - hfmpi2c->XferSize); - } - else - { - /* Update FMPI2C state */ - hfmpi2c->State = HAL_FMPI2C_STATE_LISTEN; - hfmpi2c->Mode = HAL_FMPI2C_MODE_NONE; - - /* Update FMPI2C error code */ - hfmpi2c->ErrorCode |= HAL_FMPI2C_ERROR_DMA_PARAM; - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpi2c); - - return HAL_ERROR; - } - - if (dmaxferstatus == HAL_OK) - { - /* Enable Address Acknowledge */ - hfmpi2c->Instance->CR2 &= ~FMPI2C_CR2_NACK; - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpi2c); - - /* Note : The FMPI2C interrupts must be enabled after unlocking current process - to avoid the risk of FMPI2C interrupt handle execution before current - process unlock */ - /* Enable ERR, STOP, NACK, ADDR interrupts */ - FMPI2C_Enable_IRQ(hfmpi2c, FMPI2C_XFER_LISTEN_IT); - - /* Enable DMA Request */ - hfmpi2c->Instance->CR1 |= FMPI2C_CR1_TXDMAEN; - } - else - { - /* Update FMPI2C state */ - hfmpi2c->State = HAL_FMPI2C_STATE_LISTEN; - hfmpi2c->Mode = HAL_FMPI2C_MODE_NONE; - - /* Update FMPI2C error code */ - hfmpi2c->ErrorCode |= HAL_FMPI2C_ERROR_DMA; - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpi2c); - - return HAL_ERROR; - } - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Receive in slave mode an amount of data in non-blocking mode with DMA - * @param hfmpi2c Pointer to a FMPI2C_HandleTypeDef structure that contains - * the configuration information for the specified FMPI2C. - * @param pData Pointer to data buffer - * @param Size Amount of data to be sent - * @retval HAL status - */ -HAL_StatusTypeDef HAL_FMPI2C_Slave_Receive_DMA(FMPI2C_HandleTypeDef *hfmpi2c, uint8_t *pData, uint16_t Size) -{ - HAL_StatusTypeDef dmaxferstatus; - - if (hfmpi2c->State == HAL_FMPI2C_STATE_READY) - { - if ((pData == NULL) || (Size == 0U)) - { - hfmpi2c->ErrorCode = HAL_FMPI2C_ERROR_INVALID_PARAM; - return HAL_ERROR; - } - /* Process Locked */ - __HAL_LOCK(hfmpi2c); - - hfmpi2c->State = HAL_FMPI2C_STATE_BUSY_RX; - hfmpi2c->Mode = HAL_FMPI2C_MODE_SLAVE; - hfmpi2c->ErrorCode = HAL_FMPI2C_ERROR_NONE; - - /* Prepare transfer parameters */ - hfmpi2c->pBuffPtr = pData; - hfmpi2c->XferCount = Size; - hfmpi2c->XferSize = hfmpi2c->XferCount; - hfmpi2c->XferOptions = FMPI2C_NO_OPTION_FRAME; - hfmpi2c->XferISR = FMPI2C_Slave_ISR_DMA; - - if (hfmpi2c->hdmarx != NULL) - { - /* Set the FMPI2C DMA transfer complete callback */ - hfmpi2c->hdmarx->XferCpltCallback = FMPI2C_DMASlaveReceiveCplt; - - /* Set the DMA error callback */ - hfmpi2c->hdmarx->XferErrorCallback = FMPI2C_DMAError; - - /* Set the unused DMA callbacks to NULL */ - hfmpi2c->hdmarx->XferHalfCpltCallback = NULL; - hfmpi2c->hdmarx->XferAbortCallback = NULL; - - /* Enable the DMA stream */ - dmaxferstatus = HAL_DMA_Start_IT(hfmpi2c->hdmarx, (uint32_t)&hfmpi2c->Instance->RXDR, (uint32_t)pData, - hfmpi2c->XferSize); - } - else - { - /* Update FMPI2C state */ - hfmpi2c->State = HAL_FMPI2C_STATE_LISTEN; - hfmpi2c->Mode = HAL_FMPI2C_MODE_NONE; - - /* Update FMPI2C error code */ - hfmpi2c->ErrorCode |= HAL_FMPI2C_ERROR_DMA_PARAM; - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpi2c); - - return HAL_ERROR; - } - - if (dmaxferstatus == HAL_OK) - { - /* Enable Address Acknowledge */ - hfmpi2c->Instance->CR2 &= ~FMPI2C_CR2_NACK; - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpi2c); - - /* Note : The FMPI2C interrupts must be enabled after unlocking current process - to avoid the risk of FMPI2C interrupt handle execution before current - process unlock */ - /* Enable ERR, STOP, NACK, ADDR interrupts */ - FMPI2C_Enable_IRQ(hfmpi2c, FMPI2C_XFER_LISTEN_IT); - - /* Enable DMA Request */ - hfmpi2c->Instance->CR1 |= FMPI2C_CR1_RXDMAEN; - } - else - { - /* Update FMPI2C state */ - hfmpi2c->State = HAL_FMPI2C_STATE_LISTEN; - hfmpi2c->Mode = HAL_FMPI2C_MODE_NONE; - - /* Update FMPI2C error code */ - hfmpi2c->ErrorCode |= HAL_FMPI2C_ERROR_DMA; - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpi2c); - - return HAL_ERROR; - } - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} -/** - * @brief Write an amount of data in blocking mode to a specific memory address - * @param hfmpi2c Pointer to a FMPI2C_HandleTypeDef structure that contains - * the configuration information for the specified FMPI2C. - * @param DevAddress Target device address: The device 7 bits address value - * in datasheet must be shifted to the left before calling the interface - * @param MemAddress Internal memory address - * @param MemAddSize Size of internal memory address - * @param pData Pointer to data buffer - * @param Size Amount of data to be sent - * @param Timeout Timeout duration - * @retval HAL status - */ -HAL_StatusTypeDef HAL_FMPI2C_Mem_Write(FMPI2C_HandleTypeDef *hfmpi2c, uint16_t DevAddress, uint16_t MemAddress, - uint16_t MemAddSize, uint8_t *pData, uint16_t Size, uint32_t Timeout) -{ - uint32_t tickstart; - - /* Check the parameters */ - assert_param(IS_FMPI2C_MEMADD_SIZE(MemAddSize)); - - if (hfmpi2c->State == HAL_FMPI2C_STATE_READY) - { - if ((pData == NULL) || (Size == 0U)) - { - hfmpi2c->ErrorCode = HAL_FMPI2C_ERROR_INVALID_PARAM; - return HAL_ERROR; - } - - /* Process Locked */ - __HAL_LOCK(hfmpi2c); - - /* Init tickstart for timeout management*/ - tickstart = HAL_GetTick(); - - if (FMPI2C_WaitOnFlagUntilTimeout(hfmpi2c, FMPI2C_FLAG_BUSY, SET, FMPI2C_TIMEOUT_BUSY, tickstart) != HAL_OK) - { - return HAL_ERROR; - } - - hfmpi2c->State = HAL_FMPI2C_STATE_BUSY_TX; - hfmpi2c->Mode = HAL_FMPI2C_MODE_MEM; - hfmpi2c->ErrorCode = HAL_FMPI2C_ERROR_NONE; - - /* Prepare transfer parameters */ - hfmpi2c->pBuffPtr = pData; - hfmpi2c->XferCount = Size; - hfmpi2c->XferISR = NULL; - - /* Send Slave Address and Memory Address */ - if (FMPI2C_RequestMemoryWrite(hfmpi2c, DevAddress, MemAddress, MemAddSize, Timeout, tickstart) != HAL_OK) - { - /* Process Unlocked */ - __HAL_UNLOCK(hfmpi2c); - return HAL_ERROR; - } - - /* Set NBYTES to write and reload if hfmpi2c->XferCount > MAX_NBYTE_SIZE */ - if (hfmpi2c->XferCount > MAX_NBYTE_SIZE) - { - hfmpi2c->XferSize = MAX_NBYTE_SIZE; - FMPI2C_TransferConfig(hfmpi2c, DevAddress, (uint8_t)hfmpi2c->XferSize, FMPI2C_RELOAD_MODE, FMPI2C_NO_STARTSTOP); - } - else - { - hfmpi2c->XferSize = hfmpi2c->XferCount; - FMPI2C_TransferConfig(hfmpi2c, DevAddress, (uint8_t)hfmpi2c->XferSize, FMPI2C_AUTOEND_MODE, FMPI2C_NO_STARTSTOP); - } - - do - { - /* Wait until TXIS flag is set */ - if (FMPI2C_WaitOnTXISFlagUntilTimeout(hfmpi2c, Timeout, tickstart) != HAL_OK) - { - return HAL_ERROR; - } - - /* Write data to TXDR */ - hfmpi2c->Instance->TXDR = *hfmpi2c->pBuffPtr; - - /* Increment Buffer pointer */ - hfmpi2c->pBuffPtr++; - - hfmpi2c->XferCount--; - hfmpi2c->XferSize--; - - if ((hfmpi2c->XferCount != 0U) && (hfmpi2c->XferSize == 0U)) - { - /* Wait until TCR flag is set */ - if (FMPI2C_WaitOnFlagUntilTimeout(hfmpi2c, FMPI2C_FLAG_TCR, RESET, Timeout, tickstart) != HAL_OK) - { - return HAL_ERROR; - } - - if (hfmpi2c->XferCount > MAX_NBYTE_SIZE) - { - hfmpi2c->XferSize = MAX_NBYTE_SIZE; - FMPI2C_TransferConfig(hfmpi2c, DevAddress, (uint8_t)hfmpi2c->XferSize, FMPI2C_RELOAD_MODE, - FMPI2C_NO_STARTSTOP); - } - else - { - hfmpi2c->XferSize = hfmpi2c->XferCount; - FMPI2C_TransferConfig(hfmpi2c, DevAddress, (uint8_t)hfmpi2c->XferSize, FMPI2C_AUTOEND_MODE, - FMPI2C_NO_STARTSTOP); - } - } - - } while (hfmpi2c->XferCount > 0U); - - /* No need to Check TC flag, with AUTOEND mode the stop is automatically generated */ - /* Wait until STOPF flag is reset */ - if (FMPI2C_WaitOnSTOPFlagUntilTimeout(hfmpi2c, Timeout, tickstart) != HAL_OK) - { - return HAL_ERROR; - } - - /* Clear STOP Flag */ - __HAL_FMPI2C_CLEAR_FLAG(hfmpi2c, FMPI2C_FLAG_STOPF); - - /* Clear Configuration Register 2 */ - FMPI2C_RESET_CR2(hfmpi2c); - - hfmpi2c->State = HAL_FMPI2C_STATE_READY; - hfmpi2c->Mode = HAL_FMPI2C_MODE_NONE; - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpi2c); - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Read an amount of data in blocking mode from a specific memory address - * @param hfmpi2c Pointer to a FMPI2C_HandleTypeDef structure that contains - * the configuration information for the specified FMPI2C. - * @param DevAddress Target device address: The device 7 bits address value - * in datasheet must be shifted to the left before calling the interface - * @param MemAddress Internal memory address - * @param MemAddSize Size of internal memory address - * @param pData Pointer to data buffer - * @param Size Amount of data to be sent - * @param Timeout Timeout duration - * @retval HAL status - */ -HAL_StatusTypeDef HAL_FMPI2C_Mem_Read(FMPI2C_HandleTypeDef *hfmpi2c, uint16_t DevAddress, uint16_t MemAddress, - uint16_t MemAddSize, uint8_t *pData, uint16_t Size, uint32_t Timeout) -{ - uint32_t tickstart; - - /* Check the parameters */ - assert_param(IS_FMPI2C_MEMADD_SIZE(MemAddSize)); - - if (hfmpi2c->State == HAL_FMPI2C_STATE_READY) - { - if ((pData == NULL) || (Size == 0U)) - { - hfmpi2c->ErrorCode = HAL_FMPI2C_ERROR_INVALID_PARAM; - return HAL_ERROR; - } - - /* Process Locked */ - __HAL_LOCK(hfmpi2c); - - /* Init tickstart for timeout management*/ - tickstart = HAL_GetTick(); - - if (FMPI2C_WaitOnFlagUntilTimeout(hfmpi2c, FMPI2C_FLAG_BUSY, SET, FMPI2C_TIMEOUT_BUSY, tickstart) != HAL_OK) - { - return HAL_ERROR; - } - - hfmpi2c->State = HAL_FMPI2C_STATE_BUSY_RX; - hfmpi2c->Mode = HAL_FMPI2C_MODE_MEM; - hfmpi2c->ErrorCode = HAL_FMPI2C_ERROR_NONE; - - /* Prepare transfer parameters */ - hfmpi2c->pBuffPtr = pData; - hfmpi2c->XferCount = Size; - hfmpi2c->XferISR = NULL; - - /* Send Slave Address and Memory Address */ - if (FMPI2C_RequestMemoryRead(hfmpi2c, DevAddress, MemAddress, MemAddSize, Timeout, tickstart) != HAL_OK) - { - /* Process Unlocked */ - __HAL_UNLOCK(hfmpi2c); - return HAL_ERROR; - } - - /* Send Slave Address */ - /* Set NBYTES to write and reload if hfmpi2c->XferCount > MAX_NBYTE_SIZE and generate RESTART */ - if (hfmpi2c->XferCount > MAX_NBYTE_SIZE) - { - hfmpi2c->XferSize = MAX_NBYTE_SIZE; - FMPI2C_TransferConfig(hfmpi2c, DevAddress, (uint8_t)hfmpi2c->XferSize, FMPI2C_RELOAD_MODE, - FMPI2C_GENERATE_START_READ); - } - else - { - hfmpi2c->XferSize = hfmpi2c->XferCount; - FMPI2C_TransferConfig(hfmpi2c, DevAddress, (uint8_t)hfmpi2c->XferSize, FMPI2C_AUTOEND_MODE, - FMPI2C_GENERATE_START_READ); - } - - do - { - /* Wait until RXNE flag is set */ - if (FMPI2C_WaitOnFlagUntilTimeout(hfmpi2c, FMPI2C_FLAG_RXNE, RESET, Timeout, tickstart) != HAL_OK) - { - return HAL_ERROR; - } - - /* Read data from RXDR */ - *hfmpi2c->pBuffPtr = (uint8_t)hfmpi2c->Instance->RXDR; - - /* Increment Buffer pointer */ - hfmpi2c->pBuffPtr++; - - hfmpi2c->XferSize--; - hfmpi2c->XferCount--; - - if ((hfmpi2c->XferCount != 0U) && (hfmpi2c->XferSize == 0U)) - { - /* Wait until TCR flag is set */ - if (FMPI2C_WaitOnFlagUntilTimeout(hfmpi2c, FMPI2C_FLAG_TCR, RESET, Timeout, tickstart) != HAL_OK) - { - return HAL_ERROR; - } - - if (hfmpi2c->XferCount > MAX_NBYTE_SIZE) - { - hfmpi2c->XferSize = MAX_NBYTE_SIZE; - FMPI2C_TransferConfig(hfmpi2c, DevAddress, (uint8_t) hfmpi2c->XferSize, FMPI2C_RELOAD_MODE, - FMPI2C_NO_STARTSTOP); - } - else - { - hfmpi2c->XferSize = hfmpi2c->XferCount; - FMPI2C_TransferConfig(hfmpi2c, DevAddress, (uint8_t)hfmpi2c->XferSize, FMPI2C_AUTOEND_MODE, - FMPI2C_NO_STARTSTOP); - } - } - } while (hfmpi2c->XferCount > 0U); - - /* No need to Check TC flag, with AUTOEND mode the stop is automatically generated */ - /* Wait until STOPF flag is reset */ - if (FMPI2C_WaitOnSTOPFlagUntilTimeout(hfmpi2c, Timeout, tickstart) != HAL_OK) - { - return HAL_ERROR; - } - - /* Clear STOP Flag */ - __HAL_FMPI2C_CLEAR_FLAG(hfmpi2c, FMPI2C_FLAG_STOPF); - - /* Clear Configuration Register 2 */ - FMPI2C_RESET_CR2(hfmpi2c); - - hfmpi2c->State = HAL_FMPI2C_STATE_READY; - hfmpi2c->Mode = HAL_FMPI2C_MODE_NONE; - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpi2c); - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} -/** - * @brief Write an amount of data in non-blocking mode with Interrupt to a specific memory address - * @param hfmpi2c Pointer to a FMPI2C_HandleTypeDef structure that contains - * the configuration information for the specified FMPI2C. - * @param DevAddress Target device address: The device 7 bits address value - * in datasheet must be shifted to the left before calling the interface - * @param MemAddress Internal memory address - * @param MemAddSize Size of internal memory address - * @param pData Pointer to data buffer - * @param Size Amount of data to be sent - * @retval HAL status - */ -HAL_StatusTypeDef HAL_FMPI2C_Mem_Write_IT(FMPI2C_HandleTypeDef *hfmpi2c, uint16_t DevAddress, uint16_t MemAddress, - uint16_t MemAddSize, uint8_t *pData, uint16_t Size) -{ - uint32_t tickstart; - uint32_t xfermode; - - /* Check the parameters */ - assert_param(IS_FMPI2C_MEMADD_SIZE(MemAddSize)); - - if (hfmpi2c->State == HAL_FMPI2C_STATE_READY) - { - if ((pData == NULL) || (Size == 0U)) - { - hfmpi2c->ErrorCode = HAL_FMPI2C_ERROR_INVALID_PARAM; - return HAL_ERROR; - } - - if (__HAL_FMPI2C_GET_FLAG(hfmpi2c, FMPI2C_FLAG_BUSY) == SET) - { - return HAL_BUSY; - } - - /* Process Locked */ - __HAL_LOCK(hfmpi2c); - - /* Init tickstart for timeout management*/ - tickstart = HAL_GetTick(); - - hfmpi2c->State = HAL_FMPI2C_STATE_BUSY_TX; - hfmpi2c->Mode = HAL_FMPI2C_MODE_MEM; - hfmpi2c->ErrorCode = HAL_FMPI2C_ERROR_NONE; - - /* Prepare transfer parameters */ - hfmpi2c->pBuffPtr = pData; - hfmpi2c->XferCount = Size; - hfmpi2c->XferOptions = FMPI2C_NO_OPTION_FRAME; - hfmpi2c->XferISR = FMPI2C_Master_ISR_IT; - - if (hfmpi2c->XferCount > MAX_NBYTE_SIZE) - { - hfmpi2c->XferSize = MAX_NBYTE_SIZE; - xfermode = FMPI2C_RELOAD_MODE; - } - else - { - hfmpi2c->XferSize = hfmpi2c->XferCount; - xfermode = FMPI2C_AUTOEND_MODE; - } - - /* Send Slave Address and Memory Address */ - if (FMPI2C_RequestMemoryWrite(hfmpi2c, DevAddress, MemAddress, MemAddSize, FMPI2C_TIMEOUT_FLAG, tickstart) - != HAL_OK) - { - /* Process Unlocked */ - __HAL_UNLOCK(hfmpi2c); - return HAL_ERROR; - } - - /* Set NBYTES to write and reload if hfmpi2c->XferCount > MAX_NBYTE_SIZE and generate RESTART */ - FMPI2C_TransferConfig(hfmpi2c, DevAddress, (uint8_t)hfmpi2c->XferSize, xfermode, FMPI2C_NO_STARTSTOP); - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpi2c); - - /* Note : The FMPI2C interrupts must be enabled after unlocking current process - to avoid the risk of FMPI2C interrupt handle execution before current - process unlock */ - - /* Enable ERR, TC, STOP, NACK, TXI interrupt */ - /* possible to enable all of these */ - /* FMPI2C_IT_ERRI | FMPI2C_IT_TCI | FMPI2C_IT_STOPI | FMPI2C_IT_NACKI | - FMPI2C_IT_ADDRI | FMPI2C_IT_RXI | FMPI2C_IT_TXI */ - FMPI2C_Enable_IRQ(hfmpi2c, FMPI2C_XFER_TX_IT); - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Read an amount of data in non-blocking mode with Interrupt from a specific memory address - * @param hfmpi2c Pointer to a FMPI2C_HandleTypeDef structure that contains - * the configuration information for the specified FMPI2C. - * @param DevAddress Target device address: The device 7 bits address value - * in datasheet must be shifted to the left before calling the interface - * @param MemAddress Internal memory address - * @param MemAddSize Size of internal memory address - * @param pData Pointer to data buffer - * @param Size Amount of data to be sent - * @retval HAL status - */ -HAL_StatusTypeDef HAL_FMPI2C_Mem_Read_IT(FMPI2C_HandleTypeDef *hfmpi2c, uint16_t DevAddress, uint16_t MemAddress, - uint16_t MemAddSize, uint8_t *pData, uint16_t Size) -{ - uint32_t tickstart; - uint32_t xfermode; - - /* Check the parameters */ - assert_param(IS_FMPI2C_MEMADD_SIZE(MemAddSize)); - - if (hfmpi2c->State == HAL_FMPI2C_STATE_READY) - { - if ((pData == NULL) || (Size == 0U)) - { - hfmpi2c->ErrorCode = HAL_FMPI2C_ERROR_INVALID_PARAM; - return HAL_ERROR; - } - - if (__HAL_FMPI2C_GET_FLAG(hfmpi2c, FMPI2C_FLAG_BUSY) == SET) - { - return HAL_BUSY; - } - - /* Process Locked */ - __HAL_LOCK(hfmpi2c); - - /* Init tickstart for timeout management*/ - tickstart = HAL_GetTick(); - - hfmpi2c->State = HAL_FMPI2C_STATE_BUSY_RX; - hfmpi2c->Mode = HAL_FMPI2C_MODE_MEM; - hfmpi2c->ErrorCode = HAL_FMPI2C_ERROR_NONE; - - /* Prepare transfer parameters */ - hfmpi2c->pBuffPtr = pData; - hfmpi2c->XferCount = Size; - hfmpi2c->XferOptions = FMPI2C_NO_OPTION_FRAME; - hfmpi2c->XferISR = FMPI2C_Master_ISR_IT; - - if (hfmpi2c->XferCount > MAX_NBYTE_SIZE) - { - hfmpi2c->XferSize = MAX_NBYTE_SIZE; - xfermode = FMPI2C_RELOAD_MODE; - } - else - { - hfmpi2c->XferSize = hfmpi2c->XferCount; - xfermode = FMPI2C_AUTOEND_MODE; - } - - /* Send Slave Address and Memory Address */ - if (FMPI2C_RequestMemoryRead(hfmpi2c, DevAddress, MemAddress, MemAddSize, FMPI2C_TIMEOUT_FLAG, tickstart) != HAL_OK) - { - /* Process Unlocked */ - __HAL_UNLOCK(hfmpi2c); - return HAL_ERROR; - } - - /* Set NBYTES to write and reload if hfmpi2c->XferCount > MAX_NBYTE_SIZE and generate RESTART */ - FMPI2C_TransferConfig(hfmpi2c, DevAddress, (uint8_t)hfmpi2c->XferSize, xfermode, FMPI2C_GENERATE_START_READ); - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpi2c); - - /* Note : The FMPI2C interrupts must be enabled after unlocking current process - to avoid the risk of FMPI2C interrupt handle execution before current - process unlock */ - - /* Enable ERR, TC, STOP, NACK, RXI interrupt */ - /* possible to enable all of these */ - /* FMPI2C_IT_ERRI | FMPI2C_IT_TCI | FMPI2C_IT_STOPI | FMPI2C_IT_NACKI | - FMPI2C_IT_ADDRI | FMPI2C_IT_RXI | FMPI2C_IT_TXI */ - FMPI2C_Enable_IRQ(hfmpi2c, FMPI2C_XFER_RX_IT); - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} -/** - * @brief Write an amount of data in non-blocking mode with DMA to a specific memory address - * @param hfmpi2c Pointer to a FMPI2C_HandleTypeDef structure that contains - * the configuration information for the specified FMPI2C. - * @param DevAddress Target device address: The device 7 bits address value - * in datasheet must be shifted to the left before calling the interface - * @param MemAddress Internal memory address - * @param MemAddSize Size of internal memory address - * @param pData Pointer to data buffer - * @param Size Amount of data to be sent - * @retval HAL status - */ -HAL_StatusTypeDef HAL_FMPI2C_Mem_Write_DMA(FMPI2C_HandleTypeDef *hfmpi2c, uint16_t DevAddress, uint16_t MemAddress, - uint16_t MemAddSize, uint8_t *pData, uint16_t Size) -{ - uint32_t tickstart; - uint32_t xfermode; - HAL_StatusTypeDef dmaxferstatus; - - /* Check the parameters */ - assert_param(IS_FMPI2C_MEMADD_SIZE(MemAddSize)); - - if (hfmpi2c->State == HAL_FMPI2C_STATE_READY) - { - if ((pData == NULL) || (Size == 0U)) - { - hfmpi2c->ErrorCode = HAL_FMPI2C_ERROR_INVALID_PARAM; - return HAL_ERROR; - } - - if (__HAL_FMPI2C_GET_FLAG(hfmpi2c, FMPI2C_FLAG_BUSY) == SET) - { - return HAL_BUSY; - } - - /* Process Locked */ - __HAL_LOCK(hfmpi2c); - - /* Init tickstart for timeout management*/ - tickstart = HAL_GetTick(); - - hfmpi2c->State = HAL_FMPI2C_STATE_BUSY_TX; - hfmpi2c->Mode = HAL_FMPI2C_MODE_MEM; - hfmpi2c->ErrorCode = HAL_FMPI2C_ERROR_NONE; - - /* Prepare transfer parameters */ - hfmpi2c->pBuffPtr = pData; - hfmpi2c->XferCount = Size; - hfmpi2c->XferOptions = FMPI2C_NO_OPTION_FRAME; - hfmpi2c->XferISR = FMPI2C_Master_ISR_DMA; - - if (hfmpi2c->XferCount > MAX_NBYTE_SIZE) - { - hfmpi2c->XferSize = MAX_NBYTE_SIZE; - xfermode = FMPI2C_RELOAD_MODE; - } - else - { - hfmpi2c->XferSize = hfmpi2c->XferCount; - xfermode = FMPI2C_AUTOEND_MODE; - } - - /* Send Slave Address and Memory Address */ - if (FMPI2C_RequestMemoryWrite(hfmpi2c, DevAddress, MemAddress, MemAddSize, FMPI2C_TIMEOUT_FLAG, tickstart) - != HAL_OK) - { - /* Process Unlocked */ - __HAL_UNLOCK(hfmpi2c); - return HAL_ERROR; - } - - - if (hfmpi2c->hdmatx != NULL) - { - /* Set the FMPI2C DMA transfer complete callback */ - hfmpi2c->hdmatx->XferCpltCallback = FMPI2C_DMAMasterTransmitCplt; - - /* Set the DMA error callback */ - hfmpi2c->hdmatx->XferErrorCallback = FMPI2C_DMAError; - - /* Set the unused DMA callbacks to NULL */ - hfmpi2c->hdmatx->XferHalfCpltCallback = NULL; - hfmpi2c->hdmatx->XferAbortCallback = NULL; - - /* Enable the DMA stream */ - dmaxferstatus = HAL_DMA_Start_IT(hfmpi2c->hdmatx, (uint32_t)pData, (uint32_t)&hfmpi2c->Instance->TXDR, - hfmpi2c->XferSize); - } - else - { - /* Update FMPI2C state */ - hfmpi2c->State = HAL_FMPI2C_STATE_READY; - hfmpi2c->Mode = HAL_FMPI2C_MODE_NONE; - - /* Update FMPI2C error code */ - hfmpi2c->ErrorCode |= HAL_FMPI2C_ERROR_DMA_PARAM; - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpi2c); - - return HAL_ERROR; - } - - if (dmaxferstatus == HAL_OK) - { - /* Send Slave Address */ - /* Set NBYTES to write and reload if hfmpi2c->XferCount > MAX_NBYTE_SIZE and generate RESTART */ - FMPI2C_TransferConfig(hfmpi2c, DevAddress, (uint8_t)hfmpi2c->XferSize, xfermode, FMPI2C_NO_STARTSTOP); - - /* Update XferCount value */ - hfmpi2c->XferCount -= hfmpi2c->XferSize; - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpi2c); - - /* Note : The FMPI2C interrupts must be enabled after unlocking current process - to avoid the risk of FMPI2C interrupt handle execution before current - process unlock */ - /* Enable ERR and NACK interrupts */ - FMPI2C_Enable_IRQ(hfmpi2c, FMPI2C_XFER_ERROR_IT); - - /* Enable DMA Request */ - hfmpi2c->Instance->CR1 |= FMPI2C_CR1_TXDMAEN; - } - else - { - /* Update FMPI2C state */ - hfmpi2c->State = HAL_FMPI2C_STATE_READY; - hfmpi2c->Mode = HAL_FMPI2C_MODE_NONE; - - /* Update FMPI2C error code */ - hfmpi2c->ErrorCode |= HAL_FMPI2C_ERROR_DMA; - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpi2c); - - return HAL_ERROR; - } - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Reads an amount of data in non-blocking mode with DMA from a specific memory address. - * @param hfmpi2c Pointer to a FMPI2C_HandleTypeDef structure that contains - * the configuration information for the specified FMPI2C. - * @param DevAddress Target device address: The device 7 bits address value - * in datasheet must be shifted to the left before calling the interface - * @param MemAddress Internal memory address - * @param MemAddSize Size of internal memory address - * @param pData Pointer to data buffer - * @param Size Amount of data to be read - * @retval HAL status - */ -HAL_StatusTypeDef HAL_FMPI2C_Mem_Read_DMA(FMPI2C_HandleTypeDef *hfmpi2c, uint16_t DevAddress, uint16_t MemAddress, - uint16_t MemAddSize, uint8_t *pData, uint16_t Size) -{ - uint32_t tickstart; - uint32_t xfermode; - HAL_StatusTypeDef dmaxferstatus; - - /* Check the parameters */ - assert_param(IS_FMPI2C_MEMADD_SIZE(MemAddSize)); - - if (hfmpi2c->State == HAL_FMPI2C_STATE_READY) - { - if ((pData == NULL) || (Size == 0U)) - { - hfmpi2c->ErrorCode = HAL_FMPI2C_ERROR_INVALID_PARAM; - return HAL_ERROR; - } - - if (__HAL_FMPI2C_GET_FLAG(hfmpi2c, FMPI2C_FLAG_BUSY) == SET) - { - return HAL_BUSY; - } - - /* Process Locked */ - __HAL_LOCK(hfmpi2c); - - /* Init tickstart for timeout management*/ - tickstart = HAL_GetTick(); - - hfmpi2c->State = HAL_FMPI2C_STATE_BUSY_RX; - hfmpi2c->Mode = HAL_FMPI2C_MODE_MEM; - hfmpi2c->ErrorCode = HAL_FMPI2C_ERROR_NONE; - - /* Prepare transfer parameters */ - hfmpi2c->pBuffPtr = pData; - hfmpi2c->XferCount = Size; - hfmpi2c->XferOptions = FMPI2C_NO_OPTION_FRAME; - hfmpi2c->XferISR = FMPI2C_Master_ISR_DMA; - - if (hfmpi2c->XferCount > MAX_NBYTE_SIZE) - { - hfmpi2c->XferSize = MAX_NBYTE_SIZE; - xfermode = FMPI2C_RELOAD_MODE; - } - else - { - hfmpi2c->XferSize = hfmpi2c->XferCount; - xfermode = FMPI2C_AUTOEND_MODE; - } - - /* Send Slave Address and Memory Address */ - if (FMPI2C_RequestMemoryRead(hfmpi2c, DevAddress, MemAddress, MemAddSize, FMPI2C_TIMEOUT_FLAG, tickstart) != HAL_OK) - { - /* Process Unlocked */ - __HAL_UNLOCK(hfmpi2c); - return HAL_ERROR; - } - - if (hfmpi2c->hdmarx != NULL) - { - /* Set the FMPI2C DMA transfer complete callback */ - hfmpi2c->hdmarx->XferCpltCallback = FMPI2C_DMAMasterReceiveCplt; - - /* Set the DMA error callback */ - hfmpi2c->hdmarx->XferErrorCallback = FMPI2C_DMAError; - - /* Set the unused DMA callbacks to NULL */ - hfmpi2c->hdmarx->XferHalfCpltCallback = NULL; - hfmpi2c->hdmarx->XferAbortCallback = NULL; - - /* Enable the DMA stream */ - dmaxferstatus = HAL_DMA_Start_IT(hfmpi2c->hdmarx, (uint32_t)&hfmpi2c->Instance->RXDR, (uint32_t)pData, - hfmpi2c->XferSize); - } - else - { - /* Update FMPI2C state */ - hfmpi2c->State = HAL_FMPI2C_STATE_READY; - hfmpi2c->Mode = HAL_FMPI2C_MODE_NONE; - - /* Update FMPI2C error code */ - hfmpi2c->ErrorCode |= HAL_FMPI2C_ERROR_DMA_PARAM; - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpi2c); - - return HAL_ERROR; - } - - if (dmaxferstatus == HAL_OK) - { - /* Set NBYTES to write and reload if hfmpi2c->XferCount > MAX_NBYTE_SIZE and generate RESTART */ - FMPI2C_TransferConfig(hfmpi2c, DevAddress, (uint8_t)hfmpi2c->XferSize, xfermode, FMPI2C_GENERATE_START_READ); - - /* Update XferCount value */ - hfmpi2c->XferCount -= hfmpi2c->XferSize; - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpi2c); - - /* Note : The FMPI2C interrupts must be enabled after unlocking current process - to avoid the risk of FMPI2C interrupt handle execution before current - process unlock */ - /* Enable ERR and NACK interrupts */ - FMPI2C_Enable_IRQ(hfmpi2c, FMPI2C_XFER_ERROR_IT); - - /* Enable DMA Request */ - hfmpi2c->Instance->CR1 |= FMPI2C_CR1_RXDMAEN; - } - else - { - /* Update FMPI2C state */ - hfmpi2c->State = HAL_FMPI2C_STATE_READY; - hfmpi2c->Mode = HAL_FMPI2C_MODE_NONE; - - /* Update FMPI2C error code */ - hfmpi2c->ErrorCode |= HAL_FMPI2C_ERROR_DMA; - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpi2c); - - return HAL_ERROR; - } - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Checks if target device is ready for communication. - * @note This function is used with Memory devices - * @param hfmpi2c Pointer to a FMPI2C_HandleTypeDef structure that contains - * the configuration information for the specified FMPI2C. - * @param DevAddress Target device address: The device 7 bits address value - * in datasheet must be shifted to the left before calling the interface - * @param Trials Number of trials - * @param Timeout Timeout duration - * @retval HAL status - */ -HAL_StatusTypeDef HAL_FMPI2C_IsDeviceReady(FMPI2C_HandleTypeDef *hfmpi2c, uint16_t DevAddress, uint32_t Trials, - uint32_t Timeout) -{ - uint32_t tickstart; - - __IO uint32_t FMPI2C_Trials = 0UL; - - FlagStatus tmp1; - FlagStatus tmp2; - - if (hfmpi2c->State == HAL_FMPI2C_STATE_READY) - { - if (__HAL_FMPI2C_GET_FLAG(hfmpi2c, FMPI2C_FLAG_BUSY) == SET) - { - return HAL_BUSY; - } - - /* Process Locked */ - __HAL_LOCK(hfmpi2c); - - hfmpi2c->State = HAL_FMPI2C_STATE_BUSY; - hfmpi2c->ErrorCode = HAL_FMPI2C_ERROR_NONE; - - do - { - /* Generate Start */ - hfmpi2c->Instance->CR2 = FMPI2C_GENERATE_START(hfmpi2c->Init.AddressingMode, DevAddress); - - /* No need to Check TC flag, with AUTOEND mode the stop is automatically generated */ - /* Wait until STOPF flag is set or a NACK flag is set*/ - tickstart = HAL_GetTick(); - - tmp1 = __HAL_FMPI2C_GET_FLAG(hfmpi2c, FMPI2C_FLAG_STOPF); - tmp2 = __HAL_FMPI2C_GET_FLAG(hfmpi2c, FMPI2C_FLAG_AF); - - while ((tmp1 == RESET) && (tmp2 == RESET)) - { - if (Timeout != HAL_MAX_DELAY) - { - if (((HAL_GetTick() - tickstart) > Timeout) || (Timeout == 0U)) - { - /* Update FMPI2C state */ - hfmpi2c->State = HAL_FMPI2C_STATE_READY; - - /* Update FMPI2C error code */ - hfmpi2c->ErrorCode |= HAL_FMPI2C_ERROR_TIMEOUT; - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpi2c); - - return HAL_ERROR; - } - } - - tmp1 = __HAL_FMPI2C_GET_FLAG(hfmpi2c, FMPI2C_FLAG_STOPF); - tmp2 = __HAL_FMPI2C_GET_FLAG(hfmpi2c, FMPI2C_FLAG_AF); - } - - /* Check if the NACKF flag has not been set */ - if (__HAL_FMPI2C_GET_FLAG(hfmpi2c, FMPI2C_FLAG_AF) == RESET) - { - /* Wait until STOPF flag is reset */ - if (FMPI2C_WaitOnFlagUntilTimeout(hfmpi2c, FMPI2C_FLAG_STOPF, RESET, Timeout, tickstart) != HAL_OK) - { - return HAL_ERROR; - } - - /* Clear STOP Flag */ - __HAL_FMPI2C_CLEAR_FLAG(hfmpi2c, FMPI2C_FLAG_STOPF); - - /* Device is ready */ - hfmpi2c->State = HAL_FMPI2C_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpi2c); - - return HAL_OK; - } - else - { - /* Wait until STOPF flag is reset */ - if (FMPI2C_WaitOnFlagUntilTimeout(hfmpi2c, FMPI2C_FLAG_STOPF, RESET, Timeout, tickstart) != HAL_OK) - { - return HAL_ERROR; - } - - /* Clear NACK Flag */ - __HAL_FMPI2C_CLEAR_FLAG(hfmpi2c, FMPI2C_FLAG_AF); - - /* Clear STOP Flag, auto generated with autoend*/ - __HAL_FMPI2C_CLEAR_FLAG(hfmpi2c, FMPI2C_FLAG_STOPF); - } - - /* Check if the maximum allowed number of trials has been reached */ - if (FMPI2C_Trials == Trials) - { - /* Generate Stop */ - hfmpi2c->Instance->CR2 |= FMPI2C_CR2_STOP; - - /* Wait until STOPF flag is reset */ - if (FMPI2C_WaitOnFlagUntilTimeout(hfmpi2c, FMPI2C_FLAG_STOPF, RESET, Timeout, tickstart) != HAL_OK) - { - return HAL_ERROR; - } - - /* Clear STOP Flag */ - __HAL_FMPI2C_CLEAR_FLAG(hfmpi2c, FMPI2C_FLAG_STOPF); - } - - /* Increment Trials */ - FMPI2C_Trials++; - } while (FMPI2C_Trials < Trials); - - /* Update FMPI2C state */ - hfmpi2c->State = HAL_FMPI2C_STATE_READY; - - /* Update FMPI2C error code */ - hfmpi2c->ErrorCode |= HAL_FMPI2C_ERROR_TIMEOUT; - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpi2c); - - return HAL_ERROR; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Sequential transmit in master FMPI2C mode an amount of data in non-blocking mode with Interrupt. - * @note This interface allow to manage repeated start condition when a direction change during transfer - * @param hfmpi2c Pointer to a FMPI2C_HandleTypeDef structure that contains - * the configuration information for the specified FMPI2C. - * @param DevAddress Target device address: The device 7 bits address value - * in datasheet must be shifted to the left before calling the interface - * @param pData Pointer to data buffer - * @param Size Amount of data to be sent - * @param XferOptions Options of Transfer, value of @ref FMPI2C_XFEROPTIONS - * @retval HAL status - */ -HAL_StatusTypeDef HAL_FMPI2C_Master_Seq_Transmit_IT(FMPI2C_HandleTypeDef *hfmpi2c, uint16_t DevAddress, uint8_t *pData, - uint16_t Size, uint32_t XferOptions) -{ - uint32_t xfermode; - uint32_t xferrequest = FMPI2C_GENERATE_START_WRITE; - - /* Check the parameters */ - assert_param(IS_FMPI2C_TRANSFER_OPTIONS_REQUEST(XferOptions)); - - if (hfmpi2c->State == HAL_FMPI2C_STATE_READY) - { - /* Process Locked */ - __HAL_LOCK(hfmpi2c); - - hfmpi2c->State = HAL_FMPI2C_STATE_BUSY_TX; - hfmpi2c->Mode = HAL_FMPI2C_MODE_MASTER; - hfmpi2c->ErrorCode = HAL_FMPI2C_ERROR_NONE; - - /* Prepare transfer parameters */ - hfmpi2c->pBuffPtr = pData; - hfmpi2c->XferCount = Size; - hfmpi2c->XferOptions = XferOptions; - hfmpi2c->XferISR = FMPI2C_Master_ISR_IT; - - /* If hfmpi2c->XferCount > MAX_NBYTE_SIZE, use reload mode */ - if (hfmpi2c->XferCount > MAX_NBYTE_SIZE) - { - hfmpi2c->XferSize = MAX_NBYTE_SIZE; - xfermode = FMPI2C_RELOAD_MODE; - } - else - { - hfmpi2c->XferSize = hfmpi2c->XferCount; - xfermode = hfmpi2c->XferOptions; - } - - /* If transfer direction not change and there is no request to start another frame, - do not generate Restart Condition */ - /* Mean Previous state is same as current state */ - if ((hfmpi2c->PreviousState == FMPI2C_STATE_MASTER_BUSY_TX) && \ - (IS_FMPI2C_TRANSFER_OTHER_OPTIONS_REQUEST(XferOptions) == 0)) - { - xferrequest = FMPI2C_NO_STARTSTOP; - } - else - { - /* Convert OTHER_xxx XferOptions if any */ - FMPI2C_ConvertOtherXferOptions(hfmpi2c); - - /* Update xfermode accordingly if no reload is necessary */ - if (hfmpi2c->XferCount <= MAX_NBYTE_SIZE) - { - xfermode = hfmpi2c->XferOptions; - } - } - - /* Send Slave Address and set NBYTES to write */ - FMPI2C_TransferConfig(hfmpi2c, DevAddress, (uint8_t)hfmpi2c->XferSize, xfermode, xferrequest); - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpi2c); - - /* Note : The FMPI2C interrupts must be enabled after unlocking current process - to avoid the risk of FMPI2C interrupt handle execution before current - process unlock */ - FMPI2C_Enable_IRQ(hfmpi2c, FMPI2C_XFER_TX_IT); - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Sequential transmit in master FMPI2C mode an amount of data in non-blocking mode with DMA. - * @note This interface allow to manage repeated start condition when a direction change during transfer - * @param hfmpi2c Pointer to a FMPI2C_HandleTypeDef structure that contains - * the configuration information for the specified FMPI2C. - * @param DevAddress Target device address: The device 7 bits address value - * in datasheet must be shifted to the left before calling the interface - * @param pData Pointer to data buffer - * @param Size Amount of data to be sent - * @param XferOptions Options of Transfer, value of @ref FMPI2C_XFEROPTIONS - * @retval HAL status - */ -HAL_StatusTypeDef HAL_FMPI2C_Master_Seq_Transmit_DMA(FMPI2C_HandleTypeDef *hfmpi2c, uint16_t DevAddress, uint8_t *pData, - uint16_t Size, uint32_t XferOptions) -{ - uint32_t xfermode; - uint32_t xferrequest = FMPI2C_GENERATE_START_WRITE; - HAL_StatusTypeDef dmaxferstatus; - - /* Check the parameters */ - assert_param(IS_FMPI2C_TRANSFER_OPTIONS_REQUEST(XferOptions)); - - if (hfmpi2c->State == HAL_FMPI2C_STATE_READY) - { - /* Process Locked */ - __HAL_LOCK(hfmpi2c); - - hfmpi2c->State = HAL_FMPI2C_STATE_BUSY_TX; - hfmpi2c->Mode = HAL_FMPI2C_MODE_MASTER; - hfmpi2c->ErrorCode = HAL_FMPI2C_ERROR_NONE; - - /* Prepare transfer parameters */ - hfmpi2c->pBuffPtr = pData; - hfmpi2c->XferCount = Size; - hfmpi2c->XferOptions = XferOptions; - hfmpi2c->XferISR = FMPI2C_Master_ISR_DMA; - - /* If hfmpi2c->XferCount > MAX_NBYTE_SIZE, use reload mode */ - if (hfmpi2c->XferCount > MAX_NBYTE_SIZE) - { - hfmpi2c->XferSize = MAX_NBYTE_SIZE; - xfermode = FMPI2C_RELOAD_MODE; - } - else - { - hfmpi2c->XferSize = hfmpi2c->XferCount; - xfermode = hfmpi2c->XferOptions; - } - - /* If transfer direction not change and there is no request to start another frame, - do not generate Restart Condition */ - /* Mean Previous state is same as current state */ - if ((hfmpi2c->PreviousState == FMPI2C_STATE_MASTER_BUSY_TX) && \ - (IS_FMPI2C_TRANSFER_OTHER_OPTIONS_REQUEST(XferOptions) == 0)) - { - xferrequest = FMPI2C_NO_STARTSTOP; - } - else - { - /* Convert OTHER_xxx XferOptions if any */ - FMPI2C_ConvertOtherXferOptions(hfmpi2c); - - /* Update xfermode accordingly if no reload is necessary */ - if (hfmpi2c->XferCount <= MAX_NBYTE_SIZE) - { - xfermode = hfmpi2c->XferOptions; - } - } - - if (hfmpi2c->XferSize > 0U) - { - if (hfmpi2c->hdmatx != NULL) - { - /* Set the FMPI2C DMA transfer complete callback */ - hfmpi2c->hdmatx->XferCpltCallback = FMPI2C_DMAMasterTransmitCplt; - - /* Set the DMA error callback */ - hfmpi2c->hdmatx->XferErrorCallback = FMPI2C_DMAError; - - /* Set the unused DMA callbacks to NULL */ - hfmpi2c->hdmatx->XferHalfCpltCallback = NULL; - hfmpi2c->hdmatx->XferAbortCallback = NULL; - - /* Enable the DMA stream */ - dmaxferstatus = HAL_DMA_Start_IT(hfmpi2c->hdmatx, (uint32_t)pData, (uint32_t)&hfmpi2c->Instance->TXDR, - hfmpi2c->XferSize); - } - else - { - /* Update FMPI2C state */ - hfmpi2c->State = HAL_FMPI2C_STATE_READY; - hfmpi2c->Mode = HAL_FMPI2C_MODE_NONE; - - /* Update FMPI2C error code */ - hfmpi2c->ErrorCode |= HAL_FMPI2C_ERROR_DMA_PARAM; - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpi2c); - - return HAL_ERROR; - } - - if (dmaxferstatus == HAL_OK) - { - /* Send Slave Address and set NBYTES to write */ - FMPI2C_TransferConfig(hfmpi2c, DevAddress, (uint8_t)hfmpi2c->XferSize, xfermode, xferrequest); - - /* Update XferCount value */ - hfmpi2c->XferCount -= hfmpi2c->XferSize; - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpi2c); - - /* Note : The FMPI2C interrupts must be enabled after unlocking current process - to avoid the risk of FMPI2C interrupt handle execution before current - process unlock */ - /* Enable ERR and NACK interrupts */ - FMPI2C_Enable_IRQ(hfmpi2c, FMPI2C_XFER_ERROR_IT); - - /* Enable DMA Request */ - hfmpi2c->Instance->CR1 |= FMPI2C_CR1_TXDMAEN; - } - else - { - /* Update FMPI2C state */ - hfmpi2c->State = HAL_FMPI2C_STATE_READY; - hfmpi2c->Mode = HAL_FMPI2C_MODE_NONE; - - /* Update FMPI2C error code */ - hfmpi2c->ErrorCode |= HAL_FMPI2C_ERROR_DMA; - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpi2c); - - return HAL_ERROR; - } - } - else - { - /* Update Transfer ISR function pointer */ - hfmpi2c->XferISR = FMPI2C_Master_ISR_IT; - - /* Send Slave Address */ - /* Set NBYTES to write and generate START condition */ - FMPI2C_TransferConfig(hfmpi2c, DevAddress, (uint8_t)hfmpi2c->XferSize, FMPI2C_AUTOEND_MODE, - FMPI2C_GENERATE_START_WRITE); - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpi2c); - - /* Note : The FMPI2C interrupts must be enabled after unlocking current process - to avoid the risk of FMPI2C interrupt handle execution before current - process unlock */ - /* Enable ERR, TC, STOP, NACK, TXI interrupt */ - /* possible to enable all of these */ - /* FMPI2C_IT_ERRI | FMPI2C_IT_TCI | FMPI2C_IT_STOPI | FMPI2C_IT_NACKI | - FMPI2C_IT_ADDRI | FMPI2C_IT_RXI | FMPI2C_IT_TXI */ - FMPI2C_Enable_IRQ(hfmpi2c, FMPI2C_XFER_TX_IT); - } - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Sequential receive in master FMPI2C mode an amount of data in non-blocking mode with Interrupt - * @note This interface allow to manage repeated start condition when a direction change during transfer - * @param hfmpi2c Pointer to a FMPI2C_HandleTypeDef structure that contains - * the configuration information for the specified FMPI2C. - * @param DevAddress Target device address: The device 7 bits address value - * in datasheet must be shifted to the left before calling the interface - * @param pData Pointer to data buffer - * @param Size Amount of data to be sent - * @param XferOptions Options of Transfer, value of @ref FMPI2C_XFEROPTIONS - * @retval HAL status - */ -HAL_StatusTypeDef HAL_FMPI2C_Master_Seq_Receive_IT(FMPI2C_HandleTypeDef *hfmpi2c, uint16_t DevAddress, uint8_t *pData, - uint16_t Size, uint32_t XferOptions) -{ - uint32_t xfermode; - uint32_t xferrequest = FMPI2C_GENERATE_START_READ; - - /* Check the parameters */ - assert_param(IS_FMPI2C_TRANSFER_OPTIONS_REQUEST(XferOptions)); - - if (hfmpi2c->State == HAL_FMPI2C_STATE_READY) - { - /* Process Locked */ - __HAL_LOCK(hfmpi2c); - - hfmpi2c->State = HAL_FMPI2C_STATE_BUSY_RX; - hfmpi2c->Mode = HAL_FMPI2C_MODE_MASTER; - hfmpi2c->ErrorCode = HAL_FMPI2C_ERROR_NONE; - - /* Prepare transfer parameters */ - hfmpi2c->pBuffPtr = pData; - hfmpi2c->XferCount = Size; - hfmpi2c->XferOptions = XferOptions; - hfmpi2c->XferISR = FMPI2C_Master_ISR_IT; - - /* If hfmpi2c->XferCount > MAX_NBYTE_SIZE, use reload mode */ - if (hfmpi2c->XferCount > MAX_NBYTE_SIZE) - { - hfmpi2c->XferSize = MAX_NBYTE_SIZE; - xfermode = FMPI2C_RELOAD_MODE; - } - else - { - hfmpi2c->XferSize = hfmpi2c->XferCount; - xfermode = hfmpi2c->XferOptions; - } - - /* If transfer direction not change and there is no request to start another frame, - do not generate Restart Condition */ - /* Mean Previous state is same as current state */ - if ((hfmpi2c->PreviousState == FMPI2C_STATE_MASTER_BUSY_RX) && \ - (IS_FMPI2C_TRANSFER_OTHER_OPTIONS_REQUEST(XferOptions) == 0)) - { - xferrequest = FMPI2C_NO_STARTSTOP; - } - else - { - /* Convert OTHER_xxx XferOptions if any */ - FMPI2C_ConvertOtherXferOptions(hfmpi2c); - - /* Update xfermode accordingly if no reload is necessary */ - if (hfmpi2c->XferCount <= MAX_NBYTE_SIZE) - { - xfermode = hfmpi2c->XferOptions; - } - } - - /* Send Slave Address and set NBYTES to read */ - FMPI2C_TransferConfig(hfmpi2c, DevAddress, (uint8_t)hfmpi2c->XferSize, xfermode, xferrequest); - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpi2c); - - /* Note : The FMPI2C interrupts must be enabled after unlocking current process - to avoid the risk of FMPI2C interrupt handle execution before current - process unlock */ - FMPI2C_Enable_IRQ(hfmpi2c, FMPI2C_XFER_RX_IT); - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Sequential receive in master FMPI2C mode an amount of data in non-blocking mode with DMA - * @note This interface allow to manage repeated start condition when a direction change during transfer - * @param hfmpi2c Pointer to a FMPI2C_HandleTypeDef structure that contains - * the configuration information for the specified FMPI2C. - * @param DevAddress Target device address: The device 7 bits address value - * in datasheet must be shifted to the left before calling the interface - * @param pData Pointer to data buffer - * @param Size Amount of data to be sent - * @param XferOptions Options of Transfer, value of @ref FMPI2C_XFEROPTIONS - * @retval HAL status - */ -HAL_StatusTypeDef HAL_FMPI2C_Master_Seq_Receive_DMA(FMPI2C_HandleTypeDef *hfmpi2c, uint16_t DevAddress, uint8_t *pData, - uint16_t Size, uint32_t XferOptions) -{ - uint32_t xfermode; - uint32_t xferrequest = FMPI2C_GENERATE_START_READ; - HAL_StatusTypeDef dmaxferstatus; - - /* Check the parameters */ - assert_param(IS_FMPI2C_TRANSFER_OPTIONS_REQUEST(XferOptions)); - - if (hfmpi2c->State == HAL_FMPI2C_STATE_READY) - { - /* Process Locked */ - __HAL_LOCK(hfmpi2c); - - hfmpi2c->State = HAL_FMPI2C_STATE_BUSY_RX; - hfmpi2c->Mode = HAL_FMPI2C_MODE_MASTER; - hfmpi2c->ErrorCode = HAL_FMPI2C_ERROR_NONE; - - /* Prepare transfer parameters */ - hfmpi2c->pBuffPtr = pData; - hfmpi2c->XferCount = Size; - hfmpi2c->XferOptions = XferOptions; - hfmpi2c->XferISR = FMPI2C_Master_ISR_DMA; - - /* If hfmpi2c->XferCount > MAX_NBYTE_SIZE, use reload mode */ - if (hfmpi2c->XferCount > MAX_NBYTE_SIZE) - { - hfmpi2c->XferSize = MAX_NBYTE_SIZE; - xfermode = FMPI2C_RELOAD_MODE; - } - else - { - hfmpi2c->XferSize = hfmpi2c->XferCount; - xfermode = hfmpi2c->XferOptions; - } - - /* If transfer direction not change and there is no request to start another frame, - do not generate Restart Condition */ - /* Mean Previous state is same as current state */ - if ((hfmpi2c->PreviousState == FMPI2C_STATE_MASTER_BUSY_RX) && \ - (IS_FMPI2C_TRANSFER_OTHER_OPTIONS_REQUEST(XferOptions) == 0)) - { - xferrequest = FMPI2C_NO_STARTSTOP; - } - else - { - /* Convert OTHER_xxx XferOptions if any */ - FMPI2C_ConvertOtherXferOptions(hfmpi2c); - - /* Update xfermode accordingly if no reload is necessary */ - if (hfmpi2c->XferCount <= MAX_NBYTE_SIZE) - { - xfermode = hfmpi2c->XferOptions; - } - } - - if (hfmpi2c->XferSize > 0U) - { - if (hfmpi2c->hdmarx != NULL) - { - /* Set the FMPI2C DMA transfer complete callback */ - hfmpi2c->hdmarx->XferCpltCallback = FMPI2C_DMAMasterReceiveCplt; - - /* Set the DMA error callback */ - hfmpi2c->hdmarx->XferErrorCallback = FMPI2C_DMAError; - - /* Set the unused DMA callbacks to NULL */ - hfmpi2c->hdmarx->XferHalfCpltCallback = NULL; - hfmpi2c->hdmarx->XferAbortCallback = NULL; - - /* Enable the DMA stream */ - dmaxferstatus = HAL_DMA_Start_IT(hfmpi2c->hdmarx, (uint32_t)&hfmpi2c->Instance->RXDR, (uint32_t)pData, - hfmpi2c->XferSize); - } - else - { - /* Update FMPI2C state */ - hfmpi2c->State = HAL_FMPI2C_STATE_READY; - hfmpi2c->Mode = HAL_FMPI2C_MODE_NONE; - - /* Update FMPI2C error code */ - hfmpi2c->ErrorCode |= HAL_FMPI2C_ERROR_DMA_PARAM; - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpi2c); - - return HAL_ERROR; - } - - if (dmaxferstatus == HAL_OK) - { - /* Send Slave Address and set NBYTES to read */ - FMPI2C_TransferConfig(hfmpi2c, DevAddress, (uint8_t)hfmpi2c->XferSize, xfermode, xferrequest); - - /* Update XferCount value */ - hfmpi2c->XferCount -= hfmpi2c->XferSize; - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpi2c); - - /* Note : The FMPI2C interrupts must be enabled after unlocking current process - to avoid the risk of FMPI2C interrupt handle execution before current - process unlock */ - /* Enable ERR and NACK interrupts */ - FMPI2C_Enable_IRQ(hfmpi2c, FMPI2C_XFER_ERROR_IT); - - /* Enable DMA Request */ - hfmpi2c->Instance->CR1 |= FMPI2C_CR1_RXDMAEN; - } - else - { - /* Update FMPI2C state */ - hfmpi2c->State = HAL_FMPI2C_STATE_READY; - hfmpi2c->Mode = HAL_FMPI2C_MODE_NONE; - - /* Update FMPI2C error code */ - hfmpi2c->ErrorCode |= HAL_FMPI2C_ERROR_DMA; - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpi2c); - - return HAL_ERROR; - } - } - else - { - /* Update Transfer ISR function pointer */ - hfmpi2c->XferISR = FMPI2C_Master_ISR_IT; - - /* Send Slave Address */ - /* Set NBYTES to read and generate START condition */ - FMPI2C_TransferConfig(hfmpi2c, DevAddress, (uint8_t)hfmpi2c->XferSize, FMPI2C_AUTOEND_MODE, - FMPI2C_GENERATE_START_READ); - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpi2c); - - /* Note : The FMPI2C interrupts must be enabled after unlocking current process - to avoid the risk of FMPI2C interrupt handle execution before current - process unlock */ - /* Enable ERR, TC, STOP, NACK, TXI interrupt */ - /* possible to enable all of these */ - /* FMPI2C_IT_ERRI | FMPI2C_IT_TCI | FMPI2C_IT_STOPI | FMPI2C_IT_NACKI | - FMPI2C_IT_ADDRI | FMPI2C_IT_RXI | FMPI2C_IT_TXI */ - FMPI2C_Enable_IRQ(hfmpi2c, FMPI2C_XFER_TX_IT); - } - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Sequential transmit in slave/device FMPI2C mode an amount of data in non-blocking mode with Interrupt - * @note This interface allow to manage repeated start condition when a direction change during transfer - * @param hfmpi2c Pointer to a FMPI2C_HandleTypeDef structure that contains - * the configuration information for the specified FMPI2C. - * @param pData Pointer to data buffer - * @param Size Amount of data to be sent - * @param XferOptions Options of Transfer, value of @ref FMPI2C_XFEROPTIONS - * @retval HAL status - */ -HAL_StatusTypeDef HAL_FMPI2C_Slave_Seq_Transmit_IT(FMPI2C_HandleTypeDef *hfmpi2c, uint8_t *pData, uint16_t Size, - uint32_t XferOptions) -{ - /* Check the parameters */ - assert_param(IS_FMPI2C_TRANSFER_OPTIONS_REQUEST(XferOptions)); - - if (((uint32_t)hfmpi2c->State & (uint32_t)HAL_FMPI2C_STATE_LISTEN) == (uint32_t)HAL_FMPI2C_STATE_LISTEN) - { - if ((pData == NULL) || (Size == 0U)) - { - hfmpi2c->ErrorCode = HAL_FMPI2C_ERROR_INVALID_PARAM; - return HAL_ERROR; - } - - /* Disable Interrupts, to prevent preemption during treatment in case of multicall */ - FMPI2C_Disable_IRQ(hfmpi2c, FMPI2C_XFER_LISTEN_IT | FMPI2C_XFER_TX_IT); - - /* Process Locked */ - __HAL_LOCK(hfmpi2c); - - /* FMPI2C cannot manage full duplex exchange so disable previous IT enabled if any */ - /* and then toggle the HAL slave RX state to TX state */ - if (hfmpi2c->State == HAL_FMPI2C_STATE_BUSY_RX_LISTEN) - { - /* Disable associated Interrupts */ - FMPI2C_Disable_IRQ(hfmpi2c, FMPI2C_XFER_RX_IT); - - /* Abort DMA Xfer if any */ - if ((hfmpi2c->Instance->CR1 & FMPI2C_CR1_RXDMAEN) == FMPI2C_CR1_RXDMAEN) - { - hfmpi2c->Instance->CR1 &= ~FMPI2C_CR1_RXDMAEN; - - if (hfmpi2c->hdmarx != NULL) - { - /* Set the FMPI2C DMA Abort callback : - will lead to call HAL_FMPI2C_ErrorCallback() at end of DMA abort procedure */ - hfmpi2c->hdmarx->XferAbortCallback = FMPI2C_DMAAbort; - - /* Abort DMA RX */ - if (HAL_DMA_Abort_IT(hfmpi2c->hdmarx) != HAL_OK) - { - /* Call Directly XferAbortCallback function in case of error */ - hfmpi2c->hdmarx->XferAbortCallback(hfmpi2c->hdmarx); - } - } - } - } - - hfmpi2c->State = HAL_FMPI2C_STATE_BUSY_TX_LISTEN; - hfmpi2c->Mode = HAL_FMPI2C_MODE_SLAVE; - hfmpi2c->ErrorCode = HAL_FMPI2C_ERROR_NONE; - - /* Enable Address Acknowledge */ - hfmpi2c->Instance->CR2 &= ~FMPI2C_CR2_NACK; - - /* Prepare transfer parameters */ - hfmpi2c->pBuffPtr = pData; - hfmpi2c->XferCount = Size; - hfmpi2c->XferSize = hfmpi2c->XferCount; - hfmpi2c->XferOptions = XferOptions; - hfmpi2c->XferISR = FMPI2C_Slave_ISR_IT; - - if (FMPI2C_GET_DIR(hfmpi2c) == FMPI2C_DIRECTION_RECEIVE) - { - /* Clear ADDR flag after prepare the transfer parameters */ - /* This action will generate an acknowledge to the Master */ - __HAL_FMPI2C_CLEAR_FLAG(hfmpi2c, FMPI2C_FLAG_ADDR); - } - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpi2c); - - /* Note : The FMPI2C interrupts must be enabled after unlocking current process - to avoid the risk of FMPI2C interrupt handle execution before current - process unlock */ - /* REnable ADDR interrupt */ - FMPI2C_Enable_IRQ(hfmpi2c, FMPI2C_XFER_TX_IT | FMPI2C_XFER_LISTEN_IT); - - return HAL_OK; - } - else - { - return HAL_ERROR; - } -} - -/** - * @brief Sequential transmit in slave/device FMPI2C mode an amount of data in non-blocking mode with DMA - * @note This interface allow to manage repeated start condition when a direction change during transfer - * @param hfmpi2c Pointer to a FMPI2C_HandleTypeDef structure that contains - * the configuration information for the specified FMPI2C. - * @param pData Pointer to data buffer - * @param Size Amount of data to be sent - * @param XferOptions Options of Transfer, value of @ref FMPI2C_XFEROPTIONS - * @retval HAL status - */ -HAL_StatusTypeDef HAL_FMPI2C_Slave_Seq_Transmit_DMA(FMPI2C_HandleTypeDef *hfmpi2c, uint8_t *pData, uint16_t Size, - uint32_t XferOptions) -{ - HAL_StatusTypeDef dmaxferstatus; - - /* Check the parameters */ - assert_param(IS_FMPI2C_TRANSFER_OPTIONS_REQUEST(XferOptions)); - - if (((uint32_t)hfmpi2c->State & (uint32_t)HAL_FMPI2C_STATE_LISTEN) == (uint32_t)HAL_FMPI2C_STATE_LISTEN) - { - if ((pData == NULL) || (Size == 0U)) - { - hfmpi2c->ErrorCode = HAL_FMPI2C_ERROR_INVALID_PARAM; - return HAL_ERROR; - } - - /* Process Locked */ - __HAL_LOCK(hfmpi2c); - - /* Disable Interrupts, to prevent preemption during treatment in case of multicall */ - FMPI2C_Disable_IRQ(hfmpi2c, FMPI2C_XFER_LISTEN_IT | FMPI2C_XFER_TX_IT); - - /* FMPI2C cannot manage full duplex exchange so disable previous IT enabled if any */ - /* and then toggle the HAL slave RX state to TX state */ - if (hfmpi2c->State == HAL_FMPI2C_STATE_BUSY_RX_LISTEN) - { - /* Disable associated Interrupts */ - FMPI2C_Disable_IRQ(hfmpi2c, FMPI2C_XFER_RX_IT); - - if ((hfmpi2c->Instance->CR1 & FMPI2C_CR1_RXDMAEN) == FMPI2C_CR1_RXDMAEN) - { - /* Abort DMA Xfer if any */ - if (hfmpi2c->hdmarx != NULL) - { - hfmpi2c->Instance->CR1 &= ~FMPI2C_CR1_RXDMAEN; - - /* Set the FMPI2C DMA Abort callback : - will lead to call HAL_FMPI2C_ErrorCallback() at end of DMA abort procedure */ - hfmpi2c->hdmarx->XferAbortCallback = FMPI2C_DMAAbort; - - /* Abort DMA RX */ - if (HAL_DMA_Abort_IT(hfmpi2c->hdmarx) != HAL_OK) - { - /* Call Directly XferAbortCallback function in case of error */ - hfmpi2c->hdmarx->XferAbortCallback(hfmpi2c->hdmarx); - } - } - } - } - else if (hfmpi2c->State == HAL_FMPI2C_STATE_BUSY_TX_LISTEN) - { - if ((hfmpi2c->Instance->CR1 & FMPI2C_CR1_TXDMAEN) == FMPI2C_CR1_TXDMAEN) - { - hfmpi2c->Instance->CR1 &= ~FMPI2C_CR1_TXDMAEN; - - /* Abort DMA Xfer if any */ - if (hfmpi2c->hdmatx != NULL) - { - /* Set the FMPI2C DMA Abort callback : - will lead to call HAL_FMPI2C_ErrorCallback() at end of DMA abort procedure */ - hfmpi2c->hdmatx->XferAbortCallback = FMPI2C_DMAAbort; - - /* Abort DMA TX */ - if (HAL_DMA_Abort_IT(hfmpi2c->hdmatx) != HAL_OK) - { - /* Call Directly XferAbortCallback function in case of error */ - hfmpi2c->hdmatx->XferAbortCallback(hfmpi2c->hdmatx); - } - } - } - } - else - { - /* Nothing to do */ - } - - hfmpi2c->State = HAL_FMPI2C_STATE_BUSY_TX_LISTEN; - hfmpi2c->Mode = HAL_FMPI2C_MODE_SLAVE; - hfmpi2c->ErrorCode = HAL_FMPI2C_ERROR_NONE; - - /* Enable Address Acknowledge */ - hfmpi2c->Instance->CR2 &= ~FMPI2C_CR2_NACK; - - /* Prepare transfer parameters */ - hfmpi2c->pBuffPtr = pData; - hfmpi2c->XferCount = Size; - hfmpi2c->XferSize = hfmpi2c->XferCount; - hfmpi2c->XferOptions = XferOptions; - hfmpi2c->XferISR = FMPI2C_Slave_ISR_DMA; - - if (hfmpi2c->hdmatx != NULL) - { - /* Set the FMPI2C DMA transfer complete callback */ - hfmpi2c->hdmatx->XferCpltCallback = FMPI2C_DMASlaveTransmitCplt; - - /* Set the DMA error callback */ - hfmpi2c->hdmatx->XferErrorCallback = FMPI2C_DMAError; - - /* Set the unused DMA callbacks to NULL */ - hfmpi2c->hdmatx->XferHalfCpltCallback = NULL; - hfmpi2c->hdmatx->XferAbortCallback = NULL; - - /* Enable the DMA stream */ - dmaxferstatus = HAL_DMA_Start_IT(hfmpi2c->hdmatx, (uint32_t)pData, (uint32_t)&hfmpi2c->Instance->TXDR, - hfmpi2c->XferSize); - } - else - { - /* Update FMPI2C state */ - hfmpi2c->State = HAL_FMPI2C_STATE_LISTEN; - hfmpi2c->Mode = HAL_FMPI2C_MODE_NONE; - - /* Update FMPI2C error code */ - hfmpi2c->ErrorCode |= HAL_FMPI2C_ERROR_DMA_PARAM; - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpi2c); - - return HAL_ERROR; - } - - if (dmaxferstatus == HAL_OK) - { - /* Update XferCount value */ - hfmpi2c->XferCount -= hfmpi2c->XferSize; - - /* Reset XferSize */ - hfmpi2c->XferSize = 0; - } - else - { - /* Update FMPI2C state */ - hfmpi2c->State = HAL_FMPI2C_STATE_LISTEN; - hfmpi2c->Mode = HAL_FMPI2C_MODE_NONE; - - /* Update FMPI2C error code */ - hfmpi2c->ErrorCode |= HAL_FMPI2C_ERROR_DMA; - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpi2c); - - return HAL_ERROR; - } - - if (FMPI2C_GET_DIR(hfmpi2c) == FMPI2C_DIRECTION_RECEIVE) - { - /* Clear ADDR flag after prepare the transfer parameters */ - /* This action will generate an acknowledge to the Master */ - __HAL_FMPI2C_CLEAR_FLAG(hfmpi2c, FMPI2C_FLAG_ADDR); - } - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpi2c); - - /* Note : The FMPI2C interrupts must be enabled after unlocking current process - to avoid the risk of FMPI2C interrupt handle execution before current - process unlock */ - /* Enable ERR, STOP, NACK, ADDR interrupts */ - FMPI2C_Enable_IRQ(hfmpi2c, FMPI2C_XFER_LISTEN_IT); - - /* Enable DMA Request */ - hfmpi2c->Instance->CR1 |= FMPI2C_CR1_TXDMAEN; - - return HAL_OK; - } - else - { - return HAL_ERROR; - } -} - -/** - * @brief Sequential receive in slave/device FMPI2C mode an amount of data in non-blocking mode with Interrupt - * @note This interface allow to manage repeated start condition when a direction change during transfer - * @param hfmpi2c Pointer to a FMPI2C_HandleTypeDef structure that contains - * the configuration information for the specified FMPI2C. - * @param pData Pointer to data buffer - * @param Size Amount of data to be sent - * @param XferOptions Options of Transfer, value of @ref FMPI2C_XFEROPTIONS - * @retval HAL status - */ -HAL_StatusTypeDef HAL_FMPI2C_Slave_Seq_Receive_IT(FMPI2C_HandleTypeDef *hfmpi2c, uint8_t *pData, uint16_t Size, - uint32_t XferOptions) -{ - /* Check the parameters */ - assert_param(IS_FMPI2C_TRANSFER_OPTIONS_REQUEST(XferOptions)); - - if (((uint32_t)hfmpi2c->State & (uint32_t)HAL_FMPI2C_STATE_LISTEN) == (uint32_t)HAL_FMPI2C_STATE_LISTEN) - { - if ((pData == NULL) || (Size == 0U)) - { - hfmpi2c->ErrorCode = HAL_FMPI2C_ERROR_INVALID_PARAM; - return HAL_ERROR; - } - - /* Disable Interrupts, to prevent preemption during treatment in case of multicall */ - FMPI2C_Disable_IRQ(hfmpi2c, FMPI2C_XFER_LISTEN_IT | FMPI2C_XFER_RX_IT); - - /* Process Locked */ - __HAL_LOCK(hfmpi2c); - - /* FMPI2C cannot manage full duplex exchange so disable previous IT enabled if any */ - /* and then toggle the HAL slave TX state to RX state */ - if (hfmpi2c->State == HAL_FMPI2C_STATE_BUSY_TX_LISTEN) - { - /* Disable associated Interrupts */ - FMPI2C_Disable_IRQ(hfmpi2c, FMPI2C_XFER_TX_IT); - - if ((hfmpi2c->Instance->CR1 & FMPI2C_CR1_TXDMAEN) == FMPI2C_CR1_TXDMAEN) - { - hfmpi2c->Instance->CR1 &= ~FMPI2C_CR1_TXDMAEN; - - /* Abort DMA Xfer if any */ - if (hfmpi2c->hdmatx != NULL) - { - /* Set the FMPI2C DMA Abort callback : - will lead to call HAL_FMPI2C_ErrorCallback() at end of DMA abort procedure */ - hfmpi2c->hdmatx->XferAbortCallback = FMPI2C_DMAAbort; - - /* Abort DMA TX */ - if (HAL_DMA_Abort_IT(hfmpi2c->hdmatx) != HAL_OK) - { - /* Call Directly XferAbortCallback function in case of error */ - hfmpi2c->hdmatx->XferAbortCallback(hfmpi2c->hdmatx); - } - } - } - } - - hfmpi2c->State = HAL_FMPI2C_STATE_BUSY_RX_LISTEN; - hfmpi2c->Mode = HAL_FMPI2C_MODE_SLAVE; - hfmpi2c->ErrorCode = HAL_FMPI2C_ERROR_NONE; - - /* Enable Address Acknowledge */ - hfmpi2c->Instance->CR2 &= ~FMPI2C_CR2_NACK; - - /* Prepare transfer parameters */ - hfmpi2c->pBuffPtr = pData; - hfmpi2c->XferCount = Size; - hfmpi2c->XferSize = hfmpi2c->XferCount; - hfmpi2c->XferOptions = XferOptions; - hfmpi2c->XferISR = FMPI2C_Slave_ISR_IT; - - if (FMPI2C_GET_DIR(hfmpi2c) == FMPI2C_DIRECTION_TRANSMIT) - { - /* Clear ADDR flag after prepare the transfer parameters */ - /* This action will generate an acknowledge to the Master */ - __HAL_FMPI2C_CLEAR_FLAG(hfmpi2c, FMPI2C_FLAG_ADDR); - } - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpi2c); - - /* Note : The FMPI2C interrupts must be enabled after unlocking current process - to avoid the risk of FMPI2C interrupt handle execution before current - process unlock */ - /* REnable ADDR interrupt */ - FMPI2C_Enable_IRQ(hfmpi2c, FMPI2C_XFER_RX_IT | FMPI2C_XFER_LISTEN_IT); - - return HAL_OK; - } - else - { - return HAL_ERROR; - } -} - -/** - * @brief Sequential receive in slave/device FMPI2C mode an amount of data in non-blocking mode with DMA - * @note This interface allow to manage repeated start condition when a direction change during transfer - * @param hfmpi2c Pointer to a FMPI2C_HandleTypeDef structure that contains - * the configuration information for the specified FMPI2C. - * @param pData Pointer to data buffer - * @param Size Amount of data to be sent - * @param XferOptions Options of Transfer, value of @ref FMPI2C_XFEROPTIONS - * @retval HAL status - */ -HAL_StatusTypeDef HAL_FMPI2C_Slave_Seq_Receive_DMA(FMPI2C_HandleTypeDef *hfmpi2c, uint8_t *pData, uint16_t Size, - uint32_t XferOptions) -{ - HAL_StatusTypeDef dmaxferstatus; - - /* Check the parameters */ - assert_param(IS_FMPI2C_TRANSFER_OPTIONS_REQUEST(XferOptions)); - - if (((uint32_t)hfmpi2c->State & (uint32_t)HAL_FMPI2C_STATE_LISTEN) == (uint32_t)HAL_FMPI2C_STATE_LISTEN) - { - if ((pData == NULL) || (Size == 0U)) - { - hfmpi2c->ErrorCode = HAL_FMPI2C_ERROR_INVALID_PARAM; - return HAL_ERROR; - } - - /* Disable Interrupts, to prevent preemption during treatment in case of multicall */ - FMPI2C_Disable_IRQ(hfmpi2c, FMPI2C_XFER_LISTEN_IT | FMPI2C_XFER_RX_IT); - - /* Process Locked */ - __HAL_LOCK(hfmpi2c); - - /* FMPI2C cannot manage full duplex exchange so disable previous IT enabled if any */ - /* and then toggle the HAL slave TX state to RX state */ - if (hfmpi2c->State == HAL_FMPI2C_STATE_BUSY_TX_LISTEN) - { - /* Disable associated Interrupts */ - FMPI2C_Disable_IRQ(hfmpi2c, FMPI2C_XFER_TX_IT); - - if ((hfmpi2c->Instance->CR1 & FMPI2C_CR1_TXDMAEN) == FMPI2C_CR1_TXDMAEN) - { - /* Abort DMA Xfer if any */ - if (hfmpi2c->hdmatx != NULL) - { - hfmpi2c->Instance->CR1 &= ~FMPI2C_CR1_TXDMAEN; - - /* Set the FMPI2C DMA Abort callback : - will lead to call HAL_FMPI2C_ErrorCallback() at end of DMA abort procedure */ - hfmpi2c->hdmatx->XferAbortCallback = FMPI2C_DMAAbort; - - /* Abort DMA TX */ - if (HAL_DMA_Abort_IT(hfmpi2c->hdmatx) != HAL_OK) - { - /* Call Directly XferAbortCallback function in case of error */ - hfmpi2c->hdmatx->XferAbortCallback(hfmpi2c->hdmatx); - } - } - } - } - else if (hfmpi2c->State == HAL_FMPI2C_STATE_BUSY_RX_LISTEN) - { - if ((hfmpi2c->Instance->CR1 & FMPI2C_CR1_RXDMAEN) == FMPI2C_CR1_RXDMAEN) - { - hfmpi2c->Instance->CR1 &= ~FMPI2C_CR1_RXDMAEN; - - /* Abort DMA Xfer if any */ - if (hfmpi2c->hdmarx != NULL) - { - /* Set the FMPI2C DMA Abort callback : - will lead to call HAL_FMPI2C_ErrorCallback() at end of DMA abort procedure */ - hfmpi2c->hdmarx->XferAbortCallback = FMPI2C_DMAAbort; - - /* Abort DMA RX */ - if (HAL_DMA_Abort_IT(hfmpi2c->hdmarx) != HAL_OK) - { - /* Call Directly XferAbortCallback function in case of error */ - hfmpi2c->hdmarx->XferAbortCallback(hfmpi2c->hdmarx); - } - } - } - } - else - { - /* Nothing to do */ - } - - hfmpi2c->State = HAL_FMPI2C_STATE_BUSY_RX_LISTEN; - hfmpi2c->Mode = HAL_FMPI2C_MODE_SLAVE; - hfmpi2c->ErrorCode = HAL_FMPI2C_ERROR_NONE; - - /* Enable Address Acknowledge */ - hfmpi2c->Instance->CR2 &= ~FMPI2C_CR2_NACK; - - /* Prepare transfer parameters */ - hfmpi2c->pBuffPtr = pData; - hfmpi2c->XferCount = Size; - hfmpi2c->XferSize = hfmpi2c->XferCount; - hfmpi2c->XferOptions = XferOptions; - hfmpi2c->XferISR = FMPI2C_Slave_ISR_DMA; - - if (hfmpi2c->hdmarx != NULL) - { - /* Set the FMPI2C DMA transfer complete callback */ - hfmpi2c->hdmarx->XferCpltCallback = FMPI2C_DMASlaveReceiveCplt; - - /* Set the DMA error callback */ - hfmpi2c->hdmarx->XferErrorCallback = FMPI2C_DMAError; - - /* Set the unused DMA callbacks to NULL */ - hfmpi2c->hdmarx->XferHalfCpltCallback = NULL; - hfmpi2c->hdmarx->XferAbortCallback = NULL; - - /* Enable the DMA stream */ - dmaxferstatus = HAL_DMA_Start_IT(hfmpi2c->hdmarx, (uint32_t)&hfmpi2c->Instance->RXDR, - (uint32_t)pData, hfmpi2c->XferSize); - } - else - { - /* Update FMPI2C state */ - hfmpi2c->State = HAL_FMPI2C_STATE_LISTEN; - hfmpi2c->Mode = HAL_FMPI2C_MODE_NONE; - - /* Update FMPI2C error code */ - hfmpi2c->ErrorCode |= HAL_FMPI2C_ERROR_DMA_PARAM; - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpi2c); - - return HAL_ERROR; - } - - if (dmaxferstatus == HAL_OK) - { - /* Update XferCount value */ - hfmpi2c->XferCount -= hfmpi2c->XferSize; - - /* Reset XferSize */ - hfmpi2c->XferSize = 0; - } - else - { - /* Update FMPI2C state */ - hfmpi2c->State = HAL_FMPI2C_STATE_LISTEN; - hfmpi2c->Mode = HAL_FMPI2C_MODE_NONE; - - /* Update FMPI2C error code */ - hfmpi2c->ErrorCode |= HAL_FMPI2C_ERROR_DMA; - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpi2c); - - return HAL_ERROR; - } - - if (FMPI2C_GET_DIR(hfmpi2c) == FMPI2C_DIRECTION_TRANSMIT) - { - /* Clear ADDR flag after prepare the transfer parameters */ - /* This action will generate an acknowledge to the Master */ - __HAL_FMPI2C_CLEAR_FLAG(hfmpi2c, FMPI2C_FLAG_ADDR); - } - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpi2c); - - /* Note : The FMPI2C interrupts must be enabled after unlocking current process - to avoid the risk of FMPI2C interrupt handle execution before current - process unlock */ - /* REnable ADDR interrupt */ - FMPI2C_Enable_IRQ(hfmpi2c, FMPI2C_XFER_RX_IT | FMPI2C_XFER_LISTEN_IT); - - /* Enable DMA Request */ - hfmpi2c->Instance->CR1 |= FMPI2C_CR1_RXDMAEN; - - return HAL_OK; - } - else - { - return HAL_ERROR; - } -} - -/** - * @brief Enable the Address listen mode with Interrupt. - * @param hfmpi2c Pointer to a FMPI2C_HandleTypeDef structure that contains - * the configuration information for the specified FMPI2C. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_FMPI2C_EnableListen_IT(FMPI2C_HandleTypeDef *hfmpi2c) -{ - if (hfmpi2c->State == HAL_FMPI2C_STATE_READY) - { - hfmpi2c->State = HAL_FMPI2C_STATE_LISTEN; - hfmpi2c->XferISR = FMPI2C_Slave_ISR_IT; - - /* Enable the Address Match interrupt */ - FMPI2C_Enable_IRQ(hfmpi2c, FMPI2C_XFER_LISTEN_IT); - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Disable the Address listen mode with Interrupt. - * @param hfmpi2c Pointer to a FMPI2C_HandleTypeDef structure that contains - * the configuration information for the specified FMPI2C - * @retval HAL status - */ -HAL_StatusTypeDef HAL_FMPI2C_DisableListen_IT(FMPI2C_HandleTypeDef *hfmpi2c) -{ - /* Declaration of tmp to prevent undefined behavior of volatile usage */ - uint32_t tmp; - - /* Disable Address listen mode only if a transfer is not ongoing */ - if (hfmpi2c->State == HAL_FMPI2C_STATE_LISTEN) - { - tmp = (uint32_t)(hfmpi2c->State) & FMPI2C_STATE_MSK; - hfmpi2c->PreviousState = tmp | (uint32_t)(hfmpi2c->Mode); - hfmpi2c->State = HAL_FMPI2C_STATE_READY; - hfmpi2c->Mode = HAL_FMPI2C_MODE_NONE; - hfmpi2c->XferISR = NULL; - - /* Disable the Address Match interrupt */ - FMPI2C_Disable_IRQ(hfmpi2c, FMPI2C_XFER_LISTEN_IT); - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Abort a master FMPI2C IT or DMA process communication with Interrupt. - * @param hfmpi2c Pointer to a FMPI2C_HandleTypeDef structure that contains - * the configuration information for the specified FMPI2C. - * @param DevAddress Target device address: The device 7 bits address value - * in datasheet must be shifted to the left before calling the interface - * @retval HAL status - */ -HAL_StatusTypeDef HAL_FMPI2C_Master_Abort_IT(FMPI2C_HandleTypeDef *hfmpi2c, uint16_t DevAddress) -{ - if (hfmpi2c->Mode == HAL_FMPI2C_MODE_MASTER) - { - /* Process Locked */ - __HAL_LOCK(hfmpi2c); - - /* Disable Interrupts and Store Previous state */ - if (hfmpi2c->State == HAL_FMPI2C_STATE_BUSY_TX) - { - FMPI2C_Disable_IRQ(hfmpi2c, FMPI2C_XFER_TX_IT); - hfmpi2c->PreviousState = FMPI2C_STATE_MASTER_BUSY_TX; - } - else if (hfmpi2c->State == HAL_FMPI2C_STATE_BUSY_RX) - { - FMPI2C_Disable_IRQ(hfmpi2c, FMPI2C_XFER_RX_IT); - hfmpi2c->PreviousState = FMPI2C_STATE_MASTER_BUSY_RX; - } - else - { - /* Do nothing */ - } - - /* Set State at HAL_FMPI2C_STATE_ABORT */ - hfmpi2c->State = HAL_FMPI2C_STATE_ABORT; - - /* Set NBYTES to 1 to generate a dummy read on FMPI2C peripheral */ - /* Set AUTOEND mode, this will generate a NACK then STOP condition to abort the current transfer */ - FMPI2C_TransferConfig(hfmpi2c, DevAddress, 1, FMPI2C_AUTOEND_MODE, FMPI2C_GENERATE_STOP); - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpi2c); - - /* Note : The FMPI2C interrupts must be enabled after unlocking current process - to avoid the risk of FMPI2C interrupt handle execution before current - process unlock */ - FMPI2C_Enable_IRQ(hfmpi2c, FMPI2C_XFER_CPLT_IT); - - return HAL_OK; - } - else - { - /* Wrong usage of abort function */ - /* This function should be used only in case of abort monitored by master device */ - return HAL_ERROR; - } -} - -/** - * @} - */ - -/** @defgroup FMPI2C_IRQ_Handler_and_Callbacks IRQ Handler and Callbacks - * @{ - */ - -/** - * @brief This function handles FMPI2C event interrupt request. - * @param hfmpi2c Pointer to a FMPI2C_HandleTypeDef structure that contains - * the configuration information for the specified FMPI2C. - * @retval None - */ -void HAL_FMPI2C_EV_IRQHandler(FMPI2C_HandleTypeDef *hfmpi2c) -{ - /* Get current IT Flags and IT sources value */ - uint32_t itflags = READ_REG(hfmpi2c->Instance->ISR); - uint32_t itsources = READ_REG(hfmpi2c->Instance->CR1); - - /* FMPI2C events treatment -------------------------------------*/ - if (hfmpi2c->XferISR != NULL) - { - hfmpi2c->XferISR(hfmpi2c, itflags, itsources); - } -} - -/** - * @brief This function handles FMPI2C error interrupt request. - * @param hfmpi2c Pointer to a FMPI2C_HandleTypeDef structure that contains - * the configuration information for the specified FMPI2C. - * @retval None - */ -void HAL_FMPI2C_ER_IRQHandler(FMPI2C_HandleTypeDef *hfmpi2c) -{ - uint32_t itflags = READ_REG(hfmpi2c->Instance->ISR); - uint32_t itsources = READ_REG(hfmpi2c->Instance->CR1); - uint32_t tmperror; - - /* FMPI2C Bus error interrupt occurred ------------------------------------*/ - if ((FMPI2C_CHECK_FLAG(itflags, FMPI2C_FLAG_BERR) != RESET) && \ - (FMPI2C_CHECK_IT_SOURCE(itsources, FMPI2C_IT_ERRI) != RESET)) - { - hfmpi2c->ErrorCode |= HAL_FMPI2C_ERROR_BERR; - - /* Clear BERR flag */ - __HAL_FMPI2C_CLEAR_FLAG(hfmpi2c, FMPI2C_FLAG_BERR); - } - - /* FMPI2C Over-Run/Under-Run interrupt occurred ----------------------------------------*/ - if ((FMPI2C_CHECK_FLAG(itflags, FMPI2C_FLAG_OVR) != RESET) && \ - (FMPI2C_CHECK_IT_SOURCE(itsources, FMPI2C_IT_ERRI) != RESET)) - { - hfmpi2c->ErrorCode |= HAL_FMPI2C_ERROR_OVR; - - /* Clear OVR flag */ - __HAL_FMPI2C_CLEAR_FLAG(hfmpi2c, FMPI2C_FLAG_OVR); - } - - /* FMPI2C Arbitration Loss error interrupt occurred -------------------------------------*/ - if ((FMPI2C_CHECK_FLAG(itflags, FMPI2C_FLAG_ARLO) != RESET) && \ - (FMPI2C_CHECK_IT_SOURCE(itsources, FMPI2C_IT_ERRI) != RESET)) - { - hfmpi2c->ErrorCode |= HAL_FMPI2C_ERROR_ARLO; - - /* Clear ARLO flag */ - __HAL_FMPI2C_CLEAR_FLAG(hfmpi2c, FMPI2C_FLAG_ARLO); - } - - /* Store current volatile hfmpi2c->ErrorCode, misra rule */ - tmperror = hfmpi2c->ErrorCode; - - /* Call the Error Callback in case of Error detected */ - if ((tmperror & (HAL_FMPI2C_ERROR_BERR | HAL_FMPI2C_ERROR_OVR | HAL_FMPI2C_ERROR_ARLO)) != HAL_FMPI2C_ERROR_NONE) - { - FMPI2C_ITError(hfmpi2c, tmperror); - } -} - -/** - * @brief Master Tx Transfer completed callback. - * @param hfmpi2c Pointer to a FMPI2C_HandleTypeDef structure that contains - * the configuration information for the specified FMPI2C. - * @retval None - */ -__weak void HAL_FMPI2C_MasterTxCpltCallback(FMPI2C_HandleTypeDef *hfmpi2c) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hfmpi2c); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_FMPI2C_MasterTxCpltCallback could be implemented in the user file - */ -} - -/** - * @brief Master Rx Transfer completed callback. - * @param hfmpi2c Pointer to a FMPI2C_HandleTypeDef structure that contains - * the configuration information for the specified FMPI2C. - * @retval None - */ -__weak void HAL_FMPI2C_MasterRxCpltCallback(FMPI2C_HandleTypeDef *hfmpi2c) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hfmpi2c); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_FMPI2C_MasterRxCpltCallback could be implemented in the user file - */ -} - -/** @brief Slave Tx Transfer completed callback. - * @param hfmpi2c Pointer to a FMPI2C_HandleTypeDef structure that contains - * the configuration information for the specified FMPI2C. - * @retval None - */ -__weak void HAL_FMPI2C_SlaveTxCpltCallback(FMPI2C_HandleTypeDef *hfmpi2c) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hfmpi2c); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_FMPI2C_SlaveTxCpltCallback could be implemented in the user file - */ -} - -/** - * @brief Slave Rx Transfer completed callback. - * @param hfmpi2c Pointer to a FMPI2C_HandleTypeDef structure that contains - * the configuration information for the specified FMPI2C. - * @retval None - */ -__weak void HAL_FMPI2C_SlaveRxCpltCallback(FMPI2C_HandleTypeDef *hfmpi2c) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hfmpi2c); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_FMPI2C_SlaveRxCpltCallback could be implemented in the user file - */ -} - -/** - * @brief Slave Address Match callback. - * @param hfmpi2c Pointer to a FMPI2C_HandleTypeDef structure that contains - * the configuration information for the specified FMPI2C. - * @param TransferDirection Master request Transfer Direction (Write/Read), value of @ref FMPI2C_XFERDIRECTION - * @param AddrMatchCode Address Match Code - * @retval None - */ -__weak void HAL_FMPI2C_AddrCallback(FMPI2C_HandleTypeDef *hfmpi2c, uint8_t TransferDirection, uint16_t AddrMatchCode) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hfmpi2c); - UNUSED(TransferDirection); - UNUSED(AddrMatchCode); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_FMPI2C_AddrCallback() could be implemented in the user file - */ -} - -/** - * @brief Listen Complete callback. - * @param hfmpi2c Pointer to a FMPI2C_HandleTypeDef structure that contains - * the configuration information for the specified FMPI2C. - * @retval None - */ -__weak void HAL_FMPI2C_ListenCpltCallback(FMPI2C_HandleTypeDef *hfmpi2c) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hfmpi2c); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_FMPI2C_ListenCpltCallback() could be implemented in the user file - */ -} - -/** - * @brief Memory Tx Transfer completed callback. - * @param hfmpi2c Pointer to a FMPI2C_HandleTypeDef structure that contains - * the configuration information for the specified FMPI2C. - * @retval None - */ -__weak void HAL_FMPI2C_MemTxCpltCallback(FMPI2C_HandleTypeDef *hfmpi2c) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hfmpi2c); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_FMPI2C_MemTxCpltCallback could be implemented in the user file - */ -} - -/** - * @brief Memory Rx Transfer completed callback. - * @param hfmpi2c Pointer to a FMPI2C_HandleTypeDef structure that contains - * the configuration information for the specified FMPI2C. - * @retval None - */ -__weak void HAL_FMPI2C_MemRxCpltCallback(FMPI2C_HandleTypeDef *hfmpi2c) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hfmpi2c); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_FMPI2C_MemRxCpltCallback could be implemented in the user file - */ -} - -/** - * @brief FMPI2C error callback. - * @param hfmpi2c Pointer to a FMPI2C_HandleTypeDef structure that contains - * the configuration information for the specified FMPI2C. - * @retval None - */ -__weak void HAL_FMPI2C_ErrorCallback(FMPI2C_HandleTypeDef *hfmpi2c) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hfmpi2c); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_FMPI2C_ErrorCallback could be implemented in the user file - */ -} - -/** - * @brief FMPI2C abort callback. - * @param hfmpi2c Pointer to a FMPI2C_HandleTypeDef structure that contains - * the configuration information for the specified FMPI2C. - * @retval None - */ -__weak void HAL_FMPI2C_AbortCpltCallback(FMPI2C_HandleTypeDef *hfmpi2c) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hfmpi2c); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_FMPI2C_AbortCpltCallback could be implemented in the user file - */ -} - -/** - * @} - */ - -/** @defgroup FMPI2C_Exported_Functions_Group3 Peripheral State, Mode and Error functions - * @brief Peripheral State, Mode and Error functions - * -@verbatim - =============================================================================== - ##### Peripheral State, Mode and Error functions ##### - =============================================================================== - [..] - This subsection permit to get in run-time the status of the peripheral - and the data flow. - -@endverbatim - * @{ - */ - -/** - * @brief Return the FMPI2C handle state. - * @param hfmpi2c Pointer to a FMPI2C_HandleTypeDef structure that contains - * the configuration information for the specified FMPI2C. - * @retval HAL state - */ -HAL_FMPI2C_StateTypeDef HAL_FMPI2C_GetState(FMPI2C_HandleTypeDef *hfmpi2c) -{ - /* Return FMPI2C handle state */ - return hfmpi2c->State; -} - -/** - * @brief Returns the FMPI2C Master, Slave, Memory or no mode. - * @param hfmpi2c Pointer to a FMPI2C_HandleTypeDef structure that contains - * the configuration information for FMPI2C module - * @retval HAL mode - */ -HAL_FMPI2C_ModeTypeDef HAL_FMPI2C_GetMode(FMPI2C_HandleTypeDef *hfmpi2c) -{ - return hfmpi2c->Mode; -} - -/** - * @brief Return the FMPI2C error code. - * @param hfmpi2c Pointer to a FMPI2C_HandleTypeDef structure that contains - * the configuration information for the specified FMPI2C. - * @retval FMPI2C Error Code - */ -uint32_t HAL_FMPI2C_GetError(FMPI2C_HandleTypeDef *hfmpi2c) -{ - return hfmpi2c->ErrorCode; -} - -/** - * @} - */ - -/** - * @} - */ - -/** @addtogroup FMPI2C_Private_Functions - * @{ - */ - -/** - * @brief Interrupt Sub-Routine which handle the Interrupt Flags Master Mode with Interrupt. - * @param hfmpi2c Pointer to a FMPI2C_HandleTypeDef structure that contains - * the configuration information for the specified FMPI2C. - * @param ITFlags Interrupt flags to handle. - * @param ITSources Interrupt sources enabled. - * @retval HAL status - */ -static HAL_StatusTypeDef FMPI2C_Master_ISR_IT(struct __FMPI2C_HandleTypeDef *hfmpi2c, uint32_t ITFlags, - uint32_t ITSources) -{ - uint16_t devaddress; - uint32_t tmpITFlags = ITFlags; - - /* Process Locked */ - __HAL_LOCK(hfmpi2c); - - if ((FMPI2C_CHECK_FLAG(tmpITFlags, FMPI2C_FLAG_AF) != RESET) && \ - (FMPI2C_CHECK_IT_SOURCE(ITSources, FMPI2C_IT_NACKI) != RESET)) - { - /* Clear NACK Flag */ - __HAL_FMPI2C_CLEAR_FLAG(hfmpi2c, FMPI2C_FLAG_AF); - - /* Set corresponding Error Code */ - /* No need to generate STOP, it is automatically done */ - /* Error callback will be send during stop flag treatment */ - hfmpi2c->ErrorCode |= HAL_FMPI2C_ERROR_AF; - - /* Flush TX register */ - FMPI2C_Flush_TXDR(hfmpi2c); - } - else if ((FMPI2C_CHECK_FLAG(tmpITFlags, FMPI2C_FLAG_RXNE) != RESET) && \ - (FMPI2C_CHECK_IT_SOURCE(ITSources, FMPI2C_IT_RXI) != RESET)) - { - /* Remove RXNE flag on temporary variable as read done */ - tmpITFlags &= ~FMPI2C_FLAG_RXNE; - - /* Read data from RXDR */ - *hfmpi2c->pBuffPtr = (uint8_t)hfmpi2c->Instance->RXDR; - - /* Increment Buffer pointer */ - hfmpi2c->pBuffPtr++; - - hfmpi2c->XferSize--; - hfmpi2c->XferCount--; - } - else if ((FMPI2C_CHECK_FLAG(tmpITFlags, FMPI2C_FLAG_TXIS) != RESET) && \ - (FMPI2C_CHECK_IT_SOURCE(ITSources, FMPI2C_IT_TXI) != RESET)) - { - /* Write data to TXDR */ - hfmpi2c->Instance->TXDR = *hfmpi2c->pBuffPtr; - - /* Increment Buffer pointer */ - hfmpi2c->pBuffPtr++; - - hfmpi2c->XferSize--; - hfmpi2c->XferCount--; - } - else if ((FMPI2C_CHECK_FLAG(tmpITFlags, FMPI2C_FLAG_TCR) != RESET) && \ - (FMPI2C_CHECK_IT_SOURCE(ITSources, FMPI2C_IT_TCI) != RESET)) - { - if ((hfmpi2c->XferCount != 0U) && (hfmpi2c->XferSize == 0U)) - { - devaddress = (uint16_t)(hfmpi2c->Instance->CR2 & FMPI2C_CR2_SADD); - - if (hfmpi2c->XferCount > MAX_NBYTE_SIZE) - { - hfmpi2c->XferSize = MAX_NBYTE_SIZE; - FMPI2C_TransferConfig(hfmpi2c, devaddress, (uint8_t)hfmpi2c->XferSize, FMPI2C_RELOAD_MODE, FMPI2C_NO_STARTSTOP); - } - else - { - hfmpi2c->XferSize = hfmpi2c->XferCount; - if (hfmpi2c->XferOptions != FMPI2C_NO_OPTION_FRAME) - { - FMPI2C_TransferConfig(hfmpi2c, devaddress, (uint8_t)hfmpi2c->XferSize, - hfmpi2c->XferOptions, FMPI2C_NO_STARTSTOP); - } - else - { - FMPI2C_TransferConfig(hfmpi2c, devaddress, (uint8_t)hfmpi2c->XferSize, - FMPI2C_AUTOEND_MODE, FMPI2C_NO_STARTSTOP); - } - } - } - else - { - /* Call TxCpltCallback() if no stop mode is set */ - if (FMPI2C_GET_STOP_MODE(hfmpi2c) != FMPI2C_AUTOEND_MODE) - { - /* Call FMPI2C Master Sequential complete process */ - FMPI2C_ITMasterSeqCplt(hfmpi2c); - } - else - { - /* Wrong size Status regarding TCR flag event */ - /* Call the corresponding callback to inform upper layer of End of Transfer */ - FMPI2C_ITError(hfmpi2c, HAL_FMPI2C_ERROR_SIZE); - } - } - } - else if ((FMPI2C_CHECK_FLAG(tmpITFlags, FMPI2C_FLAG_TC) != RESET) && \ - (FMPI2C_CHECK_IT_SOURCE(ITSources, FMPI2C_IT_TCI) != RESET)) - { - if (hfmpi2c->XferCount == 0U) - { - if (FMPI2C_GET_STOP_MODE(hfmpi2c) != FMPI2C_AUTOEND_MODE) - { - /* Generate a stop condition in case of no transfer option */ - if (hfmpi2c->XferOptions == FMPI2C_NO_OPTION_FRAME) - { - /* Generate Stop */ - hfmpi2c->Instance->CR2 |= FMPI2C_CR2_STOP; - } - else - { - /* Call FMPI2C Master Sequential complete process */ - FMPI2C_ITMasterSeqCplt(hfmpi2c); - } - } - } - else - { - /* Wrong size Status regarding TC flag event */ - /* Call the corresponding callback to inform upper layer of End of Transfer */ - FMPI2C_ITError(hfmpi2c, HAL_FMPI2C_ERROR_SIZE); - } - } - else - { - /* Nothing to do */ - } - - if ((FMPI2C_CHECK_FLAG(tmpITFlags, FMPI2C_FLAG_STOPF) != RESET) && \ - (FMPI2C_CHECK_IT_SOURCE(ITSources, FMPI2C_IT_STOPI) != RESET)) - { - /* Call FMPI2C Master complete process */ - FMPI2C_ITMasterCplt(hfmpi2c, tmpITFlags); - } - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpi2c); - - return HAL_OK; -} - -/** - * @brief Interrupt Sub-Routine which handle the Interrupt Flags Slave Mode with Interrupt. - * @param hfmpi2c Pointer to a FMPI2C_HandleTypeDef structure that contains - * the configuration information for the specified FMPI2C. - * @param ITFlags Interrupt flags to handle. - * @param ITSources Interrupt sources enabled. - * @retval HAL status - */ -static HAL_StatusTypeDef FMPI2C_Slave_ISR_IT(struct __FMPI2C_HandleTypeDef *hfmpi2c, uint32_t ITFlags, - uint32_t ITSources) -{ - uint32_t tmpoptions = hfmpi2c->XferOptions; - uint32_t tmpITFlags = ITFlags; - - /* Process locked */ - __HAL_LOCK(hfmpi2c); - - /* Check if STOPF is set */ - if ((FMPI2C_CHECK_FLAG(tmpITFlags, FMPI2C_FLAG_STOPF) != RESET) && \ - (FMPI2C_CHECK_IT_SOURCE(ITSources, FMPI2C_IT_STOPI) != RESET)) - { - /* Call FMPI2C Slave complete process */ - FMPI2C_ITSlaveCplt(hfmpi2c, tmpITFlags); - } - - if ((FMPI2C_CHECK_FLAG(tmpITFlags, FMPI2C_FLAG_AF) != RESET) && \ - (FMPI2C_CHECK_IT_SOURCE(ITSources, FMPI2C_IT_NACKI) != RESET)) - { - /* Check that FMPI2C transfer finished */ - /* if yes, normal use case, a NACK is sent by the MASTER when Transfer is finished */ - /* Mean XferCount == 0*/ - /* So clear Flag NACKF only */ - if (hfmpi2c->XferCount == 0U) - { - if ((hfmpi2c->State == HAL_FMPI2C_STATE_LISTEN) && (tmpoptions == FMPI2C_FIRST_AND_LAST_FRAME)) - /* Same action must be done for (tmpoptions == FMPI2C_LAST_FRAME) which removed for - Warning[Pa134]: left and right operands are identical */ - { - /* Call FMPI2C Listen complete process */ - FMPI2C_ITListenCplt(hfmpi2c, tmpITFlags); - } - else if ((hfmpi2c->State == HAL_FMPI2C_STATE_BUSY_TX_LISTEN) && (tmpoptions != FMPI2C_NO_OPTION_FRAME)) - { - /* Clear NACK Flag */ - __HAL_FMPI2C_CLEAR_FLAG(hfmpi2c, FMPI2C_FLAG_AF); - - /* Flush TX register */ - FMPI2C_Flush_TXDR(hfmpi2c); - - /* Last Byte is Transmitted */ - /* Call FMPI2C Slave Sequential complete process */ - FMPI2C_ITSlaveSeqCplt(hfmpi2c); - } - else - { - /* Clear NACK Flag */ - __HAL_FMPI2C_CLEAR_FLAG(hfmpi2c, FMPI2C_FLAG_AF); - } - } - else - { - /* if no, error use case, a Non-Acknowledge of last Data is generated by the MASTER*/ - /* Clear NACK Flag */ - __HAL_FMPI2C_CLEAR_FLAG(hfmpi2c, FMPI2C_FLAG_AF); - - /* Set ErrorCode corresponding to a Non-Acknowledge */ - hfmpi2c->ErrorCode |= HAL_FMPI2C_ERROR_AF; - - if ((tmpoptions == FMPI2C_FIRST_FRAME) || (tmpoptions == FMPI2C_NEXT_FRAME)) - { - /* Call the corresponding callback to inform upper layer of End of Transfer */ - FMPI2C_ITError(hfmpi2c, hfmpi2c->ErrorCode); - } - } - } - else if ((FMPI2C_CHECK_FLAG(tmpITFlags, FMPI2C_FLAG_RXNE) != RESET) && \ - (FMPI2C_CHECK_IT_SOURCE(ITSources, FMPI2C_IT_RXI) != RESET)) - { - if (hfmpi2c->XferCount > 0U) - { - /* Read data from RXDR */ - *hfmpi2c->pBuffPtr = (uint8_t)hfmpi2c->Instance->RXDR; - - /* Increment Buffer pointer */ - hfmpi2c->pBuffPtr++; - - hfmpi2c->XferSize--; - hfmpi2c->XferCount--; - } - - if ((hfmpi2c->XferCount == 0U) && \ - (tmpoptions != FMPI2C_NO_OPTION_FRAME)) - { - /* Call FMPI2C Slave Sequential complete process */ - FMPI2C_ITSlaveSeqCplt(hfmpi2c); - } - } - else if ((FMPI2C_CHECK_FLAG(tmpITFlags, FMPI2C_FLAG_ADDR) != RESET) && \ - (FMPI2C_CHECK_IT_SOURCE(ITSources, FMPI2C_IT_ADDRI) != RESET)) - { - FMPI2C_ITAddrCplt(hfmpi2c, tmpITFlags); - } - else if ((FMPI2C_CHECK_FLAG(tmpITFlags, FMPI2C_FLAG_TXIS) != RESET) && \ - (FMPI2C_CHECK_IT_SOURCE(ITSources, FMPI2C_IT_TXI) != RESET)) - { - /* Write data to TXDR only if XferCount not reach "0" */ - /* A TXIS flag can be set, during STOP treatment */ - /* Check if all Data have already been sent */ - /* If it is the case, this last write in TXDR is not sent, correspond to a dummy TXIS event */ - if (hfmpi2c->XferCount > 0U) - { - /* Write data to TXDR */ - hfmpi2c->Instance->TXDR = *hfmpi2c->pBuffPtr; - - /* Increment Buffer pointer */ - hfmpi2c->pBuffPtr++; - - hfmpi2c->XferCount--; - hfmpi2c->XferSize--; - } - else - { - if ((tmpoptions == FMPI2C_NEXT_FRAME) || (tmpoptions == FMPI2C_FIRST_FRAME)) - { - /* Last Byte is Transmitted */ - /* Call FMPI2C Slave Sequential complete process */ - FMPI2C_ITSlaveSeqCplt(hfmpi2c); - } - } - } - else - { - /* Nothing to do */ - } - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpi2c); - - return HAL_OK; -} - -/** - * @brief Interrupt Sub-Routine which handle the Interrupt Flags Master Mode with DMA. - * @param hfmpi2c Pointer to a FMPI2C_HandleTypeDef structure that contains - * the configuration information for the specified FMPI2C. - * @param ITFlags Interrupt flags to handle. - * @param ITSources Interrupt sources enabled. - * @retval HAL status - */ -static HAL_StatusTypeDef FMPI2C_Master_ISR_DMA(struct __FMPI2C_HandleTypeDef *hfmpi2c, uint32_t ITFlags, - uint32_t ITSources) -{ - uint16_t devaddress; - uint32_t xfermode; - - /* Process Locked */ - __HAL_LOCK(hfmpi2c); - - if ((FMPI2C_CHECK_FLAG(ITFlags, FMPI2C_FLAG_AF) != RESET) && \ - (FMPI2C_CHECK_IT_SOURCE(ITSources, FMPI2C_IT_NACKI) != RESET)) - { - /* Clear NACK Flag */ - __HAL_FMPI2C_CLEAR_FLAG(hfmpi2c, FMPI2C_FLAG_AF); - - /* Set corresponding Error Code */ - hfmpi2c->ErrorCode |= HAL_FMPI2C_ERROR_AF; - - /* No need to generate STOP, it is automatically done */ - /* But enable STOP interrupt, to treat it */ - /* Error callback will be send during stop flag treatment */ - FMPI2C_Enable_IRQ(hfmpi2c, FMPI2C_XFER_CPLT_IT); - - /* Flush TX register */ - FMPI2C_Flush_TXDR(hfmpi2c); - } - else if ((FMPI2C_CHECK_FLAG(ITFlags, FMPI2C_FLAG_TCR) != RESET) && \ - (FMPI2C_CHECK_IT_SOURCE(ITSources, FMPI2C_IT_TCI) != RESET)) - { - /* Disable TC interrupt */ - __HAL_FMPI2C_DISABLE_IT(hfmpi2c, FMPI2C_IT_TCI); - - if (hfmpi2c->XferCount != 0U) - { - /* Recover Slave address */ - devaddress = (uint16_t)(hfmpi2c->Instance->CR2 & FMPI2C_CR2_SADD); - - /* Prepare the new XferSize to transfer */ - if (hfmpi2c->XferCount > MAX_NBYTE_SIZE) - { - hfmpi2c->XferSize = MAX_NBYTE_SIZE; - xfermode = FMPI2C_RELOAD_MODE; - } - else - { - hfmpi2c->XferSize = hfmpi2c->XferCount; - if (hfmpi2c->XferOptions != FMPI2C_NO_OPTION_FRAME) - { - xfermode = hfmpi2c->XferOptions; - } - else - { - xfermode = FMPI2C_AUTOEND_MODE; - } - } - - /* Set the new XferSize in Nbytes register */ - FMPI2C_TransferConfig(hfmpi2c, devaddress, (uint8_t)hfmpi2c->XferSize, xfermode, FMPI2C_NO_STARTSTOP); - - /* Update XferCount value */ - hfmpi2c->XferCount -= hfmpi2c->XferSize; - - /* Enable DMA Request */ - if (hfmpi2c->State == HAL_FMPI2C_STATE_BUSY_RX) - { - hfmpi2c->Instance->CR1 |= FMPI2C_CR1_RXDMAEN; - } - else - { - hfmpi2c->Instance->CR1 |= FMPI2C_CR1_TXDMAEN; - } - } - else - { - /* Call TxCpltCallback() if no stop mode is set */ - if (FMPI2C_GET_STOP_MODE(hfmpi2c) != FMPI2C_AUTOEND_MODE) - { - /* Call FMPI2C Master Sequential complete process */ - FMPI2C_ITMasterSeqCplt(hfmpi2c); - } - else - { - /* Wrong size Status regarding TCR flag event */ - /* Call the corresponding callback to inform upper layer of End of Transfer */ - FMPI2C_ITError(hfmpi2c, HAL_FMPI2C_ERROR_SIZE); - } - } - } - else if ((FMPI2C_CHECK_FLAG(ITFlags, FMPI2C_FLAG_TC) != RESET) && \ - (FMPI2C_CHECK_IT_SOURCE(ITSources, FMPI2C_IT_TCI) != RESET)) - { - if (hfmpi2c->XferCount == 0U) - { - if (FMPI2C_GET_STOP_MODE(hfmpi2c) != FMPI2C_AUTOEND_MODE) - { - /* Generate a stop condition in case of no transfer option */ - if (hfmpi2c->XferOptions == FMPI2C_NO_OPTION_FRAME) - { - /* Generate Stop */ - hfmpi2c->Instance->CR2 |= FMPI2C_CR2_STOP; - } - else - { - /* Call FMPI2C Master Sequential complete process */ - FMPI2C_ITMasterSeqCplt(hfmpi2c); - } - } - } - else - { - /* Wrong size Status regarding TC flag event */ - /* Call the corresponding callback to inform upper layer of End of Transfer */ - FMPI2C_ITError(hfmpi2c, HAL_FMPI2C_ERROR_SIZE); - } - } - else if ((FMPI2C_CHECK_FLAG(ITFlags, FMPI2C_FLAG_STOPF) != RESET) && \ - (FMPI2C_CHECK_IT_SOURCE(ITSources, FMPI2C_IT_STOPI) != RESET)) - { - /* Call FMPI2C Master complete process */ - FMPI2C_ITMasterCplt(hfmpi2c, ITFlags); - } - else - { - /* Nothing to do */ - } - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpi2c); - - return HAL_OK; -} - -/** - * @brief Interrupt Sub-Routine which handle the Interrupt Flags Slave Mode with DMA. - * @param hfmpi2c Pointer to a FMPI2C_HandleTypeDef structure that contains - * the configuration information for the specified FMPI2C. - * @param ITFlags Interrupt flags to handle. - * @param ITSources Interrupt sources enabled. - * @retval HAL status - */ -static HAL_StatusTypeDef FMPI2C_Slave_ISR_DMA(struct __FMPI2C_HandleTypeDef *hfmpi2c, uint32_t ITFlags, - uint32_t ITSources) -{ - uint32_t tmpoptions = hfmpi2c->XferOptions; - uint32_t treatdmanack = 0U; - HAL_FMPI2C_StateTypeDef tmpstate; - - /* Process locked */ - __HAL_LOCK(hfmpi2c); - - /* Check if STOPF is set */ - if ((FMPI2C_CHECK_FLAG(ITFlags, FMPI2C_FLAG_STOPF) != RESET) && \ - (FMPI2C_CHECK_IT_SOURCE(ITSources, FMPI2C_IT_STOPI) != RESET)) - { - /* Call FMPI2C Slave complete process */ - FMPI2C_ITSlaveCplt(hfmpi2c, ITFlags); - } - - if ((FMPI2C_CHECK_FLAG(ITFlags, FMPI2C_FLAG_AF) != RESET) && \ - (FMPI2C_CHECK_IT_SOURCE(ITSources, FMPI2C_IT_NACKI) != RESET)) - { - /* Check that FMPI2C transfer finished */ - /* if yes, normal use case, a NACK is sent by the MASTER when Transfer is finished */ - /* Mean XferCount == 0 */ - /* So clear Flag NACKF only */ - if ((FMPI2C_CHECK_IT_SOURCE(ITSources, FMPI2C_CR1_TXDMAEN) != RESET) || - (FMPI2C_CHECK_IT_SOURCE(ITSources, FMPI2C_CR1_RXDMAEN) != RESET)) - { - /* Split check of hdmarx, for MISRA compliance */ - if (hfmpi2c->hdmarx != NULL) - { - if (FMPI2C_CHECK_IT_SOURCE(ITSources, FMPI2C_CR1_RXDMAEN) != RESET) - { - if (__HAL_DMA_GET_COUNTER(hfmpi2c->hdmarx) == 0U) - { - treatdmanack = 1U; - } - } - } - - /* Split check of hdmatx, for MISRA compliance */ - if (hfmpi2c->hdmatx != NULL) - { - if (FMPI2C_CHECK_IT_SOURCE(ITSources, FMPI2C_CR1_TXDMAEN) != RESET) - { - if (__HAL_DMA_GET_COUNTER(hfmpi2c->hdmatx) == 0U) - { - treatdmanack = 1U; - } - } - } - - if (treatdmanack == 1U) - { - if ((hfmpi2c->State == HAL_FMPI2C_STATE_LISTEN) && (tmpoptions == FMPI2C_FIRST_AND_LAST_FRAME)) - /* Same action must be done for (tmpoptions == FMPI2C_LAST_FRAME) which removed for - Warning[Pa134]: left and right operands are identical */ - { - /* Call FMPI2C Listen complete process */ - FMPI2C_ITListenCplt(hfmpi2c, ITFlags); - } - else if ((hfmpi2c->State == HAL_FMPI2C_STATE_BUSY_TX_LISTEN) && (tmpoptions != FMPI2C_NO_OPTION_FRAME)) - { - /* Clear NACK Flag */ - __HAL_FMPI2C_CLEAR_FLAG(hfmpi2c, FMPI2C_FLAG_AF); - - /* Flush TX register */ - FMPI2C_Flush_TXDR(hfmpi2c); - - /* Last Byte is Transmitted */ - /* Call FMPI2C Slave Sequential complete process */ - FMPI2C_ITSlaveSeqCplt(hfmpi2c); - } - else - { - /* Clear NACK Flag */ - __HAL_FMPI2C_CLEAR_FLAG(hfmpi2c, FMPI2C_FLAG_AF); - } - } - else - { - /* if no, error use case, a Non-Acknowledge of last Data is generated by the MASTER*/ - /* Clear NACK Flag */ - __HAL_FMPI2C_CLEAR_FLAG(hfmpi2c, FMPI2C_FLAG_AF); - - /* Set ErrorCode corresponding to a Non-Acknowledge */ - hfmpi2c->ErrorCode |= HAL_FMPI2C_ERROR_AF; - - /* Store current hfmpi2c->State, solve MISRA2012-Rule-13.5 */ - tmpstate = hfmpi2c->State; - - if ((tmpoptions == FMPI2C_FIRST_FRAME) || (tmpoptions == FMPI2C_NEXT_FRAME)) - { - if ((tmpstate == HAL_FMPI2C_STATE_BUSY_TX) || (tmpstate == HAL_FMPI2C_STATE_BUSY_TX_LISTEN)) - { - hfmpi2c->PreviousState = FMPI2C_STATE_SLAVE_BUSY_TX; - } - else if ((tmpstate == HAL_FMPI2C_STATE_BUSY_RX) || (tmpstate == HAL_FMPI2C_STATE_BUSY_RX_LISTEN)) - { - hfmpi2c->PreviousState = FMPI2C_STATE_SLAVE_BUSY_RX; - } - else - { - /* Do nothing */ - } - - /* Call the corresponding callback to inform upper layer of End of Transfer */ - FMPI2C_ITError(hfmpi2c, hfmpi2c->ErrorCode); - } - } - } - else - { - /* Only Clear NACK Flag, no DMA treatment is pending */ - __HAL_FMPI2C_CLEAR_FLAG(hfmpi2c, FMPI2C_FLAG_AF); - } - } - else if ((FMPI2C_CHECK_FLAG(ITFlags, FMPI2C_FLAG_ADDR) != RESET) && \ - (FMPI2C_CHECK_IT_SOURCE(ITSources, FMPI2C_IT_ADDRI) != RESET)) - { - FMPI2C_ITAddrCplt(hfmpi2c, ITFlags); - } - else - { - /* Nothing to do */ - } - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpi2c); - - return HAL_OK; -} - -/** - * @brief Master sends target device address followed by internal memory address for write request. - * @param hfmpi2c Pointer to a FMPI2C_HandleTypeDef structure that contains - * the configuration information for the specified FMPI2C. - * @param DevAddress Target device address: The device 7 bits address value - * in datasheet must be shifted to the left before calling the interface - * @param MemAddress Internal memory address - * @param MemAddSize Size of internal memory address - * @param Timeout Timeout duration - * @param Tickstart Tick start value - * @retval HAL status - */ -static HAL_StatusTypeDef FMPI2C_RequestMemoryWrite(FMPI2C_HandleTypeDef *hfmpi2c, uint16_t DevAddress, - uint16_t MemAddress, uint16_t MemAddSize, uint32_t Timeout, - uint32_t Tickstart) -{ - FMPI2C_TransferConfig(hfmpi2c, DevAddress, (uint8_t)MemAddSize, FMPI2C_RELOAD_MODE, FMPI2C_GENERATE_START_WRITE); - - /* Wait until TXIS flag is set */ - if (FMPI2C_WaitOnTXISFlagUntilTimeout(hfmpi2c, Timeout, Tickstart) != HAL_OK) - { - return HAL_ERROR; - } - - /* If Memory address size is 8Bit */ - if (MemAddSize == FMPI2C_MEMADD_SIZE_8BIT) - { - /* Send Memory Address */ - hfmpi2c->Instance->TXDR = FMPI2C_MEM_ADD_LSB(MemAddress); - } - /* If Memory address size is 16Bit */ - else - { - /* Send MSB of Memory Address */ - hfmpi2c->Instance->TXDR = FMPI2C_MEM_ADD_MSB(MemAddress); - - /* Wait until TXIS flag is set */ - if (FMPI2C_WaitOnTXISFlagUntilTimeout(hfmpi2c, Timeout, Tickstart) != HAL_OK) - { - return HAL_ERROR; - } - - /* Send LSB of Memory Address */ - hfmpi2c->Instance->TXDR = FMPI2C_MEM_ADD_LSB(MemAddress); - } - - /* Wait until TCR flag is set */ - if (FMPI2C_WaitOnFlagUntilTimeout(hfmpi2c, FMPI2C_FLAG_TCR, RESET, Timeout, Tickstart) != HAL_OK) - { - return HAL_ERROR; - } - - return HAL_OK; -} - -/** - * @brief Master sends target device address followed by internal memory address for read request. - * @param hfmpi2c Pointer to a FMPI2C_HandleTypeDef structure that contains - * the configuration information for the specified FMPI2C. - * @param DevAddress Target device address: The device 7 bits address value - * in datasheet must be shifted to the left before calling the interface - * @param MemAddress Internal memory address - * @param MemAddSize Size of internal memory address - * @param Timeout Timeout duration - * @param Tickstart Tick start value - * @retval HAL status - */ -static HAL_StatusTypeDef FMPI2C_RequestMemoryRead(FMPI2C_HandleTypeDef *hfmpi2c, uint16_t DevAddress, - uint16_t MemAddress, uint16_t MemAddSize, uint32_t Timeout, - uint32_t Tickstart) -{ - FMPI2C_TransferConfig(hfmpi2c, DevAddress, (uint8_t)MemAddSize, FMPI2C_SOFTEND_MODE, FMPI2C_GENERATE_START_WRITE); - - /* Wait until TXIS flag is set */ - if (FMPI2C_WaitOnTXISFlagUntilTimeout(hfmpi2c, Timeout, Tickstart) != HAL_OK) - { - return HAL_ERROR; - } - - /* If Memory address size is 8Bit */ - if (MemAddSize == FMPI2C_MEMADD_SIZE_8BIT) - { - /* Send Memory Address */ - hfmpi2c->Instance->TXDR = FMPI2C_MEM_ADD_LSB(MemAddress); - } - /* If Memory address size is 16Bit */ - else - { - /* Send MSB of Memory Address */ - hfmpi2c->Instance->TXDR = FMPI2C_MEM_ADD_MSB(MemAddress); - - /* Wait until TXIS flag is set */ - if (FMPI2C_WaitOnTXISFlagUntilTimeout(hfmpi2c, Timeout, Tickstart) != HAL_OK) - { - return HAL_ERROR; - } - - /* Send LSB of Memory Address */ - hfmpi2c->Instance->TXDR = FMPI2C_MEM_ADD_LSB(MemAddress); - } - - /* Wait until TC flag is set */ - if (FMPI2C_WaitOnFlagUntilTimeout(hfmpi2c, FMPI2C_FLAG_TC, RESET, Timeout, Tickstart) != HAL_OK) - { - return HAL_ERROR; - } - - return HAL_OK; -} - -/** - * @brief FMPI2C Address complete process callback. - * @param hfmpi2c FMPI2C handle. - * @param ITFlags Interrupt flags to handle. - * @retval None - */ -static void FMPI2C_ITAddrCplt(FMPI2C_HandleTypeDef *hfmpi2c, uint32_t ITFlags) -{ - uint8_t transferdirection; - uint16_t slaveaddrcode; - uint16_t ownadd1code; - uint16_t ownadd2code; - - /* Prevent unused argument(s) compilation warning */ - UNUSED(ITFlags); - - /* In case of Listen state, need to inform upper layer of address match code event */ - if (((uint32_t)hfmpi2c->State & (uint32_t)HAL_FMPI2C_STATE_LISTEN) == (uint32_t)HAL_FMPI2C_STATE_LISTEN) - { - transferdirection = FMPI2C_GET_DIR(hfmpi2c); - slaveaddrcode = FMPI2C_GET_ADDR_MATCH(hfmpi2c); - ownadd1code = FMPI2C_GET_OWN_ADDRESS1(hfmpi2c); - ownadd2code = FMPI2C_GET_OWN_ADDRESS2(hfmpi2c); - - /* If 10bits addressing mode is selected */ - if (hfmpi2c->Init.AddressingMode == FMPI2C_ADDRESSINGMODE_10BIT) - { - if ((slaveaddrcode & SLAVE_ADDR_MSK) == ((ownadd1code >> SLAVE_ADDR_SHIFT) & SLAVE_ADDR_MSK)) - { - slaveaddrcode = ownadd1code; - hfmpi2c->AddrEventCount++; - if (hfmpi2c->AddrEventCount == 2U) - { - /* Reset Address Event counter */ - hfmpi2c->AddrEventCount = 0U; - - /* Clear ADDR flag */ - __HAL_FMPI2C_CLEAR_FLAG(hfmpi2c, FMPI2C_FLAG_ADDR); - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpi2c); - - /* Call Slave Addr callback */ -#if (USE_HAL_FMPI2C_REGISTER_CALLBACKS == 1) - hfmpi2c->AddrCallback(hfmpi2c, transferdirection, slaveaddrcode); -#else - HAL_FMPI2C_AddrCallback(hfmpi2c, transferdirection, slaveaddrcode); -#endif /* USE_HAL_FMPI2C_REGISTER_CALLBACKS */ - } - } - else - { - slaveaddrcode = ownadd2code; - - /* Disable ADDR Interrupts */ - FMPI2C_Disable_IRQ(hfmpi2c, FMPI2C_XFER_LISTEN_IT); - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpi2c); - - /* Call Slave Addr callback */ -#if (USE_HAL_FMPI2C_REGISTER_CALLBACKS == 1) - hfmpi2c->AddrCallback(hfmpi2c, transferdirection, slaveaddrcode); -#else - HAL_FMPI2C_AddrCallback(hfmpi2c, transferdirection, slaveaddrcode); -#endif /* USE_HAL_FMPI2C_REGISTER_CALLBACKS */ - } - } - /* else 7 bits addressing mode is selected */ - else - { - /* Disable ADDR Interrupts */ - FMPI2C_Disable_IRQ(hfmpi2c, FMPI2C_XFER_LISTEN_IT); - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpi2c); - - /* Call Slave Addr callback */ -#if (USE_HAL_FMPI2C_REGISTER_CALLBACKS == 1) - hfmpi2c->AddrCallback(hfmpi2c, transferdirection, slaveaddrcode); -#else - HAL_FMPI2C_AddrCallback(hfmpi2c, transferdirection, slaveaddrcode); -#endif /* USE_HAL_FMPI2C_REGISTER_CALLBACKS */ - } - } - /* Else clear address flag only */ - else - { - /* Clear ADDR flag */ - __HAL_FMPI2C_CLEAR_FLAG(hfmpi2c, FMPI2C_FLAG_ADDR); - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpi2c); - } -} - -/** - * @brief FMPI2C Master sequential complete process. - * @param hfmpi2c FMPI2C handle. - * @retval None - */ -static void FMPI2C_ITMasterSeqCplt(FMPI2C_HandleTypeDef *hfmpi2c) -{ - /* Reset FMPI2C handle mode */ - hfmpi2c->Mode = HAL_FMPI2C_MODE_NONE; - - /* No Generate Stop, to permit restart mode */ - /* The stop will be done at the end of transfer, when FMPI2C_AUTOEND_MODE enable */ - if (hfmpi2c->State == HAL_FMPI2C_STATE_BUSY_TX) - { - hfmpi2c->State = HAL_FMPI2C_STATE_READY; - hfmpi2c->PreviousState = FMPI2C_STATE_MASTER_BUSY_TX; - hfmpi2c->XferISR = NULL; - - /* Disable Interrupts */ - FMPI2C_Disable_IRQ(hfmpi2c, FMPI2C_XFER_TX_IT); - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpi2c); - - /* Call the corresponding callback to inform upper layer of End of Transfer */ -#if (USE_HAL_FMPI2C_REGISTER_CALLBACKS == 1) - hfmpi2c->MasterTxCpltCallback(hfmpi2c); -#else - HAL_FMPI2C_MasterTxCpltCallback(hfmpi2c); -#endif /* USE_HAL_FMPI2C_REGISTER_CALLBACKS */ - } - /* hfmpi2c->State == HAL_FMPI2C_STATE_BUSY_RX */ - else - { - hfmpi2c->State = HAL_FMPI2C_STATE_READY; - hfmpi2c->PreviousState = FMPI2C_STATE_MASTER_BUSY_RX; - hfmpi2c->XferISR = NULL; - - /* Disable Interrupts */ - FMPI2C_Disable_IRQ(hfmpi2c, FMPI2C_XFER_RX_IT); - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpi2c); - - /* Call the corresponding callback to inform upper layer of End of Transfer */ -#if (USE_HAL_FMPI2C_REGISTER_CALLBACKS == 1) - hfmpi2c->MasterRxCpltCallback(hfmpi2c); -#else - HAL_FMPI2C_MasterRxCpltCallback(hfmpi2c); -#endif /* USE_HAL_FMPI2C_REGISTER_CALLBACKS */ - } -} - -/** - * @brief FMPI2C Slave sequential complete process. - * @param hfmpi2c FMPI2C handle. - * @retval None - */ -static void FMPI2C_ITSlaveSeqCplt(FMPI2C_HandleTypeDef *hfmpi2c) -{ - uint32_t tmpcr1value = READ_REG(hfmpi2c->Instance->CR1); - - /* Reset FMPI2C handle mode */ - hfmpi2c->Mode = HAL_FMPI2C_MODE_NONE; - - /* If a DMA is ongoing, Update handle size context */ - if (FMPI2C_CHECK_IT_SOURCE(tmpcr1value, FMPI2C_CR1_TXDMAEN) != RESET) - { - /* Disable DMA Request */ - hfmpi2c->Instance->CR1 &= ~FMPI2C_CR1_TXDMAEN; - } - else if (FMPI2C_CHECK_IT_SOURCE(tmpcr1value, FMPI2C_CR1_RXDMAEN) != RESET) - { - /* Disable DMA Request */ - hfmpi2c->Instance->CR1 &= ~FMPI2C_CR1_RXDMAEN; - } - else - { - /* Do nothing */ - } - - if (hfmpi2c->State == HAL_FMPI2C_STATE_BUSY_TX_LISTEN) - { - /* Remove HAL_FMPI2C_STATE_SLAVE_BUSY_TX, keep only HAL_FMPI2C_STATE_LISTEN */ - hfmpi2c->State = HAL_FMPI2C_STATE_LISTEN; - hfmpi2c->PreviousState = FMPI2C_STATE_SLAVE_BUSY_TX; - - /* Disable Interrupts */ - FMPI2C_Disable_IRQ(hfmpi2c, FMPI2C_XFER_TX_IT); - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpi2c); - - /* Call the corresponding callback to inform upper layer of End of Transfer */ -#if (USE_HAL_FMPI2C_REGISTER_CALLBACKS == 1) - hfmpi2c->SlaveTxCpltCallback(hfmpi2c); -#else - HAL_FMPI2C_SlaveTxCpltCallback(hfmpi2c); -#endif /* USE_HAL_FMPI2C_REGISTER_CALLBACKS */ - } - - else if (hfmpi2c->State == HAL_FMPI2C_STATE_BUSY_RX_LISTEN) - { - /* Remove HAL_FMPI2C_STATE_SLAVE_BUSY_RX, keep only HAL_FMPI2C_STATE_LISTEN */ - hfmpi2c->State = HAL_FMPI2C_STATE_LISTEN; - hfmpi2c->PreviousState = FMPI2C_STATE_SLAVE_BUSY_RX; - - /* Disable Interrupts */ - FMPI2C_Disable_IRQ(hfmpi2c, FMPI2C_XFER_RX_IT); - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpi2c); - - /* Call the corresponding callback to inform upper layer of End of Transfer */ -#if (USE_HAL_FMPI2C_REGISTER_CALLBACKS == 1) - hfmpi2c->SlaveRxCpltCallback(hfmpi2c); -#else - HAL_FMPI2C_SlaveRxCpltCallback(hfmpi2c); -#endif /* USE_HAL_FMPI2C_REGISTER_CALLBACKS */ - } - else - { - /* Nothing to do */ - } -} - -/** - * @brief FMPI2C Master complete process. - * @param hfmpi2c FMPI2C handle. - * @param ITFlags Interrupt flags to handle. - * @retval None - */ -static void FMPI2C_ITMasterCplt(FMPI2C_HandleTypeDef *hfmpi2c, uint32_t ITFlags) -{ - uint32_t tmperror; - uint32_t tmpITFlags = ITFlags; - __IO uint32_t tmpreg; - - /* Clear STOP Flag */ - __HAL_FMPI2C_CLEAR_FLAG(hfmpi2c, FMPI2C_FLAG_STOPF); - - /* Disable Interrupts and Store Previous state */ - if (hfmpi2c->State == HAL_FMPI2C_STATE_BUSY_TX) - { - FMPI2C_Disable_IRQ(hfmpi2c, FMPI2C_XFER_TX_IT); - hfmpi2c->PreviousState = FMPI2C_STATE_MASTER_BUSY_TX; - } - else if (hfmpi2c->State == HAL_FMPI2C_STATE_BUSY_RX) - { - FMPI2C_Disable_IRQ(hfmpi2c, FMPI2C_XFER_RX_IT); - hfmpi2c->PreviousState = FMPI2C_STATE_MASTER_BUSY_RX; - } - else - { - /* Do nothing */ - } - - /* Clear Configuration Register 2 */ - FMPI2C_RESET_CR2(hfmpi2c); - - /* Reset handle parameters */ - hfmpi2c->XferISR = NULL; - hfmpi2c->XferOptions = FMPI2C_NO_OPTION_FRAME; - - if (FMPI2C_CHECK_FLAG(tmpITFlags, FMPI2C_FLAG_AF) != RESET) - { - /* Clear NACK Flag */ - __HAL_FMPI2C_CLEAR_FLAG(hfmpi2c, FMPI2C_FLAG_AF); - - /* Set acknowledge error code */ - hfmpi2c->ErrorCode |= HAL_FMPI2C_ERROR_AF; - } - - /* Fetch Last receive data if any */ - if ((hfmpi2c->State == HAL_FMPI2C_STATE_ABORT) && (FMPI2C_CHECK_FLAG(tmpITFlags, FMPI2C_FLAG_RXNE) != RESET)) - { - /* Read data from RXDR */ - tmpreg = (uint8_t)hfmpi2c->Instance->RXDR; - UNUSED(tmpreg); - } - - /* Flush TX register */ - FMPI2C_Flush_TXDR(hfmpi2c); - - /* Store current volatile hfmpi2c->ErrorCode, misra rule */ - tmperror = hfmpi2c->ErrorCode; - - /* Call the corresponding callback to inform upper layer of End of Transfer */ - if ((hfmpi2c->State == HAL_FMPI2C_STATE_ABORT) || (tmperror != HAL_FMPI2C_ERROR_NONE)) - { - /* Call the corresponding callback to inform upper layer of End of Transfer */ - FMPI2C_ITError(hfmpi2c, hfmpi2c->ErrorCode); - } - /* hfmpi2c->State == HAL_FMPI2C_STATE_BUSY_TX */ - else if (hfmpi2c->State == HAL_FMPI2C_STATE_BUSY_TX) - { - hfmpi2c->State = HAL_FMPI2C_STATE_READY; - hfmpi2c->PreviousState = FMPI2C_STATE_NONE; - - if (hfmpi2c->Mode == HAL_FMPI2C_MODE_MEM) - { - hfmpi2c->Mode = HAL_FMPI2C_MODE_NONE; - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpi2c); - - /* Call the corresponding callback to inform upper layer of End of Transfer */ -#if (USE_HAL_FMPI2C_REGISTER_CALLBACKS == 1) - hfmpi2c->MemTxCpltCallback(hfmpi2c); -#else - HAL_FMPI2C_MemTxCpltCallback(hfmpi2c); -#endif /* USE_HAL_FMPI2C_REGISTER_CALLBACKS */ - } - else - { - hfmpi2c->Mode = HAL_FMPI2C_MODE_NONE; - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpi2c); - - /* Call the corresponding callback to inform upper layer of End of Transfer */ -#if (USE_HAL_FMPI2C_REGISTER_CALLBACKS == 1) - hfmpi2c->MasterTxCpltCallback(hfmpi2c); -#else - HAL_FMPI2C_MasterTxCpltCallback(hfmpi2c); -#endif /* USE_HAL_FMPI2C_REGISTER_CALLBACKS */ - } - } - /* hfmpi2c->State == HAL_FMPI2C_STATE_BUSY_RX */ - else if (hfmpi2c->State == HAL_FMPI2C_STATE_BUSY_RX) - { - hfmpi2c->State = HAL_FMPI2C_STATE_READY; - hfmpi2c->PreviousState = FMPI2C_STATE_NONE; - - if (hfmpi2c->Mode == HAL_FMPI2C_MODE_MEM) - { - hfmpi2c->Mode = HAL_FMPI2C_MODE_NONE; - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpi2c); - - /* Call the corresponding callback to inform upper layer of End of Transfer */ -#if (USE_HAL_FMPI2C_REGISTER_CALLBACKS == 1) - hfmpi2c->MemRxCpltCallback(hfmpi2c); -#else - HAL_FMPI2C_MemRxCpltCallback(hfmpi2c); -#endif /* USE_HAL_FMPI2C_REGISTER_CALLBACKS */ - } - else - { - hfmpi2c->Mode = HAL_FMPI2C_MODE_NONE; - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpi2c); - - /* Call the corresponding callback to inform upper layer of End of Transfer */ -#if (USE_HAL_FMPI2C_REGISTER_CALLBACKS == 1) - hfmpi2c->MasterRxCpltCallback(hfmpi2c); -#else - HAL_FMPI2C_MasterRxCpltCallback(hfmpi2c); -#endif /* USE_HAL_FMPI2C_REGISTER_CALLBACKS */ - } - } - else - { - /* Nothing to do */ - } -} - -/** - * @brief FMPI2C Slave complete process. - * @param hfmpi2c FMPI2C handle. - * @param ITFlags Interrupt flags to handle. - * @retval None - */ -static void FMPI2C_ITSlaveCplt(FMPI2C_HandleTypeDef *hfmpi2c, uint32_t ITFlags) -{ - uint32_t tmpcr1value = READ_REG(hfmpi2c->Instance->CR1); - uint32_t tmpITFlags = ITFlags; - HAL_FMPI2C_StateTypeDef tmpstate = hfmpi2c->State; - - /* Clear STOP Flag */ - __HAL_FMPI2C_CLEAR_FLAG(hfmpi2c, FMPI2C_FLAG_STOPF); - - /* Disable Interrupts and Store Previous state */ - if ((tmpstate == HAL_FMPI2C_STATE_BUSY_TX) || (tmpstate == HAL_FMPI2C_STATE_BUSY_TX_LISTEN)) - { - FMPI2C_Disable_IRQ(hfmpi2c, FMPI2C_XFER_LISTEN_IT | FMPI2C_XFER_TX_IT); - hfmpi2c->PreviousState = FMPI2C_STATE_SLAVE_BUSY_TX; - } - else if ((tmpstate == HAL_FMPI2C_STATE_BUSY_RX) || (tmpstate == HAL_FMPI2C_STATE_BUSY_RX_LISTEN)) - { - FMPI2C_Disable_IRQ(hfmpi2c, FMPI2C_XFER_LISTEN_IT | FMPI2C_XFER_RX_IT); - hfmpi2c->PreviousState = FMPI2C_STATE_SLAVE_BUSY_RX; - } - else - { - /* Do nothing */ - } - - /* Disable Address Acknowledge */ - hfmpi2c->Instance->CR2 |= FMPI2C_CR2_NACK; - - /* Clear Configuration Register 2 */ - FMPI2C_RESET_CR2(hfmpi2c); - - /* Flush TX register */ - FMPI2C_Flush_TXDR(hfmpi2c); - - /* If a DMA is ongoing, Update handle size context */ - if (FMPI2C_CHECK_IT_SOURCE(tmpcr1value, FMPI2C_CR1_TXDMAEN) != RESET) - { - /* Disable DMA Request */ - hfmpi2c->Instance->CR1 &= ~FMPI2C_CR1_TXDMAEN; - - if (hfmpi2c->hdmatx != NULL) - { - hfmpi2c->XferCount = (uint16_t)__HAL_DMA_GET_COUNTER(hfmpi2c->hdmatx); - } - } - else if (FMPI2C_CHECK_IT_SOURCE(tmpcr1value, FMPI2C_CR1_RXDMAEN) != RESET) - { - /* Disable DMA Request */ - hfmpi2c->Instance->CR1 &= ~FMPI2C_CR1_RXDMAEN; - - if (hfmpi2c->hdmarx != NULL) - { - hfmpi2c->XferCount = (uint16_t)__HAL_DMA_GET_COUNTER(hfmpi2c->hdmarx); - } - } - else - { - /* Do nothing */ - } - - /* Store Last receive data if any */ - if (FMPI2C_CHECK_FLAG(tmpITFlags, FMPI2C_FLAG_RXNE) != RESET) - { - /* Remove RXNE flag on temporary variable as read done */ - tmpITFlags &= ~FMPI2C_FLAG_RXNE; - - /* Read data from RXDR */ - *hfmpi2c->pBuffPtr = (uint8_t)hfmpi2c->Instance->RXDR; - - /* Increment Buffer pointer */ - hfmpi2c->pBuffPtr++; - - if ((hfmpi2c->XferSize > 0U)) - { - hfmpi2c->XferSize--; - hfmpi2c->XferCount--; - } - } - - /* All data are not transferred, so set error code accordingly */ - if (hfmpi2c->XferCount != 0U) - { - /* Set ErrorCode corresponding to a Non-Acknowledge */ - hfmpi2c->ErrorCode |= HAL_FMPI2C_ERROR_AF; - } - - hfmpi2c->Mode = HAL_FMPI2C_MODE_NONE; - hfmpi2c->XferISR = NULL; - - if (hfmpi2c->ErrorCode != HAL_FMPI2C_ERROR_NONE) - { - /* Call the corresponding callback to inform upper layer of End of Transfer */ - FMPI2C_ITError(hfmpi2c, hfmpi2c->ErrorCode); - - /* Call the Listen Complete callback, to inform upper layer of the end of Listen usecase */ - if (hfmpi2c->State == HAL_FMPI2C_STATE_LISTEN) - { - /* Call FMPI2C Listen complete process */ - FMPI2C_ITListenCplt(hfmpi2c, tmpITFlags); - } - } - else if (hfmpi2c->XferOptions != FMPI2C_NO_OPTION_FRAME) - { - /* Call the Sequential Complete callback, to inform upper layer of the end of Transfer */ - FMPI2C_ITSlaveSeqCplt(hfmpi2c); - - hfmpi2c->XferOptions = FMPI2C_NO_OPTION_FRAME; - hfmpi2c->State = HAL_FMPI2C_STATE_READY; - hfmpi2c->PreviousState = FMPI2C_STATE_NONE; - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpi2c); - - /* Call the Listen Complete callback, to inform upper layer of the end of Listen usecase */ -#if (USE_HAL_FMPI2C_REGISTER_CALLBACKS == 1) - hfmpi2c->ListenCpltCallback(hfmpi2c); -#else - HAL_FMPI2C_ListenCpltCallback(hfmpi2c); -#endif /* USE_HAL_FMPI2C_REGISTER_CALLBACKS */ - } - /* Call the corresponding callback to inform upper layer of End of Transfer */ - else if (hfmpi2c->State == HAL_FMPI2C_STATE_BUSY_RX) - { - hfmpi2c->State = HAL_FMPI2C_STATE_READY; - hfmpi2c->PreviousState = FMPI2C_STATE_NONE; - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpi2c); - - /* Call the corresponding callback to inform upper layer of End of Transfer */ -#if (USE_HAL_FMPI2C_REGISTER_CALLBACKS == 1) - hfmpi2c->SlaveRxCpltCallback(hfmpi2c); -#else - HAL_FMPI2C_SlaveRxCpltCallback(hfmpi2c); -#endif /* USE_HAL_FMPI2C_REGISTER_CALLBACKS */ - } - else - { - hfmpi2c->State = HAL_FMPI2C_STATE_READY; - hfmpi2c->PreviousState = FMPI2C_STATE_NONE; - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpi2c); - - /* Call the corresponding callback to inform upper layer of End of Transfer */ -#if (USE_HAL_FMPI2C_REGISTER_CALLBACKS == 1) - hfmpi2c->SlaveTxCpltCallback(hfmpi2c); -#else - HAL_FMPI2C_SlaveTxCpltCallback(hfmpi2c); -#endif /* USE_HAL_FMPI2C_REGISTER_CALLBACKS */ - } -} - -/** - * @brief FMPI2C Listen complete process. - * @param hfmpi2c FMPI2C handle. - * @param ITFlags Interrupt flags to handle. - * @retval None - */ -static void FMPI2C_ITListenCplt(FMPI2C_HandleTypeDef *hfmpi2c, uint32_t ITFlags) -{ - /* Reset handle parameters */ - hfmpi2c->XferOptions = FMPI2C_NO_OPTION_FRAME; - hfmpi2c->PreviousState = FMPI2C_STATE_NONE; - hfmpi2c->State = HAL_FMPI2C_STATE_READY; - hfmpi2c->Mode = HAL_FMPI2C_MODE_NONE; - hfmpi2c->XferISR = NULL; - - /* Store Last receive data if any */ - if (FMPI2C_CHECK_FLAG(ITFlags, FMPI2C_FLAG_RXNE) != RESET) - { - /* Read data from RXDR */ - *hfmpi2c->pBuffPtr = (uint8_t)hfmpi2c->Instance->RXDR; - - /* Increment Buffer pointer */ - hfmpi2c->pBuffPtr++; - - if ((hfmpi2c->XferSize > 0U)) - { - hfmpi2c->XferSize--; - hfmpi2c->XferCount--; - - /* Set ErrorCode corresponding to a Non-Acknowledge */ - hfmpi2c->ErrorCode |= HAL_FMPI2C_ERROR_AF; - } - } - - /* Disable all Interrupts*/ - FMPI2C_Disable_IRQ(hfmpi2c, FMPI2C_XFER_LISTEN_IT | FMPI2C_XFER_RX_IT | FMPI2C_XFER_TX_IT); - - /* Clear NACK Flag */ - __HAL_FMPI2C_CLEAR_FLAG(hfmpi2c, FMPI2C_FLAG_AF); - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpi2c); - - /* Call the Listen Complete callback, to inform upper layer of the end of Listen usecase */ -#if (USE_HAL_FMPI2C_REGISTER_CALLBACKS == 1) - hfmpi2c->ListenCpltCallback(hfmpi2c); -#else - HAL_FMPI2C_ListenCpltCallback(hfmpi2c); -#endif /* USE_HAL_FMPI2C_REGISTER_CALLBACKS */ -} - -/** - * @brief FMPI2C interrupts error process. - * @param hfmpi2c FMPI2C handle. - * @param ErrorCode Error code to handle. - * @retval None - */ -static void FMPI2C_ITError(FMPI2C_HandleTypeDef *hfmpi2c, uint32_t ErrorCode) -{ - HAL_FMPI2C_StateTypeDef tmpstate = hfmpi2c->State; - uint32_t tmppreviousstate; - - /* Reset handle parameters */ - hfmpi2c->Mode = HAL_FMPI2C_MODE_NONE; - hfmpi2c->XferOptions = FMPI2C_NO_OPTION_FRAME; - hfmpi2c->XferCount = 0U; - - /* Set new error code */ - hfmpi2c->ErrorCode |= ErrorCode; - - /* Disable Interrupts */ - if ((tmpstate == HAL_FMPI2C_STATE_LISTEN) || - (tmpstate == HAL_FMPI2C_STATE_BUSY_TX_LISTEN) || - (tmpstate == HAL_FMPI2C_STATE_BUSY_RX_LISTEN)) - { - /* Disable all interrupts, except interrupts related to LISTEN state */ - FMPI2C_Disable_IRQ(hfmpi2c, FMPI2C_XFER_RX_IT | FMPI2C_XFER_TX_IT); - - /* keep HAL_FMPI2C_STATE_LISTEN if set */ - hfmpi2c->State = HAL_FMPI2C_STATE_LISTEN; - hfmpi2c->XferISR = FMPI2C_Slave_ISR_IT; - } - else - { - /* Disable all interrupts */ - FMPI2C_Disable_IRQ(hfmpi2c, FMPI2C_XFER_LISTEN_IT | FMPI2C_XFER_RX_IT | FMPI2C_XFER_TX_IT); - - /* If state is an abort treatment on going, don't change state */ - /* This change will be do later */ - if (hfmpi2c->State != HAL_FMPI2C_STATE_ABORT) - { - /* Set HAL_FMPI2C_STATE_READY */ - hfmpi2c->State = HAL_FMPI2C_STATE_READY; - } - hfmpi2c->XferISR = NULL; - } - - /* Abort DMA TX transfer if any */ - tmppreviousstate = hfmpi2c->PreviousState; - if ((hfmpi2c->hdmatx != NULL) && ((tmppreviousstate == FMPI2C_STATE_MASTER_BUSY_TX) || \ - (tmppreviousstate == FMPI2C_STATE_SLAVE_BUSY_TX))) - { - if ((hfmpi2c->Instance->CR1 & FMPI2C_CR1_TXDMAEN) == FMPI2C_CR1_TXDMAEN) - { - hfmpi2c->Instance->CR1 &= ~FMPI2C_CR1_TXDMAEN; - } - - if (HAL_DMA_GetState(hfmpi2c->hdmatx) != HAL_DMA_STATE_READY) - { - /* Set the FMPI2C DMA Abort callback : - will lead to call HAL_FMPI2C_ErrorCallback() at end of DMA abort procedure */ - hfmpi2c->hdmatx->XferAbortCallback = FMPI2C_DMAAbort; - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpi2c); - - /* Abort DMA TX */ - if (HAL_DMA_Abort_IT(hfmpi2c->hdmatx) != HAL_OK) - { - /* Call Directly XferAbortCallback function in case of error */ - hfmpi2c->hdmatx->XferAbortCallback(hfmpi2c->hdmatx); - } - } - else - { - FMPI2C_TreatErrorCallback(hfmpi2c); - } - } - /* Abort DMA RX transfer if any */ - else if ((hfmpi2c->hdmarx != NULL) && ((tmppreviousstate == FMPI2C_STATE_MASTER_BUSY_RX) || \ - (tmppreviousstate == FMPI2C_STATE_SLAVE_BUSY_RX))) - { - if ((hfmpi2c->Instance->CR1 & FMPI2C_CR1_RXDMAEN) == FMPI2C_CR1_RXDMAEN) - { - hfmpi2c->Instance->CR1 &= ~FMPI2C_CR1_RXDMAEN; - } - - if (HAL_DMA_GetState(hfmpi2c->hdmarx) != HAL_DMA_STATE_READY) - { - /* Set the FMPI2C DMA Abort callback : - will lead to call HAL_FMPI2C_ErrorCallback() at end of DMA abort procedure */ - hfmpi2c->hdmarx->XferAbortCallback = FMPI2C_DMAAbort; - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpi2c); - - /* Abort DMA RX */ - if (HAL_DMA_Abort_IT(hfmpi2c->hdmarx) != HAL_OK) - { - /* Call Directly hfmpi2c->hdmarx->XferAbortCallback function in case of error */ - hfmpi2c->hdmarx->XferAbortCallback(hfmpi2c->hdmarx); - } - } - else - { - FMPI2C_TreatErrorCallback(hfmpi2c); - } - } - else - { - FMPI2C_TreatErrorCallback(hfmpi2c); - } -} - -/** - * @brief FMPI2C Error callback treatment. - * @param hfmpi2c FMPI2C handle. - * @retval None - */ -static void FMPI2C_TreatErrorCallback(FMPI2C_HandleTypeDef *hfmpi2c) -{ - if (hfmpi2c->State == HAL_FMPI2C_STATE_ABORT) - { - hfmpi2c->State = HAL_FMPI2C_STATE_READY; - hfmpi2c->PreviousState = FMPI2C_STATE_NONE; - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpi2c); - - /* Call the corresponding callback to inform upper layer of End of Transfer */ -#if (USE_HAL_FMPI2C_REGISTER_CALLBACKS == 1) - hfmpi2c->AbortCpltCallback(hfmpi2c); -#else - HAL_FMPI2C_AbortCpltCallback(hfmpi2c); -#endif /* USE_HAL_FMPI2C_REGISTER_CALLBACKS */ - } - else - { - hfmpi2c->PreviousState = FMPI2C_STATE_NONE; - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpi2c); - - /* Call the corresponding callback to inform upper layer of End of Transfer */ -#if (USE_HAL_FMPI2C_REGISTER_CALLBACKS == 1) - hfmpi2c->ErrorCallback(hfmpi2c); -#else - HAL_FMPI2C_ErrorCallback(hfmpi2c); -#endif /* USE_HAL_FMPI2C_REGISTER_CALLBACKS */ - } -} - -/** - * @brief FMPI2C Tx data register flush process. - * @param hfmpi2c FMPI2C handle. - * @retval None - */ -static void FMPI2C_Flush_TXDR(FMPI2C_HandleTypeDef *hfmpi2c) -{ - /* If a pending TXIS flag is set */ - /* Write a dummy data in TXDR to clear it */ - if (__HAL_FMPI2C_GET_FLAG(hfmpi2c, FMPI2C_FLAG_TXIS) != RESET) - { - hfmpi2c->Instance->TXDR = 0x00U; - } - - /* Flush TX register if not empty */ - if (__HAL_FMPI2C_GET_FLAG(hfmpi2c, FMPI2C_FLAG_TXE) == RESET) - { - __HAL_FMPI2C_CLEAR_FLAG(hfmpi2c, FMPI2C_FLAG_TXE); - } -} - -/** - * @brief DMA FMPI2C master transmit process complete callback. - * @param hdma DMA handle - * @retval None - */ -static void FMPI2C_DMAMasterTransmitCplt(DMA_HandleTypeDef *hdma) -{ - /* Derogation MISRAC2012-Rule-11.5 */ - FMPI2C_HandleTypeDef *hfmpi2c = (FMPI2C_HandleTypeDef *)(((DMA_HandleTypeDef *)hdma)->Parent); - - /* Disable DMA Request */ - hfmpi2c->Instance->CR1 &= ~FMPI2C_CR1_TXDMAEN; - - /* If last transfer, enable STOP interrupt */ - if (hfmpi2c->XferCount == 0U) - { - /* Enable STOP interrupt */ - FMPI2C_Enable_IRQ(hfmpi2c, FMPI2C_XFER_CPLT_IT); - } - /* else prepare a new DMA transfer and enable TCReload interrupt */ - else - { - /* Update Buffer pointer */ - hfmpi2c->pBuffPtr += hfmpi2c->XferSize; - - /* Set the XferSize to transfer */ - if (hfmpi2c->XferCount > MAX_NBYTE_SIZE) - { - hfmpi2c->XferSize = MAX_NBYTE_SIZE; - } - else - { - hfmpi2c->XferSize = hfmpi2c->XferCount; - } - - /* Enable the DMA stream */ - if (HAL_DMA_Start_IT(hfmpi2c->hdmatx, (uint32_t)hfmpi2c->pBuffPtr, (uint32_t)&hfmpi2c->Instance->TXDR, - hfmpi2c->XferSize) != HAL_OK) - { - /* Call the corresponding callback to inform upper layer of End of Transfer */ - FMPI2C_ITError(hfmpi2c, HAL_FMPI2C_ERROR_DMA); - } - else - { - /* Enable TC interrupts */ - FMPI2C_Enable_IRQ(hfmpi2c, FMPI2C_XFER_RELOAD_IT); - } - } -} - -/** - * @brief DMA FMPI2C slave transmit process complete callback. - * @param hdma DMA handle - * @retval None - */ -static void FMPI2C_DMASlaveTransmitCplt(DMA_HandleTypeDef *hdma) -{ - /* Derogation MISRAC2012-Rule-11.5 */ - FMPI2C_HandleTypeDef *hfmpi2c = (FMPI2C_HandleTypeDef *)(((DMA_HandleTypeDef *)hdma)->Parent); - uint32_t tmpoptions = hfmpi2c->XferOptions; - - if ((tmpoptions == FMPI2C_NEXT_FRAME) || (tmpoptions == FMPI2C_FIRST_FRAME)) - { - /* Disable DMA Request */ - hfmpi2c->Instance->CR1 &= ~FMPI2C_CR1_TXDMAEN; - - /* Last Byte is Transmitted */ - /* Call FMPI2C Slave Sequential complete process */ - FMPI2C_ITSlaveSeqCplt(hfmpi2c); - } - else - { - /* No specific action, Master fully manage the generation of STOP condition */ - /* Mean that this generation can arrive at any time, at the end or during DMA process */ - /* So STOP condition should be manage through Interrupt treatment */ - } -} - -/** - * @brief DMA FMPI2C master receive process complete callback. - * @param hdma DMA handle - * @retval None - */ -static void FMPI2C_DMAMasterReceiveCplt(DMA_HandleTypeDef *hdma) -{ - /* Derogation MISRAC2012-Rule-11.5 */ - FMPI2C_HandleTypeDef *hfmpi2c = (FMPI2C_HandleTypeDef *)(((DMA_HandleTypeDef *)hdma)->Parent); - - /* Disable DMA Request */ - hfmpi2c->Instance->CR1 &= ~FMPI2C_CR1_RXDMAEN; - - /* If last transfer, enable STOP interrupt */ - if (hfmpi2c->XferCount == 0U) - { - /* Enable STOP interrupt */ - FMPI2C_Enable_IRQ(hfmpi2c, FMPI2C_XFER_CPLT_IT); - } - /* else prepare a new DMA transfer and enable TCReload interrupt */ - else - { - /* Update Buffer pointer */ - hfmpi2c->pBuffPtr += hfmpi2c->XferSize; - - /* Set the XferSize to transfer */ - if (hfmpi2c->XferCount > MAX_NBYTE_SIZE) - { - hfmpi2c->XferSize = MAX_NBYTE_SIZE; - } - else - { - hfmpi2c->XferSize = hfmpi2c->XferCount; - } - - /* Enable the DMA stream */ - if (HAL_DMA_Start_IT(hfmpi2c->hdmarx, (uint32_t)&hfmpi2c->Instance->RXDR, (uint32_t)hfmpi2c->pBuffPtr, - hfmpi2c->XferSize) != HAL_OK) - { - /* Call the corresponding callback to inform upper layer of End of Transfer */ - FMPI2C_ITError(hfmpi2c, HAL_FMPI2C_ERROR_DMA); - } - else - { - /* Enable TC interrupts */ - FMPI2C_Enable_IRQ(hfmpi2c, FMPI2C_XFER_RELOAD_IT); - } - } -} - -/** - * @brief DMA FMPI2C slave receive process complete callback. - * @param hdma DMA handle - * @retval None - */ -static void FMPI2C_DMASlaveReceiveCplt(DMA_HandleTypeDef *hdma) -{ - /* Derogation MISRAC2012-Rule-11.5 */ - FMPI2C_HandleTypeDef *hfmpi2c = (FMPI2C_HandleTypeDef *)(((DMA_HandleTypeDef *)hdma)->Parent); - uint32_t tmpoptions = hfmpi2c->XferOptions; - - if ((__HAL_DMA_GET_COUNTER(hfmpi2c->hdmarx) == 0U) && \ - (tmpoptions != FMPI2C_NO_OPTION_FRAME)) - { - /* Disable DMA Request */ - hfmpi2c->Instance->CR1 &= ~FMPI2C_CR1_RXDMAEN; - - /* Call FMPI2C Slave Sequential complete process */ - FMPI2C_ITSlaveSeqCplt(hfmpi2c); - } - else - { - /* No specific action, Master fully manage the generation of STOP condition */ - /* Mean that this generation can arrive at any time, at the end or during DMA process */ - /* So STOP condition should be manage through Interrupt treatment */ - } -} - -/** - * @brief DMA FMPI2C communication error callback. - * @param hdma DMA handle - * @retval None - */ -static void FMPI2C_DMAError(DMA_HandleTypeDef *hdma) -{ - uint32_t treatdmaerror = 0U; - /* Derogation MISRAC2012-Rule-11.5 */ - FMPI2C_HandleTypeDef *hfmpi2c = (FMPI2C_HandleTypeDef *)(((DMA_HandleTypeDef *)hdma)->Parent); - - if (hfmpi2c->hdmatx != NULL) - { - if (__HAL_DMA_GET_COUNTER(hfmpi2c->hdmatx) == 0U) - { - treatdmaerror = 1U; - } - } - - if (hfmpi2c->hdmarx != NULL) - { - if (__HAL_DMA_GET_COUNTER(hfmpi2c->hdmarx) == 0U) - { - treatdmaerror = 1U; - } - } - - /* Check if a FIFO error is detected, if true normal use case, so no specific action to perform */ - if (!((HAL_DMA_GetError(hdma) == HAL_DMA_ERROR_FE)) && (treatdmaerror != 0U)) - { - /* Disable Acknowledge */ - hfmpi2c->Instance->CR2 |= FMPI2C_CR2_NACK; - - /* Call the corresponding callback to inform upper layer of End of Transfer */ - FMPI2C_ITError(hfmpi2c, HAL_FMPI2C_ERROR_DMA); - } -} - -/** - * @brief DMA FMPI2C communication abort callback - * (To be called at end of DMA Abort procedure). - * @param hdma DMA handle. - * @retval None - */ -static void FMPI2C_DMAAbort(DMA_HandleTypeDef *hdma) -{ - /* Derogation MISRAC2012-Rule-11.5 */ - FMPI2C_HandleTypeDef *hfmpi2c = (FMPI2C_HandleTypeDef *)(((DMA_HandleTypeDef *)hdma)->Parent); - - /* Reset AbortCpltCallback */ - if (hfmpi2c->hdmatx != NULL) - { - hfmpi2c->hdmatx->XferAbortCallback = NULL; - } - if (hfmpi2c->hdmarx != NULL) - { - hfmpi2c->hdmarx->XferAbortCallback = NULL; - } - - FMPI2C_TreatErrorCallback(hfmpi2c); -} - -/** - * @brief This function handles FMPI2C Communication Timeout. - * @param hfmpi2c Pointer to a FMPI2C_HandleTypeDef structure that contains - * the configuration information for the specified FMPI2C. - * @param Flag Specifies the FMPI2C flag to check. - * @param Status The new Flag status (SET or RESET). - * @param Timeout Timeout duration - * @param Tickstart Tick start value - * @retval HAL status - */ -static HAL_StatusTypeDef FMPI2C_WaitOnFlagUntilTimeout(FMPI2C_HandleTypeDef *hfmpi2c, uint32_t Flag, FlagStatus Status, - uint32_t Timeout, uint32_t Tickstart) -{ - while (__HAL_FMPI2C_GET_FLAG(hfmpi2c, Flag) == Status) - { - /* Check for the Timeout */ - if (Timeout != HAL_MAX_DELAY) - { - if (((HAL_GetTick() - Tickstart) > Timeout) || (Timeout == 0U)) - { - hfmpi2c->ErrorCode |= HAL_FMPI2C_ERROR_TIMEOUT; - hfmpi2c->State = HAL_FMPI2C_STATE_READY; - hfmpi2c->Mode = HAL_FMPI2C_MODE_NONE; - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpi2c); - return HAL_ERROR; - } - } - } - return HAL_OK; -} - -/** - * @brief This function handles FMPI2C Communication Timeout for specific usage of TXIS flag. - * @param hfmpi2c Pointer to a FMPI2C_HandleTypeDef structure that contains - * the configuration information for the specified FMPI2C. - * @param Timeout Timeout duration - * @param Tickstart Tick start value - * @retval HAL status - */ -static HAL_StatusTypeDef FMPI2C_WaitOnTXISFlagUntilTimeout(FMPI2C_HandleTypeDef *hfmpi2c, uint32_t Timeout, - uint32_t Tickstart) -{ - while (__HAL_FMPI2C_GET_FLAG(hfmpi2c, FMPI2C_FLAG_TXIS) == RESET) - { - /* Check if a NACK is detected */ - if (FMPI2C_IsAcknowledgeFailed(hfmpi2c, Timeout, Tickstart) != HAL_OK) - { - return HAL_ERROR; - } - - /* Check for the Timeout */ - if (Timeout != HAL_MAX_DELAY) - { - if (((HAL_GetTick() - Tickstart) > Timeout) || (Timeout == 0U)) - { - hfmpi2c->ErrorCode |= HAL_FMPI2C_ERROR_TIMEOUT; - hfmpi2c->State = HAL_FMPI2C_STATE_READY; - hfmpi2c->Mode = HAL_FMPI2C_MODE_NONE; - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpi2c); - - return HAL_ERROR; - } - } - } - return HAL_OK; -} - -/** - * @brief This function handles FMPI2C Communication Timeout for specific usage of STOP flag. - * @param hfmpi2c Pointer to a FMPI2C_HandleTypeDef structure that contains - * the configuration information for the specified FMPI2C. - * @param Timeout Timeout duration - * @param Tickstart Tick start value - * @retval HAL status - */ -static HAL_StatusTypeDef FMPI2C_WaitOnSTOPFlagUntilTimeout(FMPI2C_HandleTypeDef *hfmpi2c, uint32_t Timeout, - uint32_t Tickstart) -{ - while (__HAL_FMPI2C_GET_FLAG(hfmpi2c, FMPI2C_FLAG_STOPF) == RESET) - { - /* Check if a NACK is detected */ - if (FMPI2C_IsAcknowledgeFailed(hfmpi2c, Timeout, Tickstart) != HAL_OK) - { - return HAL_ERROR; - } - - /* Check for the Timeout */ - if (((HAL_GetTick() - Tickstart) > Timeout) || (Timeout == 0U)) - { - hfmpi2c->ErrorCode |= HAL_FMPI2C_ERROR_TIMEOUT; - hfmpi2c->State = HAL_FMPI2C_STATE_READY; - hfmpi2c->Mode = HAL_FMPI2C_MODE_NONE; - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpi2c); - - return HAL_ERROR; - } - } - return HAL_OK; -} - -/** - * @brief This function handles FMPI2C Communication Timeout for specific usage of RXNE flag. - * @param hfmpi2c Pointer to a FMPI2C_HandleTypeDef structure that contains - * the configuration information for the specified FMPI2C. - * @param Timeout Timeout duration - * @param Tickstart Tick start value - * @retval HAL status - */ -static HAL_StatusTypeDef FMPI2C_WaitOnRXNEFlagUntilTimeout(FMPI2C_HandleTypeDef *hfmpi2c, uint32_t Timeout, - uint32_t Tickstart) -{ - while (__HAL_FMPI2C_GET_FLAG(hfmpi2c, FMPI2C_FLAG_RXNE) == RESET) - { - /* Check if a NACK is detected */ - if (FMPI2C_IsAcknowledgeFailed(hfmpi2c, Timeout, Tickstart) != HAL_OK) - { - return HAL_ERROR; - } - - /* Check if a STOPF is detected */ - if (__HAL_FMPI2C_GET_FLAG(hfmpi2c, FMPI2C_FLAG_STOPF) == SET) - { - /* Check if an RXNE is pending */ - /* Store Last receive data if any */ - if ((__HAL_FMPI2C_GET_FLAG(hfmpi2c, FMPI2C_FLAG_RXNE) == SET) && (hfmpi2c->XferSize > 0U)) - { - /* Return HAL_OK */ - /* The Reading of data from RXDR will be done in caller function */ - return HAL_OK; - } - else - { - /* Clear STOP Flag */ - __HAL_FMPI2C_CLEAR_FLAG(hfmpi2c, FMPI2C_FLAG_STOPF); - - /* Clear Configuration Register 2 */ - FMPI2C_RESET_CR2(hfmpi2c); - - hfmpi2c->ErrorCode = HAL_FMPI2C_ERROR_NONE; - hfmpi2c->State = HAL_FMPI2C_STATE_READY; - hfmpi2c->Mode = HAL_FMPI2C_MODE_NONE; - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpi2c); - - return HAL_ERROR; - } - } - - /* Check for the Timeout */ - if (((HAL_GetTick() - Tickstart) > Timeout) || (Timeout == 0U)) - { - hfmpi2c->ErrorCode |= HAL_FMPI2C_ERROR_TIMEOUT; - hfmpi2c->State = HAL_FMPI2C_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpi2c); - - return HAL_ERROR; - } - } - return HAL_OK; -} - -/** - * @brief This function handles Acknowledge failed detection during an FMPI2C Communication. - * @param hfmpi2c Pointer to a FMPI2C_HandleTypeDef structure that contains - * the configuration information for the specified FMPI2C. - * @param Timeout Timeout duration - * @param Tickstart Tick start value - * @retval HAL status - */ -static HAL_StatusTypeDef FMPI2C_IsAcknowledgeFailed(FMPI2C_HandleTypeDef *hfmpi2c, uint32_t Timeout, uint32_t Tickstart) -{ - if (__HAL_FMPI2C_GET_FLAG(hfmpi2c, FMPI2C_FLAG_AF) == SET) - { - /* In case of Soft End condition, generate the STOP condition */ - if (FMPI2C_GET_STOP_MODE(hfmpi2c) != FMPI2C_AUTOEND_MODE) - { - /* Generate Stop */ - hfmpi2c->Instance->CR2 |= FMPI2C_CR2_STOP; - } - /* Wait until STOP Flag is reset */ - /* AutoEnd should be initiate after AF */ - while (__HAL_FMPI2C_GET_FLAG(hfmpi2c, FMPI2C_FLAG_STOPF) == RESET) - { - /* Check for the Timeout */ - if (Timeout != HAL_MAX_DELAY) - { - if (((HAL_GetTick() - Tickstart) > Timeout) || (Timeout == 0U)) - { - hfmpi2c->ErrorCode |= HAL_FMPI2C_ERROR_TIMEOUT; - hfmpi2c->State = HAL_FMPI2C_STATE_READY; - hfmpi2c->Mode = HAL_FMPI2C_MODE_NONE; - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpi2c); - - return HAL_ERROR; - } - } - } - - /* Clear NACKF Flag */ - __HAL_FMPI2C_CLEAR_FLAG(hfmpi2c, FMPI2C_FLAG_AF); - - /* Clear STOP Flag */ - __HAL_FMPI2C_CLEAR_FLAG(hfmpi2c, FMPI2C_FLAG_STOPF); - - /* Flush TX register */ - FMPI2C_Flush_TXDR(hfmpi2c); - - /* Clear Configuration Register 2 */ - FMPI2C_RESET_CR2(hfmpi2c); - - hfmpi2c->ErrorCode |= HAL_FMPI2C_ERROR_AF; - hfmpi2c->State = HAL_FMPI2C_STATE_READY; - hfmpi2c->Mode = HAL_FMPI2C_MODE_NONE; - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpi2c); - - return HAL_ERROR; - } - return HAL_OK; -} - -/** - * @brief Handles FMPI2Cx communication when starting transfer or during transfer (TC or TCR flag are set). - * @param hfmpi2c FMPI2C handle. - * @param DevAddress Specifies the slave address to be programmed. - * @param Size Specifies the number of bytes to be programmed. - * This parameter must be a value between 0 and 255. - * @param Mode New state of the FMPI2C START condition generation. - * This parameter can be one of the following values: - * @arg @ref FMPI2C_RELOAD_MODE Enable Reload mode . - * @arg @ref FMPI2C_AUTOEND_MODE Enable Automatic end mode. - * @arg @ref FMPI2C_SOFTEND_MODE Enable Software end mode. - * @param Request New state of the FMPI2C START condition generation. - * This parameter can be one of the following values: - * @arg @ref FMPI2C_NO_STARTSTOP Don't Generate stop and start condition. - * @arg @ref FMPI2C_GENERATE_STOP Generate stop condition (Size should be set to 0). - * @arg @ref FMPI2C_GENERATE_START_READ Generate Restart for read request. - * @arg @ref FMPI2C_GENERATE_START_WRITE Generate Restart for write request. - * @retval None - */ -static void FMPI2C_TransferConfig(FMPI2C_HandleTypeDef *hfmpi2c, uint16_t DevAddress, uint8_t Size, uint32_t Mode, - uint32_t Request) -{ - /* Check the parameters */ - assert_param(IS_FMPI2C_ALL_INSTANCE(hfmpi2c->Instance)); - assert_param(IS_TRANSFER_MODE(Mode)); - assert_param(IS_TRANSFER_REQUEST(Request)); - - /* update CR2 register */ - MODIFY_REG(hfmpi2c->Instance->CR2, - ((FMPI2C_CR2_SADD | FMPI2C_CR2_NBYTES | FMPI2C_CR2_RELOAD | FMPI2C_CR2_AUTOEND | \ - (FMPI2C_CR2_RD_WRN & (uint32_t)(Request >> (31U - FMPI2C_CR2_RD_WRN_Pos))) | \ - FMPI2C_CR2_START | FMPI2C_CR2_STOP)), \ - (uint32_t)(((uint32_t)DevAddress & FMPI2C_CR2_SADD) | \ - (((uint32_t)Size << FMPI2C_CR2_NBYTES_Pos) & FMPI2C_CR2_NBYTES) | \ - (uint32_t)Mode | (uint32_t)Request)); -} - -/** - * @brief Manage the enabling of Interrupts. - * @param hfmpi2c Pointer to a FMPI2C_HandleTypeDef structure that contains - * the configuration information for the specified FMPI2C. - * @param InterruptRequest Value of @ref FMPI2C_Interrupt_configuration_definition. - * @retval None - */ -static void FMPI2C_Enable_IRQ(FMPI2C_HandleTypeDef *hfmpi2c, uint16_t InterruptRequest) -{ - uint32_t tmpisr = 0U; - - if ((hfmpi2c->XferISR == FMPI2C_Master_ISR_DMA) || \ - (hfmpi2c->XferISR == FMPI2C_Slave_ISR_DMA)) - { - if ((InterruptRequest & FMPI2C_XFER_LISTEN_IT) == FMPI2C_XFER_LISTEN_IT) - { - /* Enable ERR, STOP, NACK and ADDR interrupts */ - tmpisr |= FMPI2C_IT_ADDRI | FMPI2C_IT_STOPI | FMPI2C_IT_NACKI | FMPI2C_IT_ERRI; - } - - if (InterruptRequest == FMPI2C_XFER_ERROR_IT) - { - /* Enable ERR and NACK interrupts */ - tmpisr |= FMPI2C_IT_ERRI | FMPI2C_IT_NACKI; - } - - if (InterruptRequest == FMPI2C_XFER_CPLT_IT) - { - /* Enable STOP interrupts */ - tmpisr |= (FMPI2C_IT_STOPI | FMPI2C_IT_TCI); - } - - if (InterruptRequest == FMPI2C_XFER_RELOAD_IT) - { - /* Enable TC interrupts */ - tmpisr |= FMPI2C_IT_TCI; - } - } - else - { - if ((InterruptRequest & FMPI2C_XFER_LISTEN_IT) == FMPI2C_XFER_LISTEN_IT) - { - /* Enable ERR, STOP, NACK, and ADDR interrupts */ - tmpisr |= FMPI2C_IT_ADDRI | FMPI2C_IT_STOPI | FMPI2C_IT_NACKI | FMPI2C_IT_ERRI; - } - - if ((InterruptRequest & FMPI2C_XFER_TX_IT) == FMPI2C_XFER_TX_IT) - { - /* Enable ERR, TC, STOP, NACK and RXI interrupts */ - tmpisr |= FMPI2C_IT_ERRI | FMPI2C_IT_TCI | FMPI2C_IT_STOPI | FMPI2C_IT_NACKI | FMPI2C_IT_TXI; - } - - if ((InterruptRequest & FMPI2C_XFER_RX_IT) == FMPI2C_XFER_RX_IT) - { - /* Enable ERR, TC, STOP, NACK and TXI interrupts */ - tmpisr |= FMPI2C_IT_ERRI | FMPI2C_IT_TCI | FMPI2C_IT_STOPI | FMPI2C_IT_NACKI | FMPI2C_IT_RXI; - } - - if (InterruptRequest == FMPI2C_XFER_CPLT_IT) - { - /* Enable STOP interrupts */ - tmpisr |= FMPI2C_IT_STOPI; - } - } - - /* Enable interrupts only at the end */ - /* to avoid the risk of FMPI2C interrupt handle execution before */ - /* all interrupts requested done */ - __HAL_FMPI2C_ENABLE_IT(hfmpi2c, tmpisr); -} - -/** - * @brief Manage the disabling of Interrupts. - * @param hfmpi2c Pointer to a FMPI2C_HandleTypeDef structure that contains - * the configuration information for the specified FMPI2C. - * @param InterruptRequest Value of @ref FMPI2C_Interrupt_configuration_definition. - * @retval None - */ -static void FMPI2C_Disable_IRQ(FMPI2C_HandleTypeDef *hfmpi2c, uint16_t InterruptRequest) -{ - uint32_t tmpisr = 0U; - - if ((InterruptRequest & FMPI2C_XFER_TX_IT) == FMPI2C_XFER_TX_IT) - { - /* Disable TC and TXI interrupts */ - tmpisr |= FMPI2C_IT_TCI | FMPI2C_IT_TXI; - - if (((uint32_t)hfmpi2c->State & (uint32_t)HAL_FMPI2C_STATE_LISTEN) != (uint32_t)HAL_FMPI2C_STATE_LISTEN) - { - /* Disable NACK and STOP interrupts */ - tmpisr |= FMPI2C_IT_STOPI | FMPI2C_IT_NACKI | FMPI2C_IT_ERRI; - } - } - - if ((InterruptRequest & FMPI2C_XFER_RX_IT) == FMPI2C_XFER_RX_IT) - { - /* Disable TC and RXI interrupts */ - tmpisr |= FMPI2C_IT_TCI | FMPI2C_IT_RXI; - - if (((uint32_t)hfmpi2c->State & (uint32_t)HAL_FMPI2C_STATE_LISTEN) != (uint32_t)HAL_FMPI2C_STATE_LISTEN) - { - /* Disable NACK and STOP interrupts */ - tmpisr |= FMPI2C_IT_STOPI | FMPI2C_IT_NACKI | FMPI2C_IT_ERRI; - } - } - - if ((InterruptRequest & FMPI2C_XFER_LISTEN_IT) == FMPI2C_XFER_LISTEN_IT) - { - /* Disable ADDR, NACK and STOP interrupts */ - tmpisr |= FMPI2C_IT_ADDRI | FMPI2C_IT_STOPI | FMPI2C_IT_NACKI | FMPI2C_IT_ERRI; - } - - if (InterruptRequest == FMPI2C_XFER_ERROR_IT) - { - /* Enable ERR and NACK interrupts */ - tmpisr |= FMPI2C_IT_ERRI | FMPI2C_IT_NACKI; - } - - if (InterruptRequest == FMPI2C_XFER_CPLT_IT) - { - /* Enable STOP interrupts */ - tmpisr |= FMPI2C_IT_STOPI; - } - - if (InterruptRequest == FMPI2C_XFER_RELOAD_IT) - { - /* Enable TC interrupts */ - tmpisr |= FMPI2C_IT_TCI; - } - - /* Disable interrupts only at the end */ - /* to avoid a breaking situation like at "t" time */ - /* all disable interrupts request are not done */ - __HAL_FMPI2C_DISABLE_IT(hfmpi2c, tmpisr); -} - -/** - * @brief Convert FMPI2Cx OTHER_xxx XferOptions to functional XferOptions. - * @param hfmpi2c FMPI2C handle. - * @retval None - */ -static void FMPI2C_ConvertOtherXferOptions(FMPI2C_HandleTypeDef *hfmpi2c) -{ - /* if user set XferOptions to FMPI2C_OTHER_FRAME */ - /* it request implicitly to generate a restart condition */ - /* set XferOptions to FMPI2C_FIRST_FRAME */ - if (hfmpi2c->XferOptions == FMPI2C_OTHER_FRAME) - { - hfmpi2c->XferOptions = FMPI2C_FIRST_FRAME; - } - /* else if user set XferOptions to FMPI2C_OTHER_AND_LAST_FRAME */ - /* it request implicitly to generate a restart condition */ - /* then generate a stop condition at the end of transfer */ - /* set XferOptions to FMPI2C_FIRST_AND_LAST_FRAME */ - else if (hfmpi2c->XferOptions == FMPI2C_OTHER_AND_LAST_FRAME) - { - hfmpi2c->XferOptions = FMPI2C_FIRST_AND_LAST_FRAME; - } - else - { - /* Nothing to do */ - } -} - -/** - * @} - */ - -#endif /* FMPI2C_CR1_PE */ -#endif /* HAL_FMPI2C_MODULE_ENABLED */ -/** - * @} - */ - -/** - * @} - */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_fmpi2c_ex.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_fmpi2c_ex.c deleted file mode 100644 index 0a8f72ccf78889..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_fmpi2c_ex.c +++ /dev/null @@ -1,261 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_fmpi2c_ex.c - * @author MCD Application Team - * @brief FMPI2C Extended HAL module driver. - * This file provides firmware functions to manage the following - * functionalities of FMPI2C Extended peripheral: - * + Filter Mode Functions - * + FastModePlus Functions - * - @verbatim - ============================================================================== - ##### FMPI2C peripheral Extended features ##### - ============================================================================== - - [..] Comparing to other previous devices, the FMPI2C interface for STM32F4xx - devices contains the following additional features - - (+) Possibility to disable or enable Analog Noise Filter - (+) Use of a configured Digital Noise Filter - (+) Disable or enable Fast Mode Plus - - ##### How to use this driver ##### - ============================================================================== - [..] This driver provides functions to: - (#) Configure FMPI2C Analog noise filter using the function HAL_FMPI2CEx_ConfigAnalogFilter() - (#) Configure FMPI2C Digital noise filter using the function HAL_FMPI2CEx_ConfigDigitalFilter() - (#) Configure the enable or disable of fast mode plus driving capability using the functions : - (++) HAL_FMPI2CEx_EnableFastModePlus() - (++) HAL_FMPI2CEx_DisableFastModePlus() - @endverbatim - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @defgroup FMPI2CEx FMPI2CEx - * @brief FMPI2C Extended HAL module driver - * @{ - */ - -#ifdef HAL_FMPI2C_MODULE_ENABLED -#if defined(FMPI2C_CR1_PE) - -/* Private typedef -----------------------------------------------------------*/ -/* Private define ------------------------------------------------------------*/ -/* Private macro -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private function prototypes -----------------------------------------------*/ -/* Private functions ---------------------------------------------------------*/ - -/** @defgroup FMPI2CEx_Exported_Functions FMPI2C Extended Exported Functions - * @{ - */ - -/** @defgroup FMPI2CEx_Exported_Functions_Group1 Filter Mode Functions - * @brief Filter Mode Functions - * -@verbatim - =============================================================================== - ##### Filter Mode Functions ##### - =============================================================================== - [..] This section provides functions allowing to: - (+) Configure Noise Filters - -@endverbatim - * @{ - */ - -/** - * @brief Configure FMPI2C Analog noise filter. - * @param hfmpi2c Pointer to a FMPI2C_HandleTypeDef structure that contains - * the configuration information for the specified FMPI2Cx peripheral. - * @param AnalogFilter New state of the Analog filter. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_FMPI2CEx_ConfigAnalogFilter(FMPI2C_HandleTypeDef *hfmpi2c, uint32_t AnalogFilter) -{ - /* Check the parameters */ - assert_param(IS_FMPI2C_ALL_INSTANCE(hfmpi2c->Instance)); - assert_param(IS_FMPI2C_ANALOG_FILTER(AnalogFilter)); - - if (hfmpi2c->State == HAL_FMPI2C_STATE_READY) - { - /* Process Locked */ - __HAL_LOCK(hfmpi2c); - - hfmpi2c->State = HAL_FMPI2C_STATE_BUSY; - - /* Disable the selected FMPI2C peripheral */ - __HAL_FMPI2C_DISABLE(hfmpi2c); - - /* Reset FMPI2Cx ANOFF bit */ - hfmpi2c->Instance->CR1 &= ~(FMPI2C_CR1_ANFOFF); - - /* Set analog filter bit*/ - hfmpi2c->Instance->CR1 |= AnalogFilter; - - __HAL_FMPI2C_ENABLE(hfmpi2c); - - hfmpi2c->State = HAL_FMPI2C_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpi2c); - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Configure FMPI2C Digital noise filter. - * @param hfmpi2c Pointer to a FMPI2C_HandleTypeDef structure that contains - * the configuration information for the specified FMPI2Cx peripheral. - * @param DigitalFilter Coefficient of digital noise filter between Min_Data=0x00 and Max_Data=0x0F. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_FMPI2CEx_ConfigDigitalFilter(FMPI2C_HandleTypeDef *hfmpi2c, uint32_t DigitalFilter) -{ - uint32_t tmpreg; - - /* Check the parameters */ - assert_param(IS_FMPI2C_ALL_INSTANCE(hfmpi2c->Instance)); - assert_param(IS_FMPI2C_DIGITAL_FILTER(DigitalFilter)); - - if (hfmpi2c->State == HAL_FMPI2C_STATE_READY) - { - /* Process Locked */ - __HAL_LOCK(hfmpi2c); - - hfmpi2c->State = HAL_FMPI2C_STATE_BUSY; - - /* Disable the selected FMPI2C peripheral */ - __HAL_FMPI2C_DISABLE(hfmpi2c); - - /* Get the old register value */ - tmpreg = hfmpi2c->Instance->CR1; - - /* Reset FMPI2Cx DNF bits [11:8] */ - tmpreg &= ~(FMPI2C_CR1_DNF); - - /* Set FMPI2Cx DNF coefficient */ - tmpreg |= DigitalFilter << 8U; - - /* Store the new register value */ - hfmpi2c->Instance->CR1 = tmpreg; - - __HAL_FMPI2C_ENABLE(hfmpi2c); - - hfmpi2c->State = HAL_FMPI2C_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpi2c); - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} -/** - * @} - */ - -/** @defgroup FMPI2CEx_Exported_Functions_Group3 Fast Mode Plus Functions - * @brief Fast Mode Plus Functions - * -@verbatim - =============================================================================== - ##### Fast Mode Plus Functions ##### - =============================================================================== - [..] This section provides functions allowing to: - (+) Configure Fast Mode Plus - -@endverbatim - * @{ - */ - -/** - * @brief Enable the FMPI2C fast mode plus driving capability. - * @param ConfigFastModePlus Selects the pin. - * This parameter can be one of the @ref FMPI2CEx_FastModePlus values - * @note For FMPI2C1, fast mode plus driving capability can be enabled on all selected - * FMPI2C1 pins using FMPI2C_FASTMODEPLUS_FMPI2C1 parameter or independently - * on each one of the following pins PB6, PB7, PB8 and PB9. - * @note For remaining FMPI2C1 pins (PA14, PA15...) fast mode plus driving capability - * can be enabled only by using FMPI2C_FASTMODEPLUS_FMPI2C1 parameter. - * @retval None - */ -void HAL_FMPI2CEx_EnableFastModePlus(uint32_t ConfigFastModePlus) -{ - /* Check the parameter */ - assert_param(IS_FMPI2C_FASTMODEPLUS(ConfigFastModePlus)); - - /* Enable SYSCFG clock */ - __HAL_RCC_SYSCFG_CLK_ENABLE(); - - /* Enable fast mode plus driving capability for selected pin */ - SET_BIT(SYSCFG->CFGR, (uint32_t)ConfigFastModePlus); -} - -/** - * @brief Disable the FMPI2C fast mode plus driving capability. - * @param ConfigFastModePlus Selects the pin. - * This parameter can be one of the @ref FMPI2CEx_FastModePlus values - * @note For FMPI2C1, fast mode plus driving capability can be disabled on all selected - * FMPI2C1 pins using FMPI2C_FASTMODEPLUS_FMPI2C1 parameter or independently - * on each one of the following pins PB6, PB7, PB8 and PB9. - * @note For remaining FMPI2C1 pins (PA14, PA15...) fast mode plus driving capability - * can be disabled only by using FMPI2C_FASTMODEPLUS_FMPI2C1 parameter. - * @retval None - */ -void HAL_FMPI2CEx_DisableFastModePlus(uint32_t ConfigFastModePlus) -{ - /* Check the parameter */ - assert_param(IS_FMPI2C_FASTMODEPLUS(ConfigFastModePlus)); - - /* Enable SYSCFG clock */ - __HAL_RCC_SYSCFG_CLK_ENABLE(); - - /* Disable fast mode plus driving capability for selected pin */ - CLEAR_BIT(SYSCFG->CFGR, (uint32_t)ConfigFastModePlus); -} -/** - * @} - */ -/** - * @} - */ - -#endif /* FMPI2C_CR1_PE */ -#endif /* HAL_FMPI2C_MODULE_ENABLED */ -/** - * @} - */ - -/** - * @} - */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_fmpsmbus.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_fmpsmbus.c deleted file mode 100644 index 578ecc5bfc281a..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_fmpsmbus.c +++ /dev/null @@ -1,2746 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_fmpsmbus.c - * @author MCD Application Team - * @brief FMPSMBUS HAL module driver. - * This file provides firmware functions to manage the following - * functionalities of the System Management Bus (SMBus) peripheral, - * based on I2C principles of operation : - * + Initialization and de-initialization functions - * + IO operation functions - * + Peripheral State and Errors functions - * - @verbatim - ============================================================================== - ##### How to use this driver ##### - ============================================================================== - [..] - The FMPSMBUS HAL driver can be used as follows: - - (#) Declare a FMPSMBUS_HandleTypeDef handle structure, for example: - FMPSMBUS_HandleTypeDef hfmpsmbus; - - (#)Initialize the FMPSMBUS low level resources by implementing the HAL_FMPSMBUS_MspInit() API: - (##) Enable the FMPSMBUSx interface clock - (##) FMPSMBUS pins configuration - (+++) Enable the clock for the FMPSMBUS GPIOs - (+++) Configure FMPSMBUS pins as alternate function open-drain - (##) NVIC configuration if you need to use interrupt process - (+++) Configure the FMPSMBUSx interrupt priority - (+++) Enable the NVIC FMPSMBUS IRQ Channel - - (#) Configure the Communication Clock Timing, Bus Timeout, Own Address1, Master Addressing mode, - Dual Addressing mode, Own Address2, Own Address2 Mask, General call, Nostretch mode, - Peripheral mode and Packet Error Check mode in the hfmpsmbus Init structure. - - (#) Initialize the FMPSMBUS registers by calling the HAL_FMPSMBUS_Init() API: - (++) These API's configures also the low level Hardware GPIO, CLOCK, CORTEX...etc) - by calling the customized HAL_FMPSMBUS_MspInit(&hfmpsmbus) API. - - (#) To check if target device is ready for communication, use the function HAL_FMPSMBUS_IsDeviceReady() - - (#) For FMPSMBUS IO operations, only one mode of operations is available within this driver - - *** Interrupt mode IO operation *** - =================================== - [..] - (+) Transmit in master/host FMPSMBUS mode an amount of data in non-blocking mode using HAL_FMPSMBUS_Master_Transmit_IT() - (++) At transmission end of transfer HAL_FMPSMBUS_MasterTxCpltCallback() is executed and user can - add his own code by customization of function pointer HAL_FMPSMBUS_MasterTxCpltCallback() - (+) Receive in master/host FMPSMBUS mode an amount of data in non-blocking mode using HAL_FMPSMBUS_Master_Receive_IT() - (++) At reception end of transfer HAL_FMPSMBUS_MasterRxCpltCallback() is executed and user can - add his own code by customization of function pointer HAL_FMPSMBUS_MasterRxCpltCallback() - (+) Abort a master/host FMPSMBUS process communication with Interrupt using HAL_FMPSMBUS_Master_Abort_IT() - (++) The associated previous transfer callback is called at the end of abort process - (++) mean HAL_FMPSMBUS_MasterTxCpltCallback() in case of previous state was master transmit - (++) mean HAL_FMPSMBUS_MasterRxCpltCallback() in case of previous state was master receive - (+) Enable/disable the Address listen mode in slave/device or host/slave FMPSMBUS mode - using HAL_FMPSMBUS_EnableListen_IT() HAL_FMPSMBUS_DisableListen_IT() - (++) When address slave/device FMPSMBUS match, HAL_FMPSMBUS_AddrCallback() is executed and user can - add his own code to check the Address Match Code and the transmission direction request by master/host (Write/Read). - (++) At Listen mode end HAL_FMPSMBUS_ListenCpltCallback() is executed and user can - add his own code by customization of function pointer HAL_FMPSMBUS_ListenCpltCallback() - (+) Transmit in slave/device FMPSMBUS mode an amount of data in non-blocking mode using HAL_FMPSMBUS_Slave_Transmit_IT() - (++) At transmission end of transfer HAL_FMPSMBUS_SlaveTxCpltCallback() is executed and user can - add his own code by customization of function pointer HAL_FMPSMBUS_SlaveTxCpltCallback() - (+) Receive in slave/device FMPSMBUS mode an amount of data in non-blocking mode using HAL_FMPSMBUS_Slave_Receive_IT() - (++) At reception end of transfer HAL_FMPSMBUS_SlaveRxCpltCallback() is executed and user can - add his own code by customization of function pointer HAL_FMPSMBUS_SlaveRxCpltCallback() - (+) Enable/Disable the FMPSMBUS alert mode using HAL_FMPSMBUS_EnableAlert_IT() HAL_FMPSMBUS_DisableAlert_IT() - (++) When FMPSMBUS Alert is generated HAL_FMPSMBUS_ErrorCallback() is executed and user can - add his own code by customization of function pointer HAL_FMPSMBUS_ErrorCallback() - to check the Alert Error Code using function HAL_FMPSMBUS_GetError() - (+) Get HAL state machine or error values using HAL_FMPSMBUS_GetState() or HAL_FMPSMBUS_GetError() - (+) In case of transfer Error, HAL_FMPSMBUS_ErrorCallback() function is executed and user can - add his own code by customization of function pointer HAL_FMPSMBUS_ErrorCallback() - to check the Error Code using function HAL_FMPSMBUS_GetError() - - *** FMPSMBUS HAL driver macros list *** - ================================== - [..] - Below the list of most used macros in FMPSMBUS HAL driver. - - (+) __HAL_FMPSMBUS_ENABLE: Enable the FMPSMBUS peripheral - (+) __HAL_FMPSMBUS_DISABLE: Disable the FMPSMBUS peripheral - (+) __HAL_FMPSMBUS_GET_FLAG: Check whether the specified FMPSMBUS flag is set or not - (+) __HAL_FMPSMBUS_CLEAR_FLAG: Clear the specified FMPSMBUS pending flag - (+) __HAL_FMPSMBUS_ENABLE_IT: Enable the specified FMPSMBUS interrupt - (+) __HAL_FMPSMBUS_DISABLE_IT: Disable the specified FMPSMBUS interrupt - - *** Callback registration *** - ============================================= - [..] - The compilation flag USE_HAL_FMPSMBUS_REGISTER_CALLBACKS when set to 1 - allows the user to configure dynamically the driver callbacks. - Use Functions HAL_FMPSMBUS_RegisterCallback() or HAL_FMPSMBUS_RegisterAddrCallback() - to register an interrupt callback. - [..] - Function HAL_FMPSMBUS_RegisterCallback() allows to register following callbacks: - (+) MasterTxCpltCallback : callback for Master transmission end of transfer. - (+) MasterRxCpltCallback : callback for Master reception end of transfer. - (+) SlaveTxCpltCallback : callback for Slave transmission end of transfer. - (+) SlaveRxCpltCallback : callback for Slave reception end of transfer. - (+) ListenCpltCallback : callback for end of listen mode. - (+) ErrorCallback : callback for error detection. - (+) MspInitCallback : callback for Msp Init. - (+) MspDeInitCallback : callback for Msp DeInit. - This function takes as parameters the HAL peripheral handle, the Callback ID - and a pointer to the user callback function. - [..] - For specific callback AddrCallback use dedicated register callbacks : HAL_FMPSMBUS_RegisterAddrCallback. - [..] - Use function HAL_FMPSMBUS_UnRegisterCallback to reset a callback to the default - weak function. - HAL_FMPSMBUS_UnRegisterCallback takes as parameters the HAL peripheral handle, - and the Callback ID. - This function allows to reset following callbacks: - (+) MasterTxCpltCallback : callback for Master transmission end of transfer. - (+) MasterRxCpltCallback : callback for Master reception end of transfer. - (+) SlaveTxCpltCallback : callback for Slave transmission end of transfer. - (+) SlaveRxCpltCallback : callback for Slave reception end of transfer. - (+) ListenCpltCallback : callback for end of listen mode. - (+) ErrorCallback : callback for error detection. - (+) MspInitCallback : callback for Msp Init. - (+) MspDeInitCallback : callback for Msp DeInit. - [..] - For callback AddrCallback use dedicated register callbacks : HAL_FMPSMBUS_UnRegisterAddrCallback. - [..] - By default, after the HAL_FMPSMBUS_Init() and when the state is HAL_FMPI2C_STATE_RESET - all callbacks are set to the corresponding weak functions: - examples HAL_FMPSMBUS_MasterTxCpltCallback(), HAL_FMPSMBUS_MasterRxCpltCallback(). - Exception done for MspInit and MspDeInit functions that are - reset to the legacy weak functions in the HAL_FMPSMBUS_Init()/ HAL_FMPSMBUS_DeInit() only when - these callbacks are null (not registered beforehand). - If MspInit or MspDeInit are not null, the HAL_FMPSMBUS_Init()/ HAL_FMPSMBUS_DeInit() - keep and use the user MspInit/MspDeInit callbacks (registered beforehand) whatever the state. - [..] - Callbacks can be registered/unregistered in HAL_FMPI2C_STATE_READY state only. - Exception done MspInit/MspDeInit functions that can be registered/unregistered - in HAL_FMPI2C_STATE_READY or HAL_FMPI2C_STATE_RESET state, - thus registered (user) MspInit/DeInit callbacks can be used during the Init/DeInit. - Then, the user first registers the MspInit/MspDeInit user callbacks - using HAL_FMPSMBUS_RegisterCallback() before calling HAL_FMPSMBUS_DeInit() - or HAL_FMPSMBUS_Init() function. - [..] - When the compilation flag USE_HAL_FMPSMBUS_REGISTER_CALLBACKS is set to 0 or - not defined, the callback registration feature is not available and all callbacks - are set to the corresponding weak functions. - - [..] - (@) You can refer to the FMPSMBUS HAL driver header file for more useful macros - - @endverbatim - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @defgroup FMPSMBUS FMPSMBUS - * @brief FMPSMBUS HAL module driver - * @{ - */ - -#ifdef HAL_FMPSMBUS_MODULE_ENABLED - -#if defined(FMPI2C_CR1_PE) -/* Private typedef -----------------------------------------------------------*/ -/* Private constants ---------------------------------------------------------*/ -/** @defgroup FMPSMBUS_Private_Define FMPSMBUS Private Constants - * @{ - */ -#define TIMING_CLEAR_MASK (0xF0FFFFFFUL) /*!< FMPSMBUS TIMING clear register Mask */ -#define HAL_TIMEOUT_ADDR (10000U) /*!< 10 s */ -#define HAL_TIMEOUT_BUSY (25U) /*!< 25 ms */ -#define HAL_TIMEOUT_DIR (25U) /*!< 25 ms */ -#define HAL_TIMEOUT_RXNE (25U) /*!< 25 ms */ -#define HAL_TIMEOUT_STOPF (25U) /*!< 25 ms */ -#define HAL_TIMEOUT_TC (25U) /*!< 25 ms */ -#define HAL_TIMEOUT_TCR (25U) /*!< 25 ms */ -#define HAL_TIMEOUT_TXIS (25U) /*!< 25 ms */ -#define MAX_NBYTE_SIZE 255U -/** - * @} - */ - -/* Private macro -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private function prototypes -----------------------------------------------*/ -/** @addtogroup FMPSMBUS_Private_Functions FMPSMBUS Private Functions - * @{ - */ -static HAL_StatusTypeDef FMPSMBUS_WaitOnFlagUntilTimeout(FMPSMBUS_HandleTypeDef *hfmpsmbus, uint32_t Flag, - FlagStatus Status, uint32_t Timeout); - -static void FMPSMBUS_Enable_IRQ(FMPSMBUS_HandleTypeDef *hfmpsmbus, uint32_t InterruptRequest); -static void FMPSMBUS_Disable_IRQ(FMPSMBUS_HandleTypeDef *hfmpsmbus, uint32_t InterruptRequest); -static HAL_StatusTypeDef FMPSMBUS_Master_ISR(FMPSMBUS_HandleTypeDef *hfmpsmbus, uint32_t StatusFlags); -static HAL_StatusTypeDef FMPSMBUS_Slave_ISR(FMPSMBUS_HandleTypeDef *hfmpsmbus, uint32_t StatusFlags); - -static void FMPSMBUS_ConvertOtherXferOptions(FMPSMBUS_HandleTypeDef *hfmpsmbus); - -static void FMPSMBUS_ITErrorHandler(FMPSMBUS_HandleTypeDef *hfmpsmbus); - -static void FMPSMBUS_TransferConfig(FMPSMBUS_HandleTypeDef *hfmpsmbus, uint16_t DevAddress, uint8_t Size, - uint32_t Mode, uint32_t Request); -/** - * @} - */ - -/* Exported functions --------------------------------------------------------*/ - -/** @defgroup FMPSMBUS_Exported_Functions FMPSMBUS Exported Functions - * @{ - */ - -/** @defgroup FMPSMBUS_Exported_Functions_Group1 Initialization and de-initialization functions - * @brief Initialization and Configuration functions - * -@verbatim - =============================================================================== - ##### Initialization and de-initialization functions ##### - =============================================================================== - [..] This subsection provides a set of functions allowing to initialize and - deinitialize the FMPSMBUSx peripheral: - - (+) User must Implement HAL_FMPSMBUS_MspInit() function in which he configures - all related peripherals resources (CLOCK, GPIO, IT and NVIC ). - - (+) Call the function HAL_FMPSMBUS_Init() to configure the selected device with - the selected configuration: - (++) Clock Timing - (++) Bus Timeout - (++) Analog Filer mode - (++) Own Address 1 - (++) Addressing mode (Master, Slave) - (++) Dual Addressing mode - (++) Own Address 2 - (++) Own Address 2 Mask - (++) General call mode - (++) Nostretch mode - (++) Packet Error Check mode - (++) Peripheral mode - - - (+) Call the function HAL_FMPSMBUS_DeInit() to restore the default configuration - of the selected FMPSMBUSx peripheral. - - (+) Enable/Disable Analog/Digital filters with HAL_FMPSMBUS_ConfigAnalogFilter() and - HAL_FMPSMBUS_ConfigDigitalFilter(). - -@endverbatim - * @{ - */ - -/** - * @brief Initialize the FMPSMBUS according to the specified parameters - * in the FMPSMBUS_InitTypeDef and initialize the associated handle. - * @param hfmpsmbus Pointer to a FMPSMBUS_HandleTypeDef structure that contains - * the configuration information for the specified FMPSMBUS. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_FMPSMBUS_Init(FMPSMBUS_HandleTypeDef *hfmpsmbus) -{ - /* Check the FMPSMBUS handle allocation */ - if (hfmpsmbus == NULL) - { - return HAL_ERROR; - } - - /* Check the parameters */ - assert_param(IS_FMPSMBUS_ALL_INSTANCE(hfmpsmbus->Instance)); - assert_param(IS_FMPSMBUS_ANALOG_FILTER(hfmpsmbus->Init.AnalogFilter)); - assert_param(IS_FMPSMBUS_OWN_ADDRESS1(hfmpsmbus->Init.OwnAddress1)); - assert_param(IS_FMPSMBUS_ADDRESSING_MODE(hfmpsmbus->Init.AddressingMode)); - assert_param(IS_FMPSMBUS_DUAL_ADDRESS(hfmpsmbus->Init.DualAddressMode)); - assert_param(IS_FMPSMBUS_OWN_ADDRESS2(hfmpsmbus->Init.OwnAddress2)); - assert_param(IS_FMPSMBUS_OWN_ADDRESS2_MASK(hfmpsmbus->Init.OwnAddress2Masks)); - assert_param(IS_FMPSMBUS_GENERAL_CALL(hfmpsmbus->Init.GeneralCallMode)); - assert_param(IS_FMPSMBUS_NO_STRETCH(hfmpsmbus->Init.NoStretchMode)); - assert_param(IS_FMPSMBUS_PEC(hfmpsmbus->Init.PacketErrorCheckMode)); - assert_param(IS_FMPSMBUS_PERIPHERAL_MODE(hfmpsmbus->Init.PeripheralMode)); - - if (hfmpsmbus->State == HAL_FMPSMBUS_STATE_RESET) - { - /* Allocate lock resource and initialize it */ - hfmpsmbus->Lock = HAL_UNLOCKED; - -#if (USE_HAL_FMPSMBUS_REGISTER_CALLBACKS == 1) - hfmpsmbus->MasterTxCpltCallback = HAL_FMPSMBUS_MasterTxCpltCallback; /* Legacy weak MasterTxCpltCallback */ - hfmpsmbus->MasterRxCpltCallback = HAL_FMPSMBUS_MasterRxCpltCallback; /* Legacy weak MasterRxCpltCallback */ - hfmpsmbus->SlaveTxCpltCallback = HAL_FMPSMBUS_SlaveTxCpltCallback; /* Legacy weak SlaveTxCpltCallback */ - hfmpsmbus->SlaveRxCpltCallback = HAL_FMPSMBUS_SlaveRxCpltCallback; /* Legacy weak SlaveRxCpltCallback */ - hfmpsmbus->ListenCpltCallback = HAL_FMPSMBUS_ListenCpltCallback; /* Legacy weak ListenCpltCallback */ - hfmpsmbus->ErrorCallback = HAL_FMPSMBUS_ErrorCallback; /* Legacy weak ErrorCallback */ - hfmpsmbus->AddrCallback = HAL_FMPSMBUS_AddrCallback; /* Legacy weak AddrCallback */ - - if (hfmpsmbus->MspInitCallback == NULL) - { - hfmpsmbus->MspInitCallback = HAL_FMPSMBUS_MspInit; /* Legacy weak MspInit */ - } - - /* Init the low level hardware : GPIO, CLOCK, CORTEX...etc */ - hfmpsmbus->MspInitCallback(hfmpsmbus); -#else - /* Init the low level hardware : GPIO, CLOCK, NVIC */ - HAL_FMPSMBUS_MspInit(hfmpsmbus); -#endif /* USE_HAL_FMPSMBUS_REGISTER_CALLBACKS */ - } - - hfmpsmbus->State = HAL_FMPSMBUS_STATE_BUSY; - - /* Disable the selected FMPSMBUS peripheral */ - __HAL_FMPSMBUS_DISABLE(hfmpsmbus); - - /*---------------------------- FMPSMBUSx TIMINGR Configuration ------------------------*/ - /* Configure FMPSMBUSx: Frequency range */ - hfmpsmbus->Instance->TIMINGR = hfmpsmbus->Init.Timing & TIMING_CLEAR_MASK; - - /*---------------------------- FMPSMBUSx TIMEOUTR Configuration ------------------------*/ - /* Configure FMPSMBUSx: Bus Timeout */ - hfmpsmbus->Instance->TIMEOUTR &= ~FMPI2C_TIMEOUTR_TIMOUTEN; - hfmpsmbus->Instance->TIMEOUTR &= ~FMPI2C_TIMEOUTR_TEXTEN; - hfmpsmbus->Instance->TIMEOUTR = hfmpsmbus->Init.SMBusTimeout; - - /*---------------------------- FMPSMBUSx OAR1 Configuration -----------------------*/ - /* Configure FMPSMBUSx: Own Address1 and ack own address1 mode */ - hfmpsmbus->Instance->OAR1 &= ~FMPI2C_OAR1_OA1EN; - - if (hfmpsmbus->Init.OwnAddress1 != 0UL) - { - if (hfmpsmbus->Init.AddressingMode == FMPSMBUS_ADDRESSINGMODE_7BIT) - { - hfmpsmbus->Instance->OAR1 = (FMPI2C_OAR1_OA1EN | hfmpsmbus->Init.OwnAddress1); - } - else /* FMPSMBUS_ADDRESSINGMODE_10BIT */ - { - hfmpsmbus->Instance->OAR1 = (FMPI2C_OAR1_OA1EN | FMPI2C_OAR1_OA1MODE | hfmpsmbus->Init.OwnAddress1); - } - } - - /*---------------------------- FMPSMBUSx CR2 Configuration ------------------------*/ - /* Configure FMPSMBUSx: Addressing Master mode */ - if (hfmpsmbus->Init.AddressingMode == FMPSMBUS_ADDRESSINGMODE_10BIT) - { - hfmpsmbus->Instance->CR2 = (FMPI2C_CR2_ADD10); - } - /* Enable the AUTOEND by default, and enable NACK (should be disable only during Slave process) */ - /* AUTOEND and NACK bit will be manage during Transfer process */ - hfmpsmbus->Instance->CR2 |= (FMPI2C_CR2_AUTOEND | FMPI2C_CR2_NACK); - - /*---------------------------- FMPSMBUSx OAR2 Configuration -----------------------*/ - /* Configure FMPSMBUSx: Dual mode and Own Address2 */ - hfmpsmbus->Instance->OAR2 = (hfmpsmbus->Init.DualAddressMode | hfmpsmbus->Init.OwnAddress2 | \ - (hfmpsmbus->Init.OwnAddress2Masks << 8U)); - - /*---------------------------- FMPSMBUSx CR1 Configuration ------------------------*/ - /* Configure FMPSMBUSx: Generalcall and NoStretch mode */ - hfmpsmbus->Instance->CR1 = (hfmpsmbus->Init.GeneralCallMode | hfmpsmbus->Init.NoStretchMode | \ - hfmpsmbus->Init.PacketErrorCheckMode | hfmpsmbus->Init.PeripheralMode | \ - hfmpsmbus->Init.AnalogFilter); - - /* Enable Slave Byte Control only in case of Packet Error Check is enabled - and FMPSMBUS Peripheral is set in Slave mode */ - if ((hfmpsmbus->Init.PacketErrorCheckMode == FMPSMBUS_PEC_ENABLE) && \ - ((hfmpsmbus->Init.PeripheralMode == FMPSMBUS_PERIPHERAL_MODE_FMPSMBUS_SLAVE) || \ - (hfmpsmbus->Init.PeripheralMode == FMPSMBUS_PERIPHERAL_MODE_FMPSMBUS_SLAVE_ARP))) - { - hfmpsmbus->Instance->CR1 |= FMPI2C_CR1_SBC; - } - - /* Enable the selected FMPSMBUS peripheral */ - __HAL_FMPSMBUS_ENABLE(hfmpsmbus); - - hfmpsmbus->ErrorCode = HAL_FMPSMBUS_ERROR_NONE; - hfmpsmbus->PreviousState = HAL_FMPSMBUS_STATE_READY; - hfmpsmbus->State = HAL_FMPSMBUS_STATE_READY; - - return HAL_OK; -} - -/** - * @brief DeInitialize the FMPSMBUS peripheral. - * @param hfmpsmbus Pointer to a FMPSMBUS_HandleTypeDef structure that contains - * the configuration information for the specified FMPSMBUS. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_FMPSMBUS_DeInit(FMPSMBUS_HandleTypeDef *hfmpsmbus) -{ - /* Check the FMPSMBUS handle allocation */ - if (hfmpsmbus == NULL) - { - return HAL_ERROR; - } - - /* Check the parameters */ - assert_param(IS_FMPSMBUS_ALL_INSTANCE(hfmpsmbus->Instance)); - - hfmpsmbus->State = HAL_FMPSMBUS_STATE_BUSY; - - /* Disable the FMPSMBUS Peripheral Clock */ - __HAL_FMPSMBUS_DISABLE(hfmpsmbus); - -#if (USE_HAL_FMPSMBUS_REGISTER_CALLBACKS == 1) - if (hfmpsmbus->MspDeInitCallback == NULL) - { - hfmpsmbus->MspDeInitCallback = HAL_FMPSMBUS_MspDeInit; /* Legacy weak MspDeInit */ - } - - /* DeInit the low level hardware: GPIO, CLOCK, NVIC */ - hfmpsmbus->MspDeInitCallback(hfmpsmbus); -#else - /* DeInit the low level hardware: GPIO, CLOCK, NVIC */ - HAL_FMPSMBUS_MspDeInit(hfmpsmbus); -#endif /* USE_HAL_FMPSMBUS_REGISTER_CALLBACKS */ - - hfmpsmbus->ErrorCode = HAL_FMPSMBUS_ERROR_NONE; - hfmpsmbus->PreviousState = HAL_FMPSMBUS_STATE_RESET; - hfmpsmbus->State = HAL_FMPSMBUS_STATE_RESET; - - /* Release Lock */ - __HAL_UNLOCK(hfmpsmbus); - - return HAL_OK; -} - -/** - * @brief Initialize the FMPSMBUS MSP. - * @param hfmpsmbus Pointer to a FMPSMBUS_HandleTypeDef structure that contains - * the configuration information for the specified FMPSMBUS. - * @retval None - */ -__weak void HAL_FMPSMBUS_MspInit(FMPSMBUS_HandleTypeDef *hfmpsmbus) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hfmpsmbus); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_FMPSMBUS_MspInit could be implemented in the user file - */ -} - -/** - * @brief DeInitialize the FMPSMBUS MSP. - * @param hfmpsmbus Pointer to a FMPSMBUS_HandleTypeDef structure that contains - * the configuration information for the specified FMPSMBUS. - * @retval None - */ -__weak void HAL_FMPSMBUS_MspDeInit(FMPSMBUS_HandleTypeDef *hfmpsmbus) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hfmpsmbus); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_FMPSMBUS_MspDeInit could be implemented in the user file - */ -} - -/** - * @brief Configure Analog noise filter. - * @param hfmpsmbus Pointer to a FMPSMBUS_HandleTypeDef structure that contains - * the configuration information for the specified FMPSMBUS. - * @param AnalogFilter This parameter can be one of the following values: - * @arg @ref FMPSMBUS_ANALOGFILTER_ENABLE - * @arg @ref FMPSMBUS_ANALOGFILTER_DISABLE - * @retval HAL status - */ -HAL_StatusTypeDef HAL_FMPSMBUS_ConfigAnalogFilter(FMPSMBUS_HandleTypeDef *hfmpsmbus, uint32_t AnalogFilter) -{ - /* Check the parameters */ - assert_param(IS_FMPSMBUS_ALL_INSTANCE(hfmpsmbus->Instance)); - assert_param(IS_FMPSMBUS_ANALOG_FILTER(AnalogFilter)); - - if (hfmpsmbus->State == HAL_FMPSMBUS_STATE_READY) - { - /* Process Locked */ - __HAL_LOCK(hfmpsmbus); - - hfmpsmbus->State = HAL_FMPSMBUS_STATE_BUSY; - - /* Disable the selected FMPSMBUS peripheral */ - __HAL_FMPSMBUS_DISABLE(hfmpsmbus); - - /* Reset ANOFF bit */ - hfmpsmbus->Instance->CR1 &= ~(FMPI2C_CR1_ANFOFF); - - /* Set analog filter bit*/ - hfmpsmbus->Instance->CR1 |= AnalogFilter; - - __HAL_FMPSMBUS_ENABLE(hfmpsmbus); - - hfmpsmbus->State = HAL_FMPSMBUS_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpsmbus); - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Configure Digital noise filter. - * @param hfmpsmbus Pointer to a FMPSMBUS_HandleTypeDef structure that contains - * the configuration information for the specified FMPSMBUS. - * @param DigitalFilter Coefficient of digital noise filter between Min_Data=0x00 and Max_Data=0x0F. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_FMPSMBUS_ConfigDigitalFilter(FMPSMBUS_HandleTypeDef *hfmpsmbus, uint32_t DigitalFilter) -{ - uint32_t tmpreg; - - /* Check the parameters */ - assert_param(IS_FMPSMBUS_ALL_INSTANCE(hfmpsmbus->Instance)); - assert_param(IS_FMPSMBUS_DIGITAL_FILTER(DigitalFilter)); - - if (hfmpsmbus->State == HAL_FMPSMBUS_STATE_READY) - { - /* Process Locked */ - __HAL_LOCK(hfmpsmbus); - - hfmpsmbus->State = HAL_FMPSMBUS_STATE_BUSY; - - /* Disable the selected FMPSMBUS peripheral */ - __HAL_FMPSMBUS_DISABLE(hfmpsmbus); - - /* Get the old register value */ - tmpreg = hfmpsmbus->Instance->CR1; - - /* Reset FMPI2C DNF bits [11:8] */ - tmpreg &= ~(FMPI2C_CR1_DNF); - - /* Set FMPI2Cx DNF coefficient */ - tmpreg |= DigitalFilter << FMPI2C_CR1_DNF_Pos; - - /* Store the new register value */ - hfmpsmbus->Instance->CR1 = tmpreg; - - __HAL_FMPSMBUS_ENABLE(hfmpsmbus); - - hfmpsmbus->State = HAL_FMPSMBUS_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpsmbus); - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -#if (USE_HAL_FMPSMBUS_REGISTER_CALLBACKS == 1) -/** - * @brief Register a User FMPSMBUS Callback - * To be used instead of the weak predefined callback - * @param hfmpsmbus Pointer to a FMPSMBUS_HandleTypeDef structure that contains - * the configuration information for the specified FMPSMBUS. - * @param CallbackID ID of the callback to be registered - * This parameter can be one of the following values: - * @arg @ref HAL_FMPSMBUS_MASTER_TX_COMPLETE_CB_ID Master Tx Transfer completed callback ID - * @arg @ref HAL_FMPSMBUS_MASTER_RX_COMPLETE_CB_ID Master Rx Transfer completed callback ID - * @arg @ref HAL_FMPSMBUS_SLAVE_TX_COMPLETE_CB_ID Slave Tx Transfer completed callback ID - * @arg @ref HAL_FMPSMBUS_SLAVE_RX_COMPLETE_CB_ID Slave Rx Transfer completed callback ID - * @arg @ref HAL_FMPSMBUS_LISTEN_COMPLETE_CB_ID Listen Complete callback ID - * @arg @ref HAL_FMPSMBUS_ERROR_CB_ID Error callback ID - * @arg @ref HAL_FMPSMBUS_MSPINIT_CB_ID MspInit callback ID - * @arg @ref HAL_FMPSMBUS_MSPDEINIT_CB_ID MspDeInit callback ID - * @param pCallback pointer to the Callback function - * @retval HAL status - */ -HAL_StatusTypeDef HAL_FMPSMBUS_RegisterCallback(FMPSMBUS_HandleTypeDef *hfmpsmbus, - HAL_FMPSMBUS_CallbackIDTypeDef CallbackID, - pFMPSMBUS_CallbackTypeDef pCallback) -{ - HAL_StatusTypeDef status = HAL_OK; - - if (pCallback == NULL) - { - /* Update the error code */ - hfmpsmbus->ErrorCode |= HAL_FMPSMBUS_ERROR_INVALID_CALLBACK; - - return HAL_ERROR; - } - - /* Process locked */ - __HAL_LOCK(hfmpsmbus); - - if (HAL_FMPSMBUS_STATE_READY == hfmpsmbus->State) - { - switch (CallbackID) - { - case HAL_FMPSMBUS_MASTER_TX_COMPLETE_CB_ID : - hfmpsmbus->MasterTxCpltCallback = pCallback; - break; - - case HAL_FMPSMBUS_MASTER_RX_COMPLETE_CB_ID : - hfmpsmbus->MasterRxCpltCallback = pCallback; - break; - - case HAL_FMPSMBUS_SLAVE_TX_COMPLETE_CB_ID : - hfmpsmbus->SlaveTxCpltCallback = pCallback; - break; - - case HAL_FMPSMBUS_SLAVE_RX_COMPLETE_CB_ID : - hfmpsmbus->SlaveRxCpltCallback = pCallback; - break; - - case HAL_FMPSMBUS_LISTEN_COMPLETE_CB_ID : - hfmpsmbus->ListenCpltCallback = pCallback; - break; - - case HAL_FMPSMBUS_ERROR_CB_ID : - hfmpsmbus->ErrorCallback = pCallback; - break; - - case HAL_FMPSMBUS_MSPINIT_CB_ID : - hfmpsmbus->MspInitCallback = pCallback; - break; - - case HAL_FMPSMBUS_MSPDEINIT_CB_ID : - hfmpsmbus->MspDeInitCallback = pCallback; - break; - - default : - /* Update the error code */ - hfmpsmbus->ErrorCode |= HAL_FMPSMBUS_ERROR_INVALID_CALLBACK; - - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else if (HAL_FMPSMBUS_STATE_RESET == hfmpsmbus->State) - { - switch (CallbackID) - { - case HAL_FMPSMBUS_MSPINIT_CB_ID : - hfmpsmbus->MspInitCallback = pCallback; - break; - - case HAL_FMPSMBUS_MSPDEINIT_CB_ID : - hfmpsmbus->MspDeInitCallback = pCallback; - break; - - default : - /* Update the error code */ - hfmpsmbus->ErrorCode |= HAL_FMPSMBUS_ERROR_INVALID_CALLBACK; - - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else - { - /* Update the error code */ - hfmpsmbus->ErrorCode |= HAL_FMPSMBUS_ERROR_INVALID_CALLBACK; - - /* Return error status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(hfmpsmbus); - return status; -} - -/** - * @brief Unregister an FMPSMBUS Callback - * FMPSMBUS callback is redirected to the weak predefined callback - * @param hfmpsmbus Pointer to a FMPSMBUS_HandleTypeDef structure that contains - * the configuration information for the specified FMPSMBUS. - * @param CallbackID ID of the callback to be unregistered - * This parameter can be one of the following values: - * This parameter can be one of the following values: - * @arg @ref HAL_FMPSMBUS_MASTER_TX_COMPLETE_CB_ID Master Tx Transfer completed callback ID - * @arg @ref HAL_FMPSMBUS_MASTER_RX_COMPLETE_CB_ID Master Rx Transfer completed callback ID - * @arg @ref HAL_FMPSMBUS_SLAVE_TX_COMPLETE_CB_ID Slave Tx Transfer completed callback ID - * @arg @ref HAL_FMPSMBUS_SLAVE_RX_COMPLETE_CB_ID Slave Rx Transfer completed callback ID - * @arg @ref HAL_FMPSMBUS_LISTEN_COMPLETE_CB_ID Listen Complete callback ID - * @arg @ref HAL_FMPSMBUS_ERROR_CB_ID Error callback ID - * @arg @ref HAL_FMPSMBUS_MSPINIT_CB_ID MspInit callback ID - * @arg @ref HAL_FMPSMBUS_MSPDEINIT_CB_ID MspDeInit callback ID - * @retval HAL status - */ -HAL_StatusTypeDef HAL_FMPSMBUS_UnRegisterCallback(FMPSMBUS_HandleTypeDef *hfmpsmbus, - HAL_FMPSMBUS_CallbackIDTypeDef CallbackID) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Process locked */ - __HAL_LOCK(hfmpsmbus); - - if (HAL_FMPSMBUS_STATE_READY == hfmpsmbus->State) - { - switch (CallbackID) - { - case HAL_FMPSMBUS_MASTER_TX_COMPLETE_CB_ID : - hfmpsmbus->MasterTxCpltCallback = HAL_FMPSMBUS_MasterTxCpltCallback; /* Legacy weak MasterTxCpltCallback */ - break; - - case HAL_FMPSMBUS_MASTER_RX_COMPLETE_CB_ID : - hfmpsmbus->MasterRxCpltCallback = HAL_FMPSMBUS_MasterRxCpltCallback; /* Legacy weak MasterRxCpltCallback */ - break; - - case HAL_FMPSMBUS_SLAVE_TX_COMPLETE_CB_ID : - hfmpsmbus->SlaveTxCpltCallback = HAL_FMPSMBUS_SlaveTxCpltCallback; /* Legacy weak SlaveTxCpltCallback */ - break; - - case HAL_FMPSMBUS_SLAVE_RX_COMPLETE_CB_ID : - hfmpsmbus->SlaveRxCpltCallback = HAL_FMPSMBUS_SlaveRxCpltCallback; /* Legacy weak SlaveRxCpltCallback */ - break; - - case HAL_FMPSMBUS_LISTEN_COMPLETE_CB_ID : - hfmpsmbus->ListenCpltCallback = HAL_FMPSMBUS_ListenCpltCallback; /* Legacy weak ListenCpltCallback */ - break; - - case HAL_FMPSMBUS_ERROR_CB_ID : - hfmpsmbus->ErrorCallback = HAL_FMPSMBUS_ErrorCallback; /* Legacy weak ErrorCallback */ - break; - - case HAL_FMPSMBUS_MSPINIT_CB_ID : - hfmpsmbus->MspInitCallback = HAL_FMPSMBUS_MspInit; /* Legacy weak MspInit */ - break; - - case HAL_FMPSMBUS_MSPDEINIT_CB_ID : - hfmpsmbus->MspDeInitCallback = HAL_FMPSMBUS_MspDeInit; /* Legacy weak MspDeInit */ - break; - - default : - /* Update the error code */ - hfmpsmbus->ErrorCode |= HAL_FMPSMBUS_ERROR_INVALID_CALLBACK; - - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else if (HAL_FMPSMBUS_STATE_RESET == hfmpsmbus->State) - { - switch (CallbackID) - { - case HAL_FMPSMBUS_MSPINIT_CB_ID : - hfmpsmbus->MspInitCallback = HAL_FMPSMBUS_MspInit; /* Legacy weak MspInit */ - break; - - case HAL_FMPSMBUS_MSPDEINIT_CB_ID : - hfmpsmbus->MspDeInitCallback = HAL_FMPSMBUS_MspDeInit; /* Legacy weak MspDeInit */ - break; - - default : - /* Update the error code */ - hfmpsmbus->ErrorCode |= HAL_FMPSMBUS_ERROR_INVALID_CALLBACK; - - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else - { - /* Update the error code */ - hfmpsmbus->ErrorCode |= HAL_FMPSMBUS_ERROR_INVALID_CALLBACK; - - /* Return error status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(hfmpsmbus); - return status; -} - -/** - * @brief Register the Slave Address Match FMPSMBUS Callback - * To be used instead of the weak HAL_FMPSMBUS_AddrCallback() predefined callback - * @param hfmpsmbus Pointer to a FMPSMBUS_HandleTypeDef structure that contains - * the configuration information for the specified FMPSMBUS. - * @param pCallback pointer to the Address Match Callback function - * @retval HAL status - */ -HAL_StatusTypeDef HAL_FMPSMBUS_RegisterAddrCallback(FMPSMBUS_HandleTypeDef *hfmpsmbus, - pFMPSMBUS_AddrCallbackTypeDef pCallback) -{ - HAL_StatusTypeDef status = HAL_OK; - - if (pCallback == NULL) - { - /* Update the error code */ - hfmpsmbus->ErrorCode |= HAL_FMPSMBUS_ERROR_INVALID_CALLBACK; - - return HAL_ERROR; - } - /* Process locked */ - __HAL_LOCK(hfmpsmbus); - - if (HAL_FMPSMBUS_STATE_READY == hfmpsmbus->State) - { - hfmpsmbus->AddrCallback = pCallback; - } - else - { - /* Update the error code */ - hfmpsmbus->ErrorCode |= HAL_FMPSMBUS_ERROR_INVALID_CALLBACK; - - /* Return error status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(hfmpsmbus); - return status; -} - -/** - * @brief UnRegister the Slave Address Match FMPSMBUS Callback - * Info Ready FMPSMBUS Callback is redirected to the weak HAL_FMPSMBUS_AddrCallback() predefined callback - * @param hfmpsmbus Pointer to a FMPSMBUS_HandleTypeDef structure that contains - * the configuration information for the specified FMPSMBUS. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_FMPSMBUS_UnRegisterAddrCallback(FMPSMBUS_HandleTypeDef *hfmpsmbus) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Process locked */ - __HAL_LOCK(hfmpsmbus); - - if (HAL_FMPSMBUS_STATE_READY == hfmpsmbus->State) - { - hfmpsmbus->AddrCallback = HAL_FMPSMBUS_AddrCallback; /* Legacy weak AddrCallback */ - } - else - { - /* Update the error code */ - hfmpsmbus->ErrorCode |= HAL_FMPSMBUS_ERROR_INVALID_CALLBACK; - - /* Return error status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(hfmpsmbus); - return status; -} - -#endif /* USE_HAL_FMPSMBUS_REGISTER_CALLBACKS */ - -/** - * @} - */ - -/** @defgroup FMPSMBUS_Exported_Functions_Group2 Input and Output operation functions - * @brief Data transfers functions - * -@verbatim - =============================================================================== - ##### IO operation functions ##### - =============================================================================== - [..] - This subsection provides a set of functions allowing to manage the FMPSMBUS data - transfers. - - (#) Blocking mode function to check if device is ready for usage is : - (++) HAL_FMPSMBUS_IsDeviceReady() - - (#) There is only one mode of transfer: - (++) Non-Blocking mode : The communication is performed using Interrupts. - These functions return the status of the transfer startup. - The end of the data processing will be indicated through the - dedicated FMPSMBUS IRQ when using Interrupt mode. - - (#) Non-Blocking mode functions with Interrupt are : - (++) HAL_FMPSMBUS_Master_Transmit_IT() - (++) HAL_FMPSMBUS_Master_Receive_IT() - (++) HAL_FMPSMBUS_Slave_Transmit_IT() - (++) HAL_FMPSMBUS_Slave_Receive_IT() - (++) HAL_FMPSMBUS_EnableListen_IT() or alias HAL_FMPSMBUS_EnableListen_IT() - (++) HAL_FMPSMBUS_DisableListen_IT() - (++) HAL_FMPSMBUS_EnableAlert_IT() - (++) HAL_FMPSMBUS_DisableAlert_IT() - - (#) A set of Transfer Complete Callbacks are provided in non-Blocking mode: - (++) HAL_FMPSMBUS_MasterTxCpltCallback() - (++) HAL_FMPSMBUS_MasterRxCpltCallback() - (++) HAL_FMPSMBUS_SlaveTxCpltCallback() - (++) HAL_FMPSMBUS_SlaveRxCpltCallback() - (++) HAL_FMPSMBUS_AddrCallback() - (++) HAL_FMPSMBUS_ListenCpltCallback() - (++) HAL_FMPSMBUS_ErrorCallback() - -@endverbatim - * @{ - */ - -/** - * @brief Transmit in master/host FMPSMBUS mode an amount of data in non-blocking mode with Interrupt. - * @param hfmpsmbus Pointer to a FMPSMBUS_HandleTypeDef structure that contains - * the configuration information for the specified FMPSMBUS. - * @param DevAddress Target device address: The device 7 bits address value - * in datasheet must be shifted to the left before calling the interface - * @param pData Pointer to data buffer - * @param Size Amount of data to be sent - * @param XferOptions Options of Transfer, value of @ref FMPSMBUS_XferOptions_definition - * @retval HAL status - */ -HAL_StatusTypeDef HAL_FMPSMBUS_Master_Transmit_IT(FMPSMBUS_HandleTypeDef *hfmpsmbus, uint16_t DevAddress, - uint8_t *pData, uint16_t Size, uint32_t XferOptions) -{ - uint32_t tmp; - - /* Check the parameters */ - assert_param(IS_FMPSMBUS_TRANSFER_OPTIONS_REQUEST(XferOptions)); - - if (hfmpsmbus->State == HAL_FMPSMBUS_STATE_READY) - { - /* Process Locked */ - __HAL_LOCK(hfmpsmbus); - - hfmpsmbus->State = HAL_FMPSMBUS_STATE_MASTER_BUSY_TX; - hfmpsmbus->ErrorCode = HAL_FMPSMBUS_ERROR_NONE; - /* Prepare transfer parameters */ - hfmpsmbus->pBuffPtr = pData; - hfmpsmbus->XferCount = Size; - hfmpsmbus->XferOptions = XferOptions; - - /* In case of Quick command, remove autoend mode */ - /* Manage the stop generation by software */ - if (hfmpsmbus->pBuffPtr == NULL) - { - hfmpsmbus->XferOptions &= ~FMPSMBUS_AUTOEND_MODE; - } - - if (Size > MAX_NBYTE_SIZE) - { - hfmpsmbus->XferSize = MAX_NBYTE_SIZE; - } - else - { - hfmpsmbus->XferSize = Size; - } - - /* Send Slave Address */ - /* Set NBYTES to write and reload if size > MAX_NBYTE_SIZE and generate RESTART */ - if ((hfmpsmbus->XferSize < hfmpsmbus->XferCount) && (hfmpsmbus->XferSize == MAX_NBYTE_SIZE)) - { - FMPSMBUS_TransferConfig(hfmpsmbus, DevAddress, (uint8_t)hfmpsmbus->XferSize, - FMPSMBUS_RELOAD_MODE | (hfmpsmbus->XferOptions & FMPSMBUS_SENDPEC_MODE), - FMPSMBUS_GENERATE_START_WRITE); - } - else - { - /* If transfer direction not change, do not generate Restart Condition */ - /* Mean Previous state is same as current state */ - - /* Store current volatile XferOptions, misra rule */ - tmp = hfmpsmbus->XferOptions; - - if ((hfmpsmbus->PreviousState == HAL_FMPSMBUS_STATE_MASTER_BUSY_TX) && \ - (IS_FMPSMBUS_TRANSFER_OTHER_OPTIONS_REQUEST(tmp) == 0)) - { - FMPSMBUS_TransferConfig(hfmpsmbus, DevAddress, (uint8_t)hfmpsmbus->XferSize, hfmpsmbus->XferOptions, - FMPSMBUS_NO_STARTSTOP); - } - /* Else transfer direction change, so generate Restart with new transfer direction */ - else - { - /* Convert OTHER_xxx XferOptions if any */ - FMPSMBUS_ConvertOtherXferOptions(hfmpsmbus); - - /* Handle Transfer */ - FMPSMBUS_TransferConfig(hfmpsmbus, DevAddress, (uint8_t)hfmpsmbus->XferSize, - hfmpsmbus->XferOptions, - FMPSMBUS_GENERATE_START_WRITE); - } - - /* If PEC mode is enable, size to transmit manage by SW part should be Size-1 byte, corresponding to PEC byte */ - /* PEC byte is automatically sent by HW block, no need to manage it in Transmit process */ - if (FMPSMBUS_GET_PEC_MODE(hfmpsmbus) != 0UL) - { - hfmpsmbus->XferSize--; - hfmpsmbus->XferCount--; - } - } - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpsmbus); - - /* Note : The FMPSMBUS interrupts must be enabled after unlocking current process - to avoid the risk of FMPSMBUS interrupt handle execution before current - process unlock */ - FMPSMBUS_Enable_IRQ(hfmpsmbus, FMPSMBUS_IT_TX); - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Receive in master/host FMPSMBUS mode an amount of data in non-blocking mode with Interrupt. - * @param hfmpsmbus Pointer to a FMPSMBUS_HandleTypeDef structure that contains - * the configuration information for the specified FMPSMBUS. - * @param DevAddress Target device address: The device 7 bits address value - * in datasheet must be shifted to the left before calling the interface - * @param pData Pointer to data buffer - * @param Size Amount of data to be sent - * @param XferOptions Options of Transfer, value of @ref FMPSMBUS_XferOptions_definition - * @retval HAL status - */ -HAL_StatusTypeDef HAL_FMPSMBUS_Master_Receive_IT(FMPSMBUS_HandleTypeDef *hfmpsmbus, uint16_t DevAddress, uint8_t *pData, - uint16_t Size, uint32_t XferOptions) -{ - uint32_t tmp; - - /* Check the parameters */ - assert_param(IS_FMPSMBUS_TRANSFER_OPTIONS_REQUEST(XferOptions)); - - if (hfmpsmbus->State == HAL_FMPSMBUS_STATE_READY) - { - /* Process Locked */ - __HAL_LOCK(hfmpsmbus); - - hfmpsmbus->State = HAL_FMPSMBUS_STATE_MASTER_BUSY_RX; - hfmpsmbus->ErrorCode = HAL_FMPSMBUS_ERROR_NONE; - - /* Prepare transfer parameters */ - hfmpsmbus->pBuffPtr = pData; - hfmpsmbus->XferCount = Size; - hfmpsmbus->XferOptions = XferOptions; - - /* In case of Quick command, remove autoend mode */ - /* Manage the stop generation by software */ - if (hfmpsmbus->pBuffPtr == NULL) - { - hfmpsmbus->XferOptions &= ~FMPSMBUS_AUTOEND_MODE; - } - - if (Size > MAX_NBYTE_SIZE) - { - hfmpsmbus->XferSize = MAX_NBYTE_SIZE; - } - else - { - hfmpsmbus->XferSize = Size; - } - - /* Send Slave Address */ - /* Set NBYTES to write and reload if size > MAX_NBYTE_SIZE and generate RESTART */ - if ((hfmpsmbus->XferSize < hfmpsmbus->XferCount) && (hfmpsmbus->XferSize == MAX_NBYTE_SIZE)) - { - FMPSMBUS_TransferConfig(hfmpsmbus, DevAddress, (uint8_t)hfmpsmbus->XferSize, - FMPSMBUS_RELOAD_MODE | (hfmpsmbus->XferOptions & FMPSMBUS_SENDPEC_MODE), - FMPSMBUS_GENERATE_START_READ); - } - else - { - /* If transfer direction not change, do not generate Restart Condition */ - /* Mean Previous state is same as current state */ - - /* Store current volatile XferOptions, Misra rule */ - tmp = hfmpsmbus->XferOptions; - - if ((hfmpsmbus->PreviousState == HAL_FMPSMBUS_STATE_MASTER_BUSY_RX) && \ - (IS_FMPSMBUS_TRANSFER_OTHER_OPTIONS_REQUEST(tmp) == 0)) - { - FMPSMBUS_TransferConfig(hfmpsmbus, DevAddress, (uint8_t)hfmpsmbus->XferSize, hfmpsmbus->XferOptions, - FMPSMBUS_NO_STARTSTOP); - } - /* Else transfer direction change, so generate Restart with new transfer direction */ - else - { - /* Convert OTHER_xxx XferOptions if any */ - FMPSMBUS_ConvertOtherXferOptions(hfmpsmbus); - - /* Handle Transfer */ - FMPSMBUS_TransferConfig(hfmpsmbus, DevAddress, (uint8_t)hfmpsmbus->XferSize, - hfmpsmbus->XferOptions, - FMPSMBUS_GENERATE_START_READ); - } - } - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpsmbus); - - /* Note : The FMPSMBUS interrupts must be enabled after unlocking current process - to avoid the risk of FMPSMBUS interrupt handle execution before current - process unlock */ - FMPSMBUS_Enable_IRQ(hfmpsmbus, FMPSMBUS_IT_RX); - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Abort a master/host FMPSMBUS process communication with Interrupt. - * @note This abort can be called only if state is ready - * @param hfmpsmbus Pointer to a FMPSMBUS_HandleTypeDef structure that contains - * the configuration information for the specified FMPSMBUS. - * @param DevAddress Target device address: The device 7 bits address value - * in datasheet must be shifted to the left before calling the interface - * @retval HAL status - */ -HAL_StatusTypeDef HAL_FMPSMBUS_Master_Abort_IT(FMPSMBUS_HandleTypeDef *hfmpsmbus, uint16_t DevAddress) -{ - if (hfmpsmbus->State == HAL_FMPSMBUS_STATE_READY) - { - /* Process Locked */ - __HAL_LOCK(hfmpsmbus); - - /* Keep the same state as previous */ - /* to perform as well the call of the corresponding end of transfer callback */ - if (hfmpsmbus->PreviousState == HAL_FMPSMBUS_STATE_MASTER_BUSY_TX) - { - hfmpsmbus->State = HAL_FMPSMBUS_STATE_MASTER_BUSY_TX; - } - else if (hfmpsmbus->PreviousState == HAL_FMPSMBUS_STATE_MASTER_BUSY_RX) - { - hfmpsmbus->State = HAL_FMPSMBUS_STATE_MASTER_BUSY_RX; - } - else - { - /* Wrong usage of abort function */ - /* This function should be used only in case of abort monitored by master device */ - return HAL_ERROR; - } - hfmpsmbus->ErrorCode = HAL_FMPSMBUS_ERROR_NONE; - - /* Set NBYTES to 1 to generate a dummy read on FMPSMBUS peripheral */ - /* Set AUTOEND mode, this will generate a NACK then STOP condition to abort the current transfer */ - FMPSMBUS_TransferConfig(hfmpsmbus, DevAddress, 1, FMPSMBUS_AUTOEND_MODE, FMPSMBUS_NO_STARTSTOP); - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpsmbus); - - /* Note : The FMPSMBUS interrupts must be enabled after unlocking current process - to avoid the risk of FMPSMBUS interrupt handle execution before current - process unlock */ - if (hfmpsmbus->State == HAL_FMPSMBUS_STATE_MASTER_BUSY_TX) - { - FMPSMBUS_Enable_IRQ(hfmpsmbus, FMPSMBUS_IT_TX); - } - else if (hfmpsmbus->State == HAL_FMPSMBUS_STATE_MASTER_BUSY_RX) - { - FMPSMBUS_Enable_IRQ(hfmpsmbus, FMPSMBUS_IT_RX); - } - else - { - /* Nothing to do */ - } - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Transmit in slave/device FMPSMBUS mode an amount of data in non-blocking mode with Interrupt. - * @param hfmpsmbus Pointer to a FMPSMBUS_HandleTypeDef structure that contains - * the configuration information for the specified FMPSMBUS. - * @param pData Pointer to data buffer - * @param Size Amount of data to be sent - * @param XferOptions Options of Transfer, value of @ref FMPSMBUS_XferOptions_definition - * @retval HAL status - */ -HAL_StatusTypeDef HAL_FMPSMBUS_Slave_Transmit_IT(FMPSMBUS_HandleTypeDef *hfmpsmbus, uint8_t *pData, uint16_t Size, - uint32_t XferOptions) -{ - /* Check the parameters */ - assert_param(IS_FMPSMBUS_TRANSFER_OPTIONS_REQUEST(XferOptions)); - - if ((hfmpsmbus->State & HAL_FMPSMBUS_STATE_LISTEN) == HAL_FMPSMBUS_STATE_LISTEN) - { - if ((pData == NULL) || (Size == 0UL)) - { - hfmpsmbus->ErrorCode = HAL_FMPSMBUS_ERROR_INVALID_PARAM; - return HAL_ERROR; - } - - /* Disable Interrupts, to prevent preemption during treatment in case of multicall */ - FMPSMBUS_Disable_IRQ(hfmpsmbus, FMPSMBUS_IT_ADDR | FMPSMBUS_IT_TX); - - /* Process Locked */ - __HAL_LOCK(hfmpsmbus); - - hfmpsmbus->State = (HAL_FMPSMBUS_STATE_SLAVE_BUSY_TX | HAL_FMPSMBUS_STATE_LISTEN); - hfmpsmbus->ErrorCode = HAL_FMPSMBUS_ERROR_NONE; - - /* Set SBC bit to manage Acknowledge at each bit */ - hfmpsmbus->Instance->CR1 |= FMPI2C_CR1_SBC; - - /* Enable Address Acknowledge */ - hfmpsmbus->Instance->CR2 &= ~FMPI2C_CR2_NACK; - - /* Prepare transfer parameters */ - hfmpsmbus->pBuffPtr = pData; - hfmpsmbus->XferCount = Size; - hfmpsmbus->XferOptions = XferOptions; - - /* Convert OTHER_xxx XferOptions if any */ - FMPSMBUS_ConvertOtherXferOptions(hfmpsmbus); - - if (Size > MAX_NBYTE_SIZE) - { - hfmpsmbus->XferSize = MAX_NBYTE_SIZE; - } - else - { - hfmpsmbus->XferSize = Size; - } - - /* Set NBYTES to write and reload if size > MAX_NBYTE_SIZE and generate RESTART */ - if ((hfmpsmbus->XferSize < hfmpsmbus->XferCount) && (hfmpsmbus->XferSize == MAX_NBYTE_SIZE)) - { - FMPSMBUS_TransferConfig(hfmpsmbus, 0, (uint8_t)hfmpsmbus->XferSize, - FMPSMBUS_RELOAD_MODE | (hfmpsmbus->XferOptions & FMPSMBUS_SENDPEC_MODE), - FMPSMBUS_NO_STARTSTOP); - } - else - { - /* Set NBYTE to transmit */ - FMPSMBUS_TransferConfig(hfmpsmbus, 0, (uint8_t)hfmpsmbus->XferSize, hfmpsmbus->XferOptions, - FMPSMBUS_NO_STARTSTOP); - - /* If PEC mode is enable, size to transmit should be Size-1 byte, corresponding to PEC byte */ - /* PEC byte is automatically sent by HW block, no need to manage it in Transmit process */ - if (FMPSMBUS_GET_PEC_MODE(hfmpsmbus) != 0UL) - { - hfmpsmbus->XferSize--; - hfmpsmbus->XferCount--; - } - } - - /* Clear ADDR flag after prepare the transfer parameters */ - /* This action will generate an acknowledge to the HOST */ - __HAL_FMPSMBUS_CLEAR_FLAG(hfmpsmbus, FMPSMBUS_FLAG_ADDR); - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpsmbus); - - /* Note : The FMPSMBUS interrupts must be enabled after unlocking current process - to avoid the risk of FMPSMBUS interrupt handle execution before current - process unlock */ - /* REnable ADDR interrupt */ - FMPSMBUS_Enable_IRQ(hfmpsmbus, FMPSMBUS_IT_TX | FMPSMBUS_IT_ADDR); - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Receive in slave/device FMPSMBUS mode an amount of data in non-blocking mode with Interrupt. - * @param hfmpsmbus Pointer to a FMPSMBUS_HandleTypeDef structure that contains - * the configuration information for the specified FMPSMBUS. - * @param pData Pointer to data buffer - * @param Size Amount of data to be sent - * @param XferOptions Options of Transfer, value of @ref FMPSMBUS_XferOptions_definition - * @retval HAL status - */ -HAL_StatusTypeDef HAL_FMPSMBUS_Slave_Receive_IT(FMPSMBUS_HandleTypeDef *hfmpsmbus, uint8_t *pData, uint16_t Size, - uint32_t XferOptions) -{ - /* Check the parameters */ - assert_param(IS_FMPSMBUS_TRANSFER_OPTIONS_REQUEST(XferOptions)); - - if ((hfmpsmbus->State & HAL_FMPSMBUS_STATE_LISTEN) == HAL_FMPSMBUS_STATE_LISTEN) - { - if ((pData == NULL) || (Size == 0UL)) - { - hfmpsmbus->ErrorCode = HAL_FMPSMBUS_ERROR_INVALID_PARAM; - return HAL_ERROR; - } - - /* Disable Interrupts, to prevent preemption during treatment in case of multicall */ - FMPSMBUS_Disable_IRQ(hfmpsmbus, FMPSMBUS_IT_ADDR | FMPSMBUS_IT_RX); - - /* Process Locked */ - __HAL_LOCK(hfmpsmbus); - - hfmpsmbus->State = (HAL_FMPSMBUS_STATE_SLAVE_BUSY_RX | HAL_FMPSMBUS_STATE_LISTEN); - hfmpsmbus->ErrorCode = HAL_FMPSMBUS_ERROR_NONE; - - /* Set SBC bit to manage Acknowledge at each bit */ - hfmpsmbus->Instance->CR1 |= FMPI2C_CR1_SBC; - - /* Enable Address Acknowledge */ - hfmpsmbus->Instance->CR2 &= ~FMPI2C_CR2_NACK; - - /* Prepare transfer parameters */ - hfmpsmbus->pBuffPtr = pData; - hfmpsmbus->XferSize = Size; - hfmpsmbus->XferCount = Size; - hfmpsmbus->XferOptions = XferOptions; - - /* Convert OTHER_xxx XferOptions if any */ - FMPSMBUS_ConvertOtherXferOptions(hfmpsmbus); - - /* Set NBYTE to receive */ - /* If XferSize equal "1", or XferSize equal "2" with PEC requested (mean 1 data byte + 1 PEC byte */ - /* no need to set RELOAD bit mode, a ACK will be automatically generated in that case */ - /* else need to set RELOAD bit mode to generate an automatic ACK at each byte Received */ - /* This RELOAD bit will be reset for last BYTE to be receive in FMPSMBUS_Slave_ISR */ - if (((FMPSMBUS_GET_PEC_MODE(hfmpsmbus) != 0UL) && (hfmpsmbus->XferSize == 2U)) || (hfmpsmbus->XferSize == 1U)) - { - FMPSMBUS_TransferConfig(hfmpsmbus, 0, (uint8_t)hfmpsmbus->XferSize, hfmpsmbus->XferOptions, - FMPSMBUS_NO_STARTSTOP); - } - else - { - FMPSMBUS_TransferConfig(hfmpsmbus, 0, 1, hfmpsmbus->XferOptions | FMPSMBUS_RELOAD_MODE, FMPSMBUS_NO_STARTSTOP); - } - - /* Clear ADDR flag after prepare the transfer parameters */ - /* This action will generate an acknowledge to the HOST */ - __HAL_FMPSMBUS_CLEAR_FLAG(hfmpsmbus, FMPSMBUS_FLAG_ADDR); - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpsmbus); - - /* Note : The FMPSMBUS interrupts must be enabled after unlocking current process - to avoid the risk of FMPSMBUS interrupt handle execution before current - process unlock */ - /* REnable ADDR interrupt */ - FMPSMBUS_Enable_IRQ(hfmpsmbus, FMPSMBUS_IT_RX | FMPSMBUS_IT_ADDR); - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Enable the Address listen mode with Interrupt. - * @param hfmpsmbus Pointer to a FMPSMBUS_HandleTypeDef structure that contains - * the configuration information for the specified FMPSMBUS. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_FMPSMBUS_EnableListen_IT(FMPSMBUS_HandleTypeDef *hfmpsmbus) -{ - hfmpsmbus->State = HAL_FMPSMBUS_STATE_LISTEN; - - /* Enable the Address Match interrupt */ - FMPSMBUS_Enable_IRQ(hfmpsmbus, FMPSMBUS_IT_ADDR); - - return HAL_OK; -} - -/** - * @brief Disable the Address listen mode with Interrupt. - * @param hfmpsmbus Pointer to a FMPSMBUS_HandleTypeDef structure that contains - * the configuration information for the specified FMPSMBUS. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_FMPSMBUS_DisableListen_IT(FMPSMBUS_HandleTypeDef *hfmpsmbus) -{ - /* Disable Address listen mode only if a transfer is not ongoing */ - if (hfmpsmbus->State == HAL_FMPSMBUS_STATE_LISTEN) - { - hfmpsmbus->State = HAL_FMPSMBUS_STATE_READY; - - /* Disable the Address Match interrupt */ - FMPSMBUS_Disable_IRQ(hfmpsmbus, FMPSMBUS_IT_ADDR); - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Enable the FMPSMBUS alert mode with Interrupt. - * @param hfmpsmbus Pointer to a FMPSMBUS_HandleTypeDef structure that contains - * the configuration information for the specified FMPSMBUSx peripheral. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_FMPSMBUS_EnableAlert_IT(FMPSMBUS_HandleTypeDef *hfmpsmbus) -{ - /* Enable SMBus alert */ - hfmpsmbus->Instance->CR1 |= FMPI2C_CR1_ALERTEN; - - /* Clear ALERT flag */ - __HAL_FMPSMBUS_CLEAR_FLAG(hfmpsmbus, FMPSMBUS_FLAG_ALERT); - - /* Enable Alert Interrupt */ - FMPSMBUS_Enable_IRQ(hfmpsmbus, FMPSMBUS_IT_ALERT); - - return HAL_OK; -} -/** - * @brief Disable the FMPSMBUS alert mode with Interrupt. - * @param hfmpsmbus Pointer to a FMPSMBUS_HandleTypeDef structure that contains - * the configuration information for the specified FMPSMBUSx peripheral. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_FMPSMBUS_DisableAlert_IT(FMPSMBUS_HandleTypeDef *hfmpsmbus) -{ - /* Enable SMBus alert */ - hfmpsmbus->Instance->CR1 &= ~FMPI2C_CR1_ALERTEN; - - /* Disable Alert Interrupt */ - FMPSMBUS_Disable_IRQ(hfmpsmbus, FMPSMBUS_IT_ALERT); - - return HAL_OK; -} - -/** - * @brief Check if target device is ready for communication. - * @param hfmpsmbus Pointer to a FMPSMBUS_HandleTypeDef structure that contains - * the configuration information for the specified FMPSMBUS. - * @param DevAddress Target device address: The device 7 bits address value - * in datasheet must be shifted to the left before calling the interface - * @param Trials Number of trials - * @param Timeout Timeout duration - * @retval HAL status - */ -HAL_StatusTypeDef HAL_FMPSMBUS_IsDeviceReady(FMPSMBUS_HandleTypeDef *hfmpsmbus, uint16_t DevAddress, uint32_t Trials, - uint32_t Timeout) -{ - uint32_t tickstart; - - __IO uint32_t FMPSMBUS_Trials = 0UL; - - FlagStatus tmp1; - FlagStatus tmp2; - - if (hfmpsmbus->State == HAL_FMPSMBUS_STATE_READY) - { - if (__HAL_FMPSMBUS_GET_FLAG(hfmpsmbus, FMPSMBUS_FLAG_BUSY) != RESET) - { - return HAL_BUSY; - } - - /* Process Locked */ - __HAL_LOCK(hfmpsmbus); - - hfmpsmbus->State = HAL_FMPSMBUS_STATE_BUSY; - hfmpsmbus->ErrorCode = HAL_FMPSMBUS_ERROR_NONE; - - do - { - /* Generate Start */ - hfmpsmbus->Instance->CR2 = FMPSMBUS_GENERATE_START(hfmpsmbus->Init.AddressingMode, DevAddress); - - /* No need to Check TC flag, with AUTOEND mode the stop is automatically generated */ - /* Wait until STOPF flag is set or a NACK flag is set*/ - tickstart = HAL_GetTick(); - - tmp1 = __HAL_FMPSMBUS_GET_FLAG(hfmpsmbus, FMPSMBUS_FLAG_STOPF); - tmp2 = __HAL_FMPSMBUS_GET_FLAG(hfmpsmbus, FMPSMBUS_FLAG_AF); - - while ((tmp1 == RESET) && (tmp2 == RESET)) - { - if (Timeout != HAL_MAX_DELAY) - { - if (((HAL_GetTick() - tickstart) > Timeout) || (Timeout == 0UL)) - { - /* Device is ready */ - hfmpsmbus->State = HAL_FMPSMBUS_STATE_READY; - - /* Update FMPSMBUS error code */ - hfmpsmbus->ErrorCode |= HAL_FMPSMBUS_ERROR_HALTIMEOUT; - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpsmbus); - return HAL_ERROR; - } - } - - tmp1 = __HAL_FMPSMBUS_GET_FLAG(hfmpsmbus, FMPSMBUS_FLAG_STOPF); - tmp2 = __HAL_FMPSMBUS_GET_FLAG(hfmpsmbus, FMPSMBUS_FLAG_AF); - } - - /* Check if the NACKF flag has not been set */ - if (__HAL_FMPSMBUS_GET_FLAG(hfmpsmbus, FMPSMBUS_FLAG_AF) == RESET) - { - /* Wait until STOPF flag is reset */ - if (FMPSMBUS_WaitOnFlagUntilTimeout(hfmpsmbus, FMPSMBUS_FLAG_STOPF, RESET, Timeout) != HAL_OK) - { - return HAL_ERROR; - } - - /* Clear STOP Flag */ - __HAL_FMPSMBUS_CLEAR_FLAG(hfmpsmbus, FMPSMBUS_FLAG_STOPF); - - /* Device is ready */ - hfmpsmbus->State = HAL_FMPSMBUS_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpsmbus); - - return HAL_OK; - } - else - { - /* Wait until STOPF flag is reset */ - if (FMPSMBUS_WaitOnFlagUntilTimeout(hfmpsmbus, FMPSMBUS_FLAG_STOPF, RESET, Timeout) != HAL_OK) - { - return HAL_ERROR; - } - - /* Clear NACK Flag */ - __HAL_FMPSMBUS_CLEAR_FLAG(hfmpsmbus, FMPSMBUS_FLAG_AF); - - /* Clear STOP Flag, auto generated with autoend*/ - __HAL_FMPSMBUS_CLEAR_FLAG(hfmpsmbus, FMPSMBUS_FLAG_STOPF); - } - - /* Check if the maximum allowed number of trials has been reached */ - if (FMPSMBUS_Trials == Trials) - { - /* Generate Stop */ - hfmpsmbus->Instance->CR2 |= FMPI2C_CR2_STOP; - - /* Wait until STOPF flag is reset */ - if (FMPSMBUS_WaitOnFlagUntilTimeout(hfmpsmbus, FMPSMBUS_FLAG_STOPF, RESET, Timeout) != HAL_OK) - { - return HAL_ERROR; - } - - /* Clear STOP Flag */ - __HAL_FMPSMBUS_CLEAR_FLAG(hfmpsmbus, FMPSMBUS_FLAG_STOPF); - } - - /* Increment Trials */ - FMPSMBUS_Trials++; - } while (FMPSMBUS_Trials < Trials); - - hfmpsmbus->State = HAL_FMPSMBUS_STATE_READY; - - /* Update FMPSMBUS error code */ - hfmpsmbus->ErrorCode |= HAL_FMPSMBUS_ERROR_HALTIMEOUT; - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpsmbus); - - return HAL_ERROR; - } - else - { - return HAL_BUSY; - } -} -/** - * @} - */ - -/** @defgroup FMPSMBUS_IRQ_Handler_and_Callbacks IRQ Handler and Callbacks - * @{ - */ - -/** - * @brief Handle FMPSMBUS event interrupt request. - * @param hfmpsmbus Pointer to a FMPSMBUS_HandleTypeDef structure that contains - * the configuration information for the specified FMPSMBUS. - * @retval None - */ -void HAL_FMPSMBUS_EV_IRQHandler(FMPSMBUS_HandleTypeDef *hfmpsmbus) -{ - /* Use a local variable to store the current ISR flags */ - /* This action will avoid a wrong treatment due to ISR flags change during interrupt handler */ - uint32_t tmpisrvalue = READ_REG(hfmpsmbus->Instance->ISR); - uint32_t tmpcr1value = READ_REG(hfmpsmbus->Instance->CR1); - - /* FMPSMBUS in mode Transmitter ---------------------------------------------------*/ - if ((FMPSMBUS_CHECK_IT_SOURCE(tmpcr1value, (FMPSMBUS_IT_TCI | FMPSMBUS_IT_STOPI | - FMPSMBUS_IT_NACKI | FMPSMBUS_IT_TXI)) != RESET) && - ((FMPSMBUS_CHECK_FLAG(tmpisrvalue, FMPSMBUS_FLAG_TXIS) != RESET) || - (FMPSMBUS_CHECK_FLAG(tmpisrvalue, FMPSMBUS_FLAG_TCR) != RESET) || - (FMPSMBUS_CHECK_FLAG(tmpisrvalue, FMPSMBUS_FLAG_TC) != RESET) || - (FMPSMBUS_CHECK_FLAG(tmpisrvalue, FMPSMBUS_FLAG_STOPF) != RESET) || - (FMPSMBUS_CHECK_FLAG(tmpisrvalue, FMPSMBUS_FLAG_AF) != RESET))) - { - /* Slave mode selected */ - if ((hfmpsmbus->State & HAL_FMPSMBUS_STATE_SLAVE_BUSY_TX) == HAL_FMPSMBUS_STATE_SLAVE_BUSY_TX) - { - (void)FMPSMBUS_Slave_ISR(hfmpsmbus, tmpisrvalue); - } - /* Master mode selected */ - else if ((hfmpsmbus->State & HAL_FMPSMBUS_STATE_MASTER_BUSY_TX) == HAL_FMPSMBUS_STATE_MASTER_BUSY_TX) - { - (void)FMPSMBUS_Master_ISR(hfmpsmbus, tmpisrvalue); - } - else - { - /* Nothing to do */ - } - } - - /* FMPSMBUS in mode Receiver ----------------------------------------------------*/ - if ((FMPSMBUS_CHECK_IT_SOURCE(tmpcr1value, (FMPSMBUS_IT_TCI | FMPSMBUS_IT_STOPI | - FMPSMBUS_IT_NACKI | FMPSMBUS_IT_RXI)) != RESET) && - ((FMPSMBUS_CHECK_FLAG(tmpisrvalue, FMPSMBUS_FLAG_RXNE) != RESET) || - (FMPSMBUS_CHECK_FLAG(tmpisrvalue, FMPSMBUS_FLAG_TCR) != RESET) || - (FMPSMBUS_CHECK_FLAG(tmpisrvalue, FMPSMBUS_FLAG_TC) != RESET) || - (FMPSMBUS_CHECK_FLAG(tmpisrvalue, FMPSMBUS_FLAG_STOPF) != RESET) || - (FMPSMBUS_CHECK_FLAG(tmpisrvalue, FMPSMBUS_FLAG_AF) != RESET))) - { - /* Slave mode selected */ - if ((hfmpsmbus->State & HAL_FMPSMBUS_STATE_SLAVE_BUSY_RX) == HAL_FMPSMBUS_STATE_SLAVE_BUSY_RX) - { - (void)FMPSMBUS_Slave_ISR(hfmpsmbus, tmpisrvalue); - } - /* Master mode selected */ - else if ((hfmpsmbus->State & HAL_FMPSMBUS_STATE_MASTER_BUSY_RX) == HAL_FMPSMBUS_STATE_MASTER_BUSY_RX) - { - (void)FMPSMBUS_Master_ISR(hfmpsmbus, tmpisrvalue); - } - else - { - /* Nothing to do */ - } - } - - /* FMPSMBUS in mode Listener Only --------------------------------------------------*/ - if (((FMPSMBUS_CHECK_IT_SOURCE(tmpcr1value, FMPSMBUS_IT_ADDRI) != RESET) || - (FMPSMBUS_CHECK_IT_SOURCE(tmpcr1value, FMPSMBUS_IT_STOPI) != RESET) || - (FMPSMBUS_CHECK_IT_SOURCE(tmpcr1value, FMPSMBUS_IT_NACKI) != RESET)) && - ((FMPSMBUS_CHECK_FLAG(tmpisrvalue, FMPSMBUS_FLAG_ADDR) != RESET) || - (FMPSMBUS_CHECK_FLAG(tmpisrvalue, FMPSMBUS_FLAG_STOPF) != RESET) || - (FMPSMBUS_CHECK_FLAG(tmpisrvalue, FMPSMBUS_FLAG_AF) != RESET))) - { - if ((hfmpsmbus->State & HAL_FMPSMBUS_STATE_LISTEN) == HAL_FMPSMBUS_STATE_LISTEN) - { - (void)FMPSMBUS_Slave_ISR(hfmpsmbus, tmpisrvalue); - } - } -} - -/** - * @brief Handle FMPSMBUS error interrupt request. - * @param hfmpsmbus Pointer to a FMPSMBUS_HandleTypeDef structure that contains - * the configuration information for the specified FMPSMBUS. - * @retval None - */ -void HAL_FMPSMBUS_ER_IRQHandler(FMPSMBUS_HandleTypeDef *hfmpsmbus) -{ - FMPSMBUS_ITErrorHandler(hfmpsmbus); -} - -/** - * @brief Master Tx Transfer completed callback. - * @param hfmpsmbus Pointer to a FMPSMBUS_HandleTypeDef structure that contains - * the configuration information for the specified FMPSMBUS. - * @retval None - */ -__weak void HAL_FMPSMBUS_MasterTxCpltCallback(FMPSMBUS_HandleTypeDef *hfmpsmbus) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hfmpsmbus); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_FMPSMBUS_MasterTxCpltCallback() could be implemented in the user file - */ -} - -/** - * @brief Master Rx Transfer completed callback. - * @param hfmpsmbus Pointer to a FMPSMBUS_HandleTypeDef structure that contains - * the configuration information for the specified FMPSMBUS. - * @retval None - */ -__weak void HAL_FMPSMBUS_MasterRxCpltCallback(FMPSMBUS_HandleTypeDef *hfmpsmbus) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hfmpsmbus); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_FMPSMBUS_MasterRxCpltCallback() could be implemented in the user file - */ -} - -/** @brief Slave Tx Transfer completed callback. - * @param hfmpsmbus Pointer to a FMPSMBUS_HandleTypeDef structure that contains - * the configuration information for the specified FMPSMBUS. - * @retval None - */ -__weak void HAL_FMPSMBUS_SlaveTxCpltCallback(FMPSMBUS_HandleTypeDef *hfmpsmbus) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hfmpsmbus); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_FMPSMBUS_SlaveTxCpltCallback() could be implemented in the user file - */ -} - -/** - * @brief Slave Rx Transfer completed callback. - * @param hfmpsmbus Pointer to a FMPSMBUS_HandleTypeDef structure that contains - * the configuration information for the specified FMPSMBUS. - * @retval None - */ -__weak void HAL_FMPSMBUS_SlaveRxCpltCallback(FMPSMBUS_HandleTypeDef *hfmpsmbus) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hfmpsmbus); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_FMPSMBUS_SlaveRxCpltCallback() could be implemented in the user file - */ -} - -/** - * @brief Slave Address Match callback. - * @param hfmpsmbus Pointer to a FMPSMBUS_HandleTypeDef structure that contains - * the configuration information for the specified FMPSMBUS. - * @param TransferDirection Master request Transfer Direction (Write/Read) - * @param AddrMatchCode Address Match Code - * @retval None - */ -__weak void HAL_FMPSMBUS_AddrCallback(FMPSMBUS_HandleTypeDef *hfmpsmbus, uint8_t TransferDirection, - uint16_t AddrMatchCode) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hfmpsmbus); - UNUSED(TransferDirection); - UNUSED(AddrMatchCode); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_FMPSMBUS_AddrCallback() could be implemented in the user file - */ -} - -/** - * @brief Listen Complete callback. - * @param hfmpsmbus Pointer to a FMPSMBUS_HandleTypeDef structure that contains - * the configuration information for the specified FMPSMBUS. - * @retval None - */ -__weak void HAL_FMPSMBUS_ListenCpltCallback(FMPSMBUS_HandleTypeDef *hfmpsmbus) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hfmpsmbus); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_FMPSMBUS_ListenCpltCallback() could be implemented in the user file - */ -} - -/** - * @brief FMPSMBUS error callback. - * @param hfmpsmbus Pointer to a FMPSMBUS_HandleTypeDef structure that contains - * the configuration information for the specified FMPSMBUS. - * @retval None - */ -__weak void HAL_FMPSMBUS_ErrorCallback(FMPSMBUS_HandleTypeDef *hfmpsmbus) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hfmpsmbus); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_FMPSMBUS_ErrorCallback() could be implemented in the user file - */ -} - -/** - * @} - */ - -/** @defgroup FMPSMBUS_Exported_Functions_Group3 Peripheral State and Errors functions - * @brief Peripheral State and Errors functions - * -@verbatim - =============================================================================== - ##### Peripheral State and Errors functions ##### - =============================================================================== - [..] - This subsection permits to get in run-time the status of the peripheral - and the data flow. - -@endverbatim - * @{ - */ - -/** - * @brief Return the FMPSMBUS handle state. - * @param hfmpsmbus Pointer to a FMPSMBUS_HandleTypeDef structure that contains - * the configuration information for the specified FMPSMBUS. - * @retval HAL state - */ -uint32_t HAL_FMPSMBUS_GetState(FMPSMBUS_HandleTypeDef *hfmpsmbus) -{ - /* Return FMPSMBUS handle state */ - return hfmpsmbus->State; -} - -/** - * @brief Return the FMPSMBUS error code. - * @param hfmpsmbus Pointer to a FMPSMBUS_HandleTypeDef structure that contains - * the configuration information for the specified FMPSMBUS. - * @retval FMPSMBUS Error Code - */ -uint32_t HAL_FMPSMBUS_GetError(FMPSMBUS_HandleTypeDef *hfmpsmbus) -{ - return hfmpsmbus->ErrorCode; -} - -/** - * @} - */ - -/** - * @} - */ - -/** @addtogroup FMPSMBUS_Private_Functions FMPSMBUS Private Functions - * @brief Data transfers Private functions - * @{ - */ - -/** - * @brief Interrupt Sub-Routine which handle the Interrupt Flags Master Mode. - * @param hfmpsmbus Pointer to a FMPSMBUS_HandleTypeDef structure that contains - * the configuration information for the specified FMPSMBUS. - * @param StatusFlags Value of Interrupt Flags. - * @retval HAL status - */ -static HAL_StatusTypeDef FMPSMBUS_Master_ISR(FMPSMBUS_HandleTypeDef *hfmpsmbus, uint32_t StatusFlags) -{ - uint16_t DevAddress; - - /* Process Locked */ - __HAL_LOCK(hfmpsmbus); - - if (FMPSMBUS_CHECK_FLAG(StatusFlags, FMPSMBUS_FLAG_AF) != RESET) - { - /* Clear NACK Flag */ - __HAL_FMPSMBUS_CLEAR_FLAG(hfmpsmbus, FMPSMBUS_FLAG_AF); - - /* Set corresponding Error Code */ - /* No need to generate STOP, it is automatically done */ - hfmpsmbus->ErrorCode |= HAL_FMPSMBUS_ERROR_ACKF; - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpsmbus); - - /* Call the Error callback to inform upper layer */ -#if (USE_HAL_FMPSMBUS_REGISTER_CALLBACKS == 1) - hfmpsmbus->ErrorCallback(hfmpsmbus); -#else - HAL_FMPSMBUS_ErrorCallback(hfmpsmbus); -#endif /* USE_HAL_FMPSMBUS_REGISTER_CALLBACKS */ - } - else if (FMPSMBUS_CHECK_FLAG(StatusFlags, FMPSMBUS_FLAG_STOPF) != RESET) - { - /* Check and treat errors if errors occurs during STOP process */ - FMPSMBUS_ITErrorHandler(hfmpsmbus); - - /* Call the corresponding callback to inform upper layer of End of Transfer */ - if (hfmpsmbus->State == HAL_FMPSMBUS_STATE_MASTER_BUSY_TX) - { - /* Disable Interrupt */ - FMPSMBUS_Disable_IRQ(hfmpsmbus, FMPSMBUS_IT_TX); - - /* Clear STOP Flag */ - __HAL_FMPSMBUS_CLEAR_FLAG(hfmpsmbus, FMPSMBUS_FLAG_STOPF); - - /* Clear Configuration Register 2 */ - FMPSMBUS_RESET_CR2(hfmpsmbus); - - /* Flush remaining data in Fifo register in case of error occurs before TXEmpty */ - /* Disable the selected FMPSMBUS peripheral */ - __HAL_FMPSMBUS_DISABLE(hfmpsmbus); - - hfmpsmbus->PreviousState = HAL_FMPSMBUS_STATE_READY; - hfmpsmbus->State = HAL_FMPSMBUS_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpsmbus); - - /* Re-enable the selected FMPSMBUS peripheral */ - __HAL_FMPSMBUS_ENABLE(hfmpsmbus); - - /* Call the corresponding callback to inform upper layer of End of Transfer */ -#if (USE_HAL_FMPSMBUS_REGISTER_CALLBACKS == 1) - hfmpsmbus->MasterTxCpltCallback(hfmpsmbus); -#else - HAL_FMPSMBUS_MasterTxCpltCallback(hfmpsmbus); -#endif /* USE_HAL_FMPSMBUS_REGISTER_CALLBACKS */ - } - else if (hfmpsmbus->State == HAL_FMPSMBUS_STATE_MASTER_BUSY_RX) - { - /* Store Last receive data if any */ - if (FMPSMBUS_CHECK_FLAG(StatusFlags, FMPSMBUS_FLAG_RXNE) != RESET) - { - /* Read data from RXDR */ - *hfmpsmbus->pBuffPtr = (uint8_t)(hfmpsmbus->Instance->RXDR); - - /* Increment Buffer pointer */ - hfmpsmbus->pBuffPtr++; - - if ((hfmpsmbus->XferSize > 0U)) - { - hfmpsmbus->XferSize--; - hfmpsmbus->XferCount--; - } - } - - /* Disable Interrupt */ - FMPSMBUS_Disable_IRQ(hfmpsmbus, FMPSMBUS_IT_RX); - - /* Clear STOP Flag */ - __HAL_FMPSMBUS_CLEAR_FLAG(hfmpsmbus, FMPSMBUS_FLAG_STOPF); - - /* Clear Configuration Register 2 */ - FMPSMBUS_RESET_CR2(hfmpsmbus); - - hfmpsmbus->PreviousState = HAL_FMPSMBUS_STATE_READY; - hfmpsmbus->State = HAL_FMPSMBUS_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpsmbus); - - /* Call the corresponding callback to inform upper layer of End of Transfer */ -#if (USE_HAL_FMPSMBUS_REGISTER_CALLBACKS == 1) - hfmpsmbus->MasterRxCpltCallback(hfmpsmbus); -#else - HAL_FMPSMBUS_MasterRxCpltCallback(hfmpsmbus); -#endif /* USE_HAL_FMPSMBUS_REGISTER_CALLBACKS */ - } - else - { - /* Nothing to do */ - } - } - else if (FMPSMBUS_CHECK_FLAG(StatusFlags, FMPSMBUS_FLAG_RXNE) != RESET) - { - /* Read data from RXDR */ - *hfmpsmbus->pBuffPtr = (uint8_t)(hfmpsmbus->Instance->RXDR); - - /* Increment Buffer pointer */ - hfmpsmbus->pBuffPtr++; - - /* Increment Size counter */ - hfmpsmbus->XferSize--; - hfmpsmbus->XferCount--; - } - else if (FMPSMBUS_CHECK_FLAG(StatusFlags, FMPSMBUS_FLAG_TXIS) != RESET) - { - /* Write data to TXDR */ - hfmpsmbus->Instance->TXDR = *hfmpsmbus->pBuffPtr; - - /* Increment Buffer pointer */ - hfmpsmbus->pBuffPtr++; - - /* Increment Size counter */ - hfmpsmbus->XferSize--; - hfmpsmbus->XferCount--; - } - else if (FMPSMBUS_CHECK_FLAG(StatusFlags, FMPSMBUS_FLAG_TCR) != RESET) - { - if ((hfmpsmbus->XferCount != 0U) && (hfmpsmbus->XferSize == 0U)) - { - DevAddress = (uint16_t)(hfmpsmbus->Instance->CR2 & FMPI2C_CR2_SADD); - - if (hfmpsmbus->XferCount > MAX_NBYTE_SIZE) - { - FMPSMBUS_TransferConfig(hfmpsmbus, DevAddress, MAX_NBYTE_SIZE, - (FMPSMBUS_RELOAD_MODE | (hfmpsmbus->XferOptions & FMPSMBUS_SENDPEC_MODE)), - FMPSMBUS_NO_STARTSTOP); - hfmpsmbus->XferSize = MAX_NBYTE_SIZE; - } - else - { - hfmpsmbus->XferSize = hfmpsmbus->XferCount; - FMPSMBUS_TransferConfig(hfmpsmbus, DevAddress, (uint8_t)hfmpsmbus->XferSize, hfmpsmbus->XferOptions, - FMPSMBUS_NO_STARTSTOP); - /* If PEC mode is enable, size to transmit should be Size-1 byte, corresponding to PEC byte */ - /* PEC byte is automatically sent by HW block, no need to manage it in Transmit process */ - if (FMPSMBUS_GET_PEC_MODE(hfmpsmbus) != 0UL) - { - hfmpsmbus->XferSize--; - hfmpsmbus->XferCount--; - } - } - } - else if ((hfmpsmbus->XferCount == 0U) && (hfmpsmbus->XferSize == 0U)) - { - /* Call TxCpltCallback() if no stop mode is set */ - if (FMPSMBUS_GET_STOP_MODE(hfmpsmbus) != FMPSMBUS_AUTOEND_MODE) - { - /* Call the corresponding callback to inform upper layer of End of Transfer */ - if (hfmpsmbus->State == HAL_FMPSMBUS_STATE_MASTER_BUSY_TX) - { - /* Disable Interrupt */ - FMPSMBUS_Disable_IRQ(hfmpsmbus, FMPSMBUS_IT_TX); - hfmpsmbus->PreviousState = hfmpsmbus->State; - hfmpsmbus->State = HAL_FMPSMBUS_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpsmbus); - - /* Call the corresponding callback to inform upper layer of End of Transfer */ -#if (USE_HAL_FMPSMBUS_REGISTER_CALLBACKS == 1) - hfmpsmbus->MasterTxCpltCallback(hfmpsmbus); -#else - HAL_FMPSMBUS_MasterTxCpltCallback(hfmpsmbus); -#endif /* USE_HAL_FMPSMBUS_REGISTER_CALLBACKS */ - } - else if (hfmpsmbus->State == HAL_FMPSMBUS_STATE_MASTER_BUSY_RX) - { - FMPSMBUS_Disable_IRQ(hfmpsmbus, FMPSMBUS_IT_RX); - hfmpsmbus->PreviousState = hfmpsmbus->State; - hfmpsmbus->State = HAL_FMPSMBUS_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpsmbus); - - /* Call the corresponding callback to inform upper layer of End of Transfer */ -#if (USE_HAL_FMPSMBUS_REGISTER_CALLBACKS == 1) - hfmpsmbus->MasterRxCpltCallback(hfmpsmbus); -#else - HAL_FMPSMBUS_MasterRxCpltCallback(hfmpsmbus); -#endif /* USE_HAL_FMPSMBUS_REGISTER_CALLBACKS */ - } - else - { - /* Nothing to do */ - } - } - } - else - { - /* Nothing to do */ - } - } - else if (FMPSMBUS_CHECK_FLAG(StatusFlags, FMPSMBUS_FLAG_TC) != RESET) - { - if (hfmpsmbus->XferCount == 0U) - { - /* Specific use case for Quick command */ - if (hfmpsmbus->pBuffPtr == NULL) - { - /* Generate a Stop command */ - hfmpsmbus->Instance->CR2 |= FMPI2C_CR2_STOP; - } - /* Call TxCpltCallback() if no stop mode is set */ - else if (FMPSMBUS_GET_STOP_MODE(hfmpsmbus) != FMPSMBUS_AUTOEND_MODE) - { - /* No Generate Stop, to permit restart mode */ - /* The stop will be done at the end of transfer, when FMPSMBUS_AUTOEND_MODE enable */ - - /* Call the corresponding callback to inform upper layer of End of Transfer */ - if (hfmpsmbus->State == HAL_FMPSMBUS_STATE_MASTER_BUSY_TX) - { - /* Disable Interrupt */ - FMPSMBUS_Disable_IRQ(hfmpsmbus, FMPSMBUS_IT_TX); - hfmpsmbus->PreviousState = hfmpsmbus->State; - hfmpsmbus->State = HAL_FMPSMBUS_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpsmbus); - - /* Call the corresponding callback to inform upper layer of End of Transfer */ -#if (USE_HAL_FMPSMBUS_REGISTER_CALLBACKS == 1) - hfmpsmbus->MasterTxCpltCallback(hfmpsmbus); -#else - HAL_FMPSMBUS_MasterTxCpltCallback(hfmpsmbus); -#endif /* USE_HAL_FMPSMBUS_REGISTER_CALLBACKS */ - } - else if (hfmpsmbus->State == HAL_FMPSMBUS_STATE_MASTER_BUSY_RX) - { - FMPSMBUS_Disable_IRQ(hfmpsmbus, FMPSMBUS_IT_RX); - hfmpsmbus->PreviousState = hfmpsmbus->State; - hfmpsmbus->State = HAL_FMPSMBUS_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpsmbus); - - /* Call the corresponding callback to inform upper layer of End of Transfer */ -#if (USE_HAL_FMPSMBUS_REGISTER_CALLBACKS == 1) - hfmpsmbus->MasterRxCpltCallback(hfmpsmbus); -#else - HAL_FMPSMBUS_MasterRxCpltCallback(hfmpsmbus); -#endif /* USE_HAL_FMPSMBUS_REGISTER_CALLBACKS */ - } - else - { - /* Nothing to do */ - } - } - else - { - /* Nothing to do */ - } - } - } - else - { - /* Nothing to do */ - } - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpsmbus); - - return HAL_OK; -} -/** - * @brief Interrupt Sub-Routine which handle the Interrupt Flags Slave Mode. - * @param hfmpsmbus Pointer to a FMPSMBUS_HandleTypeDef structure that contains - * the configuration information for the specified FMPSMBUS. - * @param StatusFlags Value of Interrupt Flags. - * @retval HAL status - */ -static HAL_StatusTypeDef FMPSMBUS_Slave_ISR(FMPSMBUS_HandleTypeDef *hfmpsmbus, uint32_t StatusFlags) -{ - uint8_t TransferDirection; - uint16_t SlaveAddrCode; - - /* Process Locked */ - __HAL_LOCK(hfmpsmbus); - - if (FMPSMBUS_CHECK_FLAG(StatusFlags, FMPSMBUS_FLAG_AF) != RESET) - { - /* Check that FMPSMBUS transfer finished */ - /* if yes, normal usecase, a NACK is sent by the HOST when Transfer is finished */ - /* Mean XferCount == 0*/ - /* So clear Flag NACKF only */ - if (hfmpsmbus->XferCount == 0U) - { - /* Clear NACK Flag */ - __HAL_FMPSMBUS_CLEAR_FLAG(hfmpsmbus, FMPSMBUS_FLAG_AF); - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpsmbus); - } - else - { - /* if no, error usecase, a Non-Acknowledge of last Data is generated by the HOST*/ - /* Clear NACK Flag */ - __HAL_FMPSMBUS_CLEAR_FLAG(hfmpsmbus, FMPSMBUS_FLAG_AF); - - /* Set HAL State to "Idle" State, mean to LISTEN state */ - /* So reset Slave Busy state */ - hfmpsmbus->PreviousState = hfmpsmbus->State; - hfmpsmbus->State &= ~((uint32_t)HAL_FMPSMBUS_STATE_SLAVE_BUSY_TX); - hfmpsmbus->State &= ~((uint32_t)HAL_FMPSMBUS_STATE_SLAVE_BUSY_RX); - - /* Disable RX/TX Interrupts, keep only ADDR Interrupt */ - FMPSMBUS_Disable_IRQ(hfmpsmbus, FMPSMBUS_IT_RX | FMPSMBUS_IT_TX); - - /* Set ErrorCode corresponding to a Non-Acknowledge */ - hfmpsmbus->ErrorCode |= HAL_FMPSMBUS_ERROR_ACKF; - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpsmbus); - - /* Call the Error callback to inform upper layer */ -#if (USE_HAL_FMPSMBUS_REGISTER_CALLBACKS == 1) - hfmpsmbus->ErrorCallback(hfmpsmbus); -#else - HAL_FMPSMBUS_ErrorCallback(hfmpsmbus); -#endif /* USE_HAL_FMPSMBUS_REGISTER_CALLBACKS */ - } - } - else if (FMPSMBUS_CHECK_FLAG(StatusFlags, FMPSMBUS_FLAG_ADDR) != RESET) - { - TransferDirection = (uint8_t)(FMPSMBUS_GET_DIR(hfmpsmbus)); - SlaveAddrCode = (uint16_t)(FMPSMBUS_GET_ADDR_MATCH(hfmpsmbus)); - - /* Disable ADDR interrupt to prevent multiple ADDRInterrupt*/ - /* Other ADDRInterrupt will be treat in next Listen usecase */ - __HAL_FMPSMBUS_DISABLE_IT(hfmpsmbus, FMPSMBUS_IT_ADDRI); - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpsmbus); - - /* Call Slave Addr callback */ -#if (USE_HAL_FMPSMBUS_REGISTER_CALLBACKS == 1) - hfmpsmbus->AddrCallback(hfmpsmbus, TransferDirection, SlaveAddrCode); -#else - HAL_FMPSMBUS_AddrCallback(hfmpsmbus, TransferDirection, SlaveAddrCode); -#endif /* USE_HAL_FMPSMBUS_REGISTER_CALLBACKS */ - } - else if ((FMPSMBUS_CHECK_FLAG(StatusFlags, FMPSMBUS_FLAG_RXNE) != RESET) || - (FMPSMBUS_CHECK_FLAG(StatusFlags, FMPSMBUS_FLAG_TCR) != RESET)) - { - if ((hfmpsmbus->State & HAL_FMPSMBUS_STATE_SLAVE_BUSY_RX) == HAL_FMPSMBUS_STATE_SLAVE_BUSY_RX) - { - /* Read data from RXDR */ - *hfmpsmbus->pBuffPtr = (uint8_t)(hfmpsmbus->Instance->RXDR); - - /* Increment Buffer pointer */ - hfmpsmbus->pBuffPtr++; - - hfmpsmbus->XferSize--; - hfmpsmbus->XferCount--; - - if (hfmpsmbus->XferCount == 1U) - { - /* Receive last Byte, can be PEC byte in case of PEC BYTE enabled */ - /* or only the last Byte of Transfer */ - /* So reset the RELOAD bit mode */ - hfmpsmbus->XferOptions &= ~FMPSMBUS_RELOAD_MODE; - FMPSMBUS_TransferConfig(hfmpsmbus, 0, 1, hfmpsmbus->XferOptions, FMPSMBUS_NO_STARTSTOP); - } - else if (hfmpsmbus->XferCount == 0U) - { - /* Last Byte is received, disable Interrupt */ - FMPSMBUS_Disable_IRQ(hfmpsmbus, FMPSMBUS_IT_RX); - - /* Remove HAL_FMPSMBUS_STATE_SLAVE_BUSY_RX, keep only HAL_FMPSMBUS_STATE_LISTEN */ - hfmpsmbus->PreviousState = hfmpsmbus->State; - hfmpsmbus->State &= ~((uint32_t)HAL_FMPSMBUS_STATE_SLAVE_BUSY_RX); - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpsmbus); - - /* Call the corresponding callback to inform upper layer of End of Transfer */ -#if (USE_HAL_FMPSMBUS_REGISTER_CALLBACKS == 1) - hfmpsmbus->SlaveRxCpltCallback(hfmpsmbus); -#else - HAL_FMPSMBUS_SlaveRxCpltCallback(hfmpsmbus); -#endif /* USE_HAL_FMPSMBUS_REGISTER_CALLBACKS */ - } - else - { - /* Set Reload for next Bytes */ - FMPSMBUS_TransferConfig(hfmpsmbus, 0, 1, - FMPSMBUS_RELOAD_MODE | (hfmpsmbus->XferOptions & FMPSMBUS_SENDPEC_MODE), - FMPSMBUS_NO_STARTSTOP); - - /* Ack last Byte Read */ - hfmpsmbus->Instance->CR2 &= ~FMPI2C_CR2_NACK; - } - } - else if ((hfmpsmbus->State & HAL_FMPSMBUS_STATE_SLAVE_BUSY_TX) == HAL_FMPSMBUS_STATE_SLAVE_BUSY_TX) - { - if ((hfmpsmbus->XferCount != 0U) && (hfmpsmbus->XferSize == 0U)) - { - if (hfmpsmbus->XferCount > MAX_NBYTE_SIZE) - { - FMPSMBUS_TransferConfig(hfmpsmbus, 0, MAX_NBYTE_SIZE, - (FMPSMBUS_RELOAD_MODE | (hfmpsmbus->XferOptions & FMPSMBUS_SENDPEC_MODE)), - FMPSMBUS_NO_STARTSTOP); - hfmpsmbus->XferSize = MAX_NBYTE_SIZE; - } - else - { - hfmpsmbus->XferSize = hfmpsmbus->XferCount; - FMPSMBUS_TransferConfig(hfmpsmbus, 0, (uint8_t)hfmpsmbus->XferSize, hfmpsmbus->XferOptions, - FMPSMBUS_NO_STARTSTOP); - /* If PEC mode is enable, size to transmit should be Size-1 byte, corresponding to PEC byte */ - /* PEC byte is automatically sent by HW block, no need to manage it in Transmit process */ - if (FMPSMBUS_GET_PEC_MODE(hfmpsmbus) != 0UL) - { - hfmpsmbus->XferSize--; - hfmpsmbus->XferCount--; - } - } - } - } - else - { - /* Nothing to do */ - } - } - else if (FMPSMBUS_CHECK_FLAG(StatusFlags, FMPSMBUS_FLAG_TXIS) != RESET) - { - /* Write data to TXDR only if XferCount not reach "0" */ - /* A TXIS flag can be set, during STOP treatment */ - /* Check if all Data have already been sent */ - /* If it is the case, this last write in TXDR is not sent, correspond to a dummy TXIS event */ - if (hfmpsmbus->XferCount > 0U) - { - /* Write data to TXDR */ - hfmpsmbus->Instance->TXDR = *hfmpsmbus->pBuffPtr; - - /* Increment Buffer pointer */ - hfmpsmbus->pBuffPtr++; - - hfmpsmbus->XferCount--; - hfmpsmbus->XferSize--; - } - - if (hfmpsmbus->XferCount == 0U) - { - /* Last Byte is Transmitted */ - /* Remove HAL_FMPSMBUS_STATE_SLAVE_BUSY_TX, keep only HAL_FMPSMBUS_STATE_LISTEN */ - FMPSMBUS_Disable_IRQ(hfmpsmbus, FMPSMBUS_IT_TX); - hfmpsmbus->PreviousState = hfmpsmbus->State; - hfmpsmbus->State &= ~((uint32_t)HAL_FMPSMBUS_STATE_SLAVE_BUSY_TX); - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpsmbus); - - /* Call the corresponding callback to inform upper layer of End of Transfer */ -#if (USE_HAL_FMPSMBUS_REGISTER_CALLBACKS == 1) - hfmpsmbus->SlaveTxCpltCallback(hfmpsmbus); -#else - HAL_FMPSMBUS_SlaveTxCpltCallback(hfmpsmbus); -#endif /* USE_HAL_FMPSMBUS_REGISTER_CALLBACKS */ - } - } - else - { - /* Nothing to do */ - } - - /* Check if STOPF is set */ - if (FMPSMBUS_CHECK_FLAG(StatusFlags, FMPSMBUS_FLAG_STOPF) != RESET) - { - if ((hfmpsmbus->State & HAL_FMPSMBUS_STATE_LISTEN) == HAL_FMPSMBUS_STATE_LISTEN) - { - /* Store Last receive data if any */ - if (__HAL_FMPSMBUS_GET_FLAG(hfmpsmbus, FMPSMBUS_FLAG_RXNE) != RESET) - { - /* Read data from RXDR */ - *hfmpsmbus->pBuffPtr = (uint8_t)(hfmpsmbus->Instance->RXDR); - - /* Increment Buffer pointer */ - hfmpsmbus->pBuffPtr++; - - if ((hfmpsmbus->XferSize > 0U)) - { - hfmpsmbus->XferSize--; - hfmpsmbus->XferCount--; - } - } - - /* Disable RX and TX Interrupts */ - FMPSMBUS_Disable_IRQ(hfmpsmbus, FMPSMBUS_IT_RX | FMPSMBUS_IT_TX); - - /* Disable ADDR Interrupt */ - FMPSMBUS_Disable_IRQ(hfmpsmbus, FMPSMBUS_IT_ADDR); - - /* Disable Address Acknowledge */ - hfmpsmbus->Instance->CR2 |= FMPI2C_CR2_NACK; - - /* Clear Configuration Register 2 */ - FMPSMBUS_RESET_CR2(hfmpsmbus); - - /* Clear STOP Flag */ - __HAL_FMPSMBUS_CLEAR_FLAG(hfmpsmbus, FMPSMBUS_FLAG_STOPF); - - /* Clear ADDR flag */ - __HAL_FMPSMBUS_CLEAR_FLAG(hfmpsmbus, FMPSMBUS_FLAG_ADDR); - - hfmpsmbus->XferOptions = 0; - hfmpsmbus->PreviousState = hfmpsmbus->State; - hfmpsmbus->State = HAL_FMPSMBUS_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpsmbus); - - /* Call the Listen Complete callback, to inform upper layer of the end of Listen usecase */ -#if (USE_HAL_FMPSMBUS_REGISTER_CALLBACKS == 1) - hfmpsmbus->ListenCpltCallback(hfmpsmbus); -#else - HAL_FMPSMBUS_ListenCpltCallback(hfmpsmbus); -#endif /* USE_HAL_FMPSMBUS_REGISTER_CALLBACKS */ - } - } - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpsmbus); - - return HAL_OK; -} -/** - * @brief Manage the enabling of Interrupts. - * @param hfmpsmbus Pointer to a FMPSMBUS_HandleTypeDef structure that contains - * the configuration information for the specified FMPSMBUS. - * @param InterruptRequest Value of @ref FMPSMBUS_Interrupt_configuration_definition. - * @retval HAL status - */ -static void FMPSMBUS_Enable_IRQ(FMPSMBUS_HandleTypeDef *hfmpsmbus, uint32_t InterruptRequest) -{ - uint32_t tmpisr = 0UL; - - if ((InterruptRequest & FMPSMBUS_IT_ALERT) == FMPSMBUS_IT_ALERT) - { - /* Enable ERR interrupt */ - tmpisr |= FMPSMBUS_IT_ERRI; - } - - if ((InterruptRequest & FMPSMBUS_IT_ADDR) == FMPSMBUS_IT_ADDR) - { - /* Enable ADDR, STOP interrupt */ - tmpisr |= FMPSMBUS_IT_ADDRI | FMPSMBUS_IT_STOPI | FMPSMBUS_IT_NACKI | FMPSMBUS_IT_ERRI; - } - - if ((InterruptRequest & FMPSMBUS_IT_TX) == FMPSMBUS_IT_TX) - { - /* Enable ERR, TC, STOP, NACK, RXI interrupt */ - tmpisr |= FMPSMBUS_IT_ERRI | FMPSMBUS_IT_TCI | FMPSMBUS_IT_STOPI | FMPSMBUS_IT_NACKI | FMPSMBUS_IT_TXI; - } - - if ((InterruptRequest & FMPSMBUS_IT_RX) == FMPSMBUS_IT_RX) - { - /* Enable ERR, TC, STOP, NACK, TXI interrupt */ - tmpisr |= FMPSMBUS_IT_ERRI | FMPSMBUS_IT_TCI | FMPSMBUS_IT_STOPI | FMPSMBUS_IT_NACKI | FMPSMBUS_IT_RXI; - } - - /* Enable interrupts only at the end */ - /* to avoid the risk of FMPSMBUS interrupt handle execution before */ - /* all interrupts requested done */ - __HAL_FMPSMBUS_ENABLE_IT(hfmpsmbus, tmpisr); -} -/** - * @brief Manage the disabling of Interrupts. - * @param hfmpsmbus Pointer to a FMPSMBUS_HandleTypeDef structure that contains - * the configuration information for the specified FMPSMBUS. - * @param InterruptRequest Value of @ref FMPSMBUS_Interrupt_configuration_definition. - * @retval HAL status - */ -static void FMPSMBUS_Disable_IRQ(FMPSMBUS_HandleTypeDef *hfmpsmbus, uint32_t InterruptRequest) -{ - uint32_t tmpisr = 0UL; - uint32_t tmpstate = hfmpsmbus->State; - - if ((tmpstate == HAL_FMPSMBUS_STATE_READY) && ((InterruptRequest & FMPSMBUS_IT_ALERT) == FMPSMBUS_IT_ALERT)) - { - /* Disable ERR interrupt */ - tmpisr |= FMPSMBUS_IT_ERRI; - } - - if ((InterruptRequest & FMPSMBUS_IT_TX) == FMPSMBUS_IT_TX) - { - /* Disable TC, STOP, NACK and TXI interrupt */ - tmpisr |= FMPSMBUS_IT_TCI | FMPSMBUS_IT_TXI; - - if ((FMPSMBUS_GET_ALERT_ENABLED(hfmpsmbus) == 0UL) - && ((tmpstate & HAL_FMPSMBUS_STATE_LISTEN) != HAL_FMPSMBUS_STATE_LISTEN)) - { - /* Disable ERR interrupt */ - tmpisr |= FMPSMBUS_IT_ERRI; - } - - if ((tmpstate & HAL_FMPSMBUS_STATE_LISTEN) != HAL_FMPSMBUS_STATE_LISTEN) - { - /* Disable STOP and NACK interrupt */ - tmpisr |= FMPSMBUS_IT_STOPI | FMPSMBUS_IT_NACKI; - } - } - - if ((InterruptRequest & FMPSMBUS_IT_RX) == FMPSMBUS_IT_RX) - { - /* Disable TC, STOP, NACK and RXI interrupt */ - tmpisr |= FMPSMBUS_IT_TCI | FMPSMBUS_IT_RXI; - - if ((FMPSMBUS_GET_ALERT_ENABLED(hfmpsmbus) == 0UL) - && ((tmpstate & HAL_FMPSMBUS_STATE_LISTEN) != HAL_FMPSMBUS_STATE_LISTEN)) - { - /* Disable ERR interrupt */ - tmpisr |= FMPSMBUS_IT_ERRI; - } - - if ((tmpstate & HAL_FMPSMBUS_STATE_LISTEN) != HAL_FMPSMBUS_STATE_LISTEN) - { - /* Disable STOP and NACK interrupt */ - tmpisr |= FMPSMBUS_IT_STOPI | FMPSMBUS_IT_NACKI; - } - } - - if ((InterruptRequest & FMPSMBUS_IT_ADDR) == FMPSMBUS_IT_ADDR) - { - /* Disable ADDR, STOP and NACK interrupt */ - tmpisr |= FMPSMBUS_IT_ADDRI | FMPSMBUS_IT_STOPI | FMPSMBUS_IT_NACKI; - - if (FMPSMBUS_GET_ALERT_ENABLED(hfmpsmbus) == 0UL) - { - /* Disable ERR interrupt */ - tmpisr |= FMPSMBUS_IT_ERRI; - } - } - - /* Disable interrupts only at the end */ - /* to avoid a breaking situation like at "t" time */ - /* all disable interrupts request are not done */ - __HAL_FMPSMBUS_DISABLE_IT(hfmpsmbus, tmpisr); -} - -/** - * @brief FMPSMBUS interrupts error handler. - * @param hfmpsmbus FMPSMBUS handle. - * @retval None - */ -static void FMPSMBUS_ITErrorHandler(FMPSMBUS_HandleTypeDef *hfmpsmbus) -{ - uint32_t itflags = READ_REG(hfmpsmbus->Instance->ISR); - uint32_t itsources = READ_REG(hfmpsmbus->Instance->CR1); - uint32_t tmpstate; - uint32_t tmperror; - - /* FMPSMBUS Bus error interrupt occurred ------------------------------------*/ - if (((itflags & FMPSMBUS_FLAG_BERR) == FMPSMBUS_FLAG_BERR) && \ - ((itsources & FMPSMBUS_IT_ERRI) == FMPSMBUS_IT_ERRI)) - { - hfmpsmbus->ErrorCode |= HAL_FMPSMBUS_ERROR_BERR; - - /* Clear BERR flag */ - __HAL_FMPSMBUS_CLEAR_FLAG(hfmpsmbus, FMPSMBUS_FLAG_BERR); - } - - /* FMPSMBUS Over-Run/Under-Run interrupt occurred ----------------------------------------*/ - if (((itflags & FMPSMBUS_FLAG_OVR) == FMPSMBUS_FLAG_OVR) && \ - ((itsources & FMPSMBUS_IT_ERRI) == FMPSMBUS_IT_ERRI)) - { - hfmpsmbus->ErrorCode |= HAL_FMPSMBUS_ERROR_OVR; - - /* Clear OVR flag */ - __HAL_FMPSMBUS_CLEAR_FLAG(hfmpsmbus, FMPSMBUS_FLAG_OVR); - } - - /* FMPSMBUS Arbitration Loss error interrupt occurred ------------------------------------*/ - if (((itflags & FMPSMBUS_FLAG_ARLO) == FMPSMBUS_FLAG_ARLO) && \ - ((itsources & FMPSMBUS_IT_ERRI) == FMPSMBUS_IT_ERRI)) - { - hfmpsmbus->ErrorCode |= HAL_FMPSMBUS_ERROR_ARLO; - - /* Clear ARLO flag */ - __HAL_FMPSMBUS_CLEAR_FLAG(hfmpsmbus, FMPSMBUS_FLAG_ARLO); - } - - /* FMPSMBUS Timeout error interrupt occurred ---------------------------------------------*/ - if (((itflags & FMPSMBUS_FLAG_TIMEOUT) == FMPSMBUS_FLAG_TIMEOUT) && \ - ((itsources & FMPSMBUS_IT_ERRI) == FMPSMBUS_IT_ERRI)) - { - hfmpsmbus->ErrorCode |= HAL_FMPSMBUS_ERROR_BUSTIMEOUT; - - /* Clear TIMEOUT flag */ - __HAL_FMPSMBUS_CLEAR_FLAG(hfmpsmbus, FMPSMBUS_FLAG_TIMEOUT); - } - - /* FMPSMBUS Alert error interrupt occurred -----------------------------------------------*/ - if (((itflags & FMPSMBUS_FLAG_ALERT) == FMPSMBUS_FLAG_ALERT) && \ - ((itsources & FMPSMBUS_IT_ERRI) == FMPSMBUS_IT_ERRI)) - { - hfmpsmbus->ErrorCode |= HAL_FMPSMBUS_ERROR_ALERT; - - /* Clear ALERT flag */ - __HAL_FMPSMBUS_CLEAR_FLAG(hfmpsmbus, FMPSMBUS_FLAG_ALERT); - } - - /* FMPSMBUS Packet Error Check error interrupt occurred ----------------------------------*/ - if (((itflags & FMPSMBUS_FLAG_PECERR) == FMPSMBUS_FLAG_PECERR) && \ - ((itsources & FMPSMBUS_IT_ERRI) == FMPSMBUS_IT_ERRI)) - { - hfmpsmbus->ErrorCode |= HAL_FMPSMBUS_ERROR_PECERR; - - /* Clear PEC error flag */ - __HAL_FMPSMBUS_CLEAR_FLAG(hfmpsmbus, FMPSMBUS_FLAG_PECERR); - } - - /* Store current volatile hfmpsmbus->State, misra rule */ - tmperror = hfmpsmbus->ErrorCode; - - /* Call the Error Callback in case of Error detected */ - if ((tmperror != HAL_FMPSMBUS_ERROR_NONE) && (tmperror != HAL_FMPSMBUS_ERROR_ACKF)) - { - /* Do not Reset the HAL state in case of ALERT error */ - if ((tmperror & HAL_FMPSMBUS_ERROR_ALERT) != HAL_FMPSMBUS_ERROR_ALERT) - { - /* Store current volatile hfmpsmbus->State, misra rule */ - tmpstate = hfmpsmbus->State; - - if (((tmpstate & HAL_FMPSMBUS_STATE_SLAVE_BUSY_TX) == HAL_FMPSMBUS_STATE_SLAVE_BUSY_TX) - || ((tmpstate & HAL_FMPSMBUS_STATE_SLAVE_BUSY_RX) == HAL_FMPSMBUS_STATE_SLAVE_BUSY_RX)) - { - /* Reset only HAL_FMPSMBUS_STATE_SLAVE_BUSY_XX */ - /* keep HAL_FMPSMBUS_STATE_LISTEN if set */ - hfmpsmbus->PreviousState = HAL_FMPSMBUS_STATE_READY; - hfmpsmbus->State = HAL_FMPSMBUS_STATE_LISTEN; - } - } - - /* Call the Error callback to inform upper layer */ -#if (USE_HAL_FMPSMBUS_REGISTER_CALLBACKS == 1) - hfmpsmbus->ErrorCallback(hfmpsmbus); -#else - HAL_FMPSMBUS_ErrorCallback(hfmpsmbus); -#endif /* USE_HAL_FMPSMBUS_REGISTER_CALLBACKS */ - } -} - -/** - * @brief Handle FMPSMBUS Communication Timeout. - * @param hfmpsmbus Pointer to a FMPSMBUS_HandleTypeDef structure that contains - * the configuration information for the specified FMPSMBUS. - * @param Flag Specifies the FMPSMBUS flag to check. - * @param Status The new Flag status (SET or RESET). - * @param Timeout Timeout duration - * @retval HAL status - */ -static HAL_StatusTypeDef FMPSMBUS_WaitOnFlagUntilTimeout(FMPSMBUS_HandleTypeDef *hfmpsmbus, uint32_t Flag, - FlagStatus Status, uint32_t Timeout) -{ - uint32_t tickstart = HAL_GetTick(); - - /* Wait until flag is set */ - while ((FlagStatus)(__HAL_FMPSMBUS_GET_FLAG(hfmpsmbus, Flag)) == Status) - { - /* Check for the Timeout */ - if (Timeout != HAL_MAX_DELAY) - { - if (((HAL_GetTick() - tickstart) > Timeout) || (Timeout == 0UL)) - { - hfmpsmbus->PreviousState = hfmpsmbus->State; - hfmpsmbus->State = HAL_FMPSMBUS_STATE_READY; - - /* Update FMPSMBUS error code */ - hfmpsmbus->ErrorCode |= HAL_FMPSMBUS_ERROR_HALTIMEOUT; - - /* Process Unlocked */ - __HAL_UNLOCK(hfmpsmbus); - - return HAL_ERROR; - } - } - } - - return HAL_OK; -} - -/** - * @brief Handle FMPSMBUSx communication when starting transfer or during transfer (TC or TCR flag are set). - * @param hfmpsmbus FMPSMBUS handle. - * @param DevAddress specifies the slave address to be programmed. - * @param Size specifies the number of bytes to be programmed. - * This parameter must be a value between 0 and 255. - * @param Mode New state of the FMPSMBUS START condition generation. - * This parameter can be one or a combination of the following values: - * @arg @ref FMPSMBUS_RELOAD_MODE Enable Reload mode. - * @arg @ref FMPSMBUS_AUTOEND_MODE Enable Automatic end mode. - * @arg @ref FMPSMBUS_SOFTEND_MODE Enable Software end mode and Reload mode. - * @arg @ref FMPSMBUS_SENDPEC_MODE Enable Packet Error Calculation mode. - * @param Request New state of the FMPSMBUS START condition generation. - * This parameter can be one of the following values: - * @arg @ref FMPSMBUS_NO_STARTSTOP Don't Generate stop and start condition. - * @arg @ref FMPSMBUS_GENERATE_STOP Generate stop condition (Size should be set to 0). - * @arg @ref FMPSMBUS_GENERATE_START_READ Generate Restart for read request. - * @arg @ref FMPSMBUS_GENERATE_START_WRITE Generate Restart for write request. - * @retval None - */ -static void FMPSMBUS_TransferConfig(FMPSMBUS_HandleTypeDef *hfmpsmbus, uint16_t DevAddress, uint8_t Size, - uint32_t Mode, uint32_t Request) -{ - /* Check the parameters */ - assert_param(IS_FMPSMBUS_ALL_INSTANCE(hfmpsmbus->Instance)); - assert_param(IS_FMPSMBUS_TRANSFER_MODE(Mode)); - assert_param(IS_FMPSMBUS_TRANSFER_REQUEST(Request)); - - /* update CR2 register */ - MODIFY_REG(hfmpsmbus->Instance->CR2, - ((FMPI2C_CR2_SADD | FMPI2C_CR2_NBYTES | FMPI2C_CR2_RELOAD | FMPI2C_CR2_AUTOEND | \ - (FMPI2C_CR2_RD_WRN & (uint32_t)(Request >> (31UL - FMPI2C_CR2_RD_WRN_Pos))) | \ - FMPI2C_CR2_START | FMPI2C_CR2_STOP | FMPI2C_CR2_PECBYTE)), \ - (uint32_t)(((uint32_t)DevAddress & FMPI2C_CR2_SADD) | \ - (((uint32_t)Size << FMPI2C_CR2_NBYTES_Pos) & FMPI2C_CR2_NBYTES) | \ - (uint32_t)Mode | (uint32_t)Request)); -} - -/** - * @brief Convert FMPSMBUSx OTHER_xxx XferOptions to functional XferOptions. - * @param hfmpsmbus FMPSMBUS handle. - * @retval None - */ -static void FMPSMBUS_ConvertOtherXferOptions(FMPSMBUS_HandleTypeDef *hfmpsmbus) -{ - /* if user set XferOptions to FMPSMBUS_OTHER_FRAME_NO_PEC */ - /* it request implicitly to generate a restart condition */ - /* set XferOptions to FMPSMBUS_FIRST_FRAME */ - if (hfmpsmbus->XferOptions == FMPSMBUS_OTHER_FRAME_NO_PEC) - { - hfmpsmbus->XferOptions = FMPSMBUS_FIRST_FRAME; - } - /* else if user set XferOptions to FMPSMBUS_OTHER_FRAME_WITH_PEC */ - /* it request implicitly to generate a restart condition */ - /* set XferOptions to FMPSMBUS_FIRST_FRAME | FMPSMBUS_SENDPEC_MODE */ - else if (hfmpsmbus->XferOptions == FMPSMBUS_OTHER_FRAME_WITH_PEC) - { - hfmpsmbus->XferOptions = FMPSMBUS_FIRST_FRAME | FMPSMBUS_SENDPEC_MODE; - } - /* else if user set XferOptions to FMPSMBUS_OTHER_AND_LAST_FRAME_NO_PEC */ - /* it request implicitly to generate a restart condition */ - /* then generate a stop condition at the end of transfer */ - /* set XferOptions to FMPSMBUS_FIRST_AND_LAST_FRAME_NO_PEC */ - else if (hfmpsmbus->XferOptions == FMPSMBUS_OTHER_AND_LAST_FRAME_NO_PEC) - { - hfmpsmbus->XferOptions = FMPSMBUS_FIRST_AND_LAST_FRAME_NO_PEC; - } - /* else if user set XferOptions to FMPSMBUS_OTHER_AND_LAST_FRAME_WITH_PEC */ - /* it request implicitly to generate a restart condition */ - /* then generate a stop condition at the end of transfer */ - /* set XferOptions to FMPSMBUS_FIRST_AND_LAST_FRAME_WITH_PEC */ - else if (hfmpsmbus->XferOptions == FMPSMBUS_OTHER_AND_LAST_FRAME_WITH_PEC) - { - hfmpsmbus->XferOptions = FMPSMBUS_FIRST_AND_LAST_FRAME_WITH_PEC; - } - else - { - /* Nothing to do */ - } -} -/** - * @} - */ - -#endif /* FMPI2C_CR1_PE */ -#endif /* HAL_FMPSMBUS_MODULE_ENABLED */ -/** - * @} - */ - -/** - * @} - */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_fmpsmbus_ex.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_fmpsmbus_ex.c deleted file mode 100644 index e5147ca66aaae8..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_fmpsmbus_ex.c +++ /dev/null @@ -1,148 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_fmpsmbus_ex.c - * @author MCD Application Team - * @brief FMPSMBUS Extended HAL module driver. - * This file provides firmware functions to manage the following - * functionalities of FMPSMBUS Extended peripheral: - * + Extended features functions - * - @verbatim - ============================================================================== - ##### FMPSMBUS peripheral Extended features ##### - ============================================================================== - - [..] Comparing to other previous devices, the FMPSMBUS interface for STM32F4xx - devices contains the following additional features - - (+) Disable or enable Fast Mode Plus - - ##### How to use this driver ##### - ============================================================================== - (#) Configure the enable or disable of fast mode plus driving capability using the functions : - (++) HAL_FMPSMBUSEx_EnableFastModePlus() - (++) HAL_FMPSMBUSEx_DisableFastModePlus() - @endverbatim - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @defgroup FMPSMBUSEx FMPSMBUSEx - * @brief FMPSMBUS Extended HAL module driver - * @{ - */ - -#ifdef HAL_FMPSMBUS_MODULE_ENABLED -#if defined(FMPI2C_CR1_PE) - -/* Private typedef -----------------------------------------------------------*/ -/* Private define ------------------------------------------------------------*/ -/* Private macro -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private function prototypes -----------------------------------------------*/ -/* Private functions ---------------------------------------------------------*/ - -/** @defgroup FMPSMBUSEx_Exported_Functions FMPSMBUS Extended Exported Functions - * @{ - */ - -/** @defgroup FMPSMBUSEx_Exported_Functions_Group3 Fast Mode Plus Functions - * @brief Fast Mode Plus Functions - * -@verbatim - =============================================================================== - ##### Fast Mode Plus Functions ##### - =============================================================================== - [..] This section provides functions allowing to: - (+) Configure Fast Mode Plus - -@endverbatim - * @{ - */ - -/** - * @brief Enable the FMPSMBUS fast mode plus driving capability. - * @param ConfigFastModePlus Selects the pin. - * This parameter can be one of the @ref FMPSMBUSEx_FastModePlus values - * @note For FMPI2C1, fast mode plus driving capability can be enabled on all selected - * FMPI2C1 pins using FMPSMBUS_FASTMODEPLUS_FMPI2C1 parameter or independently - * on each one of the following pins PB6, PB7, PB8 and PB9. - * @note For remaining FMPI2C1 pins (PA14, PA15...) fast mode plus driving capability - * can be enabled only by using FMPSMBUS_FASTMODEPLUS_FMPI2C1 parameter. - * @retval None - */ -void HAL_FMPSMBUSEx_EnableFastModePlus(uint32_t ConfigFastModePlus) -{ - /* Check the parameter */ - assert_param(IS_FMPSMBUS_FASTMODEPLUS(ConfigFastModePlus)); - - /* Enable SYSCFG clock */ - __HAL_RCC_SYSCFG_CLK_ENABLE(); - - /* Enable fast mode plus driving capability for selected pin */ - SET_BIT(SYSCFG->CFGR, (uint32_t)ConfigFastModePlus); -} - -/** - * @brief Disable the FMPSMBUS fast mode plus driving capability. - * @param ConfigFastModePlus Selects the pin. - * This parameter can be one of the @ref FMPSMBUSEx_FastModePlus values - * @note For FMPI2C1, fast mode plus driving capability can be disabled on all selected - * FMPI2C1 pins using FMPSMBUS_FASTMODEPLUS_FMPI2C1 parameter or independently - * on each one of the following pins PB6, PB7, PB8 and PB9. - * @note For remaining FMPI2C1 pins (PA14, PA15...) fast mode plus driving capability - * can be disabled only by using FMPSMBUS_FASTMODEPLUS_FMPI2C1 parameter. - * @retval None - */ -void HAL_FMPSMBUSEx_DisableFastModePlus(uint32_t ConfigFastModePlus) -{ - /* Check the parameter */ - assert_param(IS_FMPSMBUS_FASTMODEPLUS(ConfigFastModePlus)); - - /* Enable SYSCFG clock */ - __HAL_RCC_SYSCFG_CLK_ENABLE(); - - /* Disable fast mode plus driving capability for selected pin */ - CLEAR_BIT(SYSCFG->CFGR, (uint32_t)ConfigFastModePlus); -} - -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ - -#endif /* FMPI2C_CR1_PE */ -#endif /* HAL_FMPSMBUS_MODULE_ENABLED */ -/** - * @} - */ - -/** - * @} - */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c deleted file mode 100644 index 47203391fcfff1..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c +++ /dev/null @@ -1,534 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_gpio.c - * @author MCD Application Team - * @brief GPIO HAL module driver. - * This file provides firmware functions to manage the following - * functionalities of the General Purpose Input/Output (GPIO) peripheral: - * + Initialization and de-initialization functions - * + IO operation functions - * - @verbatim - ============================================================================== - ##### GPIO Peripheral features ##### - ============================================================================== - [..] - Subject to the specific hardware characteristics of each I/O port listed in the datasheet, each - port bit of the General Purpose IO (GPIO) Ports, can be individually configured by software - in several modes: - (+) Input mode - (+) Analog mode - (+) Output mode - (+) Alternate function mode - (+) External interrupt/event lines - - [..] - During and just after reset, the alternate functions and external interrupt - lines are not active and the I/O ports are configured in input floating mode. - - [..] - All GPIO pins have weak internal pull-up and pull-down resistors, which can be - activated or not. - - [..] - In Output or Alternate mode, each IO can be configured on open-drain or push-pull - type and the IO speed can be selected depending on the VDD value. - - [..] - All ports have external interrupt/event capability. To use external interrupt - lines, the port must be configured in input mode. All available GPIO pins are - connected to the 16 external interrupt/event lines from EXTI0 to EXTI15. - - [..] - The external interrupt/event controller consists of up to 23 edge detectors - (16 lines are connected to GPIO) for generating event/interrupt requests (each - input line can be independently configured to select the type (interrupt or event) - and the corresponding trigger event (rising or falling or both). Each line can - also be masked independently. - - ##### How to use this driver ##### - ============================================================================== - [..] - (#) Enable the GPIO AHB clock using the following function: __HAL_RCC_GPIOx_CLK_ENABLE(). - - (#) Configure the GPIO pin(s) using HAL_GPIO_Init(). - (++) Configure the IO mode using "Mode" member from GPIO_InitTypeDef structure - (++) Activate Pull-up, Pull-down resistor using "Pull" member from GPIO_InitTypeDef - structure. - (++) In case of Output or alternate function mode selection: the speed is - configured through "Speed" member from GPIO_InitTypeDef structure. - (++) In alternate mode is selection, the alternate function connected to the IO - is configured through "Alternate" member from GPIO_InitTypeDef structure. - (++) Analog mode is required when a pin is to be used as ADC channel - or DAC output. - (++) In case of external interrupt/event selection the "Mode" member from - GPIO_InitTypeDef structure select the type (interrupt or event) and - the corresponding trigger event (rising or falling or both). - - (#) In case of external interrupt/event mode selection, configure NVIC IRQ priority - mapped to the EXTI line using HAL_NVIC_SetPriority() and enable it using - HAL_NVIC_EnableIRQ(). - - (#) To get the level of a pin configured in input mode use HAL_GPIO_ReadPin(). - - (#) To set/reset the level of a pin configured in output mode use - HAL_GPIO_WritePin()/HAL_GPIO_TogglePin(). - - (#) To lock pin configuration until next reset use HAL_GPIO_LockPin(). - - - (#) During and just after reset, the alternate functions are not - active and the GPIO pins are configured in input floating mode (except JTAG - pins). - - (#) The LSE oscillator pins OSC32_IN and OSC32_OUT can be used as general purpose - (PC14 and PC15, respectively) when the LSE oscillator is off. The LSE has - priority over the GPIO function. - - (#) The HSE oscillator pins OSC_IN/OSC_OUT can be used as - general purpose PH0 and PH1, respectively, when the HSE oscillator is off. - The HSE has priority over the GPIO function. - - @endverbatim - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @defgroup GPIO GPIO - * @brief GPIO HAL module driver - * @{ - */ - -#ifdef HAL_GPIO_MODULE_ENABLED - -/* Private typedef -----------------------------------------------------------*/ -/* Private define ------------------------------------------------------------*/ -/** @addtogroup GPIO_Private_Constants GPIO Private Constants - * @{ - */ - -#define GPIO_NUMBER 16U -/** - * @} - */ -/* Private macro -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private function prototypes -----------------------------------------------*/ -/* Private functions ---------------------------------------------------------*/ -/* Exported functions --------------------------------------------------------*/ -/** @defgroup GPIO_Exported_Functions GPIO Exported Functions - * @{ - */ - -/** @defgroup GPIO_Exported_Functions_Group1 Initialization and de-initialization functions - * @brief Initialization and Configuration functions - * -@verbatim - =============================================================================== - ##### Initialization and de-initialization functions ##### - =============================================================================== - [..] - This section provides functions allowing to initialize and de-initialize the GPIOs - to be ready for use. - -@endverbatim - * @{ - */ - - -/** - * @brief Initializes the GPIOx peripheral according to the specified parameters in the GPIO_Init. - * @param GPIOx where x can be (A..K) to select the GPIO peripheral for STM32F429X device or - * x can be (A..I) to select the GPIO peripheral for STM32F40XX and STM32F427X devices. - * @param GPIO_Init pointer to a GPIO_InitTypeDef structure that contains - * the configuration information for the specified GPIO peripheral. - * @retval None - */ -void HAL_GPIO_Init(GPIO_TypeDef *GPIOx, GPIO_InitTypeDef *GPIO_Init) -{ - uint32_t position; - uint32_t ioposition = 0x00U; - uint32_t iocurrent = 0x00U; - uint32_t temp = 0x00U; - - /* Check the parameters */ - assert_param(IS_GPIO_ALL_INSTANCE(GPIOx)); - assert_param(IS_GPIO_PIN(GPIO_Init->Pin)); - assert_param(IS_GPIO_MODE(GPIO_Init->Mode)); - - /* Configure the port pins */ - for(position = 0U; position < GPIO_NUMBER; position++) - { - /* Get the IO position */ - ioposition = 0x01U << position; - /* Get the current IO position */ - iocurrent = (uint32_t)(GPIO_Init->Pin) & ioposition; - - if(iocurrent == ioposition) - { - /*--------------------- GPIO Mode Configuration ------------------------*/ - /* In case of Output or Alternate function mode selection */ - if(((GPIO_Init->Mode & GPIO_MODE) == MODE_OUTPUT) || \ - (GPIO_Init->Mode & GPIO_MODE) == MODE_AF) - { - /* Check the Speed parameter */ - assert_param(IS_GPIO_SPEED(GPIO_Init->Speed)); - /* Configure the IO Speed */ - temp = GPIOx->OSPEEDR; - temp &= ~(GPIO_OSPEEDER_OSPEEDR0 << (position * 2U)); - temp |= (GPIO_Init->Speed << (position * 2U)); - GPIOx->OSPEEDR = temp; - - /* Configure the IO Output Type */ - temp = GPIOx->OTYPER; - temp &= ~(GPIO_OTYPER_OT_0 << position) ; - temp |= (((GPIO_Init->Mode & OUTPUT_TYPE) >> OUTPUT_TYPE_Pos) << position); - GPIOx->OTYPER = temp; - } - - if((GPIO_Init->Mode & GPIO_MODE) != MODE_ANALOG) - { - /* Check the parameters */ - assert_param(IS_GPIO_PULL(GPIO_Init->Pull)); - - /* Activate the Pull-up or Pull down resistor for the current IO */ - temp = GPIOx->PUPDR; - temp &= ~(GPIO_PUPDR_PUPDR0 << (position * 2U)); - temp |= ((GPIO_Init->Pull) << (position * 2U)); - GPIOx->PUPDR = temp; - } - - /* In case of Alternate function mode selection */ - if((GPIO_Init->Mode & GPIO_MODE) == MODE_AF) - { - /* Check the Alternate function parameter */ - assert_param(IS_GPIO_AF(GPIO_Init->Alternate)); - /* Configure Alternate function mapped with the current IO */ - temp = GPIOx->AFR[position >> 3U]; - temp &= ~(0xFU << ((uint32_t)(position & 0x07U) * 4U)) ; - temp |= ((uint32_t)(GPIO_Init->Alternate) << (((uint32_t)position & 0x07U) * 4U)); - GPIOx->AFR[position >> 3U] = temp; - } - - /* Configure IO Direction mode (Input, Output, Alternate or Analog) */ - temp = GPIOx->MODER; - temp &= ~(GPIO_MODER_MODER0 << (position * 2U)); - temp |= ((GPIO_Init->Mode & GPIO_MODE) << (position * 2U)); - GPIOx->MODER = temp; - - /*--------------------- EXTI Mode Configuration ------------------------*/ - /* Configure the External Interrupt or event for the current IO */ - if((GPIO_Init->Mode & EXTI_MODE) != 0x00U) - { - /* Enable SYSCFG Clock */ - __HAL_RCC_SYSCFG_CLK_ENABLE(); - - temp = SYSCFG->EXTICR[position >> 2U]; - temp &= ~(0x0FU << (4U * (position & 0x03U))); - temp |= ((uint32_t)(GPIO_GET_INDEX(GPIOx)) << (4U * (position & 0x03U))); - SYSCFG->EXTICR[position >> 2U] = temp; - - /* Clear EXTI line configuration */ - temp = EXTI->IMR; - temp &= ~((uint32_t)iocurrent); - if((GPIO_Init->Mode & EXTI_IT) != 0x00U) - { - temp |= iocurrent; - } - EXTI->IMR = temp; - - temp = EXTI->EMR; - temp &= ~((uint32_t)iocurrent); - if((GPIO_Init->Mode & EXTI_EVT) != 0x00U) - { - temp |= iocurrent; - } - EXTI->EMR = temp; - - /* Clear Rising Falling edge configuration */ - temp = EXTI->RTSR; - temp &= ~((uint32_t)iocurrent); - if((GPIO_Init->Mode & TRIGGER_RISING) != 0x00U) - { - temp |= iocurrent; - } - EXTI->RTSR = temp; - - temp = EXTI->FTSR; - temp &= ~((uint32_t)iocurrent); - if((GPIO_Init->Mode & TRIGGER_FALLING) != 0x00U) - { - temp |= iocurrent; - } - EXTI->FTSR = temp; - } - } - } -} - -/** - * @brief De-initializes the GPIOx peripheral registers to their default reset values. - * @param GPIOx where x can be (A..K) to select the GPIO peripheral for STM32F429X device or - * x can be (A..I) to select the GPIO peripheral for STM32F40XX and STM32F427X devices. - * @param GPIO_Pin specifies the port bit to be written. - * This parameter can be one of GPIO_PIN_x where x can be (0..15). - * @retval None - */ -void HAL_GPIO_DeInit(GPIO_TypeDef *GPIOx, uint32_t GPIO_Pin) -{ - uint32_t position; - uint32_t ioposition = 0x00U; - uint32_t iocurrent = 0x00U; - uint32_t tmp = 0x00U; - - /* Check the parameters */ - assert_param(IS_GPIO_ALL_INSTANCE(GPIOx)); - - /* Configure the port pins */ - for(position = 0U; position < GPIO_NUMBER; position++) - { - /* Get the IO position */ - ioposition = 0x01U << position; - /* Get the current IO position */ - iocurrent = (GPIO_Pin) & ioposition; - - if(iocurrent == ioposition) - { - /*------------------------- EXTI Mode Configuration --------------------*/ - tmp = SYSCFG->EXTICR[position >> 2U]; - tmp &= (0x0FU << (4U * (position & 0x03U))); - if(tmp == ((uint32_t)(GPIO_GET_INDEX(GPIOx)) << (4U * (position & 0x03U)))) - { - /* Clear EXTI line configuration */ - EXTI->IMR &= ~((uint32_t)iocurrent); - EXTI->EMR &= ~((uint32_t)iocurrent); - - /* Clear Rising Falling edge configuration */ - EXTI->RTSR &= ~((uint32_t)iocurrent); - EXTI->FTSR &= ~((uint32_t)iocurrent); - - /* Configure the External Interrupt or event for the current IO */ - tmp = 0x0FU << (4U * (position & 0x03U)); - SYSCFG->EXTICR[position >> 2U] &= ~tmp; - } - - /*------------------------- GPIO Mode Configuration --------------------*/ - /* Configure IO Direction in Input Floating Mode */ - GPIOx->MODER &= ~(GPIO_MODER_MODER0 << (position * 2U)); - - /* Configure the default Alternate Function in current IO */ - GPIOx->AFR[position >> 3U] &= ~(0xFU << ((uint32_t)(position & 0x07U) * 4U)) ; - - /* Deactivate the Pull-up and Pull-down resistor for the current IO */ - GPIOx->PUPDR &= ~(GPIO_PUPDR_PUPDR0 << (position * 2U)); - - /* Configure the default value IO Output Type */ - GPIOx->OTYPER &= ~(GPIO_OTYPER_OT_0 << position) ; - - /* Configure the default value for IO Speed */ - GPIOx->OSPEEDR &= ~(GPIO_OSPEEDER_OSPEEDR0 << (position * 2U)); - } - } -} - -/** - * @} - */ - -/** @defgroup GPIO_Exported_Functions_Group2 IO operation functions - * @brief GPIO Read and Write - * -@verbatim - =============================================================================== - ##### IO operation functions ##### - =============================================================================== - -@endverbatim - * @{ - */ - -/** - * @brief Reads the specified input port pin. - * @param GPIOx where x can be (A..K) to select the GPIO peripheral for STM32F429X device or - * x can be (A..I) to select the GPIO peripheral for STM32F40XX and STM32F427X devices. - * @param GPIO_Pin specifies the port bit to read. - * This parameter can be GPIO_PIN_x where x can be (0..15). - * @retval The input port pin value. - */ -GPIO_PinState HAL_GPIO_ReadPin(GPIO_TypeDef* GPIOx, uint16_t GPIO_Pin) -{ - GPIO_PinState bitstatus; - - /* Check the parameters */ - assert_param(IS_GPIO_PIN(GPIO_Pin)); - - if((GPIOx->IDR & GPIO_Pin) != (uint32_t)GPIO_PIN_RESET) - { - bitstatus = GPIO_PIN_SET; - } - else - { - bitstatus = GPIO_PIN_RESET; - } - return bitstatus; -} - -/** - * @brief Sets or clears the selected data port bit. - * - * @note This function uses GPIOx_BSRR register to allow atomic read/modify - * accesses. In this way, there is no risk of an IRQ occurring between - * the read and the modify access. - * - * @param GPIOx where x can be (A..K) to select the GPIO peripheral for STM32F429X device or - * x can be (A..I) to select the GPIO peripheral for STM32F40XX and STM32F427X devices. - * @param GPIO_Pin specifies the port bit to be written. - * This parameter can be one of GPIO_PIN_x where x can be (0..15). - * @param PinState specifies the value to be written to the selected bit. - * This parameter can be one of the GPIO_PinState enum values: - * @arg GPIO_PIN_RESET: to clear the port pin - * @arg GPIO_PIN_SET: to set the port pin - * @retval None - */ -void HAL_GPIO_WritePin(GPIO_TypeDef* GPIOx, uint16_t GPIO_Pin, GPIO_PinState PinState) -{ - /* Check the parameters */ - assert_param(IS_GPIO_PIN(GPIO_Pin)); - assert_param(IS_GPIO_PIN_ACTION(PinState)); - - if(PinState != GPIO_PIN_RESET) - { - GPIOx->BSRR = GPIO_Pin; - } - else - { - GPIOx->BSRR = (uint32_t)GPIO_Pin << 16U; - } -} - -/** - * @brief Toggles the specified GPIO pins. - * @param GPIOx Where x can be (A..K) to select the GPIO peripheral for STM32F429X device or - * x can be (A..I) to select the GPIO peripheral for STM32F40XX and STM32F427X devices. - * @param GPIO_Pin Specifies the pins to be toggled. - * @retval None - */ -void HAL_GPIO_TogglePin(GPIO_TypeDef* GPIOx, uint16_t GPIO_Pin) -{ - uint32_t odr; - - /* Check the parameters */ - assert_param(IS_GPIO_PIN(GPIO_Pin)); - - /* get current Ouput Data Register value */ - odr = GPIOx->ODR; - - /* Set selected pins that were at low level, and reset ones that were high */ - GPIOx->BSRR = ((odr & GPIO_Pin) << GPIO_NUMBER) | (~odr & GPIO_Pin); -} - -/** - * @brief Locks GPIO Pins configuration registers. - * @note The locked registers are GPIOx_MODER, GPIOx_OTYPER, GPIOx_OSPEEDR, - * GPIOx_PUPDR, GPIOx_AFRL and GPIOx_AFRH. - * @note The configuration of the locked GPIO pins can no longer be modified - * until the next reset. - * @param GPIOx where x can be (A..F) to select the GPIO peripheral for STM32F4 family - * @param GPIO_Pin specifies the port bit to be locked. - * This parameter can be any combination of GPIO_PIN_x where x can be (0..15). - * @retval None - */ -HAL_StatusTypeDef HAL_GPIO_LockPin(GPIO_TypeDef* GPIOx, uint16_t GPIO_Pin) -{ - __IO uint32_t tmp = GPIO_LCKR_LCKK; - - /* Check the parameters */ - assert_param(IS_GPIO_PIN(GPIO_Pin)); - - /* Apply lock key write sequence */ - tmp |= GPIO_Pin; - /* Set LCKx bit(s): LCKK='1' + LCK[15-0] */ - GPIOx->LCKR = tmp; - /* Reset LCKx bit(s): LCKK='0' + LCK[15-0] */ - GPIOx->LCKR = GPIO_Pin; - /* Set LCKx bit(s): LCKK='1' + LCK[15-0] */ - GPIOx->LCKR = tmp; - /* Read LCKR register. This read is mandatory to complete key lock sequence */ - tmp = GPIOx->LCKR; - - /* Read again in order to confirm lock is active */ - if((GPIOx->LCKR & GPIO_LCKR_LCKK) != RESET) - { - return HAL_OK; - } - else - { - return HAL_ERROR; - } -} - -/** - * @brief This function handles EXTI interrupt request. - * @param GPIO_Pin Specifies the pins connected EXTI line - * @retval None - */ -void HAL_GPIO_EXTI_IRQHandler(uint16_t GPIO_Pin) -{ - /* EXTI line interrupt detected */ - if(__HAL_GPIO_EXTI_GET_IT(GPIO_Pin) != RESET) - { - __HAL_GPIO_EXTI_CLEAR_IT(GPIO_Pin); - HAL_GPIO_EXTI_Callback(GPIO_Pin); - } -} - -/** - * @brief EXTI line detection callbacks. - * @param GPIO_Pin Specifies the pins connected EXTI line - * @retval None - */ -__weak void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(GPIO_Pin); - /* NOTE: This function Should not be modified, when the callback is needed, - the HAL_GPIO_EXTI_Callback could be implemented in the user file - */ -} - -/** - * @} - */ - - -/** - * @} - */ - -#endif /* HAL_GPIO_MODULE_ENABLED */ -/** - * @} - */ - -/** - * @} - */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_hash.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_hash.c deleted file mode 100644 index c901e19d61f449..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_hash.c +++ /dev/null @@ -1,3518 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_hash.c - * @author MCD Application Team - * @brief HASH HAL module driver. - * This file provides firmware functions to manage the following - * functionalities of the HASH peripheral: - * + Initialization and de-initialization methods - * + HASH or HMAC processing in polling mode - * + HASH or HMAC processing in interrupt mode - * + HASH or HMAC processing in DMA mode - * + Peripheral State methods - * + HASH or HMAC processing suspension/resumption - * - @verbatim - =============================================================================== - ##### How to use this driver ##### - =============================================================================== - [..] - The HASH HAL driver can be used as follows: - - (#)Initialize the HASH low level resources by implementing the HAL_HASH_MspInit(): - (##) Enable the HASH interface clock using __HASH_CLK_ENABLE() - (##) When resorting to interrupt-based APIs (e.g. HAL_HASH_xxx_Start_IT()) - (+++) Configure the HASH interrupt priority using HAL_NVIC_SetPriority() - (+++) Enable the HASH IRQ handler using HAL_NVIC_EnableIRQ() - (+++) In HASH IRQ handler, call HAL_HASH_IRQHandler() API - (##) When resorting to DMA-based APIs (e.g. HAL_HASH_xxx_Start_DMA()) - (+++) Enable the DMAx interface clock using - __DMAx_CLK_ENABLE() - (+++) Configure and enable one DMA stream to manage data transfer from - memory to peripheral (input stream). Managing data transfer from - peripheral to memory can be performed only using CPU. - (+++) Associate the initialized DMA handle to the HASH DMA handle - using __HAL_LINKDMA() - (+++) Configure the priority and enable the NVIC for the transfer complete - interrupt on the DMA stream: use - HAL_NVIC_SetPriority() and - HAL_NVIC_EnableIRQ() - - (#)Initialize the HASH HAL using HAL_HASH_Init(). This function: - (##) resorts to HAL_HASH_MspInit() for low-level initialization, - (##) configures the data type: 1-bit, 8-bit, 16-bit or 32-bit. - - (#)Three processing schemes are available: - (##) Polling mode: processing APIs are blocking functions - i.e. they process the data and wait till the digest computation is finished, - e.g. HAL_HASH_xxx_Start() for HASH or HAL_HMAC_xxx_Start() for HMAC - (##) Interrupt mode: processing APIs are not blocking functions - i.e. they process the data under interrupt, - e.g. HAL_HASH_xxx_Start_IT() for HASH or HAL_HMAC_xxx_Start_IT() for HMAC - (##) DMA mode: processing APIs are not blocking functions and the CPU is - not used for data transfer i.e. the data transfer is ensured by DMA, - e.g. HAL_HASH_xxx_Start_DMA() for HASH or HAL_HMAC_xxx_Start_DMA() - for HMAC. Note that in DMA mode, a call to HAL_HASH_xxx_Finish() - is then required to retrieve the digest. - - (#)When the processing function is called after HAL_HASH_Init(), the HASH peripheral is - initialized and processes the buffer fed in input. When the input data have all been - fed to the Peripheral, the digest computation can start. - - (#)Multi-buffer processing is possible in polling, interrupt and DMA modes. - (##) In polling mode, only multi-buffer HASH processing is possible. - API HAL_HASH_xxx_Accumulate() must be called for each input buffer, except for the last one. - User must resort to HAL_HASH_xxx_Accumulate_End() to enter the last one and retrieve as - well the computed digest. - - (##) In interrupt mode, API HAL_HASH_xxx_Accumulate_IT() must be called for each input buffer, - except for the last one. - User must resort to HAL_HASH_xxx_Accumulate_End_IT() to enter the last one and retrieve as - well the computed digest. - - (##) In DMA mode, multi-buffer HASH and HMAC processing are possible. - (+++) HASH processing: once initialization is done, MDMAT bit must be set - through __HAL_HASH_SET_MDMAT() macro. - From that point, each buffer can be fed to the Peripheral through HAL_HASH_xxx_Start_DMA() API. - Before entering the last buffer, reset the MDMAT bit with __HAL_HASH_RESET_MDMAT() - macro then wrap-up the HASH processing in feeding the last input buffer through the - same API HAL_HASH_xxx_Start_DMA(). The digest can then be retrieved with a call to - API HAL_HASH_xxx_Finish(). - (+++) HMAC processing (requires to resort to extended functions): - after initialization, the key and the first input buffer are entered - in the Peripheral with the API HAL_HMACEx_xxx_Step1_2_DMA(). This carries out HMAC step 1 and - starts step 2. - The following buffers are next entered with the API HAL_HMACEx_xxx_Step2_DMA(). At this - point, the HMAC processing is still carrying out step 2. - Then, step 2 for the last input buffer and step 3 are carried out by a single call - to HAL_HMACEx_xxx_Step2_3_DMA(). - - The digest can finally be retrieved with a call to API HAL_HASH_xxx_Finish(). - - - (#)Context swapping. - (##) Two APIs are available to suspend HASH or HMAC processing: - (+++) HAL_HASH_SwFeed_ProcessSuspend() when data are entered by software (polling or IT mode), - (+++) HAL_HASH_DMAFeed_ProcessSuspend() when data are entered by DMA. - - (##) When HASH or HMAC processing is suspended, HAL_HASH_ContextSaving() allows - to save in memory the Peripheral context. This context can be restored afterwards - to resume the HASH processing thanks to HAL_HASH_ContextRestoring(). - - (##) Once the HASH Peripheral has been restored to the same configuration as that at suspension - time, processing can be restarted with the same API call (same API, same handle, - same parameters) as done before the suspension. Relevant parameters to restart at - the proper location are internally saved in the HASH handle. - - (#)Call HAL_HASH_DeInit() to deinitialize the HASH peripheral. - - *** Remarks on message length *** - =================================== - [..] - (#) HAL in interruption mode (interruptions driven) - - (##)Due to HASH peripheral hardware design, the peripheral interruption is triggered every 64 bytes. - This is why, for driver implementation simplicity’s sake, user is requested to enter a message the - length of which is a multiple of 4 bytes. - - (##) When the message length (in bytes) is not a multiple of words, a specific field exists in HASH_STR - to specify which bits to discard at the end of the complete message to process only the message bits - and not extra bits. - - (##) If user needs to perform a hash computation of a large input buffer that is spread around various places - in memory and where each piece of this input buffer is not necessarily a multiple of 4 bytes in size, it becomes - necessary to use a temporary buffer to format the data accordingly before feeding them to the Peripheral. - It is advised to the user to - (+++) achieve the first formatting operation by software then enter the data - (+++) while the Peripheral is processing the first input set, carry out the second formatting - operation by software, to be ready when DINIS occurs. - (+++) repeat step 2 until the whole message is processed. - - [..] - (#) HAL in DMA mode - - (##) Again, due to hardware design, the DMA transfer to feed the data can only be done on a word-basis. - The same field described above in HASH_STR is used to specify which bits to discard at the end of the - DMA transfer to process only the message bits and not extra bits. Due to hardware implementation, - this is possible only at the end of the complete message. When several DMA transfers are needed to - enter the message, this is not applicable at the end of the intermediary transfers. - - (##) Similarly to the interruption-driven mode, it is suggested to the user to format the consecutive - chunks of data by software while the DMA transfer and processing is on-going for the first parts of - the message. Due to the 32-bit alignment required for the DMA transfer, it is underlined that the - software formatting operation is more complex than in the IT mode. - - *** Callback registration *** - =================================== - [..] - (#) The compilation define USE_HAL_HASH_REGISTER_CALLBACKS when set to 1 - allows the user to configure dynamically the driver callbacks. - Use function @ref HAL_HASH_RegisterCallback() to register a user callback. - - (#) Function @ref HAL_HASH_RegisterCallback() allows to register following callbacks: - (+) InCpltCallback : callback for input completion. - (+) DgstCpltCallback : callback for digest computation completion. - (+) ErrorCallback : callback for error. - (+) MspInitCallback : HASH MspInit. - (+) MspDeInitCallback : HASH MspDeInit. - This function takes as parameters the HAL peripheral handle, the Callback ID - and a pointer to the user callback function. - - (#) Use function @ref HAL_HASH_UnRegisterCallback() to reset a callback to the default - weak (surcharged) function. - @ref HAL_HASH_UnRegisterCallback() takes as parameters the HAL peripheral handle, - and the Callback ID. - This function allows to reset following callbacks: - (+) InCpltCallback : callback for input completion. - (+) DgstCpltCallback : callback for digest computation completion. - (+) ErrorCallback : callback for error. - (+) MspInitCallback : HASH MspInit. - (+) MspDeInitCallback : HASH MspDeInit. - - (#) By default, after the @ref HAL_HASH_Init and if the state is HAL_HASH_STATE_RESET - all callbacks are reset to the corresponding legacy weak (surcharged) functions: - examples @ref HAL_HASH_InCpltCallback(), @ref HAL_HASH_DgstCpltCallback() - Exception done for MspInit and MspDeInit callbacks that are respectively - reset to the legacy weak (surcharged) functions in the @ref HAL_HASH_Init - and @ref HAL_HASH_DeInit only when these callbacks are null (not registered beforehand) - If not, MspInit or MspDeInit are not null, the @ref HAL_HASH_Init and @ref HAL_HASH_DeInit - keep and use the user MspInit/MspDeInit callbacks (registered beforehand). - - Callbacks can be registered/unregistered in READY state only. - Exception done for MspInit/MspDeInit callbacks that can be registered/unregistered - in READY or RESET state, thus registered (user) MspInit/DeInit callbacks can be used - during the Init/DeInit. - In that case first register the MspInit/MspDeInit user callbacks - using @ref HAL_HASH_RegisterCallback before calling @ref HAL_HASH_DeInit - or @ref HAL_HASH_Init function. - - When The compilation define USE_HAL_HASH_REGISTER_CALLBACKS is set to 0 or - not defined, the callback registering feature is not available - and weak (surcharged) callbacks are used. - - @endverbatim - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal.h" - - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ -#if defined (HASH) - -/** @defgroup HASH HASH - * @brief HASH HAL module driver. - * @{ - */ - -#ifdef HAL_HASH_MODULE_ENABLED - -/* Private typedef -----------------------------------------------------------*/ -/* Private define ------------------------------------------------------------*/ -/** @defgroup HASH_Private_Constants HASH Private Constants - * @{ - */ - -/** @defgroup HASH_Digest_Calculation_Status HASH Digest Calculation Status - * @{ - */ -#define HASH_DIGEST_CALCULATION_NOT_STARTED ((uint32_t)0x00000000U) /*!< DCAL not set after input data written in DIN register */ -#define HASH_DIGEST_CALCULATION_STARTED ((uint32_t)0x00000001U) /*!< DCAL set after input data written in DIN register */ -/** - * @} - */ - -/** @defgroup HASH_Number_Of_CSR_Registers HASH Number of Context Swap Registers - * @{ - */ -#define HASH_NUMBER_OF_CSR_REGISTERS 54U /*!< Number of Context Swap Registers */ -/** - * @} - */ - -/** @defgroup HASH_TimeOut_Value HASH TimeOut Value - * @{ - */ -#define HASH_TIMEOUTVALUE 1000U /*!< Time-out value */ -/** - * @} - */ - -/** @defgroup HASH_DMA_Suspension_Words_Limit HASH DMA suspension words limit - * @{ - */ -#define HASH_DMA_SUSPENSION_WORDS_LIMIT 20U /*!< Number of words below which DMA suspension is aborted */ -/** - * @} - */ - -/** - * @} - */ - -/* Private macro -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private function prototypes -----------------------------------------------*/ -/** @defgroup HASH_Private_Functions HASH Private Functions - * @{ - */ -static void HASH_DMAXferCplt(DMA_HandleTypeDef *hdma); -static void HASH_DMAError(DMA_HandleTypeDef *hdma); -static void HASH_GetDigest(uint8_t *pMsgDigest, uint8_t Size); -static HAL_StatusTypeDef HASH_WaitOnFlagUntilTimeout(HASH_HandleTypeDef *hhash, uint32_t Flag, FlagStatus Status, - uint32_t Timeout); -static HAL_StatusTypeDef HASH_WriteData(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size); -static HAL_StatusTypeDef HASH_IT(HASH_HandleTypeDef *hhash); -static uint32_t HASH_Write_Block_Data(HASH_HandleTypeDef *hhash); -static HAL_StatusTypeDef HMAC_Processing(HASH_HandleTypeDef *hhash, uint32_t Timeout); -/** - * @} - */ - -/** @defgroup HASH_Exported_Functions HASH Exported Functions - * @{ - */ - -/** @defgroup HASH_Exported_Functions_Group1 Initialization and de-initialization functions - * @brief Initialization, configuration and call-back functions. - * -@verbatim - =============================================================================== - ##### Initialization and de-initialization functions ##### - =============================================================================== - [..] This section provides functions allowing to: - (+) Initialize the HASH according to the specified parameters - in the HASH_InitTypeDef and create the associated handle - (+) DeInitialize the HASH peripheral - (+) Initialize the HASH MCU Specific Package (MSP) - (+) DeInitialize the HASH MSP - - [..] This section provides as well call back functions definitions for user - code to manage: - (+) Input data transfer to Peripheral completion - (+) Calculated digest retrieval completion - (+) Error management - - - -@endverbatim - * @{ - */ - -/** - * @brief Initialize the HASH according to the specified parameters in the - HASH_HandleTypeDef and create the associated handle. - * @note Only MDMAT and DATATYPE bits of HASH Peripheral are set by HAL_HASH_Init(), - * other configuration bits are set by HASH or HMAC processing APIs. - * @note MDMAT bit is systematically reset by HAL_HASH_Init(). To set it for - * multi-buffer HASH processing, user needs to resort to - * __HAL_HASH_SET_MDMAT() macro. For HMAC multi-buffer processing, the - * relevant APIs manage themselves the MDMAT bit. - * @param hhash HASH handle - * @retval HAL status - */ -HAL_StatusTypeDef HAL_HASH_Init(HASH_HandleTypeDef *hhash) -{ - /* Check the hash handle allocation */ - if (hhash == NULL) - { - return HAL_ERROR; - } - - /* Check the parameters */ - assert_param(IS_HASH_DATATYPE(hhash->Init.DataType)); - -#if (USE_HAL_HASH_REGISTER_CALLBACKS == 1) - if (hhash->State == HAL_HASH_STATE_RESET) - { - /* Allocate lock resource and initialize it */ - hhash->Lock = HAL_UNLOCKED; - - /* Reset Callback pointers in HAL_HASH_STATE_RESET only */ - hhash->InCpltCallback = HAL_HASH_InCpltCallback; /* Legacy weak (surcharged) input completion callback */ - hhash->DgstCpltCallback = HAL_HASH_DgstCpltCallback; /* Legacy weak (surcharged) digest computation - completion callback */ - hhash->ErrorCallback = HAL_HASH_ErrorCallback; /* Legacy weak (surcharged) error callback */ - if (hhash->MspInitCallback == NULL) - { - hhash->MspInitCallback = HAL_HASH_MspInit; - } - - /* Init the low level hardware */ - hhash->MspInitCallback(hhash); - } -#else - if (hhash->State == HAL_HASH_STATE_RESET) - { - /* Allocate lock resource and initialize it */ - hhash->Lock = HAL_UNLOCKED; - - /* Init the low level hardware */ - HAL_HASH_MspInit(hhash); - } -#endif /* (USE_HAL_HASH_REGISTER_CALLBACKS) */ - - /* Change the HASH state */ - hhash->State = HAL_HASH_STATE_BUSY; - - /* Reset HashInCount, HashITCounter, HashBuffSize and NbWordsAlreadyPushed */ - hhash->HashInCount = 0; - hhash->HashBuffSize = 0; - hhash->HashITCounter = 0; - hhash->NbWordsAlreadyPushed = 0; - /* Reset digest calculation bridle (MDMAT bit control) */ - hhash->DigestCalculationDisable = RESET; - /* Set phase to READY */ - hhash->Phase = HAL_HASH_PHASE_READY; - /* Reset suspension request flag */ - hhash->SuspendRequest = HAL_HASH_SUSPEND_NONE; - - /* Set the data type bit */ - MODIFY_REG(HASH->CR, HASH_CR_DATATYPE, hhash->Init.DataType); -#if defined(HASH_CR_MDMAT) - /* Reset MDMAT bit */ - __HAL_HASH_RESET_MDMAT(); -#endif /* HASH_CR_MDMAT */ - /* Reset HASH handle status */ - hhash->Status = HAL_OK; - - /* Set the HASH state to Ready */ - hhash->State = HAL_HASH_STATE_READY; - - /* Initialise the error code */ - hhash->ErrorCode = HAL_HASH_ERROR_NONE; - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief DeInitialize the HASH peripheral. - * @param hhash HASH handle. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_HASH_DeInit(HASH_HandleTypeDef *hhash) -{ - /* Check the HASH handle allocation */ - if (hhash == NULL) - { - return HAL_ERROR; - } - - /* Change the HASH state */ - hhash->State = HAL_HASH_STATE_BUSY; - - /* Set the default HASH phase */ - hhash->Phase = HAL_HASH_PHASE_READY; - - /* Reset HashInCount, HashITCounter and HashBuffSize */ - hhash->HashInCount = 0; - hhash->HashBuffSize = 0; - hhash->HashITCounter = 0; - /* Reset digest calculation bridle (MDMAT bit control) */ - hhash->DigestCalculationDisable = RESET; - -#if (USE_HAL_HASH_REGISTER_CALLBACKS == 1) - if (hhash->MspDeInitCallback == NULL) - { - hhash->MspDeInitCallback = HAL_HASH_MspDeInit; - } - - /* DeInit the low level hardware */ - hhash->MspDeInitCallback(hhash); -#else - /* DeInit the low level hardware: CLOCK, NVIC */ - HAL_HASH_MspDeInit(hhash); -#endif /* (USE_HAL_HASH_REGISTER_CALLBACKS) */ - - - /* Reset HASH handle status */ - hhash->Status = HAL_OK; - - /* Set the HASH state to Ready */ - hhash->State = HAL_HASH_STATE_RESET; - - /* Initialise the error code */ - hhash->ErrorCode = HAL_HASH_ERROR_NONE; - - /* Reset multi buffers accumulation flag */ - hhash->Accumulation = 0U; - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Initialize the HASH MSP. - * @param hhash HASH handle. - * @retval None - */ -__weak void HAL_HASH_MspInit(HASH_HandleTypeDef *hhash) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hhash); - - /* NOTE : This function should not be modified; when the callback is needed, - HAL_HASH_MspInit() can be implemented in the user file. - */ -} - -/** - * @brief DeInitialize the HASH MSP. - * @param hhash HASH handle. - * @retval None - */ -__weak void HAL_HASH_MspDeInit(HASH_HandleTypeDef *hhash) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hhash); - - /* NOTE : This function should not be modified; when the callback is needed, - HAL_HASH_MspDeInit() can be implemented in the user file. - */ -} - -/** - * @brief Input data transfer complete call back. - * @note HAL_HASH_InCpltCallback() is called when the complete input message - * has been fed to the Peripheral. This API is invoked only when input data are - * entered under interruption or through DMA. - * @note In case of HASH or HMAC multi-buffer DMA feeding case (MDMAT bit set), - * HAL_HASH_InCpltCallback() is called at the end of each buffer feeding - * to the Peripheral. - * @param hhash HASH handle. - * @retval None - */ -__weak void HAL_HASH_InCpltCallback(HASH_HandleTypeDef *hhash) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hhash); - - /* NOTE : This function should not be modified; when the callback is needed, - HAL_HASH_InCpltCallback() can be implemented in the user file. - */ -} - -/** - * @brief Digest computation complete call back. - * @note HAL_HASH_DgstCpltCallback() is used under interruption, is not - * relevant with DMA. - * @param hhash HASH handle. - * @retval None - */ -__weak void HAL_HASH_DgstCpltCallback(HASH_HandleTypeDef *hhash) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hhash); - - /* NOTE : This function should not be modified; when the callback is needed, - HAL_HASH_DgstCpltCallback() can be implemented in the user file. - */ -} - -/** - * @brief Error callback. - * @note Code user can resort to hhash->Status (HAL_ERROR, HAL_TIMEOUT,...) - * to retrieve the error type. - * @param hhash HASH handle. - * @retval None - */ -__weak void HAL_HASH_ErrorCallback(HASH_HandleTypeDef *hhash) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hhash); - - /* NOTE : This function should not be modified; when the callback is needed, - HAL_HASH_ErrorCallback() can be implemented in the user file. - */ -} - -#if (USE_HAL_HASH_REGISTER_CALLBACKS == 1) -/** - * @brief Register a User HASH Callback - * To be used instead of the weak (surcharged) predefined callback - * @param hhash HASH handle - * @param CallbackID ID of the callback to be registered - * This parameter can be one of the following values: - * @arg @ref HAL_HASH_INPUTCPLT_CB_ID HASH input completion Callback ID - * @arg @ref HAL_HASH_DGSTCPLT_CB_ID HASH digest computation completion Callback ID - * @arg @ref HAL_HASH_ERROR_CB_ID HASH error Callback ID - * @arg @ref HAL_HASH_MSPINIT_CB_ID HASH MspInit callback ID - * @arg @ref HAL_HASH_MSPDEINIT_CB_ID HASH MspDeInit callback ID - * @param pCallback pointer to the Callback function - * @retval status - */ -HAL_StatusTypeDef HAL_HASH_RegisterCallback(HASH_HandleTypeDef *hhash, HAL_HASH_CallbackIDTypeDef CallbackID, - pHASH_CallbackTypeDef pCallback) -{ - HAL_StatusTypeDef status = HAL_OK; - - if (pCallback == NULL) - { - /* Update the error code */ - hhash->ErrorCode |= HAL_HASH_ERROR_INVALID_CALLBACK; - return HAL_ERROR; - } - /* Process locked */ - __HAL_LOCK(hhash); - - if (HAL_HASH_STATE_READY == hhash->State) - { - switch (CallbackID) - { - case HAL_HASH_INPUTCPLT_CB_ID : - hhash->InCpltCallback = pCallback; - break; - - case HAL_HASH_DGSTCPLT_CB_ID : - hhash->DgstCpltCallback = pCallback; - break; - - case HAL_HASH_ERROR_CB_ID : - hhash->ErrorCallback = pCallback; - break; - - case HAL_HASH_MSPINIT_CB_ID : - hhash->MspInitCallback = pCallback; - break; - - case HAL_HASH_MSPDEINIT_CB_ID : - hhash->MspDeInitCallback = pCallback; - break; - - default : - /* Update the error code */ - hhash->ErrorCode |= HAL_HASH_ERROR_INVALID_CALLBACK; - /* update return status */ - status = HAL_ERROR; - break; - } - } - else if (HAL_HASH_STATE_RESET == hhash->State) - { - switch (CallbackID) - { - case HAL_HASH_MSPINIT_CB_ID : - hhash->MspInitCallback = pCallback; - break; - - case HAL_HASH_MSPDEINIT_CB_ID : - hhash->MspDeInitCallback = pCallback; - break; - - default : - /* Update the error code */ - hhash->ErrorCode |= HAL_HASH_ERROR_INVALID_CALLBACK; - /* update return status */ - status = HAL_ERROR; - break; - } - } - else - { - /* Update the error code */ - hhash->ErrorCode |= HAL_HASH_ERROR_INVALID_CALLBACK; - /* update return status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(hhash); - return status; -} - -/** - * @brief Unregister a HASH Callback - * HASH Callback is redirected to the weak (surcharged) predefined callback - * @param hhash HASH handle - * @param CallbackID ID of the callback to be unregistered - * This parameter can be one of the following values: - * @arg @ref HAL_HASH_INPUTCPLT_CB_ID HASH input completion Callback ID - * @arg @ref HAL_HASH_DGSTCPLT_CB_ID HASH digest computation completion Callback ID - * @arg @ref HAL_HASH_ERROR_CB_ID HASH error Callback ID - * @arg @ref HAL_HASH_MSPINIT_CB_ID HASH MspInit callback ID - * @arg @ref HAL_HASH_MSPDEINIT_CB_ID HASH MspDeInit callback ID - * @retval status - */ -HAL_StatusTypeDef HAL_HASH_UnRegisterCallback(HASH_HandleTypeDef *hhash, HAL_HASH_CallbackIDTypeDef CallbackID) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Process locked */ - __HAL_LOCK(hhash); - - if (HAL_HASH_STATE_READY == hhash->State) - { - switch (CallbackID) - { - case HAL_HASH_INPUTCPLT_CB_ID : - hhash->InCpltCallback = HAL_HASH_InCpltCallback; /* Legacy weak (surcharged) input completion callback */ - break; - - case HAL_HASH_DGSTCPLT_CB_ID : - hhash->DgstCpltCallback = HAL_HASH_DgstCpltCallback; /* Legacy weak (surcharged) digest computation - completion callback */ - break; - - case HAL_HASH_ERROR_CB_ID : - hhash->ErrorCallback = HAL_HASH_ErrorCallback; /* Legacy weak (surcharged) error callback */ - break; - - case HAL_HASH_MSPINIT_CB_ID : - hhash->MspInitCallback = HAL_HASH_MspInit; /* Legacy weak (surcharged) Msp Init */ - break; - - case HAL_HASH_MSPDEINIT_CB_ID : - hhash->MspDeInitCallback = HAL_HASH_MspDeInit; /* Legacy weak (surcharged) Msp DeInit */ - break; - - default : - /* Update the error code */ - hhash->ErrorCode |= HAL_HASH_ERROR_INVALID_CALLBACK; - /* update return status */ - status = HAL_ERROR; - break; - } - } - else if (HAL_HASH_STATE_RESET == hhash->State) - { - switch (CallbackID) - { - case HAL_HASH_MSPINIT_CB_ID : - hhash->MspInitCallback = HAL_HASH_MspInit; /* Legacy weak (surcharged) Msp Init */ - break; - - case HAL_HASH_MSPDEINIT_CB_ID : - hhash->MspDeInitCallback = HAL_HASH_MspDeInit; /* Legacy weak (surcharged) Msp DeInit */ - break; - - default : - /* Update the error code */ - hhash->ErrorCode |= HAL_HASH_ERROR_INVALID_CALLBACK; - /* update return status */ - status = HAL_ERROR; - break; - } - } - else - { - /* Update the error code */ - hhash->ErrorCode |= HAL_HASH_ERROR_INVALID_CALLBACK; - /* update return status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(hhash); - return status; -} -#endif /* USE_HAL_HASH_REGISTER_CALLBACKS */ - -/** - * @} - */ - -/** @defgroup HASH_Exported_Functions_Group2 HASH processing functions in polling mode - * @brief HASH processing functions using polling mode. - * -@verbatim - =============================================================================== - ##### Polling mode HASH processing functions ##### - =============================================================================== - [..] This section provides functions allowing to calculate in polling mode - the hash value using one of the following algorithms: - (+) MD5 - (++) HAL_HASH_MD5_Start() - (++) HAL_HASH_MD5_Accmlt() - (++) HAL_HASH_MD5_Accmlt_End() - (+) SHA1 - (++) HAL_HASH_SHA1_Start() - (++) HAL_HASH_SHA1_Accmlt() - (++) HAL_HASH_SHA1_Accmlt_End() - - [..] For a single buffer to be hashed, user can resort to HAL_HASH_xxx_Start(). - - [..] In case of multi-buffer HASH processing (a single digest is computed while - several buffers are fed to the Peripheral), the user can resort to successive calls - to HAL_HASH_xxx_Accumulate() and wrap-up the digest computation by a call - to HAL_HASH_xxx_Accumulate_End(). - -@endverbatim - * @{ - */ - -/** - * @brief Initialize the HASH peripheral in MD5 mode, next process pInBuffer then - * read the computed digest. - * @note Digest is available in pOutBuffer. - * @param hhash HASH handle. - * @param pInBuffer pointer to the input buffer (buffer to be hashed). - * @param Size length of the input buffer in bytes. - * @param pOutBuffer pointer to the computed digest. Digest size is 16 bytes. - * @param Timeout Timeout value - * @retval HAL status - */ -HAL_StatusTypeDef HAL_HASH_MD5_Start(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size, uint8_t *pOutBuffer, - uint32_t Timeout) -{ - return HASH_Start(hhash, pInBuffer, Size, pOutBuffer, Timeout, HASH_ALGOSELECTION_MD5); -} - -/** - * @brief If not already done, initialize the HASH peripheral in MD5 mode then - * processes pInBuffer. - * @note Consecutive calls to HAL_HASH_MD5_Accmlt() can be used to feed - * several input buffers back-to-back to the Peripheral that will yield a single - * HASH signature once all buffers have been entered. Wrap-up of input - * buffers feeding and retrieval of digest is done by a call to - * HAL_HASH_MD5_Accmlt_End(). - * @note Field hhash->Phase of HASH handle is tested to check whether or not - * the Peripheral has already been initialized. - * @note Digest is not retrieved by this API, user must resort to HAL_HASH_MD5_Accmlt_End() - * to read it, feeding at the same time the last input buffer to the Peripheral. - * @note The input buffer size (in bytes) must be a multiple of 4 otherwise, the - * HASH digest computation is corrupted. Only HAL_HASH_MD5_Accmlt_End() is able - * to manage the ending buffer with a length in bytes not a multiple of 4. - * @param hhash HASH handle. - * @param pInBuffer pointer to the input buffer (buffer to be hashed). - * @param Size length of the input buffer in bytes, must be a multiple of 4. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_HASH_MD5_Accmlt(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size) -{ - return HASH_Accumulate(hhash, pInBuffer, Size, HASH_ALGOSELECTION_MD5); -} - -/** - * @brief End computation of a single HASH signature after several calls to HAL_HASH_MD5_Accmlt() API. - * @note Digest is available in pOutBuffer. - * @param hhash HASH handle. - * @param pInBuffer pointer to the input buffer (buffer to be hashed). - * @param Size length of the input buffer in bytes. - * @param pOutBuffer pointer to the computed digest. Digest size is 16 bytes. - * @param Timeout Timeout value - * @retval HAL status - */ -HAL_StatusTypeDef HAL_HASH_MD5_Accmlt_End(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size, - uint8_t *pOutBuffer, uint32_t Timeout) -{ - return HASH_Start(hhash, pInBuffer, Size, pOutBuffer, Timeout, HASH_ALGOSELECTION_MD5); -} - -/** - * @brief Initialize the HASH peripheral in SHA1 mode, next process pInBuffer then - * read the computed digest. - * @note Digest is available in pOutBuffer. - * @param hhash HASH handle. - * @param pInBuffer pointer to the input buffer (buffer to be hashed). - * @param Size length of the input buffer in bytes. - * @param pOutBuffer pointer to the computed digest. Digest size is 20 bytes. - * @param Timeout Timeout value - * @retval HAL status - */ -HAL_StatusTypeDef HAL_HASH_SHA1_Start(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size, uint8_t *pOutBuffer, - uint32_t Timeout) -{ - return HASH_Start(hhash, pInBuffer, Size, pOutBuffer, Timeout, HASH_ALGOSELECTION_SHA1); -} - -/** - * @brief If not already done, initialize the HASH peripheral in SHA1 mode then - * processes pInBuffer. - * @note Consecutive calls to HAL_HASH_SHA1_Accmlt() can be used to feed - * several input buffers back-to-back to the Peripheral that will yield a single - * HASH signature once all buffers have been entered. Wrap-up of input - * buffers feeding and retrieval of digest is done by a call to - * HAL_HASH_SHA1_Accmlt_End(). - * @note Field hhash->Phase of HASH handle is tested to check whether or not - * the Peripheral has already been initialized. - * @note Digest is not retrieved by this API, user must resort to HAL_HASH_SHA1_Accmlt_End() - * to read it, feeding at the same time the last input buffer to the Peripheral. - * @note The input buffer size (in bytes) must be a multiple of 4 otherwise, the - * HASH digest computation is corrupted. Only HAL_HASH_SHA1_Accmlt_End() is able - * to manage the ending buffer with a length in bytes not a multiple of 4. - * @param hhash HASH handle. - * @param pInBuffer pointer to the input buffer (buffer to be hashed). - * @param Size length of the input buffer in bytes, must be a multiple of 4. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_HASH_SHA1_Accmlt(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size) -{ - return HASH_Accumulate(hhash, pInBuffer, Size, HASH_ALGOSELECTION_SHA1); -} - -/** - * @brief End computation of a single HASH signature after several calls to HAL_HASH_SHA1_Accmlt() API. - * @note Digest is available in pOutBuffer. - * @param hhash HASH handle. - * @param pInBuffer pointer to the input buffer (buffer to be hashed). - * @param Size length of the input buffer in bytes. - * @param pOutBuffer pointer to the computed digest. Digest size is 20 bytes. - * @param Timeout Timeout value - * @retval HAL status - */ -HAL_StatusTypeDef HAL_HASH_SHA1_Accmlt_End(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size, - uint8_t *pOutBuffer, uint32_t Timeout) -{ - return HASH_Start(hhash, pInBuffer, Size, pOutBuffer, Timeout, HASH_ALGOSELECTION_SHA1); -} - -/** - * @} - */ - -/** @defgroup HASH_Exported_Functions_Group3 HASH processing functions in interrupt mode - * @brief HASH processing functions using interrupt mode. - * -@verbatim - =============================================================================== - ##### Interruption mode HASH processing functions ##### - =============================================================================== - [..] This section provides functions allowing to calculate in interrupt mode - the hash value using one of the following algorithms: - (+) MD5 - (++) HAL_HASH_MD5_Start_IT() - (++) HAL_HASH_MD5_Accmlt_IT() - (++) HAL_HASH_MD5_Accmlt_End_IT() - (+) SHA1 - (++) HAL_HASH_SHA1_Start_IT() - (++) HAL_HASH_SHA1_Accmlt_IT() - (++) HAL_HASH_SHA1_Accmlt_End_IT() - - [..] API HAL_HASH_IRQHandler() manages each HASH interruption. - - [..] Note that HAL_HASH_IRQHandler() manages as well HASH Peripheral interruptions when in - HMAC processing mode. - - -@endverbatim - * @{ - */ - -/** - * @brief Initialize the HASH peripheral in MD5 mode, next process pInBuffer then - * read the computed digest in interruption mode. - * @note Digest is available in pOutBuffer. - * @param hhash HASH handle. - * @param pInBuffer pointer to the input buffer (buffer to be hashed). - * @param Size length of the input buffer in bytes. - * @param pOutBuffer pointer to the computed digest. Digest size is 16 bytes. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_HASH_MD5_Start_IT(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size, - uint8_t *pOutBuffer) -{ - return HASH_Start_IT(hhash, pInBuffer, Size, pOutBuffer, HASH_ALGOSELECTION_MD5); -} - -/** - * @brief If not already done, initialize the HASH peripheral in MD5 mode then - * processes pInBuffer in interruption mode. - * @note Consecutive calls to HAL_HASH_MD5_Accmlt_IT() can be used to feed - * several input buffers back-to-back to the Peripheral that will yield a single - * HASH signature once all buffers have been entered. Wrap-up of input - * buffers feeding and retrieval of digest is done by a call to - * HAL_HASH_MD5_Accmlt_End_IT(). - * @note Field hhash->Phase of HASH handle is tested to check whether or not - * the Peripheral has already been initialized. - * @note The input buffer size (in bytes) must be a multiple of 4 otherwise, the - * HASH digest computation is corrupted. Only HAL_HASH_MD5_Accmlt_End_IT() is able - * to manage the ending buffer with a length in bytes not a multiple of 4. - * @param hhash HASH handle. - * @param pInBuffer pointer to the input buffer (buffer to be hashed). - * @param Size length of the input buffer in bytes, must be a multiple of 4. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_HASH_MD5_Accmlt_IT(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size) -{ - return HASH_Accumulate_IT(hhash, pInBuffer, Size, HASH_ALGOSELECTION_MD5); -} - -/** - * @brief End computation of a single HASH signature after several calls to HAL_HASH_MD5_Accmlt_IT() API. - * @note Digest is available in pOutBuffer. - * @param hhash HASH handle. - * @param pInBuffer pointer to the input buffer (buffer to be hashed). - * @param Size length of the input buffer in bytes. - * @param pOutBuffer pointer to the computed digest. Digest size is 16 bytes. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_HASH_MD5_Accmlt_End_IT(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size, - uint8_t *pOutBuffer) -{ - return HASH_Start_IT(hhash, pInBuffer, Size, pOutBuffer, HASH_ALGOSELECTION_MD5); -} - -/** - * @brief Initialize the HASH peripheral in SHA1 mode, next process pInBuffer then - * read the computed digest in interruption mode. - * @note Digest is available in pOutBuffer. - * @param hhash HASH handle. - * @param pInBuffer pointer to the input buffer (buffer to be hashed). - * @param Size length of the input buffer in bytes. - * @param pOutBuffer pointer to the computed digest. Digest size is 20 bytes. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_HASH_SHA1_Start_IT(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size, - uint8_t *pOutBuffer) -{ - return HASH_Start_IT(hhash, pInBuffer, Size, pOutBuffer, HASH_ALGOSELECTION_SHA1); -} - - -/** - * @brief If not already done, initialize the HASH peripheral in SHA1 mode then - * processes pInBuffer in interruption mode. - * @note Consecutive calls to HAL_HASH_SHA1_Accmlt_IT() can be used to feed - * several input buffers back-to-back to the Peripheral that will yield a single - * HASH signature once all buffers have been entered. Wrap-up of input - * buffers feeding and retrieval of digest is done by a call to - * HAL_HASH_SHA1_Accmlt_End_IT(). - * @note Field hhash->Phase of HASH handle is tested to check whether or not - * the Peripheral has already been initialized. - * @note The input buffer size (in bytes) must be a multiple of 4 otherwise, the - * HASH digest computation is corrupted. Only HAL_HASH_SHA1_Accmlt_End_IT() is able - * to manage the ending buffer with a length in bytes not a multiple of 4. - * @param hhash HASH handle. - * @param pInBuffer pointer to the input buffer (buffer to be hashed). - * @param Size length of the input buffer in bytes, must be a multiple of 4. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_HASH_SHA1_Accmlt_IT(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size) -{ - return HASH_Accumulate_IT(hhash, pInBuffer, Size, HASH_ALGOSELECTION_SHA1); -} - -/** - * @brief End computation of a single HASH signature after several calls to HAL_HASH_SHA1_Accmlt_IT() API. - * @note Digest is available in pOutBuffer. - * @param hhash HASH handle. - * @param pInBuffer pointer to the input buffer (buffer to be hashed). - * @param Size length of the input buffer in bytes. - * @param pOutBuffer pointer to the computed digest. Digest size is 20 bytes. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_HASH_SHA1_Accmlt_End_IT(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size, - uint8_t *pOutBuffer) -{ - return HASH_Start_IT(hhash, pInBuffer, Size, pOutBuffer, HASH_ALGOSELECTION_SHA1); -} - -/** - * @brief Handle HASH interrupt request. - * @param hhash HASH handle. - * @note HAL_HASH_IRQHandler() handles interrupts in HMAC processing as well. - * @note In case of error reported during the HASH interruption processing, - * HAL_HASH_ErrorCallback() API is called so that user code can - * manage the error. The error type is available in hhash->Status field. - * @retval None - */ -void HAL_HASH_IRQHandler(HASH_HandleTypeDef *hhash) -{ - hhash->Status = HASH_IT(hhash); - if (hhash->Status != HAL_OK) - { - hhash->ErrorCode |= HAL_HASH_ERROR_IT; -#if (USE_HAL_HASH_REGISTER_CALLBACKS == 1) - hhash->ErrorCallback(hhash); -#else - HAL_HASH_ErrorCallback(hhash); -#endif /* USE_HAL_HASH_REGISTER_CALLBACKS */ - /* After error handling by code user, reset HASH handle HAL status */ - hhash->Status = HAL_OK; - } -} - -/** - * @} - */ - -/** @defgroup HASH_Exported_Functions_Group4 HASH processing functions in DMA mode - * @brief HASH processing functions using DMA mode. - * -@verbatim - =============================================================================== - ##### DMA mode HASH processing functions ##### - =============================================================================== - [..] This section provides functions allowing to calculate in DMA mode - the hash value using one of the following algorithms: - (+) MD5 - (++) HAL_HASH_MD5_Start_DMA() - (++) HAL_HASH_MD5_Finish() - (+) SHA1 - (++) HAL_HASH_SHA1_Start_DMA() - (++) HAL_HASH_SHA1_Finish() - - [..] When resorting to DMA mode to enter the data in the Peripheral, user must resort - to HAL_HASH_xxx_Start_DMA() then read the resulting digest with - HAL_HASH_xxx_Finish(). - [..] In case of multi-buffer HASH processing, MDMAT bit must first be set before - the successive calls to HAL_HASH_xxx_Start_DMA(). Then, MDMAT bit needs to be - reset before the last call to HAL_HASH_xxx_Start_DMA(). Digest is finally - retrieved thanks to HAL_HASH_xxx_Finish(). - -@endverbatim - * @{ - */ - -/** - * @brief Initialize the HASH peripheral in MD5 mode then initiate a DMA transfer - * to feed the input buffer to the Peripheral. - * @note Once the DMA transfer is finished, HAL_HASH_MD5_Finish() API must - * be called to retrieve the computed digest. - * @param hhash HASH handle. - * @param pInBuffer pointer to the input buffer (buffer to be hashed). - * @param Size length of the input buffer in bytes. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_HASH_MD5_Start_DMA(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size) -{ - return HASH_Start_DMA(hhash, pInBuffer, Size, HASH_ALGOSELECTION_MD5); -} - -/** - * @brief Return the computed digest in MD5 mode. - * @note The API waits for DCIS to be set then reads the computed digest. - * @note HAL_HASH_MD5_Finish() can be used as well to retrieve the digest in - * HMAC MD5 mode. - * @param hhash HASH handle. - * @param pOutBuffer pointer to the computed digest. Digest size is 16 bytes. - * @param Timeout Timeout value. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_HASH_MD5_Finish(HASH_HandleTypeDef *hhash, uint8_t *pOutBuffer, uint32_t Timeout) -{ - return HASH_Finish(hhash, pOutBuffer, Timeout); -} - -/** - * @brief Initialize the HASH peripheral in SHA1 mode then initiate a DMA transfer - * to feed the input buffer to the Peripheral. - * @note Once the DMA transfer is finished, HAL_HASH_SHA1_Finish() API must - * be called to retrieve the computed digest. - * @param hhash HASH handle. - * @param pInBuffer pointer to the input buffer (buffer to be hashed). - * @param Size length of the input buffer in bytes. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_HASH_SHA1_Start_DMA(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size) -{ - return HASH_Start_DMA(hhash, pInBuffer, Size, HASH_ALGOSELECTION_SHA1); -} - - -/** - * @brief Return the computed digest in SHA1 mode. - * @note The API waits for DCIS to be set then reads the computed digest. - * @note HAL_HASH_SHA1_Finish() can be used as well to retrieve the digest in - * HMAC SHA1 mode. - * @param hhash HASH handle. - * @param pOutBuffer pointer to the computed digest. Digest size is 20 bytes. - * @param Timeout Timeout value. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_HASH_SHA1_Finish(HASH_HandleTypeDef *hhash, uint8_t *pOutBuffer, uint32_t Timeout) -{ - return HASH_Finish(hhash, pOutBuffer, Timeout); -} - -/** - * @} - */ - -/** @defgroup HASH_Exported_Functions_Group5 HMAC processing functions in polling mode - * @brief HMAC processing functions using polling mode. - * -@verbatim - =============================================================================== - ##### Polling mode HMAC processing functions ##### - =============================================================================== - [..] This section provides functions allowing to calculate in polling mode - the HMAC value using one of the following algorithms: - (+) MD5 - (++) HAL_HMAC_MD5_Start() - (+) SHA1 - (++) HAL_HMAC_SHA1_Start() - - -@endverbatim - * @{ - */ - -/** - * @brief Initialize the HASH peripheral in HMAC MD5 mode, next process pInBuffer then - * read the computed digest. - * @note Digest is available in pOutBuffer. - * @note Same key is used for the inner and the outer hash functions; pointer to key and - * key size are respectively stored in hhash->Init.pKey and hhash->Init.KeySize. - * @param hhash HASH handle. - * @param pInBuffer pointer to the input buffer (buffer to be hashed). - * @param Size length of the input buffer in bytes. - * @param pOutBuffer pointer to the computed digest. Digest size is 16 bytes. - * @param Timeout Timeout value. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_HMAC_MD5_Start(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size, uint8_t *pOutBuffer, - uint32_t Timeout) -{ - return HMAC_Start(hhash, pInBuffer, Size, pOutBuffer, Timeout, HASH_ALGOSELECTION_MD5); -} - -/** - * @brief Initialize the HASH peripheral in HMAC SHA1 mode, next process pInBuffer then - * read the computed digest. - * @note Digest is available in pOutBuffer. - * @note Same key is used for the inner and the outer hash functions; pointer to key and - * key size are respectively stored in hhash->Init.pKey and hhash->Init.KeySize. - * @param hhash HASH handle. - * @param pInBuffer pointer to the input buffer (buffer to be hashed). - * @param Size length of the input buffer in bytes. - * @param pOutBuffer pointer to the computed digest. Digest size is 20 bytes. - * @param Timeout Timeout value. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_HMAC_SHA1_Start(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size, uint8_t *pOutBuffer, - uint32_t Timeout) -{ - return HMAC_Start(hhash, pInBuffer, Size, pOutBuffer, Timeout, HASH_ALGOSELECTION_SHA1); -} - -/** - * @} - */ - - -/** @defgroup HASH_Exported_Functions_Group6 HMAC processing functions in interrupt mode - * @brief HMAC processing functions using interrupt mode. - * -@verbatim - =============================================================================== - ##### Interrupt mode HMAC processing functions ##### - =============================================================================== - [..] This section provides functions allowing to calculate in interrupt mode - the HMAC value using one of the following algorithms: - (+) MD5 - (++) HAL_HMAC_MD5_Start_IT() - (+) SHA1 - (++) HAL_HMAC_SHA1_Start_IT() - -@endverbatim - * @{ - */ - - -/** - * @brief Initialize the HASH peripheral in HMAC MD5 mode, next process pInBuffer then - * read the computed digest in interrupt mode. - * @note Digest is available in pOutBuffer. - * @note Same key is used for the inner and the outer hash functions; pointer to key and - * key size are respectively stored in hhash->Init.pKey and hhash->Init.KeySize. - * @param hhash HASH handle. - * @param pInBuffer pointer to the input buffer (buffer to be hashed). - * @param Size length of the input buffer in bytes. - * @param pOutBuffer pointer to the computed digest. Digest size is 16 bytes. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_HMAC_MD5_Start_IT(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size, - uint8_t *pOutBuffer) -{ - return HMAC_Start_IT(hhash, pInBuffer, Size, pOutBuffer, HASH_ALGOSELECTION_MD5); -} - -/** - * @brief Initialize the HASH peripheral in HMAC SHA1 mode, next process pInBuffer then - * read the computed digest in interrupt mode. - * @note Digest is available in pOutBuffer. - * @note Same key is used for the inner and the outer hash functions; pointer to key and - * key size are respectively stored in hhash->Init.pKey and hhash->Init.KeySize. - * @param hhash HASH handle. - * @param pInBuffer pointer to the input buffer (buffer to be hashed). - * @param Size length of the input buffer in bytes. - * @param pOutBuffer pointer to the computed digest. Digest size is 20 bytes. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_HMAC_SHA1_Start_IT(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size, - uint8_t *pOutBuffer) -{ - return HMAC_Start_IT(hhash, pInBuffer, Size, pOutBuffer, HASH_ALGOSELECTION_SHA1); -} - -/** - * @} - */ - - - -/** @defgroup HASH_Exported_Functions_Group7 HMAC processing functions in DMA mode - * @brief HMAC processing functions using DMA modes. - * -@verbatim - =============================================================================== - ##### DMA mode HMAC processing functions ##### - =============================================================================== - [..] This section provides functions allowing to calculate in DMA mode - the HMAC value using one of the following algorithms: - (+) MD5 - (++) HAL_HMAC_MD5_Start_DMA() - (+) SHA1 - (++) HAL_HMAC_SHA1_Start_DMA() - - [..] When resorting to DMA mode to enter the data in the Peripheral for HMAC processing, - user must resort to HAL_HMAC_xxx_Start_DMA() then read the resulting digest - with HAL_HASH_xxx_Finish(). - -@endverbatim - * @{ - */ - - -/** - * @brief Initialize the HASH peripheral in HMAC MD5 mode then initiate the required - * DMA transfers to feed the key and the input buffer to the Peripheral. - * @note Once the DMA transfers are finished (indicated by hhash->State set back - * to HAL_HASH_STATE_READY), HAL_HASH_MD5_Finish() API must be called to retrieve - * the computed digest. - * @note Same key is used for the inner and the outer hash functions; pointer to key and - * key size are respectively stored in hhash->Init.pKey and hhash->Init.KeySize. - * @note If MDMAT bit is set before calling this function (multi-buffer - * HASH processing case), the input buffer size (in bytes) must be - * a multiple of 4 otherwise, the HASH digest computation is corrupted. - * For the processing of the last buffer of the thread, MDMAT bit must - * be reset and the buffer length (in bytes) doesn't have to be a - * multiple of 4. - * @param hhash HASH handle. - * @param pInBuffer pointer to the input buffer (buffer to be hashed). - * @param Size length of the input buffer in bytes. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_HMAC_MD5_Start_DMA(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size) -{ - return HMAC_Start_DMA(hhash, pInBuffer, Size, HASH_ALGOSELECTION_MD5); -} - - -/** - * @brief Initialize the HASH peripheral in HMAC SHA1 mode then initiate the required - * DMA transfers to feed the key and the input buffer to the Peripheral. - * @note Once the DMA transfers are finished (indicated by hhash->State set back - * to HAL_HASH_STATE_READY), HAL_HASH_SHA1_Finish() API must be called to retrieve - * the computed digest. - * @note Same key is used for the inner and the outer hash functions; pointer to key and - * key size are respectively stored in hhash->Init.pKey and hhash->Init.KeySize. - * @note If MDMAT bit is set before calling this function (multi-buffer - * HASH processing case), the input buffer size (in bytes) must be - * a multiple of 4 otherwise, the HASH digest computation is corrupted. - * For the processing of the last buffer of the thread, MDMAT bit must - * be reset and the buffer length (in bytes) doesn't have to be a - * multiple of 4. - * @param hhash HASH handle. - * @param pInBuffer pointer to the input buffer (buffer to be hashed). - * @param Size length of the input buffer in bytes. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_HMAC_SHA1_Start_DMA(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size) -{ - return HMAC_Start_DMA(hhash, pInBuffer, Size, HASH_ALGOSELECTION_SHA1); -} - -/** - * @} - */ - -/** @defgroup HASH_Exported_Functions_Group8 Peripheral states functions - * @brief Peripheral State functions. - * -@verbatim - =============================================================================== - ##### Peripheral State methods ##### - =============================================================================== - [..] - This section permits to get in run-time the state and the peripheral handle - status of the peripheral: - (+) HAL_HASH_GetState() - (+) HAL_HASH_GetStatus() - - [..] - Additionally, this subsection provides functions allowing to save and restore - the HASH or HMAC processing context in case of calculation suspension: - (+) HAL_HASH_ContextSaving() - (+) HAL_HASH_ContextRestoring() - - [..] - This subsection provides functions allowing to suspend the HASH processing - (+) when input are fed to the Peripheral by software - (++) HAL_HASH_SwFeed_ProcessSuspend() - (+) when input are fed to the Peripheral by DMA - (++) HAL_HASH_DMAFeed_ProcessSuspend() - - - -@endverbatim - * @{ - */ - -/** - * @brief Return the HASH handle state. - * @note The API yields the current state of the handle (BUSY, READY,...). - * @param hhash HASH handle. - * @retval HAL HASH state - */ -HAL_HASH_StateTypeDef HAL_HASH_GetState(HASH_HandleTypeDef *hhash) -{ - return hhash->State; -} - - -/** - * @brief Return the HASH HAL status. - * @note The API yields the HAL status of the handle: it is the result of the - * latest HASH processing and allows to report any issue (e.g. HAL_TIMEOUT). - * @param hhash HASH handle. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_HASH_GetStatus(HASH_HandleTypeDef *hhash) -{ - return hhash->Status; -} - -/** - * @brief Save the HASH context in case of processing suspension. - * @param hhash HASH handle. - * @param pMemBuffer pointer to the memory buffer where the HASH context - * is saved. - * @note The IMR, STR, CR then all the CSR registers are saved - * in that order. Only the r/w bits are read to be restored later on. - * @note By default, all the context swap registers (there are - * HASH_NUMBER_OF_CSR_REGISTERS of those) are saved. - * @note pMemBuffer points to a buffer allocated by the user. The buffer size - * must be at least (HASH_NUMBER_OF_CSR_REGISTERS + 3) * 4 uint8 long. - * @retval None - */ -void HAL_HASH_ContextSaving(HASH_HandleTypeDef *hhash, uint8_t *pMemBuffer) -{ - uint32_t mem_ptr = (uint32_t)pMemBuffer; - uint32_t csr_ptr = (uint32_t)HASH->CSR; - uint32_t i; - - /* Prevent unused argument(s) compilation warning */ - UNUSED(hhash); - - /* Save IMR register content */ - *(uint32_t *)(mem_ptr) = READ_BIT(HASH->IMR, HASH_IT_DINI | HASH_IT_DCI); - mem_ptr += 4U; - /* Save STR register content */ - *(uint32_t *)(mem_ptr) = READ_BIT(HASH->STR, HASH_STR_NBLW); - mem_ptr += 4U; - /* Save CR register content */ -#if defined(HASH_CR_MDMAT) - *(uint32_t *)(mem_ptr) = READ_BIT(HASH->CR, HASH_CR_DMAE | HASH_CR_DATATYPE | HASH_CR_MODE | HASH_CR_ALGO | - HASH_CR_LKEY | HASH_CR_MDMAT); -#else - *(uint32_t *)(mem_ptr) = READ_BIT(HASH->CR, HASH_CR_DMAE | HASH_CR_DATATYPE | HASH_CR_MODE | HASH_CR_ALGO | - HASH_CR_LKEY); -#endif /* HASH_CR_MDMAT*/ - mem_ptr += 4U; - /* By default, save all CSRs registers */ - for (i = HASH_NUMBER_OF_CSR_REGISTERS; i > 0U; i--) - { - *(uint32_t *)(mem_ptr) = *(uint32_t *)(csr_ptr); - mem_ptr += 4U; - csr_ptr += 4U; - } -} - - -/** - * @brief Restore the HASH context in case of processing resumption. - * @param hhash HASH handle. - * @param pMemBuffer pointer to the memory buffer where the HASH context - * is stored. - * @note The IMR, STR, CR then all the CSR registers are restored - * in that order. Only the r/w bits are restored. - * @note By default, all the context swap registers (HASH_NUMBER_OF_CSR_REGISTERS - * of those) are restored (all of them have been saved by default - * beforehand). - * @retval None - */ -void HAL_HASH_ContextRestoring(HASH_HandleTypeDef *hhash, uint8_t *pMemBuffer) -{ - uint32_t mem_ptr = (uint32_t)pMemBuffer; - uint32_t csr_ptr = (uint32_t)HASH->CSR; - uint32_t i; - - /* Prevent unused argument(s) compilation warning */ - UNUSED(hhash); - - /* Restore IMR register content */ - WRITE_REG(HASH->IMR, (*(uint32_t *)(mem_ptr))); - mem_ptr += 4U; - /* Restore STR register content */ - WRITE_REG(HASH->STR, (*(uint32_t *)(mem_ptr))); - mem_ptr += 4U; - /* Restore CR register content */ - WRITE_REG(HASH->CR, (*(uint32_t *)(mem_ptr))); - mem_ptr += 4U; - - /* Reset the HASH processor before restoring the Context - Swap Registers (CSR) */ - __HAL_HASH_INIT(); - - /* By default, restore all CSR registers */ - for (i = HASH_NUMBER_OF_CSR_REGISTERS; i > 0U; i--) - { - WRITE_REG((*(uint32_t *)(csr_ptr)), (*(uint32_t *)(mem_ptr))); - mem_ptr += 4U; - csr_ptr += 4U; - } -} - - -/** - * @brief Initiate HASH processing suspension when in polling or interruption mode. - * @param hhash HASH handle. - * @note Set the handle field SuspendRequest to the appropriate value so that - * the on-going HASH processing is suspended as soon as the required - * conditions are met. Note that the actual suspension is carried out - * by the functions HASH_WriteData() in polling mode and HASH_IT() in - * interruption mode. - * @retval None - */ -void HAL_HASH_SwFeed_ProcessSuspend(HASH_HandleTypeDef *hhash) -{ - /* Set Handle Suspend Request field */ - hhash->SuspendRequest = HAL_HASH_SUSPEND; -} - -/** - * @brief Suspend the HASH processing when in DMA mode. - * @param hhash HASH handle. - * @note When suspension attempt occurs at the very end of a DMA transfer and - * all the data have already been entered in the Peripheral, hhash->State is - * set to HAL_HASH_STATE_READY and the API returns HAL_ERROR. It is - * recommended to wrap-up the processing in reading the digest as usual. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_HASH_DMAFeed_ProcessSuspend(HASH_HandleTypeDef *hhash) -{ - uint32_t tmp_remaining_DMATransferSize_inWords; - uint32_t tmp_initial_DMATransferSize_inWords; - uint32_t tmp_words_already_pushed; - - if (hhash->State == HAL_HASH_STATE_READY) - { - return HAL_ERROR; - } - else - { - - /* Make sure there is enough time to suspend the processing */ - tmp_remaining_DMATransferSize_inWords = ((DMA_Stream_TypeDef *)hhash->hdmain->Instance)->NDTR; - - if (tmp_remaining_DMATransferSize_inWords <= HASH_DMA_SUSPENSION_WORDS_LIMIT) - { - /* No suspension attempted since almost to the end of the transferred data. */ - /* Best option for user code is to wrap up low priority message hashing */ - return HAL_ERROR; - } - - /* Wait for BUSY flag to be reset */ - if (HASH_WaitOnFlagUntilTimeout(hhash, HASH_FLAG_BUSY, SET, HASH_TIMEOUTVALUE) != HAL_OK) - { - return HAL_TIMEOUT; - } - - if (__HAL_HASH_GET_FLAG(HASH_FLAG_DCIS) != RESET) - { - return HAL_ERROR; - } - - /* Wait for BUSY flag to be set */ - if (HASH_WaitOnFlagUntilTimeout(hhash, HASH_FLAG_BUSY, RESET, HASH_TIMEOUTVALUE) != HAL_OK) - { - return HAL_TIMEOUT; - } - /* Disable DMA channel */ - /* Note that the Abort function will - - Clear the transfer error flags - - Unlock - - Set the State - */ - if (HAL_DMA_Abort(hhash->hdmain) != HAL_OK) - { - return HAL_ERROR; - } - - /* Clear DMAE bit */ - CLEAR_BIT(HASH->CR, HASH_CR_DMAE); - - /* Wait for BUSY flag to be reset */ - if (HASH_WaitOnFlagUntilTimeout(hhash, HASH_FLAG_BUSY, SET, HASH_TIMEOUTVALUE) != HAL_OK) - { - return HAL_TIMEOUT; - } - - if (__HAL_HASH_GET_FLAG(HASH_FLAG_DCIS) != RESET) - { - return HAL_ERROR; - } - - /* At this point, DMA interface is disabled and no transfer is on-going */ - /* Retrieve from the DMA handle how many words remain to be written */ - tmp_remaining_DMATransferSize_inWords = ((DMA_Stream_TypeDef *)hhash->hdmain->Instance)->NDTR; - - if (tmp_remaining_DMATransferSize_inWords == 0U) - { - /* All the DMA transfer is actually done. Suspension occurred at the very end - of the transfer. Either the digest computation is about to start (HASH case) - or processing is about to move from one step to another (HMAC case). - In both cases, the processing can't be suspended at this point. It is - safer to - - retrieve the low priority block digest before starting the high - priority block processing (HASH case) - - re-attempt a new suspension (HMAC case) - */ - return HAL_ERROR; - } - else - { - - /* Compute how many words were supposed to be transferred by DMA */ - tmp_initial_DMATransferSize_inWords = (((hhash->HashInCount % 4U) != 0U) ? \ - ((hhash->HashInCount + 3U) / 4U) : (hhash->HashInCount / 4U)); - - /* If discrepancy between the number of words reported by DMA Peripheral and - the numbers of words entered as reported by HASH Peripheral, correct it */ - /* tmp_words_already_pushed reflects the number of words that were already pushed before - the start of DMA transfer (multi-buffer processing case) */ - tmp_words_already_pushed = hhash->NbWordsAlreadyPushed; - if (((tmp_words_already_pushed + tmp_initial_DMATransferSize_inWords - \ - tmp_remaining_DMATransferSize_inWords) % 16U) != HASH_NBW_PUSHED()) - { - tmp_remaining_DMATransferSize_inWords--; /* one less word to be transferred again */ - } - - /* Accordingly, update the input pointer that points at the next word to be - transferred to the Peripheral by DMA */ - hhash->pHashInBuffPtr += 4U * (tmp_initial_DMATransferSize_inWords - tmp_remaining_DMATransferSize_inWords) ; - - /* And store in HashInCount the remaining size to transfer (in bytes) */ - hhash->HashInCount = 4U * tmp_remaining_DMATransferSize_inWords; - - } - - /* Set State as suspended */ - hhash->State = HAL_HASH_STATE_SUSPENDED; - - return HAL_OK; - - } -} - -/** - * @brief Return the HASH handle error code. - * @param hhash pointer to a HASH_HandleTypeDef structure. - * @retval HASH Error Code - */ -uint32_t HAL_HASH_GetError(HASH_HandleTypeDef *hhash) -{ - /* Return HASH Error Code */ - return hhash->ErrorCode; -} -/** - * @} - */ - - -/** - * @} - */ - -/** @defgroup HASH_Private_Functions HASH Private Functions - * @{ - */ - -/** - * @brief DMA HASH Input Data transfer completion callback. - * @param hdma DMA handle. - * @note In case of HMAC processing, HASH_DMAXferCplt() initiates - * the next DMA transfer for the following HMAC step. - * @retval None - */ -static void HASH_DMAXferCplt(DMA_HandleTypeDef *hdma) -{ - HASH_HandleTypeDef *hhash = (HASH_HandleTypeDef *)((DMA_HandleTypeDef *)hdma)->Parent; - uint32_t inputaddr; - uint32_t buffersize; - HAL_StatusTypeDef status = HAL_OK; - - if (hhash->State != HAL_HASH_STATE_SUSPENDED) - { - - /* Disable the DMA transfer */ - CLEAR_BIT(HASH->CR, HASH_CR_DMAE); - - if (READ_BIT(HASH->CR, HASH_CR_MODE) == 0U) - { - /* If no HMAC processing, input data transfer is now over */ - - /* Change the HASH state to ready */ - hhash->State = HAL_HASH_STATE_READY; - - /* Call Input data transfer complete call back */ -#if (USE_HAL_HASH_REGISTER_CALLBACKS == 1) - hhash->InCpltCallback(hhash); -#else - HAL_HASH_InCpltCallback(hhash); -#endif /* USE_HAL_HASH_REGISTER_CALLBACKS */ - - } - else - { - /* HMAC processing: depending on the current HMAC step and whether or - not multi-buffer processing is on-going, the next step is initiated - and MDMAT bit is set. */ - - - if (hhash->Phase == HAL_HASH_PHASE_HMAC_STEP_3) - { - /* This is the end of HMAC processing */ - - /* Change the HASH state to ready */ - hhash->State = HAL_HASH_STATE_READY; - - /* Call Input data transfer complete call back - (note that the last DMA transfer was that of the key - for the outer HASH operation). */ -#if (USE_HAL_HASH_REGISTER_CALLBACKS == 1) - hhash->InCpltCallback(hhash); -#else - HAL_HASH_InCpltCallback(hhash); -#endif /* USE_HAL_HASH_REGISTER_CALLBACKS */ - - return; - } - else if (hhash->Phase == HAL_HASH_PHASE_HMAC_STEP_1) - { - inputaddr = (uint32_t)hhash->pHashMsgBuffPtr; /* DMA transfer start address */ - buffersize = hhash->HashBuffSize; /* DMA transfer size (in bytes) */ - hhash->Phase = HAL_HASH_PHASE_HMAC_STEP_2; /* Move phase from Step 1 to Step 2 */ - - /* In case of suspension request, save the new starting parameters */ - hhash->HashInCount = hhash->HashBuffSize; /* Initial DMA transfer size (in bytes) */ - hhash->pHashInBuffPtr = hhash->pHashMsgBuffPtr ; /* DMA transfer start address */ - - hhash->NbWordsAlreadyPushed = 0U; /* Reset number of words already pushed */ -#if defined(HASH_CR_MDMAT) - /* Check whether or not digest calculation must be disabled (in case of multi-buffer HMAC processing) */ - if (hhash->DigestCalculationDisable != RESET) - { - /* Digest calculation is disabled: Step 2 must start with MDMAT bit set, - no digest calculation will be triggered at the end of the input buffer feeding to the Peripheral */ - __HAL_HASH_SET_MDMAT(); - } -#endif /* HASH_CR_MDMAT*/ - } - else /*case (hhash->Phase == HAL_HASH_PHASE_HMAC_STEP_2)*/ - { - if (hhash->DigestCalculationDisable != RESET) - { - /* No automatic move to Step 3 as a new message buffer will be fed to the Peripheral - (case of multi-buffer HMAC processing): - DCAL must not be set. - Phase remains in Step 2, MDMAT remains set at this point. - Change the HASH state to ready and call Input data transfer complete call back. */ - hhash->State = HAL_HASH_STATE_READY; -#if (USE_HAL_HASH_REGISTER_CALLBACKS == 1) - hhash->InCpltCallback(hhash); -#else - HAL_HASH_InCpltCallback(hhash); -#endif /* USE_HAL_HASH_REGISTER_CALLBACKS */ - return ; - } - else - { - /* Digest calculation is not disabled (case of single buffer input or last buffer - of multi-buffer HMAC processing) */ - inputaddr = (uint32_t)hhash->Init.pKey; /* DMA transfer start address */ - buffersize = hhash->Init.KeySize; /* DMA transfer size (in bytes) */ - hhash->Phase = HAL_HASH_PHASE_HMAC_STEP_3; /* Move phase from Step 2 to Step 3 */ - /* In case of suspension request, save the new starting parameters */ - hhash->HashInCount = hhash->Init.KeySize; /* Initial size for second DMA transfer (input data) */ - hhash->pHashInBuffPtr = hhash->Init.pKey ; /* address passed to DMA, now entering data message */ - - hhash->NbWordsAlreadyPushed = 0U; /* Reset number of words already pushed */ - } - } - - /* Configure the Number of valid bits in last word of the message */ - __HAL_HASH_SET_NBVALIDBITS(buffersize); - - /* Set the HASH DMA transfer completion call back */ - hhash->hdmain->XferCpltCallback = HASH_DMAXferCplt; - - /* Enable the DMA In DMA stream */ - status = HAL_DMA_Start_IT(hhash->hdmain, inputaddr, (uint32_t)&HASH->DIN, \ - (((buffersize % 4U) != 0U) ? ((buffersize + (4U - (buffersize % 4U))) / 4U) : \ - (buffersize / 4U))); - - - - /* Enable DMA requests */ - SET_BIT(HASH->CR, HASH_CR_DMAE); - - /* Return function status */ - if (status != HAL_OK) - { - /* Update HASH state machine to error */ - hhash->State = HAL_HASH_STATE_ERROR; - } - else - { - /* Change HASH state */ - hhash->State = HAL_HASH_STATE_BUSY; - } - } - } - - return; -} - -/** - * @brief DMA HASH communication error callback. - * @param hdma DMA handle. - * @note HASH_DMAError() callback invokes HAL_HASH_ErrorCallback() that - * can contain user code to manage the error. - * @retval None - */ -static void HASH_DMAError(DMA_HandleTypeDef *hdma) -{ - HASH_HandleTypeDef *hhash = (HASH_HandleTypeDef *)((DMA_HandleTypeDef *)hdma)->Parent; - - if (hhash->State != HAL_HASH_STATE_SUSPENDED) - { - hhash->ErrorCode |= HAL_HASH_ERROR_DMA; - /* Set HASH state to ready to prevent any blocking issue in user code - present in HAL_HASH_ErrorCallback() */ - hhash->State = HAL_HASH_STATE_READY; - /* Set HASH handle status to error */ - hhash->Status = HAL_ERROR; -#if (USE_HAL_HASH_REGISTER_CALLBACKS == 1) - hhash->ErrorCallback(hhash); -#else - HAL_HASH_ErrorCallback(hhash); -#endif /* USE_HAL_HASH_REGISTER_CALLBACKS */ - /* After error handling by code user, reset HASH handle HAL status */ - hhash->Status = HAL_OK; - - } -} - -/** - * @brief Feed the input buffer to the HASH Peripheral. - * @param hhash HASH handle. - * @param pInBuffer pointer to input buffer. - * @param Size the size of input buffer in bytes. - * @note HASH_WriteData() regularly reads hhash->SuspendRequest to check whether - * or not the HASH processing must be suspended. If this is the case, the - * processing is suspended when possible and the Peripheral feeding point reached at - * suspension time is stored in the handle for resumption later on. - * @retval HAL status - */ -static HAL_StatusTypeDef HASH_WriteData(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size) -{ - uint32_t buffercounter; - __IO uint32_t inputaddr = (uint32_t) pInBuffer; - - for (buffercounter = 0U; buffercounter < Size; buffercounter += 4U) - { - /* Write input data 4 bytes at a time */ - HASH->DIN = *(uint32_t *)inputaddr; - inputaddr += 4U; - - /* If the suspension flag has been raised and if the processing is not about - to end, suspend processing */ - if ((hhash->SuspendRequest == HAL_HASH_SUSPEND) && ((buffercounter + 4U) < Size)) - { - /* Wait for DINIS = 1, which occurs when 16 32-bit locations are free - in the input buffer */ - if (__HAL_HASH_GET_FLAG(HASH_FLAG_DINIS)) - { - /* Reset SuspendRequest */ - hhash->SuspendRequest = HAL_HASH_SUSPEND_NONE; - - /* Depending whether the key or the input data were fed to the Peripheral, the feeding point - reached at suspension time is not saved in the same handle fields */ - if ((hhash->Phase == HAL_HASH_PHASE_PROCESS) || (hhash->Phase == HAL_HASH_PHASE_HMAC_STEP_2)) - { - /* Save current reading and writing locations of Input and Output buffers */ - hhash->pHashInBuffPtr = (uint8_t *)inputaddr; - /* Save the number of bytes that remain to be processed at this point */ - hhash->HashInCount = Size - (buffercounter + 4U); - } - else if ((hhash->Phase == HAL_HASH_PHASE_HMAC_STEP_1) || (hhash->Phase == HAL_HASH_PHASE_HMAC_STEP_3)) - { - /* Save current reading and writing locations of Input and Output buffers */ - hhash->pHashKeyBuffPtr = (uint8_t *)inputaddr; - /* Save the number of bytes that remain to be processed at this point */ - hhash->HashKeyCount = Size - (buffercounter + 4U); - } - else - { - /* Unexpected phase: unlock process and report error */ - hhash->State = HAL_HASH_STATE_READY; - __HAL_UNLOCK(hhash); - return HAL_ERROR; - } - - /* Set the HASH state to Suspended and exit to stop entering data */ - hhash->State = HAL_HASH_STATE_SUSPENDED; - - return HAL_OK; - } /* if (__HAL_HASH_GET_FLAG(HASH_FLAG_DINIS)) */ - } /* if ((hhash->SuspendRequest == HAL_HASH_SUSPEND) && ((buffercounter+4) < Size)) */ - } /* for(buffercounter = 0; buffercounter < Size; buffercounter+=4) */ - - /* At this point, all the data have been entered to the Peripheral: exit */ - return HAL_OK; -} - -/** - * @brief Retrieve the message digest. - * @param pMsgDigest pointer to the computed digest. - * @param Size message digest size in bytes. - * @retval None - */ -static void HASH_GetDigest(uint8_t *pMsgDigest, uint8_t Size) -{ - uint32_t msgdigest = (uint32_t)pMsgDigest; - - switch (Size) - { - /* Read the message digest */ - case 16: /* MD5 */ - *(uint32_t *)(msgdigest) = __REV(HASH->HR[0]); - msgdigest += 4U; - *(uint32_t *)(msgdigest) = __REV(HASH->HR[1]); - msgdigest += 4U; - *(uint32_t *)(msgdigest) = __REV(HASH->HR[2]); - msgdigest += 4U; - *(uint32_t *)(msgdigest) = __REV(HASH->HR[3]); - break; - case 20: /* SHA1 */ - *(uint32_t *)(msgdigest) = __REV(HASH->HR[0]); - msgdigest += 4U; - *(uint32_t *)(msgdigest) = __REV(HASH->HR[1]); - msgdigest += 4U; - *(uint32_t *)(msgdigest) = __REV(HASH->HR[2]); - msgdigest += 4U; - *(uint32_t *)(msgdigest) = __REV(HASH->HR[3]); - msgdigest += 4U; - *(uint32_t *)(msgdigest) = __REV(HASH->HR[4]); - break; - case 28: /* SHA224 */ - *(uint32_t *)(msgdigest) = __REV(HASH->HR[0]); - msgdigest += 4U; - *(uint32_t *)(msgdigest) = __REV(HASH->HR[1]); - msgdigest += 4U; - *(uint32_t *)(msgdigest) = __REV(HASH->HR[2]); - msgdigest += 4U; - *(uint32_t *)(msgdigest) = __REV(HASH->HR[3]); - msgdigest += 4U; - *(uint32_t *)(msgdigest) = __REV(HASH->HR[4]); -#if defined(HASH_CR_MDMAT) - msgdigest += 4U; - *(uint32_t *)(msgdigest) = __REV(HASH_DIGEST->HR[5]); - msgdigest += 4U; - *(uint32_t *)(msgdigest) = __REV(HASH_DIGEST->HR[6]); -#endif /* HASH_CR_MDMAT*/ - break; - case 32: /* SHA256 */ - *(uint32_t *)(msgdigest) = __REV(HASH->HR[0]); - msgdigest += 4U; - *(uint32_t *)(msgdigest) = __REV(HASH->HR[1]); - msgdigest += 4U; - *(uint32_t *)(msgdigest) = __REV(HASH->HR[2]); - msgdigest += 4U; - *(uint32_t *)(msgdigest) = __REV(HASH->HR[3]); - msgdigest += 4U; - *(uint32_t *)(msgdigest) = __REV(HASH->HR[4]); -#if defined(HASH_CR_MDMAT) - msgdigest += 4U; - *(uint32_t *)(msgdigest) = __REV(HASH_DIGEST->HR[5]); - msgdigest += 4U; - *(uint32_t *)(msgdigest) = __REV(HASH_DIGEST->HR[6]); - msgdigest += 4U; - *(uint32_t *)(msgdigest) = __REV(HASH_DIGEST->HR[7]); -#endif /* HASH_CR_MDMAT*/ - break; - default: - break; - } -} - - - -/** - * @brief Handle HASH processing Timeout. - * @param hhash HASH handle. - * @param Flag specifies the HASH flag to check. - * @param Status the Flag status (SET or RESET). - * @param Timeout Timeout duration. - * @retval HAL status - */ -static HAL_StatusTypeDef HASH_WaitOnFlagUntilTimeout(HASH_HandleTypeDef *hhash, uint32_t Flag, FlagStatus Status, - uint32_t Timeout) -{ - uint32_t tickstart = HAL_GetTick(); - - /* Wait until flag is set */ - if (Status == RESET) - { - while (__HAL_HASH_GET_FLAG(Flag) == RESET) - { - /* Check for the Timeout */ - if (Timeout != HAL_MAX_DELAY) - { - if (((HAL_GetTick() - tickstart) > Timeout) || (Timeout == 0U)) - { - /* Set State to Ready to be able to restart later on */ - hhash->State = HAL_HASH_STATE_READY; - /* Store time out issue in handle status */ - hhash->Status = HAL_TIMEOUT; - - /* Process Unlocked */ - __HAL_UNLOCK(hhash); - - return HAL_TIMEOUT; - } - } - } - } - else - { - while (__HAL_HASH_GET_FLAG(Flag) != RESET) - { - /* Check for the Timeout */ - if (Timeout != HAL_MAX_DELAY) - { - if (((HAL_GetTick() - tickstart) > Timeout) || (Timeout == 0U)) - { - /* Set State to Ready to be able to restart later on */ - hhash->State = HAL_HASH_STATE_READY; - /* Store time out issue in handle status */ - hhash->Status = HAL_TIMEOUT; - - /* Process Unlocked */ - __HAL_UNLOCK(hhash); - - return HAL_TIMEOUT; - } - } - } - } - return HAL_OK; -} - - -/** - * @brief HASH processing in interruption mode. - * @param hhash HASH handle. - * @note HASH_IT() regularly reads hhash->SuspendRequest to check whether - * or not the HASH processing must be suspended. If this is the case, the - * processing is suspended when possible and the Peripheral feeding point reached at - * suspension time is stored in the handle for resumption later on. - * @retval HAL status - */ -static HAL_StatusTypeDef HASH_IT(HASH_HandleTypeDef *hhash) -{ - if (hhash->State == HAL_HASH_STATE_BUSY) - { - /* ITCounter must not be equal to 0 at this point. Report an error if this is the case. */ - if (hhash->HashITCounter == 0U) - { - /* Disable Interrupts */ - __HAL_HASH_DISABLE_IT(HASH_IT_DINI | HASH_IT_DCI); - /* HASH state set back to Ready to prevent any issue in user code - present in HAL_HASH_ErrorCallback() */ - hhash->State = HAL_HASH_STATE_READY; - return HAL_ERROR; - } - else if (hhash->HashITCounter == 1U) - { - /* This is the first call to HASH_IT, the first input data are about to be - entered in the Peripheral. A specific processing is carried out at this point to - start-up the processing. */ - hhash->HashITCounter = 2U; - } - else - { - /* Cruise speed reached, HashITCounter remains equal to 3 until the end of - the HASH processing or the end of the current step for HMAC processing. */ - hhash->HashITCounter = 3U; - } - - /* If digest is ready */ - if (__HAL_HASH_GET_FLAG(HASH_FLAG_DCIS)) - { - /* Read the digest */ - HASH_GetDigest(hhash->pHashOutBuffPtr, HASH_DIGEST_LENGTH()); - - /* Disable Interrupts */ - __HAL_HASH_DISABLE_IT(HASH_IT_DINI | HASH_IT_DCI); - /* Change the HASH state */ - hhash->State = HAL_HASH_STATE_READY; - /* Reset HASH state machine */ - hhash->Phase = HAL_HASH_PHASE_READY; - /* Call digest computation complete call back */ -#if (USE_HAL_HASH_REGISTER_CALLBACKS == 1) - hhash->DgstCpltCallback(hhash); -#else - HAL_HASH_DgstCpltCallback(hhash); -#endif /* USE_HAL_HASH_REGISTER_CALLBACKS */ - - return HAL_OK; - } - - /* If Peripheral ready to accept new data */ - if (__HAL_HASH_GET_FLAG(HASH_FLAG_DINIS)) - { - - /* If the suspension flag has been raised and if the processing is not about - to end, suspend processing */ - if ((hhash->HashInCount != 0U) && (hhash->SuspendRequest == HAL_HASH_SUSPEND)) - { - /* Disable Interrupts */ - __HAL_HASH_DISABLE_IT(HASH_IT_DINI | HASH_IT_DCI); - - /* Reset SuspendRequest */ - hhash->SuspendRequest = HAL_HASH_SUSPEND_NONE; - - /* Change the HASH state */ - hhash->State = HAL_HASH_STATE_SUSPENDED; - - return HAL_OK; - } - - /* Enter input data in the Peripheral through HASH_Write_Block_Data() call and - check whether the digest calculation has been triggered */ - if (HASH_Write_Block_Data(hhash) == HASH_DIGEST_CALCULATION_STARTED) - { - /* Call Input data transfer complete call back - (called at the end of each step for HMAC) */ -#if (USE_HAL_HASH_REGISTER_CALLBACKS == 1) - hhash->InCpltCallback(hhash); -#else - HAL_HASH_InCpltCallback(hhash); -#endif /* USE_HAL_HASH_REGISTER_CALLBACKS */ - - if (hhash->Phase == HAL_HASH_PHASE_HMAC_STEP_1) - { - /* Wait until Peripheral is not busy anymore */ - if (HASH_WaitOnFlagUntilTimeout(hhash, HASH_FLAG_BUSY, SET, HASH_TIMEOUTVALUE) != HAL_OK) - { - /* Disable Interrupts */ - __HAL_HASH_DISABLE_IT(HASH_IT_DINI | HASH_IT_DCI); - return HAL_TIMEOUT; - } - /* Initialization start for HMAC STEP 2 */ - hhash->Phase = HAL_HASH_PHASE_HMAC_STEP_2; /* Move phase from Step 1 to Step 2 */ - __HAL_HASH_SET_NBVALIDBITS(hhash->HashBuffSize); /* Set NBLW for the input message */ - hhash->HashInCount = hhash->HashBuffSize; /* Set the input data size (in bytes) */ - hhash->pHashInBuffPtr = hhash->pHashMsgBuffPtr; /* Set the input data address */ - hhash->HashITCounter = 1; /* Set ITCounter to 1 to indicate the start - of a new phase */ - __HAL_HASH_ENABLE_IT(HASH_IT_DINI); /* Enable IT (was disabled in HASH_Write_Block_Data) */ - } - else if (hhash->Phase == HAL_HASH_PHASE_HMAC_STEP_2) - { - /* Wait until Peripheral is not busy anymore */ - if (HASH_WaitOnFlagUntilTimeout(hhash, HASH_FLAG_BUSY, SET, HASH_TIMEOUTVALUE) != HAL_OK) - { - /* Disable Interrupts */ - __HAL_HASH_DISABLE_IT(HASH_IT_DINI | HASH_IT_DCI); - return HAL_TIMEOUT; - } - /* Initialization start for HMAC STEP 3 */ - hhash->Phase = HAL_HASH_PHASE_HMAC_STEP_3; /* Move phase from Step 2 to Step 3 */ - __HAL_HASH_SET_NBVALIDBITS(hhash->Init.KeySize); /* Set NBLW for the key */ - hhash->HashInCount = hhash->Init.KeySize; /* Set the key size (in bytes) */ - hhash->pHashInBuffPtr = hhash->Init.pKey; /* Set the key address */ - hhash->HashITCounter = 1; /* Set ITCounter to 1 to indicate the start - of a new phase */ - __HAL_HASH_ENABLE_IT(HASH_IT_DINI); /* Enable IT (was disabled in HASH_Write_Block_Data) */ - } - else - { - /* Nothing to do */ - } - } /* if (HASH_Write_Block_Data(hhash) == HASH_DIGEST_CALCULATION_STARTED) */ - } /* if (__HAL_HASH_GET_FLAG(HASH_FLAG_DINIS))*/ - - /* Return function status */ - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - - -/** - * @brief Write a block of data in HASH Peripheral in interruption mode. - * @param hhash HASH handle. - * @note HASH_Write_Block_Data() is called under interruption by HASH_IT(). - * @retval HAL status - */ -static uint32_t HASH_Write_Block_Data(HASH_HandleTypeDef *hhash) -{ - uint32_t inputaddr; - uint32_t buffercounter; - uint32_t inputcounter; - uint32_t ret = HASH_DIGEST_CALCULATION_NOT_STARTED; - - /* If there are more than 64 bytes remaining to be entered */ - if (hhash->HashInCount > 64U) - { - inputaddr = (uint32_t)hhash->pHashInBuffPtr; - /* Write the Input block in the Data IN register - (16 32-bit words, or 64 bytes are entered) */ - for (buffercounter = 0U; buffercounter < 64U; buffercounter += 4U) - { - HASH->DIN = *(uint32_t *)inputaddr; - inputaddr += 4U; - } - /* If this is the start of input data entering, an additional word - must be entered to start up the HASH processing */ - if (hhash->HashITCounter == 2U) - { - HASH->DIN = *(uint32_t *)inputaddr; - if (hhash->HashInCount >= 68U) - { - /* There are still data waiting to be entered in the Peripheral. - Decrement buffer counter and set pointer to the proper - memory location for the next data entering round. */ - hhash->HashInCount -= 68U; - hhash->pHashInBuffPtr += 68U; - } - else - { - /* All the input buffer has been fed to the HW. */ - hhash->HashInCount = 0U; - } - } - else - { - /* 64 bytes have been entered and there are still some remaining: - Decrement buffer counter and set pointer to the proper - memory location for the next data entering round.*/ - hhash->HashInCount -= 64U; - hhash->pHashInBuffPtr += 64U; - } - } - else - { - /* 64 or less bytes remain to be entered. This is the last - data entering round. */ - - /* Get the buffer address */ - inputaddr = (uint32_t)hhash->pHashInBuffPtr; - /* Get the buffer counter */ - inputcounter = hhash->HashInCount; - /* Disable Interrupts */ - __HAL_HASH_DISABLE_IT(HASH_IT_DINI); - - /* Write the Input block in the Data IN register */ - for (buffercounter = 0U; buffercounter < ((inputcounter + 3U) / 4U); buffercounter++) - { - HASH->DIN = *(uint32_t *)inputaddr; - inputaddr += 4U; - } - - if (hhash->Accumulation == 1U) - { - /* Field accumulation is set, API only feeds data to the Peripheral and under interruption. - The digest computation will be started when the last buffer data are entered. */ - - /* Reset multi buffers accumulation flag */ - hhash->Accumulation = 0U; - /* Change the HASH state */ - hhash->State = HAL_HASH_STATE_READY; - /* Call Input data transfer complete call back */ -#if (USE_HAL_HASH_REGISTER_CALLBACKS == 1) - hhash->InCpltCallback(hhash); -#else - HAL_HASH_InCpltCallback(hhash); -#endif /* USE_HAL_HASH_REGISTER_CALLBACKS */ - } - else - { - /* Start the Digest calculation */ - __HAL_HASH_START_DIGEST(); - /* Return indication that digest calculation has started: - this return value triggers the call to Input data transfer - complete call back as well as the proper transition from - one step to another in HMAC mode. */ - ret = HASH_DIGEST_CALCULATION_STARTED; - } - /* Reset buffer counter */ - hhash->HashInCount = 0; - } - - /* Return whether or digest calculation has started */ - return ret; -} - -/** - * @brief HMAC processing in polling mode. - * @param hhash HASH handle. - * @param Timeout Timeout value. - * @retval HAL status - */ -static HAL_StatusTypeDef HMAC_Processing(HASH_HandleTypeDef *hhash, uint32_t Timeout) -{ - /* Ensure first that Phase is correct */ - if ((hhash->Phase != HAL_HASH_PHASE_HMAC_STEP_1) && (hhash->Phase != HAL_HASH_PHASE_HMAC_STEP_2) - && (hhash->Phase != HAL_HASH_PHASE_HMAC_STEP_3)) - { - /* Change the HASH state */ - hhash->State = HAL_HASH_STATE_READY; - - /* Process Unlock */ - __HAL_UNLOCK(hhash); - - /* Return function status */ - return HAL_ERROR; - } - - /* HMAC Step 1 processing */ - if (hhash->Phase == HAL_HASH_PHASE_HMAC_STEP_1) - { - /************************** STEP 1 ******************************************/ - /* Configure the Number of valid bits in last word of the message */ - __HAL_HASH_SET_NBVALIDBITS(hhash->Init.KeySize); - - /* Write input buffer in Data register */ - hhash->Status = HASH_WriteData(hhash, hhash->pHashKeyBuffPtr, hhash->HashKeyCount); - if (hhash->Status != HAL_OK) - { - return hhash->Status; - } - - /* Check whether or not key entering process has been suspended */ - if (hhash->State == HAL_HASH_STATE_SUSPENDED) - { - /* Process Unlocked */ - __HAL_UNLOCK(hhash); - - /* Stop right there and return function status */ - return HAL_OK; - } - - /* No processing suspension at this point: set DCAL bit. */ - __HAL_HASH_START_DIGEST(); - - /* Wait for BUSY flag to be cleared */ - if (HASH_WaitOnFlagUntilTimeout(hhash, HASH_FLAG_BUSY, SET, Timeout) != HAL_OK) - { - return HAL_TIMEOUT; - } - - /* Move from Step 1 to Step 2 */ - hhash->Phase = HAL_HASH_PHASE_HMAC_STEP_2; - - } - - /* HMAC Step 2 processing. - After phase check, HMAC_Processing() may - - directly start up from this point in resumption case - if the same Step 2 processing was suspended previously - - or fall through from the Step 1 processing carried out hereabove */ - if (hhash->Phase == HAL_HASH_PHASE_HMAC_STEP_2) - { - /************************** STEP 2 ******************************************/ - /* Configure the Number of valid bits in last word of the message */ - __HAL_HASH_SET_NBVALIDBITS(hhash->HashBuffSize); - - /* Write input buffer in Data register */ - hhash->Status = HASH_WriteData(hhash, hhash->pHashInBuffPtr, hhash->HashInCount); - if (hhash->Status != HAL_OK) - { - return hhash->Status; - } - - /* Check whether or not data entering process has been suspended */ - if (hhash->State == HAL_HASH_STATE_SUSPENDED) - { - /* Process Unlocked */ - __HAL_UNLOCK(hhash); - - /* Stop right there and return function status */ - return HAL_OK; - } - - /* No processing suspension at this point: set DCAL bit. */ - __HAL_HASH_START_DIGEST(); - - /* Wait for BUSY flag to be cleared */ - if (HASH_WaitOnFlagUntilTimeout(hhash, HASH_FLAG_BUSY, SET, Timeout) != HAL_OK) - { - return HAL_TIMEOUT; - } - - /* Move from Step 2 to Step 3 */ - hhash->Phase = HAL_HASH_PHASE_HMAC_STEP_3; - /* In case Step 1 phase was suspended then resumed, - set again Key input buffers and size before moving to - next step */ - hhash->pHashKeyBuffPtr = hhash->Init.pKey; - hhash->HashKeyCount = hhash->Init.KeySize; - } - - - /* HMAC Step 3 processing. - After phase check, HMAC_Processing() may - - directly start up from this point in resumption case - if the same Step 3 processing was suspended previously - - or fall through from the Step 2 processing carried out hereabove */ - if (hhash->Phase == HAL_HASH_PHASE_HMAC_STEP_3) - { - /************************** STEP 3 ******************************************/ - /* Configure the Number of valid bits in last word of the message */ - __HAL_HASH_SET_NBVALIDBITS(hhash->Init.KeySize); - - /* Write input buffer in Data register */ - hhash->Status = HASH_WriteData(hhash, hhash->pHashKeyBuffPtr, hhash->HashKeyCount); - if (hhash->Status != HAL_OK) - { - return hhash->Status; - } - - /* Check whether or not key entering process has been suspended */ - if (hhash->State == HAL_HASH_STATE_SUSPENDED) - { - /* Process Unlocked */ - __HAL_UNLOCK(hhash); - - /* Stop right there and return function status */ - return HAL_OK; - } - - /* No processing suspension at this point: start the Digest calculation. */ - __HAL_HASH_START_DIGEST(); - - /* Wait for DCIS flag to be set */ - if (HASH_WaitOnFlagUntilTimeout(hhash, HASH_FLAG_DCIS, RESET, Timeout) != HAL_OK) - { - return HAL_TIMEOUT; - } - - /* Read the message digest */ - HASH_GetDigest(hhash->pHashOutBuffPtr, HASH_DIGEST_LENGTH()); - - /* Reset HASH state machine */ - hhash->Phase = HAL_HASH_PHASE_READY; - } - - /* Change the HASH state */ - hhash->State = HAL_HASH_STATE_READY; - - /* Process Unlock */ - __HAL_UNLOCK(hhash); - - /* Return function status */ - return HAL_OK; -} - - -/** - * @brief Initialize the HASH peripheral, next process pInBuffer then - * read the computed digest. - * @note Digest is available in pOutBuffer. - * @param hhash HASH handle. - * @param pInBuffer pointer to the input buffer (buffer to be hashed). - * @param Size length of the input buffer in bytes. - * @param pOutBuffer pointer to the computed digest. - * @param Timeout Timeout value. - * @param Algorithm HASH algorithm. - * @retval HAL status - */ -HAL_StatusTypeDef HASH_Start(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size, uint8_t *pOutBuffer, - uint32_t Timeout, uint32_t Algorithm) -{ - uint8_t *pInBuffer_tmp; /* input data address, input parameter of HASH_WriteData() */ - uint32_t Size_tmp; /* input data size (in bytes), input parameter of HASH_WriteData() */ - HAL_HASH_StateTypeDef State_tmp = hhash->State; - - - /* Initiate HASH processing in case of start or resumption */ - if ((State_tmp == HAL_HASH_STATE_READY) || (State_tmp == HAL_HASH_STATE_SUSPENDED)) - { - /* Check input parameters */ - if ((pInBuffer == NULL) || (pOutBuffer == NULL)) - { - hhash->State = HAL_HASH_STATE_READY; - return HAL_ERROR; - } - - /* Process Locked */ - __HAL_LOCK(hhash); - - /* Check if initialization phase has not been already performed */ - if (hhash->Phase == HAL_HASH_PHASE_READY) - { - /* Change the HASH state */ - hhash->State = HAL_HASH_STATE_BUSY; - - /* Select the HASH algorithm, clear HMAC mode and long key selection bit, reset the HASH processor core */ - MODIFY_REG(HASH->CR, HASH_CR_LKEY | HASH_CR_ALGO | HASH_CR_MODE | HASH_CR_INIT, Algorithm | HASH_CR_INIT); - - /* Configure the number of valid bits in last word of the message */ - __HAL_HASH_SET_NBVALIDBITS(Size); - - /* pInBuffer_tmp and Size_tmp are initialized to be used afterwards as - input parameters of HASH_WriteData() */ - pInBuffer_tmp = pInBuffer; /* pInBuffer_tmp is set to the input data address */ - Size_tmp = Size; /* Size_tmp contains the input data size in bytes */ - - /* Set the phase */ - hhash->Phase = HAL_HASH_PHASE_PROCESS; - } - else if (hhash->Phase == HAL_HASH_PHASE_PROCESS) - { - /* if the Peripheral has already been initialized, two cases are possible */ - - /* Process resumption time ... */ - if (hhash->State == HAL_HASH_STATE_SUSPENDED) - { - /* Since this is resumption, pInBuffer_tmp and Size_tmp are not set - to the API input parameters but to those saved beforehand by HASH_WriteData() - when the processing was suspended */ - pInBuffer_tmp = hhash->pHashInBuffPtr; - Size_tmp = hhash->HashInCount; - } - /* ... or multi-buffer HASH processing end */ - else - { - /* pInBuffer_tmp and Size_tmp are initialized to be used afterwards as - input parameters of HASH_WriteData() */ - pInBuffer_tmp = pInBuffer; - Size_tmp = Size; - /* Configure the number of valid bits in last word of the message */ - __HAL_HASH_SET_NBVALIDBITS(Size); - } - /* Change the HASH state */ - hhash->State = HAL_HASH_STATE_BUSY; - } - else - { - /* Phase error */ - hhash->State = HAL_HASH_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hhash); - - /* Return function status */ - return HAL_ERROR; - } - - - /* Write input buffer in Data register */ - hhash->Status = HASH_WriteData(hhash, pInBuffer_tmp, Size_tmp); - if (hhash->Status != HAL_OK) - { - return hhash->Status; - } - - /* If the process has not been suspended, carry on to digest calculation */ - if (hhash->State != HAL_HASH_STATE_SUSPENDED) - { - /* Start the Digest calculation */ - __HAL_HASH_START_DIGEST(); - - /* Wait for DCIS flag to be set */ - if (HASH_WaitOnFlagUntilTimeout(hhash, HASH_FLAG_DCIS, RESET, Timeout) != HAL_OK) - { - return HAL_TIMEOUT; - } - - /* Read the message digest */ - HASH_GetDigest(pOutBuffer, HASH_DIGEST_LENGTH()); - - /* Change the HASH state */ - hhash->State = HAL_HASH_STATE_READY; - - /* Reset HASH state machine */ - hhash->Phase = HAL_HASH_PHASE_READY; - - } - - /* Process Unlocked */ - __HAL_UNLOCK(hhash); - - /* Return function status */ - return HAL_OK; - - } - else - { - return HAL_BUSY; - } -} - - -/** - * @brief If not already done, initialize the HASH peripheral then - * processes pInBuffer. - * @note Field hhash->Phase of HASH handle is tested to check whether or not - * the Peripheral has already been initialized. - * @note The input buffer size (in bytes) must be a multiple of 4 otherwise, the - * HASH digest computation is corrupted. - * @param hhash HASH handle. - * @param pInBuffer pointer to the input buffer (buffer to be hashed). - * @param Size length of the input buffer in bytes, must be a multiple of 4. - * @param Algorithm HASH algorithm. - * @retval HAL status - */ -HAL_StatusTypeDef HASH_Accumulate(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size, uint32_t Algorithm) -{ - uint8_t *pInBuffer_tmp; /* input data address, input parameter of HASH_WriteData() */ - uint32_t Size_tmp; /* input data size (in bytes), input parameter of HASH_WriteData() */ - HAL_HASH_StateTypeDef State_tmp = hhash->State; - - /* Make sure the input buffer size (in bytes) is a multiple of 4 */ - if ((Size % 4U) != 0U) - { - return HAL_ERROR; - } - - /* Initiate HASH processing in case of start or resumption */ - if ((State_tmp == HAL_HASH_STATE_READY) || (State_tmp == HAL_HASH_STATE_SUSPENDED)) - { - /* Check input parameters */ - if ((pInBuffer == NULL) || (Size == 0U)) - { - hhash->State = HAL_HASH_STATE_READY; - return HAL_ERROR; - } - - /* Process Locked */ - __HAL_LOCK(hhash); - - /* If resuming the HASH processing */ - if (hhash->State == HAL_HASH_STATE_SUSPENDED) - { - /* Change the HASH state */ - hhash->State = HAL_HASH_STATE_BUSY; - - /* Since this is resumption, pInBuffer_tmp and Size_tmp are not set - to the API input parameters but to those saved beforehand by HASH_WriteData() - when the processing was suspended */ - pInBuffer_tmp = hhash->pHashInBuffPtr; /* pInBuffer_tmp is set to the input data address */ - Size_tmp = hhash->HashInCount; /* Size_tmp contains the input data size in bytes */ - - } - else - { - /* Change the HASH state */ - hhash->State = HAL_HASH_STATE_BUSY; - - /* pInBuffer_tmp and Size_tmp are initialized to be used afterwards as - input parameters of HASH_WriteData() */ - pInBuffer_tmp = pInBuffer; /* pInBuffer_tmp is set to the input data address */ - Size_tmp = Size; /* Size_tmp contains the input data size in bytes */ - - /* Check if initialization phase has already be performed */ - if (hhash->Phase == HAL_HASH_PHASE_READY) - { - /* Select the HASH algorithm, clear HMAC mode and long key selection bit, reset the HASH processor core */ - MODIFY_REG(HASH->CR, HASH_CR_LKEY | HASH_CR_ALGO | HASH_CR_MODE | HASH_CR_INIT, Algorithm | HASH_CR_INIT); - } - - /* Set the phase */ - hhash->Phase = HAL_HASH_PHASE_PROCESS; - - } - - /* Write input buffer in Data register */ - hhash->Status = HASH_WriteData(hhash, pInBuffer_tmp, Size_tmp); - if (hhash->Status != HAL_OK) - { - return hhash->Status; - } - - /* If the process has not been suspended, move the state to Ready */ - if (hhash->State != HAL_HASH_STATE_SUSPENDED) - { - /* Change the HASH state */ - hhash->State = HAL_HASH_STATE_READY; - } - - /* Process Unlocked */ - __HAL_UNLOCK(hhash); - - /* Return function status */ - return HAL_OK; - - } - else - { - return HAL_BUSY; - } - - -} - - -/** - * @brief If not already done, initialize the HASH peripheral then - * processes pInBuffer in interruption mode. - * @note Field hhash->Phase of HASH handle is tested to check whether or not - * the Peripheral has already been initialized. - * @note The input buffer size (in bytes) must be a multiple of 4 otherwise, the - * HASH digest computation is corrupted. - * @param hhash HASH handle. - * @param pInBuffer pointer to the input buffer (buffer to be hashed). - * @param Size length of the input buffer in bytes, must be a multiple of 4. - * @param Algorithm HASH algorithm. - * @retval HAL status - */ -HAL_StatusTypeDef HASH_Accumulate_IT(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size, uint32_t Algorithm) -{ - HAL_HASH_StateTypeDef State_tmp = hhash->State; - __IO uint32_t inputaddr = (uint32_t) pInBuffer; - uint32_t SizeVar = Size; - - /* Make sure the input buffer size (in bytes) is a multiple of 4 */ - if ((Size % 4U) != 0U) - { - return HAL_ERROR; - } - - /* Initiate HASH processing in case of start or resumption */ - if ((State_tmp == HAL_HASH_STATE_READY) || (State_tmp == HAL_HASH_STATE_SUSPENDED)) - { - /* Check input parameters */ - if ((pInBuffer == NULL) || (Size == 0U)) - { - hhash->State = HAL_HASH_STATE_READY; - return HAL_ERROR; - } - - /* Process Locked */ - __HAL_LOCK(hhash); - - /* If resuming the HASH processing */ - if (hhash->State == HAL_HASH_STATE_SUSPENDED) - { - /* Change the HASH state */ - hhash->State = HAL_HASH_STATE_BUSY; - } - else - { - /* Change the HASH state */ - hhash->State = HAL_HASH_STATE_BUSY; - - /* Check if initialization phase has already be performed */ - if (hhash->Phase == HAL_HASH_PHASE_READY) - { - /* Select the HASH algorithm, clear HMAC mode and long key selection bit, reset the HASH processor core */ - MODIFY_REG(HASH->CR, HASH_CR_LKEY | HASH_CR_ALGO | HASH_CR_MODE | HASH_CR_INIT, Algorithm | HASH_CR_INIT); - hhash->HashITCounter = 1; - } - else - { - hhash->HashITCounter = 3; /* 'cruise-speed' reached during a previous buffer processing */ - } - - /* Set the phase */ - hhash->Phase = HAL_HASH_PHASE_PROCESS; - - /* If DINIS is equal to 0 (for example if an incomplete block has been previously - fed to the Peripheral), the DINIE interruption won't be triggered when DINIE is set. - Therefore, first words are manually entered until DINIS raises, or until there - is not more data to enter. */ - while ((!(__HAL_HASH_GET_FLAG(HASH_FLAG_DINIS))) && (SizeVar > 0U)) - { - - /* Write input data 4 bytes at a time */ - HASH->DIN = *(uint32_t *)inputaddr; - inputaddr += 4U; - SizeVar -= 4U; - } - - /* If DINIS is still not set or if all the data have been fed, stop here */ - if ((!(__HAL_HASH_GET_FLAG(HASH_FLAG_DINIS))) || (SizeVar == 0U)) - { - /* Change the HASH state */ - hhash->State = HAL_HASH_STATE_READY; - - /* Process Unlock */ - __HAL_UNLOCK(hhash); - - /* Return function status */ - return HAL_OK; - } - - /* otherwise, carry on in interrupt-mode */ - hhash->HashInCount = SizeVar; /* Counter used to keep track of number of data - to be fed to the Peripheral */ - hhash->pHashInBuffPtr = (uint8_t *)inputaddr; /* Points at data which will be fed to the Peripheral at - the next interruption */ - /* In case of suspension, hhash->HashInCount and hhash->pHashInBuffPtr contain - the information describing where the HASH process is stopped. - These variables are used later on to resume the HASH processing at the - correct location. */ - - } - - /* Set multi buffers accumulation flag */ - hhash->Accumulation = 1U; - - /* Process Unlock */ - __HAL_UNLOCK(hhash); - - /* Enable Data Input interrupt */ - __HAL_HASH_ENABLE_IT(HASH_IT_DINI); - - /* Return function status */ - return HAL_OK; - - } - else - { - return HAL_BUSY; - } - -} - - - -/** - * @brief Initialize the HASH peripheral, next process pInBuffer then - * read the computed digest in interruption mode. - * @note Digest is available in pOutBuffer. - * @param hhash HASH handle. - * @param pInBuffer pointer to the input buffer (buffer to be hashed). - * @param Size length of the input buffer in bytes. - * @param pOutBuffer pointer to the computed digest. - * @param Algorithm HASH algorithm. - * @retval HAL status - */ -HAL_StatusTypeDef HASH_Start_IT(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size, uint8_t *pOutBuffer, - uint32_t Algorithm) -{ - HAL_HASH_StateTypeDef State_tmp = hhash->State; - __IO uint32_t inputaddr = (uint32_t) pInBuffer; - uint32_t polling_step = 0U; - uint32_t initialization_skipped = 0U; - uint32_t SizeVar = Size; - - /* If State is ready or suspended, start or resume IT-based HASH processing */ - if ((State_tmp == HAL_HASH_STATE_READY) || (State_tmp == HAL_HASH_STATE_SUSPENDED)) - { - /* Check input parameters */ - if ((pInBuffer == NULL) || (Size == 0U) || (pOutBuffer == NULL)) - { - hhash->State = HAL_HASH_STATE_READY; - return HAL_ERROR; - } - - /* Process Locked */ - __HAL_LOCK(hhash); - - /* Change the HASH state */ - hhash->State = HAL_HASH_STATE_BUSY; - - /* Initialize IT counter */ - hhash->HashITCounter = 1; - - /* Check if initialization phase has already be performed */ - if (hhash->Phase == HAL_HASH_PHASE_READY) - { - /* Select the HASH algorithm, clear HMAC mode and long key selection bit, reset the HASH processor core */ - MODIFY_REG(HASH->CR, HASH_CR_LKEY | HASH_CR_ALGO | HASH_CR_MODE | HASH_CR_INIT, Algorithm | HASH_CR_INIT); - - /* Configure the number of valid bits in last word of the message */ - __HAL_HASH_SET_NBVALIDBITS(SizeVar); - - - hhash->HashInCount = SizeVar; /* Counter used to keep track of number of data - to be fed to the Peripheral */ - hhash->pHashInBuffPtr = pInBuffer; /* Points at data which will be fed to the Peripheral at - the next interruption */ - /* In case of suspension, hhash->HashInCount and hhash->pHashInBuffPtr contain - the information describing where the HASH process is stopped. - These variables are used later on to resume the HASH processing at the - correct location. */ - - hhash->pHashOutBuffPtr = pOutBuffer; /* Points at the computed digest */ - } - else - { - initialization_skipped = 1; /* info user later on in case of multi-buffer */ - } - - /* Set the phase */ - hhash->Phase = HAL_HASH_PHASE_PROCESS; - - /* If DINIS is equal to 0 (for example if an incomplete block has been previously - fed to the Peripheral), the DINIE interruption won't be triggered when DINIE is set. - Therefore, first words are manually entered until DINIS raises. */ - while ((!(__HAL_HASH_GET_FLAG(HASH_FLAG_DINIS))) && (SizeVar > 3U)) - { - polling_step = 1U; /* note that some words are entered before enabling the interrupt */ - - /* Write input data 4 bytes at a time */ - HASH->DIN = *(uint32_t *)inputaddr; - inputaddr += 4U; - SizeVar -= 4U; - } - - if (polling_step == 1U) - { - if (SizeVar == 0U) - { - /* If all the data have been entered at this point, it only remains to - read the digest */ - hhash->pHashOutBuffPtr = pOutBuffer; /* Points at the computed digest */ - - /* Start the Digest calculation */ - __HAL_HASH_START_DIGEST(); - /* Process Unlock */ - __HAL_UNLOCK(hhash); - - /* Enable Interrupts */ - __HAL_HASH_ENABLE_IT(HASH_IT_DCI); - - /* Return function status */ - return HAL_OK; - } - else if (__HAL_HASH_GET_FLAG(HASH_FLAG_DINIS)) - { - /* It remains data to enter and the Peripheral is ready to trigger DINIE, - carry on as usual. - Update HashInCount and pHashInBuffPtr accordingly. */ - hhash->HashInCount = SizeVar; - hhash->pHashInBuffPtr = (uint8_t *)inputaddr; - __HAL_HASH_SET_NBVALIDBITS( - SizeVar); /* Update the configuration of the number of valid bits in last word of the message */ - hhash->pHashOutBuffPtr = pOutBuffer; /* Points at the computed digest */ - if (initialization_skipped == 1U) - { - hhash->HashITCounter = 3; /* 'cruise-speed' reached during a previous buffer processing */ - } - } - else - { - /* DINIS is not set but it remains a few data to enter (not enough for a full word). - Manually enter the last bytes before enabling DCIE. */ - __HAL_HASH_SET_NBVALIDBITS(SizeVar); - HASH->DIN = *(uint32_t *)inputaddr; - - /* Start the Digest calculation */ - hhash->pHashOutBuffPtr = pOutBuffer; /* Points at the computed digest */ - __HAL_HASH_START_DIGEST(); - /* Process Unlock */ - __HAL_UNLOCK(hhash); - - /* Enable Interrupts */ - __HAL_HASH_ENABLE_IT(HASH_IT_DCI); - - /* Return function status */ - return HAL_OK; - } - } /* if (polling_step == 1) */ - - - /* Process Unlock */ - __HAL_UNLOCK(hhash); - - /* Enable Interrupts */ - __HAL_HASH_ENABLE_IT(HASH_IT_DINI | HASH_IT_DCI); - - /* Return function status */ - return HAL_OK; - } - else - { - return HAL_BUSY; - } - -} - - -/** - * @brief Initialize the HASH peripheral then initiate a DMA transfer - * to feed the input buffer to the Peripheral. - * @note If MDMAT bit is set before calling this function (multi-buffer - * HASH processing case), the input buffer size (in bytes) must be - * a multiple of 4 otherwise, the HASH digest computation is corrupted. - * For the processing of the last buffer of the thread, MDMAT bit must - * be reset and the buffer length (in bytes) doesn't have to be a - * multiple of 4. - * @param hhash HASH handle. - * @param pInBuffer pointer to the input buffer (buffer to be hashed). - * @param Size length of the input buffer in bytes. - * @param Algorithm HASH algorithm. - * @retval HAL status - */ -HAL_StatusTypeDef HASH_Start_DMA(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size, uint32_t Algorithm) -{ - uint32_t inputaddr; - uint32_t inputSize; - HAL_StatusTypeDef status ; - HAL_HASH_StateTypeDef State_tmp = hhash->State; - - #if defined (HASH_CR_MDMAT) - /* Make sure the input buffer size (in bytes) is a multiple of 4 when MDMAT bit is set - (case of multi-buffer HASH processing) */ - assert_param(IS_HASH_DMA_MULTIBUFFER_SIZE(Size)); - #endif /* MDMA defined*/ - /* If State is ready or suspended, start or resume polling-based HASH processing */ - if ((State_tmp == HAL_HASH_STATE_READY) || (State_tmp == HAL_HASH_STATE_SUSPENDED)) - { - /* Check input parameters */ - if ((pInBuffer == NULL) || (Size == 0U) || - /* Check phase coherency. Phase must be - either READY (fresh start) - or PROCESS (multi-buffer HASH management) */ - ((hhash->Phase != HAL_HASH_PHASE_READY) && (!(IS_HASH_PROCESSING(hhash))))) - { - hhash->State = HAL_HASH_STATE_READY; - return HAL_ERROR; - } - - - /* Process Locked */ - __HAL_LOCK(hhash); - - /* If not a resumption case */ - if (hhash->State == HAL_HASH_STATE_READY) - { - /* Change the HASH state */ - hhash->State = HAL_HASH_STATE_BUSY; - - /* Check if initialization phase has already been performed. - If Phase is already set to HAL_HASH_PHASE_PROCESS, this means the - API is processing a new input data message in case of multi-buffer HASH - computation. */ - if (hhash->Phase == HAL_HASH_PHASE_READY) - { - /* Select the HASH algorithm, clear HMAC mode and long key selection bit, reset the HASH processor core */ - MODIFY_REG(HASH->CR, HASH_CR_LKEY | HASH_CR_ALGO | HASH_CR_MODE | HASH_CR_INIT, Algorithm | HASH_CR_INIT); - - /* Set the phase */ - hhash->Phase = HAL_HASH_PHASE_PROCESS; - } - - /* Configure the Number of valid bits in last word of the message */ - __HAL_HASH_SET_NBVALIDBITS(Size); - - inputaddr = (uint32_t)pInBuffer; /* DMA transfer start address */ - inputSize = Size; /* DMA transfer size (in bytes) */ - - /* In case of suspension request, save the starting parameters */ - hhash->pHashInBuffPtr = pInBuffer; /* DMA transfer start address */ - hhash->HashInCount = Size; /* DMA transfer size (in bytes) */ - - } - /* If resumption case */ - else - { - /* Change the HASH state */ - hhash->State = HAL_HASH_STATE_BUSY; - - /* Resumption case, inputaddr and inputSize are not set to the API input parameters - but to those saved beforehand by HAL_HASH_DMAFeed_ProcessSuspend() when the - processing was suspended */ - inputaddr = (uint32_t)hhash->pHashInBuffPtr; /* DMA transfer start address */ - inputSize = hhash->HashInCount; /* DMA transfer size (in bytes) */ - - } - - /* Set the HASH DMA transfer complete callback */ - hhash->hdmain->XferCpltCallback = HASH_DMAXferCplt; - /* Set the DMA error callback */ - hhash->hdmain->XferErrorCallback = HASH_DMAError; - - /* Store number of words already pushed to manage proper DMA processing suspension */ - hhash->NbWordsAlreadyPushed = HASH_NBW_PUSHED(); - - /* Enable the DMA In DMA stream */ - status = HAL_DMA_Start_IT(hhash->hdmain, inputaddr, (uint32_t)&HASH->DIN, \ - (((inputSize % 4U) != 0U) ? ((inputSize + (4U - (inputSize % 4U))) / 4U) : \ - (inputSize / 4U))); - - /* Enable DMA requests */ - SET_BIT(HASH->CR, HASH_CR_DMAE); - - /* Process Unlock */ - __HAL_UNLOCK(hhash); - - /* Return function status */ - if (status != HAL_OK) - { - /* Update HASH state machine to error */ - hhash->State = HAL_HASH_STATE_ERROR; - } - - return status; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Return the computed digest. - * @note The API waits for DCIS to be set then reads the computed digest. - * @param hhash HASH handle. - * @param pOutBuffer pointer to the computed digest. - * @param Timeout Timeout value. - * @retval HAL status - */ -HAL_StatusTypeDef HASH_Finish(HASH_HandleTypeDef *hhash, uint8_t *pOutBuffer, uint32_t Timeout) -{ - - if (hhash->State == HAL_HASH_STATE_READY) - { - /* Check parameter */ - if (pOutBuffer == NULL) - { - return HAL_ERROR; - } - - /* Process Locked */ - __HAL_LOCK(hhash); - - /* Change the HASH state to busy */ - hhash->State = HAL_HASH_STATE_BUSY; - - /* Wait for DCIS flag to be set */ - if (HASH_WaitOnFlagUntilTimeout(hhash, HASH_FLAG_DCIS, RESET, Timeout) != HAL_OK) - { - return HAL_TIMEOUT; - } - - /* Read the message digest */ - HASH_GetDigest(pOutBuffer, HASH_DIGEST_LENGTH()); - - /* Change the HASH state to ready */ - hhash->State = HAL_HASH_STATE_READY; - - /* Reset HASH state machine */ - hhash->Phase = HAL_HASH_PHASE_READY; - - /* Process UnLock */ - __HAL_UNLOCK(hhash); - - /* Return function status */ - return HAL_OK; - - } - else - { - return HAL_BUSY; - } - -} - - -/** - * @brief Initialize the HASH peripheral in HMAC mode, next process pInBuffer then - * read the computed digest. - * @note Digest is available in pOutBuffer. - * @note Same key is used for the inner and the outer hash functions; pointer to key and - * key size are respectively stored in hhash->Init.pKey and hhash->Init.KeySize. - * @param hhash HASH handle. - * @param pInBuffer pointer to the input buffer (buffer to be hashed). - * @param Size length of the input buffer in bytes. - * @param pOutBuffer pointer to the computed digest. - * @param Timeout Timeout value. - * @param Algorithm HASH algorithm. - * @retval HAL status - */ -HAL_StatusTypeDef HMAC_Start(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size, uint8_t *pOutBuffer, - uint32_t Timeout, uint32_t Algorithm) -{ - HAL_HASH_StateTypeDef State_tmp = hhash->State; - - /* If State is ready or suspended, start or resume polling-based HASH processing */ - if ((State_tmp == HAL_HASH_STATE_READY) || (State_tmp == HAL_HASH_STATE_SUSPENDED)) - { - /* Check input parameters */ - if ((pInBuffer == NULL) || (Size == 0U) || (hhash->Init.pKey == NULL) || (hhash->Init.KeySize == 0U) - || (pOutBuffer == NULL)) - { - hhash->State = HAL_HASH_STATE_READY; - return HAL_ERROR; - } - - /* Process Locked */ - __HAL_LOCK(hhash); - - /* Change the HASH state */ - hhash->State = HAL_HASH_STATE_BUSY; - - /* Check if initialization phase has already be performed */ - if (hhash->Phase == HAL_HASH_PHASE_READY) - { - /* Check if key size is larger than 64 bytes, accordingly set LKEY and the other setting bits */ - if (hhash->Init.KeySize > 64U) - { - MODIFY_REG(HASH->CR, HASH_CR_LKEY | HASH_CR_ALGO | HASH_CR_MODE | HASH_CR_INIT, - Algorithm | HASH_ALGOMODE_HMAC | HASH_HMAC_KEYTYPE_LONGKEY | HASH_CR_INIT); - } - else - { - MODIFY_REG(HASH->CR, HASH_CR_LKEY | HASH_CR_ALGO | HASH_CR_MODE | HASH_CR_INIT, - Algorithm | HASH_ALGOMODE_HMAC | HASH_CR_INIT); - } - /* Set the phase to Step 1 */ - hhash->Phase = HAL_HASH_PHASE_HMAC_STEP_1; - /* Resort to hhash internal fields to feed the Peripheral. - Parameters will be updated in case of suspension to contain the proper - information at resumption time. */ - hhash->pHashOutBuffPtr = pOutBuffer; /* Output digest address */ - hhash->pHashInBuffPtr = pInBuffer; /* Input data address, HMAC_Processing input - parameter for Step 2 */ - hhash->HashInCount = Size; /* Input data size, HMAC_Processing input - parameter for Step 2 */ - hhash->HashBuffSize = Size; /* Store the input buffer size for the whole HMAC process*/ - hhash->pHashKeyBuffPtr = hhash->Init.pKey; /* Key address, HMAC_Processing input parameter for Step - 1 and Step 3 */ - hhash->HashKeyCount = hhash->Init.KeySize; /* Key size, HMAC_Processing input parameter for Step 1 - and Step 3 */ - } - - /* Carry out HMAC processing */ - return HMAC_Processing(hhash, Timeout); - - } - else - { - return HAL_BUSY; - } -} - - - -/** - * @brief Initialize the HASH peripheral in HMAC mode, next process pInBuffer then - * read the computed digest in interruption mode. - * @note Digest is available in pOutBuffer. - * @note Same key is used for the inner and the outer hash functions; pointer to key and - * key size are respectively stored in hhash->Init.pKey and hhash->Init.KeySize. - * @param hhash HASH handle. - * @param pInBuffer pointer to the input buffer (buffer to be hashed). - * @param Size length of the input buffer in bytes. - * @param pOutBuffer pointer to the computed digest. - * @param Algorithm HASH algorithm. - * @retval HAL status - */ -HAL_StatusTypeDef HMAC_Start_IT(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size, uint8_t *pOutBuffer, - uint32_t Algorithm) -{ - HAL_HASH_StateTypeDef State_tmp = hhash->State; - - /* If State is ready or suspended, start or resume IT-based HASH processing */ - if ((State_tmp == HAL_HASH_STATE_READY) || (State_tmp == HAL_HASH_STATE_SUSPENDED)) - { - /* Check input parameters */ - if ((pInBuffer == NULL) || (Size == 0U) || (hhash->Init.pKey == NULL) || (hhash->Init.KeySize == 0U) - || (pOutBuffer == NULL)) - { - hhash->State = HAL_HASH_STATE_READY; - return HAL_ERROR; - } - - /* Process Locked */ - __HAL_LOCK(hhash); - - /* Change the HASH state */ - hhash->State = HAL_HASH_STATE_BUSY; - - /* Initialize IT counter */ - hhash->HashITCounter = 1; - - /* Check if initialization phase has already be performed */ - if (hhash->Phase == HAL_HASH_PHASE_READY) - { - /* Check if key size is larger than 64 bytes, accordingly set LKEY and the other setting bits */ - if (hhash->Init.KeySize > 64U) - { - MODIFY_REG(HASH->CR, HASH_CR_LKEY | HASH_CR_ALGO | HASH_CR_MODE | HASH_CR_INIT, - Algorithm | HASH_ALGOMODE_HMAC | HASH_HMAC_KEYTYPE_LONGKEY | HASH_CR_INIT); - } - else - { - MODIFY_REG(HASH->CR, HASH_CR_LKEY | HASH_CR_ALGO | HASH_CR_MODE | HASH_CR_INIT, - Algorithm | HASH_ALGOMODE_HMAC | HASH_CR_INIT); - } - - /* Resort to hhash internal fields hhash->pHashInBuffPtr and hhash->HashInCount - to feed the Peripheral whatever the HMAC step. - Lines below are set to start HMAC Step 1 processing where key is entered first. */ - hhash->HashInCount = hhash->Init.KeySize; /* Key size */ - hhash->pHashInBuffPtr = hhash->Init.pKey ; /* Key address */ - - /* Store input and output parameters in handle fields to manage steps transition - or possible HMAC suspension/resumption */ - hhash->pHashKeyBuffPtr = hhash->Init.pKey; /* Key address */ - hhash->pHashMsgBuffPtr = pInBuffer; /* Input message address */ - hhash->HashBuffSize = Size; /* Input message size (in bytes) */ - hhash->pHashOutBuffPtr = pOutBuffer; /* Output digest address */ - - /* Configure the number of valid bits in last word of the key */ - __HAL_HASH_SET_NBVALIDBITS(hhash->Init.KeySize); - - /* Set the phase to Step 1 */ - hhash->Phase = HAL_HASH_PHASE_HMAC_STEP_1; - } - else if ((hhash->Phase == HAL_HASH_PHASE_HMAC_STEP_1) || (hhash->Phase == HAL_HASH_PHASE_HMAC_STEP_3)) - { - /* Restart IT-based HASH processing after Step 1 or Step 3 suspension */ - - } - else if (hhash->Phase == HAL_HASH_PHASE_HMAC_STEP_2) - { - /* Restart IT-based HASH processing after Step 2 suspension */ - - } - else - { - /* Error report as phase incorrect */ - /* Process Unlock */ - __HAL_UNLOCK(hhash); - hhash->State = HAL_HASH_STATE_READY; - return HAL_ERROR; - } - - /* Process Unlock */ - __HAL_UNLOCK(hhash); - - /* Enable Interrupts */ - __HAL_HASH_ENABLE_IT(HASH_IT_DINI | HASH_IT_DCI); - - /* Return function status */ - return HAL_OK; - } - else - { - return HAL_BUSY; - } - -} - - - -/** - * @brief Initialize the HASH peripheral in HMAC mode then initiate the required - * DMA transfers to feed the key and the input buffer to the Peripheral. - * @note Same key is used for the inner and the outer hash functions; pointer to key and - * key size are respectively stored in hhash->Init.pKey and hhash->Init.KeySize. - * @note In case of multi-buffer HMAC processing, the input buffer size (in bytes) must - * be a multiple of 4 otherwise, the HASH digest computation is corrupted. - * Only the length of the last buffer of the thread doesn't have to be a - * multiple of 4. - * @param hhash HASH handle. - * @param pInBuffer pointer to the input buffer (buffer to be hashed). - * @param Size length of the input buffer in bytes. - * @param Algorithm HASH algorithm. - * @retval HAL status - */ -HAL_StatusTypeDef HMAC_Start_DMA(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size, uint32_t Algorithm) -{ - uint32_t inputaddr; - uint32_t inputSize; - HAL_StatusTypeDef status ; - HAL_HASH_StateTypeDef State_tmp = hhash->State; - /* Make sure the input buffer size (in bytes) is a multiple of 4 when digest calculation - is disabled (multi-buffer HMAC processing, MDMAT bit to be set) */ - assert_param(IS_HMAC_DMA_MULTIBUFFER_SIZE(hhash, Size)); - /* If State is ready or suspended, start or resume DMA-based HASH processing */ - if ((State_tmp == HAL_HASH_STATE_READY) || (State_tmp == HAL_HASH_STATE_SUSPENDED)) - { - /* Check input parameters */ - if ((pInBuffer == NULL) || (Size == 0U) || (hhash->Init.pKey == NULL) || (hhash->Init.KeySize == 0U) || - /* Check phase coherency. Phase must be - either READY (fresh start) - or one of HMAC PROCESS steps (multi-buffer HASH management) */ - ((hhash->Phase != HAL_HASH_PHASE_READY) && (!(IS_HMAC_PROCESSING(hhash))))) - { - hhash->State = HAL_HASH_STATE_READY; - return HAL_ERROR; - } - - - /* Process Locked */ - __HAL_LOCK(hhash); - - /* If not a case of resumption after suspension */ - if (hhash->State == HAL_HASH_STATE_READY) - { - /* Check whether or not initialization phase has already be performed */ - if (hhash->Phase == HAL_HASH_PHASE_READY) - { - /* Change the HASH state */ - hhash->State = HAL_HASH_STATE_BUSY; -#if defined(HASH_CR_MDMAT) - /* Check if key size is larger than 64 bytes, accordingly set LKEY and the other setting bits. - At the same time, ensure MDMAT bit is cleared. */ - if (hhash->Init.KeySize > 64U) - { - MODIFY_REG(HASH->CR, HASH_CR_MDMAT | HASH_CR_LKEY | HASH_CR_ALGO | HASH_CR_MODE | HASH_CR_INIT, - Algorithm | HASH_ALGOMODE_HMAC | HASH_HMAC_KEYTYPE_LONGKEY | HASH_CR_INIT); - } - else - { - MODIFY_REG(HASH->CR, HASH_CR_MDMAT | HASH_CR_LKEY | HASH_CR_ALGO | HASH_CR_MODE | HASH_CR_INIT, - Algorithm | HASH_ALGOMODE_HMAC | HASH_CR_INIT); - } -#else - /* Check if key size is larger than 64 bytes, accordingly set LKEY and the other setting bits */ - if (hhash->Init.KeySize > 64U) - { - MODIFY_REG(HASH->CR, HASH_CR_LKEY | HASH_CR_ALGO | HASH_CR_MODE | HASH_CR_INIT, - Algorithm | HASH_ALGOMODE_HMAC | HASH_HMAC_KEYTYPE_LONGKEY | HASH_CR_INIT); - } - else - { - MODIFY_REG(HASH->CR, HASH_CR_LKEY | HASH_CR_ALGO | HASH_CR_MODE | HASH_CR_INIT, - Algorithm | HASH_ALGOMODE_HMAC | HASH_CR_INIT); - } -#endif /* HASH_CR_MDMAT*/ - /* Store input aparameters in handle fields to manage steps transition - or possible HMAC suspension/resumption */ - hhash->HashInCount = hhash->Init.KeySize; /* Initial size for first DMA transfer (key size) */ - hhash->pHashKeyBuffPtr = hhash->Init.pKey; /* Key address */ - hhash->pHashInBuffPtr = hhash->Init.pKey ; /* First address passed to DMA (key address at Step 1) */ - hhash->pHashMsgBuffPtr = pInBuffer; /* Input data address */ - hhash->HashBuffSize = Size; /* input data size (in bytes) */ - - /* Set DMA input parameters */ - inputaddr = (uint32_t)(hhash->Init.pKey); /* Address passed to DMA (start by entering Key message) */ - inputSize = hhash->Init.KeySize; /* Size for first DMA transfer (in bytes) */ - - /* Configure the number of valid bits in last word of the key */ - __HAL_HASH_SET_NBVALIDBITS(hhash->Init.KeySize); - - /* Set the phase to Step 1 */ - hhash->Phase = HAL_HASH_PHASE_HMAC_STEP_1; - - } - else if (hhash->Phase == HAL_HASH_PHASE_HMAC_STEP_2) - { - /* Process a new input data message in case of multi-buffer HMAC processing - (this is not a resumption case) */ - - /* Change the HASH state */ - hhash->State = HAL_HASH_STATE_BUSY; - - /* Save input parameters to be able to manage possible suspension/resumption */ - hhash->HashInCount = Size; /* Input message address */ - hhash->pHashInBuffPtr = pInBuffer; /* Input message size in bytes */ - - /* Set DMA input parameters */ - inputaddr = (uint32_t)pInBuffer; /* Input message address */ - inputSize = Size; /* Input message size in bytes */ - - if (hhash->DigestCalculationDisable == RESET) - { - /* This means this is the last buffer of the multi-buffer sequence: DCAL needs to be set. */ -#if defined(HASH_CR_MDMAT) - __HAL_HASH_RESET_MDMAT(); -#endif /* HASH_CR_MDMAT*/ - __HAL_HASH_SET_NBVALIDBITS(inputSize); - } - } - else - { - /* Phase not aligned with handle READY state */ - __HAL_UNLOCK(hhash); - /* Return function status */ - return HAL_ERROR; - } - } - else - { - /* Resumption case (phase may be Step 1, 2 or 3) */ - - /* Change the HASH state */ - hhash->State = HAL_HASH_STATE_BUSY; - - /* Set DMA input parameters at resumption location; - inputaddr and inputSize are not set to the API input parameters - but to those saved beforehand by HAL_HASH_DMAFeed_ProcessSuspend() when the - processing was suspended. */ - inputaddr = (uint32_t)(hhash->pHashInBuffPtr); /* Input message address */ - inputSize = hhash->HashInCount; /* Input message size in bytes */ - } - - - /* Set the HASH DMA transfer complete callback */ - hhash->hdmain->XferCpltCallback = HASH_DMAXferCplt; - /* Set the DMA error callback */ - hhash->hdmain->XferErrorCallback = HASH_DMAError; - - /* Store number of words already pushed to manage proper DMA processing suspension */ - hhash->NbWordsAlreadyPushed = HASH_NBW_PUSHED(); - - /* Enable the DMA In DMA stream */ - status = HAL_DMA_Start_IT(hhash->hdmain, inputaddr, (uint32_t)&HASH->DIN, \ - (((inputSize % 4U) != 0U) ? ((inputSize + (4U - (inputSize % 4U))) / 4U) \ - : (inputSize / 4U))); - /* Enable DMA requests */ - SET_BIT(HASH->CR, HASH_CR_DMAE); - - /* Process Unlocked */ - __HAL_UNLOCK(hhash); - - /* Return function status */ - if (status != HAL_OK) - { - /* Update HASH state machine to error */ - hhash->State = HAL_HASH_STATE_ERROR; - } - - /* Return function status */ - return status; - } - else - { - return HAL_BUSY; - } -} -/** - * @} - */ - -#endif /* HAL_HASH_MODULE_ENABLED */ - -/** - * @} - */ -#endif /* HASH*/ -/** - * @} - */ - - - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_hash_ex.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_hash_ex.c deleted file mode 100644 index e733f5ad7704a9..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_hash_ex.c +++ /dev/null @@ -1,1043 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_hash_ex.c - * @author MCD Application Team - * @brief Extended HASH HAL module driver. - * This file provides firmware functions to manage the following - * functionalities of the HASH peripheral for SHA-224 and SHA-256 - * algorithms: - * + HASH or HMAC processing in polling mode - * + HASH or HMAC processing in interrupt mode - * + HASH or HMAC processing in DMA mode - * Additionally, this file provides functions to manage HMAC - * multi-buffer DMA-based processing for MD-5, SHA-1, SHA-224 - * and SHA-256. - * - * - @verbatim - =============================================================================== - ##### HASH peripheral extended features ##### - =============================================================================== - [..] - The SHA-224 and SHA-256 HASH and HMAC processing can be carried out exactly - the same way as for SHA-1 or MD-5 algorithms. - (#) Three modes are available. - (##) Polling mode: processing APIs are blocking functions - i.e. they process the data and wait till the digest computation is finished, - e.g. HAL_HASHEx_xxx_Start() - (##) Interrupt mode: processing APIs are not blocking functions - i.e. they process the data under interrupt, - e.g. HAL_HASHEx_xxx_Start_IT() - (##) DMA mode: processing APIs are not blocking functions and the CPU is - not used for data transfer i.e. the data transfer is ensured by DMA, - e.g. HAL_HASHEx_xxx_Start_DMA(). Note that in DMA mode, a call to - HAL_HASHEx_xxx_Finish() is then required to retrieve the digest. - - (#)Multi-buffer processing is possible in polling, interrupt and DMA modes. - (##) In polling mode, only multi-buffer HASH processing is possible. - API HAL_HASHEx_xxx_Accumulate() must be called for each input buffer, except for the last one. - User must resort to HAL_HASHEx_xxx_Accumulate_End() to enter the last one and retrieve as - well the computed digest. - - (##) In interrupt mode, API HAL_HASHEx_xxx_Accumulate_IT() must be called for each input buffer, - except for the last one. - User must resort to HAL_HASHEx_xxx_Accumulate_End_IT() to enter the last one and retrieve as - well the computed digest. - - (##) In DMA mode, multi-buffer HASH and HMAC processing are possible. - - (+++) HASH processing: once initialization is done, MDMAT bit must be set through - __HAL_HASH_SET_MDMAT() macro. - From that point, each buffer can be fed to the Peripheral through HAL_HASHEx_xxx_Start_DMA() API. - Before entering the last buffer, reset the MDMAT bit with __HAL_HASH_RESET_MDMAT() - macro then wrap-up the HASH processing in feeding the last input buffer through the - same API HAL_HASHEx_xxx_Start_DMA(). The digest can then be retrieved with a call to - API HAL_HASHEx_xxx_Finish(). - - (+++) HMAC processing (MD-5, SHA-1, SHA-224 and SHA-256 must all resort to - extended functions): after initialization, the key and the first input buffer are entered - in the Peripheral with the API HAL_HMACEx_xxx_Step1_2_DMA(). This carries out HMAC step 1 and - starts step 2. - The following buffers are next entered with the API HAL_HMACEx_xxx_Step2_DMA(). At this - point, the HMAC processing is still carrying out step 2. - Then, step 2 for the last input buffer and step 3 are carried out by a single call - to HAL_HMACEx_xxx_Step2_3_DMA(). - - The digest can finally be retrieved with a call to API HAL_HASH_xxx_Finish() for - MD-5 and SHA-1, to HAL_HASHEx_xxx_Finish() for SHA-224 and SHA-256. - - - @endverbatim - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal.h" - - - - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ -#if defined (HASH) - -/** @defgroup HASHEx HASHEx - * @brief HASH HAL extended module driver. - * @{ - */ -#ifdef HAL_HASH_MODULE_ENABLED -/* Private typedef -----------------------------------------------------------*/ -/* Private define ------------------------------------------------------------*/ -/* Private functions ---------------------------------------------------------*/ -#if defined (HASH_CR_MDMAT) - -/** @defgroup HASHEx_Exported_Functions HASH Extended Exported Functions - * @{ - */ - -/** @defgroup HASHEx_Exported_Functions_Group1 HASH extended processing functions in polling mode - * @brief HASH extended processing functions using polling mode. - * -@verbatim - =============================================================================== - ##### Polling mode HASH extended processing functions ##### - =============================================================================== - [..] This section provides functions allowing to calculate in polling mode - the hash value using one of the following algorithms: - (+) SHA224 - (++) HAL_HASHEx_SHA224_Start() - (++) HAL_HASHEx_SHA224_Accmlt() - (++) HAL_HASHEx_SHA224_Accmlt_End() - (+) SHA256 - (++) HAL_HASHEx_SHA256_Start() - (++) HAL_HASHEx_SHA256_Accmlt() - (++) HAL_HASHEx_SHA256_Accmlt_End() - - [..] For a single buffer to be hashed, user can resort to HAL_HASH_xxx_Start(). - - [..] In case of multi-buffer HASH processing (a single digest is computed while - several buffers are fed to the Peripheral), the user can resort to successive calls - to HAL_HASHEx_xxx_Accumulate() and wrap-up the digest computation by a call - to HAL_HASHEx_xxx_Accumulate_End(). - -@endverbatim - * @{ - */ - - -/** - * @brief Initialize the HASH peripheral in SHA224 mode, next process pInBuffer then - * read the computed digest. - * @note Digest is available in pOutBuffer. - * @param hhash HASH handle. - * @param pInBuffer pointer to the input buffer (buffer to be hashed). - * @param Size length of the input buffer in bytes. - * @param pOutBuffer pointer to the computed digest. Digest size is 28 bytes. - * @param Timeout Timeout value - * @retval HAL status - */ -HAL_StatusTypeDef HAL_HASHEx_SHA224_Start(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size, - uint8_t *pOutBuffer, uint32_t Timeout) -{ - return HASH_Start(hhash, pInBuffer, Size, pOutBuffer, Timeout, HASH_ALGOSELECTION_SHA224); -} - -/** - * @brief If not already done, initialize the HASH peripheral in SHA224 mode then - * processes pInBuffer. - * @note Consecutive calls to HAL_HASHEx_SHA224_Accmlt() can be used to feed - * several input buffers back-to-back to the Peripheral that will yield a single - * HASH signature once all buffers have been entered. Wrap-up of input - * buffers feeding and retrieval of digest is done by a call to - * HAL_HASHEx_SHA224_Accmlt_End(). - * @note Field hhash->Phase of HASH handle is tested to check whether or not - * the Peripheral has already been initialized. - * @note Digest is not retrieved by this API, user must resort to HAL_HASHEx_SHA224_Accmlt_End() - * to read it, feeding at the same time the last input buffer to the Peripheral. - * @note The input buffer size (in bytes) must be a multiple of 4 otherwise, the - * HASH digest computation is corrupted. Only HAL_HASHEx_SHA224_Accmlt_End() is able - * to manage the ending buffer with a length in bytes not a multiple of 4. - * @param hhash HASH handle. - * @param pInBuffer pointer to the input buffer (buffer to be hashed). - * @param Size length of the input buffer in bytes, must be a multiple of 4. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_HASHEx_SHA224_Accmlt(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size) -{ - return HASH_Accumulate(hhash, pInBuffer, Size, HASH_ALGOSELECTION_SHA224); -} - -/** - * @brief End computation of a single HASH signature after several calls to HAL_HASHEx_SHA224_Accmlt() API. - * @note Digest is available in pOutBuffer. - * @param hhash HASH handle. - * @param pInBuffer pointer to the input buffer (buffer to be hashed). - * @param Size length of the input buffer in bytes. - * @param pOutBuffer pointer to the computed digest. Digest size is 28 bytes. - * @param Timeout Timeout value - * @retval HAL status - */ -HAL_StatusTypeDef HAL_HASHEx_SHA224_Accmlt_End(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size, - uint8_t *pOutBuffer, uint32_t Timeout) -{ - return HASH_Start(hhash, pInBuffer, Size, pOutBuffer, Timeout, HASH_ALGOSELECTION_SHA224); -} - -/** - * @brief Initialize the HASH peripheral in SHA256 mode, next process pInBuffer then - * read the computed digest. - * @note Digest is available in pOutBuffer. - * @param hhash HASH handle. - * @param pInBuffer pointer to the input buffer (buffer to be hashed). - * @param Size length of the input buffer in bytes. - * @param pOutBuffer pointer to the computed digest. Digest size is 32 bytes. - * @param Timeout Timeout value - * @retval HAL status - */ -HAL_StatusTypeDef HAL_HASHEx_SHA256_Start(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size, - uint8_t *pOutBuffer, uint32_t Timeout) -{ - return HASH_Start(hhash, pInBuffer, Size, pOutBuffer, Timeout, HASH_ALGOSELECTION_SHA256); -} - -/** - * @brief If not already done, initialize the HASH peripheral in SHA256 mode then - * processes pInBuffer. - * @note Consecutive calls to HAL_HASHEx_SHA256_Accmlt() can be used to feed - * several input buffers back-to-back to the Peripheral that will yield a single - * HASH signature once all buffers have been entered. Wrap-up of input - * buffers feeding and retrieval of digest is done by a call to - * HAL_HASHEx_SHA256_Accmlt_End(). - * @note Field hhash->Phase of HASH handle is tested to check whether or not - * the Peripheral has already been initialized. - * @note Digest is not retrieved by this API, user must resort to HAL_HASHEx_SHA256_Accmlt_End() - * to read it, feeding at the same time the last input buffer to the Peripheral. - * @note The input buffer size (in bytes) must be a multiple of 4 otherwise, the - * HASH digest computation is corrupted. Only HAL_HASHEx_SHA256_Accmlt_End() is able - * to manage the ending buffer with a length in bytes not a multiple of 4. - * @param hhash HASH handle. - * @param pInBuffer pointer to the input buffer (buffer to be hashed). - * @param Size length of the input buffer in bytes, must be a multiple of 4. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_HASHEx_SHA256_Accmlt(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size) -{ - return HASH_Accumulate(hhash, pInBuffer, Size, HASH_ALGOSELECTION_SHA256); -} - -/** - * @brief End computation of a single HASH signature after several calls to HAL_HASHEx_SHA256_Accmlt() API. - * @note Digest is available in pOutBuffer. - * @param hhash HASH handle. - * @param pInBuffer pointer to the input buffer (buffer to be hashed). - * @param Size length of the input buffer in bytes. - * @param pOutBuffer pointer to the computed digest. Digest size is 32 bytes. - * @param Timeout Timeout value - * @retval HAL status - */ -HAL_StatusTypeDef HAL_HASHEx_SHA256_Accmlt_End(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size, - uint8_t *pOutBuffer, uint32_t Timeout) -{ - return HASH_Start(hhash, pInBuffer, Size, pOutBuffer, Timeout, HASH_ALGOSELECTION_SHA256); -} - -/** - * @} - */ - -/** @defgroup HASHEx_Exported_Functions_Group2 HASH extended processing functions in interrupt mode - * @brief HASH extended processing functions using interrupt mode. - * -@verbatim - =============================================================================== - ##### Interruption mode HASH extended processing functions ##### - =============================================================================== - [..] This section provides functions allowing to calculate in interrupt mode - the hash value using one of the following algorithms: - (+) SHA224 - (++) HAL_HASHEx_SHA224_Start_IT() - (++) HAL_HASHEx_SHA224_Accmlt_IT() - (++) HAL_HASHEx_SHA224_Accmlt_End_IT() - (+) SHA256 - (++) HAL_HASHEx_SHA256_Start_IT() - (++) HAL_HASHEx_SHA256_Accmlt_IT() - (++) HAL_HASHEx_SHA256_Accmlt_End_IT() - -@endverbatim - * @{ - */ - - -/** - * @brief Initialize the HASH peripheral in SHA224 mode, next process pInBuffer then - * read the computed digest in interruption mode. - * @note Digest is available in pOutBuffer. - * @param hhash HASH handle. - * @param pInBuffer pointer to the input buffer (buffer to be hashed). - * @param Size length of the input buffer in bytes. - * @param pOutBuffer pointer to the computed digest. Digest size is 28 bytes. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_HASHEx_SHA224_Start_IT(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size, - uint8_t *pOutBuffer) -{ - return HASH_Start_IT(hhash, pInBuffer, Size, pOutBuffer, HASH_ALGOSELECTION_SHA224); -} - -/** - * @brief If not already done, initialize the HASH peripheral in SHA224 mode then - * processes pInBuffer in interruption mode. - * @note Consecutive calls to HAL_HASHEx_SHA224_Accmlt_IT() can be used to feed - * several input buffers back-to-back to the Peripheral that will yield a single - * HASH signature once all buffers have been entered. Wrap-up of input - * buffers feeding and retrieval of digest is done by a call to - * HAL_HASHEx_SHA224_Accmlt_End_IT(). - * @note Field hhash->Phase of HASH handle is tested to check whether or not - * the Peripheral has already been initialized. - * @note The input buffer size (in bytes) must be a multiple of 4 otherwise, the - * HASH digest computation is corrupted. Only HAL_HASHEx_SHA224_Accmlt_End_IT() is able - * to manage the ending buffer with a length in bytes not a multiple of 4. - * @param hhash HASH handle. - * @param pInBuffer pointer to the input buffer (buffer to be hashed). - * @param Size length of the input buffer in bytes, must be a multiple of 4. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_HASHEx_SHA224_Accmlt_IT(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size) -{ - return HASH_Accumulate_IT(hhash, pInBuffer, Size, HASH_ALGOSELECTION_SHA224); -} - -/** - * @brief End computation of a single HASH signature after several calls to HAL_HASHEx_SHA224_Accmlt_IT() API. - * @note Digest is available in pOutBuffer. - * @param hhash HASH handle. - * @param pInBuffer pointer to the input buffer (buffer to be hashed). - * @param Size length of the input buffer in bytes. - * @param pOutBuffer pointer to the computed digest. Digest size is 28 bytes. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_HASHEx_SHA224_Accmlt_End_IT(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size, - uint8_t *pOutBuffer) -{ - return HASH_Start_IT(hhash, pInBuffer, Size, pOutBuffer, HASH_ALGOSELECTION_SHA224); -} - -/** - * @brief Initialize the HASH peripheral in SHA256 mode, next process pInBuffer then - * read the computed digest in interruption mode. - * @note Digest is available in pOutBuffer. - * @param hhash HASH handle. - * @param pInBuffer pointer to the input buffer (buffer to be hashed). - * @param Size length of the input buffer in bytes. - * @param pOutBuffer pointer to the computed digest. Digest size is 32 bytes. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_HASHEx_SHA256_Start_IT(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size, - uint8_t *pOutBuffer) -{ - return HASH_Start_IT(hhash, pInBuffer, Size, pOutBuffer, HASH_ALGOSELECTION_SHA256); -} - -/** - * @brief If not already done, initialize the HASH peripheral in SHA256 mode then - * processes pInBuffer in interruption mode. - * @note Consecutive calls to HAL_HASHEx_SHA256_Accmlt_IT() can be used to feed - * several input buffers back-to-back to the Peripheral that will yield a single - * HASH signature once all buffers have been entered. Wrap-up of input - * buffers feeding and retrieval of digest is done by a call to - * HAL_HASHEx_SHA256_Accmlt_End_IT(). - * @note Field hhash->Phase of HASH handle is tested to check whether or not - * the Peripheral has already been initialized. - * @note The input buffer size (in bytes) must be a multiple of 4 otherwise, the - * HASH digest computation is corrupted. Only HAL_HASHEx_SHA256_Accmlt_End_IT() is able - * to manage the ending buffer with a length in bytes not a multiple of 4. - * @param hhash HASH handle. - * @param pInBuffer pointer to the input buffer (buffer to be hashed). - * @param Size length of the input buffer in bytes, must be a multiple of 4. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_HASHEx_SHA256_Accmlt_IT(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size) -{ - return HASH_Accumulate_IT(hhash, pInBuffer, Size, HASH_ALGOSELECTION_SHA256); -} - -/** - * @brief End computation of a single HASH signature after several calls to HAL_HASHEx_SHA256_Accmlt_IT() API. - * @note Digest is available in pOutBuffer. - * @param hhash HASH handle. - * @param pInBuffer pointer to the input buffer (buffer to be hashed). - * @param Size length of the input buffer in bytes. - * @param pOutBuffer pointer to the computed digest. Digest size is 32 bytes. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_HASHEx_SHA256_Accmlt_End_IT(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size, - uint8_t *pOutBuffer) -{ - return HASH_Start_IT(hhash, pInBuffer, Size, pOutBuffer, HASH_ALGOSELECTION_SHA256); -} - -/** - * @} - */ - -/** @defgroup HASHEx_Exported_Functions_Group3 HASH extended processing functions in DMA mode - * @brief HASH extended processing functions using DMA mode. - * -@verbatim - =============================================================================== - ##### DMA mode HASH extended processing functions ##### - =============================================================================== - [..] This section provides functions allowing to calculate in DMA mode - the hash value using one of the following algorithms: - (+) SHA224 - (++) HAL_HASHEx_SHA224_Start_DMA() - (++) HAL_HASHEx_SHA224_Finish() - (+) SHA256 - (++) HAL_HASHEx_SHA256_Start_DMA() - (++) HAL_HASHEx_SHA256_Finish() - - [..] When resorting to DMA mode to enter the data in the Peripheral, user must resort - to HAL_HASHEx_xxx_Start_DMA() then read the resulting digest with - HAL_HASHEx_xxx_Finish(). - - [..] In case of multi-buffer HASH processing, MDMAT bit must first be set before - the successive calls to HAL_HASHEx_xxx_Start_DMA(). Then, MDMAT bit needs to be - reset before the last call to HAL_HASHEx_xxx_Start_DMA(). Digest is finally - retrieved thanks to HAL_HASHEx_xxx_Finish(). - -@endverbatim - * @{ - */ - - - - -/** - * @brief Initialize the HASH peripheral in SHA224 mode then initiate a DMA transfer - * to feed the input buffer to the Peripheral. - * @note Once the DMA transfer is finished, HAL_HASHEx_SHA224_Finish() API must - * be called to retrieve the computed digest. - * @param hhash HASH handle. - * @param pInBuffer pointer to the input buffer (buffer to be hashed). - * @param Size length of the input buffer in bytes. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_HASHEx_SHA224_Start_DMA(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size) -{ - return HASH_Start_DMA(hhash, pInBuffer, Size, HASH_ALGOSELECTION_SHA224); -} - -/** - * @brief Return the computed digest in SHA224 mode. - * @note The API waits for DCIS to be set then reads the computed digest. - * @note HAL_HASHEx_SHA224_Finish() can be used as well to retrieve the digest in - * HMAC SHA224 mode. - * @param hhash HASH handle. - * @param pOutBuffer pointer to the computed digest. Digest size is 28 bytes. - * @param Timeout Timeout value. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_HASHEx_SHA224_Finish(HASH_HandleTypeDef *hhash, uint8_t *pOutBuffer, uint32_t Timeout) -{ - return HASH_Finish(hhash, pOutBuffer, Timeout); -} - -/** - * @brief Initialize the HASH peripheral in SHA256 mode then initiate a DMA transfer - * to feed the input buffer to the Peripheral. - * @note Once the DMA transfer is finished, HAL_HASHEx_SHA256_Finish() API must - * be called to retrieve the computed digest. - * @param hhash HASH handle. - * @param pInBuffer pointer to the input buffer (buffer to be hashed). - * @param Size length of the input buffer in bytes. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_HASHEx_SHA256_Start_DMA(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size) -{ - return HASH_Start_DMA(hhash, pInBuffer, Size, HASH_ALGOSELECTION_SHA256); -} - -/** - * @brief Return the computed digest in SHA256 mode. - * @note The API waits for DCIS to be set then reads the computed digest. - * @note HAL_HASHEx_SHA256_Finish() can be used as well to retrieve the digest in - * HMAC SHA256 mode. - * @param hhash HASH handle. - * @param pOutBuffer pointer to the computed digest. Digest size is 32 bytes. - * @param Timeout Timeout value. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_HASHEx_SHA256_Finish(HASH_HandleTypeDef *hhash, uint8_t *pOutBuffer, uint32_t Timeout) -{ - return HASH_Finish(hhash, pOutBuffer, Timeout); -} - -/** - * @} - */ - -/** @defgroup HASHEx_Exported_Functions_Group4 HMAC extended processing functions in polling mode - * @brief HMAC extended processing functions using polling mode. - * -@verbatim - =============================================================================== - ##### Polling mode HMAC extended processing functions ##### - =============================================================================== - [..] This section provides functions allowing to calculate in polling mode - the HMAC value using one of the following algorithms: - (+) SHA224 - (++) HAL_HMACEx_SHA224_Start() - (+) SHA256 - (++) HAL_HMACEx_SHA256_Start() - -@endverbatim - * @{ - */ - - - -/** - * @brief Initialize the HASH peripheral in HMAC SHA224 mode, next process pInBuffer then - * read the computed digest. - * @note Digest is available in pOutBuffer. - * @note Same key is used for the inner and the outer hash functions; pointer to key and - * key size are respectively stored in hhash->Init.pKey and hhash->Init.KeySize. - * @param hhash HASH handle. - * @param pInBuffer pointer to the input buffer (buffer to be hashed). - * @param Size length of the input buffer in bytes. - * @param pOutBuffer pointer to the computed digest. Digest size is 28 bytes. - * @param Timeout Timeout value. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_HMACEx_SHA224_Start(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size, - uint8_t *pOutBuffer, uint32_t Timeout) -{ - return HMAC_Start(hhash, pInBuffer, Size, pOutBuffer, Timeout, HASH_ALGOSELECTION_SHA224); -} - -/** - * @brief Initialize the HASH peripheral in HMAC SHA256 mode, next process pInBuffer then - * read the computed digest. - * @note Digest is available in pOutBuffer. - * @note Same key is used for the inner and the outer hash functions; pointer to key and - * key size are respectively stored in hhash->Init.pKey and hhash->Init.KeySize. - * @param hhash HASH handle. - * @param pInBuffer pointer to the input buffer (buffer to be hashed). - * @param Size length of the input buffer in bytes. - * @param pOutBuffer pointer to the computed digest. Digest size is 32 bytes. - * @param Timeout Timeout value. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_HMACEx_SHA256_Start(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size, - uint8_t *pOutBuffer, uint32_t Timeout) -{ - return HMAC_Start(hhash, pInBuffer, Size, pOutBuffer, Timeout, HASH_ALGOSELECTION_SHA256); -} - -/** - * @} - */ - - -/** @defgroup HASHEx_Exported_Functions_Group5 HMAC extended processing functions in interrupt mode - * @brief HMAC extended processing functions using interruption mode. - * -@verbatim - =============================================================================== - ##### Interrupt mode HMAC extended processing functions ##### - =============================================================================== - [..] This section provides functions allowing to calculate in interrupt mode - the HMAC value using one of the following algorithms: - (+) SHA224 - (++) HAL_HMACEx_SHA224_Start_IT() - (+) SHA256 - (++) HAL_HMACEx_SHA256_Start_IT() - -@endverbatim - * @{ - */ - - - -/** - * @brief Initialize the HASH peripheral in HMAC SHA224 mode, next process pInBuffer then - * read the computed digest in interrupt mode. - * @note Digest is available in pOutBuffer. - * @note Same key is used for the inner and the outer hash functions; pointer to key and - * key size are respectively stored in hhash->Init.pKey and hhash->Init.KeySize. - * @param hhash HASH handle. - * @param pInBuffer pointer to the input buffer (buffer to be hashed). - * @param Size length of the input buffer in bytes. - * @param pOutBuffer pointer to the computed digest. Digest size is 28 bytes. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_HMACEx_SHA224_Start_IT(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size, - uint8_t *pOutBuffer) -{ - return HMAC_Start_IT(hhash, pInBuffer, Size, pOutBuffer, HASH_ALGOSELECTION_SHA224); -} - -/** - * @brief Initialize the HASH peripheral in HMAC SHA256 mode, next process pInBuffer then - * read the computed digest in interrupt mode. - * @note Digest is available in pOutBuffer. - * @note Same key is used for the inner and the outer hash functions; pointer to key and - * key size are respectively stored in hhash->Init.pKey and hhash->Init.KeySize. - * @param hhash HASH handle. - * @param pInBuffer pointer to the input buffer (buffer to be hashed). - * @param Size length of the input buffer in bytes. - * @param pOutBuffer pointer to the computed digest. Digest size is 32 bytes. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_HMACEx_SHA256_Start_IT(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size, - uint8_t *pOutBuffer) -{ - return HMAC_Start_IT(hhash, pInBuffer, Size, pOutBuffer, HASH_ALGOSELECTION_SHA256); -} - - - - -/** - * @} - */ - - -/** @defgroup HASHEx_Exported_Functions_Group6 HMAC extended processing functions in DMA mode - * @brief HMAC extended processing functions using DMA mode. - * -@verbatim - =============================================================================== - ##### DMA mode HMAC extended processing functions ##### - =============================================================================== - [..] This section provides functions allowing to calculate in DMA mode - the HMAC value using one of the following algorithms: - (+) SHA224 - (++) HAL_HMACEx_SHA224_Start_DMA() - (+) SHA256 - (++) HAL_HMACEx_SHA256_Start_DMA() - - [..] When resorting to DMA mode to enter the data in the Peripheral for HMAC processing, - user must resort to HAL_HMACEx_xxx_Start_DMA() then read the resulting digest - with HAL_HASHEx_xxx_Finish(). - - -@endverbatim - * @{ - */ - - - -/** - * @brief Initialize the HASH peripheral in HMAC SHA224 mode then initiate the required - * DMA transfers to feed the key and the input buffer to the Peripheral. - * @note Once the DMA transfers are finished (indicated by hhash->State set back - * to HAL_HASH_STATE_READY), HAL_HASHEx_SHA224_Finish() API must be called to retrieve - * the computed digest. - * @note Same key is used for the inner and the outer hash functions; pointer to key and - * key size are respectively stored in hhash->Init.pKey and hhash->Init.KeySize. - * @note If MDMAT bit is set before calling this function (multi-buffer - * HASH processing case), the input buffer size (in bytes) must be - * a multiple of 4 otherwise, the HASH digest computation is corrupted. - * For the processing of the last buffer of the thread, MDMAT bit must - * be reset and the buffer length (in bytes) doesn't have to be a - * multiple of 4. - * @param hhash HASH handle. - * @param pInBuffer pointer to the input buffer (buffer to be hashed). - * @param Size length of the input buffer in bytes. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_HMACEx_SHA224_Start_DMA(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size) -{ - return HMAC_Start_DMA(hhash, pInBuffer, Size, HASH_ALGOSELECTION_SHA224); -} - -/** - * @brief Initialize the HASH peripheral in HMAC SHA224 mode then initiate the required - * DMA transfers to feed the key and the input buffer to the Peripheral. - * @note Once the DMA transfers are finished (indicated by hhash->State set back - * to HAL_HASH_STATE_READY), HAL_HASHEx_SHA256_Finish() API must be called to retrieve - * the computed digest. - * @note Same key is used for the inner and the outer hash functions; pointer to key and - * key size are respectively stored in hhash->Init.pKey and hhash->Init.KeySize. - * @note If MDMAT bit is set before calling this function (multi-buffer - * HASH processing case), the input buffer size (in bytes) must be - * a multiple of 4 otherwise, the HASH digest computation is corrupted. - * For the processing of the last buffer of the thread, MDMAT bit must - * be reset and the buffer length (in bytes) doesn't have to be a - * multiple of 4. - * @param hhash HASH handle. - * @param pInBuffer pointer to the input buffer (buffer to be hashed). - * @param Size length of the input buffer in bytes. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_HMACEx_SHA256_Start_DMA(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size) -{ - return HMAC_Start_DMA(hhash, pInBuffer, Size, HASH_ALGOSELECTION_SHA256); -} - - -/** - * @} - */ - -/** @defgroup HASHEx_Exported_Functions_Group7 Multi-buffer HMAC extended processing functions in DMA mode - * @brief HMAC extended processing functions in multi-buffer DMA mode. - * -@verbatim - =============================================================================== - ##### Multi-buffer DMA mode HMAC extended processing functions ##### - =============================================================================== - [..] This section provides functions to manage HMAC multi-buffer - DMA-based processing for MD5, SHA1, SHA224 and SHA256 algorithms. - (+) MD5 - (++) HAL_HMACEx_MD5_Step1_2_DMA() - (++) HAL_HMACEx_MD5_Step2_DMA() - (++) HAL_HMACEx_MD5_Step2_3_DMA() - (+) SHA1 - (++) HAL_HMACEx_SHA1_Step1_2_DMA() - (++) HAL_HMACEx_SHA1_Step2_DMA() - (++) HAL_HMACEx_SHA1_Step2_3_DMA() - - (+) SHA256 - (++) HAL_HMACEx_SHA224_Step1_2_DMA() - (++) HAL_HMACEx_SHA224_Step2_DMA() - (++) HAL_HMACEx_SHA224_Step2_3_DMA() - (+) SHA256 - (++) HAL_HMACEx_SHA256_Step1_2_DMA() - (++) HAL_HMACEx_SHA256_Step2_DMA() - (++) HAL_HMACEx_SHA256_Step2_3_DMA() - - [..] User must first start-up the multi-buffer DMA-based HMAC computation in - calling HAL_HMACEx_xxx_Step1_2_DMA(). This carries out HMAC step 1 and - intiates step 2 with the first input buffer. - - [..] The following buffers are next fed to the Peripheral with a call to the API - HAL_HMACEx_xxx_Step2_DMA(). There may be several consecutive calls - to this API. - - [..] Multi-buffer DMA-based HMAC computation is wrapped up by a call to - HAL_HMACEx_xxx_Step2_3_DMA(). This finishes step 2 in feeding the last input - buffer to the Peripheral then carries out step 3. - - [..] Digest is retrieved by a call to HAL_HASH_xxx_Finish() for MD-5 or - SHA-1, to HAL_HASHEx_xxx_Finish() for SHA-224 or SHA-256. - - [..] If only two buffers need to be consecutively processed, a call to - HAL_HMACEx_xxx_Step1_2_DMA() followed by a call to HAL_HMACEx_xxx_Step2_3_DMA() - is sufficient. - -@endverbatim - * @{ - */ - -/** - * @brief MD5 HMAC step 1 completion and step 2 start in multi-buffer DMA mode. - * @note Step 1 consists in writing the inner hash function key in the Peripheral, - * step 2 consists in writing the message text. - * @note The API carries out the HMAC step 1 then starts step 2 with - * the first buffer entered to the Peripheral. DCAL bit is not automatically set after - * the message buffer feeding, allowing other messages DMA transfers to occur. - * @note Same key is used for the inner and the outer hash functions; pointer to key and - * key size are respectively stored in hhash->Init.pKey and hhash->Init.KeySize. - * @note The input buffer size (in bytes) must be a multiple of 4 otherwise, the - * HASH digest computation is corrupted. - * @param hhash HASH handle. - * @param pInBuffer pointer to the input buffer (message buffer). - * @param Size length of the input buffer in bytes. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_HMACEx_MD5_Step1_2_DMA(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size) -{ - hhash->DigestCalculationDisable = SET; - return HMAC_Start_DMA(hhash, pInBuffer, Size, HASH_ALGOSELECTION_MD5); -} - -/** - * @brief MD5 HMAC step 2 in multi-buffer DMA mode. - * @note Step 2 consists in writing the message text in the Peripheral. - * @note The API carries on the HMAC step 2, applied to the buffer entered as input - * parameter. DCAL bit is not automatically set after the message buffer feeding, - * allowing other messages DMA transfers to occur. - * @note Same key is used for the inner and the outer hash functions; pointer to key and - * key size are respectively stored in hhash->Init.pKey and hhash->Init.KeySize. - * @note The input buffer size (in bytes) must be a multiple of 4 otherwise, the - * HASH digest computation is corrupted. - * @param hhash HASH handle. - * @param pInBuffer pointer to the input buffer (message buffer). - * @param Size length of the input buffer in bytes. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_HMACEx_MD5_Step2_DMA(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size) -{ - if (hhash->DigestCalculationDisable != SET) - { - return HAL_ERROR; - } - return HMAC_Start_DMA(hhash, pInBuffer, Size, HASH_ALGOSELECTION_MD5); -} - -/** - * @brief MD5 HMAC step 2 wrap-up and step 3 completion in multi-buffer DMA mode. - * @note Step 2 consists in writing the message text in the Peripheral, - * step 3 consists in writing the outer hash function key. - * @note The API wraps up the HMAC step 2 in processing the buffer entered as input - * parameter (the input buffer must be the last one of the multi-buffer thread) - * then carries out HMAC step 3. - * @note Same key is used for the inner and the outer hash functions; pointer to key and - * key size are respectively stored in hhash->Init.pKey and hhash->Init.KeySize. - * @note Once the DMA transfers are finished (indicated by hhash->State set back - * to HAL_HASH_STATE_READY), HAL_HASHEx_SHA256_Finish() API must be called to retrieve - * the computed digest. - * @param hhash HASH handle. - * @param pInBuffer pointer to the input buffer (message buffer). - * @param Size length of the input buffer in bytes. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_HMACEx_MD5_Step2_3_DMA(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size) -{ - hhash->DigestCalculationDisable = RESET; - return HMAC_Start_DMA(hhash, pInBuffer, Size, HASH_ALGOSELECTION_MD5); -} - - -/** - * @brief SHA1 HMAC step 1 completion and step 2 start in multi-buffer DMA mode. - * @note Step 1 consists in writing the inner hash function key in the Peripheral, - * step 2 consists in writing the message text. - * @note The API carries out the HMAC step 1 then starts step 2 with - * the first buffer entered to the Peripheral. DCAL bit is not automatically set after - * the message buffer feeding, allowing other messages DMA transfers to occur. - * @note Same key is used for the inner and the outer hash functions; pointer to key and - * key size are respectively stored in hhash->Init.pKey and hhash->Init.KeySize. - * @note The input buffer size (in bytes) must be a multiple of 4 otherwise, the - * HASH digest computation is corrupted. - * @param hhash HASH handle. - * @param pInBuffer pointer to the input buffer (message buffer). - * @param Size length of the input buffer in bytes. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_HMACEx_SHA1_Step1_2_DMA(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size) -{ - hhash->DigestCalculationDisable = SET; - return HMAC_Start_DMA(hhash, pInBuffer, Size, HASH_ALGOSELECTION_SHA1); -} - -/** - * @brief SHA1 HMAC step 2 in multi-buffer DMA mode. - * @note Step 2 consists in writing the message text in the Peripheral. - * @note The API carries on the HMAC step 2, applied to the buffer entered as input - * parameter. DCAL bit is not automatically set after the message buffer feeding, - * allowing other messages DMA transfers to occur. - * @note Same key is used for the inner and the outer hash functions; pointer to key and - * key size are respectively stored in hhash->Init.pKey and hhash->Init.KeySize. - * @note The input buffer size (in bytes) must be a multiple of 4 otherwise, the - * HASH digest computation is corrupted. - * @param hhash HASH handle. - * @param pInBuffer pointer to the input buffer (message buffer). - * @param Size length of the input buffer in bytes. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_HMACEx_SHA1_Step2_DMA(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size) -{ - if (hhash->DigestCalculationDisable != SET) - { - return HAL_ERROR; - } - return HMAC_Start_DMA(hhash, pInBuffer, Size, HASH_ALGOSELECTION_SHA1); -} - -/** - * @brief SHA1 HMAC step 2 wrap-up and step 3 completion in multi-buffer DMA mode. - * @note Step 2 consists in writing the message text in the Peripheral, - * step 3 consists in writing the outer hash function key. - * @note The API wraps up the HMAC step 2 in processing the buffer entered as input - * parameter (the input buffer must be the last one of the multi-buffer thread) - * then carries out HMAC step 3. - * @note Same key is used for the inner and the outer hash functions; pointer to key and - * key size are respectively stored in hhash->Init.pKey and hhash->Init.KeySize. - * @note Once the DMA transfers are finished (indicated by hhash->State set back - * to HAL_HASH_STATE_READY), HAL_HASHEx_SHA256_Finish() API must be called to retrieve - * the computed digest. - * @param hhash HASH handle. - * @param pInBuffer pointer to the input buffer (message buffer). - * @param Size length of the input buffer in bytes. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_HMACEx_SHA1_Step2_3_DMA(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size) -{ - hhash->DigestCalculationDisable = RESET; - return HMAC_Start_DMA(hhash, pInBuffer, Size, HASH_ALGOSELECTION_SHA1); -} - -/** - * @brief SHA224 HMAC step 1 completion and step 2 start in multi-buffer DMA mode. - * @note Step 1 consists in writing the inner hash function key in the Peripheral, - * step 2 consists in writing the message text. - * @note The API carries out the HMAC step 1 then starts step 2 with - * the first buffer entered to the Peripheral. DCAL bit is not automatically set after - * the message buffer feeding, allowing other messages DMA transfers to occur. - * @note Same key is used for the inner and the outer hash functions; pointer to key and - * key size are respectively stored in hhash->Init.pKey and hhash->Init.KeySize. - * @note The input buffer size (in bytes) must be a multiple of 4 otherwise, the - * HASH digest computation is corrupted. - * @param hhash HASH handle. - * @param pInBuffer pointer to the input buffer (message buffer). - * @param Size length of the input buffer in bytes. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_HMACEx_SHA224_Step1_2_DMA(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size) -{ - hhash->DigestCalculationDisable = SET; - return HMAC_Start_DMA(hhash, pInBuffer, Size, HASH_ALGOSELECTION_SHA224); -} - -/** - * @brief SHA224 HMAC step 2 in multi-buffer DMA mode. - * @note Step 2 consists in writing the message text in the Peripheral. - * @note The API carries on the HMAC step 2, applied to the buffer entered as input - * parameter. DCAL bit is not automatically set after the message buffer feeding, - * allowing other messages DMA transfers to occur. - * @note Same key is used for the inner and the outer hash functions; pointer to key and - * key size are respectively stored in hhash->Init.pKey and hhash->Init.KeySize. - * @note The input buffer size (in bytes) must be a multiple of 4 otherwise, the - * HASH digest computation is corrupted. - * @param hhash HASH handle. - * @param pInBuffer pointer to the input buffer (message buffer). - * @param Size length of the input buffer in bytes. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_HMACEx_SHA224_Step2_DMA(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size) -{ - if (hhash->DigestCalculationDisable != SET) - { - return HAL_ERROR; - } - return HMAC_Start_DMA(hhash, pInBuffer, Size, HASH_ALGOSELECTION_SHA224); -} - -/** - * @brief SHA224 HMAC step 2 wrap-up and step 3 completion in multi-buffer DMA mode. - * @note Step 2 consists in writing the message text in the Peripheral, - * step 3 consists in writing the outer hash function key. - * @note The API wraps up the HMAC step 2 in processing the buffer entered as input - * parameter (the input buffer must be the last one of the multi-buffer thread) - * then carries out HMAC step 3. - * @note Same key is used for the inner and the outer hash functions; pointer to key and - * key size are respectively stored in hhash->Init.pKey and hhash->Init.KeySize. - * @note Once the DMA transfers are finished (indicated by hhash->State set back - * to HAL_HASH_STATE_READY), HAL_HASHEx_SHA256_Finish() API must be called to retrieve - * the computed digest. - * @param hhash HASH handle. - * @param pInBuffer pointer to the input buffer (message buffer). - * @param Size length of the input buffer in bytes. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_HMACEx_SHA224_Step2_3_DMA(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size) -{ - hhash->DigestCalculationDisable = RESET; - return HMAC_Start_DMA(hhash, pInBuffer, Size, HASH_ALGOSELECTION_SHA224); -} - -/** - * @brief SHA256 HMAC step 1 completion and step 2 start in multi-buffer DMA mode. - * @note Step 1 consists in writing the inner hash function key in the Peripheral, - * step 2 consists in writing the message text. - * @note The API carries out the HMAC step 1 then starts step 2 with - * the first buffer entered to the Peripheral. DCAL bit is not automatically set after - * the message buffer feeding, allowing other messages DMA transfers to occur. - * @note Same key is used for the inner and the outer hash functions; pointer to key and - * key size are respectively stored in hhash->Init.pKey and hhash->Init.KeySize. - * @note The input buffer size (in bytes) must be a multiple of 4 otherwise, the - * HASH digest computation is corrupted. - * @param hhash HASH handle. - * @param pInBuffer pointer to the input buffer (message buffer). - * @param Size length of the input buffer in bytes. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_HMACEx_SHA256_Step1_2_DMA(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size) -{ - hhash->DigestCalculationDisable = SET; - return HMAC_Start_DMA(hhash, pInBuffer, Size, HASH_ALGOSELECTION_SHA256); -} - -/** - * @brief SHA256 HMAC step 2 in multi-buffer DMA mode. - * @note Step 2 consists in writing the message text in the Peripheral. - * @note The API carries on the HMAC step 2, applied to the buffer entered as input - * parameter. DCAL bit is not automatically set after the message buffer feeding, - * allowing other messages DMA transfers to occur. - * @note Same key is used for the inner and the outer hash functions; pointer to key and - * key size are respectively stored in hhash->Init.pKey and hhash->Init.KeySize. - * @note The input buffer size (in bytes) must be a multiple of 4 otherwise, the - * HASH digest computation is corrupted. - * @param hhash HASH handle. - * @param pInBuffer pointer to the input buffer (message buffer). - * @param Size length of the input buffer in bytes. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_HMACEx_SHA256_Step2_DMA(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size) -{ - if (hhash->DigestCalculationDisable != SET) - { - return HAL_ERROR; - } - return HMAC_Start_DMA(hhash, pInBuffer, Size, HASH_ALGOSELECTION_SHA256); -} - -/** - * @brief SHA256 HMAC step 2 wrap-up and step 3 completion in multi-buffer DMA mode. - * @note Step 2 consists in writing the message text in the Peripheral, - * step 3 consists in writing the outer hash function key. - * @note The API wraps up the HMAC step 2 in processing the buffer entered as input - * parameter (the input buffer must be the last one of the multi-buffer thread) - * then carries out HMAC step 3. - * @note Same key is used for the inner and the outer hash functions; pointer to key and - * key size are respectively stored in hhash->Init.pKey and hhash->Init.KeySize. - * @note Once the DMA transfers are finished (indicated by hhash->State set back - * to HAL_HASH_STATE_READY), HAL_HASHEx_SHA256_Finish() API must be called to retrieve - * the computed digest. - * @param hhash HASH handle. - * @param pInBuffer pointer to the input buffer (message buffer). - * @param Size length of the input buffer in bytes. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_HMACEx_SHA256_Step2_3_DMA(HASH_HandleTypeDef *hhash, uint8_t *pInBuffer, uint32_t Size) -{ - hhash->DigestCalculationDisable = RESET; - return HMAC_Start_DMA(hhash, pInBuffer, Size, HASH_ALGOSELECTION_SHA256); -} - -/** - * @} - */ - -#endif /* MDMA defined*/ -/** - * @} - */ -#endif /* HAL_HASH_MODULE_ENABLED */ - -/** - * @} - */ -#endif /* HASH*/ -/** - * @} - */ - - - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_hcd.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_hcd.c deleted file mode 100644 index 6ab4a3d37b9d01..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_hcd.c +++ /dev/null @@ -1,1747 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_hcd.c - * @author MCD Application Team - * @brief HCD HAL module driver. - * This file provides firmware functions to manage the following - * functionalities of the USB Peripheral Controller: - * + Initialization and de-initialization functions - * + IO operation functions - * + Peripheral Control functions - * + Peripheral State functions - * - @verbatim - ============================================================================== - ##### How to use this driver ##### - ============================================================================== - [..] - (#)Declare a HCD_HandleTypeDef handle structure, for example: - HCD_HandleTypeDef hhcd; - - (#)Fill parameters of Init structure in HCD handle - - (#)Call HAL_HCD_Init() API to initialize the HCD peripheral (Core, Host core, ...) - - (#)Initialize the HCD low level resources through the HAL_HCD_MspInit() API: - (##) Enable the HCD/USB Low Level interface clock using the following macros - (+++) __HAL_RCC_USB_OTG_FS_CLK_ENABLE(); - (+++) __HAL_RCC_USB_OTG_HS_CLK_ENABLE(); (For High Speed Mode) - (+++) __HAL_RCC_USB_OTG_HS_ULPI_CLK_ENABLE(); (For High Speed Mode) - - (##) Initialize the related GPIO clocks - (##) Configure HCD pin-out - (##) Configure HCD NVIC interrupt - - (#)Associate the Upper USB Host stack to the HAL HCD Driver: - (##) hhcd.pData = phost; - - (#)Enable HCD transmission and reception: - (##) HAL_HCD_Start(); - - @endverbatim - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -#ifdef HAL_HCD_MODULE_ENABLED -#if defined (USB_OTG_FS) || defined (USB_OTG_HS) - -/** @defgroup HCD HCD - * @brief HCD HAL module driver - * @{ - */ - -/* Private typedef -----------------------------------------------------------*/ -/* Private define ------------------------------------------------------------*/ -/* Private macro -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private function prototypes -----------------------------------------------*/ -/** @defgroup HCD_Private_Functions HCD Private Functions - * @{ - */ -static void HCD_HC_IN_IRQHandler(HCD_HandleTypeDef *hhcd, uint8_t chnum); -static void HCD_HC_OUT_IRQHandler(HCD_HandleTypeDef *hhcd, uint8_t chnum); -static void HCD_RXQLVL_IRQHandler(HCD_HandleTypeDef *hhcd); -static void HCD_Port_IRQHandler(HCD_HandleTypeDef *hhcd); -/** - * @} - */ - -/* Exported functions --------------------------------------------------------*/ -/** @defgroup HCD_Exported_Functions HCD Exported Functions - * @{ - */ - -/** @defgroup HCD_Exported_Functions_Group1 Initialization and de-initialization functions - * @brief Initialization and Configuration functions - * -@verbatim - =============================================================================== - ##### Initialization and de-initialization functions ##### - =============================================================================== - [..] This section provides functions allowing to: - -@endverbatim - * @{ - */ - -/** - * @brief Initialize the host driver. - * @param hhcd HCD handle - * @retval HAL status - */ -HAL_StatusTypeDef HAL_HCD_Init(HCD_HandleTypeDef *hhcd) -{ - USB_OTG_GlobalTypeDef *USBx; - - /* Check the HCD handle allocation */ - if (hhcd == NULL) - { - return HAL_ERROR; - } - - /* Check the parameters */ - assert_param(IS_HCD_ALL_INSTANCE(hhcd->Instance)); - - USBx = hhcd->Instance; - - if (hhcd->State == HAL_HCD_STATE_RESET) - { - /* Allocate lock resource and initialize it */ - hhcd->Lock = HAL_UNLOCKED; - -#if (USE_HAL_HCD_REGISTER_CALLBACKS == 1U) - hhcd->SOFCallback = HAL_HCD_SOF_Callback; - hhcd->ConnectCallback = HAL_HCD_Connect_Callback; - hhcd->DisconnectCallback = HAL_HCD_Disconnect_Callback; - hhcd->PortEnabledCallback = HAL_HCD_PortEnabled_Callback; - hhcd->PortDisabledCallback = HAL_HCD_PortDisabled_Callback; - hhcd->HC_NotifyURBChangeCallback = HAL_HCD_HC_NotifyURBChange_Callback; - - if (hhcd->MspInitCallback == NULL) - { - hhcd->MspInitCallback = HAL_HCD_MspInit; - } - - /* Init the low level hardware */ - hhcd->MspInitCallback(hhcd); -#else - /* Init the low level hardware : GPIO, CLOCK, NVIC... */ - HAL_HCD_MspInit(hhcd); -#endif /* (USE_HAL_HCD_REGISTER_CALLBACKS) */ - } - - hhcd->State = HAL_HCD_STATE_BUSY; - - /* Disable DMA mode for FS instance */ - if ((USBx->CID & (0x1U << 8)) == 0U) - { - hhcd->Init.dma_enable = 0U; - } - - /* Disable the Interrupts */ - __HAL_HCD_DISABLE(hhcd); - - /* Init the Core (common init.) */ - (void)USB_CoreInit(hhcd->Instance, hhcd->Init); - - /* Force Host Mode*/ - (void)USB_SetCurrentMode(hhcd->Instance, USB_HOST_MODE); - - /* Init Host */ - (void)USB_HostInit(hhcd->Instance, hhcd->Init); - - hhcd->State = HAL_HCD_STATE_READY; - - return HAL_OK; -} - -/** - * @brief Initialize a host channel. - * @param hhcd HCD handle - * @param ch_num Channel number. - * This parameter can be a value from 1 to 15 - * @param epnum Endpoint number. - * This parameter can be a value from 1 to 15 - * @param dev_address Current device address - * This parameter can be a value from 0 to 255 - * @param speed Current device speed. - * This parameter can be one of these values: - * HCD_DEVICE_SPEED_HIGH: High speed mode, - * HCD_DEVICE_SPEED_FULL: Full speed mode, - * HCD_DEVICE_SPEED_LOW: Low speed mode - * @param ep_type Endpoint Type. - * This parameter can be one of these values: - * EP_TYPE_CTRL: Control type, - * EP_TYPE_ISOC: Isochronous type, - * EP_TYPE_BULK: Bulk type, - * EP_TYPE_INTR: Interrupt type - * @param mps Max Packet Size. - * This parameter can be a value from 0 to32K - * @retval HAL status - */ -HAL_StatusTypeDef HAL_HCD_HC_Init(HCD_HandleTypeDef *hhcd, - uint8_t ch_num, - uint8_t epnum, - uint8_t dev_address, - uint8_t speed, - uint8_t ep_type, - uint16_t mps) -{ - HAL_StatusTypeDef status; - - __HAL_LOCK(hhcd); - hhcd->hc[ch_num].do_ping = 0U; - hhcd->hc[ch_num].dev_addr = dev_address; - hhcd->hc[ch_num].max_packet = mps; - hhcd->hc[ch_num].ch_num = ch_num; - hhcd->hc[ch_num].ep_type = ep_type; - hhcd->hc[ch_num].ep_num = epnum & 0x7FU; - - if ((epnum & 0x80U) == 0x80U) - { - hhcd->hc[ch_num].ep_is_in = 1U; - } - else - { - hhcd->hc[ch_num].ep_is_in = 0U; - } - - hhcd->hc[ch_num].speed = speed; - - status = USB_HC_Init(hhcd->Instance, - ch_num, - epnum, - dev_address, - speed, - ep_type, - mps); - __HAL_UNLOCK(hhcd); - - return status; -} - -/** - * @brief Halt a host channel. - * @param hhcd HCD handle - * @param ch_num Channel number. - * This parameter can be a value from 1 to 15 - * @retval HAL status - */ -HAL_StatusTypeDef HAL_HCD_HC_Halt(HCD_HandleTypeDef *hhcd, uint8_t ch_num) -{ - HAL_StatusTypeDef status = HAL_OK; - - __HAL_LOCK(hhcd); - (void)USB_HC_Halt(hhcd->Instance, (uint8_t)ch_num); - __HAL_UNLOCK(hhcd); - - return status; -} - -/** - * @brief DeInitialize the host driver. - * @param hhcd HCD handle - * @retval HAL status - */ -HAL_StatusTypeDef HAL_HCD_DeInit(HCD_HandleTypeDef *hhcd) -{ - /* Check the HCD handle allocation */ - if (hhcd == NULL) - { - return HAL_ERROR; - } - - hhcd->State = HAL_HCD_STATE_BUSY; - -#if (USE_HAL_HCD_REGISTER_CALLBACKS == 1U) - if (hhcd->MspDeInitCallback == NULL) - { - hhcd->MspDeInitCallback = HAL_HCD_MspDeInit; /* Legacy weak MspDeInit */ - } - - /* DeInit the low level hardware */ - hhcd->MspDeInitCallback(hhcd); -#else - /* DeInit the low level hardware: CLOCK, NVIC.*/ - HAL_HCD_MspDeInit(hhcd); -#endif /* USE_HAL_HCD_REGISTER_CALLBACKS */ - - __HAL_HCD_DISABLE(hhcd); - - hhcd->State = HAL_HCD_STATE_RESET; - - return HAL_OK; -} - -/** - * @brief Initialize the HCD MSP. - * @param hhcd HCD handle - * @retval None - */ -__weak void HAL_HCD_MspInit(HCD_HandleTypeDef *hhcd) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hhcd); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_HCD_MspInit could be implemented in the user file - */ -} - -/** - * @brief DeInitialize the HCD MSP. - * @param hhcd HCD handle - * @retval None - */ -__weak void HAL_HCD_MspDeInit(HCD_HandleTypeDef *hhcd) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hhcd); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_HCD_MspDeInit could be implemented in the user file - */ -} - -/** - * @} - */ - -/** @defgroup HCD_Exported_Functions_Group2 Input and Output operation functions - * @brief HCD IO operation functions - * -@verbatim - =============================================================================== - ##### IO operation functions ##### - =============================================================================== - [..] This subsection provides a set of functions allowing to manage the USB Host Data - Transfer - -@endverbatim - * @{ - */ - -/** - * @brief Submit a new URB for processing. - * @param hhcd HCD handle - * @param ch_num Channel number. - * This parameter can be a value from 1 to 15 - * @param direction Channel number. - * This parameter can be one of these values: - * 0 : Output / 1 : Input - * @param ep_type Endpoint Type. - * This parameter can be one of these values: - * EP_TYPE_CTRL: Control type/ - * EP_TYPE_ISOC: Isochronous type/ - * EP_TYPE_BULK: Bulk type/ - * EP_TYPE_INTR: Interrupt type/ - * @param token Endpoint Type. - * This parameter can be one of these values: - * 0: HC_PID_SETUP / 1: HC_PID_DATA1 - * @param pbuff pointer to URB data - * @param length Length of URB data - * @param do_ping activate do ping protocol (for high speed only). - * This parameter can be one of these values: - * 0 : do ping inactive / 1 : do ping active - * @retval HAL status - */ -HAL_StatusTypeDef HAL_HCD_HC_SubmitRequest(HCD_HandleTypeDef *hhcd, - uint8_t ch_num, - uint8_t direction, - uint8_t ep_type, - uint8_t token, - uint8_t *pbuff, - uint16_t length, - uint8_t do_ping) -{ - hhcd->hc[ch_num].ep_is_in = direction; - hhcd->hc[ch_num].ep_type = ep_type; - - if (token == 0U) - { - hhcd->hc[ch_num].data_pid = HC_PID_SETUP; - hhcd->hc[ch_num].do_ping = do_ping; - } - else - { - hhcd->hc[ch_num].data_pid = HC_PID_DATA1; - } - - /* Manage Data Toggle */ - switch (ep_type) - { - case EP_TYPE_CTRL: - if ((token == 1U) && (direction == 0U)) /*send data */ - { - if (length == 0U) - { - /* For Status OUT stage, Length==0, Status Out PID = 1 */ - hhcd->hc[ch_num].toggle_out = 1U; - } - - /* Set the Data Toggle bit as per the Flag */ - if (hhcd->hc[ch_num].toggle_out == 0U) - { - /* Put the PID 0 */ - hhcd->hc[ch_num].data_pid = HC_PID_DATA0; - } - else - { - /* Put the PID 1 */ - hhcd->hc[ch_num].data_pid = HC_PID_DATA1; - } - } - break; - - case EP_TYPE_BULK: - if (direction == 0U) - { - /* Set the Data Toggle bit as per the Flag */ - if (hhcd->hc[ch_num].toggle_out == 0U) - { - /* Put the PID 0 */ - hhcd->hc[ch_num].data_pid = HC_PID_DATA0; - } - else - { - /* Put the PID 1 */ - hhcd->hc[ch_num].data_pid = HC_PID_DATA1; - } - } - else - { - if (hhcd->hc[ch_num].toggle_in == 0U) - { - hhcd->hc[ch_num].data_pid = HC_PID_DATA0; - } - else - { - hhcd->hc[ch_num].data_pid = HC_PID_DATA1; - } - } - - break; - case EP_TYPE_INTR: - if (direction == 0U) - { - /* Set the Data Toggle bit as per the Flag */ - if (hhcd->hc[ch_num].toggle_out == 0U) - { - /* Put the PID 0 */ - hhcd->hc[ch_num].data_pid = HC_PID_DATA0; - } - else - { - /* Put the PID 1 */ - hhcd->hc[ch_num].data_pid = HC_PID_DATA1; - } - } - else - { - if (hhcd->hc[ch_num].toggle_in == 0U) - { - hhcd->hc[ch_num].data_pid = HC_PID_DATA0; - } - else - { - hhcd->hc[ch_num].data_pid = HC_PID_DATA1; - } - } - break; - - case EP_TYPE_ISOC: - hhcd->hc[ch_num].data_pid = HC_PID_DATA0; - break; - - default: - break; - } - - hhcd->hc[ch_num].xfer_buff = pbuff; - hhcd->hc[ch_num].xfer_len = length; - hhcd->hc[ch_num].urb_state = URB_IDLE; - hhcd->hc[ch_num].xfer_count = 0U; - hhcd->hc[ch_num].ch_num = ch_num; - hhcd->hc[ch_num].state = HC_IDLE; - - return USB_HC_StartXfer(hhcd->Instance, &hhcd->hc[ch_num], (uint8_t)hhcd->Init.dma_enable); -} - -/** - * @brief Handle HCD interrupt request. - * @param hhcd HCD handle - * @retval None - */ -void HAL_HCD_IRQHandler(HCD_HandleTypeDef *hhcd) -{ - USB_OTG_GlobalTypeDef *USBx = hhcd->Instance; - uint32_t USBx_BASE = (uint32_t)USBx; - uint32_t i; - uint32_t interrupt; - - /* Ensure that we are in device mode */ - if (USB_GetMode(hhcd->Instance) == USB_OTG_MODE_HOST) - { - /* Avoid spurious interrupt */ - if (__HAL_HCD_IS_INVALID_INTERRUPT(hhcd)) - { - return; - } - - if (__HAL_HCD_GET_FLAG(hhcd, USB_OTG_GINTSTS_PXFR_INCOMPISOOUT)) - { - /* Incorrect mode, acknowledge the interrupt */ - __HAL_HCD_CLEAR_FLAG(hhcd, USB_OTG_GINTSTS_PXFR_INCOMPISOOUT); - } - - if (__HAL_HCD_GET_FLAG(hhcd, USB_OTG_GINTSTS_IISOIXFR)) - { - /* Incorrect mode, acknowledge the interrupt */ - __HAL_HCD_CLEAR_FLAG(hhcd, USB_OTG_GINTSTS_IISOIXFR); - } - - if (__HAL_HCD_GET_FLAG(hhcd, USB_OTG_GINTSTS_PTXFE)) - { - /* Incorrect mode, acknowledge the interrupt */ - __HAL_HCD_CLEAR_FLAG(hhcd, USB_OTG_GINTSTS_PTXFE); - } - - if (__HAL_HCD_GET_FLAG(hhcd, USB_OTG_GINTSTS_MMIS)) - { - /* Incorrect mode, acknowledge the interrupt */ - __HAL_HCD_CLEAR_FLAG(hhcd, USB_OTG_GINTSTS_MMIS); - } - - /* Handle Host Disconnect Interrupts */ - if (__HAL_HCD_GET_FLAG(hhcd, USB_OTG_GINTSTS_DISCINT)) - { - __HAL_HCD_CLEAR_FLAG(hhcd, USB_OTG_GINTSTS_DISCINT); - - if ((USBx_HPRT0 & USB_OTG_HPRT_PCSTS) == 0U) - { - /* Flush USB Fifo */ - (void)USB_FlushTxFifo(USBx, 0x10U); - (void)USB_FlushRxFifo(USBx); - - /* Restore FS Clock */ - (void)USB_InitFSLSPClkSel(hhcd->Instance, HCFG_48_MHZ); - - /* Handle Host Port Disconnect Interrupt */ -#if (USE_HAL_HCD_REGISTER_CALLBACKS == 1U) - hhcd->DisconnectCallback(hhcd); -#else - HAL_HCD_Disconnect_Callback(hhcd); -#endif /* USE_HAL_HCD_REGISTER_CALLBACKS */ - } - } - - /* Handle Host Port Interrupts */ - if (__HAL_HCD_GET_FLAG(hhcd, USB_OTG_GINTSTS_HPRTINT)) - { - HCD_Port_IRQHandler(hhcd); - } - - /* Handle Host SOF Interrupt */ - if (__HAL_HCD_GET_FLAG(hhcd, USB_OTG_GINTSTS_SOF)) - { -#if (USE_HAL_HCD_REGISTER_CALLBACKS == 1U) - hhcd->SOFCallback(hhcd); -#else - HAL_HCD_SOF_Callback(hhcd); -#endif /* USE_HAL_HCD_REGISTER_CALLBACKS */ - - __HAL_HCD_CLEAR_FLAG(hhcd, USB_OTG_GINTSTS_SOF); - } - - /* Handle Rx Queue Level Interrupts */ - if ((__HAL_HCD_GET_FLAG(hhcd, USB_OTG_GINTSTS_RXFLVL)) != 0U) - { - USB_MASK_INTERRUPT(hhcd->Instance, USB_OTG_GINTSTS_RXFLVL); - - HCD_RXQLVL_IRQHandler(hhcd); - - USB_UNMASK_INTERRUPT(hhcd->Instance, USB_OTG_GINTSTS_RXFLVL); - } - - /* Handle Host channel Interrupt */ - if (__HAL_HCD_GET_FLAG(hhcd, USB_OTG_GINTSTS_HCINT)) - { - interrupt = USB_HC_ReadInterrupt(hhcd->Instance); - for (i = 0U; i < hhcd->Init.Host_channels; i++) - { - if ((interrupt & (1UL << (i & 0xFU))) != 0U) - { - if ((USBx_HC(i)->HCCHAR & USB_OTG_HCCHAR_EPDIR) == USB_OTG_HCCHAR_EPDIR) - { - HCD_HC_IN_IRQHandler(hhcd, (uint8_t)i); - } - else - { - HCD_HC_OUT_IRQHandler(hhcd, (uint8_t)i); - } - } - } - __HAL_HCD_CLEAR_FLAG(hhcd, USB_OTG_GINTSTS_HCINT); - } - } -} - - -/** - * @brief Handles HCD Wakeup interrupt request. - * @param hhcd HCD handle - * @retval HAL status - */ -void HAL_HCD_WKUP_IRQHandler(HCD_HandleTypeDef *hhcd) -{ - UNUSED(hhcd); -} - - -/** - * @brief SOF callback. - * @param hhcd HCD handle - * @retval None - */ -__weak void HAL_HCD_SOF_Callback(HCD_HandleTypeDef *hhcd) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hhcd); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_HCD_SOF_Callback could be implemented in the user file - */ -} - -/** - * @brief Connection Event callback. - * @param hhcd HCD handle - * @retval None - */ -__weak void HAL_HCD_Connect_Callback(HCD_HandleTypeDef *hhcd) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hhcd); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_HCD_Connect_Callback could be implemented in the user file - */ -} - -/** - * @brief Disconnection Event callback. - * @param hhcd HCD handle - * @retval None - */ -__weak void HAL_HCD_Disconnect_Callback(HCD_HandleTypeDef *hhcd) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hhcd); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_HCD_Disconnect_Callback could be implemented in the user file - */ -} - -/** - * @brief Port Enabled Event callback. - * @param hhcd HCD handle - * @retval None - */ -__weak void HAL_HCD_PortEnabled_Callback(HCD_HandleTypeDef *hhcd) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hhcd); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_HCD_Disconnect_Callback could be implemented in the user file - */ -} - -/** - * @brief Port Disabled Event callback. - * @param hhcd HCD handle - * @retval None - */ -__weak void HAL_HCD_PortDisabled_Callback(HCD_HandleTypeDef *hhcd) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hhcd); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_HCD_Disconnect_Callback could be implemented in the user file - */ -} - -/** - * @brief Notify URB state change callback. - * @param hhcd HCD handle - * @param chnum Channel number. - * This parameter can be a value from 1 to 15 - * @param urb_state: - * This parameter can be one of these values: - * URB_IDLE/ - * URB_DONE/ - * URB_NOTREADY/ - * URB_NYET/ - * URB_ERROR/ - * URB_STALL/ - * @retval None - */ -__weak void HAL_HCD_HC_NotifyURBChange_Callback(HCD_HandleTypeDef *hhcd, uint8_t chnum, HCD_URBStateTypeDef urb_state) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hhcd); - UNUSED(chnum); - UNUSED(urb_state); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_HCD_HC_NotifyURBChange_Callback could be implemented in the user file - */ -} - -#if (USE_HAL_HCD_REGISTER_CALLBACKS == 1U) -/** - * @brief Register a User USB HCD Callback - * To be used instead of the weak predefined callback - * @param hhcd USB HCD handle - * @param CallbackID ID of the callback to be registered - * This parameter can be one of the following values: - * @arg @ref HAL_HCD_SOF_CB_ID USB HCD SOF callback ID - * @arg @ref HAL_HCD_CONNECT_CB_ID USB HCD Connect callback ID - * @arg @ref HAL_HCD_DISCONNECT_CB_ID OTG HCD Disconnect callback ID - * @arg @ref HAL_HCD_PORT_ENABLED_CB_ID USB HCD Port Enable callback ID - * @arg @ref HAL_HCD_PORT_DISABLED_CB_ID USB HCD Port Disable callback ID - * @arg @ref HAL_HCD_MSPINIT_CB_ID MspDeInit callback ID - * @arg @ref HAL_HCD_MSPDEINIT_CB_ID MspDeInit callback ID - * @param pCallback pointer to the Callback function - * @retval HAL status - */ -HAL_StatusTypeDef HAL_HCD_RegisterCallback(HCD_HandleTypeDef *hhcd, - HAL_HCD_CallbackIDTypeDef CallbackID, - pHCD_CallbackTypeDef pCallback) -{ - HAL_StatusTypeDef status = HAL_OK; - - if (pCallback == NULL) - { - /* Update the error code */ - hhcd->ErrorCode |= HAL_HCD_ERROR_INVALID_CALLBACK; - return HAL_ERROR; - } - /* Process locked */ - __HAL_LOCK(hhcd); - - if (hhcd->State == HAL_HCD_STATE_READY) - { - switch (CallbackID) - { - case HAL_HCD_SOF_CB_ID : - hhcd->SOFCallback = pCallback; - break; - - case HAL_HCD_CONNECT_CB_ID : - hhcd->ConnectCallback = pCallback; - break; - - case HAL_HCD_DISCONNECT_CB_ID : - hhcd->DisconnectCallback = pCallback; - break; - - case HAL_HCD_PORT_ENABLED_CB_ID : - hhcd->PortEnabledCallback = pCallback; - break; - - case HAL_HCD_PORT_DISABLED_CB_ID : - hhcd->PortDisabledCallback = pCallback; - break; - - case HAL_HCD_MSPINIT_CB_ID : - hhcd->MspInitCallback = pCallback; - break; - - case HAL_HCD_MSPDEINIT_CB_ID : - hhcd->MspDeInitCallback = pCallback; - break; - - default : - /* Update the error code */ - hhcd->ErrorCode |= HAL_HCD_ERROR_INVALID_CALLBACK; - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else if (hhcd->State == HAL_HCD_STATE_RESET) - { - switch (CallbackID) - { - case HAL_HCD_MSPINIT_CB_ID : - hhcd->MspInitCallback = pCallback; - break; - - case HAL_HCD_MSPDEINIT_CB_ID : - hhcd->MspDeInitCallback = pCallback; - break; - - default : - /* Update the error code */ - hhcd->ErrorCode |= HAL_HCD_ERROR_INVALID_CALLBACK; - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else - { - /* Update the error code */ - hhcd->ErrorCode |= HAL_HCD_ERROR_INVALID_CALLBACK; - /* Return error status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(hhcd); - return status; -} - -/** - * @brief Unregister an USB HCD Callback - * USB HCD callback is redirected to the weak predefined callback - * @param hhcd USB HCD handle - * @param CallbackID ID of the callback to be unregistered - * This parameter can be one of the following values: - * @arg @ref HAL_HCD_SOF_CB_ID USB HCD SOF callback ID - * @arg @ref HAL_HCD_CONNECT_CB_ID USB HCD Connect callback ID - * @arg @ref HAL_HCD_DISCONNECT_CB_ID OTG HCD Disconnect callback ID - * @arg @ref HAL_HCD_PORT_ENABLED_CB_ID USB HCD Port Enabled callback ID - * @arg @ref HAL_HCD_PORT_DISABLED_CB_ID USB HCD Port Disabled callback ID - * @arg @ref HAL_HCD_MSPINIT_CB_ID MspDeInit callback ID - * @arg @ref HAL_HCD_MSPDEINIT_CB_ID MspDeInit callback ID - * @retval HAL status - */ -HAL_StatusTypeDef HAL_HCD_UnRegisterCallback(HCD_HandleTypeDef *hhcd, HAL_HCD_CallbackIDTypeDef CallbackID) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Process locked */ - __HAL_LOCK(hhcd); - - /* Setup Legacy weak Callbacks */ - if (hhcd->State == HAL_HCD_STATE_READY) - { - switch (CallbackID) - { - case HAL_HCD_SOF_CB_ID : - hhcd->SOFCallback = HAL_HCD_SOF_Callback; - break; - - case HAL_HCD_CONNECT_CB_ID : - hhcd->ConnectCallback = HAL_HCD_Connect_Callback; - break; - - case HAL_HCD_DISCONNECT_CB_ID : - hhcd->DisconnectCallback = HAL_HCD_Disconnect_Callback; - break; - - case HAL_HCD_PORT_ENABLED_CB_ID : - hhcd->PortEnabledCallback = HAL_HCD_PortEnabled_Callback; - break; - - case HAL_HCD_PORT_DISABLED_CB_ID : - hhcd->PortDisabledCallback = HAL_HCD_PortDisabled_Callback; - break; - - case HAL_HCD_MSPINIT_CB_ID : - hhcd->MspInitCallback = HAL_HCD_MspInit; - break; - - case HAL_HCD_MSPDEINIT_CB_ID : - hhcd->MspDeInitCallback = HAL_HCD_MspDeInit; - break; - - default : - /* Update the error code */ - hhcd->ErrorCode |= HAL_HCD_ERROR_INVALID_CALLBACK; - - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else if (hhcd->State == HAL_HCD_STATE_RESET) - { - switch (CallbackID) - { - case HAL_HCD_MSPINIT_CB_ID : - hhcd->MspInitCallback = HAL_HCD_MspInit; - break; - - case HAL_HCD_MSPDEINIT_CB_ID : - hhcd->MspDeInitCallback = HAL_HCD_MspDeInit; - break; - - default : - /* Update the error code */ - hhcd->ErrorCode |= HAL_HCD_ERROR_INVALID_CALLBACK; - - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else - { - /* Update the error code */ - hhcd->ErrorCode |= HAL_HCD_ERROR_INVALID_CALLBACK; - - /* Return error status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(hhcd); - return status; -} - -/** - * @brief Register USB HCD Host Channel Notify URB Change Callback - * To be used instead of the weak HAL_HCD_HC_NotifyURBChange_Callback() predefined callback - * @param hhcd HCD handle - * @param pCallback pointer to the USB HCD Host Channel Notify URB Change Callback function - * @retval HAL status - */ -HAL_StatusTypeDef HAL_HCD_RegisterHC_NotifyURBChangeCallback(HCD_HandleTypeDef *hhcd, - pHCD_HC_NotifyURBChangeCallbackTypeDef pCallback) -{ - HAL_StatusTypeDef status = HAL_OK; - - if (pCallback == NULL) - { - /* Update the error code */ - hhcd->ErrorCode |= HAL_HCD_ERROR_INVALID_CALLBACK; - - return HAL_ERROR; - } - - /* Process locked */ - __HAL_LOCK(hhcd); - - if (hhcd->State == HAL_HCD_STATE_READY) - { - hhcd->HC_NotifyURBChangeCallback = pCallback; - } - else - { - /* Update the error code */ - hhcd->ErrorCode |= HAL_HCD_ERROR_INVALID_CALLBACK; - - /* Return error status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(hhcd); - - return status; -} - -/** - * @brief Unregister the USB HCD Host Channel Notify URB Change Callback - * USB HCD Host Channel Notify URB Change Callback is redirected - * to the weak HAL_HCD_HC_NotifyURBChange_Callback() predefined callback - * @param hhcd HCD handle - * @retval HAL status - */ -HAL_StatusTypeDef HAL_HCD_UnRegisterHC_NotifyURBChangeCallback(HCD_HandleTypeDef *hhcd) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Process locked */ - __HAL_LOCK(hhcd); - - if (hhcd->State == HAL_HCD_STATE_READY) - { - hhcd->HC_NotifyURBChangeCallback = HAL_HCD_HC_NotifyURBChange_Callback; /* Legacy weak DataOutStageCallback */ - } - else - { - /* Update the error code */ - hhcd->ErrorCode |= HAL_HCD_ERROR_INVALID_CALLBACK; - - /* Return error status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(hhcd); - - return status; -} -#endif /* USE_HAL_HCD_REGISTER_CALLBACKS */ - -/** - * @} - */ - -/** @defgroup HCD_Exported_Functions_Group3 Peripheral Control functions - * @brief Management functions - * -@verbatim - =============================================================================== - ##### Peripheral Control functions ##### - =============================================================================== - [..] - This subsection provides a set of functions allowing to control the HCD data - transfers. - -@endverbatim - * @{ - */ - -/** - * @brief Start the host driver. - * @param hhcd HCD handle - * @retval HAL status - */ -HAL_StatusTypeDef HAL_HCD_Start(HCD_HandleTypeDef *hhcd) -{ - __HAL_LOCK(hhcd); - /* Enable port power */ - (void)USB_DriveVbus(hhcd->Instance, 1U); - - /* Enable global interrupt */ - __HAL_HCD_ENABLE(hhcd); - __HAL_UNLOCK(hhcd); - - return HAL_OK; -} - -/** - * @brief Stop the host driver. - * @param hhcd HCD handle - * @retval HAL status - */ - -HAL_StatusTypeDef HAL_HCD_Stop(HCD_HandleTypeDef *hhcd) -{ - __HAL_LOCK(hhcd); - (void)USB_StopHost(hhcd->Instance); - __HAL_UNLOCK(hhcd); - - return HAL_OK; -} - -/** - * @brief Reset the host port. - * @param hhcd HCD handle - * @retval HAL status - */ -HAL_StatusTypeDef HAL_HCD_ResetPort(HCD_HandleTypeDef *hhcd) -{ - return (USB_ResetPort(hhcd->Instance)); -} - -/** - * @} - */ - -/** @defgroup HCD_Exported_Functions_Group4 Peripheral State functions - * @brief Peripheral State functions - * -@verbatim - =============================================================================== - ##### Peripheral State functions ##### - =============================================================================== - [..] - This subsection permits to get in run-time the status of the peripheral - and the data flow. - -@endverbatim - * @{ - */ - -/** - * @brief Return the HCD handle state. - * @param hhcd HCD handle - * @retval HAL state - */ -HCD_StateTypeDef HAL_HCD_GetState(HCD_HandleTypeDef *hhcd) -{ - return hhcd->State; -} - -/** - * @brief Return URB state for a channel. - * @param hhcd HCD handle - * @param chnum Channel number. - * This parameter can be a value from 1 to 15 - * @retval URB state. - * This parameter can be one of these values: - * URB_IDLE/ - * URB_DONE/ - * URB_NOTREADY/ - * URB_NYET/ - * URB_ERROR/ - * URB_STALL - */ -HCD_URBStateTypeDef HAL_HCD_HC_GetURBState(HCD_HandleTypeDef *hhcd, uint8_t chnum) -{ - return hhcd->hc[chnum].urb_state; -} - - -/** - * @brief Return the last host transfer size. - * @param hhcd HCD handle - * @param chnum Channel number. - * This parameter can be a value from 1 to 15 - * @retval last transfer size in byte - */ -uint32_t HAL_HCD_HC_GetXferCount(HCD_HandleTypeDef *hhcd, uint8_t chnum) -{ - return hhcd->hc[chnum].xfer_count; -} - -/** - * @brief Return the Host Channel state. - * @param hhcd HCD handle - * @param chnum Channel number. - * This parameter can be a value from 1 to 15 - * @retval Host channel state - * This parameter can be one of these values: - * HC_IDLE/ - * HC_XFRC/ - * HC_HALTED/ - * HC_NYET/ - * HC_NAK/ - * HC_STALL/ - * HC_XACTERR/ - * HC_BBLERR/ - * HC_DATATGLERR - */ -HCD_HCStateTypeDef HAL_HCD_HC_GetState(HCD_HandleTypeDef *hhcd, uint8_t chnum) -{ - return hhcd->hc[chnum].state; -} - -/** - * @brief Return the current Host frame number. - * @param hhcd HCD handle - * @retval Current Host frame number - */ -uint32_t HAL_HCD_GetCurrentFrame(HCD_HandleTypeDef *hhcd) -{ - return (USB_GetCurrentFrame(hhcd->Instance)); -} - -/** - * @brief Return the Host enumeration speed. - * @param hhcd HCD handle - * @retval Enumeration speed - */ -uint32_t HAL_HCD_GetCurrentSpeed(HCD_HandleTypeDef *hhcd) -{ - return (USB_GetHostSpeed(hhcd->Instance)); -} - -/** - * @} - */ - -/** - * @} - */ - -/** @addtogroup HCD_Private_Functions - * @{ - */ -/** - * @brief Handle Host Channel IN interrupt requests. - * @param hhcd HCD handle - * @param chnum Channel number. - * This parameter can be a value from 1 to 15 - * @retval none - */ -static void HCD_HC_IN_IRQHandler(HCD_HandleTypeDef *hhcd, uint8_t chnum) -{ - USB_OTG_GlobalTypeDef *USBx = hhcd->Instance; - uint32_t USBx_BASE = (uint32_t)USBx; - uint32_t ch_num = (uint32_t)chnum; - - uint32_t tmpreg; - - if ((USBx_HC(ch_num)->HCINT & USB_OTG_HCINT_AHBERR) == USB_OTG_HCINT_AHBERR) - { - __HAL_HCD_CLEAR_HC_INT(ch_num, USB_OTG_HCINT_AHBERR); - __HAL_HCD_UNMASK_HALT_HC_INT(ch_num); - } - else if ((USBx_HC(ch_num)->HCINT & USB_OTG_HCINT_BBERR) == USB_OTG_HCINT_BBERR) - { - __HAL_HCD_CLEAR_HC_INT(ch_num, USB_OTG_HCINT_BBERR); - hhcd->hc[ch_num].state = HC_BBLERR; - __HAL_HCD_UNMASK_HALT_HC_INT(ch_num); - (void)USB_HC_Halt(hhcd->Instance, (uint8_t)ch_num); - } - else if ((USBx_HC(ch_num)->HCINT & USB_OTG_HCINT_ACK) == USB_OTG_HCINT_ACK) - { - __HAL_HCD_CLEAR_HC_INT(ch_num, USB_OTG_HCINT_ACK); - } - else if ((USBx_HC(ch_num)->HCINT & USB_OTG_HCINT_STALL) == USB_OTG_HCINT_STALL) - { - __HAL_HCD_UNMASK_HALT_HC_INT(ch_num); - hhcd->hc[ch_num].state = HC_STALL; - __HAL_HCD_CLEAR_HC_INT(ch_num, USB_OTG_HCINT_NAK); - __HAL_HCD_CLEAR_HC_INT(ch_num, USB_OTG_HCINT_STALL); - (void)USB_HC_Halt(hhcd->Instance, (uint8_t)ch_num); - } - else if ((USBx_HC(ch_num)->HCINT & USB_OTG_HCINT_DTERR) == USB_OTG_HCINT_DTERR) - { - __HAL_HCD_UNMASK_HALT_HC_INT(ch_num); - hhcd->hc[ch_num].state = HC_DATATGLERR; - __HAL_HCD_CLEAR_HC_INT(ch_num, USB_OTG_HCINT_NAK); - __HAL_HCD_CLEAR_HC_INT(ch_num, USB_OTG_HCINT_DTERR); - (void)USB_HC_Halt(hhcd->Instance, (uint8_t)ch_num); - } - else if ((USBx_HC(ch_num)->HCINT & USB_OTG_HCINT_TXERR) == USB_OTG_HCINT_TXERR) - { - __HAL_HCD_UNMASK_HALT_HC_INT(ch_num); - hhcd->hc[ch_num].state = HC_XACTERR; - (void)USB_HC_Halt(hhcd->Instance, (uint8_t)ch_num); - __HAL_HCD_CLEAR_HC_INT(ch_num, USB_OTG_HCINT_TXERR); - } - else - { - /* ... */ - } - - if ((USBx_HC(ch_num)->HCINT & USB_OTG_HCINT_FRMOR) == USB_OTG_HCINT_FRMOR) - { - __HAL_HCD_UNMASK_HALT_HC_INT(ch_num); - (void)USB_HC_Halt(hhcd->Instance, (uint8_t)ch_num); - __HAL_HCD_CLEAR_HC_INT(ch_num, USB_OTG_HCINT_FRMOR); - } - else if ((USBx_HC(ch_num)->HCINT & USB_OTG_HCINT_XFRC) == USB_OTG_HCINT_XFRC) - { - if (hhcd->Init.dma_enable != 0U) - { - hhcd->hc[ch_num].xfer_count = hhcd->hc[ch_num].XferSize - \ - (USBx_HC(ch_num)->HCTSIZ & USB_OTG_HCTSIZ_XFRSIZ); - } - - hhcd->hc[ch_num].state = HC_XFRC; - hhcd->hc[ch_num].ErrCnt = 0U; - __HAL_HCD_CLEAR_HC_INT(ch_num, USB_OTG_HCINT_XFRC); - - if ((hhcd->hc[ch_num].ep_type == EP_TYPE_CTRL) || - (hhcd->hc[ch_num].ep_type == EP_TYPE_BULK)) - { - __HAL_HCD_UNMASK_HALT_HC_INT(ch_num); - (void)USB_HC_Halt(hhcd->Instance, (uint8_t)ch_num); - __HAL_HCD_CLEAR_HC_INT(ch_num, USB_OTG_HCINT_NAK); - } - else if (hhcd->hc[ch_num].ep_type == EP_TYPE_INTR) - { - USBx_HC(ch_num)->HCCHAR |= USB_OTG_HCCHAR_ODDFRM; - hhcd->hc[ch_num].urb_state = URB_DONE; - -#if (USE_HAL_HCD_REGISTER_CALLBACKS == 1U) - hhcd->HC_NotifyURBChangeCallback(hhcd, (uint8_t)ch_num, hhcd->hc[ch_num].urb_state); -#else - HAL_HCD_HC_NotifyURBChange_Callback(hhcd, (uint8_t)ch_num, hhcd->hc[ch_num].urb_state); -#endif /* USE_HAL_HCD_REGISTER_CALLBACKS */ - } - else if (hhcd->hc[ch_num].ep_type == EP_TYPE_ISOC) - { - hhcd->hc[ch_num].urb_state = URB_DONE; - hhcd->hc[ch_num].toggle_in ^= 1U; - -#if (USE_HAL_HCD_REGISTER_CALLBACKS == 1U) - hhcd->HC_NotifyURBChangeCallback(hhcd, (uint8_t)ch_num, hhcd->hc[ch_num].urb_state); -#else - HAL_HCD_HC_NotifyURBChange_Callback(hhcd, (uint8_t)ch_num, hhcd->hc[ch_num].urb_state); -#endif /* USE_HAL_HCD_REGISTER_CALLBACKS */ - } - else - { - /* ... */ - } - - if (hhcd->Init.dma_enable == 1U) - { - if (((hhcd->hc[ch_num].XferSize / hhcd->hc[ch_num].max_packet) & 1U) != 0U) - { - hhcd->hc[ch_num].toggle_in ^= 1U; - } - } - else - { - hhcd->hc[ch_num].toggle_in ^= 1U; - } - } - else if ((USBx_HC(ch_num)->HCINT & USB_OTG_HCINT_CHH) == USB_OTG_HCINT_CHH) - { - __HAL_HCD_MASK_HALT_HC_INT(ch_num); - - if (hhcd->hc[ch_num].state == HC_XFRC) - { - hhcd->hc[ch_num].urb_state = URB_DONE; - } - else if (hhcd->hc[ch_num].state == HC_STALL) - { - hhcd->hc[ch_num].urb_state = URB_STALL; - } - else if ((hhcd->hc[ch_num].state == HC_XACTERR) || - (hhcd->hc[ch_num].state == HC_DATATGLERR)) - { - hhcd->hc[ch_num].ErrCnt++; - if (hhcd->hc[ch_num].ErrCnt > 2U) - { - hhcd->hc[ch_num].ErrCnt = 0U; - hhcd->hc[ch_num].urb_state = URB_ERROR; - } - else - { - hhcd->hc[ch_num].urb_state = URB_NOTREADY; - - /* re-activate the channel */ - tmpreg = USBx_HC(ch_num)->HCCHAR; - tmpreg &= ~USB_OTG_HCCHAR_CHDIS; - tmpreg |= USB_OTG_HCCHAR_CHENA; - USBx_HC(ch_num)->HCCHAR = tmpreg; - } - } - else if (hhcd->hc[ch_num].state == HC_NAK) - { - hhcd->hc[ch_num].urb_state = URB_NOTREADY; - - /* re-activate the channel */ - tmpreg = USBx_HC(ch_num)->HCCHAR; - tmpreg &= ~USB_OTG_HCCHAR_CHDIS; - tmpreg |= USB_OTG_HCCHAR_CHENA; - USBx_HC(ch_num)->HCCHAR = tmpreg; - } - else if (hhcd->hc[ch_num].state == HC_BBLERR) - { - hhcd->hc[ch_num].ErrCnt++; - hhcd->hc[ch_num].urb_state = URB_ERROR; - } - else - { - /* ... */ - } - __HAL_HCD_CLEAR_HC_INT(ch_num, USB_OTG_HCINT_CHH); - HAL_HCD_HC_NotifyURBChange_Callback(hhcd, (uint8_t)ch_num, hhcd->hc[ch_num].urb_state); - } - else if ((USBx_HC(ch_num)->HCINT & USB_OTG_HCINT_NAK) == USB_OTG_HCINT_NAK) - { - if (hhcd->hc[ch_num].ep_type == EP_TYPE_INTR) - { - hhcd->hc[ch_num].ErrCnt = 0U; - __HAL_HCD_UNMASK_HALT_HC_INT(ch_num); - (void)USB_HC_Halt(hhcd->Instance, (uint8_t)ch_num); - } - else if ((hhcd->hc[ch_num].ep_type == EP_TYPE_CTRL) || - (hhcd->hc[ch_num].ep_type == EP_TYPE_BULK)) - { - hhcd->hc[ch_num].ErrCnt = 0U; - - if (hhcd->Init.dma_enable == 0U) - { - hhcd->hc[ch_num].state = HC_NAK; - __HAL_HCD_UNMASK_HALT_HC_INT(ch_num); - (void)USB_HC_Halt(hhcd->Instance, (uint8_t)ch_num); - } - } - else - { - /* ... */ - } - __HAL_HCD_CLEAR_HC_INT(ch_num, USB_OTG_HCINT_NAK); - } - else - { - /* ... */ - } -} - -/** - * @brief Handle Host Channel OUT interrupt requests. - * @param hhcd HCD handle - * @param chnum Channel number. - * This parameter can be a value from 1 to 15 - * @retval none - */ -static void HCD_HC_OUT_IRQHandler(HCD_HandleTypeDef *hhcd, uint8_t chnum) -{ - USB_OTG_GlobalTypeDef *USBx = hhcd->Instance; - uint32_t USBx_BASE = (uint32_t)USBx; - uint32_t ch_num = (uint32_t)chnum; - uint32_t tmpreg; - uint32_t num_packets; - - if ((USBx_HC(ch_num)->HCINT & USB_OTG_HCINT_AHBERR) == USB_OTG_HCINT_AHBERR) - { - __HAL_HCD_CLEAR_HC_INT(ch_num, USB_OTG_HCINT_AHBERR); - __HAL_HCD_UNMASK_HALT_HC_INT(ch_num); - } - else if ((USBx_HC(ch_num)->HCINT & USB_OTG_HCINT_ACK) == USB_OTG_HCINT_ACK) - { - __HAL_HCD_CLEAR_HC_INT(ch_num, USB_OTG_HCINT_ACK); - - if (hhcd->hc[ch_num].do_ping == 1U) - { - hhcd->hc[ch_num].do_ping = 0U; - hhcd->hc[ch_num].urb_state = URB_NOTREADY; - __HAL_HCD_UNMASK_HALT_HC_INT(ch_num); - (void)USB_HC_Halt(hhcd->Instance, (uint8_t)ch_num); - } - } - else if ((USBx_HC(ch_num)->HCINT & USB_OTG_HCINT_FRMOR) == USB_OTG_HCINT_FRMOR) - { - __HAL_HCD_UNMASK_HALT_HC_INT(ch_num); - (void)USB_HC_Halt(hhcd->Instance, (uint8_t)ch_num); - __HAL_HCD_CLEAR_HC_INT(ch_num, USB_OTG_HCINT_FRMOR); - } - else if ((USBx_HC(ch_num)->HCINT & USB_OTG_HCINT_XFRC) == USB_OTG_HCINT_XFRC) - { - hhcd->hc[ch_num].ErrCnt = 0U; - - /* transaction completed with NYET state, update do ping state */ - if ((USBx_HC(ch_num)->HCINT & USB_OTG_HCINT_NYET) == USB_OTG_HCINT_NYET) - { - hhcd->hc[ch_num].do_ping = 1U; - __HAL_HCD_CLEAR_HC_INT(ch_num, USB_OTG_HCINT_NYET); - } - __HAL_HCD_UNMASK_HALT_HC_INT(ch_num); - (void)USB_HC_Halt(hhcd->Instance, (uint8_t)ch_num); - __HAL_HCD_CLEAR_HC_INT(ch_num, USB_OTG_HCINT_XFRC); - hhcd->hc[ch_num].state = HC_XFRC; - } - else if ((USBx_HC(ch_num)->HCINT & USB_OTG_HCINT_NYET) == USB_OTG_HCINT_NYET) - { - hhcd->hc[ch_num].state = HC_NYET; - hhcd->hc[ch_num].do_ping = 1U; - hhcd->hc[ch_num].ErrCnt = 0U; - __HAL_HCD_UNMASK_HALT_HC_INT(ch_num); - (void)USB_HC_Halt(hhcd->Instance, (uint8_t)ch_num); - __HAL_HCD_CLEAR_HC_INT(ch_num, USB_OTG_HCINT_NYET); - } - else if ((USBx_HC(ch_num)->HCINT & USB_OTG_HCINT_STALL) == USB_OTG_HCINT_STALL) - { - __HAL_HCD_CLEAR_HC_INT(ch_num, USB_OTG_HCINT_STALL); - __HAL_HCD_UNMASK_HALT_HC_INT(ch_num); - (void)USB_HC_Halt(hhcd->Instance, (uint8_t)ch_num); - hhcd->hc[ch_num].state = HC_STALL; - } - else if ((USBx_HC(ch_num)->HCINT & USB_OTG_HCINT_NAK) == USB_OTG_HCINT_NAK) - { - hhcd->hc[ch_num].ErrCnt = 0U; - hhcd->hc[ch_num].state = HC_NAK; - - if (hhcd->hc[ch_num].do_ping == 0U) - { - if (hhcd->hc[ch_num].speed == HCD_DEVICE_SPEED_HIGH) - { - hhcd->hc[ch_num].do_ping = 1U; - } - } - - __HAL_HCD_UNMASK_HALT_HC_INT(ch_num); - (void)USB_HC_Halt(hhcd->Instance, (uint8_t)ch_num); - __HAL_HCD_CLEAR_HC_INT(ch_num, USB_OTG_HCINT_NAK); - } - else if ((USBx_HC(ch_num)->HCINT & USB_OTG_HCINT_TXERR) == USB_OTG_HCINT_TXERR) - { - if (hhcd->Init.dma_enable == 0U) - { - hhcd->hc[ch_num].state = HC_XACTERR; - __HAL_HCD_UNMASK_HALT_HC_INT(ch_num); - (void)USB_HC_Halt(hhcd->Instance, (uint8_t)ch_num); - } - else - { - hhcd->hc[ch_num].ErrCnt++; - if (hhcd->hc[ch_num].ErrCnt > 2U) - { - hhcd->hc[ch_num].ErrCnt = 0U; - hhcd->hc[ch_num].urb_state = URB_ERROR; - HAL_HCD_HC_NotifyURBChange_Callback(hhcd, (uint8_t)ch_num, - hhcd->hc[ch_num].urb_state); - } - else - { - hhcd->hc[ch_num].urb_state = URB_NOTREADY; - } - } - __HAL_HCD_CLEAR_HC_INT(ch_num, USB_OTG_HCINT_TXERR); - } - else if ((USBx_HC(ch_num)->HCINT & USB_OTG_HCINT_DTERR) == USB_OTG_HCINT_DTERR) - { - __HAL_HCD_UNMASK_HALT_HC_INT(ch_num); - (void)USB_HC_Halt(hhcd->Instance, (uint8_t)ch_num); - __HAL_HCD_CLEAR_HC_INT(ch_num, USB_OTG_HCINT_NAK); - __HAL_HCD_CLEAR_HC_INT(ch_num, USB_OTG_HCINT_DTERR); - hhcd->hc[ch_num].state = HC_DATATGLERR; - } - else if ((USBx_HC(ch_num)->HCINT & USB_OTG_HCINT_CHH) == USB_OTG_HCINT_CHH) - { - __HAL_HCD_MASK_HALT_HC_INT(ch_num); - - if (hhcd->hc[ch_num].state == HC_XFRC) - { - hhcd->hc[ch_num].urb_state = URB_DONE; - if ((hhcd->hc[ch_num].ep_type == EP_TYPE_BULK) || - (hhcd->hc[ch_num].ep_type == EP_TYPE_INTR)) - { - if (hhcd->Init.dma_enable == 0U) - { - hhcd->hc[ch_num].toggle_out ^= 1U; - } - - if ((hhcd->Init.dma_enable == 1U) && (hhcd->hc[ch_num].xfer_len > 0U)) - { - num_packets = (hhcd->hc[ch_num].xfer_len + hhcd->hc[ch_num].max_packet - 1U) / hhcd->hc[ch_num].max_packet; - - if ((num_packets & 1U) != 0U) - { - hhcd->hc[ch_num].toggle_out ^= 1U; - } - } - } - } - else if (hhcd->hc[ch_num].state == HC_NAK) - { - hhcd->hc[ch_num].urb_state = URB_NOTREADY; - } - else if (hhcd->hc[ch_num].state == HC_NYET) - { - hhcd->hc[ch_num].urb_state = URB_NOTREADY; - } - else if (hhcd->hc[ch_num].state == HC_STALL) - { - hhcd->hc[ch_num].urb_state = URB_STALL; - } - else if ((hhcd->hc[ch_num].state == HC_XACTERR) || - (hhcd->hc[ch_num].state == HC_DATATGLERR)) - { - hhcd->hc[ch_num].ErrCnt++; - if (hhcd->hc[ch_num].ErrCnt > 2U) - { - hhcd->hc[ch_num].ErrCnt = 0U; - hhcd->hc[ch_num].urb_state = URB_ERROR; - } - else - { - hhcd->hc[ch_num].urb_state = URB_NOTREADY; - - /* re-activate the channel */ - tmpreg = USBx_HC(ch_num)->HCCHAR; - tmpreg &= ~USB_OTG_HCCHAR_CHDIS; - tmpreg |= USB_OTG_HCCHAR_CHENA; - USBx_HC(ch_num)->HCCHAR = tmpreg; - } - } - else - { - /* ... */ - } - - __HAL_HCD_CLEAR_HC_INT(ch_num, USB_OTG_HCINT_CHH); - HAL_HCD_HC_NotifyURBChange_Callback(hhcd, (uint8_t)ch_num, hhcd->hc[ch_num].urb_state); - } - else - { - /* ... */ - } -} - -/** - * @brief Handle Rx Queue Level interrupt requests. - * @param hhcd HCD handle - * @retval none - */ -static void HCD_RXQLVL_IRQHandler(HCD_HandleTypeDef *hhcd) -{ - USB_OTG_GlobalTypeDef *USBx = hhcd->Instance; - uint32_t USBx_BASE = (uint32_t)USBx; - uint32_t pktsts; - uint32_t pktcnt; - uint32_t GrxstspReg; - uint32_t xferSizePktCnt; - uint32_t tmpreg; - uint32_t ch_num; - - GrxstspReg = hhcd->Instance->GRXSTSP; - ch_num = GrxstspReg & USB_OTG_GRXSTSP_EPNUM; - pktsts = (GrxstspReg & USB_OTG_GRXSTSP_PKTSTS) >> 17; - pktcnt = (GrxstspReg & USB_OTG_GRXSTSP_BCNT) >> 4; - - switch (pktsts) - { - case GRXSTS_PKTSTS_IN: - /* Read the data into the host buffer. */ - if ((pktcnt > 0U) && (hhcd->hc[ch_num].xfer_buff != (void *)0)) - { - if ((hhcd->hc[ch_num].xfer_count + pktcnt) <= hhcd->hc[ch_num].xfer_len) - { - (void)USB_ReadPacket(hhcd->Instance, - hhcd->hc[ch_num].xfer_buff, (uint16_t)pktcnt); - - /* manage multiple Xfer */ - hhcd->hc[ch_num].xfer_buff += pktcnt; - hhcd->hc[ch_num].xfer_count += pktcnt; - - /* get transfer size packet count */ - xferSizePktCnt = (USBx_HC(ch_num)->HCTSIZ & USB_OTG_HCTSIZ_PKTCNT) >> 19; - - if ((hhcd->hc[ch_num].max_packet == pktcnt) && (xferSizePktCnt > 0U)) - { - /* re-activate the channel when more packets are expected */ - tmpreg = USBx_HC(ch_num)->HCCHAR; - tmpreg &= ~USB_OTG_HCCHAR_CHDIS; - tmpreg |= USB_OTG_HCCHAR_CHENA; - USBx_HC(ch_num)->HCCHAR = tmpreg; - hhcd->hc[ch_num].toggle_in ^= 1U; - } - } - else - { - hhcd->hc[ch_num].urb_state = URB_ERROR; - } - } - break; - - case GRXSTS_PKTSTS_DATA_TOGGLE_ERR: - break; - - case GRXSTS_PKTSTS_IN_XFER_COMP: - case GRXSTS_PKTSTS_CH_HALTED: - default: - break; - } -} - -/** - * @brief Handle Host Port interrupt requests. - * @param hhcd HCD handle - * @retval None - */ -static void HCD_Port_IRQHandler(HCD_HandleTypeDef *hhcd) -{ - USB_OTG_GlobalTypeDef *USBx = hhcd->Instance; - uint32_t USBx_BASE = (uint32_t)USBx; - __IO uint32_t hprt0; - __IO uint32_t hprt0_dup; - - /* Handle Host Port Interrupts */ - hprt0 = USBx_HPRT0; - hprt0_dup = USBx_HPRT0; - - hprt0_dup &= ~(USB_OTG_HPRT_PENA | USB_OTG_HPRT_PCDET | \ - USB_OTG_HPRT_PENCHNG | USB_OTG_HPRT_POCCHNG); - - /* Check whether Port Connect detected */ - if ((hprt0 & USB_OTG_HPRT_PCDET) == USB_OTG_HPRT_PCDET) - { - if ((hprt0 & USB_OTG_HPRT_PCSTS) == USB_OTG_HPRT_PCSTS) - { -#if (USE_HAL_HCD_REGISTER_CALLBACKS == 1U) - hhcd->ConnectCallback(hhcd); -#else - HAL_HCD_Connect_Callback(hhcd); -#endif /* USE_HAL_HCD_REGISTER_CALLBACKS */ - } - hprt0_dup |= USB_OTG_HPRT_PCDET; - } - - /* Check whether Port Enable Changed */ - if ((hprt0 & USB_OTG_HPRT_PENCHNG) == USB_OTG_HPRT_PENCHNG) - { - hprt0_dup |= USB_OTG_HPRT_PENCHNG; - - if ((hprt0 & USB_OTG_HPRT_PENA) == USB_OTG_HPRT_PENA) - { - if (hhcd->Init.phy_itface == USB_OTG_EMBEDDED_PHY) - { - if ((hprt0 & USB_OTG_HPRT_PSPD) == (HPRT0_PRTSPD_LOW_SPEED << 17)) - { - (void)USB_InitFSLSPClkSel(hhcd->Instance, HCFG_6_MHZ); - } - else - { - (void)USB_InitFSLSPClkSel(hhcd->Instance, HCFG_48_MHZ); - } - } - else - { - if (hhcd->Init.speed == HCD_SPEED_FULL) - { - USBx_HOST->HFIR = 60000U; - } - } -#if (USE_HAL_HCD_REGISTER_CALLBACKS == 1U) - hhcd->PortEnabledCallback(hhcd); -#else - HAL_HCD_PortEnabled_Callback(hhcd); -#endif /* USE_HAL_HCD_REGISTER_CALLBACKS */ - - } - else - { -#if (USE_HAL_HCD_REGISTER_CALLBACKS == 1U) - hhcd->PortDisabledCallback(hhcd); -#else - HAL_HCD_PortDisabled_Callback(hhcd); -#endif /* USE_HAL_HCD_REGISTER_CALLBACKS */ - } - } - - /* Check for an overcurrent */ - if ((hprt0 & USB_OTG_HPRT_POCCHNG) == USB_OTG_HPRT_POCCHNG) - { - hprt0_dup |= USB_OTG_HPRT_POCCHNG; - } - - /* Clear Port Interrupts */ - USBx_HPRT0 = hprt0_dup; -} - -/** - * @} - */ - -/** - * @} - */ - -#endif /* defined (USB_OTG_FS) || defined (USB_OTG_HS) */ -#endif /* HAL_HCD_MODULE_ENABLED */ - -/** - * @} - */ - -/** - * @} - */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c.c deleted file mode 100644 index dfe5e623703dd6..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c.c +++ /dev/null @@ -1,7524 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_i2c.c - * @author MCD Application Team - * @brief I2C HAL module driver. - * This file provides firmware functions to manage the following - * functionalities of the Inter Integrated Circuit (I2C) peripheral: - * + Initialization and de-initialization functions - * + IO operation functions - * + Peripheral State, Mode and Error functions - * - @verbatim - ============================================================================== - ##### How to use this driver ##### - ============================================================================== - [..] - The I2C HAL driver can be used as follows: - - (#) Declare a I2C_HandleTypeDef handle structure, for example: - I2C_HandleTypeDef hi2c; - - (#)Initialize the I2C low level resources by implementing the HAL_I2C_MspInit() API: - (##) Enable the I2Cx interface clock - (##) I2C pins configuration - (+++) Enable the clock for the I2C GPIOs - (+++) Configure I2C pins as alternate function open-drain - (##) NVIC configuration if you need to use interrupt process - (+++) Configure the I2Cx interrupt priority - (+++) Enable the NVIC I2C IRQ Channel - (##) DMA Configuration if you need to use DMA process - (+++) Declare a DMA_HandleTypeDef handle structure for the transmit or receive stream - (+++) Enable the DMAx interface clock using - (+++) Configure the DMA handle parameters - (+++) Configure the DMA Tx or Rx stream - (+++) Associate the initialized DMA handle to the hi2c DMA Tx or Rx handle - (+++) Configure the priority and enable the NVIC for the transfer complete interrupt on - the DMA Tx or Rx stream - - (#) Configure the Communication Speed, Duty cycle, Addressing mode, Own Address1, - Dual Addressing mode, Own Address2, General call and Nostretch mode in the hi2c Init structure. - - (#) Initialize the I2C registers by calling the HAL_I2C_Init(), configures also the low level Hardware - (GPIO, CLOCK, NVIC...etc) by calling the customized HAL_I2C_MspInit() API. - - (#) To check if target device is ready for communication, use the function HAL_I2C_IsDeviceReady() - - (#) For I2C IO and IO MEM operations, three operation modes are available within this driver : - - *** Polling mode IO operation *** - ================================= - [..] - (+) Transmit in master mode an amount of data in blocking mode using HAL_I2C_Master_Transmit() - (+) Receive in master mode an amount of data in blocking mode using HAL_I2C_Master_Receive() - (+) Transmit in slave mode an amount of data in blocking mode using HAL_I2C_Slave_Transmit() - (+) Receive in slave mode an amount of data in blocking mode using HAL_I2C_Slave_Receive() - - *** Polling mode IO MEM operation *** - ===================================== - [..] - (+) Write an amount of data in blocking mode to a specific memory address using HAL_I2C_Mem_Write() - (+) Read an amount of data in blocking mode from a specific memory address using HAL_I2C_Mem_Read() - - - *** Interrupt mode IO operation *** - =================================== - [..] - (+) Transmit in master mode an amount of data in non-blocking mode using HAL_I2C_Master_Transmit_IT() - (+) At transmission end of transfer, HAL_I2C_MasterTxCpltCallback() is executed and user can - add his own code by customization of function pointer HAL_I2C_MasterTxCpltCallback() - (+) Receive in master mode an amount of data in non-blocking mode using HAL_I2C_Master_Receive_IT() - (+) At reception end of transfer, HAL_I2C_MasterRxCpltCallback() is executed and user can - add his own code by customization of function pointer HAL_I2C_MasterRxCpltCallback() - (+) Transmit in slave mode an amount of data in non-blocking mode using HAL_I2C_Slave_Transmit_IT() - (+) At transmission end of transfer, HAL_I2C_SlaveTxCpltCallback() is executed and user can - add his own code by customization of function pointer HAL_I2C_SlaveTxCpltCallback() - (+) Receive in slave mode an amount of data in non-blocking mode using HAL_I2C_Slave_Receive_IT() - (+) At reception end of transfer, HAL_I2C_SlaveRxCpltCallback() is executed and user can - add his own code by customization of function pointer HAL_I2C_SlaveRxCpltCallback() - (+) In case of transfer Error, HAL_I2C_ErrorCallback() function is executed and user can - add his own code by customization of function pointer HAL_I2C_ErrorCallback() - (+) Abort a master I2C process communication with Interrupt using HAL_I2C_Master_Abort_IT() - (+) End of abort process, HAL_I2C_AbortCpltCallback() is executed and user can - add his own code by customization of function pointer HAL_I2C_AbortCpltCallback() - - *** Interrupt mode or DMA mode IO sequential operation *** - ========================================================== - [..] - (@) These interfaces allow to manage a sequential transfer with a repeated start condition - when a direction change during transfer - [..] - (+) A specific option field manage the different steps of a sequential transfer - (+) Option field values are defined through I2C_XferOptions_definition and are listed below: - (++) I2C_FIRST_AND_LAST_FRAME: No sequential usage, functional is same as associated interfaces in no sequential mode - (++) I2C_FIRST_FRAME: Sequential usage, this option allow to manage a sequence with start condition, address - and data to transfer without a final stop condition - (++) I2C_FIRST_AND_NEXT_FRAME: Sequential usage (Master only), this option allow to manage a sequence with start condition, address - and data to transfer without a final stop condition, an then permit a call the same master sequential interface - several times (like HAL_I2C_Master_Seq_Transmit_IT() then HAL_I2C_Master_Seq_Transmit_IT() - or HAL_I2C_Master_Seq_Transmit_DMA() then HAL_I2C_Master_Seq_Transmit_DMA()) - (++) I2C_NEXT_FRAME: Sequential usage, this option allow to manage a sequence with a restart condition, address - and with new data to transfer if the direction change or manage only the new data to transfer - if no direction change and without a final stop condition in both cases - (++) I2C_LAST_FRAME: Sequential usage, this option allow to manage a sequance with a restart condition, address - and with new data to transfer if the direction change or manage only the new data to transfer - if no direction change and with a final stop condition in both cases - (++) I2C_LAST_FRAME_NO_STOP: Sequential usage (Master only), this option allow to manage a restart condition after several call of the same master sequential - interface several times (link with option I2C_FIRST_AND_NEXT_FRAME). - Usage can, transfer several bytes one by one using HAL_I2C_Master_Seq_Transmit_IT(option I2C_FIRST_AND_NEXT_FRAME then I2C_NEXT_FRAME) - or HAL_I2C_Master_Seq_Receive_IT(option I2C_FIRST_AND_NEXT_FRAME then I2C_NEXT_FRAME) - or HAL_I2C_Master_Seq_Transmit_DMA(option I2C_FIRST_AND_NEXT_FRAME then I2C_NEXT_FRAME) - or HAL_I2C_Master_Seq_Receive_DMA(option I2C_FIRST_AND_NEXT_FRAME then I2C_NEXT_FRAME). - Then usage of this option I2C_LAST_FRAME_NO_STOP at the last Transmit or Receive sequence permit to call the opposite interface Receive or Transmit - without stopping the communication and so generate a restart condition. - (++) I2C_OTHER_FRAME: Sequential usage (Master only), this option allow to manage a restart condition after each call of the same master sequential - interface. - Usage can, transfer several bytes one by one with a restart with slave address between each bytes using HAL_I2C_Master_Seq_Transmit_IT(option I2C_FIRST_FRAME then I2C_OTHER_FRAME) - or HAL_I2C_Master_Seq_Receive_IT(option I2C_FIRST_FRAME then I2C_OTHER_FRAME) - or HAL_I2C_Master_Seq_Transmit_DMA(option I2C_FIRST_FRAME then I2C_OTHER_FRAME) - or HAL_I2C_Master_Seq_Receive_DMA(option I2C_FIRST_FRAME then I2C_OTHER_FRAME). - Then usage of this option I2C_OTHER_AND_LAST_FRAME at the last frame to help automatic generation of STOP condition. - - (+) Different sequential I2C interfaces are listed below: - (++) Sequential transmit in master I2C mode an amount of data in non-blocking mode using HAL_I2C_Master_Seq_Transmit_IT() - or using HAL_I2C_Master_Seq_Transmit_DMA() - (+++) At transmission end of current frame transfer, HAL_I2C_MasterTxCpltCallback() is executed and user can - add his own code by customization of function pointer HAL_I2C_MasterTxCpltCallback() - (++) Sequential receive in master I2C mode an amount of data in non-blocking mode using HAL_I2C_Master_Seq_Receive_IT() - or using HAL_I2C_Master_Seq_Receive_DMA() - (+++) At reception end of current frame transfer, HAL_I2C_MasterRxCpltCallback() is executed and user can - add his own code by customization of function pointer HAL_I2C_MasterRxCpltCallback() - (++) Abort a master IT or DMA I2C process communication with Interrupt using HAL_I2C_Master_Abort_IT() - (+++) End of abort process, HAL_I2C_AbortCpltCallback() is executed and user can - add his own code by customization of function pointer HAL_I2C_AbortCpltCallback() - (++) Enable/disable the Address listen mode in slave I2C mode using HAL_I2C_EnableListen_IT() HAL_I2C_DisableListen_IT() - (+++) When address slave I2C match, HAL_I2C_AddrCallback() is executed and user can - add his own code to check the Address Match Code and the transmission direction request by master (Write/Read). - (+++) At Listen mode end HAL_I2C_ListenCpltCallback() is executed and user can - add his own code by customization of function pointer HAL_I2C_ListenCpltCallback() - (++) Sequential transmit in slave I2C mode an amount of data in non-blocking mode using HAL_I2C_Slave_Seq_Transmit_IT() - or using HAL_I2C_Slave_Seq_Transmit_DMA() - (+++) At transmission end of current frame transfer, HAL_I2C_SlaveTxCpltCallback() is executed and user can - add his own code by customization of function pointer HAL_I2C_SlaveTxCpltCallback() - (++) Sequential receive in slave I2C mode an amount of data in non-blocking mode using HAL_I2C_Slave_Seq_Receive_IT() - or using HAL_I2C_Slave_Seq_Receive_DMA() - (+++) At reception end of current frame transfer, HAL_I2C_SlaveRxCpltCallback() is executed and user can - add his own code by customization of function pointer HAL_I2C_SlaveRxCpltCallback() - (++) In case of transfer Error, HAL_I2C_ErrorCallback() function is executed and user can - add his own code by customization of function pointer HAL_I2C_ErrorCallback() - - *** Interrupt mode IO MEM operation *** - ======================================= - [..] - (+) Write an amount of data in non-blocking mode with Interrupt to a specific memory address using - HAL_I2C_Mem_Write_IT() - (+) At Memory end of write transfer, HAL_I2C_MemTxCpltCallback() is executed and user can - add his own code by customization of function pointer HAL_I2C_MemTxCpltCallback() - (+) Read an amount of data in non-blocking mode with Interrupt from a specific memory address using - HAL_I2C_Mem_Read_IT() - (+) At Memory end of read transfer, HAL_I2C_MemRxCpltCallback() is executed and user can - add his own code by customization of function pointer HAL_I2C_MemRxCpltCallback() - (+) In case of transfer Error, HAL_I2C_ErrorCallback() function is executed and user can - add his own code by customization of function pointer HAL_I2C_ErrorCallback() - - *** DMA mode IO operation *** - ============================== - [..] - (+) Transmit in master mode an amount of data in non-blocking mode (DMA) using - HAL_I2C_Master_Transmit_DMA() - (+) At transmission end of transfer, HAL_I2C_MasterTxCpltCallback() is executed and user can - add his own code by customization of function pointer HAL_I2C_MasterTxCpltCallback() - (+) Receive in master mode an amount of data in non-blocking mode (DMA) using - HAL_I2C_Master_Receive_DMA() - (+) At reception end of transfer, HAL_I2C_MasterRxCpltCallback() is executed and user can - add his own code by customization of function pointer HAL_I2C_MasterRxCpltCallback() - (+) Transmit in slave mode an amount of data in non-blocking mode (DMA) using - HAL_I2C_Slave_Transmit_DMA() - (+) At transmission end of transfer, HAL_I2C_SlaveTxCpltCallback() is executed and user can - add his own code by customization of function pointer HAL_I2C_SlaveTxCpltCallback() - (+) Receive in slave mode an amount of data in non-blocking mode (DMA) using - HAL_I2C_Slave_Receive_DMA() - (+) At reception end of transfer, HAL_I2C_SlaveRxCpltCallback() is executed and user can - add his own code by customization of function pointer HAL_I2C_SlaveRxCpltCallback() - (+) In case of transfer Error, HAL_I2C_ErrorCallback() function is executed and user can - add his own code by customization of function pointer HAL_I2C_ErrorCallback() - (+) Abort a master I2C process communication with Interrupt using HAL_I2C_Master_Abort_IT() - (+) End of abort process, HAL_I2C_AbortCpltCallback() is executed and user can - add his own code by customization of function pointer HAL_I2C_AbortCpltCallback() - - *** DMA mode IO MEM operation *** - ================================= - [..] - (+) Write an amount of data in non-blocking mode with DMA to a specific memory address using - HAL_I2C_Mem_Write_DMA() - (+) At Memory end of write transfer, HAL_I2C_MemTxCpltCallback() is executed and user can - add his own code by customization of function pointer HAL_I2C_MemTxCpltCallback() - (+) Read an amount of data in non-blocking mode with DMA from a specific memory address using - HAL_I2C_Mem_Read_DMA() - (+) At Memory end of read transfer, HAL_I2C_MemRxCpltCallback() is executed and user can - add his own code by customization of function pointer HAL_I2C_MemRxCpltCallback() - (+) In case of transfer Error, HAL_I2C_ErrorCallback() function is executed and user can - add his own code by customization of function pointer HAL_I2C_ErrorCallback() - - - *** I2C HAL driver macros list *** - ================================== - [..] - Below the list of most used macros in I2C HAL driver. - - (+) __HAL_I2C_ENABLE: Enable the I2C peripheral - (+) __HAL_I2C_DISABLE: Disable the I2C peripheral - (+) __HAL_I2C_GET_FLAG: Checks whether the specified I2C flag is set or not - (+) __HAL_I2C_CLEAR_FLAG: Clear the specified I2C pending flag - (+) __HAL_I2C_ENABLE_IT: Enable the specified I2C interrupt - (+) __HAL_I2C_DISABLE_IT: Disable the specified I2C interrupt - - *** Callback registration *** - ============================================= - [..] - The compilation flag USE_HAL_I2C_REGISTER_CALLBACKS when set to 1 - allows the user to configure dynamically the driver callbacks. - Use Functions HAL_I2C_RegisterCallback() or HAL_I2C_RegisterAddrCallback() - to register an interrupt callback. - [..] - Function HAL_I2C_RegisterCallback() allows to register following callbacks: - (+) MasterTxCpltCallback : callback for Master transmission end of transfer. - (+) MasterRxCpltCallback : callback for Master reception end of transfer. - (+) SlaveTxCpltCallback : callback for Slave transmission end of transfer. - (+) SlaveRxCpltCallback : callback for Slave reception end of transfer. - (+) ListenCpltCallback : callback for end of listen mode. - (+) MemTxCpltCallback : callback for Memory transmission end of transfer. - (+) MemRxCpltCallback : callback for Memory reception end of transfer. - (+) ErrorCallback : callback for error detection. - (+) AbortCpltCallback : callback for abort completion process. - (+) MspInitCallback : callback for Msp Init. - (+) MspDeInitCallback : callback for Msp DeInit. - This function takes as parameters the HAL peripheral handle, the Callback ID - and a pointer to the user callback function. - [..] - For specific callback AddrCallback use dedicated register callbacks : HAL_I2C_RegisterAddrCallback(). - [..] - Use function HAL_I2C_UnRegisterCallback to reset a callback to the default - weak function. - HAL_I2C_UnRegisterCallback takes as parameters the HAL peripheral handle, - and the Callback ID. - This function allows to reset following callbacks: - (+) MasterTxCpltCallback : callback for Master transmission end of transfer. - (+) MasterRxCpltCallback : callback for Master reception end of transfer. - (+) SlaveTxCpltCallback : callback for Slave transmission end of transfer. - (+) SlaveRxCpltCallback : callback for Slave reception end of transfer. - (+) ListenCpltCallback : callback for end of listen mode. - (+) MemTxCpltCallback : callback for Memory transmission end of transfer. - (+) MemRxCpltCallback : callback for Memory reception end of transfer. - (+) ErrorCallback : callback for error detection. - (+) AbortCpltCallback : callback for abort completion process. - (+) MspInitCallback : callback for Msp Init. - (+) MspDeInitCallback : callback for Msp DeInit. - [..] - For callback AddrCallback use dedicated register callbacks : HAL_I2C_UnRegisterAddrCallback(). - [..] - By default, after the HAL_I2C_Init() and when the state is HAL_I2C_STATE_RESET - all callbacks are set to the corresponding weak functions: - examples HAL_I2C_MasterTxCpltCallback(), HAL_I2C_MasterRxCpltCallback(). - Exception done for MspInit and MspDeInit functions that are - reset to the legacy weak functions in the HAL_I2C_Init()/ HAL_I2C_DeInit() only when - these callbacks are null (not registered beforehand). - If MspInit or MspDeInit are not null, the HAL_I2C_Init()/ HAL_I2C_DeInit() - keep and use the user MspInit/MspDeInit callbacks (registered beforehand) whatever the state. - [..] - Callbacks can be registered/unregistered in HAL_I2C_STATE_READY state only. - Exception done MspInit/MspDeInit functions that can be registered/unregistered - in HAL_I2C_STATE_READY or HAL_I2C_STATE_RESET state, - thus registered (user) MspInit/DeInit callbacks can be used during the Init/DeInit. - Then, the user first registers the MspInit/MspDeInit user callbacks - using HAL_I2C_RegisterCallback() before calling HAL_I2C_DeInit() - or HAL_I2C_Init() function. - [..] - When the compilation flag USE_HAL_I2C_REGISTER_CALLBACKS is set to 0 or - not defined, the callback registration feature is not available and all callbacks - are set to the corresponding weak functions. - - - - [..] - (@) You can refer to the I2C HAL driver header file for more useful macros - - @endverbatim - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @defgroup I2C I2C - * @brief I2C HAL module driver - * @{ - */ - -#ifdef HAL_I2C_MODULE_ENABLED - -/* Private typedef -----------------------------------------------------------*/ -/* Private define ------------------------------------------------------------*/ -/** @addtogroup I2C_Private_Define - * @{ - */ -#define I2C_TIMEOUT_FLAG 35U /*!< Timeout 35 ms */ -#define I2C_TIMEOUT_BUSY_FLAG 25U /*!< Timeout 25 ms */ -#define I2C_TIMEOUT_STOP_FLAG 5U /*!< Timeout 5 ms */ -#define I2C_NO_OPTION_FRAME 0xFFFF0000U /*!< XferOptions default value */ - -/* Private define for @ref PreviousState usage */ -#define I2C_STATE_MSK ((uint32_t)((uint32_t)((uint32_t)HAL_I2C_STATE_BUSY_TX | (uint32_t)HAL_I2C_STATE_BUSY_RX) & (uint32_t)(~((uint32_t)HAL_I2C_STATE_READY)))) /*!< Mask State define, keep only RX and TX bits */ -#define I2C_STATE_NONE ((uint32_t)(HAL_I2C_MODE_NONE)) /*!< Default Value */ -#define I2C_STATE_MASTER_BUSY_TX ((uint32_t)(((uint32_t)HAL_I2C_STATE_BUSY_TX & I2C_STATE_MSK) | (uint32_t)HAL_I2C_MODE_MASTER)) /*!< Master Busy TX, combinaison of State LSB and Mode enum */ -#define I2C_STATE_MASTER_BUSY_RX ((uint32_t)(((uint32_t)HAL_I2C_STATE_BUSY_RX & I2C_STATE_MSK) | (uint32_t)HAL_I2C_MODE_MASTER)) /*!< Master Busy RX, combinaison of State LSB and Mode enum */ -#define I2C_STATE_SLAVE_BUSY_TX ((uint32_t)(((uint32_t)HAL_I2C_STATE_BUSY_TX & I2C_STATE_MSK) | (uint32_t)HAL_I2C_MODE_SLAVE)) /*!< Slave Busy TX, combinaison of State LSB and Mode enum */ -#define I2C_STATE_SLAVE_BUSY_RX ((uint32_t)(((uint32_t)HAL_I2C_STATE_BUSY_RX & I2C_STATE_MSK) | (uint32_t)HAL_I2C_MODE_SLAVE)) /*!< Slave Busy RX, combinaison of State LSB and Mode enum */ - -/** - * @} - */ - -/* Private macro -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private function prototypes -----------------------------------------------*/ - -/** @defgroup I2C_Private_Functions I2C Private Functions - * @{ - */ -/* Private functions to handle DMA transfer */ -static void I2C_DMAXferCplt(DMA_HandleTypeDef *hdma); -static void I2C_DMAError(DMA_HandleTypeDef *hdma); -static void I2C_DMAAbort(DMA_HandleTypeDef *hdma); - -static void I2C_ITError(I2C_HandleTypeDef *hi2c); - -static HAL_StatusTypeDef I2C_MasterRequestWrite(I2C_HandleTypeDef *hi2c, uint16_t DevAddress, uint32_t Timeout, uint32_t Tickstart); -static HAL_StatusTypeDef I2C_MasterRequestRead(I2C_HandleTypeDef *hi2c, uint16_t DevAddress, uint32_t Timeout, uint32_t Tickstart); -static HAL_StatusTypeDef I2C_RequestMemoryWrite(I2C_HandleTypeDef *hi2c, uint16_t DevAddress, uint16_t MemAddress, uint16_t MemAddSize, uint32_t Timeout, uint32_t Tickstart); -static HAL_StatusTypeDef I2C_RequestMemoryRead(I2C_HandleTypeDef *hi2c, uint16_t DevAddress, uint16_t MemAddress, uint16_t MemAddSize, uint32_t Timeout, uint32_t Tickstart); - -/* Private functions to handle flags during polling transfer */ -static HAL_StatusTypeDef I2C_WaitOnFlagUntilTimeout(I2C_HandleTypeDef *hi2c, uint32_t Flag, FlagStatus Status, uint32_t Timeout, uint32_t Tickstart); -static HAL_StatusTypeDef I2C_WaitOnMasterAddressFlagUntilTimeout(I2C_HandleTypeDef *hi2c, uint32_t Flag, uint32_t Timeout, uint32_t Tickstart); -static HAL_StatusTypeDef I2C_WaitOnTXEFlagUntilTimeout(I2C_HandleTypeDef *hi2c, uint32_t Timeout, uint32_t Tickstart); -static HAL_StatusTypeDef I2C_WaitOnBTFFlagUntilTimeout(I2C_HandleTypeDef *hi2c, uint32_t Timeout, uint32_t Tickstart); -static HAL_StatusTypeDef I2C_WaitOnRXNEFlagUntilTimeout(I2C_HandleTypeDef *hi2c, uint32_t Timeout, uint32_t Tickstart); -static HAL_StatusTypeDef I2C_WaitOnSTOPFlagUntilTimeout(I2C_HandleTypeDef *hi2c, uint32_t Timeout, uint32_t Tickstart); -static HAL_StatusTypeDef I2C_WaitOnSTOPRequestThroughIT(I2C_HandleTypeDef *hi2c); -static HAL_StatusTypeDef I2C_IsAcknowledgeFailed(I2C_HandleTypeDef *hi2c); - -/* Private functions for I2C transfer IRQ handler */ -static void I2C_MasterTransmit_TXE(I2C_HandleTypeDef *hi2c); -static void I2C_MasterTransmit_BTF(I2C_HandleTypeDef *hi2c); -static void I2C_MasterReceive_RXNE(I2C_HandleTypeDef *hi2c); -static void I2C_MasterReceive_BTF(I2C_HandleTypeDef *hi2c); -static void I2C_Master_SB(I2C_HandleTypeDef *hi2c); -static void I2C_Master_ADD10(I2C_HandleTypeDef *hi2c); -static void I2C_Master_ADDR(I2C_HandleTypeDef *hi2c); - -static void I2C_SlaveTransmit_TXE(I2C_HandleTypeDef *hi2c); -static void I2C_SlaveTransmit_BTF(I2C_HandleTypeDef *hi2c); -static void I2C_SlaveReceive_RXNE(I2C_HandleTypeDef *hi2c); -static void I2C_SlaveReceive_BTF(I2C_HandleTypeDef *hi2c); -static void I2C_Slave_ADDR(I2C_HandleTypeDef *hi2c, uint32_t IT2Flags); -static void I2C_Slave_STOPF(I2C_HandleTypeDef *hi2c); -static void I2C_Slave_AF(I2C_HandleTypeDef *hi2c); - -static void I2C_MemoryTransmit_TXE_BTF(I2C_HandleTypeDef *hi2c); - -/* Private function to Convert Specific options */ -static void I2C_ConvertOtherXferOptions(I2C_HandleTypeDef *hi2c); -/** - * @} - */ - -/* Exported functions --------------------------------------------------------*/ - -/** @defgroup I2C_Exported_Functions I2C Exported Functions - * @{ - */ - -/** @defgroup I2C_Exported_Functions_Group1 Initialization and de-initialization functions - * @brief Initialization and Configuration functions - * -@verbatim - =============================================================================== - ##### Initialization and de-initialization functions ##### - =============================================================================== - [..] This subsection provides a set of functions allowing to initialize and - deinitialize the I2Cx peripheral: - - (+) User must Implement HAL_I2C_MspInit() function in which he configures - all related peripherals resources (CLOCK, GPIO, DMA, IT and NVIC). - - (+) Call the function HAL_I2C_Init() to configure the selected device with - the selected configuration: - (++) Communication Speed - (++) Duty cycle - (++) Addressing mode - (++) Own Address 1 - (++) Dual Addressing mode - (++) Own Address 2 - (++) General call mode - (++) Nostretch mode - - (+) Call the function HAL_I2C_DeInit() to restore the default configuration - of the selected I2Cx peripheral. - -@endverbatim - * @{ - */ - -/** - * @brief Initializes the I2C according to the specified parameters - * in the I2C_InitTypeDef and initialize the associated handle. - * @param hi2c Pointer to a I2C_HandleTypeDef structure that contains - * the configuration information for the specified I2C. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_I2C_Init(I2C_HandleTypeDef *hi2c) -{ - uint32_t freqrange; - uint32_t pclk1; - - /* Check the I2C handle allocation */ - if (hi2c == NULL) - { - return HAL_ERROR; - } - - /* Check the parameters */ - assert_param(IS_I2C_ALL_INSTANCE(hi2c->Instance)); - assert_param(IS_I2C_CLOCK_SPEED(hi2c->Init.ClockSpeed)); - assert_param(IS_I2C_DUTY_CYCLE(hi2c->Init.DutyCycle)); - assert_param(IS_I2C_OWN_ADDRESS1(hi2c->Init.OwnAddress1)); - assert_param(IS_I2C_ADDRESSING_MODE(hi2c->Init.AddressingMode)); - assert_param(IS_I2C_DUAL_ADDRESS(hi2c->Init.DualAddressMode)); - assert_param(IS_I2C_OWN_ADDRESS2(hi2c->Init.OwnAddress2)); - assert_param(IS_I2C_GENERAL_CALL(hi2c->Init.GeneralCallMode)); - assert_param(IS_I2C_NO_STRETCH(hi2c->Init.NoStretchMode)); - - if (hi2c->State == HAL_I2C_STATE_RESET) - { - /* Allocate lock resource and initialize it */ - hi2c->Lock = HAL_UNLOCKED; - -#if (USE_HAL_I2C_REGISTER_CALLBACKS == 1) - /* Init the I2C Callback settings */ - hi2c->MasterTxCpltCallback = HAL_I2C_MasterTxCpltCallback; /* Legacy weak MasterTxCpltCallback */ - hi2c->MasterRxCpltCallback = HAL_I2C_MasterRxCpltCallback; /* Legacy weak MasterRxCpltCallback */ - hi2c->SlaveTxCpltCallback = HAL_I2C_SlaveTxCpltCallback; /* Legacy weak SlaveTxCpltCallback */ - hi2c->SlaveRxCpltCallback = HAL_I2C_SlaveRxCpltCallback; /* Legacy weak SlaveRxCpltCallback */ - hi2c->ListenCpltCallback = HAL_I2C_ListenCpltCallback; /* Legacy weak ListenCpltCallback */ - hi2c->MemTxCpltCallback = HAL_I2C_MemTxCpltCallback; /* Legacy weak MemTxCpltCallback */ - hi2c->MemRxCpltCallback = HAL_I2C_MemRxCpltCallback; /* Legacy weak MemRxCpltCallback */ - hi2c->ErrorCallback = HAL_I2C_ErrorCallback; /* Legacy weak ErrorCallback */ - hi2c->AbortCpltCallback = HAL_I2C_AbortCpltCallback; /* Legacy weak AbortCpltCallback */ - hi2c->AddrCallback = HAL_I2C_AddrCallback; /* Legacy weak AddrCallback */ - - if (hi2c->MspInitCallback == NULL) - { - hi2c->MspInitCallback = HAL_I2C_MspInit; /* Legacy weak MspInit */ - } - - /* Init the low level hardware : GPIO, CLOCK, NVIC */ - hi2c->MspInitCallback(hi2c); -#else - /* Init the low level hardware : GPIO, CLOCK, NVIC */ - HAL_I2C_MspInit(hi2c); -#endif /* USE_HAL_I2C_REGISTER_CALLBACKS */ - } - - hi2c->State = HAL_I2C_STATE_BUSY; - - /* Disable the selected I2C peripheral */ - __HAL_I2C_DISABLE(hi2c); - - /*Reset I2C*/ - hi2c->Instance->CR1 |= I2C_CR1_SWRST; - hi2c->Instance->CR1 &= ~I2C_CR1_SWRST; - - /* Get PCLK1 frequency */ - pclk1 = HAL_RCC_GetPCLK1Freq(); - - /* Check the minimum allowed PCLK1 frequency */ - if (I2C_MIN_PCLK_FREQ(pclk1, hi2c->Init.ClockSpeed) == 1U) - { - return HAL_ERROR; - } - - /* Calculate frequency range */ - freqrange = I2C_FREQRANGE(pclk1); - - /*---------------------------- I2Cx CR2 Configuration ----------------------*/ - /* Configure I2Cx: Frequency range */ - MODIFY_REG(hi2c->Instance->CR2, I2C_CR2_FREQ, freqrange); - - /*---------------------------- I2Cx TRISE Configuration --------------------*/ - /* Configure I2Cx: Rise Time */ - MODIFY_REG(hi2c->Instance->TRISE, I2C_TRISE_TRISE, I2C_RISE_TIME(freqrange, hi2c->Init.ClockSpeed)); - - /*---------------------------- I2Cx CCR Configuration ----------------------*/ - /* Configure I2Cx: Speed */ - MODIFY_REG(hi2c->Instance->CCR, (I2C_CCR_FS | I2C_CCR_DUTY | I2C_CCR_CCR), I2C_SPEED(pclk1, hi2c->Init.ClockSpeed, hi2c->Init.DutyCycle)); - - /*---------------------------- I2Cx CR1 Configuration ----------------------*/ - /* Configure I2Cx: Generalcall and NoStretch mode */ - MODIFY_REG(hi2c->Instance->CR1, (I2C_CR1_ENGC | I2C_CR1_NOSTRETCH), (hi2c->Init.GeneralCallMode | hi2c->Init.NoStretchMode)); - - /*---------------------------- I2Cx OAR1 Configuration ---------------------*/ - /* Configure I2Cx: Own Address1 and addressing mode */ - MODIFY_REG(hi2c->Instance->OAR1, (I2C_OAR1_ADDMODE | I2C_OAR1_ADD8_9 | I2C_OAR1_ADD1_7 | I2C_OAR1_ADD0), (hi2c->Init.AddressingMode | hi2c->Init.OwnAddress1)); - - /*---------------------------- I2Cx OAR2 Configuration ---------------------*/ - /* Configure I2Cx: Dual mode and Own Address2 */ - MODIFY_REG(hi2c->Instance->OAR2, (I2C_OAR2_ENDUAL | I2C_OAR2_ADD2), (hi2c->Init.DualAddressMode | hi2c->Init.OwnAddress2)); - - /* Enable the selected I2C peripheral */ - __HAL_I2C_ENABLE(hi2c); - - hi2c->ErrorCode = HAL_I2C_ERROR_NONE; - hi2c->State = HAL_I2C_STATE_READY; - hi2c->PreviousState = I2C_STATE_NONE; - hi2c->Mode = HAL_I2C_MODE_NONE; - - return HAL_OK; -} - -/** - * @brief DeInitialize the I2C peripheral. - * @param hi2c Pointer to a I2C_HandleTypeDef structure that contains - * the configuration information for the specified I2C. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_I2C_DeInit(I2C_HandleTypeDef *hi2c) -{ - /* Check the I2C handle allocation */ - if (hi2c == NULL) - { - return HAL_ERROR; - } - - /* Check the parameters */ - assert_param(IS_I2C_ALL_INSTANCE(hi2c->Instance)); - - hi2c->State = HAL_I2C_STATE_BUSY; - - /* Disable the I2C Peripheral Clock */ - __HAL_I2C_DISABLE(hi2c); - -#if (USE_HAL_I2C_REGISTER_CALLBACKS == 1) - if (hi2c->MspDeInitCallback == NULL) - { - hi2c->MspDeInitCallback = HAL_I2C_MspDeInit; /* Legacy weak MspDeInit */ - } - - /* DeInit the low level hardware: GPIO, CLOCK, NVIC */ - hi2c->MspDeInitCallback(hi2c); -#else - /* DeInit the low level hardware: GPIO, CLOCK, NVIC */ - HAL_I2C_MspDeInit(hi2c); -#endif /* USE_HAL_I2C_REGISTER_CALLBACKS */ - - hi2c->ErrorCode = HAL_I2C_ERROR_NONE; - hi2c->State = HAL_I2C_STATE_RESET; - hi2c->PreviousState = I2C_STATE_NONE; - hi2c->Mode = HAL_I2C_MODE_NONE; - - /* Release Lock */ - __HAL_UNLOCK(hi2c); - - return HAL_OK; -} - -/** - * @brief Initialize the I2C MSP. - * @param hi2c Pointer to a I2C_HandleTypeDef structure that contains - * the configuration information for the specified I2C. - * @retval None - */ -__weak void HAL_I2C_MspInit(I2C_HandleTypeDef *hi2c) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hi2c); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_I2C_MspInit could be implemented in the user file - */ -} - -/** - * @brief DeInitialize the I2C MSP. - * @param hi2c Pointer to a I2C_HandleTypeDef structure that contains - * the configuration information for the specified I2C. - * @retval None - */ -__weak void HAL_I2C_MspDeInit(I2C_HandleTypeDef *hi2c) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hi2c); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_I2C_MspDeInit could be implemented in the user file - */ -} - -#if (USE_HAL_I2C_REGISTER_CALLBACKS == 1) -/** - * @brief Register a User I2C Callback - * To be used instead of the weak predefined callback - * @param hi2c Pointer to a I2C_HandleTypeDef structure that contains - * the configuration information for the specified I2C. - * @param CallbackID ID of the callback to be registered - * This parameter can be one of the following values: - * @arg @ref HAL_I2C_MASTER_TX_COMPLETE_CB_ID Master Tx Transfer completed callback ID - * @arg @ref HAL_I2C_MASTER_RX_COMPLETE_CB_ID Master Rx Transfer completed callback ID - * @arg @ref HAL_I2C_SLAVE_TX_COMPLETE_CB_ID Slave Tx Transfer completed callback ID - * @arg @ref HAL_I2C_SLAVE_RX_COMPLETE_CB_ID Slave Rx Transfer completed callback ID - * @arg @ref HAL_I2C_LISTEN_COMPLETE_CB_ID Listen Complete callback ID - * @arg @ref HAL_I2C_MEM_TX_COMPLETE_CB_ID Memory Tx Transfer callback ID - * @arg @ref HAL_I2C_MEM_RX_COMPLETE_CB_ID Memory Rx Transfer completed callback ID - * @arg @ref HAL_I2C_ERROR_CB_ID Error callback ID - * @arg @ref HAL_I2C_ABORT_CB_ID Abort callback ID - * @arg @ref HAL_I2C_MSPINIT_CB_ID MspInit callback ID - * @arg @ref HAL_I2C_MSPDEINIT_CB_ID MspDeInit callback ID - * @param pCallback pointer to the Callback function - * @retval HAL status - */ -HAL_StatusTypeDef HAL_I2C_RegisterCallback(I2C_HandleTypeDef *hi2c, HAL_I2C_CallbackIDTypeDef CallbackID, pI2C_CallbackTypeDef pCallback) -{ - HAL_StatusTypeDef status = HAL_OK; - - if (pCallback == NULL) - { - /* Update the error code */ - hi2c->ErrorCode |= HAL_I2C_ERROR_INVALID_CALLBACK; - - return HAL_ERROR; - } - /* Process locked */ - __HAL_LOCK(hi2c); - - if (HAL_I2C_STATE_READY == hi2c->State) - { - switch (CallbackID) - { - case HAL_I2C_MASTER_TX_COMPLETE_CB_ID : - hi2c->MasterTxCpltCallback = pCallback; - break; - - case HAL_I2C_MASTER_RX_COMPLETE_CB_ID : - hi2c->MasterRxCpltCallback = pCallback; - break; - - case HAL_I2C_SLAVE_TX_COMPLETE_CB_ID : - hi2c->SlaveTxCpltCallback = pCallback; - break; - - case HAL_I2C_SLAVE_RX_COMPLETE_CB_ID : - hi2c->SlaveRxCpltCallback = pCallback; - break; - - case HAL_I2C_LISTEN_COMPLETE_CB_ID : - hi2c->ListenCpltCallback = pCallback; - break; - - case HAL_I2C_MEM_TX_COMPLETE_CB_ID : - hi2c->MemTxCpltCallback = pCallback; - break; - - case HAL_I2C_MEM_RX_COMPLETE_CB_ID : - hi2c->MemRxCpltCallback = pCallback; - break; - - case HAL_I2C_ERROR_CB_ID : - hi2c->ErrorCallback = pCallback; - break; - - case HAL_I2C_ABORT_CB_ID : - hi2c->AbortCpltCallback = pCallback; - break; - - case HAL_I2C_MSPINIT_CB_ID : - hi2c->MspInitCallback = pCallback; - break; - - case HAL_I2C_MSPDEINIT_CB_ID : - hi2c->MspDeInitCallback = pCallback; - break; - - default : - /* Update the error code */ - hi2c->ErrorCode |= HAL_I2C_ERROR_INVALID_CALLBACK; - - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else if (HAL_I2C_STATE_RESET == hi2c->State) - { - switch (CallbackID) - { - case HAL_I2C_MSPINIT_CB_ID : - hi2c->MspInitCallback = pCallback; - break; - - case HAL_I2C_MSPDEINIT_CB_ID : - hi2c->MspDeInitCallback = pCallback; - break; - - default : - /* Update the error code */ - hi2c->ErrorCode |= HAL_I2C_ERROR_INVALID_CALLBACK; - - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else - { - /* Update the error code */ - hi2c->ErrorCode |= HAL_I2C_ERROR_INVALID_CALLBACK; - - /* Return error status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(hi2c); - return status; -} - -/** - * @brief Unregister an I2C Callback - * I2C callback is redirected to the weak predefined callback - * @param hi2c Pointer to a I2C_HandleTypeDef structure that contains - * the configuration information for the specified I2C. - * @param CallbackID ID of the callback to be unregistered - * This parameter can be one of the following values: - * This parameter can be one of the following values: - * @arg @ref HAL_I2C_MASTER_TX_COMPLETE_CB_ID Master Tx Transfer completed callback ID - * @arg @ref HAL_I2C_MASTER_RX_COMPLETE_CB_ID Master Rx Transfer completed callback ID - * @arg @ref HAL_I2C_SLAVE_TX_COMPLETE_CB_ID Slave Tx Transfer completed callback ID - * @arg @ref HAL_I2C_SLAVE_RX_COMPLETE_CB_ID Slave Rx Transfer completed callback ID - * @arg @ref HAL_I2C_LISTEN_COMPLETE_CB_ID Listen Complete callback ID - * @arg @ref HAL_I2C_MEM_TX_COMPLETE_CB_ID Memory Tx Transfer callback ID - * @arg @ref HAL_I2C_MEM_RX_COMPLETE_CB_ID Memory Rx Transfer completed callback ID - * @arg @ref HAL_I2C_ERROR_CB_ID Error callback ID - * @arg @ref HAL_I2C_ABORT_CB_ID Abort callback ID - * @arg @ref HAL_I2C_MSPINIT_CB_ID MspInit callback ID - * @arg @ref HAL_I2C_MSPDEINIT_CB_ID MspDeInit callback ID - * @retval HAL status - */ -HAL_StatusTypeDef HAL_I2C_UnRegisterCallback(I2C_HandleTypeDef *hi2c, HAL_I2C_CallbackIDTypeDef CallbackID) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Process locked */ - __HAL_LOCK(hi2c); - - if (HAL_I2C_STATE_READY == hi2c->State) - { - switch (CallbackID) - { - case HAL_I2C_MASTER_TX_COMPLETE_CB_ID : - hi2c->MasterTxCpltCallback = HAL_I2C_MasterTxCpltCallback; /* Legacy weak MasterTxCpltCallback */ - break; - - case HAL_I2C_MASTER_RX_COMPLETE_CB_ID : - hi2c->MasterRxCpltCallback = HAL_I2C_MasterRxCpltCallback; /* Legacy weak MasterRxCpltCallback */ - break; - - case HAL_I2C_SLAVE_TX_COMPLETE_CB_ID : - hi2c->SlaveTxCpltCallback = HAL_I2C_SlaveTxCpltCallback; /* Legacy weak SlaveTxCpltCallback */ - break; - - case HAL_I2C_SLAVE_RX_COMPLETE_CB_ID : - hi2c->SlaveRxCpltCallback = HAL_I2C_SlaveRxCpltCallback; /* Legacy weak SlaveRxCpltCallback */ - break; - - case HAL_I2C_LISTEN_COMPLETE_CB_ID : - hi2c->ListenCpltCallback = HAL_I2C_ListenCpltCallback; /* Legacy weak ListenCpltCallback */ - break; - - case HAL_I2C_MEM_TX_COMPLETE_CB_ID : - hi2c->MemTxCpltCallback = HAL_I2C_MemTxCpltCallback; /* Legacy weak MemTxCpltCallback */ - break; - - case HAL_I2C_MEM_RX_COMPLETE_CB_ID : - hi2c->MemRxCpltCallback = HAL_I2C_MemRxCpltCallback; /* Legacy weak MemRxCpltCallback */ - break; - - case HAL_I2C_ERROR_CB_ID : - hi2c->ErrorCallback = HAL_I2C_ErrorCallback; /* Legacy weak ErrorCallback */ - break; - - case HAL_I2C_ABORT_CB_ID : - hi2c->AbortCpltCallback = HAL_I2C_AbortCpltCallback; /* Legacy weak AbortCpltCallback */ - break; - - case HAL_I2C_MSPINIT_CB_ID : - hi2c->MspInitCallback = HAL_I2C_MspInit; /* Legacy weak MspInit */ - break; - - case HAL_I2C_MSPDEINIT_CB_ID : - hi2c->MspDeInitCallback = HAL_I2C_MspDeInit; /* Legacy weak MspDeInit */ - break; - - default : - /* Update the error code */ - hi2c->ErrorCode |= HAL_I2C_ERROR_INVALID_CALLBACK; - - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else if (HAL_I2C_STATE_RESET == hi2c->State) - { - switch (CallbackID) - { - case HAL_I2C_MSPINIT_CB_ID : - hi2c->MspInitCallback = HAL_I2C_MspInit; /* Legacy weak MspInit */ - break; - - case HAL_I2C_MSPDEINIT_CB_ID : - hi2c->MspDeInitCallback = HAL_I2C_MspDeInit; /* Legacy weak MspDeInit */ - break; - - default : - /* Update the error code */ - hi2c->ErrorCode |= HAL_I2C_ERROR_INVALID_CALLBACK; - - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else - { - /* Update the error code */ - hi2c->ErrorCode |= HAL_I2C_ERROR_INVALID_CALLBACK; - - /* Return error status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(hi2c); - return status; -} - -/** - * @brief Register the Slave Address Match I2C Callback - * To be used instead of the weak HAL_I2C_AddrCallback() predefined callback - * @param hi2c Pointer to a I2C_HandleTypeDef structure that contains - * the configuration information for the specified I2C. - * @param pCallback pointer to the Address Match Callback function - * @retval HAL status - */ -HAL_StatusTypeDef HAL_I2C_RegisterAddrCallback(I2C_HandleTypeDef *hi2c, pI2C_AddrCallbackTypeDef pCallback) -{ - HAL_StatusTypeDef status = HAL_OK; - - if (pCallback == NULL) - { - /* Update the error code */ - hi2c->ErrorCode |= HAL_I2C_ERROR_INVALID_CALLBACK; - - return HAL_ERROR; - } - /* Process locked */ - __HAL_LOCK(hi2c); - - if (HAL_I2C_STATE_READY == hi2c->State) - { - hi2c->AddrCallback = pCallback; - } - else - { - /* Update the error code */ - hi2c->ErrorCode |= HAL_I2C_ERROR_INVALID_CALLBACK; - - /* Return error status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(hi2c); - return status; -} - -/** - * @brief UnRegister the Slave Address Match I2C Callback - * Info Ready I2C Callback is redirected to the weak HAL_I2C_AddrCallback() predefined callback - * @param hi2c Pointer to a I2C_HandleTypeDef structure that contains - * the configuration information for the specified I2C. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_I2C_UnRegisterAddrCallback(I2C_HandleTypeDef *hi2c) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Process locked */ - __HAL_LOCK(hi2c); - - if (HAL_I2C_STATE_READY == hi2c->State) - { - hi2c->AddrCallback = HAL_I2C_AddrCallback; /* Legacy weak AddrCallback */ - } - else - { - /* Update the error code */ - hi2c->ErrorCode |= HAL_I2C_ERROR_INVALID_CALLBACK; - - /* Return error status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(hi2c); - return status; -} - -#endif /* USE_HAL_I2C_REGISTER_CALLBACKS */ - -/** - * @} - */ - -/** @defgroup I2C_Exported_Functions_Group2 Input and Output operation functions - * @brief Data transfers functions - * -@verbatim - =============================================================================== - ##### IO operation functions ##### - =============================================================================== - [..] - This subsection provides a set of functions allowing to manage the I2C data - transfers. - - (#) There are two modes of transfer: - (++) Blocking mode : The communication is performed in the polling mode. - The status of all data processing is returned by the same function - after finishing transfer. - (++) No-Blocking mode : The communication is performed using Interrupts - or DMA. These functions return the status of the transfer startup. - The end of the data processing will be indicated through the - dedicated I2C IRQ when using Interrupt mode or the DMA IRQ when - using DMA mode. - - (#) Blocking mode functions are : - (++) HAL_I2C_Master_Transmit() - (++) HAL_I2C_Master_Receive() - (++) HAL_I2C_Slave_Transmit() - (++) HAL_I2C_Slave_Receive() - (++) HAL_I2C_Mem_Write() - (++) HAL_I2C_Mem_Read() - (++) HAL_I2C_IsDeviceReady() - - (#) No-Blocking mode functions with Interrupt are : - (++) HAL_I2C_Master_Transmit_IT() - (++) HAL_I2C_Master_Receive_IT() - (++) HAL_I2C_Slave_Transmit_IT() - (++) HAL_I2C_Slave_Receive_IT() - (++) HAL_I2C_Mem_Write_IT() - (++) HAL_I2C_Mem_Read_IT() - (++) HAL_I2C_Master_Seq_Transmit_IT() - (++) HAL_I2C_Master_Seq_Receive_IT() - (++) HAL_I2C_Slave_Seq_Transmit_IT() - (++) HAL_I2C_Slave_Seq_Receive_IT() - (++) HAL_I2C_EnableListen_IT() - (++) HAL_I2C_DisableListen_IT() - (++) HAL_I2C_Master_Abort_IT() - - (#) No-Blocking mode functions with DMA are : - (++) HAL_I2C_Master_Transmit_DMA() - (++) HAL_I2C_Master_Receive_DMA() - (++) HAL_I2C_Slave_Transmit_DMA() - (++) HAL_I2C_Slave_Receive_DMA() - (++) HAL_I2C_Mem_Write_DMA() - (++) HAL_I2C_Mem_Read_DMA() - (++) HAL_I2C_Master_Seq_Transmit_DMA() - (++) HAL_I2C_Master_Seq_Receive_DMA() - (++) HAL_I2C_Slave_Seq_Transmit_DMA() - (++) HAL_I2C_Slave_Seq_Receive_DMA() - - (#) A set of Transfer Complete Callbacks are provided in non Blocking mode: - (++) HAL_I2C_MasterTxCpltCallback() - (++) HAL_I2C_MasterRxCpltCallback() - (++) HAL_I2C_SlaveTxCpltCallback() - (++) HAL_I2C_SlaveRxCpltCallback() - (++) HAL_I2C_MemTxCpltCallback() - (++) HAL_I2C_MemRxCpltCallback() - (++) HAL_I2C_AddrCallback() - (++) HAL_I2C_ListenCpltCallback() - (++) HAL_I2C_ErrorCallback() - (++) HAL_I2C_AbortCpltCallback() - -@endverbatim - * @{ - */ - -/** - * @brief Transmits in master mode an amount of data in blocking mode. - * @param hi2c Pointer to a I2C_HandleTypeDef structure that contains - * the configuration information for the specified I2C. - * @param DevAddress Target device address: The device 7 bits address value - * in datasheet must be shifted to the left before calling the interface - * @param pData Pointer to data buffer - * @param Size Amount of data to be sent - * @param Timeout Timeout duration - * @retval HAL status - */ -HAL_StatusTypeDef HAL_I2C_Master_Transmit(I2C_HandleTypeDef *hi2c, uint16_t DevAddress, uint8_t *pData, uint16_t Size, uint32_t Timeout) -{ - /* Init tickstart for timeout management*/ - uint32_t tickstart = HAL_GetTick(); - - if (hi2c->State == HAL_I2C_STATE_READY) - { - /* Wait until BUSY flag is reset */ - if (I2C_WaitOnFlagUntilTimeout(hi2c, I2C_FLAG_BUSY, SET, I2C_TIMEOUT_BUSY_FLAG, tickstart) != HAL_OK) - { - return HAL_BUSY; - } - - /* Process Locked */ - __HAL_LOCK(hi2c); - - /* Check if the I2C is already enabled */ - if ((hi2c->Instance->CR1 & I2C_CR1_PE) != I2C_CR1_PE) - { - /* Enable I2C peripheral */ - __HAL_I2C_ENABLE(hi2c); - } - - /* Disable Pos */ - CLEAR_BIT(hi2c->Instance->CR1, I2C_CR1_POS); - - hi2c->State = HAL_I2C_STATE_BUSY_TX; - hi2c->Mode = HAL_I2C_MODE_MASTER; - hi2c->ErrorCode = HAL_I2C_ERROR_NONE; - - /* Prepare transfer parameters */ - hi2c->pBuffPtr = pData; - hi2c->XferCount = Size; - hi2c->XferSize = hi2c->XferCount; - hi2c->XferOptions = I2C_NO_OPTION_FRAME; - - /* Send Slave Address */ - if (I2C_MasterRequestWrite(hi2c, DevAddress, Timeout, tickstart) != HAL_OK) - { - return HAL_ERROR; - } - - /* Clear ADDR flag */ - __HAL_I2C_CLEAR_ADDRFLAG(hi2c); - - while (hi2c->XferSize > 0U) - { - /* Wait until TXE flag is set */ - if (I2C_WaitOnTXEFlagUntilTimeout(hi2c, Timeout, tickstart) != HAL_OK) - { - if (hi2c->ErrorCode == HAL_I2C_ERROR_AF) - { - /* Generate Stop */ - SET_BIT(hi2c->Instance->CR1, I2C_CR1_STOP); - } - return HAL_ERROR; - } - - /* Write data to DR */ - hi2c->Instance->DR = *hi2c->pBuffPtr; - - /* Increment Buffer pointer */ - hi2c->pBuffPtr++; - - /* Update counter */ - hi2c->XferCount--; - hi2c->XferSize--; - - if ((__HAL_I2C_GET_FLAG(hi2c, I2C_FLAG_BTF) == SET) && (hi2c->XferSize != 0U)) - { - /* Write data to DR */ - hi2c->Instance->DR = *hi2c->pBuffPtr; - - /* Increment Buffer pointer */ - hi2c->pBuffPtr++; - - /* Update counter */ - hi2c->XferCount--; - hi2c->XferSize--; - } - - /* Wait until BTF flag is set */ - if (I2C_WaitOnBTFFlagUntilTimeout(hi2c, Timeout, tickstart) != HAL_OK) - { - if (hi2c->ErrorCode == HAL_I2C_ERROR_AF) - { - /* Generate Stop */ - SET_BIT(hi2c->Instance->CR1, I2C_CR1_STOP); - } - return HAL_ERROR; - } - } - - /* Generate Stop */ - SET_BIT(hi2c->Instance->CR1, I2C_CR1_STOP); - - hi2c->State = HAL_I2C_STATE_READY; - hi2c->Mode = HAL_I2C_MODE_NONE; - - /* Process Unlocked */ - __HAL_UNLOCK(hi2c); - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Receives in master mode an amount of data in blocking mode. - * @param hi2c Pointer to a I2C_HandleTypeDef structure that contains - * the configuration information for the specified I2C. - * @param DevAddress Target device address: The device 7 bits address value - * in datasheet must be shifted to the left before calling the interface - * @param pData Pointer to data buffer - * @param Size Amount of data to be sent - * @param Timeout Timeout duration - * @retval HAL status - */ -HAL_StatusTypeDef HAL_I2C_Master_Receive(I2C_HandleTypeDef *hi2c, uint16_t DevAddress, uint8_t *pData, uint16_t Size, uint32_t Timeout) -{ - /* Init tickstart for timeout management*/ - uint32_t tickstart = HAL_GetTick(); - - if (hi2c->State == HAL_I2C_STATE_READY) - { - /* Wait until BUSY flag is reset */ - if (I2C_WaitOnFlagUntilTimeout(hi2c, I2C_FLAG_BUSY, SET, I2C_TIMEOUT_BUSY_FLAG, tickstart) != HAL_OK) - { - return HAL_BUSY; - } - - /* Process Locked */ - __HAL_LOCK(hi2c); - - /* Check if the I2C is already enabled */ - if ((hi2c->Instance->CR1 & I2C_CR1_PE) != I2C_CR1_PE) - { - /* Enable I2C peripheral */ - __HAL_I2C_ENABLE(hi2c); - } - - /* Disable Pos */ - CLEAR_BIT(hi2c->Instance->CR1, I2C_CR1_POS); - - hi2c->State = HAL_I2C_STATE_BUSY_RX; - hi2c->Mode = HAL_I2C_MODE_MASTER; - hi2c->ErrorCode = HAL_I2C_ERROR_NONE; - - /* Prepare transfer parameters */ - hi2c->pBuffPtr = pData; - hi2c->XferCount = Size; - hi2c->XferSize = hi2c->XferCount; - hi2c->XferOptions = I2C_NO_OPTION_FRAME; - - /* Send Slave Address */ - if (I2C_MasterRequestRead(hi2c, DevAddress, Timeout, tickstart) != HAL_OK) - { - return HAL_ERROR; - } - - if (hi2c->XferSize == 0U) - { - /* Clear ADDR flag */ - __HAL_I2C_CLEAR_ADDRFLAG(hi2c); - - /* Generate Stop */ - SET_BIT(hi2c->Instance->CR1, I2C_CR1_STOP); - } - else if (hi2c->XferSize == 1U) - { - /* Disable Acknowledge */ - CLEAR_BIT(hi2c->Instance->CR1, I2C_CR1_ACK); - - /* Clear ADDR flag */ - __HAL_I2C_CLEAR_ADDRFLAG(hi2c); - - /* Generate Stop */ - SET_BIT(hi2c->Instance->CR1, I2C_CR1_STOP); - } - else if (hi2c->XferSize == 2U) - { - /* Disable Acknowledge */ - CLEAR_BIT(hi2c->Instance->CR1, I2C_CR1_ACK); - - /* Enable Pos */ - SET_BIT(hi2c->Instance->CR1, I2C_CR1_POS); - - /* Clear ADDR flag */ - __HAL_I2C_CLEAR_ADDRFLAG(hi2c); - } - else - { - /* Enable Acknowledge */ - SET_BIT(hi2c->Instance->CR1, I2C_CR1_ACK); - - /* Clear ADDR flag */ - __HAL_I2C_CLEAR_ADDRFLAG(hi2c); - } - - while (hi2c->XferSize > 0U) - { - if (hi2c->XferSize <= 3U) - { - /* One byte */ - if (hi2c->XferSize == 1U) - { - /* Wait until RXNE flag is set */ - if (I2C_WaitOnRXNEFlagUntilTimeout(hi2c, Timeout, tickstart) != HAL_OK) - { - return HAL_ERROR; - } - - /* Read data from DR */ - *hi2c->pBuffPtr = (uint8_t)hi2c->Instance->DR; - - /* Increment Buffer pointer */ - hi2c->pBuffPtr++; - - /* Update counter */ - hi2c->XferSize--; - hi2c->XferCount--; - } - /* Two bytes */ - else if (hi2c->XferSize == 2U) - { - /* Wait until BTF flag is set */ - if (I2C_WaitOnFlagUntilTimeout(hi2c, I2C_FLAG_BTF, RESET, Timeout, tickstart) != HAL_OK) - { - return HAL_ERROR; - } - - /* Generate Stop */ - SET_BIT(hi2c->Instance->CR1, I2C_CR1_STOP); - - /* Read data from DR */ - *hi2c->pBuffPtr = (uint8_t)hi2c->Instance->DR; - - /* Increment Buffer pointer */ - hi2c->pBuffPtr++; - - /* Update counter */ - hi2c->XferSize--; - hi2c->XferCount--; - - /* Read data from DR */ - *hi2c->pBuffPtr = (uint8_t)hi2c->Instance->DR; - - /* Increment Buffer pointer */ - hi2c->pBuffPtr++; - - /* Update counter */ - hi2c->XferSize--; - hi2c->XferCount--; - } - /* 3 Last bytes */ - else - { - /* Wait until BTF flag is set */ - if (I2C_WaitOnFlagUntilTimeout(hi2c, I2C_FLAG_BTF, RESET, Timeout, tickstart) != HAL_OK) - { - return HAL_ERROR; - } - - /* Disable Acknowledge */ - CLEAR_BIT(hi2c->Instance->CR1, I2C_CR1_ACK); - - /* Read data from DR */ - *hi2c->pBuffPtr = (uint8_t)hi2c->Instance->DR; - - /* Increment Buffer pointer */ - hi2c->pBuffPtr++; - - /* Update counter */ - hi2c->XferSize--; - hi2c->XferCount--; - - /* Wait until BTF flag is set */ - if (I2C_WaitOnFlagUntilTimeout(hi2c, I2C_FLAG_BTF, RESET, Timeout, tickstart) != HAL_OK) - { - return HAL_ERROR; - } - - /* Generate Stop */ - SET_BIT(hi2c->Instance->CR1, I2C_CR1_STOP); - - /* Read data from DR */ - *hi2c->pBuffPtr = (uint8_t)hi2c->Instance->DR; - - /* Increment Buffer pointer */ - hi2c->pBuffPtr++; - - /* Update counter */ - hi2c->XferSize--; - hi2c->XferCount--; - - /* Read data from DR */ - *hi2c->pBuffPtr = (uint8_t)hi2c->Instance->DR; - - /* Increment Buffer pointer */ - hi2c->pBuffPtr++; - - /* Update counter */ - hi2c->XferSize--; - hi2c->XferCount--; - } - } - else - { - /* Wait until RXNE flag is set */ - if (I2C_WaitOnRXNEFlagUntilTimeout(hi2c, Timeout, tickstart) != HAL_OK) - { - return HAL_ERROR; - } - - /* Read data from DR */ - *hi2c->pBuffPtr = (uint8_t)hi2c->Instance->DR; - - /* Increment Buffer pointer */ - hi2c->pBuffPtr++; - - /* Update counter */ - hi2c->XferSize--; - hi2c->XferCount--; - - if (__HAL_I2C_GET_FLAG(hi2c, I2C_FLAG_BTF) == SET) - { - /* Read data from DR */ - *hi2c->pBuffPtr = (uint8_t)hi2c->Instance->DR; - - /* Increment Buffer pointer */ - hi2c->pBuffPtr++; - - /* Update counter */ - hi2c->XferSize--; - hi2c->XferCount--; - } - } - } - - hi2c->State = HAL_I2C_STATE_READY; - hi2c->Mode = HAL_I2C_MODE_NONE; - - /* Process Unlocked */ - __HAL_UNLOCK(hi2c); - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Transmits in slave mode an amount of data in blocking mode. - * @param hi2c Pointer to a I2C_HandleTypeDef structure that contains - * the configuration information for the specified I2C. - * @param pData Pointer to data buffer - * @param Size Amount of data to be sent - * @param Timeout Timeout duration - * @retval HAL status - */ -HAL_StatusTypeDef HAL_I2C_Slave_Transmit(I2C_HandleTypeDef *hi2c, uint8_t *pData, uint16_t Size, uint32_t Timeout) -{ - /* Init tickstart for timeout management*/ - uint32_t tickstart = HAL_GetTick(); - - if (hi2c->State == HAL_I2C_STATE_READY) - { - if ((pData == NULL) || (Size == 0U)) - { - return HAL_ERROR; - } - - /* Process Locked */ - __HAL_LOCK(hi2c); - - /* Check if the I2C is already enabled */ - if ((hi2c->Instance->CR1 & I2C_CR1_PE) != I2C_CR1_PE) - { - /* Enable I2C peripheral */ - __HAL_I2C_ENABLE(hi2c); - } - - /* Disable Pos */ - CLEAR_BIT(hi2c->Instance->CR1, I2C_CR1_POS); - - hi2c->State = HAL_I2C_STATE_BUSY_TX; - hi2c->Mode = HAL_I2C_MODE_SLAVE; - hi2c->ErrorCode = HAL_I2C_ERROR_NONE; - - /* Prepare transfer parameters */ - hi2c->pBuffPtr = pData; - hi2c->XferCount = Size; - hi2c->XferSize = hi2c->XferCount; - hi2c->XferOptions = I2C_NO_OPTION_FRAME; - - /* Enable Address Acknowledge */ - SET_BIT(hi2c->Instance->CR1, I2C_CR1_ACK); - - /* Wait until ADDR flag is set */ - if (I2C_WaitOnFlagUntilTimeout(hi2c, I2C_FLAG_ADDR, RESET, Timeout, tickstart) != HAL_OK) - { - return HAL_ERROR; - } - - /* Clear ADDR flag */ - __HAL_I2C_CLEAR_ADDRFLAG(hi2c); - - /* If 10bit addressing mode is selected */ - if (hi2c->Init.AddressingMode == I2C_ADDRESSINGMODE_10BIT) - { - /* Wait until ADDR flag is set */ - if (I2C_WaitOnFlagUntilTimeout(hi2c, I2C_FLAG_ADDR, RESET, Timeout, tickstart) != HAL_OK) - { - return HAL_ERROR; - } - - /* Clear ADDR flag */ - __HAL_I2C_CLEAR_ADDRFLAG(hi2c); - } - - while (hi2c->XferSize > 0U) - { - /* Wait until TXE flag is set */ - if (I2C_WaitOnTXEFlagUntilTimeout(hi2c, Timeout, tickstart) != HAL_OK) - { - /* Disable Address Acknowledge */ - CLEAR_BIT(hi2c->Instance->CR1, I2C_CR1_ACK); - - return HAL_ERROR; - } - - /* Write data to DR */ - hi2c->Instance->DR = *hi2c->pBuffPtr; - - /* Increment Buffer pointer */ - hi2c->pBuffPtr++; - - /* Update counter */ - hi2c->XferCount--; - hi2c->XferSize--; - - if ((__HAL_I2C_GET_FLAG(hi2c, I2C_FLAG_BTF) == SET) && (hi2c->XferSize != 0U)) - { - /* Write data to DR */ - hi2c->Instance->DR = *hi2c->pBuffPtr; - - /* Increment Buffer pointer */ - hi2c->pBuffPtr++; - - /* Update counter */ - hi2c->XferCount--; - hi2c->XferSize--; - } - } - - /* Wait until AF flag is set */ - if (I2C_WaitOnFlagUntilTimeout(hi2c, I2C_FLAG_AF, RESET, Timeout, tickstart) != HAL_OK) - { - return HAL_ERROR; - } - - /* Clear AF flag */ - __HAL_I2C_CLEAR_FLAG(hi2c, I2C_FLAG_AF); - - /* Disable Address Acknowledge */ - CLEAR_BIT(hi2c->Instance->CR1, I2C_CR1_ACK); - - hi2c->State = HAL_I2C_STATE_READY; - hi2c->Mode = HAL_I2C_MODE_NONE; - - /* Process Unlocked */ - __HAL_UNLOCK(hi2c); - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Receive in slave mode an amount of data in blocking mode - * @param hi2c Pointer to a I2C_HandleTypeDef structure that contains - * the configuration information for the specified I2C. - * @param pData Pointer to data buffer - * @param Size Amount of data to be sent - * @param Timeout Timeout duration - * @retval HAL status - */ -HAL_StatusTypeDef HAL_I2C_Slave_Receive(I2C_HandleTypeDef *hi2c, uint8_t *pData, uint16_t Size, uint32_t Timeout) -{ - /* Init tickstart for timeout management*/ - uint32_t tickstart = HAL_GetTick(); - - if (hi2c->State == HAL_I2C_STATE_READY) - { - if ((pData == NULL) || (Size == (uint16_t)0)) - { - return HAL_ERROR; - } - - /* Process Locked */ - __HAL_LOCK(hi2c); - - /* Check if the I2C is already enabled */ - if ((hi2c->Instance->CR1 & I2C_CR1_PE) != I2C_CR1_PE) - { - /* Enable I2C peripheral */ - __HAL_I2C_ENABLE(hi2c); - } - - /* Disable Pos */ - CLEAR_BIT(hi2c->Instance->CR1, I2C_CR1_POS); - - hi2c->State = HAL_I2C_STATE_BUSY_RX; - hi2c->Mode = HAL_I2C_MODE_SLAVE; - hi2c->ErrorCode = HAL_I2C_ERROR_NONE; - - /* Prepare transfer parameters */ - hi2c->pBuffPtr = pData; - hi2c->XferCount = Size; - hi2c->XferSize = hi2c->XferCount; - hi2c->XferOptions = I2C_NO_OPTION_FRAME; - - /* Enable Address Acknowledge */ - SET_BIT(hi2c->Instance->CR1, I2C_CR1_ACK); - - /* Wait until ADDR flag is set */ - if (I2C_WaitOnFlagUntilTimeout(hi2c, I2C_FLAG_ADDR, RESET, Timeout, tickstart) != HAL_OK) - { - return HAL_ERROR; - } - - /* Clear ADDR flag */ - __HAL_I2C_CLEAR_ADDRFLAG(hi2c); - - while (hi2c->XferSize > 0U) - { - /* Wait until RXNE flag is set */ - if (I2C_WaitOnRXNEFlagUntilTimeout(hi2c, Timeout, tickstart) != HAL_OK) - { - /* Disable Address Acknowledge */ - CLEAR_BIT(hi2c->Instance->CR1, I2C_CR1_ACK); - - return HAL_ERROR; - } - - /* Read data from DR */ - *hi2c->pBuffPtr = (uint8_t)hi2c->Instance->DR; - - /* Increment Buffer pointer */ - hi2c->pBuffPtr++; - - /* Update counter */ - hi2c->XferSize--; - hi2c->XferCount--; - - if ((__HAL_I2C_GET_FLAG(hi2c, I2C_FLAG_BTF) == SET) && (hi2c->XferSize != 0U)) - { - /* Read data from DR */ - *hi2c->pBuffPtr = (uint8_t)hi2c->Instance->DR; - - /* Increment Buffer pointer */ - hi2c->pBuffPtr++; - - /* Update counter */ - hi2c->XferSize--; - hi2c->XferCount--; - } - } - - /* Wait until STOP flag is set */ - if (I2C_WaitOnSTOPFlagUntilTimeout(hi2c, Timeout, tickstart) != HAL_OK) - { - /* Disable Address Acknowledge */ - CLEAR_BIT(hi2c->Instance->CR1, I2C_CR1_ACK); - - return HAL_ERROR; - } - - /* Clear STOP flag */ - __HAL_I2C_CLEAR_STOPFLAG(hi2c); - - /* Disable Address Acknowledge */ - CLEAR_BIT(hi2c->Instance->CR1, I2C_CR1_ACK); - - hi2c->State = HAL_I2C_STATE_READY; - hi2c->Mode = HAL_I2C_MODE_NONE; - - /* Process Unlocked */ - __HAL_UNLOCK(hi2c); - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Transmit in master mode an amount of data in non-blocking mode with Interrupt - * @param hi2c Pointer to a I2C_HandleTypeDef structure that contains - * the configuration information for the specified I2C. - * @param DevAddress Target device address: The device 7 bits address value - * in datasheet must be shifted to the left before calling the interface - * @param pData Pointer to data buffer - * @param Size Amount of data to be sent - * @retval HAL status - */ -HAL_StatusTypeDef HAL_I2C_Master_Transmit_IT(I2C_HandleTypeDef *hi2c, uint16_t DevAddress, uint8_t *pData, uint16_t Size) -{ - __IO uint32_t count = 0U; - - if (hi2c->State == HAL_I2C_STATE_READY) - { - /* Wait until BUSY flag is reset */ - count = I2C_TIMEOUT_BUSY_FLAG * (SystemCoreClock / 25U / 1000U); - do - { - count--; - if (count == 0U) - { - hi2c->PreviousState = I2C_STATE_NONE; - hi2c->State = HAL_I2C_STATE_READY; - hi2c->Mode = HAL_I2C_MODE_NONE; - hi2c->ErrorCode |= HAL_I2C_ERROR_TIMEOUT; - - /* Process Unlocked */ - __HAL_UNLOCK(hi2c); - - return HAL_ERROR; - } - } - while (__HAL_I2C_GET_FLAG(hi2c, I2C_FLAG_BUSY) != RESET); - - /* Process Locked */ - __HAL_LOCK(hi2c); - - /* Check if the I2C is already enabled */ - if ((hi2c->Instance->CR1 & I2C_CR1_PE) != I2C_CR1_PE) - { - /* Enable I2C peripheral */ - __HAL_I2C_ENABLE(hi2c); - } - - /* Disable Pos */ - CLEAR_BIT(hi2c->Instance->CR1, I2C_CR1_POS); - - hi2c->State = HAL_I2C_STATE_BUSY_TX; - hi2c->Mode = HAL_I2C_MODE_MASTER; - hi2c->ErrorCode = HAL_I2C_ERROR_NONE; - - /* Prepare transfer parameters */ - hi2c->pBuffPtr = pData; - hi2c->XferCount = Size; - hi2c->XferSize = hi2c->XferCount; - hi2c->XferOptions = I2C_NO_OPTION_FRAME; - hi2c->Devaddress = DevAddress; - - /* Process Unlocked */ - __HAL_UNLOCK(hi2c); - - /* Note : The I2C interrupts must be enabled after unlocking current process - to avoid the risk of I2C interrupt handle execution before current - process unlock */ - /* Enable EVT, BUF and ERR interrupt */ - __HAL_I2C_ENABLE_IT(hi2c, I2C_IT_EVT | I2C_IT_BUF | I2C_IT_ERR); - - /* Generate Start */ - SET_BIT(hi2c->Instance->CR1, I2C_CR1_START); - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Receive in master mode an amount of data in non-blocking mode with Interrupt - * @param hi2c Pointer to a I2C_HandleTypeDef structure that contains - * the configuration information for the specified I2C. - * @param DevAddress Target device address: The device 7 bits address value - * in datasheet must be shifted to the left before calling the interface - * @param pData Pointer to data buffer - * @param Size Amount of data to be sent - * @retval HAL status - */ -HAL_StatusTypeDef HAL_I2C_Master_Receive_IT(I2C_HandleTypeDef *hi2c, uint16_t DevAddress, uint8_t *pData, uint16_t Size) -{ - __IO uint32_t count = 0U; - - if (hi2c->State == HAL_I2C_STATE_READY) - { - /* Wait until BUSY flag is reset */ - count = I2C_TIMEOUT_BUSY_FLAG * (SystemCoreClock / 25U / 1000U); - do - { - count--; - if (count == 0U) - { - hi2c->PreviousState = I2C_STATE_NONE; - hi2c->State = HAL_I2C_STATE_READY; - hi2c->Mode = HAL_I2C_MODE_NONE; - hi2c->ErrorCode |= HAL_I2C_ERROR_TIMEOUT; - - /* Process Unlocked */ - __HAL_UNLOCK(hi2c); - - return HAL_ERROR; - } - } - while (__HAL_I2C_GET_FLAG(hi2c, I2C_FLAG_BUSY) != RESET); - - /* Process Locked */ - __HAL_LOCK(hi2c); - - /* Check if the I2C is already enabled */ - if ((hi2c->Instance->CR1 & I2C_CR1_PE) != I2C_CR1_PE) - { - /* Enable I2C peripheral */ - __HAL_I2C_ENABLE(hi2c); - } - - /* Disable Pos */ - CLEAR_BIT(hi2c->Instance->CR1, I2C_CR1_POS); - - hi2c->State = HAL_I2C_STATE_BUSY_RX; - hi2c->Mode = HAL_I2C_MODE_MASTER; - hi2c->ErrorCode = HAL_I2C_ERROR_NONE; - - /* Prepare transfer parameters */ - hi2c->pBuffPtr = pData; - hi2c->XferCount = Size; - hi2c->XferSize = hi2c->XferCount; - hi2c->XferOptions = I2C_NO_OPTION_FRAME; - hi2c->Devaddress = DevAddress; - - - /* Process Unlocked */ - __HAL_UNLOCK(hi2c); - - /* Note : The I2C interrupts must be enabled after unlocking current process - to avoid the risk of I2C interrupt handle execution before current - process unlock */ - - /* Enable EVT, BUF and ERR interrupt */ - __HAL_I2C_ENABLE_IT(hi2c, I2C_IT_EVT | I2C_IT_BUF | I2C_IT_ERR); - - /* Enable Acknowledge */ - SET_BIT(hi2c->Instance->CR1, I2C_CR1_ACK); - - /* Generate Start */ - SET_BIT(hi2c->Instance->CR1, I2C_CR1_START); - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Transmit in slave mode an amount of data in non-blocking mode with Interrupt - * @param hi2c Pointer to a I2C_HandleTypeDef structure that contains - * the configuration information for the specified I2C. - * @param pData Pointer to data buffer - * @param Size Amount of data to be sent - * @retval HAL status - */ -HAL_StatusTypeDef HAL_I2C_Slave_Transmit_IT(I2C_HandleTypeDef *hi2c, uint8_t *pData, uint16_t Size) -{ - - if (hi2c->State == HAL_I2C_STATE_READY) - { - if ((pData == NULL) || (Size == 0U)) - { - return HAL_ERROR; - } - - /* Process Locked */ - __HAL_LOCK(hi2c); - - /* Check if the I2C is already enabled */ - if ((hi2c->Instance->CR1 & I2C_CR1_PE) != I2C_CR1_PE) - { - /* Enable I2C peripheral */ - __HAL_I2C_ENABLE(hi2c); - } - - /* Disable Pos */ - CLEAR_BIT(hi2c->Instance->CR1, I2C_CR1_POS); - - hi2c->State = HAL_I2C_STATE_BUSY_TX; - hi2c->Mode = HAL_I2C_MODE_SLAVE; - hi2c->ErrorCode = HAL_I2C_ERROR_NONE; - - /* Prepare transfer parameters */ - hi2c->pBuffPtr = pData; - hi2c->XferCount = Size; - hi2c->XferSize = hi2c->XferCount; - hi2c->XferOptions = I2C_NO_OPTION_FRAME; - - /* Enable Address Acknowledge */ - SET_BIT(hi2c->Instance->CR1, I2C_CR1_ACK); - - /* Process Unlocked */ - __HAL_UNLOCK(hi2c); - - /* Note : The I2C interrupts must be enabled after unlocking current process - to avoid the risk of I2C interrupt handle execution before current - process unlock */ - - /* Enable EVT, BUF and ERR interrupt */ - __HAL_I2C_ENABLE_IT(hi2c, I2C_IT_EVT | I2C_IT_BUF | I2C_IT_ERR); - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Receive in slave mode an amount of data in non-blocking mode with Interrupt - * @param hi2c Pointer to a I2C_HandleTypeDef structure that contains - * the configuration information for the specified I2C. - * @param pData Pointer to data buffer - * @param Size Amount of data to be sent - * @retval HAL status - */ -HAL_StatusTypeDef HAL_I2C_Slave_Receive_IT(I2C_HandleTypeDef *hi2c, uint8_t *pData, uint16_t Size) -{ - - if (hi2c->State == HAL_I2C_STATE_READY) - { - if ((pData == NULL) || (Size == 0U)) - { - return HAL_ERROR; - } - - /* Process Locked */ - __HAL_LOCK(hi2c); - - /* Check if the I2C is already enabled */ - if ((hi2c->Instance->CR1 & I2C_CR1_PE) != I2C_CR1_PE) - { - /* Enable I2C peripheral */ - __HAL_I2C_ENABLE(hi2c); - } - - /* Disable Pos */ - CLEAR_BIT(hi2c->Instance->CR1, I2C_CR1_POS); - - hi2c->State = HAL_I2C_STATE_BUSY_RX; - hi2c->Mode = HAL_I2C_MODE_SLAVE; - hi2c->ErrorCode = HAL_I2C_ERROR_NONE; - - /* Prepare transfer parameters */ - hi2c->pBuffPtr = pData; - hi2c->XferCount = Size; - hi2c->XferSize = hi2c->XferCount; - hi2c->XferOptions = I2C_NO_OPTION_FRAME; - - /* Enable Address Acknowledge */ - SET_BIT(hi2c->Instance->CR1, I2C_CR1_ACK); - - /* Process Unlocked */ - __HAL_UNLOCK(hi2c); - - /* Note : The I2C interrupts must be enabled after unlocking current process - to avoid the risk of I2C interrupt handle execution before current - process unlock */ - - /* Enable EVT, BUF and ERR interrupt */ - __HAL_I2C_ENABLE_IT(hi2c, I2C_IT_EVT | I2C_IT_BUF | I2C_IT_ERR); - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Transmit in master mode an amount of data in non-blocking mode with DMA - * @param hi2c Pointer to a I2C_HandleTypeDef structure that contains - * the configuration information for the specified I2C. - * @param DevAddress Target device address: The device 7 bits address value - * in datasheet must be shifted to the left before calling the interface - * @param pData Pointer to data buffer - * @param Size Amount of data to be sent - * @retval HAL status - */ -HAL_StatusTypeDef HAL_I2C_Master_Transmit_DMA(I2C_HandleTypeDef *hi2c, uint16_t DevAddress, uint8_t *pData, uint16_t Size) -{ - __IO uint32_t count = 0U; - HAL_StatusTypeDef dmaxferstatus; - - if (hi2c->State == HAL_I2C_STATE_READY) - { - /* Wait until BUSY flag is reset */ - count = I2C_TIMEOUT_BUSY_FLAG * (SystemCoreClock / 25U / 1000U); - do - { - count--; - if (count == 0U) - { - hi2c->PreviousState = I2C_STATE_NONE; - hi2c->State = HAL_I2C_STATE_READY; - hi2c->Mode = HAL_I2C_MODE_NONE; - hi2c->ErrorCode |= HAL_I2C_ERROR_TIMEOUT; - - /* Process Unlocked */ - __HAL_UNLOCK(hi2c); - - return HAL_ERROR; - } - } - while (__HAL_I2C_GET_FLAG(hi2c, I2C_FLAG_BUSY) != RESET); - - /* Process Locked */ - __HAL_LOCK(hi2c); - - /* Check if the I2C is already enabled */ - if ((hi2c->Instance->CR1 & I2C_CR1_PE) != I2C_CR1_PE) - { - /* Enable I2C peripheral */ - __HAL_I2C_ENABLE(hi2c); - } - - /* Disable Pos */ - CLEAR_BIT(hi2c->Instance->CR1, I2C_CR1_POS); - - hi2c->State = HAL_I2C_STATE_BUSY_TX; - hi2c->Mode = HAL_I2C_MODE_MASTER; - hi2c->ErrorCode = HAL_I2C_ERROR_NONE; - - /* Prepare transfer parameters */ - hi2c->pBuffPtr = pData; - hi2c->XferCount = Size; - hi2c->XferSize = hi2c->XferCount; - hi2c->XferOptions = I2C_NO_OPTION_FRAME; - hi2c->Devaddress = DevAddress; - - if (hi2c->XferSize > 0U) - { - if (hi2c->hdmatx != NULL) - { - /* Set the I2C DMA transfer complete callback */ - hi2c->hdmatx->XferCpltCallback = I2C_DMAXferCplt; - - /* Set the DMA error callback */ - hi2c->hdmatx->XferErrorCallback = I2C_DMAError; - - /* Set the unused DMA callbacks to NULL */ - hi2c->hdmatx->XferHalfCpltCallback = NULL; - hi2c->hdmatx->XferM1CpltCallback = NULL; - hi2c->hdmatx->XferM1HalfCpltCallback = NULL; - hi2c->hdmatx->XferAbortCallback = NULL; - - /* Enable the DMA stream */ - dmaxferstatus = HAL_DMA_Start_IT(hi2c->hdmatx, (uint32_t)hi2c->pBuffPtr, (uint32_t)&hi2c->Instance->DR, hi2c->XferSize); - } - else - { - /* Update I2C state */ - hi2c->State = HAL_I2C_STATE_READY; - hi2c->Mode = HAL_I2C_MODE_NONE; - - /* Update I2C error code */ - hi2c->ErrorCode |= HAL_I2C_ERROR_DMA_PARAM; - - /* Process Unlocked */ - __HAL_UNLOCK(hi2c); - - return HAL_ERROR; - } - - if (dmaxferstatus == HAL_OK) - { - /* Process Unlocked */ - __HAL_UNLOCK(hi2c); - - /* Note : The I2C interrupts must be enabled after unlocking current process - to avoid the risk of I2C interrupt handle execution before current - process unlock */ - - /* Enable EVT and ERR interrupt */ - __HAL_I2C_ENABLE_IT(hi2c, I2C_IT_EVT | I2C_IT_ERR); - - /* Enable DMA Request */ - SET_BIT(hi2c->Instance->CR2, I2C_CR2_DMAEN); - - /* Enable Acknowledge */ - SET_BIT(hi2c->Instance->CR1, I2C_CR1_ACK); - - /* Generate Start */ - SET_BIT(hi2c->Instance->CR1, I2C_CR1_START); - } - else - { - /* Update I2C state */ - hi2c->State = HAL_I2C_STATE_READY; - hi2c->Mode = HAL_I2C_MODE_NONE; - - /* Update I2C error code */ - hi2c->ErrorCode |= HAL_I2C_ERROR_DMA; - - /* Process Unlocked */ - __HAL_UNLOCK(hi2c); - - return HAL_ERROR; - } - } - else - { - /* Enable Acknowledge */ - SET_BIT(hi2c->Instance->CR1, I2C_CR1_ACK); - - /* Generate Start */ - SET_BIT(hi2c->Instance->CR1, I2C_CR1_START); - - /* Process Unlocked */ - __HAL_UNLOCK(hi2c); - - /* Note : The I2C interrupts must be enabled after unlocking current process - to avoid the risk of I2C interrupt handle execution before current - process unlock */ - - /* Enable EVT, BUF and ERR interrupt */ - __HAL_I2C_ENABLE_IT(hi2c, I2C_IT_EVT | I2C_IT_BUF | I2C_IT_ERR); - } - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Receive in master mode an amount of data in non-blocking mode with DMA - * @param hi2c Pointer to a I2C_HandleTypeDef structure that contains - * the configuration information for the specified I2C. - * @param DevAddress Target device address: The device 7 bits address value - * in datasheet must be shifted to the left before calling the interface - * @param pData Pointer to data buffer - * @param Size Amount of data to be sent - * @retval HAL status - */ -HAL_StatusTypeDef HAL_I2C_Master_Receive_DMA(I2C_HandleTypeDef *hi2c, uint16_t DevAddress, uint8_t *pData, uint16_t Size) -{ - __IO uint32_t count = 0U; - HAL_StatusTypeDef dmaxferstatus; - - if (hi2c->State == HAL_I2C_STATE_READY) - { - /* Wait until BUSY flag is reset */ - count = I2C_TIMEOUT_BUSY_FLAG * (SystemCoreClock / 25U / 1000U); - do - { - count--; - if (count == 0U) - { - hi2c->PreviousState = I2C_STATE_NONE; - hi2c->State = HAL_I2C_STATE_READY; - hi2c->Mode = HAL_I2C_MODE_NONE; - hi2c->ErrorCode |= HAL_I2C_ERROR_TIMEOUT; - - /* Process Unlocked */ - __HAL_UNLOCK(hi2c); - - return HAL_ERROR; - } - } - while (__HAL_I2C_GET_FLAG(hi2c, I2C_FLAG_BUSY) != RESET); - - /* Process Locked */ - __HAL_LOCK(hi2c); - - /* Check if the I2C is already enabled */ - if ((hi2c->Instance->CR1 & I2C_CR1_PE) != I2C_CR1_PE) - { - /* Enable I2C peripheral */ - __HAL_I2C_ENABLE(hi2c); - } - - /* Disable Pos */ - CLEAR_BIT(hi2c->Instance->CR1, I2C_CR1_POS); - - hi2c->State = HAL_I2C_STATE_BUSY_RX; - hi2c->Mode = HAL_I2C_MODE_MASTER; - hi2c->ErrorCode = HAL_I2C_ERROR_NONE; - - /* Prepare transfer parameters */ - hi2c->pBuffPtr = pData; - hi2c->XferCount = Size; - hi2c->XferSize = hi2c->XferCount; - hi2c->XferOptions = I2C_NO_OPTION_FRAME; - hi2c->Devaddress = DevAddress; - - if (hi2c->XferSize > 0U) - { - if (hi2c->hdmarx != NULL) - { - /* Set the I2C DMA transfer complete callback */ - hi2c->hdmarx->XferCpltCallback = I2C_DMAXferCplt; - - /* Set the DMA error callback */ - hi2c->hdmarx->XferErrorCallback = I2C_DMAError; - - /* Set the unused DMA callbacks to NULL */ - hi2c->hdmarx->XferHalfCpltCallback = NULL; - hi2c->hdmarx->XferM1CpltCallback = NULL; - hi2c->hdmarx->XferM1HalfCpltCallback = NULL; - hi2c->hdmarx->XferAbortCallback = NULL; - - /* Enable the DMA stream */ - dmaxferstatus = HAL_DMA_Start_IT(hi2c->hdmarx, (uint32_t)&hi2c->Instance->DR, (uint32_t)hi2c->pBuffPtr, hi2c->XferSize); - } - else - { - /* Update I2C state */ - hi2c->State = HAL_I2C_STATE_READY; - hi2c->Mode = HAL_I2C_MODE_NONE; - - /* Update I2C error code */ - hi2c->ErrorCode |= HAL_I2C_ERROR_DMA_PARAM; - - /* Process Unlocked */ - __HAL_UNLOCK(hi2c); - - return HAL_ERROR; - } - - if (dmaxferstatus == HAL_OK) - { - /* Enable Acknowledge */ - SET_BIT(hi2c->Instance->CR1, I2C_CR1_ACK); - - /* Generate Start */ - SET_BIT(hi2c->Instance->CR1, I2C_CR1_START); - - /* Process Unlocked */ - __HAL_UNLOCK(hi2c); - - /* Note : The I2C interrupts must be enabled after unlocking current process - to avoid the risk of I2C interrupt handle execution before current - process unlock */ - - /* Enable EVT and ERR interrupt */ - __HAL_I2C_ENABLE_IT(hi2c, I2C_IT_EVT | I2C_IT_ERR); - - /* Enable DMA Request */ - SET_BIT(hi2c->Instance->CR2, I2C_CR2_DMAEN); - } - else - { - /* Update I2C state */ - hi2c->State = HAL_I2C_STATE_READY; - hi2c->Mode = HAL_I2C_MODE_NONE; - - /* Update I2C error code */ - hi2c->ErrorCode |= HAL_I2C_ERROR_DMA; - - /* Process Unlocked */ - __HAL_UNLOCK(hi2c); - - return HAL_ERROR; - } - } - else - { - /* Process Unlocked */ - __HAL_UNLOCK(hi2c); - - /* Note : The I2C interrupts must be enabled after unlocking current process - to avoid the risk of I2C interrupt handle execution before current - process unlock */ - - /* Enable EVT, BUF and ERR interrupt */ - __HAL_I2C_ENABLE_IT(hi2c, I2C_IT_EVT | I2C_IT_BUF | I2C_IT_ERR); - - /* Enable Acknowledge */ - SET_BIT(hi2c->Instance->CR1, I2C_CR1_ACK); - - /* Generate Start */ - SET_BIT(hi2c->Instance->CR1, I2C_CR1_START); - } - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Transmit in slave mode an amount of data in non-blocking mode with DMA - * @param hi2c Pointer to a I2C_HandleTypeDef structure that contains - * the configuration information for the specified I2C. - * @param pData Pointer to data buffer - * @param Size Amount of data to be sent - * @retval HAL status - */ -HAL_StatusTypeDef HAL_I2C_Slave_Transmit_DMA(I2C_HandleTypeDef *hi2c, uint8_t *pData, uint16_t Size) -{ - HAL_StatusTypeDef dmaxferstatus; - - if (hi2c->State == HAL_I2C_STATE_READY) - { - if ((pData == NULL) || (Size == 0U)) - { - return HAL_ERROR; - } - - /* Process Locked */ - __HAL_LOCK(hi2c); - - /* Check if the I2C is already enabled */ - if ((hi2c->Instance->CR1 & I2C_CR1_PE) != I2C_CR1_PE) - { - /* Enable I2C peripheral */ - __HAL_I2C_ENABLE(hi2c); - } - - /* Disable Pos */ - CLEAR_BIT(hi2c->Instance->CR1, I2C_CR1_POS); - - hi2c->State = HAL_I2C_STATE_BUSY_TX; - hi2c->Mode = HAL_I2C_MODE_SLAVE; - hi2c->ErrorCode = HAL_I2C_ERROR_NONE; - - /* Prepare transfer parameters */ - hi2c->pBuffPtr = pData; - hi2c->XferCount = Size; - hi2c->XferSize = hi2c->XferCount; - hi2c->XferOptions = I2C_NO_OPTION_FRAME; - - if (hi2c->hdmatx != NULL) - { - /* Set the I2C DMA transfer complete callback */ - hi2c->hdmatx->XferCpltCallback = I2C_DMAXferCplt; - - /* Set the DMA error callback */ - hi2c->hdmatx->XferErrorCallback = I2C_DMAError; - - /* Set the unused DMA callbacks to NULL */ - hi2c->hdmatx->XferHalfCpltCallback = NULL; - hi2c->hdmatx->XferM1CpltCallback = NULL; - hi2c->hdmatx->XferM1HalfCpltCallback = NULL; - hi2c->hdmatx->XferAbortCallback = NULL; - - /* Enable the DMA stream */ - dmaxferstatus = HAL_DMA_Start_IT(hi2c->hdmatx, (uint32_t)hi2c->pBuffPtr, (uint32_t)&hi2c->Instance->DR, hi2c->XferSize); - } - else - { - /* Update I2C state */ - hi2c->State = HAL_I2C_STATE_LISTEN; - hi2c->Mode = HAL_I2C_MODE_NONE; - - /* Update I2C error code */ - hi2c->ErrorCode |= HAL_I2C_ERROR_DMA_PARAM; - - /* Process Unlocked */ - __HAL_UNLOCK(hi2c); - - return HAL_ERROR; - } - - if (dmaxferstatus == HAL_OK) - { - /* Enable Address Acknowledge */ - SET_BIT(hi2c->Instance->CR1, I2C_CR1_ACK); - - /* Process Unlocked */ - __HAL_UNLOCK(hi2c); - - /* Note : The I2C interrupts must be enabled after unlocking current process - to avoid the risk of I2C interrupt handle execution before current - process unlock */ - /* Enable EVT and ERR interrupt */ - __HAL_I2C_ENABLE_IT(hi2c, I2C_IT_EVT | I2C_IT_ERR); - - /* Enable DMA Request */ - hi2c->Instance->CR2 |= I2C_CR2_DMAEN; - - return HAL_OK; - } - else - { - /* Update I2C state */ - hi2c->State = HAL_I2C_STATE_READY; - hi2c->Mode = HAL_I2C_MODE_NONE; - - /* Update I2C error code */ - hi2c->ErrorCode |= HAL_I2C_ERROR_DMA; - - /* Process Unlocked */ - __HAL_UNLOCK(hi2c); - - return HAL_ERROR; - } - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Receive in slave mode an amount of data in non-blocking mode with DMA - * @param hi2c Pointer to a I2C_HandleTypeDef structure that contains - * the configuration information for the specified I2C. - * @param pData Pointer to data buffer - * @param Size Amount of data to be sent - * @retval HAL status - */ -HAL_StatusTypeDef HAL_I2C_Slave_Receive_DMA(I2C_HandleTypeDef *hi2c, uint8_t *pData, uint16_t Size) -{ - HAL_StatusTypeDef dmaxferstatus; - - if (hi2c->State == HAL_I2C_STATE_READY) - { - if ((pData == NULL) || (Size == 0U)) - { - return HAL_ERROR; - } - - /* Process Locked */ - __HAL_LOCK(hi2c); - - /* Check if the I2C is already enabled */ - if ((hi2c->Instance->CR1 & I2C_CR1_PE) != I2C_CR1_PE) - { - /* Enable I2C peripheral */ - __HAL_I2C_ENABLE(hi2c); - } - - /* Disable Pos */ - CLEAR_BIT(hi2c->Instance->CR1, I2C_CR1_POS); - - hi2c->State = HAL_I2C_STATE_BUSY_RX; - hi2c->Mode = HAL_I2C_MODE_SLAVE; - hi2c->ErrorCode = HAL_I2C_ERROR_NONE; - - /* Prepare transfer parameters */ - hi2c->pBuffPtr = pData; - hi2c->XferCount = Size; - hi2c->XferSize = hi2c->XferCount; - hi2c->XferOptions = I2C_NO_OPTION_FRAME; - - if (hi2c->hdmarx != NULL) - { - /* Set the I2C DMA transfer complete callback */ - hi2c->hdmarx->XferCpltCallback = I2C_DMAXferCplt; - - /* Set the DMA error callback */ - hi2c->hdmarx->XferErrorCallback = I2C_DMAError; - - /* Set the unused DMA callbacks to NULL */ - hi2c->hdmarx->XferHalfCpltCallback = NULL; - hi2c->hdmarx->XferM1CpltCallback = NULL; - hi2c->hdmarx->XferM1HalfCpltCallback = NULL; - hi2c->hdmarx->XferAbortCallback = NULL; - - /* Enable the DMA stream */ - dmaxferstatus = HAL_DMA_Start_IT(hi2c->hdmarx, (uint32_t)&hi2c->Instance->DR, (uint32_t)hi2c->pBuffPtr, hi2c->XferSize); - } - else - { - /* Update I2C state */ - hi2c->State = HAL_I2C_STATE_LISTEN; - hi2c->Mode = HAL_I2C_MODE_NONE; - - /* Update I2C error code */ - hi2c->ErrorCode |= HAL_I2C_ERROR_DMA_PARAM; - - /* Process Unlocked */ - __HAL_UNLOCK(hi2c); - - return HAL_ERROR; - } - - if (dmaxferstatus == HAL_OK) - { - /* Enable Address Acknowledge */ - SET_BIT(hi2c->Instance->CR1, I2C_CR1_ACK); - - /* Process Unlocked */ - __HAL_UNLOCK(hi2c); - - /* Note : The I2C interrupts must be enabled after unlocking current process - to avoid the risk of I2C interrupt handle execution before current - process unlock */ - /* Enable EVT and ERR interrupt */ - __HAL_I2C_ENABLE_IT(hi2c, I2C_IT_EVT | I2C_IT_ERR); - - /* Enable DMA Request */ - SET_BIT(hi2c->Instance->CR2, I2C_CR2_DMAEN); - - return HAL_OK; - } - else - { - /* Update I2C state */ - hi2c->State = HAL_I2C_STATE_READY; - hi2c->Mode = HAL_I2C_MODE_NONE; - - /* Update I2C error code */ - hi2c->ErrorCode |= HAL_I2C_ERROR_DMA; - - /* Process Unlocked */ - __HAL_UNLOCK(hi2c); - - return HAL_ERROR; - } - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Write an amount of data in blocking mode to a specific memory address - * @param hi2c Pointer to a I2C_HandleTypeDef structure that contains - * the configuration information for the specified I2C. - * @param DevAddress Target device address: The device 7 bits address value - * in datasheet must be shifted to the left before calling the interface - * @param MemAddress Internal memory address - * @param MemAddSize Size of internal memory address - * @param pData Pointer to data buffer - * @param Size Amount of data to be sent - * @param Timeout Timeout duration - * @retval HAL status - */ -HAL_StatusTypeDef HAL_I2C_Mem_Write(I2C_HandleTypeDef *hi2c, uint16_t DevAddress, uint16_t MemAddress, uint16_t MemAddSize, uint8_t *pData, uint16_t Size, uint32_t Timeout) -{ - /* Init tickstart for timeout management*/ - uint32_t tickstart = HAL_GetTick(); - - /* Check the parameters */ - assert_param(IS_I2C_MEMADD_SIZE(MemAddSize)); - - if (hi2c->State == HAL_I2C_STATE_READY) - { - /* Wait until BUSY flag is reset */ - if (I2C_WaitOnFlagUntilTimeout(hi2c, I2C_FLAG_BUSY, SET, I2C_TIMEOUT_BUSY_FLAG, tickstart) != HAL_OK) - { - return HAL_BUSY; - } - - /* Process Locked */ - __HAL_LOCK(hi2c); - - /* Check if the I2C is already enabled */ - if ((hi2c->Instance->CR1 & I2C_CR1_PE) != I2C_CR1_PE) - { - /* Enable I2C peripheral */ - __HAL_I2C_ENABLE(hi2c); - } - - /* Disable Pos */ - CLEAR_BIT(hi2c->Instance->CR1, I2C_CR1_POS); - - hi2c->State = HAL_I2C_STATE_BUSY_TX; - hi2c->Mode = HAL_I2C_MODE_MEM; - hi2c->ErrorCode = HAL_I2C_ERROR_NONE; - - /* Prepare transfer parameters */ - hi2c->pBuffPtr = pData; - hi2c->XferCount = Size; - hi2c->XferSize = hi2c->XferCount; - hi2c->XferOptions = I2C_NO_OPTION_FRAME; - - /* Send Slave Address and Memory Address */ - if (I2C_RequestMemoryWrite(hi2c, DevAddress, MemAddress, MemAddSize, Timeout, tickstart) != HAL_OK) - { - return HAL_ERROR; - } - - while (hi2c->XferSize > 0U) - { - /* Wait until TXE flag is set */ - if (I2C_WaitOnTXEFlagUntilTimeout(hi2c, Timeout, tickstart) != HAL_OK) - { - if (hi2c->ErrorCode == HAL_I2C_ERROR_AF) - { - /* Generate Stop */ - SET_BIT(hi2c->Instance->CR1, I2C_CR1_STOP); - } - return HAL_ERROR; - } - - /* Write data to DR */ - hi2c->Instance->DR = *hi2c->pBuffPtr; - - /* Increment Buffer pointer */ - hi2c->pBuffPtr++; - - /* Update counter */ - hi2c->XferSize--; - hi2c->XferCount--; - - if ((__HAL_I2C_GET_FLAG(hi2c, I2C_FLAG_BTF) == SET) && (hi2c->XferSize != 0U)) - { - /* Write data to DR */ - hi2c->Instance->DR = *hi2c->pBuffPtr; - - /* Increment Buffer pointer */ - hi2c->pBuffPtr++; - - /* Update counter */ - hi2c->XferSize--; - hi2c->XferCount--; - } - } - - /* Wait until BTF flag is set */ - if (I2C_WaitOnBTFFlagUntilTimeout(hi2c, Timeout, tickstart) != HAL_OK) - { - if (hi2c->ErrorCode == HAL_I2C_ERROR_AF) - { - /* Generate Stop */ - SET_BIT(hi2c->Instance->CR1, I2C_CR1_STOP); - } - return HAL_ERROR; - } - - /* Generate Stop */ - SET_BIT(hi2c->Instance->CR1, I2C_CR1_STOP); - - hi2c->State = HAL_I2C_STATE_READY; - hi2c->Mode = HAL_I2C_MODE_NONE; - - /* Process Unlocked */ - __HAL_UNLOCK(hi2c); - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Read an amount of data in blocking mode from a specific memory address - * @param hi2c Pointer to a I2C_HandleTypeDef structure that contains - * the configuration information for the specified I2C. - * @param DevAddress Target device address: The device 7 bits address value - * in datasheet must be shifted to the left before calling the interface - * @param MemAddress Internal memory address - * @param MemAddSize Size of internal memory address - * @param pData Pointer to data buffer - * @param Size Amount of data to be sent - * @param Timeout Timeout duration - * @retval HAL status - */ -HAL_StatusTypeDef HAL_I2C_Mem_Read(I2C_HandleTypeDef *hi2c, uint16_t DevAddress, uint16_t MemAddress, uint16_t MemAddSize, uint8_t *pData, uint16_t Size, uint32_t Timeout) -{ - /* Init tickstart for timeout management*/ - uint32_t tickstart = HAL_GetTick(); - - /* Check the parameters */ - assert_param(IS_I2C_MEMADD_SIZE(MemAddSize)); - - if (hi2c->State == HAL_I2C_STATE_READY) - { - /* Wait until BUSY flag is reset */ - if (I2C_WaitOnFlagUntilTimeout(hi2c, I2C_FLAG_BUSY, SET, I2C_TIMEOUT_BUSY_FLAG, tickstart) != HAL_OK) - { - return HAL_BUSY; - } - - /* Process Locked */ - __HAL_LOCK(hi2c); - - /* Check if the I2C is already enabled */ - if ((hi2c->Instance->CR1 & I2C_CR1_PE) != I2C_CR1_PE) - { - /* Enable I2C peripheral */ - __HAL_I2C_ENABLE(hi2c); - } - - /* Disable Pos */ - CLEAR_BIT(hi2c->Instance->CR1, I2C_CR1_POS); - - hi2c->State = HAL_I2C_STATE_BUSY_RX; - hi2c->Mode = HAL_I2C_MODE_MEM; - hi2c->ErrorCode = HAL_I2C_ERROR_NONE; - - /* Prepare transfer parameters */ - hi2c->pBuffPtr = pData; - hi2c->XferCount = Size; - hi2c->XferSize = hi2c->XferCount; - hi2c->XferOptions = I2C_NO_OPTION_FRAME; - - /* Send Slave Address and Memory Address */ - if (I2C_RequestMemoryRead(hi2c, DevAddress, MemAddress, MemAddSize, Timeout, tickstart) != HAL_OK) - { - return HAL_ERROR; - } - - if (hi2c->XferSize == 0U) - { - /* Clear ADDR flag */ - __HAL_I2C_CLEAR_ADDRFLAG(hi2c); - - /* Generate Stop */ - SET_BIT(hi2c->Instance->CR1, I2C_CR1_STOP); - } - else if (hi2c->XferSize == 1U) - { - /* Disable Acknowledge */ - CLEAR_BIT(hi2c->Instance->CR1, I2C_CR1_ACK); - - /* Clear ADDR flag */ - __HAL_I2C_CLEAR_ADDRFLAG(hi2c); - - /* Generate Stop */ - SET_BIT(hi2c->Instance->CR1, I2C_CR1_STOP); - } - else if (hi2c->XferSize == 2U) - { - /* Disable Acknowledge */ - CLEAR_BIT(hi2c->Instance->CR1, I2C_CR1_ACK); - - /* Enable Pos */ - SET_BIT(hi2c->Instance->CR1, I2C_CR1_POS); - - /* Clear ADDR flag */ - __HAL_I2C_CLEAR_ADDRFLAG(hi2c); - } - else - { - /* Clear ADDR flag */ - __HAL_I2C_CLEAR_ADDRFLAG(hi2c); - } - - while (hi2c->XferSize > 0U) - { - if (hi2c->XferSize <= 3U) - { - /* One byte */ - if (hi2c->XferSize == 1U) - { - /* Wait until RXNE flag is set */ - if (I2C_WaitOnRXNEFlagUntilTimeout(hi2c, Timeout, tickstart) != HAL_OK) - { - return HAL_ERROR; - } - - /* Read data from DR */ - *hi2c->pBuffPtr = (uint8_t)hi2c->Instance->DR; - - /* Increment Buffer pointer */ - hi2c->pBuffPtr++; - - /* Update counter */ - hi2c->XferSize--; - hi2c->XferCount--; - } - /* Two bytes */ - else if (hi2c->XferSize == 2U) - { - /* Wait until BTF flag is set */ - if (I2C_WaitOnFlagUntilTimeout(hi2c, I2C_FLAG_BTF, RESET, Timeout, tickstart) != HAL_OK) - { - return HAL_ERROR; - } - - /* Generate Stop */ - SET_BIT(hi2c->Instance->CR1, I2C_CR1_STOP); - - /* Read data from DR */ - *hi2c->pBuffPtr = (uint8_t)hi2c->Instance->DR; - - /* Increment Buffer pointer */ - hi2c->pBuffPtr++; - - /* Update counter */ - hi2c->XferSize--; - hi2c->XferCount--; - - /* Read data from DR */ - *hi2c->pBuffPtr = (uint8_t)hi2c->Instance->DR; - - /* Increment Buffer pointer */ - hi2c->pBuffPtr++; - - /* Update counter */ - hi2c->XferSize--; - hi2c->XferCount--; - } - /* 3 Last bytes */ - else - { - /* Wait until BTF flag is set */ - if (I2C_WaitOnFlagUntilTimeout(hi2c, I2C_FLAG_BTF, RESET, Timeout, tickstart) != HAL_OK) - { - return HAL_ERROR; - } - - /* Disable Acknowledge */ - CLEAR_BIT(hi2c->Instance->CR1, I2C_CR1_ACK); - - /* Read data from DR */ - *hi2c->pBuffPtr = (uint8_t)hi2c->Instance->DR; - - /* Increment Buffer pointer */ - hi2c->pBuffPtr++; - - /* Update counter */ - hi2c->XferSize--; - hi2c->XferCount--; - - /* Wait until BTF flag is set */ - if (I2C_WaitOnFlagUntilTimeout(hi2c, I2C_FLAG_BTF, RESET, Timeout, tickstart) != HAL_OK) - { - return HAL_ERROR; - } - - /* Generate Stop */ - SET_BIT(hi2c->Instance->CR1, I2C_CR1_STOP); - - /* Read data from DR */ - *hi2c->pBuffPtr = (uint8_t)hi2c->Instance->DR; - - /* Increment Buffer pointer */ - hi2c->pBuffPtr++; - - /* Update counter */ - hi2c->XferSize--; - hi2c->XferCount--; - - /* Read data from DR */ - *hi2c->pBuffPtr = (uint8_t)hi2c->Instance->DR; - - /* Increment Buffer pointer */ - hi2c->pBuffPtr++; - - /* Update counter */ - hi2c->XferSize--; - hi2c->XferCount--; - } - } - else - { - /* Wait until RXNE flag is set */ - if (I2C_WaitOnRXNEFlagUntilTimeout(hi2c, Timeout, tickstart) != HAL_OK) - { - return HAL_ERROR; - } - - /* Read data from DR */ - *hi2c->pBuffPtr = (uint8_t)hi2c->Instance->DR; - - /* Increment Buffer pointer */ - hi2c->pBuffPtr++; - - /* Update counter */ - hi2c->XferSize--; - hi2c->XferCount--; - - if (__HAL_I2C_GET_FLAG(hi2c, I2C_FLAG_BTF) == SET) - { - /* Read data from DR */ - *hi2c->pBuffPtr = (uint8_t)hi2c->Instance->DR; - - /* Increment Buffer pointer */ - hi2c->pBuffPtr++; - - /* Update counter */ - hi2c->XferSize--; - hi2c->XferCount--; - } - } - } - - hi2c->State = HAL_I2C_STATE_READY; - hi2c->Mode = HAL_I2C_MODE_NONE; - - /* Process Unlocked */ - __HAL_UNLOCK(hi2c); - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Write an amount of data in non-blocking mode with Interrupt to a specific memory address - * @param hi2c Pointer to a I2C_HandleTypeDef structure that contains - * the configuration information for the specified I2C. - * @param DevAddress Target device address: The device 7 bits address value - * in datasheet must be shifted to the left before calling the interface - * @param MemAddress Internal memory address - * @param MemAddSize Size of internal memory address - * @param pData Pointer to data buffer - * @param Size Amount of data to be sent - * @retval HAL status - */ -HAL_StatusTypeDef HAL_I2C_Mem_Write_IT(I2C_HandleTypeDef *hi2c, uint16_t DevAddress, uint16_t MemAddress, uint16_t MemAddSize, uint8_t *pData, uint16_t Size) -{ - __IO uint32_t count = 0U; - - /* Check the parameters */ - assert_param(IS_I2C_MEMADD_SIZE(MemAddSize)); - - if (hi2c->State == HAL_I2C_STATE_READY) - { - /* Wait until BUSY flag is reset */ - count = I2C_TIMEOUT_BUSY_FLAG * (SystemCoreClock / 25U / 1000U); - do - { - count--; - if (count == 0U) - { - hi2c->PreviousState = I2C_STATE_NONE; - hi2c->State = HAL_I2C_STATE_READY; - hi2c->Mode = HAL_I2C_MODE_NONE; - hi2c->ErrorCode |= HAL_I2C_ERROR_TIMEOUT; - - /* Process Unlocked */ - __HAL_UNLOCK(hi2c); - - return HAL_ERROR; - } - } - while (__HAL_I2C_GET_FLAG(hi2c, I2C_FLAG_BUSY) != RESET); - - /* Process Locked */ - __HAL_LOCK(hi2c); - - /* Check if the I2C is already enabled */ - if ((hi2c->Instance->CR1 & I2C_CR1_PE) != I2C_CR1_PE) - { - /* Enable I2C peripheral */ - __HAL_I2C_ENABLE(hi2c); - } - - /* Disable Pos */ - CLEAR_BIT(hi2c->Instance->CR1, I2C_CR1_POS); - - hi2c->State = HAL_I2C_STATE_BUSY_TX; - hi2c->Mode = HAL_I2C_MODE_MEM; - hi2c->ErrorCode = HAL_I2C_ERROR_NONE; - - /* Prepare transfer parameters */ - hi2c->pBuffPtr = pData; - hi2c->XferCount = Size; - hi2c->XferSize = hi2c->XferCount; - hi2c->XferOptions = I2C_NO_OPTION_FRAME; - hi2c->Devaddress = DevAddress; - hi2c->Memaddress = MemAddress; - hi2c->MemaddSize = MemAddSize; - hi2c->EventCount = 0U; - - /* Generate Start */ - SET_BIT(hi2c->Instance->CR1, I2C_CR1_START); - - /* Process Unlocked */ - __HAL_UNLOCK(hi2c); - - /* Note : The I2C interrupts must be enabled after unlocking current process - to avoid the risk of I2C interrupt handle execution before current - process unlock */ - - /* Enable EVT, BUF and ERR interrupt */ - __HAL_I2C_ENABLE_IT(hi2c, I2C_IT_EVT | I2C_IT_BUF | I2C_IT_ERR); - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Read an amount of data in non-blocking mode with Interrupt from a specific memory address - * @param hi2c Pointer to a I2C_HandleTypeDef structure that contains - * the configuration information for the specified I2C. - * @param DevAddress Target device address - * @param MemAddress Internal memory address - * @param MemAddSize Size of internal memory address - * @param pData Pointer to data buffer - * @param Size Amount of data to be sent - * @retval HAL status - */ -HAL_StatusTypeDef HAL_I2C_Mem_Read_IT(I2C_HandleTypeDef *hi2c, uint16_t DevAddress, uint16_t MemAddress, uint16_t MemAddSize, uint8_t *pData, uint16_t Size) -{ - __IO uint32_t count = 0U; - - /* Check the parameters */ - assert_param(IS_I2C_MEMADD_SIZE(MemAddSize)); - - if (hi2c->State == HAL_I2C_STATE_READY) - { - /* Wait until BUSY flag is reset */ - count = I2C_TIMEOUT_BUSY_FLAG * (SystemCoreClock / 25U / 1000U); - do - { - count--; - if (count == 0U) - { - hi2c->PreviousState = I2C_STATE_NONE; - hi2c->State = HAL_I2C_STATE_READY; - hi2c->Mode = HAL_I2C_MODE_NONE; - hi2c->ErrorCode |= HAL_I2C_ERROR_TIMEOUT; - - /* Process Unlocked */ - __HAL_UNLOCK(hi2c); - - return HAL_ERROR; - } - } - while (__HAL_I2C_GET_FLAG(hi2c, I2C_FLAG_BUSY) != RESET); - - /* Process Locked */ - __HAL_LOCK(hi2c); - - /* Check if the I2C is already enabled */ - if ((hi2c->Instance->CR1 & I2C_CR1_PE) != I2C_CR1_PE) - { - /* Enable I2C peripheral */ - __HAL_I2C_ENABLE(hi2c); - } - - /* Disable Pos */ - CLEAR_BIT(hi2c->Instance->CR1, I2C_CR1_POS); - - hi2c->State = HAL_I2C_STATE_BUSY_RX; - hi2c->Mode = HAL_I2C_MODE_MEM; - hi2c->ErrorCode = HAL_I2C_ERROR_NONE; - - /* Prepare transfer parameters */ - hi2c->pBuffPtr = pData; - hi2c->XferCount = Size; - hi2c->XferSize = hi2c->XferCount; - hi2c->XferOptions = I2C_NO_OPTION_FRAME; - hi2c->Devaddress = DevAddress; - hi2c->Memaddress = MemAddress; - hi2c->MemaddSize = MemAddSize; - hi2c->EventCount = 0U; - - /* Enable Acknowledge */ - SET_BIT(hi2c->Instance->CR1, I2C_CR1_ACK); - - /* Generate Start */ - SET_BIT(hi2c->Instance->CR1, I2C_CR1_START); - - /* Process Unlocked */ - __HAL_UNLOCK(hi2c); - - if (hi2c->XferSize > 0U) - { - /* Note : The I2C interrupts must be enabled after unlocking current process - to avoid the risk of I2C interrupt handle execution before current - process unlock */ - - /* Enable EVT, BUF and ERR interrupt */ - __HAL_I2C_ENABLE_IT(hi2c, I2C_IT_EVT | I2C_IT_BUF | I2C_IT_ERR); - } - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Write an amount of data in non-blocking mode with DMA to a specific memory address - * @param hi2c Pointer to a I2C_HandleTypeDef structure that contains - * the configuration information for the specified I2C. - * @param DevAddress Target device address: The device 7 bits address value - * in datasheet must be shifted to the left before calling the interface - * @param MemAddress Internal memory address - * @param MemAddSize Size of internal memory address - * @param pData Pointer to data buffer - * @param Size Amount of data to be sent - * @retval HAL status - */ -HAL_StatusTypeDef HAL_I2C_Mem_Write_DMA(I2C_HandleTypeDef *hi2c, uint16_t DevAddress, uint16_t MemAddress, uint16_t MemAddSize, uint8_t *pData, uint16_t Size) -{ - __IO uint32_t count = 0U; - HAL_StatusTypeDef dmaxferstatus; - - /* Init tickstart for timeout management*/ - uint32_t tickstart = HAL_GetTick(); - - /* Check the parameters */ - assert_param(IS_I2C_MEMADD_SIZE(MemAddSize)); - - if (hi2c->State == HAL_I2C_STATE_READY) - { - /* Wait until BUSY flag is reset */ - count = I2C_TIMEOUT_BUSY_FLAG * (SystemCoreClock / 25U / 1000U); - do - { - count--; - if (count == 0U) - { - hi2c->PreviousState = I2C_STATE_NONE; - hi2c->State = HAL_I2C_STATE_READY; - hi2c->Mode = HAL_I2C_MODE_NONE; - hi2c->ErrorCode |= HAL_I2C_ERROR_TIMEOUT; - - /* Process Unlocked */ - __HAL_UNLOCK(hi2c); - - return HAL_ERROR; - } - } - while (__HAL_I2C_GET_FLAG(hi2c, I2C_FLAG_BUSY) != RESET); - - /* Process Locked */ - __HAL_LOCK(hi2c); - - /* Check if the I2C is already enabled */ - if ((hi2c->Instance->CR1 & I2C_CR1_PE) != I2C_CR1_PE) - { - /* Enable I2C peripheral */ - __HAL_I2C_ENABLE(hi2c); - } - - /* Disable Pos */ - CLEAR_BIT(hi2c->Instance->CR1, I2C_CR1_POS); - - hi2c->State = HAL_I2C_STATE_BUSY_TX; - hi2c->Mode = HAL_I2C_MODE_MEM; - hi2c->ErrorCode = HAL_I2C_ERROR_NONE; - - /* Prepare transfer parameters */ - hi2c->pBuffPtr = pData; - hi2c->XferCount = Size; - hi2c->XferSize = hi2c->XferCount; - hi2c->XferOptions = I2C_NO_OPTION_FRAME; - hi2c->Devaddress = DevAddress; - hi2c->Memaddress = MemAddress; - hi2c->MemaddSize = MemAddSize; - hi2c->EventCount = 0U; - - if (hi2c->XferSize > 0U) - { - if (hi2c->hdmatx != NULL) - { - /* Set the I2C DMA transfer complete callback */ - hi2c->hdmatx->XferCpltCallback = I2C_DMAXferCplt; - - /* Set the DMA error callback */ - hi2c->hdmatx->XferErrorCallback = I2C_DMAError; - - /* Set the unused DMA callbacks to NULL */ - hi2c->hdmatx->XferHalfCpltCallback = NULL; - hi2c->hdmatx->XferM1CpltCallback = NULL; - hi2c->hdmatx->XferM1HalfCpltCallback = NULL; - hi2c->hdmatx->XferAbortCallback = NULL; - - /* Enable the DMA stream */ - dmaxferstatus = HAL_DMA_Start_IT(hi2c->hdmatx, (uint32_t)hi2c->pBuffPtr, (uint32_t)&hi2c->Instance->DR, hi2c->XferSize); - } - else - { - /* Update I2C state */ - hi2c->State = HAL_I2C_STATE_READY; - hi2c->Mode = HAL_I2C_MODE_NONE; - - /* Update I2C error code */ - hi2c->ErrorCode |= HAL_I2C_ERROR_DMA_PARAM; - - /* Process Unlocked */ - __HAL_UNLOCK(hi2c); - - return HAL_ERROR; - } - - if (dmaxferstatus == HAL_OK) - { - /* Send Slave Address and Memory Address */ - if (I2C_RequestMemoryWrite(hi2c, DevAddress, MemAddress, MemAddSize, I2C_TIMEOUT_FLAG, tickstart) != HAL_OK) - { - /* Abort the ongoing DMA */ - dmaxferstatus = HAL_DMA_Abort_IT(hi2c->hdmatx); - - /* Prevent unused argument(s) compilation and MISRA warning */ - UNUSED(dmaxferstatus); - - /* Set the unused I2C DMA transfer complete callback to NULL */ - hi2c->hdmatx->XferCpltCallback = NULL; - - /* Disable Acknowledge */ - CLEAR_BIT(hi2c->Instance->CR1, I2C_CR1_ACK); - - hi2c->XferSize = 0U; - hi2c->XferCount = 0U; - - /* Disable I2C peripheral to prevent dummy data in buffer */ - __HAL_I2C_DISABLE(hi2c); - - return HAL_ERROR; - } - - /* Clear ADDR flag */ - __HAL_I2C_CLEAR_ADDRFLAG(hi2c); - - /* Process Unlocked */ - __HAL_UNLOCK(hi2c); - - /* Note : The I2C interrupts must be enabled after unlocking current process - to avoid the risk of I2C interrupt handle execution before current - process unlock */ - /* Enable ERR interrupt */ - __HAL_I2C_ENABLE_IT(hi2c, I2C_IT_ERR); - - /* Enable DMA Request */ - SET_BIT(hi2c->Instance->CR2, I2C_CR2_DMAEN); - - return HAL_OK; - } - else - { - /* Update I2C state */ - hi2c->State = HAL_I2C_STATE_READY; - hi2c->Mode = HAL_I2C_MODE_NONE; - - /* Update I2C error code */ - hi2c->ErrorCode |= HAL_I2C_ERROR_DMA; - - /* Process Unlocked */ - __HAL_UNLOCK(hi2c); - - return HAL_ERROR; - } - } - else - { - /* Update I2C state */ - hi2c->State = HAL_I2C_STATE_READY; - hi2c->Mode = HAL_I2C_MODE_NONE; - - /* Update I2C error code */ - hi2c->ErrorCode |= HAL_I2C_ERROR_SIZE; - - /* Process Unlocked */ - __HAL_UNLOCK(hi2c); - - return HAL_ERROR; - } - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Reads an amount of data in non-blocking mode with DMA from a specific memory address. - * @param hi2c Pointer to a I2C_HandleTypeDef structure that contains - * the configuration information for the specified I2C. - * @param DevAddress Target device address: The device 7 bits address value - * in datasheet must be shifted to the left before calling the interface - * @param MemAddress Internal memory address - * @param MemAddSize Size of internal memory address - * @param pData Pointer to data buffer - * @param Size Amount of data to be read - * @retval HAL status - */ -HAL_StatusTypeDef HAL_I2C_Mem_Read_DMA(I2C_HandleTypeDef *hi2c, uint16_t DevAddress, uint16_t MemAddress, uint16_t MemAddSize, uint8_t *pData, uint16_t Size) -{ - /* Init tickstart for timeout management*/ - uint32_t tickstart = HAL_GetTick(); - __IO uint32_t count = 0U; - HAL_StatusTypeDef dmaxferstatus; - - /* Check the parameters */ - assert_param(IS_I2C_MEMADD_SIZE(MemAddSize)); - - if (hi2c->State == HAL_I2C_STATE_READY) - { - /* Wait until BUSY flag is reset */ - count = I2C_TIMEOUT_BUSY_FLAG * (SystemCoreClock / 25U / 1000U); - do - { - count--; - if (count == 0U) - { - hi2c->PreviousState = I2C_STATE_NONE; - hi2c->State = HAL_I2C_STATE_READY; - hi2c->Mode = HAL_I2C_MODE_NONE; - hi2c->ErrorCode |= HAL_I2C_ERROR_TIMEOUT; - - /* Process Unlocked */ - __HAL_UNLOCK(hi2c); - - return HAL_ERROR; - } - } - while (__HAL_I2C_GET_FLAG(hi2c, I2C_FLAG_BUSY) != RESET); - - /* Process Locked */ - __HAL_LOCK(hi2c); - - /* Check if the I2C is already enabled */ - if ((hi2c->Instance->CR1 & I2C_CR1_PE) != I2C_CR1_PE) - { - /* Enable I2C peripheral */ - __HAL_I2C_ENABLE(hi2c); - } - - /* Disable Pos */ - CLEAR_BIT(hi2c->Instance->CR1, I2C_CR1_POS); - - hi2c->State = HAL_I2C_STATE_BUSY_RX; - hi2c->Mode = HAL_I2C_MODE_MEM; - hi2c->ErrorCode = HAL_I2C_ERROR_NONE; - - /* Prepare transfer parameters */ - hi2c->pBuffPtr = pData; - hi2c->XferCount = Size; - hi2c->XferSize = hi2c->XferCount; - hi2c->XferOptions = I2C_NO_OPTION_FRAME; - hi2c->Devaddress = DevAddress; - hi2c->Memaddress = MemAddress; - hi2c->MemaddSize = MemAddSize; - hi2c->EventCount = 0U; - - if (hi2c->XferSize > 0U) - { - if (hi2c->hdmarx != NULL) - { - /* Set the I2C DMA transfer complete callback */ - hi2c->hdmarx->XferCpltCallback = I2C_DMAXferCplt; - - /* Set the DMA error callback */ - hi2c->hdmarx->XferErrorCallback = I2C_DMAError; - - /* Set the unused DMA callbacks to NULL */ - hi2c->hdmarx->XferHalfCpltCallback = NULL; - hi2c->hdmarx->XferM1CpltCallback = NULL; - hi2c->hdmarx->XferM1HalfCpltCallback = NULL; - hi2c->hdmarx->XferAbortCallback = NULL; - - /* Enable the DMA stream */ - dmaxferstatus = HAL_DMA_Start_IT(hi2c->hdmarx, (uint32_t)&hi2c->Instance->DR, (uint32_t)hi2c->pBuffPtr, hi2c->XferSize); - } - else - { - /* Update I2C state */ - hi2c->State = HAL_I2C_STATE_READY; - hi2c->Mode = HAL_I2C_MODE_NONE; - - /* Update I2C error code */ - hi2c->ErrorCode |= HAL_I2C_ERROR_DMA_PARAM; - - /* Process Unlocked */ - __HAL_UNLOCK(hi2c); - - return HAL_ERROR; - } - - if (dmaxferstatus == HAL_OK) - { - /* Send Slave Address and Memory Address */ - if (I2C_RequestMemoryRead(hi2c, DevAddress, MemAddress, MemAddSize, I2C_TIMEOUT_FLAG, tickstart) != HAL_OK) - { - /* Abort the ongoing DMA */ - dmaxferstatus = HAL_DMA_Abort_IT(hi2c->hdmarx); - - /* Prevent unused argument(s) compilation and MISRA warning */ - UNUSED(dmaxferstatus); - - /* Set the unused I2C DMA transfer complete callback to NULL */ - hi2c->hdmarx->XferCpltCallback = NULL; - - /* Disable Acknowledge */ - CLEAR_BIT(hi2c->Instance->CR1, I2C_CR1_ACK); - - hi2c->XferSize = 0U; - hi2c->XferCount = 0U; - - /* Disable I2C peripheral to prevent dummy data in buffer */ - __HAL_I2C_DISABLE(hi2c); - - return HAL_ERROR; - } - - if (hi2c->XferSize == 1U) - { - /* Disable Acknowledge */ - CLEAR_BIT(hi2c->Instance->CR1, I2C_CR1_ACK); - } - else - { - /* Enable Last DMA bit */ - SET_BIT(hi2c->Instance->CR2, I2C_CR2_LAST); - } - - /* Clear ADDR flag */ - __HAL_I2C_CLEAR_ADDRFLAG(hi2c); - - /* Process Unlocked */ - __HAL_UNLOCK(hi2c); - - /* Note : The I2C interrupts must be enabled after unlocking current process - to avoid the risk of I2C interrupt handle execution before current - process unlock */ - /* Enable ERR interrupt */ - __HAL_I2C_ENABLE_IT(hi2c, I2C_IT_ERR); - - /* Enable DMA Request */ - hi2c->Instance->CR2 |= I2C_CR2_DMAEN; - } - else - { - /* Update I2C state */ - hi2c->State = HAL_I2C_STATE_READY; - hi2c->Mode = HAL_I2C_MODE_NONE; - - /* Update I2C error code */ - hi2c->ErrorCode |= HAL_I2C_ERROR_DMA; - - /* Process Unlocked */ - __HAL_UNLOCK(hi2c); - - return HAL_ERROR; - } - } - else - { - /* Send Slave Address and Memory Address */ - if (I2C_RequestMemoryRead(hi2c, DevAddress, MemAddress, MemAddSize, I2C_TIMEOUT_FLAG, tickstart) != HAL_OK) - { - return HAL_ERROR; - } - - /* Clear ADDR flag */ - __HAL_I2C_CLEAR_ADDRFLAG(hi2c); - - /* Generate Stop */ - SET_BIT(hi2c->Instance->CR1, I2C_CR1_STOP); - - hi2c->State = HAL_I2C_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hi2c); - } - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Checks if target device is ready for communication. - * @note This function is used with Memory devices - * @param hi2c Pointer to a I2C_HandleTypeDef structure that contains - * the configuration information for the specified I2C. - * @param DevAddress Target device address: The device 7 bits address value - * in datasheet must be shifted to the left before calling the interface - * @param Trials Number of trials - * @param Timeout Timeout duration - * @retval HAL status - */ -HAL_StatusTypeDef HAL_I2C_IsDeviceReady(I2C_HandleTypeDef *hi2c, uint16_t DevAddress, uint32_t Trials, uint32_t Timeout) -{ - /* Get tick */ - uint32_t tickstart = HAL_GetTick(); - uint32_t I2C_Trials = 1U; - FlagStatus tmp1; - FlagStatus tmp2; - - if (hi2c->State == HAL_I2C_STATE_READY) - { - /* Wait until BUSY flag is reset */ - if (I2C_WaitOnFlagUntilTimeout(hi2c, I2C_FLAG_BUSY, SET, I2C_TIMEOUT_BUSY_FLAG, tickstart) != HAL_OK) - { - return HAL_BUSY; - } - - /* Process Locked */ - __HAL_LOCK(hi2c); - - /* Check if the I2C is already enabled */ - if ((hi2c->Instance->CR1 & I2C_CR1_PE) != I2C_CR1_PE) - { - /* Enable I2C peripheral */ - __HAL_I2C_ENABLE(hi2c); - } - - /* Disable Pos */ - CLEAR_BIT(hi2c->Instance->CR1, I2C_CR1_POS); - - hi2c->State = HAL_I2C_STATE_BUSY; - hi2c->ErrorCode = HAL_I2C_ERROR_NONE; - hi2c->XferOptions = I2C_NO_OPTION_FRAME; - - do - { - /* Generate Start */ - SET_BIT(hi2c->Instance->CR1, I2C_CR1_START); - - /* Wait until SB flag is set */ - if (I2C_WaitOnFlagUntilTimeout(hi2c, I2C_FLAG_SB, RESET, Timeout, tickstart) != HAL_OK) - { - if (READ_BIT(hi2c->Instance->CR1, I2C_CR1_START) == I2C_CR1_START) - { - hi2c->ErrorCode = HAL_I2C_WRONG_START; - } - return HAL_TIMEOUT; - } - - /* Send slave address */ - hi2c->Instance->DR = I2C_7BIT_ADD_WRITE(DevAddress); - - /* Wait until ADDR or AF flag are set */ - /* Get tick */ - tickstart = HAL_GetTick(); - - tmp1 = __HAL_I2C_GET_FLAG(hi2c, I2C_FLAG_ADDR); - tmp2 = __HAL_I2C_GET_FLAG(hi2c, I2C_FLAG_AF); - while ((hi2c->State != HAL_I2C_STATE_TIMEOUT) && (tmp1 == RESET) && (tmp2 == RESET)) - { - if (((HAL_GetTick() - tickstart) > Timeout) || (Timeout == 0U)) - { - hi2c->State = HAL_I2C_STATE_TIMEOUT; - } - tmp1 = __HAL_I2C_GET_FLAG(hi2c, I2C_FLAG_ADDR); - tmp2 = __HAL_I2C_GET_FLAG(hi2c, I2C_FLAG_AF); - } - - hi2c->State = HAL_I2C_STATE_READY; - - /* Check if the ADDR flag has been set */ - if (__HAL_I2C_GET_FLAG(hi2c, I2C_FLAG_ADDR) == SET) - { - /* Generate Stop */ - SET_BIT(hi2c->Instance->CR1, I2C_CR1_STOP); - - /* Clear ADDR Flag */ - __HAL_I2C_CLEAR_ADDRFLAG(hi2c); - - /* Wait until BUSY flag is reset */ - if (I2C_WaitOnFlagUntilTimeout(hi2c, I2C_FLAG_BUSY, SET, I2C_TIMEOUT_BUSY_FLAG, tickstart) != HAL_OK) - { - return HAL_ERROR; - } - - hi2c->State = HAL_I2C_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hi2c); - - return HAL_OK; - } - else - { - /* Generate Stop */ - SET_BIT(hi2c->Instance->CR1, I2C_CR1_STOP); - - /* Clear AF Flag */ - __HAL_I2C_CLEAR_FLAG(hi2c, I2C_FLAG_AF); - - /* Wait until BUSY flag is reset */ - if (I2C_WaitOnFlagUntilTimeout(hi2c, I2C_FLAG_BUSY, SET, I2C_TIMEOUT_BUSY_FLAG, tickstart) != HAL_OK) - { - return HAL_ERROR; - } - } - - /* Increment Trials */ - I2C_Trials++; - } - while (I2C_Trials < Trials); - - hi2c->State = HAL_I2C_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hi2c); - - return HAL_ERROR; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Sequential transmit in master I2C mode an amount of data in non-blocking mode with Interrupt. - * @note This interface allow to manage repeated start condition when a direction change during transfer - * @param hi2c Pointer to a I2C_HandleTypeDef structure that contains - * the configuration information for the specified I2C. - * @param DevAddress Target device address: The device 7 bits address value - * in datasheet must be shifted to the left before calling the interface - * @param pData Pointer to data buffer - * @param Size Amount of data to be sent - * @param XferOptions Options of Transfer, value of @ref I2C_XferOptions_definition - * @retval HAL status - */ -HAL_StatusTypeDef HAL_I2C_Master_Seq_Transmit_IT(I2C_HandleTypeDef *hi2c, uint16_t DevAddress, uint8_t *pData, uint16_t Size, uint32_t XferOptions) -{ - __IO uint32_t Prev_State = 0x00U; - __IO uint32_t count = 0x00U; - - /* Check the parameters */ - assert_param(IS_I2C_TRANSFER_OPTIONS_REQUEST(XferOptions)); - - if (hi2c->State == HAL_I2C_STATE_READY) - { - /* Check Busy Flag only if FIRST call of Master interface */ - if ((READ_BIT(hi2c->Instance->CR1, I2C_CR1_STOP) == I2C_CR1_STOP) || (XferOptions == I2C_FIRST_AND_LAST_FRAME) || (XferOptions == I2C_FIRST_FRAME)) - { - /* Wait until BUSY flag is reset */ - count = I2C_TIMEOUT_BUSY_FLAG * (SystemCoreClock / 25U / 1000U); - do - { - count--; - if (count == 0U) - { - hi2c->PreviousState = I2C_STATE_NONE; - hi2c->State = HAL_I2C_STATE_READY; - hi2c->Mode = HAL_I2C_MODE_NONE; - hi2c->ErrorCode |= HAL_I2C_ERROR_TIMEOUT; - - /* Process Unlocked */ - __HAL_UNLOCK(hi2c); - - return HAL_ERROR; - } - } - while (__HAL_I2C_GET_FLAG(hi2c, I2C_FLAG_BUSY) != RESET); - } - - /* Process Locked */ - __HAL_LOCK(hi2c); - - /* Check if the I2C is already enabled */ - if ((hi2c->Instance->CR1 & I2C_CR1_PE) != I2C_CR1_PE) - { - /* Enable I2C peripheral */ - __HAL_I2C_ENABLE(hi2c); - } - - /* Disable Pos */ - CLEAR_BIT(hi2c->Instance->CR1, I2C_CR1_POS); - - hi2c->State = HAL_I2C_STATE_BUSY_TX; - hi2c->Mode = HAL_I2C_MODE_MASTER; - hi2c->ErrorCode = HAL_I2C_ERROR_NONE; - - /* Prepare transfer parameters */ - hi2c->pBuffPtr = pData; - hi2c->XferCount = Size; - hi2c->XferSize = hi2c->XferCount; - hi2c->XferOptions = XferOptions; - hi2c->Devaddress = DevAddress; - - Prev_State = hi2c->PreviousState; - - /* If transfer direction not change and there is no request to start another frame, do not generate Restart Condition */ - /* Mean Previous state is same as current state */ - if ((Prev_State != I2C_STATE_MASTER_BUSY_TX) || (IS_I2C_TRANSFER_OTHER_OPTIONS_REQUEST(XferOptions) == 1)) - { - /* Generate Start */ - SET_BIT(hi2c->Instance->CR1, I2C_CR1_START); - } - - /* Process Unlocked */ - __HAL_UNLOCK(hi2c); - - /* Note : The I2C interrupts must be enabled after unlocking current process - to avoid the risk of I2C interrupt handle execution before current - process unlock */ - - /* Enable EVT, BUF and ERR interrupt */ - __HAL_I2C_ENABLE_IT(hi2c, I2C_IT_EVT | I2C_IT_BUF | I2C_IT_ERR); - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Sequential transmit in master I2C mode an amount of data in non-blocking mode with DMA. - * @note This interface allow to manage repeated start condition when a direction change during transfer - * @param hi2c Pointer to a I2C_HandleTypeDef structure that contains - * the configuration information for the specified I2C. - * @param DevAddress Target device address: The device 7 bits address value - * in datasheet must be shifted to the left before calling the interface - * @param pData Pointer to data buffer - * @param Size Amount of data to be sent - * @param XferOptions Options of Transfer, value of @ref I2C_XferOptions_definition - * @retval HAL status - */ -HAL_StatusTypeDef HAL_I2C_Master_Seq_Transmit_DMA(I2C_HandleTypeDef *hi2c, uint16_t DevAddress, uint8_t *pData, uint16_t Size, uint32_t XferOptions) -{ - __IO uint32_t Prev_State = 0x00U; - __IO uint32_t count = 0x00U; - HAL_StatusTypeDef dmaxferstatus; - - /* Check the parameters */ - assert_param(IS_I2C_TRANSFER_OPTIONS_REQUEST(XferOptions)); - - if (hi2c->State == HAL_I2C_STATE_READY) - { - /* Check Busy Flag only if FIRST call of Master interface */ - if ((READ_BIT(hi2c->Instance->CR1, I2C_CR1_STOP) == I2C_CR1_STOP) || (XferOptions == I2C_FIRST_AND_LAST_FRAME) || (XferOptions == I2C_FIRST_FRAME)) - { - /* Wait until BUSY flag is reset */ - count = I2C_TIMEOUT_BUSY_FLAG * (SystemCoreClock / 25U / 1000U); - do - { - count--; - if (count == 0U) - { - hi2c->PreviousState = I2C_STATE_NONE; - hi2c->State = HAL_I2C_STATE_READY; - hi2c->Mode = HAL_I2C_MODE_NONE; - hi2c->ErrorCode |= HAL_I2C_ERROR_TIMEOUT; - - /* Process Unlocked */ - __HAL_UNLOCK(hi2c); - - return HAL_ERROR; - } - } - while (__HAL_I2C_GET_FLAG(hi2c, I2C_FLAG_BUSY) != RESET); - } - - /* Process Locked */ - __HAL_LOCK(hi2c); - - /* Check if the I2C is already enabled */ - if ((hi2c->Instance->CR1 & I2C_CR1_PE) != I2C_CR1_PE) - { - /* Enable I2C peripheral */ - __HAL_I2C_ENABLE(hi2c); - } - - /* Disable Pos */ - CLEAR_BIT(hi2c->Instance->CR1, I2C_CR1_POS); - - hi2c->State = HAL_I2C_STATE_BUSY_TX; - hi2c->Mode = HAL_I2C_MODE_MASTER; - hi2c->ErrorCode = HAL_I2C_ERROR_NONE; - - /* Prepare transfer parameters */ - hi2c->pBuffPtr = pData; - hi2c->XferCount = Size; - hi2c->XferSize = hi2c->XferCount; - hi2c->XferOptions = XferOptions; - hi2c->Devaddress = DevAddress; - - Prev_State = hi2c->PreviousState; - - if (hi2c->XferSize > 0U) - { - if (hi2c->hdmatx != NULL) - { - /* Set the I2C DMA transfer complete callback */ - hi2c->hdmatx->XferCpltCallback = I2C_DMAXferCplt; - - /* Set the DMA error callback */ - hi2c->hdmatx->XferErrorCallback = I2C_DMAError; - - /* Set the unused DMA callbacks to NULL */ - hi2c->hdmatx->XferHalfCpltCallback = NULL; - hi2c->hdmatx->XferAbortCallback = NULL; - - /* Enable the DMA stream */ - dmaxferstatus = HAL_DMA_Start_IT(hi2c->hdmatx, (uint32_t)hi2c->pBuffPtr, (uint32_t)&hi2c->Instance->DR, hi2c->XferSize); - } - else - { - /* Update I2C state */ - hi2c->State = HAL_I2C_STATE_READY; - hi2c->Mode = HAL_I2C_MODE_NONE; - - /* Update I2C error code */ - hi2c->ErrorCode |= HAL_I2C_ERROR_DMA_PARAM; - - /* Process Unlocked */ - __HAL_UNLOCK(hi2c); - - return HAL_ERROR; - } - - if (dmaxferstatus == HAL_OK) - { - /* Enable Acknowledge */ - SET_BIT(hi2c->Instance->CR1, I2C_CR1_ACK); - - /* If transfer direction not change and there is no request to start another frame, do not generate Restart Condition */ - /* Mean Previous state is same as current state */ - if ((Prev_State != I2C_STATE_MASTER_BUSY_TX) || (IS_I2C_TRANSFER_OTHER_OPTIONS_REQUEST(XferOptions) == 1)) - { - /* Generate Start */ - SET_BIT(hi2c->Instance->CR1, I2C_CR1_START); - } - - /* Process Unlocked */ - __HAL_UNLOCK(hi2c); - - /* Note : The I2C interrupts must be enabled after unlocking current process - to avoid the risk of I2C interrupt handle execution before current - process unlock */ - - /* If XferOptions is not associated to a new frame, mean no start bit is request, enable directly the DMA request */ - /* In other cases, DMA request is enabled after Slave address treatment in IRQHandler */ - if ((XferOptions == I2C_NEXT_FRAME) || (XferOptions == I2C_LAST_FRAME) || (XferOptions == I2C_LAST_FRAME_NO_STOP)) - { - /* Enable DMA Request */ - SET_BIT(hi2c->Instance->CR2, I2C_CR2_DMAEN); - } - - /* Enable EVT and ERR interrupt */ - __HAL_I2C_ENABLE_IT(hi2c, I2C_IT_EVT | I2C_IT_ERR); - } - else - { - /* Update I2C state */ - hi2c->State = HAL_I2C_STATE_READY; - hi2c->Mode = HAL_I2C_MODE_NONE; - - /* Update I2C error code */ - hi2c->ErrorCode |= HAL_I2C_ERROR_DMA; - - /* Process Unlocked */ - __HAL_UNLOCK(hi2c); - - return HAL_ERROR; - } - } - else - { - /* Enable Acknowledge */ - SET_BIT(hi2c->Instance->CR1, I2C_CR1_ACK); - - /* If transfer direction not change and there is no request to start another frame, do not generate Restart Condition */ - /* Mean Previous state is same as current state */ - if ((Prev_State != I2C_STATE_MASTER_BUSY_TX) || (IS_I2C_TRANSFER_OTHER_OPTIONS_REQUEST(XferOptions) == 1)) - { - /* Generate Start */ - SET_BIT(hi2c->Instance->CR1, I2C_CR1_START); - } - - /* Process Unlocked */ - __HAL_UNLOCK(hi2c); - - /* Note : The I2C interrupts must be enabled after unlocking current process - to avoid the risk of I2C interrupt handle execution before current - process unlock */ - - /* Enable EVT, BUF and ERR interrupt */ - __HAL_I2C_ENABLE_IT(hi2c, I2C_IT_EVT | I2C_IT_BUF | I2C_IT_ERR); - } - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Sequential receive in master I2C mode an amount of data in non-blocking mode with Interrupt - * @note This interface allow to manage repeated start condition when a direction change during transfer - * @param hi2c Pointer to a I2C_HandleTypeDef structure that contains - * the configuration information for the specified I2C. - * @param DevAddress Target device address: The device 7 bits address value - * in datasheet must be shifted to the left before calling the interface - * @param pData Pointer to data buffer - * @param Size Amount of data to be sent - * @param XferOptions Options of Transfer, value of @ref I2C_XferOptions_definition - * @retval HAL status - */ -HAL_StatusTypeDef HAL_I2C_Master_Seq_Receive_IT(I2C_HandleTypeDef *hi2c, uint16_t DevAddress, uint8_t *pData, uint16_t Size, uint32_t XferOptions) -{ - __IO uint32_t Prev_State = 0x00U; - __IO uint32_t count = 0U; - uint32_t enableIT = (I2C_IT_EVT | I2C_IT_BUF | I2C_IT_ERR); - - /* Check the parameters */ - assert_param(IS_I2C_TRANSFER_OPTIONS_REQUEST(XferOptions)); - - if (hi2c->State == HAL_I2C_STATE_READY) - { - /* Check Busy Flag only if FIRST call of Master interface */ - if ((READ_BIT(hi2c->Instance->CR1, I2C_CR1_STOP) == I2C_CR1_STOP) || (XferOptions == I2C_FIRST_AND_LAST_FRAME) || (XferOptions == I2C_FIRST_FRAME)) - { - /* Wait until BUSY flag is reset */ - count = I2C_TIMEOUT_BUSY_FLAG * (SystemCoreClock / 25U / 1000U); - do - { - count--; - if (count == 0U) - { - hi2c->PreviousState = I2C_STATE_NONE; - hi2c->State = HAL_I2C_STATE_READY; - hi2c->Mode = HAL_I2C_MODE_NONE; - hi2c->ErrorCode |= HAL_I2C_ERROR_TIMEOUT; - - /* Process Unlocked */ - __HAL_UNLOCK(hi2c); - - return HAL_ERROR; - } - } - while (__HAL_I2C_GET_FLAG(hi2c, I2C_FLAG_BUSY) != RESET); - } - - /* Process Locked */ - __HAL_LOCK(hi2c); - - /* Check if the I2C is already enabled */ - if ((hi2c->Instance->CR1 & I2C_CR1_PE) != I2C_CR1_PE) - { - /* Enable I2C peripheral */ - __HAL_I2C_ENABLE(hi2c); - } - - /* Disable Pos */ - CLEAR_BIT(hi2c->Instance->CR1, I2C_CR1_POS); - - hi2c->State = HAL_I2C_STATE_BUSY_RX; - hi2c->Mode = HAL_I2C_MODE_MASTER; - hi2c->ErrorCode = HAL_I2C_ERROR_NONE; - - /* Prepare transfer parameters */ - hi2c->pBuffPtr = pData; - hi2c->XferCount = Size; - hi2c->XferSize = hi2c->XferCount; - hi2c->XferOptions = XferOptions; - hi2c->Devaddress = DevAddress; - - Prev_State = hi2c->PreviousState; - - if ((hi2c->XferCount == 2U) && ((XferOptions == I2C_LAST_FRAME) || (XferOptions == I2C_LAST_FRAME_NO_STOP))) - { - if (Prev_State == I2C_STATE_MASTER_BUSY_RX) - { - /* Disable Acknowledge */ - CLEAR_BIT(hi2c->Instance->CR1, I2C_CR1_ACK); - - /* Enable Pos */ - SET_BIT(hi2c->Instance->CR1, I2C_CR1_POS); - - /* Remove Enabling of IT_BUF, mean RXNE treatment, treat the 2 bytes through BTF */ - enableIT &= ~I2C_IT_BUF; - } - else - { - /* Enable Acknowledge */ - SET_BIT(hi2c->Instance->CR1, I2C_CR1_ACK); - } - } - else - { - /* Enable Acknowledge */ - SET_BIT(hi2c->Instance->CR1, I2C_CR1_ACK); - } - - /* If transfer direction not change and there is no request to start another frame, do not generate Restart Condition */ - /* Mean Previous state is same as current state */ - if ((Prev_State != I2C_STATE_MASTER_BUSY_RX) || (IS_I2C_TRANSFER_OTHER_OPTIONS_REQUEST(XferOptions) == 1)) - { - /* Generate Start */ - SET_BIT(hi2c->Instance->CR1, I2C_CR1_START); - } - - /* Process Unlocked */ - __HAL_UNLOCK(hi2c); - - /* Note : The I2C interrupts must be enabled after unlocking current process - to avoid the risk of I2C interrupt handle execution before current - process unlock */ - - /* Enable interrupts */ - __HAL_I2C_ENABLE_IT(hi2c, enableIT); - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Sequential receive in master mode an amount of data in non-blocking mode with DMA - * @note This interface allow to manage repeated start condition when a direction change during transfer - * @param hi2c Pointer to a I2C_HandleTypeDef structure that contains - * the configuration information for the specified I2C. - * @param DevAddress Target device address: The device 7 bits address value - * in datasheet must be shifted to the left before calling the interface - * @param pData Pointer to data buffer - * @param Size Amount of data to be sent - * @param XferOptions Options of Transfer, value of @ref I2C_XferOptions_definition - * @retval HAL status - */ -HAL_StatusTypeDef HAL_I2C_Master_Seq_Receive_DMA(I2C_HandleTypeDef *hi2c, uint16_t DevAddress, uint8_t *pData, uint16_t Size, uint32_t XferOptions) -{ - __IO uint32_t Prev_State = 0x00U; - __IO uint32_t count = 0U; - uint32_t enableIT = (I2C_IT_EVT | I2C_IT_BUF | I2C_IT_ERR); - HAL_StatusTypeDef dmaxferstatus; - - /* Check the parameters */ - assert_param(IS_I2C_TRANSFER_OPTIONS_REQUEST(XferOptions)); - - if (hi2c->State == HAL_I2C_STATE_READY) - { - /* Check Busy Flag only if FIRST call of Master interface */ - if ((READ_BIT(hi2c->Instance->CR1, I2C_CR1_STOP) == I2C_CR1_STOP) || (XferOptions == I2C_FIRST_AND_LAST_FRAME) || (XferOptions == I2C_FIRST_FRAME)) - { - /* Wait until BUSY flag is reset */ - count = I2C_TIMEOUT_BUSY_FLAG * (SystemCoreClock / 25U / 1000U); - do - { - count--; - if (count == 0U) - { - hi2c->PreviousState = I2C_STATE_NONE; - hi2c->State = HAL_I2C_STATE_READY; - hi2c->Mode = HAL_I2C_MODE_NONE; - hi2c->ErrorCode |= HAL_I2C_ERROR_TIMEOUT; - - /* Process Unlocked */ - __HAL_UNLOCK(hi2c); - - return HAL_ERROR; - } - } - while (__HAL_I2C_GET_FLAG(hi2c, I2C_FLAG_BUSY) != RESET); - } - - /* Process Locked */ - __HAL_LOCK(hi2c); - - /* Check if the I2C is already enabled */ - if ((hi2c->Instance->CR1 & I2C_CR1_PE) != I2C_CR1_PE) - { - /* Enable I2C peripheral */ - __HAL_I2C_ENABLE(hi2c); - } - - /* Disable Pos */ - CLEAR_BIT(hi2c->Instance->CR1, I2C_CR1_POS); - - /* Clear Last DMA bit */ - CLEAR_BIT(hi2c->Instance->CR2, I2C_CR2_LAST); - - hi2c->State = HAL_I2C_STATE_BUSY_RX; - hi2c->Mode = HAL_I2C_MODE_MASTER; - hi2c->ErrorCode = HAL_I2C_ERROR_NONE; - - /* Prepare transfer parameters */ - hi2c->pBuffPtr = pData; - hi2c->XferCount = Size; - hi2c->XferSize = hi2c->XferCount; - hi2c->XferOptions = XferOptions; - hi2c->Devaddress = DevAddress; - - Prev_State = hi2c->PreviousState; - - if (hi2c->XferSize > 0U) - { - if ((hi2c->XferCount == 2U) && ((XferOptions == I2C_LAST_FRAME) || (XferOptions == I2C_LAST_FRAME_NO_STOP))) - { - if (Prev_State == I2C_STATE_MASTER_BUSY_RX) - { - /* Disable Acknowledge */ - CLEAR_BIT(hi2c->Instance->CR1, I2C_CR1_ACK); - - /* Enable Pos */ - SET_BIT(hi2c->Instance->CR1, I2C_CR1_POS); - - /* Enable Last DMA bit */ - SET_BIT(hi2c->Instance->CR2, I2C_CR2_LAST); - } - else - { - /* Enable Acknowledge */ - SET_BIT(hi2c->Instance->CR1, I2C_CR1_ACK); - } - } - else - { - /* Enable Acknowledge */ - SET_BIT(hi2c->Instance->CR1, I2C_CR1_ACK); - - if ((XferOptions == I2C_LAST_FRAME) || (XferOptions == I2C_OTHER_AND_LAST_FRAME) || (XferOptions == I2C_LAST_FRAME_NO_STOP)) - { - /* Enable Last DMA bit */ - SET_BIT(hi2c->Instance->CR2, I2C_CR2_LAST); - } - } - if (hi2c->hdmarx != NULL) - { - /* Set the I2C DMA transfer complete callback */ - hi2c->hdmarx->XferCpltCallback = I2C_DMAXferCplt; - - /* Set the DMA error callback */ - hi2c->hdmarx->XferErrorCallback = I2C_DMAError; - - /* Set the unused DMA callbacks to NULL */ - hi2c->hdmarx->XferHalfCpltCallback = NULL; - hi2c->hdmarx->XferAbortCallback = NULL; - - /* Enable the DMA stream */ - dmaxferstatus = HAL_DMA_Start_IT(hi2c->hdmarx, (uint32_t)&hi2c->Instance->DR, (uint32_t)hi2c->pBuffPtr, hi2c->XferSize); - } - else - { - /* Update I2C state */ - hi2c->State = HAL_I2C_STATE_READY; - hi2c->Mode = HAL_I2C_MODE_NONE; - - /* Update I2C error code */ - hi2c->ErrorCode |= HAL_I2C_ERROR_DMA_PARAM; - - /* Process Unlocked */ - __HAL_UNLOCK(hi2c); - - return HAL_ERROR; - } - if (dmaxferstatus == HAL_OK) - { - /* If transfer direction not change and there is no request to start another frame, do not generate Restart Condition */ - /* Mean Previous state is same as current state */ - if ((Prev_State != I2C_STATE_MASTER_BUSY_RX) || (IS_I2C_TRANSFER_OTHER_OPTIONS_REQUEST(XferOptions) == 1)) - { - /* Generate Start */ - SET_BIT(hi2c->Instance->CR1, I2C_CR1_START); - - /* Update interrupt for only EVT and ERR */ - enableIT = (I2C_IT_EVT | I2C_IT_ERR); - } - else - { - /* Update interrupt for only ERR */ - enableIT = I2C_IT_ERR; - } - - /* Process Unlocked */ - __HAL_UNLOCK(hi2c); - - /* Note : The I2C interrupts must be enabled after unlocking current process - to avoid the risk of I2C interrupt handle execution before current - process unlock */ - - /* If XferOptions is not associated to a new frame, mean no start bit is request, enable directly the DMA request */ - /* In other cases, DMA request is enabled after Slave address treatment in IRQHandler */ - if ((XferOptions == I2C_NEXT_FRAME) || (XferOptions == I2C_LAST_FRAME) || (XferOptions == I2C_LAST_FRAME_NO_STOP)) - { - /* Enable DMA Request */ - SET_BIT(hi2c->Instance->CR2, I2C_CR2_DMAEN); - } - - /* Enable EVT and ERR interrupt */ - __HAL_I2C_ENABLE_IT(hi2c, enableIT); - } - else - { - /* Update I2C state */ - hi2c->State = HAL_I2C_STATE_READY; - hi2c->Mode = HAL_I2C_MODE_NONE; - - /* Update I2C error code */ - hi2c->ErrorCode |= HAL_I2C_ERROR_DMA; - - /* Process Unlocked */ - __HAL_UNLOCK(hi2c); - - return HAL_ERROR; - } - } - else - { - /* Enable Acknowledge */ - SET_BIT(hi2c->Instance->CR1, I2C_CR1_ACK); - - /* If transfer direction not change and there is no request to start another frame, do not generate Restart Condition */ - /* Mean Previous state is same as current state */ - if ((Prev_State != I2C_STATE_MASTER_BUSY_RX) || (IS_I2C_TRANSFER_OTHER_OPTIONS_REQUEST(XferOptions) == 1)) - { - /* Generate Start */ - SET_BIT(hi2c->Instance->CR1, I2C_CR1_START); - } - - /* Process Unlocked */ - __HAL_UNLOCK(hi2c); - - /* Note : The I2C interrupts must be enabled after unlocking current process - to avoid the risk of I2C interrupt handle execution before current - process unlock */ - - /* Enable interrupts */ - __HAL_I2C_ENABLE_IT(hi2c, enableIT); - } - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Sequential transmit in slave mode an amount of data in non-blocking mode with Interrupt - * @note This interface allow to manage repeated start condition when a direction change during transfer - * @param hi2c Pointer to a I2C_HandleTypeDef structure that contains - * the configuration information for the specified I2C. - * @param pData Pointer to data buffer - * @param Size Amount of data to be sent - * @param XferOptions Options of Transfer, value of @ref I2C_XferOptions_definition - * @retval HAL status - */ -HAL_StatusTypeDef HAL_I2C_Slave_Seq_Transmit_IT(I2C_HandleTypeDef *hi2c, uint8_t *pData, uint16_t Size, uint32_t XferOptions) -{ - /* Check the parameters */ - assert_param(IS_I2C_TRANSFER_OPTIONS_REQUEST(XferOptions)); - - if (((uint32_t)hi2c->State & (uint32_t)HAL_I2C_STATE_LISTEN) == (uint32_t)HAL_I2C_STATE_LISTEN) - { - if ((pData == NULL) || (Size == 0U)) - { - return HAL_ERROR; - } - - /* Process Locked */ - __HAL_LOCK(hi2c); - - /* Check if the I2C is already enabled */ - if ((hi2c->Instance->CR1 & I2C_CR1_PE) != I2C_CR1_PE) - { - /* Enable I2C peripheral */ - __HAL_I2C_ENABLE(hi2c); - } - - /* Disable Pos */ - CLEAR_BIT(hi2c->Instance->CR1, I2C_CR1_POS); - - hi2c->State = HAL_I2C_STATE_BUSY_TX_LISTEN; - hi2c->Mode = HAL_I2C_MODE_SLAVE; - hi2c->ErrorCode = HAL_I2C_ERROR_NONE; - - /* Prepare transfer parameters */ - hi2c->pBuffPtr = pData; - hi2c->XferCount = Size; - hi2c->XferSize = hi2c->XferCount; - hi2c->XferOptions = XferOptions; - - /* Clear ADDR flag */ - __HAL_I2C_CLEAR_ADDRFLAG(hi2c); - - /* Process Unlocked */ - __HAL_UNLOCK(hi2c); - - /* Note : The I2C interrupts must be enabled after unlocking current process - to avoid the risk of I2C interrupt handle execution before current - process unlock */ - - /* Enable EVT, BUF and ERR interrupt */ - __HAL_I2C_ENABLE_IT(hi2c, I2C_IT_EVT | I2C_IT_BUF | I2C_IT_ERR); - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Sequential transmit in slave mode an amount of data in non-blocking mode with DMA - * @note This interface allow to manage repeated start condition when a direction change during transfer - * @param hi2c Pointer to a I2C_HandleTypeDef structure that contains - * the configuration information for the specified I2C. - * @param pData Pointer to data buffer - * @param Size Amount of data to be sent - * @param XferOptions Options of Transfer, value of @ref I2C_XferOptions_definition - * @retval HAL status - */ -HAL_StatusTypeDef HAL_I2C_Slave_Seq_Transmit_DMA(I2C_HandleTypeDef *hi2c, uint8_t *pData, uint16_t Size, uint32_t XferOptions) -{ - HAL_StatusTypeDef dmaxferstatus; - - /* Check the parameters */ - assert_param(IS_I2C_TRANSFER_OPTIONS_REQUEST(XferOptions)); - - if (((uint32_t)hi2c->State & (uint32_t)HAL_I2C_STATE_LISTEN) == (uint32_t)HAL_I2C_STATE_LISTEN) - { - if ((pData == NULL) || (Size == 0U)) - { - return HAL_ERROR; - } - - /* Process Locked */ - __HAL_LOCK(hi2c); - - /* Disable Interrupts, to prevent preemption during treatment in case of multicall */ - __HAL_I2C_DISABLE_IT(hi2c, I2C_IT_EVT | I2C_IT_ERR); - - /* I2C cannot manage full duplex exchange so disable previous IT enabled if any */ - /* and then toggle the HAL slave RX state to TX state */ - if (hi2c->State == HAL_I2C_STATE_BUSY_RX_LISTEN) - { - if ((hi2c->Instance->CR2 & I2C_CR2_DMAEN) == I2C_CR2_DMAEN) - { - /* Abort DMA Xfer if any */ - if (hi2c->hdmarx != NULL) - { - CLEAR_BIT(hi2c->Instance->CR2, I2C_CR2_DMAEN); - - /* Set the I2C DMA Abort callback : - will lead to call HAL_I2C_ErrorCallback() at end of DMA abort procedure */ - hi2c->hdmarx->XferAbortCallback = I2C_DMAAbort; - - /* Abort DMA RX */ - if (HAL_DMA_Abort_IT(hi2c->hdmarx) != HAL_OK) - { - /* Call Directly XferAbortCallback function in case of error */ - hi2c->hdmarx->XferAbortCallback(hi2c->hdmarx); - } - } - } - } - else if (hi2c->State == HAL_I2C_STATE_BUSY_TX_LISTEN) - { - if ((hi2c->Instance->CR2 & I2C_CR2_DMAEN) == I2C_CR2_DMAEN) - { - CLEAR_BIT(hi2c->Instance->CR2, I2C_CR2_DMAEN); - - /* Abort DMA Xfer if any */ - if (hi2c->hdmatx != NULL) - { - /* Set the I2C DMA Abort callback : - will lead to call HAL_I2C_ErrorCallback() at end of DMA abort procedure */ - hi2c->hdmatx->XferAbortCallback = I2C_DMAAbort; - - /* Abort DMA TX */ - if (HAL_DMA_Abort_IT(hi2c->hdmatx) != HAL_OK) - { - /* Call Directly XferAbortCallback function in case of error */ - hi2c->hdmatx->XferAbortCallback(hi2c->hdmatx); - } - } - } - } - else - { - /* Nothing to do */ - } - - /* Check if the I2C is already enabled */ - if ((hi2c->Instance->CR1 & I2C_CR1_PE) != I2C_CR1_PE) - { - /* Enable I2C peripheral */ - __HAL_I2C_ENABLE(hi2c); - } - - /* Disable Pos */ - CLEAR_BIT(hi2c->Instance->CR1, I2C_CR1_POS); - - hi2c->State = HAL_I2C_STATE_BUSY_TX_LISTEN; - hi2c->Mode = HAL_I2C_MODE_SLAVE; - hi2c->ErrorCode = HAL_I2C_ERROR_NONE; - - /* Prepare transfer parameters */ - hi2c->pBuffPtr = pData; - hi2c->XferCount = Size; - hi2c->XferSize = hi2c->XferCount; - hi2c->XferOptions = XferOptions; - - if (hi2c->hdmatx != NULL) - { - /* Set the I2C DMA transfer complete callback */ - hi2c->hdmatx->XferCpltCallback = I2C_DMAXferCplt; - - /* Set the DMA error callback */ - hi2c->hdmatx->XferErrorCallback = I2C_DMAError; - - /* Set the unused DMA callbacks to NULL */ - hi2c->hdmatx->XferHalfCpltCallback = NULL; - hi2c->hdmatx->XferAbortCallback = NULL; - - /* Enable the DMA stream */ - dmaxferstatus = HAL_DMA_Start_IT(hi2c->hdmatx, (uint32_t)hi2c->pBuffPtr, (uint32_t)&hi2c->Instance->DR, hi2c->XferSize); - } - else - { - /* Update I2C state */ - hi2c->State = HAL_I2C_STATE_LISTEN; - hi2c->Mode = HAL_I2C_MODE_NONE; - - /* Update I2C error code */ - hi2c->ErrorCode |= HAL_I2C_ERROR_DMA_PARAM; - - /* Process Unlocked */ - __HAL_UNLOCK(hi2c); - - return HAL_ERROR; - } - - if (dmaxferstatus == HAL_OK) - { - /* Enable Address Acknowledge */ - SET_BIT(hi2c->Instance->CR1, I2C_CR1_ACK); - - /* Clear ADDR flag */ - __HAL_I2C_CLEAR_ADDRFLAG(hi2c); - - /* Process Unlocked */ - __HAL_UNLOCK(hi2c); - - /* Note : The I2C interrupts must be enabled after unlocking current process - to avoid the risk of I2C interrupt handle execution before current - process unlock */ - /* Enable EVT and ERR interrupt */ - __HAL_I2C_ENABLE_IT(hi2c, I2C_IT_EVT | I2C_IT_ERR); - - /* Enable DMA Request */ - hi2c->Instance->CR2 |= I2C_CR2_DMAEN; - - return HAL_OK; - } - else - { - /* Update I2C state */ - hi2c->State = HAL_I2C_STATE_READY; - hi2c->Mode = HAL_I2C_MODE_NONE; - - /* Update I2C error code */ - hi2c->ErrorCode |= HAL_I2C_ERROR_DMA; - - /* Process Unlocked */ - __HAL_UNLOCK(hi2c); - - return HAL_ERROR; - } - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Sequential receive in slave mode an amount of data in non-blocking mode with Interrupt - * @note This interface allow to manage repeated start condition when a direction change during transfer - * @param hi2c Pointer to a I2C_HandleTypeDef structure that contains - * the configuration information for the specified I2C. - * @param pData Pointer to data buffer - * @param Size Amount of data to be sent - * @param XferOptions Options of Transfer, value of @ref I2C_XferOptions_definition - * @retval HAL status - */ -HAL_StatusTypeDef HAL_I2C_Slave_Seq_Receive_IT(I2C_HandleTypeDef *hi2c, uint8_t *pData, uint16_t Size, uint32_t XferOptions) -{ - /* Check the parameters */ - assert_param(IS_I2C_TRANSFER_OPTIONS_REQUEST(XferOptions)); - - if (((uint32_t)hi2c->State & (uint32_t)HAL_I2C_STATE_LISTEN) == (uint32_t)HAL_I2C_STATE_LISTEN) - { - if ((pData == NULL) || (Size == 0U)) - { - return HAL_ERROR; - } - - /* Process Locked */ - __HAL_LOCK(hi2c); - - /* Check if the I2C is already enabled */ - if ((hi2c->Instance->CR1 & I2C_CR1_PE) != I2C_CR1_PE) - { - /* Enable I2C peripheral */ - __HAL_I2C_ENABLE(hi2c); - } - - /* Disable Pos */ - CLEAR_BIT(hi2c->Instance->CR1, I2C_CR1_POS); - - hi2c->State = HAL_I2C_STATE_BUSY_RX_LISTEN; - hi2c->Mode = HAL_I2C_MODE_SLAVE; - hi2c->ErrorCode = HAL_I2C_ERROR_NONE; - - /* Prepare transfer parameters */ - hi2c->pBuffPtr = pData; - hi2c->XferCount = Size; - hi2c->XferSize = hi2c->XferCount; - hi2c->XferOptions = XferOptions; - - /* Clear ADDR flag */ - __HAL_I2C_CLEAR_ADDRFLAG(hi2c); - - /* Process Unlocked */ - __HAL_UNLOCK(hi2c); - - /* Note : The I2C interrupts must be enabled after unlocking current process - to avoid the risk of I2C interrupt handle execution before current - process unlock */ - - /* Enable EVT, BUF and ERR interrupt */ - __HAL_I2C_ENABLE_IT(hi2c, I2C_IT_EVT | I2C_IT_BUF | I2C_IT_ERR); - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Sequential receive in slave mode an amount of data in non-blocking mode with DMA - * @note This interface allow to manage repeated start condition when a direction change during transfer - * @param hi2c Pointer to a I2C_HandleTypeDef structure that contains - * the configuration information for the specified I2C. - * @param pData Pointer to data buffer - * @param Size Amount of data to be sent - * @param XferOptions Options of Transfer, value of @ref I2C_XferOptions_definition - * @retval HAL status - */ -HAL_StatusTypeDef HAL_I2C_Slave_Seq_Receive_DMA(I2C_HandleTypeDef *hi2c, uint8_t *pData, uint16_t Size, uint32_t XferOptions) -{ - HAL_StatusTypeDef dmaxferstatus; - - /* Check the parameters */ - assert_param(IS_I2C_TRANSFER_OPTIONS_REQUEST(XferOptions)); - - if (((uint32_t)hi2c->State & (uint32_t)HAL_I2C_STATE_LISTEN) == (uint32_t)HAL_I2C_STATE_LISTEN) - { - if ((pData == NULL) || (Size == 0U)) - { - return HAL_ERROR; - } - - /* Process Locked */ - __HAL_LOCK(hi2c); - - /* Disable Interrupts, to prevent preemption during treatment in case of multicall */ - __HAL_I2C_DISABLE_IT(hi2c, I2C_IT_EVT | I2C_IT_ERR); - - /* I2C cannot manage full duplex exchange so disable previous IT enabled if any */ - /* and then toggle the HAL slave RX state to TX state */ - if (hi2c->State == HAL_I2C_STATE_BUSY_RX_LISTEN) - { - if ((hi2c->Instance->CR2 & I2C_CR2_DMAEN) == I2C_CR2_DMAEN) - { - /* Abort DMA Xfer if any */ - if (hi2c->hdmarx != NULL) - { - CLEAR_BIT(hi2c->Instance->CR2, I2C_CR2_DMAEN); - - /* Set the I2C DMA Abort callback : - will lead to call HAL_I2C_ErrorCallback() at end of DMA abort procedure */ - hi2c->hdmarx->XferAbortCallback = I2C_DMAAbort; - - /* Abort DMA RX */ - if (HAL_DMA_Abort_IT(hi2c->hdmarx) != HAL_OK) - { - /* Call Directly XferAbortCallback function in case of error */ - hi2c->hdmarx->XferAbortCallback(hi2c->hdmarx); - } - } - } - } - else if (hi2c->State == HAL_I2C_STATE_BUSY_TX_LISTEN) - { - if ((hi2c->Instance->CR2 & I2C_CR2_DMAEN) == I2C_CR2_DMAEN) - { - CLEAR_BIT(hi2c->Instance->CR2, I2C_CR2_DMAEN); - - /* Abort DMA Xfer if any */ - if (hi2c->hdmatx != NULL) - { - /* Set the I2C DMA Abort callback : - will lead to call HAL_I2C_ErrorCallback() at end of DMA abort procedure */ - hi2c->hdmatx->XferAbortCallback = I2C_DMAAbort; - - /* Abort DMA TX */ - if (HAL_DMA_Abort_IT(hi2c->hdmatx) != HAL_OK) - { - /* Call Directly XferAbortCallback function in case of error */ - hi2c->hdmatx->XferAbortCallback(hi2c->hdmatx); - } - } - } - } - else - { - /* Nothing to do */ - } - - /* Check if the I2C is already enabled */ - if ((hi2c->Instance->CR1 & I2C_CR1_PE) != I2C_CR1_PE) - { - /* Enable I2C peripheral */ - __HAL_I2C_ENABLE(hi2c); - } - - /* Disable Pos */ - CLEAR_BIT(hi2c->Instance->CR1, I2C_CR1_POS); - - hi2c->State = HAL_I2C_STATE_BUSY_RX_LISTEN; - hi2c->Mode = HAL_I2C_MODE_SLAVE; - hi2c->ErrorCode = HAL_I2C_ERROR_NONE; - - /* Prepare transfer parameters */ - hi2c->pBuffPtr = pData; - hi2c->XferCount = Size; - hi2c->XferSize = hi2c->XferCount; - hi2c->XferOptions = XferOptions; - - if (hi2c->hdmarx != NULL) - { - /* Set the I2C DMA transfer complete callback */ - hi2c->hdmarx->XferCpltCallback = I2C_DMAXferCplt; - - /* Set the DMA error callback */ - hi2c->hdmarx->XferErrorCallback = I2C_DMAError; - - /* Set the unused DMA callbacks to NULL */ - hi2c->hdmarx->XferHalfCpltCallback = NULL; - hi2c->hdmarx->XferAbortCallback = NULL; - - /* Enable the DMA stream */ - dmaxferstatus = HAL_DMA_Start_IT(hi2c->hdmarx, (uint32_t)&hi2c->Instance->DR, (uint32_t)hi2c->pBuffPtr, hi2c->XferSize); - } - else - { - /* Update I2C state */ - hi2c->State = HAL_I2C_STATE_LISTEN; - hi2c->Mode = HAL_I2C_MODE_NONE; - - /* Update I2C error code */ - hi2c->ErrorCode |= HAL_I2C_ERROR_DMA_PARAM; - - /* Process Unlocked */ - __HAL_UNLOCK(hi2c); - - return HAL_ERROR; - } - - if (dmaxferstatus == HAL_OK) - { - /* Enable Address Acknowledge */ - SET_BIT(hi2c->Instance->CR1, I2C_CR1_ACK); - - /* Clear ADDR flag */ - __HAL_I2C_CLEAR_ADDRFLAG(hi2c); - - /* Process Unlocked */ - __HAL_UNLOCK(hi2c); - - /* Enable DMA Request */ - SET_BIT(hi2c->Instance->CR2, I2C_CR2_DMAEN); - - /* Note : The I2C interrupts must be enabled after unlocking current process - to avoid the risk of I2C interrupt handle execution before current - process unlock */ - /* Enable EVT and ERR interrupt */ - __HAL_I2C_ENABLE_IT(hi2c, I2C_IT_EVT | I2C_IT_ERR); - - return HAL_OK; - } - else - { - /* Update I2C state */ - hi2c->State = HAL_I2C_STATE_READY; - hi2c->Mode = HAL_I2C_MODE_NONE; - - /* Update I2C error code */ - hi2c->ErrorCode |= HAL_I2C_ERROR_DMA; - - /* Process Unlocked */ - __HAL_UNLOCK(hi2c); - - return HAL_ERROR; - } - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Enable the Address listen mode with Interrupt. - * @param hi2c Pointer to a I2C_HandleTypeDef structure that contains - * the configuration information for the specified I2C. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_I2C_EnableListen_IT(I2C_HandleTypeDef *hi2c) -{ - if (hi2c->State == HAL_I2C_STATE_READY) - { - hi2c->State = HAL_I2C_STATE_LISTEN; - - /* Check if the I2C is already enabled */ - if ((hi2c->Instance->CR1 & I2C_CR1_PE) != I2C_CR1_PE) - { - /* Enable I2C peripheral */ - __HAL_I2C_ENABLE(hi2c); - } - - /* Enable Address Acknowledge */ - SET_BIT(hi2c->Instance->CR1, I2C_CR1_ACK); - - /* Enable EVT and ERR interrupt */ - __HAL_I2C_ENABLE_IT(hi2c, I2C_IT_EVT | I2C_IT_ERR); - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Disable the Address listen mode with Interrupt. - * @param hi2c Pointer to a I2C_HandleTypeDef structure that contains - * the configuration information for the specified I2C. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_I2C_DisableListen_IT(I2C_HandleTypeDef *hi2c) -{ - /* Declaration of tmp to prevent undefined behavior of volatile usage */ - uint32_t tmp; - - /* Disable Address listen mode only if a transfer is not ongoing */ - if (hi2c->State == HAL_I2C_STATE_LISTEN) - { - tmp = (uint32_t)(hi2c->State) & I2C_STATE_MSK; - hi2c->PreviousState = tmp | (uint32_t)(hi2c->Mode); - hi2c->State = HAL_I2C_STATE_READY; - hi2c->Mode = HAL_I2C_MODE_NONE; - - /* Disable Address Acknowledge */ - CLEAR_BIT(hi2c->Instance->CR1, I2C_CR1_ACK); - - /* Disable EVT and ERR interrupt */ - __HAL_I2C_DISABLE_IT(hi2c, I2C_IT_EVT | I2C_IT_ERR); - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Abort a master I2C IT or DMA process communication with Interrupt. - * @param hi2c Pointer to a I2C_HandleTypeDef structure that contains - * the configuration information for the specified I2C. - * @param DevAddress Target device address: The device 7 bits address value - * in datasheet must be shifted to the left before calling the interface - * @retval HAL status - */ -HAL_StatusTypeDef HAL_I2C_Master_Abort_IT(I2C_HandleTypeDef *hi2c, uint16_t DevAddress) -{ - /* Declaration of temporary variables to prevent undefined behavior of volatile usage */ - HAL_I2C_ModeTypeDef CurrentMode = hi2c->Mode; - - /* Prevent unused argument(s) compilation warning */ - UNUSED(DevAddress); - - /* Abort Master transfer during Receive or Transmit process */ - if ((__HAL_I2C_GET_FLAG(hi2c, I2C_FLAG_BUSY) != RESET) && (CurrentMode == HAL_I2C_MODE_MASTER)) - { - /* Process Locked */ - __HAL_LOCK(hi2c); - - hi2c->PreviousState = I2C_STATE_NONE; - hi2c->State = HAL_I2C_STATE_ABORT; - - /* Disable Acknowledge */ - CLEAR_BIT(hi2c->Instance->CR1, I2C_CR1_ACK); - - /* Generate Stop */ - SET_BIT(hi2c->Instance->CR1, I2C_CR1_STOP); - - hi2c->XferCount = 0U; - - /* Disable EVT, BUF and ERR interrupt */ - __HAL_I2C_DISABLE_IT(hi2c, I2C_IT_EVT | I2C_IT_BUF | I2C_IT_ERR); - - /* Process Unlocked */ - __HAL_UNLOCK(hi2c); - - /* Call the corresponding callback to inform upper layer of End of Transfer */ - I2C_ITError(hi2c); - - return HAL_OK; - } - else - { - /* Wrong usage of abort function */ - /* This function should be used only in case of abort monitored by master device */ - /* Or periphal is not in busy state, mean there is no active sequence to be abort */ - return HAL_ERROR; - } -} - -/** - * @} - */ - -/** @defgroup I2C_IRQ_Handler_and_Callbacks IRQ Handler and Callbacks - * @{ - */ - -/** - * @brief This function handles I2C event interrupt request. - * @param hi2c Pointer to a I2C_HandleTypeDef structure that contains - * the configuration information for the specified I2C. - * @retval None - */ -void HAL_I2C_EV_IRQHandler(I2C_HandleTypeDef *hi2c) -{ - uint32_t sr1itflags; - uint32_t sr2itflags = 0U; - uint32_t itsources = READ_REG(hi2c->Instance->CR2); - uint32_t CurrentXferOptions = hi2c->XferOptions; - HAL_I2C_ModeTypeDef CurrentMode = hi2c->Mode; - HAL_I2C_StateTypeDef CurrentState = hi2c->State; - - /* Master or Memory mode selected */ - if ((CurrentMode == HAL_I2C_MODE_MASTER) || (CurrentMode == HAL_I2C_MODE_MEM)) - { - sr2itflags = READ_REG(hi2c->Instance->SR2); - sr1itflags = READ_REG(hi2c->Instance->SR1); - - /* Exit IRQ event until Start Bit detected in case of Other frame requested */ - if ((I2C_CHECK_FLAG(sr1itflags, I2C_FLAG_SB) == RESET) && (IS_I2C_TRANSFER_OTHER_OPTIONS_REQUEST(CurrentXferOptions) == 1U)) - { - return; - } - - /* SB Set ----------------------------------------------------------------*/ - if ((I2C_CHECK_FLAG(sr1itflags, I2C_FLAG_SB) != RESET) && (I2C_CHECK_IT_SOURCE(itsources, I2C_IT_EVT) != RESET)) - { - /* Convert OTHER_xxx XferOptions if any */ - I2C_ConvertOtherXferOptions(hi2c); - - I2C_Master_SB(hi2c); - } - /* ADD10 Set -------------------------------------------------------------*/ - else if ((I2C_CHECK_FLAG(sr1itflags, I2C_FLAG_ADD10) != RESET) && (I2C_CHECK_IT_SOURCE(itsources, I2C_IT_EVT) != RESET)) - { - I2C_Master_ADD10(hi2c); - } - /* ADDR Set --------------------------------------------------------------*/ - else if ((I2C_CHECK_FLAG(sr1itflags, I2C_FLAG_ADDR) != RESET) && (I2C_CHECK_IT_SOURCE(itsources, I2C_IT_EVT) != RESET)) - { - I2C_Master_ADDR(hi2c); - } - /* I2C in mode Transmitter -----------------------------------------------*/ - else if (I2C_CHECK_FLAG(sr2itflags, I2C_FLAG_TRA) != RESET) - { - /* Do not check buffer and BTF flag if a Xfer DMA is on going */ - if (READ_BIT(hi2c->Instance->CR2, I2C_CR2_DMAEN) != I2C_CR2_DMAEN) - { - /* TXE set and BTF reset -----------------------------------------------*/ - if ((I2C_CHECK_FLAG(sr1itflags, I2C_FLAG_TXE) != RESET) && (I2C_CHECK_IT_SOURCE(itsources, I2C_IT_BUF) != RESET) && (I2C_CHECK_FLAG(sr1itflags, I2C_FLAG_BTF) == RESET)) - { - I2C_MasterTransmit_TXE(hi2c); - } - /* BTF set -------------------------------------------------------------*/ - else if ((I2C_CHECK_FLAG(sr1itflags, I2C_FLAG_BTF) != RESET) && (I2C_CHECK_IT_SOURCE(itsources, I2C_IT_EVT) != RESET)) - { - if (CurrentState == HAL_I2C_STATE_BUSY_TX) - { - I2C_MasterTransmit_BTF(hi2c); - } - else /* HAL_I2C_MODE_MEM */ - { - if (CurrentMode == HAL_I2C_MODE_MEM) - { - I2C_MemoryTransmit_TXE_BTF(hi2c); - } - } - } - else - { - /* Do nothing */ - } - } - } - /* I2C in mode Receiver --------------------------------------------------*/ - else - { - /* Do not check buffer and BTF flag if a Xfer DMA is on going */ - if (READ_BIT(hi2c->Instance->CR2, I2C_CR2_DMAEN) != I2C_CR2_DMAEN) - { - /* RXNE set and BTF reset -----------------------------------------------*/ - if ((I2C_CHECK_FLAG(sr1itflags, I2C_FLAG_RXNE) != RESET) && (I2C_CHECK_IT_SOURCE(itsources, I2C_IT_BUF) != RESET) && (I2C_CHECK_FLAG(sr1itflags, I2C_FLAG_BTF) == RESET)) - { - I2C_MasterReceive_RXNE(hi2c); - } - /* BTF set -------------------------------------------------------------*/ - else if ((I2C_CHECK_FLAG(sr1itflags, I2C_FLAG_BTF) != RESET) && (I2C_CHECK_IT_SOURCE(itsources, I2C_IT_EVT) != RESET)) - { - I2C_MasterReceive_BTF(hi2c); - } - else - { - /* Do nothing */ - } - } - } - } - /* Slave mode selected */ - else - { - /* If an error is detected, read only SR1 register to prevent */ - /* a clear of ADDR flags by reading SR2 after reading SR1 in Error treatment */ - if (hi2c->ErrorCode != HAL_I2C_ERROR_NONE) - { - sr1itflags = READ_REG(hi2c->Instance->SR1); - } - else - { - sr2itflags = READ_REG(hi2c->Instance->SR2); - sr1itflags = READ_REG(hi2c->Instance->SR1); - } - - /* ADDR set --------------------------------------------------------------*/ - if ((I2C_CHECK_FLAG(sr1itflags, I2C_FLAG_ADDR) != RESET) && (I2C_CHECK_IT_SOURCE(itsources, I2C_IT_EVT) != RESET)) - { - /* Now time to read SR2, this will clear ADDR flag automatically */ - if (hi2c->ErrorCode != HAL_I2C_ERROR_NONE) - { - sr2itflags = READ_REG(hi2c->Instance->SR2); - } - I2C_Slave_ADDR(hi2c, sr2itflags); - } - /* STOPF set --------------------------------------------------------------*/ - else if ((I2C_CHECK_FLAG(sr1itflags, I2C_FLAG_STOPF) != RESET) && (I2C_CHECK_IT_SOURCE(itsources, I2C_IT_EVT) != RESET)) - { - I2C_Slave_STOPF(hi2c); - } - /* I2C in mode Transmitter -----------------------------------------------*/ - else if ((CurrentState == HAL_I2C_STATE_BUSY_TX) || (CurrentState == HAL_I2C_STATE_BUSY_TX_LISTEN)) - { - /* TXE set and BTF reset -----------------------------------------------*/ - if ((I2C_CHECK_FLAG(sr1itflags, I2C_FLAG_TXE) != RESET) && (I2C_CHECK_IT_SOURCE(itsources, I2C_IT_BUF) != RESET) && (I2C_CHECK_FLAG(sr1itflags, I2C_FLAG_BTF) == RESET)) - { - I2C_SlaveTransmit_TXE(hi2c); - } - /* BTF set -------------------------------------------------------------*/ - else if ((I2C_CHECK_FLAG(sr1itflags, I2C_FLAG_BTF) != RESET) && (I2C_CHECK_IT_SOURCE(itsources, I2C_IT_EVT) != RESET)) - { - I2C_SlaveTransmit_BTF(hi2c); - } - else - { - /* Do nothing */ - } - } - /* I2C in mode Receiver --------------------------------------------------*/ - else - { - /* RXNE set and BTF reset ----------------------------------------------*/ - if ((I2C_CHECK_FLAG(sr1itflags, I2C_FLAG_RXNE) != RESET) && (I2C_CHECK_IT_SOURCE(itsources, I2C_IT_BUF) != RESET) && (I2C_CHECK_FLAG(sr1itflags, I2C_FLAG_BTF) == RESET)) - { - I2C_SlaveReceive_RXNE(hi2c); - } - /* BTF set -------------------------------------------------------------*/ - else if ((I2C_CHECK_FLAG(sr1itflags, I2C_FLAG_BTF) != RESET) && (I2C_CHECK_IT_SOURCE(itsources, I2C_IT_EVT) != RESET)) - { - I2C_SlaveReceive_BTF(hi2c); - } - else - { - /* Do nothing */ - } - } - } -} - -/** - * @brief This function handles I2C error interrupt request. - * @param hi2c Pointer to a I2C_HandleTypeDef structure that contains - * the configuration information for the specified I2C. - * @retval None - */ -void HAL_I2C_ER_IRQHandler(I2C_HandleTypeDef *hi2c) -{ - HAL_I2C_ModeTypeDef tmp1; - uint32_t tmp2; - HAL_I2C_StateTypeDef tmp3; - uint32_t tmp4; - uint32_t sr1itflags = READ_REG(hi2c->Instance->SR1); - uint32_t itsources = READ_REG(hi2c->Instance->CR2); - uint32_t error = HAL_I2C_ERROR_NONE; - HAL_I2C_ModeTypeDef CurrentMode = hi2c->Mode; - - /* I2C Bus error interrupt occurred ----------------------------------------*/ - if ((I2C_CHECK_FLAG(sr1itflags, I2C_FLAG_BERR) != RESET) && (I2C_CHECK_IT_SOURCE(itsources, I2C_IT_ERR) != RESET)) - { - error |= HAL_I2C_ERROR_BERR; - - /* Clear BERR flag */ - __HAL_I2C_CLEAR_FLAG(hi2c, I2C_FLAG_BERR); - } - - /* I2C Arbitration Lost error interrupt occurred ---------------------------*/ - if ((I2C_CHECK_FLAG(sr1itflags, I2C_FLAG_ARLO) != RESET) && (I2C_CHECK_IT_SOURCE(itsources, I2C_IT_ERR) != RESET)) - { - error |= HAL_I2C_ERROR_ARLO; - - /* Clear ARLO flag */ - __HAL_I2C_CLEAR_FLAG(hi2c, I2C_FLAG_ARLO); - } - - /* I2C Acknowledge failure error interrupt occurred ------------------------*/ - if ((I2C_CHECK_FLAG(sr1itflags, I2C_FLAG_AF) != RESET) && (I2C_CHECK_IT_SOURCE(itsources, I2C_IT_ERR) != RESET)) - { - tmp1 = CurrentMode; - tmp2 = hi2c->XferCount; - tmp3 = hi2c->State; - tmp4 = hi2c->PreviousState; - if ((tmp1 == HAL_I2C_MODE_SLAVE) && (tmp2 == 0U) && \ - ((tmp3 == HAL_I2C_STATE_BUSY_TX) || (tmp3 == HAL_I2C_STATE_BUSY_TX_LISTEN) || \ - ((tmp3 == HAL_I2C_STATE_LISTEN) && (tmp4 == I2C_STATE_SLAVE_BUSY_TX)))) - { - I2C_Slave_AF(hi2c); - } - else - { - /* Clear AF flag */ - __HAL_I2C_CLEAR_FLAG(hi2c, I2C_FLAG_AF); - - error |= HAL_I2C_ERROR_AF; - - /* Do not generate a STOP in case of Slave receive non acknowledge during transfer (mean not at the end of transfer) */ - if ((CurrentMode == HAL_I2C_MODE_MASTER) || (CurrentMode == HAL_I2C_MODE_MEM)) - { - /* Generate Stop */ - SET_BIT(hi2c->Instance->CR1, I2C_CR1_STOP); - } - } - } - - /* I2C Over-Run/Under-Run interrupt occurred -------------------------------*/ - if ((I2C_CHECK_FLAG(sr1itflags, I2C_FLAG_OVR) != RESET) && (I2C_CHECK_IT_SOURCE(itsources, I2C_IT_ERR) != RESET)) - { - error |= HAL_I2C_ERROR_OVR; - /* Clear OVR flag */ - __HAL_I2C_CLEAR_FLAG(hi2c, I2C_FLAG_OVR); - } - - /* Call the Error Callback in case of Error detected -----------------------*/ - if (error != HAL_I2C_ERROR_NONE) - { - hi2c->ErrorCode |= error; - I2C_ITError(hi2c); - } -} - -/** - * @brief Master Tx Transfer completed callback. - * @param hi2c Pointer to a I2C_HandleTypeDef structure that contains - * the configuration information for the specified I2C. - * @retval None - */ -__weak void HAL_I2C_MasterTxCpltCallback(I2C_HandleTypeDef *hi2c) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hi2c); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_I2C_MasterTxCpltCallback could be implemented in the user file - */ -} - -/** - * @brief Master Rx Transfer completed callback. - * @param hi2c Pointer to a I2C_HandleTypeDef structure that contains - * the configuration information for the specified I2C. - * @retval None - */ -__weak void HAL_I2C_MasterRxCpltCallback(I2C_HandleTypeDef *hi2c) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hi2c); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_I2C_MasterRxCpltCallback could be implemented in the user file - */ -} - -/** @brief Slave Tx Transfer completed callback. - * @param hi2c Pointer to a I2C_HandleTypeDef structure that contains - * the configuration information for the specified I2C. - * @retval None - */ -__weak void HAL_I2C_SlaveTxCpltCallback(I2C_HandleTypeDef *hi2c) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hi2c); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_I2C_SlaveTxCpltCallback could be implemented in the user file - */ -} - -/** - * @brief Slave Rx Transfer completed callback. - * @param hi2c Pointer to a I2C_HandleTypeDef structure that contains - * the configuration information for the specified I2C. - * @retval None - */ -__weak void HAL_I2C_SlaveRxCpltCallback(I2C_HandleTypeDef *hi2c) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hi2c); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_I2C_SlaveRxCpltCallback could be implemented in the user file - */ -} - -/** - * @brief Slave Address Match callback. - * @param hi2c Pointer to a I2C_HandleTypeDef structure that contains - * the configuration information for the specified I2C. - * @param TransferDirection Master request Transfer Direction (Write/Read), value of @ref I2C_XferDirection_definition - * @param AddrMatchCode Address Match Code - * @retval None - */ -__weak void HAL_I2C_AddrCallback(I2C_HandleTypeDef *hi2c, uint8_t TransferDirection, uint16_t AddrMatchCode) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hi2c); - UNUSED(TransferDirection); - UNUSED(AddrMatchCode); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_I2C_AddrCallback() could be implemented in the user file - */ -} - -/** - * @brief Listen Complete callback. - * @param hi2c Pointer to a I2C_HandleTypeDef structure that contains - * the configuration information for the specified I2C. - * @retval None - */ -__weak void HAL_I2C_ListenCpltCallback(I2C_HandleTypeDef *hi2c) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hi2c); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_I2C_ListenCpltCallback() could be implemented in the user file - */ -} - -/** - * @brief Memory Tx Transfer completed callback. - * @param hi2c Pointer to a I2C_HandleTypeDef structure that contains - * the configuration information for the specified I2C. - * @retval None - */ -__weak void HAL_I2C_MemTxCpltCallback(I2C_HandleTypeDef *hi2c) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hi2c); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_I2C_MemTxCpltCallback could be implemented in the user file - */ -} - -/** - * @brief Memory Rx Transfer completed callback. - * @param hi2c Pointer to a I2C_HandleTypeDef structure that contains - * the configuration information for the specified I2C. - * @retval None - */ -__weak void HAL_I2C_MemRxCpltCallback(I2C_HandleTypeDef *hi2c) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hi2c); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_I2C_MemRxCpltCallback could be implemented in the user file - */ -} - -/** - * @brief I2C error callback. - * @param hi2c Pointer to a I2C_HandleTypeDef structure that contains - * the configuration information for the specified I2C. - * @retval None - */ -__weak void HAL_I2C_ErrorCallback(I2C_HandleTypeDef *hi2c) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hi2c); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_I2C_ErrorCallback could be implemented in the user file - */ -} - -/** - * @brief I2C abort callback. - * @param hi2c Pointer to a I2C_HandleTypeDef structure that contains - * the configuration information for the specified I2C. - * @retval None - */ -__weak void HAL_I2C_AbortCpltCallback(I2C_HandleTypeDef *hi2c) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hi2c); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_I2C_AbortCpltCallback could be implemented in the user file - */ -} - -/** - * @} - */ - -/** @defgroup I2C_Exported_Functions_Group3 Peripheral State, Mode and Error functions - * @brief Peripheral State, Mode and Error functions - * -@verbatim - =============================================================================== - ##### Peripheral State, Mode and Error functions ##### - =============================================================================== - [..] - This subsection permit to get in run-time the status of the peripheral - and the data flow. - -@endverbatim - * @{ - */ - -/** - * @brief Return the I2C handle state. - * @param hi2c Pointer to a I2C_HandleTypeDef structure that contains - * the configuration information for the specified I2C. - * @retval HAL state - */ -HAL_I2C_StateTypeDef HAL_I2C_GetState(I2C_HandleTypeDef *hi2c) -{ - /* Return I2C handle state */ - return hi2c->State; -} - -/** - * @brief Returns the I2C Master, Slave, Memory or no mode. - * @param hi2c Pointer to a I2C_HandleTypeDef structure that contains - * the configuration information for I2C module - * @retval HAL mode - */ -HAL_I2C_ModeTypeDef HAL_I2C_GetMode(I2C_HandleTypeDef *hi2c) -{ - return hi2c->Mode; -} - -/** - * @brief Return the I2C error code. - * @param hi2c Pointer to a I2C_HandleTypeDef structure that contains - * the configuration information for the specified I2C. - * @retval I2C Error Code - */ -uint32_t HAL_I2C_GetError(I2C_HandleTypeDef *hi2c) -{ - return hi2c->ErrorCode; -} - -/** - * @} - */ - -/** - * @} - */ - -/** @addtogroup I2C_Private_Functions - * @{ - */ - -/** - * @brief Handle TXE flag for Master - * @param hi2c Pointer to a I2C_HandleTypeDef structure that contains - * the configuration information for I2C module - * @retval None - */ -static void I2C_MasterTransmit_TXE(I2C_HandleTypeDef *hi2c) -{ - /* Declaration of temporary variables to prevent undefined behavior of volatile usage */ - HAL_I2C_StateTypeDef CurrentState = hi2c->State; - HAL_I2C_ModeTypeDef CurrentMode = hi2c->Mode; - uint32_t CurrentXferOptions = hi2c->XferOptions; - - if ((hi2c->XferSize == 0U) && (CurrentState == HAL_I2C_STATE_BUSY_TX)) - { - /* Call TxCpltCallback() directly if no stop mode is set */ - if ((CurrentXferOptions != I2C_FIRST_AND_LAST_FRAME) && (CurrentXferOptions != I2C_LAST_FRAME) && (CurrentXferOptions != I2C_NO_OPTION_FRAME)) - { - __HAL_I2C_DISABLE_IT(hi2c, I2C_IT_EVT | I2C_IT_BUF | I2C_IT_ERR); - - hi2c->PreviousState = I2C_STATE_MASTER_BUSY_TX; - hi2c->Mode = HAL_I2C_MODE_NONE; - hi2c->State = HAL_I2C_STATE_READY; - -#if (USE_HAL_I2C_REGISTER_CALLBACKS == 1) - hi2c->MasterTxCpltCallback(hi2c); -#else - HAL_I2C_MasterTxCpltCallback(hi2c); -#endif /* USE_HAL_I2C_REGISTER_CALLBACKS */ - } - else /* Generate Stop condition then Call TxCpltCallback() */ - { - /* Disable EVT, BUF and ERR interrupt */ - __HAL_I2C_DISABLE_IT(hi2c, I2C_IT_EVT | I2C_IT_BUF | I2C_IT_ERR); - - /* Generate Stop */ - SET_BIT(hi2c->Instance->CR1, I2C_CR1_STOP); - - hi2c->PreviousState = I2C_STATE_NONE; - hi2c->State = HAL_I2C_STATE_READY; - - if (hi2c->Mode == HAL_I2C_MODE_MEM) - { - hi2c->Mode = HAL_I2C_MODE_NONE; -#if (USE_HAL_I2C_REGISTER_CALLBACKS == 1) - hi2c->MemTxCpltCallback(hi2c); -#else - HAL_I2C_MemTxCpltCallback(hi2c); -#endif /* USE_HAL_I2C_REGISTER_CALLBACKS */ - } - else - { - hi2c->Mode = HAL_I2C_MODE_NONE; -#if (USE_HAL_I2C_REGISTER_CALLBACKS == 1) - hi2c->MasterTxCpltCallback(hi2c); -#else - HAL_I2C_MasterTxCpltCallback(hi2c); -#endif /* USE_HAL_I2C_REGISTER_CALLBACKS */ - } - } - } - else if ((CurrentState == HAL_I2C_STATE_BUSY_TX) || \ - ((CurrentMode == HAL_I2C_MODE_MEM) && (CurrentState == HAL_I2C_STATE_BUSY_RX))) - { - if (hi2c->XferCount == 0U) - { - /* Disable BUF interrupt */ - __HAL_I2C_DISABLE_IT(hi2c, I2C_IT_BUF); - } - else - { - if (hi2c->Mode == HAL_I2C_MODE_MEM) - { - I2C_MemoryTransmit_TXE_BTF(hi2c); - } - else - { - /* Write data to DR */ - hi2c->Instance->DR = *hi2c->pBuffPtr; - - /* Increment Buffer pointer */ - hi2c->pBuffPtr++; - - /* Update counter */ - hi2c->XferCount--; - } - } - } - else - { - /* Do nothing */ - } -} - -/** - * @brief Handle BTF flag for Master transmitter - * @param hi2c Pointer to a I2C_HandleTypeDef structure that contains - * the configuration information for I2C module - * @retval None - */ -static void I2C_MasterTransmit_BTF(I2C_HandleTypeDef *hi2c) -{ - /* Declaration of temporary variables to prevent undefined behavior of volatile usage */ - uint32_t CurrentXferOptions = hi2c->XferOptions; - - if (hi2c->State == HAL_I2C_STATE_BUSY_TX) - { - if (hi2c->XferCount != 0U) - { - /* Write data to DR */ - hi2c->Instance->DR = *hi2c->pBuffPtr; - - /* Increment Buffer pointer */ - hi2c->pBuffPtr++; - - /* Update counter */ - hi2c->XferCount--; - } - else - { - /* Call TxCpltCallback() directly if no stop mode is set */ - if ((CurrentXferOptions != I2C_FIRST_AND_LAST_FRAME) && (CurrentXferOptions != I2C_LAST_FRAME) && (CurrentXferOptions != I2C_NO_OPTION_FRAME)) - { - __HAL_I2C_DISABLE_IT(hi2c, I2C_IT_EVT | I2C_IT_BUF | I2C_IT_ERR); - - hi2c->PreviousState = I2C_STATE_MASTER_BUSY_TX; - hi2c->Mode = HAL_I2C_MODE_NONE; - hi2c->State = HAL_I2C_STATE_READY; - -#if (USE_HAL_I2C_REGISTER_CALLBACKS == 1) - hi2c->MasterTxCpltCallback(hi2c); -#else - HAL_I2C_MasterTxCpltCallback(hi2c); -#endif /* USE_HAL_I2C_REGISTER_CALLBACKS */ - } - else /* Generate Stop condition then Call TxCpltCallback() */ - { - /* Disable EVT, BUF and ERR interrupt */ - __HAL_I2C_DISABLE_IT(hi2c, I2C_IT_EVT | I2C_IT_BUF | I2C_IT_ERR); - - /* Generate Stop */ - SET_BIT(hi2c->Instance->CR1, I2C_CR1_STOP); - - hi2c->PreviousState = I2C_STATE_NONE; - hi2c->State = HAL_I2C_STATE_READY; - if (hi2c->Mode == HAL_I2C_MODE_MEM) - { - hi2c->Mode = HAL_I2C_MODE_NONE; -#if (USE_HAL_I2C_REGISTER_CALLBACKS == 1) - hi2c->MemTxCpltCallback(hi2c); -#else - HAL_I2C_MemTxCpltCallback(hi2c); -#endif /* USE_HAL_I2C_REGISTER_CALLBACKS */ - } - else - { - hi2c->Mode = HAL_I2C_MODE_NONE; - -#if (USE_HAL_I2C_REGISTER_CALLBACKS == 1) - hi2c->MasterTxCpltCallback(hi2c); -#else - HAL_I2C_MasterTxCpltCallback(hi2c); -#endif /* USE_HAL_I2C_REGISTER_CALLBACKS */ - } - } - } - } - else - { - /* Do nothing */ - } -} - -/** - * @brief Handle TXE and BTF flag for Memory transmitter - * @param hi2c Pointer to a I2C_HandleTypeDef structure that contains - * the configuration information for I2C module - * @retval None - */ -static void I2C_MemoryTransmit_TXE_BTF(I2C_HandleTypeDef *hi2c) -{ - /* Declaration of temporary variables to prevent undefined behavior of volatile usage */ - HAL_I2C_StateTypeDef CurrentState = hi2c->State; - - if (hi2c->EventCount == 0U) - { - /* If Memory address size is 8Bit */ - if (hi2c->MemaddSize == I2C_MEMADD_SIZE_8BIT) - { - /* Send Memory Address */ - hi2c->Instance->DR = I2C_MEM_ADD_LSB(hi2c->Memaddress); - - hi2c->EventCount += 2U; - } - /* If Memory address size is 16Bit */ - else - { - /* Send MSB of Memory Address */ - hi2c->Instance->DR = I2C_MEM_ADD_MSB(hi2c->Memaddress); - - hi2c->EventCount++; - } - } - else if (hi2c->EventCount == 1U) - { - /* Send LSB of Memory Address */ - hi2c->Instance->DR = I2C_MEM_ADD_LSB(hi2c->Memaddress); - - hi2c->EventCount++; - } - else if (hi2c->EventCount == 2U) - { - if (CurrentState == HAL_I2C_STATE_BUSY_RX) - { - /* Generate Restart */ - hi2c->Instance->CR1 |= I2C_CR1_START; - - hi2c->EventCount++; - } - else if ((hi2c->XferCount > 0U) && (CurrentState == HAL_I2C_STATE_BUSY_TX)) - { - /* Write data to DR */ - hi2c->Instance->DR = *hi2c->pBuffPtr; - - /* Increment Buffer pointer */ - hi2c->pBuffPtr++; - - /* Update counter */ - hi2c->XferCount--; - } - else if ((hi2c->XferCount == 0U) && (CurrentState == HAL_I2C_STATE_BUSY_TX)) - { - /* Generate Stop condition then Call TxCpltCallback() */ - /* Disable EVT, BUF and ERR interrupt */ - __HAL_I2C_DISABLE_IT(hi2c, I2C_IT_EVT | I2C_IT_BUF | I2C_IT_ERR); - - /* Generate Stop */ - SET_BIT(hi2c->Instance->CR1, I2C_CR1_STOP); - - hi2c->PreviousState = I2C_STATE_NONE; - hi2c->State = HAL_I2C_STATE_READY; - hi2c->Mode = HAL_I2C_MODE_NONE; -#if (USE_HAL_I2C_REGISTER_CALLBACKS == 1) - hi2c->MemTxCpltCallback(hi2c); -#else - HAL_I2C_MemTxCpltCallback(hi2c); -#endif /* USE_HAL_I2C_REGISTER_CALLBACKS */ - } - else - { - /* Do nothing */ - } - } - else - { - /* Do nothing */ - } -} - -/** - * @brief Handle RXNE flag for Master - * @param hi2c Pointer to a I2C_HandleTypeDef structure that contains - * the configuration information for I2C module - * @retval None - */ -static void I2C_MasterReceive_RXNE(I2C_HandleTypeDef *hi2c) -{ - if (hi2c->State == HAL_I2C_STATE_BUSY_RX) - { - uint32_t tmp; - - tmp = hi2c->XferCount; - if (tmp > 3U) - { - /* Read data from DR */ - *hi2c->pBuffPtr = (uint8_t)hi2c->Instance->DR; - - /* Increment Buffer pointer */ - hi2c->pBuffPtr++; - - /* Update counter */ - hi2c->XferCount--; - - if (hi2c->XferCount == (uint16_t)3) - { - /* Disable BUF interrupt, this help to treat correctly the last 4 bytes - on BTF subroutine */ - /* Disable BUF interrupt */ - __HAL_I2C_DISABLE_IT(hi2c, I2C_IT_BUF); - } - } - else if ((hi2c->XferOptions != I2C_FIRST_AND_NEXT_FRAME) && ((tmp == 1U) || (tmp == 0U))) - { - if (I2C_WaitOnSTOPRequestThroughIT(hi2c) == HAL_OK) - { - /* Disable Acknowledge */ - CLEAR_BIT(hi2c->Instance->CR1, I2C_CR1_ACK); - - /* Disable EVT, BUF and ERR interrupt */ - __HAL_I2C_DISABLE_IT(hi2c, I2C_IT_EVT | I2C_IT_BUF | I2C_IT_ERR); - - /* Read data from DR */ - *hi2c->pBuffPtr = (uint8_t)hi2c->Instance->DR; - - /* Increment Buffer pointer */ - hi2c->pBuffPtr++; - - /* Update counter */ - hi2c->XferCount--; - - hi2c->State = HAL_I2C_STATE_READY; - - if (hi2c->Mode == HAL_I2C_MODE_MEM) - { - hi2c->Mode = HAL_I2C_MODE_NONE; - hi2c->PreviousState = I2C_STATE_NONE; - -#if (USE_HAL_I2C_REGISTER_CALLBACKS == 1) - hi2c->MemRxCpltCallback(hi2c); -#else - HAL_I2C_MemRxCpltCallback(hi2c); -#endif /* USE_HAL_I2C_REGISTER_CALLBACKS */ - } - else - { - hi2c->Mode = HAL_I2C_MODE_NONE; - hi2c->PreviousState = I2C_STATE_MASTER_BUSY_RX; - -#if (USE_HAL_I2C_REGISTER_CALLBACKS == 1) - hi2c->MasterRxCpltCallback(hi2c); -#else - HAL_I2C_MasterRxCpltCallback(hi2c); -#endif /* USE_HAL_I2C_REGISTER_CALLBACKS */ - } - } - else - { - /* Disable EVT, BUF and ERR interrupt */ - __HAL_I2C_DISABLE_IT(hi2c, I2C_IT_EVT | I2C_IT_BUF | I2C_IT_ERR); - - /* Read data from DR */ - *hi2c->pBuffPtr = (uint8_t)hi2c->Instance->DR; - - /* Increment Buffer pointer */ - hi2c->pBuffPtr++; - - /* Update counter */ - hi2c->XferCount--; - - hi2c->State = HAL_I2C_STATE_READY; - hi2c->Mode = HAL_I2C_MODE_NONE; - - /* Call user error callback */ -#if (USE_HAL_I2C_REGISTER_CALLBACKS == 1) - hi2c->ErrorCallback(hi2c); -#else - HAL_I2C_ErrorCallback(hi2c); -#endif /* USE_HAL_I2C_REGISTER_CALLBACKS */ - } - } - else - { - /* Do nothing */ - } - } -} - -/** - * @brief Handle BTF flag for Master receiver - * @param hi2c Pointer to a I2C_HandleTypeDef structure that contains - * the configuration information for I2C module - * @retval None - */ -static void I2C_MasterReceive_BTF(I2C_HandleTypeDef *hi2c) -{ - /* Declaration of temporary variables to prevent undefined behavior of volatile usage */ - uint32_t CurrentXferOptions = hi2c->XferOptions; - - if (hi2c->XferCount == 4U) - { - /* Disable BUF interrupt, this help to treat correctly the last 2 bytes - on BTF subroutine if there is a reception delay between N-1 and N byte */ - __HAL_I2C_DISABLE_IT(hi2c, I2C_IT_BUF); - - /* Read data from DR */ - *hi2c->pBuffPtr = (uint8_t)hi2c->Instance->DR; - - /* Increment Buffer pointer */ - hi2c->pBuffPtr++; - - /* Update counter */ - hi2c->XferCount--; - } - else if (hi2c->XferCount == 3U) - { - /* Disable BUF interrupt, this help to treat correctly the last 2 bytes - on BTF subroutine if there is a reception delay between N-1 and N byte */ - __HAL_I2C_DISABLE_IT(hi2c, I2C_IT_BUF); - - if ((CurrentXferOptions != I2C_NEXT_FRAME) && (CurrentXferOptions != I2C_FIRST_AND_NEXT_FRAME)) - { - /* Disable Acknowledge */ - CLEAR_BIT(hi2c->Instance->CR1, I2C_CR1_ACK); - } - - /* Read data from DR */ - *hi2c->pBuffPtr = (uint8_t)hi2c->Instance->DR; - - /* Increment Buffer pointer */ - hi2c->pBuffPtr++; - - /* Update counter */ - hi2c->XferCount--; - } - else if (hi2c->XferCount == 2U) - { - /* Prepare next transfer or stop current transfer */ - if ((CurrentXferOptions == I2C_FIRST_FRAME) || (CurrentXferOptions == I2C_LAST_FRAME_NO_STOP)) - { - /* Disable Acknowledge */ - CLEAR_BIT(hi2c->Instance->CR1, I2C_CR1_ACK); - } - else if ((CurrentXferOptions == I2C_NEXT_FRAME) || (CurrentXferOptions == I2C_FIRST_AND_NEXT_FRAME)) - { - /* Enable Acknowledge */ - SET_BIT(hi2c->Instance->CR1, I2C_CR1_ACK); - } - else if (CurrentXferOptions != I2C_LAST_FRAME_NO_STOP) - { - /* Generate Stop */ - SET_BIT(hi2c->Instance->CR1, I2C_CR1_STOP); - } - else - { - /* Do nothing */ - } - - /* Read data from DR */ - *hi2c->pBuffPtr = (uint8_t)hi2c->Instance->DR; - - /* Increment Buffer pointer */ - hi2c->pBuffPtr++; - - /* Update counter */ - hi2c->XferCount--; - - /* Read data from DR */ - *hi2c->pBuffPtr = (uint8_t)hi2c->Instance->DR; - - /* Increment Buffer pointer */ - hi2c->pBuffPtr++; - - /* Update counter */ - hi2c->XferCount--; - - /* Disable EVT and ERR interrupt */ - __HAL_I2C_DISABLE_IT(hi2c, I2C_IT_EVT | I2C_IT_ERR); - - hi2c->State = HAL_I2C_STATE_READY; - if (hi2c->Mode == HAL_I2C_MODE_MEM) - { - hi2c->Mode = HAL_I2C_MODE_NONE; - hi2c->PreviousState = I2C_STATE_NONE; -#if (USE_HAL_I2C_REGISTER_CALLBACKS == 1) - hi2c->MemRxCpltCallback(hi2c); -#else - HAL_I2C_MemRxCpltCallback(hi2c); -#endif /* USE_HAL_I2C_REGISTER_CALLBACKS */ - } - else - { - hi2c->Mode = HAL_I2C_MODE_NONE; - hi2c->PreviousState = I2C_STATE_MASTER_BUSY_RX; -#if (USE_HAL_I2C_REGISTER_CALLBACKS == 1) - hi2c->MasterRxCpltCallback(hi2c); -#else - HAL_I2C_MasterRxCpltCallback(hi2c); -#endif /* USE_HAL_I2C_REGISTER_CALLBACKS */ - } - } - else - { - /* Read data from DR */ - *hi2c->pBuffPtr = (uint8_t)hi2c->Instance->DR; - - /* Increment Buffer pointer */ - hi2c->pBuffPtr++; - - /* Update counter */ - hi2c->XferCount--; - } -} - -/** - * @brief Handle SB flag for Master - * @param hi2c Pointer to a I2C_HandleTypeDef structure that contains - * the configuration information for I2C module - * @retval None - */ -static void I2C_Master_SB(I2C_HandleTypeDef *hi2c) -{ - if (hi2c->Mode == HAL_I2C_MODE_MEM) - { - if (hi2c->EventCount == 0U) - { - /* Send slave address */ - hi2c->Instance->DR = I2C_7BIT_ADD_WRITE(hi2c->Devaddress); - } - else - { - hi2c->Instance->DR = I2C_7BIT_ADD_READ(hi2c->Devaddress); - } - } - else - { - if (hi2c->Init.AddressingMode == I2C_ADDRESSINGMODE_7BIT) - { - /* Send slave 7 Bits address */ - if (hi2c->State == HAL_I2C_STATE_BUSY_TX) - { - hi2c->Instance->DR = I2C_7BIT_ADD_WRITE(hi2c->Devaddress); - } - else - { - hi2c->Instance->DR = I2C_7BIT_ADD_READ(hi2c->Devaddress); - } - - if (((hi2c->hdmatx != NULL) && (hi2c->hdmatx->XferCpltCallback != NULL)) - || ((hi2c->hdmarx != NULL) && (hi2c->hdmarx->XferCpltCallback != NULL))) - { - /* Enable DMA Request */ - SET_BIT(hi2c->Instance->CR2, I2C_CR2_DMAEN); - } - } - else - { - if (hi2c->EventCount == 0U) - { - /* Send header of slave address */ - hi2c->Instance->DR = I2C_10BIT_HEADER_WRITE(hi2c->Devaddress); - } - else if (hi2c->EventCount == 1U) - { - /* Send header of slave address */ - hi2c->Instance->DR = I2C_10BIT_HEADER_READ(hi2c->Devaddress); - } - else - { - /* Do nothing */ - } - } - } -} - -/** - * @brief Handle ADD10 flag for Master - * @param hi2c Pointer to a I2C_HandleTypeDef structure that contains - * the configuration information for I2C module - * @retval None - */ -static void I2C_Master_ADD10(I2C_HandleTypeDef *hi2c) -{ - /* Send slave address */ - hi2c->Instance->DR = I2C_10BIT_ADDRESS(hi2c->Devaddress); - - if (((hi2c->hdmatx != NULL) && (hi2c->hdmatx->XferCpltCallback != NULL)) - || ((hi2c->hdmarx != NULL) && (hi2c->hdmarx->XferCpltCallback != NULL))) - { - /* Enable DMA Request */ - SET_BIT(hi2c->Instance->CR2, I2C_CR2_DMAEN); - } -} - -/** - * @brief Handle ADDR flag for Master - * @param hi2c Pointer to a I2C_HandleTypeDef structure that contains - * the configuration information for I2C module - * @retval None - */ -static void I2C_Master_ADDR(I2C_HandleTypeDef *hi2c) -{ - /* Declaration of temporary variable to prevent undefined behavior of volatile usage */ - HAL_I2C_ModeTypeDef CurrentMode = hi2c->Mode; - uint32_t CurrentXferOptions = hi2c->XferOptions; - uint32_t Prev_State = hi2c->PreviousState; - - if (hi2c->State == HAL_I2C_STATE_BUSY_RX) - { - if ((hi2c->EventCount == 0U) && (CurrentMode == HAL_I2C_MODE_MEM)) - { - /* Clear ADDR flag */ - __HAL_I2C_CLEAR_ADDRFLAG(hi2c); - } - else if ((hi2c->EventCount == 0U) && (hi2c->Init.AddressingMode == I2C_ADDRESSINGMODE_10BIT)) - { - /* Clear ADDR flag */ - __HAL_I2C_CLEAR_ADDRFLAG(hi2c); - - /* Generate Restart */ - SET_BIT(hi2c->Instance->CR1, I2C_CR1_START); - - hi2c->EventCount++; - } - else - { - if (hi2c->XferCount == 0U) - { - /* Clear ADDR flag */ - __HAL_I2C_CLEAR_ADDRFLAG(hi2c); - - /* Generate Stop */ - SET_BIT(hi2c->Instance->CR1, I2C_CR1_STOP); - } - else if (hi2c->XferCount == 1U) - { - if (CurrentXferOptions == I2C_NO_OPTION_FRAME) - { - /* Disable Acknowledge */ - CLEAR_BIT(hi2c->Instance->CR1, I2C_CR1_ACK); - - if ((hi2c->Instance->CR2 & I2C_CR2_DMAEN) == I2C_CR2_DMAEN) - { - /* Disable Acknowledge */ - CLEAR_BIT(hi2c->Instance->CR1, I2C_CR1_ACK); - - /* Clear ADDR flag */ - __HAL_I2C_CLEAR_ADDRFLAG(hi2c); - } - else - { - /* Clear ADDR flag */ - __HAL_I2C_CLEAR_ADDRFLAG(hi2c); - - /* Generate Stop */ - SET_BIT(hi2c->Instance->CR1, I2C_CR1_STOP); - } - } - /* Prepare next transfer or stop current transfer */ - else if ((CurrentXferOptions != I2C_FIRST_AND_LAST_FRAME) && (CurrentXferOptions != I2C_LAST_FRAME) \ - && ((Prev_State != I2C_STATE_MASTER_BUSY_RX) || (CurrentXferOptions == I2C_FIRST_FRAME))) - { - if ((CurrentXferOptions != I2C_NEXT_FRAME) && (CurrentXferOptions != I2C_FIRST_AND_NEXT_FRAME) && (CurrentXferOptions != I2C_LAST_FRAME_NO_STOP)) - { - /* Disable Acknowledge */ - CLEAR_BIT(hi2c->Instance->CR1, I2C_CR1_ACK); - } - else - { - /* Enable Acknowledge */ - SET_BIT(hi2c->Instance->CR1, I2C_CR1_ACK); - } - - /* Clear ADDR flag */ - __HAL_I2C_CLEAR_ADDRFLAG(hi2c); - } - else - { - /* Disable Acknowledge */ - CLEAR_BIT(hi2c->Instance->CR1, I2C_CR1_ACK); - - /* Clear ADDR flag */ - __HAL_I2C_CLEAR_ADDRFLAG(hi2c); - - /* Generate Stop */ - SET_BIT(hi2c->Instance->CR1, I2C_CR1_STOP); - } - } - else if (hi2c->XferCount == 2U) - { - if ((CurrentXferOptions != I2C_NEXT_FRAME) && (CurrentXferOptions != I2C_FIRST_AND_NEXT_FRAME) && (CurrentXferOptions != I2C_LAST_FRAME_NO_STOP)) - { - /* Disable Acknowledge */ - CLEAR_BIT(hi2c->Instance->CR1, I2C_CR1_ACK); - - /* Enable Pos */ - SET_BIT(hi2c->Instance->CR1, I2C_CR1_POS); - } - else - { - /* Enable Acknowledge */ - SET_BIT(hi2c->Instance->CR1, I2C_CR1_ACK); - } - - if (((hi2c->Instance->CR2 & I2C_CR2_DMAEN) == I2C_CR2_DMAEN) && ((CurrentXferOptions == I2C_NO_OPTION_FRAME) || (CurrentXferOptions == I2C_FIRST_FRAME) || (CurrentXferOptions == I2C_FIRST_AND_LAST_FRAME) || (CurrentXferOptions == I2C_LAST_FRAME_NO_STOP) || (CurrentXferOptions == I2C_LAST_FRAME))) - { - /* Enable Last DMA bit */ - SET_BIT(hi2c->Instance->CR2, I2C_CR2_LAST); - } - - /* Clear ADDR flag */ - __HAL_I2C_CLEAR_ADDRFLAG(hi2c); - } - else - { - /* Enable Acknowledge */ - SET_BIT(hi2c->Instance->CR1, I2C_CR1_ACK); - - if (((hi2c->Instance->CR2 & I2C_CR2_DMAEN) == I2C_CR2_DMAEN) && ((CurrentXferOptions == I2C_NO_OPTION_FRAME) || (CurrentXferOptions == I2C_FIRST_FRAME) || (CurrentXferOptions == I2C_FIRST_AND_LAST_FRAME) || (CurrentXferOptions == I2C_LAST_FRAME_NO_STOP) || (CurrentXferOptions == I2C_LAST_FRAME))) - { - /* Enable Last DMA bit */ - SET_BIT(hi2c->Instance->CR2, I2C_CR2_LAST); - } - - /* Clear ADDR flag */ - __HAL_I2C_CLEAR_ADDRFLAG(hi2c); - } - - /* Reset Event counter */ - hi2c->EventCount = 0U; - } - } - else - { - /* Clear ADDR flag */ - __HAL_I2C_CLEAR_ADDRFLAG(hi2c); - } -} - -/** - * @brief Handle TXE flag for Slave - * @param hi2c Pointer to a I2C_HandleTypeDef structure that contains - * the configuration information for I2C module - * @retval None - */ -static void I2C_SlaveTransmit_TXE(I2C_HandleTypeDef *hi2c) -{ - /* Declaration of temporary variables to prevent undefined behavior of volatile usage */ - HAL_I2C_StateTypeDef CurrentState = hi2c->State; - - if (hi2c->XferCount != 0U) - { - /* Write data to DR */ - hi2c->Instance->DR = *hi2c->pBuffPtr; - - /* Increment Buffer pointer */ - hi2c->pBuffPtr++; - - /* Update counter */ - hi2c->XferCount--; - - if ((hi2c->XferCount == 0U) && (CurrentState == HAL_I2C_STATE_BUSY_TX_LISTEN)) - { - /* Last Byte is received, disable Interrupt */ - __HAL_I2C_DISABLE_IT(hi2c, I2C_IT_BUF); - - /* Set state at HAL_I2C_STATE_LISTEN */ - hi2c->PreviousState = I2C_STATE_SLAVE_BUSY_TX; - hi2c->State = HAL_I2C_STATE_LISTEN; - - /* Call the corresponding callback to inform upper layer of End of Transfer */ -#if (USE_HAL_I2C_REGISTER_CALLBACKS == 1) - hi2c->SlaveTxCpltCallback(hi2c); -#else - HAL_I2C_SlaveTxCpltCallback(hi2c); -#endif /* USE_HAL_I2C_REGISTER_CALLBACKS */ - } - } -} - -/** - * @brief Handle BTF flag for Slave transmitter - * @param hi2c Pointer to a I2C_HandleTypeDef structure that contains - * the configuration information for I2C module - * @retval None - */ -static void I2C_SlaveTransmit_BTF(I2C_HandleTypeDef *hi2c) -{ - if (hi2c->XferCount != 0U) - { - /* Write data to DR */ - hi2c->Instance->DR = *hi2c->pBuffPtr; - - /* Increment Buffer pointer */ - hi2c->pBuffPtr++; - - /* Update counter */ - hi2c->XferCount--; - } -} - -/** - * @brief Handle RXNE flag for Slave - * @param hi2c Pointer to a I2C_HandleTypeDef structure that contains - * the configuration information for I2C module - * @retval None - */ -static void I2C_SlaveReceive_RXNE(I2C_HandleTypeDef *hi2c) -{ - /* Declaration of temporary variables to prevent undefined behavior of volatile usage */ - HAL_I2C_StateTypeDef CurrentState = hi2c->State; - - if (hi2c->XferCount != 0U) - { - /* Read data from DR */ - *hi2c->pBuffPtr = (uint8_t)hi2c->Instance->DR; - - /* Increment Buffer pointer */ - hi2c->pBuffPtr++; - - /* Update counter */ - hi2c->XferCount--; - - if ((hi2c->XferCount == 0U) && (CurrentState == HAL_I2C_STATE_BUSY_RX_LISTEN)) - { - /* Last Byte is received, disable Interrupt */ - __HAL_I2C_DISABLE_IT(hi2c, I2C_IT_BUF); - - /* Set state at HAL_I2C_STATE_LISTEN */ - hi2c->PreviousState = I2C_STATE_SLAVE_BUSY_RX; - hi2c->State = HAL_I2C_STATE_LISTEN; - - /* Call the corresponding callback to inform upper layer of End of Transfer */ -#if (USE_HAL_I2C_REGISTER_CALLBACKS == 1) - hi2c->SlaveRxCpltCallback(hi2c); -#else - HAL_I2C_SlaveRxCpltCallback(hi2c); -#endif /* USE_HAL_I2C_REGISTER_CALLBACKS */ - } - } -} - -/** - * @brief Handle BTF flag for Slave receiver - * @param hi2c Pointer to a I2C_HandleTypeDef structure that contains - * the configuration information for I2C module - * @retval None - */ -static void I2C_SlaveReceive_BTF(I2C_HandleTypeDef *hi2c) -{ - if (hi2c->XferCount != 0U) - { - /* Read data from DR */ - *hi2c->pBuffPtr = (uint8_t)hi2c->Instance->DR; - - /* Increment Buffer pointer */ - hi2c->pBuffPtr++; - - /* Update counter */ - hi2c->XferCount--; - } -} - -/** - * @brief Handle ADD flag for Slave - * @param hi2c Pointer to a I2C_HandleTypeDef structure that contains - * the configuration information for I2C module - * @param IT2Flags Interrupt2 flags to handle. - * @retval None - */ -static void I2C_Slave_ADDR(I2C_HandleTypeDef *hi2c, uint32_t IT2Flags) -{ - uint8_t TransferDirection = I2C_DIRECTION_RECEIVE; - uint16_t SlaveAddrCode; - - if (((uint32_t)hi2c->State & (uint32_t)HAL_I2C_STATE_LISTEN) == (uint32_t)HAL_I2C_STATE_LISTEN) - { - /* Disable BUF interrupt, BUF enabling is manage through slave specific interface */ - __HAL_I2C_DISABLE_IT(hi2c, (I2C_IT_BUF)); - - /* Transfer Direction requested by Master */ - if (I2C_CHECK_FLAG(IT2Flags, I2C_FLAG_TRA) == RESET) - { - TransferDirection = I2C_DIRECTION_TRANSMIT; - } - - if (I2C_CHECK_FLAG(IT2Flags, I2C_FLAG_DUALF) == RESET) - { - SlaveAddrCode = (uint16_t)hi2c->Init.OwnAddress1; - } - else - { - SlaveAddrCode = (uint16_t)hi2c->Init.OwnAddress2; - } - - /* Process Unlocked */ - __HAL_UNLOCK(hi2c); - - /* Call Slave Addr callback */ -#if (USE_HAL_I2C_REGISTER_CALLBACKS == 1) - hi2c->AddrCallback(hi2c, TransferDirection, SlaveAddrCode); -#else - HAL_I2C_AddrCallback(hi2c, TransferDirection, SlaveAddrCode); -#endif /* USE_HAL_I2C_REGISTER_CALLBACKS */ - } - else - { - /* Clear ADDR flag */ - __HAL_I2C_CLEAR_ADDRFLAG(hi2c); - - /* Process Unlocked */ - __HAL_UNLOCK(hi2c); - } -} - -/** - * @brief Handle STOPF flag for Slave - * @param hi2c Pointer to a I2C_HandleTypeDef structure that contains - * the configuration information for I2C module - * @retval None - */ -static void I2C_Slave_STOPF(I2C_HandleTypeDef *hi2c) -{ - /* Declaration of temporary variable to prevent undefined behavior of volatile usage */ - HAL_I2C_StateTypeDef CurrentState = hi2c->State; - - /* Disable EVT, BUF and ERR interrupt */ - __HAL_I2C_DISABLE_IT(hi2c, I2C_IT_EVT | I2C_IT_BUF | I2C_IT_ERR); - - /* Clear STOPF flag */ - __HAL_I2C_CLEAR_STOPFLAG(hi2c); - - /* Disable Acknowledge */ - CLEAR_BIT(hi2c->Instance->CR1, I2C_CR1_ACK); - - /* If a DMA is ongoing, Update handle size context */ - if ((hi2c->Instance->CR2 & I2C_CR2_DMAEN) == I2C_CR2_DMAEN) - { - if ((CurrentState == HAL_I2C_STATE_BUSY_RX) || (CurrentState == HAL_I2C_STATE_BUSY_RX_LISTEN)) - { - hi2c->XferCount = (uint16_t)(__HAL_DMA_GET_COUNTER(hi2c->hdmarx)); - - if (hi2c->XferCount != 0U) - { - /* Set ErrorCode corresponding to a Non-Acknowledge */ - hi2c->ErrorCode |= HAL_I2C_ERROR_AF; - } - - /* Disable, stop the current DMA */ - CLEAR_BIT(hi2c->Instance->CR2, I2C_CR2_DMAEN); - - /* Abort DMA Xfer if any */ - if (HAL_DMA_GetState(hi2c->hdmarx) != HAL_DMA_STATE_READY) - { - /* Set the I2C DMA Abort callback : - will lead to call HAL_I2C_ErrorCallback() at end of DMA abort procedure */ - hi2c->hdmarx->XferAbortCallback = I2C_DMAAbort; - - /* Abort DMA RX */ - if (HAL_DMA_Abort_IT(hi2c->hdmarx) != HAL_OK) - { - /* Call Directly XferAbortCallback function in case of error */ - hi2c->hdmarx->XferAbortCallback(hi2c->hdmarx); - } - } - } - else - { - hi2c->XferCount = (uint16_t)(__HAL_DMA_GET_COUNTER(hi2c->hdmatx)); - - if (hi2c->XferCount != 0U) - { - /* Set ErrorCode corresponding to a Non-Acknowledge */ - hi2c->ErrorCode |= HAL_I2C_ERROR_AF; - } - - /* Disable, stop the current DMA */ - CLEAR_BIT(hi2c->Instance->CR2, I2C_CR2_DMAEN); - - /* Abort DMA Xfer if any */ - if (HAL_DMA_GetState(hi2c->hdmatx) != HAL_DMA_STATE_READY) - { - /* Set the I2C DMA Abort callback : - will lead to call HAL_I2C_ErrorCallback() at end of DMA abort procedure */ - hi2c->hdmatx->XferAbortCallback = I2C_DMAAbort; - - /* Abort DMA TX */ - if (HAL_DMA_Abort_IT(hi2c->hdmatx) != HAL_OK) - { - /* Call Directly XferAbortCallback function in case of error */ - hi2c->hdmatx->XferAbortCallback(hi2c->hdmatx); - } - } - } - } - - /* All data are not transferred, so set error code accordingly */ - if (hi2c->XferCount != 0U) - { - /* Store Last receive data if any */ - if (__HAL_I2C_GET_FLAG(hi2c, I2C_FLAG_BTF) == SET) - { - /* Read data from DR */ - *hi2c->pBuffPtr = (uint8_t)hi2c->Instance->DR; - - /* Increment Buffer pointer */ - hi2c->pBuffPtr++; - - /* Update counter */ - hi2c->XferCount--; - } - - /* Store Last receive data if any */ - if (__HAL_I2C_GET_FLAG(hi2c, I2C_FLAG_RXNE) == SET) - { - /* Read data from DR */ - *hi2c->pBuffPtr = (uint8_t)hi2c->Instance->DR; - - /* Increment Buffer pointer */ - hi2c->pBuffPtr++; - - /* Update counter */ - hi2c->XferCount--; - } - - if (hi2c->XferCount != 0U) - { - /* Set ErrorCode corresponding to a Non-Acknowledge */ - hi2c->ErrorCode |= HAL_I2C_ERROR_AF; - } - } - - if (hi2c->ErrorCode != HAL_I2C_ERROR_NONE) - { - /* Call the corresponding callback to inform upper layer of End of Transfer */ - I2C_ITError(hi2c); - } - else - { - if (CurrentState == HAL_I2C_STATE_BUSY_RX_LISTEN) - { - /* Set state at HAL_I2C_STATE_LISTEN */ - hi2c->PreviousState = I2C_STATE_NONE; - hi2c->State = HAL_I2C_STATE_LISTEN; - - /* Call the corresponding callback to inform upper layer of End of Transfer */ -#if (USE_HAL_I2C_REGISTER_CALLBACKS == 1) - hi2c->SlaveRxCpltCallback(hi2c); -#else - HAL_I2C_SlaveRxCpltCallback(hi2c); -#endif /* USE_HAL_I2C_REGISTER_CALLBACKS */ - } - - if (hi2c->State == HAL_I2C_STATE_LISTEN) - { - hi2c->XferOptions = I2C_NO_OPTION_FRAME; - hi2c->PreviousState = I2C_STATE_NONE; - hi2c->State = HAL_I2C_STATE_READY; - hi2c->Mode = HAL_I2C_MODE_NONE; - - /* Call the Listen Complete callback, to inform upper layer of the end of Listen usecase */ -#if (USE_HAL_I2C_REGISTER_CALLBACKS == 1) - hi2c->ListenCpltCallback(hi2c); -#else - HAL_I2C_ListenCpltCallback(hi2c); -#endif /* USE_HAL_I2C_REGISTER_CALLBACKS */ - } - else - { - if ((hi2c->PreviousState == I2C_STATE_SLAVE_BUSY_RX) || (CurrentState == HAL_I2C_STATE_BUSY_RX)) - { - hi2c->PreviousState = I2C_STATE_NONE; - hi2c->State = HAL_I2C_STATE_READY; - hi2c->Mode = HAL_I2C_MODE_NONE; - -#if (USE_HAL_I2C_REGISTER_CALLBACKS == 1) - hi2c->SlaveRxCpltCallback(hi2c); -#else - HAL_I2C_SlaveRxCpltCallback(hi2c); -#endif /* USE_HAL_I2C_REGISTER_CALLBACKS */ - } - } - } -} - -/** - * @param hi2c Pointer to a I2C_HandleTypeDef structure that contains - * the configuration information for I2C module - * @retval None - */ -static void I2C_Slave_AF(I2C_HandleTypeDef *hi2c) -{ - /* Declaration of temporary variables to prevent undefined behavior of volatile usage */ - HAL_I2C_StateTypeDef CurrentState = hi2c->State; - uint32_t CurrentXferOptions = hi2c->XferOptions; - - if (((CurrentXferOptions == I2C_FIRST_AND_LAST_FRAME) || (CurrentXferOptions == I2C_LAST_FRAME)) && \ - (CurrentState == HAL_I2C_STATE_LISTEN)) - { - hi2c->XferOptions = I2C_NO_OPTION_FRAME; - - /* Disable EVT, BUF and ERR interrupt */ - __HAL_I2C_DISABLE_IT(hi2c, I2C_IT_EVT | I2C_IT_BUF | I2C_IT_ERR); - - /* Clear AF flag */ - __HAL_I2C_CLEAR_FLAG(hi2c, I2C_FLAG_AF); - - /* Disable Acknowledge */ - CLEAR_BIT(hi2c->Instance->CR1, I2C_CR1_ACK); - - hi2c->PreviousState = I2C_STATE_NONE; - hi2c->State = HAL_I2C_STATE_READY; - hi2c->Mode = HAL_I2C_MODE_NONE; - - /* Call the Listen Complete callback, to inform upper layer of the end of Listen usecase */ -#if (USE_HAL_I2C_REGISTER_CALLBACKS == 1) - hi2c->ListenCpltCallback(hi2c); -#else - HAL_I2C_ListenCpltCallback(hi2c); -#endif /* USE_HAL_I2C_REGISTER_CALLBACKS */ - } - else if (CurrentState == HAL_I2C_STATE_BUSY_TX) - { - hi2c->XferOptions = I2C_NO_OPTION_FRAME; - hi2c->PreviousState = I2C_STATE_SLAVE_BUSY_TX; - hi2c->State = HAL_I2C_STATE_READY; - hi2c->Mode = HAL_I2C_MODE_NONE; - - /* Disable EVT, BUF and ERR interrupt */ - __HAL_I2C_DISABLE_IT(hi2c, I2C_IT_EVT | I2C_IT_BUF | I2C_IT_ERR); - - /* Clear AF flag */ - __HAL_I2C_CLEAR_FLAG(hi2c, I2C_FLAG_AF); - - /* Disable Acknowledge */ - CLEAR_BIT(hi2c->Instance->CR1, I2C_CR1_ACK); - -#if (USE_HAL_I2C_REGISTER_CALLBACKS == 1) - hi2c->SlaveTxCpltCallback(hi2c); -#else - HAL_I2C_SlaveTxCpltCallback(hi2c); -#endif /* USE_HAL_I2C_REGISTER_CALLBACKS */ - } - else - { - /* Clear AF flag only */ - /* State Listen, but XferOptions == FIRST or NEXT */ - __HAL_I2C_CLEAR_FLAG(hi2c, I2C_FLAG_AF); - } -} - -/** - * @brief I2C interrupts error process - * @param hi2c I2C handle. - * @retval None - */ -static void I2C_ITError(I2C_HandleTypeDef *hi2c) -{ - /* Declaration of temporary variable to prevent undefined behavior of volatile usage */ - HAL_I2C_StateTypeDef CurrentState = hi2c->State; - HAL_I2C_ModeTypeDef CurrentMode = hi2c->Mode; - uint32_t CurrentError; - - if (((CurrentMode == HAL_I2C_MODE_MASTER) || (CurrentMode == HAL_I2C_MODE_MEM)) && (CurrentState == HAL_I2C_STATE_BUSY_RX)) - { - /* Disable Pos bit in I2C CR1 when error occurred in Master/Mem Receive IT Process */ - hi2c->Instance->CR1 &= ~I2C_CR1_POS; - } - - if (((uint32_t)CurrentState & (uint32_t)HAL_I2C_STATE_LISTEN) == (uint32_t)HAL_I2C_STATE_LISTEN) - { - /* keep HAL_I2C_STATE_LISTEN */ - hi2c->PreviousState = I2C_STATE_NONE; - hi2c->State = HAL_I2C_STATE_LISTEN; - } - else - { - /* If state is an abort treatment on going, don't change state */ - /* This change will be do later */ - if ((READ_BIT(hi2c->Instance->CR2, I2C_CR2_DMAEN) != I2C_CR2_DMAEN) && (CurrentState != HAL_I2C_STATE_ABORT)) - { - hi2c->State = HAL_I2C_STATE_READY; - hi2c->Mode = HAL_I2C_MODE_NONE; - } - hi2c->PreviousState = I2C_STATE_NONE; - } - - /* Abort DMA transfer */ - if (READ_BIT(hi2c->Instance->CR2, I2C_CR2_DMAEN) == I2C_CR2_DMAEN) - { - hi2c->Instance->CR2 &= ~I2C_CR2_DMAEN; - - if (hi2c->hdmatx->State != HAL_DMA_STATE_READY) - { - /* Set the DMA Abort callback : - will lead to call HAL_I2C_ErrorCallback() at end of DMA abort procedure */ - hi2c->hdmatx->XferAbortCallback = I2C_DMAAbort; - - if (HAL_DMA_Abort_IT(hi2c->hdmatx) != HAL_OK) - { - /* Disable I2C peripheral to prevent dummy data in buffer */ - __HAL_I2C_DISABLE(hi2c); - - hi2c->State = HAL_I2C_STATE_READY; - - /* Call Directly XferAbortCallback function in case of error */ - hi2c->hdmatx->XferAbortCallback(hi2c->hdmatx); - } - } - else - { - /* Set the DMA Abort callback : - will lead to call HAL_I2C_ErrorCallback() at end of DMA abort procedure */ - hi2c->hdmarx->XferAbortCallback = I2C_DMAAbort; - - if (HAL_DMA_Abort_IT(hi2c->hdmarx) != HAL_OK) - { - /* Store Last receive data if any */ - if (__HAL_I2C_GET_FLAG(hi2c, I2C_FLAG_RXNE) == SET) - { - /* Read data from DR */ - *hi2c->pBuffPtr = (uint8_t)hi2c->Instance->DR; - - /* Increment Buffer pointer */ - hi2c->pBuffPtr++; - } - - /* Disable I2C peripheral to prevent dummy data in buffer */ - __HAL_I2C_DISABLE(hi2c); - - hi2c->State = HAL_I2C_STATE_READY; - - /* Call Directly hi2c->hdmarx->XferAbortCallback function in case of error */ - hi2c->hdmarx->XferAbortCallback(hi2c->hdmarx); - } - } - } - else if (hi2c->State == HAL_I2C_STATE_ABORT) - { - hi2c->State = HAL_I2C_STATE_READY; - hi2c->ErrorCode = HAL_I2C_ERROR_NONE; - - /* Store Last receive data if any */ - if (__HAL_I2C_GET_FLAG(hi2c, I2C_FLAG_RXNE) == SET) - { - /* Read data from DR */ - *hi2c->pBuffPtr = (uint8_t)hi2c->Instance->DR; - - /* Increment Buffer pointer */ - hi2c->pBuffPtr++; - } - - /* Disable I2C peripheral to prevent dummy data in buffer */ - __HAL_I2C_DISABLE(hi2c); - - /* Call the corresponding callback to inform upper layer of End of Transfer */ -#if (USE_HAL_I2C_REGISTER_CALLBACKS == 1) - hi2c->AbortCpltCallback(hi2c); -#else - HAL_I2C_AbortCpltCallback(hi2c); -#endif /* USE_HAL_I2C_REGISTER_CALLBACKS */ - } - else - { - /* Store Last receive data if any */ - if (__HAL_I2C_GET_FLAG(hi2c, I2C_FLAG_RXNE) == SET) - { - /* Read data from DR */ - *hi2c->pBuffPtr = (uint8_t)hi2c->Instance->DR; - - /* Increment Buffer pointer */ - hi2c->pBuffPtr++; - } - - /* Call user error callback */ -#if (USE_HAL_I2C_REGISTER_CALLBACKS == 1) - hi2c->ErrorCallback(hi2c); -#else - HAL_I2C_ErrorCallback(hi2c); -#endif /* USE_HAL_I2C_REGISTER_CALLBACKS */ - } - - /* STOP Flag is not set after a NACK reception, BusError, ArbitrationLost, OverRun */ - CurrentError = hi2c->ErrorCode; - - if (((CurrentError & HAL_I2C_ERROR_BERR) == HAL_I2C_ERROR_BERR) || \ - ((CurrentError & HAL_I2C_ERROR_ARLO) == HAL_I2C_ERROR_ARLO) || \ - ((CurrentError & HAL_I2C_ERROR_AF) == HAL_I2C_ERROR_AF) || \ - ((CurrentError & HAL_I2C_ERROR_OVR) == HAL_I2C_ERROR_OVR)) - { - /* Disable EVT, BUF and ERR interrupt */ - __HAL_I2C_DISABLE_IT(hi2c, I2C_IT_EVT | I2C_IT_BUF | I2C_IT_ERR); - } - - /* So may inform upper layer that listen phase is stopped */ - /* during NACK error treatment */ - CurrentState = hi2c->State; - if (((hi2c->ErrorCode & HAL_I2C_ERROR_AF) == HAL_I2C_ERROR_AF) && (CurrentState == HAL_I2C_STATE_LISTEN)) - { - hi2c->XferOptions = I2C_NO_OPTION_FRAME; - hi2c->PreviousState = I2C_STATE_NONE; - hi2c->State = HAL_I2C_STATE_READY; - hi2c->Mode = HAL_I2C_MODE_NONE; - - /* Call the Listen Complete callback, to inform upper layer of the end of Listen usecase */ -#if (USE_HAL_I2C_REGISTER_CALLBACKS == 1) - hi2c->ListenCpltCallback(hi2c); -#else - HAL_I2C_ListenCpltCallback(hi2c); -#endif /* USE_HAL_I2C_REGISTER_CALLBACKS */ - } -} - -/** - * @param hi2c Pointer to a I2C_HandleTypeDef structure that contains - * the configuration information for I2C module - * @param DevAddress Target device address: The device 7 bits address value - * in datasheet must be shifted to the left before calling the interface - * @param Timeout Timeout duration - * @param Tickstart Tick start value - * @retval HAL status - */ -static HAL_StatusTypeDef I2C_MasterRequestWrite(I2C_HandleTypeDef *hi2c, uint16_t DevAddress, uint32_t Timeout, uint32_t Tickstart) -{ - /* Declaration of temporary variable to prevent undefined behavior of volatile usage */ - uint32_t CurrentXferOptions = hi2c->XferOptions; - - /* Generate Start condition if first transfer */ - if ((CurrentXferOptions == I2C_FIRST_AND_LAST_FRAME) || (CurrentXferOptions == I2C_FIRST_FRAME) || (CurrentXferOptions == I2C_NO_OPTION_FRAME)) - { - /* Generate Start */ - SET_BIT(hi2c->Instance->CR1, I2C_CR1_START); - } - else if (hi2c->PreviousState == I2C_STATE_MASTER_BUSY_RX) - { - /* Generate ReStart */ - SET_BIT(hi2c->Instance->CR1, I2C_CR1_START); - } - else - { - /* Do nothing */ - } - - /* Wait until SB flag is set */ - if (I2C_WaitOnFlagUntilTimeout(hi2c, I2C_FLAG_SB, RESET, Timeout, Tickstart) != HAL_OK) - { - if (READ_BIT(hi2c->Instance->CR1, I2C_CR1_START) == I2C_CR1_START) - { - hi2c->ErrorCode = HAL_I2C_WRONG_START; - } - return HAL_TIMEOUT; - } - - if (hi2c->Init.AddressingMode == I2C_ADDRESSINGMODE_7BIT) - { - /* Send slave address */ - hi2c->Instance->DR = I2C_7BIT_ADD_WRITE(DevAddress); - } - else - { - /* Send header of slave address */ - hi2c->Instance->DR = I2C_10BIT_HEADER_WRITE(DevAddress); - - /* Wait until ADD10 flag is set */ - if (I2C_WaitOnMasterAddressFlagUntilTimeout(hi2c, I2C_FLAG_ADD10, Timeout, Tickstart) != HAL_OK) - { - return HAL_ERROR; - } - - /* Send slave address */ - hi2c->Instance->DR = I2C_10BIT_ADDRESS(DevAddress); - } - - /* Wait until ADDR flag is set */ - if (I2C_WaitOnMasterAddressFlagUntilTimeout(hi2c, I2C_FLAG_ADDR, Timeout, Tickstart) != HAL_OK) - { - return HAL_ERROR; - } - - return HAL_OK; -} - -/** - * @brief Master sends target device address for read request. - * @param hi2c Pointer to a I2C_HandleTypeDef structure that contains - * the configuration information for I2C module - * @param DevAddress Target device address: The device 7 bits address value - * in datasheet must be shifted to the left before calling the interface - * @param Timeout Timeout duration - * @param Tickstart Tick start value - * @retval HAL status - */ -static HAL_StatusTypeDef I2C_MasterRequestRead(I2C_HandleTypeDef *hi2c, uint16_t DevAddress, uint32_t Timeout, uint32_t Tickstart) -{ - /* Declaration of temporary variable to prevent undefined behavior of volatile usage */ - uint32_t CurrentXferOptions = hi2c->XferOptions; - - /* Enable Acknowledge */ - SET_BIT(hi2c->Instance->CR1, I2C_CR1_ACK); - - /* Generate Start condition if first transfer */ - if ((CurrentXferOptions == I2C_FIRST_AND_LAST_FRAME) || (CurrentXferOptions == I2C_FIRST_FRAME) || (CurrentXferOptions == I2C_NO_OPTION_FRAME)) - { - /* Generate Start */ - SET_BIT(hi2c->Instance->CR1, I2C_CR1_START); - } - else if (hi2c->PreviousState == I2C_STATE_MASTER_BUSY_TX) - { - /* Generate ReStart */ - SET_BIT(hi2c->Instance->CR1, I2C_CR1_START); - } - else - { - /* Do nothing */ - } - - /* Wait until SB flag is set */ - if (I2C_WaitOnFlagUntilTimeout(hi2c, I2C_FLAG_SB, RESET, Timeout, Tickstart) != HAL_OK) - { - if (READ_BIT(hi2c->Instance->CR1, I2C_CR1_START) == I2C_CR1_START) - { - hi2c->ErrorCode = HAL_I2C_WRONG_START; - } - return HAL_TIMEOUT; - } - - if (hi2c->Init.AddressingMode == I2C_ADDRESSINGMODE_7BIT) - { - /* Send slave address */ - hi2c->Instance->DR = I2C_7BIT_ADD_READ(DevAddress); - } - else - { - /* Send header of slave address */ - hi2c->Instance->DR = I2C_10BIT_HEADER_WRITE(DevAddress); - - /* Wait until ADD10 flag is set */ - if (I2C_WaitOnMasterAddressFlagUntilTimeout(hi2c, I2C_FLAG_ADD10, Timeout, Tickstart) != HAL_OK) - { - return HAL_ERROR; - } - - /* Send slave address */ - hi2c->Instance->DR = I2C_10BIT_ADDRESS(DevAddress); - - /* Wait until ADDR flag is set */ - if (I2C_WaitOnMasterAddressFlagUntilTimeout(hi2c, I2C_FLAG_ADDR, Timeout, Tickstart) != HAL_OK) - { - return HAL_ERROR; - } - - /* Clear ADDR flag */ - __HAL_I2C_CLEAR_ADDRFLAG(hi2c); - - /* Generate Restart */ - SET_BIT(hi2c->Instance->CR1, I2C_CR1_START); - - /* Wait until SB flag is set */ - if (I2C_WaitOnFlagUntilTimeout(hi2c, I2C_FLAG_SB, RESET, Timeout, Tickstart) != HAL_OK) - { - if (READ_BIT(hi2c->Instance->CR1, I2C_CR1_START) == I2C_CR1_START) - { - hi2c->ErrorCode = HAL_I2C_WRONG_START; - } - return HAL_TIMEOUT; - } - - /* Send header of slave address */ - hi2c->Instance->DR = I2C_10BIT_HEADER_READ(DevAddress); - } - - /* Wait until ADDR flag is set */ - if (I2C_WaitOnMasterAddressFlagUntilTimeout(hi2c, I2C_FLAG_ADDR, Timeout, Tickstart) != HAL_OK) - { - return HAL_ERROR; - } - - return HAL_OK; -} - -/** - * @brief Master sends target device address followed by internal memory address for write request. - * @param hi2c Pointer to a I2C_HandleTypeDef structure that contains - * the configuration information for I2C module - * @param DevAddress Target device address: The device 7 bits address value - * in datasheet must be shifted to the left before calling the interface - * @param MemAddress Internal memory address - * @param MemAddSize Size of internal memory address - * @param Timeout Timeout duration - * @param Tickstart Tick start value - * @retval HAL status - */ -static HAL_StatusTypeDef I2C_RequestMemoryWrite(I2C_HandleTypeDef *hi2c, uint16_t DevAddress, uint16_t MemAddress, uint16_t MemAddSize, uint32_t Timeout, uint32_t Tickstart) -{ - /* Generate Start */ - SET_BIT(hi2c->Instance->CR1, I2C_CR1_START); - - /* Wait until SB flag is set */ - if (I2C_WaitOnFlagUntilTimeout(hi2c, I2C_FLAG_SB, RESET, Timeout, Tickstart) != HAL_OK) - { - if (READ_BIT(hi2c->Instance->CR1, I2C_CR1_START) == I2C_CR1_START) - { - hi2c->ErrorCode = HAL_I2C_WRONG_START; - } - return HAL_TIMEOUT; - } - - /* Send slave address */ - hi2c->Instance->DR = I2C_7BIT_ADD_WRITE(DevAddress); - - /* Wait until ADDR flag is set */ - if (I2C_WaitOnMasterAddressFlagUntilTimeout(hi2c, I2C_FLAG_ADDR, Timeout, Tickstart) != HAL_OK) - { - return HAL_ERROR; - } - - /* Clear ADDR flag */ - __HAL_I2C_CLEAR_ADDRFLAG(hi2c); - - /* Wait until TXE flag is set */ - if (I2C_WaitOnTXEFlagUntilTimeout(hi2c, Timeout, Tickstart) != HAL_OK) - { - if (hi2c->ErrorCode == HAL_I2C_ERROR_AF) - { - /* Generate Stop */ - SET_BIT(hi2c->Instance->CR1, I2C_CR1_STOP); - } - return HAL_ERROR; - } - - /* If Memory address size is 8Bit */ - if (MemAddSize == I2C_MEMADD_SIZE_8BIT) - { - /* Send Memory Address */ - hi2c->Instance->DR = I2C_MEM_ADD_LSB(MemAddress); - } - /* If Memory address size is 16Bit */ - else - { - /* Send MSB of Memory Address */ - hi2c->Instance->DR = I2C_MEM_ADD_MSB(MemAddress); - - /* Wait until TXE flag is set */ - if (I2C_WaitOnTXEFlagUntilTimeout(hi2c, Timeout, Tickstart) != HAL_OK) - { - if (hi2c->ErrorCode == HAL_I2C_ERROR_AF) - { - /* Generate Stop */ - SET_BIT(hi2c->Instance->CR1, I2C_CR1_STOP); - } - return HAL_ERROR; - } - - /* Send LSB of Memory Address */ - hi2c->Instance->DR = I2C_MEM_ADD_LSB(MemAddress); - } - - return HAL_OK; -} - -/** - * @brief Master sends target device address followed by internal memory address for read request. - * @param hi2c Pointer to a I2C_HandleTypeDef structure that contains - * the configuration information for I2C module - * @param DevAddress Target device address: The device 7 bits address value - * in datasheet must be shifted to the left before calling the interface - * @param MemAddress Internal memory address - * @param MemAddSize Size of internal memory address - * @param Timeout Timeout duration - * @param Tickstart Tick start value - * @retval HAL status - */ -static HAL_StatusTypeDef I2C_RequestMemoryRead(I2C_HandleTypeDef *hi2c, uint16_t DevAddress, uint16_t MemAddress, uint16_t MemAddSize, uint32_t Timeout, uint32_t Tickstart) -{ - /* Enable Acknowledge */ - SET_BIT(hi2c->Instance->CR1, I2C_CR1_ACK); - - /* Generate Start */ - SET_BIT(hi2c->Instance->CR1, I2C_CR1_START); - - /* Wait until SB flag is set */ - if (I2C_WaitOnFlagUntilTimeout(hi2c, I2C_FLAG_SB, RESET, Timeout, Tickstart) != HAL_OK) - { - if (READ_BIT(hi2c->Instance->CR1, I2C_CR1_START) == I2C_CR1_START) - { - hi2c->ErrorCode = HAL_I2C_WRONG_START; - } - return HAL_TIMEOUT; - } - - /* Send slave address */ - hi2c->Instance->DR = I2C_7BIT_ADD_WRITE(DevAddress); - - /* Wait until ADDR flag is set */ - if (I2C_WaitOnMasterAddressFlagUntilTimeout(hi2c, I2C_FLAG_ADDR, Timeout, Tickstart) != HAL_OK) - { - return HAL_ERROR; - } - - /* Clear ADDR flag */ - __HAL_I2C_CLEAR_ADDRFLAG(hi2c); - - /* Wait until TXE flag is set */ - if (I2C_WaitOnTXEFlagUntilTimeout(hi2c, Timeout, Tickstart) != HAL_OK) - { - if (hi2c->ErrorCode == HAL_I2C_ERROR_AF) - { - /* Generate Stop */ - SET_BIT(hi2c->Instance->CR1, I2C_CR1_STOP); - } - return HAL_ERROR; - } - - /* If Memory address size is 8Bit */ - if (MemAddSize == I2C_MEMADD_SIZE_8BIT) - { - /* Send Memory Address */ - hi2c->Instance->DR = I2C_MEM_ADD_LSB(MemAddress); - } - /* If Memory address size is 16Bit */ - else - { - /* Send MSB of Memory Address */ - hi2c->Instance->DR = I2C_MEM_ADD_MSB(MemAddress); - - /* Wait until TXE flag is set */ - if (I2C_WaitOnTXEFlagUntilTimeout(hi2c, Timeout, Tickstart) != HAL_OK) - { - if (hi2c->ErrorCode == HAL_I2C_ERROR_AF) - { - /* Generate Stop */ - SET_BIT(hi2c->Instance->CR1, I2C_CR1_STOP); - } - return HAL_ERROR; - } - - /* Send LSB of Memory Address */ - hi2c->Instance->DR = I2C_MEM_ADD_LSB(MemAddress); - } - - /* Wait until TXE flag is set */ - if (I2C_WaitOnTXEFlagUntilTimeout(hi2c, Timeout, Tickstart) != HAL_OK) - { - if (hi2c->ErrorCode == HAL_I2C_ERROR_AF) - { - /* Generate Stop */ - SET_BIT(hi2c->Instance->CR1, I2C_CR1_STOP); - } - return HAL_ERROR; - } - - /* Generate Restart */ - SET_BIT(hi2c->Instance->CR1, I2C_CR1_START); - - /* Wait until SB flag is set */ - if (I2C_WaitOnFlagUntilTimeout(hi2c, I2C_FLAG_SB, RESET, Timeout, Tickstart) != HAL_OK) - { - if (READ_BIT(hi2c->Instance->CR1, I2C_CR1_START) == I2C_CR1_START) - { - hi2c->ErrorCode = HAL_I2C_WRONG_START; - } - return HAL_TIMEOUT; - } - - /* Send slave address */ - hi2c->Instance->DR = I2C_7BIT_ADD_READ(DevAddress); - - /* Wait until ADDR flag is set */ - if (I2C_WaitOnMasterAddressFlagUntilTimeout(hi2c, I2C_FLAG_ADDR, Timeout, Tickstart) != HAL_OK) - { - return HAL_ERROR; - } - - return HAL_OK; -} - -/** - * @brief DMA I2C process complete callback. - * @param hdma DMA handle - * @retval None - */ -static void I2C_DMAXferCplt(DMA_HandleTypeDef *hdma) -{ - I2C_HandleTypeDef *hi2c = (I2C_HandleTypeDef *)((DMA_HandleTypeDef *)hdma)->Parent; /* Derogation MISRAC2012-Rule-11.5 */ - - /* Declaration of temporary variable to prevent undefined behavior of volatile usage */ - HAL_I2C_StateTypeDef CurrentState = hi2c->State; - HAL_I2C_ModeTypeDef CurrentMode = hi2c->Mode; - uint32_t CurrentXferOptions = hi2c->XferOptions; - - /* Disable EVT and ERR interrupt */ - __HAL_I2C_DISABLE_IT(hi2c, I2C_IT_EVT | I2C_IT_ERR); - - /* Clear Complete callback */ - if (hi2c->hdmatx != NULL) - { - hi2c->hdmatx->XferCpltCallback = NULL; - } - if (hi2c->hdmarx != NULL) - { - hi2c->hdmarx->XferCpltCallback = NULL; - } - - if ((((uint32_t)CurrentState & (uint32_t)HAL_I2C_STATE_BUSY_TX) == (uint32_t)HAL_I2C_STATE_BUSY_TX) || ((((uint32_t)CurrentState & (uint32_t)HAL_I2C_STATE_BUSY_RX) == (uint32_t)HAL_I2C_STATE_BUSY_RX) && (CurrentMode == HAL_I2C_MODE_SLAVE))) - { - /* Disable DMA Request */ - CLEAR_BIT(hi2c->Instance->CR2, I2C_CR2_DMAEN); - - hi2c->XferCount = 0U; - - if (CurrentState == HAL_I2C_STATE_BUSY_TX_LISTEN) - { - /* Set state at HAL_I2C_STATE_LISTEN */ - hi2c->PreviousState = I2C_STATE_SLAVE_BUSY_TX; - hi2c->State = HAL_I2C_STATE_LISTEN; - - /* Call the corresponding callback to inform upper layer of End of Transfer */ -#if (USE_HAL_I2C_REGISTER_CALLBACKS == 1) - hi2c->SlaveTxCpltCallback(hi2c); -#else - HAL_I2C_SlaveTxCpltCallback(hi2c); -#endif /* USE_HAL_I2C_REGISTER_CALLBACKS */ - } - else if (CurrentState == HAL_I2C_STATE_BUSY_RX_LISTEN) - { - /* Set state at HAL_I2C_STATE_LISTEN */ - hi2c->PreviousState = I2C_STATE_SLAVE_BUSY_RX; - hi2c->State = HAL_I2C_STATE_LISTEN; - - /* Call the corresponding callback to inform upper layer of End of Transfer */ -#if (USE_HAL_I2C_REGISTER_CALLBACKS == 1) - hi2c->SlaveRxCpltCallback(hi2c); -#else - HAL_I2C_SlaveRxCpltCallback(hi2c); -#endif /* USE_HAL_I2C_REGISTER_CALLBACKS */ - } - else - { - /* Do nothing */ - } - - /* Enable EVT and ERR interrupt to treat end of transfer in IRQ handler */ - __HAL_I2C_ENABLE_IT(hi2c, I2C_IT_EVT | I2C_IT_ERR); - } - /* Check current Mode, in case of treatment DMA handler have been preempted by a prior interrupt */ - else if (hi2c->Mode != HAL_I2C_MODE_NONE) - { - if (hi2c->XferCount == (uint16_t)1) - { - /* Disable Acknowledge */ - CLEAR_BIT(hi2c->Instance->CR1, I2C_CR1_ACK); - } - - /* Disable EVT and ERR interrupt */ - __HAL_I2C_DISABLE_IT(hi2c, I2C_IT_EVT | I2C_IT_ERR); - - /* Prepare next transfer or stop current transfer */ - if ((CurrentXferOptions == I2C_NO_OPTION_FRAME) || (CurrentXferOptions == I2C_FIRST_AND_LAST_FRAME) || (CurrentXferOptions == I2C_OTHER_AND_LAST_FRAME) || (CurrentXferOptions == I2C_LAST_FRAME)) - { - /* Generate Stop */ - SET_BIT(hi2c->Instance->CR1, I2C_CR1_STOP); - } - - /* Disable Last DMA */ - CLEAR_BIT(hi2c->Instance->CR2, I2C_CR2_LAST); - - /* Disable DMA Request */ - CLEAR_BIT(hi2c->Instance->CR2, I2C_CR2_DMAEN); - - hi2c->XferCount = 0U; - - /* Check if Errors has been detected during transfer */ - if (hi2c->ErrorCode != HAL_I2C_ERROR_NONE) - { -#if (USE_HAL_I2C_REGISTER_CALLBACKS == 1) - hi2c->ErrorCallback(hi2c); -#else - HAL_I2C_ErrorCallback(hi2c); -#endif /* USE_HAL_I2C_REGISTER_CALLBACKS */ - } - else - { - hi2c->State = HAL_I2C_STATE_READY; - - if (hi2c->Mode == HAL_I2C_MODE_MEM) - { - hi2c->Mode = HAL_I2C_MODE_NONE; - hi2c->PreviousState = I2C_STATE_NONE; - -#if (USE_HAL_I2C_REGISTER_CALLBACKS == 1) - hi2c->MemRxCpltCallback(hi2c); -#else - HAL_I2C_MemRxCpltCallback(hi2c); -#endif /* USE_HAL_I2C_REGISTER_CALLBACKS */ - } - else - { - hi2c->Mode = HAL_I2C_MODE_NONE; - hi2c->PreviousState = I2C_STATE_MASTER_BUSY_RX; - -#if (USE_HAL_I2C_REGISTER_CALLBACKS == 1) - hi2c->MasterRxCpltCallback(hi2c); -#else - HAL_I2C_MasterRxCpltCallback(hi2c); -#endif /* USE_HAL_I2C_REGISTER_CALLBACKS */ - } - } - } - else - { - /* Do nothing */ - } -} - -/** - * @brief DMA I2C communication error callback. - * @param hdma DMA handle - * @retval None - */ -static void I2C_DMAError(DMA_HandleTypeDef *hdma) -{ - I2C_HandleTypeDef *hi2c = (I2C_HandleTypeDef *)((DMA_HandleTypeDef *)hdma)->Parent; /* Derogation MISRAC2012-Rule-11.5 */ - - /* Clear Complete callback */ - if (hi2c->hdmatx != NULL) - { - hi2c->hdmatx->XferCpltCallback = NULL; - } - if (hi2c->hdmarx != NULL) - { - hi2c->hdmarx->XferCpltCallback = NULL; - } - - /* Ignore DMA FIFO error */ - if (HAL_DMA_GetError(hdma) != HAL_DMA_ERROR_FE) - { - /* Disable Acknowledge */ - hi2c->Instance->CR1 &= ~I2C_CR1_ACK; - - hi2c->XferCount = 0U; - - hi2c->State = HAL_I2C_STATE_READY; - hi2c->Mode = HAL_I2C_MODE_NONE; - - hi2c->ErrorCode |= HAL_I2C_ERROR_DMA; - -#if (USE_HAL_I2C_REGISTER_CALLBACKS == 1) - hi2c->ErrorCallback(hi2c); -#else - HAL_I2C_ErrorCallback(hi2c); -#endif /* USE_HAL_I2C_REGISTER_CALLBACKS */ - } -} - -/** - * @brief DMA I2C communication abort callback - * (To be called at end of DMA Abort procedure). - * @param hdma DMA handle. - * @retval None - */ -static void I2C_DMAAbort(DMA_HandleTypeDef *hdma) -{ - __IO uint32_t count = 0U; - I2C_HandleTypeDef *hi2c = (I2C_HandleTypeDef *)((DMA_HandleTypeDef *)hdma)->Parent; /* Derogation MISRAC2012-Rule-11.5 */ - - /* Declaration of temporary variable to prevent undefined behavior of volatile usage */ - HAL_I2C_StateTypeDef CurrentState = hi2c->State; - - /* During abort treatment, check that there is no pending STOP request */ - /* Wait until STOP flag is reset */ - count = I2C_TIMEOUT_FLAG * (SystemCoreClock / 25U / 1000U); - do - { - if (count == 0U) - { - hi2c->ErrorCode |= HAL_I2C_ERROR_TIMEOUT; - break; - } - count--; - } - while (READ_BIT(hi2c->Instance->CR1, I2C_CR1_STOP) == I2C_CR1_STOP); - - /* Clear Complete callback */ - if (hi2c->hdmatx != NULL) - { - hi2c->hdmatx->XferCpltCallback = NULL; - } - if (hi2c->hdmarx != NULL) - { - hi2c->hdmarx->XferCpltCallback = NULL; - } - - /* Disable Acknowledge */ - CLEAR_BIT(hi2c->Instance->CR1, I2C_CR1_ACK); - - hi2c->XferCount = 0U; - - /* Reset XferAbortCallback */ - if (hi2c->hdmatx != NULL) - { - hi2c->hdmatx->XferAbortCallback = NULL; - } - if (hi2c->hdmarx != NULL) - { - hi2c->hdmarx->XferAbortCallback = NULL; - } - - /* Disable I2C peripheral to prevent dummy data in buffer */ - __HAL_I2C_DISABLE(hi2c); - - /* Check if come from abort from user */ - if (hi2c->State == HAL_I2C_STATE_ABORT) - { - hi2c->State = HAL_I2C_STATE_READY; - hi2c->Mode = HAL_I2C_MODE_NONE; - hi2c->ErrorCode = HAL_I2C_ERROR_NONE; - - /* Call the corresponding callback to inform upper layer of End of Transfer */ -#if (USE_HAL_I2C_REGISTER_CALLBACKS == 1) - hi2c->AbortCpltCallback(hi2c); -#else - HAL_I2C_AbortCpltCallback(hi2c); -#endif /* USE_HAL_I2C_REGISTER_CALLBACKS */ - } - else - { - if (((uint32_t)CurrentState & (uint32_t)HAL_I2C_STATE_LISTEN) == (uint32_t)HAL_I2C_STATE_LISTEN) - { - /* Renable I2C peripheral */ - __HAL_I2C_ENABLE(hi2c); - - /* Enable Acknowledge */ - SET_BIT(hi2c->Instance->CR1, I2C_CR1_ACK); - - /* keep HAL_I2C_STATE_LISTEN */ - hi2c->PreviousState = I2C_STATE_NONE; - hi2c->State = HAL_I2C_STATE_LISTEN; - } - else - { - hi2c->State = HAL_I2C_STATE_READY; - hi2c->Mode = HAL_I2C_MODE_NONE; - } - - /* Call the corresponding callback to inform upper layer of End of Transfer */ -#if (USE_HAL_I2C_REGISTER_CALLBACKS == 1) - hi2c->ErrorCallback(hi2c); -#else - HAL_I2C_ErrorCallback(hi2c); -#endif /* USE_HAL_I2C_REGISTER_CALLBACKS */ - } -} - -/** - * @brief This function handles I2C Communication Timeout. - * @param hi2c Pointer to a I2C_HandleTypeDef structure that contains - * the configuration information for I2C module - * @param Flag specifies the I2C flag to check. - * @param Status The new Flag status (SET or RESET). - * @param Timeout Timeout duration - * @param Tickstart Tick start value - * @retval HAL status - */ -static HAL_StatusTypeDef I2C_WaitOnFlagUntilTimeout(I2C_HandleTypeDef *hi2c, uint32_t Flag, FlagStatus Status, uint32_t Timeout, uint32_t Tickstart) -{ - /* Wait until flag is set */ - while (__HAL_I2C_GET_FLAG(hi2c, Flag) == Status) - { - /* Check for the Timeout */ - if (Timeout != HAL_MAX_DELAY) - { - if (((HAL_GetTick() - Tickstart) > Timeout) || (Timeout == 0U)) - { - hi2c->PreviousState = I2C_STATE_NONE; - hi2c->State = HAL_I2C_STATE_READY; - hi2c->Mode = HAL_I2C_MODE_NONE; - hi2c->ErrorCode |= HAL_I2C_ERROR_TIMEOUT; - - /* Process Unlocked */ - __HAL_UNLOCK(hi2c); - - return HAL_ERROR; - } - } - } - return HAL_OK; -} - -/** - * @brief This function handles I2C Communication Timeout for Master addressing phase. - * @param hi2c Pointer to a I2C_HandleTypeDef structure that contains - * the configuration information for I2C module - * @param Flag specifies the I2C flag to check. - * @param Timeout Timeout duration - * @param Tickstart Tick start value - * @retval HAL status - */ -static HAL_StatusTypeDef I2C_WaitOnMasterAddressFlagUntilTimeout(I2C_HandleTypeDef *hi2c, uint32_t Flag, uint32_t Timeout, uint32_t Tickstart) -{ - while (__HAL_I2C_GET_FLAG(hi2c, Flag) == RESET) - { - if (__HAL_I2C_GET_FLAG(hi2c, I2C_FLAG_AF) == SET) - { - /* Generate Stop */ - SET_BIT(hi2c->Instance->CR1, I2C_CR1_STOP); - - /* Clear AF Flag */ - __HAL_I2C_CLEAR_FLAG(hi2c, I2C_FLAG_AF); - - hi2c->PreviousState = I2C_STATE_NONE; - hi2c->State = HAL_I2C_STATE_READY; - hi2c->Mode = HAL_I2C_MODE_NONE; - hi2c->ErrorCode |= HAL_I2C_ERROR_AF; - - /* Process Unlocked */ - __HAL_UNLOCK(hi2c); - - return HAL_ERROR; - } - - /* Check for the Timeout */ - if (Timeout != HAL_MAX_DELAY) - { - if (((HAL_GetTick() - Tickstart) > Timeout) || (Timeout == 0U)) - { - hi2c->PreviousState = I2C_STATE_NONE; - hi2c->State = HAL_I2C_STATE_READY; - hi2c->Mode = HAL_I2C_MODE_NONE; - hi2c->ErrorCode |= HAL_I2C_ERROR_TIMEOUT; - - /* Process Unlocked */ - __HAL_UNLOCK(hi2c); - - return HAL_ERROR; - } - } - } - return HAL_OK; -} - -/** - * @brief This function handles I2C Communication Timeout for specific usage of TXE flag. - * @param hi2c Pointer to a I2C_HandleTypeDef structure that contains - * the configuration information for the specified I2C. - * @param Timeout Timeout duration - * @param Tickstart Tick start value - * @retval HAL status - */ -static HAL_StatusTypeDef I2C_WaitOnTXEFlagUntilTimeout(I2C_HandleTypeDef *hi2c, uint32_t Timeout, uint32_t Tickstart) -{ - while (__HAL_I2C_GET_FLAG(hi2c, I2C_FLAG_TXE) == RESET) - { - /* Check if a NACK is detected */ - if (I2C_IsAcknowledgeFailed(hi2c) != HAL_OK) - { - return HAL_ERROR; - } - - /* Check for the Timeout */ - if (Timeout != HAL_MAX_DELAY) - { - if (((HAL_GetTick() - Tickstart) > Timeout) || (Timeout == 0U)) - { - hi2c->PreviousState = I2C_STATE_NONE; - hi2c->State = HAL_I2C_STATE_READY; - hi2c->Mode = HAL_I2C_MODE_NONE; - hi2c->ErrorCode |= HAL_I2C_ERROR_TIMEOUT; - - /* Process Unlocked */ - __HAL_UNLOCK(hi2c); - - return HAL_ERROR; - } - } - } - return HAL_OK; -} - -/** - * @brief This function handles I2C Communication Timeout for specific usage of BTF flag. - * @param hi2c Pointer to a I2C_HandleTypeDef structure that contains - * the configuration information for the specified I2C. - * @param Timeout Timeout duration - * @param Tickstart Tick start value - * @retval HAL status - */ -static HAL_StatusTypeDef I2C_WaitOnBTFFlagUntilTimeout(I2C_HandleTypeDef *hi2c, uint32_t Timeout, uint32_t Tickstart) -{ - while (__HAL_I2C_GET_FLAG(hi2c, I2C_FLAG_BTF) == RESET) - { - /* Check if a NACK is detected */ - if (I2C_IsAcknowledgeFailed(hi2c) != HAL_OK) - { - return HAL_ERROR; - } - - /* Check for the Timeout */ - if (Timeout != HAL_MAX_DELAY) - { - if (((HAL_GetTick() - Tickstart) > Timeout) || (Timeout == 0U)) - { - hi2c->PreviousState = I2C_STATE_NONE; - hi2c->State = HAL_I2C_STATE_READY; - hi2c->Mode = HAL_I2C_MODE_NONE; - hi2c->ErrorCode |= HAL_I2C_ERROR_TIMEOUT; - - /* Process Unlocked */ - __HAL_UNLOCK(hi2c); - - return HAL_ERROR; - } - } - } - return HAL_OK; -} - -/** - * @brief This function handles I2C Communication Timeout for specific usage of STOP flag. - * @param hi2c Pointer to a I2C_HandleTypeDef structure that contains - * the configuration information for the specified I2C. - * @param Timeout Timeout duration - * @param Tickstart Tick start value - * @retval HAL status - */ -static HAL_StatusTypeDef I2C_WaitOnSTOPFlagUntilTimeout(I2C_HandleTypeDef *hi2c, uint32_t Timeout, uint32_t Tickstart) -{ - while (__HAL_I2C_GET_FLAG(hi2c, I2C_FLAG_STOPF) == RESET) - { - /* Check if a NACK is detected */ - if (I2C_IsAcknowledgeFailed(hi2c) != HAL_OK) - { - return HAL_ERROR; - } - - /* Check for the Timeout */ - if (((HAL_GetTick() - Tickstart) > Timeout) || (Timeout == 0U)) - { - hi2c->PreviousState = I2C_STATE_NONE; - hi2c->State = HAL_I2C_STATE_READY; - hi2c->Mode = HAL_I2C_MODE_NONE; - hi2c->ErrorCode |= HAL_I2C_ERROR_TIMEOUT; - - /* Process Unlocked */ - __HAL_UNLOCK(hi2c); - - return HAL_ERROR; - } - } - return HAL_OK; -} - -/** - * @brief This function handles I2C Communication Timeout for specific usage of STOP request through Interrupt. - * @param hi2c Pointer to a I2C_HandleTypeDef structure that contains - * the configuration information for the specified I2C. - * @retval HAL status - */ -static HAL_StatusTypeDef I2C_WaitOnSTOPRequestThroughIT(I2C_HandleTypeDef *hi2c) -{ - __IO uint32_t count = 0U; - - /* Wait until STOP flag is reset */ - count = I2C_TIMEOUT_STOP_FLAG * (SystemCoreClock / 25U / 1000U); - do - { - count--; - if (count == 0U) - { - hi2c->ErrorCode |= HAL_I2C_ERROR_TIMEOUT; - - return HAL_ERROR; - } - } - while (READ_BIT(hi2c->Instance->CR1, I2C_CR1_STOP) == I2C_CR1_STOP); - - return HAL_OK; -} - -/** - * @brief This function handles I2C Communication Timeout for specific usage of RXNE flag. - * @param hi2c Pointer to a I2C_HandleTypeDef structure that contains - * the configuration information for the specified I2C. - * @param Timeout Timeout duration - * @param Tickstart Tick start value - * @retval HAL status - */ -static HAL_StatusTypeDef I2C_WaitOnRXNEFlagUntilTimeout(I2C_HandleTypeDef *hi2c, uint32_t Timeout, uint32_t Tickstart) -{ - - while (__HAL_I2C_GET_FLAG(hi2c, I2C_FLAG_RXNE) == RESET) - { - /* Check if a STOPF is detected */ - if (__HAL_I2C_GET_FLAG(hi2c, I2C_FLAG_STOPF) == SET) - { - /* Clear STOP Flag */ - __HAL_I2C_CLEAR_FLAG(hi2c, I2C_FLAG_STOPF); - - hi2c->PreviousState = I2C_STATE_NONE; - hi2c->State = HAL_I2C_STATE_READY; - hi2c->Mode = HAL_I2C_MODE_NONE; - hi2c->ErrorCode |= HAL_I2C_ERROR_NONE; - - /* Process Unlocked */ - __HAL_UNLOCK(hi2c); - - return HAL_ERROR; - } - - /* Check for the Timeout */ - if (((HAL_GetTick() - Tickstart) > Timeout) || (Timeout == 0U)) - { - hi2c->PreviousState = I2C_STATE_NONE; - hi2c->State = HAL_I2C_STATE_READY; - hi2c->Mode = HAL_I2C_MODE_NONE; - hi2c->ErrorCode |= HAL_I2C_ERROR_TIMEOUT; - - /* Process Unlocked */ - __HAL_UNLOCK(hi2c); - - return HAL_ERROR; - } - } - return HAL_OK; -} - -/** - * @brief This function handles Acknowledge failed detection during an I2C Communication. - * @param hi2c Pointer to a I2C_HandleTypeDef structure that contains - * the configuration information for the specified I2C. - * @retval HAL status - */ -static HAL_StatusTypeDef I2C_IsAcknowledgeFailed(I2C_HandleTypeDef *hi2c) -{ - if (__HAL_I2C_GET_FLAG(hi2c, I2C_FLAG_AF) == SET) - { - /* Clear NACKF Flag */ - __HAL_I2C_CLEAR_FLAG(hi2c, I2C_FLAG_AF); - - hi2c->PreviousState = I2C_STATE_NONE; - hi2c->State = HAL_I2C_STATE_READY; - hi2c->Mode = HAL_I2C_MODE_NONE; - hi2c->ErrorCode |= HAL_I2C_ERROR_AF; - - /* Process Unlocked */ - __HAL_UNLOCK(hi2c); - - return HAL_ERROR; - } - return HAL_OK; -} - -/** - * @brief Convert I2Cx OTHER_xxx XferOptions to functional XferOptions. - * @param hi2c I2C handle. - * @retval None - */ -static void I2C_ConvertOtherXferOptions(I2C_HandleTypeDef *hi2c) -{ - /* if user set XferOptions to I2C_OTHER_FRAME */ - /* it request implicitly to generate a restart condition */ - /* set XferOptions to I2C_FIRST_FRAME */ - if (hi2c->XferOptions == I2C_OTHER_FRAME) - { - hi2c->XferOptions = I2C_FIRST_FRAME; - } - /* else if user set XferOptions to I2C_OTHER_AND_LAST_FRAME */ - /* it request implicitly to generate a restart condition */ - /* then generate a stop condition at the end of transfer */ - /* set XferOptions to I2C_FIRST_AND_LAST_FRAME */ - else if (hi2c->XferOptions == I2C_OTHER_AND_LAST_FRAME) - { - hi2c->XferOptions = I2C_FIRST_AND_LAST_FRAME; - } - else - { - /* Nothing to do */ - } -} - -/** - * @} - */ - -#endif /* HAL_I2C_MODULE_ENABLED */ -/** - * @} - */ - -/** - * @} - */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c_ex.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c_ex.c deleted file mode 100644 index ed50332005cc93..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c_ex.c +++ /dev/null @@ -1,184 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_i2c_ex.c - * @author MCD Application Team - * @brief I2C Extension HAL module driver. - * This file provides firmware functions to manage the following - * functionalities of I2C extension peripheral: - * + Extension features functions - * - @verbatim - ============================================================================== - ##### I2C peripheral extension features ##### - ============================================================================== - - [..] Comparing to other previous devices, the I2C interface for STM32F427xx/437xx/ - 429xx/439xx devices contains the following additional features : - - (+) Possibility to disable or enable Analog Noise Filter - (+) Use of a configured Digital Noise Filter - - ##### How to use this driver ##### - ============================================================================== - [..] This driver provides functions to configure Noise Filter - (#) Configure I2C Analog noise filter using the function HAL_I2C_AnalogFilter_Config() - (#) Configure I2C Digital noise filter using the function HAL_I2C_DigitalFilter_Config() - - @endverbatim - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @defgroup I2CEx I2CEx - * @brief I2C HAL module driver - * @{ - */ - -#ifdef HAL_I2C_MODULE_ENABLED - -#if defined(I2C_FLTR_ANOFF)&&defined(I2C_FLTR_DNF) -/* Private typedef -----------------------------------------------------------*/ -/* Private define ------------------------------------------------------------*/ -/* Private macro -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private function prototypes -----------------------------------------------*/ -/* Exported functions --------------------------------------------------------*/ -/** @defgroup I2CEx_Exported_Functions I2C Exported Functions - * @{ - */ - - -/** @defgroup I2CEx_Exported_Functions_Group1 Extension features functions - * @brief Extension features functions - * -@verbatim - =============================================================================== - ##### Extension features functions ##### - =============================================================================== - [..] This section provides functions allowing to: - (+) Configure Noise Filters - -@endverbatim - * @{ - */ - -/** - * @brief Configures I2C Analog noise filter. - * @param hi2c pointer to a I2C_HandleTypeDef structure that contains - * the configuration information for the specified I2Cx peripheral. - * @param AnalogFilter new state of the Analog filter. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_I2CEx_ConfigAnalogFilter(I2C_HandleTypeDef *hi2c, uint32_t AnalogFilter) -{ - /* Check the parameters */ - assert_param(IS_I2C_ALL_INSTANCE(hi2c->Instance)); - assert_param(IS_I2C_ANALOG_FILTER(AnalogFilter)); - - if (hi2c->State == HAL_I2C_STATE_READY) - { - hi2c->State = HAL_I2C_STATE_BUSY; - - /* Disable the selected I2C peripheral */ - __HAL_I2C_DISABLE(hi2c); - - /* Reset I2Cx ANOFF bit */ - hi2c->Instance->FLTR &= ~(I2C_FLTR_ANOFF); - - /* Disable the analog filter */ - hi2c->Instance->FLTR |= AnalogFilter; - - __HAL_I2C_ENABLE(hi2c); - - hi2c->State = HAL_I2C_STATE_READY; - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Configures I2C Digital noise filter. - * @param hi2c pointer to a I2C_HandleTypeDef structure that contains - * the configuration information for the specified I2Cx peripheral. - * @param DigitalFilter Coefficient of digital noise filter between 0x00 and 0x0F. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_I2CEx_ConfigDigitalFilter(I2C_HandleTypeDef *hi2c, uint32_t DigitalFilter) -{ - uint16_t tmpreg = 0; - - /* Check the parameters */ - assert_param(IS_I2C_ALL_INSTANCE(hi2c->Instance)); - assert_param(IS_I2C_DIGITAL_FILTER(DigitalFilter)); - - if (hi2c->State == HAL_I2C_STATE_READY) - { - hi2c->State = HAL_I2C_STATE_BUSY; - - /* Disable the selected I2C peripheral */ - __HAL_I2C_DISABLE(hi2c); - - /* Get the old register value */ - tmpreg = hi2c->Instance->FLTR; - - /* Reset I2Cx DNF bit [3:0] */ - tmpreg &= ~(I2C_FLTR_DNF); - - /* Set I2Cx DNF coefficient */ - tmpreg |= DigitalFilter; - - /* Store the new register value */ - hi2c->Instance->FLTR = tmpreg; - - __HAL_I2C_ENABLE(hi2c); - - hi2c->State = HAL_I2C_STATE_READY; - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @} - */ - -/** - * @} - */ -#endif - -#endif /* HAL_I2C_MODULE_ENABLED */ -/** - * @} - */ - -/** - * @} - */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2s.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2s.c deleted file mode 100644 index 332b6c2cae516f..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2s.c +++ /dev/null @@ -1,2095 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_i2s.c - * @author MCD Application Team - * @brief I2S HAL module driver. - * This file provides firmware functions to manage the following - * functionalities of the Integrated Interchip Sound (I2S) peripheral: - * + Initialization and de-initialization functions - * + IO operation functions - * + Peripheral State and Errors functions - @verbatim - =============================================================================== - ##### How to use this driver ##### - =============================================================================== - [..] - The I2S HAL driver can be used as follow: - - (#) Declare a I2S_HandleTypeDef handle structure. - (#) Initialize the I2S low level resources by implement the HAL_I2S_MspInit() API: - (##) Enable the SPIx interface clock. - (##) I2S pins configuration: - (+++) Enable the clock for the I2S GPIOs. - (+++) Configure these I2S pins as alternate function pull-up. - (##) NVIC configuration if you need to use interrupt process (HAL_I2S_Transmit_IT() - and HAL_I2S_Receive_IT() APIs). - (+++) Configure the I2Sx interrupt priority. - (+++) Enable the NVIC I2S IRQ handle. - (##) DMA Configuration if you need to use DMA process (HAL_I2S_Transmit_DMA() - and HAL_I2S_Receive_DMA() APIs: - (+++) Declare a DMA handle structure for the Tx/Rx Stream/Channel. - (+++) Enable the DMAx interface clock. - (+++) Configure the declared DMA handle structure with the required Tx/Rx parameters. - (+++) Configure the DMA Tx/Rx Stream/Channel. - (+++) Associate the initialized DMA handle to the I2S DMA Tx/Rx handle. - (+++) Configure the priority and enable the NVIC for the transfer complete interrupt on the - DMA Tx/Rx Stream/Channel. - - (#) Program the Mode, Standard, Data Format, MCLK Output, Audio frequency and Polarity - using HAL_I2S_Init() function. - - -@- The specific I2S interrupts (Transmission complete interrupt, - RXNE interrupt and Error Interrupts) will be managed using the macros - __HAL_I2S_ENABLE_IT() and __HAL_I2S_DISABLE_IT() inside the transmit and receive process. - -@- Make sure that either: - (+@) I2S PLL clock is configured or - (+@) External clock source is configured after setting correctly - the define constant EXTERNAL_CLOCK_VALUE in the stm32f4xx_hal_conf.h file. - - (#) Three mode of operations are available within this driver : - - *** Polling mode IO operation *** - ================================= - [..] - (+) Send an amount of data in blocking mode using HAL_I2S_Transmit() - (+) Receive an amount of data in blocking mode using HAL_I2S_Receive() - - *** Interrupt mode IO operation *** - =================================== - [..] - (+) Send an amount of data in non blocking mode using HAL_I2S_Transmit_IT() - (+) At transmission end of half transfer HAL_I2S_TxHalfCpltCallback is executed and user can - add his own code by customization of function pointer HAL_I2S_TxHalfCpltCallback - (+) At transmission end of transfer HAL_I2S_TxCpltCallback is executed and user can - add his own code by customization of function pointer HAL_I2S_TxCpltCallback - (+) Receive an amount of data in non blocking mode using HAL_I2S_Receive_IT() - (+) At reception end of half transfer HAL_I2S_RxHalfCpltCallback is executed and user can - add his own code by customization of function pointer HAL_I2S_RxHalfCpltCallback - (+) At reception end of transfer HAL_I2S_RxCpltCallback is executed and user can - add his own code by customization of function pointer HAL_I2S_RxCpltCallback - (+) In case of transfer Error, HAL_I2S_ErrorCallback() function is executed and user can - add his own code by customization of function pointer HAL_I2S_ErrorCallback - - *** DMA mode IO operation *** - ============================== - [..] - (+) Send an amount of data in non blocking mode (DMA) using HAL_I2S_Transmit_DMA() - (+) At transmission end of half transfer HAL_I2S_TxHalfCpltCallback is executed and user can - add his own code by customization of function pointer HAL_I2S_TxHalfCpltCallback - (+) At transmission end of transfer HAL_I2S_TxCpltCallback is executed and user can - add his own code by customization of function pointer HAL_I2S_TxCpltCallback - (+) Receive an amount of data in non blocking mode (DMA) using HAL_I2S_Receive_DMA() - (+) At reception end of half transfer HAL_I2S_RxHalfCpltCallback is executed and user can - add his own code by customization of function pointer HAL_I2S_RxHalfCpltCallback - (+) At reception end of transfer HAL_I2S_RxCpltCallback is executed and user can - add his own code by customization of function pointer HAL_I2S_RxCpltCallback - (+) In case of transfer Error, HAL_I2S_ErrorCallback() function is executed and user can - add his own code by customization of function pointer HAL_I2S_ErrorCallback - (+) Pause the DMA Transfer using HAL_I2S_DMAPause() - (+) Resume the DMA Transfer using HAL_I2S_DMAResume() - (+) Stop the DMA Transfer using HAL_I2S_DMAStop() - In Slave mode, if HAL_I2S_DMAStop is used to stop the communication, an error - HAL_I2S_ERROR_BUSY_LINE_RX is raised as the master continue to transmit data. - In this case __HAL_I2S_FLUSH_RX_DR macro must be used to flush the remaining data - inside DR register and avoid using DeInit/Init process for the next transfer. - - *** I2S HAL driver macros list *** - =================================== - [..] - Below the list of most used macros in I2S HAL driver. - - (+) __HAL_I2S_ENABLE: Enable the specified SPI peripheral (in I2S mode) - (+) __HAL_I2S_DISABLE: Disable the specified SPI peripheral (in I2S mode) - (+) __HAL_I2S_ENABLE_IT : Enable the specified I2S interrupts - (+) __HAL_I2S_DISABLE_IT : Disable the specified I2S interrupts - (+) __HAL_I2S_GET_FLAG: Check whether the specified I2S flag is set or not - (+) __HAL_I2S_FLUSH_RX_DR: Read DR Register to Flush RX Data - - [..] - (@) You can refer to the I2S HAL driver header file for more useful macros - - *** I2S HAL driver macros list *** - =================================== - [..] - Callback registration: - - (#) The compilation flag USE_HAL_I2S_REGISTER_CALLBACKS when set to 1U - allows the user to configure dynamically the driver callbacks. - Use Functions HAL_I2S_RegisterCallback() to register an interrupt callback. - - Function HAL_I2S_RegisterCallback() allows to register following callbacks: - (++) TxCpltCallback : I2S Tx Completed callback - (++) RxCpltCallback : I2S Rx Completed callback - (++) TxRxCpltCallback : I2S TxRx Completed callback - (++) TxHalfCpltCallback : I2S Tx Half Completed callback - (++) RxHalfCpltCallback : I2S Rx Half Completed callback - (++) ErrorCallback : I2S Error callback - (++) MspInitCallback : I2S Msp Init callback - (++) MspDeInitCallback : I2S Msp DeInit callback - This function takes as parameters the HAL peripheral handle, the Callback ID - and a pointer to the user callback function. - - - (#) Use function HAL_I2S_UnRegisterCallback to reset a callback to the default - weak function. - HAL_I2S_UnRegisterCallback takes as parameters the HAL peripheral handle, - and the Callback ID. - This function allows to reset following callbacks: - (++) TxCpltCallback : I2S Tx Completed callback - (++) RxCpltCallback : I2S Rx Completed callback - (++) TxRxCpltCallback : I2S TxRx Completed callback - (++) TxHalfCpltCallback : I2S Tx Half Completed callback - (++) RxHalfCpltCallback : I2S Rx Half Completed callback - (++) ErrorCallback : I2S Error callback - (++) MspInitCallback : I2S Msp Init callback - (++) MspDeInitCallback : I2S Msp DeInit callback - - [..] - By default, after the HAL_I2S_Init() and when the state is HAL_I2S_STATE_RESET - all callbacks are set to the corresponding weak functions: - examples HAL_I2S_MasterTxCpltCallback(), HAL_I2S_MasterRxCpltCallback(). - Exception done for MspInit and MspDeInit functions that are - reset to the legacy weak functions in the HAL_I2S_Init()/ HAL_I2S_DeInit() only when - these callbacks are null (not registered beforehand). - If MspInit or MspDeInit are not null, the HAL_I2S_Init()/ HAL_I2S_DeInit() - keep and use the user MspInit/MspDeInit callbacks (registered beforehand) whatever the state. - - [..] - Callbacks can be registered/unregistered in HAL_I2S_STATE_READY state only. - Exception done MspInit/MspDeInit functions that can be registered/unregistered - in HAL_I2S_STATE_READY or HAL_I2S_STATE_RESET state, - thus registered (user) MspInit/DeInit callbacks can be used during the Init/DeInit. - Then, the user first registers the MspInit/MspDeInit user callbacks - using HAL_I2S_RegisterCallback() before calling HAL_I2S_DeInit() - or HAL_I2S_Init() function. - - [..] - When the compilation define USE_HAL_I2S_REGISTER_CALLBACKS is set to 0 or - not defined, the callback registering feature is not available - and weak (surcharged) callbacks are used. - - @endverbatim - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal.h" - -#ifdef HAL_I2S_MODULE_ENABLED - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @defgroup I2S I2S - * @brief I2S HAL module driver - * @{ - */ - -/* Private typedef -----------------------------------------------------------*/ -/* Private define ------------------------------------------------------------*/ -#define I2S_TIMEOUT_FLAG 100U /*!< Timeout 100 ms */ -/* Private macro -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private function prototypes -----------------------------------------------*/ -/** @defgroup I2S_Private_Functions I2S Private Functions - * @{ - */ -static void I2S_DMATxCplt(DMA_HandleTypeDef *hdma); -static void I2S_DMATxHalfCplt(DMA_HandleTypeDef *hdma); -static void I2S_DMARxCplt(DMA_HandleTypeDef *hdma); -static void I2S_DMARxHalfCplt(DMA_HandleTypeDef *hdma); -static void I2S_DMAError(DMA_HandleTypeDef *hdma); -static void I2S_Transmit_IT(I2S_HandleTypeDef *hi2s); -static void I2S_Receive_IT(I2S_HandleTypeDef *hi2s); -static void I2S_IRQHandler(I2S_HandleTypeDef *hi2s); -static HAL_StatusTypeDef I2S_WaitFlagStateUntilTimeout(I2S_HandleTypeDef *hi2s, uint32_t Flag, FlagStatus State, - uint32_t Timeout); -/** - * @} - */ - -/* Exported functions ---------------------------------------------------------*/ - -/** @defgroup I2S_Exported_Functions I2S Exported Functions - * @{ - */ - -/** @defgroup I2S_Exported_Functions_Group1 Initialization and de-initialization functions - * @brief Initialization and Configuration functions - * -@verbatim - =============================================================================== - ##### Initialization and de-initialization functions ##### - =============================================================================== - [..] This subsection provides a set of functions allowing to initialize and - de-initialize the I2Sx peripheral in simplex mode: - - (+) User must Implement HAL_I2S_MspInit() function in which he configures - all related peripherals resources (CLOCK, GPIO, DMA, IT and NVIC ). - - (+) Call the function HAL_I2S_Init() to configure the selected device with - the selected configuration: - (++) Mode - (++) Standard - (++) Data Format - (++) MCLK Output - (++) Audio frequency - (++) Polarity - (++) Full duplex mode - - (+) Call the function HAL_I2S_DeInit() to restore the default configuration - of the selected I2Sx peripheral. - @endverbatim - * @{ - */ - -/** - * @brief Initializes the I2S according to the specified parameters - * in the I2S_InitTypeDef and create the associated handle. - * @param hi2s pointer to a I2S_HandleTypeDef structure that contains - * the configuration information for I2S module - * @retval HAL status - */ -HAL_StatusTypeDef HAL_I2S_Init(I2S_HandleTypeDef *hi2s) -{ - uint32_t i2sdiv; - uint32_t i2sodd; - uint32_t packetlength; - uint32_t tmp; - uint32_t i2sclk; -#if defined (SPI_I2S_FULLDUPLEX_SUPPORT) - uint16_t tmpreg; -#endif - - /* Check the I2S handle allocation */ - if (hi2s == NULL) - { - return HAL_ERROR; - } - - /* Check the I2S parameters */ - assert_param(IS_I2S_ALL_INSTANCE(hi2s->Instance)); - assert_param(IS_I2S_MODE(hi2s->Init.Mode)); - assert_param(IS_I2S_STANDARD(hi2s->Init.Standard)); - assert_param(IS_I2S_DATA_FORMAT(hi2s->Init.DataFormat)); - assert_param(IS_I2S_MCLK_OUTPUT(hi2s->Init.MCLKOutput)); - assert_param(IS_I2S_AUDIO_FREQ(hi2s->Init.AudioFreq)); - assert_param(IS_I2S_CPOL(hi2s->Init.CPOL)); - assert_param(IS_I2S_CLOCKSOURCE(hi2s->Init.ClockSource)); - - if (hi2s->State == HAL_I2S_STATE_RESET) - { - /* Allocate lock resource and initialize it */ - hi2s->Lock = HAL_UNLOCKED; - - /* Initialize Default I2S IrqHandler ISR */ - hi2s->IrqHandlerISR = I2S_IRQHandler; - -#if (USE_HAL_I2S_REGISTER_CALLBACKS == 1U) - /* Init the I2S Callback settings */ - hi2s->TxCpltCallback = HAL_I2S_TxCpltCallback; /* Legacy weak TxCpltCallback */ - hi2s->RxCpltCallback = HAL_I2S_RxCpltCallback; /* Legacy weak RxCpltCallback */ -#if defined (SPI_I2S_FULLDUPLEX_SUPPORT) - hi2s->TxRxCpltCallback = HAL_I2SEx_TxRxCpltCallback; /* Legacy weak TxRxCpltCallback */ -#endif /* SPI_I2S_FULLDUPLEX_SUPPORT */ - hi2s->TxHalfCpltCallback = HAL_I2S_TxHalfCpltCallback; /* Legacy weak TxHalfCpltCallback */ - hi2s->RxHalfCpltCallback = HAL_I2S_RxHalfCpltCallback; /* Legacy weak RxHalfCpltCallback */ -#if defined (SPI_I2S_FULLDUPLEX_SUPPORT) - hi2s->TxRxHalfCpltCallback = HAL_I2SEx_TxRxHalfCpltCallback; /* Legacy weak TxRxHalfCpltCallback */ -#endif /* SPI_I2S_FULLDUPLEX_SUPPORT */ - hi2s->ErrorCallback = HAL_I2S_ErrorCallback; /* Legacy weak ErrorCallback */ - - if (hi2s->MspInitCallback == NULL) - { - hi2s->MspInitCallback = HAL_I2S_MspInit; /* Legacy weak MspInit */ - } - - /* Init the low level hardware : GPIO, CLOCK, NVIC... */ - hi2s->MspInitCallback(hi2s); -#else - /* Init the low level hardware : GPIO, CLOCK, CORTEX...etc */ - HAL_I2S_MspInit(hi2s); -#endif /* USE_HAL_I2S_REGISTER_CALLBACKS */ - } - - hi2s->State = HAL_I2S_STATE_BUSY; - - /*----------------------- SPIx I2SCFGR & I2SPR Configuration ----------------*/ - /* Clear I2SMOD, I2SE, I2SCFG, PCMSYNC, I2SSTD, CKPOL, DATLEN and CHLEN bits */ - CLEAR_BIT(hi2s->Instance->I2SCFGR, (SPI_I2SCFGR_CHLEN | SPI_I2SCFGR_DATLEN | SPI_I2SCFGR_CKPOL | \ - SPI_I2SCFGR_I2SSTD | SPI_I2SCFGR_PCMSYNC | SPI_I2SCFGR_I2SCFG | \ - SPI_I2SCFGR_I2SE | SPI_I2SCFGR_I2SMOD)); - hi2s->Instance->I2SPR = 0x0002U; - - /*----------------------- I2SPR: I2SDIV and ODD Calculation -----------------*/ - /* If the requested audio frequency is not the default, compute the prescaler */ - if (hi2s->Init.AudioFreq != I2S_AUDIOFREQ_DEFAULT) - { - /* Check the frame length (For the Prescaler computing) ********************/ - if (hi2s->Init.DataFormat == I2S_DATAFORMAT_16B) - { - /* Packet length is 16 bits */ - packetlength = 16U; - } - else - { - /* Packet length is 32 bits */ - packetlength = 32U; - } - - /* I2S standard */ - if (hi2s->Init.Standard <= I2S_STANDARD_LSB) - { - /* In I2S standard packet length is multiplied by 2 */ - packetlength = packetlength * 2U; - } - - /* Get the source clock value **********************************************/ -#if defined(I2S_APB1_APB2_FEATURE) - if (IS_I2S_APB1_INSTANCE(hi2s->Instance)) - { - i2sclk = HAL_RCCEx_GetPeriphCLKFreq(RCC_PERIPHCLK_I2S_APB1); - } - else - { - i2sclk = HAL_RCCEx_GetPeriphCLKFreq(RCC_PERIPHCLK_I2S_APB2); - } -#else - i2sclk = HAL_RCCEx_GetPeriphCLKFreq(RCC_PERIPHCLK_I2S); -#endif /* I2S_APB1_APB2_FEATURE */ - - /* Compute the Real divider depending on the MCLK output state, with a floating point */ - if (hi2s->Init.MCLKOutput == I2S_MCLKOUTPUT_ENABLE) - { - /* MCLK output is enabled */ - if (hi2s->Init.DataFormat != I2S_DATAFORMAT_16B) - { - tmp = (uint32_t)(((((i2sclk / (packetlength * 4U)) * 10U) / hi2s->Init.AudioFreq)) + 5U); - } - else - { - tmp = (uint32_t)(((((i2sclk / (packetlength * 8U)) * 10U) / hi2s->Init.AudioFreq)) + 5U); - } - } - else - { - /* MCLK output is disabled */ - tmp = (uint32_t)(((((i2sclk / packetlength) * 10U) / hi2s->Init.AudioFreq)) + 5U); - } - - /* Remove the flatting point */ - tmp = tmp / 10U; - - /* Check the parity of the divider */ - i2sodd = (uint32_t)(tmp & (uint32_t)1U); - - /* Compute the i2sdiv prescaler */ - i2sdiv = (uint32_t)((tmp - i2sodd) / 2U); - - /* Get the Mask for the Odd bit (SPI_I2SPR[8]) register */ - i2sodd = (uint32_t)(i2sodd << 8U); - } - else - { - /* Set the default values */ - i2sdiv = 2U; - i2sodd = 0U; - } - - /* Test if the divider is 1 or 0 or greater than 0xFF */ - if ((i2sdiv < 2U) || (i2sdiv > 0xFFU)) - { - /* Set the error code and execute error callback*/ - SET_BIT(hi2s->ErrorCode, HAL_I2S_ERROR_PRESCALER); - return HAL_ERROR; - } - - /*----------------------- SPIx I2SCFGR & I2SPR Configuration ----------------*/ - - /* Write to SPIx I2SPR register the computed value */ - hi2s->Instance->I2SPR = (uint32_t)((uint32_t)i2sdiv | (uint32_t)(i2sodd | (uint32_t)hi2s->Init.MCLKOutput)); - - /* Clear I2SMOD, I2SE, I2SCFG, PCMSYNC, I2SSTD, CKPOL, DATLEN and CHLEN bits */ - /* And configure the I2S with the I2S_InitStruct values */ - MODIFY_REG(hi2s->Instance->I2SCFGR, (SPI_I2SCFGR_CHLEN | SPI_I2SCFGR_DATLEN | \ - SPI_I2SCFGR_CKPOL | SPI_I2SCFGR_I2SSTD | \ - SPI_I2SCFGR_PCMSYNC | SPI_I2SCFGR_I2SCFG | \ - SPI_I2SCFGR_I2SE | SPI_I2SCFGR_I2SMOD), \ - (SPI_I2SCFGR_I2SMOD | hi2s->Init.Mode | \ - hi2s->Init.Standard | hi2s->Init.DataFormat | \ - hi2s->Init.CPOL)); - -#if defined(SPI_I2SCFGR_ASTRTEN) - if ((hi2s->Init.Standard == I2S_STANDARD_PCM_SHORT) || ((hi2s->Init.Standard == I2S_STANDARD_PCM_LONG))) - { - /* Write to SPIx I2SCFGR */ - SET_BIT(hi2s->Instance->I2SCFGR, SPI_I2SCFGR_ASTRTEN); - } -#endif /* SPI_I2SCFGR_ASTRTEN */ - -#if defined (SPI_I2S_FULLDUPLEX_SUPPORT) - - /* Configure the I2S extended if the full duplex mode is enabled */ - assert_param(IS_I2S_FULLDUPLEX_MODE(hi2s->Init.FullDuplexMode)); - - if (hi2s->Init.FullDuplexMode == I2S_FULLDUPLEXMODE_ENABLE) - { - /* Set FullDuplex I2S IrqHandler ISR if FULLDUPLEXMODE is enabled */ - hi2s->IrqHandlerISR = HAL_I2SEx_FullDuplex_IRQHandler; - - /* Clear I2SMOD, I2SE, I2SCFG, PCMSYNC, I2SSTD, CKPOL, DATLEN and CHLEN bits */ - CLEAR_BIT(I2SxEXT(hi2s->Instance)->I2SCFGR, (SPI_I2SCFGR_CHLEN | SPI_I2SCFGR_DATLEN | SPI_I2SCFGR_CKPOL | \ - SPI_I2SCFGR_I2SSTD | SPI_I2SCFGR_PCMSYNC | SPI_I2SCFGR_I2SCFG | \ - SPI_I2SCFGR_I2SE | SPI_I2SCFGR_I2SMOD)); - I2SxEXT(hi2s->Instance)->I2SPR = 2U; - - /* Get the I2SCFGR register value */ - tmpreg = I2SxEXT(hi2s->Instance)->I2SCFGR; - - /* Get the mode to be configured for the extended I2S */ - if ((hi2s->Init.Mode == I2S_MODE_MASTER_TX) || (hi2s->Init.Mode == I2S_MODE_SLAVE_TX)) - { - tmp = I2S_MODE_SLAVE_RX; - } - else /* I2S_MODE_MASTER_RX || I2S_MODE_SLAVE_RX */ - { - tmp = I2S_MODE_SLAVE_TX; - } - - /* Configure the I2S Slave with the I2S Master parameter values */ - tmpreg |= (uint16_t)((uint16_t)SPI_I2SCFGR_I2SMOD | \ - (uint16_t)tmp | \ - (uint16_t)hi2s->Init.Standard | \ - (uint16_t)hi2s->Init.DataFormat | \ - (uint16_t)hi2s->Init.CPOL); - - /* Write to SPIx I2SCFGR */ - WRITE_REG(I2SxEXT(hi2s->Instance)->I2SCFGR, tmpreg); - } -#endif /* SPI_I2S_FULLDUPLEX_SUPPORT */ - - hi2s->ErrorCode = HAL_I2S_ERROR_NONE; - hi2s->State = HAL_I2S_STATE_READY; - - return HAL_OK; -} - -/** - * @brief DeInitializes the I2S peripheral - * @param hi2s pointer to a I2S_HandleTypeDef structure that contains - * the configuration information for I2S module - * @retval HAL status - */ -HAL_StatusTypeDef HAL_I2S_DeInit(I2S_HandleTypeDef *hi2s) -{ - /* Check the I2S handle allocation */ - if (hi2s == NULL) - { - return HAL_ERROR; - } - - /* Check the parameters */ - assert_param(IS_I2S_ALL_INSTANCE(hi2s->Instance)); - - hi2s->State = HAL_I2S_STATE_BUSY; - - /* Disable the I2S Peripheral Clock */ - __HAL_I2S_DISABLE(hi2s); - -#if (USE_HAL_I2S_REGISTER_CALLBACKS == 1U) - if (hi2s->MspDeInitCallback == NULL) - { - hi2s->MspDeInitCallback = HAL_I2S_MspDeInit; /* Legacy weak MspDeInit */ - } - - /* DeInit the low level hardware: GPIO, CLOCK, NVIC... */ - hi2s->MspDeInitCallback(hi2s); -#else - /* DeInit the low level hardware: GPIO, CLOCK, NVIC... */ - HAL_I2S_MspDeInit(hi2s); -#endif /* USE_HAL_I2S_REGISTER_CALLBACKS */ - - hi2s->ErrorCode = HAL_I2S_ERROR_NONE; - hi2s->State = HAL_I2S_STATE_RESET; - - /* Release Lock */ - __HAL_UNLOCK(hi2s); - - return HAL_OK; -} - -/** - * @brief I2S MSP Init - * @param hi2s pointer to a I2S_HandleTypeDef structure that contains - * the configuration information for I2S module - * @retval None - */ -__weak void HAL_I2S_MspInit(I2S_HandleTypeDef *hi2s) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hi2s); - - /* NOTE : This function Should not be modified, when the callback is needed, - the HAL_I2S_MspInit could be implemented in the user file - */ -} - -/** - * @brief I2S MSP DeInit - * @param hi2s pointer to a I2S_HandleTypeDef structure that contains - * the configuration information for I2S module - * @retval None - */ -__weak void HAL_I2S_MspDeInit(I2S_HandleTypeDef *hi2s) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hi2s); - - /* NOTE : This function Should not be modified, when the callback is needed, - the HAL_I2S_MspDeInit could be implemented in the user file - */ -} - -#if (USE_HAL_I2S_REGISTER_CALLBACKS == 1U) -/** - * @brief Register a User I2S Callback - * To be used instead of the weak predefined callback - * @param hi2s Pointer to a I2S_HandleTypeDef structure that contains - * the configuration information for the specified I2S. - * @param CallbackID ID of the callback to be registered - * @param pCallback pointer to the Callback function - * @retval HAL status - */ -HAL_StatusTypeDef HAL_I2S_RegisterCallback(I2S_HandleTypeDef *hi2s, HAL_I2S_CallbackIDTypeDef CallbackID, - pI2S_CallbackTypeDef pCallback) -{ - HAL_StatusTypeDef status = HAL_OK; - - if (pCallback == NULL) - { - /* Update the error code */ - hi2s->ErrorCode |= HAL_I2S_ERROR_INVALID_CALLBACK; - - return HAL_ERROR; - } - /* Process locked */ - __HAL_LOCK(hi2s); - - if (HAL_I2S_STATE_READY == hi2s->State) - { - switch (CallbackID) - { - case HAL_I2S_TX_COMPLETE_CB_ID : - hi2s->TxCpltCallback = pCallback; - break; - - case HAL_I2S_RX_COMPLETE_CB_ID : - hi2s->RxCpltCallback = pCallback; - break; - -#if defined (SPI_I2S_FULLDUPLEX_SUPPORT) - case HAL_I2S_TX_RX_COMPLETE_CB_ID : - hi2s->TxRxCpltCallback = pCallback; - break; -#endif /* SPI_I2S_FULLDUPLEX_SUPPORT */ - - case HAL_I2S_TX_HALF_COMPLETE_CB_ID : - hi2s->TxHalfCpltCallback = pCallback; - break; - - case HAL_I2S_RX_HALF_COMPLETE_CB_ID : - hi2s->RxHalfCpltCallback = pCallback; - break; - -#if defined (SPI_I2S_FULLDUPLEX_SUPPORT) - case HAL_I2S_TX_RX_HALF_COMPLETE_CB_ID : - hi2s->TxRxHalfCpltCallback = pCallback; - break; -#endif /* SPI_I2S_FULLDUPLEX_SUPPORT */ - - case HAL_I2S_ERROR_CB_ID : - hi2s->ErrorCallback = pCallback; - break; - - case HAL_I2S_MSPINIT_CB_ID : - hi2s->MspInitCallback = pCallback; - break; - - case HAL_I2S_MSPDEINIT_CB_ID : - hi2s->MspDeInitCallback = pCallback; - break; - - default : - /* Update the error code */ - SET_BIT(hi2s->ErrorCode, HAL_I2S_ERROR_INVALID_CALLBACK); - - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else if (HAL_I2S_STATE_RESET == hi2s->State) - { - switch (CallbackID) - { - case HAL_I2S_MSPINIT_CB_ID : - hi2s->MspInitCallback = pCallback; - break; - - case HAL_I2S_MSPDEINIT_CB_ID : - hi2s->MspDeInitCallback = pCallback; - break; - - default : - /* Update the error code */ - SET_BIT(hi2s->ErrorCode, HAL_I2S_ERROR_INVALID_CALLBACK); - - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else - { - /* Update the error code */ - SET_BIT(hi2s->ErrorCode, HAL_I2S_ERROR_INVALID_CALLBACK); - - /* Return error status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(hi2s); - return status; -} - -/** - * @brief Unregister an I2S Callback - * I2S callback is redirected to the weak predefined callback - * @param hi2s Pointer to a I2S_HandleTypeDef structure that contains - * the configuration information for the specified I2S. - * @param CallbackID ID of the callback to be unregistered - * @retval HAL status - */ -HAL_StatusTypeDef HAL_I2S_UnRegisterCallback(I2S_HandleTypeDef *hi2s, HAL_I2S_CallbackIDTypeDef CallbackID) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Process locked */ - __HAL_LOCK(hi2s); - - if (HAL_I2S_STATE_READY == hi2s->State) - { - switch (CallbackID) - { - case HAL_I2S_TX_COMPLETE_CB_ID : - hi2s->TxCpltCallback = HAL_I2S_TxCpltCallback; /* Legacy weak TxCpltCallback */ - break; - - case HAL_I2S_RX_COMPLETE_CB_ID : - hi2s->RxCpltCallback = HAL_I2S_RxCpltCallback; /* Legacy weak RxCpltCallback */ - break; - -#if defined (SPI_I2S_FULLDUPLEX_SUPPORT) - case HAL_I2S_TX_RX_COMPLETE_CB_ID : - hi2s->TxRxCpltCallback = HAL_I2SEx_TxRxCpltCallback; /* Legacy weak TxRxCpltCallback */ - break; -#endif /* SPI_I2S_FULLDUPLEX_SUPPORT */ - - case HAL_I2S_TX_HALF_COMPLETE_CB_ID : - hi2s->TxHalfCpltCallback = HAL_I2S_TxHalfCpltCallback; /* Legacy weak TxHalfCpltCallback */ - break; - - case HAL_I2S_RX_HALF_COMPLETE_CB_ID : - hi2s->RxHalfCpltCallback = HAL_I2S_RxHalfCpltCallback; /* Legacy weak RxHalfCpltCallback */ - break; - -#if defined (SPI_I2S_FULLDUPLEX_SUPPORT) - case HAL_I2S_TX_RX_HALF_COMPLETE_CB_ID : - hi2s->TxRxHalfCpltCallback = HAL_I2SEx_TxRxHalfCpltCallback; /* Legacy weak TxRxHalfCpltCallback */ - break; -#endif /* SPI_I2S_FULLDUPLEX_SUPPORT */ - - case HAL_I2S_ERROR_CB_ID : - hi2s->ErrorCallback = HAL_I2S_ErrorCallback; /* Legacy weak ErrorCallback */ - break; - - case HAL_I2S_MSPINIT_CB_ID : - hi2s->MspInitCallback = HAL_I2S_MspInit; /* Legacy weak MspInit */ - break; - - case HAL_I2S_MSPDEINIT_CB_ID : - hi2s->MspDeInitCallback = HAL_I2S_MspDeInit; /* Legacy weak MspDeInit */ - break; - - default : - /* Update the error code */ - SET_BIT(hi2s->ErrorCode, HAL_I2S_ERROR_INVALID_CALLBACK); - - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else if (HAL_I2S_STATE_RESET == hi2s->State) - { - switch (CallbackID) - { - case HAL_I2S_MSPINIT_CB_ID : - hi2s->MspInitCallback = HAL_I2S_MspInit; /* Legacy weak MspInit */ - break; - - case HAL_I2S_MSPDEINIT_CB_ID : - hi2s->MspDeInitCallback = HAL_I2S_MspDeInit; /* Legacy weak MspDeInit */ - break; - - default : - /* Update the error code */ - SET_BIT(hi2s->ErrorCode, HAL_I2S_ERROR_INVALID_CALLBACK); - - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else - { - /* Update the error code */ - SET_BIT(hi2s->ErrorCode, HAL_I2S_ERROR_INVALID_CALLBACK); - - /* Return error status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(hi2s); - return status; -} -#endif /* USE_HAL_I2S_REGISTER_CALLBACKS */ -/** - * @} - */ - -/** @defgroup I2S_Exported_Functions_Group2 IO operation functions - * @brief Data transfers functions - * -@verbatim - =============================================================================== - ##### IO operation functions ##### - =============================================================================== - [..] - This subsection provides a set of functions allowing to manage the I2S data - transfers. - - (#) There are two modes of transfer: - (++) Blocking mode : The communication is performed in the polling mode. - The status of all data processing is returned by the same function - after finishing transfer. - (++) No-Blocking mode : The communication is performed using Interrupts - or DMA. These functions return the status of the transfer startup. - The end of the data processing will be indicated through the - dedicated I2S IRQ when using Interrupt mode or the DMA IRQ when - using DMA mode. - - (#) Blocking mode functions are : - (++) HAL_I2S_Transmit() - (++) HAL_I2S_Receive() - - (#) No-Blocking mode functions with Interrupt are : - (++) HAL_I2S_Transmit_IT() - (++) HAL_I2S_Receive_IT() - - (#) No-Blocking mode functions with DMA are : - (++) HAL_I2S_Transmit_DMA() - (++) HAL_I2S_Receive_DMA() - - (#) A set of Transfer Complete Callbacks are provided in non Blocking mode: - (++) HAL_I2S_TxCpltCallback() - (++) HAL_I2S_RxCpltCallback() - (++) HAL_I2S_ErrorCallback() - -@endverbatim - * @{ - */ - -/** - * @brief Transmit an amount of data in blocking mode - * @param hi2s pointer to a I2S_HandleTypeDef structure that contains - * the configuration information for I2S module - * @param pData a 16-bit pointer to data buffer. - * @param Size number of data sample to be sent: - * @note When a 16-bit data frame or a 16-bit data frame extended is selected during the I2S - * configuration phase, the Size parameter means the number of 16-bit data length - * in the transaction and when a 24-bit data frame or a 32-bit data frame is selected - * the Size parameter means the number of 24-bit or 32-bit data length. - * @param Timeout Timeout duration - * @note The I2S is kept enabled at the end of transaction to avoid the clock de-synchronization - * between Master and Slave(example: audio streaming). - * @retval HAL status - */ -HAL_StatusTypeDef HAL_I2S_Transmit(I2S_HandleTypeDef *hi2s, uint16_t *pData, uint16_t Size, uint32_t Timeout) -{ - uint32_t tmpreg_cfgr; - - if ((pData == NULL) || (Size == 0U)) - { - return HAL_ERROR; - } - - /* Process Locked */ - __HAL_LOCK(hi2s); - - if (hi2s->State != HAL_I2S_STATE_READY) - { - __HAL_UNLOCK(hi2s); - return HAL_BUSY; - } - - /* Set state and reset error code */ - hi2s->State = HAL_I2S_STATE_BUSY_TX; - hi2s->ErrorCode = HAL_I2S_ERROR_NONE; - hi2s->pTxBuffPtr = pData; - - tmpreg_cfgr = hi2s->Instance->I2SCFGR & (SPI_I2SCFGR_DATLEN | SPI_I2SCFGR_CHLEN); - - if ((tmpreg_cfgr == I2S_DATAFORMAT_24B) || (tmpreg_cfgr == I2S_DATAFORMAT_32B)) - { - hi2s->TxXferSize = (Size << 1U); - hi2s->TxXferCount = (Size << 1U); - } - else - { - hi2s->TxXferSize = Size; - hi2s->TxXferCount = Size; - } - - tmpreg_cfgr = hi2s->Instance->I2SCFGR; - - /* Check if the I2S is already enabled */ - if ((hi2s->Instance->I2SCFGR & SPI_I2SCFGR_I2SE) != SPI_I2SCFGR_I2SE) - { - /* Enable I2S peripheral */ - __HAL_I2S_ENABLE(hi2s); - } - - /* Wait until TXE flag is set */ - if (I2S_WaitFlagStateUntilTimeout(hi2s, I2S_FLAG_TXE, SET, Timeout) != HAL_OK) - { - /* Set the error code */ - SET_BIT(hi2s->ErrorCode, HAL_I2S_ERROR_TIMEOUT); - hi2s->State = HAL_I2S_STATE_READY; - __HAL_UNLOCK(hi2s); - return HAL_ERROR; - } - - while (hi2s->TxXferCount > 0U) - { - hi2s->Instance->DR = (*hi2s->pTxBuffPtr); - hi2s->pTxBuffPtr++; - hi2s->TxXferCount--; - - /* Wait until TXE flag is set */ - if (I2S_WaitFlagStateUntilTimeout(hi2s, I2S_FLAG_TXE, SET, Timeout) != HAL_OK) - { - /* Set the error code */ - SET_BIT(hi2s->ErrorCode, HAL_I2S_ERROR_TIMEOUT); - hi2s->State = HAL_I2S_STATE_READY; - __HAL_UNLOCK(hi2s); - return HAL_ERROR; - } - - /* Check if an underrun occurs */ - if (__HAL_I2S_GET_FLAG(hi2s, I2S_FLAG_UDR) == SET) - { - /* Clear underrun flag */ - __HAL_I2S_CLEAR_UDRFLAG(hi2s); - - /* Set the error code */ - SET_BIT(hi2s->ErrorCode, HAL_I2S_ERROR_UDR); - } - } - - /* Check if Slave mode is selected */ - if (((tmpreg_cfgr & SPI_I2SCFGR_I2SCFG) == I2S_MODE_SLAVE_TX) - || ((tmpreg_cfgr & SPI_I2SCFGR_I2SCFG) == I2S_MODE_SLAVE_RX)) - { - /* Wait until Busy flag is reset */ - if (I2S_WaitFlagStateUntilTimeout(hi2s, I2S_FLAG_BSY, RESET, Timeout) != HAL_OK) - { - /* Set the error code */ - SET_BIT(hi2s->ErrorCode, HAL_I2S_ERROR_TIMEOUT); - hi2s->State = HAL_I2S_STATE_READY; - __HAL_UNLOCK(hi2s); - return HAL_ERROR; - } - } - - hi2s->State = HAL_I2S_STATE_READY; - __HAL_UNLOCK(hi2s); - return HAL_OK; -} - -/** - * @brief Receive an amount of data in blocking mode - * @param hi2s pointer to a I2S_HandleTypeDef structure that contains - * the configuration information for I2S module - * @param pData a 16-bit pointer to data buffer. - * @param Size number of data sample to be sent: - * @note When a 16-bit data frame or a 16-bit data frame extended is selected during the I2S - * configuration phase, the Size parameter means the number of 16-bit data length - * in the transaction and when a 24-bit data frame or a 32-bit data frame is selected - * the Size parameter means the number of 24-bit or 32-bit data length. - * @param Timeout Timeout duration - * @note The I2S is kept enabled at the end of transaction to avoid the clock de-synchronization - * between Master and Slave(example: audio streaming). - * @note In I2S Master Receiver mode, just after enabling the peripheral the clock will be generate - * in continuous way and as the I2S is not disabled at the end of the I2S transaction. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_I2S_Receive(I2S_HandleTypeDef *hi2s, uint16_t *pData, uint16_t Size, uint32_t Timeout) -{ - uint32_t tmpreg_cfgr; - - if ((pData == NULL) || (Size == 0U)) - { - return HAL_ERROR; - } - - /* Process Locked */ - __HAL_LOCK(hi2s); - - if (hi2s->State != HAL_I2S_STATE_READY) - { - __HAL_UNLOCK(hi2s); - return HAL_BUSY; - } - - /* Set state and reset error code */ - hi2s->State = HAL_I2S_STATE_BUSY_RX; - hi2s->ErrorCode = HAL_I2S_ERROR_NONE; - hi2s->pRxBuffPtr = pData; - - tmpreg_cfgr = hi2s->Instance->I2SCFGR & (SPI_I2SCFGR_DATLEN | SPI_I2SCFGR_CHLEN); - - if ((tmpreg_cfgr == I2S_DATAFORMAT_24B) || (tmpreg_cfgr == I2S_DATAFORMAT_32B)) - { - hi2s->RxXferSize = (Size << 1U); - hi2s->RxXferCount = (Size << 1U); - } - else - { - hi2s->RxXferSize = Size; - hi2s->RxXferCount = Size; - } - - /* Check if the I2S is already enabled */ - if ((hi2s->Instance->I2SCFGR & SPI_I2SCFGR_I2SE) != SPI_I2SCFGR_I2SE) - { - /* Enable I2S peripheral */ - __HAL_I2S_ENABLE(hi2s); - } - - /* Check if Master Receiver mode is selected */ - if ((hi2s->Instance->I2SCFGR & SPI_I2SCFGR_I2SCFG) == I2S_MODE_MASTER_RX) - { - /* Clear the Overrun Flag by a read operation on the SPI_DR register followed by a read - access to the SPI_SR register. */ - __HAL_I2S_CLEAR_OVRFLAG(hi2s); - } - - /* Receive data */ - while (hi2s->RxXferCount > 0U) - { - /* Wait until RXNE flag is set */ - if (I2S_WaitFlagStateUntilTimeout(hi2s, I2S_FLAG_RXNE, SET, Timeout) != HAL_OK) - { - /* Set the error code */ - SET_BIT(hi2s->ErrorCode, HAL_I2S_ERROR_TIMEOUT); - hi2s->State = HAL_I2S_STATE_READY; - __HAL_UNLOCK(hi2s); - return HAL_ERROR; - } - - (*hi2s->pRxBuffPtr) = (uint16_t)hi2s->Instance->DR; - hi2s->pRxBuffPtr++; - hi2s->RxXferCount--; - - /* Check if an overrun occurs */ - if (__HAL_I2S_GET_FLAG(hi2s, I2S_FLAG_OVR) == SET) - { - /* Clear overrun flag */ - __HAL_I2S_CLEAR_OVRFLAG(hi2s); - - /* Set the error code */ - SET_BIT(hi2s->ErrorCode, HAL_I2S_ERROR_OVR); - } - } - - hi2s->State = HAL_I2S_STATE_READY; - __HAL_UNLOCK(hi2s); - return HAL_OK; -} - -/** - * @brief Transmit an amount of data in non-blocking mode with Interrupt - * @param hi2s pointer to a I2S_HandleTypeDef structure that contains - * the configuration information for I2S module - * @param pData a 16-bit pointer to data buffer. - * @param Size number of data sample to be sent: - * @note When a 16-bit data frame or a 16-bit data frame extended is selected during the I2S - * configuration phase, the Size parameter means the number of 16-bit data length - * in the transaction and when a 24-bit data frame or a 32-bit data frame is selected - * the Size parameter means the number of 24-bit or 32-bit data length. - * @note The I2S is kept enabled at the end of transaction to avoid the clock de-synchronization - * between Master and Slave(example: audio streaming). - * @retval HAL status - */ -HAL_StatusTypeDef HAL_I2S_Transmit_IT(I2S_HandleTypeDef *hi2s, uint16_t *pData, uint16_t Size) -{ - uint32_t tmpreg_cfgr; - - if ((pData == NULL) || (Size == 0U)) - { - return HAL_ERROR; - } - - /* Process Locked */ - __HAL_LOCK(hi2s); - - if (hi2s->State != HAL_I2S_STATE_READY) - { - __HAL_UNLOCK(hi2s); - return HAL_BUSY; - } - - /* Set state and reset error code */ - hi2s->State = HAL_I2S_STATE_BUSY_TX; - hi2s->ErrorCode = HAL_I2S_ERROR_NONE; - hi2s->pTxBuffPtr = pData; - - tmpreg_cfgr = hi2s->Instance->I2SCFGR & (SPI_I2SCFGR_DATLEN | SPI_I2SCFGR_CHLEN); - - if ((tmpreg_cfgr == I2S_DATAFORMAT_24B) || (tmpreg_cfgr == I2S_DATAFORMAT_32B)) - { - hi2s->TxXferSize = (Size << 1U); - hi2s->TxXferCount = (Size << 1U); - } - else - { - hi2s->TxXferSize = Size; - hi2s->TxXferCount = Size; - } - - /* Enable TXE and ERR interrupt */ - __HAL_I2S_ENABLE_IT(hi2s, (I2S_IT_TXE | I2S_IT_ERR)); - - /* Check if the I2S is already enabled */ - if ((hi2s->Instance->I2SCFGR & SPI_I2SCFGR_I2SE) != SPI_I2SCFGR_I2SE) - { - /* Enable I2S peripheral */ - __HAL_I2S_ENABLE(hi2s); - } - - __HAL_UNLOCK(hi2s); - return HAL_OK; -} - -/** - * @brief Receive an amount of data in non-blocking mode with Interrupt - * @param hi2s pointer to a I2S_HandleTypeDef structure that contains - * the configuration information for I2S module - * @param pData a 16-bit pointer to the Receive data buffer. - * @param Size number of data sample to be sent: - * @note When a 16-bit data frame or a 16-bit data frame extended is selected during the I2S - * configuration phase, the Size parameter means the number of 16-bit data length - * in the transaction and when a 24-bit data frame or a 32-bit data frame is selected - * the Size parameter means the number of 24-bit or 32-bit data length. - * @note The I2S is kept enabled at the end of transaction to avoid the clock de-synchronization - * between Master and Slave(example: audio streaming). - * @note It is recommended to use DMA for the I2S receiver to avoid de-synchronization - * between Master and Slave otherwise the I2S interrupt should be optimized. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_I2S_Receive_IT(I2S_HandleTypeDef *hi2s, uint16_t *pData, uint16_t Size) -{ - uint32_t tmpreg_cfgr; - - if ((pData == NULL) || (Size == 0U)) - { - return HAL_ERROR; - } - - /* Process Locked */ - __HAL_LOCK(hi2s); - - if (hi2s->State != HAL_I2S_STATE_READY) - { - __HAL_UNLOCK(hi2s); - return HAL_BUSY; - } - - /* Set state and reset error code */ - hi2s->State = HAL_I2S_STATE_BUSY_RX; - hi2s->ErrorCode = HAL_I2S_ERROR_NONE; - hi2s->pRxBuffPtr = pData; - - tmpreg_cfgr = hi2s->Instance->I2SCFGR & (SPI_I2SCFGR_DATLEN | SPI_I2SCFGR_CHLEN); - - if ((tmpreg_cfgr == I2S_DATAFORMAT_24B) || (tmpreg_cfgr == I2S_DATAFORMAT_32B)) - { - hi2s->RxXferSize = (Size << 1U); - hi2s->RxXferCount = (Size << 1U); - } - else - { - hi2s->RxXferSize = Size; - hi2s->RxXferCount = Size; - } - - /* Enable RXNE and ERR interrupt */ - __HAL_I2S_ENABLE_IT(hi2s, (I2S_IT_RXNE | I2S_IT_ERR)); - - /* Check if the I2S is already enabled */ - if ((hi2s->Instance->I2SCFGR & SPI_I2SCFGR_I2SE) != SPI_I2SCFGR_I2SE) - { - /* Enable I2S peripheral */ - __HAL_I2S_ENABLE(hi2s); - } - - __HAL_UNLOCK(hi2s); - return HAL_OK; -} - -/** - * @brief Transmit an amount of data in non-blocking mode with DMA - * @param hi2s pointer to a I2S_HandleTypeDef structure that contains - * the configuration information for I2S module - * @param pData a 16-bit pointer to the Transmit data buffer. - * @param Size number of data sample to be sent: - * @note When a 16-bit data frame or a 16-bit data frame extended is selected during the I2S - * configuration phase, the Size parameter means the number of 16-bit data length - * in the transaction and when a 24-bit data frame or a 32-bit data frame is selected - * the Size parameter means the number of 24-bit or 32-bit data length. - * @note The I2S is kept enabled at the end of transaction to avoid the clock de-synchronization - * between Master and Slave(example: audio streaming). - * @retval HAL status - */ -HAL_StatusTypeDef HAL_I2S_Transmit_DMA(I2S_HandleTypeDef *hi2s, uint16_t *pData, uint16_t Size) -{ - uint32_t tmpreg_cfgr; - - if ((pData == NULL) || (Size == 0U)) - { - return HAL_ERROR; - } - - /* Process Locked */ - __HAL_LOCK(hi2s); - - if (hi2s->State != HAL_I2S_STATE_READY) - { - __HAL_UNLOCK(hi2s); - return HAL_BUSY; - } - - /* Set state and reset error code */ - hi2s->State = HAL_I2S_STATE_BUSY_TX; - hi2s->ErrorCode = HAL_I2S_ERROR_NONE; - hi2s->pTxBuffPtr = pData; - - tmpreg_cfgr = hi2s->Instance->I2SCFGR & (SPI_I2SCFGR_DATLEN | SPI_I2SCFGR_CHLEN); - - if ((tmpreg_cfgr == I2S_DATAFORMAT_24B) || (tmpreg_cfgr == I2S_DATAFORMAT_32B)) - { - hi2s->TxXferSize = (Size << 1U); - hi2s->TxXferCount = (Size << 1U); - } - else - { - hi2s->TxXferSize = Size; - hi2s->TxXferCount = Size; - } - - /* Set the I2S Tx DMA Half transfer complete callback */ - hi2s->hdmatx->XferHalfCpltCallback = I2S_DMATxHalfCplt; - - /* Set the I2S Tx DMA transfer complete callback */ - hi2s->hdmatx->XferCpltCallback = I2S_DMATxCplt; - - /* Set the DMA error callback */ - hi2s->hdmatx->XferErrorCallback = I2S_DMAError; - - /* Enable the Tx DMA Stream/Channel */ - if (HAL_OK != HAL_DMA_Start_IT(hi2s->hdmatx, - (uint32_t)hi2s->pTxBuffPtr, - (uint32_t)&hi2s->Instance->DR, - hi2s->TxXferSize)) - { - /* Update SPI error code */ - SET_BIT(hi2s->ErrorCode, HAL_I2S_ERROR_DMA); - hi2s->State = HAL_I2S_STATE_READY; - - __HAL_UNLOCK(hi2s); - return HAL_ERROR; - } - - /* Check if the I2S is already enabled */ - if (HAL_IS_BIT_CLR(hi2s->Instance->I2SCFGR, SPI_I2SCFGR_I2SE)) - { - /* Enable I2S peripheral */ - __HAL_I2S_ENABLE(hi2s); - } - - /* Check if the I2S Tx request is already enabled */ - if (HAL_IS_BIT_CLR(hi2s->Instance->CR2, SPI_CR2_TXDMAEN)) - { - /* Enable Tx DMA Request */ - SET_BIT(hi2s->Instance->CR2, SPI_CR2_TXDMAEN); - } - - __HAL_UNLOCK(hi2s); - return HAL_OK; -} - -/** - * @brief Receive an amount of data in non-blocking mode with DMA - * @param hi2s pointer to a I2S_HandleTypeDef structure that contains - * the configuration information for I2S module - * @param pData a 16-bit pointer to the Receive data buffer. - * @param Size number of data sample to be sent: - * @note When a 16-bit data frame or a 16-bit data frame extended is selected during the I2S - * configuration phase, the Size parameter means the number of 16-bit data length - * in the transaction and when a 24-bit data frame or a 32-bit data frame is selected - * the Size parameter means the number of 24-bit or 32-bit data length. - * @note The I2S is kept enabled at the end of transaction to avoid the clock de-synchronization - * between Master and Slave(example: audio streaming). - * @retval HAL status - */ -HAL_StatusTypeDef HAL_I2S_Receive_DMA(I2S_HandleTypeDef *hi2s, uint16_t *pData, uint16_t Size) -{ - uint32_t tmpreg_cfgr; - - if ((pData == NULL) || (Size == 0U)) - { - return HAL_ERROR; - } - - /* Process Locked */ - __HAL_LOCK(hi2s); - - if (hi2s->State != HAL_I2S_STATE_READY) - { - __HAL_UNLOCK(hi2s); - return HAL_BUSY; - } - - /* Set state and reset error code */ - hi2s->State = HAL_I2S_STATE_BUSY_RX; - hi2s->ErrorCode = HAL_I2S_ERROR_NONE; - hi2s->pRxBuffPtr = pData; - - tmpreg_cfgr = hi2s->Instance->I2SCFGR & (SPI_I2SCFGR_DATLEN | SPI_I2SCFGR_CHLEN); - - if ((tmpreg_cfgr == I2S_DATAFORMAT_24B) || (tmpreg_cfgr == I2S_DATAFORMAT_32B)) - { - hi2s->RxXferSize = (Size << 1U); - hi2s->RxXferCount = (Size << 1U); - } - else - { - hi2s->RxXferSize = Size; - hi2s->RxXferCount = Size; - } - - /* Set the I2S Rx DMA Half transfer complete callback */ - hi2s->hdmarx->XferHalfCpltCallback = I2S_DMARxHalfCplt; - - /* Set the I2S Rx DMA transfer complete callback */ - hi2s->hdmarx->XferCpltCallback = I2S_DMARxCplt; - - /* Set the DMA error callback */ - hi2s->hdmarx->XferErrorCallback = I2S_DMAError; - - /* Check if Master Receiver mode is selected */ - if ((hi2s->Instance->I2SCFGR & SPI_I2SCFGR_I2SCFG) == I2S_MODE_MASTER_RX) - { - /* Clear the Overrun Flag by a read operation to the SPI_DR register followed by a read - access to the SPI_SR register. */ - __HAL_I2S_CLEAR_OVRFLAG(hi2s); - } - - /* Enable the Rx DMA Stream/Channel */ - if (HAL_OK != HAL_DMA_Start_IT(hi2s->hdmarx, (uint32_t)&hi2s->Instance->DR, (uint32_t)hi2s->pRxBuffPtr, - hi2s->RxXferSize)) - { - /* Update SPI error code */ - SET_BIT(hi2s->ErrorCode, HAL_I2S_ERROR_DMA); - hi2s->State = HAL_I2S_STATE_READY; - - __HAL_UNLOCK(hi2s); - return HAL_ERROR; - } - - /* Check if the I2S is already enabled */ - if (HAL_IS_BIT_CLR(hi2s->Instance->I2SCFGR, SPI_I2SCFGR_I2SE)) - { - /* Enable I2S peripheral */ - __HAL_I2S_ENABLE(hi2s); - } - - /* Check if the I2S Rx request is already enabled */ - if (HAL_IS_BIT_CLR(hi2s->Instance->CR2, SPI_CR2_RXDMAEN)) - { - /* Enable Rx DMA Request */ - SET_BIT(hi2s->Instance->CR2, SPI_CR2_RXDMAEN); - } - - __HAL_UNLOCK(hi2s); - return HAL_OK; -} - -/** - * @brief Pauses the audio DMA Stream/Channel playing from the Media. - * @param hi2s pointer to a I2S_HandleTypeDef structure that contains - * the configuration information for I2S module - * @retval HAL status - */ -HAL_StatusTypeDef HAL_I2S_DMAPause(I2S_HandleTypeDef *hi2s) -{ - /* Process Locked */ - __HAL_LOCK(hi2s); - - if (hi2s->State == HAL_I2S_STATE_BUSY_TX) - { - /* Disable the I2S DMA Tx request */ - CLEAR_BIT(hi2s->Instance->CR2, SPI_CR2_TXDMAEN); - } - else if (hi2s->State == HAL_I2S_STATE_BUSY_RX) - { - /* Disable the I2S DMA Rx request */ - CLEAR_BIT(hi2s->Instance->CR2, SPI_CR2_RXDMAEN); - } -#if defined (SPI_I2S_FULLDUPLEX_SUPPORT) - else if (hi2s->State == HAL_I2S_STATE_BUSY_TX_RX) - { - /* Pause the audio file playing by disabling the I2S DMA request */ - CLEAR_BIT(hi2s->Instance->CR2, (SPI_CR2_TXDMAEN | SPI_CR2_RXDMAEN)); - CLEAR_BIT(I2SxEXT(hi2s->Instance)->CR2, (SPI_CR2_TXDMAEN | SPI_CR2_RXDMAEN)); - } -#endif /* SPI_I2S_FULLDUPLEX_SUPPORT */ - else - { - /* nothing to do */ - } - - /* Process Unlocked */ - __HAL_UNLOCK(hi2s); - - return HAL_OK; -} - -/** - * @brief Resumes the audio DMA Stream/Channel playing from the Media. - * @param hi2s pointer to a I2S_HandleTypeDef structure that contains - * the configuration information for I2S module - * @retval HAL status - */ -HAL_StatusTypeDef HAL_I2S_DMAResume(I2S_HandleTypeDef *hi2s) -{ - /* Process Locked */ - __HAL_LOCK(hi2s); - - if (hi2s->State == HAL_I2S_STATE_BUSY_TX) - { - /* Enable the I2S DMA Tx request */ - SET_BIT(hi2s->Instance->CR2, SPI_CR2_TXDMAEN); - } - else if (hi2s->State == HAL_I2S_STATE_BUSY_RX) - { - /* Enable the I2S DMA Rx request */ - SET_BIT(hi2s->Instance->CR2, SPI_CR2_RXDMAEN); - } -#if defined (SPI_I2S_FULLDUPLEX_SUPPORT) - else if (hi2s->State == HAL_I2S_STATE_BUSY_TX_RX) - { - /* Pause the audio file playing by disabling the I2S DMA request */ - SET_BIT(hi2s->Instance->CR2, (SPI_CR2_RXDMAEN | SPI_CR2_TXDMAEN)); - SET_BIT(I2SxEXT(hi2s->Instance)->CR2, (SPI_CR2_RXDMAEN | SPI_CR2_TXDMAEN)); - - /* If the I2Sext peripheral is still not enabled, enable it */ - if ((I2SxEXT(hi2s->Instance)->I2SCFGR & SPI_I2SCFGR_I2SE) == 0U) - { - /* Enable I2Sext peripheral */ - __HAL_I2SEXT_ENABLE(hi2s); - } - } -#endif /* SPI_I2S_FULLDUPLEX_SUPPORT */ - else - { - /* nothing to do */ - } - - /* If the I2S peripheral is still not enabled, enable it */ - if (HAL_IS_BIT_CLR(hi2s->Instance->I2SCFGR, SPI_I2SCFGR_I2SE)) - { - /* Enable I2S peripheral */ - __HAL_I2S_ENABLE(hi2s); - } - - /* Process Unlocked */ - __HAL_UNLOCK(hi2s); - - return HAL_OK; -} - -/** - * @brief Stops the audio DMA Stream/Channel playing from the Media. - * @param hi2s pointer to a I2S_HandleTypeDef structure that contains - * the configuration information for I2S module - * @retval HAL status - */ -HAL_StatusTypeDef HAL_I2S_DMAStop(I2S_HandleTypeDef *hi2s) -{ -#if defined (SPI_I2S_FULLDUPLEX_SUPPORT) - uint32_t tickstart; -#endif /* SPI_I2S_FULLDUPLEX_SUPPORT */ - HAL_StatusTypeDef errorcode = HAL_OK; - /* The Lock is not implemented on this API to allow the user application - to call the HAL SPI API under callbacks HAL_I2S_TxCpltCallback() or HAL_I2S_RxCpltCallback() - when calling HAL_DMA_Abort() API the DMA TX or RX Transfer complete interrupt is generated - and the correspond call back is executed HAL_I2S_TxCpltCallback() or HAL_I2S_RxCpltCallback() - */ - - if ((hi2s->Init.Mode == I2S_MODE_MASTER_TX) || (hi2s->Init.Mode == I2S_MODE_SLAVE_TX)) - { - /* Abort the I2S DMA tx Stream/Channel */ - if (hi2s->hdmatx != NULL) - { - /* Disable the I2S DMA tx Stream/Channel */ - if (HAL_OK != HAL_DMA_Abort(hi2s->hdmatx)) - { - SET_BIT(hi2s->ErrorCode, HAL_I2S_ERROR_DMA); - errorcode = HAL_ERROR; - } - } - - /* Wait until TXE flag is set */ - if (I2S_WaitFlagStateUntilTimeout(hi2s, I2S_FLAG_TXE, SET, I2S_TIMEOUT_FLAG) != HAL_OK) - { - /* Set the error code */ - SET_BIT(hi2s->ErrorCode, HAL_I2S_ERROR_TIMEOUT); - hi2s->State = HAL_I2S_STATE_READY; - errorcode = HAL_ERROR; - } - - /* Wait until BSY flag is Reset */ - if (I2S_WaitFlagStateUntilTimeout(hi2s, I2S_FLAG_BSY, RESET, I2S_TIMEOUT_FLAG) != HAL_OK) - { - /* Set the error code */ - SET_BIT(hi2s->ErrorCode, HAL_I2S_ERROR_TIMEOUT); - hi2s->State = HAL_I2S_STATE_READY; - errorcode = HAL_ERROR; - } - - /* Disable I2S peripheral */ - __HAL_I2S_DISABLE(hi2s); - - /* Clear UDR flag */ - __HAL_I2S_CLEAR_UDRFLAG(hi2s); - - /* Disable the I2S Tx DMA requests */ - CLEAR_BIT(hi2s->Instance->CR2, SPI_CR2_TXDMAEN); - -#if defined (SPI_I2S_FULLDUPLEX_SUPPORT) - - if (hi2s->State == HAL_I2S_STATE_BUSY_TX_RX) - { - /* Abort the I2S DMA rx Stream/Channel */ - if (hi2s->hdmarx != NULL) - { - /* Disable the I2S DMA rx Stream/Channel */ - if (HAL_OK != HAL_DMA_Abort(hi2s->hdmarx)) - { - SET_BIT(hi2s->ErrorCode, HAL_I2S_ERROR_DMA); - errorcode = HAL_ERROR; - } - } - - /* Disable I2Sext peripheral */ - __HAL_I2SEXT_DISABLE(hi2s); - - /* Clear OVR flag */ - __HAL_I2SEXT_CLEAR_OVRFLAG(hi2s); - - /* Disable the I2SxEXT DMA request */ - CLEAR_BIT(I2SxEXT(hi2s->Instance)->CR2, SPI_CR2_RXDMAEN); - - if (hi2s->Init.Mode == I2S_MODE_SLAVE_TX) - { - /* Set the error code */ - SET_BIT(hi2s->ErrorCode, HAL_I2S_ERROR_BUSY_LINE_RX); - - /* Set the I2S State ready */ - hi2s->State = HAL_I2S_STATE_READY; - errorcode = HAL_ERROR; - } - else - { - /* Read DR to Flush RX Data */ - READ_REG(I2SxEXT(hi2s->Instance)->DR); - } - } -#endif /* SPI_I2S_FULLDUPLEX_SUPPORT */ - } - - else if ((hi2s->Init.Mode == I2S_MODE_MASTER_RX) || (hi2s->Init.Mode == I2S_MODE_SLAVE_RX)) - { - /* Abort the I2S DMA rx Stream/Channel */ - if (hi2s->hdmarx != NULL) - { - /* Disable the I2S DMA rx Stream/Channel */ - if (HAL_OK != HAL_DMA_Abort(hi2s->hdmarx)) - { - SET_BIT(hi2s->ErrorCode, HAL_I2S_ERROR_DMA); - errorcode = HAL_ERROR; - } - } -#if defined (SPI_I2S_FULLDUPLEX_SUPPORT) - - if (hi2s->State == HAL_I2S_STATE_BUSY_TX_RX) - { - /* Abort the I2S DMA tx Stream/Channel */ - if (hi2s->hdmatx != NULL) - { - /* Disable the I2S DMA tx Stream/Channel */ - if (HAL_OK != HAL_DMA_Abort(hi2s->hdmatx)) - { - SET_BIT(hi2s->ErrorCode, HAL_I2S_ERROR_DMA); - errorcode = HAL_ERROR; - } - } - - tickstart = HAL_GetTick(); - - /* Wait until TXE flag is set */ - while (__HAL_I2SEXT_GET_FLAG(hi2s, I2S_FLAG_TXE) != SET) - { - if (((HAL_GetTick() - tickstart) > I2S_TIMEOUT_FLAG)) - { - /* Set the error code */ - SET_BIT(hi2s->ErrorCode, HAL_I2S_ERROR_TIMEOUT); - - /* Set the I2S State ready */ - hi2s->State = HAL_I2S_STATE_READY; - errorcode = HAL_ERROR; - } - } - - /* Wait until BSY flag is Reset */ - while (__HAL_I2SEXT_GET_FLAG(hi2s, I2S_FLAG_BSY) != RESET) - { - if (((HAL_GetTick() - tickstart) > I2S_TIMEOUT_FLAG)) - { - /* Set the error code */ - SET_BIT(hi2s->ErrorCode, HAL_I2S_ERROR_TIMEOUT); - - /* Set the I2S State ready */ - hi2s->State = HAL_I2S_STATE_READY; - errorcode = HAL_ERROR; - } - } - - /* Disable I2Sext peripheral */ - __HAL_I2SEXT_DISABLE(hi2s); - - /* Clear UDR flag */ - __HAL_I2SEXT_CLEAR_UDRFLAG(hi2s); - - /* Disable the I2SxEXT DMA request */ - CLEAR_BIT(I2SxEXT(hi2s->Instance)->CR2, SPI_CR2_TXDMAEN); - } -#endif /* SPI_I2S_FULLDUPLEX_SUPPORT */ - - /* Disable I2S peripheral */ - __HAL_I2S_DISABLE(hi2s); - - /* Clear OVR flag */ - __HAL_I2S_CLEAR_OVRFLAG(hi2s); - - /* Disable the I2S Rx DMA request */ - CLEAR_BIT(hi2s->Instance->CR2, SPI_CR2_RXDMAEN); - - if (hi2s->Init.Mode == I2S_MODE_SLAVE_RX) - { - /* Set the error code */ - SET_BIT(hi2s->ErrorCode, HAL_I2S_ERROR_BUSY_LINE_RX); - - /* Set the I2S State ready */ - hi2s->State = HAL_I2S_STATE_READY; - errorcode = HAL_ERROR; - } - else - { - /* Read DR to Flush RX Data */ - READ_REG((hi2s->Instance)->DR); - } - } - - hi2s->State = HAL_I2S_STATE_READY; - - return errorcode; -} - -/** - * @brief This function handles I2S interrupt request. - * @param hi2s pointer to a I2S_HandleTypeDef structure that contains - * the configuration information for I2S module - * @retval None - */ -void HAL_I2S_IRQHandler(I2S_HandleTypeDef *hi2s) -{ - /* Call the IrqHandler ISR set during HAL_I2S_INIT */ - hi2s->IrqHandlerISR(hi2s); -} - -/** - * @brief Tx Transfer Half completed callbacks - * @param hi2s pointer to a I2S_HandleTypeDef structure that contains - * the configuration information for I2S module - * @retval None - */ -__weak void HAL_I2S_TxHalfCpltCallback(I2S_HandleTypeDef *hi2s) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hi2s); - - /* NOTE : This function Should not be modified, when the callback is needed, - the HAL_I2S_TxHalfCpltCallback could be implemented in the user file - */ -} - -/** - * @brief Tx Transfer completed callbacks - * @param hi2s pointer to a I2S_HandleTypeDef structure that contains - * the configuration information for I2S module - * @retval None - */ -__weak void HAL_I2S_TxCpltCallback(I2S_HandleTypeDef *hi2s) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hi2s); - - /* NOTE : This function Should not be modified, when the callback is needed, - the HAL_I2S_TxCpltCallback could be implemented in the user file - */ -} - -/** - * @brief Rx Transfer half completed callbacks - * @param hi2s pointer to a I2S_HandleTypeDef structure that contains - * the configuration information for I2S module - * @retval None - */ -__weak void HAL_I2S_RxHalfCpltCallback(I2S_HandleTypeDef *hi2s) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hi2s); - - /* NOTE : This function Should not be modified, when the callback is needed, - the HAL_I2S_RxHalfCpltCallback could be implemented in the user file - */ -} - -/** - * @brief Rx Transfer completed callbacks - * @param hi2s pointer to a I2S_HandleTypeDef structure that contains - * the configuration information for I2S module - * @retval None - */ -__weak void HAL_I2S_RxCpltCallback(I2S_HandleTypeDef *hi2s) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hi2s); - - /* NOTE : This function Should not be modified, when the callback is needed, - the HAL_I2S_RxCpltCallback could be implemented in the user file - */ -} - -/** - * @brief I2S error callbacks - * @param hi2s pointer to a I2S_HandleTypeDef structure that contains - * the configuration information for I2S module - * @retval None - */ -__weak void HAL_I2S_ErrorCallback(I2S_HandleTypeDef *hi2s) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hi2s); - - /* NOTE : This function Should not be modified, when the callback is needed, - the HAL_I2S_ErrorCallback could be implemented in the user file - */ -} - -/** - * @} - */ - -/** @defgroup I2S_Exported_Functions_Group3 Peripheral State and Errors functions - * @brief Peripheral State functions - * -@verbatim - =============================================================================== - ##### Peripheral State and Errors functions ##### - =============================================================================== - [..] - This subsection permits to get in run-time the status of the peripheral - and the data flow. - -@endverbatim - * @{ - */ - -/** - * @brief Return the I2S state - * @param hi2s pointer to a I2S_HandleTypeDef structure that contains - * the configuration information for I2S module - * @retval HAL state - */ -HAL_I2S_StateTypeDef HAL_I2S_GetState(I2S_HandleTypeDef *hi2s) -{ - return hi2s->State; -} - -/** - * @brief Return the I2S error code - * @param hi2s pointer to a I2S_HandleTypeDef structure that contains - * the configuration information for I2S module - * @retval I2S Error Code - */ -uint32_t HAL_I2S_GetError(I2S_HandleTypeDef *hi2s) -{ - return hi2s->ErrorCode; -} -/** - * @} - */ - -/** - * @} - */ - -/** @addtogroup I2S_Private_Functions I2S Private Functions - * @{ - */ -/** - * @brief DMA I2S transmit process complete callback - * @param hdma pointer to a DMA_HandleTypeDef structure that contains - * the configuration information for the specified DMA module. - * @retval None - */ -static void I2S_DMATxCplt(DMA_HandleTypeDef *hdma) -{ - I2S_HandleTypeDef *hi2s = (I2S_HandleTypeDef *)((DMA_HandleTypeDef *)hdma)->Parent; /* Derogation MISRAC2012-Rule-11.5 */ - - /* if DMA is configured in DMA_NORMAL Mode */ - if (hdma->Init.Mode == DMA_NORMAL) - { - /* Disable Tx DMA Request */ - CLEAR_BIT(hi2s->Instance->CR2, SPI_CR2_TXDMAEN); - - hi2s->TxXferCount = 0U; - hi2s->State = HAL_I2S_STATE_READY; - } - /* Call user Tx complete callback */ -#if (USE_HAL_I2S_REGISTER_CALLBACKS == 1U) - hi2s->TxCpltCallback(hi2s); -#else - HAL_I2S_TxCpltCallback(hi2s); -#endif /* USE_HAL_I2S_REGISTER_CALLBACKS */ -} - -/** - * @brief DMA I2S transmit process half complete callback - * @param hdma pointer to a DMA_HandleTypeDef structure that contains - * the configuration information for the specified DMA module. - * @retval None - */ -static void I2S_DMATxHalfCplt(DMA_HandleTypeDef *hdma) -{ - I2S_HandleTypeDef *hi2s = (I2S_HandleTypeDef *)((DMA_HandleTypeDef *)hdma)->Parent; /* Derogation MISRAC2012-Rule-11.5 */ - - /* Call user Tx half complete callback */ -#if (USE_HAL_I2S_REGISTER_CALLBACKS == 1U) - hi2s->TxHalfCpltCallback(hi2s); -#else - HAL_I2S_TxHalfCpltCallback(hi2s); -#endif /* USE_HAL_I2S_REGISTER_CALLBACKS */ -} - -/** - * @brief DMA I2S receive process complete callback - * @param hdma pointer to a DMA_HandleTypeDef structure that contains - * the configuration information for the specified DMA module. - * @retval None - */ -static void I2S_DMARxCplt(DMA_HandleTypeDef *hdma) -{ - I2S_HandleTypeDef *hi2s = (I2S_HandleTypeDef *)((DMA_HandleTypeDef *)hdma)->Parent; /* Derogation MISRAC2012-Rule-11.5 */ - - /* if DMA is configured in DMA_NORMAL Mode */ - if (hdma->Init.Mode == DMA_NORMAL) - { - /* Disable Rx DMA Request */ - CLEAR_BIT(hi2s->Instance->CR2, SPI_CR2_RXDMAEN); - hi2s->RxXferCount = 0U; - hi2s->State = HAL_I2S_STATE_READY; - } - /* Call user Rx complete callback */ -#if (USE_HAL_I2S_REGISTER_CALLBACKS == 1U) - hi2s->RxCpltCallback(hi2s); -#else - HAL_I2S_RxCpltCallback(hi2s); -#endif /* USE_HAL_I2S_REGISTER_CALLBACKS */ -} - -/** - * @brief DMA I2S receive process half complete callback - * @param hdma pointer to a DMA_HandleTypeDef structure that contains - * the configuration information for the specified DMA module. - * @retval None - */ -static void I2S_DMARxHalfCplt(DMA_HandleTypeDef *hdma) -{ - I2S_HandleTypeDef *hi2s = (I2S_HandleTypeDef *)((DMA_HandleTypeDef *)hdma)->Parent; /* Derogation MISRAC2012-Rule-11.5 */ - - /* Call user Rx half complete callback */ -#if (USE_HAL_I2S_REGISTER_CALLBACKS == 1U) - hi2s->RxHalfCpltCallback(hi2s); -#else - HAL_I2S_RxHalfCpltCallback(hi2s); -#endif /* USE_HAL_I2S_REGISTER_CALLBACKS */ -} - -/** - * @brief DMA I2S communication error callback - * @param hdma pointer to a DMA_HandleTypeDef structure that contains - * the configuration information for the specified DMA module. - * @retval None - */ -static void I2S_DMAError(DMA_HandleTypeDef *hdma) -{ - I2S_HandleTypeDef *hi2s = (I2S_HandleTypeDef *)((DMA_HandleTypeDef *)hdma)->Parent; /* Derogation MISRAC2012-Rule-11.5 */ - - /* Disable Rx and Tx DMA Request */ - CLEAR_BIT(hi2s->Instance->CR2, (SPI_CR2_RXDMAEN | SPI_CR2_TXDMAEN)); - hi2s->TxXferCount = 0U; - hi2s->RxXferCount = 0U; - - hi2s->State = HAL_I2S_STATE_READY; - - /* Set the error code and execute error callback*/ - SET_BIT(hi2s->ErrorCode, HAL_I2S_ERROR_DMA); - /* Call user error callback */ -#if (USE_HAL_I2S_REGISTER_CALLBACKS == 1U) - hi2s->ErrorCallback(hi2s); -#else - HAL_I2S_ErrorCallback(hi2s); -#endif /* USE_HAL_I2S_REGISTER_CALLBACKS */ -} - -/** - * @brief Transmit an amount of data in non-blocking mode with Interrupt - * @param hi2s pointer to a I2S_HandleTypeDef structure that contains - * the configuration information for I2S module - * @retval None - */ -static void I2S_Transmit_IT(I2S_HandleTypeDef *hi2s) -{ - /* Transmit data */ - hi2s->Instance->DR = (*hi2s->pTxBuffPtr); - hi2s->pTxBuffPtr++; - hi2s->TxXferCount--; - - if (hi2s->TxXferCount == 0U) - { - /* Disable TXE and ERR interrupt */ - __HAL_I2S_DISABLE_IT(hi2s, (I2S_IT_TXE | I2S_IT_ERR)); - - hi2s->State = HAL_I2S_STATE_READY; - /* Call user Tx complete callback */ -#if (USE_HAL_I2S_REGISTER_CALLBACKS == 1U) - hi2s->TxCpltCallback(hi2s); -#else - HAL_I2S_TxCpltCallback(hi2s); -#endif /* USE_HAL_I2S_REGISTER_CALLBACKS */ - } -} - -/** - * @brief Receive an amount of data in non-blocking mode with Interrupt - * @param hi2s pointer to a I2S_HandleTypeDef structure that contains - * the configuration information for I2S module - * @retval None - */ -static void I2S_Receive_IT(I2S_HandleTypeDef *hi2s) -{ - /* Receive data */ - (*hi2s->pRxBuffPtr) = (uint16_t)hi2s->Instance->DR; - hi2s->pRxBuffPtr++; - hi2s->RxXferCount--; - - if (hi2s->RxXferCount == 0U) - { - /* Disable RXNE and ERR interrupt */ - __HAL_I2S_DISABLE_IT(hi2s, (I2S_IT_RXNE | I2S_IT_ERR)); - - hi2s->State = HAL_I2S_STATE_READY; - /* Call user Rx complete callback */ -#if (USE_HAL_I2S_REGISTER_CALLBACKS == 1U) - hi2s->RxCpltCallback(hi2s); -#else - HAL_I2S_RxCpltCallback(hi2s); -#endif /* USE_HAL_I2S_REGISTER_CALLBACKS */ - } -} - -/** - * @brief This function handles I2S interrupt request. - * @param hi2s: pointer to a I2S_HandleTypeDef structure that contains - * the configuration information for I2S module - * @retval None - */ -static void I2S_IRQHandler(I2S_HandleTypeDef *hi2s) -{ - __IO uint32_t i2ssr = hi2s->Instance->SR; - - if (hi2s->State == HAL_I2S_STATE_BUSY_RX) - { - /* I2S in mode Receiver ------------------------------------------------*/ - if (((i2ssr & I2S_FLAG_RXNE) == I2S_FLAG_RXNE) && (__HAL_I2S_GET_IT_SOURCE(hi2s, I2S_IT_RXNE) != RESET)) - { - I2S_Receive_IT(hi2s); - } - - /* I2S Overrun error interrupt occurred -------------------------------------*/ - if (((i2ssr & I2S_FLAG_OVR) == I2S_FLAG_OVR) && (__HAL_I2S_GET_IT_SOURCE(hi2s, I2S_IT_ERR) != RESET)) - { - /* Disable RXNE and ERR interrupt */ - __HAL_I2S_DISABLE_IT(hi2s, (I2S_IT_RXNE | I2S_IT_ERR)); - - /* Clear Overrun flag */ - __HAL_I2S_CLEAR_OVRFLAG(hi2s); - - /* Set the I2S State ready */ - hi2s->State = HAL_I2S_STATE_READY; - - - /* Set the error code and execute error callback*/ - SET_BIT(hi2s->ErrorCode, HAL_I2S_ERROR_OVR); - /* Call user error callback */ -#if (USE_HAL_I2S_REGISTER_CALLBACKS == 1U) - hi2s->ErrorCallback(hi2s); -#else - HAL_I2S_ErrorCallback(hi2s); -#endif /* USE_HAL_I2S_REGISTER_CALLBACKS */ - } - } - - if (hi2s->State == HAL_I2S_STATE_BUSY_TX) - { - /* I2S in mode Transmitter -----------------------------------------------*/ - if (((i2ssr & I2S_FLAG_TXE) == I2S_FLAG_TXE) && (__HAL_I2S_GET_IT_SOURCE(hi2s, I2S_IT_TXE) != RESET)) - { - I2S_Transmit_IT(hi2s); - } - - /* I2S Underrun error interrupt occurred --------------------------------*/ - if (((i2ssr & I2S_FLAG_UDR) == I2S_FLAG_UDR) && (__HAL_I2S_GET_IT_SOURCE(hi2s, I2S_IT_ERR) != RESET)) - { - /* Disable TXE and ERR interrupt */ - __HAL_I2S_DISABLE_IT(hi2s, (I2S_IT_TXE | I2S_IT_ERR)); - - /* Clear Underrun flag */ - __HAL_I2S_CLEAR_UDRFLAG(hi2s); - - /* Set the I2S State ready */ - hi2s->State = HAL_I2S_STATE_READY; - - /* Set the error code and execute error callback*/ - SET_BIT(hi2s->ErrorCode, HAL_I2S_ERROR_UDR); - /* Call user error callback */ -#if (USE_HAL_I2S_REGISTER_CALLBACKS == 1U) - hi2s->ErrorCallback(hi2s); -#else - HAL_I2S_ErrorCallback(hi2s); -#endif /* USE_HAL_I2S_REGISTER_CALLBACKS */ - } - } -} - -/** - * @brief This function handles I2S Communication Timeout. - * @param hi2s pointer to a I2S_HandleTypeDef structure that contains - * the configuration information for I2S module - * @param Flag Flag checked - * @param State Value of the flag expected - * @param Timeout Duration of the timeout - * @retval HAL status - */ -static HAL_StatusTypeDef I2S_WaitFlagStateUntilTimeout(I2S_HandleTypeDef *hi2s, uint32_t Flag, FlagStatus State, - uint32_t Timeout) -{ - uint32_t tickstart; - - /* Get tick */ - tickstart = HAL_GetTick(); - - /* Wait until flag is set to status*/ - while (((__HAL_I2S_GET_FLAG(hi2s, Flag)) ? SET : RESET) != State) - { - if (Timeout != HAL_MAX_DELAY) - { - if (((HAL_GetTick() - tickstart) >= Timeout) || (Timeout == 0U)) - { - /* Set the I2S State ready */ - hi2s->State = HAL_I2S_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hi2s); - - return HAL_TIMEOUT; - } - } - } - return HAL_OK; -} - -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ - -#endif /* HAL_I2S_MODULE_ENABLED */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2s_ex.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2s_ex.c deleted file mode 100644 index cd0db5e90ae2c2..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2s_ex.c +++ /dev/null @@ -1,1138 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_i2s_ex.c - * @author MCD Application Team - * @brief I2S HAL module driver. - * This file provides firmware functions to manage the following - * functionalities of I2S extension peripheral: - * + Extension features Functions - * - @verbatim - ============================================================================== - ##### I2S Extension features ##### - ============================================================================== - [..] - (#) In I2S full duplex mode, each SPI peripheral is able to manage sending and receiving - data simultaneously using two data lines. Each SPI peripheral has an extended block - called I2Sxext (i.e I2S2ext for SPI2 and I2S3ext for SPI3). - (#) The extension block is not a full SPI IP, it is used only as I2S slave to - implement full duplex mode. The extension block uses the same clock sources - as its master. - - (#) Both I2Sx and I2Sx_ext can be configured as transmitters or receivers. - - [..] - (@) Only I2Sx can deliver SCK and WS to I2Sx_ext in full duplex mode, where - I2Sx can be I2S2 or I2S3. - - ##### How to use this driver ##### - =============================================================================== - [..] - Three operation modes are available within this driver : - - *** Polling mode IO operation *** - ================================= - [..] - (+) Send and receive in the same time an amount of data in blocking mode using HAL_I2SEx_TransmitReceive() - - *** Interrupt mode IO operation *** - =================================== - [..] - (+) Send and receive in the same time an amount of data in non blocking mode using HAL_I2SEx_TransmitReceive_IT() - (+) At transmission/reception end of transfer HAL_I2SEx_TxRxCpltCallback is executed and user can - add his own code by customization of function pointer HAL_I2SEx_TxRxCpltCallback - (+) In case of transfer Error, HAL_I2S_ErrorCallback() function is executed and user can - add his own code by customization of function pointer HAL_I2S_ErrorCallback - - *** DMA mode IO operation *** - ============================== - [..] - (+) Send and receive an amount of data in non blocking mode (DMA) using HAL_I2SEx_TransmitReceive_DMA() - (+) At transmission/reception end of transfer HAL_I2SEx_TxRxCpltCallback is executed and user can - add his own code by customization of function pointer HAL_I2S_TxRxCpltCallback - (+) In case of transfer Error, HAL_I2S_ErrorCallback() function is executed and user can - add his own code by customization of function pointer HAL_I2S_ErrorCallback - (+) __HAL_I2SEXT_FLUSH_RX_DR: In Full-Duplex Slave mode, if HAL_I2S_DMAStop is used to stop the - communication, an error HAL_I2S_ERROR_BUSY_LINE_RX is raised as the master continue to transmit data. - In this case __HAL_I2SEXT_FLUSH_RX_DR macro must be used to flush the remaining data - inside I2Sx and I2Sx_ext DR registers and avoid using DeInit/Init process for the next transfer. - @endverbatim - - Additional Figure: The Extended block uses the same clock sources as its master. - - +-----------------------+ - I2Sx_SCK | | - ----------+-->| I2Sx |------------------->I2Sx_SD(in/out) - +--|-->| | - | | +-----------------------+ - | | - I2S_WS | | - ------>| | - | | +-----------------------+ - | +-->| | - | | I2Sx_ext |------------------->I2Sx_extSD(in/out) - +----->| | - +-----------------------+ - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -#ifdef HAL_I2S_MODULE_ENABLED - -/** @defgroup I2SEx I2SEx - * @brief I2S Extended HAL module driver - * @{ - */ - -#if defined (SPI_I2S_FULLDUPLEX_SUPPORT) - -/* Private typedef -----------------------------------------------------------*/ -/** @defgroup I2SEx_Private_Typedef I2S Extended Private Typedef - * @{ - */ -typedef enum -{ - I2S_USE_I2S = 0x00U, /*!< I2Sx should be used */ - I2S_USE_I2SEXT = 0x01U, /*!< I2Sx_ext should be used */ -} I2S_UseTypeDef; -/** - * @} - */ -/* Private define ------------------------------------------------------------*/ -/* Private macro -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private function prototypes -----------------------------------------------*/ -/** @defgroup I2SEx_Private_Functions I2S Extended Private Functions - * @{ - */ -static void I2SEx_TxRxDMAHalfCplt(DMA_HandleTypeDef *hdma); -static void I2SEx_TxRxDMACplt(DMA_HandleTypeDef *hdma); -static void I2SEx_TxRxDMAError(DMA_HandleTypeDef *hdma); -static void I2SEx_RxISR_I2S(I2S_HandleTypeDef *hi2s); -static void I2SEx_RxISR_I2SExt(I2S_HandleTypeDef *hi2s); -static void I2SEx_TxISR_I2S(I2S_HandleTypeDef *hi2s); -static void I2SEx_TxISR_I2SExt(I2S_HandleTypeDef *hi2s); -static HAL_StatusTypeDef I2SEx_FullDuplexWaitFlagStateUntilTimeout(I2S_HandleTypeDef *hi2s, - uint32_t Flag, - uint32_t State, - uint32_t Timeout, - I2S_UseTypeDef i2sUsed); -/** - * @} - */ - -/** - * @} - */ - -/* Private functions ---------------------------------------------------------*/ -/* Exported functions --------------------------------------------------------*/ - -/** @addtogroup I2SEx I2SEx - * @{ - */ - -/** @addtogroup I2SEx_Exported_Functions I2S Extended Exported Functions - * @{ - */ - -/** @defgroup I2SEx_Exported_Functions_Group1 I2S Extended IO operation functions - * @brief I2SEx IO operation functions - * -@verbatim - =============================================================================== - ##### IO operation functions##### - =============================================================================== - [..] - This subsection provides a set of functions allowing to manage the I2S data - transfers. - - (#) There are two modes of transfer: - (++) Blocking mode : The communication is performed in the polling mode. - The status of all data processing is returned by the same function - after finishing transfer. - (++) No-Blocking mode : The communication is performed using Interrupts - or DMA. These functions return the status of the transfer startup. - The end of the data processing will be indicated through the - dedicated I2S IRQ when using Interrupt mode or the DMA IRQ when - using DMA mode. - - (#) Blocking mode functions are : - (++) HAL_I2SEx_TransmitReceive() - - (#) No-Blocking mode functions with Interrupt are : - (++) HAL_I2SEx_TransmitReceive_IT() - (++) HAL_I2SEx_FullDuplex_IRQHandler() - - (#) No-Blocking mode functions with DMA are : - (++) HAL_I2SEx_TransmitReceive_DMA() - - (#) A set of Transfer Complete Callback are provided in non Blocking mode: - (++) HAL_I2SEx_TxRxCpltCallback() -@endverbatim - * @{ - */ -/** - * @brief Full-Duplex Transmit/Receive data in blocking mode. - * @param hi2s pointer to a I2S_HandleTypeDef structure that contains - * the configuration information for I2S module - * @param pTxData a 16-bit pointer to the Transmit data buffer. - * @param pRxData a 16-bit pointer to the Receive data buffer. - * @param Size number of data sample to be sent: - * @note When a 16-bit data frame or a 16-bit data frame extended is selected during the I2S - * configuration phase, the Size parameter means the number of 16-bit data length - * in the transaction and when a 24-bit data frame or a 32-bit data frame is selected - * the Size parameter means the number of 16-bit data length. - * @param Timeout Timeout duration - * @note The I2S is kept enabled at the end of transaction to avoid the clock de-synchronization - * between Master and Slave(example: audio streaming). - * @retval HAL status - */ -HAL_StatusTypeDef HAL_I2SEx_TransmitReceive(I2S_HandleTypeDef *hi2s, - uint16_t *pTxData, - uint16_t *pRxData, - uint16_t Size, - uint32_t Timeout) -{ - uint32_t tmp1 = 0U; - HAL_StatusTypeDef errorcode = HAL_OK; - - if (hi2s->State != HAL_I2S_STATE_READY) - { - errorcode = HAL_BUSY; - goto error; - } - - if ((pTxData == NULL) || (pRxData == NULL) || (Size == 0U)) - { - return HAL_ERROR; - } - - /* Process Locked */ - __HAL_LOCK(hi2s); - - tmp1 = hi2s->Instance->I2SCFGR & (SPI_I2SCFGR_DATLEN | SPI_I2SCFGR_CHLEN); - /* Check the Data format: When a 16-bit data frame or a 16-bit data frame extended - is selected during the I2S configuration phase, the Size parameter means the number - of 16-bit data length in the transaction and when a 24-bit data frame or a 32-bit data - frame is selected the Size parameter means the number of 16-bit data length. */ - if ((tmp1 == I2S_DATAFORMAT_24B) || (tmp1 == I2S_DATAFORMAT_32B)) - { - hi2s->TxXferSize = (Size << 1U); - hi2s->TxXferCount = (Size << 1U); - hi2s->RxXferSize = (Size << 1U); - hi2s->RxXferCount = (Size << 1U); - } - else - { - hi2s->TxXferSize = Size; - hi2s->TxXferCount = Size; - hi2s->RxXferSize = Size; - hi2s->RxXferCount = Size; - } - - /* Set state and reset error code */ - hi2s->ErrorCode = HAL_I2S_ERROR_NONE; - hi2s->State = HAL_I2S_STATE_BUSY_TX_RX; - - tmp1 = hi2s->Instance->I2SCFGR & SPI_I2SCFGR_I2SCFG; - /* Check if the I2S_MODE_MASTER_TX or I2S_MODE_SLAVE_TX Mode is selected */ - if ((tmp1 == I2S_MODE_MASTER_TX) || (tmp1 == I2S_MODE_SLAVE_TX)) - { - /* Prepare the First Data before enabling the I2S */ - hi2s->Instance->DR = (*pTxData++); - hi2s->TxXferCount--; - - /* Enable I2Sext(receiver) before enabling I2Sx peripheral */ - __HAL_I2SEXT_ENABLE(hi2s); - - /* Enable I2Sx peripheral */ - __HAL_I2S_ENABLE(hi2s); - - /* Check if Master Receiver mode is selected */ - if ((hi2s->Instance->I2SCFGR & SPI_I2SCFGR_I2SCFG) == I2S_MODE_MASTER_TX) - { - /* Clear the Overrun Flag by a read operation on the SPI_DR register followed by a read - access to the SPI_SR register. */ - __HAL_I2SEXT_CLEAR_OVRFLAG(hi2s); - } - - while ((hi2s->RxXferCount > 0U) || (hi2s->TxXferCount > 0U)) - { - if (hi2s->TxXferCount > 0U) - { - /* Wait until TXE flag is set */ - if (I2SEx_FullDuplexWaitFlagStateUntilTimeout(hi2s, I2S_FLAG_TXE, SET, Timeout, I2S_USE_I2S) != HAL_OK) - { - /* Set the error code */ - SET_BIT(hi2s->ErrorCode, HAL_I2S_ERROR_TIMEOUT); - errorcode = HAL_ERROR; - goto error; - } - /* Write Data on DR register */ - hi2s->Instance->DR = (*pTxData++); - hi2s->TxXferCount--; - - /* Check if an underrun occurs */ - if ((__HAL_I2S_GET_FLAG(hi2s, I2S_FLAG_UDR) == SET) && (tmp1 == I2S_MODE_SLAVE_TX)) - { - /* Clear Underrun flag */ - __HAL_I2S_CLEAR_UDRFLAG(hi2s); - - /* Set the error code */ - SET_BIT(hi2s->ErrorCode, HAL_I2S_ERROR_UDR); - } - } - if (hi2s->RxXferCount > 0U) - { - /* Wait until RXNE flag is set */ - if (I2SEx_FullDuplexWaitFlagStateUntilTimeout(hi2s, I2S_FLAG_RXNE, SET, Timeout, I2S_USE_I2SEXT) != HAL_OK) - { - /* Set the error code */ - SET_BIT(hi2s->ErrorCode, HAL_I2S_ERROR_TIMEOUT); - errorcode = HAL_ERROR; - goto error; - } - /* Read Data from DR register */ - (*pRxData++) = I2SxEXT(hi2s->Instance)->DR; - hi2s->RxXferCount--; - - /* Check if an overrun occurs */ - if (__HAL_I2SEXT_GET_FLAG(hi2s, I2S_FLAG_OVR) == SET) - { - /* Clear Overrun flag */ - __HAL_I2S_CLEAR_OVRFLAG(hi2s); - - /* Set the error code */ - SET_BIT(hi2s->ErrorCode, HAL_I2S_ERROR_OVR); - } - } - } - } - /* The I2S_MODE_MASTER_RX or I2S_MODE_SLAVE_RX Mode is selected */ - else - { - /* Prepare the First Data before enabling the I2S */ - I2SxEXT(hi2s->Instance)->DR = (*pTxData++); - hi2s->TxXferCount--; - - /* Enable I2Sext(transmitter) after enabling I2Sx peripheral */ - __HAL_I2SEXT_ENABLE(hi2s); - - /* Enable I2S peripheral before the I2Sext*/ - __HAL_I2S_ENABLE(hi2s); - - /* Check if Master Receiver mode is selected */ - if ((hi2s->Instance->I2SCFGR & SPI_I2SCFGR_I2SCFG) == I2S_MODE_MASTER_RX) - { - /* Clear the Overrun Flag by a read operation on the SPI_DR register followed by a read - access to the SPI_SR register. */ - __HAL_I2S_CLEAR_OVRFLAG(hi2s); - } - - while ((hi2s->RxXferCount > 0U) || (hi2s->TxXferCount > 0U)) - { - if (hi2s->TxXferCount > 0U) - { - /* Wait until TXE flag is set */ - if (I2SEx_FullDuplexWaitFlagStateUntilTimeout(hi2s, I2S_FLAG_TXE, SET, Timeout, I2S_USE_I2SEXT) != HAL_OK) - { - /* Set the error code */ - SET_BIT(hi2s->ErrorCode, HAL_I2S_ERROR_TIMEOUT); - errorcode = HAL_ERROR; - goto error; - } - /* Write Data on DR register */ - I2SxEXT(hi2s->Instance)->DR = (*pTxData++); - hi2s->TxXferCount--; - - /* Check if an underrun occurs */ - if ((__HAL_I2SEXT_GET_FLAG(hi2s, I2S_FLAG_UDR) == SET) && (tmp1 == I2S_MODE_SLAVE_RX)) - { - /* Clear Underrun flag */ - __HAL_I2S_CLEAR_UDRFLAG(hi2s); - - /* Set the error code */ - SET_BIT(hi2s->ErrorCode, HAL_I2S_ERROR_UDR); - } - } - if (hi2s->RxXferCount > 0U) - { - /* Wait until RXNE flag is set */ - if (I2SEx_FullDuplexWaitFlagStateUntilTimeout(hi2s, I2S_FLAG_RXNE, SET, Timeout, I2S_USE_I2S) != HAL_OK) - { - /* Set the error code */ - SET_BIT(hi2s->ErrorCode, HAL_I2S_ERROR_TIMEOUT); - errorcode = HAL_ERROR; - goto error; - } - /* Read Data from DR register */ - (*pRxData++) = hi2s->Instance->DR; - hi2s->RxXferCount--; - - /* Check if an overrun occurs */ - if (__HAL_I2S_GET_FLAG(hi2s, I2S_FLAG_OVR) == SET) - { - /* Clear Overrun flag */ - __HAL_I2S_CLEAR_OVRFLAG(hi2s); - - /* Set the error code */ - SET_BIT(hi2s->ErrorCode, HAL_I2S_ERROR_OVR); - } - } - } - } - - if (hi2s->ErrorCode != HAL_I2S_ERROR_NONE) - { - errorcode = HAL_ERROR; - } - -error : - hi2s->State = HAL_I2S_STATE_READY; - __HAL_UNLOCK(hi2s); - return errorcode; -} - -/** - * @brief Full-Duplex Transmit/Receive data in non-blocking mode using Interrupt - * @param hi2s pointer to a I2S_HandleTypeDef structure that contains - * the configuration information for I2S module - * @param pTxData a 16-bit pointer to the Transmit data buffer. - * @param pRxData a 16-bit pointer to the Receive data buffer. - * @param Size number of data sample to be sent: - * @note When a 16-bit data frame or a 16-bit data frame extended is selected during the I2S - * configuration phase, the Size parameter means the number of 16-bit data length - * in the transaction and when a 24-bit data frame or a 32-bit data frame is selected - * the Size parameter means the number of 16-bit data length. - * @note The I2S is kept enabled at the end of transaction to avoid the clock de-synchronization - * between Master and Slave(example: audio streaming). - * @retval HAL status - */ -HAL_StatusTypeDef HAL_I2SEx_TransmitReceive_IT(I2S_HandleTypeDef *hi2s, - uint16_t *pTxData, - uint16_t *pRxData, - uint16_t Size) -{ - uint32_t tmp1 = 0U; - HAL_StatusTypeDef errorcode = HAL_OK; - - if (hi2s->State != HAL_I2S_STATE_READY) - { - errorcode = HAL_BUSY; - goto error; - } - - if ((pTxData == NULL) || (pRxData == NULL) || (Size == 0U)) - { - return HAL_ERROR; - } - - /* Process Locked */ - __HAL_LOCK(hi2s); - - hi2s->pTxBuffPtr = pTxData; - hi2s->pRxBuffPtr = pRxData; - - tmp1 = hi2s->Instance->I2SCFGR & (SPI_I2SCFGR_DATLEN | SPI_I2SCFGR_CHLEN); - /* Check the Data format: When a 16-bit data frame or a 16-bit data frame extended - is selected during the I2S configuration phase, the Size parameter means the number - of 16-bit data length in the transaction and when a 24-bit data frame or a 32-bit data - frame is selected the Size parameter means the number of 16-bit data length. */ - if ((tmp1 == I2S_DATAFORMAT_24B) || (tmp1 == I2S_DATAFORMAT_32B)) - { - hi2s->TxXferSize = (Size << 1U); - hi2s->TxXferCount = (Size << 1U); - hi2s->RxXferSize = (Size << 1U); - hi2s->RxXferCount = (Size << 1U); - } - else - { - hi2s->TxXferSize = Size; - hi2s->TxXferCount = Size; - hi2s->RxXferSize = Size; - hi2s->RxXferCount = Size; - } - - hi2s->ErrorCode = HAL_I2S_ERROR_NONE; - hi2s->State = HAL_I2S_STATE_BUSY_TX_RX; - - /* Set the function for IT treatment */ - if ((hi2s->Init.Mode == I2S_MODE_MASTER_TX) || (hi2s->Init.Mode == I2S_MODE_SLAVE_TX)) - { - /* Enable I2Sext RXNE and ERR interrupts */ - __HAL_I2SEXT_ENABLE_IT(hi2s, (I2S_IT_RXNE | I2S_IT_ERR)); - - /* Enable I2Sx TXE and ERR interrupts */ - __HAL_I2S_ENABLE_IT(hi2s, (I2S_IT_TXE | I2S_IT_ERR)); - - /* Transmit First data */ - hi2s->Instance->DR = (*hi2s->pTxBuffPtr++); - hi2s->TxXferCount--; - - if (hi2s->TxXferCount == 0U) - { - /* Disable TXE and ERR interrupt */ - __HAL_I2S_DISABLE_IT(hi2s, (I2S_IT_TXE | I2S_IT_ERR)); - } - } - else /* The I2S_MODE_MASTER_RX or I2S_MODE_SLAVE_RX Mode is selected */ - { - /* Enable I2Sext TXE and ERR interrupts */ - __HAL_I2SEXT_ENABLE_IT(hi2s, (I2S_IT_TXE | I2S_IT_ERR)); - - /* Enable I2Sext RXNE and ERR interrupts */ - __HAL_I2S_ENABLE_IT(hi2s, (I2S_IT_RXNE | I2S_IT_ERR)); - - /* Transmit First data */ - I2SxEXT(hi2s->Instance)->DR = (*hi2s->pTxBuffPtr++); - hi2s->TxXferCount--; - - if (hi2s->TxXferCount == 0U) - { - /* Disable I2Sext TXE and ERR interrupt */ - __HAL_I2SEXT_DISABLE_IT(hi2s, (I2S_IT_TXE | I2S_IT_ERR)); - } - } - - /* Enable I2Sext peripheral */ - __HAL_I2SEXT_ENABLE(hi2s); - - /* Enable I2S peripheral */ - __HAL_I2S_ENABLE(hi2s); - -error : - __HAL_UNLOCK(hi2s); - return errorcode; -} - -/** - * @brief Full-Duplex Transmit/Receive data in non-blocking mode using DMA - * @param hi2s pointer to a I2S_HandleTypeDef structure that contains - * the configuration information for I2S module - * @param pTxData a 16-bit pointer to the Transmit data buffer. - * @param pRxData a 16-bit pointer to the Receive data buffer. - * @param Size number of data sample to be sent: - * @note When a 16-bit data frame or a 16-bit data frame extended is selected during the I2S - * configuration phase, the Size parameter means the number of 16-bit data length - * in the transaction and when a 24-bit data frame or a 32-bit data frame is selected - * the Size parameter means the number of 16-bit data length. - * @note The I2S is kept enabled at the end of transaction to avoid the clock de-synchronization - * between Master and Slave(example: audio streaming). - * @retval HAL status - */ -HAL_StatusTypeDef HAL_I2SEx_TransmitReceive_DMA(I2S_HandleTypeDef *hi2s, - uint16_t *pTxData, - uint16_t *pRxData, - uint16_t Size) -{ - uint32_t *tmp = NULL; - uint32_t tmp1 = 0U; - HAL_StatusTypeDef errorcode = HAL_OK; - - if (hi2s->State != HAL_I2S_STATE_READY) - { - errorcode = HAL_BUSY; - goto error; - } - - if ((pTxData == NULL) || (pRxData == NULL) || (Size == 0U)) - { - return HAL_ERROR; - } - - /* Process Locked */ - __HAL_LOCK(hi2s); - - hi2s->pTxBuffPtr = pTxData; - hi2s->pRxBuffPtr = pRxData; - - tmp1 = hi2s->Instance->I2SCFGR & (SPI_I2SCFGR_DATLEN | SPI_I2SCFGR_CHLEN); - /* Check the Data format: When a 16-bit data frame or a 16-bit data frame extended - is selected during the I2S configuration phase, the Size parameter means the number - of 16-bit data length in the transaction and when a 24-bit data frame or a 32-bit data - frame is selected the Size parameter means the number of 16-bit data length. */ - if ((tmp1 == I2S_DATAFORMAT_24B) || (tmp1 == I2S_DATAFORMAT_32B)) - { - hi2s->TxXferSize = (Size << 1U); - hi2s->TxXferCount = (Size << 1U); - hi2s->RxXferSize = (Size << 1U); - hi2s->RxXferCount = (Size << 1U); - } - else - { - hi2s->TxXferSize = Size; - hi2s->TxXferCount = Size; - hi2s->RxXferSize = Size; - hi2s->RxXferCount = Size; - } - - hi2s->ErrorCode = HAL_I2S_ERROR_NONE; - hi2s->State = HAL_I2S_STATE_BUSY_TX_RX; - - /* Set the I2S Rx DMA Half transfer complete callback */ - hi2s->hdmarx->XferHalfCpltCallback = I2SEx_TxRxDMAHalfCplt; - - /* Set the I2S Rx DMA transfer complete callback */ - hi2s->hdmarx->XferCpltCallback = I2SEx_TxRxDMACplt; - - /* Set the I2S Rx DMA error callback */ - hi2s->hdmarx->XferErrorCallback = I2SEx_TxRxDMAError; - - /* Set the I2S Tx DMA Half transfer complete callback as NULL */ - hi2s->hdmatx->XferHalfCpltCallback = NULL; - - /* Set the I2S Tx DMA transfer complete callback as NULL */ - hi2s->hdmatx->XferCpltCallback = NULL; - - /* Set the I2S Tx DMA error callback */ - hi2s->hdmatx->XferErrorCallback = I2SEx_TxRxDMAError; - - tmp1 = hi2s->Instance->I2SCFGR & SPI_I2SCFGR_I2SCFG; - /* Check if the I2S_MODE_MASTER_TX or I2S_MODE_SLAVE_TX Mode is selected */ - if ((tmp1 == I2S_MODE_MASTER_TX) || (tmp1 == I2S_MODE_SLAVE_TX)) - { - /* Enable the Rx DMA Stream */ - tmp = (uint32_t *)&pRxData; - HAL_DMA_Start_IT(hi2s->hdmarx, (uint32_t)&I2SxEXT(hi2s->Instance)->DR, *(uint32_t *)tmp, hi2s->RxXferSize); - - /* Enable Rx DMA Request */ - SET_BIT(I2SxEXT(hi2s->Instance)->CR2, SPI_CR2_RXDMAEN); - - /* Enable the Tx DMA Stream */ - tmp = (uint32_t *)&pTxData; - HAL_DMA_Start_IT(hi2s->hdmatx, *(uint32_t *)tmp, (uint32_t)&hi2s->Instance->DR, hi2s->TxXferSize); - - /* Enable Tx DMA Request */ - SET_BIT(hi2s->Instance->CR2, SPI_CR2_TXDMAEN); - - /* Check if the I2S is already enabled */ - if ((hi2s->Instance->I2SCFGR & SPI_I2SCFGR_I2SE) != SPI_I2SCFGR_I2SE) - { - /* Enable I2Sext(receiver) before enabling I2Sx peripheral */ - __HAL_I2SEXT_ENABLE(hi2s); - - /* Enable I2S peripheral after the I2Sext */ - __HAL_I2S_ENABLE(hi2s); - } - } - else - { - /* Check if Master Receiver mode is selected */ - if ((hi2s->Instance->I2SCFGR & SPI_I2SCFGR_I2SCFG) == I2S_MODE_MASTER_RX) - { - /* Clear the Overrun Flag by a read operation on the SPI_DR register followed by a read - access to the SPI_SR register. */ - __HAL_I2S_CLEAR_OVRFLAG(hi2s); - } - /* Enable the Tx DMA Stream */ - tmp = (uint32_t *)&pTxData; - HAL_DMA_Start_IT(hi2s->hdmatx, *(uint32_t *)tmp, (uint32_t)&I2SxEXT(hi2s->Instance)->DR, hi2s->TxXferSize); - - /* Enable Tx DMA Request */ - SET_BIT(I2SxEXT(hi2s->Instance)->CR2, SPI_CR2_TXDMAEN); - - /* Enable the Rx DMA Stream */ - tmp = (uint32_t *)&pRxData; - HAL_DMA_Start_IT(hi2s->hdmarx, (uint32_t)&hi2s->Instance->DR, *(uint32_t *)tmp, hi2s->RxXferSize); - - /* Enable Rx DMA Request */ - SET_BIT(hi2s->Instance->CR2, SPI_CR2_RXDMAEN); - - /* Check if the I2S is already enabled */ - if ((hi2s->Instance->I2SCFGR & SPI_I2SCFGR_I2SE) != SPI_I2SCFGR_I2SE) - { - /* Enable I2Sext(transmitter) before enabling I2Sx peripheral */ - __HAL_I2SEXT_ENABLE(hi2s); - /* Enable I2S peripheral before the I2Sext */ - __HAL_I2S_ENABLE(hi2s); - } - } - -error : - __HAL_UNLOCK(hi2s); - return errorcode; -} - -/** - * @brief This function handles I2S/I2Sext interrupt requests in full-duplex mode. - * @param hi2s I2S handle - * @retval HAL status - */ -void HAL_I2SEx_FullDuplex_IRQHandler(I2S_HandleTypeDef *hi2s) -{ - __IO uint32_t i2ssr = hi2s->Instance->SR; - __IO uint32_t i2sextsr = I2SxEXT(hi2s->Instance)->SR; - __IO uint32_t i2scr2 = hi2s->Instance->CR2; - __IO uint32_t i2sextcr2 = I2SxEXT(hi2s->Instance)->CR2; - - /* Check if the I2S_MODE_MASTER_TX or I2S_MODE_SLAVE_TX Mode is selected */ - if ((hi2s->Init.Mode == I2S_MODE_MASTER_TX) || (hi2s->Init.Mode == I2S_MODE_SLAVE_TX)) - { - /* I2S in mode Transmitter -------------------------------------------------*/ - if (((i2ssr & I2S_FLAG_TXE) == I2S_FLAG_TXE) && ((i2scr2 & I2S_IT_TXE) != RESET)) - { - /* When the I2S mode is configured as I2S_MODE_MASTER_TX or I2S_MODE_SLAVE_TX, - the I2S TXE interrupt will be generated to manage the full-duplex transmit phase. */ - I2SEx_TxISR_I2S(hi2s); - } - - /* I2Sext in mode Receiver -----------------------------------------------*/ - if (((i2sextsr & I2S_FLAG_RXNE) == I2S_FLAG_RXNE) && ((i2sextcr2 & I2S_IT_RXNE) != RESET)) - { - /* When the I2S mode is configured as I2S_MODE_MASTER_TX or I2S_MODE_SLAVE_TX, - the I2Sext RXNE interrupt will be generated to manage the full-duplex receive phase. */ - I2SEx_RxISR_I2SExt(hi2s); - } - - /* I2Sext Overrun error interrupt occurred --------------------------------*/ - if (((i2sextsr & I2S_FLAG_OVR) == I2S_FLAG_OVR) && ((i2sextcr2 & I2S_IT_ERR) != RESET)) - { - /* Disable RXNE and ERR interrupt */ - __HAL_I2SEXT_DISABLE_IT(hi2s, (I2S_IT_RXNE | I2S_IT_ERR)); - - /* Disable TXE and ERR interrupt */ - __HAL_I2S_DISABLE_IT(hi2s, (I2S_IT_TXE | I2S_IT_ERR)); - - /* Clear Overrun flag */ - __HAL_I2S_CLEAR_OVRFLAG(hi2s); - - /* Set the I2S State ready */ - hi2s->State = HAL_I2S_STATE_READY; - - /* Set the error code and execute error callback*/ - SET_BIT(hi2s->ErrorCode, HAL_I2S_ERROR_OVR); - /* Call user error callback */ -#if (USE_HAL_I2S_REGISTER_CALLBACKS == 1U) - hi2s->ErrorCallback(hi2s); -#else - HAL_I2S_ErrorCallback(hi2s); -#endif /* USE_HAL_I2S_REGISTER_CALLBACKS */ - } - - /* I2S Underrun error interrupt occurred ----------------------------------*/ - if (((i2ssr & I2S_FLAG_UDR) == I2S_FLAG_UDR) && ((i2scr2 & I2S_IT_ERR) != RESET)) - { - /* Disable TXE and ERR interrupt */ - __HAL_I2S_DISABLE_IT(hi2s, (I2S_IT_TXE | I2S_IT_ERR)); - - /* Disable RXNE and ERR interrupt */ - __HAL_I2SEXT_DISABLE_IT(hi2s, (I2S_IT_RXNE | I2S_IT_ERR)); - - /* Clear underrun flag */ - __HAL_I2S_CLEAR_UDRFLAG(hi2s); - - /* Set the I2S State ready */ - hi2s->State = HAL_I2S_STATE_READY; - - /* Set the error code and execute error callback*/ - SET_BIT(hi2s->ErrorCode, HAL_I2S_ERROR_UDR); - /* Call user error callback */ -#if (USE_HAL_I2S_REGISTER_CALLBACKS == 1U) - hi2s->ErrorCallback(hi2s); -#else - HAL_I2S_ErrorCallback(hi2s); -#endif /* USE_HAL_I2S_REGISTER_CALLBACKS */ - } - } - /* The I2S_MODE_MASTER_RX or I2S_MODE_SLAVE_RX Mode is selected */ - else - { - /* I2Sext in mode Transmitter ----------------------------------------------*/ - if (((i2sextsr & I2S_FLAG_TXE) == I2S_FLAG_TXE) && ((i2sextcr2 & I2S_IT_TXE) != RESET)) - { - /* When the I2S mode is configured as I2S_MODE_MASTER_RX or I2S_MODE_SLAVE_RX, - the I2Sext TXE interrupt will be generated to manage the full-duplex transmit phase. */ - I2SEx_TxISR_I2SExt(hi2s); - } - - /* I2S in mode Receiver --------------------------------------------------*/ - if (((i2ssr & I2S_FLAG_RXNE) == I2S_FLAG_RXNE) && ((i2scr2 & I2S_IT_RXNE) != RESET)) - { - /* When the I2S mode is configured as I2S_MODE_MASTER_RX or I2S_MODE_SLAVE_RX, - the I2S RXNE interrupt will be generated to manage the full-duplex receive phase. */ - I2SEx_RxISR_I2S(hi2s); - } - - /* I2S Overrun error interrupt occurred -------------------------------------*/ - if (((i2ssr & I2S_FLAG_OVR) == I2S_FLAG_OVR) && ((i2scr2 & I2S_IT_ERR) != RESET)) - { - /* Disable RXNE and ERR interrupt */ - __HAL_I2S_DISABLE_IT(hi2s, (I2S_IT_RXNE | I2S_IT_ERR)); - - /* Disable TXE and ERR interrupt */ - __HAL_I2SEXT_DISABLE_IT(hi2s, (I2S_IT_TXE | I2S_IT_ERR)); - - /* Set the I2S State ready */ - hi2s->State = HAL_I2S_STATE_READY; - - /* Set the error code and execute error callback*/ - SET_BIT(hi2s->ErrorCode, HAL_I2S_ERROR_OVR); - /* Call user error callback */ -#if (USE_HAL_I2S_REGISTER_CALLBACKS == 1U) - hi2s->ErrorCallback(hi2s); -#else - HAL_I2S_ErrorCallback(hi2s); -#endif /* USE_HAL_I2S_REGISTER_CALLBACKS */ - } - - /* I2Sext Underrun error interrupt occurred -------------------------------*/ - if (((i2sextsr & I2S_FLAG_UDR) == I2S_FLAG_UDR) && ((i2sextcr2 & I2S_IT_ERR) != RESET)) - { - /* Disable TXE and ERR interrupt */ - __HAL_I2SEXT_DISABLE_IT(hi2s, (I2S_IT_TXE | I2S_IT_ERR)); - - /* Disable RXNE and ERR interrupt */ - __HAL_I2S_DISABLE_IT(hi2s, (I2S_IT_RXNE | I2S_IT_ERR)); - - /* Set the I2S State ready */ - hi2s->State = HAL_I2S_STATE_READY; - - /* Set the error code and execute error callback*/ - SET_BIT(hi2s->ErrorCode, HAL_I2S_ERROR_UDR); - /* Call user error callback */ -#if (USE_HAL_I2S_REGISTER_CALLBACKS == 1U) - hi2s->ErrorCallback(hi2s); -#else - HAL_I2S_ErrorCallback(hi2s); -#endif /* USE_HAL_I2S_REGISTER_CALLBACKS */ - } - } -} - -/** - * @brief Tx and Rx Transfer half completed callback - * @param hi2s I2S handle - * @retval None - */ -__weak void HAL_I2SEx_TxRxHalfCpltCallback(I2S_HandleTypeDef *hi2s) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hi2s); - - /* NOTE : This function Should not be modified, when the callback is needed, - the HAL_I2SEx_TxRxHalfCpltCallback could be implemented in the user file - */ -} - -/** - * @brief Tx and Rx Transfer completed callback - * @param hi2s I2S handle - * @retval None - */ -__weak void HAL_I2SEx_TxRxCpltCallback(I2S_HandleTypeDef *hi2s) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hi2s); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_I2SEx_TxRxCpltCallback could be implemented in the user file - */ -} - -/** - * @} - */ - -/** - * @} - */ - -/** @addtogroup I2SEx_Private_Functions I2S Extended Private Functions - * @{ - */ - -/** - * @brief DMA I2S transmit receive process half complete callback - * @param hdma pointer to a DMA_HandleTypeDef structure that contains - * the configuration information for the specified DMA module. - * @retval None - */ -static void I2SEx_TxRxDMAHalfCplt(DMA_HandleTypeDef *hdma) -{ - I2S_HandleTypeDef *hi2s = (I2S_HandleTypeDef *)((DMA_HandleTypeDef *)hdma)->Parent; - - /* Call user TxRx Half complete callback */ -#if (USE_HAL_I2S_REGISTER_CALLBACKS == 1U) - hi2s->TxRxHalfCpltCallback(hi2s); -#else - HAL_I2SEx_TxRxHalfCpltCallback(hi2s); -#endif /* USE_HAL_I2S_REGISTER_CALLBACKS */ -} - -/** - * @brief DMA I2S transmit receive process complete callback - * @param hdma pointer to a DMA_HandleTypeDef structure that contains - * the configuration information for the specified DMA module. - * @retval None - */ -static void I2SEx_TxRxDMACplt(DMA_HandleTypeDef *hdma) -{ - I2S_HandleTypeDef *hi2s = (I2S_HandleTypeDef *)((DMA_HandleTypeDef *)hdma)->Parent; - - /* If DMA is configured in DMA_NORMAL mode */ - if (hdma->Init.Mode == DMA_NORMAL) - { - if (((hi2s->Instance->I2SCFGR & SPI_I2SCFGR_I2SCFG) == I2S_MODE_MASTER_TX) || \ - ((hi2s->Instance->I2SCFGR & SPI_I2SCFGR_I2SCFG) == I2S_MODE_SLAVE_TX)) - /* Disable Tx & Rx DMA Requests */ - { - CLEAR_BIT(I2SxEXT(hi2s->Instance)->CR2, SPI_CR2_RXDMAEN); - CLEAR_BIT(hi2s->Instance->CR2, SPI_CR2_TXDMAEN); - } - else - { - CLEAR_BIT(hi2s->Instance->CR2, SPI_CR2_RXDMAEN); - CLEAR_BIT(I2SxEXT(hi2s->Instance)->CR2, SPI_CR2_TXDMAEN); - } - - hi2s->RxXferCount = 0U; - hi2s->TxXferCount = 0U; - - hi2s->State = HAL_I2S_STATE_READY; - } - - /* Call user TxRx complete callback */ -#if (USE_HAL_I2S_REGISTER_CALLBACKS == 1U) - hi2s->TxRxCpltCallback(hi2s); -#else - HAL_I2SEx_TxRxCpltCallback(hi2s); -#endif /* USE_HAL_I2S_REGISTER_CALLBACKS */ -} - -/** - * @brief DMA I2S communication error callback - * @param hdma DMA handle - * @retval None - */ -static void I2SEx_TxRxDMAError(DMA_HandleTypeDef *hdma) -{ - I2S_HandleTypeDef *hi2s = (I2S_HandleTypeDef *)((DMA_HandleTypeDef *)hdma)->Parent; - - /* Disable Rx and Tx DMA Request */ - CLEAR_BIT(hi2s->Instance->CR2, (SPI_CR2_RXDMAEN | SPI_CR2_TXDMAEN)); - CLEAR_BIT(I2SxEXT(hi2s->Instance)->CR2, (SPI_CR2_RXDMAEN | SPI_CR2_TXDMAEN)); - - hi2s->TxXferCount = 0U; - hi2s->RxXferCount = 0U; - - hi2s->State = HAL_I2S_STATE_READY; - - /* Set the error code and execute error callback*/ - SET_BIT(hi2s->ErrorCode, HAL_I2S_ERROR_DMA); - /* Call user error callback */ -#if (USE_HAL_I2S_REGISTER_CALLBACKS == 1U) - hi2s->ErrorCallback(hi2s); -#else - HAL_I2S_ErrorCallback(hi2s); -#endif /* USE_HAL_I2S_REGISTER_CALLBACKS */ -} - -/** - * @brief I2S Full-Duplex IT handler transmit function - * @param hi2s I2S handle - * @retval None - */ -static void I2SEx_TxISR_I2S(I2S_HandleTypeDef *hi2s) -{ - /* Write Data on DR register */ - hi2s->Instance->DR = (*hi2s->pTxBuffPtr++); - hi2s->TxXferCount--; - - if (hi2s->TxXferCount == 0U) - { - /* Disable TXE and ERR interrupt */ - __HAL_I2S_DISABLE_IT(hi2s, (I2S_IT_TXE | I2S_IT_ERR)); - - if (hi2s->RxXferCount == 0U) - { - hi2s->State = HAL_I2S_STATE_READY; - /* Call user TxRx complete callback */ -#if (USE_HAL_I2S_REGISTER_CALLBACKS == 1U) - hi2s->TxRxCpltCallback(hi2s); -#else - HAL_I2SEx_TxRxCpltCallback(hi2s); -#endif /* USE_HAL_I2S_REGISTER_CALLBACKS */ - } - } -} - -/** - * @brief I2SExt Full-Duplex IT handler transmit function - * @param hi2s I2S handle - * @retval None - */ -static void I2SEx_TxISR_I2SExt(I2S_HandleTypeDef *hi2s) -{ - /* Write Data on DR register */ - I2SxEXT(hi2s->Instance)->DR = (*hi2s->pTxBuffPtr++); - hi2s->TxXferCount--; - - if (hi2s->TxXferCount == 0U) - { - /* Disable I2Sext TXE and ERR interrupt */ - __HAL_I2SEXT_DISABLE_IT(hi2s, (I2S_IT_TXE | I2S_IT_ERR)); - - if (hi2s->RxXferCount == 0U) - { - hi2s->State = HAL_I2S_STATE_READY; - /* Call user TxRx complete callback */ -#if (USE_HAL_I2S_REGISTER_CALLBACKS == 1U) - hi2s->TxRxCpltCallback(hi2s); -#else - HAL_I2SEx_TxRxCpltCallback(hi2s); -#endif /* USE_HAL_I2S_REGISTER_CALLBACKS */ - } - } -} - -/** - * @brief I2S Full-Duplex IT handler receive function - * @param hi2s I2S handle - * @retval None - */ -static void I2SEx_RxISR_I2S(I2S_HandleTypeDef *hi2s) -{ - /* Read Data from DR register */ - (*hi2s->pRxBuffPtr++) = hi2s->Instance->DR; - hi2s->RxXferCount--; - - if (hi2s->RxXferCount == 0U) - { - /* Disable RXNE and ERR interrupt */ - __HAL_I2S_DISABLE_IT(hi2s, (I2S_IT_RXNE | I2S_IT_ERR)); - - if (hi2s->TxXferCount == 0U) - { - hi2s->State = HAL_I2S_STATE_READY; - /* Call user TxRx complete callback */ -#if (USE_HAL_I2S_REGISTER_CALLBACKS == 1U) - hi2s->TxRxCpltCallback(hi2s); -#else - HAL_I2SEx_TxRxCpltCallback(hi2s); -#endif /* USE_HAL_I2S_REGISTER_CALLBACKS */ - } - } -} - -/** - * @brief I2SExt Full-Duplex IT handler receive function - * @param hi2s I2S handle - * @retval None - */ -static void I2SEx_RxISR_I2SExt(I2S_HandleTypeDef *hi2s) -{ - /* Read Data from DR register */ - (*hi2s->pRxBuffPtr++) = I2SxEXT(hi2s->Instance)->DR; - hi2s->RxXferCount--; - - if (hi2s->RxXferCount == 0U) - { - /* Disable I2Sext RXNE and ERR interrupt */ - __HAL_I2SEXT_DISABLE_IT(hi2s, (I2S_IT_RXNE | I2S_IT_ERR)); - - if (hi2s->TxXferCount == 0U) - { - hi2s->State = HAL_I2S_STATE_READY; - /* Call user TxRx complete callback */ -#if (USE_HAL_I2S_REGISTER_CALLBACKS == 1U) - hi2s->TxRxCpltCallback(hi2s); -#else - HAL_I2SEx_TxRxCpltCallback(hi2s); -#endif /* USE_HAL_I2S_REGISTER_CALLBACKS */ - } - } -} - -/** - * @brief This function handles I2S Communication Timeout. - * @param hi2s I2S handle - * @param Flag Flag checked - * @param State Value of the flag expected - * @param Timeout Duration of the timeout - * @param i2sUsed I2S instance reference - * @retval HAL status - */ -static HAL_StatusTypeDef I2SEx_FullDuplexWaitFlagStateUntilTimeout(I2S_HandleTypeDef *hi2s, - uint32_t Flag, - uint32_t State, - uint32_t Timeout, - I2S_UseTypeDef i2sUsed) -{ - uint32_t tickstart = HAL_GetTick(); - - if (i2sUsed == I2S_USE_I2S) - { - /* Wait until flag is reset */ - while (((__HAL_I2S_GET_FLAG(hi2s, Flag)) ? SET : RESET) != State) - { - if (Timeout != HAL_MAX_DELAY) - { - if ((Timeout == 0U) || ((HAL_GetTick() - tickstart) > Timeout)) - { - /* Set the I2S State ready */ - hi2s->State = HAL_I2S_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hi2s); - - return HAL_TIMEOUT; - } - } - } - } - else /* i2sUsed == I2S_USE_I2SEXT */ - { - /* Wait until flag is reset */ - while (((__HAL_I2SEXT_GET_FLAG(hi2s, Flag)) ? SET : RESET) != State) - { - if (Timeout != HAL_MAX_DELAY) - { - if ((Timeout == 0U) || ((HAL_GetTick() - tickstart) > Timeout)) - { - /* Set the I2S State ready */ - hi2s->State = HAL_I2S_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hi2s); - - return HAL_TIMEOUT; - } - } - } - } - return HAL_OK; -} - -/** - * @} - */ -#endif /* SPI_I2S_FULLDUPLEX_SUPPORT */ - -/** - * @} - */ -#endif /* HAL_I2S_MODULE_ENABLED */ - -/** - * @} - */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_irda.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_irda.c deleted file mode 100644 index 29974d61b35393..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_irda.c +++ /dev/null @@ -1,2672 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_irda.c - * @author MCD Application Team - * @brief IRDA HAL module driver. - * This file provides firmware functions to manage the following - * functionalities of the IrDA SIR ENDEC block (IrDA): - * + Initialization and de-initialization functions - * + IO operation functions - * + Peripheral Control functions - * + Peripheral State and Errors functions - @verbatim - ============================================================================== - ##### How to use this driver ##### - ============================================================================== - [..] - The IRDA HAL driver can be used as follows: - - (#) Declare a IRDA_HandleTypeDef handle structure (eg. IRDA_HandleTypeDef hirda). - (#) Initialize the IRDA low level resources by implementing the HAL_IRDA_MspInit() API: - (##) Enable the USARTx interface clock. - (##) IRDA pins configuration: - (+++) Enable the clock for the IRDA GPIOs. - (+++) Configure IRDA pins as alternate function pull-up. - (##) NVIC configuration if you need to use interrupt process (HAL_IRDA_Transmit_IT() - and HAL_IRDA_Receive_IT() APIs): - (+++) Configure the USARTx interrupt priority. - (+++) Enable the NVIC USART IRQ handle. - (##) DMA Configuration if you need to use DMA process (HAL_IRDA_Transmit_DMA() - and HAL_IRDA_Receive_DMA() APIs): - (+++) Declare a DMA handle structure for the Tx/Rx stream. - (+++) Enable the DMAx interface clock. - (+++) Configure the declared DMA handle structure with the required Tx/Rx parameters. - (+++) Configure the DMA Tx/Rx stream. - (+++) Associate the initialized DMA handle to the IRDA DMA Tx/Rx handle. - (+++) Configure the priority and enable the NVIC for the transfer complete interrupt on the DMA Tx/Rx stream. - (+++) Configure the IRDAx interrupt priority and enable the NVIC USART IRQ handle - (used for last byte sending completion detection in DMA non circular mode) - - (#) Program the Baud Rate, Word Length, Parity, IrDA Mode, Prescaler - and Mode(Receiver/Transmitter) in the hirda Init structure. - - (#) Initialize the IRDA registers by calling the HAL_IRDA_Init() API: - (++) This API configures also the low level Hardware GPIO, CLOCK, CORTEX...etc) - by calling the customized HAL_IRDA_MspInit() API. - - -@@- The specific IRDA interrupts (Transmission complete interrupt, - RXNE interrupt and Error Interrupts) will be managed using the macros - __HAL_IRDA_ENABLE_IT() and __HAL_IRDA_DISABLE_IT() inside the transmit and receive process. - - (#) Three operation modes are available within this driver : - - *** Polling mode IO operation *** - ================================= - [..] - (+) Send an amount of data in blocking mode using HAL_IRDA_Transmit() - (+) Receive an amount of data in blocking mode using HAL_IRDA_Receive() - - *** Interrupt mode IO operation *** - =================================== - [..] - (+) Send an amount of data in non blocking mode using HAL_IRDA_Transmit_IT() - (+) At transmission end of transfer HAL_IRDA_TxCpltCallback is executed and user can - add his own code by customization of function pointer HAL_IRDA_TxCpltCallback - (+) Receive an amount of data in non blocking mode using HAL_IRDA_Receive_IT() - (+) At reception end of transfer HAL_IRDA_RxCpltCallback is executed and user can - add his own code by customization of function pointer HAL_IRDA_RxCpltCallback - (+) In case of transfer Error, HAL_IRDA_ErrorCallback() function is executed and user can - add his own code by customization of function pointer HAL_IRDA_ErrorCallback - - *** DMA mode IO operation *** - ============================= - [..] - (+) Send an amount of data in non blocking mode (DMA) using HAL_IRDA_Transmit_DMA() - (+) At transmission end of half transfer HAL_IRDA_TxHalfCpltCallback is executed and user can - add his own code by customization of function pointer HAL_IRDA_TxHalfCpltCallback - (+) At transmission end of transfer HAL_IRDA_TxCpltCallback is executed and user can - add his own code by customization of function pointer HAL_IRDA_TxCpltCallback - (+) Receive an amount of data in non blocking mode (DMA) using HAL_IRDA_Receive_DMA() - (+) At reception end of half transfer HAL_IRDA_RxHalfCpltCallback is executed and user can - add his own code by customization of function pointer HAL_IRDA_RxHalfCpltCallback - (+) At reception end of transfer HAL_IRDA_RxCpltCallback is executed and user can - add his own code by customization of function pointer HAL_IRDA_RxCpltCallback - (+) In case of transfer Error, HAL_IRDA_ErrorCallback() function is executed and user can - add his own code by customization of function pointer HAL_IRDA_ErrorCallback - (+) Pause the DMA Transfer using HAL_IRDA_DMAPause() - (+) Resume the DMA Transfer using HAL_IRDA_DMAResume() - (+) Stop the DMA Transfer using HAL_IRDA_DMAStop() - - *** IRDA HAL driver macros list *** - =================================== - [..] - Below the list of most used macros in IRDA HAL driver. - - (+) __HAL_IRDA_ENABLE: Enable the IRDA peripheral - (+) __HAL_IRDA_DISABLE: Disable the IRDA peripheral - (+) __HAL_IRDA_GET_FLAG : Check whether the specified IRDA flag is set or not - (+) __HAL_IRDA_CLEAR_FLAG : Clear the specified IRDA pending flag - (+) __HAL_IRDA_ENABLE_IT: Enable the specified IRDA interrupt - (+) __HAL_IRDA_DISABLE_IT: Disable the specified IRDA interrupt - (+) __HAL_IRDA_GET_IT_SOURCE: Check whether the specified IRDA interrupt has occurred or not - - [..] - (@) You can refer to the IRDA HAL driver header file for more useful macros - - ##### Callback registration ##### - ================================== - - [..] - The compilation define USE_HAL_IRDA_REGISTER_CALLBACKS when set to 1 - allows the user to configure dynamically the driver callbacks. - - [..] - Use Function HAL_IRDA_RegisterCallback() to register a user callback. - Function HAL_IRDA_RegisterCallback() allows to register following callbacks: - (+) TxHalfCpltCallback : Tx Half Complete Callback. - (+) TxCpltCallback : Tx Complete Callback. - (+) RxHalfCpltCallback : Rx Half Complete Callback. - (+) RxCpltCallback : Rx Complete Callback. - (+) ErrorCallback : Error Callback. - (+) AbortCpltCallback : Abort Complete Callback. - (+) AbortTransmitCpltCallback : Abort Transmit Complete Callback. - (+) AbortReceiveCpltCallback : Abort Receive Complete Callback. - (+) MspInitCallback : IRDA MspInit. - (+) MspDeInitCallback : IRDA MspDeInit. - This function takes as parameters the HAL peripheral handle, the Callback ID - and a pointer to the user callback function. - - [..] - Use function HAL_IRDA_UnRegisterCallback() to reset a callback to the default - weak (surcharged) function. - HAL_IRDA_UnRegisterCallback() takes as parameters the HAL peripheral handle, - and the Callback ID. - This function allows to reset following callbacks: - (+) TxHalfCpltCallback : Tx Half Complete Callback. - (+) TxCpltCallback : Tx Complete Callback. - (+) RxHalfCpltCallback : Rx Half Complete Callback. - (+) RxCpltCallback : Rx Complete Callback. - (+) ErrorCallback : Error Callback. - (+) AbortCpltCallback : Abort Complete Callback. - (+) AbortTransmitCpltCallback : Abort Transmit Complete Callback. - (+) AbortReceiveCpltCallback : Abort Receive Complete Callback. - (+) MspInitCallback : IRDA MspInit. - (+) MspDeInitCallback : IRDA MspDeInit. - - [..] - By default, after the HAL_IRDA_Init() and when the state is HAL_IRDA_STATE_RESET - all callbacks are set to the corresponding weak (surcharged) functions: - examples HAL_IRDA_TxCpltCallback(), HAL_IRDA_RxHalfCpltCallback(). - Exception done for MspInit and MspDeInit functions that are respectively - reset to the legacy weak (surcharged) functions in the HAL_IRDA_Init() - and HAL_IRDA_DeInit() only when these callbacks are null (not registered beforehand). - If not, MspInit or MspDeInit are not null, the HAL_IRDA_Init() and HAL_IRDA_DeInit() - keep and use the user MspInit/MspDeInit callbacks (registered beforehand). - - [..] - Callbacks can be registered/unregistered in HAL_IRDA_STATE_READY state only. - Exception done MspInit/MspDeInit that can be registered/unregistered - in HAL_IRDA_STATE_READY or HAL_IRDA_STATE_RESET state, thus registered (user) - MspInit/DeInit callbacks can be used during the Init/DeInit. - In that case first register the MspInit/MspDeInit user callbacks - using HAL_IRDA_RegisterCallback() before calling HAL_IRDA_DeInit() - or HAL_IRDA_Init() function. - - [..] - When The compilation define USE_HAL_IRDA_REGISTER_CALLBACKS is set to 0 or - not defined, the callback registration feature is not available - and weak (surcharged) callbacks are used. - - @endverbatim - [..] - (@) Additional remark: If the parity is enabled, then the MSB bit of the data written - in the data register is transmitted but is changed by the parity bit. - Depending on the frame length defined by the M bit (8-bits or 9-bits), - the possible IRDA frame formats are as listed in the following table: - +-------------------------------------------------------------+ - | M bit | PCE bit | IRDA frame | - |---------------------|---------------------------------------| - | 0 | 0 | | SB | 8 bit data | 1 STB | | - |---------|-----------|---------------------------------------| - | 0 | 1 | | SB | 7 bit data | PB | 1 STB | | - |---------|-----------|---------------------------------------| - | 1 | 0 | | SB | 9 bit data | 1 STB | | - |---------|-----------|---------------------------------------| - | 1 | 1 | | SB | 8 bit data | PB | 1 STB | | - +-------------------------------------------------------------+ - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @defgroup IRDA IRDA - * @brief HAL IRDA module driver - * @{ - */ - -#ifdef HAL_IRDA_MODULE_ENABLED - -/* Private typedef -----------------------------------------------------------*/ -/* Private define ------------------------------------------------------------*/ -/* Private constants ---------------------------------------------------------*/ -/* Private macro -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private function prototypes -----------------------------------------------*/ -/** @addtogroup IRDA_Private_Functions - * @{ - */ -#if (USE_HAL_IRDA_REGISTER_CALLBACKS == 1) -void IRDA_InitCallbacksToDefault(IRDA_HandleTypeDef *hirda); -#endif /* USE_HAL_IRDA_REGISTER_CALLBACKS */ -static void IRDA_SetConfig(IRDA_HandleTypeDef *hirda); -static HAL_StatusTypeDef IRDA_Transmit_IT(IRDA_HandleTypeDef *hirda); -static HAL_StatusTypeDef IRDA_EndTransmit_IT(IRDA_HandleTypeDef *hirda); -static HAL_StatusTypeDef IRDA_Receive_IT(IRDA_HandleTypeDef *hirda); -static void IRDA_DMATransmitCplt(DMA_HandleTypeDef *hdma); -static void IRDA_DMATransmitHalfCplt(DMA_HandleTypeDef *hdma); -static void IRDA_DMAReceiveCplt(DMA_HandleTypeDef *hdma); -static void IRDA_DMAReceiveHalfCplt(DMA_HandleTypeDef *hdma); -static void IRDA_DMAError(DMA_HandleTypeDef *hdma); -static void IRDA_DMAAbortOnError(DMA_HandleTypeDef *hdma); -static void IRDA_DMATxAbortCallback(DMA_HandleTypeDef *hdma); -static void IRDA_DMARxAbortCallback(DMA_HandleTypeDef *hdma); -static void IRDA_DMATxOnlyAbortCallback(DMA_HandleTypeDef *hdma); -static void IRDA_DMARxOnlyAbortCallback(DMA_HandleTypeDef *hdma); -static HAL_StatusTypeDef IRDA_WaitOnFlagUntilTimeout(IRDA_HandleTypeDef *hirda, uint32_t Flag, FlagStatus Status, uint32_t Tickstart, uint32_t Timeout); -static void IRDA_EndTxTransfer(IRDA_HandleTypeDef *hirda); -static void IRDA_EndRxTransfer(IRDA_HandleTypeDef *hirda); -/** - * @} - */ - -/* Exported functions --------------------------------------------------------*/ -/** @defgroup IRDA_Exported_Functions IrDA Exported Functions - * @{ - */ - -/** @defgroup IRDA_Exported_Functions_Group1 IrDA Initialization and de-initialization functions - * @brief Initialization and Configuration functions - * -@verbatim - - ============================================================================== - ##### Initialization and Configuration functions ##### - ============================================================================== - [..] - This subsection provides a set of functions allowing to initialize the USARTx or the UARTy - in asynchronous IrDA mode. - (+) For the asynchronous mode only these parameters can be configured: - (++) BaudRate - (++) WordLength - (++) Parity: If the parity is enabled, then the MSB bit of the data written - in the data register is transmitted but is changed by the parity bit. - Depending on the frame length defined by the M bit (8-bits or 9-bits), - please refer to Reference manual for possible IRDA frame formats. - (++) Prescaler: A pulse of width less than two and greater than one PSC period(s) may or may - not be rejected. The receiver set up time should be managed by software. The IrDA physical layer - specification specifies a minimum of 10 ms delay between transmission and - reception (IrDA is a half duplex protocol). - (++) Mode: Receiver/transmitter modes - (++) IrDAMode: the IrDA can operate in the Normal mode or in the Low power mode. - [..] - The HAL_IRDA_Init() API follows IRDA configuration procedures (details for the procedures - are available in reference manual). - -@endverbatim - * @{ - */ - -/** - * @brief Initializes the IRDA mode according to the specified - * parameters in the IRDA_InitTypeDef and create the associated handle. - * @param hirda Pointer to a IRDA_HandleTypeDef structure that contains - * the configuration information for the specified IRDA module. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_IRDA_Init(IRDA_HandleTypeDef *hirda) -{ - /* Check the IRDA handle allocation */ - if (hirda == NULL) - { - return HAL_ERROR; - } - - /* Check the IRDA instance parameters */ - assert_param(IS_IRDA_INSTANCE(hirda->Instance)); - /* Check the IRDA mode parameter in the IRDA handle */ - assert_param(IS_IRDA_POWERMODE(hirda->Init.IrDAMode)); - - if (hirda->gState == HAL_IRDA_STATE_RESET) - { - /* Allocate lock resource and initialize it */ - hirda->Lock = HAL_UNLOCKED; - -#if USE_HAL_IRDA_REGISTER_CALLBACKS == 1 - IRDA_InitCallbacksToDefault(hirda); - - if (hirda->MspInitCallback == NULL) - { - hirda->MspInitCallback = HAL_IRDA_MspInit; - } - - /* Init the low level hardware */ - hirda->MspInitCallback(hirda); -#else - /* Init the low level hardware : GPIO, CLOCK */ - HAL_IRDA_MspInit(hirda); -#endif /* USE_HAL_IRDA_REGISTER_CALLBACKS */ - } - - hirda->gState = HAL_IRDA_STATE_BUSY; - - /* Disable the IRDA peripheral */ - __HAL_IRDA_DISABLE(hirda); - - /* Set the IRDA communication parameters */ - IRDA_SetConfig(hirda); - - /* In IrDA mode, the following bits must be kept cleared: - - LINEN, STOP and CLKEN bits in the USART_CR2 register, - - SCEN and HDSEL bits in the USART_CR3 register.*/ - CLEAR_BIT(hirda->Instance->CR2, (USART_CR2_LINEN | USART_CR2_STOP | USART_CR2_CLKEN)); - CLEAR_BIT(hirda->Instance->CR3, (USART_CR3_SCEN | USART_CR3_HDSEL)); - - /* Enable the IRDA peripheral */ - __HAL_IRDA_ENABLE(hirda); - - /* Set the prescaler */ - MODIFY_REG(hirda->Instance->GTPR, USART_GTPR_PSC, hirda->Init.Prescaler); - - /* Configure the IrDA mode */ - MODIFY_REG(hirda->Instance->CR3, USART_CR3_IRLP, hirda->Init.IrDAMode); - - /* Enable the IrDA mode by setting the IREN bit in the CR3 register */ - SET_BIT(hirda->Instance->CR3, USART_CR3_IREN); - - /* Initialize the IRDA state*/ - hirda->ErrorCode = HAL_IRDA_ERROR_NONE; - hirda->gState = HAL_IRDA_STATE_READY; - hirda->RxState = HAL_IRDA_STATE_READY; - - return HAL_OK; -} - -/** - * @brief DeInitializes the IRDA peripheral - * @param hirda Pointer to a IRDA_HandleTypeDef structure that contains - * the configuration information for the specified IRDA module. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_IRDA_DeInit(IRDA_HandleTypeDef *hirda) -{ - /* Check the IRDA handle allocation */ - if (hirda == NULL) - { - return HAL_ERROR; - } - - /* Check the parameters */ - assert_param(IS_IRDA_INSTANCE(hirda->Instance)); - - hirda->gState = HAL_IRDA_STATE_BUSY; - - /* Disable the Peripheral */ - __HAL_IRDA_DISABLE(hirda); - - /* DeInit the low level hardware */ -#if USE_HAL_IRDA_REGISTER_CALLBACKS == 1 - if (hirda->MspDeInitCallback == NULL) - { - hirda->MspDeInitCallback = HAL_IRDA_MspDeInit; - } - /* DeInit the low level hardware */ - hirda->MspDeInitCallback(hirda); -#else - HAL_IRDA_MspDeInit(hirda); -#endif /* USE_HAL_IRDA_REGISTER_CALLBACKS */ - - hirda->ErrorCode = HAL_IRDA_ERROR_NONE; - - hirda->gState = HAL_IRDA_STATE_RESET; - hirda->RxState = HAL_IRDA_STATE_RESET; - - /* Release Lock */ - __HAL_UNLOCK(hirda); - - return HAL_OK; -} - -/** - * @brief IRDA MSP Init. - * @param hirda Pointer to a IRDA_HandleTypeDef structure that contains - * the configuration information for the specified IRDA module. - * @retval None - */ -__weak void HAL_IRDA_MspInit(IRDA_HandleTypeDef *hirda) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hirda); - - /* NOTE: This function should not be modified, when the callback is needed, - the HAL_IRDA_MspInit can be implemented in the user file - */ -} - -/** - * @brief IRDA MSP DeInit. - * @param hirda Pointer to a IRDA_HandleTypeDef structure that contains - * the configuration information for the specified IRDA module. - * @retval None - */ -__weak void HAL_IRDA_MspDeInit(IRDA_HandleTypeDef *hirda) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hirda); - - /* NOTE: This function should not be modified, when the callback is needed, - the HAL_IRDA_MspDeInit can be implemented in the user file - */ -} - -#if (USE_HAL_IRDA_REGISTER_CALLBACKS == 1) -/** - * @brief Register a User IRDA Callback - * To be used instead of the weak predefined callback - * @param hirda irda handle - * @param CallbackID ID of the callback to be registered - * This parameter can be one of the following values: - * @arg @ref HAL_IRDA_TX_HALFCOMPLETE_CB_ID Tx Half Complete Callback ID - * @arg @ref HAL_IRDA_TX_COMPLETE_CB_ID Tx Complete Callback ID - * @arg @ref HAL_IRDA_RX_HALFCOMPLETE_CB_ID Rx Half Complete Callback ID - * @arg @ref HAL_IRDA_RX_COMPLETE_CB_ID Rx Complete Callback ID - * @arg @ref HAL_IRDA_ERROR_CB_ID Error Callback ID - * @arg @ref HAL_IRDA_ABORT_COMPLETE_CB_ID Abort Complete Callback ID - * @arg @ref HAL_IRDA_ABORT_TRANSMIT_COMPLETE_CB_ID Abort Transmit Complete Callback ID - * @arg @ref HAL_IRDA_ABORT_RECEIVE_COMPLETE_CB_ID Abort Receive Complete Callback ID - * @arg @ref HAL_IRDA_MSPINIT_CB_ID MspInit Callback ID - * @arg @ref HAL_IRDA_MSPDEINIT_CB_ID MspDeInit Callback ID - * @param pCallback pointer to the Callback function - * @retval HAL status - */ -HAL_StatusTypeDef HAL_IRDA_RegisterCallback(IRDA_HandleTypeDef *hirda, HAL_IRDA_CallbackIDTypeDef CallbackID, pIRDA_CallbackTypeDef pCallback) -{ - HAL_StatusTypeDef status = HAL_OK; - - if (pCallback == NULL) - { - /* Update the error code */ - hirda->ErrorCode |= HAL_IRDA_ERROR_INVALID_CALLBACK; - - return HAL_ERROR; - } - /* Process locked */ - __HAL_LOCK(hirda); - - if (hirda->gState == HAL_IRDA_STATE_READY) - { - switch (CallbackID) - { - case HAL_IRDA_TX_HALFCOMPLETE_CB_ID : - hirda->TxHalfCpltCallback = pCallback; - break; - - case HAL_IRDA_TX_COMPLETE_CB_ID : - hirda->TxCpltCallback = pCallback; - break; - - case HAL_IRDA_RX_HALFCOMPLETE_CB_ID : - hirda->RxHalfCpltCallback = pCallback; - break; - - case HAL_IRDA_RX_COMPLETE_CB_ID : - hirda->RxCpltCallback = pCallback; - break; - - case HAL_IRDA_ERROR_CB_ID : - hirda->ErrorCallback = pCallback; - break; - - case HAL_IRDA_ABORT_COMPLETE_CB_ID : - hirda->AbortCpltCallback = pCallback; - break; - - case HAL_IRDA_ABORT_TRANSMIT_COMPLETE_CB_ID : - hirda->AbortTransmitCpltCallback = pCallback; - break; - - case HAL_IRDA_ABORT_RECEIVE_COMPLETE_CB_ID : - hirda->AbortReceiveCpltCallback = pCallback; - break; - - case HAL_IRDA_MSPINIT_CB_ID : - hirda->MspInitCallback = pCallback; - break; - - case HAL_IRDA_MSPDEINIT_CB_ID : - hirda->MspDeInitCallback = pCallback; - break; - - default : - /* Update the error code */ - hirda->ErrorCode |= HAL_IRDA_ERROR_INVALID_CALLBACK; - - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else if (hirda->gState == HAL_IRDA_STATE_RESET) - { - switch (CallbackID) - { - case HAL_IRDA_MSPINIT_CB_ID : - hirda->MspInitCallback = pCallback; - break; - - case HAL_IRDA_MSPDEINIT_CB_ID : - hirda->MspDeInitCallback = pCallback; - break; - - default : - /* Update the error code */ - hirda->ErrorCode |= HAL_IRDA_ERROR_INVALID_CALLBACK; - - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else - { - /* Update the error code */ - hirda->ErrorCode |= HAL_IRDA_ERROR_INVALID_CALLBACK; - - /* Return error status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(hirda); - - return status; -} - -/** - * @brief Unregister an IRDA callback - * IRDA callback is redirected to the weak predefined callback - * @param hirda irda handle - * @param CallbackID ID of the callback to be unregistered - * This parameter can be one of the following values: - * @arg @ref HAL_IRDA_TX_HALFCOMPLETE_CB_ID Tx Half Complete Callback ID - * @arg @ref HAL_IRDA_TX_COMPLETE_CB_ID Tx Complete Callback ID - * @arg @ref HAL_IRDA_RX_HALFCOMPLETE_CB_ID Rx Half Complete Callback ID - * @arg @ref HAL_IRDA_RX_COMPLETE_CB_ID Rx Complete Callback ID - * @arg @ref HAL_IRDA_ERROR_CB_ID Error Callback ID - * @arg @ref HAL_IRDA_ABORT_COMPLETE_CB_ID Abort Complete Callback ID - * @arg @ref HAL_IRDA_ABORT_TRANSMIT_COMPLETE_CB_ID Abort Transmit Complete Callback ID - * @arg @ref HAL_IRDA_ABORT_RECEIVE_COMPLETE_CB_ID Abort Receive Complete Callback ID - * @arg @ref HAL_IRDA_MSPINIT_CB_ID MspInit Callback ID - * @arg @ref HAL_IRDA_MSPDEINIT_CB_ID MspDeInit Callback ID - * @retval HAL status - */ -HAL_StatusTypeDef HAL_IRDA_UnRegisterCallback(IRDA_HandleTypeDef *hirda, HAL_IRDA_CallbackIDTypeDef CallbackID) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Process locked */ - __HAL_LOCK(hirda); - - if (HAL_IRDA_STATE_READY == hirda->gState) - { - switch (CallbackID) - { - case HAL_IRDA_TX_HALFCOMPLETE_CB_ID : - hirda->TxHalfCpltCallback = HAL_IRDA_TxHalfCpltCallback; /* Legacy weak TxHalfCpltCallback */ - break; - - case HAL_IRDA_TX_COMPLETE_CB_ID : - hirda->TxCpltCallback = HAL_IRDA_TxCpltCallback; /* Legacy weak TxCpltCallback */ - break; - - case HAL_IRDA_RX_HALFCOMPLETE_CB_ID : - hirda->RxHalfCpltCallback = HAL_IRDA_RxHalfCpltCallback; /* Legacy weak RxHalfCpltCallback */ - break; - - case HAL_IRDA_RX_COMPLETE_CB_ID : - hirda->RxCpltCallback = HAL_IRDA_RxCpltCallback; /* Legacy weak RxCpltCallback */ - break; - - case HAL_IRDA_ERROR_CB_ID : - hirda->ErrorCallback = HAL_IRDA_ErrorCallback; /* Legacy weak ErrorCallback */ - break; - - case HAL_IRDA_ABORT_COMPLETE_CB_ID : - hirda->AbortCpltCallback = HAL_IRDA_AbortCpltCallback; /* Legacy weak AbortCpltCallback */ - break; - - case HAL_IRDA_ABORT_TRANSMIT_COMPLETE_CB_ID : - hirda->AbortTransmitCpltCallback = HAL_IRDA_AbortTransmitCpltCallback; /* Legacy weak AbortTransmitCpltCallback */ - break; - - case HAL_IRDA_ABORT_RECEIVE_COMPLETE_CB_ID : - hirda->AbortReceiveCpltCallback = HAL_IRDA_AbortReceiveCpltCallback; /* Legacy weak AbortReceiveCpltCallback */ - break; - - case HAL_IRDA_MSPINIT_CB_ID : - hirda->MspInitCallback = HAL_IRDA_MspInit; /* Legacy weak MspInitCallback */ - break; - - case HAL_IRDA_MSPDEINIT_CB_ID : - hirda->MspDeInitCallback = HAL_IRDA_MspDeInit; /* Legacy weak MspDeInitCallback */ - break; - - default : - /* Update the error code */ - hirda->ErrorCode |= HAL_IRDA_ERROR_INVALID_CALLBACK; - - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else if (HAL_IRDA_STATE_RESET == hirda->gState) - { - switch (CallbackID) - { - case HAL_IRDA_MSPINIT_CB_ID : - hirda->MspInitCallback = HAL_IRDA_MspInit; - break; - - case HAL_IRDA_MSPDEINIT_CB_ID : - hirda->MspDeInitCallback = HAL_IRDA_MspDeInit; - break; - - default : - /* Update the error code */ - hirda->ErrorCode |= HAL_IRDA_ERROR_INVALID_CALLBACK; - - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else - { - /* Update the error code */ - hirda->ErrorCode |= HAL_IRDA_ERROR_INVALID_CALLBACK; - - /* Return error status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(hirda); - - return status; -} -#endif /* USE_HAL_IRDA_REGISTER_CALLBACKS */ - -/** - * @} - */ - -/** @defgroup IRDA_Exported_Functions_Group2 IO operation functions - * @brief IRDA Transmit and Receive functions - * -@verbatim - ============================================================================== - ##### IO operation functions ##### - ============================================================================== - [..] - This subsection provides a set of functions allowing to manage the IRDA data transfers. - IrDA is a half duplex communication protocol. If the Transmitter is busy, any data - on the IrDA receive line will be ignored by the IrDA decoder and if the Receiver - is busy, data on the TX from the USART to IrDA will not be encoded by IrDA. - While receiving data, transmission should be avoided as the data to be transmitted - could be corrupted. - - (#) There are two modes of transfer: - (++) Blocking mode: The communication is performed in polling mode. - The HAL status of all data processing is returned by the same function - after finishing transfer. - (++) Non-Blocking mode: The communication is performed using Interrupts - or DMA, these API's return the HAL status. - The end of the data processing will be indicated through the - dedicated IRDA IRQ when using Interrupt mode or the DMA IRQ when - using DMA mode. - The HAL_IRDA_TxCpltCallback(), HAL_IRDA_RxCpltCallback() user callbacks - will be executed respectively at the end of the Transmit or Receive process - The HAL_IRDA_ErrorCallback() user callback will be executed when a communication error is detected - - (#) Blocking mode APIs are : - (++) HAL_IRDA_Transmit() - (++) HAL_IRDA_Receive() - - (#) Non Blocking mode APIs with Interrupt are : - (++) HAL_IRDA_Transmit_IT() - (++) HAL_IRDA_Receive_IT() - (++) HAL_IRDA_IRQHandler() - - (#) Non Blocking mode functions with DMA are : - (++) HAL_IRDA_Transmit_DMA() - (++) HAL_IRDA_Receive_DMA() - (++) HAL_IRDA_DMAPause() - (++) HAL_IRDA_DMAResume() - (++) HAL_IRDA_DMAStop() - - (#) A set of Transfer Complete Callbacks are provided in Non Blocking mode: - (++) HAL_IRDA_TxHalfCpltCallback() - (++) HAL_IRDA_TxCpltCallback() - (++) HAL_IRDA_RxHalfCpltCallback() - (++) HAL_IRDA_RxCpltCallback() - (++) HAL_IRDA_ErrorCallback() - - (#) Non-Blocking mode transfers could be aborted using Abort API's : - (+) HAL_IRDA_Abort() - (+) HAL_IRDA_AbortTransmit() - (+) HAL_IRDA_AbortReceive() - (+) HAL_IRDA_Abort_IT() - (+) HAL_IRDA_AbortTransmit_IT() - (+) HAL_IRDA_AbortReceive_IT() - - (#) For Abort services based on interrupts (HAL_IRDA_Abortxxx_IT), a set of Abort Complete Callbacks are provided: - (+) HAL_IRDA_AbortCpltCallback() - (+) HAL_IRDA_AbortTransmitCpltCallback() - (+) HAL_IRDA_AbortReceiveCpltCallback() - - (#) In Non-Blocking mode transfers, possible errors are split into 2 categories. - Errors are handled as follows : - (+) Error is considered as Recoverable and non blocking : Transfer could go till end, but error severity is - to be evaluated by user : this concerns Frame Error, Parity Error or Noise Error in Interrupt mode reception . - Received character is then retrieved and stored in Rx buffer, Error code is set to allow user to identify error type, - and HAL_IRDA_ErrorCallback() user callback is executed. Transfer is kept ongoing on IRDA side. - If user wants to abort it, Abort services should be called by user. - (+) Error is considered as Blocking : Transfer could not be completed properly and is aborted. - This concerns Overrun Error In Interrupt mode reception and all errors in DMA mode. - Error code is set to allow user to identify error type, and HAL_IRDA_ErrorCallback() user callback is executed. - -@endverbatim - * @{ - */ - -/** - * @brief Sends an amount of data in blocking mode. - * @note When UART parity is not enabled (PCE = 0), and Word Length is configured to 9 bits (M1-M0 = 01), - * the sent data is handled as a set of u16. In this case, Size must reflect the number - * of u16 available through pData. - * @param hirda Pointer to a IRDA_HandleTypeDef structure that contains - * the configuration information for the specified IRDA module. - * @param pData Pointer to data buffer (u8 or u16 data elements). - * @param Size Amount of data elements (u8 or u16) to be sent. - * @param Timeout Specify timeout value. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_IRDA_Transmit(IRDA_HandleTypeDef *hirda, uint8_t *pData, uint16_t Size, uint32_t Timeout) -{ - uint16_t *tmp; - uint32_t tickstart = 0U; - - /* Check that a Tx process is not already ongoing */ - if (hirda->gState == HAL_IRDA_STATE_READY) - { - if ((pData == NULL) || (Size == 0U)) - { - return HAL_ERROR; - } - - /* Process Locked */ - __HAL_LOCK(hirda); - - hirda->ErrorCode = HAL_IRDA_ERROR_NONE; - hirda->gState = HAL_IRDA_STATE_BUSY_TX; - - /* Init tickstart for timeout management*/ - tickstart = HAL_GetTick(); - - hirda->TxXferSize = Size; - hirda->TxXferCount = Size; - while (hirda->TxXferCount > 0U) - { - hirda->TxXferCount--; - if (hirda->Init.WordLength == IRDA_WORDLENGTH_9B) - { - if (IRDA_WaitOnFlagUntilTimeout(hirda, IRDA_FLAG_TXE, RESET, tickstart, Timeout) != HAL_OK) - { - return HAL_TIMEOUT; - } - tmp = (uint16_t *) pData; - hirda->Instance->DR = (*tmp & (uint16_t)0x01FF); - if (hirda->Init.Parity == IRDA_PARITY_NONE) - { - pData += 2U; - } - else - { - pData += 1U; - } - } - else - { - if (IRDA_WaitOnFlagUntilTimeout(hirda, IRDA_FLAG_TXE, RESET, tickstart, Timeout) != HAL_OK) - { - return HAL_TIMEOUT; - } - hirda->Instance->DR = (*pData++ & (uint8_t)0xFF); - } - } - - if (IRDA_WaitOnFlagUntilTimeout(hirda, IRDA_FLAG_TC, RESET, tickstart, Timeout) != HAL_OK) - { - return HAL_TIMEOUT; - } - - /* At end of Tx process, restore hirda->gState to Ready */ - hirda->gState = HAL_IRDA_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hirda); - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Receive an amount of data in blocking mode. - * @note When UART parity is not enabled (PCE = 0), and Word Length is configured to 9 bits (M1-M0 = 01), - * the received data is handled as a set of u16. In this case, Size must reflect the number - * of u16 available through pData. - * @param hirda Pointer to a IRDA_HandleTypeDef structure that contains - * the configuration information for the specified IRDA module. - * @param pData Pointer to data buffer (u8 or u16 data elements). - * @param Size Amount of data elements (u8 or u16) to be received. - * @param Timeout Specify timeout value - * @retval HAL status - */ -HAL_StatusTypeDef HAL_IRDA_Receive(IRDA_HandleTypeDef *hirda, uint8_t *pData, uint16_t Size, uint32_t Timeout) -{ - uint16_t *tmp; - uint32_t tickstart = 0U; - - /* Check that a Rx process is not already ongoing */ - if (hirda->RxState == HAL_IRDA_STATE_READY) - { - if ((pData == NULL) || (Size == 0U)) - { - return HAL_ERROR; - } - - /* Process Locked */ - __HAL_LOCK(hirda); - - hirda->ErrorCode = HAL_IRDA_ERROR_NONE; - hirda->RxState = HAL_IRDA_STATE_BUSY_RX; - - /* Init tickstart for timeout management*/ - tickstart = HAL_GetTick(); - - hirda->RxXferSize = Size; - hirda->RxXferCount = Size; - - /* Check the remain data to be received */ - while (hirda->RxXferCount > 0U) - { - hirda->RxXferCount--; - - if (hirda->Init.WordLength == IRDA_WORDLENGTH_9B) - { - if (IRDA_WaitOnFlagUntilTimeout(hirda, IRDA_FLAG_RXNE, RESET, tickstart, Timeout) != HAL_OK) - { - return HAL_TIMEOUT; - } - tmp = (uint16_t *) pData ; - if (hirda->Init.Parity == IRDA_PARITY_NONE) - { - *tmp = (uint16_t)(hirda->Instance->DR & (uint16_t)0x01FF); - pData += 2U; - } - else - { - *tmp = (uint16_t)(hirda->Instance->DR & (uint16_t)0x00FF); - pData += 1U; - } - } - else - { - if (IRDA_WaitOnFlagUntilTimeout(hirda, IRDA_FLAG_RXNE, RESET, tickstart, Timeout) != HAL_OK) - { - return HAL_TIMEOUT; - } - if (hirda->Init.Parity == IRDA_PARITY_NONE) - { - *pData++ = (uint8_t)(hirda->Instance->DR & (uint8_t)0x00FF); - } - else - { - *pData++ = (uint8_t)(hirda->Instance->DR & (uint8_t)0x007F); - } - } - } - - /* At end of Rx process, restore hirda->RxState to Ready */ - hirda->RxState = HAL_IRDA_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hirda); - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Send an amount of data in non blocking mode. - * @note When UART parity is not enabled (PCE = 0), and Word Length is configured to 9 bits (M1-M0 = 01), - * the sent data is handled as a set of u16. In this case, Size must reflect the number - * of u16 available through pData. - * @param hirda Pointer to a IRDA_HandleTypeDef structure that contains - * the configuration information for the specified IRDA module. - * @param pData Pointer to data buffer (u8 or u16 data elements). - * @param Size Amount of data elements (u8 or u16) to be sent. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_IRDA_Transmit_IT(IRDA_HandleTypeDef *hirda, uint8_t *pData, uint16_t Size) -{ - /* Check that a Tx process is not already ongoing */ - if (hirda->gState == HAL_IRDA_STATE_READY) - { - if ((pData == NULL) || (Size == 0U)) - { - return HAL_ERROR; - } - - /* Process Locked */ - __HAL_LOCK(hirda); - - hirda->pTxBuffPtr = pData; - hirda->TxXferSize = Size; - hirda->TxXferCount = Size; - - hirda->ErrorCode = HAL_IRDA_ERROR_NONE; - hirda->gState = HAL_IRDA_STATE_BUSY_TX; - - /* Process Unlocked */ - __HAL_UNLOCK(hirda); - - /* Enable the IRDA Transmit Data Register Empty Interrupt */ - SET_BIT(hirda->Instance->CR1, USART_CR1_TXEIE); - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Receive an amount of data in non blocking mode. - * @note When UART parity is not enabled (PCE = 0), and Word Length is configured to 9 bits (M1-M0 = 01), - * the received data is handled as a set of u16. In this case, Size must reflect the number - * of u16 available through pData. - * @param hirda Pointer to a IRDA_HandleTypeDef structure that contains - * the configuration information for the specified IRDA module. - * @param pData Pointer to data buffer (u8 or u16 data elements). - * @param Size Amount of data elements (u8 or u16) to be received. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_IRDA_Receive_IT(IRDA_HandleTypeDef *hirda, uint8_t *pData, uint16_t Size) -{ - /* Check that a Rx process is not already ongoing */ - if (hirda->RxState == HAL_IRDA_STATE_READY) - { - if ((pData == NULL) || (Size == 0U)) - { - return HAL_ERROR; - } - - /* Process Locked */ - __HAL_LOCK(hirda); - - hirda->pRxBuffPtr = pData; - hirda->RxXferSize = Size; - hirda->RxXferCount = Size; - - hirda->ErrorCode = HAL_IRDA_ERROR_NONE; - hirda->RxState = HAL_IRDA_STATE_BUSY_RX; - - /* Process Unlocked */ - __HAL_UNLOCK(hirda); - - /* Enable the IRDA Parity Error and Data Register Not Empty Interrupts */ - SET_BIT(hirda->Instance->CR1, USART_CR1_PEIE | USART_CR1_RXNEIE); - - /* Enable the IRDA Error Interrupt: (Frame error, Noise error, Overrun error) */ - SET_BIT(hirda->Instance->CR3, USART_CR3_EIE); - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Send an amount of data in DMA mode. - * @note When UART parity is not enabled (PCE = 0), and Word Length is configured to 9 bits (M1-M0 = 01), - * the sent data is handled as a set of u16. In this case, Size must reflect the number - * of u16 available through pData. - * @param hirda Pointer to a IRDA_HandleTypeDef structure that contains - * the configuration information for the specified IRDA module. - * @param pData Pointer to data buffer (u8 or u16 data elements). - * @param Size Amount of data elements (u8 or u16) to be sent. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_IRDA_Transmit_DMA(IRDA_HandleTypeDef *hirda, uint8_t *pData, uint16_t Size) -{ - uint32_t *tmp; - - /* Check that a Tx process is not already ongoing */ - if (hirda->gState == HAL_IRDA_STATE_READY) - { - if ((pData == NULL) || (Size == 0U)) - { - return HAL_ERROR; - } - - /* Process Locked */ - __HAL_LOCK(hirda); - - hirda->pTxBuffPtr = pData; - hirda->TxXferSize = Size; - hirda->TxXferCount = Size; - - hirda->ErrorCode = HAL_IRDA_ERROR_NONE; - hirda->gState = HAL_IRDA_STATE_BUSY_TX; - - /* Set the IRDA DMA transfer complete callback */ - hirda->hdmatx->XferCpltCallback = IRDA_DMATransmitCplt; - - /* Set the IRDA DMA half transfer complete callback */ - hirda->hdmatx->XferHalfCpltCallback = IRDA_DMATransmitHalfCplt; - - /* Set the DMA error callback */ - hirda->hdmatx->XferErrorCallback = IRDA_DMAError; - - /* Set the DMA abort callback */ - hirda->hdmatx->XferAbortCallback = NULL; - - /* Enable the IRDA transmit DMA stream */ - tmp = (uint32_t *)&pData; - HAL_DMA_Start_IT(hirda->hdmatx, *(uint32_t *)tmp, (uint32_t)&hirda->Instance->DR, Size); - - /* Clear the TC flag in the SR register by writing 0 to it */ - __HAL_IRDA_CLEAR_FLAG(hirda, IRDA_FLAG_TC); - - /* Process Unlocked */ - __HAL_UNLOCK(hirda); - - /* Enable the DMA transfer for transmit request by setting the DMAT bit - in the USART CR3 register */ - SET_BIT(hirda->Instance->CR3, USART_CR3_DMAT); - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Receives an amount of data in DMA mode. - * @note When UART parity is not enabled (PCE = 0), and Word Length is configured to 9 bits (M1-M0 = 01), - * the received data is handled as a set of u16. In this case, Size must reflect the number - * of u16 available through pData. - * @param hirda Pointer to a IRDA_HandleTypeDef structure that contains - * the configuration information for the specified IRDA module. - * @param pData Pointer to data buffer (u8 or u16 data elements). - * @param Size Amount of data elements (u8 or u16) to be received. - * @note When the IRDA parity is enabled (PCE = 1) the data received contain the parity bit. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_IRDA_Receive_DMA(IRDA_HandleTypeDef *hirda, uint8_t *pData, uint16_t Size) -{ - uint32_t *tmp; - - /* Check that a Rx process is not already ongoing */ - if (hirda->RxState == HAL_IRDA_STATE_READY) - { - if ((pData == NULL) || (Size == 0U)) - { - return HAL_ERROR; - } - - /* Process Locked */ - __HAL_LOCK(hirda); - - hirda->pRxBuffPtr = pData; - hirda->RxXferSize = Size; - - hirda->ErrorCode = HAL_IRDA_ERROR_NONE; - hirda->RxState = HAL_IRDA_STATE_BUSY_RX; - - /* Set the IRDA DMA transfer complete callback */ - hirda->hdmarx->XferCpltCallback = IRDA_DMAReceiveCplt; - - /* Set the IRDA DMA half transfer complete callback */ - hirda->hdmarx->XferHalfCpltCallback = IRDA_DMAReceiveHalfCplt; - - /* Set the DMA error callback */ - hirda->hdmarx->XferErrorCallback = IRDA_DMAError; - - /* Set the DMA abort callback */ - hirda->hdmarx->XferAbortCallback = NULL; - - /* Enable the DMA stream */ - tmp = (uint32_t *)&pData; - HAL_DMA_Start_IT(hirda->hdmarx, (uint32_t)&hirda->Instance->DR, *(uint32_t *)tmp, Size); - - /* Clear the Overrun flag just before enabling the DMA Rx request: can be mandatory for the second transfer */ - __HAL_IRDA_CLEAR_OREFLAG(hirda); - - /* Process Unlocked */ - __HAL_UNLOCK(hirda); - - /* Enable the IRDA Parity Error Interrupt */ - SET_BIT(hirda->Instance->CR1, USART_CR1_PEIE); - - /* Enable the IRDA Error Interrupt: (Frame error, Noise error, Overrun error) */ - SET_BIT(hirda->Instance->CR3, USART_CR3_EIE); - - /* Enable the DMA transfer for the receiver request by setting the DMAR bit - in the USART CR3 register */ - SET_BIT(hirda->Instance->CR3, USART_CR3_DMAR); - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Pauses the DMA Transfer. - * @param hirda Pointer to a IRDA_HandleTypeDef structure that contains - * the configuration information for the specified IRDA module. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_IRDA_DMAPause(IRDA_HandleTypeDef *hirda) -{ - uint32_t dmarequest = 0x00U; - - /* Process Locked */ - __HAL_LOCK(hirda); - - dmarequest = HAL_IS_BIT_SET(hirda->Instance->CR3, USART_CR3_DMAT); - if ((hirda->gState == HAL_IRDA_STATE_BUSY_TX) && dmarequest) - { - /* Disable the IRDA DMA Tx request */ - CLEAR_BIT(hirda->Instance->CR3, USART_CR3_DMAT); - } - - dmarequest = HAL_IS_BIT_SET(hirda->Instance->CR3, USART_CR3_DMAR); - if ((hirda->RxState == HAL_IRDA_STATE_BUSY_RX) && dmarequest) - { - /* Disable PE and ERR (Frame error, noise error, overrun error) interrupts */ - CLEAR_BIT(hirda->Instance->CR1, USART_CR1_PEIE); - CLEAR_BIT(hirda->Instance->CR3, USART_CR3_EIE); - - /* Disable the IRDA DMA Rx request */ - CLEAR_BIT(hirda->Instance->CR3, USART_CR3_DMAR); - } - - /* Process Unlocked */ - __HAL_UNLOCK(hirda); - - return HAL_OK; -} - -/** - * @brief Resumes the DMA Transfer. - * @param hirda Pointer to a IRDA_HandleTypeDef structure that contains - * the configuration information for the specified IRDA module. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_IRDA_DMAResume(IRDA_HandleTypeDef *hirda) -{ - /* Process Locked */ - __HAL_LOCK(hirda); - - if (hirda->gState == HAL_IRDA_STATE_BUSY_TX) - { - /* Enable the IRDA DMA Tx request */ - SET_BIT(hirda->Instance->CR3, USART_CR3_DMAT); - } - - if (hirda->RxState == HAL_IRDA_STATE_BUSY_RX) - { - /* Clear the Overrun flag before resuming the Rx transfer */ - __HAL_IRDA_CLEAR_OREFLAG(hirda); - - /* Re-enable PE and ERR (Frame error, noise error, overrun error) interrupts */ - SET_BIT(hirda->Instance->CR1, USART_CR1_PEIE); - SET_BIT(hirda->Instance->CR3, USART_CR3_EIE); - - /* Enable the IRDA DMA Rx request */ - SET_BIT(hirda->Instance->CR3, USART_CR3_DMAR); - } - - /* Process Unlocked */ - __HAL_UNLOCK(hirda); - - return HAL_OK; -} - -/** - * @brief Stops the DMA Transfer. - * @param hirda Pointer to a IRDA_HandleTypeDef structure that contains - * the configuration information for the specified IRDA module. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_IRDA_DMAStop(IRDA_HandleTypeDef *hirda) -{ - uint32_t dmarequest = 0x00U; - /* The Lock is not implemented on this API to allow the user application - to call the HAL IRDA API under callbacks HAL_IRDA_TxCpltCallback() / HAL_IRDA_RxCpltCallback(): - when calling HAL_DMA_Abort() API the DMA TX/RX Transfer complete interrupt is generated - and the correspond call back is executed HAL_IRDA_TxCpltCallback() / HAL_IRDA_RxCpltCallback() - */ - - /* Stop IRDA DMA Tx request if ongoing */ - dmarequest = HAL_IS_BIT_SET(hirda->Instance->CR3, USART_CR3_DMAT); - if ((hirda->gState == HAL_IRDA_STATE_BUSY_TX) && dmarequest) - { - CLEAR_BIT(hirda->Instance->CR3, USART_CR3_DMAT); - - /* Abort the IRDA DMA Tx channel */ - if (hirda->hdmatx != NULL) - { - HAL_DMA_Abort(hirda->hdmatx); - } - IRDA_EndTxTransfer(hirda); - } - - /* Stop IRDA DMA Rx request if ongoing */ - dmarequest = HAL_IS_BIT_SET(hirda->Instance->CR3, USART_CR3_DMAR); - if ((hirda->RxState == HAL_IRDA_STATE_BUSY_RX) && dmarequest) - { - CLEAR_BIT(hirda->Instance->CR3, USART_CR3_DMAR); - - /* Abort the IRDA DMA Rx channel */ - if (hirda->hdmarx != NULL) - { - HAL_DMA_Abort(hirda->hdmarx); - } - IRDA_EndRxTransfer(hirda); - } - - return HAL_OK; -} - -/** - * @brief Abort ongoing transfers (blocking mode). - * @param hirda IRDA handle. - * @note This procedure could be used for aborting any ongoing transfer started in Interrupt or DMA mode. - * This procedure performs following operations : - * - Disable PPP Interrupts - * - Disable the DMA transfer in the peripheral register (if enabled) - * - Abort DMA transfer by calling HAL_DMA_Abort (in case of transfer in DMA mode) - * - Set handle State to READY - * @note This procedure is executed in blocking mode : when exiting function, Abort is considered as completed. - * @retval HAL status -*/ -HAL_StatusTypeDef HAL_IRDA_Abort(IRDA_HandleTypeDef *hirda) -{ - /* Disable TXEIE, TCIE, RXNE, PE and ERR (Frame error, noise error, overrun error) interrupts */ - CLEAR_BIT(hirda->Instance->CR1, (USART_CR1_RXNEIE | USART_CR1_PEIE | USART_CR1_TXEIE | USART_CR1_TCIE)); - CLEAR_BIT(hirda->Instance->CR3, USART_CR3_EIE); - - /* Disable the IRDA DMA Tx request if enabled */ - if (HAL_IS_BIT_SET(hirda->Instance->CR3, USART_CR3_DMAT)) - { - CLEAR_BIT(hirda->Instance->CR3, USART_CR3_DMAT); - - /* Abort the IRDA DMA Tx channel : use blocking DMA Abort API (no callback) */ - if (hirda->hdmatx != NULL) - { - /* Set the IRDA DMA Abort callback to Null. - No call back execution at end of DMA abort procedure */ - hirda->hdmatx->XferAbortCallback = NULL; - - HAL_DMA_Abort(hirda->hdmatx); - } - } - - /* Disable the IRDA DMA Rx request if enabled */ - if (HAL_IS_BIT_SET(hirda->Instance->CR3, USART_CR3_DMAR)) - { - CLEAR_BIT(hirda->Instance->CR3, USART_CR3_DMAR); - - /* Abort the IRDA DMA Rx channel : use blocking DMA Abort API (no callback) */ - if (hirda->hdmarx != NULL) - { - /* Set the IRDA DMA Abort callback to Null. - No call back execution at end of DMA abort procedure */ - hirda->hdmarx->XferAbortCallback = NULL; - - HAL_DMA_Abort(hirda->hdmarx); - } - } - - /* Reset Tx and Rx transfer counters */ - hirda->TxXferCount = 0x00U; - hirda->RxXferCount = 0x00U; - - /* Reset ErrorCode */ - hirda->ErrorCode = HAL_IRDA_ERROR_NONE; - - /* Restore hirda->RxState and hirda->gState to Ready */ - hirda->RxState = HAL_IRDA_STATE_READY; - hirda->gState = HAL_IRDA_STATE_READY; - - return HAL_OK; -} - -/** - * @brief Abort ongoing Transmit transfer (blocking mode). - * @param hirda IRDA handle. - * @note This procedure could be used for aborting any ongoing transfer started in Interrupt or DMA mode. - * This procedure performs following operations : - * - Disable PPP Interrupts - * - Disable the DMA transfer in the peripheral register (if enabled) - * - Abort DMA transfer by calling HAL_DMA_Abort (in case of transfer in DMA mode) - * - Set handle State to READY - * @note This procedure is executed in blocking mode : when exiting function, Abort is considered as completed. - * @retval HAL status -*/ -HAL_StatusTypeDef HAL_IRDA_AbortTransmit(IRDA_HandleTypeDef *hirda) -{ - /* Disable TXEIE and TCIE interrupts */ - CLEAR_BIT(hirda->Instance->CR1, (USART_CR1_TXEIE | USART_CR1_TCIE)); - - /* Disable the IRDA DMA Tx request if enabled */ - if (HAL_IS_BIT_SET(hirda->Instance->CR3, USART_CR3_DMAT)) - { - CLEAR_BIT(hirda->Instance->CR3, USART_CR3_DMAT); - - /* Abort the IRDA DMA Tx channel : use blocking DMA Abort API (no callback) */ - if (hirda->hdmatx != NULL) - { - /* Set the IRDA DMA Abort callback to Null. - No call back execution at end of DMA abort procedure */ - hirda->hdmatx->XferAbortCallback = NULL; - - HAL_DMA_Abort(hirda->hdmatx); - } - } - - /* Reset Tx transfer counter */ - hirda->TxXferCount = 0x00U; - - /* Restore hirda->gState to Ready */ - hirda->gState = HAL_IRDA_STATE_READY; - - return HAL_OK; -} - -/** - * @brief Abort ongoing Receive transfer (blocking mode). - * @param hirda IRDA handle. - * @note This procedure could be used for aborting any ongoing transfer started in Interrupt or DMA mode. - * This procedure performs following operations : - * - Disable PPP Interrupts - * - Disable the DMA transfer in the peripheral register (if enabled) - * - Abort DMA transfer by calling HAL_DMA_Abort (in case of transfer in DMA mode) - * - Set handle State to READY - * @note This procedure is executed in blocking mode : when exiting function, Abort is considered as completed. - * @retval HAL status -*/ -HAL_StatusTypeDef HAL_IRDA_AbortReceive(IRDA_HandleTypeDef *hirda) -{ - /* Disable RXNE, PE and ERR (Frame error, noise error, overrun error) interrupts */ - CLEAR_BIT(hirda->Instance->CR1, (USART_CR1_RXNEIE | USART_CR1_PEIE)); - CLEAR_BIT(hirda->Instance->CR3, USART_CR3_EIE); - - /* Disable the IRDA DMA Rx request if enabled */ - if (HAL_IS_BIT_SET(hirda->Instance->CR3, USART_CR3_DMAR)) - { - CLEAR_BIT(hirda->Instance->CR3, USART_CR3_DMAR); - - /* Abort the IRDA DMA Rx channel : use blocking DMA Abort API (no callback) */ - if (hirda->hdmarx != NULL) - { - /* Set the IRDA DMA Abort callback to Null. - No call back execution at end of DMA abort procedure */ - hirda->hdmarx->XferAbortCallback = NULL; - - HAL_DMA_Abort(hirda->hdmarx); - } - } - - /* Reset Rx transfer counter */ - hirda->RxXferCount = 0x00U; - - /* Restore hirda->RxState to Ready */ - hirda->RxState = HAL_IRDA_STATE_READY; - - return HAL_OK; -} - -/** - * @brief Abort ongoing transfers (Interrupt mode). - * @param hirda IRDA handle. - * @note This procedure could be used for aborting any ongoing transfer started in Interrupt or DMA mode. - * This procedure performs following operations : - * - Disable PPP Interrupts - * - Disable the DMA transfer in the peripheral register (if enabled) - * - Abort DMA transfer by calling HAL_DMA_Abort_IT (in case of transfer in DMA mode) - * - Set handle State to READY - * - At abort completion, call user abort complete callback - * @note This procedure is executed in Interrupt mode, meaning that abort procedure could be - * considered as completed only when user abort complete callback is executed (not when exiting function). - * @retval HAL status -*/ -HAL_StatusTypeDef HAL_IRDA_Abort_IT(IRDA_HandleTypeDef *hirda) -{ - uint32_t AbortCplt = 0x01U; - - /* Disable TXEIE, TCIE, RXNE, PE and ERR (Frame error, noise error, overrun error) interrupts */ - CLEAR_BIT(hirda->Instance->CR1, (USART_CR1_RXNEIE | USART_CR1_PEIE | USART_CR1_TXEIE | USART_CR1_TCIE)); - CLEAR_BIT(hirda->Instance->CR3, USART_CR3_EIE); - - /* If DMA Tx and/or DMA Rx Handles are associated to IRDA Handle, DMA Abort complete callbacks should be initialised - before any call to DMA Abort functions */ - /* DMA Tx Handle is valid */ - if (hirda->hdmatx != NULL) - { - /* Set DMA Abort Complete callback if IRDA DMA Tx request if enabled. - Otherwise, set it to NULL */ - if (HAL_IS_BIT_SET(hirda->Instance->CR3, USART_CR3_DMAT)) - { - hirda->hdmatx->XferAbortCallback = IRDA_DMATxAbortCallback; - } - else - { - hirda->hdmatx->XferAbortCallback = NULL; - } - } - /* DMA Rx Handle is valid */ - if (hirda->hdmarx != NULL) - { - /* Set DMA Abort Complete callback if IRDA DMA Rx request if enabled. - Otherwise, set it to NULL */ - if (HAL_IS_BIT_SET(hirda->Instance->CR3, USART_CR3_DMAR)) - { - hirda->hdmarx->XferAbortCallback = IRDA_DMARxAbortCallback; - } - else - { - hirda->hdmarx->XferAbortCallback = NULL; - } - } - - /* Disable the IRDA DMA Tx request if enabled */ - if (HAL_IS_BIT_SET(hirda->Instance->CR3, USART_CR3_DMAT)) - { - /* Disable DMA Tx at IRDA level */ - CLEAR_BIT(hirda->Instance->CR3, USART_CR3_DMAT); - - /* Abort the IRDA DMA Tx channel : use non blocking DMA Abort API (callback) */ - if (hirda->hdmatx != NULL) - { - /* IRDA Tx DMA Abort callback has already been initialised : - will lead to call HAL_IRDA_AbortCpltCallback() at end of DMA abort procedure */ - - /* Abort DMA TX */ - if (HAL_DMA_Abort_IT(hirda->hdmatx) != HAL_OK) - { - hirda->hdmatx->XferAbortCallback = NULL; - } - else - { - AbortCplt = 0x00U; - } - } - } - - /* Disable the IRDA DMA Rx request if enabled */ - if (HAL_IS_BIT_SET(hirda->Instance->CR3, USART_CR3_DMAR)) - { - CLEAR_BIT(hirda->Instance->CR3, USART_CR3_DMAR); - - /* Abort the IRDA DMA Rx channel : use non blocking DMA Abort API (callback) */ - if (hirda->hdmarx != NULL) - { - /* IRDA Rx DMA Abort callback has already been initialised : - will lead to call HAL_IRDA_AbortCpltCallback() at end of DMA abort procedure */ - - /* Abort DMA RX */ - if (HAL_DMA_Abort_IT(hirda->hdmarx) != HAL_OK) - { - hirda->hdmarx->XferAbortCallback = NULL; - AbortCplt = 0x01U; - } - else - { - AbortCplt = 0x00U; - } - } - } - - /* if no DMA abort complete callback execution is required => call user Abort Complete callback */ - if (AbortCplt == 0x01U) - { - /* Reset Tx and Rx transfer counters */ - hirda->TxXferCount = 0x00U; - hirda->RxXferCount = 0x00U; - - /* Reset ErrorCode */ - hirda->ErrorCode = HAL_IRDA_ERROR_NONE; - - /* Restore hirda->gState and hirda->RxState to Ready */ - hirda->gState = HAL_IRDA_STATE_READY; - hirda->RxState = HAL_IRDA_STATE_READY; - - /* As no DMA to be aborted, call directly user Abort complete callback */ -#if (USE_HAL_IRDA_REGISTER_CALLBACKS == 1) - /* Call registered Abort complete callback */ - hirda->AbortCpltCallback(hirda); -#else - /* Call legacy weak Abort complete callback */ - HAL_IRDA_AbortCpltCallback(hirda); -#endif /* USE_HAL_IRDA_REGISTER_CALLBACK */ - } - - return HAL_OK; -} - -/** - * @brief Abort ongoing Transmit transfer (Interrupt mode). - * @param hirda IRDA handle. - * @note This procedure could be used for aborting any ongoing transfer started in Interrupt or DMA mode. - * This procedure performs following operations : - * - Disable IRDA Interrupts (Tx) - * - Disable the DMA transfer in the peripheral register (if enabled) - * - Abort DMA transfer by calling HAL_DMA_Abort_IT (in case of transfer in DMA mode) - * - Set handle State to READY - * - At abort completion, call user abort complete callback - * @note This procedure is executed in Interrupt mode, meaning that abort procedure could be - * considered as completed only when user abort complete callback is executed (not when exiting function). - * @retval HAL status -*/ -HAL_StatusTypeDef HAL_IRDA_AbortTransmit_IT(IRDA_HandleTypeDef *hirda) -{ - /* Disable TXEIE and TCIE interrupts */ - CLEAR_BIT(hirda->Instance->CR1, (USART_CR1_TXEIE | USART_CR1_TCIE)); - - /* Disable the IRDA DMA Tx request if enabled */ - if (HAL_IS_BIT_SET(hirda->Instance->CR3, USART_CR3_DMAT)) - { - CLEAR_BIT(hirda->Instance->CR3, USART_CR3_DMAT); - - /* Abort the IRDA DMA Tx channel : use non blocking DMA Abort API (callback) */ - if (hirda->hdmatx != NULL) - { - /* Set the IRDA DMA Abort callback : - will lead to call HAL_IRDA_AbortCpltCallback() at end of DMA abort procedure */ - hirda->hdmatx->XferAbortCallback = IRDA_DMATxOnlyAbortCallback; - - /* Abort DMA TX */ - if (HAL_DMA_Abort_IT(hirda->hdmatx) != HAL_OK) - { - /* Call Directly hirda->hdmatx->XferAbortCallback function in case of error */ - hirda->hdmatx->XferAbortCallback(hirda->hdmatx); - } - } - else - { - /* Reset Tx transfer counter */ - hirda->TxXferCount = 0x00U; - - /* Restore hirda->gState to Ready */ - hirda->gState = HAL_IRDA_STATE_READY; - - /* As no DMA to be aborted, call directly user Abort complete callback */ -#if (USE_HAL_IRDA_REGISTER_CALLBACKS == 1) - /* Call registered Abort Transmit Complete Callback */ - hirda->AbortTransmitCpltCallback(hirda); -#else - /* Call legacy weak Abort Transmit Complete Callback */ - HAL_IRDA_AbortTransmitCpltCallback(hirda); -#endif /* USE_HAL_IRDA_REGISTER_CALLBACK */ - } - } - else - { - /* Reset Tx transfer counter */ - hirda->TxXferCount = 0x00U; - - /* Restore hirda->gState to Ready */ - hirda->gState = HAL_IRDA_STATE_READY; - - /* As no DMA to be aborted, call directly user Abort complete callback */ -#if (USE_HAL_IRDA_REGISTER_CALLBACKS == 1) - /* Call registered Abort Transmit Complete Callback */ - hirda->AbortTransmitCpltCallback(hirda); -#else - /* Call legacy weak Abort Transmit Complete Callback */ - HAL_IRDA_AbortTransmitCpltCallback(hirda); -#endif /* USE_HAL_IRDA_REGISTER_CALLBACK */ - } - - return HAL_OK; -} - -/** - * @brief Abort ongoing Receive transfer (Interrupt mode). - * @param hirda IRDA handle. - * @note This procedure could be used for aborting any ongoing transfer started in Interrupt or DMA mode. - * This procedure performs following operations : - * - Disable PPP Interrupts - * - Disable the DMA transfer in the peripheral register (if enabled) - * - Abort DMA transfer by calling HAL_DMA_Abort_IT (in case of transfer in DMA mode) - * - Set handle State to READY - * - At abort completion, call user abort complete callback - * @note This procedure is executed in Interrupt mode, meaning that abort procedure could be - * considered as completed only when user abort complete callback is executed (not when exiting function). - * @retval HAL status -*/ -HAL_StatusTypeDef HAL_IRDA_AbortReceive_IT(IRDA_HandleTypeDef *hirda) -{ - /* Disable RXNE, PE and ERR (Frame error, noise error, overrun error) interrupts */ - CLEAR_BIT(hirda->Instance->CR1, (USART_CR1_RXNEIE | USART_CR1_PEIE)); - CLEAR_BIT(hirda->Instance->CR3, USART_CR3_EIE); - - /* Disable the IRDA DMA Rx request if enabled */ - if (HAL_IS_BIT_SET(hirda->Instance->CR3, USART_CR3_DMAR)) - { - CLEAR_BIT(hirda->Instance->CR3, USART_CR3_DMAR); - - /* Abort the IRDA DMA Rx channel : use non blocking DMA Abort API (callback) */ - if (hirda->hdmarx != NULL) - { - /* Set the IRDA DMA Abort callback : - will lead to call HAL_IRDA_AbortCpltCallback() at end of DMA abort procedure */ - hirda->hdmarx->XferAbortCallback = IRDA_DMARxOnlyAbortCallback; - - /* Abort DMA RX */ - if (HAL_DMA_Abort_IT(hirda->hdmarx) != HAL_OK) - { - /* Call Directly hirda->hdmarx->XferAbortCallback function in case of error */ - hirda->hdmarx->XferAbortCallback(hirda->hdmarx); - } - } - else - { - /* Reset Rx transfer counter */ - hirda->RxXferCount = 0x00U; - - /* Restore hirda->RxState to Ready */ - hirda->RxState = HAL_IRDA_STATE_READY; - - /* As no DMA to be aborted, call directly user Abort complete callback */ -#if (USE_HAL_IRDA_REGISTER_CALLBACKS == 1) - /* Call registered Abort Receive Complete Callback */ - hirda->AbortReceiveCpltCallback(hirda); -#else - /* Call legacy weak Abort Receive Complete Callback */ - HAL_IRDA_AbortReceiveCpltCallback(hirda); -#endif /* USE_HAL_IRDA_REGISTER_CALLBACK */ - } - } - else - { - /* Reset Rx transfer counter */ - hirda->RxXferCount = 0x00U; - - /* Restore hirda->RxState to Ready */ - hirda->RxState = HAL_IRDA_STATE_READY; - - /* As no DMA to be aborted, call directly user Abort complete callback */ -#if (USE_HAL_IRDA_REGISTER_CALLBACKS == 1) - /* Call registered Abort Receive Complete Callback */ - hirda->AbortReceiveCpltCallback(hirda); -#else - /* Call legacy weak Abort Receive Complete Callback */ - HAL_IRDA_AbortReceiveCpltCallback(hirda); -#endif /* USE_HAL_IRDA_REGISTER_CALLBACK */ - } - - return HAL_OK; -} - -/** - * @brief This function handles IRDA interrupt request. - * @param hirda Pointer to a IRDA_HandleTypeDef structure that contains - * the configuration information for the specified IRDA module. - * @retval None - */ -void HAL_IRDA_IRQHandler(IRDA_HandleTypeDef *hirda) -{ - uint32_t isrflags = READ_REG(hirda->Instance->SR); - uint32_t cr1its = READ_REG(hirda->Instance->CR1); - uint32_t cr3its = READ_REG(hirda->Instance->CR3); - uint32_t errorflags = 0x00U; - uint32_t dmarequest = 0x00U; - - /* If no error occurs */ - errorflags = (isrflags & (uint32_t)(USART_SR_PE | USART_SR_FE | USART_SR_ORE | USART_SR_NE)); - if (errorflags == RESET) - { - /* IRDA in mode Receiver -----------------------------------------------*/ - if (((isrflags & USART_SR_RXNE) != RESET) && ((cr1its & USART_CR1_RXNEIE) != RESET)) - { - IRDA_Receive_IT(hirda); - return; - } - } - - /* If some errors occur */ - if ((errorflags != RESET) && (((cr3its & USART_CR3_EIE) != RESET) || ((cr1its & (USART_CR1_RXNEIE | USART_CR1_PEIE)) != RESET))) - { - /* IRDA parity error interrupt occurred -------------------------------*/ - if (((isrflags & USART_SR_PE) != RESET) && ((cr1its & USART_CR1_PEIE) != RESET)) - { - hirda->ErrorCode |= HAL_IRDA_ERROR_PE; - } - - /* IRDA noise error interrupt occurred --------------------------------*/ - if (((isrflags & USART_SR_NE) != RESET) && ((cr3its & USART_CR3_EIE) != RESET)) - { - hirda->ErrorCode |= HAL_IRDA_ERROR_NE; - } - - /* IRDA frame error interrupt occurred --------------------------------*/ - if (((isrflags & USART_SR_FE) != RESET) && ((cr3its & USART_CR3_EIE) != RESET)) - { - hirda->ErrorCode |= HAL_IRDA_ERROR_FE; - } - - /* IRDA Over-Run interrupt occurred -----------------------------------*/ - if (((isrflags & USART_SR_ORE) != RESET) && (((cr1its & USART_CR1_RXNEIE) != RESET) || ((cr3its & USART_CR3_EIE) != RESET))) - { - hirda->ErrorCode |= HAL_IRDA_ERROR_ORE; - } - /* Call IRDA Error Call back function if need be -----------------------*/ - if (hirda->ErrorCode != HAL_IRDA_ERROR_NONE) - { - /* IRDA in mode Receiver ---------------------------------------------*/ - if (((isrflags & USART_SR_RXNE) != RESET) && ((cr1its & USART_CR1_RXNEIE) != RESET)) - { - IRDA_Receive_IT(hirda); - } - - /* If Overrun error occurs, or if any error occurs in DMA mode reception, - consider error as blocking */ - dmarequest = HAL_IS_BIT_SET(hirda->Instance->CR3, USART_CR3_DMAR); - if (((hirda->ErrorCode & HAL_IRDA_ERROR_ORE) != RESET) || dmarequest) - { - /* Blocking error : transfer is aborted - Set the IRDA state ready to be able to start again the process, - Disable Rx Interrupts, and disable Rx DMA request, if ongoing */ - IRDA_EndRxTransfer(hirda); - - /* Disable the IRDA DMA Rx request if enabled */ - if (HAL_IS_BIT_SET(hirda->Instance->CR3, USART_CR3_DMAR)) - { - CLEAR_BIT(hirda->Instance->CR3, USART_CR3_DMAR); - - /* Abort the IRDA DMA Rx channel */ - if (hirda->hdmarx != NULL) - { - /* Set the IRDA DMA Abort callback : - will lead to call HAL_IRDA_ErrorCallback() at end of DMA abort procedure */ - hirda->hdmarx->XferAbortCallback = IRDA_DMAAbortOnError; - - /* Abort DMA RX */ - if (HAL_DMA_Abort_IT(hirda->hdmarx) != HAL_OK) - { - /* Call Directly XferAbortCallback function in case of error */ - hirda->hdmarx->XferAbortCallback(hirda->hdmarx); - } - } - else - { -#if (USE_HAL_IRDA_REGISTER_CALLBACKS == 1) - /* Call registered user error callback */ - hirda->ErrorCallback(hirda); -#else - /* Call legacy weak user error callback */ - HAL_IRDA_ErrorCallback(hirda); -#endif /* USE_HAL_IRDA_REGISTER_CALLBACK */ - } - } - else - { -#if (USE_HAL_IRDA_REGISTER_CALLBACKS == 1) - /* Call registered user error callback */ - hirda->ErrorCallback(hirda); -#else - /* Call legacy weak user error callback */ - HAL_IRDA_ErrorCallback(hirda); -#endif /* USE_HAL_IRDA_REGISTER_CALLBACK */ - } - } - else - { - /* Non Blocking error : transfer could go on. - Error is notified to user through user error callback */ -#if (USE_HAL_IRDA_REGISTER_CALLBACKS == 1) - /* Call registered user error callback */ - hirda->ErrorCallback(hirda); -#else - /* Call legacy weak user error callback */ - HAL_IRDA_ErrorCallback(hirda); -#endif /* USE_HAL_IRDA_REGISTER_CALLBACK */ - - hirda->ErrorCode = HAL_IRDA_ERROR_NONE; - } - } - return; - } /* End if some error occurs */ - - /* IRDA in mode Transmitter ------------------------------------------------*/ - if (((isrflags & USART_SR_TXE) != RESET) && ((cr1its & USART_CR1_TXEIE) != RESET)) - { - IRDA_Transmit_IT(hirda); - return; - } - - /* IRDA in mode Transmitter end --------------------------------------------*/ - if (((isrflags & USART_SR_TC) != RESET) && ((cr1its & USART_CR1_TCIE) != RESET)) - { - IRDA_EndTransmit_IT(hirda); - return; - } -} - -/** - * @brief Tx Transfer complete callback. - * @param hirda Pointer to a IRDA_HandleTypeDef structure that contains - * the configuration information for the specified IRDA module. - * @retval None - */ -__weak void HAL_IRDA_TxCpltCallback(IRDA_HandleTypeDef *hirda) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hirda); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_IRDA_TxCpltCallback can be implemented in the user file. - */ -} - -/** - * @brief Tx Half Transfer completed callback. - * @param hirda Pointer to a IRDA_HandleTypeDef structure that contains - * the configuration information for the specified USART module. - * @retval None - */ -__weak void HAL_IRDA_TxHalfCpltCallback(IRDA_HandleTypeDef *hirda) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hirda); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_IRDA_TxHalfCpltCallback can be implemented in the user file. - */ -} - -/** - * @brief Rx Transfer complete callback. - * @param hirda Pointer to a IRDA_HandleTypeDef structure that contains - * the configuration information for the specified IRDA module. - * @retval None - */ -__weak void HAL_IRDA_RxCpltCallback(IRDA_HandleTypeDef *hirda) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hirda); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_IRDA_RxCpltCallback can be implemented in the user file. - */ -} - -/** - * @brief Rx Half Transfer complete callback. - * @param hirda Pointer to a IRDA_HandleTypeDef structure that contains - * the configuration information for the specified IRDA module. - * @retval None - */ -__weak void HAL_IRDA_RxHalfCpltCallback(IRDA_HandleTypeDef *hirda) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hirda); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_IRDA_RxHalfCpltCallback can be implemented in the user file. - */ -} - -/** - * @brief IRDA error callback. - * @param hirda Pointer to a IRDA_HandleTypeDef structure that contains - * the configuration information for the specified IRDA module. - * @retval None - */ -__weak void HAL_IRDA_ErrorCallback(IRDA_HandleTypeDef *hirda) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hirda); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_IRDA_ErrorCallback can be implemented in the user file. - */ -} - -/** - * @brief IRDA Abort Complete callback. - * @param hirda Pointer to a IRDA_HandleTypeDef structure that contains - * the configuration information for the specified IRDA module. - * @retval None - */ -__weak void HAL_IRDA_AbortCpltCallback(IRDA_HandleTypeDef *hirda) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hirda); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_IRDA_AbortCpltCallback can be implemented in the user file. - */ -} - -/** - * @brief IRDA Abort Transmit Complete callback. - * @param hirda Pointer to a IRDA_HandleTypeDef structure that contains - * the configuration information for the specified IRDA module. - * @retval None - */ -__weak void HAL_IRDA_AbortTransmitCpltCallback(IRDA_HandleTypeDef *hirda) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hirda); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_IRDA_AbortTransmitCpltCallback can be implemented in the user file. - */ -} - -/** - * @brief IRDA Abort Receive Complete callback. - * @param hirda Pointer to a IRDA_HandleTypeDef structure that contains - * the configuration information for the specified IRDA module. - * @retval None - */ -__weak void HAL_IRDA_AbortReceiveCpltCallback(IRDA_HandleTypeDef *hirda) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hirda); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_IRDA_AbortReceiveCpltCallback can be implemented in the user file. - */ -} - -/** - * @} - */ - -/** @defgroup IRDA_Exported_Functions_Group3 Peripheral State and Errors functions - * @brief IRDA State and Errors functions - * -@verbatim - ============================================================================== - ##### Peripheral State and Errors functions ##### - ============================================================================== - [..] - This subsection provides a set of functions allowing to return the State of IrDA - communication process and also return Peripheral Errors occurred during communication process - (+) HAL_IRDA_GetState() API can be helpful to check in run-time the state of the IrDA peripheral. - (+) HAL_IRDA_GetError() check in run-time errors that could be occurred during communication. - -@endverbatim - * @{ - */ - -/** - * @brief Return the IRDA state. - * @param hirda Pointer to a IRDA_HandleTypeDef structure that contains - * the configuration information for the specified IRDA. - * @retval HAL state - */ -HAL_IRDA_StateTypeDef HAL_IRDA_GetState(IRDA_HandleTypeDef *hirda) -{ - uint32_t temp1 = 0x00U, temp2 = 0x00U; - temp1 = hirda->gState; - temp2 = hirda->RxState; - - return (HAL_IRDA_StateTypeDef)(temp1 | temp2); -} - -/** - * @brief Return the IRDA error code - * @param hirda Pointer to a IRDA_HandleTypeDef structure that contains - * the configuration information for the specified IRDA. - * @retval IRDA Error Code - */ -uint32_t HAL_IRDA_GetError(IRDA_HandleTypeDef *hirda) -{ - return hirda->ErrorCode; -} - -/** - * @} - */ - -/** - * @} - */ - -/** @defgroup IRDA_Private_Functions IRDA Private Functions - * @{ - */ - -#if (USE_HAL_IRDA_REGISTER_CALLBACKS == 1) -/** - * @brief Initialize the callbacks to their default values. - * @param hirda IRDA handle. - * @retval none - */ -void IRDA_InitCallbacksToDefault(IRDA_HandleTypeDef *hirda) -{ - /* Init the IRDA Callback settings */ - hirda->TxHalfCpltCallback = HAL_IRDA_TxHalfCpltCallback; /* Legacy weak TxHalfCpltCallback */ - hirda->TxCpltCallback = HAL_IRDA_TxCpltCallback; /* Legacy weak TxCpltCallback */ - hirda->RxHalfCpltCallback = HAL_IRDA_RxHalfCpltCallback; /* Legacy weak RxHalfCpltCallback */ - hirda->RxCpltCallback = HAL_IRDA_RxCpltCallback; /* Legacy weak RxCpltCallback */ - hirda->ErrorCallback = HAL_IRDA_ErrorCallback; /* Legacy weak ErrorCallback */ - hirda->AbortCpltCallback = HAL_IRDA_AbortCpltCallback; /* Legacy weak AbortCpltCallback */ - hirda->AbortTransmitCpltCallback = HAL_IRDA_AbortTransmitCpltCallback; /* Legacy weak AbortTransmitCpltCallback */ - hirda->AbortReceiveCpltCallback = HAL_IRDA_AbortReceiveCpltCallback; /* Legacy weak AbortReceiveCpltCallback */ - -} -#endif /* USE_HAL_IRDA_REGISTER_CALLBACKS */ - -/** - * @brief DMA IRDA transmit process complete callback. - * @param hdma Pointer to a DMA_HandleTypeDef structure that contains - * the configuration information for the specified DMA. - * @retval None - */ -static void IRDA_DMATransmitCplt(DMA_HandleTypeDef *hdma) -{ - IRDA_HandleTypeDef *hirda = (IRDA_HandleTypeDef *)((DMA_HandleTypeDef *)hdma)->Parent; - /* DMA Normal mode */ - if ((hdma->Instance->CR & DMA_SxCR_CIRC) == 0U) - { - hirda->TxXferCount = 0U; - - /* Disable the DMA transfer for transmit request by resetting the DMAT bit - in the IRDA CR3 register */ - CLEAR_BIT(hirda->Instance->CR3, USART_CR3_DMAT); - - /* Enable the IRDA Transmit Complete Interrupt */ - SET_BIT(hirda->Instance->CR1, USART_CR1_TCIE); - } - /* DMA Circular mode */ - else - { -#if (USE_HAL_IRDA_REGISTER_CALLBACKS == 1) - /* Call registered Tx complete callback */ - hirda->TxCpltCallback(hirda); -#else - /* Call legacy weak Tx complete callback */ - HAL_IRDA_TxCpltCallback(hirda); -#endif /* USE_HAL_IRDA_REGISTER_CALLBACK */ - } -} - -/** - * @brief DMA IRDA receive process half complete callback - * @param hdma Pointer to a DMA_HandleTypeDef structure that contains - * the configuration information for the specified DMA. - * @retval None - */ -static void IRDA_DMATransmitHalfCplt(DMA_HandleTypeDef *hdma) -{ - IRDA_HandleTypeDef *hirda = (IRDA_HandleTypeDef *)((DMA_HandleTypeDef *)hdma)->Parent; - -#if (USE_HAL_IRDA_REGISTER_CALLBACKS == 1) - /* Call registered Tx Half complete callback */ - hirda->TxHalfCpltCallback(hirda); -#else - /* Call legacy weak Tx complete callback */ - HAL_IRDA_TxHalfCpltCallback(hirda); -#endif /* USE_HAL_IRDA_REGISTER_CALLBACK */ -} - -/** - * @brief DMA IRDA receive process complete callback. - * @param hdma Pointer to a DMA_HandleTypeDef structure that contains - * the configuration information for the specified DMA. - * @retval None - */ -static void IRDA_DMAReceiveCplt(DMA_HandleTypeDef *hdma) -{ - IRDA_HandleTypeDef *hirda = (IRDA_HandleTypeDef *)((DMA_HandleTypeDef *)hdma)->Parent; - - /* DMA Normal mode */ - if ((hdma->Instance->CR & DMA_SxCR_CIRC) == 0U) - { - hirda->RxXferCount = 0U; - - /* Disable PE and ERR (Frame error, noise error, overrun error) interrupts */ - CLEAR_BIT(hirda->Instance->CR1, USART_CR1_PEIE); - CLEAR_BIT(hirda->Instance->CR3, USART_CR3_EIE); - - /* Disable the DMA transfer for the receiver request by resetting the DMAR bit - in the IRDA CR3 register */ - CLEAR_BIT(hirda->Instance->CR3, USART_CR3_DMAR); - - /* At end of Rx process, restore hirda->RxState to Ready */ - hirda->RxState = HAL_IRDA_STATE_READY; - } - -#if (USE_HAL_IRDA_REGISTER_CALLBACKS == 1) - /* Call registered Rx complete callback */ - hirda->RxCpltCallback(hirda); -#else - /* Call legacy weak Rx complete callback */ - HAL_IRDA_RxCpltCallback(hirda); -#endif /* USE_HAL_IRDA_REGISTER_CALLBACKS */ -} - -/** - * @brief DMA IRDA receive process half complete callback. - * @param hdma Pointer to a DMA_HandleTypeDef structure that contains - * the configuration information for the specified DMA. - * @retval None - */ -static void IRDA_DMAReceiveHalfCplt(DMA_HandleTypeDef *hdma) -{ - IRDA_HandleTypeDef *hirda = (IRDA_HandleTypeDef *)((DMA_HandleTypeDef *)hdma)->Parent; - -#if (USE_HAL_IRDA_REGISTER_CALLBACKS == 1) - /*Call registered Rx Half complete callback*/ - hirda->RxHalfCpltCallback(hirda); -#else - /* Call legacy weak Rx Half complete callback */ - HAL_IRDA_RxHalfCpltCallback(hirda); -#endif /* USE_HAL_IRDA_REGISTER_CALLBACK */ -} - -/** - * @brief DMA IRDA communication error callback. - * @param hdma Pointer to a DMA_HandleTypeDef structure that contains - * the configuration information for the specified DMA. - * @retval None - */ -static void IRDA_DMAError(DMA_HandleTypeDef *hdma) -{ - uint32_t dmarequest = 0x00U; - IRDA_HandleTypeDef *hirda = (IRDA_HandleTypeDef *)((DMA_HandleTypeDef *)hdma)->Parent; - - /* Stop IRDA DMA Tx request if ongoing */ - dmarequest = HAL_IS_BIT_SET(hirda->Instance->CR3, USART_CR3_DMAT); - if ((hirda->gState == HAL_IRDA_STATE_BUSY_TX) && dmarequest) - { - hirda->TxXferCount = 0U; - IRDA_EndTxTransfer(hirda); - } - - /* Stop IRDA DMA Rx request if ongoing */ - dmarequest = HAL_IS_BIT_SET(hirda->Instance->CR3, USART_CR3_DMAR); - if ((hirda->RxState == HAL_IRDA_STATE_BUSY_RX) && dmarequest) - { - hirda->RxXferCount = 0U; - IRDA_EndRxTransfer(hirda); - } - - hirda->ErrorCode |= HAL_IRDA_ERROR_DMA; - -#if (USE_HAL_IRDA_REGISTER_CALLBACKS == 1) - /* Call registered user error callback */ - hirda->ErrorCallback(hirda); -#else - /* Call legacy weak user error callback */ - HAL_IRDA_ErrorCallback(hirda); -#endif /* USE_HAL_IRDA_REGISTER_CALLBACK */ -} - -/** - * @brief This function handles IRDA Communication Timeout. - * @param hirda Pointer to a IRDA_HandleTypeDef structure that contains - * the configuration information for the specified IRDA. - * @param Flag specifies the IRDA flag to check. - * @param Status The new Flag status (SET or RESET). - * @param Tickstart Tick start value - * @param Timeout Timeout duration - * @retval HAL status - */ -static HAL_StatusTypeDef IRDA_WaitOnFlagUntilTimeout(IRDA_HandleTypeDef *hirda, uint32_t Flag, FlagStatus Status, uint32_t Tickstart, uint32_t Timeout) -{ - /* Wait until flag is set */ - while ((__HAL_IRDA_GET_FLAG(hirda, Flag) ? SET : RESET) == Status) - { - /* Check for the Timeout */ - if (Timeout != HAL_MAX_DELAY) - { - if ((Timeout == 0U) || ((HAL_GetTick() - Tickstart) > Timeout)) - { - /* Disable TXE, RXNE, PE and ERR (Frame error, noise error, overrun error) interrupts for the interrupt process */ - CLEAR_BIT(hirda->Instance->CR1, (USART_CR1_RXNEIE | USART_CR1_PEIE | USART_CR1_TXEIE)); - CLEAR_BIT(hirda->Instance->CR3, USART_CR3_EIE); - - hirda->gState = HAL_IRDA_STATE_READY; - hirda->RxState = HAL_IRDA_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hirda); - - return HAL_TIMEOUT; - } - } - } - return HAL_OK; -} - -/** - * @brief End ongoing Tx transfer on IRDA peripheral (following error detection or Transmit completion). - * @param hirda IRDA handle. - * @retval None - */ -static void IRDA_EndTxTransfer(IRDA_HandleTypeDef *hirda) -{ - /* Disable TXEIE and TCIE interrupts */ - CLEAR_BIT(hirda->Instance->CR1, (USART_CR1_TXEIE | USART_CR1_TCIE)); - - /* At end of Tx process, restore hirda->gState to Ready */ - hirda->gState = HAL_IRDA_STATE_READY; -} - -/** - * @brief End ongoing Rx transfer on IRDA peripheral (following error detection or Reception completion). - * @param hirda IRDA handle. - * @retval None - */ -static void IRDA_EndRxTransfer(IRDA_HandleTypeDef *hirda) -{ - /* Disable RXNE, PE and ERR (Frame error, noise error, overrun error) interrupts */ - CLEAR_BIT(hirda->Instance->CR1, (USART_CR1_RXNEIE | USART_CR1_PEIE)); - CLEAR_BIT(hirda->Instance->CR3, USART_CR3_EIE); - - /* At end of Rx process, restore hirda->RxState to Ready */ - hirda->RxState = HAL_IRDA_STATE_READY; -} - -/** - * @brief DMA IRDA communication abort callback, when initiated by HAL services on Error - * (To be called at end of DMA Abort procedure following error occurrence). - * @param hdma DMA handle. - * @retval None - */ -static void IRDA_DMAAbortOnError(DMA_HandleTypeDef *hdma) -{ - IRDA_HandleTypeDef *hirda = (IRDA_HandleTypeDef *)((DMA_HandleTypeDef *)hdma)->Parent; - hirda->RxXferCount = 0x00U; - hirda->TxXferCount = 0x00U; - -#if (USE_HAL_IRDA_REGISTER_CALLBACKS == 1) - /* Call registered user error callback */ - hirda->ErrorCallback(hirda); -#else - /* Call legacy weak user error callback */ - HAL_IRDA_ErrorCallback(hirda); -#endif /* USE_HAL_IRDA_REGISTER_CALLBACK */ -} - -/** - * @brief DMA IRDA Tx communication abort callback, when initiated by user - * (To be called at end of DMA Tx Abort procedure following user abort request). - * @note When this callback is executed, User Abort complete call back is called only if no - * Abort still ongoing for Rx DMA Handle. - * @param hdma DMA handle. - * @retval None - */ -static void IRDA_DMATxAbortCallback(DMA_HandleTypeDef *hdma) -{ - IRDA_HandleTypeDef *hirda = (IRDA_HandleTypeDef *)((DMA_HandleTypeDef *)hdma)->Parent; - - hirda->hdmatx->XferAbortCallback = NULL; - - /* Check if an Abort process is still ongoing */ - if (hirda->hdmarx != NULL) - { - if (hirda->hdmarx->XferAbortCallback != NULL) - { - return; - } - } - - /* No Abort process still ongoing : All DMA channels are aborted, call user Abort Complete callback */ - hirda->TxXferCount = 0x00U; - hirda->RxXferCount = 0x00U; - - /* Reset ErrorCode */ - hirda->ErrorCode = HAL_IRDA_ERROR_NONE; - - /* Restore hirda->gState and hirda->RxState to Ready */ - hirda->gState = HAL_IRDA_STATE_READY; - hirda->RxState = HAL_IRDA_STATE_READY; - - /* Call user Abort complete callback */ -#if (USE_HAL_IRDA_REGISTER_CALLBACKS == 1) - /* Call registered Abort complete callback */ - hirda->AbortCpltCallback(hirda); -#else - /* Call legacy weak Abort complete callback */ - HAL_IRDA_AbortCpltCallback(hirda); -#endif /* USE_HAL_IRDA_REGISTER_CALLBACK */ -} - -/** - * @brief DMA IRDA Rx communication abort callback, when initiated by user - * (To be called at end of DMA Rx Abort procedure following user abort request). - * @note When this callback is executed, User Abort complete call back is called only if no - * Abort still ongoing for Tx DMA Handle. - * @param hdma DMA handle. - * @retval None - */ -static void IRDA_DMARxAbortCallback(DMA_HandleTypeDef *hdma) -{ - IRDA_HandleTypeDef *hirda = (IRDA_HandleTypeDef *)((DMA_HandleTypeDef *)hdma)->Parent; - - hirda->hdmarx->XferAbortCallback = NULL; - - /* Check if an Abort process is still ongoing */ - if (hirda->hdmatx != NULL) - { - if (hirda->hdmatx->XferAbortCallback != NULL) - { - return; - } - } - - /* No Abort process still ongoing : All DMA channels are aborted, call user Abort Complete callback */ - hirda->TxXferCount = 0x00U; - hirda->RxXferCount = 0x00U; - - /* Reset ErrorCode */ - hirda->ErrorCode = HAL_IRDA_ERROR_NONE; - - /* Restore hirda->gState and hirda->RxState to Ready */ - hirda->gState = HAL_IRDA_STATE_READY; - hirda->RxState = HAL_IRDA_STATE_READY; - - /* Call user Abort complete callback */ -#if (USE_HAL_IRDA_REGISTER_CALLBACKS == 1) - /* Call registered Abort complete callback */ - hirda->AbortCpltCallback(hirda); -#else - /* Call legacy weak Abort complete callback */ - HAL_IRDA_AbortCpltCallback(hirda); -#endif /* USE_HAL_IRDA_REGISTER_CALLBACK */ -} - -/** - * @brief DMA IRDA Tx communication abort callback, when initiated by user by a call to - * HAL_IRDA_AbortTransmit_IT API (Abort only Tx transfer) - * (This callback is executed at end of DMA Tx Abort procedure following user abort request, - * and leads to user Tx Abort Complete callback execution). - * @param hdma DMA handle. - * @retval None - */ -static void IRDA_DMATxOnlyAbortCallback(DMA_HandleTypeDef *hdma) -{ - IRDA_HandleTypeDef *hirda = (IRDA_HandleTypeDef *)((DMA_HandleTypeDef *)hdma)->Parent; - - hirda->TxXferCount = 0x00U; - - /* Restore hirda->gState to Ready */ - hirda->gState = HAL_IRDA_STATE_READY; - - /* Call user Abort complete callback */ -#if (USE_HAL_IRDA_REGISTER_CALLBACKS == 1) - /* Call registered Abort Transmit Complete Callback */ - hirda->AbortTransmitCpltCallback(hirda); -#else - /* Call legacy weak Abort Transmit Complete Callback */ - HAL_IRDA_AbortTransmitCpltCallback(hirda); -#endif /* USE_HAL_IRDA_REGISTER_CALLBACK */ -} - -/** - * @brief DMA IRDA Rx communication abort callback, when initiated by user by a call to - * HAL_IRDA_AbortReceive_IT API (Abort only Rx transfer) - * (This callback is executed at end of DMA Rx Abort procedure following user abort request, - * and leads to user Rx Abort Complete callback execution). - * @param hdma DMA handle. - * @retval None - */ -static void IRDA_DMARxOnlyAbortCallback(DMA_HandleTypeDef *hdma) -{ - IRDA_HandleTypeDef *hirda = (IRDA_HandleTypeDef *)((DMA_HandleTypeDef *)hdma)->Parent; - - hirda->RxXferCount = 0x00U; - - /* Restore hirda->RxState to Ready */ - hirda->RxState = HAL_IRDA_STATE_READY; - - /* Call user Abort complete callback */ -#if (USE_HAL_IRDA_REGISTER_CALLBACKS == 1) - /* Call registered Abort Receive Complete Callback */ - hirda->AbortReceiveCpltCallback(hirda); -#else - /* Call legacy weak Abort Receive Complete Callback */ - HAL_IRDA_AbortReceiveCpltCallback(hirda); -#endif /* USE_HAL_IRDA_REGISTER_CALLBACK */ -} - -/** - * @brief Send an amount of data in non blocking mode. - * @param hirda Pointer to a IRDA_HandleTypeDef structure that contains - * the configuration information for the specified IRDA module. - * @retval HAL status - */ -static HAL_StatusTypeDef IRDA_Transmit_IT(IRDA_HandleTypeDef *hirda) -{ - uint16_t *tmp; - - /* Check that a Tx process is ongoing */ - if (hirda->gState == HAL_IRDA_STATE_BUSY_TX) - { - if (hirda->Init.WordLength == IRDA_WORDLENGTH_9B) - { - tmp = (uint16_t *) hirda->pTxBuffPtr; - hirda->Instance->DR = (uint16_t)(*tmp & (uint16_t)0x01FF); - if (hirda->Init.Parity == IRDA_PARITY_NONE) - { - hirda->pTxBuffPtr += 2U; - } - else - { - hirda->pTxBuffPtr += 1U; - } - } - else - { - hirda->Instance->DR = (uint8_t)(*hirda->pTxBuffPtr++ & (uint8_t)0x00FF); - } - - if (--hirda->TxXferCount == 0U) - { - /* Disable the IRDA Transmit Data Register Empty Interrupt */ - CLEAR_BIT(hirda->Instance->CR1, USART_CR1_TXEIE); - - /* Enable the IRDA Transmit Complete Interrupt */ - SET_BIT(hirda->Instance->CR1, USART_CR1_TCIE); - } - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Wraps up transmission in non blocking mode. - * @param hirda Pointer to a IRDA_HandleTypeDef structure that contains - * the configuration information for the specified IRDA module. - * @retval HAL status - */ -static HAL_StatusTypeDef IRDA_EndTransmit_IT(IRDA_HandleTypeDef *hirda) -{ - /* Disable the IRDA Transmit Complete Interrupt */ - CLEAR_BIT(hirda->Instance->CR1, USART_CR1_TCIE); - - /* Disable the IRDA Error Interrupt: (Frame error, noise error, overrun error) */ - CLEAR_BIT(hirda->Instance->CR3, USART_CR3_EIE); - - /* Tx process is ended, restore hirda->gState to Ready */ - hirda->gState = HAL_IRDA_STATE_READY; - -#if (USE_HAL_IRDA_REGISTER_CALLBACKS == 1) - /* Call registered Tx complete callback */ - hirda->TxCpltCallback(hirda); -#else - /* Call legacy weak Tx complete callback */ - HAL_IRDA_TxCpltCallback(hirda); -#endif /* USE_HAL_IRDA_REGISTER_CALLBACK */ - - return HAL_OK; -} - -/** - * @brief Receives an amount of data in non blocking mode. - * @param hirda Pointer to a IRDA_HandleTypeDef structure that contains - * the configuration information for the specified IRDA module. - * @retval HAL status - */ -static HAL_StatusTypeDef IRDA_Receive_IT(IRDA_HandleTypeDef *hirda) -{ - uint16_t *tmp; - uint16_t uhdata; - - /* Check that a Rx process is ongoing */ - if (hirda->RxState == HAL_IRDA_STATE_BUSY_RX) - { - uhdata = (uint16_t) READ_REG(hirda->Instance->DR); - if (hirda->Init.WordLength == IRDA_WORDLENGTH_9B) - { - tmp = (uint16_t *) hirda->pRxBuffPtr; - if (hirda->Init.Parity == IRDA_PARITY_NONE) - { - *tmp = (uint16_t)(uhdata & (uint16_t)0x01FF); - hirda->pRxBuffPtr += 2U; - } - else - { - *tmp = (uint16_t)(uhdata & (uint16_t)0x00FF); - hirda->pRxBuffPtr += 1U; - } - } - else - { - if (hirda->Init.Parity == IRDA_PARITY_NONE) - { - *hirda->pRxBuffPtr++ = (uint8_t)(uhdata & (uint8_t)0x00FF); - } - else - { - *hirda->pRxBuffPtr++ = (uint8_t)(uhdata & (uint8_t)0x007F); - } - } - - if (--hirda->RxXferCount == 0U) - { - /* Disable the IRDA Data Register not empty Interrupt */ - CLEAR_BIT(hirda->Instance->CR1, USART_CR1_RXNEIE); - - /* Disable the IRDA Parity Error Interrupt */ - CLEAR_BIT(hirda->Instance->CR1, USART_CR1_PEIE); - - /* Disable the IRDA Error Interrupt: (Frame error, noise error, overrun error) */ - CLEAR_BIT(hirda->Instance->CR3, USART_CR3_EIE); - - /* Rx process is completed, restore hirda->RxState to Ready */ - hirda->RxState = HAL_IRDA_STATE_READY; - -#if (USE_HAL_IRDA_REGISTER_CALLBACKS == 1) - /* Call registered Rx complete callback */ - hirda->RxCpltCallback(hirda); -#else - /* Call legacy weak Rx complete callback */ - HAL_IRDA_RxCpltCallback(hirda); -#endif /* USE_HAL_IRDA_REGISTER_CALLBACKS */ - - return HAL_OK; - } - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Configures the IRDA peripheral. - * @param hirda Pointer to a IRDA_HandleTypeDef structure that contains - * the configuration information for the specified IRDA module. - * @retval None - */ -static void IRDA_SetConfig(IRDA_HandleTypeDef *hirda) -{ - uint32_t pclk; - - /* Check the parameters */ - assert_param(IS_IRDA_INSTANCE(hirda->Instance)); - assert_param(IS_IRDA_BAUDRATE(hirda->Init.BaudRate)); - assert_param(IS_IRDA_WORD_LENGTH(hirda->Init.WordLength)); - assert_param(IS_IRDA_PARITY(hirda->Init.Parity)); - assert_param(IS_IRDA_MODE(hirda->Init.Mode)); - assert_param(IS_IRDA_POWERMODE(hirda->Init.IrDAMode)); - - /*-------------------------- USART CR2 Configuration ------------------------*/ - /* Clear STOP[13:12] bits */ - CLEAR_BIT(hirda->Instance->CR2, USART_CR2_STOP); - - /*-------------------------- USART CR1 Configuration -----------------------*/ - /* Clear M, PCE, PS, TE and RE bits */ - CLEAR_BIT(hirda->Instance->CR1, (USART_CR1_M | USART_CR1_PCE | USART_CR1_PS | USART_CR1_TE | USART_CR1_RE)); - - /* Configure the USART Word Length, Parity and mode: - Set the M bits according to hirda->Init.WordLength value - Set PCE and PS bits according to hirda->Init.Parity value - Set TE and RE bits according to hirda->Init.Mode value */ - /* Write to USART CR1 */ - SET_BIT(hirda->Instance->CR1, (hirda->Init.WordLength | hirda->Init.Parity | hirda->Init.Mode)); - - /*-------------------------- USART CR3 Configuration -----------------------*/ - /* Clear CTSE and RTSE bits */ - CLEAR_BIT(hirda->Instance->CR3, (USART_CR3_RTSE | USART_CR3_CTSE)); - - /*-------------------------- USART BRR Configuration -----------------------*/ -#if defined(USART6) && defined(UART9) && defined(UART10) - if ((hirda->Instance == USART1) || (hirda->Instance == USART6) || (hirda->Instance == UART9) || (hirda->Instance == UART10)) - { - pclk = HAL_RCC_GetPCLK2Freq(); - SET_BIT(hirda->Instance->BRR, IRDA_BRR(pclk, hirda->Init.BaudRate)); - } -#elif defined(USART6) - if((hirda->Instance == USART1) || (hirda->Instance == USART6)) - { - pclk = HAL_RCC_GetPCLK2Freq(); - SET_BIT(hirda->Instance->BRR, IRDA_BRR(pclk, hirda->Init.BaudRate)); - } -#else - if(hirda->Instance == USART1) - { - pclk = HAL_RCC_GetPCLK2Freq(); - SET_BIT(hirda->Instance->BRR, IRDA_BRR(pclk, hirda->Init.BaudRate)); - } -#endif /* USART6 */ - else - { - pclk = HAL_RCC_GetPCLK1Freq(); - SET_BIT(hirda->Instance->BRR, IRDA_BRR(pclk, hirda->Init.BaudRate)); - } -} - -/** - * @} - */ - -#endif /* HAL_IRDA_MODULE_ENABLED */ -/** - * @} - */ - -/** - * @} - */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_iwdg.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_iwdg.c deleted file mode 100644 index 5f376dac6cdf52..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_iwdg.c +++ /dev/null @@ -1,265 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_iwdg.c - * @author MCD Application Team - * @brief IWDG HAL module driver. - * This file provides firmware functions to manage the following - * functionalities of the Independent Watchdog (IWDG) peripheral: - * + Initialization and Start functions - * + IO operation functions - * - @verbatim - ============================================================================== - ##### IWDG Generic features ##### - ============================================================================== - [..] - (+) The IWDG can be started by either software or hardware (configurable - through option byte). - - (+) The IWDG is clocked by the Low-Speed Internal clock (LSI) and thus stays - active even if the main clock fails. - - (+) Once the IWDG is started, the LSI is forced ON and both cannot be - disabled. The counter starts counting down from the reset value (0xFFF). - When it reaches the end of count value (0x000) a reset signal is - generated (IWDG reset). - - (+) Whenever the key value 0x0000 AAAA is written in the IWDG_KR register, - the IWDG_RLR value is reloaded into the counter and the watchdog reset - is prevented. - - (+) The IWDG is implemented in the VDD voltage domain that is still functional - in STOP and STANDBY mode (IWDG reset can wake up the CPU from STANDBY). - IWDGRST flag in RCC_CSR register can be used to inform when an IWDG - reset occurs. - - (+) Debug mode: When the microcontroller enters debug mode (core halted), - the IWDG counter either continues to work normally or stops, depending - on DBG_IWDG_STOP configuration bit in DBG module, accessible through - __HAL_DBGMCU_FREEZE_IWDG() and __HAL_DBGMCU_UNFREEZE_IWDG() macros. - - [..] Min-max timeout value @32KHz (LSI): ~125us / ~32.7s - The IWDG timeout may vary due to LSI clock frequency dispersion. - STM32F4xx devices provide the capability to measure the LSI clock - frequency (LSI clock is internally connected to TIM5 CH4 input capture). - The measured value can be used to have an IWDG timeout with an - acceptable accuracy. - - [..] Default timeout value (necessary for IWDG_SR status register update): - Constant LSI_VALUE is defined based on the nominal LSI clock frequency. - This frequency being subject to variations as mentioned above, the - default timeout value (defined through constant HAL_IWDG_DEFAULT_TIMEOUT - below) may become too short or too long. - In such cases, this default timeout value can be tuned by redefining - the constant LSI_VALUE at user-application level (based, for instance, - on the measured LSI clock frequency as explained above). - - ##### How to use this driver ##### - ============================================================================== - [..] - (#) Use IWDG using HAL_IWDG_Init() function to : - (++) Enable instance by writing Start keyword in IWDG_KEY register. LSI - clock is forced ON and IWDG counter starts counting down. - (++) Enable write access to configuration registers: - IWDG_PR and IWDG_RLR. - (++) Configure the IWDG prescaler and counter reload value. This reload - value will be loaded in the IWDG counter each time the watchdog is - reloaded, then the IWDG will start counting down from this value. - (++) Wait for status flags to be reset. - - (#) Then the application program must refresh the IWDG counter at regular - intervals during normal operation to prevent an MCU reset, using - HAL_IWDG_Refresh() function. - - *** IWDG HAL driver macros list *** - ==================================== - [..] - Below the list of most used macros in IWDG HAL driver: - (+) __HAL_IWDG_START: Enable the IWDG peripheral - (+) __HAL_IWDG_RELOAD_COUNTER: Reloads IWDG counter with value defined in - the reload register - - @endverbatim - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -#ifdef HAL_IWDG_MODULE_ENABLED -/** @addtogroup IWDG - * @brief IWDG HAL module driver. - * @{ - */ - -/* Private typedef -----------------------------------------------------------*/ -/* Private define ------------------------------------------------------------*/ -/** @defgroup IWDG_Private_Defines IWDG Private Defines - * @{ - */ -/* Status register needs up to 5 LSI clock periods divided by the clock - prescaler to be updated. The number of LSI clock periods is upper-rounded to - 6 for the timeout value calculation. - The timeout value is calculated using the highest prescaler (256) and - the LSI_VALUE constant. The value of this constant can be changed by the user - to take into account possible LSI clock period variations. - The timeout value is multiplied by 1000 to be converted in milliseconds. - LSI startup time is also considered here by adding LSI_STARTUP_TIMEOUT - converted in milliseconds. */ -#define HAL_IWDG_DEFAULT_TIMEOUT (((6UL * 256UL * 1000UL) / LSI_VALUE) + ((LSI_STARTUP_TIME / 1000UL) + 1UL)) -#define IWDG_KERNEL_UPDATE_FLAGS (IWDG_SR_RVU | IWDG_SR_PVU) -/** - * @} - */ - -/* Private macro -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private function prototypes -----------------------------------------------*/ -/* Exported functions --------------------------------------------------------*/ - -/** @addtogroup IWDG_Exported_Functions - * @{ - */ - -/** @addtogroup IWDG_Exported_Functions_Group1 - * @brief Initialization and Start functions. - * -@verbatim - =============================================================================== - ##### Initialization and Start functions ##### - =============================================================================== - [..] This section provides functions allowing to: - (+) Initialize the IWDG according to the specified parameters in the - IWDG_InitTypeDef of associated handle. - (+) Once initialization is performed in HAL_IWDG_Init function, Watchdog - is reloaded in order to exit function with correct time base. - -@endverbatim - * @{ - */ - -/** - * @brief Initialize the IWDG according to the specified parameters in the - * IWDG_InitTypeDef and start watchdog. Before exiting function, - * watchdog is refreshed in order to have correct time base. - * @param hiwdg pointer to a IWDG_HandleTypeDef structure that contains - * the configuration information for the specified IWDG module. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_IWDG_Init(IWDG_HandleTypeDef *hiwdg) -{ - uint32_t tickstart; - - /* Check the IWDG handle allocation */ - if (hiwdg == NULL) - { - return HAL_ERROR; - } - - /* Check the parameters */ - assert_param(IS_IWDG_ALL_INSTANCE(hiwdg->Instance)); - assert_param(IS_IWDG_PRESCALER(hiwdg->Init.Prescaler)); - assert_param(IS_IWDG_RELOAD(hiwdg->Init.Reload)); - - /* Enable IWDG. LSI is turned on automatically */ - __HAL_IWDG_START(hiwdg); - - /* Enable write access to IWDG_PR and IWDG_RLR registers by writing - 0x5555 in KR */ - IWDG_ENABLE_WRITE_ACCESS(hiwdg); - - /* Write to IWDG registers the Prescaler & Reload values to work with */ - hiwdg->Instance->PR = hiwdg->Init.Prescaler; - hiwdg->Instance->RLR = hiwdg->Init.Reload; - - /* Check pending flag, if previous update not done, return timeout */ - tickstart = HAL_GetTick(); - - /* Wait for register to be updated */ - while ((hiwdg->Instance->SR & IWDG_KERNEL_UPDATE_FLAGS) != 0x00u) - { - if ((HAL_GetTick() - tickstart) > HAL_IWDG_DEFAULT_TIMEOUT) - { - if ((hiwdg->Instance->SR & IWDG_KERNEL_UPDATE_FLAGS) != 0x00u) - { - return HAL_TIMEOUT; - } - } - } - - /* Reload IWDG counter with value defined in the reload register */ - __HAL_IWDG_RELOAD_COUNTER(hiwdg); - - /* Return function status */ - return HAL_OK; -} - - -/** - * @} - */ - - -/** @addtogroup IWDG_Exported_Functions_Group2 - * @brief IO operation functions - * -@verbatim - =============================================================================== - ##### IO operation functions ##### - =============================================================================== - [..] This section provides functions allowing to: - (+) Refresh the IWDG. - -@endverbatim - * @{ - */ - -/** - * @brief Refresh the IWDG. - * @param hiwdg pointer to a IWDG_HandleTypeDef structure that contains - * the configuration information for the specified IWDG module. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_IWDG_Refresh(IWDG_HandleTypeDef *hiwdg) -{ - /* Reload IWDG counter with value defined in the reload register */ - __HAL_IWDG_RELOAD_COUNTER(hiwdg); - - /* Return function status */ - return HAL_OK; -} - - -/** - * @} - */ - -/** - * @} - */ - -#endif /* HAL_IWDG_MODULE_ENABLED */ -/** - * @} - */ - -/** - * @} - */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_lptim.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_lptim.c deleted file mode 100644 index 0ed761721e888b..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_lptim.c +++ /dev/null @@ -1,2479 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_lptim.c - * @author MCD Application Team - * @brief LPTIM HAL module driver. - * This file provides firmware functions to manage the following - * functionalities of the Low Power Timer (LPTIM) peripheral: - * + Initialization and de-initialization functions. - * + Start/Stop operation functions in polling mode. - * + Start/Stop operation functions in interrupt mode. - * + Reading operation functions. - * + Peripheral State functions. - * - @verbatim - ============================================================================== - ##### How to use this driver ##### - ============================================================================== - [..] - The LPTIM HAL driver can be used as follows: - - (#)Initialize the LPTIM low level resources by implementing the - HAL_LPTIM_MspInit(): - (++) Enable the LPTIM interface clock using __HAL_RCC_LPTIMx_CLK_ENABLE(). - (++) In case of using interrupts (e.g. HAL_LPTIM_PWM_Start_IT()): - (+++) Configure the LPTIM interrupt priority using HAL_NVIC_SetPriority(). - (+++) Enable the LPTIM IRQ handler using HAL_NVIC_EnableIRQ(). - (+++) In LPTIM IRQ handler, call HAL_LPTIM_IRQHandler(). - - (#)Initialize the LPTIM HAL using HAL_LPTIM_Init(). This function - configures mainly: - (++) The instance: LPTIM1. - (++) Clock: the counter clock. - (+++) Source : it can be either the ULPTIM input (IN1) or one of - the internal clock; (APB, LSE or LSI). - (+++) Prescaler: select the clock divider. - (++) UltraLowPowerClock : To be used only if the ULPTIM is selected - as counter clock source. - (+++) Polarity: polarity of the active edge for the counter unit - if the ULPTIM input is selected. - (+++) SampleTime: clock sampling time to configure the clock glitch - filter. - (++) Trigger: How the counter start. - (+++) Source: trigger can be software or one of the hardware triggers. - (+++) ActiveEdge : only for hardware trigger. - (+++) SampleTime : trigger sampling time to configure the trigger - glitch filter. - (++) OutputPolarity : 2 opposite polarities are possible. - (++) UpdateMode: specifies whether the update of the autoreload and - the compare values is done immediately or after the end of current - period. - - (#)Six modes are available: - - (++) PWM Mode: To generate a PWM signal with specified period and pulse, - call HAL_LPTIM_PWM_Start() or HAL_LPTIM_PWM_Start_IT() for interruption - mode. - - (++) One Pulse Mode: To generate pulse with specified width in response - to a stimulus, call HAL_LPTIM_OnePulse_Start() or - HAL_LPTIM_OnePulse_Start_IT() for interruption mode. - - (++) Set once Mode: In this mode, the output changes the level (from - low level to high level if the output polarity is configured high, else - the opposite) when a compare match occurs. To start this mode, call - HAL_LPTIM_SetOnce_Start() or HAL_LPTIM_SetOnce_Start_IT() for - interruption mode. - - (++) Encoder Mode: To use the encoder interface call - HAL_LPTIM_Encoder_Start() or HAL_LPTIM_Encoder_Start_IT() for - interruption mode. Only available for LPTIM1 instance. - - (++) Time out Mode: an active edge on one selected trigger input rests - the counter. The first trigger event will start the timer, any - successive trigger event will reset the counter and the timer will - restart. To start this mode call HAL_LPTIM_TimeOut_Start_IT() or - HAL_LPTIM_TimeOut_Start_IT() for interruption mode. - - (++) Counter Mode: counter can be used to count external events on - the LPTIM Input1 or it can be used to count internal clock cycles. - To start this mode, call HAL_LPTIM_Counter_Start() or - HAL_LPTIM_Counter_Start_IT() for interruption mode. - - - (#) User can stop any process by calling the corresponding API: - HAL_LPTIM_Xxx_Stop() or HAL_LPTIM_Xxx_Stop_IT() if the process is - already started in interruption mode. - - (#) De-initialize the LPTIM peripheral using HAL_LPTIM_DeInit(). - - *** Callback registration *** - ============================================= - [..] - The compilation define USE_HAL_LPTIM_REGISTER_CALLBACKS when set to 1 - allows the user to configure dynamically the driver callbacks. - [..] - Use Function HAL_LPTIM_RegisterCallback() to register a callback. - HAL_LPTIM_RegisterCallback() takes as parameters the HAL peripheral handle, - the Callback ID and a pointer to the user callback function. - [..] - Use function HAL_LPTIM_UnRegisterCallback() to reset a callback to the - default weak function. - HAL_LPTIM_UnRegisterCallback takes as parameters the HAL peripheral handle, - and the Callback ID. - [..] - These functions allow to register/unregister following callbacks: - - (+) MspInitCallback : LPTIM Base Msp Init Callback. - (+) MspDeInitCallback : LPTIM Base Msp DeInit Callback. - (+) CompareMatchCallback : Compare match Callback. - (+) AutoReloadMatchCallback : Auto-reload match Callback. - (+) TriggerCallback : External trigger event detection Callback. - (+) CompareWriteCallback : Compare register write complete Callback. - (+) AutoReloadWriteCallback : Auto-reload register write complete Callback. - (+) DirectionUpCallback : Up-counting direction change Callback. - (+) DirectionDownCallback : Down-counting direction change Callback. - - [..] - By default, after the Init and when the state is HAL_LPTIM_STATE_RESET - all interrupt callbacks are set to the corresponding weak functions: - examples HAL_LPTIM_TriggerCallback(), HAL_LPTIM_CompareMatchCallback(). - - [..] - Exception done for MspInit and MspDeInit functions that are reset to the legacy weak - functionalities in the Init/DeInit only when these callbacks are null - (not registered beforehand). If not, MspInit or MspDeInit are not null, the Init/DeInit - keep and use the user MspInit/MspDeInit callbacks (registered beforehand) - - [..] - Callbacks can be registered/unregistered in HAL_LPTIM_STATE_READY state only. - Exception done MspInit/MspDeInit that can be registered/unregistered - in HAL_LPTIM_STATE_READY or HAL_LPTIM_STATE_RESET state, - thus registered (user) MspInit/DeInit callbacks can be used during the Init/DeInit. - In that case first register the MspInit/MspDeInit user callbacks - using HAL_LPTIM_RegisterCallback() before calling DeInit or Init function. - - [..] - When The compilation define USE_HAL_LPTIM_REGISTER_CALLBACKS is set to 0 or - not defined, the callback registration feature is not available and all callbacks - are set to the corresponding weak functions. - - @endverbatim - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @defgroup LPTIM LPTIM - * @brief LPTIM HAL module driver. - * @{ - */ - -#ifdef HAL_LPTIM_MODULE_ENABLED - -#if defined (LPTIM1) - -/* Private typedef -----------------------------------------------------------*/ -/* Private define ------------------------------------------------------------*/ -/** @addtogroup LPTIM_Private_Constants - * @{ - */ -#define TIMEOUT 1000UL /* Timeout is 1s */ -/** - * @} - */ - -/* Private macro -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private function prototypes -----------------------------------------------*/ -#if (USE_HAL_LPTIM_REGISTER_CALLBACKS == 1) -static void LPTIM_ResetCallback(LPTIM_HandleTypeDef *lptim); -#endif /* USE_HAL_LPTIM_REGISTER_CALLBACKS */ -static HAL_StatusTypeDef LPTIM_WaitForFlag(LPTIM_HandleTypeDef *hlptim, uint32_t flag); - -/* Exported functions --------------------------------------------------------*/ - -/** @defgroup LPTIM_Exported_Functions LPTIM Exported Functions - * @{ - */ - -/** @defgroup LPTIM_Exported_Functions_Group1 Initialization/de-initialization functions - * @brief Initialization and Configuration functions. - * -@verbatim - ============================================================================== - ##### Initialization and de-initialization functions ##### - ============================================================================== - [..] This section provides functions allowing to: - (+) Initialize the LPTIM according to the specified parameters in the - LPTIM_InitTypeDef and initialize the associated handle. - (+) DeInitialize the LPTIM peripheral. - (+) Initialize the LPTIM MSP. - (+) DeInitialize the LPTIM MSP. - -@endverbatim - * @{ - */ - -/** - * @brief Initialize the LPTIM according to the specified parameters in the - * LPTIM_InitTypeDef and initialize the associated handle. - * @param hlptim LPTIM handle - * @retval HAL status - */ -HAL_StatusTypeDef HAL_LPTIM_Init(LPTIM_HandleTypeDef *hlptim) -{ - uint32_t tmpcfgr; - - /* Check the LPTIM handle allocation */ - if (hlptim == NULL) - { - return HAL_ERROR; - } - - /* Check the parameters */ - assert_param(IS_LPTIM_INSTANCE(hlptim->Instance)); - - assert_param(IS_LPTIM_CLOCK_SOURCE(hlptim->Init.Clock.Source)); - assert_param(IS_LPTIM_CLOCK_PRESCALER(hlptim->Init.Clock.Prescaler)); - if ((hlptim->Init.Clock.Source == LPTIM_CLOCKSOURCE_ULPTIM) - || (hlptim->Init.CounterSource == LPTIM_COUNTERSOURCE_EXTERNAL)) - { - assert_param(IS_LPTIM_CLOCK_POLARITY(hlptim->Init.UltraLowPowerClock.Polarity)); - assert_param(IS_LPTIM_CLOCK_SAMPLE_TIME(hlptim->Init.UltraLowPowerClock.SampleTime)); - } - assert_param(IS_LPTIM_TRG_SOURCE(hlptim->Init.Trigger.Source)); - if (hlptim->Init.Trigger.Source != LPTIM_TRIGSOURCE_SOFTWARE) - { - assert_param(IS_LPTIM_EXT_TRG_POLARITY(hlptim->Init.Trigger.ActiveEdge)); - assert_param(IS_LPTIM_TRIG_SAMPLE_TIME(hlptim->Init.Trigger.SampleTime)); - } - assert_param(IS_LPTIM_OUTPUT_POLARITY(hlptim->Init.OutputPolarity)); - assert_param(IS_LPTIM_UPDATE_MODE(hlptim->Init.UpdateMode)); - assert_param(IS_LPTIM_COUNTER_SOURCE(hlptim->Init.CounterSource)); - - if (hlptim->State == HAL_LPTIM_STATE_RESET) - { - /* Allocate lock resource and initialize it */ - hlptim->Lock = HAL_UNLOCKED; - -#if (USE_HAL_LPTIM_REGISTER_CALLBACKS == 1) - /* Reset interrupt callbacks to legacy weak callbacks */ - LPTIM_ResetCallback(hlptim); - - if (hlptim->MspInitCallback == NULL) - { - hlptim->MspInitCallback = HAL_LPTIM_MspInit; - } - - /* Init the low level hardware : GPIO, CLOCK, NVIC */ - hlptim->MspInitCallback(hlptim); -#else - /* Init the low level hardware : GPIO, CLOCK, NVIC */ - HAL_LPTIM_MspInit(hlptim); -#endif /* USE_HAL_LPTIM_REGISTER_CALLBACKS */ - } - - /* Change the LPTIM state */ - hlptim->State = HAL_LPTIM_STATE_BUSY; - - /* Get the LPTIMx CFGR value */ - tmpcfgr = hlptim->Instance->CFGR; - - if ((hlptim->Init.Clock.Source == LPTIM_CLOCKSOURCE_ULPTIM) - || (hlptim->Init.CounterSource == LPTIM_COUNTERSOURCE_EXTERNAL)) - { - tmpcfgr &= (uint32_t)(~(LPTIM_CFGR_CKPOL | LPTIM_CFGR_CKFLT)); - } - if (hlptim->Init.Trigger.Source != LPTIM_TRIGSOURCE_SOFTWARE) - { - tmpcfgr &= (uint32_t)(~(LPTIM_CFGR_TRGFLT | LPTIM_CFGR_TRIGSEL)); - } - - /* Clear CKSEL, PRESC, TRIGEN, TRGFLT, WAVPOL, PRELOAD & COUNTMODE bits */ - tmpcfgr &= (uint32_t)(~(LPTIM_CFGR_CKSEL | LPTIM_CFGR_TRIGEN | LPTIM_CFGR_PRELOAD | - LPTIM_CFGR_WAVPOL | LPTIM_CFGR_PRESC | LPTIM_CFGR_COUNTMODE)); - - /* Set initialization parameters */ - tmpcfgr |= (hlptim->Init.Clock.Source | - hlptim->Init.Clock.Prescaler | - hlptim->Init.OutputPolarity | - hlptim->Init.UpdateMode | - hlptim->Init.CounterSource); - - /* Glitch filters for internal triggers and external inputs are configured - * only if an internal clock source is provided to the LPTIM - */ - if (hlptim->Init.Clock.Source == LPTIM_CLOCKSOURCE_APBCLOCK_LPOSC) - { - tmpcfgr |= (hlptim->Init.Trigger.SampleTime | - hlptim->Init.UltraLowPowerClock.SampleTime); - } - - /* Configure LPTIM external clock polarity and digital filter */ - if ((hlptim->Init.Clock.Source == LPTIM_CLOCKSOURCE_ULPTIM) - || (hlptim->Init.CounterSource == LPTIM_COUNTERSOURCE_EXTERNAL)) - { - tmpcfgr |= (hlptim->Init.UltraLowPowerClock.Polarity | - hlptim->Init.UltraLowPowerClock.SampleTime); - } - - /* Configure LPTIM external trigger */ - if (hlptim->Init.Trigger.Source != LPTIM_TRIGSOURCE_SOFTWARE) - { - /* Enable External trigger and set the trigger source */ - tmpcfgr |= (hlptim->Init.Trigger.Source | - hlptim->Init.Trigger.ActiveEdge | - hlptim->Init.Trigger.SampleTime); - } - - /* Write to LPTIMx CFGR */ - hlptim->Instance->CFGR = tmpcfgr; - - /* Change the LPTIM state */ - hlptim->State = HAL_LPTIM_STATE_READY; - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief DeInitialize the LPTIM peripheral. - * @param hlptim LPTIM handle - * @retval HAL status - */ -HAL_StatusTypeDef HAL_LPTIM_DeInit(LPTIM_HandleTypeDef *hlptim) -{ - /* Check the LPTIM handle allocation */ - if (hlptim == NULL) - { - return HAL_ERROR; - } - - /* Change the LPTIM state */ - hlptim->State = HAL_LPTIM_STATE_BUSY; - - /* Disable the LPTIM Peripheral Clock */ - __HAL_LPTIM_DISABLE(hlptim); - - if (HAL_LPTIM_GetState(hlptim) == HAL_LPTIM_STATE_TIMEOUT) - { - return HAL_TIMEOUT; - } - -#if (USE_HAL_LPTIM_REGISTER_CALLBACKS == 1) - if (hlptim->MspDeInitCallback == NULL) - { - hlptim->MspDeInitCallback = HAL_LPTIM_MspDeInit; - } - - /* DeInit the low level hardware: CLOCK, NVIC.*/ - hlptim->MspDeInitCallback(hlptim); -#else - /* DeInit the low level hardware: CLOCK, NVIC.*/ - HAL_LPTIM_MspDeInit(hlptim); -#endif /* USE_HAL_LPTIM_REGISTER_CALLBACKS */ - - /* Change the LPTIM state */ - hlptim->State = HAL_LPTIM_STATE_RESET; - - /* Release Lock */ - __HAL_UNLOCK(hlptim); - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Initialize the LPTIM MSP. - * @param hlptim LPTIM handle - * @retval None - */ -__weak void HAL_LPTIM_MspInit(LPTIM_HandleTypeDef *hlptim) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hlptim); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_LPTIM_MspInit could be implemented in the user file - */ -} - -/** - * @brief DeInitialize LPTIM MSP. - * @param hlptim LPTIM handle - * @retval None - */ -__weak void HAL_LPTIM_MspDeInit(LPTIM_HandleTypeDef *hlptim) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hlptim); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_LPTIM_MspDeInit could be implemented in the user file - */ -} - -/** - * @} - */ - -/** @defgroup LPTIM_Exported_Functions_Group2 LPTIM Start-Stop operation functions - * @brief Start-Stop operation functions. - * -@verbatim - ============================================================================== - ##### LPTIM Start Stop operation functions ##### - ============================================================================== - [..] This section provides functions allowing to: - (+) Start the PWM mode. - (+) Stop the PWM mode. - (+) Start the One pulse mode. - (+) Stop the One pulse mode. - (+) Start the Set once mode. - (+) Stop the Set once mode. - (+) Start the Encoder mode. - (+) Stop the Encoder mode. - (+) Start the Timeout mode. - (+) Stop the Timeout mode. - (+) Start the Counter mode. - (+) Stop the Counter mode. - - -@endverbatim - * @{ - */ - -/** - * @brief Start the LPTIM PWM generation. - * @param hlptim LPTIM handle - * @param Period Specifies the Autoreload value. - * This parameter must be a value between 0x0000 and 0xFFFF. - * @param Pulse Specifies the compare value. - * This parameter must be a value between 0x0000 and 0xFFFF. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_LPTIM_PWM_Start(LPTIM_HandleTypeDef *hlptim, uint32_t Period, uint32_t Pulse) -{ - /* Check the parameters */ - assert_param(IS_LPTIM_INSTANCE(hlptim->Instance)); - assert_param(IS_LPTIM_PERIOD(Period)); - assert_param(IS_LPTIM_PULSE(Pulse)); - - /* Set the LPTIM state */ - hlptim->State = HAL_LPTIM_STATE_BUSY; - - /* Reset WAVE bit to set PWM mode */ - hlptim->Instance->CFGR &= ~LPTIM_CFGR_WAVE; - - /* Enable the Peripheral */ - __HAL_LPTIM_ENABLE(hlptim); - - /* Clear flag */ - __HAL_LPTIM_CLEAR_FLAG(hlptim, LPTIM_FLAG_ARROK); - - /* Load the period value in the autoreload register */ - __HAL_LPTIM_AUTORELOAD_SET(hlptim, Period); - - /* Wait for the completion of the write operation to the LPTIM_ARR register */ - if (LPTIM_WaitForFlag(hlptim, LPTIM_FLAG_ARROK) == HAL_TIMEOUT) - { - return HAL_TIMEOUT; - } - - /* Clear flag */ - __HAL_LPTIM_CLEAR_FLAG(hlptim, LPTIM_FLAG_CMPOK); - - /* Load the pulse value in the compare register */ - __HAL_LPTIM_COMPARE_SET(hlptim, Pulse); - - /* Wait for the completion of the write operation to the LPTIM_CMP register */ - if (LPTIM_WaitForFlag(hlptim, LPTIM_FLAG_CMPOK) == HAL_TIMEOUT) - { - return HAL_TIMEOUT; - } - - /* Start timer in continuous mode */ - __HAL_LPTIM_START_CONTINUOUS(hlptim); - - /* Change the TIM state*/ - hlptim->State = HAL_LPTIM_STATE_READY; - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Stop the LPTIM PWM generation. - * @param hlptim LPTIM handle - * @retval HAL status - */ -HAL_StatusTypeDef HAL_LPTIM_PWM_Stop(LPTIM_HandleTypeDef *hlptim) -{ - /* Check the parameters */ - assert_param(IS_LPTIM_INSTANCE(hlptim->Instance)); - - /* Set the LPTIM state */ - hlptim->State = HAL_LPTIM_STATE_BUSY; - - /* Disable the Peripheral */ - __HAL_LPTIM_DISABLE(hlptim); - - if (HAL_LPTIM_GetState(hlptim) == HAL_LPTIM_STATE_TIMEOUT) - { - return HAL_TIMEOUT; - } - - /* Change the LPTIM state*/ - hlptim->State = HAL_LPTIM_STATE_READY; - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Start the LPTIM PWM generation in interrupt mode. - * @param hlptim LPTIM handle - * @param Period Specifies the Autoreload value. - * This parameter must be a value between 0x0000 and 0xFFFF - * @param Pulse Specifies the compare value. - * This parameter must be a value between 0x0000 and 0xFFFF - * @retval HAL status - */ -HAL_StatusTypeDef HAL_LPTIM_PWM_Start_IT(LPTIM_HandleTypeDef *hlptim, uint32_t Period, uint32_t Pulse) -{ - /* Check the parameters */ - assert_param(IS_LPTIM_INSTANCE(hlptim->Instance)); - assert_param(IS_LPTIM_PERIOD(Period)); - assert_param(IS_LPTIM_PULSE(Pulse)); - - /* Set the LPTIM state */ - hlptim->State = HAL_LPTIM_STATE_BUSY; - - /* Reset WAVE bit to set PWM mode */ - hlptim->Instance->CFGR &= ~LPTIM_CFGR_WAVE; - - /* Enable the Peripheral */ - __HAL_LPTIM_ENABLE(hlptim); - - /* Clear flag */ - __HAL_LPTIM_CLEAR_FLAG(hlptim, LPTIM_FLAG_ARROK); - - /* Load the period value in the autoreload register */ - __HAL_LPTIM_AUTORELOAD_SET(hlptim, Period); - - /* Wait for the completion of the write operation to the LPTIM_ARR register */ - if (LPTIM_WaitForFlag(hlptim, LPTIM_FLAG_ARROK) == HAL_TIMEOUT) - { - return HAL_TIMEOUT; - } - - /* Clear flag */ - __HAL_LPTIM_CLEAR_FLAG(hlptim, LPTIM_FLAG_CMPOK); - - /* Load the pulse value in the compare register */ - __HAL_LPTIM_COMPARE_SET(hlptim, Pulse); - - /* Wait for the completion of the write operation to the LPTIM_CMP register */ - if (LPTIM_WaitForFlag(hlptim, LPTIM_FLAG_CMPOK) == HAL_TIMEOUT) - { - return HAL_TIMEOUT; - } - - /* Disable the Peripheral */ - __HAL_LPTIM_DISABLE(hlptim); - - if (HAL_LPTIM_GetState(hlptim) == HAL_LPTIM_STATE_TIMEOUT) - { - return HAL_TIMEOUT; - } - - /* Enable Autoreload write complete interrupt */ - __HAL_LPTIM_ENABLE_IT(hlptim, LPTIM_IT_ARROK); - - /* Enable Compare write complete interrupt */ - __HAL_LPTIM_ENABLE_IT(hlptim, LPTIM_IT_CMPOK); - - /* Enable Autoreload match interrupt */ - __HAL_LPTIM_ENABLE_IT(hlptim, LPTIM_IT_ARRM); - - /* Enable Compare match interrupt */ - __HAL_LPTIM_ENABLE_IT(hlptim, LPTIM_IT_CMPM); - - /* If external trigger source is used, then enable external trigger interrupt */ - if ((hlptim->Init.Trigger.Source) != LPTIM_TRIGSOURCE_SOFTWARE) - { - /* Enable external trigger interrupt */ - __HAL_LPTIM_ENABLE_IT(hlptim, LPTIM_IT_EXTTRIG); - } - - /* Enable the Peripheral */ - __HAL_LPTIM_ENABLE(hlptim); - - /* Start timer in continuous mode */ - __HAL_LPTIM_START_CONTINUOUS(hlptim); - - /* Change the TIM state*/ - hlptim->State = HAL_LPTIM_STATE_READY; - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Stop the LPTIM PWM generation in interrupt mode. - * @param hlptim LPTIM handle - * @retval HAL status - */ -HAL_StatusTypeDef HAL_LPTIM_PWM_Stop_IT(LPTIM_HandleTypeDef *hlptim) -{ - /* Check the parameters */ - assert_param(IS_LPTIM_INSTANCE(hlptim->Instance)); - - /* Set the LPTIM state */ - hlptim->State = HAL_LPTIM_STATE_BUSY; - - /* Disable the Peripheral */ - __HAL_LPTIM_DISABLE(hlptim); - - if (HAL_LPTIM_GetState(hlptim) == HAL_LPTIM_STATE_TIMEOUT) - { - return HAL_TIMEOUT; - } - - /* Disable Autoreload write complete interrupt */ - __HAL_LPTIM_DISABLE_IT(hlptim, LPTIM_IT_ARROK); - - /* Disable Compare write complete interrupt */ - __HAL_LPTIM_DISABLE_IT(hlptim, LPTIM_IT_CMPOK); - - /* Disable Autoreload match interrupt */ - __HAL_LPTIM_DISABLE_IT(hlptim, LPTIM_IT_ARRM); - - /* Disable Compare match interrupt */ - __HAL_LPTIM_DISABLE_IT(hlptim, LPTIM_IT_CMPM); - - /* If external trigger source is used, then disable external trigger interrupt */ - if ((hlptim->Init.Trigger.Source) != LPTIM_TRIGSOURCE_SOFTWARE) - { - /* Disable external trigger interrupt */ - __HAL_LPTIM_DISABLE_IT(hlptim, LPTIM_IT_EXTTRIG); - } - - /* Change the LPTIM state*/ - hlptim->State = HAL_LPTIM_STATE_READY; - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Start the LPTIM One pulse generation. - * @param hlptim LPTIM handle - * @param Period Specifies the Autoreload value. - * This parameter must be a value between 0x0000 and 0xFFFF. - * @param Pulse Specifies the compare value. - * This parameter must be a value between 0x0000 and 0xFFFF. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_LPTIM_OnePulse_Start(LPTIM_HandleTypeDef *hlptim, uint32_t Period, uint32_t Pulse) -{ - /* Check the parameters */ - assert_param(IS_LPTIM_INSTANCE(hlptim->Instance)); - assert_param(IS_LPTIM_PERIOD(Period)); - assert_param(IS_LPTIM_PULSE(Pulse)); - - /* Set the LPTIM state */ - hlptim->State = HAL_LPTIM_STATE_BUSY; - - /* Reset WAVE bit to set one pulse mode */ - hlptim->Instance->CFGR &= ~LPTIM_CFGR_WAVE; - - /* Enable the Peripheral */ - __HAL_LPTIM_ENABLE(hlptim); - - /* Clear flag */ - __HAL_LPTIM_CLEAR_FLAG(hlptim, LPTIM_FLAG_ARROK); - - /* Load the period value in the autoreload register */ - __HAL_LPTIM_AUTORELOAD_SET(hlptim, Period); - - /* Wait for the completion of the write operation to the LPTIM_ARR register */ - if (LPTIM_WaitForFlag(hlptim, LPTIM_FLAG_ARROK) == HAL_TIMEOUT) - { - return HAL_TIMEOUT; - } - - /* Clear flag */ - __HAL_LPTIM_CLEAR_FLAG(hlptim, LPTIM_FLAG_CMPOK); - - /* Load the pulse value in the compare register */ - __HAL_LPTIM_COMPARE_SET(hlptim, Pulse); - - /* Wait for the completion of the write operation to the LPTIM_CMP register */ - if (LPTIM_WaitForFlag(hlptim, LPTIM_FLAG_CMPOK) == HAL_TIMEOUT) - { - return HAL_TIMEOUT; - } - - /* Start timer in single (one shot) mode */ - __HAL_LPTIM_START_SINGLE(hlptim); - - /* Change the TIM state*/ - hlptim->State = HAL_LPTIM_STATE_READY; - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Stop the LPTIM One pulse generation. - * @param hlptim LPTIM handle - * @retval HAL status - */ -HAL_StatusTypeDef HAL_LPTIM_OnePulse_Stop(LPTIM_HandleTypeDef *hlptim) -{ - /* Check the parameters */ - assert_param(IS_LPTIM_INSTANCE(hlptim->Instance)); - - /* Set the LPTIM state */ - hlptim->State = HAL_LPTIM_STATE_BUSY; - - /* Disable the Peripheral */ - __HAL_LPTIM_DISABLE(hlptim); - - if (HAL_LPTIM_GetState(hlptim) == HAL_LPTIM_STATE_TIMEOUT) - { - return HAL_TIMEOUT; - } - - /* Change the LPTIM state*/ - hlptim->State = HAL_LPTIM_STATE_READY; - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Start the LPTIM One pulse generation in interrupt mode. - * @param hlptim LPTIM handle - * @param Period Specifies the Autoreload value. - * This parameter must be a value between 0x0000 and 0xFFFF. - * @param Pulse Specifies the compare value. - * This parameter must be a value between 0x0000 and 0xFFFF. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_LPTIM_OnePulse_Start_IT(LPTIM_HandleTypeDef *hlptim, uint32_t Period, uint32_t Pulse) -{ - /* Check the parameters */ - assert_param(IS_LPTIM_INSTANCE(hlptim->Instance)); - assert_param(IS_LPTIM_PERIOD(Period)); - assert_param(IS_LPTIM_PULSE(Pulse)); - - /* Set the LPTIM state */ - hlptim->State = HAL_LPTIM_STATE_BUSY; - - /* Reset WAVE bit to set one pulse mode */ - hlptim->Instance->CFGR &= ~LPTIM_CFGR_WAVE; - - /* Enable the Peripheral */ - __HAL_LPTIM_ENABLE(hlptim); - - /* Clear flag */ - __HAL_LPTIM_CLEAR_FLAG(hlptim, LPTIM_FLAG_ARROK); - - /* Load the period value in the autoreload register */ - __HAL_LPTIM_AUTORELOAD_SET(hlptim, Period); - - /* Wait for the completion of the write operation to the LPTIM_ARR register */ - if (LPTIM_WaitForFlag(hlptim, LPTIM_FLAG_ARROK) == HAL_TIMEOUT) - { - return HAL_TIMEOUT; - } - - /* Clear flag */ - __HAL_LPTIM_CLEAR_FLAG(hlptim, LPTIM_FLAG_CMPOK); - - /* Load the pulse value in the compare register */ - __HAL_LPTIM_COMPARE_SET(hlptim, Pulse); - - /* Wait for the completion of the write operation to the LPTIM_CMP register */ - if (LPTIM_WaitForFlag(hlptim, LPTIM_FLAG_CMPOK) == HAL_TIMEOUT) - { - return HAL_TIMEOUT; - } - - /* Disable the Peripheral */ - __HAL_LPTIM_DISABLE(hlptim); - - if (HAL_LPTIM_GetState(hlptim) == HAL_LPTIM_STATE_TIMEOUT) - { - return HAL_TIMEOUT; - } - - /* Enable Autoreload write complete interrupt */ - __HAL_LPTIM_ENABLE_IT(hlptim, LPTIM_IT_ARROK); - - /* Enable Compare write complete interrupt */ - __HAL_LPTIM_ENABLE_IT(hlptim, LPTIM_IT_CMPOK); - - /* Enable Autoreload match interrupt */ - __HAL_LPTIM_ENABLE_IT(hlptim, LPTIM_IT_ARRM); - - /* Enable Compare match interrupt */ - __HAL_LPTIM_ENABLE_IT(hlptim, LPTIM_IT_CMPM); - - /* If external trigger source is used, then enable external trigger interrupt */ - if ((hlptim->Init.Trigger.Source) != LPTIM_TRIGSOURCE_SOFTWARE) - { - /* Enable external trigger interrupt */ - __HAL_LPTIM_ENABLE_IT(hlptim, LPTIM_IT_EXTTRIG); - } - - /* Enable the Peripheral */ - __HAL_LPTIM_ENABLE(hlptim); - - /* Start timer in single (one shot) mode */ - __HAL_LPTIM_START_SINGLE(hlptim); - - /* Change the TIM state*/ - hlptim->State = HAL_LPTIM_STATE_READY; - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Stop the LPTIM One pulse generation in interrupt mode. - * @param hlptim LPTIM handle - * @retval HAL status - */ -HAL_StatusTypeDef HAL_LPTIM_OnePulse_Stop_IT(LPTIM_HandleTypeDef *hlptim) -{ - /* Check the parameters */ - assert_param(IS_LPTIM_INSTANCE(hlptim->Instance)); - - /* Set the LPTIM state */ - hlptim->State = HAL_LPTIM_STATE_BUSY; - - /* Disable the Peripheral */ - __HAL_LPTIM_DISABLE(hlptim); - - if (HAL_LPTIM_GetState(hlptim) == HAL_LPTIM_STATE_TIMEOUT) - { - return HAL_TIMEOUT; - } - - /* Disable Autoreload write complete interrupt */ - __HAL_LPTIM_DISABLE_IT(hlptim, LPTIM_IT_ARROK); - - /* Disable Compare write complete interrupt */ - __HAL_LPTIM_DISABLE_IT(hlptim, LPTIM_IT_CMPOK); - - /* Disable Autoreload match interrupt */ - __HAL_LPTIM_DISABLE_IT(hlptim, LPTIM_IT_ARRM); - - /* Disable Compare match interrupt */ - __HAL_LPTIM_DISABLE_IT(hlptim, LPTIM_IT_CMPM); - - /* If external trigger source is used, then disable external trigger interrupt */ - if ((hlptim->Init.Trigger.Source) != LPTIM_TRIGSOURCE_SOFTWARE) - { - /* Disable external trigger interrupt */ - __HAL_LPTIM_DISABLE_IT(hlptim, LPTIM_IT_EXTTRIG); - } - - /* Change the LPTIM state*/ - hlptim->State = HAL_LPTIM_STATE_READY; - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Start the LPTIM in Set once mode. - * @param hlptim LPTIM handle - * @param Period Specifies the Autoreload value. - * This parameter must be a value between 0x0000 and 0xFFFF. - * @param Pulse Specifies the compare value. - * This parameter must be a value between 0x0000 and 0xFFFF. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_LPTIM_SetOnce_Start(LPTIM_HandleTypeDef *hlptim, uint32_t Period, uint32_t Pulse) -{ - /* Check the parameters */ - assert_param(IS_LPTIM_INSTANCE(hlptim->Instance)); - assert_param(IS_LPTIM_PERIOD(Period)); - assert_param(IS_LPTIM_PULSE(Pulse)); - - /* Set the LPTIM state */ - hlptim->State = HAL_LPTIM_STATE_BUSY; - - /* Set WAVE bit to enable the set once mode */ - hlptim->Instance->CFGR |= LPTIM_CFGR_WAVE; - - /* Enable the Peripheral */ - __HAL_LPTIM_ENABLE(hlptim); - - /* Clear flag */ - __HAL_LPTIM_CLEAR_FLAG(hlptim, LPTIM_FLAG_ARROK); - - /* Load the period value in the autoreload register */ - __HAL_LPTIM_AUTORELOAD_SET(hlptim, Period); - - /* Wait for the completion of the write operation to the LPTIM_ARR register */ - if (LPTIM_WaitForFlag(hlptim, LPTIM_FLAG_ARROK) == HAL_TIMEOUT) - { - return HAL_TIMEOUT; - } - - /* Clear flag */ - __HAL_LPTIM_CLEAR_FLAG(hlptim, LPTIM_FLAG_CMPOK); - - /* Load the pulse value in the compare register */ - __HAL_LPTIM_COMPARE_SET(hlptim, Pulse); - - /* Wait for the completion of the write operation to the LPTIM_CMP register */ - if (LPTIM_WaitForFlag(hlptim, LPTIM_FLAG_CMPOK) == HAL_TIMEOUT) - { - return HAL_TIMEOUT; - } - - /* Start timer in single (one shot) mode */ - __HAL_LPTIM_START_SINGLE(hlptim); - - /* Change the TIM state*/ - hlptim->State = HAL_LPTIM_STATE_READY; - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Stop the LPTIM Set once mode. - * @param hlptim LPTIM handle - * @retval HAL status - */ -HAL_StatusTypeDef HAL_LPTIM_SetOnce_Stop(LPTIM_HandleTypeDef *hlptim) -{ - /* Check the parameters */ - assert_param(IS_LPTIM_INSTANCE(hlptim->Instance)); - - /* Set the LPTIM state */ - hlptim->State = HAL_LPTIM_STATE_BUSY; - - /* Disable the Peripheral */ - __HAL_LPTIM_DISABLE(hlptim); - - if (HAL_LPTIM_GetState(hlptim) == HAL_LPTIM_STATE_TIMEOUT) - { - return HAL_TIMEOUT; - } - - /* Change the LPTIM state*/ - hlptim->State = HAL_LPTIM_STATE_READY; - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Start the LPTIM Set once mode in interrupt mode. - * @param hlptim LPTIM handle - * @param Period Specifies the Autoreload value. - * This parameter must be a value between 0x0000 and 0xFFFF. - * @param Pulse Specifies the compare value. - * This parameter must be a value between 0x0000 and 0xFFFF. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_LPTIM_SetOnce_Start_IT(LPTIM_HandleTypeDef *hlptim, uint32_t Period, uint32_t Pulse) -{ - /* Check the parameters */ - assert_param(IS_LPTIM_INSTANCE(hlptim->Instance)); - assert_param(IS_LPTIM_PERIOD(Period)); - assert_param(IS_LPTIM_PULSE(Pulse)); - - /* Set the LPTIM state */ - hlptim->State = HAL_LPTIM_STATE_BUSY; - - /* Set WAVE bit to enable the set once mode */ - hlptim->Instance->CFGR |= LPTIM_CFGR_WAVE; - - /* Enable the Peripheral */ - __HAL_LPTIM_ENABLE(hlptim); - - /* Clear flag */ - __HAL_LPTIM_CLEAR_FLAG(hlptim, LPTIM_FLAG_ARROK); - - /* Load the period value in the autoreload register */ - __HAL_LPTIM_AUTORELOAD_SET(hlptim, Period); - - /* Wait for the completion of the write operation to the LPTIM_ARR register */ - if (LPTIM_WaitForFlag(hlptim, LPTIM_FLAG_ARROK) == HAL_TIMEOUT) - { - return HAL_TIMEOUT; - } - - /* Clear flag */ - __HAL_LPTIM_CLEAR_FLAG(hlptim, LPTIM_FLAG_CMPOK); - - /* Load the pulse value in the compare register */ - __HAL_LPTIM_COMPARE_SET(hlptim, Pulse); - - /* Wait for the completion of the write operation to the LPTIM_CMP register */ - if (LPTIM_WaitForFlag(hlptim, LPTIM_FLAG_CMPOK) == HAL_TIMEOUT) - { - return HAL_TIMEOUT; - } - - /* Disable the Peripheral */ - __HAL_LPTIM_DISABLE(hlptim); - - if (HAL_LPTIM_GetState(hlptim) == HAL_LPTIM_STATE_TIMEOUT) - { - return HAL_TIMEOUT; - } - - /* Enable Autoreload write complete interrupt */ - __HAL_LPTIM_ENABLE_IT(hlptim, LPTIM_IT_ARROK); - - /* Enable Compare write complete interrupt */ - __HAL_LPTIM_ENABLE_IT(hlptim, LPTIM_IT_CMPOK); - - /* Enable Autoreload match interrupt */ - __HAL_LPTIM_ENABLE_IT(hlptim, LPTIM_IT_ARRM); - - /* Enable Compare match interrupt */ - __HAL_LPTIM_ENABLE_IT(hlptim, LPTIM_IT_CMPM); - - /* If external trigger source is used, then enable external trigger interrupt */ - if ((hlptim->Init.Trigger.Source) != LPTIM_TRIGSOURCE_SOFTWARE) - { - /* Enable external trigger interrupt */ - __HAL_LPTIM_ENABLE_IT(hlptim, LPTIM_IT_EXTTRIG); - } - - /* Enable the Peripheral */ - __HAL_LPTIM_ENABLE(hlptim); - - /* Start timer in single (one shot) mode */ - __HAL_LPTIM_START_SINGLE(hlptim); - - /* Change the TIM state*/ - hlptim->State = HAL_LPTIM_STATE_READY; - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Stop the LPTIM Set once mode in interrupt mode. - * @param hlptim LPTIM handle - * @retval HAL status - */ -HAL_StatusTypeDef HAL_LPTIM_SetOnce_Stop_IT(LPTIM_HandleTypeDef *hlptim) -{ - /* Check the parameters */ - assert_param(IS_LPTIM_INSTANCE(hlptim->Instance)); - - /* Set the LPTIM state */ - hlptim->State = HAL_LPTIM_STATE_BUSY; - - /* Disable the Peripheral */ - __HAL_LPTIM_DISABLE(hlptim); - - if (HAL_LPTIM_GetState(hlptim) == HAL_LPTIM_STATE_TIMEOUT) - { - return HAL_TIMEOUT; - } - - /* Disable Autoreload write complete interrupt */ - __HAL_LPTIM_DISABLE_IT(hlptim, LPTIM_IT_ARROK); - - /* Disable Compare write complete interrupt */ - __HAL_LPTIM_DISABLE_IT(hlptim, LPTIM_IT_CMPOK); - - /* Disable Autoreload match interrupt */ - __HAL_LPTIM_DISABLE_IT(hlptim, LPTIM_IT_ARRM); - - /* Disable Compare match interrupt */ - __HAL_LPTIM_DISABLE_IT(hlptim, LPTIM_IT_CMPM); - - /* If external trigger source is used, then disable external trigger interrupt */ - if ((hlptim->Init.Trigger.Source) != LPTIM_TRIGSOURCE_SOFTWARE) - { - /* Disable external trigger interrupt */ - __HAL_LPTIM_DISABLE_IT(hlptim, LPTIM_IT_EXTTRIG); - } - - /* Change the LPTIM state*/ - hlptim->State = HAL_LPTIM_STATE_READY; - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Start the Encoder interface. - * @param hlptim LPTIM handle - * @param Period Specifies the Autoreload value. - * This parameter must be a value between 0x0000 and 0xFFFF. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_LPTIM_Encoder_Start(LPTIM_HandleTypeDef *hlptim, uint32_t Period) -{ - uint32_t tmpcfgr; - - /* Check the parameters */ - assert_param(IS_LPTIM_INSTANCE(hlptim->Instance)); - assert_param(IS_LPTIM_PERIOD(Period)); - assert_param(hlptim->Init.Clock.Source == LPTIM_CLOCKSOURCE_APBCLOCK_LPOSC); - assert_param(hlptim->Init.Clock.Prescaler == LPTIM_PRESCALER_DIV1); - assert_param(IS_LPTIM_CLOCK_POLARITY(hlptim->Init.UltraLowPowerClock.Polarity)); - - /* Set the LPTIM state */ - hlptim->State = HAL_LPTIM_STATE_BUSY; - - /* Get the LPTIMx CFGR value */ - tmpcfgr = hlptim->Instance->CFGR; - - /* Clear CKPOL bits */ - tmpcfgr &= (uint32_t)(~LPTIM_CFGR_CKPOL); - - /* Set Input polarity */ - tmpcfgr |= hlptim->Init.UltraLowPowerClock.Polarity; - - /* Write to LPTIMx CFGR */ - hlptim->Instance->CFGR = tmpcfgr; - - /* Set ENC bit to enable the encoder interface */ - hlptim->Instance->CFGR |= LPTIM_CFGR_ENC; - - /* Enable the Peripheral */ - __HAL_LPTIM_ENABLE(hlptim); - - /* Clear flag */ - __HAL_LPTIM_CLEAR_FLAG(hlptim, LPTIM_FLAG_ARROK); - - /* Load the period value in the autoreload register */ - __HAL_LPTIM_AUTORELOAD_SET(hlptim, Period); - - /* Wait for the completion of the write operation to the LPTIM_ARR register */ - if (LPTIM_WaitForFlag(hlptim, LPTIM_FLAG_ARROK) == HAL_TIMEOUT) - { - return HAL_TIMEOUT; - } - - /* Start timer in continuous mode */ - __HAL_LPTIM_START_CONTINUOUS(hlptim); - - /* Change the TIM state*/ - hlptim->State = HAL_LPTIM_STATE_READY; - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Stop the Encoder interface. - * @param hlptim LPTIM handle - * @retval HAL status - */ -HAL_StatusTypeDef HAL_LPTIM_Encoder_Stop(LPTIM_HandleTypeDef *hlptim) -{ - /* Check the parameters */ - assert_param(IS_LPTIM_INSTANCE(hlptim->Instance)); - - /* Set the LPTIM state */ - hlptim->State = HAL_LPTIM_STATE_BUSY; - - /* Disable the Peripheral */ - __HAL_LPTIM_DISABLE(hlptim); - - if (HAL_LPTIM_GetState(hlptim) == HAL_LPTIM_STATE_TIMEOUT) - { - return HAL_TIMEOUT; - } - - /* Reset ENC bit to disable the encoder interface */ - hlptim->Instance->CFGR &= ~LPTIM_CFGR_ENC; - - /* Change the TIM state*/ - hlptim->State = HAL_LPTIM_STATE_READY; - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Start the Encoder interface in interrupt mode. - * @param hlptim LPTIM handle - * @param Period Specifies the Autoreload value. - * This parameter must be a value between 0x0000 and 0xFFFF. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_LPTIM_Encoder_Start_IT(LPTIM_HandleTypeDef *hlptim, uint32_t Period) -{ - uint32_t tmpcfgr; - - /* Check the parameters */ - assert_param(IS_LPTIM_INSTANCE(hlptim->Instance)); - assert_param(IS_LPTIM_PERIOD(Period)); - assert_param(hlptim->Init.Clock.Source == LPTIM_CLOCKSOURCE_APBCLOCK_LPOSC); - assert_param(hlptim->Init.Clock.Prescaler == LPTIM_PRESCALER_DIV1); - assert_param(IS_LPTIM_CLOCK_POLARITY(hlptim->Init.UltraLowPowerClock.Polarity)); - - /* Set the LPTIM state */ - hlptim->State = HAL_LPTIM_STATE_BUSY; - - /* Configure edge sensitivity for encoder mode */ - /* Get the LPTIMx CFGR value */ - tmpcfgr = hlptim->Instance->CFGR; - - /* Clear CKPOL bits */ - tmpcfgr &= (uint32_t)(~LPTIM_CFGR_CKPOL); - - /* Set Input polarity */ - tmpcfgr |= hlptim->Init.UltraLowPowerClock.Polarity; - - /* Write to LPTIMx CFGR */ - hlptim->Instance->CFGR = tmpcfgr; - - /* Set ENC bit to enable the encoder interface */ - hlptim->Instance->CFGR |= LPTIM_CFGR_ENC; - - /* Enable the Peripheral */ - __HAL_LPTIM_ENABLE(hlptim); - - /* Clear flag */ - __HAL_LPTIM_CLEAR_FLAG(hlptim, LPTIM_FLAG_ARROK); - - /* Load the period value in the autoreload register */ - __HAL_LPTIM_AUTORELOAD_SET(hlptim, Period); - - /* Wait for the completion of the write operation to the LPTIM_ARR register */ - if (LPTIM_WaitForFlag(hlptim, LPTIM_FLAG_ARROK) == HAL_TIMEOUT) - { - return HAL_TIMEOUT; - } - - /* Disable the Peripheral */ - __HAL_LPTIM_DISABLE(hlptim); - - if (HAL_LPTIM_GetState(hlptim) == HAL_LPTIM_STATE_TIMEOUT) - { - return HAL_TIMEOUT; - } - - /* Enable "switch to down direction" interrupt */ - __HAL_LPTIM_ENABLE_IT(hlptim, LPTIM_IT_DOWN); - - /* Enable "switch to up direction" interrupt */ - __HAL_LPTIM_ENABLE_IT(hlptim, LPTIM_IT_UP); - - /* Enable the Peripheral */ - __HAL_LPTIM_ENABLE(hlptim); - - /* Start timer in continuous mode */ - __HAL_LPTIM_START_CONTINUOUS(hlptim); - - /* Change the TIM state*/ - hlptim->State = HAL_LPTIM_STATE_READY; - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Stop the Encoder interface in interrupt mode. - * @param hlptim LPTIM handle - * @retval HAL status - */ -HAL_StatusTypeDef HAL_LPTIM_Encoder_Stop_IT(LPTIM_HandleTypeDef *hlptim) -{ - /* Check the parameters */ - assert_param(IS_LPTIM_INSTANCE(hlptim->Instance)); - - /* Set the LPTIM state */ - hlptim->State = HAL_LPTIM_STATE_BUSY; - - /* Disable the Peripheral */ - __HAL_LPTIM_DISABLE(hlptim); - - if (HAL_LPTIM_GetState(hlptim) == HAL_LPTIM_STATE_TIMEOUT) - { - return HAL_TIMEOUT; - } - - /* Reset ENC bit to disable the encoder interface */ - hlptim->Instance->CFGR &= ~LPTIM_CFGR_ENC; - - /* Disable "switch to down direction" interrupt */ - __HAL_LPTIM_DISABLE_IT(hlptim, LPTIM_IT_DOWN); - - /* Disable "switch to up direction" interrupt */ - __HAL_LPTIM_DISABLE_IT(hlptim, LPTIM_IT_UP); - - /* Change the TIM state*/ - hlptim->State = HAL_LPTIM_STATE_READY; - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Start the Timeout function. - * @note The first trigger event will start the timer, any successive - * trigger event will reset the counter and the timer restarts. - * @param hlptim LPTIM handle - * @param Period Specifies the Autoreload value. - * This parameter must be a value between 0x0000 and 0xFFFF. - * @param Timeout Specifies the TimeOut value to reset the counter. - * This parameter must be a value between 0x0000 and 0xFFFF. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_LPTIM_TimeOut_Start(LPTIM_HandleTypeDef *hlptim, uint32_t Period, uint32_t Timeout) -{ - /* Check the parameters */ - assert_param(IS_LPTIM_INSTANCE(hlptim->Instance)); - assert_param(IS_LPTIM_PERIOD(Period)); - assert_param(IS_LPTIM_PULSE(Timeout)); - - /* Set the LPTIM state */ - hlptim->State = HAL_LPTIM_STATE_BUSY; - - /* Set TIMOUT bit to enable the timeout function */ - hlptim->Instance->CFGR |= LPTIM_CFGR_TIMOUT; - - /* Enable the Peripheral */ - __HAL_LPTIM_ENABLE(hlptim); - - /* Clear flag */ - __HAL_LPTIM_CLEAR_FLAG(hlptim, LPTIM_FLAG_ARROK); - - /* Load the period value in the autoreload register */ - __HAL_LPTIM_AUTORELOAD_SET(hlptim, Period); - - /* Wait for the completion of the write operation to the LPTIM_ARR register */ - if (LPTIM_WaitForFlag(hlptim, LPTIM_FLAG_ARROK) == HAL_TIMEOUT) - { - return HAL_TIMEOUT; - } - - /* Clear flag */ - __HAL_LPTIM_CLEAR_FLAG(hlptim, LPTIM_FLAG_CMPOK); - - /* Load the Timeout value in the compare register */ - __HAL_LPTIM_COMPARE_SET(hlptim, Timeout); - - /* Wait for the completion of the write operation to the LPTIM_CMP register */ - if (LPTIM_WaitForFlag(hlptim, LPTIM_FLAG_CMPOK) == HAL_TIMEOUT) - { - return HAL_TIMEOUT; - } - - /* Start timer in continuous mode */ - __HAL_LPTIM_START_CONTINUOUS(hlptim); - - /* Change the TIM state*/ - hlptim->State = HAL_LPTIM_STATE_READY; - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Stop the Timeout function. - * @param hlptim LPTIM handle - * @retval HAL status - */ -HAL_StatusTypeDef HAL_LPTIM_TimeOut_Stop(LPTIM_HandleTypeDef *hlptim) -{ - /* Check the parameters */ - assert_param(IS_LPTIM_INSTANCE(hlptim->Instance)); - - /* Set the LPTIM state */ - hlptim->State = HAL_LPTIM_STATE_BUSY; - - /* Disable the Peripheral */ - __HAL_LPTIM_DISABLE(hlptim); - - if (HAL_LPTIM_GetState(hlptim) == HAL_LPTIM_STATE_TIMEOUT) - { - return HAL_TIMEOUT; - } - - /* Reset TIMOUT bit to enable the timeout function */ - hlptim->Instance->CFGR &= ~LPTIM_CFGR_TIMOUT; - - /* Change the TIM state*/ - hlptim->State = HAL_LPTIM_STATE_READY; - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Start the Timeout function in interrupt mode. - * @note The first trigger event will start the timer, any successive - * trigger event will reset the counter and the timer restarts. - * @param hlptim LPTIM handle - * @param Period Specifies the Autoreload value. - * This parameter must be a value between 0x0000 and 0xFFFF. - * @param Timeout Specifies the TimeOut value to reset the counter. - * This parameter must be a value between 0x0000 and 0xFFFF. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_LPTIM_TimeOut_Start_IT(LPTIM_HandleTypeDef *hlptim, uint32_t Period, uint32_t Timeout) -{ - /* Check the parameters */ - assert_param(IS_LPTIM_INSTANCE(hlptim->Instance)); - assert_param(IS_LPTIM_PERIOD(Period)); - assert_param(IS_LPTIM_PULSE(Timeout)); - - /* Set the LPTIM state */ - hlptim->State = HAL_LPTIM_STATE_BUSY; - - /* Enable EXTI Line interrupt on the LPTIM Wake-up Timer */ - __HAL_LPTIM_WAKEUPTIMER_EXTI_ENABLE_IT(); -#if defined(EXTI_IMR_MR23) - /* Enable rising edge trigger on the LPTIM Wake-up Timer Exti line */ - __HAL_LPTIM_WAKEUPTIMER_EXTI_ENABLE_RISING_EDGE(); -#endif /* EXTI_IMR_MR23 */ - - /* Set TIMOUT bit to enable the timeout function */ - hlptim->Instance->CFGR |= LPTIM_CFGR_TIMOUT; - - /* Enable the Peripheral */ - __HAL_LPTIM_ENABLE(hlptim); - - /* Clear flag */ - __HAL_LPTIM_CLEAR_FLAG(hlptim, LPTIM_FLAG_ARROK); - - /* Load the period value in the autoreload register */ - __HAL_LPTIM_AUTORELOAD_SET(hlptim, Period); - - /* Wait for the completion of the write operation to the LPTIM_ARR register */ - if (LPTIM_WaitForFlag(hlptim, LPTIM_FLAG_ARROK) == HAL_TIMEOUT) - { - return HAL_TIMEOUT; - } - - /* Clear flag */ - __HAL_LPTIM_CLEAR_FLAG(hlptim, LPTIM_FLAG_CMPOK); - - /* Load the Timeout value in the compare register */ - __HAL_LPTIM_COMPARE_SET(hlptim, Timeout); - - /* Wait for the completion of the write operation to the LPTIM_CMP register */ - if (LPTIM_WaitForFlag(hlptim, LPTIM_FLAG_CMPOK) == HAL_TIMEOUT) - { - return HAL_TIMEOUT; - } - - /* Disable the Peripheral */ - __HAL_LPTIM_DISABLE(hlptim); - - if (HAL_LPTIM_GetState(hlptim) == HAL_LPTIM_STATE_TIMEOUT) - { - return HAL_TIMEOUT; - } - - /* Enable Compare match interrupt */ - __HAL_LPTIM_ENABLE_IT(hlptim, LPTIM_IT_CMPM); - - /* Enable the Peripheral */ - __HAL_LPTIM_ENABLE(hlptim); - - /* Start timer in continuous mode */ - __HAL_LPTIM_START_CONTINUOUS(hlptim); - - /* Change the TIM state*/ - hlptim->State = HAL_LPTIM_STATE_READY; - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Stop the Timeout function in interrupt mode. - * @param hlptim LPTIM handle - * @retval HAL status - */ -HAL_StatusTypeDef HAL_LPTIM_TimeOut_Stop_IT(LPTIM_HandleTypeDef *hlptim) -{ - /* Check the parameters */ - assert_param(IS_LPTIM_INSTANCE(hlptim->Instance)); - - /* Set the LPTIM state */ - hlptim->State = HAL_LPTIM_STATE_BUSY; -#if defined(EXTI_IMR_MR23) - /* Disable rising edge trigger on the LPTIM Wake-up Timer Exti line */ - __HAL_LPTIM_WAKEUPTIMER_EXTI_DISABLE_RISING_EDGE(); -#endif /* EXTI_IMR_MR23 */ - - /* Disable EXTI Line interrupt on the LPTIM Wake-up Timer */ - __HAL_LPTIM_WAKEUPTIMER_EXTI_DISABLE_IT(); - - /* Disable the Peripheral */ - __HAL_LPTIM_DISABLE(hlptim); - - if (HAL_LPTIM_GetState(hlptim) == HAL_LPTIM_STATE_TIMEOUT) - { - return HAL_TIMEOUT; - } - - /* Reset TIMOUT bit to enable the timeout function */ - hlptim->Instance->CFGR &= ~LPTIM_CFGR_TIMOUT; - - /* Disable Compare match interrupt */ - __HAL_LPTIM_DISABLE_IT(hlptim, LPTIM_IT_CMPM); - - /* Change the TIM state*/ - hlptim->State = HAL_LPTIM_STATE_READY; - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Start the Counter mode. - * @param hlptim LPTIM handle - * @param Period Specifies the Autoreload value. - * This parameter must be a value between 0x0000 and 0xFFFF. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_LPTIM_Counter_Start(LPTIM_HandleTypeDef *hlptim, uint32_t Period) -{ - /* Check the parameters */ - assert_param(IS_LPTIM_INSTANCE(hlptim->Instance)); - assert_param(IS_LPTIM_PERIOD(Period)); - - /* Set the LPTIM state */ - hlptim->State = HAL_LPTIM_STATE_BUSY; - - /* If clock source is not ULPTIM clock and counter source is external, then it must not be prescaled */ - if ((hlptim->Init.Clock.Source != LPTIM_CLOCKSOURCE_ULPTIM) - && (hlptim->Init.CounterSource == LPTIM_COUNTERSOURCE_EXTERNAL)) - { - /* Check if clock is prescaled */ - assert_param(IS_LPTIM_CLOCK_PRESCALERDIV1(hlptim->Init.Clock.Prescaler)); - /* Set clock prescaler to 0 */ - hlptim->Instance->CFGR &= ~LPTIM_CFGR_PRESC; - } - - /* Enable the Peripheral */ - __HAL_LPTIM_ENABLE(hlptim); - - /* Clear flag */ - __HAL_LPTIM_CLEAR_FLAG(hlptim, LPTIM_FLAG_ARROK); - - /* Load the period value in the autoreload register */ - __HAL_LPTIM_AUTORELOAD_SET(hlptim, Period); - - /* Wait for the completion of the write operation to the LPTIM_ARR register */ - if (LPTIM_WaitForFlag(hlptim, LPTIM_FLAG_ARROK) == HAL_TIMEOUT) - { - return HAL_TIMEOUT; - } - - /* Start timer in continuous mode */ - __HAL_LPTIM_START_CONTINUOUS(hlptim); - - /* Change the TIM state*/ - hlptim->State = HAL_LPTIM_STATE_READY; - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Stop the Counter mode. - * @param hlptim LPTIM handle - * @retval HAL status - */ -HAL_StatusTypeDef HAL_LPTIM_Counter_Stop(LPTIM_HandleTypeDef *hlptim) -{ - /* Check the parameters */ - assert_param(IS_LPTIM_INSTANCE(hlptim->Instance)); - - /* Set the LPTIM state */ - hlptim->State = HAL_LPTIM_STATE_BUSY; - - /* Disable the Peripheral */ - __HAL_LPTIM_DISABLE(hlptim); - - if (HAL_LPTIM_GetState(hlptim) == HAL_LPTIM_STATE_TIMEOUT) - { - return HAL_TIMEOUT; - } - - /* Change the TIM state*/ - hlptim->State = HAL_LPTIM_STATE_READY; - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Start the Counter mode in interrupt mode. - * @param hlptim LPTIM handle - * @param Period Specifies the Autoreload value. - * This parameter must be a value between 0x0000 and 0xFFFF. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_LPTIM_Counter_Start_IT(LPTIM_HandleTypeDef *hlptim, uint32_t Period) -{ - /* Check the parameters */ - assert_param(IS_LPTIM_INSTANCE(hlptim->Instance)); - assert_param(IS_LPTIM_PERIOD(Period)); - - /* Set the LPTIM state */ - hlptim->State = HAL_LPTIM_STATE_BUSY; - - /* Enable EXTI Line interrupt on the LPTIM Wake-up Timer */ - __HAL_LPTIM_WAKEUPTIMER_EXTI_ENABLE_IT(); -#if defined(EXTI_IMR_MR23) - /* Enable rising edge trigger on the LPTIM Wake-up Timer Exti line */ - __HAL_LPTIM_WAKEUPTIMER_EXTI_ENABLE_RISING_EDGE(); -#endif /* EXTI_IMR_MR23 */ - - /* If clock source is not ULPTIM clock and counter source is external, then it must not be prescaled */ - if ((hlptim->Init.Clock.Source != LPTIM_CLOCKSOURCE_ULPTIM) - && (hlptim->Init.CounterSource == LPTIM_COUNTERSOURCE_EXTERNAL)) - { - /* Check if clock is prescaled */ - assert_param(IS_LPTIM_CLOCK_PRESCALERDIV1(hlptim->Init.Clock.Prescaler)); - /* Set clock prescaler to 0 */ - hlptim->Instance->CFGR &= ~LPTIM_CFGR_PRESC; - } - - /* Enable the Peripheral */ - __HAL_LPTIM_ENABLE(hlptim); - - /* Clear flag */ - __HAL_LPTIM_CLEAR_FLAG(hlptim, LPTIM_FLAG_ARROK); - - /* Load the period value in the autoreload register */ - __HAL_LPTIM_AUTORELOAD_SET(hlptim, Period); - - /* Wait for the completion of the write operation to the LPTIM_ARR register */ - if (LPTIM_WaitForFlag(hlptim, LPTIM_FLAG_ARROK) == HAL_TIMEOUT) - { - return HAL_TIMEOUT; - } - - /* Disable the Peripheral */ - __HAL_LPTIM_DISABLE(hlptim); - - if (HAL_LPTIM_GetState(hlptim) == HAL_LPTIM_STATE_TIMEOUT) - { - return HAL_TIMEOUT; - } - - /* Enable Autoreload write complete interrupt */ - __HAL_LPTIM_ENABLE_IT(hlptim, LPTIM_IT_ARROK); - - /* Enable Autoreload match interrupt */ - __HAL_LPTIM_ENABLE_IT(hlptim, LPTIM_IT_ARRM); - - /* Enable the Peripheral */ - __HAL_LPTIM_ENABLE(hlptim); - - /* Start timer in continuous mode */ - __HAL_LPTIM_START_CONTINUOUS(hlptim); - - /* Change the TIM state*/ - hlptim->State = HAL_LPTIM_STATE_READY; - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Stop the Counter mode in interrupt mode. - * @param hlptim LPTIM handle - * @retval HAL status - */ -HAL_StatusTypeDef HAL_LPTIM_Counter_Stop_IT(LPTIM_HandleTypeDef *hlptim) -{ - /* Check the parameters */ - assert_param(IS_LPTIM_INSTANCE(hlptim->Instance)); - - /* Set the LPTIM state */ - hlptim->State = HAL_LPTIM_STATE_BUSY; -#if defined(EXTI_IMR_MR23) - /* Disable rising edge trigger on the LPTIM Wake-up Timer Exti line */ - __HAL_LPTIM_WAKEUPTIMER_EXTI_DISABLE_RISING_EDGE(); -#endif /* EXTI_IMR_MR23 */ - - /* Disable EXTI Line interrupt on the LPTIM Wake-up Timer */ - __HAL_LPTIM_WAKEUPTIMER_EXTI_DISABLE_IT(); - - /* Disable the Peripheral */ - __HAL_LPTIM_DISABLE(hlptim); - - if (HAL_LPTIM_GetState(hlptim) == HAL_LPTIM_STATE_TIMEOUT) - { - return HAL_TIMEOUT; - } - - /* Disable Autoreload write complete interrupt */ - __HAL_LPTIM_DISABLE_IT(hlptim, LPTIM_IT_ARROK); - - /* Disable Autoreload match interrupt */ - __HAL_LPTIM_DISABLE_IT(hlptim, LPTIM_IT_ARRM); - /* Change the TIM state*/ - hlptim->State = HAL_LPTIM_STATE_READY; - - /* Return function status */ - return HAL_OK; -} - -/** - * @} - */ - -/** @defgroup LPTIM_Exported_Functions_Group3 LPTIM Read operation functions - * @brief Read operation functions. - * -@verbatim - ============================================================================== - ##### LPTIM Read operation functions ##### - ============================================================================== -[..] This section provides LPTIM Reading functions. - (+) Read the counter value. - (+) Read the period (Auto-reload) value. - (+) Read the pulse (Compare)value. -@endverbatim - * @{ - */ - -/** - * @brief Return the current counter value. - * @param hlptim LPTIM handle - * @retval Counter value. - */ -uint32_t HAL_LPTIM_ReadCounter(LPTIM_HandleTypeDef *hlptim) -{ - /* Check the parameters */ - assert_param(IS_LPTIM_INSTANCE(hlptim->Instance)); - - return (hlptim->Instance->CNT); -} - -/** - * @brief Return the current Autoreload (Period) value. - * @param hlptim LPTIM handle - * @retval Autoreload value. - */ -uint32_t HAL_LPTIM_ReadAutoReload(LPTIM_HandleTypeDef *hlptim) -{ - /* Check the parameters */ - assert_param(IS_LPTIM_INSTANCE(hlptim->Instance)); - - return (hlptim->Instance->ARR); -} - -/** - * @brief Return the current Compare (Pulse) value. - * @param hlptim LPTIM handle - * @retval Compare value. - */ -uint32_t HAL_LPTIM_ReadCompare(LPTIM_HandleTypeDef *hlptim) -{ - /* Check the parameters */ - assert_param(IS_LPTIM_INSTANCE(hlptim->Instance)); - - return (hlptim->Instance->CMP); -} - -/** - * @} - */ - -/** @defgroup LPTIM_Exported_Functions_Group4 LPTIM IRQ handler and callbacks - * @brief LPTIM IRQ handler. - * -@verbatim - ============================================================================== - ##### LPTIM IRQ handler and callbacks ##### - ============================================================================== -[..] This section provides LPTIM IRQ handler and callback functions called within - the IRQ handler: - (+) LPTIM interrupt request handler - (+) Compare match Callback - (+) Auto-reload match Callback - (+) External trigger event detection Callback - (+) Compare register write complete Callback - (+) Auto-reload register write complete Callback - (+) Up-counting direction change Callback - (+) Down-counting direction change Callback - -@endverbatim - * @{ - */ - -/** - * @brief Handle LPTIM interrupt request. - * @param hlptim LPTIM handle - * @retval None - */ -void HAL_LPTIM_IRQHandler(LPTIM_HandleTypeDef *hlptim) -{ - /* Compare match interrupt */ - if (__HAL_LPTIM_GET_FLAG(hlptim, LPTIM_FLAG_CMPM) != RESET) - { - if (__HAL_LPTIM_GET_IT_SOURCE(hlptim, LPTIM_IT_CMPM) != RESET) - { - /* Clear Compare match flag */ - __HAL_LPTIM_CLEAR_FLAG(hlptim, LPTIM_FLAG_CMPM); - - /* Compare match Callback */ -#if (USE_HAL_LPTIM_REGISTER_CALLBACKS == 1) - hlptim->CompareMatchCallback(hlptim); -#else - HAL_LPTIM_CompareMatchCallback(hlptim); -#endif /* USE_HAL_LPTIM_REGISTER_CALLBACKS */ - } - } - - /* Autoreload match interrupt */ - if (__HAL_LPTIM_GET_FLAG(hlptim, LPTIM_FLAG_ARRM) != RESET) - { - if (__HAL_LPTIM_GET_IT_SOURCE(hlptim, LPTIM_IT_ARRM) != RESET) - { - /* Clear Autoreload match flag */ - __HAL_LPTIM_CLEAR_FLAG(hlptim, LPTIM_FLAG_ARRM); - - /* Autoreload match Callback */ -#if (USE_HAL_LPTIM_REGISTER_CALLBACKS == 1) - hlptim->AutoReloadMatchCallback(hlptim); -#else - HAL_LPTIM_AutoReloadMatchCallback(hlptim); -#endif /* USE_HAL_LPTIM_REGISTER_CALLBACKS */ - } - } - - /* Trigger detected interrupt */ - if (__HAL_LPTIM_GET_FLAG(hlptim, LPTIM_FLAG_EXTTRIG) != RESET) - { - if (__HAL_LPTIM_GET_IT_SOURCE(hlptim, LPTIM_IT_EXTTRIG) != RESET) - { - /* Clear Trigger detected flag */ - __HAL_LPTIM_CLEAR_FLAG(hlptim, LPTIM_FLAG_EXTTRIG); - - /* Trigger detected callback */ -#if (USE_HAL_LPTIM_REGISTER_CALLBACKS == 1) - hlptim->TriggerCallback(hlptim); -#else - HAL_LPTIM_TriggerCallback(hlptim); -#endif /* USE_HAL_LPTIM_REGISTER_CALLBACKS */ - } - } - - /* Compare write interrupt */ - if (__HAL_LPTIM_GET_FLAG(hlptim, LPTIM_FLAG_CMPOK) != RESET) - { - if (__HAL_LPTIM_GET_IT_SOURCE(hlptim, LPTIM_IT_CMPOK) != RESET) - { - /* Clear Compare write flag */ - __HAL_LPTIM_CLEAR_FLAG(hlptim, LPTIM_FLAG_CMPOK); - - /* Compare write Callback */ -#if (USE_HAL_LPTIM_REGISTER_CALLBACKS == 1) - hlptim->CompareWriteCallback(hlptim); -#else - HAL_LPTIM_CompareWriteCallback(hlptim); -#endif /* USE_HAL_LPTIM_REGISTER_CALLBACKS */ - } - } - - /* Autoreload write interrupt */ - if (__HAL_LPTIM_GET_FLAG(hlptim, LPTIM_FLAG_ARROK) != RESET) - { - if (__HAL_LPTIM_GET_IT_SOURCE(hlptim, LPTIM_IT_ARROK) != RESET) - { - /* Clear Autoreload write flag */ - __HAL_LPTIM_CLEAR_FLAG(hlptim, LPTIM_FLAG_ARROK); - - /* Autoreload write Callback */ -#if (USE_HAL_LPTIM_REGISTER_CALLBACKS == 1) - hlptim->AutoReloadWriteCallback(hlptim); -#else - HAL_LPTIM_AutoReloadWriteCallback(hlptim); -#endif /* USE_HAL_LPTIM_REGISTER_CALLBACKS */ - } - } - - /* Direction counter changed from Down to Up interrupt */ - if (__HAL_LPTIM_GET_FLAG(hlptim, LPTIM_FLAG_UP) != RESET) - { - if (__HAL_LPTIM_GET_IT_SOURCE(hlptim, LPTIM_IT_UP) != RESET) - { - /* Clear Direction counter changed from Down to Up flag */ - __HAL_LPTIM_CLEAR_FLAG(hlptim, LPTIM_FLAG_UP); - - /* Direction counter changed from Down to Up Callback */ -#if (USE_HAL_LPTIM_REGISTER_CALLBACKS == 1) - hlptim->DirectionUpCallback(hlptim); -#else - HAL_LPTIM_DirectionUpCallback(hlptim); -#endif /* USE_HAL_LPTIM_REGISTER_CALLBACKS */ - } - } - - /* Direction counter changed from Up to Down interrupt */ - if (__HAL_LPTIM_GET_FLAG(hlptim, LPTIM_FLAG_DOWN) != RESET) - { - if (__HAL_LPTIM_GET_IT_SOURCE(hlptim, LPTIM_IT_DOWN) != RESET) - { - /* Clear Direction counter changed from Up to Down flag */ - __HAL_LPTIM_CLEAR_FLAG(hlptim, LPTIM_FLAG_DOWN); - - /* Direction counter changed from Up to Down Callback */ -#if (USE_HAL_LPTIM_REGISTER_CALLBACKS == 1) - hlptim->DirectionDownCallback(hlptim); -#else - HAL_LPTIM_DirectionDownCallback(hlptim); -#endif /* USE_HAL_LPTIM_REGISTER_CALLBACKS */ - } - } -#if defined(EXTI_IMR_MR23) - __HAL_LPTIM_WAKEUPTIMER_EXTI_CLEAR_FLAG(); -#endif /* EXTI_IMR_MR23 */ -} - -/** - * @brief Compare match callback in non-blocking mode. - * @param hlptim LPTIM handle - * @retval None - */ -__weak void HAL_LPTIM_CompareMatchCallback(LPTIM_HandleTypeDef *hlptim) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hlptim); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_LPTIM_CompareMatchCallback could be implemented in the user file - */ -} - -/** - * @brief Autoreload match callback in non-blocking mode. - * @param hlptim LPTIM handle - * @retval None - */ -__weak void HAL_LPTIM_AutoReloadMatchCallback(LPTIM_HandleTypeDef *hlptim) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hlptim); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_LPTIM_AutoReloadMatchCallback could be implemented in the user file - */ -} - -/** - * @brief Trigger detected callback in non-blocking mode. - * @param hlptim LPTIM handle - * @retval None - */ -__weak void HAL_LPTIM_TriggerCallback(LPTIM_HandleTypeDef *hlptim) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hlptim); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_LPTIM_TriggerCallback could be implemented in the user file - */ -} - -/** - * @brief Compare write callback in non-blocking mode. - * @param hlptim LPTIM handle - * @retval None - */ -__weak void HAL_LPTIM_CompareWriteCallback(LPTIM_HandleTypeDef *hlptim) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hlptim); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_LPTIM_CompareWriteCallback could be implemented in the user file - */ -} - -/** - * @brief Autoreload write callback in non-blocking mode. - * @param hlptim LPTIM handle - * @retval None - */ -__weak void HAL_LPTIM_AutoReloadWriteCallback(LPTIM_HandleTypeDef *hlptim) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hlptim); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_LPTIM_AutoReloadWriteCallback could be implemented in the user file - */ -} - -/** - * @brief Direction counter changed from Down to Up callback in non-blocking mode. - * @param hlptim LPTIM handle - * @retval None - */ -__weak void HAL_LPTIM_DirectionUpCallback(LPTIM_HandleTypeDef *hlptim) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hlptim); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_LPTIM_DirectionUpCallback could be implemented in the user file - */ -} - -/** - * @brief Direction counter changed from Up to Down callback in non-blocking mode. - * @param hlptim LPTIM handle - * @retval None - */ -__weak void HAL_LPTIM_DirectionDownCallback(LPTIM_HandleTypeDef *hlptim) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hlptim); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_LPTIM_DirectionDownCallback could be implemented in the user file - */ -} - -#if (USE_HAL_LPTIM_REGISTER_CALLBACKS == 1) -/** - * @brief Register a User LPTIM callback to be used instead of the weak predefined callback - * @param hlptim LPTIM handle - * @param CallbackID ID of the callback to be registered - * This parameter can be one of the following values: - * @arg @ref HAL_LPTIM_MSPINIT_CB_ID LPTIM Base Msp Init Callback ID - * @arg @ref HAL_LPTIM_MSPDEINIT_CB_ID LPTIM Base Msp DeInit Callback ID - * @arg @ref HAL_LPTIM_COMPARE_MATCH_CB_ID Compare match Callback ID - * @arg @ref HAL_LPTIM_AUTORELOAD_MATCH_CB_ID Auto-reload match Callback ID - * @arg @ref HAL_LPTIM_TRIGGER_CB_ID External trigger event detection Callback ID - * @arg @ref HAL_LPTIM_COMPARE_WRITE_CB_ID Compare register write complete Callback ID - * @arg @ref HAL_LPTIM_AUTORELOAD_WRITE_CB_ID Auto-reload register write complete Callback ID - * @arg @ref HAL_LPTIM_DIRECTION_UP_CB_ID Up-counting direction change Callback ID - * @arg @ref HAL_LPTIM_DIRECTION_DOWN_CB_ID Down-counting direction change Callback ID - * @param pCallback pointer to the callback function - * @retval status - */ -HAL_StatusTypeDef HAL_LPTIM_RegisterCallback(LPTIM_HandleTypeDef *hlptim, - HAL_LPTIM_CallbackIDTypeDef CallbackID, - pLPTIM_CallbackTypeDef pCallback) -{ - HAL_StatusTypeDef status = HAL_OK; - - if (pCallback == NULL) - { - return HAL_ERROR; - } - - /* Process locked */ - __HAL_LOCK(hlptim); - - if (hlptim->State == HAL_LPTIM_STATE_READY) - { - switch (CallbackID) - { - case HAL_LPTIM_MSPINIT_CB_ID : - hlptim->MspInitCallback = pCallback; - break; - - case HAL_LPTIM_MSPDEINIT_CB_ID : - hlptim->MspDeInitCallback = pCallback; - break; - - case HAL_LPTIM_COMPARE_MATCH_CB_ID : - hlptim->CompareMatchCallback = pCallback; - break; - - case HAL_LPTIM_AUTORELOAD_MATCH_CB_ID : - hlptim->AutoReloadMatchCallback = pCallback; - break; - - case HAL_LPTIM_TRIGGER_CB_ID : - hlptim->TriggerCallback = pCallback; - break; - - case HAL_LPTIM_COMPARE_WRITE_CB_ID : - hlptim->CompareWriteCallback = pCallback; - break; - - case HAL_LPTIM_AUTORELOAD_WRITE_CB_ID : - hlptim->AutoReloadWriteCallback = pCallback; - break; - - case HAL_LPTIM_DIRECTION_UP_CB_ID : - hlptim->DirectionUpCallback = pCallback; - break; - - case HAL_LPTIM_DIRECTION_DOWN_CB_ID : - hlptim->DirectionDownCallback = pCallback; - break; - - default : - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else if (hlptim->State == HAL_LPTIM_STATE_RESET) - { - switch (CallbackID) - { - case HAL_LPTIM_MSPINIT_CB_ID : - hlptim->MspInitCallback = pCallback; - break; - - case HAL_LPTIM_MSPDEINIT_CB_ID : - hlptim->MspDeInitCallback = pCallback; - break; - - default : - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else - { - /* Return error status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(hlptim); - - return status; -} - -/** - * @brief Unregister a LPTIM callback - * LLPTIM callback is redirected to the weak predefined callback - * @param hlptim LPTIM handle - * @param CallbackID ID of the callback to be unregistered - * This parameter can be one of the following values: - * @arg @ref HAL_LPTIM_MSPINIT_CB_ID LPTIM Base Msp Init Callback ID - * @arg @ref HAL_LPTIM_MSPDEINIT_CB_ID LPTIM Base Msp DeInit Callback ID - * @arg @ref HAL_LPTIM_COMPARE_MATCH_CB_ID Compare match Callback ID - * @arg @ref HAL_LPTIM_AUTORELOAD_MATCH_CB_ID Auto-reload match Callback ID - * @arg @ref HAL_LPTIM_TRIGGER_CB_ID External trigger event detection Callback ID - * @arg @ref HAL_LPTIM_COMPARE_WRITE_CB_ID Compare register write complete Callback ID - * @arg @ref HAL_LPTIM_AUTORELOAD_WRITE_CB_ID Auto-reload register write complete Callback ID - * @arg @ref HAL_LPTIM_DIRECTION_UP_CB_ID Up-counting direction change Callback ID - * @arg @ref HAL_LPTIM_DIRECTION_DOWN_CB_ID Down-counting direction change Callback ID - * @retval status - */ -HAL_StatusTypeDef HAL_LPTIM_UnRegisterCallback(LPTIM_HandleTypeDef *hlptim, - HAL_LPTIM_CallbackIDTypeDef CallbackID) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Process locked */ - __HAL_LOCK(hlptim); - - if (hlptim->State == HAL_LPTIM_STATE_READY) - { - switch (CallbackID) - { - case HAL_LPTIM_MSPINIT_CB_ID : - /* Legacy weak MspInit Callback */ - hlptim->MspInitCallback = HAL_LPTIM_MspInit; - break; - - case HAL_LPTIM_MSPDEINIT_CB_ID : - /* Legacy weak Msp DeInit Callback */ - hlptim->MspDeInitCallback = HAL_LPTIM_MspDeInit; - break; - - case HAL_LPTIM_COMPARE_MATCH_CB_ID : - /* Legacy weak Compare match Callback */ - hlptim->CompareMatchCallback = HAL_LPTIM_CompareMatchCallback; - break; - - case HAL_LPTIM_AUTORELOAD_MATCH_CB_ID : - /* Legacy weak Auto-reload match Callback */ - hlptim->AutoReloadMatchCallback = HAL_LPTIM_AutoReloadMatchCallback; - break; - - case HAL_LPTIM_TRIGGER_CB_ID : - /* Legacy weak External trigger event detection Callback */ - hlptim->TriggerCallback = HAL_LPTIM_TriggerCallback; - break; - - case HAL_LPTIM_COMPARE_WRITE_CB_ID : - /* Legacy weak Compare register write complete Callback */ - hlptim->CompareWriteCallback = HAL_LPTIM_CompareWriteCallback; - break; - - case HAL_LPTIM_AUTORELOAD_WRITE_CB_ID : - /* Legacy weak Auto-reload register write complete Callback */ - hlptim->AutoReloadWriteCallback = HAL_LPTIM_AutoReloadWriteCallback; - break; - - case HAL_LPTIM_DIRECTION_UP_CB_ID : - /* Legacy weak Up-counting direction change Callback */ - hlptim->DirectionUpCallback = HAL_LPTIM_DirectionUpCallback; - break; - - case HAL_LPTIM_DIRECTION_DOWN_CB_ID : - /* Legacy weak Down-counting direction change Callback */ - hlptim->DirectionDownCallback = HAL_LPTIM_DirectionDownCallback; - break; - - default : - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else if (hlptim->State == HAL_LPTIM_STATE_RESET) - { - switch (CallbackID) - { - case HAL_LPTIM_MSPINIT_CB_ID : - /* Legacy weak MspInit Callback */ - hlptim->MspInitCallback = HAL_LPTIM_MspInit; - break; - - case HAL_LPTIM_MSPDEINIT_CB_ID : - /* Legacy weak Msp DeInit Callback */ - hlptim->MspDeInitCallback = HAL_LPTIM_MspDeInit; - break; - - default : - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else - { - /* Return error status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(hlptim); - - return status; -} -#endif /* USE_HAL_LPTIM_REGISTER_CALLBACKS */ - -/** - * @} - */ - -/** @defgroup LPTIM_Group5 Peripheral State functions - * @brief Peripheral State functions. - * -@verbatim - ============================================================================== - ##### Peripheral State functions ##### - ============================================================================== - [..] - This subsection permits to get in run-time the status of the peripheral. - -@endverbatim - * @{ - */ - -/** - * @brief Return the LPTIM handle state. - * @param hlptim LPTIM handle - * @retval HAL state - */ -HAL_LPTIM_StateTypeDef HAL_LPTIM_GetState(LPTIM_HandleTypeDef *hlptim) -{ - /* Return LPTIM handle state */ - return hlptim->State; -} - -/** - * @} - */ - - -/** - * @} - */ - -/* Private functions ---------------------------------------------------------*/ - -/** @defgroup LPTIM_Private_Functions LPTIM Private Functions - * @{ - */ -#if (USE_HAL_LPTIM_REGISTER_CALLBACKS == 1) -/** - * @brief Reset interrupt callbacks to the legacy weak callbacks. - * @param lptim pointer to a LPTIM_HandleTypeDef structure that contains - * the configuration information for LPTIM module. - * @retval None - */ -static void LPTIM_ResetCallback(LPTIM_HandleTypeDef *lptim) -{ - /* Reset the LPTIM callback to the legacy weak callbacks */ - lptim->CompareMatchCallback = HAL_LPTIM_CompareMatchCallback; - lptim->AutoReloadMatchCallback = HAL_LPTIM_AutoReloadMatchCallback; - lptim->TriggerCallback = HAL_LPTIM_TriggerCallback; - lptim->CompareWriteCallback = HAL_LPTIM_CompareWriteCallback; - lptim->AutoReloadWriteCallback = HAL_LPTIM_AutoReloadWriteCallback; - lptim->DirectionUpCallback = HAL_LPTIM_DirectionUpCallback; - lptim->DirectionDownCallback = HAL_LPTIM_DirectionDownCallback; -} -#endif /* USE_HAL_LPTIM_REGISTER_CALLBACKS */ - -/** - * @brief LPTimer Wait for flag set - * @param hlptim pointer to a LPTIM_HandleTypeDef structure that contains - * the configuration information for LPTIM module. - * @param flag The lptim flag - * @retval HAL status - */ -static HAL_StatusTypeDef LPTIM_WaitForFlag(LPTIM_HandleTypeDef *hlptim, uint32_t flag) -{ - HAL_StatusTypeDef result = HAL_OK; - uint32_t count = TIMEOUT * (SystemCoreClock / 20UL / 1000UL); - do - { - count--; - if (count == 0UL) - { - result = HAL_TIMEOUT; - } - } while ((!(__HAL_LPTIM_GET_FLAG((hlptim), (flag)))) && (count != 0UL)); - - return result; -} - -/** - * @brief Disable LPTIM HW instance. - * @param hlptim pointer to a LPTIM_HandleTypeDef structure that contains - * the configuration information for LPTIM module. - * @note The following sequence is required to solve LPTIM disable HW limitation. - * Please check Errata Sheet ES0335 for more details under "MCU may remain - * stuck in LPTIM interrupt when entering Stop mode" section. - * @retval None - */ -void LPTIM_Disable(LPTIM_HandleTypeDef *hlptim) -{ - uint32_t tmpclksource = 0; - uint32_t tmpIER; - uint32_t tmpCFGR; - uint32_t tmpCMP; - uint32_t tmpARR; - uint32_t tmpOR; - - __disable_irq(); - - /*********** Save LPTIM Config ***********/ - /* Save LPTIM source clock */ - switch ((uint32_t)hlptim->Instance) - { - case LPTIM1_BASE: - tmpclksource = __HAL_RCC_GET_LPTIM1_SOURCE(); - break; - default: - break; - } - - /* Save LPTIM configuration registers */ - tmpIER = hlptim->Instance->IER; - tmpCFGR = hlptim->Instance->CFGR; - tmpCMP = hlptim->Instance->CMP; - tmpARR = hlptim->Instance->ARR; - tmpOR = hlptim->Instance->OR; - - /*********** Reset LPTIM ***********/ - switch ((uint32_t)hlptim->Instance) - { - case LPTIM1_BASE: - __HAL_RCC_LPTIM1_FORCE_RESET(); - __HAL_RCC_LPTIM1_RELEASE_RESET(); - break; - default: - break; - } - - /*********** Restore LPTIM Config ***********/ - if ((tmpCMP != 0UL) || (tmpARR != 0UL)) - { - /* Force LPTIM source kernel clock from APB */ - switch ((uint32_t)hlptim->Instance) - { - case LPTIM1_BASE: - __HAL_RCC_LPTIM1_CONFIG(RCC_LPTIM1CLKSOURCE_PCLK1); - break; - default: - break; - } - - if (tmpCMP != 0UL) - { - /* Restore CMP register (LPTIM should be enabled first) */ - hlptim->Instance->CR |= LPTIM_CR_ENABLE; - hlptim->Instance->CMP = tmpCMP; - - /* Wait for the completion of the write operation to the LPTIM_CMP register */ - if (LPTIM_WaitForFlag(hlptim, LPTIM_FLAG_CMPOK) == HAL_TIMEOUT) - { - hlptim->State = HAL_LPTIM_STATE_TIMEOUT; - } - __HAL_LPTIM_CLEAR_FLAG(hlptim, LPTIM_FLAG_CMPOK); - } - - if (tmpARR != 0UL) - { - /* Restore ARR register (LPTIM should be enabled first) */ - hlptim->Instance->CR |= LPTIM_CR_ENABLE; - hlptim->Instance->ARR = tmpARR; - - /* Wait for the completion of the write operation to the LPTIM_ARR register */ - if (LPTIM_WaitForFlag(hlptim, LPTIM_FLAG_ARROK) == HAL_TIMEOUT) - { - hlptim->State = HAL_LPTIM_STATE_TIMEOUT; - } - - __HAL_LPTIM_CLEAR_FLAG(hlptim, LPTIM_FLAG_ARROK); - } - - /* Restore LPTIM source kernel clock */ - switch ((uint32_t)hlptim->Instance) - { - case LPTIM1_BASE: - __HAL_RCC_LPTIM1_CONFIG(tmpclksource); - break; - default: - break; - } - } - - /* Restore configuration registers (LPTIM should be disabled first) */ - hlptim->Instance->CR &= ~(LPTIM_CR_ENABLE); - hlptim->Instance->IER = tmpIER; - hlptim->Instance->CFGR = tmpCFGR; - hlptim->Instance->OR = tmpOR; - - __enable_irq(); -} -/** - * @} - */ -#endif /* LPTIM1 */ - -#endif /* HAL_LPTIM_MODULE_ENABLED */ -/** - * @} - */ - -/** - * @} - */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_ltdc.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_ltdc.c deleted file mode 100644 index 7e4413067fb893..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_ltdc.c +++ /dev/null @@ -1,2163 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_ltdc.c - * @author MCD Application Team - * @brief LTDC HAL module driver. - * This file provides firmware functions to manage the following - * functionalities of the LTDC peripheral: - * + Initialization and de-initialization functions - * + IO operation functions - * + Peripheral Control functions - * + Peripheral State and Errors functions - * - @verbatim - ============================================================================== - ##### How to use this driver ##### - ============================================================================== - [..] - The LTDC HAL driver can be used as follows: - - (#) Declare a LTDC_HandleTypeDef handle structure, for example: LTDC_HandleTypeDef hltdc; - - (#) Initialize the LTDC low level resources by implementing the HAL_LTDC_MspInit() API: - (##) Enable the LTDC interface clock - (##) NVIC configuration if you need to use interrupt process - (+++) Configure the LTDC interrupt priority - (+++) Enable the NVIC LTDC IRQ Channel - - (#) Initialize the required configuration through the following parameters: - the LTDC timing, the horizontal and vertical polarity, the pixel clock polarity, - Data Enable polarity and the LTDC background color value using HAL_LTDC_Init() function - - *** Configuration *** - ========================= - [..] - (#) Program the required configuration through the following parameters: - the pixel format, the blending factors, input alpha value, the window size - and the image size using HAL_LTDC_ConfigLayer() function for foreground - or/and background layer. - - (#) Optionally, configure and enable the CLUT using HAL_LTDC_ConfigCLUT() and - HAL_LTDC_EnableCLUT functions. - - (#) Optionally, enable the Dither using HAL_LTDC_EnableDither(). - - (#) Optionally, configure and enable the Color keying using HAL_LTDC_ConfigColorKeying() - and HAL_LTDC_EnableColorKeying functions. - - (#) Optionally, configure LineInterrupt using HAL_LTDC_ProgramLineEvent() - function - - (#) If needed, reconfigure and change the pixel format value, the alpha value - value, the window size, the window position and the layer start address - for foreground or/and background layer using respectively the following - functions: HAL_LTDC_SetPixelFormat(), HAL_LTDC_SetAlpha(), HAL_LTDC_SetWindowSize(), - HAL_LTDC_SetWindowPosition() and HAL_LTDC_SetAddress(). - - (#) Variant functions with _NoReload suffix allows to set the LTDC configuration/settings without immediate reload. - This is useful in case when the program requires to modify serval LTDC settings (on one or both layers) - then applying(reload) these settings in one shot by calling the function HAL_LTDC_Reload(). - - After calling the _NoReload functions to set different color/format/layer settings, - the program shall call the function HAL_LTDC_Reload() to apply(reload) these settings. - Function HAL_LTDC_Reload() can be called with the parameter ReloadType set to LTDC_RELOAD_IMMEDIATE if - an immediate reload is required. - Function HAL_LTDC_Reload() can be called with the parameter ReloadType set to LTDC_RELOAD_VERTICAL_BLANKING if - the reload should be done in the next vertical blanking period, - this option allows to avoid display flicker by applying the new settings during the vertical blanking period. - - - (#) To control LTDC state you can use the following function: HAL_LTDC_GetState() - - *** LTDC HAL driver macros list *** - ============================================= - [..] - Below the list of most used macros in LTDC HAL driver. - - (+) __HAL_LTDC_ENABLE: Enable the LTDC. - (+) __HAL_LTDC_DISABLE: Disable the LTDC. - (+) __HAL_LTDC_LAYER_ENABLE: Enable an LTDC Layer. - (+) __HAL_LTDC_LAYER_DISABLE: Disable an LTDC Layer. - (+) __HAL_LTDC_RELOAD_IMMEDIATE_CONFIG: Reload Layer Configuration. - (+) __HAL_LTDC_GET_FLAG: Get the LTDC pending flags. - (+) __HAL_LTDC_CLEAR_FLAG: Clear the LTDC pending flags. - (+) __HAL_LTDC_ENABLE_IT: Enable the specified LTDC interrupts. - (+) __HAL_LTDC_DISABLE_IT: Disable the specified LTDC interrupts. - (+) __HAL_LTDC_GET_IT_SOURCE: Check whether the specified LTDC interrupt has occurred or not. - - [..] - (@) You can refer to the LTDC HAL driver header file for more useful macros - - - *** Callback registration *** - ============================================= - [..] - The compilation define USE_HAL_LTDC_REGISTER_CALLBACKS when set to 1 - allows the user to configure dynamically the driver callbacks. - Use function HAL_LTDC_RegisterCallback() to register a callback. - - [..] - Function HAL_LTDC_RegisterCallback() allows to register following callbacks: - (+) LineEventCallback : LTDC Line Event Callback. - (+) ReloadEventCallback : LTDC Reload Event Callback. - (+) ErrorCallback : LTDC Error Callback - (+) MspInitCallback : LTDC MspInit. - (+) MspDeInitCallback : LTDC MspDeInit. - [..] - This function takes as parameters the HAL peripheral handle, the callback ID - and a pointer to the user callback function. - - [..] - Use function HAL_LTDC_UnRegisterCallback() to reset a callback to the default - weak function. - HAL_LTDC_UnRegisterCallback() takes as parameters the HAL peripheral handle - and the callback ID. - [..] - This function allows to reset following callbacks: - (+) LineEventCallback : LTDC Line Event Callback - (+) ReloadEventCallback : LTDC Reload Event Callback - (+) ErrorCallback : LTDC Error Callback - (+) MspInitCallback : LTDC MspInit - (+) MspDeInitCallback : LTDC MspDeInit. - - [..] - By default, after the HAL_LTDC_Init and when the state is HAL_LTDC_STATE_RESET - all callbacks are set to the corresponding weak functions: - examples HAL_LTDC_LineEventCallback(), HAL_LTDC_ErrorCallback(). - Exception done for MspInit and MspDeInit functions that are - reset to the legacy weak (surcharged) functions in the HAL_LTDC_Init() and HAL_LTDC_DeInit() - only when these callbacks are null (not registered beforehand). - If not, MspInit or MspDeInit are not null, the HAL_LTDC_Init() and HAL_LTDC_DeInit() - keep and use the user MspInit/MspDeInit callbacks (registered beforehand). - - [..] - Callbacks can be registered/unregistered in HAL_LTDC_STATE_READY state only. - Exception done MspInit/MspDeInit that can be registered/unregistered - in HAL_LTDC_STATE_READY or HAL_LTDC_STATE_RESET state, - thus registered (user) MspInit/DeInit callbacks can be used during the Init/DeInit. - In that case first register the MspInit/MspDeInit user callbacks - using HAL_LTDC_RegisterCallback() before calling HAL_LTDC_DeInit() - or HAL_LTDC_Init() function. - - [..] - When the compilation define USE_HAL_LTDC_REGISTER_CALLBACKS is set to 0 or - not defined, the callback registration feature is not available and all callbacks - are set to the corresponding weak functions. - - @endverbatim - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -#ifdef HAL_LTDC_MODULE_ENABLED - -#if defined (LTDC) - -/** @defgroup LTDC LTDC - * @brief LTDC HAL module driver - * @{ - */ - - -/* Private typedef -----------------------------------------------------------*/ -/* Private define ------------------------------------------------------------*/ -/* Private macro -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private function prototypes -----------------------------------------------*/ -static void LTDC_SetConfig(LTDC_HandleTypeDef *hltdc, LTDC_LayerCfgTypeDef *pLayerCfg, uint32_t LayerIdx); -/* Private functions ---------------------------------------------------------*/ - -/** @defgroup LTDC_Exported_Functions LTDC Exported Functions - * @{ - */ - -/** @defgroup LTDC_Exported_Functions_Group1 Initialization and Configuration functions - * @brief Initialization and Configuration functions - * -@verbatim - =============================================================================== - ##### Initialization and Configuration functions ##### - =============================================================================== - [..] This section provides functions allowing to: - (+) Initialize and configure the LTDC - (+) De-initialize the LTDC - -@endverbatim - * @{ - */ - -/** - * @brief Initialize the LTDC according to the specified parameters in the LTDC_InitTypeDef. - * @param hltdc pointer to a LTDC_HandleTypeDef structure that contains - * the configuration information for the LTDC. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_LTDC_Init(LTDC_HandleTypeDef *hltdc) -{ - uint32_t tmp, tmp1; - - /* Check the LTDC peripheral state */ - if (hltdc == NULL) - { - return HAL_ERROR; - } - - /* Check function parameters */ - assert_param(IS_LTDC_ALL_INSTANCE(hltdc->Instance)); - assert_param(IS_LTDC_HSYNC(hltdc->Init.HorizontalSync)); - assert_param(IS_LTDC_VSYNC(hltdc->Init.VerticalSync)); - assert_param(IS_LTDC_AHBP(hltdc->Init.AccumulatedHBP)); - assert_param(IS_LTDC_AVBP(hltdc->Init.AccumulatedVBP)); - assert_param(IS_LTDC_AAH(hltdc->Init.AccumulatedActiveH)); - assert_param(IS_LTDC_AAW(hltdc->Init.AccumulatedActiveW)); - assert_param(IS_LTDC_TOTALH(hltdc->Init.TotalHeigh)); - assert_param(IS_LTDC_TOTALW(hltdc->Init.TotalWidth)); - assert_param(IS_LTDC_HSPOL(hltdc->Init.HSPolarity)); - assert_param(IS_LTDC_VSPOL(hltdc->Init.VSPolarity)); - assert_param(IS_LTDC_DEPOL(hltdc->Init.DEPolarity)); - assert_param(IS_LTDC_PCPOL(hltdc->Init.PCPolarity)); - -#if (USE_HAL_LTDC_REGISTER_CALLBACKS == 1) - if (hltdc->State == HAL_LTDC_STATE_RESET) - { - /* Allocate lock resource and initialize it */ - hltdc->Lock = HAL_UNLOCKED; - - /* Reset the LTDC callback to the legacy weak callbacks */ - hltdc->LineEventCallback = HAL_LTDC_LineEventCallback; /* Legacy weak LineEventCallback */ - hltdc->ReloadEventCallback = HAL_LTDC_ReloadEventCallback; /* Legacy weak ReloadEventCallback */ - hltdc->ErrorCallback = HAL_LTDC_ErrorCallback; /* Legacy weak ErrorCallback */ - - if (hltdc->MspInitCallback == NULL) - { - hltdc->MspInitCallback = HAL_LTDC_MspInit; - } - /* Init the low level hardware */ - hltdc->MspInitCallback(hltdc); - } -#else - if (hltdc->State == HAL_LTDC_STATE_RESET) - { - /* Allocate lock resource and initialize it */ - hltdc->Lock = HAL_UNLOCKED; - /* Init the low level hardware */ - HAL_LTDC_MspInit(hltdc); - } -#endif /* USE_HAL_LTDC_REGISTER_CALLBACKS */ - - /* Change LTDC peripheral state */ - hltdc->State = HAL_LTDC_STATE_BUSY; - - /* Configure the HS, VS, DE and PC polarity */ - hltdc->Instance->GCR &= ~(LTDC_GCR_HSPOL | LTDC_GCR_VSPOL | LTDC_GCR_DEPOL | LTDC_GCR_PCPOL); - hltdc->Instance->GCR |= (uint32_t)(hltdc->Init.HSPolarity | hltdc->Init.VSPolarity | \ - hltdc->Init.DEPolarity | hltdc->Init.PCPolarity); - - /* Set Synchronization size */ - hltdc->Instance->SSCR &= ~(LTDC_SSCR_VSH | LTDC_SSCR_HSW); - tmp = (hltdc->Init.HorizontalSync << 16U); - hltdc->Instance->SSCR |= (tmp | hltdc->Init.VerticalSync); - - /* Set Accumulated Back porch */ - hltdc->Instance->BPCR &= ~(LTDC_BPCR_AVBP | LTDC_BPCR_AHBP); - tmp = (hltdc->Init.AccumulatedHBP << 16U); - hltdc->Instance->BPCR |= (tmp | hltdc->Init.AccumulatedVBP); - - /* Set Accumulated Active Width */ - hltdc->Instance->AWCR &= ~(LTDC_AWCR_AAH | LTDC_AWCR_AAW); - tmp = (hltdc->Init.AccumulatedActiveW << 16U); - hltdc->Instance->AWCR |= (tmp | hltdc->Init.AccumulatedActiveH); - - /* Set Total Width */ - hltdc->Instance->TWCR &= ~(LTDC_TWCR_TOTALH | LTDC_TWCR_TOTALW); - tmp = (hltdc->Init.TotalWidth << 16U); - hltdc->Instance->TWCR |= (tmp | hltdc->Init.TotalHeigh); - - /* Set the background color value */ - tmp = ((uint32_t)(hltdc->Init.Backcolor.Green) << 8U); - tmp1 = ((uint32_t)(hltdc->Init.Backcolor.Red) << 16U); - hltdc->Instance->BCCR &= ~(LTDC_BCCR_BCBLUE | LTDC_BCCR_BCGREEN | LTDC_BCCR_BCRED); - hltdc->Instance->BCCR |= (tmp1 | tmp | hltdc->Init.Backcolor.Blue); - - /* Enable the Transfer Error and FIFO underrun interrupts */ - __HAL_LTDC_ENABLE_IT(hltdc, LTDC_IT_TE | LTDC_IT_FU); - - /* Enable LTDC by setting LTDCEN bit */ - __HAL_LTDC_ENABLE(hltdc); - - /* Initialize the error code */ - hltdc->ErrorCode = HAL_LTDC_ERROR_NONE; - - /* Initialize the LTDC state*/ - hltdc->State = HAL_LTDC_STATE_READY; - - return HAL_OK; -} - -/** - * @brief De-initialize the LTDC peripheral. - * @param hltdc pointer to a LTDC_HandleTypeDef structure that contains - * the configuration information for the LTDC. - * @retval None - */ - -HAL_StatusTypeDef HAL_LTDC_DeInit(LTDC_HandleTypeDef *hltdc) -{ -#if (USE_HAL_LTDC_REGISTER_CALLBACKS == 1) - if (hltdc->MspDeInitCallback == NULL) - { - hltdc->MspDeInitCallback = HAL_LTDC_MspDeInit; - } - /* DeInit the low level hardware */ - hltdc->MspDeInitCallback(hltdc); -#else - /* DeInit the low level hardware */ - HAL_LTDC_MspDeInit(hltdc); -#endif /* USE_HAL_LTDC_REGISTER_CALLBACKS */ - - /* Initialize the error code */ - hltdc->ErrorCode = HAL_LTDC_ERROR_NONE; - - /* Initialize the LTDC state*/ - hltdc->State = HAL_LTDC_STATE_RESET; - - /* Release Lock */ - __HAL_UNLOCK(hltdc); - - return HAL_OK; -} - -/** - * @brief Initialize the LTDC MSP. - * @param hltdc pointer to a LTDC_HandleTypeDef structure that contains - * the configuration information for the LTDC. - * @retval None - */ -__weak void HAL_LTDC_MspInit(LTDC_HandleTypeDef *hltdc) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hltdc); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_LTDC_MspInit could be implemented in the user file - */ -} - -/** - * @brief De-initialize the LTDC MSP. - * @param hltdc pointer to a LTDC_HandleTypeDef structure that contains - * the configuration information for the LTDC. - * @retval None - */ -__weak void HAL_LTDC_MspDeInit(LTDC_HandleTypeDef *hltdc) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hltdc); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_LTDC_MspDeInit could be implemented in the user file - */ -} - -#if (USE_HAL_LTDC_REGISTER_CALLBACKS == 1) -/** - * @brief Register a User LTDC Callback - * To be used instead of the weak predefined callback - * @param hltdc ltdc handle - * @param CallbackID ID of the callback to be registered - * This parameter can be one of the following values: - * @arg @ref HAL_LTDC_LINE_EVENT_CB_ID Line Event Callback ID - * @arg @ref HAL_LTDC_RELOAD_EVENT_CB_ID Reload Event Callback ID - * @arg @ref HAL_LTDC_ERROR_CB_ID Error Callback ID - * @arg @ref HAL_LTDC_MSPINIT_CB_ID MspInit callback ID - * @arg @ref HAL_LTDC_MSPDEINIT_CB_ID MspDeInit callback ID - * @param pCallback pointer to the Callback function - * @retval status - */ -HAL_StatusTypeDef HAL_LTDC_RegisterCallback(LTDC_HandleTypeDef *hltdc, HAL_LTDC_CallbackIDTypeDef CallbackID, pLTDC_CallbackTypeDef pCallback) -{ - HAL_StatusTypeDef status = HAL_OK; - - if (pCallback == NULL) - { - /* Update the error code */ - hltdc->ErrorCode |= HAL_LTDC_ERROR_INVALID_CALLBACK; - - return HAL_ERROR; - } - /* Process locked */ - __HAL_LOCK(hltdc); - - if (hltdc->State == HAL_LTDC_STATE_READY) - { - switch (CallbackID) - { - case HAL_LTDC_LINE_EVENT_CB_ID : - hltdc->LineEventCallback = pCallback; - break; - - case HAL_LTDC_RELOAD_EVENT_CB_ID : - hltdc->ReloadEventCallback = pCallback; - break; - - case HAL_LTDC_ERROR_CB_ID : - hltdc->ErrorCallback = pCallback; - break; - - case HAL_LTDC_MSPINIT_CB_ID : - hltdc->MspInitCallback = pCallback; - break; - - case HAL_LTDC_MSPDEINIT_CB_ID : - hltdc->MspDeInitCallback = pCallback; - break; - - default : - /* Update the error code */ - hltdc->ErrorCode |= HAL_LTDC_ERROR_INVALID_CALLBACK; - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else if (hltdc->State == HAL_LTDC_STATE_RESET) - { - switch (CallbackID) - { - case HAL_LTDC_MSPINIT_CB_ID : - hltdc->MspInitCallback = pCallback; - break; - - case HAL_LTDC_MSPDEINIT_CB_ID : - hltdc->MspDeInitCallback = pCallback; - break; - - default : - /* Update the error code */ - hltdc->ErrorCode |= HAL_LTDC_ERROR_INVALID_CALLBACK; - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else - { - /* Update the error code */ - hltdc->ErrorCode |= HAL_LTDC_ERROR_INVALID_CALLBACK; - /* Return error status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(hltdc); - - return status; -} - -/** - * @brief Unregister an LTDC Callback - * LTDC callabck is redirected to the weak predefined callback - * @param hltdc ltdc handle - * @param CallbackID ID of the callback to be unregistered - * This parameter can be one of the following values: - * @arg @ref HAL_LTDC_LINE_EVENT_CB_ID Line Event Callback ID - * @arg @ref HAL_LTDC_RELOAD_EVENT_CB_ID Reload Event Callback ID - * @arg @ref HAL_LTDC_ERROR_CB_ID Error Callback ID - * @arg @ref HAL_LTDC_MSPINIT_CB_ID MspInit callback ID - * @arg @ref HAL_LTDC_MSPDEINIT_CB_ID MspDeInit callback ID - * @retval status - */ -HAL_StatusTypeDef HAL_LTDC_UnRegisterCallback(LTDC_HandleTypeDef *hltdc, HAL_LTDC_CallbackIDTypeDef CallbackID) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Process locked */ - __HAL_LOCK(hltdc); - - if (hltdc->State == HAL_LTDC_STATE_READY) - { - switch (CallbackID) - { - case HAL_LTDC_LINE_EVENT_CB_ID : - hltdc->LineEventCallback = HAL_LTDC_LineEventCallback; /* Legacy weak LineEventCallback */ - break; - - case HAL_LTDC_RELOAD_EVENT_CB_ID : - hltdc->ReloadEventCallback = HAL_LTDC_ReloadEventCallback; /* Legacy weak ReloadEventCallback */ - break; - - case HAL_LTDC_ERROR_CB_ID : - hltdc->ErrorCallback = HAL_LTDC_ErrorCallback; /* Legacy weak ErrorCallback */ - break; - - case HAL_LTDC_MSPINIT_CB_ID : - hltdc->MspInitCallback = HAL_LTDC_MspInit; /* Legcay weak MspInit Callback */ - break; - - case HAL_LTDC_MSPDEINIT_CB_ID : - hltdc->MspDeInitCallback = HAL_LTDC_MspDeInit; /* Legcay weak MspDeInit Callback */ - break; - - default : - /* Update the error code */ - hltdc->ErrorCode |= HAL_LTDC_ERROR_INVALID_CALLBACK; - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else if (hltdc->State == HAL_LTDC_STATE_RESET) - { - switch (CallbackID) - { - case HAL_LTDC_MSPINIT_CB_ID : - hltdc->MspInitCallback = HAL_LTDC_MspInit; /* Legcay weak MspInit Callback */ - break; - - case HAL_LTDC_MSPDEINIT_CB_ID : - hltdc->MspDeInitCallback = HAL_LTDC_MspDeInit; /* Legcay weak MspDeInit Callback */ - break; - - default : - /* Update the error code */ - hltdc->ErrorCode |= HAL_LTDC_ERROR_INVALID_CALLBACK; - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else - { - /* Update the error code */ - hltdc->ErrorCode |= HAL_LTDC_ERROR_INVALID_CALLBACK; - /* Return error status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(hltdc); - - return status; -} -#endif /* USE_HAL_LTDC_REGISTER_CALLBACKS */ - -/** - * @} - */ - -/** @defgroup LTDC_Exported_Functions_Group2 IO operation functions - * @brief IO operation functions - * -@verbatim - =============================================================================== - ##### IO operation functions ##### - =============================================================================== - [..] This section provides function allowing to: - (+) Handle LTDC interrupt request - -@endverbatim - * @{ - */ -/** - * @brief Handle LTDC interrupt request. - * @param hltdc pointer to a LTDC_HandleTypeDef structure that contains - * the configuration information for the LTDC. - * @retval HAL status - */ -void HAL_LTDC_IRQHandler(LTDC_HandleTypeDef *hltdc) -{ - uint32_t isrflags = READ_REG(hltdc->Instance->ISR); - uint32_t itsources = READ_REG(hltdc->Instance->IER); - - /* Transfer Error Interrupt management ***************************************/ - if (((isrflags & LTDC_ISR_TERRIF) != 0U) && ((itsources & LTDC_IER_TERRIE) != 0U)) - { - /* Disable the transfer Error interrupt */ - __HAL_LTDC_DISABLE_IT(hltdc, LTDC_IT_TE); - - /* Clear the transfer error flag */ - __HAL_LTDC_CLEAR_FLAG(hltdc, LTDC_FLAG_TE); - - /* Update error code */ - hltdc->ErrorCode |= HAL_LTDC_ERROR_TE; - - /* Change LTDC state */ - hltdc->State = HAL_LTDC_STATE_ERROR; - - /* Process unlocked */ - __HAL_UNLOCK(hltdc); - - /* Transfer error Callback */ -#if (USE_HAL_LTDC_REGISTER_CALLBACKS == 1) - /*Call registered error callback*/ - hltdc->ErrorCallback(hltdc); -#else - /* Call legacy error callback*/ - HAL_LTDC_ErrorCallback(hltdc); -#endif /* USE_HAL_LTDC_REGISTER_CALLBACKS */ - } - - /* FIFO underrun Interrupt management ***************************************/ - if (((isrflags & LTDC_ISR_FUIF) != 0U) && ((itsources & LTDC_IER_FUIE) != 0U)) - { - /* Disable the FIFO underrun interrupt */ - __HAL_LTDC_DISABLE_IT(hltdc, LTDC_IT_FU); - - /* Clear the FIFO underrun flag */ - __HAL_LTDC_CLEAR_FLAG(hltdc, LTDC_FLAG_FU); - - /* Update error code */ - hltdc->ErrorCode |= HAL_LTDC_ERROR_FU; - - /* Change LTDC state */ - hltdc->State = HAL_LTDC_STATE_ERROR; - - /* Process unlocked */ - __HAL_UNLOCK(hltdc); - - /* Transfer error Callback */ -#if (USE_HAL_LTDC_REGISTER_CALLBACKS == 1) - /*Call registered error callback*/ - hltdc->ErrorCallback(hltdc); -#else - /* Call legacy error callback*/ - HAL_LTDC_ErrorCallback(hltdc); -#endif /* USE_HAL_LTDC_REGISTER_CALLBACKS */ - } - - /* Line Interrupt management ************************************************/ - if (((isrflags & LTDC_ISR_LIF) != 0U) && ((itsources & LTDC_IER_LIE) != 0U)) - { - /* Disable the Line interrupt */ - __HAL_LTDC_DISABLE_IT(hltdc, LTDC_IT_LI); - - /* Clear the Line interrupt flag */ - __HAL_LTDC_CLEAR_FLAG(hltdc, LTDC_FLAG_LI); - - /* Change LTDC state */ - hltdc->State = HAL_LTDC_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hltdc); - - /* Line interrupt Callback */ -#if (USE_HAL_LTDC_REGISTER_CALLBACKS == 1) - /*Call registered Line Event callback */ - hltdc->LineEventCallback(hltdc); -#else - /*Call Legacy Line Event callback */ - HAL_LTDC_LineEventCallback(hltdc); -#endif /* USE_HAL_LTDC_REGISTER_CALLBACKS */ - } - - /* Register reload Interrupt management ***************************************/ - if (((isrflags & LTDC_ISR_RRIF) != 0U) && ((itsources & LTDC_IER_RRIE) != 0U)) - { - /* Disable the register reload interrupt */ - __HAL_LTDC_DISABLE_IT(hltdc, LTDC_IT_RR); - - /* Clear the register reload flag */ - __HAL_LTDC_CLEAR_FLAG(hltdc, LTDC_FLAG_RR); - - /* Change LTDC state */ - hltdc->State = HAL_LTDC_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hltdc); - - /* Reload interrupt Callback */ -#if (USE_HAL_LTDC_REGISTER_CALLBACKS == 1) - /*Call registered reload Event callback */ - hltdc->ReloadEventCallback(hltdc); -#else - /*Call Legacy Reload Event callback */ - HAL_LTDC_ReloadEventCallback(hltdc); -#endif /* USE_HAL_LTDC_REGISTER_CALLBACKS */ - } -} - -/** - * @brief Error LTDC callback. - * @param hltdc pointer to a LTDC_HandleTypeDef structure that contains - * the configuration information for the LTDC. - * @retval None - */ -__weak void HAL_LTDC_ErrorCallback(LTDC_HandleTypeDef *hltdc) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hltdc); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_LTDC_ErrorCallback could be implemented in the user file - */ -} - -/** - * @brief Line Event callback. - * @param hltdc pointer to a LTDC_HandleTypeDef structure that contains - * the configuration information for the LTDC. - * @retval None - */ -__weak void HAL_LTDC_LineEventCallback(LTDC_HandleTypeDef *hltdc) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hltdc); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_LTDC_LineEventCallback could be implemented in the user file - */ -} - -/** - * @brief Reload Event callback. - * @param hltdc pointer to a LTDC_HandleTypeDef structure that contains - * the configuration information for the LTDC. - * @retval None - */ -__weak void HAL_LTDC_ReloadEventCallback(LTDC_HandleTypeDef *hltdc) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hltdc); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_LTDC_ReloadEvenCallback could be implemented in the user file - */ -} - -/** - * @} - */ - -/** @defgroup LTDC_Exported_Functions_Group3 Peripheral Control functions - * @brief Peripheral Control functions - * -@verbatim - =============================================================================== - ##### Peripheral Control functions ##### - =============================================================================== - [..] This section provides functions allowing to: - (+) Configure the LTDC foreground or/and background parameters. - (+) Set the active layer. - (+) Configure the color keying. - (+) Configure the C-LUT. - (+) Enable / Disable the color keying. - (+) Enable / Disable the C-LUT. - (+) Update the layer position. - (+) Update the layer size. - (+) Update pixel format on the fly. - (+) Update transparency on the fly. - (+) Update address on the fly. - -@endverbatim - * @{ - */ - -/** - * @brief Configure the LTDC Layer according to the specified - * parameters in the LTDC_InitTypeDef and create the associated handle. - * @param hltdc pointer to a LTDC_HandleTypeDef structure that contains - * the configuration information for the LTDC. - * @param pLayerCfg pointer to a LTDC_LayerCfgTypeDef structure that contains - * the configuration information for the Layer. - * @param LayerIdx LTDC Layer index. - * This parameter can be one of the following values: - * LTDC_LAYER_1 (0) or LTDC_LAYER_2 (1) - * @retval HAL status - */ -HAL_StatusTypeDef HAL_LTDC_ConfigLayer(LTDC_HandleTypeDef *hltdc, LTDC_LayerCfgTypeDef *pLayerCfg, uint32_t LayerIdx) -{ - /* Check the parameters */ - assert_param(IS_LTDC_LAYER(LayerIdx)); - assert_param(IS_LTDC_HCONFIGST(pLayerCfg->WindowX0)); - assert_param(IS_LTDC_HCONFIGSP(pLayerCfg->WindowX1)); - assert_param(IS_LTDC_VCONFIGST(pLayerCfg->WindowY0)); - assert_param(IS_LTDC_VCONFIGSP(pLayerCfg->WindowY1)); - assert_param(IS_LTDC_PIXEL_FORMAT(pLayerCfg->PixelFormat)); - assert_param(IS_LTDC_ALPHA(pLayerCfg->Alpha)); - assert_param(IS_LTDC_ALPHA(pLayerCfg->Alpha0)); - assert_param(IS_LTDC_BLENDING_FACTOR1(pLayerCfg->BlendingFactor1)); - assert_param(IS_LTDC_BLENDING_FACTOR2(pLayerCfg->BlendingFactor2)); - assert_param(IS_LTDC_CFBLL(pLayerCfg->ImageWidth)); - assert_param(IS_LTDC_CFBLNBR(pLayerCfg->ImageHeight)); - - /* Process locked */ - __HAL_LOCK(hltdc); - - /* Change LTDC peripheral state */ - hltdc->State = HAL_LTDC_STATE_BUSY; - - /* Copy new layer configuration into handle structure */ - hltdc->LayerCfg[LayerIdx] = *pLayerCfg; - - /* Configure the LTDC Layer */ - LTDC_SetConfig(hltdc, pLayerCfg, LayerIdx); - - /* Set the Immediate Reload type */ - hltdc->Instance->SRCR = LTDC_SRCR_IMR; - - /* Initialize the LTDC state*/ - hltdc->State = HAL_LTDC_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hltdc); - - return HAL_OK; -} - -/** - * @brief Configure the color keying. - * @param hltdc pointer to a LTDC_HandleTypeDef structure that contains - * the configuration information for the LTDC. - * @param RGBValue the color key value - * @param LayerIdx LTDC Layer index. - * This parameter can be one of the following values: - * LTDC_LAYER_1 (0) or LTDC_LAYER_2 (1) - * @retval HAL status - */ -HAL_StatusTypeDef HAL_LTDC_ConfigColorKeying(LTDC_HandleTypeDef *hltdc, uint32_t RGBValue, uint32_t LayerIdx) -{ - /* Check the parameters */ - assert_param(IS_LTDC_LAYER(LayerIdx)); - - /* Process locked */ - __HAL_LOCK(hltdc); - - /* Change LTDC peripheral state */ - hltdc->State = HAL_LTDC_STATE_BUSY; - - /* Configure the default color values */ - LTDC_LAYER(hltdc, LayerIdx)->CKCR &= ~(LTDC_LxCKCR_CKBLUE | LTDC_LxCKCR_CKGREEN | LTDC_LxCKCR_CKRED); - LTDC_LAYER(hltdc, LayerIdx)->CKCR = RGBValue; - - /* Set the Immediate Reload type */ - hltdc->Instance->SRCR = LTDC_SRCR_IMR; - - /* Change the LTDC state*/ - hltdc->State = HAL_LTDC_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hltdc); - - return HAL_OK; -} - -/** - * @brief Load the color lookup table. - * @param hltdc pointer to a LTDC_HandleTypeDef structure that contains - * the configuration information for the LTDC. - * @param pCLUT pointer to the color lookup table address. - * @param CLUTSize the color lookup table size. - * @param LayerIdx LTDC Layer index. - * This parameter can be one of the following values: - * LTDC_LAYER_1 (0) or LTDC_LAYER_2 (1) - * @retval HAL status - */ -HAL_StatusTypeDef HAL_LTDC_ConfigCLUT(LTDC_HandleTypeDef *hltdc, uint32_t *pCLUT, uint32_t CLUTSize, uint32_t LayerIdx) -{ - uint32_t tmp; - uint32_t counter; - uint32_t *pcolorlut = pCLUT; - /* Check the parameters */ - assert_param(IS_LTDC_LAYER(LayerIdx)); - - /* Process locked */ - __HAL_LOCK(hltdc); - - /* Change LTDC peripheral state */ - hltdc->State = HAL_LTDC_STATE_BUSY; - - for (counter = 0U; (counter < CLUTSize); counter++) - { - if (hltdc->LayerCfg[LayerIdx].PixelFormat == LTDC_PIXEL_FORMAT_AL44) - { - tmp = (((counter + (16U*counter)) << 24U) | ((uint32_t)(*pcolorlut) & 0xFFU) | ((uint32_t)(*pcolorlut) & 0xFF00U) | ((uint32_t)(*pcolorlut) & 0xFF0000U)); - } - else - { - tmp = ((counter << 24U) | ((uint32_t)(*pcolorlut) & 0xFFU) | ((uint32_t)(*pcolorlut) & 0xFF00U) | ((uint32_t)(*pcolorlut) & 0xFF0000U)); - } - - pcolorlut++; - - /* Specifies the C-LUT address and RGB value */ - LTDC_LAYER(hltdc, LayerIdx)->CLUTWR = tmp; - } - - /* Change the LTDC state*/ - hltdc->State = HAL_LTDC_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hltdc); - - return HAL_OK; -} - -/** - * @brief Enable the color keying. - * @param hltdc pointer to a LTDC_HandleTypeDef structure that contains - * the configuration information for the LTDC. - * @param LayerIdx LTDC Layer index. - * This parameter can be one of the following values: - * LTDC_LAYER_1 (0) or LTDC_LAYER_2 (1) - * @retval HAL status - */ -HAL_StatusTypeDef HAL_LTDC_EnableColorKeying(LTDC_HandleTypeDef *hltdc, uint32_t LayerIdx) -{ - /* Check the parameters */ - assert_param(IS_LTDC_LAYER(LayerIdx)); - - /* Process locked */ - __HAL_LOCK(hltdc); - - /* Change LTDC peripheral state */ - hltdc->State = HAL_LTDC_STATE_BUSY; - - /* Enable LTDC color keying by setting COLKEN bit */ - LTDC_LAYER(hltdc, LayerIdx)->CR |= (uint32_t)LTDC_LxCR_COLKEN; - - /* Set the Immediate Reload type */ - hltdc->Instance->SRCR = LTDC_SRCR_IMR; - - /* Change the LTDC state*/ - hltdc->State = HAL_LTDC_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hltdc); - - return HAL_OK; -} - -/** - * @brief Disable the color keying. - * @param hltdc pointer to a LTDC_HandleTypeDef structure that contains - * the configuration information for the LTDC. - * @param LayerIdx LTDC Layer index. - * This parameter can be one of the following values: - * LTDC_LAYER_1 (0) or LTDC_LAYER_2 (1) - * @retval HAL status - */ -HAL_StatusTypeDef HAL_LTDC_DisableColorKeying(LTDC_HandleTypeDef *hltdc, uint32_t LayerIdx) -{ - /* Check the parameters */ - assert_param(IS_LTDC_LAYER(LayerIdx)); - - /* Process locked */ - __HAL_LOCK(hltdc); - - /* Change LTDC peripheral state */ - hltdc->State = HAL_LTDC_STATE_BUSY; - - /* Disable LTDC color keying by setting COLKEN bit */ - LTDC_LAYER(hltdc, LayerIdx)->CR &= ~(uint32_t)LTDC_LxCR_COLKEN; - - /* Set the Immediate Reload type */ - hltdc->Instance->SRCR = LTDC_SRCR_IMR; - - /* Change the LTDC state*/ - hltdc->State = HAL_LTDC_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hltdc); - - return HAL_OK; -} - -/** - * @brief Enable the color lookup table. - * @param hltdc pointer to a LTDC_HandleTypeDef structure that contains - * the configuration information for the LTDC. - * @param LayerIdx LTDC Layer index. - * This parameter can be one of the following values: - * LTDC_LAYER_1 (0) or LTDC_LAYER_2 (1) - * @retval HAL status - */ -HAL_StatusTypeDef HAL_LTDC_EnableCLUT(LTDC_HandleTypeDef *hltdc, uint32_t LayerIdx) -{ - /* Check the parameters */ - assert_param(IS_LTDC_LAYER(LayerIdx)); - - /* Process locked */ - __HAL_LOCK(hltdc); - - /* Change LTDC peripheral state */ - hltdc->State = HAL_LTDC_STATE_BUSY; - - /* Enable LTDC color lookup table by setting CLUTEN bit */ - LTDC_LAYER(hltdc, LayerIdx)->CR |= (uint32_t)LTDC_LxCR_CLUTEN; - - /* Set the Immediate Reload type */ - hltdc->Instance->SRCR = LTDC_SRCR_IMR; - - /* Change the LTDC state*/ - hltdc->State = HAL_LTDC_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hltdc); - - return HAL_OK; -} - -/** - * @brief Disable the color lookup table. - * @param hltdc pointer to a LTDC_HandleTypeDef structure that contains - * the configuration information for the LTDC. - * @param LayerIdx LTDC Layer index. - * This parameter can be one of the following values: - * LTDC_LAYER_1 (0) or LTDC_LAYER_2 (1) - * @retval HAL status - */ -HAL_StatusTypeDef HAL_LTDC_DisableCLUT(LTDC_HandleTypeDef *hltdc, uint32_t LayerIdx) -{ - /* Check the parameters */ - assert_param(IS_LTDC_LAYER(LayerIdx)); - - /* Process locked */ - __HAL_LOCK(hltdc); - - /* Change LTDC peripheral state */ - hltdc->State = HAL_LTDC_STATE_BUSY; - - /* Disable LTDC color lookup table by setting CLUTEN bit */ - LTDC_LAYER(hltdc, LayerIdx)->CR &= ~(uint32_t)LTDC_LxCR_CLUTEN; - - /* Set the Immediate Reload type */ - hltdc->Instance->SRCR = LTDC_SRCR_IMR; - - /* Change the LTDC state*/ - hltdc->State = HAL_LTDC_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hltdc); - - return HAL_OK; -} - -/** - * @brief Enable Dither. - * @param hltdc pointer to a LTDC_HandleTypeDef structure that contains - * the configuration information for the LTDC. - * @retval HAL status - */ - -HAL_StatusTypeDef HAL_LTDC_EnableDither(LTDC_HandleTypeDef *hltdc) -{ - /* Process locked */ - __HAL_LOCK(hltdc); - - /* Change LTDC peripheral state */ - hltdc->State = HAL_LTDC_STATE_BUSY; - - /* Enable Dither by setting DTEN bit */ - LTDC->GCR |= (uint32_t)LTDC_GCR_DEN; - - /* Change the LTDC state*/ - hltdc->State = HAL_LTDC_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hltdc); - - return HAL_OK; -} - -/** - * @brief Disable Dither. - * @param hltdc pointer to a LTDC_HandleTypeDef structure that contains - * the configuration information for the LTDC. - * @retval HAL status - */ - -HAL_StatusTypeDef HAL_LTDC_DisableDither(LTDC_HandleTypeDef *hltdc) -{ - /* Process locked */ - __HAL_LOCK(hltdc); - - /* Change LTDC peripheral state */ - hltdc->State = HAL_LTDC_STATE_BUSY; - - /* Disable Dither by setting DTEN bit */ - LTDC->GCR &= ~(uint32_t)LTDC_GCR_DEN; - - /* Change the LTDC state*/ - hltdc->State = HAL_LTDC_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hltdc); - - return HAL_OK; -} - -/** - * @brief Set the LTDC window size. - * @param hltdc pointer to a LTDC_HandleTypeDef structure that contains - * the configuration information for the LTDC. - * @param XSize LTDC Pixel per line - * @param YSize LTDC Line number - * @param LayerIdx LTDC Layer index. - * This parameter can be one of the following values: - * LTDC_LAYER_1 (0) or LTDC_LAYER_2 (1) - * @retval HAL status - */ -HAL_StatusTypeDef HAL_LTDC_SetWindowSize(LTDC_HandleTypeDef *hltdc, uint32_t XSize, uint32_t YSize, uint32_t LayerIdx) -{ - LTDC_LayerCfgTypeDef *pLayerCfg; - - /* Check the parameters (Layers parameters)*/ - assert_param(IS_LTDC_LAYER(LayerIdx)); - assert_param(IS_LTDC_CFBLL(XSize)); - assert_param(IS_LTDC_CFBLNBR(YSize)); - - /* Process locked */ - __HAL_LOCK(hltdc); - - /* Change LTDC peripheral state */ - hltdc->State = HAL_LTDC_STATE_BUSY; - - /* Get layer configuration from handle structure */ - pLayerCfg = &hltdc->LayerCfg[LayerIdx]; - - /* update horizontal stop */ - pLayerCfg->WindowX1 = XSize + pLayerCfg->WindowX0; - - /* update vertical stop */ - pLayerCfg->WindowY1 = YSize + pLayerCfg->WindowY0; - - /* Reconfigures the color frame buffer pitch in byte */ - pLayerCfg->ImageWidth = XSize; - - /* Reconfigures the frame buffer line number */ - pLayerCfg->ImageHeight = YSize; - - /* Set LTDC parameters */ - LTDC_SetConfig(hltdc, pLayerCfg, LayerIdx); - - /* Set the Immediate Reload type */ - hltdc->Instance->SRCR = LTDC_SRCR_IMR; - - /* Change the LTDC state*/ - hltdc->State = HAL_LTDC_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hltdc); - - return HAL_OK; -} - -/** - * @brief Set the LTDC window position. - * @param hltdc pointer to a LTDC_HandleTypeDef structure that contains - * the configuration information for the LTDC. - * @param X0 LTDC window X offset - * @param Y0 LTDC window Y offset - * @param LayerIdx LTDC Layer index. - * This parameter can be one of the following values: - * LTDC_LAYER_1 (0) or LTDC_LAYER_2 (1) - * @retval HAL status - */ -HAL_StatusTypeDef HAL_LTDC_SetWindowPosition(LTDC_HandleTypeDef *hltdc, uint32_t X0, uint32_t Y0, uint32_t LayerIdx) -{ - LTDC_LayerCfgTypeDef *pLayerCfg; - - /* Check the parameters */ - assert_param(IS_LTDC_LAYER(LayerIdx)); - assert_param(IS_LTDC_CFBLL(X0)); - assert_param(IS_LTDC_CFBLNBR(Y0)); - - /* Process locked */ - __HAL_LOCK(hltdc); - - /* Change LTDC peripheral state */ - hltdc->State = HAL_LTDC_STATE_BUSY; - - /* Get layer configuration from handle structure */ - pLayerCfg = &hltdc->LayerCfg[LayerIdx]; - - /* update horizontal start/stop */ - pLayerCfg->WindowX0 = X0; - pLayerCfg->WindowX1 = X0 + pLayerCfg->ImageWidth; - - /* update vertical start/stop */ - pLayerCfg->WindowY0 = Y0; - pLayerCfg->WindowY1 = Y0 + pLayerCfg->ImageHeight; - - /* Set LTDC parameters */ - LTDC_SetConfig(hltdc, pLayerCfg, LayerIdx); - - /* Set the Immediate Reload type */ - hltdc->Instance->SRCR = LTDC_SRCR_IMR; - - /* Change the LTDC state*/ - hltdc->State = HAL_LTDC_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hltdc); - - return HAL_OK; -} - -/** - * @brief Reconfigure the pixel format. - * @param hltdc pointer to a LTDC_HandleTypeDef structure that contains - * the configuration information for the LTDC. - * @param Pixelformat new pixel format value. - * @param LayerIdx LTDC Layer index. - * This parameter can be one of the following values: - * LTDC_LAYER_1 (0) or LTDC_LAYER_2 (1). - * @retval HAL status - */ -HAL_StatusTypeDef HAL_LTDC_SetPixelFormat(LTDC_HandleTypeDef *hltdc, uint32_t Pixelformat, uint32_t LayerIdx) -{ - LTDC_LayerCfgTypeDef *pLayerCfg; - - /* Check the parameters */ - assert_param(IS_LTDC_PIXEL_FORMAT(Pixelformat)); - assert_param(IS_LTDC_LAYER(LayerIdx)); - - /* Process locked */ - __HAL_LOCK(hltdc); - - /* Change LTDC peripheral state */ - hltdc->State = HAL_LTDC_STATE_BUSY; - - /* Get layer configuration from handle structure */ - pLayerCfg = &hltdc->LayerCfg[LayerIdx]; - - /* Reconfigure the pixel format */ - pLayerCfg->PixelFormat = Pixelformat; - - /* Set LTDC parameters */ - LTDC_SetConfig(hltdc, pLayerCfg, LayerIdx); - - /* Set the Immediate Reload type */ - hltdc->Instance->SRCR = LTDC_SRCR_IMR; - - /* Change the LTDC state*/ - hltdc->State = HAL_LTDC_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hltdc); - - return HAL_OK; -} - -/** - * @brief Reconfigure the layer alpha value. - * @param hltdc pointer to a LTDC_HandleTypeDef structure that contains - * the configuration information for the LTDC. - * @param Alpha new alpha value. - * @param LayerIdx LTDC Layer index. - * This parameter can be one of the following values: - * LTDC_LAYER_1 (0) or LTDC_LAYER_2 (1) - * @retval HAL status - */ -HAL_StatusTypeDef HAL_LTDC_SetAlpha(LTDC_HandleTypeDef *hltdc, uint32_t Alpha, uint32_t LayerIdx) -{ - LTDC_LayerCfgTypeDef *pLayerCfg; - - /* Check the parameters */ - assert_param(IS_LTDC_ALPHA(Alpha)); - assert_param(IS_LTDC_LAYER(LayerIdx)); - - /* Process locked */ - __HAL_LOCK(hltdc); - - /* Change LTDC peripheral state */ - hltdc->State = HAL_LTDC_STATE_BUSY; - - /* Get layer configuration from handle structure */ - pLayerCfg = &hltdc->LayerCfg[LayerIdx]; - - /* Reconfigure the Alpha value */ - pLayerCfg->Alpha = Alpha; - - /* Set LTDC parameters */ - LTDC_SetConfig(hltdc, pLayerCfg, LayerIdx); - - /* Set the Immediate Reload type */ - hltdc->Instance->SRCR = LTDC_SRCR_IMR; - - /* Change the LTDC state*/ - hltdc->State = HAL_LTDC_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hltdc); - - return HAL_OK; -} -/** - * @brief Reconfigure the frame buffer Address. - * @param hltdc pointer to a LTDC_HandleTypeDef structure that contains - * the configuration information for the LTDC. - * @param Address new address value. - * @param LayerIdx LTDC Layer index. - * This parameter can be one of the following values: - * LTDC_LAYER_1 (0) or LTDC_LAYER_2 (1). - * @retval HAL status - */ -HAL_StatusTypeDef HAL_LTDC_SetAddress(LTDC_HandleTypeDef *hltdc, uint32_t Address, uint32_t LayerIdx) -{ - LTDC_LayerCfgTypeDef *pLayerCfg; - - /* Check the parameters */ - assert_param(IS_LTDC_LAYER(LayerIdx)); - - /* Process locked */ - __HAL_LOCK(hltdc); - - /* Change LTDC peripheral state */ - hltdc->State = HAL_LTDC_STATE_BUSY; - - /* Get layer configuration from handle structure */ - pLayerCfg = &hltdc->LayerCfg[LayerIdx]; - - /* Reconfigure the Address */ - pLayerCfg->FBStartAdress = Address; - - /* Set LTDC parameters */ - LTDC_SetConfig(hltdc, pLayerCfg, LayerIdx); - - /* Set the Immediate Reload type */ - hltdc->Instance->SRCR = LTDC_SRCR_IMR; - - /* Change the LTDC state*/ - hltdc->State = HAL_LTDC_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hltdc); - - return HAL_OK; -} - -/** - * @brief Function used to reconfigure the pitch for specific cases where the attached LayerIdx buffer have a width that is - * larger than the one intended to be displayed on screen. Example of a buffer 800x480 attached to layer for which we - * want to read and display on screen only a portion 320x240 taken in the center of the buffer. The pitch in pixels - * will be in that case 800 pixels and not 320 pixels as initially configured by previous call to HAL_LTDC_ConfigLayer(). - * @note This function should be called only after a previous call to HAL_LTDC_ConfigLayer() to modify the default pitch - * configured by HAL_LTDC_ConfigLayer() when required (refer to example described just above). - * @param hltdc pointer to a LTDC_HandleTypeDef structure that contains - * the configuration information for the LTDC. - * @param LinePitchInPixels New line pitch in pixels to configure for LTDC layer 'LayerIdx'. - * @param LayerIdx LTDC layer index concerned by the modification of line pitch. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_LTDC_SetPitch(LTDC_HandleTypeDef *hltdc, uint32_t LinePitchInPixels, uint32_t LayerIdx) -{ - uint32_t tmp; - uint32_t pitchUpdate; - uint32_t pixelFormat; - - /* Check the parameters */ - assert_param(IS_LTDC_LAYER(LayerIdx)); - - /* Process locked */ - __HAL_LOCK(hltdc); - - /* Change LTDC peripheral state */ - hltdc->State = HAL_LTDC_STATE_BUSY; - - /* get LayerIdx used pixel format */ - pixelFormat = hltdc->LayerCfg[LayerIdx].PixelFormat; - - if (pixelFormat == LTDC_PIXEL_FORMAT_ARGB8888) - { - tmp = 4U; - } - else if (pixelFormat == LTDC_PIXEL_FORMAT_RGB888) - { - tmp = 3U; - } - else if ((pixelFormat == LTDC_PIXEL_FORMAT_ARGB4444) || \ - (pixelFormat == LTDC_PIXEL_FORMAT_RGB565) || \ - (pixelFormat == LTDC_PIXEL_FORMAT_ARGB1555) || \ - (pixelFormat == LTDC_PIXEL_FORMAT_AL88)) - { - tmp = 2U; - } - else - { - tmp = 1U; - } - - pitchUpdate = ((LinePitchInPixels * tmp) << 16U); - - /* Clear previously set standard pitch */ - LTDC_LAYER(hltdc, LayerIdx)->CFBLR &= ~LTDC_LxCFBLR_CFBP; - - /* Set the Reload type as immediate update of LTDC pitch configured above */ - LTDC->SRCR |= LTDC_SRCR_IMR; - - /* Set new line pitch value */ - LTDC_LAYER(hltdc, LayerIdx)->CFBLR |= pitchUpdate; - - /* Set the Reload type as immediate update of LTDC pitch configured above */ - LTDC->SRCR |= LTDC_SRCR_IMR; - - /* Change the LTDC state*/ - hltdc->State = HAL_LTDC_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hltdc); - - return HAL_OK; -} - -/** - * @brief Define the position of the line interrupt. - * @param hltdc pointer to a LTDC_HandleTypeDef structure that contains - * the configuration information for the LTDC. - * @param Line Line Interrupt Position. - * @note User application may resort to HAL_LTDC_LineEventCallback() at line interrupt generation. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_LTDC_ProgramLineEvent(LTDC_HandleTypeDef *hltdc, uint32_t Line) -{ - /* Check the parameters */ - assert_param(IS_LTDC_LIPOS(Line)); - - /* Process locked */ - __HAL_LOCK(hltdc); - - /* Change LTDC peripheral state */ - hltdc->State = HAL_LTDC_STATE_BUSY; - - /* Disable the Line interrupt */ - __HAL_LTDC_DISABLE_IT(hltdc, LTDC_IT_LI); - - /* Set the Line Interrupt position */ - LTDC->LIPCR = (uint32_t)Line; - - /* Enable the Line interrupt */ - __HAL_LTDC_ENABLE_IT(hltdc, LTDC_IT_LI); - - /* Change the LTDC state*/ - hltdc->State = HAL_LTDC_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hltdc); - - return HAL_OK; -} - -/** - * @brief Reload LTDC Layers configuration. - * @param hltdc pointer to a LTDC_HandleTypeDef structure that contains - * the configuration information for the LTDC. - * @param ReloadType This parameter can be one of the following values : - * LTDC_RELOAD_IMMEDIATE : Immediate Reload - * LTDC_RELOAD_VERTICAL_BLANKING : Reload in the next Vertical Blanking - * @note User application may resort to HAL_LTDC_ReloadEventCallback() at reload interrupt generation. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_LTDC_Reload(LTDC_HandleTypeDef *hltdc, uint32_t ReloadType) -{ - /* Check the parameters */ - assert_param(IS_LTDC_RELOAD(ReloadType)); - - /* Process locked */ - __HAL_LOCK(hltdc); - - /* Change LTDC peripheral state */ - hltdc->State = HAL_LTDC_STATE_BUSY; - - /* Enable the Reload interrupt */ - __HAL_LTDC_ENABLE_IT(hltdc, LTDC_IT_RR); - - /* Apply Reload type */ - hltdc->Instance->SRCR = ReloadType; - - /* Change the LTDC state*/ - hltdc->State = HAL_LTDC_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hltdc); - - return HAL_OK; -} - -/** - * @brief Configure the LTDC Layer according to the specified without reloading - * parameters in the LTDC_InitTypeDef and create the associated handle. - * Variant of the function HAL_LTDC_ConfigLayer without immediate reload. - * @param hltdc pointer to a LTDC_HandleTypeDef structure that contains - * the configuration information for the LTDC. - * @param pLayerCfg pointer to a LTDC_LayerCfgTypeDef structure that contains - * the configuration information for the Layer. - * @param LayerIdx LTDC Layer index. - * This parameter can be one of the following values: - * LTDC_LAYER_1 (0) or LTDC_LAYER_2 (1) - * @retval HAL status - */ -HAL_StatusTypeDef HAL_LTDC_ConfigLayer_NoReload(LTDC_HandleTypeDef *hltdc, LTDC_LayerCfgTypeDef *pLayerCfg, uint32_t LayerIdx) -{ - /* Check the parameters */ - assert_param(IS_LTDC_LAYER(LayerIdx)); - assert_param(IS_LTDC_HCONFIGST(pLayerCfg->WindowX0)); - assert_param(IS_LTDC_HCONFIGSP(pLayerCfg->WindowX1)); - assert_param(IS_LTDC_VCONFIGST(pLayerCfg->WindowY0)); - assert_param(IS_LTDC_VCONFIGSP(pLayerCfg->WindowY1)); - assert_param(IS_LTDC_PIXEL_FORMAT(pLayerCfg->PixelFormat)); - assert_param(IS_LTDC_ALPHA(pLayerCfg->Alpha)); - assert_param(IS_LTDC_ALPHA(pLayerCfg->Alpha0)); - assert_param(IS_LTDC_BLENDING_FACTOR1(pLayerCfg->BlendingFactor1)); - assert_param(IS_LTDC_BLENDING_FACTOR2(pLayerCfg->BlendingFactor2)); - assert_param(IS_LTDC_CFBLL(pLayerCfg->ImageWidth)); - assert_param(IS_LTDC_CFBLNBR(pLayerCfg->ImageHeight)); - - /* Process locked */ - __HAL_LOCK(hltdc); - - /* Change LTDC peripheral state */ - hltdc->State = HAL_LTDC_STATE_BUSY; - - /* Copy new layer configuration into handle structure */ - hltdc->LayerCfg[LayerIdx] = *pLayerCfg; - - /* Configure the LTDC Layer */ - LTDC_SetConfig(hltdc, pLayerCfg, LayerIdx); - - /* Initialize the LTDC state*/ - hltdc->State = HAL_LTDC_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hltdc); - - return HAL_OK; -} - -/** - * @brief Set the LTDC window size without reloading. - * Variant of the function HAL_LTDC_SetWindowSize without immediate reload. - * @param hltdc pointer to a LTDC_HandleTypeDef structure that contains - * the configuration information for the LTDC. - * @param XSize LTDC Pixel per line - * @param YSize LTDC Line number - * @param LayerIdx LTDC Layer index. - * This parameter can be one of the following values: - * LTDC_LAYER_1 (0) or LTDC_LAYER_2 (1) - * @retval HAL status - */ -HAL_StatusTypeDef HAL_LTDC_SetWindowSize_NoReload(LTDC_HandleTypeDef *hltdc, uint32_t XSize, uint32_t YSize, uint32_t LayerIdx) -{ - LTDC_LayerCfgTypeDef *pLayerCfg; - - /* Check the parameters (Layers parameters)*/ - assert_param(IS_LTDC_LAYER(LayerIdx)); - assert_param(IS_LTDC_CFBLL(XSize)); - assert_param(IS_LTDC_CFBLNBR(YSize)); - - /* Process locked */ - __HAL_LOCK(hltdc); - - /* Change LTDC peripheral state */ - hltdc->State = HAL_LTDC_STATE_BUSY; - - /* Get layer configuration from handle structure */ - pLayerCfg = &hltdc->LayerCfg[LayerIdx]; - - /* update horizontal stop */ - pLayerCfg->WindowX1 = XSize + pLayerCfg->WindowX0; - - /* update vertical stop */ - pLayerCfg->WindowY1 = YSize + pLayerCfg->WindowY0; - - /* Reconfigures the color frame buffer pitch in byte */ - pLayerCfg->ImageWidth = XSize; - - /* Reconfigures the frame buffer line number */ - pLayerCfg->ImageHeight = YSize; - - /* Set LTDC parameters */ - LTDC_SetConfig(hltdc, pLayerCfg, LayerIdx); - - /* Change the LTDC state*/ - hltdc->State = HAL_LTDC_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hltdc); - - return HAL_OK; -} - -/** - * @brief Set the LTDC window position without reloading. - * Variant of the function HAL_LTDC_SetWindowPosition without immediate reload. - * @param hltdc pointer to a LTDC_HandleTypeDef structure that contains - * the configuration information for the LTDC. - * @param X0 LTDC window X offset - * @param Y0 LTDC window Y offset - * @param LayerIdx LTDC Layer index. - * This parameter can be one of the following values: - * LTDC_LAYER_1 (0) or LTDC_LAYER_2 (1) - * @retval HAL status - */ -HAL_StatusTypeDef HAL_LTDC_SetWindowPosition_NoReload(LTDC_HandleTypeDef *hltdc, uint32_t X0, uint32_t Y0, uint32_t LayerIdx) -{ - LTDC_LayerCfgTypeDef *pLayerCfg; - - /* Check the parameters */ - assert_param(IS_LTDC_LAYER(LayerIdx)); - assert_param(IS_LTDC_CFBLL(X0)); - assert_param(IS_LTDC_CFBLNBR(Y0)); - - /* Process locked */ - __HAL_LOCK(hltdc); - - /* Change LTDC peripheral state */ - hltdc->State = HAL_LTDC_STATE_BUSY; - - /* Get layer configuration from handle structure */ - pLayerCfg = &hltdc->LayerCfg[LayerIdx]; - - /* update horizontal start/stop */ - pLayerCfg->WindowX0 = X0; - pLayerCfg->WindowX1 = X0 + pLayerCfg->ImageWidth; - - /* update vertical start/stop */ - pLayerCfg->WindowY0 = Y0; - pLayerCfg->WindowY1 = Y0 + pLayerCfg->ImageHeight; - - /* Set LTDC parameters */ - LTDC_SetConfig(hltdc, pLayerCfg, LayerIdx); - - /* Change the LTDC state*/ - hltdc->State = HAL_LTDC_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hltdc); - - return HAL_OK; -} - -/** - * @brief Reconfigure the pixel format without reloading. - * Variant of the function HAL_LTDC_SetPixelFormat without immediate reload. - * @param hltdc pointer to a LTDC_HandleTypeDfef structure that contains - * the configuration information for the LTDC. - * @param Pixelformat new pixel format value. - * @param LayerIdx LTDC Layer index. - * This parameter can be one of the following values: - * LTDC_LAYER_1 (0) or LTDC_LAYER_2 (1). - * @retval HAL status - */ -HAL_StatusTypeDef HAL_LTDC_SetPixelFormat_NoReload(LTDC_HandleTypeDef *hltdc, uint32_t Pixelformat, uint32_t LayerIdx) -{ - LTDC_LayerCfgTypeDef *pLayerCfg; - - /* Check the parameters */ - assert_param(IS_LTDC_PIXEL_FORMAT(Pixelformat)); - assert_param(IS_LTDC_LAYER(LayerIdx)); - - /* Process locked */ - __HAL_LOCK(hltdc); - - /* Change LTDC peripheral state */ - hltdc->State = HAL_LTDC_STATE_BUSY; - - /* Get layer configuration from handle structure */ - pLayerCfg = &hltdc->LayerCfg[LayerIdx]; - - /* Reconfigure the pixel format */ - pLayerCfg->PixelFormat = Pixelformat; - - /* Set LTDC parameters */ - LTDC_SetConfig(hltdc, pLayerCfg, LayerIdx); - - /* Change the LTDC state*/ - hltdc->State = HAL_LTDC_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hltdc); - - return HAL_OK; -} - -/** - * @brief Reconfigure the layer alpha value without reloading. - * Variant of the function HAL_LTDC_SetAlpha without immediate reload. - * @param hltdc pointer to a LTDC_HandleTypeDef structure that contains - * the configuration information for the LTDC. - * @param Alpha new alpha value. - * @param LayerIdx LTDC Layer index. - * This parameter can be one of the following values: - * LTDC_LAYER_1 (0) or LTDC_LAYER_2 (1) - * @retval HAL status - */ -HAL_StatusTypeDef HAL_LTDC_SetAlpha_NoReload(LTDC_HandleTypeDef *hltdc, uint32_t Alpha, uint32_t LayerIdx) -{ - LTDC_LayerCfgTypeDef *pLayerCfg; - - /* Check the parameters */ - assert_param(IS_LTDC_ALPHA(Alpha)); - assert_param(IS_LTDC_LAYER(LayerIdx)); - - /* Process locked */ - __HAL_LOCK(hltdc); - - /* Change LTDC peripheral state */ - hltdc->State = HAL_LTDC_STATE_BUSY; - - /* Get layer configuration from handle structure */ - pLayerCfg = &hltdc->LayerCfg[LayerIdx]; - - /* Reconfigure the Alpha value */ - pLayerCfg->Alpha = Alpha; - - /* Set LTDC parameters */ - LTDC_SetConfig(hltdc, pLayerCfg, LayerIdx); - - /* Change the LTDC state*/ - hltdc->State = HAL_LTDC_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hltdc); - - return HAL_OK; -} - -/** - * @brief Reconfigure the frame buffer Address without reloading. - * Variant of the function HAL_LTDC_SetAddress without immediate reload. - * @param hltdc pointer to a LTDC_HandleTypeDef structure that contains - * the configuration information for the LTDC. - * @param Address new address value. - * @param LayerIdx LTDC Layer index. - * This parameter can be one of the following values: - * LTDC_LAYER_1 (0) or LTDC_LAYER_2 (1). - * @retval HAL status - */ -HAL_StatusTypeDef HAL_LTDC_SetAddress_NoReload(LTDC_HandleTypeDef *hltdc, uint32_t Address, uint32_t LayerIdx) -{ - LTDC_LayerCfgTypeDef *pLayerCfg; - - /* Check the parameters */ - assert_param(IS_LTDC_LAYER(LayerIdx)); - - /* Process locked */ - __HAL_LOCK(hltdc); - - /* Change LTDC peripheral state */ - hltdc->State = HAL_LTDC_STATE_BUSY; - - /* Get layer configuration from handle structure */ - pLayerCfg = &hltdc->LayerCfg[LayerIdx]; - - /* Reconfigure the Address */ - pLayerCfg->FBStartAdress = Address; - - /* Set LTDC parameters */ - LTDC_SetConfig(hltdc, pLayerCfg, LayerIdx); - - /* Change the LTDC state*/ - hltdc->State = HAL_LTDC_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hltdc); - - return HAL_OK; -} - -/** - * @brief Function used to reconfigure the pitch for specific cases where the attached LayerIdx buffer have a width that is - * larger than the one intended to be displayed on screen. Example of a buffer 800x480 attached to layer for which we - * want to read and display on screen only a portion 320x240 taken in the center of the buffer. The pitch in pixels - * will be in that case 800 pixels and not 320 pixels as initially configured by previous call to HAL_LTDC_ConfigLayer(). - * @note This function should be called only after a previous call to HAL_LTDC_ConfigLayer() to modify the default pitch - * configured by HAL_LTDC_ConfigLayer() when required (refer to example described just above). - * Variant of the function HAL_LTDC_SetPitch without immediate reload. - * @param hltdc pointer to a LTDC_HandleTypeDef structure that contains - * the configuration information for the LTDC. - * @param LinePitchInPixels New line pitch in pixels to configure for LTDC layer 'LayerIdx'. - * @param LayerIdx LTDC layer index concerned by the modification of line pitch. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_LTDC_SetPitch_NoReload(LTDC_HandleTypeDef *hltdc, uint32_t LinePitchInPixels, uint32_t LayerIdx) -{ - uint32_t tmp; - uint32_t pitchUpdate; - uint32_t pixelFormat; - - /* Check the parameters */ - assert_param(IS_LTDC_LAYER(LayerIdx)); - - /* Process locked */ - __HAL_LOCK(hltdc); - - /* Change LTDC peripheral state */ - hltdc->State = HAL_LTDC_STATE_BUSY; - - /* get LayerIdx used pixel format */ - pixelFormat = hltdc->LayerCfg[LayerIdx].PixelFormat; - - if (pixelFormat == LTDC_PIXEL_FORMAT_ARGB8888) - { - tmp = 4U; - } - else if (pixelFormat == LTDC_PIXEL_FORMAT_RGB888) - { - tmp = 3U; - } - else if ((pixelFormat == LTDC_PIXEL_FORMAT_ARGB4444) || \ - (pixelFormat == LTDC_PIXEL_FORMAT_RGB565) || \ - (pixelFormat == LTDC_PIXEL_FORMAT_ARGB1555) || \ - (pixelFormat == LTDC_PIXEL_FORMAT_AL88)) - { - tmp = 2U; - } - else - { - tmp = 1U; - } - - pitchUpdate = ((LinePitchInPixels * tmp) << 16U); - - /* Clear previously set standard pitch */ - LTDC_LAYER(hltdc, LayerIdx)->CFBLR &= ~LTDC_LxCFBLR_CFBP; - - /* Set new line pitch value */ - LTDC_LAYER(hltdc, LayerIdx)->CFBLR |= pitchUpdate; - - /* Change the LTDC state*/ - hltdc->State = HAL_LTDC_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hltdc); - - return HAL_OK; -} - - -/** - * @brief Configure the color keying without reloading. - * Variant of the function HAL_LTDC_ConfigColorKeying without immediate reload. - * @param hltdc pointer to a LTDC_HandleTypeDef structure that contains - * the configuration information for the LTDC. - * @param RGBValue the color key value - * @param LayerIdx LTDC Layer index. - * This parameter can be one of the following values: - * LTDC_LAYER_1 (0) or LTDC_LAYER_2 (1) - * @retval HAL status - */ -HAL_StatusTypeDef HAL_LTDC_ConfigColorKeying_NoReload(LTDC_HandleTypeDef *hltdc, uint32_t RGBValue, uint32_t LayerIdx) -{ - /* Check the parameters */ - assert_param(IS_LTDC_LAYER(LayerIdx)); - - /* Process locked */ - __HAL_LOCK(hltdc); - - /* Change LTDC peripheral state */ - hltdc->State = HAL_LTDC_STATE_BUSY; - - /* Configure the default color values */ - LTDC_LAYER(hltdc, LayerIdx)->CKCR &= ~(LTDC_LxCKCR_CKBLUE | LTDC_LxCKCR_CKGREEN | LTDC_LxCKCR_CKRED); - LTDC_LAYER(hltdc, LayerIdx)->CKCR = RGBValue; - - /* Change the LTDC state*/ - hltdc->State = HAL_LTDC_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hltdc); - - return HAL_OK; -} - -/** - * @brief Enable the color keying without reloading. - * Variant of the function HAL_LTDC_EnableColorKeying without immediate reload. - * @param hltdc pointer to a LTDC_HandleTypeDef structure that contains - * the configuration information for the LTDC. - * @param LayerIdx LTDC Layer index. - * This parameter can be one of the following values: - * LTDC_LAYER_1 (0) or LTDC_LAYER_2 (1) - * @retval HAL status - */ -HAL_StatusTypeDef HAL_LTDC_EnableColorKeying_NoReload(LTDC_HandleTypeDef *hltdc, uint32_t LayerIdx) -{ - /* Check the parameters */ - assert_param(IS_LTDC_LAYER(LayerIdx)); - - /* Process locked */ - __HAL_LOCK(hltdc); - - /* Change LTDC peripheral state */ - hltdc->State = HAL_LTDC_STATE_BUSY; - - /* Enable LTDC color keying by setting COLKEN bit */ - LTDC_LAYER(hltdc, LayerIdx)->CR |= (uint32_t)LTDC_LxCR_COLKEN; - - /* Change the LTDC state*/ - hltdc->State = HAL_LTDC_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hltdc); - - return HAL_OK; -} - -/** - * @brief Disable the color keying without reloading. - * Variant of the function HAL_LTDC_DisableColorKeying without immediate reload. - * @param hltdc pointer to a LTDC_HandleTypeDef structure that contains - * the configuration information for the LTDC. - * @param LayerIdx LTDC Layer index. - * This parameter can be one of the following values: - * LTDC_LAYER_1 (0) or LTDC_LAYER_2 (1) - * @retval HAL status - */ -HAL_StatusTypeDef HAL_LTDC_DisableColorKeying_NoReload(LTDC_HandleTypeDef *hltdc, uint32_t LayerIdx) -{ - /* Check the parameters */ - assert_param(IS_LTDC_LAYER(LayerIdx)); - - /* Process locked */ - __HAL_LOCK(hltdc); - - /* Change LTDC peripheral state */ - hltdc->State = HAL_LTDC_STATE_BUSY; - - /* Disable LTDC color keying by setting COLKEN bit */ - LTDC_LAYER(hltdc, LayerIdx)->CR &= ~(uint32_t)LTDC_LxCR_COLKEN; - - /* Change the LTDC state*/ - hltdc->State = HAL_LTDC_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hltdc); - - return HAL_OK; -} - -/** - * @brief Enable the color lookup table without reloading. - * Variant of the function HAL_LTDC_EnableCLUT without immediate reload. - * @param hltdc pointer to a LTDC_HandleTypeDef structure that contains - * the configuration information for the LTDC. - * @param LayerIdx LTDC Layer index. - * This parameter can be one of the following values: - * LTDC_LAYER_1 (0) or LTDC_LAYER_2 (1) - * @retval HAL status - */ -HAL_StatusTypeDef HAL_LTDC_EnableCLUT_NoReload(LTDC_HandleTypeDef *hltdc, uint32_t LayerIdx) -{ - /* Check the parameters */ - assert_param(IS_LTDC_LAYER(LayerIdx)); - - /* Process locked */ - __HAL_LOCK(hltdc); - - /* Change LTDC peripheral state */ - hltdc->State = HAL_LTDC_STATE_BUSY; - - /* Disable LTDC color lookup table by setting CLUTEN bit */ - LTDC_LAYER(hltdc, LayerIdx)->CR |= (uint32_t)LTDC_LxCR_CLUTEN; - - /* Change the LTDC state*/ - hltdc->State = HAL_LTDC_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hltdc); - - return HAL_OK; -} - -/** - * @brief Disable the color lookup table without reloading. - * Variant of the function HAL_LTDC_DisableCLUT without immediate reload. - * @param hltdc pointer to a LTDC_HandleTypeDef structure that contains - * the configuration information for the LTDC. - * @param LayerIdx LTDC Layer index. - * This parameter can be one of the following values: - * LTDC_LAYER_1 (0) or LTDC_LAYER_2 (1) - * @retval HAL status - */ -HAL_StatusTypeDef HAL_LTDC_DisableCLUT_NoReload(LTDC_HandleTypeDef *hltdc, uint32_t LayerIdx) -{ - /* Check the parameters */ - assert_param(IS_LTDC_LAYER(LayerIdx)); - - /* Process locked */ - __HAL_LOCK(hltdc); - - /* Change LTDC peripheral state */ - hltdc->State = HAL_LTDC_STATE_BUSY; - - /* Disable LTDC color lookup table by setting CLUTEN bit */ - LTDC_LAYER(hltdc, LayerIdx)->CR &= ~(uint32_t)LTDC_LxCR_CLUTEN; - - /* Change the LTDC state*/ - hltdc->State = HAL_LTDC_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hltdc); - - return HAL_OK; -} - -/** - * @} - */ - -/** @defgroup LTDC_Exported_Functions_Group4 Peripheral State and Errors functions - * @brief Peripheral State and Errors functions - * -@verbatim - =============================================================================== - ##### Peripheral State and Errors functions ##### - =============================================================================== - [..] - This subsection provides functions allowing to - (+) Check the LTDC handle state. - (+) Get the LTDC handle error code. - -@endverbatim - * @{ - */ - -/** - * @brief Return the LTDC handle state. - * @param hltdc pointer to a LTDC_HandleTypeDef structure that contains - * the configuration information for the LTDC. - * @retval HAL state - */ -HAL_LTDC_StateTypeDef HAL_LTDC_GetState(LTDC_HandleTypeDef *hltdc) -{ - return hltdc->State; -} - -/** - * @brief Return the LTDC handle error code. - * @param hltdc pointer to a LTDC_HandleTypeDef structure that contains - * the configuration information for the LTDC. - * @retval LTDC Error Code - */ -uint32_t HAL_LTDC_GetError(LTDC_HandleTypeDef *hltdc) -{ - return hltdc->ErrorCode; -} - -/** - * @} - */ - -/** - * @} - */ - -/** @defgroup LTDC_Private_Functions LTDC Private Functions - * @{ - */ - -/** - * @brief Configure the LTDC peripheral - * @param hltdc Pointer to a LTDC_HandleTypeDef structure that contains - * the configuration information for the LTDC. - * @param pLayerCfg Pointer LTDC Layer Configuration structure - * @param LayerIdx LTDC Layer index. - * This parameter can be one of the following values: LTDC_LAYER_1 (0) or LTDC_LAYER_2 (1) - * @retval None - */ -static void LTDC_SetConfig(LTDC_HandleTypeDef *hltdc, LTDC_LayerCfgTypeDef *pLayerCfg, uint32_t LayerIdx) -{ - uint32_t tmp; - uint32_t tmp1; - uint32_t tmp2; - - /* Configure the horizontal start and stop position */ - tmp = ((pLayerCfg->WindowX1 + ((hltdc->Instance->BPCR & LTDC_BPCR_AHBP) >> 16U)) << 16U); - LTDC_LAYER(hltdc, LayerIdx)->WHPCR &= ~(LTDC_LxWHPCR_WHSTPOS | LTDC_LxWHPCR_WHSPPOS); - LTDC_LAYER(hltdc, LayerIdx)->WHPCR = ((pLayerCfg->WindowX0 + ((hltdc->Instance->BPCR & LTDC_BPCR_AHBP) >> 16U) + 1U) | tmp); - - /* Configure the vertical start and stop position */ - tmp = ((pLayerCfg->WindowY1 + (hltdc->Instance->BPCR & LTDC_BPCR_AVBP)) << 16U); - LTDC_LAYER(hltdc, LayerIdx)->WVPCR &= ~(LTDC_LxWVPCR_WVSTPOS | LTDC_LxWVPCR_WVSPPOS); - LTDC_LAYER(hltdc, LayerIdx)->WVPCR = ((pLayerCfg->WindowY0 + (hltdc->Instance->BPCR & LTDC_BPCR_AVBP) + 1U) | tmp); - - /* Specifies the pixel format */ - LTDC_LAYER(hltdc, LayerIdx)->PFCR &= ~(LTDC_LxPFCR_PF); - LTDC_LAYER(hltdc, LayerIdx)->PFCR = (pLayerCfg->PixelFormat); - - /* Configure the default color values */ - tmp = ((uint32_t)(pLayerCfg->Backcolor.Green) << 8U); - tmp1 = ((uint32_t)(pLayerCfg->Backcolor.Red) << 16U); - tmp2 = (pLayerCfg->Alpha0 << 24U); - LTDC_LAYER(hltdc, LayerIdx)->DCCR &= ~(LTDC_LxDCCR_DCBLUE | LTDC_LxDCCR_DCGREEN | LTDC_LxDCCR_DCRED | LTDC_LxDCCR_DCALPHA); - LTDC_LAYER(hltdc, LayerIdx)->DCCR = (pLayerCfg->Backcolor.Blue | tmp | tmp1 | tmp2); - - /* Specifies the constant alpha value */ - LTDC_LAYER(hltdc, LayerIdx)->CACR &= ~(LTDC_LxCACR_CONSTA); - LTDC_LAYER(hltdc, LayerIdx)->CACR = (pLayerCfg->Alpha); - - /* Specifies the blending factors */ - LTDC_LAYER(hltdc, LayerIdx)->BFCR &= ~(LTDC_LxBFCR_BF2 | LTDC_LxBFCR_BF1); - LTDC_LAYER(hltdc, LayerIdx)->BFCR = (pLayerCfg->BlendingFactor1 | pLayerCfg->BlendingFactor2); - - /* Configure the color frame buffer start address */ - LTDC_LAYER(hltdc, LayerIdx)->CFBAR &= ~(LTDC_LxCFBAR_CFBADD); - LTDC_LAYER(hltdc, LayerIdx)->CFBAR = (pLayerCfg->FBStartAdress); - - if (pLayerCfg->PixelFormat == LTDC_PIXEL_FORMAT_ARGB8888) - { - tmp = 4U; - } - else if (pLayerCfg->PixelFormat == LTDC_PIXEL_FORMAT_RGB888) - { - tmp = 3U; - } - else if ((pLayerCfg->PixelFormat == LTDC_PIXEL_FORMAT_ARGB4444) || \ - (pLayerCfg->PixelFormat == LTDC_PIXEL_FORMAT_RGB565) || \ - (pLayerCfg->PixelFormat == LTDC_PIXEL_FORMAT_ARGB1555) || \ - (pLayerCfg->PixelFormat == LTDC_PIXEL_FORMAT_AL88)) - { - tmp = 2U; - } - else - { - tmp = 1U; - } - - /* Configure the color frame buffer pitch in byte */ - LTDC_LAYER(hltdc, LayerIdx)->CFBLR &= ~(LTDC_LxCFBLR_CFBLL | LTDC_LxCFBLR_CFBP); - LTDC_LAYER(hltdc, LayerIdx)->CFBLR = (((pLayerCfg->ImageWidth * tmp) << 16U) | (((pLayerCfg->WindowX1 - pLayerCfg->WindowX0) * tmp) + 3U)); - /* Configure the frame buffer line number */ - LTDC_LAYER(hltdc, LayerIdx)->CFBLNR &= ~(LTDC_LxCFBLNR_CFBLNBR); - LTDC_LAYER(hltdc, LayerIdx)->CFBLNR = (pLayerCfg->ImageHeight); - - /* Enable LTDC_Layer by setting LEN bit */ - LTDC_LAYER(hltdc, LayerIdx)->CR |= (uint32_t)LTDC_LxCR_LEN; -} - -/** - * @} - */ - - -/** - * @} - */ - -#endif /* LTDC */ - -#endif /* HAL_LTDC_MODULE_ENABLED */ - -/** - * @} - */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_ltdc_ex.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_ltdc_ex.c deleted file mode 100644 index 8c39194a665afb..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_ltdc_ex.c +++ /dev/null @@ -1,149 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_ltdc_ex.c - * @author MCD Application Team - * @brief LTDC Extension HAL module driver. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -#if defined(HAL_LTDC_MODULE_ENABLED) && defined(HAL_DSI_MODULE_ENABLED) - -#if defined (LTDC) && defined (DSI) - -/** @defgroup LTDCEx LTDCEx - * @brief LTDC HAL module driver - * @{ - */ - -/* Private typedef -----------------------------------------------------------*/ -/* Private define ------------------------------------------------------------*/ -/* Private macro -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private function prototypes -----------------------------------------------*/ -/* Exported functions --------------------------------------------------------*/ - -/** @defgroup LTDCEx_Exported_Functions LTDC Extended Exported Functions - * @{ - */ - -/** @defgroup LTDCEx_Exported_Functions_Group1 Initialization and Configuration functions - * @brief Initialization and Configuration functions - * -@verbatim - =============================================================================== - ##### Initialization and Configuration functions ##### - =============================================================================== - [..] This section provides functions allowing to: - (+) Initialize and configure the LTDC - -@endverbatim - * @{ - */ - -/** - * @brief Retrieve common parameters from DSI Video mode configuration structure - * @param hltdc pointer to a LTDC_HandleTypeDef structure that contains - * the configuration information for the LTDC. - * @param VidCfg pointer to a DSI_VidCfgTypeDef structure that contains - * the DSI video mode configuration parameters - * @note The implementation of this function is taking into account the LTDC - * polarities inversion as described in the current LTDC specification - * @retval HAL status - */ -HAL_StatusTypeDef HAL_LTDCEx_StructInitFromVideoConfig(LTDC_HandleTypeDef *hltdc, DSI_VidCfgTypeDef *VidCfg) -{ - /* Retrieve signal polarities from DSI */ - - /* The following polarity is inverted: - LTDC_DEPOLARITY_AL <-> LTDC_DEPOLARITY_AH */ - - /* Note 1 : Code in line w/ Current LTDC specification */ - hltdc->Init.DEPolarity = (VidCfg->DEPolarity == DSI_DATA_ENABLE_ACTIVE_HIGH) ? LTDC_DEPOLARITY_AL : LTDC_DEPOLARITY_AH; - hltdc->Init.VSPolarity = (VidCfg->VSPolarity == DSI_VSYNC_ACTIVE_HIGH) ? LTDC_VSPOLARITY_AH : LTDC_VSPOLARITY_AL; - hltdc->Init.HSPolarity = (VidCfg->HSPolarity == DSI_HSYNC_ACTIVE_HIGH) ? LTDC_HSPOLARITY_AH : LTDC_HSPOLARITY_AL; - - /* Note 2: Code to be used in case LTDC polarities inversion updated in the specification */ - /* hltdc->Init.DEPolarity = VidCfg->DEPolarity << 29; - hltdc->Init.VSPolarity = VidCfg->VSPolarity << 29; - hltdc->Init.HSPolarity = VidCfg->HSPolarity << 29; */ - - /* Retrieve vertical timing parameters from DSI */ - hltdc->Init.VerticalSync = VidCfg->VerticalSyncActive - 1U; - hltdc->Init.AccumulatedVBP = VidCfg->VerticalSyncActive + VidCfg->VerticalBackPorch - 1U; - hltdc->Init.AccumulatedActiveH = VidCfg->VerticalSyncActive + VidCfg->VerticalBackPorch + VidCfg->VerticalActive - 1U; - hltdc->Init.TotalHeigh = VidCfg->VerticalSyncActive + VidCfg->VerticalBackPorch + VidCfg->VerticalActive + VidCfg->VerticalFrontPorch - 1U; - - return HAL_OK; -} - -/** - * @brief Retrieve common parameters from DSI Adapted command mode configuration structure - * @param hltdc pointer to a LTDC_HandleTypeDef structure that contains - * the configuration information for the LTDC. - * @param CmdCfg pointer to a DSI_CmdCfgTypeDef structure that contains - * the DSI command mode configuration parameters - * @note The implementation of this function is taking into account the LTDC - * polarities inversion as described in the current LTDC specification - * @retval HAL status - */ -HAL_StatusTypeDef HAL_LTDCEx_StructInitFromAdaptedCommandConfig(LTDC_HandleTypeDef *hltdc, DSI_CmdCfgTypeDef *CmdCfg) -{ - /* Retrieve signal polarities from DSI */ - - /* The following polarities are inverted: - LTDC_DEPOLARITY_AL <-> LTDC_DEPOLARITY_AH - LTDC_VSPOLARITY_AL <-> LTDC_VSPOLARITY_AH - LTDC_HSPOLARITY_AL <-> LTDC_HSPOLARITY_AH)*/ - - /* Note 1 : Code in line w/ Current LTDC specification */ - hltdc->Init.DEPolarity = (CmdCfg->DEPolarity == DSI_DATA_ENABLE_ACTIVE_HIGH) ? LTDC_DEPOLARITY_AL : LTDC_DEPOLARITY_AH; - hltdc->Init.VSPolarity = (CmdCfg->VSPolarity == DSI_VSYNC_ACTIVE_HIGH) ? LTDC_VSPOLARITY_AL : LTDC_VSPOLARITY_AH; - hltdc->Init.HSPolarity = (CmdCfg->HSPolarity == DSI_HSYNC_ACTIVE_HIGH) ? LTDC_HSPOLARITY_AL : LTDC_HSPOLARITY_AH; - - /* Note 2: Code to be used in case LTDC polarities inversion updated in the specification */ - /* hltdc->Init.DEPolarity = CmdCfg->DEPolarity << 29; - hltdc->Init.VSPolarity = CmdCfg->VSPolarity << 29; - hltdc->Init.HSPolarity = CmdCfg->HSPolarity << 29; */ - - return HAL_OK; -} - -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ - -#endif /* LTDC && DSI */ - -#endif /* HAL_LTCD_MODULE_ENABLED && HAL_DSI_MODULE_ENABLED */ - -/** - * @} - */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_mmc.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_mmc.c deleted file mode 100644 index b0827f70a1ebce..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_mmc.c +++ /dev/null @@ -1,2973 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_mmc.c - * @author MCD Application Team - * @brief MMC card HAL module driver. - * This file provides firmware functions to manage the following - * functionalities of the Secure Digital (MMC) peripheral: - * + Initialization and de-initialization functions - * + IO operation functions - * + Peripheral Control functions - * + MMC card Control functions - * - @verbatim - ============================================================================== - ##### How to use this driver ##### - ============================================================================== - [..] - This driver implements a high level communication layer for read and write from/to - this memory. The needed STM32 hardware resources (SDMMC and GPIO) are performed by - the user in HAL_MMC_MspInit() function (MSP layer). - Basically, the MSP layer configuration should be the same as we provide in the - examples. - You can easily tailor this configuration according to hardware resources. - - [..] - This driver is a generic layered driver for SDMMC memories which uses the HAL - SDMMC driver functions to interface with MMC and eMMC cards devices. - It is used as follows: - - (#)Initialize the SDMMC low level resources by implement the HAL_MMC_MspInit() API: - (##) Enable the SDMMC interface clock using __HAL_RCC_SDMMC_CLK_ENABLE(); - (##) SDMMC pins configuration for MMC card - (+++) Enable the clock for the SDMMC GPIOs using the functions __HAL_RCC_GPIOx_CLK_ENABLE(); - (+++) Configure these SDMMC pins as alternate function pull-up using HAL_GPIO_Init() - and according to your pin assignment; - (##) DMA Configuration if you need to use DMA process (HAL_MMC_ReadBlocks_DMA() - and HAL_MMC_WriteBlocks_DMA() APIs). - (+++) Enable the DMAx interface clock using __HAL_RCC_DMAx_CLK_ENABLE(); - (+++) Configure the DMA using the function HAL_DMA_Init() with predeclared and filled. - (##) NVIC configuration if you need to use interrupt process when using DMA transfer. - (+++) Configure the SDMMC and DMA interrupt priorities using function HAL_NVIC_SetPriority(); - DMA priority is superior to SDMMC's priority - (+++) Enable the NVIC DMA and SDMMC IRQs using function HAL_NVIC_EnableIRQ() - (+++) SDMMC interrupts are managed using the macros __HAL_MMC_ENABLE_IT() - and __HAL_MMC_DISABLE_IT() inside the communication process. - (+++) SDMMC interrupts pending bits are managed using the macros __HAL_MMC_GET_IT() - and __HAL_MMC_CLEAR_IT() - (##) NVIC configuration if you need to use interrupt process (HAL_MMC_ReadBlocks_IT() - and HAL_MMC_WriteBlocks_IT() APIs). - (+++) Configure the SDMMC interrupt priorities using function HAL_NVIC_SetPriority(); - (+++) Enable the NVIC SDMMC IRQs using function HAL_NVIC_EnableIRQ() - (+++) SDMMC interrupts are managed using the macros __HAL_MMC_ENABLE_IT() - and __HAL_MMC_DISABLE_IT() inside the communication process. - (+++) SDMMC interrupts pending bits are managed using the macros __HAL_MMC_GET_IT() - and __HAL_MMC_CLEAR_IT() - (#) At this stage, you can perform MMC read/write/erase operations after MMC card initialization - - - *** MMC Card Initialization and configuration *** - ================================================ - [..] - To initialize the MMC Card, use the HAL_MMC_Init() function. It Initializes - SDMMC Peripheral (STM32 side) and the MMC Card, and put it into StandBy State (Ready for data transfer). - This function provide the following operations: - - (#) Initialize the SDMMC peripheral interface with defaullt configuration. - The initialization process is done at 400KHz. You can change or adapt - this frequency by adjusting the "ClockDiv" field. - The MMC Card frequency (SDMMC_CK) is computed as follows: - - SDMMC_CK = SDMMCCLK / (ClockDiv + 2) - - In initialization mode and according to the MMC Card standard, - make sure that the SDMMC_CK frequency doesn't exceed 400KHz. - - This phase of initialization is done through SDMMC_Init() and - SDMMC_PowerState_ON() SDMMC low level APIs. - - (#) Initialize the MMC card. The API used is HAL_MMC_InitCard(). - This phase allows the card initialization and identification - and check the MMC Card type (Standard Capacity or High Capacity) - The initialization flow is compatible with MMC standard. - - This API (HAL_MMC_InitCard()) could be used also to reinitialize the card in case - of plug-off plug-in. - - (#) Configure the MMC Card Data transfer frequency. By Default, the card transfer - frequency is set to 24MHz. You can change or adapt this frequency by adjusting - the "ClockDiv" field. - In transfer mode and according to the MMC Card standard, make sure that the - SDMMC_CK frequency doesn't exceed 25MHz and 50MHz in High-speed mode switch. - To be able to use a frequency higher than 24MHz, you should use the SDMMC - peripheral in bypass mode. Refer to the corresponding reference manual - for more details. - - (#) Select the corresponding MMC Card according to the address read with the step 2. - - (#) Configure the MMC Card in wide bus mode: 4-bits data. - - *** MMC Card Read operation *** - ============================== - [..] - (+) You can read from MMC card in polling mode by using function HAL_MMC_ReadBlocks(). - This function support only 512-bytes block length (the block size should be - chosen as 512 bytes). - You can choose either one block read operation or multiple block read operation - by adjusting the "NumberOfBlocks" parameter. - After this, you have to ensure that the transfer is done correctly. The check is done - through HAL_MMC_GetCardState() function for MMC card state. - - (+) You can read from MMC card in DMA mode by using function HAL_MMC_ReadBlocks_DMA(). - This function support only 512-bytes block length (the block size should be - chosen as 512 bytes). - You can choose either one block read operation or multiple block read operation - by adjusting the "NumberOfBlocks" parameter. - After this, you have to ensure that the transfer is done correctly. The check is done - through HAL_MMC_GetCardState() function for MMC card state. - You could also check the DMA transfer process through the MMC Rx interrupt event. - - (+) You can read from MMC card in Interrupt mode by using function HAL_MMC_ReadBlocks_IT(). - This function allows the read of 512 bytes blocks. - You can choose either one block read operation or multiple block read operation - by adjusting the "NumberOfBlocks" parameter. - After this, you have to ensure that the transfer is done correctly. The check is done - through HAL_MMC_GetCardState() function for MMC card state. - You could also check the IT transfer process through the MMC Rx interrupt event. - - *** MMC Card Write operation *** - =============================== - [..] - (+) You can write to MMC card in polling mode by using function HAL_MMC_WriteBlocks(). - This function support only 512-bytes block length (the block size should be - chosen as 512 bytes). - You can choose either one block read operation or multiple block read operation - by adjusting the "NumberOfBlocks" parameter. - After this, you have to ensure that the transfer is done correctly. The check is done - through HAL_MMC_GetCardState() function for MMC card state. - - (+) You can write to MMC card in DMA mode by using function HAL_MMC_WriteBlocks_DMA(). - This function support only 512-bytes block length (the block size should be - chosen as 512 byte). - You can choose either one block read operation or multiple block read operation - by adjusting the "NumberOfBlocks" parameter. - After this, you have to ensure that the transfer is done correctly. The check is done - through HAL_MMC_GetCardState() function for MMC card state. - You could also check the DMA transfer process through the MMC Tx interrupt event. - - (+) You can write to MMC card in Interrupt mode by using function HAL_MMC_WriteBlocks_IT(). - This function allows the read of 512 bytes blocks. - You can choose either one block read operation or multiple block read operation - by adjusting the "NumberOfBlocks" parameter. - After this, you have to ensure that the transfer is done correctly. The check is done - through HAL_MMC_GetCardState() function for MMC card state. - You could also check the IT transfer process through the MMC Tx interrupt event. - - *** MMC card information *** - =========================== - [..] - (+) To get MMC card information, you can use the function HAL_MMC_GetCardInfo(). - It returns useful information about the MMC card such as block size, card type, - block number ... - - *** MMC card CSD register *** - ============================ - [..] - (+) The HAL_MMC_GetCardCSD() API allows to get the parameters of the CSD register. - Some of the CSD parameters are useful for card initialization and identification. - - *** MMC card CID register *** - ============================ - [..] - (+) The HAL_MMC_GetCardCID() API allows to get the parameters of the CID register. - Some of the CID parameters are useful for card initialization and identification. - - *** MMC HAL driver macros list *** - ================================== - [..] - Below the list of most used macros in MMC HAL driver. - - (+) __HAL_MMC_ENABLE : Enable the MMC device - (+) __HAL_MMC_DISABLE : Disable the MMC device - (+) __HAL_MMC_DMA_ENABLE: Enable the SDMMC DMA transfer - (+) __HAL_MMC_DMA_DISABLE: Disable the SDMMC DMA transfer - (+) __HAL_MMC_ENABLE_IT: Enable the MMC device interrupt - (+) __HAL_MMC_DISABLE_IT: Disable the MMC device interrupt - (+) __HAL_MMC_GET_FLAG:Check whether the specified MMC flag is set or not - (+) __HAL_MMC_CLEAR_FLAG: Clear the MMC's pending flags - - [..] - (@) You can refer to the MMC HAL driver header file for more useful macros - - *** Callback registration *** - ============================================= - [..] - The compilation define USE_HAL_MMC_REGISTER_CALLBACKS when set to 1 - allows the user to configure dynamically the driver callbacks. - - Use Functions HAL_MMC_RegisterCallback() to register a user callback, - it allows to register following callbacks: - (+) TxCpltCallback : callback when a transmission transfer is completed. - (+) RxCpltCallback : callback when a reception transfer is completed. - (+) ErrorCallback : callback when error occurs. - (+) AbortCpltCallback : callback when abort is completed. - (+) MspInitCallback : MMC MspInit. - (+) MspDeInitCallback : MMC MspDeInit. - This function takes as parameters the HAL peripheral handle, the Callback ID - and a pointer to the user callback function. - - Use function HAL_MMC_UnRegisterCallback() to reset a callback to the default - weak (surcharged) function. It allows to reset following callbacks: - (+) TxCpltCallback : callback when a transmission transfer is completed. - (+) RxCpltCallback : callback when a reception transfer is completed. - (+) ErrorCallback : callback when error occurs. - (+) AbortCpltCallback : callback when abort is completed. - (+) MspInitCallback : MMC MspInit. - (+) MspDeInitCallback : MMC MspDeInit. - This function) takes as parameters the HAL peripheral handle and the Callback ID. - - By default, after the HAL_MMC_Init and if the state is HAL_MMC_STATE_RESET - all callbacks are reset to the corresponding legacy weak (surcharged) functions. - Exception done for MspInit and MspDeInit callbacks that are respectively - reset to the legacy weak (surcharged) functions in the HAL_MMC_Init - and HAL_MMC_DeInit only when these callbacks are null (not registered beforehand). - If not, MspInit or MspDeInit are not null, the HAL_MMC_Init and HAL_MMC_DeInit - keep and use the user MspInit/MspDeInit callbacks (registered beforehand) - - Callbacks can be registered/unregistered in READY state only. - Exception done for MspInit/MspDeInit callbacks that can be registered/unregistered - in READY or RESET state, thus registered (user) MspInit/DeInit callbacks can be used - during the Init/DeInit. - In that case first register the MspInit/MspDeInit user callbacks - using HAL_MMC_RegisterCallback before calling HAL_MMC_DeInit - or HAL_MMC_Init function. - - When The compilation define USE_HAL_MMC_REGISTER_CALLBACKS is set to 0 or - not defined, the callback registering feature is not available - and weak (surcharged) callbacks are used. - - @endverbatim - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @defgroup MMC MMC - * @brief MMC HAL module driver - * @{ - */ - -#ifdef HAL_MMC_MODULE_ENABLED - -#if defined(SDIO) - -/* Private typedef -----------------------------------------------------------*/ -/* Private define ------------------------------------------------------------*/ -/** @addtogroup MMC_Private_Defines - * @{ - */ - -/** - * @} - */ - -/* Private macro -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private function prototypes -----------------------------------------------*/ -/* Private functions ---------------------------------------------------------*/ -/** @defgroup MMC_Private_Functions MMC Private Functions - * @{ - */ -static uint32_t MMC_InitCard(MMC_HandleTypeDef *hmmc); -static uint32_t MMC_PowerON(MMC_HandleTypeDef *hmmc); -static uint32_t MMC_SendStatus(MMC_HandleTypeDef *hmmc, uint32_t *pCardStatus); -static uint32_t MMC_ReadExtCSD(MMC_HandleTypeDef *hmmc, uint32_t *pFieldData, uint16_t FieldIndex, uint32_t Timeout); -static void MMC_PowerOFF(MMC_HandleTypeDef *hmmc); -static void MMC_Write_IT(MMC_HandleTypeDef *hmmc); -static void MMC_Read_IT(MMC_HandleTypeDef *hmmc); -static void MMC_DMATransmitCplt(DMA_HandleTypeDef *hdma); -static void MMC_DMAReceiveCplt(DMA_HandleTypeDef *hdma); -static void MMC_DMAError(DMA_HandleTypeDef *hdma); -static void MMC_DMATxAbort(DMA_HandleTypeDef *hdma); -static void MMC_DMARxAbort(DMA_HandleTypeDef *hdma); -/** - * @} - */ -/* Exported functions --------------------------------------------------------*/ -/** @addtogroup MMC_Exported_Functions - * @{ - */ - -/** @addtogroup MMC_Exported_Functions_Group1 - * @brief Initialization and de-initialization functions - * -@verbatim - ============================================================================== - ##### Initialization and de-initialization functions ##### - ============================================================================== - [..] - This section provides functions allowing to initialize/de-initialize the MMC - card device to be ready for use. - -@endverbatim - * @{ - */ - -/** - * @brief Initializes the MMC according to the specified parameters in the - MMC_HandleTypeDef and create the associated handle. - * @param hmmc: Pointer to the MMC handle - * @retval HAL status - */ -HAL_StatusTypeDef HAL_MMC_Init(MMC_HandleTypeDef *hmmc) -{ - /* Check the MMC handle allocation */ - if(hmmc == NULL) - { - return HAL_ERROR; - } - - /* Check the parameters */ - assert_param(IS_SDIO_ALL_INSTANCE(hmmc->Instance)); - assert_param(IS_SDIO_CLOCK_EDGE(hmmc->Init.ClockEdge)); - assert_param(IS_SDIO_CLOCK_BYPASS(hmmc->Init.ClockBypass)); - assert_param(IS_SDIO_CLOCK_POWER_SAVE(hmmc->Init.ClockPowerSave)); - assert_param(IS_SDIO_BUS_WIDE(hmmc->Init.BusWide)); - assert_param(IS_SDIO_HARDWARE_FLOW_CONTROL(hmmc->Init.HardwareFlowControl)); - assert_param(IS_SDIO_CLKDIV(hmmc->Init.ClockDiv)); - - if(hmmc->State == HAL_MMC_STATE_RESET) - { - /* Allocate lock resource and initialize it */ - hmmc->Lock = HAL_UNLOCKED; -#if defined (USE_HAL_MMC_REGISTER_CALLBACKS) && (USE_HAL_MMC_REGISTER_CALLBACKS == 1U) - /* Reset Callback pointers in HAL_MMC_STATE_RESET only */ - hmmc->TxCpltCallback = HAL_MMC_TxCpltCallback; - hmmc->RxCpltCallback = HAL_MMC_RxCpltCallback; - hmmc->ErrorCallback = HAL_MMC_ErrorCallback; - hmmc->AbortCpltCallback = HAL_MMC_AbortCallback; - - if(hmmc->MspInitCallback == NULL) - { - hmmc->MspInitCallback = HAL_MMC_MspInit; - } - - /* Init the low level hardware */ - hmmc->MspInitCallback(hmmc); -#else - /* Init the low level hardware : GPIO, CLOCK, CORTEX...etc */ - HAL_MMC_MspInit(hmmc); -#endif - } - - hmmc->State = HAL_MMC_STATE_BUSY; - - /* Initialize the Card parameters */ - if(HAL_MMC_InitCard(hmmc) == HAL_ERROR) - { - return HAL_ERROR; - } - - /* Initialize the error code */ - hmmc->ErrorCode = HAL_DMA_ERROR_NONE; - - /* Initialize the MMC operation */ - hmmc->Context = MMC_CONTEXT_NONE; - - /* Initialize the MMC state */ - hmmc->State = HAL_MMC_STATE_READY; - - return HAL_OK; -} - -/** - * @brief Initializes the MMC Card. - * @param hmmc: Pointer to MMC handle - * @note This function initializes the MMC card. It could be used when a card - re-initialization is needed. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_MMC_InitCard(MMC_HandleTypeDef *hmmc) -{ - uint32_t errorstate; - MMC_InitTypeDef Init; - HAL_StatusTypeDef status; - - /* Default SDIO peripheral configuration for MMC card initialization */ - Init.ClockEdge = SDIO_CLOCK_EDGE_RISING; - Init.ClockBypass = SDIO_CLOCK_BYPASS_DISABLE; - Init.ClockPowerSave = SDIO_CLOCK_POWER_SAVE_DISABLE; - Init.BusWide = SDIO_BUS_WIDE_1B; - Init.HardwareFlowControl = SDIO_HARDWARE_FLOW_CONTROL_DISABLE; - Init.ClockDiv = SDIO_INIT_CLK_DIV; - - /* Initialize SDIO peripheral interface with default configuration */ - status = SDIO_Init(hmmc->Instance, Init); - if(status == HAL_ERROR) - { - return HAL_ERROR; - } - - /* Disable SDIO Clock */ - __HAL_MMC_DISABLE(hmmc); - - /* Set Power State to ON */ - status = SDIO_PowerState_ON(hmmc->Instance); - if(status == HAL_ERROR) - { - return HAL_ERROR; - } - - /* Enable MMC Clock */ - __HAL_MMC_ENABLE(hmmc); - - /* Identify card operating voltage */ - errorstate = MMC_PowerON(hmmc); - if(errorstate != HAL_MMC_ERROR_NONE) - { - hmmc->State = HAL_MMC_STATE_READY; - hmmc->ErrorCode |= errorstate; - return HAL_ERROR; - } - - /* Card initialization */ - errorstate = MMC_InitCard(hmmc); - if(errorstate != HAL_MMC_ERROR_NONE) - { - hmmc->State = HAL_MMC_STATE_READY; - hmmc->ErrorCode |= errorstate; - return HAL_ERROR; - } - - /* Set Block Size for Card */ - errorstate = SDMMC_CmdBlockLength(hmmc->Instance, MMC_BLOCKSIZE); - if(errorstate != HAL_MMC_ERROR_NONE) - { - /* Clear all the static flags */ - __HAL_MMC_CLEAR_FLAG(hmmc, SDIO_STATIC_FLAGS); - hmmc->ErrorCode |= errorstate; - hmmc->State = HAL_MMC_STATE_READY; - return HAL_ERROR; - } - - return HAL_OK; -} - -/** - * @brief De-Initializes the MMC card. - * @param hmmc: Pointer to MMC handle - * @retval HAL status - */ -HAL_StatusTypeDef HAL_MMC_DeInit(MMC_HandleTypeDef *hmmc) -{ - /* Check the MMC handle allocation */ - if(hmmc == NULL) - { - return HAL_ERROR; - } - - /* Check the parameters */ - assert_param(IS_SDIO_ALL_INSTANCE(hmmc->Instance)); - - hmmc->State = HAL_MMC_STATE_BUSY; - - /* Set MMC power state to off */ - MMC_PowerOFF(hmmc); - -#if defined (USE_HAL_MMC_REGISTER_CALLBACKS) && (USE_HAL_MMC_REGISTER_CALLBACKS == 1U) - if(hmmc->MspDeInitCallback == NULL) - { - hmmc->MspDeInitCallback = HAL_MMC_MspDeInit; - } - - /* DeInit the low level hardware */ - hmmc->MspDeInitCallback(hmmc); -#else - /* De-Initialize the MSP layer */ - HAL_MMC_MspDeInit(hmmc); -#endif - - hmmc->ErrorCode = HAL_MMC_ERROR_NONE; - hmmc->State = HAL_MMC_STATE_RESET; - - return HAL_OK; -} - - -/** - * @brief Initializes the MMC MSP. - * @param hmmc: Pointer to MMC handle - * @retval None - */ -__weak void HAL_MMC_MspInit(MMC_HandleTypeDef *hmmc) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hmmc); - - /* NOTE : This function Should not be modified, when the callback is needed, - the HAL_MMC_MspInit could be implemented in the user file - */ -} - -/** - * @brief De-Initialize MMC MSP. - * @param hmmc: Pointer to MMC handle - * @retval None - */ -__weak void HAL_MMC_MspDeInit(MMC_HandleTypeDef *hmmc) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hmmc); - - /* NOTE : This function Should not be modified, when the callback is needed, - the HAL_MMC_MspDeInit could be implemented in the user file - */ -} - -/** - * @} - */ - -/** @addtogroup MMC_Exported_Functions_Group2 - * @brief Data transfer functions - * -@verbatim - ============================================================================== - ##### IO operation functions ##### - ============================================================================== - [..] - This subsection provides a set of functions allowing to manage the data - transfer from/to MMC card. - -@endverbatim - * @{ - */ - -/** - * @brief Reads block(s) from a specified address in a card. The Data transfer - * is managed by polling mode. - * @note This API should be followed by a check on the card state through - * HAL_MMC_GetCardState(). - * @param hmmc: Pointer to MMC handle - * @param pData: pointer to the buffer that will contain the received data - * @param BlockAdd: Block Address from where data is to be read - * @param NumberOfBlocks: Number of MMC blocks to read - * @param Timeout: Specify timeout value - * @retval HAL status - */ -HAL_StatusTypeDef HAL_MMC_ReadBlocks(MMC_HandleTypeDef *hmmc, uint8_t *pData, uint32_t BlockAdd, uint32_t NumberOfBlocks, uint32_t Timeout) -{ - SDIO_DataInitTypeDef config; - uint32_t errorstate; - uint32_t tickstart = HAL_GetTick(); - uint32_t count, data, dataremaining; - uint32_t add = BlockAdd; - uint8_t *tempbuff = pData; - - if(NULL == pData) - { - hmmc->ErrorCode |= HAL_MMC_ERROR_PARAM; - return HAL_ERROR; - } - - if(hmmc->State == HAL_MMC_STATE_READY) - { - hmmc->ErrorCode = HAL_MMC_ERROR_NONE; - - if((BlockAdd + NumberOfBlocks) > (hmmc->MmcCard.LogBlockNbr)) - { - hmmc->ErrorCode |= HAL_MMC_ERROR_ADDR_OUT_OF_RANGE; - return HAL_ERROR; - } - - hmmc->State = HAL_MMC_STATE_BUSY; - - /* Initialize data control register */ - hmmc->Instance->DCTRL = 0U; - - if ((hmmc->MmcCard.CardType) != MMC_HIGH_CAPACITY_CARD) - { - add *= 512U; - } - - /* Configure the MMC DPSM (Data Path State Machine) */ - config.DataTimeOut = SDMMC_DATATIMEOUT; - config.DataLength = NumberOfBlocks * MMC_BLOCKSIZE; - config.DataBlockSize = SDIO_DATABLOCK_SIZE_512B; - config.TransferDir = SDIO_TRANSFER_DIR_TO_SDIO; - config.TransferMode = SDIO_TRANSFER_MODE_BLOCK; - config.DPSM = SDIO_DPSM_ENABLE; - (void)SDIO_ConfigData(hmmc->Instance, &config); - - /* Read block(s) in polling mode */ - if(NumberOfBlocks > 1U) - { - hmmc->Context = MMC_CONTEXT_READ_MULTIPLE_BLOCK; - - /* Read Multi Block command */ - errorstate = SDMMC_CmdReadMultiBlock(hmmc->Instance, add); - } - else - { - hmmc->Context = MMC_CONTEXT_READ_SINGLE_BLOCK; - - /* Read Single Block command */ - errorstate = SDMMC_CmdReadSingleBlock(hmmc->Instance, add); - } - if(errorstate != HAL_MMC_ERROR_NONE) - { - /* Clear all the static flags */ - __HAL_MMC_CLEAR_FLAG(hmmc, SDIO_STATIC_FLAGS); - hmmc->ErrorCode |= errorstate; - hmmc->State = HAL_MMC_STATE_READY; - return HAL_ERROR; - } - - /* Poll on SDIO flags */ - dataremaining = config.DataLength; -#if defined(SDIO_STA_STBITERR) - while(!__HAL_MMC_GET_FLAG(hmmc, SDIO_FLAG_RXOVERR | SDIO_FLAG_DCRCFAIL | SDIO_FLAG_DTIMEOUT | SDIO_FLAG_DATAEND | SDIO_FLAG_STBITERR)) -#else /* SDIO_STA_STBITERR not defined */ - while(!__HAL_MMC_GET_FLAG(hmmc, SDIO_FLAG_RXOVERR | SDIO_FLAG_DCRCFAIL | SDIO_FLAG_DTIMEOUT | SDIO_FLAG_DATAEND)) -#endif /* SDIO_STA_STBITERR */ - { - if(__HAL_MMC_GET_FLAG(hmmc, SDIO_FLAG_RXFIFOHF) && (dataremaining > 0U)) - { - /* Read data from SDIO Rx FIFO */ - for(count = 0U; count < 8U; count++) - { - data = SDIO_ReadFIFO(hmmc->Instance); - *tempbuff = (uint8_t)(data & 0xFFU); - tempbuff++; - dataremaining--; - *tempbuff = (uint8_t)((data >> 8U) & 0xFFU); - tempbuff++; - dataremaining--; - *tempbuff = (uint8_t)((data >> 16U) & 0xFFU); - tempbuff++; - dataremaining--; - *tempbuff = (uint8_t)((data >> 24U) & 0xFFU); - tempbuff++; - dataremaining--; - } - } - - if(((HAL_GetTick()-tickstart) >= Timeout) || (Timeout == 0U)) - { - /* Clear all the static flags */ - __HAL_MMC_CLEAR_FLAG(hmmc, SDIO_STATIC_FLAGS); - hmmc->ErrorCode |= HAL_MMC_ERROR_TIMEOUT; - hmmc->State= HAL_MMC_STATE_READY; - return HAL_TIMEOUT; - } - } - - /* Send stop transmission command in case of multiblock read */ - if(__HAL_MMC_GET_FLAG(hmmc, SDIO_FLAG_DATAEND) && (NumberOfBlocks > 1U)) - { - /* Send stop transmission command */ - errorstate = SDMMC_CmdStopTransfer(hmmc->Instance); - if(errorstate != HAL_MMC_ERROR_NONE) - { - /* Clear all the static flags */ - __HAL_MMC_CLEAR_FLAG(hmmc, SDIO_STATIC_FLAGS); - hmmc->ErrorCode |= errorstate; - hmmc->State = HAL_MMC_STATE_READY; - return HAL_ERROR; - } - } - - /* Get error state */ - if(__HAL_MMC_GET_FLAG(hmmc, SDIO_FLAG_DTIMEOUT)) - { - /* Clear all the static flags */ - __HAL_MMC_CLEAR_FLAG(hmmc, SDIO_STATIC_FLAGS); - hmmc->ErrorCode |= HAL_MMC_ERROR_DATA_TIMEOUT; - hmmc->State = HAL_MMC_STATE_READY; - return HAL_ERROR; - } - else if(__HAL_MMC_GET_FLAG(hmmc, SDIO_FLAG_DCRCFAIL)) - { - /* Clear all the static flags */ - __HAL_MMC_CLEAR_FLAG(hmmc, SDIO_STATIC_FLAGS); - hmmc->ErrorCode |= HAL_MMC_ERROR_DATA_CRC_FAIL; - hmmc->State = HAL_MMC_STATE_READY; - return HAL_ERROR; - } - else if(__HAL_MMC_GET_FLAG(hmmc, SDIO_FLAG_RXOVERR)) - { - /* Clear all the static flags */ - __HAL_MMC_CLEAR_FLAG(hmmc, SDIO_STATIC_FLAGS); - hmmc->ErrorCode |= HAL_MMC_ERROR_RX_OVERRUN; - hmmc->State = HAL_MMC_STATE_READY; - return HAL_ERROR; - } - else - { - /* Nothing to do */ - } - - /* Empty FIFO if there is still any data */ - while ((__HAL_MMC_GET_FLAG(hmmc, SDIO_FLAG_RXDAVL)) && (dataremaining > 0U)) - { - data = SDIO_ReadFIFO(hmmc->Instance); - *tempbuff = (uint8_t)(data & 0xFFU); - tempbuff++; - dataremaining--; - *tempbuff = (uint8_t)((data >> 8U) & 0xFFU); - tempbuff++; - dataremaining--; - *tempbuff = (uint8_t)((data >> 16U) & 0xFFU); - tempbuff++; - dataremaining--; - *tempbuff = (uint8_t)((data >> 24U) & 0xFFU); - tempbuff++; - dataremaining--; - - if(((HAL_GetTick()-tickstart) >= Timeout) || (Timeout == 0U)) - { - /* Clear all the static flags */ - __HAL_MMC_CLEAR_FLAG(hmmc, SDIO_STATIC_FLAGS); - hmmc->ErrorCode |= HAL_MMC_ERROR_TIMEOUT; - hmmc->State= HAL_MMC_STATE_READY; - return HAL_ERROR; - } - } - - /* Clear all the static flags */ - __HAL_MMC_CLEAR_FLAG(hmmc, SDIO_STATIC_DATA_FLAGS); - - hmmc->State = HAL_MMC_STATE_READY; - - return HAL_OK; - } - else - { - hmmc->ErrorCode |= HAL_MMC_ERROR_BUSY; - return HAL_ERROR; - } -} - -/** - * @brief Allows to write block(s) to a specified address in a card. The Data - * transfer is managed by polling mode. - * @note This API should be followed by a check on the card state through - * HAL_MMC_GetCardState(). - * @param hmmc: Pointer to MMC handle - * @param pData: pointer to the buffer that will contain the data to transmit - * @param BlockAdd: Block Address where data will be written - * @param NumberOfBlocks: Number of MMC blocks to write - * @param Timeout: Specify timeout value - * @retval HAL status - */ -HAL_StatusTypeDef HAL_MMC_WriteBlocks(MMC_HandleTypeDef *hmmc, uint8_t *pData, uint32_t BlockAdd, uint32_t NumberOfBlocks, uint32_t Timeout) -{ - SDIO_DataInitTypeDef config; - uint32_t errorstate; - uint32_t tickstart = HAL_GetTick(); - uint32_t count, data, dataremaining; - uint32_t add = BlockAdd; - uint8_t *tempbuff = pData; - - if(NULL == pData) - { - hmmc->ErrorCode |= HAL_MMC_ERROR_PARAM; - return HAL_ERROR; - } - - if(hmmc->State == HAL_MMC_STATE_READY) - { - hmmc->ErrorCode = HAL_MMC_ERROR_NONE; - - if((BlockAdd + NumberOfBlocks) > (hmmc->MmcCard.LogBlockNbr)) - { - hmmc->ErrorCode |= HAL_MMC_ERROR_ADDR_OUT_OF_RANGE; - return HAL_ERROR; - } - - hmmc->State = HAL_MMC_STATE_BUSY; - - /* Initialize data control register */ - hmmc->Instance->DCTRL = 0U; - - if ((hmmc->MmcCard.CardType) != MMC_HIGH_CAPACITY_CARD) - { - add *= 512U; - } - - /* Write Blocks in Polling mode */ - if(NumberOfBlocks > 1U) - { - hmmc->Context = MMC_CONTEXT_WRITE_MULTIPLE_BLOCK; - - /* Write Multi Block command */ - errorstate = SDMMC_CmdWriteMultiBlock(hmmc->Instance, add); - } - else - { - hmmc->Context = MMC_CONTEXT_WRITE_SINGLE_BLOCK; - - /* Write Single Block command */ - errorstate = SDMMC_CmdWriteSingleBlock(hmmc->Instance, add); - } - if(errorstate != HAL_MMC_ERROR_NONE) - { - /* Clear all the static flags */ - __HAL_MMC_CLEAR_FLAG(hmmc, SDIO_STATIC_FLAGS); - hmmc->ErrorCode |= errorstate; - hmmc->State = HAL_MMC_STATE_READY; - return HAL_ERROR; - } - - /* Configure the MMC DPSM (Data Path State Machine) */ - config.DataTimeOut = SDMMC_DATATIMEOUT; - config.DataLength = NumberOfBlocks * MMC_BLOCKSIZE; - config.DataBlockSize = SDIO_DATABLOCK_SIZE_512B; - config.TransferDir = SDIO_TRANSFER_DIR_TO_CARD; - config.TransferMode = SDIO_TRANSFER_MODE_BLOCK; - config.DPSM = SDIO_DPSM_ENABLE; - (void)SDIO_ConfigData(hmmc->Instance, &config); - - /* Write block(s) in polling mode */ - dataremaining = config.DataLength; -#if defined(SDIO_STA_STBITERR) - while(!__HAL_MMC_GET_FLAG(hmmc, SDIO_FLAG_TXUNDERR | SDIO_FLAG_DCRCFAIL | SDIO_FLAG_DTIMEOUT | SDIO_FLAG_DATAEND | SDIO_FLAG_STBITERR)) -#else /* SDIO_STA_STBITERR not defined */ - while(!__HAL_MMC_GET_FLAG(hmmc, SDIO_FLAG_TXUNDERR | SDIO_FLAG_DCRCFAIL | SDIO_FLAG_DTIMEOUT | SDIO_FLAG_DATAEND)) -#endif /* SDIO_STA_STBITERR */ - { - if(__HAL_MMC_GET_FLAG(hmmc, SDIO_FLAG_TXFIFOHE) && (dataremaining > 0U)) - { - /* Write data to SDIO Tx FIFO */ - for(count = 0U; count < 8U; count++) - { - data = (uint32_t)(*tempbuff); - tempbuff++; - dataremaining--; - data |= ((uint32_t)(*tempbuff) << 8U); - tempbuff++; - dataremaining--; - data |= ((uint32_t)(*tempbuff) << 16U); - tempbuff++; - dataremaining--; - data |= ((uint32_t)(*tempbuff) << 24U); - tempbuff++; - dataremaining--; - (void)SDIO_WriteFIFO(hmmc->Instance, &data); - } - } - - if(((HAL_GetTick()-tickstart) >= Timeout) || (Timeout == 0U)) - { - /* Clear all the static flags */ - __HAL_MMC_CLEAR_FLAG(hmmc, SDIO_STATIC_FLAGS); - hmmc->ErrorCode |= errorstate; - hmmc->State = HAL_MMC_STATE_READY; - return HAL_TIMEOUT; - } - } - - /* Send stop transmission command in case of multiblock write */ - if(__HAL_MMC_GET_FLAG(hmmc, SDIO_FLAG_DATAEND) && (NumberOfBlocks > 1U)) - { - /* Send stop transmission command */ - errorstate = SDMMC_CmdStopTransfer(hmmc->Instance); - if(errorstate != HAL_MMC_ERROR_NONE) - { - /* Clear all the static flags */ - __HAL_MMC_CLEAR_FLAG(hmmc, SDIO_STATIC_FLAGS); - hmmc->ErrorCode |= errorstate; - hmmc->State = HAL_MMC_STATE_READY; - return HAL_ERROR; - } - } - - /* Get error state */ - if(__HAL_MMC_GET_FLAG(hmmc, SDIO_FLAG_DTIMEOUT)) - { - /* Clear all the static flags */ - __HAL_MMC_CLEAR_FLAG(hmmc, SDIO_STATIC_FLAGS); - hmmc->ErrorCode |= HAL_MMC_ERROR_DATA_TIMEOUT; - hmmc->State = HAL_MMC_STATE_READY; - return HAL_ERROR; - } - else if(__HAL_MMC_GET_FLAG(hmmc, SDIO_FLAG_DCRCFAIL)) - { - /* Clear all the static flags */ - __HAL_MMC_CLEAR_FLAG(hmmc, SDIO_STATIC_FLAGS); - hmmc->ErrorCode |= HAL_MMC_ERROR_DATA_CRC_FAIL; - hmmc->State = HAL_MMC_STATE_READY; - return HAL_ERROR; - } - else if(__HAL_MMC_GET_FLAG(hmmc, SDIO_FLAG_TXUNDERR)) - { - /* Clear all the static flags */ - __HAL_MMC_CLEAR_FLAG(hmmc, SDIO_STATIC_FLAGS); - hmmc->ErrorCode |= HAL_MMC_ERROR_TX_UNDERRUN; - hmmc->State = HAL_MMC_STATE_READY; - return HAL_ERROR; - } - else - { - /* Nothing to do */ - } - - /* Clear all the static flags */ - __HAL_MMC_CLEAR_FLAG(hmmc, SDIO_STATIC_DATA_FLAGS); - - hmmc->State = HAL_MMC_STATE_READY; - - return HAL_OK; - } - else - { - hmmc->ErrorCode |= HAL_MMC_ERROR_BUSY; - return HAL_ERROR; - } -} - -/** - * @brief Reads block(s) from a specified address in a card. The Data transfer - * is managed in interrupt mode. - * @note This API should be followed by a check on the card state through - * HAL_MMC_GetCardState(). - * @note You could also check the IT transfer process through the MMC Rx - * interrupt event. - * @param hmmc: Pointer to MMC handle - * @param pData: Pointer to the buffer that will contain the received data - * @param BlockAdd: Block Address from where data is to be read - * @param NumberOfBlocks: Number of blocks to read. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_MMC_ReadBlocks_IT(MMC_HandleTypeDef *hmmc, uint8_t *pData, uint32_t BlockAdd, uint32_t NumberOfBlocks) -{ - SDIO_DataInitTypeDef config; - uint32_t errorstate; - uint32_t add = BlockAdd; - - if(NULL == pData) - { - hmmc->ErrorCode |= HAL_MMC_ERROR_PARAM; - return HAL_ERROR; - } - - if(hmmc->State == HAL_MMC_STATE_READY) - { - hmmc->ErrorCode = HAL_MMC_ERROR_NONE; - - if((BlockAdd + NumberOfBlocks) > (hmmc->MmcCard.LogBlockNbr)) - { - hmmc->ErrorCode |= HAL_MMC_ERROR_ADDR_OUT_OF_RANGE; - return HAL_ERROR; - } - - hmmc->State = HAL_MMC_STATE_BUSY; - - /* Initialize data control register */ - hmmc->Instance->DCTRL = 0U; - - hmmc->pRxBuffPtr = pData; - hmmc->RxXferSize = MMC_BLOCKSIZE * NumberOfBlocks; - -#if defined(SDIO_STA_STBITERR) - __HAL_MMC_ENABLE_IT(hmmc, (SDIO_IT_DCRCFAIL | SDIO_IT_DTIMEOUT | SDIO_IT_RXOVERR | SDIO_IT_DATAEND | SDIO_FLAG_RXFIFOHF | SDIO_IT_STBITERR)); -#else /* SDIO_STA_STBITERR not defined */ - __HAL_MMC_ENABLE_IT(hmmc, (SDIO_IT_DCRCFAIL | SDIO_IT_DTIMEOUT | SDIO_IT_RXOVERR | SDIO_IT_DATAEND | SDIO_FLAG_RXFIFOHF)); -#endif /* SDIO_STA_STBITERR */ - - if ((hmmc->MmcCard.CardType) != MMC_HIGH_CAPACITY_CARD) - { - add *= 512U; - } - - /* Configure the MMC DPSM (Data Path State Machine) */ - config.DataTimeOut = SDMMC_DATATIMEOUT; - config.DataLength = MMC_BLOCKSIZE * NumberOfBlocks; - config.DataBlockSize = SDIO_DATABLOCK_SIZE_512B; - config.TransferDir = SDIO_TRANSFER_DIR_TO_SDIO; - config.TransferMode = SDIO_TRANSFER_MODE_BLOCK; - config.DPSM = SDIO_DPSM_ENABLE; - (void)SDIO_ConfigData(hmmc->Instance, &config); - - /* Read Blocks in IT mode */ - if(NumberOfBlocks > 1U) - { - hmmc->Context = (MMC_CONTEXT_READ_MULTIPLE_BLOCK | MMC_CONTEXT_IT); - - /* Read Multi Block command */ - errorstate = SDMMC_CmdReadMultiBlock(hmmc->Instance, add); - } - else - { - hmmc->Context = (MMC_CONTEXT_READ_SINGLE_BLOCK | MMC_CONTEXT_IT); - - /* Read Single Block command */ - errorstate = SDMMC_CmdReadSingleBlock(hmmc->Instance, add); - } - - if(errorstate != HAL_MMC_ERROR_NONE) - { - /* Clear all the static flags */ - __HAL_MMC_CLEAR_FLAG(hmmc, SDIO_STATIC_FLAGS); - hmmc->ErrorCode |= errorstate; - hmmc->State = HAL_MMC_STATE_READY; - return HAL_ERROR; - } - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Writes block(s) to a specified address in a card. The Data transfer - * is managed in interrupt mode. - * @note This API should be followed by a check on the card state through - * HAL_MMC_GetCardState(). - * @note You could also check the IT transfer process through the MMC Tx - * interrupt event. - * @param hmmc: Pointer to MMC handle - * @param pData: Pointer to the buffer that will contain the data to transmit - * @param BlockAdd: Block Address where data will be written - * @param NumberOfBlocks: Number of blocks to write - * @retval HAL status - */ -HAL_StatusTypeDef HAL_MMC_WriteBlocks_IT(MMC_HandleTypeDef *hmmc, uint8_t *pData, uint32_t BlockAdd, uint32_t NumberOfBlocks) -{ - SDIO_DataInitTypeDef config; - uint32_t errorstate; - uint32_t add = BlockAdd; - - if(NULL == pData) - { - hmmc->ErrorCode |= HAL_MMC_ERROR_PARAM; - return HAL_ERROR; - } - - if(hmmc->State == HAL_MMC_STATE_READY) - { - hmmc->ErrorCode = HAL_MMC_ERROR_NONE; - - if((BlockAdd + NumberOfBlocks) > (hmmc->MmcCard.LogBlockNbr)) - { - hmmc->ErrorCode |= HAL_MMC_ERROR_ADDR_OUT_OF_RANGE; - return HAL_ERROR; - } - - hmmc->State = HAL_MMC_STATE_BUSY; - - /* Initialize data control register */ - hmmc->Instance->DCTRL = 0U; - - hmmc->pTxBuffPtr = pData; - hmmc->TxXferSize = MMC_BLOCKSIZE * NumberOfBlocks; - - /* Enable transfer interrupts */ -#if defined(SDIO_STA_STBITERR) - __HAL_MMC_ENABLE_IT(hmmc, (SDIO_IT_DCRCFAIL | SDIO_IT_DTIMEOUT | SDIO_IT_TXUNDERR | SDIO_IT_DATAEND | SDIO_FLAG_TXFIFOHE | SDIO_IT_STBITERR)); -#else /* SDIO_STA_STBITERR not defined */ - __HAL_MMC_ENABLE_IT(hmmc, (SDIO_IT_DCRCFAIL | SDIO_IT_DTIMEOUT | SDIO_IT_TXUNDERR | SDIO_IT_DATAEND | SDIO_FLAG_TXFIFOHE)); -#endif /* SDIO_STA_STBITERR */ - - if ((hmmc->MmcCard.CardType) != MMC_HIGH_CAPACITY_CARD) - { - add *= 512U; - } - - /* Write Blocks in Polling mode */ - if(NumberOfBlocks > 1U) - { - hmmc->Context = (MMC_CONTEXT_WRITE_MULTIPLE_BLOCK| MMC_CONTEXT_IT); - - /* Write Multi Block command */ - errorstate = SDMMC_CmdWriteMultiBlock(hmmc->Instance, add); - } - else - { - hmmc->Context = (MMC_CONTEXT_WRITE_SINGLE_BLOCK | MMC_CONTEXT_IT); - - /* Write Single Block command */ - errorstate = SDMMC_CmdWriteSingleBlock(hmmc->Instance, add); - } - if(errorstate != HAL_MMC_ERROR_NONE) - { - /* Clear all the static flags */ - __HAL_MMC_CLEAR_FLAG(hmmc, SDIO_STATIC_FLAGS); - hmmc->ErrorCode |= errorstate; - hmmc->State = HAL_MMC_STATE_READY; - return HAL_ERROR; - } - - /* Configure the MMC DPSM (Data Path State Machine) */ - config.DataTimeOut = SDMMC_DATATIMEOUT; - config.DataLength = MMC_BLOCKSIZE * NumberOfBlocks; - config.DataBlockSize = SDIO_DATABLOCK_SIZE_512B; - config.TransferDir = SDIO_TRANSFER_DIR_TO_CARD; - config.TransferMode = SDIO_TRANSFER_MODE_BLOCK; - config.DPSM = SDIO_DPSM_ENABLE; - (void)SDIO_ConfigData(hmmc->Instance, &config); - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Reads block(s) from a specified address in a card. The Data transfer - * is managed by DMA mode. - * @note This API should be followed by a check on the card state through - * HAL_MMC_GetCardState(). - * @note You could also check the DMA transfer process through the MMC Rx - * interrupt event. - * @param hmmc: Pointer MMC handle - * @param pData: Pointer to the buffer that will contain the received data - * @param BlockAdd: Block Address from where data is to be read - * @param NumberOfBlocks: Number of blocks to read. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_MMC_ReadBlocks_DMA(MMC_HandleTypeDef *hmmc, uint8_t *pData, uint32_t BlockAdd, uint32_t NumberOfBlocks) -{ - SDIO_DataInitTypeDef config; - uint32_t errorstate; - uint32_t add = BlockAdd; - - if(NULL == pData) - { - hmmc->ErrorCode |= HAL_MMC_ERROR_PARAM; - return HAL_ERROR; - } - - if(hmmc->State == HAL_MMC_STATE_READY) - { - hmmc->ErrorCode = HAL_DMA_ERROR_NONE; - - if((BlockAdd + NumberOfBlocks) > (hmmc->MmcCard.LogBlockNbr)) - { - hmmc->ErrorCode |= HAL_MMC_ERROR_ADDR_OUT_OF_RANGE; - return HAL_ERROR; - } - - hmmc->State = HAL_MMC_STATE_BUSY; - - /* Initialize data control register */ - hmmc->Instance->DCTRL = 0U; - -#if defined(SDIO_STA_STBITERR) - __HAL_MMC_ENABLE_IT(hmmc, (SDIO_IT_DCRCFAIL | SDIO_IT_DTIMEOUT | SDIO_IT_RXOVERR | SDIO_IT_DATAEND | SDIO_IT_STBITERR)); -#else /* SDIO_STA_STBITERR not defined */ - __HAL_MMC_ENABLE_IT(hmmc, (SDIO_IT_DCRCFAIL | SDIO_IT_DTIMEOUT | SDIO_IT_RXOVERR | SDIO_IT_DATAEND)); -#endif /* SDIO_STA_STBITERR */ - - /* Set the DMA transfer complete callback */ - hmmc->hdmarx->XferCpltCallback = MMC_DMAReceiveCplt; - - /* Set the DMA error callback */ - hmmc->hdmarx->XferErrorCallback = MMC_DMAError; - - /* Set the DMA Abort callback */ - hmmc->hdmarx->XferAbortCallback = NULL; - - if ((hmmc->MmcCard.CardType) != MMC_HIGH_CAPACITY_CARD) - { - add *= 512U; - } - - /* Force DMA Direction */ - hmmc->hdmarx->Init.Direction = DMA_PERIPH_TO_MEMORY; - MODIFY_REG(hmmc->hdmarx->Instance->CR, DMA_SxCR_DIR, hmmc->hdmarx->Init.Direction); - - /* Enable the DMA Channel */ - if(HAL_DMA_Start_IT(hmmc->hdmarx, (uint32_t)&hmmc->Instance->FIFO, (uint32_t)pData, (uint32_t)(MMC_BLOCKSIZE * NumberOfBlocks)/4) != HAL_OK) - { - __HAL_MMC_DISABLE_IT(hmmc, (SDIO_IT_DCRCFAIL | SDIO_IT_DTIMEOUT | SDIO_IT_RXOVERR | SDIO_IT_DATAEND)); - __HAL_MMC_CLEAR_FLAG(hmmc, SDIO_STATIC_FLAGS); - hmmc->ErrorCode = HAL_MMC_ERROR_DMA; - hmmc->State = HAL_MMC_STATE_READY; - return HAL_ERROR; - } - else - { - /* Enable MMC DMA transfer */ - __HAL_MMC_DMA_ENABLE(hmmc); - - /* Configure the MMC DPSM (Data Path State Machine) */ - config.DataTimeOut = SDMMC_DATATIMEOUT; - config.DataLength = MMC_BLOCKSIZE * NumberOfBlocks; - config.DataBlockSize = SDIO_DATABLOCK_SIZE_512B; - config.TransferDir = SDIO_TRANSFER_DIR_TO_SDIO; - config.TransferMode = SDIO_TRANSFER_MODE_BLOCK; - config.DPSM = SDIO_DPSM_ENABLE; - (void)SDIO_ConfigData(hmmc->Instance, &config); - - /* Read Blocks in DMA mode */ - if(NumberOfBlocks > 1U) - { - hmmc->Context = (MMC_CONTEXT_READ_MULTIPLE_BLOCK | MMC_CONTEXT_DMA); - - /* Read Multi Block command */ - errorstate = SDMMC_CmdReadMultiBlock(hmmc->Instance, add); - } - else - { - hmmc->Context = (MMC_CONTEXT_READ_SINGLE_BLOCK | MMC_CONTEXT_DMA); - - /* Read Single Block command */ - errorstate = SDMMC_CmdReadSingleBlock(hmmc->Instance, add); - } - if(errorstate != HAL_MMC_ERROR_NONE) - { - /* Clear all the static flags */ - __HAL_MMC_CLEAR_FLAG(hmmc, SDIO_STATIC_FLAGS); - __HAL_MMC_DISABLE_IT(hmmc, (SDIO_IT_DCRCFAIL | SDIO_IT_DTIMEOUT | SDIO_IT_RXOVERR | SDIO_IT_DATAEND)); - hmmc->ErrorCode = errorstate; - hmmc->State = HAL_MMC_STATE_READY; - return HAL_ERROR; - } - - return HAL_OK; - } - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Writes block(s) to a specified address in a card. The Data transfer - * is managed by DMA mode. - * @note This API should be followed by a check on the card state through - * HAL_MMC_GetCardState(). - * @note You could also check the DMA transfer process through the MMC Tx - * interrupt event. - * @param hmmc: Pointer to MMC handle - * @param pData: Pointer to the buffer that will contain the data to transmit - * @param BlockAdd: Block Address where data will be written - * @param NumberOfBlocks: Number of blocks to write - * @retval HAL status - */ -HAL_StatusTypeDef HAL_MMC_WriteBlocks_DMA(MMC_HandleTypeDef *hmmc, uint8_t *pData, uint32_t BlockAdd, uint32_t NumberOfBlocks) -{ - SDIO_DataInitTypeDef config; - uint32_t errorstate; - uint32_t add = BlockAdd; - - if(NULL == pData) - { - hmmc->ErrorCode |= HAL_MMC_ERROR_PARAM; - return HAL_ERROR; - } - - if(hmmc->State == HAL_MMC_STATE_READY) - { - hmmc->ErrorCode = HAL_MMC_ERROR_NONE; - - if((BlockAdd + NumberOfBlocks) > (hmmc->MmcCard.LogBlockNbr)) - { - hmmc->ErrorCode |= HAL_MMC_ERROR_ADDR_OUT_OF_RANGE; - return HAL_ERROR; - } - - hmmc->State = HAL_MMC_STATE_BUSY; - - /* Initialize data control register */ - hmmc->Instance->DCTRL = 0U; - - /* Enable MMC Error interrupts */ -#if defined(SDIO_STA_STBITERR) - __HAL_MMC_ENABLE_IT(hmmc, (SDIO_IT_DCRCFAIL | SDIO_IT_DTIMEOUT | SDIO_IT_TXUNDERR | SDIO_IT_STBITERR)); -#else /* SDIO_STA_STBITERR not defined */ - __HAL_MMC_ENABLE_IT(hmmc, (SDIO_IT_DCRCFAIL | SDIO_IT_DTIMEOUT | SDIO_IT_TXUNDERR)); -#endif /* SDIO_STA_STBITERR */ - - /* Set the DMA transfer complete callback */ - hmmc->hdmatx->XferCpltCallback = MMC_DMATransmitCplt; - - /* Set the DMA error callback */ - hmmc->hdmatx->XferErrorCallback = MMC_DMAError; - - /* Set the DMA Abort callback */ - hmmc->hdmatx->XferAbortCallback = NULL; - - if ((hmmc->MmcCard.CardType) != MMC_HIGH_CAPACITY_CARD) - { - add *= 512U; - } - - - /* Write Blocks in Polling mode */ - if(NumberOfBlocks > 1U) - { - hmmc->Context = (MMC_CONTEXT_WRITE_MULTIPLE_BLOCK | MMC_CONTEXT_DMA); - - /* Write Multi Block command */ - errorstate = SDMMC_CmdWriteMultiBlock(hmmc->Instance, add); - } - else - { - hmmc->Context = (MMC_CONTEXT_WRITE_SINGLE_BLOCK | MMC_CONTEXT_DMA); - - /* Write Single Block command */ - errorstate = SDMMC_CmdWriteSingleBlock(hmmc->Instance, add); - } - if(errorstate != HAL_MMC_ERROR_NONE) - { - /* Clear all the static flags */ - __HAL_MMC_CLEAR_FLAG(hmmc, SDIO_STATIC_FLAGS); - __HAL_MMC_DISABLE_IT(hmmc, (SDIO_IT_DCRCFAIL | SDIO_IT_DTIMEOUT | SDIO_IT_TXUNDERR | SDIO_IT_DATAEND)); - hmmc->ErrorCode |= errorstate; - hmmc->State = HAL_MMC_STATE_READY; - return HAL_ERROR; - } - - /* Enable SDIO DMA transfer */ - __HAL_MMC_DMA_ENABLE(hmmc); - - /* Force DMA Direction */ - hmmc->hdmatx->Init.Direction = DMA_MEMORY_TO_PERIPH; - MODIFY_REG(hmmc->hdmatx->Instance->CR, DMA_SxCR_DIR, hmmc->hdmatx->Init.Direction); - - /* Enable the DMA Channel */ - if(HAL_DMA_Start_IT(hmmc->hdmatx, (uint32_t)pData, (uint32_t)&hmmc->Instance->FIFO, (uint32_t)(MMC_BLOCKSIZE * NumberOfBlocks)/4) != HAL_OK) - { - __HAL_MMC_DISABLE_IT(hmmc, (SDIO_IT_DCRCFAIL | SDIO_IT_DTIMEOUT | SDIO_IT_TXUNDERR | SDIO_IT_DATAEND)); - __HAL_MMC_CLEAR_FLAG(hmmc, SDIO_STATIC_FLAGS); - hmmc->ErrorCode |= HAL_MMC_ERROR_DMA; - hmmc->State = HAL_MMC_STATE_READY; - return HAL_ERROR; - } - else - { - /* Configure the MMC DPSM (Data Path State Machine) */ - config.DataTimeOut = SDMMC_DATATIMEOUT; - config.DataLength = MMC_BLOCKSIZE * NumberOfBlocks; - config.DataBlockSize = SDIO_DATABLOCK_SIZE_512B; - config.TransferDir = SDIO_TRANSFER_DIR_TO_CARD; - config.TransferMode = SDIO_TRANSFER_MODE_BLOCK; - config.DPSM = SDIO_DPSM_ENABLE; - (void)SDIO_ConfigData(hmmc->Instance, &config); - - return HAL_OK; - } - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Erases the specified memory area of the given MMC card. - * @note This API should be followed by a check on the card state through - * HAL_MMC_GetCardState(). - * @param hmmc: Pointer to MMC handle - * @param BlockStartAdd: Start Block address - * @param BlockEndAdd: End Block address - * @retval HAL status - */ -HAL_StatusTypeDef HAL_MMC_Erase(MMC_HandleTypeDef *hmmc, uint32_t BlockStartAdd, uint32_t BlockEndAdd) -{ - uint32_t errorstate; - uint32_t start_add = BlockStartAdd; - uint32_t end_add = BlockEndAdd; - - if(hmmc->State == HAL_MMC_STATE_READY) - { - hmmc->ErrorCode = HAL_MMC_ERROR_NONE; - - if(end_add < start_add) - { - hmmc->ErrorCode |= HAL_MMC_ERROR_PARAM; - return HAL_ERROR; - } - - if(end_add > (hmmc->MmcCard.LogBlockNbr)) - { - hmmc->ErrorCode |= HAL_MMC_ERROR_ADDR_OUT_OF_RANGE; - return HAL_ERROR; - } - - hmmc->State = HAL_MMC_STATE_BUSY; - - /* Check if the card command class supports erase command */ - if(((hmmc->MmcCard.Class) & SDIO_CCCC_ERASE) == 0U) - { - /* Clear all the static flags */ - __HAL_MMC_CLEAR_FLAG(hmmc, SDIO_STATIC_FLAGS); - hmmc->ErrorCode |= HAL_MMC_ERROR_REQUEST_NOT_APPLICABLE; - hmmc->State = HAL_MMC_STATE_READY; - return HAL_ERROR; - } - - if((SDIO_GetResponse(hmmc->Instance, SDIO_RESP1) & SDMMC_CARD_LOCKED) == SDMMC_CARD_LOCKED) - { - /* Clear all the static flags */ - __HAL_MMC_CLEAR_FLAG(hmmc, SDIO_STATIC_FLAGS); - hmmc->ErrorCode |= HAL_MMC_ERROR_LOCK_UNLOCK_FAILED; - hmmc->State = HAL_MMC_STATE_READY; - return HAL_ERROR; - } - - if ((hmmc->MmcCard.CardType) != MMC_HIGH_CAPACITY_CARD) - { - start_add *= 512U; - end_add *= 512U; - } - - /* Send CMD35 MMC_ERASE_GRP_START with argument as addr */ - errorstate = SDMMC_CmdEraseStartAdd(hmmc->Instance, start_add); - if(errorstate != HAL_MMC_ERROR_NONE) - { - /* Clear all the static flags */ - __HAL_MMC_CLEAR_FLAG(hmmc, SDIO_STATIC_FLAGS); - hmmc->ErrorCode |= errorstate; - hmmc->State = HAL_MMC_STATE_READY; - return HAL_ERROR; - } - - /* Send CMD36 MMC_ERASE_GRP_END with argument as addr */ - errorstate = SDMMC_CmdEraseEndAdd(hmmc->Instance, end_add); - if(errorstate != HAL_MMC_ERROR_NONE) - { - /* Clear all the static flags */ - __HAL_MMC_CLEAR_FLAG(hmmc, SDIO_STATIC_FLAGS); - hmmc->ErrorCode |= errorstate; - hmmc->State = HAL_MMC_STATE_READY; - return HAL_ERROR; - } - - /* Send CMD38 ERASE */ - errorstate = SDMMC_CmdErase(hmmc->Instance); - if(errorstate != HAL_MMC_ERROR_NONE) - { - /* Clear all the static flags */ - __HAL_MMC_CLEAR_FLAG(hmmc, SDIO_STATIC_FLAGS); - hmmc->ErrorCode |= errorstate; - hmmc->State = HAL_MMC_STATE_READY; - return HAL_ERROR; - } - - hmmc->State = HAL_MMC_STATE_READY; - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief This function handles MMC card interrupt request. - * @param hmmc: Pointer to MMC handle - * @retval None - */ -void HAL_MMC_IRQHandler(MMC_HandleTypeDef *hmmc) -{ - uint32_t errorstate; - uint32_t context = hmmc->Context; - - /* Check for SDIO interrupt flags */ - if((__HAL_MMC_GET_FLAG(hmmc, SDIO_FLAG_RXFIFOHF) != RESET) && ((context & MMC_CONTEXT_IT) != 0U)) - { - MMC_Read_IT(hmmc); - } - - else if(__HAL_MMC_GET_FLAG(hmmc, SDIO_FLAG_DATAEND) != RESET) - { - __HAL_MMC_CLEAR_FLAG(hmmc, SDIO_FLAG_DATAEND); - -#if defined(SDIO_STA_STBITERR) - __HAL_MMC_DISABLE_IT(hmmc, SDIO_IT_DATAEND | SDIO_IT_DCRCFAIL | SDIO_IT_DTIMEOUT|\ - SDIO_IT_TXUNDERR| SDIO_IT_RXOVERR | SDIO_IT_STBITERR); -#else /* SDIO_STA_STBITERR not defined */ - __HAL_MMC_DISABLE_IT(hmmc, SDIO_IT_DATAEND | SDIO_IT_DCRCFAIL | SDIO_IT_DTIMEOUT |\ - SDIO_IT_TXUNDERR | SDIO_IT_RXOVERR | SDIO_IT_TXFIFOHE |\ - SDIO_IT_RXFIFOHF); -#endif /* SDIO_STA_STBITERR */ - - hmmc->Instance->DCTRL &= ~(SDIO_DCTRL_DTEN); - - if((context & MMC_CONTEXT_DMA) != 0U) - { - if((context & MMC_CONTEXT_WRITE_MULTIPLE_BLOCK) != 0U) - { - errorstate = SDMMC_CmdStopTransfer(hmmc->Instance); - if(errorstate != HAL_MMC_ERROR_NONE) - { - hmmc->ErrorCode |= errorstate; -#if defined (USE_HAL_MMC_REGISTER_CALLBACKS) && (USE_HAL_MMC_REGISTER_CALLBACKS == 1U) - hmmc->ErrorCallback(hmmc); -#else - HAL_MMC_ErrorCallback(hmmc); -#endif - } - } - if(((context & MMC_CONTEXT_READ_SINGLE_BLOCK) == 0U) && ((context & MMC_CONTEXT_READ_MULTIPLE_BLOCK) == 0U)) - { - /* Disable the DMA transfer for transmit request by setting the DMAEN bit - in the MMC DCTRL register */ - hmmc->Instance->DCTRL &= (uint32_t)~((uint32_t)SDIO_DCTRL_DMAEN); - - hmmc->State = HAL_MMC_STATE_READY; - -#if defined (USE_HAL_MMC_REGISTER_CALLBACKS) && (USE_HAL_MMC_REGISTER_CALLBACKS == 1U) - hmmc->TxCpltCallback(hmmc); -#else - HAL_MMC_TxCpltCallback(hmmc); -#endif - } - } - else if((context & MMC_CONTEXT_IT) != 0U) - { - /* Stop Transfer for Write Multi blocks or Read Multi blocks */ - if(((context & MMC_CONTEXT_READ_MULTIPLE_BLOCK) != 0U) || ((context & MMC_CONTEXT_WRITE_MULTIPLE_BLOCK) != 0U)) - { - errorstate = SDMMC_CmdStopTransfer(hmmc->Instance); - if(errorstate != HAL_MMC_ERROR_NONE) - { - hmmc->ErrorCode |= errorstate; -#if defined (USE_HAL_MMC_REGISTER_CALLBACKS) && (USE_HAL_MMC_REGISTER_CALLBACKS == 1U) - hmmc->ErrorCallback(hmmc); -#else - HAL_MMC_ErrorCallback(hmmc); -#endif - } - } - - /* Clear all the static flags */ - __HAL_MMC_CLEAR_FLAG(hmmc, SDIO_STATIC_DATA_FLAGS); - - hmmc->State = HAL_MMC_STATE_READY; - if(((context & MMC_CONTEXT_READ_SINGLE_BLOCK) != 0U) || ((context & MMC_CONTEXT_READ_MULTIPLE_BLOCK) != 0U)) - { -#if defined (USE_HAL_MMC_REGISTER_CALLBACKS) && (USE_HAL_MMC_REGISTER_CALLBACKS == 1U) - hmmc->RxCpltCallback(hmmc); -#else - HAL_MMC_RxCpltCallback(hmmc); -#endif - } - else - { -#if defined (USE_HAL_MMC_REGISTER_CALLBACKS) && (USE_HAL_MMC_REGISTER_CALLBACKS == 1U) - hmmc->TxCpltCallback(hmmc); -#else - HAL_MMC_TxCpltCallback(hmmc); -#endif - } - } - else - { - /* Nothing to do */ - } - } - - else if((__HAL_MMC_GET_FLAG(hmmc, SDIO_FLAG_TXFIFOHE) != RESET) && ((context & MMC_CONTEXT_IT) != 0U)) - { - MMC_Write_IT(hmmc); - } - -#if defined(SDIO_STA_STBITERR) - else if(__HAL_MMC_GET_FLAG(hmmc, SDIO_FLAG_DCRCFAIL | SDIO_FLAG_DTIMEOUT | SDIO_FLAG_RXOVERR | SDIO_FLAG_TXUNDERR | SDIO_FLAG_STBITERR) != RESET) -#else /* SDIO_STA_STBITERR not defined */ - else if(__HAL_MMC_GET_FLAG(hmmc, SDIO_FLAG_DCRCFAIL | SDIO_FLAG_DTIMEOUT | SDIO_FLAG_RXOVERR | SDIO_FLAG_TXUNDERR) != RESET) -#endif /* SDIO_STA_STBITERR */ - { - /* Set Error code */ - if(__HAL_MMC_GET_FLAG(hmmc, SDIO_FLAG_DCRCFAIL) != RESET) - { - hmmc->ErrorCode |= HAL_MMC_ERROR_DATA_CRC_FAIL; - } - if(__HAL_MMC_GET_FLAG(hmmc, SDIO_FLAG_DTIMEOUT) != RESET) - { - hmmc->ErrorCode |= HAL_MMC_ERROR_DATA_TIMEOUT; - } - if(__HAL_MMC_GET_FLAG(hmmc, SDIO_FLAG_RXOVERR) != RESET) - { - hmmc->ErrorCode |= HAL_MMC_ERROR_RX_OVERRUN; - } - if(__HAL_MMC_GET_FLAG(hmmc, SDIO_FLAG_TXUNDERR) != RESET) - { - hmmc->ErrorCode |= HAL_MMC_ERROR_TX_UNDERRUN; - } -#if defined(SDIO_STA_STBITERR) - if(__HAL_MMC_GET_FLAG(hmmc, SDIO_FLAG_STBITERR) != RESET) - { - hmmc->ErrorCode |= HAL_MMC_ERROR_DATA_TIMEOUT; - } -#endif /* SDIO_STA_STBITERR */ - -#if defined(SDIO_STA_STBITERR) - /* Clear All flags */ - __HAL_MMC_CLEAR_FLAG(hmmc, SDIO_STATIC_DATA_FLAGS | SDIO_FLAG_STBITERR); - - /* Disable all interrupts */ - __HAL_MMC_DISABLE_IT(hmmc, SDIO_IT_DATAEND | SDIO_IT_DCRCFAIL | SDIO_IT_DTIMEOUT|\ - SDIO_IT_TXUNDERR| SDIO_IT_RXOVERR | SDIO_IT_STBITERR); -#else /* SDIO_STA_STBITERR */ - /* Clear All flags */ - __HAL_MMC_CLEAR_FLAG(hmmc, SDIO_STATIC_DATA_FLAGS); - - /* Disable all interrupts */ - __HAL_MMC_DISABLE_IT(hmmc, SDIO_IT_DATAEND | SDIO_IT_DCRCFAIL | SDIO_IT_DTIMEOUT|\ - SDIO_IT_TXUNDERR| SDIO_IT_RXOVERR); -#endif /* SDIO_STA_STBITERR */ - - hmmc->ErrorCode |= SDMMC_CmdStopTransfer(hmmc->Instance); - - if((context & MMC_CONTEXT_IT) != 0U) - { - /* Set the MMC state to ready to be able to start again the process */ - hmmc->State = HAL_MMC_STATE_READY; -#if defined (USE_HAL_MMC_REGISTER_CALLBACKS) && (USE_HAL_MMC_REGISTER_CALLBACKS == 1U) - hmmc->ErrorCallback(hmmc); -#else - HAL_MMC_ErrorCallback(hmmc); -#endif /* USE_HAL_MMC_REGISTER_CALLBACKS */ - } - else if((context & MMC_CONTEXT_DMA) != 0U) - { - /* Abort the MMC DMA Streams */ - if(hmmc->hdmatx != NULL) - { - /* Set the DMA Tx abort callback */ - hmmc->hdmatx->XferAbortCallback = MMC_DMATxAbort; - /* Abort DMA in IT mode */ - if(HAL_DMA_Abort_IT(hmmc->hdmatx) != HAL_OK) - { - MMC_DMATxAbort(hmmc->hdmatx); - } - } - else if(hmmc->hdmarx != NULL) - { - /* Set the DMA Rx abort callback */ - hmmc->hdmarx->XferAbortCallback = MMC_DMARxAbort; - /* Abort DMA in IT mode */ - if(HAL_DMA_Abort_IT(hmmc->hdmarx) != HAL_OK) - { - MMC_DMARxAbort(hmmc->hdmarx); - } - } - else - { - hmmc->ErrorCode = HAL_MMC_ERROR_NONE; - hmmc->State = HAL_MMC_STATE_READY; -#if defined (USE_HAL_MMC_REGISTER_CALLBACKS) && (USE_HAL_MMC_REGISTER_CALLBACKS == 1U) - hmmc->AbortCpltCallback(hmmc); -#else - HAL_MMC_AbortCallback(hmmc); -#endif - } - } - else - { - /* Nothing to do */ - } - } - - else - { - /* Nothing to do */ - } -} - -/** - * @brief return the MMC state - * @param hmmc: Pointer to mmc handle - * @retval HAL state - */ -HAL_MMC_StateTypeDef HAL_MMC_GetState(MMC_HandleTypeDef *hmmc) -{ - return hmmc->State; -} - -/** -* @brief Return the MMC error code -* @param hmmc : Pointer to a MMC_HandleTypeDef structure that contains - * the configuration information. -* @retval MMC Error Code -*/ -uint32_t HAL_MMC_GetError(MMC_HandleTypeDef *hmmc) -{ - return hmmc->ErrorCode; -} - -/** - * @brief Tx Transfer completed callbacks - * @param hmmc: Pointer to MMC handle - * @retval None - */ -__weak void HAL_MMC_TxCpltCallback(MMC_HandleTypeDef *hmmc) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hmmc); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_MMC_TxCpltCallback can be implemented in the user file - */ -} - -/** - * @brief Rx Transfer completed callbacks - * @param hmmc: Pointer MMC handle - * @retval None - */ -__weak void HAL_MMC_RxCpltCallback(MMC_HandleTypeDef *hmmc) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hmmc); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_MMC_RxCpltCallback can be implemented in the user file - */ -} - -/** - * @brief MMC error callbacks - * @param hmmc: Pointer MMC handle - * @retval None - */ -__weak void HAL_MMC_ErrorCallback(MMC_HandleTypeDef *hmmc) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hmmc); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_MMC_ErrorCallback can be implemented in the user file - */ -} - -/** - * @brief MMC Abort callbacks - * @param hmmc: Pointer MMC handle - * @retval None - */ -__weak void HAL_MMC_AbortCallback(MMC_HandleTypeDef *hmmc) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hmmc); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_MMC_AbortCallback can be implemented in the user file - */ -} - -#if defined (USE_HAL_MMC_REGISTER_CALLBACKS) && (USE_HAL_MMC_REGISTER_CALLBACKS == 1U) -/** - * @brief Register a User MMC Callback - * To be used instead of the weak (surcharged) predefined callback - * @param hmmc : MMC handle - * @param CallbackId : ID of the callback to be registered - * This parameter can be one of the following values: - * @arg @ref HAL_MMC_TX_CPLT_CB_ID MMC Tx Complete Callback ID - * @arg @ref HAL_MMC_RX_CPLT_CB_ID MMC Rx Complete Callback ID - * @arg @ref HAL_MMC_ERROR_CB_ID MMC Error Callback ID - * @arg @ref HAL_MMC_ABORT_CB_ID MMC Abort Callback ID - * @arg @ref HAL_MMC_MSP_INIT_CB_ID MMC MspInit Callback ID - * @arg @ref HAL_MMC_MSP_DEINIT_CB_ID MMC MspDeInit Callback ID - * @param pCallback : pointer to the Callback function - * @retval status - */ -HAL_StatusTypeDef HAL_MMC_RegisterCallback(MMC_HandleTypeDef *hmmc, HAL_MMC_CallbackIDTypeDef CallbackId, pMMC_CallbackTypeDef pCallback) -{ - HAL_StatusTypeDef status = HAL_OK; - - if(pCallback == NULL) - { - /* Update the error code */ - hmmc->ErrorCode |= HAL_MMC_ERROR_INVALID_CALLBACK; - return HAL_ERROR; - } - - /* Process locked */ - __HAL_LOCK(hmmc); - - if(hmmc->State == HAL_MMC_STATE_READY) - { - switch (CallbackId) - { - case HAL_MMC_TX_CPLT_CB_ID : - hmmc->TxCpltCallback = pCallback; - break; - case HAL_MMC_RX_CPLT_CB_ID : - hmmc->RxCpltCallback = pCallback; - break; - case HAL_MMC_ERROR_CB_ID : - hmmc->ErrorCallback = pCallback; - break; - case HAL_MMC_ABORT_CB_ID : - hmmc->AbortCpltCallback = pCallback; - break; - case HAL_MMC_MSP_INIT_CB_ID : - hmmc->MspInitCallback = pCallback; - break; - case HAL_MMC_MSP_DEINIT_CB_ID : - hmmc->MspDeInitCallback = pCallback; - break; - default : - /* Update the error code */ - hmmc->ErrorCode |= HAL_MMC_ERROR_INVALID_CALLBACK; - /* update return status */ - status = HAL_ERROR; - break; - } - } - else if (hmmc->State == HAL_MMC_STATE_RESET) - { - switch (CallbackId) - { - case HAL_MMC_MSP_INIT_CB_ID : - hmmc->MspInitCallback = pCallback; - break; - case HAL_MMC_MSP_DEINIT_CB_ID : - hmmc->MspDeInitCallback = pCallback; - break; - default : - /* Update the error code */ - hmmc->ErrorCode |= HAL_MMC_ERROR_INVALID_CALLBACK; - /* update return status */ - status = HAL_ERROR; - break; - } - } - else - { - /* Update the error code */ - hmmc->ErrorCode |= HAL_MMC_ERROR_INVALID_CALLBACK; - /* update return status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(hmmc); - return status; -} - -/** - * @brief Unregister a User MMC Callback - * MMC Callback is redirected to the weak (surcharged) predefined callback - * @param hmmc : MMC handle - * @param CallbackId : ID of the callback to be unregistered - * This parameter can be one of the following values: - * @arg @ref HAL_MMC_TX_CPLT_CB_ID MMC Tx Complete Callback ID - * @arg @ref HAL_MMC_RX_CPLT_CB_ID MMC Rx Complete Callback ID - * @arg @ref HAL_MMC_ERROR_CB_ID MMC Error Callback ID - * @arg @ref HAL_MMC_ABORT_CB_ID MMC Abort Callback ID - * @arg @ref HAL_MMC_MSP_INIT_CB_ID MMC MspInit Callback ID - * @arg @ref HAL_MMC_MSP_DEINIT_CB_ID MMC MspDeInit Callback ID - * @retval status - */ -HAL_StatusTypeDef HAL_MMC_UnRegisterCallback(MMC_HandleTypeDef *hmmc, HAL_MMC_CallbackIDTypeDef CallbackId) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Process locked */ - __HAL_LOCK(hmmc); - - if(hmmc->State == HAL_MMC_STATE_READY) - { - switch (CallbackId) - { - case HAL_MMC_TX_CPLT_CB_ID : - hmmc->TxCpltCallback = HAL_MMC_TxCpltCallback; - break; - case HAL_MMC_RX_CPLT_CB_ID : - hmmc->RxCpltCallback = HAL_MMC_RxCpltCallback; - break; - case HAL_MMC_ERROR_CB_ID : - hmmc->ErrorCallback = HAL_MMC_ErrorCallback; - break; - case HAL_MMC_ABORT_CB_ID : - hmmc->AbortCpltCallback = HAL_MMC_AbortCallback; - break; - case HAL_MMC_MSP_INIT_CB_ID : - hmmc->MspInitCallback = HAL_MMC_MspInit; - break; - case HAL_MMC_MSP_DEINIT_CB_ID : - hmmc->MspDeInitCallback = HAL_MMC_MspDeInit; - break; - default : - /* Update the error code */ - hmmc->ErrorCode |= HAL_MMC_ERROR_INVALID_CALLBACK; - /* update return status */ - status = HAL_ERROR; - break; - } - } - else if (hmmc->State == HAL_MMC_STATE_RESET) - { - switch (CallbackId) - { - case HAL_MMC_MSP_INIT_CB_ID : - hmmc->MspInitCallback = HAL_MMC_MspInit; - break; - case HAL_MMC_MSP_DEINIT_CB_ID : - hmmc->MspDeInitCallback = HAL_MMC_MspDeInit; - break; - default : - /* Update the error code */ - hmmc->ErrorCode |= HAL_MMC_ERROR_INVALID_CALLBACK; - /* update return status */ - status = HAL_ERROR; - break; - } - } - else - { - /* Update the error code */ - hmmc->ErrorCode |= HAL_MMC_ERROR_INVALID_CALLBACK; - /* update return status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(hmmc); - return status; -} -#endif - -/** - * @} - */ - -/** @addtogroup MMC_Exported_Functions_Group3 - * @brief management functions - * -@verbatim - ============================================================================== - ##### Peripheral Control functions ##### - ============================================================================== - [..] - This subsection provides a set of functions allowing to control the MMC card - operations and get the related information - -@endverbatim - * @{ - */ - -/** - * @brief Returns information the information of the card which are stored on - * the CID register. - * @param hmmc: Pointer to MMC handle - * @param pCID: Pointer to a HAL_MMC_CIDTypedef structure that - * contains all CID register parameters - * @retval HAL status - */ -HAL_StatusTypeDef HAL_MMC_GetCardCID(MMC_HandleTypeDef *hmmc, HAL_MMC_CardCIDTypeDef *pCID) -{ - pCID->ManufacturerID = (uint8_t)((hmmc->CID[0] & 0xFF000000U) >> 24U); - - pCID->OEM_AppliID = (uint16_t)((hmmc->CID[0] & 0x00FFFF00U) >> 8U); - - pCID->ProdName1 = (((hmmc->CID[0] & 0x000000FFU) << 24U) | ((hmmc->CID[1] & 0xFFFFFF00U) >> 8U)); - - pCID->ProdName2 = (uint8_t)(hmmc->CID[1] & 0x000000FFU); - - pCID->ProdRev = (uint8_t)((hmmc->CID[2] & 0xFF000000U) >> 24U); - - pCID->ProdSN = (((hmmc->CID[2] & 0x00FFFFFFU) << 8U) | ((hmmc->CID[3] & 0xFF000000U) >> 24U)); - - pCID->Reserved1 = (uint8_t)((hmmc->CID[3] & 0x00F00000U) >> 20U); - - pCID->ManufactDate = (uint16_t)((hmmc->CID[3] & 0x000FFF00U) >> 8U); - - pCID->CID_CRC = (uint8_t)((hmmc->CID[3] & 0x000000FEU) >> 1U); - - pCID->Reserved2 = 1U; - - return HAL_OK; -} - -/** - * @brief Returns information the information of the card which are stored on - * the CSD register. - * @param hmmc: Pointer to MMC handle - * @param pCSD: Pointer to a HAL_MMC_CardCSDTypeDef structure that - * contains all CSD register parameters - * @retval HAL status - */ -HAL_StatusTypeDef HAL_MMC_GetCardCSD(MMC_HandleTypeDef *hmmc, HAL_MMC_CardCSDTypeDef *pCSD) -{ - uint32_t block_nbr = 0; - - pCSD->CSDStruct = (uint8_t)((hmmc->CSD[0] & 0xC0000000U) >> 30U); - - pCSD->SysSpecVersion = (uint8_t)((hmmc->CSD[0] & 0x3C000000U) >> 26U); - - pCSD->Reserved1 = (uint8_t)((hmmc->CSD[0] & 0x03000000U) >> 24U); - - pCSD->TAAC = (uint8_t)((hmmc->CSD[0] & 0x00FF0000U) >> 16U); - - pCSD->NSAC = (uint8_t)((hmmc->CSD[0] & 0x0000FF00U) >> 8U); - - pCSD->MaxBusClkFrec = (uint8_t)(hmmc->CSD[0] & 0x000000FFU); - - pCSD->CardComdClasses = (uint16_t)((hmmc->CSD[1] & 0xFFF00000U) >> 20U); - - pCSD->RdBlockLen = (uint8_t)((hmmc->CSD[1] & 0x000F0000U) >> 16U); - - pCSD->PartBlockRead = (uint8_t)((hmmc->CSD[1] & 0x00008000U) >> 15U); - - pCSD->WrBlockMisalign = (uint8_t)((hmmc->CSD[1] & 0x00004000U) >> 14U); - - pCSD->RdBlockMisalign = (uint8_t)((hmmc->CSD[1] & 0x00002000U) >> 13U); - - pCSD->DSRImpl = (uint8_t)((hmmc->CSD[1] & 0x00001000U) >> 12U); - - pCSD->Reserved2 = 0U; /*!< Reserved */ - - pCSD->DeviceSize = (((hmmc->CSD[1] & 0x000003FFU) << 2U) | ((hmmc->CSD[2] & 0xC0000000U) >> 30U)); - - pCSD->MaxRdCurrentVDDMin = (uint8_t)((hmmc->CSD[2] & 0x38000000U) >> 27U); - - pCSD->MaxRdCurrentVDDMax = (uint8_t)((hmmc->CSD[2] & 0x07000000U) >> 24U); - - pCSD->MaxWrCurrentVDDMin = (uint8_t)((hmmc->CSD[2] & 0x00E00000U) >> 21U); - - pCSD->MaxWrCurrentVDDMax = (uint8_t)((hmmc->CSD[2] & 0x001C0000U) >> 18U); - - pCSD->DeviceSizeMul = (uint8_t)((hmmc->CSD[2] & 0x00038000U) >> 15U); - - if(MMC_ReadExtCSD(hmmc, &block_nbr, 212, 0x0FFFFFFFU) != HAL_OK) /* Field SEC_COUNT [215:212] */ - { - return HAL_ERROR; - } - - if(hmmc->MmcCard.CardType == MMC_LOW_CAPACITY_CARD) - { - hmmc->MmcCard.BlockNbr = (pCSD->DeviceSize + 1U) ; - hmmc->MmcCard.BlockNbr *= (1UL << ((pCSD->DeviceSizeMul & 0x07U) + 2U)); - hmmc->MmcCard.BlockSize = (1UL << (pCSD->RdBlockLen & 0x0FU)); - hmmc->MmcCard.LogBlockNbr = (hmmc->MmcCard.BlockNbr) * ((hmmc->MmcCard.BlockSize) / 512U); - hmmc->MmcCard.LogBlockSize = 512U; - } - else if(hmmc->MmcCard.CardType == MMC_HIGH_CAPACITY_CARD) - { - hmmc->MmcCard.BlockNbr = block_nbr; - hmmc->MmcCard.LogBlockNbr = hmmc->MmcCard.BlockNbr; - hmmc->MmcCard.BlockSize = 512U; - hmmc->MmcCard.LogBlockSize = hmmc->MmcCard.BlockSize; - } - else - { - /* Clear all the static flags */ - __HAL_MMC_CLEAR_FLAG(hmmc, SDIO_STATIC_FLAGS); - hmmc->ErrorCode |= HAL_MMC_ERROR_UNSUPPORTED_FEATURE; - hmmc->State = HAL_MMC_STATE_READY; - return HAL_ERROR; - } - - pCSD->EraseGrSize = (uint8_t)((hmmc->CSD[2] & 0x00004000U) >> 14U); - - pCSD->EraseGrMul = (uint8_t)((hmmc->CSD[2] & 0x00003F80U) >> 7U); - - pCSD->WrProtectGrSize = (uint8_t)(hmmc->CSD[2] & 0x0000007FU); - - pCSD->WrProtectGrEnable = (uint8_t)((hmmc->CSD[3] & 0x80000000U) >> 31U); - - pCSD->ManDeflECC = (uint8_t)((hmmc->CSD[3] & 0x60000000U) >> 29U); - - pCSD->WrSpeedFact = (uint8_t)((hmmc->CSD[3] & 0x1C000000U) >> 26U); - - pCSD->MaxWrBlockLen= (uint8_t)((hmmc->CSD[3] & 0x03C00000U) >> 22U); - - pCSD->WriteBlockPaPartial = (uint8_t)((hmmc->CSD[3] & 0x00200000U) >> 21U); - - pCSD->Reserved3 = 0; - - pCSD->ContentProtectAppli = (uint8_t)((hmmc->CSD[3] & 0x00010000U) >> 16U); - - pCSD->FileFormatGroup = (uint8_t)((hmmc->CSD[3] & 0x00008000U) >> 15U); - - pCSD->CopyFlag = (uint8_t)((hmmc->CSD[3] & 0x00004000U) >> 14U); - - pCSD->PermWrProtect = (uint8_t)((hmmc->CSD[3] & 0x00002000U) >> 13U); - - pCSD->TempWrProtect = (uint8_t)((hmmc->CSD[3] & 0x00001000U) >> 12U); - - pCSD->FileFormat = (uint8_t)((hmmc->CSD[3] & 0x00000C00U) >> 10U); - - pCSD->ECC= (uint8_t)((hmmc->CSD[3] & 0x00000300U) >> 8U); - - pCSD->CSD_CRC = (uint8_t)((hmmc->CSD[3] & 0x000000FEU) >> 1U); - - pCSD->Reserved4 = 1; - - return HAL_OK; -} - -/** - * @brief Gets the MMC card info. - * @param hmmc: Pointer to MMC handle - * @param pCardInfo: Pointer to the HAL_MMC_CardInfoTypeDef structure that - * will contain the MMC card status information - * @retval HAL status - */ -HAL_StatusTypeDef HAL_MMC_GetCardInfo(MMC_HandleTypeDef *hmmc, HAL_MMC_CardInfoTypeDef *pCardInfo) -{ - pCardInfo->CardType = (uint32_t)(hmmc->MmcCard.CardType); - pCardInfo->Class = (uint32_t)(hmmc->MmcCard.Class); - pCardInfo->RelCardAdd = (uint32_t)(hmmc->MmcCard.RelCardAdd); - pCardInfo->BlockNbr = (uint32_t)(hmmc->MmcCard.BlockNbr); - pCardInfo->BlockSize = (uint32_t)(hmmc->MmcCard.BlockSize); - pCardInfo->LogBlockNbr = (uint32_t)(hmmc->MmcCard.LogBlockNbr); - pCardInfo->LogBlockSize = (uint32_t)(hmmc->MmcCard.LogBlockSize); - - return HAL_OK; -} - -/** - * @brief Enables wide bus operation for the requested card if supported by - * card. - * @param hmmc: Pointer to MMC handle - * @param WideMode: Specifies the MMC card wide bus mode - * This parameter can be one of the following values: - * @arg SDIO_BUS_WIDE_8B: 8-bit data transfer - * @arg SDIO_BUS_WIDE_4B: 4-bit data transfer - * @arg SDIO_BUS_WIDE_1B: 1-bit data transfer - * @retval HAL status - */ -HAL_StatusTypeDef HAL_MMC_ConfigWideBusOperation(MMC_HandleTypeDef *hmmc, uint32_t WideMode) -{ - __IO uint32_t count = 0U; - SDIO_InitTypeDef Init; - uint32_t errorstate; - uint32_t response = 0U, busy = 0U; - - /* Check the parameters */ - assert_param(IS_SDIO_BUS_WIDE(WideMode)); - - /* Change State */ - hmmc->State = HAL_MMC_STATE_BUSY; - - /* Update Clock for Bus mode update */ - Init.ClockEdge = SDIO_CLOCK_EDGE_RISING; - Init.ClockBypass = SDIO_CLOCK_BYPASS_DISABLE; - Init.ClockPowerSave = SDIO_CLOCK_POWER_SAVE_DISABLE; - Init.BusWide = WideMode; - Init.HardwareFlowControl = SDIO_HARDWARE_FLOW_CONTROL_DISABLE; - Init.ClockDiv = SDIO_INIT_CLK_DIV; - /* Initialize SDIO*/ - (void)SDIO_Init(hmmc->Instance, Init); - - if(WideMode == SDIO_BUS_WIDE_8B) - { - errorstate = SDMMC_CmdSwitch(hmmc->Instance, 0x03B70200U); - if(errorstate != HAL_MMC_ERROR_NONE) - { - hmmc->ErrorCode |= errorstate; - } - } - else if(WideMode == SDIO_BUS_WIDE_4B) - { - errorstate = SDMMC_CmdSwitch(hmmc->Instance, 0x03B70100U); - if(errorstate != HAL_MMC_ERROR_NONE) - { - hmmc->ErrorCode |= errorstate; - } - } - else if(WideMode == SDIO_BUS_WIDE_1B) - { - errorstate = SDMMC_CmdSwitch(hmmc->Instance, 0x03B70000U); - if(errorstate != HAL_MMC_ERROR_NONE) - { - hmmc->ErrorCode |= errorstate; - } - } - else - { - /* WideMode is not a valid argument*/ - hmmc->ErrorCode |= HAL_MMC_ERROR_PARAM; - } - - /* Check for switch error and violation of the trial number of sending CMD 13 */ - while(busy == 0U) - { - if(count == SDMMC_MAX_TRIAL) - { - hmmc->State = HAL_MMC_STATE_READY; - hmmc->ErrorCode |= HAL_MMC_ERROR_REQUEST_NOT_APPLICABLE; - return HAL_ERROR; - } - count++; - - /* While card is not ready for data and trial number for sending CMD13 is not exceeded */ - errorstate = SDMMC_CmdSendStatus(hmmc->Instance, (uint32_t)(((uint32_t)hmmc->MmcCard.RelCardAdd) << 16U)); - if(errorstate != HAL_MMC_ERROR_NONE) - { - hmmc->ErrorCode |= errorstate; - } - - /* Get command response */ - response = SDIO_GetResponse(hmmc->Instance, SDIO_RESP1); - - /* Get operating voltage*/ - busy = (((response >> 7U) == 1U) ? 0U : 1U); - } - - /* While card is not ready for data and trial number for sending CMD13 is not exceeded */ - count = SDMMC_DATATIMEOUT; - while((response & 0x00000100U) == 0U) - { - if(count == 0U) - { - hmmc->State = HAL_MMC_STATE_READY; - hmmc->ErrorCode |= HAL_MMC_ERROR_REQUEST_NOT_APPLICABLE; - return HAL_ERROR; - } - count--; - - /* While card is not ready for data and trial number for sending CMD13 is not exceeded */ - errorstate = SDMMC_CmdSendStatus(hmmc->Instance, (uint32_t)(((uint32_t)hmmc->MmcCard.RelCardAdd) << 16U)); - if(errorstate != HAL_MMC_ERROR_NONE) - { - hmmc->ErrorCode |= errorstate; - } - - /* Get command response */ - response = SDIO_GetResponse(hmmc->Instance, SDIO_RESP1); - } - - if(hmmc->ErrorCode != HAL_MMC_ERROR_NONE) - { - /* Clear all the static flags */ - __HAL_MMC_CLEAR_FLAG(hmmc, SDIO_STATIC_FLAGS); - hmmc->State = HAL_MMC_STATE_READY; - return HAL_ERROR; - } - else - { - /* Configure the SDIO peripheral */ - Init.ClockEdge = hmmc->Init.ClockEdge; - Init.ClockBypass = hmmc->Init.ClockBypass; - Init.ClockPowerSave = hmmc->Init.ClockPowerSave; - Init.BusWide = WideMode; - Init.HardwareFlowControl = hmmc->Init.HardwareFlowControl; - Init.ClockDiv = hmmc->Init.ClockDiv; - (void)SDIO_Init(hmmc->Instance, Init); - } - - /* Change State */ - hmmc->State = HAL_MMC_STATE_READY; - - return HAL_OK; -} - -/** - * @brief Gets the current mmc card data state. - * @param hmmc: pointer to MMC handle - * @retval Card state - */ -HAL_MMC_CardStateTypeDef HAL_MMC_GetCardState(MMC_HandleTypeDef *hmmc) -{ - uint32_t cardstate; - uint32_t errorstate; - uint32_t resp1 = 0U; - - errorstate = MMC_SendStatus(hmmc, &resp1); - if(errorstate != HAL_MMC_ERROR_NONE) - { - hmmc->ErrorCode |= errorstate; - } - - cardstate = ((resp1 >> 9U) & 0x0FU); - - return (HAL_MMC_CardStateTypeDef)cardstate; -} - -/** - * @brief Abort the current transfer and disable the MMC. - * @param hmmc: pointer to a MMC_HandleTypeDef structure that contains - * the configuration information for MMC module. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_MMC_Abort(MMC_HandleTypeDef *hmmc) -{ - HAL_MMC_CardStateTypeDef CardState; - - /* DIsable All interrupts */ - __HAL_MMC_DISABLE_IT(hmmc, SDIO_IT_DATAEND | SDIO_IT_DCRCFAIL | SDIO_IT_DTIMEOUT|\ - SDIO_IT_TXUNDERR| SDIO_IT_RXOVERR); - - /* Clear All flags */ - __HAL_MMC_CLEAR_FLAG(hmmc, SDIO_STATIC_DATA_FLAGS); - - if((hmmc->hdmatx != NULL) || (hmmc->hdmarx != NULL)) - { - /* Disable the MMC DMA request */ - hmmc->Instance->DCTRL &= (uint32_t)~((uint32_t)SDIO_DCTRL_DMAEN); - - /* Abort the MMC DMA Tx Stream */ - if(hmmc->hdmatx != NULL) - { - if(HAL_DMA_Abort(hmmc->hdmatx) != HAL_OK) - { - hmmc->ErrorCode |= HAL_MMC_ERROR_DMA; - } - } - /* Abort the MMC DMA Rx Stream */ - if(hmmc->hdmarx != NULL) - { - if(HAL_DMA_Abort(hmmc->hdmarx) != HAL_OK) - { - hmmc->ErrorCode |= HAL_MMC_ERROR_DMA; - } - } - } - - hmmc->State = HAL_MMC_STATE_READY; - - /* Initialize the MMC operation */ - hmmc->Context = MMC_CONTEXT_NONE; - - CardState = HAL_MMC_GetCardState(hmmc); - if((CardState == HAL_MMC_CARD_RECEIVING) || (CardState == HAL_MMC_CARD_SENDING)) - { - hmmc->ErrorCode = SDMMC_CmdStopTransfer(hmmc->Instance); - } - if(hmmc->ErrorCode != HAL_MMC_ERROR_NONE) - { - return HAL_ERROR; - } - return HAL_OK; -} - -/** - * @brief Abort the current transfer and disable the MMC (IT mode). - * @param hmmc: pointer to a MMC_HandleTypeDef structure that contains - * the configuration information for MMC module. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_MMC_Abort_IT(MMC_HandleTypeDef *hmmc) -{ - HAL_MMC_CardStateTypeDef CardState; - - /* DIsable All interrupts */ - __HAL_MMC_DISABLE_IT(hmmc, SDIO_IT_DATAEND | SDIO_IT_DCRCFAIL | SDIO_IT_DTIMEOUT|\ - SDIO_IT_TXUNDERR| SDIO_IT_RXOVERR); - - /* Clear All flags */ - __HAL_MMC_CLEAR_FLAG(hmmc, SDIO_STATIC_DATA_FLAGS); - - if((hmmc->hdmatx != NULL) || (hmmc->hdmarx != NULL)) - { - /* Disable the MMC DMA request */ - hmmc->Instance->DCTRL &= (uint32_t)~((uint32_t)SDIO_DCTRL_DMAEN); - - /* Abort the MMC DMA Tx Stream */ - if(hmmc->hdmatx != NULL) - { - hmmc->hdmatx->XferAbortCallback = MMC_DMATxAbort; - if(HAL_DMA_Abort_IT(hmmc->hdmatx) != HAL_OK) - { - hmmc->hdmatx = NULL; - } - } - /* Abort the MMC DMA Rx Stream */ - if(hmmc->hdmarx != NULL) - { - hmmc->hdmarx->XferAbortCallback = MMC_DMARxAbort; - if(HAL_DMA_Abort_IT(hmmc->hdmarx) != HAL_OK) - { - hmmc->hdmarx = NULL; - } - } - } - - /* No transfer ongoing on both DMA channels*/ - if((hmmc->hdmatx == NULL) && (hmmc->hdmarx == NULL)) - { - CardState = HAL_MMC_GetCardState(hmmc); - hmmc->State = HAL_MMC_STATE_READY; - - if((CardState == HAL_MMC_CARD_RECEIVING) || (CardState == HAL_MMC_CARD_SENDING)) - { - hmmc->ErrorCode = SDMMC_CmdStopTransfer(hmmc->Instance); - } - if(hmmc->ErrorCode != HAL_MMC_ERROR_NONE) - { - return HAL_ERROR; - } - else - { -#if defined (USE_HAL_MMC_REGISTER_CALLBACKS) && (USE_HAL_MMC_REGISTER_CALLBACKS == 1U) - hmmc->AbortCpltCallback(hmmc); -#else - HAL_MMC_AbortCallback(hmmc); -#endif - } - } - - return HAL_OK; -} - -/** - * @} - */ - -/** - * @} - */ - -/* Private function ----------------------------------------------------------*/ -/** @addtogroup MMC_Private_Functions - * @{ - */ - -/** - * @brief DMA MMC transmit process complete callback - * @param hdma: DMA handle - * @retval None - */ -static void MMC_DMATransmitCplt(DMA_HandleTypeDef *hdma) -{ - MMC_HandleTypeDef* hmmc = (MMC_HandleTypeDef* )(hdma->Parent); - - /* Enable DATAEND Interrupt */ - __HAL_MMC_ENABLE_IT(hmmc, (SDIO_IT_DATAEND)); -} - -/** - * @brief DMA MMC receive process complete callback - * @param hdma: DMA handle - * @retval None - */ -static void MMC_DMAReceiveCplt(DMA_HandleTypeDef *hdma) -{ - MMC_HandleTypeDef* hmmc = (MMC_HandleTypeDef* )(hdma->Parent); - uint32_t errorstate; - - /* Send stop command in multiblock write */ - if(hmmc->Context == (MMC_CONTEXT_READ_MULTIPLE_BLOCK | MMC_CONTEXT_DMA)) - { - errorstate = SDMMC_CmdStopTransfer(hmmc->Instance); - if(errorstate != HAL_MMC_ERROR_NONE) - { - hmmc->ErrorCode |= errorstate; -#if defined (USE_HAL_MMC_REGISTER_CALLBACKS) && (USE_HAL_MMC_REGISTER_CALLBACKS == 1U) - hmmc->ErrorCallback(hmmc); -#else - HAL_MMC_ErrorCallback(hmmc); -#endif - } - } - - /* Disable the DMA transfer for transmit request by setting the DMAEN bit - in the MMC DCTRL register */ - hmmc->Instance->DCTRL &= (uint32_t)~((uint32_t)SDIO_DCTRL_DMAEN); - - /* Clear all the static flags */ - __HAL_MMC_CLEAR_FLAG(hmmc, SDIO_STATIC_DATA_FLAGS); - - hmmc->State = HAL_MMC_STATE_READY; - -#if defined (USE_HAL_MMC_REGISTER_CALLBACKS) && (USE_HAL_MMC_REGISTER_CALLBACKS == 1U) - hmmc->RxCpltCallback(hmmc); -#else - HAL_MMC_RxCpltCallback(hmmc); -#endif -} - -/** - * @brief DMA MMC communication error callback - * @param hdma: DMA handle - * @retval None - */ -static void MMC_DMAError(DMA_HandleTypeDef *hdma) -{ - MMC_HandleTypeDef* hmmc = (MMC_HandleTypeDef* )(hdma->Parent); - HAL_MMC_CardStateTypeDef CardState; - uint32_t RxErrorCode, TxErrorCode; - - /* if DMA error is FIFO error ignore it */ - if(HAL_DMA_GetError(hdma) != HAL_DMA_ERROR_FE) - { - RxErrorCode = hmmc->hdmarx->ErrorCode; - TxErrorCode = hmmc->hdmatx->ErrorCode; - if((RxErrorCode == HAL_DMA_ERROR_TE) || (TxErrorCode == HAL_DMA_ERROR_TE)) - { - /* Clear All flags */ - __HAL_MMC_CLEAR_FLAG(hmmc, SDIO_STATIC_FLAGS); - - /* Disable All interrupts */ - __HAL_MMC_DISABLE_IT(hmmc, SDIO_IT_DATAEND | SDIO_IT_DCRCFAIL | SDIO_IT_DTIMEOUT|\ - SDIO_IT_TXUNDERR| SDIO_IT_RXOVERR); - - hmmc->ErrorCode |= HAL_MMC_ERROR_DMA; - CardState = HAL_MMC_GetCardState(hmmc); - if((CardState == HAL_MMC_CARD_RECEIVING) || (CardState == HAL_MMC_CARD_SENDING)) - { - hmmc->ErrorCode |= SDMMC_CmdStopTransfer(hmmc->Instance); - } - - hmmc->State= HAL_MMC_STATE_READY; - } - -#if defined (USE_HAL_MMC_REGISTER_CALLBACKS) && (USE_HAL_MMC_REGISTER_CALLBACKS == 1U) - hmmc->ErrorCallback(hmmc); -#else - HAL_MMC_ErrorCallback(hmmc); -#endif - } -} - -/** - * @brief DMA MMC Tx Abort callback - * @param hdma: DMA handle - * @retval None - */ -static void MMC_DMATxAbort(DMA_HandleTypeDef *hdma) -{ - MMC_HandleTypeDef* hmmc = (MMC_HandleTypeDef* )(hdma->Parent); - HAL_MMC_CardStateTypeDef CardState; - - if(hmmc->hdmatx != NULL) - { - hmmc->hdmatx = NULL; - } - - /* All DMA channels are aborted */ - if(hmmc->hdmarx == NULL) - { - CardState = HAL_MMC_GetCardState(hmmc); - hmmc->ErrorCode = HAL_MMC_ERROR_NONE; - hmmc->State = HAL_MMC_STATE_READY; - if((CardState == HAL_MMC_CARD_RECEIVING) || (CardState == HAL_MMC_CARD_SENDING)) - { - hmmc->ErrorCode |= SDMMC_CmdStopTransfer(hmmc->Instance); - - if(hmmc->ErrorCode != HAL_MMC_ERROR_NONE) - { -#if defined (USE_HAL_MMC_REGISTER_CALLBACKS) && (USE_HAL_MMC_REGISTER_CALLBACKS == 1U) - hmmc->AbortCpltCallback(hmmc); -#else - HAL_MMC_AbortCallback(hmmc); -#endif - } - else - { -#if defined (USE_HAL_MMC_REGISTER_CALLBACKS) && (USE_HAL_MMC_REGISTER_CALLBACKS == 1U) - hmmc->ErrorCallback(hmmc); -#else - HAL_MMC_ErrorCallback(hmmc); -#endif - } - } - } -} - -/** - * @brief DMA MMC Rx Abort callback - * @param hdma: DMA handle - * @retval None - */ -static void MMC_DMARxAbort(DMA_HandleTypeDef *hdma) -{ - MMC_HandleTypeDef* hmmc = (MMC_HandleTypeDef* )(hdma->Parent); - HAL_MMC_CardStateTypeDef CardState; - - if(hmmc->hdmarx != NULL) - { - hmmc->hdmarx = NULL; - } - - /* All DMA channels are aborted */ - if(hmmc->hdmatx == NULL) - { - CardState = HAL_MMC_GetCardState(hmmc); - hmmc->ErrorCode = HAL_MMC_ERROR_NONE; - hmmc->State = HAL_MMC_STATE_READY; - if((CardState == HAL_MMC_CARD_RECEIVING) || (CardState == HAL_MMC_CARD_SENDING)) - { - hmmc->ErrorCode |= SDMMC_CmdStopTransfer(hmmc->Instance); - - if(hmmc->ErrorCode != HAL_MMC_ERROR_NONE) - { -#if defined (USE_HAL_MMC_REGISTER_CALLBACKS) && (USE_HAL_MMC_REGISTER_CALLBACKS == 1U) - hmmc->AbortCpltCallback(hmmc); -#else - HAL_MMC_AbortCallback(hmmc); -#endif - } - else - { -#if defined (USE_HAL_MMC_REGISTER_CALLBACKS) && (USE_HAL_MMC_REGISTER_CALLBACKS == 1U) - hmmc->ErrorCallback(hmmc); -#else - HAL_MMC_ErrorCallback(hmmc); -#endif - } - } - } -} - -/** - * @brief Initializes the mmc card. - * @param hmmc: Pointer to MMC handle - * @retval MMC Card error state - */ -static uint32_t MMC_InitCard(MMC_HandleTypeDef *hmmc) -{ - HAL_MMC_CardCSDTypeDef CSD; - uint32_t errorstate; - uint16_t mmc_rca = 1U; - - /* Check the power State */ - if(SDIO_GetPowerState(hmmc->Instance) == 0U) - { - /* Power off */ - return HAL_MMC_ERROR_REQUEST_NOT_APPLICABLE; - } - - /* Send CMD2 ALL_SEND_CID */ - errorstate = SDMMC_CmdSendCID(hmmc->Instance); - if(errorstate != HAL_MMC_ERROR_NONE) - { - return errorstate; - } - else - { - /* Get Card identification number data */ - hmmc->CID[0U] = SDIO_GetResponse(hmmc->Instance, SDIO_RESP1); - hmmc->CID[1U] = SDIO_GetResponse(hmmc->Instance, SDIO_RESP2); - hmmc->CID[2U] = SDIO_GetResponse(hmmc->Instance, SDIO_RESP3); - hmmc->CID[3U] = SDIO_GetResponse(hmmc->Instance, SDIO_RESP4); - } - - /* Send CMD3 SET_REL_ADDR with argument 0 */ - /* MMC Card publishes its RCA. */ - errorstate = SDMMC_CmdSetRelAdd(hmmc->Instance, &mmc_rca); - if(errorstate != HAL_MMC_ERROR_NONE) - { - return errorstate; - } - - /* Get the MMC card RCA */ - hmmc->MmcCard.RelCardAdd = mmc_rca; - - /* Send CMD9 SEND_CSD with argument as card's RCA */ - errorstate = SDMMC_CmdSendCSD(hmmc->Instance, (uint32_t)(hmmc->MmcCard.RelCardAdd << 16U)); - if(errorstate != HAL_MMC_ERROR_NONE) - { - return errorstate; - } - else - { - /* Get Card Specific Data */ - hmmc->CSD[0U] = SDIO_GetResponse(hmmc->Instance, SDIO_RESP1); - hmmc->CSD[1U] = SDIO_GetResponse(hmmc->Instance, SDIO_RESP2); - hmmc->CSD[2U] = SDIO_GetResponse(hmmc->Instance, SDIO_RESP3); - hmmc->CSD[3U] = SDIO_GetResponse(hmmc->Instance, SDIO_RESP4); - } - - /* Get the Card Class */ - hmmc->MmcCard.Class = (SDIO_GetResponse(hmmc->Instance, SDIO_RESP2) >> 20U); - - /* Get CSD parameters */ - if (HAL_MMC_GetCardCSD(hmmc, &CSD) != HAL_OK) - { - return hmmc->ErrorCode; - } - - /* Select the Card */ - errorstate = SDMMC_CmdSelDesel(hmmc->Instance, (uint32_t)(((uint32_t)hmmc->MmcCard.RelCardAdd) << 16U)); - if(errorstate != HAL_MMC_ERROR_NONE) - { - return errorstate; - } - - /* Configure SDIO peripheral interface */ - (void)SDIO_Init(hmmc->Instance, hmmc->Init); - - /* All cards are initialized */ - return HAL_MMC_ERROR_NONE; -} - -/** - * @brief Enquires cards about their operating voltage and configures clock - * controls and stores MMC information that will be needed in future - * in the MMC handle. - * @param hmmc: Pointer to MMC handle - * @retval error state - */ -static uint32_t MMC_PowerON(MMC_HandleTypeDef *hmmc) -{ - __IO uint32_t count = 0U; - uint32_t response = 0U, validvoltage = 0U; - uint32_t errorstate; - - /* CMD0: GO_IDLE_STATE */ - errorstate = SDMMC_CmdGoIdleState(hmmc->Instance); - if(errorstate != HAL_MMC_ERROR_NONE) - { - return errorstate; - } - - while(validvoltage == 0U) - { - if(count++ == SDMMC_MAX_VOLT_TRIAL) - { - return HAL_MMC_ERROR_INVALID_VOLTRANGE; - } - - /* SEND CMD1 APP_CMD with MMC_HIGH_VOLTAGE_RANGE(0xC0FF8000) as argument */ - errorstate = SDMMC_CmdOpCondition(hmmc->Instance, eMMC_HIGH_VOLTAGE_RANGE); - if(errorstate != HAL_MMC_ERROR_NONE) - { - return HAL_MMC_ERROR_UNSUPPORTED_FEATURE; - } - - /* Get command response */ - response = SDIO_GetResponse(hmmc->Instance, SDIO_RESP1); - - /* Get operating voltage*/ - validvoltage = (((response >> 31U) == 1U) ? 1U : 0U); - } - - /* When power routine is finished and command returns valid voltage */ - if (((response & (0xFF000000U)) >> 24U) == 0xC0U) - { - hmmc->MmcCard.CardType = MMC_HIGH_CAPACITY_CARD; - } - else - { - hmmc->MmcCard.CardType = MMC_LOW_CAPACITY_CARD; - } - - return HAL_MMC_ERROR_NONE; -} - -/** - * @brief Turns the SDIO output signals off. - * @param hmmc: Pointer to MMC handle - * @retval None - */ -static void MMC_PowerOFF(MMC_HandleTypeDef *hmmc) -{ - /* Set Power State to OFF */ - (void)SDIO_PowerState_OFF(hmmc->Instance); -} - -/** - * @brief Returns the current card's status. - * @param hmmc: Pointer to MMC handle - * @param pCardStatus: pointer to the buffer that will contain the MMC card - * status (Card Status register) - * @retval error state - */ -static uint32_t MMC_SendStatus(MMC_HandleTypeDef *hmmc, uint32_t *pCardStatus) -{ - uint32_t errorstate; - - if(pCardStatus == NULL) - { - return HAL_MMC_ERROR_PARAM; - } - - /* Send Status command */ - errorstate = SDMMC_CmdSendStatus(hmmc->Instance, (uint32_t)(hmmc->MmcCard.RelCardAdd << 16U)); - if(errorstate != HAL_MMC_ERROR_NONE) - { - return errorstate; - } - - /* Get MMC card status */ - *pCardStatus = SDIO_GetResponse(hmmc->Instance, SDIO_RESP1); - - return HAL_MMC_ERROR_NONE; -} - -/** - * @brief Reads extended CSD register to get the sectors number of the device - * @param hmmc: Pointer to MMC handle - * @param pFieldData: Pointer to the read buffer - * @param FieldIndex: Index of the field to be read - * @param Timeout: Specify timeout value - * @retval HAL status - */ -static uint32_t MMC_ReadExtCSD(MMC_HandleTypeDef *hmmc, uint32_t *pFieldData, uint16_t FieldIndex, uint32_t Timeout) -{ - SDIO_DataInitTypeDef config; - uint32_t errorstate; - uint32_t tickstart = HAL_GetTick(); - uint32_t count; - uint32_t i = 0; - uint32_t tmp_data; - - hmmc->ErrorCode = HAL_MMC_ERROR_NONE; - - /* Initialize data control register */ - hmmc->Instance->DCTRL = 0; - - /* Configure the MMC DPSM (Data Path State Machine) */ - config.DataTimeOut = SDMMC_DATATIMEOUT; - config.DataLength = 512; - config.DataBlockSize = SDIO_DATABLOCK_SIZE_512B; - config.TransferDir = SDIO_TRANSFER_DIR_TO_SDIO; - config.TransferMode = SDIO_TRANSFER_MODE_BLOCK; - config.DPSM = SDIO_DPSM_ENABLE; - (void)SDIO_ConfigData(hmmc->Instance, &config); - - /* Set Block Size for Card */ - errorstate = SDMMC_CmdSendEXTCSD(hmmc->Instance, 0); - if(errorstate != HAL_MMC_ERROR_NONE) - { - /* Clear all the static flags */ - __HAL_MMC_CLEAR_FLAG(hmmc, SDIO_STATIC_FLAGS); - hmmc->ErrorCode |= errorstate; - hmmc->State = HAL_MMC_STATE_READY; - return HAL_ERROR; - } - - /* Poll on SDMMC flags */ - while(!__HAL_MMC_GET_FLAG(hmmc, SDIO_FLAG_RXOVERR | SDIO_FLAG_DCRCFAIL | SDIO_FLAG_DTIMEOUT | SDIO_FLAG_DATAEND)) - { - if(__HAL_MMC_GET_FLAG(hmmc, SDIO_FLAG_RXFIFOHF)) - { - /* Read data from SDMMC Rx FIFO */ - for(count = 0U; count < 8U; count++) - { - tmp_data = SDIO_ReadFIFO(hmmc->Instance); - /* eg : SEC_COUNT : FieldIndex = 212 => i+count = 53 */ - /* DEVICE_TYPE : FieldIndex = 196 => i+count = 49 */ - if ((i + count) == ((uint32_t)FieldIndex/4U)) - { - *pFieldData = tmp_data; - } - } - i += 8U; - } - - if(((HAL_GetTick()-tickstart) >= Timeout) || (Timeout == 0U)) - { - /* Clear all the static flags */ - __HAL_MMC_CLEAR_FLAG(hmmc, SDIO_STATIC_FLAGS); - hmmc->ErrorCode |= HAL_MMC_ERROR_TIMEOUT; - hmmc->State= HAL_MMC_STATE_READY; - return HAL_TIMEOUT; - } - } - - /* While card is not ready for data and trial number for sending CMD13 is not exceeded */ - errorstate = SDMMC_CmdSendStatus(hmmc->Instance, (uint32_t)(((uint32_t)hmmc->MmcCard.RelCardAdd) << 16)); - if(errorstate != HAL_MMC_ERROR_NONE) - { - hmmc->ErrorCode |= errorstate; - } - - /* Clear all the static flags */ - __HAL_MMC_CLEAR_FLAG(hmmc, SDIO_STATIC_DATA_FLAGS); - - hmmc->State = HAL_MMC_STATE_READY; - - return HAL_OK; -} - - -/** - * @brief Wrap up reading in non-blocking mode. - * @param hmmc: pointer to a MMC_HandleTypeDef structure that contains - * the configuration information. - * @retval None - */ -static void MMC_Read_IT(MMC_HandleTypeDef *hmmc) -{ - uint32_t count, data, dataremaining; - uint8_t* tmp; - - tmp = hmmc->pRxBuffPtr; - dataremaining = hmmc->RxXferSize; - - if (dataremaining > 0U) - { - /* Read data from SDIO Rx FIFO */ - for(count = 0U; count < 8U; count++) - { - data = SDIO_ReadFIFO(hmmc->Instance); - *tmp = (uint8_t)(data & 0xFFU); - tmp++; - dataremaining--; - *tmp = (uint8_t)((data >> 8U) & 0xFFU); - tmp++; - dataremaining--; - *tmp = (uint8_t)((data >> 16U) & 0xFFU); - tmp++; - dataremaining--; - *tmp = (uint8_t)((data >> 24U) & 0xFFU); - tmp++; - dataremaining--; - } - - hmmc->pRxBuffPtr = tmp; - hmmc->RxXferSize = dataremaining; - } -} - -/** - * @brief Wrap up writing in non-blocking mode. - * @param hmmc: pointer to a MMC_HandleTypeDef structure that contains - * the configuration information. - * @retval None - */ -static void MMC_Write_IT(MMC_HandleTypeDef *hmmc) -{ - uint32_t count, data, dataremaining; - uint8_t* tmp; - - tmp = hmmc->pTxBuffPtr; - dataremaining = hmmc->TxXferSize; - - if (dataremaining > 0U) - { - /* Write data to SDIO Tx FIFO */ - for(count = 0U; count < 8U; count++) - { - data = (uint32_t)(*tmp); - tmp++; - dataremaining--; - data |= ((uint32_t)(*tmp) << 8U); - tmp++; - dataremaining--; - data |= ((uint32_t)(*tmp) << 16U); - tmp++; - dataremaining--; - data |= ((uint32_t)(*tmp) << 24U); - tmp++; - dataremaining--; - (void)SDIO_WriteFIFO(hmmc->Instance, &data); - } - - hmmc->pTxBuffPtr = tmp; - hmmc->TxXferSize = dataremaining; - } -} - -/** - * @} - */ - -#endif /* SDIO */ - -#endif /* HAL_MMC_MODULE_ENABLED */ - -/** - * @} - */ - -/** - * @} - */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_msp_template.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_msp_template.c deleted file mode 100644 index 67f658c0dc11fb..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_msp_template.c +++ /dev/null @@ -1,101 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_msp_template.c - * @author MCD Application Team - * @brief This file contains the HAL System and Peripheral (PPP) MSP initialization - * and de-initialization functions. - * It should be copied to the application folder and renamed into 'stm32f4xx_hal_msp.c'. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @defgroup HAL_MSP HAL MSP - * @brief HAL MSP module. - * @{ - */ - -/* Private typedef -----------------------------------------------------------*/ -/* Private define ------------------------------------------------------------*/ -/* Private macro -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private function prototypes -----------------------------------------------*/ -/* Private functions ---------------------------------------------------------*/ - -/** @defgroup HAL_MSP_Private_Functions HAL MSP Private Functions - * @{ - */ - -/** - * @brief Initializes the Global MSP. - * @note This function is called from HAL_Init() function to perform system - * level initialization (GPIOs, clock, DMA, interrupt). - * @retval None - */ -void HAL_MspInit(void) -{ - -} - -/** - * @brief DeInitializes the Global MSP. - * @note This functiona is called from HAL_DeInit() function to perform system - * level de-initialization (GPIOs, clock, DMA, interrupt). - * @retval None - */ -void HAL_MspDeInit(void) -{ - -} - -/** - * @brief Initializes the PPP MSP. - * @note This functiona is called from HAL_PPP_Init() function to perform - * peripheral(PPP) system level initialization (GPIOs, clock, DMA, interrupt) - * @retval None - */ -void HAL_PPP_MspInit(void) -{ - -} - -/** - * @brief DeInitializes the PPP MSP. - * @note This functiona is called from HAL_PPP_DeInit() function to perform - * peripheral(PPP) system level de-initialization (GPIOs, clock, DMA, interrupt) - * @retval None - */ -void HAL_PPP_MspDeInit(void) -{ - -} - -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_nand.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_nand.c deleted file mode 100644 index 2bff47fc564f8d..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_nand.c +++ /dev/null @@ -1,2045 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_nand.c - * @author MCD Application Team - * @brief NAND HAL module driver. - * This file provides a generic firmware to drive NAND memories mounted - * as external device. - * - @verbatim - ============================================================================== - ##### How to use this driver ##### - ============================================================================== - [..] - This driver is a generic layered driver which contains a set of APIs used to - control NAND flash memories. It uses the FMC/FSMC layer functions to interface - with NAND devices. This driver is used as follows: - - (+) NAND flash memory configuration sequence using the function HAL_NAND_Init() - with control and timing parameters for both common and attribute spaces. - - (+) Read NAND flash memory maker and device IDs using the function - HAL_NAND_Read_ID(). The read information is stored in the NAND_ID_TypeDef - structure declared by the function caller. - - (+) Access NAND flash memory by read/write operations using the functions - HAL_NAND_Read_Page_8b()/HAL_NAND_Read_SpareArea_8b(), - HAL_NAND_Write_Page_8b()/HAL_NAND_Write_SpareArea_8b(), - HAL_NAND_Read_Page_16b()/HAL_NAND_Read_SpareArea_16b(), - HAL_NAND_Write_Page_16b()/HAL_NAND_Write_SpareArea_16b() - to read/write page(s)/spare area(s). These functions use specific device - information (Block, page size..) predefined by the user in the HAL_NAND_Info_TypeDef - structure. The read/write address information is contained by the Nand_Address_Typedef - structure passed as parameter. - - (+) Perform NAND flash Reset chip operation using the function HAL_NAND_Reset(). - - (+) Perform NAND flash erase block operation using the function HAL_NAND_Erase_Block(). - The erase block address information is contained in the Nand_Address_Typedef - structure passed as parameter. - - (+) Read the NAND flash status operation using the function HAL_NAND_Read_Status(). - - (+) You can also control the NAND device by calling the control APIs HAL_NAND_ECC_Enable()/ - HAL_NAND_ECC_Disable() to respectively enable/disable the ECC code correction - feature or the function HAL_NAND_GetECC() to get the ECC correction code. - - (+) You can monitor the NAND device HAL state by calling the function - HAL_NAND_GetState() - - [..] - (@) This driver is a set of generic APIs which handle standard NAND flash operations. - If a NAND flash device contains different operations and/or implementations, - it should be implemented separately. - - *** Callback registration *** - ============================================= - [..] - The compilation define USE_HAL_NAND_REGISTER_CALLBACKS when set to 1 - allows the user to configure dynamically the driver callbacks. - - Use Functions @ref HAL_NAND_RegisterCallback() to register a user callback, - it allows to register following callbacks: - (+) MspInitCallback : NAND MspInit. - (+) MspDeInitCallback : NAND MspDeInit. - This function takes as parameters the HAL peripheral handle, the Callback ID - and a pointer to the user callback function. - - Use function @ref HAL_NAND_UnRegisterCallback() to reset a callback to the default - weak (surcharged) function. It allows to reset following callbacks: - (+) MspInitCallback : NAND MspInit. - (+) MspDeInitCallback : NAND MspDeInit. - This function) takes as parameters the HAL peripheral handle and the Callback ID. - - By default, after the @ref HAL_NAND_Init and if the state is HAL_NAND_STATE_RESET - all callbacks are reset to the corresponding legacy weak (surcharged) functions. - Exception done for MspInit and MspDeInit callbacks that are respectively - reset to the legacy weak (surcharged) functions in the @ref HAL_NAND_Init - and @ref HAL_NAND_DeInit only when these callbacks are null (not registered beforehand). - If not, MspInit or MspDeInit are not null, the @ref HAL_NAND_Init and @ref HAL_NAND_DeInit - keep and use the user MspInit/MspDeInit callbacks (registered beforehand) - - Callbacks can be registered/unregistered in READY state only. - Exception done for MspInit/MspDeInit callbacks that can be registered/unregistered - in READY or RESET state, thus registered (user) MspInit/DeInit callbacks can be used - during the Init/DeInit. - In that case first register the MspInit/MspDeInit user callbacks - using @ref HAL_NAND_RegisterCallback before calling @ref HAL_NAND_DeInit - or @ref HAL_NAND_Init function. - - When The compilation define USE_HAL_NAND_REGISTER_CALLBACKS is set to 0 or - not defined, the callback registering feature is not available - and weak (surcharged) callbacks are used. - - @endverbatim - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - - -#ifdef HAL_NAND_MODULE_ENABLED - -#if defined(STM32F405xx) || defined(STM32F415xx) || defined(STM32F407xx) || defined(STM32F417xx) ||\ - defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) ||\ - defined(STM32F446xx) || defined(STM32F469xx) || defined(STM32F479xx) - -/** @defgroup NAND NAND - * @brief NAND HAL module driver - * @{ - */ - -/* Private typedef -----------------------------------------------------------*/ -/* Private define ------------------------------------------------------------*/ -/** @defgroup NAND_Private_Constants NAND Private Constants - * @{ - */ - -/** - * @} - */ - -/* Private macro -------------------------------------------------------------*/ -/** @defgroup NAND_Private_Macros NAND Private Macros - * @{ - */ - -/** - * @} - */ -/* Private variables ---------------------------------------------------------*/ -/* Private function prototypes -----------------------------------------------*/ -/* Exported functions --------------------------------------------------------*/ -/** @defgroup NAND_Exported_Functions NAND Exported Functions - * @{ - */ - -/** @defgroup NAND_Exported_Functions_Group1 Initialization and de-initialization functions - * @brief Initialization and Configuration functions - * - @verbatim - ============================================================================== - ##### NAND Initialization and de-initialization functions ##### - ============================================================================== - [..] - This section provides functions allowing to initialize/de-initialize - the NAND memory - -@endverbatim - * @{ - */ - -/** - * @brief Perform NAND memory Initialization sequence - * @param hnand pointer to a NAND_HandleTypeDef structure that contains - * the configuration information for NAND module. - * @param ComSpace_Timing pointer to Common space timing structure - * @param AttSpace_Timing pointer to Attribute space timing structure - * @retval HAL status - */ -HAL_StatusTypeDef HAL_NAND_Init(NAND_HandleTypeDef *hnand, FMC_NAND_PCC_TimingTypeDef *ComSpace_Timing, FMC_NAND_PCC_TimingTypeDef *AttSpace_Timing) -{ - /* Check the NAND handle state */ - if(hnand == NULL) - { - return HAL_ERROR; - } - - if(hnand->State == HAL_NAND_STATE_RESET) - { - /* Allocate lock resource and initialize it */ - hnand->Lock = HAL_UNLOCKED; - -#if (USE_HAL_NAND_REGISTER_CALLBACKS == 1) - if(hnand->MspInitCallback == NULL) - { - hnand->MspInitCallback = HAL_NAND_MspInit; - } - hnand->ItCallback = HAL_NAND_ITCallback; - - /* Init the low level hardware */ - hnand->MspInitCallback(hnand); -#else - /* Initialize the low level hardware (MSP) */ - HAL_NAND_MspInit(hnand); -#endif - } - - /* Initialize NAND control Interface */ - FMC_NAND_Init(hnand->Instance, &(hnand->Init)); - - /* Initialize NAND common space timing Interface */ - FMC_NAND_CommonSpace_Timing_Init(hnand->Instance, ComSpace_Timing, hnand->Init.NandBank); - - /* Initialize NAND attribute space timing Interface */ - FMC_NAND_AttributeSpace_Timing_Init(hnand->Instance, AttSpace_Timing, hnand->Init.NandBank); - - /* Enable the NAND device */ - __FMC_NAND_ENABLE(hnand->Instance, hnand->Init.NandBank); - - /* Update the NAND controller state */ - hnand->State = HAL_NAND_STATE_READY; - - return HAL_OK; -} - -/** - * @brief Perform NAND memory De-Initialization sequence - * @param hnand pointer to a NAND_HandleTypeDef structure that contains - * the configuration information for NAND module. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_NAND_DeInit(NAND_HandleTypeDef *hnand) -{ -#if (USE_HAL_NAND_REGISTER_CALLBACKS == 1) - if(hnand->MspDeInitCallback == NULL) - { - hnand->MspDeInitCallback = HAL_NAND_MspDeInit; - } - - /* DeInit the low level hardware */ - hnand->MspDeInitCallback(hnand); -#else - /* Initialize the low level hardware (MSP) */ - HAL_NAND_MspDeInit(hnand); -#endif - - /* Configure the NAND registers with their reset values */ - FMC_NAND_DeInit(hnand->Instance, hnand->Init.NandBank); - - /* Reset the NAND controller state */ - hnand->State = HAL_NAND_STATE_RESET; - - /* Release Lock */ - __HAL_UNLOCK(hnand); - - return HAL_OK; -} - -/** - * @brief NAND MSP Init - * @param hnand pointer to a NAND_HandleTypeDef structure that contains - * the configuration information for NAND module. - * @retval None - */ -__weak void HAL_NAND_MspInit(NAND_HandleTypeDef *hnand) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hnand); - /* NOTE : This function Should not be modified, when the callback is needed, - the HAL_NAND_MspInit could be implemented in the user file - */ -} - -/** - * @brief NAND MSP DeInit - * @param hnand pointer to a NAND_HandleTypeDef structure that contains - * the configuration information for NAND module. - * @retval None - */ -__weak void HAL_NAND_MspDeInit(NAND_HandleTypeDef *hnand) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hnand); - /* NOTE : This function Should not be modified, when the callback is needed, - the HAL_NAND_MspDeInit could be implemented in the user file - */ -} - - -/** - * @brief This function handles NAND device interrupt request. - * @param hnand pointer to a NAND_HandleTypeDef structure that contains - * the configuration information for NAND module. - * @retval HAL status -*/ -void HAL_NAND_IRQHandler(NAND_HandleTypeDef *hnand) -{ - /* Check NAND interrupt Rising edge flag */ - if(__FMC_NAND_GET_FLAG(hnand->Instance, hnand->Init.NandBank, FMC_FLAG_RISING_EDGE)) - { - /* NAND interrupt callback*/ -#if (USE_HAL_NAND_REGISTER_CALLBACKS == 1) - hnand->ItCallback(hnand); -#else - HAL_NAND_ITCallback(hnand); -#endif - - /* Clear NAND interrupt Rising edge pending bit */ - __FMC_NAND_CLEAR_FLAG(hnand->Instance, hnand->Init.NandBank, FMC_FLAG_RISING_EDGE); - } - - /* Check NAND interrupt Level flag */ - if(__FMC_NAND_GET_FLAG(hnand->Instance, hnand->Init.NandBank, FMC_FLAG_LEVEL)) - { - /* NAND interrupt callback*/ -#if (USE_HAL_NAND_REGISTER_CALLBACKS == 1) - hnand->ItCallback(hnand); -#else - HAL_NAND_ITCallback(hnand); -#endif - - /* Clear NAND interrupt Level pending bit */ - __FMC_NAND_CLEAR_FLAG(hnand->Instance, hnand->Init.NandBank, FMC_FLAG_LEVEL); - } - - /* Check NAND interrupt Falling edge flag */ - if(__FMC_NAND_GET_FLAG(hnand->Instance, hnand->Init.NandBank, FMC_FLAG_FALLING_EDGE)) - { - /* NAND interrupt callback*/ -#if (USE_HAL_NAND_REGISTER_CALLBACKS == 1) - hnand->ItCallback(hnand); -#else - HAL_NAND_ITCallback(hnand); -#endif - - /* Clear NAND interrupt Falling edge pending bit */ - __FMC_NAND_CLEAR_FLAG(hnand->Instance, hnand->Init.NandBank, FMC_FLAG_FALLING_EDGE); - } - - /* Check NAND interrupt FIFO empty flag */ - if(__FMC_NAND_GET_FLAG(hnand->Instance, hnand->Init.NandBank, FMC_FLAG_FEMPT)) - { - /* NAND interrupt callback*/ -#if (USE_HAL_NAND_REGISTER_CALLBACKS == 1) - hnand->ItCallback(hnand); -#else - HAL_NAND_ITCallback(hnand); -#endif - - /* Clear NAND interrupt FIFO empty pending bit */ - __FMC_NAND_CLEAR_FLAG(hnand->Instance, hnand->Init.NandBank, FMC_FLAG_FEMPT); - } -} - -/** - * @brief NAND interrupt feature callback - * @param hnand pointer to a NAND_HandleTypeDef structure that contains - * the configuration information for NAND module. - * @retval None - */ -__weak void HAL_NAND_ITCallback(NAND_HandleTypeDef *hnand) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hnand); - /* NOTE : This function Should not be modified, when the callback is needed, - the HAL_NAND_ITCallback could be implemented in the user file - */ -} - -/** - * @} - */ - -/** @defgroup NAND_Exported_Functions_Group2 Input and Output functions - * @brief Input Output and memory control functions - * - @verbatim - ============================================================================== - ##### NAND Input and Output functions ##### - ============================================================================== - [..] - This section provides functions allowing to use and control the NAND - memory - -@endverbatim - * @{ - */ - -/** - * @brief Read the NAND memory electronic signature - * @param hnand pointer to a NAND_HandleTypeDef structure that contains - * the configuration information for NAND module. - * @param pNAND_ID NAND ID structure - * @retval HAL status - */ -HAL_StatusTypeDef HAL_NAND_Read_ID(NAND_HandleTypeDef *hnand, NAND_IDTypeDef *pNAND_ID) -{ - __IO uint32_t data = 0U; - __IO uint32_t data1 = 0U; - uint32_t deviceaddress = 0U; - - /* Process Locked */ - __HAL_LOCK(hnand); - - /* Check the NAND controller state */ - if(hnand->State == HAL_NAND_STATE_BUSY) - { - return HAL_BUSY; - } - - /* Identify the device address */ - if(hnand->Init.NandBank == FMC_NAND_BANK2) - { - deviceaddress = NAND_DEVICE1; - } - else - { - deviceaddress = NAND_DEVICE2; - } - - /* Update the NAND controller state */ - hnand->State = HAL_NAND_STATE_BUSY; - - /* Send Read ID command sequence */ - *(__IO uint8_t *)((uint32_t)(deviceaddress | CMD_AREA)) = NAND_CMD_READID; - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = 0x00; - - /* Read the electronic signature from NAND flash */ -#ifdef FSMC_PCR2_PWID - if (hnand->Init.MemoryDataWidth == FSMC_NAND_PCC_MEM_BUS_WIDTH_8) -#else /* FMC_PCR2_PWID is defined */ - if (hnand->Init.MemoryDataWidth == FMC_NAND_PCC_MEM_BUS_WIDTH_8) -#endif - { - data = *(__IO uint32_t *)deviceaddress; - - /* Return the data read */ - pNAND_ID->Maker_Id = ADDR_1ST_CYCLE(data); - pNAND_ID->Device_Id = ADDR_2ND_CYCLE(data); - pNAND_ID->Third_Id = ADDR_3RD_CYCLE(data); - pNAND_ID->Fourth_Id = ADDR_4TH_CYCLE(data); - } - else - { - data = *(__IO uint32_t *)deviceaddress; - data1 = *((__IO uint32_t *)deviceaddress + 4U); - - /* Return the data read */ - pNAND_ID->Maker_Id = ADDR_1ST_CYCLE(data); - pNAND_ID->Device_Id = ADDR_3RD_CYCLE(data); - pNAND_ID->Third_Id = ADDR_1ST_CYCLE(data1); - pNAND_ID->Fourth_Id = ADDR_3RD_CYCLE(data1); - } - - /* Update the NAND controller state */ - hnand->State = HAL_NAND_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hnand); - - return HAL_OK; -} - -/** - * @brief NAND memory reset - * @param hnand pointer to a NAND_HandleTypeDef structure that contains - * the configuration information for NAND module. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_NAND_Reset(NAND_HandleTypeDef *hnand) -{ - uint32_t deviceaddress = 0U; - - /* Process Locked */ - __HAL_LOCK(hnand); - - /* Check the NAND controller state */ - if(hnand->State == HAL_NAND_STATE_BUSY) - { - return HAL_BUSY; - } - - /* Identify the device address */ - if(hnand->Init.NandBank == FMC_NAND_BANK2) - { - deviceaddress = NAND_DEVICE1; - } - else - { - deviceaddress = NAND_DEVICE2; - } - - /* Update the NAND controller state */ - hnand->State = HAL_NAND_STATE_BUSY; - - /* Send NAND reset command */ - *(__IO uint8_t *)((uint32_t)(deviceaddress | CMD_AREA)) = 0xFF; - - - /* Update the NAND controller state */ - hnand->State = HAL_NAND_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hnand); - - return HAL_OK; - -} - -/** - * @brief Configure the device: Enter the physical parameters of the device - * @param hnand pointer to a NAND_HandleTypeDef structure that contains - * the configuration information for NAND module. - * @param pDeviceConfig pointer to NAND_DeviceConfigTypeDef structure - * @retval HAL status - */ -HAL_StatusTypeDef HAL_NAND_ConfigDevice(NAND_HandleTypeDef *hnand, NAND_DeviceConfigTypeDef *pDeviceConfig) -{ - hnand->Config.PageSize = pDeviceConfig->PageSize; - hnand->Config.SpareAreaSize = pDeviceConfig->SpareAreaSize; - hnand->Config.BlockSize = pDeviceConfig->BlockSize; - hnand->Config.BlockNbr = pDeviceConfig->BlockNbr; - hnand->Config.PlaneSize = pDeviceConfig->PlaneSize; - hnand->Config.PlaneNbr = pDeviceConfig->PlaneNbr; - hnand->Config.ExtraCommandEnable = pDeviceConfig->ExtraCommandEnable; - - return HAL_OK; -} - -/** - * @brief Read Page(s) from NAND memory block (8-bits addressing) - * @param hnand pointer to a NAND_HandleTypeDef structure that contains - * the configuration information for NAND module. - * @param pAddress pointer to NAND address structure - * @param pBuffer pointer to destination read buffer - * @param NumPageToRead number of pages to read from block - * @retval HAL status - */ -HAL_StatusTypeDef HAL_NAND_Read_Page_8b(NAND_HandleTypeDef *hnand, NAND_AddressTypeDef *pAddress, uint8_t *pBuffer, uint32_t NumPageToRead) -{ - __IO uint32_t index = 0U; - uint32_t tickstart = 0U; - uint32_t deviceaddress = 0U, size = 0U, numPagesRead = 0U, nandaddress = 0U; - - /* Process Locked */ - __HAL_LOCK(hnand); - - /* Check the NAND controller state */ - if(hnand->State == HAL_NAND_STATE_BUSY) - { - return HAL_BUSY; - } - - /* Identify the device address */ - if(hnand->Init.NandBank == FMC_NAND_BANK2) - { - deviceaddress = NAND_DEVICE1; - } - else - { - deviceaddress = NAND_DEVICE2; - } - - /* Update the NAND controller state */ - hnand->State = HAL_NAND_STATE_BUSY; - - /* NAND raw address calculation */ - nandaddress = ARRAY_ADDRESS(pAddress, hnand); - - /* Page(s) read loop */ - while((NumPageToRead != 0U) && (nandaddress < ((hnand->Config.BlockSize) * (hnand->Config.BlockNbr)))) - { - /* update the buffer size */ - size = (hnand->Config.PageSize) + ((hnand->Config.PageSize) * numPagesRead); - - /* Send read page command sequence */ - *(__IO uint8_t *)((uint32_t)(deviceaddress | CMD_AREA)) = NAND_CMD_AREA_A; - - /* Cards with page size <= 512 bytes */ - if((hnand->Config.PageSize) <= 512U) - { - if (((hnand->Config.BlockSize)*(hnand->Config.BlockNbr)) <= 65535U) - { - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = 0x00; - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = ADDR_1ST_CYCLE(nandaddress); - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = ADDR_2ND_CYCLE(nandaddress); - } - else /* ((hnand->Config.BlockSize)*(hnand->Config.BlockNbr)) > 65535 */ - { - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = 0x00; - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = ADDR_1ST_CYCLE(nandaddress); - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = ADDR_2ND_CYCLE(nandaddress); - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = ADDR_3RD_CYCLE(nandaddress); - } - } - else /* (hnand->Config.PageSize) > 512 */ - { - if (((hnand->Config.BlockSize)*(hnand->Config.BlockNbr)) <= 65535U) - { - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = 0x00; - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = 0x00; - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = ADDR_1ST_CYCLE(nandaddress); - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = ADDR_2ND_CYCLE(nandaddress); - } - else /* ((hnand->Config.BlockSize)*(hnand->Config.BlockNbr)) > 65535 */ - { - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = 0x00; - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = 0x00; - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = ADDR_1ST_CYCLE(nandaddress); - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = ADDR_2ND_CYCLE(nandaddress); - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = ADDR_3RD_CYCLE(nandaddress); - } - } - - *(__IO uint8_t *)((uint32_t)(deviceaddress | CMD_AREA)) = NAND_CMD_AREA_TRUE1; - - /* Check if an extra command is needed for reading pages */ - if(hnand->Config.ExtraCommandEnable == ENABLE) - { - /* Get tick */ - tickstart = HAL_GetTick(); - - /* Read status until NAND is ready */ - while(HAL_NAND_Read_Status(hnand) != NAND_READY) - { - if((HAL_GetTick() - tickstart ) > NAND_WRITE_TIMEOUT) - { - return HAL_TIMEOUT; - } - } - - /* Go back to read mode */ - *(__IO uint8_t *)((uint32_t)(deviceaddress | CMD_AREA)) = ((uint8_t)0x00); - __DSB(); - } - - /* Get Data into Buffer */ - for(; index < size; index++) - { - *(uint8_t *)pBuffer++ = *(uint8_t *)deviceaddress; - } - - /* Increment read pages number */ - numPagesRead++; - - /* Decrement pages to read */ - NumPageToRead--; - - /* Increment the NAND address */ - nandaddress = (uint32_t)(nandaddress + 1U); - } - - /* Update the NAND controller state */ - hnand->State = HAL_NAND_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hnand); - - return HAL_OK; -} - -/** - * @brief Read Page(s) from NAND memory block (16-bits addressing) - * @param hnand pointer to a NAND_HandleTypeDef structure that contains - * the configuration information for NAND module. - * @param pAddress pointer to NAND address structure - * @param pBuffer pointer to destination read buffer. pBuffer should be 16bits aligned - * @param NumPageToRead number of pages to read from block - * @retval HAL status - */ -HAL_StatusTypeDef HAL_NAND_Read_Page_16b(NAND_HandleTypeDef *hnand, NAND_AddressTypeDef *pAddress, uint16_t *pBuffer, uint32_t NumPageToRead) -{ - __IO uint32_t index = 0U; - uint32_t tickstart = 0U; - uint32_t deviceaddress = 0U, size = 0U, numPagesRead = 0U, nandaddress = 0U; - - /* Process Locked */ - __HAL_LOCK(hnand); - - /* Check the NAND controller state */ - if(hnand->State == HAL_NAND_STATE_BUSY) - { - return HAL_BUSY; - } - - /* Identify the device address */ - if(hnand->Init.NandBank == FMC_NAND_BANK2) - { - deviceaddress = NAND_DEVICE1; - } - else - { - deviceaddress = NAND_DEVICE2; - } - - /* Update the NAND controller state */ - hnand->State = HAL_NAND_STATE_BUSY; - - /* NAND raw address calculation */ - nandaddress = ARRAY_ADDRESS(pAddress, hnand); - - /* Page(s) read loop */ - while((NumPageToRead != 0U) && (nandaddress < ((hnand->Config.BlockSize) * (hnand->Config.BlockNbr)))) - { - /* update the buffer size */ - size = (hnand->Config.PageSize) + ((hnand->Config.PageSize) * numPagesRead); - - /* Send read page command sequence */ - *(__IO uint8_t *)((uint32_t)(deviceaddress | CMD_AREA)) = NAND_CMD_AREA_A; - __DSB(); - - /* Cards with page size <= 512 bytes */ - if((hnand->Config.PageSize) <= 512U) - { - if (((hnand->Config.BlockSize)*(hnand->Config.BlockNbr)) <= 65535U) - { - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = 0x00; - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = ADDR_1ST_CYCLE(nandaddress); - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = ADDR_2ND_CYCLE(nandaddress); - } - else /* ((hnand->Config.BlockSize)*(hnand->Config.BlockNbr)) > 65535 */ - { - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = 0x00; - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = ADDR_1ST_CYCLE(nandaddress); - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = ADDR_2ND_CYCLE(nandaddress); - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = ADDR_3RD_CYCLE(nandaddress); - } - } - else /* (hnand->Config.PageSize) > 512 */ - { - if (((hnand->Config.BlockSize)*(hnand->Config.BlockNbr)) <= 65535U) - { - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = 0x00; - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = 0x00; - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = ADDR_1ST_CYCLE(nandaddress); - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = ADDR_2ND_CYCLE(nandaddress); - } - else /* ((hnand->Config.BlockSize)*(hnand->Config.BlockNbr)) > 65535 */ - { - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = 0x00; - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = 0x00; - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = ADDR_1ST_CYCLE(nandaddress); - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = ADDR_2ND_CYCLE(nandaddress); - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = ADDR_3RD_CYCLE(nandaddress); - } - } - - *(__IO uint8_t *)((uint32_t)(deviceaddress | CMD_AREA)) = NAND_CMD_AREA_TRUE1; - - if(hnand->Config.ExtraCommandEnable == ENABLE) - { - /* Get tick */ - tickstart = HAL_GetTick(); - - /* Read status until NAND is ready */ - while(HAL_NAND_Read_Status(hnand) != NAND_READY) - { - if((HAL_GetTick() - tickstart ) > NAND_WRITE_TIMEOUT) - { - return HAL_TIMEOUT; - } - } - - /* Go back to read mode */ - *(__IO uint8_t *)((uint32_t)(deviceaddress | CMD_AREA)) = ((uint8_t)0x00); - } - - /* Calculate PageSize */ -#ifdef FSMC_PCR2_PWID - if (hnand->Init.MemoryDataWidth == FSMC_NAND_PCC_MEM_BUS_WIDTH_8) -#else /* FMC_PCR2_PWID is defined */ - if (hnand->Init.MemoryDataWidth == FMC_NAND_PCC_MEM_BUS_WIDTH_8) -#endif - { - size = size / 2U; - } - else - { - /* Do nothing */ - /* Keep the same PageSize for FMC_NAND_MEM_BUS_WIDTH_16*/ - } - - /* Get Data into Buffer */ - for(; index < size; index++) - { - *(uint16_t *)pBuffer++ = *(uint16_t *)deviceaddress; - } - - /* Increment read pages number */ - numPagesRead++; - - /* Decrement pages to read */ - NumPageToRead--; - - /* Increment the NAND address */ - nandaddress = (uint32_t)(nandaddress + 1U); - } - - /* Update the NAND controller state */ - hnand->State = HAL_NAND_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hnand); - - return HAL_OK; -} - -/** - * @brief Write Page(s) to NAND memory block (8-bits addressing) - * @param hnand pointer to a NAND_HandleTypeDef structure that contains - * the configuration information for NAND module. - * @param pAddress pointer to NAND address structure - * @param pBuffer pointer to source buffer to write - * @param NumPageToWrite number of pages to write to block - * @retval HAL status - */ -HAL_StatusTypeDef HAL_NAND_Write_Page_8b(NAND_HandleTypeDef *hnand, NAND_AddressTypeDef *pAddress, uint8_t *pBuffer, uint32_t NumPageToWrite) -{ - __IO uint32_t index = 0U; - uint32_t tickstart = 0U; - uint32_t deviceaddress = 0U, size = 0U, numPagesWritten = 0U, nandaddress = 0U; - - /* Process Locked */ - __HAL_LOCK(hnand); - - /* Check the NAND controller state */ - if(hnand->State == HAL_NAND_STATE_BUSY) - { - return HAL_BUSY; - } - - /* Identify the device address */ - if(hnand->Init.NandBank == FMC_NAND_BANK2) - { - deviceaddress = NAND_DEVICE1; - } - else - { - deviceaddress = NAND_DEVICE2; - } - - /* Update the NAND controller state */ - hnand->State = HAL_NAND_STATE_BUSY; - - /* NAND raw address calculation */ - nandaddress = ARRAY_ADDRESS(pAddress, hnand); - - /* Page(s) write loop */ - while((NumPageToWrite != 0U) && (nandaddress < ((hnand->Config.BlockSize) * (hnand->Config.BlockNbr)))) - { - /* update the buffer size */ - size = hnand->Config.PageSize + ((hnand->Config.PageSize) * numPagesWritten); - - /* Send write page command sequence */ - *(__IO uint8_t *)((uint32_t)(deviceaddress | CMD_AREA)) = NAND_CMD_AREA_A; - *(__IO uint8_t *)((uint32_t)(deviceaddress | CMD_AREA)) = NAND_CMD_WRITE0; - - /* Cards with page size <= 512 bytes */ - if((hnand->Config.PageSize) <= 512U) - { - if (((hnand->Config.BlockSize)*(hnand->Config.BlockNbr)) <= 65535U) - { - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = 0x00; - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = ADDR_1ST_CYCLE(nandaddress); - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = ADDR_2ND_CYCLE(nandaddress); - } - else /* ((hnand->Config.BlockSize)*(hnand->Config.BlockNbr)) > 65535 */ - { - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = 0x00; - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = ADDR_1ST_CYCLE(nandaddress); - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = ADDR_2ND_CYCLE(nandaddress); - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = ADDR_3RD_CYCLE(nandaddress); - } - } - else /* (hnand->Config.PageSize) > 512 */ - { - if (((hnand->Config.BlockSize)*(hnand->Config.BlockNbr)) <= 65535U) - { - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = 0x00; - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = 0x00; - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = ADDR_1ST_CYCLE(nandaddress); - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = ADDR_2ND_CYCLE(nandaddress); - } - else /* ((hnand->Config.BlockSize)*(hnand->Config.BlockNbr)) > 65535 */ - { - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = 0x00; - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = 0x00; - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = ADDR_1ST_CYCLE(nandaddress); - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = ADDR_2ND_CYCLE(nandaddress); - __DSB(); - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = ADDR_3RD_CYCLE(nandaddress); - __DSB(); - } - } - - - /* Write data to memory */ - for(; index < size; index++) - { - *(__IO uint8_t *)deviceaddress = *(uint8_t *)pBuffer++; - } - - *(__IO uint8_t *)((uint32_t)(deviceaddress | CMD_AREA)) = NAND_CMD_WRITE_TRUE1; - - /* Get tick */ - tickstart = HAL_GetTick(); - - /* Read status until NAND is ready */ - while(HAL_NAND_Read_Status(hnand) != NAND_READY) - { - - if((HAL_GetTick() - tickstart ) > NAND_WRITE_TIMEOUT) - { - return HAL_TIMEOUT; - } - } - - /* Increment written pages number */ - numPagesWritten++; - - /* Decrement pages to write */ - NumPageToWrite--; - - /* Increment the NAND address */ - nandaddress = (uint32_t)(nandaddress + 1U); - } - - /* Update the NAND controller state */ - hnand->State = HAL_NAND_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hnand); - - return HAL_OK; -} - -/** - * @brief Write Page(s) to NAND memory block (16-bits addressing) - * @param hnand pointer to a NAND_HandleTypeDef structure that contains - * the configuration information for NAND module. - * @param pAddress pointer to NAND address structure - * @param pBuffer pointer to source buffer to write. pBuffer should be 16bits aligned - * @param NumPageToWrite number of pages to write to block - * @retval HAL status - */ -HAL_StatusTypeDef HAL_NAND_Write_Page_16b(NAND_HandleTypeDef *hnand, NAND_AddressTypeDef *pAddress, uint16_t *pBuffer, uint32_t NumPageToWrite) -{ - __IO uint32_t index = 0U; - uint32_t tickstart = 0U; - uint32_t deviceaddress = 0U, size = 0U, numPagesWritten = 0U, nandaddress = 0U; - - /* Process Locked */ - __HAL_LOCK(hnand); - - /* Check the NAND controller state */ - if(hnand->State == HAL_NAND_STATE_BUSY) - { - return HAL_BUSY; - } - - /* Identify the device address */ - if(hnand->Init.NandBank == FMC_NAND_BANK2) - { - deviceaddress = NAND_DEVICE1; - } - else - { - deviceaddress = NAND_DEVICE2; - } - - /* Update the NAND controller state */ - hnand->State = HAL_NAND_STATE_BUSY; - - /* NAND raw address calculation */ - nandaddress = ARRAY_ADDRESS(pAddress, hnand); - - /* Page(s) write loop */ - while((NumPageToWrite != 0U) && (nandaddress < ((hnand->Config.BlockSize) * (hnand->Config.BlockNbr)))) - { - /* update the buffer size */ - size = (hnand->Config.PageSize) + ((hnand->Config.PageSize) * numPagesWritten); - - /* Send write page command sequence */ - *(__IO uint8_t *)((uint32_t)(deviceaddress | CMD_AREA)) = NAND_CMD_AREA_A; - __DSB(); - *(__IO uint8_t *)((uint32_t)(deviceaddress | CMD_AREA)) = NAND_CMD_WRITE0; - __DSB(); - - /* Cards with page size <= 512 bytes */ - if((hnand->Config.PageSize) <= 512U) - { - if (((hnand->Config.BlockSize)*(hnand->Config.BlockNbr)) <= 65535U) - { - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = 0x00; - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = ADDR_1ST_CYCLE(nandaddress); - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = ADDR_2ND_CYCLE(nandaddress); - } - else /* ((hnand->Config.BlockSize)*(hnand->Config.BlockNbr)) > 65535 */ - { - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = 0x00; - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = ADDR_1ST_CYCLE(nandaddress); - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = ADDR_2ND_CYCLE(nandaddress); - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = ADDR_3RD_CYCLE(nandaddress); - } - } - else /* (hnand->Config.PageSize) > 512 */ - { - if (((hnand->Config.BlockSize)*(hnand->Config.BlockNbr)) <= 65535U) - { - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = 0x00; - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = 0x00; - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = ADDR_1ST_CYCLE(nandaddress); - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = ADDR_2ND_CYCLE(nandaddress); - } - else /* ((hnand->Config.BlockSize)*(hnand->Config.BlockNbr)) > 65535 */ - { - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = 0x00; - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = 0x00; - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = ADDR_1ST_CYCLE(nandaddress); - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = ADDR_2ND_CYCLE(nandaddress); - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = ADDR_3RD_CYCLE(nandaddress); - } - } - - /* Calculate PageSize */ -#ifdef FSMC_PCR2_PWID - if (hnand->Init.MemoryDataWidth == FSMC_NAND_PCC_MEM_BUS_WIDTH_8) -#else /* FMC_PCR2_PWID is defined */ - if (hnand->Init.MemoryDataWidth == FMC_NAND_PCC_MEM_BUS_WIDTH_8) -#endif - { - size = size / 2U; - } - else - { - /* Do nothing */ - /* Keep the same PageSize for FMC_NAND_MEM_BUS_WIDTH_16*/ - } - - /* Write data to memory */ - for(; index < size; index++) - { - *(__IO uint16_t *)deviceaddress = *(uint16_t *)pBuffer++; - } - - *(__IO uint8_t *)((uint32_t)(deviceaddress | CMD_AREA)) = NAND_CMD_WRITE_TRUE1; - - /* Get tick */ - tickstart = HAL_GetTick(); - - /* Read status until NAND is ready */ - while(HAL_NAND_Read_Status(hnand) != NAND_READY) - { - if((HAL_GetTick() - tickstart ) > NAND_WRITE_TIMEOUT) - { - return HAL_TIMEOUT; - } - } - - /* Increment written pages number */ - numPagesWritten++; - - /* Decrement pages to write */ - NumPageToWrite--; - - /* Increment the NAND address */ - nandaddress = (uint32_t)(nandaddress + 1U); - } - - /* Update the NAND controller state */ - hnand->State = HAL_NAND_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hnand); - - return HAL_OK; -} - -/** - * @brief Read Spare area(s) from NAND memory - * @param hnand pointer to a NAND_HandleTypeDef structure that contains - * the configuration information for NAND module. - * @param pAddress pointer to NAND address structure - * @param pBuffer pointer to source buffer to write - * @param NumSpareAreaToRead Number of spare area to read - * @retval HAL status -*/ -HAL_StatusTypeDef HAL_NAND_Read_SpareArea_8b(NAND_HandleTypeDef *hnand, NAND_AddressTypeDef *pAddress, uint8_t *pBuffer, uint32_t NumSpareAreaToRead) -{ - __IO uint32_t index = 0U; - uint32_t tickstart = 0U; - uint32_t deviceaddress = 0U, size = 0U, numSpareAreaRead = 0U, nandaddress = 0U, columnaddress = 0U; - - /* Process Locked */ - __HAL_LOCK(hnand); - - /* Check the NAND controller state */ - if(hnand->State == HAL_NAND_STATE_BUSY) - { - return HAL_BUSY; - } - - /* Identify the device address */ - if(hnand->Init.NandBank == FMC_NAND_BANK2) - { - deviceaddress = NAND_DEVICE1; - } - else - { - deviceaddress = NAND_DEVICE2; - } - - /* Update the NAND controller state */ - hnand->State = HAL_NAND_STATE_BUSY; - - /* NAND raw address calculation */ - nandaddress = ARRAY_ADDRESS(pAddress, hnand); - - /* Column in page address */ - columnaddress = COLUMN_ADDRESS(hnand); - - /* Spare area(s) read loop */ - while((NumSpareAreaToRead != 0U) && (nandaddress < ((hnand->Config.BlockSize) * (hnand->Config.BlockNbr)))) - { - /* update the buffer size */ - size = (hnand->Config.SpareAreaSize) + ((hnand->Config.SpareAreaSize) * numSpareAreaRead); - - /* Cards with page size <= 512 bytes */ - if((hnand->Config.PageSize) <= 512U) - { - /* Send read spare area command sequence */ - *(__IO uint8_t *)((uint32_t)(deviceaddress | CMD_AREA)) = NAND_CMD_AREA_C; - - if (((hnand->Config.BlockSize)*(hnand->Config.BlockNbr)) <= 65535U) - { - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = 0x00; - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = ADDR_1ST_CYCLE(nandaddress); - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = ADDR_2ND_CYCLE(nandaddress); - } - else /* ((hnand->Config.BlockSize)*(hnand->Config.BlockNbr)) > 65535 */ - { - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = 0x00; - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = ADDR_1ST_CYCLE(nandaddress); - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = ADDR_2ND_CYCLE(nandaddress); - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = ADDR_3RD_CYCLE(nandaddress); - } - } - else /* (hnand->Config.PageSize) > 512 */ - { - /* Send read spare area command sequence */ - *(__IO uint8_t *)((uint32_t)(deviceaddress | CMD_AREA)) = NAND_CMD_AREA_A; - - if (((hnand->Config.BlockSize)*(hnand->Config.BlockNbr)) <= 65535U) - { - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = COLUMN_1ST_CYCLE(columnaddress); - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = COLUMN_2ND_CYCLE(columnaddress); - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = ADDR_1ST_CYCLE(nandaddress); - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = ADDR_2ND_CYCLE(nandaddress); - } - else /* ((hnand->Config.BlockSize)*(hnand->Config.BlockNbr)) > 65535 */ - { - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = COLUMN_1ST_CYCLE(columnaddress); - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = COLUMN_2ND_CYCLE(columnaddress); - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = ADDR_1ST_CYCLE(nandaddress); - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = ADDR_2ND_CYCLE(nandaddress); - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = ADDR_3RD_CYCLE(nandaddress); - } - } - - *(__IO uint8_t *)((uint32_t)(deviceaddress | CMD_AREA)) = NAND_CMD_AREA_TRUE1; - - if(hnand->Config.ExtraCommandEnable == ENABLE) - { - /* Get tick */ - tickstart = HAL_GetTick(); - - /* Read status until NAND is ready */ - while(HAL_NAND_Read_Status(hnand) != NAND_READY) - { - if((HAL_GetTick() - tickstart ) > NAND_WRITE_TIMEOUT) - { - return HAL_TIMEOUT; - } - } - - /* Go back to read mode */ - *(__IO uint8_t *)((uint32_t)(deviceaddress | CMD_AREA)) = ((uint8_t)0x00); - } - - /* Get Data into Buffer */ - for(; index < size; index++) - { - *(uint8_t *)pBuffer++ = *(uint8_t *)deviceaddress; - } - - /* Increment read spare areas number */ - numSpareAreaRead++; - - /* Decrement spare areas to read */ - NumSpareAreaToRead--; - - /* Increment the NAND address */ - nandaddress = (uint32_t)(nandaddress + 1U); - } - - /* Update the NAND controller state */ - hnand->State = HAL_NAND_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hnand); - - return HAL_OK; -} - -/** - * @brief Read Spare area(s) from NAND memory (16-bits addressing) - * @param hnand pointer to a NAND_HandleTypeDef structure that contains - * the configuration information for NAND module. - * @param pAddress pointer to NAND address structure - * @param pBuffer pointer to source buffer to write. pBuffer should be 16bits aligned. - * @param NumSpareAreaToRead Number of spare area to read - * @retval HAL status -*/ -HAL_StatusTypeDef HAL_NAND_Read_SpareArea_16b(NAND_HandleTypeDef *hnand, NAND_AddressTypeDef *pAddress, uint16_t *pBuffer, uint32_t NumSpareAreaToRead) -{ - __IO uint32_t index = 0U; - uint32_t tickstart = 0U; - uint32_t deviceaddress = 0U, size = 0U, numSpareAreaRead = 0U, nandaddress = 0U, columnaddress = 0U; - - /* Process Locked */ - __HAL_LOCK(hnand); - - /* Check the NAND controller state */ - if(hnand->State == HAL_NAND_STATE_BUSY) - { - return HAL_BUSY; - } - - /* Identify the device address */ - if(hnand->Init.NandBank == FMC_NAND_BANK2) - { - deviceaddress = NAND_DEVICE1; - } - else - { - deviceaddress = NAND_DEVICE2; - } - - /* Update the NAND controller state */ - hnand->State = HAL_NAND_STATE_BUSY; - - /* NAND raw address calculation */ - nandaddress = ARRAY_ADDRESS(pAddress, hnand); - - /* Column in page address */ - columnaddress = (uint32_t)(COLUMN_ADDRESS(hnand)); - - /* Spare area(s) read loop */ - while((NumSpareAreaToRead != 0U) && (nandaddress < ((hnand->Config.BlockSize) * (hnand->Config.BlockNbr)))) - { - /* update the buffer size */ - size = (hnand->Config.SpareAreaSize) + ((hnand->Config.SpareAreaSize) * numSpareAreaRead); - - /* Cards with page size <= 512 bytes */ - if((hnand->Config.PageSize) <= 512U) - { - /* Send read spare area command sequence */ - *(__IO uint8_t *)((uint32_t)(deviceaddress | CMD_AREA)) = NAND_CMD_AREA_C; - - if (((hnand->Config.BlockSize)*(hnand->Config.BlockNbr)) <= 65535U) - { - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = 0x00; - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = ADDR_1ST_CYCLE(nandaddress); - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = ADDR_2ND_CYCLE(nandaddress); - } - else /* ((hnand->Config.BlockSize)*(hnand->Config.BlockNbr)) > 65535 */ - { - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = 0x00; - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = ADDR_1ST_CYCLE(nandaddress); - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = ADDR_2ND_CYCLE(nandaddress); - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = ADDR_3RD_CYCLE(nandaddress); - } - } - else /* (hnand->Config.PageSize) > 512 */ - { - /* Send read spare area command sequence */ - *(__IO uint8_t *)((uint32_t)(deviceaddress | CMD_AREA)) = NAND_CMD_AREA_A; - - if (((hnand->Config.BlockSize)*(hnand->Config.BlockNbr)) <= 65535U) - { - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = COLUMN_1ST_CYCLE(columnaddress); - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = COLUMN_2ND_CYCLE(columnaddress); - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = ADDR_1ST_CYCLE(nandaddress); - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = ADDR_2ND_CYCLE(nandaddress); - } - else /* ((hnand->Config.BlockSize)*(hnand->Config.BlockNbr)) > 65535 */ - { - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = COLUMN_1ST_CYCLE(columnaddress); - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = COLUMN_2ND_CYCLE(columnaddress); - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = ADDR_1ST_CYCLE(nandaddress); - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = ADDR_2ND_CYCLE(nandaddress); - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = ADDR_3RD_CYCLE(nandaddress); - } - } - - *(__IO uint8_t *)((uint32_t)(deviceaddress | CMD_AREA)) = NAND_CMD_AREA_TRUE1; - - if(hnand->Config.ExtraCommandEnable == ENABLE) - { - /* Get tick */ - tickstart = HAL_GetTick(); - - /* Read status until NAND is ready */ - while(HAL_NAND_Read_Status(hnand) != NAND_READY) - { - if((HAL_GetTick() - tickstart ) > NAND_WRITE_TIMEOUT) - { - return HAL_TIMEOUT; - } - } - - /* Go back to read mode */ - *(__IO uint8_t *)((uint32_t)(deviceaddress | CMD_AREA)) = ((uint8_t)0x00); - } - - /* Get Data into Buffer */ - for(; index < size; index++) - { - *(uint16_t *)pBuffer++ = *(uint16_t *)deviceaddress; - } - - /* Increment read spare areas number */ - numSpareAreaRead++; - - /* Decrement spare areas to read */ - NumSpareAreaToRead--; - - /* Increment the NAND address */ - nandaddress = (uint32_t)(nandaddress + 1U); - } - - /* Update the NAND controller state */ - hnand->State = HAL_NAND_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hnand); - - return HAL_OK; -} - -/** - * @brief Write Spare area(s) to NAND memory - * @param hnand pointer to a NAND_HandleTypeDef structure that contains - * the configuration information for NAND module. - * @param pAddress pointer to NAND address structure - * @param pBuffer pointer to source buffer to write - * @param NumSpareAreaTowrite number of spare areas to write to block - * @retval HAL status - */ -HAL_StatusTypeDef HAL_NAND_Write_SpareArea_8b(NAND_HandleTypeDef *hnand, NAND_AddressTypeDef *pAddress, uint8_t *pBuffer, uint32_t NumSpareAreaTowrite) -{ - __IO uint32_t index = 0U; - uint32_t tickstart = 0U; - uint32_t deviceaddress = 0U, size = 0U, numSpareAreaWritten = 0U, nandaddress = 0U, columnaddress = 0U; - - /* Process Locked */ - __HAL_LOCK(hnand); - - /* Check the NAND controller state */ - if(hnand->State == HAL_NAND_STATE_BUSY) - { - return HAL_BUSY; - } - - /* Identify the device address */ - if(hnand->Init.NandBank == FMC_NAND_BANK2) - { - deviceaddress = NAND_DEVICE1; - } - else - { - deviceaddress = NAND_DEVICE2; - } - - /* Update the FMC_NAND controller state */ - hnand->State = HAL_NAND_STATE_BUSY; - - /* Page address calculation */ - nandaddress = ARRAY_ADDRESS(pAddress, hnand); - - /* Column in page address */ - columnaddress = COLUMN_ADDRESS(hnand); - - /* Spare area(s) write loop */ - while((NumSpareAreaTowrite != 0U) && (nandaddress < ((hnand->Config.BlockSize) * (hnand->Config.BlockNbr)))) - { - /* update the buffer size */ - size = (hnand->Config.SpareAreaSize) + ((hnand->Config.SpareAreaSize) * numSpareAreaWritten); - - /* Cards with page size <= 512 bytes */ - if((hnand->Config.PageSize) <= 512U) - { - /* Send write Spare area command sequence */ - *(__IO uint8_t *)((uint32_t)(deviceaddress | CMD_AREA)) = NAND_CMD_AREA_C; - *(__IO uint8_t *)((uint32_t)(deviceaddress | CMD_AREA)) = NAND_CMD_WRITE0; - - if (((hnand->Config.BlockSize)*(hnand->Config.BlockNbr)) <= 65535U) - { - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = 0x00; - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = ADDR_1ST_CYCLE(nandaddress); - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = ADDR_2ND_CYCLE(nandaddress); - } - else /* ((hnand->Config.BlockSize)*(hnand->Config.BlockNbr)) > 65535 */ - { - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = 0x00; - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = ADDR_1ST_CYCLE(nandaddress); - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = ADDR_2ND_CYCLE(nandaddress); - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = ADDR_3RD_CYCLE(nandaddress); - } - } - else /* (hnand->Config.PageSize) > 512 */ - { - /* Send write Spare area command sequence */ - *(__IO uint8_t *)((uint32_t)(deviceaddress | CMD_AREA)) = NAND_CMD_AREA_A; - *(__IO uint8_t *)((uint32_t)(deviceaddress | CMD_AREA)) = NAND_CMD_WRITE0; - - if (((hnand->Config.BlockSize)*(hnand->Config.BlockNbr)) <= 65535U) - { - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = COLUMN_1ST_CYCLE(columnaddress); - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = COLUMN_2ND_CYCLE(columnaddress); - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = ADDR_1ST_CYCLE(nandaddress); - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = ADDR_2ND_CYCLE(nandaddress); - } - else /* ((hnand->Config.BlockSize)*(hnand->Config.BlockNbr)) > 65535 */ - { - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = COLUMN_1ST_CYCLE(columnaddress); - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = COLUMN_2ND_CYCLE(columnaddress); - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = ADDR_1ST_CYCLE(nandaddress); - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = ADDR_2ND_CYCLE(nandaddress); - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = ADDR_3RD_CYCLE(nandaddress); - } - } - - /* Write data to memory */ - for(; index < size; index++) - { - *(__IO uint8_t *)deviceaddress = *(uint8_t *)pBuffer++; - } - - *(__IO uint8_t *)((uint32_t)(deviceaddress | CMD_AREA)) = NAND_CMD_WRITE_TRUE1; - - /* Get tick */ - tickstart = HAL_GetTick(); - - /* Read status until NAND is ready */ - while(HAL_NAND_Read_Status(hnand) != NAND_READY) - { - if((HAL_GetTick() - tickstart ) > NAND_WRITE_TIMEOUT) - { - return HAL_TIMEOUT; - } - } - - /* Increment written spare areas number */ - numSpareAreaWritten++; - - /* Decrement spare areas to write */ - NumSpareAreaTowrite--; - - /* Increment the NAND address */ - nandaddress = (uint32_t)(nandaddress + 1U); - } - - /* Update the NAND controller state */ - hnand->State = HAL_NAND_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hnand); - - return HAL_OK; -} - -/** - * @brief Write Spare area(s) to NAND memory (16-bits addressing) - * @param hnand pointer to a NAND_HandleTypeDef structure that contains - * the configuration information for NAND module. - * @param pAddress pointer to NAND address structure - * @param pBuffer pointer to source buffer to write. pBuffer should be 16bits aligned. - * @param NumSpareAreaTowrite number of spare areas to write to block - * @retval HAL status - */ -HAL_StatusTypeDef HAL_NAND_Write_SpareArea_16b(NAND_HandleTypeDef *hnand, NAND_AddressTypeDef *pAddress, uint16_t *pBuffer, uint32_t NumSpareAreaTowrite) -{ - __IO uint32_t index = 0U; - uint32_t tickstart = 0U; - uint32_t deviceaddress = 0U, size = 0U, numSpareAreaWritten = 0U, nandaddress = 0U, columnaddress = 0U; - - /* Process Locked */ - __HAL_LOCK(hnand); - - /* Check the NAND controller state */ - if(hnand->State == HAL_NAND_STATE_BUSY) - { - return HAL_BUSY; - } - - /* Identify the device address */ - if(hnand->Init.NandBank == FMC_NAND_BANK2) - { - deviceaddress = NAND_DEVICE1; - } - else - { - deviceaddress = NAND_DEVICE2; - } - - /* Update the FMC_NAND controller state */ - hnand->State = HAL_NAND_STATE_BUSY; - - /* NAND raw address calculation */ - nandaddress = ARRAY_ADDRESS(pAddress, hnand); - - /* Column in page address */ - columnaddress = (uint32_t)(COLUMN_ADDRESS(hnand)); - - /* Spare area(s) write loop */ - while((NumSpareAreaTowrite != 0U) && (nandaddress < ((hnand->Config.BlockSize) * (hnand->Config.BlockNbr)))) - { - /* update the buffer size */ - size = (hnand->Config.SpareAreaSize) + ((hnand->Config.SpareAreaSize) * numSpareAreaWritten); - - /* Cards with page size <= 512 bytes */ - if((hnand->Config.PageSize) <= 512U) - { - /* Send write Spare area command sequence */ - *(__IO uint8_t *)((uint32_t)(deviceaddress | CMD_AREA)) = NAND_CMD_AREA_C; - *(__IO uint8_t *)((uint32_t)(deviceaddress | CMD_AREA)) = NAND_CMD_WRITE0; - - if (((hnand->Config.BlockSize)*(hnand->Config.BlockNbr)) <= 65535U) - { - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = 0x00; - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = ADDR_1ST_CYCLE(nandaddress); - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = ADDR_2ND_CYCLE(nandaddress); - } - else /* ((hnand->Config.BlockSize)*(hnand->Config.BlockNbr)) > 65535 */ - { - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = 0x00; - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = ADDR_1ST_CYCLE(nandaddress); - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = ADDR_2ND_CYCLE(nandaddress); - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = ADDR_3RD_CYCLE(nandaddress); - } - } - else /* (hnand->Config.PageSize) > 512 */ - { - /* Send write Spare area command sequence */ - *(__IO uint8_t *)((uint32_t)(deviceaddress | CMD_AREA)) = NAND_CMD_AREA_A; - *(__IO uint8_t *)((uint32_t)(deviceaddress | CMD_AREA)) = NAND_CMD_WRITE0; - - if (((hnand->Config.BlockSize)*(hnand->Config.BlockNbr)) <= 65535U) - { - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = COLUMN_1ST_CYCLE(columnaddress); - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = COLUMN_2ND_CYCLE(columnaddress); - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = ADDR_1ST_CYCLE(nandaddress); - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = ADDR_2ND_CYCLE(nandaddress); - } - else /* ((hnand->Config.BlockSize)*(hnand->Config.BlockNbr)) > 65535 */ - { - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = COLUMN_1ST_CYCLE(columnaddress); - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = COLUMN_2ND_CYCLE(columnaddress); - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = ADDR_1ST_CYCLE(nandaddress); - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = ADDR_2ND_CYCLE(nandaddress); - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = ADDR_3RD_CYCLE(nandaddress); - } - } - - /* Write data to memory */ - for(; index < size; index++) - { - *(__IO uint16_t *)deviceaddress = *(uint16_t *)pBuffer++; - } - - *(__IO uint8_t *)((uint32_t)(deviceaddress | CMD_AREA)) = NAND_CMD_WRITE_TRUE1; - - /* Get tick */ - tickstart = HAL_GetTick(); - - /* Read status until NAND is ready */ - while(HAL_NAND_Read_Status(hnand) != NAND_READY) - { - if((HAL_GetTick() - tickstart ) > NAND_WRITE_TIMEOUT) - { - return HAL_TIMEOUT; - } - } - - /* Increment written spare areas number */ - numSpareAreaWritten++; - - /* Decrement spare areas to write */ - NumSpareAreaTowrite--; - - /* Increment the NAND address */ - nandaddress = (uint32_t)(nandaddress + 1U); - } - - /* Update the NAND controller state */ - hnand->State = HAL_NAND_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hnand); - - return HAL_OK; -} - -/** - * @brief NAND memory Block erase - * @param hnand pointer to a NAND_HandleTypeDef structure that contains - * the configuration information for NAND module. - * @param pAddress pointer to NAND address structure - * @retval HAL status - */ -HAL_StatusTypeDef HAL_NAND_Erase_Block(NAND_HandleTypeDef *hnand, NAND_AddressTypeDef *pAddress) -{ - uint32_t deviceaddress = 0U; - uint32_t tickstart = 0U; - - /* Process Locked */ - __HAL_LOCK(hnand); - - /* Check the NAND controller state */ - if(hnand->State == HAL_NAND_STATE_BUSY) - { - return HAL_BUSY; - } - - /* Identify the device address */ - if(hnand->Init.NandBank == FMC_NAND_BANK2) - { - deviceaddress = NAND_DEVICE1; - } - else - { - deviceaddress = NAND_DEVICE2; - } - - /* Update the NAND controller state */ - hnand->State = HAL_NAND_STATE_BUSY; - - /* Send Erase block command sequence */ - *(__IO uint8_t *)((uint32_t)(deviceaddress | CMD_AREA)) = NAND_CMD_ERASE0; - - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = ADDR_1ST_CYCLE(ARRAY_ADDRESS(pAddress, hnand)); - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = ADDR_2ND_CYCLE(ARRAY_ADDRESS(pAddress, hnand)); - *(__IO uint8_t *)((uint32_t)(deviceaddress | ADDR_AREA)) = ADDR_3RD_CYCLE(ARRAY_ADDRESS(pAddress, hnand)); - - *(__IO uint8_t *)((uint32_t)(deviceaddress | CMD_AREA)) = NAND_CMD_ERASE1; - - /* Update the NAND controller state */ - hnand->State = HAL_NAND_STATE_READY; - - /* Get tick */ - tickstart = HAL_GetTick(); - - /* Read status until NAND is ready */ - while(HAL_NAND_Read_Status(hnand) != NAND_READY) - { - if((HAL_GetTick() - tickstart ) > NAND_WRITE_TIMEOUT) - { - /* Process unlocked */ - __HAL_UNLOCK(hnand); - - return HAL_TIMEOUT; - } - } - - /* Process unlocked */ - __HAL_UNLOCK(hnand); - - return HAL_OK; -} - -/** - * @brief NAND memory read status - * @param hnand pointer to a NAND_HandleTypeDef structure that contains - * the configuration information for NAND module. - * @retval NAND status - */ -uint32_t HAL_NAND_Read_Status(NAND_HandleTypeDef *hnand) -{ - uint32_t data = 0U; - uint32_t deviceaddress = 0U; - - /* Identify the device address */ - if(hnand->Init.NandBank == FMC_NAND_BANK2) - { - deviceaddress = NAND_DEVICE1; - } - else - { - deviceaddress = NAND_DEVICE2; - } - - /* Send Read status operation command */ - *(__IO uint8_t *)((uint32_t)(deviceaddress | CMD_AREA)) = NAND_CMD_STATUS; - - /* Read status register data */ - data = *(__IO uint8_t *)deviceaddress; - - /* Return the status */ - if((data & NAND_ERROR) == NAND_ERROR) - { - return NAND_ERROR; - } - else if((data & NAND_READY) == NAND_READY) - { - return NAND_READY; - } - - return NAND_BUSY; -} - -/** - * @brief Increment the NAND memory address - * @param hnand pointer to a NAND_HandleTypeDef structure that contains - * the configuration information for NAND module. - * @param pAddress pointer to NAND address structure - * @retval The new status of the increment address operation. It can be: - * - NAND_VALID_ADDRESS: When the new address is valid address - * - NAND_INVALID_ADDRESS: When the new address is invalid address - */ -uint32_t HAL_NAND_Address_Inc(NAND_HandleTypeDef *hnand, NAND_AddressTypeDef *pAddress) -{ - uint32_t status = NAND_VALID_ADDRESS; - - /* Increment page address */ - pAddress->Page++; - - /* Check NAND address is valid */ - if(pAddress->Page == hnand->Config.BlockSize) - { - pAddress->Page = 0U; - pAddress->Block++; - - if(pAddress->Block == hnand->Config.PlaneSize) - { - pAddress->Block = 0U; - pAddress->Plane++; - - if(pAddress->Plane == (hnand->Config.PlaneNbr)) - { - status = NAND_INVALID_ADDRESS; - } - } - } - - return (status); -} - -#if (USE_HAL_NAND_REGISTER_CALLBACKS == 1) -/** - * @brief Register a User NAND Callback - * To be used instead of the weak (surcharged) predefined callback - * @param hnand : NAND handle - * @param CallbackId : ID of the callback to be registered - * This parameter can be one of the following values: - * @arg @ref HAL_NAND_MSP_INIT_CB_ID NAND MspInit callback ID - * @arg @ref HAL_NAND_MSP_DEINIT_CB_ID NAND MspDeInit callback ID - * @arg @ref HAL_NAND_IT_CB_ID NAND IT callback ID - * @param pCallback : pointer to the Callback function - * @retval status - */ -HAL_StatusTypeDef HAL_NAND_RegisterCallback (NAND_HandleTypeDef *hnand, HAL_NAND_CallbackIDTypeDef CallbackId, pNAND_CallbackTypeDef pCallback) -{ - HAL_StatusTypeDef status = HAL_OK; - - if(pCallback == NULL) - { - return HAL_ERROR; - } - - /* Process locked */ - __HAL_LOCK(hnand); - - if(hnand->State == HAL_NAND_STATE_READY) - { - switch (CallbackId) - { - case HAL_NAND_MSP_INIT_CB_ID : - hnand->MspInitCallback = pCallback; - break; - case HAL_NAND_MSP_DEINIT_CB_ID : - hnand->MspDeInitCallback = pCallback; - break; - case HAL_NAND_IT_CB_ID : - hnand->ItCallback = pCallback; - break; - default : - /* update return status */ - status = HAL_ERROR; - break; - } - } - else if(hnand->State == HAL_NAND_STATE_RESET) - { - switch (CallbackId) - { - case HAL_NAND_MSP_INIT_CB_ID : - hnand->MspInitCallback = pCallback; - break; - case HAL_NAND_MSP_DEINIT_CB_ID : - hnand->MspDeInitCallback = pCallback; - break; - default : - /* update return status */ - status = HAL_ERROR; - break; - } - } - else - { - /* update return status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(hnand); - return status; -} - -/** - * @brief Unregister a User NAND Callback - * NAND Callback is redirected to the weak (surcharged) predefined callback - * @param hnand : NAND handle - * @param CallbackId : ID of the callback to be unregistered - * This parameter can be one of the following values: - * @arg @ref HAL_NAND_MSP_INIT_CB_ID NAND MspInit callback ID - * @arg @ref HAL_NAND_MSP_DEINIT_CB_ID NAND MspDeInit callback ID - * @arg @ref HAL_NAND_IT_CB_ID NAND IT callback ID - * @retval status - */ -HAL_StatusTypeDef HAL_NAND_UnRegisterCallback (NAND_HandleTypeDef *hnand, HAL_NAND_CallbackIDTypeDef CallbackId) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Process locked */ - __HAL_LOCK(hnand); - - if(hnand->State == HAL_NAND_STATE_READY) - { - switch (CallbackId) - { - case HAL_NAND_MSP_INIT_CB_ID : - hnand->MspInitCallback = HAL_NAND_MspInit; - break; - case HAL_NAND_MSP_DEINIT_CB_ID : - hnand->MspDeInitCallback = HAL_NAND_MspDeInit; - break; - case HAL_NAND_IT_CB_ID : - hnand->ItCallback = HAL_NAND_ITCallback; - break; - default : - /* update return status */ - status = HAL_ERROR; - break; - } - } - else if(hnand->State == HAL_NAND_STATE_RESET) - { - switch (CallbackId) - { - case HAL_NAND_MSP_INIT_CB_ID : - hnand->MspInitCallback = HAL_NAND_MspInit; - break; - case HAL_NAND_MSP_DEINIT_CB_ID : - hnand->MspDeInitCallback = HAL_NAND_MspDeInit; - break; - default : - /* update return status */ - status = HAL_ERROR; - break; - } - } - else - { - /* update return status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(hnand); - return status; -} -#endif - -/** - * @} - */ - -/** @defgroup NAND_Exported_Functions_Group3 Peripheral Control functions - * @brief management functions - * -@verbatim - ============================================================================== - ##### NAND Control functions ##### - ============================================================================== - [..] - This subsection provides a set of functions allowing to control dynamically - the NAND interface. - -@endverbatim - * @{ - */ - - -/** - * @brief Enables dynamically NAND ECC feature. - * @param hnand pointer to a NAND_HandleTypeDef structure that contains - * the configuration information for NAND module. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_NAND_ECC_Enable(NAND_HandleTypeDef *hnand) -{ - /* Check the NAND controller state */ - if(hnand->State == HAL_NAND_STATE_BUSY) - { - return HAL_BUSY; - } - - /* Update the NAND state */ - hnand->State = HAL_NAND_STATE_BUSY; - - /* Enable ECC feature */ - FMC_NAND_ECC_Enable(hnand->Instance, hnand->Init.NandBank); - - /* Update the NAND state */ - hnand->State = HAL_NAND_STATE_READY; - - return HAL_OK; -} - -/** - * @brief Disables dynamically FMC_NAND ECC feature. - * @param hnand pointer to a NAND_HandleTypeDef structure that contains - * the configuration information for NAND module. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_NAND_ECC_Disable(NAND_HandleTypeDef *hnand) -{ - /* Check the NAND controller state */ - if(hnand->State == HAL_NAND_STATE_BUSY) - { - return HAL_BUSY; - } - - /* Update the NAND state */ - hnand->State = HAL_NAND_STATE_BUSY; - - /* Disable ECC feature */ - FMC_NAND_ECC_Disable(hnand->Instance, hnand->Init.NandBank); - - /* Update the NAND state */ - hnand->State = HAL_NAND_STATE_READY; - - return HAL_OK; -} - -/** - * @brief Disables dynamically NAND ECC feature. - * @param hnand pointer to a NAND_HandleTypeDef structure that contains - * the configuration information for NAND module. - * @param ECCval pointer to ECC value - * @param Timeout maximum timeout to wait - * @retval HAL status - */ -HAL_StatusTypeDef HAL_NAND_GetECC(NAND_HandleTypeDef *hnand, uint32_t *ECCval, uint32_t Timeout) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Check the NAND controller state */ - if(hnand->State == HAL_NAND_STATE_BUSY) - { - return HAL_BUSY; - } - - /* Update the NAND state */ - hnand->State = HAL_NAND_STATE_BUSY; - - /* Get NAND ECC value */ - status = FMC_NAND_GetECC(hnand->Instance, ECCval, hnand->Init.NandBank, Timeout); - - /* Update the NAND state */ - hnand->State = HAL_NAND_STATE_READY; - - return status; -} - -/** - * @} - */ - - -/** @defgroup NAND_Exported_Functions_Group4 Peripheral State functions - * @brief Peripheral State functions - * -@verbatim - ============================================================================== - ##### NAND State functions ##### - ============================================================================== - [..] - This subsection permits to get in run-time the status of the NAND controller - and the data flow. - -@endverbatim - * @{ - */ - -/** - * @brief return the NAND state - * @param hnand pointer to a NAND_HandleTypeDef structure that contains - * the configuration information for NAND module. - * @retval HAL state - */ -HAL_NAND_StateTypeDef HAL_NAND_GetState(NAND_HandleTypeDef *hnand) -{ - return hnand->State; -} - -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ - -#endif /* STM32F405xx || STM32F415xx || STM32F407xx || STM32F417xx ||\ - STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx ||\ - STM32F446xx || STM32F469xx || STM32F479xx */ -#endif /* HAL_NAND_MODULE_ENABLED */ - -/** - * @} - */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_nor.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_nor.c deleted file mode 100644 index 34a009cafb8072..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_nor.c +++ /dev/null @@ -1,1193 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_nor.c - * @author MCD Application Team - * @brief NOR HAL module driver. - * This file provides a generic firmware to drive NOR memories mounted - * as external device. - * - @verbatim - ============================================================================== - ##### How to use this driver ##### - ============================================================================== - [..] - This driver is a generic layered driver which contains a set of APIs used to - control NOR flash memories. It uses the FMC/FSMC layer functions to interface - with NOR devices. This driver is used as follows: - - (+) NOR flash memory configuration sequence using the function HAL_NOR_Init() - with control and timing parameters for both normal and extended mode. - - (+) Read NOR flash memory manufacturer code and device IDs using the function - HAL_NOR_Read_ID(). The read information is stored in the NOR_ID_TypeDef - structure declared by the function caller. - - (+) Access NOR flash memory by read/write data unit operations using the functions - HAL_NOR_Read(), HAL_NOR_Program(). - - (+) Perform NOR flash erase block/chip operations using the functions - HAL_NOR_Erase_Block() and HAL_NOR_Erase_Chip(). - - (+) Read the NOR flash CFI (common flash interface) IDs using the function - HAL_NOR_Read_CFI(). The read information is stored in the NOR_CFI_TypeDef - structure declared by the function caller. - - (+) You can also control the NOR device by calling the control APIs HAL_NOR_WriteOperation_Enable()/ - HAL_NOR_WriteOperation_Disable() to respectively enable/disable the NOR write operation - - (+) You can monitor the NOR device HAL state by calling the function - HAL_NOR_GetState() - [..] - (@) This driver is a set of generic APIs which handle standard NOR flash operations. - If a NOR flash device contains different operations and/or implementations, - it should be implemented separately. - - *** NOR HAL driver macros list *** - ============================================= - [..] - Below the list of most used macros in NOR HAL driver. - - (+) NOR_WRITE : NOR memory write data to specified address - - *** Callback registration *** - ============================================= - [..] - The compilation define USE_HAL_NOR_REGISTER_CALLBACKS when set to 1 - allows the user to configure dynamically the driver callbacks. - - Use Functions @ref HAL_NOR_RegisterCallback() to register a user callback, - it allows to register following callbacks: - (+) MspInitCallback : NOR MspInit. - (+) MspDeInitCallback : NOR MspDeInit. - This function takes as parameters the HAL peripheral handle, the Callback ID - and a pointer to the user callback function. - - Use function @ref HAL_NOR_UnRegisterCallback() to reset a callback to the default - weak (surcharged) function. It allows to reset following callbacks: - (+) MspInitCallback : NOR MspInit. - (+) MspDeInitCallback : NOR MspDeInit. - This function) takes as parameters the HAL peripheral handle and the Callback ID. - - By default, after the @ref HAL_NOR_Init and if the state is HAL_NOR_STATE_RESET - all callbacks are reset to the corresponding legacy weak (surcharged) functions. - Exception done for MspInit and MspDeInit callbacks that are respectively - reset to the legacy weak (surcharged) functions in the @ref HAL_NOR_Init - and @ref HAL_NOR_DeInit only when these callbacks are null (not registered beforehand). - If not, MspInit or MspDeInit are not null, the @ref HAL_NOR_Init and @ref HAL_NOR_DeInit - keep and use the user MspInit/MspDeInit callbacks (registered beforehand) - - Callbacks can be registered/unregistered in READY state only. - Exception done for MspInit/MspDeInit callbacks that can be registered/unregistered - in READY or RESET state, thus registered (user) MspInit/DeInit callbacks can be used - during the Init/DeInit. - In that case first register the MspInit/MspDeInit user callbacks - using @ref HAL_NOR_RegisterCallback before calling @ref HAL_NOR_DeInit - or @ref HAL_NOR_Init function. - - When The compilation define USE_HAL_NOR_REGISTER_CALLBACKS is set to 0 or - not defined, the callback registering feature is not available - and weak (surcharged) callbacks are used. - - @endverbatim - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @defgroup NOR NOR - * @brief NOR driver modules - * @{ - */ -#ifdef HAL_NOR_MODULE_ENABLED -#if defined(STM32F405xx) || defined(STM32F415xx) || defined(STM32F407xx) || defined(STM32F417xx) ||\ - defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) ||\ - defined(STM32F446xx) || defined(STM32F469xx) || defined(STM32F479xx) || defined(STM32F412Zx) ||\ - defined(STM32F412Vx) || defined(STM32F412Rx) || defined(STM32F413xx) || defined(STM32F423xx) -/* Private typedef -----------------------------------------------------------*/ -/* Private define ------------------------------------------------------------*/ - -/** @defgroup NOR_Private_Defines NOR Private Defines - * @{ - */ - -/* Constants to define address to set to write a command */ -#define NOR_CMD_ADDRESS_FIRST (uint16_t)0x0555 -#define NOR_CMD_ADDRESS_FIRST_CFI (uint16_t)0x0055 -#define NOR_CMD_ADDRESS_SECOND (uint16_t)0x02AA -#define NOR_CMD_ADDRESS_THIRD (uint16_t)0x0555 -#define NOR_CMD_ADDRESS_FOURTH (uint16_t)0x0555 -#define NOR_CMD_ADDRESS_FIFTH (uint16_t)0x02AA -#define NOR_CMD_ADDRESS_SIXTH (uint16_t)0x0555 - -/* Constants to define data to program a command */ -#define NOR_CMD_DATA_READ_RESET (uint16_t)0x00F0 -#define NOR_CMD_DATA_FIRST (uint16_t)0x00AA -#define NOR_CMD_DATA_SECOND (uint16_t)0x0055 -#define NOR_CMD_DATA_AUTO_SELECT (uint16_t)0x0090 -#define NOR_CMD_DATA_PROGRAM (uint16_t)0x00A0 -#define NOR_CMD_DATA_CHIP_BLOCK_ERASE_THIRD (uint16_t)0x0080 -#define NOR_CMD_DATA_CHIP_BLOCK_ERASE_FOURTH (uint16_t)0x00AA -#define NOR_CMD_DATA_CHIP_BLOCK_ERASE_FIFTH (uint16_t)0x0055 -#define NOR_CMD_DATA_CHIP_ERASE (uint16_t)0x0010 -#define NOR_CMD_DATA_CFI (uint16_t)0x0098 - -#define NOR_CMD_DATA_BUFFER_AND_PROG (uint8_t)0x25 -#define NOR_CMD_DATA_BUFFER_AND_PROG_CONFIRM (uint8_t)0x29 -#define NOR_CMD_DATA_BLOCK_ERASE (uint8_t)0x30 - -/* Mask on NOR STATUS REGISTER */ -#define NOR_MASK_STATUS_DQ5 (uint16_t)0x0020 -#define NOR_MASK_STATUS_DQ6 (uint16_t)0x0040 - -/** - * @} - */ - -/* Private macro -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/** @defgroup NOR_Private_Variables NOR Private Variables - * @{ - */ - -static uint32_t uwNORMemoryDataWidth = NOR_MEMORY_8B; - -/** - * @} - */ - -/* Private functions ---------------------------------------------------------*/ -/* Exported functions --------------------------------------------------------*/ -/** @defgroup NOR_Exported_Functions NOR Exported Functions - * @{ - */ - -/** @defgroup NOR_Exported_Functions_Group1 Initialization and de-initialization functions - * @brief Initialization and Configuration functions - * - @verbatim - ============================================================================== - ##### NOR Initialization and de_initialization functions ##### - ============================================================================== - [..] - This section provides functions allowing to initialize/de-initialize - the NOR memory - -@endverbatim - * @{ - */ - -/** - * @brief Perform the NOR memory Initialization sequence - * @param hnor pointer to a NOR_HandleTypeDef structure that contains - * the configuration information for NOR module. - * @param Timing pointer to NOR control timing structure - * @param ExtTiming pointer to NOR extended mode timing structure - * @retval HAL status - */ -HAL_StatusTypeDef HAL_NOR_Init(NOR_HandleTypeDef *hnor, FMC_NORSRAM_TimingTypeDef *Timing, FMC_NORSRAM_TimingTypeDef *ExtTiming) -{ - /* Check the NOR handle parameter */ - if(hnor == NULL) - { - return HAL_ERROR; - } - - if(hnor->State == HAL_NOR_STATE_RESET) - { - /* Allocate lock resource and initialize it */ - hnor->Lock = HAL_UNLOCKED; - -#if (USE_HAL_NOR_REGISTER_CALLBACKS == 1) - if(hnor->MspInitCallback == NULL) - { - hnor->MspInitCallback = HAL_NOR_MspInit; - } - - /* Init the low level hardware */ - hnor->MspInitCallback(hnor); -#else - /* Initialize the low level hardware (MSP) */ - HAL_NOR_MspInit(hnor); -#endif /* (USE_HAL_NOR_REGISTER_CALLBACKS) */ - } - - /* Initialize NOR control Interface */ - FMC_NORSRAM_Init(hnor->Instance, &(hnor->Init)); - - /* Initialize NOR timing Interface */ - FMC_NORSRAM_Timing_Init(hnor->Instance, Timing, hnor->Init.NSBank); - - /* Initialize NOR extended mode timing Interface */ - FMC_NORSRAM_Extended_Timing_Init(hnor->Extended, ExtTiming, hnor->Init.NSBank, hnor->Init.ExtendedMode); - - /* Enable the NORSRAM device */ - __FMC_NORSRAM_ENABLE(hnor->Instance, hnor->Init.NSBank); - - /* Initialize NOR Memory Data Width*/ - if (hnor->Init.MemoryDataWidth == FMC_NORSRAM_MEM_BUS_WIDTH_8) - { - uwNORMemoryDataWidth = NOR_MEMORY_8B; - } - else - { - uwNORMemoryDataWidth = NOR_MEMORY_16B; - } - - /* Check the NOR controller state */ - hnor->State = HAL_NOR_STATE_READY; - - return HAL_OK; -} - -/** - * @brief Perform NOR memory De-Initialization sequence - * @param hnor pointer to a NOR_HandleTypeDef structure that contains - * the configuration information for NOR module. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_NOR_DeInit(NOR_HandleTypeDef *hnor) -{ -#if (USE_HAL_NOR_REGISTER_CALLBACKS == 1) - if(hnor->MspDeInitCallback == NULL) - { - hnor->MspDeInitCallback = HAL_NOR_MspDeInit; - } - - /* DeInit the low level hardware */ - hnor->MspDeInitCallback(hnor); -#else - /* De-Initialize the low level hardware (MSP) */ - HAL_NOR_MspDeInit(hnor); -#endif /* (USE_HAL_NOR_REGISTER_CALLBACKS) */ - - /* Configure the NOR registers with their reset values */ - FMC_NORSRAM_DeInit(hnor->Instance, hnor->Extended, hnor->Init.NSBank); - - /* Update the NOR controller state */ - hnor->State = HAL_NOR_STATE_RESET; - - /* Release Lock */ - __HAL_UNLOCK(hnor); - - return HAL_OK; -} - -/** - * @brief NOR MSP Init - * @param hnor pointer to a NOR_HandleTypeDef structure that contains - * the configuration information for NOR module. - * @retval None - */ -__weak void HAL_NOR_MspInit(NOR_HandleTypeDef *hnor) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hnor); - /* NOTE : This function Should not be modified, when the callback is needed, - the HAL_NOR_MspInit could be implemented in the user file - */ -} - -/** - * @brief NOR MSP DeInit - * @param hnor pointer to a NOR_HandleTypeDef structure that contains - * the configuration information for NOR module. - * @retval None - */ -__weak void HAL_NOR_MspDeInit(NOR_HandleTypeDef *hnor) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hnor); - /* NOTE : This function Should not be modified, when the callback is needed, - the HAL_NOR_MspDeInit could be implemented in the user file - */ -} - -/** - * @brief NOR MSP Wait for Ready/Busy signal - * @param hnor pointer to a NOR_HandleTypeDef structure that contains - * the configuration information for NOR module. - * @param Timeout Maximum timeout value - * @retval None - */ -__weak void HAL_NOR_MspWait(NOR_HandleTypeDef *hnor, uint32_t Timeout) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hnor); - UNUSED(Timeout); - - /* NOTE : This function Should not be modified, when the callback is needed, - the HAL_NOR_MspWait could be implemented in the user file - */ -} - -/** - * @} - */ - -/** @defgroup NOR_Exported_Functions_Group2 Input and Output functions - * @brief Input Output and memory control functions - * - @verbatim - ============================================================================== - ##### NOR Input and Output functions ##### - ============================================================================== - [..] - This section provides functions allowing to use and control the NOR memory - -@endverbatim - * @{ - */ - -/** - * @brief Read NOR flash IDs - * @param hnor pointer to a NOR_HandleTypeDef structure that contains - * the configuration information for NOR module. - * @param pNOR_ID pointer to NOR ID structure - * @retval HAL status - */ -HAL_StatusTypeDef HAL_NOR_Read_ID(NOR_HandleTypeDef *hnor, NOR_IDTypeDef *pNOR_ID) -{ - uint32_t deviceaddress = 0U; - - /* Process Locked */ - __HAL_LOCK(hnor); - - /* Check the NOR controller state */ - if(hnor->State == HAL_NOR_STATE_BUSY) - { - return HAL_BUSY; - } - - /* Select the NOR device address */ - if (hnor->Init.NSBank == FMC_NORSRAM_BANK1) - { - deviceaddress = NOR_MEMORY_ADRESS1; - } - else if (hnor->Init.NSBank == FMC_NORSRAM_BANK2) - { - deviceaddress = NOR_MEMORY_ADRESS2; - } - else if (hnor->Init.NSBank == FMC_NORSRAM_BANK3) - { - deviceaddress = NOR_MEMORY_ADRESS3; - } - else /* FMC_NORSRAM_BANK4 */ - { - deviceaddress = NOR_MEMORY_ADRESS4; - } - - /* Update the NOR controller state */ - hnor->State = HAL_NOR_STATE_BUSY; - - /* Send read ID command */ - NOR_WRITE(NOR_ADDR_SHIFT(deviceaddress, uwNORMemoryDataWidth, NOR_CMD_ADDRESS_FIRST), NOR_CMD_DATA_FIRST); - NOR_WRITE(NOR_ADDR_SHIFT(deviceaddress, uwNORMemoryDataWidth, NOR_CMD_ADDRESS_SECOND), NOR_CMD_DATA_SECOND); - NOR_WRITE(NOR_ADDR_SHIFT(deviceaddress, uwNORMemoryDataWidth, NOR_CMD_ADDRESS_THIRD), NOR_CMD_DATA_AUTO_SELECT); - - /* Read the NOR IDs */ - pNOR_ID->Manufacturer_Code = *(__IO uint16_t *) NOR_ADDR_SHIFT(deviceaddress, uwNORMemoryDataWidth, MC_ADDRESS); - pNOR_ID->Device_Code1 = *(__IO uint16_t *) NOR_ADDR_SHIFT(deviceaddress, uwNORMemoryDataWidth, DEVICE_CODE1_ADDR); - pNOR_ID->Device_Code2 = *(__IO uint16_t *) NOR_ADDR_SHIFT(deviceaddress, uwNORMemoryDataWidth, DEVICE_CODE2_ADDR); - pNOR_ID->Device_Code3 = *(__IO uint16_t *) NOR_ADDR_SHIFT(deviceaddress, uwNORMemoryDataWidth, DEVICE_CODE3_ADDR); - - /* Check the NOR controller state */ - hnor->State = HAL_NOR_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hnor); - - return HAL_OK; -} - -/** - * @brief Returns the NOR memory to Read mode. - * @param hnor pointer to a NOR_HandleTypeDef structure that contains - * the configuration information for NOR module. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_NOR_ReturnToReadMode(NOR_HandleTypeDef *hnor) -{ - uint32_t deviceaddress = 0U; - - /* Process Locked */ - __HAL_LOCK(hnor); - - /* Check the NOR controller state */ - if(hnor->State == HAL_NOR_STATE_BUSY) - { - return HAL_BUSY; - } - - /* Select the NOR device address */ - if (hnor->Init.NSBank == FMC_NORSRAM_BANK1) - { - deviceaddress = NOR_MEMORY_ADRESS1; - } - else if (hnor->Init.NSBank == FMC_NORSRAM_BANK2) - { - deviceaddress = NOR_MEMORY_ADRESS2; - } - else if (hnor->Init.NSBank == FMC_NORSRAM_BANK3) - { - deviceaddress = NOR_MEMORY_ADRESS3; - } - else /* FMC_NORSRAM_BANK4 */ - { - deviceaddress = NOR_MEMORY_ADRESS4; - } - - NOR_WRITE(deviceaddress, NOR_CMD_DATA_READ_RESET); - - /* Check the NOR controller state */ - hnor->State = HAL_NOR_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hnor); - - return HAL_OK; -} - -/** - * @brief Read data from NOR memory - * @param hnor pointer to a NOR_HandleTypeDef structure that contains - * the configuration information for NOR module. - * @param pAddress pointer to Device address - * @param pData pointer to read data - * @retval HAL status - */ -HAL_StatusTypeDef HAL_NOR_Read(NOR_HandleTypeDef *hnor, uint32_t *pAddress, uint16_t *pData) -{ - uint32_t deviceaddress = 0U; - - /* Process Locked */ - __HAL_LOCK(hnor); - - /* Check the NOR controller state */ - if(hnor->State == HAL_NOR_STATE_BUSY) - { - return HAL_BUSY; - } - - /* Select the NOR device address */ - if (hnor->Init.NSBank == FMC_NORSRAM_BANK1) - { - deviceaddress = NOR_MEMORY_ADRESS1; - } - else if (hnor->Init.NSBank == FMC_NORSRAM_BANK2) - { - deviceaddress = NOR_MEMORY_ADRESS2; - } - else if (hnor->Init.NSBank == FMC_NORSRAM_BANK3) - { - deviceaddress = NOR_MEMORY_ADRESS3; - } - else /* FMC_NORSRAM_BANK4 */ - { - deviceaddress = NOR_MEMORY_ADRESS4; - } - - /* Update the NOR controller state */ - hnor->State = HAL_NOR_STATE_BUSY; - - /* Send read data command */ - NOR_WRITE(NOR_ADDR_SHIFT(deviceaddress, uwNORMemoryDataWidth, NOR_CMD_ADDRESS_FIRST), NOR_CMD_DATA_FIRST); - NOR_WRITE(NOR_ADDR_SHIFT(deviceaddress, uwNORMemoryDataWidth, NOR_CMD_ADDRESS_SECOND), NOR_CMD_DATA_SECOND); - NOR_WRITE(NOR_ADDR_SHIFT(deviceaddress, uwNORMemoryDataWidth, NOR_CMD_ADDRESS_THIRD), NOR_CMD_DATA_READ_RESET); - - /* Read the data */ - *pData = *(__IO uint32_t *)(uint32_t)pAddress; - - /* Check the NOR controller state */ - hnor->State = HAL_NOR_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hnor); - - return HAL_OK; -} - -/** - * @brief Program data to NOR memory - * @param hnor pointer to a NOR_HandleTypeDef structure that contains - * the configuration information for NOR module. - * @param pAddress Device address - * @param pData pointer to the data to write - * @retval HAL status - */ -HAL_StatusTypeDef HAL_NOR_Program(NOR_HandleTypeDef *hnor, uint32_t *pAddress, uint16_t *pData) -{ - uint32_t deviceaddress = 0U; - - /* Process Locked */ - __HAL_LOCK(hnor); - - /* Check the NOR controller state */ - if(hnor->State == HAL_NOR_STATE_BUSY) - { - return HAL_BUSY; - } - - /* Select the NOR device address */ - if (hnor->Init.NSBank == FMC_NORSRAM_BANK1) - { - deviceaddress = NOR_MEMORY_ADRESS1; - } - else if (hnor->Init.NSBank == FMC_NORSRAM_BANK2) - { - deviceaddress = NOR_MEMORY_ADRESS2; - } - else if (hnor->Init.NSBank == FMC_NORSRAM_BANK3) - { - deviceaddress = NOR_MEMORY_ADRESS3; - } - else /* FMC_NORSRAM_BANK4 */ - { - deviceaddress = NOR_MEMORY_ADRESS4; - } - - /* Update the NOR controller state */ - hnor->State = HAL_NOR_STATE_BUSY; - - /* Send program data command */ - NOR_WRITE(NOR_ADDR_SHIFT(deviceaddress, uwNORMemoryDataWidth, NOR_CMD_ADDRESS_FIRST), NOR_CMD_DATA_FIRST); - NOR_WRITE(NOR_ADDR_SHIFT(deviceaddress, uwNORMemoryDataWidth, NOR_CMD_ADDRESS_SECOND), NOR_CMD_DATA_SECOND); - NOR_WRITE(NOR_ADDR_SHIFT(deviceaddress, uwNORMemoryDataWidth, NOR_CMD_ADDRESS_THIRD), NOR_CMD_DATA_PROGRAM); - - /* Write the data */ - NOR_WRITE(pAddress, *pData); - - /* Check the NOR controller state */ - hnor->State = HAL_NOR_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hnor); - - return HAL_OK; -} - -/** - * @brief Reads a half-word buffer from the NOR memory. - * @param hnor pointer to the NOR handle - * @param uwAddress NOR memory internal address to read from. - * @param pData pointer to the buffer that receives the data read from the - * NOR memory. - * @param uwBufferSize number of Half word to read. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_NOR_ReadBuffer(NOR_HandleTypeDef *hnor, uint32_t uwAddress, uint16_t *pData, uint32_t uwBufferSize) -{ - uint32_t deviceaddress = 0U; - - /* Process Locked */ - __HAL_LOCK(hnor); - - /* Check the NOR controller state */ - if(hnor->State == HAL_NOR_STATE_BUSY) - { - return HAL_BUSY; - } - - /* Select the NOR device address */ - if (hnor->Init.NSBank == FMC_NORSRAM_BANK1) - { - deviceaddress = NOR_MEMORY_ADRESS1; - } - else if (hnor->Init.NSBank == FMC_NORSRAM_BANK2) - { - deviceaddress = NOR_MEMORY_ADRESS2; - } - else if (hnor->Init.NSBank == FMC_NORSRAM_BANK3) - { - deviceaddress = NOR_MEMORY_ADRESS3; - } - else /* FMC_NORSRAM_BANK4 */ - { - deviceaddress = NOR_MEMORY_ADRESS4; - } - - /* Update the NOR controller state */ - hnor->State = HAL_NOR_STATE_BUSY; - - /* Send read data command */ - NOR_WRITE(NOR_ADDR_SHIFT(deviceaddress, uwNORMemoryDataWidth, NOR_CMD_ADDRESS_FIRST), NOR_CMD_DATA_FIRST); - NOR_WRITE(NOR_ADDR_SHIFT(deviceaddress, uwNORMemoryDataWidth, NOR_CMD_ADDRESS_SECOND), NOR_CMD_DATA_SECOND); - NOR_WRITE(NOR_ADDR_SHIFT(deviceaddress, uwNORMemoryDataWidth, NOR_CMD_ADDRESS_THIRD), NOR_CMD_DATA_READ_RESET); - - /* Read buffer */ - while( uwBufferSize > 0U) - { - *pData++ = *(__IO uint16_t *)uwAddress; - uwAddress += 2U; - uwBufferSize--; - } - - /* Check the NOR controller state */ - hnor->State = HAL_NOR_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hnor); - - return HAL_OK; -} - -/** - * @brief Writes a half-word buffer to the NOR memory. This function must be used - only with S29GL128P NOR memory. - * @param hnor pointer to the NOR handle - * @param uwAddress NOR memory internal start write address - * @param pData pointer to source data buffer. - * @param uwBufferSize Size of the buffer to write - * @retval HAL status - */ -HAL_StatusTypeDef HAL_NOR_ProgramBuffer(NOR_HandleTypeDef *hnor, uint32_t uwAddress, uint16_t *pData, uint32_t uwBufferSize) -{ - uint16_t * p_currentaddress = (uint16_t *)NULL; - uint16_t * p_endaddress = (uint16_t *)NULL; - uint32_t lastloadedaddress = 0U, deviceaddress = 0U; - - /* Process Locked */ - __HAL_LOCK(hnor); - - /* Check the NOR controller state */ - if(hnor->State == HAL_NOR_STATE_BUSY) - { - return HAL_BUSY; - } - - /* Select the NOR device address */ - if (hnor->Init.NSBank == FMC_NORSRAM_BANK1) - { - deviceaddress = NOR_MEMORY_ADRESS1; - } - else if (hnor->Init.NSBank == FMC_NORSRAM_BANK2) - { - deviceaddress = NOR_MEMORY_ADRESS2; - } - else if (hnor->Init.NSBank == FMC_NORSRAM_BANK3) - { - deviceaddress = NOR_MEMORY_ADRESS3; - } - else /* FMC_NORSRAM_BANK4 */ - { - deviceaddress = NOR_MEMORY_ADRESS4; - } - - /* Update the NOR controller state */ - hnor->State = HAL_NOR_STATE_BUSY; - - /* Initialize variables */ - p_currentaddress = (uint16_t*)((uint32_t)(uwAddress)); - p_endaddress = p_currentaddress + (uwBufferSize-1U); - lastloadedaddress = (uint32_t)(uwAddress); - - /* Issue unlock command sequence */ - NOR_WRITE(NOR_ADDR_SHIFT(deviceaddress, uwNORMemoryDataWidth, NOR_CMD_ADDRESS_FIRST), NOR_CMD_DATA_FIRST); - NOR_WRITE(NOR_ADDR_SHIFT(deviceaddress, uwNORMemoryDataWidth, NOR_CMD_ADDRESS_SECOND), NOR_CMD_DATA_SECOND); - - /* Write Buffer Load Command */ - NOR_WRITE(NOR_ADDR_SHIFT(deviceaddress, uwNORMemoryDataWidth, uwAddress), NOR_CMD_DATA_BUFFER_AND_PROG); - NOR_WRITE(NOR_ADDR_SHIFT(deviceaddress, uwNORMemoryDataWidth, uwAddress), (uwBufferSize - 1U)); - - /* Load Data into NOR Buffer */ - while(p_currentaddress <= p_endaddress) - { - /* Store last loaded address & data value (for polling) */ - lastloadedaddress = (uint32_t)p_currentaddress; - - NOR_WRITE(p_currentaddress, *pData++); - - p_currentaddress ++; - } - - NOR_WRITE((uint32_t)(lastloadedaddress), NOR_CMD_DATA_BUFFER_AND_PROG_CONFIRM); - - /* Check the NOR controller state */ - hnor->State = HAL_NOR_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hnor); - - return HAL_OK; - -} - -/** - * @brief Erase the specified block of the NOR memory - * @param hnor pointer to a NOR_HandleTypeDef structure that contains - * the configuration information for NOR module. - * @param BlockAddress Block to erase address - * @param Address Device address - * @retval HAL status - */ -HAL_StatusTypeDef HAL_NOR_Erase_Block(NOR_HandleTypeDef *hnor, uint32_t BlockAddress, uint32_t Address) -{ - uint32_t deviceaddress = 0U; - - /* Process Locked */ - __HAL_LOCK(hnor); - - /* Check the NOR controller state */ - if(hnor->State == HAL_NOR_STATE_BUSY) - { - return HAL_BUSY; - } - - /* Select the NOR device address */ - if (hnor->Init.NSBank == FMC_NORSRAM_BANK1) - { - deviceaddress = NOR_MEMORY_ADRESS1; - } - else if (hnor->Init.NSBank == FMC_NORSRAM_BANK2) - { - deviceaddress = NOR_MEMORY_ADRESS2; - } - else if (hnor->Init.NSBank == FMC_NORSRAM_BANK3) - { - deviceaddress = NOR_MEMORY_ADRESS3; - } - else /* FMC_NORSRAM_BANK4 */ - { - deviceaddress = NOR_MEMORY_ADRESS4; - } - - /* Update the NOR controller state */ - hnor->State = HAL_NOR_STATE_BUSY; - - /* Send block erase command sequence */ - NOR_WRITE(NOR_ADDR_SHIFT(deviceaddress, uwNORMemoryDataWidth, NOR_CMD_ADDRESS_FIRST), NOR_CMD_DATA_FIRST); - NOR_WRITE(NOR_ADDR_SHIFT(deviceaddress, uwNORMemoryDataWidth, NOR_CMD_ADDRESS_SECOND), NOR_CMD_DATA_SECOND); - NOR_WRITE(NOR_ADDR_SHIFT(deviceaddress, uwNORMemoryDataWidth, NOR_CMD_ADDRESS_THIRD), NOR_CMD_DATA_CHIP_BLOCK_ERASE_THIRD); - NOR_WRITE(NOR_ADDR_SHIFT(deviceaddress, uwNORMemoryDataWidth, NOR_CMD_ADDRESS_FOURTH), NOR_CMD_DATA_CHIP_BLOCK_ERASE_FOURTH); - NOR_WRITE(NOR_ADDR_SHIFT(deviceaddress, uwNORMemoryDataWidth, NOR_CMD_ADDRESS_FIFTH), NOR_CMD_DATA_CHIP_BLOCK_ERASE_FIFTH); - NOR_WRITE((uint32_t)(BlockAddress + Address), NOR_CMD_DATA_BLOCK_ERASE); - - /* Check the NOR memory status and update the controller state */ - hnor->State = HAL_NOR_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hnor); - - return HAL_OK; - -} - -/** - * @brief Erase the entire NOR chip. - * @param hnor pointer to a NOR_HandleTypeDef structure that contains - * the configuration information for NOR module. - * @param Address Device address - * @retval HAL status - */ -HAL_StatusTypeDef HAL_NOR_Erase_Chip(NOR_HandleTypeDef *hnor, uint32_t Address) -{ - uint32_t deviceaddress = 0U; - - /* Prevent unused argument(s) compilation warning */ - UNUSED(Address); - - /* Process Locked */ - __HAL_LOCK(hnor); - - /* Check the NOR controller state */ - if(hnor->State == HAL_NOR_STATE_BUSY) - { - return HAL_BUSY; - } - - /* Select the NOR device address */ - if (hnor->Init.NSBank == FMC_NORSRAM_BANK1) - { - deviceaddress = NOR_MEMORY_ADRESS1; - } - else if (hnor->Init.NSBank == FMC_NORSRAM_BANK2) - { - deviceaddress = NOR_MEMORY_ADRESS2; - } - else if (hnor->Init.NSBank == FMC_NORSRAM_BANK3) - { - deviceaddress = NOR_MEMORY_ADRESS3; - } - else /* FMC_NORSRAM_BANK4 */ - { - deviceaddress = NOR_MEMORY_ADRESS4; - } - - /* Update the NOR controller state */ - hnor->State = HAL_NOR_STATE_BUSY; - - /* Send NOR chip erase command sequence */ - NOR_WRITE(NOR_ADDR_SHIFT(deviceaddress, uwNORMemoryDataWidth, NOR_CMD_ADDRESS_FIRST), NOR_CMD_DATA_FIRST); - NOR_WRITE(NOR_ADDR_SHIFT(deviceaddress, uwNORMemoryDataWidth, NOR_CMD_ADDRESS_SECOND), NOR_CMD_DATA_SECOND); - NOR_WRITE(NOR_ADDR_SHIFT(deviceaddress, uwNORMemoryDataWidth, NOR_CMD_ADDRESS_THIRD), NOR_CMD_DATA_CHIP_BLOCK_ERASE_THIRD); - NOR_WRITE(NOR_ADDR_SHIFT(deviceaddress, uwNORMemoryDataWidth, NOR_CMD_ADDRESS_FOURTH), NOR_CMD_DATA_CHIP_BLOCK_ERASE_FOURTH); - NOR_WRITE(NOR_ADDR_SHIFT(deviceaddress, uwNORMemoryDataWidth, NOR_CMD_ADDRESS_FIFTH), NOR_CMD_DATA_CHIP_BLOCK_ERASE_FIFTH); - NOR_WRITE(NOR_ADDR_SHIFT(deviceaddress, uwNORMemoryDataWidth, NOR_CMD_ADDRESS_SIXTH), NOR_CMD_DATA_CHIP_ERASE); - - /* Check the NOR memory status and update the controller state */ - hnor->State = HAL_NOR_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hnor); - - return HAL_OK; -} - -/** - * @brief Read NOR flash CFI IDs - * @param hnor pointer to a NOR_HandleTypeDef structure that contains - * the configuration information for NOR module. - * @param pNOR_CFI pointer to NOR CFI IDs structure - * @retval HAL status - */ -HAL_StatusTypeDef HAL_NOR_Read_CFI(NOR_HandleTypeDef *hnor, NOR_CFITypeDef *pNOR_CFI) -{ - uint32_t deviceaddress = 0U; - - /* Process Locked */ - __HAL_LOCK(hnor); - - /* Check the NOR controller state */ - if(hnor->State == HAL_NOR_STATE_BUSY) - { - return HAL_BUSY; - } - - /* Select the NOR device address */ - if (hnor->Init.NSBank == FMC_NORSRAM_BANK1) - { - deviceaddress = NOR_MEMORY_ADRESS1; - } - else if (hnor->Init.NSBank == FMC_NORSRAM_BANK2) - { - deviceaddress = NOR_MEMORY_ADRESS2; - } - else if (hnor->Init.NSBank == FMC_NORSRAM_BANK3) - { - deviceaddress = NOR_MEMORY_ADRESS3; - } - else /* FMC_NORSRAM_BANK4 */ - { - deviceaddress = NOR_MEMORY_ADRESS4; - } - - /* Update the NOR controller state */ - hnor->State = HAL_NOR_STATE_BUSY; - - /* Send read CFI query command */ - NOR_WRITE(NOR_ADDR_SHIFT(deviceaddress, uwNORMemoryDataWidth, NOR_CMD_ADDRESS_FIRST_CFI), NOR_CMD_DATA_CFI); - - /* read the NOR CFI information */ - pNOR_CFI->CFI_1 = *(__IO uint16_t *) NOR_ADDR_SHIFT(deviceaddress, uwNORMemoryDataWidth, CFI1_ADDRESS); - pNOR_CFI->CFI_2 = *(__IO uint16_t *) NOR_ADDR_SHIFT(deviceaddress, uwNORMemoryDataWidth, CFI2_ADDRESS); - pNOR_CFI->CFI_3 = *(__IO uint16_t *) NOR_ADDR_SHIFT(deviceaddress, uwNORMemoryDataWidth, CFI3_ADDRESS); - pNOR_CFI->CFI_4 = *(__IO uint16_t *) NOR_ADDR_SHIFT(deviceaddress, uwNORMemoryDataWidth, CFI4_ADDRESS); - - /* Check the NOR controller state */ - hnor->State = HAL_NOR_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hnor); - - return HAL_OK; -} - -#if (USE_HAL_NOR_REGISTER_CALLBACKS == 1) -/** - * @brief Register a User NOR Callback - * To be used instead of the weak (surcharged) predefined callback - * @param hnor : NOR handle - * @param CallbackId : ID of the callback to be registered - * This parameter can be one of the following values: - * @arg @ref HAL_NOR_MSP_INIT_CB_ID NOR MspInit callback ID - * @arg @ref HAL_NOR_MSP_DEINIT_CB_ID NOR MspDeInit callback ID - * @param pCallback : pointer to the Callback function - * @retval status - */ -HAL_StatusTypeDef HAL_NOR_RegisterCallback (NOR_HandleTypeDef *hnor, HAL_NOR_CallbackIDTypeDef CallbackId, pNOR_CallbackTypeDef pCallback) -{ - HAL_StatusTypeDef status = HAL_OK; - HAL_NOR_StateTypeDef state; - - if(pCallback == NULL) - { - return HAL_ERROR; - } - - /* Process locked */ - __HAL_LOCK(hnor); - - state = hnor->State; - if((state == HAL_NOR_STATE_READY) || (state == HAL_NOR_STATE_RESET) || (state == HAL_NOR_STATE_PROTECTED)) - { - switch (CallbackId) - { - case HAL_NOR_MSP_INIT_CB_ID : - hnor->MspInitCallback = pCallback; - break; - case HAL_NOR_MSP_DEINIT_CB_ID : - hnor->MspDeInitCallback = pCallback; - break; - default : - /* update return status */ - status = HAL_ERROR; - break; - } - } - else - { - /* update return status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(hnor); - return status; -} - -/** - * @brief Unregister a User NOR Callback - * NOR Callback is redirected to the weak (surcharged) predefined callback - * @param hnor : NOR handle - * @param CallbackId : ID of the callback to be unregistered - * This parameter can be one of the following values: - * @arg @ref HAL_NOR_MSP_INIT_CB_ID NOR MspInit callback ID - * @arg @ref HAL_NOR_MSP_DEINIT_CB_ID NOR MspDeInit callback ID - * @retval status - */ -HAL_StatusTypeDef HAL_NOR_UnRegisterCallback (NOR_HandleTypeDef *hnor, HAL_NOR_CallbackIDTypeDef CallbackId) -{ - HAL_StatusTypeDef status = HAL_OK; - HAL_NOR_StateTypeDef state; - - /* Process locked */ - __HAL_LOCK(hnor); - - state = hnor->State; - if((state == HAL_NOR_STATE_READY) || (state == HAL_NOR_STATE_RESET) || (state == HAL_NOR_STATE_PROTECTED)) - { - switch (CallbackId) - { - case HAL_NOR_MSP_INIT_CB_ID : - hnor->MspInitCallback = HAL_NOR_MspInit; - break; - case HAL_NOR_MSP_DEINIT_CB_ID : - hnor->MspDeInitCallback = HAL_NOR_MspDeInit; - break; - default : - /* update return status */ - status = HAL_ERROR; - break; - } - } - else - { - /* update return status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(hnor); - return status; -} -#endif /* (USE_HAL_NOR_REGISTER_CALLBACKS) */ -/** - * @} - */ - -/** @defgroup NOR_Exported_Functions_Group3 NOR Control functions - * @brief management functions - * -@verbatim - ============================================================================== - ##### NOR Control functions ##### - ============================================================================== - [..] - This subsection provides a set of functions allowing to control dynamically - the NOR interface. - -@endverbatim - * @{ - */ - -/** - * @brief Enables dynamically NOR write operation. - * @param hnor pointer to a NOR_HandleTypeDef structure that contains - * the configuration information for NOR module. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_NOR_WriteOperation_Enable(NOR_HandleTypeDef *hnor) -{ - /* Process Locked */ - __HAL_LOCK(hnor); - - /* Enable write operation */ - FMC_NORSRAM_WriteOperation_Enable(hnor->Instance, hnor->Init.NSBank); - - /* Update the NOR controller state */ - hnor->State = HAL_NOR_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hnor); - - return HAL_OK; -} - -/** - * @brief Disables dynamically NOR write operation. - * @param hnor pointer to a NOR_HandleTypeDef structure that contains - * the configuration information for NOR module. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_NOR_WriteOperation_Disable(NOR_HandleTypeDef *hnor) -{ - /* Process Locked */ - __HAL_LOCK(hnor); - - /* Update the SRAM controller state */ - hnor->State = HAL_NOR_STATE_BUSY; - - /* Disable write operation */ - FMC_NORSRAM_WriteOperation_Disable(hnor->Instance, hnor->Init.NSBank); - - /* Update the NOR controller state */ - hnor->State = HAL_NOR_STATE_PROTECTED; - - /* Process unlocked */ - __HAL_UNLOCK(hnor); - - return HAL_OK; -} - -/** - * @} - */ - -/** @defgroup NOR_Exported_Functions_Group4 NOR State functions - * @brief Peripheral State functions - * -@verbatim - ============================================================================== - ##### NOR State functions ##### - ============================================================================== - [..] - This subsection permits to get in run-time the status of the NOR controller - and the data flow. - -@endverbatim - * @{ - */ - -/** - * @brief return the NOR controller state - * @param hnor pointer to a NOR_HandleTypeDef structure that contains - * the configuration information for NOR module. - * @retval NOR controller state - */ -HAL_NOR_StateTypeDef HAL_NOR_GetState(NOR_HandleTypeDef *hnor) -{ - return hnor->State; -} - -/** - * @brief Returns the NOR operation status. - * @param hnor pointer to a NOR_HandleTypeDef structure that contains - * the configuration information for NOR module. - * @param Address Device address - * @param Timeout NOR programming Timeout - * @retval NOR_Status: The returned value can be: HAL_NOR_STATUS_SUCCESS, HAL_NOR_STATUS_ERROR - * or HAL_NOR_STATUS_TIMEOUT - */ -HAL_NOR_StatusTypeDef HAL_NOR_GetStatus(NOR_HandleTypeDef *hnor, uint32_t Address, uint32_t Timeout) -{ - HAL_NOR_StatusTypeDef status = HAL_NOR_STATUS_ONGOING; - uint16_t tmpSR1 = 0, tmpSR2 = 0; - uint32_t tickstart = 0U; - - /* Poll on NOR memory Ready/Busy signal ------------------------------------*/ - HAL_NOR_MspWait(hnor, Timeout); - - /* Get the NOR memory operation status -------------------------------------*/ - - /* Get tick */ - tickstart = HAL_GetTick(); - while((status != HAL_NOR_STATUS_SUCCESS ) && (status != HAL_NOR_STATUS_TIMEOUT)) - { - /* Check for the Timeout */ - if(Timeout != HAL_MAX_DELAY) - { - if((Timeout == 0U)||((HAL_GetTick() - tickstart ) > Timeout)) - { - status = HAL_NOR_STATUS_TIMEOUT; - } - } - - /* Read NOR status register (DQ6 and DQ5) */ - tmpSR1 = *(__IO uint16_t *)Address; - tmpSR2 = *(__IO uint16_t *)Address; - - /* If DQ6 did not toggle between the two reads then return HAL_NOR_STATUS_SUCCESS */ - if((tmpSR1 & NOR_MASK_STATUS_DQ6) == (tmpSR2 & NOR_MASK_STATUS_DQ6)) - { - return HAL_NOR_STATUS_SUCCESS ; - } - - if((tmpSR1 & NOR_MASK_STATUS_DQ5) == NOR_MASK_STATUS_DQ5) - { - status = HAL_NOR_STATUS_ONGOING; - } - - tmpSR1 = *(__IO uint16_t *)Address; - tmpSR2 = *(__IO uint16_t *)Address; - - /* If DQ6 did not toggle between the two reads then return HAL_NOR_STATUS_SUCCESS */ - if((tmpSR1 & NOR_MASK_STATUS_DQ6) == (tmpSR2 & NOR_MASK_STATUS_DQ6)) - { - return HAL_NOR_STATUS_SUCCESS; - } - if((tmpSR1 & NOR_MASK_STATUS_DQ5) == NOR_MASK_STATUS_DQ5) - { - return HAL_NOR_STATUS_ERROR; - } - } - - /* Return the operation status */ - return status; -} - -/** - * @} - */ - -/** - * @} - */ -#endif /* STM32F405xx || STM32F415xx || STM32F407xx || STM32F417xx || STM32F427xx ||\ - STM32F437xx || STM32F429xx || STM32F439xx || STM32F446xx || STM32F469xx ||\ - STM32F479xx || STM32F412Zx || STM32F412Vx || STM32F412Rx || STM32F413xx ||\ - STM32F423xx */ -#endif /* HAL_NOR_MODULE_ENABLED */ -/** - * @} - */ - -/** - * @} - */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pccard.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pccard.c deleted file mode 100644 index 2f7d3e0ff5247e..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pccard.c +++ /dev/null @@ -1,942 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_pccard.c - * @author MCD Application Team - * @brief PCCARD HAL module driver. - * This file provides a generic firmware to drive PCCARD memories mounted - * as external device. - * - @verbatim - =============================================================================== - ##### How to use this driver ##### - =============================================================================== - [..] - This driver is a generic layered driver which contains a set of APIs used to - control PCCARD/compact flash memories. It uses the FMC/FSMC layer functions - to interface with PCCARD devices. This driver is used for: - - (+) PCCARD/Compact Flash memory configuration sequence using the function - HAL_PCCARD_Init()/HAL_CF_Init() with control and timing parameters for - both common and attribute spaces. - - (+) Read PCCARD/Compact Flash memory maker and device IDs using the function - HAL_PCCARD_Read_ID()/HAL_CF_Read_ID(). The read information is stored in - the CompactFlash_ID structure declared by the function caller. - - (+) Access PCCARD/Compact Flash memory by read/write operations using the functions - HAL_PCCARD_Read_Sector()/ HAL_PCCARD_Write_Sector() - - HAL_CF_Read_Sector()/HAL_CF_Write_Sector(), to read/write sector. - - (+) Perform PCCARD/Compact Flash Reset chip operation using the function - HAL_PCCARD_Reset()/HAL_CF_Reset. - - (+) Perform PCCARD/Compact Flash erase sector operation using the function - HAL_PCCARD_Erase_Sector()/HAL_CF_Erase_Sector. - - (+) Read the PCCARD/Compact Flash status operation using the function - HAL_PCCARD_ReadStatus()/HAL_CF_ReadStatus(). - - (+) You can monitor the PCCARD/Compact Flash device HAL state by calling - the function HAL_PCCARD_GetState()/HAL_CF_GetState() - - [..] - (@) This driver is a set of generic APIs which handle standard PCCARD/compact flash - operations. If a PCCARD/Compact Flash device contains different operations - and/or implementations, it should be implemented separately. - - *** Callback registration *** - ============================================= - [..] - The compilation define USE_HAL_PCCARD_REGISTER_CALLBACKS when set to 1 - allows the user to configure dynamically the driver callbacks. - - Use Functions @ref HAL_PCCARD_RegisterCallback() to register a user callback, - it allows to register following callbacks: - (+) MspInitCallback : PCCARD MspInit. - (+) MspDeInitCallback : PCCARD MspDeInit. - This function takes as parameters the HAL peripheral handle, the Callback ID - and a pointer to the user callback function. - - Use function @ref HAL_PCCARD_UnRegisterCallback() to reset a callback to the default - weak (surcharged) function. It allows to reset following callbacks: - (+) MspInitCallback : PCCARD MspInit. - (+) MspDeInitCallback : PCCARD MspDeInit. - This function) takes as parameters the HAL peripheral handle and the Callback ID. - - By default, after the @ref HAL_PCCARD_Init and if the state is HAL_PCCARD_STATE_RESET - all callbacks are reset to the corresponding legacy weak (surcharged) functions. - Exception done for MspInit and MspDeInit callbacks that are respectively - reset to the legacy weak (surcharged) functions in the @ref HAL_PCCARD_Init - and @ref HAL_PCCARD_DeInit only when these callbacks are null (not registered beforehand). - If not, MspInit or MspDeInit are not null, the @ref HAL_PCCARD_Init and @ref HAL_PCCARD_DeInit - keep and use the user MspInit/MspDeInit callbacks (registered beforehand) - - Callbacks can be registered/unregistered in READY state only. - Exception done for MspInit/MspDeInit callbacks that can be registered/unregistered - in READY or RESET state, thus registered (user) MspInit/DeInit callbacks can be used - during the Init/DeInit. - In that case first register the MspInit/MspDeInit user callbacks - using @ref HAL_PCCARD_RegisterCallback before calling @ref HAL_PCCARD_DeInit - or @ref HAL_PCCARD_Init function. - - When The compilation define USE_HAL_PCCARD_REGISTER_CALLBACKS is set to 0 or - not defined, the callback registering feature is not available - and weak (surcharged) callbacks are used. - - @endverbatim - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -#ifdef HAL_PCCARD_MODULE_ENABLED -#if defined(STM32F405xx) || defined(STM32F415xx) || defined(STM32F407xx) || defined(STM32F417xx) ||\ - defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) -/** @defgroup PCCARD PCCARD - * @brief PCCARD HAL module driver - * @{ - */ -/* Private typedef -----------------------------------------------------------*/ -/* Private define ------------------------------------------------------------*/ - -/** @defgroup PCCARD_Private_Defines PCCARD Private Defines - * @{ - */ -#define PCCARD_TIMEOUT_READ_ID 0x0000FFFFU -#define PCCARD_TIMEOUT_READ_WRITE_SECTOR 0x0000FFFFU -#define PCCARD_TIMEOUT_ERASE_SECTOR 0x00000400U -#define PCCARD_TIMEOUT_STATUS 0x01000000U - -#define PCCARD_STATUS_OK (uint8_t)0x58 -#define PCCARD_STATUS_WRITE_OK (uint8_t)0x50 -/** - * @} - */ - -/* Private macro -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private function ----------------------------------------------------------*/ -/* Exported functions --------------------------------------------------------*/ -/** @defgroup PCCARD_Exported_Functions PCCARD Exported Functions - * @{ - */ - -/** @defgroup PCCARD_Exported_Functions_Group1 Initialization and de-initialization functions - * @brief Initialization and Configuration functions - * - @verbatim - ============================================================================== - ##### PCCARD Initialization and de-initialization functions ##### - ============================================================================== - [..] - This section provides functions allowing to initialize/de-initialize - the PCCARD memory - -@endverbatim - * @{ - */ - -/** - * @brief Perform the PCCARD memory Initialization sequence - * @param hpccard pointer to a PCCARD_HandleTypeDef structure that contains - * the configuration information for PCCARD module. - * @param ComSpaceTiming Common space timing structure - * @param AttSpaceTiming Attribute space timing structure - * @param IOSpaceTiming IO space timing structure - * @retval HAL status - */ -HAL_StatusTypeDef HAL_PCCARD_Init(PCCARD_HandleTypeDef *hpccard, FMC_NAND_PCC_TimingTypeDef *ComSpaceTiming, FMC_NAND_PCC_TimingTypeDef *AttSpaceTiming, FMC_NAND_PCC_TimingTypeDef *IOSpaceTiming) -{ - /* Check the PCCARD controller state */ - if(hpccard == NULL) - { - return HAL_ERROR; - } - - if(hpccard->State == HAL_PCCARD_STATE_RESET) - { - /* Allocate lock resource and initialize it */ - hpccard->Lock = HAL_UNLOCKED; -#if (USE_HAL_PCCARD_REGISTER_CALLBACKS == 1) - if(hpccard->MspInitCallback == NULL) - { - hpccard->MspInitCallback = HAL_PCCARD_MspInit; - } - hpccard->ItCallback = HAL_PCCARD_ITCallback; - - /* Init the low level hardware */ - hpccard->MspInitCallback(hpccard); -#else - /* Initialize the low level hardware (MSP) */ - HAL_PCCARD_MspInit(hpccard); -#endif - } - - /* Initialize the PCCARD state */ - hpccard->State = HAL_PCCARD_STATE_BUSY; - - /* Initialize PCCARD control Interface */ - FMC_PCCARD_Init(hpccard->Instance, &(hpccard->Init)); - - /* Init PCCARD common space timing Interface */ - FMC_PCCARD_CommonSpace_Timing_Init(hpccard->Instance, ComSpaceTiming); - - /* Init PCCARD attribute space timing Interface */ - FMC_PCCARD_AttributeSpace_Timing_Init(hpccard->Instance, AttSpaceTiming); - - /* Init PCCARD IO space timing Interface */ - FMC_PCCARD_IOSpace_Timing_Init(hpccard->Instance, IOSpaceTiming); - - /* Enable the PCCARD device */ - __FMC_PCCARD_ENABLE(hpccard->Instance); - - /* Update the PCCARD state */ - hpccard->State = HAL_PCCARD_STATE_READY; - - return HAL_OK; - -} - -/** - * @brief Perform the PCCARD memory De-initialization sequence - * @param hpccard pointer to a PCCARD_HandleTypeDef structure that contains - * the configuration information for PCCARD module. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_PCCARD_DeInit(PCCARD_HandleTypeDef *hpccard) -{ -#if (USE_HAL_PCCARD_REGISTER_CALLBACKS == 1) - if(hpccard->MspDeInitCallback == NULL) - { - hpccard->MspDeInitCallback = HAL_PCCARD_MspDeInit; - } - - /* DeInit the low level hardware */ - hpccard->MspDeInitCallback(hpccard); -#else - /* De-Initialize the low level hardware (MSP) */ - HAL_PCCARD_MspDeInit(hpccard); -#endif - - /* Configure the PCCARD registers with their reset values */ - FMC_PCCARD_DeInit(hpccard->Instance); - - /* Update the PCCARD controller state */ - hpccard->State = HAL_PCCARD_STATE_RESET; - - /* Release Lock */ - __HAL_UNLOCK(hpccard); - - return HAL_OK; -} - -/** - * @brief PCCARD MSP Init - * @param hpccard pointer to a PCCARD_HandleTypeDef structure that contains - * the configuration information for PCCARD module. - * @retval None - */ -__weak void HAL_PCCARD_MspInit(PCCARD_HandleTypeDef *hpccard) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hpccard); - /* NOTE : This function Should not be modified, when the callback is needed, - the HAL_PCCARD_MspInit could be implemented in the user file - */ -} - -/** - * @brief PCCARD MSP DeInit - * @param hpccard pointer to a PCCARD_HandleTypeDef structure that contains - * the configuration information for PCCARD module. - * @retval None - */ -__weak void HAL_PCCARD_MspDeInit(PCCARD_HandleTypeDef *hpccard) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hpccard); - /* NOTE : This function Should not be modified, when the callback is needed, - the HAL_PCCARD_MspDeInit could be implemented in the user file - */ -} - -/** - * @} - */ - -/** @defgroup PCCARD_Exported_Functions_Group2 Input and Output functions - * @brief Input Output and memory control functions - * - @verbatim - ============================================================================== - ##### PCCARD Input and Output functions ##### - ============================================================================== - [..] - This section provides functions allowing to use and control the PCCARD memory - -@endverbatim - * @{ - */ - -/** - * @brief Read Compact Flash's ID. - * @param hpccard pointer to a PCCARD_HandleTypeDef structure that contains - * the configuration information for PCCARD module. - * @param CompactFlash_ID Compact flash ID structure. - * @param pStatus pointer to compact flash status - * @retval HAL status - * - */ -HAL_StatusTypeDef HAL_PCCARD_Read_ID(PCCARD_HandleTypeDef *hpccard, uint8_t CompactFlash_ID[], uint8_t *pStatus) -{ - uint32_t timeout = PCCARD_TIMEOUT_READ_ID, index = 0U; - uint8_t status = 0; - - /* Process Locked */ - __HAL_LOCK(hpccard); - - /* Check the PCCARD controller state */ - if(hpccard->State == HAL_PCCARD_STATE_BUSY) - { - return HAL_BUSY; - } - - /* Update the PCCARD controller state */ - hpccard->State = HAL_PCCARD_STATE_BUSY; - - /* Initialize the PCCARD status */ - *pStatus = PCCARD_READY; - - /* Send the Identify Command */ - *(__IO uint16_t *)(PCCARD_IO_SPACE_PRIMARY_ADDR | ATA_STATUS_CMD) = 0xECEC; - - /* Read PCCARD IDs and timeout treatment */ - do - { - /* Read the PCCARD status */ - status = *(__IO uint8_t *)(PCCARD_IO_SPACE_PRIMARY_ADDR | ATA_STATUS_CMD_ALTERNATE); - - timeout--; - }while((status != PCCARD_STATUS_OK) && timeout); - - if(timeout == 0U) - { - *pStatus = PCCARD_TIMEOUT_ERROR; - } - else - { - /* Read PCCARD ID bytes */ - for(index = 0U; index < 16U; index++) - { - CompactFlash_ID[index] = *(__IO uint8_t *)(PCCARD_IO_SPACE_PRIMARY_ADDR | ATA_DATA); - } - } - - /* Update the PCCARD controller state */ - hpccard->State = HAL_PCCARD_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hpccard); - - return HAL_OK; -} - -/** - * @brief Read sector from PCCARD memory - * @param hpccard pointer to a PCCARD_HandleTypeDef structure that contains - * the configuration information for PCCARD module. - * @param pBuffer pointer to destination read buffer - * @param SectorAddress Sector address to read - * @param pStatus pointer to PCCARD status - * @retval HAL status - */ -HAL_StatusTypeDef HAL_PCCARD_Read_Sector(PCCARD_HandleTypeDef *hpccard, uint16_t *pBuffer, uint16_t SectorAddress, uint8_t *pStatus) -{ - uint32_t timeout = PCCARD_TIMEOUT_READ_WRITE_SECTOR, index = 0U; - uint8_t status = 0; - - /* Process Locked */ - __HAL_LOCK(hpccard); - - /* Check the PCCARD controller state */ - if(hpccard->State == HAL_PCCARD_STATE_BUSY) - { - return HAL_BUSY; - } - - /* Update the PCCARD controller state */ - hpccard->State = HAL_PCCARD_STATE_BUSY; - - /* Initialize PCCARD status */ - *pStatus = PCCARD_READY; - - /* Set the parameters to write a sector */ - *(__IO uint16_t *)(PCCARD_IO_SPACE_PRIMARY_ADDR | ATA_CYLINDER_HIGH) = (uint16_t)0x00; - *(__IO uint16_t *)(PCCARD_IO_SPACE_PRIMARY_ADDR | ATA_SECTOR_COUNT) = ((uint16_t)0x0100) | ((uint16_t)SectorAddress); - *(__IO uint16_t *)(PCCARD_IO_SPACE_PRIMARY_ADDR | ATA_STATUS_CMD) = (uint16_t)0xE4A0; - - do - { - /* wait till the Status = 0x80 */ - status = *(__IO uint16_t *)(PCCARD_IO_SPACE_PRIMARY_ADDR | ATA_STATUS_CMD_ALTERNATE); - timeout--; - }while((status == 0x80) && timeout); - - if(timeout == 0U) - { - *pStatus = PCCARD_TIMEOUT_ERROR; - } - - timeout = PCCARD_TIMEOUT_READ_WRITE_SECTOR; - - do - { - /* wait till the Status = PCCARD_STATUS_OK */ - status = *(__IO uint16_t *)(PCCARD_IO_SPACE_PRIMARY_ADDR | ATA_STATUS_CMD_ALTERNATE); - timeout--; - }while((status != PCCARD_STATUS_OK) && timeout); - - if(timeout == 0U) - { - *pStatus = PCCARD_TIMEOUT_ERROR; - } - - /* Read bytes */ - for(; index < PCCARD_SECTOR_SIZE; index++) - { - *(uint16_t *)pBuffer++ = *(uint16_t *)(PCCARD_IO_SPACE_PRIMARY_ADDR); - } - - /* Update the PCCARD controller state */ - hpccard->State = HAL_PCCARD_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hpccard); - - return HAL_OK; -} - - -/** - * @brief Write sector to PCCARD memory - * @param hpccard pointer to a PCCARD_HandleTypeDef structure that contains - * the configuration information for PCCARD module. - * @param pBuffer pointer to source write buffer - * @param SectorAddress Sector address to write - * @param pStatus pointer to PCCARD status - * @retval HAL status - */ -HAL_StatusTypeDef HAL_PCCARD_Write_Sector(PCCARD_HandleTypeDef *hpccard, uint16_t *pBuffer, uint16_t SectorAddress, uint8_t *pStatus) -{ - uint32_t timeout = PCCARD_TIMEOUT_READ_WRITE_SECTOR, index = 0U; - uint8_t status = 0; - - /* Process Locked */ - __HAL_LOCK(hpccard); - - /* Check the PCCARD controller state */ - if(hpccard->State == HAL_PCCARD_STATE_BUSY) - { - return HAL_BUSY; - } - - /* Update the PCCARD controller state */ - hpccard->State = HAL_PCCARD_STATE_BUSY; - - /* Initialize PCCARD status */ - *pStatus = PCCARD_READY; - - /* Set the parameters to write a sector */ - *(__IO uint16_t *)(PCCARD_IO_SPACE_PRIMARY_ADDR | ATA_CYLINDER_HIGH) = (uint16_t)0x00; - *(__IO uint16_t *)(PCCARD_IO_SPACE_PRIMARY_ADDR | ATA_SECTOR_COUNT) = ((uint16_t)0x0100) | ((uint16_t)SectorAddress); - *(__IO uint16_t *)(PCCARD_IO_SPACE_PRIMARY_ADDR | ATA_STATUS_CMD) = (uint16_t)0x30A0; - - do - { - /* Wait till the Status = PCCARD_STATUS_OK */ - status = *(__IO uint8_t *)(PCCARD_IO_SPACE_PRIMARY_ADDR | ATA_STATUS_CMD_ALTERNATE); - timeout--; - }while((status != PCCARD_STATUS_OK) && timeout); - - if(timeout == 0U) - { - *pStatus = PCCARD_TIMEOUT_ERROR; - } - - /* Write bytes */ - for(; index < PCCARD_SECTOR_SIZE; index++) - { - *(uint16_t *)(PCCARD_IO_SPACE_PRIMARY_ADDR) = *(uint16_t *)pBuffer++; - } - - do - { - /* Wait till the Status = PCCARD_STATUS_WRITE_OK */ - status = *(__IO uint8_t *)(PCCARD_IO_SPACE_PRIMARY_ADDR | ATA_STATUS_CMD_ALTERNATE); - timeout--; - }while((status != PCCARD_STATUS_WRITE_OK) && timeout); - - if(timeout == 0U) - { - *pStatus = PCCARD_TIMEOUT_ERROR; - } - - /* Update the PCCARD controller state */ - hpccard->State = HAL_PCCARD_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hpccard); - - return HAL_OK; -} - - -/** - * @brief Erase sector from PCCARD memory - * @param hpccard pointer to a PCCARD_HandleTypeDef structure that contains - * the configuration information for PCCARD module. - * @param SectorAddress Sector address to erase - * @param pStatus pointer to PCCARD status - * @retval HAL status - */ -HAL_StatusTypeDef HAL_PCCARD_Erase_Sector(PCCARD_HandleTypeDef *hpccard, uint16_t SectorAddress, uint8_t *pStatus) -{ - uint32_t timeout = PCCARD_TIMEOUT_ERASE_SECTOR; - uint8_t status = 0; - - /* Process Locked */ - __HAL_LOCK(hpccard); - - /* Check the PCCARD controller state */ - if(hpccard->State == HAL_PCCARD_STATE_BUSY) - { - return HAL_BUSY; - } - - /* Update the PCCARD controller state */ - hpccard->State = HAL_PCCARD_STATE_BUSY; - - /* Initialize PCCARD status */ - *pStatus = PCCARD_READY; - - /* Set the parameters to write a sector */ - *(__IO uint8_t *)(PCCARD_IO_SPACE_PRIMARY_ADDR | ATA_CYLINDER_LOW) = 0x00; - *(__IO uint8_t *)(PCCARD_IO_SPACE_PRIMARY_ADDR | ATA_CYLINDER_HIGH) = 0x00; - *(__IO uint8_t *)(PCCARD_IO_SPACE_PRIMARY_ADDR | ATA_SECTOR_NUMBER) = SectorAddress; - *(__IO uint8_t *)(PCCARD_IO_SPACE_PRIMARY_ADDR | ATA_SECTOR_COUNT) = 0x01; - *(__IO uint8_t *)(PCCARD_IO_SPACE_PRIMARY_ADDR | ATA_CARD_HEAD) = 0xA0; - *(__IO uint8_t *)(PCCARD_IO_SPACE_PRIMARY_ADDR | ATA_STATUS_CMD) = ATA_ERASE_SECTOR_CMD; - - /* wait till the PCCARD is ready */ - status = *(__IO uint8_t *)(PCCARD_IO_SPACE_PRIMARY_ADDR | ATA_STATUS_CMD_ALTERNATE); - - while((status != PCCARD_STATUS_WRITE_OK) && timeout) - { - status = *(__IO uint8_t *)(PCCARD_IO_SPACE_PRIMARY_ADDR | ATA_STATUS_CMD_ALTERNATE); - timeout--; - } - - if(timeout == 0U) - { - *pStatus = PCCARD_TIMEOUT_ERROR; - } - - /* Check the PCCARD controller state */ - hpccard->State = HAL_PCCARD_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hpccard); - - return HAL_OK; -} - -/** - * @brief Reset the PCCARD memory - * @param hpccard pointer to a PCCARD_HandleTypeDef structure that contains - * the configuration information for PCCARD module. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_PCCARD_Reset(PCCARD_HandleTypeDef *hpccard) -{ - /* Process Locked */ - __HAL_LOCK(hpccard); - - /* Check the PCCARD controller state */ - if(hpccard->State == HAL_PCCARD_STATE_BUSY) - { - return HAL_BUSY; - } - - /* Provide a SW reset and Read and verify the: - - PCCard Configuration Option Register at address 0x98000200 --> 0x80 - - Card Configuration and Status Register at address 0x98000202 --> 0x00 - - Pin Replacement Register at address 0x98000204 --> 0x0C - - Socket and Copy Register at address 0x98000206 --> 0x00 - */ - - /* Check the PCCARD controller state */ - hpccard->State = HAL_PCCARD_STATE_BUSY; - - *(__IO uint8_t *)(PCCARD_ATTRIBUTE_SPACE_ADDRESS | ATA_CARD_CONFIGURATION ) = 0x01; - - /* Check the PCCARD controller state */ - hpccard->State = HAL_PCCARD_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hpccard); - - return HAL_OK; -} - -/** - * @brief This function handles PCCARD device interrupt request. - * @param hpccard pointer to a PCCARD_HandleTypeDef structure that contains - * the configuration information for PCCARD module. - * @retval HAL status -*/ -void HAL_PCCARD_IRQHandler(PCCARD_HandleTypeDef *hpccard) -{ - /* Check PCCARD interrupt Rising edge flag */ - if(__FMC_PCCARD_GET_FLAG(hpccard->Instance, FMC_FLAG_RISING_EDGE)) - { - /* PCCARD interrupt callback*/ -#if (USE_HAL_PCCARD_REGISTER_CALLBACKS == 1) - hpccard->ItCallback(hpccard); -#else - HAL_PCCARD_ITCallback(hpccard); -#endif - - /* Clear PCCARD interrupt Rising edge pending bit */ - __FMC_PCCARD_CLEAR_FLAG(hpccard->Instance, FMC_FLAG_RISING_EDGE); - } - - /* Check PCCARD interrupt Level flag */ - if(__FMC_PCCARD_GET_FLAG(hpccard->Instance, FMC_FLAG_LEVEL)) - { - /* PCCARD interrupt callback*/ -#if (USE_HAL_PCCARD_REGISTER_CALLBACKS == 1) - hpccard->ItCallback(hpccard); -#else - HAL_PCCARD_ITCallback(hpccard); -#endif - - /* Clear PCCARD interrupt Level pending bit */ - __FMC_PCCARD_CLEAR_FLAG(hpccard->Instance, FMC_FLAG_LEVEL); - } - - /* Check PCCARD interrupt Falling edge flag */ - if(__FMC_PCCARD_GET_FLAG(hpccard->Instance, FMC_FLAG_FALLING_EDGE)) - { - /* PCCARD interrupt callback*/ -#if (USE_HAL_PCCARD_REGISTER_CALLBACKS == 1) - hpccard->ItCallback(hpccard); -#else - HAL_PCCARD_ITCallback(hpccard); -#endif - - /* Clear PCCARD interrupt Falling edge pending bit */ - __FMC_PCCARD_CLEAR_FLAG(hpccard->Instance, FMC_FLAG_FALLING_EDGE); - } - - /* Check PCCARD interrupt FIFO empty flag */ - if(__FMC_PCCARD_GET_FLAG(hpccard->Instance, FMC_FLAG_FEMPT)) - { - /* PCCARD interrupt callback*/ -#if (USE_HAL_PCCARD_REGISTER_CALLBACKS == 1) - hpccard->ItCallback(hpccard); -#else - HAL_PCCARD_ITCallback(hpccard); -#endif - - /* Clear PCCARD interrupt FIFO empty pending bit */ - __FMC_PCCARD_CLEAR_FLAG(hpccard->Instance, FMC_FLAG_FEMPT); - } -} - -/** - * @brief PCCARD interrupt feature callback - * @param hpccard pointer to a PCCARD_HandleTypeDef structure that contains - * the configuration information for PCCARD module. - * @retval None - */ -__weak void HAL_PCCARD_ITCallback(PCCARD_HandleTypeDef *hpccard) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hpccard); - /* NOTE : This function Should not be modified, when the callback is needed, - the HAL_PCCARD_ITCallback could be implemented in the user file - */ -} - -#if (USE_HAL_PCCARD_REGISTER_CALLBACKS == 1) -/** - * @brief Register a User PCCARD Callback - * To be used instead of the weak (surcharged) predefined callback - * @param hpccard : PCCARD handle - * @param CallbackId : ID of the callback to be registered - * This parameter can be one of the following values: - * @arg @ref HAL_PCCARD_MSP_INIT_CB_ID PCCARD MspInit callback ID - * @arg @ref HAL_PCCARD_MSP_DEINIT_CB_ID PCCARD MspDeInit callback ID - * @arg @ref HAL_PCCARD_IT_CB_ID PCCARD IT callback ID - * @param pCallback : pointer to the Callback function - * @retval status - */ -HAL_StatusTypeDef HAL_PCCARD_RegisterCallback (PCCARD_HandleTypeDef *hpccard, HAL_PCCARD_CallbackIDTypeDef CallbackId, pPCCARD_CallbackTypeDef pCallback) -{ - HAL_StatusTypeDef status = HAL_OK; - - if(pCallback == NULL) - { - return HAL_ERROR; - } - - /* Process locked */ - __HAL_LOCK(hpccard); - - if(hpccard->State == HAL_PCCARD_STATE_READY) - { - switch (CallbackId) - { - case HAL_PCCARD_MSP_INIT_CB_ID : - hpccard->MspInitCallback = pCallback; - break; - case HAL_PCCARD_MSP_DEINIT_CB_ID : - hpccard->MspDeInitCallback = pCallback; - break; - case HAL_PCCARD_IT_CB_ID : - hpccard->ItCallback = pCallback; - break; - default : - /* update return status */ - status = HAL_ERROR; - break; - } - } - else if(hpccard->State == HAL_PCCARD_STATE_RESET) - { - switch (CallbackId) - { - case HAL_PCCARD_MSP_INIT_CB_ID : - hpccard->MspInitCallback = pCallback; - break; - case HAL_PCCARD_MSP_DEINIT_CB_ID : - hpccard->MspDeInitCallback = pCallback; - break; - default : - /* update return status */ - status = HAL_ERROR; - break; - } - } - else - { - /* update return status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(hpccard); - return status; -} - -/** - * @brief Unregister a User PCCARD Callback - * PCCARD Callback is redirected to the weak (surcharged) predefined callback - * @param hpccard : PCCARD handle - * @param CallbackId : ID of the callback to be unregistered - * This parameter can be one of the following values: - * @arg @ref HAL_PCCARD_MSP_INIT_CB_ID PCCARD MspInit callback ID - * @arg @ref HAL_PCCARD_MSP_DEINIT_CB_ID PCCARD MspDeInit callback ID - * @arg @ref HAL_PCCARD_IT_CB_ID PCCARD IT callback ID - * @retval status - */ -HAL_StatusTypeDef HAL_PCCARD_UnRegisterCallback (PCCARD_HandleTypeDef *hpccard, HAL_PCCARD_CallbackIDTypeDef CallbackId) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Process locked */ - __HAL_LOCK(hpccard); - - if(hpccard->State == HAL_PCCARD_STATE_READY) - { - switch (CallbackId) - { - case HAL_PCCARD_MSP_INIT_CB_ID : - hpccard->MspInitCallback = HAL_PCCARD_MspInit; - break; - case HAL_PCCARD_MSP_DEINIT_CB_ID : - hpccard->MspDeInitCallback = HAL_PCCARD_MspDeInit; - break; - case HAL_PCCARD_IT_CB_ID : - hpccard->ItCallback = HAL_PCCARD_ITCallback; - break; - default : - /* update return status */ - status = HAL_ERROR; - break; - } - } - else if(hpccard->State == HAL_PCCARD_STATE_RESET) - { - switch (CallbackId) - { - case HAL_PCCARD_MSP_INIT_CB_ID : - hpccard->MspInitCallback = HAL_PCCARD_MspInit; - break; - case HAL_PCCARD_MSP_DEINIT_CB_ID : - hpccard->MspDeInitCallback = HAL_PCCARD_MspDeInit; - break; - default : - /* update return status */ - status = HAL_ERROR; - break; - } - } - else - { - /* update return status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(hpccard); - return status; -} -#endif - -/** - * @} - */ - -/** @defgroup PCCARD_Exported_Functions_Group3 State functions - * @brief Peripheral State functions - * -@verbatim - ============================================================================== - ##### PCCARD State functions ##### - ============================================================================== - [..] - This subsection permits to get in run-time the status of the PCCARD controller - and the data flow. - -@endverbatim - * @{ - */ - -/** - * @brief return the PCCARD controller state - * @param hpccard pointer to a PCCARD_HandleTypeDef structure that contains - * the configuration information for PCCARD module. - * @retval HAL state - */ -HAL_PCCARD_StateTypeDef HAL_PCCARD_GetState(PCCARD_HandleTypeDef *hpccard) -{ - return hpccard->State; -} - -/** - * @brief Get the compact flash memory status - * @param hpccard pointer to a PCCARD_HandleTypeDef structure that contains - * the configuration information for PCCARD module. - * @retval New status of the PCCARD operation. This parameter can be: - * - CompactFlash_TIMEOUT_ERROR: when the previous operation generate - * a Timeout error - * - CompactFlash_READY: when memory is ready for the next operation - */ -HAL_PCCARD_StatusTypeDef HAL_PCCARD_GetStatus(PCCARD_HandleTypeDef *hpccard) -{ - uint32_t timeout = PCCARD_TIMEOUT_STATUS, status_pccard = 0U; - - /* Check the PCCARD controller state */ - if(hpccard->State == HAL_PCCARD_STATE_BUSY) - { - return HAL_PCCARD_STATUS_ONGOING; - } - - status_pccard = *(__IO uint8_t *)(PCCARD_IO_SPACE_PRIMARY_ADDR | ATA_STATUS_CMD_ALTERNATE); - - while((status_pccard == PCCARD_BUSY) && timeout) - { - status_pccard = *(__IO uint8_t *)(PCCARD_IO_SPACE_PRIMARY_ADDR | ATA_STATUS_CMD_ALTERNATE); - timeout--; - } - - if(timeout == 0U) - { - status_pccard = PCCARD_TIMEOUT_ERROR; - } - - /* Return the operation status */ - return (HAL_PCCARD_StatusTypeDef) status_pccard; -} - -/** - * @brief Reads the Compact Flash memory status using the Read status command - * @param hpccard pointer to a PCCARD_HandleTypeDef structure that contains - * the configuration information for PCCARD module. - * @retval The status of the Compact Flash memory. This parameter can be: - * - CompactFlash_BUSY: when memory is busy - * - CompactFlash_READY: when memory is ready for the next operation - * - CompactFlash_ERROR: when the previous operation generates error - */ -HAL_PCCARD_StatusTypeDef HAL_PCCARD_ReadStatus(PCCARD_HandleTypeDef *hpccard) -{ - uint8_t data = 0U, status_pccard = PCCARD_BUSY; - - /* Check the PCCARD controller state */ - if(hpccard->State == HAL_PCCARD_STATE_BUSY) - { - return HAL_PCCARD_STATUS_ONGOING; - } - - /* Read status operation */ - data = *(__IO uint8_t *)(PCCARD_IO_SPACE_PRIMARY_ADDR | ATA_STATUS_CMD_ALTERNATE); - - if((data & PCCARD_TIMEOUT_ERROR) == PCCARD_TIMEOUT_ERROR) - { - status_pccard = PCCARD_TIMEOUT_ERROR; - } - else if((data & PCCARD_READY) == PCCARD_READY) - { - status_pccard = PCCARD_READY; - } - - return (HAL_PCCARD_StatusTypeDef) status_pccard; -} - -/** - * @} - */ - -/** - * @} - */ -#endif /* STM32F405xx || STM32F415xx || STM32F407xx || STM32F417xx ||\ - STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx */ -#endif /* HAL_PCCARD_MODULE_ENABLED */ - -/** - * @} - */ - -/** - * @} - */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pcd.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pcd.c deleted file mode 100644 index aa9702eed3f93b..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pcd.c +++ /dev/null @@ -1,2258 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_pcd.c - * @author MCD Application Team - * @brief PCD HAL module driver. - * This file provides firmware functions to manage the following - * functionalities of the USB Peripheral Controller: - * + Initialization and de-initialization functions - * + IO operation functions - * + Peripheral Control functions - * + Peripheral State functions - * - @verbatim - ============================================================================== - ##### How to use this driver ##### - ============================================================================== - [..] - The PCD HAL driver can be used as follows: - - (#) Declare a PCD_HandleTypeDef handle structure, for example: - PCD_HandleTypeDef hpcd; - - (#) Fill parameters of Init structure in HCD handle - - (#) Call HAL_PCD_Init() API to initialize the PCD peripheral (Core, Device core, ...) - - (#) Initialize the PCD low level resources through the HAL_PCD_MspInit() API: - (##) Enable the PCD/USB Low Level interface clock using - (+++) __HAL_RCC_USB_OTG_FS_CLK_ENABLE(); - (+++) __HAL_RCC_USB_OTG_HS_CLK_ENABLE(); (For High Speed Mode) - - (##) Initialize the related GPIO clocks - (##) Configure PCD pin-out - (##) Configure PCD NVIC interrupt - - (#)Associate the Upper USB device stack to the HAL PCD Driver: - (##) hpcd.pData = pdev; - - (#)Enable PCD transmission and reception: - (##) HAL_PCD_Start(); - - @endverbatim - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @defgroup PCD PCD - * @brief PCD HAL module driver - * @{ - */ - -#ifdef HAL_PCD_MODULE_ENABLED - -#if defined (USB_OTG_FS) || defined (USB_OTG_HS) - -/* Private types -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private constants ---------------------------------------------------------*/ -/* Private macros ------------------------------------------------------------*/ -/** @defgroup PCD_Private_Macros PCD Private Macros - * @{ - */ -#define PCD_MIN(a, b) (((a) < (b)) ? (a) : (b)) -#define PCD_MAX(a, b) (((a) > (b)) ? (a) : (b)) -/** - * @} - */ - -/* Private functions prototypes ----------------------------------------------*/ -/** @defgroup PCD_Private_Functions PCD Private Functions - * @{ - */ -#if defined (USB_OTG_FS) || defined (USB_OTG_HS) -static HAL_StatusTypeDef PCD_WriteEmptyTxFifo(PCD_HandleTypeDef *hpcd, uint32_t epnum); -static HAL_StatusTypeDef PCD_EP_OutXfrComplete_int(PCD_HandleTypeDef *hpcd, uint32_t epnum); -static HAL_StatusTypeDef PCD_EP_OutSetupPacket_int(PCD_HandleTypeDef *hpcd, uint32_t epnum); -#endif /* defined (USB_OTG_FS) || defined (USB_OTG_HS) */ -/** - * @} - */ - -/* Exported functions --------------------------------------------------------*/ -/** @defgroup PCD_Exported_Functions PCD Exported Functions - * @{ - */ - -/** @defgroup PCD_Exported_Functions_Group1 Initialization and de-initialization functions - * @brief Initialization and Configuration functions - * -@verbatim - =============================================================================== - ##### Initialization and de-initialization functions ##### - =============================================================================== - [..] This section provides functions allowing to: - -@endverbatim - * @{ - */ - -/** - * @brief Initializes the PCD according to the specified - * parameters in the PCD_InitTypeDef and initialize the associated handle. - * @param hpcd PCD handle - * @retval HAL status - */ -HAL_StatusTypeDef HAL_PCD_Init(PCD_HandleTypeDef *hpcd) -{ - USB_OTG_GlobalTypeDef *USBx; - uint8_t i; - - /* Check the PCD handle allocation */ - if (hpcd == NULL) - { - return HAL_ERROR; - } - - /* Check the parameters */ - assert_param(IS_PCD_ALL_INSTANCE(hpcd->Instance)); - - USBx = hpcd->Instance; - - if (hpcd->State == HAL_PCD_STATE_RESET) - { - /* Allocate lock resource and initialize it */ - hpcd->Lock = HAL_UNLOCKED; - -#if (USE_HAL_PCD_REGISTER_CALLBACKS == 1U) - hpcd->SOFCallback = HAL_PCD_SOFCallback; - hpcd->SetupStageCallback = HAL_PCD_SetupStageCallback; - hpcd->ResetCallback = HAL_PCD_ResetCallback; - hpcd->SuspendCallback = HAL_PCD_SuspendCallback; - hpcd->ResumeCallback = HAL_PCD_ResumeCallback; - hpcd->ConnectCallback = HAL_PCD_ConnectCallback; - hpcd->DisconnectCallback = HAL_PCD_DisconnectCallback; - hpcd->DataOutStageCallback = HAL_PCD_DataOutStageCallback; - hpcd->DataInStageCallback = HAL_PCD_DataInStageCallback; - hpcd->ISOOUTIncompleteCallback = HAL_PCD_ISOOUTIncompleteCallback; - hpcd->ISOINIncompleteCallback = HAL_PCD_ISOINIncompleteCallback; - hpcd->LPMCallback = HAL_PCDEx_LPM_Callback; - hpcd->BCDCallback = HAL_PCDEx_BCD_Callback; - - if (hpcd->MspInitCallback == NULL) - { - hpcd->MspInitCallback = HAL_PCD_MspInit; - } - - /* Init the low level hardware */ - hpcd->MspInitCallback(hpcd); -#else - /* Init the low level hardware : GPIO, CLOCK, NVIC... */ - HAL_PCD_MspInit(hpcd); -#endif /* (USE_HAL_PCD_REGISTER_CALLBACKS) */ - } - - hpcd->State = HAL_PCD_STATE_BUSY; - - /* Disable DMA mode for FS instance */ - if ((USBx->CID & (0x1U << 8)) == 0U) - { - hpcd->Init.dma_enable = 0U; - } - - /* Disable the Interrupts */ - __HAL_PCD_DISABLE(hpcd); - - /*Init the Core (common init.) */ - if (USB_CoreInit(hpcd->Instance, hpcd->Init) != HAL_OK) - { - hpcd->State = HAL_PCD_STATE_ERROR; - return HAL_ERROR; - } - - /* Force Device Mode*/ - (void)USB_SetCurrentMode(hpcd->Instance, USB_DEVICE_MODE); - - /* Init endpoints structures */ - for (i = 0U; i < hpcd->Init.dev_endpoints; i++) - { - /* Init ep structure */ - hpcd->IN_ep[i].is_in = 1U; - hpcd->IN_ep[i].num = i; - hpcd->IN_ep[i].tx_fifo_num = i; - /* Control until ep is activated */ - hpcd->IN_ep[i].type = EP_TYPE_CTRL; - hpcd->IN_ep[i].maxpacket = 0U; - hpcd->IN_ep[i].xfer_buff = 0U; - hpcd->IN_ep[i].xfer_len = 0U; - } - - for (i = 0U; i < hpcd->Init.dev_endpoints; i++) - { - hpcd->OUT_ep[i].is_in = 0U; - hpcd->OUT_ep[i].num = i; - /* Control until ep is activated */ - hpcd->OUT_ep[i].type = EP_TYPE_CTRL; - hpcd->OUT_ep[i].maxpacket = 0U; - hpcd->OUT_ep[i].xfer_buff = 0U; - hpcd->OUT_ep[i].xfer_len = 0U; - } - - /* Init Device */ - if (USB_DevInit(hpcd->Instance, hpcd->Init) != HAL_OK) - { - hpcd->State = HAL_PCD_STATE_ERROR; - return HAL_ERROR; - } - - hpcd->USB_Address = 0U; - hpcd->State = HAL_PCD_STATE_READY; -#if defined(STM32F446xx) || defined(STM32F469xx) || defined(STM32F479xx) || defined(STM32F412Zx) || defined(STM32F412Vx) || defined(STM32F412Rx) || defined(STM32F412Cx) || defined(STM32F413xx) || defined(STM32F423xx) - /* Activate LPM */ - if (hpcd->Init.lpm_enable == 1U) - { - (void)HAL_PCDEx_ActivateLPM(hpcd); - } -#endif /* defined(STM32F446xx) || defined(STM32F469xx) || defined(STM32F479xx) || defined(STM32F412Zx) || defined(STM32F412Vx) || defined(STM32F412Rx) || defined(STM32F412Cx) || defined(STM32F413xx) || defined(STM32F423xx) */ - (void)USB_DevDisconnect(hpcd->Instance); - - return HAL_OK; -} - -/** - * @brief DeInitializes the PCD peripheral. - * @param hpcd PCD handle - * @retval HAL status - */ -HAL_StatusTypeDef HAL_PCD_DeInit(PCD_HandleTypeDef *hpcd) -{ - /* Check the PCD handle allocation */ - if (hpcd == NULL) - { - return HAL_ERROR; - } - - hpcd->State = HAL_PCD_STATE_BUSY; - - /* Stop Device */ - if (USB_StopDevice(hpcd->Instance) != HAL_OK) - { - return HAL_ERROR; - } - -#if (USE_HAL_PCD_REGISTER_CALLBACKS == 1U) - if (hpcd->MspDeInitCallback == NULL) - { - hpcd->MspDeInitCallback = HAL_PCD_MspDeInit; /* Legacy weak MspDeInit */ - } - - /* DeInit the low level hardware */ - hpcd->MspDeInitCallback(hpcd); -#else - /* DeInit the low level hardware: CLOCK, NVIC.*/ - HAL_PCD_MspDeInit(hpcd); -#endif /* USE_HAL_PCD_REGISTER_CALLBACKS */ - - hpcd->State = HAL_PCD_STATE_RESET; - - return HAL_OK; -} - -/** - * @brief Initializes the PCD MSP. - * @param hpcd PCD handle - * @retval None - */ -__weak void HAL_PCD_MspInit(PCD_HandleTypeDef *hpcd) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hpcd); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_PCD_MspInit could be implemented in the user file - */ -} - -/** - * @brief DeInitializes PCD MSP. - * @param hpcd PCD handle - * @retval None - */ -__weak void HAL_PCD_MspDeInit(PCD_HandleTypeDef *hpcd) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hpcd); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_PCD_MspDeInit could be implemented in the user file - */ -} - -#if (USE_HAL_PCD_REGISTER_CALLBACKS == 1U) -/** - * @brief Register a User USB PCD Callback - * To be used instead of the weak predefined callback - * @param hpcd USB PCD handle - * @param CallbackID ID of the callback to be registered - * This parameter can be one of the following values: - * @arg @ref HAL_PCD_SOF_CB_ID USB PCD SOF callback ID - * @arg @ref HAL_PCD_SETUPSTAGE_CB_ID USB PCD Setup callback ID - * @arg @ref HAL_PCD_RESET_CB_ID USB PCD Reset callback ID - * @arg @ref HAL_PCD_SUSPEND_CB_ID USB PCD Suspend callback ID - * @arg @ref HAL_PCD_RESUME_CB_ID USB PCD Resume callback ID - * @arg @ref HAL_PCD_CONNECT_CB_ID USB PCD Connect callback ID - * @arg @ref HAL_PCD_DISCONNECT_CB_ID OTG PCD Disconnect callback ID - * @arg @ref HAL_PCD_MSPINIT_CB_ID MspDeInit callback ID - * @arg @ref HAL_PCD_MSPDEINIT_CB_ID MspDeInit callback ID - * @param pCallback pointer to the Callback function - * @retval HAL status - */ -HAL_StatusTypeDef HAL_PCD_RegisterCallback(PCD_HandleTypeDef *hpcd, - HAL_PCD_CallbackIDTypeDef CallbackID, - pPCD_CallbackTypeDef pCallback) -{ - HAL_StatusTypeDef status = HAL_OK; - - if (pCallback == NULL) - { - /* Update the error code */ - hpcd->ErrorCode |= HAL_PCD_ERROR_INVALID_CALLBACK; - return HAL_ERROR; - } - /* Process locked */ - __HAL_LOCK(hpcd); - - if (hpcd->State == HAL_PCD_STATE_READY) - { - switch (CallbackID) - { - case HAL_PCD_SOF_CB_ID : - hpcd->SOFCallback = pCallback; - break; - - case HAL_PCD_SETUPSTAGE_CB_ID : - hpcd->SetupStageCallback = pCallback; - break; - - case HAL_PCD_RESET_CB_ID : - hpcd->ResetCallback = pCallback; - break; - - case HAL_PCD_SUSPEND_CB_ID : - hpcd->SuspendCallback = pCallback; - break; - - case HAL_PCD_RESUME_CB_ID : - hpcd->ResumeCallback = pCallback; - break; - - case HAL_PCD_CONNECT_CB_ID : - hpcd->ConnectCallback = pCallback; - break; - - case HAL_PCD_DISCONNECT_CB_ID : - hpcd->DisconnectCallback = pCallback; - break; - - case HAL_PCD_MSPINIT_CB_ID : - hpcd->MspInitCallback = pCallback; - break; - - case HAL_PCD_MSPDEINIT_CB_ID : - hpcd->MspDeInitCallback = pCallback; - break; - - default : - /* Update the error code */ - hpcd->ErrorCode |= HAL_PCD_ERROR_INVALID_CALLBACK; - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else if (hpcd->State == HAL_PCD_STATE_RESET) - { - switch (CallbackID) - { - case HAL_PCD_MSPINIT_CB_ID : - hpcd->MspInitCallback = pCallback; - break; - - case HAL_PCD_MSPDEINIT_CB_ID : - hpcd->MspDeInitCallback = pCallback; - break; - - default : - /* Update the error code */ - hpcd->ErrorCode |= HAL_PCD_ERROR_INVALID_CALLBACK; - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else - { - /* Update the error code */ - hpcd->ErrorCode |= HAL_PCD_ERROR_INVALID_CALLBACK; - /* Return error status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(hpcd); - return status; -} - -/** - * @brief Unregister an USB PCD Callback - * USB PCD callabck is redirected to the weak predefined callback - * @param hpcd USB PCD handle - * @param CallbackID ID of the callback to be unregistered - * This parameter can be one of the following values: - * @arg @ref HAL_PCD_SOF_CB_ID USB PCD SOF callback ID - * @arg @ref HAL_PCD_SETUPSTAGE_CB_ID USB PCD Setup callback ID - * @arg @ref HAL_PCD_RESET_CB_ID USB PCD Reset callback ID - * @arg @ref HAL_PCD_SUSPEND_CB_ID USB PCD Suspend callback ID - * @arg @ref HAL_PCD_RESUME_CB_ID USB PCD Resume callback ID - * @arg @ref HAL_PCD_CONNECT_CB_ID USB PCD Connect callback ID - * @arg @ref HAL_PCD_DISCONNECT_CB_ID OTG PCD Disconnect callback ID - * @arg @ref HAL_PCD_MSPINIT_CB_ID MspDeInit callback ID - * @arg @ref HAL_PCD_MSPDEINIT_CB_ID MspDeInit callback ID - * @retval HAL status - */ -HAL_StatusTypeDef HAL_PCD_UnRegisterCallback(PCD_HandleTypeDef *hpcd, HAL_PCD_CallbackIDTypeDef CallbackID) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Process locked */ - __HAL_LOCK(hpcd); - - /* Setup Legacy weak Callbacks */ - if (hpcd->State == HAL_PCD_STATE_READY) - { - switch (CallbackID) - { - case HAL_PCD_SOF_CB_ID : - hpcd->SOFCallback = HAL_PCD_SOFCallback; - break; - - case HAL_PCD_SETUPSTAGE_CB_ID : - hpcd->SetupStageCallback = HAL_PCD_SetupStageCallback; - break; - - case HAL_PCD_RESET_CB_ID : - hpcd->ResetCallback = HAL_PCD_ResetCallback; - break; - - case HAL_PCD_SUSPEND_CB_ID : - hpcd->SuspendCallback = HAL_PCD_SuspendCallback; - break; - - case HAL_PCD_RESUME_CB_ID : - hpcd->ResumeCallback = HAL_PCD_ResumeCallback; - break; - - case HAL_PCD_CONNECT_CB_ID : - hpcd->ConnectCallback = HAL_PCD_ConnectCallback; - break; - - case HAL_PCD_DISCONNECT_CB_ID : - hpcd->DisconnectCallback = HAL_PCD_DisconnectCallback; - break; - - case HAL_PCD_MSPINIT_CB_ID : - hpcd->MspInitCallback = HAL_PCD_MspInit; - break; - - case HAL_PCD_MSPDEINIT_CB_ID : - hpcd->MspDeInitCallback = HAL_PCD_MspDeInit; - break; - - default : - /* Update the error code */ - hpcd->ErrorCode |= HAL_PCD_ERROR_INVALID_CALLBACK; - - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else if (hpcd->State == HAL_PCD_STATE_RESET) - { - switch (CallbackID) - { - case HAL_PCD_MSPINIT_CB_ID : - hpcd->MspInitCallback = HAL_PCD_MspInit; - break; - - case HAL_PCD_MSPDEINIT_CB_ID : - hpcd->MspDeInitCallback = HAL_PCD_MspDeInit; - break; - - default : - /* Update the error code */ - hpcd->ErrorCode |= HAL_PCD_ERROR_INVALID_CALLBACK; - - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else - { - /* Update the error code */ - hpcd->ErrorCode |= HAL_PCD_ERROR_INVALID_CALLBACK; - - /* Return error status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(hpcd); - return status; -} - -/** - * @brief Register USB PCD Data OUT Stage Callback - * To be used instead of the weak HAL_PCD_DataOutStageCallback() predefined callback - * @param hpcd PCD handle - * @param pCallback pointer to the USB PCD Data OUT Stage Callback function - * @retval HAL status - */ -HAL_StatusTypeDef HAL_PCD_RegisterDataOutStageCallback(PCD_HandleTypeDef *hpcd, - pPCD_DataOutStageCallbackTypeDef pCallback) -{ - HAL_StatusTypeDef status = HAL_OK; - - if (pCallback == NULL) - { - /* Update the error code */ - hpcd->ErrorCode |= HAL_PCD_ERROR_INVALID_CALLBACK; - - return HAL_ERROR; - } - - /* Process locked */ - __HAL_LOCK(hpcd); - - if (hpcd->State == HAL_PCD_STATE_READY) - { - hpcd->DataOutStageCallback = pCallback; - } - else - { - /* Update the error code */ - hpcd->ErrorCode |= HAL_PCD_ERROR_INVALID_CALLBACK; - - /* Return error status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(hpcd); - - return status; -} - -/** - * @brief Unregister the USB PCD Data OUT Stage Callback - * USB PCD Data OUT Stage Callback is redirected to the weak HAL_PCD_DataOutStageCallback() predefined callback - * @param hpcd PCD handle - * @retval HAL status - */ -HAL_StatusTypeDef HAL_PCD_UnRegisterDataOutStageCallback(PCD_HandleTypeDef *hpcd) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Process locked */ - __HAL_LOCK(hpcd); - - if (hpcd->State == HAL_PCD_STATE_READY) - { - hpcd->DataOutStageCallback = HAL_PCD_DataOutStageCallback; /* Legacy weak DataOutStageCallback */ - } - else - { - /* Update the error code */ - hpcd->ErrorCode |= HAL_PCD_ERROR_INVALID_CALLBACK; - - /* Return error status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(hpcd); - - return status; -} - -/** - * @brief Register USB PCD Data IN Stage Callback - * To be used instead of the weak HAL_PCD_DataInStageCallback() predefined callback - * @param hpcd PCD handle - * @param pCallback pointer to the USB PCD Data IN Stage Callback function - * @retval HAL status - */ -HAL_StatusTypeDef HAL_PCD_RegisterDataInStageCallback(PCD_HandleTypeDef *hpcd, - pPCD_DataInStageCallbackTypeDef pCallback) -{ - HAL_StatusTypeDef status = HAL_OK; - - if (pCallback == NULL) - { - /* Update the error code */ - hpcd->ErrorCode |= HAL_PCD_ERROR_INVALID_CALLBACK; - - return HAL_ERROR; - } - - /* Process locked */ - __HAL_LOCK(hpcd); - - if (hpcd->State == HAL_PCD_STATE_READY) - { - hpcd->DataInStageCallback = pCallback; - } - else - { - /* Update the error code */ - hpcd->ErrorCode |= HAL_PCD_ERROR_INVALID_CALLBACK; - - /* Return error status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(hpcd); - - return status; -} - -/** - * @brief Unregister the USB PCD Data IN Stage Callback - * USB PCD Data OUT Stage Callback is redirected to the weak HAL_PCD_DataInStageCallback() predefined callback - * @param hpcd PCD handle - * @retval HAL status - */ -HAL_StatusTypeDef HAL_PCD_UnRegisterDataInStageCallback(PCD_HandleTypeDef *hpcd) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Process locked */ - __HAL_LOCK(hpcd); - - if (hpcd->State == HAL_PCD_STATE_READY) - { - hpcd->DataInStageCallback = HAL_PCD_DataInStageCallback; /* Legacy weak DataInStageCallback */ - } - else - { - /* Update the error code */ - hpcd->ErrorCode |= HAL_PCD_ERROR_INVALID_CALLBACK; - - /* Return error status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(hpcd); - - return status; -} - -/** - * @brief Register USB PCD Iso OUT incomplete Callback - * To be used instead of the weak HAL_PCD_ISOOUTIncompleteCallback() predefined callback - * @param hpcd PCD handle - * @param pCallback pointer to the USB PCD Iso OUT incomplete Callback function - * @retval HAL status - */ -HAL_StatusTypeDef HAL_PCD_RegisterIsoOutIncpltCallback(PCD_HandleTypeDef *hpcd, - pPCD_IsoOutIncpltCallbackTypeDef pCallback) -{ - HAL_StatusTypeDef status = HAL_OK; - - if (pCallback == NULL) - { - /* Update the error code */ - hpcd->ErrorCode |= HAL_PCD_ERROR_INVALID_CALLBACK; - - return HAL_ERROR; - } - - /* Process locked */ - __HAL_LOCK(hpcd); - - if (hpcd->State == HAL_PCD_STATE_READY) - { - hpcd->ISOOUTIncompleteCallback = pCallback; - } - else - { - /* Update the error code */ - hpcd->ErrorCode |= HAL_PCD_ERROR_INVALID_CALLBACK; - - /* Return error status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(hpcd); - - return status; -} - -/** - * @brief Unregister the USB PCD Iso OUT incomplete Callback - * USB PCD Iso OUT incomplete Callback is redirected - * to the weak HAL_PCD_ISOOUTIncompleteCallback() predefined callback - * @param hpcd PCD handle - * @retval HAL status - */ -HAL_StatusTypeDef HAL_PCD_UnRegisterIsoOutIncpltCallback(PCD_HandleTypeDef *hpcd) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Process locked */ - __HAL_LOCK(hpcd); - - if (hpcd->State == HAL_PCD_STATE_READY) - { - hpcd->ISOOUTIncompleteCallback = HAL_PCD_ISOOUTIncompleteCallback; /* Legacy weak ISOOUTIncompleteCallback */ - } - else - { - /* Update the error code */ - hpcd->ErrorCode |= HAL_PCD_ERROR_INVALID_CALLBACK; - - /* Return error status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(hpcd); - - return status; -} - -/** - * @brief Register USB PCD Iso IN incomplete Callback - * To be used instead of the weak HAL_PCD_ISOINIncompleteCallback() predefined callback - * @param hpcd PCD handle - * @param pCallback pointer to the USB PCD Iso IN incomplete Callback function - * @retval HAL status - */ -HAL_StatusTypeDef HAL_PCD_RegisterIsoInIncpltCallback(PCD_HandleTypeDef *hpcd, - pPCD_IsoInIncpltCallbackTypeDef pCallback) -{ - HAL_StatusTypeDef status = HAL_OK; - - if (pCallback == NULL) - { - /* Update the error code */ - hpcd->ErrorCode |= HAL_PCD_ERROR_INVALID_CALLBACK; - - return HAL_ERROR; - } - - /* Process locked */ - __HAL_LOCK(hpcd); - - if (hpcd->State == HAL_PCD_STATE_READY) - { - hpcd->ISOINIncompleteCallback = pCallback; - } - else - { - /* Update the error code */ - hpcd->ErrorCode |= HAL_PCD_ERROR_INVALID_CALLBACK; - - /* Return error status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(hpcd); - - return status; -} - -/** - * @brief Unregister the USB PCD Iso IN incomplete Callback - * USB PCD Iso IN incomplete Callback is redirected - * to the weak HAL_PCD_ISOINIncompleteCallback() predefined callback - * @param hpcd PCD handle - * @retval HAL status - */ -HAL_StatusTypeDef HAL_PCD_UnRegisterIsoInIncpltCallback(PCD_HandleTypeDef *hpcd) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Process locked */ - __HAL_LOCK(hpcd); - - if (hpcd->State == HAL_PCD_STATE_READY) - { - hpcd->ISOINIncompleteCallback = HAL_PCD_ISOINIncompleteCallback; /* Legacy weak ISOINIncompleteCallback */ - } - else - { - /* Update the error code */ - hpcd->ErrorCode |= HAL_PCD_ERROR_INVALID_CALLBACK; - - /* Return error status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(hpcd); - - return status; -} - -/** - * @brief Register USB PCD BCD Callback - * To be used instead of the weak HAL_PCDEx_BCD_Callback() predefined callback - * @param hpcd PCD handle - * @param pCallback pointer to the USB PCD BCD Callback function - * @retval HAL status - */ -HAL_StatusTypeDef HAL_PCD_RegisterBcdCallback(PCD_HandleTypeDef *hpcd, pPCD_BcdCallbackTypeDef pCallback) -{ - HAL_StatusTypeDef status = HAL_OK; - - if (pCallback == NULL) - { - /* Update the error code */ - hpcd->ErrorCode |= HAL_PCD_ERROR_INVALID_CALLBACK; - - return HAL_ERROR; - } - - /* Process locked */ - __HAL_LOCK(hpcd); - - if (hpcd->State == HAL_PCD_STATE_READY) - { - hpcd->BCDCallback = pCallback; - } - else - { - /* Update the error code */ - hpcd->ErrorCode |= HAL_PCD_ERROR_INVALID_CALLBACK; - - /* Return error status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(hpcd); - - return status; -} - -/** - * @brief Unregister the USB PCD BCD Callback - * USB BCD Callback is redirected to the weak HAL_PCDEx_BCD_Callback() predefined callback - * @param hpcd PCD handle - * @retval HAL status - */ -HAL_StatusTypeDef HAL_PCD_UnRegisterBcdCallback(PCD_HandleTypeDef *hpcd) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Process locked */ - __HAL_LOCK(hpcd); - - if (hpcd->State == HAL_PCD_STATE_READY) - { - hpcd->BCDCallback = HAL_PCDEx_BCD_Callback; /* Legacy weak HAL_PCDEx_BCD_Callback */ - } - else - { - /* Update the error code */ - hpcd->ErrorCode |= HAL_PCD_ERROR_INVALID_CALLBACK; - - /* Return error status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(hpcd); - - return status; -} - -/** - * @brief Register USB PCD LPM Callback - * To be used instead of the weak HAL_PCDEx_LPM_Callback() predefined callback - * @param hpcd PCD handle - * @param pCallback pointer to the USB PCD LPM Callback function - * @retval HAL status - */ -HAL_StatusTypeDef HAL_PCD_RegisterLpmCallback(PCD_HandleTypeDef *hpcd, pPCD_LpmCallbackTypeDef pCallback) -{ - HAL_StatusTypeDef status = HAL_OK; - - if (pCallback == NULL) - { - /* Update the error code */ - hpcd->ErrorCode |= HAL_PCD_ERROR_INVALID_CALLBACK; - - return HAL_ERROR; - } - - /* Process locked */ - __HAL_LOCK(hpcd); - - if (hpcd->State == HAL_PCD_STATE_READY) - { - hpcd->LPMCallback = pCallback; - } - else - { - /* Update the error code */ - hpcd->ErrorCode |= HAL_PCD_ERROR_INVALID_CALLBACK; - - /* Return error status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(hpcd); - - return status; -} - -/** - * @brief Unregister the USB PCD LPM Callback - * USB LPM Callback is redirected to the weak HAL_PCDEx_LPM_Callback() predefined callback - * @param hpcd PCD handle - * @retval HAL status - */ -HAL_StatusTypeDef HAL_PCD_UnRegisterLpmCallback(PCD_HandleTypeDef *hpcd) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Process locked */ - __HAL_LOCK(hpcd); - - if (hpcd->State == HAL_PCD_STATE_READY) - { - hpcd->LPMCallback = HAL_PCDEx_LPM_Callback; /* Legacy weak HAL_PCDEx_LPM_Callback */ - } - else - { - /* Update the error code */ - hpcd->ErrorCode |= HAL_PCD_ERROR_INVALID_CALLBACK; - - /* Return error status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(hpcd); - - return status; -} -#endif /* USE_HAL_PCD_REGISTER_CALLBACKS */ - -/** - * @} - */ - -/** @defgroup PCD_Exported_Functions_Group2 Input and Output operation functions - * @brief Data transfers functions - * -@verbatim - =============================================================================== - ##### IO operation functions ##### - =============================================================================== - [..] - This subsection provides a set of functions allowing to manage the PCD data - transfers. - -@endverbatim - * @{ - */ - -/** - * @brief Start the USB device - * @param hpcd PCD handle - * @retval HAL status - */ -HAL_StatusTypeDef HAL_PCD_Start(PCD_HandleTypeDef *hpcd) -{ - USB_OTG_GlobalTypeDef *USBx = hpcd->Instance; - - __HAL_LOCK(hpcd); - - if ((hpcd->Init.battery_charging_enable == 1U) && - (hpcd->Init.phy_itface != USB_OTG_ULPI_PHY)) - { - /* Enable USB Transceiver */ - USBx->GCCFG |= USB_OTG_GCCFG_PWRDWN; - } - - __HAL_PCD_ENABLE(hpcd); - (void)USB_DevConnect(hpcd->Instance); - __HAL_UNLOCK(hpcd); - - return HAL_OK; -} - -/** - * @brief Stop the USB device. - * @param hpcd PCD handle - * @retval HAL status - */ -HAL_StatusTypeDef HAL_PCD_Stop(PCD_HandleTypeDef *hpcd) -{ - USB_OTG_GlobalTypeDef *USBx = hpcd->Instance; - - __HAL_LOCK(hpcd); - __HAL_PCD_DISABLE(hpcd); - (void)USB_DevDisconnect(hpcd->Instance); - - (void)USB_FlushTxFifo(hpcd->Instance, 0x10U); - - if ((hpcd->Init.battery_charging_enable == 1U) && - (hpcd->Init.phy_itface != USB_OTG_ULPI_PHY)) - { - /* Disable USB Transceiver */ - USBx->GCCFG &= ~(USB_OTG_GCCFG_PWRDWN); - } - - __HAL_UNLOCK(hpcd); - - return HAL_OK; -} - -#if defined (USB_OTG_FS) || defined (USB_OTG_HS) -/** - * @brief Handles PCD interrupt request. - * @param hpcd PCD handle - * @retval HAL status - */ -void HAL_PCD_IRQHandler(PCD_HandleTypeDef *hpcd) -{ - USB_OTG_GlobalTypeDef *USBx = hpcd->Instance; - uint32_t USBx_BASE = (uint32_t)USBx; - USB_OTG_EPTypeDef *ep; - uint32_t i; - uint32_t ep_intr; - uint32_t epint; - uint32_t epnum; - uint32_t fifoemptymsk; - uint32_t temp; - - /* ensure that we are in device mode */ - if (USB_GetMode(hpcd->Instance) == USB_OTG_MODE_DEVICE) - { - /* avoid spurious interrupt */ - if (__HAL_PCD_IS_INVALID_INTERRUPT(hpcd)) - { - return; - } - - if (__HAL_PCD_GET_FLAG(hpcd, USB_OTG_GINTSTS_MMIS)) - { - /* incorrect mode, acknowledge the interrupt */ - __HAL_PCD_CLEAR_FLAG(hpcd, USB_OTG_GINTSTS_MMIS); - } - - /* Handle RxQLevel Interrupt */ - if (__HAL_PCD_GET_FLAG(hpcd, USB_OTG_GINTSTS_RXFLVL)) - { - USB_MASK_INTERRUPT(hpcd->Instance, USB_OTG_GINTSTS_RXFLVL); - - temp = USBx->GRXSTSP; - - ep = &hpcd->OUT_ep[temp & USB_OTG_GRXSTSP_EPNUM]; - - if (((temp & USB_OTG_GRXSTSP_PKTSTS) >> 17) == STS_DATA_UPDT) - { - if ((temp & USB_OTG_GRXSTSP_BCNT) != 0U) - { - (void)USB_ReadPacket(USBx, ep->xfer_buff, - (uint16_t)((temp & USB_OTG_GRXSTSP_BCNT) >> 4)); - - ep->xfer_buff += (temp & USB_OTG_GRXSTSP_BCNT) >> 4; - ep->xfer_count += (temp & USB_OTG_GRXSTSP_BCNT) >> 4; - } - } - else if (((temp & USB_OTG_GRXSTSP_PKTSTS) >> 17) == STS_SETUP_UPDT) - { - (void)USB_ReadPacket(USBx, (uint8_t *)hpcd->Setup, 8U); - ep->xfer_count += (temp & USB_OTG_GRXSTSP_BCNT) >> 4; - } - else - { - /* ... */ - } - USB_UNMASK_INTERRUPT(hpcd->Instance, USB_OTG_GINTSTS_RXFLVL); - } - - if (__HAL_PCD_GET_FLAG(hpcd, USB_OTG_GINTSTS_OEPINT)) - { - epnum = 0U; - - /* Read in the device interrupt bits */ - ep_intr = USB_ReadDevAllOutEpInterrupt(hpcd->Instance); - - while (ep_intr != 0U) - { - if ((ep_intr & 0x1U) != 0U) - { - epint = USB_ReadDevOutEPInterrupt(hpcd->Instance, (uint8_t)epnum); - - if ((epint & USB_OTG_DOEPINT_XFRC) == USB_OTG_DOEPINT_XFRC) - { - CLEAR_OUT_EP_INTR(epnum, USB_OTG_DOEPINT_XFRC); - (void)PCD_EP_OutXfrComplete_int(hpcd, epnum); - } - - if ((epint & USB_OTG_DOEPINT_STUP) == USB_OTG_DOEPINT_STUP) - { - CLEAR_OUT_EP_INTR(epnum, USB_OTG_DOEPINT_STUP); - /* Class B setup phase done for previous decoded setup */ - (void)PCD_EP_OutSetupPacket_int(hpcd, epnum); - } - - if ((epint & USB_OTG_DOEPINT_OTEPDIS) == USB_OTG_DOEPINT_OTEPDIS) - { - CLEAR_OUT_EP_INTR(epnum, USB_OTG_DOEPINT_OTEPDIS); - } - - /* Clear Status Phase Received interrupt */ - if ((epint & USB_OTG_DOEPINT_OTEPSPR) == USB_OTG_DOEPINT_OTEPSPR) - { - CLEAR_OUT_EP_INTR(epnum, USB_OTG_DOEPINT_OTEPSPR); - } - - /* Clear OUT NAK interrupt */ - if ((epint & USB_OTG_DOEPINT_NAK) == USB_OTG_DOEPINT_NAK) - { - CLEAR_OUT_EP_INTR(epnum, USB_OTG_DOEPINT_NAK); - } - } - epnum++; - ep_intr >>= 1U; - } - } - - if (__HAL_PCD_GET_FLAG(hpcd, USB_OTG_GINTSTS_IEPINT)) - { - /* Read in the device interrupt bits */ - ep_intr = USB_ReadDevAllInEpInterrupt(hpcd->Instance); - - epnum = 0U; - - while (ep_intr != 0U) - { - if ((ep_intr & 0x1U) != 0U) /* In ITR */ - { - epint = USB_ReadDevInEPInterrupt(hpcd->Instance, (uint8_t)epnum); - - if ((epint & USB_OTG_DIEPINT_XFRC) == USB_OTG_DIEPINT_XFRC) - { - fifoemptymsk = (uint32_t)(0x1UL << (epnum & EP_ADDR_MSK)); - USBx_DEVICE->DIEPEMPMSK &= ~fifoemptymsk; - - CLEAR_IN_EP_INTR(epnum, USB_OTG_DIEPINT_XFRC); - - if (hpcd->Init.dma_enable == 1U) - { - hpcd->IN_ep[epnum].xfer_buff += hpcd->IN_ep[epnum].maxpacket; - - /* this is ZLP, so prepare EP0 for next setup */ - if ((epnum == 0U) && (hpcd->IN_ep[epnum].xfer_len == 0U)) - { - /* prepare to rx more setup packets */ - (void)USB_EP0_OutStart(hpcd->Instance, 1U, (uint8_t *)hpcd->Setup); - } - } - -#if (USE_HAL_PCD_REGISTER_CALLBACKS == 1U) - hpcd->DataInStageCallback(hpcd, (uint8_t)epnum); -#else - HAL_PCD_DataInStageCallback(hpcd, (uint8_t)epnum); -#endif /* USE_HAL_PCD_REGISTER_CALLBACKS */ - } - if ((epint & USB_OTG_DIEPINT_TOC) == USB_OTG_DIEPINT_TOC) - { - CLEAR_IN_EP_INTR(epnum, USB_OTG_DIEPINT_TOC); - } - if ((epint & USB_OTG_DIEPINT_ITTXFE) == USB_OTG_DIEPINT_ITTXFE) - { - CLEAR_IN_EP_INTR(epnum, USB_OTG_DIEPINT_ITTXFE); - } - if ((epint & USB_OTG_DIEPINT_INEPNE) == USB_OTG_DIEPINT_INEPNE) - { - CLEAR_IN_EP_INTR(epnum, USB_OTG_DIEPINT_INEPNE); - } - if ((epint & USB_OTG_DIEPINT_EPDISD) == USB_OTG_DIEPINT_EPDISD) - { - CLEAR_IN_EP_INTR(epnum, USB_OTG_DIEPINT_EPDISD); - } - if ((epint & USB_OTG_DIEPINT_TXFE) == USB_OTG_DIEPINT_TXFE) - { - (void)PCD_WriteEmptyTxFifo(hpcd, epnum); - } - } - epnum++; - ep_intr >>= 1U; - } - } - - /* Handle Resume Interrupt */ - if (__HAL_PCD_GET_FLAG(hpcd, USB_OTG_GINTSTS_WKUINT)) - { - /* Clear the Remote Wake-up Signaling */ - USBx_DEVICE->DCTL &= ~USB_OTG_DCTL_RWUSIG; - - if (hpcd->LPM_State == LPM_L1) - { - hpcd->LPM_State = LPM_L0; - -#if (USE_HAL_PCD_REGISTER_CALLBACKS == 1U) - hpcd->LPMCallback(hpcd, PCD_LPM_L0_ACTIVE); -#else - HAL_PCDEx_LPM_Callback(hpcd, PCD_LPM_L0_ACTIVE); -#endif /* USE_HAL_PCD_REGISTER_CALLBACKS */ - } - else - { -#if (USE_HAL_PCD_REGISTER_CALLBACKS == 1U) - hpcd->ResumeCallback(hpcd); -#else - HAL_PCD_ResumeCallback(hpcd); -#endif /* USE_HAL_PCD_REGISTER_CALLBACKS */ - } - - __HAL_PCD_CLEAR_FLAG(hpcd, USB_OTG_GINTSTS_WKUINT); - } - - /* Handle Suspend Interrupt */ - if (__HAL_PCD_GET_FLAG(hpcd, USB_OTG_GINTSTS_USBSUSP)) - { - if ((USBx_DEVICE->DSTS & USB_OTG_DSTS_SUSPSTS) == USB_OTG_DSTS_SUSPSTS) - { -#if (USE_HAL_PCD_REGISTER_CALLBACKS == 1U) - hpcd->SuspendCallback(hpcd); -#else - HAL_PCD_SuspendCallback(hpcd); -#endif /* USE_HAL_PCD_REGISTER_CALLBACKS */ - } - __HAL_PCD_CLEAR_FLAG(hpcd, USB_OTG_GINTSTS_USBSUSP); - } -#if defined(STM32F446xx) || defined(STM32F469xx) || defined(STM32F479xx) || defined(STM32F412Zx) || defined(STM32F412Vx) || defined(STM32F412Rx) || defined(STM32F412Cx) || defined(STM32F413xx) || defined(STM32F423xx) - /* Handle LPM Interrupt */ - if (__HAL_PCD_GET_FLAG(hpcd, USB_OTG_GINTSTS_LPMINT)) - { - __HAL_PCD_CLEAR_FLAG(hpcd, USB_OTG_GINTSTS_LPMINT); - - if (hpcd->LPM_State == LPM_L0) - { - hpcd->LPM_State = LPM_L1; - hpcd->BESL = (hpcd->Instance->GLPMCFG & USB_OTG_GLPMCFG_BESL) >> 2U; - -#if (USE_HAL_PCD_REGISTER_CALLBACKS == 1U) - hpcd->LPMCallback(hpcd, PCD_LPM_L1_ACTIVE); -#else - HAL_PCDEx_LPM_Callback(hpcd, PCD_LPM_L1_ACTIVE); -#endif /* USE_HAL_PCD_REGISTER_CALLBACKS */ - } - else - { -#if (USE_HAL_PCD_REGISTER_CALLBACKS == 1U) - hpcd->SuspendCallback(hpcd); -#else - HAL_PCD_SuspendCallback(hpcd); -#endif /* USE_HAL_PCD_REGISTER_CALLBACKS */ - } - } -#endif /* defined(STM32F446xx) || defined(STM32F469xx) || defined(STM32F479xx) || defined(STM32F412Zx) || defined(STM32F412Vx) || defined(STM32F412Rx) || defined(STM32F412Cx) || defined(STM32F413xx) || defined(STM32F423xx) */ - /* Handle Reset Interrupt */ - if (__HAL_PCD_GET_FLAG(hpcd, USB_OTG_GINTSTS_USBRST)) - { - USBx_DEVICE->DCTL &= ~USB_OTG_DCTL_RWUSIG; - (void)USB_FlushTxFifo(hpcd->Instance, 0x10U); - - for (i = 0U; i < hpcd->Init.dev_endpoints; i++) - { - USBx_INEP(i)->DIEPINT = 0xFB7FU; - USBx_INEP(i)->DIEPCTL &= ~USB_OTG_DIEPCTL_STALL; - USBx_INEP(i)->DIEPCTL |= USB_OTG_DIEPCTL_SNAK; - USBx_OUTEP(i)->DOEPINT = 0xFB7FU; - USBx_OUTEP(i)->DOEPCTL &= ~USB_OTG_DOEPCTL_STALL; - USBx_OUTEP(i)->DOEPCTL |= USB_OTG_DOEPCTL_SNAK; - } - USBx_DEVICE->DAINTMSK |= 0x10001U; - - if (hpcd->Init.use_dedicated_ep1 != 0U) - { - USBx_DEVICE->DOUTEP1MSK |= USB_OTG_DOEPMSK_STUPM | - USB_OTG_DOEPMSK_XFRCM | - USB_OTG_DOEPMSK_EPDM; - - USBx_DEVICE->DINEP1MSK |= USB_OTG_DIEPMSK_TOM | - USB_OTG_DIEPMSK_XFRCM | - USB_OTG_DIEPMSK_EPDM; - } - else - { - USBx_DEVICE->DOEPMSK |= USB_OTG_DOEPMSK_STUPM | - USB_OTG_DOEPMSK_XFRCM | - USB_OTG_DOEPMSK_EPDM | - USB_OTG_DOEPMSK_OTEPSPRM | - USB_OTG_DOEPMSK_NAKM; - - USBx_DEVICE->DIEPMSK |= USB_OTG_DIEPMSK_TOM | - USB_OTG_DIEPMSK_XFRCM | - USB_OTG_DIEPMSK_EPDM; - } - - /* Set Default Address to 0 */ - USBx_DEVICE->DCFG &= ~USB_OTG_DCFG_DAD; - - /* setup EP0 to receive SETUP packets */ - (void)USB_EP0_OutStart(hpcd->Instance, (uint8_t)hpcd->Init.dma_enable, - (uint8_t *)hpcd->Setup); - - __HAL_PCD_CLEAR_FLAG(hpcd, USB_OTG_GINTSTS_USBRST); - } - - /* Handle Enumeration done Interrupt */ - if (__HAL_PCD_GET_FLAG(hpcd, USB_OTG_GINTSTS_ENUMDNE)) - { - (void)USB_ActivateSetup(hpcd->Instance); - hpcd->Init.speed = USB_GetDevSpeed(hpcd->Instance); - - /* Set USB Turnaround time */ - (void)USB_SetTurnaroundTime(hpcd->Instance, - HAL_RCC_GetHCLKFreq(), - (uint8_t)hpcd->Init.speed); - -#if (USE_HAL_PCD_REGISTER_CALLBACKS == 1U) - hpcd->ResetCallback(hpcd); -#else - HAL_PCD_ResetCallback(hpcd); -#endif /* USE_HAL_PCD_REGISTER_CALLBACKS */ - - __HAL_PCD_CLEAR_FLAG(hpcd, USB_OTG_GINTSTS_ENUMDNE); - } - - /* Handle SOF Interrupt */ - if (__HAL_PCD_GET_FLAG(hpcd, USB_OTG_GINTSTS_SOF)) - { -#if (USE_HAL_PCD_REGISTER_CALLBACKS == 1U) - hpcd->SOFCallback(hpcd); -#else - HAL_PCD_SOFCallback(hpcd); -#endif /* USE_HAL_PCD_REGISTER_CALLBACKS */ - - __HAL_PCD_CLEAR_FLAG(hpcd, USB_OTG_GINTSTS_SOF); - } - - /* Handle Incomplete ISO IN Interrupt */ - if (__HAL_PCD_GET_FLAG(hpcd, USB_OTG_GINTSTS_IISOIXFR)) - { - /* Keep application checking the corresponding Iso IN endpoint - causing the incomplete Interrupt */ - epnum = 0U; - -#if (USE_HAL_PCD_REGISTER_CALLBACKS == 1U) - hpcd->ISOINIncompleteCallback(hpcd, (uint8_t)epnum); -#else - HAL_PCD_ISOINIncompleteCallback(hpcd, (uint8_t)epnum); -#endif /* USE_HAL_PCD_REGISTER_CALLBACKS */ - - __HAL_PCD_CLEAR_FLAG(hpcd, USB_OTG_GINTSTS_IISOIXFR); - } - - /* Handle Incomplete ISO OUT Interrupt */ - if (__HAL_PCD_GET_FLAG(hpcd, USB_OTG_GINTSTS_PXFR_INCOMPISOOUT)) - { - /* Keep application checking the corresponding Iso OUT endpoint - causing the incomplete Interrupt */ - epnum = 0U; - -#if (USE_HAL_PCD_REGISTER_CALLBACKS == 1U) - hpcd->ISOOUTIncompleteCallback(hpcd, (uint8_t)epnum); -#else - HAL_PCD_ISOOUTIncompleteCallback(hpcd, (uint8_t)epnum); -#endif /* USE_HAL_PCD_REGISTER_CALLBACKS */ - - __HAL_PCD_CLEAR_FLAG(hpcd, USB_OTG_GINTSTS_PXFR_INCOMPISOOUT); - } - - /* Handle Connection event Interrupt */ - if (__HAL_PCD_GET_FLAG(hpcd, USB_OTG_GINTSTS_SRQINT)) - { -#if (USE_HAL_PCD_REGISTER_CALLBACKS == 1U) - hpcd->ConnectCallback(hpcd); -#else - HAL_PCD_ConnectCallback(hpcd); -#endif /* USE_HAL_PCD_REGISTER_CALLBACKS */ - - __HAL_PCD_CLEAR_FLAG(hpcd, USB_OTG_GINTSTS_SRQINT); - } - - /* Handle Disconnection event Interrupt */ - if (__HAL_PCD_GET_FLAG(hpcd, USB_OTG_GINTSTS_OTGINT)) - { - temp = hpcd->Instance->GOTGINT; - - if ((temp & USB_OTG_GOTGINT_SEDET) == USB_OTG_GOTGINT_SEDET) - { -#if (USE_HAL_PCD_REGISTER_CALLBACKS == 1U) - hpcd->DisconnectCallback(hpcd); -#else - HAL_PCD_DisconnectCallback(hpcd); -#endif /* USE_HAL_PCD_REGISTER_CALLBACKS */ - } - hpcd->Instance->GOTGINT |= temp; - } - } -} - - -/** - * @brief Handles PCD Wakeup interrupt request. - * @param hpcd PCD handle - * @retval HAL status - */ -void HAL_PCD_WKUP_IRQHandler(PCD_HandleTypeDef *hpcd) -{ - USB_OTG_GlobalTypeDef *USBx; - - USBx = hpcd->Instance; - - if ((USBx->CID & (0x1U << 8)) == 0U) - { - /* Clear EXTI pending Bit */ - __HAL_USB_OTG_FS_WAKEUP_EXTI_CLEAR_FLAG(); - } - else - { - /* Clear EXTI pending Bit */ - __HAL_USB_OTG_HS_WAKEUP_EXTI_CLEAR_FLAG(); - } -} -#endif /* defined (USB_OTG_FS) || defined (USB_OTG_HS) */ - - -/** - * @brief Data OUT stage callback. - * @param hpcd PCD handle - * @param epnum endpoint number - * @retval None - */ -__weak void HAL_PCD_DataOutStageCallback(PCD_HandleTypeDef *hpcd, uint8_t epnum) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hpcd); - UNUSED(epnum); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_PCD_DataOutStageCallback could be implemented in the user file - */ -} - -/** - * @brief Data IN stage callback - * @param hpcd PCD handle - * @param epnum endpoint number - * @retval None - */ -__weak void HAL_PCD_DataInStageCallback(PCD_HandleTypeDef *hpcd, uint8_t epnum) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hpcd); - UNUSED(epnum); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_PCD_DataInStageCallback could be implemented in the user file - */ -} -/** - * @brief Setup stage callback - * @param hpcd PCD handle - * @retval None - */ -__weak void HAL_PCD_SetupStageCallback(PCD_HandleTypeDef *hpcd) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hpcd); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_PCD_SetupStageCallback could be implemented in the user file - */ -} - -/** - * @brief USB Start Of Frame callback. - * @param hpcd PCD handle - * @retval None - */ -__weak void HAL_PCD_SOFCallback(PCD_HandleTypeDef *hpcd) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hpcd); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_PCD_SOFCallback could be implemented in the user file - */ -} - -/** - * @brief USB Reset callback. - * @param hpcd PCD handle - * @retval None - */ -__weak void HAL_PCD_ResetCallback(PCD_HandleTypeDef *hpcd) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hpcd); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_PCD_ResetCallback could be implemented in the user file - */ -} - -/** - * @brief Suspend event callback. - * @param hpcd PCD handle - * @retval None - */ -__weak void HAL_PCD_SuspendCallback(PCD_HandleTypeDef *hpcd) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hpcd); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_PCD_SuspendCallback could be implemented in the user file - */ -} - -/** - * @brief Resume event callback. - * @param hpcd PCD handle - * @retval None - */ -__weak void HAL_PCD_ResumeCallback(PCD_HandleTypeDef *hpcd) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hpcd); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_PCD_ResumeCallback could be implemented in the user file - */ -} - -/** - * @brief Incomplete ISO OUT callback. - * @param hpcd PCD handle - * @param epnum endpoint number - * @retval None - */ -__weak void HAL_PCD_ISOOUTIncompleteCallback(PCD_HandleTypeDef *hpcd, uint8_t epnum) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hpcd); - UNUSED(epnum); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_PCD_ISOOUTIncompleteCallback could be implemented in the user file - */ -} - -/** - * @brief Incomplete ISO IN callback. - * @param hpcd PCD handle - * @param epnum endpoint number - * @retval None - */ -__weak void HAL_PCD_ISOINIncompleteCallback(PCD_HandleTypeDef *hpcd, uint8_t epnum) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hpcd); - UNUSED(epnum); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_PCD_ISOINIncompleteCallback could be implemented in the user file - */ -} - -/** - * @brief Connection event callback. - * @param hpcd PCD handle - * @retval None - */ -__weak void HAL_PCD_ConnectCallback(PCD_HandleTypeDef *hpcd) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hpcd); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_PCD_ConnectCallback could be implemented in the user file - */ -} - -/** - * @brief Disconnection event callback. - * @param hpcd PCD handle - * @retval None - */ -__weak void HAL_PCD_DisconnectCallback(PCD_HandleTypeDef *hpcd) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hpcd); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_PCD_DisconnectCallback could be implemented in the user file - */ -} - -/** - * @} - */ - -/** @defgroup PCD_Exported_Functions_Group3 Peripheral Control functions - * @brief management functions - * -@verbatim - =============================================================================== - ##### Peripheral Control functions ##### - =============================================================================== - [..] - This subsection provides a set of functions allowing to control the PCD data - transfers. - -@endverbatim - * @{ - */ - -/** - * @brief Connect the USB device - * @param hpcd PCD handle - * @retval HAL status - */ -HAL_StatusTypeDef HAL_PCD_DevConnect(PCD_HandleTypeDef *hpcd) -{ - USB_OTG_GlobalTypeDef *USBx = hpcd->Instance; - - __HAL_LOCK(hpcd); - - if ((hpcd->Init.battery_charging_enable == 1U) && - (hpcd->Init.phy_itface != USB_OTG_ULPI_PHY)) - { - /* Enable USB Transceiver */ - USBx->GCCFG |= USB_OTG_GCCFG_PWRDWN; - } - (void)USB_DevConnect(hpcd->Instance); - __HAL_UNLOCK(hpcd); - - return HAL_OK; -} - -/** - * @brief Disconnect the USB device. - * @param hpcd PCD handle - * @retval HAL status - */ -HAL_StatusTypeDef HAL_PCD_DevDisconnect(PCD_HandleTypeDef *hpcd) -{ - USB_OTG_GlobalTypeDef *USBx = hpcd->Instance; - - __HAL_LOCK(hpcd); - (void)USB_DevDisconnect(hpcd->Instance); - - if ((hpcd->Init.battery_charging_enable == 1U) && - (hpcd->Init.phy_itface != USB_OTG_ULPI_PHY)) - { - /* Disable USB Transceiver */ - USBx->GCCFG &= ~(USB_OTG_GCCFG_PWRDWN); - } - - __HAL_UNLOCK(hpcd); - - return HAL_OK; -} - -/** - * @brief Set the USB Device address. - * @param hpcd PCD handle - * @param address new device address - * @retval HAL status - */ -HAL_StatusTypeDef HAL_PCD_SetAddress(PCD_HandleTypeDef *hpcd, uint8_t address) -{ - __HAL_LOCK(hpcd); - hpcd->USB_Address = address; - (void)USB_SetDevAddress(hpcd->Instance, address); - __HAL_UNLOCK(hpcd); - - return HAL_OK; -} -/** - * @brief Open and configure an endpoint. - * @param hpcd PCD handle - * @param ep_addr endpoint address - * @param ep_mps endpoint max packet size - * @param ep_type endpoint type - * @retval HAL status - */ -HAL_StatusTypeDef HAL_PCD_EP_Open(PCD_HandleTypeDef *hpcd, uint8_t ep_addr, - uint16_t ep_mps, uint8_t ep_type) -{ - HAL_StatusTypeDef ret = HAL_OK; - PCD_EPTypeDef *ep; - - if ((ep_addr & 0x80U) == 0x80U) - { - ep = &hpcd->IN_ep[ep_addr & EP_ADDR_MSK]; - ep->is_in = 1U; - } - else - { - ep = &hpcd->OUT_ep[ep_addr & EP_ADDR_MSK]; - ep->is_in = 0U; - } - - ep->num = ep_addr & EP_ADDR_MSK; - ep->maxpacket = ep_mps; - ep->type = ep_type; - - if (ep->is_in != 0U) - { - /* Assign a Tx FIFO */ - ep->tx_fifo_num = ep->num; - } - /* Set initial data PID. */ - if (ep_type == EP_TYPE_BULK) - { - ep->data_pid_start = 0U; - } - - __HAL_LOCK(hpcd); - (void)USB_ActivateEndpoint(hpcd->Instance, ep); - __HAL_UNLOCK(hpcd); - - return ret; -} - -/** - * @brief Deactivate an endpoint. - * @param hpcd PCD handle - * @param ep_addr endpoint address - * @retval HAL status - */ -HAL_StatusTypeDef HAL_PCD_EP_Close(PCD_HandleTypeDef *hpcd, uint8_t ep_addr) -{ - PCD_EPTypeDef *ep; - - if ((ep_addr & 0x80U) == 0x80U) - { - ep = &hpcd->IN_ep[ep_addr & EP_ADDR_MSK]; - ep->is_in = 1U; - } - else - { - ep = &hpcd->OUT_ep[ep_addr & EP_ADDR_MSK]; - ep->is_in = 0U; - } - ep->num = ep_addr & EP_ADDR_MSK; - - __HAL_LOCK(hpcd); - (void)USB_DeactivateEndpoint(hpcd->Instance, ep); - __HAL_UNLOCK(hpcd); - return HAL_OK; -} - - -/** - * @brief Receive an amount of data. - * @param hpcd PCD handle - * @param ep_addr endpoint address - * @param pBuf pointer to the reception buffer - * @param len amount of data to be received - * @retval HAL status - */ -HAL_StatusTypeDef HAL_PCD_EP_Receive(PCD_HandleTypeDef *hpcd, uint8_t ep_addr, uint8_t *pBuf, uint32_t len) -{ - PCD_EPTypeDef *ep; - - ep = &hpcd->OUT_ep[ep_addr & EP_ADDR_MSK]; - - /*setup and start the Xfer */ - ep->xfer_buff = pBuf; - ep->xfer_len = len; - ep->xfer_count = 0U; - ep->is_in = 0U; - ep->num = ep_addr & EP_ADDR_MSK; - - if (hpcd->Init.dma_enable == 1U) - { - ep->dma_addr = (uint32_t)pBuf; - } - - if ((ep_addr & EP_ADDR_MSK) == 0U) - { - (void)USB_EP0StartXfer(hpcd->Instance, ep, (uint8_t)hpcd->Init.dma_enable); - } - else - { - (void)USB_EPStartXfer(hpcd->Instance, ep, (uint8_t)hpcd->Init.dma_enable); - } - - return HAL_OK; -} - -/** - * @brief Get Received Data Size - * @param hpcd PCD handle - * @param ep_addr endpoint address - * @retval Data Size - */ -uint32_t HAL_PCD_EP_GetRxCount(PCD_HandleTypeDef *hpcd, uint8_t ep_addr) -{ - return hpcd->OUT_ep[ep_addr & EP_ADDR_MSK].xfer_count; -} -/** - * @brief Send an amount of data - * @param hpcd PCD handle - * @param ep_addr endpoint address - * @param pBuf pointer to the transmission buffer - * @param len amount of data to be sent - * @retval HAL status - */ -HAL_StatusTypeDef HAL_PCD_EP_Transmit(PCD_HandleTypeDef *hpcd, uint8_t ep_addr, uint8_t *pBuf, uint32_t len) -{ - PCD_EPTypeDef *ep; - - ep = &hpcd->IN_ep[ep_addr & EP_ADDR_MSK]; - - /*setup and start the Xfer */ - ep->xfer_buff = pBuf; - ep->xfer_len = len; - ep->xfer_count = 0U; - ep->is_in = 1U; - ep->num = ep_addr & EP_ADDR_MSK; - - if (hpcd->Init.dma_enable == 1U) - { - ep->dma_addr = (uint32_t)pBuf; - } - - if ((ep_addr & EP_ADDR_MSK) == 0U) - { - (void)USB_EP0StartXfer(hpcd->Instance, ep, (uint8_t)hpcd->Init.dma_enable); - } - else - { - (void)USB_EPStartXfer(hpcd->Instance, ep, (uint8_t)hpcd->Init.dma_enable); - } - - return HAL_OK; -} - -/** - * @brief Set a STALL condition over an endpoint - * @param hpcd PCD handle - * @param ep_addr endpoint address - * @retval HAL status - */ -HAL_StatusTypeDef HAL_PCD_EP_SetStall(PCD_HandleTypeDef *hpcd, uint8_t ep_addr) -{ - PCD_EPTypeDef *ep; - - if (((uint32_t)ep_addr & EP_ADDR_MSK) > hpcd->Init.dev_endpoints) - { - return HAL_ERROR; - } - - if ((0x80U & ep_addr) == 0x80U) - { - ep = &hpcd->IN_ep[ep_addr & EP_ADDR_MSK]; - ep->is_in = 1U; - } - else - { - ep = &hpcd->OUT_ep[ep_addr]; - ep->is_in = 0U; - } - - ep->is_stall = 1U; - ep->num = ep_addr & EP_ADDR_MSK; - - __HAL_LOCK(hpcd); - - (void)USB_EPSetStall(hpcd->Instance, ep); - - if ((ep_addr & EP_ADDR_MSK) == 0U) - { - (void)USB_EP0_OutStart(hpcd->Instance, (uint8_t)hpcd->Init.dma_enable, (uint8_t *)hpcd->Setup); - } - - __HAL_UNLOCK(hpcd); - - return HAL_OK; -} - -/** - * @brief Clear a STALL condition over in an endpoint - * @param hpcd PCD handle - * @param ep_addr endpoint address - * @retval HAL status - */ -HAL_StatusTypeDef HAL_PCD_EP_ClrStall(PCD_HandleTypeDef *hpcd, uint8_t ep_addr) -{ - PCD_EPTypeDef *ep; - - if (((uint32_t)ep_addr & 0x0FU) > hpcd->Init.dev_endpoints) - { - return HAL_ERROR; - } - - if ((0x80U & ep_addr) == 0x80U) - { - ep = &hpcd->IN_ep[ep_addr & EP_ADDR_MSK]; - ep->is_in = 1U; - } - else - { - ep = &hpcd->OUT_ep[ep_addr & EP_ADDR_MSK]; - ep->is_in = 0U; - } - - ep->is_stall = 0U; - ep->num = ep_addr & EP_ADDR_MSK; - - __HAL_LOCK(hpcd); - (void)USB_EPClearStall(hpcd->Instance, ep); - __HAL_UNLOCK(hpcd); - - return HAL_OK; -} - -/** - * @brief Flush an endpoint - * @param hpcd PCD handle - * @param ep_addr endpoint address - * @retval HAL status - */ -HAL_StatusTypeDef HAL_PCD_EP_Flush(PCD_HandleTypeDef *hpcd, uint8_t ep_addr) -{ - __HAL_LOCK(hpcd); - - if ((ep_addr & 0x80U) == 0x80U) - { - (void)USB_FlushTxFifo(hpcd->Instance, (uint32_t)ep_addr & EP_ADDR_MSK); - } - else - { - (void)USB_FlushRxFifo(hpcd->Instance); - } - - __HAL_UNLOCK(hpcd); - - return HAL_OK; -} - -/** - * @brief Activate remote wakeup signalling - * @param hpcd PCD handle - * @retval HAL status - */ -HAL_StatusTypeDef HAL_PCD_ActivateRemoteWakeup(PCD_HandleTypeDef *hpcd) -{ - return (USB_ActivateRemoteWakeup(hpcd->Instance)); -} - -/** - * @brief De-activate remote wakeup signalling. - * @param hpcd PCD handle - * @retval HAL status - */ -HAL_StatusTypeDef HAL_PCD_DeActivateRemoteWakeup(PCD_HandleTypeDef *hpcd) -{ - return (USB_DeActivateRemoteWakeup(hpcd->Instance)); -} - -/** - * @} - */ - -/** @defgroup PCD_Exported_Functions_Group4 Peripheral State functions - * @brief Peripheral State functions - * -@verbatim - =============================================================================== - ##### Peripheral State functions ##### - =============================================================================== - [..] - This subsection permits to get in run-time the status of the peripheral - and the data flow. - -@endverbatim - * @{ - */ - -/** - * @brief Return the PCD handle state. - * @param hpcd PCD handle - * @retval HAL state - */ -PCD_StateTypeDef HAL_PCD_GetState(PCD_HandleTypeDef *hpcd) -{ - return hpcd->State; -} - -/** - * @} - */ - -/** - * @} - */ - -/* Private functions ---------------------------------------------------------*/ -/** @addtogroup PCD_Private_Functions - * @{ - */ -#if defined (USB_OTG_FS) || defined (USB_OTG_HS) -/** - * @brief Check FIFO for the next packet to be loaded. - * @param hpcd PCD handle - * @param epnum endpoint number - * @retval HAL status - */ -static HAL_StatusTypeDef PCD_WriteEmptyTxFifo(PCD_HandleTypeDef *hpcd, uint32_t epnum) -{ - USB_OTG_GlobalTypeDef *USBx = hpcd->Instance; - uint32_t USBx_BASE = (uint32_t)USBx; - USB_OTG_EPTypeDef *ep; - uint32_t len; - uint32_t len32b; - uint32_t fifoemptymsk; - - ep = &hpcd->IN_ep[epnum]; - - if (ep->xfer_count > ep->xfer_len) - { - return HAL_ERROR; - } - - len = ep->xfer_len - ep->xfer_count; - - if (len > ep->maxpacket) - { - len = ep->maxpacket; - } - - len32b = (len + 3U) / 4U; - - while (((USBx_INEP(epnum)->DTXFSTS & USB_OTG_DTXFSTS_INEPTFSAV) >= len32b) && - (ep->xfer_count < ep->xfer_len) && (ep->xfer_len != 0U)) - { - /* Write the FIFO */ - len = ep->xfer_len - ep->xfer_count; - - if (len > ep->maxpacket) - { - len = ep->maxpacket; - } - len32b = (len + 3U) / 4U; - - (void)USB_WritePacket(USBx, ep->xfer_buff, (uint8_t)epnum, (uint16_t)len, - (uint8_t)hpcd->Init.dma_enable); - - ep->xfer_buff += len; - ep->xfer_count += len; - } - - if (ep->xfer_len <= ep->xfer_count) - { - fifoemptymsk = (uint32_t)(0x1UL << (epnum & EP_ADDR_MSK)); - USBx_DEVICE->DIEPEMPMSK &= ~fifoemptymsk; - } - - return HAL_OK; -} - - -/** - * @brief process EP OUT transfer complete interrupt. - * @param hpcd PCD handle - * @param epnum endpoint number - * @retval HAL status - */ -static HAL_StatusTypeDef PCD_EP_OutXfrComplete_int(PCD_HandleTypeDef *hpcd, uint32_t epnum) -{ - USB_OTG_GlobalTypeDef *USBx = hpcd->Instance; - uint32_t USBx_BASE = (uint32_t)USBx; - uint32_t gSNPSiD = *(__IO uint32_t *)(&USBx->CID + 0x1U); - uint32_t DoepintReg = USBx_OUTEP(epnum)->DOEPINT; - - if (hpcd->Init.dma_enable == 1U) - { - if ((DoepintReg & USB_OTG_DOEPINT_STUP) == USB_OTG_DOEPINT_STUP) /* Class C */ - { - /* StupPktRcvd = 1 this is a setup packet */ - if ((gSNPSiD > USB_OTG_CORE_ID_300A) && - ((DoepintReg & USB_OTG_DOEPINT_STPKTRX) == USB_OTG_DOEPINT_STPKTRX)) - { - CLEAR_OUT_EP_INTR(epnum, USB_OTG_DOEPINT_STPKTRX); - } - } - else if ((DoepintReg & USB_OTG_DOEPINT_OTEPSPR) == USB_OTG_DOEPINT_OTEPSPR) /* Class E */ - { - CLEAR_OUT_EP_INTR(epnum, USB_OTG_DOEPINT_OTEPSPR); - } - else if ((DoepintReg & (USB_OTG_DOEPINT_STUP | USB_OTG_DOEPINT_OTEPSPR)) == 0U) - { - /* StupPktRcvd = 1 this is a setup packet */ - if ((gSNPSiD > USB_OTG_CORE_ID_300A) && - ((DoepintReg & USB_OTG_DOEPINT_STPKTRX) == USB_OTG_DOEPINT_STPKTRX)) - { - CLEAR_OUT_EP_INTR(epnum, USB_OTG_DOEPINT_STPKTRX); - } - else - { - /* out data packet received over EP0 */ - hpcd->OUT_ep[epnum].xfer_count = - hpcd->OUT_ep[epnum].maxpacket - - (USBx_OUTEP(epnum)->DOEPTSIZ & USB_OTG_DOEPTSIZ_XFRSIZ); - - hpcd->OUT_ep[epnum].xfer_buff += hpcd->OUT_ep[epnum].maxpacket; - - if ((epnum == 0U) && (hpcd->OUT_ep[epnum].xfer_len == 0U)) - { - /* this is ZLP, so prepare EP0 for next setup */ - (void)USB_EP0_OutStart(hpcd->Instance, 1U, (uint8_t *)hpcd->Setup); - } -#if (USE_HAL_PCD_REGISTER_CALLBACKS == 1U) - hpcd->DataOutStageCallback(hpcd, (uint8_t)epnum); -#else - HAL_PCD_DataOutStageCallback(hpcd, (uint8_t)epnum); -#endif /* USE_HAL_PCD_REGISTER_CALLBACKS */ - } - } - else - { - /* ... */ - } - } - else - { - if (gSNPSiD == USB_OTG_CORE_ID_310A) - { - /* StupPktRcvd = 1 this is a setup packet */ - if ((DoepintReg & USB_OTG_DOEPINT_STPKTRX) == USB_OTG_DOEPINT_STPKTRX) - { - CLEAR_OUT_EP_INTR(epnum, USB_OTG_DOEPINT_STPKTRX); - } - else - { - if ((DoepintReg & USB_OTG_DOEPINT_OTEPSPR) == USB_OTG_DOEPINT_OTEPSPR) - { - CLEAR_OUT_EP_INTR(epnum, USB_OTG_DOEPINT_OTEPSPR); - } - -#if (USE_HAL_PCD_REGISTER_CALLBACKS == 1U) - hpcd->DataOutStageCallback(hpcd, (uint8_t)epnum); -#else - HAL_PCD_DataOutStageCallback(hpcd, (uint8_t)epnum); -#endif /* USE_HAL_PCD_REGISTER_CALLBACKS */ - } - } - else - { - if ((epnum == 0U) && (hpcd->OUT_ep[epnum].xfer_len == 0U)) - { - /* this is ZLP, so prepare EP0 for next setup */ - (void)USB_EP0_OutStart(hpcd->Instance, 0U, (uint8_t *)hpcd->Setup); - } - -#if (USE_HAL_PCD_REGISTER_CALLBACKS == 1U) - hpcd->DataOutStageCallback(hpcd, (uint8_t)epnum); -#else - HAL_PCD_DataOutStageCallback(hpcd, (uint8_t)epnum); -#endif /* USE_HAL_PCD_REGISTER_CALLBACKS */ - } - } - - return HAL_OK; -} - - -/** - * @brief process EP OUT setup packet received interrupt. - * @param hpcd PCD handle - * @param epnum endpoint number - * @retval HAL status - */ -static HAL_StatusTypeDef PCD_EP_OutSetupPacket_int(PCD_HandleTypeDef *hpcd, uint32_t epnum) -{ - USB_OTG_GlobalTypeDef *USBx = hpcd->Instance; - uint32_t USBx_BASE = (uint32_t)USBx; - uint32_t gSNPSiD = *(__IO uint32_t *)(&USBx->CID + 0x1U); - uint32_t DoepintReg = USBx_OUTEP(epnum)->DOEPINT; - - if ((gSNPSiD > USB_OTG_CORE_ID_300A) && - ((DoepintReg & USB_OTG_DOEPINT_STPKTRX) == USB_OTG_DOEPINT_STPKTRX)) - { - CLEAR_OUT_EP_INTR(epnum, USB_OTG_DOEPINT_STPKTRX); - } - - /* Inform the upper layer that a setup packet is available */ -#if (USE_HAL_PCD_REGISTER_CALLBACKS == 1U) - hpcd->SetupStageCallback(hpcd); -#else - HAL_PCD_SetupStageCallback(hpcd); -#endif /* USE_HAL_PCD_REGISTER_CALLBACKS */ - - if ((gSNPSiD > USB_OTG_CORE_ID_300A) && (hpcd->Init.dma_enable == 1U)) - { - (void)USB_EP0_OutStart(hpcd->Instance, 1U, (uint8_t *)hpcd->Setup); - } - - return HAL_OK; -} -#endif /* defined (USB_OTG_FS) || defined (USB_OTG_HS) */ - - -/** - * @} - */ -#endif /* defined (USB_OTG_FS) || defined (USB_OTG_HS) */ -#endif /* HAL_PCD_MODULE_ENABLED */ - -/** - * @} - */ - -/** - * @} - */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pcd_ex.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pcd_ex.c deleted file mode 100644 index 7c7697c67688f0..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pcd_ex.c +++ /dev/null @@ -1,348 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_pcd_ex.c - * @author MCD Application Team - * @brief PCD Extended HAL module driver. - * This file provides firmware functions to manage the following - * functionalities of the USB Peripheral Controller: - * + Extended features functions - * - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @defgroup PCDEx PCDEx - * @brief PCD Extended HAL module driver - * @{ - */ - -#ifdef HAL_PCD_MODULE_ENABLED - -#if defined (USB_OTG_FS) || defined (USB_OTG_HS) -/* Private types -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private constants ---------------------------------------------------------*/ -/* Private macros ------------------------------------------------------------*/ -/* Private functions ---------------------------------------------------------*/ -/* Exported functions --------------------------------------------------------*/ - -/** @defgroup PCDEx_Exported_Functions PCDEx Exported Functions - * @{ - */ - -/** @defgroup PCDEx_Exported_Functions_Group1 Peripheral Control functions - * @brief PCDEx control functions - * -@verbatim - =============================================================================== - ##### Extended features functions ##### - =============================================================================== - [..] This section provides functions allowing to: - (+) Update FIFO configuration - -@endverbatim - * @{ - */ -#if defined (USB_OTG_FS) || defined (USB_OTG_HS) -/** - * @brief Set Tx FIFO - * @param hpcd PCD handle - * @param fifo The number of Tx fifo - * @param size Fifo size - * @retval HAL status - */ -HAL_StatusTypeDef HAL_PCDEx_SetTxFiFo(PCD_HandleTypeDef *hpcd, uint8_t fifo, uint16_t size) -{ - uint8_t i; - uint32_t Tx_Offset; - - /* TXn min size = 16 words. (n : Transmit FIFO index) - When a TxFIFO is not used, the Configuration should be as follows: - case 1 : n > m and Txn is not used (n,m : Transmit FIFO indexes) - --> Txm can use the space allocated for Txn. - case2 : n < m and Txn is not used (n,m : Transmit FIFO indexes) - --> Txn should be configured with the minimum space of 16 words - The FIFO is used optimally when used TxFIFOs are allocated in the top - of the FIFO.Ex: use EP1 and EP2 as IN instead of EP1 and EP3 as IN ones. - When DMA is used 3n * FIFO locations should be reserved for internal DMA registers */ - - Tx_Offset = hpcd->Instance->GRXFSIZ; - - if (fifo == 0U) - { - hpcd->Instance->DIEPTXF0_HNPTXFSIZ = ((uint32_t)size << 16) | Tx_Offset; - } - else - { - Tx_Offset += (hpcd->Instance->DIEPTXF0_HNPTXFSIZ) >> 16; - for (i = 0U; i < (fifo - 1U); i++) - { - Tx_Offset += (hpcd->Instance->DIEPTXF[i] >> 16); - } - - /* Multiply Tx_Size by 2 to get higher performance */ - hpcd->Instance->DIEPTXF[fifo - 1U] = ((uint32_t)size << 16) | Tx_Offset; - } - - return HAL_OK; -} - -/** - * @brief Set Rx FIFO - * @param hpcd PCD handle - * @param size Size of Rx fifo - * @retval HAL status - */ -HAL_StatusTypeDef HAL_PCDEx_SetRxFiFo(PCD_HandleTypeDef *hpcd, uint16_t size) -{ - hpcd->Instance->GRXFSIZ = size; - - return HAL_OK; -} -#if defined(STM32F446xx) || defined(STM32F469xx) || defined(STM32F479xx) || defined(STM32F412Zx) || defined(STM32F412Vx) || defined(STM32F412Rx) || defined(STM32F412Cx) || defined(STM32F413xx) || defined(STM32F423xx) -/** - * @brief Activate LPM feature. - * @param hpcd PCD handle - * @retval HAL status - */ -HAL_StatusTypeDef HAL_PCDEx_ActivateLPM(PCD_HandleTypeDef *hpcd) -{ - USB_OTG_GlobalTypeDef *USBx = hpcd->Instance; - - hpcd->lpm_active = 1U; - hpcd->LPM_State = LPM_L0; - USBx->GINTMSK |= USB_OTG_GINTMSK_LPMINTM; - USBx->GLPMCFG |= (USB_OTG_GLPMCFG_LPMEN | USB_OTG_GLPMCFG_LPMACK | USB_OTG_GLPMCFG_ENBESL); - - return HAL_OK; -} - -/** - * @brief Deactivate LPM feature. - * @param hpcd PCD handle - * @retval HAL status - */ -HAL_StatusTypeDef HAL_PCDEx_DeActivateLPM(PCD_HandleTypeDef *hpcd) -{ - USB_OTG_GlobalTypeDef *USBx = hpcd->Instance; - - hpcd->lpm_active = 0U; - USBx->GINTMSK &= ~USB_OTG_GINTMSK_LPMINTM; - USBx->GLPMCFG &= ~(USB_OTG_GLPMCFG_LPMEN | USB_OTG_GLPMCFG_LPMACK | USB_OTG_GLPMCFG_ENBESL); - - return HAL_OK; -} -#endif /* defined(STM32F446xx) || defined(STM32F469xx) || defined(STM32F479xx) || defined(STM32F412Zx) || defined(STM32F412Vx) || defined(STM32F412Rx) || defined(STM32F412Cx) || defined(STM32F413xx) || defined(STM32F423xx) */ -#if defined(STM32F412Zx) || defined(STM32F412Vx) || defined(STM32F412Rx) || defined(STM32F412Cx) || defined(STM32F413xx) || defined(STM32F423xx) -/** - * @brief Handle BatteryCharging Process. - * @param hpcd PCD handle - * @retval HAL status - */ -void HAL_PCDEx_BCD_VBUSDetect(PCD_HandleTypeDef *hpcd) -{ - USB_OTG_GlobalTypeDef *USBx = hpcd->Instance; - uint32_t tickstart = HAL_GetTick(); - - /* Enable DCD : Data Contact Detect */ - USBx->GCCFG |= USB_OTG_GCCFG_DCDEN; - - /* Wait Detect flag or a timeout is happen */ - while ((USBx->GCCFG & USB_OTG_GCCFG_DCDET) == 0U) - { - /* Check for the Timeout */ - if ((HAL_GetTick() - tickstart) > 1000U) - { -#if (USE_HAL_PCD_REGISTER_CALLBACKS == 1U) - hpcd->BCDCallback(hpcd, PCD_BCD_ERROR); -#else - HAL_PCDEx_BCD_Callback(hpcd, PCD_BCD_ERROR); -#endif /* USE_HAL_PCD_REGISTER_CALLBACKS */ - - return; - } - } - - /* Right response got */ - HAL_Delay(200U); - - /* Check Detect flag*/ - if ((USBx->GCCFG & USB_OTG_GCCFG_DCDET) == USB_OTG_GCCFG_DCDET) - { -#if (USE_HAL_PCD_REGISTER_CALLBACKS == 1U) - hpcd->BCDCallback(hpcd, PCD_BCD_CONTACT_DETECTION); -#else - HAL_PCDEx_BCD_Callback(hpcd, PCD_BCD_CONTACT_DETECTION); -#endif /* USE_HAL_PCD_REGISTER_CALLBACKS */ - } - - /*Primary detection: checks if connected to Standard Downstream Port - (without charging capability) */ - USBx->GCCFG &= ~ USB_OTG_GCCFG_DCDEN; - HAL_Delay(50U); - USBx->GCCFG |= USB_OTG_GCCFG_PDEN; - HAL_Delay(50U); - - if ((USBx->GCCFG & USB_OTG_GCCFG_PDET) == 0U) - { - /* Case of Standard Downstream Port */ -#if (USE_HAL_PCD_REGISTER_CALLBACKS == 1U) - hpcd->BCDCallback(hpcd, PCD_BCD_STD_DOWNSTREAM_PORT); -#else - HAL_PCDEx_BCD_Callback(hpcd, PCD_BCD_STD_DOWNSTREAM_PORT); -#endif /* USE_HAL_PCD_REGISTER_CALLBACKS */ - } - else - { - /* start secondary detection to check connection to Charging Downstream - Port or Dedicated Charging Port */ - USBx->GCCFG &= ~ USB_OTG_GCCFG_PDEN; - HAL_Delay(50U); - USBx->GCCFG |= USB_OTG_GCCFG_SDEN; - HAL_Delay(50U); - - if ((USBx->GCCFG & USB_OTG_GCCFG_SDET) == USB_OTG_GCCFG_SDET) - { - /* case Dedicated Charging Port */ -#if (USE_HAL_PCD_REGISTER_CALLBACKS == 1U) - hpcd->BCDCallback(hpcd, PCD_BCD_DEDICATED_CHARGING_PORT); -#else - HAL_PCDEx_BCD_Callback(hpcd, PCD_BCD_DEDICATED_CHARGING_PORT); -#endif /* USE_HAL_PCD_REGISTER_CALLBACKS */ - } - else - { - /* case Charging Downstream Port */ -#if (USE_HAL_PCD_REGISTER_CALLBACKS == 1U) - hpcd->BCDCallback(hpcd, PCD_BCD_CHARGING_DOWNSTREAM_PORT); -#else - HAL_PCDEx_BCD_Callback(hpcd, PCD_BCD_CHARGING_DOWNSTREAM_PORT); -#endif /* USE_HAL_PCD_REGISTER_CALLBACKS */ - } - } - - /* Battery Charging capability discovery finished */ - (void)HAL_PCDEx_DeActivateBCD(hpcd); - -#if (USE_HAL_PCD_REGISTER_CALLBACKS == 1U) - hpcd->BCDCallback(hpcd, PCD_BCD_DISCOVERY_COMPLETED); -#else - HAL_PCDEx_BCD_Callback(hpcd, PCD_BCD_DISCOVERY_COMPLETED); -#endif /* USE_HAL_PCD_REGISTER_CALLBACKS */ -} - -/** - * @brief Activate BatteryCharging feature. - * @param hpcd PCD handle - * @retval HAL status - */ -HAL_StatusTypeDef HAL_PCDEx_ActivateBCD(PCD_HandleTypeDef *hpcd) -{ - USB_OTG_GlobalTypeDef *USBx = hpcd->Instance; - - USBx->GCCFG &= ~(USB_OTG_GCCFG_PDEN); - USBx->GCCFG &= ~(USB_OTG_GCCFG_SDEN); - - /* Power Down USB transceiver */ - USBx->GCCFG &= ~(USB_OTG_GCCFG_PWRDWN); - - /* Enable Battery charging */ - USBx->GCCFG |= USB_OTG_GCCFG_BCDEN; - - hpcd->battery_charging_active = 1U; - - return HAL_OK; -} - -/** - * @brief Deactivate BatteryCharging feature. - * @param hpcd PCD handle - * @retval HAL status - */ -HAL_StatusTypeDef HAL_PCDEx_DeActivateBCD(PCD_HandleTypeDef *hpcd) -{ - USB_OTG_GlobalTypeDef *USBx = hpcd->Instance; - - USBx->GCCFG &= ~(USB_OTG_GCCFG_SDEN); - USBx->GCCFG &= ~(USB_OTG_GCCFG_PDEN); - - /* Disable Battery charging */ - USBx->GCCFG &= ~(USB_OTG_GCCFG_BCDEN); - - hpcd->battery_charging_active = 0U; - - return HAL_OK; -} -#endif /* defined(STM32F412Zx) || defined(STM32F412Vx) || defined(STM32F412Rx) || defined(STM32F412Cx) || defined(STM32F413xx) || defined(STM32F423xx) */ -#endif /* defined (USB_OTG_FS) || defined (USB_OTG_HS) */ - -/** - * @brief Send LPM message to user layer callback. - * @param hpcd PCD handle - * @param msg LPM message - * @retval HAL status - */ -__weak void HAL_PCDEx_LPM_Callback(PCD_HandleTypeDef *hpcd, PCD_LPM_MsgTypeDef msg) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hpcd); - UNUSED(msg); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_PCDEx_LPM_Callback could be implemented in the user file - */ -} - -/** - * @brief Send BatteryCharging message to user layer callback. - * @param hpcd PCD handle - * @param msg LPM message - * @retval HAL status - */ -__weak void HAL_PCDEx_BCD_Callback(PCD_HandleTypeDef *hpcd, PCD_BCD_MsgTypeDef msg) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hpcd); - UNUSED(msg); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_PCDEx_BCD_Callback could be implemented in the user file - */ -} - -/** - * @} - */ - -/** - * @} - */ -#endif /* defined (USB_OTG_FS) || defined (USB_OTG_HS) */ -#endif /* HAL_PCD_MODULE_ENABLED */ - -/** - * @} - */ - -/** - * @} - */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c deleted file mode 100644 index 5359d69b0e8ef9..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c +++ /dev/null @@ -1,576 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_pwr.c - * @author MCD Application Team - * @brief PWR HAL module driver. - * This file provides firmware functions to manage the following - * functionalities of the Power Controller (PWR) peripheral: - * + Initialization and de-initialization functions - * + Peripheral Control functions - * - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @defgroup PWR PWR - * @brief PWR HAL module driver - * @{ - */ - -#ifdef HAL_PWR_MODULE_ENABLED - -/* Private typedef -----------------------------------------------------------*/ -/* Private define ------------------------------------------------------------*/ -/** @addtogroup PWR_Private_Constants - * @{ - */ - -/** @defgroup PWR_PVD_Mode_Mask PWR PVD Mode Mask - * @{ - */ -#define PVD_MODE_IT 0x00010000U -#define PVD_MODE_EVT 0x00020000U -#define PVD_RISING_EDGE 0x00000001U -#define PVD_FALLING_EDGE 0x00000002U -/** - * @} - */ - -/** - * @} - */ -/* Private macro -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private function prototypes -----------------------------------------------*/ -/* Private functions ---------------------------------------------------------*/ - -/** @defgroup PWR_Exported_Functions PWR Exported Functions - * @{ - */ - -/** @defgroup PWR_Exported_Functions_Group1 Initialization and de-initialization functions - * @brief Initialization and de-initialization functions - * -@verbatim - =============================================================================== - ##### Initialization and de-initialization functions ##### - =============================================================================== - [..] - After reset, the backup domain (RTC registers, RTC backup data - registers and backup SRAM) is protected against possible unwanted - write accesses. - To enable access to the RTC Domain and RTC registers, proceed as follows: - (+) Enable the Power Controller (PWR) APB1 interface clock using the - __HAL_RCC_PWR_CLK_ENABLE() macro. - (+) Enable access to RTC domain using the HAL_PWR_EnableBkUpAccess() function. - -@endverbatim - * @{ - */ - -/** - * @brief Deinitializes the HAL PWR peripheral registers to their default reset values. - * @retval None - */ -void HAL_PWR_DeInit(void) -{ - __HAL_RCC_PWR_FORCE_RESET(); - __HAL_RCC_PWR_RELEASE_RESET(); -} - -/** - * @brief Enables access to the backup domain (RTC registers, RTC - * backup data registers and backup SRAM). - * @note If the HSE divided by 2, 3, ..31 is used as the RTC clock, the - * Backup Domain Access should be kept enabled. - * @note The following sequence is required to bypass the delay between - * DBP bit programming and the effective enabling of the backup domain. - * Please check the Errata Sheet for more details under "Possible delay - * in backup domain protection disabling/enabling after programming the - * DBP bit" section. - * @retval None - */ -void HAL_PWR_EnableBkUpAccess(void) -{ - __IO uint32_t dummyread; - *(__IO uint32_t *) CR_DBP_BB = (uint32_t)ENABLE; - dummyread = PWR->CR; - UNUSED(dummyread); -} - -/** - * @brief Disables access to the backup domain (RTC registers, RTC - * backup data registers and backup SRAM). - * @note If the HSE divided by 2, 3, ..31 is used as the RTC clock, the - * Backup Domain Access should be kept enabled. - * @note The following sequence is required to bypass the delay between - * DBP bit programming and the effective disabling of the backup domain. - * Please check the Errata Sheet for more details under "Possible delay - * in backup domain protection disabling/enabling after programming the - * DBP bit" section. - * @retval None - */ -void HAL_PWR_DisableBkUpAccess(void) -{ - __IO uint32_t dummyread; - *(__IO uint32_t *) CR_DBP_BB = (uint32_t)DISABLE; - dummyread = PWR->CR; - UNUSED(dummyread); -} - -/** - * @} - */ - -/** @defgroup PWR_Exported_Functions_Group2 Peripheral Control functions - * @brief Low Power modes configuration functions - * -@verbatim - - =============================================================================== - ##### Peripheral Control functions ##### - =============================================================================== - - *** PVD configuration *** - ========================= - [..] - (+) The PVD is used to monitor the VDD power supply by comparing it to a - threshold selected by the PVD Level (PLS[2:0] bits in the PWR_CR). - (+) A PVDO flag is available to indicate if VDD/VDDA is higher or lower - than the PVD threshold. This event is internally connected to the EXTI - line16 and can generate an interrupt if enabled. This is done through - __HAL_PWR_PVD_EXTI_ENABLE_IT() macro. - (+) The PVD is stopped in Standby mode. - - *** Wake-up pin configuration *** - ================================ - [..] - (+) Wake-up pin is used to wake up the system from Standby mode. This pin is - forced in input pull-down configuration and is active on rising edges. - (+) There is one Wake-up pin: Wake-up Pin 1 on PA.00. - (++) For STM32F446xx there are two Wake-Up pins: Pin1 on PA.00 and Pin2 on PC.13 - (++) For STM32F410xx/STM32F412xx/STM32F413xx/STM32F423xx there are three Wake-Up pins: Pin1 on PA.00, Pin2 on PC.00 and Pin3 on PC.01 - - *** Low Power modes configuration *** - ===================================== - [..] - The devices feature 3 low-power modes: - (+) Sleep mode: Cortex-M4 core stopped, peripherals kept running. - (+) Stop mode: all clocks are stopped, regulator running, regulator - in low power mode - (+) Standby mode: 1.2V domain powered off. - - *** Sleep mode *** - ================== - [..] - (+) Entry: - The Sleep mode is entered by using the HAL_PWR_EnterSLEEPMode(PWR_MAINREGULATOR_ON, PWR_SLEEPENTRY_WFI) - functions with - (++) PWR_SLEEPENTRY_WFI: enter SLEEP mode with WFI instruction - (++) PWR_SLEEPENTRY_WFE: enter SLEEP mode with WFE instruction - - -@@- The Regulator parameter is not used for the STM32F4 family - and is kept as parameter just to maintain compatibility with the - lower power families (STM32L). - (+) Exit: - Any peripheral interrupt acknowledged by the nested vectored interrupt - controller (NVIC) can wake up the device from Sleep mode. - - *** Stop mode *** - ================= - [..] - In Stop mode, all clocks in the 1.2V domain are stopped, the PLL, the HSI, - and the HSE RC oscillators are disabled. Internal SRAM and register contents - are preserved. - The voltage regulator can be configured either in normal or low-power mode. - To minimize the consumption In Stop mode, FLASH can be powered off before - entering the Stop mode using the HAL_PWREx_EnableFlashPowerDown() function. - It can be switched on again by software after exiting the Stop mode using - the HAL_PWREx_DisableFlashPowerDown() function. - - (+) Entry: - The Stop mode is entered using the HAL_PWR_EnterSTOPMode(PWR_MAINREGULATOR_ON) - function with: - (++) Main regulator ON. - (++) Low Power regulator ON. - (+) Exit: - Any EXTI Line (Internal or External) configured in Interrupt/Event mode. - - *** Standby mode *** - ==================== - [..] - (+) - The Standby mode allows to achieve the lowest power consumption. It is based - on the Cortex-M4 deep sleep mode, with the voltage regulator disabled. - The 1.2V domain is consequently powered off. The PLL, the HSI oscillator and - the HSE oscillator are also switched off. SRAM and register contents are lost - except for the RTC registers, RTC backup registers, backup SRAM and Standby - circuitry. - - The voltage regulator is OFF. - - (++) Entry: - (+++) The Standby mode is entered using the HAL_PWR_EnterSTANDBYMode() function. - (++) Exit: - (+++) WKUP pin rising edge, RTC alarm (Alarm A and Alarm B), RTC wake-up, - tamper event, time-stamp event, external reset in NRST pin, IWDG reset. - - *** Auto-wake-up (AWU) from low-power mode *** - ============================================= - [..] - - (+) The MCU can be woken up from low-power mode by an RTC Alarm event, an RTC - Wake-up event, a tamper event or a time-stamp event, without depending on - an external interrupt (Auto-wake-up mode). - - (+) RTC auto-wake-up (AWU) from the Stop and Standby modes - - (++) To wake up from the Stop mode with an RTC alarm event, it is necessary to - configure the RTC to generate the RTC alarm using the HAL_RTC_SetAlarm_IT() function. - - (++) To wake up from the Stop mode with an RTC Tamper or time stamp event, it - is necessary to configure the RTC to detect the tamper or time stamp event using the - HAL_RTCEx_SetTimeStamp_IT() or HAL_RTCEx_SetTamper_IT() functions. - - (++) To wake up from the Stop mode with an RTC Wake-up event, it is necessary to - configure the RTC to generate the RTC Wake-up event using the HAL_RTCEx_SetWakeUpTimer_IT() function. - -@endverbatim - * @{ - */ - -/** - * @brief Configures the voltage threshold detected by the Power Voltage Detector(PVD). - * @param sConfigPVD pointer to an PWR_PVDTypeDef structure that contains the configuration - * information for the PVD. - * @note Refer to the electrical characteristics of your device datasheet for - * more details about the voltage threshold corresponding to each - * detection level. - * @retval None - */ -void HAL_PWR_ConfigPVD(PWR_PVDTypeDef *sConfigPVD) -{ - /* Check the parameters */ - assert_param(IS_PWR_PVD_LEVEL(sConfigPVD->PVDLevel)); - assert_param(IS_PWR_PVD_MODE(sConfigPVD->Mode)); - - /* Set PLS[7:5] bits according to PVDLevel value */ - MODIFY_REG(PWR->CR, PWR_CR_PLS, sConfigPVD->PVDLevel); - - /* Clear any previous config. Keep it clear if no event or IT mode is selected */ - __HAL_PWR_PVD_EXTI_DISABLE_EVENT(); - __HAL_PWR_PVD_EXTI_DISABLE_IT(); - __HAL_PWR_PVD_EXTI_DISABLE_RISING_EDGE(); - __HAL_PWR_PVD_EXTI_DISABLE_FALLING_EDGE(); - - /* Configure interrupt mode */ - if((sConfigPVD->Mode & PVD_MODE_IT) == PVD_MODE_IT) - { - __HAL_PWR_PVD_EXTI_ENABLE_IT(); - } - - /* Configure event mode */ - if((sConfigPVD->Mode & PVD_MODE_EVT) == PVD_MODE_EVT) - { - __HAL_PWR_PVD_EXTI_ENABLE_EVENT(); - } - - /* Configure the edge */ - if((sConfigPVD->Mode & PVD_RISING_EDGE) == PVD_RISING_EDGE) - { - __HAL_PWR_PVD_EXTI_ENABLE_RISING_EDGE(); - } - - if((sConfigPVD->Mode & PVD_FALLING_EDGE) == PVD_FALLING_EDGE) - { - __HAL_PWR_PVD_EXTI_ENABLE_FALLING_EDGE(); - } -} - -/** - * @brief Enables the Power Voltage Detector(PVD). - * @retval None - */ -void HAL_PWR_EnablePVD(void) -{ - *(__IO uint32_t *) CR_PVDE_BB = (uint32_t)ENABLE; -} - -/** - * @brief Disables the Power Voltage Detector(PVD). - * @retval None - */ -void HAL_PWR_DisablePVD(void) -{ - *(__IO uint32_t *) CR_PVDE_BB = (uint32_t)DISABLE; -} - -/** - * @brief Enables the Wake-up PINx functionality. - * @param WakeUpPinx Specifies the Power Wake-Up pin to enable. - * This parameter can be one of the following values: - * @arg PWR_WAKEUP_PIN1 - * @arg PWR_WAKEUP_PIN2 available only on STM32F410xx/STM32F446xx/STM32F412xx/STM32F413xx/STM32F423xx devices - * @arg PWR_WAKEUP_PIN3 available only on STM32F410xx/STM32F412xx/STM32F413xx/STM32F423xx devices - * @retval None - */ -void HAL_PWR_EnableWakeUpPin(uint32_t WakeUpPinx) -{ - /* Check the parameter */ - assert_param(IS_PWR_WAKEUP_PIN(WakeUpPinx)); - - /* Enable the wake up pin */ - SET_BIT(PWR->CSR, WakeUpPinx); -} - -/** - * @brief Disables the Wake-up PINx functionality. - * @param WakeUpPinx Specifies the Power Wake-Up pin to disable. - * This parameter can be one of the following values: - * @arg PWR_WAKEUP_PIN1 - * @arg PWR_WAKEUP_PIN2 available only on STM32F410xx/STM32F446xx/STM32F412xx/STM32F413xx/STM32F423xx devices - * @arg PWR_WAKEUP_PIN3 available only on STM32F410xx/STM32F412xx/STM32F413xx/STM32F423xx devices - * @retval None - */ -void HAL_PWR_DisableWakeUpPin(uint32_t WakeUpPinx) -{ - /* Check the parameter */ - assert_param(IS_PWR_WAKEUP_PIN(WakeUpPinx)); - - /* Disable the wake up pin */ - CLEAR_BIT(PWR->CSR, WakeUpPinx); -} - -/** - * @brief Enters Sleep mode. - * - * @note In Sleep mode, all I/O pins keep the same state as in Run mode. - * - * @note In Sleep mode, the systick is stopped to avoid exit from this mode with - * systick interrupt when used as time base for Timeout - * - * @param Regulator Specifies the regulator state in SLEEP mode. - * This parameter can be one of the following values: - * @arg PWR_MAINREGULATOR_ON: SLEEP mode with regulator ON - * @arg PWR_LOWPOWERREGULATOR_ON: SLEEP mode with low power regulator ON - * @note This parameter is not used for the STM32F4 family and is kept as parameter - * just to maintain compatibility with the lower power families. - * @param SLEEPEntry Specifies if SLEEP mode in entered with WFI or WFE instruction. - * This parameter can be one of the following values: - * @arg PWR_SLEEPENTRY_WFI: enter SLEEP mode with WFI instruction - * @arg PWR_SLEEPENTRY_WFE: enter SLEEP mode with WFE instruction - * @retval None - */ -void HAL_PWR_EnterSLEEPMode(uint32_t Regulator, uint8_t SLEEPEntry) -{ - /* Check the parameters */ - assert_param(IS_PWR_REGULATOR(Regulator)); - assert_param(IS_PWR_SLEEP_ENTRY(SLEEPEntry)); - UNUSED(Regulator); - - /* Clear SLEEPDEEP bit of Cortex System Control Register */ - CLEAR_BIT(SCB->SCR, ((uint32_t)SCB_SCR_SLEEPDEEP_Msk)); - - /* Select SLEEP mode entry -------------------------------------------------*/ - if(SLEEPEntry == PWR_SLEEPENTRY_WFI) - { - /* Request Wait For Interrupt */ - __WFI(); - } - else - { - /* Request Wait For Event */ - __SEV(); - __WFE(); - __WFE(); - } -} - -/** - * @brief Enters Stop mode. - * @note In Stop mode, all I/O pins keep the same state as in Run mode. - * @note When exiting Stop mode by issuing an interrupt or a wake-up event, - * the HSI RC oscillator is selected as system clock. - * @note When the voltage regulator operates in low power mode, an additional - * startup delay is incurred when waking up from Stop mode. - * By keeping the internal regulator ON during Stop mode, the consumption - * is higher although the startup time is reduced. - * @param Regulator Specifies the regulator state in Stop mode. - * This parameter can be one of the following values: - * @arg PWR_MAINREGULATOR_ON: Stop mode with regulator ON - * @arg PWR_LOWPOWERREGULATOR_ON: Stop mode with low power regulator ON - * @param STOPEntry Specifies if Stop mode in entered with WFI or WFE instruction. - * This parameter can be one of the following values: - * @arg PWR_STOPENTRY_WFI: Enter Stop mode with WFI instruction - * @arg PWR_STOPENTRY_WFE: Enter Stop mode with WFE instruction - * @retval None - */ -void HAL_PWR_EnterSTOPMode(uint32_t Regulator, uint8_t STOPEntry) -{ - /* Check the parameters */ - assert_param(IS_PWR_REGULATOR(Regulator)); - assert_param(IS_PWR_STOP_ENTRY(STOPEntry)); - - /* Select the regulator state in Stop mode: Set PDDS and LPDS bits according to PWR_Regulator value */ - MODIFY_REG(PWR->CR, (PWR_CR_PDDS | PWR_CR_LPDS), Regulator); - - /* Set SLEEPDEEP bit of Cortex System Control Register */ - SET_BIT(SCB->SCR, ((uint32_t)SCB_SCR_SLEEPDEEP_Msk)); - - /* Select Stop mode entry --------------------------------------------------*/ - if(STOPEntry == PWR_STOPENTRY_WFI) - { - /* Request Wait For Interrupt */ - __WFI(); - } - else - { - /* Request Wait For Event */ - __SEV(); - __WFE(); - __WFE(); - } - /* Reset SLEEPDEEP bit of Cortex System Control Register */ - CLEAR_BIT(SCB->SCR, ((uint32_t)SCB_SCR_SLEEPDEEP_Msk)); -} - -/** - * @brief Enters Standby mode. - * @note In Standby mode, all I/O pins are high impedance except for: - * - Reset pad (still available) - * - RTC_AF1 pin (PC13) if configured for tamper, time-stamp, RTC - * Alarm out, or RTC clock calibration out. - * - RTC_AF2 pin (PI8) if configured for tamper or time-stamp. - * - WKUP pin 1 (PA0) if enabled. - * @retval None - */ -void HAL_PWR_EnterSTANDBYMode(void) -{ - /* Select Standby mode */ - SET_BIT(PWR->CR, PWR_CR_PDDS); - - /* Set SLEEPDEEP bit of Cortex System Control Register */ - SET_BIT(SCB->SCR, ((uint32_t)SCB_SCR_SLEEPDEEP_Msk)); - - /* This option is used to ensure that store operations are completed */ -#if defined ( __CC_ARM) - __force_stores(); -#endif - /* Request Wait For Interrupt */ - __WFI(); -} - -/** - * @brief This function handles the PWR PVD interrupt request. - * @note This API should be called under the PVD_IRQHandler(). - * @retval None - */ -void HAL_PWR_PVD_IRQHandler(void) -{ - /* Check PWR Exti flag */ - if(__HAL_PWR_PVD_EXTI_GET_FLAG() != RESET) - { - /* PWR PVD interrupt user callback */ - HAL_PWR_PVDCallback(); - - /* Clear PWR Exti pending bit */ - __HAL_PWR_PVD_EXTI_CLEAR_FLAG(); - } -} - -/** - * @brief PWR PVD interrupt callback - * @retval None - */ -__weak void HAL_PWR_PVDCallback(void) -{ - /* NOTE : This function Should not be modified, when the callback is needed, - the HAL_PWR_PVDCallback could be implemented in the user file - */ -} - -/** - * @brief Indicates Sleep-On-Exit when returning from Handler mode to Thread mode. - * @note Set SLEEPONEXIT bit of SCR register. When this bit is set, the processor - * re-enters SLEEP mode when an interruption handling is over. - * Setting this bit is useful when the processor is expected to run only on - * interruptions handling. - * @retval None - */ -void HAL_PWR_EnableSleepOnExit(void) -{ - /* Set SLEEPONEXIT bit of Cortex System Control Register */ - SET_BIT(SCB->SCR, ((uint32_t)SCB_SCR_SLEEPONEXIT_Msk)); -} - -/** - * @brief Disables Sleep-On-Exit feature when returning from Handler mode to Thread mode. - * @note Clears SLEEPONEXIT bit of SCR register. When this bit is set, the processor - * re-enters SLEEP mode when an interruption handling is over. - * @retval None - */ -void HAL_PWR_DisableSleepOnExit(void) -{ - /* Clear SLEEPONEXIT bit of Cortex System Control Register */ - CLEAR_BIT(SCB->SCR, ((uint32_t)SCB_SCR_SLEEPONEXIT_Msk)); -} - -/** - * @brief Enables CORTEX M4 SEVONPEND bit. - * @note Sets SEVONPEND bit of SCR register. When this bit is set, this causes - * WFE to wake up when an interrupt moves from inactive to pended. - * @retval None - */ -void HAL_PWR_EnableSEVOnPend(void) -{ - /* Set SEVONPEND bit of Cortex System Control Register */ - SET_BIT(SCB->SCR, ((uint32_t)SCB_SCR_SEVONPEND_Msk)); -} - -/** - * @brief Disables CORTEX M4 SEVONPEND bit. - * @note Clears SEVONPEND bit of SCR register. When this bit is set, this causes - * WFE to wake up when an interrupt moves from inactive to pended. - * @retval None - */ -void HAL_PWR_DisableSEVOnPend(void) -{ - /* Clear SEVONPEND bit of Cortex System Control Register */ - CLEAR_BIT(SCB->SCR, ((uint32_t)SCB_SCR_SEVONPEND_Msk)); -} - -/** - * @} - */ - -/** - * @} - */ - -#endif /* HAL_PWR_MODULE_ENABLED */ -/** - * @} - */ - -/** - * @} - */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c deleted file mode 100644 index 0d26083a4b1500..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c +++ /dev/null @@ -1,604 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_pwr_ex.c - * @author MCD Application Team - * @brief Extended PWR HAL module driver. - * This file provides firmware functions to manage the following - * functionalities of PWR extension peripheral: - * + Peripheral Extended features functions - * - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @defgroup PWREx PWREx - * @brief PWR HAL module driver - * @{ - */ - -#ifdef HAL_PWR_MODULE_ENABLED - -/* Private typedef -----------------------------------------------------------*/ -/* Private define ------------------------------------------------------------*/ -/** @addtogroup PWREx_Private_Constants - * @{ - */ -#define PWR_OVERDRIVE_TIMEOUT_VALUE 1000U -#define PWR_UDERDRIVE_TIMEOUT_VALUE 1000U -#define PWR_BKPREG_TIMEOUT_VALUE 1000U -#define PWR_VOSRDY_TIMEOUT_VALUE 1000U -/** - * @} - */ - - -/* Private macro -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private function prototypes -----------------------------------------------*/ -/* Private functions ---------------------------------------------------------*/ -/** @defgroup PWREx_Exported_Functions PWREx Exported Functions - * @{ - */ - -/** @defgroup PWREx_Exported_Functions_Group1 Peripheral Extended features functions - * @brief Peripheral Extended features functions - * -@verbatim - - =============================================================================== - ##### Peripheral extended features functions ##### - =============================================================================== - - *** Main and Backup Regulators configuration *** - ================================================ - [..] - (+) The backup domain includes 4 Kbytes of backup SRAM accessible only from - the CPU, and address in 32-bit, 16-bit or 8-bit mode. Its content is - retained even in Standby or VBAT mode when the low power backup regulator - is enabled. It can be considered as an internal EEPROM when VBAT is - always present. You can use the HAL_PWREx_EnableBkUpReg() function to - enable the low power backup regulator. - - (+) When the backup domain is supplied by VDD (analog switch connected to VDD) - the backup SRAM is powered from VDD which replaces the VBAT power supply to - save battery life. - - (+) The backup SRAM is not mass erased by a tamper event. It is read - protected to prevent confidential data, such as cryptographic private - key, from being accessed. The backup SRAM can be erased only through - the Flash interface when a protection level change from level 1 to - level 0 is requested. - -@- Refer to the description of Read protection (RDP) in the Flash - programming manual. - - (+) The main internal regulator can be configured to have a tradeoff between - performance and power consumption when the device does not operate at - the maximum frequency. This is done through __HAL_PWR_MAINREGULATORMODE_CONFIG() - macro which configure VOS bit in PWR_CR register - - Refer to the product datasheets for more details. - - *** FLASH Power Down configuration **** - ======================================= - [..] - (+) By setting the FPDS bit in the PWR_CR register by using the - HAL_PWREx_EnableFlashPowerDown() function, the Flash memory also enters power - down mode when the device enters Stop mode. When the Flash memory - is in power down mode, an additional startup delay is incurred when - waking up from Stop mode. - - (+) For STM32F42xxx/43xxx/446xx/469xx/479xx Devices, the scale can be modified only when the PLL - is OFF and the HSI or HSE clock source is selected as system clock. - The new value programmed is active only when the PLL is ON. - When the PLL is OFF, the voltage scale 3 is automatically selected. - Refer to the datasheets for more details. - - *** Over-Drive and Under-Drive configuration **** - ================================================= - [..] - (+) For STM32F42xxx/43xxx/446xx/469xx/479xx Devices, in Run mode: the main regulator has - 2 operating modes available: - (++) Normal mode: The CPU and core logic operate at maximum frequency at a given - voltage scaling (scale 1, scale 2 or scale 3) - (++) Over-drive mode: This mode allows the CPU and the core logic to operate at a - higher frequency than the normal mode for a given voltage scaling (scale 1, - scale 2 or scale 3). This mode is enabled through HAL_PWREx_EnableOverDrive() function and - disabled by HAL_PWREx_DisableOverDrive() function, to enter or exit from Over-drive mode please follow - the sequence described in Reference manual. - - (+) For STM32F42xxx/43xxx/446xx/469xx/479xx Devices, in Stop mode: the main regulator or low power regulator - supplies a low power voltage to the 1.2V domain, thus preserving the content of registers - and internal SRAM. 2 operating modes are available: - (++) Normal mode: the 1.2V domain is preserved in nominal leakage mode. This mode is only - available when the main regulator or the low power regulator is used in Scale 3 or - low voltage mode. - (++) Under-drive mode: the 1.2V domain is preserved in reduced leakage mode. This mode is only - available when the main regulator or the low power regulator is in low voltage mode. - -@endverbatim - * @{ - */ - -/** - * @brief Enables the Backup Regulator. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_PWREx_EnableBkUpReg(void) -{ - uint32_t tickstart = 0U; - - *(__IO uint32_t *) CSR_BRE_BB = (uint32_t)ENABLE; - - /* Get tick */ - tickstart = HAL_GetTick(); - - /* Wait till Backup regulator ready flag is set */ - while(__HAL_PWR_GET_FLAG(PWR_FLAG_BRR) == RESET) - { - if((HAL_GetTick() - tickstart ) > PWR_BKPREG_TIMEOUT_VALUE) - { - return HAL_TIMEOUT; - } - } - return HAL_OK; -} - -/** - * @brief Disables the Backup Regulator. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_PWREx_DisableBkUpReg(void) -{ - uint32_t tickstart = 0U; - - *(__IO uint32_t *) CSR_BRE_BB = (uint32_t)DISABLE; - - /* Get tick */ - tickstart = HAL_GetTick(); - - /* Wait till Backup regulator ready flag is set */ - while(__HAL_PWR_GET_FLAG(PWR_FLAG_BRR) != RESET) - { - if((HAL_GetTick() - tickstart ) > PWR_BKPREG_TIMEOUT_VALUE) - { - return HAL_TIMEOUT; - } - } - return HAL_OK; -} - -/** - * @brief Enables the Flash Power Down in Stop mode. - * @retval None - */ -void HAL_PWREx_EnableFlashPowerDown(void) -{ - *(__IO uint32_t *) CR_FPDS_BB = (uint32_t)ENABLE; -} - -/** - * @brief Disables the Flash Power Down in Stop mode. - * @retval None - */ -void HAL_PWREx_DisableFlashPowerDown(void) -{ - *(__IO uint32_t *) CR_FPDS_BB = (uint32_t)DISABLE; -} - -/** - * @brief Return Voltage Scaling Range. - * @retval The configured scale for the regulator voltage(VOS bit field). - * The returned value can be one of the following: - * - @arg PWR_REGULATOR_VOLTAGE_SCALE1: Regulator voltage output Scale 1 mode - * - @arg PWR_REGULATOR_VOLTAGE_SCALE2: Regulator voltage output Scale 2 mode - * - @arg PWR_REGULATOR_VOLTAGE_SCALE3: Regulator voltage output Scale 3 mode - */ -uint32_t HAL_PWREx_GetVoltageRange(void) -{ - return (PWR->CR & PWR_CR_VOS); -} - -#if defined(STM32F405xx) || defined(STM32F415xx) || defined(STM32F407xx) || defined(STM32F417xx) -/** - * @brief Configures the main internal regulator output voltage. - * @param VoltageScaling specifies the regulator output voltage to achieve - * a tradeoff between performance and power consumption. - * This parameter can be one of the following values: - * @arg PWR_REGULATOR_VOLTAGE_SCALE1: Regulator voltage output range 1 mode, - * the maximum value of fHCLK = 168 MHz. - * @arg PWR_REGULATOR_VOLTAGE_SCALE2: Regulator voltage output range 2 mode, - * the maximum value of fHCLK = 144 MHz. - * @note When moving from Range 1 to Range 2, the system frequency must be decreased to - * a value below 144 MHz before calling HAL_PWREx_ConfigVoltageScaling() API. - * When moving from Range 2 to Range 1, the system frequency can be increased to - * a value up to 168 MHz after calling HAL_PWREx_ConfigVoltageScaling() API. - * @retval HAL Status - */ -HAL_StatusTypeDef HAL_PWREx_ControlVoltageScaling(uint32_t VoltageScaling) -{ - uint32_t tickstart = 0U; - - assert_param(IS_PWR_VOLTAGE_SCALING_RANGE(VoltageScaling)); - - /* Enable PWR RCC Clock Peripheral */ - __HAL_RCC_PWR_CLK_ENABLE(); - - /* Set Range */ - __HAL_PWR_VOLTAGESCALING_CONFIG(VoltageScaling); - - /* Get Start Tick*/ - tickstart = HAL_GetTick(); - while((__HAL_PWR_GET_FLAG(PWR_FLAG_VOSRDY) == RESET)) - { - if((HAL_GetTick() - tickstart ) > PWR_VOSRDY_TIMEOUT_VALUE) - { - return HAL_TIMEOUT; - } - } - - return HAL_OK; -} - -#elif defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) || \ - defined(STM32F401xC) || defined(STM32F401xE) || defined(STM32F410Tx) || defined(STM32F410Cx) || \ - defined(STM32F410Rx) || defined(STM32F411xE) || defined(STM32F446xx) || defined(STM32F469xx) || \ - defined(STM32F479xx) || defined(STM32F412Zx) || defined(STM32F412Vx) || defined(STM32F412Rx) || \ - defined(STM32F412Cx) || defined(STM32F413xx) || defined(STM32F423xx) -/** - * @brief Configures the main internal regulator output voltage. - * @param VoltageScaling specifies the regulator output voltage to achieve - * a tradeoff between performance and power consumption. - * This parameter can be one of the following values: - * @arg PWR_REGULATOR_VOLTAGE_SCALE1: Regulator voltage output range 1 mode, - * the maximum value of fHCLK is 168 MHz. It can be extended to - * 180 MHz by activating the over-drive mode. - * @arg PWR_REGULATOR_VOLTAGE_SCALE2: Regulator voltage output range 2 mode, - * the maximum value of fHCLK is 144 MHz. It can be extended to, - * 168 MHz by activating the over-drive mode. - * @arg PWR_REGULATOR_VOLTAGE_SCALE3: Regulator voltage output range 3 mode, - * the maximum value of fHCLK is 120 MHz. - * @note To update the system clock frequency(SYSCLK): - * - Set the HSI or HSE as system clock frequency using the HAL_RCC_ClockConfig(). - * - Call the HAL_RCC_OscConfig() to configure the PLL. - * - Call HAL_PWREx_ConfigVoltageScaling() API to adjust the voltage scale. - * - Set the new system clock frequency using the HAL_RCC_ClockConfig(). - * @note The scale can be modified only when the HSI or HSE clock source is selected - * as system clock source, otherwise the API returns HAL_ERROR. - * @note When the PLL is OFF, the voltage scale 3 is automatically selected and the VOS bits - * value in the PWR_CR1 register are not taken in account. - * @note This API forces the PLL state ON to allow the possibility to configure the voltage scale 1 or 2. - * @note The new voltage scale is active only when the PLL is ON. - * @retval HAL Status - */ -HAL_StatusTypeDef HAL_PWREx_ControlVoltageScaling(uint32_t VoltageScaling) -{ - uint32_t tickstart = 0U; - - assert_param(IS_PWR_VOLTAGE_SCALING_RANGE(VoltageScaling)); - - /* Enable PWR RCC Clock Peripheral */ - __HAL_RCC_PWR_CLK_ENABLE(); - - /* Check if the PLL is used as system clock or not */ - if(__HAL_RCC_GET_SYSCLK_SOURCE() != RCC_CFGR_SWS_PLL) - { - /* Disable the main PLL */ - __HAL_RCC_PLL_DISABLE(); - - /* Get Start Tick */ - tickstart = HAL_GetTick(); - /* Wait till PLL is disabled */ - while(__HAL_RCC_GET_FLAG(RCC_FLAG_PLLRDY) != RESET) - { - if((HAL_GetTick() - tickstart ) > PLL_TIMEOUT_VALUE) - { - return HAL_TIMEOUT; - } - } - - /* Set Range */ - __HAL_PWR_VOLTAGESCALING_CONFIG(VoltageScaling); - - /* Enable the main PLL */ - __HAL_RCC_PLL_ENABLE(); - - /* Get Start Tick */ - tickstart = HAL_GetTick(); - /* Wait till PLL is ready */ - while(__HAL_RCC_GET_FLAG(RCC_FLAG_PLLRDY) == RESET) - { - if((HAL_GetTick() - tickstart ) > PLL_TIMEOUT_VALUE) - { - return HAL_TIMEOUT; - } - } - - /* Get Start Tick */ - tickstart = HAL_GetTick(); - while((__HAL_PWR_GET_FLAG(PWR_FLAG_VOSRDY) == RESET)) - { - if((HAL_GetTick() - tickstart ) > PWR_VOSRDY_TIMEOUT_VALUE) - { - return HAL_TIMEOUT; - } - } - } - else - { - return HAL_ERROR; - } - - return HAL_OK; -} -#endif /* STM32F405xx || STM32F415xx || STM32F407xx || STM32F417xx */ - -#if defined(STM32F401xC) || defined(STM32F401xE) || defined(STM32F410Tx) || defined(STM32F410Cx) || defined(STM32F410Rx) ||\ - defined(STM32F411xE) || defined(STM32F412Zx) || defined(STM32F412Vx) || defined(STM32F412Rx) || defined(STM32F412Cx) ||\ - defined(STM32F413xx) || defined(STM32F423xx) -/** - * @brief Enables Main Regulator low voltage mode. - * @note This mode is only available for STM32F401xx/STM32F410xx/STM32F411xx/STM32F412Zx/STM32F412Rx/STM32F412Vx/STM32F412Cx/ - * STM32F413xx/STM32F423xx devices. - * @retval None - */ -void HAL_PWREx_EnableMainRegulatorLowVoltage(void) -{ - *(__IO uint32_t *) CR_MRLVDS_BB = (uint32_t)ENABLE; -} - -/** - * @brief Disables Main Regulator low voltage mode. - * @note This mode is only available for STM32F401xx/STM32F410xx/STM32F411xx/STM32F412Zx/STM32F412Rx/STM32F412Vx/STM32F412Cx/ - * STM32F413xx/STM32F423xxdevices. - * @retval None - */ -void HAL_PWREx_DisableMainRegulatorLowVoltage(void) -{ - *(__IO uint32_t *) CR_MRLVDS_BB = (uint32_t)DISABLE; -} - -/** - * @brief Enables Low Power Regulator low voltage mode. - * @note This mode is only available for STM32F401xx/STM32F410xx/STM32F411xx/STM32F412Zx/STM32F412Rx/STM32F412Vx/STM32F412Cx/ - * STM32F413xx/STM32F423xx devices. - * @retval None - */ -void HAL_PWREx_EnableLowRegulatorLowVoltage(void) -{ - *(__IO uint32_t *) CR_LPLVDS_BB = (uint32_t)ENABLE; -} - -/** - * @brief Disables Low Power Regulator low voltage mode. - * @note This mode is only available for STM32F401xx/STM32F410xx/STM32F411xx/STM32F412Zx/STM32F412Rx/STM32F412Vx/STM32F412Cx/ - * STM32F413xx/STM32F423xx devices. - * @retval None - */ -void HAL_PWREx_DisableLowRegulatorLowVoltage(void) -{ - *(__IO uint32_t *) CR_LPLVDS_BB = (uint32_t)DISABLE; -} - -#endif /* STM32F401xC || STM32F401xE || STM32F410xx || STM32F411xE || STM32F412Zx || STM32F412Rx || STM32F412Vx || STM32F412Cx || - STM32F413xx || STM32F423xx */ - -#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) ||\ - defined(STM32F446xx) || defined(STM32F469xx) || defined(STM32F479xx) -/** - * @brief Activates the Over-Drive mode. - * @note This function can be used only for STM32F42xx/STM32F43xx/STM32F446xx/STM32F469xx/STM32F479xx devices. - * This mode allows the CPU and the core logic to operate at a higher frequency - * than the normal mode for a given voltage scaling (scale 1, scale 2 or scale 3). - * @note It is recommended to enter or exit Over-drive mode when the application is not running - * critical tasks and when the system clock source is either HSI or HSE. - * During the Over-drive switch activation, no peripheral clocks should be enabled. - * The peripheral clocks must be enabled once the Over-drive mode is activated. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_PWREx_EnableOverDrive(void) -{ - uint32_t tickstart = 0U; - - __HAL_RCC_PWR_CLK_ENABLE(); - - /* Enable the Over-drive to extend the clock frequency to 180 Mhz */ - __HAL_PWR_OVERDRIVE_ENABLE(); - - /* Get tick */ - tickstart = HAL_GetTick(); - - while(!__HAL_PWR_GET_FLAG(PWR_FLAG_ODRDY)) - { - if((HAL_GetTick() - tickstart) > PWR_OVERDRIVE_TIMEOUT_VALUE) - { - return HAL_TIMEOUT; - } - } - - /* Enable the Over-drive switch */ - __HAL_PWR_OVERDRIVESWITCHING_ENABLE(); - - /* Get tick */ - tickstart = HAL_GetTick(); - - while(!__HAL_PWR_GET_FLAG(PWR_FLAG_ODSWRDY)) - { - if((HAL_GetTick() - tickstart ) > PWR_OVERDRIVE_TIMEOUT_VALUE) - { - return HAL_TIMEOUT; - } - } - return HAL_OK; -} - -/** - * @brief Deactivates the Over-Drive mode. - * @note This function can be used only for STM32F42xx/STM32F43xx/STM32F446xx/STM32F469xx/STM32F479xx devices. - * This mode allows the CPU and the core logic to operate at a higher frequency - * than the normal mode for a given voltage scaling (scale 1, scale 2 or scale 3). - * @note It is recommended to enter or exit Over-drive mode when the application is not running - * critical tasks and when the system clock source is either HSI or HSE. - * During the Over-drive switch activation, no peripheral clocks should be enabled. - * The peripheral clocks must be enabled once the Over-drive mode is activated. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_PWREx_DisableOverDrive(void) -{ - uint32_t tickstart = 0U; - - __HAL_RCC_PWR_CLK_ENABLE(); - - /* Disable the Over-drive switch */ - __HAL_PWR_OVERDRIVESWITCHING_DISABLE(); - - /* Get tick */ - tickstart = HAL_GetTick(); - - while(__HAL_PWR_GET_FLAG(PWR_FLAG_ODSWRDY)) - { - if((HAL_GetTick() - tickstart) > PWR_OVERDRIVE_TIMEOUT_VALUE) - { - return HAL_TIMEOUT; - } - } - - /* Disable the Over-drive */ - __HAL_PWR_OVERDRIVE_DISABLE(); - - /* Get tick */ - tickstart = HAL_GetTick(); - - while(__HAL_PWR_GET_FLAG(PWR_FLAG_ODRDY)) - { - if((HAL_GetTick() - tickstart) > PWR_OVERDRIVE_TIMEOUT_VALUE) - { - return HAL_TIMEOUT; - } - } - - return HAL_OK; -} - -/** - * @brief Enters in Under-Drive STOP mode. - * - * @note This mode is only available for STM32F42xxx/STM32F43xxx/STM32F446xx/STM32F469xx/STM32F479xx devices. - * - * @note This mode can be selected only when the Under-Drive is already active - * - * @note This mode is enabled only with STOP low power mode. - * In this mode, the 1.2V domain is preserved in reduced leakage mode. This - * mode is only available when the main regulator or the low power regulator - * is in low voltage mode - * - * @note If the Under-drive mode was enabled, it is automatically disabled after - * exiting Stop mode. - * When the voltage regulator operates in Under-drive mode, an additional - * startup delay is induced when waking up from Stop mode. - * - * @note In Stop mode, all I/O pins keep the same state as in Run mode. - * - * @note When exiting Stop mode by issuing an interrupt or a wake-up event, - * the HSI RC oscillator is selected as system clock. - * - * @note When the voltage regulator operates in low power mode, an additional - * startup delay is incurred when waking up from Stop mode. - * By keeping the internal regulator ON during Stop mode, the consumption - * is higher although the startup time is reduced. - * - * @param Regulator specifies the regulator state in STOP mode. - * This parameter can be one of the following values: - * @arg PWR_MAINREGULATOR_UNDERDRIVE_ON: Main Regulator in under-drive mode - * and Flash memory in power-down when the device is in Stop under-drive mode - * @arg PWR_LOWPOWERREGULATOR_UNDERDRIVE_ON: Low Power Regulator in under-drive mode - * and Flash memory in power-down when the device is in Stop under-drive mode - * @param STOPEntry specifies if STOP mode in entered with WFI or WFE instruction. - * This parameter can be one of the following values: - * @arg PWR_SLEEPENTRY_WFI: enter STOP mode with WFI instruction - * @arg PWR_SLEEPENTRY_WFE: enter STOP mode with WFE instruction - * @retval None - */ -HAL_StatusTypeDef HAL_PWREx_EnterUnderDriveSTOPMode(uint32_t Regulator, uint8_t STOPEntry) -{ - uint32_t tmpreg1 = 0U; - - /* Check the parameters */ - assert_param(IS_PWR_REGULATOR_UNDERDRIVE(Regulator)); - assert_param(IS_PWR_STOP_ENTRY(STOPEntry)); - - /* Enable Power ctrl clock */ - __HAL_RCC_PWR_CLK_ENABLE(); - /* Enable the Under-drive Mode ---------------------------------------------*/ - /* Clear Under-drive flag */ - __HAL_PWR_CLEAR_ODRUDR_FLAG(); - - /* Enable the Under-drive */ - __HAL_PWR_UNDERDRIVE_ENABLE(); - - /* Select the regulator state in STOP mode ---------------------------------*/ - tmpreg1 = PWR->CR; - /* Clear PDDS, LPDS, MRLUDS and LPLUDS bits */ - tmpreg1 &= (uint32_t)~(PWR_CR_PDDS | PWR_CR_LPDS | PWR_CR_LPUDS | PWR_CR_MRUDS); - - /* Set LPDS, MRLUDS and LPLUDS bits according to PWR_Regulator value */ - tmpreg1 |= Regulator; - - /* Store the new value */ - PWR->CR = tmpreg1; - - /* Set SLEEPDEEP bit of Cortex System Control Register */ - SCB->SCR |= SCB_SCR_SLEEPDEEP_Msk; - - /* Select STOP mode entry --------------------------------------------------*/ - if(STOPEntry == PWR_SLEEPENTRY_WFI) - { - /* Request Wait For Interrupt */ - __WFI(); - } - else - { - /* Request Wait For Event */ - __WFE(); - } - /* Reset SLEEPDEEP bit of Cortex System Control Register */ - SCB->SCR &= (uint32_t)~((uint32_t)SCB_SCR_SLEEPDEEP_Msk); - - return HAL_OK; -} - -#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || STM32F446xx || STM32F469xx || STM32F479xx */ -/** - * @} - */ - -/** - * @} - */ - -#endif /* HAL_PWR_MODULE_ENABLED */ -/** - * @} - */ - -/** - * @} - */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_qspi.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_qspi.c deleted file mode 100644 index 5763d077501aa3..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_qspi.c +++ /dev/null @@ -1,2903 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_qspi.c - * @author MCD Application Team - * @brief QSPI HAL module driver. - * This file provides firmware functions to manage the following - * functionalities of the QuadSPI interface (QSPI). - * + Initialization and de-initialization functions - * + Indirect functional mode management - * + Memory-mapped functional mode management - * + Auto-polling functional mode management - * + Interrupts and flags management - * + DMA channel configuration for indirect functional mode - * + Errors management and abort functionality - * - * - @verbatim - =============================================================================== - ##### How to use this driver ##### - =============================================================================== - [..] - *** Initialization *** - ====================== - [..] - (#) As prerequisite, fill in the HAL_QSPI_MspInit() : - (++) Enable QuadSPI clock interface with __HAL_RCC_QSPI_CLK_ENABLE(). - (++) Reset QuadSPI Peripheral with __HAL_RCC_QSPI_FORCE_RESET() and __HAL_RCC_QSPI_RELEASE_RESET(). - (++) Enable the clocks for the QuadSPI GPIOS with __HAL_RCC_GPIOx_CLK_ENABLE(). - (++) Configure these QuadSPI pins in alternate mode using HAL_GPIO_Init(). - (++) If interrupt mode is used, enable and configure QuadSPI global - interrupt with HAL_NVIC_SetPriority() and HAL_NVIC_EnableIRQ(). - (++) If DMA mode is used, enable the clocks for the QuadSPI DMA channel - with __HAL_RCC_DMAx_CLK_ENABLE(), configure DMA with HAL_DMA_Init(), - link it with QuadSPI handle using __HAL_LINKDMA(), enable and configure - DMA channel global interrupt with HAL_NVIC_SetPriority() and HAL_NVIC_EnableIRQ(). - (#) Configure the flash size, the clock prescaler, the fifo threshold, the - clock mode, the sample shifting and the CS high time using the HAL_QSPI_Init() function. - - *** Indirect functional mode *** - ================================ - [..] - (#) Configure the command sequence using the HAL_QSPI_Command() or HAL_QSPI_Command_IT() - functions : - (++) Instruction phase : the mode used and if present the instruction opcode. - (++) Address phase : the mode used and if present the size and the address value. - (++) Alternate-bytes phase : the mode used and if present the size and the alternate - bytes values. - (++) Dummy-cycles phase : the number of dummy cycles (mode used is same as data phase). - (++) Data phase : the mode used and if present the number of bytes. - (++) Double Data Rate (DDR) mode : the activation (or not) of this mode and the delay - if activated. - (++) Sending Instruction Only Once (SIOO) mode : the activation (or not) of this mode. - (#) If no data is required for the command, it is sent directly to the memory : - (++) In polling mode, the output of the function is done when the transfer is complete. - (++) In interrupt mode, HAL_QSPI_CmdCpltCallback() will be called when the transfer is complete. - (#) For the indirect write mode, use HAL_QSPI_Transmit(), HAL_QSPI_Transmit_DMA() or - HAL_QSPI_Transmit_IT() after the command configuration : - (++) In polling mode, the output of the function is done when the transfer is complete. - (++) In interrupt mode, HAL_QSPI_FifoThresholdCallback() will be called when the fifo threshold - is reached and HAL_QSPI_TxCpltCallback() will be called when the transfer is complete. - (++) In DMA mode, HAL_QSPI_TxHalfCpltCallback() will be called at the half transfer and - HAL_QSPI_TxCpltCallback() will be called when the transfer is complete. - (#) For the indirect read mode, use HAL_QSPI_Receive(), HAL_QSPI_Receive_DMA() or - HAL_QSPI_Receive_IT() after the command configuration : - (++) In polling mode, the output of the function is done when the transfer is complete. - (++) In interrupt mode, HAL_QSPI_FifoThresholdCallback() will be called when the fifo threshold - is reached and HAL_QSPI_RxCpltCallback() will be called when the transfer is complete. - (++) In DMA mode, HAL_QSPI_RxHalfCpltCallback() will be called at the half transfer and - HAL_QSPI_RxCpltCallback() will be called when the transfer is complete. - - *** Auto-polling functional mode *** - ==================================== - [..] - (#) Configure the command sequence and the auto-polling functional mode using the - HAL_QSPI_AutoPolling() or HAL_QSPI_AutoPolling_IT() functions : - (++) Instruction phase : the mode used and if present the instruction opcode. - (++) Address phase : the mode used and if present the size and the address value. - (++) Alternate-bytes phase : the mode used and if present the size and the alternate - bytes values. - (++) Dummy-cycles phase : the number of dummy cycles (mode used is same as data phase). - (++) Data phase : the mode used. - (++) Double Data Rate (DDR) mode : the activation (or not) of this mode and the delay - if activated. - (++) Sending Instruction Only Once (SIOO) mode : the activation (or not) of this mode. - (++) The size of the status bytes, the match value, the mask used, the match mode (OR/AND), - the polling interval and the automatic stop activation. - (#) After the configuration : - (++) In polling mode, the output of the function is done when the status match is reached. The - automatic stop is activated to avoid an infinite loop. - (++) In interrupt mode, HAL_QSPI_StatusMatchCallback() will be called each time the status match is reached. - - *** Memory-mapped functional mode *** - ===================================== - [..] - (#) Configure the command sequence and the memory-mapped functional mode using the - HAL_QSPI_MemoryMapped() functions : - (++) Instruction phase : the mode used and if present the instruction opcode. - (++) Address phase : the mode used and the size. - (++) Alternate-bytes phase : the mode used and if present the size and the alternate - bytes values. - (++) Dummy-cycles phase : the number of dummy cycles (mode used is same as data phase). - (++) Data phase : the mode used. - (++) Double Data Rate (DDR) mode : the activation (or not) of this mode and the delay - if activated. - (++) Sending Instruction Only Once (SIOO) mode : the activation (or not) of this mode. - (++) The timeout activation and the timeout period. - (#) After the configuration, the QuadSPI will be used as soon as an access on the AHB is done on - the address range. HAL_QSPI_TimeOutCallback() will be called when the timeout expires. - - *** Errors management and abort functionality *** - ================================================= - [..] - (#) HAL_QSPI_GetError() function gives the error raised during the last operation. - (#) HAL_QSPI_Abort() and HAL_QSPI_AbortIT() functions aborts any on-going operation and - flushes the fifo : - (++) In polling mode, the output of the function is done when the transfer - complete bit is set and the busy bit cleared. - (++) In interrupt mode, HAL_QSPI_AbortCpltCallback() will be called when - the transfer complete bit is set. - - *** Control functions *** - ========================= - [..] - (#) HAL_QSPI_GetState() function gives the current state of the HAL QuadSPI driver. - (#) HAL_QSPI_SetTimeout() function configures the timeout value used in the driver. - (#) HAL_QSPI_SetFifoThreshold() function configures the threshold on the Fifo of the QSPI IP. - (#) HAL_QSPI_GetFifoThreshold() function gives the current of the Fifo's threshold - (#) HAL_QSPI_SetFlashID() function configures the index of the flash memory to be accessed. - - *** Callback registration *** - ============================================= - [..] - The compilation define USE_HAL_QSPI_REGISTER_CALLBACKS when set to 1 - allows the user to configure dynamically the driver callbacks. - - Use Functions HAL_QSPI_RegisterCallback() to register a user callback, - it allows to register following callbacks: - (+) ErrorCallback : callback when error occurs. - (+) AbortCpltCallback : callback when abort is completed. - (+) FifoThresholdCallback : callback when the fifo threshold is reached. - (+) CmdCpltCallback : callback when a command without data is completed. - (+) RxCpltCallback : callback when a reception transfer is completed. - (+) TxCpltCallback : callback when a transmission transfer is completed. - (+) RxHalfCpltCallback : callback when half of the reception transfer is completed. - (+) TxHalfCpltCallback : callback when half of the transmission transfer is completed. - (+) StatusMatchCallback : callback when a status match occurs. - (+) TimeOutCallback : callback when the timeout perioed expires. - (+) MspInitCallback : QSPI MspInit. - (+) MspDeInitCallback : QSPI MspDeInit. - This function takes as parameters the HAL peripheral handle, the Callback ID - and a pointer to the user callback function. - - Use function HAL_QSPI_UnRegisterCallback() to reset a callback to the default - weak (surcharged) function. It allows to reset following callbacks: - (+) ErrorCallback : callback when error occurs. - (+) AbortCpltCallback : callback when abort is completed. - (+) FifoThresholdCallback : callback when the fifo threshold is reached. - (+) CmdCpltCallback : callback when a command without data is completed. - (+) RxCpltCallback : callback when a reception transfer is completed. - (+) TxCpltCallback : callback when a transmission transfer is completed. - (+) RxHalfCpltCallback : callback when half of the reception transfer is completed. - (+) TxHalfCpltCallback : callback when half of the transmission transfer is completed. - (+) StatusMatchCallback : callback when a status match occurs. - (+) TimeOutCallback : callback when the timeout perioed expires. - (+) MspInitCallback : QSPI MspInit. - (+) MspDeInitCallback : QSPI MspDeInit. - This function) takes as parameters the HAL peripheral handle and the Callback ID. - - By default, after the HAL_QSPI_Init and if the state is HAL_QSPI_STATE_RESET - all callbacks are reset to the corresponding legacy weak (surcharged) functions. - Exception done for MspInit and MspDeInit callbacks that are respectively - reset to the legacy weak (surcharged) functions in the HAL_QSPI_Init - and HAL_QSPI_DeInit only when these callbacks are null (not registered beforehand). - If not, MspInit or MspDeInit are not null, the HAL_QSPI_Init and HAL_QSPI_DeInit - keep and use the user MspInit/MspDeInit callbacks (registered beforehand) - - Callbacks can be registered/unregistered in READY state only. - Exception done for MspInit/MspDeInit callbacks that can be registered/unregistered - in READY or RESET state, thus registered (user) MspInit/DeInit callbacks can be used - during the Init/DeInit. - In that case first register the MspInit/MspDeInit user callbacks - using HAL_QSPI_RegisterCallback before calling HAL_QSPI_DeInit - or HAL_QSPI_Init function. - - When The compilation define USE_HAL_QSPI_REGISTER_CALLBACKS is set to 0 or - not defined, the callback registering feature is not available - and weak (surcharged) callbacks are used. - - *** Workarounds linked to Silicon Limitation *** - ==================================================== - [..] - (#) Workarounds Implemented inside HAL Driver - (++) Extra data written in the FIFO at the end of a read transfer - - @endverbatim - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal.h" - -#if defined(QUADSPI) - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @defgroup QSPI QSPI - * @brief QSPI HAL module driver - * @{ - */ -#ifdef HAL_QSPI_MODULE_ENABLED - -/* Private typedef -----------------------------------------------------------*/ - -/* Private define ------------------------------------------------------------*/ -/** @defgroup QSPI_Private_Constants QSPI Private Constants - * @{ - */ -#define QSPI_FUNCTIONAL_MODE_INDIRECT_WRITE 0x00000000U /*!Instance)); - assert_param(IS_QSPI_CLOCK_PRESCALER(hqspi->Init.ClockPrescaler)); - assert_param(IS_QSPI_FIFO_THRESHOLD(hqspi->Init.FifoThreshold)); - assert_param(IS_QSPI_SSHIFT(hqspi->Init.SampleShifting)); - assert_param(IS_QSPI_FLASH_SIZE(hqspi->Init.FlashSize)); - assert_param(IS_QSPI_CS_HIGH_TIME(hqspi->Init.ChipSelectHighTime)); - assert_param(IS_QSPI_CLOCK_MODE(hqspi->Init.ClockMode)); - assert_param(IS_QSPI_DUAL_FLASH_MODE(hqspi->Init.DualFlash)); - - if (hqspi->Init.DualFlash != QSPI_DUALFLASH_ENABLE ) - { - assert_param(IS_QSPI_FLASH_ID(hqspi->Init.FlashID)); - } - - if(hqspi->State == HAL_QSPI_STATE_RESET) - { - /* Allocate lock resource and initialize it */ - hqspi->Lock = HAL_UNLOCKED; - -#if (USE_HAL_QSPI_REGISTER_CALLBACKS == 1) - /* Reset Callback pointers in HAL_QSPI_STATE_RESET only */ - hqspi->ErrorCallback = HAL_QSPI_ErrorCallback; - hqspi->AbortCpltCallback = HAL_QSPI_AbortCpltCallback; - hqspi->FifoThresholdCallback = HAL_QSPI_FifoThresholdCallback; - hqspi->CmdCpltCallback = HAL_QSPI_CmdCpltCallback; - hqspi->RxCpltCallback = HAL_QSPI_RxCpltCallback; - hqspi->TxCpltCallback = HAL_QSPI_TxCpltCallback; - hqspi->RxHalfCpltCallback = HAL_QSPI_RxHalfCpltCallback; - hqspi->TxHalfCpltCallback = HAL_QSPI_TxHalfCpltCallback; - hqspi->StatusMatchCallback = HAL_QSPI_StatusMatchCallback; - hqspi->TimeOutCallback = HAL_QSPI_TimeOutCallback; - - if(hqspi->MspInitCallback == NULL) - { - hqspi->MspInitCallback = HAL_QSPI_MspInit; - } - - /* Init the low level hardware */ - hqspi->MspInitCallback(hqspi); -#else - /* Init the low level hardware : GPIO, CLOCK */ - HAL_QSPI_MspInit(hqspi); -#endif - - /* Configure the default timeout for the QSPI memory access */ - HAL_QSPI_SetTimeout(hqspi, HAL_QSPI_TIMEOUT_DEFAULT_VALUE); - } - - /* Configure QSPI FIFO Threshold */ - MODIFY_REG(hqspi->Instance->CR, QUADSPI_CR_FTHRES, - ((hqspi->Init.FifoThreshold - 1U) << QUADSPI_CR_FTHRES_Pos)); - - /* Wait till BUSY flag reset */ - status = QSPI_WaitFlagStateUntilTimeout(hqspi, QSPI_FLAG_BUSY, RESET, tickstart, hqspi->Timeout); - - if(status == HAL_OK) - { - /* Configure QSPI Clock Prescaler and Sample Shift */ - MODIFY_REG(hqspi->Instance->CR, (QUADSPI_CR_PRESCALER | QUADSPI_CR_SSHIFT | QUADSPI_CR_FSEL | QUADSPI_CR_DFM), - ((hqspi->Init.ClockPrescaler << QUADSPI_CR_PRESCALER_Pos) | - hqspi->Init.SampleShifting | hqspi->Init.FlashID | hqspi->Init.DualFlash)); - - /* Configure QSPI Flash Size, CS High Time and Clock Mode */ - MODIFY_REG(hqspi->Instance->DCR, (QUADSPI_DCR_FSIZE | QUADSPI_DCR_CSHT | QUADSPI_DCR_CKMODE), - ((hqspi->Init.FlashSize << QUADSPI_DCR_FSIZE_Pos) | - hqspi->Init.ChipSelectHighTime | hqspi->Init.ClockMode)); - - /* Enable the QSPI peripheral */ - __HAL_QSPI_ENABLE(hqspi); - - /* Set QSPI error code to none */ - hqspi->ErrorCode = HAL_QSPI_ERROR_NONE; - - /* Initialize the QSPI state */ - hqspi->State = HAL_QSPI_STATE_READY; - } - - /* Release Lock */ - __HAL_UNLOCK(hqspi); - - /* Return function status */ - return status; -} - -/** - * @brief De-Initialize the QSPI peripheral. - * @param hqspi : QSPI handle - * @retval HAL status - */ -HAL_StatusTypeDef HAL_QSPI_DeInit(QSPI_HandleTypeDef *hqspi) -{ - /* Check the QSPI handle allocation */ - if(hqspi == NULL) - { - return HAL_ERROR; - } - - /* Disable the QSPI Peripheral Clock */ - __HAL_QSPI_DISABLE(hqspi); - -#if (USE_HAL_QSPI_REGISTER_CALLBACKS == 1) - if(hqspi->MspDeInitCallback == NULL) - { - hqspi->MspDeInitCallback = HAL_QSPI_MspDeInit; - } - - /* DeInit the low level hardware */ - hqspi->MspDeInitCallback(hqspi); -#else - /* DeInit the low level hardware: GPIO, CLOCK, NVIC... */ - HAL_QSPI_MspDeInit(hqspi); -#endif - - /* Set QSPI error code to none */ - hqspi->ErrorCode = HAL_QSPI_ERROR_NONE; - - /* Initialize the QSPI state */ - hqspi->State = HAL_QSPI_STATE_RESET; - - /* Release Lock */ - __HAL_UNLOCK(hqspi); - - return HAL_OK; -} - -/** - * @brief Initialize the QSPI MSP. - * @param hqspi : QSPI handle - * @retval None - */ -__weak void HAL_QSPI_MspInit(QSPI_HandleTypeDef *hqspi) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hqspi); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_QSPI_MspInit can be implemented in the user file - */ -} - -/** - * @brief DeInitialize the QSPI MSP. - * @param hqspi : QSPI handle - * @retval None - */ -__weak void HAL_QSPI_MspDeInit(QSPI_HandleTypeDef *hqspi) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hqspi); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_QSPI_MspDeInit can be implemented in the user file - */ -} - -/** - * @} - */ - -/** @defgroup QSPI_Exported_Functions_Group2 Input and Output operation functions - * @brief QSPI Transmit/Receive functions - * -@verbatim - =============================================================================== - ##### IO operation functions ##### - =============================================================================== - [..] - This subsection provides a set of functions allowing to : - (+) Handle the interrupts. - (+) Handle the command sequence. - (+) Transmit data in blocking, interrupt or DMA mode. - (+) Receive data in blocking, interrupt or DMA mode. - (+) Manage the auto-polling functional mode. - (+) Manage the memory-mapped functional mode. - -@endverbatim - * @{ - */ - -/** - * @brief Handle QSPI interrupt request. - * @param hqspi : QSPI handle - * @retval None - */ -void HAL_QSPI_IRQHandler(QSPI_HandleTypeDef *hqspi) -{ - __IO uint32_t *data_reg; - uint32_t flag = READ_REG(hqspi->Instance->SR); - uint32_t itsource = READ_REG(hqspi->Instance->CR); - - /* QSPI Fifo Threshold interrupt occurred ----------------------------------*/ - if(((flag & QSPI_FLAG_FT) != 0U) && ((itsource & QSPI_IT_FT) != 0U)) - { - data_reg = &hqspi->Instance->DR; - - if(hqspi->State == HAL_QSPI_STATE_BUSY_INDIRECT_TX) - { - /* Transmission process */ - while(__HAL_QSPI_GET_FLAG(hqspi, QSPI_FLAG_FT) != RESET) - { - if (hqspi->TxXferCount > 0U) - { - /* Fill the FIFO until the threshold is reached */ - *((__IO uint8_t *)data_reg) = *hqspi->pTxBuffPtr; - hqspi->pTxBuffPtr++; - hqspi->TxXferCount--; - } - else - { - /* No more data available for the transfer */ - /* Disable the QSPI FIFO Threshold Interrupt */ - __HAL_QSPI_DISABLE_IT(hqspi, QSPI_IT_FT); - break; - } - } - } - else if(hqspi->State == HAL_QSPI_STATE_BUSY_INDIRECT_RX) - { - /* Receiving Process */ - while(__HAL_QSPI_GET_FLAG(hqspi, QSPI_FLAG_FT) != RESET) - { - if (hqspi->RxXferCount > 0U) - { - /* Read the FIFO until the threshold is reached */ - *hqspi->pRxBuffPtr = *((__IO uint8_t *)data_reg); - hqspi->pRxBuffPtr++; - hqspi->RxXferCount--; - } - else - { - /* All data have been received for the transfer */ - /* Disable the QSPI FIFO Threshold Interrupt */ - __HAL_QSPI_DISABLE_IT(hqspi, QSPI_IT_FT); - break; - } - } - } - else - { - /* Nothing to do */ - } - - /* FIFO Threshold callback */ -#if (USE_HAL_QSPI_REGISTER_CALLBACKS == 1) - hqspi->FifoThresholdCallback(hqspi); -#else - HAL_QSPI_FifoThresholdCallback(hqspi); -#endif - } - - /* QSPI Transfer Complete interrupt occurred -------------------------------*/ - else if(((flag & QSPI_FLAG_TC) != 0U) && ((itsource & QSPI_IT_TC) != 0U)) - { - /* Clear interrupt */ - WRITE_REG(hqspi->Instance->FCR, QSPI_FLAG_TC); - - /* Disable the QSPI FIFO Threshold, Transfer Error and Transfer complete Interrupts */ - __HAL_QSPI_DISABLE_IT(hqspi, QSPI_IT_TC | QSPI_IT_TE | QSPI_IT_FT); - - /* Transfer complete callback */ - if(hqspi->State == HAL_QSPI_STATE_BUSY_INDIRECT_TX) - { - if ((hqspi->Instance->CR & QUADSPI_CR_DMAEN) != 0U) - { - /* Disable the DMA transfer by clearing the DMAEN bit in the QSPI CR register */ - CLEAR_BIT(hqspi->Instance->CR, QUADSPI_CR_DMAEN); - - /* Disable the DMA channel */ - __HAL_DMA_DISABLE(hqspi->hdma); - } - - /* Clear Busy bit */ - HAL_QSPI_Abort_IT(hqspi); - - /* Change state of QSPI */ - hqspi->State = HAL_QSPI_STATE_READY; - - /* TX Complete callback */ -#if (USE_HAL_QSPI_REGISTER_CALLBACKS == 1) - hqspi->TxCpltCallback(hqspi); -#else - HAL_QSPI_TxCpltCallback(hqspi); -#endif - } - else if(hqspi->State == HAL_QSPI_STATE_BUSY_INDIRECT_RX) - { - if ((hqspi->Instance->CR & QUADSPI_CR_DMAEN) != 0U) - { - /* Disable the DMA transfer by clearing the DMAEN bit in the QSPI CR register */ - CLEAR_BIT(hqspi->Instance->CR, QUADSPI_CR_DMAEN); - - /* Disable the DMA channel */ - __HAL_DMA_DISABLE(hqspi->hdma); - } - else - { - data_reg = &hqspi->Instance->DR; - while(READ_BIT(hqspi->Instance->SR, QUADSPI_SR_FLEVEL) != 0U) - { - if (hqspi->RxXferCount > 0U) - { - /* Read the last data received in the FIFO until it is empty */ - *hqspi->pRxBuffPtr = *((__IO uint8_t *)data_reg); - hqspi->pRxBuffPtr++; - hqspi->RxXferCount--; - } - else - { - /* All data have been received for the transfer */ - break; - } - } - } - - /* Workaround - Extra data written in the FIFO at the end of a read transfer */ - HAL_QSPI_Abort_IT(hqspi); - - /* Change state of QSPI */ - hqspi->State = HAL_QSPI_STATE_READY; - - /* RX Complete callback */ -#if (USE_HAL_QSPI_REGISTER_CALLBACKS == 1) - hqspi->RxCpltCallback(hqspi); -#else - HAL_QSPI_RxCpltCallback(hqspi); -#endif - } - else if(hqspi->State == HAL_QSPI_STATE_BUSY) - { - /* Change state of QSPI */ - hqspi->State = HAL_QSPI_STATE_READY; - - /* Command Complete callback */ -#if (USE_HAL_QSPI_REGISTER_CALLBACKS == 1) - hqspi->CmdCpltCallback(hqspi); -#else - HAL_QSPI_CmdCpltCallback(hqspi); -#endif - } - else if(hqspi->State == HAL_QSPI_STATE_ABORT) - { - /* Reset functional mode configuration to indirect write mode by default */ - CLEAR_BIT(hqspi->Instance->CCR, QUADSPI_CCR_FMODE); - - /* Change state of QSPI */ - hqspi->State = HAL_QSPI_STATE_READY; - - if (hqspi->ErrorCode == HAL_QSPI_ERROR_NONE) - { - /* Abort called by the user */ - - /* Abort Complete callback */ -#if (USE_HAL_QSPI_REGISTER_CALLBACKS == 1) - hqspi->AbortCpltCallback(hqspi); -#else - HAL_QSPI_AbortCpltCallback(hqspi); -#endif - } - else - { - /* Abort due to an error (eg : DMA error) */ - - /* Error callback */ -#if (USE_HAL_QSPI_REGISTER_CALLBACKS == 1) - hqspi->ErrorCallback(hqspi); -#else - HAL_QSPI_ErrorCallback(hqspi); -#endif - } - } - else - { - /* Nothing to do */ - } - } - - /* QSPI Status Match interrupt occurred ------------------------------------*/ - else if(((flag & QSPI_FLAG_SM) != 0U) && ((itsource & QSPI_IT_SM) != 0U)) - { - /* Clear interrupt */ - WRITE_REG(hqspi->Instance->FCR, QSPI_FLAG_SM); - - /* Check if the automatic poll mode stop is activated */ - if(READ_BIT(hqspi->Instance->CR, QUADSPI_CR_APMS) != 0U) - { - /* Disable the QSPI Transfer Error and Status Match Interrupts */ - __HAL_QSPI_DISABLE_IT(hqspi, (QSPI_IT_SM | QSPI_IT_TE)); - - /* Change state of QSPI */ - hqspi->State = HAL_QSPI_STATE_READY; - } - - /* Status match callback */ -#if (USE_HAL_QSPI_REGISTER_CALLBACKS == 1) - hqspi->StatusMatchCallback(hqspi); -#else - HAL_QSPI_StatusMatchCallback(hqspi); -#endif - } - - /* QSPI Transfer Error interrupt occurred ----------------------------------*/ - else if(((flag & QSPI_FLAG_TE) != 0U) && ((itsource & QSPI_IT_TE) != 0U)) - { - /* Clear interrupt */ - WRITE_REG(hqspi->Instance->FCR, QSPI_FLAG_TE); - - /* Disable all the QSPI Interrupts */ - __HAL_QSPI_DISABLE_IT(hqspi, QSPI_IT_SM | QSPI_IT_TC | QSPI_IT_TE | QSPI_IT_FT); - - /* Set error code */ - hqspi->ErrorCode |= HAL_QSPI_ERROR_TRANSFER; - - if ((hqspi->Instance->CR & QUADSPI_CR_DMAEN) != 0U) - { - /* Disable the DMA transfer by clearing the DMAEN bit in the QSPI CR register */ - CLEAR_BIT(hqspi->Instance->CR, QUADSPI_CR_DMAEN); - - /* Disable the DMA channel */ - hqspi->hdma->XferAbortCallback = QSPI_DMAAbortCplt; - if (HAL_DMA_Abort_IT(hqspi->hdma) != HAL_OK) - { - /* Set error code to DMA */ - hqspi->ErrorCode |= HAL_QSPI_ERROR_DMA; - - /* Change state of QSPI */ - hqspi->State = HAL_QSPI_STATE_READY; - - /* Error callback */ -#if (USE_HAL_QSPI_REGISTER_CALLBACKS == 1) - hqspi->ErrorCallback(hqspi); -#else - HAL_QSPI_ErrorCallback(hqspi); -#endif - } - } - else - { - /* Change state of QSPI */ - hqspi->State = HAL_QSPI_STATE_READY; - - /* Error callback */ -#if (USE_HAL_QSPI_REGISTER_CALLBACKS == 1) - hqspi->ErrorCallback(hqspi); -#else - HAL_QSPI_ErrorCallback(hqspi); -#endif - } - } - - /* QSPI Timeout interrupt occurred -----------------------------------------*/ - else if(((flag & QSPI_FLAG_TO) != 0U) && ((itsource & QSPI_IT_TO) != 0U)) - { - /* Clear interrupt */ - WRITE_REG(hqspi->Instance->FCR, QSPI_FLAG_TO); - - /* Timeout callback */ -#if (USE_HAL_QSPI_REGISTER_CALLBACKS == 1) - hqspi->TimeOutCallback(hqspi); -#else - HAL_QSPI_TimeOutCallback(hqspi); -#endif - } - - else - { - /* Nothing to do */ - } -} - -/** - * @brief Set the command configuration. - * @param hqspi : QSPI handle - * @param cmd : structure that contains the command configuration information - * @param Timeout : Timeout duration - * @note This function is used only in Indirect Read or Write Modes - * @retval HAL status - */ -HAL_StatusTypeDef HAL_QSPI_Command(QSPI_HandleTypeDef *hqspi, QSPI_CommandTypeDef *cmd, uint32_t Timeout) -{ - HAL_StatusTypeDef status; - uint32_t tickstart = HAL_GetTick(); - - /* Check the parameters */ - assert_param(IS_QSPI_INSTRUCTION_MODE(cmd->InstructionMode)); - if (cmd->InstructionMode != QSPI_INSTRUCTION_NONE) - { - assert_param(IS_QSPI_INSTRUCTION(cmd->Instruction)); - } - - assert_param(IS_QSPI_ADDRESS_MODE(cmd->AddressMode)); - if (cmd->AddressMode != QSPI_ADDRESS_NONE) - { - assert_param(IS_QSPI_ADDRESS_SIZE(cmd->AddressSize)); - } - - assert_param(IS_QSPI_ALTERNATE_BYTES_MODE(cmd->AlternateByteMode)); - if (cmd->AlternateByteMode != QSPI_ALTERNATE_BYTES_NONE) - { - assert_param(IS_QSPI_ALTERNATE_BYTES_SIZE(cmd->AlternateBytesSize)); - } - - assert_param(IS_QSPI_DUMMY_CYCLES(cmd->DummyCycles)); - assert_param(IS_QSPI_DATA_MODE(cmd->DataMode)); - - assert_param(IS_QSPI_DDR_MODE(cmd->DdrMode)); - assert_param(IS_QSPI_DDR_HHC(cmd->DdrHoldHalfCycle)); - assert_param(IS_QSPI_SIOO_MODE(cmd->SIOOMode)); - - /* Process locked */ - __HAL_LOCK(hqspi); - - if(hqspi->State == HAL_QSPI_STATE_READY) - { - hqspi->ErrorCode = HAL_QSPI_ERROR_NONE; - - /* Update QSPI state */ - hqspi->State = HAL_QSPI_STATE_BUSY; - - /* Wait till BUSY flag reset */ - status = QSPI_WaitFlagStateUntilTimeout(hqspi, QSPI_FLAG_BUSY, RESET, tickstart, Timeout); - - if (status == HAL_OK) - { - /* Call the configuration function */ - QSPI_Config(hqspi, cmd, QSPI_FUNCTIONAL_MODE_INDIRECT_WRITE); - - if (cmd->DataMode == QSPI_DATA_NONE) - { - /* When there is no data phase, the transfer start as soon as the configuration is done - so wait until TC flag is set to go back in idle state */ - status = QSPI_WaitFlagStateUntilTimeout(hqspi, QSPI_FLAG_TC, SET, tickstart, Timeout); - - if (status == HAL_OK) - { - __HAL_QSPI_CLEAR_FLAG(hqspi, QSPI_FLAG_TC); - - /* Update QSPI state */ - hqspi->State = HAL_QSPI_STATE_READY; - } - } - else - { - /* Update QSPI state */ - hqspi->State = HAL_QSPI_STATE_READY; - } - } - } - else - { - status = HAL_BUSY; - } - - /* Process unlocked */ - __HAL_UNLOCK(hqspi); - - /* Return function status */ - return status; -} - -/** - * @brief Set the command configuration in interrupt mode. - * @param hqspi : QSPI handle - * @param cmd : structure that contains the command configuration information - * @note This function is used only in Indirect Read or Write Modes - * @retval HAL status - */ -HAL_StatusTypeDef HAL_QSPI_Command_IT(QSPI_HandleTypeDef *hqspi, QSPI_CommandTypeDef *cmd) -{ - HAL_StatusTypeDef status; - uint32_t tickstart = HAL_GetTick(); - - /* Check the parameters */ - assert_param(IS_QSPI_INSTRUCTION_MODE(cmd->InstructionMode)); - if (cmd->InstructionMode != QSPI_INSTRUCTION_NONE) - { - assert_param(IS_QSPI_INSTRUCTION(cmd->Instruction)); - } - - assert_param(IS_QSPI_ADDRESS_MODE(cmd->AddressMode)); - if (cmd->AddressMode != QSPI_ADDRESS_NONE) - { - assert_param(IS_QSPI_ADDRESS_SIZE(cmd->AddressSize)); - } - - assert_param(IS_QSPI_ALTERNATE_BYTES_MODE(cmd->AlternateByteMode)); - if (cmd->AlternateByteMode != QSPI_ALTERNATE_BYTES_NONE) - { - assert_param(IS_QSPI_ALTERNATE_BYTES_SIZE(cmd->AlternateBytesSize)); - } - - assert_param(IS_QSPI_DUMMY_CYCLES(cmd->DummyCycles)); - assert_param(IS_QSPI_DATA_MODE(cmd->DataMode)); - - assert_param(IS_QSPI_DDR_MODE(cmd->DdrMode)); - assert_param(IS_QSPI_DDR_HHC(cmd->DdrHoldHalfCycle)); - assert_param(IS_QSPI_SIOO_MODE(cmd->SIOOMode)); - - /* Process locked */ - __HAL_LOCK(hqspi); - - if(hqspi->State == HAL_QSPI_STATE_READY) - { - hqspi->ErrorCode = HAL_QSPI_ERROR_NONE; - - /* Update QSPI state */ - hqspi->State = HAL_QSPI_STATE_BUSY; - - /* Wait till BUSY flag reset */ - status = QSPI_WaitFlagStateUntilTimeout_CPUCycle(hqspi, QSPI_FLAG_BUSY, RESET, hqspi->Timeout); - - if (status == HAL_OK) - { - if (cmd->DataMode == QSPI_DATA_NONE) - { - /* Clear interrupt */ - __HAL_QSPI_CLEAR_FLAG(hqspi, QSPI_FLAG_TE | QSPI_FLAG_TC); - } - - /* Call the configuration function */ - QSPI_Config(hqspi, cmd, QSPI_FUNCTIONAL_MODE_INDIRECT_WRITE); - - if (cmd->DataMode == QSPI_DATA_NONE) - { - /* When there is no data phase, the transfer start as soon as the configuration is done - so activate TC and TE interrupts */ - /* Process unlocked */ - __HAL_UNLOCK(hqspi); - - /* Enable the QSPI Transfer Error Interrupt */ - __HAL_QSPI_ENABLE_IT(hqspi, QSPI_IT_TE | QSPI_IT_TC); - } - else - { - /* Update QSPI state */ - hqspi->State = HAL_QSPI_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hqspi); - } - } - else - { - /* Process unlocked */ - __HAL_UNLOCK(hqspi); - } - } - else - { - status = HAL_BUSY; - - /* Process unlocked */ - __HAL_UNLOCK(hqspi); - } - - /* Return function status */ - return status; -} - -/** - * @brief Transmit an amount of data in blocking mode. - * @param hqspi : QSPI handle - * @param pData : pointer to data buffer - * @param Timeout : Timeout duration - * @note This function is used only in Indirect Write Mode - - * @retval HAL status - */ -HAL_StatusTypeDef HAL_QSPI_Transmit(QSPI_HandleTypeDef *hqspi, uint8_t *pData, uint32_t Timeout) -{ - HAL_StatusTypeDef status = HAL_OK; - uint32_t tickstart = HAL_GetTick(); - __IO uint32_t *data_reg = &hqspi->Instance->DR; - - /* Process locked */ - __HAL_LOCK(hqspi); - - if(hqspi->State == HAL_QSPI_STATE_READY) - { - hqspi->ErrorCode = HAL_QSPI_ERROR_NONE; - - if(pData != NULL ) - { - /* Update state */ - hqspi->State = HAL_QSPI_STATE_BUSY_INDIRECT_TX; - - /* Configure counters and size of the handle */ - hqspi->TxXferCount = READ_REG(hqspi->Instance->DLR) + 1U; - hqspi->TxXferSize = READ_REG(hqspi->Instance->DLR) + 1U; - hqspi->pTxBuffPtr = pData; - - /* Configure QSPI: CCR register with functional as indirect write */ - MODIFY_REG(hqspi->Instance->CCR, QUADSPI_CCR_FMODE, QSPI_FUNCTIONAL_MODE_INDIRECT_WRITE); - - while(hqspi->TxXferCount > 0U) - { - /* Wait until FT flag is set to send data */ - status = QSPI_WaitFlagStateUntilTimeout(hqspi, QSPI_FLAG_FT, SET, tickstart, Timeout); - - if (status != HAL_OK) - { - break; - } - - *((__IO uint8_t *)data_reg) = *hqspi->pTxBuffPtr; - hqspi->pTxBuffPtr++; - hqspi->TxXferCount--; - } - - if (status == HAL_OK) - { - /* Wait until TC flag is set to go back in idle state */ - status = QSPI_WaitFlagStateUntilTimeout(hqspi, QSPI_FLAG_TC, SET, tickstart, Timeout); - - if (status == HAL_OK) - { - /* Clear Transfer Complete bit */ - __HAL_QSPI_CLEAR_FLAG(hqspi, QSPI_FLAG_TC); - - /* Clear Busy bit */ - status = HAL_QSPI_Abort(hqspi); - } - } - - /* Update QSPI state */ - hqspi->State = HAL_QSPI_STATE_READY; - } - else - { - hqspi->ErrorCode |= HAL_QSPI_ERROR_INVALID_PARAM; - status = HAL_ERROR; - } - } - else - { - status = HAL_BUSY; - } - - /* Process unlocked */ - __HAL_UNLOCK(hqspi); - - return status; -} - - -/** - * @brief Receive an amount of data in blocking mode. - * @param hqspi : QSPI handle - * @param pData : pointer to data buffer - * @param Timeout : Timeout duration - * @note This function is used only in Indirect Read Mode - * @retval HAL status - */ -HAL_StatusTypeDef HAL_QSPI_Receive(QSPI_HandleTypeDef *hqspi, uint8_t *pData, uint32_t Timeout) -{ - HAL_StatusTypeDef status = HAL_OK; - uint32_t tickstart = HAL_GetTick(); - uint32_t addr_reg = READ_REG(hqspi->Instance->AR); - __IO uint32_t *data_reg = &hqspi->Instance->DR; - - /* Process locked */ - __HAL_LOCK(hqspi); - - if(hqspi->State == HAL_QSPI_STATE_READY) - { - hqspi->ErrorCode = HAL_QSPI_ERROR_NONE; - - if(pData != NULL ) - { - /* Update state */ - hqspi->State = HAL_QSPI_STATE_BUSY_INDIRECT_RX; - - /* Configure counters and size of the handle */ - hqspi->RxXferCount = READ_REG(hqspi->Instance->DLR) + 1U; - hqspi->RxXferSize = READ_REG(hqspi->Instance->DLR) + 1U; - hqspi->pRxBuffPtr = pData; - - /* Configure QSPI: CCR register with functional as indirect read */ - MODIFY_REG(hqspi->Instance->CCR, QUADSPI_CCR_FMODE, QSPI_FUNCTIONAL_MODE_INDIRECT_READ); - - /* Start the transfer by re-writing the address in AR register */ - WRITE_REG(hqspi->Instance->AR, addr_reg); - - while(hqspi->RxXferCount > 0U) - { - /* Wait until FT or TC flag is set to read received data */ - status = QSPI_WaitFlagStateUntilTimeout(hqspi, (QSPI_FLAG_FT | QSPI_FLAG_TC), SET, tickstart, Timeout); - - if (status != HAL_OK) - { - break; - } - - *hqspi->pRxBuffPtr = *((__IO uint8_t *)data_reg); - hqspi->pRxBuffPtr++; - hqspi->RxXferCount--; - } - - if (status == HAL_OK) - { - /* Wait until TC flag is set to go back in idle state */ - status = QSPI_WaitFlagStateUntilTimeout(hqspi, QSPI_FLAG_TC, SET, tickstart, Timeout); - - if (status == HAL_OK) - { - /* Clear Transfer Complete bit */ - __HAL_QSPI_CLEAR_FLAG(hqspi, QSPI_FLAG_TC); - - /* Workaround - Extra data written in the FIFO at the end of a read transfer */ - status = HAL_QSPI_Abort(hqspi); - } - } - - /* Update QSPI state */ - hqspi->State = HAL_QSPI_STATE_READY; - } - else - { - hqspi->ErrorCode |= HAL_QSPI_ERROR_INVALID_PARAM; - status = HAL_ERROR; - } - } - else - { - status = HAL_BUSY; - } - - /* Process unlocked */ - __HAL_UNLOCK(hqspi); - - return status; -} - -/** - * @brief Send an amount of data in non-blocking mode with interrupt. - * @param hqspi : QSPI handle - * @param pData : pointer to data buffer - * @note This function is used only in Indirect Write Mode - * @retval HAL status - */ -HAL_StatusTypeDef HAL_QSPI_Transmit_IT(QSPI_HandleTypeDef *hqspi, uint8_t *pData) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Process locked */ - __HAL_LOCK(hqspi); - - if(hqspi->State == HAL_QSPI_STATE_READY) - { - hqspi->ErrorCode = HAL_QSPI_ERROR_NONE; - - if(pData != NULL ) - { - /* Update state */ - hqspi->State = HAL_QSPI_STATE_BUSY_INDIRECT_TX; - - /* Configure counters and size of the handle */ - hqspi->TxXferCount = READ_REG(hqspi->Instance->DLR) + 1U; - hqspi->TxXferSize = READ_REG(hqspi->Instance->DLR) + 1U; - hqspi->pTxBuffPtr = pData; - - /* Clear interrupt */ - __HAL_QSPI_CLEAR_FLAG(hqspi, QSPI_FLAG_TE | QSPI_FLAG_TC); - - /* Configure QSPI: CCR register with functional as indirect write */ - MODIFY_REG(hqspi->Instance->CCR, QUADSPI_CCR_FMODE, QSPI_FUNCTIONAL_MODE_INDIRECT_WRITE); - - /* Process unlocked */ - __HAL_UNLOCK(hqspi); - - /* Enable the QSPI transfer error, FIFO threshold and transfer complete Interrupts */ - __HAL_QSPI_ENABLE_IT(hqspi, QSPI_IT_TE | QSPI_IT_FT | QSPI_IT_TC); - } - else - { - hqspi->ErrorCode |= HAL_QSPI_ERROR_INVALID_PARAM; - status = HAL_ERROR; - - /* Process unlocked */ - __HAL_UNLOCK(hqspi); - } - } - else - { - status = HAL_BUSY; - - /* Process unlocked */ - __HAL_UNLOCK(hqspi); - } - - return status; -} - -/** - * @brief Receive an amount of data in non-blocking mode with interrupt. - * @param hqspi : QSPI handle - * @param pData : pointer to data buffer - * @note This function is used only in Indirect Read Mode - * @retval HAL status - */ -HAL_StatusTypeDef HAL_QSPI_Receive_IT(QSPI_HandleTypeDef *hqspi, uint8_t *pData) -{ - HAL_StatusTypeDef status = HAL_OK; - uint32_t addr_reg = READ_REG(hqspi->Instance->AR); - - /* Process locked */ - __HAL_LOCK(hqspi); - - if(hqspi->State == HAL_QSPI_STATE_READY) - { - hqspi->ErrorCode = HAL_QSPI_ERROR_NONE; - - if(pData != NULL ) - { - /* Update state */ - hqspi->State = HAL_QSPI_STATE_BUSY_INDIRECT_RX; - - /* Configure counters and size of the handle */ - hqspi->RxXferCount = READ_REG(hqspi->Instance->DLR) + 1U; - hqspi->RxXferSize = READ_REG(hqspi->Instance->DLR) + 1U; - hqspi->pRxBuffPtr = pData; - - /* Clear interrupt */ - __HAL_QSPI_CLEAR_FLAG(hqspi, QSPI_FLAG_TE | QSPI_FLAG_TC); - - /* Configure QSPI: CCR register with functional as indirect read */ - MODIFY_REG(hqspi->Instance->CCR, QUADSPI_CCR_FMODE, QSPI_FUNCTIONAL_MODE_INDIRECT_READ); - - /* Start the transfer by re-writing the address in AR register */ - WRITE_REG(hqspi->Instance->AR, addr_reg); - - /* Process unlocked */ - __HAL_UNLOCK(hqspi); - - /* Enable the QSPI transfer error, FIFO threshold and transfer complete Interrupts */ - __HAL_QSPI_ENABLE_IT(hqspi, QSPI_IT_TE | QSPI_IT_FT | QSPI_IT_TC); - } - else - { - hqspi->ErrorCode |= HAL_QSPI_ERROR_INVALID_PARAM; - status = HAL_ERROR; - - /* Process unlocked */ - __HAL_UNLOCK(hqspi); - } - } - else - { - status = HAL_BUSY; - - /* Process unlocked */ - __HAL_UNLOCK(hqspi); - } - - return status; -} - -/** - * @brief Send an amount of data in non-blocking mode with DMA. - * @param hqspi : QSPI handle - * @param pData : pointer to data buffer - * @note This function is used only in Indirect Write Mode - * @note If DMA peripheral access is configured as halfword, the number - * of data and the fifo threshold should be aligned on halfword - * @note If DMA peripheral access is configured as word, the number - * of data and the fifo threshold should be aligned on word - * @retval HAL status - */ -HAL_StatusTypeDef HAL_QSPI_Transmit_DMA(QSPI_HandleTypeDef *hqspi, uint8_t *pData) -{ - HAL_StatusTypeDef status = HAL_OK; - uint32_t data_size = (READ_REG(hqspi->Instance->DLR) + 1U); - - /* Process locked */ - __HAL_LOCK(hqspi); - - if(hqspi->State == HAL_QSPI_STATE_READY) - { - /* Clear the error code */ - hqspi->ErrorCode = HAL_QSPI_ERROR_NONE; - - if(pData != NULL ) - { - /* Configure counters of the handle */ - if (hqspi->hdma->Init.PeriphDataAlignment == DMA_PDATAALIGN_BYTE) - { - hqspi->TxXferCount = data_size; - } - else if (hqspi->hdma->Init.PeriphDataAlignment == DMA_PDATAALIGN_HALFWORD) - { - if (((data_size % 2U) != 0U) || ((hqspi->Init.FifoThreshold % 2U) != 0U)) - { - /* The number of data or the fifo threshold is not aligned on halfword - => no transfer possible with DMA peripheral access configured as halfword */ - hqspi->ErrorCode |= HAL_QSPI_ERROR_INVALID_PARAM; - status = HAL_ERROR; - - /* Process unlocked */ - __HAL_UNLOCK(hqspi); - } - else - { - hqspi->TxXferCount = (data_size >> 1U); - } - } - else if (hqspi->hdma->Init.PeriphDataAlignment == DMA_PDATAALIGN_WORD) - { - if (((data_size % 4U) != 0U) || ((hqspi->Init.FifoThreshold % 4U) != 0U)) - { - /* The number of data or the fifo threshold is not aligned on word - => no transfer possible with DMA peripheral access configured as word */ - hqspi->ErrorCode |= HAL_QSPI_ERROR_INVALID_PARAM; - status = HAL_ERROR; - - /* Process unlocked */ - __HAL_UNLOCK(hqspi); - } - else - { - hqspi->TxXferCount = (data_size >> 2U); - } - } - else - { - /* Nothing to do */ - } - - if (status == HAL_OK) - { - /* Update state */ - hqspi->State = HAL_QSPI_STATE_BUSY_INDIRECT_TX; - - /* Clear interrupt */ - __HAL_QSPI_CLEAR_FLAG(hqspi, (QSPI_FLAG_TE | QSPI_FLAG_TC)); - - /* Configure size and pointer of the handle */ - hqspi->TxXferSize = hqspi->TxXferCount; - hqspi->pTxBuffPtr = pData; - - /* Configure QSPI: CCR register with functional mode as indirect write */ - MODIFY_REG(hqspi->Instance->CCR, QUADSPI_CCR_FMODE, QSPI_FUNCTIONAL_MODE_INDIRECT_WRITE); - - /* Set the QSPI DMA transfer complete callback */ - hqspi->hdma->XferCpltCallback = QSPI_DMATxCplt; - - /* Set the QSPI DMA Half transfer complete callback */ - hqspi->hdma->XferHalfCpltCallback = QSPI_DMATxHalfCplt; - - /* Set the DMA error callback */ - hqspi->hdma->XferErrorCallback = QSPI_DMAError; - - /* Clear the DMA abort callback */ - hqspi->hdma->XferAbortCallback = NULL; - -#if defined (QSPI1_V2_1L) - /* Bug "ES0305 section 2.1.8 In some specific cases, DMA2 data corruption occurs when managing - AHB and APB2 peripherals in a concurrent way" Workaround Implementation: - Change the following configuration of DMA peripheral - - Enable peripheral increment - - Disable memory increment - - Set DMA direction as peripheral to memory mode */ - - /* Enable peripheral increment mode of the DMA */ - hqspi->hdma->Init.PeriphInc = DMA_PINC_ENABLE; - - /* Disable memory increment mode of the DMA */ - hqspi->hdma->Init.MemInc = DMA_MINC_DISABLE; - - /* Update peripheral/memory increment mode bits */ - MODIFY_REG(hqspi->hdma->Instance->CR, (DMA_SxCR_MINC | DMA_SxCR_PINC), (hqspi->hdma->Init.MemInc | hqspi->hdma->Init.PeriphInc)); - - /* Configure the direction of the DMA */ - hqspi->hdma->Init.Direction = DMA_PERIPH_TO_MEMORY; -#else - /* Configure the direction of the DMA */ - hqspi->hdma->Init.Direction = DMA_MEMORY_TO_PERIPH; -#endif /* QSPI1_V2_1L */ - - /* Update direction mode bit */ - MODIFY_REG(hqspi->hdma->Instance->CR, DMA_SxCR_DIR, hqspi->hdma->Init.Direction); - - /* Enable the QSPI transmit DMA Channel */ - if (HAL_DMA_Start_IT(hqspi->hdma, (uint32_t)pData, (uint32_t)&hqspi->Instance->DR, hqspi->TxXferSize) == HAL_OK) - { - /* Process unlocked */ - __HAL_UNLOCK(hqspi); - - /* Enable the QSPI transfer error Interrupt */ - __HAL_QSPI_ENABLE_IT(hqspi, QSPI_IT_TE); - - /* Enable the DMA transfer by setting the DMAEN bit in the QSPI CR register */ - SET_BIT(hqspi->Instance->CR, QUADSPI_CR_DMAEN); - } - else - { - status = HAL_ERROR; - hqspi->ErrorCode |= HAL_QSPI_ERROR_DMA; - hqspi->State = HAL_QSPI_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hqspi); - } - } - } - else - { - hqspi->ErrorCode |= HAL_QSPI_ERROR_INVALID_PARAM; - status = HAL_ERROR; - - /* Process unlocked */ - __HAL_UNLOCK(hqspi); - } - } - else - { - status = HAL_BUSY; - - /* Process unlocked */ - __HAL_UNLOCK(hqspi); - } - - return status; -} - -/** - * @brief Receive an amount of data in non-blocking mode with DMA. - * @param hqspi : QSPI handle - * @param pData : pointer to data buffer. - * @note This function is used only in Indirect Read Mode - * @note If DMA peripheral access is configured as halfword, the number - * of data and the fifo threshold should be aligned on halfword - * @note If DMA peripheral access is configured as word, the number - * of data and the fifo threshold should be aligned on word - * @retval HAL status - */ -HAL_StatusTypeDef HAL_QSPI_Receive_DMA(QSPI_HandleTypeDef *hqspi, uint8_t *pData) -{ - HAL_StatusTypeDef status = HAL_OK; - uint32_t addr_reg = READ_REG(hqspi->Instance->AR); - uint32_t data_size = (READ_REG(hqspi->Instance->DLR) + 1U); - - /* Process locked */ - __HAL_LOCK(hqspi); - - if(hqspi->State == HAL_QSPI_STATE_READY) - { - /* Clear the error code */ - hqspi->ErrorCode = HAL_QSPI_ERROR_NONE; - - if(pData != NULL ) - { - /* Configure counters of the handle */ - if (hqspi->hdma->Init.PeriphDataAlignment == DMA_PDATAALIGN_BYTE) - { - hqspi->RxXferCount = data_size; - } - else if (hqspi->hdma->Init.PeriphDataAlignment == DMA_PDATAALIGN_HALFWORD) - { - if (((data_size % 2U) != 0U) || ((hqspi->Init.FifoThreshold % 2U) != 0U)) - { - /* The number of data or the fifo threshold is not aligned on halfword - => no transfer possible with DMA peripheral access configured as halfword */ - hqspi->ErrorCode |= HAL_QSPI_ERROR_INVALID_PARAM; - status = HAL_ERROR; - - /* Process unlocked */ - __HAL_UNLOCK(hqspi); - } - else - { - hqspi->RxXferCount = (data_size >> 1U); - } - } - else if (hqspi->hdma->Init.PeriphDataAlignment == DMA_PDATAALIGN_WORD) - { - if (((data_size % 4U) != 0U) || ((hqspi->Init.FifoThreshold % 4U) != 0U)) - { - /* The number of data or the fifo threshold is not aligned on word - => no transfer possible with DMA peripheral access configured as word */ - hqspi->ErrorCode |= HAL_QSPI_ERROR_INVALID_PARAM; - status = HAL_ERROR; - - /* Process unlocked */ - __HAL_UNLOCK(hqspi); - } - else - { - hqspi->RxXferCount = (data_size >> 2U); - } - } - else - { - /* Nothing to do */ - } - - if (status == HAL_OK) - { - /* Update state */ - hqspi->State = HAL_QSPI_STATE_BUSY_INDIRECT_RX; - - /* Clear interrupt */ - __HAL_QSPI_CLEAR_FLAG(hqspi, (QSPI_FLAG_TE | QSPI_FLAG_TC)); - - /* Configure size and pointer of the handle */ - hqspi->RxXferSize = hqspi->RxXferCount; - hqspi->pRxBuffPtr = pData; - - /* Set the QSPI DMA transfer complete callback */ - hqspi->hdma->XferCpltCallback = QSPI_DMARxCplt; - - /* Set the QSPI DMA Half transfer complete callback */ - hqspi->hdma->XferHalfCpltCallback = QSPI_DMARxHalfCplt; - - /* Set the DMA error callback */ - hqspi->hdma->XferErrorCallback = QSPI_DMAError; - - /* Clear the DMA abort callback */ - hqspi->hdma->XferAbortCallback = NULL; - -#if defined (QSPI1_V2_1L) - /* Bug "ES0305 section 2.1.8 In some specific cases, DMA2 data corruption occurs when managing - AHB and APB2 peripherals in a concurrent way" Workaround Implementation: - Change the following configuration of DMA peripheral - - Enable peripheral increment - - Disable memory increment - - Set DMA direction as memory to peripheral mode - - 4 Extra words (32-bits) are added for read operation to guarantee - the last data is transferred from DMA FIFO to RAM memory */ - - /* Enable peripheral increment of the DMA */ - hqspi->hdma->Init.PeriphInc = DMA_PINC_ENABLE; - - /* Disable memory increment of the DMA */ - hqspi->hdma->Init.MemInc = DMA_MINC_DISABLE; - - /* Update peripheral/memory increment mode bits */ - MODIFY_REG(hqspi->hdma->Instance->CR, (DMA_SxCR_MINC | DMA_SxCR_PINC), (hqspi->hdma->Init.MemInc | hqspi->hdma->Init.PeriphInc)); - - /* Configure the direction of the DMA */ - hqspi->hdma->Init.Direction = DMA_MEMORY_TO_PERIPH; - - /* 4 Extra words (32-bits) are needed for read operation to guarantee - the last data is transferred from DMA FIFO to RAM memory */ - WRITE_REG(hqspi->Instance->DLR, (data_size - 1U + 16U)); - - /* Update direction mode bit */ - MODIFY_REG(hqspi->hdma->Instance->CR, DMA_SxCR_DIR, hqspi->hdma->Init.Direction); - - /* Configure QSPI: CCR register with functional as indirect read */ - MODIFY_REG(hqspi->Instance->CCR, QUADSPI_CCR_FMODE, QSPI_FUNCTIONAL_MODE_INDIRECT_READ); - - /* Start the transfer by re-writing the address in AR register */ - WRITE_REG(hqspi->Instance->AR, addr_reg); - - /* Enable the DMA Channel */ - if(HAL_DMA_Start_IT(hqspi->hdma, (uint32_t)&hqspi->Instance->DR, (uint32_t)pData, hqspi->RxXferSize) == HAL_OK) - { - /* Enable the DMA transfer by setting the DMAEN bit in the QSPI CR register */ - SET_BIT(hqspi->Instance->CR, QUADSPI_CR_DMAEN); - - /* Process unlocked */ - __HAL_UNLOCK(hqspi); - - /* Enable the QSPI transfer error Interrupt */ - __HAL_QSPI_ENABLE_IT(hqspi, QSPI_IT_TE); - } - else - { - status = HAL_ERROR; - hqspi->ErrorCode |= HAL_QSPI_ERROR_DMA; - hqspi->State = HAL_QSPI_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hqspi); - } -#else - /* Configure the direction of the DMA */ - hqspi->hdma->Init.Direction = DMA_PERIPH_TO_MEMORY; - - /* Update direction mode bit */ - MODIFY_REG(hqspi->hdma->Instance->CR, DMA_SxCR_DIR, hqspi->hdma->Init.Direction); - - /* Enable the DMA Channel */ - if(HAL_DMA_Start_IT(hqspi->hdma, (uint32_t)&hqspi->Instance->DR, (uint32_t)pData, hqspi->RxXferSize)== HAL_OK) - { - /* Configure QSPI: CCR register with functional as indirect read */ - MODIFY_REG(hqspi->Instance->CCR, QUADSPI_CCR_FMODE, QSPI_FUNCTIONAL_MODE_INDIRECT_READ); - - /* Start the transfer by re-writing the address in AR register */ - WRITE_REG(hqspi->Instance->AR, addr_reg); - - /* Process unlocked */ - __HAL_UNLOCK(hqspi); - - /* Enable the QSPI transfer error Interrupt */ - __HAL_QSPI_ENABLE_IT(hqspi, QSPI_IT_TE); - - /* Enable the DMA transfer by setting the DMAEN bit in the QSPI CR register */ - SET_BIT(hqspi->Instance->CR, QUADSPI_CR_DMAEN); - } - else - { - status = HAL_ERROR; - hqspi->ErrorCode |= HAL_QSPI_ERROR_DMA; - hqspi->State = HAL_QSPI_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hqspi); - } -#endif /* QSPI1_V2_1L */ - } - } - else - { - hqspi->ErrorCode |= HAL_QSPI_ERROR_INVALID_PARAM; - status = HAL_ERROR; - - /* Process unlocked */ - __HAL_UNLOCK(hqspi); - } - } - else - { - status = HAL_BUSY; - - /* Process unlocked */ - __HAL_UNLOCK(hqspi); - } - - return status; -} - -/** - * @brief Configure the QSPI Automatic Polling Mode in blocking mode. - * @param hqspi : QSPI handle - * @param cmd : structure that contains the command configuration information. - * @param cfg : structure that contains the polling configuration information. - * @param Timeout : Timeout duration - * @note This function is used only in Automatic Polling Mode - * @retval HAL status - */ -HAL_StatusTypeDef HAL_QSPI_AutoPolling(QSPI_HandleTypeDef *hqspi, QSPI_CommandTypeDef *cmd, QSPI_AutoPollingTypeDef *cfg, uint32_t Timeout) -{ - HAL_StatusTypeDef status; - uint32_t tickstart = HAL_GetTick(); - - /* Check the parameters */ - assert_param(IS_QSPI_INSTRUCTION_MODE(cmd->InstructionMode)); - if (cmd->InstructionMode != QSPI_INSTRUCTION_NONE) - { - assert_param(IS_QSPI_INSTRUCTION(cmd->Instruction)); - } - - assert_param(IS_QSPI_ADDRESS_MODE(cmd->AddressMode)); - if (cmd->AddressMode != QSPI_ADDRESS_NONE) - { - assert_param(IS_QSPI_ADDRESS_SIZE(cmd->AddressSize)); - } - - assert_param(IS_QSPI_ALTERNATE_BYTES_MODE(cmd->AlternateByteMode)); - if (cmd->AlternateByteMode != QSPI_ALTERNATE_BYTES_NONE) - { - assert_param(IS_QSPI_ALTERNATE_BYTES_SIZE(cmd->AlternateBytesSize)); - } - - assert_param(IS_QSPI_DUMMY_CYCLES(cmd->DummyCycles)); - assert_param(IS_QSPI_DATA_MODE(cmd->DataMode)); - - assert_param(IS_QSPI_DDR_MODE(cmd->DdrMode)); - assert_param(IS_QSPI_DDR_HHC(cmd->DdrHoldHalfCycle)); - assert_param(IS_QSPI_SIOO_MODE(cmd->SIOOMode)); - - assert_param(IS_QSPI_INTERVAL(cfg->Interval)); - assert_param(IS_QSPI_STATUS_BYTES_SIZE(cfg->StatusBytesSize)); - assert_param(IS_QSPI_MATCH_MODE(cfg->MatchMode)); - - /* Process locked */ - __HAL_LOCK(hqspi); - - if(hqspi->State == HAL_QSPI_STATE_READY) - { - hqspi->ErrorCode = HAL_QSPI_ERROR_NONE; - - /* Update state */ - hqspi->State = HAL_QSPI_STATE_BUSY_AUTO_POLLING; - - /* Wait till BUSY flag reset */ - status = QSPI_WaitFlagStateUntilTimeout(hqspi, QSPI_FLAG_BUSY, RESET, tickstart, Timeout); - - if (status == HAL_OK) - { - /* Configure QSPI: PSMAR register with the status match value */ - WRITE_REG(hqspi->Instance->PSMAR, cfg->Match); - - /* Configure QSPI: PSMKR register with the status mask value */ - WRITE_REG(hqspi->Instance->PSMKR, cfg->Mask); - - /* Configure QSPI: PIR register with the interval value */ - WRITE_REG(hqspi->Instance->PIR, cfg->Interval); - - /* Configure QSPI: CR register with Match mode and Automatic stop enabled - (otherwise there will be an infinite loop in blocking mode) */ - MODIFY_REG(hqspi->Instance->CR, (QUADSPI_CR_PMM | QUADSPI_CR_APMS), - (cfg->MatchMode | QSPI_AUTOMATIC_STOP_ENABLE)); - - /* Call the configuration function */ - cmd->NbData = cfg->StatusBytesSize; - QSPI_Config(hqspi, cmd, QSPI_FUNCTIONAL_MODE_AUTO_POLLING); - - /* Wait until SM flag is set to go back in idle state */ - status = QSPI_WaitFlagStateUntilTimeout(hqspi, QSPI_FLAG_SM, SET, tickstart, Timeout); - - if (status == HAL_OK) - { - __HAL_QSPI_CLEAR_FLAG(hqspi, QSPI_FLAG_SM); - - /* Update state */ - hqspi->State = HAL_QSPI_STATE_READY; - } - } - } - else - { - status = HAL_BUSY; - } - - /* Process unlocked */ - __HAL_UNLOCK(hqspi); - - /* Return function status */ - return status; -} - -/** - * @brief Configure the QSPI Automatic Polling Mode in non-blocking mode. - * @param hqspi : QSPI handle - * @param cmd : structure that contains the command configuration information. - * @param cfg : structure that contains the polling configuration information. - * @note This function is used only in Automatic Polling Mode - * @retval HAL status - */ -HAL_StatusTypeDef HAL_QSPI_AutoPolling_IT(QSPI_HandleTypeDef *hqspi, QSPI_CommandTypeDef *cmd, QSPI_AutoPollingTypeDef *cfg) -{ - HAL_StatusTypeDef status; - - /* Check the parameters */ - assert_param(IS_QSPI_INSTRUCTION_MODE(cmd->InstructionMode)); - if (cmd->InstructionMode != QSPI_INSTRUCTION_NONE) - { - assert_param(IS_QSPI_INSTRUCTION(cmd->Instruction)); - } - - assert_param(IS_QSPI_ADDRESS_MODE(cmd->AddressMode)); - if (cmd->AddressMode != QSPI_ADDRESS_NONE) - { - assert_param(IS_QSPI_ADDRESS_SIZE(cmd->AddressSize)); - } - - assert_param(IS_QSPI_ALTERNATE_BYTES_MODE(cmd->AlternateByteMode)); - if (cmd->AlternateByteMode != QSPI_ALTERNATE_BYTES_NONE) - { - assert_param(IS_QSPI_ALTERNATE_BYTES_SIZE(cmd->AlternateBytesSize)); - } - - assert_param(IS_QSPI_DUMMY_CYCLES(cmd->DummyCycles)); - assert_param(IS_QSPI_DATA_MODE(cmd->DataMode)); - - assert_param(IS_QSPI_DDR_MODE(cmd->DdrMode)); - assert_param(IS_QSPI_DDR_HHC(cmd->DdrHoldHalfCycle)); - assert_param(IS_QSPI_SIOO_MODE(cmd->SIOOMode)); - - assert_param(IS_QSPI_INTERVAL(cfg->Interval)); - assert_param(IS_QSPI_STATUS_BYTES_SIZE(cfg->StatusBytesSize)); - assert_param(IS_QSPI_MATCH_MODE(cfg->MatchMode)); - assert_param(IS_QSPI_AUTOMATIC_STOP(cfg->AutomaticStop)); - - /* Process locked */ - __HAL_LOCK(hqspi); - - if(hqspi->State == HAL_QSPI_STATE_READY) - { - hqspi->ErrorCode = HAL_QSPI_ERROR_NONE; - - /* Update state */ - hqspi->State = HAL_QSPI_STATE_BUSY_AUTO_POLLING; - - /* Wait till BUSY flag reset */ - status = QSPI_WaitFlagStateUntilTimeout_CPUCycle(hqspi, QSPI_FLAG_BUSY, RESET, hqspi->Timeout); - - if (status == HAL_OK) - { - /* Configure QSPI: PSMAR register with the status match value */ - WRITE_REG(hqspi->Instance->PSMAR, cfg->Match); - - /* Configure QSPI: PSMKR register with the status mask value */ - WRITE_REG(hqspi->Instance->PSMKR, cfg->Mask); - - /* Configure QSPI: PIR register with the interval value */ - WRITE_REG(hqspi->Instance->PIR, cfg->Interval); - - /* Configure QSPI: CR register with Match mode and Automatic stop mode */ - MODIFY_REG(hqspi->Instance->CR, (QUADSPI_CR_PMM | QUADSPI_CR_APMS), - (cfg->MatchMode | cfg->AutomaticStop)); - - /* Clear interrupt */ - __HAL_QSPI_CLEAR_FLAG(hqspi, QSPI_FLAG_TE | QSPI_FLAG_SM); - - /* Call the configuration function */ - cmd->NbData = cfg->StatusBytesSize; - QSPI_Config(hqspi, cmd, QSPI_FUNCTIONAL_MODE_AUTO_POLLING); - - /* Process unlocked */ - __HAL_UNLOCK(hqspi); - - /* Enable the QSPI Transfer Error and status match Interrupt */ - __HAL_QSPI_ENABLE_IT(hqspi, (QSPI_IT_SM | QSPI_IT_TE)); - - } - else - { - /* Process unlocked */ - __HAL_UNLOCK(hqspi); - } - } - else - { - status = HAL_BUSY; - - /* Process unlocked */ - __HAL_UNLOCK(hqspi); - } - - /* Return function status */ - return status; -} - -/** - * @brief Configure the Memory Mapped mode. - * @param hqspi : QSPI handle - * @param cmd : structure that contains the command configuration information. - * @param cfg : structure that contains the memory mapped configuration information. - * @note This function is used only in Memory mapped Mode - * @retval HAL status - */ -HAL_StatusTypeDef HAL_QSPI_MemoryMapped(QSPI_HandleTypeDef *hqspi, QSPI_CommandTypeDef *cmd, QSPI_MemoryMappedTypeDef *cfg) -{ - HAL_StatusTypeDef status; - uint32_t tickstart = HAL_GetTick(); - - /* Check the parameters */ - assert_param(IS_QSPI_INSTRUCTION_MODE(cmd->InstructionMode)); - if (cmd->InstructionMode != QSPI_INSTRUCTION_NONE) - { - assert_param(IS_QSPI_INSTRUCTION(cmd->Instruction)); - } - - assert_param(IS_QSPI_ADDRESS_MODE(cmd->AddressMode)); - if (cmd->AddressMode != QSPI_ADDRESS_NONE) - { - assert_param(IS_QSPI_ADDRESS_SIZE(cmd->AddressSize)); - } - - assert_param(IS_QSPI_ALTERNATE_BYTES_MODE(cmd->AlternateByteMode)); - if (cmd->AlternateByteMode != QSPI_ALTERNATE_BYTES_NONE) - { - assert_param(IS_QSPI_ALTERNATE_BYTES_SIZE(cmd->AlternateBytesSize)); - } - - assert_param(IS_QSPI_DUMMY_CYCLES(cmd->DummyCycles)); - assert_param(IS_QSPI_DATA_MODE(cmd->DataMode)); - - assert_param(IS_QSPI_DDR_MODE(cmd->DdrMode)); - assert_param(IS_QSPI_DDR_HHC(cmd->DdrHoldHalfCycle)); - assert_param(IS_QSPI_SIOO_MODE(cmd->SIOOMode)); - - assert_param(IS_QSPI_TIMEOUT_ACTIVATION(cfg->TimeOutActivation)); - - /* Process locked */ - __HAL_LOCK(hqspi); - - if(hqspi->State == HAL_QSPI_STATE_READY) - { - hqspi->ErrorCode = HAL_QSPI_ERROR_NONE; - - /* Update state */ - hqspi->State = HAL_QSPI_STATE_BUSY_MEM_MAPPED; - - /* Wait till BUSY flag reset */ - status = QSPI_WaitFlagStateUntilTimeout(hqspi, QSPI_FLAG_BUSY, RESET, tickstart, hqspi->Timeout); - - if (status == HAL_OK) - { - /* Configure QSPI: CR register with timeout counter enable */ - MODIFY_REG(hqspi->Instance->CR, QUADSPI_CR_TCEN, cfg->TimeOutActivation); - - if (cfg->TimeOutActivation == QSPI_TIMEOUT_COUNTER_ENABLE) - { - assert_param(IS_QSPI_TIMEOUT_PERIOD(cfg->TimeOutPeriod)); - - /* Configure QSPI: LPTR register with the low-power timeout value */ - WRITE_REG(hqspi->Instance->LPTR, cfg->TimeOutPeriod); - - /* Clear interrupt */ - __HAL_QSPI_CLEAR_FLAG(hqspi, QSPI_FLAG_TO); - - /* Enable the QSPI TimeOut Interrupt */ - __HAL_QSPI_ENABLE_IT(hqspi, QSPI_IT_TO); - } - - /* Call the configuration function */ - QSPI_Config(hqspi, cmd, QSPI_FUNCTIONAL_MODE_MEMORY_MAPPED); - } - } - else - { - status = HAL_BUSY; - } - - /* Process unlocked */ - __HAL_UNLOCK(hqspi); - - /* Return function status */ - return status; -} - -/** - * @brief Transfer Error callback. - * @param hqspi : QSPI handle - * @retval None - */ -__weak void HAL_QSPI_ErrorCallback(QSPI_HandleTypeDef *hqspi) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hqspi); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_QSPI_ErrorCallback could be implemented in the user file - */ -} - -/** - * @brief Abort completed callback. - * @param hqspi : QSPI handle - * @retval None - */ -__weak void HAL_QSPI_AbortCpltCallback(QSPI_HandleTypeDef *hqspi) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hqspi); - - /* NOTE: This function should not be modified, when the callback is needed, - the HAL_QSPI_AbortCpltCallback could be implemented in the user file - */ -} - -/** - * @brief Command completed callback. - * @param hqspi : QSPI handle - * @retval None - */ -__weak void HAL_QSPI_CmdCpltCallback(QSPI_HandleTypeDef *hqspi) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hqspi); - - /* NOTE: This function should not be modified, when the callback is needed, - the HAL_QSPI_CmdCpltCallback could be implemented in the user file - */ -} - -/** - * @brief Rx Transfer completed callback. - * @param hqspi : QSPI handle - * @retval None - */ -__weak void HAL_QSPI_RxCpltCallback(QSPI_HandleTypeDef *hqspi) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hqspi); - - /* NOTE: This function should not be modified, when the callback is needed, - the HAL_QSPI_RxCpltCallback could be implemented in the user file - */ -} - -/** - * @brief Tx Transfer completed callback. - * @param hqspi : QSPI handle - * @retval None - */ -__weak void HAL_QSPI_TxCpltCallback(QSPI_HandleTypeDef *hqspi) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hqspi); - - /* NOTE: This function should not be modified, when the callback is needed, - the HAL_QSPI_TxCpltCallback could be implemented in the user file - */ -} - -/** - * @brief Rx Half Transfer completed callback. - * @param hqspi : QSPI handle - * @retval None - */ -__weak void HAL_QSPI_RxHalfCpltCallback(QSPI_HandleTypeDef *hqspi) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hqspi); - - /* NOTE: This function should not be modified, when the callback is needed, - the HAL_QSPI_RxHalfCpltCallback could be implemented in the user file - */ -} - -/** - * @brief Tx Half Transfer completed callback. - * @param hqspi : QSPI handle - * @retval None - */ -__weak void HAL_QSPI_TxHalfCpltCallback(QSPI_HandleTypeDef *hqspi) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hqspi); - - /* NOTE: This function should not be modified, when the callback is needed, - the HAL_QSPI_TxHalfCpltCallback could be implemented in the user file - */ -} - -/** - * @brief FIFO Threshold callback. - * @param hqspi : QSPI handle - * @retval None - */ -__weak void HAL_QSPI_FifoThresholdCallback(QSPI_HandleTypeDef *hqspi) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hqspi); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_QSPI_FIFOThresholdCallback could be implemented in the user file - */ -} - -/** - * @brief Status Match callback. - * @param hqspi : QSPI handle - * @retval None - */ -__weak void HAL_QSPI_StatusMatchCallback(QSPI_HandleTypeDef *hqspi) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hqspi); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_QSPI_StatusMatchCallback could be implemented in the user file - */ -} - -/** - * @brief Timeout callback. - * @param hqspi : QSPI handle - * @retval None - */ -__weak void HAL_QSPI_TimeOutCallback(QSPI_HandleTypeDef *hqspi) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hqspi); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_QSPI_TimeOutCallback could be implemented in the user file - */ -} -#if (USE_HAL_QSPI_REGISTER_CALLBACKS == 1) -/** - * @brief Register a User QSPI Callback - * To be used instead of the weak (surcharged) predefined callback - * @param hqspi : QSPI handle - * @param CallbackId : ID of the callback to be registered - * This parameter can be one of the following values: - * @arg @ref HAL_QSPI_ERROR_CB_ID QSPI Error Callback ID - * @arg @ref HAL_QSPI_ABORT_CB_ID QSPI Abort Callback ID - * @arg @ref HAL_QSPI_FIFO_THRESHOLD_CB_ID QSPI FIFO Threshold Callback ID - * @arg @ref HAL_QSPI_CMD_CPLT_CB_ID QSPI Command Complete Callback ID - * @arg @ref HAL_QSPI_RX_CPLT_CB_ID QSPI Rx Complete Callback ID - * @arg @ref HAL_QSPI_TX_CPLT_CB_ID QSPI Tx Complete Callback ID - * @arg @ref HAL_QSPI_RX_HALF_CPLT_CB_ID QSPI Rx Half Complete Callback ID - * @arg @ref HAL_QSPI_TX_HALF_CPLT_CB_ID QSPI Tx Half Complete Callback ID - * @arg @ref HAL_QSPI_STATUS_MATCH_CB_ID QSPI Status Match Callback ID - * @arg @ref HAL_QSPI_TIMEOUT_CB_ID QSPI Timeout Callback ID - * @arg @ref HAL_QSPI_MSP_INIT_CB_ID QSPI MspInit callback ID - * @arg @ref HAL_QSPI_MSP_DEINIT_CB_ID QSPI MspDeInit callback ID - * @param pCallback : pointer to the Callback function - * @retval status - */ -HAL_StatusTypeDef HAL_QSPI_RegisterCallback (QSPI_HandleTypeDef *hqspi, HAL_QSPI_CallbackIDTypeDef CallbackId, pQSPI_CallbackTypeDef pCallback) -{ - HAL_StatusTypeDef status = HAL_OK; - - if(pCallback == NULL) - { - /* Update the error code */ - hqspi->ErrorCode |= HAL_QSPI_ERROR_INVALID_CALLBACK; - return HAL_ERROR; - } - - /* Process locked */ - __HAL_LOCK(hqspi); - - if(hqspi->State == HAL_QSPI_STATE_READY) - { - switch (CallbackId) - { - case HAL_QSPI_ERROR_CB_ID : - hqspi->ErrorCallback = pCallback; - break; - case HAL_QSPI_ABORT_CB_ID : - hqspi->AbortCpltCallback = pCallback; - break; - case HAL_QSPI_FIFO_THRESHOLD_CB_ID : - hqspi->FifoThresholdCallback = pCallback; - break; - case HAL_QSPI_CMD_CPLT_CB_ID : - hqspi->CmdCpltCallback = pCallback; - break; - case HAL_QSPI_RX_CPLT_CB_ID : - hqspi->RxCpltCallback = pCallback; - break; - case HAL_QSPI_TX_CPLT_CB_ID : - hqspi->TxCpltCallback = pCallback; - break; - case HAL_QSPI_RX_HALF_CPLT_CB_ID : - hqspi->RxHalfCpltCallback = pCallback; - break; - case HAL_QSPI_TX_HALF_CPLT_CB_ID : - hqspi->TxHalfCpltCallback = pCallback; - break; - case HAL_QSPI_STATUS_MATCH_CB_ID : - hqspi->StatusMatchCallback = pCallback; - break; - case HAL_QSPI_TIMEOUT_CB_ID : - hqspi->TimeOutCallback = pCallback; - break; - case HAL_QSPI_MSP_INIT_CB_ID : - hqspi->MspInitCallback = pCallback; - break; - case HAL_QSPI_MSP_DEINIT_CB_ID : - hqspi->MspDeInitCallback = pCallback; - break; - default : - /* Update the error code */ - hqspi->ErrorCode |= HAL_QSPI_ERROR_INVALID_CALLBACK; - /* update return status */ - status = HAL_ERROR; - break; - } - } - else if (hqspi->State == HAL_QSPI_STATE_RESET) - { - switch (CallbackId) - { - case HAL_QSPI_MSP_INIT_CB_ID : - hqspi->MspInitCallback = pCallback; - break; - case HAL_QSPI_MSP_DEINIT_CB_ID : - hqspi->MspDeInitCallback = pCallback; - break; - default : - /* Update the error code */ - hqspi->ErrorCode |= HAL_QSPI_ERROR_INVALID_CALLBACK; - /* update return status */ - status = HAL_ERROR; - break; - } - } - else - { - /* Update the error code */ - hqspi->ErrorCode |= HAL_QSPI_ERROR_INVALID_CALLBACK; - /* update return status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(hqspi); - return status; -} - -/** - * @brief Unregister a User QSPI Callback - * QSPI Callback is redirected to the weak (surcharged) predefined callback - * @param hqspi : QSPI handle - * @param CallbackId : ID of the callback to be unregistered - * This parameter can be one of the following values: - * @arg @ref HAL_QSPI_ERROR_CB_ID QSPI Error Callback ID - * @arg @ref HAL_QSPI_ABORT_CB_ID QSPI Abort Callback ID - * @arg @ref HAL_QSPI_FIFO_THRESHOLD_CB_ID QSPI FIFO Threshold Callback ID - * @arg @ref HAL_QSPI_CMD_CPLT_CB_ID QSPI Command Complete Callback ID - * @arg @ref HAL_QSPI_RX_CPLT_CB_ID QSPI Rx Complete Callback ID - * @arg @ref HAL_QSPI_TX_CPLT_CB_ID QSPI Tx Complete Callback ID - * @arg @ref HAL_QSPI_RX_HALF_CPLT_CB_ID QSPI Rx Half Complete Callback ID - * @arg @ref HAL_QSPI_TX_HALF_CPLT_CB_ID QSPI Tx Half Complete Callback ID - * @arg @ref HAL_QSPI_STATUS_MATCH_CB_ID QSPI Status Match Callback ID - * @arg @ref HAL_QSPI_TIMEOUT_CB_ID QSPI Timeout Callback ID - * @arg @ref HAL_QSPI_MSP_INIT_CB_ID QSPI MspInit callback ID - * @arg @ref HAL_QSPI_MSP_DEINIT_CB_ID QSPI MspDeInit callback ID - * @retval status - */ -HAL_StatusTypeDef HAL_QSPI_UnRegisterCallback (QSPI_HandleTypeDef *hqspi, HAL_QSPI_CallbackIDTypeDef CallbackId) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Process locked */ - __HAL_LOCK(hqspi); - - if(hqspi->State == HAL_QSPI_STATE_READY) - { - switch (CallbackId) - { - case HAL_QSPI_ERROR_CB_ID : - hqspi->ErrorCallback = HAL_QSPI_ErrorCallback; - break; - case HAL_QSPI_ABORT_CB_ID : - hqspi->AbortCpltCallback = HAL_QSPI_AbortCpltCallback; - break; - case HAL_QSPI_FIFO_THRESHOLD_CB_ID : - hqspi->FifoThresholdCallback = HAL_QSPI_FifoThresholdCallback; - break; - case HAL_QSPI_CMD_CPLT_CB_ID : - hqspi->CmdCpltCallback = HAL_QSPI_CmdCpltCallback; - break; - case HAL_QSPI_RX_CPLT_CB_ID : - hqspi->RxCpltCallback = HAL_QSPI_RxCpltCallback; - break; - case HAL_QSPI_TX_CPLT_CB_ID : - hqspi->TxCpltCallback = HAL_QSPI_TxCpltCallback; - break; - case HAL_QSPI_RX_HALF_CPLT_CB_ID : - hqspi->RxHalfCpltCallback = HAL_QSPI_RxHalfCpltCallback; - break; - case HAL_QSPI_TX_HALF_CPLT_CB_ID : - hqspi->TxHalfCpltCallback = HAL_QSPI_TxHalfCpltCallback; - break; - case HAL_QSPI_STATUS_MATCH_CB_ID : - hqspi->StatusMatchCallback = HAL_QSPI_StatusMatchCallback; - break; - case HAL_QSPI_TIMEOUT_CB_ID : - hqspi->TimeOutCallback = HAL_QSPI_TimeOutCallback; - break; - case HAL_QSPI_MSP_INIT_CB_ID : - hqspi->MspInitCallback = HAL_QSPI_MspInit; - break; - case HAL_QSPI_MSP_DEINIT_CB_ID : - hqspi->MspDeInitCallback = HAL_QSPI_MspDeInit; - break; - default : - /* Update the error code */ - hqspi->ErrorCode |= HAL_QSPI_ERROR_INVALID_CALLBACK; - /* update return status */ - status = HAL_ERROR; - break; - } - } - else if (hqspi->State == HAL_QSPI_STATE_RESET) - { - switch (CallbackId) - { - case HAL_QSPI_MSP_INIT_CB_ID : - hqspi->MspInitCallback = HAL_QSPI_MspInit; - break; - case HAL_QSPI_MSP_DEINIT_CB_ID : - hqspi->MspDeInitCallback = HAL_QSPI_MspDeInit; - break; - default : - /* Update the error code */ - hqspi->ErrorCode |= HAL_QSPI_ERROR_INVALID_CALLBACK; - /* update return status */ - status = HAL_ERROR; - break; - } - } - else - { - /* Update the error code */ - hqspi->ErrorCode |= HAL_QSPI_ERROR_INVALID_CALLBACK; - /* update return status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(hqspi); - return status; -} -#endif - -/** - * @} - */ - -/** @defgroup QSPI_Exported_Functions_Group3 Peripheral Control and State functions - * @brief QSPI control and State functions - * -@verbatim - =============================================================================== - ##### Peripheral Control and State functions ##### - =============================================================================== - [..] - This subsection provides a set of functions allowing to : - (+) Check in run-time the state of the driver. - (+) Check the error code set during last operation. - (+) Abort any operation. - - -@endverbatim - * @{ - */ - -/** - * @brief Return the QSPI handle state. - * @param hqspi : QSPI handle - * @retval HAL state - */ -HAL_QSPI_StateTypeDef HAL_QSPI_GetState(QSPI_HandleTypeDef *hqspi) -{ - /* Return QSPI handle state */ - return hqspi->State; -} - -/** -* @brief Return the QSPI error code. -* @param hqspi : QSPI handle -* @retval QSPI Error Code -*/ -uint32_t HAL_QSPI_GetError(QSPI_HandleTypeDef *hqspi) -{ - return hqspi->ErrorCode; -} - -/** -* @brief Abort the current transmission. -* @param hqspi : QSPI handle -* @retval HAL status -*/ -HAL_StatusTypeDef HAL_QSPI_Abort(QSPI_HandleTypeDef *hqspi) -{ - HAL_StatusTypeDef status = HAL_OK; - uint32_t tickstart = HAL_GetTick(); - - /* Check if the state is in one of the busy states */ - if (((uint32_t)hqspi->State & 0x2U) != 0U) - { - /* Process unlocked */ - __HAL_UNLOCK(hqspi); - - if ((hqspi->Instance->CR & QUADSPI_CR_DMAEN) != 0U) - { - /* Disable the DMA transfer by clearing the DMAEN bit in the QSPI CR register */ - CLEAR_BIT(hqspi->Instance->CR, QUADSPI_CR_DMAEN); - - /* Abort DMA channel */ - status = HAL_DMA_Abort(hqspi->hdma); - if(status != HAL_OK) - { - hqspi->ErrorCode |= HAL_QSPI_ERROR_DMA; - } - } - - /* Configure QSPI: CR register with Abort request */ - SET_BIT(hqspi->Instance->CR, QUADSPI_CR_ABORT); - - /* Wait until TC flag is set to go back in idle state */ - status = QSPI_WaitFlagStateUntilTimeout(hqspi, QSPI_FLAG_TC, SET, tickstart, hqspi->Timeout); - - if (status == HAL_OK) - { - __HAL_QSPI_CLEAR_FLAG(hqspi, QSPI_FLAG_TC); - - /* Wait until BUSY flag is reset */ - status = QSPI_WaitFlagStateUntilTimeout(hqspi, QSPI_FLAG_BUSY, RESET, tickstart, hqspi->Timeout); - } - - if (status == HAL_OK) - { - /* Reset functional mode configuration to indirect write mode by default */ - CLEAR_BIT(hqspi->Instance->CCR, QUADSPI_CCR_FMODE); - - /* Update state */ - hqspi->State = HAL_QSPI_STATE_READY; - } - } - - return status; -} - -/** -* @brief Abort the current transmission (non-blocking function) -* @param hqspi : QSPI handle -* @retval HAL status -*/ -HAL_StatusTypeDef HAL_QSPI_Abort_IT(QSPI_HandleTypeDef *hqspi) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Check if the state is in one of the busy states */ - if (((uint32_t)hqspi->State & 0x2U) != 0U) - { - /* Process unlocked */ - __HAL_UNLOCK(hqspi); - - /* Update QSPI state */ - hqspi->State = HAL_QSPI_STATE_ABORT; - - /* Disable all interrupts */ - __HAL_QSPI_DISABLE_IT(hqspi, (QSPI_IT_TO | QSPI_IT_SM | QSPI_IT_FT | QSPI_IT_TC | QSPI_IT_TE)); - - if ((hqspi->Instance->CR & QUADSPI_CR_DMAEN) != 0U) - { - /* Disable the DMA transfer by clearing the DMAEN bit in the QSPI CR register */ - CLEAR_BIT(hqspi->Instance->CR, QUADSPI_CR_DMAEN); - - /* Abort DMA channel */ - hqspi->hdma->XferAbortCallback = QSPI_DMAAbortCplt; - if (HAL_DMA_Abort_IT(hqspi->hdma) != HAL_OK) - { - /* Change state of QSPI */ - hqspi->State = HAL_QSPI_STATE_READY; - - /* Abort Complete callback */ -#if (USE_HAL_QSPI_REGISTER_CALLBACKS == 1) - hqspi->AbortCpltCallback(hqspi); -#else - HAL_QSPI_AbortCpltCallback(hqspi); -#endif - } - } - else - { - /* Clear interrupt */ - __HAL_QSPI_CLEAR_FLAG(hqspi, QSPI_FLAG_TC); - - /* Enable the QSPI Transfer Complete Interrupt */ - __HAL_QSPI_ENABLE_IT(hqspi, QSPI_IT_TC); - - /* Configure QSPI: CR register with Abort request */ - SET_BIT(hqspi->Instance->CR, QUADSPI_CR_ABORT); - } - } - return status; -} - -/** @brief Set QSPI timeout. - * @param hqspi : QSPI handle. - * @param Timeout : Timeout for the QSPI memory access. - * @retval None - */ -void HAL_QSPI_SetTimeout(QSPI_HandleTypeDef *hqspi, uint32_t Timeout) -{ - hqspi->Timeout = Timeout; -} - -/** @brief Set QSPI Fifo threshold. - * @param hqspi : QSPI handle. - * @param Threshold : Threshold of the Fifo (value between 1 and 16). - * @retval HAL status - */ -HAL_StatusTypeDef HAL_QSPI_SetFifoThreshold(QSPI_HandleTypeDef *hqspi, uint32_t Threshold) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Process locked */ - __HAL_LOCK(hqspi); - - if(hqspi->State == HAL_QSPI_STATE_READY) - { - /* Synchronize init structure with new FIFO threshold value */ - hqspi->Init.FifoThreshold = Threshold; - - /* Configure QSPI FIFO Threshold */ - MODIFY_REG(hqspi->Instance->CR, QUADSPI_CR_FTHRES, - ((hqspi->Init.FifoThreshold - 1U) << QUADSPI_CR_FTHRES_Pos)); - } - else - { - status = HAL_BUSY; - } - - /* Process unlocked */ - __HAL_UNLOCK(hqspi); - - /* Return function status */ - return status; -} - -/** @brief Get QSPI Fifo threshold. - * @param hqspi : QSPI handle. - * @retval Fifo threshold (value between 1 and 16) - */ -uint32_t HAL_QSPI_GetFifoThreshold(QSPI_HandleTypeDef *hqspi) -{ - return ((READ_BIT(hqspi->Instance->CR, QUADSPI_CR_FTHRES) >> QUADSPI_CR_FTHRES_Pos) + 1U); -} - -/** @brief Set FlashID. - * @param hqspi : QSPI handle. - * @param FlashID : Index of the flash memory to be accessed. - * This parameter can be a value of @ref QSPI_Flash_Select. - * @note The FlashID is ignored when dual flash mode is enabled. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_QSPI_SetFlashID(QSPI_HandleTypeDef *hqspi, uint32_t FlashID) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Check the parameter */ - assert_param(IS_QSPI_FLASH_ID(FlashID)); - - /* Process locked */ - __HAL_LOCK(hqspi); - - if(hqspi->State == HAL_QSPI_STATE_READY) - { - /* Synchronize init structure with new FlashID value */ - hqspi->Init.FlashID = FlashID; - - /* Configure QSPI FlashID */ - MODIFY_REG(hqspi->Instance->CR, QUADSPI_CR_FSEL, FlashID); - } - else - { - status = HAL_BUSY; - } - - /* Process unlocked */ - __HAL_UNLOCK(hqspi); - - /* Return function status */ - return status; -} - -/** - * @} - */ - -/** - * @} - */ - -/** @defgroup QSPI_Private_Functions QSPI Private Functions - * @{ - */ - -/** - * @brief DMA QSPI receive process complete callback. - * @param hdma : DMA handle - * @retval None - */ -static void QSPI_DMARxCplt(DMA_HandleTypeDef *hdma) -{ - QSPI_HandleTypeDef* hqspi = (QSPI_HandleTypeDef*)(hdma->Parent); - hqspi->RxXferCount = 0U; - - /* Enable the QSPI transfer complete Interrupt */ - __HAL_QSPI_ENABLE_IT(hqspi, QSPI_IT_TC); -} - -/** - * @brief DMA QSPI transmit process complete callback. - * @param hdma : DMA handle - * @retval None - */ -static void QSPI_DMATxCplt(DMA_HandleTypeDef *hdma) -{ - QSPI_HandleTypeDef* hqspi = (QSPI_HandleTypeDef*)(hdma->Parent); - hqspi->TxXferCount = 0U; - - /* Enable the QSPI transfer complete Interrupt */ - __HAL_QSPI_ENABLE_IT(hqspi, QSPI_IT_TC); -} - -/** - * @brief DMA QSPI receive process half complete callback. - * @param hdma : DMA handle - * @retval None - */ -static void QSPI_DMARxHalfCplt(DMA_HandleTypeDef *hdma) -{ - QSPI_HandleTypeDef* hqspi = (QSPI_HandleTypeDef*)(hdma->Parent); - -#if (USE_HAL_QSPI_REGISTER_CALLBACKS == 1) - hqspi->RxHalfCpltCallback(hqspi); -#else - HAL_QSPI_RxHalfCpltCallback(hqspi); -#endif -} - -/** - * @brief DMA QSPI transmit process half complete callback. - * @param hdma : DMA handle - * @retval None - */ -static void QSPI_DMATxHalfCplt(DMA_HandleTypeDef *hdma) -{ - QSPI_HandleTypeDef* hqspi = (QSPI_HandleTypeDef*)(hdma->Parent); - -#if (USE_HAL_QSPI_REGISTER_CALLBACKS == 1) - hqspi->TxHalfCpltCallback(hqspi); -#else - HAL_QSPI_TxHalfCpltCallback(hqspi); -#endif -} - -/** - * @brief DMA QSPI communication error callback. - * @param hdma : DMA handle - * @retval None - */ -static void QSPI_DMAError(DMA_HandleTypeDef *hdma) -{ - QSPI_HandleTypeDef* hqspi = ( QSPI_HandleTypeDef* )(hdma->Parent); - - /* if DMA error is FIFO error ignore it */ - if(HAL_DMA_GetError(hdma) != HAL_DMA_ERROR_FE) - { - hqspi->RxXferCount = 0U; - hqspi->TxXferCount = 0U; - hqspi->ErrorCode |= HAL_QSPI_ERROR_DMA; - - /* Disable the DMA transfer by clearing the DMAEN bit in the QSPI CR register */ - CLEAR_BIT(hqspi->Instance->CR, QUADSPI_CR_DMAEN); - - /* Abort the QSPI */ - (void)HAL_QSPI_Abort_IT(hqspi); - - } -} - -/** - * @brief DMA QSPI abort complete callback. - * @param hdma : DMA handle - * @retval None - */ -static void QSPI_DMAAbortCplt(DMA_HandleTypeDef *hdma) -{ - QSPI_HandleTypeDef* hqspi = ( QSPI_HandleTypeDef* )(hdma->Parent); - - hqspi->RxXferCount = 0U; - hqspi->TxXferCount = 0U; - - if(hqspi->State == HAL_QSPI_STATE_ABORT) - { - /* DMA Abort called by QSPI abort */ - /* Clear interrupt */ - __HAL_QSPI_CLEAR_FLAG(hqspi, QSPI_FLAG_TC); - - /* Enable the QSPI Transfer Complete Interrupt */ - __HAL_QSPI_ENABLE_IT(hqspi, QSPI_IT_TC); - - /* Configure QSPI: CR register with Abort request */ - SET_BIT(hqspi->Instance->CR, QUADSPI_CR_ABORT); - } - else - { - /* DMA Abort called due to a transfer error interrupt */ - /* Change state of QSPI */ - hqspi->State = HAL_QSPI_STATE_READY; - - /* Error callback */ -#if (USE_HAL_QSPI_REGISTER_CALLBACKS == 1) - hqspi->ErrorCallback(hqspi); -#else - HAL_QSPI_ErrorCallback(hqspi); -#endif - } -} - -/** - * @brief Wait for a flag state until timeout. - * @param hqspi : QSPI handle - * @param Flag : Flag checked - * @param State : Value of the flag expected - * @param Tickstart : Tick start value - * @param Timeout : Duration of the timeout - * @retval HAL status - */ -static HAL_StatusTypeDef QSPI_WaitFlagStateUntilTimeout(QSPI_HandleTypeDef *hqspi, uint32_t Flag, - FlagStatus State, uint32_t Tickstart, uint32_t Timeout) -{ - /* Wait until flag is in expected state */ - while((__HAL_QSPI_GET_FLAG(hqspi, Flag)) != State) - { - /* Check for the Timeout */ - if (Timeout != HAL_MAX_DELAY) - { - if(((HAL_GetTick() - Tickstart) > Timeout) || (Timeout == 0U)) - { - hqspi->State = HAL_QSPI_STATE_ERROR; - hqspi->ErrorCode |= HAL_QSPI_ERROR_TIMEOUT; - - return HAL_ERROR; - } - } - } - return HAL_OK; -} - -/** - * @brief Wait for a flag state until timeout using CPU cycle. - * @param hqspi : QSPI handle - * @param Flag : Flag checked - * @param State : Value of the flag expected - * @param Timeout : Duration of the timeout - * @retval HAL status - */ -static HAL_StatusTypeDef QSPI_WaitFlagStateUntilTimeout_CPUCycle(QSPI_HandleTypeDef *hqspi, uint32_t Flag, FlagStatus State, uint32_t Timeout) -{ - __IO uint32_t count = Timeout * (SystemCoreClock / 16U / 1000U); - do - { - if (count-- == 0U) - { - hqspi->State = HAL_QSPI_STATE_ERROR; - hqspi->ErrorCode |= HAL_QSPI_ERROR_TIMEOUT; - return HAL_TIMEOUT; - } - } - while ((__HAL_QSPI_GET_FLAG(hqspi, Flag)) != State); - - return HAL_OK; -} - -/** - * @brief Configure the communication registers. - * @param hqspi : QSPI handle - * @param cmd : structure that contains the command configuration information - * @param FunctionalMode : functional mode to configured - * This parameter can be one of the following values: - * @arg QSPI_FUNCTIONAL_MODE_INDIRECT_WRITE: Indirect write mode - * @arg QSPI_FUNCTIONAL_MODE_INDIRECT_READ: Indirect read mode - * @arg QSPI_FUNCTIONAL_MODE_AUTO_POLLING: Automatic polling mode - * @arg QSPI_FUNCTIONAL_MODE_MEMORY_MAPPED: Memory-mapped mode - * @retval None - */ -static void QSPI_Config(QSPI_HandleTypeDef *hqspi, QSPI_CommandTypeDef *cmd, uint32_t FunctionalMode) -{ - assert_param(IS_QSPI_FUNCTIONAL_MODE(FunctionalMode)); - - if ((cmd->DataMode != QSPI_DATA_NONE) && (FunctionalMode != QSPI_FUNCTIONAL_MODE_MEMORY_MAPPED)) - { - /* Configure QSPI: DLR register with the number of data to read or write */ - WRITE_REG(hqspi->Instance->DLR, (cmd->NbData - 1U)); - } - - if (cmd->InstructionMode != QSPI_INSTRUCTION_NONE) - { - if (cmd->AlternateByteMode != QSPI_ALTERNATE_BYTES_NONE) - { - /* Configure QSPI: ABR register with alternate bytes value */ - WRITE_REG(hqspi->Instance->ABR, cmd->AlternateBytes); - - if (cmd->AddressMode != QSPI_ADDRESS_NONE) - { - /*---- Command with instruction, address and alternate bytes ----*/ - /* Configure QSPI: CCR register with all communications parameters */ - WRITE_REG(hqspi->Instance->CCR, (cmd->DdrMode | cmd->DdrHoldHalfCycle | cmd->SIOOMode | - cmd->DataMode | (cmd->DummyCycles << QUADSPI_CCR_DCYC_Pos) | - cmd->AlternateBytesSize | cmd->AlternateByteMode | - cmd->AddressSize | cmd->AddressMode | cmd->InstructionMode | - cmd->Instruction | FunctionalMode)); - - if (FunctionalMode != QSPI_FUNCTIONAL_MODE_MEMORY_MAPPED) - { - /* Configure QSPI: AR register with address value */ - WRITE_REG(hqspi->Instance->AR, cmd->Address); - } - } - else - { - /*---- Command with instruction and alternate bytes ----*/ - /* Configure QSPI: CCR register with all communications parameters */ - WRITE_REG(hqspi->Instance->CCR, (cmd->DdrMode | cmd->DdrHoldHalfCycle | cmd->SIOOMode | - cmd->DataMode | (cmd->DummyCycles << QUADSPI_CCR_DCYC_Pos) | - cmd->AlternateBytesSize | cmd->AlternateByteMode | - cmd->AddressMode | cmd->InstructionMode | - cmd->Instruction | FunctionalMode)); - } - } - else - { - if (cmd->AddressMode != QSPI_ADDRESS_NONE) - { - /*---- Command with instruction and address ----*/ - /* Configure QSPI: CCR register with all communications parameters */ - WRITE_REG(hqspi->Instance->CCR, (cmd->DdrMode | cmd->DdrHoldHalfCycle | cmd->SIOOMode | - cmd->DataMode | (cmd->DummyCycles << QUADSPI_CCR_DCYC_Pos) | - cmd->AlternateByteMode | cmd->AddressSize | cmd->AddressMode | - cmd->InstructionMode | cmd->Instruction | FunctionalMode)); - - if (FunctionalMode != QSPI_FUNCTIONAL_MODE_MEMORY_MAPPED) - { - /* Configure QSPI: AR register with address value */ - WRITE_REG(hqspi->Instance->AR, cmd->Address); - } - } - else - { - /*---- Command with only instruction ----*/ - /* Configure QSPI: CCR register with all communications parameters */ - WRITE_REG(hqspi->Instance->CCR, (cmd->DdrMode | cmd->DdrHoldHalfCycle | cmd->SIOOMode | - cmd->DataMode | (cmd->DummyCycles << QUADSPI_CCR_DCYC_Pos) | - cmd->AlternateByteMode | cmd->AddressMode | - cmd->InstructionMode | cmd->Instruction | FunctionalMode)); - } - } - } - else - { - if (cmd->AlternateByteMode != QSPI_ALTERNATE_BYTES_NONE) - { - /* Configure QSPI: ABR register with alternate bytes value */ - WRITE_REG(hqspi->Instance->ABR, cmd->AlternateBytes); - - if (cmd->AddressMode != QSPI_ADDRESS_NONE) - { - /*---- Command with address and alternate bytes ----*/ - /* Configure QSPI: CCR register with all communications parameters */ - WRITE_REG(hqspi->Instance->CCR, (cmd->DdrMode | cmd->DdrHoldHalfCycle | cmd->SIOOMode | - cmd->DataMode | (cmd->DummyCycles << QUADSPI_CCR_DCYC_Pos) | - cmd->AlternateBytesSize | cmd->AlternateByteMode | - cmd->AddressSize | cmd->AddressMode | - cmd->InstructionMode | FunctionalMode)); - - if (FunctionalMode != QSPI_FUNCTIONAL_MODE_MEMORY_MAPPED) - { - /* Configure QSPI: AR register with address value */ - WRITE_REG(hqspi->Instance->AR, cmd->Address); - } - } - else - { - /*---- Command with only alternate bytes ----*/ - /* Configure QSPI: CCR register with all communications parameters */ - WRITE_REG(hqspi->Instance->CCR, (cmd->DdrMode | cmd->DdrHoldHalfCycle | cmd->SIOOMode | - cmd->DataMode | (cmd->DummyCycles << QUADSPI_CCR_DCYC_Pos) | - cmd->AlternateBytesSize | cmd->AlternateByteMode | - cmd->AddressMode | cmd->InstructionMode | FunctionalMode)); - } - } - else - { - if (cmd->AddressMode != QSPI_ADDRESS_NONE) - { - /*---- Command with only address ----*/ - /* Configure QSPI: CCR register with all communications parameters */ - WRITE_REG(hqspi->Instance->CCR, (cmd->DdrMode | cmd->DdrHoldHalfCycle | cmd->SIOOMode | - cmd->DataMode | (cmd->DummyCycles << QUADSPI_CCR_DCYC_Pos) | - cmd->AlternateByteMode | cmd->AddressSize | - cmd->AddressMode | cmd->InstructionMode | FunctionalMode)); - - if (FunctionalMode != QSPI_FUNCTIONAL_MODE_MEMORY_MAPPED) - { - /* Configure QSPI: AR register with address value */ - WRITE_REG(hqspi->Instance->AR, cmd->Address); - } - } - else - { - /*---- Command with only data phase ----*/ - if (cmd->DataMode != QSPI_DATA_NONE) - { - /* Configure QSPI: CCR register with all communications parameters */ - WRITE_REG(hqspi->Instance->CCR, (cmd->DdrMode | cmd->DdrHoldHalfCycle | cmd->SIOOMode | - cmd->DataMode | (cmd->DummyCycles << QUADSPI_CCR_DCYC_Pos) | - cmd->AlternateByteMode | cmd->AddressMode | - cmd->InstructionMode | FunctionalMode)); - } - } - } - } -} - -/** - * @} - */ - -/** - * @} - */ - -#endif /* HAL_QSPI_MODULE_ENABLED */ -/** - * @} - */ - -/** - * @} - */ - -#endif /* defined(QUADSPI) */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c deleted file mode 100644 index 552ef18ed80a3d..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c +++ /dev/null @@ -1,1125 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_rcc.c - * @author MCD Application Team - * @brief RCC HAL module driver. - * This file provides firmware functions to manage the following - * functionalities of the Reset and Clock Control (RCC) peripheral: - * + Initialization and de-initialization functions - * + Peripheral Control functions - * - @verbatim - ============================================================================== - ##### RCC specific features ##### - ============================================================================== - [..] - After reset the device is running from Internal High Speed oscillator - (HSI 16MHz) with Flash 0 wait state, Flash prefetch buffer, D-Cache - and I-Cache are disabled, and all peripherals are off except internal - SRAM, Flash and JTAG. - (+) There is no prescaler on High speed (AHB) and Low speed (APB) busses; - all peripherals mapped on these busses are running at HSI speed. - (+) The clock for all peripherals is switched off, except the SRAM and FLASH. - (+) All GPIOs are in input floating state, except the JTAG pins which - are assigned to be used for debug purpose. - - [..] - Once the device started from reset, the user application has to: - (+) Configure the clock source to be used to drive the System clock - (if the application needs higher frequency/performance) - (+) Configure the System clock frequency and Flash settings - (+) Configure the AHB and APB busses prescalers - (+) Enable the clock for the peripheral(s) to be used - (+) Configure the clock source(s) for peripherals which clocks are not - derived from the System clock (I2S, RTC, ADC, USB OTG FS/SDIO/RNG) - - ##### RCC Limitations ##### - ============================================================================== - [..] - A delay between an RCC peripheral clock enable and the effective peripheral - enabling should be taken into account in order to manage the peripheral read/write - from/to registers. - (+) This delay depends on the peripheral mapping. - (+) If peripheral is mapped on AHB: the delay is 2 AHB clock cycle - after the clock enable bit is set on the hardware register - (+) If peripheral is mapped on APB: the delay is 2 APB clock cycle - after the clock enable bit is set on the hardware register - - [..] - Implemented Workaround: - (+) For AHB & APB peripherals, a dummy read to the peripheral register has been - inserted in each __HAL_RCC_PPP_CLK_ENABLE() macro. - - @endverbatim - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @defgroup RCC RCC - * @brief RCC HAL module driver - * @{ - */ - -#ifdef HAL_RCC_MODULE_ENABLED - -/* Private typedef -----------------------------------------------------------*/ -/* Private define ------------------------------------------------------------*/ -/** @addtogroup RCC_Private_Constants - * @{ - */ - -/* Private macro -------------------------------------------------------------*/ -#define __MCO1_CLK_ENABLE() __HAL_RCC_GPIOA_CLK_ENABLE() -#define MCO1_GPIO_PORT GPIOA -#define MCO1_PIN GPIO_PIN_8 - -#define __MCO2_CLK_ENABLE() __HAL_RCC_GPIOC_CLK_ENABLE() -#define MCO2_GPIO_PORT GPIOC -#define MCO2_PIN GPIO_PIN_9 -/** - * @} - */ - -/* Private variables ---------------------------------------------------------*/ -/** @defgroup RCC_Private_Variables RCC Private Variables - * @{ - */ -/** - * @} - */ -/* Private function prototypes -----------------------------------------------*/ -/* Private functions ---------------------------------------------------------*/ - -/** @defgroup RCC_Exported_Functions RCC Exported Functions - * @{ - */ - -/** @defgroup RCC_Exported_Functions_Group1 Initialization and de-initialization functions - * @brief Initialization and Configuration functions - * -@verbatim - =============================================================================== - ##### Initialization and de-initialization functions ##### - =============================================================================== - [..] - This section provides functions allowing to configure the internal/external oscillators - (HSE, HSI, LSE, LSI, PLL, CSS and MCO) and the System busses clocks (SYSCLK, AHB, APB1 - and APB2). - - [..] Internal/external clock and PLL configuration - (#) HSI (high-speed internal), 16 MHz factory-trimmed RC used directly or through - the PLL as System clock source. - - (#) LSI (low-speed internal), 32 KHz low consumption RC used as IWDG and/or RTC - clock source. - - (#) HSE (high-speed external), 4 to 26 MHz crystal oscillator used directly or - through the PLL as System clock source. Can be used also as RTC clock source. - - (#) LSE (low-speed external), 32 KHz oscillator used as RTC clock source. - - (#) PLL (clocked by HSI or HSE), featuring two different output clocks: - (++) The first output is used to generate the high speed system clock (up to 168 MHz) - (++) The second output is used to generate the clock for the USB OTG FS (48 MHz), - the random analog generator (<=48 MHz) and the SDIO (<= 48 MHz). - - (#) CSS (Clock security system), once enable using the macro __HAL_RCC_CSS_ENABLE() - and if a HSE clock failure occurs(HSE used directly or through PLL as System - clock source), the System clocks automatically switched to HSI and an interrupt - is generated if enabled. The interrupt is linked to the Cortex-M4 NMI - (Non-Maskable Interrupt) exception vector. - - (#) MCO1 (microcontroller clock output), used to output HSI, LSE, HSE or PLL - clock (through a configurable prescaler) on PA8 pin. - - (#) MCO2 (microcontroller clock output), used to output HSE, PLL, SYSCLK or PLLI2S - clock (through a configurable prescaler) on PC9 pin. - - [..] System, AHB and APB busses clocks configuration - (#) Several clock sources can be used to drive the System clock (SYSCLK): HSI, - HSE and PLL. - The AHB clock (HCLK) is derived from System clock through configurable - prescaler and used to clock the CPU, memory and peripherals mapped - on AHB bus (DMA, GPIO...). APB1 (PCLK1) and APB2 (PCLK2) clocks are derived - from AHB clock through configurable prescalers and used to clock - the peripherals mapped on these busses. You can use - "HAL_RCC_GetSysClockFreq()" function to retrieve the frequencies of these clocks. - - (#) For the STM32F405xx/07xx and STM32F415xx/17xx devices, the maximum - frequency of the SYSCLK and HCLK is 168 MHz, PCLK2 84 MHz and PCLK1 42 MHz. - Depending on the device voltage range, the maximum frequency should - be adapted accordingly (refer to the product datasheets for more details). - - (#) For the STM32F42xxx, STM32F43xxx, STM32F446xx, STM32F469xx and STM32F479xx devices, - the maximum frequency of the SYSCLK and HCLK is 180 MHz, PCLK2 90 MHz and PCLK1 45 MHz. - Depending on the device voltage range, the maximum frequency should - be adapted accordingly (refer to the product datasheets for more details). - - (#) For the STM32F401xx, the maximum frequency of the SYSCLK and HCLK is 84 MHz, - PCLK2 84 MHz and PCLK1 42 MHz. - Depending on the device voltage range, the maximum frequency should - be adapted accordingly (refer to the product datasheets for more details). - - (#) For the STM32F41xxx, the maximum frequency of the SYSCLK and HCLK is 100 MHz, - PCLK2 100 MHz and PCLK1 50 MHz. - Depending on the device voltage range, the maximum frequency should - be adapted accordingly (refer to the product datasheets for more details). - -@endverbatim - * @{ - */ - -/** - * @brief Resets the RCC clock configuration to the default reset state. - * @note The default reset state of the clock configuration is given below: - * - HSI ON and used as system clock source - * - HSE and PLL OFF - * - AHB, APB1 and APB2 prescaler set to 1. - * - CSS, MCO1 and MCO2 OFF - * - All interrupts disabled - * @note This function doesn't modify the configuration of the - * - Peripheral clocks - * - LSI, LSE and RTC clocks - * @retval HAL status - */ -__weak HAL_StatusTypeDef HAL_RCC_DeInit(void) -{ - return HAL_OK; -} - -/** - * @brief Initializes the RCC Oscillators according to the specified parameters in the - * RCC_OscInitTypeDef. - * @param RCC_OscInitStruct pointer to an RCC_OscInitTypeDef structure that - * contains the configuration information for the RCC Oscillators. - * @note The PLL is not disabled when used as system clock. - * @note Transitions LSE Bypass to LSE On and LSE On to LSE Bypass are not - * supported by this API. User should request a transition to LSE Off - * first and then LSE On or LSE Bypass. - * @note Transition HSE Bypass to HSE On and HSE On to HSE Bypass are not - * supported by this API. User should request a transition to HSE Off - * first and then HSE On or HSE Bypass. - * @retval HAL status - */ -__weak HAL_StatusTypeDef HAL_RCC_OscConfig(RCC_OscInitTypeDef *RCC_OscInitStruct) -{ - uint32_t tickstart, pll_config; - - /* Check Null pointer */ - if(RCC_OscInitStruct == NULL) - { - return HAL_ERROR; - } - - /* Check the parameters */ - assert_param(IS_RCC_OSCILLATORTYPE(RCC_OscInitStruct->OscillatorType)); - /*------------------------------- HSE Configuration ------------------------*/ - if(((RCC_OscInitStruct->OscillatorType) & RCC_OSCILLATORTYPE_HSE) == RCC_OSCILLATORTYPE_HSE) - { - /* Check the parameters */ - assert_param(IS_RCC_HSE(RCC_OscInitStruct->HSEState)); - /* When the HSE is used as system clock or clock source for PLL in these cases HSE will not disabled */ - if((__HAL_RCC_GET_SYSCLK_SOURCE() == RCC_CFGR_SWS_HSE) ||\ - ((__HAL_RCC_GET_SYSCLK_SOURCE() == RCC_CFGR_SWS_PLL) && ((RCC->PLLCFGR & RCC_PLLCFGR_PLLSRC) == RCC_PLLCFGR_PLLSRC_HSE))) - { - if((__HAL_RCC_GET_FLAG(RCC_FLAG_HSERDY) != RESET) && (RCC_OscInitStruct->HSEState == RCC_HSE_OFF)) - { - return HAL_ERROR; - } - } - else - { - /* Set the new HSE configuration ---------------------------------------*/ - __HAL_RCC_HSE_CONFIG(RCC_OscInitStruct->HSEState); - - /* Check the HSE State */ - if((RCC_OscInitStruct->HSEState) != RCC_HSE_OFF) - { - /* Get Start Tick */ - tickstart = HAL_GetTick(); - - /* Wait till HSE is ready */ - while(__HAL_RCC_GET_FLAG(RCC_FLAG_HSERDY) == RESET) - { - if((HAL_GetTick() - tickstart ) > HSE_TIMEOUT_VALUE) - { - return HAL_TIMEOUT; - } - } - } - else - { - /* Get Start Tick */ - tickstart = HAL_GetTick(); - - /* Wait till HSE is bypassed or disabled */ - while(__HAL_RCC_GET_FLAG(RCC_FLAG_HSERDY) != RESET) - { - if((HAL_GetTick() - tickstart ) > HSE_TIMEOUT_VALUE) - { - return HAL_TIMEOUT; - } - } - } - } - } - /*----------------------------- HSI Configuration --------------------------*/ - if(((RCC_OscInitStruct->OscillatorType) & RCC_OSCILLATORTYPE_HSI) == RCC_OSCILLATORTYPE_HSI) - { - /* Check the parameters */ - assert_param(IS_RCC_HSI(RCC_OscInitStruct->HSIState)); - assert_param(IS_RCC_CALIBRATION_VALUE(RCC_OscInitStruct->HSICalibrationValue)); - - /* Check if HSI is used as system clock or as PLL source when PLL is selected as system clock */ - if((__HAL_RCC_GET_SYSCLK_SOURCE() == RCC_CFGR_SWS_HSI) ||\ - ((__HAL_RCC_GET_SYSCLK_SOURCE() == RCC_CFGR_SWS_PLL) && ((RCC->PLLCFGR & RCC_PLLCFGR_PLLSRC) == RCC_PLLCFGR_PLLSRC_HSI))) - { - /* When HSI is used as system clock it will not disabled */ - if((__HAL_RCC_GET_FLAG(RCC_FLAG_HSIRDY) != RESET) && (RCC_OscInitStruct->HSIState != RCC_HSI_ON)) - { - return HAL_ERROR; - } - /* Otherwise, just the calibration is allowed */ - else - { - /* Adjusts the Internal High Speed oscillator (HSI) calibration value.*/ - __HAL_RCC_HSI_CALIBRATIONVALUE_ADJUST(RCC_OscInitStruct->HSICalibrationValue); - } - } - else - { - /* Check the HSI State */ - if((RCC_OscInitStruct->HSIState)!= RCC_HSI_OFF) - { - /* Enable the Internal High Speed oscillator (HSI). */ - __HAL_RCC_HSI_ENABLE(); - - /* Get Start Tick*/ - tickstart = HAL_GetTick(); - - /* Wait till HSI is ready */ - while(__HAL_RCC_GET_FLAG(RCC_FLAG_HSIRDY) == RESET) - { - if((HAL_GetTick() - tickstart ) > HSI_TIMEOUT_VALUE) - { - return HAL_TIMEOUT; - } - } - - /* Adjusts the Internal High Speed oscillator (HSI) calibration value. */ - __HAL_RCC_HSI_CALIBRATIONVALUE_ADJUST(RCC_OscInitStruct->HSICalibrationValue); - } - else - { - /* Disable the Internal High Speed oscillator (HSI). */ - __HAL_RCC_HSI_DISABLE(); - - /* Get Start Tick*/ - tickstart = HAL_GetTick(); - - /* Wait till HSI is ready */ - while(__HAL_RCC_GET_FLAG(RCC_FLAG_HSIRDY) != RESET) - { - if((HAL_GetTick() - tickstart ) > HSI_TIMEOUT_VALUE) - { - return HAL_TIMEOUT; - } - } - } - } - } - /*------------------------------ LSI Configuration -------------------------*/ - if(((RCC_OscInitStruct->OscillatorType) & RCC_OSCILLATORTYPE_LSI) == RCC_OSCILLATORTYPE_LSI) - { - /* Check the parameters */ - assert_param(IS_RCC_LSI(RCC_OscInitStruct->LSIState)); - - /* Check the LSI State */ - if((RCC_OscInitStruct->LSIState)!= RCC_LSI_OFF) - { - /* Enable the Internal Low Speed oscillator (LSI). */ - __HAL_RCC_LSI_ENABLE(); - - /* Get Start Tick*/ - tickstart = HAL_GetTick(); - - /* Wait till LSI is ready */ - while(__HAL_RCC_GET_FLAG(RCC_FLAG_LSIRDY) == RESET) - { - if((HAL_GetTick() - tickstart ) > LSI_TIMEOUT_VALUE) - { - return HAL_TIMEOUT; - } - } - } - else - { - /* Disable the Internal Low Speed oscillator (LSI). */ - __HAL_RCC_LSI_DISABLE(); - - /* Get Start Tick */ - tickstart = HAL_GetTick(); - - /* Wait till LSI is ready */ - while(__HAL_RCC_GET_FLAG(RCC_FLAG_LSIRDY) != RESET) - { - if((HAL_GetTick() - tickstart ) > LSI_TIMEOUT_VALUE) - { - return HAL_TIMEOUT; - } - } - } - } - /*------------------------------ LSE Configuration -------------------------*/ - if(((RCC_OscInitStruct->OscillatorType) & RCC_OSCILLATORTYPE_LSE) == RCC_OSCILLATORTYPE_LSE) - { - FlagStatus pwrclkchanged = RESET; - - /* Check the parameters */ - assert_param(IS_RCC_LSE(RCC_OscInitStruct->LSEState)); - - /* Update LSE configuration in Backup Domain control register */ - /* Requires to enable write access to Backup Domain of necessary */ - if(__HAL_RCC_PWR_IS_CLK_DISABLED()) - { - __HAL_RCC_PWR_CLK_ENABLE(); - pwrclkchanged = SET; - } - - if(HAL_IS_BIT_CLR(PWR->CR, PWR_CR_DBP)) - { - /* Enable write access to Backup domain */ - SET_BIT(PWR->CR, PWR_CR_DBP); - - /* Wait for Backup domain Write protection disable */ - tickstart = HAL_GetTick(); - - while(HAL_IS_BIT_CLR(PWR->CR, PWR_CR_DBP)) - { - if((HAL_GetTick() - tickstart) > RCC_DBP_TIMEOUT_VALUE) - { - return HAL_TIMEOUT; - } - } - } - - /* Set the new LSE configuration -----------------------------------------*/ - __HAL_RCC_LSE_CONFIG(RCC_OscInitStruct->LSEState); - /* Check the LSE State */ - if((RCC_OscInitStruct->LSEState) != RCC_LSE_OFF) - { - /* Get Start Tick*/ - tickstart = HAL_GetTick(); - - /* Wait till LSE is ready */ - while(__HAL_RCC_GET_FLAG(RCC_FLAG_LSERDY) == RESET) - { - if((HAL_GetTick() - tickstart ) > RCC_LSE_TIMEOUT_VALUE) - { - return HAL_TIMEOUT; - } - } - } - else - { - /* Get Start Tick */ - tickstart = HAL_GetTick(); - - /* Wait till LSE is ready */ - while(__HAL_RCC_GET_FLAG(RCC_FLAG_LSERDY) != RESET) - { - if((HAL_GetTick() - tickstart ) > RCC_LSE_TIMEOUT_VALUE) - { - return HAL_TIMEOUT; - } - } - } - - /* Restore clock configuration if changed */ - if(pwrclkchanged == SET) - { - __HAL_RCC_PWR_CLK_DISABLE(); - } - } - /*-------------------------------- PLL Configuration -----------------------*/ - /* Check the parameters */ - assert_param(IS_RCC_PLL(RCC_OscInitStruct->PLL.PLLState)); - if ((RCC_OscInitStruct->PLL.PLLState) != RCC_PLL_NONE) - { - /* Check if the PLL is used as system clock or not */ - if(__HAL_RCC_GET_SYSCLK_SOURCE() != RCC_CFGR_SWS_PLL) - { - if((RCC_OscInitStruct->PLL.PLLState) == RCC_PLL_ON) - { - /* Check the parameters */ - assert_param(IS_RCC_PLLSOURCE(RCC_OscInitStruct->PLL.PLLSource)); - assert_param(IS_RCC_PLLM_VALUE(RCC_OscInitStruct->PLL.PLLM)); - assert_param(IS_RCC_PLLN_VALUE(RCC_OscInitStruct->PLL.PLLN)); - assert_param(IS_RCC_PLLP_VALUE(RCC_OscInitStruct->PLL.PLLP)); - assert_param(IS_RCC_PLLQ_VALUE(RCC_OscInitStruct->PLL.PLLQ)); - - /* Disable the main PLL. */ - __HAL_RCC_PLL_DISABLE(); - - /* Get Start Tick */ - tickstart = HAL_GetTick(); - - /* Wait till PLL is ready */ - while(__HAL_RCC_GET_FLAG(RCC_FLAG_PLLRDY) != RESET) - { - if((HAL_GetTick() - tickstart ) > PLL_TIMEOUT_VALUE) - { - return HAL_TIMEOUT; - } - } - - /* Configure the main PLL clock source, multiplication and division factors. */ - WRITE_REG(RCC->PLLCFGR, (RCC_OscInitStruct->PLL.PLLSource | \ - RCC_OscInitStruct->PLL.PLLM | \ - (RCC_OscInitStruct->PLL.PLLN << RCC_PLLCFGR_PLLN_Pos) | \ - (((RCC_OscInitStruct->PLL.PLLP >> 1U) - 1U) << RCC_PLLCFGR_PLLP_Pos) | \ - (RCC_OscInitStruct->PLL.PLLQ << RCC_PLLCFGR_PLLQ_Pos))); - /* Enable the main PLL. */ - __HAL_RCC_PLL_ENABLE(); - - /* Get Start Tick */ - tickstart = HAL_GetTick(); - - /* Wait till PLL is ready */ - while(__HAL_RCC_GET_FLAG(RCC_FLAG_PLLRDY) == RESET) - { - if((HAL_GetTick() - tickstart ) > PLL_TIMEOUT_VALUE) - { - return HAL_TIMEOUT; - } - } - } - else - { - /* Disable the main PLL. */ - __HAL_RCC_PLL_DISABLE(); - - /* Get Start Tick */ - tickstart = HAL_GetTick(); - - /* Wait till PLL is ready */ - while(__HAL_RCC_GET_FLAG(RCC_FLAG_PLLRDY) != RESET) - { - if((HAL_GetTick() - tickstart ) > PLL_TIMEOUT_VALUE) - { - return HAL_TIMEOUT; - } - } - } - } - else - { - /* Check if there is a request to disable the PLL used as System clock source */ - if((RCC_OscInitStruct->PLL.PLLState) == RCC_PLL_OFF) - { - return HAL_ERROR; - } - else - { - /* Do not return HAL_ERROR if request repeats the current configuration */ - pll_config = RCC->PLLCFGR; -#if defined (RCC_PLLCFGR_PLLR) - if (((RCC_OscInitStruct->PLL.PLLState) == RCC_PLL_OFF) || - (READ_BIT(pll_config, RCC_PLLCFGR_PLLSRC) != RCC_OscInitStruct->PLL.PLLSource) || - (READ_BIT(pll_config, RCC_PLLCFGR_PLLM) != (RCC_OscInitStruct->PLL.PLLM) << RCC_PLLCFGR_PLLM_Pos) || - (READ_BIT(pll_config, RCC_PLLCFGR_PLLN) != (RCC_OscInitStruct->PLL.PLLN) << RCC_PLLCFGR_PLLN_Pos) || - (READ_BIT(pll_config, RCC_PLLCFGR_PLLP) != (((RCC_OscInitStruct->PLL.PLLP >> 1U) - 1U)) << RCC_PLLCFGR_PLLP_Pos) || - (READ_BIT(pll_config, RCC_PLLCFGR_PLLQ) != (RCC_OscInitStruct->PLL.PLLQ << RCC_PLLCFGR_PLLQ_Pos)) || - (READ_BIT(pll_config, RCC_PLLCFGR_PLLR) != (RCC_OscInitStruct->PLL.PLLR << RCC_PLLCFGR_PLLR_Pos))) -#else - if (((RCC_OscInitStruct->PLL.PLLState) == RCC_PLL_OFF) || - (READ_BIT(pll_config, RCC_PLLCFGR_PLLSRC) != RCC_OscInitStruct->PLL.PLLSource) || - (READ_BIT(pll_config, RCC_PLLCFGR_PLLM) != (RCC_OscInitStruct->PLL.PLLM) << RCC_PLLCFGR_PLLM_Pos) || - (READ_BIT(pll_config, RCC_PLLCFGR_PLLN) != (RCC_OscInitStruct->PLL.PLLN) << RCC_PLLCFGR_PLLN_Pos) || - (READ_BIT(pll_config, RCC_PLLCFGR_PLLP) != (((RCC_OscInitStruct->PLL.PLLP >> 1U) - 1U)) << RCC_PLLCFGR_PLLP_Pos) || - (READ_BIT(pll_config, RCC_PLLCFGR_PLLQ) != (RCC_OscInitStruct->PLL.PLLQ << RCC_PLLCFGR_PLLQ_Pos))) -#endif - { - return HAL_ERROR; - } - } - } - } - return HAL_OK; -} - -/** - * @brief Initializes the CPU, AHB and APB busses clocks according to the specified - * parameters in the RCC_ClkInitStruct. - * @param RCC_ClkInitStruct pointer to an RCC_OscInitTypeDef structure that - * contains the configuration information for the RCC peripheral. - * @param FLatency FLASH Latency, this parameter depend on device selected - * - * @note The SystemCoreClock CMSIS variable is used to store System Clock Frequency - * and updated by HAL_RCC_GetHCLKFreq() function called within this function - * - * @note The HSI is used (enabled by hardware) as system clock source after - * startup from Reset, wake-up from STOP and STANDBY mode, or in case - * of failure of the HSE used directly or indirectly as system clock - * (if the Clock Security System CSS is enabled). - * - * @note A switch from one clock source to another occurs only if the target - * clock source is ready (clock stable after startup delay or PLL locked). - * If a clock source which is not yet ready is selected, the switch will - * occur when the clock source will be ready. - * - * @note Depending on the device voltage range, the software has to set correctly - * HPRE[3:0] bits to ensure that HCLK not exceed the maximum allowed frequency - * (for more details refer to section above "Initialization/de-initialization functions") - * @retval None - */ -HAL_StatusTypeDef HAL_RCC_ClockConfig(RCC_ClkInitTypeDef *RCC_ClkInitStruct, uint32_t FLatency) -{ - uint32_t tickstart; - - /* Check Null pointer */ - if(RCC_ClkInitStruct == NULL) - { - return HAL_ERROR; - } - - /* Check the parameters */ - assert_param(IS_RCC_CLOCKTYPE(RCC_ClkInitStruct->ClockType)); - assert_param(IS_FLASH_LATENCY(FLatency)); - - /* To correctly read data from FLASH memory, the number of wait states (LATENCY) - must be correctly programmed according to the frequency of the CPU clock - (HCLK) and the supply voltage of the device. */ - - /* Increasing the number of wait states because of higher CPU frequency */ - if(FLatency > __HAL_FLASH_GET_LATENCY()) - { - /* Program the new number of wait states to the LATENCY bits in the FLASH_ACR register */ - __HAL_FLASH_SET_LATENCY(FLatency); - - /* Check that the new number of wait states is taken into account to access the Flash - memory by reading the FLASH_ACR register */ - if(__HAL_FLASH_GET_LATENCY() != FLatency) - { - return HAL_ERROR; - } - } - - /*-------------------------- HCLK Configuration --------------------------*/ - if(((RCC_ClkInitStruct->ClockType) & RCC_CLOCKTYPE_HCLK) == RCC_CLOCKTYPE_HCLK) - { - /* Set the highest APBx dividers in order to ensure that we do not go through - a non-spec phase whatever we decrease or increase HCLK. */ - if(((RCC_ClkInitStruct->ClockType) & RCC_CLOCKTYPE_PCLK1) == RCC_CLOCKTYPE_PCLK1) - { - MODIFY_REG(RCC->CFGR, RCC_CFGR_PPRE1, RCC_HCLK_DIV16); - } - - if(((RCC_ClkInitStruct->ClockType) & RCC_CLOCKTYPE_PCLK2) == RCC_CLOCKTYPE_PCLK2) - { - MODIFY_REG(RCC->CFGR, RCC_CFGR_PPRE2, (RCC_HCLK_DIV16 << 3)); - } - - assert_param(IS_RCC_HCLK(RCC_ClkInitStruct->AHBCLKDivider)); - MODIFY_REG(RCC->CFGR, RCC_CFGR_HPRE, RCC_ClkInitStruct->AHBCLKDivider); - } - - /*------------------------- SYSCLK Configuration ---------------------------*/ - if(((RCC_ClkInitStruct->ClockType) & RCC_CLOCKTYPE_SYSCLK) == RCC_CLOCKTYPE_SYSCLK) - { - assert_param(IS_RCC_SYSCLKSOURCE(RCC_ClkInitStruct->SYSCLKSource)); - - /* HSE is selected as System Clock Source */ - if(RCC_ClkInitStruct->SYSCLKSource == RCC_SYSCLKSOURCE_HSE) - { - /* Check the HSE ready flag */ - if(__HAL_RCC_GET_FLAG(RCC_FLAG_HSERDY) == RESET) - { - return HAL_ERROR; - } - } - /* PLL is selected as System Clock Source */ - else if((RCC_ClkInitStruct->SYSCLKSource == RCC_SYSCLKSOURCE_PLLCLK) || - (RCC_ClkInitStruct->SYSCLKSource == RCC_SYSCLKSOURCE_PLLRCLK)) - { - /* Check the PLL ready flag */ - if(__HAL_RCC_GET_FLAG(RCC_FLAG_PLLRDY) == RESET) - { - return HAL_ERROR; - } - } - /* HSI is selected as System Clock Source */ - else - { - /* Check the HSI ready flag */ - if(__HAL_RCC_GET_FLAG(RCC_FLAG_HSIRDY) == RESET) - { - return HAL_ERROR; - } - } - - __HAL_RCC_SYSCLK_CONFIG(RCC_ClkInitStruct->SYSCLKSource); - - /* Get Start Tick */ - tickstart = HAL_GetTick(); - - while (__HAL_RCC_GET_SYSCLK_SOURCE() != (RCC_ClkInitStruct->SYSCLKSource << RCC_CFGR_SWS_Pos)) - { - if ((HAL_GetTick() - tickstart) > CLOCKSWITCH_TIMEOUT_VALUE) - { - return HAL_TIMEOUT; - } - } - } - - /* Decreasing the number of wait states because of lower CPU frequency */ - if(FLatency < __HAL_FLASH_GET_LATENCY()) - { - /* Program the new number of wait states to the LATENCY bits in the FLASH_ACR register */ - __HAL_FLASH_SET_LATENCY(FLatency); - - /* Check that the new number of wait states is taken into account to access the Flash - memory by reading the FLASH_ACR register */ - if(__HAL_FLASH_GET_LATENCY() != FLatency) - { - return HAL_ERROR; - } - } - - /*-------------------------- PCLK1 Configuration ---------------------------*/ - if(((RCC_ClkInitStruct->ClockType) & RCC_CLOCKTYPE_PCLK1) == RCC_CLOCKTYPE_PCLK1) - { - assert_param(IS_RCC_PCLK(RCC_ClkInitStruct->APB1CLKDivider)); - MODIFY_REG(RCC->CFGR, RCC_CFGR_PPRE1, RCC_ClkInitStruct->APB1CLKDivider); - } - - /*-------------------------- PCLK2 Configuration ---------------------------*/ - if(((RCC_ClkInitStruct->ClockType) & RCC_CLOCKTYPE_PCLK2) == RCC_CLOCKTYPE_PCLK2) - { - assert_param(IS_RCC_PCLK(RCC_ClkInitStruct->APB2CLKDivider)); - MODIFY_REG(RCC->CFGR, RCC_CFGR_PPRE2, ((RCC_ClkInitStruct->APB2CLKDivider) << 3U)); - } - - /* Update the SystemCoreClock global variable */ - SystemCoreClock = HAL_RCC_GetSysClockFreq() >> AHBPrescTable[(RCC->CFGR & RCC_CFGR_HPRE)>> RCC_CFGR_HPRE_Pos]; - - /* Configure the source of time base considering new system clocks settings */ - HAL_InitTick (uwTickPrio); - - return HAL_OK; -} - -/** - * @} - */ - -/** @defgroup RCC_Exported_Functions_Group2 Peripheral Control functions - * @brief RCC clocks control functions - * -@verbatim - =============================================================================== - ##### Peripheral Control functions ##### - =============================================================================== - [..] - This subsection provides a set of functions allowing to control the RCC Clocks - frequencies. - -@endverbatim - * @{ - */ - -/** - * @brief Selects the clock source to output on MCO1 pin(PA8) or on MCO2 pin(PC9). - * @note PA8/PC9 should be configured in alternate function mode. - * @param RCC_MCOx specifies the output direction for the clock source. - * This parameter can be one of the following values: - * @arg RCC_MCO1: Clock source to output on MCO1 pin(PA8). - * @arg RCC_MCO2: Clock source to output on MCO2 pin(PC9). - * @param RCC_MCOSource specifies the clock source to output. - * This parameter can be one of the following values: - * @arg RCC_MCO1SOURCE_HSI: HSI clock selected as MCO1 source - * @arg RCC_MCO1SOURCE_LSE: LSE clock selected as MCO1 source - * @arg RCC_MCO1SOURCE_HSE: HSE clock selected as MCO1 source - * @arg RCC_MCO1SOURCE_PLLCLK: main PLL clock selected as MCO1 source - * @arg RCC_MCO2SOURCE_SYSCLK: System clock (SYSCLK) selected as MCO2 source - * @arg RCC_MCO2SOURCE_PLLI2SCLK: PLLI2S clock selected as MCO2 source, available for all STM32F4 devices except STM32F410xx - * @arg RCC_MCO2SOURCE_I2SCLK: I2SCLK clock selected as MCO2 source, available only for STM32F410Rx devices - * @arg RCC_MCO2SOURCE_HSE: HSE clock selected as MCO2 source - * @arg RCC_MCO2SOURCE_PLLCLK: main PLL clock selected as MCO2 source - * @param RCC_MCODiv specifies the MCOx prescaler. - * This parameter can be one of the following values: - * @arg RCC_MCODIV_1: no division applied to MCOx clock - * @arg RCC_MCODIV_2: division by 2 applied to MCOx clock - * @arg RCC_MCODIV_3: division by 3 applied to MCOx clock - * @arg RCC_MCODIV_4: division by 4 applied to MCOx clock - * @arg RCC_MCODIV_5: division by 5 applied to MCOx clock - * @note For STM32F410Rx devices to output I2SCLK clock on MCO2 you should have - * at last one of the SPI clocks enabled (SPI1, SPI2 or SPI5). - * @retval None - */ -void HAL_RCC_MCOConfig(uint32_t RCC_MCOx, uint32_t RCC_MCOSource, uint32_t RCC_MCODiv) -{ - GPIO_InitTypeDef GPIO_InitStruct; - /* Check the parameters */ - assert_param(IS_RCC_MCO(RCC_MCOx)); - assert_param(IS_RCC_MCODIV(RCC_MCODiv)); - /* RCC_MCO1 */ - if(RCC_MCOx == RCC_MCO1) - { - assert_param(IS_RCC_MCO1SOURCE(RCC_MCOSource)); - - /* MCO1 Clock Enable */ - __MCO1_CLK_ENABLE(); - - /* Configure the MCO1 pin in alternate function mode */ - GPIO_InitStruct.Pin = MCO1_PIN; - GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Alternate = GPIO_AF0_MCO; - HAL_GPIO_Init(MCO1_GPIO_PORT, &GPIO_InitStruct); - - /* Mask MCO1 and MCO1PRE[2:0] bits then Select MCO1 clock source and prescaler */ - MODIFY_REG(RCC->CFGR, (RCC_CFGR_MCO1 | RCC_CFGR_MCO1PRE), (RCC_MCOSource | RCC_MCODiv)); - - /* This RCC MCO1 enable feature is available only on STM32F410xx devices */ -#if defined(RCC_CFGR_MCO1EN) - __HAL_RCC_MCO1_ENABLE(); -#endif /* RCC_CFGR_MCO1EN */ - } -#if defined(RCC_CFGR_MCO2) - else - { - assert_param(IS_RCC_MCO2SOURCE(RCC_MCOSource)); - - /* MCO2 Clock Enable */ - __MCO2_CLK_ENABLE(); - - /* Configure the MCO2 pin in alternate function mode */ - GPIO_InitStruct.Pin = MCO2_PIN; - GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Alternate = GPIO_AF0_MCO; - HAL_GPIO_Init(MCO2_GPIO_PORT, &GPIO_InitStruct); - - /* Mask MCO2 and MCO2PRE[2:0] bits then Select MCO2 clock source and prescaler */ - MODIFY_REG(RCC->CFGR, (RCC_CFGR_MCO2 | RCC_CFGR_MCO2PRE), (RCC_MCOSource | (RCC_MCODiv << 3U))); - - /* This RCC MCO2 enable feature is available only on STM32F410Rx devices */ -#if defined(RCC_CFGR_MCO2EN) - __HAL_RCC_MCO2_ENABLE(); -#endif /* RCC_CFGR_MCO2EN */ - } -#endif /* RCC_CFGR_MCO2 */ -} - -/** - * @brief Enables the Clock Security System. - * @note If a failure is detected on the HSE oscillator clock, this oscillator - * is automatically disabled and an interrupt is generated to inform the - * software about the failure (Clock Security System Interrupt, CSSI), - * allowing the MCU to perform rescue operations. The CSSI is linked to - * the Cortex-M4 NMI (Non-Maskable Interrupt) exception vector. - * @retval None - */ -void HAL_RCC_EnableCSS(void) -{ - *(__IO uint32_t *) RCC_CR_CSSON_BB = (uint32_t)ENABLE; -} - -/** - * @brief Disables the Clock Security System. - * @retval None - */ -void HAL_RCC_DisableCSS(void) -{ - *(__IO uint32_t *) RCC_CR_CSSON_BB = (uint32_t)DISABLE; -} - -/** - * @brief Returns the SYSCLK frequency - * - * @note The system frequency computed by this function is not the real - * frequency in the chip. It is calculated based on the predefined - * constant and the selected clock source: - * @note If SYSCLK source is HSI, function returns values based on HSI_VALUE(*) - * @note If SYSCLK source is HSE, function returns values based on HSE_VALUE(**) - * @note If SYSCLK source is PLL, function returns values based on HSE_VALUE(**) - * or HSI_VALUE(*) multiplied/divided by the PLL factors. - * @note (*) HSI_VALUE is a constant defined in stm32f4xx_hal_conf.h file (default value - * 16 MHz) but the real value may vary depending on the variations - * in voltage and temperature. - * @note (**) HSE_VALUE is a constant defined in stm32f4xx_hal_conf.h file (default value - * 25 MHz), user has to ensure that HSE_VALUE is same as the real - * frequency of the crystal used. Otherwise, this function may - * have wrong result. - * - * @note The result of this function could be not correct when using fractional - * value for HSE crystal. - * - * @note This function can be used by the user application to compute the - * baudrate for the communication peripherals or configure other parameters. - * - * @note Each time SYSCLK changes, this function must be called to update the - * right SYSCLK value. Otherwise, any configuration based on this function will be incorrect. - * - * - * @retval SYSCLK frequency - */ -__weak uint32_t HAL_RCC_GetSysClockFreq(void) -{ - uint32_t pllm = 0U, pllvco = 0U, pllp = 0U; - uint32_t sysclockfreq = 0U; - - /* Get SYSCLK source -------------------------------------------------------*/ - switch (RCC->CFGR & RCC_CFGR_SWS) - { - case RCC_CFGR_SWS_HSI: /* HSI used as system clock source */ - { - sysclockfreq = HSI_VALUE; - break; - } - case RCC_CFGR_SWS_HSE: /* HSE used as system clock source */ - { - sysclockfreq = HSE_VALUE; - break; - } - case RCC_CFGR_SWS_PLL: /* PLL used as system clock source */ - { - /* PLL_VCO = (HSE_VALUE or HSI_VALUE / PLLM) * PLLN - SYSCLK = PLL_VCO / PLLP */ - pllm = RCC->PLLCFGR & RCC_PLLCFGR_PLLM; - if(__HAL_RCC_GET_PLL_OSCSOURCE() != RCC_PLLSOURCE_HSI) - { - /* HSE used as PLL clock source */ - pllvco = (uint32_t) ((((uint64_t) HSE_VALUE * ((uint64_t) ((RCC->PLLCFGR & RCC_PLLCFGR_PLLN) >> RCC_PLLCFGR_PLLN_Pos)))) / (uint64_t)pllm); - } - else - { - /* HSI used as PLL clock source */ - pllvco = (uint32_t) ((((uint64_t) HSI_VALUE * ((uint64_t) ((RCC->PLLCFGR & RCC_PLLCFGR_PLLN) >> RCC_PLLCFGR_PLLN_Pos)))) / (uint64_t)pllm); - } - pllp = ((((RCC->PLLCFGR & RCC_PLLCFGR_PLLP) >> RCC_PLLCFGR_PLLP_Pos) + 1U) *2U); - - sysclockfreq = pllvco/pllp; - break; - } - default: - { - sysclockfreq = HSI_VALUE; - break; - } - } - return sysclockfreq; -} - -/** - * @brief Returns the HCLK frequency - * @note Each time HCLK changes, this function must be called to update the - * right HCLK value. Otherwise, any configuration based on this function will be incorrect. - * - * @note The SystemCoreClock CMSIS variable is used to store System Clock Frequency - * and updated within this function - * @retval HCLK frequency - */ -uint32_t HAL_RCC_GetHCLKFreq(void) -{ - return SystemCoreClock; -} - -/** - * @brief Returns the PCLK1 frequency - * @note Each time PCLK1 changes, this function must be called to update the - * right PCLK1 value. Otherwise, any configuration based on this function will be incorrect. - * @retval PCLK1 frequency - */ -uint32_t HAL_RCC_GetPCLK1Freq(void) -{ - /* Get HCLK source and Compute PCLK1 frequency ---------------------------*/ - return (HAL_RCC_GetHCLKFreq() >> APBPrescTable[(RCC->CFGR & RCC_CFGR_PPRE1)>> RCC_CFGR_PPRE1_Pos]); -} - -/** - * @brief Returns the PCLK2 frequency - * @note Each time PCLK2 changes, this function must be called to update the - * right PCLK2 value. Otherwise, any configuration based on this function will be incorrect. - * @retval PCLK2 frequency - */ -uint32_t HAL_RCC_GetPCLK2Freq(void) -{ - /* Get HCLK source and Compute PCLK2 frequency ---------------------------*/ - return (HAL_RCC_GetHCLKFreq()>> APBPrescTable[(RCC->CFGR & RCC_CFGR_PPRE2)>> RCC_CFGR_PPRE2_Pos]); -} - -/** - * @brief Configures the RCC_OscInitStruct according to the internal - * RCC configuration registers. - * @param RCC_OscInitStruct pointer to an RCC_OscInitTypeDef structure that - * will be configured. - * @retval None - */ -__weak void HAL_RCC_GetOscConfig(RCC_OscInitTypeDef *RCC_OscInitStruct) -{ - /* Set all possible values for the Oscillator type parameter ---------------*/ - RCC_OscInitStruct->OscillatorType = RCC_OSCILLATORTYPE_HSE | RCC_OSCILLATORTYPE_HSI | RCC_OSCILLATORTYPE_LSE | RCC_OSCILLATORTYPE_LSI; - - /* Get the HSE configuration -----------------------------------------------*/ - if((RCC->CR &RCC_CR_HSEBYP) == RCC_CR_HSEBYP) - { - RCC_OscInitStruct->HSEState = RCC_HSE_BYPASS; - } - else if((RCC->CR &RCC_CR_HSEON) == RCC_CR_HSEON) - { - RCC_OscInitStruct->HSEState = RCC_HSE_ON; - } - else - { - RCC_OscInitStruct->HSEState = RCC_HSE_OFF; - } - - /* Get the HSI configuration -----------------------------------------------*/ - if((RCC->CR &RCC_CR_HSION) == RCC_CR_HSION) - { - RCC_OscInitStruct->HSIState = RCC_HSI_ON; - } - else - { - RCC_OscInitStruct->HSIState = RCC_HSI_OFF; - } - - RCC_OscInitStruct->HSICalibrationValue = (uint32_t)((RCC->CR &RCC_CR_HSITRIM) >> RCC_CR_HSITRIM_Pos); - - /* Get the LSE configuration -----------------------------------------------*/ - if((RCC->BDCR &RCC_BDCR_LSEBYP) == RCC_BDCR_LSEBYP) - { - RCC_OscInitStruct->LSEState = RCC_LSE_BYPASS; - } - else if((RCC->BDCR &RCC_BDCR_LSEON) == RCC_BDCR_LSEON) - { - RCC_OscInitStruct->LSEState = RCC_LSE_ON; - } - else - { - RCC_OscInitStruct->LSEState = RCC_LSE_OFF; - } - - /* Get the LSI configuration -----------------------------------------------*/ - if((RCC->CSR &RCC_CSR_LSION) == RCC_CSR_LSION) - { - RCC_OscInitStruct->LSIState = RCC_LSI_ON; - } - else - { - RCC_OscInitStruct->LSIState = RCC_LSI_OFF; - } - - /* Get the PLL configuration -----------------------------------------------*/ - if((RCC->CR &RCC_CR_PLLON) == RCC_CR_PLLON) - { - RCC_OscInitStruct->PLL.PLLState = RCC_PLL_ON; - } - else - { - RCC_OscInitStruct->PLL.PLLState = RCC_PLL_OFF; - } - RCC_OscInitStruct->PLL.PLLSource = (uint32_t)(RCC->PLLCFGR & RCC_PLLCFGR_PLLSRC); - RCC_OscInitStruct->PLL.PLLM = (uint32_t)(RCC->PLLCFGR & RCC_PLLCFGR_PLLM); - RCC_OscInitStruct->PLL.PLLN = (uint32_t)((RCC->PLLCFGR & RCC_PLLCFGR_PLLN) >> RCC_PLLCFGR_PLLN_Pos); - RCC_OscInitStruct->PLL.PLLP = (uint32_t)((((RCC->PLLCFGR & RCC_PLLCFGR_PLLP) + RCC_PLLCFGR_PLLP_0) << 1U) >> RCC_PLLCFGR_PLLP_Pos); - RCC_OscInitStruct->PLL.PLLQ = (uint32_t)((RCC->PLLCFGR & RCC_PLLCFGR_PLLQ) >> RCC_PLLCFGR_PLLQ_Pos); -} - -/** - * @brief Configures the RCC_ClkInitStruct according to the internal - * RCC configuration registers. - * @param RCC_ClkInitStruct pointer to an RCC_ClkInitTypeDef structure that - * will be configured. - * @param pFLatency Pointer on the Flash Latency. - * @retval None - */ -void HAL_RCC_GetClockConfig(RCC_ClkInitTypeDef *RCC_ClkInitStruct, uint32_t *pFLatency) -{ - /* Set all possible values for the Clock type parameter --------------------*/ - RCC_ClkInitStruct->ClockType = RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2; - - /* Get the SYSCLK configuration --------------------------------------------*/ - RCC_ClkInitStruct->SYSCLKSource = (uint32_t)(RCC->CFGR & RCC_CFGR_SW); - - /* Get the HCLK configuration ----------------------------------------------*/ - RCC_ClkInitStruct->AHBCLKDivider = (uint32_t)(RCC->CFGR & RCC_CFGR_HPRE); - - /* Get the APB1 configuration ----------------------------------------------*/ - RCC_ClkInitStruct->APB1CLKDivider = (uint32_t)(RCC->CFGR & RCC_CFGR_PPRE1); - - /* Get the APB2 configuration ----------------------------------------------*/ - RCC_ClkInitStruct->APB2CLKDivider = (uint32_t)((RCC->CFGR & RCC_CFGR_PPRE2) >> 3U); - - /* Get the Flash Wait State (Latency) configuration ------------------------*/ - *pFLatency = (uint32_t)(FLASH->ACR & FLASH_ACR_LATENCY); -} - -/** - * @brief This function handles the RCC CSS interrupt request. - * @note This API should be called under the NMI_Handler(). - * @retval None - */ -void HAL_RCC_NMI_IRQHandler(void) -{ - /* Check RCC CSSF flag */ - if(__HAL_RCC_GET_IT(RCC_IT_CSS)) - { - /* RCC Clock Security System interrupt user callback */ - HAL_RCC_CSSCallback(); - - /* Clear RCC CSS pending bit */ - __HAL_RCC_CLEAR_IT(RCC_IT_CSS); - } -} - -/** - * @brief RCC Clock Security System interrupt callback - * @retval None - */ -__weak void HAL_RCC_CSSCallback(void) -{ - /* NOTE : This function Should not be modified, when the callback is needed, - the HAL_RCC_CSSCallback could be implemented in the user file - */ -} - -/** - * @} - */ - -/** - * @} - */ - -#endif /* HAL_RCC_MODULE_ENABLED */ -/** - * @} - */ - -/** - * @} - */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c deleted file mode 100644 index e42b850a62e196..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c +++ /dev/null @@ -1,3787 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_rcc_ex.c - * @author MCD Application Team - * @brief Extension RCC HAL module driver. - * This file provides firmware functions to manage the following - * functionalities RCC extension peripheral: - * + Extended Peripheral Control functions - * - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @defgroup RCCEx RCCEx - * @brief RCCEx HAL module driver - * @{ - */ - -#ifdef HAL_RCC_MODULE_ENABLED - -/* Private typedef -----------------------------------------------------------*/ -/* Private define ------------------------------------------------------------*/ -/** @addtogroup RCCEx_Private_Constants - * @{ - */ -/** - * @} - */ -/* Private macro -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private function prototypes -----------------------------------------------*/ -/* Private functions ---------------------------------------------------------*/ -/** @defgroup RCCEx_Exported_Functions RCCEx Exported Functions - * @{ - */ - -/** @defgroup RCCEx_Exported_Functions_Group1 Extended Peripheral Control functions - * @brief Extended Peripheral Control functions - * -@verbatim - =============================================================================== - ##### Extended Peripheral Control functions ##### - =============================================================================== - [..] - This subsection provides a set of functions allowing to control the RCC Clocks - frequencies. - [..] - (@) Important note: Care must be taken when HAL_RCCEx_PeriphCLKConfig() is used to - select the RTC clock source; in this case the Backup domain will be reset in - order to modify the RTC Clock source, as consequence RTC registers (including - the backup registers) and RCC_BDCR register are set to their reset values. - -@endverbatim - * @{ - */ - -#if defined(STM32F446xx) -/** - * @brief Initializes the RCC extended peripherals clocks according to the specified - * parameters in the RCC_PeriphCLKInitTypeDef. - * @param PeriphClkInit pointer to an RCC_PeriphCLKInitTypeDef structure that - * contains the configuration information for the Extended Peripherals - * clocks(I2S, SAI, LTDC RTC and TIM). - * - * @note Care must be taken when HAL_RCCEx_PeriphCLKConfig() is used to select - * the RTC clock source; in this case the Backup domain will be reset in - * order to modify the RTC Clock source, as consequence RTC registers (including - * the backup registers) and RCC_BDCR register are set to their reset values. - * - * @retval HAL status - */ -HAL_StatusTypeDef HAL_RCCEx_PeriphCLKConfig(RCC_PeriphCLKInitTypeDef *PeriphClkInit) -{ - uint32_t tickstart = 0U; - uint32_t tmpreg1 = 0U; - uint32_t plli2sp = 0U; - uint32_t plli2sq = 0U; - uint32_t plli2sr = 0U; - uint32_t pllsaip = 0U; - uint32_t pllsaiq = 0U; - uint32_t plli2sused = 0U; - uint32_t pllsaiused = 0U; - - /* Check the peripheral clock selection parameters */ - assert_param(IS_RCC_PERIPHCLOCK(PeriphClkInit->PeriphClockSelection)); - - /*------------------------ I2S APB1 configuration --------------------------*/ - if(((PeriphClkInit->PeriphClockSelection) & RCC_PERIPHCLK_I2S_APB1) == (RCC_PERIPHCLK_I2S_APB1)) - { - /* Check the parameters */ - assert_param(IS_RCC_I2SAPB1CLKSOURCE(PeriphClkInit->I2sApb1ClockSelection)); - - /* Configure I2S Clock source */ - __HAL_RCC_I2S_APB1_CONFIG(PeriphClkInit->I2sApb1ClockSelection); - /* Enable the PLLI2S when it's used as clock source for I2S */ - if(PeriphClkInit->I2sApb1ClockSelection == RCC_I2SAPB1CLKSOURCE_PLLI2S) - { - plli2sused = 1U; - } - } - /*--------------------------------------------------------------------------*/ - - /*---------------------------- I2S APB2 configuration ----------------------*/ - if(((PeriphClkInit->PeriphClockSelection) & RCC_PERIPHCLK_I2S_APB2) == (RCC_PERIPHCLK_I2S_APB2)) - { - /* Check the parameters */ - assert_param(IS_RCC_I2SAPB2CLKSOURCE(PeriphClkInit->I2sApb2ClockSelection)); - - /* Configure I2S Clock source */ - __HAL_RCC_I2S_APB2_CONFIG(PeriphClkInit->I2sApb2ClockSelection); - /* Enable the PLLI2S when it's used as clock source for I2S */ - if(PeriphClkInit->I2sApb2ClockSelection == RCC_I2SAPB2CLKSOURCE_PLLI2S) - { - plli2sused = 1U; - } - } - /*--------------------------------------------------------------------------*/ - - /*--------------------------- SAI1 configuration ---------------------------*/ - if(((PeriphClkInit->PeriphClockSelection) & RCC_PERIPHCLK_SAI1) == (RCC_PERIPHCLK_SAI1)) - { - /* Check the parameters */ - assert_param(IS_RCC_SAI1CLKSOURCE(PeriphClkInit->Sai1ClockSelection)); - - /* Configure SAI1 Clock source */ - __HAL_RCC_SAI1_CONFIG(PeriphClkInit->Sai1ClockSelection); - /* Enable the PLLI2S when it's used as clock source for SAI */ - if(PeriphClkInit->Sai1ClockSelection == RCC_SAI1CLKSOURCE_PLLI2S) - { - plli2sused = 1U; - } - /* Enable the PLLSAI when it's used as clock source for SAI */ - if(PeriphClkInit->Sai1ClockSelection == RCC_SAI1CLKSOURCE_PLLSAI) - { - pllsaiused = 1U; - } - } - /*--------------------------------------------------------------------------*/ - - /*-------------------------- SAI2 configuration ----------------------------*/ - if(((PeriphClkInit->PeriphClockSelection) & RCC_PERIPHCLK_SAI2) == (RCC_PERIPHCLK_SAI2)) - { - /* Check the parameters */ - assert_param(IS_RCC_SAI2CLKSOURCE(PeriphClkInit->Sai2ClockSelection)); - - /* Configure SAI2 Clock source */ - __HAL_RCC_SAI2_CONFIG(PeriphClkInit->Sai2ClockSelection); - - /* Enable the PLLI2S when it's used as clock source for SAI */ - if(PeriphClkInit->Sai2ClockSelection == RCC_SAI2CLKSOURCE_PLLI2S) - { - plli2sused = 1U; - } - /* Enable the PLLSAI when it's used as clock source for SAI */ - if(PeriphClkInit->Sai2ClockSelection == RCC_SAI2CLKSOURCE_PLLSAI) - { - pllsaiused = 1U; - } - } - /*--------------------------------------------------------------------------*/ - - /*----------------------------- RTC configuration --------------------------*/ - if(((PeriphClkInit->PeriphClockSelection) & RCC_PERIPHCLK_RTC) == (RCC_PERIPHCLK_RTC)) - { - /* Check for RTC Parameters used to output RTCCLK */ - assert_param(IS_RCC_RTCCLKSOURCE(PeriphClkInit->RTCClockSelection)); - - /* Enable Power Clock*/ - __HAL_RCC_PWR_CLK_ENABLE(); - - /* Enable write access to Backup domain */ - PWR->CR |= PWR_CR_DBP; - - /* Get tick */ - tickstart = HAL_GetTick(); - - while((PWR->CR & PWR_CR_DBP) == RESET) - { - if((HAL_GetTick() - tickstart ) > RCC_DBP_TIMEOUT_VALUE) - { - return HAL_TIMEOUT; - } - } - /* Reset the Backup domain only if the RTC Clock source selection is modified from reset value */ - tmpreg1 = (RCC->BDCR & RCC_BDCR_RTCSEL); - if((tmpreg1 != 0x00000000U) && ((tmpreg1) != (PeriphClkInit->RTCClockSelection & RCC_BDCR_RTCSEL))) - { - /* Store the content of BDCR register before the reset of Backup Domain */ - tmpreg1 = (RCC->BDCR & ~(RCC_BDCR_RTCSEL)); - /* RTC Clock selection can be changed only if the Backup Domain is reset */ - __HAL_RCC_BACKUPRESET_FORCE(); - __HAL_RCC_BACKUPRESET_RELEASE(); - /* Restore the Content of BDCR register */ - RCC->BDCR = tmpreg1; - - /* Wait for LSE reactivation if LSE was enable prior to Backup Domain reset */ - if(HAL_IS_BIT_SET(RCC->BDCR, RCC_BDCR_LSEON)) - { - /* Get tick */ - tickstart = HAL_GetTick(); - - /* Wait till LSE is ready */ - while(__HAL_RCC_GET_FLAG(RCC_FLAG_LSERDY) == RESET) - { - if((HAL_GetTick() - tickstart ) > RCC_LSE_TIMEOUT_VALUE) - { - return HAL_TIMEOUT; - } - } - } - } - __HAL_RCC_RTC_CONFIG(PeriphClkInit->RTCClockSelection); - } - /*--------------------------------------------------------------------------*/ - - /*---------------------------- TIM configuration ---------------------------*/ - if(((PeriphClkInit->PeriphClockSelection) & RCC_PERIPHCLK_TIM) == (RCC_PERIPHCLK_TIM)) - { - /* Configure Timer Prescaler */ - __HAL_RCC_TIMCLKPRESCALER(PeriphClkInit->TIMPresSelection); - } - /*--------------------------------------------------------------------------*/ - - /*---------------------------- FMPI2C1 Configuration -----------------------*/ - if(((PeriphClkInit->PeriphClockSelection) & RCC_PERIPHCLK_FMPI2C1) == RCC_PERIPHCLK_FMPI2C1) - { - /* Check the parameters */ - assert_param(IS_RCC_FMPI2C1CLKSOURCE(PeriphClkInit->Fmpi2c1ClockSelection)); - - /* Configure the FMPI2C1 clock source */ - __HAL_RCC_FMPI2C1_CONFIG(PeriphClkInit->Fmpi2c1ClockSelection); - } - /*--------------------------------------------------------------------------*/ - - /*------------------------------ CEC Configuration -------------------------*/ - if(((PeriphClkInit->PeriphClockSelection) & RCC_PERIPHCLK_CEC) == RCC_PERIPHCLK_CEC) - { - /* Check the parameters */ - assert_param(IS_RCC_CECCLKSOURCE(PeriphClkInit->CecClockSelection)); - - /* Configure the CEC clock source */ - __HAL_RCC_CEC_CONFIG(PeriphClkInit->CecClockSelection); - } - /*--------------------------------------------------------------------------*/ - - /*----------------------------- CLK48 Configuration ------------------------*/ - if(((PeriphClkInit->PeriphClockSelection) & RCC_PERIPHCLK_CLK48) == RCC_PERIPHCLK_CLK48) - { - /* Check the parameters */ - assert_param(IS_RCC_CLK48CLKSOURCE(PeriphClkInit->Clk48ClockSelection)); - - /* Configure the CLK48 clock source */ - __HAL_RCC_CLK48_CONFIG(PeriphClkInit->Clk48ClockSelection); - - /* Enable the PLLSAI when it's used as clock source for CLK48 */ - if(PeriphClkInit->Clk48ClockSelection == RCC_CLK48CLKSOURCE_PLLSAIP) - { - pllsaiused = 1U; - } - } - /*--------------------------------------------------------------------------*/ - - /*----------------------------- SDIO Configuration -------------------------*/ - if(((PeriphClkInit->PeriphClockSelection) & RCC_PERIPHCLK_SDIO) == RCC_PERIPHCLK_SDIO) - { - /* Check the parameters */ - assert_param(IS_RCC_SDIOCLKSOURCE(PeriphClkInit->SdioClockSelection)); - - /* Configure the SDIO clock source */ - __HAL_RCC_SDIO_CONFIG(PeriphClkInit->SdioClockSelection); - } - /*--------------------------------------------------------------------------*/ - - /*------------------------------ SPDIFRX Configuration ---------------------*/ - if(((PeriphClkInit->PeriphClockSelection) & RCC_PERIPHCLK_SPDIFRX) == RCC_PERIPHCLK_SPDIFRX) - { - /* Check the parameters */ - assert_param(IS_RCC_SPDIFRXCLKSOURCE(PeriphClkInit->SpdifClockSelection)); - - /* Configure the SPDIFRX clock source */ - __HAL_RCC_SPDIFRX_CONFIG(PeriphClkInit->SpdifClockSelection); - /* Enable the PLLI2S when it's used as clock source for SPDIFRX */ - if(PeriphClkInit->SpdifClockSelection == RCC_SPDIFRXCLKSOURCE_PLLI2SP) - { - plli2sused = 1U; - } - } - /*--------------------------------------------------------------------------*/ - - /*---------------------------- PLLI2S Configuration ------------------------*/ - /* PLLI2S is configured when a peripheral will use it as source clock : SAI1, SAI2, I2S on APB1, - I2S on APB2 or SPDIFRX */ - if((plli2sused == 1U) || (PeriphClkInit->PeriphClockSelection == RCC_PERIPHCLK_PLLI2S)) - { - /* Disable the PLLI2S */ - __HAL_RCC_PLLI2S_DISABLE(); - /* Get tick */ - tickstart = HAL_GetTick(); - /* Wait till PLLI2S is disabled */ - while(__HAL_RCC_GET_FLAG(RCC_FLAG_PLLI2SRDY) != RESET) - { - if((HAL_GetTick() - tickstart ) > PLLI2S_TIMEOUT_VALUE) - { - /* return in case of Timeout detected */ - return HAL_TIMEOUT; - } - } - - /* check for common PLLI2S Parameters */ - assert_param(IS_RCC_PLLI2SM_VALUE(PeriphClkInit->PLLI2S.PLLI2SM)); - assert_param(IS_RCC_PLLI2SN_VALUE(PeriphClkInit->PLLI2S.PLLI2SN)); - - /*------ In Case of PLLI2S is selected as source clock for I2S -----------*/ - if(((((PeriphClkInit->PeriphClockSelection) & RCC_PERIPHCLK_I2S_APB1) == RCC_PERIPHCLK_I2S_APB1) && (PeriphClkInit->I2sApb1ClockSelection == RCC_I2SAPB1CLKSOURCE_PLLI2S)) || - ((((PeriphClkInit->PeriphClockSelection) & RCC_PERIPHCLK_I2S_APB2) == RCC_PERIPHCLK_I2S_APB2) && (PeriphClkInit->I2sApb2ClockSelection == RCC_I2SAPB2CLKSOURCE_PLLI2S))) - { - /* check for Parameters */ - assert_param(IS_RCC_PLLI2SR_VALUE(PeriphClkInit->PLLI2S.PLLI2SR)); - - /* Read PLLI2SP/PLLI2SQ value from PLLI2SCFGR register (this value is not needed for I2S configuration) */ - plli2sp = ((((RCC->PLLI2SCFGR & RCC_PLLI2SCFGR_PLLI2SP) >> RCC_PLLI2SCFGR_PLLI2SP_Pos) + 1U) << 1U); - plli2sq = ((RCC->PLLI2SCFGR & RCC_PLLI2SCFGR_PLLI2SQ) >> RCC_PLLI2SCFGR_PLLI2SQ_Pos); - /* Configure the PLLI2S division factors */ - /* PLLI2S_VCO = f(VCO clock) = f(PLLI2S clock input) * (PLLI2SN/PLLI2SM) */ - /* I2SCLK = f(PLLI2S clock output) = f(VCO clock) / PLLI2SR */ - __HAL_RCC_PLLI2S_CONFIG(PeriphClkInit->PLLI2S.PLLI2SM, PeriphClkInit->PLLI2S.PLLI2SN , plli2sp, plli2sq, PeriphClkInit->PLLI2S.PLLI2SR); - } - - /*------- In Case of PLLI2S is selected as source clock for SAI ----------*/ - if(((((PeriphClkInit->PeriphClockSelection) & RCC_PERIPHCLK_SAI1) == RCC_PERIPHCLK_SAI1) && (PeriphClkInit->Sai1ClockSelection == RCC_SAI1CLKSOURCE_PLLI2S)) || - ((((PeriphClkInit->PeriphClockSelection) & RCC_PERIPHCLK_SAI2) == RCC_PERIPHCLK_SAI2) && (PeriphClkInit->Sai2ClockSelection == RCC_SAI2CLKSOURCE_PLLI2S))) - { - /* Check for PLLI2S Parameters */ - assert_param(IS_RCC_PLLI2SQ_VALUE(PeriphClkInit->PLLI2S.PLLI2SQ)); - /* Check for PLLI2S/DIVQ parameters */ - assert_param(IS_RCC_PLLI2S_DIVQ_VALUE(PeriphClkInit->PLLI2SDivQ)); - - /* Read PLLI2SP/PLLI2SR value from PLLI2SCFGR register (this value is not needed for SAI configuration) */ - plli2sp = ((((RCC->PLLI2SCFGR & RCC_PLLI2SCFGR_PLLI2SP) >> RCC_PLLI2SCFGR_PLLI2SP_Pos) + 1U) << 1U); - plli2sr = ((RCC->PLLI2SCFGR & RCC_PLLI2SCFGR_PLLI2SR) >> RCC_PLLI2SCFGR_PLLI2SR_Pos); - /* Configure the PLLI2S division factors */ - /* PLLI2S_VCO Input = PLL_SOURCE/PLLI2SM */ - /* PLLI2S_VCO Output = PLLI2S_VCO Input * PLLI2SN */ - /* SAI_CLK(first level) = PLLI2S_VCO Output/PLLI2SQ */ - __HAL_RCC_PLLI2S_CONFIG(PeriphClkInit->PLLI2S.PLLI2SM, PeriphClkInit->PLLI2S.PLLI2SN , plli2sp, PeriphClkInit->PLLI2S.PLLI2SQ, plli2sr); - - /* SAI_CLK_x = SAI_CLK(first level)/PLLI2SDIVQ */ - __HAL_RCC_PLLI2S_PLLSAICLKDIVQ_CONFIG(PeriphClkInit->PLLI2SDivQ); - } - - /*------ In Case of PLLI2S is selected as source clock for SPDIFRX -------*/ - if((((PeriphClkInit->PeriphClockSelection) & RCC_PERIPHCLK_SPDIFRX) == RCC_PERIPHCLK_SPDIFRX) && (PeriphClkInit->SpdifClockSelection == RCC_SPDIFRXCLKSOURCE_PLLI2SP)) - { - /* check for Parameters */ - assert_param(IS_RCC_PLLI2SP_VALUE(PeriphClkInit->PLLI2S.PLLI2SP)); - /* Read PLLI2SR value from PLLI2SCFGR register (this value is not need for SAI configuration) */ - plli2sq = ((((RCC->PLLI2SCFGR & RCC_PLLI2SCFGR_PLLI2SP) >> RCC_PLLI2SCFGR_PLLI2SP_Pos) + 1U) << 1U); - plli2sr = ((RCC->PLLI2SCFGR & RCC_PLLI2SCFGR_PLLI2SR) >> RCC_PLLI2SCFGR_PLLI2SR_Pos); - /* Configure the PLLI2S division factors */ - /* PLLI2S_VCO = f(VCO clock) = f(PLLI2S clock input) * (PLLI2SN/PLLI2SM) */ - /* SPDIFRXCLK = f(PLLI2S clock output) = f(VCO clock) / PLLI2SP */ - __HAL_RCC_PLLI2S_CONFIG(PeriphClkInit->PLLI2S.PLLI2SM, PeriphClkInit->PLLI2S.PLLI2SN , PeriphClkInit->PLLI2S.PLLI2SP, plli2sq, plli2sr); - } - - /*----------------- In Case of PLLI2S is just selected -----------------*/ - if((PeriphClkInit->PeriphClockSelection & RCC_PERIPHCLK_PLLI2S) == RCC_PERIPHCLK_PLLI2S) - { - /* Check for Parameters */ - assert_param(IS_RCC_PLLI2SP_VALUE(PeriphClkInit->PLLI2S.PLLI2SP)); - assert_param(IS_RCC_PLLI2SR_VALUE(PeriphClkInit->PLLI2S.PLLI2SR)); - assert_param(IS_RCC_PLLI2SQ_VALUE(PeriphClkInit->PLLI2S.PLLI2SQ)); - - /* Configure the PLLI2S division factors */ - /* PLLI2S_VCO = f(VCO clock) = f(PLLI2S clock input) * (PLLI2SN/PLLI2SM) */ - __HAL_RCC_PLLI2S_CONFIG(PeriphClkInit->PLLI2S.PLLI2SM, PeriphClkInit->PLLI2S.PLLI2SN , PeriphClkInit->PLLI2S.PLLI2SP, PeriphClkInit->PLLI2S.PLLI2SQ, PeriphClkInit->PLLI2S.PLLI2SR); - } - - /* Enable the PLLI2S */ - __HAL_RCC_PLLI2S_ENABLE(); - /* Get tick */ - tickstart = HAL_GetTick(); - /* Wait till PLLI2S is ready */ - while(__HAL_RCC_GET_FLAG(RCC_FLAG_PLLI2SRDY) == RESET) - { - if((HAL_GetTick() - tickstart ) > PLLI2S_TIMEOUT_VALUE) - { - /* return in case of Timeout detected */ - return HAL_TIMEOUT; - } - } - } - /*--------------------------------------------------------------------------*/ - - /*----------------------------- PLLSAI Configuration -----------------------*/ - /* PLLSAI is configured when a peripheral will use it as source clock : SAI1, SAI2, CLK48 or SDIO */ - if(pllsaiused == 1U) - { - /* Disable PLLSAI Clock */ - __HAL_RCC_PLLSAI_DISABLE(); - /* Get tick */ - tickstart = HAL_GetTick(); - /* Wait till PLLSAI is disabled */ - while(__HAL_RCC_PLLSAI_GET_FLAG() != RESET) - { - if((HAL_GetTick() - tickstart ) > PLLSAI_TIMEOUT_VALUE) - { - /* return in case of Timeout detected */ - return HAL_TIMEOUT; - } - } - - /* Check the PLLSAI division factors */ - assert_param(IS_RCC_PLLSAIM_VALUE(PeriphClkInit->PLLSAI.PLLSAIM)); - assert_param(IS_RCC_PLLSAIN_VALUE(PeriphClkInit->PLLSAI.PLLSAIN)); - - /*------ In Case of PLLSAI is selected as source clock for SAI -----------*/ - if(((((PeriphClkInit->PeriphClockSelection) & RCC_PERIPHCLK_SAI1) == RCC_PERIPHCLK_SAI1) && (PeriphClkInit->Sai1ClockSelection == RCC_SAI1CLKSOURCE_PLLSAI)) || - ((((PeriphClkInit->PeriphClockSelection) & RCC_PERIPHCLK_SAI2) == RCC_PERIPHCLK_SAI2) && (PeriphClkInit->Sai2ClockSelection == RCC_SAI2CLKSOURCE_PLLSAI))) - { - /* check for PLLSAIQ Parameter */ - assert_param(IS_RCC_PLLSAIQ_VALUE(PeriphClkInit->PLLSAI.PLLSAIQ)); - /* check for PLLSAI/DIVQ Parameter */ - assert_param(IS_RCC_PLLSAI_DIVQ_VALUE(PeriphClkInit->PLLSAIDivQ)); - - /* Read PLLSAIP value from PLLSAICFGR register (this value is not needed for SAI configuration) */ - pllsaip = ((((RCC->PLLSAICFGR & RCC_PLLSAICFGR_PLLSAIP) >> RCC_PLLSAICFGR_PLLSAIP_Pos) + 1U) << 1U); - /* PLLSAI_VCO Input = PLL_SOURCE/PLLM */ - /* PLLSAI_VCO Output = PLLSAI_VCO Input * PLLSAIN */ - /* SAI_CLK(first level) = PLLSAI_VCO Output/PLLSAIQ */ - __HAL_RCC_PLLSAI_CONFIG(PeriphClkInit->PLLSAI.PLLSAIM, PeriphClkInit->PLLSAI.PLLSAIN , pllsaip, PeriphClkInit->PLLSAI.PLLSAIQ, 0U); - - /* SAI_CLK_x = SAI_CLK(first level)/PLLSAIDIVQ */ - __HAL_RCC_PLLSAI_PLLSAICLKDIVQ_CONFIG(PeriphClkInit->PLLSAIDivQ); - } - - /*------ In Case of PLLSAI is selected as source clock for CLK48 ---------*/ - /* In Case of PLLI2S is selected as source clock for CLK48 */ - if((((PeriphClkInit->PeriphClockSelection) & RCC_PERIPHCLK_CLK48) == RCC_PERIPHCLK_CLK48) && (PeriphClkInit->Clk48ClockSelection == RCC_CLK48CLKSOURCE_PLLSAIP)) - { - /* check for Parameters */ - assert_param(IS_RCC_PLLSAIP_VALUE(PeriphClkInit->PLLSAI.PLLSAIP)); - /* Read PLLSAIQ value from PLLI2SCFGR register (this value is not need for SAI configuration) */ - pllsaiq = ((RCC->PLLSAICFGR & RCC_PLLSAICFGR_PLLSAIQ) >> RCC_PLLSAICFGR_PLLSAIQ_Pos); - /* Configure the PLLSAI division factors */ - /* PLLSAI_VCO = f(VCO clock) = f(PLLSAI clock input) * (PLLI2SN/PLLSAIM) */ - /* 48CLK = f(PLLSAI clock output) = f(VCO clock) / PLLSAIP */ - __HAL_RCC_PLLSAI_CONFIG(PeriphClkInit->PLLSAI.PLLSAIM, PeriphClkInit->PLLSAI.PLLSAIN , PeriphClkInit->PLLSAI.PLLSAIP, pllsaiq, 0U); - } - - /* Enable PLLSAI Clock */ - __HAL_RCC_PLLSAI_ENABLE(); - /* Get tick */ - tickstart = HAL_GetTick(); - /* Wait till PLLSAI is ready */ - while(__HAL_RCC_PLLSAI_GET_FLAG() == RESET) - { - if((HAL_GetTick() - tickstart ) > PLLSAI_TIMEOUT_VALUE) - { - /* return in case of Timeout detected */ - return HAL_TIMEOUT; - } - } - } - return HAL_OK; -} - -/** - * @brief Get the RCC_PeriphCLKInitTypeDef according to the internal - * RCC configuration registers. - * @param PeriphClkInit pointer to an RCC_PeriphCLKInitTypeDef structure that - * will be configured. - * @retval None - */ -void HAL_RCCEx_GetPeriphCLKConfig(RCC_PeriphCLKInitTypeDef *PeriphClkInit) -{ - uint32_t tempreg; - - /* Set all possible values for the extended clock type parameter------------*/ - PeriphClkInit->PeriphClockSelection = RCC_PERIPHCLK_I2S_APB1 | RCC_PERIPHCLK_I2S_APB2 |\ - RCC_PERIPHCLK_SAI1 | RCC_PERIPHCLK_SAI2 |\ - RCC_PERIPHCLK_TIM | RCC_PERIPHCLK_RTC |\ - RCC_PERIPHCLK_CEC | RCC_PERIPHCLK_FMPI2C1 |\ - RCC_PERIPHCLK_CLK48 | RCC_PERIPHCLK_SDIO |\ - RCC_PERIPHCLK_SPDIFRX; - - /* Get the PLLI2S Clock configuration --------------------------------------*/ - PeriphClkInit->PLLI2S.PLLI2SM = (uint32_t)((RCC->PLLI2SCFGR & RCC_PLLI2SCFGR_PLLI2SM) >> RCC_PLLI2SCFGR_PLLI2SM_Pos); - PeriphClkInit->PLLI2S.PLLI2SN = (uint32_t)((RCC->PLLI2SCFGR & RCC_PLLI2SCFGR_PLLI2SN) >> RCC_PLLI2SCFGR_PLLI2SN_Pos); - PeriphClkInit->PLLI2S.PLLI2SP = (uint32_t)((((RCC->PLLI2SCFGR & RCC_PLLI2SCFGR_PLLI2SP) >> RCC_PLLI2SCFGR_PLLI2SP_Pos) + 1U) << 1U); - PeriphClkInit->PLLI2S.PLLI2SQ = (uint32_t)((RCC->PLLI2SCFGR & RCC_PLLI2SCFGR_PLLI2SQ) >> RCC_PLLI2SCFGR_PLLI2SQ_Pos); - PeriphClkInit->PLLI2S.PLLI2SR = (uint32_t)((RCC->PLLI2SCFGR & RCC_PLLI2SCFGR_PLLI2SR) >> RCC_PLLI2SCFGR_PLLI2SR_Pos); - /* Get the PLLSAI Clock configuration --------------------------------------*/ - PeriphClkInit->PLLSAI.PLLSAIM = (uint32_t)((RCC->PLLSAICFGR & RCC_PLLSAICFGR_PLLSAIM) >> RCC_PLLSAICFGR_PLLSAIM_Pos); - PeriphClkInit->PLLSAI.PLLSAIN = (uint32_t)((RCC->PLLSAICFGR & RCC_PLLSAICFGR_PLLSAIN) >> RCC_PLLSAICFGR_PLLSAIN_Pos); - PeriphClkInit->PLLSAI.PLLSAIP = (uint32_t)((((RCC->PLLSAICFGR & RCC_PLLSAICFGR_PLLSAIP) >> RCC_PLLSAICFGR_PLLSAIP_Pos) + 1U) << 1U); - PeriphClkInit->PLLSAI.PLLSAIQ = (uint32_t)((RCC->PLLSAICFGR & RCC_PLLSAICFGR_PLLSAIQ) >> RCC_PLLSAICFGR_PLLSAIQ_Pos); - /* Get the PLLSAI/PLLI2S division factors ----------------------------------*/ - PeriphClkInit->PLLI2SDivQ = (uint32_t)((RCC->DCKCFGR & RCC_DCKCFGR_PLLI2SDIVQ) >> RCC_DCKCFGR_PLLI2SDIVQ_Pos); - PeriphClkInit->PLLSAIDivQ = (uint32_t)((RCC->DCKCFGR & RCC_DCKCFGR_PLLSAIDIVQ) >> RCC_DCKCFGR_PLLSAIDIVQ_Pos); - - /* Get the SAI1 clock configuration ----------------------------------------*/ - PeriphClkInit->Sai1ClockSelection = __HAL_RCC_GET_SAI1_SOURCE(); - - /* Get the SAI2 clock configuration ----------------------------------------*/ - PeriphClkInit->Sai2ClockSelection = __HAL_RCC_GET_SAI2_SOURCE(); - - /* Get the I2S APB1 clock configuration ------------------------------------*/ - PeriphClkInit->I2sApb1ClockSelection = __HAL_RCC_GET_I2S_APB1_SOURCE(); - - /* Get the I2S APB2 clock configuration ------------------------------------*/ - PeriphClkInit->I2sApb2ClockSelection = __HAL_RCC_GET_I2S_APB2_SOURCE(); - - /* Get the RTC Clock configuration -----------------------------------------*/ - tempreg = (RCC->CFGR & RCC_CFGR_RTCPRE); - PeriphClkInit->RTCClockSelection = (uint32_t)((tempreg) | (RCC->BDCR & RCC_BDCR_RTCSEL)); - - /* Get the CEC clock configuration -----------------------------------------*/ - PeriphClkInit->CecClockSelection = __HAL_RCC_GET_CEC_SOURCE(); - - /* Get the FMPI2C1 clock configuration -------------------------------------*/ - PeriphClkInit->Fmpi2c1ClockSelection = __HAL_RCC_GET_FMPI2C1_SOURCE(); - - /* Get the CLK48 clock configuration ----------------------------------------*/ - PeriphClkInit->Clk48ClockSelection = __HAL_RCC_GET_CLK48_SOURCE(); - - /* Get the SDIO clock configuration ----------------------------------------*/ - PeriphClkInit->SdioClockSelection = __HAL_RCC_GET_SDIO_SOURCE(); - - /* Get the SPDIFRX clock configuration -------------------------------------*/ - PeriphClkInit->SpdifClockSelection = __HAL_RCC_GET_SPDIFRX_SOURCE(); - - /* Get the TIM Prescaler configuration -------------------------------------*/ - if ((RCC->DCKCFGR & RCC_DCKCFGR_TIMPRE) == RESET) - { - PeriphClkInit->TIMPresSelection = RCC_TIMPRES_DESACTIVATED; - } - else - { - PeriphClkInit->TIMPresSelection = RCC_TIMPRES_ACTIVATED; - } -} - -/** - * @brief Return the peripheral clock frequency for a given peripheral(SAI..) - * @note Return 0 if peripheral clock identifier not managed by this API - * @param PeriphClk Peripheral clock identifier - * This parameter can be one of the following values: - * @arg RCC_PERIPHCLK_SAI1: SAI1 peripheral clock - * @arg RCC_PERIPHCLK_SAI2: SAI2 peripheral clock - * @arg RCC_PERIPHCLK_I2S_APB1: I2S APB1 peripheral clock - * @arg RCC_PERIPHCLK_I2S_APB2: I2S APB2 peripheral clock - * @retval Frequency in KHz - */ -uint32_t HAL_RCCEx_GetPeriphCLKFreq(uint32_t PeriphClk) -{ - uint32_t tmpreg1 = 0U; - /* This variable used to store the SAI clock frequency (value in Hz) */ - uint32_t frequency = 0U; - /* This variable used to store the VCO Input (value in Hz) */ - uint32_t vcoinput = 0U; - /* This variable used to store the SAI clock source */ - uint32_t saiclocksource = 0U; - uint32_t srcclk = 0U; - /* This variable used to store the VCO Output (value in Hz) */ - uint32_t vcooutput = 0U; - switch (PeriphClk) - { - case RCC_PERIPHCLK_SAI1: - case RCC_PERIPHCLK_SAI2: - { - saiclocksource = RCC->DCKCFGR; - saiclocksource &= (RCC_DCKCFGR_SAI1SRC | RCC_DCKCFGR_SAI2SRC); - switch (saiclocksource) - { - case 0U: /* PLLSAI is the clock source for SAI*/ - { - /* Configure the PLLSAI division factor */ - /* PLLSAI_VCO Input = PLL_SOURCE/PLLSAIM */ - if((RCC->PLLCFGR & RCC_PLLCFGR_PLLSRC) == RCC_PLLSOURCE_HSI) - { - /* In Case the PLL Source is HSI (Internal Clock) */ - vcoinput = (HSI_VALUE / (uint32_t)(RCC->PLLSAICFGR & RCC_PLLSAICFGR_PLLSAIM)); - } - else - { - /* In Case the PLL Source is HSE (External Clock) */ - vcoinput = ((HSE_VALUE / (uint32_t)(RCC->PLLSAICFGR & RCC_PLLSAICFGR_PLLSAIM))); - } - /* PLLSAI_VCO Output = PLLSAI_VCO Input * PLLSAIN */ - /* SAI_CLK(first level) = PLLSAI_VCO Output/PLLSAIQ */ - tmpreg1 = (RCC->PLLSAICFGR & RCC_PLLSAICFGR_PLLSAIQ) >> 24U; - frequency = (vcoinput * ((RCC->PLLSAICFGR & RCC_PLLSAICFGR_PLLSAIN) >> 6U))/(tmpreg1); - - /* SAI_CLK_x = SAI_CLK(first level)/PLLSAIDIVQ */ - tmpreg1 = (((RCC->DCKCFGR & RCC_DCKCFGR_PLLSAIDIVQ) >> 8U) + 1U); - frequency = frequency/(tmpreg1); - break; - } - case RCC_DCKCFGR_SAI1SRC_0: /* PLLI2S is the clock source for SAI*/ - case RCC_DCKCFGR_SAI2SRC_0: /* PLLI2S is the clock source for SAI*/ - { - /* Configure the PLLI2S division factor */ - /* PLLI2S_VCO Input = PLL_SOURCE/PLLI2SM */ - if((RCC->PLLCFGR & RCC_PLLCFGR_PLLSRC) == RCC_PLLSOURCE_HSI) - { - /* In Case the PLL Source is HSI (Internal Clock) */ - vcoinput = (HSI_VALUE / (uint32_t)(RCC->PLLI2SCFGR & RCC_PLLI2SCFGR_PLLI2SM)); - } - else - { - /* In Case the PLL Source is HSE (External Clock) */ - vcoinput = ((HSE_VALUE / (uint32_t)(RCC->PLLI2SCFGR & RCC_PLLI2SCFGR_PLLI2SM))); - } - - /* PLLI2S_VCO Output = PLLI2S_VCO Input * PLLI2SN */ - /* SAI_CLK(first level) = PLLI2S_VCO Output/PLLI2SQ */ - tmpreg1 = (RCC->PLLI2SCFGR & RCC_PLLI2SCFGR_PLLI2SQ) >> 24U; - frequency = (vcoinput * ((RCC->PLLI2SCFGR & RCC_PLLI2SCFGR_PLLI2SN) >> 6U))/(tmpreg1); - - /* SAI_CLK_x = SAI_CLK(first level)/PLLI2SDIVQ */ - tmpreg1 = ((RCC->DCKCFGR & RCC_DCKCFGR_PLLI2SDIVQ) + 1U); - frequency = frequency/(tmpreg1); - break; - } - case RCC_DCKCFGR_SAI1SRC_1: /* PLLR is the clock source for SAI*/ - case RCC_DCKCFGR_SAI2SRC_1: /* PLLR is the clock source for SAI*/ - { - /* Configure the PLLI2S division factor */ - /* PLL_VCO Input = PLL_SOURCE/PLLM */ - if((RCC->PLLCFGR & RCC_PLLCFGR_PLLSRC) == RCC_PLLSOURCE_HSI) - { - /* In Case the PLL Source is HSI (Internal Clock) */ - vcoinput = (HSI_VALUE / (uint32_t)(RCC->PLLCFGR & RCC_PLLCFGR_PLLM)); - } - else - { - /* In Case the PLL Source is HSE (External Clock) */ - vcoinput = ((HSE_VALUE / (uint32_t)(RCC->PLLCFGR & RCC_PLLCFGR_PLLM))); - } - - /* PLL_VCO Output = PLL_VCO Input * PLLN */ - /* SAI_CLK_x = PLL_VCO Output/PLLR */ - tmpreg1 = (RCC->PLLCFGR & RCC_PLLCFGR_PLLR) >> 28U; - frequency = (vcoinput * ((RCC->PLLCFGR & RCC_PLLCFGR_PLLN) >> 6U))/(tmpreg1); - break; - } - case RCC_DCKCFGR_SAI1SRC: /* External clock is the clock source for SAI*/ - { - frequency = EXTERNAL_CLOCK_VALUE; - break; - } - case RCC_DCKCFGR_SAI2SRC: /* PLLSRC(HSE or HSI) is the clock source for SAI*/ - { - if((RCC->PLLCFGR & RCC_PLLCFGR_PLLSRC) == RCC_PLLSOURCE_HSI) - { - /* In Case the PLL Source is HSI (Internal Clock) */ - frequency = (uint32_t)(HSI_VALUE); - } - else - { - /* In Case the PLL Source is HSE (External Clock) */ - frequency = (uint32_t)(HSE_VALUE); - } - break; - } - default : - { - break; - } - } - break; - } - case RCC_PERIPHCLK_I2S_APB1: - { - /* Get the current I2S source */ - srcclk = __HAL_RCC_GET_I2S_APB1_SOURCE(); - switch (srcclk) - { - /* Check if I2S clock selection is External clock mapped on the I2S_CKIN pin used as I2S clock */ - case RCC_I2SAPB1CLKSOURCE_EXT: - { - /* Set the I2S clock to the external clock value */ - frequency = EXTERNAL_CLOCK_VALUE; - break; - } - /* Check if I2S clock selection is PLLI2S VCO output clock divided by PLLI2SR used as I2S clock */ - case RCC_I2SAPB1CLKSOURCE_PLLI2S: - { - /* Configure the PLLI2S division factor */ - /* PLLI2S_VCO Input = PLL_SOURCE/PLLI2SM */ - if((RCC->PLLCFGR & RCC_PLLCFGR_PLLSRC) == RCC_PLLSOURCE_HSE) - { - /* Get the I2S source clock value */ - vcoinput = (uint32_t)(HSE_VALUE / (uint32_t)(RCC->PLLI2SCFGR & RCC_PLLI2SCFGR_PLLI2SM)); - } - else - { - /* Get the I2S source clock value */ - vcoinput = (uint32_t)(HSI_VALUE / (uint32_t)(RCC->PLLI2SCFGR & RCC_PLLI2SCFGR_PLLI2SM)); - } - - /* PLLI2S_VCO Output = PLLI2S_VCO Input * PLLI2SN */ - vcooutput = (uint32_t)(vcoinput * (((RCC->PLLI2SCFGR & RCC_PLLI2SCFGR_PLLI2SN) >> 6U) & (RCC_PLLI2SCFGR_PLLI2SN >> 6U))); - /* I2S_CLK = PLLI2S_VCO Output/PLLI2SR */ - frequency = (uint32_t)(vcooutput /(((RCC->PLLI2SCFGR & RCC_PLLI2SCFGR_PLLI2SR) >> 28U) & (RCC_PLLI2SCFGR_PLLI2SR >> 28U))); - break; - } - /* Check if I2S clock selection is PLL VCO Output divided by PLLR used as I2S clock */ - case RCC_I2SAPB1CLKSOURCE_PLLR: - { - /* Configure the PLL division factor R */ - /* PLL_VCO Input = PLL_SOURCE/PLLM */ - if((RCC->PLLCFGR & RCC_PLLCFGR_PLLSRC) == RCC_PLLSOURCE_HSE) - { - /* Get the I2S source clock value */ - vcoinput = (uint32_t)(HSE_VALUE / (uint32_t)(RCC->PLLCFGR & RCC_PLLCFGR_PLLM)); - } - else - { - /* Get the I2S source clock value */ - vcoinput = (uint32_t)(HSI_VALUE / (uint32_t)(RCC->PLLCFGR & RCC_PLLCFGR_PLLM)); - } - - /* PLL_VCO Output = PLL_VCO Input * PLLN */ - vcooutput = (uint32_t)(vcoinput * (((RCC->PLLCFGR & RCC_PLLCFGR_PLLN) >> 6U) & (RCC_PLLCFGR_PLLN >> 6U))); - /* I2S_CLK = PLL_VCO Output/PLLR */ - frequency = (uint32_t)(vcooutput /(((RCC->PLLCFGR & RCC_PLLCFGR_PLLR) >> 28U) & (RCC_PLLCFGR_PLLR >> 28U))); - break; - } - /* Check if I2S clock selection is HSI or HSE depending from PLL source Clock */ - case RCC_I2SAPB1CLKSOURCE_PLLSRC: - { - if((RCC->PLLCFGR & RCC_PLLCFGR_PLLSRC) == RCC_PLLSOURCE_HSE) - { - frequency = HSE_VALUE; - } - else - { - frequency = HSI_VALUE; - } - break; - } - /* Clock not enabled for I2S*/ - default: - { - frequency = 0U; - break; - } - } - break; - } - case RCC_PERIPHCLK_I2S_APB2: - { - /* Get the current I2S source */ - srcclk = __HAL_RCC_GET_I2S_APB2_SOURCE(); - switch (srcclk) - { - /* Check if I2S clock selection is External clock mapped on the I2S_CKIN pin used as I2S clock */ - case RCC_I2SAPB2CLKSOURCE_EXT: - { - /* Set the I2S clock to the external clock value */ - frequency = EXTERNAL_CLOCK_VALUE; - break; - } - /* Check if I2S clock selection is PLLI2S VCO output clock divided by PLLI2SR used as I2S clock */ - case RCC_I2SAPB2CLKSOURCE_PLLI2S: - { - /* Configure the PLLI2S division factor */ - /* PLLI2S_VCO Input = PLL_SOURCE/PLLI2SM */ - if((RCC->PLLCFGR & RCC_PLLCFGR_PLLSRC) == RCC_PLLSOURCE_HSE) - { - /* Get the I2S source clock value */ - vcoinput = (uint32_t)(HSE_VALUE / (uint32_t)(RCC->PLLI2SCFGR & RCC_PLLI2SCFGR_PLLI2SM)); - } - else - { - /* Get the I2S source clock value */ - vcoinput = (uint32_t)(HSI_VALUE / (uint32_t)(RCC->PLLI2SCFGR & RCC_PLLI2SCFGR_PLLI2SM)); - } - - /* PLLI2S_VCO Output = PLLI2S_VCO Input * PLLI2SN */ - vcooutput = (uint32_t)(vcoinput * (((RCC->PLLI2SCFGR & RCC_PLLI2SCFGR_PLLI2SN) >> 6U) & (RCC_PLLI2SCFGR_PLLI2SN >> 6U))); - /* I2S_CLK = PLLI2S_VCO Output/PLLI2SR */ - frequency = (uint32_t)(vcooutput /(((RCC->PLLI2SCFGR & RCC_PLLI2SCFGR_PLLI2SR) >> 28U) & (RCC_PLLI2SCFGR_PLLI2SR >> 28U))); - break; - } - /* Check if I2S clock selection is PLL VCO Output divided by PLLR used as I2S clock */ - case RCC_I2SAPB2CLKSOURCE_PLLR: - { - /* Configure the PLL division factor R */ - /* PLL_VCO Input = PLL_SOURCE/PLLM */ - if((RCC->PLLCFGR & RCC_PLLCFGR_PLLSRC) == RCC_PLLSOURCE_HSE) - { - /* Get the I2S source clock value */ - vcoinput = (uint32_t)(HSE_VALUE / (uint32_t)(RCC->PLLCFGR & RCC_PLLCFGR_PLLM)); - } - else - { - /* Get the I2S source clock value */ - vcoinput = (uint32_t)(HSI_VALUE / (uint32_t)(RCC->PLLCFGR & RCC_PLLCFGR_PLLM)); - } - - /* PLL_VCO Output = PLL_VCO Input * PLLN */ - vcooutput = (uint32_t)(vcoinput * (((RCC->PLLCFGR & RCC_PLLCFGR_PLLN) >> 6U) & (RCC_PLLCFGR_PLLN >> 6U))); - /* I2S_CLK = PLL_VCO Output/PLLR */ - frequency = (uint32_t)(vcooutput /(((RCC->PLLCFGR & RCC_PLLCFGR_PLLR) >> 28U) & (RCC_PLLCFGR_PLLR >> 28U))); - break; - } - /* Check if I2S clock selection is HSI or HSE depending from PLL source Clock */ - case RCC_I2SAPB2CLKSOURCE_PLLSRC: - { - if((RCC->PLLCFGR & RCC_PLLCFGR_PLLSRC) == RCC_PLLSOURCE_HSE) - { - frequency = HSE_VALUE; - } - else - { - frequency = HSI_VALUE; - } - break; - } - /* Clock not enabled for I2S*/ - default: - { - frequency = 0U; - break; - } - } - break; - } - } - return frequency; -} -#endif /* STM32F446xx */ - -#if defined(STM32F469xx) || defined(STM32F479xx) -/** - * @brief Initializes the RCC extended peripherals clocks according to the specified - * parameters in the RCC_PeriphCLKInitTypeDef. - * @param PeriphClkInit pointer to an RCC_PeriphCLKInitTypeDef structure that - * contains the configuration information for the Extended Peripherals - * clocks(I2S, SAI, LTDC, RTC and TIM). - * - * @note Care must be taken when HAL_RCCEx_PeriphCLKConfig() is used to select - * the RTC clock source; in this case the Backup domain will be reset in - * order to modify the RTC Clock source, as consequence RTC registers (including - * the backup registers) and RCC_BDCR register are set to their reset values. - * - * @retval HAL status - */ -HAL_StatusTypeDef HAL_RCCEx_PeriphCLKConfig(RCC_PeriphCLKInitTypeDef *PeriphClkInit) -{ - uint32_t tickstart = 0U; - uint32_t tmpreg1 = 0U; - uint32_t pllsaip = 0U; - uint32_t pllsaiq = 0U; - uint32_t pllsair = 0U; - - /* Check the parameters */ - assert_param(IS_RCC_PERIPHCLOCK(PeriphClkInit->PeriphClockSelection)); - - /*--------------------------- CLK48 Configuration --------------------------*/ - if(((PeriphClkInit->PeriphClockSelection) & RCC_PERIPHCLK_CLK48) == RCC_PERIPHCLK_CLK48) - { - /* Check the parameters */ - assert_param(IS_RCC_CLK48CLKSOURCE(PeriphClkInit->Clk48ClockSelection)); - - /* Configure the CLK48 clock source */ - __HAL_RCC_CLK48_CONFIG(PeriphClkInit->Clk48ClockSelection); - } - /*--------------------------------------------------------------------------*/ - - /*------------------------------ SDIO Configuration ------------------------*/ - if(((PeriphClkInit->PeriphClockSelection) & RCC_PERIPHCLK_SDIO) == RCC_PERIPHCLK_SDIO) - { - /* Check the parameters */ - assert_param(IS_RCC_SDIOCLKSOURCE(PeriphClkInit->SdioClockSelection)); - - /* Configure the SDIO clock source */ - __HAL_RCC_SDIO_CONFIG(PeriphClkInit->SdioClockSelection); - } - /*--------------------------------------------------------------------------*/ - - /*----------------------- SAI/I2S Configuration (PLLI2S) -------------------*/ - /*------------------- Common configuration SAI/I2S -------------------------*/ - /* In Case of SAI or I2S Clock Configuration through PLLI2S, PLLI2SN division - factor is common parameters for both peripherals */ - if((((PeriphClkInit->PeriphClockSelection) & RCC_PERIPHCLK_I2S) == RCC_PERIPHCLK_I2S) || - (((PeriphClkInit->PeriphClockSelection) & RCC_PERIPHCLK_SAI_PLLI2S) == RCC_PERIPHCLK_SAI_PLLI2S) || - (((PeriphClkInit->PeriphClockSelection) & RCC_PERIPHCLK_PLLI2S) == RCC_PERIPHCLK_PLLI2S)) - { - /* check for Parameters */ - assert_param(IS_RCC_PLLI2SN_VALUE(PeriphClkInit->PLLI2S.PLLI2SN)); - - /* Disable the PLLI2S */ - __HAL_RCC_PLLI2S_DISABLE(); - /* Get tick */ - tickstart = HAL_GetTick(); - /* Wait till PLLI2S is disabled */ - while(__HAL_RCC_GET_FLAG(RCC_FLAG_PLLI2SRDY) != RESET) - { - if((HAL_GetTick() - tickstart ) > PLLI2S_TIMEOUT_VALUE) - { - /* return in case of Timeout detected */ - return HAL_TIMEOUT; - } - } - - /*---------------------- I2S configuration -------------------------------*/ - /* In Case of I2S Clock Configuration through PLLI2S, PLLI2SR must be added - only for I2S configuration */ - if(((PeriphClkInit->PeriphClockSelection) & RCC_PERIPHCLK_I2S) == (RCC_PERIPHCLK_I2S)) - { - /* check for Parameters */ - assert_param(IS_RCC_PLLI2SR_VALUE(PeriphClkInit->PLLI2S.PLLI2SR)); - /* Configure the PLLI2S division factors */ - /* PLLI2S_VCO = f(VCO clock) = f(PLLI2S clock input) x (PLLI2SN/PLLM) */ - /* I2SCLK = f(PLLI2S clock output) = f(VCO clock) / PLLI2SR */ - __HAL_RCC_PLLI2S_CONFIG(PeriphClkInit->PLLI2S.PLLI2SN , PeriphClkInit->PLLI2S.PLLI2SR); - } - - /*---------------------------- SAI configuration -------------------------*/ - /* In Case of SAI Clock Configuration through PLLI2S, PLLI2SQ and PLLI2S_DIVQ must - be added only for SAI configuration */ - if(((PeriphClkInit->PeriphClockSelection) & RCC_PERIPHCLK_SAI_PLLI2S) == (RCC_PERIPHCLK_SAI_PLLI2S)) - { - /* Check the PLLI2S division factors */ - assert_param(IS_RCC_PLLI2SQ_VALUE(PeriphClkInit->PLLI2S.PLLI2SQ)); - assert_param(IS_RCC_PLLI2S_DIVQ_VALUE(PeriphClkInit->PLLI2SDivQ)); - - /* Read PLLI2SR value from PLLI2SCFGR register (this value is not need for SAI configuration) */ - tmpreg1 = ((RCC->PLLI2SCFGR & RCC_PLLI2SCFGR_PLLI2SR) >> RCC_PLLI2SCFGR_PLLI2SR_Pos); - /* Configure the PLLI2S division factors */ - /* PLLI2S_VCO Input = PLL_SOURCE/PLLM */ - /* PLLI2S_VCO Output = PLLI2S_VCO Input * PLLI2SN */ - /* SAI_CLK(first level) = PLLI2S_VCO Output/PLLI2SQ */ - __HAL_RCC_PLLI2S_SAICLK_CONFIG(PeriphClkInit->PLLI2S.PLLI2SN , PeriphClkInit->PLLI2S.PLLI2SQ , tmpreg1); - /* SAI_CLK_x = SAI_CLK(first level)/PLLI2SDIVQ */ - __HAL_RCC_PLLI2S_PLLSAICLKDIVQ_CONFIG(PeriphClkInit->PLLI2SDivQ); - } - - /*----------------- In Case of PLLI2S is just selected -----------------*/ - if((PeriphClkInit->PeriphClockSelection & RCC_PERIPHCLK_PLLI2S) == RCC_PERIPHCLK_PLLI2S) - { - /* Check for Parameters */ - assert_param(IS_RCC_PLLI2SQ_VALUE(PeriphClkInit->PLLI2S.PLLI2SQ)); - assert_param(IS_RCC_PLLI2SR_VALUE(PeriphClkInit->PLLI2S.PLLI2SR)); - - /* Configure the PLLI2S multiplication and division factors */ - __HAL_RCC_PLLI2S_SAICLK_CONFIG(PeriphClkInit->PLLI2S.PLLI2SN, PeriphClkInit->PLLI2S.PLLI2SQ, PeriphClkInit->PLLI2S.PLLI2SR); - } - - /* Enable the PLLI2S */ - __HAL_RCC_PLLI2S_ENABLE(); - /* Get tick */ - tickstart = HAL_GetTick(); - /* Wait till PLLI2S is ready */ - while(__HAL_RCC_GET_FLAG(RCC_FLAG_PLLI2SRDY) == RESET) - { - if((HAL_GetTick() - tickstart ) > PLLI2S_TIMEOUT_VALUE) - { - /* return in case of Timeout detected */ - return HAL_TIMEOUT; - } - } - } - /*--------------------------------------------------------------------------*/ - - /*----------------------- SAI/LTDC Configuration (PLLSAI) ------------------*/ - /*----------------------- Common configuration SAI/LTDC --------------------*/ - /* In Case of SAI, LTDC or CLK48 Clock Configuration through PLLSAI, PLLSAIN division - factor is common parameters for these peripherals */ - if((((PeriphClkInit->PeriphClockSelection) & RCC_PERIPHCLK_SAI_PLLSAI) == RCC_PERIPHCLK_SAI_PLLSAI) || - (((PeriphClkInit->PeriphClockSelection) & RCC_PERIPHCLK_LTDC) == RCC_PERIPHCLK_LTDC) || - ((((PeriphClkInit->PeriphClockSelection) & RCC_PERIPHCLK_CLK48) == RCC_PERIPHCLK_CLK48) && - (PeriphClkInit->Clk48ClockSelection == RCC_CLK48CLKSOURCE_PLLSAIP))) - { - /* Check the PLLSAI division factors */ - assert_param(IS_RCC_PLLSAIN_VALUE(PeriphClkInit->PLLSAI.PLLSAIN)); - - /* Disable PLLSAI Clock */ - __HAL_RCC_PLLSAI_DISABLE(); - /* Get tick */ - tickstart = HAL_GetTick(); - /* Wait till PLLSAI is disabled */ - while(__HAL_RCC_PLLSAI_GET_FLAG() != RESET) - { - if((HAL_GetTick() - tickstart ) > PLLSAI_TIMEOUT_VALUE) - { - /* return in case of Timeout detected */ - return HAL_TIMEOUT; - } - } - - /*---------------------------- SAI configuration -------------------------*/ - /* In Case of SAI Clock Configuration through PLLSAI, PLLSAIQ and PLLSAI_DIVQ must - be added only for SAI configuration */ - if(((PeriphClkInit->PeriphClockSelection) & RCC_PERIPHCLK_SAI_PLLSAI) == (RCC_PERIPHCLK_SAI_PLLSAI)) - { - assert_param(IS_RCC_PLLSAIQ_VALUE(PeriphClkInit->PLLSAI.PLLSAIQ)); - assert_param(IS_RCC_PLLSAI_DIVQ_VALUE(PeriphClkInit->PLLSAIDivQ)); - - /* Read PLLSAIP value from PLLSAICFGR register (this value is not needed for SAI configuration) */ - pllsaip = ((((RCC->PLLSAICFGR & RCC_PLLSAICFGR_PLLSAIP) >> RCC_PLLSAICFGR_PLLSAIP_Pos) + 1U) << 1U); - /* Read PLLSAIR value from PLLSAICFGR register (this value is not need for SAI configuration) */ - pllsair = ((RCC->PLLSAICFGR & RCC_PLLSAICFGR_PLLSAIR) >> RCC_PLLSAICFGR_PLLSAIR_Pos); - /* PLLSAI_VCO Input = PLL_SOURCE/PLLM */ - /* PLLSAI_VCO Output = PLLSAI_VCO Input * PLLSAIN */ - /* SAI_CLK(first level) = PLLSAI_VCO Output/PLLSAIQ */ - __HAL_RCC_PLLSAI_CONFIG(PeriphClkInit->PLLSAI.PLLSAIN, pllsaip, PeriphClkInit->PLLSAI.PLLSAIQ, pllsair); - /* SAI_CLK_x = SAI_CLK(first level)/PLLSAIDIVQ */ - __HAL_RCC_PLLSAI_PLLSAICLKDIVQ_CONFIG(PeriphClkInit->PLLSAIDivQ); - } - - /*---------------------------- LTDC configuration ------------------------*/ - if(((PeriphClkInit->PeriphClockSelection) & RCC_PERIPHCLK_LTDC) == (RCC_PERIPHCLK_LTDC)) - { - assert_param(IS_RCC_PLLSAIR_VALUE(PeriphClkInit->PLLSAI.PLLSAIR)); - assert_param(IS_RCC_PLLSAI_DIVR_VALUE(PeriphClkInit->PLLSAIDivR)); - - /* Read PLLSAIP value from PLLSAICFGR register (this value is not needed for SAI configuration) */ - pllsaip = ((((RCC->PLLSAICFGR & RCC_PLLSAICFGR_PLLSAIP) >> RCC_PLLSAICFGR_PLLSAIP_Pos) + 1U) << 1U); - /* Read PLLSAIQ value from PLLSAICFGR register (this value is not need for SAI configuration) */ - pllsaiq = ((RCC->PLLSAICFGR & RCC_PLLSAICFGR_PLLSAIQ) >> RCC_PLLSAICFGR_PLLSAIQ_Pos); - /* PLLSAI_VCO Input = PLL_SOURCE/PLLM */ - /* PLLSAI_VCO Output = PLLSAI_VCO Input * PLLSAIN */ - /* LTDC_CLK(first level) = PLLSAI_VCO Output/PLLSAIR */ - __HAL_RCC_PLLSAI_CONFIG(PeriphClkInit->PLLSAI.PLLSAIN, pllsaip, pllsaiq, PeriphClkInit->PLLSAI.PLLSAIR); - /* LTDC_CLK = LTDC_CLK(first level)/PLLSAIDIVR */ - __HAL_RCC_PLLSAI_PLLSAICLKDIVR_CONFIG(PeriphClkInit->PLLSAIDivR); - } - - /*---------------------------- CLK48 configuration ------------------------*/ - /* Configure the PLLSAI when it is used as clock source for CLK48 */ - if((((PeriphClkInit->PeriphClockSelection) & RCC_PERIPHCLK_CLK48) == (RCC_PERIPHCLK_CLK48)) && - (PeriphClkInit->Clk48ClockSelection == RCC_CLK48CLKSOURCE_PLLSAIP)) - { - assert_param(IS_RCC_PLLSAIP_VALUE(PeriphClkInit->PLLSAI.PLLSAIP)); - - /* Read PLLSAIQ value from PLLSAICFGR register (this value is not need for SAI configuration) */ - pllsaiq = ((RCC->PLLSAICFGR & RCC_PLLSAICFGR_PLLSAIQ) >> RCC_PLLSAICFGR_PLLSAIQ_Pos); - /* Read PLLSAIR value from PLLSAICFGR register (this value is not need for SAI configuration) */ - pllsair = ((RCC->PLLSAICFGR & RCC_PLLSAICFGR_PLLSAIR) >> RCC_PLLSAICFGR_PLLSAIR_Pos); - /* PLLSAI_VCO Input = PLL_SOURCE/PLLM */ - /* PLLSAI_VCO Output = PLLSAI_VCO Input * PLLSAIN */ - /* CLK48_CLK(first level) = PLLSAI_VCO Output/PLLSAIP */ - __HAL_RCC_PLLSAI_CONFIG(PeriphClkInit->PLLSAI.PLLSAIN, PeriphClkInit->PLLSAI.PLLSAIP, pllsaiq, pllsair); - } - - /* Enable PLLSAI Clock */ - __HAL_RCC_PLLSAI_ENABLE(); - /* Get tick */ - tickstart = HAL_GetTick(); - /* Wait till PLLSAI is ready */ - while(__HAL_RCC_PLLSAI_GET_FLAG() == RESET) - { - if((HAL_GetTick() - tickstart ) > PLLSAI_TIMEOUT_VALUE) - { - /* return in case of Timeout detected */ - return HAL_TIMEOUT; - } - } - } - - /*--------------------------------------------------------------------------*/ - - /*---------------------------- RTC configuration ---------------------------*/ - if(((PeriphClkInit->PeriphClockSelection) & RCC_PERIPHCLK_RTC) == (RCC_PERIPHCLK_RTC)) - { - /* Check for RTC Parameters used to output RTCCLK */ - assert_param(IS_RCC_RTCCLKSOURCE(PeriphClkInit->RTCClockSelection)); - - /* Enable Power Clock*/ - __HAL_RCC_PWR_CLK_ENABLE(); - - /* Enable write access to Backup domain */ - PWR->CR |= PWR_CR_DBP; - - /* Get tick */ - tickstart = HAL_GetTick(); - - while((PWR->CR & PWR_CR_DBP) == RESET) - { - if((HAL_GetTick() - tickstart ) > RCC_DBP_TIMEOUT_VALUE) - { - return HAL_TIMEOUT; - } - } - /* Reset the Backup domain only if the RTC Clock source selection is modified from reset value */ - tmpreg1 = (RCC->BDCR & RCC_BDCR_RTCSEL); - if((tmpreg1 != 0x00000000U) && ((tmpreg1) != (PeriphClkInit->RTCClockSelection & RCC_BDCR_RTCSEL))) - { - /* Store the content of BDCR register before the reset of Backup Domain */ - tmpreg1 = (RCC->BDCR & ~(RCC_BDCR_RTCSEL)); - /* RTC Clock selection can be changed only if the Backup Domain is reset */ - __HAL_RCC_BACKUPRESET_FORCE(); - __HAL_RCC_BACKUPRESET_RELEASE(); - /* Restore the Content of BDCR register */ - RCC->BDCR = tmpreg1; - - /* Wait for LSE reactivation if LSE was enable prior to Backup Domain reset */ - if(HAL_IS_BIT_SET(RCC->BDCR, RCC_BDCR_LSEON)) - { - /* Get tick */ - tickstart = HAL_GetTick(); - - /* Wait till LSE is ready */ - while(__HAL_RCC_GET_FLAG(RCC_FLAG_LSERDY) == RESET) - { - if((HAL_GetTick() - tickstart ) > RCC_LSE_TIMEOUT_VALUE) - { - return HAL_TIMEOUT; - } - } - } - } - __HAL_RCC_RTC_CONFIG(PeriphClkInit->RTCClockSelection); - } - /*--------------------------------------------------------------------------*/ - - /*---------------------------- TIM configuration ---------------------------*/ - if(((PeriphClkInit->PeriphClockSelection) & RCC_PERIPHCLK_TIM) == (RCC_PERIPHCLK_TIM)) - { - __HAL_RCC_TIMCLKPRESCALER(PeriphClkInit->TIMPresSelection); - } - return HAL_OK; -} - -/** - * @brief Configures the RCC_PeriphCLKInitTypeDef according to the internal - * RCC configuration registers. - * @param PeriphClkInit pointer to an RCC_PeriphCLKInitTypeDef structure that - * will be configured. - * @retval None - */ -void HAL_RCCEx_GetPeriphCLKConfig(RCC_PeriphCLKInitTypeDef *PeriphClkInit) -{ - uint32_t tempreg; - - /* Set all possible values for the extended clock type parameter------------*/ - PeriphClkInit->PeriphClockSelection = RCC_PERIPHCLK_I2S | RCC_PERIPHCLK_SAI_PLLSAI |\ - RCC_PERIPHCLK_SAI_PLLI2S | RCC_PERIPHCLK_LTDC |\ - RCC_PERIPHCLK_TIM | RCC_PERIPHCLK_RTC |\ - RCC_PERIPHCLK_CLK48 | RCC_PERIPHCLK_SDIO; - - /* Get the PLLI2S Clock configuration --------------------------------------*/ - PeriphClkInit->PLLI2S.PLLI2SN = (uint32_t)((RCC->PLLI2SCFGR & RCC_PLLI2SCFGR_PLLI2SN) >> RCC_PLLI2SCFGR_PLLI2SN_Pos); - PeriphClkInit->PLLI2S.PLLI2SR = (uint32_t)((RCC->PLLI2SCFGR & RCC_PLLI2SCFGR_PLLI2SR) >> RCC_PLLI2SCFGR_PLLI2SR_Pos); - PeriphClkInit->PLLI2S.PLLI2SQ = (uint32_t)((RCC->PLLI2SCFGR & RCC_PLLI2SCFGR_PLLI2SQ) >> RCC_PLLI2SCFGR_PLLI2SQ_Pos); - /* Get the PLLSAI Clock configuration --------------------------------------*/ - PeriphClkInit->PLLSAI.PLLSAIN = (uint32_t)((RCC->PLLSAICFGR & RCC_PLLSAICFGR_PLLSAIN) >> RCC_PLLSAICFGR_PLLSAIN_Pos); - PeriphClkInit->PLLSAI.PLLSAIR = (uint32_t)((RCC->PLLSAICFGR & RCC_PLLSAICFGR_PLLSAIR) >> RCC_PLLSAICFGR_PLLSAIR_Pos); - PeriphClkInit->PLLSAI.PLLSAIQ = (uint32_t)((RCC->PLLSAICFGR & RCC_PLLSAICFGR_PLLSAIQ) >> RCC_PLLSAICFGR_PLLSAIQ_Pos); - /* Get the PLLSAI/PLLI2S division factors ----------------------------------*/ - PeriphClkInit->PLLI2SDivQ = (uint32_t)((RCC->DCKCFGR & RCC_DCKCFGR_PLLI2SDIVQ) >> RCC_DCKCFGR_PLLI2SDIVQ_Pos); - PeriphClkInit->PLLSAIDivQ = (uint32_t)((RCC->DCKCFGR & RCC_DCKCFGR_PLLSAIDIVQ) >> RCC_DCKCFGR_PLLSAIDIVQ_Pos); - PeriphClkInit->PLLSAIDivR = (uint32_t)(RCC->DCKCFGR & RCC_DCKCFGR_PLLSAIDIVR); - /* Get the RTC Clock configuration -----------------------------------------*/ - tempreg = (RCC->CFGR & RCC_CFGR_RTCPRE); - PeriphClkInit->RTCClockSelection = (uint32_t)((tempreg) | (RCC->BDCR & RCC_BDCR_RTCSEL)); - - /* Get the CLK48 clock configuration -------------------------------------*/ - PeriphClkInit->Clk48ClockSelection = __HAL_RCC_GET_CLK48_SOURCE(); - - /* Get the SDIO clock configuration ----------------------------------------*/ - PeriphClkInit->SdioClockSelection = __HAL_RCC_GET_SDIO_SOURCE(); - - if ((RCC->DCKCFGR & RCC_DCKCFGR_TIMPRE) == RESET) - { - PeriphClkInit->TIMPresSelection = RCC_TIMPRES_DESACTIVATED; - } - else - { - PeriphClkInit->TIMPresSelection = RCC_TIMPRES_ACTIVATED; - } -} - -/** - * @brief Return the peripheral clock frequency for a given peripheral(SAI..) - * @note Return 0 if peripheral clock identifier not managed by this API - * @param PeriphClk Peripheral clock identifier - * This parameter can be one of the following values: - * @arg RCC_PERIPHCLK_I2S: I2S peripheral clock - * @retval Frequency in KHz - */ -uint32_t HAL_RCCEx_GetPeriphCLKFreq(uint32_t PeriphClk) -{ - /* This variable used to store the I2S clock frequency (value in Hz) */ - uint32_t frequency = 0U; - /* This variable used to store the VCO Input (value in Hz) */ - uint32_t vcoinput = 0U; - uint32_t srcclk = 0U; - /* This variable used to store the VCO Output (value in Hz) */ - uint32_t vcooutput = 0U; - switch (PeriphClk) - { - case RCC_PERIPHCLK_I2S: - { - /* Get the current I2S source */ - srcclk = __HAL_RCC_GET_I2S_SOURCE(); - switch (srcclk) - { - /* Check if I2S clock selection is External clock mapped on the I2S_CKIN pin used as I2S clock */ - case RCC_I2SCLKSOURCE_EXT: - { - /* Set the I2S clock to the external clock value */ - frequency = EXTERNAL_CLOCK_VALUE; - break; - } - /* Check if I2S clock selection is PLLI2S VCO output clock divided by PLLI2SR used as I2S clock */ - case RCC_I2SCLKSOURCE_PLLI2S: - { - /* Configure the PLLI2S division factor */ - /* PLLI2S_VCO Input = PLL_SOURCE/PLLI2SM */ - if((RCC->PLLCFGR & RCC_PLLCFGR_PLLSRC) == RCC_PLLSOURCE_HSE) - { - /* Get the I2S source clock value */ - vcoinput = (uint32_t)(HSE_VALUE / (uint32_t)(RCC->PLLCFGR & RCC_PLLCFGR_PLLM)); - } - else - { - /* Get the I2S source clock value */ - vcoinput = (uint32_t)(HSI_VALUE / (uint32_t)(RCC->PLLCFGR & RCC_PLLCFGR_PLLM)); - } - - /* PLLI2S_VCO Output = PLLI2S_VCO Input * PLLI2SN */ - vcooutput = (uint32_t)(vcoinput * (((RCC->PLLI2SCFGR & RCC_PLLI2SCFGR_PLLI2SN) >> 6U) & (RCC_PLLI2SCFGR_PLLI2SN >> 6U))); - /* I2S_CLK = PLLI2S_VCO Output/PLLI2SR */ - frequency = (uint32_t)(vcooutput /(((RCC->PLLI2SCFGR & RCC_PLLI2SCFGR_PLLI2SR) >> 28U) & (RCC_PLLI2SCFGR_PLLI2SR >> 28U))); - break; - } - /* Clock not enabled for I2S*/ - default: - { - frequency = 0U; - break; - } - } - break; - } - } - return frequency; -} -#endif /* STM32F469xx || STM32F479xx */ - -#if defined(STM32F412Zx) || defined(STM32F412Vx) || defined(STM32F412Rx) || defined(STM32F412Cx) || defined(STM32F413xx) || defined(STM32F423xx) -/** - * @brief Initializes the RCC extended peripherals clocks according to the specified - * parameters in the RCC_PeriphCLKInitTypeDef. - * @param PeriphClkInit pointer to an RCC_PeriphCLKInitTypeDef structure that - * contains the configuration information for the Extended Peripherals - * clocks(I2S, LTDC RTC and TIM). - * - * @note Care must be taken when HAL_RCCEx_PeriphCLKConfig() is used to select - * the RTC clock source; in this case the Backup domain will be reset in - * order to modify the RTC Clock source, as consequence RTC registers (including - * the backup registers) and RCC_BDCR register are set to their reset values. - * - * @retval HAL status - */ -HAL_StatusTypeDef HAL_RCCEx_PeriphCLKConfig(RCC_PeriphCLKInitTypeDef *PeriphClkInit) -{ - uint32_t tickstart = 0U; - uint32_t tmpreg1 = 0U; -#if defined(STM32F413xx) || defined(STM32F423xx) - uint32_t plli2sq = 0U; -#endif /* STM32F413xx || STM32F423xx */ - uint32_t plli2sused = 0U; - - /* Check the peripheral clock selection parameters */ - assert_param(IS_RCC_PERIPHCLOCK(PeriphClkInit->PeriphClockSelection)); - - /*----------------------------------- I2S APB1 configuration ---------------*/ - if(((PeriphClkInit->PeriphClockSelection) & RCC_PERIPHCLK_I2S_APB1) == (RCC_PERIPHCLK_I2S_APB1)) - { - /* Check the parameters */ - assert_param(IS_RCC_I2SAPB1CLKSOURCE(PeriphClkInit->I2sApb1ClockSelection)); - - /* Configure I2S Clock source */ - __HAL_RCC_I2S_APB1_CONFIG(PeriphClkInit->I2sApb1ClockSelection); - /* Enable the PLLI2S when it's used as clock source for I2S */ - if(PeriphClkInit->I2sApb1ClockSelection == RCC_I2SAPB1CLKSOURCE_PLLI2S) - { - plli2sused = 1U; - } - } - /*--------------------------------------------------------------------------*/ - - /*----------------------------------- I2S APB2 configuration ---------------*/ - if(((PeriphClkInit->PeriphClockSelection) & RCC_PERIPHCLK_I2S_APB2) == (RCC_PERIPHCLK_I2S_APB2)) - { - /* Check the parameters */ - assert_param(IS_RCC_I2SAPB2CLKSOURCE(PeriphClkInit->I2sApb2ClockSelection)); - - /* Configure I2S Clock source */ - __HAL_RCC_I2S_APB2_CONFIG(PeriphClkInit->I2sApb2ClockSelection); - /* Enable the PLLI2S when it's used as clock source for I2S */ - if(PeriphClkInit->I2sApb2ClockSelection == RCC_I2SAPB2CLKSOURCE_PLLI2S) - { - plli2sused = 1U; - } - } - /*--------------------------------------------------------------------------*/ - -#if defined(STM32F413xx) || defined(STM32F423xx) - /*----------------------- SAI1 Block A configuration -----------------------*/ - if(((PeriphClkInit->PeriphClockSelection) & RCC_PERIPHCLK_SAIA) == (RCC_PERIPHCLK_SAIA)) - { - /* Check the parameters */ - assert_param(IS_RCC_SAIACLKSOURCE(PeriphClkInit->SaiAClockSelection)); - - /* Configure SAI1 Clock source */ - __HAL_RCC_SAI_BLOCKACLKSOURCE_CONFIG(PeriphClkInit->SaiAClockSelection); - /* Enable the PLLI2S when it's used as clock source for SAI */ - if(PeriphClkInit->SaiAClockSelection == RCC_SAIACLKSOURCE_PLLI2SR) - { - plli2sused = 1U; - } - /* Enable the PLLSAI when it's used as clock source for SAI */ - if(PeriphClkInit->SaiAClockSelection == RCC_SAIACLKSOURCE_PLLR) - { - /* Check for PLL/DIVR parameters */ - assert_param(IS_RCC_PLL_DIVR_VALUE(PeriphClkInit->PLLDivR)); - - /* SAI_CLK_x = SAI_CLK(first level)/PLLDIVR */ - __HAL_RCC_PLL_PLLSAICLKDIVR_CONFIG(PeriphClkInit->PLLDivR); - } - } - /*--------------------------------------------------------------------------*/ - - /*---------------------- SAI1 Block B configuration ------------------------*/ - if(((PeriphClkInit->PeriphClockSelection) & RCC_PERIPHCLK_SAIB) == (RCC_PERIPHCLK_SAIB)) - { - /* Check the parameters */ - assert_param(IS_RCC_SAIBCLKSOURCE(PeriphClkInit->SaiBClockSelection)); - - /* Configure SAI1 Clock source */ - __HAL_RCC_SAI_BLOCKBCLKSOURCE_CONFIG(PeriphClkInit->SaiBClockSelection); - /* Enable the PLLI2S when it's used as clock source for SAI */ - if(PeriphClkInit->SaiBClockSelection == RCC_SAIBCLKSOURCE_PLLI2SR) - { - plli2sused = 1U; - } - /* Enable the PLLSAI when it's used as clock source for SAI */ - if(PeriphClkInit->SaiBClockSelection == RCC_SAIBCLKSOURCE_PLLR) - { - /* Check for PLL/DIVR parameters */ - assert_param(IS_RCC_PLL_DIVR_VALUE(PeriphClkInit->PLLDivR)); - - /* SAI_CLK_x = SAI_CLK(first level)/PLLDIVR */ - __HAL_RCC_PLL_PLLSAICLKDIVR_CONFIG(PeriphClkInit->PLLDivR); - } - } - /*--------------------------------------------------------------------------*/ -#endif /* STM32F413xx || STM32F423xx */ - - /*------------------------------------ RTC configuration -------------------*/ - if(((PeriphClkInit->PeriphClockSelection) & RCC_PERIPHCLK_RTC) == (RCC_PERIPHCLK_RTC)) - { - /* Check for RTC Parameters used to output RTCCLK */ - assert_param(IS_RCC_RTCCLKSOURCE(PeriphClkInit->RTCClockSelection)); - - /* Enable Power Clock*/ - __HAL_RCC_PWR_CLK_ENABLE(); - - /* Enable write access to Backup domain */ - PWR->CR |= PWR_CR_DBP; - - /* Get tick */ - tickstart = HAL_GetTick(); - - while((PWR->CR & PWR_CR_DBP) == RESET) - { - if((HAL_GetTick() - tickstart ) > RCC_DBP_TIMEOUT_VALUE) - { - return HAL_TIMEOUT; - } - } - /* Reset the Backup domain only if the RTC Clock source selection is modified from reset value */ - tmpreg1 = (RCC->BDCR & RCC_BDCR_RTCSEL); - if((tmpreg1 != 0x00000000U) && ((tmpreg1) != (PeriphClkInit->RTCClockSelection & RCC_BDCR_RTCSEL))) - { - /* Store the content of BDCR register before the reset of Backup Domain */ - tmpreg1 = (RCC->BDCR & ~(RCC_BDCR_RTCSEL)); - /* RTC Clock selection can be changed only if the Backup Domain is reset */ - __HAL_RCC_BACKUPRESET_FORCE(); - __HAL_RCC_BACKUPRESET_RELEASE(); - /* Restore the Content of BDCR register */ - RCC->BDCR = tmpreg1; - - /* Wait for LSE reactivation if LSE was enable prior to Backup Domain reset */ - if(HAL_IS_BIT_SET(RCC->BDCR, RCC_BDCR_LSEON)) - { - /* Get tick */ - tickstart = HAL_GetTick(); - - /* Wait till LSE is ready */ - while(__HAL_RCC_GET_FLAG(RCC_FLAG_LSERDY) == RESET) - { - if((HAL_GetTick() - tickstart ) > RCC_LSE_TIMEOUT_VALUE) - { - return HAL_TIMEOUT; - } - } - } - } - __HAL_RCC_RTC_CONFIG(PeriphClkInit->RTCClockSelection); - } - /*--------------------------------------------------------------------------*/ - - /*------------------------------------ TIM configuration -------------------*/ - if(((PeriphClkInit->PeriphClockSelection) & RCC_PERIPHCLK_TIM) == (RCC_PERIPHCLK_TIM)) - { - /* Configure Timer Prescaler */ - __HAL_RCC_TIMCLKPRESCALER(PeriphClkInit->TIMPresSelection); - } - /*--------------------------------------------------------------------------*/ - - /*------------------------------------- FMPI2C1 Configuration --------------*/ - if(((PeriphClkInit->PeriphClockSelection) & RCC_PERIPHCLK_FMPI2C1) == RCC_PERIPHCLK_FMPI2C1) - { - /* Check the parameters */ - assert_param(IS_RCC_FMPI2C1CLKSOURCE(PeriphClkInit->Fmpi2c1ClockSelection)); - - /* Configure the FMPI2C1 clock source */ - __HAL_RCC_FMPI2C1_CONFIG(PeriphClkInit->Fmpi2c1ClockSelection); - } - /*--------------------------------------------------------------------------*/ - - /*------------------------------------- CLK48 Configuration ----------------*/ - if(((PeriphClkInit->PeriphClockSelection) & RCC_PERIPHCLK_CLK48) == RCC_PERIPHCLK_CLK48) - { - /* Check the parameters */ - assert_param(IS_RCC_CLK48CLKSOURCE(PeriphClkInit->Clk48ClockSelection)); - - /* Configure the SDIO clock source */ - __HAL_RCC_CLK48_CONFIG(PeriphClkInit->Clk48ClockSelection); - - /* Enable the PLLI2S when it's used as clock source for CLK48 */ - if(PeriphClkInit->Clk48ClockSelection == RCC_CLK48CLKSOURCE_PLLI2SQ) - { - plli2sused = 1U; - } - } - /*--------------------------------------------------------------------------*/ - - /*------------------------------------- SDIO Configuration -----------------*/ - if(((PeriphClkInit->PeriphClockSelection) & RCC_PERIPHCLK_SDIO) == RCC_PERIPHCLK_SDIO) - { - /* Check the parameters */ - assert_param(IS_RCC_SDIOCLKSOURCE(PeriphClkInit->SdioClockSelection)); - - /* Configure the SDIO clock source */ - __HAL_RCC_SDIO_CONFIG(PeriphClkInit->SdioClockSelection); - } - /*--------------------------------------------------------------------------*/ - - /*-------------------------------------- PLLI2S Configuration --------------*/ - /* PLLI2S is configured when a peripheral will use it as source clock : I2S on APB1 or - I2S on APB2*/ - if((plli2sused == 1U) || (PeriphClkInit->PeriphClockSelection == RCC_PERIPHCLK_PLLI2S)) - { - /* Disable the PLLI2S */ - __HAL_RCC_PLLI2S_DISABLE(); - /* Get tick */ - tickstart = HAL_GetTick(); - /* Wait till PLLI2S is disabled */ - while(__HAL_RCC_GET_FLAG(RCC_FLAG_PLLI2SRDY) != RESET) - { - if((HAL_GetTick() - tickstart ) > PLLI2S_TIMEOUT_VALUE) - { - /* return in case of Timeout detected */ - return HAL_TIMEOUT; - } - } - - /* check for common PLLI2S Parameters */ - assert_param(IS_RCC_PLLI2SCLKSOURCE(PeriphClkInit->PLLI2SSelection)); - assert_param(IS_RCC_PLLI2SM_VALUE(PeriphClkInit->PLLI2S.PLLI2SM)); - assert_param(IS_RCC_PLLI2SN_VALUE(PeriphClkInit->PLLI2S.PLLI2SN)); - /*-------------------- Set the PLL I2S clock -----------------------------*/ - __HAL_RCC_PLL_I2S_CONFIG(PeriphClkInit->PLLI2SSelection); - - /*------- In Case of PLLI2S is selected as source clock for I2S ----------*/ - if(((((PeriphClkInit->PeriphClockSelection) & RCC_PERIPHCLK_I2S_APB1) == RCC_PERIPHCLK_I2S_APB1) && (PeriphClkInit->I2sApb1ClockSelection == RCC_I2SAPB1CLKSOURCE_PLLI2S)) || - ((((PeriphClkInit->PeriphClockSelection) & RCC_PERIPHCLK_I2S_APB2) == RCC_PERIPHCLK_I2S_APB2) && (PeriphClkInit->I2sApb2ClockSelection == RCC_I2SAPB2CLKSOURCE_PLLI2S)) || - ((((PeriphClkInit->PeriphClockSelection) & RCC_PERIPHCLK_CLK48) == RCC_PERIPHCLK_CLK48) && (PeriphClkInit->Clk48ClockSelection == RCC_CLK48CLKSOURCE_PLLI2SQ)) || - ((((PeriphClkInit->PeriphClockSelection) & RCC_PERIPHCLK_SDIO) == RCC_PERIPHCLK_SDIO) && (PeriphClkInit->SdioClockSelection == RCC_SDIOCLKSOURCE_CLK48) && (PeriphClkInit->Clk48ClockSelection == RCC_CLK48CLKSOURCE_PLLI2SQ))) - { - /* check for Parameters */ - assert_param(IS_RCC_PLLI2SR_VALUE(PeriphClkInit->PLLI2S.PLLI2SR)); - assert_param(IS_RCC_PLLI2SQ_VALUE(PeriphClkInit->PLLI2S.PLLI2SQ)); - - /* Configure the PLLI2S division factors */ - /* PLLI2S_VCO = f(VCO clock) = f(PLLI2S clock input) * (PLLI2SN/PLLI2SM)*/ - /* I2SCLK = f(PLLI2S clock output) = f(VCO clock) / PLLI2SR */ - __HAL_RCC_PLLI2S_CONFIG(PeriphClkInit->PLLI2S.PLLI2SM, PeriphClkInit->PLLI2S.PLLI2SN , PeriphClkInit->PLLI2S.PLLI2SQ, PeriphClkInit->PLLI2S.PLLI2SR); - } - -#if defined(STM32F413xx) || defined(STM32F423xx) - /*------- In Case of PLLI2S is selected as source clock for SAI ----------*/ - if(((((PeriphClkInit->PeriphClockSelection) & RCC_PERIPHCLK_SAIA) == RCC_PERIPHCLK_SAIA) && (PeriphClkInit->SaiAClockSelection == RCC_SAIACLKSOURCE_PLLI2SR)) || - ((((PeriphClkInit->PeriphClockSelection) & RCC_PERIPHCLK_SAIB) == RCC_PERIPHCLK_SAIB) && (PeriphClkInit->SaiBClockSelection == RCC_SAIBCLKSOURCE_PLLI2SR))) - { - /* Check for PLLI2S Parameters */ - assert_param(IS_RCC_PLLI2SR_VALUE(PeriphClkInit->PLLI2S.PLLI2SR)); - /* Check for PLLI2S/DIVR parameters */ - assert_param(IS_RCC_PLLI2S_DIVR_VALUE(PeriphClkInit->PLLI2SDivR)); - - /* Read PLLI2SQ value from PLLI2SCFGR register (this value is not needed for SAI configuration) */ - plli2sq = ((RCC->PLLI2SCFGR & RCC_PLLI2SCFGR_PLLI2SQ) >> RCC_PLLI2SCFGR_PLLI2SQ_Pos); - /* Configure the PLLI2S division factors */ - /* PLLI2S_VCO Input = PLL_SOURCE/PLLI2SM */ - /* PLLI2S_VCO Output = PLLI2S_VCO Input * PLLI2SN */ - /* SAI_CLK(first level) = PLLI2S_VCO Output/PLLI2SQ */ - __HAL_RCC_PLLI2S_CONFIG(PeriphClkInit->PLLI2S.PLLI2SM, PeriphClkInit->PLLI2S.PLLI2SN, plli2sq, PeriphClkInit->PLLI2S.PLLI2SR); - - /* SAI_CLK_x = SAI_CLK(first level)/PLLI2SDIVR */ - __HAL_RCC_PLLI2S_PLLSAICLKDIVR_CONFIG(PeriphClkInit->PLLI2SDivR); - } -#endif /* STM32F413xx || STM32F423xx */ - - /*----------------- In Case of PLLI2S is just selected ------------------*/ - if((PeriphClkInit->PeriphClockSelection & RCC_PERIPHCLK_PLLI2S) == RCC_PERIPHCLK_PLLI2S) - { - /* Check for Parameters */ - assert_param(IS_RCC_PLLI2SR_VALUE(PeriphClkInit->PLLI2S.PLLI2SR)); - assert_param(IS_RCC_PLLI2SQ_VALUE(PeriphClkInit->PLLI2S.PLLI2SQ)); - - /* Configure the PLLI2S division factors */ - /* PLLI2S_VCO = f(VCO clock) = f(PLLI2S clock input) * (PLLI2SN/PLLI2SM)*/ - /* SPDIFRXCLK = f(PLLI2S clock output) = f(VCO clock) / PLLI2SP */ - __HAL_RCC_PLLI2S_CONFIG(PeriphClkInit->PLLI2S.PLLI2SM, PeriphClkInit->PLLI2S.PLLI2SN , PeriphClkInit->PLLI2S.PLLI2SQ, PeriphClkInit->PLLI2S.PLLI2SR); - } - - /* Enable the PLLI2S */ - __HAL_RCC_PLLI2S_ENABLE(); - /* Get tick */ - tickstart = HAL_GetTick(); - /* Wait till PLLI2S is ready */ - while(__HAL_RCC_GET_FLAG(RCC_FLAG_PLLI2SRDY) == RESET) - { - if((HAL_GetTick() - tickstart ) > PLLI2S_TIMEOUT_VALUE) - { - /* return in case of Timeout detected */ - return HAL_TIMEOUT; - } - } - } - /*--------------------------------------------------------------------------*/ - - /*-------------------- DFSDM1 clock source configuration -------------------*/ - if(((PeriphClkInit->PeriphClockSelection) & RCC_PERIPHCLK_DFSDM1) == RCC_PERIPHCLK_DFSDM1) - { - /* Check the parameters */ - assert_param(IS_RCC_DFSDM1CLKSOURCE(PeriphClkInit->Dfsdm1ClockSelection)); - - /* Configure the DFSDM1 interface clock source */ - __HAL_RCC_DFSDM1_CONFIG(PeriphClkInit->Dfsdm1ClockSelection); - } - /*--------------------------------------------------------------------------*/ - - /*-------------------- DFSDM1 Audio clock source configuration -------------*/ - if(((PeriphClkInit->PeriphClockSelection) & RCC_PERIPHCLK_DFSDM1_AUDIO) == RCC_PERIPHCLK_DFSDM1_AUDIO) - { - /* Check the parameters */ - assert_param(IS_RCC_DFSDM1AUDIOCLKSOURCE(PeriphClkInit->Dfsdm1AudioClockSelection)); - - /* Configure the DFSDM1 Audio interface clock source */ - __HAL_RCC_DFSDM1AUDIO_CONFIG(PeriphClkInit->Dfsdm1AudioClockSelection); - } - /*--------------------------------------------------------------------------*/ - -#if defined(STM32F413xx) || defined(STM32F423xx) - /*-------------------- DFSDM2 clock source configuration -------------------*/ - if(((PeriphClkInit->PeriphClockSelection) & RCC_PERIPHCLK_DFSDM2) == RCC_PERIPHCLK_DFSDM2) - { - /* Check the parameters */ - assert_param(IS_RCC_DFSDM2CLKSOURCE(PeriphClkInit->Dfsdm2ClockSelection)); - - /* Configure the DFSDM1 interface clock source */ - __HAL_RCC_DFSDM2_CONFIG(PeriphClkInit->Dfsdm2ClockSelection); - } - /*--------------------------------------------------------------------------*/ - - /*-------------------- DFSDM2 Audio clock source configuration -------------*/ - if(((PeriphClkInit->PeriphClockSelection) & RCC_PERIPHCLK_DFSDM2_AUDIO) == RCC_PERIPHCLK_DFSDM2_AUDIO) - { - /* Check the parameters */ - assert_param(IS_RCC_DFSDM2AUDIOCLKSOURCE(PeriphClkInit->Dfsdm2AudioClockSelection)); - - /* Configure the DFSDM1 Audio interface clock source */ - __HAL_RCC_DFSDM2AUDIO_CONFIG(PeriphClkInit->Dfsdm2AudioClockSelection); - } - /*--------------------------------------------------------------------------*/ - - /*---------------------------- LPTIM1 Configuration ------------------------*/ - if(((PeriphClkInit->PeriphClockSelection) & RCC_PERIPHCLK_LPTIM1) == RCC_PERIPHCLK_LPTIM1) - { - /* Check the parameters */ - assert_param(IS_RCC_LPTIM1CLKSOURCE(PeriphClkInit->Lptim1ClockSelection)); - - /* Configure the LPTIM1 clock source */ - __HAL_RCC_LPTIM1_CONFIG(PeriphClkInit->Lptim1ClockSelection); - } - /*--------------------------------------------------------------------------*/ -#endif /* STM32F413xx || STM32F423xx */ - - return HAL_OK; -} - -/** - * @brief Get the RCC_PeriphCLKInitTypeDef according to the internal - * RCC configuration registers. - * @param PeriphClkInit pointer to an RCC_PeriphCLKInitTypeDef structure that - * will be configured. - * @retval None - */ -void HAL_RCCEx_GetPeriphCLKConfig(RCC_PeriphCLKInitTypeDef *PeriphClkInit) -{ - uint32_t tempreg; - - /* Set all possible values for the extended clock type parameter------------*/ -#if defined(STM32F413xx) || defined(STM32F423xx) - PeriphClkInit->PeriphClockSelection = RCC_PERIPHCLK_I2S_APB1 | RCC_PERIPHCLK_I2S_APB2 |\ - RCC_PERIPHCLK_TIM | RCC_PERIPHCLK_RTC |\ - RCC_PERIPHCLK_FMPI2C1 | RCC_PERIPHCLK_CLK48 |\ - RCC_PERIPHCLK_SDIO | RCC_PERIPHCLK_DFSDM1 |\ - RCC_PERIPHCLK_DFSDM1_AUDIO | RCC_PERIPHCLK_DFSDM2 |\ - RCC_PERIPHCLK_DFSDM2_AUDIO | RCC_PERIPHCLK_LPTIM1 |\ - RCC_PERIPHCLK_SAIA | RCC_PERIPHCLK_SAIB; -#else /* STM32F412Zx || STM32F412Vx || STM32F412Rx || STM32F412Cx */ - PeriphClkInit->PeriphClockSelection = RCC_PERIPHCLK_I2S_APB1 | RCC_PERIPHCLK_I2S_APB2 |\ - RCC_PERIPHCLK_TIM | RCC_PERIPHCLK_RTC |\ - RCC_PERIPHCLK_FMPI2C1 | RCC_PERIPHCLK_CLK48 |\ - RCC_PERIPHCLK_SDIO | RCC_PERIPHCLK_DFSDM1 |\ - RCC_PERIPHCLK_DFSDM1_AUDIO; -#endif /* STM32F413xx || STM32F423xx */ - - - - /* Get the PLLI2S Clock configuration --------------------------------------*/ - PeriphClkInit->PLLI2S.PLLI2SM = (uint32_t)((RCC->PLLI2SCFGR & RCC_PLLI2SCFGR_PLLI2SM) >> RCC_PLLI2SCFGR_PLLI2SM_Pos); - PeriphClkInit->PLLI2S.PLLI2SN = (uint32_t)((RCC->PLLI2SCFGR & RCC_PLLI2SCFGR_PLLI2SN) >> RCC_PLLI2SCFGR_PLLI2SN_Pos); - PeriphClkInit->PLLI2S.PLLI2SQ = (uint32_t)((RCC->PLLI2SCFGR & RCC_PLLI2SCFGR_PLLI2SQ) >> RCC_PLLI2SCFGR_PLLI2SQ_Pos); - PeriphClkInit->PLLI2S.PLLI2SR = (uint32_t)((RCC->PLLI2SCFGR & RCC_PLLI2SCFGR_PLLI2SR) >> RCC_PLLI2SCFGR_PLLI2SR_Pos); -#if defined(STM32F413xx) || defined(STM32F423xx) - /* Get the PLL/PLLI2S division factors -------------------------------------*/ - PeriphClkInit->PLLI2SDivR = (uint32_t)((RCC->DCKCFGR & RCC_DCKCFGR_PLLI2SDIVR) >> RCC_DCKCFGR_PLLI2SDIVR_Pos); - PeriphClkInit->PLLDivR = (uint32_t)((RCC->DCKCFGR & RCC_DCKCFGR_PLLDIVR) >> RCC_DCKCFGR_PLLDIVR_Pos); -#endif /* STM32F413xx || STM32F423xx */ - - /* Get the I2S APB1 clock configuration ------------------------------------*/ - PeriphClkInit->I2sApb1ClockSelection = __HAL_RCC_GET_I2S_APB1_SOURCE(); - - /* Get the I2S APB2 clock configuration ------------------------------------*/ - PeriphClkInit->I2sApb2ClockSelection = __HAL_RCC_GET_I2S_APB2_SOURCE(); - - /* Get the RTC Clock configuration -----------------------------------------*/ - tempreg = (RCC->CFGR & RCC_CFGR_RTCPRE); - PeriphClkInit->RTCClockSelection = (uint32_t)((tempreg) | (RCC->BDCR & RCC_BDCR_RTCSEL)); - - /* Get the FMPI2C1 clock configuration -------------------------------------*/ - PeriphClkInit->Fmpi2c1ClockSelection = __HAL_RCC_GET_FMPI2C1_SOURCE(); - - /* Get the CLK48 clock configuration ---------------------------------------*/ - PeriphClkInit->Clk48ClockSelection = __HAL_RCC_GET_CLK48_SOURCE(); - - /* Get the SDIO clock configuration ----------------------------------------*/ - PeriphClkInit->SdioClockSelection = __HAL_RCC_GET_SDIO_SOURCE(); - - /* Get the DFSDM1 clock configuration --------------------------------------*/ - PeriphClkInit->Dfsdm1ClockSelection = __HAL_RCC_GET_DFSDM1_SOURCE(); - - /* Get the DFSDM1 Audio clock configuration --------------------------------*/ - PeriphClkInit->Dfsdm1AudioClockSelection = __HAL_RCC_GET_DFSDM1AUDIO_SOURCE(); - -#if defined(STM32F413xx) || defined(STM32F423xx) - /* Get the DFSDM2 clock configuration --------------------------------------*/ - PeriphClkInit->Dfsdm2ClockSelection = __HAL_RCC_GET_DFSDM2_SOURCE(); - - /* Get the DFSDM2 Audio clock configuration --------------------------------*/ - PeriphClkInit->Dfsdm2AudioClockSelection = __HAL_RCC_GET_DFSDM2AUDIO_SOURCE(); - - /* Get the LPTIM1 clock configuration --------------------------------------*/ - PeriphClkInit->Lptim1ClockSelection = __HAL_RCC_GET_LPTIM1_SOURCE(); - - /* Get the SAI1 Block Aclock configuration ---------------------------------*/ - PeriphClkInit->SaiAClockSelection = __HAL_RCC_GET_SAI_BLOCKA_SOURCE(); - - /* Get the SAI1 Block B clock configuration --------------------------------*/ - PeriphClkInit->SaiBClockSelection = __HAL_RCC_GET_SAI_BLOCKB_SOURCE(); -#endif /* STM32F413xx || STM32F423xx */ - - /* Get the TIM Prescaler configuration -------------------------------------*/ - if ((RCC->DCKCFGR & RCC_DCKCFGR_TIMPRE) == RESET) - { - PeriphClkInit->TIMPresSelection = RCC_TIMPRES_DESACTIVATED; - } - else - { - PeriphClkInit->TIMPresSelection = RCC_TIMPRES_ACTIVATED; - } -} - -/** - * @brief Return the peripheral clock frequency for a given peripheral(I2S..) - * @note Return 0 if peripheral clock identifier not managed by this API - * @param PeriphClk Peripheral clock identifier - * This parameter can be one of the following values: - * @arg RCC_PERIPHCLK_I2S_APB1: I2S APB1 peripheral clock - * @arg RCC_PERIPHCLK_I2S_APB2: I2S APB2 peripheral clock - * @retval Frequency in KHz - */ -uint32_t HAL_RCCEx_GetPeriphCLKFreq(uint32_t PeriphClk) -{ - /* This variable used to store the I2S clock frequency (value in Hz) */ - uint32_t frequency = 0U; - /* This variable used to store the VCO Input (value in Hz) */ - uint32_t vcoinput = 0U; - uint32_t srcclk = 0U; - /* This variable used to store the VCO Output (value in Hz) */ - uint32_t vcooutput = 0U; - switch (PeriphClk) - { - case RCC_PERIPHCLK_I2S_APB1: - { - /* Get the current I2S source */ - srcclk = __HAL_RCC_GET_I2S_APB1_SOURCE(); - switch (srcclk) - { - /* Check if I2S clock selection is External clock mapped on the I2S_CKIN pin used as I2S clock */ - case RCC_I2SAPB1CLKSOURCE_EXT: - { - /* Set the I2S clock to the external clock value */ - frequency = EXTERNAL_CLOCK_VALUE; - break; - } - /* Check if I2S clock selection is PLLI2S VCO output clock divided by PLLI2SR used as I2S clock */ - case RCC_I2SAPB1CLKSOURCE_PLLI2S: - { - if((RCC->PLLI2SCFGR & RCC_PLLI2SCFGR_PLLI2SSRC) == RCC_PLLI2SCFGR_PLLI2SSRC) - { - /* Get the I2S source clock value */ - vcoinput = (uint32_t)(EXTERNAL_CLOCK_VALUE / (uint32_t)(RCC->PLLI2SCFGR & RCC_PLLI2SCFGR_PLLI2SM)); - } - else - { - /* Configure the PLLI2S division factor */ - /* PLLI2S_VCO Input = PLL_SOURCE/PLLI2SM */ - if((RCC->PLLCFGR & RCC_PLLCFGR_PLLSRC) == RCC_PLLSOURCE_HSE) - { - /* Get the I2S source clock value */ - vcoinput = (uint32_t)(HSE_VALUE / (uint32_t)(RCC->PLLI2SCFGR & RCC_PLLI2SCFGR_PLLI2SM)); - } - else - { - /* Get the I2S source clock value */ - vcoinput = (uint32_t)(HSI_VALUE / (uint32_t)(RCC->PLLI2SCFGR & RCC_PLLI2SCFGR_PLLI2SM)); - } - } - /* PLLI2S_VCO Output = PLLI2S_VCO Input * PLLI2SN */ - vcooutput = (uint32_t)(vcoinput * (((RCC->PLLI2SCFGR & RCC_PLLI2SCFGR_PLLI2SN) >> 6U) & (RCC_PLLI2SCFGR_PLLI2SN >> 6U))); - /* I2S_CLK = PLLI2S_VCO Output/PLLI2SR */ - frequency = (uint32_t)(vcooutput /(((RCC->PLLI2SCFGR & RCC_PLLI2SCFGR_PLLI2SR) >> 28U) & (RCC_PLLI2SCFGR_PLLI2SR >> 28U))); - break; - } - /* Check if I2S clock selection is PLL VCO Output divided by PLLR used as I2S clock */ - case RCC_I2SAPB1CLKSOURCE_PLLR: - { - /* Configure the PLL division factor R */ - /* PLL_VCO Input = PLL_SOURCE/PLLM */ - if((RCC->PLLCFGR & RCC_PLLCFGR_PLLSRC) == RCC_PLLSOURCE_HSE) - { - /* Get the I2S source clock value */ - vcoinput = (uint32_t)(HSE_VALUE / (uint32_t)(RCC->PLLCFGR & RCC_PLLCFGR_PLLM)); - } - else - { - /* Get the I2S source clock value */ - vcoinput = (uint32_t)(HSI_VALUE / (uint32_t)(RCC->PLLCFGR & RCC_PLLCFGR_PLLM)); - } - - /* PLL_VCO Output = PLL_VCO Input * PLLN */ - vcooutput = (uint32_t)(vcoinput * (((RCC->PLLCFGR & RCC_PLLCFGR_PLLN) >> 6U) & (RCC_PLLCFGR_PLLN >> 6U))); - /* I2S_CLK = PLL_VCO Output/PLLR */ - frequency = (uint32_t)(vcooutput /(((RCC->PLLCFGR & RCC_PLLCFGR_PLLR) >> 28U) & (RCC_PLLCFGR_PLLR >> 28U))); - break; - } - /* Check if I2S clock selection is HSI or HSE depending from PLL source Clock */ - case RCC_I2SAPB1CLKSOURCE_PLLSRC: - { - if((RCC->PLLCFGR & RCC_PLLCFGR_PLLSRC) == RCC_PLLSOURCE_HSE) - { - frequency = HSE_VALUE; - } - else - { - frequency = HSI_VALUE; - } - break; - } - /* Clock not enabled for I2S*/ - default: - { - frequency = 0U; - break; - } - } - break; - } - case RCC_PERIPHCLK_I2S_APB2: - { - /* Get the current I2S source */ - srcclk = __HAL_RCC_GET_I2S_APB2_SOURCE(); - switch (srcclk) - { - /* Check if I2S clock selection is External clock mapped on the I2S_CKIN pin used as I2S clock */ - case RCC_I2SAPB2CLKSOURCE_EXT: - { - /* Set the I2S clock to the external clock value */ - frequency = EXTERNAL_CLOCK_VALUE; - break; - } - /* Check if I2S clock selection is PLLI2S VCO output clock divided by PLLI2SR used as I2S clock */ - case RCC_I2SAPB2CLKSOURCE_PLLI2S: - { - if((RCC->PLLI2SCFGR & RCC_PLLI2SCFGR_PLLI2SSRC) == RCC_PLLI2SCFGR_PLLI2SSRC) - { - /* Get the I2S source clock value */ - vcoinput = (uint32_t)(EXTERNAL_CLOCK_VALUE / (uint32_t)(RCC->PLLI2SCFGR & RCC_PLLI2SCFGR_PLLI2SM)); - } - else - { - /* Configure the PLLI2S division factor */ - /* PLLI2S_VCO Input = PLL_SOURCE/PLLI2SM */ - if((RCC->PLLCFGR & RCC_PLLCFGR_PLLSRC) == RCC_PLLSOURCE_HSE) - { - /* Get the I2S source clock value */ - vcoinput = (uint32_t)(HSE_VALUE / (uint32_t)(RCC->PLLI2SCFGR & RCC_PLLI2SCFGR_PLLI2SM)); - } - else - { - /* Get the I2S source clock value */ - vcoinput = (uint32_t)(HSI_VALUE / (uint32_t)(RCC->PLLI2SCFGR & RCC_PLLI2SCFGR_PLLI2SM)); - } - } - /* PLLI2S_VCO Output = PLLI2S_VCO Input * PLLI2SN */ - vcooutput = (uint32_t)(vcoinput * (((RCC->PLLI2SCFGR & RCC_PLLI2SCFGR_PLLI2SN) >> 6U) & (RCC_PLLI2SCFGR_PLLI2SN >> 6U))); - /* I2S_CLK = PLLI2S_VCO Output/PLLI2SR */ - frequency = (uint32_t)(vcooutput /(((RCC->PLLI2SCFGR & RCC_PLLI2SCFGR_PLLI2SR) >> 28U) & (RCC_PLLI2SCFGR_PLLI2SR >> 28U))); - break; - } - /* Check if I2S clock selection is PLL VCO Output divided by PLLR used as I2S clock */ - case RCC_I2SAPB2CLKSOURCE_PLLR: - { - /* Configure the PLL division factor R */ - /* PLL_VCO Input = PLL_SOURCE/PLLM */ - if((RCC->PLLCFGR & RCC_PLLCFGR_PLLSRC) == RCC_PLLSOURCE_HSE) - { - /* Get the I2S source clock value */ - vcoinput = (uint32_t)(HSE_VALUE / (uint32_t)(RCC->PLLCFGR & RCC_PLLCFGR_PLLM)); - } - else - { - /* Get the I2S source clock value */ - vcoinput = (uint32_t)(HSI_VALUE / (uint32_t)(RCC->PLLCFGR & RCC_PLLCFGR_PLLM)); - } - - /* PLL_VCO Output = PLL_VCO Input * PLLN */ - vcooutput = (uint32_t)(vcoinput * (((RCC->PLLCFGR & RCC_PLLCFGR_PLLN) >> 6U) & (RCC_PLLCFGR_PLLN >> 6U))); - /* I2S_CLK = PLL_VCO Output/PLLR */ - frequency = (uint32_t)(vcooutput /(((RCC->PLLCFGR & RCC_PLLCFGR_PLLR) >> 28U) & (RCC_PLLCFGR_PLLR >> 28U))); - break; - } - /* Check if I2S clock selection is HSI or HSE depending from PLL source Clock */ - case RCC_I2SAPB2CLKSOURCE_PLLSRC: - { - if((RCC->PLLCFGR & RCC_PLLCFGR_PLLSRC) == RCC_PLLSOURCE_HSE) - { - frequency = HSE_VALUE; - } - else - { - frequency = HSI_VALUE; - } - break; - } - /* Clock not enabled for I2S*/ - default: - { - frequency = 0U; - break; - } - } - break; - } - } - return frequency; -} -#endif /* STM32F412Zx || STM32F412Vx || STM32F412Rx || STM32F412Cx || STM32F413xx || STM32F423xx */ - -#if defined(STM32F410Tx) || defined(STM32F410Cx) || defined(STM32F410Rx) -/** - * @brief Initializes the RCC extended peripherals clocks according to the specified parameters in the - * RCC_PeriphCLKInitTypeDef. - * @param PeriphClkInit pointer to an RCC_PeriphCLKInitTypeDef structure that - * contains the configuration information for the Extended Peripherals clocks(I2S and RTC clocks). - * - * @note A caution to be taken when HAL_RCCEx_PeriphCLKConfig() is used to select RTC clock selection, in this case - * the Reset of Backup domain will be applied in order to modify the RTC Clock source as consequence all backup - * domain (RTC and RCC_BDCR register expect BKPSRAM) will be reset - * - * @retval HAL status - */ -HAL_StatusTypeDef HAL_RCCEx_PeriphCLKConfig(RCC_PeriphCLKInitTypeDef *PeriphClkInit) -{ - uint32_t tickstart = 0U; - uint32_t tmpreg1 = 0U; - - /* Check the parameters */ - assert_param(IS_RCC_PERIPHCLOCK(PeriphClkInit->PeriphClockSelection)); - - /*---------------------------- RTC configuration ---------------------------*/ - if(((PeriphClkInit->PeriphClockSelection) & RCC_PERIPHCLK_RTC) == (RCC_PERIPHCLK_RTC)) - { - /* Check for RTC Parameters used to output RTCCLK */ - assert_param(IS_RCC_RTCCLKSOURCE(PeriphClkInit->RTCClockSelection)); - - /* Enable Power Clock*/ - __HAL_RCC_PWR_CLK_ENABLE(); - - /* Enable write access to Backup domain */ - PWR->CR |= PWR_CR_DBP; - - /* Get tick */ - tickstart = HAL_GetTick(); - - while((PWR->CR & PWR_CR_DBP) == RESET) - { - if((HAL_GetTick() - tickstart ) > RCC_DBP_TIMEOUT_VALUE) - { - return HAL_TIMEOUT; - } - } - /* Reset the Backup domain only if the RTC Clock source selection is modified from reset value */ - tmpreg1 = (RCC->BDCR & RCC_BDCR_RTCSEL); - if((tmpreg1 != 0x00000000U) && ((tmpreg1) != (PeriphClkInit->RTCClockSelection & RCC_BDCR_RTCSEL))) - { - /* Store the content of BDCR register before the reset of Backup Domain */ - tmpreg1 = (RCC->BDCR & ~(RCC_BDCR_RTCSEL)); - /* RTC Clock selection can be changed only if the Backup Domain is reset */ - __HAL_RCC_BACKUPRESET_FORCE(); - __HAL_RCC_BACKUPRESET_RELEASE(); - /* Restore the Content of BDCR register */ - RCC->BDCR = tmpreg1; - - /* Wait for LSE reactivation if LSE was enable prior to Backup Domain reset */ - if(HAL_IS_BIT_SET(RCC->BDCR, RCC_BDCR_LSEON)) - { - /* Get tick */ - tickstart = HAL_GetTick(); - - /* Wait till LSE is ready */ - while(__HAL_RCC_GET_FLAG(RCC_FLAG_LSERDY) == RESET) - { - if((HAL_GetTick() - tickstart ) > RCC_LSE_TIMEOUT_VALUE) - { - return HAL_TIMEOUT; - } - } - } - } - __HAL_RCC_RTC_CONFIG(PeriphClkInit->RTCClockSelection); - } - /*--------------------------------------------------------------------------*/ - - /*---------------------------- TIM configuration ---------------------------*/ - if(((PeriphClkInit->PeriphClockSelection) & RCC_PERIPHCLK_TIM) == (RCC_PERIPHCLK_TIM)) - { - __HAL_RCC_TIMCLKPRESCALER(PeriphClkInit->TIMPresSelection); - } - /*--------------------------------------------------------------------------*/ - - /*---------------------------- FMPI2C1 Configuration -----------------------*/ - if(((PeriphClkInit->PeriphClockSelection) & RCC_PERIPHCLK_FMPI2C1) == RCC_PERIPHCLK_FMPI2C1) - { - /* Check the parameters */ - assert_param(IS_RCC_FMPI2C1CLKSOURCE(PeriphClkInit->Fmpi2c1ClockSelection)); - - /* Configure the FMPI2C1 clock source */ - __HAL_RCC_FMPI2C1_CONFIG(PeriphClkInit->Fmpi2c1ClockSelection); - } - /*--------------------------------------------------------------------------*/ - - /*---------------------------- LPTIM1 Configuration ------------------------*/ - if(((PeriphClkInit->PeriphClockSelection) & RCC_PERIPHCLK_LPTIM1) == RCC_PERIPHCLK_LPTIM1) - { - /* Check the parameters */ - assert_param(IS_RCC_LPTIM1CLKSOURCE(PeriphClkInit->Lptim1ClockSelection)); - - /* Configure the LPTIM1 clock source */ - __HAL_RCC_LPTIM1_CONFIG(PeriphClkInit->Lptim1ClockSelection); - } - - /*---------------------------- I2S Configuration ---------------------------*/ - if(((PeriphClkInit->PeriphClockSelection) & RCC_PERIPHCLK_I2S) == RCC_PERIPHCLK_I2S) - { - /* Check the parameters */ - assert_param(IS_RCC_I2SAPBCLKSOURCE(PeriphClkInit->I2SClockSelection)); - - /* Configure the I2S clock source */ - __HAL_RCC_I2S_CONFIG(PeriphClkInit->I2SClockSelection); - } - - return HAL_OK; -} - -/** - * @brief Configures the RCC_OscInitStruct according to the internal - * RCC configuration registers. - * @param PeriphClkInit pointer to an RCC_PeriphCLKInitTypeDef structure that - * will be configured. - * @retval None - */ -void HAL_RCCEx_GetPeriphCLKConfig(RCC_PeriphCLKInitTypeDef *PeriphClkInit) -{ - uint32_t tempreg; - - /* Set all possible values for the extended clock type parameter------------*/ - PeriphClkInit->PeriphClockSelection = RCC_PERIPHCLK_FMPI2C1 | RCC_PERIPHCLK_LPTIM1 | RCC_PERIPHCLK_TIM | RCC_PERIPHCLK_RTC; - - tempreg = (RCC->CFGR & RCC_CFGR_RTCPRE); - PeriphClkInit->RTCClockSelection = (uint32_t)((tempreg) | (RCC->BDCR & RCC_BDCR_RTCSEL)); - - if ((RCC->DCKCFGR & RCC_DCKCFGR_TIMPRE) == RESET) - { - PeriphClkInit->TIMPresSelection = RCC_TIMPRES_DESACTIVATED; - } - else - { - PeriphClkInit->TIMPresSelection = RCC_TIMPRES_ACTIVATED; - } - /* Get the FMPI2C1 clock configuration -------------------------------------*/ - PeriphClkInit->Fmpi2c1ClockSelection = __HAL_RCC_GET_FMPI2C1_SOURCE(); - - /* Get the I2S clock configuration -----------------------------------------*/ - PeriphClkInit->I2SClockSelection = __HAL_RCC_GET_I2S_SOURCE(); - - -} -/** - * @brief Return the peripheral clock frequency for a given peripheral(SAI..) - * @note Return 0 if peripheral clock identifier not managed by this API - * @param PeriphClk Peripheral clock identifier - * This parameter can be one of the following values: - * @arg RCC_PERIPHCLK_I2S: I2S peripheral clock - * @retval Frequency in KHz - */ -uint32_t HAL_RCCEx_GetPeriphCLKFreq(uint32_t PeriphClk) -{ - /* This variable used to store the I2S clock frequency (value in Hz) */ - uint32_t frequency = 0U; - /* This variable used to store the VCO Input (value in Hz) */ - uint32_t vcoinput = 0U; - uint32_t srcclk = 0U; - /* This variable used to store the VCO Output (value in Hz) */ - uint32_t vcooutput = 0U; - switch (PeriphClk) - { - case RCC_PERIPHCLK_I2S: - { - /* Get the current I2S source */ - srcclk = __HAL_RCC_GET_I2S_SOURCE(); - switch (srcclk) - { - /* Check if I2S clock selection is External clock mapped on the I2S_CKIN pin used as I2S clock */ - case RCC_I2SAPBCLKSOURCE_EXT: - { - /* Set the I2S clock to the external clock value */ - frequency = EXTERNAL_CLOCK_VALUE; - break; - } - /* Check if I2S clock selection is PLL VCO Output divided by PLLR used as I2S clock */ - case RCC_I2SAPBCLKSOURCE_PLLR: - { - /* Configure the PLL division factor R */ - /* PLL_VCO Input = PLL_SOURCE/PLLM */ - if((RCC->PLLCFGR & RCC_PLLCFGR_PLLSRC) == RCC_PLLSOURCE_HSE) - { - /* Get the I2S source clock value */ - vcoinput = (uint32_t)(HSE_VALUE / (uint32_t)(RCC->PLLCFGR & RCC_PLLCFGR_PLLM)); - } - else - { - /* Get the I2S source clock value */ - vcoinput = (uint32_t)(HSI_VALUE / (uint32_t)(RCC->PLLCFGR & RCC_PLLCFGR_PLLM)); - } - - /* PLL_VCO Output = PLL_VCO Input * PLLN */ - vcooutput = (uint32_t)(vcoinput * (((RCC->PLLCFGR & RCC_PLLCFGR_PLLN) >> 6U) & (RCC_PLLCFGR_PLLN >> 6U))); - /* I2S_CLK = PLL_VCO Output/PLLR */ - frequency = (uint32_t)(vcooutput /(((RCC->PLLCFGR & RCC_PLLCFGR_PLLR) >> 28U) & (RCC_PLLCFGR_PLLR >> 28U))); - break; - } - /* Check if I2S clock selection is HSI or HSE depending from PLL source Clock */ - case RCC_I2SAPBCLKSOURCE_PLLSRC: - { - if((RCC->PLLCFGR & RCC_PLLCFGR_PLLSRC) == RCC_PLLSOURCE_HSE) - { - frequency = HSE_VALUE; - } - else - { - frequency = HSI_VALUE; - } - break; - } - /* Clock not enabled for I2S*/ - default: - { - frequency = 0U; - break; - } - } - break; - } - } - return frequency; -} -#endif /* STM32F410Tx || STM32F410Cx || STM32F410Rx */ - -#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) -/** - * @brief Initializes the RCC extended peripherals clocks according to the specified - * parameters in the RCC_PeriphCLKInitTypeDef. - * @param PeriphClkInit pointer to an RCC_PeriphCLKInitTypeDef structure that - * contains the configuration information for the Extended Peripherals - * clocks(I2S, SAI, LTDC RTC and TIM). - * - * @note Care must be taken when HAL_RCCEx_PeriphCLKConfig() is used to select - * the RTC clock source; in this case the Backup domain will be reset in - * order to modify the RTC Clock source, as consequence RTC registers (including - * the backup registers) and RCC_BDCR register are set to their reset values. - * - * @retval HAL status - */ -HAL_StatusTypeDef HAL_RCCEx_PeriphCLKConfig(RCC_PeriphCLKInitTypeDef *PeriphClkInit) -{ - uint32_t tickstart = 0U; - uint32_t tmpreg1 = 0U; - - /* Check the parameters */ - assert_param(IS_RCC_PERIPHCLOCK(PeriphClkInit->PeriphClockSelection)); - - /*----------------------- SAI/I2S Configuration (PLLI2S) -------------------*/ - /*----------------------- Common configuration SAI/I2S ---------------------*/ - /* In Case of SAI or I2S Clock Configuration through PLLI2S, PLLI2SN division - factor is common parameters for both peripherals */ - if((((PeriphClkInit->PeriphClockSelection) & RCC_PERIPHCLK_I2S) == RCC_PERIPHCLK_I2S) || - (((PeriphClkInit->PeriphClockSelection) & RCC_PERIPHCLK_SAI_PLLI2S) == RCC_PERIPHCLK_SAI_PLLI2S) || - (((PeriphClkInit->PeriphClockSelection) & RCC_PERIPHCLK_PLLI2S) == RCC_PERIPHCLK_PLLI2S)) - { - /* check for Parameters */ - assert_param(IS_RCC_PLLI2SN_VALUE(PeriphClkInit->PLLI2S.PLLI2SN)); - - /* Disable the PLLI2S */ - __HAL_RCC_PLLI2S_DISABLE(); - /* Get tick */ - tickstart = HAL_GetTick(); - /* Wait till PLLI2S is disabled */ - while(__HAL_RCC_GET_FLAG(RCC_FLAG_PLLI2SRDY) != RESET) - { - if((HAL_GetTick() - tickstart ) > PLLI2S_TIMEOUT_VALUE) - { - /* return in case of Timeout detected */ - return HAL_TIMEOUT; - } - } - - /*---------------------------- I2S configuration -------------------------*/ - /* In Case of I2S Clock Configuration through PLLI2S, PLLI2SR must be added - only for I2S configuration */ - if(((PeriphClkInit->PeriphClockSelection) & RCC_PERIPHCLK_I2S) == (RCC_PERIPHCLK_I2S)) - { - /* check for Parameters */ - assert_param(IS_RCC_PLLI2SR_VALUE(PeriphClkInit->PLLI2S.PLLI2SR)); - /* Configure the PLLI2S division factors */ - /* PLLI2S_VCO = f(VCO clock) = f(PLLI2S clock input) * (PLLI2SN/PLLM) */ - /* I2SCLK = f(PLLI2S clock output) = f(VCO clock) / PLLI2SR */ - __HAL_RCC_PLLI2S_CONFIG(PeriphClkInit->PLLI2S.PLLI2SN , PeriphClkInit->PLLI2S.PLLI2SR); - } - - /*---------------------------- SAI configuration -------------------------*/ - /* In Case of SAI Clock Configuration through PLLI2S, PLLI2SQ and PLLI2S_DIVQ must - be added only for SAI configuration */ - if(((PeriphClkInit->PeriphClockSelection) & RCC_PERIPHCLK_SAI_PLLI2S) == (RCC_PERIPHCLK_SAI_PLLI2S)) - { - /* Check the PLLI2S division factors */ - assert_param(IS_RCC_PLLI2SQ_VALUE(PeriphClkInit->PLLI2S.PLLI2SQ)); - assert_param(IS_RCC_PLLI2S_DIVQ_VALUE(PeriphClkInit->PLLI2SDivQ)); - - /* Read PLLI2SR value from PLLI2SCFGR register (this value is not need for SAI configuration) */ - tmpreg1 = ((RCC->PLLI2SCFGR & RCC_PLLI2SCFGR_PLLI2SR) >> RCC_PLLI2SCFGR_PLLI2SR_Pos); - /* Configure the PLLI2S division factors */ - /* PLLI2S_VCO Input = PLL_SOURCE/PLLM */ - /* PLLI2S_VCO Output = PLLI2S_VCO Input * PLLI2SN */ - /* SAI_CLK(first level) = PLLI2S_VCO Output/PLLI2SQ */ - __HAL_RCC_PLLI2S_SAICLK_CONFIG(PeriphClkInit->PLLI2S.PLLI2SN , PeriphClkInit->PLLI2S.PLLI2SQ , tmpreg1); - /* SAI_CLK_x = SAI_CLK(first level)/PLLI2SDIVQ */ - __HAL_RCC_PLLI2S_PLLSAICLKDIVQ_CONFIG(PeriphClkInit->PLLI2SDivQ); - } - - /*----------------- In Case of PLLI2S is just selected -----------------*/ - if((PeriphClkInit->PeriphClockSelection & RCC_PERIPHCLK_PLLI2S) == RCC_PERIPHCLK_PLLI2S) - { - /* Check for Parameters */ - assert_param(IS_RCC_PLLI2SQ_VALUE(PeriphClkInit->PLLI2S.PLLI2SQ)); - assert_param(IS_RCC_PLLI2SR_VALUE(PeriphClkInit->PLLI2S.PLLI2SR)); - - /* Configure the PLLI2S multiplication and division factors */ - __HAL_RCC_PLLI2S_SAICLK_CONFIG(PeriphClkInit->PLLI2S.PLLI2SN, PeriphClkInit->PLLI2S.PLLI2SQ, PeriphClkInit->PLLI2S.PLLI2SR); - } - - /* Enable the PLLI2S */ - __HAL_RCC_PLLI2S_ENABLE(); - /* Get tick */ - tickstart = HAL_GetTick(); - /* Wait till PLLI2S is ready */ - while(__HAL_RCC_GET_FLAG(RCC_FLAG_PLLI2SRDY) == RESET) - { - if((HAL_GetTick() - tickstart ) > PLLI2S_TIMEOUT_VALUE) - { - /* return in case of Timeout detected */ - return HAL_TIMEOUT; - } - } - } - /*--------------------------------------------------------------------------*/ - - /*----------------------- SAI/LTDC Configuration (PLLSAI) ------------------*/ - /*----------------------- Common configuration SAI/LTDC --------------------*/ - /* In Case of SAI or LTDC Clock Configuration through PLLSAI, PLLSAIN division - factor is common parameters for both peripherals */ - if((((PeriphClkInit->PeriphClockSelection) & RCC_PERIPHCLK_SAI_PLLSAI) == RCC_PERIPHCLK_SAI_PLLSAI) || - (((PeriphClkInit->PeriphClockSelection) & RCC_PERIPHCLK_LTDC) == RCC_PERIPHCLK_LTDC)) - { - /* Check the PLLSAI division factors */ - assert_param(IS_RCC_PLLSAIN_VALUE(PeriphClkInit->PLLSAI.PLLSAIN)); - - /* Disable PLLSAI Clock */ - __HAL_RCC_PLLSAI_DISABLE(); - /* Get tick */ - tickstart = HAL_GetTick(); - /* Wait till PLLSAI is disabled */ - while(__HAL_RCC_PLLSAI_GET_FLAG() != RESET) - { - if((HAL_GetTick() - tickstart ) > PLLSAI_TIMEOUT_VALUE) - { - /* return in case of Timeout detected */ - return HAL_TIMEOUT; - } - } - - /*---------------------------- SAI configuration -------------------------*/ - /* In Case of SAI Clock Configuration through PLLSAI, PLLSAIQ and PLLSAI_DIVQ must - be added only for SAI configuration */ - if(((PeriphClkInit->PeriphClockSelection) & RCC_PERIPHCLK_SAI_PLLSAI) == (RCC_PERIPHCLK_SAI_PLLSAI)) - { - assert_param(IS_RCC_PLLSAIQ_VALUE(PeriphClkInit->PLLSAI.PLLSAIQ)); - assert_param(IS_RCC_PLLSAI_DIVQ_VALUE(PeriphClkInit->PLLSAIDivQ)); - - /* Read PLLSAIR value from PLLSAICFGR register (this value is not need for SAI configuration) */ - tmpreg1 = ((RCC->PLLSAICFGR & RCC_PLLSAICFGR_PLLSAIR) >> RCC_PLLSAICFGR_PLLSAIR_Pos); - /* PLLSAI_VCO Input = PLL_SOURCE/PLLM */ - /* PLLSAI_VCO Output = PLLSAI_VCO Input * PLLSAIN */ - /* SAI_CLK(first level) = PLLSAI_VCO Output/PLLSAIQ */ - __HAL_RCC_PLLSAI_CONFIG(PeriphClkInit->PLLSAI.PLLSAIN , PeriphClkInit->PLLSAI.PLLSAIQ, tmpreg1); - /* SAI_CLK_x = SAI_CLK(first level)/PLLSAIDIVQ */ - __HAL_RCC_PLLSAI_PLLSAICLKDIVQ_CONFIG(PeriphClkInit->PLLSAIDivQ); - } - - /*---------------------------- LTDC configuration ------------------------*/ - if(((PeriphClkInit->PeriphClockSelection) & RCC_PERIPHCLK_LTDC) == (RCC_PERIPHCLK_LTDC)) - { - assert_param(IS_RCC_PLLSAIR_VALUE(PeriphClkInit->PLLSAI.PLLSAIR)); - assert_param(IS_RCC_PLLSAI_DIVR_VALUE(PeriphClkInit->PLLSAIDivR)); - - /* Read PLLSAIR value from PLLSAICFGR register (this value is not need for SAI configuration) */ - tmpreg1 = ((RCC->PLLSAICFGR & RCC_PLLSAICFGR_PLLSAIQ) >> RCC_PLLSAICFGR_PLLSAIQ_Pos); - /* PLLSAI_VCO Input = PLL_SOURCE/PLLM */ - /* PLLSAI_VCO Output = PLLSAI_VCO Input * PLLSAIN */ - /* LTDC_CLK(first level) = PLLSAI_VCO Output/PLLSAIR */ - __HAL_RCC_PLLSAI_CONFIG(PeriphClkInit->PLLSAI.PLLSAIN , tmpreg1, PeriphClkInit->PLLSAI.PLLSAIR); - /* LTDC_CLK = LTDC_CLK(first level)/PLLSAIDIVR */ - __HAL_RCC_PLLSAI_PLLSAICLKDIVR_CONFIG(PeriphClkInit->PLLSAIDivR); - } - /* Enable PLLSAI Clock */ - __HAL_RCC_PLLSAI_ENABLE(); - /* Get tick */ - tickstart = HAL_GetTick(); - /* Wait till PLLSAI is ready */ - while(__HAL_RCC_PLLSAI_GET_FLAG() == RESET) - { - if((HAL_GetTick() - tickstart ) > PLLSAI_TIMEOUT_VALUE) - { - /* return in case of Timeout detected */ - return HAL_TIMEOUT; - } - } - } - /*--------------------------------------------------------------------------*/ - - /*---------------------------- RTC configuration ---------------------------*/ - if(((PeriphClkInit->PeriphClockSelection) & RCC_PERIPHCLK_RTC) == (RCC_PERIPHCLK_RTC)) - { - /* Check for RTC Parameters used to output RTCCLK */ - assert_param(IS_RCC_RTCCLKSOURCE(PeriphClkInit->RTCClockSelection)); - - /* Enable Power Clock*/ - __HAL_RCC_PWR_CLK_ENABLE(); - - /* Enable write access to Backup domain */ - PWR->CR |= PWR_CR_DBP; - - /* Get tick */ - tickstart = HAL_GetTick(); - - while((PWR->CR & PWR_CR_DBP) == RESET) - { - if((HAL_GetTick() - tickstart ) > RCC_DBP_TIMEOUT_VALUE) - { - return HAL_TIMEOUT; - } - } - /* Reset the Backup domain only if the RTC Clock source selection is modified from reset value */ - tmpreg1 = (RCC->BDCR & RCC_BDCR_RTCSEL); - if((tmpreg1 != 0x00000000U) && ((tmpreg1) != (PeriphClkInit->RTCClockSelection & RCC_BDCR_RTCSEL))) - { - /* Store the content of BDCR register before the reset of Backup Domain */ - tmpreg1 = (RCC->BDCR & ~(RCC_BDCR_RTCSEL)); - /* RTC Clock selection can be changed only if the Backup Domain is reset */ - __HAL_RCC_BACKUPRESET_FORCE(); - __HAL_RCC_BACKUPRESET_RELEASE(); - /* Restore the Content of BDCR register */ - RCC->BDCR = tmpreg1; - - /* Wait for LSE reactivation if LSE was enable prior to Backup Domain reset */ - if(HAL_IS_BIT_SET(RCC->BDCR, RCC_BDCR_LSEON)) - { - /* Get tick */ - tickstart = HAL_GetTick(); - - /* Wait till LSE is ready */ - while(__HAL_RCC_GET_FLAG(RCC_FLAG_LSERDY) == RESET) - { - if((HAL_GetTick() - tickstart ) > RCC_LSE_TIMEOUT_VALUE) - { - return HAL_TIMEOUT; - } - } - } - } - __HAL_RCC_RTC_CONFIG(PeriphClkInit->RTCClockSelection); - } - /*--------------------------------------------------------------------------*/ - - /*---------------------------- TIM configuration ---------------------------*/ - if(((PeriphClkInit->PeriphClockSelection) & RCC_PERIPHCLK_TIM) == (RCC_PERIPHCLK_TIM)) - { - __HAL_RCC_TIMCLKPRESCALER(PeriphClkInit->TIMPresSelection); - } - return HAL_OK; -} - -/** - * @brief Configures the PeriphClkInit according to the internal - * RCC configuration registers. - * @param PeriphClkInit pointer to an RCC_PeriphCLKInitTypeDef structure that - * will be configured. - * @retval None - */ -void HAL_RCCEx_GetPeriphCLKConfig(RCC_PeriphCLKInitTypeDef *PeriphClkInit) -{ - uint32_t tempreg; - - /* Set all possible values for the extended clock type parameter------------*/ - PeriphClkInit->PeriphClockSelection = RCC_PERIPHCLK_I2S | RCC_PERIPHCLK_SAI_PLLSAI | RCC_PERIPHCLK_SAI_PLLI2S | RCC_PERIPHCLK_LTDC | RCC_PERIPHCLK_TIM | RCC_PERIPHCLK_RTC; - - /* Get the PLLI2S Clock configuration -----------------------------------------------*/ - PeriphClkInit->PLLI2S.PLLI2SN = (uint32_t)((RCC->PLLI2SCFGR & RCC_PLLI2SCFGR_PLLI2SN) >> RCC_PLLI2SCFGR_PLLI2SN_Pos); - PeriphClkInit->PLLI2S.PLLI2SR = (uint32_t)((RCC->PLLI2SCFGR & RCC_PLLI2SCFGR_PLLI2SR) >> RCC_PLLI2SCFGR_PLLI2SR_Pos); - PeriphClkInit->PLLI2S.PLLI2SQ = (uint32_t)((RCC->PLLI2SCFGR & RCC_PLLI2SCFGR_PLLI2SQ) >> RCC_PLLI2SCFGR_PLLI2SQ_Pos); - /* Get the PLLSAI Clock configuration -----------------------------------------------*/ - PeriphClkInit->PLLSAI.PLLSAIN = (uint32_t)((RCC->PLLSAICFGR & RCC_PLLSAICFGR_PLLSAIN) >> RCC_PLLSAICFGR_PLLSAIN_Pos); - PeriphClkInit->PLLSAI.PLLSAIR = (uint32_t)((RCC->PLLSAICFGR & RCC_PLLSAICFGR_PLLSAIR) >> RCC_PLLSAICFGR_PLLSAIR_Pos); - PeriphClkInit->PLLSAI.PLLSAIQ = (uint32_t)((RCC->PLLSAICFGR & RCC_PLLSAICFGR_PLLSAIQ) >> RCC_PLLSAICFGR_PLLSAIQ_Pos); - /* Get the PLLSAI/PLLI2S division factors -----------------------------------------------*/ - PeriphClkInit->PLLI2SDivQ = (uint32_t)((RCC->DCKCFGR & RCC_DCKCFGR_PLLI2SDIVQ) >> RCC_DCKCFGR_PLLI2SDIVQ_Pos); - PeriphClkInit->PLLSAIDivQ = (uint32_t)((RCC->DCKCFGR & RCC_DCKCFGR_PLLSAIDIVQ) >> RCC_DCKCFGR_PLLSAIDIVQ_Pos); - PeriphClkInit->PLLSAIDivR = (uint32_t)(RCC->DCKCFGR & RCC_DCKCFGR_PLLSAIDIVR); - /* Get the RTC Clock configuration -----------------------------------------------*/ - tempreg = (RCC->CFGR & RCC_CFGR_RTCPRE); - PeriphClkInit->RTCClockSelection = (uint32_t)((tempreg) | (RCC->BDCR & RCC_BDCR_RTCSEL)); - - if ((RCC->DCKCFGR & RCC_DCKCFGR_TIMPRE) == RESET) - { - PeriphClkInit->TIMPresSelection = RCC_TIMPRES_DESACTIVATED; - } - else - { - PeriphClkInit->TIMPresSelection = RCC_TIMPRES_ACTIVATED; - } -} - -/** - * @brief Return the peripheral clock frequency for a given peripheral(SAI..) - * @note Return 0 if peripheral clock identifier not managed by this API - * @param PeriphClk Peripheral clock identifier - * This parameter can be one of the following values: - * @arg RCC_PERIPHCLK_I2S: I2S peripheral clock - * @retval Frequency in KHz - */ -uint32_t HAL_RCCEx_GetPeriphCLKFreq(uint32_t PeriphClk) -{ - /* This variable used to store the I2S clock frequency (value in Hz) */ - uint32_t frequency = 0U; - /* This variable used to store the VCO Input (value in Hz) */ - uint32_t vcoinput = 0U; - uint32_t srcclk = 0U; - /* This variable used to store the VCO Output (value in Hz) */ - uint32_t vcooutput = 0U; - switch (PeriphClk) - { - case RCC_PERIPHCLK_I2S: - { - /* Get the current I2S source */ - srcclk = __HAL_RCC_GET_I2S_SOURCE(); - switch (srcclk) - { - /* Check if I2S clock selection is External clock mapped on the I2S_CKIN pin used as I2S clock */ - case RCC_I2SCLKSOURCE_EXT: - { - /* Set the I2S clock to the external clock value */ - frequency = EXTERNAL_CLOCK_VALUE; - break; - } - /* Check if I2S clock selection is PLLI2S VCO output clock divided by PLLI2SR used as I2S clock */ - case RCC_I2SCLKSOURCE_PLLI2S: - { - /* Configure the PLLI2S division factor */ - /* PLLI2S_VCO Input = PLL_SOURCE/PLLM */ - if((RCC->PLLCFGR & RCC_PLLCFGR_PLLSRC) == RCC_PLLSOURCE_HSE) - { - /* Get the I2S source clock value */ - vcoinput = (uint32_t)(HSE_VALUE / (uint32_t)(RCC->PLLCFGR & RCC_PLLCFGR_PLLM)); - } - else - { - /* Get the I2S source clock value */ - vcoinput = (uint32_t)(HSI_VALUE / (uint32_t)(RCC->PLLCFGR & RCC_PLLCFGR_PLLM)); - } - - /* PLLI2S_VCO Output = PLLI2S_VCO Input * PLLI2SN */ - vcooutput = (uint32_t)(vcoinput * (((RCC->PLLI2SCFGR & RCC_PLLI2SCFGR_PLLI2SN) >> 6U) & (RCC_PLLI2SCFGR_PLLI2SN >> 6U))); - /* I2S_CLK = PLLI2S_VCO Output/PLLI2SR */ - frequency = (uint32_t)(vcooutput /(((RCC->PLLI2SCFGR & RCC_PLLI2SCFGR_PLLI2SR) >> 28U) & (RCC_PLLI2SCFGR_PLLI2SR >> 28U))); - break; - } - /* Clock not enabled for I2S*/ - default: - { - frequency = 0U; - break; - } - } - break; - } - } - return frequency; -} -#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx */ - -#if defined(STM32F405xx) || defined(STM32F415xx) || defined(STM32F407xx)|| defined(STM32F417xx) ||\ - defined(STM32F401xC) || defined(STM32F401xE) || defined(STM32F411xE) -/** - * @brief Initializes the RCC extended peripherals clocks according to the specified parameters in the - * RCC_PeriphCLKInitTypeDef. - * @param PeriphClkInit pointer to an RCC_PeriphCLKInitTypeDef structure that - * contains the configuration information for the Extended Peripherals clocks(I2S and RTC clocks). - * - * @note A caution to be taken when HAL_RCCEx_PeriphCLKConfig() is used to select RTC clock selection, in this case - * the Reset of Backup domain will be applied in order to modify the RTC Clock source as consequence all backup - * domain (RTC and RCC_BDCR register expect BKPSRAM) will be reset - * - * @retval HAL status - */ -HAL_StatusTypeDef HAL_RCCEx_PeriphCLKConfig(RCC_PeriphCLKInitTypeDef *PeriphClkInit) -{ - uint32_t tickstart = 0U; - uint32_t tmpreg1 = 0U; - - /* Check the parameters */ - assert_param(IS_RCC_PERIPHCLOCK(PeriphClkInit->PeriphClockSelection)); - - /*---------------------------- I2S configuration ---------------------------*/ - if((((PeriphClkInit->PeriphClockSelection) & RCC_PERIPHCLK_I2S) == RCC_PERIPHCLK_I2S) || - (((PeriphClkInit->PeriphClockSelection) & RCC_PERIPHCLK_PLLI2S) == RCC_PERIPHCLK_PLLI2S)) - { - /* check for Parameters */ - assert_param(IS_RCC_PLLI2SR_VALUE(PeriphClkInit->PLLI2S.PLLI2SR)); - assert_param(IS_RCC_PLLI2SN_VALUE(PeriphClkInit->PLLI2S.PLLI2SN)); -#if defined(STM32F411xE) - assert_param(IS_RCC_PLLI2SM_VALUE(PeriphClkInit->PLLI2S.PLLI2SM)); -#endif /* STM32F411xE */ - /* Disable the PLLI2S */ - __HAL_RCC_PLLI2S_DISABLE(); - /* Get tick */ - tickstart = HAL_GetTick(); - /* Wait till PLLI2S is disabled */ - while(__HAL_RCC_GET_FLAG(RCC_FLAG_PLLI2SRDY) != RESET) - { - if((HAL_GetTick() - tickstart ) > PLLI2S_TIMEOUT_VALUE) - { - /* return in case of Timeout detected */ - return HAL_TIMEOUT; - } - } - -#if defined(STM32F411xE) - /* Configure the PLLI2S division factors */ - /* PLLI2S_VCO = f(VCO clock) = f(PLLI2S clock input) * (PLLI2SN/PLLI2SM) */ - /* I2SCLK = f(PLLI2S clock output) = f(VCO clock) / PLLI2SR */ - __HAL_RCC_PLLI2S_I2SCLK_CONFIG(PeriphClkInit->PLLI2S.PLLI2SM, PeriphClkInit->PLLI2S.PLLI2SN, PeriphClkInit->PLLI2S.PLLI2SR); -#else - /* Configure the PLLI2S division factors */ - /* PLLI2S_VCO = f(VCO clock) = f(PLLI2S clock input) * (PLLI2SN/PLLM) */ - /* I2SCLK = f(PLLI2S clock output) = f(VCO clock) / PLLI2SR */ - __HAL_RCC_PLLI2S_CONFIG(PeriphClkInit->PLLI2S.PLLI2SN , PeriphClkInit->PLLI2S.PLLI2SR); -#endif /* STM32F411xE */ - - /* Enable the PLLI2S */ - __HAL_RCC_PLLI2S_ENABLE(); - /* Get tick */ - tickstart = HAL_GetTick(); - /* Wait till PLLI2S is ready */ - while(__HAL_RCC_GET_FLAG(RCC_FLAG_PLLI2SRDY) == RESET) - { - if((HAL_GetTick() - tickstart ) > PLLI2S_TIMEOUT_VALUE) - { - /* return in case of Timeout detected */ - return HAL_TIMEOUT; - } - } - } - - /*---------------------------- RTC configuration ---------------------------*/ - if(((PeriphClkInit->PeriphClockSelection) & RCC_PERIPHCLK_RTC) == (RCC_PERIPHCLK_RTC)) - { - /* Check for RTC Parameters used to output RTCCLK */ - assert_param(IS_RCC_RTCCLKSOURCE(PeriphClkInit->RTCClockSelection)); - - /* Enable Power Clock*/ - __HAL_RCC_PWR_CLK_ENABLE(); - - /* Enable write access to Backup domain */ - PWR->CR |= PWR_CR_DBP; - - /* Get tick */ - tickstart = HAL_GetTick(); - - while((PWR->CR & PWR_CR_DBP) == RESET) - { - if((HAL_GetTick() - tickstart ) > RCC_DBP_TIMEOUT_VALUE) - { - return HAL_TIMEOUT; - } - } - /* Reset the Backup domain only if the RTC Clock source selection is modified from reset value */ - tmpreg1 = (RCC->BDCR & RCC_BDCR_RTCSEL); - if((tmpreg1 != 0x00000000U) && ((tmpreg1) != (PeriphClkInit->RTCClockSelection & RCC_BDCR_RTCSEL))) - { - /* Store the content of BDCR register before the reset of Backup Domain */ - tmpreg1 = (RCC->BDCR & ~(RCC_BDCR_RTCSEL)); - /* RTC Clock selection can be changed only if the Backup Domain is reset */ - __HAL_RCC_BACKUPRESET_FORCE(); - __HAL_RCC_BACKUPRESET_RELEASE(); - /* Restore the Content of BDCR register */ - RCC->BDCR = tmpreg1; - - /* Wait for LSE reactivation if LSE was enable prior to Backup Domain reset */ - if(HAL_IS_BIT_SET(RCC->BDCR, RCC_BDCR_LSEON)) - { - /* Get tick */ - tickstart = HAL_GetTick(); - - /* Wait till LSE is ready */ - while(__HAL_RCC_GET_FLAG(RCC_FLAG_LSERDY) == RESET) - { - if((HAL_GetTick() - tickstart ) > RCC_LSE_TIMEOUT_VALUE) - { - return HAL_TIMEOUT; - } - } - } - } - __HAL_RCC_RTC_CONFIG(PeriphClkInit->RTCClockSelection); - } -#if defined(STM32F401xC) || defined(STM32F401xE) || defined(STM32F411xE) - /*---------------------------- TIM configuration ---------------------------*/ - if(((PeriphClkInit->PeriphClockSelection) & RCC_PERIPHCLK_TIM) == (RCC_PERIPHCLK_TIM)) - { - __HAL_RCC_TIMCLKPRESCALER(PeriphClkInit->TIMPresSelection); - } -#endif /* STM32F401xC || STM32F401xE || STM32F411xE */ - return HAL_OK; -} - -/** - * @brief Configures the RCC_OscInitStruct according to the internal - * RCC configuration registers. - * @param PeriphClkInit pointer to an RCC_PeriphCLKInitTypeDef structure that - * will be configured. - * @retval None - */ -void HAL_RCCEx_GetPeriphCLKConfig(RCC_PeriphCLKInitTypeDef *PeriphClkInit) -{ - uint32_t tempreg; - - /* Set all possible values for the extended clock type parameter------------*/ - PeriphClkInit->PeriphClockSelection = RCC_PERIPHCLK_I2S | RCC_PERIPHCLK_RTC; - - /* Get the PLLI2S Clock configuration --------------------------------------*/ - PeriphClkInit->PLLI2S.PLLI2SN = (uint32_t)((RCC->PLLI2SCFGR & RCC_PLLI2SCFGR_PLLI2SN) >> RCC_PLLI2SCFGR_PLLI2SN_Pos); - PeriphClkInit->PLLI2S.PLLI2SR = (uint32_t)((RCC->PLLI2SCFGR & RCC_PLLI2SCFGR_PLLI2SR) >> RCC_PLLI2SCFGR_PLLI2SR_Pos); -#if defined(STM32F411xE) - PeriphClkInit->PLLI2S.PLLI2SM = (uint32_t)(RCC->PLLI2SCFGR & RCC_PLLI2SCFGR_PLLI2SM); -#endif /* STM32F411xE */ - /* Get the RTC Clock configuration -----------------------------------------*/ - tempreg = (RCC->CFGR & RCC_CFGR_RTCPRE); - PeriphClkInit->RTCClockSelection = (uint32_t)((tempreg) | (RCC->BDCR & RCC_BDCR_RTCSEL)); - -#if defined(STM32F401xC) || defined(STM32F401xE) || defined(STM32F411xE) - /* Get the TIM Prescaler configuration -------------------------------------*/ - if ((RCC->DCKCFGR & RCC_DCKCFGR_TIMPRE) == RESET) - { - PeriphClkInit->TIMPresSelection = RCC_TIMPRES_DESACTIVATED; - } - else - { - PeriphClkInit->TIMPresSelection = RCC_TIMPRES_ACTIVATED; - } -#endif /* STM32F401xC || STM32F401xE || STM32F411xE */ -} - -/** - * @brief Return the peripheral clock frequency for a given peripheral(SAI..) - * @note Return 0 if peripheral clock identifier not managed by this API - * @param PeriphClk Peripheral clock identifier - * This parameter can be one of the following values: - * @arg RCC_PERIPHCLK_I2S: I2S peripheral clock - * @retval Frequency in KHz - */ -uint32_t HAL_RCCEx_GetPeriphCLKFreq(uint32_t PeriphClk) -{ - /* This variable used to store the I2S clock frequency (value in Hz) */ - uint32_t frequency = 0U; - /* This variable used to store the VCO Input (value in Hz) */ - uint32_t vcoinput = 0U; - uint32_t srcclk = 0U; - /* This variable used to store the VCO Output (value in Hz) */ - uint32_t vcooutput = 0U; - switch (PeriphClk) - { - case RCC_PERIPHCLK_I2S: - { - /* Get the current I2S source */ - srcclk = __HAL_RCC_GET_I2S_SOURCE(); - switch (srcclk) - { - /* Check if I2S clock selection is External clock mapped on the I2S_CKIN pin used as I2S clock */ - case RCC_I2SCLKSOURCE_EXT: - { - /* Set the I2S clock to the external clock value */ - frequency = EXTERNAL_CLOCK_VALUE; - break; - } - /* Check if I2S clock selection is PLLI2S VCO output clock divided by PLLI2SR used as I2S clock */ - case RCC_I2SCLKSOURCE_PLLI2S: - { -#if defined(STM32F411xE) - /* Configure the PLLI2S division factor */ - /* PLLI2S_VCO Input = PLL_SOURCE/PLLI2SM */ - if((RCC->PLLCFGR & RCC_PLLCFGR_PLLSRC) == RCC_PLLSOURCE_HSE) - { - /* Get the I2S source clock value */ - vcoinput = (uint32_t)(HSE_VALUE / (uint32_t)(RCC->PLLI2SCFGR & RCC_PLLI2SCFGR_PLLI2SM)); - } - else - { - /* Get the I2S source clock value */ - vcoinput = (uint32_t)(HSI_VALUE / (uint32_t)(RCC->PLLI2SCFGR & RCC_PLLI2SCFGR_PLLI2SM)); - } -#else - /* Configure the PLLI2S division factor */ - /* PLLI2S_VCO Input = PLL_SOURCE/PLLM */ - if((RCC->PLLCFGR & RCC_PLLCFGR_PLLSRC) == RCC_PLLSOURCE_HSE) - { - /* Get the I2S source clock value */ - vcoinput = (uint32_t)(HSE_VALUE / (uint32_t)(RCC->PLLCFGR & RCC_PLLCFGR_PLLM)); - } - else - { - /* Get the I2S source clock value */ - vcoinput = (uint32_t)(HSI_VALUE / (uint32_t)(RCC->PLLCFGR & RCC_PLLCFGR_PLLM)); - } -#endif /* STM32F411xE */ - /* PLLI2S_VCO Output = PLLI2S_VCO Input * PLLI2SN */ - vcooutput = (uint32_t)(vcoinput * (((RCC->PLLI2SCFGR & RCC_PLLI2SCFGR_PLLI2SN) >> 6U) & (RCC_PLLI2SCFGR_PLLI2SN >> 6U))); - /* I2S_CLK = PLLI2S_VCO Output/PLLI2SR */ - frequency = (uint32_t)(vcooutput /(((RCC->PLLI2SCFGR & RCC_PLLI2SCFGR_PLLI2SR) >> 28U) & (RCC_PLLI2SCFGR_PLLI2SR >> 28U))); - break; - } - /* Clock not enabled for I2S*/ - default: - { - frequency = 0U; - break; - } - } - break; - } - } - return frequency; -} -#endif /* STM32F405xx || STM32F415xx || STM32F407xx || STM32F417xx || STM32F401xC || STM32F401xE || STM32F411xE */ - -#if defined(STM32F410Tx) || defined(STM32F410Cx) || defined(STM32F410Rx) || defined(STM32F411xE) || defined(STM32F446xx) || defined(STM32F469xx) || defined(STM32F479xx) || defined(STM32F412Zx) ||\ - defined(STM32F412Vx) || defined(STM32F412Rx) || defined(STM32F412Cx) || defined(STM32F413xx) || defined(STM32F423xx) -/** - * @brief Select LSE mode - * - * @note This mode is only available for STM32F410xx/STM32F411xx/STM32F446xx/STM32F469xx/STM32F479xx/STM32F412Zx/STM32F412Vx/STM32F412Rx/STM32F412Cx devices. - * - * @param Mode specifies the LSE mode. - * This parameter can be one of the following values: - * @arg RCC_LSE_LOWPOWER_MODE: LSE oscillator in low power mode selection - * @arg RCC_LSE_HIGHDRIVE_MODE: LSE oscillator in High Drive mode selection - * @retval None - */ -void HAL_RCCEx_SelectLSEMode(uint8_t Mode) -{ - /* Check the parameters */ - assert_param(IS_RCC_LSE_MODE(Mode)); - if(Mode == RCC_LSE_HIGHDRIVE_MODE) - { - SET_BIT(RCC->BDCR, RCC_BDCR_LSEMOD); - } - else - { - CLEAR_BIT(RCC->BDCR, RCC_BDCR_LSEMOD); - } -} - -#endif /* STM32F410xx || STM32F411xE || STM32F446xx || STM32F469xx || STM32F479xx || STM32F412Zx || STM32F412Vx || STM32F412Rx || STM32F412Cx || STM32F413xx || STM32F423xx */ - -/** @defgroup RCCEx_Exported_Functions_Group2 Extended Clock management functions - * @brief Extended Clock management functions - * -@verbatim - =============================================================================== - ##### Extended clock management functions ##### - =============================================================================== - [..] - This subsection provides a set of functions allowing to control the - activation or deactivation of PLLI2S, PLLSAI. -@endverbatim - * @{ - */ - -#if defined(RCC_PLLI2S_SUPPORT) -/** - * @brief Enable PLLI2S. - * @param PLLI2SInit pointer to an RCC_PLLI2SInitTypeDef structure that - * contains the configuration information for the PLLI2S - * @retval HAL status - */ -HAL_StatusTypeDef HAL_RCCEx_EnablePLLI2S(RCC_PLLI2SInitTypeDef *PLLI2SInit) -{ - uint32_t tickstart; - - /* Check for parameters */ - assert_param(IS_RCC_PLLI2SN_VALUE(PLLI2SInit->PLLI2SN)); - assert_param(IS_RCC_PLLI2SR_VALUE(PLLI2SInit->PLLI2SR)); -#if defined(RCC_PLLI2SCFGR_PLLI2SM) - assert_param(IS_RCC_PLLI2SM_VALUE(PLLI2SInit->PLLI2SM)); -#endif /* RCC_PLLI2SCFGR_PLLI2SM */ -#if defined(RCC_PLLI2SCFGR_PLLI2SP) - assert_param(IS_RCC_PLLI2SP_VALUE(PLLI2SInit->PLLI2SP)); -#endif /* RCC_PLLI2SCFGR_PLLI2SP */ -#if defined(RCC_PLLI2SCFGR_PLLI2SQ) - assert_param(IS_RCC_PLLI2SQ_VALUE(PLLI2SInit->PLLI2SQ)); -#endif /* RCC_PLLI2SCFGR_PLLI2SQ */ - - /* Disable the PLLI2S */ - __HAL_RCC_PLLI2S_DISABLE(); - - /* Wait till PLLI2S is disabled */ - tickstart = HAL_GetTick(); - while(__HAL_RCC_GET_FLAG(RCC_FLAG_PLLI2SRDY) != RESET) - { - if((HAL_GetTick() - tickstart ) > PLLI2S_TIMEOUT_VALUE) - { - /* return in case of Timeout detected */ - return HAL_TIMEOUT; - } - } - - /* Configure the PLLI2S division factors */ -#if defined(STM32F446xx) - /* PLLI2S_VCO = f(VCO clock) = f(PLLI2S clock input) * (PLLI2SN/PLLI2SM) */ - /* I2SPCLK = PLLI2S_VCO / PLLI2SP */ - /* I2SQCLK = PLLI2S_VCO / PLLI2SQ */ - /* I2SRCLK = PLLI2S_VCO / PLLI2SR */ - __HAL_RCC_PLLI2S_CONFIG(PLLI2SInit->PLLI2SM, PLLI2SInit->PLLI2SN, \ - PLLI2SInit->PLLI2SP, PLLI2SInit->PLLI2SQ, PLLI2SInit->PLLI2SR); -#elif defined(STM32F412Zx) || defined(STM32F412Vx) || defined(STM32F412Rx) || defined(STM32F412Cx) ||\ - defined(STM32F413xx) || defined(STM32F423xx) - /* PLLI2S_VCO = f(VCO clock) = f(PLLI2S clock input) * (PLLI2SN/PLLI2SM)*/ - /* I2SQCLK = PLLI2S_VCO / PLLI2SQ */ - /* I2SRCLK = PLLI2S_VCO / PLLI2SR */ - __HAL_RCC_PLLI2S_CONFIG(PLLI2SInit->PLLI2SM, PLLI2SInit->PLLI2SN, \ - PLLI2SInit->PLLI2SQ, PLLI2SInit->PLLI2SR); -#elif defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) ||\ - defined(STM32F469xx) || defined(STM32F479xx) - /* PLLI2S_VCO = f(VCO clock) = f(PLLI2S clock input) * PLLI2SN */ - /* I2SQCLK = PLLI2S_VCO / PLLI2SQ */ - /* I2SRCLK = PLLI2S_VCO / PLLI2SR */ - __HAL_RCC_PLLI2S_SAICLK_CONFIG(PLLI2SInit->PLLI2SN, PLLI2SInit->PLLI2SQ, PLLI2SInit->PLLI2SR); -#elif defined(STM32F411xE) - /* PLLI2S_VCO = f(VCO clock) = f(PLLI2S clock input) * (PLLI2SN/PLLI2SM) */ - /* I2SRCLK = PLLI2S_VCO / PLLI2SR */ - __HAL_RCC_PLLI2S_I2SCLK_CONFIG(PLLI2SInit->PLLI2SM, PLLI2SInit->PLLI2SN, PLLI2SInit->PLLI2SR); -#else - /* PLLI2S_VCO = f(VCO clock) = f(PLLI2S clock input) x PLLI2SN */ - /* I2SRCLK = PLLI2S_VCO / PLLI2SR */ - __HAL_RCC_PLLI2S_CONFIG(PLLI2SInit->PLLI2SN, PLLI2SInit->PLLI2SR); -#endif /* STM32F446xx */ - - /* Enable the PLLI2S */ - __HAL_RCC_PLLI2S_ENABLE(); - - /* Wait till PLLI2S is ready */ - tickstart = HAL_GetTick(); - while(__HAL_RCC_GET_FLAG(RCC_FLAG_PLLI2SRDY) == RESET) - { - if((HAL_GetTick() - tickstart ) > PLLI2S_TIMEOUT_VALUE) - { - /* return in case of Timeout detected */ - return HAL_TIMEOUT; - } - } - - return HAL_OK; -} - -/** - * @brief Disable PLLI2S. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_RCCEx_DisablePLLI2S(void) -{ - uint32_t tickstart; - - /* Disable the PLLI2S */ - __HAL_RCC_PLLI2S_DISABLE(); - - /* Wait till PLLI2S is disabled */ - tickstart = HAL_GetTick(); - while(READ_BIT(RCC->CR, RCC_CR_PLLI2SRDY) != RESET) - { - if((HAL_GetTick() - tickstart) > PLLI2S_TIMEOUT_VALUE) - { - /* return in case of Timeout detected */ - return HAL_TIMEOUT; - } - } - - return HAL_OK; -} - -#endif /* RCC_PLLI2S_SUPPORT */ - -#if defined(RCC_PLLSAI_SUPPORT) -/** - * @brief Enable PLLSAI. - * @param PLLSAIInit pointer to an RCC_PLLSAIInitTypeDef structure that - * contains the configuration information for the PLLSAI - * @retval HAL status - */ -HAL_StatusTypeDef HAL_RCCEx_EnablePLLSAI(RCC_PLLSAIInitTypeDef *PLLSAIInit) -{ - uint32_t tickstart; - - /* Check for parameters */ - assert_param(IS_RCC_PLLSAIN_VALUE(PLLSAIInit->PLLSAIN)); - assert_param(IS_RCC_PLLSAIQ_VALUE(PLLSAIInit->PLLSAIQ)); -#if defined(RCC_PLLSAICFGR_PLLSAIM) - assert_param(IS_RCC_PLLSAIM_VALUE(PLLSAIInit->PLLSAIM)); -#endif /* RCC_PLLSAICFGR_PLLSAIM */ -#if defined(RCC_PLLSAICFGR_PLLSAIP) - assert_param(IS_RCC_PLLSAIP_VALUE(PLLSAIInit->PLLSAIP)); -#endif /* RCC_PLLSAICFGR_PLLSAIP */ -#if defined(RCC_PLLSAICFGR_PLLSAIR) - assert_param(IS_RCC_PLLSAIR_VALUE(PLLSAIInit->PLLSAIR)); -#endif /* RCC_PLLSAICFGR_PLLSAIR */ - - /* Disable the PLLSAI */ - __HAL_RCC_PLLSAI_DISABLE(); - - /* Wait till PLLSAI is disabled */ - tickstart = HAL_GetTick(); - while(__HAL_RCC_PLLSAI_GET_FLAG() != RESET) - { - if((HAL_GetTick() - tickstart ) > PLLSAI_TIMEOUT_VALUE) - { - /* return in case of Timeout detected */ - return HAL_TIMEOUT; - } - } - - /* Configure the PLLSAI division factors */ -#if defined(STM32F446xx) - /* PLLSAI_VCO = f(VCO clock) = f(PLLSAI clock input) * (PLLSAIN/PLLSAIM) */ - /* SAIPCLK = PLLSAI_VCO / PLLSAIP */ - /* SAIQCLK = PLLSAI_VCO / PLLSAIQ */ - /* SAIRCLK = PLLSAI_VCO / PLLSAIR */ - __HAL_RCC_PLLSAI_CONFIG(PLLSAIInit->PLLSAIM, PLLSAIInit->PLLSAIN, \ - PLLSAIInit->PLLSAIP, PLLSAIInit->PLLSAIQ, 0U); -#elif defined(STM32F469xx) || defined(STM32F479xx) - /* PLLSAI_VCO = f(VCO clock) = f(PLLSAI clock input) * PLLSAIN */ - /* SAIPCLK = PLLSAI_VCO / PLLSAIP */ - /* SAIQCLK = PLLSAI_VCO / PLLSAIQ */ - /* SAIRCLK = PLLSAI_VCO / PLLSAIR */ - __HAL_RCC_PLLSAI_CONFIG(PLLSAIInit->PLLSAIN, PLLSAIInit->PLLSAIP, \ - PLLSAIInit->PLLSAIQ, PLLSAIInit->PLLSAIR); -#else - /* PLLSAI_VCO = f(VCO clock) = f(PLLSAI clock input) x PLLSAIN */ - /* SAIQCLK = PLLSAI_VCO / PLLSAIQ */ - /* SAIRCLK = PLLSAI_VCO / PLLSAIR */ - __HAL_RCC_PLLSAI_CONFIG(PLLSAIInit->PLLSAIN, PLLSAIInit->PLLSAIQ, PLLSAIInit->PLLSAIR); -#endif /* STM32F446xx */ - - /* Enable the PLLSAI */ - __HAL_RCC_PLLSAI_ENABLE(); - - /* Wait till PLLSAI is ready */ - tickstart = HAL_GetTick(); - while(__HAL_RCC_PLLSAI_GET_FLAG() == RESET) - { - if((HAL_GetTick() - tickstart ) > PLLSAI_TIMEOUT_VALUE) - { - /* return in case of Timeout detected */ - return HAL_TIMEOUT; - } - } - - return HAL_OK; -} - -/** - * @brief Disable PLLSAI. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_RCCEx_DisablePLLSAI(void) -{ - uint32_t tickstart; - - /* Disable the PLLSAI */ - __HAL_RCC_PLLSAI_DISABLE(); - - /* Wait till PLLSAI is disabled */ - tickstart = HAL_GetTick(); - while(__HAL_RCC_PLLSAI_GET_FLAG() != RESET) - { - if((HAL_GetTick() - tickstart) > PLLSAI_TIMEOUT_VALUE) - { - /* return in case of Timeout detected */ - return HAL_TIMEOUT; - } - } - - return HAL_OK; -} - -#endif /* RCC_PLLSAI_SUPPORT */ - -/** - * @} - */ - -#if defined(STM32F446xx) -/** - * @brief Returns the SYSCLK frequency - * - * @note This function implementation is valid only for STM32F446xx devices. - * @note This function add the PLL/PLLR System clock source - * - * @note The system frequency computed by this function is not the real - * frequency in the chip. It is calculated based on the predefined - * constant and the selected clock source: - * @note If SYSCLK source is HSI, function returns values based on HSI_VALUE(*) - * @note If SYSCLK source is HSE, function returns values based on HSE_VALUE(**) - * @note If SYSCLK source is PLL or PLLR, function returns values based on HSE_VALUE(**) - * or HSI_VALUE(*) multiplied/divided by the PLL factors. - * @note (*) HSI_VALUE is a constant defined in stm32f4xx_hal_conf.h file (default value - * 16 MHz) but the real value may vary depending on the variations - * in voltage and temperature. - * @note (**) HSE_VALUE is a constant defined in stm32f4xx_hal_conf.h file (default value - * 25 MHz), user has to ensure that HSE_VALUE is same as the real - * frequency of the crystal used. Otherwise, this function may - * have wrong result. - * - * @note The result of this function could be not correct when using fractional - * value for HSE crystal. - * - * @note This function can be used by the user application to compute the - * baudrate for the communication peripherals or configure other parameters. - * - * @note Each time SYSCLK changes, this function must be called to update the - * right SYSCLK value. Otherwise, any configuration based on this function will be incorrect. - * - * - * @retval SYSCLK frequency - */ -uint32_t HAL_RCC_GetSysClockFreq(void) -{ - uint32_t pllm = 0U; - uint32_t pllvco = 0U; - uint32_t pllp = 0U; - uint32_t pllr = 0U; - uint32_t sysclockfreq = 0U; - - /* Get SYSCLK source -------------------------------------------------------*/ - switch (RCC->CFGR & RCC_CFGR_SWS) - { - case RCC_CFGR_SWS_HSI: /* HSI used as system clock source */ - { - sysclockfreq = HSI_VALUE; - break; - } - case RCC_CFGR_SWS_HSE: /* HSE used as system clock source */ - { - sysclockfreq = HSE_VALUE; - break; - } - case RCC_CFGR_SWS_PLL: /* PLL/PLLP used as system clock source */ - { - /* PLL_VCO = (HSE_VALUE or HSI_VALUE / PLLM) * PLLN - SYSCLK = PLL_VCO / PLLP */ - pllm = RCC->PLLCFGR & RCC_PLLCFGR_PLLM; - if(__HAL_RCC_GET_PLL_OSCSOURCE() != RCC_PLLSOURCE_HSI) - { - /* HSE used as PLL clock source */ - pllvco = (uint32_t) ((((uint64_t) HSE_VALUE * ((uint64_t) ((RCC->PLLCFGR & RCC_PLLCFGR_PLLN) >> RCC_PLLCFGR_PLLN_Pos)))) / (uint64_t)pllm); - } - else - { - /* HSI used as PLL clock source */ - pllvco = (uint32_t) ((((uint64_t) HSI_VALUE * ((uint64_t) ((RCC->PLLCFGR & RCC_PLLCFGR_PLLN) >> RCC_PLLCFGR_PLLN_Pos)))) / (uint64_t)pllm); - } - pllp = ((((RCC->PLLCFGR & RCC_PLLCFGR_PLLP) >> RCC_PLLCFGR_PLLP_Pos) + 1U) *2U); - - sysclockfreq = pllvco/pllp; - break; - } - case RCC_CFGR_SWS_PLLR: /* PLL/PLLR used as system clock source */ - { - /* PLL_VCO = (HSE_VALUE or HSI_VALUE / PLLM) * PLLN - SYSCLK = PLL_VCO / PLLR */ - pllm = RCC->PLLCFGR & RCC_PLLCFGR_PLLM; - if(__HAL_RCC_GET_PLL_OSCSOURCE() != RCC_PLLSOURCE_HSI) - { - /* HSE used as PLL clock source */ - pllvco = (uint32_t) ((((uint64_t) HSE_VALUE * ((uint64_t) ((RCC->PLLCFGR & RCC_PLLCFGR_PLLN) >> RCC_PLLCFGR_PLLN_Pos)))) / (uint64_t)pllm); - } - else - { - /* HSI used as PLL clock source */ - pllvco = (uint32_t) ((((uint64_t) HSI_VALUE * ((uint64_t) ((RCC->PLLCFGR & RCC_PLLCFGR_PLLN) >> RCC_PLLCFGR_PLLN_Pos)))) / (uint64_t)pllm); - } - pllr = ((RCC->PLLCFGR & RCC_PLLCFGR_PLLR) >> RCC_PLLCFGR_PLLR_Pos); - - sysclockfreq = pllvco/pllr; - break; - } - default: - { - sysclockfreq = HSI_VALUE; - break; - } - } - return sysclockfreq; -} -#endif /* STM32F446xx */ - -/** - * @} - */ - -/** - * @} - */ - -/** - * @brief Resets the RCC clock configuration to the default reset state. - * @note The default reset state of the clock configuration is given below: - * - HSI ON and used as system clock source - * - HSE, PLL, PLLI2S and PLLSAI OFF - * - AHB, APB1 and APB2 prescaler set to 1. - * - CSS, MCO1 and MCO2 OFF - * - All interrupts disabled - * @note This function doesn't modify the configuration of the - * - Peripheral clocks - * - LSI, LSE and RTC clocks - * @retval HAL status - */ -HAL_StatusTypeDef HAL_RCC_DeInit(void) -{ - uint32_t tickstart; - - /* Get Start Tick */ - tickstart = HAL_GetTick(); - - /* Set HSION bit to the reset value */ - SET_BIT(RCC->CR, RCC_CR_HSION); - - /* Wait till HSI is ready */ - while (READ_BIT(RCC->CR, RCC_CR_HSIRDY) == RESET) - { - if ((HAL_GetTick() - tickstart) > HSI_TIMEOUT_VALUE) - { - return HAL_TIMEOUT; - } - } - - /* Set HSITRIM[4:0] bits to the reset value */ - SET_BIT(RCC->CR, RCC_CR_HSITRIM_4); - - /* Get Start Tick */ - tickstart = HAL_GetTick(); - - /* Reset CFGR register */ - CLEAR_REG(RCC->CFGR); - - /* Wait till clock switch is ready */ - while (READ_BIT(RCC->CFGR, RCC_CFGR_SWS) != RESET) - { - if ((HAL_GetTick() - tickstart) > CLOCKSWITCH_TIMEOUT_VALUE) - { - return HAL_TIMEOUT; - } - } - - /* Get Start Tick */ - tickstart = HAL_GetTick(); - - /* Clear HSEON, HSEBYP and CSSON bits */ - CLEAR_BIT(RCC->CR, RCC_CR_HSEON | RCC_CR_HSEBYP | RCC_CR_CSSON); - - /* Wait till HSE is disabled */ - while (READ_BIT(RCC->CR, RCC_CR_HSERDY) != RESET) - { - if ((HAL_GetTick() - tickstart) > HSE_TIMEOUT_VALUE) - { - return HAL_TIMEOUT; - } - } - - /* Get Start Tick */ - tickstart = HAL_GetTick(); - - /* Clear PLLON bit */ - CLEAR_BIT(RCC->CR, RCC_CR_PLLON); - - /* Wait till PLL is disabled */ - while (READ_BIT(RCC->CR, RCC_CR_PLLRDY) != RESET) - { - if ((HAL_GetTick() - tickstart) > PLL_TIMEOUT_VALUE) - { - return HAL_TIMEOUT; - } - } - -#if defined(RCC_PLLI2S_SUPPORT) - /* Get Start Tick */ - tickstart = HAL_GetTick(); - - /* Reset PLLI2SON bit */ - CLEAR_BIT(RCC->CR, RCC_CR_PLLI2SON); - - /* Wait till PLLI2S is disabled */ - while (READ_BIT(RCC->CR, RCC_CR_PLLI2SRDY) != RESET) - { - if ((HAL_GetTick() - tickstart) > PLLI2S_TIMEOUT_VALUE) - { - return HAL_TIMEOUT; - } - } -#endif /* RCC_PLLI2S_SUPPORT */ - -#if defined(RCC_PLLSAI_SUPPORT) - /* Get Start Tick */ - tickstart = HAL_GetTick(); - - /* Reset PLLSAI bit */ - CLEAR_BIT(RCC->CR, RCC_CR_PLLSAION); - - /* Wait till PLLSAI is disabled */ - while (READ_BIT(RCC->CR, RCC_CR_PLLSAIRDY) != RESET) - { - if ((HAL_GetTick() - tickstart) > PLLSAI_TIMEOUT_VALUE) - { - return HAL_TIMEOUT; - } - } -#endif /* RCC_PLLSAI_SUPPORT */ - - /* Once PLL, PLLI2S and PLLSAI are OFF, reset PLLCFGR register to default value */ -#if defined(STM32F412Cx) || defined(STM32F412Rx) || defined(STM32F412Vx) || defined(STM32F412Zx) || defined(STM32F413xx) || \ - defined(STM32F423xx) || defined(STM32F446xx) || defined(STM32F469xx) || defined(STM32F479xx) - RCC->PLLCFGR = RCC_PLLCFGR_PLLM_4 | RCC_PLLCFGR_PLLN_6 | RCC_PLLCFGR_PLLN_7 | RCC_PLLCFGR_PLLQ_2 | RCC_PLLCFGR_PLLR_1; -#elif defined(STM32F410Tx) || defined(STM32F410Cx) || defined(STM32F410Rx) - RCC->PLLCFGR = RCC_PLLCFGR_PLLR_0 | RCC_PLLCFGR_PLLR_1 | RCC_PLLCFGR_PLLR_2 | RCC_PLLCFGR_PLLM_4 | RCC_PLLCFGR_PLLN_6 | RCC_PLLCFGR_PLLN_7 | RCC_PLLCFGR_PLLQ_0 | RCC_PLLCFGR_PLLQ_1 | RCC_PLLCFGR_PLLQ_2 | RCC_PLLCFGR_PLLQ_3; -#else - RCC->PLLCFGR = RCC_PLLCFGR_PLLM_4 | RCC_PLLCFGR_PLLN_6 | RCC_PLLCFGR_PLLN_7 | RCC_PLLCFGR_PLLQ_2; -#endif /* STM32F412Cx || STM32F412Rx || STM32F412Vx || STM32F412Zx || STM32F413xx || STM32F423xx || STM32F446xx || STM32F469xx || STM32F479xx */ - - /* Reset PLLI2SCFGR register to default value */ -#if defined(STM32F412Cx) || defined(STM32F412Rx) || defined(STM32F412Vx) || defined(STM32F412Zx) || defined(STM32F413xx) || \ - defined(STM32F423xx) || defined(STM32F446xx) - RCC->PLLI2SCFGR = RCC_PLLI2SCFGR_PLLI2SM_4 | RCC_PLLI2SCFGR_PLLI2SN_6 | RCC_PLLI2SCFGR_PLLI2SN_7 | RCC_PLLI2SCFGR_PLLI2SQ_2 | RCC_PLLI2SCFGR_PLLI2SR_1; -#elif defined(STM32F401xC) || defined(STM32F401xE) || defined(STM32F405xx) || defined(STM32F415xx) || defined(STM32F407xx) || defined(STM32F417xx) - RCC->PLLI2SCFGR = RCC_PLLI2SCFGR_PLLI2SN_6 | RCC_PLLI2SCFGR_PLLI2SN_7 | RCC_PLLI2SCFGR_PLLI2SR_1; -#elif defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) || defined(STM32F469xx) || defined(STM32F479xx) - RCC->PLLI2SCFGR = RCC_PLLI2SCFGR_PLLI2SN_6 | RCC_PLLI2SCFGR_PLLI2SN_7 | RCC_PLLI2SCFGR_PLLI2SQ_2 | RCC_PLLI2SCFGR_PLLI2SR_1; -#elif defined(STM32F411xE) - RCC->PLLI2SCFGR = RCC_PLLI2SCFGR_PLLI2SM_4 | RCC_PLLI2SCFGR_PLLI2SN_6 | RCC_PLLI2SCFGR_PLLI2SN_7 | RCC_PLLI2SCFGR_PLLI2SR_1; -#endif /* STM32F412Cx || STM32F412Rx || STM32F412Vx || STM32F412Zx || STM32F413xx || STM32F423xx || STM32F446xx */ - - /* Reset PLLSAICFGR register */ -#if defined(STM32F427xx) || defined(STM32F429xx) || defined(STM32F437xx) || defined(STM32F439xx) || defined(STM32F469xx) || defined(STM32F479xx) - RCC->PLLSAICFGR = RCC_PLLSAICFGR_PLLSAIN_6 | RCC_PLLSAICFGR_PLLSAIN_7 | RCC_PLLSAICFGR_PLLSAIQ_2 | RCC_PLLSAICFGR_PLLSAIR_1; -#elif defined(STM32F446xx) - RCC->PLLSAICFGR = RCC_PLLSAICFGR_PLLSAIM_4 | RCC_PLLSAICFGR_PLLSAIN_6 | RCC_PLLSAICFGR_PLLSAIN_7 | RCC_PLLSAICFGR_PLLSAIQ_2; -#endif /* STM32F427xx || STM32F429xx || STM32F437xx || STM32F439xx || STM32F469xx || STM32F479xx */ - - /* Disable all interrupts */ - CLEAR_BIT(RCC->CIR, RCC_CIR_LSIRDYIE | RCC_CIR_LSERDYIE | RCC_CIR_HSIRDYIE | RCC_CIR_HSERDYIE | RCC_CIR_PLLRDYIE); - -#if defined(RCC_CIR_PLLI2SRDYIE) - CLEAR_BIT(RCC->CIR, RCC_CIR_PLLI2SRDYIE); -#endif /* RCC_CIR_PLLI2SRDYIE */ - -#if defined(RCC_CIR_PLLSAIRDYIE) - CLEAR_BIT(RCC->CIR, RCC_CIR_PLLSAIRDYIE); -#endif /* RCC_CIR_PLLSAIRDYIE */ - - /* Clear all interrupt flags */ - SET_BIT(RCC->CIR, RCC_CIR_LSIRDYC | RCC_CIR_LSERDYC | RCC_CIR_HSIRDYC | RCC_CIR_HSERDYC | RCC_CIR_PLLRDYC | RCC_CIR_CSSC); - -#if defined(RCC_CIR_PLLI2SRDYC) - SET_BIT(RCC->CIR, RCC_CIR_PLLI2SRDYC); -#endif /* RCC_CIR_PLLI2SRDYC */ - -#if defined(RCC_CIR_PLLSAIRDYC) - SET_BIT(RCC->CIR, RCC_CIR_PLLSAIRDYC); -#endif /* RCC_CIR_PLLSAIRDYC */ - - /* Clear LSION bit */ - CLEAR_BIT(RCC->CSR, RCC_CSR_LSION); - - /* Reset all CSR flags */ - SET_BIT(RCC->CSR, RCC_CSR_RMVF); - - /* Update the SystemCoreClock global variable */ - SystemCoreClock = HSI_VALUE; - - /* Adapt Systick interrupt period */ - if(HAL_InitTick(uwTickPrio) != HAL_OK) - { - return HAL_ERROR; - } - else - { - return HAL_OK; - } -} - -#if defined(STM32F410Tx) || defined(STM32F410Cx) || defined(STM32F410Rx) || defined(STM32F446xx) || defined(STM32F469xx) || defined(STM32F479xx) || defined(STM32F412Zx) ||\ - defined(STM32F412Vx) || defined(STM32F412Rx) || defined(STM32F412Cx) || defined(STM32F413xx) || defined(STM32F423xx) -/** - * @brief Initializes the RCC Oscillators according to the specified parameters in the - * RCC_OscInitTypeDef. - * @param RCC_OscInitStruct pointer to an RCC_OscInitTypeDef structure that - * contains the configuration information for the RCC Oscillators. - * @note The PLL is not disabled when used as system clock. - * @note Transitions LSE Bypass to LSE On and LSE On to LSE Bypass are not - * supported by this API. User should request a transition to LSE Off - * first and then LSE On or LSE Bypass. - * @note Transition HSE Bypass to HSE On and HSE On to HSE Bypass are not - * supported by this API. User should request a transition to HSE Off - * first and then HSE On or HSE Bypass. - * @note This function add the PLL/PLLR factor management during PLL configuration this feature - * is only available in STM32F410xx/STM32F446xx/STM32F469xx/STM32F479xx/STM32F412Zx/STM32F412Vx/STM32F412Rx/STM32F412Cx devices - * @retval HAL status - */ -HAL_StatusTypeDef HAL_RCC_OscConfig(RCC_OscInitTypeDef *RCC_OscInitStruct) -{ - uint32_t tickstart, pll_config; - - /* Check Null pointer */ - if(RCC_OscInitStruct == NULL) - { - return HAL_ERROR; - } - - /* Check the parameters */ - assert_param(IS_RCC_OSCILLATORTYPE(RCC_OscInitStruct->OscillatorType)); - /*------------------------------- HSE Configuration ------------------------*/ - if(((RCC_OscInitStruct->OscillatorType) & RCC_OSCILLATORTYPE_HSE) == RCC_OSCILLATORTYPE_HSE) - { - /* Check the parameters */ - assert_param(IS_RCC_HSE(RCC_OscInitStruct->HSEState)); - /* When the HSE is used as system clock or clock source for PLL in these cases HSE will not disabled */ -#if defined(STM32F446xx) - if((__HAL_RCC_GET_SYSCLK_SOURCE() == RCC_CFGR_SWS_HSE) ||\ - ((__HAL_RCC_GET_SYSCLK_SOURCE() == RCC_CFGR_SWS_PLL) && ((RCC->PLLCFGR & RCC_PLLCFGR_PLLSRC) == RCC_PLLCFGR_PLLSRC_HSE)) ||\ - ((__HAL_RCC_GET_SYSCLK_SOURCE() == RCC_CFGR_SWS_PLLR) && ((RCC->PLLCFGR & RCC_PLLCFGR_PLLSRC) == RCC_PLLCFGR_PLLSRC_HSE))) -#else - if((__HAL_RCC_GET_SYSCLK_SOURCE() == RCC_CFGR_SWS_HSE) ||\ - ((__HAL_RCC_GET_SYSCLK_SOURCE() == RCC_CFGR_SWS_PLL) && ((RCC->PLLCFGR & RCC_PLLCFGR_PLLSRC) == RCC_PLLCFGR_PLLSRC_HSE))) -#endif /* STM32F446xx */ - { - if((__HAL_RCC_GET_FLAG(RCC_FLAG_HSERDY) != RESET) && (RCC_OscInitStruct->HSEState == RCC_HSE_OFF)) - { - return HAL_ERROR; - } - } - else - { - /* Set the new HSE configuration ---------------------------------------*/ - __HAL_RCC_HSE_CONFIG(RCC_OscInitStruct->HSEState); - - /* Check the HSE State */ - if((RCC_OscInitStruct->HSEState) != RCC_HSE_OFF) - { - /* Get Start Tick*/ - tickstart = HAL_GetTick(); - - /* Wait till HSE is ready */ - while(__HAL_RCC_GET_FLAG(RCC_FLAG_HSERDY) == RESET) - { - if((HAL_GetTick() - tickstart ) > HSE_TIMEOUT_VALUE) - { - return HAL_TIMEOUT; - } - } - } - else - { - /* Get Start Tick*/ - tickstart = HAL_GetTick(); - - /* Wait till HSE is bypassed or disabled */ - while(__HAL_RCC_GET_FLAG(RCC_FLAG_HSERDY) != RESET) - { - if((HAL_GetTick() - tickstart ) > HSE_TIMEOUT_VALUE) - { - return HAL_TIMEOUT; - } - } - } - } - } - /*----------------------------- HSI Configuration --------------------------*/ - if(((RCC_OscInitStruct->OscillatorType) & RCC_OSCILLATORTYPE_HSI) == RCC_OSCILLATORTYPE_HSI) - { - /* Check the parameters */ - assert_param(IS_RCC_HSI(RCC_OscInitStruct->HSIState)); - assert_param(IS_RCC_CALIBRATION_VALUE(RCC_OscInitStruct->HSICalibrationValue)); - - /* Check if HSI is used as system clock or as PLL source when PLL is selected as system clock */ -#if defined(STM32F446xx) - if((__HAL_RCC_GET_SYSCLK_SOURCE() == RCC_CFGR_SWS_HSI) ||\ - ((__HAL_RCC_GET_SYSCLK_SOURCE() == RCC_CFGR_SWS_PLL) && ((RCC->PLLCFGR & RCC_PLLCFGR_PLLSRC) == RCC_PLLCFGR_PLLSRC_HSI)) ||\ - ((__HAL_RCC_GET_SYSCLK_SOURCE() == RCC_CFGR_SWS_PLLR) && ((RCC->PLLCFGR & RCC_PLLCFGR_PLLSRC) == RCC_PLLCFGR_PLLSRC_HSI))) -#else - if((__HAL_RCC_GET_SYSCLK_SOURCE() == RCC_CFGR_SWS_HSI) ||\ - ((__HAL_RCC_GET_SYSCLK_SOURCE() == RCC_CFGR_SWS_PLL) && ((RCC->PLLCFGR & RCC_PLLCFGR_PLLSRC) == RCC_PLLCFGR_PLLSRC_HSI))) -#endif /* STM32F446xx */ - { - /* When HSI is used as system clock it will not disabled */ - if((__HAL_RCC_GET_FLAG(RCC_FLAG_HSIRDY) != RESET) && (RCC_OscInitStruct->HSIState != RCC_HSI_ON)) - { - return HAL_ERROR; - } - /* Otherwise, just the calibration is allowed */ - else - { - /* Adjusts the Internal High Speed oscillator (HSI) calibration value.*/ - __HAL_RCC_HSI_CALIBRATIONVALUE_ADJUST(RCC_OscInitStruct->HSICalibrationValue); - } - } - else - { - /* Check the HSI State */ - if((RCC_OscInitStruct->HSIState)!= RCC_HSI_OFF) - { - /* Enable the Internal High Speed oscillator (HSI). */ - __HAL_RCC_HSI_ENABLE(); - - /* Get Start Tick*/ - tickstart = HAL_GetTick(); - - /* Wait till HSI is ready */ - while(__HAL_RCC_GET_FLAG(RCC_FLAG_HSIRDY) == RESET) - { - if((HAL_GetTick() - tickstart ) > HSI_TIMEOUT_VALUE) - { - return HAL_TIMEOUT; - } - } - - /* Adjusts the Internal High Speed oscillator (HSI) calibration value.*/ - __HAL_RCC_HSI_CALIBRATIONVALUE_ADJUST(RCC_OscInitStruct->HSICalibrationValue); - } - else - { - /* Disable the Internal High Speed oscillator (HSI). */ - __HAL_RCC_HSI_DISABLE(); - - /* Get Start Tick*/ - tickstart = HAL_GetTick(); - - /* Wait till HSI is ready */ - while(__HAL_RCC_GET_FLAG(RCC_FLAG_HSIRDY) != RESET) - { - if((HAL_GetTick() - tickstart ) > HSI_TIMEOUT_VALUE) - { - return HAL_TIMEOUT; - } - } - } - } - } - /*------------------------------ LSI Configuration -------------------------*/ - if(((RCC_OscInitStruct->OscillatorType) & RCC_OSCILLATORTYPE_LSI) == RCC_OSCILLATORTYPE_LSI) - { - /* Check the parameters */ - assert_param(IS_RCC_LSI(RCC_OscInitStruct->LSIState)); - - /* Check the LSI State */ - if((RCC_OscInitStruct->LSIState)!= RCC_LSI_OFF) - { - /* Enable the Internal Low Speed oscillator (LSI). */ - __HAL_RCC_LSI_ENABLE(); - - /* Get Start Tick*/ - tickstart = HAL_GetTick(); - - /* Wait till LSI is ready */ - while(__HAL_RCC_GET_FLAG(RCC_FLAG_LSIRDY) == RESET) - { - if((HAL_GetTick() - tickstart ) > LSI_TIMEOUT_VALUE) - { - return HAL_TIMEOUT; - } - } - } - else - { - /* Disable the Internal Low Speed oscillator (LSI). */ - __HAL_RCC_LSI_DISABLE(); - - /* Get Start Tick*/ - tickstart = HAL_GetTick(); - - /* Wait till LSI is ready */ - while(__HAL_RCC_GET_FLAG(RCC_FLAG_LSIRDY) != RESET) - { - if((HAL_GetTick() - tickstart ) > LSI_TIMEOUT_VALUE) - { - return HAL_TIMEOUT; - } - } - } - } - /*------------------------------ LSE Configuration -------------------------*/ - if(((RCC_OscInitStruct->OscillatorType) & RCC_OSCILLATORTYPE_LSE) == RCC_OSCILLATORTYPE_LSE) - { - FlagStatus pwrclkchanged = RESET; - - /* Check the parameters */ - assert_param(IS_RCC_LSE(RCC_OscInitStruct->LSEState)); - - /* Update LSE configuration in Backup Domain control register */ - /* Requires to enable write access to Backup Domain of necessary */ - if(__HAL_RCC_PWR_IS_CLK_DISABLED()) - { - __HAL_RCC_PWR_CLK_ENABLE(); - pwrclkchanged = SET; - } - - if(HAL_IS_BIT_CLR(PWR->CR, PWR_CR_DBP)) - { - /* Enable write access to Backup domain */ - SET_BIT(PWR->CR, PWR_CR_DBP); - - /* Wait for Backup domain Write protection disable */ - tickstart = HAL_GetTick(); - - while(HAL_IS_BIT_CLR(PWR->CR, PWR_CR_DBP)) - { - if((HAL_GetTick() - tickstart) > RCC_DBP_TIMEOUT_VALUE) - { - return HAL_TIMEOUT; - } - } - } - - /* Set the new LSE configuration -----------------------------------------*/ - __HAL_RCC_LSE_CONFIG(RCC_OscInitStruct->LSEState); - /* Check the LSE State */ - if((RCC_OscInitStruct->LSEState) != RCC_LSE_OFF) - { - /* Get Start Tick*/ - tickstart = HAL_GetTick(); - - /* Wait till LSE is ready */ - while(__HAL_RCC_GET_FLAG(RCC_FLAG_LSERDY) == RESET) - { - if((HAL_GetTick() - tickstart ) > RCC_LSE_TIMEOUT_VALUE) - { - return HAL_TIMEOUT; - } - } - } - else - { - /* Get Start Tick*/ - tickstart = HAL_GetTick(); - - /* Wait till LSE is ready */ - while(__HAL_RCC_GET_FLAG(RCC_FLAG_LSERDY) != RESET) - { - if((HAL_GetTick() - tickstart ) > RCC_LSE_TIMEOUT_VALUE) - { - return HAL_TIMEOUT; - } - } - } - - /* Restore clock configuration if changed */ - if(pwrclkchanged == SET) - { - __HAL_RCC_PWR_CLK_DISABLE(); - } - } - /*-------------------------------- PLL Configuration -----------------------*/ - /* Check the parameters */ - assert_param(IS_RCC_PLL(RCC_OscInitStruct->PLL.PLLState)); - if ((RCC_OscInitStruct->PLL.PLLState) != RCC_PLL_NONE) - { - /* Check if the PLL is used as system clock or not */ - if(__HAL_RCC_GET_SYSCLK_SOURCE() != RCC_CFGR_SWS_PLL) - { - if((RCC_OscInitStruct->PLL.PLLState) == RCC_PLL_ON) - { - /* Check the parameters */ - assert_param(IS_RCC_PLLSOURCE(RCC_OscInitStruct->PLL.PLLSource)); - assert_param(IS_RCC_PLLM_VALUE(RCC_OscInitStruct->PLL.PLLM)); - assert_param(IS_RCC_PLLN_VALUE(RCC_OscInitStruct->PLL.PLLN)); - assert_param(IS_RCC_PLLP_VALUE(RCC_OscInitStruct->PLL.PLLP)); - assert_param(IS_RCC_PLLQ_VALUE(RCC_OscInitStruct->PLL.PLLQ)); - assert_param(IS_RCC_PLLR_VALUE(RCC_OscInitStruct->PLL.PLLR)); - - /* Disable the main PLL. */ - __HAL_RCC_PLL_DISABLE(); - - /* Get Start Tick*/ - tickstart = HAL_GetTick(); - - /* Wait till PLL is ready */ - while(__HAL_RCC_GET_FLAG(RCC_FLAG_PLLRDY) != RESET) - { - if((HAL_GetTick() - tickstart ) > PLL_TIMEOUT_VALUE) - { - return HAL_TIMEOUT; - } - } - - /* Configure the main PLL clock source, multiplication and division factors. */ - WRITE_REG(RCC->PLLCFGR, (RCC_OscInitStruct->PLL.PLLSource | \ - RCC_OscInitStruct->PLL.PLLM | \ - (RCC_OscInitStruct->PLL.PLLN << RCC_PLLCFGR_PLLN_Pos) | \ - (((RCC_OscInitStruct->PLL.PLLP >> 1U) - 1U) << RCC_PLLCFGR_PLLP_Pos) | \ - (RCC_OscInitStruct->PLL.PLLQ << RCC_PLLCFGR_PLLQ_Pos) | \ - (RCC_OscInitStruct->PLL.PLLR << RCC_PLLCFGR_PLLR_Pos))); - /* Enable the main PLL. */ - __HAL_RCC_PLL_ENABLE(); - - /* Get Start Tick*/ - tickstart = HAL_GetTick(); - - /* Wait till PLL is ready */ - while(__HAL_RCC_GET_FLAG(RCC_FLAG_PLLRDY) == RESET) - { - if((HAL_GetTick() - tickstart ) > PLL_TIMEOUT_VALUE) - { - return HAL_TIMEOUT; - } - } - } - else - { - /* Disable the main PLL. */ - __HAL_RCC_PLL_DISABLE(); - - /* Get Start Tick*/ - tickstart = HAL_GetTick(); - - /* Wait till PLL is ready */ - while(__HAL_RCC_GET_FLAG(RCC_FLAG_PLLRDY) != RESET) - { - if((HAL_GetTick() - tickstart ) > PLL_TIMEOUT_VALUE) - { - return HAL_TIMEOUT; - } - } - } - } - else - { - /* Check if there is a request to disable the PLL used as System clock source */ - if((RCC_OscInitStruct->PLL.PLLState) == RCC_PLL_OFF) - { - return HAL_ERROR; - } - else - { - /* Do not return HAL_ERROR if request repeats the current configuration */ - pll_config = RCC->PLLCFGR; -#if defined (RCC_PLLCFGR_PLLR) - if (((RCC_OscInitStruct->PLL.PLLState) == RCC_PLL_OFF) || - (READ_BIT(pll_config, RCC_PLLCFGR_PLLSRC) != RCC_OscInitStruct->PLL.PLLSource) || - (READ_BIT(pll_config, RCC_PLLCFGR_PLLM) != (RCC_OscInitStruct->PLL.PLLM) << RCC_PLLCFGR_PLLM_Pos) || - (READ_BIT(pll_config, RCC_PLLCFGR_PLLN) != (RCC_OscInitStruct->PLL.PLLN) << RCC_PLLCFGR_PLLN_Pos) || - (READ_BIT(pll_config, RCC_PLLCFGR_PLLP) != (((RCC_OscInitStruct->PLL.PLLP >> 1U) - 1U)) << RCC_PLLCFGR_PLLP_Pos) || - (READ_BIT(pll_config, RCC_PLLCFGR_PLLQ) != (RCC_OscInitStruct->PLL.PLLQ << RCC_PLLCFGR_PLLQ_Pos)) || - (READ_BIT(pll_config, RCC_PLLCFGR_PLLR) != (RCC_OscInitStruct->PLL.PLLR << RCC_PLLCFGR_PLLR_Pos))) -#else - if (((RCC_OscInitStruct->PLL.PLLState) == RCC_PLL_OFF) || - (READ_BIT(pll_config, RCC_PLLCFGR_PLLSRC) != RCC_OscInitStruct->PLL.PLLSource) || - (READ_BIT(pll_config, RCC_PLLCFGR_PLLM) != (RCC_OscInitStruct->PLL.PLLM) << RCC_PLLCFGR_PLLM_Pos) || - (READ_BIT(pll_config, RCC_PLLCFGR_PLLN) != (RCC_OscInitStruct->PLL.PLLN) << RCC_PLLCFGR_PLLN_Pos) || - (READ_BIT(pll_config, RCC_PLLCFGR_PLLP) != (((RCC_OscInitStruct->PLL.PLLP >> 1U) - 1U)) << RCC_PLLCFGR_PLLP_Pos) || - (READ_BIT(pll_config, RCC_PLLCFGR_PLLQ) != (RCC_OscInitStruct->PLL.PLLQ << RCC_PLLCFGR_PLLQ_Pos))) -#endif - { - return HAL_ERROR; - } - } - } - } - return HAL_OK; -} - -/** - * @brief Configures the RCC_OscInitStruct according to the internal - * RCC configuration registers. - * @param RCC_OscInitStruct pointer to an RCC_OscInitTypeDef structure that will be configured. - * - * @note This function is only available in case of STM32F410xx/STM32F446xx/STM32F469xx/STM32F479xx/STM32F412Zx/STM32F412Vx/STM32F412Rx/STM32F412Cx devices. - * @note This function add the PLL/PLLR factor management - * @retval None - */ -void HAL_RCC_GetOscConfig(RCC_OscInitTypeDef *RCC_OscInitStruct) -{ - /* Set all possible values for the Oscillator type parameter ---------------*/ - RCC_OscInitStruct->OscillatorType = RCC_OSCILLATORTYPE_HSE | RCC_OSCILLATORTYPE_HSI | RCC_OSCILLATORTYPE_LSE | RCC_OSCILLATORTYPE_LSI; - - /* Get the HSE configuration -----------------------------------------------*/ - if((RCC->CR &RCC_CR_HSEBYP) == RCC_CR_HSEBYP) - { - RCC_OscInitStruct->HSEState = RCC_HSE_BYPASS; - } - else if((RCC->CR &RCC_CR_HSEON) == RCC_CR_HSEON) - { - RCC_OscInitStruct->HSEState = RCC_HSE_ON; - } - else - { - RCC_OscInitStruct->HSEState = RCC_HSE_OFF; - } - - /* Get the HSI configuration -----------------------------------------------*/ - if((RCC->CR &RCC_CR_HSION) == RCC_CR_HSION) - { - RCC_OscInitStruct->HSIState = RCC_HSI_ON; - } - else - { - RCC_OscInitStruct->HSIState = RCC_HSI_OFF; - } - - RCC_OscInitStruct->HSICalibrationValue = (uint32_t)((RCC->CR &RCC_CR_HSITRIM) >> RCC_CR_HSITRIM_Pos); - - /* Get the LSE configuration -----------------------------------------------*/ - if((RCC->BDCR &RCC_BDCR_LSEBYP) == RCC_BDCR_LSEBYP) - { - RCC_OscInitStruct->LSEState = RCC_LSE_BYPASS; - } - else if((RCC->BDCR &RCC_BDCR_LSEON) == RCC_BDCR_LSEON) - { - RCC_OscInitStruct->LSEState = RCC_LSE_ON; - } - else - { - RCC_OscInitStruct->LSEState = RCC_LSE_OFF; - } - - /* Get the LSI configuration -----------------------------------------------*/ - if((RCC->CSR &RCC_CSR_LSION) == RCC_CSR_LSION) - { - RCC_OscInitStruct->LSIState = RCC_LSI_ON; - } - else - { - RCC_OscInitStruct->LSIState = RCC_LSI_OFF; - } - - /* Get the PLL configuration -----------------------------------------------*/ - if((RCC->CR &RCC_CR_PLLON) == RCC_CR_PLLON) - { - RCC_OscInitStruct->PLL.PLLState = RCC_PLL_ON; - } - else - { - RCC_OscInitStruct->PLL.PLLState = RCC_PLL_OFF; - } - RCC_OscInitStruct->PLL.PLLSource = (uint32_t)(RCC->PLLCFGR & RCC_PLLCFGR_PLLSRC); - RCC_OscInitStruct->PLL.PLLM = (uint32_t)(RCC->PLLCFGR & RCC_PLLCFGR_PLLM); - RCC_OscInitStruct->PLL.PLLN = (uint32_t)((RCC->PLLCFGR & RCC_PLLCFGR_PLLN) >> RCC_PLLCFGR_PLLN_Pos); - RCC_OscInitStruct->PLL.PLLP = (uint32_t)((((RCC->PLLCFGR & RCC_PLLCFGR_PLLP) + RCC_PLLCFGR_PLLP_0) << 1U) >> RCC_PLLCFGR_PLLP_Pos); - RCC_OscInitStruct->PLL.PLLQ = (uint32_t)((RCC->PLLCFGR & RCC_PLLCFGR_PLLQ) >> RCC_PLLCFGR_PLLQ_Pos); - RCC_OscInitStruct->PLL.PLLR = (uint32_t)((RCC->PLLCFGR & RCC_PLLCFGR_PLLR) >> RCC_PLLCFGR_PLLR_Pos); -} -#endif /* STM32F410xx || STM32F446xx || STM32F469xx || STM32F479xx || STM32F412Zx || STM32F412Vx || STM32F412Rx || STM32F412Cx || STM32F413xx || STM32F423xx */ - -#endif /* HAL_RCC_MODULE_ENABLED */ -/** - * @} - */ - -/** - * @} - */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rng.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rng.c deleted file mode 100644 index a9b233837d325d..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rng.c +++ /dev/null @@ -1,868 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_rng.c - * @author MCD Application Team - * @brief RNG HAL module driver. - * This file provides firmware functions to manage the following - * functionalities of the Random Number Generator (RNG) peripheral: - * + Initialization and configuration functions - * + Peripheral Control functions - * + Peripheral State functions - * - @verbatim - ============================================================================== - ##### How to use this driver ##### - ============================================================================== - [..] - The RNG HAL driver can be used as follows: - - (#) Enable the RNG controller clock using __HAL_RCC_RNG_CLK_ENABLE() macro - in HAL_RNG_MspInit(). - (#) Activate the RNG peripheral using HAL_RNG_Init() function. - (#) Wait until the 32 bit Random Number Generator contains a valid - random data using (polling/interrupt) mode. - (#) Get the 32 bit random number using HAL_RNG_GenerateRandomNumber() function. - - ##### Callback registration ##### - ================================== - - [..] - The compilation define USE_HAL_RNG_REGISTER_CALLBACKS when set to 1 - allows the user to configure dynamically the driver callbacks. - - [..] - Use Function HAL_RNG_RegisterCallback() to register a user callback. - Function HAL_RNG_RegisterCallback() allows to register following callbacks: - (+) ErrorCallback : RNG Error Callback. - (+) MspInitCallback : RNG MspInit. - (+) MspDeInitCallback : RNG MspDeInit. - This function takes as parameters the HAL peripheral handle, the Callback ID - and a pointer to the user callback function. - - [..] - Use function HAL_RNG_UnRegisterCallback() to reset a callback to the default - weak (surcharged) function. - HAL_RNG_UnRegisterCallback() takes as parameters the HAL peripheral handle, - and the Callback ID. - This function allows to reset following callbacks: - (+) ErrorCallback : RNG Error Callback. - (+) MspInitCallback : RNG MspInit. - (+) MspDeInitCallback : RNG MspDeInit. - - [..] - For specific callback ReadyDataCallback, use dedicated register callbacks: - respectively HAL_RNG_RegisterReadyDataCallback() , HAL_RNG_UnRegisterReadyDataCallback(). - - [..] - By default, after the HAL_RNG_Init() and when the state is HAL_RNG_STATE_RESET - all callbacks are set to the corresponding weak (surcharged) functions: - example HAL_RNG_ErrorCallback(). - Exception done for MspInit and MspDeInit functions that are respectively - reset to the legacy weak (surcharged) functions in the HAL_RNG_Init() - and HAL_RNG_DeInit() only when these callbacks are null (not registered beforehand). - If not, MspInit or MspDeInit are not null, the HAL_RNG_Init() and HAL_RNG_DeInit() - keep and use the user MspInit/MspDeInit callbacks (registered beforehand). - - [..] - Callbacks can be registered/unregistered in HAL_RNG_STATE_READY state only. - Exception done MspInit/MspDeInit that can be registered/unregistered - in HAL_RNG_STATE_READY or HAL_RNG_STATE_RESET state, thus registered (user) - MspInit/DeInit callbacks can be used during the Init/DeInit. - In that case first register the MspInit/MspDeInit user callbacks - using HAL_RNG_RegisterCallback() before calling HAL_RNG_DeInit() - or HAL_RNG_Init() function. - - [..] - When The compilation define USE_HAL_RNG_REGISTER_CALLBACKS is set to 0 or - not defined, the callback registration feature is not available - and weak (surcharged) callbacks are used. - - @endverbatim - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -#if defined (RNG) - -/** @addtogroup RNG - * @brief RNG HAL module driver. - * @{ - */ - -#ifdef HAL_RNG_MODULE_ENABLED - -/* Private types -------------------------------------------------------------*/ -/* Private defines -----------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private constants ---------------------------------------------------------*/ -/** @defgroup RNG_Private_Constants RNG Private Constants - * @{ - */ -#define RNG_TIMEOUT_VALUE 2U -/** - * @} - */ -/* Private macros ------------------------------------------------------------*/ -/* Private functions prototypes ----------------------------------------------*/ -/* Private functions ---------------------------------------------------------*/ -/* Exported functions --------------------------------------------------------*/ - -/** @addtogroup RNG_Exported_Functions - * @{ - */ - -/** @addtogroup RNG_Exported_Functions_Group1 - * @brief Initialization and configuration functions - * -@verbatim - =============================================================================== - ##### Initialization and configuration functions ##### - =============================================================================== - [..] This section provides functions allowing to: - (+) Initialize the RNG according to the specified parameters - in the RNG_InitTypeDef and create the associated handle - (+) DeInitialize the RNG peripheral - (+) Initialize the RNG MSP - (+) DeInitialize RNG MSP - -@endverbatim - * @{ - */ - -/** - * @brief Initializes the RNG peripheral and creates the associated handle. - * @param hrng pointer to a RNG_HandleTypeDef structure that contains - * the configuration information for RNG. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_RNG_Init(RNG_HandleTypeDef *hrng) -{ - /* Check the RNG handle allocation */ - if (hrng == NULL) - { - return HAL_ERROR; - } - /* Check the parameters */ - assert_param(IS_RNG_ALL_INSTANCE(hrng->Instance)); - -#if (USE_HAL_RNG_REGISTER_CALLBACKS == 1) - if (hrng->State == HAL_RNG_STATE_RESET) - { - /* Allocate lock resource and initialize it */ - hrng->Lock = HAL_UNLOCKED; - - hrng->ReadyDataCallback = HAL_RNG_ReadyDataCallback; /* Legacy weak ReadyDataCallback */ - hrng->ErrorCallback = HAL_RNG_ErrorCallback; /* Legacy weak ErrorCallback */ - - if (hrng->MspInitCallback == NULL) - { - hrng->MspInitCallback = HAL_RNG_MspInit; /* Legacy weak MspInit */ - } - - /* Init the low level hardware */ - hrng->MspInitCallback(hrng); - } -#else - if (hrng->State == HAL_RNG_STATE_RESET) - { - /* Allocate lock resource and initialize it */ - hrng->Lock = HAL_UNLOCKED; - - /* Init the low level hardware */ - HAL_RNG_MspInit(hrng); - } -#endif /* USE_HAL_RNG_REGISTER_CALLBACKS */ - - /* Change RNG peripheral state */ - hrng->State = HAL_RNG_STATE_BUSY; - - - /* Enable the RNG Peripheral */ - __HAL_RNG_ENABLE(hrng); - - /* Initialize the RNG state */ - hrng->State = HAL_RNG_STATE_READY; - - /* Initialise the error code */ - hrng->ErrorCode = HAL_RNG_ERROR_NONE; - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief DeInitializes the RNG peripheral. - * @param hrng pointer to a RNG_HandleTypeDef structure that contains - * the configuration information for RNG. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_RNG_DeInit(RNG_HandleTypeDef *hrng) -{ - /* Check the RNG handle allocation */ - if (hrng == NULL) - { - return HAL_ERROR; - } - - /* Disable the RNG Peripheral */ - CLEAR_BIT(hrng->Instance->CR, RNG_CR_IE | RNG_CR_RNGEN); - - /* Clear RNG interrupt status flags */ - CLEAR_BIT(hrng->Instance->SR, RNG_SR_CEIS | RNG_SR_SEIS); - -#if (USE_HAL_RNG_REGISTER_CALLBACKS == 1) - if (hrng->MspDeInitCallback == NULL) - { - hrng->MspDeInitCallback = HAL_RNG_MspDeInit; /* Legacy weak MspDeInit */ - } - - /* DeInit the low level hardware */ - hrng->MspDeInitCallback(hrng); -#else - /* DeInit the low level hardware */ - HAL_RNG_MspDeInit(hrng); -#endif /* USE_HAL_RNG_REGISTER_CALLBACKS */ - - /* Update the RNG state */ - hrng->State = HAL_RNG_STATE_RESET; - - /* Initialise the error code */ - hrng->ErrorCode = HAL_RNG_ERROR_NONE; - - /* Release Lock */ - __HAL_UNLOCK(hrng); - - /* Return the function status */ - return HAL_OK; -} - -/** - * @brief Initializes the RNG MSP. - * @param hrng pointer to a RNG_HandleTypeDef structure that contains - * the configuration information for RNG. - * @retval None - */ -__weak void HAL_RNG_MspInit(RNG_HandleTypeDef *hrng) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hrng); - /* NOTE : This function should not be modified. When the callback is needed, - function HAL_RNG_MspInit must be implemented in the user file. - */ -} - -/** - * @brief DeInitializes the RNG MSP. - * @param hrng pointer to a RNG_HandleTypeDef structure that contains - * the configuration information for RNG. - * @retval None - */ -__weak void HAL_RNG_MspDeInit(RNG_HandleTypeDef *hrng) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hrng); - /* NOTE : This function should not be modified. When the callback is needed, - function HAL_RNG_MspDeInit must be implemented in the user file. - */ -} - -#if (USE_HAL_RNG_REGISTER_CALLBACKS == 1) -/** - * @brief Register a User RNG Callback - * To be used instead of the weak predefined callback - * @param hrng RNG handle - * @param CallbackID ID of the callback to be registered - * This parameter can be one of the following values: - * @arg @ref HAL_RNG_ERROR_CB_ID Error callback ID - * @arg @ref HAL_RNG_MSPINIT_CB_ID MspInit callback ID - * @arg @ref HAL_RNG_MSPDEINIT_CB_ID MspDeInit callback ID - * @param pCallback pointer to the Callback function - * @retval HAL status - */ -HAL_StatusTypeDef HAL_RNG_RegisterCallback(RNG_HandleTypeDef *hrng, HAL_RNG_CallbackIDTypeDef CallbackID, - pRNG_CallbackTypeDef pCallback) -{ - HAL_StatusTypeDef status = HAL_OK; - - if (pCallback == NULL) - { - /* Update the error code */ - hrng->ErrorCode = HAL_RNG_ERROR_INVALID_CALLBACK; - return HAL_ERROR; - } - /* Process locked */ - __HAL_LOCK(hrng); - - if (HAL_RNG_STATE_READY == hrng->State) - { - switch (CallbackID) - { - case HAL_RNG_ERROR_CB_ID : - hrng->ErrorCallback = pCallback; - break; - - case HAL_RNG_MSPINIT_CB_ID : - hrng->MspInitCallback = pCallback; - break; - - case HAL_RNG_MSPDEINIT_CB_ID : - hrng->MspDeInitCallback = pCallback; - break; - - default : - /* Update the error code */ - hrng->ErrorCode = HAL_RNG_ERROR_INVALID_CALLBACK; - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else if (HAL_RNG_STATE_RESET == hrng->State) - { - switch (CallbackID) - { - case HAL_RNG_MSPINIT_CB_ID : - hrng->MspInitCallback = pCallback; - break; - - case HAL_RNG_MSPDEINIT_CB_ID : - hrng->MspDeInitCallback = pCallback; - break; - - default : - /* Update the error code */ - hrng->ErrorCode = HAL_RNG_ERROR_INVALID_CALLBACK; - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else - { - /* Update the error code */ - hrng->ErrorCode = HAL_RNG_ERROR_INVALID_CALLBACK; - /* Return error status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(hrng); - return status; -} - -/** - * @brief Unregister an RNG Callback - * RNG callabck is redirected to the weak predefined callback - * @param hrng RNG handle - * @param CallbackID ID of the callback to be unregistered - * This parameter can be one of the following values: - * @arg @ref HAL_RNG_ERROR_CB_ID Error callback ID - * @arg @ref HAL_RNG_MSPINIT_CB_ID MspInit callback ID - * @arg @ref HAL_RNG_MSPDEINIT_CB_ID MspDeInit callback ID - * @retval HAL status - */ -HAL_StatusTypeDef HAL_RNG_UnRegisterCallback(RNG_HandleTypeDef *hrng, HAL_RNG_CallbackIDTypeDef CallbackID) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Process locked */ - __HAL_LOCK(hrng); - - if (HAL_RNG_STATE_READY == hrng->State) - { - switch (CallbackID) - { - case HAL_RNG_ERROR_CB_ID : - hrng->ErrorCallback = HAL_RNG_ErrorCallback; /* Legacy weak ErrorCallback */ - break; - - case HAL_RNG_MSPINIT_CB_ID : - hrng->MspInitCallback = HAL_RNG_MspInit; /* Legacy weak MspInit */ - break; - - case HAL_RNG_MSPDEINIT_CB_ID : - hrng->MspDeInitCallback = HAL_RNG_MspDeInit; /* Legacy weak MspDeInit */ - break; - - default : - /* Update the error code */ - hrng->ErrorCode = HAL_RNG_ERROR_INVALID_CALLBACK; - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else if (HAL_RNG_STATE_RESET == hrng->State) - { - switch (CallbackID) - { - case HAL_RNG_MSPINIT_CB_ID : - hrng->MspInitCallback = HAL_RNG_MspInit; /* Legacy weak MspInit */ - break; - - case HAL_RNG_MSPDEINIT_CB_ID : - hrng->MspDeInitCallback = HAL_RNG_MspDeInit; /* Legacy weak MspInit */ - break; - - default : - /* Update the error code */ - hrng->ErrorCode = HAL_RNG_ERROR_INVALID_CALLBACK; - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else - { - /* Update the error code */ - hrng->ErrorCode = HAL_RNG_ERROR_INVALID_CALLBACK; - /* Return error status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(hrng); - return status; -} - -/** - * @brief Register Data Ready RNG Callback - * To be used instead of the weak HAL_RNG_ReadyDataCallback() predefined callback - * @param hrng RNG handle - * @param pCallback pointer to the Data Ready Callback function - * @retval HAL status - */ -HAL_StatusTypeDef HAL_RNG_RegisterReadyDataCallback(RNG_HandleTypeDef *hrng, pRNG_ReadyDataCallbackTypeDef pCallback) -{ - HAL_StatusTypeDef status = HAL_OK; - - if (pCallback == NULL) - { - /* Update the error code */ - hrng->ErrorCode = HAL_RNG_ERROR_INVALID_CALLBACK; - return HAL_ERROR; - } - /* Process locked */ - __HAL_LOCK(hrng); - - if (HAL_RNG_STATE_READY == hrng->State) - { - hrng->ReadyDataCallback = pCallback; - } - else - { - /* Update the error code */ - hrng->ErrorCode = HAL_RNG_ERROR_INVALID_CALLBACK; - /* Return error status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(hrng); - return status; -} - -/** - * @brief UnRegister the Data Ready RNG Callback - * Data Ready RNG Callback is redirected to the weak HAL_RNG_ReadyDataCallback() predefined callback - * @param hrng RNG handle - * @retval HAL status - */ -HAL_StatusTypeDef HAL_RNG_UnRegisterReadyDataCallback(RNG_HandleTypeDef *hrng) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Process locked */ - __HAL_LOCK(hrng); - - if (HAL_RNG_STATE_READY == hrng->State) - { - hrng->ReadyDataCallback = HAL_RNG_ReadyDataCallback; /* Legacy weak ReadyDataCallback */ - } - else - { - /* Update the error code */ - hrng->ErrorCode = HAL_RNG_ERROR_INVALID_CALLBACK; - /* Return error status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(hrng); - return status; -} - -#endif /* USE_HAL_RNG_REGISTER_CALLBACKS */ - -/** - * @} - */ - -/** @addtogroup RNG_Exported_Functions_Group2 - * @brief Peripheral Control functions - * -@verbatim - =============================================================================== - ##### Peripheral Control functions ##### - =============================================================================== - [..] This section provides functions allowing to: - (+) Get the 32 bit Random number - (+) Get the 32 bit Random number with interrupt enabled - (+) Handle RNG interrupt request - -@endverbatim - * @{ - */ - -/** - * @brief Generates a 32-bit random number. - * @note Each time the random number data is read the RNG_FLAG_DRDY flag - * is automatically cleared. - * @param hrng pointer to a RNG_HandleTypeDef structure that contains - * the configuration information for RNG. - * @param random32bit pointer to generated random number variable if successful. - * @retval HAL status - */ - -HAL_StatusTypeDef HAL_RNG_GenerateRandomNumber(RNG_HandleTypeDef *hrng, uint32_t *random32bit) -{ - uint32_t tickstart; - HAL_StatusTypeDef status = HAL_OK; - - /* Process Locked */ - __HAL_LOCK(hrng); - - /* Check RNG peripheral state */ - if (hrng->State == HAL_RNG_STATE_READY) - { - /* Change RNG peripheral state */ - hrng->State = HAL_RNG_STATE_BUSY; - - /* Get tick */ - tickstart = HAL_GetTick(); - - /* Check if data register contains valid random data */ - while (__HAL_RNG_GET_FLAG(hrng, RNG_FLAG_DRDY) == RESET) - { - if ((HAL_GetTick() - tickstart) > RNG_TIMEOUT_VALUE) - { - /* New check to avoid false timeout detection in case of preemption */ - if (__HAL_RNG_GET_FLAG(hrng, RNG_FLAG_DRDY) == RESET) - { - hrng->State = HAL_RNG_STATE_READY; - hrng->ErrorCode = HAL_RNG_ERROR_TIMEOUT; - /* Process Unlocked */ - __HAL_UNLOCK(hrng); - return HAL_ERROR; - } - } - } - - /* Get a 32bit Random number */ - hrng->RandomNumber = hrng->Instance->DR; - *random32bit = hrng->RandomNumber; - - hrng->State = HAL_RNG_STATE_READY; - } - else - { - hrng->ErrorCode = HAL_RNG_ERROR_BUSY; - status = HAL_ERROR; - } - - /* Process Unlocked */ - __HAL_UNLOCK(hrng); - - return status; -} - -/** - * @brief Generates a 32-bit random number in interrupt mode. - * @param hrng pointer to a RNG_HandleTypeDef structure that contains - * the configuration information for RNG. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_RNG_GenerateRandomNumber_IT(RNG_HandleTypeDef *hrng) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Process Locked */ - __HAL_LOCK(hrng); - - /* Check RNG peripheral state */ - if (hrng->State == HAL_RNG_STATE_READY) - { - /* Change RNG peripheral state */ - hrng->State = HAL_RNG_STATE_BUSY; - - /* Enable the RNG Interrupts: Data Ready, Clock error, Seed error */ - __HAL_RNG_ENABLE_IT(hrng); - } - else - { - /* Process Unlocked */ - __HAL_UNLOCK(hrng); - - hrng->ErrorCode = HAL_RNG_ERROR_BUSY; - status = HAL_ERROR; - } - - return status; -} - -/** - * @brief Returns generated random number in polling mode (Obsolete) - * Use HAL_RNG_GenerateRandomNumber() API instead. - * @param hrng pointer to a RNG_HandleTypeDef structure that contains - * the configuration information for RNG. - * @retval Random value - */ -uint32_t HAL_RNG_GetRandomNumber(RNG_HandleTypeDef *hrng) -{ - if (HAL_RNG_GenerateRandomNumber(hrng, &(hrng->RandomNumber)) == HAL_OK) - { - return hrng->RandomNumber; - } - else - { - return 0U; - } -} - -/** - * @brief Returns a 32-bit random number with interrupt enabled (Obsolete), - * Use HAL_RNG_GenerateRandomNumber_IT() API instead. - * @param hrng pointer to a RNG_HandleTypeDef structure that contains - * the configuration information for RNG. - * @retval 32-bit random number - */ -uint32_t HAL_RNG_GetRandomNumber_IT(RNG_HandleTypeDef *hrng) -{ - uint32_t random32bit = 0U; - - /* Process locked */ - __HAL_LOCK(hrng); - - /* Change RNG peripheral state */ - hrng->State = HAL_RNG_STATE_BUSY; - - /* Get a 32bit Random number */ - random32bit = hrng->Instance->DR; - - /* Enable the RNG Interrupts: Data Ready, Clock error, Seed error */ - __HAL_RNG_ENABLE_IT(hrng); - - /* Return the 32 bit random number */ - return random32bit; -} - -/** - * @brief Handles RNG interrupt request. - * @note In the case of a clock error, the RNG is no more able to generate - * random numbers because the PLL48CLK clock is not correct. User has - * to check that the clock controller is correctly configured to provide - * the RNG clock and clear the CEIS bit using __HAL_RNG_CLEAR_IT(). - * The clock error has no impact on the previously generated - * random numbers, and the RNG_DR register contents can be used. - * @note In the case of a seed error, the generation of random numbers is - * interrupted as long as the SECS bit is '1'. If a number is - * available in the RNG_DR register, it must not be used because it may - * not have enough entropy. In this case, it is recommended to clear the - * SEIS bit using __HAL_RNG_CLEAR_IT(), then disable and enable - * the RNG peripheral to reinitialize and restart the RNG. - * @note User-written HAL_RNG_ErrorCallback() API is called once whether SEIS - * or CEIS are set. - * @param hrng pointer to a RNG_HandleTypeDef structure that contains - * the configuration information for RNG. - * @retval None - - */ -void HAL_RNG_IRQHandler(RNG_HandleTypeDef *hrng) -{ - uint32_t rngclockerror = 0U; - - /* RNG clock error interrupt occurred */ - if (__HAL_RNG_GET_IT(hrng, RNG_IT_CEI) != RESET) - { - /* Update the error code */ - hrng->ErrorCode = HAL_RNG_ERROR_CLOCK; - rngclockerror = 1U; - } - else if (__HAL_RNG_GET_IT(hrng, RNG_IT_SEI) != RESET) - { - /* Update the error code */ - hrng->ErrorCode = HAL_RNG_ERROR_SEED; - rngclockerror = 1U; - } - else - { - /* Nothing to do */ - } - - if (rngclockerror == 1U) - { - /* Change RNG peripheral state */ - hrng->State = HAL_RNG_STATE_ERROR; - -#if (USE_HAL_RNG_REGISTER_CALLBACKS == 1) - /* Call registered Error callback */ - hrng->ErrorCallback(hrng); -#else - /* Call legacy weak Error callback */ - HAL_RNG_ErrorCallback(hrng); -#endif /* USE_HAL_RNG_REGISTER_CALLBACKS */ - - /* Clear the clock error flag */ - __HAL_RNG_CLEAR_IT(hrng, RNG_IT_CEI | RNG_IT_SEI); - - return; - } - - /* Check RNG data ready interrupt occurred */ - if (__HAL_RNG_GET_IT(hrng, RNG_IT_DRDY) != RESET) - { - /* Generate random number once, so disable the IT */ - __HAL_RNG_DISABLE_IT(hrng); - - /* Get the 32bit Random number (DRDY flag automatically cleared) */ - hrng->RandomNumber = hrng->Instance->DR; - - if (hrng->State != HAL_RNG_STATE_ERROR) - { - /* Change RNG peripheral state */ - hrng->State = HAL_RNG_STATE_READY; - /* Process Unlocked */ - __HAL_UNLOCK(hrng); - -#if (USE_HAL_RNG_REGISTER_CALLBACKS == 1) - /* Call registered Data Ready callback */ - hrng->ReadyDataCallback(hrng, hrng->RandomNumber); -#else - /* Call legacy weak Data Ready callback */ - HAL_RNG_ReadyDataCallback(hrng, hrng->RandomNumber); -#endif /* USE_HAL_RNG_REGISTER_CALLBACKS */ - } - } -} - -/** - * @brief Read latest generated random number. - * @param hrng pointer to a RNG_HandleTypeDef structure that contains - * the configuration information for RNG. - * @retval random value - */ -uint32_t HAL_RNG_ReadLastRandomNumber(RNG_HandleTypeDef *hrng) -{ - return (hrng->RandomNumber); -} - -/** - * @brief Data Ready callback in non-blocking mode. - * @param hrng pointer to a RNG_HandleTypeDef structure that contains - * the configuration information for RNG. - * @param random32bit generated random number. - * @retval None - */ -__weak void HAL_RNG_ReadyDataCallback(RNG_HandleTypeDef *hrng, uint32_t random32bit) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hrng); - UNUSED(random32bit); - /* NOTE : This function should not be modified. When the callback is needed, - function HAL_RNG_ReadyDataCallback must be implemented in the user file. - */ -} - -/** - * @brief RNG error callbacks. - * @param hrng pointer to a RNG_HandleTypeDef structure that contains - * the configuration information for RNG. - * @retval None - */ -__weak void HAL_RNG_ErrorCallback(RNG_HandleTypeDef *hrng) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hrng); - /* NOTE : This function should not be modified. When the callback is needed, - function HAL_RNG_ErrorCallback must be implemented in the user file. - */ -} -/** - * @} - */ - - -/** @addtogroup RNG_Exported_Functions_Group3 - * @brief Peripheral State functions - * -@verbatim - =============================================================================== - ##### Peripheral State functions ##### - =============================================================================== - [..] - This subsection permits to get in run-time the status of the peripheral - and the data flow. - -@endverbatim - * @{ - */ - -/** - * @brief Returns the RNG state. - * @param hrng pointer to a RNG_HandleTypeDef structure that contains - * the configuration information for RNG. - * @retval HAL state - */ -HAL_RNG_StateTypeDef HAL_RNG_GetState(RNG_HandleTypeDef *hrng) -{ - return hrng->State; -} - -/** - * @brief Return the RNG handle error code. - * @param hrng: pointer to a RNG_HandleTypeDef structure. - * @retval RNG Error Code - */ -uint32_t HAL_RNG_GetError(RNG_HandleTypeDef *hrng) -{ - /* Return RNG Error Code */ - return hrng->ErrorCode; -} -/** - * @} - */ - -/** - * @} - */ - - -#endif /* HAL_RNG_MODULE_ENABLED */ -/** - * @} - */ - -#endif /* RNG */ - -/** - * @} - */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rtc.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rtc.c deleted file mode 100644 index 00f9e4b03e1817..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rtc.c +++ /dev/null @@ -1,1903 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_rtc.c - * @author MCD Application Team - * @brief RTC HAL module driver. - * This file provides firmware functions to manage the following - * functionalities of the Real Time Clock (RTC) peripheral: - * + Initialization and de-initialization functions - * + RTC Time and Date functions - * + RTC Alarm functions - * + Peripheral Control functions - * + Peripheral State functions - * - @verbatim - ============================================================================== - ##### Backup Domain Operating Condition ##### - ============================================================================== - [..] The real-time clock (RTC), the RTC backup registers, and the backup - SRAM (BKP SRAM) can be powered from the VBAT voltage when the main - VDD supply is powered off. - To retain the content of the RTC backup registers, backup SRAM, and supply - the RTC when VDD is turned off, VBAT pin can be connected to an optional - standby voltage supplied by a battery or by another source. - - [..] To allow the RTC operating even when the main digital supply (VDD) is turned - off, the VBAT pin powers the following blocks: - (#) The RTC - (#) The LSE oscillator - (#) The backup SRAM when the low power backup regulator is enabled - (#) PC13 to PC15 I/Os, plus PI8 I/O (when available) - - [..] When the backup domain is supplied by VDD (analog switch connected to VDD), - the following pins are available: - (#) PC14 and PC15 can be used as either GPIO or LSE pins - (#) PC13 can be used as a GPIO or as the RTC_AF1 pin - (#) PI8 can be used as a GPIO or as the RTC_AF2 pin - - [..] When the backup domain is supplied by VBAT (analog switch connected to VBAT - because VDD is not present), the following pins are available: - (#) PC14 and PC15 can be used as LSE pins only - (#) PC13 can be used as the RTC_AF1 pin - (#) PI8 can be used as the RTC_AF2 pin - - ##### Backup Domain Reset ##### - ================================================================== - [..] The backup domain reset sets all RTC registers and the RCC_BDCR register - to their reset values. The BKPSRAM is not affected by this reset. The only - way to reset the BKPSRAM is through the Flash interface by requesting - a protection level change from 1 to 0. - [..] A backup domain reset is generated when one of the following events occurs: - (#) Software reset, triggered by setting the BDRST bit in the - RCC Backup domain control register (RCC_BDCR). - (#) VDD or VBAT power on, if both supplies have previously been powered off. - - ##### Backup Domain Access ##### - ================================================================== - [..] After reset, the backup domain (RTC registers, RTC backup data - registers and backup SRAM) is protected against possible unwanted write - accesses. - [..] To enable access to the RTC Domain and RTC registers, proceed as follows: - (+) Enable the Power Controller (PWR) APB1 interface clock using the - __HAL_RCC_PWR_CLK_ENABLE() function. - (+) Enable access to RTC domain using the HAL_PWR_EnableBkUpAccess() function. - (+) Select the RTC clock source using the __HAL_RCC_RTC_CONFIG() function. - (+) Enable RTC Clock using the __HAL_RCC_RTC_ENABLE() function. - - - ##### How to use this driver ##### - ================================================================== - [..] - (+) Enable the RTC domain access (see description in the section above). - (+) Configure the RTC Prescaler (Asynchronous and Synchronous) and RTC hour - format using the HAL_RTC_Init() function. - - *** Time and Date configuration *** - =================================== - [..] - (+) To configure the RTC Calendar (Time and Date) use the HAL_RTC_SetTime() - and HAL_RTC_SetDate() functions. - (+) To read the RTC Calendar, use the HAL_RTC_GetTime() and HAL_RTC_GetDate() functions. - - *** Alarm configuration *** - =========================== - [..] - (+) To configure the RTC Alarm use the HAL_RTC_SetAlarm() function. - You can also configure the RTC Alarm with interrupt mode using the HAL_RTC_SetAlarm_IT() function. - (+) To read the RTC Alarm, use the HAL_RTC_GetAlarm() function. - - ##### RTC and low power modes ##### - ================================================================== - [..] The MCU can be woken up from a low power mode by an RTC alternate - function. - [..] The RTC alternate functions are the RTC alarms (Alarm A and Alarm B), - RTC wake-up, RTC tamper event detection and RTC time stamp event detection. - These RTC alternate functions can wake up the system from the Stop and - Standby low power modes. - [..] The system can also wake up from low power modes without depending - on an external interrupt (Auto-wake-up mode), by using the RTC alarm - or the RTC wake-up events. - [..] The RTC provides a programmable time base for waking up from the - Stop or Standby mode at regular intervals. - Wake-up from STOP and STANDBY modes is possible only when the RTC clock source - is LSE or LSI. - - *** Callback registration *** - ============================================= - - [..] - The compilation define USE_HAL_RTC_REGISTER_CALLBACKS when set to 1 - allows the user to configure dynamically the driver callbacks. - Use Function HAL_RTC_RegisterCallback() to register an interrupt callback. - - [..] - Function HAL_RTC_RegisterCallback() allows to register following callbacks: - (+) AlarmAEventCallback : RTC Alarm A Event callback. - (+) AlarmBEventCallback : RTC Alarm B Event callback. - (+) TimeStampEventCallback : RTC TimeStamp Event callback. - (+) WakeUpTimerEventCallback : RTC WakeUpTimer Event callback. - (+) Tamper1EventCallback : RTC Tamper 1 Event callback. - (+) Tamper2EventCallback : RTC Tamper 2 Event callback. - (+) MspInitCallback : RTC MspInit callback. - (+) MspDeInitCallback : RTC MspDeInit callback. - [..] - This function takes as parameters the HAL peripheral handle, the Callback ID - and a pointer to the user callback function. - - [..] - Use function HAL_RTC_UnRegisterCallback() to reset a callback to the default - weak function. - HAL_RTC_UnRegisterCallback() takes as parameters the HAL peripheral handle, - and the Callback ID. - This function allows to reset following callbacks: - (+) AlarmAEventCallback : RTC Alarm A Event callback. - (+) AlarmBEventCallback : RTC Alarm B Event callback. - (+) TimeStampEventCallback : RTC TimeStamp Event callback. - (+) WakeUpTimerEventCallback : RTC WakeUpTimer Event callback. - (+) Tamper1EventCallback : RTC Tamper 1 Event callback. - (+) Tamper2EventCallback : RTC Tamper 2 Event callback. - (+) MspInitCallback : RTC MspInit callback. - (+) MspDeInitCallback : RTC MspDeInit callback. - - [..] - By default, after the HAL_RTC_Init() and when the state is HAL_RTC_STATE_RESET, - all callbacks are set to the corresponding weak functions : - examples AlarmAEventCallback(), WakeUpTimerEventCallback(). - Exception done for MspInit and MspDeInit callbacks that are reset to the legacy weak function - in the HAL_RTC_Init()/HAL_RTC_DeInit() only when these callbacks are null - (not registered beforehand). - If not, MspInit or MspDeInit are not null, HAL_RTC_Init()/HAL_RTC_DeInit() - keep and use the user MspInit/MspDeInit callbacks (registered beforehand) - - [..] - Callbacks can be registered/unregistered in HAL_RTC_STATE_READY state only. - Exception done MspInit/MspDeInit that can be registered/unregistered - in HAL_RTC_STATE_READY or HAL_RTC_STATE_RESET state, - thus registered (user) MspInit/DeInit callbacks can be used during the Init/DeInit. - In that case first register the MspInit/MspDeInit user callbacks - using HAL_RTC_RegisterCallback() before calling HAL_RTC_DeInit() - or HAL_RTC_Init() function. - - [..] - When The compilation define USE_HAL_RTC_REGISTER_CALLBACKS is set to 0 or - not defined, the callback registration feature is not available and all callbacks - are set to the corresponding weak functions. - @endverbatim - - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @defgroup RTC RTC - * @brief RTC HAL module driver - * @{ - */ - -#ifdef HAL_RTC_MODULE_ENABLED - -/* Private typedef -----------------------------------------------------------*/ -/* Private define ------------------------------------------------------------*/ -/* Private macro -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private function prototypes -----------------------------------------------*/ -/* Exported functions --------------------------------------------------------*/ - -/** @defgroup RTC_Exported_Functions RTC Exported Functions - * @{ - */ - -/** @defgroup RTC_Exported_Functions_Group1 Initialization and de-initialization functions - * @brief Initialization and Configuration functions - * -@verbatim - =============================================================================== - ##### Initialization and de-initialization functions ##### - =============================================================================== - [..] This section provides functions allowing to initialize and configure the - RTC Prescaler (Synchronous and Asynchronous), RTC Hour format, disable - RTC registers Write protection, enter and exit the RTC initialization mode, - RTC registers synchronization check and reference clock detection enable. - (#) The RTC Prescaler is programmed to generate the RTC 1Hz time base. - It is split into 2 programmable prescalers to minimize power consumption. - (++) A 7-bit asynchronous prescaler and a 13-bit synchronous prescaler. - (++) When both prescalers are used, it is recommended to configure the - asynchronous prescaler to a high value to minimize power consumption. - (#) All RTC registers are Write protected. Writing to the RTC registers - is enabled by writing a key into the Write Protection register, RTC_WPR. - (#) To configure the RTC Calendar, user application should enter - initialization mode. In this mode, the calendar counter is stopped - and its value can be updated. When the initialization sequence is - complete, the calendar restarts counting after 4 RTCCLK cycles. - (#) To read the calendar through the shadow registers after Calendar - initialization, calendar update or after wake-up from low power modes - the software must first clear the RSF flag. The software must then - wait until it is set again before reading the calendar, which means - that the calendar registers have been correctly copied into the - RTC_TR and RTC_DR shadow registers.The HAL_RTC_WaitForSynchro() function - implements the above software sequence (RSF clear and RSF check). - -@endverbatim - * @{ - */ - -/** - * @brief Initializes the RTC peripheral - * @param hrtc pointer to a RTC_HandleTypeDef structure that contains - * the configuration information for RTC. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_RTC_Init(RTC_HandleTypeDef *hrtc) -{ - /* Check the RTC peripheral state */ - if(hrtc == NULL) - { - return HAL_ERROR; - } - - /* Check the parameters */ - assert_param(IS_RTC_HOUR_FORMAT(hrtc->Init.HourFormat)); - assert_param(IS_RTC_ASYNCH_PREDIV(hrtc->Init.AsynchPrediv)); - assert_param(IS_RTC_SYNCH_PREDIV(hrtc->Init.SynchPrediv)); - assert_param (IS_RTC_OUTPUT(hrtc->Init.OutPut)); - assert_param (IS_RTC_OUTPUT_POL(hrtc->Init.OutPutPolarity)); - assert_param(IS_RTC_OUTPUT_TYPE(hrtc->Init.OutPutType)); - -#if (USE_HAL_RTC_REGISTER_CALLBACKS == 1) - if(hrtc->State == HAL_RTC_STATE_RESET) - { - /* Allocate lock resource and initialize it */ - hrtc->Lock = HAL_UNLOCKED; - - hrtc->AlarmAEventCallback = HAL_RTC_AlarmAEventCallback; /* Legacy weak AlarmAEventCallback */ - hrtc->AlarmBEventCallback = HAL_RTCEx_AlarmBEventCallback; /* Legacy weak AlarmBEventCallback */ - hrtc->TimeStampEventCallback = HAL_RTCEx_TimeStampEventCallback; /* Legacy weak TimeStampEventCallback */ - hrtc->WakeUpTimerEventCallback = HAL_RTCEx_WakeUpTimerEventCallback; /* Legacy weak WakeUpTimerEventCallback */ - hrtc->Tamper1EventCallback = HAL_RTCEx_Tamper1EventCallback; /* Legacy weak Tamper1EventCallback */ - hrtc->Tamper2EventCallback = HAL_RTCEx_Tamper2EventCallback; /* Legacy weak Tamper2EventCallback */ - - if(hrtc->MspInitCallback == NULL) - { - hrtc->MspInitCallback = HAL_RTC_MspInit; - } - /* Init the low level hardware */ - hrtc->MspInitCallback(hrtc); - - if(hrtc->MspDeInitCallback == NULL) - { - hrtc->MspDeInitCallback = HAL_RTC_MspDeInit; - } - } -#else - if(hrtc->State == HAL_RTC_STATE_RESET) - { - /* Allocate lock resource and initialize it */ - hrtc->Lock = HAL_UNLOCKED; - - /* Initialize RTC MSP */ - HAL_RTC_MspInit(hrtc); - } -#endif /* (USE_HAL_RTC_REGISTER_CALLBACKS) */ - - /* Set RTC state */ - hrtc->State = HAL_RTC_STATE_BUSY; - - /* Disable the write protection for RTC registers */ - __HAL_RTC_WRITEPROTECTION_DISABLE(hrtc); - - /* Set Initialization mode */ - if(RTC_EnterInitMode(hrtc) != HAL_OK) - { - /* Enable the write protection for RTC registers */ - __HAL_RTC_WRITEPROTECTION_ENABLE(hrtc); - - /* Set RTC state */ - hrtc->State = HAL_RTC_STATE_ERROR; - - return HAL_ERROR; - } - else - { - /* Clear RTC_CR FMT, OSEL and POL Bits */ - hrtc->Instance->CR &= ((uint32_t)~(RTC_CR_FMT | RTC_CR_OSEL | RTC_CR_POL)); - /* Set RTC_CR register */ - hrtc->Instance->CR |= (uint32_t)(hrtc->Init.HourFormat | hrtc->Init.OutPut | hrtc->Init.OutPutPolarity); - - /* Configure the RTC PRER */ - hrtc->Instance->PRER = (uint32_t)(hrtc->Init.SynchPrediv); - hrtc->Instance->PRER |= (uint32_t)(hrtc->Init.AsynchPrediv << 16U); - - /* Exit Initialization mode */ - hrtc->Instance->ISR &= (uint32_t)~RTC_ISR_INIT; - - /* If CR_BYPSHAD bit = 0, wait for synchro else this check is not needed */ - if((hrtc->Instance->CR & RTC_CR_BYPSHAD) == RESET) - { - if(HAL_RTC_WaitForSynchro(hrtc) != HAL_OK) - { - /* Enable the write protection for RTC registers */ - __HAL_RTC_WRITEPROTECTION_ENABLE(hrtc); - - hrtc->State = HAL_RTC_STATE_ERROR; - - return HAL_ERROR; - } - } - - hrtc->Instance->TAFCR &= (uint32_t)~RTC_TAFCR_ALARMOUTTYPE; - hrtc->Instance->TAFCR |= (uint32_t)(hrtc->Init.OutPutType); - - /* Enable the write protection for RTC registers */ - __HAL_RTC_WRITEPROTECTION_ENABLE(hrtc); - - /* Set RTC state */ - hrtc->State = HAL_RTC_STATE_READY; - - return HAL_OK; - } -} - -/** - * @brief DeInitializes the RTC peripheral - * @param hrtc pointer to a RTC_HandleTypeDef structure that contains - * the configuration information for RTC. - * @note This function doesn't reset the RTC Backup Data registers. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_RTC_DeInit(RTC_HandleTypeDef *hrtc) -{ - uint32_t tickstart = 0U; - - /* Set RTC state */ - hrtc->State = HAL_RTC_STATE_BUSY; - - /* Disable the write protection for RTC registers */ - __HAL_RTC_WRITEPROTECTION_DISABLE(hrtc); - - /* Set Initialization mode */ - if(RTC_EnterInitMode(hrtc) != HAL_OK) - { - /* Enable the write protection for RTC registers */ - __HAL_RTC_WRITEPROTECTION_ENABLE(hrtc); - - /* Set RTC state */ - hrtc->State = HAL_RTC_STATE_ERROR; - - return HAL_ERROR; - } - else - { - /* Reset TR, DR and CR registers */ - hrtc->Instance->TR = 0x00000000U; - hrtc->Instance->DR = 0x00002101U; - /* Reset All CR bits except CR[2:0] */ - hrtc->Instance->CR &= 0x00000007U; - - /* Get tick */ - tickstart = HAL_GetTick(); - - /* Wait till WUTWF flag is set and if Time out is reached exit */ - while(((hrtc->Instance->ISR) & RTC_ISR_WUTWF) == (uint32_t)RESET) - { - if((HAL_GetTick() - tickstart ) > RTC_TIMEOUT_VALUE) - { - /* Enable the write protection for RTC registers */ - __HAL_RTC_WRITEPROTECTION_ENABLE(hrtc); - - /* Set RTC state */ - hrtc->State = HAL_RTC_STATE_TIMEOUT; - - return HAL_TIMEOUT; - } - } - - /* Reset all RTC CR register bits */ - hrtc->Instance->CR &= 0x00000000U; - hrtc->Instance->WUTR = 0x0000FFFFU; - hrtc->Instance->PRER = 0x007F00FFU; - hrtc->Instance->CALIBR = 0x00000000U; - hrtc->Instance->ALRMAR = 0x00000000U; - hrtc->Instance->ALRMBR = 0x00000000U; - hrtc->Instance->SHIFTR = 0x00000000U; - hrtc->Instance->CALR = 0x00000000U; - hrtc->Instance->ALRMASSR = 0x00000000U; - hrtc->Instance->ALRMBSSR = 0x00000000U; - - /* Reset ISR register and exit initialization mode */ - hrtc->Instance->ISR = 0x00000000U; - - /* Reset Tamper and alternate functions configuration register */ - hrtc->Instance->TAFCR = 0x00000000U; - - /* If RTC_CR_BYPSHAD bit = 0, wait for synchro else this check is not needed */ - if((hrtc->Instance->CR & RTC_CR_BYPSHAD) == RESET) - { - if(HAL_RTC_WaitForSynchro(hrtc) != HAL_OK) - { - /* Enable the write protection for RTC registers */ - __HAL_RTC_WRITEPROTECTION_ENABLE(hrtc); - - hrtc->State = HAL_RTC_STATE_ERROR; - - return HAL_ERROR; - } - } - } - - /* Enable the write protection for RTC registers */ - __HAL_RTC_WRITEPROTECTION_ENABLE(hrtc); - -#if (USE_HAL_RTC_REGISTER_CALLBACKS == 1) - if(hrtc->MspDeInitCallback == NULL) - { - hrtc->MspDeInitCallback = HAL_RTC_MspDeInit; - } - - /* DeInit the low level hardware: CLOCK, NVIC.*/ - hrtc->MspDeInitCallback(hrtc); - -#else - /* De-Initialize RTC MSP */ - HAL_RTC_MspDeInit(hrtc); -#endif /* (USE_HAL_RTC_REGISTER_CALLBACKS) */ - - hrtc->State = HAL_RTC_STATE_RESET; - - /* Release Lock */ - __HAL_UNLOCK(hrtc); - - return HAL_OK; -} - -#if (USE_HAL_RTC_REGISTER_CALLBACKS == 1) -/** - * @brief Register a User RTC Callback - * To be used instead of the weak predefined callback - * @param hrtc RTC handle - * @param CallbackID ID of the callback to be registered - * This parameter can be one of the following values: - * @arg @ref HAL_RTC_ALARM_A_EVENT_CB_ID Alarm A Event Callback ID - * @arg @ref HAL_RTC_ALARM_B_EVENT_CB_ID Alarm B Event Callback ID - * @arg @ref HAL_RTC_TIMESTAMP_EVENT_CB_ID TimeStamp Event Callback ID - * @arg @ref HAL_RTC_WAKEUPTIMER_EVENT_CB_ID Wake-Up Timer Event Callback ID - * @arg @ref HAL_RTC_TAMPER1_EVENT_CB_ID Tamper 1 Callback ID - * @arg @ref HAL_RTC_TAMPER2_EVENT_CB_ID Tamper 2 Callback ID - * @arg @ref HAL_RTC_MSPINIT_CB_ID Msp Init callback ID - * @arg @ref HAL_RTC_MSPDEINIT_CB_ID Msp DeInit callback ID - * @param pCallback pointer to the Callback function - * @retval HAL status - */ -HAL_StatusTypeDef HAL_RTC_RegisterCallback(RTC_HandleTypeDef *hrtc, HAL_RTC_CallbackIDTypeDef CallbackID, pRTC_CallbackTypeDef pCallback) -{ - HAL_StatusTypeDef status = HAL_OK; - - if(pCallback == NULL) - { - return HAL_ERROR; - } - - /* Process locked */ - __HAL_LOCK(hrtc); - - if(HAL_RTC_STATE_READY == hrtc->State) - { - switch (CallbackID) - { - case HAL_RTC_ALARM_A_EVENT_CB_ID : - hrtc->AlarmAEventCallback = pCallback; - break; - - case HAL_RTC_ALARM_B_EVENT_CB_ID : - hrtc->AlarmBEventCallback = pCallback; - break; - - case HAL_RTC_TIMESTAMP_EVENT_CB_ID : - hrtc->TimeStampEventCallback = pCallback; - break; - - case HAL_RTC_WAKEUPTIMER_EVENT_CB_ID : - hrtc->WakeUpTimerEventCallback = pCallback; - break; - - case HAL_RTC_TAMPER1_EVENT_CB_ID : - hrtc->Tamper1EventCallback = pCallback; - break; - - case HAL_RTC_TAMPER2_EVENT_CB_ID : - hrtc->Tamper2EventCallback = pCallback; - break; - - case HAL_RTC_MSPINIT_CB_ID : - hrtc->MspInitCallback = pCallback; - break; - - case HAL_RTC_MSPDEINIT_CB_ID : - hrtc->MspDeInitCallback = pCallback; - break; - - default : - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else if(HAL_RTC_STATE_RESET == hrtc->State) - { - switch (CallbackID) - { - case HAL_RTC_MSPINIT_CB_ID : - hrtc->MspInitCallback = pCallback; - break; - - case HAL_RTC_MSPDEINIT_CB_ID : - hrtc->MspDeInitCallback = pCallback; - break; - - default : - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else - { - /* Return error status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(hrtc); - - return status; -} - -/** - * @brief Unregister an RTC Callback - * RTC callabck is redirected to the weak predefined callback - * @param hrtc RTC handle - * @param CallbackID ID of the callback to be unregistered - * This parameter can be one of the following values: - * @arg @ref HAL_RTC_ALARM_A_EVENT_CB_ID Alarm A Event Callback ID - * @arg @ref HAL_RTC_ALARM_B_EVENT_CB_ID Alarm B Event Callback ID - * @arg @ref HAL_RTC_TIMESTAMP_EVENT_CB_ID TimeStamp Event Callback ID - * @arg @ref HAL_RTC_WAKEUPTIMER_EVENT_CB_ID Wake-Up Timer Event Callback ID - * @arg @ref HAL_RTC_TAMPER1_EVENT_CB_ID Tamper 1 Callback ID - * @arg @ref HAL_RTC_TAMPER2_EVENT_CB_ID Tamper 2 Callback ID - * @arg @ref HAL_RTC_MSPINIT_CB_ID Msp Init callback ID - * @arg @ref HAL_RTC_MSPDEINIT_CB_ID Msp DeInit callback ID - * @retval HAL status - */ -HAL_StatusTypeDef HAL_RTC_UnRegisterCallback(RTC_HandleTypeDef *hrtc, HAL_RTC_CallbackIDTypeDef CallbackID) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Process locked */ - __HAL_LOCK(hrtc); - - if(HAL_RTC_STATE_READY == hrtc->State) - { - switch (CallbackID) - { - case HAL_RTC_ALARM_A_EVENT_CB_ID : - hrtc->AlarmAEventCallback = HAL_RTC_AlarmAEventCallback; /* Legacy weak AlarmAEventCallback */ - break; - - case HAL_RTC_ALARM_B_EVENT_CB_ID : - hrtc->AlarmBEventCallback = HAL_RTCEx_AlarmBEventCallback; /* Legacy weak AlarmBEventCallback */ - break; - - case HAL_RTC_TIMESTAMP_EVENT_CB_ID : - hrtc->TimeStampEventCallback = HAL_RTCEx_TimeStampEventCallback; /* Legacy weak TimeStampEventCallback */ - break; - - case HAL_RTC_WAKEUPTIMER_EVENT_CB_ID : - hrtc->WakeUpTimerEventCallback = HAL_RTCEx_WakeUpTimerEventCallback; /* Legacy weak WakeUpTimerEventCallback */ - break; - - case HAL_RTC_TAMPER1_EVENT_CB_ID : - hrtc->Tamper1EventCallback = HAL_RTCEx_Tamper1EventCallback; /* Legacy weak Tamper1EventCallback */ - break; - - case HAL_RTC_TAMPER2_EVENT_CB_ID : - hrtc->Tamper2EventCallback = HAL_RTCEx_Tamper2EventCallback; /* Legacy weak Tamper2EventCallback */ - break; - - case HAL_RTC_MSPINIT_CB_ID : - hrtc->MspInitCallback = HAL_RTC_MspInit; - break; - - case HAL_RTC_MSPDEINIT_CB_ID : - hrtc->MspDeInitCallback = HAL_RTC_MspDeInit; - break; - - default : - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else if(HAL_RTC_STATE_RESET == hrtc->State) - { - switch (CallbackID) - { - case HAL_RTC_MSPINIT_CB_ID : - hrtc->MspInitCallback = HAL_RTC_MspInit; - break; - - case HAL_RTC_MSPDEINIT_CB_ID : - hrtc->MspDeInitCallback = HAL_RTC_MspDeInit; - break; - - default : - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else - { - /* Return error status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(hrtc); - - return status; -} -#endif /* USE_HAL_RTC_REGISTER_CALLBACKS */ - -/** - * @brief Initializes the RTC MSP. - * @param hrtc pointer to a RTC_HandleTypeDef structure that contains - * the configuration information for RTC. - * @retval None - */ -__weak void HAL_RTC_MspInit(RTC_HandleTypeDef* hrtc) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hrtc); - /* NOTE : This function Should not be modified, when the callback is needed, - the HAL_RTC_MspInit could be implemented in the user file - */ -} - -/** - * @brief DeInitializes the RTC MSP. - * @param hrtc pointer to a RTC_HandleTypeDef structure that contains - * the configuration information for RTC. - * @retval None - */ -__weak void HAL_RTC_MspDeInit(RTC_HandleTypeDef* hrtc) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hrtc); - /* NOTE : This function Should not be modified, when the callback is needed, - the HAL_RTC_MspDeInit could be implemented in the user file - */ -} - -/** - * @} - */ - -/** @defgroup RTC_Exported_Functions_Group2 RTC Time and Date functions - * @brief RTC Time and Date functions - * -@verbatim - =============================================================================== - ##### RTC Time and Date functions ##### - =============================================================================== - - [..] This section provides functions allowing to configure Time and Date features - -@endverbatim - * @{ - */ - -/** - * @brief Sets RTC current time. - * @param hrtc pointer to a RTC_HandleTypeDef structure that contains - * the configuration information for RTC. - * @param sTime Pointer to Time structure - * @param Format Specifies the format of the entered parameters. - * This parameter can be one of the following values: - * @arg RTC_FORMAT_BIN: Binary data format - * @arg RTC_FORMAT_BCD: BCD data format - * @retval HAL status - */ -HAL_StatusTypeDef HAL_RTC_SetTime(RTC_HandleTypeDef *hrtc, RTC_TimeTypeDef *sTime, uint32_t Format) -{ - uint32_t tmpreg = 0U; - - /* Check the parameters */ - assert_param(IS_RTC_FORMAT(Format)); - assert_param(IS_RTC_DAYLIGHT_SAVING(sTime->DayLightSaving)); - assert_param(IS_RTC_STORE_OPERATION(sTime->StoreOperation)); - - /* Process Locked */ - __HAL_LOCK(hrtc); - - hrtc->State = HAL_RTC_STATE_BUSY; - - if(Format == RTC_FORMAT_BIN) - { - if((hrtc->Instance->CR & RTC_CR_FMT) != (uint32_t)RESET) - { - assert_param(IS_RTC_HOUR12(sTime->Hours)); - assert_param(IS_RTC_HOURFORMAT12(sTime->TimeFormat)); - } - else - { - sTime->TimeFormat = 0x00U; - assert_param(IS_RTC_HOUR24(sTime->Hours)); - } - assert_param(IS_RTC_MINUTES(sTime->Minutes)); - assert_param(IS_RTC_SECONDS(sTime->Seconds)); - - tmpreg = (uint32_t)(((uint32_t)RTC_ByteToBcd2(sTime->Hours) << 16U) | \ - ((uint32_t)RTC_ByteToBcd2(sTime->Minutes) << 8U) | \ - ((uint32_t)RTC_ByteToBcd2(sTime->Seconds)) | \ - (((uint32_t)sTime->TimeFormat) << 16U)); - } - else - { - if((hrtc->Instance->CR & RTC_CR_FMT) != (uint32_t)RESET) - { - assert_param(IS_RTC_HOUR12(RTC_Bcd2ToByte(sTime->Hours))); - assert_param(IS_RTC_HOURFORMAT12(sTime->TimeFormat)); - } - else - { - sTime->TimeFormat = 0x00U; - assert_param(IS_RTC_HOUR24(RTC_Bcd2ToByte(sTime->Hours))); - } - assert_param(IS_RTC_MINUTES(RTC_Bcd2ToByte(sTime->Minutes))); - assert_param(IS_RTC_SECONDS(RTC_Bcd2ToByte(sTime->Seconds))); - tmpreg = (((uint32_t)(sTime->Hours) << 16U) | \ - ((uint32_t)(sTime->Minutes) << 8U) | \ - ((uint32_t)sTime->Seconds) | \ - ((uint32_t)(sTime->TimeFormat) << 16U)); - } - - /* Disable the write protection for RTC registers */ - __HAL_RTC_WRITEPROTECTION_DISABLE(hrtc); - - /* Set Initialization mode */ - if(RTC_EnterInitMode(hrtc) != HAL_OK) - { - /* Enable the write protection for RTC registers */ - __HAL_RTC_WRITEPROTECTION_ENABLE(hrtc); - - /* Set RTC state */ - hrtc->State = HAL_RTC_STATE_ERROR; - - /* Process Unlocked */ - __HAL_UNLOCK(hrtc); - - return HAL_ERROR; - } - else - { - /* Set the RTC_TR register */ - hrtc->Instance->TR = (uint32_t)(tmpreg & RTC_TR_RESERVED_MASK); - - /* This interface is deprecated. To manage Daylight Saving Time, please use HAL_RTC_DST_xxx functions */ - hrtc->Instance->CR &= (uint32_t)~RTC_CR_BCK; - - /* This interface is deprecated. To manage Daylight Saving Time, please use HAL_RTC_DST_xxx functions */ - hrtc->Instance->CR |= (uint32_t)(sTime->DayLightSaving | sTime->StoreOperation); - - /* Exit Initialization mode */ - hrtc->Instance->ISR &= (uint32_t)~RTC_ISR_INIT; - - /* If CR_BYPSHAD bit = 0, wait for synchro else this check is not needed */ - if((hrtc->Instance->CR & RTC_CR_BYPSHAD) == RESET) - { - if(HAL_RTC_WaitForSynchro(hrtc) != HAL_OK) - { - /* Enable the write protection for RTC registers */ - __HAL_RTC_WRITEPROTECTION_ENABLE(hrtc); - - hrtc->State = HAL_RTC_STATE_ERROR; - - /* Process Unlocked */ - __HAL_UNLOCK(hrtc); - - return HAL_ERROR; - } - } - - /* Enable the write protection for RTC registers */ - __HAL_RTC_WRITEPROTECTION_ENABLE(hrtc); - - hrtc->State = HAL_RTC_STATE_READY; - - __HAL_UNLOCK(hrtc); - - return HAL_OK; - } -} - -/** - * @brief Gets RTC current time. - * @param hrtc pointer to a RTC_HandleTypeDef structure that contains - * the configuration information for RTC. - * @param sTime Pointer to Time structure - * @param Format Specifies the format of the entered parameters. - * This parameter can be one of the following values: - * @arg RTC_FORMAT_BIN: Binary data format - * @arg RTC_FORMAT_BCD: BCD data format - * @note You can use SubSeconds and SecondFraction (sTime structure fields returned) to convert SubSeconds - * value in second fraction ratio with time unit following generic formula: - * Second fraction ratio * time_unit= [(SecondFraction-SubSeconds)/(SecondFraction+1)] * time_unit - * This conversion can be performed only if no shift operation is pending (ie. SHFP=0) when PREDIV_S >= SS - * @note You must call HAL_RTC_GetDate() after HAL_RTC_GetTime() to unlock the values - * in the higher-order calendar shadow registers to ensure consistency between the time and date values. - * Reading RTC current time locks the values in calendar shadow registers until current date is read. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_RTC_GetTime(RTC_HandleTypeDef *hrtc, RTC_TimeTypeDef *sTime, uint32_t Format) -{ - uint32_t tmpreg = 0U; - - /* Check the parameters */ - assert_param(IS_RTC_FORMAT(Format)); - - /* Get subseconds structure field from the corresponding register */ - sTime->SubSeconds = (uint32_t)(hrtc->Instance->SSR); - - /* Get SecondFraction structure field from the corresponding register field*/ - sTime->SecondFraction = (uint32_t)(hrtc->Instance->PRER & RTC_PRER_PREDIV_S); - - /* Get the TR register */ - tmpreg = (uint32_t)(hrtc->Instance->TR & RTC_TR_RESERVED_MASK); - - /* Fill the structure fields with the read parameters */ - sTime->Hours = (uint8_t)((tmpreg & (RTC_TR_HT | RTC_TR_HU)) >> 16U); - sTime->Minutes = (uint8_t)((tmpreg & (RTC_TR_MNT | RTC_TR_MNU)) >> 8U); - sTime->Seconds = (uint8_t)(tmpreg & (RTC_TR_ST | RTC_TR_SU)); - sTime->TimeFormat = (uint8_t)((tmpreg & (RTC_TR_PM)) >> 16U); - - /* Check the input parameters format */ - if(Format == RTC_FORMAT_BIN) - { - /* Convert the time structure parameters to Binary format */ - sTime->Hours = (uint8_t)RTC_Bcd2ToByte(sTime->Hours); - sTime->Minutes = (uint8_t)RTC_Bcd2ToByte(sTime->Minutes); - sTime->Seconds = (uint8_t)RTC_Bcd2ToByte(sTime->Seconds); - } - - return HAL_OK; -} - -/** - * @brief Sets RTC current date. - * @param hrtc pointer to a RTC_HandleTypeDef structure that contains - * the configuration information for RTC. - * @param sDate Pointer to date structure - * @param Format specifies the format of the entered parameters. - * This parameter can be one of the following values: - * @arg RTC_FORMAT_BIN: Binary data format - * @arg RTC_FORMAT_BCD: BCD data format - * @retval HAL status - */ -HAL_StatusTypeDef HAL_RTC_SetDate(RTC_HandleTypeDef *hrtc, RTC_DateTypeDef *sDate, uint32_t Format) -{ - uint32_t datetmpreg = 0U; - - /* Check the parameters */ - assert_param(IS_RTC_FORMAT(Format)); - - /* Process Locked */ - __HAL_LOCK(hrtc); - - hrtc->State = HAL_RTC_STATE_BUSY; - - if((Format == RTC_FORMAT_BIN) && ((sDate->Month & 0x10U) == 0x10U)) - { - sDate->Month = (uint8_t)((sDate->Month & (uint8_t)~(0x10U)) + (uint8_t)0x0AU); - } - - assert_param(IS_RTC_WEEKDAY(sDate->WeekDay)); - - if(Format == RTC_FORMAT_BIN) - { - assert_param(IS_RTC_YEAR(sDate->Year)); - assert_param(IS_RTC_MONTH(sDate->Month)); - assert_param(IS_RTC_DATE(sDate->Date)); - - datetmpreg = (((uint32_t)RTC_ByteToBcd2(sDate->Year) << 16U) | \ - ((uint32_t)RTC_ByteToBcd2(sDate->Month) << 8U) | \ - ((uint32_t)RTC_ByteToBcd2(sDate->Date)) | \ - ((uint32_t)sDate->WeekDay << 13U)); - } - else - { - assert_param(IS_RTC_YEAR(RTC_Bcd2ToByte(sDate->Year))); - assert_param(IS_RTC_MONTH(RTC_Bcd2ToByte(sDate->Month))); - assert_param(IS_RTC_DATE(RTC_Bcd2ToByte(sDate->Date))); - - datetmpreg = ((((uint32_t)sDate->Year) << 16U) | \ - (((uint32_t)sDate->Month) << 8U) | \ - ((uint32_t)sDate->Date) | \ - (((uint32_t)sDate->WeekDay) << 13U)); - } - - /* Disable the write protection for RTC registers */ - __HAL_RTC_WRITEPROTECTION_DISABLE(hrtc); - - /* Set Initialization mode */ - if(RTC_EnterInitMode(hrtc) != HAL_OK) - { - /* Enable the write protection for RTC registers */ - __HAL_RTC_WRITEPROTECTION_ENABLE(hrtc); - - /* Set RTC state*/ - hrtc->State = HAL_RTC_STATE_ERROR; - - /* Process Unlocked */ - __HAL_UNLOCK(hrtc); - - return HAL_ERROR; - } - else - { - /* Set the RTC_DR register */ - hrtc->Instance->DR = (uint32_t)(datetmpreg & RTC_DR_RESERVED_MASK); - - /* Exit Initialization mode */ - hrtc->Instance->ISR &= (uint32_t)~RTC_ISR_INIT; - - /* If CR_BYPSHAD bit = 0, wait for synchro else this check is not needed */ - if((hrtc->Instance->CR & RTC_CR_BYPSHAD) == RESET) - { - if(HAL_RTC_WaitForSynchro(hrtc) != HAL_OK) - { - /* Enable the write protection for RTC registers */ - __HAL_RTC_WRITEPROTECTION_ENABLE(hrtc); - - hrtc->State = HAL_RTC_STATE_ERROR; - - /* Process Unlocked */ - __HAL_UNLOCK(hrtc); - - return HAL_ERROR; - } - } - - /* Enable the write protection for RTC registers */ - __HAL_RTC_WRITEPROTECTION_ENABLE(hrtc); - - hrtc->State = HAL_RTC_STATE_READY ; - - /* Process Unlocked */ - __HAL_UNLOCK(hrtc); - - return HAL_OK; - } -} - -/** - * @brief Gets RTC current date. - * @param hrtc pointer to a RTC_HandleTypeDef structure that contains - * the configuration information for RTC. - * @param sDate Pointer to Date structure - * @param Format Specifies the format of the entered parameters. - * This parameter can be one of the following values: - * @arg RTC_FORMAT_BIN: Binary data format - * @arg RTC_FORMAT_BCD: BCD data format - * @note You must call HAL_RTC_GetDate() after HAL_RTC_GetTime() to unlock the values - * in the higher-order calendar shadow registers to ensure consistency between the time and date values. - * Reading RTC current time locks the values in calendar shadow registers until Current date is read. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_RTC_GetDate(RTC_HandleTypeDef *hrtc, RTC_DateTypeDef *sDate, uint32_t Format) -{ - uint32_t datetmpreg = 0U; - - /* Check the parameters */ - assert_param(IS_RTC_FORMAT(Format)); - - /* Get the DR register */ - datetmpreg = (uint32_t)(hrtc->Instance->DR & RTC_DR_RESERVED_MASK); - - /* Fill the structure fields with the read parameters */ - sDate->Year = (uint8_t)((datetmpreg & (RTC_DR_YT | RTC_DR_YU)) >> 16U); - sDate->Month = (uint8_t)((datetmpreg & (RTC_DR_MT | RTC_DR_MU)) >> 8U); - sDate->Date = (uint8_t)(datetmpreg & (RTC_DR_DT | RTC_DR_DU)); - sDate->WeekDay = (uint8_t)((datetmpreg & (RTC_DR_WDU)) >> 13U); - - /* Check the input parameters format */ - if(Format == RTC_FORMAT_BIN) - { - /* Convert the date structure parameters to Binary format */ - sDate->Year = (uint8_t)RTC_Bcd2ToByte(sDate->Year); - sDate->Month = (uint8_t)RTC_Bcd2ToByte(sDate->Month); - sDate->Date = (uint8_t)RTC_Bcd2ToByte(sDate->Date); - } - return HAL_OK; -} - -/** - * @} - */ - -/** @defgroup RTC_Exported_Functions_Group3 RTC Alarm functions - * @brief RTC Alarm functions - * -@verbatim - =============================================================================== - ##### RTC Alarm functions ##### - =============================================================================== - - [..] This section provides functions allowing to configure Alarm feature - -@endverbatim - * @{ - */ -/** - * @brief Sets the specified RTC Alarm. - * @param hrtc pointer to a RTC_HandleTypeDef structure that contains - * the configuration information for RTC. - * @param sAlarm Pointer to Alarm structure - * @param Format Specifies the format of the entered parameters. - * This parameter can be one of the following values: - * @arg RTC_FORMAT_BIN: Binary data format - * @arg RTC_FORMAT_BCD: BCD data format - * @retval HAL status - */ -HAL_StatusTypeDef HAL_RTC_SetAlarm(RTC_HandleTypeDef *hrtc, RTC_AlarmTypeDef *sAlarm, uint32_t Format) -{ - uint32_t tickstart = 0U; - uint32_t tmpreg = 0U, subsecondtmpreg = 0U; - - /* Check the parameters */ - assert_param(IS_RTC_FORMAT(Format)); - assert_param(IS_RTC_ALARM(sAlarm->Alarm)); - assert_param(IS_RTC_ALARM_MASK(sAlarm->AlarmMask)); - assert_param(IS_RTC_ALARM_DATE_WEEKDAY_SEL(sAlarm->AlarmDateWeekDaySel)); - assert_param(IS_RTC_ALARM_SUB_SECOND_VALUE(sAlarm->AlarmTime.SubSeconds)); - assert_param(IS_RTC_ALARM_SUB_SECOND_MASK(sAlarm->AlarmSubSecondMask)); - - /* Process Locked */ - __HAL_LOCK(hrtc); - - hrtc->State = HAL_RTC_STATE_BUSY; - - if(Format == RTC_FORMAT_BIN) - { - if((hrtc->Instance->CR & RTC_CR_FMT) != (uint32_t)RESET) - { - assert_param(IS_RTC_HOUR12(sAlarm->AlarmTime.Hours)); - assert_param(IS_RTC_HOURFORMAT12(sAlarm->AlarmTime.TimeFormat)); - } - else - { - sAlarm->AlarmTime.TimeFormat = 0x00U; - assert_param(IS_RTC_HOUR24(sAlarm->AlarmTime.Hours)); - } - assert_param(IS_RTC_MINUTES(sAlarm->AlarmTime.Minutes)); - assert_param(IS_RTC_SECONDS(sAlarm->AlarmTime.Seconds)); - - if(sAlarm->AlarmDateWeekDaySel == RTC_ALARMDATEWEEKDAYSEL_DATE) - { - assert_param(IS_RTC_ALARM_DATE_WEEKDAY_DATE(sAlarm->AlarmDateWeekDay)); - } - else - { - assert_param(IS_RTC_ALARM_DATE_WEEKDAY_WEEKDAY(sAlarm->AlarmDateWeekDay)); - } - - tmpreg = (((uint32_t)RTC_ByteToBcd2(sAlarm->AlarmTime.Hours) << 16U) | \ - ((uint32_t)RTC_ByteToBcd2(sAlarm->AlarmTime.Minutes) << 8U) | \ - ((uint32_t)RTC_ByteToBcd2(sAlarm->AlarmTime.Seconds)) | \ - ((uint32_t)(sAlarm->AlarmTime.TimeFormat) << 16U) | \ - ((uint32_t)RTC_ByteToBcd2(sAlarm->AlarmDateWeekDay) << 24U) | \ - ((uint32_t)sAlarm->AlarmDateWeekDaySel) | \ - ((uint32_t)sAlarm->AlarmMask)); - } - else - { - if((hrtc->Instance->CR & RTC_CR_FMT) != (uint32_t)RESET) - { - assert_param(IS_RTC_HOUR12(RTC_Bcd2ToByte(sAlarm->AlarmTime.Hours))); - assert_param(IS_RTC_HOURFORMAT12(sAlarm->AlarmTime.TimeFormat)); - } - else - { - sAlarm->AlarmTime.TimeFormat = 0x00U; - assert_param(IS_RTC_HOUR24(RTC_Bcd2ToByte(sAlarm->AlarmTime.Hours))); - } - - assert_param(IS_RTC_MINUTES(RTC_Bcd2ToByte(sAlarm->AlarmTime.Minutes))); - assert_param(IS_RTC_SECONDS(RTC_Bcd2ToByte(sAlarm->AlarmTime.Seconds))); - - if(sAlarm->AlarmDateWeekDaySel == RTC_ALARMDATEWEEKDAYSEL_DATE) - { - assert_param(IS_RTC_ALARM_DATE_WEEKDAY_DATE(RTC_Bcd2ToByte(sAlarm->AlarmDateWeekDay))); - } - else - { - assert_param(IS_RTC_ALARM_DATE_WEEKDAY_WEEKDAY(RTC_Bcd2ToByte(sAlarm->AlarmDateWeekDay))); - } - - tmpreg = (((uint32_t)(sAlarm->AlarmTime.Hours) << 16U) | \ - ((uint32_t)(sAlarm->AlarmTime.Minutes) << 8U) | \ - ((uint32_t) sAlarm->AlarmTime.Seconds) | \ - ((uint32_t)(sAlarm->AlarmTime.TimeFormat) << 16U) | \ - ((uint32_t)(sAlarm->AlarmDateWeekDay) << 24U) | \ - ((uint32_t)sAlarm->AlarmDateWeekDaySel) | \ - ((uint32_t)sAlarm->AlarmMask)); - } - - /* Configure the Alarm A or Alarm B Sub Second registers */ - subsecondtmpreg = (uint32_t)((uint32_t)(sAlarm->AlarmTime.SubSeconds) | (uint32_t)(sAlarm->AlarmSubSecondMask)); - - /* Disable the write protection for RTC registers */ - __HAL_RTC_WRITEPROTECTION_DISABLE(hrtc); - - /* Configure the Alarm register */ - if(sAlarm->Alarm == RTC_ALARM_A) - { - /* Disable the Alarm A interrupt */ - __HAL_RTC_ALARMA_DISABLE(hrtc); - - /* In case of interrupt mode is used, the interrupt source must disabled */ - __HAL_RTC_ALARM_DISABLE_IT(hrtc, RTC_IT_ALRA); - - /* Get tick */ - tickstart = HAL_GetTick(); - - /* Wait till RTC ALRAWF flag is set and if Time out is reached exit */ - while(__HAL_RTC_ALARM_GET_FLAG(hrtc, RTC_FLAG_ALRAWF) == RESET) - { - if((HAL_GetTick() - tickstart ) > RTC_TIMEOUT_VALUE) - { - /* Enable the write protection for RTC registers */ - __HAL_RTC_WRITEPROTECTION_ENABLE(hrtc); - - hrtc->State = HAL_RTC_STATE_TIMEOUT; - - /* Process Unlocked */ - __HAL_UNLOCK(hrtc); - - return HAL_TIMEOUT; - } - } - - hrtc->Instance->ALRMAR = (uint32_t)tmpreg; - /* Configure the Alarm A Sub Second register */ - hrtc->Instance->ALRMASSR = subsecondtmpreg; - /* Configure the Alarm state: Enable Alarm */ - __HAL_RTC_ALARMA_ENABLE(hrtc); - } - else - { - /* Disable the Alarm B interrupt */ - __HAL_RTC_ALARMB_DISABLE(hrtc); - - /* In case of interrupt mode is used, the interrupt source must disabled */ - __HAL_RTC_ALARM_DISABLE_IT(hrtc, RTC_IT_ALRB); - - /* Get tick */ - tickstart = HAL_GetTick(); - - /* Wait till RTC ALRBWF flag is set and if Time out is reached exit */ - while(__HAL_RTC_ALARM_GET_FLAG(hrtc, RTC_FLAG_ALRBWF) == RESET) - { - if((HAL_GetTick() - tickstart ) > RTC_TIMEOUT_VALUE) - { - /* Enable the write protection for RTC registers */ - __HAL_RTC_WRITEPROTECTION_ENABLE(hrtc); - - hrtc->State = HAL_RTC_STATE_TIMEOUT; - - /* Process Unlocked */ - __HAL_UNLOCK(hrtc); - - return HAL_TIMEOUT; - } - } - - hrtc->Instance->ALRMBR = (uint32_t)tmpreg; - /* Configure the Alarm B Sub Second register */ - hrtc->Instance->ALRMBSSR = subsecondtmpreg; - /* Configure the Alarm state: Enable Alarm */ - __HAL_RTC_ALARMB_ENABLE(hrtc); - } - - /* Enable the write protection for RTC registers */ - __HAL_RTC_WRITEPROTECTION_ENABLE(hrtc); - - /* Change RTC state */ - hrtc->State = HAL_RTC_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hrtc); - - return HAL_OK; -} - -/** - * @brief Sets the specified RTC Alarm with Interrupt - * @param hrtc pointer to a RTC_HandleTypeDef structure that contains - * the configuration information for RTC. - * @param sAlarm Pointer to Alarm structure - * @param Format Specifies the format of the entered parameters. - * This parameter can be one of the following values: - * @arg RTC_FORMAT_BIN: Binary data format - * @arg RTC_FORMAT_BCD: BCD data format - * @retval HAL status - */ -HAL_StatusTypeDef HAL_RTC_SetAlarm_IT(RTC_HandleTypeDef *hrtc, RTC_AlarmTypeDef *sAlarm, uint32_t Format) -{ - uint32_t tmpreg = 0U, subsecondtmpreg = 0U; - __IO uint32_t count = RTC_TIMEOUT_VALUE * (SystemCoreClock / 32U / 1000U) ; - - /* Check the parameters */ - assert_param(IS_RTC_FORMAT(Format)); - assert_param(IS_RTC_ALARM(sAlarm->Alarm)); - assert_param(IS_RTC_ALARM_MASK(sAlarm->AlarmMask)); - assert_param(IS_RTC_ALARM_DATE_WEEKDAY_SEL(sAlarm->AlarmDateWeekDaySel)); - assert_param(IS_RTC_ALARM_SUB_SECOND_VALUE(sAlarm->AlarmTime.SubSeconds)); - assert_param(IS_RTC_ALARM_SUB_SECOND_MASK(sAlarm->AlarmSubSecondMask)); - - /* Process Locked */ - __HAL_LOCK(hrtc); - - hrtc->State = HAL_RTC_STATE_BUSY; - - if(Format == RTC_FORMAT_BIN) - { - if((hrtc->Instance->CR & RTC_CR_FMT) != (uint32_t)RESET) - { - assert_param(IS_RTC_HOUR12(sAlarm->AlarmTime.Hours)); - assert_param(IS_RTC_HOURFORMAT12(sAlarm->AlarmTime.TimeFormat)); - } - else - { - sAlarm->AlarmTime.TimeFormat = 0x00U; - assert_param(IS_RTC_HOUR24(sAlarm->AlarmTime.Hours)); - } - assert_param(IS_RTC_MINUTES(sAlarm->AlarmTime.Minutes)); - assert_param(IS_RTC_SECONDS(sAlarm->AlarmTime.Seconds)); - - if(sAlarm->AlarmDateWeekDaySel == RTC_ALARMDATEWEEKDAYSEL_DATE) - { - assert_param(IS_RTC_ALARM_DATE_WEEKDAY_DATE(sAlarm->AlarmDateWeekDay)); - } - else - { - assert_param(IS_RTC_ALARM_DATE_WEEKDAY_WEEKDAY(sAlarm->AlarmDateWeekDay)); - } - tmpreg = (((uint32_t)RTC_ByteToBcd2(sAlarm->AlarmTime.Hours) << 16U) | \ - ((uint32_t)RTC_ByteToBcd2(sAlarm->AlarmTime.Minutes) << 8U) | \ - ((uint32_t)RTC_ByteToBcd2(sAlarm->AlarmTime.Seconds)) | \ - ((uint32_t)(sAlarm->AlarmTime.TimeFormat) << 16U) | \ - ((uint32_t)RTC_ByteToBcd2(sAlarm->AlarmDateWeekDay) << 24U) | \ - ((uint32_t)sAlarm->AlarmDateWeekDaySel) | \ - ((uint32_t)sAlarm->AlarmMask)); - } - else - { - if((hrtc->Instance->CR & RTC_CR_FMT) != (uint32_t)RESET) - { - assert_param(IS_RTC_HOUR12(RTC_Bcd2ToByte(sAlarm->AlarmTime.Hours))); - assert_param(IS_RTC_HOURFORMAT12(sAlarm->AlarmTime.TimeFormat)); - } - else - { - sAlarm->AlarmTime.TimeFormat = 0x00U; - assert_param(IS_RTC_HOUR24(RTC_Bcd2ToByte(sAlarm->AlarmTime.Hours))); - } - - assert_param(IS_RTC_MINUTES(RTC_Bcd2ToByte(sAlarm->AlarmTime.Minutes))); - assert_param(IS_RTC_SECONDS(RTC_Bcd2ToByte(sAlarm->AlarmTime.Seconds))); - - if(sAlarm->AlarmDateWeekDaySel == RTC_ALARMDATEWEEKDAYSEL_DATE) - { - assert_param(IS_RTC_ALARM_DATE_WEEKDAY_DATE(RTC_Bcd2ToByte(sAlarm->AlarmDateWeekDay))); - } - else - { - assert_param(IS_RTC_ALARM_DATE_WEEKDAY_WEEKDAY(RTC_Bcd2ToByte(sAlarm->AlarmDateWeekDay))); - } - tmpreg = (((uint32_t)(sAlarm->AlarmTime.Hours) << 16U) | \ - ((uint32_t)(sAlarm->AlarmTime.Minutes) << 8U) | \ - ((uint32_t) sAlarm->AlarmTime.Seconds) | \ - ((uint32_t)(sAlarm->AlarmTime.TimeFormat) << 16U) | \ - ((uint32_t)(sAlarm->AlarmDateWeekDay) << 24U) | \ - ((uint32_t)sAlarm->AlarmDateWeekDaySel) | \ - ((uint32_t)sAlarm->AlarmMask)); - } - /* Configure the Alarm A or Alarm B Sub Second registers */ - subsecondtmpreg = (uint32_t)((uint32_t)(sAlarm->AlarmTime.SubSeconds) | (uint32_t)(sAlarm->AlarmSubSecondMask)); - - /* Disable the write protection for RTC registers */ - __HAL_RTC_WRITEPROTECTION_DISABLE(hrtc); - - /* Configure the Alarm register */ - if(sAlarm->Alarm == RTC_ALARM_A) - { - /* Disable the Alarm A interrupt */ - __HAL_RTC_ALARMA_DISABLE(hrtc); - - /* Clear flag alarm A */ - __HAL_RTC_ALARM_CLEAR_FLAG(hrtc, RTC_FLAG_ALRAF); - - /* Wait till RTC ALRAWF flag is set and if Time out is reached exit */ - do - { - if (count-- == 0U) - { - /* Enable the write protection for RTC registers */ - __HAL_RTC_WRITEPROTECTION_ENABLE(hrtc); - - hrtc->State = HAL_RTC_STATE_TIMEOUT; - - /* Process Unlocked */ - __HAL_UNLOCK(hrtc); - - return HAL_TIMEOUT; - } - } - while (__HAL_RTC_ALARM_GET_FLAG(hrtc, RTC_FLAG_ALRAWF) == RESET); - - hrtc->Instance->ALRMAR = (uint32_t)tmpreg; - /* Configure the Alarm A Sub Second register */ - hrtc->Instance->ALRMASSR = subsecondtmpreg; - /* Configure the Alarm state: Enable Alarm */ - __HAL_RTC_ALARMA_ENABLE(hrtc); - /* Configure the Alarm interrupt */ - __HAL_RTC_ALARM_ENABLE_IT(hrtc,RTC_IT_ALRA); - } - else - { - /* Disable the Alarm B interrupt */ - __HAL_RTC_ALARMB_DISABLE(hrtc); - - /* Clear flag alarm B */ - __HAL_RTC_ALARM_CLEAR_FLAG(hrtc, RTC_FLAG_ALRBF); - - /* Wait till RTC ALRBWF flag is set and if Time out is reached exit */ - do - { - if (count-- == 0U) - { - /* Enable the write protection for RTC registers */ - __HAL_RTC_WRITEPROTECTION_ENABLE(hrtc); - - hrtc->State = HAL_RTC_STATE_TIMEOUT; - - /* Process Unlocked */ - __HAL_UNLOCK(hrtc); - - return HAL_TIMEOUT; - } - } - while (__HAL_RTC_ALARM_GET_FLAG(hrtc, RTC_FLAG_ALRBWF) == RESET); - - hrtc->Instance->ALRMBR = (uint32_t)tmpreg; - /* Configure the Alarm B Sub Second register */ - hrtc->Instance->ALRMBSSR = subsecondtmpreg; - /* Configure the Alarm state: Enable Alarm */ - __HAL_RTC_ALARMB_ENABLE(hrtc); - /* Configure the Alarm interrupt */ - __HAL_RTC_ALARM_ENABLE_IT(hrtc, RTC_IT_ALRB); - } - - /* RTC Alarm Interrupt Configuration: EXTI configuration */ - __HAL_RTC_ALARM_EXTI_ENABLE_IT(); - - EXTI->RTSR |= RTC_EXTI_LINE_ALARM_EVENT; - - /* Enable the write protection for RTC registers */ - __HAL_RTC_WRITEPROTECTION_ENABLE(hrtc); - - hrtc->State = HAL_RTC_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hrtc); - - return HAL_OK; -} - -/** - * @brief Deactivate the specified RTC Alarm - * @param hrtc pointer to a RTC_HandleTypeDef structure that contains - * the configuration information for RTC. - * @param Alarm Specifies the Alarm. - * This parameter can be one of the following values: - * @arg RTC_ALARM_A: AlarmA - * @arg RTC_ALARM_B: AlarmB - * @retval HAL status - */ -HAL_StatusTypeDef HAL_RTC_DeactivateAlarm(RTC_HandleTypeDef *hrtc, uint32_t Alarm) -{ - uint32_t tickstart = 0U; - - /* Check the parameters */ - assert_param(IS_RTC_ALARM(Alarm)); - - /* Process Locked */ - __HAL_LOCK(hrtc); - - hrtc->State = HAL_RTC_STATE_BUSY; - - /* Disable the write protection for RTC registers */ - __HAL_RTC_WRITEPROTECTION_DISABLE(hrtc); - - if(Alarm == RTC_ALARM_A) - { - /* AlarmA */ - __HAL_RTC_ALARMA_DISABLE(hrtc); - - /* In case of interrupt mode is used, the interrupt source must disabled */ - __HAL_RTC_ALARM_DISABLE_IT(hrtc, RTC_IT_ALRA); - - /* Get tick */ - tickstart = HAL_GetTick(); - - /* Wait till RTC ALRxWF flag is set and if Time out is reached exit */ - while(__HAL_RTC_ALARM_GET_FLAG(hrtc, RTC_FLAG_ALRAWF) == RESET) - { - if((HAL_GetTick() - tickstart ) > RTC_TIMEOUT_VALUE) - { - /* Enable the write protection for RTC registers */ - __HAL_RTC_WRITEPROTECTION_ENABLE(hrtc); - - hrtc->State = HAL_RTC_STATE_TIMEOUT; - - /* Process Unlocked */ - __HAL_UNLOCK(hrtc); - - return HAL_TIMEOUT; - } - } - } - else - { - /* AlarmB */ - __HAL_RTC_ALARMB_DISABLE(hrtc); - - /* In case of interrupt mode is used, the interrupt source must disabled */ - __HAL_RTC_ALARM_DISABLE_IT(hrtc,RTC_IT_ALRB); - - /* Get tick */ - tickstart = HAL_GetTick(); - - /* Wait till RTC ALRxWF flag is set and if Time out is reached exit */ - while(__HAL_RTC_ALARM_GET_FLAG(hrtc, RTC_FLAG_ALRBWF) == RESET) - { - if((HAL_GetTick() - tickstart ) > RTC_TIMEOUT_VALUE) - { - /* Enable the write protection for RTC registers */ - __HAL_RTC_WRITEPROTECTION_ENABLE(hrtc); - - hrtc->State = HAL_RTC_STATE_TIMEOUT; - - /* Process Unlocked */ - __HAL_UNLOCK(hrtc); - - return HAL_TIMEOUT; - } - } - } - /* Enable the write protection for RTC registers */ - __HAL_RTC_WRITEPROTECTION_ENABLE(hrtc); - - hrtc->State = HAL_RTC_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hrtc); - - return HAL_OK; -} - -/** - * @brief Gets the RTC Alarm value and masks. - * @param hrtc pointer to a RTC_HandleTypeDef structure that contains - * the configuration information for RTC. - * @param sAlarm Pointer to Date structure - * @param Alarm Specifies the Alarm. - * This parameter can be one of the following values: - * @arg RTC_ALARM_A: AlarmA - * @arg RTC_ALARM_B: AlarmB - * @param Format Specifies the format of the entered parameters. - * This parameter can be one of the following values: - * @arg RTC_FORMAT_BIN: Binary data format - * @arg RTC_FORMAT_BCD: BCD data format - * @retval HAL status - */ -HAL_StatusTypeDef HAL_RTC_GetAlarm(RTC_HandleTypeDef *hrtc, RTC_AlarmTypeDef *sAlarm, uint32_t Alarm, uint32_t Format) -{ - uint32_t tmpreg = 0U, subsecondtmpreg = 0U; - - /* Check the parameters */ - assert_param(IS_RTC_FORMAT(Format)); - assert_param(IS_RTC_ALARM(Alarm)); - - if(Alarm == RTC_ALARM_A) - { - /* AlarmA */ - sAlarm->Alarm = RTC_ALARM_A; - - tmpreg = (uint32_t)(hrtc->Instance->ALRMAR); - subsecondtmpreg = (uint32_t)((hrtc->Instance->ALRMASSR ) & RTC_ALRMASSR_SS); - } - else - { - sAlarm->Alarm = RTC_ALARM_B; - - tmpreg = (uint32_t)(hrtc->Instance->ALRMBR); - subsecondtmpreg = (uint32_t)((hrtc->Instance->ALRMBSSR) & RTC_ALRMBSSR_SS); - } - - /* Fill the structure with the read parameters */ - sAlarm->AlarmTime.Hours = (uint32_t)((tmpreg & (RTC_ALRMAR_HT | RTC_ALRMAR_HU)) >> 16U); - sAlarm->AlarmTime.Minutes = (uint32_t)((tmpreg & (RTC_ALRMAR_MNT | RTC_ALRMAR_MNU)) >> 8U); - sAlarm->AlarmTime.Seconds = (uint32_t)(tmpreg & (RTC_ALRMAR_ST | RTC_ALRMAR_SU)); - sAlarm->AlarmTime.TimeFormat = (uint32_t)((tmpreg & RTC_ALRMAR_PM) >> 16U); - sAlarm->AlarmTime.SubSeconds = (uint32_t) subsecondtmpreg; - sAlarm->AlarmDateWeekDay = (uint32_t)((tmpreg & (RTC_ALRMAR_DT | RTC_ALRMAR_DU)) >> 24U); - sAlarm->AlarmDateWeekDaySel = (uint32_t)(tmpreg & RTC_ALRMAR_WDSEL); - sAlarm->AlarmMask = (uint32_t)(tmpreg & RTC_ALARMMASK_ALL); - - if(Format == RTC_FORMAT_BIN) - { - sAlarm->AlarmTime.Hours = RTC_Bcd2ToByte(sAlarm->AlarmTime.Hours); - sAlarm->AlarmTime.Minutes = RTC_Bcd2ToByte(sAlarm->AlarmTime.Minutes); - sAlarm->AlarmTime.Seconds = RTC_Bcd2ToByte(sAlarm->AlarmTime.Seconds); - sAlarm->AlarmDateWeekDay = RTC_Bcd2ToByte(sAlarm->AlarmDateWeekDay); - } - - return HAL_OK; -} - -/** - * @brief This function handles Alarm interrupt request. - * @param hrtc pointer to a RTC_HandleTypeDef structure that contains - * the configuration information for RTC. - * @retval None - */ -void HAL_RTC_AlarmIRQHandler(RTC_HandleTypeDef* hrtc) -{ - /* Get the AlarmA interrupt source enable status */ - if(__HAL_RTC_ALARM_GET_IT_SOURCE(hrtc, RTC_IT_ALRA) != (uint32_t)RESET) - { - /* Get the pending status of the AlarmA Interrupt */ - if(__HAL_RTC_ALARM_GET_FLAG(hrtc, RTC_FLAG_ALRAF) != (uint32_t)RESET) - { - /* AlarmA callback */ - #if (USE_HAL_RTC_REGISTER_CALLBACKS == 1) - hrtc->AlarmAEventCallback(hrtc); - #else - HAL_RTC_AlarmAEventCallback(hrtc); - #endif /* USE_HAL_RTC_REGISTER_CALLBACKS */ - - /* Clear the AlarmA interrupt pending bit */ - __HAL_RTC_ALARM_CLEAR_FLAG(hrtc,RTC_FLAG_ALRAF); - } - } - - /* Get the AlarmB interrupt source enable status */ - if(__HAL_RTC_ALARM_GET_IT_SOURCE(hrtc, RTC_IT_ALRB) != (uint32_t)RESET) - { - /* Get the pending status of the AlarmB Interrupt */ - if(__HAL_RTC_ALARM_GET_FLAG(hrtc, RTC_FLAG_ALRBF) != (uint32_t)RESET) - { - /* AlarmB callback */ - #if (USE_HAL_RTC_REGISTER_CALLBACKS == 1) - hrtc->AlarmBEventCallback(hrtc); - #else - HAL_RTCEx_AlarmBEventCallback(hrtc); - #endif /* USE_HAL_RTC_REGISTER_CALLBACKS */ - - /* Clear the AlarmB interrupt pending bit */ - __HAL_RTC_ALARM_CLEAR_FLAG(hrtc,RTC_FLAG_ALRBF); - } - } - - /* Clear the EXTI's line Flag for RTC Alarm */ - __HAL_RTC_ALARM_EXTI_CLEAR_FLAG(); - - /* Change RTC state */ - hrtc->State = HAL_RTC_STATE_READY; -} - -/** - * @brief Alarm A callback. - * @param hrtc pointer to a RTC_HandleTypeDef structure that contains - * the configuration information for RTC. - * @retval None - */ -__weak void HAL_RTC_AlarmAEventCallback(RTC_HandleTypeDef *hrtc) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hrtc); - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_RTC_AlarmAEventCallback could be implemented in the user file - */ -} - -/** - * @brief This function handles AlarmA Polling request. - * @param hrtc pointer to a RTC_HandleTypeDef structure that contains - * the configuration information for RTC. - * @param Timeout Timeout duration - * @retval HAL status - */ -HAL_StatusTypeDef HAL_RTC_PollForAlarmAEvent(RTC_HandleTypeDef *hrtc, uint32_t Timeout) -{ - uint32_t tickstart = 0U; - - /* Get tick */ - tickstart = HAL_GetTick(); - - while(__HAL_RTC_ALARM_GET_FLAG(hrtc, RTC_FLAG_ALRAF) == RESET) - { - if(Timeout != HAL_MAX_DELAY) - { - if((Timeout == 0U)||((HAL_GetTick() - tickstart ) > Timeout)) - { - hrtc->State = HAL_RTC_STATE_TIMEOUT; - return HAL_TIMEOUT; - } - } - } - - /* Clear the Alarm interrupt pending bit */ - __HAL_RTC_ALARM_CLEAR_FLAG(hrtc, RTC_FLAG_ALRAF); - - /* Change RTC state */ - hrtc->State = HAL_RTC_STATE_READY; - - return HAL_OK; -} - -/** - * @} - */ - -/** @defgroup RTC_Exported_Functions_Group4 Peripheral Control functions - * @brief Peripheral Control functions - * -@verbatim - =============================================================================== - ##### Peripheral Control functions ##### - =============================================================================== - [..] - This subsection provides functions allowing to - (+) Wait for RTC Time and Date Synchronization - -@endverbatim - * @{ - */ - -/** - * @brief Waits until the RTC Time and Date registers (RTC_TR and RTC_DR) are - * synchronized with RTC APB clock. - * @note The RTC Resynchronization mode is write protected, use the - * __HAL_RTC_WRITEPROTECTION_DISABLE() before calling this function. - * @note To read the calendar through the shadow registers after Calendar - * initialization, calendar update or after wake-up from low power modes - * the software must first clear the RSF flag. - * The software must then wait until it is set again before reading - * the calendar, which means that the calendar registers have been - * correctly copied into the RTC_TR and RTC_DR shadow registers. - * @param hrtc pointer to a RTC_HandleTypeDef structure that contains - * the configuration information for RTC. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_RTC_WaitForSynchro(RTC_HandleTypeDef* hrtc) -{ - uint32_t tickstart = 0U; - - /* Clear RSF flag */ - hrtc->Instance->ISR &= (uint32_t)RTC_RSF_MASK; - - /* Get tick */ - tickstart = HAL_GetTick(); - - /* Wait the registers to be synchronised */ - while((hrtc->Instance->ISR & RTC_ISR_RSF) == (uint32_t)RESET) - { - if((HAL_GetTick() - tickstart ) > RTC_TIMEOUT_VALUE) - { - return HAL_TIMEOUT; - } - } - - return HAL_OK; -} - -/** - * @} - */ - -/** @defgroup RTC_Exported_Functions_Group5 Peripheral State functions - * @brief Peripheral State functions - * -@verbatim - =============================================================================== - ##### Peripheral State functions ##### - =============================================================================== - [..] - This subsection provides functions allowing to - (+) Get RTC state - -@endverbatim - * @{ - */ -/** - * @brief Returns the RTC state. - * @param hrtc pointer to a RTC_HandleTypeDef structure that contains - * the configuration information for RTC. - * @retval HAL state - */ -HAL_RTCStateTypeDef HAL_RTC_GetState(RTC_HandleTypeDef* hrtc) -{ - return hrtc->State; -} - -/** - * @brief Daylight Saving Time, Add one hour to the calendar in one single operation - * without going through the initialization procedure. - * @param hrtc RTC handle - * @retval None - */ -void HAL_RTC_DST_Add1Hour(RTC_HandleTypeDef *hrtc) -{ - __HAL_RTC_WRITEPROTECTION_DISABLE(hrtc); - SET_BIT(hrtc->Instance->CR, RTC_CR_ADD1H); - __HAL_RTC_WRITEPROTECTION_ENABLE(hrtc); -} - -/** - * @brief Daylight Saving Time, Substract one hour from the calendar in one - * single operation without going through the initialization procedure. - * @param hrtc RTC handle - * @retval None - */ -void HAL_RTC_DST_Sub1Hour(RTC_HandleTypeDef *hrtc) -{ - __HAL_RTC_WRITEPROTECTION_DISABLE(hrtc); - SET_BIT(hrtc->Instance->CR, RTC_CR_SUB1H); - __HAL_RTC_WRITEPROTECTION_ENABLE(hrtc); -} - -/** - * @brief Daylight Saving Time, Set the store operation bit. - * @note It can be used by the software in order to memorize the DST status. - * @param hrtc RTC handle - * @retval None - */ -void HAL_RTC_DST_SetStoreOperation(RTC_HandleTypeDef *hrtc) -{ - __HAL_RTC_WRITEPROTECTION_DISABLE(hrtc); - SET_BIT(hrtc->Instance->CR, RTC_CR_BKP); - __HAL_RTC_WRITEPROTECTION_ENABLE(hrtc); -} - -/** - * @brief Daylight Saving Time, Clear the store operation bit. - * @param hrtc RTC handle - * @retval None - */ -void HAL_RTC_DST_ClearStoreOperation(RTC_HandleTypeDef *hrtc) -{ - __HAL_RTC_WRITEPROTECTION_DISABLE(hrtc); - CLEAR_BIT(hrtc->Instance->CR, RTC_CR_BKP); - __HAL_RTC_WRITEPROTECTION_ENABLE(hrtc); -} - -/** - * @brief Daylight Saving Time, Read the store operation bit. - * @param hrtc RTC handle - * @retval operation see RTC_StoreOperation_Definitions - */ -uint32_t HAL_RTC_DST_ReadStoreOperation(RTC_HandleTypeDef *hrtc) -{ - return READ_BIT(hrtc->Instance->CR, RTC_CR_BKP); -} - -/** - * @} - */ - -/** - * @brief Enters the RTC Initialization mode. - * @note The RTC Initialization mode is write protected, use the - * __HAL_RTC_WRITEPROTECTION_DISABLE() before calling this function. - * @param hrtc pointer to a RTC_HandleTypeDef structure that contains - * the configuration information for RTC. - * @retval HAL status - */ -HAL_StatusTypeDef RTC_EnterInitMode(RTC_HandleTypeDef* hrtc) -{ - uint32_t tickstart = 0U; - - /* Check if the Initialization mode is set */ - if((hrtc->Instance->ISR & RTC_ISR_INITF) == (uint32_t)RESET) - { - /* Set the Initialization mode */ - hrtc->Instance->ISR = (uint32_t)RTC_INIT_MASK; - - /* Get tick */ - tickstart = HAL_GetTick(); - - /* Wait till RTC is in INIT state and if Time out is reached exit */ - while((hrtc->Instance->ISR & RTC_ISR_INITF) == (uint32_t)RESET) - { - if((HAL_GetTick() - tickstart ) > RTC_TIMEOUT_VALUE) - { - return HAL_TIMEOUT; - } - } - } - - return HAL_OK; -} - - -/** - * @brief Converts a 2 digit decimal to BCD format. - * @param Value Byte to be converted - * @retval Converted byte - */ -uint8_t RTC_ByteToBcd2(uint8_t Value) -{ - uint32_t bcdhigh = 0U; - - while(Value >= 10U) - { - bcdhigh++; - Value -= 10U; - } - - return ((uint8_t)(bcdhigh << 4U) | Value); -} - -/** - * @brief Converts from 2 digit BCD to Binary. - * @param Value BCD value to be converted - * @retval Converted word - */ -uint8_t RTC_Bcd2ToByte(uint8_t Value) -{ - uint32_t tmp = 0U; - tmp = ((uint8_t)(Value & (uint8_t)0xF0) >> (uint8_t)0x4) * 10; - return (tmp + (Value & (uint8_t)0x0F)); -} - -/** - * @} - */ - -#endif /* HAL_RTC_MODULE_ENABLED */ -/** - * @} - */ - -/** - * @} - */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rtc_ex.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rtc_ex.c deleted file mode 100644 index 8e07b4e22e10be..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rtc_ex.c +++ /dev/null @@ -1,1784 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_rtc_ex.c - * @author MCD Application Team - * @brief RTC HAL module driver. - * This file provides firmware functions to manage the following - * functionalities of the Real Time Clock (RTC) Extension peripheral: - * + RTC Time Stamp functions - * + RTC Tamper functions - * + RTC Wake-up functions - * + Extension Control functions - * + Extension RTC features functions - * - @verbatim - ============================================================================== - ##### How to use this driver ##### - ============================================================================== - [..] - (+) Enable the RTC domain access. - (+) Configure the RTC Prescaler (Asynchronous and Synchronous) and RTC hour - format using the HAL_RTC_Init() function. - - *** RTC Wake-up configuration *** - ================================ - [..] - (+) To configure the RTC Wake-up Clock source and Counter use the HAL_RTCEx_SetWakeUpTimer() - function. You can also configure the RTC Wake-up timer in interrupt mode - using the HAL_RTCEx_SetWakeUpTimer_IT() function. - (+) To read the RTC Wake-up Counter register, use the HAL_RTCEx_GetWakeUpTimer() - function. - - *** TimeStamp configuration *** - =============================== - [..] - (+) Configure the RTC_AFx trigger and enable the RTC TimeStamp using the - HAL_RTCEx_SetTimeStamp() function. You can also configure the RTC TimeStamp with - interrupt mode using the HAL_RTCEx_SetTimeStamp_IT() function. - (+) To read the RTC TimeStamp Time and Date register, use the HAL_RTCEx_GetTimeStamp() - function. - (+) The TIMESTAMP alternate function can be mapped either to RTC_AF1 (PC13) - or RTC_AF2 (PI8 or PA0 only for STM32F446xx devices) depending on the value of TSINSEL bit in - RTC_TAFCR register. The corresponding pin is also selected by HAL_RTCEx_SetTimeStamp() - or HAL_RTCEx_SetTimeStamp_IT() function. - - *** Tamper configuration *** - ============================ - [..] - (+) Enable the RTC Tamper and configure the Tamper filter count, trigger Edge - or Level according to the Tamper filter (if equal to 0 Edge else Level) - value, sampling frequency, precharge or discharge and Pull-UP using the - HAL_RTCEx_SetTamper() function. You can configure RTC Tamper in interrupt - mode using HAL_RTCEx_SetTamper_IT() function. - (+) The TAMPER1 alternate function can be mapped either to RTC_AF1 (PC13) - or RTC_AF2 (PI8 or PA0 only for STM32F446xx devices) depending on the value of TAMP1INSEL bit in - RTC_TAFCR register. The corresponding pin is also selected by HAL_RTCEx_SetTamper() - or HAL_RTCEx_SetTamper_IT() function. - - *** Backup Data Registers configuration *** - =========================================== - [..] - (+) To write to the RTC Backup Data registers, use the HAL_RTCEx_BKUPWrite() - function. - (+) To read the RTC Backup Data registers, use the HAL_RTCEx_BKUPRead() - function. - - @endverbatim - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @defgroup RTCEx RTCEx - * @brief RTC HAL module driver - * @{ - */ - -#ifdef HAL_RTC_MODULE_ENABLED - -/* Private typedef -----------------------------------------------------------*/ -/* Private define ------------------------------------------------------------*/ -/* Private macro -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private function prototypes -----------------------------------------------*/ -/* Private functions ---------------------------------------------------------*/ - -/** @defgroup RTCEx_Exported_Functions RTCEx Exported Functions - * @{ - */ - -/** @defgroup RTCEx_Exported_Functions_Group1 RTC TimeStamp and Tamper functions - * @brief RTC TimeStamp and Tamper functions - * -@verbatim - =============================================================================== - ##### RTC TimeStamp and Tamper functions ##### - =============================================================================== - - [..] This section provides functions allowing to configure TimeStamp feature - -@endverbatim - * @{ - */ - -/** - * @brief Sets TimeStamp. - * @note This API must be called before enabling the TimeStamp feature. - * @param hrtc pointer to a RTC_HandleTypeDef structure that contains - * the configuration information for RTC. - * @param TimeStampEdge Specifies the pin edge on which the TimeStamp is - * activated. - * This parameter can be one of the following values: - * @arg RTC_TIMESTAMPEDGE_RISING: the Time stamp event occurs on the - * rising edge of the related pin. - * @arg RTC_TIMESTAMPEDGE_FALLING: the Time stamp event occurs on the - * falling edge of the related pin. - * @param RTC_TimeStampPin specifies the RTC TimeStamp Pin. - * This parameter can be one of the following values: - * @arg RTC_TIMESTAMPPIN_DEFAULT: PC13 is selected as RTC TimeStamp Pin. - * @arg RTC_TIMESTAMPPIN_POS1: PI8/PA0 is selected as RTC TimeStamp Pin. - * (not applicable in the case of STM32F412xx, STM32F413xx and STM32F423xx devices) - * (PI8 for all STM32 devices except for STM32F446xx devices the PA0 is used) - * @arg RTC_TIMESTAMPPIN_PA0: PA0 is selected as RTC TimeStamp Pin only for STM32F446xx devices - * @retval HAL status - */ -HAL_StatusTypeDef HAL_RTCEx_SetTimeStamp(RTC_HandleTypeDef *hrtc, uint32_t TimeStampEdge, uint32_t RTC_TimeStampPin) -{ - uint32_t tmpreg = 0U; - - /* Check the parameters */ - assert_param(IS_TIMESTAMP_EDGE(TimeStampEdge)); - assert_param(IS_RTC_TIMESTAMP_PIN(RTC_TimeStampPin)); - - /* Process Locked */ - __HAL_LOCK(hrtc); - - hrtc->State = HAL_RTC_STATE_BUSY; - - /* Get the RTC_CR register and clear the bits to be configured */ - tmpreg = (uint32_t)(hrtc->Instance->CR & (uint32_t)~(RTC_CR_TSEDGE | RTC_CR_TSE)); - - tmpreg|= TimeStampEdge; - - /* Disable the write protection for RTC registers */ - __HAL_RTC_WRITEPROTECTION_DISABLE(hrtc); - - hrtc->Instance->TAFCR &= (uint32_t)~RTC_TAFCR_TSINSEL; - hrtc->Instance->TAFCR |= (uint32_t)(RTC_TimeStampPin); - - /* Configure the Time Stamp TSEDGE and Enable bits */ - hrtc->Instance->CR = (uint32_t)tmpreg; - - __HAL_RTC_TIMESTAMP_ENABLE(hrtc); - - /* Enable the write protection for RTC registers */ - __HAL_RTC_WRITEPROTECTION_ENABLE(hrtc); - - /* Change RTC state */ - hrtc->State = HAL_RTC_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hrtc); - - return HAL_OK; -} - -/** - * @brief Sets TimeStamp with Interrupt. - * @param hrtc pointer to a RTC_HandleTypeDef structure that contains - * the configuration information for RTC. - * @note This API must be called before enabling the TimeStamp feature. - * @param TimeStampEdge Specifies the pin edge on which the TimeStamp is - * activated. - * This parameter can be one of the following values: - * @arg RTC_TIMESTAMPEDGE_RISING: the Time stamp event occurs on the - * rising edge of the related pin. - * @arg RTC_TIMESTAMPEDGE_FALLING: the Time stamp event occurs on the - * falling edge of the related pin. - * @param RTC_TimeStampPin Specifies the RTC TimeStamp Pin. - * This parameter can be one of the following values: - * @arg RTC_TIMESTAMPPIN_DEFAULT: PC13 is selected as RTC TimeStamp Pin. - * @arg RTC_TIMESTAMPPIN_PI8: PI8 is selected as RTC TimeStamp Pin. (not applicable in the case of STM32F446xx, STM32F412xx, STM32F413xx and STM32F423xx devices) - * @arg RTC_TIMESTAMPPIN_PA0: PA0 is selected as RTC TimeStamp Pin only for STM32F446xx devices - * @retval HAL status - */ -HAL_StatusTypeDef HAL_RTCEx_SetTimeStamp_IT(RTC_HandleTypeDef *hrtc, uint32_t TimeStampEdge, uint32_t RTC_TimeStampPin) -{ - uint32_t tmpreg = 0U; - - /* Check the parameters */ - assert_param(IS_TIMESTAMP_EDGE(TimeStampEdge)); - assert_param(IS_RTC_TIMESTAMP_PIN(RTC_TimeStampPin)); - - /* Process Locked */ - __HAL_LOCK(hrtc); - - hrtc->State = HAL_RTC_STATE_BUSY; - - /* Get the RTC_CR register and clear the bits to be configured */ - tmpreg = (uint32_t)(hrtc->Instance->CR & (uint32_t)~(RTC_CR_TSEDGE | RTC_CR_TSE)); - - tmpreg |= TimeStampEdge; - - /* Disable the write protection for RTC registers */ - __HAL_RTC_WRITEPROTECTION_DISABLE(hrtc); - - /* Configure the Time Stamp TSEDGE and Enable bits */ - hrtc->Instance->CR = (uint32_t)tmpreg; - - hrtc->Instance->TAFCR &= (uint32_t)~RTC_TAFCR_TSINSEL; - hrtc->Instance->TAFCR |= (uint32_t)(RTC_TimeStampPin); - - /* Clear RTC Timestamp flag */ - __HAL_RTC_TIMESTAMP_CLEAR_FLAG(hrtc, RTC_FLAG_TSF); - - __HAL_RTC_TIMESTAMP_ENABLE(hrtc); - - /* Enable IT timestamp */ - __HAL_RTC_TIMESTAMP_ENABLE_IT(hrtc,RTC_IT_TS); - - /* RTC timestamp Interrupt Configuration: EXTI configuration */ - __HAL_RTC_TAMPER_TIMESTAMP_EXTI_ENABLE_IT(); - - EXTI->RTSR |= RTC_EXTI_LINE_TAMPER_TIMESTAMP_EVENT; - - /* Enable the write protection for RTC registers */ - __HAL_RTC_WRITEPROTECTION_ENABLE(hrtc); - - hrtc->State = HAL_RTC_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hrtc); - - return HAL_OK; -} - -/** - * @brief Deactivates TimeStamp. - * @param hrtc pointer to a RTC_HandleTypeDef structure that contains - * the configuration information for RTC. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_RTCEx_DeactivateTimeStamp(RTC_HandleTypeDef *hrtc) -{ - uint32_t tmpreg = 0U; - - /* Process Locked */ - __HAL_LOCK(hrtc); - - hrtc->State = HAL_RTC_STATE_BUSY; - - /* Disable the write protection for RTC registers */ - __HAL_RTC_WRITEPROTECTION_DISABLE(hrtc); - - /* In case of interrupt mode is used, the interrupt source must disabled */ - __HAL_RTC_TIMESTAMP_DISABLE_IT(hrtc, RTC_IT_TS); - - /* Get the RTC_CR register and clear the bits to be configured */ - tmpreg = (uint32_t)(hrtc->Instance->CR & (uint32_t)~(RTC_CR_TSEDGE | RTC_CR_TSE)); - - /* Configure the Time Stamp TSEDGE and Enable bits */ - hrtc->Instance->CR = (uint32_t)tmpreg; - - /* Enable the write protection for RTC registers */ - __HAL_RTC_WRITEPROTECTION_ENABLE(hrtc); - - hrtc->State = HAL_RTC_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hrtc); - - return HAL_OK; -} - -/** - * @brief Gets the RTC TimeStamp value. - * @param hrtc pointer to a RTC_HandleTypeDef structure that contains - * the configuration information for RTC. - * @param sTimeStamp Pointer to Time structure - * @param sTimeStampDate Pointer to Date structure - * @param Format specifies the format of the entered parameters. - * This parameter can be one of the following values: - * RTC_FORMAT_BIN: Binary data format - * RTC_FORMAT_BCD: BCD data format - * @retval HAL status - */ -HAL_StatusTypeDef HAL_RTCEx_GetTimeStamp(RTC_HandleTypeDef *hrtc, RTC_TimeTypeDef* sTimeStamp, RTC_DateTypeDef* sTimeStampDate, uint32_t Format) -{ - uint32_t tmptime = 0U, tmpdate = 0U; - - /* Check the parameters */ - assert_param(IS_RTC_FORMAT(Format)); - - /* Get the TimeStamp time and date registers values */ - tmptime = (uint32_t)(hrtc->Instance->TSTR & RTC_TR_RESERVED_MASK); - tmpdate = (uint32_t)(hrtc->Instance->TSDR & RTC_DR_RESERVED_MASK); - - /* Fill the Time structure fields with the read parameters */ - sTimeStamp->Hours = (uint8_t)((tmptime & (RTC_TR_HT | RTC_TR_HU)) >> 16U); - sTimeStamp->Minutes = (uint8_t)((tmptime & (RTC_TR_MNT | RTC_TR_MNU)) >> 8U); - sTimeStamp->Seconds = (uint8_t)(tmptime & (RTC_TR_ST | RTC_TR_SU)); - sTimeStamp->TimeFormat = (uint8_t)((tmptime & (RTC_TR_PM)) >> 16U); - sTimeStamp->SubSeconds = (uint32_t) hrtc->Instance->TSSSR; - - /* Fill the Date structure fields with the read parameters */ - sTimeStampDate->Year = 0U; - sTimeStampDate->Month = (uint8_t)((tmpdate & (RTC_DR_MT | RTC_DR_MU)) >> 8U); - sTimeStampDate->Date = (uint8_t)(tmpdate & (RTC_DR_DT | RTC_DR_DU)); - sTimeStampDate->WeekDay = (uint8_t)((tmpdate & (RTC_DR_WDU)) >> 13U); - - /* Check the input parameters format */ - if(Format == RTC_FORMAT_BIN) - { - /* Convert the TimeStamp structure parameters to Binary format */ - sTimeStamp->Hours = (uint8_t)RTC_Bcd2ToByte(sTimeStamp->Hours); - sTimeStamp->Minutes = (uint8_t)RTC_Bcd2ToByte(sTimeStamp->Minutes); - sTimeStamp->Seconds = (uint8_t)RTC_Bcd2ToByte(sTimeStamp->Seconds); - - /* Convert the DateTimeStamp structure parameters to Binary format */ - sTimeStampDate->Month = (uint8_t)RTC_Bcd2ToByte(sTimeStampDate->Month); - sTimeStampDate->Date = (uint8_t)RTC_Bcd2ToByte(sTimeStampDate->Date); - sTimeStampDate->WeekDay = (uint8_t)RTC_Bcd2ToByte(sTimeStampDate->WeekDay); - } - - /* Clear the TIMESTAMP Flag */ - __HAL_RTC_TIMESTAMP_CLEAR_FLAG(hrtc, RTC_FLAG_TSF); - - return HAL_OK; -} - -/** - * @brief Sets Tamper - * @note By calling this API we disable the tamper interrupt for all tampers. - * @param hrtc pointer to a RTC_HandleTypeDef structure that contains - * the configuration information for RTC. - * @param sTamper Pointer to Tamper Structure. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_RTCEx_SetTamper(RTC_HandleTypeDef *hrtc, RTC_TamperTypeDef* sTamper) -{ - uint32_t tmpreg = 0U; - - /* Check the parameters */ - assert_param(IS_RTC_TAMPER(sTamper->Tamper)); - assert_param(IS_RTC_TAMPER_PIN(sTamper->PinSelection)); - assert_param(IS_RTC_TAMPER_TRIGGER(sTamper->Trigger)); - assert_param(IS_RTC_TAMPER_FILTER(sTamper->Filter)); - assert_param(IS_RTC_TAMPER_SAMPLING_FREQ(sTamper->SamplingFrequency)); - assert_param(IS_RTC_TAMPER_PRECHARGE_DURATION(sTamper->PrechargeDuration)); - assert_param(IS_RTC_TAMPER_PULLUP_STATE(sTamper->TamperPullUp)); - assert_param(IS_RTC_TAMPER_TIMESTAMPONTAMPER_DETECTION(sTamper->TimeStampOnTamperDetection)); - - /* Process Locked */ - __HAL_LOCK(hrtc); - - hrtc->State = HAL_RTC_STATE_BUSY; - - if(sTamper->Trigger != RTC_TAMPERTRIGGER_RISINGEDGE) - { - sTamper->Trigger = (uint32_t)(sTamper->Tamper << 1U); - } - - tmpreg = ((uint32_t)sTamper->Tamper | (uint32_t)sTamper->PinSelection | (uint32_t)sTamper->Trigger |\ - (uint32_t)sTamper->Filter | (uint32_t)sTamper->SamplingFrequency | (uint32_t)sTamper->PrechargeDuration |\ - (uint32_t)sTamper->TamperPullUp | sTamper->TimeStampOnTamperDetection); - - hrtc->Instance->TAFCR &= (uint32_t)~((uint32_t)sTamper->Tamper | (uint32_t)(sTamper->Tamper << 1U) | (uint32_t)RTC_TAFCR_TAMPTS |\ - (uint32_t)RTC_TAFCR_TAMPFREQ | (uint32_t)RTC_TAFCR_TAMPFLT | (uint32_t)RTC_TAFCR_TAMPPRCH |\ - (uint32_t)RTC_TAFCR_TAMPPUDIS | (uint32_t)RTC_TAFCR_TAMPINSEL | (uint32_t)RTC_TAFCR_TAMPIE); - - hrtc->Instance->TAFCR |= tmpreg; - - hrtc->State = HAL_RTC_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hrtc); - - return HAL_OK; -} - -/** - * @brief Sets Tamper with interrupt. - * @note By calling this API we force the tamper interrupt for all tampers. - * @param hrtc pointer to a RTC_HandleTypeDef structure that contains - * the configuration information for RTC. - * @param sTamper Pointer to RTC Tamper. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_RTCEx_SetTamper_IT(RTC_HandleTypeDef *hrtc, RTC_TamperTypeDef* sTamper) -{ - uint32_t tmpreg = 0U; - - /* Check the parameters */ - assert_param(IS_RTC_TAMPER(sTamper->Tamper)); - assert_param(IS_RTC_TAMPER_PIN(sTamper->PinSelection)); - assert_param(IS_RTC_TAMPER_TRIGGER(sTamper->Trigger)); - assert_param(IS_RTC_TAMPER_FILTER(sTamper->Filter)); - assert_param(IS_RTC_TAMPER_SAMPLING_FREQ(sTamper->SamplingFrequency)); - assert_param(IS_RTC_TAMPER_PRECHARGE_DURATION(sTamper->PrechargeDuration)); - assert_param(IS_RTC_TAMPER_PULLUP_STATE(sTamper->TamperPullUp)); - assert_param(IS_RTC_TAMPER_TIMESTAMPONTAMPER_DETECTION(sTamper->TimeStampOnTamperDetection)); - - /* Process Locked */ - __HAL_LOCK(hrtc); - - hrtc->State = HAL_RTC_STATE_BUSY; - - /* Configure the tamper trigger */ - if(sTamper->Trigger != RTC_TAMPERTRIGGER_RISINGEDGE) - { - sTamper->Trigger = (uint32_t)(sTamper->Tamper << 1U); - } - - tmpreg = ((uint32_t)sTamper->Tamper | (uint32_t)sTamper->PinSelection | (uint32_t)sTamper->Trigger |\ - (uint32_t)sTamper->Filter | (uint32_t)sTamper->SamplingFrequency | (uint32_t)sTamper->PrechargeDuration |\ - (uint32_t)sTamper->TamperPullUp | sTamper->TimeStampOnTamperDetection); - - hrtc->Instance->TAFCR &= (uint32_t)~((uint32_t)sTamper->Tamper | (uint32_t)(sTamper->Tamper << 1U) | (uint32_t)RTC_TAFCR_TAMPTS |\ - (uint32_t)RTC_TAFCR_TAMPFREQ | (uint32_t)RTC_TAFCR_TAMPFLT | (uint32_t)RTC_TAFCR_TAMPPRCH |\ - (uint32_t)RTC_TAFCR_TAMPPUDIS | (uint32_t)RTC_TAFCR_TAMPINSEL); - - hrtc->Instance->TAFCR |= tmpreg; - - /* Configure the Tamper Interrupt in the RTC_TAFCR */ - hrtc->Instance->TAFCR |= (uint32_t)RTC_TAFCR_TAMPIE; - - if(sTamper->Tamper == RTC_TAMPER_1) - { - /* Clear RTC Tamper 1 flag */ - __HAL_RTC_TAMPER_CLEAR_FLAG(hrtc, RTC_FLAG_TAMP1F); - } - else - { - /* Clear RTC Tamper 2 flag */ - __HAL_RTC_TAMPER_CLEAR_FLAG(hrtc, RTC_FLAG_TAMP2F); - } - - /* RTC Tamper Interrupt Configuration: EXTI configuration */ - __HAL_RTC_TAMPER_TIMESTAMP_EXTI_ENABLE_IT(); - - EXTI->RTSR |= RTC_EXTI_LINE_TAMPER_TIMESTAMP_EVENT; - - hrtc->State = HAL_RTC_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hrtc); - - return HAL_OK; -} - -/** - * @brief Deactivates Tamper. - * @param hrtc pointer to a RTC_HandleTypeDef structure that contains - * the configuration information for RTC. - * @param Tamper Selected tamper pin. - * This parameter can be RTC_Tamper_1 and/or RTC_TAMPER_2. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_RTCEx_DeactivateTamper(RTC_HandleTypeDef *hrtc, uint32_t Tamper) -{ - assert_param(IS_RTC_TAMPER(Tamper)); - - /* Process Locked */ - __HAL_LOCK(hrtc); - - hrtc->State = HAL_RTC_STATE_BUSY; - - /* Disable the selected Tamper pin */ - hrtc->Instance->TAFCR &= (uint32_t)~Tamper; - - hrtc->State = HAL_RTC_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hrtc); - - return HAL_OK; -} - -/** - * @brief This function handles TimeStamp interrupt request. - * @param hrtc pointer to a RTC_HandleTypeDef structure that contains - * the configuration information for RTC. - * @retval None - */ -void HAL_RTCEx_TamperTimeStampIRQHandler(RTC_HandleTypeDef *hrtc) -{ - /* Get the TimeStamp interrupt source enable status */ - if(__HAL_RTC_TIMESTAMP_GET_IT_SOURCE(hrtc, RTC_IT_TS) != (uint32_t)RESET) - { - /* Get the pending status of the TIMESTAMP Interrupt */ - if(__HAL_RTC_TIMESTAMP_GET_FLAG(hrtc, RTC_FLAG_TSF) != (uint32_t)RESET) - { - /* TIMESTAMP callback */ -#if (USE_HAL_RTC_REGISTER_CALLBACKS == 1) - hrtc->TimeStampEventCallback(hrtc); -#else - HAL_RTCEx_TimeStampEventCallback(hrtc); -#endif /* USE_HAL_RTC_REGISTER_CALLBACKS */ - - /* Clear the TIMESTAMP interrupt pending bit */ - __HAL_RTC_TIMESTAMP_CLEAR_FLAG(hrtc,RTC_FLAG_TSF); - } - } - - /* Get the Tamper1 interrupt source enable status */ - if(__HAL_RTC_TAMPER_GET_IT_SOURCE(hrtc, RTC_IT_TAMP) != (uint32_t)RESET) - { - /* Get the pending status of the Tamper1 Interrupt */ - if(__HAL_RTC_TAMPER_GET_FLAG(hrtc, RTC_FLAG_TAMP1F) != (uint32_t)RESET) - { - /* Tamper callback */ -#if (USE_HAL_RTC_REGISTER_CALLBACKS == 1) - hrtc->Tamper1EventCallback(hrtc); -#else - HAL_RTCEx_Tamper1EventCallback(hrtc); -#endif /* USE_HAL_RTC_REGISTER_CALLBACKS */ - - /* Clear the Tamper interrupt pending bit */ - __HAL_RTC_TAMPER_CLEAR_FLAG(hrtc,RTC_FLAG_TAMP1F); - } - } - - /* Get the Tamper2 interrupt source enable status */ - if(__HAL_RTC_TAMPER_GET_IT_SOURCE(hrtc, RTC_IT_TAMP) != (uint32_t)RESET) - { - /* Get the pending status of the Tamper2 Interrupt */ - if(__HAL_RTC_TAMPER_GET_FLAG(hrtc, RTC_FLAG_TAMP2F) != (uint32_t)RESET) - { - /* Tamper callback */ -#if (USE_HAL_RTC_REGISTER_CALLBACKS == 1) - hrtc->Tamper2EventCallback(hrtc); -#else - HAL_RTCEx_Tamper2EventCallback(hrtc); -#endif /* USE_HAL_RTC_REGISTER_CALLBACKS */ - - /* Clear the Tamper interrupt pending bit */ - __HAL_RTC_TAMPER_CLEAR_FLAG(hrtc, RTC_FLAG_TAMP2F); - } - } - - /* Clear the EXTI's Flag for RTC TimeStamp and Tamper */ - __HAL_RTC_TAMPER_TIMESTAMP_EXTI_CLEAR_FLAG(); - - /* Change RTC state */ - hrtc->State = HAL_RTC_STATE_READY; -} - -/** - * @brief TimeStamp callback. - * @param hrtc pointer to a RTC_HandleTypeDef structure that contains - * the configuration information for RTC. - * @retval None - */ -__weak void HAL_RTCEx_TimeStampEventCallback(RTC_HandleTypeDef *hrtc) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hrtc); - /* NOTE : This function Should not be modified, when the callback is needed, - the HAL_RTC_TimeStampEventCallback could be implemented in the user file - */ -} - -/** - * @brief Tamper 1 callback. - * @param hrtc pointer to a RTC_HandleTypeDef structure that contains - * the configuration information for RTC. - * @retval None - */ -__weak void HAL_RTCEx_Tamper1EventCallback(RTC_HandleTypeDef *hrtc) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hrtc); - /* NOTE : This function Should not be modified, when the callback is needed, - the HAL_RTC_Tamper1EventCallback could be implemented in the user file - */ -} - -/** - * @brief Tamper 2 callback. - * @param hrtc pointer to a RTC_HandleTypeDef structure that contains - * the configuration information for RTC. - * @retval None - */ -__weak void HAL_RTCEx_Tamper2EventCallback(RTC_HandleTypeDef *hrtc) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hrtc); - /* NOTE : This function Should not be modified, when the callback is needed, - the HAL_RTC_Tamper2EventCallback could be implemented in the user file - */ -} - -/** - * @brief This function handles TimeStamp polling request. - * @param hrtc pointer to a RTC_HandleTypeDef structure that contains - * the configuration information for RTC. - * @param Timeout Timeout duration - * @retval HAL status - */ -HAL_StatusTypeDef HAL_RTCEx_PollForTimeStampEvent(RTC_HandleTypeDef *hrtc, uint32_t Timeout) -{ - uint32_t tickstart = 0U; - - /* Get tick */ - tickstart = HAL_GetTick(); - - while(__HAL_RTC_TIMESTAMP_GET_FLAG(hrtc, RTC_FLAG_TSF) == RESET) - { - if(__HAL_RTC_TIMESTAMP_GET_FLAG(hrtc, RTC_FLAG_TSOVF) != RESET) - { - /* Clear the TIMESTAMP Overrun Flag */ - __HAL_RTC_TIMESTAMP_CLEAR_FLAG(hrtc, RTC_FLAG_TSOVF); - - /* Change TIMESTAMP state */ - hrtc->State = HAL_RTC_STATE_ERROR; - - return HAL_ERROR; - } - - if(Timeout != HAL_MAX_DELAY) - { - if((Timeout == 0U)||((HAL_GetTick() - tickstart ) > Timeout)) - { - hrtc->State = HAL_RTC_STATE_TIMEOUT; - return HAL_TIMEOUT; - } - } - } - - /* Change RTC state */ - hrtc->State = HAL_RTC_STATE_READY; - - return HAL_OK; -} - -/** - * @brief This function handles Tamper1 Polling. - * @param hrtc pointer to a RTC_HandleTypeDef structure that contains - * the configuration information for RTC. - * @param Timeout Timeout duration - * @retval HAL status - */ -HAL_StatusTypeDef HAL_RTCEx_PollForTamper1Event(RTC_HandleTypeDef *hrtc, uint32_t Timeout) -{ - uint32_t tickstart = 0U; - - /* Get tick */ - tickstart = HAL_GetTick(); - - /* Get the status of the Interrupt */ - while(__HAL_RTC_TAMPER_GET_FLAG(hrtc, RTC_FLAG_TAMP1F)== RESET) - { - if(Timeout != HAL_MAX_DELAY) - { - if((Timeout == 0U)||((HAL_GetTick() - tickstart ) > Timeout)) - { - hrtc->State = HAL_RTC_STATE_TIMEOUT; - return HAL_TIMEOUT; - } - } - } - - /* Clear the Tamper Flag */ - __HAL_RTC_TAMPER_CLEAR_FLAG(hrtc,RTC_FLAG_TAMP1F); - - /* Change RTC state */ - hrtc->State = HAL_RTC_STATE_READY; - - return HAL_OK; -} - -/** - * @brief This function handles Tamper2 Polling. - * @param hrtc pointer to a RTC_HandleTypeDef structure that contains - * the configuration information for RTC. - * @param Timeout Timeout duration - * @retval HAL status - */ -HAL_StatusTypeDef HAL_RTCEx_PollForTamper2Event(RTC_HandleTypeDef *hrtc, uint32_t Timeout) -{ - uint32_t tickstart = 0U; - - /* Get tick */ - tickstart = HAL_GetTick(); - - /* Get the status of the Interrupt */ - while(__HAL_RTC_TAMPER_GET_FLAG(hrtc, RTC_FLAG_TAMP2F) == RESET) - { - if(Timeout != HAL_MAX_DELAY) - { - if((Timeout == 0U)||((HAL_GetTick() - tickstart ) > Timeout)) - { - hrtc->State = HAL_RTC_STATE_TIMEOUT; - return HAL_TIMEOUT; - } - } - } - - /* Clear the Tamper Flag */ - __HAL_RTC_TAMPER_CLEAR_FLAG(hrtc,RTC_FLAG_TAMP2F); - - /* Change RTC state */ - hrtc->State = HAL_RTC_STATE_READY; - - return HAL_OK; -} - -/** - * @} - */ - -/** @defgroup RTCEx_Exported_Functions_Group2 RTC Wake-up functions - * @brief RTC Wake-up functions - * -@verbatim - =============================================================================== - ##### RTC Wake-up functions ##### - =============================================================================== - - [..] This section provides functions allowing to configure Wake-up feature - -@endverbatim - * @{ - */ - -/** - * @brief Sets wake up timer. - * @param hrtc pointer to a RTC_HandleTypeDef structure that contains - * the configuration information for RTC. - * @param WakeUpCounter Wake up counter - * @param WakeUpClock Wake up clock - * @retval HAL status - */ -HAL_StatusTypeDef HAL_RTCEx_SetWakeUpTimer(RTC_HandleTypeDef *hrtc, uint32_t WakeUpCounter, uint32_t WakeUpClock) -{ - uint32_t tickstart = 0U; - - /* Check the parameters */ - assert_param(IS_RTC_WAKEUP_CLOCK(WakeUpClock)); - assert_param(IS_RTC_WAKEUP_COUNTER(WakeUpCounter)); - - /* Process Locked */ - __HAL_LOCK(hrtc); - - hrtc->State = HAL_RTC_STATE_BUSY; - - /* Disable the write protection for RTC registers */ - __HAL_RTC_WRITEPROTECTION_DISABLE(hrtc); - - /*Check RTC WUTWF flag is reset only when wake up timer enabled*/ - if((hrtc->Instance->CR & RTC_CR_WUTE) != RESET) - { - tickstart = HAL_GetTick(); - - /* Wait till RTC WUTWF flag is reset and if Time out is reached exit */ - while(__HAL_RTC_WAKEUPTIMER_GET_FLAG(hrtc, RTC_FLAG_WUTWF) == SET) - { - if((HAL_GetTick() - tickstart ) > RTC_TIMEOUT_VALUE) - { - /* Enable the write protection for RTC registers */ - __HAL_RTC_WRITEPROTECTION_ENABLE(hrtc); - - hrtc->State = HAL_RTC_STATE_TIMEOUT; - - /* Process Unlocked */ - __HAL_UNLOCK(hrtc); - - return HAL_TIMEOUT; - } - } - } - - __HAL_RTC_WAKEUPTIMER_DISABLE(hrtc); - - tickstart = HAL_GetTick(); - - /* Wait till RTC WUTWF flag is set and if Time out is reached exit */ - while(__HAL_RTC_WAKEUPTIMER_GET_FLAG(hrtc, RTC_FLAG_WUTWF) == RESET) - { - if((HAL_GetTick() - tickstart ) > RTC_TIMEOUT_VALUE) - { - /* Enable the write protection for RTC registers */ - __HAL_RTC_WRITEPROTECTION_ENABLE(hrtc); - - hrtc->State = HAL_RTC_STATE_TIMEOUT; - - /* Process Unlocked */ - __HAL_UNLOCK(hrtc); - - return HAL_TIMEOUT; - } - } - - /* Clear the Wake-up Timer clock source bits in CR register */ - hrtc->Instance->CR &= (uint32_t)~RTC_CR_WUCKSEL; - - /* Configure the clock source */ - hrtc->Instance->CR |= (uint32_t)WakeUpClock; - - /* Configure the Wake-up Timer counter */ - hrtc->Instance->WUTR = (uint32_t)WakeUpCounter; - - /* Enable the Wake-up Timer */ - __HAL_RTC_WAKEUPTIMER_ENABLE(hrtc); - - /* Enable the write protection for RTC registers */ - __HAL_RTC_WRITEPROTECTION_ENABLE(hrtc); - - hrtc->State = HAL_RTC_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hrtc); - - return HAL_OK; -} - -/** - * @brief Sets wake up timer with interrupt - * @param hrtc pointer to a RTC_HandleTypeDef structure that contains - * the configuration information for RTC. - * @param WakeUpCounter Wake up counter - * @param WakeUpClock Wake up clock - * @retval HAL status - */ -HAL_StatusTypeDef HAL_RTCEx_SetWakeUpTimer_IT(RTC_HandleTypeDef *hrtc, uint32_t WakeUpCounter, uint32_t WakeUpClock) -{ - __IO uint32_t count; - - /* Check the parameters */ - assert_param(IS_RTC_WAKEUP_CLOCK(WakeUpClock)); - assert_param(IS_RTC_WAKEUP_COUNTER(WakeUpCounter)); - - /* Process Locked */ - __HAL_LOCK(hrtc); - - hrtc->State = HAL_RTC_STATE_BUSY; - - /* Disable the write protection for RTC registers */ - __HAL_RTC_WRITEPROTECTION_DISABLE(hrtc); - - /* Check RTC WUTWF flag is reset only when wake up timer enabled */ - if((hrtc->Instance->CR & RTC_CR_WUTE) != RESET) - { - /* Wait till RTC WUTWF flag is reset and if Time out is reached exit */ - count = RTC_TIMEOUT_VALUE * (SystemCoreClock / 32U / 1000U); - do - { - if(count-- == 0U) - { - /* Enable the write protection for RTC registers */ - __HAL_RTC_WRITEPROTECTION_ENABLE(hrtc); - - hrtc->State = HAL_RTC_STATE_TIMEOUT; - - /* Process Unlocked */ - __HAL_UNLOCK(hrtc); - - return HAL_TIMEOUT; - } - } - while(__HAL_RTC_WAKEUPTIMER_GET_FLAG(hrtc, RTC_FLAG_WUTWF) == SET); - } - - __HAL_RTC_WAKEUPTIMER_DISABLE(hrtc); - - /* Wait till RTC WUTWF flag is set and if Time out is reached exit */ - count = RTC_TIMEOUT_VALUE * (SystemCoreClock / 32U / 1000U); - do - { - if(count-- == 0U) - { - /* Enable the write protection for RTC registers */ - __HAL_RTC_WRITEPROTECTION_ENABLE(hrtc); - - hrtc->State = HAL_RTC_STATE_TIMEOUT; - - /* Process Unlocked */ - __HAL_UNLOCK(hrtc); - - return HAL_TIMEOUT; - } - } - while(__HAL_RTC_WAKEUPTIMER_GET_FLAG(hrtc, RTC_FLAG_WUTWF) == RESET); - - /* Configure the Wake-up Timer counter */ - hrtc->Instance->WUTR = (uint32_t)WakeUpCounter; - - /* Clear the Wake-up Timer clock source bits in CR register */ - hrtc->Instance->CR &= (uint32_t)~RTC_CR_WUCKSEL; - - /* Configure the clock source */ - hrtc->Instance->CR |= (uint32_t)WakeUpClock; - - /* RTC WakeUpTimer Interrupt Configuration: EXTI configuration */ - __HAL_RTC_WAKEUPTIMER_EXTI_ENABLE_IT(); - - EXTI->RTSR |= RTC_EXTI_LINE_WAKEUPTIMER_EVENT; - - /* Clear RTC Wake Up timer Flag */ - __HAL_RTC_WAKEUPTIMER_CLEAR_FLAG(hrtc, RTC_FLAG_WUTF); - - /* Configure the Interrupt in the RTC_CR register */ - __HAL_RTC_WAKEUPTIMER_ENABLE_IT(hrtc,RTC_IT_WUT); - - /* Enable the Wake-up Timer */ - __HAL_RTC_WAKEUPTIMER_ENABLE(hrtc); - - /* Enable the write protection for RTC registers */ - __HAL_RTC_WRITEPROTECTION_ENABLE(hrtc); - - hrtc->State = HAL_RTC_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hrtc); - - return HAL_OK; -} - -/** - * @brief Deactivates wake up timer counter. - * @param hrtc pointer to a RTC_HandleTypeDef structure that contains - * the configuration information for RTC. - * @retval HAL status - */ -uint32_t HAL_RTCEx_DeactivateWakeUpTimer(RTC_HandleTypeDef *hrtc) -{ - uint32_t tickstart = 0U; - - /* Process Locked */ - __HAL_LOCK(hrtc); - - hrtc->State = HAL_RTC_STATE_BUSY; - - /* Disable the write protection for RTC registers */ - __HAL_RTC_WRITEPROTECTION_DISABLE(hrtc); - - /* Disable the Wake-up Timer */ - __HAL_RTC_WAKEUPTIMER_DISABLE(hrtc); - - /* In case of interrupt mode is used, the interrupt source must disabled */ - __HAL_RTC_WAKEUPTIMER_DISABLE_IT(hrtc,RTC_IT_WUT); - - /* Get tick */ - tickstart = HAL_GetTick(); - - /* Wait till RTC WUTWF flag is set and if Time out is reached exit */ - while(__HAL_RTC_WAKEUPTIMER_GET_FLAG(hrtc, RTC_FLAG_WUTWF) == RESET) - { - if((HAL_GetTick() - tickstart ) > RTC_TIMEOUT_VALUE) - { - /* Enable the write protection for RTC registers */ - __HAL_RTC_WRITEPROTECTION_ENABLE(hrtc); - - hrtc->State = HAL_RTC_STATE_TIMEOUT; - - /* Process Unlocked */ - __HAL_UNLOCK(hrtc); - - return HAL_TIMEOUT; - } - } - - /* Enable the write protection for RTC registers */ - __HAL_RTC_WRITEPROTECTION_ENABLE(hrtc); - - hrtc->State = HAL_RTC_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hrtc); - - return HAL_OK; -} - -/** - * @brief Gets wake up timer counter. - * @param hrtc pointer to a RTC_HandleTypeDef structure that contains - * the configuration information for RTC. - * @retval Counter value - */ -uint32_t HAL_RTCEx_GetWakeUpTimer(RTC_HandleTypeDef *hrtc) -{ - /* Get the counter value */ - return ((uint32_t)(hrtc->Instance->WUTR & RTC_WUTR_WUT)); -} - -/** - * @brief This function handles Wake Up Timer interrupt request. - * @note Unlike alarm interrupt line (shared by AlarmA and AlarmB) and tamper - * interrupt line (shared by timestamp and tampers) wakeup timer - * interrupt line is exclusive to the wakeup timer. - * There is no need in this case to check on the interrupt enable - * status via __HAL_RTC_WAKEUPTIMER_GET_IT_SOURCE(). - * @param hrtc pointer to a RTC_HandleTypeDef structure that contains - * the configuration information for RTC. - * @retval None - */ -void HAL_RTCEx_WakeUpTimerIRQHandler(RTC_HandleTypeDef *hrtc) -{ - /* Get the pending status of the WAKEUPTIMER Interrupt */ - if(__HAL_RTC_WAKEUPTIMER_GET_FLAG(hrtc, RTC_FLAG_WUTF) != (uint32_t)RESET) - { - /* WAKEUPTIMER callback */ -#if (USE_HAL_RTC_REGISTER_CALLBACKS == 1) - hrtc->WakeUpTimerEventCallback(hrtc); -#else - HAL_RTCEx_WakeUpTimerEventCallback(hrtc); -#endif /* USE_HAL_RTC_REGISTER_CALLBACKS */ - - /* Clear the WAKEUPTIMER interrupt pending bit */ - __HAL_RTC_WAKEUPTIMER_CLEAR_FLAG(hrtc, RTC_FLAG_WUTF); - } - - /* Clear the EXTI's line Flag for RTC WakeUpTimer */ - __HAL_RTC_WAKEUPTIMER_EXTI_CLEAR_FLAG(); - - /* Change RTC state */ - hrtc->State = HAL_RTC_STATE_READY; -} - -/** - * @brief Wake Up Timer callback. - * @param hrtc pointer to a RTC_HandleTypeDef structure that contains - * the configuration information for RTC. - * @retval None - */ -__weak void HAL_RTCEx_WakeUpTimerEventCallback(RTC_HandleTypeDef *hrtc) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hrtc); - /* NOTE : This function Should not be modified, when the callback is needed, - the HAL_RTC_WakeUpTimerEventCallback could be implemented in the user file - */ -} - -/** - * @brief This function handles Wake Up Timer Polling. - * @param hrtc pointer to a RTC_HandleTypeDef structure that contains - * the configuration information for RTC. - * @param Timeout Timeout duration - * @retval HAL status - */ -HAL_StatusTypeDef HAL_RTCEx_PollForWakeUpTimerEvent(RTC_HandleTypeDef *hrtc, uint32_t Timeout) -{ - uint32_t tickstart = 0U; - - /* Get tick */ - tickstart = HAL_GetTick(); - - while(__HAL_RTC_WAKEUPTIMER_GET_FLAG(hrtc, RTC_FLAG_WUTF) == RESET) - { - if(Timeout != HAL_MAX_DELAY) - { - if((Timeout == 0U)||((HAL_GetTick() - tickstart ) > Timeout)) - { - hrtc->State = HAL_RTC_STATE_TIMEOUT; - - return HAL_TIMEOUT; - } - } - } - - /* Clear the WAKEUPTIMER Flag */ - __HAL_RTC_WAKEUPTIMER_CLEAR_FLAG(hrtc, RTC_FLAG_WUTF); - - /* Change RTC state */ - hrtc->State = HAL_RTC_STATE_READY; - - return HAL_OK; -} - -/** - * @} - */ - - -/** @defgroup RTCEx_Exported_Functions_Group3 Extension Peripheral Control functions - * @brief Extension Peripheral Control functions - * -@verbatim - =============================================================================== - ##### Extension Peripheral Control functions ##### - =============================================================================== - [..] - This subsection provides functions allowing to - (+) Write a data in a specified RTC Backup data register - (+) Read a data in a specified RTC Backup data register - (+) Set the Coarse calibration parameters. - (+) Deactivate the Coarse calibration parameters - (+) Set the Smooth calibration parameters. - (+) Configure the Synchronization Shift Control Settings. - (+) Configure the Calibration Pinout (RTC_CALIB) Selection (1Hz or 512Hz). - (+) Deactivate the Calibration Pinout (RTC_CALIB) Selection (1Hz or 512Hz). - (+) Enable the RTC reference clock detection. - (+) Disable the RTC reference clock detection. - (+) Enable the Bypass Shadow feature. - (+) Disable the Bypass Shadow feature. - -@endverbatim - * @{ - */ - -/** - * @brief Writes a data in a specified RTC Backup data register. - * @param hrtc pointer to a RTC_HandleTypeDef structure that contains - * the configuration information for RTC. - * @param BackupRegister RTC Backup data Register number. - * This parameter can be: RTC_BKP_DRx where x can be from 0 to 19 to - * specify the register. - * @param Data Data to be written in the specified RTC Backup data register. - * @retval None - */ -void HAL_RTCEx_BKUPWrite(RTC_HandleTypeDef *hrtc, uint32_t BackupRegister, uint32_t Data) -{ - uint32_t tmp = 0U; - - /* Check the parameters */ - assert_param(IS_RTC_BKP(BackupRegister)); - - tmp = (uint32_t)&(hrtc->Instance->BKP0R); - tmp += (BackupRegister * 4U); - - /* Write the specified register */ - *(__IO uint32_t *)tmp = (uint32_t)Data; -} - -/** - * @brief Reads data from the specified RTC Backup data Register. - * @param hrtc pointer to a RTC_HandleTypeDef structure that contains - * the configuration information for RTC. - * @param BackupRegister RTC Backup data Register number. - * This parameter can be: RTC_BKP_DRx where x can be from 0 to 19 to - * specify the register. - * @retval Read value - */ -uint32_t HAL_RTCEx_BKUPRead(RTC_HandleTypeDef *hrtc, uint32_t BackupRegister) -{ - uint32_t tmp = 0U; - - /* Check the parameters */ - assert_param(IS_RTC_BKP(BackupRegister)); - - tmp = (uint32_t)&(hrtc->Instance->BKP0R); - tmp += (BackupRegister * 4U); - - /* Read the specified register */ - return (*(__IO uint32_t *)tmp); -} - -/** - * @brief Sets the Coarse calibration parameters. - * @param hrtc pointer to a RTC_HandleTypeDef structure that contains - * the configuration information for RTC. - * @param CalibSign Specifies the sign of the coarse calibration value. - * This parameter can be one of the following values : - * @arg RTC_CALIBSIGN_POSITIVE: The value sign is positive - * @arg RTC_CALIBSIGN_NEGATIVE: The value sign is negative - * @param Value value of coarse calibration expressed in ppm (coded on 5 bits). - * - * @note This Calibration value should be between 0 and 63 when using negative - * sign with a 2-ppm step. - * - * @note This Calibration value should be between 0 and 126 when using positive - * sign with a 4-ppm step. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_RTCEx_SetCoarseCalib(RTC_HandleTypeDef* hrtc, uint32_t CalibSign, uint32_t Value) -{ - /* Check the parameters */ - assert_param(IS_RTC_CALIB_SIGN(CalibSign)); - assert_param(IS_RTC_CALIB_VALUE(Value)); - - /* Process Locked */ - __HAL_LOCK(hrtc); - - hrtc->State = HAL_RTC_STATE_BUSY; - - /* Disable the write protection for RTC registers */ - __HAL_RTC_WRITEPROTECTION_DISABLE(hrtc); - - /* Set Initialization mode */ - if(RTC_EnterInitMode(hrtc) != HAL_OK) - { - /* Enable the write protection for RTC registers */ - __HAL_RTC_WRITEPROTECTION_ENABLE(hrtc); - - /* Set RTC state*/ - hrtc->State = HAL_RTC_STATE_ERROR; - - /* Process Unlocked */ - __HAL_UNLOCK(hrtc); - - return HAL_ERROR; - } - else - { - /* Enable the Coarse Calibration */ - __HAL_RTC_COARSE_CALIB_ENABLE(hrtc); - - /* Set the coarse calibration value */ - hrtc->Instance->CALIBR = (uint32_t)(CalibSign|Value); - - /* Exit Initialization mode */ - hrtc->Instance->ISR &= (uint32_t)~RTC_ISR_INIT; - } - - /* Enable the write protection for RTC registers */ - __HAL_RTC_WRITEPROTECTION_ENABLE(hrtc); - - /* Change state */ - hrtc->State = HAL_RTC_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hrtc); - - return HAL_OK; -} - -/** - * @brief Deactivates the Coarse calibration parameters. - * @param hrtc pointer to a RTC_HandleTypeDef structure that contains - * the configuration information for RTC. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_RTCEx_DeactivateCoarseCalib(RTC_HandleTypeDef* hrtc) -{ - /* Process Locked */ - __HAL_LOCK(hrtc); - - hrtc->State = HAL_RTC_STATE_BUSY; - - /* Disable the write protection for RTC registers */ - __HAL_RTC_WRITEPROTECTION_DISABLE(hrtc); - - /* Set Initialization mode */ - if(RTC_EnterInitMode(hrtc) != HAL_OK) - { - /* Enable the write protection for RTC registers */ - __HAL_RTC_WRITEPROTECTION_ENABLE(hrtc); - - /* Set RTC state*/ - hrtc->State = HAL_RTC_STATE_ERROR; - - /* Process Unlocked */ - __HAL_UNLOCK(hrtc); - - return HAL_ERROR; - } - else - { - /* Enable the Coarse Calibration */ - __HAL_RTC_COARSE_CALIB_DISABLE(hrtc); - - /* Exit Initialization mode */ - hrtc->Instance->ISR &= (uint32_t)~RTC_ISR_INIT; - } - - /* Enable the write protection for RTC registers */ - __HAL_RTC_WRITEPROTECTION_ENABLE(hrtc); - - /* Change state */ - hrtc->State = HAL_RTC_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hrtc); - - return HAL_OK; -} - -/** - * @brief Sets the Smooth calibration parameters. - * @param hrtc pointer to a RTC_HandleTypeDef structure that contains - * the configuration information for RTC. - * @param SmoothCalibPeriod Select the Smooth Calibration Period. - * This parameter can be can be one of the following values : - * @arg RTC_SMOOTHCALIB_PERIOD_32SEC: The smooth calibration period is 32s. - * @arg RTC_SMOOTHCALIB_PERIOD_16SEC: The smooth calibration period is 16s. - * @arg RTC_SMOOTHCALIB_PERIOD_8SEC: The smooth calibration period is 8s. - * @param SmoothCalibPlusPulses Select to Set or reset the CALP bit. - * This parameter can be one of the following values: - * @arg RTC_SMOOTHCALIB_PLUSPULSES_SET: Add one RTCCLK pulse every 2*11 pulses. - * @arg RTC_SMOOTHCALIB_PLUSPULSES_RESET: No RTCCLK pulses are added. - * @param SmouthCalibMinusPulsesValue Select the value of CALM[80] bits. - * This parameter can be one any value from 0 to 0x000001FF. - * @note To deactivate the smooth calibration, the field SmoothCalibPlusPulses - * must be equal to SMOOTHCALIB_PLUSPULSES_RESET and the field - * SmouthCalibMinusPulsesValue must be equal to 0. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_RTCEx_SetSmoothCalib(RTC_HandleTypeDef* hrtc, uint32_t SmoothCalibPeriod, uint32_t SmoothCalibPlusPulses, uint32_t SmouthCalibMinusPulsesValue) -{ - uint32_t tickstart = 0U; - - /* Check the parameters */ - assert_param(IS_RTC_SMOOTH_CALIB_PERIOD(SmoothCalibPeriod)); - assert_param(IS_RTC_SMOOTH_CALIB_PLUS(SmoothCalibPlusPulses)); - assert_param(IS_RTC_SMOOTH_CALIB_MINUS(SmouthCalibMinusPulsesValue)); - - /* Process Locked */ - __HAL_LOCK(hrtc); - - hrtc->State = HAL_RTC_STATE_BUSY; - - /* Disable the write protection for RTC registers */ - __HAL_RTC_WRITEPROTECTION_DISABLE(hrtc); - - /* check if a calibration is pending*/ - if((hrtc->Instance->ISR & RTC_ISR_RECALPF) != RESET) - { - /* Get tick */ - tickstart = HAL_GetTick(); - - /* check if a calibration is pending*/ - while((hrtc->Instance->ISR & RTC_ISR_RECALPF) != RESET) - { - if((HAL_GetTick() - tickstart ) > RTC_TIMEOUT_VALUE) - { - /* Enable the write protection for RTC registers */ - __HAL_RTC_WRITEPROTECTION_ENABLE(hrtc); - - /* Change RTC state */ - hrtc->State = HAL_RTC_STATE_TIMEOUT; - - /* Process Unlocked */ - __HAL_UNLOCK(hrtc); - - return HAL_TIMEOUT; - } - } - } - - /* Configure the Smooth calibration settings */ - hrtc->Instance->CALR = (uint32_t)((uint32_t)SmoothCalibPeriod | (uint32_t)SmoothCalibPlusPulses | (uint32_t)SmouthCalibMinusPulsesValue); - - /* Enable the write protection for RTC registers */ - __HAL_RTC_WRITEPROTECTION_ENABLE(hrtc); - - /* Change RTC state */ - hrtc->State = HAL_RTC_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hrtc); - - return HAL_OK; -} - -/** - * @brief Configures the Synchronization Shift Control Settings. - * @note When REFCKON is set, firmware must not write to Shift control register. - * @param hrtc pointer to a RTC_HandleTypeDef structure that contains - * the configuration information for RTC. - * @param ShiftAdd1S Select to add or not 1 second to the time calendar. - * This parameter can be one of the following values : - * @arg RTC_SHIFTADD1S_SET: Add one second to the clock calendar. - * @arg RTC_SHIFTADD1S_RESET: No effect. - * @param ShiftSubFS Select the number of Second Fractions to substitute. - * This parameter can be one any value from 0 to 0x7FFF. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_RTCEx_SetSynchroShift(RTC_HandleTypeDef* hrtc, uint32_t ShiftAdd1S, uint32_t ShiftSubFS) -{ - uint32_t tickstart = 0U; - - /* Check the parameters */ - assert_param(IS_RTC_SHIFT_ADD1S(ShiftAdd1S)); - assert_param(IS_RTC_SHIFT_SUBFS(ShiftSubFS)); - - /* Process Locked */ - __HAL_LOCK(hrtc); - - hrtc->State = HAL_RTC_STATE_BUSY; - - /* Disable the write protection for RTC registers */ - __HAL_RTC_WRITEPROTECTION_DISABLE(hrtc); - - /* Get tick */ - tickstart = HAL_GetTick(); - - /* Wait until the shift is completed*/ - while((hrtc->Instance->ISR & RTC_ISR_SHPF) != RESET) - { - if((HAL_GetTick() - tickstart ) > RTC_TIMEOUT_VALUE) - { - /* Enable the write protection for RTC registers */ - __HAL_RTC_WRITEPROTECTION_ENABLE(hrtc); - - hrtc->State = HAL_RTC_STATE_TIMEOUT; - - /* Process Unlocked */ - __HAL_UNLOCK(hrtc); - - return HAL_TIMEOUT; - } - } - - /* Check if the reference clock detection is disabled */ - if((hrtc->Instance->CR & RTC_CR_REFCKON) == RESET) - { - /* Configure the Shift settings */ - hrtc->Instance->SHIFTR = (uint32_t)(uint32_t)(ShiftSubFS) | (uint32_t)(ShiftAdd1S); - - /* If RTC_CR_BYPSHAD bit = 0, wait for synchro else this check is not needed */ - if((hrtc->Instance->CR & RTC_CR_BYPSHAD) == RESET) - { - if(HAL_RTC_WaitForSynchro(hrtc) != HAL_OK) - { - /* Enable the write protection for RTC registers */ - __HAL_RTC_WRITEPROTECTION_ENABLE(hrtc); - - hrtc->State = HAL_RTC_STATE_ERROR; - - /* Process Unlocked */ - __HAL_UNLOCK(hrtc); - - return HAL_ERROR; - } - } - } - else - { - /* Enable the write protection for RTC registers */ - __HAL_RTC_WRITEPROTECTION_ENABLE(hrtc); - - /* Change RTC state */ - hrtc->State = HAL_RTC_STATE_ERROR; - - /* Process Unlocked */ - __HAL_UNLOCK(hrtc); - - return HAL_ERROR; - } - - /* Enable the write protection for RTC registers */ - __HAL_RTC_WRITEPROTECTION_ENABLE(hrtc); - - /* Change RTC state */ - hrtc->State = HAL_RTC_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hrtc); - - return HAL_OK; -} - -/** - * @brief Configures the Calibration Pinout (RTC_CALIB) Selection (1Hz or 512Hz). - * @param hrtc pointer to a RTC_HandleTypeDef structure that contains - * the configuration information for RTC. - * @param CalibOutput Select the Calibration output Selection . - * This parameter can be one of the following values: - * @arg RTC_CALIBOUTPUT_512HZ: A signal has a regular waveform at 512Hz. - * @arg RTC_CALIBOUTPUT_1HZ: A signal has a regular waveform at 1Hz. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_RTCEx_SetCalibrationOutPut(RTC_HandleTypeDef* hrtc, uint32_t CalibOutput) -{ - /* Check the parameters */ - assert_param(IS_RTC_CALIB_OUTPUT(CalibOutput)); - - /* Process Locked */ - __HAL_LOCK(hrtc); - - hrtc->State = HAL_RTC_STATE_BUSY; - - /* Disable the write protection for RTC registers */ - __HAL_RTC_WRITEPROTECTION_DISABLE(hrtc); - - /* Clear flags before config */ - hrtc->Instance->CR &= (uint32_t)~RTC_CR_COSEL; - - /* Configure the RTC_CR register */ - hrtc->Instance->CR |= (uint32_t)CalibOutput; - - __HAL_RTC_CALIBRATION_OUTPUT_ENABLE(hrtc); - - /* Enable the write protection for RTC registers */ - __HAL_RTC_WRITEPROTECTION_ENABLE(hrtc); - - /* Change RTC state */ - hrtc->State = HAL_RTC_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hrtc); - - return HAL_OK; -} - -/** - * @brief Deactivates the Calibration Pinout (RTC_CALIB) Selection (1Hz or 512Hz). - * @param hrtc pointer to a RTC_HandleTypeDef structure that contains - * the configuration information for RTC. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_RTCEx_DeactivateCalibrationOutPut(RTC_HandleTypeDef* hrtc) -{ - /* Process Locked */ - __HAL_LOCK(hrtc); - - hrtc->State = HAL_RTC_STATE_BUSY; - - /* Disable the write protection for RTC registers */ - __HAL_RTC_WRITEPROTECTION_DISABLE(hrtc); - - __HAL_RTC_CALIBRATION_OUTPUT_DISABLE(hrtc); - - /* Enable the write protection for RTC registers */ - __HAL_RTC_WRITEPROTECTION_ENABLE(hrtc); - - /* Change RTC state */ - hrtc->State = HAL_RTC_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hrtc); - - return HAL_OK; -} - -/** - * @brief Enables the RTC reference clock detection. - * @param hrtc pointer to a RTC_HandleTypeDef structure that contains - * the configuration information for RTC. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_RTCEx_SetRefClock(RTC_HandleTypeDef* hrtc) -{ - /* Process Locked */ - __HAL_LOCK(hrtc); - - hrtc->State = HAL_RTC_STATE_BUSY; - - /* Disable the write protection for RTC registers */ - __HAL_RTC_WRITEPROTECTION_DISABLE(hrtc); - - /* Set Initialization mode */ - if(RTC_EnterInitMode(hrtc) != HAL_OK) - { - /* Enable the write protection for RTC registers */ - __HAL_RTC_WRITEPROTECTION_ENABLE(hrtc); - - /* Set RTC state*/ - hrtc->State = HAL_RTC_STATE_ERROR; - - /* Process Unlocked */ - __HAL_UNLOCK(hrtc); - - return HAL_ERROR; - } - else - { - __HAL_RTC_CLOCKREF_DETECTION_ENABLE(hrtc); - - /* Exit Initialization mode */ - hrtc->Instance->ISR &= (uint32_t)~RTC_ISR_INIT; - } - - /* Enable the write protection for RTC registers */ - __HAL_RTC_WRITEPROTECTION_ENABLE(hrtc); - - /* Change RTC state */ - hrtc->State = HAL_RTC_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hrtc); - - return HAL_OK; -} - -/** - * @brief Disable the RTC reference clock detection. - * @param hrtc pointer to a RTC_HandleTypeDef structure that contains - * the configuration information for RTC. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_RTCEx_DeactivateRefClock(RTC_HandleTypeDef* hrtc) -{ - /* Process Locked */ - __HAL_LOCK(hrtc); - - hrtc->State = HAL_RTC_STATE_BUSY; - - /* Disable the write protection for RTC registers */ - __HAL_RTC_WRITEPROTECTION_DISABLE(hrtc); - - /* Set Initialization mode */ - if(RTC_EnterInitMode(hrtc) != HAL_OK) - { - /* Enable the write protection for RTC registers */ - __HAL_RTC_WRITEPROTECTION_ENABLE(hrtc); - - /* Set RTC state*/ - hrtc->State = HAL_RTC_STATE_ERROR; - - /* Process Unlocked */ - __HAL_UNLOCK(hrtc); - - return HAL_ERROR; - } - else - { - __HAL_RTC_CLOCKREF_DETECTION_DISABLE(hrtc); - - /* Exit Initialization mode */ - hrtc->Instance->ISR &= (uint32_t)~RTC_ISR_INIT; - } - - /* Enable the write protection for RTC registers */ - __HAL_RTC_WRITEPROTECTION_ENABLE(hrtc); - - /* Change RTC state */ - hrtc->State = HAL_RTC_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hrtc); - - return HAL_OK; -} - -/** - * @brief Enables the Bypass Shadow feature. - * @param hrtc pointer to a RTC_HandleTypeDef structure that contains - * the configuration information for RTC. - * @note When the Bypass Shadow is enabled the calendar value are taken - * directly from the Calendar counter. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_RTCEx_EnableBypassShadow(RTC_HandleTypeDef* hrtc) -{ - /* Process Locked */ - __HAL_LOCK(hrtc); - - hrtc->State = HAL_RTC_STATE_BUSY; - - /* Disable the write protection for RTC registers */ - __HAL_RTC_WRITEPROTECTION_DISABLE(hrtc); - - /* Set the BYPSHAD bit */ - hrtc->Instance->CR |= (uint8_t)RTC_CR_BYPSHAD; - - /* Enable the write protection for RTC registers */ - __HAL_RTC_WRITEPROTECTION_ENABLE(hrtc); - - /* Change RTC state */ - hrtc->State = HAL_RTC_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hrtc); - - return HAL_OK; -} - -/** - * @brief Disables the Bypass Shadow feature. - * @param hrtc pointer to a RTC_HandleTypeDef structure that contains - * the configuration information for RTC. - * @note When the Bypass Shadow is enabled the calendar value are taken - * directly from the Calendar counter. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_RTCEx_DisableBypassShadow(RTC_HandleTypeDef* hrtc) -{ - /* Process Locked */ - __HAL_LOCK(hrtc); - - hrtc->State = HAL_RTC_STATE_BUSY; - - /* Disable the write protection for RTC registers */ - __HAL_RTC_WRITEPROTECTION_DISABLE(hrtc); - - /* Reset the BYPSHAD bit */ - hrtc->Instance->CR &= (uint8_t)~RTC_CR_BYPSHAD; - - /* Enable the write protection for RTC registers */ - __HAL_RTC_WRITEPROTECTION_ENABLE(hrtc); - - /* Change RTC state */ - hrtc->State = HAL_RTC_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hrtc); - - return HAL_OK; -} - -/** - * @} - */ - - /** @defgroup RTCEx_Exported_Functions_Group4 Extended features functions - * @brief Extended features functions - * -@verbatim - =============================================================================== - ##### Extended features functions ##### - =============================================================================== - [..] This section provides functions allowing to: - (+) RTC Alarm B callback - (+) RTC Poll for Alarm B request - -@endverbatim - * @{ - */ - -/** - * @brief Alarm B callback. - * @param hrtc pointer to a RTC_HandleTypeDef structure that contains - * the configuration information for RTC. - * @retval None - */ -__weak void HAL_RTCEx_AlarmBEventCallback(RTC_HandleTypeDef *hrtc) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hrtc); - /* NOTE : This function Should not be modified, when the callback is needed, - the HAL_RTC_AlarmBEventCallback could be implemented in the user file - */ -} - -/** - * @brief This function handles AlarmB Polling request. - * @param hrtc pointer to a RTC_HandleTypeDef structure that contains - * the configuration information for RTC. - * @param Timeout Timeout duration - * @retval HAL status - */ -HAL_StatusTypeDef HAL_RTCEx_PollForAlarmBEvent(RTC_HandleTypeDef *hrtc, uint32_t Timeout) -{ - uint32_t tickstart = 0U; - - /* Get tick */ - tickstart = HAL_GetTick(); - - while(__HAL_RTC_ALARM_GET_FLAG(hrtc, RTC_FLAG_ALRBF) == RESET) - { - if(Timeout != HAL_MAX_DELAY) - { - if((Timeout == 0U)||((HAL_GetTick() - tickstart ) > Timeout)) - { - hrtc->State = HAL_RTC_STATE_TIMEOUT; - return HAL_TIMEOUT; - } - } - } - - /* Clear the Alarm Flag */ - __HAL_RTC_ALARM_CLEAR_FLAG(hrtc, RTC_FLAG_ALRBF); - - /* Change RTC state */ - hrtc->State = HAL_RTC_STATE_READY; - - return HAL_OK; -} - -/** - * @} - */ - -/** - * @} - */ - -#endif /* HAL_RTC_MODULE_ENABLED */ -/** - * @} - */ - -/** - * @} - */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_sai.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_sai.c deleted file mode 100644 index 7d157ccbca3309..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_sai.c +++ /dev/null @@ -1,2556 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_sai.c - * @author MCD Application Team - * @brief SAI HAL module driver. - * This file provides firmware functions to manage the following - * functionalities of the Serial Audio Interface (SAI) peripheral: - * + Initialization/de-initialization functions - * + I/O operation functions - * + Peripheral Control functions - * + Peripheral State functions - * - @verbatim - ============================================================================== - ##### How to use this driver ##### - ============================================================================== - - [..] - The SAI HAL driver can be used as follows: - - (#) Declare a SAI_HandleTypeDef handle structure (eg. SAI_HandleTypeDef hsai). - (#) Initialize the SAI low level resources by implementing the HAL_SAI_MspInit() API: - (##) Enable the SAI interface clock. - (##) SAI pins configuration: - (+++) Enable the clock for the SAI GPIOs. - (+++) Configure these SAI pins as alternate function pull-up. - (##) NVIC configuration if you need to use interrupt process (HAL_SAI_Transmit_IT() - and HAL_SAI_Receive_IT() APIs): - (+++) Configure the SAI interrupt priority. - (+++) Enable the NVIC SAI IRQ handle. - - (##) DMA Configuration if you need to use DMA process (HAL_SAI_Transmit_DMA() - and HAL_SAI_Receive_DMA() APIs): - (+++) Declare a DMA handle structure for the Tx/Rx stream. - (+++) Enable the DMAx interface clock. - (+++) Configure the declared DMA handle structure with the required Tx/Rx parameters. - (+++) Configure the DMA Tx/Rx Stream. - (+++) Associate the initialized DMA handle to the SAI DMA Tx/Rx handle. - (+++) Configure the priority and enable the NVIC for the transfer complete interrupt on the - DMA Tx/Rx Stream. - - (#) The initialization can be done by two ways - (##) Expert mode : Initialize the structures Init, FrameInit and SlotInit and call HAL_SAI_Init(). - (##) Simplified mode : Initialize the high part of Init Structure and call HAL_SAI_InitProtocol(). - - [..] - (@) The specific SAI interrupts (FIFO request and Overrun underrun interrupt) - will be managed using the macros __HAL_SAI_ENABLE_IT() and __HAL_SAI_DISABLE_IT() - inside the transmit and receive process. - - [..] - (@) SAI Clock Source configuration is managed differently depending on the selected - STM32F4 devices : - (+@) For STM32F446xx devices, the configuration is managed through RCCEx_PeriphCLKConfig() - function in the HAL RCC drivers - (+@) For STM32F439xx/STM32F437xx/STM32F429xx/STM32F427xx devices, the configuration - is managed within HAL SAI drivers through HAL_SAI_Init() function using - ClockSource field of SAI_InitTypeDef structure. - [..] - (@) Make sure that either: - (+@) I2S PLL is configured or - (+@) SAI PLL is configured or - (+@) External clock source is configured after setting correctly - the define constant EXTERNAL_CLOCK_VALUE in the stm32f4xx_hal_conf.h file. - [..] - (@) In master Tx mode: enabling the audio block immediately generates the bit clock - for the external slaves even if there is no data in the FIFO, However FS signal - generation is conditioned by the presence of data in the FIFO. - - [..] - (@) In master Rx mode: enabling the audio block immediately generates the bit clock - and FS signal for the external slaves. - - [..] - (@) It is mandatory to respect the following conditions in order to avoid bad SAI behavior: - (+@) First bit Offset <= (SLOT size - Data size) - (+@) Data size <= SLOT size - (+@) Number of SLOT x SLOT size = Frame length - (+@) The number of slots should be even when SAI_FS_CHANNEL_IDENTIFICATION is selected. - - [..] - Three operation modes are available within this driver : - - *** Polling mode IO operation *** - ================================= - [..] - (+) Send an amount of data in blocking mode using HAL_SAI_Transmit() - (+) Receive an amount of data in blocking mode using HAL_SAI_Receive() - - *** Interrupt mode IO operation *** - =================================== - [..] - (+) Send an amount of data in non-blocking mode using HAL_SAI_Transmit_IT() - (+) At transmission end of transfer HAL_SAI_TxCpltCallback() is executed and user can - add his own code by customization of function pointer HAL_SAI_TxCpltCallback() - (+) Receive an amount of data in non-blocking mode using HAL_SAI_Receive_IT() - (+) At reception end of transfer HAL_SAI_RxCpltCallback() is executed and user can - add his own code by customization of function pointer HAL_SAI_RxCpltCallback() - (+) In case of flag error, HAL_SAI_ErrorCallback() function is executed and user can - add his own code by customization of function pointer HAL_SAI_ErrorCallback() - - *** DMA mode IO operation *** - ============================= - [..] - (+) Send an amount of data in non-blocking mode (DMA) using HAL_SAI_Transmit_DMA() - (+) At transmission end of transfer HAL_SAI_TxCpltCallback() is executed and user can - add his own code by customization of function pointer HAL_SAI_TxCpltCallback() - (+) Receive an amount of data in non-blocking mode (DMA) using HAL_SAI_Receive_DMA() - (+) At reception end of transfer HAL_SAI_RxCpltCallback() is executed and user can - add his own code by customization of function pointer HAL_SAI_RxCpltCallback() - (+) In case of flag error, HAL_SAI_ErrorCallback() function is executed and user can - add his own code by customization of function pointer HAL_SAI_ErrorCallback() - (+) Pause the DMA Transfer using HAL_SAI_DMAPause() - (+) Resume the DMA Transfer using HAL_SAI_DMAResume() - (+) Stop the DMA Transfer using HAL_SAI_DMAStop() - - *** SAI HAL driver additional function list *** - =============================================== - [..] - Below the list the others API available SAI HAL driver : - - (+) HAL_SAI_EnableTxMuteMode(): Enable the mute in tx mode - (+) HAL_SAI_DisableTxMuteMode(): Disable the mute in tx mode - (+) HAL_SAI_EnableRxMuteMode(): Enable the mute in Rx mode - (+) HAL_SAI_DisableRxMuteMode(): Disable the mute in Rx mode - (+) HAL_SAI_FlushRxFifo(): Flush the rx fifo. - (+) HAL_SAI_Abort(): Abort the current transfer - - *** SAI HAL driver macros list *** - ================================== - [..] - Below the list of most used macros in SAI HAL driver : - - (+) __HAL_SAI_ENABLE(): Enable the SAI peripheral - (+) __HAL_SAI_DISABLE(): Disable the SAI peripheral - (+) __HAL_SAI_ENABLE_IT(): Enable the specified SAI interrupts - (+) __HAL_SAI_DISABLE_IT(): Disable the specified SAI interrupts - (+) __HAL_SAI_GET_IT_SOURCE(): Check if the specified SAI interrupt source is - enabled or disabled - (+) __HAL_SAI_GET_FLAG(): Check whether the specified SAI flag is set or not - - *** Callback registration *** - ============================= - [..] - The compilation define USE_HAL_SAI_REGISTER_CALLBACKS when set to 1 - allows the user to configure dynamically the driver callbacks. - Use functions HAL_SAI_RegisterCallback() to register a user callback. - - [..] - Function HAL_SAI_RegisterCallback() allows to register following callbacks: - (+) RxCpltCallback : SAI receive complete. - (+) RxHalfCpltCallback : SAI receive half complete. - (+) TxCpltCallback : SAI transmit complete. - (+) TxHalfCpltCallback : SAI transmit half complete. - (+) ErrorCallback : SAI error. - (+) MspInitCallback : SAI MspInit. - (+) MspDeInitCallback : SAI MspDeInit. - [..] - This function takes as parameters the HAL peripheral handle, the callback ID - and a pointer to the user callback function. - - [..] - Use function HAL_SAI_UnRegisterCallback() to reset a callback to the default - weak (surcharged) function. - HAL_SAI_UnRegisterCallback() takes as parameters the HAL peripheral handle, - and the callback ID. - [..] - This function allows to reset following callbacks: - (+) RxCpltCallback : SAI receive complete. - (+) RxHalfCpltCallback : SAI receive half complete. - (+) TxCpltCallback : SAI transmit complete. - (+) TxHalfCpltCallback : SAI transmit half complete. - (+) ErrorCallback : SAI error. - (+) MspInitCallback : SAI MspInit. - (+) MspDeInitCallback : SAI MspDeInit. - - [..] - By default, after the HAL_SAI_Init and if the state is HAL_SAI_STATE_RESET - all callbacks are reset to the corresponding legacy weak (surcharged) functions: - examples HAL_SAI_RxCpltCallback(), HAL_SAI_ErrorCallback(). - Exception done for MspInit and MspDeInit callbacks that are respectively - reset to the legacy weak (surcharged) functions in the HAL_SAI_Init - and HAL_SAI_DeInit only when these callbacks are null (not registered beforehand). - If not, MspInit or MspDeInit are not null, the HAL_SAI_Init and HAL_SAI_DeInit - keep and use the user MspInit/MspDeInit callbacks (registered beforehand). - - [..] - Callbacks can be registered/unregistered in READY state only. - Exception done for MspInit/MspDeInit callbacks that can be registered/unregistered - in READY or RESET state, thus registered (user) MspInit/DeInit callbacks can be used - during the Init/DeInit. - In that case first register the MspInit/MspDeInit user callbacks - using HAL_SAI_RegisterCallback before calling HAL_SAI_DeInit - or HAL_SAI_Init function. - - [..] - When the compilation define USE_HAL_SAI_REGISTER_CALLBACKS is set to 0 or - not defined, the callback registering feature is not available - and weak (surcharged) callbacks are used. - - @endverbatim - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @defgroup SAI SAI - * @brief SAI HAL module driver - * @{ - */ - -#ifdef HAL_SAI_MODULE_ENABLED - -#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) ||\ - defined(STM32F446xx) || defined(STM32F469xx) || defined(STM32F479xx) || defined(STM32F413xx) ||\ - defined(STM32F423xx) - -/** @defgroup SAI_Private_Typedefs SAI Private Typedefs - * @{ - */ -typedef enum -{ - SAI_MODE_DMA, - SAI_MODE_IT -} SAI_ModeTypedef; -/** - * @} - */ - -/* Private define ------------------------------------------------------------*/ - -/** @defgroup SAI_Private_Constants SAI Private Constants - * @{ - */ -#define SAI_DEFAULT_TIMEOUT 4U /* 4ms */ -#define SAI_LONG_TIMEOUT 1000U /* 1s */ -/** - * @} - */ - -/* Private macro -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private function prototypes -----------------------------------------------*/ -/** @defgroup SAI_Private_Functions SAI Private Functions - * @{ - */ -static void SAI_FillFifo(SAI_HandleTypeDef *hsai); -static uint32_t SAI_InterruptFlag(SAI_HandleTypeDef *hsai, uint32_t mode); -static HAL_StatusTypeDef SAI_InitI2S(SAI_HandleTypeDef *hsai, uint32_t protocol, uint32_t datasize, uint32_t nbslot); -static HAL_StatusTypeDef SAI_InitPCM(SAI_HandleTypeDef *hsai, uint32_t protocol, uint32_t datasize, uint32_t nbslot); - -static HAL_StatusTypeDef SAI_Disable(SAI_HandleTypeDef *hsai); -static void SAI_Transmit_IT8Bit(SAI_HandleTypeDef *hsai); -static void SAI_Transmit_IT16Bit(SAI_HandleTypeDef *hsai); -static void SAI_Transmit_IT32Bit(SAI_HandleTypeDef *hsai); -static void SAI_Receive_IT8Bit(SAI_HandleTypeDef *hsai); -static void SAI_Receive_IT16Bit(SAI_HandleTypeDef *hsai); -static void SAI_Receive_IT32Bit(SAI_HandleTypeDef *hsai); - -static void SAI_DMATxCplt(DMA_HandleTypeDef *hdma); -static void SAI_DMATxHalfCplt(DMA_HandleTypeDef *hdma); -static void SAI_DMARxCplt(DMA_HandleTypeDef *hdma); -static void SAI_DMARxHalfCplt(DMA_HandleTypeDef *hdma); -static void SAI_DMAError(DMA_HandleTypeDef *hdma); -static void SAI_DMAAbort(DMA_HandleTypeDef *hdma); -/** - * @} - */ - -/* Exported functions ---------------------------------------------------------*/ -/** @defgroup SAI_Exported_Functions SAI Exported Functions - * @{ - */ - -/** @defgroup SAI_Exported_Functions_Group1 Initialization and de-initialization functions - * @brief Initialization and Configuration functions - * -@verbatim - =============================================================================== - ##### Initialization and de-initialization functions ##### - =============================================================================== - [..] This subsection provides a set of functions allowing to initialize and - de-initialize the SAIx peripheral: - - (+) User must implement HAL_SAI_MspInit() function in which he configures - all related peripherals resources (CLOCK, GPIO, DMA, IT and NVIC ). - - (+) Call the function HAL_SAI_Init() to configure the selected device with - the selected configuration: - (++) Mode (Master/slave TX/RX) - (++) Protocol - (++) Data Size - (++) MCLK Output - (++) Audio frequency - (++) FIFO Threshold - (++) Frame Config - (++) Slot Config - - (+) Call the function HAL_SAI_DeInit() to restore the default configuration - of the selected SAI peripheral. - -@endverbatim - * @{ - */ - -/** - * @brief Initialize the structure FrameInit, SlotInit and the low part of - * Init according to the specified parameters and call the function - * HAL_SAI_Init to initialize the SAI block. - * @param hsai pointer to a SAI_HandleTypeDef structure that contains - * the configuration information for SAI module. - * @param protocol one of the supported protocol @ref SAI_Protocol - * @param datasize one of the supported datasize @ref SAI_Protocol_DataSize - * the configuration information for SAI module. - * @param nbslot Number of slot. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SAI_InitProtocol(SAI_HandleTypeDef *hsai, uint32_t protocol, uint32_t datasize, uint32_t nbslot) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Check the parameters */ - assert_param(IS_SAI_SUPPORTED_PROTOCOL(protocol)); - assert_param(IS_SAI_PROTOCOL_DATASIZE(datasize)); - - switch (protocol) - { - case SAI_I2S_STANDARD : - case SAI_I2S_MSBJUSTIFIED : - case SAI_I2S_LSBJUSTIFIED : - status = SAI_InitI2S(hsai, protocol, datasize, nbslot); - break; - case SAI_PCM_LONG : - case SAI_PCM_SHORT : - status = SAI_InitPCM(hsai, protocol, datasize, nbslot); - break; - default : - status = HAL_ERROR; - break; - } - - if (status == HAL_OK) - { - status = HAL_SAI_Init(hsai); - } - - return status; -} - -/** - * @brief Initialize the SAI according to the specified parameters. - * in the SAI_InitTypeDef structure and initialize the associated handle. - * @param hsai pointer to a SAI_HandleTypeDef structure that contains - * the configuration information for SAI module. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SAI_Init(SAI_HandleTypeDef *hsai) -{ - uint32_t tmpregisterGCR = 0U; - - /* This variable used to store the SAI_CK_x (value in Hz) */ - uint32_t freq = 0U; - - /* This variable is used to compute CKSTR bits of SAI CR1 according to - ClockStrobing and AudioMode fields */ - uint32_t ckstr_bits = 0U; - uint32_t syncen_bits = 0U; - - /* Check the SAI handle allocation */ - if (hsai == NULL) - { - return HAL_ERROR; - } - - /* check the instance */ - assert_param(IS_SAI_ALL_INSTANCE(hsai->Instance)); - - /* Check the SAI Block parameters */ - assert_param(IS_SAI_AUDIO_FREQUENCY(hsai->Init.AudioFrequency)); - assert_param(IS_SAI_BLOCK_PROTOCOL(hsai->Init.Protocol)); - assert_param(IS_SAI_BLOCK_MODE(hsai->Init.AudioMode)); - assert_param(IS_SAI_BLOCK_SYNCEXT(hsai->Init.SynchroExt)); - assert_param(IS_SAI_BLOCK_DATASIZE(hsai->Init.DataSize)); - assert_param(IS_SAI_BLOCK_FIRST_BIT(hsai->Init.FirstBit)); - assert_param(IS_SAI_BLOCK_CLOCK_STROBING(hsai->Init.ClockStrobing)); - assert_param(IS_SAI_BLOCK_SYNCHRO(hsai->Init.Synchro)); - assert_param(IS_SAI_BLOCK_OUTPUT_DRIVE(hsai->Init.OutputDrive)); - assert_param(IS_SAI_BLOCK_NODIVIDER(hsai->Init.NoDivider)); - assert_param(IS_SAI_BLOCK_FIFO_THRESHOLD(hsai->Init.FIFOThreshold)); - assert_param(IS_SAI_MONO_STEREO_MODE(hsai->Init.MonoStereoMode)); - assert_param(IS_SAI_BLOCK_COMPANDING_MODE(hsai->Init.CompandingMode)); - assert_param(IS_SAI_BLOCK_TRISTATE_MANAGEMENT(hsai->Init.TriState)); - - /* Check the SAI Block Frame parameters */ - assert_param(IS_SAI_BLOCK_FRAME_LENGTH(hsai->FrameInit.FrameLength)); - assert_param(IS_SAI_BLOCK_ACTIVE_FRAME(hsai->FrameInit.ActiveFrameLength)); - assert_param(IS_SAI_BLOCK_FS_DEFINITION(hsai->FrameInit.FSDefinition)); - assert_param(IS_SAI_BLOCK_FS_POLARITY(hsai->FrameInit.FSPolarity)); - assert_param(IS_SAI_BLOCK_FS_OFFSET(hsai->FrameInit.FSOffset)); - - /* Check the SAI Block Slot parameters */ - assert_param(IS_SAI_BLOCK_FIRSTBIT_OFFSET(hsai->SlotInit.FirstBitOffset)); - assert_param(IS_SAI_BLOCK_SLOT_SIZE(hsai->SlotInit.SlotSize)); - assert_param(IS_SAI_BLOCK_SLOT_NUMBER(hsai->SlotInit.SlotNumber)); - assert_param(IS_SAI_SLOT_ACTIVE(hsai->SlotInit.SlotActive)); - - if (hsai->State == HAL_SAI_STATE_RESET) - { - /* Allocate lock resource and initialize it */ - hsai->Lock = HAL_UNLOCKED; - -#if (USE_HAL_SAI_REGISTER_CALLBACKS == 1) - /* Reset callback pointers to the weak predefined callbacks */ - hsai->RxCpltCallback = HAL_SAI_RxCpltCallback; - hsai->RxHalfCpltCallback = HAL_SAI_RxHalfCpltCallback; - hsai->TxCpltCallback = HAL_SAI_TxCpltCallback; - hsai->TxHalfCpltCallback = HAL_SAI_TxHalfCpltCallback; - hsai->ErrorCallback = HAL_SAI_ErrorCallback; - - /* Init the low level hardware : GPIO, CLOCK, NVIC and DMA */ - if (hsai->MspInitCallback == NULL) - { - hsai->MspInitCallback = HAL_SAI_MspInit; - } - hsai->MspInitCallback(hsai); -#else - /* Init the low level hardware : GPIO, CLOCK, NVIC and DMA */ - HAL_SAI_MspInit(hsai); -#endif /* USE_HAL_SAI_REGISTER_CALLBACKS */ - } - - hsai->State = HAL_SAI_STATE_BUSY; - - /* Disable the selected SAI peripheral */ - SAI_Disable(hsai); - - /* SAI Block Synchro Configuration -----------------------------------------*/ - SAI_BlockSynchroConfig(hsai); - - /* Configure Master Clock using the following formula : - MCLK_x = SAI_CK_x / (MCKDIV[3:0] * 2) with MCLK_x = 256 * FS - FS = SAI_CK_x / (MCKDIV[3:0] * 2) * 256 - MCKDIV[3:0] = SAI_CK_x / FS * 512 */ - if (hsai->Init.AudioFrequency != SAI_AUDIO_FREQUENCY_MCKDIV) - { - /* Get SAI clock source based on Source clock selection from RCC */ - freq = SAI_GetInputClock(hsai); - - /* (saiclocksource x 10) to keep Significant digits */ - tmpregisterGCR = (((freq * 10U) / ((hsai->Init.AudioFrequency) * 512U))); - - hsai->Init.Mckdiv = tmpregisterGCR / 10U; - - /* Round result to the nearest integer */ - if ((tmpregisterGCR % 10U) > 8U) - { - hsai->Init.Mckdiv += 1U; - } - - /* For SPDIF protocol, SAI shall provide a bit clock twice faster the symbol-rate */ - if (hsai->Init.Protocol == SAI_SPDIF_PROTOCOL) - { - hsai->Init.Mckdiv = hsai->Init.Mckdiv >> 1; - } - } - - /* Check the SAI Block master clock divider parameter */ - assert_param(IS_SAI_BLOCK_MASTER_DIVIDER(hsai->Init.Mckdiv)); - - /* Compute CKSTR bits of SAI CR1 according to ClockStrobing and AudioMode */ - if ((hsai->Init.AudioMode == SAI_MODEMASTER_TX) || (hsai->Init.AudioMode == SAI_MODESLAVE_TX)) - { - ckstr_bits = (hsai->Init.ClockStrobing == SAI_CLOCKSTROBING_RISINGEDGE) ? 0U : SAI_xCR1_CKSTR; - } - else - { - ckstr_bits = (hsai->Init.ClockStrobing == SAI_CLOCKSTROBING_RISINGEDGE) ? SAI_xCR1_CKSTR : 0U; - } - - /* SAI Block Configuration -------------------------------------------------*/ - switch (hsai->Init.Synchro) - { - case SAI_ASYNCHRONOUS : - { - syncen_bits = 0U; - } - break; - case SAI_SYNCHRONOUS : - { - syncen_bits = SAI_xCR1_SYNCEN_0; - } - break; - case SAI_SYNCHRONOUS_EXT_SAI1 : - case SAI_SYNCHRONOUS_EXT_SAI2 : - { - syncen_bits = SAI_xCR1_SYNCEN_1; - } - break; - default: - break; - } - - /* SAI CR1 Configuration */ - hsai->Instance->CR1 &= ~(SAI_xCR1_MODE | SAI_xCR1_PRTCFG | SAI_xCR1_DS | \ - SAI_xCR1_LSBFIRST | SAI_xCR1_CKSTR | SAI_xCR1_SYNCEN | \ - SAI_xCR1_MONO | SAI_xCR1_OUTDRIV | SAI_xCR1_DMAEN | \ - SAI_xCR1_NODIV | SAI_xCR1_MCKDIV); - - hsai->Instance->CR1 |= (hsai->Init.AudioMode | hsai->Init.Protocol | \ - hsai->Init.DataSize | hsai->Init.FirstBit | \ - ckstr_bits | syncen_bits | \ - hsai->Init.MonoStereoMode | hsai->Init.OutputDrive | \ - hsai->Init.NoDivider | (hsai->Init.Mckdiv << 20U)); - - /* SAI CR2 Configuration */ - hsai->Instance->CR2 &= ~(SAI_xCR2_FTH | SAI_xCR2_FFLUSH | SAI_xCR2_COMP | SAI_xCR2_CPL); - hsai->Instance->CR2 |= (hsai->Init.FIFOThreshold | hsai->Init.CompandingMode | hsai->Init.TriState); - - /* SAI Frame Configuration -----------------------------------------*/ - hsai->Instance->FRCR &= (~(SAI_xFRCR_FRL | SAI_xFRCR_FSALL | SAI_xFRCR_FSDEF | \ - SAI_xFRCR_FSPOL | SAI_xFRCR_FSOFF)); - hsai->Instance->FRCR |= ((hsai->FrameInit.FrameLength - 1U) | - hsai->FrameInit.FSOffset | - hsai->FrameInit.FSDefinition | - hsai->FrameInit.FSPolarity | - ((hsai->FrameInit.ActiveFrameLength - 1U) << 8U)); - - /* SAI Block_x SLOT Configuration ------------------------------------------*/ - /* This register has no meaning in AC 97 and SPDIF audio protocol */ - hsai->Instance->SLOTR &= ~(SAI_xSLOTR_FBOFF | SAI_xSLOTR_SLOTSZ | \ - SAI_xSLOTR_NBSLOT | SAI_xSLOTR_SLOTEN); - - hsai->Instance->SLOTR |= hsai->SlotInit.FirstBitOffset | hsai->SlotInit.SlotSize | \ - (hsai->SlotInit.SlotActive << 16U) | ((hsai->SlotInit.SlotNumber - 1U) << 8U); - - /* Initialize the error code */ - hsai->ErrorCode = HAL_SAI_ERROR_NONE; - - /* Initialize the SAI state */ - hsai->State = HAL_SAI_STATE_READY; - - /* Release Lock */ - __HAL_UNLOCK(hsai); - - return HAL_OK; -} - -/** - * @brief DeInitialize the SAI peripheral. - * @param hsai pointer to a SAI_HandleTypeDef structure that contains - * the configuration information for SAI module. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SAI_DeInit(SAI_HandleTypeDef *hsai) -{ - /* Check the SAI handle allocation */ - if (hsai == NULL) - { - return HAL_ERROR; - } - - hsai->State = HAL_SAI_STATE_BUSY; - - /* Disabled All interrupt and clear all the flag */ - hsai->Instance->IMR = 0U; - hsai->Instance->CLRFR = 0xFFFFFFFFU; - - /* Disable the SAI */ - SAI_Disable(hsai); - - /* Flush the fifo */ - SET_BIT(hsai->Instance->CR2, SAI_xCR2_FFLUSH); - - /* DeInit the low level hardware: GPIO, CLOCK, NVIC and DMA */ -#if (USE_HAL_SAI_REGISTER_CALLBACKS == 1) - if (hsai->MspDeInitCallback == NULL) - { - hsai->MspDeInitCallback = HAL_SAI_MspDeInit; - } - hsai->MspDeInitCallback(hsai); -#else - HAL_SAI_MspDeInit(hsai); -#endif /* USE_HAL_SAI_REGISTER_CALLBACKS */ - - /* Initialize the error code */ - hsai->ErrorCode = HAL_SAI_ERROR_NONE; - - /* Initialize the SAI state */ - hsai->State = HAL_SAI_STATE_RESET; - - /* Release Lock */ - __HAL_UNLOCK(hsai); - - return HAL_OK; -} - -/** - * @brief Initialize the SAI MSP. - * @param hsai pointer to a SAI_HandleTypeDef structure that contains - * the configuration information for SAI module. - * @retval None - */ -__weak void HAL_SAI_MspInit(SAI_HandleTypeDef *hsai) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hsai); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_SAI_MspInit could be implemented in the user file - */ -} - -/** - * @brief DeInitialize the SAI MSP. - * @param hsai pointer to a SAI_HandleTypeDef structure that contains - * the configuration information for SAI module. - * @retval None - */ -__weak void HAL_SAI_MspDeInit(SAI_HandleTypeDef *hsai) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hsai); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_SAI_MspDeInit could be implemented in the user file - */ -} - -#if (USE_HAL_SAI_REGISTER_CALLBACKS == 1) -/** - * @brief Register a user SAI callback - * to be used instead of the weak predefined callback. - * @param hsai SAI handle. - * @param CallbackID ID of the callback to be registered. - * This parameter can be one of the following values: - * @arg @ref HAL_SAI_RX_COMPLETE_CB_ID receive complete callback ID. - * @arg @ref HAL_SAI_RX_HALFCOMPLETE_CB_ID receive half complete callback ID. - * @arg @ref HAL_SAI_TX_COMPLETE_CB_ID transmit complete callback ID. - * @arg @ref HAL_SAI_TX_HALFCOMPLETE_CB_ID transmit half complete callback ID. - * @arg @ref HAL_SAI_ERROR_CB_ID error callback ID. - * @arg @ref HAL_SAI_MSPINIT_CB_ID MSP init callback ID. - * @arg @ref HAL_SAI_MSPDEINIT_CB_ID MSP de-init callback ID. - * @param pCallback pointer to the callback function. - * @retval HAL status. - */ -HAL_StatusTypeDef HAL_SAI_RegisterCallback(SAI_HandleTypeDef *hsai, - HAL_SAI_CallbackIDTypeDef CallbackID, - pSAI_CallbackTypeDef pCallback) -{ - HAL_StatusTypeDef status = HAL_OK; - - if (pCallback == NULL) - { - /* update the error code */ - hsai->ErrorCode |= HAL_SAI_ERROR_INVALID_CALLBACK; - /* update return status */ - status = HAL_ERROR; - } - else - { - if (HAL_SAI_STATE_READY == hsai->State) - { - switch (CallbackID) - { - case HAL_SAI_RX_COMPLETE_CB_ID : - hsai->RxCpltCallback = pCallback; - break; - case HAL_SAI_RX_HALFCOMPLETE_CB_ID : - hsai->RxHalfCpltCallback = pCallback; - break; - case HAL_SAI_TX_COMPLETE_CB_ID : - hsai->TxCpltCallback = pCallback; - break; - case HAL_SAI_TX_HALFCOMPLETE_CB_ID : - hsai->TxHalfCpltCallback = pCallback; - break; - case HAL_SAI_ERROR_CB_ID : - hsai->ErrorCallback = pCallback; - break; - case HAL_SAI_MSPINIT_CB_ID : - hsai->MspInitCallback = pCallback; - break; - case HAL_SAI_MSPDEINIT_CB_ID : - hsai->MspDeInitCallback = pCallback; - break; - default : - /* update the error code */ - hsai->ErrorCode |= HAL_SAI_ERROR_INVALID_CALLBACK; - /* update return status */ - status = HAL_ERROR; - break; - } - } - else if (HAL_SAI_STATE_RESET == hsai->State) - { - switch (CallbackID) - { - case HAL_SAI_MSPINIT_CB_ID : - hsai->MspInitCallback = pCallback; - break; - case HAL_SAI_MSPDEINIT_CB_ID : - hsai->MspDeInitCallback = pCallback; - break; - default : - /* update the error code */ - hsai->ErrorCode |= HAL_SAI_ERROR_INVALID_CALLBACK; - /* update return status */ - status = HAL_ERROR; - break; - } - } - else - { - /* update the error code */ - hsai->ErrorCode |= HAL_SAI_ERROR_INVALID_CALLBACK; - /* update return status */ - status = HAL_ERROR; - } - } - return status; -} - -/** - * @brief Unregister a user SAI callback. - * SAI callback is redirected to the weak predefined callback. - * @param hsai SAI handle. - * @param CallbackID ID of the callback to be unregistered. - * This parameter can be one of the following values: - * @arg @ref HAL_SAI_RX_COMPLETE_CB_ID receive complete callback ID. - * @arg @ref HAL_SAI_RX_HALFCOMPLETE_CB_ID receive half complete callback ID. - * @arg @ref HAL_SAI_TX_COMPLETE_CB_ID transmit complete callback ID. - * @arg @ref HAL_SAI_TX_HALFCOMPLETE_CB_ID transmit half complete callback ID. - * @arg @ref HAL_SAI_ERROR_CB_ID error callback ID. - * @arg @ref HAL_SAI_MSPINIT_CB_ID MSP init callback ID. - * @arg @ref HAL_SAI_MSPDEINIT_CB_ID MSP de-init callback ID. - * @retval HAL status. - */ -HAL_StatusTypeDef HAL_SAI_UnRegisterCallback(SAI_HandleTypeDef *hsai, - HAL_SAI_CallbackIDTypeDef CallbackID) -{ - HAL_StatusTypeDef status = HAL_OK; - - if (HAL_SAI_STATE_READY == hsai->State) - { - switch (CallbackID) - { - case HAL_SAI_RX_COMPLETE_CB_ID : - hsai->RxCpltCallback = HAL_SAI_RxCpltCallback; - break; - case HAL_SAI_RX_HALFCOMPLETE_CB_ID : - hsai->RxHalfCpltCallback = HAL_SAI_RxHalfCpltCallback; - break; - case HAL_SAI_TX_COMPLETE_CB_ID : - hsai->TxCpltCallback = HAL_SAI_TxCpltCallback; - break; - case HAL_SAI_TX_HALFCOMPLETE_CB_ID : - hsai->TxHalfCpltCallback = HAL_SAI_TxHalfCpltCallback; - break; - case HAL_SAI_ERROR_CB_ID : - hsai->ErrorCallback = HAL_SAI_ErrorCallback; - break; - case HAL_SAI_MSPINIT_CB_ID : - hsai->MspInitCallback = HAL_SAI_MspInit; - break; - case HAL_SAI_MSPDEINIT_CB_ID : - hsai->MspDeInitCallback = HAL_SAI_MspDeInit; - break; - default : - /* update the error code */ - hsai->ErrorCode |= HAL_SAI_ERROR_INVALID_CALLBACK; - /* update return status */ - status = HAL_ERROR; - break; - } - } - else if (HAL_SAI_STATE_RESET == hsai->State) - { - switch (CallbackID) - { - case HAL_SAI_MSPINIT_CB_ID : - hsai->MspInitCallback = HAL_SAI_MspInit; - break; - case HAL_SAI_MSPDEINIT_CB_ID : - hsai->MspDeInitCallback = HAL_SAI_MspDeInit; - break; - default : - /* update the error code */ - hsai->ErrorCode |= HAL_SAI_ERROR_INVALID_CALLBACK; - /* update return status */ - status = HAL_ERROR; - break; - } - } - else - { - /* update the error code */ - hsai->ErrorCode |= HAL_SAI_ERROR_INVALID_CALLBACK; - /* update return status */ - status = HAL_ERROR; - } - return status; -} -#endif /* USE_HAL_SAI_REGISTER_CALLBACKS */ - -/** - * @} - */ - -/** @defgroup SAI_Exported_Functions_Group2 IO operation functions - * @brief Data transfers functions - * -@verbatim - ============================================================================== - ##### IO operation functions ##### - ============================================================================== - [..] - This subsection provides a set of functions allowing to manage the SAI data - transfers. - - (+) There are two modes of transfer: - (++) Blocking mode : The communication is performed in the polling mode. - The status of all data processing is returned by the same function - after finishing transfer. - (++) No-Blocking mode : The communication is performed using Interrupts - or DMA. These functions return the status of the transfer startup. - The end of the data processing will be indicated through the - dedicated SAI IRQ when using Interrupt mode or the DMA IRQ when - using DMA mode. - - (+) Blocking mode functions are : - (++) HAL_SAI_Transmit() - (++) HAL_SAI_Receive() - - (+) Non Blocking mode functions with Interrupt are : - (++) HAL_SAI_Transmit_IT() - (++) HAL_SAI_Receive_IT() - - (+) Non Blocking mode functions with DMA are : - (++) HAL_SAI_Transmit_DMA() - (++) HAL_SAI_Receive_DMA() - - (+) A set of Transfer Complete Callbacks are provided in non Blocking mode: - (++) HAL_SAI_TxCpltCallback() - (++) HAL_SAI_RxCpltCallback() - (++) HAL_SAI_ErrorCallback() - -@endverbatim - * @{ - */ - -/** - * @brief Transmit an amount of data in blocking mode. - * @param hsai pointer to a SAI_HandleTypeDef structure that contains - * the configuration information for SAI module. - * @param pData Pointer to data buffer - * @param Size Amount of data to be sent - * @param Timeout Timeout duration - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SAI_Transmit(SAI_HandleTypeDef *hsai, uint8_t *pData, uint16_t Size, uint32_t Timeout) -{ - uint32_t tickstart = HAL_GetTick(); - - if ((pData == NULL) || (Size == 0)) - { - return HAL_ERROR; - } - - if (hsai->State == HAL_SAI_STATE_READY) - { - /* Process Locked */ - __HAL_LOCK(hsai); - - hsai->XferSize = Size; - hsai->XferCount = Size; - hsai->pBuffPtr = pData; - hsai->State = HAL_SAI_STATE_BUSY_TX; - hsai->ErrorCode = HAL_SAI_ERROR_NONE; - - /* Check if the SAI is already enabled */ - if ((hsai->Instance->CR1 & SAI_xCR1_SAIEN) == RESET) - { - /* fill the fifo with data before to enabled the SAI */ - SAI_FillFifo(hsai); - /* Enable SAI peripheral */ - __HAL_SAI_ENABLE(hsai); - } - - while (hsai->XferCount > 0U) - { - /* Write data if the FIFO is not full */ - if ((hsai->Instance->SR & SAI_xSR_FLVL) != SAI_FIFOSTATUS_FULL) - { - if ((hsai->Init.DataSize == SAI_DATASIZE_8) && (hsai->Init.CompandingMode == SAI_NOCOMPANDING)) - { - hsai->Instance->DR = (*hsai->pBuffPtr++); - } - else if (hsai->Init.DataSize <= SAI_DATASIZE_16) - { - hsai->Instance->DR = *((uint16_t *)hsai->pBuffPtr); - hsai->pBuffPtr += 2U; - } - else - { - hsai->Instance->DR = *((uint32_t *)hsai->pBuffPtr); - hsai->pBuffPtr += 4U; - } - hsai->XferCount--; - } - else - { - /* Check for the Timeout */ - if ((Timeout != HAL_MAX_DELAY) && ((Timeout == 0U) || ((HAL_GetTick() - tickstart) > Timeout))) - { - /* Update error code */ - hsai->ErrorCode |= HAL_SAI_ERROR_TIMEOUT; - - /* Clear all the flags */ - hsai->Instance->CLRFR = 0xFFFFFFFFU; - - /* Disable SAI peripheral */ - SAI_Disable(hsai); - - /* Flush the fifo */ - SET_BIT(hsai->Instance->CR2, SAI_xCR2_FFLUSH); - - /* Change the SAI state */ - hsai->State = HAL_SAI_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hsai); - - return HAL_ERROR; - } - } - } - - hsai->State = HAL_SAI_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hsai); - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Receive an amount of data in blocking mode. - * @param hsai pointer to a SAI_HandleTypeDef structure that contains - * the configuration information for SAI module. - * @param pData Pointer to data buffer - * @param Size Amount of data to be received - * @param Timeout Timeout duration - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SAI_Receive(SAI_HandleTypeDef *hsai, uint8_t *pData, uint16_t Size, uint32_t Timeout) -{ - uint32_t tickstart = HAL_GetTick(); - - if ((pData == NULL) || (Size == 0)) - { - return HAL_ERROR; - } - - if (hsai->State == HAL_SAI_STATE_READY) - { - /* Process Locked */ - __HAL_LOCK(hsai); - - hsai->pBuffPtr = pData; - hsai->XferSize = Size; - hsai->XferCount = Size; - hsai->State = HAL_SAI_STATE_BUSY_RX; - hsai->ErrorCode = HAL_SAI_ERROR_NONE; - - /* Check if the SAI is already enabled */ - if ((hsai->Instance->CR1 & SAI_xCR1_SAIEN) == RESET) - { - /* Enable SAI peripheral */ - __HAL_SAI_ENABLE(hsai); - } - - /* Receive data */ - while (hsai->XferCount > 0U) - { - if ((hsai->Instance->SR & SAI_xSR_FLVL) != SAI_FIFOSTATUS_EMPTY) - { - if ((hsai->Init.DataSize == SAI_DATASIZE_8) && (hsai->Init.CompandingMode == SAI_NOCOMPANDING)) - { - (*hsai->pBuffPtr++) = hsai->Instance->DR; - } - else if (hsai->Init.DataSize <= SAI_DATASIZE_16) - { - *((uint16_t *)hsai->pBuffPtr) = hsai->Instance->DR; - hsai->pBuffPtr += 2U; - } - else - { - *((uint32_t *)hsai->pBuffPtr) = hsai->Instance->DR; - hsai->pBuffPtr += 4U; - } - hsai->XferCount--; - } - else - { - /* Check for the Timeout */ - if ((Timeout != HAL_MAX_DELAY) && ((Timeout == 0U) || ((HAL_GetTick() - tickstart) > Timeout))) - { - /* Update error code */ - hsai->ErrorCode |= HAL_SAI_ERROR_TIMEOUT; - - /* Clear all the flags */ - hsai->Instance->CLRFR = 0xFFFFFFFFU; - - /* Disable SAI peripheral */ - SAI_Disable(hsai); - - /* Flush the fifo */ - SET_BIT(hsai->Instance->CR2, SAI_xCR2_FFLUSH); - - /* Change the SAI state */ - hsai->State = HAL_SAI_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hsai); - - return HAL_ERROR; - } - } - } - - hsai->State = HAL_SAI_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hsai); - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Transmit an amount of data in non-blocking mode with Interrupt. - * @param hsai pointer to a SAI_HandleTypeDef structure that contains - * the configuration information for SAI module. - * @param pData Pointer to data buffer - * @param Size Amount of data to be sent - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SAI_Transmit_IT(SAI_HandleTypeDef *hsai, uint8_t *pData, uint16_t Size) -{ - if ((pData == NULL) || (Size == 0)) - { - return HAL_ERROR; - } - - if (hsai->State == HAL_SAI_STATE_READY) - { - /* Process Locked */ - __HAL_LOCK(hsai); - - hsai->pBuffPtr = pData; - hsai->XferSize = Size; - hsai->XferCount = Size; - hsai->ErrorCode = HAL_SAI_ERROR_NONE; - hsai->State = HAL_SAI_STATE_BUSY_TX; - - if ((hsai->Init.DataSize == SAI_DATASIZE_8) && (hsai->Init.CompandingMode == SAI_NOCOMPANDING)) - { - hsai->InterruptServiceRoutine = SAI_Transmit_IT8Bit; - } - else if (hsai->Init.DataSize <= SAI_DATASIZE_16) - { - hsai->InterruptServiceRoutine = SAI_Transmit_IT16Bit; - } - else - { - hsai->InterruptServiceRoutine = SAI_Transmit_IT32Bit; - } - - /* Fill the fifo before starting the communication */ - SAI_FillFifo(hsai); - - /* Enable FRQ and OVRUDR interrupts */ - __HAL_SAI_ENABLE_IT(hsai, SAI_InterruptFlag(hsai, SAI_MODE_IT)); - - /* Check if the SAI is already enabled */ - if ((hsai->Instance->CR1 & SAI_xCR1_SAIEN) == RESET) - { - /* Enable SAI peripheral */ - __HAL_SAI_ENABLE(hsai); - } - /* Process Unlocked */ - __HAL_UNLOCK(hsai); - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Receive an amount of data in non-blocking mode with Interrupt. - * @param hsai pointer to a SAI_HandleTypeDef structure that contains - * the configuration information for SAI module. - * @param pData Pointer to data buffer - * @param Size Amount of data to be received - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SAI_Receive_IT(SAI_HandleTypeDef *hsai, uint8_t *pData, uint16_t Size) -{ - if ((pData == NULL) || (Size == 0)) - { - return HAL_ERROR; - } - - if (hsai->State == HAL_SAI_STATE_READY) - { - /* Process Locked */ - __HAL_LOCK(hsai); - - hsai->pBuffPtr = pData; - hsai->XferSize = Size; - hsai->XferCount = Size; - hsai->ErrorCode = HAL_SAI_ERROR_NONE; - hsai->State = HAL_SAI_STATE_BUSY_RX; - - if ((hsai->Init.DataSize == SAI_DATASIZE_8) && (hsai->Init.CompandingMode == SAI_NOCOMPANDING)) - { - hsai->InterruptServiceRoutine = SAI_Receive_IT8Bit; - } - else if (hsai->Init.DataSize <= SAI_DATASIZE_16) - { - hsai->InterruptServiceRoutine = SAI_Receive_IT16Bit; - } - else - { - hsai->InterruptServiceRoutine = SAI_Receive_IT32Bit; - } - - /* Enable TXE and OVRUDR interrupts */ - __HAL_SAI_ENABLE_IT(hsai, SAI_InterruptFlag(hsai, SAI_MODE_IT)); - - /* Check if the SAI is already enabled */ - if ((hsai->Instance->CR1 & SAI_xCR1_SAIEN) == RESET) - { - /* Enable SAI peripheral */ - __HAL_SAI_ENABLE(hsai); - } - - /* Process Unlocked */ - __HAL_UNLOCK(hsai); - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Pause the audio stream playing from the Media. - * @param hsai pointer to a SAI_HandleTypeDef structure that contains - * the configuration information for SAI module. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SAI_DMAPause(SAI_HandleTypeDef *hsai) -{ - /* Process Locked */ - __HAL_LOCK(hsai); - - /* Pause the audio file playing by disabling the SAI DMA requests */ - hsai->Instance->CR1 &= ~SAI_xCR1_DMAEN; - - /* Process Unlocked */ - __HAL_UNLOCK(hsai); - - return HAL_OK; -} - -/** - * @brief Resume the audio stream playing from the Media. - * @param hsai pointer to a SAI_HandleTypeDef structure that contains - * the configuration information for SAI module. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SAI_DMAResume(SAI_HandleTypeDef *hsai) -{ - /* Process Locked */ - __HAL_LOCK(hsai); - - /* Enable the SAI DMA requests */ - hsai->Instance->CR1 |= SAI_xCR1_DMAEN; - - /* If the SAI peripheral is still not enabled, enable it */ - if ((hsai->Instance->CR1 & SAI_xCR1_SAIEN) == RESET) - { - /* Enable SAI peripheral */ - __HAL_SAI_ENABLE(hsai); - } - - /* Process Unlocked */ - __HAL_UNLOCK(hsai); - - return HAL_OK; -} - -/** - * @brief Stop the audio stream playing from the Media. - * @param hsai pointer to a SAI_HandleTypeDef structure that contains - * the configuration information for SAI module. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SAI_DMAStop(SAI_HandleTypeDef *hsai) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Process Locked */ - __HAL_LOCK(hsai); - - /* Disable the SAI DMA request */ - hsai->Instance->CR1 &= ~SAI_xCR1_DMAEN; - - /* Abort the SAI Tx DMA Stream */ - if ((hsai->hdmatx != NULL) && (hsai->State == HAL_SAI_STATE_BUSY_TX)) - { - if (HAL_DMA_Abort(hsai->hdmatx) != HAL_OK) - { - /* If the DMA Tx errorCode is different from DMA No Transfer then return Error */ - if (hsai->hdmatx->ErrorCode != HAL_DMA_ERROR_NO_XFER) - { - status = HAL_ERROR; - hsai->ErrorCode |= HAL_SAI_ERROR_DMA; - } - } - } - - /* Abort the SAI Rx DMA Stream */ - if ((hsai->hdmarx != NULL) && (hsai->State == HAL_SAI_STATE_BUSY_RX)) - { - if (HAL_DMA_Abort(hsai->hdmarx) != HAL_OK) - { - /* If the DMA Rx errorCode is different from DMA No Transfer then return Error */ - if (hsai->hdmarx->ErrorCode != HAL_DMA_ERROR_NO_XFER) - { - status = HAL_ERROR; - hsai->ErrorCode |= HAL_SAI_ERROR_DMA; - } - } - } - - /* Disable SAI peripheral */ - SAI_Disable(hsai); - - /* Flush the fifo */ - SET_BIT(hsai->Instance->CR2, SAI_xCR2_FFLUSH); - - /* Set hsai state to ready */ - hsai->State = HAL_SAI_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hsai); - - return status; -} - -/** - * @brief Abort the current transfer and disable the SAI. - * @param hsai pointer to a SAI_HandleTypeDef structure that contains - * the configuration information for SAI module. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SAI_Abort(SAI_HandleTypeDef *hsai) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Process Locked */ - __HAL_LOCK(hsai); - - /* Check SAI DMA is enabled or not */ - if ((hsai->Instance->CR1 & SAI_xCR1_DMAEN) == SAI_xCR1_DMAEN) - { - /* Disable the SAI DMA request */ - hsai->Instance->CR1 &= ~SAI_xCR1_DMAEN; - - /* Abort the SAI Tx DMA Stream */ - if ((hsai->hdmatx != NULL) && (hsai->State == HAL_SAI_STATE_BUSY_TX)) - { - if (HAL_DMA_Abort(hsai->hdmatx) != HAL_OK) - { - /* If the DMA Tx errorCode is different from DMA No Transfer then return Error */ - if (hsai->hdmatx->ErrorCode != HAL_DMA_ERROR_NO_XFER) - { - status = HAL_ERROR; - hsai->ErrorCode |= HAL_SAI_ERROR_DMA; - } - } - } - - /* Abort the SAI Rx DMA Stream */ - if ((hsai->hdmarx != NULL) && (hsai->State == HAL_SAI_STATE_BUSY_RX)) - { - if (HAL_DMA_Abort(hsai->hdmarx) != HAL_OK) - { - /* If the DMA Rx errorCode is different from DMA No Transfer then return Error */ - if (hsai->hdmarx->ErrorCode != HAL_DMA_ERROR_NO_XFER) - { - status = HAL_ERROR; - hsai->ErrorCode |= HAL_SAI_ERROR_DMA; - } - } - } - } - - /* Disabled All interrupt and clear all the flag */ - hsai->Instance->IMR = 0U; - hsai->Instance->CLRFR = 0xFFFFFFFFU; - - /* Disable SAI peripheral */ - SAI_Disable(hsai); - - /* Flush the fifo */ - SET_BIT(hsai->Instance->CR2, SAI_xCR2_FFLUSH); - - /* Set hsai state to ready */ - hsai->State = HAL_SAI_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hsai); - - return status; -} - -/** - * @brief Transmit an amount of data in non-blocking mode with DMA. - * @param hsai pointer to a SAI_HandleTypeDef structure that contains - * the configuration information for SAI module. - * @param pData Pointer to data buffer - * @param Size Amount of data to be sent - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SAI_Transmit_DMA(SAI_HandleTypeDef *hsai, uint8_t *pData, uint16_t Size) -{ - uint32_t tickstart = HAL_GetTick(); - - if ((pData == NULL) || (Size == 0)) - { - return HAL_ERROR; - } - - if (hsai->State == HAL_SAI_STATE_READY) - { - /* Process Locked */ - __HAL_LOCK(hsai); - - hsai->pBuffPtr = pData; - hsai->XferSize = Size; - hsai->XferCount = Size; - hsai->ErrorCode = HAL_SAI_ERROR_NONE; - hsai->State = HAL_SAI_STATE_BUSY_TX; - - /* Set the SAI Tx DMA Half transfer complete callback */ - hsai->hdmatx->XferHalfCpltCallback = SAI_DMATxHalfCplt; - - /* Set the SAI TxDMA transfer complete callback */ - hsai->hdmatx->XferCpltCallback = SAI_DMATxCplt; - - /* Set the DMA error callback */ - hsai->hdmatx->XferErrorCallback = SAI_DMAError; - - /* Set the DMA Tx abort callback */ - hsai->hdmatx->XferAbortCallback = NULL; - - /* Enable the Tx DMA Stream */ - if (HAL_DMA_Start_IT(hsai->hdmatx, (uint32_t)hsai->pBuffPtr, (uint32_t)&hsai->Instance->DR, hsai->XferSize) != HAL_OK) - { - __HAL_UNLOCK(hsai); - return HAL_ERROR; - } - - /* Enable the interrupts for error handling */ - __HAL_SAI_ENABLE_IT(hsai, SAI_InterruptFlag(hsai, SAI_MODE_DMA)); - - /* Enable SAI Tx DMA Request */ - hsai->Instance->CR1 |= SAI_xCR1_DMAEN; - - /* Wait until FIFO is not empty */ - while ((hsai->Instance->SR & SAI_xSR_FLVL) == SAI_FIFOSTATUS_EMPTY) - { - /* Check for the Timeout */ - if ((HAL_GetTick() - tickstart) > SAI_LONG_TIMEOUT) - { - /* Update error code */ - hsai->ErrorCode |= HAL_SAI_ERROR_TIMEOUT; - - /* Process Unlocked */ - __HAL_UNLOCK(hsai); - - return HAL_TIMEOUT; - } - } - - /* Check if the SAI is already enabled */ - if ((hsai->Instance->CR1 & SAI_xCR1_SAIEN) == 0U) - { - /* Enable SAI peripheral */ - __HAL_SAI_ENABLE(hsai); - } - - /* Process Unlocked */ - __HAL_UNLOCK(hsai); - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Receive an amount of data in non-blocking mode with DMA. - * @param hsai pointer to a SAI_HandleTypeDef structure that contains - * the configuration information for SAI module. - * @param pData Pointer to data buffer - * @param Size Amount of data to be received - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SAI_Receive_DMA(SAI_HandleTypeDef *hsai, uint8_t *pData, uint16_t Size) -{ - if ((pData == NULL) || (Size == 0)) - { - return HAL_ERROR; - } - - if (hsai->State == HAL_SAI_STATE_READY) - { - /* Process Locked */ - __HAL_LOCK(hsai); - - hsai->pBuffPtr = pData; - hsai->XferSize = Size; - hsai->XferCount = Size; - hsai->ErrorCode = HAL_SAI_ERROR_NONE; - hsai->State = HAL_SAI_STATE_BUSY_RX; - - /* Set the SAI Rx DMA Half transfer complete callback */ - hsai->hdmarx->XferHalfCpltCallback = SAI_DMARxHalfCplt; - - /* Set the SAI Rx DMA transfer complete callback */ - hsai->hdmarx->XferCpltCallback = SAI_DMARxCplt; - - /* Set the DMA error callback */ - hsai->hdmarx->XferErrorCallback = SAI_DMAError; - - /* Set the DMA Rx abort callback */ - hsai->hdmarx->XferAbortCallback = NULL; - - /* Enable the Rx DMA Stream */ - if (HAL_DMA_Start_IT(hsai->hdmarx, (uint32_t)&hsai->Instance->DR, (uint32_t)hsai->pBuffPtr, hsai->XferSize) != HAL_OK) - { - __HAL_UNLOCK(hsai); - return HAL_ERROR; - } - - /* Enable the interrupts for error handling */ - __HAL_SAI_ENABLE_IT(hsai, SAI_InterruptFlag(hsai, SAI_MODE_DMA)); - - /* Enable SAI Rx DMA Request */ - hsai->Instance->CR1 |= SAI_xCR1_DMAEN; - - /* Check if the SAI is already enabled */ - if ((hsai->Instance->CR1 & SAI_xCR1_SAIEN) == RESET) - { - /* Enable SAI peripheral */ - __HAL_SAI_ENABLE(hsai); - } - - /* Process Unlocked */ - __HAL_UNLOCK(hsai); - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Enable the Tx mute mode. - * @param hsai pointer to a SAI_HandleTypeDef structure that contains - * the configuration information for SAI module. - * @param val value sent during the mute @ref SAI_Block_Mute_Value - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SAI_EnableTxMuteMode(SAI_HandleTypeDef *hsai, uint16_t val) -{ - assert_param(IS_SAI_BLOCK_MUTE_VALUE(val)); - - if (hsai->State != HAL_SAI_STATE_RESET) - { - CLEAR_BIT(hsai->Instance->CR2, SAI_xCR2_MUTEVAL | SAI_xCR2_MUTE); - SET_BIT(hsai->Instance->CR2, SAI_xCR2_MUTE | val); - return HAL_OK; - } - return HAL_ERROR; -} - -/** - * @brief Disable the Tx mute mode. - * @param hsai pointer to a SAI_HandleTypeDef structure that contains - * the configuration information for SAI module. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SAI_DisableTxMuteMode(SAI_HandleTypeDef *hsai) -{ - if (hsai->State != HAL_SAI_STATE_RESET) - { - CLEAR_BIT(hsai->Instance->CR2, SAI_xCR2_MUTEVAL | SAI_xCR2_MUTE); - return HAL_OK; - } - return HAL_ERROR; -} - -/** - * @brief Enable the Rx mute detection. - * @param hsai pointer to a SAI_HandleTypeDef structure that contains - * the configuration information for SAI module. - * @param callback function called when the mute is detected. - * @param counter number a data before mute detection max 63. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SAI_EnableRxMuteMode(SAI_HandleTypeDef *hsai, SAIcallback callback, uint16_t counter) -{ - assert_param(IS_SAI_BLOCK_MUTE_COUNTER(counter)); - - if (hsai->State != HAL_SAI_STATE_RESET) - { - /* set the mute counter */ - CLEAR_BIT(hsai->Instance->CR2, SAI_xCR2_MUTECNT); - SET_BIT(hsai->Instance->CR2, (uint32_t)((uint32_t)counter << SAI_xCR2_MUTECNT_Pos)); - hsai->mutecallback = callback; - /* enable the IT interrupt */ - __HAL_SAI_ENABLE_IT(hsai, SAI_IT_MUTEDET); - return HAL_OK; - } - return HAL_ERROR; -} - -/** - * @brief Disable the Rx mute detection. - * @param hsai pointer to a SAI_HandleTypeDef structure that contains - * the configuration information for SAI module. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SAI_DisableRxMuteMode(SAI_HandleTypeDef *hsai) -{ - if (hsai->State != HAL_SAI_STATE_RESET) - { - /* set the mutecallback to NULL */ - hsai->mutecallback = (SAIcallback)NULL; - /* enable the IT interrupt */ - __HAL_SAI_DISABLE_IT(hsai, SAI_IT_MUTEDET); - return HAL_OK; - } - return HAL_ERROR; -} - -/** - * @brief Handle SAI interrupt request. - * @param hsai pointer to a SAI_HandleTypeDef structure that contains - * the configuration information for SAI module. - * @retval None - */ -void HAL_SAI_IRQHandler(SAI_HandleTypeDef *hsai) -{ - if (hsai->State != HAL_SAI_STATE_RESET) - { - uint32_t itflags = hsai->Instance->SR; - uint32_t itsources = hsai->Instance->IMR; - uint32_t cr1config = hsai->Instance->CR1; - uint32_t tmperror; - - /* SAI Fifo request interrupt occurred ------------------------------------*/ - if (((itflags & SAI_xSR_FREQ) == SAI_xSR_FREQ) && ((itsources & SAI_IT_FREQ) == SAI_IT_FREQ)) - { - hsai->InterruptServiceRoutine(hsai); - } - /* SAI Overrun error interrupt occurred ----------------------------------*/ - else if (((itflags & SAI_FLAG_OVRUDR) == SAI_FLAG_OVRUDR) && ((itsources & SAI_IT_OVRUDR) == SAI_IT_OVRUDR)) - { - /* Clear the SAI Overrun flag */ - __HAL_SAI_CLEAR_FLAG(hsai, SAI_FLAG_OVRUDR); - - /* Get the SAI error code */ - tmperror = ((hsai->State == HAL_SAI_STATE_BUSY_RX) ? HAL_SAI_ERROR_OVR : HAL_SAI_ERROR_UDR); - - /* Change the SAI error code */ - hsai->ErrorCode |= tmperror; - - /* the transfer is not stopped, we will forward the information to the user and we let the user decide what needs to be done */ -#if (USE_HAL_SAI_REGISTER_CALLBACKS == 1) - hsai->ErrorCallback(hsai); -#else - HAL_SAI_ErrorCallback(hsai); -#endif /* USE_HAL_SAI_REGISTER_CALLBACKS */ - } - /* SAI mutedet interrupt occurred ----------------------------------*/ - else if (((itflags & SAI_FLAG_MUTEDET) == SAI_FLAG_MUTEDET) && ((itsources & SAI_IT_MUTEDET) == SAI_IT_MUTEDET)) - { - /* Clear the SAI mutedet flag */ - __HAL_SAI_CLEAR_FLAG(hsai, SAI_FLAG_MUTEDET); - - /* call the call back function */ - if (hsai->mutecallback != (SAIcallback)NULL) - { - /* inform the user that an RX mute event has been detected */ - hsai->mutecallback(); - } - } - /* SAI AFSDET interrupt occurred ----------------------------------*/ - else if (((itflags & SAI_FLAG_AFSDET) == SAI_FLAG_AFSDET) && ((itsources & SAI_IT_AFSDET) == SAI_IT_AFSDET)) - { - /* Clear the SAI AFSDET flag */ - __HAL_SAI_CLEAR_FLAG(hsai, SAI_FLAG_AFSDET); - - /* Change the SAI error code */ - hsai->ErrorCode |= HAL_SAI_ERROR_AFSDET; - - /* Check SAI DMA is enabled or not */ - if ((cr1config & SAI_xCR1_DMAEN) == SAI_xCR1_DMAEN) - { - /* Abort the SAI DMA Streams */ - if (hsai->hdmatx != NULL) - { - /* Set the DMA Tx abort callback */ - hsai->hdmatx->XferAbortCallback = SAI_DMAAbort; - - /* Abort DMA in IT mode */ - HAL_DMA_Abort_IT(hsai->hdmatx); - } - else if (hsai->hdmarx != NULL) - { - /* Set the DMA Rx abort callback */ - hsai->hdmarx->XferAbortCallback = SAI_DMAAbort; - - /* Abort DMA in IT mode */ - HAL_DMA_Abort_IT(hsai->hdmarx); - } - } - else - { - /* Abort SAI */ - HAL_SAI_Abort(hsai); - - /* Set error callback */ -#if (USE_HAL_SAI_REGISTER_CALLBACKS == 1) - hsai->ErrorCallback(hsai); -#else - HAL_SAI_ErrorCallback(hsai); -#endif /* USE_HAL_SAI_REGISTER_CALLBACKS */ - } - } - /* SAI LFSDET interrupt occurred ----------------------------------*/ - else if (((itflags & SAI_FLAG_LFSDET) == SAI_FLAG_LFSDET) && ((itsources & SAI_IT_LFSDET) == SAI_IT_LFSDET)) - { - /* Clear the SAI LFSDET flag */ - __HAL_SAI_CLEAR_FLAG(hsai, SAI_FLAG_LFSDET); - - /* Change the SAI error code */ - hsai->ErrorCode |= HAL_SAI_ERROR_LFSDET; - - /* Check SAI DMA is enabled or not */ - if ((cr1config & SAI_xCR1_DMAEN) == SAI_xCR1_DMAEN) - { - /* Abort the SAI DMA Streams */ - if (hsai->hdmatx != NULL) - { - /* Set the DMA Tx abort callback */ - hsai->hdmatx->XferAbortCallback = SAI_DMAAbort; - - /* Abort DMA in IT mode */ - HAL_DMA_Abort_IT(hsai->hdmatx); - } - else if (hsai->hdmarx != NULL) - { - /* Set the DMA Rx abort callback */ - hsai->hdmarx->XferAbortCallback = SAI_DMAAbort; - - /* Abort DMA in IT mode */ - HAL_DMA_Abort_IT(hsai->hdmarx); - } - } - else - { - /* Abort SAI */ - HAL_SAI_Abort(hsai); - - /* Set error callback */ -#if (USE_HAL_SAI_REGISTER_CALLBACKS == 1) - hsai->ErrorCallback(hsai); -#else - HAL_SAI_ErrorCallback(hsai); -#endif /* USE_HAL_SAI_REGISTER_CALLBACKS */ - } - } - /* SAI WCKCFG interrupt occurred ----------------------------------*/ - else if (((itflags & SAI_FLAG_WCKCFG) == SAI_FLAG_WCKCFG) && ((itsources & SAI_IT_WCKCFG) == SAI_IT_WCKCFG)) - { - /* Clear the SAI WCKCFG flag */ - __HAL_SAI_CLEAR_FLAG(hsai, SAI_FLAG_WCKCFG); - - /* Change the SAI error code */ - hsai->ErrorCode |= HAL_SAI_ERROR_WCKCFG; - - /* Check SAI DMA is enabled or not */ - if ((cr1config & SAI_xCR1_DMAEN) == SAI_xCR1_DMAEN) - { - /* Abort the SAI DMA Streams */ - if (hsai->hdmatx != NULL) - { - /* Set the DMA Tx abort callback */ - hsai->hdmatx->XferAbortCallback = SAI_DMAAbort; - - /* Abort DMA in IT mode */ - HAL_DMA_Abort_IT(hsai->hdmatx); - } - else if (hsai->hdmarx != NULL) - { - /* Set the DMA Rx abort callback */ - hsai->hdmarx->XferAbortCallback = SAI_DMAAbort; - - /* Abort DMA in IT mode */ - HAL_DMA_Abort_IT(hsai->hdmarx); - } - } - else - { - /* If WCKCFG occurs, SAI audio block is automatically disabled */ - /* Disable all interrupts and clear all flags */ - hsai->Instance->IMR = 0U; - hsai->Instance->CLRFR = 0xFFFFFFFFU; - - /* Set the SAI state to ready to be able to start again the process */ - hsai->State = HAL_SAI_STATE_READY; - - /* Initialize XferCount */ - hsai->XferCount = 0U; - - /* SAI error Callback */ -#if (USE_HAL_SAI_REGISTER_CALLBACKS == 1) - hsai->ErrorCallback(hsai); -#else - HAL_SAI_ErrorCallback(hsai); -#endif /* USE_HAL_SAI_REGISTER_CALLBACKS */ - } - } - /* SAI CNRDY interrupt occurred ----------------------------------*/ - else if (((itflags & SAI_FLAG_CNRDY) == SAI_FLAG_CNRDY) && ((itsources & SAI_IT_CNRDY) == SAI_IT_CNRDY)) - { - /* Clear the SAI CNRDY flag */ - __HAL_SAI_CLEAR_FLAG(hsai, SAI_FLAG_CNRDY); - - /* Change the SAI error code */ - hsai->ErrorCode |= HAL_SAI_ERROR_CNREADY; - - /* the transfer is not stopped, we will forward the information to the user and we let the user decide what needs to be done */ -#if (USE_HAL_SAI_REGISTER_CALLBACKS == 1) - hsai->ErrorCallback(hsai); -#else - HAL_SAI_ErrorCallback(hsai); -#endif /* USE_HAL_SAI_REGISTER_CALLBACKS */ - } - else - { - /* Nothing to do */ - } - } -} - -/** - * @brief Tx Transfer completed callback. - * @param hsai pointer to a SAI_HandleTypeDef structure that contains - * the configuration information for SAI module. - * @retval None - */ -__weak void HAL_SAI_TxCpltCallback(SAI_HandleTypeDef *hsai) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hsai); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_SAI_TxCpltCallback could be implemented in the user file - */ -} - -/** - * @brief Tx Transfer Half completed callback. - * @param hsai pointer to a SAI_HandleTypeDef structure that contains - * the configuration information for SAI module. - * @retval None - */ -__weak void HAL_SAI_TxHalfCpltCallback(SAI_HandleTypeDef *hsai) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hsai); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_SAI_TxHalfCpltCallback could be implemented in the user file - */ -} - -/** - * @brief Rx Transfer completed callback. - * @param hsai pointer to a SAI_HandleTypeDef structure that contains - * the configuration information for SAI module. - * @retval None - */ -__weak void HAL_SAI_RxCpltCallback(SAI_HandleTypeDef *hsai) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hsai); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_SAI_RxCpltCallback could be implemented in the user file - */ -} - -/** - * @brief Rx Transfer half completed callback. - * @param hsai pointer to a SAI_HandleTypeDef structure that contains - * the configuration information for SAI module. - * @retval None - */ -__weak void HAL_SAI_RxHalfCpltCallback(SAI_HandleTypeDef *hsai) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hsai); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_SAI_RxHalfCpltCallback could be implemented in the user file - */ -} - -/** - * @brief SAI error callback. - * @param hsai pointer to a SAI_HandleTypeDef structure that contains - * the configuration information for SAI module. - * @retval None - */ -__weak void HAL_SAI_ErrorCallback(SAI_HandleTypeDef *hsai) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hsai); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_SAI_ErrorCallback could be implemented in the user file - */ -} - -/** - * @} - */ - -/** @defgroup SAI_Exported_Functions_Group3 Peripheral State functions - * @brief Peripheral State functions - * -@verbatim - =============================================================================== - ##### Peripheral State and Errors functions ##### - =============================================================================== - [..] - This subsection permits to get in run-time the status of the peripheral - and the data flow. - -@endverbatim - * @{ - */ - -/** - * @brief Return the SAI handle state. - * @param hsai pointer to a SAI_HandleTypeDef structure that contains - * the configuration information for SAI module. - * @retval HAL state - */ -HAL_SAI_StateTypeDef HAL_SAI_GetState(SAI_HandleTypeDef *hsai) -{ - return hsai->State; -} - -/** - * @brief Return the SAI error code. - * @param hsai pointer to a SAI_HandleTypeDef structure that contains - * the configuration information for the specified SAI Block. - * @retval SAI Error Code - */ -uint32_t HAL_SAI_GetError(SAI_HandleTypeDef *hsai) -{ - return hsai->ErrorCode; -} -/** - * @} - */ - -/** - * @} - */ - -/** @addtogroup SAI_Private_Functions - * @brief Private functions - * @{ - */ - -/** - * @brief Initialize the SAI I2S protocol according to the specified parameters - * in the SAI_InitTypeDef and create the associated handle. - * @param hsai pointer to a SAI_HandleTypeDef structure that contains - * the configuration information for SAI module. - * @param protocol one of the supported protocol. - * @param datasize one of the supported datasize @ref SAI_Protocol_DataSize - * the configuration information for SAI module. - * @param nbslot number of slot minimum value is 2 and max is 16. - * the value must be a multiple of 2. - * @retval HAL status - */ -static HAL_StatusTypeDef SAI_InitI2S(SAI_HandleTypeDef *hsai, uint32_t protocol, uint32_t datasize, uint32_t nbslot) -{ - hsai->Init.Protocol = SAI_FREE_PROTOCOL; - hsai->Init.FirstBit = SAI_FIRSTBIT_MSB; - /* Compute ClockStrobing according AudioMode */ - if ((hsai->Init.AudioMode == SAI_MODEMASTER_TX) || (hsai->Init.AudioMode == SAI_MODESLAVE_TX)) - { - /* Transmit */ - hsai->Init.ClockStrobing = SAI_CLOCKSTROBING_FALLINGEDGE; - } - else - { - /* Receive */ - hsai->Init.ClockStrobing = SAI_CLOCKSTROBING_RISINGEDGE; - } - hsai->FrameInit.FSDefinition = SAI_FS_CHANNEL_IDENTIFICATION; - hsai->SlotInit.SlotActive = SAI_SLOTACTIVE_ALL; - hsai->SlotInit.FirstBitOffset = 0U; - hsai->SlotInit.SlotNumber = nbslot; - - /* in IS2 the number of slot must be even */ - if ((nbslot & 0x1U) != 0U) - { - return HAL_ERROR; - } - - if (protocol == SAI_I2S_STANDARD) - { - hsai->FrameInit.FSPolarity = SAI_FS_ACTIVE_LOW; - hsai->FrameInit.FSOffset = SAI_FS_BEFOREFIRSTBIT; - } - else - { - /* SAI_I2S_MSBJUSTIFIED or SAI_I2S_LSBJUSTIFIED */ - hsai->FrameInit.FSPolarity = SAI_FS_ACTIVE_HIGH; - hsai->FrameInit.FSOffset = SAI_FS_FIRSTBIT; - } - - /* Frame definition */ - switch (datasize) - { - case SAI_PROTOCOL_DATASIZE_16BIT: - hsai->Init.DataSize = SAI_DATASIZE_16; - hsai->FrameInit.FrameLength = 32U * (nbslot / 2U); - hsai->FrameInit.ActiveFrameLength = 16U * (nbslot / 2U); - hsai->SlotInit.SlotSize = SAI_SLOTSIZE_16B; - break; - case SAI_PROTOCOL_DATASIZE_16BITEXTENDED : - hsai->Init.DataSize = SAI_DATASIZE_16; - hsai->FrameInit.FrameLength = 64U * (nbslot / 2U); - hsai->FrameInit.ActiveFrameLength = 32U * (nbslot / 2U); - hsai->SlotInit.SlotSize = SAI_SLOTSIZE_32B; - break; - case SAI_PROTOCOL_DATASIZE_24BIT: - hsai->Init.DataSize = SAI_DATASIZE_24; - hsai->FrameInit.FrameLength = 64U * (nbslot / 2U); - hsai->FrameInit.ActiveFrameLength = 32U * (nbslot / 2U); - hsai->SlotInit.SlotSize = SAI_SLOTSIZE_32B; - break; - case SAI_PROTOCOL_DATASIZE_32BIT: - hsai->Init.DataSize = SAI_DATASIZE_32; - hsai->FrameInit.FrameLength = 64U * (nbslot / 2U); - hsai->FrameInit.ActiveFrameLength = 32U * (nbslot / 2U); - hsai->SlotInit.SlotSize = SAI_SLOTSIZE_32B; - break; - default : - return HAL_ERROR; - } - if (protocol == SAI_I2S_LSBJUSTIFIED) - { - if (datasize == SAI_PROTOCOL_DATASIZE_16BITEXTENDED) - { - hsai->SlotInit.FirstBitOffset = 16U; - } - if (datasize == SAI_PROTOCOL_DATASIZE_24BIT) - { - hsai->SlotInit.FirstBitOffset = 8U; - } - } - return HAL_OK; -} - -/** - * @brief Initialize the SAI PCM protocol according to the specified parameters - * in the SAI_InitTypeDef and create the associated handle. - * @param hsai pointer to a SAI_HandleTypeDef structure that contains - * the configuration information for SAI module. - * @param protocol one of the supported protocol - * @param datasize one of the supported datasize @ref SAI_Protocol_DataSize - * @param nbslot number of slot minimum value is 1 and the max is 16. - * @retval HAL status - */ -static HAL_StatusTypeDef SAI_InitPCM(SAI_HandleTypeDef *hsai, uint32_t protocol, uint32_t datasize, uint32_t nbslot) -{ - hsai->Init.Protocol = SAI_FREE_PROTOCOL; - hsai->Init.FirstBit = SAI_FIRSTBIT_MSB; - /* Compute ClockStrobing according AudioMode */ - if ((hsai->Init.AudioMode == SAI_MODEMASTER_TX) || (hsai->Init.AudioMode == SAI_MODESLAVE_TX)) - { - /* Transmit */ - hsai->Init.ClockStrobing = SAI_CLOCKSTROBING_RISINGEDGE; - } - else - { - /* Receive */ - hsai->Init.ClockStrobing = SAI_CLOCKSTROBING_FALLINGEDGE; - } - hsai->FrameInit.FSDefinition = SAI_FS_STARTFRAME; - hsai->FrameInit.FSPolarity = SAI_FS_ACTIVE_HIGH; - hsai->FrameInit.FSOffset = SAI_FS_BEFOREFIRSTBIT; - hsai->SlotInit.FirstBitOffset = 0U; - hsai->SlotInit.SlotNumber = nbslot; - hsai->SlotInit.SlotActive = SAI_SLOTACTIVE_ALL; - - if (protocol == SAI_PCM_SHORT) - { - hsai->FrameInit.ActiveFrameLength = 1; - } - else - { - /* SAI_PCM_LONG */ - hsai->FrameInit.ActiveFrameLength = 13; - } - - switch (datasize) - { - case SAI_PROTOCOL_DATASIZE_16BIT: - hsai->Init.DataSize = SAI_DATASIZE_16; - hsai->FrameInit.FrameLength = 16U * nbslot; - hsai->SlotInit.SlotSize = SAI_SLOTSIZE_16B; - break; - case SAI_PROTOCOL_DATASIZE_16BITEXTENDED : - hsai->Init.DataSize = SAI_DATASIZE_16; - hsai->FrameInit.FrameLength = 32U * nbslot; - hsai->SlotInit.SlotSize = SAI_SLOTSIZE_32B; - break; - case SAI_PROTOCOL_DATASIZE_24BIT : - hsai->Init.DataSize = SAI_DATASIZE_24; - hsai->FrameInit.FrameLength = 32U * nbslot; - hsai->SlotInit.SlotSize = SAI_SLOTSIZE_32B; - break; - case SAI_PROTOCOL_DATASIZE_32BIT: - hsai->Init.DataSize = SAI_DATASIZE_32; - hsai->FrameInit.FrameLength = 32U * nbslot; - hsai->SlotInit.SlotSize = SAI_SLOTSIZE_32B; - break; - default : - return HAL_ERROR; - } - - return HAL_OK; -} - -/** - * @brief Fill the fifo. - * @param hsai pointer to a SAI_HandleTypeDef structure that contains - * the configuration information for SAI module. - * @retval None - */ -static void SAI_FillFifo(SAI_HandleTypeDef *hsai) -{ - /* fill the fifo with data before to enabled the SAI */ - while (((hsai->Instance->SR & SAI_xSR_FLVL) != SAI_FIFOSTATUS_FULL) && (hsai->XferCount > 0U)) - { - if ((hsai->Init.DataSize == SAI_DATASIZE_8) && (hsai->Init.CompandingMode == SAI_NOCOMPANDING)) - { - hsai->Instance->DR = (*hsai->pBuffPtr++); - } - else if (hsai->Init.DataSize <= SAI_DATASIZE_16) - { - hsai->Instance->DR = *((uint32_t *)hsai->pBuffPtr); - hsai->pBuffPtr += 2U; - } - else - { - hsai->Instance->DR = *((uint32_t *)hsai->pBuffPtr); - hsai->pBuffPtr += 4U; - } - hsai->XferCount--; - } -} - -/** - * @brief Return the interrupt flag to set according the SAI setup. - * @param hsai pointer to a SAI_HandleTypeDef structure that contains - * the configuration information for SAI module. - * @param mode SAI_MODE_DMA or SAI_MODE_IT - * @retval the list of the IT flag to enable - */ -static uint32_t SAI_InterruptFlag(SAI_HandleTypeDef *hsai, uint32_t mode) -{ - uint32_t tmpIT = SAI_IT_OVRUDR; - - if (mode == SAI_MODE_IT) - { - tmpIT |= SAI_IT_FREQ; - } - - if ((hsai->Init.Protocol == SAI_AC97_PROTOCOL) && - ((hsai->Init.AudioMode == SAI_MODESLAVE_RX) || (hsai->Init.AudioMode == SAI_MODEMASTER_RX))) - { - tmpIT |= SAI_IT_CNRDY; - } - - if ((hsai->Init.AudioMode == SAI_MODESLAVE_RX) || (hsai->Init.AudioMode == SAI_MODESLAVE_TX)) - { - tmpIT |= SAI_IT_AFSDET | SAI_IT_LFSDET; - } - else - { - /* hsai has been configured in master mode */ - tmpIT |= SAI_IT_WCKCFG; - } - return tmpIT; -} - -/** - * @brief Disable the SAI and wait for the disabling. - * @param hsai pointer to a SAI_HandleTypeDef structure that contains - * the configuration information for SAI module. - * @retval None - */ -static HAL_StatusTypeDef SAI_Disable(SAI_HandleTypeDef *hsai) -{ - uint32_t count = SAI_DEFAULT_TIMEOUT * (SystemCoreClock / 7U / 1000U); - HAL_StatusTypeDef status = HAL_OK; - - /* Disable the SAI instance */ - __HAL_SAI_DISABLE(hsai); - - do - { - /* Check for the Timeout */ - if (count-- == 0U) - { - /* Update error code */ - hsai->ErrorCode |= HAL_SAI_ERROR_TIMEOUT; - status = HAL_TIMEOUT; - break; - } - } - while ((hsai->Instance->CR1 & SAI_xCR1_SAIEN) != RESET); - - return status; -} - -/** - * @brief Tx Handler for Transmit in Interrupt mode 8-Bit transfer. - * @param hsai pointer to a SAI_HandleTypeDef structure that contains - * the configuration information for SAI module. - * @retval None - */ -static void SAI_Transmit_IT8Bit(SAI_HandleTypeDef *hsai) -{ - if (hsai->XferCount == 0U) - { - /* Handle the end of the transmission */ - /* Disable FREQ and OVRUDR interrupts */ - __HAL_SAI_DISABLE_IT(hsai, SAI_InterruptFlag(hsai, SAI_MODE_IT)); - hsai->State = HAL_SAI_STATE_READY; -#if (USE_HAL_SAI_REGISTER_CALLBACKS == 1) - hsai->TxCpltCallback(hsai); -#else - HAL_SAI_TxCpltCallback(hsai); -#endif /* USE_HAL_SAI_REGISTER_CALLBACKS */ - } - else - { - /* Write data on DR register */ - hsai->Instance->DR = (*hsai->pBuffPtr++); - hsai->XferCount--; - } -} - -/** - * @brief Tx Handler for Transmit in Interrupt mode for 16-Bit transfer. - * @param hsai pointer to a SAI_HandleTypeDef structure that contains - * the configuration information for SAI module. - * @retval None - */ -static void SAI_Transmit_IT16Bit(SAI_HandleTypeDef *hsai) -{ - if (hsai->XferCount == 0U) - { - /* Handle the end of the transmission */ - /* Disable FREQ and OVRUDR interrupts */ - __HAL_SAI_DISABLE_IT(hsai, SAI_InterruptFlag(hsai, SAI_MODE_IT)); - hsai->State = HAL_SAI_STATE_READY; -#if (USE_HAL_SAI_REGISTER_CALLBACKS == 1) - hsai->TxCpltCallback(hsai); -#else - HAL_SAI_TxCpltCallback(hsai); -#endif /* USE_HAL_SAI_REGISTER_CALLBACKS */ - } - else - { - /* Write data on DR register */ - hsai->Instance->DR = *(uint16_t *)hsai->pBuffPtr; - hsai->pBuffPtr += 2U; - hsai->XferCount--; - } -} - -/** - * @brief Tx Handler for Transmit in Interrupt mode for 32-Bit transfer. - * @param hsai pointer to a SAI_HandleTypeDef structure that contains - * the configuration information for SAI module. - * @retval None - */ -static void SAI_Transmit_IT32Bit(SAI_HandleTypeDef *hsai) -{ - if (hsai->XferCount == 0U) - { - /* Handle the end of the transmission */ - /* Disable FREQ and OVRUDR interrupts */ - __HAL_SAI_DISABLE_IT(hsai, SAI_InterruptFlag(hsai, SAI_MODE_IT)); - hsai->State = HAL_SAI_STATE_READY; -#if (USE_HAL_SAI_REGISTER_CALLBACKS == 1) - hsai->TxCpltCallback(hsai); -#else - HAL_SAI_TxCpltCallback(hsai); -#endif /* USE_HAL_SAI_REGISTER_CALLBACKS */ - } - else - { - /* Write data on DR register */ - hsai->Instance->DR = *(uint32_t *)hsai->pBuffPtr; - hsai->pBuffPtr += 4U; - hsai->XferCount--; - } -} - -/** - * @brief Rx Handler for Receive in Interrupt mode 8-Bit transfer. - * @param hsai pointer to a SAI_HandleTypeDef structure that contains - * the configuration information for SAI module. - * @retval None - */ -static void SAI_Receive_IT8Bit(SAI_HandleTypeDef *hsai) -{ - /* Receive data */ - (*hsai->pBuffPtr++) = hsai->Instance->DR; - hsai->XferCount--; - - /* Check end of the transfer */ - if (hsai->XferCount == 0U) - { - /* Disable TXE and OVRUDR interrupts */ - __HAL_SAI_DISABLE_IT(hsai, SAI_InterruptFlag(hsai, SAI_MODE_IT)); - - /* Clear the SAI Overrun flag */ - __HAL_SAI_CLEAR_FLAG(hsai, SAI_FLAG_OVRUDR); - - hsai->State = HAL_SAI_STATE_READY; -#if (USE_HAL_SAI_REGISTER_CALLBACKS == 1) - hsai->RxCpltCallback(hsai); -#else - HAL_SAI_RxCpltCallback(hsai); -#endif /* USE_HAL_SAI_REGISTER_CALLBACKS */ - } -} - -/** - * @brief Rx Handler for Receive in Interrupt mode for 16-Bit transfer. - * @param hsai pointer to a SAI_HandleTypeDef structure that contains - * the configuration information for SAI module. - * @retval None - */ -static void SAI_Receive_IT16Bit(SAI_HandleTypeDef *hsai) -{ - /* Receive data */ - *(uint16_t *)hsai->pBuffPtr = hsai->Instance->DR; - hsai->pBuffPtr += 2U; - hsai->XferCount--; - - /* Check end of the transfer */ - if (hsai->XferCount == 0U) - { - /* Disable TXE and OVRUDR interrupts */ - __HAL_SAI_DISABLE_IT(hsai, SAI_InterruptFlag(hsai, SAI_MODE_IT)); - - /* Clear the SAI Overrun flag */ - __HAL_SAI_CLEAR_FLAG(hsai, SAI_FLAG_OVRUDR); - - hsai->State = HAL_SAI_STATE_READY; -#if (USE_HAL_SAI_REGISTER_CALLBACKS == 1) - hsai->RxCpltCallback(hsai); -#else - HAL_SAI_RxCpltCallback(hsai); -#endif /* USE_HAL_SAI_REGISTER_CALLBACKS */ - } -} - -/** - * @brief Rx Handler for Receive in Interrupt mode for 32-Bit transfer. - * @param hsai pointer to a SAI_HandleTypeDef structure that contains - * the configuration information for SAI module. - * @retval None - */ -static void SAI_Receive_IT32Bit(SAI_HandleTypeDef *hsai) -{ - /* Receive data */ - *(uint32_t *)hsai->pBuffPtr = hsai->Instance->DR; - hsai->pBuffPtr += 4U; - hsai->XferCount--; - - /* Check end of the transfer */ - if (hsai->XferCount == 0U) - { - /* Disable TXE and OVRUDR interrupts */ - __HAL_SAI_DISABLE_IT(hsai, SAI_InterruptFlag(hsai, SAI_MODE_IT)); - - /* Clear the SAI Overrun flag */ - __HAL_SAI_CLEAR_FLAG(hsai, SAI_FLAG_OVRUDR); - - hsai->State = HAL_SAI_STATE_READY; -#if (USE_HAL_SAI_REGISTER_CALLBACKS == 1) - hsai->RxCpltCallback(hsai); -#else - HAL_SAI_RxCpltCallback(hsai); -#endif /* USE_HAL_SAI_REGISTER_CALLBACKS */ - } -} - -/** - * @brief DMA SAI transmit process complete callback. - * @param hdma pointer to a DMA_HandleTypeDef structure that contains - * the configuration information for the specified DMA module. - * @retval None - */ -static void SAI_DMATxCplt(DMA_HandleTypeDef *hdma) -{ - SAI_HandleTypeDef *hsai = (SAI_HandleTypeDef *)((DMA_HandleTypeDef *)hdma)->Parent; - - if (hdma->Init.Mode != DMA_CIRCULAR) - { - hsai->XferCount = 0U; - - /* Disable SAI Tx DMA Request */ - hsai->Instance->CR1 &= (uint32_t)(~SAI_xCR1_DMAEN); - - /* Stop the interrupts error handling */ - __HAL_SAI_DISABLE_IT(hsai, SAI_InterruptFlag(hsai, SAI_MODE_DMA)); - - hsai->State = HAL_SAI_STATE_READY; - } -#if (USE_HAL_SAI_REGISTER_CALLBACKS == 1) - hsai->TxCpltCallback(hsai); -#else - HAL_SAI_TxCpltCallback(hsai); -#endif /* USE_HAL_SAI_REGISTER_CALLBACKS */ -} - -/** - * @brief DMA SAI transmit process half complete callback. - * @param hdma pointer to a DMA_HandleTypeDef structure that contains - * the configuration information for the specified DMA module. - * @retval None - */ -static void SAI_DMATxHalfCplt(DMA_HandleTypeDef *hdma) -{ - SAI_HandleTypeDef *hsai = (SAI_HandleTypeDef *)((DMA_HandleTypeDef *)hdma)->Parent; - -#if (USE_HAL_SAI_REGISTER_CALLBACKS == 1) - hsai->TxHalfCpltCallback(hsai); -#else - HAL_SAI_TxHalfCpltCallback(hsai); -#endif /* USE_HAL_SAI_REGISTER_CALLBACKS */ -} - -/** - * @brief DMA SAI receive process complete callback. - * @param hdma pointer to a DMA_HandleTypeDef structure that contains - * the configuration information for the specified DMA module. - * @retval None - */ -static void SAI_DMARxCplt(DMA_HandleTypeDef *hdma) -{ - SAI_HandleTypeDef *hsai = (SAI_HandleTypeDef *)((DMA_HandleTypeDef *)hdma)->Parent; - - if (hdma->Init.Mode != DMA_CIRCULAR) - { - /* Disable Rx DMA Request */ - hsai->Instance->CR1 &= (uint32_t)(~SAI_xCR1_DMAEN); - hsai->XferCount = 0U; - - /* Stop the interrupts error handling */ - __HAL_SAI_DISABLE_IT(hsai, SAI_InterruptFlag(hsai, SAI_MODE_DMA)); - - hsai->State = HAL_SAI_STATE_READY; - } -#if (USE_HAL_SAI_REGISTER_CALLBACKS == 1) - hsai->RxCpltCallback(hsai); -#else - HAL_SAI_RxCpltCallback(hsai); -#endif /* USE_HAL_SAI_REGISTER_CALLBACKS */ -} - -/** - * @brief DMA SAI receive process half complete callback - * @param hdma pointer to a DMA_HandleTypeDef structure that contains - * the configuration information for the specified DMA module. - * @retval None - */ -static void SAI_DMARxHalfCplt(DMA_HandleTypeDef *hdma) -{ - SAI_HandleTypeDef *hsai = (SAI_HandleTypeDef *)((DMA_HandleTypeDef *)hdma)->Parent; - -#if (USE_HAL_SAI_REGISTER_CALLBACKS == 1) - hsai->RxHalfCpltCallback(hsai); -#else - HAL_SAI_RxHalfCpltCallback(hsai); -#endif /* USE_HAL_SAI_REGISTER_CALLBACKS */ -} - -/** - * @brief DMA SAI communication error callback. - * @param hdma pointer to a DMA_HandleTypeDef structure that contains - * the configuration information for the specified DMA module. - * @retval None - */ -static void SAI_DMAError(DMA_HandleTypeDef *hdma) -{ - SAI_HandleTypeDef *hsai = (SAI_HandleTypeDef *)((DMA_HandleTypeDef *)hdma)->Parent; - - /* Set SAI error code */ - hsai->ErrorCode |= HAL_SAI_ERROR_DMA; - - if ((hsai->hdmatx->ErrorCode == HAL_DMA_ERROR_TE) || (hsai->hdmarx->ErrorCode == HAL_DMA_ERROR_TE)) - { - /* Disable the SAI DMA request */ - hsai->Instance->CR1 &= ~SAI_xCR1_DMAEN; - - /* Disable SAI peripheral */ - SAI_Disable(hsai); - - /* Set the SAI state ready to be able to start again the process */ - hsai->State = HAL_SAI_STATE_READY; - - /* Initialize XferCount */ - hsai->XferCount = 0U; - } - /* SAI error Callback */ -#if (USE_HAL_SAI_REGISTER_CALLBACKS == 1) - hsai->ErrorCallback(hsai); -#else - HAL_SAI_ErrorCallback(hsai); -#endif /* USE_HAL_SAI_REGISTER_CALLBACKS */ -} - -/** - * @brief DMA SAI Abort callback. - * @param hdma pointer to a DMA_HandleTypeDef structure that contains - * the configuration information for the specified DMA module. - * @retval None - */ -static void SAI_DMAAbort(DMA_HandleTypeDef *hdma) -{ - SAI_HandleTypeDef *hsai = (SAI_HandleTypeDef *)((DMA_HandleTypeDef *)hdma)->Parent; - - /* Disable DMA request */ - hsai->Instance->CR1 &= ~SAI_xCR1_DMAEN; - - /* Disable all interrupts and clear all flags */ - hsai->Instance->IMR = 0U; - hsai->Instance->CLRFR = 0xFFFFFFFFU; - - if (hsai->ErrorCode != HAL_SAI_ERROR_WCKCFG) - { - /* Disable SAI peripheral */ - SAI_Disable(hsai); - - /* Flush the fifo */ - SET_BIT(hsai->Instance->CR2, SAI_xCR2_FFLUSH); - } - /* Set the SAI state to ready to be able to start again the process */ - hsai->State = HAL_SAI_STATE_READY; - - /* Initialize XferCount */ - hsai->XferCount = 0U; - - /* SAI error Callback */ -#if (USE_HAL_SAI_REGISTER_CALLBACKS == 1) - hsai->ErrorCallback(hsai); -#else - HAL_SAI_ErrorCallback(hsai); -#endif /* USE_HAL_SAI_REGISTER_CALLBACKS */ -} - -/** - * @} - */ - -#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || STM32F446xx || STM32F469xx || STM32F479xx || STM32F413xx || STM32F423xx */ -#endif /* HAL_SAI_MODULE_ENABLED */ -/** - * @} - */ - -/** - * @} - */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_sai_ex.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_sai_ex.c deleted file mode 100644 index 120a27774732ca..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_sai_ex.c +++ /dev/null @@ -1,311 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_sai_ex.c - * @author MCD Application Team - * @brief SAI Extension HAL module driver. - * This file provides firmware functions to manage the following - * functionalities of SAI extension peripheral: - * + Extension features functions - * - @verbatim - ============================================================================== - ##### SAI peripheral extension features ##### - ============================================================================== - - [..] Comparing to other previous devices, the SAI interface for STM32F446xx - devices contains the following additional features : - - (+) Possibility to be clocked from PLLR - - ##### How to use this driver ##### - ============================================================================== - [..] This driver provides functions to manage several sources to clock SAI - - @endverbatim - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @defgroup SAIEx SAIEx - * @brief SAI Extension HAL module driver - * @{ - */ - -#ifdef HAL_SAI_MODULE_ENABLED - -#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) || \ - defined(STM32F446xx) || defined(STM32F469xx) || defined(STM32F479xx) || defined(STM32F413xx) || \ - defined(STM32F423xx) - -/* Private typedef -----------------------------------------------------------*/ -/* Private define ------------------------------------------------------------*/ -/* SAI registers Masks */ -/* Private macro -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private function prototypes -----------------------------------------------*/ -/* Private functions ---------------------------------------------------------*/ - -/** @defgroup SAI_Private_Functions SAI Private Functions - * @{ - */ -/** - * @} - */ - -/* Exported functions --------------------------------------------------------*/ -/** @defgroup SAIEx_Exported_Functions SAI Extended Exported Functions - * @{ - */ - -/** @defgroup SAIEx_Exported_Functions_Group1 Extension features functions - * @brief Extension features functions - * -@verbatim - =============================================================================== - ##### Extension features Functions ##### - =============================================================================== - [..] - This subsection provides a set of functions allowing to manage the possible - SAI clock sources. - -@endverbatim - * @{ - */ - -/** - * @brief Configure SAI Block synchronization mode - * @param hsai pointer to a SAI_HandleTypeDef structure that contains - * the configuration information for SAI module. - * @retval SAI Clock Input - */ -void SAI_BlockSynchroConfig(SAI_HandleTypeDef *hsai) -{ - uint32_t tmpregisterGCR; - -#if defined(STM32F446xx) - /* This setting must be done with both audio block (A & B) disabled */ - switch (hsai->Init.SynchroExt) - { - case SAI_SYNCEXT_DISABLE : - tmpregisterGCR = 0U; - break; - case SAI_SYNCEXT_OUTBLOCKA_ENABLE : - tmpregisterGCR = SAI_GCR_SYNCOUT_0; - break; - case SAI_SYNCEXT_OUTBLOCKB_ENABLE : - tmpregisterGCR = SAI_GCR_SYNCOUT_1; - break; - default: - tmpregisterGCR = 0U; - break; - } - - if ((hsai->Init.Synchro) == SAI_SYNCHRONOUS_EXT_SAI2) - { - tmpregisterGCR |= SAI_GCR_SYNCIN_0; - } - - if ((hsai->Instance == SAI1_Block_A) || (hsai->Instance == SAI1_Block_B)) - { - SAI1->GCR = tmpregisterGCR; - } - else - { - SAI2->GCR = tmpregisterGCR; - } -#endif /* STM32F446xx */ -#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) || \ - defined(STM32F469xx) || defined(STM32F479xx) || defined(STM32F413xx) || defined(STM32F423xx) - /* This setting must be done with both audio block (A & B) disabled */ - switch (hsai->Init.SynchroExt) - { - case SAI_SYNCEXT_DISABLE : - tmpregisterGCR = 0U; - break; - case SAI_SYNCEXT_OUTBLOCKA_ENABLE : - tmpregisterGCR = SAI_GCR_SYNCOUT_0; - break; - case SAI_SYNCEXT_OUTBLOCKB_ENABLE : - tmpregisterGCR = SAI_GCR_SYNCOUT_1; - break; - default: - tmpregisterGCR = 0U; - break; - } - SAI1->GCR = tmpregisterGCR; -#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || STM32F469xx || STM32F479xx || STM32F413xx || STM32F423xx */ -} -/** -* @brief Get SAI Input Clock based on SAI source clock selection -* @param hsai pointer to a SAI_HandleTypeDef structure that contains -* the configuration information for SAI module. -* @retval SAI Clock Input -*/ -uint32_t SAI_GetInputClock(SAI_HandleTypeDef *hsai) -{ - /* This variable used to store the SAI_CK_x (value in Hz) */ - uint32_t saiclocksource = 0U; - -#if defined(STM32F446xx) - if ((hsai->Instance == SAI1_Block_A) || (hsai->Instance == SAI1_Block_B)) - { - saiclocksource = HAL_RCCEx_GetPeriphCLKFreq(RCC_PERIPHCLK_SAI1); - } - else /* SAI2_Block_A || SAI2_Block_B*/ - { - saiclocksource = HAL_RCCEx_GetPeriphCLKFreq(RCC_PERIPHCLK_SAI2); - } -#endif /* STM32F446xx */ -#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) || \ - defined(STM32F469xx) || defined(STM32F479xx) || defined(STM32F413xx) || defined(STM32F423xx) - uint32_t vcoinput = 0U, tmpreg = 0U; - - /* Check the SAI Block parameters */ - assert_param(IS_SAI_CLK_SOURCE(hsai->Init.ClockSource)); - - /* SAI Block clock source selection */ - if (hsai->Instance == SAI1_Block_A) - { - __HAL_RCC_SAI_BLOCKACLKSOURCE_CONFIG(hsai->Init.ClockSource); - } - else - { - __HAL_RCC_SAI_BLOCKBCLKSOURCE_CONFIG((uint32_t)(hsai->Init.ClockSource << 2U)); - } - - /* VCO Input Clock value calculation */ - if ((RCC->PLLCFGR & RCC_PLLCFGR_PLLSRC) == RCC_PLLSOURCE_HSI) - { - /* In Case the PLL Source is HSI (Internal Clock) */ - vcoinput = (HSI_VALUE / (uint32_t)(RCC->PLLCFGR & RCC_PLLCFGR_PLLM)); - } - else - { - /* In Case the PLL Source is HSE (External Clock) */ - vcoinput = ((HSE_VALUE / (uint32_t)(RCC->PLLCFGR & RCC_PLLCFGR_PLLM))); - } -#if defined(STM32F413xx) || defined(STM32F423xx) - /* SAI_CLK_x : SAI Block Clock configuration for different clock sources selected */ - if (hsai->Init.ClockSource == SAI_CLKSOURCE_PLLR) - { - /* Configure the PLLI2S division factor */ - /* PLL_VCO Input = PLL_SOURCE/PLLM */ - /* PLL_VCO Output = PLL_VCO Input * PLLN */ - /* SAI_CLK(first level) = PLL_VCO Output/PLLR */ - tmpreg = (RCC->PLLCFGR & RCC_PLLCFGR_PLLR) >> 28U; - saiclocksource = (vcoinput * ((RCC->PLLCFGR & RCC_PLLCFGR_PLLN) >> 6U)) / (tmpreg); - - /* SAI_CLK_x = SAI_CLK(first level)/PLLDIVR */ - tmpreg = (((RCC->DCKCFGR & RCC_DCKCFGR_PLLDIVR) >> 8U) + 1U); - - saiclocksource = saiclocksource / (tmpreg); - - } - else if (hsai->Init.ClockSource == SAI_CLKSOURCE_PLLI2S) - { - /* Configure the PLLI2S division factor */ - /* PLLI2S_VCO Input = PLL_SOURCE/PLLM */ - /* PLLI2S_VCO Output = PLLI2S_VCO Input * PLLI2SN */ - /* SAI_CLK(first level) = PLLI2S_VCO Output/PLLI2SR */ - tmpreg = (RCC->PLLI2SCFGR & RCC_PLLI2SCFGR_PLLI2SR) >> 28U; - saiclocksource = (vcoinput * ((RCC->PLLI2SCFGR & RCC_PLLI2SCFGR_PLLI2SN) >> 6U)) / (tmpreg); - - /* SAI_CLK_x = SAI_CLK(first level)/PLLI2SDIVR */ - tmpreg = ((RCC->DCKCFGR & RCC_DCKCFGR_PLLI2SDIVR) + 1U); - saiclocksource = saiclocksource / (tmpreg); - } - else if (hsai->Init.ClockSource == SAI_CLKSOURCE_HS) - { - if ((RCC->PLLCFGR & RCC_PLLCFGR_PLLSRC) == RCC_PLLSOURCE_HSE) - { - /* Get the I2S source clock value */ - saiclocksource = (uint32_t)(HSE_VALUE); - } - else - { - /* Get the I2S source clock value */ - saiclocksource = (uint32_t)(HSI_VALUE); - } - } - else /* sConfig->ClockSource == SAI_CLKSource_Ext */ - { - saiclocksource = EXTERNAL_CLOCK_VALUE; - } -#else - /* SAI_CLK_x : SAI Block Clock configuration for different clock sources selected */ - if (hsai->Init.ClockSource == SAI_CLKSOURCE_PLLSAI) - { - /* Configure the PLLI2S division factor */ - /* PLLSAI_VCO Input = PLL_SOURCE/PLLM */ - /* PLLSAI_VCO Output = PLLSAI_VCO Input * PLLSAIN */ - /* SAI_CLK(first level) = PLLSAI_VCO Output/PLLSAIQ */ - tmpreg = (RCC->PLLSAICFGR & RCC_PLLSAICFGR_PLLSAIQ) >> 24U; - saiclocksource = (vcoinput * ((RCC->PLLSAICFGR & RCC_PLLSAICFGR_PLLSAIN) >> 6U)) / (tmpreg); - - /* SAI_CLK_x = SAI_CLK(first level)/PLLSAIDIVQ */ - tmpreg = (((RCC->DCKCFGR & RCC_DCKCFGR_PLLSAIDIVQ) >> 8U) + 1U); - saiclocksource = saiclocksource / (tmpreg); - - } - else if (hsai->Init.ClockSource == SAI_CLKSOURCE_PLLI2S) - { - /* Configure the PLLI2S division factor */ - /* PLLI2S_VCO Input = PLL_SOURCE/PLLM */ - /* PLLI2S_VCO Output = PLLI2S_VCO Input * PLLI2SN */ - /* SAI_CLK(first level) = PLLI2S_VCO Output/PLLI2SQ */ - tmpreg = (RCC->PLLI2SCFGR & RCC_PLLI2SCFGR_PLLI2SQ) >> 24U; - saiclocksource = (vcoinput * ((RCC->PLLI2SCFGR & RCC_PLLI2SCFGR_PLLI2SN) >> 6U)) / (tmpreg); - - /* SAI_CLK_x = SAI_CLK(first level)/PLLI2SDIVQ */ - tmpreg = ((RCC->DCKCFGR & RCC_DCKCFGR_PLLI2SDIVQ) + 1U); - saiclocksource = saiclocksource / (tmpreg); - } - else /* sConfig->ClockSource == SAI_CLKSource_Ext */ - { - /* Enable the External Clock selection */ - __HAL_RCC_I2S_CONFIG(RCC_I2SCLKSOURCE_EXT); - - saiclocksource = EXTERNAL_CLOCK_VALUE; - } -#endif /* STM32F413xx || STM32F423xx */ -#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || STM32F469xx || STM32F479xx || STM32F413xx || STM32F423xx */ - /* the return result is the value of SAI clock */ - return saiclocksource; -} - -/** - * @} - */ - -/** - * @} - */ - -#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || STM32F446xx || STM32F469xx || STM32F479xx || STM32F413xx || STM32F423xx */ -#endif /* HAL_SAI_MODULE_ENABLED */ -/** - * @} - */ - -/** - * @} - */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_sd.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_sd.c deleted file mode 100644 index 0c7b13bc9e9640..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_sd.c +++ /dev/null @@ -1,3276 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_sd.c - * @author MCD Application Team - * @brief SD card HAL module driver. - * This file provides firmware functions to manage the following - * functionalities of the Secure Digital (SD) peripheral: - * + Initialization and de-initialization functions - * + IO operation functions - * + Peripheral Control functions - * + Peripheral State functions - * - @verbatim - ============================================================================== - ##### How to use this driver ##### - ============================================================================== - [..] - This driver implements a high level communication layer for read and write from/to - this memory. The needed STM32 hardware resources (SDIO and GPIO) are performed by - the user in HAL_SD_MspInit() function (MSP layer). - Basically, the MSP layer configuration should be the same as we provide in the - examples. - You can easily tailor this configuration according to hardware resources. - - [..] - This driver is a generic layered driver for SDIO memories which uses the HAL - SDIO driver functions to interface with SD and uSD cards devices. - It is used as follows: - - (#)Initialize the SDIO low level resources by implementing the HAL_SD_MspInit() API: - (##) Enable the SDIO interface clock using __HAL_RCC_SDIO_CLK_ENABLE(); - (##) SDIO pins configuration for SD card - (+++) Enable the clock for the SDIO GPIOs using the functions __HAL_RCC_GPIOx_CLK_ENABLE(); - (+++) Configure these SDIO pins as alternate function pull-up using HAL_GPIO_Init() - and according to your pin assignment; - (##) DMA configuration if you need to use DMA process (HAL_SD_ReadBlocks_DMA() - and HAL_SD_WriteBlocks_DMA() APIs). - (+++) Enable the DMAx interface clock using __HAL_RCC_DMAx_CLK_ENABLE(); - (+++) Configure the DMA using the function HAL_DMA_Init() with predeclared and filled. - (##) NVIC configuration if you need to use interrupt process when using DMA transfer. - (+++) Configure the SDIO and DMA interrupt priorities using functions - HAL_NVIC_SetPriority(); DMA priority is superior to SDIO's priority - (+++) Enable the NVIC DMA and SDIO IRQs using function HAL_NVIC_EnableIRQ() - (+++) SDIO interrupts are managed using the macros __HAL_SD_ENABLE_IT() - and __HAL_SD_DISABLE_IT() inside the communication process. - (+++) SDIO interrupts pending bits are managed using the macros __HAL_SD_GET_IT() - and __HAL_SD_CLEAR_IT() - (##) NVIC configuration if you need to use interrupt process (HAL_SD_ReadBlocks_IT() - and HAL_SD_WriteBlocks_IT() APIs). - (+++) Configure the SDIO interrupt priorities using function HAL_NVIC_SetPriority(); - (+++) Enable the NVIC SDIO IRQs using function HAL_NVIC_EnableIRQ() - (+++) SDIO interrupts are managed using the macros __HAL_SD_ENABLE_IT() - and __HAL_SD_DISABLE_IT() inside the communication process. - (+++) SDIO interrupts pending bits are managed using the macros __HAL_SD_GET_IT() - and __HAL_SD_CLEAR_IT() - (#) At this stage, you can perform SD read/write/erase operations after SD card initialization - - - *** SD Card Initialization and configuration *** - ================================================ - [..] - To initialize the SD Card, use the HAL_SD_Init() function. It Initializes - SDIO Peripheral(STM32 side) and the SD Card, and put it into StandBy State (Ready for data transfer). - This function provide the following operations: - - (#) Apply the SD Card initialization process at 400KHz and check the SD Card - type (Standard Capacity or High Capacity). You can change or adapt this - frequency by adjusting the "ClockDiv" field. - The SD Card frequency (SDIO_CK) is computed as follows: - - SDIO_CK = SDIOCLK / (ClockDiv + 2) - - In initialization mode and according to the SD Card standard, - make sure that the SDIO_CK frequency doesn't exceed 400KHz. - - This phase of initialization is done through SDIO_Init() and - SDIO_PowerState_ON() SDIO low level APIs. - - (#) Initialize the SD card. The API used is HAL_SD_InitCard(). - This phase allows the card initialization and identification - and check the SD Card type (Standard Capacity or High Capacity) - The initialization flow is compatible with SD standard. - - This API (HAL_SD_InitCard()) could be used also to reinitialize the card in case - of plug-off plug-in. - - (#) Configure the SD Card Data transfer frequency. You can change or adapt this - frequency by adjusting the "ClockDiv" field. - In transfer mode and according to the SD Card standard, make sure that the - SDIO_CK frequency doesn't exceed 25MHz and 50MHz in High-speed mode switch. - To be able to use a frequency higher than 24MHz, you should use the SDIO - peripheral in bypass mode. Refer to the corresponding reference manual - for more details. - - (#) Select the corresponding SD Card according to the address read with the step 2. - - (#) Configure the SD Card in wide bus mode: 4-bits data. - - *** SD Card Read operation *** - ============================== - [..] - (+) You can read from SD card in polling mode by using function HAL_SD_ReadBlocks(). - This function support only 512-bytes block length (the block size should be - chosen as 512 bytes). - You can choose either one block read operation or multiple block read operation - by adjusting the "NumberOfBlocks" parameter. - After this, you have to ensure that the transfer is done correctly. The check is done - through HAL_SD_GetCardState() function for SD card state. - - (+) You can read from SD card in DMA mode by using function HAL_SD_ReadBlocks_DMA(). - This function support only 512-bytes block length (the block size should be - chosen as 512 bytes). - You can choose either one block read operation or multiple block read operation - by adjusting the "NumberOfBlocks" parameter. - After this, you have to ensure that the transfer is done correctly. The check is done - through HAL_SD_GetCardState() function for SD card state. - You could also check the DMA transfer process through the SD Rx interrupt event. - - (+) You can read from SD card in Interrupt mode by using function HAL_SD_ReadBlocks_IT(). - This function support only 512-bytes block length (the block size should be - chosen as 512 bytes). - You can choose either one block read operation or multiple block read operation - by adjusting the "NumberOfBlocks" parameter. - After this, you have to ensure that the transfer is done correctly. The check is done - through HAL_SD_GetCardState() function for SD card state. - You could also check the IT transfer process through the SD Rx interrupt event. - - *** SD Card Write operation *** - =============================== - [..] - (+) You can write to SD card in polling mode by using function HAL_SD_WriteBlocks(). - This function support only 512-bytes block length (the block size should be - chosen as 512 bytes). - You can choose either one block read operation or multiple block read operation - by adjusting the "NumberOfBlocks" parameter. - After this, you have to ensure that the transfer is done correctly. The check is done - through HAL_SD_GetCardState() function for SD card state. - - (+) You can write to SD card in DMA mode by using function HAL_SD_WriteBlocks_DMA(). - This function support only 512-bytes block length (the block size should be - chosen as 512 bytes). - You can choose either one block read operation or multiple block read operation - by adjusting the "NumberOfBlocks" parameter. - After this, you have to ensure that the transfer is done correctly. The check is done - through HAL_SD_GetCardState() function for SD card state. - You could also check the DMA transfer process through the SD Tx interrupt event. - - (+) You can write to SD card in Interrupt mode by using function HAL_SD_WriteBlocks_IT(). - This function support only 512-bytes block length (the block size should be - chosen as 512 bytes). - You can choose either one block read operation or multiple block read operation - by adjusting the "NumberOfBlocks" parameter. - After this, you have to ensure that the transfer is done correctly. The check is done - through HAL_SD_GetCardState() function for SD card state. - You could also check the IT transfer process through the SD Tx interrupt event. - - *** SD card status *** - ====================== - [..] - (+) The SD Status contains status bits that are related to the SD Memory - Card proprietary features. To get SD card status use the HAL_SD_GetCardStatus(). - - *** SD card information *** - =========================== - [..] - (+) To get SD card information, you can use the function HAL_SD_GetCardInfo(). - It returns useful information about the SD card such as block size, card type, - block number ... - - *** SD card CSD register *** - ============================ - (+) The HAL_SD_GetCardCSD() API allows to get the parameters of the CSD register. - Some of the CSD parameters are useful for card initialization and identification. - - *** SD card CID register *** - ============================ - (+) The HAL_SD_GetCardCID() API allows to get the parameters of the CID register. - Some of the CSD parameters are useful for card initialization and identification. - - *** SD HAL driver macros list *** - ================================== - [..] - Below the list of most used macros in SD HAL driver. - - (+) __HAL_SD_ENABLE : Enable the SD device - (+) __HAL_SD_DISABLE : Disable the SD device - (+) __HAL_SD_DMA_ENABLE: Enable the SDIO DMA transfer - (+) __HAL_SD_DMA_DISABLE: Disable the SDIO DMA transfer - (+) __HAL_SD_ENABLE_IT: Enable the SD device interrupt - (+) __HAL_SD_DISABLE_IT: Disable the SD device interrupt - (+) __HAL_SD_GET_FLAG:Check whether the specified SD flag is set or not - (+) __HAL_SD_CLEAR_FLAG: Clear the SD's pending flags - - (@) You can refer to the SD HAL driver header file for more useful macros - - *** Callback registration *** - ============================================= - [..] - The compilation define USE_HAL_SD_REGISTER_CALLBACKS when set to 1 - allows the user to configure dynamically the driver callbacks. - - Use Functions HAL_SD_RegisterCallback() to register a user callback, - it allows to register following callbacks: - (+) TxCpltCallback : callback when a transmission transfer is completed. - (+) RxCpltCallback : callback when a reception transfer is completed. - (+) ErrorCallback : callback when error occurs. - (+) AbortCpltCallback : callback when abort is completed. - (+) MspInitCallback : SD MspInit. - (+) MspDeInitCallback : SD MspDeInit. - This function takes as parameters the HAL peripheral handle, the Callback ID - and a pointer to the user callback function. - - Use function HAL_SD_UnRegisterCallback() to reset a callback to the default - weak (surcharged) function. It allows to reset following callbacks: - (+) TxCpltCallback : callback when a transmission transfer is completed. - (+) RxCpltCallback : callback when a reception transfer is completed. - (+) ErrorCallback : callback when error occurs. - (+) AbortCpltCallback : callback when abort is completed. - (+) MspInitCallback : SD MspInit. - (+) MspDeInitCallback : SD MspDeInit. - This function) takes as parameters the HAL peripheral handle and the Callback ID. - - By default, after the HAL_SD_Init and if the state is HAL_SD_STATE_RESET - all callbacks are reset to the corresponding legacy weak (surcharged) functions. - Exception done for MspInit and MspDeInit callbacks that are respectively - reset to the legacy weak (surcharged) functions in the HAL_SD_Init - and HAL_SD_DeInit only when these callbacks are null (not registered beforehand). - If not, MspInit or MspDeInit are not null, the HAL_SD_Init and HAL_SD_DeInit - keep and use the user MspInit/MspDeInit callbacks (registered beforehand) - - Callbacks can be registered/unregistered in READY state only. - Exception done for MspInit/MspDeInit callbacks that can be registered/unregistered - in READY or RESET state, thus registered (user) MspInit/DeInit callbacks can be used - during the Init/DeInit. - In that case first register the MspInit/MspDeInit user callbacks - using HAL_SD_RegisterCallback before calling HAL_SD_DeInit - or HAL_SD_Init function. - - When The compilation define USE_HAL_SD_REGISTER_CALLBACKS is set to 0 or - not defined, the callback registering feature is not available - and weak (surcharged) callbacks are used. - - @endverbatim - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal.h" - -#if defined(SDIO) - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @addtogroup SD - * @{ - */ - -#ifdef HAL_SD_MODULE_ENABLED - -/* Private typedef -----------------------------------------------------------*/ -/* Private define ------------------------------------------------------------*/ -/** @addtogroup SD_Private_Defines - * @{ - */ - -/** - * @} - */ - -/* Private macro -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private function prototypes -----------------------------------------------*/ -/* Private functions ---------------------------------------------------------*/ -/** @defgroup SD_Private_Functions SD Private Functions - * @{ - */ -static uint32_t SD_InitCard(SD_HandleTypeDef *hsd); -static uint32_t SD_PowerON(SD_HandleTypeDef *hsd); -static uint32_t SD_SendSDStatus(SD_HandleTypeDef *hsd, uint32_t *pSDstatus); -static uint32_t SD_SendStatus(SD_HandleTypeDef *hsd, uint32_t *pCardStatus); -static uint32_t SD_WideBus_Enable(SD_HandleTypeDef *hsd); -static uint32_t SD_WideBus_Disable(SD_HandleTypeDef *hsd); -static uint32_t SD_FindSCR(SD_HandleTypeDef *hsd, uint32_t *pSCR); -static void SD_PowerOFF(SD_HandleTypeDef *hsd); -static void SD_Write_IT(SD_HandleTypeDef *hsd); -static void SD_Read_IT(SD_HandleTypeDef *hsd); -static void SD_DMATransmitCplt(DMA_HandleTypeDef *hdma); -static void SD_DMAReceiveCplt(DMA_HandleTypeDef *hdma); -static void SD_DMAError(DMA_HandleTypeDef *hdma); -static void SD_DMATxAbort(DMA_HandleTypeDef *hdma); -static void SD_DMARxAbort(DMA_HandleTypeDef *hdma); -/** - * @} - */ - -/* Exported functions --------------------------------------------------------*/ -/** @addtogroup SD_Exported_Functions - * @{ - */ - -/** @addtogroup SD_Exported_Functions_Group1 - * @brief Initialization and de-initialization functions - * -@verbatim - ============================================================================== - ##### Initialization and de-initialization functions ##### - ============================================================================== - [..] - This section provides functions allowing to initialize/de-initialize the SD - card device to be ready for use. - -@endverbatim - * @{ - */ - -/** - * @brief Initializes the SD according to the specified parameters in the - SD_HandleTypeDef and create the associated handle. - * @param hsd: Pointer to the SD handle - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SD_Init(SD_HandleTypeDef *hsd) -{ - /* Check the SD handle allocation */ - if(hsd == NULL) - { - return HAL_ERROR; - } - - /* Check the parameters */ - assert_param(IS_SDIO_ALL_INSTANCE(hsd->Instance)); - assert_param(IS_SDIO_CLOCK_EDGE(hsd->Init.ClockEdge)); - assert_param(IS_SDIO_CLOCK_BYPASS(hsd->Init.ClockBypass)); - assert_param(IS_SDIO_CLOCK_POWER_SAVE(hsd->Init.ClockPowerSave)); - assert_param(IS_SDIO_BUS_WIDE(hsd->Init.BusWide)); - assert_param(IS_SDIO_HARDWARE_FLOW_CONTROL(hsd->Init.HardwareFlowControl)); - assert_param(IS_SDIO_CLKDIV(hsd->Init.ClockDiv)); - - if(hsd->State == HAL_SD_STATE_RESET) - { - /* Allocate lock resource and initialize it */ - hsd->Lock = HAL_UNLOCKED; -#if defined (USE_HAL_SD_REGISTER_CALLBACKS) && (USE_HAL_SD_REGISTER_CALLBACKS == 1U) - /* Reset Callback pointers in HAL_SD_STATE_RESET only */ - hsd->TxCpltCallback = HAL_SD_TxCpltCallback; - hsd->RxCpltCallback = HAL_SD_RxCpltCallback; - hsd->ErrorCallback = HAL_SD_ErrorCallback; - hsd->AbortCpltCallback = HAL_SD_AbortCallback; - - if(hsd->MspInitCallback == NULL) - { - hsd->MspInitCallback = HAL_SD_MspInit; - } - - /* Init the low level hardware */ - hsd->MspInitCallback(hsd); -#else - /* Init the low level hardware : GPIO, CLOCK, CORTEX...etc */ - HAL_SD_MspInit(hsd); -#endif /* USE_HAL_SD_REGISTER_CALLBACKS */ - } - - hsd->State = HAL_SD_STATE_BUSY; - - /* Initialize the Card parameters */ - if (HAL_SD_InitCard(hsd) != HAL_OK) - { - return HAL_ERROR; - } - - /* Initialize the error code */ - hsd->ErrorCode = HAL_SD_ERROR_NONE; - - /* Initialize the SD operation */ - hsd->Context = SD_CONTEXT_NONE; - - /* Initialize the SD state */ - hsd->State = HAL_SD_STATE_READY; - - return HAL_OK; -} - -/** - * @brief Initializes the SD Card. - * @param hsd: Pointer to SD handle - * @note This function initializes the SD card. It could be used when a card - re-initialization is needed. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SD_InitCard(SD_HandleTypeDef *hsd) -{ - uint32_t errorstate; - HAL_StatusTypeDef status; - SD_InitTypeDef Init; - - /* Default SDIO peripheral configuration for SD card initialization */ - Init.ClockEdge = SDIO_CLOCK_EDGE_RISING; - Init.ClockBypass = SDIO_CLOCK_BYPASS_DISABLE; - Init.ClockPowerSave = SDIO_CLOCK_POWER_SAVE_DISABLE; - Init.BusWide = SDIO_BUS_WIDE_1B; - Init.HardwareFlowControl = SDIO_HARDWARE_FLOW_CONTROL_DISABLE; - Init.ClockDiv = SDIO_INIT_CLK_DIV; - - /* Initialize SDIO peripheral interface with default configuration */ - status = SDIO_Init(hsd->Instance, Init); - if(status != HAL_OK) - { - return HAL_ERROR; - } - - /* Disable SDIO Clock */ - __HAL_SD_DISABLE(hsd); - - /* Set Power State to ON */ - (void)SDIO_PowerState_ON(hsd->Instance); - - /* Enable SDIO Clock */ - __HAL_SD_ENABLE(hsd); - - /* Identify card operating voltage */ - errorstate = SD_PowerON(hsd); - if(errorstate != HAL_SD_ERROR_NONE) - { - hsd->State = HAL_SD_STATE_READY; - hsd->ErrorCode |= errorstate; - return HAL_ERROR; - } - - /* Card initialization */ - errorstate = SD_InitCard(hsd); - if(errorstate != HAL_SD_ERROR_NONE) - { - hsd->State = HAL_SD_STATE_READY; - hsd->ErrorCode |= errorstate; - return HAL_ERROR; - } - - /* Set Block Size for Card */ - errorstate = SDMMC_CmdBlockLength(hsd->Instance, BLOCKSIZE); - if(errorstate != HAL_SD_ERROR_NONE) - { - /* Clear all the static flags */ - __HAL_SD_CLEAR_FLAG(hsd, SDIO_STATIC_FLAGS); - hsd->ErrorCode |= errorstate; - hsd->State = HAL_SD_STATE_READY; - return HAL_ERROR; - } - - return HAL_OK; -} - -/** - * @brief De-Initializes the SD card. - * @param hsd: Pointer to SD handle - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SD_DeInit(SD_HandleTypeDef *hsd) -{ - /* Check the SD handle allocation */ - if(hsd == NULL) - { - return HAL_ERROR; - } - - /* Check the parameters */ - assert_param(IS_SDIO_ALL_INSTANCE(hsd->Instance)); - - hsd->State = HAL_SD_STATE_BUSY; - - /* Set SD power state to off */ - SD_PowerOFF(hsd); - -#if defined (USE_HAL_SD_REGISTER_CALLBACKS) && (USE_HAL_SD_REGISTER_CALLBACKS == 1U) - if(hsd->MspDeInitCallback == NULL) - { - hsd->MspDeInitCallback = HAL_SD_MspDeInit; - } - - /* DeInit the low level hardware */ - hsd->MspDeInitCallback(hsd); -#else - /* De-Initialize the MSP layer */ - HAL_SD_MspDeInit(hsd); -#endif /* USE_HAL_SD_REGISTER_CALLBACKS */ - - hsd->ErrorCode = HAL_SD_ERROR_NONE; - hsd->State = HAL_SD_STATE_RESET; - - return HAL_OK; -} - - -/** - * @brief Initializes the SD MSP. - * @param hsd: Pointer to SD handle - * @retval None - */ -__weak void HAL_SD_MspInit(SD_HandleTypeDef *hsd) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hsd); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_SD_MspInit could be implemented in the user file - */ -} - -/** - * @brief De-Initialize SD MSP. - * @param hsd: Pointer to SD handle - * @retval None - */ -__weak void HAL_SD_MspDeInit(SD_HandleTypeDef *hsd) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hsd); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_SD_MspDeInit could be implemented in the user file - */ -} - -/** - * @} - */ - -/** @addtogroup SD_Exported_Functions_Group2 - * @brief Data transfer functions - * -@verbatim - ============================================================================== - ##### IO operation functions ##### - ============================================================================== - [..] - This subsection provides a set of functions allowing to manage the data - transfer from/to SD card. - -@endverbatim - * @{ - */ - -/** - * @brief Reads block(s) from a specified address in a card. The Data transfer - * is managed by polling mode. - * @note This API should be followed by a check on the card state through - * HAL_SD_GetCardState(). - * @param hsd: Pointer to SD handle - * @param pData: pointer to the buffer that will contain the received data - * @param BlockAdd: Block Address from where data is to be read - * @param NumberOfBlocks: Number of SD blocks to read - * @param Timeout: Specify timeout value - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SD_ReadBlocks(SD_HandleTypeDef *hsd, uint8_t *pData, uint32_t BlockAdd, uint32_t NumberOfBlocks, uint32_t Timeout) -{ - SDIO_DataInitTypeDef config; - uint32_t errorstate; - uint32_t tickstart = HAL_GetTick(); - uint32_t count, data, dataremaining; - uint32_t add = BlockAdd; - uint8_t *tempbuff = pData; - - if(NULL == pData) - { - hsd->ErrorCode |= HAL_SD_ERROR_PARAM; - return HAL_ERROR; - } - - if(hsd->State == HAL_SD_STATE_READY) - { - hsd->ErrorCode = HAL_SD_ERROR_NONE; - - if((add + NumberOfBlocks) > (hsd->SdCard.LogBlockNbr)) - { - hsd->ErrorCode |= HAL_SD_ERROR_ADDR_OUT_OF_RANGE; - return HAL_ERROR; - } - - hsd->State = HAL_SD_STATE_BUSY; - - /* Initialize data control register */ - hsd->Instance->DCTRL = 0U; - - if(hsd->SdCard.CardType != CARD_SDHC_SDXC) - { - add *= 512U; - } - - /* Configure the SD DPSM (Data Path State Machine) */ - config.DataTimeOut = SDMMC_DATATIMEOUT; - config.DataLength = NumberOfBlocks * BLOCKSIZE; - config.DataBlockSize = SDIO_DATABLOCK_SIZE_512B; - config.TransferDir = SDIO_TRANSFER_DIR_TO_SDIO; - config.TransferMode = SDIO_TRANSFER_MODE_BLOCK; - config.DPSM = SDIO_DPSM_ENABLE; - (void)SDIO_ConfigData(hsd->Instance, &config); - - /* Read block(s) in polling mode */ - if(NumberOfBlocks > 1U) - { - hsd->Context = SD_CONTEXT_READ_MULTIPLE_BLOCK; - - /* Read Multi Block command */ - errorstate = SDMMC_CmdReadMultiBlock(hsd->Instance, add); - } - else - { - hsd->Context = SD_CONTEXT_READ_SINGLE_BLOCK; - - /* Read Single Block command */ - errorstate = SDMMC_CmdReadSingleBlock(hsd->Instance, add); - } - if(errorstate != HAL_SD_ERROR_NONE) - { - /* Clear all the static flags */ - __HAL_SD_CLEAR_FLAG(hsd, SDIO_STATIC_FLAGS); - hsd->ErrorCode |= errorstate; - hsd->State = HAL_SD_STATE_READY; - hsd->Context = SD_CONTEXT_NONE; - return HAL_ERROR; - } - - /* Poll on SDIO flags */ - dataremaining = config.DataLength; -#if defined(SDIO_STA_STBITERR) - while(!__HAL_SD_GET_FLAG(hsd, SDIO_FLAG_RXOVERR | SDIO_FLAG_DCRCFAIL | SDIO_FLAG_DTIMEOUT | SDIO_FLAG_DATAEND | SDIO_FLAG_STBITERR)) -#else /* SDIO_STA_STBITERR not defined */ - while(!__HAL_SD_GET_FLAG(hsd, SDIO_FLAG_RXOVERR | SDIO_FLAG_DCRCFAIL | SDIO_FLAG_DTIMEOUT | SDIO_FLAG_DATAEND)) -#endif /* SDIO_STA_STBITERR */ - { - if(__HAL_SD_GET_FLAG(hsd, SDIO_FLAG_RXFIFOHF) && (dataremaining > 0U)) - { - /* Read data from SDIO Rx FIFO */ - for(count = 0U; count < 8U; count++) - { - data = SDIO_ReadFIFO(hsd->Instance); - *tempbuff = (uint8_t)(data & 0xFFU); - tempbuff++; - dataremaining--; - *tempbuff = (uint8_t)((data >> 8U) & 0xFFU); - tempbuff++; - dataremaining--; - *tempbuff = (uint8_t)((data >> 16U) & 0xFFU); - tempbuff++; - dataremaining--; - *tempbuff = (uint8_t)((data >> 24U) & 0xFFU); - tempbuff++; - dataremaining--; - } - } - - if(((HAL_GetTick()-tickstart) >= Timeout) || (Timeout == 0U)) - { - /* Clear all the static flags */ - __HAL_SD_CLEAR_FLAG(hsd, SDIO_STATIC_FLAGS); - hsd->ErrorCode |= HAL_SD_ERROR_TIMEOUT; - hsd->State= HAL_SD_STATE_READY; - hsd->Context = SD_CONTEXT_NONE; - return HAL_TIMEOUT; - } - } - - /* Send stop transmission command in case of multiblock read */ - if(__HAL_SD_GET_FLAG(hsd, SDIO_FLAG_DATAEND) && (NumberOfBlocks > 1U)) - { - if(hsd->SdCard.CardType != CARD_SECURED) - { - /* Send stop transmission command */ - errorstate = SDMMC_CmdStopTransfer(hsd->Instance); - if(errorstate != HAL_SD_ERROR_NONE) - { - /* Clear all the static flags */ - __HAL_SD_CLEAR_FLAG(hsd, SDIO_STATIC_FLAGS); - hsd->ErrorCode |= errorstate; - hsd->State = HAL_SD_STATE_READY; - hsd->Context = SD_CONTEXT_NONE; - return HAL_ERROR; - } - } - } - - /* Get error state */ - if(__HAL_SD_GET_FLAG(hsd, SDIO_FLAG_DTIMEOUT)) - { - /* Clear all the static flags */ - __HAL_SD_CLEAR_FLAG(hsd, SDIO_STATIC_FLAGS); - hsd->ErrorCode |= HAL_SD_ERROR_DATA_TIMEOUT; - hsd->State = HAL_SD_STATE_READY; - hsd->Context = SD_CONTEXT_NONE; - return HAL_ERROR; - } - else if(__HAL_SD_GET_FLAG(hsd, SDIO_FLAG_DCRCFAIL)) - { - /* Clear all the static flags */ - __HAL_SD_CLEAR_FLAG(hsd, SDIO_STATIC_FLAGS); - hsd->ErrorCode |= HAL_SD_ERROR_DATA_CRC_FAIL; - hsd->State = HAL_SD_STATE_READY; - hsd->Context = SD_CONTEXT_NONE; - return HAL_ERROR; - } - else if(__HAL_SD_GET_FLAG(hsd, SDIO_FLAG_RXOVERR)) - { - /* Clear all the static flags */ - __HAL_SD_CLEAR_FLAG(hsd, SDIO_STATIC_FLAGS); - hsd->ErrorCode |= HAL_SD_ERROR_RX_OVERRUN; - hsd->State = HAL_SD_STATE_READY; - hsd->Context = SD_CONTEXT_NONE; - return HAL_ERROR; - } - else - { - /* Nothing to do */ - } - - /* Empty FIFO if there is still any data */ - while ((__HAL_SD_GET_FLAG(hsd, SDIO_FLAG_RXDAVL)) && (dataremaining > 0U)) - { - data = SDIO_ReadFIFO(hsd->Instance); - *tempbuff = (uint8_t)(data & 0xFFU); - tempbuff++; - dataremaining--; - *tempbuff = (uint8_t)((data >> 8U) & 0xFFU); - tempbuff++; - dataremaining--; - *tempbuff = (uint8_t)((data >> 16U) & 0xFFU); - tempbuff++; - dataremaining--; - *tempbuff = (uint8_t)((data >> 24U) & 0xFFU); - tempbuff++; - dataremaining--; - - if(((HAL_GetTick()-tickstart) >= Timeout) || (Timeout == 0U)) - { - /* Clear all the static flags */ - __HAL_SD_CLEAR_FLAG(hsd, SDIO_STATIC_FLAGS); - hsd->ErrorCode |= HAL_SD_ERROR_TIMEOUT; - hsd->State= HAL_SD_STATE_READY; - hsd->Context = SD_CONTEXT_NONE; - return HAL_ERROR; - } - } - - /* Clear all the static flags */ - __HAL_SD_CLEAR_FLAG(hsd, SDIO_STATIC_DATA_FLAGS); - - hsd->State = HAL_SD_STATE_READY; - - return HAL_OK; - } - else - { - hsd->ErrorCode |= HAL_SD_ERROR_BUSY; - return HAL_ERROR; - } -} - -/** - * @brief Allows to write block(s) to a specified address in a card. The Data - * transfer is managed by polling mode. - * @note This API should be followed by a check on the card state through - * HAL_SD_GetCardState(). - * @param hsd: Pointer to SD handle - * @param pData: pointer to the buffer that will contain the data to transmit - * @param BlockAdd: Block Address where data will be written - * @param NumberOfBlocks: Number of SD blocks to write - * @param Timeout: Specify timeout value - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SD_WriteBlocks(SD_HandleTypeDef *hsd, uint8_t *pData, uint32_t BlockAdd, uint32_t NumberOfBlocks, uint32_t Timeout) -{ - SDIO_DataInitTypeDef config; - uint32_t errorstate; - uint32_t tickstart = HAL_GetTick(); - uint32_t count, data, dataremaining; - uint32_t add = BlockAdd; - uint8_t *tempbuff = pData; - - if(NULL == pData) - { - hsd->ErrorCode |= HAL_SD_ERROR_PARAM; - return HAL_ERROR; - } - - if(hsd->State == HAL_SD_STATE_READY) - { - hsd->ErrorCode = HAL_SD_ERROR_NONE; - - if((add + NumberOfBlocks) > (hsd->SdCard.LogBlockNbr)) - { - hsd->ErrorCode |= HAL_SD_ERROR_ADDR_OUT_OF_RANGE; - return HAL_ERROR; - } - - hsd->State = HAL_SD_STATE_BUSY; - - /* Initialize data control register */ - hsd->Instance->DCTRL = 0U; - - if(hsd->SdCard.CardType != CARD_SDHC_SDXC) - { - add *= 512U; - } - - /* Configure the SD DPSM (Data Path State Machine) */ - config.DataTimeOut = SDMMC_DATATIMEOUT; - config.DataLength = NumberOfBlocks * BLOCKSIZE; - config.DataBlockSize = SDIO_DATABLOCK_SIZE_512B; - config.TransferDir = SDIO_TRANSFER_DIR_TO_CARD; - config.TransferMode = SDIO_TRANSFER_MODE_BLOCK; - config.DPSM = SDIO_DPSM_ENABLE; - (void)SDIO_ConfigData(hsd->Instance, &config); - - /* Write Blocks in Polling mode */ - if(NumberOfBlocks > 1U) - { - hsd->Context = SD_CONTEXT_WRITE_MULTIPLE_BLOCK; - - /* Write Multi Block command */ - errorstate = SDMMC_CmdWriteMultiBlock(hsd->Instance, add); - } - else - { - hsd->Context = SD_CONTEXT_WRITE_SINGLE_BLOCK; - - /* Write Single Block command */ - errorstate = SDMMC_CmdWriteSingleBlock(hsd->Instance, add); - } - if(errorstate != HAL_SD_ERROR_NONE) - { - /* Clear all the static flags */ - __HAL_SD_CLEAR_FLAG(hsd, SDIO_STATIC_FLAGS); - hsd->ErrorCode |= errorstate; - hsd->State = HAL_SD_STATE_READY; - hsd->Context = SD_CONTEXT_NONE; - return HAL_ERROR; - } - - /* Write block(s) in polling mode */ - dataremaining = config.DataLength; -#if defined(SDIO_STA_STBITERR) - while(!__HAL_SD_GET_FLAG(hsd, SDIO_FLAG_TXUNDERR | SDIO_FLAG_DCRCFAIL | SDIO_FLAG_DTIMEOUT | SDIO_FLAG_DATAEND | SDIO_FLAG_STBITERR)) -#else /* SDIO_STA_STBITERR not defined */ - while(!__HAL_SD_GET_FLAG(hsd, SDIO_FLAG_TXUNDERR | SDIO_FLAG_DCRCFAIL | SDIO_FLAG_DTIMEOUT | SDIO_FLAG_DATAEND)) -#endif /* SDIO_STA_STBITERR */ - { - if(__HAL_SD_GET_FLAG(hsd, SDIO_FLAG_TXFIFOHE) && (dataremaining > 0U)) - { - /* Write data to SDIO Tx FIFO */ - for(count = 0U; count < 8U; count++) - { - data = (uint32_t)(*tempbuff); - tempbuff++; - dataremaining--; - data |= ((uint32_t)(*tempbuff) << 8U); - tempbuff++; - dataremaining--; - data |= ((uint32_t)(*tempbuff) << 16U); - tempbuff++; - dataremaining--; - data |= ((uint32_t)(*tempbuff) << 24U); - tempbuff++; - dataremaining--; - (void)SDIO_WriteFIFO(hsd->Instance, &data); - } - } - - if(((HAL_GetTick()-tickstart) >= Timeout) || (Timeout == 0U)) - { - /* Clear all the static flags */ - __HAL_SD_CLEAR_FLAG(hsd, SDIO_STATIC_FLAGS); - hsd->ErrorCode |= errorstate; - hsd->State = HAL_SD_STATE_READY; - hsd->Context = SD_CONTEXT_NONE; - return HAL_TIMEOUT; - } - } - - /* Send stop transmission command in case of multiblock write */ - if(__HAL_SD_GET_FLAG(hsd, SDIO_FLAG_DATAEND) && (NumberOfBlocks > 1U)) - { - if(hsd->SdCard.CardType != CARD_SECURED) - { - /* Send stop transmission command */ - errorstate = SDMMC_CmdStopTransfer(hsd->Instance); - if(errorstate != HAL_SD_ERROR_NONE) - { - /* Clear all the static flags */ - __HAL_SD_CLEAR_FLAG(hsd, SDIO_STATIC_FLAGS); - hsd->ErrorCode |= errorstate; - hsd->State = HAL_SD_STATE_READY; - hsd->Context = SD_CONTEXT_NONE; - return HAL_ERROR; - } - } - } - - /* Get error state */ - if(__HAL_SD_GET_FLAG(hsd, SDIO_FLAG_DTIMEOUT)) - { - /* Clear all the static flags */ - __HAL_SD_CLEAR_FLAG(hsd, SDIO_STATIC_FLAGS); - hsd->ErrorCode |= HAL_SD_ERROR_DATA_TIMEOUT; - hsd->State = HAL_SD_STATE_READY; - hsd->Context = SD_CONTEXT_NONE; - return HAL_ERROR; - } - else if(__HAL_SD_GET_FLAG(hsd, SDIO_FLAG_DCRCFAIL)) - { - /* Clear all the static flags */ - __HAL_SD_CLEAR_FLAG(hsd, SDIO_STATIC_FLAGS); - hsd->ErrorCode |= HAL_SD_ERROR_DATA_CRC_FAIL; - hsd->State = HAL_SD_STATE_READY; - hsd->Context = SD_CONTEXT_NONE; - return HAL_ERROR; - } - else if(__HAL_SD_GET_FLAG(hsd, SDIO_FLAG_TXUNDERR)) - { - /* Clear all the static flags */ - __HAL_SD_CLEAR_FLAG(hsd, SDIO_STATIC_FLAGS); - hsd->ErrorCode |= HAL_SD_ERROR_TX_UNDERRUN; - hsd->State = HAL_SD_STATE_READY; - hsd->Context = SD_CONTEXT_NONE; - return HAL_ERROR; - } - else - { - /* Nothing to do */ - } - - /* Clear all the static flags */ - __HAL_SD_CLEAR_FLAG(hsd, SDIO_STATIC_DATA_FLAGS); - - hsd->State = HAL_SD_STATE_READY; - - return HAL_OK; - } - else - { - hsd->ErrorCode |= HAL_SD_ERROR_BUSY; - return HAL_ERROR; - } -} - -/** - * @brief Reads block(s) from a specified address in a card. The Data transfer - * is managed in interrupt mode. - * @note This API should be followed by a check on the card state through - * HAL_SD_GetCardState(). - * @note You could also check the IT transfer process through the SD Rx - * interrupt event. - * @param hsd: Pointer to SD handle - * @param pData: Pointer to the buffer that will contain the received data - * @param BlockAdd: Block Address from where data is to be read - * @param NumberOfBlocks: Number of blocks to read. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SD_ReadBlocks_IT(SD_HandleTypeDef *hsd, uint8_t *pData, uint32_t BlockAdd, uint32_t NumberOfBlocks) -{ - SDIO_DataInitTypeDef config; - uint32_t errorstate; - uint32_t add = BlockAdd; - - if(NULL == pData) - { - hsd->ErrorCode |= HAL_SD_ERROR_PARAM; - return HAL_ERROR; - } - - if(hsd->State == HAL_SD_STATE_READY) - { - hsd->ErrorCode = HAL_SD_ERROR_NONE; - - if((add + NumberOfBlocks) > (hsd->SdCard.LogBlockNbr)) - { - hsd->ErrorCode |= HAL_SD_ERROR_ADDR_OUT_OF_RANGE; - return HAL_ERROR; - } - - hsd->State = HAL_SD_STATE_BUSY; - - /* Initialize data control register */ - hsd->Instance->DCTRL = 0U; - - hsd->pRxBuffPtr = pData; - hsd->RxXferSize = BLOCKSIZE * NumberOfBlocks; - -#if defined(SDIO_STA_STBITERR) - __HAL_SD_ENABLE_IT(hsd, (SDIO_IT_DCRCFAIL | SDIO_IT_DTIMEOUT | SDIO_IT_RXOVERR | SDIO_IT_DATAEND | SDIO_FLAG_RXFIFOHF | SDIO_IT_STBITERR)); -#else /* SDIO_STA_STBITERR not defined */ - __HAL_SD_ENABLE_IT(hsd, (SDIO_IT_DCRCFAIL | SDIO_IT_DTIMEOUT | SDIO_IT_RXOVERR | SDIO_IT_DATAEND | SDIO_FLAG_RXFIFOHF)); -#endif /* SDIO_STA_STBITERR */ - - if(hsd->SdCard.CardType != CARD_SDHC_SDXC) - { - add *= 512U; - } - - /* Configure the SD DPSM (Data Path State Machine) */ - config.DataTimeOut = SDMMC_DATATIMEOUT; - config.DataLength = BLOCKSIZE * NumberOfBlocks; - config.DataBlockSize = SDIO_DATABLOCK_SIZE_512B; - config.TransferDir = SDIO_TRANSFER_DIR_TO_SDIO; - config.TransferMode = SDIO_TRANSFER_MODE_BLOCK; - config.DPSM = SDIO_DPSM_ENABLE; - (void)SDIO_ConfigData(hsd->Instance, &config); - - /* Read Blocks in IT mode */ - if(NumberOfBlocks > 1U) - { - hsd->Context = (SD_CONTEXT_READ_MULTIPLE_BLOCK | SD_CONTEXT_IT); - - /* Read Multi Block command */ - errorstate = SDMMC_CmdReadMultiBlock(hsd->Instance, add); - } - else - { - hsd->Context = (SD_CONTEXT_READ_SINGLE_BLOCK | SD_CONTEXT_IT); - - /* Read Single Block command */ - errorstate = SDMMC_CmdReadSingleBlock(hsd->Instance, add); - } - if(errorstate != HAL_SD_ERROR_NONE) - { - /* Clear all the static flags */ - __HAL_SD_CLEAR_FLAG(hsd, SDIO_STATIC_FLAGS); - hsd->ErrorCode |= errorstate; - hsd->State = HAL_SD_STATE_READY; - hsd->Context = SD_CONTEXT_NONE; - return HAL_ERROR; - } - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Writes block(s) to a specified address in a card. The Data transfer - * is managed in interrupt mode. - * @note This API should be followed by a check on the card state through - * HAL_SD_GetCardState(). - * @note You could also check the IT transfer process through the SD Tx - * interrupt event. - * @param hsd: Pointer to SD handle - * @param pData: Pointer to the buffer that will contain the data to transmit - * @param BlockAdd: Block Address where data will be written - * @param NumberOfBlocks: Number of blocks to write - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SD_WriteBlocks_IT(SD_HandleTypeDef *hsd, uint8_t *pData, uint32_t BlockAdd, uint32_t NumberOfBlocks) -{ - SDIO_DataInitTypeDef config; - uint32_t errorstate; - uint32_t add = BlockAdd; - - if(NULL == pData) - { - hsd->ErrorCode |= HAL_SD_ERROR_PARAM; - return HAL_ERROR; - } - - if(hsd->State == HAL_SD_STATE_READY) - { - hsd->ErrorCode = HAL_SD_ERROR_NONE; - - if((add + NumberOfBlocks) > (hsd->SdCard.LogBlockNbr)) - { - hsd->ErrorCode |= HAL_SD_ERROR_ADDR_OUT_OF_RANGE; - return HAL_ERROR; - } - - hsd->State = HAL_SD_STATE_BUSY; - - /* Initialize data control register */ - hsd->Instance->DCTRL = 0U; - - hsd->pTxBuffPtr = pData; - hsd->TxXferSize = BLOCKSIZE * NumberOfBlocks; - - /* Enable transfer interrupts */ -#if defined(SDIO_STA_STBITERR) - __HAL_SD_ENABLE_IT(hsd, (SDIO_IT_DCRCFAIL | SDIO_IT_DTIMEOUT | SDIO_IT_TXUNDERR | SDIO_IT_DATAEND | SDIO_FLAG_TXFIFOHE | SDIO_IT_STBITERR)); -#else /* SDIO_STA_STBITERR not defined */ - __HAL_SD_ENABLE_IT(hsd, (SDIO_IT_DCRCFAIL | SDIO_IT_DTIMEOUT | SDIO_IT_TXUNDERR | SDIO_IT_DATAEND | SDIO_FLAG_TXFIFOHE)); -#endif /* SDIO_STA_STBITERR */ - - if(hsd->SdCard.CardType != CARD_SDHC_SDXC) - { - add *= 512U; - } - - /* Write Blocks in Polling mode */ - if(NumberOfBlocks > 1U) - { - hsd->Context = (SD_CONTEXT_WRITE_MULTIPLE_BLOCK| SD_CONTEXT_IT); - - /* Write Multi Block command */ - errorstate = SDMMC_CmdWriteMultiBlock(hsd->Instance, add); - } - else - { - hsd->Context = (SD_CONTEXT_WRITE_SINGLE_BLOCK | SD_CONTEXT_IT); - - /* Write Single Block command */ - errorstate = SDMMC_CmdWriteSingleBlock(hsd->Instance, add); - } - if(errorstate != HAL_SD_ERROR_NONE) - { - /* Clear all the static flags */ - __HAL_SD_CLEAR_FLAG(hsd, SDIO_STATIC_FLAGS); - hsd->ErrorCode |= errorstate; - hsd->State = HAL_SD_STATE_READY; - hsd->Context = SD_CONTEXT_NONE; - return HAL_ERROR; - } - - /* Configure the SD DPSM (Data Path State Machine) */ - config.DataTimeOut = SDMMC_DATATIMEOUT; - config.DataLength = BLOCKSIZE * NumberOfBlocks; - config.DataBlockSize = SDIO_DATABLOCK_SIZE_512B; - config.TransferDir = SDIO_TRANSFER_DIR_TO_CARD; - config.TransferMode = SDIO_TRANSFER_MODE_BLOCK; - config.DPSM = SDIO_DPSM_ENABLE; - (void)SDIO_ConfigData(hsd->Instance, &config); - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Reads block(s) from a specified address in a card. The Data transfer - * is managed by DMA mode. - * @note This API should be followed by a check on the card state through - * HAL_SD_GetCardState(). - * @note You could also check the DMA transfer process through the SD Rx - * interrupt event. - * @param hsd: Pointer SD handle - * @param pData: Pointer to the buffer that will contain the received data - * @param BlockAdd: Block Address from where data is to be read - * @param NumberOfBlocks: Number of blocks to read. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SD_ReadBlocks_DMA(SD_HandleTypeDef *hsd, uint8_t *pData, uint32_t BlockAdd, uint32_t NumberOfBlocks) -{ - SDIO_DataInitTypeDef config; - uint32_t errorstate; - uint32_t add = BlockAdd; - - if(NULL == pData) - { - hsd->ErrorCode |= HAL_SD_ERROR_PARAM; - return HAL_ERROR; - } - - if(hsd->State == HAL_SD_STATE_READY) - { - hsd->ErrorCode = HAL_SD_ERROR_NONE; - - if((add + NumberOfBlocks) > (hsd->SdCard.LogBlockNbr)) - { - hsd->ErrorCode |= HAL_SD_ERROR_ADDR_OUT_OF_RANGE; - return HAL_ERROR; - } - - hsd->State = HAL_SD_STATE_BUSY; - - /* Initialize data control register */ - hsd->Instance->DCTRL = 0U; - -#if defined(SDIO_STA_STBITERR) - __HAL_SD_ENABLE_IT(hsd, (SDIO_IT_DCRCFAIL | SDIO_IT_DTIMEOUT | SDIO_IT_RXOVERR | SDIO_IT_DATAEND | SDIO_IT_STBITERR)); -#else /* SDIO_STA_STBITERR not defined */ - __HAL_SD_ENABLE_IT(hsd, (SDIO_IT_DCRCFAIL | SDIO_IT_DTIMEOUT | SDIO_IT_RXOVERR | SDIO_IT_DATAEND)); -#endif /* SDIO_STA_STBITERR */ - - /* Set the DMA transfer complete callback */ - hsd->hdmarx->XferCpltCallback = SD_DMAReceiveCplt; - - /* Set the DMA error callback */ - hsd->hdmarx->XferErrorCallback = SD_DMAError; - - /* Set the DMA Abort callback */ - hsd->hdmarx->XferAbortCallback = NULL; - - /* Force DMA Direction */ - hsd->hdmarx->Init.Direction = DMA_PERIPH_TO_MEMORY; - MODIFY_REG(hsd->hdmarx->Instance->CR, DMA_SxCR_DIR, hsd->hdmarx->Init.Direction); - - /* Enable the DMA Channel */ - if(HAL_DMA_Start_IT(hsd->hdmarx, (uint32_t)&hsd->Instance->FIFO, (uint32_t)pData, (uint32_t)(BLOCKSIZE * NumberOfBlocks)/4U) != HAL_OK) - { - __HAL_SD_DISABLE_IT(hsd, (SDIO_IT_DCRCFAIL | SDIO_IT_DTIMEOUT | SDIO_IT_RXOVERR | SDIO_IT_DATAEND)); - __HAL_SD_CLEAR_FLAG(hsd, SDIO_STATIC_FLAGS); - hsd->ErrorCode |= HAL_SD_ERROR_DMA; - hsd->State = HAL_SD_STATE_READY; - return HAL_ERROR; - } - else - { - /* Enable SD DMA transfer */ - __HAL_SD_DMA_ENABLE(hsd); - - if(hsd->SdCard.CardType != CARD_SDHC_SDXC) - { - add *= 512U; - } - - /* Configure the SD DPSM (Data Path State Machine) */ - config.DataTimeOut = SDMMC_DATATIMEOUT; - config.DataLength = BLOCKSIZE * NumberOfBlocks; - config.DataBlockSize = SDIO_DATABLOCK_SIZE_512B; - config.TransferDir = SDIO_TRANSFER_DIR_TO_SDIO; - config.TransferMode = SDIO_TRANSFER_MODE_BLOCK; - config.DPSM = SDIO_DPSM_ENABLE; - (void)SDIO_ConfigData(hsd->Instance, &config); - - /* Read Blocks in DMA mode */ - if(NumberOfBlocks > 1U) - { - hsd->Context = (SD_CONTEXT_READ_MULTIPLE_BLOCK | SD_CONTEXT_DMA); - - /* Read Multi Block command */ - errorstate = SDMMC_CmdReadMultiBlock(hsd->Instance, add); - } - else - { - hsd->Context = (SD_CONTEXT_READ_SINGLE_BLOCK | SD_CONTEXT_DMA); - - /* Read Single Block command */ - errorstate = SDMMC_CmdReadSingleBlock(hsd->Instance, add); - } - if(errorstate != HAL_SD_ERROR_NONE) - { - /* Clear all the static flags */ - __HAL_SD_CLEAR_FLAG(hsd, SDIO_STATIC_FLAGS); - hsd->ErrorCode |= errorstate; - hsd->State = HAL_SD_STATE_READY; - hsd->Context = SD_CONTEXT_NONE; - return HAL_ERROR; - } - - return HAL_OK; - } - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Writes block(s) to a specified address in a card. The Data transfer - * is managed by DMA mode. - * @note This API should be followed by a check on the card state through - * HAL_SD_GetCardState(). - * @note You could also check the DMA transfer process through the SD Tx - * interrupt event. - * @param hsd: Pointer to SD handle - * @param pData: Pointer to the buffer that will contain the data to transmit - * @param BlockAdd: Block Address where data will be written - * @param NumberOfBlocks: Number of blocks to write - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SD_WriteBlocks_DMA(SD_HandleTypeDef *hsd, uint8_t *pData, uint32_t BlockAdd, uint32_t NumberOfBlocks) -{ - SDIO_DataInitTypeDef config; - uint32_t errorstate; - uint32_t add = BlockAdd; - - if(NULL == pData) - { - hsd->ErrorCode |= HAL_SD_ERROR_PARAM; - return HAL_ERROR; - } - - if(hsd->State == HAL_SD_STATE_READY) - { - hsd->ErrorCode = HAL_SD_ERROR_NONE; - - if((add + NumberOfBlocks) > (hsd->SdCard.LogBlockNbr)) - { - hsd->ErrorCode |= HAL_SD_ERROR_ADDR_OUT_OF_RANGE; - return HAL_ERROR; - } - - hsd->State = HAL_SD_STATE_BUSY; - - /* Initialize data control register */ - hsd->Instance->DCTRL = 0U; - - /* Enable SD Error interrupts */ -#if defined(SDIO_STA_STBITERR) - __HAL_SD_ENABLE_IT(hsd, (SDIO_IT_DCRCFAIL | SDIO_IT_DTIMEOUT | SDIO_IT_TXUNDERR | SDIO_IT_STBITERR)); -#else /* SDIO_STA_STBITERR not defined */ - __HAL_SD_ENABLE_IT(hsd, (SDIO_IT_DCRCFAIL | SDIO_IT_DTIMEOUT | SDIO_IT_TXUNDERR)); -#endif /* SDIO_STA_STBITERR */ - - /* Set the DMA transfer complete callback */ - hsd->hdmatx->XferCpltCallback = SD_DMATransmitCplt; - - /* Set the DMA error callback */ - hsd->hdmatx->XferErrorCallback = SD_DMAError; - - /* Set the DMA Abort callback */ - hsd->hdmatx->XferAbortCallback = NULL; - - if(hsd->SdCard.CardType != CARD_SDHC_SDXC) - { - add *= 512U; - } - - /* Write Blocks in Polling mode */ - if(NumberOfBlocks > 1U) - { - hsd->Context = (SD_CONTEXT_WRITE_MULTIPLE_BLOCK | SD_CONTEXT_DMA); - - /* Write Multi Block command */ - errorstate = SDMMC_CmdWriteMultiBlock(hsd->Instance, add); - } - else - { - hsd->Context = (SD_CONTEXT_WRITE_SINGLE_BLOCK | SD_CONTEXT_DMA); - - /* Write Single Block command */ - errorstate = SDMMC_CmdWriteSingleBlock(hsd->Instance, add); - } - if(errorstate != HAL_SD_ERROR_NONE) - { - /* Clear all the static flags */ - __HAL_SD_CLEAR_FLAG(hsd, SDIO_STATIC_FLAGS); - hsd->ErrorCode |= errorstate; - hsd->State = HAL_SD_STATE_READY; - hsd->Context = SD_CONTEXT_NONE; - return HAL_ERROR; - } - - /* Enable SDIO DMA transfer */ - __HAL_SD_DMA_ENABLE(hsd); - - /* Force DMA Direction */ - hsd->hdmatx->Init.Direction = DMA_MEMORY_TO_PERIPH; - MODIFY_REG(hsd->hdmatx->Instance->CR, DMA_SxCR_DIR, hsd->hdmatx->Init.Direction); - - /* Enable the DMA Channel */ - if(HAL_DMA_Start_IT(hsd->hdmatx, (uint32_t)pData, (uint32_t)&hsd->Instance->FIFO, (uint32_t)(BLOCKSIZE * NumberOfBlocks)/4U) != HAL_OK) - { -#if defined(SDIO_STA_STBITERR) - __HAL_SD_DISABLE_IT(hsd, (SDIO_IT_DCRCFAIL | SDIO_IT_DTIMEOUT | SDIO_IT_TXUNDERR | SDIO_IT_STBITERR)); -#else /* SDIO_STA_STBITERR not defined */ - __HAL_SD_DISABLE_IT(hsd, (SDIO_IT_DCRCFAIL | SDIO_IT_DTIMEOUT | SDIO_IT_TXUNDERR)); -#endif /* SDIO_STA_STBITERR */ - __HAL_SD_CLEAR_FLAG(hsd, SDIO_STATIC_FLAGS); - hsd->ErrorCode |= HAL_SD_ERROR_DMA; - hsd->State = HAL_SD_STATE_READY; - hsd->Context = SD_CONTEXT_NONE; - return HAL_ERROR; - } - else - { - /* Configure the SD DPSM (Data Path State Machine) */ - config.DataTimeOut = SDMMC_DATATIMEOUT; - config.DataLength = BLOCKSIZE * NumberOfBlocks; - config.DataBlockSize = SDIO_DATABLOCK_SIZE_512B; - config.TransferDir = SDIO_TRANSFER_DIR_TO_CARD; - config.TransferMode = SDIO_TRANSFER_MODE_BLOCK; - config.DPSM = SDIO_DPSM_ENABLE; - (void)SDIO_ConfigData(hsd->Instance, &config); - - return HAL_OK; - } - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Erases the specified memory area of the given SD card. - * @note This API should be followed by a check on the card state through - * HAL_SD_GetCardState(). - * @param hsd: Pointer to SD handle - * @param BlockStartAdd: Start Block address - * @param BlockEndAdd: End Block address - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SD_Erase(SD_HandleTypeDef *hsd, uint32_t BlockStartAdd, uint32_t BlockEndAdd) -{ - uint32_t errorstate; - uint32_t start_add = BlockStartAdd; - uint32_t end_add = BlockEndAdd; - - if(hsd->State == HAL_SD_STATE_READY) - { - hsd->ErrorCode = HAL_SD_ERROR_NONE; - - if(end_add < start_add) - { - hsd->ErrorCode |= HAL_SD_ERROR_PARAM; - return HAL_ERROR; - } - - if(end_add > (hsd->SdCard.LogBlockNbr)) - { - hsd->ErrorCode |= HAL_SD_ERROR_ADDR_OUT_OF_RANGE; - return HAL_ERROR; - } - - hsd->State = HAL_SD_STATE_BUSY; - - /* Check if the card command class supports erase command */ - if(((hsd->SdCard.Class) & SDIO_CCCC_ERASE) == 0U) - { - /* Clear all the static flags */ - __HAL_SD_CLEAR_FLAG(hsd, SDIO_STATIC_FLAGS); - hsd->ErrorCode |= HAL_SD_ERROR_REQUEST_NOT_APPLICABLE; - hsd->State = HAL_SD_STATE_READY; - return HAL_ERROR; - } - - if((SDIO_GetResponse(hsd->Instance, SDIO_RESP1) & SDMMC_CARD_LOCKED) == SDMMC_CARD_LOCKED) - { - /* Clear all the static flags */ - __HAL_SD_CLEAR_FLAG(hsd, SDIO_STATIC_FLAGS); - hsd->ErrorCode |= HAL_SD_ERROR_LOCK_UNLOCK_FAILED; - hsd->State = HAL_SD_STATE_READY; - return HAL_ERROR; - } - - /* Get start and end block for high capacity cards */ - if(hsd->SdCard.CardType != CARD_SDHC_SDXC) - { - start_add *= 512U; - end_add *= 512U; - } - - /* According to sd-card spec 1.0 ERASE_GROUP_START (CMD32) and erase_group_end(CMD33) */ - if(hsd->SdCard.CardType != CARD_SECURED) - { - /* Send CMD32 SD_ERASE_GRP_START with argument as addr */ - errorstate = SDMMC_CmdSDEraseStartAdd(hsd->Instance, start_add); - if(errorstate != HAL_SD_ERROR_NONE) - { - /* Clear all the static flags */ - __HAL_SD_CLEAR_FLAG(hsd, SDIO_STATIC_FLAGS); - hsd->ErrorCode |= errorstate; - hsd->State = HAL_SD_STATE_READY; - return HAL_ERROR; - } - - /* Send CMD33 SD_ERASE_GRP_END with argument as addr */ - errorstate = SDMMC_CmdSDEraseEndAdd(hsd->Instance, end_add); - if(errorstate != HAL_SD_ERROR_NONE) - { - /* Clear all the static flags */ - __HAL_SD_CLEAR_FLAG(hsd, SDIO_STATIC_FLAGS); - hsd->ErrorCode |= errorstate; - hsd->State = HAL_SD_STATE_READY; - return HAL_ERROR; - } - } - - /* Send CMD38 ERASE */ - errorstate = SDMMC_CmdErase(hsd->Instance); - if(errorstate != HAL_SD_ERROR_NONE) - { - /* Clear all the static flags */ - __HAL_SD_CLEAR_FLAG(hsd, SDIO_STATIC_FLAGS); - hsd->ErrorCode |= errorstate; - hsd->State = HAL_SD_STATE_READY; - return HAL_ERROR; - } - - hsd->State = HAL_SD_STATE_READY; - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief This function handles SD card interrupt request. - * @param hsd: Pointer to SD handle - * @retval None - */ -void HAL_SD_IRQHandler(SD_HandleTypeDef *hsd) -{ - uint32_t errorstate; - uint32_t context = hsd->Context; - - /* Check for SDIO interrupt flags */ - if((__HAL_SD_GET_FLAG(hsd, SDIO_FLAG_RXFIFOHF) != RESET) && ((context & SD_CONTEXT_IT) != 0U)) - { - SD_Read_IT(hsd); - } - - else if(__HAL_SD_GET_FLAG(hsd, SDIO_FLAG_DATAEND) != RESET) - { - __HAL_SD_CLEAR_FLAG(hsd, SDIO_FLAG_DATAEND); - -#if defined(SDIO_STA_STBITERR) - __HAL_SD_DISABLE_IT(hsd, SDIO_IT_DATAEND | SDIO_IT_DCRCFAIL | SDIO_IT_DTIMEOUT|\ - SDIO_IT_TXUNDERR | SDIO_IT_RXOVERR | SDIO_IT_TXFIFOHE |\ - SDIO_IT_RXFIFOHF | SDIO_IT_STBITERR); -#else /* SDIO_STA_STBITERR not defined */ - __HAL_SD_DISABLE_IT(hsd, SDIO_IT_DATAEND | SDIO_IT_DCRCFAIL | SDIO_IT_DTIMEOUT|\ - SDIO_IT_TXUNDERR | SDIO_IT_RXOVERR | SDIO_IT_TXFIFOHE |\ - SDIO_IT_RXFIFOHF); -#endif /* SDIO_STA_STBITERR */ - - hsd->Instance->DCTRL &= ~(SDIO_DCTRL_DTEN); - - if((context & SD_CONTEXT_IT) != 0U) - { - if(((context & SD_CONTEXT_READ_MULTIPLE_BLOCK) != 0U) || ((context & SD_CONTEXT_WRITE_MULTIPLE_BLOCK) != 0U)) - { - errorstate = SDMMC_CmdStopTransfer(hsd->Instance); - if(errorstate != HAL_SD_ERROR_NONE) - { - hsd->ErrorCode |= errorstate; -#if defined (USE_HAL_SD_REGISTER_CALLBACKS) && (USE_HAL_SD_REGISTER_CALLBACKS == 1U) - hsd->ErrorCallback(hsd); -#else - HAL_SD_ErrorCallback(hsd); -#endif /* USE_HAL_SD_REGISTER_CALLBACKS */ - } - } - - /* Clear all the static flags */ - __HAL_SD_CLEAR_FLAG(hsd, SDIO_STATIC_DATA_FLAGS); - - hsd->State = HAL_SD_STATE_READY; - hsd->Context = SD_CONTEXT_NONE; - if(((context & SD_CONTEXT_READ_SINGLE_BLOCK) != 0U) || ((context & SD_CONTEXT_READ_MULTIPLE_BLOCK) != 0U)) - { -#if defined (USE_HAL_SD_REGISTER_CALLBACKS) && (USE_HAL_SD_REGISTER_CALLBACKS == 1U) - hsd->RxCpltCallback(hsd); -#else - HAL_SD_RxCpltCallback(hsd); -#endif /* USE_HAL_SD_REGISTER_CALLBACKS */ - } - else - { -#if defined (USE_HAL_SD_REGISTER_CALLBACKS) && (USE_HAL_SD_REGISTER_CALLBACKS == 1U) - hsd->TxCpltCallback(hsd); -#else - HAL_SD_TxCpltCallback(hsd); -#endif /* USE_HAL_SD_REGISTER_CALLBACKS */ - } - } - else if((context & SD_CONTEXT_DMA) != 0U) - { - if((context & SD_CONTEXT_WRITE_MULTIPLE_BLOCK) != 0U) - { - errorstate = SDMMC_CmdStopTransfer(hsd->Instance); - if(errorstate != HAL_SD_ERROR_NONE) - { - hsd->ErrorCode |= errorstate; -#if defined (USE_HAL_SD_REGISTER_CALLBACKS) && (USE_HAL_SD_REGISTER_CALLBACKS == 1U) - hsd->ErrorCallback(hsd); -#else - HAL_SD_ErrorCallback(hsd); -#endif /* USE_HAL_SD_REGISTER_CALLBACKS */ - } - } - if(((context & SD_CONTEXT_READ_SINGLE_BLOCK) == 0U) && ((context & SD_CONTEXT_READ_MULTIPLE_BLOCK) == 0U)) - { - /* Disable the DMA transfer for transmit request by setting the DMAEN bit - in the SD DCTRL register */ - hsd->Instance->DCTRL &= (uint32_t)~((uint32_t)SDIO_DCTRL_DMAEN); - - hsd->State = HAL_SD_STATE_READY; - -#if defined (USE_HAL_SD_REGISTER_CALLBACKS) && (USE_HAL_SD_REGISTER_CALLBACKS == 1U) - hsd->TxCpltCallback(hsd); -#else - HAL_SD_TxCpltCallback(hsd); -#endif /* USE_HAL_SD_REGISTER_CALLBACKS */ - } - } - else - { - /* Nothing to do */ - } - } - - else if((__HAL_SD_GET_FLAG(hsd, SDIO_FLAG_TXFIFOHE) != RESET) && ((context & SD_CONTEXT_IT) != 0U)) - { - SD_Write_IT(hsd); - } - -#if defined(SDIO_STA_STBITERR) - else if(__HAL_SD_GET_FLAG(hsd, SDIO_FLAG_DCRCFAIL | SDIO_FLAG_DTIMEOUT | SDIO_FLAG_RXOVERR | SDIO_FLAG_TXUNDERR | SDIO_FLAG_STBITERR) != RESET) -#else /* SDIO_STA_STBITERR not defined */ - else if(__HAL_SD_GET_FLAG(hsd, SDIO_FLAG_DCRCFAIL | SDIO_FLAG_DTIMEOUT | SDIO_FLAG_RXOVERR | SDIO_FLAG_TXUNDERR) != RESET) -#endif /* SDIO_STA_STBITERR */ - { - /* Set Error code */ - if(__HAL_SD_GET_FLAG(hsd, SDIO_FLAG_DCRCFAIL) != RESET) - { - hsd->ErrorCode |= HAL_SD_ERROR_DATA_CRC_FAIL; - } - if(__HAL_SD_GET_FLAG(hsd, SDIO_FLAG_DTIMEOUT) != RESET) - { - hsd->ErrorCode |= HAL_SD_ERROR_DATA_TIMEOUT; - } - if(__HAL_SD_GET_FLAG(hsd, SDIO_FLAG_RXOVERR) != RESET) - { - hsd->ErrorCode |= HAL_SD_ERROR_RX_OVERRUN; - } - if(__HAL_SD_GET_FLAG(hsd, SDIO_FLAG_TXUNDERR) != RESET) - { - hsd->ErrorCode |= HAL_SD_ERROR_TX_UNDERRUN; - } -#if defined(SDIO_STA_STBITERR) - if(__HAL_SD_GET_FLAG(hsd, SDIO_FLAG_STBITERR) != RESET) - { - hsd->ErrorCode |= HAL_SD_ERROR_DATA_TIMEOUT; - } -#endif /* SDIO_STA_STBITERR */ - -#if defined(SDIO_STA_STBITERR) - /* Clear All flags */ - __HAL_SD_CLEAR_FLAG(hsd, SDIO_STATIC_DATA_FLAGS | SDIO_FLAG_STBITERR); - - /* Disable all interrupts */ - __HAL_SD_DISABLE_IT(hsd, SDIO_IT_DATAEND | SDIO_IT_DCRCFAIL | SDIO_IT_DTIMEOUT|\ - SDIO_IT_TXUNDERR| SDIO_IT_RXOVERR | SDIO_IT_STBITERR); -#else /* SDIO_STA_STBITERR not defined */ - /* Clear All flags */ - __HAL_SD_CLEAR_FLAG(hsd, SDIO_STATIC_DATA_FLAGS); - - /* Disable all interrupts */ - __HAL_SD_DISABLE_IT(hsd, SDIO_IT_DATAEND | SDIO_IT_DCRCFAIL | SDIO_IT_DTIMEOUT|\ - SDIO_IT_TXUNDERR| SDIO_IT_RXOVERR); -#endif /* SDIO_STA_STBITERR */ - - hsd->ErrorCode |= SDMMC_CmdStopTransfer(hsd->Instance); - - if((context & SD_CONTEXT_IT) != 0U) - { - /* Set the SD state to ready to be able to start again the process */ - hsd->State = HAL_SD_STATE_READY; - hsd->Context = SD_CONTEXT_NONE; -#if defined (USE_HAL_SD_REGISTER_CALLBACKS) && (USE_HAL_SD_REGISTER_CALLBACKS == 1U) - hsd->ErrorCallback(hsd); -#else - HAL_SD_ErrorCallback(hsd); -#endif /* USE_HAL_SD_REGISTER_CALLBACKS */ - } - else if((context & SD_CONTEXT_DMA) != 0U) - { - /* Abort the SD DMA channel */ - if(((context & SD_CONTEXT_WRITE_SINGLE_BLOCK) != 0U) || ((context & SD_CONTEXT_WRITE_MULTIPLE_BLOCK) != 0U)) - { - /* Set the DMA Tx abort callback */ - hsd->hdmatx->XferAbortCallback = SD_DMATxAbort; - /* Abort DMA in IT mode */ - if(HAL_DMA_Abort_IT(hsd->hdmatx) != HAL_OK) - { - SD_DMATxAbort(hsd->hdmatx); - } - } - else if(((context & SD_CONTEXT_READ_SINGLE_BLOCK) != 0U) || ((context & SD_CONTEXT_READ_MULTIPLE_BLOCK) != 0U)) - { - /* Set the DMA Rx abort callback */ - hsd->hdmarx->XferAbortCallback = SD_DMARxAbort; - /* Abort DMA in IT mode */ - if(HAL_DMA_Abort_IT(hsd->hdmarx) != HAL_OK) - { - SD_DMARxAbort(hsd->hdmarx); - } - } - else - { - hsd->ErrorCode = HAL_SD_ERROR_NONE; - hsd->State = HAL_SD_STATE_READY; - hsd->Context = SD_CONTEXT_NONE; -#if defined (USE_HAL_SD_REGISTER_CALLBACKS) && (USE_HAL_SD_REGISTER_CALLBACKS == 1U) - hsd->AbortCpltCallback(hsd); -#else - HAL_SD_AbortCallback(hsd); -#endif /* USE_HAL_SD_REGISTER_CALLBACKS */ - } - } - else - { - /* Nothing to do */ - } - } - else - { - /* Nothing to do */ - } -} - -/** - * @brief return the SD state - * @param hsd: Pointer to sd handle - * @retval HAL state - */ -HAL_SD_StateTypeDef HAL_SD_GetState(SD_HandleTypeDef *hsd) -{ - return hsd->State; -} - -/** -* @brief Return the SD error code -* @param hsd : Pointer to a SD_HandleTypeDef structure that contains - * the configuration information. -* @retval SD Error Code -*/ -uint32_t HAL_SD_GetError(SD_HandleTypeDef *hsd) -{ - return hsd->ErrorCode; -} - -/** - * @brief Tx Transfer completed callbacks - * @param hsd: Pointer to SD handle - * @retval None - */ -__weak void HAL_SD_TxCpltCallback(SD_HandleTypeDef *hsd) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hsd); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_SD_TxCpltCallback can be implemented in the user file - */ -} - -/** - * @brief Rx Transfer completed callbacks - * @param hsd: Pointer SD handle - * @retval None - */ -__weak void HAL_SD_RxCpltCallback(SD_HandleTypeDef *hsd) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hsd); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_SD_RxCpltCallback can be implemented in the user file - */ -} - -/** - * @brief SD error callbacks - * @param hsd: Pointer SD handle - * @retval None - */ -__weak void HAL_SD_ErrorCallback(SD_HandleTypeDef *hsd) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hsd); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_SD_ErrorCallback can be implemented in the user file - */ -} - -/** - * @brief SD Abort callbacks - * @param hsd: Pointer SD handle - * @retval None - */ -__weak void HAL_SD_AbortCallback(SD_HandleTypeDef *hsd) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hsd); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_SD_AbortCallback can be implemented in the user file - */ -} - -#if defined (USE_HAL_SD_REGISTER_CALLBACKS) && (USE_HAL_SD_REGISTER_CALLBACKS == 1U) -/** - * @brief Register a User SD Callback - * To be used instead of the weak (surcharged) predefined callback - * @param hsd : SD handle - * @param CallbackID : ID of the callback to be registered - * This parameter can be one of the following values: - * @arg @ref HAL_SD_TX_CPLT_CB_ID SD Tx Complete Callback ID - * @arg @ref HAL_SD_RX_CPLT_CB_ID SD Rx Complete Callback ID - * @arg @ref HAL_SD_ERROR_CB_ID SD Error Callback ID - * @arg @ref HAL_SD_ABORT_CB_ID SD Abort Callback ID - * @arg @ref HAL_SD_MSP_INIT_CB_ID SD MspInit Callback ID - * @arg @ref HAL_SD_MSP_DEINIT_CB_ID SD MspDeInit Callback ID - * @param pCallback : pointer to the Callback function - * @retval status - */ -HAL_StatusTypeDef HAL_SD_RegisterCallback(SD_HandleTypeDef *hsd, HAL_SD_CallbackIDTypeDef CallbackID, pSD_CallbackTypeDef pCallback) -{ - HAL_StatusTypeDef status = HAL_OK; - - if(pCallback == NULL) - { - /* Update the error code */ - hsd->ErrorCode |= HAL_SD_ERROR_INVALID_CALLBACK; - return HAL_ERROR; - } - - /* Process locked */ - __HAL_LOCK(hsd); - - if(hsd->State == HAL_SD_STATE_READY) - { - switch (CallbackID) - { - case HAL_SD_TX_CPLT_CB_ID : - hsd->TxCpltCallback = pCallback; - break; - case HAL_SD_RX_CPLT_CB_ID : - hsd->RxCpltCallback = pCallback; - break; - case HAL_SD_ERROR_CB_ID : - hsd->ErrorCallback = pCallback; - break; - case HAL_SD_ABORT_CB_ID : - hsd->AbortCpltCallback = pCallback; - break; - case HAL_SD_MSP_INIT_CB_ID : - hsd->MspInitCallback = pCallback; - break; - case HAL_SD_MSP_DEINIT_CB_ID : - hsd->MspDeInitCallback = pCallback; - break; - default : - /* Update the error code */ - hsd->ErrorCode |= HAL_SD_ERROR_INVALID_CALLBACK; - /* update return status */ - status = HAL_ERROR; - break; - } - } - else if (hsd->State == HAL_SD_STATE_RESET) - { - switch (CallbackID) - { - case HAL_SD_MSP_INIT_CB_ID : - hsd->MspInitCallback = pCallback; - break; - case HAL_SD_MSP_DEINIT_CB_ID : - hsd->MspDeInitCallback = pCallback; - break; - default : - /* Update the error code */ - hsd->ErrorCode |= HAL_SD_ERROR_INVALID_CALLBACK; - /* update return status */ - status = HAL_ERROR; - break; - } - } - else - { - /* Update the error code */ - hsd->ErrorCode |= HAL_SD_ERROR_INVALID_CALLBACK; - /* update return status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(hsd); - return status; -} - -/** - * @brief Unregister a User SD Callback - * SD Callback is redirected to the weak (surcharged) predefined callback - * @param hsd : SD handle - * @param CallbackID : ID of the callback to be unregistered - * This parameter can be one of the following values: - * @arg @ref HAL_SD_TX_CPLT_CB_ID SD Tx Complete Callback ID - * @arg @ref HAL_SD_RX_CPLT_CB_ID SD Rx Complete Callback ID - * @arg @ref HAL_SD_ERROR_CB_ID SD Error Callback ID - * @arg @ref HAL_SD_ABORT_CB_ID SD Abort Callback ID - * @arg @ref HAL_SD_MSP_INIT_CB_ID SD MspInit Callback ID - * @arg @ref HAL_SD_MSP_DEINIT_CB_ID SD MspDeInit Callback ID - * @retval status - */ -HAL_StatusTypeDef HAL_SD_UnRegisterCallback(SD_HandleTypeDef *hsd, HAL_SD_CallbackIDTypeDef CallbackID) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Process locked */ - __HAL_LOCK(hsd); - - if(hsd->State == HAL_SD_STATE_READY) - { - switch (CallbackID) - { - case HAL_SD_TX_CPLT_CB_ID : - hsd->TxCpltCallback = HAL_SD_TxCpltCallback; - break; - case HAL_SD_RX_CPLT_CB_ID : - hsd->RxCpltCallback = HAL_SD_RxCpltCallback; - break; - case HAL_SD_ERROR_CB_ID : - hsd->ErrorCallback = HAL_SD_ErrorCallback; - break; - case HAL_SD_ABORT_CB_ID : - hsd->AbortCpltCallback = HAL_SD_AbortCallback; - break; - case HAL_SD_MSP_INIT_CB_ID : - hsd->MspInitCallback = HAL_SD_MspInit; - break; - case HAL_SD_MSP_DEINIT_CB_ID : - hsd->MspDeInitCallback = HAL_SD_MspDeInit; - break; - default : - /* Update the error code */ - hsd->ErrorCode |= HAL_SD_ERROR_INVALID_CALLBACK; - /* update return status */ - status = HAL_ERROR; - break; - } - } - else if (hsd->State == HAL_SD_STATE_RESET) - { - switch (CallbackID) - { - case HAL_SD_MSP_INIT_CB_ID : - hsd->MspInitCallback = HAL_SD_MspInit; - break; - case HAL_SD_MSP_DEINIT_CB_ID : - hsd->MspDeInitCallback = HAL_SD_MspDeInit; - break; - default : - /* Update the error code */ - hsd->ErrorCode |= HAL_SD_ERROR_INVALID_CALLBACK; - /* update return status */ - status = HAL_ERROR; - break; - } - } - else - { - /* Update the error code */ - hsd->ErrorCode |= HAL_SD_ERROR_INVALID_CALLBACK; - /* update return status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(hsd); - return status; -} -#endif /* USE_HAL_SD_REGISTER_CALLBACKS */ - -/** - * @} - */ - -/** @addtogroup SD_Exported_Functions_Group3 - * @brief management functions - * -@verbatim - ============================================================================== - ##### Peripheral Control functions ##### - ============================================================================== - [..] - This subsection provides a set of functions allowing to control the SD card - operations and get the related information - -@endverbatim - * @{ - */ - -/** - * @brief Returns information the information of the card which are stored on - * the CID register. - * @param hsd: Pointer to SD handle - * @param pCID: Pointer to a HAL_SD_CardCIDTypeDef structure that - * contains all CID register parameters - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SD_GetCardCID(SD_HandleTypeDef *hsd, HAL_SD_CardCIDTypeDef *pCID) -{ - pCID->ManufacturerID = (uint8_t)((hsd->CID[0] & 0xFF000000U) >> 24U); - - pCID->OEM_AppliID = (uint16_t)((hsd->CID[0] & 0x00FFFF00U) >> 8U); - - pCID->ProdName1 = (((hsd->CID[0] & 0x000000FFU) << 24U) | ((hsd->CID[1] & 0xFFFFFF00U) >> 8U)); - - pCID->ProdName2 = (uint8_t)(hsd->CID[1] & 0x000000FFU); - - pCID->ProdRev = (uint8_t)((hsd->CID[2] & 0xFF000000U) >> 24U); - - pCID->ProdSN = (((hsd->CID[2] & 0x00FFFFFFU) << 8U) | ((hsd->CID[3] & 0xFF000000U) >> 24U)); - - pCID->Reserved1 = (uint8_t)((hsd->CID[3] & 0x00F00000U) >> 20U); - - pCID->ManufactDate = (uint16_t)((hsd->CID[3] & 0x000FFF00U) >> 8U); - - pCID->CID_CRC = (uint8_t)((hsd->CID[3] & 0x000000FEU) >> 1U); - - pCID->Reserved2 = 1U; - - return HAL_OK; -} - -/** - * @brief Returns information the information of the card which are stored on - * the CSD register. - * @param hsd: Pointer to SD handle - * @param pCSD: Pointer to a HAL_SD_CardCSDTypeDef structure that - * contains all CSD register parameters - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SD_GetCardCSD(SD_HandleTypeDef *hsd, HAL_SD_CardCSDTypeDef *pCSD) -{ - pCSD->CSDStruct = (uint8_t)((hsd->CSD[0] & 0xC0000000U) >> 30U); - - pCSD->SysSpecVersion = (uint8_t)((hsd->CSD[0] & 0x3C000000U) >> 26U); - - pCSD->Reserved1 = (uint8_t)((hsd->CSD[0] & 0x03000000U) >> 24U); - - pCSD->TAAC = (uint8_t)((hsd->CSD[0] & 0x00FF0000U) >> 16U); - - pCSD->NSAC = (uint8_t)((hsd->CSD[0] & 0x0000FF00U) >> 8U); - - pCSD->MaxBusClkFrec = (uint8_t)(hsd->CSD[0] & 0x000000FFU); - - pCSD->CardComdClasses = (uint16_t)((hsd->CSD[1] & 0xFFF00000U) >> 20U); - - pCSD->RdBlockLen = (uint8_t)((hsd->CSD[1] & 0x000F0000U) >> 16U); - - pCSD->PartBlockRead = (uint8_t)((hsd->CSD[1] & 0x00008000U) >> 15U); - - pCSD->WrBlockMisalign = (uint8_t)((hsd->CSD[1] & 0x00004000U) >> 14U); - - pCSD->RdBlockMisalign = (uint8_t)((hsd->CSD[1] & 0x00002000U) >> 13U); - - pCSD->DSRImpl = (uint8_t)((hsd->CSD[1] & 0x00001000U) >> 12U); - - pCSD->Reserved2 = 0U; /*!< Reserved */ - - if(hsd->SdCard.CardType == CARD_SDSC) - { - pCSD->DeviceSize = (((hsd->CSD[1] & 0x000003FFU) << 2U) | ((hsd->CSD[2] & 0xC0000000U) >> 30U)); - - pCSD->MaxRdCurrentVDDMin = (uint8_t)((hsd->CSD[2] & 0x38000000U) >> 27U); - - pCSD->MaxRdCurrentVDDMax = (uint8_t)((hsd->CSD[2] & 0x07000000U) >> 24U); - - pCSD->MaxWrCurrentVDDMin = (uint8_t)((hsd->CSD[2] & 0x00E00000U) >> 21U); - - pCSD->MaxWrCurrentVDDMax = (uint8_t)((hsd->CSD[2] & 0x001C0000U) >> 18U); - - pCSD->DeviceSizeMul = (uint8_t)((hsd->CSD[2] & 0x00038000U) >> 15U); - - hsd->SdCard.BlockNbr = (pCSD->DeviceSize + 1U) ; - hsd->SdCard.BlockNbr *= (1UL << ((pCSD->DeviceSizeMul & 0x07U) + 2U)); - hsd->SdCard.BlockSize = (1UL << (pCSD->RdBlockLen & 0x0FU)); - - hsd->SdCard.LogBlockNbr = (hsd->SdCard.BlockNbr) * ((hsd->SdCard.BlockSize) / 512U); - hsd->SdCard.LogBlockSize = 512U; - } - else if(hsd->SdCard.CardType == CARD_SDHC_SDXC) - { - /* Byte 7 */ - pCSD->DeviceSize = (((hsd->CSD[1] & 0x0000003FU) << 16U) | ((hsd->CSD[2] & 0xFFFF0000U) >> 16U)); - - hsd->SdCard.BlockNbr = ((pCSD->DeviceSize + 1U) * 1024U); - hsd->SdCard.LogBlockNbr = hsd->SdCard.BlockNbr; - hsd->SdCard.BlockSize = 512U; - hsd->SdCard.LogBlockSize = hsd->SdCard.BlockSize; - } - else - { - /* Clear all the static flags */ - __HAL_SD_CLEAR_FLAG(hsd, SDIO_STATIC_FLAGS); - hsd->ErrorCode |= HAL_SD_ERROR_UNSUPPORTED_FEATURE; - hsd->State = HAL_SD_STATE_READY; - return HAL_ERROR; - } - - pCSD->EraseGrSize = (uint8_t)((hsd->CSD[2] & 0x00004000U) >> 14U); - - pCSD->EraseGrMul = (uint8_t)((hsd->CSD[2] & 0x00003F80U) >> 7U); - - pCSD->WrProtectGrSize = (uint8_t)(hsd->CSD[2] & 0x0000007FU); - - pCSD->WrProtectGrEnable = (uint8_t)((hsd->CSD[3] & 0x80000000U) >> 31U); - - pCSD->ManDeflECC = (uint8_t)((hsd->CSD[3] & 0x60000000U) >> 29U); - - pCSD->WrSpeedFact = (uint8_t)((hsd->CSD[3] & 0x1C000000U) >> 26U); - - pCSD->MaxWrBlockLen= (uint8_t)((hsd->CSD[3] & 0x03C00000U) >> 22U); - - pCSD->WriteBlockPaPartial = (uint8_t)((hsd->CSD[3] & 0x00200000U) >> 21U); - - pCSD->Reserved3 = 0; - - pCSD->ContentProtectAppli = (uint8_t)((hsd->CSD[3] & 0x00010000U) >> 16U); - - pCSD->FileFormatGroup = (uint8_t)((hsd->CSD[3] & 0x00008000U) >> 15U); - - pCSD->CopyFlag = (uint8_t)((hsd->CSD[3] & 0x00004000U) >> 14U); - - pCSD->PermWrProtect = (uint8_t)((hsd->CSD[3] & 0x00002000U) >> 13U); - - pCSD->TempWrProtect = (uint8_t)((hsd->CSD[3] & 0x00001000U) >> 12U); - - pCSD->FileFormat = (uint8_t)((hsd->CSD[3] & 0x00000C00U) >> 10U); - - pCSD->ECC= (uint8_t)((hsd->CSD[3] & 0x00000300U) >> 8U); - - pCSD->CSD_CRC = (uint8_t)((hsd->CSD[3] & 0x000000FEU) >> 1U); - - pCSD->Reserved4 = 1; - - return HAL_OK; -} - -/** - * @brief Gets the SD status info. - * @param hsd: Pointer to SD handle - * @param pStatus: Pointer to the HAL_SD_CardStatusTypeDef structure that - * will contain the SD card status information - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SD_GetCardStatus(SD_HandleTypeDef *hsd, HAL_SD_CardStatusTypeDef *pStatus) -{ - uint32_t sd_status[16]; - uint32_t errorstate; - HAL_StatusTypeDef status = HAL_OK; - - errorstate = SD_SendSDStatus(hsd, sd_status); - if(errorstate != HAL_SD_ERROR_NONE) - { - /* Clear all the static flags */ - __HAL_SD_CLEAR_FLAG(hsd, SDIO_STATIC_FLAGS); - hsd->ErrorCode |= errorstate; - hsd->State = HAL_SD_STATE_READY; - status = HAL_ERROR; - } - else - { - pStatus->DataBusWidth = (uint8_t)((sd_status[0] & 0xC0U) >> 6U); - - pStatus->SecuredMode = (uint8_t)((sd_status[0] & 0x20U) >> 5U); - - pStatus->CardType = (uint16_t)(((sd_status[0] & 0x00FF0000U) >> 8U) | ((sd_status[0] & 0xFF000000U) >> 24U)); - - pStatus->ProtectedAreaSize = (((sd_status[1] & 0xFFU) << 24U) | ((sd_status[1] & 0xFF00U) << 8U) | - ((sd_status[1] & 0xFF0000U) >> 8U) | ((sd_status[1] & 0xFF000000U) >> 24U)); - - pStatus->SpeedClass = (uint8_t)(sd_status[2] & 0xFFU); - - pStatus->PerformanceMove = (uint8_t)((sd_status[2] & 0xFF00U) >> 8U); - - pStatus->AllocationUnitSize = (uint8_t)((sd_status[2] & 0xF00000U) >> 20U); - - pStatus->EraseSize = (uint16_t)(((sd_status[2] & 0xFF000000U) >> 16U) | (sd_status[3] & 0xFFU)); - - pStatus->EraseTimeout = (uint8_t)((sd_status[3] & 0xFC00U) >> 10U); - - pStatus->EraseOffset = (uint8_t)((sd_status[3] & 0x0300U) >> 8U); - } - - /* Set Block Size for Card */ - errorstate = SDMMC_CmdBlockLength(hsd->Instance, BLOCKSIZE); - if(errorstate != HAL_SD_ERROR_NONE) - { - /* Clear all the static flags */ - __HAL_SD_CLEAR_FLAG(hsd, SDIO_STATIC_FLAGS); - hsd->ErrorCode = errorstate; - hsd->State = HAL_SD_STATE_READY; - status = HAL_ERROR; - } - - return status; -} - -/** - * @brief Gets the SD card info. - * @param hsd: Pointer to SD handle - * @param pCardInfo: Pointer to the HAL_SD_CardInfoTypeDef structure that - * will contain the SD card status information - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SD_GetCardInfo(SD_HandleTypeDef *hsd, HAL_SD_CardInfoTypeDef *pCardInfo) -{ - pCardInfo->CardType = (uint32_t)(hsd->SdCard.CardType); - pCardInfo->CardVersion = (uint32_t)(hsd->SdCard.CardVersion); - pCardInfo->Class = (uint32_t)(hsd->SdCard.Class); - pCardInfo->RelCardAdd = (uint32_t)(hsd->SdCard.RelCardAdd); - pCardInfo->BlockNbr = (uint32_t)(hsd->SdCard.BlockNbr); - pCardInfo->BlockSize = (uint32_t)(hsd->SdCard.BlockSize); - pCardInfo->LogBlockNbr = (uint32_t)(hsd->SdCard.LogBlockNbr); - pCardInfo->LogBlockSize = (uint32_t)(hsd->SdCard.LogBlockSize); - - return HAL_OK; -} - -/** - * @brief Enables wide bus operation for the requested card if supported by - * card. - * @param hsd: Pointer to SD handle - * @param WideMode: Specifies the SD card wide bus mode - * This parameter can be one of the following values: - * @arg SDIO_BUS_WIDE_8B: 8-bit data transfer - * @arg SDIO_BUS_WIDE_4B: 4-bit data transfer - * @arg SDIO_BUS_WIDE_1B: 1-bit data transfer - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SD_ConfigWideBusOperation(SD_HandleTypeDef *hsd, uint32_t WideMode) -{ - SDIO_InitTypeDef Init; - uint32_t errorstate; - HAL_StatusTypeDef status = HAL_OK; - - /* Check the parameters */ - assert_param(IS_SDIO_BUS_WIDE(WideMode)); - - /* Change State */ - hsd->State = HAL_SD_STATE_BUSY; - - if(hsd->SdCard.CardType != CARD_SECURED) - { - if(WideMode == SDIO_BUS_WIDE_8B) - { - hsd->ErrorCode |= HAL_SD_ERROR_UNSUPPORTED_FEATURE; - } - else if(WideMode == SDIO_BUS_WIDE_4B) - { - errorstate = SD_WideBus_Enable(hsd); - - hsd->ErrorCode |= errorstate; - } - else if(WideMode == SDIO_BUS_WIDE_1B) - { - errorstate = SD_WideBus_Disable(hsd); - - hsd->ErrorCode |= errorstate; - } - else - { - /* WideMode is not a valid argument*/ - hsd->ErrorCode |= HAL_SD_ERROR_PARAM; - } - } - else - { - /* MMC Card does not support this feature */ - hsd->ErrorCode |= HAL_SD_ERROR_UNSUPPORTED_FEATURE; - } - - if(hsd->ErrorCode != HAL_SD_ERROR_NONE) - { - /* Clear all the static flags */ - __HAL_SD_CLEAR_FLAG(hsd, SDIO_STATIC_FLAGS); - hsd->State = HAL_SD_STATE_READY; - status = HAL_ERROR; - } - else - { - /* Configure the SDIO peripheral */ - Init.ClockEdge = hsd->Init.ClockEdge; - Init.ClockBypass = hsd->Init.ClockBypass; - Init.ClockPowerSave = hsd->Init.ClockPowerSave; - Init.BusWide = WideMode; - Init.HardwareFlowControl = hsd->Init.HardwareFlowControl; - Init.ClockDiv = hsd->Init.ClockDiv; - (void)SDIO_Init(hsd->Instance, Init); - } - - /* Set Block Size for Card */ - errorstate = SDMMC_CmdBlockLength(hsd->Instance, BLOCKSIZE); - if(errorstate != HAL_SD_ERROR_NONE) - { - /* Clear all the static flags */ - __HAL_SD_CLEAR_FLAG(hsd, SDIO_STATIC_FLAGS); - hsd->ErrorCode |= errorstate; - status = HAL_ERROR; - } - - /* Change State */ - hsd->State = HAL_SD_STATE_READY; - - return status; -} - -/** - * @brief Gets the current sd card data state. - * @param hsd: pointer to SD handle - * @retval Card state - */ -HAL_SD_CardStateTypeDef HAL_SD_GetCardState(SD_HandleTypeDef *hsd) -{ - uint32_t cardstate; - uint32_t errorstate; - uint32_t resp1 = 0; - - errorstate = SD_SendStatus(hsd, &resp1); - if(errorstate != HAL_SD_ERROR_NONE) - { - hsd->ErrorCode |= errorstate; - } - - cardstate = ((resp1 >> 9U) & 0x0FU); - - return (HAL_SD_CardStateTypeDef)cardstate; -} - -/** - * @brief Abort the current transfer and disable the SD. - * @param hsd: pointer to a SD_HandleTypeDef structure that contains - * the configuration information for SD module. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SD_Abort(SD_HandleTypeDef *hsd) -{ - HAL_SD_CardStateTypeDef CardState; - uint32_t context = hsd->Context; - - /* DIsable All interrupts */ - __HAL_SD_DISABLE_IT(hsd, SDIO_IT_DATAEND | SDIO_IT_DCRCFAIL | SDIO_IT_DTIMEOUT|\ - SDIO_IT_TXUNDERR| SDIO_IT_RXOVERR); - - /* Clear All flags */ - __HAL_SD_CLEAR_FLAG(hsd, SDIO_STATIC_DATA_FLAGS); - - CLEAR_BIT(hsd->Instance->DCTRL, SDIO_DCTRL_DTEN); - - if ((context & SD_CONTEXT_DMA) != 0U) - { - /* Disable the SD DMA request */ - hsd->Instance->DCTRL &= (uint32_t)~((uint32_t)SDIO_DCTRL_DMAEN); - - /* Abort the SD DMA Tx channel */ - if (((context & SD_CONTEXT_WRITE_SINGLE_BLOCK) != 0U) || ((context & SD_CONTEXT_WRITE_MULTIPLE_BLOCK) != 0U)) - { - if(HAL_DMA_Abort(hsd->hdmatx) != HAL_OK) - { - hsd->ErrorCode |= HAL_SD_ERROR_DMA; - } - } - /* Abort the SD DMA Rx channel */ - else if (((context & SD_CONTEXT_READ_SINGLE_BLOCK) != 0U) || ((context & SD_CONTEXT_READ_MULTIPLE_BLOCK) != 0U)) - { - if(HAL_DMA_Abort(hsd->hdmarx) != HAL_OK) - { - hsd->ErrorCode |= HAL_SD_ERROR_DMA; - } - } - else - { - /* Nothing to do */ - } - } - - hsd->State = HAL_SD_STATE_READY; - - /* Initialize the SD operation */ - hsd->Context = SD_CONTEXT_NONE; - - CardState = HAL_SD_GetCardState(hsd); - if((CardState == HAL_SD_CARD_RECEIVING) || (CardState == HAL_SD_CARD_SENDING)) - { - hsd->ErrorCode = SDMMC_CmdStopTransfer(hsd->Instance); - } - if(hsd->ErrorCode != HAL_SD_ERROR_NONE) - { - return HAL_ERROR; - } - return HAL_OK; -} - -/** - * @brief Abort the current transfer and disable the SD (IT mode). - * @param hsd: pointer to a SD_HandleTypeDef structure that contains - * the configuration information for SD module. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SD_Abort_IT(SD_HandleTypeDef *hsd) -{ - HAL_SD_CardStateTypeDef CardState; - uint32_t context = hsd->Context; - - /* Disable All interrupts */ - __HAL_SD_DISABLE_IT(hsd, SDIO_IT_DATAEND | SDIO_IT_DCRCFAIL | SDIO_IT_DTIMEOUT|\ - SDIO_IT_TXUNDERR| SDIO_IT_RXOVERR); - - CLEAR_BIT(hsd->Instance->DCTRL, SDIO_DCTRL_DTEN); - - if ((context & SD_CONTEXT_DMA) != 0U) - { - /* Disable the SD DMA request */ - hsd->Instance->DCTRL &= (uint32_t)~((uint32_t)SDIO_DCTRL_DMAEN); - - /* Abort the SD DMA Tx channel */ - if (((context & SD_CONTEXT_WRITE_SINGLE_BLOCK) != 0U) || ((context & SD_CONTEXT_WRITE_MULTIPLE_BLOCK) != 0U)) - { - hsd->hdmatx->XferAbortCallback = SD_DMATxAbort; - if(HAL_DMA_Abort_IT(hsd->hdmatx) != HAL_OK) - { - hsd->hdmatx = NULL; - } - } - /* Abort the SD DMA Rx channel */ - else if (((context & SD_CONTEXT_READ_SINGLE_BLOCK) != 0U) || ((context & SD_CONTEXT_READ_MULTIPLE_BLOCK) != 0U)) - { - hsd->hdmarx->XferAbortCallback = SD_DMARxAbort; - if(HAL_DMA_Abort_IT(hsd->hdmarx) != HAL_OK) - { - hsd->hdmarx = NULL; - } - } - else - { - /* Nothing to do */ - } - } - /* No transfer ongoing on both DMA channels*/ - else - { - /* Clear All flags */ - __HAL_SD_CLEAR_FLAG(hsd, SDIO_STATIC_DATA_FLAGS); - - CardState = HAL_SD_GetCardState(hsd); - hsd->State = HAL_SD_STATE_READY; - hsd->Context = SD_CONTEXT_NONE; - if((CardState == HAL_SD_CARD_RECEIVING) || (CardState == HAL_SD_CARD_SENDING)) - { - hsd->ErrorCode = SDMMC_CmdStopTransfer(hsd->Instance); - } - if(hsd->ErrorCode != HAL_SD_ERROR_NONE) - { - return HAL_ERROR; - } - else - { -#if defined (USE_HAL_SD_REGISTER_CALLBACKS) && (USE_HAL_SD_REGISTER_CALLBACKS == 1U) - hsd->AbortCpltCallback(hsd); -#else - HAL_SD_AbortCallback(hsd); -#endif /* USE_HAL_SD_REGISTER_CALLBACKS */ - } - } - - return HAL_OK; -} - -/** - * @} - */ - -/** - * @} - */ - -/* Private function ----------------------------------------------------------*/ -/** @addtogroup SD_Private_Functions - * @{ - */ - -/** - * @brief DMA SD transmit process complete callback - * @param hdma: DMA handle - * @retval None - */ -static void SD_DMATransmitCplt(DMA_HandleTypeDef *hdma) -{ - SD_HandleTypeDef* hsd = (SD_HandleTypeDef* )(hdma->Parent); - - /* Enable DATAEND Interrupt */ - __HAL_SD_ENABLE_IT(hsd, (SDIO_IT_DATAEND)); -} - -/** - * @brief DMA SD receive process complete callback - * @param hdma: DMA handle - * @retval None - */ -static void SD_DMAReceiveCplt(DMA_HandleTypeDef *hdma) -{ - SD_HandleTypeDef* hsd = (SD_HandleTypeDef* )(hdma->Parent); - uint32_t errorstate; - - /* Send stop command in multiblock write */ - if(hsd->Context == (SD_CONTEXT_READ_MULTIPLE_BLOCK | SD_CONTEXT_DMA)) - { - errorstate = SDMMC_CmdStopTransfer(hsd->Instance); - if(errorstate != HAL_SD_ERROR_NONE) - { - hsd->ErrorCode |= errorstate; -#if (USE_HAL_SD_REGISTER_CALLBACKS == 1) - hsd->ErrorCallback(hsd); -#else - HAL_SD_ErrorCallback(hsd); -#endif - } - } - - /* Disable the DMA transfer for transmit request by setting the DMAEN bit - in the SD DCTRL register */ - hsd->Instance->DCTRL &= (uint32_t)~((uint32_t)SDIO_DCTRL_DMAEN); - - /* Clear all the static flags */ - __HAL_SD_CLEAR_FLAG(hsd, SDIO_STATIC_DATA_FLAGS); - - hsd->State = HAL_SD_STATE_READY; - hsd->Context = SD_CONTEXT_NONE; - -#if (USE_HAL_SD_REGISTER_CALLBACKS == 1) - hsd->RxCpltCallback(hsd); -#else - HAL_SD_RxCpltCallback(hsd); -#endif -} - -/** - * @brief DMA SD communication error callback - * @param hdma: DMA handle - * @retval None - */ -static void SD_DMAError(DMA_HandleTypeDef *hdma) -{ - SD_HandleTypeDef* hsd = (SD_HandleTypeDef* )(hdma->Parent); - HAL_SD_CardStateTypeDef CardState; - uint32_t RxErrorCode, TxErrorCode; - - /* if DMA error is FIFO error ignore it */ - if(HAL_DMA_GetError(hdma) != HAL_DMA_ERROR_FE) - { - RxErrorCode = hsd->hdmarx->ErrorCode; - TxErrorCode = hsd->hdmatx->ErrorCode; - if((RxErrorCode == HAL_DMA_ERROR_TE) || (TxErrorCode == HAL_DMA_ERROR_TE)) - { - /* Clear All flags */ - __HAL_SD_CLEAR_FLAG(hsd, SDIO_STATIC_FLAGS); - - /* Disable All interrupts */ - __HAL_SD_DISABLE_IT(hsd, SDIO_IT_DATAEND | SDIO_IT_DCRCFAIL | SDIO_IT_DTIMEOUT|\ - SDIO_IT_TXUNDERR| SDIO_IT_RXOVERR); - - hsd->ErrorCode |= HAL_SD_ERROR_DMA; - CardState = HAL_SD_GetCardState(hsd); - if((CardState == HAL_SD_CARD_RECEIVING) || (CardState == HAL_SD_CARD_SENDING)) - { - hsd->ErrorCode |= SDMMC_CmdStopTransfer(hsd->Instance); - } - - hsd->State= HAL_SD_STATE_READY; - hsd->Context = SD_CONTEXT_NONE; - } - -#if (USE_HAL_SD_REGISTER_CALLBACKS == 1) - hsd->ErrorCallback(hsd); -#else - HAL_SD_ErrorCallback(hsd); -#endif - } -} - -/** - * @brief DMA SD Tx Abort callback - * @param hdma: DMA handle - * @retval None - */ -static void SD_DMATxAbort(DMA_HandleTypeDef *hdma) -{ - SD_HandleTypeDef* hsd = (SD_HandleTypeDef* )(hdma->Parent); - HAL_SD_CardStateTypeDef CardState; - - /* Clear All flags */ - __HAL_SD_CLEAR_FLAG(hsd, SDIO_STATIC_DATA_FLAGS); - - CardState = HAL_SD_GetCardState(hsd); - hsd->State = HAL_SD_STATE_READY; - hsd->Context = SD_CONTEXT_NONE; - if((CardState == HAL_SD_CARD_RECEIVING) || (CardState == HAL_SD_CARD_SENDING)) - { - hsd->ErrorCode |= SDMMC_CmdStopTransfer(hsd->Instance); - } - - if(hsd->ErrorCode == HAL_SD_ERROR_NONE) - { -#if (USE_HAL_SD_REGISTER_CALLBACKS == 1) - hsd->AbortCpltCallback(hsd); -#else - HAL_SD_AbortCallback(hsd); -#endif - } - else - { -#if (USE_HAL_SD_REGISTER_CALLBACKS == 1) - hsd->ErrorCallback(hsd); -#else - HAL_SD_ErrorCallback(hsd); -#endif - } -} - -/** - * @brief DMA SD Rx Abort callback - * @param hdma: DMA handle - * @retval None - */ -static void SD_DMARxAbort(DMA_HandleTypeDef *hdma) -{ - SD_HandleTypeDef* hsd = (SD_HandleTypeDef* )(hdma->Parent); - HAL_SD_CardStateTypeDef CardState; - - /* Clear All flags */ - __HAL_SD_CLEAR_FLAG(hsd, SDIO_STATIC_DATA_FLAGS); - - CardState = HAL_SD_GetCardState(hsd); - hsd->State = HAL_SD_STATE_READY; - hsd->Context = SD_CONTEXT_NONE; - if((CardState == HAL_SD_CARD_RECEIVING) || (CardState == HAL_SD_CARD_SENDING)) - { - hsd->ErrorCode |= SDMMC_CmdStopTransfer(hsd->Instance); - } - - if(hsd->ErrorCode == HAL_SD_ERROR_NONE) - { -#if (USE_HAL_SD_REGISTER_CALLBACKS == 1) - hsd->AbortCpltCallback(hsd); -#else - HAL_SD_AbortCallback(hsd); -#endif - } - else - { -#if (USE_HAL_SD_REGISTER_CALLBACKS == 1) - hsd->ErrorCallback(hsd); -#else - HAL_SD_ErrorCallback(hsd); -#endif - } -} - -/** - * @brief Initializes the sd card. - * @param hsd: Pointer to SD handle - * @retval SD Card error state - */ -static uint32_t SD_InitCard(SD_HandleTypeDef *hsd) -{ - HAL_SD_CardCSDTypeDef CSD; - uint32_t errorstate; - uint16_t sd_rca = 1U; - - /* Check the power State */ - if(SDIO_GetPowerState(hsd->Instance) == 0U) - { - /* Power off */ - return HAL_SD_ERROR_REQUEST_NOT_APPLICABLE; - } - - if(hsd->SdCard.CardType != CARD_SECURED) - { - /* Send CMD2 ALL_SEND_CID */ - errorstate = SDMMC_CmdSendCID(hsd->Instance); - if(errorstate != HAL_SD_ERROR_NONE) - { - return errorstate; - } - else - { - /* Get Card identification number data */ - hsd->CID[0U] = SDIO_GetResponse(hsd->Instance, SDIO_RESP1); - hsd->CID[1U] = SDIO_GetResponse(hsd->Instance, SDIO_RESP2); - hsd->CID[2U] = SDIO_GetResponse(hsd->Instance, SDIO_RESP3); - hsd->CID[3U] = SDIO_GetResponse(hsd->Instance, SDIO_RESP4); - } - } - - if(hsd->SdCard.CardType != CARD_SECURED) - { - /* Send CMD3 SET_REL_ADDR with argument 0 */ - /* SD Card publishes its RCA. */ - errorstate = SDMMC_CmdSetRelAdd(hsd->Instance, &sd_rca); - if(errorstate != HAL_SD_ERROR_NONE) - { - return errorstate; - } - } - if(hsd->SdCard.CardType != CARD_SECURED) - { - /* Get the SD card RCA */ - hsd->SdCard.RelCardAdd = sd_rca; - - /* Send CMD9 SEND_CSD with argument as card's RCA */ - errorstate = SDMMC_CmdSendCSD(hsd->Instance, (uint32_t)(hsd->SdCard.RelCardAdd << 16U)); - if(errorstate != HAL_SD_ERROR_NONE) - { - return errorstate; - } - else - { - /* Get Card Specific Data */ - hsd->CSD[0U] = SDIO_GetResponse(hsd->Instance, SDIO_RESP1); - hsd->CSD[1U] = SDIO_GetResponse(hsd->Instance, SDIO_RESP2); - hsd->CSD[2U] = SDIO_GetResponse(hsd->Instance, SDIO_RESP3); - hsd->CSD[3U] = SDIO_GetResponse(hsd->Instance, SDIO_RESP4); - } - } - - /* Get the Card Class */ - hsd->SdCard.Class = (SDIO_GetResponse(hsd->Instance, SDIO_RESP2) >> 20U); - - /* Get CSD parameters */ - if (HAL_SD_GetCardCSD(hsd, &CSD) != HAL_OK) - { - return HAL_SD_ERROR_UNSUPPORTED_FEATURE; - } - - /* Select the Card */ - errorstate = SDMMC_CmdSelDesel(hsd->Instance, (uint32_t)(((uint32_t)hsd->SdCard.RelCardAdd) << 16U)); - if(errorstate != HAL_SD_ERROR_NONE) - { - return errorstate; - } - - /* Configure SDIO peripheral interface */ - (void)SDIO_Init(hsd->Instance, hsd->Init); - - /* All cards are initialized */ - return HAL_SD_ERROR_NONE; -} - -/** - * @brief Enquires cards about their operating voltage and configures clock - * controls and stores SD information that will be needed in future - * in the SD handle. - * @param hsd: Pointer to SD handle - * @retval error state - */ -static uint32_t SD_PowerON(SD_HandleTypeDef *hsd) -{ - __IO uint32_t count = 0U; - uint32_t response = 0U, validvoltage = 0U; - uint32_t errorstate; - - /* CMD0: GO_IDLE_STATE */ - errorstate = SDMMC_CmdGoIdleState(hsd->Instance); - if(errorstate != HAL_SD_ERROR_NONE) - { - return errorstate; - } - - /* CMD8: SEND_IF_COND: Command available only on V2.0 cards */ - errorstate = SDMMC_CmdOperCond(hsd->Instance); - if(errorstate != HAL_SD_ERROR_NONE) - { - hsd->SdCard.CardVersion = CARD_V1_X; - /* CMD0: GO_IDLE_STATE */ - errorstate = SDMMC_CmdGoIdleState(hsd->Instance); - if(errorstate != HAL_SD_ERROR_NONE) - { - return errorstate; - } - - } - else - { - hsd->SdCard.CardVersion = CARD_V2_X; - } - - if( hsd->SdCard.CardVersion == CARD_V2_X) - { - /* SEND CMD55 APP_CMD with RCA as 0 */ - errorstate = SDMMC_CmdAppCommand(hsd->Instance, 0); - if(errorstate != HAL_SD_ERROR_NONE) - { - return HAL_SD_ERROR_UNSUPPORTED_FEATURE; - } - } - /* SD CARD */ - /* Send ACMD41 SD_APP_OP_COND with Argument 0x80100000 */ - while((count < SDMMC_MAX_VOLT_TRIAL) && (validvoltage == 0U)) - { - /* SEND CMD55 APP_CMD with RCA as 0 */ - errorstate = SDMMC_CmdAppCommand(hsd->Instance, 0); - if(errorstate != HAL_SD_ERROR_NONE) - { - return errorstate; - } - - /* Send CMD41 */ - errorstate = SDMMC_CmdAppOperCommand(hsd->Instance, SDMMC_VOLTAGE_WINDOW_SD | SDMMC_HIGH_CAPACITY | SD_SWITCH_1_8V_CAPACITY); - if(errorstate != HAL_SD_ERROR_NONE) - { - return HAL_SD_ERROR_UNSUPPORTED_FEATURE; - } - - /* Get command response */ - response = SDIO_GetResponse(hsd->Instance, SDIO_RESP1); - - /* Get operating voltage*/ - validvoltage = (((response >> 31U) == 1U) ? 1U : 0U); - - count++; - } - - if(count >= SDMMC_MAX_VOLT_TRIAL) - { - return HAL_SD_ERROR_INVALID_VOLTRANGE; - } - - if((response & SDMMC_HIGH_CAPACITY) == SDMMC_HIGH_CAPACITY) /* (response &= SD_HIGH_CAPACITY) */ - { - hsd->SdCard.CardType = CARD_SDHC_SDXC; - } - else - { - hsd->SdCard.CardType = CARD_SDSC; - } - - - return HAL_SD_ERROR_NONE; -} - -/** - * @brief Turns the SDIO output signals off. - * @param hsd: Pointer to SD handle - * @retval None - */ -static void SD_PowerOFF(SD_HandleTypeDef *hsd) -{ - /* Set Power State to OFF */ - (void)SDIO_PowerState_OFF(hsd->Instance); -} - -/** - * @brief Send Status info command. - * @param hsd: pointer to SD handle - * @param pSDstatus: Pointer to the buffer that will contain the SD card status - * SD Status register) - * @retval error state - */ -static uint32_t SD_SendSDStatus(SD_HandleTypeDef *hsd, uint32_t *pSDstatus) -{ - SDIO_DataInitTypeDef config; - uint32_t errorstate; - uint32_t tickstart = HAL_GetTick(); - uint32_t count; - uint32_t *pData = pSDstatus; - - /* Check SD response */ - if((SDIO_GetResponse(hsd->Instance, SDIO_RESP1) & SDMMC_CARD_LOCKED) == SDMMC_CARD_LOCKED) - { - return HAL_SD_ERROR_LOCK_UNLOCK_FAILED; - } - - /* Set block size for card if it is not equal to current block size for card */ - errorstate = SDMMC_CmdBlockLength(hsd->Instance, 64U); - if(errorstate != HAL_SD_ERROR_NONE) - { - hsd->ErrorCode |= HAL_SD_ERROR_NONE; - return errorstate; - } - - /* Send CMD55 */ - errorstate = SDMMC_CmdAppCommand(hsd->Instance, (uint32_t)(hsd->SdCard.RelCardAdd << 16U)); - if(errorstate != HAL_SD_ERROR_NONE) - { - hsd->ErrorCode |= HAL_SD_ERROR_NONE; - return errorstate; - } - - /* Configure the SD DPSM (Data Path State Machine) */ - config.DataTimeOut = SDMMC_DATATIMEOUT; - config.DataLength = 64U; - config.DataBlockSize = SDIO_DATABLOCK_SIZE_64B; - config.TransferDir = SDIO_TRANSFER_DIR_TO_SDIO; - config.TransferMode = SDIO_TRANSFER_MODE_BLOCK; - config.DPSM = SDIO_DPSM_ENABLE; - (void)SDIO_ConfigData(hsd->Instance, &config); - - /* Send ACMD13 (SD_APP_STAUS) with argument as card's RCA */ - errorstate = SDMMC_CmdStatusRegister(hsd->Instance); - if(errorstate != HAL_SD_ERROR_NONE) - { - hsd->ErrorCode |= HAL_SD_ERROR_NONE; - return errorstate; - } - - /* Get status data */ - while(!__HAL_SD_GET_FLAG(hsd, SDIO_FLAG_RXOVERR | SDIO_FLAG_DCRCFAIL | SDIO_FLAG_DTIMEOUT | SDIO_FLAG_DBCKEND)) - { - if(__HAL_SD_GET_FLAG(hsd, SDIO_FLAG_RXFIFOHF)) - { - for(count = 0U; count < 8U; count++) - { - *pData = SDIO_ReadFIFO(hsd->Instance); - pData++; - } - } - - if((HAL_GetTick() - tickstart) >= SDMMC_DATATIMEOUT) - { - return HAL_SD_ERROR_TIMEOUT; - } - } - - if(__HAL_SD_GET_FLAG(hsd, SDIO_FLAG_DTIMEOUT)) - { - return HAL_SD_ERROR_DATA_TIMEOUT; - } - else if(__HAL_SD_GET_FLAG(hsd, SDIO_FLAG_DCRCFAIL)) - { - return HAL_SD_ERROR_DATA_CRC_FAIL; - } - else if(__HAL_SD_GET_FLAG(hsd, SDIO_FLAG_RXOVERR)) - { - return HAL_SD_ERROR_RX_OVERRUN; - } - else - { - /* Nothing to do */ - } - - while ((__HAL_SD_GET_FLAG(hsd, SDIO_FLAG_RXDAVL))) - { - *pData = SDIO_ReadFIFO(hsd->Instance); - pData++; - - if((HAL_GetTick() - tickstart) >= SDMMC_DATATIMEOUT) - { - return HAL_SD_ERROR_TIMEOUT; - } - } - - /* Clear all the static status flags*/ - __HAL_SD_CLEAR_FLAG(hsd, SDIO_STATIC_DATA_FLAGS); - - return HAL_SD_ERROR_NONE; -} - -/** - * @brief Returns the current card's status. - * @param hsd: Pointer to SD handle - * @param pCardStatus: pointer to the buffer that will contain the SD card - * status (Card Status register) - * @retval error state - */ -static uint32_t SD_SendStatus(SD_HandleTypeDef *hsd, uint32_t *pCardStatus) -{ - uint32_t errorstate; - - if(pCardStatus == NULL) - { - return HAL_SD_ERROR_PARAM; - } - - /* Send Status command */ - errorstate = SDMMC_CmdSendStatus(hsd->Instance, (uint32_t)(hsd->SdCard.RelCardAdd << 16U)); - if(errorstate != HAL_SD_ERROR_NONE) - { - return errorstate; - } - - /* Get SD card status */ - *pCardStatus = SDIO_GetResponse(hsd->Instance, SDIO_RESP1); - - return HAL_SD_ERROR_NONE; -} - -/** - * @brief Enables the SDIO wide bus mode. - * @param hsd: pointer to SD handle - * @retval error state - */ -static uint32_t SD_WideBus_Enable(SD_HandleTypeDef *hsd) -{ - uint32_t scr[2U] = {0U, 0U}; - uint32_t errorstate; - - if((SDIO_GetResponse(hsd->Instance, SDIO_RESP1) & SDMMC_CARD_LOCKED) == SDMMC_CARD_LOCKED) - { - return HAL_SD_ERROR_LOCK_UNLOCK_FAILED; - } - - /* Get SCR Register */ - errorstate = SD_FindSCR(hsd, scr); - if(errorstate != HAL_SD_ERROR_NONE) - { - return errorstate; - } - - /* If requested card supports wide bus operation */ - if((scr[1U] & SDMMC_WIDE_BUS_SUPPORT) != SDMMC_ALLZERO) - { - /* Send CMD55 APP_CMD with argument as card's RCA.*/ - errorstate = SDMMC_CmdAppCommand(hsd->Instance, (uint32_t)(hsd->SdCard.RelCardAdd << 16U)); - if(errorstate != HAL_SD_ERROR_NONE) - { - return errorstate; - } - - /* Send ACMD6 APP_CMD with argument as 2 for wide bus mode */ - errorstate = SDMMC_CmdBusWidth(hsd->Instance, 2U); - if(errorstate != HAL_SD_ERROR_NONE) - { - return errorstate; - } - - return HAL_SD_ERROR_NONE; - } - else - { - return HAL_SD_ERROR_REQUEST_NOT_APPLICABLE; - } -} - -/** - * @brief Disables the SDIO wide bus mode. - * @param hsd: Pointer to SD handle - * @retval error state - */ -static uint32_t SD_WideBus_Disable(SD_HandleTypeDef *hsd) -{ - uint32_t scr[2U] = {0U, 0U}; - uint32_t errorstate; - - if((SDIO_GetResponse(hsd->Instance, SDIO_RESP1) & SDMMC_CARD_LOCKED) == SDMMC_CARD_LOCKED) - { - return HAL_SD_ERROR_LOCK_UNLOCK_FAILED; - } - - /* Get SCR Register */ - errorstate = SD_FindSCR(hsd, scr); - if(errorstate != HAL_SD_ERROR_NONE) - { - return errorstate; - } - - /* If requested card supports 1 bit mode operation */ - if((scr[1U] & SDMMC_SINGLE_BUS_SUPPORT) != SDMMC_ALLZERO) - { - /* Send CMD55 APP_CMD with argument as card's RCA */ - errorstate = SDMMC_CmdAppCommand(hsd->Instance, (uint32_t)(hsd->SdCard.RelCardAdd << 16U)); - if(errorstate != HAL_SD_ERROR_NONE) - { - return errorstate; - } - - /* Send ACMD6 APP_CMD with argument as 0 for single bus mode */ - errorstate = SDMMC_CmdBusWidth(hsd->Instance, 0U); - if(errorstate != HAL_SD_ERROR_NONE) - { - return errorstate; - } - - return HAL_SD_ERROR_NONE; - } - else - { - return HAL_SD_ERROR_REQUEST_NOT_APPLICABLE; - } -} - - -/** - * @brief Finds the SD card SCR register value. - * @param hsd: Pointer to SD handle - * @param pSCR: pointer to the buffer that will contain the SCR value - * @retval error state - */ -static uint32_t SD_FindSCR(SD_HandleTypeDef *hsd, uint32_t *pSCR) -{ - SDIO_DataInitTypeDef config; - uint32_t errorstate; - uint32_t tickstart = HAL_GetTick(); - uint32_t index = 0U; - uint32_t tempscr[2U] = {0U, 0U}; - uint32_t *scr = pSCR; - - /* Set Block Size To 8 Bytes */ - errorstate = SDMMC_CmdBlockLength(hsd->Instance, 8U); - if(errorstate != HAL_SD_ERROR_NONE) - { - return errorstate; - } - - /* Send CMD55 APP_CMD with argument as card's RCA */ - errorstate = SDMMC_CmdAppCommand(hsd->Instance, (uint32_t)((hsd->SdCard.RelCardAdd) << 16U)); - if(errorstate != HAL_SD_ERROR_NONE) - { - return errorstate; - } - - config.DataTimeOut = SDMMC_DATATIMEOUT; - config.DataLength = 8U; - config.DataBlockSize = SDIO_DATABLOCK_SIZE_8B; - config.TransferDir = SDIO_TRANSFER_DIR_TO_SDIO; - config.TransferMode = SDIO_TRANSFER_MODE_BLOCK; - config.DPSM = SDIO_DPSM_ENABLE; - (void)SDIO_ConfigData(hsd->Instance, &config); - - /* Send ACMD51 SD_APP_SEND_SCR with argument as 0 */ - errorstate = SDMMC_CmdSendSCR(hsd->Instance); - if(errorstate != HAL_SD_ERROR_NONE) - { - return errorstate; - } - - while(!__HAL_SD_GET_FLAG(hsd, SDIO_FLAG_RXOVERR | SDIO_FLAG_DCRCFAIL | SDIO_FLAG_DTIMEOUT)) - { - if(__HAL_SD_GET_FLAG(hsd, SDIO_FLAG_RXDAVL)) - { - *(tempscr + index) = SDIO_ReadFIFO(hsd->Instance); - index++; - } - else if(!__HAL_SD_GET_FLAG(hsd, SDIO_FLAG_RXACT)) - { - break; - } - - if((HAL_GetTick() - tickstart) >= SDMMC_DATATIMEOUT) - { - return HAL_SD_ERROR_TIMEOUT; - } - } - - if(__HAL_SD_GET_FLAG(hsd, SDIO_FLAG_DTIMEOUT)) - { - __HAL_SD_CLEAR_FLAG(hsd, SDIO_FLAG_DTIMEOUT); - - return HAL_SD_ERROR_DATA_TIMEOUT; - } - else if(__HAL_SD_GET_FLAG(hsd, SDIO_FLAG_DCRCFAIL)) - { - __HAL_SD_CLEAR_FLAG(hsd, SDIO_FLAG_DCRCFAIL); - - return HAL_SD_ERROR_DATA_CRC_FAIL; - } - else if(__HAL_SD_GET_FLAG(hsd, SDIO_FLAG_RXOVERR)) - { - __HAL_SD_CLEAR_FLAG(hsd, SDIO_FLAG_RXOVERR); - - return HAL_SD_ERROR_RX_OVERRUN; - } - else - { - /* No error flag set */ - /* Clear all the static flags */ - __HAL_SD_CLEAR_FLAG(hsd, SDIO_STATIC_DATA_FLAGS); - - *scr = (((tempscr[1] & SDMMC_0TO7BITS) << 24) | ((tempscr[1] & SDMMC_8TO15BITS) << 8) |\ - ((tempscr[1] & SDMMC_16TO23BITS) >> 8) | ((tempscr[1] & SDMMC_24TO31BITS) >> 24)); - scr++; - *scr = (((tempscr[0] & SDMMC_0TO7BITS) << 24) | ((tempscr[0] & SDMMC_8TO15BITS) << 8) |\ - ((tempscr[0] & SDMMC_16TO23BITS) >> 8) | ((tempscr[0] & SDMMC_24TO31BITS) >> 24)); - - } - - return HAL_SD_ERROR_NONE; -} - -/** - * @brief Wrap up reading in non-blocking mode. - * @param hsd: pointer to a SD_HandleTypeDef structure that contains - * the configuration information. - * @retval None - */ -static void SD_Read_IT(SD_HandleTypeDef *hsd) -{ - uint32_t count, data, dataremaining; - uint8_t* tmp; - - tmp = hsd->pRxBuffPtr; - dataremaining = hsd->RxXferSize; - - if (dataremaining > 0U) - { - /* Read data from SDIO Rx FIFO */ - for(count = 0U; count < 8U; count++) - { - data = SDIO_ReadFIFO(hsd->Instance); - *tmp = (uint8_t)(data & 0xFFU); - tmp++; - dataremaining--; - *tmp = (uint8_t)((data >> 8U) & 0xFFU); - tmp++; - dataremaining--; - *tmp = (uint8_t)((data >> 16U) & 0xFFU); - tmp++; - dataremaining--; - *tmp = (uint8_t)((data >> 24U) & 0xFFU); - tmp++; - dataremaining--; - } - - hsd->pRxBuffPtr = tmp; - hsd->RxXferSize = dataremaining; - } -} - -/** - * @brief Wrap up writing in non-blocking mode. - * @param hsd: pointer to a SD_HandleTypeDef structure that contains - * the configuration information. - * @retval None - */ -static void SD_Write_IT(SD_HandleTypeDef *hsd) -{ - uint32_t count, data, dataremaining; - uint8_t* tmp; - - tmp = hsd->pTxBuffPtr; - dataremaining = hsd->TxXferSize; - - if (dataremaining > 0U) - { - /* Write data to SDIO Tx FIFO */ - for(count = 0U; count < 8U; count++) - { - data = (uint32_t)(*tmp); - tmp++; - dataremaining--; - data |= ((uint32_t)(*tmp) << 8U); - tmp++; - dataremaining--; - data |= ((uint32_t)(*tmp) << 16U); - tmp++; - dataremaining--; - data |= ((uint32_t)(*tmp) << 24U); - tmp++; - dataremaining--; - (void)SDIO_WriteFIFO(hsd->Instance, &data); - } - - hsd->pTxBuffPtr = tmp; - hsd->TxXferSize = dataremaining; - } -} - -/** - * @} - */ - -#endif /* HAL_SD_MODULE_ENABLED */ - -/** - * @} - */ - -/** - * @} - */ - -#endif /* SDIO */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_sdram.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_sdram.c deleted file mode 100644 index da34f47a843f04..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_sdram.c +++ /dev/null @@ -1,1102 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_sdram.c - * @author MCD Application Team - * @brief SDRAM HAL module driver. - * This file provides a generic firmware to drive SDRAM memories mounted - * as external device. - * - @verbatim - ============================================================================== - ##### How to use this driver ##### - ============================================================================== - [..] - This driver is a generic layered driver which contains a set of APIs used to - control SDRAM memories. It uses the FMC layer functions to interface - with SDRAM devices. - The following sequence should be followed to configure the FMC to interface - with SDRAM memories: - - (#) Declare a SDRAM_HandleTypeDef handle structure, for example: - SDRAM_HandleTypeDef hdsram - - (++) Fill the SDRAM_HandleTypeDef handle "Init" field with the allowed - values of the structure member. - - (++) Fill the SDRAM_HandleTypeDef handle "Instance" field with a predefined - base register instance for NOR or SDRAM device - - (#) Declare a FMC_SDRAM_TimingTypeDef structure; for example: - FMC_SDRAM_TimingTypeDef Timing; - and fill its fields with the allowed values of the structure member. - - (#) Initialize the SDRAM Controller by calling the function HAL_SDRAM_Init(). This function - performs the following sequence: - - (##) MSP hardware layer configuration using the function HAL_SDRAM_MspInit() - (##) Control register configuration using the FMC SDRAM interface function - FMC_SDRAM_Init() - (##) Timing register configuration using the FMC SDRAM interface function - FMC_SDRAM_Timing_Init() - (##) Program the SDRAM external device by applying its initialization sequence - according to the device plugged in your hardware. This step is mandatory - for accessing the SDRAM device. - - (#) At this stage you can perform read/write accesses from/to the memory connected - to the SDRAM Bank. You can perform either polling or DMA transfer using the - following APIs: - (++) HAL_SDRAM_Read()/HAL_SDRAM_Write() for polling read/write access - (++) HAL_SDRAM_Read_DMA()/HAL_SDRAM_Write_DMA() for DMA read/write transfer - - (#) You can also control the SDRAM device by calling the control APIs HAL_SDRAM_WriteOperation_Enable()/ - HAL_SDRAM_WriteOperation_Disable() to respectively enable/disable the SDRAM write operation or - the function HAL_SDRAM_SendCommand() to send a specified command to the SDRAM - device. The command to be sent must be configured with the FMC_SDRAM_CommandTypeDef - structure. - - (#) You can continuously monitor the SDRAM device HAL state by calling the function - HAL_SDRAM_GetState() - - *** Callback registration *** - ============================================= - [..] - The compilation define USE_HAL_SDRAM_REGISTER_CALLBACKS when set to 1 - allows the user to configure dynamically the driver callbacks. - - Use Functions @ref HAL_SDRAM_RegisterCallback() to register a user callback, - it allows to register following callbacks: - (+) MspInitCallback : SDRAM MspInit. - (+) MspDeInitCallback : SDRAM MspDeInit. - This function takes as parameters the HAL peripheral handle, the Callback ID - and a pointer to the user callback function. - - Use function @ref HAL_SDRAM_UnRegisterCallback() to reset a callback to the default - weak (surcharged) function. It allows to reset following callbacks: - (+) MspInitCallback : SDRAM MspInit. - (+) MspDeInitCallback : SDRAM MspDeInit. - This function) takes as parameters the HAL peripheral handle and the Callback ID. - - By default, after the @ref HAL_SDRAM_Init and if the state is HAL_SDRAM_STATE_RESET - all callbacks are reset to the corresponding legacy weak (surcharged) functions. - Exception done for MspInit and MspDeInit callbacks that are respectively - reset to the legacy weak (surcharged) functions in the @ref HAL_SDRAM_Init - and @ref HAL_SDRAM_DeInit only when these callbacks are null (not registered beforehand). - If not, MspInit or MspDeInit are not null, the @ref HAL_SDRAM_Init and @ref HAL_SDRAM_DeInit - keep and use the user MspInit/MspDeInit callbacks (registered beforehand) - - Callbacks can be registered/unregistered in READY state only. - Exception done for MspInit/MspDeInit callbacks that can be registered/unregistered - in READY or RESET state, thus registered (user) MspInit/DeInit callbacks can be used - during the Init/DeInit. - In that case first register the MspInit/MspDeInit user callbacks - using @ref HAL_SDRAM_RegisterCallback before calling @ref HAL_SDRAM_DeInit - or @ref HAL_SDRAM_Init function. - - When The compilation define USE_HAL_SDRAM_REGISTER_CALLBACKS is set to 0 or - not defined, the callback registering feature is not available - and weak (surcharged) callbacks are used. - - @endverbatim - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @defgroup SDRAM SDRAM - * @brief SDRAM driver modules - * @{ - */ -#ifdef HAL_SDRAM_MODULE_ENABLED -#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) ||\ - defined(STM32F446xx) || defined(STM32F469xx) || defined(STM32F479xx) - -/* Private typedef -----------------------------------------------------------*/ -/* Private define ------------------------------------------------------------*/ -/* Private macro -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private functions ---------------------------------------------------------*/ -/* Exported functions --------------------------------------------------------*/ -/** @defgroup SDRAM_Exported_Functions SDRAM Exported Functions - * @{ - */ - -/** @defgroup SDRAM_Exported_Functions_Group1 Initialization and de-initialization functions - * @brief Initialization and Configuration functions - * - @verbatim - ============================================================================== - ##### SDRAM Initialization and de_initialization functions ##### - ============================================================================== - [..] - This section provides functions allowing to initialize/de-initialize - the SDRAM memory - -@endverbatim - * @{ - */ - -/** - * @brief Performs the SDRAM device initialization sequence. - * @param hsdram pointer to a SDRAM_HandleTypeDef structure that contains - * the configuration information for SDRAM module. - * @param Timing Pointer to SDRAM control timing structure - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SDRAM_Init(SDRAM_HandleTypeDef *hsdram, FMC_SDRAM_TimingTypeDef *Timing) -{ - /* Check the SDRAM handle parameter */ - if(hsdram == NULL) - { - return HAL_ERROR; - } - - if(hsdram->State == HAL_SDRAM_STATE_RESET) - { - /* Allocate lock resource and initialize it */ - hsdram->Lock = HAL_UNLOCKED; -#if (USE_HAL_SDRAM_REGISTER_CALLBACKS == 1) - if(hsdram->MspInitCallback == NULL) - { - hsdram->MspInitCallback = HAL_SDRAM_MspInit; - } - hsdram->RefreshErrorCallback = HAL_SDRAM_RefreshErrorCallback; - hsdram->DmaXferCpltCallback = HAL_SDRAM_DMA_XferCpltCallback; - hsdram->DmaXferErrorCallback = HAL_SDRAM_DMA_XferErrorCallback; - - /* Init the low level hardware */ - hsdram->MspInitCallback(hsdram); -#else - /* Initialize the low level hardware (MSP) */ - HAL_SDRAM_MspInit(hsdram); -#endif - } - - /* Initialize the SDRAM controller state */ - hsdram->State = HAL_SDRAM_STATE_BUSY; - - /* Initialize SDRAM control Interface */ - FMC_SDRAM_Init(hsdram->Instance, &(hsdram->Init)); - - /* Initialize SDRAM timing Interface */ - FMC_SDRAM_Timing_Init(hsdram->Instance, Timing, hsdram->Init.SDBank); - - /* Update the SDRAM controller state */ - hsdram->State = HAL_SDRAM_STATE_READY; - - return HAL_OK; -} - -/** - * @brief Perform the SDRAM device initialization sequence. - * @param hsdram pointer to a SDRAM_HandleTypeDef structure that contains - * the configuration information for SDRAM module. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SDRAM_DeInit(SDRAM_HandleTypeDef *hsdram) -{ -#if (USE_HAL_SDRAM_REGISTER_CALLBACKS == 1) - if(hsdram->MspDeInitCallback == NULL) - { - hsdram->MspDeInitCallback = HAL_SDRAM_MspDeInit; - } - - /* DeInit the low level hardware */ - hsdram->MspDeInitCallback(hsdram); -#else - /* Initialize the low level hardware (MSP) */ - HAL_SDRAM_MspDeInit(hsdram); -#endif - - /* Configure the SDRAM registers with their reset values */ - FMC_SDRAM_DeInit(hsdram->Instance, hsdram->Init.SDBank); - - /* Reset the SDRAM controller state */ - hsdram->State = HAL_SDRAM_STATE_RESET; - - /* Release Lock */ - __HAL_UNLOCK(hsdram); - - return HAL_OK; -} - -/** - * @brief SDRAM MSP Init. - * @param hsdram pointer to a SDRAM_HandleTypeDef structure that contains - * the configuration information for SDRAM module. - * @retval None - */ -__weak void HAL_SDRAM_MspInit(SDRAM_HandleTypeDef *hsdram) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hsdram); - /* NOTE: This function Should not be modified, when the callback is needed, - the HAL_SDRAM_MspInit could be implemented in the user file - */ -} - -/** - * @brief SDRAM MSP DeInit. - * @param hsdram pointer to a SDRAM_HandleTypeDef structure that contains - * the configuration information for SDRAM module. - * @retval None - */ -__weak void HAL_SDRAM_MspDeInit(SDRAM_HandleTypeDef *hsdram) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hsdram); - /* NOTE: This function Should not be modified, when the callback is needed, - the HAL_SDRAM_MspDeInit could be implemented in the user file - */ -} - -/** - * @brief This function handles SDRAM refresh error interrupt request. - * @param hsdram pointer to a SDRAM_HandleTypeDef structure that contains - * the configuration information for SDRAM module. - * @retval HAL status -*/ -void HAL_SDRAM_IRQHandler(SDRAM_HandleTypeDef *hsdram) -{ - /* Check SDRAM interrupt Rising edge flag */ - if(__FMC_SDRAM_GET_FLAG(hsdram->Instance, FMC_SDRAM_FLAG_REFRESH_IT)) - { - /* SDRAM refresh error interrupt callback */ -#if (USE_HAL_SDRAM_REGISTER_CALLBACKS == 1) - hsdram->RefreshErrorCallback(hsdram); -#else - HAL_SDRAM_RefreshErrorCallback(hsdram); -#endif - - /* Clear SDRAM refresh error interrupt pending bit */ - __FMC_SDRAM_CLEAR_FLAG(hsdram->Instance, FMC_SDRAM_FLAG_REFRESH_ERROR); - } -} - -/** - * @brief SDRAM Refresh error callback. - * @param hsdram pointer to a SDRAM_HandleTypeDef structure that contains - * the configuration information for SDRAM module. - * @retval None - */ -__weak void HAL_SDRAM_RefreshErrorCallback(SDRAM_HandleTypeDef *hsdram) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hsdram); - /* NOTE: This function Should not be modified, when the callback is needed, - the HAL_SDRAM_RefreshErrorCallback could be implemented in the user file - */ -} - -/** - * @brief DMA transfer complete callback. - * @param hdma pointer to a DMA_HandleTypeDef structure that contains - * the configuration information for the specified DMA module. - * @retval None - */ -__weak void HAL_SDRAM_DMA_XferCpltCallback(DMA_HandleTypeDef *hdma) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hdma); - /* NOTE: This function Should not be modified, when the callback is needed, - the HAL_SDRAM_DMA_XferCpltCallback could be implemented in the user file - */ -} - -/** - * @brief DMA transfer complete error callback. - * @param hdma DMA handle - * @retval None - */ -__weak void HAL_SDRAM_DMA_XferErrorCallback(DMA_HandleTypeDef *hdma) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hdma); - /* NOTE: This function Should not be modified, when the callback is needed, - the HAL_SDRAM_DMA_XferErrorCallback could be implemented in the user file - */ -} -/** - * @} - */ - -/** @defgroup SDRAM_Exported_Functions_Group2 Input and Output functions - * @brief Input Output and memory control functions - * - @verbatim - ============================================================================== - ##### SDRAM Input and Output functions ##### - ============================================================================== - [..] - This section provides functions allowing to use and control the SDRAM memory - -@endverbatim - * @{ - */ - -/** - * @brief Reads 8-bit data buffer from the SDRAM memory. - * @param hsdram pointer to a SDRAM_HandleTypeDef structure that contains - * the configuration information for SDRAM module. - * @param pAddress Pointer to read start address - * @param pDstBuffer Pointer to destination buffer - * @param BufferSize Size of the buffer to read from memory - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SDRAM_Read_8b(SDRAM_HandleTypeDef *hsdram, uint32_t *pAddress, uint8_t *pDstBuffer, uint32_t BufferSize) -{ - __IO uint8_t *pSdramAddress = (uint8_t *)pAddress; - - /* Process Locked */ - __HAL_LOCK(hsdram); - - /* Check the SDRAM controller state */ - if(hsdram->State == HAL_SDRAM_STATE_BUSY) - { - return HAL_BUSY; - } - else if(hsdram->State == HAL_SDRAM_STATE_PRECHARGED) - { - return HAL_ERROR; - } - - /* Read data from source */ - for(; BufferSize != 0U; BufferSize--) - { - *pDstBuffer = *(__IO uint8_t *)pSdramAddress; - pDstBuffer++; - pSdramAddress++; - } - - /* Process Unlocked */ - __HAL_UNLOCK(hsdram); - - return HAL_OK; -} - -/** - * @brief Writes 8-bit data buffer to SDRAM memory. - * @param hsdram pointer to a SDRAM_HandleTypeDef structure that contains - * the configuration information for SDRAM module. - * @param pAddress Pointer to write start address - * @param pSrcBuffer Pointer to source buffer to write - * @param BufferSize Size of the buffer to write to memory - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SDRAM_Write_8b(SDRAM_HandleTypeDef *hsdram, uint32_t *pAddress, uint8_t *pSrcBuffer, uint32_t BufferSize) -{ - __IO uint8_t *pSdramAddress = (uint8_t *)pAddress; - uint32_t tmp = 0U; - - /* Process Locked */ - __HAL_LOCK(hsdram); - - /* Check the SDRAM controller state */ - tmp = hsdram->State; - - if(tmp == HAL_SDRAM_STATE_BUSY) - { - return HAL_BUSY; - } - else if((tmp == HAL_SDRAM_STATE_PRECHARGED) || (tmp == HAL_SDRAM_STATE_WRITE_PROTECTED)) - { - return HAL_ERROR; - } - - /* Write data to memory */ - for(; BufferSize != 0U; BufferSize--) - { - *(__IO uint8_t *)pSdramAddress = *pSrcBuffer; - pSrcBuffer++; - pSdramAddress++; - } - - /* Process Unlocked */ - __HAL_UNLOCK(hsdram); - - return HAL_OK; -} - -/** - * @brief Reads 16-bit data buffer from the SDRAM memory. - * @param hsdram pointer to a SDRAM_HandleTypeDef structure that contains - * the configuration information for SDRAM module. - * @param pAddress Pointer to read start address - * @param pDstBuffer Pointer to destination buffer - * @param BufferSize Size of the buffer to read from memory - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SDRAM_Read_16b(SDRAM_HandleTypeDef *hsdram, uint32_t *pAddress, uint16_t *pDstBuffer, uint32_t BufferSize) -{ - __IO uint16_t *pSdramAddress = (uint16_t *)pAddress; - - /* Process Locked */ - __HAL_LOCK(hsdram); - - /* Check the SDRAM controller state */ - if(hsdram->State == HAL_SDRAM_STATE_BUSY) - { - return HAL_BUSY; - } - else if(hsdram->State == HAL_SDRAM_STATE_PRECHARGED) - { - return HAL_ERROR; - } - - /* Read data from source */ - for(; BufferSize != 0U; BufferSize--) - { - *pDstBuffer = *(__IO uint16_t *)pSdramAddress; - pDstBuffer++; - pSdramAddress++; - } - - /* Process Unlocked */ - __HAL_UNLOCK(hsdram); - - return HAL_OK; -} - -/** - * @brief Writes 16-bit data buffer to SDRAM memory. - * @param hsdram pointer to a SDRAM_HandleTypeDef structure that contains - * the configuration information for SDRAM module. - * @param pAddress Pointer to write start address - * @param pSrcBuffer Pointer to source buffer to write - * @param BufferSize Size of the buffer to write to memory - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SDRAM_Write_16b(SDRAM_HandleTypeDef *hsdram, uint32_t *pAddress, uint16_t *pSrcBuffer, uint32_t BufferSize) -{ - __IO uint16_t *pSdramAddress = (uint16_t *)pAddress; - uint32_t tmp = 0U; - - /* Process Locked */ - __HAL_LOCK(hsdram); - - /* Check the SDRAM controller state */ - tmp = hsdram->State; - - if(tmp == HAL_SDRAM_STATE_BUSY) - { - return HAL_BUSY; - } - else if((tmp == HAL_SDRAM_STATE_PRECHARGED) || (tmp == HAL_SDRAM_STATE_WRITE_PROTECTED)) - { - return HAL_ERROR; - } - - /* Write data to memory */ - for(; BufferSize != 0U; BufferSize--) - { - *(__IO uint16_t *)pSdramAddress = *pSrcBuffer; - pSrcBuffer++; - pSdramAddress++; - } - - /* Process Unlocked */ - __HAL_UNLOCK(hsdram); - - return HAL_OK; -} - -/** - * @brief Reads 32-bit data buffer from the SDRAM memory. - * @param hsdram pointer to a SDRAM_HandleTypeDef structure that contains - * the configuration information for SDRAM module. - * @param pAddress Pointer to read start address - * @param pDstBuffer Pointer to destination buffer - * @param BufferSize Size of the buffer to read from memory - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SDRAM_Read_32b(SDRAM_HandleTypeDef *hsdram, uint32_t *pAddress, uint32_t *pDstBuffer, uint32_t BufferSize) -{ - __IO uint32_t *pSdramAddress = (uint32_t *)pAddress; - - /* Process Locked */ - __HAL_LOCK(hsdram); - - /* Check the SDRAM controller state */ - if(hsdram->State == HAL_SDRAM_STATE_BUSY) - { - return HAL_BUSY; - } - else if(hsdram->State == HAL_SDRAM_STATE_PRECHARGED) - { - return HAL_ERROR; - } - - /* Read data from source */ - for(; BufferSize != 0U; BufferSize--) - { - *pDstBuffer = *(__IO uint32_t *)pSdramAddress; - pDstBuffer++; - pSdramAddress++; - } - - /* Process Unlocked */ - __HAL_UNLOCK(hsdram); - - return HAL_OK; -} - -/** - * @brief Writes 32-bit data buffer to SDRAM memory. - * @param hsdram pointer to a SDRAM_HandleTypeDef structure that contains - * the configuration information for SDRAM module. - * @param pAddress Pointer to write start address - * @param pSrcBuffer Pointer to source buffer to write - * @param BufferSize Size of the buffer to write to memory - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SDRAM_Write_32b(SDRAM_HandleTypeDef *hsdram, uint32_t *pAddress, uint32_t *pSrcBuffer, uint32_t BufferSize) -{ - __IO uint32_t *pSdramAddress = (uint32_t *)pAddress; - uint32_t tmp = 0U; - - /* Process Locked */ - __HAL_LOCK(hsdram); - - /* Check the SDRAM controller state */ - tmp = hsdram->State; - - if(tmp == HAL_SDRAM_STATE_BUSY) - { - return HAL_BUSY; - } - else if((tmp == HAL_SDRAM_STATE_PRECHARGED) || (tmp == HAL_SDRAM_STATE_WRITE_PROTECTED)) - { - return HAL_ERROR; - } - - /* Write data to memory */ - for(; BufferSize != 0U; BufferSize--) - { - *(__IO uint32_t *)pSdramAddress = *pSrcBuffer; - pSrcBuffer++; - pSdramAddress++; - } - - /* Process Unlocked */ - __HAL_UNLOCK(hsdram); - - return HAL_OK; -} - -/** - * @brief Reads a Words data from the SDRAM memory using DMA transfer. - * @param hsdram pointer to a SDRAM_HandleTypeDef structure that contains - * the configuration information for SDRAM module. - * @param pAddress Pointer to read start address - * @param pDstBuffer Pointer to destination buffer - * @param BufferSize Size of the buffer to read from memory - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SDRAM_Read_DMA(SDRAM_HandleTypeDef *hsdram, uint32_t *pAddress, uint32_t *pDstBuffer, uint32_t BufferSize) -{ - uint32_t tmp = 0U; - - /* Process Locked */ - __HAL_LOCK(hsdram); - - /* Check the SDRAM controller state */ - tmp = hsdram->State; - - if(tmp == HAL_SDRAM_STATE_BUSY) - { - return HAL_BUSY; - } - else if(tmp == HAL_SDRAM_STATE_PRECHARGED) - { - return HAL_ERROR; - } - - /* Configure DMA user callbacks */ - hsdram->hdma->XferCpltCallback = HAL_SDRAM_DMA_XferCpltCallback; - hsdram->hdma->XferErrorCallback = HAL_SDRAM_DMA_XferErrorCallback; - - /* Enable the DMA Stream */ - HAL_DMA_Start_IT(hsdram->hdma, (uint32_t)pAddress, (uint32_t)pDstBuffer, (uint32_t)BufferSize); - - /* Process Unlocked */ - __HAL_UNLOCK(hsdram); - - return HAL_OK; -} - -/** - * @brief Writes a Words data buffer to SDRAM memory using DMA transfer. - * @param hsdram pointer to a SDRAM_HandleTypeDef structure that contains - * the configuration information for SDRAM module. - * @param pAddress Pointer to write start address - * @param pSrcBuffer Pointer to source buffer to write - * @param BufferSize Size of the buffer to write to memory - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SDRAM_Write_DMA(SDRAM_HandleTypeDef *hsdram, uint32_t *pAddress, uint32_t *pSrcBuffer, uint32_t BufferSize) -{ - uint32_t tmp = 0U; - - /* Process Locked */ - __HAL_LOCK(hsdram); - - /* Check the SDRAM controller state */ - tmp = hsdram->State; - - if(tmp == HAL_SDRAM_STATE_BUSY) - { - return HAL_BUSY; - } - else if((tmp == HAL_SDRAM_STATE_PRECHARGED) || (tmp == HAL_SDRAM_STATE_WRITE_PROTECTED)) - { - return HAL_ERROR; - } - - /* Configure DMA user callbacks */ - hsdram->hdma->XferCpltCallback = HAL_SDRAM_DMA_XferCpltCallback; - hsdram->hdma->XferErrorCallback = HAL_SDRAM_DMA_XferErrorCallback; - - /* Enable the DMA Stream */ - HAL_DMA_Start_IT(hsdram->hdma, (uint32_t)pSrcBuffer, (uint32_t)pAddress, (uint32_t)BufferSize); - - /* Process Unlocked */ - __HAL_UNLOCK(hsdram); - - return HAL_OK; -} - -#if (USE_HAL_SDRAM_REGISTER_CALLBACKS == 1) -/** - * @brief Register a User SDRAM Callback - * To be used instead of the weak (surcharged) predefined callback - * @param hsdram : SDRAM handle - * @param CallbackId : ID of the callback to be registered - * This parameter can be one of the following values: - * @arg @ref HAL_SDRAM_MSP_INIT_CB_ID SDRAM MspInit callback ID - * @arg @ref HAL_SDRAM_MSP_DEINIT_CB_ID SDRAM MspDeInit callback ID - * @arg @ref HAL_SDRAM_REFRESH_ERR_CB_ID SDRAM Refresh Error callback ID - * @param pCallback : pointer to the Callback function - * @retval status - */ -HAL_StatusTypeDef HAL_SDRAM_RegisterCallback (SDRAM_HandleTypeDef *hsdram, HAL_SDRAM_CallbackIDTypeDef CallbackId, pSDRAM_CallbackTypeDef pCallback) -{ - HAL_StatusTypeDef status = HAL_OK; - HAL_SDRAM_StateTypeDef state; - - if(pCallback == NULL) - { - return HAL_ERROR; - } - - /* Process locked */ - __HAL_LOCK(hsdram); - - state = hsdram->State; - if((state == HAL_SDRAM_STATE_READY) || (state == HAL_SDRAM_STATE_WRITE_PROTECTED)) - { - switch (CallbackId) - { - case HAL_SDRAM_MSP_INIT_CB_ID : - hsdram->MspInitCallback = pCallback; - break; - case HAL_SDRAM_MSP_DEINIT_CB_ID : - hsdram->MspDeInitCallback = pCallback; - break; - case HAL_SDRAM_REFRESH_ERR_CB_ID : - hsdram->RefreshErrorCallback = pCallback; - break; - default : - /* update return status */ - status = HAL_ERROR; - break; - } - } - else if(hsdram->State == HAL_SDRAM_STATE_RESET) - { - switch (CallbackId) - { - case HAL_SDRAM_MSP_INIT_CB_ID : - hsdram->MspInitCallback = pCallback; - break; - case HAL_SDRAM_MSP_DEINIT_CB_ID : - hsdram->MspDeInitCallback = pCallback; - break; - default : - /* update return status */ - status = HAL_ERROR; - break; - } - } - else - { - /* update return status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(hsdram); - return status; -} - -/** - * @brief Unregister a User SDRAM Callback - * SDRAM Callback is redirected to the weak (surcharged) predefined callback - * @param hsdram : SDRAM handle - * @param CallbackId : ID of the callback to be unregistered - * This parameter can be one of the following values: - * @arg @ref HAL_SDRAM_MSP_INIT_CB_ID SDRAM MspInit callback ID - * @arg @ref HAL_SDRAM_MSP_DEINIT_CB_ID SDRAM MspDeInit callback ID - * @arg @ref HAL_SDRAM_REFRESH_ERR_CB_ID SDRAM Refresh Error callback ID - * @arg @ref HAL_SDRAM_DMA_XFER_CPLT_CB_ID SDRAM DMA Xfer Complete callback ID - * @arg @ref HAL_SDRAM_DMA_XFER_ERR_CB_ID SDRAM DMA Xfer Error callback ID - * @retval status - */ -HAL_StatusTypeDef HAL_SDRAM_UnRegisterCallback (SDRAM_HandleTypeDef *hsdram, HAL_SDRAM_CallbackIDTypeDef CallbackId) -{ - HAL_StatusTypeDef status = HAL_OK; - HAL_SDRAM_StateTypeDef state; - - /* Process locked */ - __HAL_LOCK(hsdram); - - state = hsdram->State; - if((state == HAL_SDRAM_STATE_READY) || (state == HAL_SDRAM_STATE_WRITE_PROTECTED)) - { - switch (CallbackId) - { - case HAL_SDRAM_MSP_INIT_CB_ID : - hsdram->MspInitCallback = HAL_SDRAM_MspInit; - break; - case HAL_SDRAM_MSP_DEINIT_CB_ID : - hsdram->MspDeInitCallback = HAL_SDRAM_MspDeInit; - break; - case HAL_SDRAM_REFRESH_ERR_CB_ID : - hsdram->RefreshErrorCallback = HAL_SDRAM_RefreshErrorCallback; - break; - case HAL_SDRAM_DMA_XFER_CPLT_CB_ID : - hsdram->DmaXferCpltCallback = HAL_SDRAM_DMA_XferCpltCallback; - break; - case HAL_SDRAM_DMA_XFER_ERR_CB_ID : - hsdram->DmaXferErrorCallback = HAL_SDRAM_DMA_XferErrorCallback; - break; - default : - /* update return status */ - status = HAL_ERROR; - break; - } - } - else if(hsdram->State == HAL_SDRAM_STATE_RESET) - { - switch (CallbackId) - { - case HAL_SDRAM_MSP_INIT_CB_ID : - hsdram->MspInitCallback = HAL_SDRAM_MspInit; - break; - case HAL_SDRAM_MSP_DEINIT_CB_ID : - hsdram->MspDeInitCallback = HAL_SDRAM_MspDeInit; - break; - default : - /* update return status */ - status = HAL_ERROR; - break; - } - } - else - { - /* update return status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(hsdram); - return status; -} - -/** - * @brief Register a User SDRAM Callback for DMA transfers - * To be used instead of the weak (surcharged) predefined callback - * @param hsdram : SDRAM handle - * @param CallbackId : ID of the callback to be registered - * This parameter can be one of the following values: - * @arg @ref HAL_SDRAM_DMA_XFER_CPLT_CB_ID SDRAM DMA Xfer Complete callback ID - * @arg @ref HAL_SDRAM_DMA_XFER_ERR_CB_ID SDRAM DMA Xfer Error callback ID - * @param pCallback : pointer to the Callback function - * @retval status - */ -HAL_StatusTypeDef HAL_SDRAM_RegisterDmaCallback(SDRAM_HandleTypeDef *hsdram, HAL_SDRAM_CallbackIDTypeDef CallbackId, pSDRAM_DmaCallbackTypeDef pCallback) -{ - HAL_StatusTypeDef status = HAL_OK; - HAL_SDRAM_StateTypeDef state; - - if(pCallback == NULL) - { - return HAL_ERROR; - } - - /* Process locked */ - __HAL_LOCK(hsdram); - - state = hsdram->State; - if((state == HAL_SDRAM_STATE_READY) || (state == HAL_SDRAM_STATE_WRITE_PROTECTED)) - { - switch (CallbackId) - { - case HAL_SDRAM_DMA_XFER_CPLT_CB_ID : - hsdram->DmaXferCpltCallback = pCallback; - break; - case HAL_SDRAM_DMA_XFER_ERR_CB_ID : - hsdram->DmaXferErrorCallback = pCallback; - break; - default : - /* update return status */ - status = HAL_ERROR; - break; - } - } - else - { - /* update return status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(hsdram); - return status; -} -#endif - -/** - * @} - */ - -/** @defgroup SDRAM_Exported_Functions_Group3 Control functions - * @brief management functions - * -@verbatim - ============================================================================== - ##### SDRAM Control functions ##### - ============================================================================== - [..] - This subsection provides a set of functions allowing to control dynamically - the SDRAM interface. - -@endverbatim - * @{ - */ - -/** - * @brief Enables dynamically SDRAM write protection. - * @param hsdram pointer to a SDRAM_HandleTypeDef structure that contains - * the configuration information for SDRAM module. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SDRAM_WriteProtection_Enable(SDRAM_HandleTypeDef *hsdram) -{ - /* Check the SDRAM controller state */ - if(hsdram->State == HAL_SDRAM_STATE_BUSY) - { - return HAL_BUSY; - } - - /* Update the SDRAM state */ - hsdram->State = HAL_SDRAM_STATE_BUSY; - - /* Enable write protection */ - FMC_SDRAM_WriteProtection_Enable(hsdram->Instance, hsdram->Init.SDBank); - - /* Update the SDRAM state */ - hsdram->State = HAL_SDRAM_STATE_WRITE_PROTECTED; - - return HAL_OK; -} - -/** - * @brief Disables dynamically SDRAM write protection. - * @param hsdram pointer to a SDRAM_HandleTypeDef structure that contains - * the configuration information for SDRAM module. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SDRAM_WriteProtection_Disable(SDRAM_HandleTypeDef *hsdram) -{ - /* Check the SDRAM controller state */ - if(hsdram->State == HAL_SDRAM_STATE_BUSY) - { - return HAL_BUSY; - } - - /* Update the SDRAM state */ - hsdram->State = HAL_SDRAM_STATE_BUSY; - - /* Disable write protection */ - FMC_SDRAM_WriteProtection_Disable(hsdram->Instance, hsdram->Init.SDBank); - - /* Update the SDRAM state */ - hsdram->State = HAL_SDRAM_STATE_READY; - - return HAL_OK; -} - -/** - * @brief Sends Command to the SDRAM bank. - * @param hsdram pointer to a SDRAM_HandleTypeDef structure that contains - * the configuration information for SDRAM module. - * @param Command SDRAM command structure - * @param Timeout Timeout duration - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SDRAM_SendCommand(SDRAM_HandleTypeDef *hsdram, FMC_SDRAM_CommandTypeDef *Command, uint32_t Timeout) -{ - /* Check the SDRAM controller state */ - if(hsdram->State == HAL_SDRAM_STATE_BUSY) - { - return HAL_BUSY; - } - - /* Update the SDRAM state */ - hsdram->State = HAL_SDRAM_STATE_BUSY; - - /* Send SDRAM command */ - FMC_SDRAM_SendCommand(hsdram->Instance, Command, Timeout); - - /* Update the SDRAM controller state */ - if(Command->CommandMode == FMC_SDRAM_CMD_PALL) - { - hsdram->State = HAL_SDRAM_STATE_PRECHARGED; - } - else - { - hsdram->State = HAL_SDRAM_STATE_READY; - } - - return HAL_OK; -} - -/** - * @brief Programs the SDRAM Memory Refresh rate. - * @param hsdram pointer to a SDRAM_HandleTypeDef structure that contains - * the configuration information for SDRAM module. - * @param RefreshRate The SDRAM refresh rate value - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SDRAM_ProgramRefreshRate(SDRAM_HandleTypeDef *hsdram, uint32_t RefreshRate) -{ - /* Check the SDRAM controller state */ - if(hsdram->State == HAL_SDRAM_STATE_BUSY) - { - return HAL_BUSY; - } - - /* Update the SDRAM state */ - hsdram->State = HAL_SDRAM_STATE_BUSY; - - /* Program the refresh rate */ - FMC_SDRAM_ProgramRefreshRate(hsdram->Instance ,RefreshRate); - - /* Update the SDRAM state */ - hsdram->State = HAL_SDRAM_STATE_READY; - - return HAL_OK; -} - -/** - * @brief Sets the Number of consecutive SDRAM Memory auto Refresh commands. - * @param hsdram pointer to a SDRAM_HandleTypeDef structure that contains - * the configuration information for SDRAM module. - * @param AutoRefreshNumber The SDRAM auto Refresh number - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SDRAM_SetAutoRefreshNumber(SDRAM_HandleTypeDef *hsdram, uint32_t AutoRefreshNumber) -{ - /* Check the SDRAM controller state */ - if(hsdram->State == HAL_SDRAM_STATE_BUSY) - { - return HAL_BUSY; - } - - /* Update the SDRAM state */ - hsdram->State = HAL_SDRAM_STATE_BUSY; - - /* Set the Auto-Refresh number */ - FMC_SDRAM_SetAutoRefreshNumber(hsdram->Instance ,AutoRefreshNumber); - - /* Update the SDRAM state */ - hsdram->State = HAL_SDRAM_STATE_READY; - - return HAL_OK; -} - -/** - * @brief Returns the SDRAM memory current mode. - * @param hsdram pointer to a SDRAM_HandleTypeDef structure that contains - * the configuration information for SDRAM module. - * @retval The SDRAM memory mode. - */ -uint32_t HAL_SDRAM_GetModeStatus(SDRAM_HandleTypeDef *hsdram) -{ - /* Return the SDRAM memory current mode */ - return(FMC_SDRAM_GetModeStatus(hsdram->Instance, hsdram->Init.SDBank)); -} - -/** - * @} - */ - -/** @defgroup SDRAM_Exported_Functions_Group4 State functions - * @brief Peripheral State functions - * -@verbatim - ============================================================================== - ##### SDRAM State functions ##### - ============================================================================== - [..] - This subsection permits to get in run-time the status of the SDRAM controller - and the data flow. - -@endverbatim - * @{ - */ - -/** - * @brief Returns the SDRAM state. - * @param hsdram pointer to a SDRAM_HandleTypeDef structure that contains - * the configuration information for SDRAM module. - * @retval HAL state - */ -HAL_SDRAM_StateTypeDef HAL_SDRAM_GetState(SDRAM_HandleTypeDef *hsdram) -{ - return hsdram->State; -} - -/** - * @} - */ - -/** - * @} - */ -#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || STM32F446xx || STM32F469xx || STM32F479xx */ -#endif /* HAL_SDRAM_MODULE_ENABLED */ -/** - * @} - */ - -/** - * @} - */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_smartcard.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_smartcard.c deleted file mode 100644 index 6746744c036c14..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_smartcard.c +++ /dev/null @@ -1,2363 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_smartcard.c - * @author MCD Application Team - * @brief SMARTCARD HAL module driver. - * This file provides firmware functions to manage the following - * functionalities of the SMARTCARD peripheral: - * + Initialization and de-initialization functions - * + IO operation functions - * + Peripheral Control functions - * + Peripheral State and Error functions - * - @verbatim - ============================================================================== - ##### How to use this driver ##### - ============================================================================== - [..] - The SMARTCARD HAL driver can be used as follows: - - (#) Declare a SMARTCARD_HandleTypeDef handle structure. - (#) Initialize the SMARTCARD low level resources by implementing the HAL_SMARTCARD_MspInit() API: - (##) Enable the interface clock of the USARTx associated to the SMARTCARD. - (##) SMARTCARD pins configuration: - (+++) Enable the clock for the SMARTCARD GPIOs. - (+++) Configure SMARTCARD pins as alternate function pull-up. - (##) NVIC configuration if you need to use interrupt process (HAL_SMARTCARD_Transmit_IT() - and HAL_SMARTCARD_Receive_IT() APIs): - (+++) Configure the USARTx interrupt priority. - (+++) Enable the NVIC USART IRQ handle. - (##) DMA Configuration if you need to use DMA process (HAL_SMARTCARD_Transmit_DMA() - and HAL_SMARTCARD_Receive_DMA() APIs): - (+++) Declare a DMA handle structure for the Tx/Rx stream. - (+++) Enable the DMAx interface clock. - (+++) Configure the declared DMA handle structure with the required Tx/Rx parameters. - (+++) Configure the DMA Tx/Rx stream. - (+++) Associate the initialized DMA handle to the SMARTCARD DMA Tx/Rx handle. - (+++) Configure the priority and enable the NVIC for the transfer complete interrupt on the DMA Tx/Rx stream. - (+++) Configure the USARTx interrupt priority and enable the NVIC USART IRQ handle - (used for last byte sending completion detection in DMA non circular mode) - - (#) Program the Baud Rate, Word Length , Stop Bit, Parity, Hardware - flow control and Mode(Receiver/Transmitter) in the SMARTCARD Init structure. - - (#) Initialize the SMARTCARD registers by calling the HAL_SMARTCARD_Init() API: - (++) These APIs configure also the low level Hardware GPIO, CLOCK, CORTEX...etc) - by calling the customized HAL_SMARTCARD_MspInit() API. - [..] - (@) The specific SMARTCARD interrupts (Transmission complete interrupt, - RXNE interrupt and Error Interrupts) will be managed using the macros - __HAL_SMARTCARD_ENABLE_IT() and __HAL_SMARTCARD_DISABLE_IT() inside the transmit and receive process. - - [..] - Three operation modes are available within this driver : - - *** Polling mode IO operation *** - ================================= - [..] - (+) Send an amount of data in blocking mode using HAL_SMARTCARD_Transmit() - (+) Receive an amount of data in blocking mode using HAL_SMARTCARD_Receive() - - *** Interrupt mode IO operation *** - =================================== - [..] - (+) Send an amount of data in non blocking mode using HAL_SMARTCARD_Transmit_IT() - (+) At transmission end of transfer HAL_SMARTCARD_TxCpltCallback is executed and user can - add his own code by customization of function pointer HAL_SMARTCARD_TxCpltCallback - (+) Receive an amount of data in non blocking mode using HAL_SMARTCARD_Receive_IT() - (+) At reception end of transfer HAL_SMARTCARD_RxCpltCallback is executed and user can - add his own code by customization of function pointer HAL_SMARTCARD_RxCpltCallback - (+) In case of transfer Error, HAL_SMARTCARD_ErrorCallback() function is executed and user can - add his own code by customization of function pointer HAL_SMARTCARD_ErrorCallback - - *** DMA mode IO operation *** - ============================== - [..] - (+) Send an amount of data in non blocking mode (DMA) using HAL_SMARTCARD_Transmit_DMA() - (+) At transmission end of transfer HAL_SMARTCARD_TxCpltCallback is executed and user can - add his own code by customization of function pointer HAL_SMARTCARD_TxCpltCallback - (+) Receive an amount of data in non blocking mode (DMA) using HAL_SMARTCARD_Receive_DMA() - (+) At reception end of transfer HAL_SMARTCARD_RxCpltCallback is executed and user can - add his own code by customization of function pointer HAL_SMARTCARD_RxCpltCallback - (+) In case of transfer Error, HAL_SMARTCARD_ErrorCallback() function is executed and user can - add his own code by customization of function pointer HAL_SMARTCARD_ErrorCallback - - *** SMARTCARD HAL driver macros list *** - ======================================== - [..] - Below the list of most used macros in SMARTCARD HAL driver. - - (+) __HAL_SMARTCARD_ENABLE: Enable the SMARTCARD peripheral - (+) __HAL_SMARTCARD_DISABLE: Disable the SMARTCARD peripheral - (+) __HAL_SMARTCARD_GET_FLAG : Check whether the specified SMARTCARD flag is set or not - (+) __HAL_SMARTCARD_CLEAR_FLAG : Clear the specified SMARTCARD pending flag - (+) __HAL_SMARTCARD_ENABLE_IT: Enable the specified SMARTCARD interrupt - (+) __HAL_SMARTCARD_DISABLE_IT: Disable the specified SMARTCARD interrupt - - [..] - (@) You can refer to the SMARTCARD HAL driver header file for more useful macros - - ##### Callback registration ##### - ================================== - - [..] - The compilation define USE_HAL_SMARTCARD_REGISTER_CALLBACKS when set to 1 - allows the user to configure dynamically the driver callbacks. - - [..] - Use Function HAL_SMARTCARD_RegisterCallback() to register a user callback. - Function HAL_SMARTCARD_RegisterCallback() allows to register following callbacks: - (+) TxCpltCallback : Tx Complete Callback. - (+) RxCpltCallback : Rx Complete Callback. - (+) ErrorCallback : Error Callback. - (+) AbortCpltCallback : Abort Complete Callback. - (+) AbortTransmitCpltCallback : Abort Transmit Complete Callback. - (+) AbortReceiveCpltCallback : Abort Receive Complete Callback. - (+) MspInitCallback : SMARTCARD MspInit. - (+) MspDeInitCallback : SMARTCARD MspDeInit. - This function takes as parameters the HAL peripheral handle, the Callback ID - and a pointer to the user callback function. - - [..] - Use function HAL_SMARTCARD_UnRegisterCallback() to reset a callback to the default - weak (surcharged) function. - HAL_SMARTCARD_UnRegisterCallback() takes as parameters the HAL peripheral handle, - and the Callback ID. - This function allows to reset following callbacks: - (+) TxCpltCallback : Tx Complete Callback. - (+) RxCpltCallback : Rx Complete Callback. - (+) ErrorCallback : Error Callback. - (+) AbortCpltCallback : Abort Complete Callback. - (+) AbortTransmitCpltCallback : Abort Transmit Complete Callback. - (+) AbortReceiveCpltCallback : Abort Receive Complete Callback. - (+) MspInitCallback : SMARTCARD MspInit. - (+) MspDeInitCallback : SMARTCARD MspDeInit. - - [..] - By default, after the HAL_SMARTCARD_Init() and when the state is HAL_SMARTCARD_STATE_RESET - all callbacks are set to the corresponding weak (surcharged) functions: - examples HAL_SMARTCARD_TxCpltCallback(), HAL_SMARTCARD_RxCpltCallback(). - Exception done for MspInit and MspDeInit functions that are respectively - reset to the legacy weak (surcharged) functions in the HAL_SMARTCARD_Init() - and HAL_SMARTCARD_DeInit() only when these callbacks are null (not registered beforehand). - If not, MspInit or MspDeInit are not null, the HAL_SMARTCARD_Init() and HAL_SMARTCARD_DeInit() - keep and use the user MspInit/MspDeInit callbacks (registered beforehand). - - [..] - Callbacks can be registered/unregistered in HAL_SMARTCARD_STATE_READY state only. - Exception done MspInit/MspDeInit that can be registered/unregistered - in HAL_SMARTCARD_STATE_READY or HAL_SMARTCARD_STATE_RESET state, thus registered (user) - MspInit/DeInit callbacks can be used during the Init/DeInit. - In that case first register the MspInit/MspDeInit user callbacks - using HAL_SMARTCARD_RegisterCallback() before calling HAL_SMARTCARD_DeInit() - or HAL_SMARTCARD_Init() function. - - [..] - When The compilation define USE_HAL_SMARTCARD_REGISTER_CALLBACKS is set to 0 or - not defined, the callback registration feature is not available - and weak (surcharged) callbacks are used. - - @endverbatim - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @defgroup SMARTCARD SMARTCARD - * @brief HAL SMARTCARD module driver - * @{ - */ -#ifdef HAL_SMARTCARD_MODULE_ENABLED -/* Private typedef -----------------------------------------------------------*/ -/* Private define ------------------------------------------------------------*/ -/** @addtogroup SMARTCARD_Private_Constants - * @{ - */ -/** - * @} - */ - -/* Private macro -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private function prototypes -----------------------------------------------*/ -/** @addtogroup SMARTCARD_Private_Functions - * @{ - */ -#if (USE_HAL_SMARTCARD_REGISTER_CALLBACKS == 1) -void SMARTCARD_InitCallbacksToDefault(SMARTCARD_HandleTypeDef *hsc); -#endif /* USE_HAL_SMARTCARD_REGISTER_CALLBACKS */ -static void SMARTCARD_EndTxTransfer(SMARTCARD_HandleTypeDef *hsc); -static void SMARTCARD_EndRxTransfer(SMARTCARD_HandleTypeDef *hsc); -static void SMARTCARD_SetConfig (SMARTCARD_HandleTypeDef *hsc); -static HAL_StatusTypeDef SMARTCARD_Transmit_IT(SMARTCARD_HandleTypeDef *hsc); -static HAL_StatusTypeDef SMARTCARD_EndTransmit_IT(SMARTCARD_HandleTypeDef *hsc); -static HAL_StatusTypeDef SMARTCARD_Receive_IT(SMARTCARD_HandleTypeDef *hsc); -static void SMARTCARD_DMATransmitCplt(DMA_HandleTypeDef *hdma); -static void SMARTCARD_DMAReceiveCplt(DMA_HandleTypeDef *hdma); -static void SMARTCARD_DMAError(DMA_HandleTypeDef *hdma); -static void SMARTCARD_DMAAbortOnError(DMA_HandleTypeDef *hdma); -static void SMARTCARD_DMATxAbortCallback(DMA_HandleTypeDef *hdma); -static void SMARTCARD_DMARxAbortCallback(DMA_HandleTypeDef *hdma); -static void SMARTCARD_DMATxOnlyAbortCallback(DMA_HandleTypeDef *hdma); -static void SMARTCARD_DMARxOnlyAbortCallback(DMA_HandleTypeDef *hdma); -static HAL_StatusTypeDef SMARTCARD_WaitOnFlagUntilTimeout(SMARTCARD_HandleTypeDef *hsc, uint32_t Flag, FlagStatus Status, uint32_t Tickstart, uint32_t Timeout); -/** - * @} - */ - -/* Exported functions --------------------------------------------------------*/ -/** @defgroup SMARTCARD_Exported_Functions SMARTCARD Exported Functions - * @{ - */ - -/** @defgroup SMARTCARD_Exported_Functions_Group1 SmartCard Initialization and de-initialization functions - * @brief Initialization and Configuration functions - * -@verbatim - ============================================================================== - ##### Initialization and Configuration functions ##### - ============================================================================== - [..] - This subsection provides a set of functions allowing to initialize the USART - in Smartcard mode. - [..] - The Smartcard interface is designed to support asynchronous protocol Smartcards as - defined in the ISO 7816-3 standard. - [..] - The USART can provide a clock to the smartcard through the SCLK output. - In smartcard mode, SCLK is not associated to the communication but is simply derived - from the internal peripheral input clock through a 5-bit prescaler. - [..] - (+) For the Smartcard mode only these parameters can be configured: - (++) Baud Rate - (++) Word Length => Should be 9 bits (8 bits + parity) - (++) Stop Bit - (++) Parity: => Should be enabled - (++) USART polarity - (++) USART phase - (++) USART LastBit - (++) Receiver/transmitter modes - (++) Prescaler - (++) GuardTime - (++) NACKState: The Smartcard NACK state - - (+) Recommended SmartCard interface configuration to get the Answer to Reset from the Card: - (++) Word Length = 9 Bits - (++) 1.5 Stop Bit - (++) Even parity - (++) BaudRate = 12096 baud - (++) Tx and Rx enabled - [..] - Please refer to the ISO 7816-3 specification for more details. - - [..] - (@) It is also possible to choose 0.5 stop bit for receiving but it is recommended - to use 1.5 stop bits for both transmitting and receiving to avoid switching - between the two configurations. - [..] - The HAL_SMARTCARD_Init() function follows the USART SmartCard configuration - procedures (details for the procedures are available in reference manual - (RM0430 for STM32F4X3xx MCUs and RM0402 for STM32F412xx MCUs - RM0383 for STM32F411xC/E MCUs and RM0401 for STM32F410xx MCUs - RM0090 for STM32F4X5xx/STM32F4X7xx/STM32F429xx/STM32F439xx MCUs - RM0390 for STM32F446xx MCUs and RM0386 for STM32F469xx/STM32F479xx MCUs)). - -@endverbatim - - The SMARTCARD frame format is given in the following table: - +-------------------------------------------------------------+ - | M bit | PCE bit | SMARTCARD frame | - |---------------------|---------------------------------------| - | 1 | 1 | | SB | 8 bit data | PB | STB | | - +-------------------------------------------------------------+ - * @{ - */ - -/** - * @brief Initializes the SmartCard mode according to the specified - * parameters in the SMARTCARD_InitTypeDef and create the associated handle. - * @param hsc Pointer to a SMARTCARD_HandleTypeDef structure that contains - * the configuration information for SMARTCARD module. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SMARTCARD_Init(SMARTCARD_HandleTypeDef *hsc) -{ - /* Check the SMARTCARD handle allocation */ - if(hsc == NULL) - { - return HAL_ERROR; - } - - /* Check the parameters */ - assert_param(IS_SMARTCARD_INSTANCE(hsc->Instance)); - assert_param(IS_SMARTCARD_NACK_STATE(hsc->Init.NACKState)); - - if(hsc->gState == HAL_SMARTCARD_STATE_RESET) - { - /* Allocate lock resource and initialize it */ - hsc->Lock = HAL_UNLOCKED; - -#if USE_HAL_SMARTCARD_REGISTER_CALLBACKS == 1 - SMARTCARD_InitCallbacksToDefault(hsc); - - if (hsc->MspInitCallback == NULL) - { - hsc->MspInitCallback = HAL_SMARTCARD_MspInit; - } - - /* Init the low level hardware */ - hsc->MspInitCallback(hsc); -#else - /* Init the low level hardware : GPIO, CLOCK */ - HAL_SMARTCARD_MspInit(hsc); -#endif /* USE_HAL_SMARTCARD_REGISTER_CALLBACKS */ - } - - hsc->gState = HAL_SMARTCARD_STATE_BUSY; - - /* Set the Prescaler */ - MODIFY_REG(hsc->Instance->GTPR, USART_GTPR_PSC, hsc->Init.Prescaler); - - /* Set the Guard Time */ - MODIFY_REG(hsc->Instance->GTPR, USART_GTPR_GT, ((hsc->Init.GuardTime)<<8U)); - - /* Set the Smartcard Communication parameters */ - SMARTCARD_SetConfig(hsc); - - /* In SmartCard mode, the following bits must be kept cleared: - - LINEN bit in the USART_CR2 register - - HDSEL and IREN bits in the USART_CR3 register.*/ - CLEAR_BIT(hsc->Instance->CR2, USART_CR2_LINEN); - CLEAR_BIT(hsc->Instance->CR3, (USART_CR3_IREN | USART_CR3_HDSEL)); - - /* Enable the SMARTCARD Parity Error Interrupt */ - SET_BIT(hsc->Instance->CR1, USART_CR1_PEIE); - - /* Enable the SMARTCARD Framing Error Interrupt */ - SET_BIT(hsc->Instance->CR3, USART_CR3_EIE); - - /* Enable the Peripheral */ - __HAL_SMARTCARD_ENABLE(hsc); - - /* Configure the Smartcard NACK state */ - MODIFY_REG(hsc->Instance->CR3, USART_CR3_NACK, hsc->Init.NACKState); - - /* Enable the SC mode by setting the SCEN bit in the CR3 register */ - hsc->Instance->CR3 |= (USART_CR3_SCEN); - - /* Initialize the SMARTCARD state*/ - hsc->ErrorCode = HAL_SMARTCARD_ERROR_NONE; - hsc->gState= HAL_SMARTCARD_STATE_READY; - hsc->RxState= HAL_SMARTCARD_STATE_READY; - - return HAL_OK; -} - -/** - * @brief DeInitializes the USART SmartCard peripheral - * @param hsc Pointer to a SMARTCARD_HandleTypeDef structure that contains - * the configuration information for SMARTCARD module. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SMARTCARD_DeInit(SMARTCARD_HandleTypeDef *hsc) -{ - /* Check the SMARTCARD handle allocation */ - if(hsc == NULL) - { - return HAL_ERROR; - } - - /* Check the parameters */ - assert_param(IS_SMARTCARD_INSTANCE(hsc->Instance)); - - hsc->gState = HAL_SMARTCARD_STATE_BUSY; - - /* Disable the Peripheral */ - __HAL_SMARTCARD_DISABLE(hsc); - - /* DeInit the low level hardware */ -#if USE_HAL_SMARTCARD_REGISTER_CALLBACKS == 1 - if (hsc->MspDeInitCallback == NULL) - { - hsc->MspDeInitCallback = HAL_SMARTCARD_MspDeInit; - } - /* DeInit the low level hardware */ - hsc->MspDeInitCallback(hsc); -#else - HAL_SMARTCARD_MspDeInit(hsc); -#endif /* USE_HAL_SMARTCARD_REGISTER_CALLBACKS */ - - hsc->ErrorCode = HAL_SMARTCARD_ERROR_NONE; - hsc->gState = HAL_SMARTCARD_STATE_RESET; - hsc->RxState = HAL_SMARTCARD_STATE_RESET; - - /* Release Lock */ - __HAL_UNLOCK(hsc); - - return HAL_OK; -} - -/** - * @brief SMARTCARD MSP Init - * @param hsc Pointer to a SMARTCARD_HandleTypeDef structure that contains - * the configuration information for SMARTCARD module. - * @retval None - */ -__weak void HAL_SMARTCARD_MspInit(SMARTCARD_HandleTypeDef *hsc) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hsc); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_SMARTCARD_MspInit can be implemented in the user file - */ -} - -/** - * @brief SMARTCARD MSP DeInit - * @param hsc Pointer to a SMARTCARD_HandleTypeDef structure that contains - * the configuration information for SMARTCARD module. - * @retval None - */ -__weak void HAL_SMARTCARD_MspDeInit(SMARTCARD_HandleTypeDef *hsc) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hsc); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_SMARTCARD_MspDeInit can be implemented in the user file - */ -} - -#if (USE_HAL_SMARTCARD_REGISTER_CALLBACKS == 1) -/** - * @brief Register a User SMARTCARD Callback - * To be used instead of the weak predefined callback - * @param hsc smartcard handle - * @param CallbackID ID of the callback to be registered - * This parameter can be one of the following values: - * @arg @ref HAL_SMARTCARD_TX_COMPLETE_CB_ID Tx Complete Callback ID - * @arg @ref HAL_SMARTCARD_RX_COMPLETE_CB_ID Rx Complete Callback ID - * @arg @ref HAL_SMARTCARD_ERROR_CB_ID Error Callback ID - * @arg @ref HAL_SMARTCARD_ABORT_COMPLETE_CB_ID Abort Complete Callback ID - * @arg @ref HAL_SMARTCARD_ABORT_TRANSMIT_COMPLETE_CB_ID Abort Transmit Complete Callback ID - * @arg @ref HAL_SMARTCARD_ABORT_RECEIVE_COMPLETE_CB_ID Abort Receive Complete Callback ID - * @arg @ref HAL_SMARTCARD_MSPINIT_CB_ID MspInit Callback ID - * @arg @ref HAL_SMARTCARD_MSPDEINIT_CB_ID MspDeInit Callback ID - * @param pCallback pointer to the Callback function - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SMARTCARD_RegisterCallback(SMARTCARD_HandleTypeDef *hsc, HAL_SMARTCARD_CallbackIDTypeDef CallbackID, pSMARTCARD_CallbackTypeDef pCallback) -{ - HAL_StatusTypeDef status = HAL_OK; - - if (pCallback == NULL) - { - /* Update the error code */ - hsc->ErrorCode |= HAL_SMARTCARD_ERROR_INVALID_CALLBACK; - - return HAL_ERROR; - } - /* Process locked */ - __HAL_LOCK(hsc); - - if (hsc->gState == HAL_SMARTCARD_STATE_READY) - { - switch (CallbackID) - { - - case HAL_SMARTCARD_TX_COMPLETE_CB_ID : - hsc->TxCpltCallback = pCallback; - break; - - case HAL_SMARTCARD_RX_COMPLETE_CB_ID : - hsc->RxCpltCallback = pCallback; - break; - - case HAL_SMARTCARD_ERROR_CB_ID : - hsc->ErrorCallback = pCallback; - break; - - case HAL_SMARTCARD_ABORT_COMPLETE_CB_ID : - hsc->AbortCpltCallback = pCallback; - break; - - case HAL_SMARTCARD_ABORT_TRANSMIT_COMPLETE_CB_ID : - hsc->AbortTransmitCpltCallback = pCallback; - break; - - case HAL_SMARTCARD_ABORT_RECEIVE_COMPLETE_CB_ID : - hsc->AbortReceiveCpltCallback = pCallback; - break; - - - case HAL_SMARTCARD_MSPINIT_CB_ID : - hsc->MspInitCallback = pCallback; - break; - - case HAL_SMARTCARD_MSPDEINIT_CB_ID : - hsc->MspDeInitCallback = pCallback; - break; - - default : - /* Update the error code */ - hsc->ErrorCode |= HAL_SMARTCARD_ERROR_INVALID_CALLBACK; - - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else if (hsc->gState == HAL_SMARTCARD_STATE_RESET) - { - switch (CallbackID) - { - case HAL_SMARTCARD_MSPINIT_CB_ID : - hsc->MspInitCallback = pCallback; - break; - - case HAL_SMARTCARD_MSPDEINIT_CB_ID : - hsc->MspDeInitCallback = pCallback; - break; - - default : - /* Update the error code */ - hsc->ErrorCode |= HAL_SMARTCARD_ERROR_INVALID_CALLBACK; - - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else - { - /* Update the error code */ - hsc->ErrorCode |= HAL_SMARTCARD_ERROR_INVALID_CALLBACK; - - /* Return error status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(hsc); - - return status; -} - -/** - * @brief Unregister an SMARTCARD callback - * SMARTCARD callback is redirected to the weak predefined callback - * @param hsc smartcard handle - * @param CallbackID ID of the callback to be unregistered - * This parameter can be one of the following values: - * @arg @ref HAL_SMARTCARD_TX_COMPLETE_CB_ID Tx Complete Callback ID - * @arg @ref HAL_SMARTCARD_RX_COMPLETE_CB_ID Rx Complete Callback ID - * @arg @ref HAL_SMARTCARD_ERROR_CB_ID Error Callback ID - * @arg @ref HAL_SMARTCARD_ABORT_COMPLETE_CB_ID Abort Complete Callback ID - * @arg @ref HAL_SMARTCARD_ABORT_TRANSMIT_COMPLETE_CB_ID Abort Transmit Complete Callback ID - * @arg @ref HAL_SMARTCARD_ABORT_RECEIVE_COMPLETE_CB_ID Abort Receive Complete Callback ID - * @arg @ref HAL_SMARTCARD_MSPINIT_CB_ID MspInit Callback ID - * @arg @ref HAL_SMARTCARD_MSPDEINIT_CB_ID MspDeInit Callback ID - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SMARTCARD_UnRegisterCallback(SMARTCARD_HandleTypeDef *hsc, HAL_SMARTCARD_CallbackIDTypeDef CallbackID) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Process locked */ - __HAL_LOCK(hsc); - - if (HAL_SMARTCARD_STATE_READY == hsc->gState) - { - switch (CallbackID) - { - case HAL_SMARTCARD_TX_COMPLETE_CB_ID : - hsc->TxCpltCallback = HAL_SMARTCARD_TxCpltCallback; /* Legacy weak TxCpltCallback */ - break; - - case HAL_SMARTCARD_RX_COMPLETE_CB_ID : - hsc->RxCpltCallback = HAL_SMARTCARD_RxCpltCallback; /* Legacy weak RxCpltCallback */ - break; - - case HAL_SMARTCARD_ERROR_CB_ID : - hsc->ErrorCallback = HAL_SMARTCARD_ErrorCallback; /* Legacy weak ErrorCallback */ - break; - - case HAL_SMARTCARD_ABORT_COMPLETE_CB_ID : - hsc->AbortCpltCallback = HAL_SMARTCARD_AbortCpltCallback; /* Legacy weak AbortCpltCallback */ - break; - - case HAL_SMARTCARD_ABORT_TRANSMIT_COMPLETE_CB_ID : - hsc->AbortTransmitCpltCallback = HAL_SMARTCARD_AbortTransmitCpltCallback; /* Legacy weak AbortTransmitCpltCallback */ - break; - - case HAL_SMARTCARD_ABORT_RECEIVE_COMPLETE_CB_ID : - hsc->AbortReceiveCpltCallback = HAL_SMARTCARD_AbortReceiveCpltCallback; /* Legacy weak AbortReceiveCpltCallback */ - break; - - - case HAL_SMARTCARD_MSPINIT_CB_ID : - hsc->MspInitCallback = HAL_SMARTCARD_MspInit; /* Legacy weak MspInitCallback */ - break; - - case HAL_SMARTCARD_MSPDEINIT_CB_ID : - hsc->MspDeInitCallback = HAL_SMARTCARD_MspDeInit; /* Legacy weak MspDeInitCallback */ - break; - - default : - /* Update the error code */ - hsc->ErrorCode |= HAL_SMARTCARD_ERROR_INVALID_CALLBACK; - - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else if (HAL_SMARTCARD_STATE_RESET == hsc->gState) - { - switch (CallbackID) - { - case HAL_SMARTCARD_MSPINIT_CB_ID : - hsc->MspInitCallback = HAL_SMARTCARD_MspInit; - break; - - case HAL_SMARTCARD_MSPDEINIT_CB_ID : - hsc->MspDeInitCallback = HAL_SMARTCARD_MspDeInit; - break; - - default : - /* Update the error code */ - hsc->ErrorCode |= HAL_SMARTCARD_ERROR_INVALID_CALLBACK; - - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else - { - /* Update the error code */ - hsc->ErrorCode |= HAL_SMARTCARD_ERROR_INVALID_CALLBACK; - - /* Return error status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(hsc); - - return status; -} -#endif /* USE_HAL_SMARTCARD_REGISTER_CALLBACKS */ - -/** - * @} - */ - -/** @defgroup SMARTCARD_Exported_Functions_Group2 IO operation functions - * @brief SMARTCARD Transmit and Receive functions - * -@verbatim - =============================================================================== - ##### IO operation functions ##### - =============================================================================== - [..] - This subsection provides a set of functions allowing to manage the SMARTCARD data transfers. - - [..] - (#) Smartcard is a single wire half duplex communication protocol. - The Smartcard interface is designed to support asynchronous protocol Smartcards as - defined in the ISO 7816-3 standard. - (#) The USART should be configured as: - (++) 8 bits plus parity: where M=1 and PCE=1 in the USART_CR1 register - (++) 1.5 stop bits when transmitting and receiving: where STOP=11 in the USART_CR2 register. - - (#) There are two modes of transfer: - (++) Blocking mode: The communication is performed in polling mode. - The HAL status of all data processing is returned by the same function - after finishing transfer. - (++) Non Blocking mode: The communication is performed using Interrupts - or DMA, These APIs return the HAL status. - The end of the data processing will be indicated through the - dedicated SMARTCARD IRQ when using Interrupt mode or the DMA IRQ when - using DMA mode. - The HAL_SMARTCARD_TxCpltCallback(), HAL_SMARTCARD_RxCpltCallback() user callbacks - will be executed respectively at the end of the Transmit or Receive process - The HAL_SMARTCARD_ErrorCallback() user callback will be executed when a communication error is detected - - (#) Blocking mode APIs are : - (++) HAL_SMARTCARD_Transmit() - (++) HAL_SMARTCARD_Receive() - - (#) Non Blocking mode APIs with Interrupt are : - (++) HAL_SMARTCARD_Transmit_IT() - (++) HAL_SMARTCARD_Receive_IT() - (++) HAL_SMARTCARD_IRQHandler() - - (#) Non Blocking mode functions with DMA are : - (++) HAL_SMARTCARD_Transmit_DMA() - (++) HAL_SMARTCARD_Receive_DMA() - - (#) A set of Transfer Complete Callbacks are provided in non Blocking mode: - (++) HAL_SMARTCARD_TxCpltCallback() - (++) HAL_SMARTCARD_RxCpltCallback() - (++) HAL_SMARTCARD_ErrorCallback() - - (#) Non-Blocking mode transfers could be aborted using Abort API's : - (+) HAL_SMARTCARD_Abort() - (+) HAL_SMARTCARD_AbortTransmit() - (+) HAL_SMARTCARD_AbortReceive() - (+) HAL_SMARTCARD_Abort_IT() - (+) HAL_SMARTCARD_AbortTransmit_IT() - (+) HAL_SMARTCARD_AbortReceive_IT() - - (#) For Abort services based on interrupts (HAL_SMARTCARD_Abortxxx_IT), a set of Abort Complete Callbacks are provided: - (+) HAL_SMARTCARD_AbortCpltCallback() - (+) HAL_SMARTCARD_AbortTransmitCpltCallback() - (+) HAL_SMARTCARD_AbortReceiveCpltCallback() - - (#) In Non-Blocking mode transfers, possible errors are split into 2 categories. - Errors are handled as follows : - (+) Error is considered as Recoverable and non blocking : Transfer could go till end, but error severity is - to be evaluated by user : this concerns Frame Error, Parity Error or Noise Error in Interrupt mode reception . - Received character is then retrieved and stored in Rx buffer, Error code is set to allow user to identify error type, - and HAL_SMARTCARD_ErrorCallback() user callback is executed. Transfer is kept ongoing on SMARTCARD side. - If user wants to abort it, Abort services should be called by user. - (+) Error is considered as Blocking : Transfer could not be completed properly and is aborted. - This concerns Frame Error in Interrupt mode transmission, Overrun Error in Interrupt mode reception and all errors in DMA mode. - Error code is set to allow user to identify error type, and HAL_SMARTCARD_ErrorCallback() user callback is executed. - -@endverbatim - * @{ - */ - -/** - * @brief Send an amount of data in blocking mode - * @param hsc Pointer to a SMARTCARD_HandleTypeDef structure that contains - * the configuration information for SMARTCARD module. - * @param pData Pointer to data buffer - * @param Size Amount of data to be sent - * @param Timeout Timeout duration - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SMARTCARD_Transmit(SMARTCARD_HandleTypeDef *hsc, uint8_t *pData, uint16_t Size, uint32_t Timeout) -{ - uint8_t *tmp = pData; - uint32_t tickstart = 0U; - - if(hsc->gState == HAL_SMARTCARD_STATE_READY) - { - if((pData == NULL) || (Size == 0U)) - { - return HAL_ERROR; - } - - /* Process Locked */ - __HAL_LOCK(hsc); - - hsc->ErrorCode = HAL_SMARTCARD_ERROR_NONE; - hsc->gState = HAL_SMARTCARD_STATE_BUSY_TX; - - /* Init tickstart for timeout management */ - tickstart = HAL_GetTick(); - - hsc->TxXferSize = Size; - hsc->TxXferCount = Size; - while(hsc->TxXferCount > 0U) - { - hsc->TxXferCount--; - if(SMARTCARD_WaitOnFlagUntilTimeout(hsc, SMARTCARD_FLAG_TXE, RESET, tickstart, Timeout) != HAL_OK) - { - return HAL_TIMEOUT; - } - hsc->Instance->DR = (uint8_t)(*tmp & 0xFFU); - tmp++; - } - - if(SMARTCARD_WaitOnFlagUntilTimeout(hsc, SMARTCARD_FLAG_TC, RESET, tickstart, Timeout) != HAL_OK) - { - return HAL_TIMEOUT; - } - - /* At end of Tx process, restore hsc->gState to Ready */ - hsc->gState = HAL_SMARTCARD_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hsc); - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Receive an amount of data in blocking mode - * @param hsc Pointer to a SMARTCARD_HandleTypeDef structure that contains - * the configuration information for SMARTCARD module. - * @param pData Pointer to data buffer - * @param Size Amount of data to be received - * @param Timeout Timeout duration - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SMARTCARD_Receive(SMARTCARD_HandleTypeDef *hsc, uint8_t *pData, uint16_t Size, uint32_t Timeout) -{ - uint8_t *tmp = pData; - uint32_t tickstart = 0U; - - if(hsc->RxState == HAL_SMARTCARD_STATE_READY) - { - if((pData == NULL) || (Size == 0U)) - { - return HAL_ERROR; - } - - /* Process Locked */ - __HAL_LOCK(hsc); - - hsc->ErrorCode = HAL_SMARTCARD_ERROR_NONE; - hsc->RxState = HAL_SMARTCARD_STATE_BUSY_RX; - - /* Init tickstart for timeout management */ - tickstart = HAL_GetTick(); - - hsc->RxXferSize = Size; - hsc->RxXferCount = Size; - - /* Check the remain data to be received */ - while(hsc->RxXferCount > 0U) - { - hsc->RxXferCount--; - if(SMARTCARD_WaitOnFlagUntilTimeout(hsc, SMARTCARD_FLAG_RXNE, RESET, tickstart, Timeout) != HAL_OK) - { - return HAL_TIMEOUT; - } - *tmp = (uint8_t)(hsc->Instance->DR & (uint8_t)0xFFU); - tmp++; - } - - /* At end of Rx process, restore hsc->RxState to Ready */ - hsc->RxState = HAL_SMARTCARD_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hsc); - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Send an amount of data in non blocking mode - * @param hsc Pointer to a SMARTCARD_HandleTypeDef structure that contains - * the configuration information for SMARTCARD module. - * @param pData Pointer to data buffer - * @param Size Amount of data to be sent - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SMARTCARD_Transmit_IT(SMARTCARD_HandleTypeDef *hsc, uint8_t *pData, uint16_t Size) -{ - /* Check that a Tx process is not already ongoing */ - if(hsc->gState == HAL_SMARTCARD_STATE_READY) - { - if((pData == NULL) || (Size == 0U)) - { - return HAL_ERROR; - } - - /* Process Locked */ - __HAL_LOCK(hsc); - - hsc->pTxBuffPtr = pData; - hsc->TxXferSize = Size; - hsc->TxXferCount = Size; - - hsc->ErrorCode = HAL_SMARTCARD_ERROR_NONE; - hsc->gState = HAL_SMARTCARD_STATE_BUSY_TX; - - /* Process Unlocked */ - __HAL_UNLOCK(hsc); - - /* Enable the SMARTCARD Parity Error Interrupt */ - SET_BIT(hsc->Instance->CR1, USART_CR1_PEIE); - - /* Disable the SMARTCARD Error Interrupt: (Frame error, noise error, overrun error) */ - CLEAR_BIT(hsc->Instance->CR3, USART_CR3_EIE); - - /* Enable the SMARTCARD Transmit data register empty Interrupt */ - SET_BIT(hsc->Instance->CR1, USART_CR1_TXEIE); - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Receive an amount of data in non blocking mode - * @param hsc Pointer to a SMARTCARD_HandleTypeDef structure that contains - * the configuration information for SMARTCARD module. - * @param pData Pointer to data buffer - * @param Size Amount of data to be received - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SMARTCARD_Receive_IT(SMARTCARD_HandleTypeDef *hsc, uint8_t *pData, uint16_t Size) -{ - /* Check that a Rx process is not already ongoing */ - if(hsc->RxState == HAL_SMARTCARD_STATE_READY) - { - if((pData == NULL) || (Size == 0U)) - { - return HAL_ERROR; - } - - /* Process Locked */ - __HAL_LOCK(hsc); - - hsc->pRxBuffPtr = pData; - hsc->RxXferSize = Size; - hsc->RxXferCount = Size; - - hsc->ErrorCode = HAL_SMARTCARD_ERROR_NONE; - hsc->RxState = HAL_SMARTCARD_STATE_BUSY_RX; - - /* Process Unlocked */ - __HAL_UNLOCK(hsc); - - /* Enable the SMARTCARD Parity Error and Data Register not empty Interrupts */ - SET_BIT(hsc->Instance->CR1, USART_CR1_PEIE| USART_CR1_RXNEIE); - - /* Enable the SMARTCARD Error Interrupt: (Frame error, noise error, overrun error) */ - SET_BIT(hsc->Instance->CR3, USART_CR3_EIE); - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Send an amount of data in non blocking mode - * @param hsc Pointer to a SMARTCARD_HandleTypeDef structure that contains - * the configuration information for SMARTCARD module. - * @param pData Pointer to data buffer - * @param Size Amount of data to be sent - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SMARTCARD_Transmit_DMA(SMARTCARD_HandleTypeDef *hsc, uint8_t *pData, uint16_t Size) -{ - uint32_t *tmp; - - /* Check that a Tx process is not already ongoing */ - if(hsc->gState == HAL_SMARTCARD_STATE_READY) - { - if((pData == NULL) || (Size == 0U)) - { - return HAL_ERROR; - } - - /* Process Locked */ - __HAL_LOCK(hsc); - - hsc->pTxBuffPtr = pData; - hsc->TxXferSize = Size; - hsc->TxXferCount = Size; - - hsc->ErrorCode = HAL_SMARTCARD_ERROR_NONE; - hsc->gState = HAL_SMARTCARD_STATE_BUSY_TX; - - /* Set the SMARTCARD DMA transfer complete callback */ - hsc->hdmatx->XferCpltCallback = SMARTCARD_DMATransmitCplt; - - /* Set the DMA error callback */ - hsc->hdmatx->XferErrorCallback = SMARTCARD_DMAError; - - /* Set the DMA abort callback */ - hsc->hdmatx->XferAbortCallback = NULL; - - /* Enable the SMARTCARD transmit DMA stream */ - tmp = (uint32_t*)&pData; - HAL_DMA_Start_IT(hsc->hdmatx, *(uint32_t*)tmp, (uint32_t)&hsc->Instance->DR, Size); - - /* Clear the TC flag in the SR register by writing 0 to it */ - __HAL_SMARTCARD_CLEAR_FLAG(hsc, SMARTCARD_FLAG_TC); - - /* Process Unlocked */ - __HAL_UNLOCK(hsc); - - /* Enable the DMA transfer for transmit request by setting the DMAT bit - in the SMARTCARD CR3 register */ - SET_BIT(hsc->Instance->CR3, USART_CR3_DMAT); - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Receive an amount of data in non blocking mode - * @param hsc Pointer to a SMARTCARD_HandleTypeDef structure that contains - * the configuration information for SMARTCARD module. - * @param pData Pointer to data buffer - * @param Size Amount of data to be received - * @note When the SMARTCARD parity is enabled (PCE = 1) the data received contain the parity bit.s - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SMARTCARD_Receive_DMA(SMARTCARD_HandleTypeDef *hsc, uint8_t *pData, uint16_t Size) -{ - uint32_t *tmp; - - /* Check that a Rx process is not already ongoing */ - if(hsc->RxState == HAL_SMARTCARD_STATE_READY) - { - if((pData == NULL) || (Size == 0U)) - { - return HAL_ERROR; - } - - /* Process Locked */ - __HAL_LOCK(hsc); - - hsc->pRxBuffPtr = pData; - hsc->RxXferSize = Size; - - hsc->ErrorCode = HAL_SMARTCARD_ERROR_NONE; - hsc->RxState = HAL_SMARTCARD_STATE_BUSY_RX; - - /* Set the SMARTCARD DMA transfer complete callback */ - hsc->hdmarx->XferCpltCallback = SMARTCARD_DMAReceiveCplt; - - /* Set the DMA error callback */ - hsc->hdmarx->XferErrorCallback = SMARTCARD_DMAError; - - /* Set the DMA abort callback */ - hsc->hdmatx->XferAbortCallback = NULL; - - /* Enable the DMA stream */ - tmp = (uint32_t*)&pData; - HAL_DMA_Start_IT(hsc->hdmarx, (uint32_t)&hsc->Instance->DR, *(uint32_t*)tmp, Size); - - /* Clear the Overrun flag just before enabling the DMA Rx request: can be mandatory for the second transfer */ - __HAL_SMARTCARD_CLEAR_OREFLAG(hsc); - - /* Process Unlocked */ - __HAL_UNLOCK(hsc); - - /* Enable the SMARTCARD Parity Error Interrupt */ - SET_BIT(hsc->Instance->CR1, USART_CR1_PEIE); - - /* Enable the SMARTCARD Error Interrupt: (Frame error, noise error, overrun error) */ - SET_BIT(hsc->Instance->CR3, USART_CR3_EIE); - - /* Enable the DMA transfer for the receiver request by setting the DMAR bit - in the SMARTCARD CR3 register */ - SET_BIT(hsc->Instance->CR3, USART_CR3_DMAR); - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Abort ongoing transfers (blocking mode). - * @param hsc SMARTCARD handle. - * @note This procedure could be used for aborting any ongoing transfer started in Interrupt or DMA mode. - * This procedure performs following operations : - * - Disable PPP Interrupts - * - Disable the DMA transfer in the peripheral register (if enabled) - * - Abort DMA transfer by calling HAL_DMA_Abort (in case of transfer in DMA mode) - * - Set handle State to READY - * @note This procedure is executed in blocking mode : when exiting function, Abort is considered as completed. - * @retval HAL status -*/ -HAL_StatusTypeDef HAL_SMARTCARD_Abort(SMARTCARD_HandleTypeDef *hsc) -{ - /* Disable TXEIE, TCIE, RXNE, PE and ERR (Frame error, noise error, overrun error) interrupts */ - CLEAR_BIT(hsc->Instance->CR1, (USART_CR1_RXNEIE | USART_CR1_PEIE | USART_CR1_TXEIE | USART_CR1_TCIE)); - CLEAR_BIT(hsc->Instance->CR3, USART_CR3_EIE); - - /* Disable the SMARTCARD DMA Tx request if enabled */ - if(HAL_IS_BIT_SET(hsc->Instance->CR3, USART_CR3_DMAT)) - { - CLEAR_BIT(hsc->Instance->CR3, USART_CR3_DMAT); - - /* Abort the SMARTCARD DMA Tx channel : use blocking DMA Abort API (no callback) */ - if(hsc->hdmatx != NULL) - { - /* Set the SMARTCARD DMA Abort callback to Null. - No call back execution at end of DMA abort procedure */ - hsc->hdmatx->XferAbortCallback = NULL; - - HAL_DMA_Abort(hsc->hdmatx); - } - } - - /* Disable the SMARTCARD DMA Rx request if enabled */ - if(HAL_IS_BIT_SET(hsc->Instance->CR3, USART_CR3_DMAR)) - { - CLEAR_BIT(hsc->Instance->CR3, USART_CR3_DMAR); - - /* Abort the SMARTCARD DMA Rx channel : use blocking DMA Abort API (no callback) */ - if(hsc->hdmarx != NULL) - { - /* Set the SMARTCARD DMA Abort callback to Null. - No call back execution at end of DMA abort procedure */ - hsc->hdmarx->XferAbortCallback = NULL; - - HAL_DMA_Abort(hsc->hdmarx); - } - } - - /* Reset Tx and Rx transfer counters */ - hsc->TxXferCount = 0x00U; - hsc->RxXferCount = 0x00U; - - /* Reset ErrorCode */ - hsc->ErrorCode = HAL_SMARTCARD_ERROR_NONE; - - /* Restore hsc->RxState and hsc->gState to Ready */ - hsc->RxState = HAL_SMARTCARD_STATE_READY; - hsc->gState = HAL_SMARTCARD_STATE_READY; - - return HAL_OK; -} - -/** - * @brief Abort ongoing Transmit transfer (blocking mode). - * @param hsc SMARTCARD handle. - * @note This procedure could be used for aborting any ongoing transfer started in Interrupt or DMA mode. - * This procedure performs following operations : - * - Disable SMARTCARD Interrupts (Tx) - * - Disable the DMA transfer in the peripheral register (if enabled) - * - Abort DMA transfer by calling HAL_DMA_Abort (in case of transfer in DMA mode) - * - Set handle State to READY - * @note This procedure is executed in blocking mode : when exiting function, Abort is considered as completed. - * @retval HAL status -*/ -HAL_StatusTypeDef HAL_SMARTCARD_AbortTransmit(SMARTCARD_HandleTypeDef *hsc) -{ - /* Disable TXEIE and TCIE interrupts */ - CLEAR_BIT(hsc->Instance->CR1, (USART_CR1_TXEIE | USART_CR1_TCIE)); - - /* Disable the SMARTCARD DMA Tx request if enabled */ - if(HAL_IS_BIT_SET(hsc->Instance->CR3, USART_CR3_DMAT)) - { - CLEAR_BIT(hsc->Instance->CR3, USART_CR3_DMAT); - - /* Abort the SMARTCARD DMA Tx channel : use blocking DMA Abort API (no callback) */ - if(hsc->hdmatx != NULL) - { - /* Set the SMARTCARD DMA Abort callback to Null. - No call back execution at end of DMA abort procedure */ - hsc->hdmatx->XferAbortCallback = NULL; - - HAL_DMA_Abort(hsc->hdmatx); - } - } - - /* Reset Tx transfer counter */ - hsc->TxXferCount = 0x00U; - - /* Restore hsc->gState to Ready */ - hsc->gState = HAL_SMARTCARD_STATE_READY; - - return HAL_OK; -} - -/** - * @brief Abort ongoing Receive transfer (blocking mode). - * @param hsc SMARTCARD handle. - * @note This procedure could be used for aborting any ongoing transfer started in Interrupt or DMA mode. - * This procedure performs following operations : - * - Disable PPP Interrupts - * - Disable the DMA transfer in the peripheral register (if enabled) - * - Abort DMA transfer by calling HAL_DMA_Abort (in case of transfer in DMA mode) - * - Set handle State to READY - * @note This procedure is executed in blocking mode : when exiting function, Abort is considered as completed. - * @retval HAL status -*/ -HAL_StatusTypeDef HAL_SMARTCARD_AbortReceive(SMARTCARD_HandleTypeDef *hsc) -{ - /* Disable RXNE, PE and ERR (Frame error, noise error, overrun error) interrupts */ - CLEAR_BIT(hsc->Instance->CR1, (USART_CR1_RXNEIE | USART_CR1_PEIE)); - CLEAR_BIT(hsc->Instance->CR3, USART_CR3_EIE); - - /* Disable the SMARTCARD DMA Rx request if enabled */ - if(HAL_IS_BIT_SET(hsc->Instance->CR3, USART_CR3_DMAR)) - { - CLEAR_BIT(hsc->Instance->CR3, USART_CR3_DMAR); - - /* Abort the SMARTCARD DMA Rx channel : use blocking DMA Abort API (no callback) */ - if(hsc->hdmarx != NULL) - { - /* Set the SMARTCARD DMA Abort callback to Null. - No call back execution at end of DMA abort procedure */ - hsc->hdmarx->XferAbortCallback = NULL; - - HAL_DMA_Abort(hsc->hdmarx); - } - } - - /* Reset Rx transfer counter */ - hsc->RxXferCount = 0x00U; - - /* Restore hsc->RxState to Ready */ - hsc->RxState = HAL_SMARTCARD_STATE_READY; - - return HAL_OK; -} - -/** - * @brief Abort ongoing transfers (Interrupt mode). - * @param hsc SMARTCARD handle. - * @note This procedure could be used for aborting any ongoing transfer started in Interrupt or DMA mode. - * This procedure performs following operations : - * - Disable PPP Interrupts - * - Disable the DMA transfer in the peripheral register (if enabled) - * - Abort DMA transfer by calling HAL_DMA_Abort_IT (in case of transfer in DMA mode) - * - Set handle State to READY - * - At abort completion, call user abort complete callback - * @note This procedure is executed in Interrupt mode, meaning that abort procedure could be - * considered as completed only when user abort complete callback is executed (not when exiting function). - * @retval HAL status -*/ -HAL_StatusTypeDef HAL_SMARTCARD_Abort_IT(SMARTCARD_HandleTypeDef *hsc) -{ - uint32_t AbortCplt = 0x01U; - - /* Disable TXEIE, TCIE, RXNE, PE and ERR (Frame error, noise error, overrun error) interrupts */ - CLEAR_BIT(hsc->Instance->CR1, (USART_CR1_RXNEIE | USART_CR1_PEIE | USART_CR1_TXEIE | USART_CR1_TCIE)); - CLEAR_BIT(hsc->Instance->CR3, USART_CR3_EIE); - - /* If DMA Tx and/or DMA Rx Handles are associated to SMARTCARD Handle, DMA Abort complete callbacks should be initialised - before any call to DMA Abort functions */ - /* DMA Tx Handle is valid */ - if(hsc->hdmatx != NULL) - { - /* Set DMA Abort Complete callback if SMARTCARD DMA Tx request if enabled. - Otherwise, set it to NULL */ - if(HAL_IS_BIT_SET(hsc->Instance->CR3, USART_CR3_DMAT)) - { - hsc->hdmatx->XferAbortCallback = SMARTCARD_DMATxAbortCallback; - } - else - { - hsc->hdmatx->XferAbortCallback = NULL; - } - } - /* DMA Rx Handle is valid */ - if(hsc->hdmarx != NULL) - { - /* Set DMA Abort Complete callback if SMARTCARD DMA Rx request if enabled. - Otherwise, set it to NULL */ - if(HAL_IS_BIT_SET(hsc->Instance->CR3, USART_CR3_DMAR)) - { - hsc->hdmarx->XferAbortCallback = SMARTCARD_DMARxAbortCallback; - } - else - { - hsc->hdmarx->XferAbortCallback = NULL; - } - } - - /* Disable the SMARTCARD DMA Tx request if enabled */ - if(HAL_IS_BIT_SET(hsc->Instance->CR3, USART_CR3_DMAT)) - { - /* Disable DMA Tx at SMARTCARD level */ - CLEAR_BIT(hsc->Instance->CR3, USART_CR3_DMAT); - - /* Abort the SMARTCARD DMA Tx channel : use non blocking DMA Abort API (callback) */ - if(hsc->hdmatx != NULL) - { - /* SMARTCARD Tx DMA Abort callback has already been initialised : - will lead to call HAL_SMARTCARD_AbortCpltCallback() at end of DMA abort procedure */ - - /* Abort DMA TX */ - if(HAL_DMA_Abort_IT(hsc->hdmatx) != HAL_OK) - { - hsc->hdmatx->XferAbortCallback = NULL; - } - else - { - AbortCplt = 0x00U; - } - } - } - - /* Disable the SMARTCARD DMA Rx request if enabled */ - if(HAL_IS_BIT_SET(hsc->Instance->CR3, USART_CR3_DMAR)) - { - CLEAR_BIT(hsc->Instance->CR3, USART_CR3_DMAR); - - /* Abort the SMARTCARD DMA Rx channel : use non blocking DMA Abort API (callback) */ - if(hsc->hdmarx != NULL) - { - /* SMARTCARD Rx DMA Abort callback has already been initialised : - will lead to call HAL_SMARTCARD_AbortCpltCallback() at end of DMA abort procedure */ - - /* Abort DMA RX */ - if(HAL_DMA_Abort_IT(hsc->hdmarx) != HAL_OK) - { - hsc->hdmarx->XferAbortCallback = NULL; - AbortCplt = 0x01U; - } - else - { - AbortCplt = 0x00U; - } - } - } - - /* if no DMA abort complete callback execution is required => call user Abort Complete callback */ - if(AbortCplt == 0x01U) - { - /* Reset Tx and Rx transfer counters */ - hsc->TxXferCount = 0x00U; - hsc->RxXferCount = 0x00U; - - /* Reset ErrorCode */ - hsc->ErrorCode = HAL_SMARTCARD_ERROR_NONE; - - /* Restore hsc->gState and hsc->RxState to Ready */ - hsc->gState = HAL_SMARTCARD_STATE_READY; - hsc->RxState = HAL_SMARTCARD_STATE_READY; - - /* As no DMA to be aborted, call directly user Abort complete callback */ -#if (USE_HAL_SMARTCARD_REGISTER_CALLBACKS == 1) - /* Call registered Abort complete callback */ - hsc->AbortCpltCallback(hsc); -#else - /* Call legacy weak Abort complete callback */ - HAL_SMARTCARD_AbortCpltCallback(hsc); -#endif /* USE_HAL_SMARTCARD_REGISTER_CALLBACK */ - } - return HAL_OK; -} - -/** - * @brief Abort ongoing Transmit transfer (Interrupt mode). - * @param hsc SMARTCARD handle. - * @note This procedure could be used for aborting any ongoing transfer started in Interrupt or DMA mode. - * This procedure performs following operations : - * - Disable SMARTCARD Interrupts (Tx) - * - Disable the DMA transfer in the peripheral register (if enabled) - * - Abort DMA transfer by calling HAL_DMA_Abort_IT (in case of transfer in DMA mode) - * - Set handle State to READY - * - At abort completion, call user abort complete callback - * @note This procedure is executed in Interrupt mode, meaning that abort procedure could be - * considered as completed only when user abort complete callback is executed (not when exiting function). - * @retval HAL status -*/ -HAL_StatusTypeDef HAL_SMARTCARD_AbortTransmit_IT(SMARTCARD_HandleTypeDef *hsc) -{ - /* Disable TXEIE and TCIE interrupts */ - CLEAR_BIT(hsc->Instance->CR1, (USART_CR1_TXEIE | USART_CR1_TCIE)); - - /* Disable the SMARTCARD DMA Tx request if enabled */ - if(HAL_IS_BIT_SET(hsc->Instance->CR3, USART_CR3_DMAT)) - { - CLEAR_BIT(hsc->Instance->CR3, USART_CR3_DMAT); - - /* Abort the SMARTCARD DMA Tx channel : use blocking DMA Abort API (no callback) */ - if(hsc->hdmatx != NULL) - { - /* Set the SMARTCARD DMA Abort callback : - will lead to call HAL_SMARTCARD_AbortCpltCallback() at end of DMA abort procedure */ - hsc->hdmatx->XferAbortCallback = SMARTCARD_DMATxOnlyAbortCallback; - - /* Abort DMA TX */ - if(HAL_DMA_Abort_IT(hsc->hdmatx) != HAL_OK) - { - /* Call Directly hsc->hdmatx->XferAbortCallback function in case of error */ - hsc->hdmatx->XferAbortCallback(hsc->hdmatx); - } - } - else - { - /* Reset Tx transfer counter */ - hsc->TxXferCount = 0x00U; - - /* Restore hsc->gState to Ready */ - hsc->gState = HAL_SMARTCARD_STATE_READY; - - /* As no DMA to be aborted, call directly user Abort complete callback */ -#if (USE_HAL_SMARTCARD_REGISTER_CALLBACKS == 1) - /* Call registered Abort Transmit Complete Callback */ - hsc->AbortTransmitCpltCallback(hsc); -#else - /* Call legacy weak Abort Transmit Complete Callback */ - HAL_SMARTCARD_AbortTransmitCpltCallback(hsc); -#endif /* USE_HAL_SMARTCARD_REGISTER_CALLBACK */ - } - } - else - { - /* Reset Tx transfer counter */ - hsc->TxXferCount = 0x00U; - - /* Restore hsc->gState to Ready */ - hsc->gState = HAL_SMARTCARD_STATE_READY; - - /* As no DMA to be aborted, call directly user Abort complete callback */ -#if (USE_HAL_SMARTCARD_REGISTER_CALLBACKS == 1) - /* Call registered Abort Transmit Complete Callback */ - hsc->AbortTransmitCpltCallback(hsc); -#else - /* Call legacy weak Abort Transmit Complete Callback */ - HAL_SMARTCARD_AbortTransmitCpltCallback(hsc); -#endif /* USE_HAL_SMARTCARD_REGISTER_CALLBACK */ - } - - return HAL_OK; -} - -/** - * @brief Abort ongoing Receive transfer (Interrupt mode). - * @param hsc SMARTCARD handle. - * @note This procedure could be used for aborting any ongoing transfer started in Interrupt or DMA mode. - * This procedure performs following operations : - * - Disable SMARTCARD Interrupts (Rx) - * - Disable the DMA transfer in the peripheral register (if enabled) - * - Abort DMA transfer by calling HAL_DMA_Abort_IT (in case of transfer in DMA mode) - * - Set handle State to READY - * - At abort completion, call user abort complete callback - * @note This procedure is executed in Interrupt mode, meaning that abort procedure could be - * considered as completed only when user abort complete callback is executed (not when exiting function). - * @retval HAL status -*/ -HAL_StatusTypeDef HAL_SMARTCARD_AbortReceive_IT(SMARTCARD_HandleTypeDef *hsc) -{ - /* Disable RXNE, PE and ERR (Frame error, noise error, overrun error) interrupts */ - CLEAR_BIT(hsc->Instance->CR1, (USART_CR1_RXNEIE | USART_CR1_PEIE)); - CLEAR_BIT(hsc->Instance->CR3, USART_CR3_EIE); - - /* Disable the SMARTCARD DMA Rx request if enabled */ - if(HAL_IS_BIT_SET(hsc->Instance->CR3, USART_CR3_DMAR)) - { - CLEAR_BIT(hsc->Instance->CR3, USART_CR3_DMAR); - - /* Abort the SMARTCARD DMA Rx channel : use blocking DMA Abort API (no callback) */ - if(hsc->hdmarx != NULL) - { - /* Set the SMARTCARD DMA Abort callback : - will lead to call HAL_SMARTCARD_AbortCpltCallback() at end of DMA abort procedure */ - hsc->hdmarx->XferAbortCallback = SMARTCARD_DMARxOnlyAbortCallback; - - /* Abort DMA RX */ - if(HAL_DMA_Abort_IT(hsc->hdmarx) != HAL_OK) - { - /* Call Directly hsc->hdmarx->XferAbortCallback function in case of error */ - hsc->hdmarx->XferAbortCallback(hsc->hdmarx); - } - } - else - { - /* Reset Rx transfer counter */ - hsc->RxXferCount = 0x00U; - - /* Restore hsc->RxState to Ready */ - hsc->RxState = HAL_SMARTCARD_STATE_READY; - - /* As no DMA to be aborted, call directly user Abort complete callback */ -#if (USE_HAL_SMARTCARD_REGISTER_CALLBACKS == 1) - /* Call registered Abort Receive Complete Callback */ - hsc->AbortReceiveCpltCallback(hsc); -#else - /* Call legacy weak Abort Receive Complete Callback */ - HAL_SMARTCARD_AbortReceiveCpltCallback(hsc); -#endif /* USE_HAL_SMARTCARD_REGISTER_CALLBACK */ - } - } - else - { - /* Reset Rx transfer counter */ - hsc->RxXferCount = 0x00U; - - /* Restore hsc->RxState to Ready */ - hsc->RxState = HAL_SMARTCARD_STATE_READY; - - /* As no DMA to be aborted, call directly user Abort complete callback */ -#if (USE_HAL_SMARTCARD_REGISTER_CALLBACKS == 1) - /* Call registered Abort Receive Complete Callback */ - hsc->AbortReceiveCpltCallback(hsc); -#else - /* Call legacy weak Abort Receive Complete Callback */ - HAL_SMARTCARD_AbortReceiveCpltCallback(hsc); -#endif /* USE_HAL_SMARTCARD_REGISTER_CALLBACK */ - } - - return HAL_OK; -} - -/** - * @brief This function handles SMARTCARD interrupt request. - * @param hsc Pointer to a SMARTCARD_HandleTypeDef structure that contains - * the configuration information for SMARTCARD module. - * @retval None - */ -void HAL_SMARTCARD_IRQHandler(SMARTCARD_HandleTypeDef *hsc) -{ - uint32_t isrflags = READ_REG(hsc->Instance->SR); - uint32_t cr1its = READ_REG(hsc->Instance->CR1); - uint32_t cr3its = READ_REG(hsc->Instance->CR3); - uint32_t dmarequest = 0x00U; - uint32_t errorflags = 0x00U; - - /* If no error occurs */ - errorflags = (isrflags & (uint32_t)(USART_SR_PE | USART_SR_FE | USART_SR_ORE | USART_SR_NE)); - if(errorflags == RESET) - { - /* SMARTCARD in mode Receiver -------------------------------------------------*/ - if(((isrflags & USART_SR_RXNE) != RESET) && ((cr1its & USART_CR1_RXNEIE) != RESET)) - { - SMARTCARD_Receive_IT(hsc); - return; - } - } - - /* If some errors occur */ - if((errorflags != RESET) && (((cr3its & USART_CR3_EIE) != RESET) || ((cr1its & (USART_CR1_RXNEIE | USART_CR1_PEIE)) != RESET))) - { - /* SMARTCARD parity error interrupt occurred ---------------------------*/ - if(((isrflags & SMARTCARD_FLAG_PE) != RESET) && ((cr1its & USART_CR1_PEIE) != RESET)) - { - hsc->ErrorCode |= HAL_SMARTCARD_ERROR_PE; - } - - /* SMARTCARD frame error interrupt occurred ----------------------------*/ - if(((isrflags & SMARTCARD_FLAG_FE) != RESET) && ((cr3its & USART_CR3_EIE) != RESET)) - { - hsc->ErrorCode |= HAL_SMARTCARD_ERROR_FE; - } - - /* SMARTCARD noise error interrupt occurred ----------------------------*/ - if(((isrflags & SMARTCARD_FLAG_NE) != RESET) && ((cr3its & USART_CR3_EIE) != RESET)) - { - hsc->ErrorCode |= HAL_SMARTCARD_ERROR_NE; - } - - /* SMARTCARD Over-Run interrupt occurred -------------------------------*/ - if(((isrflags & SMARTCARD_FLAG_ORE) != RESET) && (((cr1its & USART_CR1_RXNEIE) != RESET) || ((cr3its & USART_CR3_EIE) != RESET))) - { - hsc->ErrorCode |= HAL_SMARTCARD_ERROR_ORE; - } - /* Call the Error call Back in case of Errors --------------------------*/ - if(hsc->ErrorCode != HAL_SMARTCARD_ERROR_NONE) - { - /* SMARTCARD in mode Receiver ----------------------------------------*/ - if(((isrflags & USART_SR_RXNE) != RESET) && ((cr1its & USART_CR1_RXNEIE) != RESET)) - { - SMARTCARD_Receive_IT(hsc); - } - - /* If Overrun error occurs, or if any error occurs in DMA mode reception, - consider error as blocking */ - dmarequest = HAL_IS_BIT_SET(hsc->Instance->CR3, USART_CR3_DMAR); - if(((hsc->ErrorCode & HAL_SMARTCARD_ERROR_ORE) != RESET) || dmarequest) - { - /* Blocking error : transfer is aborted - Set the SMARTCARD state ready to be able to start again the process, - Disable Rx Interrupts, and disable Rx DMA request, if ongoing */ - SMARTCARD_EndRxTransfer(hsc); - /* Disable the SMARTCARD DMA Rx request if enabled */ - if(HAL_IS_BIT_SET(hsc->Instance->CR3, USART_CR3_DMAR)) - { - CLEAR_BIT(hsc->Instance->CR3, USART_CR3_DMAR); - - /* Abort the SMARTCARD DMA Rx channel */ - if(hsc->hdmarx != NULL) - { - /* Set the SMARTCARD DMA Abort callback : - will lead to call HAL_SMARTCARD_ErrorCallback() at end of DMA abort procedure */ - hsc->hdmarx->XferAbortCallback = SMARTCARD_DMAAbortOnError; - - if(HAL_DMA_Abort_IT(hsc->hdmarx) != HAL_OK) - { - /* Call Directly XferAbortCallback function in case of error */ - hsc->hdmarx->XferAbortCallback(hsc->hdmarx); - } - } - else - { -#if (USE_HAL_SMARTCARD_REGISTER_CALLBACKS == 1) - /* Call registered user error callback */ - hsc->ErrorCallback(hsc); -#else - /* Call legacy weak user error callback */ - HAL_SMARTCARD_ErrorCallback(hsc); -#endif /* USE_HAL_SMARTCARD_REGISTER_CALLBACK */ - } - } - else - { -#if (USE_HAL_SMARTCARD_REGISTER_CALLBACKS == 1) - /* Call registered user error callback */ - hsc->ErrorCallback(hsc); -#else - /* Call legacy weak user error callback */ - HAL_SMARTCARD_ErrorCallback(hsc); -#endif /* USE_HAL_SMARTCARD_REGISTER_CALLBACK */ - } - } - else - { - /* Non Blocking error : transfer could go on. - Error is notified to user through user error callback */ -#if (USE_HAL_SMARTCARD_REGISTER_CALLBACKS == 1) - /* Call registered user error callback */ - hsc->ErrorCallback(hsc); -#else - /* Call legacy weak user error callback */ - HAL_SMARTCARD_ErrorCallback(hsc); -#endif /* USE_HAL_SMARTCARD_REGISTER_CALLBACK */ - hsc->ErrorCode = HAL_SMARTCARD_ERROR_NONE; - } - } - return; - } /* End if some error occurs */ - - /* SMARTCARD in mode Transmitter ------------------------------------------*/ - if(((isrflags & SMARTCARD_FLAG_TXE) != RESET) && ((cr1its & USART_CR1_TXEIE) != RESET)) - { - SMARTCARD_Transmit_IT(hsc); - return; - } - - /* SMARTCARD in mode Transmitter (transmission end) -----------------------*/ - if(((isrflags & SMARTCARD_FLAG_TC) != RESET) && ((cr1its & USART_CR1_TCIE) != RESET)) - { - SMARTCARD_EndTransmit_IT(hsc); - return; - } -} - -/** - * @brief Tx Transfer completed callbacks - * @param hsc Pointer to a SMARTCARD_HandleTypeDef structure that contains - * the configuration information for SMARTCARD module. - * @retval None - */ -__weak void HAL_SMARTCARD_TxCpltCallback(SMARTCARD_HandleTypeDef *hsc) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hsc); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_SMARTCARD_TxCpltCallback can be implemented in the user file. - */ -} - -/** - * @brief Rx Transfer completed callback - * @param hsc Pointer to a SMARTCARD_HandleTypeDef structure that contains - * the configuration information for SMARTCARD module. - * @retval None - */ -__weak void HAL_SMARTCARD_RxCpltCallback(SMARTCARD_HandleTypeDef *hsc) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hsc); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_SMARTCARD_RxCpltCallback can be implemented in the user file. - */ -} - -/** - * @brief SMARTCARD error callback - * @param hsc Pointer to a SMARTCARD_HandleTypeDef structure that contains - * the configuration information for SMARTCARD module. - * @retval None - */ -__weak void HAL_SMARTCARD_ErrorCallback(SMARTCARD_HandleTypeDef *hsc) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hsc); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_SMARTCARD_ErrorCallback can be implemented in the user file. - */ -} - -/** - * @brief SMARTCARD Abort Complete callback. - * @param hsc SMARTCARD handle. - * @retval None - */ -__weak void HAL_SMARTCARD_AbortCpltCallback (SMARTCARD_HandleTypeDef *hsc) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hsc); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_SMARTCARD_AbortCpltCallback can be implemented in the user file. - */ -} - -/** - * @brief SMARTCARD Abort Transmit Complete callback. - * @param hsc SMARTCARD handle. - * @retval None - */ -__weak void HAL_SMARTCARD_AbortTransmitCpltCallback (SMARTCARD_HandleTypeDef *hsc) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hsc); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_SMARTCARD_AbortTransmitCpltCallback can be implemented in the user file. - */ -} - -/** - * @brief SMARTCARD Abort Receive Complete callback. - * @param hsc SMARTCARD handle. - * @retval None - */ -__weak void HAL_SMARTCARD_AbortReceiveCpltCallback (SMARTCARD_HandleTypeDef *hsc) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hsc); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_SMARTCARD_AbortReceiveCpltCallback can be implemented in the user file. - */ -} - -/** - * @} - */ - -/** @defgroup SMARTCARD_Exported_Functions_Group3 Peripheral State and Errors functions - * @brief SMARTCARD State and Errors functions - * -@verbatim - =============================================================================== - ##### Peripheral State and Errors functions ##### - =============================================================================== - [..] - This subsection provides a set of functions allowing to control the SmartCard. - (+) HAL_SMARTCARD_GetState() API can be helpful to check in run-time the state of the SmartCard peripheral. - (+) HAL_SMARTCARD_GetError() check in run-time errors that could be occurred during communication. -@endverbatim - * @{ - */ - -/** - * @brief Return the SMARTCARD handle state - * @param hsc Pointer to a SMARTCARD_HandleTypeDef structure that contains - * the configuration information for SMARTCARD module. - * @retval HAL state - */ -HAL_SMARTCARD_StateTypeDef HAL_SMARTCARD_GetState(SMARTCARD_HandleTypeDef *hsc) -{ - uint32_t temp1= 0x00U, temp2 = 0x00U; - temp1 = hsc->gState; - temp2 = hsc->RxState; - - return (HAL_SMARTCARD_StateTypeDef)(temp1 | temp2); -} - -/** - * @brief Return the SMARTCARD error code - * @param hsc Pointer to a SMARTCARD_HandleTypeDef structure that contains - * the configuration information for the specified SMARTCARD. - * @retval SMARTCARD Error Code - */ -uint32_t HAL_SMARTCARD_GetError(SMARTCARD_HandleTypeDef *hsc) -{ - return hsc->ErrorCode; -} - -/** - * @} - */ - -/** - * @} - */ - -/** @defgroup SMARTCARD_Private_Functions SMARTCARD Private Functions - * @{ - */ - -#if (USE_HAL_SMARTCARD_REGISTER_CALLBACKS == 1) -/** - * @brief Initialize the callbacks to their default values. - * @param hsc SMARTCARD handle. - * @retval none - */ -void SMARTCARD_InitCallbacksToDefault(SMARTCARD_HandleTypeDef *hsc) -{ - /* Init the SMARTCARD Callback settings */ - hsc->TxCpltCallback = HAL_SMARTCARD_TxCpltCallback; /* Legacy weak TxCpltCallback */ - hsc->RxCpltCallback = HAL_SMARTCARD_RxCpltCallback; /* Legacy weak RxCpltCallback */ - hsc->ErrorCallback = HAL_SMARTCARD_ErrorCallback; /* Legacy weak ErrorCallback */ - hsc->AbortCpltCallback = HAL_SMARTCARD_AbortCpltCallback; /* Legacy weak AbortCpltCallback */ - hsc->AbortTransmitCpltCallback = HAL_SMARTCARD_AbortTransmitCpltCallback; /* Legacy weak AbortTransmitCpltCallback */ - hsc->AbortReceiveCpltCallback = HAL_SMARTCARD_AbortReceiveCpltCallback; /* Legacy weak AbortReceiveCpltCallback */ - -} -#endif /* USE_HAL_SMARTCARD_REGISTER_CALLBACKS */ - -/** - * @brief DMA SMARTCARD transmit process complete callback - * @param hdma Pointer to a DMA_HandleTypeDef structure that contains - * the configuration information for the specified DMA module. - * @retval None - */ -static void SMARTCARD_DMATransmitCplt(DMA_HandleTypeDef *hdma) -{ - SMARTCARD_HandleTypeDef* hsc = ( SMARTCARD_HandleTypeDef* )((DMA_HandleTypeDef* )hdma)->Parent; - - hsc->TxXferCount = 0U; - - /* Disable the DMA transfer for transmit request by setting the DMAT bit - in the USART CR3 register */ - CLEAR_BIT(hsc->Instance->CR3, USART_CR3_DMAT); - - /* Enable the SMARTCARD Transmit Complete Interrupt */ - SET_BIT(hsc->Instance->CR1, USART_CR1_TCIE); -} - -/** - * @brief DMA SMARTCARD receive process complete callback - * @param hdma Pointer to a DMA_HandleTypeDef structure that contains - * the configuration information for the specified DMA module. - * @retval None - */ -static void SMARTCARD_DMAReceiveCplt(DMA_HandleTypeDef *hdma) -{ - SMARTCARD_HandleTypeDef* hsc = ( SMARTCARD_HandleTypeDef* )((DMA_HandleTypeDef* )hdma)->Parent; - - hsc->RxXferCount = 0U; - - /* Disable RXNE, PE and ERR (Frame error, noise error, overrun error) interrupts */ - CLEAR_BIT(hsc->Instance->CR1, (USART_CR1_RXNEIE | USART_CR1_PEIE)); - CLEAR_BIT(hsc->Instance->CR3, USART_CR3_EIE); - - /* Disable the DMA transfer for the receiver request by setting the DMAR bit - in the USART CR3 register */ - CLEAR_BIT(hsc->Instance->CR3, USART_CR3_DMAR); - - /* At end of Rx process, restore hsc->RxState to Ready */ - hsc->RxState = HAL_SMARTCARD_STATE_READY; - -#if (USE_HAL_SMARTCARD_REGISTER_CALLBACKS == 1) - /* Call registered Rx complete callback */ - hsc->RxCpltCallback(hsc); -#else - /* Call legacy weak Rx complete callback */ - HAL_SMARTCARD_RxCpltCallback(hsc); -#endif /* USE_HAL_SMARTCARD_REGISTER_CALLBACK */ -} - -/** - * @brief DMA SMARTCARD communication error callback - * @param hdma Pointer to a DMA_HandleTypeDef structure that contains - * the configuration information for the specified DMA module. - * @retval None - */ -static void SMARTCARD_DMAError(DMA_HandleTypeDef *hdma) -{ - uint32_t dmarequest = 0x00U; - SMARTCARD_HandleTypeDef* hsc = ( SMARTCARD_HandleTypeDef* )((DMA_HandleTypeDef* )hdma)->Parent; - hsc->RxXferCount = 0U; - hsc->TxXferCount = 0U; - hsc->ErrorCode = HAL_SMARTCARD_ERROR_DMA; - - /* Stop SMARTCARD DMA Tx request if ongoing */ - dmarequest = HAL_IS_BIT_SET(hsc->Instance->CR3, USART_CR3_DMAT); - if((hsc->gState == HAL_SMARTCARD_STATE_BUSY_TX) && dmarequest) - { - SMARTCARD_EndTxTransfer(hsc); - } - - /* Stop SMARTCARD DMA Rx request if ongoing */ - dmarequest = HAL_IS_BIT_SET(hsc->Instance->CR3, USART_CR3_DMAR); - if((hsc->RxState == HAL_SMARTCARD_STATE_BUSY_RX) && dmarequest) - { - SMARTCARD_EndRxTransfer(hsc); - } - -#if (USE_HAL_SMARTCARD_REGISTER_CALLBACKS == 1) - /* Call registered user error callback */ - hsc->ErrorCallback(hsc); -#else - /* Call legacy weak user error callback */ - HAL_SMARTCARD_ErrorCallback(hsc); -#endif /* USE_HAL_SMARTCARD_REGISTER_CALLBACK */ -} - -/** - * @brief This function handles SMARTCARD Communication Timeout. - * @param hsc Pointer to a SMARTCARD_HandleTypeDef structure that contains - * the configuration information for SMARTCARD module. - * @param Flag Specifies the SMARTCARD flag to check. - * @param Status The new Flag status (SET or RESET). - * @param Timeout Timeout duration - * @param Tickstart Tick start value - * @retval HAL status - */ -static HAL_StatusTypeDef SMARTCARD_WaitOnFlagUntilTimeout(SMARTCARD_HandleTypeDef *hsc, uint32_t Flag, FlagStatus Status, uint32_t Tickstart, uint32_t Timeout) -{ - /* Wait until flag is set */ - while((__HAL_SMARTCARD_GET_FLAG(hsc, Flag) ? SET : RESET) == Status) - { - /* Check for the Timeout */ - if(Timeout != HAL_MAX_DELAY) - { - if((Timeout == 0U)||((HAL_GetTick() - Tickstart ) > Timeout)) - { - /* Disable TXE and RXNE interrupts for the interrupt process */ - CLEAR_BIT(hsc->Instance->CR1, USART_CR1_TXEIE); - CLEAR_BIT(hsc->Instance->CR1, USART_CR1_RXNEIE); - - hsc->gState= HAL_SMARTCARD_STATE_READY; - hsc->RxState= HAL_SMARTCARD_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hsc); - - return HAL_TIMEOUT; - } - } - } - return HAL_OK; -} - -/** - * @brief End ongoing Tx transfer on SMARTCARD peripheral (following error detection or Transmit completion). - * @param hsc Pointer to a SMARTCARD_HandleTypeDef structure that contains - * the configuration information for SMARTCARD module. - * @retval None - */ -static void SMARTCARD_EndTxTransfer(SMARTCARD_HandleTypeDef *hsc) -{ - /* At end of Tx process, restore hsc->gState to Ready */ - hsc->gState = HAL_SMARTCARD_STATE_READY; - - /* Disable TXEIE and TCIE interrupts */ - CLEAR_BIT(hsc->Instance->CR1, (USART_CR1_TXEIE | USART_CR1_TCIE)); -} - - -/** - * @brief End ongoing Rx transfer on SMARTCARD peripheral (following error detection or Reception completion). - * @param hsc Pointer to a SMARTCARD_HandleTypeDef structure that contains - * the configuration information for SMARTCARD module. - * @retval None - */ -static void SMARTCARD_EndRxTransfer(SMARTCARD_HandleTypeDef *hsc) -{ - /* At end of Rx process, restore hsc->RxState to Ready */ - hsc->RxState = HAL_SMARTCARD_STATE_READY; - - /* Disable RXNE, PE and ERR (Frame error, noise error, overrun error) interrupts */ - CLEAR_BIT(hsc->Instance->CR1, (USART_CR1_RXNEIE | USART_CR1_PEIE)); - CLEAR_BIT(hsc->Instance->CR3, USART_CR3_EIE); -} - -/** - * @brief Send an amount of data in non blocking mode - * @param hsc Pointer to a SMARTCARD_HandleTypeDef structure that contains - * the configuration information for SMARTCARD module. - * @retval HAL status - */ -static HAL_StatusTypeDef SMARTCARD_Transmit_IT(SMARTCARD_HandleTypeDef *hsc) -{ - - /* Check that a Tx process is ongoing */ - if(hsc->gState == HAL_SMARTCARD_STATE_BUSY_TX) - { - hsc->Instance->DR = (uint8_t)(*hsc->pTxBuffPtr & 0xFFU); - hsc->pTxBuffPtr++; - - if(--hsc->TxXferCount == 0U) - { - /* Disable the SMARTCARD Transmit data register empty Interrupt */ - CLEAR_BIT(hsc->Instance->CR1, USART_CR1_TXEIE); - - /* Enable the SMARTCARD Transmit Complete Interrupt */ - SET_BIT(hsc->Instance->CR1, USART_CR1_TCIE); - } - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Wraps up transmission in non blocking mode. - * @param hsc Pointer to a SMARTCARD_HandleTypeDef structure that contains - * the configuration information for the specified SMARTCARD module. - * @retval HAL status - */ -static HAL_StatusTypeDef SMARTCARD_EndTransmit_IT(SMARTCARD_HandleTypeDef *hsc) -{ - /* Disable the SMARTCARD Transmit Complete Interrupt */ - CLEAR_BIT(hsc->Instance->CR1, USART_CR1_TCIE); - - /* Disable the SMARTCARD Error Interrupt: (Frame error, noise error, overrun error) */ - CLEAR_BIT(hsc->Instance->CR3, USART_CR3_EIE); - - /* Tx process is ended, restore hsc->gState to Ready */ - hsc->gState = HAL_SMARTCARD_STATE_READY; - -#if (USE_HAL_SMARTCARD_REGISTER_CALLBACKS == 1) - /* Call registered Tx complete callback */ - hsc->TxCpltCallback(hsc); -#else - /* Call legacy weak Tx complete callback */ - HAL_SMARTCARD_TxCpltCallback(hsc); -#endif /* USE_HAL_SMARTCARD_REGISTER_CALLBACK */ - - return HAL_OK; -} - -/** - * @brief Receive an amount of data in non blocking mode - * @param hsc Pointer to a SMARTCARD_HandleTypeDef structure that contains - * the configuration information for SMARTCARD module. - * @retval HAL status - */ -static HAL_StatusTypeDef SMARTCARD_Receive_IT(SMARTCARD_HandleTypeDef *hsc) -{ - - /* Check that a Rx process is ongoing */ - if(hsc->RxState == HAL_SMARTCARD_STATE_BUSY_RX) - { - *hsc->pRxBuffPtr = (uint8_t)(hsc->Instance->DR & (uint8_t)0xFFU); - hsc->pRxBuffPtr++; - - if(--hsc->RxXferCount == 0U) - { - CLEAR_BIT(hsc->Instance->CR1, USART_CR1_RXNEIE); - - /* Disable the SMARTCARD Parity Error Interrupt */ - CLEAR_BIT(hsc->Instance->CR1, USART_CR1_PEIE); - - /* Disable the SMARTCARD Error Interrupt: (Frame error, noise error, overrun error) */ - CLEAR_BIT(hsc->Instance->CR3, USART_CR3_EIE); - - /* Rx process is completed, restore hsc->RxState to Ready */ - hsc->RxState = HAL_SMARTCARD_STATE_READY; - -#if (USE_HAL_SMARTCARD_REGISTER_CALLBACKS == 1) - /* Call registered Rx complete callback */ - hsc->RxCpltCallback(hsc); -#else - /* Call legacy weak Rx complete callback */ - HAL_SMARTCARD_RxCpltCallback(hsc); -#endif /* USE_HAL_SMARTCARD_REGISTER_CALLBACK */ - - return HAL_OK; - } - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief DMA SMARTCARD communication abort callback, when initiated by HAL services on Error - * (To be called at end of DMA Abort procedure following error occurrence). - * @param hdma DMA handle. - * @retval None - */ -static void SMARTCARD_DMAAbortOnError(DMA_HandleTypeDef *hdma) -{ - SMARTCARD_HandleTypeDef* hsc = (SMARTCARD_HandleTypeDef* )((DMA_HandleTypeDef* )hdma)->Parent; - hsc->RxXferCount = 0x00U; - hsc->TxXferCount = 0x00U; - -#if (USE_HAL_SMARTCARD_REGISTER_CALLBACKS == 1) - /* Call registered user error callback */ - hsc->ErrorCallback(hsc); -#else - /* Call legacy weak user error callback */ - HAL_SMARTCARD_ErrorCallback(hsc); -#endif /* USE_HAL_SMARTCARD_REGISTER_CALLBACK */ -} - -/** - * @brief DMA SMARTCARD Tx communication abort callback, when initiated by user - * (To be called at end of DMA Tx Abort procedure following user abort request). - * @note When this callback is executed, User Abort complete call back is called only if no - * Abort still ongoing for Rx DMA Handle. - * @param hdma DMA handle. - * @retval None - */ -static void SMARTCARD_DMATxAbortCallback(DMA_HandleTypeDef *hdma) -{ - SMARTCARD_HandleTypeDef* hsc = ( SMARTCARD_HandleTypeDef* )((DMA_HandleTypeDef* )hdma)->Parent; - - hsc->hdmatx->XferAbortCallback = NULL; - - /* Check if an Abort process is still ongoing */ - if(hsc->hdmarx != NULL) - { - if(hsc->hdmarx->XferAbortCallback != NULL) - { - return; - } - } - - /* No Abort process still ongoing : All DMA channels are aborted, call user Abort Complete callback */ - hsc->TxXferCount = 0x00U; - hsc->RxXferCount = 0x00U; - - /* Reset ErrorCode */ - hsc->ErrorCode = HAL_SMARTCARD_ERROR_NONE; - - /* Restore hsc->gState and hsc->RxState to Ready */ - hsc->gState = HAL_SMARTCARD_STATE_READY; - hsc->RxState = HAL_SMARTCARD_STATE_READY; - -#if (USE_HAL_SMARTCARD_REGISTER_CALLBACKS == 1) - /* Call registered Abort complete callback */ - hsc->AbortCpltCallback(hsc); -#else - /* Call legacy weak Abort complete callback */ - HAL_SMARTCARD_AbortCpltCallback(hsc); -#endif /* USE_HAL_SMARTCARD_REGISTER_CALLBACK */ -} - -/** - * @brief DMA SMARTCARD Rx communication abort callback, when initiated by user - * (To be called at end of DMA Rx Abort procedure following user abort request). - * @note When this callback is executed, User Abort complete call back is called only if no - * Abort still ongoing for Tx DMA Handle. - * @param hdma DMA handle. - * @retval None - */ -static void SMARTCARD_DMARxAbortCallback(DMA_HandleTypeDef *hdma) -{ - SMARTCARD_HandleTypeDef* hsc = ( SMARTCARD_HandleTypeDef* )((DMA_HandleTypeDef* )hdma)->Parent; - - hsc->hdmarx->XferAbortCallback = NULL; - - /* Check if an Abort process is still ongoing */ - if(hsc->hdmatx != NULL) - { - if(hsc->hdmatx->XferAbortCallback != NULL) - { - return; - } - } - - /* No Abort process still ongoing : All DMA channels are aborted, call user Abort Complete callback */ - hsc->TxXferCount = 0x00U; - hsc->RxXferCount = 0x00U; - - /* Reset ErrorCode */ - hsc->ErrorCode = HAL_SMARTCARD_ERROR_NONE; - - /* Restore hsc->gState and hsc->RxState to Ready */ - hsc->gState = HAL_SMARTCARD_STATE_READY; - hsc->RxState = HAL_SMARTCARD_STATE_READY; - -#if (USE_HAL_SMARTCARD_REGISTER_CALLBACKS == 1) - /* Call registered Abort complete callback */ - hsc->AbortCpltCallback(hsc); -#else - /* Call legacy weak Abort complete callback */ - HAL_SMARTCARD_AbortCpltCallback(hsc); -#endif /* USE_HAL_SMARTCARD_REGISTER_CALLBACK */ -} - -/** - * @brief DMA SMARTCARD Tx communication abort callback, when initiated by user by a call to - * HAL_SMARTCARD_AbortTransmit_IT API (Abort only Tx transfer) - * (This callback is executed at end of DMA Tx Abort procedure following user abort request, - * and leads to user Tx Abort Complete callback execution). - * @param hdma DMA handle. - * @retval None - */ -static void SMARTCARD_DMATxOnlyAbortCallback(DMA_HandleTypeDef *hdma) -{ - SMARTCARD_HandleTypeDef* hsc = ( SMARTCARD_HandleTypeDef* )((DMA_HandleTypeDef* )hdma)->Parent; - - hsc->TxXferCount = 0x00U; - - /* Restore hsc->gState to Ready */ - hsc->gState = HAL_SMARTCARD_STATE_READY; - -#if (USE_HAL_SMARTCARD_REGISTER_CALLBACKS == 1) - /* Call registered Abort Transmit Complete Callback */ - hsc->AbortTransmitCpltCallback(hsc); -#else - /* Call legacy weak Abort Transmit Complete Callback */ - HAL_SMARTCARD_AbortTransmitCpltCallback(hsc); -#endif /* USE_HAL_SMARTCARD_REGISTER_CALLBACK */ -} - -/** - * @brief DMA SMARTCARD Rx communication abort callback, when initiated by user by a call to - * HAL_SMARTCARD_AbortReceive_IT API (Abort only Rx transfer) - * (This callback is executed at end of DMA Rx Abort procedure following user abort request, - * and leads to user Rx Abort Complete callback execution). - * @param hdma DMA handle. - * @retval None - */ -static void SMARTCARD_DMARxOnlyAbortCallback(DMA_HandleTypeDef *hdma) -{ - SMARTCARD_HandleTypeDef* hsc = ( SMARTCARD_HandleTypeDef* )((DMA_HandleTypeDef* )hdma)->Parent; - - hsc->RxXferCount = 0x00U; - - /* Restore hsc->RxState to Ready */ - hsc->RxState = HAL_SMARTCARD_STATE_READY; - -#if (USE_HAL_SMARTCARD_REGISTER_CALLBACKS == 1) - /* Call registered Abort Receive Complete Callback */ - hsc->AbortReceiveCpltCallback(hsc); -#else - /* Call legacy weak Abort Receive Complete Callback */ - HAL_SMARTCARD_AbortReceiveCpltCallback(hsc); -#endif /* USE_HAL_SMARTCARD_REGISTER_CALLBACK */ -} - -/** - * @brief Configure the SMARTCARD peripheral - * @param hsc Pointer to a SMARTCARD_HandleTypeDef structure that contains - * the configuration information for SMARTCARD module. - * @retval None - */ -static void SMARTCARD_SetConfig(SMARTCARD_HandleTypeDef *hsc) -{ - uint32_t tmpreg = 0x00U; - uint32_t pclk; - - /* Check the parameters */ - assert_param(IS_SMARTCARD_INSTANCE(hsc->Instance)); - assert_param(IS_SMARTCARD_POLARITY(hsc->Init.CLKPolarity)); - assert_param(IS_SMARTCARD_PHASE(hsc->Init.CLKPhase)); - assert_param(IS_SMARTCARD_LASTBIT(hsc->Init.CLKLastBit)); - assert_param(IS_SMARTCARD_BAUDRATE(hsc->Init.BaudRate)); - assert_param(IS_SMARTCARD_WORD_LENGTH(hsc->Init.WordLength)); - assert_param(IS_SMARTCARD_STOPBITS(hsc->Init.StopBits)); - assert_param(IS_SMARTCARD_PARITY(hsc->Init.Parity)); - assert_param(IS_SMARTCARD_MODE(hsc->Init.Mode)); - assert_param(IS_SMARTCARD_NACK_STATE(hsc->Init.NACKState)); - - /* The LBCL, CPOL and CPHA bits have to be selected when both the transmitter and the - receiver are disabled (TE=RE=0) to ensure that the clock pulses function correctly. */ - CLEAR_BIT(hsc->Instance->CR1, (USART_CR1_TE | USART_CR1_RE)); - - /*---------------------------- USART CR2 Configuration ---------------------*/ - tmpreg = hsc->Instance->CR2; - /* Clear CLKEN, CPOL, CPHA and LBCL bits */ - tmpreg &= (uint32_t)~((uint32_t)(USART_CR2_CPHA | USART_CR2_CPOL | USART_CR2_CLKEN | USART_CR2_LBCL)); - /* Configure the SMARTCARD Clock, CPOL, CPHA and LastBit -----------------------*/ - /* Set CPOL bit according to hsc->Init.CLKPolarity value */ - /* Set CPHA bit according to hsc->Init.CLKPhase value */ - /* Set LBCL bit according to hsc->Init.CLKLastBit value */ - /* Set Stop Bits: Set STOP[13:12] bits according to hsc->Init.StopBits value */ - tmpreg |= (uint32_t)(USART_CR2_CLKEN | hsc->Init.CLKPolarity | - hsc->Init.CLKPhase| hsc->Init.CLKLastBit | hsc->Init.StopBits); - /* Write to USART CR2 */ - WRITE_REG(hsc->Instance->CR2, (uint32_t)tmpreg); - - tmpreg = hsc->Instance->CR2; - - /* Clear STOP[13:12] bits */ - tmpreg &= (uint32_t)~((uint32_t)USART_CR2_STOP); - - /* Set Stop Bits: Set STOP[13:12] bits according to hsc->Init.StopBits value */ - tmpreg |= (uint32_t)(hsc->Init.StopBits); - - /* Write to USART CR2 */ - WRITE_REG(hsc->Instance->CR2, (uint32_t)tmpreg); - - /*-------------------------- USART CR1 Configuration -----------------------*/ - tmpreg = hsc->Instance->CR1; - - /* Clear M, PCE, PS, TE and RE bits */ - tmpreg &= (uint32_t)~((uint32_t)(USART_CR1_M | USART_CR1_PCE | USART_CR1_PS | USART_CR1_TE | \ - USART_CR1_RE)); - - /* Configure the SMARTCARD Word Length, Parity and mode: - Set the M bits according to hsc->Init.WordLength value - Set PCE and PS bits according to hsc->Init.Parity value - Set TE and RE bits according to hsc->Init.Mode value */ - tmpreg |= (uint32_t)hsc->Init.WordLength | hsc->Init.Parity | hsc->Init.Mode; - - /* Write to USART CR1 */ - WRITE_REG(hsc->Instance->CR1, (uint32_t)tmpreg); - - /*-------------------------- USART CR3 Configuration -----------------------*/ - /* Clear CTSE and RTSE bits */ - CLEAR_BIT(hsc->Instance->CR3, (USART_CR3_RTSE | USART_CR3_CTSE)); - - /*-------------------------- USART BRR Configuration -----------------------*/ -#if defined(USART6) - if((hsc->Instance == USART1) || (hsc->Instance == USART6)) - { - pclk = HAL_RCC_GetPCLK2Freq(); - hsc->Instance->BRR = SMARTCARD_BRR(pclk, hsc->Init.BaudRate); - } -#else - if(hsc->Instance == USART1) - { - pclk = HAL_RCC_GetPCLK2Freq(); - hsc->Instance->BRR = SMARTCARD_BRR(pclk, hsc->Init.BaudRate); - } -#endif /* USART6 */ - else - { - pclk = HAL_RCC_GetPCLK1Freq(); - hsc->Instance->BRR = SMARTCARD_BRR(pclk, hsc->Init.BaudRate); - } -} - -/** - * @} - */ - -#endif /* HAL_SMARTCARD_MODULE_ENABLED */ -/** - * @} - */ - -/** - * @} - */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_smbus.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_smbus.c deleted file mode 100644 index 09df379bc93d76..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_smbus.c +++ /dev/null @@ -1,2786 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_smbus.c - * @author MCD Application Team - * @brief SMBUS HAL module driver. - * This file provides firmware functions to manage the following - * functionalities of the System Management Bus (SMBus) peripheral, - * based on SMBUS principals of operation : - * + Initialization and de-initialization functions - * + IO operation functions - * + Peripheral State, Mode and Error functions - * - @verbatim - ============================================================================== - ##### How to use this driver ##### - ============================================================================== - [..] - The SMBUS HAL driver can be used as follows: - - (#) Declare a SMBUS_HandleTypeDef handle structure, for example: - SMBUS_HandleTypeDef hsmbus; - - (#)Initialize the SMBUS low level resources by implementing the HAL_SMBUS_MspInit() API: - (##) Enable the SMBUSx interface clock - (##) SMBUS pins configuration - (+++) Enable the clock for the SMBUS GPIOs - (+++) Configure SMBUS pins as alternate function open-drain - (##) NVIC configuration if you need to use interrupt process - (+++) Configure the SMBUSx interrupt priority - (+++) Enable the NVIC SMBUS IRQ Channel - - (#) Configure the Communication Speed, Duty cycle, Addressing mode, Own Address1, - Dual Addressing mode, Own Address2, General call and Nostretch mode in the hsmbus Init structure. - - (#) Initialize the SMBUS registers by calling the HAL_SMBUS_Init(), configures also the low level Hardware - (GPIO, CLOCK, NVIC...etc) by calling the customized HAL_SMBUS_MspInit(&hsmbus) API. - - (#) To check if target device is ready for communication, use the function HAL_SMBUS_IsDeviceReady() - - (#) For SMBUS IO operations, only one mode of operations is available within this driver : - - - *** Interrupt mode IO operation *** - =================================== - - [..] - (+) Transmit in master/host SMBUS mode an amount of data in non blocking mode using HAL_SMBUS_Master_Transmit_IT() - (++) At transmission end of transfer HAL_SMBUS_MasterTxCpltCallback() is executed and user can - add his own code by customization of function pointer HAL_SMBUS_MasterTxCpltCallback() - (+) Receive in master/host SMBUS mode an amount of data in non blocking mode using HAL_SMBUS_Master_Receive_IT() - (++) At reception end of transfer HAL_SMBUS_MasterRxCpltCallback() is executed and user can - add his own code by customization of function pointer HAL_SMBUS_MasterRxCpltCallback() - (+) Abort a master/Host SMBUS process communication with Interrupt using HAL_SMBUS_Master_Abort_IT() - (++) End of abort process, HAL_SMBUS_AbortCpltCallback() is executed and user can - add his own code by customization of function pointer HAL_SMBUS_AbortCpltCallback() - (+) Enable/disable the Address listen mode in slave/device or host/slave SMBUS mode - using HAL_SMBUS_EnableListen_IT() HAL_SMBUS_DisableListen_IT() - (++) When address slave/device SMBUS match, HAL_SMBUS_AddrCallback() is executed and user can - add his own code to check the Address Match Code and the transmission direction request by master/host (Write/Read). - (++) At Listen mode end HAL_SMBUS_ListenCpltCallback() is executed and user can - add his own code by customization of function pointer HAL_SMBUS_ListenCpltCallback() - (+) Transmit in slave/device SMBUS mode an amount of data in non blocking mode using HAL_SMBUS_Slave_Transmit_IT() - (++) At transmission end of transfer HAL_SMBUS_SlaveTxCpltCallback() is executed and user can - add his own code by customization of function pointer HAL_SMBUS_SlaveTxCpltCallback() - (+) Receive in slave/device SMBUS mode an amount of data in non blocking mode using HAL_SMBUS_Slave_Receive_IT() - (++) At reception end of transfer HAL_SMBUS_SlaveRxCpltCallback() is executed and user can - add his own code by customization of function pointer HAL_SMBUS_SlaveRxCpltCallback() - (+) Enable/Disable the SMBUS alert mode using HAL_SMBUS_EnableAlert_IT() and HAL_SMBUS_DisableAlert_IT() - (++) When SMBUS Alert is generated HAL_SMBUS_ErrorCallback() is executed and user can - add his own code by customization of function pointer HAL_SMBUS_ErrorCallback() - to check the Alert Error Code using function HAL_SMBUS_GetError() - (+) Get HAL state machine or error values using HAL_SMBUS_GetState() or HAL_SMBUS_GetError() - (+) In case of transfer Error, HAL_SMBUS_ErrorCallback() function is executed and user can - add his own code by customization of function pointer HAL_SMBUS_ErrorCallback() - to check the Error Code using function HAL_SMBUS_GetError() - - - *** SMBUS HAL driver macros list *** - ================================== - [..] - Below the list of most used macros in SMBUS HAL driver. - - (+) __HAL_SMBUS_ENABLE : Enable the SMBUS peripheral - (+) __HAL_SMBUS_DISABLE : Disable the SMBUS peripheral - (+) __HAL_SMBUS_GET_FLAG : Checks whether the specified SMBUS flag is set or not - (+) __HAL_SMBUS_CLEAR_FLAG: Clear the specified SMBUS pending flag - (+) __HAL_SMBUS_ENABLE_IT : Enable the specified SMBUS interrupt - (+) __HAL_SMBUS_DISABLE_IT: Disable the specified SMBUS interrupt - - [..] - (@) You can refer to the SMBUS HAL driver header file for more useful macros - - *** Callback registration *** - ============================================= - [..] - The compilation flag USE_HAL_SMBUS_REGISTER_CALLBACKS when set to 1 - allows the user to configure dynamically the driver callbacks. - Use Functions HAL_SMBUS_RegisterCallback() or HAL_SMBUS_RegisterXXXCallback() - to register an interrupt callback. - - Function HAL_SMBUS_RegisterCallback() allows to register following callbacks: - (+) MasterTxCpltCallback : callback for Master transmission end of transfer. - (+) MasterRxCpltCallback : callback for Master reception end of transfer. - (+) SlaveTxCpltCallback : callback for Slave transmission end of transfer. - (+) SlaveRxCpltCallback : callback for Slave reception end of transfer. - (+) ListenCpltCallback : callback for end of listen mode. - (+) ErrorCallback : callback for error detection. - (+) AbortCpltCallback : callback for abort completion process. - (+) MspInitCallback : callback for Msp Init. - (+) MspDeInitCallback : callback for Msp DeInit. - This function takes as parameters the HAL peripheral handle, the Callback ID - and a pointer to the user callback function. - [..] - For specific callback AddrCallback use dedicated register callbacks : HAL_SMBUS_RegisterAddrCallback(). - [..] - Use function HAL_SMBUS_UnRegisterCallback to reset a callback to the default - weak function. - HAL_SMBUS_UnRegisterCallback takes as parameters the HAL peripheral handle, - and the Callback ID. - This function allows to reset following callbacks: - (+) MasterTxCpltCallback : callback for Master transmission end of transfer. - (+) MasterRxCpltCallback : callback for Master reception end of transfer. - (+) SlaveTxCpltCallback : callback for Slave transmission end of transfer. - (+) SlaveRxCpltCallback : callback for Slave reception end of transfer. - (+) ListenCpltCallback : callback for end of listen mode. - (+) ErrorCallback : callback for error detection. - (+) AbortCpltCallback : callback for abort completion process. - (+) MspInitCallback : callback for Msp Init. - (+) MspDeInitCallback : callback for Msp DeInit. - [..] - For callback AddrCallback use dedicated register callbacks : HAL_SMBUS_UnRegisterAddrCallback(). - [..] - By default, after the HAL_SMBUS_Init() and when the state is HAL_SMBUS_STATE_RESET - all callbacks are set to the corresponding weak functions: - examples HAL_SMBUS_MasterTxCpltCallback(), HAL_SMBUS_MasterRxCpltCallback(). - Exception done for MspInit and MspDeInit functions that are - reset to the legacy weak functions in the HAL_SMBUS_Init()/ HAL_SMBUS_DeInit() only when - these callbacks are null (not registered beforehand). - If MspInit or MspDeInit are not null, the HAL_SMBUS_Init()/ HAL_SMBUS_DeInit() - keep and use the user MspInit/MspDeInit callbacks (registered beforehand) whatever the state. - [..] - Callbacks can be registered/unregistered in HAL_SMBUS_STATE_READY state only. - Exception done MspInit/MspDeInit functions that can be registered/unregistered - in HAL_SMBUS_STATE_READY or HAL_SMBUS_STATE_RESET state, - thus registered (user) MspInit/DeInit callbacks can be used during the Init/DeInit. - Then, the user first registers the MspInit/MspDeInit user callbacks - using HAL_SMBUS_RegisterCallback() before calling HAL_SMBUS_DeInit() - or HAL_SMBUS_Init() function. - [..] - When the compilation flag USE_HAL_SMBUS_REGISTER_CALLBACKS is set to 0 or - not defined, the callback registration feature is not available and all callbacks - are set to the corresponding weak functions. - - @endverbatim - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @defgroup SMBUS SMBUS - * @brief SMBUS HAL module driver - * @{ - */ - -#ifdef HAL_SMBUS_MODULE_ENABLED - -/* Private typedef -----------------------------------------------------------*/ -/* Private define ------------------------------------------------------------*/ -/** @addtogroup SMBUS_Private_Define - * @{ - */ -#define SMBUS_TIMEOUT_FLAG 35U /*!< Timeout 35 ms */ -#define SMBUS_TIMEOUT_BUSY_FLAG 25U /*!< Timeout 25 ms */ -#define SMBUS_NO_OPTION_FRAME 0xFFFF0000U /*!< XferOptions default value */ - -#define SMBUS_SENDPEC_MODE I2C_CR1_PEC -#define SMBUS_GET_PEC(__HANDLE__) (((__HANDLE__)->Instance->SR2 & I2C_SR2_PEC) >> 8) - -/* Private define for @ref PreviousState usage */ -#define SMBUS_STATE_MSK ((uint32_t)((HAL_SMBUS_STATE_BUSY_TX | HAL_SMBUS_STATE_BUSY_RX) & (~(uint32_t)HAL_SMBUS_STATE_READY))) /*!< Mask State define, keep only RX and TX bits */ -#define SMBUS_STATE_NONE ((uint32_t)(HAL_SMBUS_MODE_NONE)) /*!< Default Value */ -#define SMBUS_STATE_MASTER_BUSY_TX ((uint32_t)((HAL_SMBUS_STATE_BUSY_TX & SMBUS_STATE_MSK) | HAL_SMBUS_MODE_MASTER)) /*!< Master Busy TX, combinaison of State LSB and Mode enum */ -#define SMBUS_STATE_MASTER_BUSY_RX ((uint32_t)((HAL_SMBUS_STATE_BUSY_RX & SMBUS_STATE_MSK) | HAL_SMBUS_MODE_MASTER)) /*!< Master Busy RX, combinaison of State LSB and Mode enum */ -#define SMBUS_STATE_SLAVE_BUSY_TX ((uint32_t)((HAL_SMBUS_STATE_BUSY_TX & SMBUS_STATE_MSK) | HAL_SMBUS_MODE_SLAVE)) /*!< Slave Busy TX, combinaison of State LSB and Mode enum */ -#define SMBUS_STATE_SLAVE_BUSY_RX ((uint32_t)((HAL_SMBUS_STATE_BUSY_RX & SMBUS_STATE_MSK) | HAL_SMBUS_MODE_SLAVE)) /*!< Slave Busy RX, combinaison of State LSB and Mode enum */ - -/** - * @} - */ - -/* Private macro -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private function prototypes -----------------------------------------------*/ - -/** @addtogroup SMBUS_Private_Functions - * @{ - */ - -static HAL_StatusTypeDef SMBUS_WaitOnFlagUntilTimeout(SMBUS_HandleTypeDef *hsmbus, uint32_t Flag, FlagStatus Status, uint32_t Timeout, uint32_t Tickstart); -static void SMBUS_ITError(SMBUS_HandleTypeDef *hsmbus); - -/* Private functions for SMBUS transfer IRQ handler */ -static HAL_StatusTypeDef SMBUS_MasterTransmit_TXE(SMBUS_HandleTypeDef *hsmbus); -static HAL_StatusTypeDef SMBUS_MasterTransmit_BTF(SMBUS_HandleTypeDef *hsmbus); -static HAL_StatusTypeDef SMBUS_MasterReceive_RXNE(SMBUS_HandleTypeDef *hsmbus); -static HAL_StatusTypeDef SMBUS_MasterReceive_BTF(SMBUS_HandleTypeDef *hsmbus); -static HAL_StatusTypeDef SMBUS_Master_SB(SMBUS_HandleTypeDef *hsmbus); -static HAL_StatusTypeDef SMBUS_Master_ADD10(SMBUS_HandleTypeDef *hsmbus); -static HAL_StatusTypeDef SMBUS_Master_ADDR(SMBUS_HandleTypeDef *hsmbus); - -static HAL_StatusTypeDef SMBUS_SlaveTransmit_TXE(SMBUS_HandleTypeDef *hsmbus); -static HAL_StatusTypeDef SMBUS_SlaveTransmit_BTF(SMBUS_HandleTypeDef *hsmbus); -static HAL_StatusTypeDef SMBUS_SlaveReceive_RXNE(SMBUS_HandleTypeDef *hsmbus); -static HAL_StatusTypeDef SMBUS_SlaveReceive_BTF(SMBUS_HandleTypeDef *hsmbus); -static HAL_StatusTypeDef SMBUS_Slave_ADDR(SMBUS_HandleTypeDef *hsmbus); -static HAL_StatusTypeDef SMBUS_Slave_STOPF(SMBUS_HandleTypeDef *hsmbus); -static HAL_StatusTypeDef SMBUS_Slave_AF(SMBUS_HandleTypeDef *hsmbus); -/** - * @} - */ - -/* Exported functions --------------------------------------------------------*/ -/** @defgroup SMBUS_Exported_Functions SMBUS Exported Functions - * @{ - */ - -/** @defgroup SMBUS_Exported_Functions_Group1 Initialization and de-initialization functions - * @brief Initialization and Configuration functions - * -@verbatim - =============================================================================== - ##### Initialization and de-initialization functions ##### - =============================================================================== - [..] This subsection provides a set of functions allowing to initialize and - deinitialize the SMBUSx peripheral: - - (+) User must Implement HAL_SMBUS_MspInit() function in which he configures - all related peripherals resources (CLOCK, GPIO, IT and NVIC). - - (+) Call the function HAL_SMBUS_Init() to configure the selected device with - the selected configuration: - (++) Communication Speed - (++) Addressing mode - (++) Own Address 1 - (++) Dual Addressing mode - (++) Own Address 2 - (++) General call mode - (++) Nostretch mode - (++) Packet Error Check mode - (++) Peripheral mode - - (+) Call the function HAL_SMBUS_DeInit() to restore the default configuration - of the selected SMBUSx peripheral. - -@endverbatim - * @{ - */ - -/** - * @brief Initializes the SMBUS according to the specified parameters - * in the SMBUS_InitTypeDef and initialize the associated handle. - * @param hsmbus pointer to a SMBUS_HandleTypeDef structure that contains - * the configuration information for the specified SMBUS - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SMBUS_Init(SMBUS_HandleTypeDef *hsmbus) -{ - uint32_t freqrange = 0U; - uint32_t pclk1 = 0U; - - /* Check the SMBUS handle allocation */ - if (hsmbus == NULL) - { - return HAL_ERROR; - } - - /* Check the parameters */ - assert_param(IS_SMBUS_ALL_INSTANCE(hsmbus->Instance)); -#if defined(I2C_FLTR_ANOFF) - assert_param(IS_SMBUS_ANALOG_FILTER(hsmbus->Init.AnalogFilter)); -#endif - assert_param(IS_SMBUS_CLOCK_SPEED(hsmbus->Init.ClockSpeed)); - assert_param(IS_SMBUS_OWN_ADDRESS1(hsmbus->Init.OwnAddress1)); - assert_param(IS_SMBUS_ADDRESSING_MODE(hsmbus->Init.AddressingMode)); - assert_param(IS_SMBUS_DUAL_ADDRESS(hsmbus->Init.DualAddressMode)); - assert_param(IS_SMBUS_OWN_ADDRESS2(hsmbus->Init.OwnAddress2)); - assert_param(IS_SMBUS_GENERAL_CALL(hsmbus->Init.GeneralCallMode)); - assert_param(IS_SMBUS_NO_STRETCH(hsmbus->Init.NoStretchMode)); - assert_param(IS_SMBUS_PEC(hsmbus->Init.PacketErrorCheckMode)); - assert_param(IS_SMBUS_PERIPHERAL_MODE(hsmbus->Init.PeripheralMode)); - - if (hsmbus->State == HAL_SMBUS_STATE_RESET) - { - /* Allocate lock resource and initialize it */ - hsmbus->Lock = HAL_UNLOCKED; - /* Init the low level hardware : GPIO, CLOCK, NVIC */ -#if (USE_HAL_SMBUS_REGISTER_CALLBACKS == 1) - /* Init the SMBUS Callback settings */ - hsmbus->MasterTxCpltCallback = HAL_SMBUS_MasterTxCpltCallback; /* Legacy weak MasterTxCpltCallback */ - hsmbus->MasterRxCpltCallback = HAL_SMBUS_MasterRxCpltCallback; /* Legacy weak MasterRxCpltCallback */ - hsmbus->SlaveTxCpltCallback = HAL_SMBUS_SlaveTxCpltCallback; /* Legacy weak SlaveTxCpltCallback */ - hsmbus->SlaveRxCpltCallback = HAL_SMBUS_SlaveRxCpltCallback; /* Legacy weak SlaveRxCpltCallback */ - hsmbus->ListenCpltCallback = HAL_SMBUS_ListenCpltCallback; /* Legacy weak ListenCpltCallback */ - hsmbus->ErrorCallback = HAL_SMBUS_ErrorCallback; /* Legacy weak ErrorCallback */ - hsmbus->AbortCpltCallback = HAL_SMBUS_AbortCpltCallback; /* Legacy weak AbortCpltCallback */ - hsmbus->AddrCallback = HAL_SMBUS_AddrCallback; /* Legacy weak AddrCallback */ - - if (hsmbus->MspInitCallback == NULL) - { - hsmbus->MspInitCallback = HAL_SMBUS_MspInit; /* Legacy weak MspInit */ - } - - /* Init the low level hardware : GPIO, CLOCK, NVIC */ - hsmbus->MspInitCallback(hsmbus); -#else - /* Init the low level hardware : GPIO, CLOCK, NVIC */ - HAL_SMBUS_MspInit(hsmbus); -#endif /* USE_HAL_SMBUS_REGISTER_CALLBACKS */ - } - - hsmbus->State = HAL_SMBUS_STATE_BUSY; - - /* Disable the selected SMBUS peripheral */ - __HAL_SMBUS_DISABLE(hsmbus); - - /* Get PCLK1 frequency */ - pclk1 = HAL_RCC_GetPCLK1Freq(); - - /* Calculate frequency range */ - freqrange = SMBUS_FREQRANGE(pclk1); - - /*---------------------------- SMBUSx CR2 Configuration ----------------------*/ - /* Configure SMBUSx: Frequency range */ - MODIFY_REG(hsmbus->Instance->CR2, I2C_CR2_FREQ, freqrange); - - /*---------------------------- SMBUSx TRISE Configuration --------------------*/ - /* Configure SMBUSx: Rise Time */ - MODIFY_REG(hsmbus->Instance->TRISE, I2C_TRISE_TRISE, SMBUS_RISE_TIME(freqrange)); - - /*---------------------------- SMBUSx CCR Configuration ----------------------*/ - /* Configure SMBUSx: Speed */ - MODIFY_REG(hsmbus->Instance->CCR, (I2C_CCR_FS | I2C_CCR_DUTY | I2C_CCR_CCR), SMBUS_SPEED_STANDARD(pclk1, hsmbus->Init.ClockSpeed)); - - /*---------------------------- SMBUSx CR1 Configuration ----------------------*/ - /* Configure SMBUSx: Generalcall , PEC , Peripheral mode and NoStretch mode */ - MODIFY_REG(hsmbus->Instance->CR1, (I2C_CR1_NOSTRETCH | I2C_CR1_ENGC | I2C_CR1_ENPEC | I2C_CR1_ENARP | I2C_CR1_SMBTYPE | I2C_CR1_SMBUS), (hsmbus->Init.NoStretchMode | hsmbus->Init.GeneralCallMode | hsmbus->Init.PacketErrorCheckMode | hsmbus->Init.PeripheralMode)); - - /*---------------------------- SMBUSx OAR1 Configuration ---------------------*/ - /* Configure SMBUSx: Own Address1 and addressing mode */ - MODIFY_REG(hsmbus->Instance->OAR1, (I2C_OAR1_ADDMODE | I2C_OAR1_ADD8_9 | I2C_OAR1_ADD1_7 | I2C_OAR1_ADD0), (hsmbus->Init.AddressingMode | hsmbus->Init.OwnAddress1)); - - /*---------------------------- SMBUSx OAR2 Configuration ---------------------*/ - /* Configure SMBUSx: Dual mode and Own Address2 */ - MODIFY_REG(hsmbus->Instance->OAR2, (I2C_OAR2_ENDUAL | I2C_OAR2_ADD2), (hsmbus->Init.DualAddressMode | hsmbus->Init.OwnAddress2)); -#if defined(I2C_FLTR_ANOFF) - /*---------------------------- SMBUSx FLTR Configuration ------------------------*/ - /* Configure SMBUSx: Analog noise filter */ - SET_BIT(hsmbus->Instance->FLTR, hsmbus->Init.AnalogFilter); -#endif - - /* Enable the selected SMBUS peripheral */ - __HAL_SMBUS_ENABLE(hsmbus); - - hsmbus->ErrorCode = HAL_SMBUS_ERROR_NONE; - hsmbus->State = HAL_SMBUS_STATE_READY; - hsmbus->PreviousState = SMBUS_STATE_NONE; - hsmbus->Mode = HAL_SMBUS_MODE_NONE; - hsmbus->XferPEC = 0x00; - - return HAL_OK; -} - -/** - * @brief DeInitializes the SMBUS peripheral. - * @param hsmbus pointer to a SMBUS_HandleTypeDef structure that contains - * the configuration information for the specified SMBUS. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SMBUS_DeInit(SMBUS_HandleTypeDef *hsmbus) -{ - /* Check the SMBUS handle allocation */ - if (hsmbus == NULL) - { - return HAL_ERROR; - } - - /* Check the parameters */ - assert_param(IS_SMBUS_ALL_INSTANCE(hsmbus->Instance)); - - hsmbus->State = HAL_SMBUS_STATE_BUSY; - - /* Disable the SMBUS Peripheral Clock */ - __HAL_SMBUS_DISABLE(hsmbus); - -#if (USE_HAL_SMBUS_REGISTER_CALLBACKS == 1) - if (hsmbus->MspDeInitCallback == NULL) - { - hsmbus->MspDeInitCallback = HAL_SMBUS_MspDeInit; /* Legacy weak MspDeInit */ - } - - /* DeInit the low level hardware: GPIO, CLOCK, NVIC */ - hsmbus->MspDeInitCallback(hsmbus); -#else - /* DeInit the low level hardware: GPIO, CLOCK, NVIC */ - HAL_SMBUS_MspDeInit(hsmbus); -#endif /* USE_HAL_SMBUS_REGISTER_CALLBACKS */ - - hsmbus->ErrorCode = HAL_SMBUS_ERROR_NONE; - hsmbus->State = HAL_SMBUS_STATE_RESET; - hsmbus->PreviousState = SMBUS_STATE_NONE; - hsmbus->Mode = HAL_SMBUS_MODE_NONE; - - /* Release Lock */ - __HAL_UNLOCK(hsmbus); - - return HAL_OK; -} - -/** - * @brief Initialize the SMBUS MSP. - * @param hsmbus pointer to a SMBUS_HandleTypeDef structure that contains - * the configuration information for the specified SMBUS - * @retval None - */ -__weak void HAL_SMBUS_MspInit(SMBUS_HandleTypeDef *hsmbus) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hsmbus); - /* NOTE : This function Should not be modified, when the callback is needed, - the HAL_SMBUS_MspInit could be implemented in the user file - */ -} - -/** - * @brief DeInitialize the SMBUS MSP. - * @param hsmbus pointer to a SMBUS_HandleTypeDef structure that contains - * the configuration information for the specified SMBUS - * @retval None - */ -__weak void HAL_SMBUS_MspDeInit(SMBUS_HandleTypeDef *hsmbus) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hsmbus); - /* NOTE : This function Should not be modified, when the callback is needed, - the HAL_SMBUS_MspDeInit could be implemented in the user file - */ -} - -#if defined(I2C_FLTR_ANOFF)&&defined(I2C_FLTR_DNF) -/** - * @brief Configures SMBUS Analog noise filter. - * @param hsmbus pointer to a SMBUS_HandleTypeDef structure that contains - * the configuration information for the specified SMBUSx peripheral. - * @param AnalogFilter new state of the Analog filter. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SMBUS_ConfigAnalogFilter(SMBUS_HandleTypeDef *hsmbus, uint32_t AnalogFilter) -{ - /* Check the parameters */ - assert_param(IS_SMBUS_ALL_INSTANCE(hsmbus->Instance)); - assert_param(IS_SMBUS_ANALOG_FILTER(AnalogFilter)); - - if (hsmbus->State == HAL_SMBUS_STATE_READY) - { - hsmbus->State = HAL_SMBUS_STATE_BUSY; - - /* Disable the selected SMBUS peripheral */ - __HAL_SMBUS_DISABLE(hsmbus); - - /* Reset SMBUSx ANOFF bit */ - hsmbus->Instance->FLTR &= ~(I2C_FLTR_ANOFF); - - /* Disable the analog filter */ - hsmbus->Instance->FLTR |= AnalogFilter; - - __HAL_SMBUS_ENABLE(hsmbus); - - hsmbus->State = HAL_SMBUS_STATE_READY; - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Configures SMBUS Digital noise filter. - * @param hsmbus pointer to a SMBUS_HandleTypeDef structure that contains - * the configuration information for the specified SMBUSx peripheral. - * @param DigitalFilter Coefficient of digital noise filter between 0x00 and 0x0F. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SMBUS_ConfigDigitalFilter(SMBUS_HandleTypeDef *hsmbus, uint32_t DigitalFilter) -{ - uint16_t tmpreg = 0; - - /* Check the parameters */ - assert_param(IS_SMBUS_ALL_INSTANCE(hsmbus->Instance)); - assert_param(IS_SMBUS_DIGITAL_FILTER(DigitalFilter)); - - if (hsmbus->State == HAL_SMBUS_STATE_READY) - { - hsmbus->State = HAL_SMBUS_STATE_BUSY; - - /* Disable the selected SMBUS peripheral */ - __HAL_SMBUS_DISABLE(hsmbus); - - /* Get the old register value */ - tmpreg = hsmbus->Instance->FLTR; - - /* Reset SMBUSx DNF bit [3:0] */ - tmpreg &= ~(I2C_FLTR_DNF); - - /* Set SMBUSx DNF coefficient */ - tmpreg |= DigitalFilter; - - /* Store the new register value */ - hsmbus->Instance->FLTR = tmpreg; - - __HAL_SMBUS_ENABLE(hsmbus); - - hsmbus->State = HAL_SMBUS_STATE_READY; - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} -#endif -#if (USE_HAL_SMBUS_REGISTER_CALLBACKS == 1) -/** - * @brief Register a User SMBUS Callback - * To be used instead of the weak predefined callback - * @param hsmbus Pointer to a SMBUS_HandleTypeDef structure that contains - * the configuration information for the specified SMBUS. - * @param CallbackID ID of the callback to be registered - * This parameter can be one of the following values: - * @arg @ref HAL_SMBUS_MASTER_TX_COMPLETE_CB_ID Master Tx Transfer completed callback ID - * @arg @ref HAL_SMBUS_MASTER_RX_COMPLETE_CB_ID Master Rx Transfer completed callback ID - * @arg @ref HAL_SMBUS_SLAVE_TX_COMPLETE_CB_ID Slave Tx Transfer completed callback ID - * @arg @ref HAL_SMBUS_SLAVE_RX_COMPLETE_CB_ID Slave Rx Transfer completed callback ID - * @arg @ref HAL_SMBUS_LISTEN_COMPLETE_CB_ID Listen Complete callback ID - * @arg @ref HAL_SMBUS_ERROR_CB_ID Error callback ID - * @arg @ref HAL_SMBUS_ABORT_CB_ID Abort callback ID - * @arg @ref HAL_SMBUS_MSPINIT_CB_ID MspInit callback ID - * @arg @ref HAL_SMBUS_MSPDEINIT_CB_ID MspDeInit callback ID - * @param pCallback pointer to the Callback function - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SMBUS_RegisterCallback(SMBUS_HandleTypeDef *hsmbus, HAL_SMBUS_CallbackIDTypeDef CallbackID, pSMBUS_CallbackTypeDef pCallback) -{ - HAL_StatusTypeDef status = HAL_OK; - - if (pCallback == NULL) - { - /* Update the error code */ - hsmbus->ErrorCode |= HAL_SMBUS_ERROR_INVALID_CALLBACK; - - return HAL_ERROR; - } - /* Process locked */ - __HAL_LOCK(hsmbus); - - if (HAL_SMBUS_STATE_READY == hsmbus->State) - { - switch (CallbackID) - { - case HAL_SMBUS_MASTER_TX_COMPLETE_CB_ID : - hsmbus->MasterTxCpltCallback = pCallback; - break; - - case HAL_SMBUS_MASTER_RX_COMPLETE_CB_ID : - hsmbus->MasterRxCpltCallback = pCallback; - break; - - case HAL_SMBUS_SLAVE_TX_COMPLETE_CB_ID : - hsmbus->SlaveTxCpltCallback = pCallback; - break; - - case HAL_SMBUS_SLAVE_RX_COMPLETE_CB_ID : - hsmbus->SlaveRxCpltCallback = pCallback; - break; - - case HAL_SMBUS_LISTEN_COMPLETE_CB_ID : - hsmbus->ListenCpltCallback = pCallback; - break; - - case HAL_SMBUS_ERROR_CB_ID : - hsmbus->ErrorCallback = pCallback; - break; - - case HAL_SMBUS_ABORT_CB_ID : - hsmbus->AbortCpltCallback = pCallback; - break; - - case HAL_SMBUS_MSPINIT_CB_ID : - hsmbus->MspInitCallback = pCallback; - break; - - case HAL_SMBUS_MSPDEINIT_CB_ID : - hsmbus->MspDeInitCallback = pCallback; - break; - - default : - /* Update the error code */ - hsmbus->ErrorCode |= HAL_SMBUS_ERROR_INVALID_CALLBACK; - - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else if (HAL_SMBUS_STATE_RESET == hsmbus->State) - { - switch (CallbackID) - { - case HAL_SMBUS_MSPINIT_CB_ID : - hsmbus->MspInitCallback = pCallback; - break; - - case HAL_SMBUS_MSPDEINIT_CB_ID : - hsmbus->MspDeInitCallback = pCallback; - break; - - default : - /* Update the error code */ - hsmbus->ErrorCode |= HAL_SMBUS_ERROR_INVALID_CALLBACK; - - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else - { - /* Update the error code */ - hsmbus->ErrorCode |= HAL_SMBUS_ERROR_INVALID_CALLBACK; - - /* Return error status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(hsmbus); - return status; -} - -/** - * @brief Unregister an SMBUS Callback - * SMBUS callback is redirected to the weak predefined callback - * @param hsmbus Pointer to a SMBUS_HandleTypeDef structure that contains - * the configuration information for the specified SMBUS. - * @param CallbackID ID of the callback to be unregistered - * This parameter can be one of the following values: - * This parameter can be one of the following values: - * @arg @ref HAL_SMBUS_MASTER_TX_COMPLETE_CB_ID Master Tx Transfer completed callback ID - * @arg @ref HAL_SMBUS_MASTER_RX_COMPLETE_CB_ID Master Rx Transfer completed callback ID - * @arg @ref HAL_SMBUS_SLAVE_TX_COMPLETE_CB_ID Slave Tx Transfer completed callback ID - * @arg @ref HAL_SMBUS_SLAVE_RX_COMPLETE_CB_ID Slave Rx Transfer completed callback ID - * @arg @ref HAL_SMBUS_LISTEN_COMPLETE_CB_ID Listen Complete callback ID - * @arg @ref HAL_SMBUS_ERROR_CB_ID Error callback ID - * @arg @ref HAL_SMBUS_ABORT_CB_ID Abort callback ID - * @arg @ref HAL_SMBUS_MSPINIT_CB_ID MspInit callback ID - * @arg @ref HAL_SMBUS_MSPDEINIT_CB_ID MspDeInit callback ID - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SMBUS_UnRegisterCallback(SMBUS_HandleTypeDef *hsmbus, HAL_SMBUS_CallbackIDTypeDef CallbackID) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Process locked */ - __HAL_LOCK(hsmbus); - - if (HAL_SMBUS_STATE_READY == hsmbus->State) - { - switch (CallbackID) - { - case HAL_SMBUS_MASTER_TX_COMPLETE_CB_ID : - hsmbus->MasterTxCpltCallback = HAL_SMBUS_MasterTxCpltCallback; /* Legacy weak MasterTxCpltCallback */ - break; - - case HAL_SMBUS_MASTER_RX_COMPLETE_CB_ID : - hsmbus->MasterRxCpltCallback = HAL_SMBUS_MasterRxCpltCallback; /* Legacy weak MasterRxCpltCallback */ - break; - - case HAL_SMBUS_SLAVE_TX_COMPLETE_CB_ID : - hsmbus->SlaveTxCpltCallback = HAL_SMBUS_SlaveTxCpltCallback; /* Legacy weak SlaveTxCpltCallback */ - break; - - case HAL_SMBUS_SLAVE_RX_COMPLETE_CB_ID : - hsmbus->SlaveRxCpltCallback = HAL_SMBUS_SlaveRxCpltCallback; /* Legacy weak SlaveRxCpltCallback */ - break; - - case HAL_SMBUS_LISTEN_COMPLETE_CB_ID : - hsmbus->ListenCpltCallback = HAL_SMBUS_ListenCpltCallback; /* Legacy weak ListenCpltCallback */ - break; - - case HAL_SMBUS_ERROR_CB_ID : - hsmbus->ErrorCallback = HAL_SMBUS_ErrorCallback; /* Legacy weak ErrorCallback */ - break; - - case HAL_SMBUS_ABORT_CB_ID : - hsmbus->AbortCpltCallback = HAL_SMBUS_AbortCpltCallback; /* Legacy weak AbortCpltCallback */ - break; - - case HAL_SMBUS_MSPINIT_CB_ID : - hsmbus->MspInitCallback = HAL_SMBUS_MspInit; /* Legacy weak MspInit */ - break; - - case HAL_SMBUS_MSPDEINIT_CB_ID : - hsmbus->MspDeInitCallback = HAL_SMBUS_MspDeInit; /* Legacy weak MspDeInit */ - break; - - default : - /* Update the error code */ - hsmbus->ErrorCode |= HAL_SMBUS_ERROR_INVALID_CALLBACK; - - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else if (HAL_SMBUS_STATE_RESET == hsmbus->State) - { - switch (CallbackID) - { - case HAL_SMBUS_MSPINIT_CB_ID : - hsmbus->MspInitCallback = HAL_SMBUS_MspInit; /* Legacy weak MspInit */ - break; - - case HAL_SMBUS_MSPDEINIT_CB_ID : - hsmbus->MspDeInitCallback = HAL_SMBUS_MspDeInit; /* Legacy weak MspDeInit */ - break; - - default : - /* Update the error code */ - hsmbus->ErrorCode |= HAL_SMBUS_ERROR_INVALID_CALLBACK; - - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else - { - /* Update the error code */ - hsmbus->ErrorCode |= HAL_SMBUS_ERROR_INVALID_CALLBACK; - - /* Return error status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(hsmbus); - return status; -} - -/** - * @brief Register the Slave Address Match SMBUS Callback - * To be used instead of the weak HAL_SMBUS_AddrCallback() predefined callback - * @param hsmbus Pointer to a SMBUS_HandleTypeDef structure that contains - * the configuration information for the specified SMBUS. - * @param pCallback pointer to the Address Match Callback function - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SMBUS_RegisterAddrCallback(SMBUS_HandleTypeDef *hsmbus, pSMBUS_AddrCallbackTypeDef pCallback) -{ - HAL_StatusTypeDef status = HAL_OK; - - if (pCallback == NULL) - { - return HAL_ERROR; - } - /* Process locked */ - __HAL_LOCK(hsmbus); - - if (HAL_SMBUS_STATE_READY == hsmbus->State) - { - hsmbus->AddrCallback = pCallback; - } - else - { - /* Update the error code */ - hsmbus->ErrorCode |= HAL_SMBUS_ERROR_INVALID_CALLBACK; - - /* Return error status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(hsmbus); - return status; -} - -/** - * @brief UnRegister the Slave Address Match SMBUS Callback - * Info Ready SMBUS Callback is redirected to the weak HAL_SMBUS_AddrCallback() predefined callback - * @param hsmbus Pointer to a SMBUS_HandleTypeDef structure that contains - * the configuration information for the specified SMBUS. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SMBUS_UnRegisterAddrCallback(SMBUS_HandleTypeDef *hsmbus) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Process locked */ - __HAL_LOCK(hsmbus); - - if (HAL_SMBUS_STATE_READY == hsmbus->State) - { - hsmbus->AddrCallback = HAL_SMBUS_AddrCallback; /* Legacy weak AddrCallback */ - } - else - { - /* Update the error code */ - hsmbus->ErrorCode |= HAL_SMBUS_ERROR_INVALID_CALLBACK; - - /* Return error status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(hsmbus); - return status; -} - -#endif /* USE_HAL_SMBUS_REGISTER_CALLBACKS */ - -/** - * @} - */ - -/** @defgroup SMBUS_Exported_Functions_Group2 Input and Output operation functions - * @brief Data transfers functions - * -@verbatim - =============================================================================== - ##### IO operation functions ##### - =============================================================================== - [..] - This subsection provides a set of functions allowing to manage the SMBUS data - transfers. - - (#) Blocking mode function to check if device is ready for usage is : - (++) HAL_SMBUS_IsDeviceReady() - - (#) There is only one mode of transfer: - (++) Non Blocking mode : The communication is performed using Interrupts. - These functions return the status of the transfer startup. - The end of the data processing will be indicated through the - dedicated SMBUS IRQ when using Interrupt mode. - - (#) Non Blocking mode functions with Interrupt are : - (++) HAL_SMBUS_Master_Transmit_IT() - (++) HAL_SMBUS_Master_Receive_IT() - (++) HAL_SMBUS_Master_Abort_IT() - (++) HAL_SMBUS_Slave_Transmit_IT() - (++) HAL_SMBUS_Slave_Receive_IT() - (++) HAL_SMBUS_EnableAlert_IT() - (++) HAL_SMBUS_DisableAlert_IT() - - (#) A set of Transfer Complete Callbacks are provided in No_Blocking mode: - (++) HAL_SMBUS_MasterTxCpltCallback() - (++) HAL_SMBUS_MasterRxCpltCallback() - (++) HAL_SMBUS_SlaveTxCpltCallback() - (++) HAL_SMBUS_SlaveRxCpltCallback() - (++) HAL_SMBUS_AddrCallback() - (++) HAL_SMBUS_ListenCpltCallback() - (++) HAL_SMBUS_ErrorCallback() - (++) HAL_SMBUS_AbortCpltCallback() - -@endverbatim - * @{ - */ - -/** - * @brief Transmits in master mode an amount of data in blocking mode. - * @param hsmbus Pointer to a SMBUS_HandleTypeDef structure that contains - * the configuration information for the specified SMBUS. - * @param DevAddress Target device address The device 7 bits address value - * in datasheet must be shifted to the left before calling the interface - * @param pData Pointer to data buffer - * @param Size Amount of data to be sent - * @param XferOptions Options of Transfer - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SMBUS_Master_Transmit_IT(SMBUS_HandleTypeDef *hsmbus, uint16_t DevAddress, uint8_t *pData, uint16_t Size, uint32_t XferOptions) -{ - uint32_t count = 0x00U; - - /* Check the parameters */ - assert_param(IS_SMBUS_TRANSFER_OPTIONS_REQUEST(XferOptions)); - - if (hsmbus->State == HAL_SMBUS_STATE_READY) - { - /* Check Busy Flag only if FIRST call of Master interface */ - if ((XferOptions == SMBUS_FIRST_AND_LAST_FRAME_NO_PEC) || (XferOptions == SMBUS_FIRST_AND_LAST_FRAME_WITH_PEC) || (XferOptions == SMBUS_FIRST_FRAME)) - { - /* Wait until BUSY flag is reset */ - count = SMBUS_TIMEOUT_BUSY_FLAG * (SystemCoreClock / 25U / 1000U); - do - { - if (count-- == 0U) - { - hsmbus->PreviousState = SMBUS_STATE_NONE; - hsmbus->State = HAL_SMBUS_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hsmbus); - - return HAL_TIMEOUT; - } - } - while (__HAL_SMBUS_GET_FLAG(hsmbus, SMBUS_FLAG_BUSY) != RESET); - } - - /* Process Locked */ - __HAL_LOCK(hsmbus); - - /* Check if the SMBUS is already enabled */ - if ((hsmbus->Instance->CR1 & I2C_CR1_PE) != I2C_CR1_PE) - { - /* Enable SMBUS peripheral */ - __HAL_SMBUS_ENABLE(hsmbus); - } - - /* Disable Pos */ - CLEAR_BIT(hsmbus->Instance->CR1, I2C_CR1_POS); - - hsmbus->State = HAL_SMBUS_STATE_BUSY_TX; - hsmbus->ErrorCode = HAL_SMBUS_ERROR_NONE; - hsmbus->Mode = HAL_SMBUS_MODE_MASTER; - - /* Prepare transfer parameters */ - hsmbus->pBuffPtr = pData; - hsmbus->XferCount = Size; - hsmbus->XferOptions = XferOptions; - hsmbus->XferSize = hsmbus->XferCount; - hsmbus->Devaddress = DevAddress; - - /* Generate Start */ - SET_BIT(hsmbus->Instance->CR1, I2C_CR1_START); - - /* Process Unlocked */ - __HAL_UNLOCK(hsmbus); - - /* Note : The SMBUS interrupts must be enabled after unlocking current process - to avoid the risk of hsmbus interrupt handle execution before current - process unlock */ - - /* Enable EVT, BUF and ERR interrupt */ - __HAL_SMBUS_ENABLE_IT(hsmbus, SMBUS_IT_EVT | SMBUS_IT_BUF | SMBUS_IT_ERR); - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} -/** - * @brief Receive in master/host SMBUS mode an amount of data in non blocking mode with Interrupt. - * @param hsmbus Pointer to a SMBUS_HandleTypeDef structure that contains - * the configuration information for the specified SMBUS. - * @param DevAddress Target device address The device 7 bits address value - * in datasheet must be shifted to the left before calling the interface - * @param pData Pointer to data buffer - * @param Size Amount of data to be sent - * @param XferOptions Options of Transfer, value of @ref SMBUS_XferOptions_definition - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SMBUS_Master_Receive_IT(SMBUS_HandleTypeDef *hsmbus, uint16_t DevAddress, uint8_t *pData, uint16_t Size, uint32_t XferOptions) -{ - __IO uint32_t count = 0U; - - /* Check the parameters */ - assert_param(IS_SMBUS_TRANSFER_OPTIONS_REQUEST(XferOptions)); - - if (hsmbus->State == HAL_SMBUS_STATE_READY) - { - /* Check Busy Flag only if FIRST call of Master interface */ - if ((XferOptions == SMBUS_FIRST_AND_LAST_FRAME_NO_PEC) || (XferOptions == SMBUS_FIRST_AND_LAST_FRAME_WITH_PEC) || (XferOptions == SMBUS_FIRST_FRAME)) - { - /* Wait until BUSY flag is reset */ - count = SMBUS_TIMEOUT_BUSY_FLAG * (SystemCoreClock / 25U / 1000U); - do - { - if (count-- == 0U) - { - hsmbus->PreviousState = SMBUS_STATE_NONE; - hsmbus->State = HAL_SMBUS_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hsmbus); - - return HAL_TIMEOUT; - } - } - while (__HAL_SMBUS_GET_FLAG(hsmbus, SMBUS_FLAG_BUSY) != RESET); - } - - /* Process Locked */ - __HAL_LOCK(hsmbus); - - /* Check if the SMBUS is already enabled */ - if ((hsmbus->Instance->CR1 & I2C_CR1_PE) != I2C_CR1_PE) - { - /* Enable SMBUS peripheral */ - __HAL_SMBUS_ENABLE(hsmbus); - } - - /* Disable Pos */ - CLEAR_BIT(hsmbus->Instance->CR1, I2C_CR1_POS); - - hsmbus->State = HAL_SMBUS_STATE_BUSY_RX; - hsmbus->ErrorCode = HAL_SMBUS_ERROR_NONE; - hsmbus->Mode = HAL_SMBUS_MODE_MASTER; - - /* Prepare transfer parameters */ - hsmbus->pBuffPtr = pData; - hsmbus->XferCount = Size; - hsmbus->XferOptions = XferOptions; - hsmbus->XferSize = hsmbus->XferCount; - hsmbus->Devaddress = DevAddress; - - if ((hsmbus->PreviousState == SMBUS_STATE_MASTER_BUSY_TX) || (hsmbus->PreviousState == SMBUS_STATE_NONE)) - { - /* Generate Start condition if first transfer */ - if ((XferOptions == SMBUS_NEXT_FRAME) || (XferOptions == SMBUS_FIRST_AND_LAST_FRAME_NO_PEC) || (XferOptions == SMBUS_FIRST_AND_LAST_FRAME_WITH_PEC) || (XferOptions == SMBUS_FIRST_FRAME) || (XferOptions == SMBUS_NO_OPTION_FRAME)) - { - /* Enable Acknowledge */ - SET_BIT(hsmbus->Instance->CR1, I2C_CR1_ACK); - - /* Generate Start */ - SET_BIT(hsmbus->Instance->CR1, I2C_CR1_START); - } - - if ((XferOptions == SMBUS_LAST_FRAME_NO_PEC) || (XferOptions == SMBUS_LAST_FRAME_WITH_PEC)) - { - if (hsmbus->PreviousState == SMBUS_STATE_NONE) - { - /* Enable Acknowledge */ - SET_BIT(hsmbus->Instance->CR1, I2C_CR1_ACK); - } - - if (hsmbus->PreviousState == SMBUS_STATE_MASTER_BUSY_TX) - { - /* Enable Acknowledge */ - SET_BIT(hsmbus->Instance->CR1, I2C_CR1_ACK); - - /* Generate Start */ - SET_BIT(hsmbus->Instance->CR1, I2C_CR1_START); - } - } - } - - - - /* Process Unlocked */ - __HAL_UNLOCK(hsmbus); - - /* Note : The SMBUS interrupts must be enabled after unlocking current process - to avoid the risk of SMBUS interrupt handle execution before current - process unlock */ - - /* Enable EVT, BUF and ERR interrupt */ - __HAL_SMBUS_ENABLE_IT(hsmbus, SMBUS_IT_EVT | SMBUS_IT_BUF | SMBUS_IT_ERR); - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Abort a master/host SMBUS process communication with Interrupt. - * @note This abort can be called only if state is ready - * @param hsmbus Pointer to a SMBUS_HandleTypeDef structure that contains - * the configuration information for the specified SMBUS. - * @param DevAddress Target device address The device 7 bits address value - * in datasheet must be shifted to the left before calling the interface - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SMBUS_Master_Abort_IT(SMBUS_HandleTypeDef *hsmbus, uint16_t DevAddress) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(DevAddress); - if (hsmbus->Init.PeripheralMode == SMBUS_PERIPHERAL_MODE_SMBUS_HOST) - { - /* Process Locked */ - __HAL_LOCK(hsmbus); - - hsmbus->ErrorCode = HAL_SMBUS_ERROR_NONE; - - hsmbus->PreviousState = SMBUS_STATE_NONE; - hsmbus->State = HAL_SMBUS_STATE_ABORT; - - - /* Disable Acknowledge */ - CLEAR_BIT(hsmbus->Instance->CR1, I2C_CR1_ACK); - - /* Generate Stop */ - SET_BIT(hsmbus->Instance->CR1, I2C_CR1_STOP); - - hsmbus->XferCount = 0U; - - /* Disable EVT, BUF and ERR interrupt */ - __HAL_SMBUS_DISABLE_IT(hsmbus, SMBUS_IT_EVT | SMBUS_IT_BUF | SMBUS_IT_ERR); - - /* Process Unlocked */ - __HAL_UNLOCK(hsmbus); - - /* Call the corresponding callback to inform upper layer of End of Transfer */ - SMBUS_ITError(hsmbus); - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - - -/** - * @brief Transmit in slave/device SMBUS mode an amount of data in non blocking mode with Interrupt. - * @param hsmbus Pointer to a SMBUS_HandleTypeDef structure that contains - * the configuration information for the specified SMBUS. - * @param pData Pointer to data buffer - * @param Size Amount of data to be sent - * @param XferOptions Options of Transfer, value of @ref SMBUS_XferOptions_definition - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SMBUS_Slave_Transmit_IT(SMBUS_HandleTypeDef *hsmbus, uint8_t *pData, uint16_t Size, uint32_t XferOptions) -{ - /* Check the parameters */ - assert_param(IS_SMBUS_TRANSFER_OPTIONS_REQUEST(XferOptions)); - - if (hsmbus->State == HAL_SMBUS_STATE_LISTEN) - { - if ((pData == NULL) || (Size == 0U)) - { - return HAL_ERROR; - } - - /* Process Locked */ - __HAL_LOCK(hsmbus); - - /* Check if the SMBUS is already enabled */ - if ((hsmbus->Instance->CR1 & I2C_CR1_PE) != I2C_CR1_PE) - { - /* Enable SMBUS peripheral */ - __HAL_SMBUS_ENABLE(hsmbus); - } - - /* Disable Pos */ - CLEAR_BIT(hsmbus->Instance->CR1, I2C_CR1_POS); - - hsmbus->State = HAL_SMBUS_STATE_BUSY_TX_LISTEN; - hsmbus->ErrorCode = HAL_SMBUS_ERROR_NONE; - hsmbus->Mode = HAL_SMBUS_MODE_SLAVE; - - /* Prepare transfer parameters */ - hsmbus->pBuffPtr = pData; - hsmbus->XferCount = Size; - hsmbus->XferOptions = XferOptions; - hsmbus->XferSize = hsmbus->XferCount; - - /* Clear ADDR flag after prepare the transfer parameters */ - /* This action will generate an acknowledge to the HOST */ - __HAL_SMBUS_CLEAR_ADDRFLAG(hsmbus); - - /* Process Unlocked */ - __HAL_UNLOCK(hsmbus); - - /* Note : The SMBUS interrupts must be enabled after unlocking current process - to avoid the risk of SMBUS interrupt handle execution before current - process unlock */ - - /* Enable EVT, BUF and ERR interrupt */ - __HAL_SMBUS_ENABLE_IT(hsmbus, SMBUS_IT_EVT | SMBUS_IT_BUF | SMBUS_IT_ERR); - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Enable the Address listen mode with Interrupt. - * @param hsmbus Pointer to a SMBUS_HandleTypeDef structure that contains - * the configuration information for the specified SMBUS. - * @param pData Pointer to data buffer - * @param Size Amount of data to be sent - * @param XferOptions Options of Transfer, value of @ref SMBUS_XferOptions_definition - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SMBUS_Slave_Receive_IT(SMBUS_HandleTypeDef *hsmbus, uint8_t *pData, uint16_t Size, uint32_t XferOptions) -{ - /* Check the parameters */ - assert_param(IS_SMBUS_TRANSFER_OPTIONS_REQUEST(XferOptions)); - - if (hsmbus->State == HAL_SMBUS_STATE_LISTEN) - { - if ((pData == NULL) || (Size == 0U)) - { - return HAL_ERROR; - } - - /* Process Locked */ - __HAL_LOCK(hsmbus); - - /* Check if the SMBUS is already enabled */ - if ((hsmbus->Instance->CR1 & I2C_CR1_PE) != I2C_CR1_PE) - { - /* Enable SMBUS peripheral */ - __HAL_SMBUS_ENABLE(hsmbus); - } - - /* Disable Pos */ - CLEAR_BIT(hsmbus->Instance->CR1, I2C_CR1_POS); - - hsmbus->State = HAL_SMBUS_STATE_BUSY_RX_LISTEN; - hsmbus->ErrorCode = HAL_SMBUS_ERROR_NONE; - hsmbus->Mode = HAL_SMBUS_MODE_SLAVE; - - - - /* Prepare transfer parameters */ - hsmbus->pBuffPtr = pData; - hsmbus->XferCount = Size; - hsmbus->XferOptions = XferOptions; - hsmbus->XferSize = hsmbus->XferCount; - - __HAL_SMBUS_CLEAR_ADDRFLAG(hsmbus); - - /* Process Unlocked */ - __HAL_UNLOCK(hsmbus); - - /* Note : The SMBUS interrupts must be enabled after unlocking current process - to avoid the risk of SMBUS interrupt handle execution before current - process unlock */ - - /* Enable EVT, BUF and ERR interrupt */ - __HAL_SMBUS_ENABLE_IT(hsmbus, SMBUS_IT_EVT | SMBUS_IT_BUF | SMBUS_IT_ERR); - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - - -/** - * @brief Enable the Address listen mode with Interrupt. - * @param hsmbus Pointer to a SMBUS_HandleTypeDef structure that contains - * the configuration information for the specified SMBUS. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SMBUS_EnableListen_IT(SMBUS_HandleTypeDef *hsmbus) -{ - if (hsmbus->State == HAL_SMBUS_STATE_READY) - { - hsmbus->State = HAL_SMBUS_STATE_LISTEN; - - /* Check if the SMBUS is already enabled */ - if ((hsmbus->Instance->CR1 & I2C_CR1_PE) != I2C_CR1_PE) - { - /* Enable SMBUS peripheral */ - __HAL_SMBUS_ENABLE(hsmbus); - } - - /* Enable Address Acknowledge */ - SET_BIT(hsmbus->Instance->CR1, I2C_CR1_ACK); - - /* Enable EVT and ERR interrupt */ - __HAL_SMBUS_ENABLE_IT(hsmbus, SMBUS_IT_EVT | SMBUS_IT_ERR); - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Disable the Address listen mode with Interrupt. - * @param hsmbus Pointer to a SMBUS_HandleTypeDef structure that contains - * the configuration information for the specified SMBUS. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SMBUS_DisableListen_IT(SMBUS_HandleTypeDef *hsmbus) -{ - /* Declaration of tmp to prevent undefined behavior of volatile usage */ - uint32_t tmp; - - /* Disable Address listen mode only if a transfer is not ongoing */ - if (hsmbus->State == HAL_SMBUS_STATE_LISTEN) - { - tmp = (uint32_t)(hsmbus->State) & SMBUS_STATE_MSK; - hsmbus->PreviousState = tmp | (uint32_t)(hsmbus->Mode); - hsmbus->State = HAL_SMBUS_STATE_READY; - hsmbus->Mode = HAL_SMBUS_MODE_NONE; - - /* Disable Address Acknowledge */ - CLEAR_BIT(hsmbus->Instance->CR1, I2C_CR1_ACK); - - /* Disable EVT and ERR interrupt */ - __HAL_SMBUS_DISABLE_IT(hsmbus, SMBUS_IT_EVT | SMBUS_IT_ERR); - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Enable the SMBUS alert mode with Interrupt. - * @param hsmbus Pointer to a SMBUS_HandleTypeDef structure that contains - * the configuration information for the specified SMBUSx peripheral. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SMBUS_EnableAlert_IT(SMBUS_HandleTypeDef *hsmbus) -{ - /* Enable SMBus alert */ - SET_BIT(hsmbus->Instance->CR1, I2C_CR1_ALERT); - - /* Clear ALERT flag */ - __HAL_SMBUS_CLEAR_FLAG(hsmbus, SMBUS_FLAG_SMBALERT); - - /* Enable Alert Interrupt */ - __HAL_SMBUS_ENABLE_IT(hsmbus, SMBUS_IT_ERR); - - return HAL_OK; -} -/** - * @brief Disable the SMBUS alert mode with Interrupt. - * @param hsmbus Pointer to a SMBUS_HandleTypeDef structure that contains - * the configuration information for the specified SMBUSx peripheral. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SMBUS_DisableAlert_IT(SMBUS_HandleTypeDef *hsmbus) -{ - /* Disable SMBus alert */ - CLEAR_BIT(hsmbus->Instance->CR1, I2C_CR1_ALERT); - - /* Disable Alert Interrupt */ - __HAL_SMBUS_DISABLE_IT(hsmbus, SMBUS_IT_ERR); - - return HAL_OK; -} - - -/** - * @brief Check if target device is ready for communication. - * @param hsmbus Pointer to a SMBUS_HandleTypeDef structure that contains - * the configuration information for the specified SMBUS. - * @param DevAddress Target device address The device 7 bits address value - * in datasheet must be shifted to the left before calling the interface - * @param Trials Number of trials - * @param Timeout Timeout duration - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SMBUS_IsDeviceReady(SMBUS_HandleTypeDef *hsmbus, uint16_t DevAddress, uint32_t Trials, uint32_t Timeout) -{ - uint32_t tickstart = 0U, tmp1 = 0U, tmp2 = 0U, tmp3 = 0U, SMBUS_Trials = 1U; - - /* Get tick */ - tickstart = HAL_GetTick(); - - if (hsmbus->State == HAL_SMBUS_STATE_READY) - { - /* Wait until BUSY flag is reset */ - if (SMBUS_WaitOnFlagUntilTimeout(hsmbus, SMBUS_FLAG_BUSY, SET, SMBUS_TIMEOUT_BUSY_FLAG, tickstart) != HAL_OK) - { - return HAL_BUSY; - } - - /* Process Locked */ - __HAL_LOCK(hsmbus); - - /* Check if the SMBUS is already enabled */ - if ((hsmbus->Instance->CR1 & I2C_CR1_PE) != I2C_CR1_PE) - { - /* Enable SMBUS peripheral */ - __HAL_SMBUS_ENABLE(hsmbus); - } - - /* Disable Pos */ - CLEAR_BIT(hsmbus->Instance->CR1, I2C_CR1_POS); - - hsmbus->State = HAL_SMBUS_STATE_BUSY; - hsmbus->ErrorCode = HAL_SMBUS_ERROR_NONE; - hsmbus->XferOptions = SMBUS_NO_OPTION_FRAME; - - do - { - /* Generate Start */ - SET_BIT(hsmbus->Instance->CR1, I2C_CR1_START); - - /* Wait until SB flag is set */ - if (SMBUS_WaitOnFlagUntilTimeout(hsmbus, SMBUS_FLAG_SB, RESET, Timeout, tickstart) != HAL_OK) - { - return HAL_TIMEOUT; - } - - /* Send slave address */ - hsmbus->Instance->DR = SMBUS_7BIT_ADD_WRITE(DevAddress); - - /* Wait until ADDR or AF flag are set */ - /* Get tick */ - tickstart = HAL_GetTick(); - - tmp1 = __HAL_SMBUS_GET_FLAG(hsmbus, SMBUS_FLAG_ADDR); - tmp2 = __HAL_SMBUS_GET_FLAG(hsmbus, SMBUS_FLAG_AF); - tmp3 = hsmbus->State; - while ((tmp1 == RESET) && (tmp2 == RESET) && (tmp3 != HAL_SMBUS_STATE_TIMEOUT)) - { - if ((Timeout == 0U) || ((HAL_GetTick() - tickstart) > Timeout)) - { - hsmbus->State = HAL_SMBUS_STATE_TIMEOUT; - } - tmp1 = __HAL_SMBUS_GET_FLAG(hsmbus, SMBUS_FLAG_ADDR); - tmp2 = __HAL_SMBUS_GET_FLAG(hsmbus, SMBUS_FLAG_AF); - tmp3 = hsmbus->State; - } - - hsmbus->State = HAL_SMBUS_STATE_READY; - - /* Check if the ADDR flag has been set */ - if (__HAL_SMBUS_GET_FLAG(hsmbus, SMBUS_FLAG_ADDR) == SET) - { - /* Generate Stop */ - SET_BIT(hsmbus->Instance->CR1, I2C_CR1_STOP); - - /* Clear ADDR Flag */ - __HAL_SMBUS_CLEAR_ADDRFLAG(hsmbus); - - /* Wait until BUSY flag is reset */ - if (SMBUS_WaitOnFlagUntilTimeout(hsmbus, SMBUS_FLAG_BUSY, SET, SMBUS_TIMEOUT_BUSY_FLAG, tickstart) != HAL_OK) - { - return HAL_TIMEOUT; - } - - hsmbus->State = HAL_SMBUS_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hsmbus); - - return HAL_OK; - } - else - { - /* Generate Stop */ - SET_BIT(hsmbus->Instance->CR1, I2C_CR1_STOP); - - /* Clear AF Flag */ - __HAL_SMBUS_CLEAR_FLAG(hsmbus, SMBUS_FLAG_AF); - - /* Wait until BUSY flag is reset */ - if (SMBUS_WaitOnFlagUntilTimeout(hsmbus, SMBUS_FLAG_BUSY, SET, SMBUS_TIMEOUT_BUSY_FLAG, tickstart) != HAL_OK) - { - return HAL_TIMEOUT; - } - } - } - while (SMBUS_Trials++ < Trials); - - hsmbus->State = HAL_SMBUS_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hsmbus); - - return HAL_ERROR; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief This function handles SMBUS event interrupt request. - * @param hsmbus Pointer to a SMBUS_HandleTypeDef structure that contains - * the configuration information for the specified SMBUS. - * @retval None - */ -void HAL_SMBUS_EV_IRQHandler(SMBUS_HandleTypeDef *hsmbus) -{ - uint32_t sr2itflags = READ_REG(hsmbus->Instance->SR2); - uint32_t sr1itflags = READ_REG(hsmbus->Instance->SR1); - uint32_t itsources = READ_REG(hsmbus->Instance->CR2); - - uint32_t CurrentMode = hsmbus->Mode; - - /* Master mode selected */ - if (CurrentMode == HAL_SMBUS_MODE_MASTER) - { - /* SB Set ----------------------------------------------------------------*/ - if (((sr1itflags & SMBUS_FLAG_SB) != RESET) && ((itsources & SMBUS_IT_EVT) != RESET)) - { - SMBUS_Master_SB(hsmbus); - } - /* ADD10 Set -------------------------------------------------------------*/ - else if (((sr1itflags & SMBUS_FLAG_ADD10) != RESET) && ((itsources & SMBUS_IT_EVT) != RESET)) - { - SMBUS_Master_ADD10(hsmbus); - } - /* ADDR Set --------------------------------------------------------------*/ - else if (((sr1itflags & SMBUS_FLAG_ADDR) != RESET) && ((itsources & SMBUS_IT_EVT) != RESET)) - { - SMBUS_Master_ADDR(hsmbus); - } - /* SMBUS in mode Transmitter -----------------------------------------------*/ - if ((sr2itflags & SMBUS_FLAG_TRA) != RESET) - { - /* TXE set and BTF reset -----------------------------------------------*/ - if (((sr1itflags & SMBUS_FLAG_TXE) != RESET) && ((itsources & SMBUS_IT_BUF) != RESET) && ((sr1itflags & SMBUS_FLAG_BTF) == RESET)) - { - SMBUS_MasterTransmit_TXE(hsmbus); - } - /* BTF set -------------------------------------------------------------*/ - else if (((sr1itflags & SMBUS_FLAG_BTF) != RESET) && ((itsources & SMBUS_IT_EVT) != RESET)) - { - SMBUS_MasterTransmit_BTF(hsmbus); - } - } - /* SMBUS in mode Receiver --------------------------------------------------*/ - else - { - /* RXNE set and BTF reset -----------------------------------------------*/ - if (((sr1itflags & SMBUS_FLAG_RXNE) != RESET) && ((itsources & SMBUS_IT_BUF) != RESET) && ((sr1itflags & SMBUS_FLAG_BTF) == RESET)) - { - SMBUS_MasterReceive_RXNE(hsmbus); - } - /* BTF set -------------------------------------------------------------*/ - else if (((sr1itflags & SMBUS_FLAG_BTF) != RESET) && ((itsources & SMBUS_IT_EVT) != RESET)) - { - SMBUS_MasterReceive_BTF(hsmbus); - } - } - } - /* Slave mode selected */ - else - { - /* ADDR set --------------------------------------------------------------*/ - if (((sr1itflags & SMBUS_FLAG_ADDR) != RESET) && ((itsources & SMBUS_IT_EVT) != RESET)) - { - SMBUS_Slave_ADDR(hsmbus); - } - /* STOPF set --------------------------------------------------------------*/ - else if (((sr1itflags & SMBUS_FLAG_STOPF) != RESET) && ((itsources & SMBUS_IT_EVT) != RESET)) - { - SMBUS_Slave_STOPF(hsmbus); - } - /* SMBUS in mode Transmitter -----------------------------------------------*/ - else if ((sr2itflags & SMBUS_FLAG_TRA) != RESET) - { - /* TXE set and BTF reset -----------------------------------------------*/ - if (((sr1itflags & SMBUS_FLAG_TXE) != RESET) && ((itsources & SMBUS_IT_BUF) != RESET) && ((sr1itflags & SMBUS_FLAG_BTF) == RESET)) - { - SMBUS_SlaveTransmit_TXE(hsmbus); - } - /* BTF set -------------------------------------------------------------*/ - else if (((sr1itflags & SMBUS_FLAG_BTF) != RESET) && ((itsources & SMBUS_IT_EVT) != RESET)) - { - SMBUS_SlaveTransmit_BTF(hsmbus); - } - } - /* SMBUS in mode Receiver --------------------------------------------------*/ - else - { - /* RXNE set and BTF reset ----------------------------------------------*/ - if (((sr1itflags & SMBUS_FLAG_RXNE) != RESET) && ((itsources & SMBUS_IT_BUF) != RESET) && ((sr1itflags & SMBUS_FLAG_BTF) == RESET)) - { - SMBUS_SlaveReceive_RXNE(hsmbus); - } - /* BTF set -------------------------------------------------------------*/ - else if (((sr1itflags & SMBUS_FLAG_BTF) != RESET) && ((itsources & SMBUS_IT_EVT) != RESET)) - { - SMBUS_SlaveReceive_BTF(hsmbus); - } - } - } -} - -/** - * @brief This function handles SMBUS error interrupt request. - * @param hsmbus Pointer to a SMBUS_HandleTypeDef structure that contains - * the configuration information for the specified SMBUS. - * @retval None - */ -void HAL_SMBUS_ER_IRQHandler(SMBUS_HandleTypeDef *hsmbus) -{ - uint32_t tmp1 = 0U, tmp2 = 0U, tmp3 = 0U, tmp4 = 0U; - uint32_t sr1itflags = READ_REG(hsmbus->Instance->SR1); - uint32_t itsources = READ_REG(hsmbus->Instance->CR2); - - /* SMBUS Bus error interrupt occurred ------------------------------------*/ - if (((sr1itflags & SMBUS_FLAG_BERR) != RESET) && ((itsources & SMBUS_IT_ERR) != RESET)) - { - hsmbus->ErrorCode |= HAL_SMBUS_ERROR_BERR; - - /* Clear BERR flag */ - __HAL_SMBUS_CLEAR_FLAG(hsmbus, SMBUS_FLAG_BERR); - - } - - /* SMBUS Over-Run/Under-Run interrupt occurred ----------------------------------------*/ - if (((sr1itflags & SMBUS_FLAG_OVR) != RESET) && ((itsources & SMBUS_IT_ERR) != RESET)) - { - hsmbus->ErrorCode |= HAL_SMBUS_ERROR_OVR; - - /* Clear OVR flag */ - __HAL_SMBUS_CLEAR_FLAG(hsmbus, SMBUS_FLAG_OVR); - } - - /* SMBUS Arbitration Loss error interrupt occurred ------------------------------------*/ - if (((sr1itflags & SMBUS_FLAG_ARLO) != RESET) && ((itsources & SMBUS_IT_ERR) != RESET)) - { - hsmbus->ErrorCode |= HAL_SMBUS_ERROR_ARLO; - - /* Clear ARLO flag */ - __HAL_SMBUS_CLEAR_FLAG(hsmbus, SMBUS_FLAG_ARLO); - } - - /* SMBUS Acknowledge failure error interrupt occurred ------------------------------------*/ - if (((sr1itflags & SMBUS_FLAG_AF) != RESET) && ((itsources & SMBUS_IT_ERR) != RESET)) - { - tmp1 = hsmbus->Mode; - tmp2 = hsmbus->XferCount; - tmp3 = hsmbus->State; - tmp4 = hsmbus->PreviousState; - - if ((tmp1 == HAL_SMBUS_MODE_SLAVE) && (tmp2 == 0U) && \ - ((tmp3 == HAL_SMBUS_STATE_BUSY_TX) || (tmp3 == HAL_SMBUS_STATE_BUSY_TX_LISTEN) || \ - ((tmp3 == HAL_SMBUS_STATE_LISTEN) && (tmp4 == SMBUS_STATE_SLAVE_BUSY_TX)))) - { - SMBUS_Slave_AF(hsmbus); - } - else - { - hsmbus->ErrorCode |= HAL_SMBUS_ERROR_AF; - - /* Do not generate a STOP in case of Slave receive non acknowledge during transfer (mean not at the end of transfer) */ - if (hsmbus->Mode == HAL_SMBUS_MODE_MASTER) - { - /* Generate Stop */ - SET_BIT(hsmbus->Instance->CR1, I2C_CR1_STOP); - - } - - /* Clear AF flag */ - __HAL_SMBUS_CLEAR_FLAG(hsmbus, SMBUS_FLAG_AF); - } - } - - /* SMBUS Timeout error interrupt occurred ---------------------------------------------*/ - if (((sr1itflags & SMBUS_FLAG_TIMEOUT) != RESET) && ((itsources & SMBUS_IT_ERR) != RESET)) - { - hsmbus->ErrorCode |= HAL_SMBUS_ERROR_TIMEOUT; - - /* Clear TIMEOUT flag */ - __HAL_SMBUS_CLEAR_FLAG(hsmbus, SMBUS_FLAG_TIMEOUT); - - } - - /* SMBUS Alert error interrupt occurred -----------------------------------------------*/ - if (((sr1itflags & SMBUS_FLAG_SMBALERT) != RESET) && ((itsources & SMBUS_IT_ERR) != RESET)) - { - hsmbus->ErrorCode |= HAL_SMBUS_ERROR_ALERT; - - /* Clear ALERT flag */ - __HAL_SMBUS_CLEAR_FLAG(hsmbus, SMBUS_FLAG_SMBALERT); - } - - /* SMBUS Packet Error Check error interrupt occurred ----------------------------------*/ - if (((sr1itflags & SMBUS_FLAG_PECERR) != RESET) && ((itsources & SMBUS_IT_ERR) != RESET)) - { - hsmbus->ErrorCode |= HAL_SMBUS_ERROR_PECERR; - - /* Clear PEC error flag */ - __HAL_SMBUS_CLEAR_FLAG(hsmbus, SMBUS_FLAG_PECERR); - } - - /* Call the Error Callback in case of Error detected -----------------------*/ - if (hsmbus->ErrorCode != HAL_SMBUS_ERROR_NONE) - { - SMBUS_ITError(hsmbus); - } -} - -/** - * @brief Master Tx Transfer completed callback. - * @param hsmbus Pointer to a SMBUS_HandleTypeDef structure that contains - * the configuration information for the specified SMBUS. - * @retval None - */ -__weak void HAL_SMBUS_MasterTxCpltCallback(SMBUS_HandleTypeDef *hsmbus) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hsmbus); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_SMBUS_MasterTxCpltCallback can be implemented in the user file - */ -} - -/** - * @brief Master Rx Transfer completed callback. - * @param hsmbus Pointer to a SMBUS_HandleTypeDef structure that contains - * the configuration information for the specified SMBUS. - * @retval None - */ -__weak void HAL_SMBUS_MasterRxCpltCallback(SMBUS_HandleTypeDef *hsmbus) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hsmbus); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_SMBUS_MasterRxCpltCallback can be implemented in the user file - */ -} - -/** @brief Slave Tx Transfer completed callback. - * @param hsmbus Pointer to a SMBUS_HandleTypeDef structure that contains - * the configuration information for the specified SMBUS. - * @retval None - */ -__weak void HAL_SMBUS_SlaveTxCpltCallback(SMBUS_HandleTypeDef *hsmbus) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hsmbus); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_SMBUS_SlaveTxCpltCallback can be implemented in the user file - */ -} - -/** - * @brief Slave Rx Transfer completed callback. - * @param hsmbus Pointer to a SMBUS_HandleTypeDef structure that contains - * the configuration information for the specified SMBUS. - * @retval None - */ -__weak void HAL_SMBUS_SlaveRxCpltCallback(SMBUS_HandleTypeDef *hsmbus) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hsmbus); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_SMBUS_SlaveRxCpltCallback can be implemented in the user file - */ -} - -/** - * @brief Slave Address Match callback. - * @param hsmbus Pointer to a SMBUS_HandleTypeDef structure that contains - * the configuration information for the specified SMBUS. - * @param TransferDirection Master request Transfer Direction (Write/Read), value of @ref SMBUS_XferOptions_definition - * @param AddrMatchCode Address Match Code - * @retval None - */ -__weak void HAL_SMBUS_AddrCallback(SMBUS_HandleTypeDef *hsmbus, uint8_t TransferDirection, uint16_t AddrMatchCode) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hsmbus); - UNUSED(TransferDirection); - UNUSED(AddrMatchCode); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_SMBUS_AddrCallback can be implemented in the user file - */ -} - -/** - * @brief Listen Complete callback. - * @param hsmbus Pointer to a SMBUS_HandleTypeDef structure that contains - * the configuration information for the specified SMBUS. - * @retval None - */ -__weak void HAL_SMBUS_ListenCpltCallback(SMBUS_HandleTypeDef *hsmbus) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hsmbus); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_SMBUS_ListenCpltCallback can be implemented in the user file - */ -} - -/** - * @brief SMBUS error callback. - * @param hsmbus Pointer to a SMBUS_HandleTypeDef structure that contains - * the configuration information for the specified SMBUS. - * @retval None - */ -__weak void HAL_SMBUS_ErrorCallback(SMBUS_HandleTypeDef *hsmbus) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hsmbus); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_SMBUS_ErrorCallback can be implemented in the user file - */ -} - -/** - * @brief SMBUS abort callback. - * @param hsmbus Pointer to a SMBUS_HandleTypeDef structure that contains - * the configuration information for the specified SMBUS. - * @retval None - */ -__weak void HAL_SMBUS_AbortCpltCallback(SMBUS_HandleTypeDef *hsmbus) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hsmbus); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_SMBUS_AbortCpltCallback could be implemented in the user file - */ -} - -/** - * @} - */ - -/** @defgroup SMBUS_Exported_Functions_Group3 Peripheral State, Mode and Error functions - * @brief Peripheral State and Errors functions - * -@verbatim - =============================================================================== - ##### Peripheral State, Mode and Error functions ##### - =============================================================================== - [..] - This subsection permits to get in run-time the status of the peripheral - and the data flow. - -@endverbatim - * @{ - */ - -/** - * @brief Return the SMBUS handle state. - * @param hsmbus Pointer to a SMBUS_HandleTypeDef structure that contains - * the configuration information for the specified SMBUS. - * @retval HAL state - */ -HAL_SMBUS_StateTypeDef HAL_SMBUS_GetState(SMBUS_HandleTypeDef *hsmbus) -{ - /* Return SMBUS handle state */ - return hsmbus->State; -} - -/** - * @brief Return the SMBUS Master, Slave or no mode. - * @param hsmbus Pointer to a SMBUS_HandleTypeDef structure that contains - * the configuration information for SMBUS module - * @retval HAL mode - */ -HAL_SMBUS_ModeTypeDef HAL_SMBUS_GetMode(SMBUS_HandleTypeDef *hsmbus) -{ - return hsmbus->Mode; -} - -/** - * @brief Return the SMBUS error code - * @param hsmbus Pointer to a SMBUS_HandleTypeDef structure that contains - * the configuration information for the specified SMBUS. - * @retval SMBUS Error Code - */ -uint32_t HAL_SMBUS_GetError(SMBUS_HandleTypeDef *hsmbus) -{ - return hsmbus->ErrorCode; -} - -/** - * @} - */ - -/** - * @} - */ - -/** @addtogroup SMBUS_Private_Functions - * @{ - */ - -/** - * @brief Handle TXE flag for Master - * @param hsmbus Pointer to a SMBUS_HandleTypeDef structure that contains - * the configuration information for SMBUS module - * @retval HAL status - */ -static HAL_StatusTypeDef SMBUS_MasterTransmit_TXE(SMBUS_HandleTypeDef *hsmbus) -{ - /* Declaration of temporary variables to prevent undefined behavior of volatile usage */ - uint32_t CurrentState = hsmbus->State; - uint32_t CurrentXferOptions = hsmbus->XferOptions; - - if ((hsmbus->XferSize == 0U) && (CurrentState == HAL_SMBUS_STATE_BUSY_TX)) - { - /* Call TxCpltCallback() directly if no stop mode is set */ - if (((CurrentXferOptions == SMBUS_FIRST_FRAME) || (CurrentXferOptions == SMBUS_NEXT_FRAME)) && (CurrentXferOptions != SMBUS_NO_OPTION_FRAME)) - { - __HAL_SMBUS_DISABLE_IT(hsmbus, SMBUS_IT_EVT | SMBUS_IT_BUF | SMBUS_IT_ERR); - - hsmbus->PreviousState = SMBUS_STATE_MASTER_BUSY_TX; - hsmbus->Mode = HAL_SMBUS_MODE_NONE; - hsmbus->State = HAL_SMBUS_STATE_READY; - -#if (USE_HAL_SMBUS_REGISTER_CALLBACKS == 1) - hsmbus->MasterTxCpltCallback(hsmbus); -#else - HAL_SMBUS_MasterTxCpltCallback(hsmbus); -#endif /* USE_HAL_SMBUS_REGISTER_CALLBACKS */ - } - else /* Generate Stop condition then Call TxCpltCallback() */ - { - /* Disable EVT, BUF and ERR interrupt */ - __HAL_SMBUS_DISABLE_IT(hsmbus, SMBUS_IT_EVT | SMBUS_IT_BUF | SMBUS_IT_ERR); - - /* Generate Stop */ - SET_BIT(hsmbus->Instance->CR1, I2C_CR1_STOP); - - hsmbus->PreviousState = HAL_SMBUS_STATE_READY; - hsmbus->State = HAL_SMBUS_STATE_READY; - - hsmbus->Mode = HAL_SMBUS_MODE_NONE; -#if (USE_HAL_SMBUS_REGISTER_CALLBACKS == 1) - hsmbus->MasterTxCpltCallback(hsmbus); -#else - HAL_SMBUS_MasterTxCpltCallback(hsmbus); -#endif /* USE_HAL_SMBUS_REGISTER_CALLBACKS */ - } - } - else if (CurrentState == HAL_SMBUS_STATE_BUSY_TX) - { - - if ((hsmbus->XferCount == 2U) && (SMBUS_GET_PEC_MODE(hsmbus) == SMBUS_PEC_ENABLE) && ((hsmbus->XferOptions == SMBUS_FIRST_AND_LAST_FRAME_WITH_PEC) || (hsmbus->XferOptions == SMBUS_LAST_FRAME_WITH_PEC))) - { - hsmbus->XferCount--; - } - - if (hsmbus->XferCount == 0U) - { - - /* Disable BUF interrupt */ - __HAL_SMBUS_DISABLE_IT(hsmbus, SMBUS_IT_BUF); - - if ((SMBUS_GET_PEC_MODE(hsmbus) == SMBUS_PEC_ENABLE) && ((hsmbus->XferOptions == SMBUS_FIRST_AND_LAST_FRAME_WITH_PEC) || (hsmbus->XferOptions == SMBUS_LAST_FRAME_WITH_PEC))) - { - SET_BIT(hsmbus->Instance->CR1, I2C_CR1_PEC); - } - - } - else - { - /* Write data to DR */ - hsmbus->Instance->DR = (*hsmbus->pBuffPtr++); - hsmbus->XferCount--; - } - } - return HAL_OK; -} - -/** - * @brief Handle BTF flag for Master transmitter - * @param hsmbus Pointer to a SMBUS_HandleTypeDef structure that contains - * the configuration information for SMBUS module - * @retval HAL status - */ -static HAL_StatusTypeDef SMBUS_MasterTransmit_BTF(SMBUS_HandleTypeDef *hsmbus) -{ - /* Declaration of temporary variables to prevent undefined behavior of volatile usage */ - uint32_t CurrentXferOptions = hsmbus->XferOptions; - - if (hsmbus->State == HAL_SMBUS_STATE_BUSY_TX) - { - if (hsmbus->XferCount != 0U) - { - /* Write data to DR */ - hsmbus->Instance->DR = (*hsmbus->pBuffPtr++); - hsmbus->XferCount--; - } - else - { - /* Call TxCpltCallback() directly if no stop mode is set */ - if (((CurrentXferOptions == SMBUS_FIRST_FRAME) || (CurrentXferOptions == SMBUS_NEXT_FRAME)) && (CurrentXferOptions != SMBUS_NO_OPTION_FRAME)) - { - __HAL_SMBUS_DISABLE_IT(hsmbus, SMBUS_IT_EVT | SMBUS_IT_BUF | SMBUS_IT_ERR); - - hsmbus->PreviousState = SMBUS_STATE_MASTER_BUSY_TX; - hsmbus->Mode = HAL_SMBUS_MODE_NONE; - hsmbus->State = HAL_SMBUS_STATE_READY; - -#if (USE_HAL_SMBUS_REGISTER_CALLBACKS == 1) - hsmbus->MasterTxCpltCallback(hsmbus); -#else - HAL_SMBUS_MasterTxCpltCallback(hsmbus); -#endif /* USE_HAL_SMBUS_REGISTER_CALLBACKS */ - } - else /* Generate Stop condition then Call TxCpltCallback() */ - { - /* Disable EVT, BUF and ERR interrupt */ - __HAL_SMBUS_DISABLE_IT(hsmbus, SMBUS_IT_EVT | SMBUS_IT_BUF | SMBUS_IT_ERR); - - /* Generate Stop */ - SET_BIT(hsmbus->Instance->CR1, I2C_CR1_STOP); - - hsmbus->PreviousState = HAL_SMBUS_STATE_READY; - hsmbus->State = HAL_SMBUS_STATE_READY; - hsmbus->Mode = HAL_SMBUS_MODE_NONE; -#if (USE_HAL_SMBUS_REGISTER_CALLBACKS == 1) - hsmbus->MasterTxCpltCallback(hsmbus); -#else - HAL_SMBUS_MasterTxCpltCallback(hsmbus); -#endif /* USE_HAL_SMBUS_REGISTER_CALLBACKS */ - } - } - } - return HAL_OK; -} - -/** - * @brief Handle RXNE flag for Master - * @param hsmbus Pointer to a SMBUS_HandleTypeDef structure that contains - * the configuration information for SMBUS module - * @retval HAL status - */ -static HAL_StatusTypeDef SMBUS_MasterReceive_RXNE(SMBUS_HandleTypeDef *hsmbus) -{ - /* Declaration of temporary variables to prevent undefined behavior of volatile usage */ - uint32_t CurrentXferOptions = hsmbus->XferOptions; - - if (hsmbus->State == HAL_SMBUS_STATE_BUSY_RX) - { - uint32_t tmp = hsmbus->XferCount; - - if (tmp > 3U) - { - /* Read data from DR */ - (*hsmbus->pBuffPtr++) = hsmbus->Instance->DR; - hsmbus->XferCount--; - - if (hsmbus->XferCount == 3) - { - /* Disable BUF interrupt, this help to treat correctly the last 4 bytes - on BTF subroutine */ - /* Disable BUF interrupt */ - __HAL_SMBUS_DISABLE_IT(hsmbus, SMBUS_IT_BUF); - } - } - - else if (tmp == 2U) - { - - /* Read data from DR */ - (*hsmbus->pBuffPtr++) = hsmbus->Instance->DR; - hsmbus->XferCount--; - - if ((CurrentXferOptions == SMBUS_FIRST_AND_LAST_FRAME_WITH_PEC) || (CurrentXferOptions == SMBUS_LAST_FRAME_WITH_PEC)) - { - /* PEC of slave */ - hsmbus->XferPEC = SMBUS_GET_PEC(hsmbus); - - } - /* Generate Stop */ - SET_BIT(hsmbus->Instance->CR1, I2C_CR1_STOP); - } - - else if ((tmp == 1U) || (tmp == 0U)) - { - /* Disable Acknowledge */ - CLEAR_BIT(hsmbus->Instance->CR1, I2C_CR1_ACK); - - /* Disable EVT, BUF and ERR interrupt */ - __HAL_SMBUS_DISABLE_IT(hsmbus, SMBUS_IT_EVT | SMBUS_IT_BUF | SMBUS_IT_ERR); - - /* Read data from DR */ - (*hsmbus->pBuffPtr++) = hsmbus->Instance->DR; - hsmbus->XferCount--; - - hsmbus->State = HAL_SMBUS_STATE_READY; - hsmbus->PreviousState = SMBUS_STATE_NONE; - hsmbus->Mode = HAL_SMBUS_MODE_NONE; - -#if (USE_HAL_SMBUS_REGISTER_CALLBACKS == 1) - hsmbus->MasterRxCpltCallback(hsmbus); -#else - HAL_SMBUS_MasterRxCpltCallback(hsmbus); -#endif /* USE_HAL_SMBUS_REGISTER_CALLBACKS */ - } - } - - return HAL_OK; -} - -/** - * @brief Handle BTF flag for Master receiver - * @param hsmbus Pointer to a SMBUS_HandleTypeDef structure that contains - * the configuration information for SMBUS module - * @retval HAL status - */ -static HAL_StatusTypeDef SMBUS_MasterReceive_BTF(SMBUS_HandleTypeDef *hsmbus) -{ - /* Declaration of temporary variables to prevent undefined behavior of volatile usage */ - uint32_t CurrentXferOptions = hsmbus->XferOptions; - - if (hsmbus->XferCount == 4U) - { - /* Disable BUF interrupt, this help to treat correctly the last 2 bytes - on BTF subroutine if there is a reception delay between N-1 and N byte */ - __HAL_SMBUS_DISABLE_IT(hsmbus, SMBUS_IT_BUF); - - /* Read data from DR */ - (*hsmbus->pBuffPtr++) = hsmbus->Instance->DR; - hsmbus->XferCount--; - hsmbus->XferPEC = SMBUS_GET_PEC(hsmbus); - } - else if (hsmbus->XferCount == 3U) - { - /* Disable BUF interrupt, this help to treat correctly the last 2 bytes - on BTF subroutine if there is a reception delay between N-1 and N byte */ - __HAL_SMBUS_DISABLE_IT(hsmbus, SMBUS_IT_BUF); - - /* Disable Acknowledge */ - CLEAR_BIT(hsmbus->Instance->CR1, I2C_CR1_ACK); - - /* Read data from DR */ - (*hsmbus->pBuffPtr++) = hsmbus->Instance->DR; - hsmbus->XferCount--; - hsmbus->XferPEC = SMBUS_GET_PEC(hsmbus); - } - else if (hsmbus->XferCount == 2U) - { - /* Prepare next transfer or stop current transfer */ - if ((CurrentXferOptions == SMBUS_NEXT_FRAME) || (CurrentXferOptions == SMBUS_FIRST_FRAME)) - { - /* Disable Acknowledge */ - CLEAR_BIT(hsmbus->Instance->CR1, I2C_CR1_ACK); - - /* Generate ReStart */ - SET_BIT(hsmbus->Instance->CR1, I2C_CR1_START); - } - else - { - /* Generate Stop */ - SET_BIT(hsmbus->Instance->CR1, I2C_CR1_STOP); - } - - /* Read data from DR */ - (*hsmbus->pBuffPtr++) = hsmbus->Instance->DR; - hsmbus->XferCount--; - - /* Read data from DR */ - (*hsmbus->pBuffPtr++) = hsmbus->Instance->DR; - hsmbus->XferCount--; - - /* Disable EVT and ERR interrupt */ - __HAL_SMBUS_DISABLE_IT(hsmbus, SMBUS_IT_EVT | SMBUS_IT_ERR); - - hsmbus->State = HAL_SMBUS_STATE_READY; - hsmbus->PreviousState = SMBUS_STATE_NONE; - hsmbus->Mode = HAL_SMBUS_MODE_NONE; -#if (USE_HAL_SMBUS_REGISTER_CALLBACKS == 1) - hsmbus->MasterRxCpltCallback(hsmbus); -#else - HAL_SMBUS_MasterRxCpltCallback(hsmbus); -#endif /* USE_HAL_SMBUS_REGISTER_CALLBACKS */ - } - else - { - /* Read data from DR */ - (*hsmbus->pBuffPtr++) = hsmbus->Instance->DR; - hsmbus->XferCount--; - } - return HAL_OK; -} - -/** - * @brief Handle SB flag for Master - * @param hsmbus Pointer to a SMBUS_HandleTypeDef structure that contains - * the configuration information for SMBUS module - * @retval HAL status - */ -static HAL_StatusTypeDef SMBUS_Master_SB(SMBUS_HandleTypeDef *hsmbus) -{ - if (hsmbus->Init.AddressingMode == SMBUS_ADDRESSINGMODE_7BIT) - { - /* Send slave 7 Bits address */ - if (hsmbus->State == HAL_SMBUS_STATE_BUSY_TX) - { - hsmbus->Instance->DR = SMBUS_7BIT_ADD_WRITE(hsmbus->Devaddress); - } - else - { - hsmbus->Instance->DR = SMBUS_7BIT_ADD_READ(hsmbus->Devaddress); - } - } - else - { - if (hsmbus->EventCount == 0U) - { - /* Send header of slave address */ - hsmbus->Instance->DR = SMBUS_10BIT_HEADER_WRITE(hsmbus->Devaddress); - } - else if (hsmbus->EventCount == 1U) - { - /* Send header of slave address */ - hsmbus->Instance->DR = SMBUS_10BIT_HEADER_READ(hsmbus->Devaddress); - } - } - return HAL_OK; -} - -/** - * @brief Handle ADD10 flag for Master - * @param hsmbus Pointer to a SMBUS_HandleTypeDef structure that contains - * the configuration information for SMBUS module - * @retval HAL status - */ -static HAL_StatusTypeDef SMBUS_Master_ADD10(SMBUS_HandleTypeDef *hsmbus) -{ - /* Send slave address */ - hsmbus->Instance->DR = SMBUS_10BIT_ADDRESS(hsmbus->Devaddress); - - return HAL_OK; -} - -/** - * @brief Handle ADDR flag for Master - * @param hsmbus Pointer to a SMBUS_HandleTypeDef structure that contains - * the configuration information for SMBUS module - * @retval HAL status - */ -static HAL_StatusTypeDef SMBUS_Master_ADDR(SMBUS_HandleTypeDef *hsmbus) -{ - /* Declaration of temporary variable to prevent undefined behavior of volatile usage */ - uint32_t Prev_State = hsmbus->PreviousState; - - if (hsmbus->State == HAL_SMBUS_STATE_BUSY_RX) - { - if ((hsmbus->EventCount == 0U) && (hsmbus->Init.AddressingMode == SMBUS_ADDRESSINGMODE_10BIT)) - { - /* Clear ADDR flag */ - __HAL_SMBUS_CLEAR_ADDRFLAG(hsmbus); - - /* Generate Restart */ - SET_BIT(hsmbus->Instance->CR1, I2C_CR1_START); - - hsmbus->EventCount++; - } - else - { - /* In the case of the Quick Command, the ADDR flag is cleared and a stop is generated */ - if (hsmbus->XferCount == 0U) - { - /* Clear ADDR flag */ - __HAL_SMBUS_CLEAR_ADDRFLAG(hsmbus); - - /* Generate Stop */ - SET_BIT(hsmbus->Instance->CR1, I2C_CR1_STOP); - } - else if (hsmbus->XferCount == 1U) - { - /* Prepare next transfer or stop current transfer */ - if ((hsmbus->XferOptions == SMBUS_FIRST_FRAME) && (Prev_State != SMBUS_STATE_MASTER_BUSY_RX)) - { - /* Disable Acknowledge */ - CLEAR_BIT(hsmbus->Instance->CR1, I2C_CR1_ACK); - - /* Clear ADDR flag */ - __HAL_SMBUS_CLEAR_ADDRFLAG(hsmbus); - } - else if ((hsmbus->XferOptions == SMBUS_NEXT_FRAME) && (Prev_State != SMBUS_STATE_MASTER_BUSY_RX)) - { - /* Enable Acknowledge */ - SET_BIT(hsmbus->Instance->CR1, I2C_CR1_ACK); - - /* Clear ADDR flag */ - __HAL_SMBUS_CLEAR_ADDRFLAG(hsmbus); - } - else - { - /* Disable Acknowledge */ - CLEAR_BIT(hsmbus->Instance->CR1, I2C_CR1_ACK); - - /* Clear ADDR flag */ - __HAL_SMBUS_CLEAR_ADDRFLAG(hsmbus); - - /* Generate Stop */ - SET_BIT(hsmbus->Instance->CR1, I2C_CR1_STOP); - } - } - else if (hsmbus->XferCount == 2U) - { - if (hsmbus->XferOptions != SMBUS_NEXT_FRAME) - { - /* Disable Acknowledge */ - CLEAR_BIT(hsmbus->Instance->CR1, I2C_CR1_ACK); - - /* Enable Pos */ - SET_BIT(hsmbus->Instance->CR1, I2C_CR1_POS); - - - } - else - { - /* Enable Acknowledge */ - SET_BIT(hsmbus->Instance->CR1, I2C_CR1_ACK); - } - - /* Clear ADDR flag */ - __HAL_SMBUS_CLEAR_ADDRFLAG(hsmbus); - } - else - { - /* Enable Acknowledge */ - SET_BIT(hsmbus->Instance->CR1, I2C_CR1_ACK); - - /* Clear ADDR flag */ - __HAL_SMBUS_CLEAR_ADDRFLAG(hsmbus); - } - - /* Reset Event counter */ - hsmbus->EventCount = 0U; - } - } - else - { - /* Clear ADDR flag */ - __HAL_SMBUS_CLEAR_ADDRFLAG(hsmbus); - } - - return HAL_OK; -} - -/** - * @brief Handle TXE flag for Slave - * @param hsmbus Pointer to a SMBUS_HandleTypeDef structure that contains - * the configuration information for SMBUS module - * @retval HAL status - */ -static HAL_StatusTypeDef SMBUS_SlaveTransmit_TXE(SMBUS_HandleTypeDef *hsmbus) -{ - /* Declaration of temporary variables to prevent undefined behavior of volatile usage */ - uint32_t CurrentState = hsmbus->State; - - if (hsmbus->XferCount != 0U) - { - /* Write data to DR */ - hsmbus->Instance->DR = (*hsmbus->pBuffPtr++); - hsmbus->XferCount--; - - if ((hsmbus->XferCount == 2U) && (SMBUS_GET_PEC_MODE(hsmbus) == SMBUS_PEC_ENABLE) && ((hsmbus->XferOptions == SMBUS_FIRST_AND_LAST_FRAME_WITH_PEC) || (hsmbus->XferOptions == SMBUS_LAST_FRAME_WITH_PEC))) - { - hsmbus->XferCount--; - } - - if ((hsmbus->XferCount == 0U) && (CurrentState == (HAL_SMBUS_STATE_BUSY_TX_LISTEN))) - { - /* Last Byte is received, disable Interrupt */ - __HAL_SMBUS_DISABLE_IT(hsmbus, SMBUS_IT_BUF); - - /* Set state at HAL_SMBUS_STATE_LISTEN */ - hsmbus->PreviousState = SMBUS_STATE_SLAVE_BUSY_TX; - hsmbus->State = HAL_SMBUS_STATE_LISTEN; - - /* Call the corresponding callback to inform upper layer of End of Transfer */ -#if (USE_HAL_SMBUS_REGISTER_CALLBACKS == 1) - hsmbus->SlaveTxCpltCallback(hsmbus); -#else - HAL_SMBUS_SlaveTxCpltCallback(hsmbus); -#endif /* USE_HAL_SMBUS_REGISTER_CALLBACKS */ - } - } - return HAL_OK; -} - -/** - * @brief Handle BTF flag for Slave transmitter - * @param hsmbus Pointer to a SMBUS_HandleTypeDef structure that contains - * the configuration information for SMBUS module - * @retval HAL status - */ -static HAL_StatusTypeDef SMBUS_SlaveTransmit_BTF(SMBUS_HandleTypeDef *hsmbus) -{ - if (hsmbus->XferCount != 0U) - { - /* Write data to DR */ - hsmbus->Instance->DR = (*hsmbus->pBuffPtr++); - hsmbus->XferCount--; - } - - - - else if ((hsmbus->XferCount == 0U) && (SMBUS_GET_PEC_MODE(hsmbus) == SMBUS_PEC_ENABLE) && ((hsmbus->XferOptions == SMBUS_FIRST_AND_LAST_FRAME_WITH_PEC) || (hsmbus->XferOptions == SMBUS_LAST_FRAME_WITH_PEC))) - { - SET_BIT(hsmbus->Instance->CR1, I2C_CR1_PEC); - } - return HAL_OK; -} - -/** - * @brief Handle RXNE flag for Slave - * @param hsmbus Pointer to a SMBUS_HandleTypeDef structure that contains - * the configuration information for SMBUS module - * @retval HAL status - */ -static HAL_StatusTypeDef SMBUS_SlaveReceive_RXNE(SMBUS_HandleTypeDef *hsmbus) -{ - /* Declaration of temporary variables to prevent undefined behavior of volatile usage */ - uint32_t CurrentState = hsmbus->State; - - if (hsmbus->XferCount != 0U) - { - /* Read data from DR */ - (*hsmbus->pBuffPtr++) = hsmbus->Instance->DR; - hsmbus->XferCount--; - - if ((hsmbus->XferCount == 1U) && (SMBUS_GET_PEC_MODE(hsmbus) == SMBUS_PEC_ENABLE) && ((hsmbus->XferOptions == SMBUS_FIRST_AND_LAST_FRAME_WITH_PEC) || (hsmbus->XferOptions == SMBUS_LAST_FRAME_WITH_PEC))) - { - SET_BIT(hsmbus->Instance->CR1, I2C_CR1_PEC); - hsmbus->XferPEC = SMBUS_GET_PEC(hsmbus); - } - if ((hsmbus->XferCount == 0U) && (CurrentState == HAL_SMBUS_STATE_BUSY_RX_LISTEN)) - { - /* Last Byte is received, disable Interrupt */ - __HAL_SMBUS_DISABLE_IT(hsmbus, SMBUS_IT_BUF); - - /* Set state at HAL_SMBUS_STATE_LISTEN */ - hsmbus->PreviousState = SMBUS_STATE_SLAVE_BUSY_RX; - hsmbus->State = HAL_SMBUS_STATE_LISTEN; - - /* Call the corresponding callback to inform upper layer of End of Transfer */ -#if (USE_HAL_SMBUS_REGISTER_CALLBACKS == 1) - hsmbus->SlaveRxCpltCallback(hsmbus); -#else - HAL_SMBUS_SlaveRxCpltCallback(hsmbus); -#endif /* USE_HAL_SMBUS_REGISTER_CALLBACKS */ - } - } - return HAL_OK; -} - -/** - * @brief Handle BTF flag for Slave receiver - * @param hsmbus Pointer to a SMBUS_HandleTypeDef structure that contains - * the configuration information for SMBUS module - * @retval HAL status - */ -static HAL_StatusTypeDef SMBUS_SlaveReceive_BTF(SMBUS_HandleTypeDef *hsmbus) -{ - if (hsmbus->XferCount != 0U) - { - /* Read data from DR */ - (*hsmbus->pBuffPtr++) = hsmbus->Instance->DR; - hsmbus->XferCount--; - } - - return HAL_OK; -} - -/** - * @brief Handle ADD flag for Slave - * @param hsmbus Pointer to a SMBUS_HandleTypeDef structure that contains - * the configuration information for SMBUS module - * @retval HAL status - */ -static HAL_StatusTypeDef SMBUS_Slave_ADDR(SMBUS_HandleTypeDef *hsmbus) -{ - uint8_t TransferDirection = SMBUS_DIRECTION_RECEIVE ; - uint16_t SlaveAddrCode = 0U; - - /* Transfer Direction requested by Master */ - if (__HAL_SMBUS_GET_FLAG(hsmbus, SMBUS_FLAG_TRA) == RESET) - { - TransferDirection = SMBUS_DIRECTION_TRANSMIT; - } - - if (__HAL_SMBUS_GET_FLAG(hsmbus, SMBUS_FLAG_DUALF) == RESET) - { - SlaveAddrCode = hsmbus->Init.OwnAddress1; - } - else - { - SlaveAddrCode = hsmbus->Init.OwnAddress2; - } - - /* Call Slave Addr callback */ -#if (USE_HAL_SMBUS_REGISTER_CALLBACKS == 1) - hsmbus->AddrCallback(hsmbus, TransferDirection, SlaveAddrCode); -#else - HAL_SMBUS_AddrCallback(hsmbus, TransferDirection, SlaveAddrCode); -#endif /* USE_HAL_SMBUS_REGISTER_CALLBACKS */ - - return HAL_OK; -} - -/** - * @brief Handle STOPF flag for Slave - * @param hsmbus Pointer to a SMBUS_HandleTypeDef structure that contains - * the configuration information for SMBUS module - * @retval HAL status - */ -static HAL_StatusTypeDef SMBUS_Slave_STOPF(SMBUS_HandleTypeDef *hsmbus) -{ - /* Declaration of temporary variable to prevent undefined behavior of volatile usage */ - uint32_t CurrentState = hsmbus->State; - - /* Disable EVT, BUF and ERR interrupt */ - __HAL_SMBUS_DISABLE_IT(hsmbus, SMBUS_IT_EVT | SMBUS_IT_BUF | SMBUS_IT_ERR); - - /* Clear STOPF flag */ - __HAL_SMBUS_CLEAR_STOPFLAG(hsmbus); - - /* Disable Acknowledge */ - CLEAR_BIT(hsmbus->Instance->CR1, I2C_CR1_ACK); - - /* All data are not transferred, so set error code accordingly */ - if (hsmbus->XferCount != 0U) - { - /* Store Last receive data if any */ - if (__HAL_SMBUS_GET_FLAG(hsmbus, SMBUS_FLAG_BTF) == SET) - { - /* Read data from DR */ - (*hsmbus->pBuffPtr++) = hsmbus->Instance->DR; - - if (hsmbus->XferCount > 0) - { - hsmbus->XferSize--; - hsmbus->XferCount--; - } - } - - /* Store Last receive data if any */ - if (__HAL_SMBUS_GET_FLAG(hsmbus, SMBUS_FLAG_RXNE) == SET) - { - /* Read data from DR */ - (*hsmbus->pBuffPtr++) = hsmbus->Instance->DR; - - if (hsmbus->XferCount > 0) - { - hsmbus->XferSize--; - hsmbus->XferCount--; - } - } - } - - if (hsmbus->ErrorCode != HAL_SMBUS_ERROR_NONE) - { - /* Call the corresponding callback to inform upper layer of End of Transfer */ - SMBUS_ITError(hsmbus); - } - else - { - if ((CurrentState == HAL_SMBUS_STATE_LISTEN) || (CurrentState == HAL_SMBUS_STATE_BUSY_RX_LISTEN) || \ - (CurrentState == HAL_SMBUS_STATE_BUSY_TX_LISTEN)) - { - hsmbus->XferOptions = SMBUS_NO_OPTION_FRAME; - hsmbus->PreviousState = HAL_SMBUS_STATE_READY; - hsmbus->State = HAL_SMBUS_STATE_READY; - hsmbus->Mode = HAL_SMBUS_MODE_NONE; - -#if (USE_HAL_SMBUS_REGISTER_CALLBACKS == 1) - hsmbus->ListenCpltCallback(hsmbus); -#else - HAL_SMBUS_ListenCpltCallback(hsmbus); -#endif /* USE_HAL_SMBUS_REGISTER_CALLBACKS */ - } - } - return HAL_OK; -} - -/** - * @param hsmbus Pointer to a SMBUS_HandleTypeDef structure that contains - * the configuration information for SMBUS module - * @retval HAL status - */ -static HAL_StatusTypeDef SMBUS_Slave_AF(SMBUS_HandleTypeDef *hsmbus) -{ - /* Declaration of temporary variables to prevent undefined behavior of volatile usage */ - uint32_t CurrentState = hsmbus->State; - uint32_t CurrentXferOptions = hsmbus->XferOptions; - - if (((CurrentXferOptions == SMBUS_FIRST_AND_LAST_FRAME_NO_PEC) || (CurrentXferOptions == SMBUS_FIRST_AND_LAST_FRAME_WITH_PEC) || \ - (CurrentXferOptions == SMBUS_LAST_FRAME_NO_PEC) || (CurrentXferOptions == SMBUS_LAST_FRAME_WITH_PEC)) && \ - (CurrentState == HAL_SMBUS_STATE_LISTEN)) - { - hsmbus->XferOptions = SMBUS_NO_OPTION_FRAME; - - /* Disable EVT, BUF and ERR interrupt */ - __HAL_SMBUS_DISABLE_IT(hsmbus, SMBUS_IT_EVT | SMBUS_IT_BUF | SMBUS_IT_ERR); - - /* Clear AF flag */ - __HAL_SMBUS_CLEAR_FLAG(hsmbus, SMBUS_FLAG_AF); - - /* Disable Acknowledge */ - CLEAR_BIT(hsmbus->Instance->CR1, I2C_CR1_ACK); - - hsmbus->PreviousState = HAL_SMBUS_STATE_READY; - hsmbus->State = HAL_SMBUS_STATE_READY; - hsmbus->Mode = HAL_SMBUS_MODE_NONE; - - /* Call the Listen Complete callback, to inform upper layer of the end of Listen usecase */ -#if (USE_HAL_SMBUS_REGISTER_CALLBACKS == 1) - hsmbus->ListenCpltCallback(hsmbus); -#else - HAL_SMBUS_ListenCpltCallback(hsmbus); -#endif /* USE_HAL_SMBUS_REGISTER_CALLBACKS */ - } - return HAL_OK; -} - - - -/** - * @brief SMBUS interrupts error process - * @param hsmbus SMBUS handle. - * @retval None - */ -static void SMBUS_ITError(SMBUS_HandleTypeDef *hsmbus) -{ - /* Declaration of temporary variable to prevent undefined behavior of volatile usage */ - uint32_t CurrentState = hsmbus->State; - - if ((CurrentState == HAL_SMBUS_STATE_BUSY_TX_LISTEN) || (CurrentState == HAL_SMBUS_STATE_BUSY_RX_LISTEN)) - { - /* keep HAL_SMBUS_STATE_LISTEN */ - hsmbus->PreviousState = SMBUS_STATE_NONE; - hsmbus->State = HAL_SMBUS_STATE_LISTEN; - } - else - { - /* If state is an abort treatment on going, don't change state */ - /* This change will be done later */ - if (hsmbus->State != HAL_SMBUS_STATE_ABORT) - { - hsmbus->State = HAL_SMBUS_STATE_READY; - } - hsmbus->PreviousState = SMBUS_STATE_NONE; - hsmbus->Mode = HAL_SMBUS_MODE_NONE; - } - - /* Disable Pos bit in SMBUS CR1 when error occurred in Master/Mem Receive IT Process */ - CLEAR_BIT(hsmbus->Instance->CR1, I2C_CR1_POS); - - if (hsmbus->State == HAL_SMBUS_STATE_ABORT) - { - hsmbus->State = HAL_SMBUS_STATE_READY; - hsmbus->ErrorCode = HAL_SMBUS_ERROR_NONE; - - /* Store Last receive data if any */ - if (__HAL_SMBUS_GET_FLAG(hsmbus, SMBUS_FLAG_RXNE) == SET) - { - /* Read data from DR */ - (*hsmbus->pBuffPtr++) = hsmbus->Instance->DR; - } - - /* Disable SMBUS peripheral to prevent dummy data in buffer */ - __HAL_SMBUS_DISABLE(hsmbus); - - /* Call the corresponding callback to inform upper layer of End of Transfer */ -#if (USE_HAL_SMBUS_REGISTER_CALLBACKS == 1) - hsmbus->AbortCpltCallback(hsmbus); -#else - HAL_SMBUS_AbortCpltCallback(hsmbus); -#endif /* USE_HAL_SMBUS_REGISTER_CALLBACKS */ - } - else - { - /* Store Last receive data if any */ - if (__HAL_SMBUS_GET_FLAG(hsmbus, SMBUS_FLAG_RXNE) == SET) - { - /* Read data from DR */ - (*hsmbus->pBuffPtr++) = hsmbus->Instance->DR; - } - - /* Call user error callback */ -#if (USE_HAL_SMBUS_REGISTER_CALLBACKS == 1) - hsmbus->ErrorCallback(hsmbus); -#else - HAL_SMBUS_ErrorCallback(hsmbus); -#endif /* USE_HAL_SMBUS_REGISTER_CALLBACKS */ - } - /* STOP Flag is not set after a NACK reception */ - /* So may inform upper layer that listen phase is stopped */ - /* during NACK error treatment */ - if ((hsmbus->State == HAL_SMBUS_STATE_LISTEN) && ((hsmbus->ErrorCode & HAL_SMBUS_ERROR_AF) == HAL_SMBUS_ERROR_AF)) - { - hsmbus->XferOptions = SMBUS_NO_OPTION_FRAME; - hsmbus->PreviousState = SMBUS_STATE_NONE; - hsmbus->State = HAL_SMBUS_STATE_READY; - hsmbus->Mode = HAL_SMBUS_MODE_NONE; - - /* Call the Listen Complete callback, to inform upper layer of the end of Listen usecase */ -#if (USE_HAL_SMBUS_REGISTER_CALLBACKS == 1) - hsmbus->ListenCpltCallback(hsmbus); -#else - HAL_SMBUS_ListenCpltCallback(hsmbus); -#endif /* USE_HAL_SMBUS_REGISTER_CALLBACKS */ - } -} - -/** - * @brief This function handles SMBUS Communication Timeout. - * @param hsmbus Pointer to a SMBUS_HandleTypeDef structure that contains - * the configuration information for SMBUS module - * @param Flag specifies the SMBUS flag to check. - * @param Status The new Flag status (SET or RESET). - * @param Timeout Timeout duration - * @param Tickstart Tick start value - * @retval HAL status - */ -static HAL_StatusTypeDef SMBUS_WaitOnFlagUntilTimeout(SMBUS_HandleTypeDef *hsmbus, uint32_t Flag, FlagStatus Status, uint32_t Timeout, uint32_t Tickstart) -{ - /* Wait until flag is set */ - if (Status == RESET) - { - while (__HAL_SMBUS_GET_FLAG(hsmbus, Flag) == RESET) - { - /* Check for the Timeout */ - if (Timeout != HAL_MAX_DELAY) - { - if ((Timeout == 0U) || ((HAL_GetTick() - Tickstart) > Timeout)) - { - hsmbus->PreviousState = SMBUS_STATE_NONE; - hsmbus->State = HAL_SMBUS_STATE_READY; - hsmbus->Mode = HAL_SMBUS_MODE_NONE; - - /* Process Unlocked */ - __HAL_UNLOCK(hsmbus); - return HAL_TIMEOUT; - } - } - } - } - return HAL_OK; -} - -/** - * @} - */ - - -#endif /* HAL_SMBUS_MODULE_ENABLED */ - -/** - * @} - */ - -/** - * @} - */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spdifrx.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spdifrx.c deleted file mode 100644 index 50fac5e027a133..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spdifrx.c +++ /dev/null @@ -1,1623 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_spdifrx.c - * @author MCD Application Team - * @brief This file provides firmware functions to manage the following - * functionalities of the SPDIFRX audio interface: - * + Initialization and Configuration - * + Data transfers functions - * + DMA transfers management - * + Interrupts and flags management - @verbatim - =============================================================================== - ##### How to use this driver ##### - =============================================================================== - [..] - The SPDIFRX HAL driver can be used as follow: - - (#) Declare SPDIFRX_HandleTypeDef handle structure. - (#) Initialize the SPDIFRX low level resources by implement the HAL_SPDIFRX_MspInit() API: - (##) Enable the SPDIFRX interface clock. - (##) SPDIFRX pins configuration: - (+++) Enable the clock for the SPDIFRX GPIOs. - (+++) Configure these SPDIFRX pins as alternate function pull-up. - (##) NVIC configuration if you need to use interrupt process (HAL_SPDIFRX_ReceiveControlFlow_IT() and HAL_SPDIFRX_ReceiveDataFlow_IT() API's). - (+++) Configure the SPDIFRX interrupt priority. - (+++) Enable the NVIC SPDIFRX IRQ handle. - (##) DMA Configuration if you need to use DMA process (HAL_SPDIFRX_ReceiveDataFlow_DMA() and HAL_SPDIFRX_ReceiveControlFlow_DMA() API's). - (+++) Declare a DMA handle structure for the reception of the Data Flow channel. - (+++) Declare a DMA handle structure for the reception of the Control Flow channel. - (+++) Enable the DMAx interface clock. - (+++) Configure the declared DMA handle structure CtrlRx/DataRx with the required parameters. - (+++) Configure the DMA Channel. - (+++) Associate the initialized DMA handle to the SPDIFRX DMA CtrlRx/DataRx handle. - (+++) Configure the priority and enable the NVIC for the transfer complete interrupt on the - DMA CtrlRx/DataRx channel. - - (#) Program the input selection, re-tries number, wait for activity, channel status selection, data format, stereo mode and masking of user bits - using HAL_SPDIFRX_Init() function. - - -@- The specific SPDIFRX interrupts (RXNE/CSRNE and Error Interrupts) will be managed using the macros - __SPDIFRX_ENABLE_IT() and __SPDIFRX_DISABLE_IT() inside the receive process. - -@- Make sure that ck_spdif clock is configured. - - (#) Three operation modes are available within this driver : - - *** Polling mode for reception operation (for debug purpose) *** - ================================================================ - [..] - (+) Receive data flow in blocking mode using HAL_SPDIFRX_ReceiveDataFlow() - (+) Receive control flow of data in blocking mode using HAL_SPDIFRX_ReceiveControlFlow() - - *** Interrupt mode for reception operation *** - ========================================= - [..] - (+) Receive an amount of data (Data Flow) in non blocking mode using HAL_SPDIFRX_ReceiveDataFlow_IT() - (+) Receive an amount of data (Control Flow) in non blocking mode using HAL_SPDIFRX_ReceiveControlFlow_IT() - (+) At reception end of half transfer HAL_SPDIFRX_RxHalfCpltCallback is executed and user can - add his own code by customization of function pointer HAL_SPDIFRX_RxHalfCpltCallback - (+) At reception end of transfer HAL_SPDIFRX_RxCpltCallback is executed and user can - add his own code by customization of function pointer HAL_SPDIFRX_RxCpltCallback - (+) In case of transfer Error, HAL_SPDIFRX_ErrorCallback() function is executed and user can - add his own code by customization of function pointer HAL_SPDIFRX_ErrorCallback - - *** DMA mode for reception operation *** - ======================================== - [..] - (+) Receive an amount of data (Data Flow) in non blocking mode (DMA) using HAL_SPDIFRX_ReceiveDataFlow_DMA() - (+) Receive an amount of data (Control Flow) in non blocking mode (DMA) using HAL_SPDIFRX_ReceiveControlFlow_DMA() - (+) At reception end of half transfer HAL_SPDIFRX_RxHalfCpltCallback is executed and user can - add his own code by customization of function pointer HAL_SPDIFRX_RxHalfCpltCallback - (+) At reception end of transfer HAL_SPDIFRX_RxCpltCallback is executed and user can - add his own code by customization of function pointer HAL_SPDIFRX_RxCpltCallback - (+) In case of transfer Error, HAL_SPDIFRX_ErrorCallback() function is executed and user can - add his own code by customization of function pointer HAL_SPDIFRX_ErrorCallback - (+) Stop the DMA Transfer using HAL_SPDIFRX_DMAStop() - - *** SPDIFRX HAL driver macros list *** - ============================================= - [..] - Below the list of most used macros in SPDIFRX HAL driver. - (+) __HAL_SPDIFRX_IDLE: Disable the specified SPDIFRX peripheral (IDEL State) - (+) __HAL_SPDIFRX_SYNC: Enable the synchronization state of the specified SPDIFRX peripheral (SYNC State) - (+) __HAL_SPDIFRX_RCV: Enable the receive state of the specified SPDIFRX peripheral (RCV State) - (+) __HAL_SPDIFRX_ENABLE_IT : Enable the specified SPDIFRX interrupts - (+) __HAL_SPDIFRX_DISABLE_IT : Disable the specified SPDIFRX interrupts - (+) __HAL_SPDIFRX_GET_FLAG: Check whether the specified SPDIFRX flag is set or not. - - [..] - (@) You can refer to the SPDIFRX HAL driver header file for more useful macros - - *** Callback registration *** - ============================================= - - The compilation define USE_HAL_SPDIFRX_REGISTER_CALLBACKS when set to 1 - allows the user to configure dynamically the driver callbacks. - Use HAL_SPDIFRX_RegisterCallback() function to register an interrupt callback. - - The HAL_SPDIFRX_RegisterCallback() function allows to register the following callbacks: - (+) RxHalfCpltCallback : SPDIFRX Data flow half completed callback. - (+) RxCpltCallback : SPDIFRX Data flow completed callback. - (+) CxHalfCpltCallback : SPDIFRX Control flow half completed callback. - (+) CxCpltCallback : SPDIFRX Control flow completed callback. - (+) ErrorCallback : SPDIFRX error callback. - (+) MspInitCallback : SPDIFRX MspInit. - (+) MspDeInitCallback : SPDIFRX MspDeInit. - This function takes as parameters the HAL peripheral handle, the Callback ID - and a pointer to the user callback function. - - Use HAL_SPDIFRX_UnRegisterCallback() function to reset a callback to the default - weak function. - The HAL_SPDIFRX_UnRegisterCallback() function takes as parameters the HAL peripheral handle, - and the Callback ID. - This function allows to reset the following callbacks: - (+) RxHalfCpltCallback : SPDIFRX Data flow half completed callback. - (+) RxCpltCallback : SPDIFRX Data flow completed callback. - (+) CxHalfCpltCallback : SPDIFRX Control flow half completed callback. - (+) CxCpltCallback : SPDIFRX Control flow completed callback. - (+) ErrorCallback : SPDIFRX error callback. - (+) MspInitCallback : SPDIFRX MspInit. - (+) MspDeInitCallback : SPDIFRX MspDeInit. - - By default, after the HAL_SPDIFRX_Init() and when the state is HAL_SPDIFRX_STATE_RESET - all callbacks are set to the corresponding weak functions : - HAL_SPDIFRX_RxHalfCpltCallback() , HAL_SPDIFRX_RxCpltCallback(), HAL_SPDIFRX_CxHalfCpltCallback(), - HAL_SPDIFRX_CxCpltCallback() and HAL_SPDIFRX_ErrorCallback() - Exception done for MspInit and MspDeInit functions that are - reset to the legacy weak function in the HAL_SPDIFRX_Init()/ HAL_SPDIFRX_DeInit() only when - these callbacks pointers are NULL (not registered beforehand). - If not, MspInit or MspDeInit callbacks pointers are not null, the HAL_SPDIFRX_Init() / HAL_SPDIFRX_DeInit() - keep and use the user MspInit/MspDeInit functions (registered beforehand) - - Callbacks can be registered/unregistered in HAL_SPDIFRX_STATE_READY state only. - Exception done MspInit/MspDeInit callbacks that can be registered/unregistered - in HAL_SPDIFRX_STATE_READY or HAL_SPDIFRX_STATE_RESET state, - thus registered (user) MspInit/DeInit callbacks can be used during the Init/DeInit. - In that case first register the MspInit/MspDeInit user callbacks - using HAL_SPDIFRX_RegisterCallback() before calling HAL_SPDIFRX_DeInit() - or HAL_SPDIFRX_Init() function. - - When The compilation define USE_HAL_SPDIFRX_REGISTER_CALLBACKS is set to 0 or - not defined, the callback registration feature is not available and all callbacks - are set to the corresponding weak functions. - - @endverbatim - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @defgroup SPDIFRX SPDIFRX - * @brief SPDIFRX HAL module driver - * @{ - */ - -#ifdef HAL_SPDIFRX_MODULE_ENABLED -#if defined (SPDIFRX) -#if defined(STM32F446xx) -/* Private typedef -----------------------------------------------------------*/ -/* Private define ------------------------------------------------------------*/ -#define SPDIFRX_TIMEOUT_VALUE 0xFFFFU - -/* Private macro -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private function prototypes -----------------------------------------------*/ -/** @addtogroup SPDIFRX_Private_Functions - * @{ - */ -static void SPDIFRX_DMARxCplt(DMA_HandleTypeDef *hdma); -static void SPDIFRX_DMARxHalfCplt(DMA_HandleTypeDef *hdma); -static void SPDIFRX_DMACxCplt(DMA_HandleTypeDef *hdma); -static void SPDIFRX_DMACxHalfCplt(DMA_HandleTypeDef *hdma); -static void SPDIFRX_DMAError(DMA_HandleTypeDef *hdma); -static void SPDIFRX_ReceiveControlFlow_IT(SPDIFRX_HandleTypeDef *hspdif); -static void SPDIFRX_ReceiveDataFlow_IT(SPDIFRX_HandleTypeDef *hspdif); -static HAL_StatusTypeDef SPDIFRX_WaitOnFlagUntilTimeout(SPDIFRX_HandleTypeDef *hspdif, uint32_t Flag, FlagStatus Status, uint32_t Timeout, uint32_t tickstart); -/** - * @} - */ -/* Exported functions ---------------------------------------------------------*/ - -/** @defgroup SPDIFRX_Exported_Functions SPDIFRX Exported Functions - * @{ - */ - -/** @defgroup SPDIFRX_Exported_Functions_Group1 Initialization and de-initialization functions - * @brief Initialization and Configuration functions - * - @verbatim - =============================================================================== - ##### Initialization and de-initialization functions ##### - =============================================================================== - [..] This subsection provides a set of functions allowing to initialize and - de-initialize the SPDIFRX peripheral: - - (+) User must Implement HAL_SPDIFRX_MspInit() function in which he configures - all related peripherals resources (CLOCK, GPIO, DMA, IT and NVIC ). - - (+) Call the function HAL_SPDIFRX_Init() to configure the SPDIFRX peripheral with - the selected configuration: - (++) Input Selection (IN0, IN1,...) - (++) Maximum allowed re-tries during synchronization phase - (++) Wait for activity on SPDIF selected input - (++) Channel status selection (from channel A or B) - (++) Data format (LSB, MSB, ...) - (++) Stereo mode - (++) User bits masking (PT,C,U,V,...) - - (+) Call the function HAL_SPDIFRX_DeInit() to restore the default configuration - of the selected SPDIFRXx peripheral. - @endverbatim - * @{ - */ - -/** - * @brief Initializes the SPDIFRX according to the specified parameters - * in the SPDIFRX_InitTypeDef and create the associated handle. - * @param hspdif SPDIFRX handle - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SPDIFRX_Init(SPDIFRX_HandleTypeDef *hspdif) -{ - uint32_t tmpreg; - - /* Check the SPDIFRX handle allocation */ - if(hspdif == NULL) - { - return HAL_ERROR; - } - - /* Check the SPDIFRX parameters */ - assert_param(IS_STEREO_MODE(hspdif->Init.StereoMode)); - assert_param(IS_SPDIFRX_INPUT_SELECT(hspdif->Init.InputSelection)); - assert_param(IS_SPDIFRX_MAX_RETRIES(hspdif->Init.Retries)); - assert_param(IS_SPDIFRX_WAIT_FOR_ACTIVITY(hspdif->Init.WaitForActivity)); - assert_param(IS_SPDIFRX_CHANNEL(hspdif->Init.ChannelSelection)); - assert_param(IS_SPDIFRX_DATA_FORMAT(hspdif->Init.DataFormat)); - assert_param(IS_PREAMBLE_TYPE_MASK(hspdif->Init.PreambleTypeMask)); - assert_param(IS_CHANNEL_STATUS_MASK(hspdif->Init.ChannelStatusMask)); - assert_param(IS_VALIDITY_MASK(hspdif->Init.ValidityBitMask)); - assert_param(IS_PARITY_ERROR_MASK(hspdif->Init.ParityErrorMask)); - -#if (USE_HAL_SPDIFRX_REGISTER_CALLBACKS == 1) - if(hspdif->State == HAL_SPDIFRX_STATE_RESET) - { - /* Allocate lock resource and initialize it */ - hspdif->Lock = HAL_UNLOCKED; - - hspdif->RxHalfCpltCallback = HAL_SPDIFRX_RxHalfCpltCallback; /* Legacy weak RxHalfCpltCallback */ - hspdif->RxCpltCallback = HAL_SPDIFRX_RxCpltCallback; /* Legacy weak RxCpltCallback */ - hspdif->CxHalfCpltCallback = HAL_SPDIFRX_CxHalfCpltCallback; /* Legacy weak CxHalfCpltCallback */ - hspdif->CxCpltCallback = HAL_SPDIFRX_CxCpltCallback; /* Legacy weak CxCpltCallback */ - hspdif->ErrorCallback = HAL_SPDIFRX_ErrorCallback; /* Legacy weak ErrorCallback */ - - if(hspdif->MspInitCallback == NULL) - { - hspdif->MspInitCallback = HAL_SPDIFRX_MspInit; /* Legacy weak MspInit */ - } - - /* Init the low level hardware */ - hspdif->MspInitCallback(hspdif); - } -#else - if(hspdif->State == HAL_SPDIFRX_STATE_RESET) - { - /* Allocate lock resource and initialize it */ - hspdif->Lock = HAL_UNLOCKED; - /* Init the low level hardware : GPIO, CLOCK, CORTEX...etc */ - HAL_SPDIFRX_MspInit(hspdif); - } -#endif /* USE_HAL_SPDIFRX_REGISTER_CALLBACKS */ - - /* SPDIFRX peripheral state is BUSY */ - hspdif->State = HAL_SPDIFRX_STATE_BUSY; - - /* Disable SPDIFRX interface (IDLE State) */ - __HAL_SPDIFRX_IDLE(hspdif); - - /* Reset the old SPDIFRX CR configuration */ - tmpreg = hspdif->Instance->CR; - - tmpreg &= ~(SPDIFRX_CR_RXSTEO | SPDIFRX_CR_DRFMT | SPDIFRX_CR_PMSK | - SPDIFRX_CR_VMSK | SPDIFRX_CR_CUMSK | SPDIFRX_CR_PTMSK | - SPDIFRX_CR_CHSEL | SPDIFRX_CR_NBTR | SPDIFRX_CR_WFA | - SPDIFRX_CR_INSEL); - - /* Sets the new configuration of the SPDIFRX peripheral */ - tmpreg |= (hspdif->Init.StereoMode | - hspdif->Init.InputSelection | - hspdif->Init.Retries | - hspdif->Init.WaitForActivity | - hspdif->Init.ChannelSelection | - hspdif->Init.DataFormat | - hspdif->Init.PreambleTypeMask | - hspdif->Init.ChannelStatusMask | - hspdif->Init.ValidityBitMask | - hspdif->Init.ParityErrorMask - ); - - - hspdif->Instance->CR = tmpreg; - - hspdif->ErrorCode = HAL_SPDIFRX_ERROR_NONE; - - /* SPDIFRX peripheral state is READY*/ - hspdif->State = HAL_SPDIFRX_STATE_READY; - - return HAL_OK; -} - -/** - * @brief DeInitializes the SPDIFRX peripheral - * @param hspdif SPDIFRX handle - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SPDIFRX_DeInit(SPDIFRX_HandleTypeDef *hspdif) -{ - /* Check the SPDIFRX handle allocation */ - if(hspdif == NULL) - { - return HAL_ERROR; - } - - /* Check the parameters */ - assert_param(IS_SPDIFRX_ALL_INSTANCE(hspdif->Instance)); - - hspdif->State = HAL_SPDIFRX_STATE_BUSY; - - /* Disable SPDIFRX interface (IDLE state) */ - __HAL_SPDIFRX_IDLE(hspdif); - -#if (USE_HAL_SPDIFRX_REGISTER_CALLBACKS == 1) - if(hspdif->MspDeInitCallback == NULL) - { - hspdif->MspDeInitCallback = HAL_SPDIFRX_MspDeInit; /* Legacy weak MspDeInit */ - } - - /* DeInit the low level hardware */ - hspdif->MspDeInitCallback(hspdif); -#else - /* DeInit the low level hardware: GPIO, CLOCK, NVIC... */ - HAL_SPDIFRX_MspDeInit(hspdif); -#endif /* USE_HAL_SPDIFRX_REGISTER_CALLBACKS */ - - hspdif->ErrorCode = HAL_SPDIFRX_ERROR_NONE; - - /* SPDIFRX peripheral state is RESET*/ - hspdif->State = HAL_SPDIFRX_STATE_RESET; - - /* Release Lock */ - __HAL_UNLOCK(hspdif); - - return HAL_OK; -} - -/** - * @brief SPDIFRX MSP Init - * @param hspdif SPDIFRX handle - * @retval None - */ -__weak void HAL_SPDIFRX_MspInit(SPDIFRX_HandleTypeDef *hspdif) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hspdif); - - /* NOTE : This function Should not be modified, when the callback is needed, - the HAL_SPDIFRX_MspInit could be implemented in the user file - */ -} - -/** - * @brief SPDIFRX MSP DeInit - * @param hspdif SPDIFRX handle - * @retval None - */ -__weak void HAL_SPDIFRX_MspDeInit(SPDIFRX_HandleTypeDef *hspdif) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hspdif); - - /* NOTE : This function Should not be modified, when the callback is needed, - the HAL_SPDIFRX_MspDeInit could be implemented in the user file - */ -} - -#if (USE_HAL_SPDIFRX_REGISTER_CALLBACKS == 1) -/** - * @brief Register a User SPDIFRX Callback - * To be used instead of the weak predefined callback - * @param hspdif SPDIFRX handle - * @param CallbackID ID of the callback to be registered - * This parameter can be one of the following values: - * @arg @ref HAL_SPDIFRX_RX_HALF_CB_ID SPDIFRX Data flow half completed callback ID - * @arg @ref HAL_SPDIFRX_RX_CPLT_CB_ID SPDIFRX Data flow completed callback ID - * @arg @ref HAL_SPDIFRX_CX_HALF_CB_ID SPDIFRX Control flow half completed callback ID - * @arg @ref HAL_SPDIFRX_CX_CPLT_CB_ID SPDIFRX Control flow completed callback ID - * @arg @ref HAL_SPDIFRX_ERROR_CB_ID SPDIFRX error callback ID - * @arg @ref HAL_SPDIFRX_MSPINIT_CB_ID MspInit callback ID - * @arg @ref HAL_SPDIFRX_MSPDEINIT_CB_ID MspDeInit callback ID - * @param pCallback pointer to the Callback function - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SPDIFRX_RegisterCallback(SPDIFRX_HandleTypeDef *hspdif, HAL_SPDIFRX_CallbackIDTypeDef CallbackID, pSPDIFRX_CallbackTypeDef pCallback) -{ - HAL_StatusTypeDef status = HAL_OK; - - if(pCallback == NULL) - { - /* Update the error code */ - hspdif->ErrorCode |= HAL_SPDIFRX_ERROR_INVALID_CALLBACK; - return HAL_ERROR; - } - /* Process locked */ - __HAL_LOCK(hspdif); - - if(HAL_SPDIFRX_STATE_READY == hspdif->State) - { - switch (CallbackID) - { - case HAL_SPDIFRX_RX_HALF_CB_ID : - hspdif->RxHalfCpltCallback = pCallback; - break; - - case HAL_SPDIFRX_RX_CPLT_CB_ID : - hspdif->RxCpltCallback = pCallback; - break; - - case HAL_SPDIFRX_CX_HALF_CB_ID : - hspdif->CxHalfCpltCallback = pCallback; - break; - - case HAL_SPDIFRX_CX_CPLT_CB_ID : - hspdif->CxCpltCallback = pCallback; - break; - - case HAL_SPDIFRX_ERROR_CB_ID : - hspdif->ErrorCallback = pCallback; - break; - - case HAL_SPDIFRX_MSPINIT_CB_ID : - hspdif->MspInitCallback = pCallback; - break; - - case HAL_SPDIFRX_MSPDEINIT_CB_ID : - hspdif->MspDeInitCallback = pCallback; - break; - - default : - /* Update the error code */ - hspdif->ErrorCode |= HAL_SPDIFRX_ERROR_INVALID_CALLBACK; - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else if(HAL_SPDIFRX_STATE_RESET == hspdif->State) - { - switch (CallbackID) - { - case HAL_SPDIFRX_MSPINIT_CB_ID : - hspdif->MspInitCallback = pCallback; - break; - - case HAL_SPDIFRX_MSPDEINIT_CB_ID : - hspdif->MspDeInitCallback = pCallback; - break; - - default : - /* Update the error code */ - hspdif->ErrorCode |= HAL_SPDIFRX_ERROR_INVALID_CALLBACK; - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else - { - /* Update the error code */ - hspdif->ErrorCode |= HAL_SPDIFRX_ERROR_INVALID_CALLBACK; - /* Return error status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(hspdif); - return status; -} - -/** - * @brief Unregister a SPDIFRX Callback - * SPDIFRX callabck is redirected to the weak predefined callback - * @param hspdif SPDIFRX handle - * @param CallbackID ID of the callback to be unregistered - * This parameter can be one of the following values: - * @arg @ref HAL_SPDIFRX_RX_HALF_CB_ID SPDIFRX Data flow half completed callback ID - * @arg @ref HAL_SPDIFRX_RX_CPLT_CB_ID SPDIFRX Data flow completed callback ID - * @arg @ref HAL_SPDIFRX_CX_HALF_CB_ID SPDIFRX Control flow half completed callback ID - * @arg @ref HAL_SPDIFRX_CX_CPLT_CB_ID SPDIFRX Control flow completed callback ID - * @arg @ref HAL_SPDIFRX_ERROR_CB_ID SPDIFRX error callback ID - * @arg @ref HAL_SPDIFRX_MSPINIT_CB_ID MspInit callback ID - * @arg @ref HAL_SPDIFRX_MSPDEINIT_CB_ID MspDeInit callback ID - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SPDIFRX_UnRegisterCallback(SPDIFRX_HandleTypeDef *hspdif, HAL_SPDIFRX_CallbackIDTypeDef CallbackID) -{ -HAL_StatusTypeDef status = HAL_OK; - - /* Process locked */ - __HAL_LOCK(hspdif); - - if(HAL_SPDIFRX_STATE_READY == hspdif->State) - { - switch (CallbackID) - { - case HAL_SPDIFRX_RX_HALF_CB_ID : - hspdif->RxHalfCpltCallback = HAL_SPDIFRX_RxHalfCpltCallback; - break; - - case HAL_SPDIFRX_RX_CPLT_CB_ID : - hspdif->RxCpltCallback = HAL_SPDIFRX_RxCpltCallback; - break; - - case HAL_SPDIFRX_CX_HALF_CB_ID : - hspdif->CxHalfCpltCallback = HAL_SPDIFRX_CxHalfCpltCallback; - break; - - case HAL_SPDIFRX_CX_CPLT_CB_ID : - hspdif->CxCpltCallback = HAL_SPDIFRX_CxCpltCallback; - break; - - case HAL_SPDIFRX_ERROR_CB_ID : - hspdif->ErrorCallback = HAL_SPDIFRX_ErrorCallback; - break; - - default : - /* Update the error code */ - hspdif->ErrorCode |= HAL_SPDIFRX_ERROR_INVALID_CALLBACK; - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else if(HAL_SPDIFRX_STATE_RESET == hspdif->State) - { - switch (CallbackID) - { - case HAL_SPDIFRX_MSPINIT_CB_ID : - hspdif->MspInitCallback = HAL_SPDIFRX_MspInit; /* Legacy weak MspInit */ - break; - - case HAL_SPDIFRX_MSPDEINIT_CB_ID : - hspdif->MspDeInitCallback = HAL_SPDIFRX_MspDeInit; /* Legacy weak MspInit */ - break; - - default : - /* Update the error code */ - hspdif->ErrorCode |= HAL_SPDIFRX_ERROR_INVALID_CALLBACK; - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else - { - /* Update the error code */ - hspdif->ErrorCode |= HAL_SPDIFRX_ERROR_INVALID_CALLBACK; - /* Return error status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(hspdif); - return status; -} - -#endif /* USE_HAL_SPDIFRX_REGISTER_CALLBACKS */ - -/** - * @brief Set the SPDIFRX data format according to the specified parameters in the SPDIFRX_InitTypeDef. - * @param hspdif SPDIFRX handle - * @param sDataFormat SPDIFRX data format - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SPDIFRX_SetDataFormat(SPDIFRX_HandleTypeDef *hspdif, SPDIFRX_SetDataFormatTypeDef sDataFormat) -{ - uint32_t tmpreg; - - /* Check the SPDIFRX handle allocation */ - if(hspdif == NULL) - { - return HAL_ERROR; - } - - /* Check the SPDIFRX parameters */ - assert_param(IS_STEREO_MODE(sDataFormat.StereoMode)); - assert_param(IS_SPDIFRX_DATA_FORMAT(sDataFormat.DataFormat)); - assert_param(IS_PREAMBLE_TYPE_MASK(sDataFormat.PreambleTypeMask)); - assert_param(IS_CHANNEL_STATUS_MASK(sDataFormat.ChannelStatusMask)); - assert_param(IS_VALIDITY_MASK(sDataFormat.ValidityBitMask)); - assert_param(IS_PARITY_ERROR_MASK(sDataFormat.ParityErrorMask)); - - /* Reset the old SPDIFRX CR configuration */ - tmpreg = hspdif->Instance->CR; - - if(((tmpreg & SPDIFRX_STATE_RCV) == SPDIFRX_STATE_RCV) && - (((tmpreg & SPDIFRX_CR_DRFMT) != sDataFormat.DataFormat) || - ((tmpreg & SPDIFRX_CR_RXSTEO) != sDataFormat.StereoMode))) - { - return HAL_ERROR; - } - - tmpreg &= ~(SPDIFRX_CR_RXSTEO | SPDIFRX_CR_DRFMT | SPDIFRX_CR_PMSK | - SPDIFRX_CR_VMSK | SPDIFRX_CR_CUMSK | SPDIFRX_CR_PTMSK); - - /* Configure the new data format */ - tmpreg |= (sDataFormat.StereoMode | - sDataFormat.DataFormat | - sDataFormat.PreambleTypeMask | - sDataFormat.ChannelStatusMask | - sDataFormat.ValidityBitMask | - sDataFormat.ParityErrorMask); - - hspdif->Instance->CR = tmpreg; - - return HAL_OK; -} - -/** - * @} - */ - -/** @defgroup SPDIFRX_Exported_Functions_Group2 IO operation functions - * @brief Data transfers functions - * -@verbatim -=============================================================================== - ##### IO operation functions ##### -=============================================================================== - [..] - This subsection provides a set of functions allowing to manage the SPDIFRX data - transfers. - - (#) There is two mode of transfer: - (++) Blocking mode : The communication is performed in the polling mode. - The status of all data processing is returned by the same function - after finishing transfer. - (++) No-Blocking mode : The communication is performed using Interrupts - or DMA. These functions return the status of the transfer start-up. - The end of the data processing will be indicated through the - dedicated SPDIFRX IRQ when using Interrupt mode or the DMA IRQ when - using DMA mode. - - (#) Blocking mode functions are : - (++) HAL_SPDIFRX_ReceiveDataFlow() - (++) HAL_SPDIFRX_ReceiveControlFlow() - (+@) Do not use blocking mode to receive both control and data flow at the same time. - - (#) No-Blocking mode functions with Interrupt are : - (++) HAL_SPDIFRX_ReceiveControlFlow_IT() - (++) HAL_SPDIFRX_ReceiveDataFlow_IT() - - (#) No-Blocking mode functions with DMA are : - (++) HAL_SPDIFRX_ReceiveControlFlow_DMA() - (++) HAL_SPDIFRX_ReceiveDataFlow_DMA() - - (#) A set of Transfer Complete Callbacks are provided in No_Blocking mode: - (++) HAL_SPDIFRX_RxCpltCallback() - (++) HAL_SPDIFRX_CxCpltCallback() - -@endverbatim -* @{ -*/ - -/** - * @brief Receives an amount of data (Data Flow) in blocking mode. - * @param hspdif pointer to SPDIFRX_HandleTypeDef structure that contains - * the configuration information for SPDIFRX module. - * @param pData Pointer to data buffer - * @param Size Amount of data to be received - * @param Timeout Timeout duration - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SPDIFRX_ReceiveDataFlow(SPDIFRX_HandleTypeDef *hspdif, uint32_t *pData, uint16_t Size, uint32_t Timeout) -{ - uint32_t tickstart; - uint16_t sizeCounter = Size; - uint32_t *pTmpBuf = pData; - - if((pData == NULL ) || (Size == 0U)) - { - return HAL_ERROR; - } - - if(hspdif->State == HAL_SPDIFRX_STATE_READY) - { - /* Process Locked */ - __HAL_LOCK(hspdif); - - hspdif->State = HAL_SPDIFRX_STATE_BUSY; - - /* Start synchronisation */ - __HAL_SPDIFRX_SYNC(hspdif); - - /* Get tick */ - tickstart = HAL_GetTick(); - - /* Wait until SYNCD flag is set */ - if(SPDIFRX_WaitOnFlagUntilTimeout(hspdif, SPDIFRX_FLAG_SYNCD, RESET, Timeout, tickstart) != HAL_OK) - { - return HAL_TIMEOUT; - } - - /* Start reception */ - __HAL_SPDIFRX_RCV(hspdif); - - /* Receive data flow */ - while(sizeCounter > 0U) - { - /* Get tick */ - tickstart = HAL_GetTick(); - - /* Wait until RXNE flag is set */ - if(SPDIFRX_WaitOnFlagUntilTimeout(hspdif, SPDIFRX_FLAG_RXNE, RESET, Timeout, tickstart) != HAL_OK) - { - return HAL_TIMEOUT; - } - - (*pTmpBuf) = hspdif->Instance->DR; - pTmpBuf++; - sizeCounter--; - } - - /* SPDIFRX ready */ - hspdif->State = HAL_SPDIFRX_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hspdif); - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Receives an amount of data (Control Flow) in blocking mode. - * @param hspdif pointer to a SPDIFRX_HandleTypeDef structure that contains - * the configuration information for SPDIFRX module. - * @param pData Pointer to data buffer - * @param Size Amount of data to be received - * @param Timeout Timeout duration - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SPDIFRX_ReceiveControlFlow(SPDIFRX_HandleTypeDef *hspdif, uint32_t *pData, uint16_t Size, uint32_t Timeout) -{ - uint32_t tickstart; - uint16_t sizeCounter = Size; - uint32_t *pTmpBuf = pData; - - if((pData == NULL ) || (Size == 0U)) - { - return HAL_ERROR; - } - - if(hspdif->State == HAL_SPDIFRX_STATE_READY) - { - /* Process Locked */ - __HAL_LOCK(hspdif); - - hspdif->State = HAL_SPDIFRX_STATE_BUSY; - - /* Start synchronization */ - __HAL_SPDIFRX_SYNC(hspdif); - - /* Get tick */ - tickstart = HAL_GetTick(); - - /* Wait until SYNCD flag is set */ - if(SPDIFRX_WaitOnFlagUntilTimeout(hspdif, SPDIFRX_FLAG_SYNCD, RESET, Timeout, tickstart) != HAL_OK) - { - return HAL_TIMEOUT; - } - - /* Start reception */ - __HAL_SPDIFRX_RCV(hspdif); - - /* Receive control flow */ - while(sizeCounter > 0U) - { - /* Get tick */ - tickstart = HAL_GetTick(); - - /* Wait until CSRNE flag is set */ - if(SPDIFRX_WaitOnFlagUntilTimeout(hspdif, SPDIFRX_FLAG_CSRNE, RESET, Timeout, tickstart) != HAL_OK) - { - return HAL_TIMEOUT; - } - - (*pTmpBuf) = hspdif->Instance->CSR; - pTmpBuf++; - sizeCounter--; - } - - /* SPDIFRX ready */ - hspdif->State = HAL_SPDIFRX_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hspdif); - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Receive an amount of data (Data Flow) in non-blocking mode with Interrupt - * @param hspdif SPDIFRX handle - * @param pData a 32-bit pointer to the Receive data buffer. - * @param Size number of data sample to be received . - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SPDIFRX_ReceiveDataFlow_IT(SPDIFRX_HandleTypeDef *hspdif, uint32_t *pData, uint16_t Size) -{ - uint32_t count = SPDIFRX_TIMEOUT_VALUE * (SystemCoreClock / 24U / 1000U); - - const HAL_SPDIFRX_StateTypeDef tempState = hspdif->State; - - if((tempState == HAL_SPDIFRX_STATE_READY) || (tempState == HAL_SPDIFRX_STATE_BUSY_CX)) - { - if((pData == NULL) || (Size == 0U)) - { - return HAL_ERROR; - } - - /* Process Locked */ - __HAL_LOCK(hspdif); - - hspdif->pRxBuffPtr = pData; - hspdif->RxXferSize = Size; - hspdif->RxXferCount = Size; - - hspdif->ErrorCode = HAL_SPDIFRX_ERROR_NONE; - - /* Check if a receive process is ongoing or not */ - hspdif->State = HAL_SPDIFRX_STATE_BUSY_RX; - - /* Enable the SPDIFRX PE Error Interrupt */ - __HAL_SPDIFRX_ENABLE_IT(hspdif, SPDIFRX_IT_PERRIE); - - /* Enable the SPDIFRX OVR Error Interrupt */ - __HAL_SPDIFRX_ENABLE_IT(hspdif, SPDIFRX_IT_OVRIE); - - /* Enable the SPDIFRX RXNE interrupt */ - __HAL_SPDIFRX_ENABLE_IT(hspdif, SPDIFRX_IT_RXNE); - - if((SPDIFRX->CR & SPDIFRX_CR_SPDIFEN) != SPDIFRX_STATE_RCV) - { - /* Start synchronization */ - __HAL_SPDIFRX_SYNC(hspdif); - - /* Wait until SYNCD flag is set */ - do - { - if (count == 0U) - { - /* Disable TXE, RXNE, PE and ERR (Frame error, noise error, overrun error) interrupts for the interrupt process */ - __HAL_SPDIFRX_DISABLE_IT(hspdif, SPDIFRX_IT_RXNE); - __HAL_SPDIFRX_DISABLE_IT(hspdif, SPDIFRX_IT_CSRNE); - __HAL_SPDIFRX_DISABLE_IT(hspdif, SPDIFRX_IT_PERRIE); - __HAL_SPDIFRX_DISABLE_IT(hspdif, SPDIFRX_IT_OVRIE); - __HAL_SPDIFRX_DISABLE_IT(hspdif, SPDIFRX_IT_SBLKIE); - __HAL_SPDIFRX_DISABLE_IT(hspdif, SPDIFRX_IT_SYNCDIE); - __HAL_SPDIFRX_DISABLE_IT(hspdif, SPDIFRX_IT_IFEIE); - - hspdif->State= HAL_SPDIFRX_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hspdif); - - return HAL_TIMEOUT; - } - count--; - } while (__HAL_SPDIFRX_GET_FLAG(hspdif, SPDIFRX_FLAG_SYNCD) == RESET); - - /* Start reception */ - __HAL_SPDIFRX_RCV(hspdif); - } - - /* Process Unlocked */ - __HAL_UNLOCK(hspdif); - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Receive an amount of data (Control Flow) with Interrupt - * @param hspdif SPDIFRX handle - * @param pData a 32-bit pointer to the Receive data buffer. - * @param Size number of data sample (Control Flow) to be received - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SPDIFRX_ReceiveControlFlow_IT(SPDIFRX_HandleTypeDef *hspdif, uint32_t *pData, uint16_t Size) -{ - uint32_t count = SPDIFRX_TIMEOUT_VALUE * (SystemCoreClock / 24U / 1000U); - - const HAL_SPDIFRX_StateTypeDef tempState = hspdif->State; - - if((tempState == HAL_SPDIFRX_STATE_READY) || (tempState == HAL_SPDIFRX_STATE_BUSY_RX)) - { - if((pData == NULL ) || (Size == 0U)) - { - return HAL_ERROR; - } - - /* Process Locked */ - __HAL_LOCK(hspdif); - - hspdif->pCsBuffPtr = pData; - hspdif->CsXferSize = Size; - hspdif->CsXferCount = Size; - - hspdif->ErrorCode = HAL_SPDIFRX_ERROR_NONE; - - /* Check if a receive process is ongoing or not */ - hspdif->State = HAL_SPDIFRX_STATE_BUSY_CX; - - /* Enable the SPDIFRX PE Error Interrupt */ - __HAL_SPDIFRX_ENABLE_IT(hspdif, SPDIFRX_IT_PERRIE); - - /* Enable the SPDIFRX OVR Error Interrupt */ - __HAL_SPDIFRX_ENABLE_IT(hspdif, SPDIFRX_IT_OVRIE); - - /* Enable the SPDIFRX CSRNE interrupt */ - __HAL_SPDIFRX_ENABLE_IT(hspdif, SPDIFRX_IT_CSRNE); - - if((SPDIFRX->CR & SPDIFRX_CR_SPDIFEN) != SPDIFRX_STATE_RCV) - { - /* Start synchronization */ - __HAL_SPDIFRX_SYNC(hspdif); - - /* Wait until SYNCD flag is set */ - do - { - if (count == 0U) - { - /* Disable TXE, RXNE, PE and ERR (Frame error, noise error, overrun error) interrupts for the interrupt process */ - __HAL_SPDIFRX_DISABLE_IT(hspdif, SPDIFRX_IT_RXNE); - __HAL_SPDIFRX_DISABLE_IT(hspdif, SPDIFRX_IT_CSRNE); - __HAL_SPDIFRX_DISABLE_IT(hspdif, SPDIFRX_IT_PERRIE); - __HAL_SPDIFRX_DISABLE_IT(hspdif, SPDIFRX_IT_OVRIE); - __HAL_SPDIFRX_DISABLE_IT(hspdif, SPDIFRX_IT_SBLKIE); - __HAL_SPDIFRX_DISABLE_IT(hspdif, SPDIFRX_IT_SYNCDIE); - __HAL_SPDIFRX_DISABLE_IT(hspdif, SPDIFRX_IT_IFEIE); - - hspdif->State= HAL_SPDIFRX_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hspdif); - - return HAL_TIMEOUT; - } - count--; - } while (__HAL_SPDIFRX_GET_FLAG(hspdif, SPDIFRX_FLAG_SYNCD) == RESET); - - /* Start reception */ - __HAL_SPDIFRX_RCV(hspdif); - } - - /* Process Unlocked */ - __HAL_UNLOCK(hspdif); - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Receive an amount of data (Data Flow) mode with DMA - * @param hspdif SPDIFRX handle - * @param pData a 32-bit pointer to the Receive data buffer. - * @param Size number of data sample to be received - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SPDIFRX_ReceiveDataFlow_DMA(SPDIFRX_HandleTypeDef *hspdif, uint32_t *pData, uint16_t Size) -{ - uint32_t count = SPDIFRX_TIMEOUT_VALUE * (SystemCoreClock / 24U / 1000U); - - const HAL_SPDIFRX_StateTypeDef tempState = hspdif->State; - - if((pData == NULL) || (Size == 0U)) - { - return HAL_ERROR; - } - - if((tempState == HAL_SPDIFRX_STATE_READY) || (tempState == HAL_SPDIFRX_STATE_BUSY_CX)) - { - /* Process Locked */ - __HAL_LOCK(hspdif); - - hspdif->pRxBuffPtr = pData; - hspdif->RxXferSize = Size; - hspdif->RxXferCount = Size; - - hspdif->ErrorCode = HAL_SPDIFRX_ERROR_NONE; - hspdif->State = HAL_SPDIFRX_STATE_BUSY_RX; - - /* Set the SPDIFRX Rx DMA Half transfer complete callback */ - hspdif->hdmaDrRx->XferHalfCpltCallback = SPDIFRX_DMARxHalfCplt; - - /* Set the SPDIFRX Rx DMA transfer complete callback */ - hspdif->hdmaDrRx->XferCpltCallback = SPDIFRX_DMARxCplt; - - /* Set the DMA error callback */ - hspdif->hdmaDrRx->XferErrorCallback = SPDIFRX_DMAError; - - /* Enable the DMA request */ - if(HAL_DMA_Start_IT(hspdif->hdmaDrRx, (uint32_t)&hspdif->Instance->DR, (uint32_t)hspdif->pRxBuffPtr, Size) != HAL_OK) - { - /* Set SPDIFRX error */ - hspdif->ErrorCode = HAL_SPDIFRX_ERROR_DMA; - - /* Set SPDIFRX state */ - hspdif->State = HAL_SPDIFRX_STATE_ERROR; - - /* Process Unlocked */ - __HAL_UNLOCK(hspdif); - - return HAL_ERROR; - } - - /* Enable RXDMAEN bit in SPDIFRX CR register for data flow reception*/ - hspdif->Instance->CR |= SPDIFRX_CR_RXDMAEN; - - if((SPDIFRX->CR & SPDIFRX_CR_SPDIFEN) != SPDIFRX_STATE_RCV) - { - /* Start synchronization */ - __HAL_SPDIFRX_SYNC(hspdif); - - /* Wait until SYNCD flag is set */ - do - { - if (count == 0U) - { - /* Disable TXE, RXNE, PE and ERR (Frame error, noise error, overrun error) interrupts for the interrupt process */ - __HAL_SPDIFRX_DISABLE_IT(hspdif, SPDIFRX_IT_RXNE); - __HAL_SPDIFRX_DISABLE_IT(hspdif, SPDIFRX_IT_CSRNE); - __HAL_SPDIFRX_DISABLE_IT(hspdif, SPDIFRX_IT_PERRIE); - __HAL_SPDIFRX_DISABLE_IT(hspdif, SPDIFRX_IT_OVRIE); - __HAL_SPDIFRX_DISABLE_IT(hspdif, SPDIFRX_IT_SBLKIE); - __HAL_SPDIFRX_DISABLE_IT(hspdif, SPDIFRX_IT_SYNCDIE); - __HAL_SPDIFRX_DISABLE_IT(hspdif, SPDIFRX_IT_IFEIE); - - hspdif->State= HAL_SPDIFRX_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hspdif); - - return HAL_TIMEOUT; - } - count--; - } while (__HAL_SPDIFRX_GET_FLAG(hspdif, SPDIFRX_FLAG_SYNCD) == RESET); - - /* Start reception */ - __HAL_SPDIFRX_RCV(hspdif); - } - - /* Process Unlocked */ - __HAL_UNLOCK(hspdif); - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Receive an amount of data (Control Flow) with DMA - * @param hspdif SPDIFRX handle - * @param pData a 32-bit pointer to the Receive data buffer. - * @param Size number of data (Control Flow) sample to be received - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SPDIFRX_ReceiveControlFlow_DMA(SPDIFRX_HandleTypeDef *hspdif, uint32_t *pData, uint16_t Size) -{ - uint32_t count = SPDIFRX_TIMEOUT_VALUE * (SystemCoreClock / 24U / 1000U); - - const HAL_SPDIFRX_StateTypeDef tempState = hspdif->State; - - if((pData == NULL) || (Size == 0U)) - { - return HAL_ERROR; - } - - if((tempState == HAL_SPDIFRX_STATE_READY) || (tempState == HAL_SPDIFRX_STATE_BUSY_RX)) - { - hspdif->pCsBuffPtr = pData; - hspdif->CsXferSize = Size; - hspdif->CsXferCount = Size; - - /* Process Locked */ - __HAL_LOCK(hspdif); - - hspdif->ErrorCode = HAL_SPDIFRX_ERROR_NONE; - hspdif->State = HAL_SPDIFRX_STATE_BUSY_CX; - - /* Set the SPDIFRX Rx DMA Half transfer complete callback */ - hspdif->hdmaCsRx->XferHalfCpltCallback = SPDIFRX_DMACxHalfCplt; - - /* Set the SPDIFRX Rx DMA transfer complete callback */ - hspdif->hdmaCsRx->XferCpltCallback = SPDIFRX_DMACxCplt; - - /* Set the DMA error callback */ - hspdif->hdmaCsRx->XferErrorCallback = SPDIFRX_DMAError; - - /* Enable the DMA request */ - if(HAL_DMA_Start_IT(hspdif->hdmaCsRx, (uint32_t)&hspdif->Instance->CSR, (uint32_t)hspdif->pCsBuffPtr, Size) != HAL_OK) - { - /* Set SPDIFRX error */ - hspdif->ErrorCode = HAL_SPDIFRX_ERROR_DMA; - - /* Set SPDIFRX state */ - hspdif->State = HAL_SPDIFRX_STATE_ERROR; - - /* Process Unlocked */ - __HAL_UNLOCK(hspdif); - - return HAL_ERROR; - } - - /* Enable CBDMAEN bit in SPDIFRX CR register for control flow reception*/ - hspdif->Instance->CR |= SPDIFRX_CR_CBDMAEN; - - if((SPDIFRX->CR & SPDIFRX_CR_SPDIFEN) != SPDIFRX_STATE_RCV) - { - /* Start synchronization */ - __HAL_SPDIFRX_SYNC(hspdif); - - /* Wait until SYNCD flag is set */ - do - { - if (count == 0U) - { - /* Disable TXE, RXNE, PE and ERR (Frame error, noise error, overrun error) interrupts for the interrupt process */ - __HAL_SPDIFRX_DISABLE_IT(hspdif, SPDIFRX_IT_RXNE); - __HAL_SPDIFRX_DISABLE_IT(hspdif, SPDIFRX_IT_CSRNE); - __HAL_SPDIFRX_DISABLE_IT(hspdif, SPDIFRX_IT_PERRIE); - __HAL_SPDIFRX_DISABLE_IT(hspdif, SPDIFRX_IT_OVRIE); - __HAL_SPDIFRX_DISABLE_IT(hspdif, SPDIFRX_IT_SBLKIE); - __HAL_SPDIFRX_DISABLE_IT(hspdif, SPDIFRX_IT_SYNCDIE); - __HAL_SPDIFRX_DISABLE_IT(hspdif, SPDIFRX_IT_IFEIE); - - hspdif->State= HAL_SPDIFRX_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hspdif); - - return HAL_TIMEOUT; - } - count--; - } while (__HAL_SPDIFRX_GET_FLAG(hspdif, SPDIFRX_FLAG_SYNCD) == RESET); - - /* Start reception */ - __HAL_SPDIFRX_RCV(hspdif); - } - - /* Process Unlocked */ - __HAL_UNLOCK(hspdif); - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief stop the audio stream receive from the Media. - * @param hspdif SPDIFRX handle - * @retval None - */ -HAL_StatusTypeDef HAL_SPDIFRX_DMAStop(SPDIFRX_HandleTypeDef *hspdif) -{ - /* Process Locked */ - __HAL_LOCK(hspdif); - - /* Disable the SPDIFRX DMA requests */ - hspdif->Instance->CR &= (uint16_t)(~SPDIFRX_CR_RXDMAEN); - hspdif->Instance->CR &= (uint16_t)(~SPDIFRX_CR_CBDMAEN); - - /* Disable the SPDIFRX DMA channel */ - __HAL_DMA_DISABLE(hspdif->hdmaDrRx); - __HAL_DMA_DISABLE(hspdif->hdmaCsRx); - - /* Disable SPDIFRX peripheral */ - __HAL_SPDIFRX_IDLE(hspdif); - - hspdif->State = HAL_SPDIFRX_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hspdif); - - return HAL_OK; -} - -/** - * @brief This function handles SPDIFRX interrupt request. - * @param hspdif SPDIFRX handle - * @retval HAL status - */ -void HAL_SPDIFRX_IRQHandler(SPDIFRX_HandleTypeDef *hspdif) -{ - uint32_t itFlag = hspdif->Instance->SR; - uint32_t itSource = hspdif->Instance->IMR; - - /* SPDIFRX in mode Data Flow Reception */ - if(((itFlag & SPDIFRX_FLAG_RXNE) == SPDIFRX_FLAG_RXNE) && ((itSource & SPDIFRX_IT_RXNE) == SPDIFRX_IT_RXNE)) - { - __HAL_SPDIFRX_CLEAR_IT(hspdif, SPDIFRX_IT_RXNE); - SPDIFRX_ReceiveDataFlow_IT(hspdif); - } - - /* SPDIFRX in mode Control Flow Reception */ - if(((itFlag & SPDIFRX_FLAG_CSRNE) == SPDIFRX_FLAG_CSRNE) && ((itSource & SPDIFRX_IT_CSRNE) == SPDIFRX_IT_CSRNE)) - { - __HAL_SPDIFRX_CLEAR_IT(hspdif, SPDIFRX_IT_CSRNE); - SPDIFRX_ReceiveControlFlow_IT(hspdif); - } - - /* SPDIFRX Overrun error interrupt occurred */ - if(((itFlag & SPDIFRX_FLAG_OVR) == SPDIFRX_FLAG_OVR) && ((itSource & SPDIFRX_IT_OVRIE) == SPDIFRX_IT_OVRIE)) - { - __HAL_SPDIFRX_CLEAR_IT(hspdif, SPDIFRX_IT_OVRIE); - - /* Change the SPDIFRX error code */ - hspdif->ErrorCode |= HAL_SPDIFRX_ERROR_OVR; - - /* the transfer is not stopped */ - HAL_SPDIFRX_ErrorCallback(hspdif); - } - - /* SPDIFRX Parity error interrupt occurred */ - if(((itFlag & SPDIFRX_FLAG_PERR) == SPDIFRX_FLAG_PERR) && ((itSource & SPDIFRX_IT_PERRIE) == SPDIFRX_IT_PERRIE)) - { - __HAL_SPDIFRX_CLEAR_IT(hspdif, SPDIFRX_IT_PERRIE); - - /* Change the SPDIFRX error code */ - hspdif->ErrorCode |= HAL_SPDIFRX_ERROR_PE; - - /* the transfer is not stopped */ - HAL_SPDIFRX_ErrorCallback(hspdif); - } -} - -/** - * @brief Rx Transfer (Data flow) half completed callbacks - * @param hspdif SPDIFRX handle - * @retval None - */ -__weak void HAL_SPDIFRX_RxHalfCpltCallback(SPDIFRX_HandleTypeDef *hspdif) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hspdif); - - /* NOTE : This function Should not be modified, when the callback is needed, - the HAL_SPDIFRX_RxCpltCallback could be implemented in the user file - */ -} - -/** - * @brief Rx Transfer (Data flow) completed callbacks - * @param hspdif SPDIFRX handle - * @retval None - */ -__weak void HAL_SPDIFRX_RxCpltCallback(SPDIFRX_HandleTypeDef *hspdif) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hspdif); - - /* NOTE : This function Should not be modified, when the callback is needed, - the HAL_SPDIFRX_RxCpltCallback could be implemented in the user file - */ -} - -/** - * @brief Rx (Control flow) Transfer half completed callbacks - * @param hspdif SPDIFRX handle - * @retval None - */ -__weak void HAL_SPDIFRX_CxHalfCpltCallback(SPDIFRX_HandleTypeDef *hspdif) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hspdif); - - /* NOTE : This function Should not be modified, when the callback is needed, - the HAL_SPDIFRX_RxCpltCallback could be implemented in the user file - */ -} - -/** - * @brief Rx Transfer (Control flow) completed callbacks - * @param hspdif SPDIFRX handle - * @retval None - */ -__weak void HAL_SPDIFRX_CxCpltCallback(SPDIFRX_HandleTypeDef *hspdif) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hspdif); - - /* NOTE : This function Should not be modified, when the callback is needed, - the HAL_SPDIFRX_RxCpltCallback could be implemented in the user file - */ -} - -/** - * @brief SPDIFRX error callbacks - * @param hspdif SPDIFRX handle - * @retval None - */ -__weak void HAL_SPDIFRX_ErrorCallback(SPDIFRX_HandleTypeDef *hspdif) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hspdif); - - /* NOTE : This function Should not be modified, when the callback is needed, - the HAL_SPDIFRX_ErrorCallback could be implemented in the user file - */ -} - -/** - * @} - */ - -/** @defgroup SPDIFRX_Exported_Functions_Group3 Peripheral State and Errors functions - * @brief Peripheral State functions - * -@verbatim -=============================================================================== -##### Peripheral State and Errors functions ##### -=============================================================================== -[..] -This subsection permit to get in run-time the status of the peripheral -and the data flow. - -@endverbatim - * @{ - */ - -/** - * @brief Return the SPDIFRX state - * @param hspdif SPDIFRX handle - * @retval HAL state - */ -HAL_SPDIFRX_StateTypeDef HAL_SPDIFRX_GetState(SPDIFRX_HandleTypeDef const * const hspdif) -{ - return hspdif->State; -} - -/** - * @brief Return the SPDIFRX error code - * @param hspdif SPDIFRX handle - * @retval SPDIFRX Error Code - */ -uint32_t HAL_SPDIFRX_GetError(SPDIFRX_HandleTypeDef const * const hspdif) -{ - return hspdif->ErrorCode; -} - -/** - * @} - */ - -/** - * @brief DMA SPDIFRX receive process (Data flow) complete callback - * @param hdma DMA handle - * @retval None - */ -static void SPDIFRX_DMARxCplt(DMA_HandleTypeDef *hdma) -{ - SPDIFRX_HandleTypeDef* hspdif = ( SPDIFRX_HandleTypeDef* )((DMA_HandleTypeDef* )hdma)->Parent; - - /* Disable Rx DMA Request */ - if(hdma->Init.Mode != DMA_CIRCULAR) - { - hspdif->Instance->CR &= (uint16_t)(~SPDIFRX_CR_RXDMAEN); - hspdif->RxXferCount = 0; - hspdif->State = HAL_SPDIFRX_STATE_READY; - } -#if (USE_HAL_SPDIFRX_REGISTER_CALLBACKS == 1) - hspdif->RxCpltCallback(hspdif); -#else - HAL_SPDIFRX_RxCpltCallback(hspdif); -#endif /* USE_HAL_SPDIFRX_REGISTER_CALLBACKS */ -} - -/** - * @brief DMA SPDIFRX receive process (Data flow) half complete callback - * @param hdma DMA handle - * @retval None - */ -static void SPDIFRX_DMARxHalfCplt(DMA_HandleTypeDef *hdma) -{ - SPDIFRX_HandleTypeDef* hspdif = (SPDIFRX_HandleTypeDef*)((DMA_HandleTypeDef*)hdma)->Parent; - -#if (USE_HAL_SPDIFRX_REGISTER_CALLBACKS == 1) - hspdif->RxHalfCpltCallback(hspdif); -#else - HAL_SPDIFRX_RxHalfCpltCallback(hspdif); -#endif /* USE_HAL_SPDIFRX_REGISTER_CALLBACKS */ -} - - -/** - * @brief DMA SPDIFRX receive process (Control flow) complete callback - * @param hdma DMA handle - * @retval None - */ -static void SPDIFRX_DMACxCplt(DMA_HandleTypeDef *hdma) -{ - SPDIFRX_HandleTypeDef* hspdif = ( SPDIFRX_HandleTypeDef* )((DMA_HandleTypeDef* )hdma)->Parent; - - /* Disable Cb DMA Request */ - hspdif->Instance->CR &= (uint16_t)(~SPDIFRX_CR_CBDMAEN); - hspdif->CsXferCount = 0; - - hspdif->State = HAL_SPDIFRX_STATE_READY; -#if (USE_HAL_SPDIFRX_REGISTER_CALLBACKS == 1) - hspdif->CxCpltCallback(hspdif); -#else - HAL_SPDIFRX_CxCpltCallback(hspdif); -#endif /* USE_HAL_SPDIFRX_REGISTER_CALLBACKS */ -} - -/** - * @brief DMA SPDIFRX receive process (Control flow) half complete callback - * @param hdma DMA handle - * @retval None - */ -static void SPDIFRX_DMACxHalfCplt(DMA_HandleTypeDef *hdma) -{ - SPDIFRX_HandleTypeDef* hspdif = (SPDIFRX_HandleTypeDef*)((DMA_HandleTypeDef*)hdma)->Parent; - -#if (USE_HAL_SPDIFRX_REGISTER_CALLBACKS == 1) - hspdif->CxHalfCpltCallback(hspdif); -#else - HAL_SPDIFRX_CxHalfCpltCallback(hspdif); -#endif /* USE_HAL_SPDIFRX_REGISTER_CALLBACKS */ -} - -/** - * @brief DMA SPDIFRX communication error callback - * @param hdma DMA handle - * @retval None - */ -static void SPDIFRX_DMAError(DMA_HandleTypeDef *hdma) -{ - SPDIFRX_HandleTypeDef* hspdif = ( SPDIFRX_HandleTypeDef* )((DMA_HandleTypeDef* )hdma)->Parent; - - /* Disable Rx and Cb DMA Request */ - hspdif->Instance->CR &= (uint16_t)(~(SPDIFRX_CR_RXDMAEN | SPDIFRX_CR_CBDMAEN)); - hspdif->RxXferCount = 0; - - hspdif->State= HAL_SPDIFRX_STATE_READY; - - /* Set the error code and execute error callback*/ - hspdif->ErrorCode |= HAL_SPDIFRX_ERROR_DMA; - -#if (USE_HAL_SPDIFRX_REGISTER_CALLBACKS == 1) - /* The transfer is not stopped */ - hspdif->ErrorCallback(hspdif); -#else - /* The transfer is not stopped */ - HAL_SPDIFRX_ErrorCallback(hspdif); -#endif /* USE_HAL_SPDIFRX_REGISTER_CALLBACKS */ -} - -/** - * @brief Receive an amount of data (Data Flow) with Interrupt - * @param hspdif SPDIFRX handle - * @retval None - */ -static void SPDIFRX_ReceiveDataFlow_IT(SPDIFRX_HandleTypeDef *hspdif) -{ - /* Receive data */ - (*hspdif->pRxBuffPtr) = hspdif->Instance->DR; - hspdif->pRxBuffPtr++; - hspdif->RxXferCount--; - - if(hspdif->RxXferCount == 0U) - { - /* Disable RXNE/PE and OVR interrupts */ - __HAL_SPDIFRX_DISABLE_IT(hspdif, SPDIFRX_IT_OVRIE | SPDIFRX_IT_PERRIE | SPDIFRX_IT_RXNE); - - hspdif->State = HAL_SPDIFRX_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hspdif); - -#if (USE_HAL_SPDIFRX_REGISTER_CALLBACKS == 1) - hspdif->RxCpltCallback(hspdif); -#else - HAL_SPDIFRX_RxCpltCallback(hspdif); -#endif /* USE_HAL_SPDIFRX_REGISTER_CALLBACKS */ - } -} - -/** - * @brief Receive an amount of data (Control Flow) with Interrupt - * @param hspdif SPDIFRX handle - * @retval None - */ -static void SPDIFRX_ReceiveControlFlow_IT(SPDIFRX_HandleTypeDef *hspdif) -{ - /* Receive data */ - (*hspdif->pCsBuffPtr) = hspdif->Instance->CSR; - hspdif->pCsBuffPtr++; - hspdif->CsXferCount--; - - if(hspdif->CsXferCount == 0U) - { - /* Disable CSRNE interrupt */ - __HAL_SPDIFRX_DISABLE_IT(hspdif, SPDIFRX_IT_CSRNE); - - hspdif->State = HAL_SPDIFRX_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hspdif); - -#if (USE_HAL_SPDIFRX_REGISTER_CALLBACKS == 1) - hspdif->CxCpltCallback(hspdif); -#else - HAL_SPDIFRX_CxCpltCallback(hspdif); -#endif /* USE_HAL_SPDIFRX_REGISTER_CALLBACKS */ - } -} - -/** - * @brief This function handles SPDIFRX Communication Timeout. - * @param hspdif SPDIFRX handle - * @param Flag Flag checked - * @param Status Value of the flag expected - * @param Timeout Duration of the timeout - * @param tickstart Tick start value - * @retval HAL status - */ -static HAL_StatusTypeDef SPDIFRX_WaitOnFlagUntilTimeout(SPDIFRX_HandleTypeDef *hspdif, uint32_t Flag, FlagStatus Status, uint32_t Timeout, uint32_t tickstart) -{ - /* Wait until flag is set */ - while(__HAL_SPDIFRX_GET_FLAG(hspdif, Flag) == Status) - { - /* Check for the Timeout */ - if(Timeout != HAL_MAX_DELAY) - { - if(((HAL_GetTick() - tickstart ) > Timeout) || (Timeout == 0U)) - { - /* Disable TXE, RXNE, PE and ERR (Frame error, noise error, overrun error) interrupts for the interrupt process */ - __HAL_SPDIFRX_DISABLE_IT(hspdif, SPDIFRX_IT_RXNE); - __HAL_SPDIFRX_DISABLE_IT(hspdif, SPDIFRX_IT_CSRNE); - __HAL_SPDIFRX_DISABLE_IT(hspdif, SPDIFRX_IT_PERRIE); - __HAL_SPDIFRX_DISABLE_IT(hspdif, SPDIFRX_IT_OVRIE); - __HAL_SPDIFRX_DISABLE_IT(hspdif, SPDIFRX_IT_SBLKIE); - __HAL_SPDIFRX_DISABLE_IT(hspdif, SPDIFRX_IT_SYNCDIE); - __HAL_SPDIFRX_DISABLE_IT(hspdif, SPDIFRX_IT_IFEIE); - - hspdif->State= HAL_SPDIFRX_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hspdif); - - return HAL_TIMEOUT; - } - } - } - - return HAL_OK; -} - -/** - * @} - */ -#endif /* STM32F446xx */ - -#endif /* SPDIFRX */ -#endif /* HAL_SPDIFRX_MODULE_ENABLED */ -/** - * @} - */ - -/** - * @} - */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c deleted file mode 100644 index e15ffcd7ca98c8..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c +++ /dev/null @@ -1,3918 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_spi.c - * @author MCD Application Team - * @brief SPI HAL module driver. - * This file provides firmware functions to manage the following - * functionalities of the Serial Peripheral Interface (SPI) peripheral: - * + Initialization and de-initialization functions - * + IO operation functions - * + Peripheral Control functions - * + Peripheral State functions - * - @verbatim - ============================================================================== - ##### How to use this driver ##### - ============================================================================== - [..] - The SPI HAL driver can be used as follows: - - (#) Declare a SPI_HandleTypeDef handle structure, for example: - SPI_HandleTypeDef hspi; - - (#)Initialize the SPI low level resources by implementing the HAL_SPI_MspInit() API: - (##) Enable the SPIx interface clock - (##) SPI pins configuration - (+++) Enable the clock for the SPI GPIOs - (+++) Configure these SPI pins as alternate function push-pull - (##) NVIC configuration if you need to use interrupt process - (+++) Configure the SPIx interrupt priority - (+++) Enable the NVIC SPI IRQ handle - (##) DMA Configuration if you need to use DMA process - (+++) Declare a DMA_HandleTypeDef handle structure for the transmit or receive Stream/Channel - (+++) Enable the DMAx clock - (+++) Configure the DMA handle parameters - (+++) Configure the DMA Tx or Rx Stream/Channel - (+++) Associate the initialized hdma_tx(or _rx) handle to the hspi DMA Tx or Rx handle - (+++) Configure the priority and enable the NVIC for the transfer complete interrupt on the DMA Tx or Rx Stream/Channel - - (#) Program the Mode, BidirectionalMode , Data size, Baudrate Prescaler, NSS - management, Clock polarity and phase, FirstBit and CRC configuration in the hspi Init structure. - - (#) Initialize the SPI registers by calling the HAL_SPI_Init() API: - (++) This API configures also the low level Hardware GPIO, CLOCK, CORTEX...etc) - by calling the customized HAL_SPI_MspInit() API. - [..] - Circular mode restriction: - (#) The DMA circular mode cannot be used when the SPI is configured in these modes: - (##) Master 2Lines RxOnly - (##) Master 1Line Rx - (#) The CRC feature is not managed when the DMA circular mode is enabled - (#) When the SPI DMA Pause/Stop features are used, we must use the following APIs - the HAL_SPI_DMAPause()/ HAL_SPI_DMAStop() only under the SPI callbacks - [..] - Master Receive mode restriction: - (#) In Master unidirectional receive-only mode (MSTR =1, BIDIMODE=0, RXONLY=1) or - bidirectional receive mode (MSTR=1, BIDIMODE=1, BIDIOE=0), to ensure that the SPI - does not initiate a new transfer the following procedure has to be respected: - (##) HAL_SPI_DeInit() - (##) HAL_SPI_Init() - [..] - Callback registration: - - (#) The compilation flag USE_HAL_SPI_REGISTER_CALLBACKS when set to 1U - allows the user to configure dynamically the driver callbacks. - Use Functions HAL_SPI_RegisterCallback() to register an interrupt callback. - - Function HAL_SPI_RegisterCallback() allows to register following callbacks: - (++) TxCpltCallback : SPI Tx Completed callback - (++) RxCpltCallback : SPI Rx Completed callback - (++) TxRxCpltCallback : SPI TxRx Completed callback - (++) TxHalfCpltCallback : SPI Tx Half Completed callback - (++) RxHalfCpltCallback : SPI Rx Half Completed callback - (++) TxRxHalfCpltCallback : SPI TxRx Half Completed callback - (++) ErrorCallback : SPI Error callback - (++) AbortCpltCallback : SPI Abort callback - (++) MspInitCallback : SPI Msp Init callback - (++) MspDeInitCallback : SPI Msp DeInit callback - This function takes as parameters the HAL peripheral handle, the Callback ID - and a pointer to the user callback function. - - - (#) Use function HAL_SPI_UnRegisterCallback to reset a callback to the default - weak function. - HAL_SPI_UnRegisterCallback takes as parameters the HAL peripheral handle, - and the Callback ID. - This function allows to reset following callbacks: - (++) TxCpltCallback : SPI Tx Completed callback - (++) RxCpltCallback : SPI Rx Completed callback - (++) TxRxCpltCallback : SPI TxRx Completed callback - (++) TxHalfCpltCallback : SPI Tx Half Completed callback - (++) RxHalfCpltCallback : SPI Rx Half Completed callback - (++) TxRxHalfCpltCallback : SPI TxRx Half Completed callback - (++) ErrorCallback : SPI Error callback - (++) AbortCpltCallback : SPI Abort callback - (++) MspInitCallback : SPI Msp Init callback - (++) MspDeInitCallback : SPI Msp DeInit callback - - [..] - By default, after the HAL_SPI_Init() and when the state is HAL_SPI_STATE_RESET - all callbacks are set to the corresponding weak functions: - examples HAL_SPI_MasterTxCpltCallback(), HAL_SPI_MasterRxCpltCallback(). - Exception done for MspInit and MspDeInit functions that are - reset to the legacy weak functions in the HAL_SPI_Init()/ HAL_SPI_DeInit() only when - these callbacks are null (not registered beforehand). - If MspInit or MspDeInit are not null, the HAL_SPI_Init()/ HAL_SPI_DeInit() - keep and use the user MspInit/MspDeInit callbacks (registered beforehand) whatever the state. - - [..] - Callbacks can be registered/unregistered in HAL_SPI_STATE_READY state only. - Exception done MspInit/MspDeInit functions that can be registered/unregistered - in HAL_SPI_STATE_READY or HAL_SPI_STATE_RESET state, - thus registered (user) MspInit/DeInit callbacks can be used during the Init/DeInit. - Then, the user first registers the MspInit/MspDeInit user callbacks - using HAL_SPI_RegisterCallback() before calling HAL_SPI_DeInit() - or HAL_SPI_Init() function. - - [..] - When the compilation define USE_HAL_PPP_REGISTER_CALLBACKS is set to 0 or - not defined, the callback registering feature is not available - and weak (surcharged) callbacks are used. - - [..] - Using the HAL it is not possible to reach all supported SPI frequency with the different SPI Modes, - the following table resume the max SPI frequency reached with data size 8bits/16bits, - according to frequency of the APBx Peripheral Clock (fPCLK) used by the SPI instance. - - @endverbatim - - Additional table : - - DataSize = SPI_DATASIZE_8BIT: - +----------------------------------------------------------------------------------------------+ - | | | 2Lines Fullduplex | 2Lines RxOnly | 1Line | - | Process | Transfer mode |---------------------|----------------------|----------------------| - | | | Master | Slave | Master | Slave | Master | Slave | - |==============================================================================================| - | T | Polling | Fpclk/2 | Fpclk/2 | NA | NA | NA | NA | - | X |----------------|----------|----------|-----------|----------|-----------|----------| - | / | Interrupt | Fpclk/4 | Fpclk/8 | NA | NA | NA | NA | - | R |----------------|----------|----------|-----------|----------|-----------|----------| - | X | DMA | Fpclk/2 | Fpclk/2 | NA | NA | NA | NA | - |=========|================|==========|==========|===========|==========|===========|==========| - | | Polling | Fpclk/2 | Fpclk/2 | Fpclk/64 | Fpclk/2 | Fpclk/64 | Fpclk/2 | - | |----------------|----------|----------|-----------|----------|-----------|----------| - | R | Interrupt | Fpclk/8 | Fpclk/8 | Fpclk/64 | Fpclk/2 | Fpclk/64 | Fpclk/2 | - | X |----------------|----------|----------|-----------|----------|-----------|----------| - | | DMA | Fpclk/2 | Fpclk/2 | Fpclk/64 | Fpclk/2 | Fpclk/128 | Fpclk/2 | - |=========|================|==========|==========|===========|==========|===========|==========| - | | Polling | Fpclk/2 | Fpclk/4 | NA | NA | Fpclk/2 | Fpclk/64 | - | |----------------|----------|----------|-----------|----------|-----------|----------| - | T | Interrupt | Fpclk/2 | Fpclk/4 | NA | NA | Fpclk/2 | Fpclk/64 | - | X |----------------|----------|----------|-----------|----------|-----------|----------| - | | DMA | Fpclk/2 | Fpclk/2 | NA | NA | Fpclk/2 | Fpclk/128| - +----------------------------------------------------------------------------------------------+ - - DataSize = SPI_DATASIZE_16BIT: - +----------------------------------------------------------------------------------------------+ - | | | 2Lines Fullduplex | 2Lines RxOnly | 1Line | - | Process | Transfer mode |---------------------|----------------------|----------------------| - | | | Master | Slave | Master | Slave | Master | Slave | - |==============================================================================================| - | T | Polling | Fpclk/2 | Fpclk/2 | NA | NA | NA | NA | - | X |----------------|----------|----------|-----------|----------|-----------|----------| - | / | Interrupt | Fpclk/4 | Fpclk/4 | NA | NA | NA | NA | - | R |----------------|----------|----------|-----------|----------|-----------|----------| - | X | DMA | Fpclk/2 | Fpclk/2 | NA | NA | NA | NA | - |=========|================|==========|==========|===========|==========|===========|==========| - | | Polling | Fpclk/2 | Fpclk/2 | Fpclk/64 | Fpclk/2 | Fpclk/32 | Fpclk/2 | - | |----------------|----------|----------|-----------|----------|-----------|----------| - | R | Interrupt | Fpclk/4 | Fpclk/4 | Fpclk/64 | Fpclk/2 | Fpclk/64 | Fpclk/2 | - | X |----------------|----------|----------|-----------|----------|-----------|----------| - | | DMA | Fpclk/2 | Fpclk/2 | Fpclk/64 | Fpclk/2 | Fpclk/128 | Fpclk/2 | - |=========|================|==========|==========|===========|==========|===========|==========| - | | Polling | Fpclk/2 | Fpclk/2 | NA | NA | Fpclk/2 | Fpclk/32 | - | |----------------|----------|----------|-----------|----------|-----------|----------| - | T | Interrupt | Fpclk/2 | Fpclk/2 | NA | NA | Fpclk/2 | Fpclk/64 | - | X |----------------|----------|----------|-----------|----------|-----------|----------| - | | DMA | Fpclk/2 | Fpclk/2 | NA | NA | Fpclk/2 | Fpclk/128| - +----------------------------------------------------------------------------------------------+ - @note The max SPI frequency depend on SPI data size (8bits, 16bits), - SPI mode(2 Lines fullduplex, 2 lines RxOnly, 1 line TX/RX) and Process mode (Polling, IT, DMA). - @note - (#) TX/RX processes are HAL_SPI_TransmitReceive(), HAL_SPI_TransmitReceive_IT() and HAL_SPI_TransmitReceive_DMA() - (#) RX processes are HAL_SPI_Receive(), HAL_SPI_Receive_IT() and HAL_SPI_Receive_DMA() - (#) TX processes are HAL_SPI_Transmit(), HAL_SPI_Transmit_IT() and HAL_SPI_Transmit_DMA() - - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @defgroup SPI SPI - * @brief SPI HAL module driver - * @{ - */ -#ifdef HAL_SPI_MODULE_ENABLED - -/* Private typedef -----------------------------------------------------------*/ -/* Private defines -----------------------------------------------------------*/ -/** @defgroup SPI_Private_Constants SPI Private Constants - * @{ - */ -#define SPI_DEFAULT_TIMEOUT 100U -#define SPI_BSY_FLAG_WORKAROUND_TIMEOUT 1000U /*!< Timeout 1000 µs */ -/** - * @} - */ - -/* Private macros ------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private function prototypes -----------------------------------------------*/ -/** @defgroup SPI_Private_Functions SPI Private Functions - * @{ - */ -static void SPI_DMATransmitCplt(DMA_HandleTypeDef *hdma); -static void SPI_DMAReceiveCplt(DMA_HandleTypeDef *hdma); -static void SPI_DMATransmitReceiveCplt(DMA_HandleTypeDef *hdma); -static void SPI_DMAHalfTransmitCplt(DMA_HandleTypeDef *hdma); -static void SPI_DMAHalfReceiveCplt(DMA_HandleTypeDef *hdma); -static void SPI_DMAHalfTransmitReceiveCplt(DMA_HandleTypeDef *hdma); -static void SPI_DMAError(DMA_HandleTypeDef *hdma); -static void SPI_DMAAbortOnError(DMA_HandleTypeDef *hdma); -static void SPI_DMATxAbortCallback(DMA_HandleTypeDef *hdma); -static void SPI_DMARxAbortCallback(DMA_HandleTypeDef *hdma); -static HAL_StatusTypeDef SPI_WaitFlagStateUntilTimeout(SPI_HandleTypeDef *hspi, uint32_t Flag, FlagStatus State, - uint32_t Timeout, uint32_t Tickstart); -static void SPI_TxISR_8BIT(struct __SPI_HandleTypeDef *hspi); -static void SPI_TxISR_16BIT(struct __SPI_HandleTypeDef *hspi); -static void SPI_RxISR_8BIT(struct __SPI_HandleTypeDef *hspi); -static void SPI_RxISR_16BIT(struct __SPI_HandleTypeDef *hspi); -static void SPI_2linesRxISR_8BIT(struct __SPI_HandleTypeDef *hspi); -static void SPI_2linesTxISR_8BIT(struct __SPI_HandleTypeDef *hspi); -static void SPI_2linesTxISR_16BIT(struct __SPI_HandleTypeDef *hspi); -static void SPI_2linesRxISR_16BIT(struct __SPI_HandleTypeDef *hspi); -#if (USE_SPI_CRC != 0U) -static void SPI_RxISR_8BITCRC(struct __SPI_HandleTypeDef *hspi); -static void SPI_RxISR_16BITCRC(struct __SPI_HandleTypeDef *hspi); -static void SPI_2linesRxISR_8BITCRC(struct __SPI_HandleTypeDef *hspi); -static void SPI_2linesRxISR_16BITCRC(struct __SPI_HandleTypeDef *hspi); -#endif /* USE_SPI_CRC */ -static void SPI_AbortRx_ISR(SPI_HandleTypeDef *hspi); -static void SPI_AbortTx_ISR(SPI_HandleTypeDef *hspi); -static void SPI_CloseRxTx_ISR(SPI_HandleTypeDef *hspi); -static void SPI_CloseRx_ISR(SPI_HandleTypeDef *hspi); -static void SPI_CloseTx_ISR(SPI_HandleTypeDef *hspi); -static HAL_StatusTypeDef SPI_EndRxTransaction(SPI_HandleTypeDef *hspi, uint32_t Timeout, uint32_t Tickstart); -static HAL_StatusTypeDef SPI_EndRxTxTransaction(SPI_HandleTypeDef *hspi, uint32_t Timeout, uint32_t Tickstart); -/** - * @} - */ - -/* Exported functions --------------------------------------------------------*/ -/** @defgroup SPI_Exported_Functions SPI Exported Functions - * @{ - */ - -/** @defgroup SPI_Exported_Functions_Group1 Initialization and de-initialization functions - * @brief Initialization and Configuration functions - * -@verbatim - =============================================================================== - ##### Initialization and de-initialization functions ##### - =============================================================================== - [..] This subsection provides a set of functions allowing to initialize and - de-initialize the SPIx peripheral: - - (+) User must implement HAL_SPI_MspInit() function in which he configures - all related peripherals resources (CLOCK, GPIO, DMA, IT and NVIC ). - - (+) Call the function HAL_SPI_Init() to configure the selected device with - the selected configuration: - (++) Mode - (++) Direction - (++) Data Size - (++) Clock Polarity and Phase - (++) NSS Management - (++) BaudRate Prescaler - (++) FirstBit - (++) TIMode - (++) CRC Calculation - (++) CRC Polynomial if CRC enabled - - (+) Call the function HAL_SPI_DeInit() to restore the default configuration - of the selected SPIx peripheral. - -@endverbatim - * @{ - */ - -/** - * @brief Initialize the SPI according to the specified parameters - * in the SPI_InitTypeDef and initialize the associated handle. - * @param hspi pointer to a SPI_HandleTypeDef structure that contains - * the configuration information for SPI module. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SPI_Init(SPI_HandleTypeDef *hspi) -{ - /* Check the SPI handle allocation */ - if (hspi == NULL) - { - return HAL_ERROR; - } - - /* Check the parameters */ - assert_param(IS_SPI_ALL_INSTANCE(hspi->Instance)); - assert_param(IS_SPI_MODE(hspi->Init.Mode)); - assert_param(IS_SPI_DIRECTION(hspi->Init.Direction)); - assert_param(IS_SPI_DATASIZE(hspi->Init.DataSize)); - assert_param(IS_SPI_NSS(hspi->Init.NSS)); - assert_param(IS_SPI_BAUDRATE_PRESCALER(hspi->Init.BaudRatePrescaler)); - assert_param(IS_SPI_FIRST_BIT(hspi->Init.FirstBit)); - assert_param(IS_SPI_TIMODE(hspi->Init.TIMode)); - if (hspi->Init.TIMode == SPI_TIMODE_DISABLE) - { - assert_param(IS_SPI_CPOL(hspi->Init.CLKPolarity)); - assert_param(IS_SPI_CPHA(hspi->Init.CLKPhase)); - - if (hspi->Init.Mode == SPI_MODE_MASTER) - { - assert_param(IS_SPI_BAUDRATE_PRESCALER(hspi->Init.BaudRatePrescaler)); - } - else - { - /* Baudrate prescaler not use in Motoraola Slave mode. force to default value */ - hspi->Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_2; - } - } - else - { - assert_param(IS_SPI_BAUDRATE_PRESCALER(hspi->Init.BaudRatePrescaler)); - - /* Force polarity and phase to TI protocaol requirements */ - hspi->Init.CLKPolarity = SPI_POLARITY_LOW; - hspi->Init.CLKPhase = SPI_PHASE_1EDGE; - } -#if (USE_SPI_CRC != 0U) - assert_param(IS_SPI_CRC_CALCULATION(hspi->Init.CRCCalculation)); - if (hspi->Init.CRCCalculation == SPI_CRCCALCULATION_ENABLE) - { - assert_param(IS_SPI_CRC_POLYNOMIAL(hspi->Init.CRCPolynomial)); - } -#else - hspi->Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE; -#endif /* USE_SPI_CRC */ - - if (hspi->State == HAL_SPI_STATE_RESET) - { - /* Allocate lock resource and initialize it */ - hspi->Lock = HAL_UNLOCKED; - -#if (USE_HAL_SPI_REGISTER_CALLBACKS == 1U) - /* Init the SPI Callback settings */ - hspi->TxCpltCallback = HAL_SPI_TxCpltCallback; /* Legacy weak TxCpltCallback */ - hspi->RxCpltCallback = HAL_SPI_RxCpltCallback; /* Legacy weak RxCpltCallback */ - hspi->TxRxCpltCallback = HAL_SPI_TxRxCpltCallback; /* Legacy weak TxRxCpltCallback */ - hspi->TxHalfCpltCallback = HAL_SPI_TxHalfCpltCallback; /* Legacy weak TxHalfCpltCallback */ - hspi->RxHalfCpltCallback = HAL_SPI_RxHalfCpltCallback; /* Legacy weak RxHalfCpltCallback */ - hspi->TxRxHalfCpltCallback = HAL_SPI_TxRxHalfCpltCallback; /* Legacy weak TxRxHalfCpltCallback */ - hspi->ErrorCallback = HAL_SPI_ErrorCallback; /* Legacy weak ErrorCallback */ - hspi->AbortCpltCallback = HAL_SPI_AbortCpltCallback; /* Legacy weak AbortCpltCallback */ - - if (hspi->MspInitCallback == NULL) - { - hspi->MspInitCallback = HAL_SPI_MspInit; /* Legacy weak MspInit */ - } - - /* Init the low level hardware : GPIO, CLOCK, NVIC... */ - hspi->MspInitCallback(hspi); -#else - /* Init the low level hardware : GPIO, CLOCK, NVIC... */ - HAL_SPI_MspInit(hspi); -#endif /* USE_HAL_SPI_REGISTER_CALLBACKS */ - } - - hspi->State = HAL_SPI_STATE_BUSY; - - /* Disable the selected SPI peripheral */ - __HAL_SPI_DISABLE(hspi); - - /*----------------------- SPIx CR1 & CR2 Configuration ---------------------*/ - /* Configure : SPI Mode, Communication Mode, Data size, Clock polarity and phase, NSS management, - Communication speed, First bit and CRC calculation state */ - WRITE_REG(hspi->Instance->CR1, ((hspi->Init.Mode & (SPI_CR1_MSTR | SPI_CR1_SSI)) | - (hspi->Init.Direction & (SPI_CR1_RXONLY | SPI_CR1_BIDIMODE)) | - (hspi->Init.DataSize & SPI_CR1_DFF) | - (hspi->Init.CLKPolarity & SPI_CR1_CPOL) | - (hspi->Init.CLKPhase & SPI_CR1_CPHA) | - (hspi->Init.NSS & SPI_CR1_SSM) | - (hspi->Init.BaudRatePrescaler & SPI_CR1_BR_Msk) | - (hspi->Init.FirstBit & SPI_CR1_LSBFIRST) | - (hspi->Init.CRCCalculation & SPI_CR1_CRCEN))); - - /* Configure : NSS management, TI Mode */ - WRITE_REG(hspi->Instance->CR2, (((hspi->Init.NSS >> 16U) & SPI_CR2_SSOE) | (hspi->Init.TIMode & SPI_CR2_FRF))); - -#if (USE_SPI_CRC != 0U) - /*---------------------------- SPIx CRCPOLY Configuration ------------------*/ - /* Configure : CRC Polynomial */ - if (hspi->Init.CRCCalculation == SPI_CRCCALCULATION_ENABLE) - { - WRITE_REG(hspi->Instance->CRCPR, (hspi->Init.CRCPolynomial & SPI_CRCPR_CRCPOLY_Msk)); - } -#endif /* USE_SPI_CRC */ - -#if defined(SPI_I2SCFGR_I2SMOD) - /* Activate the SPI mode (Make sure that I2SMOD bit in I2SCFGR register is reset) */ - CLEAR_BIT(hspi->Instance->I2SCFGR, SPI_I2SCFGR_I2SMOD); -#endif /* SPI_I2SCFGR_I2SMOD */ - - hspi->ErrorCode = HAL_SPI_ERROR_NONE; - hspi->State = HAL_SPI_STATE_READY; - - return HAL_OK; -} - -/** - * @brief De-Initialize the SPI peripheral. - * @param hspi pointer to a SPI_HandleTypeDef structure that contains - * the configuration information for SPI module. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SPI_DeInit(SPI_HandleTypeDef *hspi) -{ - /* Check the SPI handle allocation */ - if (hspi == NULL) - { - return HAL_ERROR; - } - - /* Check SPI Instance parameter */ - assert_param(IS_SPI_ALL_INSTANCE(hspi->Instance)); - - hspi->State = HAL_SPI_STATE_BUSY; - - /* Disable the SPI Peripheral Clock */ - __HAL_SPI_DISABLE(hspi); - -#if (USE_HAL_SPI_REGISTER_CALLBACKS == 1U) - if (hspi->MspDeInitCallback == NULL) - { - hspi->MspDeInitCallback = HAL_SPI_MspDeInit; /* Legacy weak MspDeInit */ - } - - /* DeInit the low level hardware: GPIO, CLOCK, NVIC... */ - hspi->MspDeInitCallback(hspi); -#else - /* DeInit the low level hardware: GPIO, CLOCK, NVIC... */ - HAL_SPI_MspDeInit(hspi); -#endif /* USE_HAL_SPI_REGISTER_CALLBACKS */ - - hspi->ErrorCode = HAL_SPI_ERROR_NONE; - hspi->State = HAL_SPI_STATE_RESET; - - /* Release Lock */ - __HAL_UNLOCK(hspi); - - return HAL_OK; -} - -/** - * @brief Initialize the SPI MSP. - * @param hspi pointer to a SPI_HandleTypeDef structure that contains - * the configuration information for SPI module. - * @retval None - */ -__weak void HAL_SPI_MspInit(SPI_HandleTypeDef *hspi) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hspi); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_SPI_MspInit should be implemented in the user file - */ -} - -/** - * @brief De-Initialize the SPI MSP. - * @param hspi pointer to a SPI_HandleTypeDef structure that contains - * the configuration information for SPI module. - * @retval None - */ -__weak void HAL_SPI_MspDeInit(SPI_HandleTypeDef *hspi) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hspi); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_SPI_MspDeInit should be implemented in the user file - */ -} - -#if (USE_HAL_SPI_REGISTER_CALLBACKS == 1U) -/** - * @brief Register a User SPI Callback - * To be used instead of the weak predefined callback - * @param hspi Pointer to a SPI_HandleTypeDef structure that contains - * the configuration information for the specified SPI. - * @param CallbackID ID of the callback to be registered - * @param pCallback pointer to the Callback function - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SPI_RegisterCallback(SPI_HandleTypeDef *hspi, HAL_SPI_CallbackIDTypeDef CallbackID, - pSPI_CallbackTypeDef pCallback) -{ - HAL_StatusTypeDef status = HAL_OK; - - if (pCallback == NULL) - { - /* Update the error code */ - hspi->ErrorCode |= HAL_SPI_ERROR_INVALID_CALLBACK; - - return HAL_ERROR; - } - /* Process locked */ - __HAL_LOCK(hspi); - - if (HAL_SPI_STATE_READY == hspi->State) - { - switch (CallbackID) - { - case HAL_SPI_TX_COMPLETE_CB_ID : - hspi->TxCpltCallback = pCallback; - break; - - case HAL_SPI_RX_COMPLETE_CB_ID : - hspi->RxCpltCallback = pCallback; - break; - - case HAL_SPI_TX_RX_COMPLETE_CB_ID : - hspi->TxRxCpltCallback = pCallback; - break; - - case HAL_SPI_TX_HALF_COMPLETE_CB_ID : - hspi->TxHalfCpltCallback = pCallback; - break; - - case HAL_SPI_RX_HALF_COMPLETE_CB_ID : - hspi->RxHalfCpltCallback = pCallback; - break; - - case HAL_SPI_TX_RX_HALF_COMPLETE_CB_ID : - hspi->TxRxHalfCpltCallback = pCallback; - break; - - case HAL_SPI_ERROR_CB_ID : - hspi->ErrorCallback = pCallback; - break; - - case HAL_SPI_ABORT_CB_ID : - hspi->AbortCpltCallback = pCallback; - break; - - case HAL_SPI_MSPINIT_CB_ID : - hspi->MspInitCallback = pCallback; - break; - - case HAL_SPI_MSPDEINIT_CB_ID : - hspi->MspDeInitCallback = pCallback; - break; - - default : - /* Update the error code */ - SET_BIT(hspi->ErrorCode, HAL_SPI_ERROR_INVALID_CALLBACK); - - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else if (HAL_SPI_STATE_RESET == hspi->State) - { - switch (CallbackID) - { - case HAL_SPI_MSPINIT_CB_ID : - hspi->MspInitCallback = pCallback; - break; - - case HAL_SPI_MSPDEINIT_CB_ID : - hspi->MspDeInitCallback = pCallback; - break; - - default : - /* Update the error code */ - SET_BIT(hspi->ErrorCode, HAL_SPI_ERROR_INVALID_CALLBACK); - - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else - { - /* Update the error code */ - SET_BIT(hspi->ErrorCode, HAL_SPI_ERROR_INVALID_CALLBACK); - - /* Return error status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(hspi); - return status; -} - -/** - * @brief Unregister an SPI Callback - * SPI callback is redirected to the weak predefined callback - * @param hspi Pointer to a SPI_HandleTypeDef structure that contains - * the configuration information for the specified SPI. - * @param CallbackID ID of the callback to be unregistered - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SPI_UnRegisterCallback(SPI_HandleTypeDef *hspi, HAL_SPI_CallbackIDTypeDef CallbackID) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Process locked */ - __HAL_LOCK(hspi); - - if (HAL_SPI_STATE_READY == hspi->State) - { - switch (CallbackID) - { - case HAL_SPI_TX_COMPLETE_CB_ID : - hspi->TxCpltCallback = HAL_SPI_TxCpltCallback; /* Legacy weak TxCpltCallback */ - break; - - case HAL_SPI_RX_COMPLETE_CB_ID : - hspi->RxCpltCallback = HAL_SPI_RxCpltCallback; /* Legacy weak RxCpltCallback */ - break; - - case HAL_SPI_TX_RX_COMPLETE_CB_ID : - hspi->TxRxCpltCallback = HAL_SPI_TxRxCpltCallback; /* Legacy weak TxRxCpltCallback */ - break; - - case HAL_SPI_TX_HALF_COMPLETE_CB_ID : - hspi->TxHalfCpltCallback = HAL_SPI_TxHalfCpltCallback; /* Legacy weak TxHalfCpltCallback */ - break; - - case HAL_SPI_RX_HALF_COMPLETE_CB_ID : - hspi->RxHalfCpltCallback = HAL_SPI_RxHalfCpltCallback; /* Legacy weak RxHalfCpltCallback */ - break; - - case HAL_SPI_TX_RX_HALF_COMPLETE_CB_ID : - hspi->TxRxHalfCpltCallback = HAL_SPI_TxRxHalfCpltCallback; /* Legacy weak TxRxHalfCpltCallback */ - break; - - case HAL_SPI_ERROR_CB_ID : - hspi->ErrorCallback = HAL_SPI_ErrorCallback; /* Legacy weak ErrorCallback */ - break; - - case HAL_SPI_ABORT_CB_ID : - hspi->AbortCpltCallback = HAL_SPI_AbortCpltCallback; /* Legacy weak AbortCpltCallback */ - break; - - case HAL_SPI_MSPINIT_CB_ID : - hspi->MspInitCallback = HAL_SPI_MspInit; /* Legacy weak MspInit */ - break; - - case HAL_SPI_MSPDEINIT_CB_ID : - hspi->MspDeInitCallback = HAL_SPI_MspDeInit; /* Legacy weak MspDeInit */ - break; - - default : - /* Update the error code */ - SET_BIT(hspi->ErrorCode, HAL_SPI_ERROR_INVALID_CALLBACK); - - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else if (HAL_SPI_STATE_RESET == hspi->State) - { - switch (CallbackID) - { - case HAL_SPI_MSPINIT_CB_ID : - hspi->MspInitCallback = HAL_SPI_MspInit; /* Legacy weak MspInit */ - break; - - case HAL_SPI_MSPDEINIT_CB_ID : - hspi->MspDeInitCallback = HAL_SPI_MspDeInit; /* Legacy weak MspDeInit */ - break; - - default : - /* Update the error code */ - SET_BIT(hspi->ErrorCode, HAL_SPI_ERROR_INVALID_CALLBACK); - - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else - { - /* Update the error code */ - SET_BIT(hspi->ErrorCode, HAL_SPI_ERROR_INVALID_CALLBACK); - - /* Return error status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(hspi); - return status; -} -#endif /* USE_HAL_SPI_REGISTER_CALLBACKS */ -/** - * @} - */ - -/** @defgroup SPI_Exported_Functions_Group2 IO operation functions - * @brief Data transfers functions - * -@verbatim - ============================================================================== - ##### IO operation functions ##### - =============================================================================== - [..] - This subsection provides a set of functions allowing to manage the SPI - data transfers. - - [..] The SPI supports master and slave mode : - - (#) There are two modes of transfer: - (++) Blocking mode: The communication is performed in polling mode. - The HAL status of all data processing is returned by the same function - after finishing transfer. - (++) No-Blocking mode: The communication is performed using Interrupts - or DMA, These APIs return the HAL status. - The end of the data processing will be indicated through the - dedicated SPI IRQ when using Interrupt mode or the DMA IRQ when - using DMA mode. - The HAL_SPI_TxCpltCallback(), HAL_SPI_RxCpltCallback() and HAL_SPI_TxRxCpltCallback() user callbacks - will be executed respectively at the end of the transmit or Receive process - The HAL_SPI_ErrorCallback()user callback will be executed when a communication error is detected - - (#) APIs provided for these 2 transfer modes (Blocking mode or Non blocking mode using either Interrupt or DMA) - exist for 1Line (simplex) and 2Lines (full duplex) modes. - -@endverbatim - * @{ - */ - -/** - * @brief Transmit an amount of data in blocking mode. - * @param hspi pointer to a SPI_HandleTypeDef structure that contains - * the configuration information for SPI module. - * @param pData pointer to data buffer - * @param Size amount of data to be sent - * @param Timeout Timeout duration - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SPI_Transmit(SPI_HandleTypeDef *hspi, uint8_t *pData, uint16_t Size, uint32_t Timeout) -{ - uint32_t tickstart; - HAL_StatusTypeDef errorcode = HAL_OK; - uint16_t initial_TxXferCount; - - /* Check Direction parameter */ - assert_param(IS_SPI_DIRECTION_2LINES_OR_1LINE(hspi->Init.Direction)); - - /* Process Locked */ - __HAL_LOCK(hspi); - - /* Init tickstart for timeout management*/ - tickstart = HAL_GetTick(); - initial_TxXferCount = Size; - - if (hspi->State != HAL_SPI_STATE_READY) - { - errorcode = HAL_BUSY; - goto error; - } - - if ((pData == NULL) || (Size == 0U)) - { - errorcode = HAL_ERROR; - goto error; - } - - /* Set the transaction information */ - hspi->State = HAL_SPI_STATE_BUSY_TX; - hspi->ErrorCode = HAL_SPI_ERROR_NONE; - hspi->pTxBuffPtr = (uint8_t *)pData; - hspi->TxXferSize = Size; - hspi->TxXferCount = Size; - - /*Init field not used in handle to zero */ - hspi->pRxBuffPtr = (uint8_t *)NULL; - hspi->RxXferSize = 0U; - hspi->RxXferCount = 0U; - hspi->TxISR = NULL; - hspi->RxISR = NULL; - - /* Configure communication direction : 1Line */ - if (hspi->Init.Direction == SPI_DIRECTION_1LINE) - { - /* Disable SPI Peripheral before set 1Line direction (BIDIOE bit) */ - __HAL_SPI_DISABLE(hspi); - SPI_1LINE_TX(hspi); - } - -#if (USE_SPI_CRC != 0U) - /* Reset CRC Calculation */ - if (hspi->Init.CRCCalculation == SPI_CRCCALCULATION_ENABLE) - { - SPI_RESET_CRC(hspi); - } -#endif /* USE_SPI_CRC */ - - /* Check if the SPI is already enabled */ - if ((hspi->Instance->CR1 & SPI_CR1_SPE) != SPI_CR1_SPE) - { - /* Enable SPI peripheral */ - __HAL_SPI_ENABLE(hspi); - } - - /* Transmit data in 16 Bit mode */ - if (hspi->Init.DataSize == SPI_DATASIZE_16BIT) - { - if ((hspi->Init.Mode == SPI_MODE_SLAVE) || (initial_TxXferCount == 0x01U)) - { - hspi->Instance->DR = *((uint16_t *)hspi->pTxBuffPtr); - hspi->pTxBuffPtr += sizeof(uint16_t); - hspi->TxXferCount--; - } - /* Transmit data in 16 Bit mode */ - while (hspi->TxXferCount > 0U) - { - /* Wait until TXE flag is set to send data */ - if (__HAL_SPI_GET_FLAG(hspi, SPI_FLAG_TXE)) - { - hspi->Instance->DR = *((uint16_t *)hspi->pTxBuffPtr); - hspi->pTxBuffPtr += sizeof(uint16_t); - hspi->TxXferCount--; - } - else - { - /* Timeout management */ - if ((((HAL_GetTick() - tickstart) >= Timeout) && (Timeout != HAL_MAX_DELAY)) || (Timeout == 0U)) - { - errorcode = HAL_TIMEOUT; - goto error; - } - } - } - } - /* Transmit data in 8 Bit mode */ - else - { - if ((hspi->Init.Mode == SPI_MODE_SLAVE) || (initial_TxXferCount == 0x01U)) - { - *((__IO uint8_t *)&hspi->Instance->DR) = (*hspi->pTxBuffPtr); - hspi->pTxBuffPtr += sizeof(uint8_t); - hspi->TxXferCount--; - } - while (hspi->TxXferCount > 0U) - { - /* Wait until TXE flag is set to send data */ - if (__HAL_SPI_GET_FLAG(hspi, SPI_FLAG_TXE)) - { - *((__IO uint8_t *)&hspi->Instance->DR) = (*hspi->pTxBuffPtr); - hspi->pTxBuffPtr += sizeof(uint8_t); - hspi->TxXferCount--; - } - else - { - /* Timeout management */ - if ((((HAL_GetTick() - tickstart) >= Timeout) && (Timeout != HAL_MAX_DELAY)) || (Timeout == 0U)) - { - errorcode = HAL_TIMEOUT; - goto error; - } - } - } - } -#if (USE_SPI_CRC != 0U) - /* Enable CRC Transmission */ - if (hspi->Init.CRCCalculation == SPI_CRCCALCULATION_ENABLE) - { - SET_BIT(hspi->Instance->CR1, SPI_CR1_CRCNEXT); - } -#endif /* USE_SPI_CRC */ - - /* Check the end of the transaction */ - if (SPI_EndRxTxTransaction(hspi, Timeout, tickstart) != HAL_OK) - { - hspi->ErrorCode = HAL_SPI_ERROR_FLAG; - } - - /* Clear overrun flag in 2 Lines communication mode because received is not read */ - if (hspi->Init.Direction == SPI_DIRECTION_2LINES) - { - __HAL_SPI_CLEAR_OVRFLAG(hspi); - } - - if (hspi->ErrorCode != HAL_SPI_ERROR_NONE) - { - errorcode = HAL_ERROR; - } - -error: - hspi->State = HAL_SPI_STATE_READY; - /* Process Unlocked */ - __HAL_UNLOCK(hspi); - return errorcode; -} - -/** - * @brief Receive an amount of data in blocking mode. - * @param hspi pointer to a SPI_HandleTypeDef structure that contains - * the configuration information for SPI module. - * @param pData pointer to data buffer - * @param Size amount of data to be received - * @param Timeout Timeout duration - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SPI_Receive(SPI_HandleTypeDef *hspi, uint8_t *pData, uint16_t Size, uint32_t Timeout) -{ -#if (USE_SPI_CRC != 0U) - __IO uint32_t tmpreg = 0U; -#endif /* USE_SPI_CRC */ - uint32_t tickstart; - HAL_StatusTypeDef errorcode = HAL_OK; - - if ((hspi->Init.Mode == SPI_MODE_MASTER) && (hspi->Init.Direction == SPI_DIRECTION_2LINES)) - { - hspi->State = HAL_SPI_STATE_BUSY_RX; - /* Call transmit-receive function to send Dummy data on Tx line and generate clock on CLK line */ - return HAL_SPI_TransmitReceive(hspi, pData, pData, Size, Timeout); - } - - /* Process Locked */ - __HAL_LOCK(hspi); - - /* Init tickstart for timeout management*/ - tickstart = HAL_GetTick(); - - if (hspi->State != HAL_SPI_STATE_READY) - { - errorcode = HAL_BUSY; - goto error; - } - - if ((pData == NULL) || (Size == 0U)) - { - errorcode = HAL_ERROR; - goto error; - } - - /* Set the transaction information */ - hspi->State = HAL_SPI_STATE_BUSY_RX; - hspi->ErrorCode = HAL_SPI_ERROR_NONE; - hspi->pRxBuffPtr = (uint8_t *)pData; - hspi->RxXferSize = Size; - hspi->RxXferCount = Size; - - /*Init field not used in handle to zero */ - hspi->pTxBuffPtr = (uint8_t *)NULL; - hspi->TxXferSize = 0U; - hspi->TxXferCount = 0U; - hspi->RxISR = NULL; - hspi->TxISR = NULL; - -#if (USE_SPI_CRC != 0U) - /* Reset CRC Calculation */ - if (hspi->Init.CRCCalculation == SPI_CRCCALCULATION_ENABLE) - { - SPI_RESET_CRC(hspi); - /* this is done to handle the CRCNEXT before the latest data */ - hspi->RxXferCount--; - } -#endif /* USE_SPI_CRC */ - - /* Configure communication direction: 1Line */ - if (hspi->Init.Direction == SPI_DIRECTION_1LINE) - { - /* Disable SPI Peripheral before set 1Line direction (BIDIOE bit) */ - __HAL_SPI_DISABLE(hspi); - SPI_1LINE_RX(hspi); - } - - /* Check if the SPI is already enabled */ - if ((hspi->Instance->CR1 & SPI_CR1_SPE) != SPI_CR1_SPE) - { - /* Enable SPI peripheral */ - __HAL_SPI_ENABLE(hspi); - } - - /* Receive data in 8 Bit mode */ - if (hspi->Init.DataSize == SPI_DATASIZE_8BIT) - { - /* Transfer loop */ - while (hspi->RxXferCount > 0U) - { - /* Check the RXNE flag */ - if (__HAL_SPI_GET_FLAG(hspi, SPI_FLAG_RXNE)) - { - /* read the received data */ - (* (uint8_t *)hspi->pRxBuffPtr) = *(__IO uint8_t *)&hspi->Instance->DR; - hspi->pRxBuffPtr += sizeof(uint8_t); - hspi->RxXferCount--; - } - else - { - /* Timeout management */ - if ((((HAL_GetTick() - tickstart) >= Timeout) && (Timeout != HAL_MAX_DELAY)) || (Timeout == 0U)) - { - errorcode = HAL_TIMEOUT; - goto error; - } - } - } - } - else - { - /* Transfer loop */ - while (hspi->RxXferCount > 0U) - { - /* Check the RXNE flag */ - if (__HAL_SPI_GET_FLAG(hspi, SPI_FLAG_RXNE)) - { - *((uint16_t *)hspi->pRxBuffPtr) = (uint16_t)hspi->Instance->DR; - hspi->pRxBuffPtr += sizeof(uint16_t); - hspi->RxXferCount--; - } - else - { - /* Timeout management */ - if ((((HAL_GetTick() - tickstart) >= Timeout) && (Timeout != HAL_MAX_DELAY)) || (Timeout == 0U)) - { - errorcode = HAL_TIMEOUT; - goto error; - } - } - } - } - -#if (USE_SPI_CRC != 0U) - /* Handle the CRC Transmission */ - if (hspi->Init.CRCCalculation == SPI_CRCCALCULATION_ENABLE) - { - /* freeze the CRC before the latest data */ - SET_BIT(hspi->Instance->CR1, SPI_CR1_CRCNEXT); - - /* Read the latest data */ - if (SPI_WaitFlagStateUntilTimeout(hspi, SPI_FLAG_RXNE, SET, Timeout, tickstart) != HAL_OK) - { - /* the latest data has not been received */ - errorcode = HAL_TIMEOUT; - goto error; - } - - /* Receive last data in 16 Bit mode */ - if (hspi->Init.DataSize == SPI_DATASIZE_16BIT) - { - *((uint16_t *)hspi->pRxBuffPtr) = (uint16_t)hspi->Instance->DR; - } - /* Receive last data in 8 Bit mode */ - else - { - (*(uint8_t *)hspi->pRxBuffPtr) = *(__IO uint8_t *)&hspi->Instance->DR; - } - - /* Wait the CRC data */ - if (SPI_WaitFlagStateUntilTimeout(hspi, SPI_FLAG_RXNE, SET, Timeout, tickstart) != HAL_OK) - { - SET_BIT(hspi->ErrorCode, HAL_SPI_ERROR_CRC); - errorcode = HAL_TIMEOUT; - goto error; - } - - /* Read CRC to Flush DR and RXNE flag */ - tmpreg = READ_REG(hspi->Instance->DR); - /* To avoid GCC warning */ - UNUSED(tmpreg); - } -#endif /* USE_SPI_CRC */ - - /* Check the end of the transaction */ - if (SPI_EndRxTransaction(hspi, Timeout, tickstart) != HAL_OK) - { - hspi->ErrorCode = HAL_SPI_ERROR_FLAG; - } - -#if (USE_SPI_CRC != 0U) - /* Check if CRC error occurred */ - if (__HAL_SPI_GET_FLAG(hspi, SPI_FLAG_CRCERR)) - { - SET_BIT(hspi->ErrorCode, HAL_SPI_ERROR_CRC); - __HAL_SPI_CLEAR_CRCERRFLAG(hspi); - } -#endif /* USE_SPI_CRC */ - - if (hspi->ErrorCode != HAL_SPI_ERROR_NONE) - { - errorcode = HAL_ERROR; - } - -error : - hspi->State = HAL_SPI_STATE_READY; - __HAL_UNLOCK(hspi); - return errorcode; -} - -/** - * @brief Transmit and Receive an amount of data in blocking mode. - * @param hspi pointer to a SPI_HandleTypeDef structure that contains - * the configuration information for SPI module. - * @param pTxData pointer to transmission data buffer - * @param pRxData pointer to reception data buffer - * @param Size amount of data to be sent and received - * @param Timeout Timeout duration - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SPI_TransmitReceive(SPI_HandleTypeDef *hspi, uint8_t *pTxData, uint8_t *pRxData, uint16_t Size, - uint32_t Timeout) -{ - uint16_t initial_TxXferCount; - uint32_t tmp_mode; - HAL_SPI_StateTypeDef tmp_state; - uint32_t tickstart; -#if (USE_SPI_CRC != 0U) - __IO uint32_t tmpreg = 0U; -#endif /* USE_SPI_CRC */ - - /* Variable used to alternate Rx and Tx during transfer */ - uint32_t txallowed = 1U; - HAL_StatusTypeDef errorcode = HAL_OK; - - /* Check Direction parameter */ - assert_param(IS_SPI_DIRECTION_2LINES(hspi->Init.Direction)); - - /* Process Locked */ - __HAL_LOCK(hspi); - - /* Init tickstart for timeout management*/ - tickstart = HAL_GetTick(); - - /* Init temporary variables */ - tmp_state = hspi->State; - tmp_mode = hspi->Init.Mode; - initial_TxXferCount = Size; - - if (!((tmp_state == HAL_SPI_STATE_READY) || \ - ((tmp_mode == SPI_MODE_MASTER) && (hspi->Init.Direction == SPI_DIRECTION_2LINES) && (tmp_state == HAL_SPI_STATE_BUSY_RX)))) - { - errorcode = HAL_BUSY; - goto error; - } - - if ((pTxData == NULL) || (pRxData == NULL) || (Size == 0U)) - { - errorcode = HAL_ERROR; - goto error; - } - - /* Don't overwrite in case of HAL_SPI_STATE_BUSY_RX */ - if (hspi->State != HAL_SPI_STATE_BUSY_RX) - { - hspi->State = HAL_SPI_STATE_BUSY_TX_RX; - } - - /* Set the transaction information */ - hspi->ErrorCode = HAL_SPI_ERROR_NONE; - hspi->pRxBuffPtr = (uint8_t *)pRxData; - hspi->RxXferCount = Size; - hspi->RxXferSize = Size; - hspi->pTxBuffPtr = (uint8_t *)pTxData; - hspi->TxXferCount = Size; - hspi->TxXferSize = Size; - - /*Init field not used in handle to zero */ - hspi->RxISR = NULL; - hspi->TxISR = NULL; - -#if (USE_SPI_CRC != 0U) - /* Reset CRC Calculation */ - if (hspi->Init.CRCCalculation == SPI_CRCCALCULATION_ENABLE) - { - SPI_RESET_CRC(hspi); - } -#endif /* USE_SPI_CRC */ - - /* Check if the SPI is already enabled */ - if ((hspi->Instance->CR1 & SPI_CR1_SPE) != SPI_CR1_SPE) - { - /* Enable SPI peripheral */ - __HAL_SPI_ENABLE(hspi); - } - - /* Transmit and Receive data in 16 Bit mode */ - if (hspi->Init.DataSize == SPI_DATASIZE_16BIT) - { - if ((hspi->Init.Mode == SPI_MODE_SLAVE) || (initial_TxXferCount == 0x01U)) - { - hspi->Instance->DR = *((uint16_t *)hspi->pTxBuffPtr); - hspi->pTxBuffPtr += sizeof(uint16_t); - hspi->TxXferCount--; - } - while ((hspi->TxXferCount > 0U) || (hspi->RxXferCount > 0U)) - { - /* Check TXE flag */ - if ((__HAL_SPI_GET_FLAG(hspi, SPI_FLAG_TXE)) && (hspi->TxXferCount > 0U) && (txallowed == 1U)) - { - hspi->Instance->DR = *((uint16_t *)hspi->pTxBuffPtr); - hspi->pTxBuffPtr += sizeof(uint16_t); - hspi->TxXferCount--; - /* Next Data is a reception (Rx). Tx not allowed */ - txallowed = 0U; - -#if (USE_SPI_CRC != 0U) - /* Enable CRC Transmission */ - if ((hspi->TxXferCount == 0U) && (hspi->Init.CRCCalculation == SPI_CRCCALCULATION_ENABLE)) - { - SET_BIT(hspi->Instance->CR1, SPI_CR1_CRCNEXT); - } -#endif /* USE_SPI_CRC */ - } - - /* Check RXNE flag */ - if ((__HAL_SPI_GET_FLAG(hspi, SPI_FLAG_RXNE)) && (hspi->RxXferCount > 0U)) - { - *((uint16_t *)hspi->pRxBuffPtr) = (uint16_t)hspi->Instance->DR; - hspi->pRxBuffPtr += sizeof(uint16_t); - hspi->RxXferCount--; - /* Next Data is a Transmission (Tx). Tx is allowed */ - txallowed = 1U; - } - if (((HAL_GetTick() - tickstart) >= Timeout) && (Timeout != HAL_MAX_DELAY)) - { - errorcode = HAL_TIMEOUT; - goto error; - } - } - } - /* Transmit and Receive data in 8 Bit mode */ - else - { - if ((hspi->Init.Mode == SPI_MODE_SLAVE) || (initial_TxXferCount == 0x01U)) - { - *((__IO uint8_t *)&hspi->Instance->DR) = (*hspi->pTxBuffPtr); - hspi->pTxBuffPtr += sizeof(uint8_t); - hspi->TxXferCount--; - } - while ((hspi->TxXferCount > 0U) || (hspi->RxXferCount > 0U)) - { - /* Check TXE flag */ - if ((__HAL_SPI_GET_FLAG(hspi, SPI_FLAG_TXE)) && (hspi->TxXferCount > 0U) && (txallowed == 1U)) - { - *(__IO uint8_t *)&hspi->Instance->DR = (*hspi->pTxBuffPtr); - hspi->pTxBuffPtr++; - hspi->TxXferCount--; - /* Next Data is a reception (Rx). Tx not allowed */ - txallowed = 0U; - -#if (USE_SPI_CRC != 0U) - /* Enable CRC Transmission */ - if ((hspi->TxXferCount == 0U) && (hspi->Init.CRCCalculation == SPI_CRCCALCULATION_ENABLE)) - { - SET_BIT(hspi->Instance->CR1, SPI_CR1_CRCNEXT); - } -#endif /* USE_SPI_CRC */ - } - - /* Wait until RXNE flag is reset */ - if ((__HAL_SPI_GET_FLAG(hspi, SPI_FLAG_RXNE)) && (hspi->RxXferCount > 0U)) - { - (*(uint8_t *)hspi->pRxBuffPtr) = hspi->Instance->DR; - hspi->pRxBuffPtr++; - hspi->RxXferCount--; - /* Next Data is a Transmission (Tx). Tx is allowed */ - txallowed = 1U; - } - if ((((HAL_GetTick() - tickstart) >= Timeout) && ((Timeout != HAL_MAX_DELAY))) || (Timeout == 0U)) - { - errorcode = HAL_TIMEOUT; - goto error; - } - } - } - -#if (USE_SPI_CRC != 0U) - /* Read CRC from DR to close CRC calculation process */ - if (hspi->Init.CRCCalculation == SPI_CRCCALCULATION_ENABLE) - { - /* Wait until TXE flag */ - if (SPI_WaitFlagStateUntilTimeout(hspi, SPI_FLAG_RXNE, SET, Timeout, tickstart) != HAL_OK) - { - /* Error on the CRC reception */ - SET_BIT(hspi->ErrorCode, HAL_SPI_ERROR_CRC); - errorcode = HAL_TIMEOUT; - goto error; - } - /* Read CRC */ - tmpreg = READ_REG(hspi->Instance->DR); - /* To avoid GCC warning */ - UNUSED(tmpreg); - } - - /* Check if CRC error occurred */ - if (__HAL_SPI_GET_FLAG(hspi, SPI_FLAG_CRCERR)) - { - SET_BIT(hspi->ErrorCode, HAL_SPI_ERROR_CRC); - /* Clear CRC Flag */ - __HAL_SPI_CLEAR_CRCERRFLAG(hspi); - - errorcode = HAL_ERROR; - } -#endif /* USE_SPI_CRC */ - - /* Check the end of the transaction */ - if (SPI_EndRxTxTransaction(hspi, Timeout, tickstart) != HAL_OK) - { - errorcode = HAL_ERROR; - hspi->ErrorCode = HAL_SPI_ERROR_FLAG; - goto error; - } - - /* Clear overrun flag in 2 Lines communication mode because received is not read */ - if (hspi->Init.Direction == SPI_DIRECTION_2LINES) - { - __HAL_SPI_CLEAR_OVRFLAG(hspi); - } - -error : - hspi->State = HAL_SPI_STATE_READY; - __HAL_UNLOCK(hspi); - return errorcode; -} - -/** - * @brief Transmit an amount of data in non-blocking mode with Interrupt. - * @param hspi pointer to a SPI_HandleTypeDef structure that contains - * the configuration information for SPI module. - * @param pData pointer to data buffer - * @param Size amount of data to be sent - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SPI_Transmit_IT(SPI_HandleTypeDef *hspi, uint8_t *pData, uint16_t Size) -{ - HAL_StatusTypeDef errorcode = HAL_OK; - - /* Check Direction parameter */ - assert_param(IS_SPI_DIRECTION_2LINES_OR_1LINE(hspi->Init.Direction)); - - /* Process Locked */ - __HAL_LOCK(hspi); - - if ((pData == NULL) || (Size == 0U)) - { - errorcode = HAL_ERROR; - goto error; - } - - if (hspi->State != HAL_SPI_STATE_READY) - { - errorcode = HAL_BUSY; - goto error; - } - - /* Set the transaction information */ - hspi->State = HAL_SPI_STATE_BUSY_TX; - hspi->ErrorCode = HAL_SPI_ERROR_NONE; - hspi->pTxBuffPtr = (uint8_t *)pData; - hspi->TxXferSize = Size; - hspi->TxXferCount = Size; - - /* Init field not used in handle to zero */ - hspi->pRxBuffPtr = (uint8_t *)NULL; - hspi->RxXferSize = 0U; - hspi->RxXferCount = 0U; - hspi->RxISR = NULL; - - /* Set the function for IT treatment */ - if (hspi->Init.DataSize > SPI_DATASIZE_8BIT) - { - hspi->TxISR = SPI_TxISR_16BIT; - } - else - { - hspi->TxISR = SPI_TxISR_8BIT; - } - - /* Configure communication direction : 1Line */ - if (hspi->Init.Direction == SPI_DIRECTION_1LINE) - { - /* Disable SPI Peripheral before set 1Line direction (BIDIOE bit) */ - __HAL_SPI_DISABLE(hspi); - SPI_1LINE_TX(hspi); - } - -#if (USE_SPI_CRC != 0U) - /* Reset CRC Calculation */ - if (hspi->Init.CRCCalculation == SPI_CRCCALCULATION_ENABLE) - { - SPI_RESET_CRC(hspi); - } -#endif /* USE_SPI_CRC */ - - /* Enable TXE and ERR interrupt */ - __HAL_SPI_ENABLE_IT(hspi, (SPI_IT_TXE | SPI_IT_ERR)); - - - /* Check if the SPI is already enabled */ - if ((hspi->Instance->CR1 & SPI_CR1_SPE) != SPI_CR1_SPE) - { - /* Enable SPI peripheral */ - __HAL_SPI_ENABLE(hspi); - } - -error : - __HAL_UNLOCK(hspi); - return errorcode; -} - -/** - * @brief Receive an amount of data in non-blocking mode with Interrupt. - * @param hspi pointer to a SPI_HandleTypeDef structure that contains - * the configuration information for SPI module. - * @param pData pointer to data buffer - * @param Size amount of data to be sent - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SPI_Receive_IT(SPI_HandleTypeDef *hspi, uint8_t *pData, uint16_t Size) -{ - HAL_StatusTypeDef errorcode = HAL_OK; - - if ((hspi->Init.Direction == SPI_DIRECTION_2LINES) && (hspi->Init.Mode == SPI_MODE_MASTER)) - { - hspi->State = HAL_SPI_STATE_BUSY_RX; - /* Call transmit-receive function to send Dummy data on Tx line and generate clock on CLK line */ - return HAL_SPI_TransmitReceive_IT(hspi, pData, pData, Size); - } - - /* Process Locked */ - __HAL_LOCK(hspi); - - if (hspi->State != HAL_SPI_STATE_READY) - { - errorcode = HAL_BUSY; - goto error; - } - - if ((pData == NULL) || (Size == 0U)) - { - errorcode = HAL_ERROR; - goto error; - } - - /* Set the transaction information */ - hspi->State = HAL_SPI_STATE_BUSY_RX; - hspi->ErrorCode = HAL_SPI_ERROR_NONE; - hspi->pRxBuffPtr = (uint8_t *)pData; - hspi->RxXferSize = Size; - hspi->RxXferCount = Size; - - /* Init field not used in handle to zero */ - hspi->pTxBuffPtr = (uint8_t *)NULL; - hspi->TxXferSize = 0U; - hspi->TxXferCount = 0U; - hspi->TxISR = NULL; - - /* Set the function for IT treatment */ - if (hspi->Init.DataSize > SPI_DATASIZE_8BIT) - { - hspi->RxISR = SPI_RxISR_16BIT; - } - else - { - hspi->RxISR = SPI_RxISR_8BIT; - } - - /* Configure communication direction : 1Line */ - if (hspi->Init.Direction == SPI_DIRECTION_1LINE) - { - /* Disable SPI Peripheral before set 1Line direction (BIDIOE bit) */ - __HAL_SPI_DISABLE(hspi); - SPI_1LINE_RX(hspi); - } - -#if (USE_SPI_CRC != 0U) - /* Reset CRC Calculation */ - if (hspi->Init.CRCCalculation == SPI_CRCCALCULATION_ENABLE) - { - SPI_RESET_CRC(hspi); - } -#endif /* USE_SPI_CRC */ - - /* Enable TXE and ERR interrupt */ - __HAL_SPI_ENABLE_IT(hspi, (SPI_IT_RXNE | SPI_IT_ERR)); - - /* Note : The SPI must be enabled after unlocking current process - to avoid the risk of SPI interrupt handle execution before current - process unlock */ - - /* Check if the SPI is already enabled */ - if ((hspi->Instance->CR1 & SPI_CR1_SPE) != SPI_CR1_SPE) - { - /* Enable SPI peripheral */ - __HAL_SPI_ENABLE(hspi); - } - -error : - /* Process Unlocked */ - __HAL_UNLOCK(hspi); - return errorcode; -} - -/** - * @brief Transmit and Receive an amount of data in non-blocking mode with Interrupt. - * @param hspi pointer to a SPI_HandleTypeDef structure that contains - * the configuration information for SPI module. - * @param pTxData pointer to transmission data buffer - * @param pRxData pointer to reception data buffer - * @param Size amount of data to be sent and received - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SPI_TransmitReceive_IT(SPI_HandleTypeDef *hspi, uint8_t *pTxData, uint8_t *pRxData, uint16_t Size) -{ - uint32_t tmp_mode; - HAL_SPI_StateTypeDef tmp_state; - HAL_StatusTypeDef errorcode = HAL_OK; - - /* Check Direction parameter */ - assert_param(IS_SPI_DIRECTION_2LINES(hspi->Init.Direction)); - - /* Process locked */ - __HAL_LOCK(hspi); - - /* Init temporary variables */ - tmp_state = hspi->State; - tmp_mode = hspi->Init.Mode; - - if (!((tmp_state == HAL_SPI_STATE_READY) || \ - ((tmp_mode == SPI_MODE_MASTER) && (hspi->Init.Direction == SPI_DIRECTION_2LINES) && (tmp_state == HAL_SPI_STATE_BUSY_RX)))) - { - errorcode = HAL_BUSY; - goto error; - } - - if ((pTxData == NULL) || (pRxData == NULL) || (Size == 0U)) - { - errorcode = HAL_ERROR; - goto error; - } - - /* Don't overwrite in case of HAL_SPI_STATE_BUSY_RX */ - if (hspi->State != HAL_SPI_STATE_BUSY_RX) - { - hspi->State = HAL_SPI_STATE_BUSY_TX_RX; - } - - /* Set the transaction information */ - hspi->ErrorCode = HAL_SPI_ERROR_NONE; - hspi->pTxBuffPtr = (uint8_t *)pTxData; - hspi->TxXferSize = Size; - hspi->TxXferCount = Size; - hspi->pRxBuffPtr = (uint8_t *)pRxData; - hspi->RxXferSize = Size; - hspi->RxXferCount = Size; - - /* Set the function for IT treatment */ - if (hspi->Init.DataSize > SPI_DATASIZE_8BIT) - { - hspi->RxISR = SPI_2linesRxISR_16BIT; - hspi->TxISR = SPI_2linesTxISR_16BIT; - } - else - { - hspi->RxISR = SPI_2linesRxISR_8BIT; - hspi->TxISR = SPI_2linesTxISR_8BIT; - } - -#if (USE_SPI_CRC != 0U) - /* Reset CRC Calculation */ - if (hspi->Init.CRCCalculation == SPI_CRCCALCULATION_ENABLE) - { - SPI_RESET_CRC(hspi); - } -#endif /* USE_SPI_CRC */ - - /* Enable TXE, RXNE and ERR interrupt */ - __HAL_SPI_ENABLE_IT(hspi, (SPI_IT_TXE | SPI_IT_RXNE | SPI_IT_ERR)); - - /* Check if the SPI is already enabled */ - if ((hspi->Instance->CR1 & SPI_CR1_SPE) != SPI_CR1_SPE) - { - /* Enable SPI peripheral */ - __HAL_SPI_ENABLE(hspi); - } - -error : - /* Process Unlocked */ - __HAL_UNLOCK(hspi); - return errorcode; -} - -/** - * @brief Transmit an amount of data in non-blocking mode with DMA. - * @param hspi pointer to a SPI_HandleTypeDef structure that contains - * the configuration information for SPI module. - * @param pData pointer to data buffer - * @param Size amount of data to be sent - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SPI_Transmit_DMA(SPI_HandleTypeDef *hspi, uint8_t *pData, uint16_t Size) -{ - HAL_StatusTypeDef errorcode = HAL_OK; - - /* Check tx dma handle */ - assert_param(IS_SPI_DMA_HANDLE(hspi->hdmatx)); - - /* Check Direction parameter */ - assert_param(IS_SPI_DIRECTION_2LINES_OR_1LINE(hspi->Init.Direction)); - - /* Process Locked */ - __HAL_LOCK(hspi); - - if (hspi->State != HAL_SPI_STATE_READY) - { - errorcode = HAL_BUSY; - goto error; - } - - if ((pData == NULL) || (Size == 0U)) - { - errorcode = HAL_ERROR; - goto error; - } - - /* Set the transaction information */ - hspi->State = HAL_SPI_STATE_BUSY_TX; - hspi->ErrorCode = HAL_SPI_ERROR_NONE; - hspi->pTxBuffPtr = (uint8_t *)pData; - hspi->TxXferSize = Size; - hspi->TxXferCount = Size; - - /* Init field not used in handle to zero */ - hspi->pRxBuffPtr = (uint8_t *)NULL; - hspi->TxISR = NULL; - hspi->RxISR = NULL; - hspi->RxXferSize = 0U; - hspi->RxXferCount = 0U; - - /* Configure communication direction : 1Line */ - if (hspi->Init.Direction == SPI_DIRECTION_1LINE) - { - /* Disable SPI Peripheral before set 1Line direction (BIDIOE bit) */ - __HAL_SPI_DISABLE(hspi); - SPI_1LINE_TX(hspi); - } - -#if (USE_SPI_CRC != 0U) - /* Reset CRC Calculation */ - if (hspi->Init.CRCCalculation == SPI_CRCCALCULATION_ENABLE) - { - SPI_RESET_CRC(hspi); - } -#endif /* USE_SPI_CRC */ - - /* Set the SPI TxDMA Half transfer complete callback */ - hspi->hdmatx->XferHalfCpltCallback = SPI_DMAHalfTransmitCplt; - - /* Set the SPI TxDMA transfer complete callback */ - hspi->hdmatx->XferCpltCallback = SPI_DMATransmitCplt; - - /* Set the DMA error callback */ - hspi->hdmatx->XferErrorCallback = SPI_DMAError; - - /* Set the DMA AbortCpltCallback */ - hspi->hdmatx->XferAbortCallback = NULL; - - /* Enable the Tx DMA Stream/Channel */ - if (HAL_OK != HAL_DMA_Start_IT(hspi->hdmatx, (uint32_t)hspi->pTxBuffPtr, (uint32_t)&hspi->Instance->DR, - hspi->TxXferCount)) - { - /* Update SPI error code */ - SET_BIT(hspi->ErrorCode, HAL_SPI_ERROR_DMA); - errorcode = HAL_ERROR; - - hspi->State = HAL_SPI_STATE_READY; - goto error; - } - - /* Check if the SPI is already enabled */ - if ((hspi->Instance->CR1 & SPI_CR1_SPE) != SPI_CR1_SPE) - { - /* Enable SPI peripheral */ - __HAL_SPI_ENABLE(hspi); - } - - /* Enable the SPI Error Interrupt Bit */ - __HAL_SPI_ENABLE_IT(hspi, (SPI_IT_ERR)); - - /* Enable Tx DMA Request */ - SET_BIT(hspi->Instance->CR2, SPI_CR2_TXDMAEN); - -error : - /* Process Unlocked */ - __HAL_UNLOCK(hspi); - return errorcode; -} - -/** - * @brief Receive an amount of data in non-blocking mode with DMA. - * @note In case of MASTER mode and SPI_DIRECTION_2LINES direction, hdmatx shall be defined. - * @param hspi pointer to a SPI_HandleTypeDef structure that contains - * the configuration information for SPI module. - * @param pData pointer to data buffer - * @note When the CRC feature is enabled the pData Length must be Size + 1. - * @param Size amount of data to be sent - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SPI_Receive_DMA(SPI_HandleTypeDef *hspi, uint8_t *pData, uint16_t Size) -{ - HAL_StatusTypeDef errorcode = HAL_OK; - - /* Check rx dma handle */ - assert_param(IS_SPI_DMA_HANDLE(hspi->hdmarx)); - - if ((hspi->Init.Direction == SPI_DIRECTION_2LINES) && (hspi->Init.Mode == SPI_MODE_MASTER)) - { - hspi->State = HAL_SPI_STATE_BUSY_RX; - - /* Check tx dma handle */ - assert_param(IS_SPI_DMA_HANDLE(hspi->hdmatx)); - - /* Call transmit-receive function to send Dummy data on Tx line and generate clock on CLK line */ - return HAL_SPI_TransmitReceive_DMA(hspi, pData, pData, Size); - } - - /* Process Locked */ - __HAL_LOCK(hspi); - - if (hspi->State != HAL_SPI_STATE_READY) - { - errorcode = HAL_BUSY; - goto error; - } - - if ((pData == NULL) || (Size == 0U)) - { - errorcode = HAL_ERROR; - goto error; - } - - /* Set the transaction information */ - hspi->State = HAL_SPI_STATE_BUSY_RX; - hspi->ErrorCode = HAL_SPI_ERROR_NONE; - hspi->pRxBuffPtr = (uint8_t *)pData; - hspi->RxXferSize = Size; - hspi->RxXferCount = Size; - - /*Init field not used in handle to zero */ - hspi->RxISR = NULL; - hspi->TxISR = NULL; - hspi->TxXferSize = 0U; - hspi->TxXferCount = 0U; - - /* Configure communication direction : 1Line */ - if (hspi->Init.Direction == SPI_DIRECTION_1LINE) - { - /* Disable SPI Peripheral before set 1Line direction (BIDIOE bit) */ - __HAL_SPI_DISABLE(hspi); - SPI_1LINE_RX(hspi); - } - -#if (USE_SPI_CRC != 0U) - /* Reset CRC Calculation */ - if (hspi->Init.CRCCalculation == SPI_CRCCALCULATION_ENABLE) - { - SPI_RESET_CRC(hspi); - } -#endif /* USE_SPI_CRC */ - - /* Set the SPI RxDMA Half transfer complete callback */ - hspi->hdmarx->XferHalfCpltCallback = SPI_DMAHalfReceiveCplt; - - /* Set the SPI Rx DMA transfer complete callback */ - hspi->hdmarx->XferCpltCallback = SPI_DMAReceiveCplt; - - /* Set the DMA error callback */ - hspi->hdmarx->XferErrorCallback = SPI_DMAError; - - /* Set the DMA AbortCpltCallback */ - hspi->hdmarx->XferAbortCallback = NULL; - - /* Enable the Rx DMA Stream/Channel */ - if (HAL_OK != HAL_DMA_Start_IT(hspi->hdmarx, (uint32_t)&hspi->Instance->DR, (uint32_t)hspi->pRxBuffPtr, - hspi->RxXferCount)) - { - /* Update SPI error code */ - SET_BIT(hspi->ErrorCode, HAL_SPI_ERROR_DMA); - errorcode = HAL_ERROR; - - hspi->State = HAL_SPI_STATE_READY; - goto error; - } - - /* Check if the SPI is already enabled */ - if ((hspi->Instance->CR1 & SPI_CR1_SPE) != SPI_CR1_SPE) - { - /* Enable SPI peripheral */ - __HAL_SPI_ENABLE(hspi); - } - - /* Enable the SPI Error Interrupt Bit */ - __HAL_SPI_ENABLE_IT(hspi, (SPI_IT_ERR)); - - /* Enable Rx DMA Request */ - SET_BIT(hspi->Instance->CR2, SPI_CR2_RXDMAEN); - -error: - /* Process Unlocked */ - __HAL_UNLOCK(hspi); - return errorcode; -} - -/** - * @brief Transmit and Receive an amount of data in non-blocking mode with DMA. - * @param hspi pointer to a SPI_HandleTypeDef structure that contains - * the configuration information for SPI module. - * @param pTxData pointer to transmission data buffer - * @param pRxData pointer to reception data buffer - * @note When the CRC feature is enabled the pRxData Length must be Size + 1 - * @param Size amount of data to be sent - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SPI_TransmitReceive_DMA(SPI_HandleTypeDef *hspi, uint8_t *pTxData, uint8_t *pRxData, - uint16_t Size) -{ - uint32_t tmp_mode; - HAL_SPI_StateTypeDef tmp_state; - HAL_StatusTypeDef errorcode = HAL_OK; - - /* Check rx & tx dma handles */ - assert_param(IS_SPI_DMA_HANDLE(hspi->hdmarx)); - assert_param(IS_SPI_DMA_HANDLE(hspi->hdmatx)); - - /* Check Direction parameter */ - assert_param(IS_SPI_DIRECTION_2LINES(hspi->Init.Direction)); - - /* Process locked */ - __HAL_LOCK(hspi); - - /* Init temporary variables */ - tmp_state = hspi->State; - tmp_mode = hspi->Init.Mode; - - if (!((tmp_state == HAL_SPI_STATE_READY) || - ((tmp_mode == SPI_MODE_MASTER) && (hspi->Init.Direction == SPI_DIRECTION_2LINES) && (tmp_state == HAL_SPI_STATE_BUSY_RX)))) - { - errorcode = HAL_BUSY; - goto error; - } - - if ((pTxData == NULL) || (pRxData == NULL) || (Size == 0U)) - { - errorcode = HAL_ERROR; - goto error; - } - - /* Don't overwrite in case of HAL_SPI_STATE_BUSY_RX */ - if (hspi->State != HAL_SPI_STATE_BUSY_RX) - { - hspi->State = HAL_SPI_STATE_BUSY_TX_RX; - } - - /* Set the transaction information */ - hspi->ErrorCode = HAL_SPI_ERROR_NONE; - hspi->pTxBuffPtr = (uint8_t *)pTxData; - hspi->TxXferSize = Size; - hspi->TxXferCount = Size; - hspi->pRxBuffPtr = (uint8_t *)pRxData; - hspi->RxXferSize = Size; - hspi->RxXferCount = Size; - - /* Init field not used in handle to zero */ - hspi->RxISR = NULL; - hspi->TxISR = NULL; - -#if (USE_SPI_CRC != 0U) - /* Reset CRC Calculation */ - if (hspi->Init.CRCCalculation == SPI_CRCCALCULATION_ENABLE) - { - SPI_RESET_CRC(hspi); - } -#endif /* USE_SPI_CRC */ - - /* Check if we are in Rx only or in Rx/Tx Mode and configure the DMA transfer complete callback */ - if (hspi->State == HAL_SPI_STATE_BUSY_RX) - { - /* Set the SPI Rx DMA Half transfer complete callback */ - hspi->hdmarx->XferHalfCpltCallback = SPI_DMAHalfReceiveCplt; - hspi->hdmarx->XferCpltCallback = SPI_DMAReceiveCplt; - } - else - { - /* Set the SPI Tx/Rx DMA Half transfer complete callback */ - hspi->hdmarx->XferHalfCpltCallback = SPI_DMAHalfTransmitReceiveCplt; - hspi->hdmarx->XferCpltCallback = SPI_DMATransmitReceiveCplt; - } - - /* Set the DMA error callback */ - hspi->hdmarx->XferErrorCallback = SPI_DMAError; - - /* Set the DMA AbortCpltCallback */ - hspi->hdmarx->XferAbortCallback = NULL; - - /* Enable the Rx DMA Stream/Channel */ - if (HAL_OK != HAL_DMA_Start_IT(hspi->hdmarx, (uint32_t)&hspi->Instance->DR, (uint32_t)hspi->pRxBuffPtr, - hspi->RxXferCount)) - { - /* Update SPI error code */ - SET_BIT(hspi->ErrorCode, HAL_SPI_ERROR_DMA); - errorcode = HAL_ERROR; - - hspi->State = HAL_SPI_STATE_READY; - goto error; - } - - /* Enable Rx DMA Request */ - SET_BIT(hspi->Instance->CR2, SPI_CR2_RXDMAEN); - - /* Set the SPI Tx DMA transfer complete callback as NULL because the communication closing - is performed in DMA reception complete callback */ - hspi->hdmatx->XferHalfCpltCallback = NULL; - hspi->hdmatx->XferCpltCallback = NULL; - hspi->hdmatx->XferErrorCallback = NULL; - hspi->hdmatx->XferAbortCallback = NULL; - - /* Enable the Tx DMA Stream/Channel */ - if (HAL_OK != HAL_DMA_Start_IT(hspi->hdmatx, (uint32_t)hspi->pTxBuffPtr, (uint32_t)&hspi->Instance->DR, - hspi->TxXferCount)) - { - /* Update SPI error code */ - SET_BIT(hspi->ErrorCode, HAL_SPI_ERROR_DMA); - errorcode = HAL_ERROR; - - hspi->State = HAL_SPI_STATE_READY; - goto error; - } - - /* Check if the SPI is already enabled */ - if ((hspi->Instance->CR1 & SPI_CR1_SPE) != SPI_CR1_SPE) - { - /* Enable SPI peripheral */ - __HAL_SPI_ENABLE(hspi); - } - /* Enable the SPI Error Interrupt Bit */ - __HAL_SPI_ENABLE_IT(hspi, (SPI_IT_ERR)); - - /* Enable Tx DMA Request */ - SET_BIT(hspi->Instance->CR2, SPI_CR2_TXDMAEN); - -error : - /* Process Unlocked */ - __HAL_UNLOCK(hspi); - return errorcode; -} - -/** - * @brief Abort ongoing transfer (blocking mode). - * @param hspi SPI handle. - * @note This procedure could be used for aborting any ongoing transfer (Tx and Rx), - * started in Interrupt or DMA mode. - * This procedure performs following operations : - * - Disable SPI Interrupts (depending of transfer direction) - * - Disable the DMA transfer in the peripheral register (if enabled) - * - Abort DMA transfer by calling HAL_DMA_Abort (in case of transfer in DMA mode) - * - Set handle State to READY - * @note This procedure is executed in blocking mode : when exiting function, Abort is considered as completed. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SPI_Abort(SPI_HandleTypeDef *hspi) -{ - HAL_StatusTypeDef errorcode; - __IO uint32_t count; - __IO uint32_t resetcount; - - /* Initialized local variable */ - errorcode = HAL_OK; - resetcount = SPI_DEFAULT_TIMEOUT * (SystemCoreClock / 24U / 1000U); - count = resetcount; - - /* Clear ERRIE interrupt to avoid error interrupts generation during Abort procedure */ - CLEAR_BIT(hspi->Instance->CR2, SPI_CR2_ERRIE); - - /* Disable TXEIE, RXNEIE and ERRIE(mode fault event, overrun error, TI frame error) interrupts */ - if (HAL_IS_BIT_SET(hspi->Instance->CR2, SPI_CR2_TXEIE)) - { - hspi->TxISR = SPI_AbortTx_ISR; - /* Wait HAL_SPI_STATE_ABORT state */ - do - { - if (count == 0U) - { - SET_BIT(hspi->ErrorCode, HAL_SPI_ERROR_ABORT); - break; - } - count--; - } while (hspi->State != HAL_SPI_STATE_ABORT); - /* Reset Timeout Counter */ - count = resetcount; - } - - if (HAL_IS_BIT_SET(hspi->Instance->CR2, SPI_CR2_RXNEIE)) - { - hspi->RxISR = SPI_AbortRx_ISR; - /* Wait HAL_SPI_STATE_ABORT state */ - do - { - if (count == 0U) - { - SET_BIT(hspi->ErrorCode, HAL_SPI_ERROR_ABORT); - break; - } - count--; - } while (hspi->State != HAL_SPI_STATE_ABORT); - /* Reset Timeout Counter */ - count = resetcount; - } - - /* Disable the SPI DMA Tx request if enabled */ - if (HAL_IS_BIT_SET(hspi->Instance->CR2, SPI_CR2_TXDMAEN)) - { - /* Abort the SPI DMA Tx Stream/Channel : use blocking DMA Abort API (no callback) */ - if (hspi->hdmatx != NULL) - { - /* Set the SPI DMA Abort callback : - will lead to call HAL_SPI_AbortCpltCallback() at end of DMA abort procedure */ - hspi->hdmatx->XferAbortCallback = NULL; - - /* Abort DMA Tx Handle linked to SPI Peripheral */ - if (HAL_DMA_Abort(hspi->hdmatx) != HAL_OK) - { - hspi->ErrorCode = HAL_SPI_ERROR_ABORT; - } - - /* Disable Tx DMA Request */ - CLEAR_BIT(hspi->Instance->CR2, (SPI_CR2_TXDMAEN)); - - /* Wait until TXE flag is set */ - do - { - if (count == 0U) - { - SET_BIT(hspi->ErrorCode, HAL_SPI_ERROR_ABORT); - break; - } - count--; - } while ((hspi->Instance->SR & SPI_FLAG_TXE) == RESET); - } - } - - /* Disable the SPI DMA Rx request if enabled */ - if (HAL_IS_BIT_SET(hspi->Instance->CR2, SPI_CR2_RXDMAEN)) - { - /* Abort the SPI DMA Rx Stream/Channel : use blocking DMA Abort API (no callback) */ - if (hspi->hdmarx != NULL) - { - /* Set the SPI DMA Abort callback : - will lead to call HAL_SPI_AbortCpltCallback() at end of DMA abort procedure */ - hspi->hdmarx->XferAbortCallback = NULL; - - /* Abort DMA Rx Handle linked to SPI Peripheral */ - if (HAL_DMA_Abort(hspi->hdmarx) != HAL_OK) - { - hspi->ErrorCode = HAL_SPI_ERROR_ABORT; - } - - /* Disable peripheral */ - __HAL_SPI_DISABLE(hspi); - - /* Disable Rx DMA Request */ - CLEAR_BIT(hspi->Instance->CR2, (SPI_CR2_RXDMAEN)); - } - } - /* Reset Tx and Rx transfer counters */ - hspi->RxXferCount = 0U; - hspi->TxXferCount = 0U; - - /* Check error during Abort procedure */ - if (hspi->ErrorCode == HAL_SPI_ERROR_ABORT) - { - /* return HAL_Error in case of error during Abort procedure */ - errorcode = HAL_ERROR; - } - else - { - /* Reset errorCode */ - hspi->ErrorCode = HAL_SPI_ERROR_NONE; - } - - /* Clear the Error flags in the SR register */ - __HAL_SPI_CLEAR_OVRFLAG(hspi); - __HAL_SPI_CLEAR_FREFLAG(hspi); - - /* Restore hspi->state to ready */ - hspi->State = HAL_SPI_STATE_READY; - - return errorcode; -} - -/** - * @brief Abort ongoing transfer (Interrupt mode). - * @param hspi SPI handle. - * @note This procedure could be used for aborting any ongoing transfer (Tx and Rx), - * started in Interrupt or DMA mode. - * This procedure performs following operations : - * - Disable SPI Interrupts (depending of transfer direction) - * - Disable the DMA transfer in the peripheral register (if enabled) - * - Abort DMA transfer by calling HAL_DMA_Abort_IT (in case of transfer in DMA mode) - * - Set handle State to READY - * - At abort completion, call user abort complete callback - * @note This procedure is executed in Interrupt mode, meaning that abort procedure could be - * considered as completed only when user abort complete callback is executed (not when exiting function). - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SPI_Abort_IT(SPI_HandleTypeDef *hspi) -{ - HAL_StatusTypeDef errorcode; - uint32_t abortcplt ; - __IO uint32_t count; - __IO uint32_t resetcount; - - /* Initialized local variable */ - errorcode = HAL_OK; - abortcplt = 1U; - resetcount = SPI_DEFAULT_TIMEOUT * (SystemCoreClock / 24U / 1000U); - count = resetcount; - - /* Clear ERRIE interrupt to avoid error interrupts generation during Abort procedure */ - CLEAR_BIT(hspi->Instance->CR2, SPI_CR2_ERRIE); - - /* Change Rx and Tx Irq Handler to Disable TXEIE, RXNEIE and ERRIE interrupts */ - if (HAL_IS_BIT_SET(hspi->Instance->CR2, SPI_CR2_TXEIE)) - { - hspi->TxISR = SPI_AbortTx_ISR; - /* Wait HAL_SPI_STATE_ABORT state */ - do - { - if (count == 0U) - { - SET_BIT(hspi->ErrorCode, HAL_SPI_ERROR_ABORT); - break; - } - count--; - } while (hspi->State != HAL_SPI_STATE_ABORT); - /* Reset Timeout Counter */ - count = resetcount; - } - - if (HAL_IS_BIT_SET(hspi->Instance->CR2, SPI_CR2_RXNEIE)) - { - hspi->RxISR = SPI_AbortRx_ISR; - /* Wait HAL_SPI_STATE_ABORT state */ - do - { - if (count == 0U) - { - SET_BIT(hspi->ErrorCode, HAL_SPI_ERROR_ABORT); - break; - } - count--; - } while (hspi->State != HAL_SPI_STATE_ABORT); - /* Reset Timeout Counter */ - count = resetcount; - } - - /* If DMA Tx and/or DMA Rx Handles are associated to SPI Handle, DMA Abort complete callbacks should be initialised - before any call to DMA Abort functions */ - /* DMA Tx Handle is valid */ - if (hspi->hdmatx != NULL) - { - /* Set DMA Abort Complete callback if UART DMA Tx request if enabled. - Otherwise, set it to NULL */ - if (HAL_IS_BIT_SET(hspi->Instance->CR2, SPI_CR2_TXDMAEN)) - { - hspi->hdmatx->XferAbortCallback = SPI_DMATxAbortCallback; - } - else - { - hspi->hdmatx->XferAbortCallback = NULL; - } - } - /* DMA Rx Handle is valid */ - if (hspi->hdmarx != NULL) - { - /* Set DMA Abort Complete callback if UART DMA Rx request if enabled. - Otherwise, set it to NULL */ - if (HAL_IS_BIT_SET(hspi->Instance->CR2, SPI_CR2_RXDMAEN)) - { - hspi->hdmarx->XferAbortCallback = SPI_DMARxAbortCallback; - } - else - { - hspi->hdmarx->XferAbortCallback = NULL; - } - } - - /* Disable the SPI DMA Tx request if enabled */ - if (HAL_IS_BIT_SET(hspi->Instance->CR2, SPI_CR2_TXDMAEN)) - { - /* Abort the SPI DMA Tx Stream/Channel */ - if (hspi->hdmatx != NULL) - { - /* Abort DMA Tx Handle linked to SPI Peripheral */ - if (HAL_DMA_Abort_IT(hspi->hdmatx) != HAL_OK) - { - hspi->hdmatx->XferAbortCallback = NULL; - hspi->ErrorCode = HAL_SPI_ERROR_ABORT; - } - else - { - abortcplt = 0U; - } - } - } - /* Disable the SPI DMA Rx request if enabled */ - if (HAL_IS_BIT_SET(hspi->Instance->CR2, SPI_CR2_RXDMAEN)) - { - /* Abort the SPI DMA Rx Stream/Channel */ - if (hspi->hdmarx != NULL) - { - /* Abort DMA Rx Handle linked to SPI Peripheral */ - if (HAL_DMA_Abort_IT(hspi->hdmarx) != HAL_OK) - { - hspi->hdmarx->XferAbortCallback = NULL; - hspi->ErrorCode = HAL_SPI_ERROR_ABORT; - } - else - { - abortcplt = 0U; - } - } - } - - if (abortcplt == 1U) - { - /* Reset Tx and Rx transfer counters */ - hspi->RxXferCount = 0U; - hspi->TxXferCount = 0U; - - /* Check error during Abort procedure */ - if (hspi->ErrorCode == HAL_SPI_ERROR_ABORT) - { - /* return HAL_Error in case of error during Abort procedure */ - errorcode = HAL_ERROR; - } - else - { - /* Reset errorCode */ - hspi->ErrorCode = HAL_SPI_ERROR_NONE; - } - - /* Clear the Error flags in the SR register */ - __HAL_SPI_CLEAR_OVRFLAG(hspi); - __HAL_SPI_CLEAR_FREFLAG(hspi); - - /* Restore hspi->State to Ready */ - hspi->State = HAL_SPI_STATE_READY; - - /* As no DMA to be aborted, call directly user Abort complete callback */ -#if (USE_HAL_SPI_REGISTER_CALLBACKS == 1U) - hspi->AbortCpltCallback(hspi); -#else - HAL_SPI_AbortCpltCallback(hspi); -#endif /* USE_HAL_SPI_REGISTER_CALLBACKS */ - } - - return errorcode; -} - -/** - * @brief Pause the DMA Transfer. - * @param hspi pointer to a SPI_HandleTypeDef structure that contains - * the configuration information for the specified SPI module. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SPI_DMAPause(SPI_HandleTypeDef *hspi) -{ - /* Process Locked */ - __HAL_LOCK(hspi); - - /* Disable the SPI DMA Tx & Rx requests */ - CLEAR_BIT(hspi->Instance->CR2, SPI_CR2_TXDMAEN | SPI_CR2_RXDMAEN); - - /* Process Unlocked */ - __HAL_UNLOCK(hspi); - - return HAL_OK; -} - -/** - * @brief Resume the DMA Transfer. - * @param hspi pointer to a SPI_HandleTypeDef structure that contains - * the configuration information for the specified SPI module. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SPI_DMAResume(SPI_HandleTypeDef *hspi) -{ - /* Process Locked */ - __HAL_LOCK(hspi); - - /* Enable the SPI DMA Tx & Rx requests */ - SET_BIT(hspi->Instance->CR2, SPI_CR2_TXDMAEN | SPI_CR2_RXDMAEN); - - /* Process Unlocked */ - __HAL_UNLOCK(hspi); - - return HAL_OK; -} - -/** - * @brief Stop the DMA Transfer. - * @param hspi pointer to a SPI_HandleTypeDef structure that contains - * the configuration information for the specified SPI module. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SPI_DMAStop(SPI_HandleTypeDef *hspi) -{ - HAL_StatusTypeDef errorcode = HAL_OK; - /* The Lock is not implemented on this API to allow the user application - to call the HAL SPI API under callbacks HAL_SPI_TxCpltCallback() or HAL_SPI_RxCpltCallback() or HAL_SPI_TxRxCpltCallback(): - when calling HAL_DMA_Abort() API the DMA TX/RX Transfer complete interrupt is generated - and the correspond call back is executed HAL_SPI_TxCpltCallback() or HAL_SPI_RxCpltCallback() or HAL_SPI_TxRxCpltCallback() - */ - - /* Abort the SPI DMA tx Stream/Channel */ - if (hspi->hdmatx != NULL) - { - if (HAL_OK != HAL_DMA_Abort(hspi->hdmatx)) - { - SET_BIT(hspi->ErrorCode, HAL_SPI_ERROR_DMA); - errorcode = HAL_ERROR; - } - } - /* Abort the SPI DMA rx Stream/Channel */ - if (hspi->hdmarx != NULL) - { - if (HAL_OK != HAL_DMA_Abort(hspi->hdmarx)) - { - SET_BIT(hspi->ErrorCode, HAL_SPI_ERROR_DMA); - errorcode = HAL_ERROR; - } - } - - /* Disable the SPI DMA Tx & Rx requests */ - CLEAR_BIT(hspi->Instance->CR2, SPI_CR2_TXDMAEN | SPI_CR2_RXDMAEN); - hspi->State = HAL_SPI_STATE_READY; - return errorcode; -} - -/** - * @brief Handle SPI interrupt request. - * @param hspi pointer to a SPI_HandleTypeDef structure that contains - * the configuration information for the specified SPI module. - * @retval None - */ -void HAL_SPI_IRQHandler(SPI_HandleTypeDef *hspi) -{ - uint32_t itsource = hspi->Instance->CR2; - uint32_t itflag = hspi->Instance->SR; - - /* SPI in mode Receiver ----------------------------------------------------*/ - if ((SPI_CHECK_FLAG(itflag, SPI_FLAG_OVR) == RESET) && - (SPI_CHECK_FLAG(itflag, SPI_FLAG_RXNE) != RESET) && (SPI_CHECK_IT_SOURCE(itsource, SPI_IT_RXNE) != RESET)) - { - hspi->RxISR(hspi); - return; - } - - /* SPI in mode Transmitter -------------------------------------------------*/ - if ((SPI_CHECK_FLAG(itflag, SPI_FLAG_TXE) != RESET) && (SPI_CHECK_IT_SOURCE(itsource, SPI_IT_TXE) != RESET)) - { - hspi->TxISR(hspi); - return; - } - - /* SPI in Error Treatment --------------------------------------------------*/ - if (((SPI_CHECK_FLAG(itflag, SPI_FLAG_MODF) != RESET) || (SPI_CHECK_FLAG(itflag, SPI_FLAG_OVR) != RESET) - || (SPI_CHECK_FLAG(itflag, SPI_FLAG_FRE) != RESET)) && (SPI_CHECK_IT_SOURCE(itsource, SPI_IT_ERR) != RESET)) - { - /* SPI Overrun error interrupt occurred ----------------------------------*/ - if (SPI_CHECK_FLAG(itflag, SPI_FLAG_OVR) != RESET) - { - if (hspi->State != HAL_SPI_STATE_BUSY_TX) - { - SET_BIT(hspi->ErrorCode, HAL_SPI_ERROR_OVR); - __HAL_SPI_CLEAR_OVRFLAG(hspi); - } - else - { - __HAL_SPI_CLEAR_OVRFLAG(hspi); - return; - } - } - - /* SPI Mode Fault error interrupt occurred -------------------------------*/ - if (SPI_CHECK_FLAG(itflag, SPI_FLAG_MODF) != RESET) - { - SET_BIT(hspi->ErrorCode, HAL_SPI_ERROR_MODF); - __HAL_SPI_CLEAR_MODFFLAG(hspi); - } - - /* SPI Frame error interrupt occurred ------------------------------------*/ - if (SPI_CHECK_FLAG(itflag, SPI_FLAG_FRE) != RESET) - { - SET_BIT(hspi->ErrorCode, HAL_SPI_ERROR_FRE); - __HAL_SPI_CLEAR_FREFLAG(hspi); - } - - if (hspi->ErrorCode != HAL_SPI_ERROR_NONE) - { - /* Disable all interrupts */ - __HAL_SPI_DISABLE_IT(hspi, SPI_IT_RXNE | SPI_IT_TXE | SPI_IT_ERR); - - hspi->State = HAL_SPI_STATE_READY; - /* Disable the SPI DMA requests if enabled */ - if ((HAL_IS_BIT_SET(itsource, SPI_CR2_TXDMAEN)) || (HAL_IS_BIT_SET(itsource, SPI_CR2_RXDMAEN))) - { - CLEAR_BIT(hspi->Instance->CR2, (SPI_CR2_TXDMAEN | SPI_CR2_RXDMAEN)); - - /* Abort the SPI DMA Rx channel */ - if (hspi->hdmarx != NULL) - { - /* Set the SPI DMA Abort callback : - will lead to call HAL_SPI_ErrorCallback() at end of DMA abort procedure */ - hspi->hdmarx->XferAbortCallback = SPI_DMAAbortOnError; - if (HAL_OK != HAL_DMA_Abort_IT(hspi->hdmarx)) - { - SET_BIT(hspi->ErrorCode, HAL_SPI_ERROR_ABORT); - } - } - /* Abort the SPI DMA Tx channel */ - if (hspi->hdmatx != NULL) - { - /* Set the SPI DMA Abort callback : - will lead to call HAL_SPI_ErrorCallback() at end of DMA abort procedure */ - hspi->hdmatx->XferAbortCallback = SPI_DMAAbortOnError; - if (HAL_OK != HAL_DMA_Abort_IT(hspi->hdmatx)) - { - SET_BIT(hspi->ErrorCode, HAL_SPI_ERROR_ABORT); - } - } - } - else - { - /* Call user error callback */ -#if (USE_HAL_SPI_REGISTER_CALLBACKS == 1U) - hspi->ErrorCallback(hspi); -#else - HAL_SPI_ErrorCallback(hspi); -#endif /* USE_HAL_SPI_REGISTER_CALLBACKS */ - } - } - return; - } -} - -/** - * @brief Tx Transfer completed callback. - * @param hspi pointer to a SPI_HandleTypeDef structure that contains - * the configuration information for SPI module. - * @retval None - */ -__weak void HAL_SPI_TxCpltCallback(SPI_HandleTypeDef *hspi) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hspi); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_SPI_TxCpltCallback should be implemented in the user file - */ -} - -/** - * @brief Rx Transfer completed callback. - * @param hspi pointer to a SPI_HandleTypeDef structure that contains - * the configuration information for SPI module. - * @retval None - */ -__weak void HAL_SPI_RxCpltCallback(SPI_HandleTypeDef *hspi) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hspi); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_SPI_RxCpltCallback should be implemented in the user file - */ -} - -/** - * @brief Tx and Rx Transfer completed callback. - * @param hspi pointer to a SPI_HandleTypeDef structure that contains - * the configuration information for SPI module. - * @retval None - */ -__weak void HAL_SPI_TxRxCpltCallback(SPI_HandleTypeDef *hspi) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hspi); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_SPI_TxRxCpltCallback should be implemented in the user file - */ -} - -/** - * @brief Tx Half Transfer completed callback. - * @param hspi pointer to a SPI_HandleTypeDef structure that contains - * the configuration information for SPI module. - * @retval None - */ -__weak void HAL_SPI_TxHalfCpltCallback(SPI_HandleTypeDef *hspi) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hspi); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_SPI_TxHalfCpltCallback should be implemented in the user file - */ -} - -/** - * @brief Rx Half Transfer completed callback. - * @param hspi pointer to a SPI_HandleTypeDef structure that contains - * the configuration information for SPI module. - * @retval None - */ -__weak void HAL_SPI_RxHalfCpltCallback(SPI_HandleTypeDef *hspi) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hspi); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_SPI_RxHalfCpltCallback() should be implemented in the user file - */ -} - -/** - * @brief Tx and Rx Half Transfer callback. - * @param hspi pointer to a SPI_HandleTypeDef structure that contains - * the configuration information for SPI module. - * @retval None - */ -__weak void HAL_SPI_TxRxHalfCpltCallback(SPI_HandleTypeDef *hspi) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hspi); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_SPI_TxRxHalfCpltCallback() should be implemented in the user file - */ -} - -/** - * @brief SPI error callback. - * @param hspi pointer to a SPI_HandleTypeDef structure that contains - * the configuration information for SPI module. - * @retval None - */ -__weak void HAL_SPI_ErrorCallback(SPI_HandleTypeDef *hspi) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hspi); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_SPI_ErrorCallback should be implemented in the user file - */ - /* NOTE : The ErrorCode parameter in the hspi handle is updated by the SPI processes - and user can use HAL_SPI_GetError() API to check the latest error occurred - */ -} - -/** - * @brief SPI Abort Complete callback. - * @param hspi SPI handle. - * @retval None - */ -__weak void HAL_SPI_AbortCpltCallback(SPI_HandleTypeDef *hspi) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hspi); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_SPI_AbortCpltCallback can be implemented in the user file. - */ -} - -/** - * @} - */ - -/** @defgroup SPI_Exported_Functions_Group3 Peripheral State and Errors functions - * @brief SPI control functions - * -@verbatim - =============================================================================== - ##### Peripheral State and Errors functions ##### - =============================================================================== - [..] - This subsection provides a set of functions allowing to control the SPI. - (+) HAL_SPI_GetState() API can be helpful to check in run-time the state of the SPI peripheral - (+) HAL_SPI_GetError() check in run-time Errors occurring during communication -@endverbatim - * @{ - */ - -/** - * @brief Return the SPI handle state. - * @param hspi pointer to a SPI_HandleTypeDef structure that contains - * the configuration information for SPI module. - * @retval SPI state - */ -HAL_SPI_StateTypeDef HAL_SPI_GetState(SPI_HandleTypeDef *hspi) -{ - /* Return SPI handle state */ - return hspi->State; -} - -/** - * @brief Return the SPI error code. - * @param hspi pointer to a SPI_HandleTypeDef structure that contains - * the configuration information for SPI module. - * @retval SPI error code in bitmap format - */ -uint32_t HAL_SPI_GetError(SPI_HandleTypeDef *hspi) -{ - /* Return SPI ErrorCode */ - return hspi->ErrorCode; -} - -/** - * @} - */ - -/** - * @} - */ - -/** @addtogroup SPI_Private_Functions - * @brief Private functions - * @{ - */ - -/** - * @brief DMA SPI transmit process complete callback. - * @param hdma pointer to a DMA_HandleTypeDef structure that contains - * the configuration information for the specified DMA module. - * @retval None - */ -static void SPI_DMATransmitCplt(DMA_HandleTypeDef *hdma) -{ - SPI_HandleTypeDef *hspi = (SPI_HandleTypeDef *)(((DMA_HandleTypeDef *)hdma)->Parent); /* Derogation MISRAC2012-Rule-11.5 */ - uint32_t tickstart; - - /* Init tickstart for timeout management*/ - tickstart = HAL_GetTick(); - - /* DMA Normal Mode */ - if ((hdma->Instance->CR & DMA_SxCR_CIRC) != DMA_SxCR_CIRC) - { - /* Disable ERR interrupt */ - __HAL_SPI_DISABLE_IT(hspi, SPI_IT_ERR); - - /* Disable Tx DMA Request */ - CLEAR_BIT(hspi->Instance->CR2, SPI_CR2_TXDMAEN); - - /* Check the end of the transaction */ - if (SPI_EndRxTxTransaction(hspi, SPI_DEFAULT_TIMEOUT, tickstart) != HAL_OK) - { - SET_BIT(hspi->ErrorCode, HAL_SPI_ERROR_FLAG); - } - - /* Clear overrun flag in 2 Lines communication mode because received data is not read */ - if (hspi->Init.Direction == SPI_DIRECTION_2LINES) - { - __HAL_SPI_CLEAR_OVRFLAG(hspi); - } - - hspi->TxXferCount = 0U; - hspi->State = HAL_SPI_STATE_READY; - - if (hspi->ErrorCode != HAL_SPI_ERROR_NONE) - { - /* Call user error callback */ -#if (USE_HAL_SPI_REGISTER_CALLBACKS == 1U) - hspi->ErrorCallback(hspi); -#else - HAL_SPI_ErrorCallback(hspi); -#endif /* USE_HAL_SPI_REGISTER_CALLBACKS */ - return; - } - } - /* Call user Tx complete callback */ -#if (USE_HAL_SPI_REGISTER_CALLBACKS == 1U) - hspi->TxCpltCallback(hspi); -#else - HAL_SPI_TxCpltCallback(hspi); -#endif /* USE_HAL_SPI_REGISTER_CALLBACKS */ -} - -/** - * @brief DMA SPI receive process complete callback. - * @param hdma pointer to a DMA_HandleTypeDef structure that contains - * the configuration information for the specified DMA module. - * @retval None - */ -static void SPI_DMAReceiveCplt(DMA_HandleTypeDef *hdma) -{ - SPI_HandleTypeDef *hspi = (SPI_HandleTypeDef *)(((DMA_HandleTypeDef *)hdma)->Parent); /* Derogation MISRAC2012-Rule-11.5 */ - uint32_t tickstart; -#if (USE_SPI_CRC != 0U) - __IO uint32_t tmpreg = 0U; -#endif /* USE_SPI_CRC */ - - /* Init tickstart for timeout management*/ - tickstart = HAL_GetTick(); - - /* DMA Normal Mode */ - if ((hdma->Instance->CR & DMA_SxCR_CIRC) != DMA_SxCR_CIRC) - { - /* Disable ERR interrupt */ - __HAL_SPI_DISABLE_IT(hspi, SPI_IT_ERR); - -#if (USE_SPI_CRC != 0U) - /* CRC handling */ - if (hspi->Init.CRCCalculation == SPI_CRCCALCULATION_ENABLE) - { - /* Wait until RXNE flag */ - if (SPI_WaitFlagStateUntilTimeout(hspi, SPI_FLAG_RXNE, SET, SPI_DEFAULT_TIMEOUT, tickstart) != HAL_OK) - { - /* Error on the CRC reception */ - SET_BIT(hspi->ErrorCode, HAL_SPI_ERROR_CRC); - } - /* Read CRC */ - tmpreg = READ_REG(hspi->Instance->DR); - /* To avoid GCC warning */ - UNUSED(tmpreg); - } -#endif /* USE_SPI_CRC */ - - /* Check if we are in Master RX 2 line mode */ - if ((hspi->Init.Direction == SPI_DIRECTION_2LINES) && (hspi->Init.Mode == SPI_MODE_MASTER)) - { - /* Disable Rx/Tx DMA Request (done by default to handle the case master rx direction 2 lines) */ - CLEAR_BIT(hspi->Instance->CR2, SPI_CR2_TXDMAEN | SPI_CR2_RXDMAEN); - } - else - { - /* Normal case */ - CLEAR_BIT(hspi->Instance->CR2, SPI_CR2_RXDMAEN); - } - - /* Check the end of the transaction */ - if (SPI_EndRxTransaction(hspi, SPI_DEFAULT_TIMEOUT, tickstart) != HAL_OK) - { - hspi->ErrorCode = HAL_SPI_ERROR_FLAG; - } - - hspi->RxXferCount = 0U; - hspi->State = HAL_SPI_STATE_READY; - -#if (USE_SPI_CRC != 0U) - /* Check if CRC error occurred */ - if (__HAL_SPI_GET_FLAG(hspi, SPI_FLAG_CRCERR)) - { - SET_BIT(hspi->ErrorCode, HAL_SPI_ERROR_CRC); - __HAL_SPI_CLEAR_CRCERRFLAG(hspi); - } -#endif /* USE_SPI_CRC */ - - if (hspi->ErrorCode != HAL_SPI_ERROR_NONE) - { - /* Call user error callback */ -#if (USE_HAL_SPI_REGISTER_CALLBACKS == 1U) - hspi->ErrorCallback(hspi); -#else - HAL_SPI_ErrorCallback(hspi); -#endif /* USE_HAL_SPI_REGISTER_CALLBACKS */ - return; - } - } - /* Call user Rx complete callback */ -#if (USE_HAL_SPI_REGISTER_CALLBACKS == 1U) - hspi->RxCpltCallback(hspi); -#else - HAL_SPI_RxCpltCallback(hspi); -#endif /* USE_HAL_SPI_REGISTER_CALLBACKS */ -} - -/** - * @brief DMA SPI transmit receive process complete callback. - * @param hdma pointer to a DMA_HandleTypeDef structure that contains - * the configuration information for the specified DMA module. - * @retval None - */ -static void SPI_DMATransmitReceiveCplt(DMA_HandleTypeDef *hdma) -{ - SPI_HandleTypeDef *hspi = (SPI_HandleTypeDef *)(((DMA_HandleTypeDef *)hdma)->Parent); /* Derogation MISRAC2012-Rule-11.5 */ - uint32_t tickstart; -#if (USE_SPI_CRC != 0U) - __IO uint32_t tmpreg = 0U; -#endif /* USE_SPI_CRC */ - - /* Init tickstart for timeout management*/ - tickstart = HAL_GetTick(); - - /* DMA Normal Mode */ - if ((hdma->Instance->CR & DMA_SxCR_CIRC) != DMA_SxCR_CIRC) - { - /* Disable ERR interrupt */ - __HAL_SPI_DISABLE_IT(hspi, SPI_IT_ERR); - -#if (USE_SPI_CRC != 0U) - /* CRC handling */ - if (hspi->Init.CRCCalculation == SPI_CRCCALCULATION_ENABLE) - { - /* Wait the CRC data */ - if (SPI_WaitFlagStateUntilTimeout(hspi, SPI_FLAG_RXNE, SET, SPI_DEFAULT_TIMEOUT, tickstart) != HAL_OK) - { - SET_BIT(hspi->ErrorCode, HAL_SPI_ERROR_CRC); - } - /* Read CRC to Flush DR and RXNE flag */ - tmpreg = READ_REG(hspi->Instance->DR); - /* To avoid GCC warning */ - UNUSED(tmpreg); - } -#endif /* USE_SPI_CRC */ - - /* Check the end of the transaction */ - if (SPI_EndRxTxTransaction(hspi, SPI_DEFAULT_TIMEOUT, tickstart) != HAL_OK) - { - SET_BIT(hspi->ErrorCode, HAL_SPI_ERROR_FLAG); - } - - /* Disable Rx/Tx DMA Request */ - CLEAR_BIT(hspi->Instance->CR2, SPI_CR2_TXDMAEN | SPI_CR2_RXDMAEN); - - hspi->TxXferCount = 0U; - hspi->RxXferCount = 0U; - hspi->State = HAL_SPI_STATE_READY; - -#if (USE_SPI_CRC != 0U) - /* Check if CRC error occurred */ - if (__HAL_SPI_GET_FLAG(hspi, SPI_FLAG_CRCERR)) - { - SET_BIT(hspi->ErrorCode, HAL_SPI_ERROR_CRC); - __HAL_SPI_CLEAR_CRCERRFLAG(hspi); - } -#endif /* USE_SPI_CRC */ - - if (hspi->ErrorCode != HAL_SPI_ERROR_NONE) - { - /* Call user error callback */ -#if (USE_HAL_SPI_REGISTER_CALLBACKS == 1U) - hspi->ErrorCallback(hspi); -#else - HAL_SPI_ErrorCallback(hspi); -#endif /* USE_HAL_SPI_REGISTER_CALLBACKS */ - return; - } - } - /* Call user TxRx complete callback */ -#if (USE_HAL_SPI_REGISTER_CALLBACKS == 1U) - hspi->TxRxCpltCallback(hspi); -#else - HAL_SPI_TxRxCpltCallback(hspi); -#endif /* USE_HAL_SPI_REGISTER_CALLBACKS */ -} - -/** - * @brief DMA SPI half transmit process complete callback. - * @param hdma pointer to a DMA_HandleTypeDef structure that contains - * the configuration information for the specified DMA module. - * @retval None - */ -static void SPI_DMAHalfTransmitCplt(DMA_HandleTypeDef *hdma) -{ - SPI_HandleTypeDef *hspi = (SPI_HandleTypeDef *)(((DMA_HandleTypeDef *)hdma)->Parent); /* Derogation MISRAC2012-Rule-11.5 */ - - /* Call user Tx half complete callback */ -#if (USE_HAL_SPI_REGISTER_CALLBACKS == 1U) - hspi->TxHalfCpltCallback(hspi); -#else - HAL_SPI_TxHalfCpltCallback(hspi); -#endif /* USE_HAL_SPI_REGISTER_CALLBACKS */ -} - -/** - * @brief DMA SPI half receive process complete callback - * @param hdma pointer to a DMA_HandleTypeDef structure that contains - * the configuration information for the specified DMA module. - * @retval None - */ -static void SPI_DMAHalfReceiveCplt(DMA_HandleTypeDef *hdma) -{ - SPI_HandleTypeDef *hspi = (SPI_HandleTypeDef *)(((DMA_HandleTypeDef *)hdma)->Parent); /* Derogation MISRAC2012-Rule-11.5 */ - - /* Call user Rx half complete callback */ -#if (USE_HAL_SPI_REGISTER_CALLBACKS == 1U) - hspi->RxHalfCpltCallback(hspi); -#else - HAL_SPI_RxHalfCpltCallback(hspi); -#endif /* USE_HAL_SPI_REGISTER_CALLBACKS */ -} - -/** - * @brief DMA SPI half transmit receive process complete callback. - * @param hdma pointer to a DMA_HandleTypeDef structure that contains - * the configuration information for the specified DMA module. - * @retval None - */ -static void SPI_DMAHalfTransmitReceiveCplt(DMA_HandleTypeDef *hdma) -{ - SPI_HandleTypeDef *hspi = (SPI_HandleTypeDef *)(((DMA_HandleTypeDef *)hdma)->Parent); /* Derogation MISRAC2012-Rule-11.5 */ - - /* Call user TxRx half complete callback */ -#if (USE_HAL_SPI_REGISTER_CALLBACKS == 1U) - hspi->TxRxHalfCpltCallback(hspi); -#else - HAL_SPI_TxRxHalfCpltCallback(hspi); -#endif /* USE_HAL_SPI_REGISTER_CALLBACKS */ -} - -/** - * @brief DMA SPI communication error callback. - * @param hdma pointer to a DMA_HandleTypeDef structure that contains - * the configuration information for the specified DMA module. - * @retval None - */ -static void SPI_DMAError(DMA_HandleTypeDef *hdma) -{ - SPI_HandleTypeDef *hspi = (SPI_HandleTypeDef *)(((DMA_HandleTypeDef *)hdma)->Parent); /* Derogation MISRAC2012-Rule-11.5 */ - - /* Stop the disable DMA transfer on SPI side */ - CLEAR_BIT(hspi->Instance->CR2, SPI_CR2_TXDMAEN | SPI_CR2_RXDMAEN); - - SET_BIT(hspi->ErrorCode, HAL_SPI_ERROR_DMA); - hspi->State = HAL_SPI_STATE_READY; - /* Call user error callback */ -#if (USE_HAL_SPI_REGISTER_CALLBACKS == 1U) - hspi->ErrorCallback(hspi); -#else - HAL_SPI_ErrorCallback(hspi); -#endif /* USE_HAL_SPI_REGISTER_CALLBACKS */ -} - -/** - * @brief DMA SPI communication abort callback, when initiated by HAL services on Error - * (To be called at end of DMA Abort procedure following error occurrence). - * @param hdma DMA handle. - * @retval None - */ -static void SPI_DMAAbortOnError(DMA_HandleTypeDef *hdma) -{ - SPI_HandleTypeDef *hspi = (SPI_HandleTypeDef *)(((DMA_HandleTypeDef *)hdma)->Parent); /* Derogation MISRAC2012-Rule-11.5 */ - hspi->RxXferCount = 0U; - hspi->TxXferCount = 0U; - - /* Call user error callback */ -#if (USE_HAL_SPI_REGISTER_CALLBACKS == 1U) - hspi->ErrorCallback(hspi); -#else - HAL_SPI_ErrorCallback(hspi); -#endif /* USE_HAL_SPI_REGISTER_CALLBACKS */ -} - -/** - * @brief DMA SPI Tx communication abort callback, when initiated by user - * (To be called at end of DMA Tx Abort procedure following user abort request). - * @note When this callback is executed, User Abort complete call back is called only if no - * Abort still ongoing for Rx DMA Handle. - * @param hdma DMA handle. - * @retval None - */ -static void SPI_DMATxAbortCallback(DMA_HandleTypeDef *hdma) -{ - SPI_HandleTypeDef *hspi = (SPI_HandleTypeDef *)(((DMA_HandleTypeDef *)hdma)->Parent); /* Derogation MISRAC2012-Rule-11.5 */ - __IO uint32_t count; - - hspi->hdmatx->XferAbortCallback = NULL; - count = SPI_DEFAULT_TIMEOUT * (SystemCoreClock / 24U / 1000U); - - /* Disable Tx DMA Request */ - CLEAR_BIT(hspi->Instance->CR2, SPI_CR2_TXDMAEN); - - /* Wait until TXE flag is set */ - do - { - if (count == 0U) - { - SET_BIT(hspi->ErrorCode, HAL_SPI_ERROR_ABORT); - break; - } - count--; - } while ((hspi->Instance->SR & SPI_FLAG_TXE) == RESET); - - /* Check if an Abort process is still ongoing */ - if (hspi->hdmarx != NULL) - { - if (hspi->hdmarx->XferAbortCallback != NULL) - { - return; - } - } - - /* No Abort process still ongoing : All DMA Stream/Channel are aborted, call user Abort Complete callback */ - hspi->RxXferCount = 0U; - hspi->TxXferCount = 0U; - - /* Check no error during Abort procedure */ - if (hspi->ErrorCode != HAL_SPI_ERROR_ABORT) - { - /* Reset errorCode */ - hspi->ErrorCode = HAL_SPI_ERROR_NONE; - } - - /* Clear the Error flags in the SR register */ - __HAL_SPI_CLEAR_OVRFLAG(hspi); - __HAL_SPI_CLEAR_FREFLAG(hspi); - - /* Restore hspi->State to Ready */ - hspi->State = HAL_SPI_STATE_READY; - - /* Call user Abort complete callback */ -#if (USE_HAL_SPI_REGISTER_CALLBACKS == 1U) - hspi->AbortCpltCallback(hspi); -#else - HAL_SPI_AbortCpltCallback(hspi); -#endif /* USE_HAL_SPI_REGISTER_CALLBACKS */ -} - -/** - * @brief DMA SPI Rx communication abort callback, when initiated by user - * (To be called at end of DMA Rx Abort procedure following user abort request). - * @note When this callback is executed, User Abort complete call back is called only if no - * Abort still ongoing for Tx DMA Handle. - * @param hdma DMA handle. - * @retval None - */ -static void SPI_DMARxAbortCallback(DMA_HandleTypeDef *hdma) -{ - SPI_HandleTypeDef *hspi = (SPI_HandleTypeDef *)(((DMA_HandleTypeDef *)hdma)->Parent); /* Derogation MISRAC2012-Rule-11.5 */ - - /* Disable SPI Peripheral */ - __HAL_SPI_DISABLE(hspi); - - hspi->hdmarx->XferAbortCallback = NULL; - - /* Disable Rx DMA Request */ - CLEAR_BIT(hspi->Instance->CR2, SPI_CR2_RXDMAEN); - - /* Check Busy flag */ - if (SPI_EndRxTxTransaction(hspi, SPI_DEFAULT_TIMEOUT, HAL_GetTick()) != HAL_OK) - { - SET_BIT(hspi->ErrorCode, HAL_SPI_ERROR_ABORT); - } - - /* Check if an Abort process is still ongoing */ - if (hspi->hdmatx != NULL) - { - if (hspi->hdmatx->XferAbortCallback != NULL) - { - return; - } - } - - /* No Abort process still ongoing : All DMA Stream/Channel are aborted, call user Abort Complete callback */ - hspi->RxXferCount = 0U; - hspi->TxXferCount = 0U; - - /* Check no error during Abort procedure */ - if (hspi->ErrorCode != HAL_SPI_ERROR_ABORT) - { - /* Reset errorCode */ - hspi->ErrorCode = HAL_SPI_ERROR_NONE; - } - - /* Clear the Error flags in the SR register */ - __HAL_SPI_CLEAR_OVRFLAG(hspi); - __HAL_SPI_CLEAR_FREFLAG(hspi); - - /* Restore hspi->State to Ready */ - hspi->State = HAL_SPI_STATE_READY; - - /* Call user Abort complete callback */ -#if (USE_HAL_SPI_REGISTER_CALLBACKS == 1U) - hspi->AbortCpltCallback(hspi); -#else - HAL_SPI_AbortCpltCallback(hspi); -#endif /* USE_HAL_SPI_REGISTER_CALLBACKS */ -} - -/** - * @brief Rx 8-bit handler for Transmit and Receive in Interrupt mode. - * @param hspi pointer to a SPI_HandleTypeDef structure that contains - * the configuration information for SPI module. - * @retval None - */ -static void SPI_2linesRxISR_8BIT(struct __SPI_HandleTypeDef *hspi) -{ - /* Receive data in 8bit mode */ - *hspi->pRxBuffPtr = *((__IO uint8_t *)&hspi->Instance->DR); - hspi->pRxBuffPtr++; - hspi->RxXferCount--; - - /* Check end of the reception */ - if (hspi->RxXferCount == 0U) - { -#if (USE_SPI_CRC != 0U) - if (hspi->Init.CRCCalculation == SPI_CRCCALCULATION_ENABLE) - { - hspi->RxISR = SPI_2linesRxISR_8BITCRC; - return; - } -#endif /* USE_SPI_CRC */ - - /* Disable RXNE and ERR interrupt */ - __HAL_SPI_DISABLE_IT(hspi, (SPI_IT_RXNE | SPI_IT_ERR)); - - if (hspi->TxXferCount == 0U) - { - SPI_CloseRxTx_ISR(hspi); - } - } -} - -#if (USE_SPI_CRC != 0U) -/** - * @brief Rx 8-bit handler for Transmit and Receive in Interrupt mode. - * @param hspi pointer to a SPI_HandleTypeDef structure that contains - * the configuration information for SPI module. - * @retval None - */ -static void SPI_2linesRxISR_8BITCRC(struct __SPI_HandleTypeDef *hspi) -{ - __IO uint8_t * ptmpreg8; - __IO uint8_t tmpreg8 = 0; - - /* Initialize the 8bit temporary pointer */ - ptmpreg8 = (__IO uint8_t *)&hspi->Instance->DR; - /* Read 8bit CRC to flush Data Register */ - tmpreg8 = *ptmpreg8; - /* To avoid GCC warning */ - UNUSED(tmpreg8); - - /* Disable RXNE and ERR interrupt */ - __HAL_SPI_DISABLE_IT(hspi, (SPI_IT_RXNE | SPI_IT_ERR)); - - if (hspi->TxXferCount == 0U) - { - SPI_CloseRxTx_ISR(hspi); - } -} -#endif /* USE_SPI_CRC */ - -/** - * @brief Tx 8-bit handler for Transmit and Receive in Interrupt mode. - * @param hspi pointer to a SPI_HandleTypeDef structure that contains - * the configuration information for SPI module. - * @retval None - */ -static void SPI_2linesTxISR_8BIT(struct __SPI_HandleTypeDef *hspi) -{ - *(__IO uint8_t *)&hspi->Instance->DR = (*hspi->pTxBuffPtr); - hspi->pTxBuffPtr++; - hspi->TxXferCount--; - - /* Check the end of the transmission */ - if (hspi->TxXferCount == 0U) - { -#if (USE_SPI_CRC != 0U) - if (hspi->Init.CRCCalculation == SPI_CRCCALCULATION_ENABLE) - { - /* Set CRC Next Bit to send CRC */ - SET_BIT(hspi->Instance->CR1, SPI_CR1_CRCNEXT); - /* Disable TXE interrupt */ - __HAL_SPI_DISABLE_IT(hspi, SPI_IT_TXE); - return; - } -#endif /* USE_SPI_CRC */ - - /* Disable TXE interrupt */ - __HAL_SPI_DISABLE_IT(hspi, SPI_IT_TXE); - - if (hspi->RxXferCount == 0U) - { - SPI_CloseRxTx_ISR(hspi); - } - } -} - -/** - * @brief Rx 16-bit handler for Transmit and Receive in Interrupt mode. - * @param hspi pointer to a SPI_HandleTypeDef structure that contains - * the configuration information for SPI module. - * @retval None - */ -static void SPI_2linesRxISR_16BIT(struct __SPI_HandleTypeDef *hspi) -{ - /* Receive data in 16 Bit mode */ - *((uint16_t *)hspi->pRxBuffPtr) = (uint16_t)(hspi->Instance->DR); - hspi->pRxBuffPtr += sizeof(uint16_t); - hspi->RxXferCount--; - - if (hspi->RxXferCount == 0U) - { -#if (USE_SPI_CRC != 0U) - if (hspi->Init.CRCCalculation == SPI_CRCCALCULATION_ENABLE) - { - hspi->RxISR = SPI_2linesRxISR_16BITCRC; - return; - } -#endif /* USE_SPI_CRC */ - - /* Disable RXNE interrupt */ - __HAL_SPI_DISABLE_IT(hspi, SPI_IT_RXNE); - - if (hspi->TxXferCount == 0U) - { - SPI_CloseRxTx_ISR(hspi); - } - } -} - -#if (USE_SPI_CRC != 0U) -/** - * @brief Manage the CRC 16-bit receive for Transmit and Receive in Interrupt mode. - * @param hspi pointer to a SPI_HandleTypeDef structure that contains - * the configuration information for SPI module. - * @retval None - */ -static void SPI_2linesRxISR_16BITCRC(struct __SPI_HandleTypeDef *hspi) -{ - __IO uint32_t tmpreg = 0U; - - /* Read 16bit CRC to flush Data Register */ - tmpreg = READ_REG(hspi->Instance->DR); - /* To avoid GCC warning */ - UNUSED(tmpreg); - - /* Disable RXNE interrupt */ - __HAL_SPI_DISABLE_IT(hspi, SPI_IT_RXNE); - - SPI_CloseRxTx_ISR(hspi); -} -#endif /* USE_SPI_CRC */ - -/** - * @brief Tx 16-bit handler for Transmit and Receive in Interrupt mode. - * @param hspi pointer to a SPI_HandleTypeDef structure that contains - * the configuration information for SPI module. - * @retval None - */ -static void SPI_2linesTxISR_16BIT(struct __SPI_HandleTypeDef *hspi) -{ - /* Transmit data in 16 Bit mode */ - hspi->Instance->DR = *((uint16_t *)hspi->pTxBuffPtr); - hspi->pTxBuffPtr += sizeof(uint16_t); - hspi->TxXferCount--; - - /* Enable CRC Transmission */ - if (hspi->TxXferCount == 0U) - { -#if (USE_SPI_CRC != 0U) - if (hspi->Init.CRCCalculation == SPI_CRCCALCULATION_ENABLE) - { - /* Set CRC Next Bit to send CRC */ - SET_BIT(hspi->Instance->CR1, SPI_CR1_CRCNEXT); - /* Disable TXE interrupt */ - __HAL_SPI_DISABLE_IT(hspi, SPI_IT_TXE); - return; - } -#endif /* USE_SPI_CRC */ - - /* Disable TXE interrupt */ - __HAL_SPI_DISABLE_IT(hspi, SPI_IT_TXE); - - if (hspi->RxXferCount == 0U) - { - SPI_CloseRxTx_ISR(hspi); - } - } -} - -#if (USE_SPI_CRC != 0U) -/** - * @brief Manage the CRC 8-bit receive in Interrupt context. - * @param hspi pointer to a SPI_HandleTypeDef structure that contains - * the configuration information for SPI module. - * @retval None - */ -static void SPI_RxISR_8BITCRC(struct __SPI_HandleTypeDef *hspi) -{ - __IO uint8_t * ptmpreg8; - __IO uint8_t tmpreg8 = 0; - - /* Initialize the 8bit temporary pointer */ - ptmpreg8 = (__IO uint8_t *)&hspi->Instance->DR; - /* Read 8bit CRC to flush Data Register */ - tmpreg8 = *ptmpreg8; - /* To avoid GCC warning */ - UNUSED(tmpreg8); - - SPI_CloseRx_ISR(hspi); -} -#endif /* USE_SPI_CRC */ - -/** - * @brief Manage the receive 8-bit in Interrupt context. - * @param hspi pointer to a SPI_HandleTypeDef structure that contains - * the configuration information for SPI module. - * @retval None - */ -static void SPI_RxISR_8BIT(struct __SPI_HandleTypeDef *hspi) -{ - *hspi->pRxBuffPtr = (*(__IO uint8_t *)&hspi->Instance->DR); - hspi->pRxBuffPtr++; - hspi->RxXferCount--; - -#if (USE_SPI_CRC != 0U) - /* Enable CRC Transmission */ - if ((hspi->RxXferCount == 1U) && (hspi->Init.CRCCalculation == SPI_CRCCALCULATION_ENABLE)) - { - SET_BIT(hspi->Instance->CR1, SPI_CR1_CRCNEXT); - } -#endif /* USE_SPI_CRC */ - - if (hspi->RxXferCount == 0U) - { -#if (USE_SPI_CRC != 0U) - if (hspi->Init.CRCCalculation == SPI_CRCCALCULATION_ENABLE) - { - hspi->RxISR = SPI_RxISR_8BITCRC; - return; - } -#endif /* USE_SPI_CRC */ - SPI_CloseRx_ISR(hspi); - } -} - -#if (USE_SPI_CRC != 0U) -/** - * @brief Manage the CRC 16-bit receive in Interrupt context. - * @param hspi pointer to a SPI_HandleTypeDef structure that contains - * the configuration information for SPI module. - * @retval None - */ -static void SPI_RxISR_16BITCRC(struct __SPI_HandleTypeDef *hspi) -{ - __IO uint32_t tmpreg = 0U; - - /* Read 16bit CRC to flush Data Register */ - tmpreg = READ_REG(hspi->Instance->DR); - /* To avoid GCC warning */ - UNUSED(tmpreg); - - /* Disable RXNE and ERR interrupt */ - __HAL_SPI_DISABLE_IT(hspi, (SPI_IT_RXNE | SPI_IT_ERR)); - - SPI_CloseRx_ISR(hspi); -} -#endif /* USE_SPI_CRC */ - -/** - * @brief Manage the 16-bit receive in Interrupt context. - * @param hspi pointer to a SPI_HandleTypeDef structure that contains - * the configuration information for SPI module. - * @retval None - */ -static void SPI_RxISR_16BIT(struct __SPI_HandleTypeDef *hspi) -{ - *((uint16_t *)hspi->pRxBuffPtr) = (uint16_t)(hspi->Instance->DR); - hspi->pRxBuffPtr += sizeof(uint16_t); - hspi->RxXferCount--; - -#if (USE_SPI_CRC != 0U) - /* Enable CRC Transmission */ - if ((hspi->RxXferCount == 1U) && (hspi->Init.CRCCalculation == SPI_CRCCALCULATION_ENABLE)) - { - SET_BIT(hspi->Instance->CR1, SPI_CR1_CRCNEXT); - } -#endif /* USE_SPI_CRC */ - - if (hspi->RxXferCount == 0U) - { -#if (USE_SPI_CRC != 0U) - if (hspi->Init.CRCCalculation == SPI_CRCCALCULATION_ENABLE) - { - hspi->RxISR = SPI_RxISR_16BITCRC; - return; - } -#endif /* USE_SPI_CRC */ - SPI_CloseRx_ISR(hspi); - } -} - -/** - * @brief Handle the data 8-bit transmit in Interrupt mode. - * @param hspi pointer to a SPI_HandleTypeDef structure that contains - * the configuration information for SPI module. - * @retval None - */ -static void SPI_TxISR_8BIT(struct __SPI_HandleTypeDef *hspi) -{ - *(__IO uint8_t *)&hspi->Instance->DR = (*hspi->pTxBuffPtr); - hspi->pTxBuffPtr++; - hspi->TxXferCount--; - - if (hspi->TxXferCount == 0U) - { -#if (USE_SPI_CRC != 0U) - if (hspi->Init.CRCCalculation == SPI_CRCCALCULATION_ENABLE) - { - /* Enable CRC Transmission */ - SET_BIT(hspi->Instance->CR1, SPI_CR1_CRCNEXT); - } -#endif /* USE_SPI_CRC */ - SPI_CloseTx_ISR(hspi); - } -} - -/** - * @brief Handle the data 16-bit transmit in Interrupt mode. - * @param hspi pointer to a SPI_HandleTypeDef structure that contains - * the configuration information for SPI module. - * @retval None - */ -static void SPI_TxISR_16BIT(struct __SPI_HandleTypeDef *hspi) -{ - /* Transmit data in 16 Bit mode */ - hspi->Instance->DR = *((uint16_t *)hspi->pTxBuffPtr); - hspi->pTxBuffPtr += sizeof(uint16_t); - hspi->TxXferCount--; - - if (hspi->TxXferCount == 0U) - { -#if (USE_SPI_CRC != 0U) - if (hspi->Init.CRCCalculation == SPI_CRCCALCULATION_ENABLE) - { - /* Enable CRC Transmission */ - SET_BIT(hspi->Instance->CR1, SPI_CR1_CRCNEXT); - } -#endif /* USE_SPI_CRC */ - SPI_CloseTx_ISR(hspi); - } -} - -/** - * @brief Handle SPI Communication Timeout. - * @param hspi pointer to a SPI_HandleTypeDef structure that contains - * the configuration information for SPI module. - * @param Flag SPI flag to check - * @param State flag state to check - * @param Timeout Timeout duration - * @param Tickstart tick start value - * @retval HAL status - */ -static HAL_StatusTypeDef SPI_WaitFlagStateUntilTimeout(SPI_HandleTypeDef *hspi, uint32_t Flag, FlagStatus State, - uint32_t Timeout, uint32_t Tickstart) -{ - __IO uint32_t count; - uint32_t tmp_timeout; - uint32_t tmp_tickstart; - - /* Adjust Timeout value in case of end of transfer */ - tmp_timeout = Timeout - (HAL_GetTick() - Tickstart); - tmp_tickstart = HAL_GetTick(); - - /* Calculate Timeout based on a software loop to avoid blocking issue if Systick is disabled */ - count = tmp_timeout * ((SystemCoreClock * 32U) >> 20U); - - while ((__HAL_SPI_GET_FLAG(hspi, Flag) ? SET : RESET) != State) - { - if (Timeout != HAL_MAX_DELAY) - { - if (((HAL_GetTick() - tmp_tickstart) >= tmp_timeout) || (tmp_timeout == 0U)) - { - /* Disable the SPI and reset the CRC: the CRC value should be cleared - on both master and slave sides in order to resynchronize the master - and slave for their respective CRC calculation */ - - /* Disable TXE, RXNE and ERR interrupts for the interrupt process */ - __HAL_SPI_DISABLE_IT(hspi, (SPI_IT_TXE | SPI_IT_RXNE | SPI_IT_ERR)); - - if ((hspi->Init.Mode == SPI_MODE_MASTER) && ((hspi->Init.Direction == SPI_DIRECTION_1LINE) - || (hspi->Init.Direction == SPI_DIRECTION_2LINES_RXONLY))) - { - /* Disable SPI peripheral */ - __HAL_SPI_DISABLE(hspi); - } - - /* Reset CRC Calculation */ - if (hspi->Init.CRCCalculation == SPI_CRCCALCULATION_ENABLE) - { - SPI_RESET_CRC(hspi); - } - - hspi->State = HAL_SPI_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(hspi); - - return HAL_TIMEOUT; - } - /* If Systick is disabled or not incremented, deactivate timeout to go in disable loop procedure */ - if(count == 0U) - { - tmp_timeout = 0U; - } - count--; - } - } - - return HAL_OK; -} - -/** - * @brief Handle the check of the RX transaction complete. - * @param hspi pointer to a SPI_HandleTypeDef structure that contains - * the configuration information for SPI module. - * @param Timeout Timeout duration - * @param Tickstart tick start value - * @retval HAL status - */ -static HAL_StatusTypeDef SPI_EndRxTransaction(SPI_HandleTypeDef *hspi, uint32_t Timeout, uint32_t Tickstart) -{ - if ((hspi->Init.Mode == SPI_MODE_MASTER) && ((hspi->Init.Direction == SPI_DIRECTION_1LINE) - || (hspi->Init.Direction == SPI_DIRECTION_2LINES_RXONLY))) - { - /* Disable SPI peripheral */ - __HAL_SPI_DISABLE(hspi); - } - - /* Erratasheet: BSY bit may stay high at the end of a data transfer in Slave mode */ - if (hspi->Init.Mode == SPI_MODE_MASTER) - { - if (hspi->Init.Direction != SPI_DIRECTION_2LINES_RXONLY) - { - /* Control the BSY flag */ - if (SPI_WaitFlagStateUntilTimeout(hspi, SPI_FLAG_BSY, RESET, Timeout, Tickstart) != HAL_OK) - { - SET_BIT(hspi->ErrorCode, HAL_SPI_ERROR_FLAG); - return HAL_TIMEOUT; - } - } - else - { - /* Wait the RXNE reset */ - if (SPI_WaitFlagStateUntilTimeout(hspi, SPI_FLAG_RXNE, RESET, Timeout, Tickstart) != HAL_OK) - { - SET_BIT(hspi->ErrorCode, HAL_SPI_ERROR_FLAG); - return HAL_TIMEOUT; - } - } - } - else - { - /* Wait the RXNE reset */ - if (SPI_WaitFlagStateUntilTimeout(hspi, SPI_FLAG_RXNE, RESET, Timeout, Tickstart) != HAL_OK) - { - SET_BIT(hspi->ErrorCode, HAL_SPI_ERROR_FLAG); - return HAL_TIMEOUT; - } - } - return HAL_OK; -} - -/** - * @brief Handle the check of the RXTX or TX transaction complete. - * @param hspi SPI handle - * @param Timeout Timeout duration - * @param Tickstart tick start value - * @retval HAL status - */ -static HAL_StatusTypeDef SPI_EndRxTxTransaction(SPI_HandleTypeDef *hspi, uint32_t Timeout, uint32_t Tickstart) -{ - /* Timeout in µs */ - __IO uint32_t count = SPI_BSY_FLAG_WORKAROUND_TIMEOUT * (SystemCoreClock / 24U / 1000000U); - /* Erratasheet: BSY bit may stay high at the end of a data transfer in Slave mode */ - if (hspi->Init.Mode == SPI_MODE_MASTER) - { - /* Control the BSY flag */ - if (SPI_WaitFlagStateUntilTimeout(hspi, SPI_FLAG_BSY, RESET, Timeout, Tickstart) != HAL_OK) - { - SET_BIT(hspi->ErrorCode, HAL_SPI_ERROR_FLAG); - return HAL_TIMEOUT; - } - } - else - { - /* Wait BSY flag during 1 Byte time transfer in case of Full-Duplex and Tx transfer - * If Timeout is reached, the transfer is considered as finish. - * User have to calculate the timeout value to fit with the time of 1 byte transfer. - * This time is directly link with the SPI clock from Master device. - */ - do - { - if (count == 0U) - { - break; - } - count--; - } while (__HAL_SPI_GET_FLAG(hspi, SPI_FLAG_BSY) != RESET); - } - - return HAL_OK; -} - -/** - * @brief Handle the end of the RXTX transaction. - * @param hspi pointer to a SPI_HandleTypeDef structure that contains - * the configuration information for SPI module. - * @retval None - */ -static void SPI_CloseRxTx_ISR(SPI_HandleTypeDef *hspi) -{ - uint32_t tickstart; - __IO uint32_t count = SPI_DEFAULT_TIMEOUT * (SystemCoreClock / 24U / 1000U); - - /* Init tickstart for timeout management */ - tickstart = HAL_GetTick(); - - /* Disable ERR interrupt */ - __HAL_SPI_DISABLE_IT(hspi, SPI_IT_ERR); - - /* Wait until TXE flag is set */ - do - { - if (count == 0U) - { - SET_BIT(hspi->ErrorCode, HAL_SPI_ERROR_FLAG); - break; - } - count--; - } while ((hspi->Instance->SR & SPI_FLAG_TXE) == RESET); - - /* Check the end of the transaction */ - if (SPI_EndRxTxTransaction(hspi, SPI_DEFAULT_TIMEOUT, tickstart) != HAL_OK) - { - SET_BIT(hspi->ErrorCode, HAL_SPI_ERROR_FLAG); - } - - /* Clear overrun flag in 2 Lines communication mode because received is not read */ - if (hspi->Init.Direction == SPI_DIRECTION_2LINES) - { - __HAL_SPI_CLEAR_OVRFLAG(hspi); - } - -#if (USE_SPI_CRC != 0U) - /* Check if CRC error occurred */ - if (__HAL_SPI_GET_FLAG(hspi, SPI_FLAG_CRCERR) != RESET) - { - hspi->State = HAL_SPI_STATE_READY; - SET_BIT(hspi->ErrorCode, HAL_SPI_ERROR_CRC); - __HAL_SPI_CLEAR_CRCERRFLAG(hspi); - /* Call user error callback */ -#if (USE_HAL_SPI_REGISTER_CALLBACKS == 1U) - hspi->ErrorCallback(hspi); -#else - HAL_SPI_ErrorCallback(hspi); -#endif /* USE_HAL_SPI_REGISTER_CALLBACKS */ - } - else - { -#endif /* USE_SPI_CRC */ - if (hspi->ErrorCode == HAL_SPI_ERROR_NONE) - { - if (hspi->State == HAL_SPI_STATE_BUSY_RX) - { - hspi->State = HAL_SPI_STATE_READY; - /* Call user Rx complete callback */ -#if (USE_HAL_SPI_REGISTER_CALLBACKS == 1U) - hspi->RxCpltCallback(hspi); -#else - HAL_SPI_RxCpltCallback(hspi); -#endif /* USE_HAL_SPI_REGISTER_CALLBACKS */ - } - else - { - hspi->State = HAL_SPI_STATE_READY; - /* Call user TxRx complete callback */ -#if (USE_HAL_SPI_REGISTER_CALLBACKS == 1U) - hspi->TxRxCpltCallback(hspi); -#else - HAL_SPI_TxRxCpltCallback(hspi); -#endif /* USE_HAL_SPI_REGISTER_CALLBACKS */ - } - } - else - { - hspi->State = HAL_SPI_STATE_READY; - /* Call user error callback */ -#if (USE_HAL_SPI_REGISTER_CALLBACKS == 1U) - hspi->ErrorCallback(hspi); -#else - HAL_SPI_ErrorCallback(hspi); -#endif /* USE_HAL_SPI_REGISTER_CALLBACKS */ - } -#if (USE_SPI_CRC != 0U) - } -#endif /* USE_SPI_CRC */ -} - -/** - * @brief Handle the end of the RX transaction. - * @param hspi pointer to a SPI_HandleTypeDef structure that contains - * the configuration information for SPI module. - * @retval None - */ -static void SPI_CloseRx_ISR(SPI_HandleTypeDef *hspi) -{ - /* Disable RXNE and ERR interrupt */ - __HAL_SPI_DISABLE_IT(hspi, (SPI_IT_RXNE | SPI_IT_ERR)); - - /* Check the end of the transaction */ - if (SPI_EndRxTransaction(hspi, SPI_DEFAULT_TIMEOUT, HAL_GetTick()) != HAL_OK) - { - SET_BIT(hspi->ErrorCode, HAL_SPI_ERROR_FLAG); - } - - /* Clear overrun flag in 2 Lines communication mode because received is not read */ - if (hspi->Init.Direction == SPI_DIRECTION_2LINES) - { - __HAL_SPI_CLEAR_OVRFLAG(hspi); - } - hspi->State = HAL_SPI_STATE_READY; - -#if (USE_SPI_CRC != 0U) - /* Check if CRC error occurred */ - if (__HAL_SPI_GET_FLAG(hspi, SPI_FLAG_CRCERR) != RESET) - { - SET_BIT(hspi->ErrorCode, HAL_SPI_ERROR_CRC); - __HAL_SPI_CLEAR_CRCERRFLAG(hspi); - /* Call user error callback */ -#if (USE_HAL_SPI_REGISTER_CALLBACKS == 1U) - hspi->ErrorCallback(hspi); -#else - HAL_SPI_ErrorCallback(hspi); -#endif /* USE_HAL_SPI_REGISTER_CALLBACKS */ - } - else - { -#endif /* USE_SPI_CRC */ - if (hspi->ErrorCode == HAL_SPI_ERROR_NONE) - { - /* Call user Rx complete callback */ -#if (USE_HAL_SPI_REGISTER_CALLBACKS == 1U) - hspi->RxCpltCallback(hspi); -#else - HAL_SPI_RxCpltCallback(hspi); -#endif /* USE_HAL_SPI_REGISTER_CALLBACKS */ - } - else - { - /* Call user error callback */ -#if (USE_HAL_SPI_REGISTER_CALLBACKS == 1U) - hspi->ErrorCallback(hspi); -#else - HAL_SPI_ErrorCallback(hspi); -#endif /* USE_HAL_SPI_REGISTER_CALLBACKS */ - } -#if (USE_SPI_CRC != 0U) - } -#endif /* USE_SPI_CRC */ -} - -/** - * @brief Handle the end of the TX transaction. - * @param hspi pointer to a SPI_HandleTypeDef structure that contains - * the configuration information for SPI module. - * @retval None - */ -static void SPI_CloseTx_ISR(SPI_HandleTypeDef *hspi) -{ - uint32_t tickstart; - __IO uint32_t count = SPI_DEFAULT_TIMEOUT * (SystemCoreClock / 24U / 1000U); - - /* Init tickstart for timeout management*/ - tickstart = HAL_GetTick(); - - /* Wait until TXE flag is set */ - do - { - if (count == 0U) - { - SET_BIT(hspi->ErrorCode, HAL_SPI_ERROR_FLAG); - break; - } - count--; - } while ((hspi->Instance->SR & SPI_FLAG_TXE) == RESET); - - /* Disable TXE and ERR interrupt */ - __HAL_SPI_DISABLE_IT(hspi, (SPI_IT_TXE | SPI_IT_ERR)); - - /* Check the end of the transaction */ - if (SPI_EndRxTxTransaction(hspi, SPI_DEFAULT_TIMEOUT, tickstart) != HAL_OK) - { - SET_BIT(hspi->ErrorCode, HAL_SPI_ERROR_FLAG); - } - - /* Clear overrun flag in 2 Lines communication mode because received is not read */ - if (hspi->Init.Direction == SPI_DIRECTION_2LINES) - { - __HAL_SPI_CLEAR_OVRFLAG(hspi); - } - - hspi->State = HAL_SPI_STATE_READY; - if (hspi->ErrorCode != HAL_SPI_ERROR_NONE) - { - /* Call user error callback */ -#if (USE_HAL_SPI_REGISTER_CALLBACKS == 1U) - hspi->ErrorCallback(hspi); -#else - HAL_SPI_ErrorCallback(hspi); -#endif /* USE_HAL_SPI_REGISTER_CALLBACKS */ - } - else - { - /* Call user Rx complete callback */ -#if (USE_HAL_SPI_REGISTER_CALLBACKS == 1U) - hspi->TxCpltCallback(hspi); -#else - HAL_SPI_TxCpltCallback(hspi); -#endif /* USE_HAL_SPI_REGISTER_CALLBACKS */ - } -} - -/** - * @brief Handle abort a Rx transaction. - * @param hspi pointer to a SPI_HandleTypeDef structure that contains - * the configuration information for SPI module. - * @retval None - */ -static void SPI_AbortRx_ISR(SPI_HandleTypeDef *hspi) -{ - __IO uint32_t tmpreg = 0U; - __IO uint32_t count = SPI_DEFAULT_TIMEOUT * (SystemCoreClock / 24U / 1000U); - - /* Wait until TXE flag is set */ - do - { - if (count == 0U) - { - SET_BIT(hspi->ErrorCode, HAL_SPI_ERROR_ABORT); - break; - } - count--; - } while ((hspi->Instance->SR & SPI_FLAG_TXE) == RESET); - - /* Disable SPI Peripheral */ - __HAL_SPI_DISABLE(hspi); - - /* Disable TXEIE, RXNEIE and ERRIE(mode fault event, overrun error, TI frame error) interrupts */ - CLEAR_BIT(hspi->Instance->CR2, (SPI_CR2_TXEIE | SPI_CR2_RXNEIE | SPI_CR2_ERRIE)); - - /* Flush Data Register by a blank read */ - tmpreg = READ_REG(hspi->Instance->DR); - /* To avoid GCC warning */ - UNUSED(tmpreg); - - hspi->State = HAL_SPI_STATE_ABORT; -} - -/** - * @brief Handle abort a Tx or Rx/Tx transaction. - * @param hspi pointer to a SPI_HandleTypeDef structure that contains - * the configuration information for SPI module. - * @retval None - */ -static void SPI_AbortTx_ISR(SPI_HandleTypeDef *hspi) -{ - /* Disable TXEIE interrupt */ - CLEAR_BIT(hspi->Instance->CR2, (SPI_CR2_TXEIE)); - - /* Disable SPI Peripheral */ - __HAL_SPI_DISABLE(hspi); - - hspi->State = HAL_SPI_STATE_ABORT; -} - -/** - * @} - */ - -#endif /* HAL_SPI_MODULE_ENABLED */ - -/** - * @} - */ - -/** - * @} - */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_sram.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_sram.c deleted file mode 100644 index 752056982b7efe..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_sram.c +++ /dev/null @@ -1,912 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_sram.c - * @author MCD Application Team - * @brief SRAM HAL module driver. - * This file provides a generic firmware to drive SRAM memories - * mounted as external device. - * - @verbatim - ============================================================================== - ##### How to use this driver ##### - ============================================================================== - [..] - This driver is a generic layered driver which contains a set of APIs used to - control SRAM memories. It uses the FMC layer functions to interface - with SRAM devices. - The following sequence should be followed to configure the FMC/FSMC to interface - with SRAM/PSRAM memories: - - (#) Declare a SRAM_HandleTypeDef handle structure, for example: - SRAM_HandleTypeDef hsram; and: - - (++) Fill the SRAM_HandleTypeDef handle "Init" field with the allowed - values of the structure member. - - (++) Fill the SRAM_HandleTypeDef handle "Instance" field with a predefined - base register instance for NOR or SRAM device - - (++) Fill the SRAM_HandleTypeDef handle "Extended" field with a predefined - base register instance for NOR or SRAM extended mode - - (#) Declare two FMC_NORSRAM_TimingTypeDef structures, for both normal and extended - mode timings; for example: - FMC_NORSRAM_TimingTypeDef Timing and FMC_NORSRAM_TimingTypeDef ExTiming; - and fill its fields with the allowed values of the structure member. - - (#) Initialize the SRAM Controller by calling the function HAL_SRAM_Init(). This function - performs the following sequence: - - (##) MSP hardware layer configuration using the function HAL_SRAM_MspInit() - (##) Control register configuration using the FMC NORSRAM interface function - FMC_NORSRAM_Init() - (##) Timing register configuration using the FMC NORSRAM interface function - FMC_NORSRAM_Timing_Init() - (##) Extended mode Timing register configuration using the FMC NORSRAM interface function - FMC_NORSRAM_Extended_Timing_Init() - (##) Enable the SRAM device using the macro __FMC_NORSRAM_ENABLE() - - (#) At this stage you can perform read/write accesses from/to the memory connected - to the NOR/SRAM Bank. You can perform either polling or DMA transfer using the - following APIs: - (++) HAL_SRAM_Read()/HAL_SRAM_Write() for polling read/write access - (++) HAL_SRAM_Read_DMA()/HAL_SRAM_Write_DMA() for DMA read/write transfer - - (#) You can also control the SRAM device by calling the control APIs HAL_SRAM_WriteOperation_Enable()/ - HAL_SRAM_WriteOperation_Disable() to respectively enable/disable the SRAM write operation - - (#) You can continuously monitor the SRAM device HAL state by calling the function - HAL_SRAM_GetState() - - *** Callback registration *** - ============================================= - [..] - The compilation define USE_HAL_SRAM_REGISTER_CALLBACKS when set to 1 - allows the user to configure dynamically the driver callbacks. - - Use Functions @ref HAL_SRAM_RegisterCallback() to register a user callback, - it allows to register following callbacks: - (+) MspInitCallback : SRAM MspInit. - (+) MspDeInitCallback : SRAM MspDeInit. - This function takes as parameters the HAL peripheral handle, the Callback ID - and a pointer to the user callback function. - - Use function @ref HAL_SRAM_UnRegisterCallback() to reset a callback to the default - weak (surcharged) function. It allows to reset following callbacks: - (+) MspInitCallback : SRAM MspInit. - (+) MspDeInitCallback : SRAM MspDeInit. - This function) takes as parameters the HAL peripheral handle and the Callback ID. - - By default, after the @ref HAL_SRAM_Init and if the state is HAL_SRAM_STATE_RESET - all callbacks are reset to the corresponding legacy weak (surcharged) functions. - Exception done for MspInit and MspDeInit callbacks that are respectively - reset to the legacy weak (surcharged) functions in the @ref HAL_SRAM_Init - and @ref HAL_SRAM_DeInit only when these callbacks are null (not registered beforehand). - If not, MspInit or MspDeInit are not null, the @ref HAL_SRAM_Init and @ref HAL_SRAM_DeInit - keep and use the user MspInit/MspDeInit callbacks (registered beforehand) - - Callbacks can be registered/unregistered in READY state only. - Exception done for MspInit/MspDeInit callbacks that can be registered/unregistered - in READY or RESET state, thus registered (user) MspInit/DeInit callbacks can be used - during the Init/DeInit. - In that case first register the MspInit/MspDeInit user callbacks - using @ref HAL_SRAM_RegisterCallback before calling @ref HAL_SRAM_DeInit - or @ref HAL_SRAM_Init function. - - When The compilation define USE_HAL_SRAM_REGISTER_CALLBACKS is set to 0 or - not defined, the callback registering feature is not available - and weak (surcharged) callbacks are used. - - @endverbatim - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @defgroup SRAM SRAM - * @brief SRAM driver modules - * @{ - */ -#ifdef HAL_SRAM_MODULE_ENABLED - -#if defined(STM32F405xx) || defined(STM32F415xx) || defined(STM32F407xx) || defined(STM32F417xx) ||\ - defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) ||\ - defined(STM32F446xx) || defined(STM32F469xx) || defined(STM32F479xx) || defined(STM32F412Zx) ||\ - defined(STM32F412Vx) || defined(STM32F412Rx) || defined(STM32F413xx) || defined(STM32F423xx) - -/* Private typedef -----------------------------------------------------------*/ -/* Private define ------------------------------------------------------------*/ -/* Private macro -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private functions ---------------------------------------------------------*/ - -/* Exported functions --------------------------------------------------------*/ -/** @defgroup SRAM_Exported_Functions SRAM Exported Functions - * @{ - */ -/** @defgroup SRAM_Exported_Functions_Group1 Initialization and de-initialization functions - * @brief Initialization and Configuration functions - * - @verbatim - ============================================================================== - ##### SRAM Initialization and de_initialization functions ##### - ============================================================================== - [..] This section provides functions allowing to initialize/de-initialize - the SRAM memory - -@endverbatim - * @{ - */ - -/** - * @brief Performs the SRAM device initialization sequence - * @param hsram pointer to a SRAM_HandleTypeDef structure that contains - * the configuration information for SRAM module. - * @param Timing Pointer to SRAM control timing structure - * @param ExtTiming Pointer to SRAM extended mode timing structure - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SRAM_Init(SRAM_HandleTypeDef *hsram, FMC_NORSRAM_TimingTypeDef *Timing, FMC_NORSRAM_TimingTypeDef *ExtTiming) -{ - /* Check the SRAM handle parameter */ - if(hsram == NULL) - { - return HAL_ERROR; - } - - if(hsram->State == HAL_SRAM_STATE_RESET) - { - /* Allocate lock resource and initialize it */ - hsram->Lock = HAL_UNLOCKED; - -#if (USE_HAL_SRAM_REGISTER_CALLBACKS == 1) - if(hsram->MspInitCallback == NULL) - { - hsram->MspInitCallback = HAL_SRAM_MspInit; - } - hsram->DmaXferCpltCallback = HAL_SRAM_DMA_XferCpltCallback; - hsram->DmaXferErrorCallback = HAL_SRAM_DMA_XferErrorCallback; - - /* Init the low level hardware */ - hsram->MspInitCallback(hsram); -#else - /* Initialize the low level hardware (MSP) */ - HAL_SRAM_MspInit(hsram); -#endif - } - - /* Initialize SRAM control Interface */ - FMC_NORSRAM_Init(hsram->Instance, &(hsram->Init)); - - /* Initialize SRAM timing Interface */ - FMC_NORSRAM_Timing_Init(hsram->Instance, Timing, hsram->Init.NSBank); - - /* Initialize SRAM extended mode timing Interface */ - FMC_NORSRAM_Extended_Timing_Init(hsram->Extended, ExtTiming, hsram->Init.NSBank, hsram->Init.ExtendedMode); - - /* Enable the NORSRAM device */ - __FMC_NORSRAM_ENABLE(hsram->Instance, hsram->Init.NSBank); - - return HAL_OK; -} - -/** - * @brief Performs the SRAM device De-initialization sequence. - * @param hsram pointer to a SRAM_HandleTypeDef structure that contains - * the configuration information for SRAM module. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SRAM_DeInit(SRAM_HandleTypeDef *hsram) -{ -#if (USE_HAL_SRAM_REGISTER_CALLBACKS == 1) - if(hsram->MspDeInitCallback == NULL) - { - hsram->MspDeInitCallback = HAL_SRAM_MspDeInit; - } - - /* DeInit the low level hardware */ - hsram->MspDeInitCallback(hsram); -#else - /* De-Initialize the low level hardware (MSP) */ - HAL_SRAM_MspDeInit(hsram); -#endif - - /* Configure the SRAM registers with their reset values */ - FMC_NORSRAM_DeInit(hsram->Instance, hsram->Extended, hsram->Init.NSBank); - - hsram->State = HAL_SRAM_STATE_RESET; - - /* Release Lock */ - __HAL_UNLOCK(hsram); - - return HAL_OK; -} - -/** - * @brief SRAM MSP Init. - * @param hsram pointer to a SRAM_HandleTypeDef structure that contains - * the configuration information for SRAM module. - * @retval None - */ -__weak void HAL_SRAM_MspInit(SRAM_HandleTypeDef *hsram) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hsram); - /* NOTE : This function Should not be modified, when the callback is needed, - the HAL_SRAM_MspInit could be implemented in the user file - */ -} - -/** - * @brief SRAM MSP DeInit. - * @param hsram pointer to a SRAM_HandleTypeDef structure that contains - * the configuration information for SRAM module. - * @retval None - */ -__weak void HAL_SRAM_MspDeInit(SRAM_HandleTypeDef *hsram) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hsram); - /* NOTE : This function Should not be modified, when the callback is needed, - the HAL_SRAM_MspDeInit could be implemented in the user file - */ -} - -/** - * @brief DMA transfer complete callback. - * @param hdma pointer to a SRAM_HandleTypeDef structure that contains - * the configuration information for SRAM module. - * @retval None - */ -__weak void HAL_SRAM_DMA_XferCpltCallback(DMA_HandleTypeDef *hdma) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hdma); - /* NOTE : This function Should not be modified, when the callback is needed, - the HAL_SRAM_DMA_XferCpltCallback could be implemented in the user file - */ -} - -/** - * @brief DMA transfer complete error callback. - * @param hdma pointer to a SRAM_HandleTypeDef structure that contains - * the configuration information for SRAM module. - * @retval None - */ -__weak void HAL_SRAM_DMA_XferErrorCallback(DMA_HandleTypeDef *hdma) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hdma); - /* NOTE : This function Should not be modified, when the callback is needed, - the HAL_SRAM_DMA_XferErrorCallback could be implemented in the user file - */ -} - -/** - * @} - */ - -/** @defgroup SRAM_Exported_Functions_Group2 Input and Output functions - * @brief Input Output and memory control functions - * - @verbatim - ============================================================================== - ##### SRAM Input and Output functions ##### - ============================================================================== - [..] - This section provides functions allowing to use and control the SRAM memory - -@endverbatim - * @{ - */ - -/** - * @brief Reads 8-bit buffer from SRAM memory. - * @param hsram pointer to a SRAM_HandleTypeDef structure that contains - * the configuration information for SRAM module. - * @param pAddress Pointer to read start address - * @param pDstBuffer Pointer to destination buffer - * @param BufferSize Size of the buffer to read from memory - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SRAM_Read_8b(SRAM_HandleTypeDef *hsram, uint32_t *pAddress, uint8_t *pDstBuffer, uint32_t BufferSize) -{ - __IO uint8_t * pSramAddress = (uint8_t *)pAddress; - - /* Process Locked */ - __HAL_LOCK(hsram); - - /* Update the SRAM controller state */ - hsram->State = HAL_SRAM_STATE_BUSY; - - /* Read data from memory */ - for(; BufferSize != 0U; BufferSize--) - { - *pDstBuffer = *(__IO uint8_t *)pSramAddress; - pDstBuffer++; - pSramAddress++; - } - - /* Update the SRAM controller state */ - hsram->State = HAL_SRAM_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hsram); - - return HAL_OK; -} - -/** - * @brief Writes 8-bit buffer to SRAM memory. - * @param hsram pointer to a SRAM_HandleTypeDef structure that contains - * the configuration information for SRAM module. - * @param pAddress Pointer to write start address - * @param pSrcBuffer Pointer to source buffer to write - * @param BufferSize Size of the buffer to write to memory - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SRAM_Write_8b(SRAM_HandleTypeDef *hsram, uint32_t *pAddress, uint8_t *pSrcBuffer, uint32_t BufferSize) -{ - __IO uint8_t * pSramAddress = (uint8_t *)pAddress; - - /* Check the SRAM controller state */ - if(hsram->State == HAL_SRAM_STATE_PROTECTED) - { - return HAL_ERROR; - } - - /* Process Locked */ - __HAL_LOCK(hsram); - - /* Update the SRAM controller state */ - hsram->State = HAL_SRAM_STATE_BUSY; - - /* Write data to memory */ - for(; BufferSize != 0U; BufferSize--) - { - *(__IO uint8_t *)pSramAddress = *pSrcBuffer; - pSrcBuffer++; - pSramAddress++; - } - - /* Update the SRAM controller state */ - hsram->State = HAL_SRAM_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hsram); - - return HAL_OK; -} - -/** - * @brief Reads 16-bit buffer from SRAM memory. - * @param hsram pointer to a SRAM_HandleTypeDef structure that contains - * the configuration information for SRAM module. - * @param pAddress Pointer to read start address - * @param pDstBuffer Pointer to destination buffer - * @param BufferSize Size of the buffer to read from memory - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SRAM_Read_16b(SRAM_HandleTypeDef *hsram, uint32_t *pAddress, uint16_t *pDstBuffer, uint32_t BufferSize) -{ - __IO uint16_t * pSramAddress = (uint16_t *)pAddress; - - /* Process Locked */ - __HAL_LOCK(hsram); - - /* Update the SRAM controller state */ - hsram->State = HAL_SRAM_STATE_BUSY; - - /* Read data from memory */ - for(; BufferSize != 0U; BufferSize--) - { - *pDstBuffer = *(__IO uint16_t *)pSramAddress; - pDstBuffer++; - pSramAddress++; - } - - /* Update the SRAM controller state */ - hsram->State = HAL_SRAM_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hsram); - - return HAL_OK; -} - -/** - * @brief Writes 16-bit buffer to SRAM memory. - * @param hsram pointer to a SRAM_HandleTypeDef structure that contains - * the configuration information for SRAM module. - * @param pAddress Pointer to write start address - * @param pSrcBuffer Pointer to source buffer to write - * @param BufferSize Size of the buffer to write to memory - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SRAM_Write_16b(SRAM_HandleTypeDef *hsram, uint32_t *pAddress, uint16_t *pSrcBuffer, uint32_t BufferSize) -{ - __IO uint16_t * pSramAddress = (uint16_t *)pAddress; - - /* Check the SRAM controller state */ - if(hsram->State == HAL_SRAM_STATE_PROTECTED) - { - return HAL_ERROR; - } - - /* Process Locked */ - __HAL_LOCK(hsram); - - /* Update the SRAM controller state */ - hsram->State = HAL_SRAM_STATE_BUSY; - - /* Write data to memory */ - for(; BufferSize != 0U; BufferSize--) - { - *(__IO uint16_t *)pSramAddress = *pSrcBuffer; - pSrcBuffer++; - pSramAddress++; - } - - /* Update the SRAM controller state */ - hsram->State = HAL_SRAM_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hsram); - - return HAL_OK; -} - -/** - * @brief Reads 32-bit buffer from SRAM memory. - * @param hsram pointer to a SRAM_HandleTypeDef structure that contains - * the configuration information for SRAM module. - * @param pAddress Pointer to read start address - * @param pDstBuffer Pointer to destination buffer - * @param BufferSize Size of the buffer to read from memory - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SRAM_Read_32b(SRAM_HandleTypeDef *hsram, uint32_t *pAddress, uint32_t *pDstBuffer, uint32_t BufferSize) -{ - /* Process Locked */ - __HAL_LOCK(hsram); - - /* Update the SRAM controller state */ - hsram->State = HAL_SRAM_STATE_BUSY; - - /* Read data from memory */ - for(; BufferSize != 0U; BufferSize--) - { - *pDstBuffer = *(__IO uint32_t *)pAddress; - pDstBuffer++; - pAddress++; - } - - /* Update the SRAM controller state */ - hsram->State = HAL_SRAM_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hsram); - - return HAL_OK; -} - -/** - * @brief Writes 32-bit buffer to SRAM memory. - * @param hsram pointer to a SRAM_HandleTypeDef structure that contains - * the configuration information for SRAM module. - * @param pAddress Pointer to write start address - * @param pSrcBuffer Pointer to source buffer to write - * @param BufferSize Size of the buffer to write to memory - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SRAM_Write_32b(SRAM_HandleTypeDef *hsram, uint32_t *pAddress, uint32_t *pSrcBuffer, uint32_t BufferSize) -{ - /* Check the SRAM controller state */ - if(hsram->State == HAL_SRAM_STATE_PROTECTED) - { - return HAL_ERROR; - } - - /* Process Locked */ - __HAL_LOCK(hsram); - - /* Update the SRAM controller state */ - hsram->State = HAL_SRAM_STATE_BUSY; - - /* Write data to memory */ - for(; BufferSize != 0U; BufferSize--) - { - *(__IO uint32_t *)pAddress = *pSrcBuffer; - pSrcBuffer++; - pAddress++; - } - - /* Update the SRAM controller state */ - hsram->State = HAL_SRAM_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hsram); - - return HAL_OK; -} - -/** - * @brief Reads a Words data from the SRAM memory using DMA transfer. - * @param hsram pointer to a SRAM_HandleTypeDef structure that contains - * the configuration information for SRAM module. - * @param pAddress Pointer to read start address - * @param pDstBuffer Pointer to destination buffer - * @param BufferSize Size of the buffer to read from memory - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SRAM_Read_DMA(SRAM_HandleTypeDef *hsram, uint32_t *pAddress, uint32_t *pDstBuffer, uint32_t BufferSize) -{ - /* Process Locked */ - __HAL_LOCK(hsram); - - /* Update the SRAM controller state */ - hsram->State = HAL_SRAM_STATE_BUSY; - - /* Configure DMA user callbacks */ - hsram->hdma->XferCpltCallback = HAL_SRAM_DMA_XferCpltCallback; - hsram->hdma->XferErrorCallback = HAL_SRAM_DMA_XferErrorCallback; - - /* Enable the DMA Stream */ - HAL_DMA_Start_IT(hsram->hdma, (uint32_t)pAddress, (uint32_t)pDstBuffer, (uint32_t)BufferSize); - - /* Update the SRAM controller state */ - hsram->State = HAL_SRAM_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hsram); - - return HAL_OK; -} - -/** - * @brief Writes a Words data buffer to SRAM memory using DMA transfer. - * @param hsram pointer to a SRAM_HandleTypeDef structure that contains - * the configuration information for SRAM module. - * @param pAddress Pointer to write start address - * @param pSrcBuffer Pointer to source buffer to write - * @param BufferSize Size of the buffer to write to memory - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SRAM_Write_DMA(SRAM_HandleTypeDef *hsram, uint32_t *pAddress, uint32_t *pSrcBuffer, uint32_t BufferSize) -{ - /* Check the SRAM controller state */ - if(hsram->State == HAL_SRAM_STATE_PROTECTED) - { - return HAL_ERROR; - } - - /* Process Locked */ - __HAL_LOCK(hsram); - - /* Update the SRAM controller state */ - hsram->State = HAL_SRAM_STATE_BUSY; - - /* Configure DMA user callbacks */ - hsram->hdma->XferCpltCallback = HAL_SRAM_DMA_XferCpltCallback; - hsram->hdma->XferErrorCallback = HAL_SRAM_DMA_XferErrorCallback; - - /* Enable the DMA Stream */ - HAL_DMA_Start_IT(hsram->hdma, (uint32_t)pSrcBuffer, (uint32_t)pAddress, (uint32_t)BufferSize); - - /* Update the SRAM controller state */ - hsram->State = HAL_SRAM_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hsram); - - return HAL_OK; -} - -#if (USE_HAL_SRAM_REGISTER_CALLBACKS == 1) -/** - * @brief Register a User SRAM Callback - * To be used instead of the weak (surcharged) predefined callback - * @param hsram : SRAM handle - * @param CallbackId : ID of the callback to be registered - * This parameter can be one of the following values: - * @arg @ref HAL_SRAM_MSP_INIT_CB_ID SRAM MspInit callback ID - * @arg @ref HAL_SRAM_MSP_DEINIT_CB_ID SRAM MspDeInit callback ID - * @param pCallback : pointer to the Callback function - * @retval status - */ -HAL_StatusTypeDef HAL_SRAM_RegisterCallback (SRAM_HandleTypeDef *hsram, HAL_SRAM_CallbackIDTypeDef CallbackId, pSRAM_CallbackTypeDef pCallback) -{ - HAL_StatusTypeDef status = HAL_OK; - HAL_SRAM_StateTypeDef state; - - if(pCallback == NULL) - { - return HAL_ERROR; - } - - /* Process locked */ - __HAL_LOCK(hsram); - - state = hsram->State; - if((state == HAL_SRAM_STATE_READY) || (state == HAL_SRAM_STATE_RESET) || (state == HAL_SRAM_STATE_PROTECTED)) - { - switch (CallbackId) - { - case HAL_SRAM_MSP_INIT_CB_ID : - hsram->MspInitCallback = pCallback; - break; - case HAL_SRAM_MSP_DEINIT_CB_ID : - hsram->MspDeInitCallback = pCallback; - break; - default : - /* update return status */ - status = HAL_ERROR; - break; - } - } - else - { - /* update return status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(hsram); - return status; -} - -/** - * @brief Unregister a User SRAM Callback - * SRAM Callback is redirected to the weak (surcharged) predefined callback - * @param hsram : SRAM handle - * @param CallbackId : ID of the callback to be unregistered - * This parameter can be one of the following values: - * @arg @ref HAL_SRAM_MSP_INIT_CB_ID SRAM MspInit callback ID - * @arg @ref HAL_SRAM_MSP_DEINIT_CB_ID SRAM MspDeInit callback ID - * @arg @ref HAL_SRAM_DMA_XFER_CPLT_CB_ID SRAM DMA Xfer Complete callback ID - * @arg @ref HAL_SRAM_DMA_XFER_ERR_CB_ID SRAM DMA Xfer Error callback ID - * @retval status - */ -HAL_StatusTypeDef HAL_SRAM_UnRegisterCallback (SRAM_HandleTypeDef *hsram, HAL_SRAM_CallbackIDTypeDef CallbackId) -{ - HAL_StatusTypeDef status = HAL_OK; - HAL_SRAM_StateTypeDef state; - - /* Process locked */ - __HAL_LOCK(hsram); - - state = hsram->State; - if((state == HAL_SRAM_STATE_READY) || (state == HAL_SRAM_STATE_PROTECTED)) - { - switch (CallbackId) - { - case HAL_SRAM_MSP_INIT_CB_ID : - hsram->MspInitCallback = HAL_SRAM_MspInit; - break; - case HAL_SRAM_MSP_DEINIT_CB_ID : - hsram->MspDeInitCallback = HAL_SRAM_MspDeInit; - break; - case HAL_SRAM_DMA_XFER_CPLT_CB_ID : - hsram->DmaXferCpltCallback = HAL_SRAM_DMA_XferCpltCallback; - break; - case HAL_SRAM_DMA_XFER_ERR_CB_ID : - hsram->DmaXferErrorCallback = HAL_SRAM_DMA_XferErrorCallback; - break; - default : - /* update return status */ - status = HAL_ERROR; - break; - } - } - else if(state == HAL_SRAM_STATE_RESET) - { - switch (CallbackId) - { - case HAL_SRAM_MSP_INIT_CB_ID : - hsram->MspInitCallback = HAL_SRAM_MspInit; - break; - case HAL_SRAM_MSP_DEINIT_CB_ID : - hsram->MspDeInitCallback = HAL_SRAM_MspDeInit; - break; - default : - /* update return status */ - status = HAL_ERROR; - break; - } - } - else - { - /* update return status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(hsram); - return status; -} - -/** - * @brief Register a User SRAM Callback for DMA transfers - * To be used instead of the weak (surcharged) predefined callback - * @param hsram : SRAM handle - * @param CallbackId : ID of the callback to be registered - * This parameter can be one of the following values: - * @arg @ref HAL_SRAM_DMA_XFER_CPLT_CB_ID SRAM DMA Xfer Complete callback ID - * @arg @ref HAL_SRAM_DMA_XFER_ERR_CB_ID SRAM DMA Xfer Error callback ID - * @param pCallback : pointer to the Callback function - * @retval status - */ -HAL_StatusTypeDef HAL_SRAM_RegisterDmaCallback(SRAM_HandleTypeDef *hsram, HAL_SRAM_CallbackIDTypeDef CallbackId, pSRAM_DmaCallbackTypeDef pCallback) -{ - HAL_StatusTypeDef status = HAL_OK; - HAL_SRAM_StateTypeDef state; - - if(pCallback == NULL) - { - return HAL_ERROR; - } - - /* Process locked */ - __HAL_LOCK(hsram); - - state = hsram->State; - if((state == HAL_SRAM_STATE_READY) || (state == HAL_SRAM_STATE_PROTECTED)) - { - switch (CallbackId) - { - case HAL_SRAM_DMA_XFER_CPLT_CB_ID : - hsram->DmaXferCpltCallback = pCallback; - break; - case HAL_SRAM_DMA_XFER_ERR_CB_ID : - hsram->DmaXferErrorCallback = pCallback; - break; - default : - /* update return status */ - status = HAL_ERROR; - break; - } - } - else - { - /* update return status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(hsram); - return status; -} -#endif -/** - * @} - */ - -/** @defgroup SRAM_Exported_Functions_Group3 Control functions - * @brief management functions - * -@verbatim - ============================================================================== - ##### SRAM Control functions ##### - ============================================================================== - [..] - This subsection provides a set of functions allowing to control dynamically - the SRAM interface. - -@endverbatim - * @{ - */ - -/** - * @brief Enables dynamically SRAM write operation. - * @param hsram pointer to a SRAM_HandleTypeDef structure that contains - * the configuration information for SRAM module. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SRAM_WriteOperation_Enable(SRAM_HandleTypeDef *hsram) -{ - /* Process Locked */ - __HAL_LOCK(hsram); - - /* Enable write operation */ - FMC_NORSRAM_WriteOperation_Enable(hsram->Instance, hsram->Init.NSBank); - - /* Update the SRAM controller state */ - hsram->State = HAL_SRAM_STATE_READY; - - /* Process unlocked */ - __HAL_UNLOCK(hsram); - - return HAL_OK; -} - -/** - * @brief Disables dynamically SRAM write operation. - * @param hsram pointer to a SRAM_HandleTypeDef structure that contains - * the configuration information for SRAM module. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_SRAM_WriteOperation_Disable(SRAM_HandleTypeDef *hsram) -{ - /* Process Locked */ - __HAL_LOCK(hsram); - - /* Update the SRAM controller state */ - hsram->State = HAL_SRAM_STATE_BUSY; - - /* Disable write operation */ - FMC_NORSRAM_WriteOperation_Disable(hsram->Instance, hsram->Init.NSBank); - - /* Update the SRAM controller state */ - hsram->State = HAL_SRAM_STATE_PROTECTED; - - /* Process unlocked */ - __HAL_UNLOCK(hsram); - - return HAL_OK; -} - -/** - * @} - */ - -/** @defgroup SRAM_Exported_Functions_Group4 State functions - * @brief Peripheral State functions - * -@verbatim - ============================================================================== - ##### SRAM State functions ##### - ============================================================================== - [..] - This subsection permits to get in run-time the status of the SRAM controller - and the data flow. - -@endverbatim - * @{ - */ - -/** - * @brief Returns the SRAM controller state - * @param hsram pointer to a SRAM_HandleTypeDef structure that contains - * the configuration information for SRAM module. - * @retval HAL state - */ -HAL_SRAM_StateTypeDef HAL_SRAM_GetState(SRAM_HandleTypeDef *hsram) -{ - return hsram->State; -} -/** - * @} - */ - -/** - * @} - */ -#endif /* STM32F405xx || STM32F415xx || STM32F407xx || STM32F417xx || STM32F427xx || STM32F437xx ||\ - STM32F429xx || STM32F439xx || STM32F446xx || STM32F469xx || STM32F479xx || STM32F412Zx ||\ - STM32F412Vx || STM32F412Rx || STM32F412Cx || STM32F413xx || STM32F423xx */ -#endif /* HAL_SRAM_MODULE_ENABLED */ -/** - * @} - */ - -/** - * @} - */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c deleted file mode 100644 index f3d46cdd346786..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c +++ /dev/null @@ -1,7626 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_tim.c - * @author MCD Application Team - * @brief TIM HAL module driver. - * This file provides firmware functions to manage the following - * functionalities of the Timer (TIM) peripheral: - * + TIM Time Base Initialization - * + TIM Time Base Start - * + TIM Time Base Start Interruption - * + TIM Time Base Start DMA - * + TIM Output Compare/PWM Initialization - * + TIM Output Compare/PWM Channel Configuration - * + TIM Output Compare/PWM Start - * + TIM Output Compare/PWM Start Interruption - * + TIM Output Compare/PWM Start DMA - * + TIM Input Capture Initialization - * + TIM Input Capture Channel Configuration - * + TIM Input Capture Start - * + TIM Input Capture Start Interruption - * + TIM Input Capture Start DMA - * + TIM One Pulse Initialization - * + TIM One Pulse Channel Configuration - * + TIM One Pulse Start - * + TIM Encoder Interface Initialization - * + TIM Encoder Interface Start - * + TIM Encoder Interface Start Interruption - * + TIM Encoder Interface Start DMA - * + Commutation Event configuration with Interruption and DMA - * + TIM OCRef clear configuration - * + TIM External Clock configuration - @verbatim - ============================================================================== - ##### TIMER Generic features ##### - ============================================================================== - [..] The Timer features include: - (#) 16-bit up, down, up/down auto-reload counter. - (#) 16-bit programmable prescaler allowing dividing (also on the fly) the - counter clock frequency either by any factor between 1 and 65536. - (#) Up to 4 independent channels for: - (++) Input Capture - (++) Output Compare - (++) PWM generation (Edge and Center-aligned Mode) - (++) One-pulse mode output - (#) Synchronization circuit to control the timer with external signals and to interconnect - several timers together. - (#) Supports incremental encoder for positioning purposes - - ##### How to use this driver ##### - ============================================================================== - [..] - (#) Initialize the TIM low level resources by implementing the following functions - depending on the selected feature: - (++) Time Base : HAL_TIM_Base_MspInit() - (++) Input Capture : HAL_TIM_IC_MspInit() - (++) Output Compare : HAL_TIM_OC_MspInit() - (++) PWM generation : HAL_TIM_PWM_MspInit() - (++) One-pulse mode output : HAL_TIM_OnePulse_MspInit() - (++) Encoder mode output : HAL_TIM_Encoder_MspInit() - - (#) Initialize the TIM low level resources : - (##) Enable the TIM interface clock using __HAL_RCC_TIMx_CLK_ENABLE(); - (##) TIM pins configuration - (+++) Enable the clock for the TIM GPIOs using the following function: - __HAL_RCC_GPIOx_CLK_ENABLE(); - (+++) Configure these TIM pins in Alternate function mode using HAL_GPIO_Init(); - - (#) The external Clock can be configured, if needed (the default clock is the - internal clock from the APBx), using the following function: - HAL_TIM_ConfigClockSource, the clock configuration should be done before - any start function. - - (#) Configure the TIM in the desired functioning mode using one of the - Initialization function of this driver: - (++) HAL_TIM_Base_Init: to use the Timer to generate a simple time base - (++) HAL_TIM_OC_Init and HAL_TIM_OC_ConfigChannel: to use the Timer to generate an - Output Compare signal. - (++) HAL_TIM_PWM_Init and HAL_TIM_PWM_ConfigChannel: to use the Timer to generate a - PWM signal. - (++) HAL_TIM_IC_Init and HAL_TIM_IC_ConfigChannel: to use the Timer to measure an - external signal. - (++) HAL_TIM_OnePulse_Init and HAL_TIM_OnePulse_ConfigChannel: to use the Timer - in One Pulse Mode. - (++) HAL_TIM_Encoder_Init: to use the Timer Encoder Interface. - - (#) Activate the TIM peripheral using one of the start functions depending from the feature used: - (++) Time Base : HAL_TIM_Base_Start(), HAL_TIM_Base_Start_DMA(), HAL_TIM_Base_Start_IT() - (++) Input Capture : HAL_TIM_IC_Start(), HAL_TIM_IC_Start_DMA(), HAL_TIM_IC_Start_IT() - (++) Output Compare : HAL_TIM_OC_Start(), HAL_TIM_OC_Start_DMA(), HAL_TIM_OC_Start_IT() - (++) PWM generation : HAL_TIM_PWM_Start(), HAL_TIM_PWM_Start_DMA(), HAL_TIM_PWM_Start_IT() - (++) One-pulse mode output : HAL_TIM_OnePulse_Start(), HAL_TIM_OnePulse_Start_IT() - (++) Encoder mode output : HAL_TIM_Encoder_Start(), HAL_TIM_Encoder_Start_DMA(), HAL_TIM_Encoder_Start_IT(). - - (#) The DMA Burst is managed with the two following functions: - HAL_TIM_DMABurst_WriteStart() - HAL_TIM_DMABurst_ReadStart() - - *** Callback registration *** - ============================================= - - [..] - The compilation define USE_HAL_TIM_REGISTER_CALLBACKS when set to 1 - allows the user to configure dynamically the driver callbacks. - - [..] - Use Function HAL_TIM_RegisterCallback() to register a callback. - HAL_TIM_RegisterCallback() takes as parameters the HAL peripheral handle, - the Callback ID and a pointer to the user callback function. - - [..] - Use function HAL_TIM_UnRegisterCallback() to reset a callback to the default - weak function. - HAL_TIM_UnRegisterCallback takes as parameters the HAL peripheral handle, - and the Callback ID. - - [..] - These functions allow to register/unregister following callbacks: - (+) Base_MspInitCallback : TIM Base Msp Init Callback. - (+) Base_MspDeInitCallback : TIM Base Msp DeInit Callback. - (+) IC_MspInitCallback : TIM IC Msp Init Callback. - (+) IC_MspDeInitCallback : TIM IC Msp DeInit Callback. - (+) OC_MspInitCallback : TIM OC Msp Init Callback. - (+) OC_MspDeInitCallback : TIM OC Msp DeInit Callback. - (+) PWM_MspInitCallback : TIM PWM Msp Init Callback. - (+) PWM_MspDeInitCallback : TIM PWM Msp DeInit Callback. - (+) OnePulse_MspInitCallback : TIM One Pulse Msp Init Callback. - (+) OnePulse_MspDeInitCallback : TIM One Pulse Msp DeInit Callback. - (+) Encoder_MspInitCallback : TIM Encoder Msp Init Callback. - (+) Encoder_MspDeInitCallback : TIM Encoder Msp DeInit Callback. - (+) HallSensor_MspInitCallback : TIM Hall Sensor Msp Init Callback. - (+) HallSensor_MspDeInitCallback : TIM Hall Sensor Msp DeInit Callback. - (+) PeriodElapsedCallback : TIM Period Elapsed Callback. - (+) PeriodElapsedHalfCpltCallback : TIM Period Elapsed half complete Callback. - (+) TriggerCallback : TIM Trigger Callback. - (+) TriggerHalfCpltCallback : TIM Trigger half complete Callback. - (+) IC_CaptureCallback : TIM Input Capture Callback. - (+) IC_CaptureHalfCpltCallback : TIM Input Capture half complete Callback. - (+) OC_DelayElapsedCallback : TIM Output Compare Delay Elapsed Callback. - (+) PWM_PulseFinishedCallback : TIM PWM Pulse Finished Callback. - (+) PWM_PulseFinishedHalfCpltCallback : TIM PWM Pulse Finished half complete Callback. - (+) ErrorCallback : TIM Error Callback. - (+) CommutationCallback : TIM Commutation Callback. - (+) CommutationHalfCpltCallback : TIM Commutation half complete Callback. - (+) BreakCallback : TIM Break Callback. - - [..] -By default, after the Init and when the state is HAL_TIM_STATE_RESET -all interrupt callbacks are set to the corresponding weak functions: - examples HAL_TIM_TriggerCallback(), HAL_TIM_ErrorCallback(). - - [..] - Exception done for MspInit and MspDeInit functions that are reset to the legacy weak - functionalities in the Init / DeInit only when these callbacks are null - (not registered beforehand). If not, MspInit or MspDeInit are not null, the Init / DeInit - keep and use the user MspInit / MspDeInit callbacks(registered beforehand) - - [..] - Callbacks can be registered / unregistered in HAL_TIM_STATE_READY state only. - Exception done MspInit / MspDeInit that can be registered / unregistered - in HAL_TIM_STATE_READY or HAL_TIM_STATE_RESET state, - thus registered(user) MspInit / DeInit callbacks can be used during the Init / DeInit. - In that case first register the MspInit/MspDeInit user callbacks - using HAL_TIM_RegisterCallback() before calling DeInit or Init function. - - [..] - When The compilation define USE_HAL_TIM_REGISTER_CALLBACKS is set to 0 or - not defined, the callback registration feature is not available and all callbacks - are set to the corresponding weak functions. - - @endverbatim - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @defgroup TIM TIM - * @brief TIM HAL module driver - * @{ - */ - -#ifdef HAL_TIM_MODULE_ENABLED - -/* Private typedef -----------------------------------------------------------*/ -/* Private define ------------------------------------------------------------*/ -/* Private macros ------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private function prototypes -----------------------------------------------*/ -/** @addtogroup TIM_Private_Functions - * @{ - */ -static void TIM_OC1_SetConfig(TIM_TypeDef *TIMx, TIM_OC_InitTypeDef *OC_Config); -static void TIM_OC3_SetConfig(TIM_TypeDef *TIMx, TIM_OC_InitTypeDef *OC_Config); -static void TIM_OC4_SetConfig(TIM_TypeDef *TIMx, TIM_OC_InitTypeDef *OC_Config); -static void TIM_TI1_ConfigInputStage(TIM_TypeDef *TIMx, uint32_t TIM_ICPolarity, uint32_t TIM_ICFilter); -static void TIM_TI2_SetConfig(TIM_TypeDef *TIMx, uint32_t TIM_ICPolarity, uint32_t TIM_ICSelection, - uint32_t TIM_ICFilter); -static void TIM_TI2_ConfigInputStage(TIM_TypeDef *TIMx, uint32_t TIM_ICPolarity, uint32_t TIM_ICFilter); -static void TIM_TI3_SetConfig(TIM_TypeDef *TIMx, uint32_t TIM_ICPolarity, uint32_t TIM_ICSelection, - uint32_t TIM_ICFilter); -static void TIM_TI4_SetConfig(TIM_TypeDef *TIMx, uint32_t TIM_ICPolarity, uint32_t TIM_ICSelection, - uint32_t TIM_ICFilter); -static void TIM_ITRx_SetConfig(TIM_TypeDef *TIMx, uint32_t InputTriggerSource); -static void TIM_DMAPeriodElapsedCplt(DMA_HandleTypeDef *hdma); -static void TIM_DMAPeriodElapsedHalfCplt(DMA_HandleTypeDef *hdma); -static void TIM_DMADelayPulseCplt(DMA_HandleTypeDef *hdma); -static void TIM_DMATriggerCplt(DMA_HandleTypeDef *hdma); -static void TIM_DMATriggerHalfCplt(DMA_HandleTypeDef *hdma); -static HAL_StatusTypeDef TIM_SlaveTimer_SetConfig(TIM_HandleTypeDef *htim, - TIM_SlaveConfigTypeDef *sSlaveConfig); -/** - * @} - */ -/* Exported functions --------------------------------------------------------*/ - -/** @defgroup TIM_Exported_Functions TIM Exported Functions - * @{ - */ - -/** @defgroup TIM_Exported_Functions_Group1 TIM Time Base functions - * @brief Time Base functions - * -@verbatim - ============================================================================== - ##### Time Base functions ##### - ============================================================================== - [..] - This section provides functions allowing to: - (+) Initialize and configure the TIM base. - (+) De-initialize the TIM base. - (+) Start the Time Base. - (+) Stop the Time Base. - (+) Start the Time Base and enable interrupt. - (+) Stop the Time Base and disable interrupt. - (+) Start the Time Base and enable DMA transfer. - (+) Stop the Time Base and disable DMA transfer. - -@endverbatim - * @{ - */ -/** - * @brief Initializes the TIM Time base Unit according to the specified - * parameters in the TIM_HandleTypeDef and initialize the associated handle. - * @note Switching from Center Aligned counter mode to Edge counter mode (or reverse) - * requires a timer reset to avoid unexpected direction - * due to DIR bit readonly in center aligned mode. - * Ex: call @ref HAL_TIM_Base_DeInit() before HAL_TIM_Base_Init() - * @param htim TIM Base handle - * @retval HAL status - */ -HAL_StatusTypeDef HAL_TIM_Base_Init(TIM_HandleTypeDef *htim) -{ - /* Check the TIM handle allocation */ - if (htim == NULL) - { - return HAL_ERROR; - } - - /* Check the parameters */ - assert_param(IS_TIM_INSTANCE(htim->Instance)); - assert_param(IS_TIM_COUNTER_MODE(htim->Init.CounterMode)); - assert_param(IS_TIM_CLOCKDIVISION_DIV(htim->Init.ClockDivision)); - assert_param(IS_TIM_AUTORELOAD_PRELOAD(htim->Init.AutoReloadPreload)); - - if (htim->State == HAL_TIM_STATE_RESET) - { - /* Allocate lock resource and initialize it */ - htim->Lock = HAL_UNLOCKED; - -#if (USE_HAL_TIM_REGISTER_CALLBACKS == 1) - /* Reset interrupt callbacks to legacy weak callbacks */ - TIM_ResetCallback(htim); - - if (htim->Base_MspInitCallback == NULL) - { - htim->Base_MspInitCallback = HAL_TIM_Base_MspInit; - } - /* Init the low level hardware : GPIO, CLOCK, NVIC */ - htim->Base_MspInitCallback(htim); -#else - /* Init the low level hardware : GPIO, CLOCK, NVIC */ - HAL_TIM_Base_MspInit(htim); -#endif /* USE_HAL_TIM_REGISTER_CALLBACKS */ - } - - /* Set the TIM state */ - htim->State = HAL_TIM_STATE_BUSY; - - /* Set the Time Base configuration */ - TIM_Base_SetConfig(htim->Instance, &htim->Init); - - /* Initialize the DMA burst operation state */ - htim->DMABurstState = HAL_DMA_BURST_STATE_READY; - - /* Initialize the TIM channels state */ - TIM_CHANNEL_STATE_SET_ALL(htim, HAL_TIM_CHANNEL_STATE_READY); - TIM_CHANNEL_N_STATE_SET_ALL(htim, HAL_TIM_CHANNEL_STATE_READY); - - /* Initialize the TIM state*/ - htim->State = HAL_TIM_STATE_READY; - - return HAL_OK; -} - -/** - * @brief DeInitializes the TIM Base peripheral - * @param htim TIM Base handle - * @retval HAL status - */ -HAL_StatusTypeDef HAL_TIM_Base_DeInit(TIM_HandleTypeDef *htim) -{ - /* Check the parameters */ - assert_param(IS_TIM_INSTANCE(htim->Instance)); - - htim->State = HAL_TIM_STATE_BUSY; - - /* Disable the TIM Peripheral Clock */ - __HAL_TIM_DISABLE(htim); - -#if (USE_HAL_TIM_REGISTER_CALLBACKS == 1) - if (htim->Base_MspDeInitCallback == NULL) - { - htim->Base_MspDeInitCallback = HAL_TIM_Base_MspDeInit; - } - /* DeInit the low level hardware */ - htim->Base_MspDeInitCallback(htim); -#else - /* DeInit the low level hardware: GPIO, CLOCK, NVIC */ - HAL_TIM_Base_MspDeInit(htim); -#endif /* USE_HAL_TIM_REGISTER_CALLBACKS */ - - /* Change the DMA burst operation state */ - htim->DMABurstState = HAL_DMA_BURST_STATE_RESET; - - /* Change the TIM channels state */ - TIM_CHANNEL_STATE_SET_ALL(htim, HAL_TIM_CHANNEL_STATE_RESET); - TIM_CHANNEL_N_STATE_SET_ALL(htim, HAL_TIM_CHANNEL_STATE_RESET); - - /* Change TIM state */ - htim->State = HAL_TIM_STATE_RESET; - - /* Release Lock */ - __HAL_UNLOCK(htim); - - return HAL_OK; -} - -/** - * @brief Initializes the TIM Base MSP. - * @param htim TIM Base handle - * @retval None - */ -__weak void HAL_TIM_Base_MspInit(TIM_HandleTypeDef *htim) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(htim); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_TIM_Base_MspInit could be implemented in the user file - */ -} - -/** - * @brief DeInitializes TIM Base MSP. - * @param htim TIM Base handle - * @retval None - */ -__weak void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef *htim) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(htim); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_TIM_Base_MspDeInit could be implemented in the user file - */ -} - - -/** - * @brief Starts the TIM Base generation. - * @param htim TIM Base handle - * @retval HAL status - */ -HAL_StatusTypeDef HAL_TIM_Base_Start(TIM_HandleTypeDef *htim) -{ - uint32_t tmpsmcr; - - /* Check the parameters */ - assert_param(IS_TIM_INSTANCE(htim->Instance)); - - /* Check the TIM state */ - if (htim->State != HAL_TIM_STATE_READY) - { - return HAL_ERROR; - } - - /* Set the TIM state */ - htim->State = HAL_TIM_STATE_BUSY; - - /* Enable the Peripheral, except in trigger mode where enable is automatically done with trigger */ - if (IS_TIM_SLAVE_INSTANCE(htim->Instance)) - { - tmpsmcr = htim->Instance->SMCR & TIM_SMCR_SMS; - if (!IS_TIM_SLAVEMODE_TRIGGER_ENABLED(tmpsmcr)) - { - __HAL_TIM_ENABLE(htim); - } - } - else - { - __HAL_TIM_ENABLE(htim); - } - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Stops the TIM Base generation. - * @param htim TIM Base handle - * @retval HAL status - */ -HAL_StatusTypeDef HAL_TIM_Base_Stop(TIM_HandleTypeDef *htim) -{ - /* Check the parameters */ - assert_param(IS_TIM_INSTANCE(htim->Instance)); - - /* Disable the Peripheral */ - __HAL_TIM_DISABLE(htim); - - /* Set the TIM state */ - htim->State = HAL_TIM_STATE_READY; - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Starts the TIM Base generation in interrupt mode. - * @param htim TIM Base handle - * @retval HAL status - */ -HAL_StatusTypeDef HAL_TIM_Base_Start_IT(TIM_HandleTypeDef *htim) -{ - uint32_t tmpsmcr; - - /* Check the parameters */ - assert_param(IS_TIM_INSTANCE(htim->Instance)); - - /* Check the TIM state */ - if (htim->State != HAL_TIM_STATE_READY) - { - return HAL_ERROR; - } - - /* Set the TIM state */ - htim->State = HAL_TIM_STATE_BUSY; - - /* Enable the TIM Update interrupt */ - __HAL_TIM_ENABLE_IT(htim, TIM_IT_UPDATE); - - /* Enable the Peripheral, except in trigger mode where enable is automatically done with trigger */ - if (IS_TIM_SLAVE_INSTANCE(htim->Instance)) - { - tmpsmcr = htim->Instance->SMCR & TIM_SMCR_SMS; - if (!IS_TIM_SLAVEMODE_TRIGGER_ENABLED(tmpsmcr)) - { - __HAL_TIM_ENABLE(htim); - } - } - else - { - __HAL_TIM_ENABLE(htim); - } - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Stops the TIM Base generation in interrupt mode. - * @param htim TIM Base handle - * @retval HAL status - */ -HAL_StatusTypeDef HAL_TIM_Base_Stop_IT(TIM_HandleTypeDef *htim) -{ - /* Check the parameters */ - assert_param(IS_TIM_INSTANCE(htim->Instance)); - - /* Disable the TIM Update interrupt */ - __HAL_TIM_DISABLE_IT(htim, TIM_IT_UPDATE); - - /* Disable the Peripheral */ - __HAL_TIM_DISABLE(htim); - - /* Set the TIM state */ - htim->State = HAL_TIM_STATE_READY; - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Starts the TIM Base generation in DMA mode. - * @param htim TIM Base handle - * @param pData The source Buffer address. - * @param Length The length of data to be transferred from memory to peripheral. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_TIM_Base_Start_DMA(TIM_HandleTypeDef *htim, uint32_t *pData, uint16_t Length) -{ - uint32_t tmpsmcr; - - /* Check the parameters */ - assert_param(IS_TIM_DMA_INSTANCE(htim->Instance)); - - /* Set the TIM state */ - if (htim->State == HAL_TIM_STATE_BUSY) - { - return HAL_BUSY; - } - else if (htim->State == HAL_TIM_STATE_READY) - { - if ((pData == NULL) && (Length > 0U)) - { - return HAL_ERROR; - } - else - { - htim->State = HAL_TIM_STATE_BUSY; - } - } - else - { - return HAL_ERROR; - } - - /* Set the DMA Period elapsed callbacks */ - htim->hdma[TIM_DMA_ID_UPDATE]->XferCpltCallback = TIM_DMAPeriodElapsedCplt; - htim->hdma[TIM_DMA_ID_UPDATE]->XferHalfCpltCallback = TIM_DMAPeriodElapsedHalfCplt; - - /* Set the DMA error callback */ - htim->hdma[TIM_DMA_ID_UPDATE]->XferErrorCallback = TIM_DMAError ; - - /* Enable the DMA stream */ - if (HAL_DMA_Start_IT(htim->hdma[TIM_DMA_ID_UPDATE], (uint32_t)pData, (uint32_t)&htim->Instance->ARR, - Length) != HAL_OK) - { - /* Return error status */ - return HAL_ERROR; - } - - /* Enable the TIM Update DMA request */ - __HAL_TIM_ENABLE_DMA(htim, TIM_DMA_UPDATE); - - /* Enable the Peripheral, except in trigger mode where enable is automatically done with trigger */ - if (IS_TIM_SLAVE_INSTANCE(htim->Instance)) - { - tmpsmcr = htim->Instance->SMCR & TIM_SMCR_SMS; - if (!IS_TIM_SLAVEMODE_TRIGGER_ENABLED(tmpsmcr)) - { - __HAL_TIM_ENABLE(htim); - } - } - else - { - __HAL_TIM_ENABLE(htim); - } - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Stops the TIM Base generation in DMA mode. - * @param htim TIM Base handle - * @retval HAL status - */ -HAL_StatusTypeDef HAL_TIM_Base_Stop_DMA(TIM_HandleTypeDef *htim) -{ - /* Check the parameters */ - assert_param(IS_TIM_DMA_INSTANCE(htim->Instance)); - - /* Disable the TIM Update DMA request */ - __HAL_TIM_DISABLE_DMA(htim, TIM_DMA_UPDATE); - - (void)HAL_DMA_Abort_IT(htim->hdma[TIM_DMA_ID_UPDATE]); - - /* Disable the Peripheral */ - __HAL_TIM_DISABLE(htim); - - /* Set the TIM state */ - htim->State = HAL_TIM_STATE_READY; - - /* Return function status */ - return HAL_OK; -} - -/** - * @} - */ - -/** @defgroup TIM_Exported_Functions_Group2 TIM Output Compare functions - * @brief TIM Output Compare functions - * -@verbatim - ============================================================================== - ##### TIM Output Compare functions ##### - ============================================================================== - [..] - This section provides functions allowing to: - (+) Initialize and configure the TIM Output Compare. - (+) De-initialize the TIM Output Compare. - (+) Start the TIM Output Compare. - (+) Stop the TIM Output Compare. - (+) Start the TIM Output Compare and enable interrupt. - (+) Stop the TIM Output Compare and disable interrupt. - (+) Start the TIM Output Compare and enable DMA transfer. - (+) Stop the TIM Output Compare and disable DMA transfer. - -@endverbatim - * @{ - */ -/** - * @brief Initializes the TIM Output Compare according to the specified - * parameters in the TIM_HandleTypeDef and initializes the associated handle. - * @note Switching from Center Aligned counter mode to Edge counter mode (or reverse) - * requires a timer reset to avoid unexpected direction - * due to DIR bit readonly in center aligned mode. - * Ex: call @ref HAL_TIM_OC_DeInit() before HAL_TIM_OC_Init() - * @param htim TIM Output Compare handle - * @retval HAL status - */ -HAL_StatusTypeDef HAL_TIM_OC_Init(TIM_HandleTypeDef *htim) -{ - /* Check the TIM handle allocation */ - if (htim == NULL) - { - return HAL_ERROR; - } - - /* Check the parameters */ - assert_param(IS_TIM_INSTANCE(htim->Instance)); - assert_param(IS_TIM_COUNTER_MODE(htim->Init.CounterMode)); - assert_param(IS_TIM_CLOCKDIVISION_DIV(htim->Init.ClockDivision)); - assert_param(IS_TIM_AUTORELOAD_PRELOAD(htim->Init.AutoReloadPreload)); - - if (htim->State == HAL_TIM_STATE_RESET) - { - /* Allocate lock resource and initialize it */ - htim->Lock = HAL_UNLOCKED; - -#if (USE_HAL_TIM_REGISTER_CALLBACKS == 1) - /* Reset interrupt callbacks to legacy weak callbacks */ - TIM_ResetCallback(htim); - - if (htim->OC_MspInitCallback == NULL) - { - htim->OC_MspInitCallback = HAL_TIM_OC_MspInit; - } - /* Init the low level hardware : GPIO, CLOCK, NVIC */ - htim->OC_MspInitCallback(htim); -#else - /* Init the low level hardware : GPIO, CLOCK, NVIC and DMA */ - HAL_TIM_OC_MspInit(htim); -#endif /* USE_HAL_TIM_REGISTER_CALLBACKS */ - } - - /* Set the TIM state */ - htim->State = HAL_TIM_STATE_BUSY; - - /* Init the base time for the Output Compare */ - TIM_Base_SetConfig(htim->Instance, &htim->Init); - - /* Initialize the DMA burst operation state */ - htim->DMABurstState = HAL_DMA_BURST_STATE_READY; - - /* Initialize the TIM channels state */ - TIM_CHANNEL_STATE_SET_ALL(htim, HAL_TIM_CHANNEL_STATE_READY); - TIM_CHANNEL_N_STATE_SET_ALL(htim, HAL_TIM_CHANNEL_STATE_READY); - - /* Initialize the TIM state*/ - htim->State = HAL_TIM_STATE_READY; - - return HAL_OK; -} - -/** - * @brief DeInitializes the TIM peripheral - * @param htim TIM Output Compare handle - * @retval HAL status - */ -HAL_StatusTypeDef HAL_TIM_OC_DeInit(TIM_HandleTypeDef *htim) -{ - /* Check the parameters */ - assert_param(IS_TIM_INSTANCE(htim->Instance)); - - htim->State = HAL_TIM_STATE_BUSY; - - /* Disable the TIM Peripheral Clock */ - __HAL_TIM_DISABLE(htim); - -#if (USE_HAL_TIM_REGISTER_CALLBACKS == 1) - if (htim->OC_MspDeInitCallback == NULL) - { - htim->OC_MspDeInitCallback = HAL_TIM_OC_MspDeInit; - } - /* DeInit the low level hardware */ - htim->OC_MspDeInitCallback(htim); -#else - /* DeInit the low level hardware: GPIO, CLOCK, NVIC and DMA */ - HAL_TIM_OC_MspDeInit(htim); -#endif /* USE_HAL_TIM_REGISTER_CALLBACKS */ - - /* Change the DMA burst operation state */ - htim->DMABurstState = HAL_DMA_BURST_STATE_RESET; - - /* Change the TIM channels state */ - TIM_CHANNEL_STATE_SET_ALL(htim, HAL_TIM_CHANNEL_STATE_RESET); - TIM_CHANNEL_N_STATE_SET_ALL(htim, HAL_TIM_CHANNEL_STATE_RESET); - - /* Change TIM state */ - htim->State = HAL_TIM_STATE_RESET; - - /* Release Lock */ - __HAL_UNLOCK(htim); - - return HAL_OK; -} - -/** - * @brief Initializes the TIM Output Compare MSP. - * @param htim TIM Output Compare handle - * @retval None - */ -__weak void HAL_TIM_OC_MspInit(TIM_HandleTypeDef *htim) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(htim); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_TIM_OC_MspInit could be implemented in the user file - */ -} - -/** - * @brief DeInitializes TIM Output Compare MSP. - * @param htim TIM Output Compare handle - * @retval None - */ -__weak void HAL_TIM_OC_MspDeInit(TIM_HandleTypeDef *htim) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(htim); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_TIM_OC_MspDeInit could be implemented in the user file - */ -} - -/** - * @brief Starts the TIM Output Compare signal generation. - * @param htim TIM Output Compare handle - * @param Channel TIM Channel to be enabled - * This parameter can be one of the following values: - * @arg TIM_CHANNEL_1: TIM Channel 1 selected - * @arg TIM_CHANNEL_2: TIM Channel 2 selected - * @arg TIM_CHANNEL_3: TIM Channel 3 selected - * @arg TIM_CHANNEL_4: TIM Channel 4 selected - * @retval HAL status - */ -HAL_StatusTypeDef HAL_TIM_OC_Start(TIM_HandleTypeDef *htim, uint32_t Channel) -{ - uint32_t tmpsmcr; - - /* Check the parameters */ - assert_param(IS_TIM_CCX_INSTANCE(htim->Instance, Channel)); - - /* Check the TIM channel state */ - if (TIM_CHANNEL_STATE_GET(htim, Channel) != HAL_TIM_CHANNEL_STATE_READY) - { - return HAL_ERROR; - } - - /* Set the TIM channel state */ - TIM_CHANNEL_STATE_SET(htim, Channel, HAL_TIM_CHANNEL_STATE_BUSY); - - /* Enable the Output compare channel */ - TIM_CCxChannelCmd(htim->Instance, Channel, TIM_CCx_ENABLE); - - if (IS_TIM_BREAK_INSTANCE(htim->Instance) != RESET) - { - /* Enable the main output */ - __HAL_TIM_MOE_ENABLE(htim); - } - - /* Enable the Peripheral, except in trigger mode where enable is automatically done with trigger */ - if (IS_TIM_SLAVE_INSTANCE(htim->Instance)) - { - tmpsmcr = htim->Instance->SMCR & TIM_SMCR_SMS; - if (!IS_TIM_SLAVEMODE_TRIGGER_ENABLED(tmpsmcr)) - { - __HAL_TIM_ENABLE(htim); - } - } - else - { - __HAL_TIM_ENABLE(htim); - } - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Stops the TIM Output Compare signal generation. - * @param htim TIM Output Compare handle - * @param Channel TIM Channel to be disabled - * This parameter can be one of the following values: - * @arg TIM_CHANNEL_1: TIM Channel 1 selected - * @arg TIM_CHANNEL_2: TIM Channel 2 selected - * @arg TIM_CHANNEL_3: TIM Channel 3 selected - * @arg TIM_CHANNEL_4: TIM Channel 4 selected - * @retval HAL status - */ -HAL_StatusTypeDef HAL_TIM_OC_Stop(TIM_HandleTypeDef *htim, uint32_t Channel) -{ - /* Check the parameters */ - assert_param(IS_TIM_CCX_INSTANCE(htim->Instance, Channel)); - - /* Disable the Output compare channel */ - TIM_CCxChannelCmd(htim->Instance, Channel, TIM_CCx_DISABLE); - - if (IS_TIM_BREAK_INSTANCE(htim->Instance) != RESET) - { - /* Disable the Main Output */ - __HAL_TIM_MOE_DISABLE(htim); - } - - /* Disable the Peripheral */ - __HAL_TIM_DISABLE(htim); - - /* Set the TIM channel state */ - TIM_CHANNEL_STATE_SET(htim, Channel, HAL_TIM_CHANNEL_STATE_READY); - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Starts the TIM Output Compare signal generation in interrupt mode. - * @param htim TIM Output Compare handle - * @param Channel TIM Channel to be enabled - * This parameter can be one of the following values: - * @arg TIM_CHANNEL_1: TIM Channel 1 selected - * @arg TIM_CHANNEL_2: TIM Channel 2 selected - * @arg TIM_CHANNEL_3: TIM Channel 3 selected - * @arg TIM_CHANNEL_4: TIM Channel 4 selected - * @retval HAL status - */ -HAL_StatusTypeDef HAL_TIM_OC_Start_IT(TIM_HandleTypeDef *htim, uint32_t Channel) -{ - HAL_StatusTypeDef status = HAL_OK; - uint32_t tmpsmcr; - - /* Check the parameters */ - assert_param(IS_TIM_CCX_INSTANCE(htim->Instance, Channel)); - - /* Check the TIM channel state */ - if (TIM_CHANNEL_STATE_GET(htim, Channel) != HAL_TIM_CHANNEL_STATE_READY) - { - return HAL_ERROR; - } - - /* Set the TIM channel state */ - TIM_CHANNEL_STATE_SET(htim, Channel, HAL_TIM_CHANNEL_STATE_BUSY); - - switch (Channel) - { - case TIM_CHANNEL_1: - { - /* Enable the TIM Capture/Compare 1 interrupt */ - __HAL_TIM_ENABLE_IT(htim, TIM_IT_CC1); - break; - } - - case TIM_CHANNEL_2: - { - /* Enable the TIM Capture/Compare 2 interrupt */ - __HAL_TIM_ENABLE_IT(htim, TIM_IT_CC2); - break; - } - - case TIM_CHANNEL_3: - { - /* Enable the TIM Capture/Compare 3 interrupt */ - __HAL_TIM_ENABLE_IT(htim, TIM_IT_CC3); - break; - } - - case TIM_CHANNEL_4: - { - /* Enable the TIM Capture/Compare 4 interrupt */ - __HAL_TIM_ENABLE_IT(htim, TIM_IT_CC4); - break; - } - - default: - status = HAL_ERROR; - break; - } - - if (status == HAL_OK) - { - /* Enable the Output compare channel */ - TIM_CCxChannelCmd(htim->Instance, Channel, TIM_CCx_ENABLE); - - if (IS_TIM_BREAK_INSTANCE(htim->Instance) != RESET) - { - /* Enable the main output */ - __HAL_TIM_MOE_ENABLE(htim); - } - - /* Enable the Peripheral, except in trigger mode where enable is automatically done with trigger */ - if (IS_TIM_SLAVE_INSTANCE(htim->Instance)) - { - tmpsmcr = htim->Instance->SMCR & TIM_SMCR_SMS; - if (!IS_TIM_SLAVEMODE_TRIGGER_ENABLED(tmpsmcr)) - { - __HAL_TIM_ENABLE(htim); - } - } - else - { - __HAL_TIM_ENABLE(htim); - } - } - - /* Return function status */ - return status; -} - -/** - * @brief Stops the TIM Output Compare signal generation in interrupt mode. - * @param htim TIM Output Compare handle - * @param Channel TIM Channel to be disabled - * This parameter can be one of the following values: - * @arg TIM_CHANNEL_1: TIM Channel 1 selected - * @arg TIM_CHANNEL_2: TIM Channel 2 selected - * @arg TIM_CHANNEL_3: TIM Channel 3 selected - * @arg TIM_CHANNEL_4: TIM Channel 4 selected - * @retval HAL status - */ -HAL_StatusTypeDef HAL_TIM_OC_Stop_IT(TIM_HandleTypeDef *htim, uint32_t Channel) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Check the parameters */ - assert_param(IS_TIM_CCX_INSTANCE(htim->Instance, Channel)); - - switch (Channel) - { - case TIM_CHANNEL_1: - { - /* Disable the TIM Capture/Compare 1 interrupt */ - __HAL_TIM_DISABLE_IT(htim, TIM_IT_CC1); - break; - } - - case TIM_CHANNEL_2: - { - /* Disable the TIM Capture/Compare 2 interrupt */ - __HAL_TIM_DISABLE_IT(htim, TIM_IT_CC2); - break; - } - - case TIM_CHANNEL_3: - { - /* Disable the TIM Capture/Compare 3 interrupt */ - __HAL_TIM_DISABLE_IT(htim, TIM_IT_CC3); - break; - } - - case TIM_CHANNEL_4: - { - /* Disable the TIM Capture/Compare 4 interrupt */ - __HAL_TIM_DISABLE_IT(htim, TIM_IT_CC4); - break; - } - - default: - status = HAL_ERROR; - break; - } - - if (status == HAL_OK) - { - /* Disable the Output compare channel */ - TIM_CCxChannelCmd(htim->Instance, Channel, TIM_CCx_DISABLE); - - if (IS_TIM_BREAK_INSTANCE(htim->Instance) != RESET) - { - /* Disable the Main Output */ - __HAL_TIM_MOE_DISABLE(htim); - } - - /* Disable the Peripheral */ - __HAL_TIM_DISABLE(htim); - - /* Set the TIM channel state */ - TIM_CHANNEL_STATE_SET(htim, Channel, HAL_TIM_CHANNEL_STATE_READY); - } - - /* Return function status */ - return status; -} - -/** - * @brief Starts the TIM Output Compare signal generation in DMA mode. - * @param htim TIM Output Compare handle - * @param Channel TIM Channel to be enabled - * This parameter can be one of the following values: - * @arg TIM_CHANNEL_1: TIM Channel 1 selected - * @arg TIM_CHANNEL_2: TIM Channel 2 selected - * @arg TIM_CHANNEL_3: TIM Channel 3 selected - * @arg TIM_CHANNEL_4: TIM Channel 4 selected - * @param pData The source Buffer address. - * @param Length The length of data to be transferred from memory to TIM peripheral - * @retval HAL status - */ -HAL_StatusTypeDef HAL_TIM_OC_Start_DMA(TIM_HandleTypeDef *htim, uint32_t Channel, uint32_t *pData, uint16_t Length) -{ - HAL_StatusTypeDef status = HAL_OK; - uint32_t tmpsmcr; - - /* Check the parameters */ - assert_param(IS_TIM_CCX_INSTANCE(htim->Instance, Channel)); - - /* Set the TIM channel state */ - if (TIM_CHANNEL_STATE_GET(htim, Channel) == HAL_TIM_CHANNEL_STATE_BUSY) - { - return HAL_BUSY; - } - else if (TIM_CHANNEL_STATE_GET(htim, Channel) == HAL_TIM_CHANNEL_STATE_READY) - { - if ((pData == NULL) && (Length > 0U)) - { - return HAL_ERROR; - } - else - { - TIM_CHANNEL_STATE_SET(htim, Channel, HAL_TIM_CHANNEL_STATE_BUSY); - } - } - else - { - return HAL_ERROR; - } - - switch (Channel) - { - case TIM_CHANNEL_1: - { - /* Set the DMA compare callbacks */ - htim->hdma[TIM_DMA_ID_CC1]->XferCpltCallback = TIM_DMADelayPulseCplt; - htim->hdma[TIM_DMA_ID_CC1]->XferHalfCpltCallback = TIM_DMADelayPulseHalfCplt; - - /* Set the DMA error callback */ - htim->hdma[TIM_DMA_ID_CC1]->XferErrorCallback = TIM_DMAError ; - - /* Enable the DMA stream */ - if (HAL_DMA_Start_IT(htim->hdma[TIM_DMA_ID_CC1], (uint32_t)pData, (uint32_t)&htim->Instance->CCR1, - Length) != HAL_OK) - { - /* Return error status */ - return HAL_ERROR; - } - - /* Enable the TIM Capture/Compare 1 DMA request */ - __HAL_TIM_ENABLE_DMA(htim, TIM_DMA_CC1); - break; - } - - case TIM_CHANNEL_2: - { - /* Set the DMA compare callbacks */ - htim->hdma[TIM_DMA_ID_CC2]->XferCpltCallback = TIM_DMADelayPulseCplt; - htim->hdma[TIM_DMA_ID_CC2]->XferHalfCpltCallback = TIM_DMADelayPulseHalfCplt; - - /* Set the DMA error callback */ - htim->hdma[TIM_DMA_ID_CC2]->XferErrorCallback = TIM_DMAError ; - - /* Enable the DMA stream */ - if (HAL_DMA_Start_IT(htim->hdma[TIM_DMA_ID_CC2], (uint32_t)pData, (uint32_t)&htim->Instance->CCR2, - Length) != HAL_OK) - { - /* Return error status */ - return HAL_ERROR; - } - - /* Enable the TIM Capture/Compare 2 DMA request */ - __HAL_TIM_ENABLE_DMA(htim, TIM_DMA_CC2); - break; - } - - case TIM_CHANNEL_3: - { - /* Set the DMA compare callbacks */ - htim->hdma[TIM_DMA_ID_CC3]->XferCpltCallback = TIM_DMADelayPulseCplt; - htim->hdma[TIM_DMA_ID_CC3]->XferHalfCpltCallback = TIM_DMADelayPulseHalfCplt; - - /* Set the DMA error callback */ - htim->hdma[TIM_DMA_ID_CC3]->XferErrorCallback = TIM_DMAError ; - - /* Enable the DMA stream */ - if (HAL_DMA_Start_IT(htim->hdma[TIM_DMA_ID_CC3], (uint32_t)pData, (uint32_t)&htim->Instance->CCR3, - Length) != HAL_OK) - { - /* Return error status */ - return HAL_ERROR; - } - /* Enable the TIM Capture/Compare 3 DMA request */ - __HAL_TIM_ENABLE_DMA(htim, TIM_DMA_CC3); - break; - } - - case TIM_CHANNEL_4: - { - /* Set the DMA compare callbacks */ - htim->hdma[TIM_DMA_ID_CC4]->XferCpltCallback = TIM_DMADelayPulseCplt; - htim->hdma[TIM_DMA_ID_CC4]->XferHalfCpltCallback = TIM_DMADelayPulseHalfCplt; - - /* Set the DMA error callback */ - htim->hdma[TIM_DMA_ID_CC4]->XferErrorCallback = TIM_DMAError ; - - /* Enable the DMA stream */ - if (HAL_DMA_Start_IT(htim->hdma[TIM_DMA_ID_CC4], (uint32_t)pData, (uint32_t)&htim->Instance->CCR4, - Length) != HAL_OK) - { - /* Return error status */ - return HAL_ERROR; - } - /* Enable the TIM Capture/Compare 4 DMA request */ - __HAL_TIM_ENABLE_DMA(htim, TIM_DMA_CC4); - break; - } - - default: - status = HAL_ERROR; - break; - } - - if (status == HAL_OK) - { - /* Enable the Output compare channel */ - TIM_CCxChannelCmd(htim->Instance, Channel, TIM_CCx_ENABLE); - - if (IS_TIM_BREAK_INSTANCE(htim->Instance) != RESET) - { - /* Enable the main output */ - __HAL_TIM_MOE_ENABLE(htim); - } - - /* Enable the Peripheral, except in trigger mode where enable is automatically done with trigger */ - if (IS_TIM_SLAVE_INSTANCE(htim->Instance)) - { - tmpsmcr = htim->Instance->SMCR & TIM_SMCR_SMS; - if (!IS_TIM_SLAVEMODE_TRIGGER_ENABLED(tmpsmcr)) - { - __HAL_TIM_ENABLE(htim); - } - } - else - { - __HAL_TIM_ENABLE(htim); - } - } - - /* Return function status */ - return status; -} - -/** - * @brief Stops the TIM Output Compare signal generation in DMA mode. - * @param htim TIM Output Compare handle - * @param Channel TIM Channel to be disabled - * This parameter can be one of the following values: - * @arg TIM_CHANNEL_1: TIM Channel 1 selected - * @arg TIM_CHANNEL_2: TIM Channel 2 selected - * @arg TIM_CHANNEL_3: TIM Channel 3 selected - * @arg TIM_CHANNEL_4: TIM Channel 4 selected - * @retval HAL status - */ -HAL_StatusTypeDef HAL_TIM_OC_Stop_DMA(TIM_HandleTypeDef *htim, uint32_t Channel) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Check the parameters */ - assert_param(IS_TIM_CCX_INSTANCE(htim->Instance, Channel)); - - switch (Channel) - { - case TIM_CHANNEL_1: - { - /* Disable the TIM Capture/Compare 1 DMA request */ - __HAL_TIM_DISABLE_DMA(htim, TIM_DMA_CC1); - (void)HAL_DMA_Abort_IT(htim->hdma[TIM_DMA_ID_CC1]); - break; - } - - case TIM_CHANNEL_2: - { - /* Disable the TIM Capture/Compare 2 DMA request */ - __HAL_TIM_DISABLE_DMA(htim, TIM_DMA_CC2); - (void)HAL_DMA_Abort_IT(htim->hdma[TIM_DMA_ID_CC2]); - break; - } - - case TIM_CHANNEL_3: - { - /* Disable the TIM Capture/Compare 3 DMA request */ - __HAL_TIM_DISABLE_DMA(htim, TIM_DMA_CC3); - (void)HAL_DMA_Abort_IT(htim->hdma[TIM_DMA_ID_CC3]); - break; - } - - case TIM_CHANNEL_4: - { - /* Disable the TIM Capture/Compare 4 interrupt */ - __HAL_TIM_DISABLE_DMA(htim, TIM_DMA_CC4); - (void)HAL_DMA_Abort_IT(htim->hdma[TIM_DMA_ID_CC4]); - break; - } - - default: - status = HAL_ERROR; - break; - } - - if (status == HAL_OK) - { - /* Disable the Output compare channel */ - TIM_CCxChannelCmd(htim->Instance, Channel, TIM_CCx_DISABLE); - - if (IS_TIM_BREAK_INSTANCE(htim->Instance) != RESET) - { - /* Disable the Main Output */ - __HAL_TIM_MOE_DISABLE(htim); - } - - /* Disable the Peripheral */ - __HAL_TIM_DISABLE(htim); - - /* Set the TIM channel state */ - TIM_CHANNEL_STATE_SET(htim, Channel, HAL_TIM_CHANNEL_STATE_READY); - } - - /* Return function status */ - return status; -} - -/** - * @} - */ - -/** @defgroup TIM_Exported_Functions_Group3 TIM PWM functions - * @brief TIM PWM functions - * -@verbatim - ============================================================================== - ##### TIM PWM functions ##### - ============================================================================== - [..] - This section provides functions allowing to: - (+) Initialize and configure the TIM PWM. - (+) De-initialize the TIM PWM. - (+) Start the TIM PWM. - (+) Stop the TIM PWM. - (+) Start the TIM PWM and enable interrupt. - (+) Stop the TIM PWM and disable interrupt. - (+) Start the TIM PWM and enable DMA transfer. - (+) Stop the TIM PWM and disable DMA transfer. - -@endverbatim - * @{ - */ -/** - * @brief Initializes the TIM PWM Time Base according to the specified - * parameters in the TIM_HandleTypeDef and initializes the associated handle. - * @note Switching from Center Aligned counter mode to Edge counter mode (or reverse) - * requires a timer reset to avoid unexpected direction - * due to DIR bit readonly in center aligned mode. - * Ex: call @ref HAL_TIM_PWM_DeInit() before HAL_TIM_PWM_Init() - * @param htim TIM PWM handle - * @retval HAL status - */ -HAL_StatusTypeDef HAL_TIM_PWM_Init(TIM_HandleTypeDef *htim) -{ - /* Check the TIM handle allocation */ - if (htim == NULL) - { - return HAL_ERROR; - } - - /* Check the parameters */ - assert_param(IS_TIM_INSTANCE(htim->Instance)); - assert_param(IS_TIM_COUNTER_MODE(htim->Init.CounterMode)); - assert_param(IS_TIM_CLOCKDIVISION_DIV(htim->Init.ClockDivision)); - assert_param(IS_TIM_AUTORELOAD_PRELOAD(htim->Init.AutoReloadPreload)); - - if (htim->State == HAL_TIM_STATE_RESET) - { - /* Allocate lock resource and initialize it */ - htim->Lock = HAL_UNLOCKED; - -#if (USE_HAL_TIM_REGISTER_CALLBACKS == 1) - /* Reset interrupt callbacks to legacy weak callbacks */ - TIM_ResetCallback(htim); - - if (htim->PWM_MspInitCallback == NULL) - { - htim->PWM_MspInitCallback = HAL_TIM_PWM_MspInit; - } - /* Init the low level hardware : GPIO, CLOCK, NVIC */ - htim->PWM_MspInitCallback(htim); -#else - /* Init the low level hardware : GPIO, CLOCK, NVIC and DMA */ - HAL_TIM_PWM_MspInit(htim); -#endif /* USE_HAL_TIM_REGISTER_CALLBACKS */ - } - - /* Set the TIM state */ - htim->State = HAL_TIM_STATE_BUSY; - - /* Init the base time for the PWM */ - TIM_Base_SetConfig(htim->Instance, &htim->Init); - - /* Initialize the DMA burst operation state */ - htim->DMABurstState = HAL_DMA_BURST_STATE_READY; - - /* Initialize the TIM channels state */ - TIM_CHANNEL_STATE_SET_ALL(htim, HAL_TIM_CHANNEL_STATE_READY); - TIM_CHANNEL_N_STATE_SET_ALL(htim, HAL_TIM_CHANNEL_STATE_READY); - - /* Initialize the TIM state*/ - htim->State = HAL_TIM_STATE_READY; - - return HAL_OK; -} - -/** - * @brief DeInitializes the TIM peripheral - * @param htim TIM PWM handle - * @retval HAL status - */ -HAL_StatusTypeDef HAL_TIM_PWM_DeInit(TIM_HandleTypeDef *htim) -{ - /* Check the parameters */ - assert_param(IS_TIM_INSTANCE(htim->Instance)); - - htim->State = HAL_TIM_STATE_BUSY; - - /* Disable the TIM Peripheral Clock */ - __HAL_TIM_DISABLE(htim); - -#if (USE_HAL_TIM_REGISTER_CALLBACKS == 1) - if (htim->PWM_MspDeInitCallback == NULL) - { - htim->PWM_MspDeInitCallback = HAL_TIM_PWM_MspDeInit; - } - /* DeInit the low level hardware */ - htim->PWM_MspDeInitCallback(htim); -#else - /* DeInit the low level hardware: GPIO, CLOCK, NVIC and DMA */ - HAL_TIM_PWM_MspDeInit(htim); -#endif /* USE_HAL_TIM_REGISTER_CALLBACKS */ - - /* Change the DMA burst operation state */ - htim->DMABurstState = HAL_DMA_BURST_STATE_RESET; - - /* Change the TIM channels state */ - TIM_CHANNEL_STATE_SET_ALL(htim, HAL_TIM_CHANNEL_STATE_RESET); - TIM_CHANNEL_N_STATE_SET_ALL(htim, HAL_TIM_CHANNEL_STATE_RESET); - - /* Change TIM state */ - htim->State = HAL_TIM_STATE_RESET; - - /* Release Lock */ - __HAL_UNLOCK(htim); - - return HAL_OK; -} - -/** - * @brief Initializes the TIM PWM MSP. - * @param htim TIM PWM handle - * @retval None - */ -__weak void HAL_TIM_PWM_MspInit(TIM_HandleTypeDef *htim) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(htim); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_TIM_PWM_MspInit could be implemented in the user file - */ -} - -/** - * @brief DeInitializes TIM PWM MSP. - * @param htim TIM PWM handle - * @retval None - */ -__weak void HAL_TIM_PWM_MspDeInit(TIM_HandleTypeDef *htim) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(htim); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_TIM_PWM_MspDeInit could be implemented in the user file - */ -} - -/** - * @brief Starts the PWM signal generation. - * @param htim TIM handle - * @param Channel TIM Channels to be enabled - * This parameter can be one of the following values: - * @arg TIM_CHANNEL_1: TIM Channel 1 selected - * @arg TIM_CHANNEL_2: TIM Channel 2 selected - * @arg TIM_CHANNEL_3: TIM Channel 3 selected - * @arg TIM_CHANNEL_4: TIM Channel 4 selected - * @retval HAL status - */ -HAL_StatusTypeDef HAL_TIM_PWM_Start(TIM_HandleTypeDef *htim, uint32_t Channel) -{ - uint32_t tmpsmcr; - - /* Check the parameters */ - assert_param(IS_TIM_CCX_INSTANCE(htim->Instance, Channel)); - - /* Check the TIM channel state */ - if (TIM_CHANNEL_STATE_GET(htim, Channel) != HAL_TIM_CHANNEL_STATE_READY) - { - return HAL_ERROR; - } - - /* Set the TIM channel state */ - TIM_CHANNEL_STATE_SET(htim, Channel, HAL_TIM_CHANNEL_STATE_BUSY); - - /* Enable the Capture compare channel */ - TIM_CCxChannelCmd(htim->Instance, Channel, TIM_CCx_ENABLE); - - if (IS_TIM_BREAK_INSTANCE(htim->Instance) != RESET) - { - /* Enable the main output */ - __HAL_TIM_MOE_ENABLE(htim); - } - - /* Enable the Peripheral, except in trigger mode where enable is automatically done with trigger */ - if (IS_TIM_SLAVE_INSTANCE(htim->Instance)) - { - tmpsmcr = htim->Instance->SMCR & TIM_SMCR_SMS; - if (!IS_TIM_SLAVEMODE_TRIGGER_ENABLED(tmpsmcr)) - { - __HAL_TIM_ENABLE(htim); - } - } - else - { - __HAL_TIM_ENABLE(htim); - } - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Stops the PWM signal generation. - * @param htim TIM PWM handle - * @param Channel TIM Channels to be disabled - * This parameter can be one of the following values: - * @arg TIM_CHANNEL_1: TIM Channel 1 selected - * @arg TIM_CHANNEL_2: TIM Channel 2 selected - * @arg TIM_CHANNEL_3: TIM Channel 3 selected - * @arg TIM_CHANNEL_4: TIM Channel 4 selected - * @retval HAL status - */ -HAL_StatusTypeDef HAL_TIM_PWM_Stop(TIM_HandleTypeDef *htim, uint32_t Channel) -{ - /* Check the parameters */ - assert_param(IS_TIM_CCX_INSTANCE(htim->Instance, Channel)); - - /* Disable the Capture compare channel */ - TIM_CCxChannelCmd(htim->Instance, Channel, TIM_CCx_DISABLE); - - if (IS_TIM_BREAK_INSTANCE(htim->Instance) != RESET) - { - /* Disable the Main Output */ - __HAL_TIM_MOE_DISABLE(htim); - } - - /* Disable the Peripheral */ - __HAL_TIM_DISABLE(htim); - - /* Set the TIM channel state */ - TIM_CHANNEL_STATE_SET(htim, Channel, HAL_TIM_CHANNEL_STATE_READY); - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Starts the PWM signal generation in interrupt mode. - * @param htim TIM PWM handle - * @param Channel TIM Channel to be enabled - * This parameter can be one of the following values: - * @arg TIM_CHANNEL_1: TIM Channel 1 selected - * @arg TIM_CHANNEL_2: TIM Channel 2 selected - * @arg TIM_CHANNEL_3: TIM Channel 3 selected - * @arg TIM_CHANNEL_4: TIM Channel 4 selected - * @retval HAL status - */ -HAL_StatusTypeDef HAL_TIM_PWM_Start_IT(TIM_HandleTypeDef *htim, uint32_t Channel) -{ - HAL_StatusTypeDef status = HAL_OK; - uint32_t tmpsmcr; - - /* Check the parameters */ - assert_param(IS_TIM_CCX_INSTANCE(htim->Instance, Channel)); - - /* Check the TIM channel state */ - if (TIM_CHANNEL_STATE_GET(htim, Channel) != HAL_TIM_CHANNEL_STATE_READY) - { - return HAL_ERROR; - } - - /* Set the TIM channel state */ - TIM_CHANNEL_STATE_SET(htim, Channel, HAL_TIM_CHANNEL_STATE_BUSY); - - switch (Channel) - { - case TIM_CHANNEL_1: - { - /* Enable the TIM Capture/Compare 1 interrupt */ - __HAL_TIM_ENABLE_IT(htim, TIM_IT_CC1); - break; - } - - case TIM_CHANNEL_2: - { - /* Enable the TIM Capture/Compare 2 interrupt */ - __HAL_TIM_ENABLE_IT(htim, TIM_IT_CC2); - break; - } - - case TIM_CHANNEL_3: - { - /* Enable the TIM Capture/Compare 3 interrupt */ - __HAL_TIM_ENABLE_IT(htim, TIM_IT_CC3); - break; - } - - case TIM_CHANNEL_4: - { - /* Enable the TIM Capture/Compare 4 interrupt */ - __HAL_TIM_ENABLE_IT(htim, TIM_IT_CC4); - break; - } - - default: - status = HAL_ERROR; - break; - } - - if (status == HAL_OK) - { - /* Enable the Capture compare channel */ - TIM_CCxChannelCmd(htim->Instance, Channel, TIM_CCx_ENABLE); - - if (IS_TIM_BREAK_INSTANCE(htim->Instance) != RESET) - { - /* Enable the main output */ - __HAL_TIM_MOE_ENABLE(htim); - } - - /* Enable the Peripheral, except in trigger mode where enable is automatically done with trigger */ - if (IS_TIM_SLAVE_INSTANCE(htim->Instance)) - { - tmpsmcr = htim->Instance->SMCR & TIM_SMCR_SMS; - if (!IS_TIM_SLAVEMODE_TRIGGER_ENABLED(tmpsmcr)) - { - __HAL_TIM_ENABLE(htim); - } - } - else - { - __HAL_TIM_ENABLE(htim); - } - } - - /* Return function status */ - return status; -} - -/** - * @brief Stops the PWM signal generation in interrupt mode. - * @param htim TIM PWM handle - * @param Channel TIM Channels to be disabled - * This parameter can be one of the following values: - * @arg TIM_CHANNEL_1: TIM Channel 1 selected - * @arg TIM_CHANNEL_2: TIM Channel 2 selected - * @arg TIM_CHANNEL_3: TIM Channel 3 selected - * @arg TIM_CHANNEL_4: TIM Channel 4 selected - * @retval HAL status - */ -HAL_StatusTypeDef HAL_TIM_PWM_Stop_IT(TIM_HandleTypeDef *htim, uint32_t Channel) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Check the parameters */ - assert_param(IS_TIM_CCX_INSTANCE(htim->Instance, Channel)); - - switch (Channel) - { - case TIM_CHANNEL_1: - { - /* Disable the TIM Capture/Compare 1 interrupt */ - __HAL_TIM_DISABLE_IT(htim, TIM_IT_CC1); - break; - } - - case TIM_CHANNEL_2: - { - /* Disable the TIM Capture/Compare 2 interrupt */ - __HAL_TIM_DISABLE_IT(htim, TIM_IT_CC2); - break; - } - - case TIM_CHANNEL_3: - { - /* Disable the TIM Capture/Compare 3 interrupt */ - __HAL_TIM_DISABLE_IT(htim, TIM_IT_CC3); - break; - } - - case TIM_CHANNEL_4: - { - /* Disable the TIM Capture/Compare 4 interrupt */ - __HAL_TIM_DISABLE_IT(htim, TIM_IT_CC4); - break; - } - - default: - status = HAL_ERROR; - break; - } - - if (status == HAL_OK) - { - /* Disable the Capture compare channel */ - TIM_CCxChannelCmd(htim->Instance, Channel, TIM_CCx_DISABLE); - - if (IS_TIM_BREAK_INSTANCE(htim->Instance) != RESET) - { - /* Disable the Main Output */ - __HAL_TIM_MOE_DISABLE(htim); - } - - /* Disable the Peripheral */ - __HAL_TIM_DISABLE(htim); - - /* Set the TIM channel state */ - TIM_CHANNEL_STATE_SET(htim, Channel, HAL_TIM_CHANNEL_STATE_READY); - } - - /* Return function status */ - return status; -} - -/** - * @brief Starts the TIM PWM signal generation in DMA mode. - * @param htim TIM PWM handle - * @param Channel TIM Channels to be enabled - * This parameter can be one of the following values: - * @arg TIM_CHANNEL_1: TIM Channel 1 selected - * @arg TIM_CHANNEL_2: TIM Channel 2 selected - * @arg TIM_CHANNEL_3: TIM Channel 3 selected - * @arg TIM_CHANNEL_4: TIM Channel 4 selected - * @param pData The source Buffer address. - * @param Length The length of data to be transferred from memory to TIM peripheral - * @retval HAL status - */ -HAL_StatusTypeDef HAL_TIM_PWM_Start_DMA(TIM_HandleTypeDef *htim, uint32_t Channel, uint32_t *pData, uint16_t Length) -{ - HAL_StatusTypeDef status = HAL_OK; - uint32_t tmpsmcr; - - /* Check the parameters */ - assert_param(IS_TIM_CCX_INSTANCE(htim->Instance, Channel)); - - /* Set the TIM channel state */ - if (TIM_CHANNEL_STATE_GET(htim, Channel) == HAL_TIM_CHANNEL_STATE_BUSY) - { - return HAL_BUSY; - } - else if (TIM_CHANNEL_STATE_GET(htim, Channel) == HAL_TIM_CHANNEL_STATE_READY) - { - if ((pData == NULL) && (Length > 0U)) - { - return HAL_ERROR; - } - else - { - TIM_CHANNEL_STATE_SET(htim, Channel, HAL_TIM_CHANNEL_STATE_BUSY); - } - } - else - { - return HAL_ERROR; - } - - switch (Channel) - { - case TIM_CHANNEL_1: - { - /* Set the DMA compare callbacks */ - htim->hdma[TIM_DMA_ID_CC1]->XferCpltCallback = TIM_DMADelayPulseCplt; - htim->hdma[TIM_DMA_ID_CC1]->XferHalfCpltCallback = TIM_DMADelayPulseHalfCplt; - - /* Set the DMA error callback */ - htim->hdma[TIM_DMA_ID_CC1]->XferErrorCallback = TIM_DMAError ; - - /* Enable the DMA stream */ - if (HAL_DMA_Start_IT(htim->hdma[TIM_DMA_ID_CC1], (uint32_t)pData, (uint32_t)&htim->Instance->CCR1, - Length) != HAL_OK) - { - /* Return error status */ - return HAL_ERROR; - } - - /* Enable the TIM Capture/Compare 1 DMA request */ - __HAL_TIM_ENABLE_DMA(htim, TIM_DMA_CC1); - break; - } - - case TIM_CHANNEL_2: - { - /* Set the DMA compare callbacks */ - htim->hdma[TIM_DMA_ID_CC2]->XferCpltCallback = TIM_DMADelayPulseCplt; - htim->hdma[TIM_DMA_ID_CC2]->XferHalfCpltCallback = TIM_DMADelayPulseHalfCplt; - - /* Set the DMA error callback */ - htim->hdma[TIM_DMA_ID_CC2]->XferErrorCallback = TIM_DMAError ; - - /* Enable the DMA stream */ - if (HAL_DMA_Start_IT(htim->hdma[TIM_DMA_ID_CC2], (uint32_t)pData, (uint32_t)&htim->Instance->CCR2, - Length) != HAL_OK) - { - /* Return error status */ - return HAL_ERROR; - } - /* Enable the TIM Capture/Compare 2 DMA request */ - __HAL_TIM_ENABLE_DMA(htim, TIM_DMA_CC2); - break; - } - - case TIM_CHANNEL_3: - { - /* Set the DMA compare callbacks */ - htim->hdma[TIM_DMA_ID_CC3]->XferCpltCallback = TIM_DMADelayPulseCplt; - htim->hdma[TIM_DMA_ID_CC3]->XferHalfCpltCallback = TIM_DMADelayPulseHalfCplt; - - /* Set the DMA error callback */ - htim->hdma[TIM_DMA_ID_CC3]->XferErrorCallback = TIM_DMAError ; - - /* Enable the DMA stream */ - if (HAL_DMA_Start_IT(htim->hdma[TIM_DMA_ID_CC3], (uint32_t)pData, (uint32_t)&htim->Instance->CCR3, - Length) != HAL_OK) - { - /* Return error status */ - return HAL_ERROR; - } - /* Enable the TIM Output Capture/Compare 3 request */ - __HAL_TIM_ENABLE_DMA(htim, TIM_DMA_CC3); - break; - } - - case TIM_CHANNEL_4: - { - /* Set the DMA compare callbacks */ - htim->hdma[TIM_DMA_ID_CC4]->XferCpltCallback = TIM_DMADelayPulseCplt; - htim->hdma[TIM_DMA_ID_CC4]->XferHalfCpltCallback = TIM_DMADelayPulseHalfCplt; - - /* Set the DMA error callback */ - htim->hdma[TIM_DMA_ID_CC4]->XferErrorCallback = TIM_DMAError ; - - /* Enable the DMA stream */ - if (HAL_DMA_Start_IT(htim->hdma[TIM_DMA_ID_CC4], (uint32_t)pData, (uint32_t)&htim->Instance->CCR4, - Length) != HAL_OK) - { - /* Return error status */ - return HAL_ERROR; - } - /* Enable the TIM Capture/Compare 4 DMA request */ - __HAL_TIM_ENABLE_DMA(htim, TIM_DMA_CC4); - break; - } - - default: - status = HAL_ERROR; - break; - } - - if (status == HAL_OK) - { - /* Enable the Capture compare channel */ - TIM_CCxChannelCmd(htim->Instance, Channel, TIM_CCx_ENABLE); - - if (IS_TIM_BREAK_INSTANCE(htim->Instance) != RESET) - { - /* Enable the main output */ - __HAL_TIM_MOE_ENABLE(htim); - } - - /* Enable the Peripheral, except in trigger mode where enable is automatically done with trigger */ - if (IS_TIM_SLAVE_INSTANCE(htim->Instance)) - { - tmpsmcr = htim->Instance->SMCR & TIM_SMCR_SMS; - if (!IS_TIM_SLAVEMODE_TRIGGER_ENABLED(tmpsmcr)) - { - __HAL_TIM_ENABLE(htim); - } - } - else - { - __HAL_TIM_ENABLE(htim); - } - } - - /* Return function status */ - return status; -} - -/** - * @brief Stops the TIM PWM signal generation in DMA mode. - * @param htim TIM PWM handle - * @param Channel TIM Channels to be disabled - * This parameter can be one of the following values: - * @arg TIM_CHANNEL_1: TIM Channel 1 selected - * @arg TIM_CHANNEL_2: TIM Channel 2 selected - * @arg TIM_CHANNEL_3: TIM Channel 3 selected - * @arg TIM_CHANNEL_4: TIM Channel 4 selected - * @retval HAL status - */ -HAL_StatusTypeDef HAL_TIM_PWM_Stop_DMA(TIM_HandleTypeDef *htim, uint32_t Channel) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Check the parameters */ - assert_param(IS_TIM_CCX_INSTANCE(htim->Instance, Channel)); - - switch (Channel) - { - case TIM_CHANNEL_1: - { - /* Disable the TIM Capture/Compare 1 DMA request */ - __HAL_TIM_DISABLE_DMA(htim, TIM_DMA_CC1); - (void)HAL_DMA_Abort_IT(htim->hdma[TIM_DMA_ID_CC1]); - break; - } - - case TIM_CHANNEL_2: - { - /* Disable the TIM Capture/Compare 2 DMA request */ - __HAL_TIM_DISABLE_DMA(htim, TIM_DMA_CC2); - (void)HAL_DMA_Abort_IT(htim->hdma[TIM_DMA_ID_CC2]); - break; - } - - case TIM_CHANNEL_3: - { - /* Disable the TIM Capture/Compare 3 DMA request */ - __HAL_TIM_DISABLE_DMA(htim, TIM_DMA_CC3); - (void)HAL_DMA_Abort_IT(htim->hdma[TIM_DMA_ID_CC3]); - break; - } - - case TIM_CHANNEL_4: - { - /* Disable the TIM Capture/Compare 4 interrupt */ - __HAL_TIM_DISABLE_DMA(htim, TIM_DMA_CC4); - (void)HAL_DMA_Abort_IT(htim->hdma[TIM_DMA_ID_CC4]); - break; - } - - default: - status = HAL_ERROR; - break; - } - - if (status == HAL_OK) - { - /* Disable the Capture compare channel */ - TIM_CCxChannelCmd(htim->Instance, Channel, TIM_CCx_DISABLE); - - if (IS_TIM_BREAK_INSTANCE(htim->Instance) != RESET) - { - /* Disable the Main Output */ - __HAL_TIM_MOE_DISABLE(htim); - } - - /* Disable the Peripheral */ - __HAL_TIM_DISABLE(htim); - - /* Set the TIM channel state */ - TIM_CHANNEL_STATE_SET(htim, Channel, HAL_TIM_CHANNEL_STATE_READY); - } - - /* Return function status */ - return status; -} - -/** - * @} - */ - -/** @defgroup TIM_Exported_Functions_Group4 TIM Input Capture functions - * @brief TIM Input Capture functions - * -@verbatim - ============================================================================== - ##### TIM Input Capture functions ##### - ============================================================================== - [..] - This section provides functions allowing to: - (+) Initialize and configure the TIM Input Capture. - (+) De-initialize the TIM Input Capture. - (+) Start the TIM Input Capture. - (+) Stop the TIM Input Capture. - (+) Start the TIM Input Capture and enable interrupt. - (+) Stop the TIM Input Capture and disable interrupt. - (+) Start the TIM Input Capture and enable DMA transfer. - (+) Stop the TIM Input Capture and disable DMA transfer. - -@endverbatim - * @{ - */ -/** - * @brief Initializes the TIM Input Capture Time base according to the specified - * parameters in the TIM_HandleTypeDef and initializes the associated handle. - * @note Switching from Center Aligned counter mode to Edge counter mode (or reverse) - * requires a timer reset to avoid unexpected direction - * due to DIR bit readonly in center aligned mode. - * Ex: call @ref HAL_TIM_IC_DeInit() before HAL_TIM_IC_Init() - * @param htim TIM Input Capture handle - * @retval HAL status - */ -HAL_StatusTypeDef HAL_TIM_IC_Init(TIM_HandleTypeDef *htim) -{ - /* Check the TIM handle allocation */ - if (htim == NULL) - { - return HAL_ERROR; - } - - /* Check the parameters */ - assert_param(IS_TIM_INSTANCE(htim->Instance)); - assert_param(IS_TIM_COUNTER_MODE(htim->Init.CounterMode)); - assert_param(IS_TIM_CLOCKDIVISION_DIV(htim->Init.ClockDivision)); - assert_param(IS_TIM_AUTORELOAD_PRELOAD(htim->Init.AutoReloadPreload)); - - if (htim->State == HAL_TIM_STATE_RESET) - { - /* Allocate lock resource and initialize it */ - htim->Lock = HAL_UNLOCKED; - -#if (USE_HAL_TIM_REGISTER_CALLBACKS == 1) - /* Reset interrupt callbacks to legacy weak callbacks */ - TIM_ResetCallback(htim); - - if (htim->IC_MspInitCallback == NULL) - { - htim->IC_MspInitCallback = HAL_TIM_IC_MspInit; - } - /* Init the low level hardware : GPIO, CLOCK, NVIC */ - htim->IC_MspInitCallback(htim); -#else - /* Init the low level hardware : GPIO, CLOCK, NVIC and DMA */ - HAL_TIM_IC_MspInit(htim); -#endif /* USE_HAL_TIM_REGISTER_CALLBACKS */ - } - - /* Set the TIM state */ - htim->State = HAL_TIM_STATE_BUSY; - - /* Init the base time for the input capture */ - TIM_Base_SetConfig(htim->Instance, &htim->Init); - - /* Initialize the DMA burst operation state */ - htim->DMABurstState = HAL_DMA_BURST_STATE_READY; - - /* Initialize the TIM channels state */ - TIM_CHANNEL_STATE_SET_ALL(htim, HAL_TIM_CHANNEL_STATE_READY); - TIM_CHANNEL_N_STATE_SET_ALL(htim, HAL_TIM_CHANNEL_STATE_READY); - - /* Initialize the TIM state*/ - htim->State = HAL_TIM_STATE_READY; - - return HAL_OK; -} - -/** - * @brief DeInitializes the TIM peripheral - * @param htim TIM Input Capture handle - * @retval HAL status - */ -HAL_StatusTypeDef HAL_TIM_IC_DeInit(TIM_HandleTypeDef *htim) -{ - /* Check the parameters */ - assert_param(IS_TIM_INSTANCE(htim->Instance)); - - htim->State = HAL_TIM_STATE_BUSY; - - /* Disable the TIM Peripheral Clock */ - __HAL_TIM_DISABLE(htim); - -#if (USE_HAL_TIM_REGISTER_CALLBACKS == 1) - if (htim->IC_MspDeInitCallback == NULL) - { - htim->IC_MspDeInitCallback = HAL_TIM_IC_MspDeInit; - } - /* DeInit the low level hardware */ - htim->IC_MspDeInitCallback(htim); -#else - /* DeInit the low level hardware: GPIO, CLOCK, NVIC and DMA */ - HAL_TIM_IC_MspDeInit(htim); -#endif /* USE_HAL_TIM_REGISTER_CALLBACKS */ - - /* Change the DMA burst operation state */ - htim->DMABurstState = HAL_DMA_BURST_STATE_RESET; - - /* Change the TIM channels state */ - TIM_CHANNEL_STATE_SET_ALL(htim, HAL_TIM_CHANNEL_STATE_RESET); - TIM_CHANNEL_N_STATE_SET_ALL(htim, HAL_TIM_CHANNEL_STATE_RESET); - - /* Change TIM state */ - htim->State = HAL_TIM_STATE_RESET; - - /* Release Lock */ - __HAL_UNLOCK(htim); - - return HAL_OK; -} - -/** - * @brief Initializes the TIM Input Capture MSP. - * @param htim TIM Input Capture handle - * @retval None - */ -__weak void HAL_TIM_IC_MspInit(TIM_HandleTypeDef *htim) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(htim); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_TIM_IC_MspInit could be implemented in the user file - */ -} - -/** - * @brief DeInitializes TIM Input Capture MSP. - * @param htim TIM handle - * @retval None - */ -__weak void HAL_TIM_IC_MspDeInit(TIM_HandleTypeDef *htim) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(htim); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_TIM_IC_MspDeInit could be implemented in the user file - */ -} - -/** - * @brief Starts the TIM Input Capture measurement. - * @param htim TIM Input Capture handle - * @param Channel TIM Channels to be enabled - * This parameter can be one of the following values: - * @arg TIM_CHANNEL_1: TIM Channel 1 selected - * @arg TIM_CHANNEL_2: TIM Channel 2 selected - * @arg TIM_CHANNEL_3: TIM Channel 3 selected - * @arg TIM_CHANNEL_4: TIM Channel 4 selected - * @retval HAL status - */ -HAL_StatusTypeDef HAL_TIM_IC_Start(TIM_HandleTypeDef *htim, uint32_t Channel) -{ - uint32_t tmpsmcr; - HAL_TIM_ChannelStateTypeDef channel_state = TIM_CHANNEL_STATE_GET(htim, Channel); - HAL_TIM_ChannelStateTypeDef complementary_channel_state = TIM_CHANNEL_N_STATE_GET(htim, Channel); - - /* Check the parameters */ - assert_param(IS_TIM_CCX_INSTANCE(htim->Instance, Channel)); - - /* Check the TIM channel state */ - if ((channel_state != HAL_TIM_CHANNEL_STATE_READY) - || (complementary_channel_state != HAL_TIM_CHANNEL_STATE_READY)) - { - return HAL_ERROR; - } - - /* Set the TIM channel state */ - TIM_CHANNEL_STATE_SET(htim, Channel, HAL_TIM_CHANNEL_STATE_BUSY); - TIM_CHANNEL_N_STATE_SET(htim, Channel, HAL_TIM_CHANNEL_STATE_BUSY); - - /* Enable the Input Capture channel */ - TIM_CCxChannelCmd(htim->Instance, Channel, TIM_CCx_ENABLE); - - /* Enable the Peripheral, except in trigger mode where enable is automatically done with trigger */ - if (IS_TIM_SLAVE_INSTANCE(htim->Instance)) - { - tmpsmcr = htim->Instance->SMCR & TIM_SMCR_SMS; - if (!IS_TIM_SLAVEMODE_TRIGGER_ENABLED(tmpsmcr)) - { - __HAL_TIM_ENABLE(htim); - } - } - else - { - __HAL_TIM_ENABLE(htim); - } - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Stops the TIM Input Capture measurement. - * @param htim TIM Input Capture handle - * @param Channel TIM Channels to be disabled - * This parameter can be one of the following values: - * @arg TIM_CHANNEL_1: TIM Channel 1 selected - * @arg TIM_CHANNEL_2: TIM Channel 2 selected - * @arg TIM_CHANNEL_3: TIM Channel 3 selected - * @arg TIM_CHANNEL_4: TIM Channel 4 selected - * @retval HAL status - */ -HAL_StatusTypeDef HAL_TIM_IC_Stop(TIM_HandleTypeDef *htim, uint32_t Channel) -{ - /* Check the parameters */ - assert_param(IS_TIM_CCX_INSTANCE(htim->Instance, Channel)); - - /* Disable the Input Capture channel */ - TIM_CCxChannelCmd(htim->Instance, Channel, TIM_CCx_DISABLE); - - /* Disable the Peripheral */ - __HAL_TIM_DISABLE(htim); - - /* Set the TIM channel state */ - TIM_CHANNEL_STATE_SET(htim, Channel, HAL_TIM_CHANNEL_STATE_READY); - TIM_CHANNEL_N_STATE_SET(htim, Channel, HAL_TIM_CHANNEL_STATE_READY); - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Starts the TIM Input Capture measurement in interrupt mode. - * @param htim TIM Input Capture handle - * @param Channel TIM Channels to be enabled - * This parameter can be one of the following values: - * @arg TIM_CHANNEL_1: TIM Channel 1 selected - * @arg TIM_CHANNEL_2: TIM Channel 2 selected - * @arg TIM_CHANNEL_3: TIM Channel 3 selected - * @arg TIM_CHANNEL_4: TIM Channel 4 selected - * @retval HAL status - */ -HAL_StatusTypeDef HAL_TIM_IC_Start_IT(TIM_HandleTypeDef *htim, uint32_t Channel) -{ - HAL_StatusTypeDef status = HAL_OK; - uint32_t tmpsmcr; - - HAL_TIM_ChannelStateTypeDef channel_state = TIM_CHANNEL_STATE_GET(htim, Channel); - HAL_TIM_ChannelStateTypeDef complementary_channel_state = TIM_CHANNEL_N_STATE_GET(htim, Channel); - - /* Check the parameters */ - assert_param(IS_TIM_CCX_INSTANCE(htim->Instance, Channel)); - - /* Check the TIM channel state */ - if ((channel_state != HAL_TIM_CHANNEL_STATE_READY) - || (complementary_channel_state != HAL_TIM_CHANNEL_STATE_READY)) - { - return HAL_ERROR; - } - - /* Set the TIM channel state */ - TIM_CHANNEL_STATE_SET(htim, Channel, HAL_TIM_CHANNEL_STATE_BUSY); - TIM_CHANNEL_N_STATE_SET(htim, Channel, HAL_TIM_CHANNEL_STATE_BUSY); - - switch (Channel) - { - case TIM_CHANNEL_1: - { - /* Enable the TIM Capture/Compare 1 interrupt */ - __HAL_TIM_ENABLE_IT(htim, TIM_IT_CC1); - break; - } - - case TIM_CHANNEL_2: - { - /* Enable the TIM Capture/Compare 2 interrupt */ - __HAL_TIM_ENABLE_IT(htim, TIM_IT_CC2); - break; - } - - case TIM_CHANNEL_3: - { - /* Enable the TIM Capture/Compare 3 interrupt */ - __HAL_TIM_ENABLE_IT(htim, TIM_IT_CC3); - break; - } - - case TIM_CHANNEL_4: - { - /* Enable the TIM Capture/Compare 4 interrupt */ - __HAL_TIM_ENABLE_IT(htim, TIM_IT_CC4); - break; - } - - default: - status = HAL_ERROR; - break; - } - - if (status == HAL_OK) - { - /* Enable the Input Capture channel */ - TIM_CCxChannelCmd(htim->Instance, Channel, TIM_CCx_ENABLE); - - /* Enable the Peripheral, except in trigger mode where enable is automatically done with trigger */ - if (IS_TIM_SLAVE_INSTANCE(htim->Instance)) - { - tmpsmcr = htim->Instance->SMCR & TIM_SMCR_SMS; - if (!IS_TIM_SLAVEMODE_TRIGGER_ENABLED(tmpsmcr)) - { - __HAL_TIM_ENABLE(htim); - } - } - else - { - __HAL_TIM_ENABLE(htim); - } - } - - /* Return function status */ - return status; -} - -/** - * @brief Stops the TIM Input Capture measurement in interrupt mode. - * @param htim TIM Input Capture handle - * @param Channel TIM Channels to be disabled - * This parameter can be one of the following values: - * @arg TIM_CHANNEL_1: TIM Channel 1 selected - * @arg TIM_CHANNEL_2: TIM Channel 2 selected - * @arg TIM_CHANNEL_3: TIM Channel 3 selected - * @arg TIM_CHANNEL_4: TIM Channel 4 selected - * @retval HAL status - */ -HAL_StatusTypeDef HAL_TIM_IC_Stop_IT(TIM_HandleTypeDef *htim, uint32_t Channel) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Check the parameters */ - assert_param(IS_TIM_CCX_INSTANCE(htim->Instance, Channel)); - - switch (Channel) - { - case TIM_CHANNEL_1: - { - /* Disable the TIM Capture/Compare 1 interrupt */ - __HAL_TIM_DISABLE_IT(htim, TIM_IT_CC1); - break; - } - - case TIM_CHANNEL_2: - { - /* Disable the TIM Capture/Compare 2 interrupt */ - __HAL_TIM_DISABLE_IT(htim, TIM_IT_CC2); - break; - } - - case TIM_CHANNEL_3: - { - /* Disable the TIM Capture/Compare 3 interrupt */ - __HAL_TIM_DISABLE_IT(htim, TIM_IT_CC3); - break; - } - - case TIM_CHANNEL_4: - { - /* Disable the TIM Capture/Compare 4 interrupt */ - __HAL_TIM_DISABLE_IT(htim, TIM_IT_CC4); - break; - } - - default: - status = HAL_ERROR; - break; - } - - if (status == HAL_OK) - { - /* Disable the Input Capture channel */ - TIM_CCxChannelCmd(htim->Instance, Channel, TIM_CCx_DISABLE); - - /* Disable the Peripheral */ - __HAL_TIM_DISABLE(htim); - - /* Set the TIM channel state */ - TIM_CHANNEL_STATE_SET(htim, Channel, HAL_TIM_CHANNEL_STATE_READY); - TIM_CHANNEL_N_STATE_SET(htim, Channel, HAL_TIM_CHANNEL_STATE_READY); - } - - /* Return function status */ - return status; -} - -/** - * @brief Starts the TIM Input Capture measurement in DMA mode. - * @param htim TIM Input Capture handle - * @param Channel TIM Channels to be enabled - * This parameter can be one of the following values: - * @arg TIM_CHANNEL_1: TIM Channel 1 selected - * @arg TIM_CHANNEL_2: TIM Channel 2 selected - * @arg TIM_CHANNEL_3: TIM Channel 3 selected - * @arg TIM_CHANNEL_4: TIM Channel 4 selected - * @param pData The destination Buffer address. - * @param Length The length of data to be transferred from TIM peripheral to memory. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_TIM_IC_Start_DMA(TIM_HandleTypeDef *htim, uint32_t Channel, uint32_t *pData, uint16_t Length) -{ - HAL_StatusTypeDef status = HAL_OK; - uint32_t tmpsmcr; - - HAL_TIM_ChannelStateTypeDef channel_state = TIM_CHANNEL_STATE_GET(htim, Channel); - HAL_TIM_ChannelStateTypeDef complementary_channel_state = TIM_CHANNEL_N_STATE_GET(htim, Channel); - - /* Check the parameters */ - assert_param(IS_TIM_CCX_INSTANCE(htim->Instance, Channel)); - assert_param(IS_TIM_DMA_CC_INSTANCE(htim->Instance)); - - /* Set the TIM channel state */ - if ((channel_state == HAL_TIM_CHANNEL_STATE_BUSY) - || (complementary_channel_state == HAL_TIM_CHANNEL_STATE_BUSY)) - { - return HAL_BUSY; - } - else if ((channel_state == HAL_TIM_CHANNEL_STATE_READY) - && (complementary_channel_state == HAL_TIM_CHANNEL_STATE_READY)) - { - if ((pData == NULL) && (Length > 0U)) - { - return HAL_ERROR; - } - else - { - TIM_CHANNEL_STATE_SET(htim, Channel, HAL_TIM_CHANNEL_STATE_BUSY); - TIM_CHANNEL_N_STATE_SET(htim, Channel, HAL_TIM_CHANNEL_STATE_BUSY); - } - } - else - { - return HAL_ERROR; - } - - /* Enable the Input Capture channel */ - TIM_CCxChannelCmd(htim->Instance, Channel, TIM_CCx_ENABLE); - - switch (Channel) - { - case TIM_CHANNEL_1: - { - /* Set the DMA capture callbacks */ - htim->hdma[TIM_DMA_ID_CC1]->XferCpltCallback = TIM_DMACaptureCplt; - htim->hdma[TIM_DMA_ID_CC1]->XferHalfCpltCallback = TIM_DMACaptureHalfCplt; - - /* Set the DMA error callback */ - htim->hdma[TIM_DMA_ID_CC1]->XferErrorCallback = TIM_DMAError ; - - /* Enable the DMA stream */ - if (HAL_DMA_Start_IT(htim->hdma[TIM_DMA_ID_CC1], (uint32_t)&htim->Instance->CCR1, (uint32_t)pData, - Length) != HAL_OK) - { - /* Return error status */ - return HAL_ERROR; - } - /* Enable the TIM Capture/Compare 1 DMA request */ - __HAL_TIM_ENABLE_DMA(htim, TIM_DMA_CC1); - break; - } - - case TIM_CHANNEL_2: - { - /* Set the DMA capture callbacks */ - htim->hdma[TIM_DMA_ID_CC2]->XferCpltCallback = TIM_DMACaptureCplt; - htim->hdma[TIM_DMA_ID_CC2]->XferHalfCpltCallback = TIM_DMACaptureHalfCplt; - - /* Set the DMA error callback */ - htim->hdma[TIM_DMA_ID_CC2]->XferErrorCallback = TIM_DMAError ; - - /* Enable the DMA stream */ - if (HAL_DMA_Start_IT(htim->hdma[TIM_DMA_ID_CC2], (uint32_t)&htim->Instance->CCR2, (uint32_t)pData, - Length) != HAL_OK) - { - /* Return error status */ - return HAL_ERROR; - } - /* Enable the TIM Capture/Compare 2 DMA request */ - __HAL_TIM_ENABLE_DMA(htim, TIM_DMA_CC2); - break; - } - - case TIM_CHANNEL_3: - { - /* Set the DMA capture callbacks */ - htim->hdma[TIM_DMA_ID_CC3]->XferCpltCallback = TIM_DMACaptureCplt; - htim->hdma[TIM_DMA_ID_CC3]->XferHalfCpltCallback = TIM_DMACaptureHalfCplt; - - /* Set the DMA error callback */ - htim->hdma[TIM_DMA_ID_CC3]->XferErrorCallback = TIM_DMAError ; - - /* Enable the DMA stream */ - if (HAL_DMA_Start_IT(htim->hdma[TIM_DMA_ID_CC3], (uint32_t)&htim->Instance->CCR3, (uint32_t)pData, - Length) != HAL_OK) - { - /* Return error status */ - return HAL_ERROR; - } - /* Enable the TIM Capture/Compare 3 DMA request */ - __HAL_TIM_ENABLE_DMA(htim, TIM_DMA_CC3); - break; - } - - case TIM_CHANNEL_4: - { - /* Set the DMA capture callbacks */ - htim->hdma[TIM_DMA_ID_CC4]->XferCpltCallback = TIM_DMACaptureCplt; - htim->hdma[TIM_DMA_ID_CC4]->XferHalfCpltCallback = TIM_DMACaptureHalfCplt; - - /* Set the DMA error callback */ - htim->hdma[TIM_DMA_ID_CC4]->XferErrorCallback = TIM_DMAError ; - - /* Enable the DMA stream */ - if (HAL_DMA_Start_IT(htim->hdma[TIM_DMA_ID_CC4], (uint32_t)&htim->Instance->CCR4, (uint32_t)pData, - Length) != HAL_OK) - { - /* Return error status */ - return HAL_ERROR; - } - /* Enable the TIM Capture/Compare 4 DMA request */ - __HAL_TIM_ENABLE_DMA(htim, TIM_DMA_CC4); - break; - } - - default: - status = HAL_ERROR; - break; - } - - /* Enable the Peripheral, except in trigger mode where enable is automatically done with trigger */ - if (IS_TIM_SLAVE_INSTANCE(htim->Instance)) - { - tmpsmcr = htim->Instance->SMCR & TIM_SMCR_SMS; - if (!IS_TIM_SLAVEMODE_TRIGGER_ENABLED(tmpsmcr)) - { - __HAL_TIM_ENABLE(htim); - } - } - else - { - __HAL_TIM_ENABLE(htim); - } - - /* Return function status */ - return status; -} - -/** - * @brief Stops the TIM Input Capture measurement in DMA mode. - * @param htim TIM Input Capture handle - * @param Channel TIM Channels to be disabled - * This parameter can be one of the following values: - * @arg TIM_CHANNEL_1: TIM Channel 1 selected - * @arg TIM_CHANNEL_2: TIM Channel 2 selected - * @arg TIM_CHANNEL_3: TIM Channel 3 selected - * @arg TIM_CHANNEL_4: TIM Channel 4 selected - * @retval HAL status - */ -HAL_StatusTypeDef HAL_TIM_IC_Stop_DMA(TIM_HandleTypeDef *htim, uint32_t Channel) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Check the parameters */ - assert_param(IS_TIM_CCX_INSTANCE(htim->Instance, Channel)); - assert_param(IS_TIM_DMA_CC_INSTANCE(htim->Instance)); - - /* Disable the Input Capture channel */ - TIM_CCxChannelCmd(htim->Instance, Channel, TIM_CCx_DISABLE); - - switch (Channel) - { - case TIM_CHANNEL_1: - { - /* Disable the TIM Capture/Compare 1 DMA request */ - __HAL_TIM_DISABLE_DMA(htim, TIM_DMA_CC1); - (void)HAL_DMA_Abort_IT(htim->hdma[TIM_DMA_ID_CC1]); - break; - } - - case TIM_CHANNEL_2: - { - /* Disable the TIM Capture/Compare 2 DMA request */ - __HAL_TIM_DISABLE_DMA(htim, TIM_DMA_CC2); - (void)HAL_DMA_Abort_IT(htim->hdma[TIM_DMA_ID_CC2]); - break; - } - - case TIM_CHANNEL_3: - { - /* Disable the TIM Capture/Compare 3 DMA request */ - __HAL_TIM_DISABLE_DMA(htim, TIM_DMA_CC3); - (void)HAL_DMA_Abort_IT(htim->hdma[TIM_DMA_ID_CC3]); - break; - } - - case TIM_CHANNEL_4: - { - /* Disable the TIM Capture/Compare 4 DMA request */ - __HAL_TIM_DISABLE_DMA(htim, TIM_DMA_CC4); - (void)HAL_DMA_Abort_IT(htim->hdma[TIM_DMA_ID_CC4]); - break; - } - - default: - status = HAL_ERROR; - break; - } - - if (status == HAL_OK) - { - /* Disable the Peripheral */ - __HAL_TIM_DISABLE(htim); - - /* Set the TIM channel state */ - TIM_CHANNEL_STATE_SET(htim, Channel, HAL_TIM_CHANNEL_STATE_READY); - TIM_CHANNEL_N_STATE_SET(htim, Channel, HAL_TIM_CHANNEL_STATE_READY); - } - - /* Return function status */ - return status; -} -/** - * @} - */ - -/** @defgroup TIM_Exported_Functions_Group5 TIM One Pulse functions - * @brief TIM One Pulse functions - * -@verbatim - ============================================================================== - ##### TIM One Pulse functions ##### - ============================================================================== - [..] - This section provides functions allowing to: - (+) Initialize and configure the TIM One Pulse. - (+) De-initialize the TIM One Pulse. - (+) Start the TIM One Pulse. - (+) Stop the TIM One Pulse. - (+) Start the TIM One Pulse and enable interrupt. - (+) Stop the TIM One Pulse and disable interrupt. - (+) Start the TIM One Pulse and enable DMA transfer. - (+) Stop the TIM One Pulse and disable DMA transfer. - -@endverbatim - * @{ - */ -/** - * @brief Initializes the TIM One Pulse Time Base according to the specified - * parameters in the TIM_HandleTypeDef and initializes the associated handle. - * @note Switching from Center Aligned counter mode to Edge counter mode (or reverse) - * requires a timer reset to avoid unexpected direction - * due to DIR bit readonly in center aligned mode. - * Ex: call @ref HAL_TIM_OnePulse_DeInit() before HAL_TIM_OnePulse_Init() - * @note When the timer instance is initialized in One Pulse mode, timer - * channels 1 and channel 2 are reserved and cannot be used for other - * purpose. - * @param htim TIM One Pulse handle - * @param OnePulseMode Select the One pulse mode. - * This parameter can be one of the following values: - * @arg TIM_OPMODE_SINGLE: Only one pulse will be generated. - * @arg TIM_OPMODE_REPETITIVE: Repetitive pulses will be generated. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_TIM_OnePulse_Init(TIM_HandleTypeDef *htim, uint32_t OnePulseMode) -{ - /* Check the TIM handle allocation */ - if (htim == NULL) - { - return HAL_ERROR; - } - - /* Check the parameters */ - assert_param(IS_TIM_INSTANCE(htim->Instance)); - assert_param(IS_TIM_COUNTER_MODE(htim->Init.CounterMode)); - assert_param(IS_TIM_CLOCKDIVISION_DIV(htim->Init.ClockDivision)); - assert_param(IS_TIM_OPM_MODE(OnePulseMode)); - assert_param(IS_TIM_AUTORELOAD_PRELOAD(htim->Init.AutoReloadPreload)); - - if (htim->State == HAL_TIM_STATE_RESET) - { - /* Allocate lock resource and initialize it */ - htim->Lock = HAL_UNLOCKED; - -#if (USE_HAL_TIM_REGISTER_CALLBACKS == 1) - /* Reset interrupt callbacks to legacy weak callbacks */ - TIM_ResetCallback(htim); - - if (htim->OnePulse_MspInitCallback == NULL) - { - htim->OnePulse_MspInitCallback = HAL_TIM_OnePulse_MspInit; - } - /* Init the low level hardware : GPIO, CLOCK, NVIC */ - htim->OnePulse_MspInitCallback(htim); -#else - /* Init the low level hardware : GPIO, CLOCK, NVIC and DMA */ - HAL_TIM_OnePulse_MspInit(htim); -#endif /* USE_HAL_TIM_REGISTER_CALLBACKS */ - } - - /* Set the TIM state */ - htim->State = HAL_TIM_STATE_BUSY; - - /* Configure the Time base in the One Pulse Mode */ - TIM_Base_SetConfig(htim->Instance, &htim->Init); - - /* Reset the OPM Bit */ - htim->Instance->CR1 &= ~TIM_CR1_OPM; - - /* Configure the OPM Mode */ - htim->Instance->CR1 |= OnePulseMode; - - /* Initialize the DMA burst operation state */ - htim->DMABurstState = HAL_DMA_BURST_STATE_READY; - - /* Initialize the TIM channels state */ - TIM_CHANNEL_STATE_SET(htim, TIM_CHANNEL_1, HAL_TIM_CHANNEL_STATE_READY); - TIM_CHANNEL_STATE_SET(htim, TIM_CHANNEL_2, HAL_TIM_CHANNEL_STATE_READY); - TIM_CHANNEL_N_STATE_SET(htim, TIM_CHANNEL_1, HAL_TIM_CHANNEL_STATE_READY); - TIM_CHANNEL_N_STATE_SET(htim, TIM_CHANNEL_2, HAL_TIM_CHANNEL_STATE_READY); - - /* Initialize the TIM state*/ - htim->State = HAL_TIM_STATE_READY; - - return HAL_OK; -} - -/** - * @brief DeInitializes the TIM One Pulse - * @param htim TIM One Pulse handle - * @retval HAL status - */ -HAL_StatusTypeDef HAL_TIM_OnePulse_DeInit(TIM_HandleTypeDef *htim) -{ - /* Check the parameters */ - assert_param(IS_TIM_INSTANCE(htim->Instance)); - - htim->State = HAL_TIM_STATE_BUSY; - - /* Disable the TIM Peripheral Clock */ - __HAL_TIM_DISABLE(htim); - -#if (USE_HAL_TIM_REGISTER_CALLBACKS == 1) - if (htim->OnePulse_MspDeInitCallback == NULL) - { - htim->OnePulse_MspDeInitCallback = HAL_TIM_OnePulse_MspDeInit; - } - /* DeInit the low level hardware */ - htim->OnePulse_MspDeInitCallback(htim); -#else - /* DeInit the low level hardware: GPIO, CLOCK, NVIC */ - HAL_TIM_OnePulse_MspDeInit(htim); -#endif /* USE_HAL_TIM_REGISTER_CALLBACKS */ - - /* Change the DMA burst operation state */ - htim->DMABurstState = HAL_DMA_BURST_STATE_RESET; - - /* Set the TIM channel state */ - TIM_CHANNEL_STATE_SET(htim, TIM_CHANNEL_1, HAL_TIM_CHANNEL_STATE_RESET); - TIM_CHANNEL_STATE_SET(htim, TIM_CHANNEL_2, HAL_TIM_CHANNEL_STATE_RESET); - TIM_CHANNEL_N_STATE_SET(htim, TIM_CHANNEL_1, HAL_TIM_CHANNEL_STATE_RESET); - TIM_CHANNEL_N_STATE_SET(htim, TIM_CHANNEL_2, HAL_TIM_CHANNEL_STATE_RESET); - - /* Change TIM state */ - htim->State = HAL_TIM_STATE_RESET; - - /* Release Lock */ - __HAL_UNLOCK(htim); - - return HAL_OK; -} - -/** - * @brief Initializes the TIM One Pulse MSP. - * @param htim TIM One Pulse handle - * @retval None - */ -__weak void HAL_TIM_OnePulse_MspInit(TIM_HandleTypeDef *htim) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(htim); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_TIM_OnePulse_MspInit could be implemented in the user file - */ -} - -/** - * @brief DeInitializes TIM One Pulse MSP. - * @param htim TIM One Pulse handle - * @retval None - */ -__weak void HAL_TIM_OnePulse_MspDeInit(TIM_HandleTypeDef *htim) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(htim); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_TIM_OnePulse_MspDeInit could be implemented in the user file - */ -} - -/** - * @brief Starts the TIM One Pulse signal generation. - * @note Though OutputChannel parameter is deprecated and ignored by the function - * it has been kept to avoid HAL_TIM API compatibility break. - * @note The pulse output channel is determined when calling - * @ref HAL_TIM_OnePulse_ConfigChannel(). - * @param htim TIM One Pulse handle - * @param OutputChannel See note above - * @retval HAL status - */ -HAL_StatusTypeDef HAL_TIM_OnePulse_Start(TIM_HandleTypeDef *htim, uint32_t OutputChannel) -{ - HAL_TIM_ChannelStateTypeDef channel_1_state = TIM_CHANNEL_STATE_GET(htim, TIM_CHANNEL_1); - HAL_TIM_ChannelStateTypeDef channel_2_state = TIM_CHANNEL_STATE_GET(htim, TIM_CHANNEL_2); - HAL_TIM_ChannelStateTypeDef complementary_channel_1_state = TIM_CHANNEL_N_STATE_GET(htim, TIM_CHANNEL_1); - HAL_TIM_ChannelStateTypeDef complementary_channel_2_state = TIM_CHANNEL_N_STATE_GET(htim, TIM_CHANNEL_2); - - /* Prevent unused argument(s) compilation warning */ - UNUSED(OutputChannel); - - /* Check the TIM channels state */ - if ((channel_1_state != HAL_TIM_CHANNEL_STATE_READY) - || (channel_2_state != HAL_TIM_CHANNEL_STATE_READY) - || (complementary_channel_1_state != HAL_TIM_CHANNEL_STATE_READY) - || (complementary_channel_2_state != HAL_TIM_CHANNEL_STATE_READY)) - { - return HAL_ERROR; - } - - /* Set the TIM channels state */ - TIM_CHANNEL_STATE_SET(htim, TIM_CHANNEL_1, HAL_TIM_CHANNEL_STATE_BUSY); - TIM_CHANNEL_STATE_SET(htim, TIM_CHANNEL_2, HAL_TIM_CHANNEL_STATE_BUSY); - TIM_CHANNEL_N_STATE_SET(htim, TIM_CHANNEL_1, HAL_TIM_CHANNEL_STATE_BUSY); - TIM_CHANNEL_N_STATE_SET(htim, TIM_CHANNEL_2, HAL_TIM_CHANNEL_STATE_BUSY); - - /* Enable the Capture compare and the Input Capture channels - (in the OPM Mode the two possible channels that can be used are TIM_CHANNEL_1 and TIM_CHANNEL_2) - if TIM_CHANNEL_1 is used as output, the TIM_CHANNEL_2 will be used as input and - if TIM_CHANNEL_1 is used as input, the TIM_CHANNEL_2 will be used as output - whatever the combination, the TIM_CHANNEL_1 and TIM_CHANNEL_2 should be enabled together - - No need to enable the counter, it's enabled automatically by hardware - (the counter starts in response to a stimulus and generate a pulse */ - - TIM_CCxChannelCmd(htim->Instance, TIM_CHANNEL_1, TIM_CCx_ENABLE); - TIM_CCxChannelCmd(htim->Instance, TIM_CHANNEL_2, TIM_CCx_ENABLE); - - if (IS_TIM_BREAK_INSTANCE(htim->Instance) != RESET) - { - /* Enable the main output */ - __HAL_TIM_MOE_ENABLE(htim); - } - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Stops the TIM One Pulse signal generation. - * @note Though OutputChannel parameter is deprecated and ignored by the function - * it has been kept to avoid HAL_TIM API compatibility break. - * @note The pulse output channel is determined when calling - * @ref HAL_TIM_OnePulse_ConfigChannel(). - * @param htim TIM One Pulse handle - * @param OutputChannel See note above - * @retval HAL status - */ -HAL_StatusTypeDef HAL_TIM_OnePulse_Stop(TIM_HandleTypeDef *htim, uint32_t OutputChannel) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(OutputChannel); - - /* Disable the Capture compare and the Input Capture channels - (in the OPM Mode the two possible channels that can be used are TIM_CHANNEL_1 and TIM_CHANNEL_2) - if TIM_CHANNEL_1 is used as output, the TIM_CHANNEL_2 will be used as input and - if TIM_CHANNEL_1 is used as input, the TIM_CHANNEL_2 will be used as output - whatever the combination, the TIM_CHANNEL_1 and TIM_CHANNEL_2 should be disabled together */ - - TIM_CCxChannelCmd(htim->Instance, TIM_CHANNEL_1, TIM_CCx_DISABLE); - TIM_CCxChannelCmd(htim->Instance, TIM_CHANNEL_2, TIM_CCx_DISABLE); - - if (IS_TIM_BREAK_INSTANCE(htim->Instance) != RESET) - { - /* Disable the Main Output */ - __HAL_TIM_MOE_DISABLE(htim); - } - - /* Disable the Peripheral */ - __HAL_TIM_DISABLE(htim); - - /* Set the TIM channels state */ - TIM_CHANNEL_STATE_SET(htim, TIM_CHANNEL_1, HAL_TIM_CHANNEL_STATE_READY); - TIM_CHANNEL_STATE_SET(htim, TIM_CHANNEL_2, HAL_TIM_CHANNEL_STATE_READY); - TIM_CHANNEL_N_STATE_SET(htim, TIM_CHANNEL_1, HAL_TIM_CHANNEL_STATE_READY); - TIM_CHANNEL_N_STATE_SET(htim, TIM_CHANNEL_2, HAL_TIM_CHANNEL_STATE_READY); - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Starts the TIM One Pulse signal generation in interrupt mode. - * @note Though OutputChannel parameter is deprecated and ignored by the function - * it has been kept to avoid HAL_TIM API compatibility break. - * @note The pulse output channel is determined when calling - * @ref HAL_TIM_OnePulse_ConfigChannel(). - * @param htim TIM One Pulse handle - * @param OutputChannel See note above - * @retval HAL status - */ -HAL_StatusTypeDef HAL_TIM_OnePulse_Start_IT(TIM_HandleTypeDef *htim, uint32_t OutputChannel) -{ - HAL_TIM_ChannelStateTypeDef channel_1_state = TIM_CHANNEL_STATE_GET(htim, TIM_CHANNEL_1); - HAL_TIM_ChannelStateTypeDef channel_2_state = TIM_CHANNEL_STATE_GET(htim, TIM_CHANNEL_2); - HAL_TIM_ChannelStateTypeDef complementary_channel_1_state = TIM_CHANNEL_N_STATE_GET(htim, TIM_CHANNEL_1); - HAL_TIM_ChannelStateTypeDef complementary_channel_2_state = TIM_CHANNEL_N_STATE_GET(htim, TIM_CHANNEL_2); - - /* Prevent unused argument(s) compilation warning */ - UNUSED(OutputChannel); - - /* Check the TIM channels state */ - if ((channel_1_state != HAL_TIM_CHANNEL_STATE_READY) - || (channel_2_state != HAL_TIM_CHANNEL_STATE_READY) - || (complementary_channel_1_state != HAL_TIM_CHANNEL_STATE_READY) - || (complementary_channel_2_state != HAL_TIM_CHANNEL_STATE_READY)) - { - return HAL_ERROR; - } - - /* Set the TIM channels state */ - TIM_CHANNEL_STATE_SET(htim, TIM_CHANNEL_1, HAL_TIM_CHANNEL_STATE_BUSY); - TIM_CHANNEL_STATE_SET(htim, TIM_CHANNEL_2, HAL_TIM_CHANNEL_STATE_BUSY); - TIM_CHANNEL_N_STATE_SET(htim, TIM_CHANNEL_1, HAL_TIM_CHANNEL_STATE_BUSY); - TIM_CHANNEL_N_STATE_SET(htim, TIM_CHANNEL_2, HAL_TIM_CHANNEL_STATE_BUSY); - - /* Enable the Capture compare and the Input Capture channels - (in the OPM Mode the two possible channels that can be used are TIM_CHANNEL_1 and TIM_CHANNEL_2) - if TIM_CHANNEL_1 is used as output, the TIM_CHANNEL_2 will be used as input and - if TIM_CHANNEL_1 is used as input, the TIM_CHANNEL_2 will be used as output - whatever the combination, the TIM_CHANNEL_1 and TIM_CHANNEL_2 should be enabled together - - No need to enable the counter, it's enabled automatically by hardware - (the counter starts in response to a stimulus and generate a pulse */ - - /* Enable the TIM Capture/Compare 1 interrupt */ - __HAL_TIM_ENABLE_IT(htim, TIM_IT_CC1); - - /* Enable the TIM Capture/Compare 2 interrupt */ - __HAL_TIM_ENABLE_IT(htim, TIM_IT_CC2); - - TIM_CCxChannelCmd(htim->Instance, TIM_CHANNEL_1, TIM_CCx_ENABLE); - TIM_CCxChannelCmd(htim->Instance, TIM_CHANNEL_2, TIM_CCx_ENABLE); - - if (IS_TIM_BREAK_INSTANCE(htim->Instance) != RESET) - { - /* Enable the main output */ - __HAL_TIM_MOE_ENABLE(htim); - } - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Stops the TIM One Pulse signal generation in interrupt mode. - * @note Though OutputChannel parameter is deprecated and ignored by the function - * it has been kept to avoid HAL_TIM API compatibility break. - * @note The pulse output channel is determined when calling - * @ref HAL_TIM_OnePulse_ConfigChannel(). - * @param htim TIM One Pulse handle - * @param OutputChannel See note above - * @retval HAL status - */ -HAL_StatusTypeDef HAL_TIM_OnePulse_Stop_IT(TIM_HandleTypeDef *htim, uint32_t OutputChannel) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(OutputChannel); - - /* Disable the TIM Capture/Compare 1 interrupt */ - __HAL_TIM_DISABLE_IT(htim, TIM_IT_CC1); - - /* Disable the TIM Capture/Compare 2 interrupt */ - __HAL_TIM_DISABLE_IT(htim, TIM_IT_CC2); - - /* Disable the Capture compare and the Input Capture channels - (in the OPM Mode the two possible channels that can be used are TIM_CHANNEL_1 and TIM_CHANNEL_2) - if TIM_CHANNEL_1 is used as output, the TIM_CHANNEL_2 will be used as input and - if TIM_CHANNEL_1 is used as input, the TIM_CHANNEL_2 will be used as output - whatever the combination, the TIM_CHANNEL_1 and TIM_CHANNEL_2 should be disabled together */ - TIM_CCxChannelCmd(htim->Instance, TIM_CHANNEL_1, TIM_CCx_DISABLE); - TIM_CCxChannelCmd(htim->Instance, TIM_CHANNEL_2, TIM_CCx_DISABLE); - - if (IS_TIM_BREAK_INSTANCE(htim->Instance) != RESET) - { - /* Disable the Main Output */ - __HAL_TIM_MOE_DISABLE(htim); - } - - /* Disable the Peripheral */ - __HAL_TIM_DISABLE(htim); - - /* Set the TIM channels state */ - TIM_CHANNEL_STATE_SET(htim, TIM_CHANNEL_1, HAL_TIM_CHANNEL_STATE_READY); - TIM_CHANNEL_STATE_SET(htim, TIM_CHANNEL_2, HAL_TIM_CHANNEL_STATE_READY); - TIM_CHANNEL_N_STATE_SET(htim, TIM_CHANNEL_1, HAL_TIM_CHANNEL_STATE_READY); - TIM_CHANNEL_N_STATE_SET(htim, TIM_CHANNEL_2, HAL_TIM_CHANNEL_STATE_READY); - - /* Return function status */ - return HAL_OK; -} - -/** - * @} - */ - -/** @defgroup TIM_Exported_Functions_Group6 TIM Encoder functions - * @brief TIM Encoder functions - * -@verbatim - ============================================================================== - ##### TIM Encoder functions ##### - ============================================================================== - [..] - This section provides functions allowing to: - (+) Initialize and configure the TIM Encoder. - (+) De-initialize the TIM Encoder. - (+) Start the TIM Encoder. - (+) Stop the TIM Encoder. - (+) Start the TIM Encoder and enable interrupt. - (+) Stop the TIM Encoder and disable interrupt. - (+) Start the TIM Encoder and enable DMA transfer. - (+) Stop the TIM Encoder and disable DMA transfer. - -@endverbatim - * @{ - */ -/** - * @brief Initializes the TIM Encoder Interface and initialize the associated handle. - * @note Switching from Center Aligned counter mode to Edge counter mode (or reverse) - * requires a timer reset to avoid unexpected direction - * due to DIR bit readonly in center aligned mode. - * Ex: call @ref HAL_TIM_Encoder_DeInit() before HAL_TIM_Encoder_Init() - * @note Encoder mode and External clock mode 2 are not compatible and must not be selected together - * Ex: A call for @ref HAL_TIM_Encoder_Init will erase the settings of @ref HAL_TIM_ConfigClockSource - * using TIM_CLOCKSOURCE_ETRMODE2 and vice versa - * @note When the timer instance is initialized in Encoder mode, timer - * channels 1 and channel 2 are reserved and cannot be used for other - * purpose. - * @param htim TIM Encoder Interface handle - * @param sConfig TIM Encoder Interface configuration structure - * @retval HAL status - */ -HAL_StatusTypeDef HAL_TIM_Encoder_Init(TIM_HandleTypeDef *htim, TIM_Encoder_InitTypeDef *sConfig) -{ - uint32_t tmpsmcr; - uint32_t tmpccmr1; - uint32_t tmpccer; - - /* Check the TIM handle allocation */ - if (htim == NULL) - { - return HAL_ERROR; - } - - /* Check the parameters */ - assert_param(IS_TIM_ENCODER_INTERFACE_INSTANCE(htim->Instance)); - assert_param(IS_TIM_COUNTER_MODE(htim->Init.CounterMode)); - assert_param(IS_TIM_CLOCKDIVISION_DIV(htim->Init.ClockDivision)); - assert_param(IS_TIM_AUTORELOAD_PRELOAD(htim->Init.AutoReloadPreload)); - assert_param(IS_TIM_ENCODER_MODE(sConfig->EncoderMode)); - assert_param(IS_TIM_IC_SELECTION(sConfig->IC1Selection)); - assert_param(IS_TIM_IC_SELECTION(sConfig->IC2Selection)); - assert_param(IS_TIM_ENCODERINPUT_POLARITY(sConfig->IC1Polarity)); - assert_param(IS_TIM_ENCODERINPUT_POLARITY(sConfig->IC2Polarity)); - assert_param(IS_TIM_IC_PRESCALER(sConfig->IC1Prescaler)); - assert_param(IS_TIM_IC_PRESCALER(sConfig->IC2Prescaler)); - assert_param(IS_TIM_IC_FILTER(sConfig->IC1Filter)); - assert_param(IS_TIM_IC_FILTER(sConfig->IC2Filter)); - - if (htim->State == HAL_TIM_STATE_RESET) - { - /* Allocate lock resource and initialize it */ - htim->Lock = HAL_UNLOCKED; - -#if (USE_HAL_TIM_REGISTER_CALLBACKS == 1) - /* Reset interrupt callbacks to legacy weak callbacks */ - TIM_ResetCallback(htim); - - if (htim->Encoder_MspInitCallback == NULL) - { - htim->Encoder_MspInitCallback = HAL_TIM_Encoder_MspInit; - } - /* Init the low level hardware : GPIO, CLOCK, NVIC */ - htim->Encoder_MspInitCallback(htim); -#else - /* Init the low level hardware : GPIO, CLOCK, NVIC and DMA */ - HAL_TIM_Encoder_MspInit(htim); -#endif /* USE_HAL_TIM_REGISTER_CALLBACKS */ - } - - /* Set the TIM state */ - htim->State = HAL_TIM_STATE_BUSY; - - /* Reset the SMS and ECE bits */ - htim->Instance->SMCR &= ~(TIM_SMCR_SMS | TIM_SMCR_ECE); - - /* Configure the Time base in the Encoder Mode */ - TIM_Base_SetConfig(htim->Instance, &htim->Init); - - /* Get the TIMx SMCR register value */ - tmpsmcr = htim->Instance->SMCR; - - /* Get the TIMx CCMR1 register value */ - tmpccmr1 = htim->Instance->CCMR1; - - /* Get the TIMx CCER register value */ - tmpccer = htim->Instance->CCER; - - /* Set the encoder Mode */ - tmpsmcr |= sConfig->EncoderMode; - - /* Select the Capture Compare 1 and the Capture Compare 2 as input */ - tmpccmr1 &= ~(TIM_CCMR1_CC1S | TIM_CCMR1_CC2S); - tmpccmr1 |= (sConfig->IC1Selection | (sConfig->IC2Selection << 8U)); - - /* Set the Capture Compare 1 and the Capture Compare 2 prescalers and filters */ - tmpccmr1 &= ~(TIM_CCMR1_IC1PSC | TIM_CCMR1_IC2PSC); - tmpccmr1 &= ~(TIM_CCMR1_IC1F | TIM_CCMR1_IC2F); - tmpccmr1 |= sConfig->IC1Prescaler | (sConfig->IC2Prescaler << 8U); - tmpccmr1 |= (sConfig->IC1Filter << 4U) | (sConfig->IC2Filter << 12U); - - /* Set the TI1 and the TI2 Polarities */ - tmpccer &= ~(TIM_CCER_CC1P | TIM_CCER_CC2P); - tmpccer &= ~(TIM_CCER_CC1NP | TIM_CCER_CC2NP); - tmpccer |= sConfig->IC1Polarity | (sConfig->IC2Polarity << 4U); - - /* Write to TIMx SMCR */ - htim->Instance->SMCR = tmpsmcr; - - /* Write to TIMx CCMR1 */ - htim->Instance->CCMR1 = tmpccmr1; - - /* Write to TIMx CCER */ - htim->Instance->CCER = tmpccer; - - /* Initialize the DMA burst operation state */ - htim->DMABurstState = HAL_DMA_BURST_STATE_READY; - - /* Set the TIM channels state */ - TIM_CHANNEL_STATE_SET(htim, TIM_CHANNEL_1, HAL_TIM_CHANNEL_STATE_READY); - TIM_CHANNEL_STATE_SET(htim, TIM_CHANNEL_2, HAL_TIM_CHANNEL_STATE_READY); - TIM_CHANNEL_N_STATE_SET(htim, TIM_CHANNEL_1, HAL_TIM_CHANNEL_STATE_READY); - TIM_CHANNEL_N_STATE_SET(htim, TIM_CHANNEL_2, HAL_TIM_CHANNEL_STATE_READY); - - /* Initialize the TIM state*/ - htim->State = HAL_TIM_STATE_READY; - - return HAL_OK; -} - - -/** - * @brief DeInitializes the TIM Encoder interface - * @param htim TIM Encoder Interface handle - * @retval HAL status - */ -HAL_StatusTypeDef HAL_TIM_Encoder_DeInit(TIM_HandleTypeDef *htim) -{ - /* Check the parameters */ - assert_param(IS_TIM_INSTANCE(htim->Instance)); - - htim->State = HAL_TIM_STATE_BUSY; - - /* Disable the TIM Peripheral Clock */ - __HAL_TIM_DISABLE(htim); - -#if (USE_HAL_TIM_REGISTER_CALLBACKS == 1) - if (htim->Encoder_MspDeInitCallback == NULL) - { - htim->Encoder_MspDeInitCallback = HAL_TIM_Encoder_MspDeInit; - } - /* DeInit the low level hardware */ - htim->Encoder_MspDeInitCallback(htim); -#else - /* DeInit the low level hardware: GPIO, CLOCK, NVIC */ - HAL_TIM_Encoder_MspDeInit(htim); -#endif /* USE_HAL_TIM_REGISTER_CALLBACKS */ - - /* Change the DMA burst operation state */ - htim->DMABurstState = HAL_DMA_BURST_STATE_RESET; - - /* Set the TIM channels state */ - TIM_CHANNEL_STATE_SET(htim, TIM_CHANNEL_1, HAL_TIM_CHANNEL_STATE_RESET); - TIM_CHANNEL_STATE_SET(htim, TIM_CHANNEL_2, HAL_TIM_CHANNEL_STATE_RESET); - TIM_CHANNEL_N_STATE_SET(htim, TIM_CHANNEL_1, HAL_TIM_CHANNEL_STATE_RESET); - TIM_CHANNEL_N_STATE_SET(htim, TIM_CHANNEL_2, HAL_TIM_CHANNEL_STATE_RESET); - - /* Change TIM state */ - htim->State = HAL_TIM_STATE_RESET; - - /* Release Lock */ - __HAL_UNLOCK(htim); - - return HAL_OK; -} - -/** - * @brief Initializes the TIM Encoder Interface MSP. - * @param htim TIM Encoder Interface handle - * @retval None - */ -__weak void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef *htim) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(htim); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_TIM_Encoder_MspInit could be implemented in the user file - */ -} - -/** - * @brief DeInitializes TIM Encoder Interface MSP. - * @param htim TIM Encoder Interface handle - * @retval None - */ -__weak void HAL_TIM_Encoder_MspDeInit(TIM_HandleTypeDef *htim) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(htim); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_TIM_Encoder_MspDeInit could be implemented in the user file - */ -} - -/** - * @brief Starts the TIM Encoder Interface. - * @param htim TIM Encoder Interface handle - * @param Channel TIM Channels to be enabled - * This parameter can be one of the following values: - * @arg TIM_CHANNEL_1: TIM Channel 1 selected - * @arg TIM_CHANNEL_2: TIM Channel 2 selected - * @arg TIM_CHANNEL_ALL: TIM Channel 1 and TIM Channel 2 are selected - * @retval HAL status - */ -HAL_StatusTypeDef HAL_TIM_Encoder_Start(TIM_HandleTypeDef *htim, uint32_t Channel) -{ - HAL_TIM_ChannelStateTypeDef channel_1_state = TIM_CHANNEL_STATE_GET(htim, TIM_CHANNEL_1); - HAL_TIM_ChannelStateTypeDef channel_2_state = TIM_CHANNEL_STATE_GET(htim, TIM_CHANNEL_2); - HAL_TIM_ChannelStateTypeDef complementary_channel_1_state = TIM_CHANNEL_N_STATE_GET(htim, TIM_CHANNEL_1); - HAL_TIM_ChannelStateTypeDef complementary_channel_2_state = TIM_CHANNEL_N_STATE_GET(htim, TIM_CHANNEL_2); - - /* Check the parameters */ - assert_param(IS_TIM_ENCODER_INTERFACE_INSTANCE(htim->Instance)); - - /* Set the TIM channel(s) state */ - if (Channel == TIM_CHANNEL_1) - { - if ((channel_1_state != HAL_TIM_CHANNEL_STATE_READY) - || (complementary_channel_1_state != HAL_TIM_CHANNEL_STATE_READY)) - { - return HAL_ERROR; - } - else - { - TIM_CHANNEL_STATE_SET(htim, TIM_CHANNEL_1, HAL_TIM_CHANNEL_STATE_BUSY); - TIM_CHANNEL_N_STATE_SET(htim, TIM_CHANNEL_1, HAL_TIM_CHANNEL_STATE_BUSY); - } - } - else if (Channel == TIM_CHANNEL_2) - { - if ((channel_2_state != HAL_TIM_CHANNEL_STATE_READY) - || (complementary_channel_2_state != HAL_TIM_CHANNEL_STATE_READY)) - { - return HAL_ERROR; - } - else - { - TIM_CHANNEL_STATE_SET(htim, TIM_CHANNEL_2, HAL_TIM_CHANNEL_STATE_BUSY); - TIM_CHANNEL_N_STATE_SET(htim, TIM_CHANNEL_2, HAL_TIM_CHANNEL_STATE_BUSY); - } - } - else - { - if ((channel_1_state != HAL_TIM_CHANNEL_STATE_READY) - || (channel_2_state != HAL_TIM_CHANNEL_STATE_READY) - || (complementary_channel_1_state != HAL_TIM_CHANNEL_STATE_READY) - || (complementary_channel_2_state != HAL_TIM_CHANNEL_STATE_READY)) - { - return HAL_ERROR; - } - else - { - TIM_CHANNEL_STATE_SET(htim, TIM_CHANNEL_1, HAL_TIM_CHANNEL_STATE_BUSY); - TIM_CHANNEL_STATE_SET(htim, TIM_CHANNEL_2, HAL_TIM_CHANNEL_STATE_BUSY); - TIM_CHANNEL_N_STATE_SET(htim, TIM_CHANNEL_1, HAL_TIM_CHANNEL_STATE_BUSY); - TIM_CHANNEL_N_STATE_SET(htim, TIM_CHANNEL_2, HAL_TIM_CHANNEL_STATE_BUSY); - } - } - - /* Enable the encoder interface channels */ - switch (Channel) - { - case TIM_CHANNEL_1: - { - TIM_CCxChannelCmd(htim->Instance, TIM_CHANNEL_1, TIM_CCx_ENABLE); - break; - } - - case TIM_CHANNEL_2: - { - TIM_CCxChannelCmd(htim->Instance, TIM_CHANNEL_2, TIM_CCx_ENABLE); - break; - } - - default : - { - TIM_CCxChannelCmd(htim->Instance, TIM_CHANNEL_1, TIM_CCx_ENABLE); - TIM_CCxChannelCmd(htim->Instance, TIM_CHANNEL_2, TIM_CCx_ENABLE); - break; - } - } - /* Enable the Peripheral */ - __HAL_TIM_ENABLE(htim); - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Stops the TIM Encoder Interface. - * @param htim TIM Encoder Interface handle - * @param Channel TIM Channels to be disabled - * This parameter can be one of the following values: - * @arg TIM_CHANNEL_1: TIM Channel 1 selected - * @arg TIM_CHANNEL_2: TIM Channel 2 selected - * @arg TIM_CHANNEL_ALL: TIM Channel 1 and TIM Channel 2 are selected - * @retval HAL status - */ -HAL_StatusTypeDef HAL_TIM_Encoder_Stop(TIM_HandleTypeDef *htim, uint32_t Channel) -{ - /* Check the parameters */ - assert_param(IS_TIM_ENCODER_INTERFACE_INSTANCE(htim->Instance)); - - /* Disable the Input Capture channels 1 and 2 - (in the EncoderInterface the two possible channels that can be used are TIM_CHANNEL_1 and TIM_CHANNEL_2) */ - switch (Channel) - { - case TIM_CHANNEL_1: - { - TIM_CCxChannelCmd(htim->Instance, TIM_CHANNEL_1, TIM_CCx_DISABLE); - break; - } - - case TIM_CHANNEL_2: - { - TIM_CCxChannelCmd(htim->Instance, TIM_CHANNEL_2, TIM_CCx_DISABLE); - break; - } - - default : - { - TIM_CCxChannelCmd(htim->Instance, TIM_CHANNEL_1, TIM_CCx_DISABLE); - TIM_CCxChannelCmd(htim->Instance, TIM_CHANNEL_2, TIM_CCx_DISABLE); - break; - } - } - - /* Disable the Peripheral */ - __HAL_TIM_DISABLE(htim); - - /* Set the TIM channel(s) state */ - if ((Channel == TIM_CHANNEL_1) || (Channel == TIM_CHANNEL_2)) - { - TIM_CHANNEL_STATE_SET(htim, Channel, HAL_TIM_CHANNEL_STATE_READY); - TIM_CHANNEL_N_STATE_SET(htim, Channel, HAL_TIM_CHANNEL_STATE_READY); - } - else - { - TIM_CHANNEL_STATE_SET(htim, TIM_CHANNEL_1, HAL_TIM_CHANNEL_STATE_READY); - TIM_CHANNEL_STATE_SET(htim, TIM_CHANNEL_2, HAL_TIM_CHANNEL_STATE_READY); - TIM_CHANNEL_N_STATE_SET(htim, TIM_CHANNEL_1, HAL_TIM_CHANNEL_STATE_READY); - TIM_CHANNEL_N_STATE_SET(htim, TIM_CHANNEL_2, HAL_TIM_CHANNEL_STATE_READY); - } - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Starts the TIM Encoder Interface in interrupt mode. - * @param htim TIM Encoder Interface handle - * @param Channel TIM Channels to be enabled - * This parameter can be one of the following values: - * @arg TIM_CHANNEL_1: TIM Channel 1 selected - * @arg TIM_CHANNEL_2: TIM Channel 2 selected - * @arg TIM_CHANNEL_ALL: TIM Channel 1 and TIM Channel 2 are selected - * @retval HAL status - */ -HAL_StatusTypeDef HAL_TIM_Encoder_Start_IT(TIM_HandleTypeDef *htim, uint32_t Channel) -{ - HAL_TIM_ChannelStateTypeDef channel_1_state = TIM_CHANNEL_STATE_GET(htim, TIM_CHANNEL_1); - HAL_TIM_ChannelStateTypeDef channel_2_state = TIM_CHANNEL_STATE_GET(htim, TIM_CHANNEL_2); - HAL_TIM_ChannelStateTypeDef complementary_channel_1_state = TIM_CHANNEL_N_STATE_GET(htim, TIM_CHANNEL_1); - HAL_TIM_ChannelStateTypeDef complementary_channel_2_state = TIM_CHANNEL_N_STATE_GET(htim, TIM_CHANNEL_2); - - /* Check the parameters */ - assert_param(IS_TIM_ENCODER_INTERFACE_INSTANCE(htim->Instance)); - - /* Set the TIM channel(s) state */ - if (Channel == TIM_CHANNEL_1) - { - if ((channel_1_state != HAL_TIM_CHANNEL_STATE_READY) - || (complementary_channel_1_state != HAL_TIM_CHANNEL_STATE_READY)) - { - return HAL_ERROR; - } - else - { - TIM_CHANNEL_STATE_SET(htim, TIM_CHANNEL_1, HAL_TIM_CHANNEL_STATE_BUSY); - TIM_CHANNEL_N_STATE_SET(htim, TIM_CHANNEL_1, HAL_TIM_CHANNEL_STATE_BUSY); - } - } - else if (Channel == TIM_CHANNEL_2) - { - if ((channel_2_state != HAL_TIM_CHANNEL_STATE_READY) - || (complementary_channel_2_state != HAL_TIM_CHANNEL_STATE_READY)) - { - return HAL_ERROR; - } - else - { - TIM_CHANNEL_STATE_SET(htim, TIM_CHANNEL_2, HAL_TIM_CHANNEL_STATE_BUSY); - TIM_CHANNEL_N_STATE_SET(htim, TIM_CHANNEL_2, HAL_TIM_CHANNEL_STATE_BUSY); - } - } - else - { - if ((channel_1_state != HAL_TIM_CHANNEL_STATE_READY) - || (channel_2_state != HAL_TIM_CHANNEL_STATE_READY) - || (complementary_channel_1_state != HAL_TIM_CHANNEL_STATE_READY) - || (complementary_channel_2_state != HAL_TIM_CHANNEL_STATE_READY)) - { - return HAL_ERROR; - } - else - { - TIM_CHANNEL_STATE_SET(htim, TIM_CHANNEL_1, HAL_TIM_CHANNEL_STATE_BUSY); - TIM_CHANNEL_STATE_SET(htim, TIM_CHANNEL_2, HAL_TIM_CHANNEL_STATE_BUSY); - TIM_CHANNEL_N_STATE_SET(htim, TIM_CHANNEL_1, HAL_TIM_CHANNEL_STATE_BUSY); - TIM_CHANNEL_N_STATE_SET(htim, TIM_CHANNEL_2, HAL_TIM_CHANNEL_STATE_BUSY); - } - } - - /* Enable the encoder interface channels */ - /* Enable the capture compare Interrupts 1 and/or 2 */ - switch (Channel) - { - case TIM_CHANNEL_1: - { - TIM_CCxChannelCmd(htim->Instance, TIM_CHANNEL_1, TIM_CCx_ENABLE); - __HAL_TIM_ENABLE_IT(htim, TIM_IT_CC1); - break; - } - - case TIM_CHANNEL_2: - { - TIM_CCxChannelCmd(htim->Instance, TIM_CHANNEL_2, TIM_CCx_ENABLE); - __HAL_TIM_ENABLE_IT(htim, TIM_IT_CC2); - break; - } - - default : - { - TIM_CCxChannelCmd(htim->Instance, TIM_CHANNEL_1, TIM_CCx_ENABLE); - TIM_CCxChannelCmd(htim->Instance, TIM_CHANNEL_2, TIM_CCx_ENABLE); - __HAL_TIM_ENABLE_IT(htim, TIM_IT_CC1); - __HAL_TIM_ENABLE_IT(htim, TIM_IT_CC2); - break; - } - } - - /* Enable the Peripheral */ - __HAL_TIM_ENABLE(htim); - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Stops the TIM Encoder Interface in interrupt mode. - * @param htim TIM Encoder Interface handle - * @param Channel TIM Channels to be disabled - * This parameter can be one of the following values: - * @arg TIM_CHANNEL_1: TIM Channel 1 selected - * @arg TIM_CHANNEL_2: TIM Channel 2 selected - * @arg TIM_CHANNEL_ALL: TIM Channel 1 and TIM Channel 2 are selected - * @retval HAL status - */ -HAL_StatusTypeDef HAL_TIM_Encoder_Stop_IT(TIM_HandleTypeDef *htim, uint32_t Channel) -{ - /* Check the parameters */ - assert_param(IS_TIM_ENCODER_INTERFACE_INSTANCE(htim->Instance)); - - /* Disable the Input Capture channels 1 and 2 - (in the EncoderInterface the two possible channels that can be used are TIM_CHANNEL_1 and TIM_CHANNEL_2) */ - if (Channel == TIM_CHANNEL_1) - { - TIM_CCxChannelCmd(htim->Instance, TIM_CHANNEL_1, TIM_CCx_DISABLE); - - /* Disable the capture compare Interrupts 1 */ - __HAL_TIM_DISABLE_IT(htim, TIM_IT_CC1); - } - else if (Channel == TIM_CHANNEL_2) - { - TIM_CCxChannelCmd(htim->Instance, TIM_CHANNEL_2, TIM_CCx_DISABLE); - - /* Disable the capture compare Interrupts 2 */ - __HAL_TIM_DISABLE_IT(htim, TIM_IT_CC2); - } - else - { - TIM_CCxChannelCmd(htim->Instance, TIM_CHANNEL_1, TIM_CCx_DISABLE); - TIM_CCxChannelCmd(htim->Instance, TIM_CHANNEL_2, TIM_CCx_DISABLE); - - /* Disable the capture compare Interrupts 1 and 2 */ - __HAL_TIM_DISABLE_IT(htim, TIM_IT_CC1); - __HAL_TIM_DISABLE_IT(htim, TIM_IT_CC2); - } - - /* Disable the Peripheral */ - __HAL_TIM_DISABLE(htim); - - /* Set the TIM channel(s) state */ - if ((Channel == TIM_CHANNEL_1) || (Channel == TIM_CHANNEL_2)) - { - TIM_CHANNEL_STATE_SET(htim, Channel, HAL_TIM_CHANNEL_STATE_READY); - TIM_CHANNEL_N_STATE_SET(htim, Channel, HAL_TIM_CHANNEL_STATE_READY); - } - else - { - TIM_CHANNEL_STATE_SET(htim, TIM_CHANNEL_1, HAL_TIM_CHANNEL_STATE_READY); - TIM_CHANNEL_STATE_SET(htim, TIM_CHANNEL_2, HAL_TIM_CHANNEL_STATE_READY); - TIM_CHANNEL_N_STATE_SET(htim, TIM_CHANNEL_1, HAL_TIM_CHANNEL_STATE_READY); - TIM_CHANNEL_N_STATE_SET(htim, TIM_CHANNEL_2, HAL_TIM_CHANNEL_STATE_READY); - } - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Starts the TIM Encoder Interface in DMA mode. - * @param htim TIM Encoder Interface handle - * @param Channel TIM Channels to be enabled - * This parameter can be one of the following values: - * @arg TIM_CHANNEL_1: TIM Channel 1 selected - * @arg TIM_CHANNEL_2: TIM Channel 2 selected - * @arg TIM_CHANNEL_ALL: TIM Channel 1 and TIM Channel 2 are selected - * @param pData1 The destination Buffer address for IC1. - * @param pData2 The destination Buffer address for IC2. - * @param Length The length of data to be transferred from TIM peripheral to memory. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_TIM_Encoder_Start_DMA(TIM_HandleTypeDef *htim, uint32_t Channel, uint32_t *pData1, - uint32_t *pData2, uint16_t Length) -{ - HAL_TIM_ChannelStateTypeDef channel_1_state = TIM_CHANNEL_STATE_GET(htim, TIM_CHANNEL_1); - HAL_TIM_ChannelStateTypeDef channel_2_state = TIM_CHANNEL_STATE_GET(htim, TIM_CHANNEL_2); - HAL_TIM_ChannelStateTypeDef complementary_channel_1_state = TIM_CHANNEL_N_STATE_GET(htim, TIM_CHANNEL_1); - HAL_TIM_ChannelStateTypeDef complementary_channel_2_state = TIM_CHANNEL_N_STATE_GET(htim, TIM_CHANNEL_2); - - /* Check the parameters */ - assert_param(IS_TIM_ENCODER_INTERFACE_INSTANCE(htim->Instance)); - - /* Set the TIM channel(s) state */ - if (Channel == TIM_CHANNEL_1) - { - if ((channel_1_state == HAL_TIM_CHANNEL_STATE_BUSY) - || (complementary_channel_1_state == HAL_TIM_CHANNEL_STATE_BUSY)) - { - return HAL_BUSY; - } - else if ((channel_1_state == HAL_TIM_CHANNEL_STATE_READY) - && (complementary_channel_1_state == HAL_TIM_CHANNEL_STATE_READY)) - { - if ((pData1 == NULL) && (Length > 0U)) - { - return HAL_ERROR; - } - else - { - TIM_CHANNEL_STATE_SET(htim, TIM_CHANNEL_1, HAL_TIM_CHANNEL_STATE_BUSY); - TIM_CHANNEL_N_STATE_SET(htim, TIM_CHANNEL_1, HAL_TIM_CHANNEL_STATE_BUSY); - } - } - else - { - return HAL_ERROR; - } - } - else if (Channel == TIM_CHANNEL_2) - { - if ((channel_2_state == HAL_TIM_CHANNEL_STATE_BUSY) - || (complementary_channel_2_state == HAL_TIM_CHANNEL_STATE_BUSY)) - { - return HAL_BUSY; - } - else if ((channel_2_state == HAL_TIM_CHANNEL_STATE_READY) - && (complementary_channel_2_state == HAL_TIM_CHANNEL_STATE_READY)) - { - if ((pData2 == NULL) && (Length > 0U)) - { - return HAL_ERROR; - } - else - { - TIM_CHANNEL_STATE_SET(htim, TIM_CHANNEL_2, HAL_TIM_CHANNEL_STATE_BUSY); - TIM_CHANNEL_N_STATE_SET(htim, TIM_CHANNEL_2, HAL_TIM_CHANNEL_STATE_BUSY); - } - } - else - { - return HAL_ERROR; - } - } - else - { - if ((channel_1_state == HAL_TIM_CHANNEL_STATE_BUSY) - || (channel_2_state == HAL_TIM_CHANNEL_STATE_BUSY) - || (complementary_channel_1_state == HAL_TIM_CHANNEL_STATE_BUSY) - || (complementary_channel_2_state == HAL_TIM_CHANNEL_STATE_BUSY)) - { - return HAL_BUSY; - } - else if ((channel_1_state == HAL_TIM_CHANNEL_STATE_READY) - && (channel_2_state == HAL_TIM_CHANNEL_STATE_READY) - && (complementary_channel_1_state == HAL_TIM_CHANNEL_STATE_READY) - && (complementary_channel_2_state == HAL_TIM_CHANNEL_STATE_READY)) - { - if ((((pData1 == NULL) || (pData2 == NULL))) && (Length > 0U)) - { - return HAL_ERROR; - } - else - { - TIM_CHANNEL_STATE_SET(htim, TIM_CHANNEL_1, HAL_TIM_CHANNEL_STATE_BUSY); - TIM_CHANNEL_STATE_SET(htim, TIM_CHANNEL_2, HAL_TIM_CHANNEL_STATE_BUSY); - TIM_CHANNEL_N_STATE_SET(htim, TIM_CHANNEL_1, HAL_TIM_CHANNEL_STATE_BUSY); - TIM_CHANNEL_N_STATE_SET(htim, TIM_CHANNEL_2, HAL_TIM_CHANNEL_STATE_BUSY); - } - } - else - { - return HAL_ERROR; - } - } - - switch (Channel) - { - case TIM_CHANNEL_1: - { - /* Set the DMA capture callbacks */ - htim->hdma[TIM_DMA_ID_CC1]->XferCpltCallback = TIM_DMACaptureCplt; - htim->hdma[TIM_DMA_ID_CC1]->XferHalfCpltCallback = TIM_DMACaptureHalfCplt; - - /* Set the DMA error callback */ - htim->hdma[TIM_DMA_ID_CC1]->XferErrorCallback = TIM_DMAError ; - - /* Enable the DMA stream */ - if (HAL_DMA_Start_IT(htim->hdma[TIM_DMA_ID_CC1], (uint32_t)&htim->Instance->CCR1, (uint32_t)pData1, - Length) != HAL_OK) - { - /* Return error status */ - return HAL_ERROR; - } - /* Enable the TIM Input Capture DMA request */ - __HAL_TIM_ENABLE_DMA(htim, TIM_DMA_CC1); - - /* Enable the Capture compare channel */ - TIM_CCxChannelCmd(htim->Instance, TIM_CHANNEL_1, TIM_CCx_ENABLE); - - /* Enable the Peripheral */ - __HAL_TIM_ENABLE(htim); - - break; - } - - case TIM_CHANNEL_2: - { - /* Set the DMA capture callbacks */ - htim->hdma[TIM_DMA_ID_CC2]->XferCpltCallback = TIM_DMACaptureCplt; - htim->hdma[TIM_DMA_ID_CC2]->XferHalfCpltCallback = TIM_DMACaptureHalfCplt; - - /* Set the DMA error callback */ - htim->hdma[TIM_DMA_ID_CC2]->XferErrorCallback = TIM_DMAError; - /* Enable the DMA stream */ - if (HAL_DMA_Start_IT(htim->hdma[TIM_DMA_ID_CC2], (uint32_t)&htim->Instance->CCR2, (uint32_t)pData2, - Length) != HAL_OK) - { - /* Return error status */ - return HAL_ERROR; - } - /* Enable the TIM Input Capture DMA request */ - __HAL_TIM_ENABLE_DMA(htim, TIM_DMA_CC2); - - /* Enable the Capture compare channel */ - TIM_CCxChannelCmd(htim->Instance, TIM_CHANNEL_2, TIM_CCx_ENABLE); - - /* Enable the Peripheral */ - __HAL_TIM_ENABLE(htim); - - break; - } - - default: - { - /* Set the DMA capture callbacks */ - htim->hdma[TIM_DMA_ID_CC1]->XferCpltCallback = TIM_DMACaptureCplt; - htim->hdma[TIM_DMA_ID_CC1]->XferHalfCpltCallback = TIM_DMACaptureHalfCplt; - - /* Set the DMA error callback */ - htim->hdma[TIM_DMA_ID_CC1]->XferErrorCallback = TIM_DMAError ; - - /* Enable the DMA stream */ - if (HAL_DMA_Start_IT(htim->hdma[TIM_DMA_ID_CC1], (uint32_t)&htim->Instance->CCR1, (uint32_t)pData1, - Length) != HAL_OK) - { - /* Return error status */ - return HAL_ERROR; - } - - /* Set the DMA capture callbacks */ - htim->hdma[TIM_DMA_ID_CC2]->XferCpltCallback = TIM_DMACaptureCplt; - htim->hdma[TIM_DMA_ID_CC2]->XferHalfCpltCallback = TIM_DMACaptureHalfCplt; - - /* Set the DMA error callback */ - htim->hdma[TIM_DMA_ID_CC2]->XferErrorCallback = TIM_DMAError ; - - /* Enable the DMA stream */ - if (HAL_DMA_Start_IT(htim->hdma[TIM_DMA_ID_CC2], (uint32_t)&htim->Instance->CCR2, (uint32_t)pData2, - Length) != HAL_OK) - { - /* Return error status */ - return HAL_ERROR; - } - - /* Enable the TIM Input Capture DMA request */ - __HAL_TIM_ENABLE_DMA(htim, TIM_DMA_CC1); - /* Enable the TIM Input Capture DMA request */ - __HAL_TIM_ENABLE_DMA(htim, TIM_DMA_CC2); - - /* Enable the Capture compare channel */ - TIM_CCxChannelCmd(htim->Instance, TIM_CHANNEL_1, TIM_CCx_ENABLE); - TIM_CCxChannelCmd(htim->Instance, TIM_CHANNEL_2, TIM_CCx_ENABLE); - - /* Enable the Peripheral */ - __HAL_TIM_ENABLE(htim); - - break; - } - } - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Stops the TIM Encoder Interface in DMA mode. - * @param htim TIM Encoder Interface handle - * @param Channel TIM Channels to be enabled - * This parameter can be one of the following values: - * @arg TIM_CHANNEL_1: TIM Channel 1 selected - * @arg TIM_CHANNEL_2: TIM Channel 2 selected - * @arg TIM_CHANNEL_ALL: TIM Channel 1 and TIM Channel 2 are selected - * @retval HAL status - */ -HAL_StatusTypeDef HAL_TIM_Encoder_Stop_DMA(TIM_HandleTypeDef *htim, uint32_t Channel) -{ - /* Check the parameters */ - assert_param(IS_TIM_ENCODER_INTERFACE_INSTANCE(htim->Instance)); - - /* Disable the Input Capture channels 1 and 2 - (in the EncoderInterface the two possible channels that can be used are TIM_CHANNEL_1 and TIM_CHANNEL_2) */ - if (Channel == TIM_CHANNEL_1) - { - TIM_CCxChannelCmd(htim->Instance, TIM_CHANNEL_1, TIM_CCx_DISABLE); - - /* Disable the capture compare DMA Request 1 */ - __HAL_TIM_DISABLE_DMA(htim, TIM_DMA_CC1); - (void)HAL_DMA_Abort_IT(htim->hdma[TIM_DMA_ID_CC1]); - } - else if (Channel == TIM_CHANNEL_2) - { - TIM_CCxChannelCmd(htim->Instance, TIM_CHANNEL_2, TIM_CCx_DISABLE); - - /* Disable the capture compare DMA Request 2 */ - __HAL_TIM_DISABLE_DMA(htim, TIM_DMA_CC2); - (void)HAL_DMA_Abort_IT(htim->hdma[TIM_DMA_ID_CC2]); - } - else - { - TIM_CCxChannelCmd(htim->Instance, TIM_CHANNEL_1, TIM_CCx_DISABLE); - TIM_CCxChannelCmd(htim->Instance, TIM_CHANNEL_2, TIM_CCx_DISABLE); - - /* Disable the capture compare DMA Request 1 and 2 */ - __HAL_TIM_DISABLE_DMA(htim, TIM_DMA_CC1); - __HAL_TIM_DISABLE_DMA(htim, TIM_DMA_CC2); - (void)HAL_DMA_Abort_IT(htim->hdma[TIM_DMA_ID_CC1]); - (void)HAL_DMA_Abort_IT(htim->hdma[TIM_DMA_ID_CC2]); - } - - /* Disable the Peripheral */ - __HAL_TIM_DISABLE(htim); - - /* Set the TIM channel(s) state */ - if ((Channel == TIM_CHANNEL_1) || (Channel == TIM_CHANNEL_2)) - { - TIM_CHANNEL_STATE_SET(htim, Channel, HAL_TIM_CHANNEL_STATE_READY); - TIM_CHANNEL_N_STATE_SET(htim, Channel, HAL_TIM_CHANNEL_STATE_READY); - } - else - { - TIM_CHANNEL_STATE_SET(htim, TIM_CHANNEL_1, HAL_TIM_CHANNEL_STATE_READY); - TIM_CHANNEL_STATE_SET(htim, TIM_CHANNEL_2, HAL_TIM_CHANNEL_STATE_READY); - TIM_CHANNEL_N_STATE_SET(htim, TIM_CHANNEL_1, HAL_TIM_CHANNEL_STATE_READY); - TIM_CHANNEL_N_STATE_SET(htim, TIM_CHANNEL_2, HAL_TIM_CHANNEL_STATE_READY); - } - - /* Return function status */ - return HAL_OK; -} - -/** - * @} - */ -/** @defgroup TIM_Exported_Functions_Group7 TIM IRQ handler management - * @brief TIM IRQ handler management - * -@verbatim - ============================================================================== - ##### IRQ handler management ##### - ============================================================================== - [..] - This section provides Timer IRQ handler function. - -@endverbatim - * @{ - */ -/** - * @brief This function handles TIM interrupts requests. - * @param htim TIM handle - * @retval None - */ -void HAL_TIM_IRQHandler(TIM_HandleTypeDef *htim) -{ - /* Capture compare 1 event */ - if (__HAL_TIM_GET_FLAG(htim, TIM_FLAG_CC1) != RESET) - { - if (__HAL_TIM_GET_IT_SOURCE(htim, TIM_IT_CC1) != RESET) - { - { - __HAL_TIM_CLEAR_IT(htim, TIM_IT_CC1); - htim->Channel = HAL_TIM_ACTIVE_CHANNEL_1; - - /* Input capture event */ - if ((htim->Instance->CCMR1 & TIM_CCMR1_CC1S) != 0x00U) - { -#if (USE_HAL_TIM_REGISTER_CALLBACKS == 1) - htim->IC_CaptureCallback(htim); -#else - HAL_TIM_IC_CaptureCallback(htim); -#endif /* USE_HAL_TIM_REGISTER_CALLBACKS */ - } - /* Output compare event */ - else - { -#if (USE_HAL_TIM_REGISTER_CALLBACKS == 1) - htim->OC_DelayElapsedCallback(htim); - htim->PWM_PulseFinishedCallback(htim); -#else - HAL_TIM_OC_DelayElapsedCallback(htim); - HAL_TIM_PWM_PulseFinishedCallback(htim); -#endif /* USE_HAL_TIM_REGISTER_CALLBACKS */ - } - htim->Channel = HAL_TIM_ACTIVE_CHANNEL_CLEARED; - } - } - } - /* Capture compare 2 event */ - if (__HAL_TIM_GET_FLAG(htim, TIM_FLAG_CC2) != RESET) - { - if (__HAL_TIM_GET_IT_SOURCE(htim, TIM_IT_CC2) != RESET) - { - __HAL_TIM_CLEAR_IT(htim, TIM_IT_CC2); - htim->Channel = HAL_TIM_ACTIVE_CHANNEL_2; - /* Input capture event */ - if ((htim->Instance->CCMR1 & TIM_CCMR1_CC2S) != 0x00U) - { -#if (USE_HAL_TIM_REGISTER_CALLBACKS == 1) - htim->IC_CaptureCallback(htim); -#else - HAL_TIM_IC_CaptureCallback(htim); -#endif /* USE_HAL_TIM_REGISTER_CALLBACKS */ - } - /* Output compare event */ - else - { -#if (USE_HAL_TIM_REGISTER_CALLBACKS == 1) - htim->OC_DelayElapsedCallback(htim); - htim->PWM_PulseFinishedCallback(htim); -#else - HAL_TIM_OC_DelayElapsedCallback(htim); - HAL_TIM_PWM_PulseFinishedCallback(htim); -#endif /* USE_HAL_TIM_REGISTER_CALLBACKS */ - } - htim->Channel = HAL_TIM_ACTIVE_CHANNEL_CLEARED; - } - } - /* Capture compare 3 event */ - if (__HAL_TIM_GET_FLAG(htim, TIM_FLAG_CC3) != RESET) - { - if (__HAL_TIM_GET_IT_SOURCE(htim, TIM_IT_CC3) != RESET) - { - __HAL_TIM_CLEAR_IT(htim, TIM_IT_CC3); - htim->Channel = HAL_TIM_ACTIVE_CHANNEL_3; - /* Input capture event */ - if ((htim->Instance->CCMR2 & TIM_CCMR2_CC3S) != 0x00U) - { -#if (USE_HAL_TIM_REGISTER_CALLBACKS == 1) - htim->IC_CaptureCallback(htim); -#else - HAL_TIM_IC_CaptureCallback(htim); -#endif /* USE_HAL_TIM_REGISTER_CALLBACKS */ - } - /* Output compare event */ - else - { -#if (USE_HAL_TIM_REGISTER_CALLBACKS == 1) - htim->OC_DelayElapsedCallback(htim); - htim->PWM_PulseFinishedCallback(htim); -#else - HAL_TIM_OC_DelayElapsedCallback(htim); - HAL_TIM_PWM_PulseFinishedCallback(htim); -#endif /* USE_HAL_TIM_REGISTER_CALLBACKS */ - } - htim->Channel = HAL_TIM_ACTIVE_CHANNEL_CLEARED; - } - } - /* Capture compare 4 event */ - if (__HAL_TIM_GET_FLAG(htim, TIM_FLAG_CC4) != RESET) - { - if (__HAL_TIM_GET_IT_SOURCE(htim, TIM_IT_CC4) != RESET) - { - __HAL_TIM_CLEAR_IT(htim, TIM_IT_CC4); - htim->Channel = HAL_TIM_ACTIVE_CHANNEL_4; - /* Input capture event */ - if ((htim->Instance->CCMR2 & TIM_CCMR2_CC4S) != 0x00U) - { -#if (USE_HAL_TIM_REGISTER_CALLBACKS == 1) - htim->IC_CaptureCallback(htim); -#else - HAL_TIM_IC_CaptureCallback(htim); -#endif /* USE_HAL_TIM_REGISTER_CALLBACKS */ - } - /* Output compare event */ - else - { -#if (USE_HAL_TIM_REGISTER_CALLBACKS == 1) - htim->OC_DelayElapsedCallback(htim); - htim->PWM_PulseFinishedCallback(htim); -#else - HAL_TIM_OC_DelayElapsedCallback(htim); - HAL_TIM_PWM_PulseFinishedCallback(htim); -#endif /* USE_HAL_TIM_REGISTER_CALLBACKS */ - } - htim->Channel = HAL_TIM_ACTIVE_CHANNEL_CLEARED; - } - } - /* TIM Update event */ - if (__HAL_TIM_GET_FLAG(htim, TIM_FLAG_UPDATE) != RESET) - { - if (__HAL_TIM_GET_IT_SOURCE(htim, TIM_IT_UPDATE) != RESET) - { - __HAL_TIM_CLEAR_IT(htim, TIM_IT_UPDATE); -#if (USE_HAL_TIM_REGISTER_CALLBACKS == 1) - htim->PeriodElapsedCallback(htim); -#else - HAL_TIM_PeriodElapsedCallback(htim); -#endif /* USE_HAL_TIM_REGISTER_CALLBACKS */ - } - } - /* TIM Break input event */ - if (__HAL_TIM_GET_FLAG(htim, TIM_FLAG_BREAK) != RESET) - { - if (__HAL_TIM_GET_IT_SOURCE(htim, TIM_IT_BREAK) != RESET) - { - __HAL_TIM_CLEAR_IT(htim, TIM_IT_BREAK); -#if (USE_HAL_TIM_REGISTER_CALLBACKS == 1) - htim->BreakCallback(htim); -#else - HAL_TIMEx_BreakCallback(htim); -#endif /* USE_HAL_TIM_REGISTER_CALLBACKS */ - } - } - /* TIM Trigger detection event */ - if (__HAL_TIM_GET_FLAG(htim, TIM_FLAG_TRIGGER) != RESET) - { - if (__HAL_TIM_GET_IT_SOURCE(htim, TIM_IT_TRIGGER) != RESET) - { - __HAL_TIM_CLEAR_IT(htim, TIM_IT_TRIGGER); -#if (USE_HAL_TIM_REGISTER_CALLBACKS == 1) - htim->TriggerCallback(htim); -#else - HAL_TIM_TriggerCallback(htim); -#endif /* USE_HAL_TIM_REGISTER_CALLBACKS */ - } - } - /* TIM commutation event */ - if (__HAL_TIM_GET_FLAG(htim, TIM_FLAG_COM) != RESET) - { - if (__HAL_TIM_GET_IT_SOURCE(htim, TIM_IT_COM) != RESET) - { - __HAL_TIM_CLEAR_IT(htim, TIM_FLAG_COM); -#if (USE_HAL_TIM_REGISTER_CALLBACKS == 1) - htim->CommutationCallback(htim); -#else - HAL_TIMEx_CommutCallback(htim); -#endif /* USE_HAL_TIM_REGISTER_CALLBACKS */ - } - } -} - -/** - * @} - */ - -/** @defgroup TIM_Exported_Functions_Group8 TIM Peripheral Control functions - * @brief TIM Peripheral Control functions - * -@verbatim - ============================================================================== - ##### Peripheral Control functions ##### - ============================================================================== - [..] - This section provides functions allowing to: - (+) Configure The Input Output channels for OC, PWM, IC or One Pulse mode. - (+) Configure External Clock source. - (+) Configure Complementary channels, break features and dead time. - (+) Configure Master and the Slave synchronization. - (+) Configure the DMA Burst Mode. - -@endverbatim - * @{ - */ - -/** - * @brief Initializes the TIM Output Compare Channels according to the specified - * parameters in the TIM_OC_InitTypeDef. - * @param htim TIM Output Compare handle - * @param sConfig TIM Output Compare configuration structure - * @param Channel TIM Channels to configure - * This parameter can be one of the following values: - * @arg TIM_CHANNEL_1: TIM Channel 1 selected - * @arg TIM_CHANNEL_2: TIM Channel 2 selected - * @arg TIM_CHANNEL_3: TIM Channel 3 selected - * @arg TIM_CHANNEL_4: TIM Channel 4 selected - * @retval HAL status - */ -HAL_StatusTypeDef HAL_TIM_OC_ConfigChannel(TIM_HandleTypeDef *htim, - TIM_OC_InitTypeDef *sConfig, - uint32_t Channel) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Check the parameters */ - assert_param(IS_TIM_CHANNELS(Channel)); - assert_param(IS_TIM_OC_MODE(sConfig->OCMode)); - assert_param(IS_TIM_OC_POLARITY(sConfig->OCPolarity)); - - /* Process Locked */ - __HAL_LOCK(htim); - - switch (Channel) - { - case TIM_CHANNEL_1: - { - /* Check the parameters */ - assert_param(IS_TIM_CC1_INSTANCE(htim->Instance)); - - /* Configure the TIM Channel 1 in Output Compare */ - TIM_OC1_SetConfig(htim->Instance, sConfig); - break; - } - - case TIM_CHANNEL_2: - { - /* Check the parameters */ - assert_param(IS_TIM_CC2_INSTANCE(htim->Instance)); - - /* Configure the TIM Channel 2 in Output Compare */ - TIM_OC2_SetConfig(htim->Instance, sConfig); - break; - } - - case TIM_CHANNEL_3: - { - /* Check the parameters */ - assert_param(IS_TIM_CC3_INSTANCE(htim->Instance)); - - /* Configure the TIM Channel 3 in Output Compare */ - TIM_OC3_SetConfig(htim->Instance, sConfig); - break; - } - - case TIM_CHANNEL_4: - { - /* Check the parameters */ - assert_param(IS_TIM_CC4_INSTANCE(htim->Instance)); - - /* Configure the TIM Channel 4 in Output Compare */ - TIM_OC4_SetConfig(htim->Instance, sConfig); - break; - } - - default: - status = HAL_ERROR; - break; - } - - __HAL_UNLOCK(htim); - - return status; -} - -/** - * @brief Initializes the TIM Input Capture Channels according to the specified - * parameters in the TIM_IC_InitTypeDef. - * @param htim TIM IC handle - * @param sConfig TIM Input Capture configuration structure - * @param Channel TIM Channel to configure - * This parameter can be one of the following values: - * @arg TIM_CHANNEL_1: TIM Channel 1 selected - * @arg TIM_CHANNEL_2: TIM Channel 2 selected - * @arg TIM_CHANNEL_3: TIM Channel 3 selected - * @arg TIM_CHANNEL_4: TIM Channel 4 selected - * @retval HAL status - */ -HAL_StatusTypeDef HAL_TIM_IC_ConfigChannel(TIM_HandleTypeDef *htim, TIM_IC_InitTypeDef *sConfig, uint32_t Channel) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Check the parameters */ - assert_param(IS_TIM_CC1_INSTANCE(htim->Instance)); - assert_param(IS_TIM_IC_POLARITY(sConfig->ICPolarity)); - assert_param(IS_TIM_IC_SELECTION(sConfig->ICSelection)); - assert_param(IS_TIM_IC_PRESCALER(sConfig->ICPrescaler)); - assert_param(IS_TIM_IC_FILTER(sConfig->ICFilter)); - - /* Process Locked */ - __HAL_LOCK(htim); - - if (Channel == TIM_CHANNEL_1) - { - /* TI1 Configuration */ - TIM_TI1_SetConfig(htim->Instance, - sConfig->ICPolarity, - sConfig->ICSelection, - sConfig->ICFilter); - - /* Reset the IC1PSC Bits */ - htim->Instance->CCMR1 &= ~TIM_CCMR1_IC1PSC; - - /* Set the IC1PSC value */ - htim->Instance->CCMR1 |= sConfig->ICPrescaler; - } - else if (Channel == TIM_CHANNEL_2) - { - /* TI2 Configuration */ - assert_param(IS_TIM_CC2_INSTANCE(htim->Instance)); - - TIM_TI2_SetConfig(htim->Instance, - sConfig->ICPolarity, - sConfig->ICSelection, - sConfig->ICFilter); - - /* Reset the IC2PSC Bits */ - htim->Instance->CCMR1 &= ~TIM_CCMR1_IC2PSC; - - /* Set the IC2PSC value */ - htim->Instance->CCMR1 |= (sConfig->ICPrescaler << 8U); - } - else if (Channel == TIM_CHANNEL_3) - { - /* TI3 Configuration */ - assert_param(IS_TIM_CC3_INSTANCE(htim->Instance)); - - TIM_TI3_SetConfig(htim->Instance, - sConfig->ICPolarity, - sConfig->ICSelection, - sConfig->ICFilter); - - /* Reset the IC3PSC Bits */ - htim->Instance->CCMR2 &= ~TIM_CCMR2_IC3PSC; - - /* Set the IC3PSC value */ - htim->Instance->CCMR2 |= sConfig->ICPrescaler; - } - else if (Channel == TIM_CHANNEL_4) - { - /* TI4 Configuration */ - assert_param(IS_TIM_CC4_INSTANCE(htim->Instance)); - - TIM_TI4_SetConfig(htim->Instance, - sConfig->ICPolarity, - sConfig->ICSelection, - sConfig->ICFilter); - - /* Reset the IC4PSC Bits */ - htim->Instance->CCMR2 &= ~TIM_CCMR2_IC4PSC; - - /* Set the IC4PSC value */ - htim->Instance->CCMR2 |= (sConfig->ICPrescaler << 8U); - } - else - { - status = HAL_ERROR; - } - - __HAL_UNLOCK(htim); - - return status; -} - -/** - * @brief Initializes the TIM PWM channels according to the specified - * parameters in the TIM_OC_InitTypeDef. - * @param htim TIM PWM handle - * @param sConfig TIM PWM configuration structure - * @param Channel TIM Channels to be configured - * This parameter can be one of the following values: - * @arg TIM_CHANNEL_1: TIM Channel 1 selected - * @arg TIM_CHANNEL_2: TIM Channel 2 selected - * @arg TIM_CHANNEL_3: TIM Channel 3 selected - * @arg TIM_CHANNEL_4: TIM Channel 4 selected - * @retval HAL status - */ -HAL_StatusTypeDef HAL_TIM_PWM_ConfigChannel(TIM_HandleTypeDef *htim, - TIM_OC_InitTypeDef *sConfig, - uint32_t Channel) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Check the parameters */ - assert_param(IS_TIM_CHANNELS(Channel)); - assert_param(IS_TIM_PWM_MODE(sConfig->OCMode)); - assert_param(IS_TIM_OC_POLARITY(sConfig->OCPolarity)); - assert_param(IS_TIM_FAST_STATE(sConfig->OCFastMode)); - - /* Process Locked */ - __HAL_LOCK(htim); - - switch (Channel) - { - case TIM_CHANNEL_1: - { - /* Check the parameters */ - assert_param(IS_TIM_CC1_INSTANCE(htim->Instance)); - - /* Configure the Channel 1 in PWM mode */ - TIM_OC1_SetConfig(htim->Instance, sConfig); - - /* Set the Preload enable bit for channel1 */ - htim->Instance->CCMR1 |= TIM_CCMR1_OC1PE; - - /* Configure the Output Fast mode */ - htim->Instance->CCMR1 &= ~TIM_CCMR1_OC1FE; - htim->Instance->CCMR1 |= sConfig->OCFastMode; - break; - } - - case TIM_CHANNEL_2: - { - /* Check the parameters */ - assert_param(IS_TIM_CC2_INSTANCE(htim->Instance)); - - /* Configure the Channel 2 in PWM mode */ - TIM_OC2_SetConfig(htim->Instance, sConfig); - - /* Set the Preload enable bit for channel2 */ - htim->Instance->CCMR1 |= TIM_CCMR1_OC2PE; - - /* Configure the Output Fast mode */ - htim->Instance->CCMR1 &= ~TIM_CCMR1_OC2FE; - htim->Instance->CCMR1 |= sConfig->OCFastMode << 8U; - break; - } - - case TIM_CHANNEL_3: - { - /* Check the parameters */ - assert_param(IS_TIM_CC3_INSTANCE(htim->Instance)); - - /* Configure the Channel 3 in PWM mode */ - TIM_OC3_SetConfig(htim->Instance, sConfig); - - /* Set the Preload enable bit for channel3 */ - htim->Instance->CCMR2 |= TIM_CCMR2_OC3PE; - - /* Configure the Output Fast mode */ - htim->Instance->CCMR2 &= ~TIM_CCMR2_OC3FE; - htim->Instance->CCMR2 |= sConfig->OCFastMode; - break; - } - - case TIM_CHANNEL_4: - { - /* Check the parameters */ - assert_param(IS_TIM_CC4_INSTANCE(htim->Instance)); - - /* Configure the Channel 4 in PWM mode */ - TIM_OC4_SetConfig(htim->Instance, sConfig); - - /* Set the Preload enable bit for channel4 */ - htim->Instance->CCMR2 |= TIM_CCMR2_OC4PE; - - /* Configure the Output Fast mode */ - htim->Instance->CCMR2 &= ~TIM_CCMR2_OC4FE; - htim->Instance->CCMR2 |= sConfig->OCFastMode << 8U; - break; - } - - default: - status = HAL_ERROR; - break; - } - - __HAL_UNLOCK(htim); - - return status; -} - -/** - * @brief Initializes the TIM One Pulse Channels according to the specified - * parameters in the TIM_OnePulse_InitTypeDef. - * @param htim TIM One Pulse handle - * @param sConfig TIM One Pulse configuration structure - * @param OutputChannel TIM output channel to configure - * This parameter can be one of the following values: - * @arg TIM_CHANNEL_1: TIM Channel 1 selected - * @arg TIM_CHANNEL_2: TIM Channel 2 selected - * @param InputChannel TIM input Channel to configure - * This parameter can be one of the following values: - * @arg TIM_CHANNEL_1: TIM Channel 1 selected - * @arg TIM_CHANNEL_2: TIM Channel 2 selected - * @note To output a waveform with a minimum delay user can enable the fast - * mode by calling the @ref __HAL_TIM_ENABLE_OCxFAST macro. Then CCx - * output is forced in response to the edge detection on TIx input, - * without taking in account the comparison. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_TIM_OnePulse_ConfigChannel(TIM_HandleTypeDef *htim, TIM_OnePulse_InitTypeDef *sConfig, - uint32_t OutputChannel, uint32_t InputChannel) -{ - HAL_StatusTypeDef status = HAL_OK; - TIM_OC_InitTypeDef temp1; - - /* Check the parameters */ - assert_param(IS_TIM_OPM_CHANNELS(OutputChannel)); - assert_param(IS_TIM_OPM_CHANNELS(InputChannel)); - - if (OutputChannel != InputChannel) - { - /* Process Locked */ - __HAL_LOCK(htim); - - htim->State = HAL_TIM_STATE_BUSY; - - /* Extract the Output compare configuration from sConfig structure */ - temp1.OCMode = sConfig->OCMode; - temp1.Pulse = sConfig->Pulse; - temp1.OCPolarity = sConfig->OCPolarity; - temp1.OCNPolarity = sConfig->OCNPolarity; - temp1.OCIdleState = sConfig->OCIdleState; - temp1.OCNIdleState = sConfig->OCNIdleState; - - switch (OutputChannel) - { - case TIM_CHANNEL_1: - { - assert_param(IS_TIM_CC1_INSTANCE(htim->Instance)); - - TIM_OC1_SetConfig(htim->Instance, &temp1); - break; - } - - case TIM_CHANNEL_2: - { - assert_param(IS_TIM_CC2_INSTANCE(htim->Instance)); - - TIM_OC2_SetConfig(htim->Instance, &temp1); - break; - } - - default: - status = HAL_ERROR; - break; - } - - if (status == HAL_OK) - { - switch (InputChannel) - { - case TIM_CHANNEL_1: - { - assert_param(IS_TIM_CC1_INSTANCE(htim->Instance)); - - TIM_TI1_SetConfig(htim->Instance, sConfig->ICPolarity, - sConfig->ICSelection, sConfig->ICFilter); - - /* Reset the IC1PSC Bits */ - htim->Instance->CCMR1 &= ~TIM_CCMR1_IC1PSC; - - /* Select the Trigger source */ - htim->Instance->SMCR &= ~TIM_SMCR_TS; - htim->Instance->SMCR |= TIM_TS_TI1FP1; - - /* Select the Slave Mode */ - htim->Instance->SMCR &= ~TIM_SMCR_SMS; - htim->Instance->SMCR |= TIM_SLAVEMODE_TRIGGER; - break; - } - - case TIM_CHANNEL_2: - { - assert_param(IS_TIM_CC2_INSTANCE(htim->Instance)); - - TIM_TI2_SetConfig(htim->Instance, sConfig->ICPolarity, - sConfig->ICSelection, sConfig->ICFilter); - - /* Reset the IC2PSC Bits */ - htim->Instance->CCMR1 &= ~TIM_CCMR1_IC2PSC; - - /* Select the Trigger source */ - htim->Instance->SMCR &= ~TIM_SMCR_TS; - htim->Instance->SMCR |= TIM_TS_TI2FP2; - - /* Select the Slave Mode */ - htim->Instance->SMCR &= ~TIM_SMCR_SMS; - htim->Instance->SMCR |= TIM_SLAVEMODE_TRIGGER; - break; - } - - default: - status = HAL_ERROR; - break; - } - } - - htim->State = HAL_TIM_STATE_READY; - - __HAL_UNLOCK(htim); - - return status; - } - else - { - return HAL_ERROR; - } -} - -/** - * @brief Configure the DMA Burst to transfer Data from the memory to the TIM peripheral - * @param htim TIM handle - * @param BurstBaseAddress TIM Base address from where the DMA will start the Data write - * This parameter can be one of the following values: - * @arg TIM_DMABASE_CR1 - * @arg TIM_DMABASE_CR2 - * @arg TIM_DMABASE_SMCR - * @arg TIM_DMABASE_DIER - * @arg TIM_DMABASE_SR - * @arg TIM_DMABASE_EGR - * @arg TIM_DMABASE_CCMR1 - * @arg TIM_DMABASE_CCMR2 - * @arg TIM_DMABASE_CCER - * @arg TIM_DMABASE_CNT - * @arg TIM_DMABASE_PSC - * @arg TIM_DMABASE_ARR - * @arg TIM_DMABASE_RCR - * @arg TIM_DMABASE_CCR1 - * @arg TIM_DMABASE_CCR2 - * @arg TIM_DMABASE_CCR3 - * @arg TIM_DMABASE_CCR4 - * @arg TIM_DMABASE_BDTR - * @param BurstRequestSrc TIM DMA Request sources - * This parameter can be one of the following values: - * @arg TIM_DMA_UPDATE: TIM update Interrupt source - * @arg TIM_DMA_CC1: TIM Capture Compare 1 DMA source - * @arg TIM_DMA_CC2: TIM Capture Compare 2 DMA source - * @arg TIM_DMA_CC3: TIM Capture Compare 3 DMA source - * @arg TIM_DMA_CC4: TIM Capture Compare 4 DMA source - * @arg TIM_DMA_COM: TIM Commutation DMA source - * @arg TIM_DMA_TRIGGER: TIM Trigger DMA source - * @param BurstBuffer The Buffer address. - * @param BurstLength DMA Burst length. This parameter can be one value - * between: TIM_DMABURSTLENGTH_1TRANSFER and TIM_DMABURSTLENGTH_18TRANSFERS. - * @note This function should be used only when BurstLength is equal to DMA data transfer length. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_TIM_DMABurst_WriteStart(TIM_HandleTypeDef *htim, uint32_t BurstBaseAddress, - uint32_t BurstRequestSrc, uint32_t *BurstBuffer, uint32_t BurstLength) -{ - HAL_StatusTypeDef status = HAL_OK; - - if (status == HAL_OK) - { - status = HAL_TIM_DMABurst_MultiWriteStart(htim, BurstBaseAddress, BurstRequestSrc, BurstBuffer, BurstLength, - ((BurstLength) >> 8U) + 1U); - } - - - return status; -} - -/** - * @brief Configure the DMA Burst to transfer multiple Data from the memory to the TIM peripheral - * @param htim TIM handle - * @param BurstBaseAddress TIM Base address from where the DMA will start the Data write - * This parameter can be one of the following values: - * @arg TIM_DMABASE_CR1 - * @arg TIM_DMABASE_CR2 - * @arg TIM_DMABASE_SMCR - * @arg TIM_DMABASE_DIER - * @arg TIM_DMABASE_SR - * @arg TIM_DMABASE_EGR - * @arg TIM_DMABASE_CCMR1 - * @arg TIM_DMABASE_CCMR2 - * @arg TIM_DMABASE_CCER - * @arg TIM_DMABASE_CNT - * @arg TIM_DMABASE_PSC - * @arg TIM_DMABASE_ARR - * @arg TIM_DMABASE_RCR - * @arg TIM_DMABASE_CCR1 - * @arg TIM_DMABASE_CCR2 - * @arg TIM_DMABASE_CCR3 - * @arg TIM_DMABASE_CCR4 - * @arg TIM_DMABASE_BDTR - * @param BurstRequestSrc TIM DMA Request sources - * This parameter can be one of the following values: - * @arg TIM_DMA_UPDATE: TIM update Interrupt source - * @arg TIM_DMA_CC1: TIM Capture Compare 1 DMA source - * @arg TIM_DMA_CC2: TIM Capture Compare 2 DMA source - * @arg TIM_DMA_CC3: TIM Capture Compare 3 DMA source - * @arg TIM_DMA_CC4: TIM Capture Compare 4 DMA source - * @arg TIM_DMA_COM: TIM Commutation DMA source - * @arg TIM_DMA_TRIGGER: TIM Trigger DMA source - * @param BurstBuffer The Buffer address. - * @param BurstLength DMA Burst length. This parameter can be one value - * between: TIM_DMABURSTLENGTH_1TRANSFER and TIM_DMABURSTLENGTH_18TRANSFERS. - * @param DataLength Data length. This parameter can be one value - * between 1 and 0xFFFF. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_TIM_DMABurst_MultiWriteStart(TIM_HandleTypeDef *htim, uint32_t BurstBaseAddress, - uint32_t BurstRequestSrc, uint32_t *BurstBuffer, - uint32_t BurstLength, uint32_t DataLength) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Check the parameters */ - assert_param(IS_TIM_DMABURST_INSTANCE(htim->Instance)); - assert_param(IS_TIM_DMA_BASE(BurstBaseAddress)); - assert_param(IS_TIM_DMA_SOURCE(BurstRequestSrc)); - assert_param(IS_TIM_DMA_LENGTH(BurstLength)); - assert_param(IS_TIM_DMA_DATA_LENGTH(DataLength)); - - if (htim->DMABurstState == HAL_DMA_BURST_STATE_BUSY) - { - return HAL_BUSY; - } - else if (htim->DMABurstState == HAL_DMA_BURST_STATE_READY) - { - if ((BurstBuffer == NULL) && (BurstLength > 0U)) - { - return HAL_ERROR; - } - else - { - htim->DMABurstState = HAL_DMA_BURST_STATE_BUSY; - } - } - else - { - /* nothing to do */ - } - - switch (BurstRequestSrc) - { - case TIM_DMA_UPDATE: - { - /* Set the DMA Period elapsed callbacks */ - htim->hdma[TIM_DMA_ID_UPDATE]->XferCpltCallback = TIM_DMAPeriodElapsedCplt; - htim->hdma[TIM_DMA_ID_UPDATE]->XferHalfCpltCallback = TIM_DMAPeriodElapsedHalfCplt; - - /* Set the DMA error callback */ - htim->hdma[TIM_DMA_ID_UPDATE]->XferErrorCallback = TIM_DMAError ; - - /* Enable the DMA stream */ - if (HAL_DMA_Start_IT(htim->hdma[TIM_DMA_ID_UPDATE], (uint32_t)BurstBuffer, - (uint32_t)&htim->Instance->DMAR, DataLength) != HAL_OK) - { - /* Return error status */ - return HAL_ERROR; - } - break; - } - case TIM_DMA_CC1: - { - /* Set the DMA compare callbacks */ - htim->hdma[TIM_DMA_ID_CC1]->XferCpltCallback = TIM_DMADelayPulseCplt; - htim->hdma[TIM_DMA_ID_CC1]->XferHalfCpltCallback = TIM_DMADelayPulseHalfCplt; - - /* Set the DMA error callback */ - htim->hdma[TIM_DMA_ID_CC1]->XferErrorCallback = TIM_DMAError ; - - /* Enable the DMA stream */ - if (HAL_DMA_Start_IT(htim->hdma[TIM_DMA_ID_CC1], (uint32_t)BurstBuffer, - (uint32_t)&htim->Instance->DMAR, DataLength) != HAL_OK) - { - /* Return error status */ - return HAL_ERROR; - } - break; - } - case TIM_DMA_CC2: - { - /* Set the DMA compare callbacks */ - htim->hdma[TIM_DMA_ID_CC2]->XferCpltCallback = TIM_DMADelayPulseCplt; - htim->hdma[TIM_DMA_ID_CC2]->XferHalfCpltCallback = TIM_DMADelayPulseHalfCplt; - - /* Set the DMA error callback */ - htim->hdma[TIM_DMA_ID_CC2]->XferErrorCallback = TIM_DMAError ; - - /* Enable the DMA stream */ - if (HAL_DMA_Start_IT(htim->hdma[TIM_DMA_ID_CC2], (uint32_t)BurstBuffer, - (uint32_t)&htim->Instance->DMAR, DataLength) != HAL_OK) - { - /* Return error status */ - return HAL_ERROR; - } - break; - } - case TIM_DMA_CC3: - { - /* Set the DMA compare callbacks */ - htim->hdma[TIM_DMA_ID_CC3]->XferCpltCallback = TIM_DMADelayPulseCplt; - htim->hdma[TIM_DMA_ID_CC3]->XferHalfCpltCallback = TIM_DMADelayPulseHalfCplt; - - /* Set the DMA error callback */ - htim->hdma[TIM_DMA_ID_CC3]->XferErrorCallback = TIM_DMAError ; - - /* Enable the DMA stream */ - if (HAL_DMA_Start_IT(htim->hdma[TIM_DMA_ID_CC3], (uint32_t)BurstBuffer, - (uint32_t)&htim->Instance->DMAR, DataLength) != HAL_OK) - { - /* Return error status */ - return HAL_ERROR; - } - break; - } - case TIM_DMA_CC4: - { - /* Set the DMA compare callbacks */ - htim->hdma[TIM_DMA_ID_CC4]->XferCpltCallback = TIM_DMADelayPulseCplt; - htim->hdma[TIM_DMA_ID_CC4]->XferHalfCpltCallback = TIM_DMADelayPulseHalfCplt; - - /* Set the DMA error callback */ - htim->hdma[TIM_DMA_ID_CC4]->XferErrorCallback = TIM_DMAError ; - - /* Enable the DMA stream */ - if (HAL_DMA_Start_IT(htim->hdma[TIM_DMA_ID_CC4], (uint32_t)BurstBuffer, - (uint32_t)&htim->Instance->DMAR, DataLength) != HAL_OK) - { - /* Return error status */ - return HAL_ERROR; - } - break; - } - case TIM_DMA_COM: - { - /* Set the DMA commutation callbacks */ - htim->hdma[TIM_DMA_ID_COMMUTATION]->XferCpltCallback = TIMEx_DMACommutationCplt; - htim->hdma[TIM_DMA_ID_COMMUTATION]->XferHalfCpltCallback = TIMEx_DMACommutationHalfCplt; - - /* Set the DMA error callback */ - htim->hdma[TIM_DMA_ID_COMMUTATION]->XferErrorCallback = TIM_DMAError ; - - /* Enable the DMA stream */ - if (HAL_DMA_Start_IT(htim->hdma[TIM_DMA_ID_COMMUTATION], (uint32_t)BurstBuffer, - (uint32_t)&htim->Instance->DMAR, DataLength) != HAL_OK) - { - /* Return error status */ - return HAL_ERROR; - } - break; - } - case TIM_DMA_TRIGGER: - { - /* Set the DMA trigger callbacks */ - htim->hdma[TIM_DMA_ID_TRIGGER]->XferCpltCallback = TIM_DMATriggerCplt; - htim->hdma[TIM_DMA_ID_TRIGGER]->XferHalfCpltCallback = TIM_DMATriggerHalfCplt; - - /* Set the DMA error callback */ - htim->hdma[TIM_DMA_ID_TRIGGER]->XferErrorCallback = TIM_DMAError ; - - /* Enable the DMA stream */ - if (HAL_DMA_Start_IT(htim->hdma[TIM_DMA_ID_TRIGGER], (uint32_t)BurstBuffer, - (uint32_t)&htim->Instance->DMAR, DataLength) != HAL_OK) - { - /* Return error status */ - return HAL_ERROR; - } - break; - } - default: - status = HAL_ERROR; - break; - } - - if (status == HAL_OK) - { - /* Configure the DMA Burst Mode */ - htim->Instance->DCR = (BurstBaseAddress | BurstLength); - /* Enable the TIM DMA Request */ - __HAL_TIM_ENABLE_DMA(htim, BurstRequestSrc); - } - - /* Return function status */ - return status; -} - -/** - * @brief Stops the TIM DMA Burst mode - * @param htim TIM handle - * @param BurstRequestSrc TIM DMA Request sources to disable - * @retval HAL status - */ -HAL_StatusTypeDef HAL_TIM_DMABurst_WriteStop(TIM_HandleTypeDef *htim, uint32_t BurstRequestSrc) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Check the parameters */ - assert_param(IS_TIM_DMA_SOURCE(BurstRequestSrc)); - - /* Abort the DMA transfer (at least disable the DMA stream) */ - switch (BurstRequestSrc) - { - case TIM_DMA_UPDATE: - { - (void)HAL_DMA_Abort_IT(htim->hdma[TIM_DMA_ID_UPDATE]); - break; - } - case TIM_DMA_CC1: - { - (void)HAL_DMA_Abort_IT(htim->hdma[TIM_DMA_ID_CC1]); - break; - } - case TIM_DMA_CC2: - { - (void)HAL_DMA_Abort_IT(htim->hdma[TIM_DMA_ID_CC2]); - break; - } - case TIM_DMA_CC3: - { - (void)HAL_DMA_Abort_IT(htim->hdma[TIM_DMA_ID_CC3]); - break; - } - case TIM_DMA_CC4: - { - (void)HAL_DMA_Abort_IT(htim->hdma[TIM_DMA_ID_CC4]); - break; - } - case TIM_DMA_COM: - { - (void)HAL_DMA_Abort_IT(htim->hdma[TIM_DMA_ID_COMMUTATION]); - break; - } - case TIM_DMA_TRIGGER: - { - (void)HAL_DMA_Abort_IT(htim->hdma[TIM_DMA_ID_TRIGGER]); - break; - } - default: - status = HAL_ERROR; - break; - } - - if (status == HAL_OK) - { - /* Disable the TIM Update DMA request */ - __HAL_TIM_DISABLE_DMA(htim, BurstRequestSrc); - - /* Change the DMA burst operation state */ - htim->DMABurstState = HAL_DMA_BURST_STATE_READY; - } - - /* Return function status */ - return status; -} - -/** - * @brief Configure the DMA Burst to transfer Data from the TIM peripheral to the memory - * @param htim TIM handle - * @param BurstBaseAddress TIM Base address from where the DMA will start the Data read - * This parameter can be one of the following values: - * @arg TIM_DMABASE_CR1 - * @arg TIM_DMABASE_CR2 - * @arg TIM_DMABASE_SMCR - * @arg TIM_DMABASE_DIER - * @arg TIM_DMABASE_SR - * @arg TIM_DMABASE_EGR - * @arg TIM_DMABASE_CCMR1 - * @arg TIM_DMABASE_CCMR2 - * @arg TIM_DMABASE_CCER - * @arg TIM_DMABASE_CNT - * @arg TIM_DMABASE_PSC - * @arg TIM_DMABASE_ARR - * @arg TIM_DMABASE_RCR - * @arg TIM_DMABASE_CCR1 - * @arg TIM_DMABASE_CCR2 - * @arg TIM_DMABASE_CCR3 - * @arg TIM_DMABASE_CCR4 - * @arg TIM_DMABASE_BDTR - * @param BurstRequestSrc TIM DMA Request sources - * This parameter can be one of the following values: - * @arg TIM_DMA_UPDATE: TIM update Interrupt source - * @arg TIM_DMA_CC1: TIM Capture Compare 1 DMA source - * @arg TIM_DMA_CC2: TIM Capture Compare 2 DMA source - * @arg TIM_DMA_CC3: TIM Capture Compare 3 DMA source - * @arg TIM_DMA_CC4: TIM Capture Compare 4 DMA source - * @arg TIM_DMA_COM: TIM Commutation DMA source - * @arg TIM_DMA_TRIGGER: TIM Trigger DMA source - * @param BurstBuffer The Buffer address. - * @param BurstLength DMA Burst length. This parameter can be one value - * between: TIM_DMABURSTLENGTH_1TRANSFER and TIM_DMABURSTLENGTH_18TRANSFERS. - * @note This function should be used only when BurstLength is equal to DMA data transfer length. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_TIM_DMABurst_ReadStart(TIM_HandleTypeDef *htim, uint32_t BurstBaseAddress, - uint32_t BurstRequestSrc, uint32_t *BurstBuffer, uint32_t BurstLength) -{ - HAL_StatusTypeDef status = HAL_OK; - - if (status == HAL_OK) - { - status = HAL_TIM_DMABurst_MultiReadStart(htim, BurstBaseAddress, BurstRequestSrc, BurstBuffer, BurstLength, - ((BurstLength) >> 8U) + 1U); - } - - return status; -} - -/** - * @brief Configure the DMA Burst to transfer Data from the TIM peripheral to the memory - * @param htim TIM handle - * @param BurstBaseAddress TIM Base address from where the DMA will start the Data read - * This parameter can be one of the following values: - * @arg TIM_DMABASE_CR1 - * @arg TIM_DMABASE_CR2 - * @arg TIM_DMABASE_SMCR - * @arg TIM_DMABASE_DIER - * @arg TIM_DMABASE_SR - * @arg TIM_DMABASE_EGR - * @arg TIM_DMABASE_CCMR1 - * @arg TIM_DMABASE_CCMR2 - * @arg TIM_DMABASE_CCER - * @arg TIM_DMABASE_CNT - * @arg TIM_DMABASE_PSC - * @arg TIM_DMABASE_ARR - * @arg TIM_DMABASE_RCR - * @arg TIM_DMABASE_CCR1 - * @arg TIM_DMABASE_CCR2 - * @arg TIM_DMABASE_CCR3 - * @arg TIM_DMABASE_CCR4 - * @arg TIM_DMABASE_BDTR - * @param BurstRequestSrc TIM DMA Request sources - * This parameter can be one of the following values: - * @arg TIM_DMA_UPDATE: TIM update Interrupt source - * @arg TIM_DMA_CC1: TIM Capture Compare 1 DMA source - * @arg TIM_DMA_CC2: TIM Capture Compare 2 DMA source - * @arg TIM_DMA_CC3: TIM Capture Compare 3 DMA source - * @arg TIM_DMA_CC4: TIM Capture Compare 4 DMA source - * @arg TIM_DMA_COM: TIM Commutation DMA source - * @arg TIM_DMA_TRIGGER: TIM Trigger DMA source - * @param BurstBuffer The Buffer address. - * @param BurstLength DMA Burst length. This parameter can be one value - * between: TIM_DMABURSTLENGTH_1TRANSFER and TIM_DMABURSTLENGTH_18TRANSFERS. - * @param DataLength Data length. This parameter can be one value - * between 1 and 0xFFFF. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_TIM_DMABurst_MultiReadStart(TIM_HandleTypeDef *htim, uint32_t BurstBaseAddress, - uint32_t BurstRequestSrc, uint32_t *BurstBuffer, - uint32_t BurstLength, uint32_t DataLength) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Check the parameters */ - assert_param(IS_TIM_DMABURST_INSTANCE(htim->Instance)); - assert_param(IS_TIM_DMA_BASE(BurstBaseAddress)); - assert_param(IS_TIM_DMA_SOURCE(BurstRequestSrc)); - assert_param(IS_TIM_DMA_LENGTH(BurstLength)); - assert_param(IS_TIM_DMA_DATA_LENGTH(DataLength)); - - if (htim->DMABurstState == HAL_DMA_BURST_STATE_BUSY) - { - return HAL_BUSY; - } - else if (htim->DMABurstState == HAL_DMA_BURST_STATE_READY) - { - if ((BurstBuffer == NULL) && (BurstLength > 0U)) - { - return HAL_ERROR; - } - else - { - htim->DMABurstState = HAL_DMA_BURST_STATE_BUSY; - } - } - else - { - /* nothing to do */ - } - switch (BurstRequestSrc) - { - case TIM_DMA_UPDATE: - { - /* Set the DMA Period elapsed callbacks */ - htim->hdma[TIM_DMA_ID_UPDATE]->XferCpltCallback = TIM_DMAPeriodElapsedCplt; - htim->hdma[TIM_DMA_ID_UPDATE]->XferHalfCpltCallback = TIM_DMAPeriodElapsedHalfCplt; - - /* Set the DMA error callback */ - htim->hdma[TIM_DMA_ID_UPDATE]->XferErrorCallback = TIM_DMAError ; - - /* Enable the DMA stream */ - if (HAL_DMA_Start_IT(htim->hdma[TIM_DMA_ID_UPDATE], (uint32_t)&htim->Instance->DMAR, (uint32_t)BurstBuffer, - DataLength) != HAL_OK) - { - /* Return error status */ - return HAL_ERROR; - } - break; - } - case TIM_DMA_CC1: - { - /* Set the DMA capture callbacks */ - htim->hdma[TIM_DMA_ID_CC1]->XferCpltCallback = TIM_DMACaptureCplt; - htim->hdma[TIM_DMA_ID_CC1]->XferHalfCpltCallback = TIM_DMACaptureHalfCplt; - - /* Set the DMA error callback */ - htim->hdma[TIM_DMA_ID_CC1]->XferErrorCallback = TIM_DMAError ; - - /* Enable the DMA stream */ - if (HAL_DMA_Start_IT(htim->hdma[TIM_DMA_ID_CC1], (uint32_t)&htim->Instance->DMAR, (uint32_t)BurstBuffer, - DataLength) != HAL_OK) - { - /* Return error status */ - return HAL_ERROR; - } - break; - } - case TIM_DMA_CC2: - { - /* Set the DMA capture callbacks */ - htim->hdma[TIM_DMA_ID_CC2]->XferCpltCallback = TIM_DMACaptureCplt; - htim->hdma[TIM_DMA_ID_CC2]->XferHalfCpltCallback = TIM_DMACaptureHalfCplt; - - /* Set the DMA error callback */ - htim->hdma[TIM_DMA_ID_CC2]->XferErrorCallback = TIM_DMAError ; - - /* Enable the DMA stream */ - if (HAL_DMA_Start_IT(htim->hdma[TIM_DMA_ID_CC2], (uint32_t)&htim->Instance->DMAR, (uint32_t)BurstBuffer, - DataLength) != HAL_OK) - { - /* Return error status */ - return HAL_ERROR; - } - break; - } - case TIM_DMA_CC3: - { - /* Set the DMA capture callbacks */ - htim->hdma[TIM_DMA_ID_CC3]->XferCpltCallback = TIM_DMACaptureCplt; - htim->hdma[TIM_DMA_ID_CC3]->XferHalfCpltCallback = TIM_DMACaptureHalfCplt; - - /* Set the DMA error callback */ - htim->hdma[TIM_DMA_ID_CC3]->XferErrorCallback = TIM_DMAError ; - - /* Enable the DMA stream */ - if (HAL_DMA_Start_IT(htim->hdma[TIM_DMA_ID_CC3], (uint32_t)&htim->Instance->DMAR, (uint32_t)BurstBuffer, - DataLength) != HAL_OK) - { - /* Return error status */ - return HAL_ERROR; - } - break; - } - case TIM_DMA_CC4: - { - /* Set the DMA capture callbacks */ - htim->hdma[TIM_DMA_ID_CC4]->XferCpltCallback = TIM_DMACaptureCplt; - htim->hdma[TIM_DMA_ID_CC4]->XferHalfCpltCallback = TIM_DMACaptureHalfCplt; - - /* Set the DMA error callback */ - htim->hdma[TIM_DMA_ID_CC4]->XferErrorCallback = TIM_DMAError ; - - /* Enable the DMA stream */ - if (HAL_DMA_Start_IT(htim->hdma[TIM_DMA_ID_CC4], (uint32_t)&htim->Instance->DMAR, (uint32_t)BurstBuffer, - DataLength) != HAL_OK) - { - /* Return error status */ - return HAL_ERROR; - } - break; - } - case TIM_DMA_COM: - { - /* Set the DMA commutation callbacks */ - htim->hdma[TIM_DMA_ID_COMMUTATION]->XferCpltCallback = TIMEx_DMACommutationCplt; - htim->hdma[TIM_DMA_ID_COMMUTATION]->XferHalfCpltCallback = TIMEx_DMACommutationHalfCplt; - - /* Set the DMA error callback */ - htim->hdma[TIM_DMA_ID_COMMUTATION]->XferErrorCallback = TIM_DMAError ; - - /* Enable the DMA stream */ - if (HAL_DMA_Start_IT(htim->hdma[TIM_DMA_ID_COMMUTATION], (uint32_t)&htim->Instance->DMAR, (uint32_t)BurstBuffer, - DataLength) != HAL_OK) - { - /* Return error status */ - return HAL_ERROR; - } - break; - } - case TIM_DMA_TRIGGER: - { - /* Set the DMA trigger callbacks */ - htim->hdma[TIM_DMA_ID_TRIGGER]->XferCpltCallback = TIM_DMATriggerCplt; - htim->hdma[TIM_DMA_ID_TRIGGER]->XferHalfCpltCallback = TIM_DMATriggerHalfCplt; - - /* Set the DMA error callback */ - htim->hdma[TIM_DMA_ID_TRIGGER]->XferErrorCallback = TIM_DMAError ; - - /* Enable the DMA stream */ - if (HAL_DMA_Start_IT(htim->hdma[TIM_DMA_ID_TRIGGER], (uint32_t)&htim->Instance->DMAR, (uint32_t)BurstBuffer, - DataLength) != HAL_OK) - { - /* Return error status */ - return HAL_ERROR; - } - break; - } - default: - status = HAL_ERROR; - break; - } - - if (status == HAL_OK) - { - /* Configure the DMA Burst Mode */ - htim->Instance->DCR = (BurstBaseAddress | BurstLength); - - /* Enable the TIM DMA Request */ - __HAL_TIM_ENABLE_DMA(htim, BurstRequestSrc); - } - - /* Return function status */ - return status; -} - -/** - * @brief Stop the DMA burst reading - * @param htim TIM handle - * @param BurstRequestSrc TIM DMA Request sources to disable. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_TIM_DMABurst_ReadStop(TIM_HandleTypeDef *htim, uint32_t BurstRequestSrc) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Check the parameters */ - assert_param(IS_TIM_DMA_SOURCE(BurstRequestSrc)); - - /* Abort the DMA transfer (at least disable the DMA stream) */ - switch (BurstRequestSrc) - { - case TIM_DMA_UPDATE: - { - (void)HAL_DMA_Abort_IT(htim->hdma[TIM_DMA_ID_UPDATE]); - break; - } - case TIM_DMA_CC1: - { - (void)HAL_DMA_Abort_IT(htim->hdma[TIM_DMA_ID_CC1]); - break; - } - case TIM_DMA_CC2: - { - (void)HAL_DMA_Abort_IT(htim->hdma[TIM_DMA_ID_CC2]); - break; - } - case TIM_DMA_CC3: - { - (void)HAL_DMA_Abort_IT(htim->hdma[TIM_DMA_ID_CC3]); - break; - } - case TIM_DMA_CC4: - { - (void)HAL_DMA_Abort_IT(htim->hdma[TIM_DMA_ID_CC4]); - break; - } - case TIM_DMA_COM: - { - (void)HAL_DMA_Abort_IT(htim->hdma[TIM_DMA_ID_COMMUTATION]); - break; - } - case TIM_DMA_TRIGGER: - { - (void)HAL_DMA_Abort_IT(htim->hdma[TIM_DMA_ID_TRIGGER]); - break; - } - default: - status = HAL_ERROR; - break; - } - - if (status == HAL_OK) - { - /* Disable the TIM Update DMA request */ - __HAL_TIM_DISABLE_DMA(htim, BurstRequestSrc); - - /* Change the DMA burst operation state */ - htim->DMABurstState = HAL_DMA_BURST_STATE_READY; - } - - /* Return function status */ - return status; -} - -/** - * @brief Generate a software event - * @param htim TIM handle - * @param EventSource specifies the event source. - * This parameter can be one of the following values: - * @arg TIM_EVENTSOURCE_UPDATE: Timer update Event source - * @arg TIM_EVENTSOURCE_CC1: Timer Capture Compare 1 Event source - * @arg TIM_EVENTSOURCE_CC2: Timer Capture Compare 2 Event source - * @arg TIM_EVENTSOURCE_CC3: Timer Capture Compare 3 Event source - * @arg TIM_EVENTSOURCE_CC4: Timer Capture Compare 4 Event source - * @arg TIM_EVENTSOURCE_COM: Timer COM event source - * @arg TIM_EVENTSOURCE_TRIGGER: Timer Trigger Event source - * @arg TIM_EVENTSOURCE_BREAK: Timer Break event source - * @note Basic timers can only generate an update event. - * @note TIM_EVENTSOURCE_COM is relevant only with advanced timer instances. - * @note TIM_EVENTSOURCE_BREAK are relevant only for timer instances - * supporting a break input. - * @retval HAL status - */ - -HAL_StatusTypeDef HAL_TIM_GenerateEvent(TIM_HandleTypeDef *htim, uint32_t EventSource) -{ - /* Check the parameters */ - assert_param(IS_TIM_INSTANCE(htim->Instance)); - assert_param(IS_TIM_EVENT_SOURCE(EventSource)); - - /* Process Locked */ - __HAL_LOCK(htim); - - /* Change the TIM state */ - htim->State = HAL_TIM_STATE_BUSY; - - /* Set the event sources */ - htim->Instance->EGR = EventSource; - - /* Change the TIM state */ - htim->State = HAL_TIM_STATE_READY; - - __HAL_UNLOCK(htim); - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Configures the OCRef clear feature - * @param htim TIM handle - * @param sClearInputConfig pointer to a TIM_ClearInputConfigTypeDef structure that - * contains the OCREF clear feature and parameters for the TIM peripheral. - * @param Channel specifies the TIM Channel - * This parameter can be one of the following values: - * @arg TIM_CHANNEL_1: TIM Channel 1 - * @arg TIM_CHANNEL_2: TIM Channel 2 - * @arg TIM_CHANNEL_3: TIM Channel 3 - * @arg TIM_CHANNEL_4: TIM Channel 4 - * @retval HAL status - */ -HAL_StatusTypeDef HAL_TIM_ConfigOCrefClear(TIM_HandleTypeDef *htim, - TIM_ClearInputConfigTypeDef *sClearInputConfig, - uint32_t Channel) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Check the parameters */ - assert_param(IS_TIM_OCXREF_CLEAR_INSTANCE(htim->Instance)); - assert_param(IS_TIM_CLEARINPUT_SOURCE(sClearInputConfig->ClearInputSource)); - - /* Process Locked */ - __HAL_LOCK(htim); - - htim->State = HAL_TIM_STATE_BUSY; - - switch (sClearInputConfig->ClearInputSource) - { - case TIM_CLEARINPUTSOURCE_NONE: - { - /* Clear the OCREF clear selection bit and the the ETR Bits */ - CLEAR_BIT(htim->Instance->SMCR, (TIM_SMCR_ETF | TIM_SMCR_ETPS | TIM_SMCR_ECE | TIM_SMCR_ETP)); - break; - } - - case TIM_CLEARINPUTSOURCE_ETR: - { - /* Check the parameters */ - assert_param(IS_TIM_CLEARINPUT_POLARITY(sClearInputConfig->ClearInputPolarity)); - assert_param(IS_TIM_CLEARINPUT_PRESCALER(sClearInputConfig->ClearInputPrescaler)); - assert_param(IS_TIM_CLEARINPUT_FILTER(sClearInputConfig->ClearInputFilter)); - - /* When OCRef clear feature is used with ETR source, ETR prescaler must be off */ - if (sClearInputConfig->ClearInputPrescaler != TIM_CLEARINPUTPRESCALER_DIV1) - { - htim->State = HAL_TIM_STATE_READY; - __HAL_UNLOCK(htim); - return HAL_ERROR; - } - - TIM_ETR_SetConfig(htim->Instance, - sClearInputConfig->ClearInputPrescaler, - sClearInputConfig->ClearInputPolarity, - sClearInputConfig->ClearInputFilter); - break; - } - - default: - status = HAL_ERROR; - break; - } - - if (status == HAL_OK) - { - switch (Channel) - { - case TIM_CHANNEL_1: - { - if (sClearInputConfig->ClearInputState != (uint32_t)DISABLE) - { - /* Enable the OCREF clear feature for Channel 1 */ - SET_BIT(htim->Instance->CCMR1, TIM_CCMR1_OC1CE); - } - else - { - /* Disable the OCREF clear feature for Channel 1 */ - CLEAR_BIT(htim->Instance->CCMR1, TIM_CCMR1_OC1CE); - } - break; - } - case TIM_CHANNEL_2: - { - if (sClearInputConfig->ClearInputState != (uint32_t)DISABLE) - { - /* Enable the OCREF clear feature for Channel 2 */ - SET_BIT(htim->Instance->CCMR1, TIM_CCMR1_OC2CE); - } - else - { - /* Disable the OCREF clear feature for Channel 2 */ - CLEAR_BIT(htim->Instance->CCMR1, TIM_CCMR1_OC2CE); - } - break; - } - case TIM_CHANNEL_3: - { - if (sClearInputConfig->ClearInputState != (uint32_t)DISABLE) - { - /* Enable the OCREF clear feature for Channel 3 */ - SET_BIT(htim->Instance->CCMR2, TIM_CCMR2_OC3CE); - } - else - { - /* Disable the OCREF clear feature for Channel 3 */ - CLEAR_BIT(htim->Instance->CCMR2, TIM_CCMR2_OC3CE); - } - break; - } - case TIM_CHANNEL_4: - { - if (sClearInputConfig->ClearInputState != (uint32_t)DISABLE) - { - /* Enable the OCREF clear feature for Channel 4 */ - SET_BIT(htim->Instance->CCMR2, TIM_CCMR2_OC4CE); - } - else - { - /* Disable the OCREF clear feature for Channel 4 */ - CLEAR_BIT(htim->Instance->CCMR2, TIM_CCMR2_OC4CE); - } - break; - } - default: - break; - } - } - - htim->State = HAL_TIM_STATE_READY; - - __HAL_UNLOCK(htim); - - return status; -} - -/** - * @brief Configures the clock source to be used - * @param htim TIM handle - * @param sClockSourceConfig pointer to a TIM_ClockConfigTypeDef structure that - * contains the clock source information for the TIM peripheral. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_TIM_ConfigClockSource(TIM_HandleTypeDef *htim, TIM_ClockConfigTypeDef *sClockSourceConfig) -{ - HAL_StatusTypeDef status = HAL_OK; - uint32_t tmpsmcr; - - /* Process Locked */ - __HAL_LOCK(htim); - - htim->State = HAL_TIM_STATE_BUSY; - - /* Check the parameters */ - assert_param(IS_TIM_CLOCKSOURCE(sClockSourceConfig->ClockSource)); - - /* Reset the SMS, TS, ECE, ETPS and ETRF bits */ - tmpsmcr = htim->Instance->SMCR; - tmpsmcr &= ~(TIM_SMCR_SMS | TIM_SMCR_TS); - tmpsmcr &= ~(TIM_SMCR_ETF | TIM_SMCR_ETPS | TIM_SMCR_ECE | TIM_SMCR_ETP); - htim->Instance->SMCR = tmpsmcr; - - switch (sClockSourceConfig->ClockSource) - { - case TIM_CLOCKSOURCE_INTERNAL: - { - assert_param(IS_TIM_INSTANCE(htim->Instance)); - break; - } - - case TIM_CLOCKSOURCE_ETRMODE1: - { - /* Check whether or not the timer instance supports external trigger input mode 1 (ETRF)*/ - assert_param(IS_TIM_CLOCKSOURCE_ETRMODE1_INSTANCE(htim->Instance)); - - /* Check ETR input conditioning related parameters */ - assert_param(IS_TIM_CLOCKPRESCALER(sClockSourceConfig->ClockPrescaler)); - assert_param(IS_TIM_CLOCKPOLARITY(sClockSourceConfig->ClockPolarity)); - assert_param(IS_TIM_CLOCKFILTER(sClockSourceConfig->ClockFilter)); - - /* Configure the ETR Clock source */ - TIM_ETR_SetConfig(htim->Instance, - sClockSourceConfig->ClockPrescaler, - sClockSourceConfig->ClockPolarity, - sClockSourceConfig->ClockFilter); - - /* Select the External clock mode1 and the ETRF trigger */ - tmpsmcr = htim->Instance->SMCR; - tmpsmcr |= (TIM_SLAVEMODE_EXTERNAL1 | TIM_CLOCKSOURCE_ETRMODE1); - /* Write to TIMx SMCR */ - htim->Instance->SMCR = tmpsmcr; - break; - } - - case TIM_CLOCKSOURCE_ETRMODE2: - { - /* Check whether or not the timer instance supports external trigger input mode 2 (ETRF)*/ - assert_param(IS_TIM_CLOCKSOURCE_ETRMODE2_INSTANCE(htim->Instance)); - - /* Check ETR input conditioning related parameters */ - assert_param(IS_TIM_CLOCKPRESCALER(sClockSourceConfig->ClockPrescaler)); - assert_param(IS_TIM_CLOCKPOLARITY(sClockSourceConfig->ClockPolarity)); - assert_param(IS_TIM_CLOCKFILTER(sClockSourceConfig->ClockFilter)); - - /* Configure the ETR Clock source */ - TIM_ETR_SetConfig(htim->Instance, - sClockSourceConfig->ClockPrescaler, - sClockSourceConfig->ClockPolarity, - sClockSourceConfig->ClockFilter); - /* Enable the External clock mode2 */ - htim->Instance->SMCR |= TIM_SMCR_ECE; - break; - } - - case TIM_CLOCKSOURCE_TI1: - { - /* Check whether or not the timer instance supports external clock mode 1 */ - assert_param(IS_TIM_CLOCKSOURCE_TIX_INSTANCE(htim->Instance)); - - /* Check TI1 input conditioning related parameters */ - assert_param(IS_TIM_CLOCKPOLARITY(sClockSourceConfig->ClockPolarity)); - assert_param(IS_TIM_CLOCKFILTER(sClockSourceConfig->ClockFilter)); - - TIM_TI1_ConfigInputStage(htim->Instance, - sClockSourceConfig->ClockPolarity, - sClockSourceConfig->ClockFilter); - TIM_ITRx_SetConfig(htim->Instance, TIM_CLOCKSOURCE_TI1); - break; - } - - case TIM_CLOCKSOURCE_TI2: - { - /* Check whether or not the timer instance supports external clock mode 1 (ETRF)*/ - assert_param(IS_TIM_CLOCKSOURCE_TIX_INSTANCE(htim->Instance)); - - /* Check TI2 input conditioning related parameters */ - assert_param(IS_TIM_CLOCKPOLARITY(sClockSourceConfig->ClockPolarity)); - assert_param(IS_TIM_CLOCKFILTER(sClockSourceConfig->ClockFilter)); - - TIM_TI2_ConfigInputStage(htim->Instance, - sClockSourceConfig->ClockPolarity, - sClockSourceConfig->ClockFilter); - TIM_ITRx_SetConfig(htim->Instance, TIM_CLOCKSOURCE_TI2); - break; - } - - case TIM_CLOCKSOURCE_TI1ED: - { - /* Check whether or not the timer instance supports external clock mode 1 */ - assert_param(IS_TIM_CLOCKSOURCE_TIX_INSTANCE(htim->Instance)); - - /* Check TI1 input conditioning related parameters */ - assert_param(IS_TIM_CLOCKPOLARITY(sClockSourceConfig->ClockPolarity)); - assert_param(IS_TIM_CLOCKFILTER(sClockSourceConfig->ClockFilter)); - - TIM_TI1_ConfigInputStage(htim->Instance, - sClockSourceConfig->ClockPolarity, - sClockSourceConfig->ClockFilter); - TIM_ITRx_SetConfig(htim->Instance, TIM_CLOCKSOURCE_TI1ED); - break; - } - - case TIM_CLOCKSOURCE_ITR0: - case TIM_CLOCKSOURCE_ITR1: - case TIM_CLOCKSOURCE_ITR2: - case TIM_CLOCKSOURCE_ITR3: - { - /* Check whether or not the timer instance supports internal trigger input */ - assert_param(IS_TIM_CLOCKSOURCE_ITRX_INSTANCE(htim->Instance)); - - TIM_ITRx_SetConfig(htim->Instance, sClockSourceConfig->ClockSource); - break; - } - - default: - status = HAL_ERROR; - break; - } - htim->State = HAL_TIM_STATE_READY; - - __HAL_UNLOCK(htim); - - return status; -} - -/** - * @brief Selects the signal connected to the TI1 input: direct from CH1_input - * or a XOR combination between CH1_input, CH2_input & CH3_input - * @param htim TIM handle. - * @param TI1_Selection Indicate whether or not channel 1 is connected to the - * output of a XOR gate. - * This parameter can be one of the following values: - * @arg TIM_TI1SELECTION_CH1: The TIMx_CH1 pin is connected to TI1 input - * @arg TIM_TI1SELECTION_XORCOMBINATION: The TIMx_CH1, CH2 and CH3 - * pins are connected to the TI1 input (XOR combination) - * @retval HAL status - */ -HAL_StatusTypeDef HAL_TIM_ConfigTI1Input(TIM_HandleTypeDef *htim, uint32_t TI1_Selection) -{ - uint32_t tmpcr2; - - /* Check the parameters */ - assert_param(IS_TIM_XOR_INSTANCE(htim->Instance)); - assert_param(IS_TIM_TI1SELECTION(TI1_Selection)); - - /* Get the TIMx CR2 register value */ - tmpcr2 = htim->Instance->CR2; - - /* Reset the TI1 selection */ - tmpcr2 &= ~TIM_CR2_TI1S; - - /* Set the TI1 selection */ - tmpcr2 |= TI1_Selection; - - /* Write to TIMxCR2 */ - htim->Instance->CR2 = tmpcr2; - - return HAL_OK; -} - -/** - * @brief Configures the TIM in Slave mode - * @param htim TIM handle. - * @param sSlaveConfig pointer to a TIM_SlaveConfigTypeDef structure that - * contains the selected trigger (internal trigger input, filtered - * timer input or external trigger input) and the Slave mode - * (Disable, Reset, Gated, Trigger, External clock mode 1). - * @retval HAL status - */ -HAL_StatusTypeDef HAL_TIM_SlaveConfigSynchro(TIM_HandleTypeDef *htim, TIM_SlaveConfigTypeDef *sSlaveConfig) -{ - /* Check the parameters */ - assert_param(IS_TIM_SLAVE_INSTANCE(htim->Instance)); - assert_param(IS_TIM_SLAVE_MODE(sSlaveConfig->SlaveMode)); - assert_param(IS_TIM_TRIGGER_SELECTION(sSlaveConfig->InputTrigger)); - - __HAL_LOCK(htim); - - htim->State = HAL_TIM_STATE_BUSY; - - if (TIM_SlaveTimer_SetConfig(htim, sSlaveConfig) != HAL_OK) - { - htim->State = HAL_TIM_STATE_READY; - __HAL_UNLOCK(htim); - return HAL_ERROR; - } - - /* Disable Trigger Interrupt */ - __HAL_TIM_DISABLE_IT(htim, TIM_IT_TRIGGER); - - /* Disable Trigger DMA request */ - __HAL_TIM_DISABLE_DMA(htim, TIM_DMA_TRIGGER); - - htim->State = HAL_TIM_STATE_READY; - - __HAL_UNLOCK(htim); - - return HAL_OK; -} - -/** - * @brief Configures the TIM in Slave mode in interrupt mode - * @param htim TIM handle. - * @param sSlaveConfig pointer to a TIM_SlaveConfigTypeDef structure that - * contains the selected trigger (internal trigger input, filtered - * timer input or external trigger input) and the Slave mode - * (Disable, Reset, Gated, Trigger, External clock mode 1). - * @retval HAL status - */ -HAL_StatusTypeDef HAL_TIM_SlaveConfigSynchro_IT(TIM_HandleTypeDef *htim, - TIM_SlaveConfigTypeDef *sSlaveConfig) -{ - /* Check the parameters */ - assert_param(IS_TIM_SLAVE_INSTANCE(htim->Instance)); - assert_param(IS_TIM_SLAVE_MODE(sSlaveConfig->SlaveMode)); - assert_param(IS_TIM_TRIGGER_SELECTION(sSlaveConfig->InputTrigger)); - - __HAL_LOCK(htim); - - htim->State = HAL_TIM_STATE_BUSY; - - if (TIM_SlaveTimer_SetConfig(htim, sSlaveConfig) != HAL_OK) - { - htim->State = HAL_TIM_STATE_READY; - __HAL_UNLOCK(htim); - return HAL_ERROR; - } - - /* Enable Trigger Interrupt */ - __HAL_TIM_ENABLE_IT(htim, TIM_IT_TRIGGER); - - /* Disable Trigger DMA request */ - __HAL_TIM_DISABLE_DMA(htim, TIM_DMA_TRIGGER); - - htim->State = HAL_TIM_STATE_READY; - - __HAL_UNLOCK(htim); - - return HAL_OK; -} - -/** - * @brief Read the captured value from Capture Compare unit - * @param htim TIM handle. - * @param Channel TIM Channels to be enabled - * This parameter can be one of the following values: - * @arg TIM_CHANNEL_1: TIM Channel 1 selected - * @arg TIM_CHANNEL_2: TIM Channel 2 selected - * @arg TIM_CHANNEL_3: TIM Channel 3 selected - * @arg TIM_CHANNEL_4: TIM Channel 4 selected - * @retval Captured value - */ -uint32_t HAL_TIM_ReadCapturedValue(TIM_HandleTypeDef *htim, uint32_t Channel) -{ - uint32_t tmpreg = 0U; - - switch (Channel) - { - case TIM_CHANNEL_1: - { - /* Check the parameters */ - assert_param(IS_TIM_CC1_INSTANCE(htim->Instance)); - - /* Return the capture 1 value */ - tmpreg = htim->Instance->CCR1; - - break; - } - case TIM_CHANNEL_2: - { - /* Check the parameters */ - assert_param(IS_TIM_CC2_INSTANCE(htim->Instance)); - - /* Return the capture 2 value */ - tmpreg = htim->Instance->CCR2; - - break; - } - - case TIM_CHANNEL_3: - { - /* Check the parameters */ - assert_param(IS_TIM_CC3_INSTANCE(htim->Instance)); - - /* Return the capture 3 value */ - tmpreg = htim->Instance->CCR3; - - break; - } - - case TIM_CHANNEL_4: - { - /* Check the parameters */ - assert_param(IS_TIM_CC4_INSTANCE(htim->Instance)); - - /* Return the capture 4 value */ - tmpreg = htim->Instance->CCR4; - - break; - } - - default: - break; - } - - return tmpreg; -} - -/** - * @} - */ - -/** @defgroup TIM_Exported_Functions_Group9 TIM Callbacks functions - * @brief TIM Callbacks functions - * -@verbatim - ============================================================================== - ##### TIM Callbacks functions ##### - ============================================================================== - [..] - This section provides TIM callback functions: - (+) TIM Period elapsed callback - (+) TIM Output Compare callback - (+) TIM Input capture callback - (+) TIM Trigger callback - (+) TIM Error callback - -@endverbatim - * @{ - */ - -/** - * @brief Period elapsed callback in non-blocking mode - * @param htim TIM handle - * @retval None - */ -__weak void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(htim); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_TIM_PeriodElapsedCallback could be implemented in the user file - */ -} - -/** - * @brief Period elapsed half complete callback in non-blocking mode - * @param htim TIM handle - * @retval None - */ -__weak void HAL_TIM_PeriodElapsedHalfCpltCallback(TIM_HandleTypeDef *htim) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(htim); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_TIM_PeriodElapsedHalfCpltCallback could be implemented in the user file - */ -} - -/** - * @brief Output Compare callback in non-blocking mode - * @param htim TIM OC handle - * @retval None - */ -__weak void HAL_TIM_OC_DelayElapsedCallback(TIM_HandleTypeDef *htim) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(htim); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_TIM_OC_DelayElapsedCallback could be implemented in the user file - */ -} - -/** - * @brief Input Capture callback in non-blocking mode - * @param htim TIM IC handle - * @retval None - */ -__weak void HAL_TIM_IC_CaptureCallback(TIM_HandleTypeDef *htim) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(htim); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_TIM_IC_CaptureCallback could be implemented in the user file - */ -} - -/** - * @brief Input Capture half complete callback in non-blocking mode - * @param htim TIM IC handle - * @retval None - */ -__weak void HAL_TIM_IC_CaptureHalfCpltCallback(TIM_HandleTypeDef *htim) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(htim); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_TIM_IC_CaptureHalfCpltCallback could be implemented in the user file - */ -} - -/** - * @brief PWM Pulse finished callback in non-blocking mode - * @param htim TIM handle - * @retval None - */ -__weak void HAL_TIM_PWM_PulseFinishedCallback(TIM_HandleTypeDef *htim) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(htim); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_TIM_PWM_PulseFinishedCallback could be implemented in the user file - */ -} - -/** - * @brief PWM Pulse finished half complete callback in non-blocking mode - * @param htim TIM handle - * @retval None - */ -__weak void HAL_TIM_PWM_PulseFinishedHalfCpltCallback(TIM_HandleTypeDef *htim) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(htim); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_TIM_PWM_PulseFinishedHalfCpltCallback could be implemented in the user file - */ -} - -/** - * @brief Hall Trigger detection callback in non-blocking mode - * @param htim TIM handle - * @retval None - */ -__weak void HAL_TIM_TriggerCallback(TIM_HandleTypeDef *htim) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(htim); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_TIM_TriggerCallback could be implemented in the user file - */ -} - -/** - * @brief Hall Trigger detection half complete callback in non-blocking mode - * @param htim TIM handle - * @retval None - */ -__weak void HAL_TIM_TriggerHalfCpltCallback(TIM_HandleTypeDef *htim) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(htim); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_TIM_TriggerHalfCpltCallback could be implemented in the user file - */ -} - -/** - * @brief Timer error callback in non-blocking mode - * @param htim TIM handle - * @retval None - */ -__weak void HAL_TIM_ErrorCallback(TIM_HandleTypeDef *htim) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(htim); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_TIM_ErrorCallback could be implemented in the user file - */ -} - -#if (USE_HAL_TIM_REGISTER_CALLBACKS == 1) -/** - * @brief Register a User TIM callback to be used instead of the weak predefined callback - * @param htim tim handle - * @param CallbackID ID of the callback to be registered - * This parameter can be one of the following values: - * @arg @ref HAL_TIM_BASE_MSPINIT_CB_ID Base MspInit Callback ID - * @arg @ref HAL_TIM_BASE_MSPDEINIT_CB_ID Base MspDeInit Callback ID - * @arg @ref HAL_TIM_IC_MSPINIT_CB_ID IC MspInit Callback ID - * @arg @ref HAL_TIM_IC_MSPDEINIT_CB_ID IC MspDeInit Callback ID - * @arg @ref HAL_TIM_OC_MSPINIT_CB_ID OC MspInit Callback ID - * @arg @ref HAL_TIM_OC_MSPDEINIT_CB_ID OC MspDeInit Callback ID - * @arg @ref HAL_TIM_PWM_MSPINIT_CB_ID PWM MspInit Callback ID - * @arg @ref HAL_TIM_PWM_MSPDEINIT_CB_ID PWM MspDeInit Callback ID - * @arg @ref HAL_TIM_ONE_PULSE_MSPINIT_CB_ID One Pulse MspInit Callback ID - * @arg @ref HAL_TIM_ONE_PULSE_MSPDEINIT_CB_ID One Pulse MspDeInit Callback ID - * @arg @ref HAL_TIM_ENCODER_MSPINIT_CB_ID Encoder MspInit Callback ID - * @arg @ref HAL_TIM_ENCODER_MSPDEINIT_CB_ID Encoder MspDeInit Callback ID - * @arg @ref HAL_TIM_HALL_SENSOR_MSPINIT_CB_ID Hall Sensor MspInit Callback ID - * @arg @ref HAL_TIM_HALL_SENSOR_MSPDEINIT_CB_ID Hall Sensor MspDeInit Callback ID - * @arg @ref HAL_TIM_PERIOD_ELAPSED_CB_ID Period Elapsed Callback ID - * @arg @ref HAL_TIM_PERIOD_ELAPSED_HALF_CB_ID Period Elapsed half complete Callback ID - * @arg @ref HAL_TIM_TRIGGER_CB_ID Trigger Callback ID - * @arg @ref HAL_TIM_TRIGGER_HALF_CB_ID Trigger half complete Callback ID - * @arg @ref HAL_TIM_IC_CAPTURE_CB_ID Input Capture Callback ID - * @arg @ref HAL_TIM_IC_CAPTURE_HALF_CB_ID Input Capture half complete Callback ID - * @arg @ref HAL_TIM_OC_DELAY_ELAPSED_CB_ID Output Compare Delay Elapsed Callback ID - * @arg @ref HAL_TIM_PWM_PULSE_FINISHED_CB_ID PWM Pulse Finished Callback ID - * @arg @ref HAL_TIM_PWM_PULSE_FINISHED_HALF_CB_ID PWM Pulse Finished half complete Callback ID - * @arg @ref HAL_TIM_ERROR_CB_ID Error Callback ID - * @arg @ref HAL_TIM_COMMUTATION_CB_ID Commutation Callback ID - * @arg @ref HAL_TIM_COMMUTATION_HALF_CB_ID Commutation half complete Callback ID - * @arg @ref HAL_TIM_BREAK_CB_ID Break Callback ID - * @param pCallback pointer to the callback function - * @retval status - */ -HAL_StatusTypeDef HAL_TIM_RegisterCallback(TIM_HandleTypeDef *htim, HAL_TIM_CallbackIDTypeDef CallbackID, - pTIM_CallbackTypeDef pCallback) -{ - HAL_StatusTypeDef status = HAL_OK; - - if (pCallback == NULL) - { - return HAL_ERROR; - } - /* Process locked */ - __HAL_LOCK(htim); - - if (htim->State == HAL_TIM_STATE_READY) - { - switch (CallbackID) - { - case HAL_TIM_BASE_MSPINIT_CB_ID : - htim->Base_MspInitCallback = pCallback; - break; - - case HAL_TIM_BASE_MSPDEINIT_CB_ID : - htim->Base_MspDeInitCallback = pCallback; - break; - - case HAL_TIM_IC_MSPINIT_CB_ID : - htim->IC_MspInitCallback = pCallback; - break; - - case HAL_TIM_IC_MSPDEINIT_CB_ID : - htim->IC_MspDeInitCallback = pCallback; - break; - - case HAL_TIM_OC_MSPINIT_CB_ID : - htim->OC_MspInitCallback = pCallback; - break; - - case HAL_TIM_OC_MSPDEINIT_CB_ID : - htim->OC_MspDeInitCallback = pCallback; - break; - - case HAL_TIM_PWM_MSPINIT_CB_ID : - htim->PWM_MspInitCallback = pCallback; - break; - - case HAL_TIM_PWM_MSPDEINIT_CB_ID : - htim->PWM_MspDeInitCallback = pCallback; - break; - - case HAL_TIM_ONE_PULSE_MSPINIT_CB_ID : - htim->OnePulse_MspInitCallback = pCallback; - break; - - case HAL_TIM_ONE_PULSE_MSPDEINIT_CB_ID : - htim->OnePulse_MspDeInitCallback = pCallback; - break; - - case HAL_TIM_ENCODER_MSPINIT_CB_ID : - htim->Encoder_MspInitCallback = pCallback; - break; - - case HAL_TIM_ENCODER_MSPDEINIT_CB_ID : - htim->Encoder_MspDeInitCallback = pCallback; - break; - - case HAL_TIM_HALL_SENSOR_MSPINIT_CB_ID : - htim->HallSensor_MspInitCallback = pCallback; - break; - - case HAL_TIM_HALL_SENSOR_MSPDEINIT_CB_ID : - htim->HallSensor_MspDeInitCallback = pCallback; - break; - - case HAL_TIM_PERIOD_ELAPSED_CB_ID : - htim->PeriodElapsedCallback = pCallback; - break; - - case HAL_TIM_PERIOD_ELAPSED_HALF_CB_ID : - htim->PeriodElapsedHalfCpltCallback = pCallback; - break; - - case HAL_TIM_TRIGGER_CB_ID : - htim->TriggerCallback = pCallback; - break; - - case HAL_TIM_TRIGGER_HALF_CB_ID : - htim->TriggerHalfCpltCallback = pCallback; - break; - - case HAL_TIM_IC_CAPTURE_CB_ID : - htim->IC_CaptureCallback = pCallback; - break; - - case HAL_TIM_IC_CAPTURE_HALF_CB_ID : - htim->IC_CaptureHalfCpltCallback = pCallback; - break; - - case HAL_TIM_OC_DELAY_ELAPSED_CB_ID : - htim->OC_DelayElapsedCallback = pCallback; - break; - - case HAL_TIM_PWM_PULSE_FINISHED_CB_ID : - htim->PWM_PulseFinishedCallback = pCallback; - break; - - case HAL_TIM_PWM_PULSE_FINISHED_HALF_CB_ID : - htim->PWM_PulseFinishedHalfCpltCallback = pCallback; - break; - - case HAL_TIM_ERROR_CB_ID : - htim->ErrorCallback = pCallback; - break; - - case HAL_TIM_COMMUTATION_CB_ID : - htim->CommutationCallback = pCallback; - break; - - case HAL_TIM_COMMUTATION_HALF_CB_ID : - htim->CommutationHalfCpltCallback = pCallback; - break; - - case HAL_TIM_BREAK_CB_ID : - htim->BreakCallback = pCallback; - break; - - default : - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else if (htim->State == HAL_TIM_STATE_RESET) - { - switch (CallbackID) - { - case HAL_TIM_BASE_MSPINIT_CB_ID : - htim->Base_MspInitCallback = pCallback; - break; - - case HAL_TIM_BASE_MSPDEINIT_CB_ID : - htim->Base_MspDeInitCallback = pCallback; - break; - - case HAL_TIM_IC_MSPINIT_CB_ID : - htim->IC_MspInitCallback = pCallback; - break; - - case HAL_TIM_IC_MSPDEINIT_CB_ID : - htim->IC_MspDeInitCallback = pCallback; - break; - - case HAL_TIM_OC_MSPINIT_CB_ID : - htim->OC_MspInitCallback = pCallback; - break; - - case HAL_TIM_OC_MSPDEINIT_CB_ID : - htim->OC_MspDeInitCallback = pCallback; - break; - - case HAL_TIM_PWM_MSPINIT_CB_ID : - htim->PWM_MspInitCallback = pCallback; - break; - - case HAL_TIM_PWM_MSPDEINIT_CB_ID : - htim->PWM_MspDeInitCallback = pCallback; - break; - - case HAL_TIM_ONE_PULSE_MSPINIT_CB_ID : - htim->OnePulse_MspInitCallback = pCallback; - break; - - case HAL_TIM_ONE_PULSE_MSPDEINIT_CB_ID : - htim->OnePulse_MspDeInitCallback = pCallback; - break; - - case HAL_TIM_ENCODER_MSPINIT_CB_ID : - htim->Encoder_MspInitCallback = pCallback; - break; - - case HAL_TIM_ENCODER_MSPDEINIT_CB_ID : - htim->Encoder_MspDeInitCallback = pCallback; - break; - - case HAL_TIM_HALL_SENSOR_MSPINIT_CB_ID : - htim->HallSensor_MspInitCallback = pCallback; - break; - - case HAL_TIM_HALL_SENSOR_MSPDEINIT_CB_ID : - htim->HallSensor_MspDeInitCallback = pCallback; - break; - - default : - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else - { - /* Return error status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(htim); - - return status; -} - -/** - * @brief Unregister a TIM callback - * TIM callback is redirected to the weak predefined callback - * @param htim tim handle - * @param CallbackID ID of the callback to be unregistered - * This parameter can be one of the following values: - * @arg @ref HAL_TIM_BASE_MSPINIT_CB_ID Base MspInit Callback ID - * @arg @ref HAL_TIM_BASE_MSPDEINIT_CB_ID Base MspDeInit Callback ID - * @arg @ref HAL_TIM_IC_MSPINIT_CB_ID IC MspInit Callback ID - * @arg @ref HAL_TIM_IC_MSPDEINIT_CB_ID IC MspDeInit Callback ID - * @arg @ref HAL_TIM_OC_MSPINIT_CB_ID OC MspInit Callback ID - * @arg @ref HAL_TIM_OC_MSPDEINIT_CB_ID OC MspDeInit Callback ID - * @arg @ref HAL_TIM_PWM_MSPINIT_CB_ID PWM MspInit Callback ID - * @arg @ref HAL_TIM_PWM_MSPDEINIT_CB_ID PWM MspDeInit Callback ID - * @arg @ref HAL_TIM_ONE_PULSE_MSPINIT_CB_ID One Pulse MspInit Callback ID - * @arg @ref HAL_TIM_ONE_PULSE_MSPDEINIT_CB_ID One Pulse MspDeInit Callback ID - * @arg @ref HAL_TIM_ENCODER_MSPINIT_CB_ID Encoder MspInit Callback ID - * @arg @ref HAL_TIM_ENCODER_MSPDEINIT_CB_ID Encoder MspDeInit Callback ID - * @arg @ref HAL_TIM_HALL_SENSOR_MSPINIT_CB_ID Hall Sensor MspInit Callback ID - * @arg @ref HAL_TIM_HALL_SENSOR_MSPDEINIT_CB_ID Hall Sensor MspDeInit Callback ID - * @arg @ref HAL_TIM_PERIOD_ELAPSED_CB_ID Period Elapsed Callback ID - * @arg @ref HAL_TIM_PERIOD_ELAPSED_HALF_CB_ID Period Elapsed half complete Callback ID - * @arg @ref HAL_TIM_TRIGGER_CB_ID Trigger Callback ID - * @arg @ref HAL_TIM_TRIGGER_HALF_CB_ID Trigger half complete Callback ID - * @arg @ref HAL_TIM_IC_CAPTURE_CB_ID Input Capture Callback ID - * @arg @ref HAL_TIM_IC_CAPTURE_HALF_CB_ID Input Capture half complete Callback ID - * @arg @ref HAL_TIM_OC_DELAY_ELAPSED_CB_ID Output Compare Delay Elapsed Callback ID - * @arg @ref HAL_TIM_PWM_PULSE_FINISHED_CB_ID PWM Pulse Finished Callback ID - * @arg @ref HAL_TIM_PWM_PULSE_FINISHED_HALF_CB_ID PWM Pulse Finished half complete Callback ID - * @arg @ref HAL_TIM_ERROR_CB_ID Error Callback ID - * @arg @ref HAL_TIM_COMMUTATION_CB_ID Commutation Callback ID - * @arg @ref HAL_TIM_COMMUTATION_HALF_CB_ID Commutation half complete Callback ID - * @arg @ref HAL_TIM_BREAK_CB_ID Break Callback ID - * @retval status - */ -HAL_StatusTypeDef HAL_TIM_UnRegisterCallback(TIM_HandleTypeDef *htim, HAL_TIM_CallbackIDTypeDef CallbackID) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Process locked */ - __HAL_LOCK(htim); - - if (htim->State == HAL_TIM_STATE_READY) - { - switch (CallbackID) - { - case HAL_TIM_BASE_MSPINIT_CB_ID : - /* Legacy weak Base MspInit Callback */ - htim->Base_MspInitCallback = HAL_TIM_Base_MspInit; - break; - - case HAL_TIM_BASE_MSPDEINIT_CB_ID : - /* Legacy weak Base Msp DeInit Callback */ - htim->Base_MspDeInitCallback = HAL_TIM_Base_MspDeInit; - break; - - case HAL_TIM_IC_MSPINIT_CB_ID : - /* Legacy weak IC Msp Init Callback */ - htim->IC_MspInitCallback = HAL_TIM_IC_MspInit; - break; - - case HAL_TIM_IC_MSPDEINIT_CB_ID : - /* Legacy weak IC Msp DeInit Callback */ - htim->IC_MspDeInitCallback = HAL_TIM_IC_MspDeInit; - break; - - case HAL_TIM_OC_MSPINIT_CB_ID : - /* Legacy weak OC Msp Init Callback */ - htim->OC_MspInitCallback = HAL_TIM_OC_MspInit; - break; - - case HAL_TIM_OC_MSPDEINIT_CB_ID : - /* Legacy weak OC Msp DeInit Callback */ - htim->OC_MspDeInitCallback = HAL_TIM_OC_MspDeInit; - break; - - case HAL_TIM_PWM_MSPINIT_CB_ID : - /* Legacy weak PWM Msp Init Callback */ - htim->PWM_MspInitCallback = HAL_TIM_PWM_MspInit; - break; - - case HAL_TIM_PWM_MSPDEINIT_CB_ID : - /* Legacy weak PWM Msp DeInit Callback */ - htim->PWM_MspDeInitCallback = HAL_TIM_PWM_MspDeInit; - break; - - case HAL_TIM_ONE_PULSE_MSPINIT_CB_ID : - /* Legacy weak One Pulse Msp Init Callback */ - htim->OnePulse_MspInitCallback = HAL_TIM_OnePulse_MspInit; - break; - - case HAL_TIM_ONE_PULSE_MSPDEINIT_CB_ID : - /* Legacy weak One Pulse Msp DeInit Callback */ - htim->OnePulse_MspDeInitCallback = HAL_TIM_OnePulse_MspDeInit; - break; - - case HAL_TIM_ENCODER_MSPINIT_CB_ID : - /* Legacy weak Encoder Msp Init Callback */ - htim->Encoder_MspInitCallback = HAL_TIM_Encoder_MspInit; - break; - - case HAL_TIM_ENCODER_MSPDEINIT_CB_ID : - /* Legacy weak Encoder Msp DeInit Callback */ - htim->Encoder_MspDeInitCallback = HAL_TIM_Encoder_MspDeInit; - break; - - case HAL_TIM_HALL_SENSOR_MSPINIT_CB_ID : - /* Legacy weak Hall Sensor Msp Init Callback */ - htim->HallSensor_MspInitCallback = HAL_TIMEx_HallSensor_MspInit; - break; - - case HAL_TIM_HALL_SENSOR_MSPDEINIT_CB_ID : - /* Legacy weak Hall Sensor Msp DeInit Callback */ - htim->HallSensor_MspDeInitCallback = HAL_TIMEx_HallSensor_MspDeInit; - break; - - case HAL_TIM_PERIOD_ELAPSED_CB_ID : - /* Legacy weak Period Elapsed Callback */ - htim->PeriodElapsedCallback = HAL_TIM_PeriodElapsedCallback; - break; - - case HAL_TIM_PERIOD_ELAPSED_HALF_CB_ID : - /* Legacy weak Period Elapsed half complete Callback */ - htim->PeriodElapsedHalfCpltCallback = HAL_TIM_PeriodElapsedHalfCpltCallback; - break; - - case HAL_TIM_TRIGGER_CB_ID : - /* Legacy weak Trigger Callback */ - htim->TriggerCallback = HAL_TIM_TriggerCallback; - break; - - case HAL_TIM_TRIGGER_HALF_CB_ID : - /* Legacy weak Trigger half complete Callback */ - htim->TriggerHalfCpltCallback = HAL_TIM_TriggerHalfCpltCallback; - break; - - case HAL_TIM_IC_CAPTURE_CB_ID : - /* Legacy weak IC Capture Callback */ - htim->IC_CaptureCallback = HAL_TIM_IC_CaptureCallback; - break; - - case HAL_TIM_IC_CAPTURE_HALF_CB_ID : - /* Legacy weak IC Capture half complete Callback */ - htim->IC_CaptureHalfCpltCallback = HAL_TIM_IC_CaptureHalfCpltCallback; - break; - - case HAL_TIM_OC_DELAY_ELAPSED_CB_ID : - /* Legacy weak OC Delay Elapsed Callback */ - htim->OC_DelayElapsedCallback = HAL_TIM_OC_DelayElapsedCallback; - break; - - case HAL_TIM_PWM_PULSE_FINISHED_CB_ID : - /* Legacy weak PWM Pulse Finished Callback */ - htim->PWM_PulseFinishedCallback = HAL_TIM_PWM_PulseFinishedCallback; - break; - - case HAL_TIM_PWM_PULSE_FINISHED_HALF_CB_ID : - /* Legacy weak PWM Pulse Finished half complete Callback */ - htim->PWM_PulseFinishedHalfCpltCallback = HAL_TIM_PWM_PulseFinishedHalfCpltCallback; - break; - - case HAL_TIM_ERROR_CB_ID : - /* Legacy weak Error Callback */ - htim->ErrorCallback = HAL_TIM_ErrorCallback; - break; - - case HAL_TIM_COMMUTATION_CB_ID : - /* Legacy weak Commutation Callback */ - htim->CommutationCallback = HAL_TIMEx_CommutCallback; - break; - - case HAL_TIM_COMMUTATION_HALF_CB_ID : - /* Legacy weak Commutation half complete Callback */ - htim->CommutationHalfCpltCallback = HAL_TIMEx_CommutHalfCpltCallback; - break; - - case HAL_TIM_BREAK_CB_ID : - /* Legacy weak Break Callback */ - htim->BreakCallback = HAL_TIMEx_BreakCallback; - break; - - default : - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else if (htim->State == HAL_TIM_STATE_RESET) - { - switch (CallbackID) - { - case HAL_TIM_BASE_MSPINIT_CB_ID : - /* Legacy weak Base MspInit Callback */ - htim->Base_MspInitCallback = HAL_TIM_Base_MspInit; - break; - - case HAL_TIM_BASE_MSPDEINIT_CB_ID : - /* Legacy weak Base Msp DeInit Callback */ - htim->Base_MspDeInitCallback = HAL_TIM_Base_MspDeInit; - break; - - case HAL_TIM_IC_MSPINIT_CB_ID : - /* Legacy weak IC Msp Init Callback */ - htim->IC_MspInitCallback = HAL_TIM_IC_MspInit; - break; - - case HAL_TIM_IC_MSPDEINIT_CB_ID : - /* Legacy weak IC Msp DeInit Callback */ - htim->IC_MspDeInitCallback = HAL_TIM_IC_MspDeInit; - break; - - case HAL_TIM_OC_MSPINIT_CB_ID : - /* Legacy weak OC Msp Init Callback */ - htim->OC_MspInitCallback = HAL_TIM_OC_MspInit; - break; - - case HAL_TIM_OC_MSPDEINIT_CB_ID : - /* Legacy weak OC Msp DeInit Callback */ - htim->OC_MspDeInitCallback = HAL_TIM_OC_MspDeInit; - break; - - case HAL_TIM_PWM_MSPINIT_CB_ID : - /* Legacy weak PWM Msp Init Callback */ - htim->PWM_MspInitCallback = HAL_TIM_PWM_MspInit; - break; - - case HAL_TIM_PWM_MSPDEINIT_CB_ID : - /* Legacy weak PWM Msp DeInit Callback */ - htim->PWM_MspDeInitCallback = HAL_TIM_PWM_MspDeInit; - break; - - case HAL_TIM_ONE_PULSE_MSPINIT_CB_ID : - /* Legacy weak One Pulse Msp Init Callback */ - htim->OnePulse_MspInitCallback = HAL_TIM_OnePulse_MspInit; - break; - - case HAL_TIM_ONE_PULSE_MSPDEINIT_CB_ID : - /* Legacy weak One Pulse Msp DeInit Callback */ - htim->OnePulse_MspDeInitCallback = HAL_TIM_OnePulse_MspDeInit; - break; - - case HAL_TIM_ENCODER_MSPINIT_CB_ID : - /* Legacy weak Encoder Msp Init Callback */ - htim->Encoder_MspInitCallback = HAL_TIM_Encoder_MspInit; - break; - - case HAL_TIM_ENCODER_MSPDEINIT_CB_ID : - /* Legacy weak Encoder Msp DeInit Callback */ - htim->Encoder_MspDeInitCallback = HAL_TIM_Encoder_MspDeInit; - break; - - case HAL_TIM_HALL_SENSOR_MSPINIT_CB_ID : - /* Legacy weak Hall Sensor Msp Init Callback */ - htim->HallSensor_MspInitCallback = HAL_TIMEx_HallSensor_MspInit; - break; - - case HAL_TIM_HALL_SENSOR_MSPDEINIT_CB_ID : - /* Legacy weak Hall Sensor Msp DeInit Callback */ - htim->HallSensor_MspDeInitCallback = HAL_TIMEx_HallSensor_MspDeInit; - break; - - default : - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else - { - /* Return error status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(htim); - - return status; -} -#endif /* USE_HAL_TIM_REGISTER_CALLBACKS */ - -/** - * @} - */ - -/** @defgroup TIM_Exported_Functions_Group10 TIM Peripheral State functions - * @brief TIM Peripheral State functions - * -@verbatim - ============================================================================== - ##### Peripheral State functions ##### - ============================================================================== - [..] - This subsection permits to get in run-time the status of the peripheral - and the data flow. - -@endverbatim - * @{ - */ - -/** - * @brief Return the TIM Base handle state. - * @param htim TIM Base handle - * @retval HAL state - */ -HAL_TIM_StateTypeDef HAL_TIM_Base_GetState(TIM_HandleTypeDef *htim) -{ - return htim->State; -} - -/** - * @brief Return the TIM OC handle state. - * @param htim TIM Output Compare handle - * @retval HAL state - */ -HAL_TIM_StateTypeDef HAL_TIM_OC_GetState(TIM_HandleTypeDef *htim) -{ - return htim->State; -} - -/** - * @brief Return the TIM PWM handle state. - * @param htim TIM handle - * @retval HAL state - */ -HAL_TIM_StateTypeDef HAL_TIM_PWM_GetState(TIM_HandleTypeDef *htim) -{ - return htim->State; -} - -/** - * @brief Return the TIM Input Capture handle state. - * @param htim TIM IC handle - * @retval HAL state - */ -HAL_TIM_StateTypeDef HAL_TIM_IC_GetState(TIM_HandleTypeDef *htim) -{ - return htim->State; -} - -/** - * @brief Return the TIM One Pulse Mode handle state. - * @param htim TIM OPM handle - * @retval HAL state - */ -HAL_TIM_StateTypeDef HAL_TIM_OnePulse_GetState(TIM_HandleTypeDef *htim) -{ - return htim->State; -} - -/** - * @brief Return the TIM Encoder Mode handle state. - * @param htim TIM Encoder Interface handle - * @retval HAL state - */ -HAL_TIM_StateTypeDef HAL_TIM_Encoder_GetState(TIM_HandleTypeDef *htim) -{ - return htim->State; -} - -/** - * @brief Return the TIM Encoder Mode handle state. - * @param htim TIM handle - * @retval Active channel - */ -HAL_TIM_ActiveChannel HAL_TIM_GetActiveChannel(TIM_HandleTypeDef *htim) -{ - return htim->Channel; -} - -/** - * @brief Return actual state of the TIM channel. - * @param htim TIM handle - * @param Channel TIM Channel - * This parameter can be one of the following values: - * @arg TIM_CHANNEL_1: TIM Channel 1 - * @arg TIM_CHANNEL_2: TIM Channel 2 - * @arg TIM_CHANNEL_3: TIM Channel 3 - * @arg TIM_CHANNEL_4: TIM Channel 4 - * @arg TIM_CHANNEL_5: TIM Channel 5 - * @arg TIM_CHANNEL_6: TIM Channel 6 - * @retval TIM Channel state - */ -HAL_TIM_ChannelStateTypeDef HAL_TIM_GetChannelState(TIM_HandleTypeDef *htim, uint32_t Channel) -{ - HAL_TIM_ChannelStateTypeDef channel_state; - - /* Check the parameters */ - assert_param(IS_TIM_CCX_INSTANCE(htim->Instance, Channel)); - - channel_state = TIM_CHANNEL_STATE_GET(htim, Channel); - - return channel_state; -} - -/** - * @brief Return actual state of a DMA burst operation. - * @param htim TIM handle - * @retval DMA burst state - */ -HAL_TIM_DMABurstStateTypeDef HAL_TIM_DMABurstState(TIM_HandleTypeDef *htim) -{ - /* Check the parameters */ - assert_param(IS_TIM_DMABURST_INSTANCE(htim->Instance)); - - return htim->DMABurstState; -} - -/** - * @} - */ - -/** - * @} - */ - -/** @defgroup TIM_Private_Functions TIM Private Functions - * @{ - */ - -/** - * @brief TIM DMA error callback - * @param hdma pointer to DMA handle. - * @retval None - */ -void TIM_DMAError(DMA_HandleTypeDef *hdma) -{ - TIM_HandleTypeDef *htim = (TIM_HandleTypeDef *)((DMA_HandleTypeDef *)hdma)->Parent; - - if (hdma == htim->hdma[TIM_DMA_ID_CC1]) - { - htim->Channel = HAL_TIM_ACTIVE_CHANNEL_1; - TIM_CHANNEL_STATE_SET(htim, TIM_CHANNEL_1, HAL_TIM_CHANNEL_STATE_READY); - } - else if (hdma == htim->hdma[TIM_DMA_ID_CC2]) - { - htim->Channel = HAL_TIM_ACTIVE_CHANNEL_2; - TIM_CHANNEL_STATE_SET(htim, TIM_CHANNEL_2, HAL_TIM_CHANNEL_STATE_READY); - } - else if (hdma == htim->hdma[TIM_DMA_ID_CC3]) - { - htim->Channel = HAL_TIM_ACTIVE_CHANNEL_3; - TIM_CHANNEL_STATE_SET(htim, TIM_CHANNEL_3, HAL_TIM_CHANNEL_STATE_READY); - } - else if (hdma == htim->hdma[TIM_DMA_ID_CC4]) - { - htim->Channel = HAL_TIM_ACTIVE_CHANNEL_4; - TIM_CHANNEL_STATE_SET(htim, TIM_CHANNEL_4, HAL_TIM_CHANNEL_STATE_READY); - } - else - { - htim->State = HAL_TIM_STATE_READY; - } - -#if (USE_HAL_TIM_REGISTER_CALLBACKS == 1) - htim->ErrorCallback(htim); -#else - HAL_TIM_ErrorCallback(htim); -#endif /* USE_HAL_TIM_REGISTER_CALLBACKS */ - - htim->Channel = HAL_TIM_ACTIVE_CHANNEL_CLEARED; -} - -/** - * @brief TIM DMA Delay Pulse complete callback. - * @param hdma pointer to DMA handle. - * @retval None - */ -static void TIM_DMADelayPulseCplt(DMA_HandleTypeDef *hdma) -{ - TIM_HandleTypeDef *htim = (TIM_HandleTypeDef *)((DMA_HandleTypeDef *)hdma)->Parent; - - if (hdma == htim->hdma[TIM_DMA_ID_CC1]) - { - htim->Channel = HAL_TIM_ACTIVE_CHANNEL_1; - - if (hdma->Init.Mode == DMA_NORMAL) - { - TIM_CHANNEL_STATE_SET(htim, TIM_CHANNEL_1, HAL_TIM_CHANNEL_STATE_READY); - } - } - else if (hdma == htim->hdma[TIM_DMA_ID_CC2]) - { - htim->Channel = HAL_TIM_ACTIVE_CHANNEL_2; - - if (hdma->Init.Mode == DMA_NORMAL) - { - TIM_CHANNEL_STATE_SET(htim, TIM_CHANNEL_2, HAL_TIM_CHANNEL_STATE_READY); - } - } - else if (hdma == htim->hdma[TIM_DMA_ID_CC3]) - { - htim->Channel = HAL_TIM_ACTIVE_CHANNEL_3; - - if (hdma->Init.Mode == DMA_NORMAL) - { - TIM_CHANNEL_STATE_SET(htim, TIM_CHANNEL_3, HAL_TIM_CHANNEL_STATE_READY); - } - } - else if (hdma == htim->hdma[TIM_DMA_ID_CC4]) - { - htim->Channel = HAL_TIM_ACTIVE_CHANNEL_4; - - if (hdma->Init.Mode == DMA_NORMAL) - { - TIM_CHANNEL_STATE_SET(htim, TIM_CHANNEL_4, HAL_TIM_CHANNEL_STATE_READY); - } - } - else - { - /* nothing to do */ - } - -#if (USE_HAL_TIM_REGISTER_CALLBACKS == 1) - htim->PWM_PulseFinishedCallback(htim); -#else - HAL_TIM_PWM_PulseFinishedCallback(htim); -#endif /* USE_HAL_TIM_REGISTER_CALLBACKS */ - - htim->Channel = HAL_TIM_ACTIVE_CHANNEL_CLEARED; -} - -/** - * @brief TIM DMA Delay Pulse half complete callback. - * @param hdma pointer to DMA handle. - * @retval None - */ -void TIM_DMADelayPulseHalfCplt(DMA_HandleTypeDef *hdma) -{ - TIM_HandleTypeDef *htim = (TIM_HandleTypeDef *)((DMA_HandleTypeDef *)hdma)->Parent; - - if (hdma == htim->hdma[TIM_DMA_ID_CC1]) - { - htim->Channel = HAL_TIM_ACTIVE_CHANNEL_1; - } - else if (hdma == htim->hdma[TIM_DMA_ID_CC2]) - { - htim->Channel = HAL_TIM_ACTIVE_CHANNEL_2; - } - else if (hdma == htim->hdma[TIM_DMA_ID_CC3]) - { - htim->Channel = HAL_TIM_ACTIVE_CHANNEL_3; - } - else if (hdma == htim->hdma[TIM_DMA_ID_CC4]) - { - htim->Channel = HAL_TIM_ACTIVE_CHANNEL_4; - } - else - { - /* nothing to do */ - } - -#if (USE_HAL_TIM_REGISTER_CALLBACKS == 1) - htim->PWM_PulseFinishedHalfCpltCallback(htim); -#else - HAL_TIM_PWM_PulseFinishedHalfCpltCallback(htim); -#endif /* USE_HAL_TIM_REGISTER_CALLBACKS */ - - htim->Channel = HAL_TIM_ACTIVE_CHANNEL_CLEARED; -} - -/** - * @brief TIM DMA Capture complete callback. - * @param hdma pointer to DMA handle. - * @retval None - */ -void TIM_DMACaptureCplt(DMA_HandleTypeDef *hdma) -{ - TIM_HandleTypeDef *htim = (TIM_HandleTypeDef *)((DMA_HandleTypeDef *)hdma)->Parent; - - if (hdma == htim->hdma[TIM_DMA_ID_CC1]) - { - htim->Channel = HAL_TIM_ACTIVE_CHANNEL_1; - - if (hdma->Init.Mode == DMA_NORMAL) - { - TIM_CHANNEL_STATE_SET(htim, TIM_CHANNEL_1, HAL_TIM_CHANNEL_STATE_READY); - TIM_CHANNEL_N_STATE_SET(htim, TIM_CHANNEL_1, HAL_TIM_CHANNEL_STATE_READY); - } - } - else if (hdma == htim->hdma[TIM_DMA_ID_CC2]) - { - htim->Channel = HAL_TIM_ACTIVE_CHANNEL_2; - - if (hdma->Init.Mode == DMA_NORMAL) - { - TIM_CHANNEL_STATE_SET(htim, TIM_CHANNEL_2, HAL_TIM_CHANNEL_STATE_READY); - TIM_CHANNEL_N_STATE_SET(htim, TIM_CHANNEL_2, HAL_TIM_CHANNEL_STATE_READY); - } - } - else if (hdma == htim->hdma[TIM_DMA_ID_CC3]) - { - htim->Channel = HAL_TIM_ACTIVE_CHANNEL_3; - - if (hdma->Init.Mode == DMA_NORMAL) - { - TIM_CHANNEL_STATE_SET(htim, TIM_CHANNEL_3, HAL_TIM_CHANNEL_STATE_READY); - TIM_CHANNEL_N_STATE_SET(htim, TIM_CHANNEL_3, HAL_TIM_CHANNEL_STATE_READY); - } - } - else if (hdma == htim->hdma[TIM_DMA_ID_CC4]) - { - htim->Channel = HAL_TIM_ACTIVE_CHANNEL_4; - - if (hdma->Init.Mode == DMA_NORMAL) - { - TIM_CHANNEL_STATE_SET(htim, TIM_CHANNEL_4, HAL_TIM_CHANNEL_STATE_READY); - TIM_CHANNEL_N_STATE_SET(htim, TIM_CHANNEL_4, HAL_TIM_CHANNEL_STATE_READY); - } - } - else - { - /* nothing to do */ - } - -#if (USE_HAL_TIM_REGISTER_CALLBACKS == 1) - htim->IC_CaptureCallback(htim); -#else - HAL_TIM_IC_CaptureCallback(htim); -#endif /* USE_HAL_TIM_REGISTER_CALLBACKS */ - - htim->Channel = HAL_TIM_ACTIVE_CHANNEL_CLEARED; -} - -/** - * @brief TIM DMA Capture half complete callback. - * @param hdma pointer to DMA handle. - * @retval None - */ -void TIM_DMACaptureHalfCplt(DMA_HandleTypeDef *hdma) -{ - TIM_HandleTypeDef *htim = (TIM_HandleTypeDef *)((DMA_HandleTypeDef *)hdma)->Parent; - - if (hdma == htim->hdma[TIM_DMA_ID_CC1]) - { - htim->Channel = HAL_TIM_ACTIVE_CHANNEL_1; - } - else if (hdma == htim->hdma[TIM_DMA_ID_CC2]) - { - htim->Channel = HAL_TIM_ACTIVE_CHANNEL_2; - } - else if (hdma == htim->hdma[TIM_DMA_ID_CC3]) - { - htim->Channel = HAL_TIM_ACTIVE_CHANNEL_3; - } - else if (hdma == htim->hdma[TIM_DMA_ID_CC4]) - { - htim->Channel = HAL_TIM_ACTIVE_CHANNEL_4; - } - else - { - /* nothing to do */ - } - -#if (USE_HAL_TIM_REGISTER_CALLBACKS == 1) - htim->IC_CaptureHalfCpltCallback(htim); -#else - HAL_TIM_IC_CaptureHalfCpltCallback(htim); -#endif /* USE_HAL_TIM_REGISTER_CALLBACKS */ - - htim->Channel = HAL_TIM_ACTIVE_CHANNEL_CLEARED; -} - -/** - * @brief TIM DMA Period Elapse complete callback. - * @param hdma pointer to DMA handle. - * @retval None - */ -static void TIM_DMAPeriodElapsedCplt(DMA_HandleTypeDef *hdma) -{ - TIM_HandleTypeDef *htim = (TIM_HandleTypeDef *)((DMA_HandleTypeDef *)hdma)->Parent; - - if (htim->hdma[TIM_DMA_ID_UPDATE]->Init.Mode == DMA_NORMAL) - { - htim->State = HAL_TIM_STATE_READY; - } - -#if (USE_HAL_TIM_REGISTER_CALLBACKS == 1) - htim->PeriodElapsedCallback(htim); -#else - HAL_TIM_PeriodElapsedCallback(htim); -#endif /* USE_HAL_TIM_REGISTER_CALLBACKS */ -} - -/** - * @brief TIM DMA Period Elapse half complete callback. - * @param hdma pointer to DMA handle. - * @retval None - */ -static void TIM_DMAPeriodElapsedHalfCplt(DMA_HandleTypeDef *hdma) -{ - TIM_HandleTypeDef *htim = (TIM_HandleTypeDef *)((DMA_HandleTypeDef *)hdma)->Parent; - -#if (USE_HAL_TIM_REGISTER_CALLBACKS == 1) - htim->PeriodElapsedHalfCpltCallback(htim); -#else - HAL_TIM_PeriodElapsedHalfCpltCallback(htim); -#endif /* USE_HAL_TIM_REGISTER_CALLBACKS */ -} - -/** - * @brief TIM DMA Trigger callback. - * @param hdma pointer to DMA handle. - * @retval None - */ -static void TIM_DMATriggerCplt(DMA_HandleTypeDef *hdma) -{ - TIM_HandleTypeDef *htim = (TIM_HandleTypeDef *)((DMA_HandleTypeDef *)hdma)->Parent; - - if (htim->hdma[TIM_DMA_ID_TRIGGER]->Init.Mode == DMA_NORMAL) - { - htim->State = HAL_TIM_STATE_READY; - } - -#if (USE_HAL_TIM_REGISTER_CALLBACKS == 1) - htim->TriggerCallback(htim); -#else - HAL_TIM_TriggerCallback(htim); -#endif /* USE_HAL_TIM_REGISTER_CALLBACKS */ -} - -/** - * @brief TIM DMA Trigger half complete callback. - * @param hdma pointer to DMA handle. - * @retval None - */ -static void TIM_DMATriggerHalfCplt(DMA_HandleTypeDef *hdma) -{ - TIM_HandleTypeDef *htim = (TIM_HandleTypeDef *)((DMA_HandleTypeDef *)hdma)->Parent; - -#if (USE_HAL_TIM_REGISTER_CALLBACKS == 1) - htim->TriggerHalfCpltCallback(htim); -#else - HAL_TIM_TriggerHalfCpltCallback(htim); -#endif /* USE_HAL_TIM_REGISTER_CALLBACKS */ -} - -/** - * @brief Time Base configuration - * @param TIMx TIM peripheral - * @param Structure TIM Base configuration structure - * @retval None - */ -void TIM_Base_SetConfig(TIM_TypeDef *TIMx, TIM_Base_InitTypeDef *Structure) -{ - uint32_t tmpcr1; - tmpcr1 = TIMx->CR1; - - /* Set TIM Time Base Unit parameters ---------------------------------------*/ - if (IS_TIM_COUNTER_MODE_SELECT_INSTANCE(TIMx)) - { - /* Select the Counter Mode */ - tmpcr1 &= ~(TIM_CR1_DIR | TIM_CR1_CMS); - tmpcr1 |= Structure->CounterMode; - } - - if (IS_TIM_CLOCK_DIVISION_INSTANCE(TIMx)) - { - /* Set the clock division */ - tmpcr1 &= ~TIM_CR1_CKD; - tmpcr1 |= (uint32_t)Structure->ClockDivision; - } - - /* Set the auto-reload preload */ - MODIFY_REG(tmpcr1, TIM_CR1_ARPE, Structure->AutoReloadPreload); - - TIMx->CR1 = tmpcr1; - - /* Set the Autoreload value */ - TIMx->ARR = (uint32_t)Structure->Period ; - - /* Set the Prescaler value */ - TIMx->PSC = Structure->Prescaler; - - if (IS_TIM_REPETITION_COUNTER_INSTANCE(TIMx)) - { - /* Set the Repetition Counter value */ - TIMx->RCR = Structure->RepetitionCounter; - } - - /* Generate an update event to reload the Prescaler - and the repetition counter (only for advanced timer) value immediately */ - TIMx->EGR = TIM_EGR_UG; -} - -/** - * @brief Timer Output Compare 1 configuration - * @param TIMx to select the TIM peripheral - * @param OC_Config The output configuration structure - * @retval None - */ -static void TIM_OC1_SetConfig(TIM_TypeDef *TIMx, TIM_OC_InitTypeDef *OC_Config) -{ - uint32_t tmpccmrx; - uint32_t tmpccer; - uint32_t tmpcr2; - - /* Disable the Channel 1: Reset the CC1E Bit */ - TIMx->CCER &= ~TIM_CCER_CC1E; - - /* Get the TIMx CCER register value */ - tmpccer = TIMx->CCER; - /* Get the TIMx CR2 register value */ - tmpcr2 = TIMx->CR2; - - /* Get the TIMx CCMR1 register value */ - tmpccmrx = TIMx->CCMR1; - - /* Reset the Output Compare Mode Bits */ - tmpccmrx &= ~TIM_CCMR1_OC1M; - tmpccmrx &= ~TIM_CCMR1_CC1S; - /* Select the Output Compare Mode */ - tmpccmrx |= OC_Config->OCMode; - - /* Reset the Output Polarity level */ - tmpccer &= ~TIM_CCER_CC1P; - /* Set the Output Compare Polarity */ - tmpccer |= OC_Config->OCPolarity; - - if (IS_TIM_CCXN_INSTANCE(TIMx, TIM_CHANNEL_1)) - { - /* Check parameters */ - assert_param(IS_TIM_OCN_POLARITY(OC_Config->OCNPolarity)); - - /* Reset the Output N Polarity level */ - tmpccer &= ~TIM_CCER_CC1NP; - /* Set the Output N Polarity */ - tmpccer |= OC_Config->OCNPolarity; - /* Reset the Output N State */ - tmpccer &= ~TIM_CCER_CC1NE; - } - - if (IS_TIM_BREAK_INSTANCE(TIMx)) - { - /* Check parameters */ - assert_param(IS_TIM_OCNIDLE_STATE(OC_Config->OCNIdleState)); - assert_param(IS_TIM_OCIDLE_STATE(OC_Config->OCIdleState)); - - /* Reset the Output Compare and Output Compare N IDLE State */ - tmpcr2 &= ~TIM_CR2_OIS1; - tmpcr2 &= ~TIM_CR2_OIS1N; - /* Set the Output Idle state */ - tmpcr2 |= OC_Config->OCIdleState; - /* Set the Output N Idle state */ - tmpcr2 |= OC_Config->OCNIdleState; - } - - /* Write to TIMx CR2 */ - TIMx->CR2 = tmpcr2; - - /* Write to TIMx CCMR1 */ - TIMx->CCMR1 = tmpccmrx; - - /* Set the Capture Compare Register value */ - TIMx->CCR1 = OC_Config->Pulse; - - /* Write to TIMx CCER */ - TIMx->CCER = tmpccer; -} - -/** - * @brief Timer Output Compare 2 configuration - * @param TIMx to select the TIM peripheral - * @param OC_Config The output configuration structure - * @retval None - */ -void TIM_OC2_SetConfig(TIM_TypeDef *TIMx, TIM_OC_InitTypeDef *OC_Config) -{ - uint32_t tmpccmrx; - uint32_t tmpccer; - uint32_t tmpcr2; - - /* Disable the Channel 2: Reset the CC2E Bit */ - TIMx->CCER &= ~TIM_CCER_CC2E; - - /* Get the TIMx CCER register value */ - tmpccer = TIMx->CCER; - /* Get the TIMx CR2 register value */ - tmpcr2 = TIMx->CR2; - - /* Get the TIMx CCMR1 register value */ - tmpccmrx = TIMx->CCMR1; - - /* Reset the Output Compare mode and Capture/Compare selection Bits */ - tmpccmrx &= ~TIM_CCMR1_OC2M; - tmpccmrx &= ~TIM_CCMR1_CC2S; - - /* Select the Output Compare Mode */ - tmpccmrx |= (OC_Config->OCMode << 8U); - - /* Reset the Output Polarity level */ - tmpccer &= ~TIM_CCER_CC2P; - /* Set the Output Compare Polarity */ - tmpccer |= (OC_Config->OCPolarity << 4U); - - if (IS_TIM_CCXN_INSTANCE(TIMx, TIM_CHANNEL_2)) - { - assert_param(IS_TIM_OCN_POLARITY(OC_Config->OCNPolarity)); - - /* Reset the Output N Polarity level */ - tmpccer &= ~TIM_CCER_CC2NP; - /* Set the Output N Polarity */ - tmpccer |= (OC_Config->OCNPolarity << 4U); - /* Reset the Output N State */ - tmpccer &= ~TIM_CCER_CC2NE; - - } - - if (IS_TIM_BREAK_INSTANCE(TIMx)) - { - /* Check parameters */ - assert_param(IS_TIM_OCNIDLE_STATE(OC_Config->OCNIdleState)); - assert_param(IS_TIM_OCIDLE_STATE(OC_Config->OCIdleState)); - - /* Reset the Output Compare and Output Compare N IDLE State */ - tmpcr2 &= ~TIM_CR2_OIS2; - tmpcr2 &= ~TIM_CR2_OIS2N; - /* Set the Output Idle state */ - tmpcr2 |= (OC_Config->OCIdleState << 2U); - /* Set the Output N Idle state */ - tmpcr2 |= (OC_Config->OCNIdleState << 2U); - } - - /* Write to TIMx CR2 */ - TIMx->CR2 = tmpcr2; - - /* Write to TIMx CCMR1 */ - TIMx->CCMR1 = tmpccmrx; - - /* Set the Capture Compare Register value */ - TIMx->CCR2 = OC_Config->Pulse; - - /* Write to TIMx CCER */ - TIMx->CCER = tmpccer; -} - -/** - * @brief Timer Output Compare 3 configuration - * @param TIMx to select the TIM peripheral - * @param OC_Config The output configuration structure - * @retval None - */ -static void TIM_OC3_SetConfig(TIM_TypeDef *TIMx, TIM_OC_InitTypeDef *OC_Config) -{ - uint32_t tmpccmrx; - uint32_t tmpccer; - uint32_t tmpcr2; - - /* Disable the Channel 3: Reset the CC2E Bit */ - TIMx->CCER &= ~TIM_CCER_CC3E; - - /* Get the TIMx CCER register value */ - tmpccer = TIMx->CCER; - /* Get the TIMx CR2 register value */ - tmpcr2 = TIMx->CR2; - - /* Get the TIMx CCMR2 register value */ - tmpccmrx = TIMx->CCMR2; - - /* Reset the Output Compare mode and Capture/Compare selection Bits */ - tmpccmrx &= ~TIM_CCMR2_OC3M; - tmpccmrx &= ~TIM_CCMR2_CC3S; - /* Select the Output Compare Mode */ - tmpccmrx |= OC_Config->OCMode; - - /* Reset the Output Polarity level */ - tmpccer &= ~TIM_CCER_CC3P; - /* Set the Output Compare Polarity */ - tmpccer |= (OC_Config->OCPolarity << 8U); - - if (IS_TIM_CCXN_INSTANCE(TIMx, TIM_CHANNEL_3)) - { - assert_param(IS_TIM_OCN_POLARITY(OC_Config->OCNPolarity)); - - /* Reset the Output N Polarity level */ - tmpccer &= ~TIM_CCER_CC3NP; - /* Set the Output N Polarity */ - tmpccer |= (OC_Config->OCNPolarity << 8U); - /* Reset the Output N State */ - tmpccer &= ~TIM_CCER_CC3NE; - } - - if (IS_TIM_BREAK_INSTANCE(TIMx)) - { - /* Check parameters */ - assert_param(IS_TIM_OCNIDLE_STATE(OC_Config->OCNIdleState)); - assert_param(IS_TIM_OCIDLE_STATE(OC_Config->OCIdleState)); - - /* Reset the Output Compare and Output Compare N IDLE State */ - tmpcr2 &= ~TIM_CR2_OIS3; - tmpcr2 &= ~TIM_CR2_OIS3N; - /* Set the Output Idle state */ - tmpcr2 |= (OC_Config->OCIdleState << 4U); - /* Set the Output N Idle state */ - tmpcr2 |= (OC_Config->OCNIdleState << 4U); - } - - /* Write to TIMx CR2 */ - TIMx->CR2 = tmpcr2; - - /* Write to TIMx CCMR2 */ - TIMx->CCMR2 = tmpccmrx; - - /* Set the Capture Compare Register value */ - TIMx->CCR3 = OC_Config->Pulse; - - /* Write to TIMx CCER */ - TIMx->CCER = tmpccer; -} - -/** - * @brief Timer Output Compare 4 configuration - * @param TIMx to select the TIM peripheral - * @param OC_Config The output configuration structure - * @retval None - */ -static void TIM_OC4_SetConfig(TIM_TypeDef *TIMx, TIM_OC_InitTypeDef *OC_Config) -{ - uint32_t tmpccmrx; - uint32_t tmpccer; - uint32_t tmpcr2; - - /* Disable the Channel 4: Reset the CC4E Bit */ - TIMx->CCER &= ~TIM_CCER_CC4E; - - /* Get the TIMx CCER register value */ - tmpccer = TIMx->CCER; - /* Get the TIMx CR2 register value */ - tmpcr2 = TIMx->CR2; - - /* Get the TIMx CCMR2 register value */ - tmpccmrx = TIMx->CCMR2; - - /* Reset the Output Compare mode and Capture/Compare selection Bits */ - tmpccmrx &= ~TIM_CCMR2_OC4M; - tmpccmrx &= ~TIM_CCMR2_CC4S; - - /* Select the Output Compare Mode */ - tmpccmrx |= (OC_Config->OCMode << 8U); - - /* Reset the Output Polarity level */ - tmpccer &= ~TIM_CCER_CC4P; - /* Set the Output Compare Polarity */ - tmpccer |= (OC_Config->OCPolarity << 12U); - - if (IS_TIM_BREAK_INSTANCE(TIMx)) - { - /* Check parameters */ - assert_param(IS_TIM_OCIDLE_STATE(OC_Config->OCIdleState)); - - /* Reset the Output Compare IDLE State */ - tmpcr2 &= ~TIM_CR2_OIS4; - - /* Set the Output Idle state */ - tmpcr2 |= (OC_Config->OCIdleState << 6U); - } - - /* Write to TIMx CR2 */ - TIMx->CR2 = tmpcr2; - - /* Write to TIMx CCMR2 */ - TIMx->CCMR2 = tmpccmrx; - - /* Set the Capture Compare Register value */ - TIMx->CCR4 = OC_Config->Pulse; - - /* Write to TIMx CCER */ - TIMx->CCER = tmpccer; -} - -/** - * @brief Slave Timer configuration function - * @param htim TIM handle - * @param sSlaveConfig Slave timer configuration - * @retval None - */ -static HAL_StatusTypeDef TIM_SlaveTimer_SetConfig(TIM_HandleTypeDef *htim, - TIM_SlaveConfigTypeDef *sSlaveConfig) -{ - HAL_StatusTypeDef status = HAL_OK; - uint32_t tmpsmcr; - uint32_t tmpccmr1; - uint32_t tmpccer; - - /* Get the TIMx SMCR register value */ - tmpsmcr = htim->Instance->SMCR; - - /* Reset the Trigger Selection Bits */ - tmpsmcr &= ~TIM_SMCR_TS; - /* Set the Input Trigger source */ - tmpsmcr |= sSlaveConfig->InputTrigger; - - /* Reset the slave mode Bits */ - tmpsmcr &= ~TIM_SMCR_SMS; - /* Set the slave mode */ - tmpsmcr |= sSlaveConfig->SlaveMode; - - /* Write to TIMx SMCR */ - htim->Instance->SMCR = tmpsmcr; - - /* Configure the trigger prescaler, filter, and polarity */ - switch (sSlaveConfig->InputTrigger) - { - case TIM_TS_ETRF: - { - /* Check the parameters */ - assert_param(IS_TIM_CLOCKSOURCE_ETRMODE1_INSTANCE(htim->Instance)); - assert_param(IS_TIM_TRIGGERPRESCALER(sSlaveConfig->TriggerPrescaler)); - assert_param(IS_TIM_TRIGGERPOLARITY(sSlaveConfig->TriggerPolarity)); - assert_param(IS_TIM_TRIGGERFILTER(sSlaveConfig->TriggerFilter)); - /* Configure the ETR Trigger source */ - TIM_ETR_SetConfig(htim->Instance, - sSlaveConfig->TriggerPrescaler, - sSlaveConfig->TriggerPolarity, - sSlaveConfig->TriggerFilter); - break; - } - - case TIM_TS_TI1F_ED: - { - /* Check the parameters */ - assert_param(IS_TIM_CC1_INSTANCE(htim->Instance)); - assert_param(IS_TIM_TRIGGERFILTER(sSlaveConfig->TriggerFilter)); - - if (sSlaveConfig->SlaveMode == TIM_SLAVEMODE_GATED) - { - return HAL_ERROR; - } - - /* Disable the Channel 1: Reset the CC1E Bit */ - tmpccer = htim->Instance->CCER; - htim->Instance->CCER &= ~TIM_CCER_CC1E; - tmpccmr1 = htim->Instance->CCMR1; - - /* Set the filter */ - tmpccmr1 &= ~TIM_CCMR1_IC1F; - tmpccmr1 |= ((sSlaveConfig->TriggerFilter) << 4U); - - /* Write to TIMx CCMR1 and CCER registers */ - htim->Instance->CCMR1 = tmpccmr1; - htim->Instance->CCER = tmpccer; - break; - } - - case TIM_TS_TI1FP1: - { - /* Check the parameters */ - assert_param(IS_TIM_CC1_INSTANCE(htim->Instance)); - assert_param(IS_TIM_TRIGGERPOLARITY(sSlaveConfig->TriggerPolarity)); - assert_param(IS_TIM_TRIGGERFILTER(sSlaveConfig->TriggerFilter)); - - /* Configure TI1 Filter and Polarity */ - TIM_TI1_ConfigInputStage(htim->Instance, - sSlaveConfig->TriggerPolarity, - sSlaveConfig->TriggerFilter); - break; - } - - case TIM_TS_TI2FP2: - { - /* Check the parameters */ - assert_param(IS_TIM_CC2_INSTANCE(htim->Instance)); - assert_param(IS_TIM_TRIGGERPOLARITY(sSlaveConfig->TriggerPolarity)); - assert_param(IS_TIM_TRIGGERFILTER(sSlaveConfig->TriggerFilter)); - - /* Configure TI2 Filter and Polarity */ - TIM_TI2_ConfigInputStage(htim->Instance, - sSlaveConfig->TriggerPolarity, - sSlaveConfig->TriggerFilter); - break; - } - - case TIM_TS_ITR0: - case TIM_TS_ITR1: - case TIM_TS_ITR2: - case TIM_TS_ITR3: - { - /* Check the parameter */ - assert_param(IS_TIM_CC2_INSTANCE(htim->Instance)); - break; - } - - default: - status = HAL_ERROR; - break; - } - - return status; -} - -/** - * @brief Configure the TI1 as Input. - * @param TIMx to select the TIM peripheral. - * @param TIM_ICPolarity The Input Polarity. - * This parameter can be one of the following values: - * @arg TIM_ICPOLARITY_RISING - * @arg TIM_ICPOLARITY_FALLING - * @arg TIM_ICPOLARITY_BOTHEDGE - * @param TIM_ICSelection specifies the input to be used. - * This parameter can be one of the following values: - * @arg TIM_ICSELECTION_DIRECTTI: TIM Input 1 is selected to be connected to IC1. - * @arg TIM_ICSELECTION_INDIRECTTI: TIM Input 1 is selected to be connected to IC2. - * @arg TIM_ICSELECTION_TRC: TIM Input 1 is selected to be connected to TRC. - * @param TIM_ICFilter Specifies the Input Capture Filter. - * This parameter must be a value between 0x00 and 0x0F. - * @retval None - * @note TIM_ICFilter and TIM_ICPolarity are not used in INDIRECT mode as TI2FP1 - * (on channel2 path) is used as the input signal. Therefore CCMR1 must be - * protected against un-initialized filter and polarity values. - */ -void TIM_TI1_SetConfig(TIM_TypeDef *TIMx, uint32_t TIM_ICPolarity, uint32_t TIM_ICSelection, - uint32_t TIM_ICFilter) -{ - uint32_t tmpccmr1; - uint32_t tmpccer; - - /* Disable the Channel 1: Reset the CC1E Bit */ - TIMx->CCER &= ~TIM_CCER_CC1E; - tmpccmr1 = TIMx->CCMR1; - tmpccer = TIMx->CCER; - - /* Select the Input */ - if (IS_TIM_CC2_INSTANCE(TIMx) != RESET) - { - tmpccmr1 &= ~TIM_CCMR1_CC1S; - tmpccmr1 |= TIM_ICSelection; - } - else - { - tmpccmr1 |= TIM_CCMR1_CC1S_0; - } - - /* Set the filter */ - tmpccmr1 &= ~TIM_CCMR1_IC1F; - tmpccmr1 |= ((TIM_ICFilter << 4U) & TIM_CCMR1_IC1F); - - /* Select the Polarity and set the CC1E Bit */ - tmpccer &= ~(TIM_CCER_CC1P | TIM_CCER_CC1NP); - tmpccer |= (TIM_ICPolarity & (TIM_CCER_CC1P | TIM_CCER_CC1NP)); - - /* Write to TIMx CCMR1 and CCER registers */ - TIMx->CCMR1 = tmpccmr1; - TIMx->CCER = tmpccer; -} - -/** - * @brief Configure the Polarity and Filter for TI1. - * @param TIMx to select the TIM peripheral. - * @param TIM_ICPolarity The Input Polarity. - * This parameter can be one of the following values: - * @arg TIM_ICPOLARITY_RISING - * @arg TIM_ICPOLARITY_FALLING - * @arg TIM_ICPOLARITY_BOTHEDGE - * @param TIM_ICFilter Specifies the Input Capture Filter. - * This parameter must be a value between 0x00 and 0x0F. - * @retval None - */ -static void TIM_TI1_ConfigInputStage(TIM_TypeDef *TIMx, uint32_t TIM_ICPolarity, uint32_t TIM_ICFilter) -{ - uint32_t tmpccmr1; - uint32_t tmpccer; - - /* Disable the Channel 1: Reset the CC1E Bit */ - tmpccer = TIMx->CCER; - TIMx->CCER &= ~TIM_CCER_CC1E; - tmpccmr1 = TIMx->CCMR1; - - /* Set the filter */ - tmpccmr1 &= ~TIM_CCMR1_IC1F; - tmpccmr1 |= (TIM_ICFilter << 4U); - - /* Select the Polarity and set the CC1E Bit */ - tmpccer &= ~(TIM_CCER_CC1P | TIM_CCER_CC1NP); - tmpccer |= TIM_ICPolarity; - - /* Write to TIMx CCMR1 and CCER registers */ - TIMx->CCMR1 = tmpccmr1; - TIMx->CCER = tmpccer; -} - -/** - * @brief Configure the TI2 as Input. - * @param TIMx to select the TIM peripheral - * @param TIM_ICPolarity The Input Polarity. - * This parameter can be one of the following values: - * @arg TIM_ICPOLARITY_RISING - * @arg TIM_ICPOLARITY_FALLING - * @arg TIM_ICPOLARITY_BOTHEDGE - * @param TIM_ICSelection specifies the input to be used. - * This parameter can be one of the following values: - * @arg TIM_ICSELECTION_DIRECTTI: TIM Input 2 is selected to be connected to IC2. - * @arg TIM_ICSELECTION_INDIRECTTI: TIM Input 2 is selected to be connected to IC1. - * @arg TIM_ICSELECTION_TRC: TIM Input 2 is selected to be connected to TRC. - * @param TIM_ICFilter Specifies the Input Capture Filter. - * This parameter must be a value between 0x00 and 0x0F. - * @retval None - * @note TIM_ICFilter and TIM_ICPolarity are not used in INDIRECT mode as TI1FP2 - * (on channel1 path) is used as the input signal. Therefore CCMR1 must be - * protected against un-initialized filter and polarity values. - */ -static void TIM_TI2_SetConfig(TIM_TypeDef *TIMx, uint32_t TIM_ICPolarity, uint32_t TIM_ICSelection, - uint32_t TIM_ICFilter) -{ - uint32_t tmpccmr1; - uint32_t tmpccer; - - /* Disable the Channel 2: Reset the CC2E Bit */ - TIMx->CCER &= ~TIM_CCER_CC2E; - tmpccmr1 = TIMx->CCMR1; - tmpccer = TIMx->CCER; - - /* Select the Input */ - tmpccmr1 &= ~TIM_CCMR1_CC2S; - tmpccmr1 |= (TIM_ICSelection << 8U); - - /* Set the filter */ - tmpccmr1 &= ~TIM_CCMR1_IC2F; - tmpccmr1 |= ((TIM_ICFilter << 12U) & TIM_CCMR1_IC2F); - - /* Select the Polarity and set the CC2E Bit */ - tmpccer &= ~(TIM_CCER_CC2P | TIM_CCER_CC2NP); - tmpccer |= ((TIM_ICPolarity << 4U) & (TIM_CCER_CC2P | TIM_CCER_CC2NP)); - - /* Write to TIMx CCMR1 and CCER registers */ - TIMx->CCMR1 = tmpccmr1 ; - TIMx->CCER = tmpccer; -} - -/** - * @brief Configure the Polarity and Filter for TI2. - * @param TIMx to select the TIM peripheral. - * @param TIM_ICPolarity The Input Polarity. - * This parameter can be one of the following values: - * @arg TIM_ICPOLARITY_RISING - * @arg TIM_ICPOLARITY_FALLING - * @arg TIM_ICPOLARITY_BOTHEDGE - * @param TIM_ICFilter Specifies the Input Capture Filter. - * This parameter must be a value between 0x00 and 0x0F. - * @retval None - */ -static void TIM_TI2_ConfigInputStage(TIM_TypeDef *TIMx, uint32_t TIM_ICPolarity, uint32_t TIM_ICFilter) -{ - uint32_t tmpccmr1; - uint32_t tmpccer; - - /* Disable the Channel 2: Reset the CC2E Bit */ - TIMx->CCER &= ~TIM_CCER_CC2E; - tmpccmr1 = TIMx->CCMR1; - tmpccer = TIMx->CCER; - - /* Set the filter */ - tmpccmr1 &= ~TIM_CCMR1_IC2F; - tmpccmr1 |= (TIM_ICFilter << 12U); - - /* Select the Polarity and set the CC2E Bit */ - tmpccer &= ~(TIM_CCER_CC2P | TIM_CCER_CC2NP); - tmpccer |= (TIM_ICPolarity << 4U); - - /* Write to TIMx CCMR1 and CCER registers */ - TIMx->CCMR1 = tmpccmr1 ; - TIMx->CCER = tmpccer; -} - -/** - * @brief Configure the TI3 as Input. - * @param TIMx to select the TIM peripheral - * @param TIM_ICPolarity The Input Polarity. - * This parameter can be one of the following values: - * @arg TIM_ICPOLARITY_RISING - * @arg TIM_ICPOLARITY_FALLING - * @arg TIM_ICPOLARITY_BOTHEDGE - * @param TIM_ICSelection specifies the input to be used. - * This parameter can be one of the following values: - * @arg TIM_ICSELECTION_DIRECTTI: TIM Input 3 is selected to be connected to IC3. - * @arg TIM_ICSELECTION_INDIRECTTI: TIM Input 3 is selected to be connected to IC4. - * @arg TIM_ICSELECTION_TRC: TIM Input 3 is selected to be connected to TRC. - * @param TIM_ICFilter Specifies the Input Capture Filter. - * This parameter must be a value between 0x00 and 0x0F. - * @retval None - * @note TIM_ICFilter and TIM_ICPolarity are not used in INDIRECT mode as TI3FP4 - * (on channel1 path) is used as the input signal. Therefore CCMR2 must be - * protected against un-initialized filter and polarity values. - */ -static void TIM_TI3_SetConfig(TIM_TypeDef *TIMx, uint32_t TIM_ICPolarity, uint32_t TIM_ICSelection, - uint32_t TIM_ICFilter) -{ - uint32_t tmpccmr2; - uint32_t tmpccer; - - /* Disable the Channel 3: Reset the CC3E Bit */ - TIMx->CCER &= ~TIM_CCER_CC3E; - tmpccmr2 = TIMx->CCMR2; - tmpccer = TIMx->CCER; - - /* Select the Input */ - tmpccmr2 &= ~TIM_CCMR2_CC3S; - tmpccmr2 |= TIM_ICSelection; - - /* Set the filter */ - tmpccmr2 &= ~TIM_CCMR2_IC3F; - tmpccmr2 |= ((TIM_ICFilter << 4U) & TIM_CCMR2_IC3F); - - /* Select the Polarity and set the CC3E Bit */ - tmpccer &= ~(TIM_CCER_CC3P | TIM_CCER_CC3NP); - tmpccer |= ((TIM_ICPolarity << 8U) & (TIM_CCER_CC3P | TIM_CCER_CC3NP)); - - /* Write to TIMx CCMR2 and CCER registers */ - TIMx->CCMR2 = tmpccmr2; - TIMx->CCER = tmpccer; -} - -/** - * @brief Configure the TI4 as Input. - * @param TIMx to select the TIM peripheral - * @param TIM_ICPolarity The Input Polarity. - * This parameter can be one of the following values: - * @arg TIM_ICPOLARITY_RISING - * @arg TIM_ICPOLARITY_FALLING - * @arg TIM_ICPOLARITY_BOTHEDGE - * @param TIM_ICSelection specifies the input to be used. - * This parameter can be one of the following values: - * @arg TIM_ICSELECTION_DIRECTTI: TIM Input 4 is selected to be connected to IC4. - * @arg TIM_ICSELECTION_INDIRECTTI: TIM Input 4 is selected to be connected to IC3. - * @arg TIM_ICSELECTION_TRC: TIM Input 4 is selected to be connected to TRC. - * @param TIM_ICFilter Specifies the Input Capture Filter. - * This parameter must be a value between 0x00 and 0x0F. - * @note TIM_ICFilter and TIM_ICPolarity are not used in INDIRECT mode as TI4FP3 - * (on channel1 path) is used as the input signal. Therefore CCMR2 must be - * protected against un-initialized filter and polarity values. - * @retval None - */ -static void TIM_TI4_SetConfig(TIM_TypeDef *TIMx, uint32_t TIM_ICPolarity, uint32_t TIM_ICSelection, - uint32_t TIM_ICFilter) -{ - uint32_t tmpccmr2; - uint32_t tmpccer; - - /* Disable the Channel 4: Reset the CC4E Bit */ - TIMx->CCER &= ~TIM_CCER_CC4E; - tmpccmr2 = TIMx->CCMR2; - tmpccer = TIMx->CCER; - - /* Select the Input */ - tmpccmr2 &= ~TIM_CCMR2_CC4S; - tmpccmr2 |= (TIM_ICSelection << 8U); - - /* Set the filter */ - tmpccmr2 &= ~TIM_CCMR2_IC4F; - tmpccmr2 |= ((TIM_ICFilter << 12U) & TIM_CCMR2_IC4F); - - /* Select the Polarity and set the CC4E Bit */ - tmpccer &= ~(TIM_CCER_CC4P | TIM_CCER_CC4NP); - tmpccer |= ((TIM_ICPolarity << 12U) & (TIM_CCER_CC4P | TIM_CCER_CC4NP)); - - /* Write to TIMx CCMR2 and CCER registers */ - TIMx->CCMR2 = tmpccmr2; - TIMx->CCER = tmpccer ; -} - -/** - * @brief Selects the Input Trigger source - * @param TIMx to select the TIM peripheral - * @param InputTriggerSource The Input Trigger source. - * This parameter can be one of the following values: - * @arg TIM_TS_ITR0: Internal Trigger 0 - * @arg TIM_TS_ITR1: Internal Trigger 1 - * @arg TIM_TS_ITR2: Internal Trigger 2 - * @arg TIM_TS_ITR3: Internal Trigger 3 - * @arg TIM_TS_TI1F_ED: TI1 Edge Detector - * @arg TIM_TS_TI1FP1: Filtered Timer Input 1 - * @arg TIM_TS_TI2FP2: Filtered Timer Input 2 - * @arg TIM_TS_ETRF: External Trigger input - * @retval None - */ -static void TIM_ITRx_SetConfig(TIM_TypeDef *TIMx, uint32_t InputTriggerSource) -{ - uint32_t tmpsmcr; - - /* Get the TIMx SMCR register value */ - tmpsmcr = TIMx->SMCR; - /* Reset the TS Bits */ - tmpsmcr &= ~TIM_SMCR_TS; - /* Set the Input Trigger source and the slave mode*/ - tmpsmcr |= (InputTriggerSource | TIM_SLAVEMODE_EXTERNAL1); - /* Write to TIMx SMCR */ - TIMx->SMCR = tmpsmcr; -} -/** - * @brief Configures the TIMx External Trigger (ETR). - * @param TIMx to select the TIM peripheral - * @param TIM_ExtTRGPrescaler The external Trigger Prescaler. - * This parameter can be one of the following values: - * @arg TIM_ETRPRESCALER_DIV1: ETRP Prescaler OFF. - * @arg TIM_ETRPRESCALER_DIV2: ETRP frequency divided by 2. - * @arg TIM_ETRPRESCALER_DIV4: ETRP frequency divided by 4. - * @arg TIM_ETRPRESCALER_DIV8: ETRP frequency divided by 8. - * @param TIM_ExtTRGPolarity The external Trigger Polarity. - * This parameter can be one of the following values: - * @arg TIM_ETRPOLARITY_INVERTED: active low or falling edge active. - * @arg TIM_ETRPOLARITY_NONINVERTED: active high or rising edge active. - * @param ExtTRGFilter External Trigger Filter. - * This parameter must be a value between 0x00 and 0x0F - * @retval None - */ -void TIM_ETR_SetConfig(TIM_TypeDef *TIMx, uint32_t TIM_ExtTRGPrescaler, - uint32_t TIM_ExtTRGPolarity, uint32_t ExtTRGFilter) -{ - uint32_t tmpsmcr; - - tmpsmcr = TIMx->SMCR; - - /* Reset the ETR Bits */ - tmpsmcr &= ~(TIM_SMCR_ETF | TIM_SMCR_ETPS | TIM_SMCR_ECE | TIM_SMCR_ETP); - - /* Set the Prescaler, the Filter value and the Polarity */ - tmpsmcr |= (uint32_t)(TIM_ExtTRGPrescaler | (TIM_ExtTRGPolarity | (ExtTRGFilter << 8U))); - - /* Write to TIMx SMCR */ - TIMx->SMCR = tmpsmcr; -} - -/** - * @brief Enables or disables the TIM Capture Compare Channel x. - * @param TIMx to select the TIM peripheral - * @param Channel specifies the TIM Channel - * This parameter can be one of the following values: - * @arg TIM_CHANNEL_1: TIM Channel 1 - * @arg TIM_CHANNEL_2: TIM Channel 2 - * @arg TIM_CHANNEL_3: TIM Channel 3 - * @arg TIM_CHANNEL_4: TIM Channel 4 - * @param ChannelState specifies the TIM Channel CCxE bit new state. - * This parameter can be: TIM_CCx_ENABLE or TIM_CCx_DISABLE. - * @retval None - */ -void TIM_CCxChannelCmd(TIM_TypeDef *TIMx, uint32_t Channel, uint32_t ChannelState) -{ - uint32_t tmp; - - /* Check the parameters */ - assert_param(IS_TIM_CC1_INSTANCE(TIMx)); - assert_param(IS_TIM_CHANNELS(Channel)); - - tmp = TIM_CCER_CC1E << (Channel & 0x1FU); /* 0x1FU = 31 bits max shift */ - - /* Reset the CCxE Bit */ - TIMx->CCER &= ~tmp; - - /* Set or reset the CCxE Bit */ - TIMx->CCER |= (uint32_t)(ChannelState << (Channel & 0x1FU)); /* 0x1FU = 31 bits max shift */ -} - -#if (USE_HAL_TIM_REGISTER_CALLBACKS == 1) -/** - * @brief Reset interrupt callbacks to the legacy weak callbacks. - * @param htim pointer to a TIM_HandleTypeDef structure that contains - * the configuration information for TIM module. - * @retval None - */ -void TIM_ResetCallback(TIM_HandleTypeDef *htim) -{ - /* Reset the TIM callback to the legacy weak callbacks */ - htim->PeriodElapsedCallback = HAL_TIM_PeriodElapsedCallback; - htim->PeriodElapsedHalfCpltCallback = HAL_TIM_PeriodElapsedHalfCpltCallback; - htim->TriggerCallback = HAL_TIM_TriggerCallback; - htim->TriggerHalfCpltCallback = HAL_TIM_TriggerHalfCpltCallback; - htim->IC_CaptureCallback = HAL_TIM_IC_CaptureCallback; - htim->IC_CaptureHalfCpltCallback = HAL_TIM_IC_CaptureHalfCpltCallback; - htim->OC_DelayElapsedCallback = HAL_TIM_OC_DelayElapsedCallback; - htim->PWM_PulseFinishedCallback = HAL_TIM_PWM_PulseFinishedCallback; - htim->PWM_PulseFinishedHalfCpltCallback = HAL_TIM_PWM_PulseFinishedHalfCpltCallback; - htim->ErrorCallback = HAL_TIM_ErrorCallback; - htim->CommutationCallback = HAL_TIMEx_CommutCallback; - htim->CommutationHalfCpltCallback = HAL_TIMEx_CommutHalfCpltCallback; - htim->BreakCallback = HAL_TIMEx_BreakCallback; -} -#endif /* USE_HAL_TIM_REGISTER_CALLBACKS */ - -/** - * @} - */ - -#endif /* HAL_TIM_MODULE_ENABLED */ -/** - * @} - */ - -/** - * @} - */ -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c deleted file mode 100644 index bba44f15c66120..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c +++ /dev/null @@ -1,2429 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_tim_ex.c - * @author MCD Application Team - * @brief TIM HAL module driver. - * This file provides firmware functions to manage the following - * functionalities of the Timer Extended peripheral: - * + Time Hall Sensor Interface Initialization - * + Time Hall Sensor Interface Start - * + Time Complementary signal break and dead time configuration - * + Time Master and Slave synchronization configuration - * + Timer remapping capabilities configuration - @verbatim - ============================================================================== - ##### TIMER Extended features ##### - ============================================================================== - [..] - The Timer Extended features include: - (#) Complementary outputs with programmable dead-time for : - (++) Output Compare - (++) PWM generation (Edge and Center-aligned Mode) - (++) One-pulse mode output - (#) Synchronization circuit to control the timer with external signals and to - interconnect several timers together. - (#) Break input to put the timer output signals in reset state or in a known state. - (#) Supports incremental (quadrature) encoder and hall-sensor circuitry for - positioning purposes - - ##### How to use this driver ##### - ============================================================================== - [..] - (#) Initialize the TIM low level resources by implementing the following functions - depending on the selected feature: - (++) Hall Sensor output : HAL_TIMEx_HallSensor_MspInit() - - (#) Initialize the TIM low level resources : - (##) Enable the TIM interface clock using __HAL_RCC_TIMx_CLK_ENABLE(); - (##) TIM pins configuration - (+++) Enable the clock for the TIM GPIOs using the following function: - __HAL_RCC_GPIOx_CLK_ENABLE(); - (+++) Configure these TIM pins in Alternate function mode using HAL_GPIO_Init(); - - (#) The external Clock can be configured, if needed (the default clock is the - internal clock from the APBx), using the following function: - HAL_TIM_ConfigClockSource, the clock configuration should be done before - any start function. - - (#) Configure the TIM in the desired functioning mode using one of the - initialization function of this driver: - (++) HAL_TIMEx_HallSensor_Init() and HAL_TIMEx_ConfigCommutEvent(): to use the - Timer Hall Sensor Interface and the commutation event with the corresponding - Interrupt and DMA request if needed (Note that One Timer is used to interface - with the Hall sensor Interface and another Timer should be used to use - the commutation event). - - (#) Activate the TIM peripheral using one of the start functions: - (++) Complementary Output Compare : HAL_TIMEx_OCN_Start(), HAL_TIMEx_OCN_Start_DMA(), - HAL_TIMEx_OCN_Start_IT() - (++) Complementary PWM generation : HAL_TIMEx_PWMN_Start(), HAL_TIMEx_PWMN_Start_DMA(), - HAL_TIMEx_PWMN_Start_IT() - (++) Complementary One-pulse mode output : HAL_TIMEx_OnePulseN_Start(), HAL_TIMEx_OnePulseN_Start_IT() - (++) Hall Sensor output : HAL_TIMEx_HallSensor_Start(), HAL_TIMEx_HallSensor_Start_DMA(), - HAL_TIMEx_HallSensor_Start_IT(). - - @endverbatim - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @defgroup TIMEx TIMEx - * @brief TIM Extended HAL module driver - * @{ - */ - -#ifdef HAL_TIM_MODULE_ENABLED - -/* Private typedef -----------------------------------------------------------*/ -/* Private define ------------------------------------------------------------*/ -/* Private macros ------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private function prototypes -----------------------------------------------*/ -static void TIM_DMADelayPulseNCplt(DMA_HandleTypeDef *hdma); -static void TIM_DMAErrorCCxN(DMA_HandleTypeDef *hdma); -static void TIM_CCxNChannelCmd(TIM_TypeDef *TIMx, uint32_t Channel, uint32_t ChannelNState); - -/* Exported functions --------------------------------------------------------*/ -/** @defgroup TIMEx_Exported_Functions TIM Extended Exported Functions - * @{ - */ - -/** @defgroup TIMEx_Exported_Functions_Group1 Extended Timer Hall Sensor functions - * @brief Timer Hall Sensor functions - * -@verbatim - ============================================================================== - ##### Timer Hall Sensor functions ##### - ============================================================================== - [..] - This section provides functions allowing to: - (+) Initialize and configure TIM HAL Sensor. - (+) De-initialize TIM HAL Sensor. - (+) Start the Hall Sensor Interface. - (+) Stop the Hall Sensor Interface. - (+) Start the Hall Sensor Interface and enable interrupts. - (+) Stop the Hall Sensor Interface and disable interrupts. - (+) Start the Hall Sensor Interface and enable DMA transfers. - (+) Stop the Hall Sensor Interface and disable DMA transfers. - -@endverbatim - * @{ - */ -/** - * @brief Initializes the TIM Hall Sensor Interface and initialize the associated handle. - * @note When the timer instance is initialized in Hall Sensor Interface mode, - * timer channels 1 and channel 2 are reserved and cannot be used for - * other purpose. - * @param htim TIM Hall Sensor Interface handle - * @param sConfig TIM Hall Sensor configuration structure - * @retval HAL status - */ -HAL_StatusTypeDef HAL_TIMEx_HallSensor_Init(TIM_HandleTypeDef *htim, TIM_HallSensor_InitTypeDef *sConfig) -{ - TIM_OC_InitTypeDef OC_Config; - - /* Check the TIM handle allocation */ - if (htim == NULL) - { - return HAL_ERROR; - } - - /* Check the parameters */ - assert_param(IS_TIM_HALL_SENSOR_INTERFACE_INSTANCE(htim->Instance)); - assert_param(IS_TIM_COUNTER_MODE(htim->Init.CounterMode)); - assert_param(IS_TIM_CLOCKDIVISION_DIV(htim->Init.ClockDivision)); - assert_param(IS_TIM_AUTORELOAD_PRELOAD(htim->Init.AutoReloadPreload)); - assert_param(IS_TIM_IC_POLARITY(sConfig->IC1Polarity)); - assert_param(IS_TIM_IC_PRESCALER(sConfig->IC1Prescaler)); - assert_param(IS_TIM_IC_FILTER(sConfig->IC1Filter)); - - if (htim->State == HAL_TIM_STATE_RESET) - { - /* Allocate lock resource and initialize it */ - htim->Lock = HAL_UNLOCKED; - -#if (USE_HAL_TIM_REGISTER_CALLBACKS == 1) - /* Reset interrupt callbacks to legacy week callbacks */ - TIM_ResetCallback(htim); - - if (htim->HallSensor_MspInitCallback == NULL) - { - htim->HallSensor_MspInitCallback = HAL_TIMEx_HallSensor_MspInit; - } - /* Init the low level hardware : GPIO, CLOCK, NVIC */ - htim->HallSensor_MspInitCallback(htim); -#else - /* Init the low level hardware : GPIO, CLOCK, NVIC and DMA */ - HAL_TIMEx_HallSensor_MspInit(htim); -#endif /* USE_HAL_TIM_REGISTER_CALLBACKS */ - } - - /* Set the TIM state */ - htim->State = HAL_TIM_STATE_BUSY; - - /* Configure the Time base in the Encoder Mode */ - TIM_Base_SetConfig(htim->Instance, &htim->Init); - - /* Configure the Channel 1 as Input Channel to interface with the three Outputs of the Hall sensor */ - TIM_TI1_SetConfig(htim->Instance, sConfig->IC1Polarity, TIM_ICSELECTION_TRC, sConfig->IC1Filter); - - /* Reset the IC1PSC Bits */ - htim->Instance->CCMR1 &= ~TIM_CCMR1_IC1PSC; - /* Set the IC1PSC value */ - htim->Instance->CCMR1 |= sConfig->IC1Prescaler; - - /* Enable the Hall sensor interface (XOR function of the three inputs) */ - htim->Instance->CR2 |= TIM_CR2_TI1S; - - /* Select the TIM_TS_TI1F_ED signal as Input trigger for the TIM */ - htim->Instance->SMCR &= ~TIM_SMCR_TS; - htim->Instance->SMCR |= TIM_TS_TI1F_ED; - - /* Use the TIM_TS_TI1F_ED signal to reset the TIM counter each edge detection */ - htim->Instance->SMCR &= ~TIM_SMCR_SMS; - htim->Instance->SMCR |= TIM_SLAVEMODE_RESET; - - /* Program channel 2 in PWM 2 mode with the desired Commutation_Delay*/ - OC_Config.OCFastMode = TIM_OCFAST_DISABLE; - OC_Config.OCIdleState = TIM_OCIDLESTATE_RESET; - OC_Config.OCMode = TIM_OCMODE_PWM2; - OC_Config.OCNIdleState = TIM_OCNIDLESTATE_RESET; - OC_Config.OCNPolarity = TIM_OCNPOLARITY_HIGH; - OC_Config.OCPolarity = TIM_OCPOLARITY_HIGH; - OC_Config.Pulse = sConfig->Commutation_Delay; - - TIM_OC2_SetConfig(htim->Instance, &OC_Config); - - /* Select OC2REF as trigger output on TRGO: write the MMS bits in the TIMx_CR2 - register to 101 */ - htim->Instance->CR2 &= ~TIM_CR2_MMS; - htim->Instance->CR2 |= TIM_TRGO_OC2REF; - - /* Initialize the DMA burst operation state */ - htim->DMABurstState = HAL_DMA_BURST_STATE_READY; - - /* Initialize the TIM channels state */ - TIM_CHANNEL_STATE_SET(htim, TIM_CHANNEL_1, HAL_TIM_CHANNEL_STATE_READY); - TIM_CHANNEL_STATE_SET(htim, TIM_CHANNEL_2, HAL_TIM_CHANNEL_STATE_READY); - TIM_CHANNEL_N_STATE_SET(htim, TIM_CHANNEL_1, HAL_TIM_CHANNEL_STATE_READY); - TIM_CHANNEL_N_STATE_SET(htim, TIM_CHANNEL_2, HAL_TIM_CHANNEL_STATE_READY); - - /* Initialize the TIM state*/ - htim->State = HAL_TIM_STATE_READY; - - return HAL_OK; -} - -/** - * @brief DeInitializes the TIM Hall Sensor interface - * @param htim TIM Hall Sensor Interface handle - * @retval HAL status - */ -HAL_StatusTypeDef HAL_TIMEx_HallSensor_DeInit(TIM_HandleTypeDef *htim) -{ - /* Check the parameters */ - assert_param(IS_TIM_INSTANCE(htim->Instance)); - - htim->State = HAL_TIM_STATE_BUSY; - - /* Disable the TIM Peripheral Clock */ - __HAL_TIM_DISABLE(htim); - -#if (USE_HAL_TIM_REGISTER_CALLBACKS == 1) - if (htim->HallSensor_MspDeInitCallback == NULL) - { - htim->HallSensor_MspDeInitCallback = HAL_TIMEx_HallSensor_MspDeInit; - } - /* DeInit the low level hardware */ - htim->HallSensor_MspDeInitCallback(htim); -#else - /* DeInit the low level hardware: GPIO, CLOCK, NVIC */ - HAL_TIMEx_HallSensor_MspDeInit(htim); -#endif /* USE_HAL_TIM_REGISTER_CALLBACKS */ - - /* Change the DMA burst operation state */ - htim->DMABurstState = HAL_DMA_BURST_STATE_RESET; - - /* Change the TIM channels state */ - TIM_CHANNEL_STATE_SET(htim, TIM_CHANNEL_1, HAL_TIM_CHANNEL_STATE_RESET); - TIM_CHANNEL_STATE_SET(htim, TIM_CHANNEL_2, HAL_TIM_CHANNEL_STATE_RESET); - TIM_CHANNEL_N_STATE_SET(htim, TIM_CHANNEL_1, HAL_TIM_CHANNEL_STATE_RESET); - TIM_CHANNEL_N_STATE_SET(htim, TIM_CHANNEL_2, HAL_TIM_CHANNEL_STATE_RESET); - - /* Change TIM state */ - htim->State = HAL_TIM_STATE_RESET; - - /* Release Lock */ - __HAL_UNLOCK(htim); - - return HAL_OK; -} - -/** - * @brief Initializes the TIM Hall Sensor MSP. - * @param htim TIM Hall Sensor Interface handle - * @retval None - */ -__weak void HAL_TIMEx_HallSensor_MspInit(TIM_HandleTypeDef *htim) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(htim); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_TIMEx_HallSensor_MspInit could be implemented in the user file - */ -} - -/** - * @brief DeInitializes TIM Hall Sensor MSP. - * @param htim TIM Hall Sensor Interface handle - * @retval None - */ -__weak void HAL_TIMEx_HallSensor_MspDeInit(TIM_HandleTypeDef *htim) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(htim); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_TIMEx_HallSensor_MspDeInit could be implemented in the user file - */ -} - -/** - * @brief Starts the TIM Hall Sensor Interface. - * @param htim TIM Hall Sensor Interface handle - * @retval HAL status - */ -HAL_StatusTypeDef HAL_TIMEx_HallSensor_Start(TIM_HandleTypeDef *htim) -{ - uint32_t tmpsmcr; - HAL_TIM_ChannelStateTypeDef channel_1_state = TIM_CHANNEL_STATE_GET(htim, TIM_CHANNEL_1); - HAL_TIM_ChannelStateTypeDef channel_2_state = TIM_CHANNEL_STATE_GET(htim, TIM_CHANNEL_2); - HAL_TIM_ChannelStateTypeDef complementary_channel_1_state = TIM_CHANNEL_N_STATE_GET(htim, TIM_CHANNEL_1); - HAL_TIM_ChannelStateTypeDef complementary_channel_2_state = TIM_CHANNEL_N_STATE_GET(htim, TIM_CHANNEL_2); - - /* Check the parameters */ - assert_param(IS_TIM_HALL_SENSOR_INTERFACE_INSTANCE(htim->Instance)); - - /* Check the TIM channels state */ - if ((channel_1_state != HAL_TIM_CHANNEL_STATE_READY) - || (channel_2_state != HAL_TIM_CHANNEL_STATE_READY) - || (complementary_channel_1_state != HAL_TIM_CHANNEL_STATE_READY) - || (complementary_channel_2_state != HAL_TIM_CHANNEL_STATE_READY)) - { - return HAL_ERROR; - } - - /* Set the TIM channels state */ - TIM_CHANNEL_STATE_SET(htim, TIM_CHANNEL_1, HAL_TIM_CHANNEL_STATE_BUSY); - TIM_CHANNEL_STATE_SET(htim, TIM_CHANNEL_2, HAL_TIM_CHANNEL_STATE_BUSY); - TIM_CHANNEL_N_STATE_SET(htim, TIM_CHANNEL_1, HAL_TIM_CHANNEL_STATE_BUSY); - TIM_CHANNEL_N_STATE_SET(htim, TIM_CHANNEL_2, HAL_TIM_CHANNEL_STATE_BUSY); - - /* Enable the Input Capture channel 1 - (in the Hall Sensor Interface the three possible channels that can be used are TIM_CHANNEL_1, - TIM_CHANNEL_2 and TIM_CHANNEL_3) */ - TIM_CCxChannelCmd(htim->Instance, TIM_CHANNEL_1, TIM_CCx_ENABLE); - - /* Enable the Peripheral, except in trigger mode where enable is automatically done with trigger */ - if (IS_TIM_SLAVE_INSTANCE(htim->Instance)) - { - tmpsmcr = htim->Instance->SMCR & TIM_SMCR_SMS; - if (!IS_TIM_SLAVEMODE_TRIGGER_ENABLED(tmpsmcr)) - { - __HAL_TIM_ENABLE(htim); - } - } - else - { - __HAL_TIM_ENABLE(htim); - } - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Stops the TIM Hall sensor Interface. - * @param htim TIM Hall Sensor Interface handle - * @retval HAL status - */ -HAL_StatusTypeDef HAL_TIMEx_HallSensor_Stop(TIM_HandleTypeDef *htim) -{ - /* Check the parameters */ - assert_param(IS_TIM_HALL_SENSOR_INTERFACE_INSTANCE(htim->Instance)); - - /* Disable the Input Capture channels 1, 2 and 3 - (in the Hall Sensor Interface the three possible channels that can be used are TIM_CHANNEL_1, - TIM_CHANNEL_2 and TIM_CHANNEL_3) */ - TIM_CCxChannelCmd(htim->Instance, TIM_CHANNEL_1, TIM_CCx_DISABLE); - - /* Disable the Peripheral */ - __HAL_TIM_DISABLE(htim); - - /* Set the TIM channels state */ - TIM_CHANNEL_STATE_SET(htim, TIM_CHANNEL_1, HAL_TIM_CHANNEL_STATE_READY); - TIM_CHANNEL_STATE_SET(htim, TIM_CHANNEL_2, HAL_TIM_CHANNEL_STATE_READY); - TIM_CHANNEL_N_STATE_SET(htim, TIM_CHANNEL_1, HAL_TIM_CHANNEL_STATE_READY); - TIM_CHANNEL_N_STATE_SET(htim, TIM_CHANNEL_2, HAL_TIM_CHANNEL_STATE_READY); - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Starts the TIM Hall Sensor Interface in interrupt mode. - * @param htim TIM Hall Sensor Interface handle - * @retval HAL status - */ -HAL_StatusTypeDef HAL_TIMEx_HallSensor_Start_IT(TIM_HandleTypeDef *htim) -{ - uint32_t tmpsmcr; - HAL_TIM_ChannelStateTypeDef channel_1_state = TIM_CHANNEL_STATE_GET(htim, TIM_CHANNEL_1); - HAL_TIM_ChannelStateTypeDef channel_2_state = TIM_CHANNEL_STATE_GET(htim, TIM_CHANNEL_2); - HAL_TIM_ChannelStateTypeDef complementary_channel_1_state = TIM_CHANNEL_N_STATE_GET(htim, TIM_CHANNEL_1); - HAL_TIM_ChannelStateTypeDef complementary_channel_2_state = TIM_CHANNEL_N_STATE_GET(htim, TIM_CHANNEL_2); - - /* Check the parameters */ - assert_param(IS_TIM_HALL_SENSOR_INTERFACE_INSTANCE(htim->Instance)); - - /* Check the TIM channels state */ - if ((channel_1_state != HAL_TIM_CHANNEL_STATE_READY) - || (channel_2_state != HAL_TIM_CHANNEL_STATE_READY) - || (complementary_channel_1_state != HAL_TIM_CHANNEL_STATE_READY) - || (complementary_channel_2_state != HAL_TIM_CHANNEL_STATE_READY)) - { - return HAL_ERROR; - } - - /* Set the TIM channels state */ - TIM_CHANNEL_STATE_SET(htim, TIM_CHANNEL_1, HAL_TIM_CHANNEL_STATE_BUSY); - TIM_CHANNEL_STATE_SET(htim, TIM_CHANNEL_2, HAL_TIM_CHANNEL_STATE_BUSY); - TIM_CHANNEL_N_STATE_SET(htim, TIM_CHANNEL_1, HAL_TIM_CHANNEL_STATE_BUSY); - TIM_CHANNEL_N_STATE_SET(htim, TIM_CHANNEL_2, HAL_TIM_CHANNEL_STATE_BUSY); - - /* Enable the capture compare Interrupts 1 event */ - __HAL_TIM_ENABLE_IT(htim, TIM_IT_CC1); - - /* Enable the Input Capture channel 1 - (in the Hall Sensor Interface the three possible channels that can be used are TIM_CHANNEL_1, - TIM_CHANNEL_2 and TIM_CHANNEL_3) */ - TIM_CCxChannelCmd(htim->Instance, TIM_CHANNEL_1, TIM_CCx_ENABLE); - - /* Enable the Peripheral, except in trigger mode where enable is automatically done with trigger */ - if (IS_TIM_SLAVE_INSTANCE(htim->Instance)) - { - tmpsmcr = htim->Instance->SMCR & TIM_SMCR_SMS; - if (!IS_TIM_SLAVEMODE_TRIGGER_ENABLED(tmpsmcr)) - { - __HAL_TIM_ENABLE(htim); - } - } - else - { - __HAL_TIM_ENABLE(htim); - } - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Stops the TIM Hall Sensor Interface in interrupt mode. - * @param htim TIM Hall Sensor Interface handle - * @retval HAL status - */ -HAL_StatusTypeDef HAL_TIMEx_HallSensor_Stop_IT(TIM_HandleTypeDef *htim) -{ - /* Check the parameters */ - assert_param(IS_TIM_HALL_SENSOR_INTERFACE_INSTANCE(htim->Instance)); - - /* Disable the Input Capture channel 1 - (in the Hall Sensor Interface the three possible channels that can be used are TIM_CHANNEL_1, - TIM_CHANNEL_2 and TIM_CHANNEL_3) */ - TIM_CCxChannelCmd(htim->Instance, TIM_CHANNEL_1, TIM_CCx_DISABLE); - - /* Disable the capture compare Interrupts event */ - __HAL_TIM_DISABLE_IT(htim, TIM_IT_CC1); - - /* Disable the Peripheral */ - __HAL_TIM_DISABLE(htim); - - /* Set the TIM channels state */ - TIM_CHANNEL_STATE_SET(htim, TIM_CHANNEL_1, HAL_TIM_CHANNEL_STATE_READY); - TIM_CHANNEL_STATE_SET(htim, TIM_CHANNEL_2, HAL_TIM_CHANNEL_STATE_READY); - TIM_CHANNEL_N_STATE_SET(htim, TIM_CHANNEL_1, HAL_TIM_CHANNEL_STATE_READY); - TIM_CHANNEL_N_STATE_SET(htim, TIM_CHANNEL_2, HAL_TIM_CHANNEL_STATE_READY); - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Starts the TIM Hall Sensor Interface in DMA mode. - * @param htim TIM Hall Sensor Interface handle - * @param pData The destination Buffer address. - * @param Length The length of data to be transferred from TIM peripheral to memory. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_TIMEx_HallSensor_Start_DMA(TIM_HandleTypeDef *htim, uint32_t *pData, uint16_t Length) -{ - uint32_t tmpsmcr; - HAL_TIM_ChannelStateTypeDef channel_1_state = TIM_CHANNEL_STATE_GET(htim, TIM_CHANNEL_1); - HAL_TIM_ChannelStateTypeDef complementary_channel_1_state = TIM_CHANNEL_N_STATE_GET(htim, TIM_CHANNEL_1); - - /* Check the parameters */ - assert_param(IS_TIM_HALL_SENSOR_INTERFACE_INSTANCE(htim->Instance)); - - /* Set the TIM channel state */ - if ((channel_1_state == HAL_TIM_CHANNEL_STATE_BUSY) - || (complementary_channel_1_state == HAL_TIM_CHANNEL_STATE_BUSY)) - { - return HAL_BUSY; - } - else if ((channel_1_state == HAL_TIM_CHANNEL_STATE_READY) - && (complementary_channel_1_state == HAL_TIM_CHANNEL_STATE_READY)) - { - if ((pData == NULL) && (Length > 0U)) - { - return HAL_ERROR; - } - else - { - TIM_CHANNEL_STATE_SET(htim, TIM_CHANNEL_1, HAL_TIM_CHANNEL_STATE_BUSY); - TIM_CHANNEL_N_STATE_SET(htim, TIM_CHANNEL_1, HAL_TIM_CHANNEL_STATE_BUSY); - } - } - else - { - return HAL_ERROR; - } - - /* Enable the Input Capture channel 1 - (in the Hall Sensor Interface the three possible channels that can be used are TIM_CHANNEL_1, - TIM_CHANNEL_2 and TIM_CHANNEL_3) */ - TIM_CCxChannelCmd(htim->Instance, TIM_CHANNEL_1, TIM_CCx_ENABLE); - - /* Set the DMA Input Capture 1 Callbacks */ - htim->hdma[TIM_DMA_ID_CC1]->XferCpltCallback = TIM_DMACaptureCplt; - htim->hdma[TIM_DMA_ID_CC1]->XferHalfCpltCallback = TIM_DMACaptureHalfCplt; - /* Set the DMA error callback */ - htim->hdma[TIM_DMA_ID_CC1]->XferErrorCallback = TIM_DMAError ; - - /* Enable the DMA stream for Capture 1*/ - if (HAL_DMA_Start_IT(htim->hdma[TIM_DMA_ID_CC1], (uint32_t)&htim->Instance->CCR1, (uint32_t)pData, Length) != HAL_OK) - { - /* Return error status */ - return HAL_ERROR; - } - /* Enable the capture compare 1 Interrupt */ - __HAL_TIM_ENABLE_DMA(htim, TIM_DMA_CC1); - - /* Enable the Peripheral, except in trigger mode where enable is automatically done with trigger */ - if (IS_TIM_SLAVE_INSTANCE(htim->Instance)) - { - tmpsmcr = htim->Instance->SMCR & TIM_SMCR_SMS; - if (!IS_TIM_SLAVEMODE_TRIGGER_ENABLED(tmpsmcr)) - { - __HAL_TIM_ENABLE(htim); - } - } - else - { - __HAL_TIM_ENABLE(htim); - } - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Stops the TIM Hall Sensor Interface in DMA mode. - * @param htim TIM Hall Sensor Interface handle - * @retval HAL status - */ -HAL_StatusTypeDef HAL_TIMEx_HallSensor_Stop_DMA(TIM_HandleTypeDef *htim) -{ - /* Check the parameters */ - assert_param(IS_TIM_HALL_SENSOR_INTERFACE_INSTANCE(htim->Instance)); - - /* Disable the Input Capture channel 1 - (in the Hall Sensor Interface the three possible channels that can be used are TIM_CHANNEL_1, - TIM_CHANNEL_2 and TIM_CHANNEL_3) */ - TIM_CCxChannelCmd(htim->Instance, TIM_CHANNEL_1, TIM_CCx_DISABLE); - - - /* Disable the capture compare Interrupts 1 event */ - __HAL_TIM_DISABLE_DMA(htim, TIM_DMA_CC1); - - (void)HAL_DMA_Abort_IT(htim->hdma[TIM_DMA_ID_CC1]); - - /* Disable the Peripheral */ - __HAL_TIM_DISABLE(htim); - - /* Set the TIM channel state */ - TIM_CHANNEL_STATE_SET(htim, TIM_CHANNEL_1, HAL_TIM_CHANNEL_STATE_READY); - TIM_CHANNEL_N_STATE_SET(htim, TIM_CHANNEL_1, HAL_TIM_CHANNEL_STATE_READY); - - /* Return function status */ - return HAL_OK; -} - -/** - * @} - */ - -/** @defgroup TIMEx_Exported_Functions_Group2 Extended Timer Complementary Output Compare functions - * @brief Timer Complementary Output Compare functions - * -@verbatim - ============================================================================== - ##### Timer Complementary Output Compare functions ##### - ============================================================================== - [..] - This section provides functions allowing to: - (+) Start the Complementary Output Compare/PWM. - (+) Stop the Complementary Output Compare/PWM. - (+) Start the Complementary Output Compare/PWM and enable interrupts. - (+) Stop the Complementary Output Compare/PWM and disable interrupts. - (+) Start the Complementary Output Compare/PWM and enable DMA transfers. - (+) Stop the Complementary Output Compare/PWM and disable DMA transfers. - -@endverbatim - * @{ - */ - -/** - * @brief Starts the TIM Output Compare signal generation on the complementary - * output. - * @param htim TIM Output Compare handle - * @param Channel TIM Channel to be enabled - * This parameter can be one of the following values: - * @arg TIM_CHANNEL_1: TIM Channel 1 selected - * @arg TIM_CHANNEL_2: TIM Channel 2 selected - * @arg TIM_CHANNEL_3: TIM Channel 3 selected - * @retval HAL status - */ -HAL_StatusTypeDef HAL_TIMEx_OCN_Start(TIM_HandleTypeDef *htim, uint32_t Channel) -{ - uint32_t tmpsmcr; - - /* Check the parameters */ - assert_param(IS_TIM_CCXN_INSTANCE(htim->Instance, Channel)); - - /* Check the TIM complementary channel state */ - if (TIM_CHANNEL_N_STATE_GET(htim, Channel) != HAL_TIM_CHANNEL_STATE_READY) - { - return HAL_ERROR; - } - - /* Set the TIM complementary channel state */ - TIM_CHANNEL_N_STATE_SET(htim, Channel, HAL_TIM_CHANNEL_STATE_BUSY); - - /* Enable the Capture compare channel N */ - TIM_CCxNChannelCmd(htim->Instance, Channel, TIM_CCxN_ENABLE); - - /* Enable the Main Output */ - __HAL_TIM_MOE_ENABLE(htim); - - /* Enable the Peripheral, except in trigger mode where enable is automatically done with trigger */ - if (IS_TIM_SLAVE_INSTANCE(htim->Instance)) - { - tmpsmcr = htim->Instance->SMCR & TIM_SMCR_SMS; - if (!IS_TIM_SLAVEMODE_TRIGGER_ENABLED(tmpsmcr)) - { - __HAL_TIM_ENABLE(htim); - } - } - else - { - __HAL_TIM_ENABLE(htim); - } - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Stops the TIM Output Compare signal generation on the complementary - * output. - * @param htim TIM handle - * @param Channel TIM Channel to be disabled - * This parameter can be one of the following values: - * @arg TIM_CHANNEL_1: TIM Channel 1 selected - * @arg TIM_CHANNEL_2: TIM Channel 2 selected - * @arg TIM_CHANNEL_3: TIM Channel 3 selected - * @retval HAL status - */ -HAL_StatusTypeDef HAL_TIMEx_OCN_Stop(TIM_HandleTypeDef *htim, uint32_t Channel) -{ - /* Check the parameters */ - assert_param(IS_TIM_CCXN_INSTANCE(htim->Instance, Channel)); - - /* Disable the Capture compare channel N */ - TIM_CCxNChannelCmd(htim->Instance, Channel, TIM_CCxN_DISABLE); - - /* Disable the Main Output */ - __HAL_TIM_MOE_DISABLE(htim); - - /* Disable the Peripheral */ - __HAL_TIM_DISABLE(htim); - - /* Set the TIM complementary channel state */ - TIM_CHANNEL_N_STATE_SET(htim, Channel, HAL_TIM_CHANNEL_STATE_READY); - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Starts the TIM Output Compare signal generation in interrupt mode - * on the complementary output. - * @param htim TIM OC handle - * @param Channel TIM Channel to be enabled - * This parameter can be one of the following values: - * @arg TIM_CHANNEL_1: TIM Channel 1 selected - * @arg TIM_CHANNEL_2: TIM Channel 2 selected - * @arg TIM_CHANNEL_3: TIM Channel 3 selected - * @retval HAL status - */ -HAL_StatusTypeDef HAL_TIMEx_OCN_Start_IT(TIM_HandleTypeDef *htim, uint32_t Channel) -{ - HAL_StatusTypeDef status = HAL_OK; - uint32_t tmpsmcr; - - /* Check the parameters */ - assert_param(IS_TIM_CCXN_INSTANCE(htim->Instance, Channel)); - - /* Check the TIM complementary channel state */ - if (TIM_CHANNEL_N_STATE_GET(htim, Channel) != HAL_TIM_CHANNEL_STATE_READY) - { - return HAL_ERROR; - } - - /* Set the TIM complementary channel state */ - TIM_CHANNEL_N_STATE_SET(htim, Channel, HAL_TIM_CHANNEL_STATE_BUSY); - - switch (Channel) - { - case TIM_CHANNEL_1: - { - /* Enable the TIM Output Compare interrupt */ - __HAL_TIM_ENABLE_IT(htim, TIM_IT_CC1); - break; - } - - case TIM_CHANNEL_2: - { - /* Enable the TIM Output Compare interrupt */ - __HAL_TIM_ENABLE_IT(htim, TIM_IT_CC2); - break; - } - - case TIM_CHANNEL_3: - { - /* Enable the TIM Output Compare interrupt */ - __HAL_TIM_ENABLE_IT(htim, TIM_IT_CC3); - break; - } - - - default: - status = HAL_ERROR; - break; - } - - if (status == HAL_OK) - { - /* Enable the TIM Break interrupt */ - __HAL_TIM_ENABLE_IT(htim, TIM_IT_BREAK); - - /* Enable the Capture compare channel N */ - TIM_CCxNChannelCmd(htim->Instance, Channel, TIM_CCxN_ENABLE); - - /* Enable the Main Output */ - __HAL_TIM_MOE_ENABLE(htim); - - /* Enable the Peripheral, except in trigger mode where enable is automatically done with trigger */ - if (IS_TIM_SLAVE_INSTANCE(htim->Instance)) - { - tmpsmcr = htim->Instance->SMCR & TIM_SMCR_SMS; - if (!IS_TIM_SLAVEMODE_TRIGGER_ENABLED(tmpsmcr)) - { - __HAL_TIM_ENABLE(htim); - } - } - else - { - __HAL_TIM_ENABLE(htim); - } - } - - /* Return function status */ - return status; -} - -/** - * @brief Stops the TIM Output Compare signal generation in interrupt mode - * on the complementary output. - * @param htim TIM Output Compare handle - * @param Channel TIM Channel to be disabled - * This parameter can be one of the following values: - * @arg TIM_CHANNEL_1: TIM Channel 1 selected - * @arg TIM_CHANNEL_2: TIM Channel 2 selected - * @arg TIM_CHANNEL_3: TIM Channel 3 selected - * @retval HAL status - */ -HAL_StatusTypeDef HAL_TIMEx_OCN_Stop_IT(TIM_HandleTypeDef *htim, uint32_t Channel) -{ - HAL_StatusTypeDef status = HAL_OK; - uint32_t tmpccer; - - /* Check the parameters */ - assert_param(IS_TIM_CCXN_INSTANCE(htim->Instance, Channel)); - - switch (Channel) - { - case TIM_CHANNEL_1: - { - /* Disable the TIM Output Compare interrupt */ - __HAL_TIM_DISABLE_IT(htim, TIM_IT_CC1); - break; - } - - case TIM_CHANNEL_2: - { - /* Disable the TIM Output Compare interrupt */ - __HAL_TIM_DISABLE_IT(htim, TIM_IT_CC2); - break; - } - - case TIM_CHANNEL_3: - { - /* Disable the TIM Output Compare interrupt */ - __HAL_TIM_DISABLE_IT(htim, TIM_IT_CC3); - break; - } - - default: - status = HAL_ERROR; - break; - } - - if (status == HAL_OK) - { - /* Disable the Capture compare channel N */ - TIM_CCxNChannelCmd(htim->Instance, Channel, TIM_CCxN_DISABLE); - - /* Disable the TIM Break interrupt (only if no more channel is active) */ - tmpccer = htim->Instance->CCER; - if ((tmpccer & (TIM_CCER_CC1NE | TIM_CCER_CC2NE | TIM_CCER_CC3NE)) == (uint32_t)RESET) - { - __HAL_TIM_DISABLE_IT(htim, TIM_IT_BREAK); - } - - /* Disable the Main Output */ - __HAL_TIM_MOE_DISABLE(htim); - - /* Disable the Peripheral */ - __HAL_TIM_DISABLE(htim); - - /* Set the TIM complementary channel state */ - TIM_CHANNEL_N_STATE_SET(htim, Channel, HAL_TIM_CHANNEL_STATE_READY); - } - - /* Return function status */ - return status; -} - -/** - * @brief Starts the TIM Output Compare signal generation in DMA mode - * on the complementary output. - * @param htim TIM Output Compare handle - * @param Channel TIM Channel to be enabled - * This parameter can be one of the following values: - * @arg TIM_CHANNEL_1: TIM Channel 1 selected - * @arg TIM_CHANNEL_2: TIM Channel 2 selected - * @arg TIM_CHANNEL_3: TIM Channel 3 selected - * @param pData The source Buffer address. - * @param Length The length of data to be transferred from memory to TIM peripheral - * @retval HAL status - */ -HAL_StatusTypeDef HAL_TIMEx_OCN_Start_DMA(TIM_HandleTypeDef *htim, uint32_t Channel, uint32_t *pData, uint16_t Length) -{ - HAL_StatusTypeDef status = HAL_OK; - uint32_t tmpsmcr; - - /* Check the parameters */ - assert_param(IS_TIM_CCXN_INSTANCE(htim->Instance, Channel)); - - /* Set the TIM complementary channel state */ - if (TIM_CHANNEL_N_STATE_GET(htim, Channel) == HAL_TIM_CHANNEL_STATE_BUSY) - { - return HAL_BUSY; - } - else if (TIM_CHANNEL_N_STATE_GET(htim, Channel) == HAL_TIM_CHANNEL_STATE_READY) - { - if ((pData == NULL) && (Length > 0U)) - { - return HAL_ERROR; - } - else - { - TIM_CHANNEL_N_STATE_SET(htim, Channel, HAL_TIM_CHANNEL_STATE_BUSY); - } - } - else - { - return HAL_ERROR; - } - - switch (Channel) - { - case TIM_CHANNEL_1: - { - /* Set the DMA compare callbacks */ - htim->hdma[TIM_DMA_ID_CC1]->XferCpltCallback = TIM_DMADelayPulseNCplt; - htim->hdma[TIM_DMA_ID_CC1]->XferHalfCpltCallback = TIM_DMADelayPulseHalfCplt; - - /* Set the DMA error callback */ - htim->hdma[TIM_DMA_ID_CC1]->XferErrorCallback = TIM_DMAErrorCCxN ; - - /* Enable the DMA stream */ - if (HAL_DMA_Start_IT(htim->hdma[TIM_DMA_ID_CC1], (uint32_t)pData, (uint32_t)&htim->Instance->CCR1, - Length) != HAL_OK) - { - /* Return error status */ - return HAL_ERROR; - } - /* Enable the TIM Output Compare DMA request */ - __HAL_TIM_ENABLE_DMA(htim, TIM_DMA_CC1); - break; - } - - case TIM_CHANNEL_2: - { - /* Set the DMA compare callbacks */ - htim->hdma[TIM_DMA_ID_CC2]->XferCpltCallback = TIM_DMADelayPulseNCplt; - htim->hdma[TIM_DMA_ID_CC2]->XferHalfCpltCallback = TIM_DMADelayPulseHalfCplt; - - /* Set the DMA error callback */ - htim->hdma[TIM_DMA_ID_CC2]->XferErrorCallback = TIM_DMAErrorCCxN ; - - /* Enable the DMA stream */ - if (HAL_DMA_Start_IT(htim->hdma[TIM_DMA_ID_CC2], (uint32_t)pData, (uint32_t)&htim->Instance->CCR2, - Length) != HAL_OK) - { - /* Return error status */ - return HAL_ERROR; - } - /* Enable the TIM Output Compare DMA request */ - __HAL_TIM_ENABLE_DMA(htim, TIM_DMA_CC2); - break; - } - - case TIM_CHANNEL_3: - { - /* Set the DMA compare callbacks */ - htim->hdma[TIM_DMA_ID_CC3]->XferCpltCallback = TIM_DMADelayPulseNCplt; - htim->hdma[TIM_DMA_ID_CC3]->XferHalfCpltCallback = TIM_DMADelayPulseHalfCplt; - - /* Set the DMA error callback */ - htim->hdma[TIM_DMA_ID_CC3]->XferErrorCallback = TIM_DMAErrorCCxN ; - - /* Enable the DMA stream */ - if (HAL_DMA_Start_IT(htim->hdma[TIM_DMA_ID_CC3], (uint32_t)pData, (uint32_t)&htim->Instance->CCR3, - Length) != HAL_OK) - { - /* Return error status */ - return HAL_ERROR; - } - /* Enable the TIM Output Compare DMA request */ - __HAL_TIM_ENABLE_DMA(htim, TIM_DMA_CC3); - break; - } - - default: - status = HAL_ERROR; - break; - } - - if (status == HAL_OK) - { - /* Enable the Capture compare channel N */ - TIM_CCxNChannelCmd(htim->Instance, Channel, TIM_CCxN_ENABLE); - - /* Enable the Main Output */ - __HAL_TIM_MOE_ENABLE(htim); - - /* Enable the Peripheral, except in trigger mode where enable is automatically done with trigger */ - if (IS_TIM_SLAVE_INSTANCE(htim->Instance)) - { - tmpsmcr = htim->Instance->SMCR & TIM_SMCR_SMS; - if (!IS_TIM_SLAVEMODE_TRIGGER_ENABLED(tmpsmcr)) - { - __HAL_TIM_ENABLE(htim); - } - } - else - { - __HAL_TIM_ENABLE(htim); - } - } - - /* Return function status */ - return status; -} - -/** - * @brief Stops the TIM Output Compare signal generation in DMA mode - * on the complementary output. - * @param htim TIM Output Compare handle - * @param Channel TIM Channel to be disabled - * This parameter can be one of the following values: - * @arg TIM_CHANNEL_1: TIM Channel 1 selected - * @arg TIM_CHANNEL_2: TIM Channel 2 selected - * @arg TIM_CHANNEL_3: TIM Channel 3 selected - * @retval HAL status - */ -HAL_StatusTypeDef HAL_TIMEx_OCN_Stop_DMA(TIM_HandleTypeDef *htim, uint32_t Channel) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Check the parameters */ - assert_param(IS_TIM_CCXN_INSTANCE(htim->Instance, Channel)); - - switch (Channel) - { - case TIM_CHANNEL_1: - { - /* Disable the TIM Output Compare DMA request */ - __HAL_TIM_DISABLE_DMA(htim, TIM_DMA_CC1); - (void)HAL_DMA_Abort_IT(htim->hdma[TIM_DMA_ID_CC1]); - break; - } - - case TIM_CHANNEL_2: - { - /* Disable the TIM Output Compare DMA request */ - __HAL_TIM_DISABLE_DMA(htim, TIM_DMA_CC2); - (void)HAL_DMA_Abort_IT(htim->hdma[TIM_DMA_ID_CC2]); - break; - } - - case TIM_CHANNEL_3: - { - /* Disable the TIM Output Compare DMA request */ - __HAL_TIM_DISABLE_DMA(htim, TIM_DMA_CC3); - (void)HAL_DMA_Abort_IT(htim->hdma[TIM_DMA_ID_CC3]); - break; - } - - default: - status = HAL_ERROR; - break; - } - - if (status == HAL_OK) - { - /* Disable the Capture compare channel N */ - TIM_CCxNChannelCmd(htim->Instance, Channel, TIM_CCxN_DISABLE); - - /* Disable the Main Output */ - __HAL_TIM_MOE_DISABLE(htim); - - /* Disable the Peripheral */ - __HAL_TIM_DISABLE(htim); - - /* Set the TIM complementary channel state */ - TIM_CHANNEL_N_STATE_SET(htim, Channel, HAL_TIM_CHANNEL_STATE_READY); - } - - /* Return function status */ - return status; -} - -/** - * @} - */ - -/** @defgroup TIMEx_Exported_Functions_Group3 Extended Timer Complementary PWM functions - * @brief Timer Complementary PWM functions - * -@verbatim - ============================================================================== - ##### Timer Complementary PWM functions ##### - ============================================================================== - [..] - This section provides functions allowing to: - (+) Start the Complementary PWM. - (+) Stop the Complementary PWM. - (+) Start the Complementary PWM and enable interrupts. - (+) Stop the Complementary PWM and disable interrupts. - (+) Start the Complementary PWM and enable DMA transfers. - (+) Stop the Complementary PWM and disable DMA transfers. - (+) Start the Complementary Input Capture measurement. - (+) Stop the Complementary Input Capture. - (+) Start the Complementary Input Capture and enable interrupts. - (+) Stop the Complementary Input Capture and disable interrupts. - (+) Start the Complementary Input Capture and enable DMA transfers. - (+) Stop the Complementary Input Capture and disable DMA transfers. - (+) Start the Complementary One Pulse generation. - (+) Stop the Complementary One Pulse. - (+) Start the Complementary One Pulse and enable interrupts. - (+) Stop the Complementary One Pulse and disable interrupts. - -@endverbatim - * @{ - */ - -/** - * @brief Starts the PWM signal generation on the complementary output. - * @param htim TIM handle - * @param Channel TIM Channel to be enabled - * This parameter can be one of the following values: - * @arg TIM_CHANNEL_1: TIM Channel 1 selected - * @arg TIM_CHANNEL_2: TIM Channel 2 selected - * @arg TIM_CHANNEL_3: TIM Channel 3 selected - * @retval HAL status - */ -HAL_StatusTypeDef HAL_TIMEx_PWMN_Start(TIM_HandleTypeDef *htim, uint32_t Channel) -{ - uint32_t tmpsmcr; - - /* Check the parameters */ - assert_param(IS_TIM_CCXN_INSTANCE(htim->Instance, Channel)); - - /* Check the TIM complementary channel state */ - if (TIM_CHANNEL_N_STATE_GET(htim, Channel) != HAL_TIM_CHANNEL_STATE_READY) - { - return HAL_ERROR; - } - - /* Set the TIM complementary channel state */ - TIM_CHANNEL_N_STATE_SET(htim, Channel, HAL_TIM_CHANNEL_STATE_BUSY); - - /* Enable the complementary PWM output */ - TIM_CCxNChannelCmd(htim->Instance, Channel, TIM_CCxN_ENABLE); - - /* Enable the Main Output */ - __HAL_TIM_MOE_ENABLE(htim); - - /* Enable the Peripheral, except in trigger mode where enable is automatically done with trigger */ - if (IS_TIM_SLAVE_INSTANCE(htim->Instance)) - { - tmpsmcr = htim->Instance->SMCR & TIM_SMCR_SMS; - if (!IS_TIM_SLAVEMODE_TRIGGER_ENABLED(tmpsmcr)) - { - __HAL_TIM_ENABLE(htim); - } - } - else - { - __HAL_TIM_ENABLE(htim); - } - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Stops the PWM signal generation on the complementary output. - * @param htim TIM handle - * @param Channel TIM Channel to be disabled - * This parameter can be one of the following values: - * @arg TIM_CHANNEL_1: TIM Channel 1 selected - * @arg TIM_CHANNEL_2: TIM Channel 2 selected - * @arg TIM_CHANNEL_3: TIM Channel 3 selected - * @retval HAL status - */ -HAL_StatusTypeDef HAL_TIMEx_PWMN_Stop(TIM_HandleTypeDef *htim, uint32_t Channel) -{ - /* Check the parameters */ - assert_param(IS_TIM_CCXN_INSTANCE(htim->Instance, Channel)); - - /* Disable the complementary PWM output */ - TIM_CCxNChannelCmd(htim->Instance, Channel, TIM_CCxN_DISABLE); - - /* Disable the Main Output */ - __HAL_TIM_MOE_DISABLE(htim); - - /* Disable the Peripheral */ - __HAL_TIM_DISABLE(htim); - - /* Set the TIM complementary channel state */ - TIM_CHANNEL_N_STATE_SET(htim, Channel, HAL_TIM_CHANNEL_STATE_READY); - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Starts the PWM signal generation in interrupt mode on the - * complementary output. - * @param htim TIM handle - * @param Channel TIM Channel to be disabled - * This parameter can be one of the following values: - * @arg TIM_CHANNEL_1: TIM Channel 1 selected - * @arg TIM_CHANNEL_2: TIM Channel 2 selected - * @arg TIM_CHANNEL_3: TIM Channel 3 selected - * @retval HAL status - */ -HAL_StatusTypeDef HAL_TIMEx_PWMN_Start_IT(TIM_HandleTypeDef *htim, uint32_t Channel) -{ - HAL_StatusTypeDef status = HAL_OK; - uint32_t tmpsmcr; - - /* Check the parameters */ - assert_param(IS_TIM_CCXN_INSTANCE(htim->Instance, Channel)); - - /* Check the TIM complementary channel state */ - if (TIM_CHANNEL_N_STATE_GET(htim, Channel) != HAL_TIM_CHANNEL_STATE_READY) - { - return HAL_ERROR; - } - - /* Set the TIM complementary channel state */ - TIM_CHANNEL_N_STATE_SET(htim, Channel, HAL_TIM_CHANNEL_STATE_BUSY); - - switch (Channel) - { - case TIM_CHANNEL_1: - { - /* Enable the TIM Capture/Compare 1 interrupt */ - __HAL_TIM_ENABLE_IT(htim, TIM_IT_CC1); - break; - } - - case TIM_CHANNEL_2: - { - /* Enable the TIM Capture/Compare 2 interrupt */ - __HAL_TIM_ENABLE_IT(htim, TIM_IT_CC2); - break; - } - - case TIM_CHANNEL_3: - { - /* Enable the TIM Capture/Compare 3 interrupt */ - __HAL_TIM_ENABLE_IT(htim, TIM_IT_CC3); - break; - } - - default: - status = HAL_ERROR; - break; - } - - if (status == HAL_OK) - { - /* Enable the TIM Break interrupt */ - __HAL_TIM_ENABLE_IT(htim, TIM_IT_BREAK); - - /* Enable the complementary PWM output */ - TIM_CCxNChannelCmd(htim->Instance, Channel, TIM_CCxN_ENABLE); - - /* Enable the Main Output */ - __HAL_TIM_MOE_ENABLE(htim); - - /* Enable the Peripheral, except in trigger mode where enable is automatically done with trigger */ - if (IS_TIM_SLAVE_INSTANCE(htim->Instance)) - { - tmpsmcr = htim->Instance->SMCR & TIM_SMCR_SMS; - if (!IS_TIM_SLAVEMODE_TRIGGER_ENABLED(tmpsmcr)) - { - __HAL_TIM_ENABLE(htim); - } - } - else - { - __HAL_TIM_ENABLE(htim); - } - } - - /* Return function status */ - return status; -} - -/** - * @brief Stops the PWM signal generation in interrupt mode on the - * complementary output. - * @param htim TIM handle - * @param Channel TIM Channel to be disabled - * This parameter can be one of the following values: - * @arg TIM_CHANNEL_1: TIM Channel 1 selected - * @arg TIM_CHANNEL_2: TIM Channel 2 selected - * @arg TIM_CHANNEL_3: TIM Channel 3 selected - * @retval HAL status - */ -HAL_StatusTypeDef HAL_TIMEx_PWMN_Stop_IT(TIM_HandleTypeDef *htim, uint32_t Channel) -{ - HAL_StatusTypeDef status = HAL_OK; - uint32_t tmpccer; - - /* Check the parameters */ - assert_param(IS_TIM_CCXN_INSTANCE(htim->Instance, Channel)); - - switch (Channel) - { - case TIM_CHANNEL_1: - { - /* Disable the TIM Capture/Compare 1 interrupt */ - __HAL_TIM_DISABLE_IT(htim, TIM_IT_CC1); - break; - } - - case TIM_CHANNEL_2: - { - /* Disable the TIM Capture/Compare 2 interrupt */ - __HAL_TIM_DISABLE_IT(htim, TIM_IT_CC2); - break; - } - - case TIM_CHANNEL_3: - { - /* Disable the TIM Capture/Compare 3 interrupt */ - __HAL_TIM_DISABLE_IT(htim, TIM_IT_CC3); - break; - } - - default: - status = HAL_ERROR; - break; - } - - if (status == HAL_OK) - { - /* Disable the complementary PWM output */ - TIM_CCxNChannelCmd(htim->Instance, Channel, TIM_CCxN_DISABLE); - - /* Disable the TIM Break interrupt (only if no more channel is active) */ - tmpccer = htim->Instance->CCER; - if ((tmpccer & (TIM_CCER_CC1NE | TIM_CCER_CC2NE | TIM_CCER_CC3NE)) == (uint32_t)RESET) - { - __HAL_TIM_DISABLE_IT(htim, TIM_IT_BREAK); - } - - /* Disable the Main Output */ - __HAL_TIM_MOE_DISABLE(htim); - - /* Disable the Peripheral */ - __HAL_TIM_DISABLE(htim); - - /* Set the TIM complementary channel state */ - TIM_CHANNEL_N_STATE_SET(htim, Channel, HAL_TIM_CHANNEL_STATE_READY); - } - - /* Return function status */ - return status; -} - -/** - * @brief Starts the TIM PWM signal generation in DMA mode on the - * complementary output - * @param htim TIM handle - * @param Channel TIM Channel to be enabled - * This parameter can be one of the following values: - * @arg TIM_CHANNEL_1: TIM Channel 1 selected - * @arg TIM_CHANNEL_2: TIM Channel 2 selected - * @arg TIM_CHANNEL_3: TIM Channel 3 selected - * @param pData The source Buffer address. - * @param Length The length of data to be transferred from memory to TIM peripheral - * @retval HAL status - */ -HAL_StatusTypeDef HAL_TIMEx_PWMN_Start_DMA(TIM_HandleTypeDef *htim, uint32_t Channel, uint32_t *pData, uint16_t Length) -{ - HAL_StatusTypeDef status = HAL_OK; - uint32_t tmpsmcr; - - /* Check the parameters */ - assert_param(IS_TIM_CCXN_INSTANCE(htim->Instance, Channel)); - - /* Set the TIM complementary channel state */ - if (TIM_CHANNEL_N_STATE_GET(htim, Channel) == HAL_TIM_CHANNEL_STATE_BUSY) - { - return HAL_BUSY; - } - else if (TIM_CHANNEL_N_STATE_GET(htim, Channel) == HAL_TIM_CHANNEL_STATE_READY) - { - if ((pData == NULL) && (Length > 0U)) - { - return HAL_ERROR; - } - else - { - TIM_CHANNEL_N_STATE_SET(htim, Channel, HAL_TIM_CHANNEL_STATE_BUSY); - } - } - else - { - return HAL_ERROR; - } - - switch (Channel) - { - case TIM_CHANNEL_1: - { - /* Set the DMA compare callbacks */ - htim->hdma[TIM_DMA_ID_CC1]->XferCpltCallback = TIM_DMADelayPulseNCplt; - htim->hdma[TIM_DMA_ID_CC1]->XferHalfCpltCallback = TIM_DMADelayPulseHalfCplt; - - /* Set the DMA error callback */ - htim->hdma[TIM_DMA_ID_CC1]->XferErrorCallback = TIM_DMAErrorCCxN ; - - /* Enable the DMA stream */ - if (HAL_DMA_Start_IT(htim->hdma[TIM_DMA_ID_CC1], (uint32_t)pData, (uint32_t)&htim->Instance->CCR1, - Length) != HAL_OK) - { - /* Return error status */ - return HAL_ERROR; - } - /* Enable the TIM Capture/Compare 1 DMA request */ - __HAL_TIM_ENABLE_DMA(htim, TIM_DMA_CC1); - break; - } - - case TIM_CHANNEL_2: - { - /* Set the DMA compare callbacks */ - htim->hdma[TIM_DMA_ID_CC2]->XferCpltCallback = TIM_DMADelayPulseNCplt; - htim->hdma[TIM_DMA_ID_CC2]->XferHalfCpltCallback = TIM_DMADelayPulseHalfCplt; - - /* Set the DMA error callback */ - htim->hdma[TIM_DMA_ID_CC2]->XferErrorCallback = TIM_DMAErrorCCxN ; - - /* Enable the DMA stream */ - if (HAL_DMA_Start_IT(htim->hdma[TIM_DMA_ID_CC2], (uint32_t)pData, (uint32_t)&htim->Instance->CCR2, - Length) != HAL_OK) - { - /* Return error status */ - return HAL_ERROR; - } - /* Enable the TIM Capture/Compare 2 DMA request */ - __HAL_TIM_ENABLE_DMA(htim, TIM_DMA_CC2); - break; - } - - case TIM_CHANNEL_3: - { - /* Set the DMA compare callbacks */ - htim->hdma[TIM_DMA_ID_CC3]->XferCpltCallback = TIM_DMADelayPulseNCplt; - htim->hdma[TIM_DMA_ID_CC3]->XferHalfCpltCallback = TIM_DMADelayPulseHalfCplt; - - /* Set the DMA error callback */ - htim->hdma[TIM_DMA_ID_CC3]->XferErrorCallback = TIM_DMAErrorCCxN ; - - /* Enable the DMA stream */ - if (HAL_DMA_Start_IT(htim->hdma[TIM_DMA_ID_CC3], (uint32_t)pData, (uint32_t)&htim->Instance->CCR3, - Length) != HAL_OK) - { - /* Return error status */ - return HAL_ERROR; - } - /* Enable the TIM Capture/Compare 3 DMA request */ - __HAL_TIM_ENABLE_DMA(htim, TIM_DMA_CC3); - break; - } - - default: - status = HAL_ERROR; - break; - } - - if (status == HAL_OK) - { - /* Enable the complementary PWM output */ - TIM_CCxNChannelCmd(htim->Instance, Channel, TIM_CCxN_ENABLE); - - /* Enable the Main Output */ - __HAL_TIM_MOE_ENABLE(htim); - - /* Enable the Peripheral, except in trigger mode where enable is automatically done with trigger */ - if (IS_TIM_SLAVE_INSTANCE(htim->Instance)) - { - tmpsmcr = htim->Instance->SMCR & TIM_SMCR_SMS; - if (!IS_TIM_SLAVEMODE_TRIGGER_ENABLED(tmpsmcr)) - { - __HAL_TIM_ENABLE(htim); - } - } - else - { - __HAL_TIM_ENABLE(htim); - } - } - - /* Return function status */ - return status; -} - -/** - * @brief Stops the TIM PWM signal generation in DMA mode on the complementary - * output - * @param htim TIM handle - * @param Channel TIM Channel to be disabled - * This parameter can be one of the following values: - * @arg TIM_CHANNEL_1: TIM Channel 1 selected - * @arg TIM_CHANNEL_2: TIM Channel 2 selected - * @arg TIM_CHANNEL_3: TIM Channel 3 selected - * @retval HAL status - */ -HAL_StatusTypeDef HAL_TIMEx_PWMN_Stop_DMA(TIM_HandleTypeDef *htim, uint32_t Channel) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Check the parameters */ - assert_param(IS_TIM_CCXN_INSTANCE(htim->Instance, Channel)); - - switch (Channel) - { - case TIM_CHANNEL_1: - { - /* Disable the TIM Capture/Compare 1 DMA request */ - __HAL_TIM_DISABLE_DMA(htim, TIM_DMA_CC1); - (void)HAL_DMA_Abort_IT(htim->hdma[TIM_DMA_ID_CC1]); - break; - } - - case TIM_CHANNEL_2: - { - /* Disable the TIM Capture/Compare 2 DMA request */ - __HAL_TIM_DISABLE_DMA(htim, TIM_DMA_CC2); - (void)HAL_DMA_Abort_IT(htim->hdma[TIM_DMA_ID_CC2]); - break; - } - - case TIM_CHANNEL_3: - { - /* Disable the TIM Capture/Compare 3 DMA request */ - __HAL_TIM_DISABLE_DMA(htim, TIM_DMA_CC3); - (void)HAL_DMA_Abort_IT(htim->hdma[TIM_DMA_ID_CC3]); - break; - } - - default: - status = HAL_ERROR; - break; - } - - if (status == HAL_OK) - { - /* Disable the complementary PWM output */ - TIM_CCxNChannelCmd(htim->Instance, Channel, TIM_CCxN_DISABLE); - - /* Disable the Main Output */ - __HAL_TIM_MOE_DISABLE(htim); - - /* Disable the Peripheral */ - __HAL_TIM_DISABLE(htim); - - /* Set the TIM complementary channel state */ - TIM_CHANNEL_N_STATE_SET(htim, Channel, HAL_TIM_CHANNEL_STATE_READY); - } - - /* Return function status */ - return status; -} - -/** - * @} - */ - -/** @defgroup TIMEx_Exported_Functions_Group4 Extended Timer Complementary One Pulse functions - * @brief Timer Complementary One Pulse functions - * -@verbatim - ============================================================================== - ##### Timer Complementary One Pulse functions ##### - ============================================================================== - [..] - This section provides functions allowing to: - (+) Start the Complementary One Pulse generation. - (+) Stop the Complementary One Pulse. - (+) Start the Complementary One Pulse and enable interrupts. - (+) Stop the Complementary One Pulse and disable interrupts. - -@endverbatim - * @{ - */ - -/** - * @brief Starts the TIM One Pulse signal generation on the complementary - * output. - * @note OutputChannel must match the pulse output channel chosen when calling - * @ref HAL_TIM_OnePulse_ConfigChannel(). - * @param htim TIM One Pulse handle - * @param OutputChannel pulse output channel to enable - * This parameter can be one of the following values: - * @arg TIM_CHANNEL_1: TIM Channel 1 selected - * @arg TIM_CHANNEL_2: TIM Channel 2 selected - * @retval HAL status - */ -HAL_StatusTypeDef HAL_TIMEx_OnePulseN_Start(TIM_HandleTypeDef *htim, uint32_t OutputChannel) -{ - uint32_t input_channel = (OutputChannel == TIM_CHANNEL_1) ? TIM_CHANNEL_2 : TIM_CHANNEL_1; - HAL_TIM_ChannelStateTypeDef channel_1_state = TIM_CHANNEL_STATE_GET(htim, TIM_CHANNEL_1); - HAL_TIM_ChannelStateTypeDef channel_2_state = TIM_CHANNEL_STATE_GET(htim, TIM_CHANNEL_2); - HAL_TIM_ChannelStateTypeDef complementary_channel_1_state = TIM_CHANNEL_N_STATE_GET(htim, TIM_CHANNEL_1); - HAL_TIM_ChannelStateTypeDef complementary_channel_2_state = TIM_CHANNEL_N_STATE_GET(htim, TIM_CHANNEL_2); - - /* Check the parameters */ - assert_param(IS_TIM_CCXN_INSTANCE(htim->Instance, OutputChannel)); - - /* Check the TIM channels state */ - if ((channel_1_state != HAL_TIM_CHANNEL_STATE_READY) - || (channel_2_state != HAL_TIM_CHANNEL_STATE_READY) - || (complementary_channel_1_state != HAL_TIM_CHANNEL_STATE_READY) - || (complementary_channel_2_state != HAL_TIM_CHANNEL_STATE_READY)) - { - return HAL_ERROR; - } - - /* Set the TIM channels state */ - TIM_CHANNEL_STATE_SET(htim, TIM_CHANNEL_1, HAL_TIM_CHANNEL_STATE_BUSY); - TIM_CHANNEL_STATE_SET(htim, TIM_CHANNEL_2, HAL_TIM_CHANNEL_STATE_BUSY); - TIM_CHANNEL_N_STATE_SET(htim, TIM_CHANNEL_1, HAL_TIM_CHANNEL_STATE_BUSY); - TIM_CHANNEL_N_STATE_SET(htim, TIM_CHANNEL_2, HAL_TIM_CHANNEL_STATE_BUSY); - - /* Enable the complementary One Pulse output channel and the Input Capture channel */ - TIM_CCxNChannelCmd(htim->Instance, OutputChannel, TIM_CCxN_ENABLE); - TIM_CCxChannelCmd(htim->Instance, input_channel, TIM_CCx_ENABLE); - - /* Enable the Main Output */ - __HAL_TIM_MOE_ENABLE(htim); - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Stops the TIM One Pulse signal generation on the complementary - * output. - * @note OutputChannel must match the pulse output channel chosen when calling - * @ref HAL_TIM_OnePulse_ConfigChannel(). - * @param htim TIM One Pulse handle - * @param OutputChannel pulse output channel to disable - * This parameter can be one of the following values: - * @arg TIM_CHANNEL_1: TIM Channel 1 selected - * @arg TIM_CHANNEL_2: TIM Channel 2 selected - * @retval HAL status - */ -HAL_StatusTypeDef HAL_TIMEx_OnePulseN_Stop(TIM_HandleTypeDef *htim, uint32_t OutputChannel) -{ - uint32_t input_channel = (OutputChannel == TIM_CHANNEL_1) ? TIM_CHANNEL_2 : TIM_CHANNEL_1; - - /* Check the parameters */ - assert_param(IS_TIM_CCXN_INSTANCE(htim->Instance, OutputChannel)); - - /* Disable the complementary One Pulse output channel and the Input Capture channel */ - TIM_CCxNChannelCmd(htim->Instance, OutputChannel, TIM_CCxN_DISABLE); - TIM_CCxChannelCmd(htim->Instance, input_channel, TIM_CCx_DISABLE); - - /* Disable the Main Output */ - __HAL_TIM_MOE_DISABLE(htim); - - /* Disable the Peripheral */ - __HAL_TIM_DISABLE(htim); - - /* Set the TIM channels state */ - TIM_CHANNEL_STATE_SET(htim, TIM_CHANNEL_1, HAL_TIM_CHANNEL_STATE_READY); - TIM_CHANNEL_STATE_SET(htim, TIM_CHANNEL_2, HAL_TIM_CHANNEL_STATE_READY); - TIM_CHANNEL_N_STATE_SET(htim, TIM_CHANNEL_1, HAL_TIM_CHANNEL_STATE_READY); - TIM_CHANNEL_N_STATE_SET(htim, TIM_CHANNEL_2, HAL_TIM_CHANNEL_STATE_READY); - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Starts the TIM One Pulse signal generation in interrupt mode on the - * complementary channel. - * @note OutputChannel must match the pulse output channel chosen when calling - * @ref HAL_TIM_OnePulse_ConfigChannel(). - * @param htim TIM One Pulse handle - * @param OutputChannel pulse output channel to enable - * This parameter can be one of the following values: - * @arg TIM_CHANNEL_1: TIM Channel 1 selected - * @arg TIM_CHANNEL_2: TIM Channel 2 selected - * @retval HAL status - */ -HAL_StatusTypeDef HAL_TIMEx_OnePulseN_Start_IT(TIM_HandleTypeDef *htim, uint32_t OutputChannel) -{ - uint32_t input_channel = (OutputChannel == TIM_CHANNEL_1) ? TIM_CHANNEL_2 : TIM_CHANNEL_1; - HAL_TIM_ChannelStateTypeDef channel_1_state = TIM_CHANNEL_STATE_GET(htim, TIM_CHANNEL_1); - HAL_TIM_ChannelStateTypeDef channel_2_state = TIM_CHANNEL_STATE_GET(htim, TIM_CHANNEL_2); - HAL_TIM_ChannelStateTypeDef complementary_channel_1_state = TIM_CHANNEL_N_STATE_GET(htim, TIM_CHANNEL_1); - HAL_TIM_ChannelStateTypeDef complementary_channel_2_state = TIM_CHANNEL_N_STATE_GET(htim, TIM_CHANNEL_2); - - /* Check the parameters */ - assert_param(IS_TIM_CCXN_INSTANCE(htim->Instance, OutputChannel)); - - /* Check the TIM channels state */ - if ((channel_1_state != HAL_TIM_CHANNEL_STATE_READY) - || (channel_2_state != HAL_TIM_CHANNEL_STATE_READY) - || (complementary_channel_1_state != HAL_TIM_CHANNEL_STATE_READY) - || (complementary_channel_2_state != HAL_TIM_CHANNEL_STATE_READY)) - { - return HAL_ERROR; - } - - /* Set the TIM channels state */ - TIM_CHANNEL_STATE_SET(htim, TIM_CHANNEL_1, HAL_TIM_CHANNEL_STATE_BUSY); - TIM_CHANNEL_STATE_SET(htim, TIM_CHANNEL_2, HAL_TIM_CHANNEL_STATE_BUSY); - TIM_CHANNEL_N_STATE_SET(htim, TIM_CHANNEL_1, HAL_TIM_CHANNEL_STATE_BUSY); - TIM_CHANNEL_N_STATE_SET(htim, TIM_CHANNEL_2, HAL_TIM_CHANNEL_STATE_BUSY); - - /* Enable the TIM Capture/Compare 1 interrupt */ - __HAL_TIM_ENABLE_IT(htim, TIM_IT_CC1); - - /* Enable the TIM Capture/Compare 2 interrupt */ - __HAL_TIM_ENABLE_IT(htim, TIM_IT_CC2); - - /* Enable the complementary One Pulse output channel and the Input Capture channel */ - TIM_CCxNChannelCmd(htim->Instance, OutputChannel, TIM_CCxN_ENABLE); - TIM_CCxChannelCmd(htim->Instance, input_channel, TIM_CCx_ENABLE); - - /* Enable the Main Output */ - __HAL_TIM_MOE_ENABLE(htim); - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Stops the TIM One Pulse signal generation in interrupt mode on the - * complementary channel. - * @note OutputChannel must match the pulse output channel chosen when calling - * @ref HAL_TIM_OnePulse_ConfigChannel(). - * @param htim TIM One Pulse handle - * @param OutputChannel pulse output channel to disable - * This parameter can be one of the following values: - * @arg TIM_CHANNEL_1: TIM Channel 1 selected - * @arg TIM_CHANNEL_2: TIM Channel 2 selected - * @retval HAL status - */ -HAL_StatusTypeDef HAL_TIMEx_OnePulseN_Stop_IT(TIM_HandleTypeDef *htim, uint32_t OutputChannel) -{ - uint32_t input_channel = (OutputChannel == TIM_CHANNEL_1) ? TIM_CHANNEL_2 : TIM_CHANNEL_1; - - /* Check the parameters */ - assert_param(IS_TIM_CCXN_INSTANCE(htim->Instance, OutputChannel)); - - /* Disable the TIM Capture/Compare 1 interrupt */ - __HAL_TIM_DISABLE_IT(htim, TIM_IT_CC1); - - /* Disable the TIM Capture/Compare 2 interrupt */ - __HAL_TIM_DISABLE_IT(htim, TIM_IT_CC2); - - /* Disable the complementary One Pulse output channel and the Input Capture channel */ - TIM_CCxNChannelCmd(htim->Instance, OutputChannel, TIM_CCxN_DISABLE); - TIM_CCxChannelCmd(htim->Instance, input_channel, TIM_CCx_DISABLE); - - /* Disable the Main Output */ - __HAL_TIM_MOE_DISABLE(htim); - - /* Disable the Peripheral */ - __HAL_TIM_DISABLE(htim); - - /* Set the TIM channels state */ - TIM_CHANNEL_STATE_SET(htim, TIM_CHANNEL_1, HAL_TIM_CHANNEL_STATE_READY); - TIM_CHANNEL_STATE_SET(htim, TIM_CHANNEL_2, HAL_TIM_CHANNEL_STATE_READY); - TIM_CHANNEL_N_STATE_SET(htim, TIM_CHANNEL_1, HAL_TIM_CHANNEL_STATE_READY); - TIM_CHANNEL_N_STATE_SET(htim, TIM_CHANNEL_2, HAL_TIM_CHANNEL_STATE_READY); - - /* Return function status */ - return HAL_OK; -} - -/** - * @} - */ - -/** @defgroup TIMEx_Exported_Functions_Group5 Extended Peripheral Control functions - * @brief Peripheral Control functions - * -@verbatim - ============================================================================== - ##### Peripheral Control functions ##### - ============================================================================== - [..] - This section provides functions allowing to: - (+) Configure the commutation event in case of use of the Hall sensor interface. - (+) Configure Output channels for OC and PWM mode. - - (+) Configure Complementary channels, break features and dead time. - (+) Configure Master synchronization. - (+) Configure timer remapping capabilities. - -@endverbatim - * @{ - */ - -/** - * @brief Configure the TIM commutation event sequence. - * @note This function is mandatory to use the commutation event in order to - * update the configuration at each commutation detection on the TRGI input of the Timer, - * the typical use of this feature is with the use of another Timer(interface Timer) - * configured in Hall sensor interface, this interface Timer will generate the - * commutation at its TRGO output (connected to Timer used in this function) each time - * the TI1 of the Interface Timer detect a commutation at its input TI1. - * @param htim TIM handle - * @param InputTrigger the Internal trigger corresponding to the Timer Interfacing with the Hall sensor - * This parameter can be one of the following values: - * @arg TIM_TS_ITR0: Internal trigger 0 selected - * @arg TIM_TS_ITR1: Internal trigger 1 selected - * @arg TIM_TS_ITR2: Internal trigger 2 selected - * @arg TIM_TS_ITR3: Internal trigger 3 selected - * @arg TIM_TS_NONE: No trigger is needed - * @param CommutationSource the Commutation Event source - * This parameter can be one of the following values: - * @arg TIM_COMMUTATION_TRGI: Commutation source is the TRGI of the Interface Timer - * @arg TIM_COMMUTATION_SOFTWARE: Commutation source is set by software using the COMG bit - * @retval HAL status - */ -HAL_StatusTypeDef HAL_TIMEx_ConfigCommutEvent(TIM_HandleTypeDef *htim, uint32_t InputTrigger, - uint32_t CommutationSource) -{ - /* Check the parameters */ - assert_param(IS_TIM_COMMUTATION_EVENT_INSTANCE(htim->Instance)); - assert_param(IS_TIM_INTERNAL_TRIGGEREVENT_SELECTION(InputTrigger)); - - __HAL_LOCK(htim); - - if ((InputTrigger == TIM_TS_ITR0) || (InputTrigger == TIM_TS_ITR1) || - (InputTrigger == TIM_TS_ITR2) || (InputTrigger == TIM_TS_ITR3)) - { - /* Select the Input trigger */ - htim->Instance->SMCR &= ~TIM_SMCR_TS; - htim->Instance->SMCR |= InputTrigger; - } - - /* Select the Capture Compare preload feature */ - htim->Instance->CR2 |= TIM_CR2_CCPC; - /* Select the Commutation event source */ - htim->Instance->CR2 &= ~TIM_CR2_CCUS; - htim->Instance->CR2 |= CommutationSource; - - /* Disable Commutation Interrupt */ - __HAL_TIM_DISABLE_IT(htim, TIM_IT_COM); - - /* Disable Commutation DMA request */ - __HAL_TIM_DISABLE_DMA(htim, TIM_DMA_COM); - - __HAL_UNLOCK(htim); - - return HAL_OK; -} - -/** - * @brief Configure the TIM commutation event sequence with interrupt. - * @note This function is mandatory to use the commutation event in order to - * update the configuration at each commutation detection on the TRGI input of the Timer, - * the typical use of this feature is with the use of another Timer(interface Timer) - * configured in Hall sensor interface, this interface Timer will generate the - * commutation at its TRGO output (connected to Timer used in this function) each time - * the TI1 of the Interface Timer detect a commutation at its input TI1. - * @param htim TIM handle - * @param InputTrigger the Internal trigger corresponding to the Timer Interfacing with the Hall sensor - * This parameter can be one of the following values: - * @arg TIM_TS_ITR0: Internal trigger 0 selected - * @arg TIM_TS_ITR1: Internal trigger 1 selected - * @arg TIM_TS_ITR2: Internal trigger 2 selected - * @arg TIM_TS_ITR3: Internal trigger 3 selected - * @arg TIM_TS_NONE: No trigger is needed - * @param CommutationSource the Commutation Event source - * This parameter can be one of the following values: - * @arg TIM_COMMUTATION_TRGI: Commutation source is the TRGI of the Interface Timer - * @arg TIM_COMMUTATION_SOFTWARE: Commutation source is set by software using the COMG bit - * @retval HAL status - */ -HAL_StatusTypeDef HAL_TIMEx_ConfigCommutEvent_IT(TIM_HandleTypeDef *htim, uint32_t InputTrigger, - uint32_t CommutationSource) -{ - /* Check the parameters */ - assert_param(IS_TIM_COMMUTATION_EVENT_INSTANCE(htim->Instance)); - assert_param(IS_TIM_INTERNAL_TRIGGEREVENT_SELECTION(InputTrigger)); - - __HAL_LOCK(htim); - - if ((InputTrigger == TIM_TS_ITR0) || (InputTrigger == TIM_TS_ITR1) || - (InputTrigger == TIM_TS_ITR2) || (InputTrigger == TIM_TS_ITR3)) - { - /* Select the Input trigger */ - htim->Instance->SMCR &= ~TIM_SMCR_TS; - htim->Instance->SMCR |= InputTrigger; - } - - /* Select the Capture Compare preload feature */ - htim->Instance->CR2 |= TIM_CR2_CCPC; - /* Select the Commutation event source */ - htim->Instance->CR2 &= ~TIM_CR2_CCUS; - htim->Instance->CR2 |= CommutationSource; - - /* Disable Commutation DMA request */ - __HAL_TIM_DISABLE_DMA(htim, TIM_DMA_COM); - - /* Enable the Commutation Interrupt */ - __HAL_TIM_ENABLE_IT(htim, TIM_IT_COM); - - __HAL_UNLOCK(htim); - - return HAL_OK; -} - -/** - * @brief Configure the TIM commutation event sequence with DMA. - * @note This function is mandatory to use the commutation event in order to - * update the configuration at each commutation detection on the TRGI input of the Timer, - * the typical use of this feature is with the use of another Timer(interface Timer) - * configured in Hall sensor interface, this interface Timer will generate the - * commutation at its TRGO output (connected to Timer used in this function) each time - * the TI1 of the Interface Timer detect a commutation at its input TI1. - * @note The user should configure the DMA in his own software, in This function only the COMDE bit is set - * @param htim TIM handle - * @param InputTrigger the Internal trigger corresponding to the Timer Interfacing with the Hall sensor - * This parameter can be one of the following values: - * @arg TIM_TS_ITR0: Internal trigger 0 selected - * @arg TIM_TS_ITR1: Internal trigger 1 selected - * @arg TIM_TS_ITR2: Internal trigger 2 selected - * @arg TIM_TS_ITR3: Internal trigger 3 selected - * @arg TIM_TS_NONE: No trigger is needed - * @param CommutationSource the Commutation Event source - * This parameter can be one of the following values: - * @arg TIM_COMMUTATION_TRGI: Commutation source is the TRGI of the Interface Timer - * @arg TIM_COMMUTATION_SOFTWARE: Commutation source is set by software using the COMG bit - * @retval HAL status - */ -HAL_StatusTypeDef HAL_TIMEx_ConfigCommutEvent_DMA(TIM_HandleTypeDef *htim, uint32_t InputTrigger, - uint32_t CommutationSource) -{ - /* Check the parameters */ - assert_param(IS_TIM_COMMUTATION_EVENT_INSTANCE(htim->Instance)); - assert_param(IS_TIM_INTERNAL_TRIGGEREVENT_SELECTION(InputTrigger)); - - __HAL_LOCK(htim); - - if ((InputTrigger == TIM_TS_ITR0) || (InputTrigger == TIM_TS_ITR1) || - (InputTrigger == TIM_TS_ITR2) || (InputTrigger == TIM_TS_ITR3)) - { - /* Select the Input trigger */ - htim->Instance->SMCR &= ~TIM_SMCR_TS; - htim->Instance->SMCR |= InputTrigger; - } - - /* Select the Capture Compare preload feature */ - htim->Instance->CR2 |= TIM_CR2_CCPC; - /* Select the Commutation event source */ - htim->Instance->CR2 &= ~TIM_CR2_CCUS; - htim->Instance->CR2 |= CommutationSource; - - /* Enable the Commutation DMA Request */ - /* Set the DMA Commutation Callback */ - htim->hdma[TIM_DMA_ID_COMMUTATION]->XferCpltCallback = TIMEx_DMACommutationCplt; - htim->hdma[TIM_DMA_ID_COMMUTATION]->XferHalfCpltCallback = TIMEx_DMACommutationHalfCplt; - /* Set the DMA error callback */ - htim->hdma[TIM_DMA_ID_COMMUTATION]->XferErrorCallback = TIM_DMAError; - - /* Disable Commutation Interrupt */ - __HAL_TIM_DISABLE_IT(htim, TIM_IT_COM); - - /* Enable the Commutation DMA Request */ - __HAL_TIM_ENABLE_DMA(htim, TIM_DMA_COM); - - __HAL_UNLOCK(htim); - - return HAL_OK; -} - -/** - * @brief Configures the TIM in master mode. - * @param htim TIM handle. - * @param sMasterConfig pointer to a TIM_MasterConfigTypeDef structure that - * contains the selected trigger output (TRGO) and the Master/Slave - * mode. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_TIMEx_MasterConfigSynchronization(TIM_HandleTypeDef *htim, - TIM_MasterConfigTypeDef *sMasterConfig) -{ - uint32_t tmpcr2; - uint32_t tmpsmcr; - - /* Check the parameters */ - assert_param(IS_TIM_MASTER_INSTANCE(htim->Instance)); - assert_param(IS_TIM_TRGO_SOURCE(sMasterConfig->MasterOutputTrigger)); - assert_param(IS_TIM_MSM_STATE(sMasterConfig->MasterSlaveMode)); - - /* Check input state */ - __HAL_LOCK(htim); - - /* Change the handler state */ - htim->State = HAL_TIM_STATE_BUSY; - - /* Get the TIMx CR2 register value */ - tmpcr2 = htim->Instance->CR2; - - /* Get the TIMx SMCR register value */ - tmpsmcr = htim->Instance->SMCR; - - /* Reset the MMS Bits */ - tmpcr2 &= ~TIM_CR2_MMS; - /* Select the TRGO source */ - tmpcr2 |= sMasterConfig->MasterOutputTrigger; - - /* Update TIMx CR2 */ - htim->Instance->CR2 = tmpcr2; - - if (IS_TIM_SLAVE_INSTANCE(htim->Instance)) - { - /* Reset the MSM Bit */ - tmpsmcr &= ~TIM_SMCR_MSM; - /* Set master mode */ - tmpsmcr |= sMasterConfig->MasterSlaveMode; - - /* Update TIMx SMCR */ - htim->Instance->SMCR = tmpsmcr; - } - - /* Change the htim state */ - htim->State = HAL_TIM_STATE_READY; - - __HAL_UNLOCK(htim); - - return HAL_OK; -} - -/** - * @brief Configures the Break feature, dead time, Lock level, OSSI/OSSR State - * and the AOE(automatic output enable). - * @param htim TIM handle - * @param sBreakDeadTimeConfig pointer to a TIM_ConfigBreakDeadConfigTypeDef structure that - * contains the BDTR Register configuration information for the TIM peripheral. - * @note Interrupts can be generated when an active level is detected on the - * break input, the break 2 input or the system break input. Break - * interrupt can be enabled by calling the @ref __HAL_TIM_ENABLE_IT macro. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_TIMEx_ConfigBreakDeadTime(TIM_HandleTypeDef *htim, - TIM_BreakDeadTimeConfigTypeDef *sBreakDeadTimeConfig) -{ - /* Keep this variable initialized to 0 as it is used to configure BDTR register */ - uint32_t tmpbdtr = 0U; - - /* Check the parameters */ - assert_param(IS_TIM_BREAK_INSTANCE(htim->Instance)); - assert_param(IS_TIM_OSSR_STATE(sBreakDeadTimeConfig->OffStateRunMode)); - assert_param(IS_TIM_OSSI_STATE(sBreakDeadTimeConfig->OffStateIDLEMode)); - assert_param(IS_TIM_LOCK_LEVEL(sBreakDeadTimeConfig->LockLevel)); - assert_param(IS_TIM_DEADTIME(sBreakDeadTimeConfig->DeadTime)); - assert_param(IS_TIM_BREAK_STATE(sBreakDeadTimeConfig->BreakState)); - assert_param(IS_TIM_BREAK_POLARITY(sBreakDeadTimeConfig->BreakPolarity)); - assert_param(IS_TIM_AUTOMATIC_OUTPUT_STATE(sBreakDeadTimeConfig->AutomaticOutput)); - - /* Check input state */ - __HAL_LOCK(htim); - - /* Set the Lock level, the Break enable Bit and the Polarity, the OSSR State, - the OSSI State, the dead time value and the Automatic Output Enable Bit */ - - /* Set the BDTR bits */ - MODIFY_REG(tmpbdtr, TIM_BDTR_DTG, sBreakDeadTimeConfig->DeadTime); - MODIFY_REG(tmpbdtr, TIM_BDTR_LOCK, sBreakDeadTimeConfig->LockLevel); - MODIFY_REG(tmpbdtr, TIM_BDTR_OSSI, sBreakDeadTimeConfig->OffStateIDLEMode); - MODIFY_REG(tmpbdtr, TIM_BDTR_OSSR, sBreakDeadTimeConfig->OffStateRunMode); - MODIFY_REG(tmpbdtr, TIM_BDTR_BKE, sBreakDeadTimeConfig->BreakState); - MODIFY_REG(tmpbdtr, TIM_BDTR_BKP, sBreakDeadTimeConfig->BreakPolarity); - MODIFY_REG(tmpbdtr, TIM_BDTR_AOE, sBreakDeadTimeConfig->AutomaticOutput); - - - /* Set TIMx_BDTR */ - htim->Instance->BDTR = tmpbdtr; - - __HAL_UNLOCK(htim); - - return HAL_OK; -} - -/** - * @brief Configures the TIMx Remapping input capabilities. - * @param htim TIM handle. - * @param Remap specifies the TIM remapping source. - * For TIM1, the parameter can have the following values: (**) - * @arg TIM_TIM1_TIM3_TRGO: TIM1 ITR2 is connected to TIM3 TRGO - * @arg TIM_TIM1_LPTIM: TIM1 ITR2 is connected to LPTIM1 output - * - * For TIM2, the parameter can have the following values: (**) - * @arg TIM_TIM2_TIM8_TRGO: TIM2 ITR1 is connected to TIM8 TRGO (*) - * @arg TIM_TIM2_ETH_PTP: TIM2 ITR1 is connected to PTP trigger output (*) - * @arg TIM_TIM2_USBFS_SOF: TIM2 ITR1 is connected to OTG FS SOF - * @arg TIM_TIM2_USBHS_SOF: TIM2 ITR1 is connected to OTG FS SOF - * - * For TIM5, the parameter can have the following values: - * @arg TIM_TIM5_GPIO: TIM5 TI4 is connected to GPIO - * @arg TIM_TIM5_LSI: TIM5 TI4 is connected to LSI - * @arg TIM_TIM5_LSE: TIM5 TI4 is connected to LSE - * @arg TIM_TIM5_RTC: TIM5 TI4 is connected to the RTC wakeup interrupt - * @arg TIM_TIM5_TIM3_TRGO: TIM5 ITR1 is connected to TIM3 TRGO (*) - * @arg TIM_TIM5_LPTIM: TIM5 ITR1 is connected to LPTIM1 output (*) - * - * For TIM9, the parameter can have the following values: (**) - * @arg TIM_TIM9_TIM3_TRGO: TIM9 ITR1 is connected to TIM3 TRGO - * @arg TIM_TIM9_LPTIM: TIM9 ITR1 is connected to LPTIM1 output - * - * For TIM11, the parameter can have the following values: - * @arg TIM_TIM11_GPIO: TIM11 TI1 is connected to GPIO - * @arg TIM_TIM11_HSE: TIM11 TI1 is connected to HSE_RTC clock - * @arg TIM_TIM11_SPDIFRX: TIM11 TI1 is connected to SPDIFRX_FRAME_SYNC (*) - * - * (*) Value not defined in all devices. \n - * (**) Register not available in all devices. - * - * @retval HAL status - */ -HAL_StatusTypeDef HAL_TIMEx_RemapConfig(TIM_HandleTypeDef *htim, uint32_t Remap) -{ - __HAL_LOCK(htim); - - /* Check parameters */ - assert_param(IS_TIM_REMAP(htim->Instance, Remap)); - -#if defined(LPTIM_OR_TIM1_ITR2_RMP) && defined(LPTIM_OR_TIM5_ITR1_RMP) && defined(LPTIM_OR_TIM9_ITR1_RMP) - if ((Remap & LPTIM_REMAP_MASK) == LPTIM_REMAP_MASK) - { - /* Connect TIMx internal trigger to LPTIM1 output */ - __HAL_RCC_LPTIM1_CLK_ENABLE(); - MODIFY_REG(LPTIM1->OR, - (LPTIM_OR_TIM1_ITR2_RMP | LPTIM_OR_TIM5_ITR1_RMP | LPTIM_OR_TIM9_ITR1_RMP), - Remap & ~(LPTIM_REMAP_MASK)); - } - else - { - /* Set the Timer remapping configuration */ - WRITE_REG(htim->Instance->OR, Remap); - } -#else - /* Set the Timer remapping configuration */ - WRITE_REG(htim->Instance->OR, Remap); -#endif /* LPTIM_OR_TIM1_ITR2_RMP && LPTIM_OR_TIM5_ITR1_RMP && LPTIM_OR_TIM9_ITR1_RMP */ - - __HAL_UNLOCK(htim); - - return HAL_OK; -} - -/** - * @} - */ - -/** @defgroup TIMEx_Exported_Functions_Group6 Extended Callbacks functions - * @brief Extended Callbacks functions - * -@verbatim - ============================================================================== - ##### Extended Callbacks functions ##### - ============================================================================== - [..] - This section provides Extended TIM callback functions: - (+) Timer Commutation callback - (+) Timer Break callback - -@endverbatim - * @{ - */ - -/** - * @brief Hall commutation changed callback in non-blocking mode - * @param htim TIM handle - * @retval None - */ -__weak void HAL_TIMEx_CommutCallback(TIM_HandleTypeDef *htim) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(htim); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_TIMEx_CommutCallback could be implemented in the user file - */ -} -/** - * @brief Hall commutation changed half complete callback in non-blocking mode - * @param htim TIM handle - * @retval None - */ -__weak void HAL_TIMEx_CommutHalfCpltCallback(TIM_HandleTypeDef *htim) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(htim); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_TIMEx_CommutHalfCpltCallback could be implemented in the user file - */ -} - -/** - * @brief Hall Break detection callback in non-blocking mode - * @param htim TIM handle - * @retval None - */ -__weak void HAL_TIMEx_BreakCallback(TIM_HandleTypeDef *htim) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(htim); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_TIMEx_BreakCallback could be implemented in the user file - */ -} -/** - * @} - */ - -/** @defgroup TIMEx_Exported_Functions_Group7 Extended Peripheral State functions - * @brief Extended Peripheral State functions - * -@verbatim - ============================================================================== - ##### Extended Peripheral State functions ##### - ============================================================================== - [..] - This subsection permits to get in run-time the status of the peripheral - and the data flow. - -@endverbatim - * @{ - */ - -/** - * @brief Return the TIM Hall Sensor interface handle state. - * @param htim TIM Hall Sensor handle - * @retval HAL state - */ -HAL_TIM_StateTypeDef HAL_TIMEx_HallSensor_GetState(TIM_HandleTypeDef *htim) -{ - return htim->State; -} - -/** - * @brief Return actual state of the TIM complementary channel. - * @param htim TIM handle - * @param ChannelN TIM Complementary channel - * This parameter can be one of the following values: - * @arg TIM_CHANNEL_1: TIM Channel 1 - * @arg TIM_CHANNEL_2: TIM Channel 2 - * @arg TIM_CHANNEL_3: TIM Channel 3 - * @retval TIM Complementary channel state - */ -HAL_TIM_ChannelStateTypeDef HAL_TIMEx_GetChannelNState(TIM_HandleTypeDef *htim, uint32_t ChannelN) -{ - HAL_TIM_ChannelStateTypeDef channel_state; - - /* Check the parameters */ - assert_param(IS_TIM_CCXN_INSTANCE(htim->Instance, ChannelN)); - - channel_state = TIM_CHANNEL_N_STATE_GET(htim, ChannelN); - - return channel_state; -} -/** - * @} - */ - -/** - * @} - */ - -/* Private functions ---------------------------------------------------------*/ -/** @defgroup TIMEx_Private_Functions TIMEx Private Functions - * @{ - */ - -/** - * @brief TIM DMA Commutation callback. - * @param hdma pointer to DMA handle. - * @retval None - */ -void TIMEx_DMACommutationCplt(DMA_HandleTypeDef *hdma) -{ - TIM_HandleTypeDef *htim = (TIM_HandleTypeDef *)((DMA_HandleTypeDef *)hdma)->Parent; - - /* Change the htim state */ - htim->State = HAL_TIM_STATE_READY; - -#if (USE_HAL_TIM_REGISTER_CALLBACKS == 1) - htim->CommutationCallback(htim); -#else - HAL_TIMEx_CommutCallback(htim); -#endif /* USE_HAL_TIM_REGISTER_CALLBACKS */ -} - -/** - * @brief TIM DMA Commutation half complete callback. - * @param hdma pointer to DMA handle. - * @retval None - */ -void TIMEx_DMACommutationHalfCplt(DMA_HandleTypeDef *hdma) -{ - TIM_HandleTypeDef *htim = (TIM_HandleTypeDef *)((DMA_HandleTypeDef *)hdma)->Parent; - - /* Change the htim state */ - htim->State = HAL_TIM_STATE_READY; - -#if (USE_HAL_TIM_REGISTER_CALLBACKS == 1) - htim->CommutationHalfCpltCallback(htim); -#else - HAL_TIMEx_CommutHalfCpltCallback(htim); -#endif /* USE_HAL_TIM_REGISTER_CALLBACKS */ -} - - -/** - * @brief TIM DMA Delay Pulse complete callback (complementary channel). - * @param hdma pointer to DMA handle. - * @retval None - */ -static void TIM_DMADelayPulseNCplt(DMA_HandleTypeDef *hdma) -{ - TIM_HandleTypeDef *htim = (TIM_HandleTypeDef *)((DMA_HandleTypeDef *)hdma)->Parent; - - if (hdma == htim->hdma[TIM_DMA_ID_CC1]) - { - htim->Channel = HAL_TIM_ACTIVE_CHANNEL_1; - - if (hdma->Init.Mode == DMA_NORMAL) - { - TIM_CHANNEL_N_STATE_SET(htim, TIM_CHANNEL_1, HAL_TIM_CHANNEL_STATE_READY); - } - } - else if (hdma == htim->hdma[TIM_DMA_ID_CC2]) - { - htim->Channel = HAL_TIM_ACTIVE_CHANNEL_2; - - if (hdma->Init.Mode == DMA_NORMAL) - { - TIM_CHANNEL_N_STATE_SET(htim, TIM_CHANNEL_2, HAL_TIM_CHANNEL_STATE_READY); - } - } - else if (hdma == htim->hdma[TIM_DMA_ID_CC3]) - { - htim->Channel = HAL_TIM_ACTIVE_CHANNEL_3; - - if (hdma->Init.Mode == DMA_NORMAL) - { - TIM_CHANNEL_N_STATE_SET(htim, TIM_CHANNEL_3, HAL_TIM_CHANNEL_STATE_READY); - } - } - else if (hdma == htim->hdma[TIM_DMA_ID_CC4]) - { - htim->Channel = HAL_TIM_ACTIVE_CHANNEL_4; - - if (hdma->Init.Mode == DMA_NORMAL) - { - TIM_CHANNEL_N_STATE_SET(htim, TIM_CHANNEL_4, HAL_TIM_CHANNEL_STATE_READY); - } - } - else - { - /* nothing to do */ - } - -#if (USE_HAL_TIM_REGISTER_CALLBACKS == 1) - htim->PWM_PulseFinishedCallback(htim); -#else - HAL_TIM_PWM_PulseFinishedCallback(htim); -#endif /* USE_HAL_TIM_REGISTER_CALLBACKS */ - - htim->Channel = HAL_TIM_ACTIVE_CHANNEL_CLEARED; -} - -/** - * @brief TIM DMA error callback (complementary channel) - * @param hdma pointer to DMA handle. - * @retval None - */ -static void TIM_DMAErrorCCxN(DMA_HandleTypeDef *hdma) -{ - TIM_HandleTypeDef *htim = (TIM_HandleTypeDef *)((DMA_HandleTypeDef *)hdma)->Parent; - - if (hdma == htim->hdma[TIM_DMA_ID_CC1]) - { - htim->Channel = HAL_TIM_ACTIVE_CHANNEL_1; - TIM_CHANNEL_N_STATE_SET(htim, TIM_CHANNEL_1, HAL_TIM_CHANNEL_STATE_READY); - } - else if (hdma == htim->hdma[TIM_DMA_ID_CC2]) - { - htim->Channel = HAL_TIM_ACTIVE_CHANNEL_2; - TIM_CHANNEL_N_STATE_SET(htim, TIM_CHANNEL_2, HAL_TIM_CHANNEL_STATE_READY); - } - else if (hdma == htim->hdma[TIM_DMA_ID_CC3]) - { - htim->Channel = HAL_TIM_ACTIVE_CHANNEL_3; - TIM_CHANNEL_N_STATE_SET(htim, TIM_CHANNEL_3, HAL_TIM_CHANNEL_STATE_READY); - } - else - { - /* nothing to do */ - } - -#if (USE_HAL_TIM_REGISTER_CALLBACKS == 1) - htim->ErrorCallback(htim); -#else - HAL_TIM_ErrorCallback(htim); -#endif /* USE_HAL_TIM_REGISTER_CALLBACKS */ - - htim->Channel = HAL_TIM_ACTIVE_CHANNEL_CLEARED; -} - -/** - * @brief Enables or disables the TIM Capture Compare Channel xN. - * @param TIMx to select the TIM peripheral - * @param Channel specifies the TIM Channel - * This parameter can be one of the following values: - * @arg TIM_CHANNEL_1: TIM Channel 1 - * @arg TIM_CHANNEL_2: TIM Channel 2 - * @arg TIM_CHANNEL_3: TIM Channel 3 - * @param ChannelNState specifies the TIM Channel CCxNE bit new state. - * This parameter can be: TIM_CCxN_ENABLE or TIM_CCxN_Disable. - * @retval None - */ -static void TIM_CCxNChannelCmd(TIM_TypeDef *TIMx, uint32_t Channel, uint32_t ChannelNState) -{ - uint32_t tmp; - - tmp = TIM_CCER_CC1NE << (Channel & 0x1FU); /* 0x1FU = 31 bits max shift */ - - /* Reset the CCxNE Bit */ - TIMx->CCER &= ~tmp; - - /* Set or reset the CCxNE Bit */ - TIMx->CCER |= (uint32_t)(ChannelNState << (Channel & 0x1FU)); /* 0x1FU = 31 bits max shift */ -} -/** - * @} - */ - -#endif /* HAL_TIM_MODULE_ENABLED */ -/** - * @} - */ - -/** - * @} - */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_timebase_rtc_alarm_template.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_timebase_rtc_alarm_template.c deleted file mode 100644 index ddd78a529690c2..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_timebase_rtc_alarm_template.c +++ /dev/null @@ -1,317 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_timebase_rtc_alarm_template.c - * @author MCD Application Team - * @brief HAL time base based on the hardware RTC_ALARM Template. - * - * This file override the native HAL time base functions (defined as weak) - * to use the RTC ALARM for time base generation: - * + Intializes the RTC peripheral to increment the seconds registers each 1ms - * + The alarm is configured to assert an interrupt when the RTC reaches 1ms - * + HAL_IncTick is called at each Alarm event and the time is reset to 00:00:00 - * + HSE (default), LSE or LSI can be selected as RTC clock source - @verbatim - ============================================================================== - ##### How to use this driver ##### - ============================================================================== - [..] - This file must be copied to the application folder and modified as follows: - (#) Rename it to 'stm32f4xx_hal_timebase_rtc_alarm.c' - (#) Add this file and the RTC HAL drivers to your project and uncomment - HAL_RTC_MODULE_ENABLED define in stm32f4xx_hal_conf.h - - [..] - (@) HAL RTC alarm and HAL RTC wakeup drivers cant be used with low power modes: - The wake up capability of the RTC may be intrusive in case of prior low power mode - configuration requiring different wake up sources. - Application/Example behavior is no more guaranteed - (@) The stm32f4xx_hal_timebase_tim use is recommended for the Applications/Examples - requiring low power modes - - @endverbatim - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal.h" -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @defgroup HAL_TimeBase_RTC_Alarm_Template HAL TimeBase RTC Alarm Template - * @{ - */ - -/* Private typedef -----------------------------------------------------------*/ -/* Private define ------------------------------------------------------------*/ - -/* Uncomment the line below to select the appropriate RTC Clock source for your application: - + RTC_CLOCK_SOURCE_HSE: can be selected for applications requiring timing precision. - + RTC_CLOCK_SOURCE_LSE: can be selected for applications with low constraint on timing - precision. - + RTC_CLOCK_SOURCE_LSI: can be selected for applications with low constraint on timing - precision. - */ -#define RTC_CLOCK_SOURCE_HSE -/* #define RTC_CLOCK_SOURCE_LSE */ -/* #define RTC_CLOCK_SOURCE_LSI */ - -#ifdef RTC_CLOCK_SOURCE_HSE - #define RTC_ASYNCH_PREDIV 99U - #define RTC_SYNCH_PREDIV 9U - #define RCC_RTCCLKSOURCE_1MHZ ((uint32_t)((uint32_t)RCC_BDCR_RTCSEL | (uint32_t)((HSE_VALUE/1000000U) << 16U))) -#else /* RTC_CLOCK_SOURCE_LSE || RTC_CLOCK_SOURCE_LSI */ - #define RTC_ASYNCH_PREDIV 0U - #define RTC_SYNCH_PREDIV 31U -#endif /* RTC_CLOCK_SOURCE_HSE */ - -/* Private macro -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -RTC_HandleTypeDef hRTC_Handle; -/* Private function prototypes -----------------------------------------------*/ -void RTC_Alarm_IRQHandler(void); -/* Private functions ---------------------------------------------------------*/ - -/** - * @brief This function configures the RTC_ALARMA as a time base source. - * The time source is configured to have 1ms time base with a dedicated - * Tick interrupt priority. - * @note This function is called automatically at the beginning of program after - * reset by HAL_Init() or at any time when clock is configured, by HAL_RCC_ClockConfig(). - * @param TickPriority Tick interrupt priority. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_InitTick(uint32_t TickPriority) -{ - __IO uint32_t counter = 0U; - - RCC_OscInitTypeDef RCC_OscInitStruct; - RCC_PeriphCLKInitTypeDef PeriphClkInitStruct; - HAL_StatusTypeDef status; - -#ifdef RTC_CLOCK_SOURCE_LSE - /* Configue LSE as RTC clock soucre */ - RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_LSE; - RCC_OscInitStruct.PLL.PLLState = RCC_PLL_NONE; - RCC_OscInitStruct.LSEState = RCC_LSE_ON; - PeriphClkInitStruct.RTCClockSelection = RCC_RTCCLKSOURCE_LSE; -#elif defined (RTC_CLOCK_SOURCE_LSI) - /* Configue LSI as RTC clock soucre */ - RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_LSI; - RCC_OscInitStruct.PLL.PLLState = RCC_PLL_NONE; - RCC_OscInitStruct.LSIState = RCC_LSI_ON; - PeriphClkInitStruct.RTCClockSelection = RCC_RTCCLKSOURCE_LSI; -#elif defined (RTC_CLOCK_SOURCE_HSE) - /* Configue HSE as RTC clock soucre */ - RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE; - RCC_OscInitStruct.PLL.PLLState = RCC_PLL_NONE; - RCC_OscInitStruct.HSEState = RCC_HSE_ON; - /* Ensure that RTC is clocked by 1MHz */ - PeriphClkInitStruct.RTCClockSelection = RCC_RTCCLKSOURCE_1MHZ; -#else -#error Please select the RTC Clock source -#endif /* RTC_CLOCK_SOURCE_LSE */ - - status = HAL_RCC_OscConfig(&RCC_OscInitStruct); - if (status == HAL_OK) - { - PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_RTC; - status = HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct); - } - if (status == HAL_OK) - { - /* Enable RTC Clock */ - __HAL_RCC_RTC_ENABLE(); - /* The time base should be 1ms - Time base = ((RTC_ASYNCH_PREDIV + 1) * (RTC_SYNCH_PREDIV + 1)) / RTC_CLOCK - HSE as RTC clock - Time base = ((99 + 1) * (9 + 1)) / 1MHz - = 1ms - LSE as RTC clock - Time base = ((31 + 1) * (0 + 1)) / 32.768KHz - = ~1ms - LSI as RTC clock - Time base = ((31 + 1) * (0 + 1)) / 32KHz - = 1ms - */ - hRTC_Handle.Instance = RTC; - hRTC_Handle.Init.HourFormat = RTC_HOURFORMAT_24; - hRTC_Handle.Init.AsynchPrediv = RTC_ASYNCH_PREDIV; - hRTC_Handle.Init.SynchPrediv = RTC_SYNCH_PREDIV; - hRTC_Handle.Init.OutPut = RTC_OUTPUT_DISABLE; - hRTC_Handle.Init.OutPutPolarity = RTC_OUTPUT_POLARITY_HIGH; - hRTC_Handle.Init.OutPutType = RTC_OUTPUT_TYPE_OPENDRAIN; - status = HAL_RTC_Init(&hRTC_Handle); - } - if (status == HAL_OK) - { - /* Disable the write protection for RTC registers */ - __HAL_RTC_WRITEPROTECTION_DISABLE(&hRTC_Handle); - - /* Disable the Alarm A interrupt */ - __HAL_RTC_ALARMA_DISABLE(&hRTC_Handle); - - /* Clear flag alarm A */ - __HAL_RTC_ALARM_CLEAR_FLAG(&hRTC_Handle, RTC_FLAG_ALRAF); - - counter = 0U; - /* Wait till RTC ALRAWF flag is set and if Time out is reached exit */ - while (__HAL_RTC_ALARM_GET_FLAG(&hRTC_Handle, RTC_FLAG_ALRAWF) == RESET) - { - if (counter++ == (SystemCoreClock / 48U)) /* Timeout = ~ 1s */ - { - status = HAL_ERROR; - } - } - } - if (status == HAL_OK) - { - hRTC_Handle.Instance->ALRMAR = (uint32_t)0x01U; - - /* Configure the Alarm state: Enable Alarm */ - __HAL_RTC_ALARMA_ENABLE(&hRTC_Handle); - /* Configure the Alarm interrupt */ - __HAL_RTC_ALARM_ENABLE_IT(&hRTC_Handle, RTC_IT_ALRA); - - /* RTC Alarm Interrupt Configuration: EXTI configuration */ - __HAL_RTC_ALARM_EXTI_ENABLE_IT(); - __HAL_RTC_ALARM_EXTI_ENABLE_RISING_EDGE(); - - /* Check if the Initialization mode is set */ - if ((hRTC_Handle.Instance->ISR & RTC_ISR_INITF) == (uint32_t)RESET) - { - /* Set the Initialization mode */ - hRTC_Handle.Instance->ISR = (uint32_t)RTC_INIT_MASK; - counter = 0U; - while ((hRTC_Handle.Instance->ISR & RTC_ISR_INITF) == (uint32_t)RESET) - { - if (counter++ == (SystemCoreClock / 48U)) /* Timeout = ~ 1s */ - { - status = HAL_ERROR; - } - } - } - } - if (status == HAL_OK) - { - hRTC_Handle.Instance->DR = 0U; - hRTC_Handle.Instance->TR = 0U; - - hRTC_Handle.Instance->ISR &= (uint32_t)~RTC_ISR_INIT; - - /* Enable the write protection for RTC registers */ - __HAL_RTC_WRITEPROTECTION_ENABLE(&hRTC_Handle); - - /* Enable the RTC Alarm Interrupt */ - HAL_NVIC_EnableIRQ(RTC_Alarm_IRQn); - - /* Configure the SysTick IRQ priority */ - if (TickPriority < (1UL << __NVIC_PRIO_BITS)) - { - HAL_NVIC_SetPriority(RTC_Alarm_IRQn, TickPriority, 0U); - uwTickPrio = TickPriority; - } - else - { - status = HAL_ERROR; - } - - } - return status; -} - -/** - * @brief Suspend Tick increment. - * @note Disable the tick increment by disabling RTC ALARM interrupt. - * @retval None - */ -void HAL_SuspendTick(void) -{ - /* Disable the write protection for RTC registers */ - __HAL_RTC_WRITEPROTECTION_DISABLE(&hRTC_Handle); - /* Disable RTC ALARM update Interrupt */ - __HAL_RTC_ALARM_DISABLE_IT(&hRTC_Handle, RTC_IT_ALRA); - /* Enable the write protection for RTC registers */ - __HAL_RTC_WRITEPROTECTION_ENABLE(&hRTC_Handle); -} - -/** - * @brief Resume Tick increment. - * @note Enable the tick increment by Enabling RTC ALARM interrupt. - * @retval None - */ -void HAL_ResumeTick(void) -{ - /* Disable the write protection for RTC registers */ - __HAL_RTC_WRITEPROTECTION_DISABLE(&hRTC_Handle); - /* Enable RTC ALARM Update interrupt */ - __HAL_RTC_ALARM_ENABLE_IT(&hRTC_Handle, RTC_IT_ALRA); - /* Enable the write protection for RTC registers */ - __HAL_RTC_WRITEPROTECTION_ENABLE(&hRTC_Handle); -} - -/** - * @brief ALARM A Event Callback in non blocking mode - * @note This function is called when RTC_ALARM interrupt took place, inside - * RTC_ALARM_IRQHandler(). It makes a direct call to HAL_IncTick() to increment - * a global variable "uwTick" used as application time base. - * @param hrtc RTC handle - * @retval None - */ -void HAL_RTC_AlarmAEventCallback(RTC_HandleTypeDef *hrtc) -{ - __IO uint32_t counter = 0U; - - HAL_IncTick(); - - __HAL_RTC_WRITEPROTECTION_DISABLE(hrtc); - - /* Set the Initialization mode */ - hrtc->Instance->ISR = (uint32_t)RTC_INIT_MASK; - - while((hrtc->Instance->ISR & RTC_ISR_INITF) == (uint32_t)RESET) - { - if(counter++ == (SystemCoreClock /48U)) /* Timeout = ~ 1s */ - { - break; - } - } - - hrtc->Instance->DR = 0U; - hrtc->Instance->TR = 0U; - - hrtc->Instance->ISR &= (uint32_t)~RTC_ISR_INIT; - - /* Enable the write protection for RTC registers */ - __HAL_RTC_WRITEPROTECTION_ENABLE(hrtc); -} - -/** - * @brief This function handles RTC ALARM interrupt request. - * @retval None - */ -void RTC_Alarm_IRQHandler(void) -{ - HAL_RTC_AlarmIRQHandler(&hRTC_Handle); -} - -/** - * @} - */ - -/** - * @} - */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_timebase_rtc_wakeup_template.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_timebase_rtc_wakeup_template.c deleted file mode 100644 index 01663e75d76a9d..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_timebase_rtc_wakeup_template.c +++ /dev/null @@ -1,292 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_timebase_rtc_wakeup_template.c - * @author MCD Application Team - * @brief HAL time base based on the hardware RTC_WAKEUP Template. - * - * This file overrides the native HAL time base functions (defined as weak) - * to use the RTC WAKEUP for the time base generation: - * + Intializes the RTC peripheral and configures the wakeup timer to be - * incremented each 1ms - * + The wakeup feature is configured to assert an interrupt each 1ms - * + HAL_IncTick is called inside the HAL_RTCEx_WakeUpTimerEventCallback - * + HSE (default), LSE or LSI can be selected as RTC clock source - @verbatim - ============================================================================== - ##### How to use this driver ##### - ============================================================================== - [..] - This file must be copied to the application folder and modified as follows: - (#) Rename it to 'stm32f4xx_hal_timebase_rtc_wakeup.c' - (#) Add this file and the RTC HAL drivers to your project and uncomment - HAL_RTC_MODULE_ENABLED define in stm32f4xx_hal_conf.h - - [..] - (@) HAL RTC alarm and HAL RTC wakeup drivers cant be used with low power modes: - The wake up capability of the RTC may be intrusive in case of prior low power mode - configuration requiring different wake up sources. - Application/Example behavior is no more guaranteed - (@) The stm32f4xx_hal_timebase_tim use is recommended for the Applications/Examples - requiring low power modes - - @endverbatim - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal.h" -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @defgroup HAL_TimeBase_RTC_WakeUp_Template HAL TimeBase RTC WakeUp Template - * @{ - */ - -/* Private typedef -----------------------------------------------------------*/ -/* Private define ------------------------------------------------------------*/ - -/* Uncomment the line below to select the appropriate RTC Clock source for your application: - + RTC_CLOCK_SOURCE_HSE: can be selected for applications requiring timing precision. - + RTC_CLOCK_SOURCE_LSE: can be selected for applications with low constraint on timing - precision. - + RTC_CLOCK_SOURCE_LSI: can be selected for applications with low constraint on timing - precision. - */ -#define RTC_CLOCK_SOURCE_HSE -/* #define RTC_CLOCK_SOURCE_LSE */ -/* #define RTC_CLOCK_SOURCE_LSI */ - -#ifdef RTC_CLOCK_SOURCE_HSE - #define RTC_ASYNCH_PREDIV 99U - #define RTC_SYNCH_PREDIV 9U - #define RCC_RTCCLKSOURCE_1MHZ ((uint32_t)((uint32_t)RCC_BDCR_RTCSEL | (uint32_t)((HSE_VALUE/1000000U) << 16U))) -#else /* RTC_CLOCK_SOURCE_LSE || RTC_CLOCK_SOURCE_LSI */ - #define RTC_ASYNCH_PREDIV 0U - #define RTC_SYNCH_PREDIV 31U -#endif /* RTC_CLOCK_SOURCE_HSE */ - -/* Private macro -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -RTC_HandleTypeDef hRTC_Handle; - -/* Private function prototypes -----------------------------------------------*/ -void RTC_WKUP_IRQHandler(void); - -/* Private functions ---------------------------------------------------------*/ - -/** - * @brief This function configures the RTC_WKUP as a time base source. - * The time source is configured to have 1ms time base with a dedicated - * Tick interrupt priority. - * Wakeup Time base = ((RTC_ASYNCH_PREDIV + 1) * (RTC_SYNCH_PREDIV + 1)) / RTC_CLOCK - = 1ms - * Wakeup Time = WakeupTimebase * WakeUpCounter (0 + 1) - = 1 ms - * @note This function is called automatically at the beginning of program after - * reset by HAL_Init() or at any time when clock is configured, by HAL_RCC_ClockConfig(). - * @param TickPriority Tick interrupt priority. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_InitTick (uint32_t TickPriority) -{ - __IO uint32_t counter = 0U; - - RCC_OscInitTypeDef RCC_OscInitStruct; - RCC_PeriphCLKInitTypeDef PeriphClkInitStruct; - HAL_StatusTypeDef status; - -#ifdef RTC_CLOCK_SOURCE_LSE - /* Configue LSE as RTC clock soucre */ - RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_LSE; - RCC_OscInitStruct.PLL.PLLState = RCC_PLL_NONE; - RCC_OscInitStruct.LSEState = RCC_LSE_ON; - PeriphClkInitStruct.RTCClockSelection = RCC_RTCCLKSOURCE_LSE; -#elif defined (RTC_CLOCK_SOURCE_LSI) - /* Configue LSI as RTC clock soucre */ - RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_LSI; - RCC_OscInitStruct.PLL.PLLState = RCC_PLL_NONE; - RCC_OscInitStruct.LSIState = RCC_LSI_ON; - PeriphClkInitStruct.RTCClockSelection = RCC_RTCCLKSOURCE_LSI; -#elif defined (RTC_CLOCK_SOURCE_HSE) - /* Configue HSE as RTC clock soucre */ - RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE; - RCC_OscInitStruct.PLL.PLLState = RCC_PLL_NONE; - RCC_OscInitStruct.HSEState = RCC_HSE_ON; - /* Ensure that RTC is clocked by 1MHz */ - PeriphClkInitStruct.RTCClockSelection = RCC_RTCCLKSOURCE_1MHZ; -#else -#error Please select the RTC Clock source -#endif /* RTC_CLOCK_SOURCE_LSE */ - - status = HAL_RCC_OscConfig(&RCC_OscInitStruct); - if (status == HAL_OK) - { - PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_RTC; - status = HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct); - } - if (status == HAL_OK) - { - /* Enable RTC Clock */ - __HAL_RCC_RTC_ENABLE(); - /* The time base should be 1ms - Time base = ((RTC_ASYNCH_PREDIV + 1) * (RTC_SYNCH_PREDIV + 1)) / RTC_CLOCK - HSE as RTC clock - Time base = ((99 + 1) * (9 + 1)) / 1Mhz - = 1ms - LSE as RTC clock - Time base = ((31 + 1) * (0 + 1)) / 32.768Khz - = ~1ms - LSI as RTC clock - Time base = ((31 + 1) * (0 + 1)) / 32Khz - = 1ms - */ - hRTC_Handle.Instance = RTC; - hRTC_Handle.Init.HourFormat = RTC_HOURFORMAT_24; - hRTC_Handle.Init.AsynchPrediv = RTC_ASYNCH_PREDIV; - hRTC_Handle.Init.SynchPrediv = RTC_SYNCH_PREDIV; - hRTC_Handle.Init.OutPut = RTC_OUTPUT_DISABLE; - hRTC_Handle.Init.OutPutPolarity = RTC_OUTPUT_POLARITY_HIGH; - hRTC_Handle.Init.OutPutType = RTC_OUTPUT_TYPE_OPENDRAIN; - status = HAL_RTC_Init(&hRTC_Handle); - } - if (status == HAL_OK) - { - /* Disable the write protection for RTC registers */ - __HAL_RTC_WRITEPROTECTION_DISABLE(&hRTC_Handle); - - /* Disable the Wake-up Timer */ - __HAL_RTC_WAKEUPTIMER_DISABLE(&hRTC_Handle); - - /* In case of interrupt mode is used, the interrupt source must disabled */ - __HAL_RTC_WAKEUPTIMER_DISABLE_IT(&hRTC_Handle, RTC_IT_WUT); - - /* Wait till RTC WUTWF flag is set */ - while (__HAL_RTC_WAKEUPTIMER_GET_FLAG(&hRTC_Handle, RTC_FLAG_WUTWF) == RESET) - { - if (counter++ == (SystemCoreClock / 48U)) - { - status = HAL_ERROR; - } - } - } - if (status == HAL_OK) - { - /* Clear PWR wake up Flag */ - __HAL_PWR_CLEAR_FLAG(PWR_FLAG_WU); - - /* Clear RTC Wake Up timer Flag */ - __HAL_RTC_WAKEUPTIMER_CLEAR_FLAG(&hRTC_Handle, RTC_FLAG_WUTF); - - /* Configure the Wake-up Timer counter */ - hRTC_Handle.Instance->WUTR = 0U; - - /* Clear the Wake-up Timer clock source bits in CR register */ - hRTC_Handle.Instance->CR &= (uint32_t)~RTC_CR_WUCKSEL; - - /* Configure the clock source */ - hRTC_Handle.Instance->CR |= (uint32_t)RTC_WAKEUPCLOCK_CK_SPRE_16BITS; - - /* RTC WakeUpTimer Interrupt Configuration: EXTI configuration */ - __HAL_RTC_WAKEUPTIMER_EXTI_ENABLE_IT(); - - __HAL_RTC_WAKEUPTIMER_EXTI_ENABLE_RISING_EDGE(); - - /* Configure the Interrupt in the RTC_CR register */ - __HAL_RTC_WAKEUPTIMER_ENABLE_IT(&hRTC_Handle,RTC_IT_WUT); - - /* Enable the Wake-up Timer */ - __HAL_RTC_WAKEUPTIMER_ENABLE(&hRTC_Handle); - - /* Enable the write protection for RTC registers */ - __HAL_RTC_WRITEPROTECTION_ENABLE(&hRTC_Handle); - - /* Enable the RTC global Interrupt */ - HAL_NVIC_EnableIRQ(RTC_WKUP_IRQn); - - /* Configure the SysTick IRQ priority */ - if (TickPriority < (1UL << __NVIC_PRIO_BITS)) - { - HAL_NVIC_SetPriority(RTC_WKUP_IRQn, TickPriority, 0U); - uwTickPrio = TickPriority; - } - else - { - status = HAL_ERROR; - } - } - return status; -} - -/** - * @brief Suspend Tick increment. - * @note Disable the tick increment by disabling RTC_WKUP interrupt. - * @retval None - */ -void HAL_SuspendTick(void) -{ - /* Disable the write protection for RTC registers */ - __HAL_RTC_WRITEPROTECTION_DISABLE(&hRTC_Handle); - /* Disable WAKE UP TIMER Interrupt */ - __HAL_RTC_WAKEUPTIMER_DISABLE_IT(&hRTC_Handle, RTC_IT_WUT); - /* Enable the write protection for RTC registers */ - __HAL_RTC_WRITEPROTECTION_ENABLE(&hRTC_Handle); -} - -/** - * @brief Resume Tick increment. - * @note Enable the tick increment by Enabling RTC_WKUP interrupt. - * @retval None - */ -void HAL_ResumeTick(void) -{ - /* Disable the write protection for RTC registers */ - __HAL_RTC_WRITEPROTECTION_DISABLE(&hRTC_Handle); - /* Enable WAKE UP TIMER interrupt */ - __HAL_RTC_WAKEUPTIMER_ENABLE_IT(&hRTC_Handle, RTC_IT_WUT); - /* Enable the write protection for RTC registers */ - __HAL_RTC_WRITEPROTECTION_ENABLE(&hRTC_Handle); -} - -/** - * @brief Wake Up Timer Event Callback in non blocking mode - * @note This function is called when RTC_WKUP interrupt took place, inside - * RTC_WKUP_IRQHandler(). It makes a direct call to HAL_IncTick() to increment - * a global variable "uwTick" used as application time base. - * @param hrtc RTC handle - * @retval None - */ -void HAL_RTCEx_WakeUpTimerEventCallback(RTC_HandleTypeDef *hrtc) -{ - HAL_IncTick(); -} - -/** - * @brief This function handles WAKE UP TIMER interrupt request. - * @retval None - */ -void RTC_WKUP_IRQHandler(void) -{ - HAL_RTCEx_WakeUpTimerIRQHandler(&hRTC_Handle); -} - -/** - * @} - */ - -/** - * @} - */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_timebase_tim_template.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_timebase_tim_template.c deleted file mode 100644 index da61e9ccbc0579..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_timebase_tim_template.c +++ /dev/null @@ -1,178 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_timebase_tim_template.c - * @author MCD Application Team - * @brief HAL time base based on the hardware TIM Template. - * - * This file overrides the native HAL time base functions (defined as weak) - * the TIM time base: - * + Intializes the TIM peripheral generate a Period elapsed Event each 1ms - * + HAL_IncTick is called inside HAL_TIM_PeriodElapsedCallback ie each 1ms - * - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @addtogroup HAL_TimeBase_TIM - * @{ - */ - -/* Private typedef -----------------------------------------------------------*/ -/* Private define ------------------------------------------------------------*/ -/* Private macro -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -TIM_HandleTypeDef TimHandle; -/* Private function prototypes -----------------------------------------------*/ -void TIM6_DAC_IRQHandler(void); -/* Private functions ---------------------------------------------------------*/ - -/** - * @brief This function configures the TIM6 as a time base source. - * The time source is configured to have 1ms time base with a dedicated - * Tick interrupt priority. - * @note This function is called automatically at the beginning of program after - * reset by HAL_Init() or at any time when clock is configured, by HAL_RCC_ClockConfig(). - * @param TickPriority Tick interrupt priority. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_InitTick (uint32_t TickPriority) -{ - RCC_ClkInitTypeDef clkconfig; - uint32_t uwTimclock, uwAPB1Prescaler = 0U; - uint32_t uwPrescalerValue = 0U; - uint32_t pFLatency; - HAL_StatusTypeDef status; - - /* Enable TIM6 clock */ - __HAL_RCC_TIM6_CLK_ENABLE(); - - /* Get clock configuration */ - HAL_RCC_GetClockConfig(&clkconfig, &pFLatency); - - /* Get APB1 prescaler */ - uwAPB1Prescaler = clkconfig.APB1CLKDivider; - - /* Compute TIM6 clock */ - if (uwAPB1Prescaler == RCC_HCLK_DIV1) - { - uwTimclock = HAL_RCC_GetPCLK1Freq(); - } - else - { - uwTimclock = 2 * HAL_RCC_GetPCLK1Freq(); - } - - /* Compute the prescaler value to have TIM6 counter clock equal to 1MHz */ - uwPrescalerValue = (uint32_t) ((uwTimclock / 1000000U) - 1U); - - /* Initialize TIM6 */ - TimHandle.Instance = TIM6; - - /* Initialize TIMx peripheral as follow: - + Period = [(TIM6CLK/1000) - 1]. to have a (1/1000) s time base. - + Prescaler = (uwTimclock/1000000 - 1) to have a 1MHz counter clock. - + ClockDivision = 0 - + Counter direction = Up - */ - TimHandle.Init.Period = (1000000U / 1000U) - 1U; - TimHandle.Init.Prescaler = uwPrescalerValue; - TimHandle.Init.ClockDivision = 0U; - TimHandle.Init.CounterMode = TIM_COUNTERMODE_UP; - TimHandle.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; - status = HAL_TIM_Base_Init(&TimHandle); - if (status == HAL_OK) - { - /* Start the TIM time Base generation in interrupt mode */ - status = HAL_TIM_Base_Start_IT(&TimHandle); - if (status == HAL_OK) - { - /* Enable the TIM6 global Interrupt */ - HAL_NVIC_EnableIRQ(TIM6_DAC_IRQn); - - if (TickPriority < (1UL << __NVIC_PRIO_BITS)) - { - /* Enable the TIM6 global Interrupt */ - HAL_NVIC_SetPriority(TIM6_DAC_IRQn, TickPriority, 0); - uwTickPrio = TickPriority; - } - else - { - status = HAL_ERROR; - } - } - } - - /* Return function status */ - return status; -} - -/** - * @brief Suspend Tick increment. - * @note Disable the tick increment by disabling TIM6 update interrupt. - * @retval None - */ -void HAL_SuspendTick(void) -{ - /* Disable TIM6 update Interrupt */ - __HAL_TIM_DISABLE_IT(&TimHandle, TIM_IT_UPDATE); -} - -/** - * @brief Resume Tick increment. - * @note Enable the tick increment by Enabling TIM6 update interrupt. - * @retval None - */ -void HAL_ResumeTick(void) -{ - /* Enable TIM6 Update interrupt */ - __HAL_TIM_ENABLE_IT(&TimHandle, TIM_IT_UPDATE); -} - -/** - * @brief Period elapsed callback in non blocking mode - * @note This function is called when TIM6 interrupt took place, inside - * HAL_TIM_IRQHandler(). It makes a direct call to HAL_IncTick() to increment - * a global variable "uwTick" used as application time base. - * @param htim TIM handle - * @retval None - */ -void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) -{ - HAL_IncTick(); -} - -/** - * @brief This function handles TIM interrupt request. - * @retval None - */ -void TIM6_DAC_IRQHandler(void) -{ - HAL_TIM_IRQHandler(&TimHandle); -} - -/** - * @} - */ - -/** - * @} - */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c deleted file mode 100644 index 5e53813c866302..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c +++ /dev/null @@ -1,3741 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_uart.c - * @author MCD Application Team - * @brief UART HAL module driver. - * This file provides firmware functions to manage the following - * functionalities of the Universal Asynchronous Receiver Transmitter Peripheral (UART). - * + Initialization and de-initialization functions - * + IO operation functions - * + Peripheral Control functions - * + Peripheral State and Errors functions - @verbatim - ============================================================================== - ##### How to use this driver ##### - ============================================================================== - [..] - The UART HAL driver can be used as follows: - - (#) Declare a UART_HandleTypeDef handle structure (eg. UART_HandleTypeDef huart). - (#) Initialize the UART low level resources by implementing the HAL_UART_MspInit() API: - (##) Enable the USARTx interface clock. - (##) UART pins configuration: - (+++) Enable the clock for the UART GPIOs. - (+++) Configure the UART TX/RX pins as alternate function pull-up. - (##) NVIC configuration if you need to use interrupt process (HAL_UART_Transmit_IT() - and HAL_UART_Receive_IT() APIs): - (+++) Configure the USARTx interrupt priority. - (+++) Enable the NVIC USART IRQ handle. - (##) DMA Configuration if you need to use DMA process (HAL_UART_Transmit_DMA() - and HAL_UART_Receive_DMA() APIs): - (+++) Declare a DMA handle structure for the Tx/Rx stream. - (+++) Enable the DMAx interface clock. - (+++) Configure the declared DMA handle structure with the required - Tx/Rx parameters. - (+++) Configure the DMA Tx/Rx stream. - (+++) Associate the initialized DMA handle to the UART DMA Tx/Rx handle. - (+++) Configure the priority and enable the NVIC for the transfer complete - interrupt on the DMA Tx/Rx stream. - (+++) Configure the USARTx interrupt priority and enable the NVIC USART IRQ handle - (used for last byte sending completion detection in DMA non circular mode) - - (#) Program the Baud Rate, Word Length, Stop Bit, Parity, Hardware - flow control and Mode(Receiver/Transmitter) in the huart Init structure. - - (#) For the UART asynchronous mode, initialize the UART registers by calling - the HAL_UART_Init() API. - - (#) For the UART Half duplex mode, initialize the UART registers by calling - the HAL_HalfDuplex_Init() API. - - (#) For the LIN mode, initialize the UART registers by calling the HAL_LIN_Init() API. - - (#) For the Multi-Processor mode, initialize the UART registers by calling - the HAL_MultiProcessor_Init() API. - - [..] - (@) The specific UART interrupts (Transmission complete interrupt, - RXNE interrupt and Error Interrupts) will be managed using the macros - __HAL_UART_ENABLE_IT() and __HAL_UART_DISABLE_IT() inside the transmit - and receive process. - - [..] - (@) These APIs (HAL_UART_Init() and HAL_HalfDuplex_Init()) configure also the - low level Hardware GPIO, CLOCK, CORTEX...etc) by calling the customized - HAL_UART_MspInit() API. - - ##### Callback registration ##### - ================================== - - [..] - The compilation define USE_HAL_UART_REGISTER_CALLBACKS when set to 1 - allows the user to configure dynamically the driver callbacks. - - [..] - Use Function HAL_UART_RegisterCallback() to register a user callback. - Function HAL_UART_RegisterCallback() allows to register following callbacks: - (+) TxHalfCpltCallback : Tx Half Complete Callback. - (+) TxCpltCallback : Tx Complete Callback. - (+) RxHalfCpltCallback : Rx Half Complete Callback. - (+) RxCpltCallback : Rx Complete Callback. - (+) ErrorCallback : Error Callback. - (+) AbortCpltCallback : Abort Complete Callback. - (+) AbortTransmitCpltCallback : Abort Transmit Complete Callback. - (+) AbortReceiveCpltCallback : Abort Receive Complete Callback. - (+) MspInitCallback : UART MspInit. - (+) MspDeInitCallback : UART MspDeInit. - This function takes as parameters the HAL peripheral handle, the Callback ID - and a pointer to the user callback function. - - [..] - Use function HAL_UART_UnRegisterCallback() to reset a callback to the default - weak (surcharged) function. - HAL_UART_UnRegisterCallback() takes as parameters the HAL peripheral handle, - and the Callback ID. - This function allows to reset following callbacks: - (+) TxHalfCpltCallback : Tx Half Complete Callback. - (+) TxCpltCallback : Tx Complete Callback. - (+) RxHalfCpltCallback : Rx Half Complete Callback. - (+) RxCpltCallback : Rx Complete Callback. - (+) ErrorCallback : Error Callback. - (+) AbortCpltCallback : Abort Complete Callback. - (+) AbortTransmitCpltCallback : Abort Transmit Complete Callback. - (+) AbortReceiveCpltCallback : Abort Receive Complete Callback. - (+) MspInitCallback : UART MspInit. - (+) MspDeInitCallback : UART MspDeInit. - - [..] - For specific callback RxEventCallback, use dedicated registration/reset functions: - respectively HAL_UART_RegisterRxEventCallback() , HAL_UART_UnRegisterRxEventCallback(). - - [..] - By default, after the HAL_UART_Init() and when the state is HAL_UART_STATE_RESET - all callbacks are set to the corresponding weak (surcharged) functions: - examples HAL_UART_TxCpltCallback(), HAL_UART_RxHalfCpltCallback(). - Exception done for MspInit and MspDeInit functions that are respectively - reset to the legacy weak (surcharged) functions in the HAL_UART_Init() - and HAL_UART_DeInit() only when these callbacks are null (not registered beforehand). - If not, MspInit or MspDeInit are not null, the HAL_UART_Init() and HAL_UART_DeInit() - keep and use the user MspInit/MspDeInit callbacks (registered beforehand). - - [..] - Callbacks can be registered/unregistered in HAL_UART_STATE_READY state only. - Exception done MspInit/MspDeInit that can be registered/unregistered - in HAL_UART_STATE_READY or HAL_UART_STATE_RESET state, thus registered (user) - MspInit/DeInit callbacks can be used during the Init/DeInit. - In that case first register the MspInit/MspDeInit user callbacks - using HAL_UART_RegisterCallback() before calling HAL_UART_DeInit() - or HAL_UART_Init() function. - - [..] - When The compilation define USE_HAL_UART_REGISTER_CALLBACKS is set to 0 or - not defined, the callback registration feature is not available - and weak (surcharged) callbacks are used. - - [..] - Three operation modes are available within this driver : - - *** Polling mode IO operation *** - ================================= - [..] - (+) Send an amount of data in blocking mode using HAL_UART_Transmit() - (+) Receive an amount of data in blocking mode using HAL_UART_Receive() - - *** Interrupt mode IO operation *** - =================================== - [..] - (+) Send an amount of data in non blocking mode using HAL_UART_Transmit_IT() - (+) At transmission end of transfer HAL_UART_TxCpltCallback is executed and user can - add his own code by customization of function pointer HAL_UART_TxCpltCallback - (+) Receive an amount of data in non blocking mode using HAL_UART_Receive_IT() - (+) At reception end of transfer HAL_UART_RxCpltCallback is executed and user can - add his own code by customization of function pointer HAL_UART_RxCpltCallback - (+) In case of transfer Error, HAL_UART_ErrorCallback() function is executed and user can - add his own code by customization of function pointer HAL_UART_ErrorCallback - - *** DMA mode IO operation *** - ============================== - [..] - (+) Send an amount of data in non blocking mode (DMA) using HAL_UART_Transmit_DMA() - (+) At transmission end of half transfer HAL_UART_TxHalfCpltCallback is executed and user can - add his own code by customization of function pointer HAL_UART_TxHalfCpltCallback - (+) At transmission end of transfer HAL_UART_TxCpltCallback is executed and user can - add his own code by customization of function pointer HAL_UART_TxCpltCallback - (+) Receive an amount of data in non blocking mode (DMA) using HAL_UART_Receive_DMA() - (+) At reception end of half transfer HAL_UART_RxHalfCpltCallback is executed and user can - add his own code by customization of function pointer HAL_UART_RxHalfCpltCallback - (+) At reception end of transfer HAL_UART_RxCpltCallback is executed and user can - add his own code by customization of function pointer HAL_UART_RxCpltCallback - (+) In case of transfer Error, HAL_UART_ErrorCallback() function is executed and user can - add his own code by customization of function pointer HAL_UART_ErrorCallback - (+) Pause the DMA Transfer using HAL_UART_DMAPause() - (+) Resume the DMA Transfer using HAL_UART_DMAResume() - (+) Stop the DMA Transfer using HAL_UART_DMAStop() - - - [..] This subsection also provides a set of additional functions providing enhanced reception - services to user. (For example, these functions allow application to handle use cases - where number of data to be received is unknown). - - (#) Compared to standard reception services which only consider number of received - data elements as reception completion criteria, these functions also consider additional events - as triggers for updating reception status to caller : - (+) Detection of inactivity period (RX line has not been active for a given period). - (++) RX inactivity detected by IDLE event, i.e. RX line has been in idle state (normally high state) - for 1 frame time, after last received byte. - - (#) There are two mode of transfer: - (+) Blocking mode: The reception is performed in polling mode, until either expected number of data is received, - or till IDLE event occurs. Reception is handled only during function execution. - When function exits, no data reception could occur. HAL status and number of actually received data elements, - are returned by function after finishing transfer. - (+) Non-Blocking mode: The reception is performed using Interrupts or DMA. - These API's return the HAL status. - The end of the data processing will be indicated through the - dedicated UART IRQ when using Interrupt mode or the DMA IRQ when using DMA mode. - The HAL_UARTEx_RxEventCallback() user callback will be executed during Receive process - The HAL_UART_ErrorCallback()user callback will be executed when a reception error is detected. - - (#) Blocking mode API: - (+) HAL_UARTEx_ReceiveToIdle() - - (#) Non-Blocking mode API with Interrupt: - (+) HAL_UARTEx_ReceiveToIdle_IT() - - (#) Non-Blocking mode API with DMA: - (+) HAL_UARTEx_ReceiveToIdle_DMA() - - - *** UART HAL driver macros list *** - ============================================= - [..] - Below the list of most used macros in UART HAL driver. - - (+) __HAL_UART_ENABLE: Enable the UART peripheral - (+) __HAL_UART_DISABLE: Disable the UART peripheral - (+) __HAL_UART_GET_FLAG : Check whether the specified UART flag is set or not - (+) __HAL_UART_CLEAR_FLAG : Clear the specified UART pending flag - (+) __HAL_UART_ENABLE_IT: Enable the specified UART interrupt - (+) __HAL_UART_DISABLE_IT: Disable the specified UART interrupt - (+) __HAL_UART_GET_IT_SOURCE: Check whether the specified UART interrupt has occurred or not - - [..] - (@) You can refer to the UART HAL driver header file for more useful macros - - @endverbatim - [..] - (@) Additional remark: If the parity is enabled, then the MSB bit of the data written - in the data register is transmitted but is changed by the parity bit. - Depending on the frame length defined by the M bit (8-bits or 9-bits), - the possible UART frame formats are as listed in the following table: - +-------------------------------------------------------------+ - | M bit | PCE bit | UART frame | - |---------------------|---------------------------------------| - | 0 | 0 | | SB | 8 bit data | STB | | - |---------|-----------|---------------------------------------| - | 0 | 1 | | SB | 7 bit data | PB | STB | | - |---------|-----------|---------------------------------------| - | 1 | 0 | | SB | 9 bit data | STB | | - |---------|-----------|---------------------------------------| - | 1 | 1 | | SB | 8 bit data | PB | STB | | - +-------------------------------------------------------------+ - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @defgroup UART UART - * @brief HAL UART module driver - * @{ - */ -#ifdef HAL_UART_MODULE_ENABLED - -/* Private typedef -----------------------------------------------------------*/ -/* Private define ------------------------------------------------------------*/ -/** @addtogroup UART_Private_Constants - * @{ - */ -/** - * @} - */ -/* Private macro -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private function prototypes -----------------------------------------------*/ -/** @addtogroup UART_Private_Functions UART Private Functions - * @{ - */ - -#if (USE_HAL_UART_REGISTER_CALLBACKS == 1) -void UART_InitCallbacksToDefault(UART_HandleTypeDef *huart); -#endif /* USE_HAL_UART_REGISTER_CALLBACKS */ -static void UART_EndTxTransfer(UART_HandleTypeDef *huart); -static void UART_EndRxTransfer(UART_HandleTypeDef *huart); -static void UART_DMATransmitCplt(DMA_HandleTypeDef *hdma); -static void UART_DMAReceiveCplt(DMA_HandleTypeDef *hdma); -static void UART_DMATxHalfCplt(DMA_HandleTypeDef *hdma); -static void UART_DMARxHalfCplt(DMA_HandleTypeDef *hdma); -static void UART_DMAError(DMA_HandleTypeDef *hdma); -static void UART_DMAAbortOnError(DMA_HandleTypeDef *hdma); -static void UART_DMATxAbortCallback(DMA_HandleTypeDef *hdma); -static void UART_DMARxAbortCallback(DMA_HandleTypeDef *hdma); -static void UART_DMATxOnlyAbortCallback(DMA_HandleTypeDef *hdma); -static void UART_DMARxOnlyAbortCallback(DMA_HandleTypeDef *hdma); -static HAL_StatusTypeDef UART_Transmit_IT(UART_HandleTypeDef *huart); -static HAL_StatusTypeDef UART_EndTransmit_IT(UART_HandleTypeDef *huart); -static HAL_StatusTypeDef UART_Receive_IT(UART_HandleTypeDef *huart); -static HAL_StatusTypeDef UART_WaitOnFlagUntilTimeout(UART_HandleTypeDef *huart, uint32_t Flag, FlagStatus Status, - uint32_t Tickstart, uint32_t Timeout); -static void UART_SetConfig(UART_HandleTypeDef *huart); - -/** - * @} - */ - -/* Exported functions ---------------------------------------------------------*/ -/** @defgroup UART_Exported_Functions UART Exported Functions - * @{ - */ - -/** @defgroup UART_Exported_Functions_Group1 Initialization and de-initialization functions - * @brief Initialization and Configuration functions - * -@verbatim - =============================================================================== - ##### Initialization and Configuration functions ##### - =============================================================================== - [..] - This subsection provides a set of functions allowing to initialize the USARTx or the UARTy - in asynchronous mode. - (+) For the asynchronous mode only these parameters can be configured: - (++) Baud Rate - (++) Word Length - (++) Stop Bit - (++) Parity: If the parity is enabled, then the MSB bit of the data written - in the data register is transmitted but is changed by the parity bit. - Depending on the frame length defined by the M bit (8-bits or 9-bits), - please refer to Reference manual for possible UART frame formats. - (++) Hardware flow control - (++) Receiver/transmitter modes - (++) Over Sampling Method - [..] - The HAL_UART_Init(), HAL_HalfDuplex_Init(), HAL_LIN_Init() and HAL_MultiProcessor_Init() APIs - follow respectively the UART asynchronous, UART Half duplex, LIN and Multi-Processor configuration - procedures (details for the procedures are available in reference manual - (RM0430 for STM32F4X3xx MCUs and RM0402 for STM32F412xx MCUs - RM0383 for STM32F411xC/E MCUs and RM0401 for STM32F410xx MCUs - RM0090 for STM32F4X5xx/STM32F4X7xx/STM32F429xx/STM32F439xx MCUs - RM0390 for STM32F446xx MCUs and RM0386 for STM32F469xx/STM32F479xx MCUs)). - -@endverbatim - * @{ - */ - -/** - * @brief Initializes the UART mode according to the specified parameters in - * the UART_InitTypeDef and create the associated handle. - * @param huart Pointer to a UART_HandleTypeDef structure that contains - * the configuration information for the specified UART module. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_UART_Init(UART_HandleTypeDef *huart) -{ - /* Check the UART handle allocation */ - if (huart == NULL) - { - return HAL_ERROR; - } - - /* Check the parameters */ - if (huart->Init.HwFlowCtl != UART_HWCONTROL_NONE) - { - /* The hardware flow control is available only for USART1, USART2, USART3 and USART6. - Except for STM32F446xx devices, that is available for USART1, USART2, USART3, USART6, UART4 and UART5. - */ - assert_param(IS_UART_HWFLOW_INSTANCE(huart->Instance)); - assert_param(IS_UART_HARDWARE_FLOW_CONTROL(huart->Init.HwFlowCtl)); - } - else - { - assert_param(IS_UART_INSTANCE(huart->Instance)); - } - assert_param(IS_UART_WORD_LENGTH(huart->Init.WordLength)); - assert_param(IS_UART_OVERSAMPLING(huart->Init.OverSampling)); - - if (huart->gState == HAL_UART_STATE_RESET) - { - /* Allocate lock resource and initialize it */ - huart->Lock = HAL_UNLOCKED; - -#if (USE_HAL_UART_REGISTER_CALLBACKS == 1) - UART_InitCallbacksToDefault(huart); - - if (huart->MspInitCallback == NULL) - { - huart->MspInitCallback = HAL_UART_MspInit; - } - - /* Init the low level hardware */ - huart->MspInitCallback(huart); -#else - /* Init the low level hardware : GPIO, CLOCK */ - HAL_UART_MspInit(huart); -#endif /* (USE_HAL_UART_REGISTER_CALLBACKS) */ - } - - huart->gState = HAL_UART_STATE_BUSY; - - /* Disable the peripheral */ - __HAL_UART_DISABLE(huart); - - /* Set the UART Communication parameters */ - UART_SetConfig(huart); - - /* In asynchronous mode, the following bits must be kept cleared: - - LINEN and CLKEN bits in the USART_CR2 register, - - SCEN, HDSEL and IREN bits in the USART_CR3 register.*/ - CLEAR_BIT(huart->Instance->CR2, (USART_CR2_LINEN | USART_CR2_CLKEN)); - CLEAR_BIT(huart->Instance->CR3, (USART_CR3_SCEN | USART_CR3_HDSEL | USART_CR3_IREN)); - - /* Enable the peripheral */ - __HAL_UART_ENABLE(huart); - - /* Initialize the UART state */ - huart->ErrorCode = HAL_UART_ERROR_NONE; - huart->gState = HAL_UART_STATE_READY; - huart->RxState = HAL_UART_STATE_READY; - - return HAL_OK; -} - -/** - * @brief Initializes the half-duplex mode according to the specified - * parameters in the UART_InitTypeDef and create the associated handle. - * @param huart Pointer to a UART_HandleTypeDef structure that contains - * the configuration information for the specified UART module. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_HalfDuplex_Init(UART_HandleTypeDef *huart) -{ - /* Check the UART handle allocation */ - if (huart == NULL) - { - return HAL_ERROR; - } - - /* Check the parameters */ - assert_param(IS_UART_HALFDUPLEX_INSTANCE(huart->Instance)); - assert_param(IS_UART_WORD_LENGTH(huart->Init.WordLength)); - assert_param(IS_UART_OVERSAMPLING(huart->Init.OverSampling)); - - if (huart->gState == HAL_UART_STATE_RESET) - { - /* Allocate lock resource and initialize it */ - huart->Lock = HAL_UNLOCKED; - -#if (USE_HAL_UART_REGISTER_CALLBACKS == 1) - UART_InitCallbacksToDefault(huart); - - if (huart->MspInitCallback == NULL) - { - huart->MspInitCallback = HAL_UART_MspInit; - } - - /* Init the low level hardware */ - huart->MspInitCallback(huart); -#else - /* Init the low level hardware : GPIO, CLOCK */ - HAL_UART_MspInit(huart); -#endif /* (USE_HAL_UART_REGISTER_CALLBACKS) */ - } - - huart->gState = HAL_UART_STATE_BUSY; - - /* Disable the peripheral */ - __HAL_UART_DISABLE(huart); - - /* Set the UART Communication parameters */ - UART_SetConfig(huart); - - /* In half-duplex mode, the following bits must be kept cleared: - - LINEN and CLKEN bits in the USART_CR2 register, - - SCEN and IREN bits in the USART_CR3 register.*/ - CLEAR_BIT(huart->Instance->CR2, (USART_CR2_LINEN | USART_CR2_CLKEN)); - CLEAR_BIT(huart->Instance->CR3, (USART_CR3_IREN | USART_CR3_SCEN)); - - /* Enable the Half-Duplex mode by setting the HDSEL bit in the CR3 register */ - SET_BIT(huart->Instance->CR3, USART_CR3_HDSEL); - - /* Enable the peripheral */ - __HAL_UART_ENABLE(huart); - - /* Initialize the UART state*/ - huart->ErrorCode = HAL_UART_ERROR_NONE; - huart->gState = HAL_UART_STATE_READY; - huart->RxState = HAL_UART_STATE_READY; - - return HAL_OK; -} - -/** - * @brief Initializes the LIN mode according to the specified - * parameters in the UART_InitTypeDef and create the associated handle. - * @param huart Pointer to a UART_HandleTypeDef structure that contains - * the configuration information for the specified UART module. - * @param BreakDetectLength Specifies the LIN break detection length. - * This parameter can be one of the following values: - * @arg UART_LINBREAKDETECTLENGTH_10B: 10-bit break detection - * @arg UART_LINBREAKDETECTLENGTH_11B: 11-bit break detection - * @retval HAL status - */ -HAL_StatusTypeDef HAL_LIN_Init(UART_HandleTypeDef *huart, uint32_t BreakDetectLength) -{ - /* Check the UART handle allocation */ - if (huart == NULL) - { - return HAL_ERROR; - } - - /* Check the LIN UART instance */ - assert_param(IS_UART_LIN_INSTANCE(huart->Instance)); - - /* Check the Break detection length parameter */ - assert_param(IS_UART_LIN_BREAK_DETECT_LENGTH(BreakDetectLength)); - assert_param(IS_UART_LIN_WORD_LENGTH(huart->Init.WordLength)); - assert_param(IS_UART_LIN_OVERSAMPLING(huart->Init.OverSampling)); - - if (huart->gState == HAL_UART_STATE_RESET) - { - /* Allocate lock resource and initialize it */ - huart->Lock = HAL_UNLOCKED; - -#if (USE_HAL_UART_REGISTER_CALLBACKS == 1) - UART_InitCallbacksToDefault(huart); - - if (huart->MspInitCallback == NULL) - { - huart->MspInitCallback = HAL_UART_MspInit; - } - - /* Init the low level hardware */ - huart->MspInitCallback(huart); -#else - /* Init the low level hardware : GPIO, CLOCK */ - HAL_UART_MspInit(huart); -#endif /* (USE_HAL_UART_REGISTER_CALLBACKS) */ - } - - huart->gState = HAL_UART_STATE_BUSY; - - /* Disable the peripheral */ - __HAL_UART_DISABLE(huart); - - /* Set the UART Communication parameters */ - UART_SetConfig(huart); - - /* In LIN mode, the following bits must be kept cleared: - - CLKEN bits in the USART_CR2 register, - - SCEN, HDSEL and IREN bits in the USART_CR3 register.*/ - CLEAR_BIT(huart->Instance->CR2, (USART_CR2_CLKEN)); - CLEAR_BIT(huart->Instance->CR3, (USART_CR3_HDSEL | USART_CR3_IREN | USART_CR3_SCEN)); - - /* Enable the LIN mode by setting the LINEN bit in the CR2 register */ - SET_BIT(huart->Instance->CR2, USART_CR2_LINEN); - - /* Set the USART LIN Break detection length. */ - CLEAR_BIT(huart->Instance->CR2, USART_CR2_LBDL); - SET_BIT(huart->Instance->CR2, BreakDetectLength); - - /* Enable the peripheral */ - __HAL_UART_ENABLE(huart); - - /* Initialize the UART state*/ - huart->ErrorCode = HAL_UART_ERROR_NONE; - huart->gState = HAL_UART_STATE_READY; - huart->RxState = HAL_UART_STATE_READY; - - return HAL_OK; -} - -/** - * @brief Initializes the Multi-Processor mode according to the specified - * parameters in the UART_InitTypeDef and create the associated handle. - * @param huart Pointer to a UART_HandleTypeDef structure that contains - * the configuration information for the specified UART module. - * @param Address USART address - * @param WakeUpMethod specifies the USART wake-up method. - * This parameter can be one of the following values: - * @arg UART_WAKEUPMETHOD_IDLELINE: Wake-up by an idle line detection - * @arg UART_WAKEUPMETHOD_ADDRESSMARK: Wake-up by an address mark - * @retval HAL status - */ -HAL_StatusTypeDef HAL_MultiProcessor_Init(UART_HandleTypeDef *huart, uint8_t Address, uint32_t WakeUpMethod) -{ - /* Check the UART handle allocation */ - if (huart == NULL) - { - return HAL_ERROR; - } - - /* Check the parameters */ - assert_param(IS_UART_INSTANCE(huart->Instance)); - - /* Check the Address & wake up method parameters */ - assert_param(IS_UART_WAKEUPMETHOD(WakeUpMethod)); - assert_param(IS_UART_ADDRESS(Address)); - assert_param(IS_UART_WORD_LENGTH(huart->Init.WordLength)); - assert_param(IS_UART_OVERSAMPLING(huart->Init.OverSampling)); - - if (huart->gState == HAL_UART_STATE_RESET) - { - /* Allocate lock resource and initialize it */ - huart->Lock = HAL_UNLOCKED; - -#if (USE_HAL_UART_REGISTER_CALLBACKS == 1) - UART_InitCallbacksToDefault(huart); - - if (huart->MspInitCallback == NULL) - { - huart->MspInitCallback = HAL_UART_MspInit; - } - - /* Init the low level hardware */ - huart->MspInitCallback(huart); -#else - /* Init the low level hardware : GPIO, CLOCK */ - HAL_UART_MspInit(huart); -#endif /* (USE_HAL_UART_REGISTER_CALLBACKS) */ - } - - huart->gState = HAL_UART_STATE_BUSY; - - /* Disable the peripheral */ - __HAL_UART_DISABLE(huart); - - /* Set the UART Communication parameters */ - UART_SetConfig(huart); - - /* In Multi-Processor mode, the following bits must be kept cleared: - - LINEN and CLKEN bits in the USART_CR2 register, - - SCEN, HDSEL and IREN bits in the USART_CR3 register */ - CLEAR_BIT(huart->Instance->CR2, (USART_CR2_LINEN | USART_CR2_CLKEN)); - CLEAR_BIT(huart->Instance->CR3, (USART_CR3_SCEN | USART_CR3_HDSEL | USART_CR3_IREN)); - - /* Set the USART address node */ - CLEAR_BIT(huart->Instance->CR2, USART_CR2_ADD); - SET_BIT(huart->Instance->CR2, Address); - - /* Set the wake up method by setting the WAKE bit in the CR1 register */ - CLEAR_BIT(huart->Instance->CR1, USART_CR1_WAKE); - SET_BIT(huart->Instance->CR1, WakeUpMethod); - - /* Enable the peripheral */ - __HAL_UART_ENABLE(huart); - - /* Initialize the UART state */ - huart->ErrorCode = HAL_UART_ERROR_NONE; - huart->gState = HAL_UART_STATE_READY; - huart->RxState = HAL_UART_STATE_READY; - - return HAL_OK; -} - -/** - * @brief DeInitializes the UART peripheral. - * @param huart Pointer to a UART_HandleTypeDef structure that contains - * the configuration information for the specified UART module. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_UART_DeInit(UART_HandleTypeDef *huart) -{ - /* Check the UART handle allocation */ - if (huart == NULL) - { - return HAL_ERROR; - } - - /* Check the parameters */ - assert_param(IS_UART_INSTANCE(huart->Instance)); - - huart->gState = HAL_UART_STATE_BUSY; - - /* Disable the Peripheral */ - __HAL_UART_DISABLE(huart); - -#if (USE_HAL_UART_REGISTER_CALLBACKS == 1) - if (huart->MspDeInitCallback == NULL) - { - huart->MspDeInitCallback = HAL_UART_MspDeInit; - } - /* DeInit the low level hardware */ - huart->MspDeInitCallback(huart); -#else - /* DeInit the low level hardware */ - HAL_UART_MspDeInit(huart); -#endif /* (USE_HAL_UART_REGISTER_CALLBACKS) */ - - huart->ErrorCode = HAL_UART_ERROR_NONE; - huart->gState = HAL_UART_STATE_RESET; - huart->RxState = HAL_UART_STATE_RESET; - huart->ReceptionType = HAL_UART_RECEPTION_STANDARD; - - /* Process Unlock */ - __HAL_UNLOCK(huart); - - return HAL_OK; -} - -/** - * @brief UART MSP Init. - * @param huart Pointer to a UART_HandleTypeDef structure that contains - * the configuration information for the specified UART module. - * @retval None - */ -__weak void HAL_UART_MspInit(UART_HandleTypeDef *huart) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(huart); - /* NOTE: This function should not be modified, when the callback is needed, - the HAL_UART_MspInit could be implemented in the user file - */ -} - -/** - * @brief UART MSP DeInit. - * @param huart Pointer to a UART_HandleTypeDef structure that contains - * the configuration information for the specified UART module. - * @retval None - */ -__weak void HAL_UART_MspDeInit(UART_HandleTypeDef *huart) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(huart); - /* NOTE: This function should not be modified, when the callback is needed, - the HAL_UART_MspDeInit could be implemented in the user file - */ -} - -#if (USE_HAL_UART_REGISTER_CALLBACKS == 1) -/** - * @brief Register a User UART Callback - * To be used instead of the weak predefined callback - * @param huart uart handle - * @param CallbackID ID of the callback to be registered - * This parameter can be one of the following values: - * @arg @ref HAL_UART_TX_HALFCOMPLETE_CB_ID Tx Half Complete Callback ID - * @arg @ref HAL_UART_TX_COMPLETE_CB_ID Tx Complete Callback ID - * @arg @ref HAL_UART_RX_HALFCOMPLETE_CB_ID Rx Half Complete Callback ID - * @arg @ref HAL_UART_RX_COMPLETE_CB_ID Rx Complete Callback ID - * @arg @ref HAL_UART_ERROR_CB_ID Error Callback ID - * @arg @ref HAL_UART_ABORT_COMPLETE_CB_ID Abort Complete Callback ID - * @arg @ref HAL_UART_ABORT_TRANSMIT_COMPLETE_CB_ID Abort Transmit Complete Callback ID - * @arg @ref HAL_UART_ABORT_RECEIVE_COMPLETE_CB_ID Abort Receive Complete Callback ID - * @arg @ref HAL_UART_MSPINIT_CB_ID MspInit Callback ID - * @arg @ref HAL_UART_MSPDEINIT_CB_ID MspDeInit Callback ID - * @param pCallback pointer to the Callback function - * @retval HAL status - */ -HAL_StatusTypeDef HAL_UART_RegisterCallback(UART_HandleTypeDef *huart, HAL_UART_CallbackIDTypeDef CallbackID, - pUART_CallbackTypeDef pCallback) -{ - HAL_StatusTypeDef status = HAL_OK; - - if (pCallback == NULL) - { - /* Update the error code */ - huart->ErrorCode |= HAL_UART_ERROR_INVALID_CALLBACK; - - return HAL_ERROR; - } - /* Process locked */ - __HAL_LOCK(huart); - - if (huart->gState == HAL_UART_STATE_READY) - { - switch (CallbackID) - { - case HAL_UART_TX_HALFCOMPLETE_CB_ID : - huart->TxHalfCpltCallback = pCallback; - break; - - case HAL_UART_TX_COMPLETE_CB_ID : - huart->TxCpltCallback = pCallback; - break; - - case HAL_UART_RX_HALFCOMPLETE_CB_ID : - huart->RxHalfCpltCallback = pCallback; - break; - - case HAL_UART_RX_COMPLETE_CB_ID : - huart->RxCpltCallback = pCallback; - break; - - case HAL_UART_ERROR_CB_ID : - huart->ErrorCallback = pCallback; - break; - - case HAL_UART_ABORT_COMPLETE_CB_ID : - huart->AbortCpltCallback = pCallback; - break; - - case HAL_UART_ABORT_TRANSMIT_COMPLETE_CB_ID : - huart->AbortTransmitCpltCallback = pCallback; - break; - - case HAL_UART_ABORT_RECEIVE_COMPLETE_CB_ID : - huart->AbortReceiveCpltCallback = pCallback; - break; - - case HAL_UART_MSPINIT_CB_ID : - huart->MspInitCallback = pCallback; - break; - - case HAL_UART_MSPDEINIT_CB_ID : - huart->MspDeInitCallback = pCallback; - break; - - default : - /* Update the error code */ - huart->ErrorCode |= HAL_UART_ERROR_INVALID_CALLBACK; - - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else if (huart->gState == HAL_UART_STATE_RESET) - { - switch (CallbackID) - { - case HAL_UART_MSPINIT_CB_ID : - huart->MspInitCallback = pCallback; - break; - - case HAL_UART_MSPDEINIT_CB_ID : - huart->MspDeInitCallback = pCallback; - break; - - default : - /* Update the error code */ - huart->ErrorCode |= HAL_UART_ERROR_INVALID_CALLBACK; - - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else - { - /* Update the error code */ - huart->ErrorCode |= HAL_UART_ERROR_INVALID_CALLBACK; - - /* Return error status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(huart); - - return status; -} - -/** - * @brief Unregister an UART Callback - * UART callaback is redirected to the weak predefined callback - * @param huart uart handle - * @param CallbackID ID of the callback to be unregistered - * This parameter can be one of the following values: - * @arg @ref HAL_UART_TX_HALFCOMPLETE_CB_ID Tx Half Complete Callback ID - * @arg @ref HAL_UART_TX_COMPLETE_CB_ID Tx Complete Callback ID - * @arg @ref HAL_UART_RX_HALFCOMPLETE_CB_ID Rx Half Complete Callback ID - * @arg @ref HAL_UART_RX_COMPLETE_CB_ID Rx Complete Callback ID - * @arg @ref HAL_UART_ERROR_CB_ID Error Callback ID - * @arg @ref HAL_UART_ABORT_COMPLETE_CB_ID Abort Complete Callback ID - * @arg @ref HAL_UART_ABORT_TRANSMIT_COMPLETE_CB_ID Abort Transmit Complete Callback ID - * @arg @ref HAL_UART_ABORT_RECEIVE_COMPLETE_CB_ID Abort Receive Complete Callback ID - * @arg @ref HAL_UART_MSPINIT_CB_ID MspInit Callback ID - * @arg @ref HAL_UART_MSPDEINIT_CB_ID MspDeInit Callback ID - * @retval HAL status - */ -HAL_StatusTypeDef HAL_UART_UnRegisterCallback(UART_HandleTypeDef *huart, HAL_UART_CallbackIDTypeDef CallbackID) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Process locked */ - __HAL_LOCK(huart); - - if (HAL_UART_STATE_READY == huart->gState) - { - switch (CallbackID) - { - case HAL_UART_TX_HALFCOMPLETE_CB_ID : - huart->TxHalfCpltCallback = HAL_UART_TxHalfCpltCallback; /* Legacy weak TxHalfCpltCallback */ - break; - - case HAL_UART_TX_COMPLETE_CB_ID : - huart->TxCpltCallback = HAL_UART_TxCpltCallback; /* Legacy weak TxCpltCallback */ - break; - - case HAL_UART_RX_HALFCOMPLETE_CB_ID : - huart->RxHalfCpltCallback = HAL_UART_RxHalfCpltCallback; /* Legacy weak RxHalfCpltCallback */ - break; - - case HAL_UART_RX_COMPLETE_CB_ID : - huart->RxCpltCallback = HAL_UART_RxCpltCallback; /* Legacy weak RxCpltCallback */ - break; - - case HAL_UART_ERROR_CB_ID : - huart->ErrorCallback = HAL_UART_ErrorCallback; /* Legacy weak ErrorCallback */ - break; - - case HAL_UART_ABORT_COMPLETE_CB_ID : - huart->AbortCpltCallback = HAL_UART_AbortCpltCallback; /* Legacy weak AbortCpltCallback */ - break; - - case HAL_UART_ABORT_TRANSMIT_COMPLETE_CB_ID : - huart->AbortTransmitCpltCallback = HAL_UART_AbortTransmitCpltCallback; /* Legacy weak AbortTransmitCpltCallback */ - break; - - case HAL_UART_ABORT_RECEIVE_COMPLETE_CB_ID : - huart->AbortReceiveCpltCallback = HAL_UART_AbortReceiveCpltCallback; /* Legacy weak AbortReceiveCpltCallback */ - break; - - case HAL_UART_MSPINIT_CB_ID : - huart->MspInitCallback = HAL_UART_MspInit; /* Legacy weak MspInitCallback */ - break; - - case HAL_UART_MSPDEINIT_CB_ID : - huart->MspDeInitCallback = HAL_UART_MspDeInit; /* Legacy weak MspDeInitCallback */ - break; - - default : - /* Update the error code */ - huart->ErrorCode |= HAL_UART_ERROR_INVALID_CALLBACK; - - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else if (HAL_UART_STATE_RESET == huart->gState) - { - switch (CallbackID) - { - case HAL_UART_MSPINIT_CB_ID : - huart->MspInitCallback = HAL_UART_MspInit; - break; - - case HAL_UART_MSPDEINIT_CB_ID : - huart->MspDeInitCallback = HAL_UART_MspDeInit; - break; - - default : - /* Update the error code */ - huart->ErrorCode |= HAL_UART_ERROR_INVALID_CALLBACK; - - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else - { - /* Update the error code */ - huart->ErrorCode |= HAL_UART_ERROR_INVALID_CALLBACK; - - /* Return error status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(huart); - - return status; -} - -/** - * @brief Register a User UART Rx Event Callback - * To be used instead of the weak predefined callback - * @param huart Uart handle - * @param pCallback Pointer to the Rx Event Callback function - * @retval HAL status - */ -HAL_StatusTypeDef HAL_UART_RegisterRxEventCallback(UART_HandleTypeDef *huart, pUART_RxEventCallbackTypeDef pCallback) -{ - HAL_StatusTypeDef status = HAL_OK; - - if (pCallback == NULL) - { - huart->ErrorCode |= HAL_UART_ERROR_INVALID_CALLBACK; - - return HAL_ERROR; - } - - /* Process locked */ - __HAL_LOCK(huart); - - if (huart->gState == HAL_UART_STATE_READY) - { - huart->RxEventCallback = pCallback; - } - else - { - huart->ErrorCode |= HAL_UART_ERROR_INVALID_CALLBACK; - - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(huart); - - return status; -} - -/** - * @brief UnRegister the UART Rx Event Callback - * UART Rx Event Callback is redirected to the weak HAL_UARTEx_RxEventCallback() predefined callback - * @param huart Uart handle - * @retval HAL status - */ -HAL_StatusTypeDef HAL_UART_UnRegisterRxEventCallback(UART_HandleTypeDef *huart) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Process locked */ - __HAL_LOCK(huart); - - if (huart->gState == HAL_UART_STATE_READY) - { - huart->RxEventCallback = HAL_UARTEx_RxEventCallback; /* Legacy weak UART Rx Event Callback */ - } - else - { - huart->ErrorCode |= HAL_UART_ERROR_INVALID_CALLBACK; - - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(huart); - return status; -} -#endif /* USE_HAL_UART_REGISTER_CALLBACKS */ - -/** - * @} - */ - -/** @defgroup UART_Exported_Functions_Group2 IO operation functions - * @brief UART Transmit and Receive functions - * -@verbatim - =============================================================================== - ##### IO operation functions ##### - =============================================================================== - This subsection provides a set of functions allowing to manage the UART asynchronous - and Half duplex data transfers. - - (#) There are two modes of transfer: - (+) Blocking mode: The communication is performed in polling mode. - The HAL status of all data processing is returned by the same function - after finishing transfer. - (+) Non-Blocking mode: The communication is performed using Interrupts - or DMA, these API's return the HAL status. - The end of the data processing will be indicated through the - dedicated UART IRQ when using Interrupt mode or the DMA IRQ when - using DMA mode. - The HAL_UART_TxCpltCallback(), HAL_UART_RxCpltCallback() user callbacks - will be executed respectively at the end of the transmit or receive process - The HAL_UART_ErrorCallback()user callback will be executed when a communication error is detected. - - (#) Blocking mode API's are : - (+) HAL_UART_Transmit() - (+) HAL_UART_Receive() - - (#) Non-Blocking mode API's with Interrupt are : - (+) HAL_UART_Transmit_IT() - (+) HAL_UART_Receive_IT() - (+) HAL_UART_IRQHandler() - - (#) Non-Blocking mode API's with DMA are : - (+) HAL_UART_Transmit_DMA() - (+) HAL_UART_Receive_DMA() - (+) HAL_UART_DMAPause() - (+) HAL_UART_DMAResume() - (+) HAL_UART_DMAStop() - - (#) A set of Transfer Complete Callbacks are provided in Non_Blocking mode: - (+) HAL_UART_TxHalfCpltCallback() - (+) HAL_UART_TxCpltCallback() - (+) HAL_UART_RxHalfCpltCallback() - (+) HAL_UART_RxCpltCallback() - (+) HAL_UART_ErrorCallback() - - (#) Non-Blocking mode transfers could be aborted using Abort API's : - (+) HAL_UART_Abort() - (+) HAL_UART_AbortTransmit() - (+) HAL_UART_AbortReceive() - (+) HAL_UART_Abort_IT() - (+) HAL_UART_AbortTransmit_IT() - (+) HAL_UART_AbortReceive_IT() - - (#) For Abort services based on interrupts (HAL_UART_Abortxxx_IT), a set of Abort Complete Callbacks are provided: - (+) HAL_UART_AbortCpltCallback() - (+) HAL_UART_AbortTransmitCpltCallback() - (+) HAL_UART_AbortReceiveCpltCallback() - - (#) A Rx Event Reception Callback (Rx event notification) is available for Non_Blocking modes of enhanced reception services: - (+) HAL_UARTEx_RxEventCallback() - - (#) In Non-Blocking mode transfers, possible errors are split into 2 categories. - Errors are handled as follows : - (+) Error is considered as Recoverable and non blocking : Transfer could go till end, but error severity is - to be evaluated by user : this concerns Frame Error, Parity Error or Noise Error in Interrupt mode reception . - Received character is then retrieved and stored in Rx buffer, Error code is set to allow user to identify error type, - and HAL_UART_ErrorCallback() user callback is executed. Transfer is kept ongoing on UART side. - If user wants to abort it, Abort services should be called by user. - (+) Error is considered as Blocking : Transfer could not be completed properly and is aborted. - This concerns Overrun Error In Interrupt mode reception and all errors in DMA mode. - Error code is set to allow user to identify error type, and HAL_UART_ErrorCallback() user callback is executed. - - -@- In the Half duplex communication, it is forbidden to run the transmit - and receive process in parallel, the UART state HAL_UART_STATE_BUSY_TX_RX can't be useful. - -@endverbatim - * @{ - */ - -/** - * @brief Sends an amount of data in blocking mode. - * @note When UART parity is not enabled (PCE = 0), and Word Length is configured to 9 bits (M1-M0 = 01), - * the sent data is handled as a set of u16. In this case, Size must indicate the number - * of u16 provided through pData. - * @param huart Pointer to a UART_HandleTypeDef structure that contains - * the configuration information for the specified UART module. - * @param pData Pointer to data buffer (u8 or u16 data elements). - * @param Size Amount of data elements (u8 or u16) to be sent - * @param Timeout Timeout duration - * @retval HAL status - */ -HAL_StatusTypeDef HAL_UART_Transmit(UART_HandleTypeDef *huart, uint8_t *pData, uint16_t Size, uint32_t Timeout) -{ - uint8_t *pdata8bits; - uint16_t *pdata16bits; - uint32_t tickstart = 0U; - - /* Check that a Tx process is not already ongoing */ - if (huart->gState == HAL_UART_STATE_READY) - { - if ((pData == NULL) || (Size == 0U)) - { - return HAL_ERROR; - } - - /* Process Locked */ - __HAL_LOCK(huart); - - huart->ErrorCode = HAL_UART_ERROR_NONE; - huart->gState = HAL_UART_STATE_BUSY_TX; - - /* Init tickstart for timeout management */ - tickstart = HAL_GetTick(); - - huart->TxXferSize = Size; - huart->TxXferCount = Size; - - /* In case of 9bits/No Parity transfer, pData needs to be handled as a uint16_t pointer */ - if ((huart->Init.WordLength == UART_WORDLENGTH_9B) && (huart->Init.Parity == UART_PARITY_NONE)) - { - pdata8bits = NULL; - pdata16bits = (uint16_t *) pData; - } - else - { - pdata8bits = pData; - pdata16bits = NULL; - } - - /* Process Unlocked */ - __HAL_UNLOCK(huart); - - while (huart->TxXferCount > 0U) - { - if (UART_WaitOnFlagUntilTimeout(huart, UART_FLAG_TXE, RESET, tickstart, Timeout) != HAL_OK) - { - return HAL_TIMEOUT; - } - if (pdata8bits == NULL) - { - huart->Instance->DR = (uint16_t)(*pdata16bits & 0x01FFU); - pdata16bits++; - } - else - { - huart->Instance->DR = (uint8_t)(*pdata8bits & 0xFFU); - pdata8bits++; - } - huart->TxXferCount--; - } - - if (UART_WaitOnFlagUntilTimeout(huart, UART_FLAG_TC, RESET, tickstart, Timeout) != HAL_OK) - { - return HAL_TIMEOUT; - } - - /* At end of Tx process, restore huart->gState to Ready */ - huart->gState = HAL_UART_STATE_READY; - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Receives an amount of data in blocking mode. - * @note When UART parity is not enabled (PCE = 0), and Word Length is configured to 9 bits (M1-M0 = 01), - * the received data is handled as a set of u16. In this case, Size must indicate the number - * of u16 available through pData. - * @param huart Pointer to a UART_HandleTypeDef structure that contains - * the configuration information for the specified UART module. - * @param pData Pointer to data buffer (u8 or u16 data elements). - * @param Size Amount of data elements (u8 or u16) to be received. - * @param Timeout Timeout duration - * @retval HAL status - */ -HAL_StatusTypeDef HAL_UART_Receive(UART_HandleTypeDef *huart, uint8_t *pData, uint16_t Size, uint32_t Timeout) -{ - uint8_t *pdata8bits; - uint16_t *pdata16bits; - uint32_t tickstart = 0U; - - /* Check that a Rx process is not already ongoing */ - if (huart->RxState == HAL_UART_STATE_READY) - { - if ((pData == NULL) || (Size == 0U)) - { - return HAL_ERROR; - } - - /* Process Locked */ - __HAL_LOCK(huart); - - huart->ErrorCode = HAL_UART_ERROR_NONE; - huart->RxState = HAL_UART_STATE_BUSY_RX; - huart->ReceptionType = HAL_UART_RECEPTION_STANDARD; - - /* Init tickstart for timeout management */ - tickstart = HAL_GetTick(); - - huart->RxXferSize = Size; - huart->RxXferCount = Size; - - /* In case of 9bits/No Parity transfer, pRxData needs to be handled as a uint16_t pointer */ - if ((huart->Init.WordLength == UART_WORDLENGTH_9B) && (huart->Init.Parity == UART_PARITY_NONE)) - { - pdata8bits = NULL; - pdata16bits = (uint16_t *) pData; - } - else - { - pdata8bits = pData; - pdata16bits = NULL; - } - - /* Process Unlocked */ - __HAL_UNLOCK(huart); - - /* Check the remain data to be received */ - while (huart->RxXferCount > 0U) - { - if (UART_WaitOnFlagUntilTimeout(huart, UART_FLAG_RXNE, RESET, tickstart, Timeout) != HAL_OK) - { - return HAL_TIMEOUT; - } - if (pdata8bits == NULL) - { - *pdata16bits = (uint16_t)(huart->Instance->DR & 0x01FF); - pdata16bits++; - } - else - { - if ((huart->Init.WordLength == UART_WORDLENGTH_9B) || ((huart->Init.WordLength == UART_WORDLENGTH_8B) && (huart->Init.Parity == UART_PARITY_NONE))) - { - *pdata8bits = (uint8_t)(huart->Instance->DR & (uint8_t)0x00FF); - } - else - { - *pdata8bits = (uint8_t)(huart->Instance->DR & (uint8_t)0x007F); - } - pdata8bits++; - } - huart->RxXferCount--; - } - - /* At end of Rx process, restore huart->RxState to Ready */ - huart->RxState = HAL_UART_STATE_READY; - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Sends an amount of data in non blocking mode. - * @note When UART parity is not enabled (PCE = 0), and Word Length is configured to 9 bits (M1-M0 = 01), - * the sent data is handled as a set of u16. In this case, Size must indicate the number - * of u16 provided through pData. - * @param huart Pointer to a UART_HandleTypeDef structure that contains - * the configuration information for the specified UART module. - * @param pData Pointer to data buffer (u8 or u16 data elements). - * @param Size Amount of data elements (u8 or u16) to be sent - * @retval HAL status - */ -HAL_StatusTypeDef HAL_UART_Transmit_IT(UART_HandleTypeDef *huart, uint8_t *pData, uint16_t Size) -{ - /* Check that a Tx process is not already ongoing */ - if (huart->gState == HAL_UART_STATE_READY) - { - if ((pData == NULL) || (Size == 0U)) - { - return HAL_ERROR; - } - - /* Process Locked */ - __HAL_LOCK(huart); - - huart->pTxBuffPtr = pData; - huart->TxXferSize = Size; - huart->TxXferCount = Size; - - huart->ErrorCode = HAL_UART_ERROR_NONE; - huart->gState = HAL_UART_STATE_BUSY_TX; - - /* Process Unlocked */ - __HAL_UNLOCK(huart); - - /* Enable the UART Transmit data register empty Interrupt */ - __HAL_UART_ENABLE_IT(huart, UART_IT_TXE); - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Receives an amount of data in non blocking mode. - * @note When UART parity is not enabled (PCE = 0), and Word Length is configured to 9 bits (M1-M0 = 01), - * the received data is handled as a set of u16. In this case, Size must indicate the number - * of u16 available through pData. - * @param huart Pointer to a UART_HandleTypeDef structure that contains - * the configuration information for the specified UART module. - * @param pData Pointer to data buffer (u8 or u16 data elements). - * @param Size Amount of data elements (u8 or u16) to be received. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_UART_Receive_IT(UART_HandleTypeDef *huart, uint8_t *pData, uint16_t Size) -{ - /* Check that a Rx process is not already ongoing */ - if (huart->RxState == HAL_UART_STATE_READY) - { - if ((pData == NULL) || (Size == 0U)) - { - return HAL_ERROR; - } - - /* Process Locked */ - __HAL_LOCK(huart); - - /* Set Reception type to Standard reception */ - huart->ReceptionType = HAL_UART_RECEPTION_STANDARD; - - return (UART_Start_Receive_IT(huart, pData, Size)); - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Sends an amount of data in DMA mode. - * @note When UART parity is not enabled (PCE = 0), and Word Length is configured to 9 bits (M1-M0 = 01), - * the sent data is handled as a set of u16. In this case, Size must indicate the number - * of u16 provided through pData. - * @param huart Pointer to a UART_HandleTypeDef structure that contains - * the configuration information for the specified UART module. - * @param pData Pointer to data buffer (u8 or u16 data elements). - * @param Size Amount of data elements (u8 or u16) to be sent - * @retval HAL status - */ -HAL_StatusTypeDef HAL_UART_Transmit_DMA(UART_HandleTypeDef *huart, uint8_t *pData, uint16_t Size) -{ - uint32_t *tmp; - - /* Check that a Tx process is not already ongoing */ - if (huart->gState == HAL_UART_STATE_READY) - { - if ((pData == NULL) || (Size == 0U)) - { - return HAL_ERROR; - } - - /* Process Locked */ - __HAL_LOCK(huart); - - huart->pTxBuffPtr = pData; - huart->TxXferSize = Size; - huart->TxXferCount = Size; - - huart->ErrorCode = HAL_UART_ERROR_NONE; - huart->gState = HAL_UART_STATE_BUSY_TX; - - /* Set the UART DMA transfer complete callback */ - huart->hdmatx->XferCpltCallback = UART_DMATransmitCplt; - - /* Set the UART DMA Half transfer complete callback */ - huart->hdmatx->XferHalfCpltCallback = UART_DMATxHalfCplt; - - /* Set the DMA error callback */ - huart->hdmatx->XferErrorCallback = UART_DMAError; - - /* Set the DMA abort callback */ - huart->hdmatx->XferAbortCallback = NULL; - - /* Enable the UART transmit DMA stream */ - tmp = (uint32_t *)&pData; - HAL_DMA_Start_IT(huart->hdmatx, *(uint32_t *)tmp, (uint32_t)&huart->Instance->DR, Size); - - /* Clear the TC flag in the SR register by writing 0 to it */ - __HAL_UART_CLEAR_FLAG(huart, UART_FLAG_TC); - - /* Process Unlocked */ - __HAL_UNLOCK(huart); - - /* Enable the DMA transfer for transmit request by setting the DMAT bit - in the UART CR3 register */ - ATOMIC_SET_BIT(huart->Instance->CR3, USART_CR3_DMAT); - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Receives an amount of data in DMA mode. - * @note When UART parity is not enabled (PCE = 0), and Word Length is configured to 9 bits (M1-M0 = 01), - * the received data is handled as a set of u16. In this case, Size must indicate the number - * of u16 available through pData. - * @param huart Pointer to a UART_HandleTypeDef structure that contains - * the configuration information for the specified UART module. - * @param pData Pointer to data buffer (u8 or u16 data elements). - * @param Size Amount of data elements (u8 or u16) to be received. - * @note When the UART parity is enabled (PCE = 1) the received data contains the parity bit. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_UART_Receive_DMA(UART_HandleTypeDef *huart, uint8_t *pData, uint16_t Size) -{ - /* Check that a Rx process is not already ongoing */ - if (huart->RxState == HAL_UART_STATE_READY) - { - if ((pData == NULL) || (Size == 0U)) - { - return HAL_ERROR; - } - - /* Process Locked */ - __HAL_LOCK(huart); - - /* Set Reception type to Standard reception */ - huart->ReceptionType = HAL_UART_RECEPTION_STANDARD; - - return (UART_Start_Receive_DMA(huart, pData, Size)); - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Pauses the DMA Transfer. - * @param huart Pointer to a UART_HandleTypeDef structure that contains - * the configuration information for the specified UART module. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_UART_DMAPause(UART_HandleTypeDef *huart) -{ - uint32_t dmarequest = 0x00U; - - /* Process Locked */ - __HAL_LOCK(huart); - - dmarequest = HAL_IS_BIT_SET(huart->Instance->CR3, USART_CR3_DMAT); - if ((huart->gState == HAL_UART_STATE_BUSY_TX) && dmarequest) - { - /* Disable the UART DMA Tx request */ - ATOMIC_CLEAR_BIT(huart->Instance->CR3, USART_CR3_DMAT); - } - - dmarequest = HAL_IS_BIT_SET(huart->Instance->CR3, USART_CR3_DMAR); - if ((huart->RxState == HAL_UART_STATE_BUSY_RX) && dmarequest) - { - /* Disable RXNE, PE and ERR (Frame error, noise error, overrun error) interrupts */ - ATOMIC_CLEAR_BIT(huart->Instance->CR1, USART_CR1_PEIE); - ATOMIC_CLEAR_BIT(huart->Instance->CR3, USART_CR3_EIE); - - /* Disable the UART DMA Rx request */ - ATOMIC_CLEAR_BIT(huart->Instance->CR3, USART_CR3_DMAR); - } - - /* Process Unlocked */ - __HAL_UNLOCK(huart); - - return HAL_OK; -} - -/** - * @brief Resumes the DMA Transfer. - * @param huart Pointer to a UART_HandleTypeDef structure that contains - * the configuration information for the specified UART module. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_UART_DMAResume(UART_HandleTypeDef *huart) -{ - /* Process Locked */ - __HAL_LOCK(huart); - - if (huart->gState == HAL_UART_STATE_BUSY_TX) - { - /* Enable the UART DMA Tx request */ - ATOMIC_SET_BIT(huart->Instance->CR3, USART_CR3_DMAT); - } - - if (huart->RxState == HAL_UART_STATE_BUSY_RX) - { - /* Clear the Overrun flag before resuming the Rx transfer*/ - __HAL_UART_CLEAR_OREFLAG(huart); - - /* Re-enable PE and ERR (Frame error, noise error, overrun error) interrupts */ - ATOMIC_SET_BIT(huart->Instance->CR1, USART_CR1_PEIE); - ATOMIC_SET_BIT(huart->Instance->CR3, USART_CR3_EIE); - - /* Enable the UART DMA Rx request */ - ATOMIC_SET_BIT(huart->Instance->CR3, USART_CR3_DMAR); - } - - /* Process Unlocked */ - __HAL_UNLOCK(huart); - - return HAL_OK; -} - -/** - * @brief Stops the DMA Transfer. - * @param huart Pointer to a UART_HandleTypeDef structure that contains - * the configuration information for the specified UART module. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_UART_DMAStop(UART_HandleTypeDef *huart) -{ - uint32_t dmarequest = 0x00U; - /* The Lock is not implemented on this API to allow the user application - to call the HAL UART API under callbacks HAL_UART_TxCpltCallback() / HAL_UART_RxCpltCallback(): - when calling HAL_DMA_Abort() API the DMA TX/RX Transfer complete interrupt is generated - and the correspond call back is executed HAL_UART_TxCpltCallback() / HAL_UART_RxCpltCallback() - */ - - /* Stop UART DMA Tx request if ongoing */ - dmarequest = HAL_IS_BIT_SET(huart->Instance->CR3, USART_CR3_DMAT); - if ((huart->gState == HAL_UART_STATE_BUSY_TX) && dmarequest) - { - ATOMIC_CLEAR_BIT(huart->Instance->CR3, USART_CR3_DMAT); - - /* Abort the UART DMA Tx stream */ - if (huart->hdmatx != NULL) - { - HAL_DMA_Abort(huart->hdmatx); - } - UART_EndTxTransfer(huart); - } - - /* Stop UART DMA Rx request if ongoing */ - dmarequest = HAL_IS_BIT_SET(huart->Instance->CR3, USART_CR3_DMAR); - if ((huart->RxState == HAL_UART_STATE_BUSY_RX) && dmarequest) - { - ATOMIC_CLEAR_BIT(huart->Instance->CR3, USART_CR3_DMAR); - - /* Abort the UART DMA Rx stream */ - if (huart->hdmarx != NULL) - { - HAL_DMA_Abort(huart->hdmarx); - } - UART_EndRxTransfer(huart); - } - - return HAL_OK; -} - -/** - * @brief Receive an amount of data in blocking mode till either the expected number of data is received or an IDLE event occurs. - * @note HAL_OK is returned if reception is completed (expected number of data has been received) - * or if reception is stopped after IDLE event (less than the expected number of data has been received) - * In this case, RxLen output parameter indicates number of data available in reception buffer. - * @note When UART parity is not enabled (PCE = 0), and Word Length is configured to 9 bits (M = 01), - * the received data is handled as a set of uint16_t. In this case, Size must indicate the number - * of uint16_t available through pData. - * @param huart UART handle. - * @param pData Pointer to data buffer (uint8_t or uint16_t data elements). - * @param Size Amount of data elements (uint8_t or uint16_t) to be received. - * @param RxLen Number of data elements finally received (could be lower than Size, in case reception ends on IDLE event) - * @param Timeout Timeout duration expressed in ms (covers the whole reception sequence). - * @retval HAL status - */ -HAL_StatusTypeDef HAL_UARTEx_ReceiveToIdle(UART_HandleTypeDef *huart, uint8_t *pData, uint16_t Size, uint16_t *RxLen, - uint32_t Timeout) -{ - uint8_t *pdata8bits; - uint16_t *pdata16bits; - uint32_t tickstart; - - /* Check that a Rx process is not already ongoing */ - if (huart->RxState == HAL_UART_STATE_READY) - { - if ((pData == NULL) || (Size == 0U)) - { - return HAL_ERROR; - } - - __HAL_LOCK(huart); - - huart->ErrorCode = HAL_UART_ERROR_NONE; - huart->RxState = HAL_UART_STATE_BUSY_RX; - huart->ReceptionType = HAL_UART_RECEPTION_TOIDLE; - - /* Init tickstart for timeout management */ - tickstart = HAL_GetTick(); - - huart->RxXferSize = Size; - huart->RxXferCount = Size; - - /* In case of 9bits/No Parity transfer, pRxData needs to be handled as a uint16_t pointer */ - if ((huart->Init.WordLength == UART_WORDLENGTH_9B) && (huart->Init.Parity == UART_PARITY_NONE)) - { - pdata8bits = NULL; - pdata16bits = (uint16_t *) pData; - } - else - { - pdata8bits = pData; - pdata16bits = NULL; - } - - __HAL_UNLOCK(huart); - - /* Initialize output number of received elements */ - *RxLen = 0U; - - /* as long as data have to be received */ - while (huart->RxXferCount > 0U) - { - /* Check if IDLE flag is set */ - if (__HAL_UART_GET_FLAG(huart, UART_FLAG_IDLE)) - { - /* Clear IDLE flag in ISR */ - __HAL_UART_CLEAR_IDLEFLAG(huart); - - /* If Set, but no data ever received, clear flag without exiting loop */ - /* If Set, and data has already been received, this means Idle Event is valid : End reception */ - if (*RxLen > 0U) - { - huart->RxState = HAL_UART_STATE_READY; - - return HAL_OK; - } - } - - /* Check if RXNE flag is set */ - if (__HAL_UART_GET_FLAG(huart, UART_FLAG_RXNE)) - { - if (pdata8bits == NULL) - { - *pdata16bits = (uint16_t)(huart->Instance->DR & (uint16_t)0x01FF); - pdata16bits++; - } - else - { - if ((huart->Init.WordLength == UART_WORDLENGTH_9B) || ((huart->Init.WordLength == UART_WORDLENGTH_8B) && (huart->Init.Parity == UART_PARITY_NONE))) - { - *pdata8bits = (uint8_t)(huart->Instance->DR & (uint8_t)0x00FF); - } - else - { - *pdata8bits = (uint8_t)(huart->Instance->DR & (uint8_t)0x007F); - } - - pdata8bits++; - } - /* Increment number of received elements */ - *RxLen += 1U; - huart->RxXferCount--; - } - - /* Check for the Timeout */ - if (Timeout != HAL_MAX_DELAY) - { - if (((HAL_GetTick() - tickstart) > Timeout) || (Timeout == 0U)) - { - huart->RxState = HAL_UART_STATE_READY; - - return HAL_TIMEOUT; - } - } - } - - /* Set number of received elements in output parameter : RxLen */ - *RxLen = huart->RxXferSize - huart->RxXferCount; - /* At end of Rx process, restore huart->RxState to Ready */ - huart->RxState = HAL_UART_STATE_READY; - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Receive an amount of data in interrupt mode till either the expected number of data is received or an IDLE event occurs. - * @note Reception is initiated by this function call. Further progress of reception is achieved thanks - * to UART interrupts raised by RXNE and IDLE events. Callback is called at end of reception indicating - * number of received data elements. - * @note When UART parity is not enabled (PCE = 0), and Word Length is configured to 9 bits (M = 01), - * the received data is handled as a set of uint16_t. In this case, Size must indicate the number - * of uint16_t available through pData. - * @param huart UART handle. - * @param pData Pointer to data buffer (uint8_t or uint16_t data elements). - * @param Size Amount of data elements (uint8_t or uint16_t) to be received. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_UARTEx_ReceiveToIdle_IT(UART_HandleTypeDef *huart, uint8_t *pData, uint16_t Size) -{ - HAL_StatusTypeDef status; - - /* Check that a Rx process is not already ongoing */ - if (huart->RxState == HAL_UART_STATE_READY) - { - if ((pData == NULL) || (Size == 0U)) - { - return HAL_ERROR; - } - - __HAL_LOCK(huart); - - /* Set Reception type to reception till IDLE Event*/ - huart->ReceptionType = HAL_UART_RECEPTION_TOIDLE; - - status = UART_Start_Receive_IT(huart, pData, Size); - - /* Check Rx process has been successfully started */ - if (status == HAL_OK) - { - if (huart->ReceptionType == HAL_UART_RECEPTION_TOIDLE) - { - __HAL_UART_CLEAR_IDLEFLAG(huart); - ATOMIC_SET_BIT(huart->Instance->CR1, USART_CR1_IDLEIE); - } - else - { - /* In case of errors already pending when reception is started, - Interrupts may have already been raised and lead to reception abortion. - (Overrun error for instance). - In such case Reception Type has been reset to HAL_UART_RECEPTION_STANDARD. */ - status = HAL_ERROR; - } - } - - return status; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Receive an amount of data in DMA mode till either the expected number of data is received or an IDLE event occurs. - * @note Reception is initiated by this function call. Further progress of reception is achieved thanks - * to DMA services, transferring automatically received data elements in user reception buffer and - * calling registered callbacks at half/end of reception. UART IDLE events are also used to consider - * reception phase as ended. In all cases, callback execution will indicate number of received data elements. - * @note When the UART parity is enabled (PCE = 1), the received data contain - * the parity bit (MSB position). - * @note When UART parity is not enabled (PCE = 0), and Word Length is configured to 9 bits (M = 01), - * the received data is handled as a set of uint16_t. In this case, Size must indicate the number - * of uint16_t available through pData. - * @param huart UART handle. - * @param pData Pointer to data buffer (uint8_t or uint16_t data elements). - * @param Size Amount of data elements (uint8_t or uint16_t) to be received. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_UARTEx_ReceiveToIdle_DMA(UART_HandleTypeDef *huart, uint8_t *pData, uint16_t Size) -{ - HAL_StatusTypeDef status; - - /* Check that a Rx process is not already ongoing */ - if (huart->RxState == HAL_UART_STATE_READY) - { - if ((pData == NULL) || (Size == 0U)) - { - return HAL_ERROR; - } - - __HAL_LOCK(huart); - - /* Set Reception type to reception till IDLE Event*/ - huart->ReceptionType = HAL_UART_RECEPTION_TOIDLE; - - status = UART_Start_Receive_DMA(huart, pData, Size); - - /* Check Rx process has been successfully started */ - if (status == HAL_OK) - { - if (huart->ReceptionType == HAL_UART_RECEPTION_TOIDLE) - { - __HAL_UART_CLEAR_IDLEFLAG(huart); - ATOMIC_SET_BIT(huart->Instance->CR1, USART_CR1_IDLEIE); - } - else - { - /* In case of errors already pending when reception is started, - Interrupts may have already been raised and lead to reception abortion. - (Overrun error for instance). - In such case Reception Type has been reset to HAL_UART_RECEPTION_STANDARD. */ - status = HAL_ERROR; - } - } - - return status; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Abort ongoing transfers (blocking mode). - * @param huart UART handle. - * @note This procedure could be used for aborting any ongoing transfer started in Interrupt or DMA mode. - * This procedure performs following operations : - * - Disable UART Interrupts (Tx and Rx) - * - Disable the DMA transfer in the peripheral register (if enabled) - * - Abort DMA transfer by calling HAL_DMA_Abort (in case of transfer in DMA mode) - * - Set handle State to READY - * @note This procedure is executed in blocking mode : when exiting function, Abort is considered as completed. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_UART_Abort(UART_HandleTypeDef *huart) -{ - /* Disable TXEIE, TCIE, RXNE, PE and ERR (Frame error, noise error, overrun error) interrupts */ - ATOMIC_CLEAR_BIT(huart->Instance->CR1, (USART_CR1_RXNEIE | USART_CR1_PEIE | USART_CR1_TXEIE | USART_CR1_TCIE)); - ATOMIC_CLEAR_BIT(huart->Instance->CR3, USART_CR3_EIE); - - /* If Reception till IDLE event was ongoing, disable IDLEIE interrupt */ - if (huart->ReceptionType == HAL_UART_RECEPTION_TOIDLE) - { - ATOMIC_CLEAR_BIT(huart->Instance->CR1, (USART_CR1_IDLEIE)); - } - - /* Disable the UART DMA Tx request if enabled */ - if (HAL_IS_BIT_SET(huart->Instance->CR3, USART_CR3_DMAT)) - { - ATOMIC_CLEAR_BIT(huart->Instance->CR3, USART_CR3_DMAT); - - /* Abort the UART DMA Tx stream: use blocking DMA Abort API (no callback) */ - if (huart->hdmatx != NULL) - { - /* Set the UART DMA Abort callback to Null. - No call back execution at end of DMA abort procedure */ - huart->hdmatx->XferAbortCallback = NULL; - - if (HAL_DMA_Abort(huart->hdmatx) != HAL_OK) - { - if (HAL_DMA_GetError(huart->hdmatx) == HAL_DMA_ERROR_TIMEOUT) - { - /* Set error code to DMA */ - huart->ErrorCode = HAL_UART_ERROR_DMA; - - return HAL_TIMEOUT; - } - } - } - } - - /* Disable the UART DMA Rx request if enabled */ - if (HAL_IS_BIT_SET(huart->Instance->CR3, USART_CR3_DMAR)) - { - ATOMIC_CLEAR_BIT(huart->Instance->CR3, USART_CR3_DMAR); - - /* Abort the UART DMA Rx stream: use blocking DMA Abort API (no callback) */ - if (huart->hdmarx != NULL) - { - /* Set the UART DMA Abort callback to Null. - No call back execution at end of DMA abort procedure */ - huart->hdmarx->XferAbortCallback = NULL; - - if (HAL_DMA_Abort(huart->hdmarx) != HAL_OK) - { - if (HAL_DMA_GetError(huart->hdmarx) == HAL_DMA_ERROR_TIMEOUT) - { - /* Set error code to DMA */ - huart->ErrorCode = HAL_UART_ERROR_DMA; - - return HAL_TIMEOUT; - } - } - } - } - - /* Reset Tx and Rx transfer counters */ - huart->TxXferCount = 0x00U; - huart->RxXferCount = 0x00U; - - /* Reset ErrorCode */ - huart->ErrorCode = HAL_UART_ERROR_NONE; - - /* Restore huart->RxState and huart->gState to Ready */ - huart->RxState = HAL_UART_STATE_READY; - huart->gState = HAL_UART_STATE_READY; - huart->ReceptionType = HAL_UART_RECEPTION_STANDARD; - - return HAL_OK; -} - -/** - * @brief Abort ongoing Transmit transfer (blocking mode). - * @param huart UART handle. - * @note This procedure could be used for aborting any ongoing Tx transfer started in Interrupt or DMA mode. - * This procedure performs following operations : - * - Disable UART Interrupts (Tx) - * - Disable the DMA transfer in the peripheral register (if enabled) - * - Abort DMA transfer by calling HAL_DMA_Abort (in case of transfer in DMA mode) - * - Set handle State to READY - * @note This procedure is executed in blocking mode : when exiting function, Abort is considered as completed. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_UART_AbortTransmit(UART_HandleTypeDef *huart) -{ - /* Disable TXEIE and TCIE interrupts */ - ATOMIC_CLEAR_BIT(huart->Instance->CR1, (USART_CR1_TXEIE | USART_CR1_TCIE)); - - /* Disable the UART DMA Tx request if enabled */ - if (HAL_IS_BIT_SET(huart->Instance->CR3, USART_CR3_DMAT)) - { - ATOMIC_CLEAR_BIT(huart->Instance->CR3, USART_CR3_DMAT); - - /* Abort the UART DMA Tx stream : use blocking DMA Abort API (no callback) */ - if (huart->hdmatx != NULL) - { - /* Set the UART DMA Abort callback to Null. - No call back execution at end of DMA abort procedure */ - huart->hdmatx->XferAbortCallback = NULL; - - if (HAL_DMA_Abort(huart->hdmatx) != HAL_OK) - { - if (HAL_DMA_GetError(huart->hdmatx) == HAL_DMA_ERROR_TIMEOUT) - { - /* Set error code to DMA */ - huart->ErrorCode = HAL_UART_ERROR_DMA; - - return HAL_TIMEOUT; - } - } - } - } - - /* Reset Tx transfer counter */ - huart->TxXferCount = 0x00U; - - /* Restore huart->gState to Ready */ - huart->gState = HAL_UART_STATE_READY; - - return HAL_OK; -} - -/** - * @brief Abort ongoing Receive transfer (blocking mode). - * @param huart UART handle. - * @note This procedure could be used for aborting any ongoing Rx transfer started in Interrupt or DMA mode. - * This procedure performs following operations : - * - Disable UART Interrupts (Rx) - * - Disable the DMA transfer in the peripheral register (if enabled) - * - Abort DMA transfer by calling HAL_DMA_Abort (in case of transfer in DMA mode) - * - Set handle State to READY - * @note This procedure is executed in blocking mode : when exiting function, Abort is considered as completed. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_UART_AbortReceive(UART_HandleTypeDef *huart) -{ - /* Disable RXNE, PE and ERR (Frame error, noise error, overrun error) interrupts */ - ATOMIC_CLEAR_BIT(huart->Instance->CR1, (USART_CR1_RXNEIE | USART_CR1_PEIE)); - ATOMIC_CLEAR_BIT(huart->Instance->CR3, USART_CR3_EIE); - - /* If Reception till IDLE event was ongoing, disable IDLEIE interrupt */ - if (huart->ReceptionType == HAL_UART_RECEPTION_TOIDLE) - { - ATOMIC_CLEAR_BIT(huart->Instance->CR1, (USART_CR1_IDLEIE)); - } - - /* Disable the UART DMA Rx request if enabled */ - if (HAL_IS_BIT_SET(huart->Instance->CR3, USART_CR3_DMAR)) - { - ATOMIC_CLEAR_BIT(huart->Instance->CR3, USART_CR3_DMAR); - - /* Abort the UART DMA Rx stream : use blocking DMA Abort API (no callback) */ - if (huart->hdmarx != NULL) - { - /* Set the UART DMA Abort callback to Null. - No call back execution at end of DMA abort procedure */ - huart->hdmarx->XferAbortCallback = NULL; - - if (HAL_DMA_Abort(huart->hdmarx) != HAL_OK) - { - if (HAL_DMA_GetError(huart->hdmarx) == HAL_DMA_ERROR_TIMEOUT) - { - /* Set error code to DMA */ - huart->ErrorCode = HAL_UART_ERROR_DMA; - - return HAL_TIMEOUT; - } - } - } - } - - /* Reset Rx transfer counter */ - huart->RxXferCount = 0x00U; - - /* Restore huart->RxState to Ready */ - huart->RxState = HAL_UART_STATE_READY; - huart->ReceptionType = HAL_UART_RECEPTION_STANDARD; - - return HAL_OK; -} - -/** - * @brief Abort ongoing transfers (Interrupt mode). - * @param huart UART handle. - * @note This procedure could be used for aborting any ongoing transfer started in Interrupt or DMA mode. - * This procedure performs following operations : - * - Disable UART Interrupts (Tx and Rx) - * - Disable the DMA transfer in the peripheral register (if enabled) - * - Abort DMA transfer by calling HAL_DMA_Abort_IT (in case of transfer in DMA mode) - * - Set handle State to READY - * - At abort completion, call user abort complete callback - * @note This procedure is executed in Interrupt mode, meaning that abort procedure could be - * considered as completed only when user abort complete callback is executed (not when exiting function). - * @retval HAL status - */ -HAL_StatusTypeDef HAL_UART_Abort_IT(UART_HandleTypeDef *huart) -{ - uint32_t AbortCplt = 0x01U; - - /* Disable TXEIE, TCIE, RXNE, PE and ERR (Frame error, noise error, overrun error) interrupts */ - ATOMIC_CLEAR_BIT(huart->Instance->CR1, (USART_CR1_RXNEIE | USART_CR1_PEIE | USART_CR1_TXEIE | USART_CR1_TCIE)); - ATOMIC_CLEAR_BIT(huart->Instance->CR3, USART_CR3_EIE); - - /* If Reception till IDLE event was ongoing, disable IDLEIE interrupt */ - if (huart->ReceptionType == HAL_UART_RECEPTION_TOIDLE) - { - ATOMIC_CLEAR_BIT(huart->Instance->CR1, (USART_CR1_IDLEIE)); - } - - /* If DMA Tx and/or DMA Rx Handles are associated to UART Handle, DMA Abort complete callbacks should be initialised - before any call to DMA Abort functions */ - /* DMA Tx Handle is valid */ - if (huart->hdmatx != NULL) - { - /* Set DMA Abort Complete callback if UART DMA Tx request if enabled. - Otherwise, set it to NULL */ - if (HAL_IS_BIT_SET(huart->Instance->CR3, USART_CR3_DMAT)) - { - huart->hdmatx->XferAbortCallback = UART_DMATxAbortCallback; - } - else - { - huart->hdmatx->XferAbortCallback = NULL; - } - } - /* DMA Rx Handle is valid */ - if (huart->hdmarx != NULL) - { - /* Set DMA Abort Complete callback if UART DMA Rx request if enabled. - Otherwise, set it to NULL */ - if (HAL_IS_BIT_SET(huart->Instance->CR3, USART_CR3_DMAR)) - { - huart->hdmarx->XferAbortCallback = UART_DMARxAbortCallback; - } - else - { - huart->hdmarx->XferAbortCallback = NULL; - } - } - - /* Disable the UART DMA Tx request if enabled */ - if (HAL_IS_BIT_SET(huart->Instance->CR3, USART_CR3_DMAT)) - { - /* Disable DMA Tx at UART level */ - ATOMIC_CLEAR_BIT(huart->Instance->CR3, USART_CR3_DMAT); - - /* Abort the UART DMA Tx stream : use non blocking DMA Abort API (callback) */ - if (huart->hdmatx != NULL) - { - /* UART Tx DMA Abort callback has already been initialised : - will lead to call HAL_UART_AbortCpltCallback() at end of DMA abort procedure */ - - /* Abort DMA TX */ - if (HAL_DMA_Abort_IT(huart->hdmatx) != HAL_OK) - { - huart->hdmatx->XferAbortCallback = NULL; - } - else - { - AbortCplt = 0x00U; - } - } - } - - /* Disable the UART DMA Rx request if enabled */ - if (HAL_IS_BIT_SET(huart->Instance->CR3, USART_CR3_DMAR)) - { - ATOMIC_CLEAR_BIT(huart->Instance->CR3, USART_CR3_DMAR); - - /* Abort the UART DMA Rx stream : use non blocking DMA Abort API (callback) */ - if (huart->hdmarx != NULL) - { - /* UART Rx DMA Abort callback has already been initialised : - will lead to call HAL_UART_AbortCpltCallback() at end of DMA abort procedure */ - - /* Abort DMA RX */ - if (HAL_DMA_Abort_IT(huart->hdmarx) != HAL_OK) - { - huart->hdmarx->XferAbortCallback = NULL; - AbortCplt = 0x01U; - } - else - { - AbortCplt = 0x00U; - } - } - } - - /* if no DMA abort complete callback execution is required => call user Abort Complete callback */ - if (AbortCplt == 0x01U) - { - /* Reset Tx and Rx transfer counters */ - huart->TxXferCount = 0x00U; - huart->RxXferCount = 0x00U; - - /* Reset ErrorCode */ - huart->ErrorCode = HAL_UART_ERROR_NONE; - - /* Restore huart->gState and huart->RxState to Ready */ - huart->gState = HAL_UART_STATE_READY; - huart->RxState = HAL_UART_STATE_READY; - huart->ReceptionType = HAL_UART_RECEPTION_STANDARD; - - /* As no DMA to be aborted, call directly user Abort complete callback */ -#if (USE_HAL_UART_REGISTER_CALLBACKS == 1) - /* Call registered Abort complete callback */ - huart->AbortCpltCallback(huart); -#else - /* Call legacy weak Abort complete callback */ - HAL_UART_AbortCpltCallback(huart); -#endif /* USE_HAL_UART_REGISTER_CALLBACKS */ - } - - return HAL_OK; -} - -/** - * @brief Abort ongoing Transmit transfer (Interrupt mode). - * @param huart UART handle. - * @note This procedure could be used for aborting any ongoing Tx transfer started in Interrupt or DMA mode. - * This procedure performs following operations : - * - Disable UART Interrupts (Tx) - * - Disable the DMA transfer in the peripheral register (if enabled) - * - Abort DMA transfer by calling HAL_DMA_Abort_IT (in case of transfer in DMA mode) - * - Set handle State to READY - * - At abort completion, call user abort complete callback - * @note This procedure is executed in Interrupt mode, meaning that abort procedure could be - * considered as completed only when user abort complete callback is executed (not when exiting function). - * @retval HAL status - */ -HAL_StatusTypeDef HAL_UART_AbortTransmit_IT(UART_HandleTypeDef *huart) -{ - /* Disable TXEIE and TCIE interrupts */ - ATOMIC_CLEAR_BIT(huart->Instance->CR1, (USART_CR1_TXEIE | USART_CR1_TCIE)); - - /* Disable the UART DMA Tx request if enabled */ - if (HAL_IS_BIT_SET(huart->Instance->CR3, USART_CR3_DMAT)) - { - ATOMIC_CLEAR_BIT(huart->Instance->CR3, USART_CR3_DMAT); - - /* Abort the UART DMA Tx stream : use blocking DMA Abort API (no callback) */ - if (huart->hdmatx != NULL) - { - /* Set the UART DMA Abort callback : - will lead to call HAL_UART_AbortCpltCallback() at end of DMA abort procedure */ - huart->hdmatx->XferAbortCallback = UART_DMATxOnlyAbortCallback; - - /* Abort DMA TX */ - if (HAL_DMA_Abort_IT(huart->hdmatx) != HAL_OK) - { - /* Call Directly huart->hdmatx->XferAbortCallback function in case of error */ - huart->hdmatx->XferAbortCallback(huart->hdmatx); - } - } - else - { - /* Reset Tx transfer counter */ - huart->TxXferCount = 0x00U; - - /* Restore huart->gState to Ready */ - huart->gState = HAL_UART_STATE_READY; - - /* As no DMA to be aborted, call directly user Abort complete callback */ -#if (USE_HAL_UART_REGISTER_CALLBACKS == 1) - /* Call registered Abort Transmit Complete Callback */ - huart->AbortTransmitCpltCallback(huart); -#else - /* Call legacy weak Abort Transmit Complete Callback */ - HAL_UART_AbortTransmitCpltCallback(huart); -#endif /* USE_HAL_UART_REGISTER_CALLBACKS */ - } - } - else - { - /* Reset Tx transfer counter */ - huart->TxXferCount = 0x00U; - - /* Restore huart->gState to Ready */ - huart->gState = HAL_UART_STATE_READY; - - /* As no DMA to be aborted, call directly user Abort complete callback */ -#if (USE_HAL_UART_REGISTER_CALLBACKS == 1) - /* Call registered Abort Transmit Complete Callback */ - huart->AbortTransmitCpltCallback(huart); -#else - /* Call legacy weak Abort Transmit Complete Callback */ - HAL_UART_AbortTransmitCpltCallback(huart); -#endif /* USE_HAL_UART_REGISTER_CALLBACKS */ - } - - return HAL_OK; -} - -/** - * @brief Abort ongoing Receive transfer (Interrupt mode). - * @param huart UART handle. - * @note This procedure could be used for aborting any ongoing Rx transfer started in Interrupt or DMA mode. - * This procedure performs following operations : - * - Disable UART Interrupts (Rx) - * - Disable the DMA transfer in the peripheral register (if enabled) - * - Abort DMA transfer by calling HAL_DMA_Abort_IT (in case of transfer in DMA mode) - * - Set handle State to READY - * - At abort completion, call user abort complete callback - * @note This procedure is executed in Interrupt mode, meaning that abort procedure could be - * considered as completed only when user abort complete callback is executed (not when exiting function). - * @retval HAL status - */ -HAL_StatusTypeDef HAL_UART_AbortReceive_IT(UART_HandleTypeDef *huart) -{ - /* Disable RXNE, PE and ERR (Frame error, noise error, overrun error) interrupts */ - ATOMIC_CLEAR_BIT(huart->Instance->CR1, (USART_CR1_RXNEIE | USART_CR1_PEIE)); - ATOMIC_CLEAR_BIT(huart->Instance->CR3, USART_CR3_EIE); - - /* If Reception till IDLE event was ongoing, disable IDLEIE interrupt */ - if (huart->ReceptionType == HAL_UART_RECEPTION_TOIDLE) - { - ATOMIC_CLEAR_BIT(huart->Instance->CR1, (USART_CR1_IDLEIE)); - } - - /* Disable the UART DMA Rx request if enabled */ - if (HAL_IS_BIT_SET(huart->Instance->CR3, USART_CR3_DMAR)) - { - ATOMIC_CLEAR_BIT(huart->Instance->CR3, USART_CR3_DMAR); - - /* Abort the UART DMA Rx stream : use blocking DMA Abort API (no callback) */ - if (huart->hdmarx != NULL) - { - /* Set the UART DMA Abort callback : - will lead to call HAL_UART_AbortCpltCallback() at end of DMA abort procedure */ - huart->hdmarx->XferAbortCallback = UART_DMARxOnlyAbortCallback; - - /* Abort DMA RX */ - if (HAL_DMA_Abort_IT(huart->hdmarx) != HAL_OK) - { - /* Call Directly huart->hdmarx->XferAbortCallback function in case of error */ - huart->hdmarx->XferAbortCallback(huart->hdmarx); - } - } - else - { - /* Reset Rx transfer counter */ - huart->RxXferCount = 0x00U; - - /* Restore huart->RxState to Ready */ - huart->RxState = HAL_UART_STATE_READY; - huart->ReceptionType = HAL_UART_RECEPTION_STANDARD; - - /* As no DMA to be aborted, call directly user Abort complete callback */ -#if (USE_HAL_UART_REGISTER_CALLBACKS == 1) - /* Call registered Abort Receive Complete Callback */ - huart->AbortReceiveCpltCallback(huart); -#else - /* Call legacy weak Abort Receive Complete Callback */ - HAL_UART_AbortReceiveCpltCallback(huart); -#endif /* USE_HAL_UART_REGISTER_CALLBACKS */ - } - } - else - { - /* Reset Rx transfer counter */ - huart->RxXferCount = 0x00U; - - /* Restore huart->RxState to Ready */ - huart->RxState = HAL_UART_STATE_READY; - huart->ReceptionType = HAL_UART_RECEPTION_STANDARD; - - /* As no DMA to be aborted, call directly user Abort complete callback */ -#if (USE_HAL_UART_REGISTER_CALLBACKS == 1) - /* Call registered Abort Receive Complete Callback */ - huart->AbortReceiveCpltCallback(huart); -#else - /* Call legacy weak Abort Receive Complete Callback */ - HAL_UART_AbortReceiveCpltCallback(huart); -#endif /* USE_HAL_UART_REGISTER_CALLBACKS */ - } - - return HAL_OK; -} - -/** - * @brief This function handles UART interrupt request. - * @param huart Pointer to a UART_HandleTypeDef structure that contains - * the configuration information for the specified UART module. - * @retval None - */ -void HAL_UART_IRQHandler(UART_HandleTypeDef *huart) -{ - uint32_t isrflags = READ_REG(huart->Instance->SR); - uint32_t cr1its = READ_REG(huart->Instance->CR1); - uint32_t cr3its = READ_REG(huart->Instance->CR3); - uint32_t errorflags = 0x00U; - uint32_t dmarequest = 0x00U; - - /* If no error occurs */ - errorflags = (isrflags & (uint32_t)(USART_SR_PE | USART_SR_FE | USART_SR_ORE | USART_SR_NE)); - if (errorflags == RESET) - { - /* UART in mode Receiver -------------------------------------------------*/ - if (((isrflags & USART_SR_RXNE) != RESET) && ((cr1its & USART_CR1_RXNEIE) != RESET)) - { - UART_Receive_IT(huart); - return; - } - } - - /* If some errors occur */ - if ((errorflags != RESET) && (((cr3its & USART_CR3_EIE) != RESET) - || ((cr1its & (USART_CR1_RXNEIE | USART_CR1_PEIE)) != RESET))) - { - /* UART parity error interrupt occurred ----------------------------------*/ - if (((isrflags & USART_SR_PE) != RESET) && ((cr1its & USART_CR1_PEIE) != RESET)) - { - huart->ErrorCode |= HAL_UART_ERROR_PE; - } - - /* UART noise error interrupt occurred -----------------------------------*/ - if (((isrflags & USART_SR_NE) != RESET) && ((cr3its & USART_CR3_EIE) != RESET)) - { - huart->ErrorCode |= HAL_UART_ERROR_NE; - } - - /* UART frame error interrupt occurred -----------------------------------*/ - if (((isrflags & USART_SR_FE) != RESET) && ((cr3its & USART_CR3_EIE) != RESET)) - { - huart->ErrorCode |= HAL_UART_ERROR_FE; - } - - /* UART Over-Run interrupt occurred --------------------------------------*/ - if (((isrflags & USART_SR_ORE) != RESET) && (((cr1its & USART_CR1_RXNEIE) != RESET) - || ((cr3its & USART_CR3_EIE) != RESET))) - { - huart->ErrorCode |= HAL_UART_ERROR_ORE; - } - - /* Call UART Error Call back function if need be --------------------------*/ - if (huart->ErrorCode != HAL_UART_ERROR_NONE) - { - /* UART in mode Receiver -----------------------------------------------*/ - if (((isrflags & USART_SR_RXNE) != RESET) && ((cr1its & USART_CR1_RXNEIE) != RESET)) - { - UART_Receive_IT(huart); - } - - /* If Overrun error occurs, or if any error occurs in DMA mode reception, - consider error as blocking */ - dmarequest = HAL_IS_BIT_SET(huart->Instance->CR3, USART_CR3_DMAR); - if (((huart->ErrorCode & HAL_UART_ERROR_ORE) != RESET) || dmarequest) - { - /* Blocking error : transfer is aborted - Set the UART state ready to be able to start again the process, - Disable Rx Interrupts, and disable Rx DMA request, if ongoing */ - UART_EndRxTransfer(huart); - - /* Disable the UART DMA Rx request if enabled */ - if (HAL_IS_BIT_SET(huart->Instance->CR3, USART_CR3_DMAR)) - { - ATOMIC_CLEAR_BIT(huart->Instance->CR3, USART_CR3_DMAR); - - /* Abort the UART DMA Rx stream */ - if (huart->hdmarx != NULL) - { - /* Set the UART DMA Abort callback : - will lead to call HAL_UART_ErrorCallback() at end of DMA abort procedure */ - huart->hdmarx->XferAbortCallback = UART_DMAAbortOnError; - if (HAL_DMA_Abort_IT(huart->hdmarx) != HAL_OK) - { - /* Call Directly XferAbortCallback function in case of error */ - huart->hdmarx->XferAbortCallback(huart->hdmarx); - } - } - else - { - /* Call user error callback */ -#if (USE_HAL_UART_REGISTER_CALLBACKS == 1) - /*Call registered error callback*/ - huart->ErrorCallback(huart); -#else - /*Call legacy weak error callback*/ - HAL_UART_ErrorCallback(huart); -#endif /* USE_HAL_UART_REGISTER_CALLBACKS */ - } - } - else - { - /* Call user error callback */ -#if (USE_HAL_UART_REGISTER_CALLBACKS == 1) - /*Call registered error callback*/ - huart->ErrorCallback(huart); -#else - /*Call legacy weak error callback*/ - HAL_UART_ErrorCallback(huart); -#endif /* USE_HAL_UART_REGISTER_CALLBACKS */ - } - } - else - { - /* Non Blocking error : transfer could go on. - Error is notified to user through user error callback */ -#if (USE_HAL_UART_REGISTER_CALLBACKS == 1) - /*Call registered error callback*/ - huart->ErrorCallback(huart); -#else - /*Call legacy weak error callback*/ - HAL_UART_ErrorCallback(huart); -#endif /* USE_HAL_UART_REGISTER_CALLBACKS */ - - huart->ErrorCode = HAL_UART_ERROR_NONE; - } - } - return; - } /* End if some error occurs */ - - /* Check current reception Mode : - If Reception till IDLE event has been selected : */ - if ((huart->ReceptionType == HAL_UART_RECEPTION_TOIDLE) - && ((isrflags & USART_SR_IDLE) != 0U) - && ((cr1its & USART_SR_IDLE) != 0U)) - { - __HAL_UART_CLEAR_IDLEFLAG(huart); - - /* Check if DMA mode is enabled in UART */ - if (HAL_IS_BIT_SET(huart->Instance->CR3, USART_CR3_DMAR)) - { - /* DMA mode enabled */ - /* Check received length : If all expected data are received, do nothing, - (DMA cplt callback will be called). - Otherwise, if at least one data has already been received, IDLE event is to be notified to user */ - uint16_t nb_remaining_rx_data = (uint16_t) __HAL_DMA_GET_COUNTER(huart->hdmarx); - if ((nb_remaining_rx_data > 0U) - && (nb_remaining_rx_data < huart->RxXferSize)) - { - /* Reception is not complete */ - huart->RxXferCount = nb_remaining_rx_data; - - /* In Normal mode, end DMA xfer and HAL UART Rx process*/ - if (huart->hdmarx->Init.Mode != DMA_CIRCULAR) - { - /* Disable PE and ERR (Frame error, noise error, overrun error) interrupts */ - ATOMIC_CLEAR_BIT(huart->Instance->CR1, USART_CR1_PEIE); - ATOMIC_CLEAR_BIT(huart->Instance->CR3, USART_CR3_EIE); - - /* Disable the DMA transfer for the receiver request by resetting the DMAR bit - in the UART CR3 register */ - ATOMIC_CLEAR_BIT(huart->Instance->CR3, USART_CR3_DMAR); - - /* At end of Rx process, restore huart->RxState to Ready */ - huart->RxState = HAL_UART_STATE_READY; - huart->ReceptionType = HAL_UART_RECEPTION_STANDARD; - - ATOMIC_CLEAR_BIT(huart->Instance->CR1, USART_CR1_IDLEIE); - - /* Last bytes received, so no need as the abort is immediate */ - (void)HAL_DMA_Abort(huart->hdmarx); - } -#if (USE_HAL_UART_REGISTER_CALLBACKS == 1) - /*Call registered Rx Event callback*/ - huart->RxEventCallback(huart, (huart->RxXferSize - huart->RxXferCount)); -#else - /*Call legacy weak Rx Event callback*/ - HAL_UARTEx_RxEventCallback(huart, (huart->RxXferSize - huart->RxXferCount)); -#endif /* USE_HAL_UART_REGISTER_CALLBACKS */ - } - return; - } - else - { - /* DMA mode not enabled */ - /* Check received length : If all expected data are received, do nothing. - Otherwise, if at least one data has already been received, IDLE event is to be notified to user */ - uint16_t nb_rx_data = huart->RxXferSize - huart->RxXferCount; - if ((huart->RxXferCount > 0U) - && (nb_rx_data > 0U)) - { - /* Disable the UART Parity Error Interrupt and RXNE interrupts */ - ATOMIC_CLEAR_BIT(huart->Instance->CR1, (USART_CR1_RXNEIE | USART_CR1_PEIE)); - - /* Disable the UART Error Interrupt: (Frame error, noise error, overrun error) */ - ATOMIC_CLEAR_BIT(huart->Instance->CR3, USART_CR3_EIE); - - /* Rx process is completed, restore huart->RxState to Ready */ - huart->RxState = HAL_UART_STATE_READY; - huart->ReceptionType = HAL_UART_RECEPTION_STANDARD; - - ATOMIC_CLEAR_BIT(huart->Instance->CR1, USART_CR1_IDLEIE); -#if (USE_HAL_UART_REGISTER_CALLBACKS == 1) - /*Call registered Rx complete callback*/ - huart->RxEventCallback(huart, nb_rx_data); -#else - /*Call legacy weak Rx Event callback*/ - HAL_UARTEx_RxEventCallback(huart, nb_rx_data); -#endif /* USE_HAL_UART_REGISTER_CALLBACKS */ - } - return; - } - } - - /* UART in mode Transmitter ------------------------------------------------*/ - if (((isrflags & USART_SR_TXE) != RESET) && ((cr1its & USART_CR1_TXEIE) != RESET)) - { - UART_Transmit_IT(huart); - return; - } - - /* UART in mode Transmitter end --------------------------------------------*/ - if (((isrflags & USART_SR_TC) != RESET) && ((cr1its & USART_CR1_TCIE) != RESET)) - { - UART_EndTransmit_IT(huart); - return; - } -} - -/** - * @brief Tx Transfer completed callbacks. - * @param huart Pointer to a UART_HandleTypeDef structure that contains - * the configuration information for the specified UART module. - * @retval None - */ -__weak void HAL_UART_TxCpltCallback(UART_HandleTypeDef *huart) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(huart); - /* NOTE: This function should not be modified, when the callback is needed, - the HAL_UART_TxCpltCallback could be implemented in the user file - */ -} - -/** - * @brief Tx Half Transfer completed callbacks. - * @param huart Pointer to a UART_HandleTypeDef structure that contains - * the configuration information for the specified UART module. - * @retval None - */ -__weak void HAL_UART_TxHalfCpltCallback(UART_HandleTypeDef *huart) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(huart); - /* NOTE: This function should not be modified, when the callback is needed, - the HAL_UART_TxHalfCpltCallback could be implemented in the user file - */ -} - -/** - * @brief Rx Transfer completed callbacks. - * @param huart Pointer to a UART_HandleTypeDef structure that contains - * the configuration information for the specified UART module. - * @retval None - */ -__weak void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(huart); - /* NOTE: This function should not be modified, when the callback is needed, - the HAL_UART_RxCpltCallback could be implemented in the user file - */ -} - -/** - * @brief Rx Half Transfer completed callbacks. - * @param huart Pointer to a UART_HandleTypeDef structure that contains - * the configuration information for the specified UART module. - * @retval None - */ -__weak void HAL_UART_RxHalfCpltCallback(UART_HandleTypeDef *huart) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(huart); - /* NOTE: This function should not be modified, when the callback is needed, - the HAL_UART_RxHalfCpltCallback could be implemented in the user file - */ -} - -/** - * @brief UART error callbacks. - * @param huart Pointer to a UART_HandleTypeDef structure that contains - * the configuration information for the specified UART module. - * @retval None - */ -__weak void HAL_UART_ErrorCallback(UART_HandleTypeDef *huart) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(huart); - /* NOTE: This function should not be modified, when the callback is needed, - the HAL_UART_ErrorCallback could be implemented in the user file - */ -} - -/** - * @brief UART Abort Complete callback. - * @param huart UART handle. - * @retval None - */ -__weak void HAL_UART_AbortCpltCallback(UART_HandleTypeDef *huart) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(huart); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_UART_AbortCpltCallback can be implemented in the user file. - */ -} - -/** - * @brief UART Abort Complete callback. - * @param huart UART handle. - * @retval None - */ -__weak void HAL_UART_AbortTransmitCpltCallback(UART_HandleTypeDef *huart) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(huart); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_UART_AbortTransmitCpltCallback can be implemented in the user file. - */ -} - -/** - * @brief UART Abort Receive Complete callback. - * @param huart UART handle. - * @retval None - */ -__weak void HAL_UART_AbortReceiveCpltCallback(UART_HandleTypeDef *huart) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(huart); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_UART_AbortReceiveCpltCallback can be implemented in the user file. - */ -} - -/** - * @brief Reception Event Callback (Rx event notification called after use of advanced reception service). - * @param huart UART handle - * @param Size Number of data available in application reception buffer (indicates a position in - * reception buffer until which, data are available) - * @retval None - */ -__weak void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(huart); - UNUSED(Size); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_UARTEx_RxEventCallback can be implemented in the user file. - */ -} - -/** - * @} - */ - -/** @defgroup UART_Exported_Functions_Group3 Peripheral Control functions - * @brief UART control functions - * -@verbatim - ============================================================================== - ##### Peripheral Control functions ##### - ============================================================================== - [..] - This subsection provides a set of functions allowing to control the UART: - (+) HAL_LIN_SendBreak() API can be helpful to transmit the break character. - (+) HAL_MultiProcessor_EnterMuteMode() API can be helpful to enter the UART in mute mode. - (+) HAL_MultiProcessor_ExitMuteMode() API can be helpful to exit the UART mute mode by software. - (+) HAL_HalfDuplex_EnableTransmitter() API to enable the UART transmitter and disables the UART receiver in Half Duplex mode - (+) HAL_HalfDuplex_EnableReceiver() API to enable the UART receiver and disables the UART transmitter in Half Duplex mode - -@endverbatim - * @{ - */ - -/** - * @brief Transmits break characters. - * @param huart Pointer to a UART_HandleTypeDef structure that contains - * the configuration information for the specified UART module. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_LIN_SendBreak(UART_HandleTypeDef *huart) -{ - /* Check the parameters */ - assert_param(IS_UART_INSTANCE(huart->Instance)); - - /* Process Locked */ - __HAL_LOCK(huart); - - huart->gState = HAL_UART_STATE_BUSY; - - /* Send break characters */ - ATOMIC_SET_BIT(huart->Instance->CR1, USART_CR1_SBK); - - huart->gState = HAL_UART_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(huart); - - return HAL_OK; -} - -/** - * @brief Enters the UART in mute mode. - * @param huart Pointer to a UART_HandleTypeDef structure that contains - * the configuration information for the specified UART module. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_MultiProcessor_EnterMuteMode(UART_HandleTypeDef *huart) -{ - /* Check the parameters */ - assert_param(IS_UART_INSTANCE(huart->Instance)); - - /* Process Locked */ - __HAL_LOCK(huart); - - huart->gState = HAL_UART_STATE_BUSY; - - /* Enable the USART mute mode by setting the RWU bit in the CR1 register */ - ATOMIC_SET_BIT(huart->Instance->CR1, USART_CR1_RWU); - - huart->gState = HAL_UART_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(huart); - - return HAL_OK; -} - -/** - * @brief Exits the UART mute mode: wake up software. - * @param huart Pointer to a UART_HandleTypeDef structure that contains - * the configuration information for the specified UART module. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_MultiProcessor_ExitMuteMode(UART_HandleTypeDef *huart) -{ - /* Check the parameters */ - assert_param(IS_UART_INSTANCE(huart->Instance)); - - /* Process Locked */ - __HAL_LOCK(huart); - - huart->gState = HAL_UART_STATE_BUSY; - - /* Disable the USART mute mode by clearing the RWU bit in the CR1 register */ - ATOMIC_CLEAR_BIT(huart->Instance->CR1, USART_CR1_RWU); - - huart->gState = HAL_UART_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(huart); - - return HAL_OK; -} - -/** - * @brief Enables the UART transmitter and disables the UART receiver. - * @param huart Pointer to a UART_HandleTypeDef structure that contains - * the configuration information for the specified UART module. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_HalfDuplex_EnableTransmitter(UART_HandleTypeDef *huart) -{ - uint32_t tmpreg = 0x00U; - - /* Process Locked */ - __HAL_LOCK(huart); - - huart->gState = HAL_UART_STATE_BUSY; - - /*-------------------------- USART CR1 Configuration -----------------------*/ - tmpreg = huart->Instance->CR1; - - /* Clear TE and RE bits */ - tmpreg &= (uint32_t)~((uint32_t)(USART_CR1_TE | USART_CR1_RE)); - - /* Enable the USART's transmit interface by setting the TE bit in the USART CR1 register */ - tmpreg |= (uint32_t)USART_CR1_TE; - - /* Write to USART CR1 */ - WRITE_REG(huart->Instance->CR1, (uint32_t)tmpreg); - - huart->gState = HAL_UART_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(huart); - - return HAL_OK; -} - -/** - * @brief Enables the UART receiver and disables the UART transmitter. - * @param huart Pointer to a UART_HandleTypeDef structure that contains - * the configuration information for the specified UART module. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_HalfDuplex_EnableReceiver(UART_HandleTypeDef *huart) -{ - uint32_t tmpreg = 0x00U; - - /* Process Locked */ - __HAL_LOCK(huart); - - huart->gState = HAL_UART_STATE_BUSY; - - /*-------------------------- USART CR1 Configuration -----------------------*/ - tmpreg = huart->Instance->CR1; - - /* Clear TE and RE bits */ - tmpreg &= (uint32_t)~((uint32_t)(USART_CR1_TE | USART_CR1_RE)); - - /* Enable the USART's receive interface by setting the RE bit in the USART CR1 register */ - tmpreg |= (uint32_t)USART_CR1_RE; - - /* Write to USART CR1 */ - WRITE_REG(huart->Instance->CR1, (uint32_t)tmpreg); - - huart->gState = HAL_UART_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(huart); - - return HAL_OK; -} - -/** - * @} - */ - -/** @defgroup UART_Exported_Functions_Group4 Peripheral State and Errors functions - * @brief UART State and Errors functions - * -@verbatim - ============================================================================== - ##### Peripheral State and Errors functions ##### - ============================================================================== - [..] - This subsection provides a set of functions allowing to return the State of - UART communication process, return Peripheral Errors occurred during communication - process - (+) HAL_UART_GetState() API can be helpful to check in run-time the state of the UART peripheral. - (+) HAL_UART_GetError() check in run-time errors that could be occurred during communication. - -@endverbatim - * @{ - */ - -/** - * @brief Returns the UART state. - * @param huart Pointer to a UART_HandleTypeDef structure that contains - * the configuration information for the specified UART module. - * @retval HAL state - */ -HAL_UART_StateTypeDef HAL_UART_GetState(UART_HandleTypeDef *huart) -{ - uint32_t temp1 = 0x00U, temp2 = 0x00U; - temp1 = huart->gState; - temp2 = huart->RxState; - - return (HAL_UART_StateTypeDef)(temp1 | temp2); -} - -/** - * @brief Return the UART error code - * @param huart Pointer to a UART_HandleTypeDef structure that contains - * the configuration information for the specified UART. - * @retval UART Error Code - */ -uint32_t HAL_UART_GetError(UART_HandleTypeDef *huart) -{ - return huart->ErrorCode; -} - -/** - * @} - */ - -/** - * @} - */ - -/** @defgroup UART_Private_Functions UART Private Functions - * @{ - */ - -/** - * @brief Initialize the callbacks to their default values. - * @param huart UART handle. - * @retval none - */ -#if (USE_HAL_UART_REGISTER_CALLBACKS == 1) -void UART_InitCallbacksToDefault(UART_HandleTypeDef *huart) -{ - /* Init the UART Callback settings */ - huart->TxHalfCpltCallback = HAL_UART_TxHalfCpltCallback; /* Legacy weak TxHalfCpltCallback */ - huart->TxCpltCallback = HAL_UART_TxCpltCallback; /* Legacy weak TxCpltCallback */ - huart->RxHalfCpltCallback = HAL_UART_RxHalfCpltCallback; /* Legacy weak RxHalfCpltCallback */ - huart->RxCpltCallback = HAL_UART_RxCpltCallback; /* Legacy weak RxCpltCallback */ - huart->ErrorCallback = HAL_UART_ErrorCallback; /* Legacy weak ErrorCallback */ - huart->AbortCpltCallback = HAL_UART_AbortCpltCallback; /* Legacy weak AbortCpltCallback */ - huart->AbortTransmitCpltCallback = HAL_UART_AbortTransmitCpltCallback; /* Legacy weak AbortTransmitCpltCallback */ - huart->AbortReceiveCpltCallback = HAL_UART_AbortReceiveCpltCallback; /* Legacy weak AbortReceiveCpltCallback */ - huart->RxEventCallback = HAL_UARTEx_RxEventCallback; /* Legacy weak RxEventCallback */ - -} -#endif /* USE_HAL_UART_REGISTER_CALLBACKS */ - -/** - * @brief DMA UART transmit process complete callback. - * @param hdma Pointer to a DMA_HandleTypeDef structure that contains - * the configuration information for the specified DMA module. - * @retval None - */ -static void UART_DMATransmitCplt(DMA_HandleTypeDef *hdma) -{ - UART_HandleTypeDef *huart = (UART_HandleTypeDef *)((DMA_HandleTypeDef *)hdma)->Parent; - /* DMA Normal mode*/ - if ((hdma->Instance->CR & DMA_SxCR_CIRC) == 0U) - { - huart->TxXferCount = 0x00U; - - /* Disable the DMA transfer for transmit request by setting the DMAT bit - in the UART CR3 register */ - ATOMIC_CLEAR_BIT(huart->Instance->CR3, USART_CR3_DMAT); - - /* Enable the UART Transmit Complete Interrupt */ - ATOMIC_SET_BIT(huart->Instance->CR1, USART_CR1_TCIE); - - } - /* DMA Circular mode */ - else - { -#if (USE_HAL_UART_REGISTER_CALLBACKS == 1) - /*Call registered Tx complete callback*/ - huart->TxCpltCallback(huart); -#else - /*Call legacy weak Tx complete callback*/ - HAL_UART_TxCpltCallback(huart); -#endif /* USE_HAL_UART_REGISTER_CALLBACKS */ - } -} - -/** - * @brief DMA UART transmit process half complete callback - * @param hdma Pointer to a DMA_HandleTypeDef structure that contains - * the configuration information for the specified DMA module. - * @retval None - */ -static void UART_DMATxHalfCplt(DMA_HandleTypeDef *hdma) -{ - UART_HandleTypeDef *huart = (UART_HandleTypeDef *)((DMA_HandleTypeDef *)hdma)->Parent; - -#if (USE_HAL_UART_REGISTER_CALLBACKS == 1) - /*Call registered Tx complete callback*/ - huart->TxHalfCpltCallback(huart); -#else - /*Call legacy weak Tx complete callback*/ - HAL_UART_TxHalfCpltCallback(huart); -#endif /* USE_HAL_UART_REGISTER_CALLBACKS */ -} - -/** - * @brief DMA UART receive process complete callback. - * @param hdma Pointer to a DMA_HandleTypeDef structure that contains - * the configuration information for the specified DMA module. - * @retval None - */ -static void UART_DMAReceiveCplt(DMA_HandleTypeDef *hdma) -{ - UART_HandleTypeDef *huart = (UART_HandleTypeDef *)((DMA_HandleTypeDef *)hdma)->Parent; - /* DMA Normal mode*/ - if ((hdma->Instance->CR & DMA_SxCR_CIRC) == 0U) - { - huart->RxXferCount = 0U; - - /* Disable RXNE, PE and ERR (Frame error, noise error, overrun error) interrupts */ - ATOMIC_CLEAR_BIT(huart->Instance->CR1, USART_CR1_PEIE); - ATOMIC_CLEAR_BIT(huart->Instance->CR3, USART_CR3_EIE); - - /* Disable the DMA transfer for the receiver request by setting the DMAR bit - in the UART CR3 register */ - ATOMIC_CLEAR_BIT(huart->Instance->CR3, USART_CR3_DMAR); - - /* At end of Rx process, restore huart->RxState to Ready */ - huart->RxState = HAL_UART_STATE_READY; - - /* If Reception till IDLE event has been selected, Disable IDLE Interrupt */ - if (huart->ReceptionType == HAL_UART_RECEPTION_TOIDLE) - { - ATOMIC_CLEAR_BIT(huart->Instance->CR1, USART_CR1_IDLEIE); - } - } - - /* Check current reception Mode : - If Reception till IDLE event has been selected : use Rx Event callback */ - if (huart->ReceptionType == HAL_UART_RECEPTION_TOIDLE) - { -#if (USE_HAL_UART_REGISTER_CALLBACKS == 1) - /*Call registered Rx Event callback*/ - huart->RxEventCallback(huart, huart->RxXferSize); -#else - /*Call legacy weak Rx Event callback*/ - HAL_UARTEx_RxEventCallback(huart, huart->RxXferSize); -#endif /* USE_HAL_UART_REGISTER_CALLBACKS */ - } - else - { - /* In other cases : use Rx Complete callback */ -#if (USE_HAL_UART_REGISTER_CALLBACKS == 1) - /*Call registered Rx complete callback*/ - huart->RxCpltCallback(huart); -#else - /*Call legacy weak Rx complete callback*/ - HAL_UART_RxCpltCallback(huart); -#endif /* USE_HAL_UART_REGISTER_CALLBACKS */ - } -} - -/** - * @brief DMA UART receive process half complete callback - * @param hdma Pointer to a DMA_HandleTypeDef structure that contains - * the configuration information for the specified DMA module. - * @retval None - */ -static void UART_DMARxHalfCplt(DMA_HandleTypeDef *hdma) -{ - UART_HandleTypeDef *huart = (UART_HandleTypeDef *)((DMA_HandleTypeDef *)hdma)->Parent; - - /* Check current reception Mode : - If Reception till IDLE event has been selected : use Rx Event callback */ - if (huart->ReceptionType == HAL_UART_RECEPTION_TOIDLE) - { -#if (USE_HAL_UART_REGISTER_CALLBACKS == 1) - /*Call registered Rx Event callback*/ - huart->RxEventCallback(huart, huart->RxXferSize / 2U); -#else - /*Call legacy weak Rx Event callback*/ - HAL_UARTEx_RxEventCallback(huart, huart->RxXferSize / 2U); -#endif /* USE_HAL_UART_REGISTER_CALLBACKS */ - } - else - { - /* In other cases : use Rx Half Complete callback */ -#if (USE_HAL_UART_REGISTER_CALLBACKS == 1) - /*Call registered Rx Half complete callback*/ - huart->RxHalfCpltCallback(huart); -#else - /*Call legacy weak Rx Half complete callback*/ - HAL_UART_RxHalfCpltCallback(huart); -#endif /* USE_HAL_UART_REGISTER_CALLBACKS */ - } -} - -/** - * @brief DMA UART communication error callback. - * @param hdma Pointer to a DMA_HandleTypeDef structure that contains - * the configuration information for the specified DMA module. - * @retval None - */ -static void UART_DMAError(DMA_HandleTypeDef *hdma) -{ - uint32_t dmarequest = 0x00U; - UART_HandleTypeDef *huart = (UART_HandleTypeDef *)((DMA_HandleTypeDef *)hdma)->Parent; - - /* Stop UART DMA Tx request if ongoing */ - dmarequest = HAL_IS_BIT_SET(huart->Instance->CR3, USART_CR3_DMAT); - if ((huart->gState == HAL_UART_STATE_BUSY_TX) && dmarequest) - { - huart->TxXferCount = 0x00U; - UART_EndTxTransfer(huart); - } - - /* Stop UART DMA Rx request if ongoing */ - dmarequest = HAL_IS_BIT_SET(huart->Instance->CR3, USART_CR3_DMAR); - if ((huart->RxState == HAL_UART_STATE_BUSY_RX) && dmarequest) - { - huart->RxXferCount = 0x00U; - UART_EndRxTransfer(huart); - } - - huart->ErrorCode |= HAL_UART_ERROR_DMA; -#if (USE_HAL_UART_REGISTER_CALLBACKS == 1) - /*Call registered error callback*/ - huart->ErrorCallback(huart); -#else - /*Call legacy weak error callback*/ - HAL_UART_ErrorCallback(huart); -#endif /* USE_HAL_UART_REGISTER_CALLBACKS */ -} - -/** - * @brief This function handles UART Communication Timeout. - * @param huart Pointer to a UART_HandleTypeDef structure that contains - * the configuration information for the specified UART module. - * @param Flag specifies the UART flag to check. - * @param Status The new Flag status (SET or RESET). - * @param Tickstart Tick start value - * @param Timeout Timeout duration - * @retval HAL status - */ -static HAL_StatusTypeDef UART_WaitOnFlagUntilTimeout(UART_HandleTypeDef *huart, uint32_t Flag, FlagStatus Status, - uint32_t Tickstart, uint32_t Timeout) -{ - /* Wait until flag is set */ - while ((__HAL_UART_GET_FLAG(huart, Flag) ? SET : RESET) == Status) - { - /* Check for the Timeout */ - if (Timeout != HAL_MAX_DELAY) - { - if ((Timeout == 0U) || ((HAL_GetTick() - Tickstart) > Timeout)) - { - /* Disable TXE, RXNE, PE and ERR (Frame error, noise error, overrun error) interrupts for the interrupt process */ - ATOMIC_CLEAR_BIT(huart->Instance->CR1, (USART_CR1_RXNEIE | USART_CR1_PEIE | USART_CR1_TXEIE)); - ATOMIC_CLEAR_BIT(huart->Instance->CR3, USART_CR3_EIE); - - huart->gState = HAL_UART_STATE_READY; - huart->RxState = HAL_UART_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(huart); - - return HAL_TIMEOUT; - } - } - } - return HAL_OK; -} - -/** - * @brief Start Receive operation in interrupt mode. - * @note This function could be called by all HAL UART API providing reception in Interrupt mode. - * @note When calling this function, parameters validity is considered as already checked, - * i.e. Rx State, buffer address, ... - * UART Handle is assumed as Locked. - * @param huart UART handle. - * @param pData Pointer to data buffer (u8 or u16 data elements). - * @param Size Amount of data elements (u8 or u16) to be received. - * @retval HAL status - */ -HAL_StatusTypeDef UART_Start_Receive_IT(UART_HandleTypeDef *huart, uint8_t *pData, uint16_t Size) -{ - huart->pRxBuffPtr = pData; - huart->RxXferSize = Size; - huart->RxXferCount = Size; - - huart->ErrorCode = HAL_UART_ERROR_NONE; - huart->RxState = HAL_UART_STATE_BUSY_RX; - - /* Process Unlocked */ - __HAL_UNLOCK(huart); - - /* Enable the UART Parity Error Interrupt */ - __HAL_UART_ENABLE_IT(huart, UART_IT_PE); - - /* Enable the UART Error Interrupt: (Frame error, noise error, overrun error) */ - __HAL_UART_ENABLE_IT(huart, UART_IT_ERR); - - /* Enable the UART Data Register not empty Interrupt */ - __HAL_UART_ENABLE_IT(huart, UART_IT_RXNE); - - return HAL_OK; -} - -/** - * @brief Start Receive operation in DMA mode. - * @note This function could be called by all HAL UART API providing reception in DMA mode. - * @note When calling this function, parameters validity is considered as already checked, - * i.e. Rx State, buffer address, ... - * UART Handle is assumed as Locked. - * @param huart UART handle. - * @param pData Pointer to data buffer (u8 or u16 data elements). - * @param Size Amount of data elements (u8 or u16) to be received. - * @retval HAL status - */ -HAL_StatusTypeDef UART_Start_Receive_DMA(UART_HandleTypeDef *huart, uint8_t *pData, uint16_t Size) -{ - uint32_t *tmp; - - huart->pRxBuffPtr = pData; - huart->RxXferSize = Size; - - huart->ErrorCode = HAL_UART_ERROR_NONE; - huart->RxState = HAL_UART_STATE_BUSY_RX; - - /* Set the UART DMA transfer complete callback */ - huart->hdmarx->XferCpltCallback = UART_DMAReceiveCplt; - - /* Set the UART DMA Half transfer complete callback */ - huart->hdmarx->XferHalfCpltCallback = UART_DMARxHalfCplt; - - /* Set the DMA error callback */ - huart->hdmarx->XferErrorCallback = UART_DMAError; - - /* Set the DMA abort callback */ - huart->hdmarx->XferAbortCallback = NULL; - - /* Enable the DMA stream */ - tmp = (uint32_t *)&pData; - HAL_DMA_Start_IT(huart->hdmarx, (uint32_t)&huart->Instance->DR, *(uint32_t *)tmp, Size); - - /* Clear the Overrun flag just before enabling the DMA Rx request: can be mandatory for the second transfer */ - __HAL_UART_CLEAR_OREFLAG(huart); - - /* Process Unlocked */ - __HAL_UNLOCK(huart); - - /* Enable the UART Parity Error Interrupt */ - ATOMIC_SET_BIT(huart->Instance->CR1, USART_CR1_PEIE); - - /* Enable the UART Error Interrupt: (Frame error, noise error, overrun error) */ - ATOMIC_SET_BIT(huart->Instance->CR3, USART_CR3_EIE); - - /* Enable the DMA transfer for the receiver request by setting the DMAR bit - in the UART CR3 register */ - ATOMIC_SET_BIT(huart->Instance->CR3, USART_CR3_DMAR); - - return HAL_OK; -} - -/** - * @brief End ongoing Tx transfer on UART peripheral (following error detection or Transmit completion). - * @param huart UART handle. - * @retval None - */ -static void UART_EndTxTransfer(UART_HandleTypeDef *huart) -{ - /* Disable TXEIE and TCIE interrupts */ - ATOMIC_CLEAR_BIT(huart->Instance->CR1, (USART_CR1_TXEIE | USART_CR1_TCIE)); - - /* At end of Tx process, restore huart->gState to Ready */ - huart->gState = HAL_UART_STATE_READY; -} - -/** - * @brief End ongoing Rx transfer on UART peripheral (following error detection or Reception completion). - * @param huart UART handle. - * @retval None - */ -static void UART_EndRxTransfer(UART_HandleTypeDef *huart) -{ - /* Disable RXNE, PE and ERR (Frame error, noise error, overrun error) interrupts */ - ATOMIC_CLEAR_BIT(huart->Instance->CR1, (USART_CR1_RXNEIE | USART_CR1_PEIE)); - ATOMIC_CLEAR_BIT(huart->Instance->CR3, USART_CR3_EIE); - - /* In case of reception waiting for IDLE event, disable also the IDLE IE interrupt source */ - if (huart->ReceptionType == HAL_UART_RECEPTION_TOIDLE) - { - ATOMIC_CLEAR_BIT(huart->Instance->CR1, USART_CR1_IDLEIE); - } - - /* At end of Rx process, restore huart->RxState to Ready */ - huart->RxState = HAL_UART_STATE_READY; - huart->ReceptionType = HAL_UART_RECEPTION_STANDARD; -} - -/** - * @brief DMA UART communication abort callback, when initiated by HAL services on Error - * (To be called at end of DMA Abort procedure following error occurrence). - * @param hdma Pointer to a DMA_HandleTypeDef structure that contains - * the configuration information for the specified DMA module. - * @retval None - */ -static void UART_DMAAbortOnError(DMA_HandleTypeDef *hdma) -{ - UART_HandleTypeDef *huart = (UART_HandleTypeDef *)((DMA_HandleTypeDef *)hdma)->Parent; - huart->RxXferCount = 0x00U; - huart->TxXferCount = 0x00U; - -#if (USE_HAL_UART_REGISTER_CALLBACKS == 1) - /*Call registered error callback*/ - huart->ErrorCallback(huart); -#else - /*Call legacy weak error callback*/ - HAL_UART_ErrorCallback(huart); -#endif /* USE_HAL_UART_REGISTER_CALLBACKS */ -} - -/** - * @brief DMA UART Tx communication abort callback, when initiated by user - * (To be called at end of DMA Tx Abort procedure following user abort request). - * @note When this callback is executed, User Abort complete call back is called only if no - * Abort still ongoing for Rx DMA Handle. - * @param hdma Pointer to a DMA_HandleTypeDef structure that contains - * the configuration information for the specified DMA module. - * @retval None - */ -static void UART_DMATxAbortCallback(DMA_HandleTypeDef *hdma) -{ - UART_HandleTypeDef *huart = (UART_HandleTypeDef *)((DMA_HandleTypeDef *)hdma)->Parent; - - huart->hdmatx->XferAbortCallback = NULL; - - /* Check if an Abort process is still ongoing */ - if (huart->hdmarx != NULL) - { - if (huart->hdmarx->XferAbortCallback != NULL) - { - return; - } - } - - /* No Abort process still ongoing : All DMA channels are aborted, call user Abort Complete callback */ - huart->TxXferCount = 0x00U; - huart->RxXferCount = 0x00U; - - /* Reset ErrorCode */ - huart->ErrorCode = HAL_UART_ERROR_NONE; - - /* Restore huart->gState and huart->RxState to Ready */ - huart->gState = HAL_UART_STATE_READY; - huart->RxState = HAL_UART_STATE_READY; - huart->ReceptionType = HAL_UART_RECEPTION_STANDARD; - - /* Call user Abort complete callback */ -#if (USE_HAL_UART_REGISTER_CALLBACKS == 1) - /* Call registered Abort complete callback */ - huart->AbortCpltCallback(huart); -#else - /* Call legacy weak Abort complete callback */ - HAL_UART_AbortCpltCallback(huart); -#endif /* USE_HAL_UART_REGISTER_CALLBACKS */ -} - -/** - * @brief DMA UART Rx communication abort callback, when initiated by user - * (To be called at end of DMA Rx Abort procedure following user abort request). - * @note When this callback is executed, User Abort complete call back is called only if no - * Abort still ongoing for Tx DMA Handle. - * @param hdma Pointer to a DMA_HandleTypeDef structure that contains - * the configuration information for the specified DMA module. - * @retval None - */ -static void UART_DMARxAbortCallback(DMA_HandleTypeDef *hdma) -{ - UART_HandleTypeDef *huart = (UART_HandleTypeDef *)((DMA_HandleTypeDef *)hdma)->Parent; - - huart->hdmarx->XferAbortCallback = NULL; - - /* Check if an Abort process is still ongoing */ - if (huart->hdmatx != NULL) - { - if (huart->hdmatx->XferAbortCallback != NULL) - { - return; - } - } - - /* No Abort process still ongoing : All DMA channels are aborted, call user Abort Complete callback */ - huart->TxXferCount = 0x00U; - huart->RxXferCount = 0x00U; - - /* Reset ErrorCode */ - huart->ErrorCode = HAL_UART_ERROR_NONE; - - /* Restore huart->gState and huart->RxState to Ready */ - huart->gState = HAL_UART_STATE_READY; - huart->RxState = HAL_UART_STATE_READY; - huart->ReceptionType = HAL_UART_RECEPTION_STANDARD; - - /* Call user Abort complete callback */ -#if (USE_HAL_UART_REGISTER_CALLBACKS == 1) - /* Call registered Abort complete callback */ - huart->AbortCpltCallback(huart); -#else - /* Call legacy weak Abort complete callback */ - HAL_UART_AbortCpltCallback(huart); -#endif /* USE_HAL_UART_REGISTER_CALLBACKS */ -} - -/** - * @brief DMA UART Tx communication abort callback, when initiated by user by a call to - * HAL_UART_AbortTransmit_IT API (Abort only Tx transfer) - * (This callback is executed at end of DMA Tx Abort procedure following user abort request, - * and leads to user Tx Abort Complete callback execution). - * @param hdma Pointer to a DMA_HandleTypeDef structure that contains - * the configuration information for the specified DMA module. - * @retval None - */ -static void UART_DMATxOnlyAbortCallback(DMA_HandleTypeDef *hdma) -{ - UART_HandleTypeDef *huart = (UART_HandleTypeDef *)((DMA_HandleTypeDef *)hdma)->Parent; - - huart->TxXferCount = 0x00U; - - /* Restore huart->gState to Ready */ - huart->gState = HAL_UART_STATE_READY; - - /* Call user Abort complete callback */ -#if (USE_HAL_UART_REGISTER_CALLBACKS == 1) - /* Call registered Abort Transmit Complete Callback */ - huart->AbortTransmitCpltCallback(huart); -#else - /* Call legacy weak Abort Transmit Complete Callback */ - HAL_UART_AbortTransmitCpltCallback(huart); -#endif /* USE_HAL_UART_REGISTER_CALLBACKS */ -} - -/** - * @brief DMA UART Rx communication abort callback, when initiated by user by a call to - * HAL_UART_AbortReceive_IT API (Abort only Rx transfer) - * (This callback is executed at end of DMA Rx Abort procedure following user abort request, - * and leads to user Rx Abort Complete callback execution). - * @param hdma Pointer to a DMA_HandleTypeDef structure that contains - * the configuration information for the specified DMA module. - * @retval None - */ -static void UART_DMARxOnlyAbortCallback(DMA_HandleTypeDef *hdma) -{ - UART_HandleTypeDef *huart = (UART_HandleTypeDef *)((DMA_HandleTypeDef *)hdma)->Parent; - - huart->RxXferCount = 0x00U; - - /* Restore huart->RxState to Ready */ - huart->RxState = HAL_UART_STATE_READY; - huart->ReceptionType = HAL_UART_RECEPTION_STANDARD; - - /* Call user Abort complete callback */ -#if (USE_HAL_UART_REGISTER_CALLBACKS == 1) - /* Call registered Abort Receive Complete Callback */ - huart->AbortReceiveCpltCallback(huart); -#else - /* Call legacy weak Abort Receive Complete Callback */ - HAL_UART_AbortReceiveCpltCallback(huart); -#endif /* USE_HAL_UART_REGISTER_CALLBACKS */ -} - -/** - * @brief Sends an amount of data in non blocking mode. - * @param huart Pointer to a UART_HandleTypeDef structure that contains - * the configuration information for the specified UART module. - * @retval HAL status - */ -static HAL_StatusTypeDef UART_Transmit_IT(UART_HandleTypeDef *huart) -{ - uint16_t *tmp; - - /* Check that a Tx process is ongoing */ - if (huart->gState == HAL_UART_STATE_BUSY_TX) - { - if ((huart->Init.WordLength == UART_WORDLENGTH_9B) && (huart->Init.Parity == UART_PARITY_NONE)) - { - tmp = (uint16_t *) huart->pTxBuffPtr; - huart->Instance->DR = (uint16_t)(*tmp & (uint16_t)0x01FF); - huart->pTxBuffPtr += 2U; - } - else - { - huart->Instance->DR = (uint8_t)(*huart->pTxBuffPtr++ & (uint8_t)0x00FF); - } - - if (--huart->TxXferCount == 0U) - { - /* Disable the UART Transmit Complete Interrupt */ - __HAL_UART_DISABLE_IT(huart, UART_IT_TXE); - - /* Enable the UART Transmit Complete Interrupt */ - __HAL_UART_ENABLE_IT(huart, UART_IT_TC); - } - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Wraps up transmission in non blocking mode. - * @param huart Pointer to a UART_HandleTypeDef structure that contains - * the configuration information for the specified UART module. - * @retval HAL status - */ -static HAL_StatusTypeDef UART_EndTransmit_IT(UART_HandleTypeDef *huart) -{ - /* Disable the UART Transmit Complete Interrupt */ - __HAL_UART_DISABLE_IT(huart, UART_IT_TC); - - /* Tx process is ended, restore huart->gState to Ready */ - huart->gState = HAL_UART_STATE_READY; - -#if (USE_HAL_UART_REGISTER_CALLBACKS == 1) - /*Call registered Tx complete callback*/ - huart->TxCpltCallback(huart); -#else - /*Call legacy weak Tx complete callback*/ - HAL_UART_TxCpltCallback(huart); -#endif /* USE_HAL_UART_REGISTER_CALLBACKS */ - - return HAL_OK; -} - -/** - * @brief Receives an amount of data in non blocking mode - * @param huart Pointer to a UART_HandleTypeDef structure that contains - * the configuration information for the specified UART module. - * @retval HAL status - */ -static HAL_StatusTypeDef UART_Receive_IT(UART_HandleTypeDef *huart) -{ - uint8_t *pdata8bits; - uint16_t *pdata16bits; - - /* Check that a Rx process is ongoing */ - if (huart->RxState == HAL_UART_STATE_BUSY_RX) - { - if ((huart->Init.WordLength == UART_WORDLENGTH_9B) && (huart->Init.Parity == UART_PARITY_NONE)) - { - pdata8bits = NULL; - pdata16bits = (uint16_t *) huart->pRxBuffPtr; - *pdata16bits = (uint16_t)(huart->Instance->DR & (uint16_t)0x01FF); - huart->pRxBuffPtr += 2U; - } - else - { - pdata8bits = (uint8_t *) huart->pRxBuffPtr; - pdata16bits = NULL; - - if ((huart->Init.WordLength == UART_WORDLENGTH_9B) || ((huart->Init.WordLength == UART_WORDLENGTH_8B) && (huart->Init.Parity == UART_PARITY_NONE))) - { - *pdata8bits = (uint8_t)(huart->Instance->DR & (uint8_t)0x00FF); - } - else - { - *pdata8bits = (uint8_t)(huart->Instance->DR & (uint8_t)0x007F); - } - huart->pRxBuffPtr += 1U; - } - - if (--huart->RxXferCount == 0U) - { - /* Disable the UART Data Register not empty Interrupt */ - __HAL_UART_DISABLE_IT(huart, UART_IT_RXNE); - - /* Disable the UART Parity Error Interrupt */ - __HAL_UART_DISABLE_IT(huart, UART_IT_PE); - - /* Disable the UART Error Interrupt: (Frame error, noise error, overrun error) */ - __HAL_UART_DISABLE_IT(huart, UART_IT_ERR); - - /* Rx process is completed, restore huart->RxState to Ready */ - huart->RxState = HAL_UART_STATE_READY; - - /* Check current reception Mode : - If Reception till IDLE event has been selected : */ - if (huart->ReceptionType == HAL_UART_RECEPTION_TOIDLE) - { - /* Set reception type to Standard */ - huart->ReceptionType = HAL_UART_RECEPTION_STANDARD; - - /* Disable IDLE interrupt */ - ATOMIC_CLEAR_BIT(huart->Instance->CR1, USART_CR1_IDLEIE); - - /* Check if IDLE flag is set */ - if (__HAL_UART_GET_FLAG(huart, UART_FLAG_IDLE)) - { - /* Clear IDLE flag in ISR */ - __HAL_UART_CLEAR_IDLEFLAG(huart); - } - -#if (USE_HAL_UART_REGISTER_CALLBACKS == 1) - /*Call registered Rx Event callback*/ - huart->RxEventCallback(huart, huart->RxXferSize); -#else - /*Call legacy weak Rx Event callback*/ - HAL_UARTEx_RxEventCallback(huart, huart->RxXferSize); -#endif /* USE_HAL_UART_REGISTER_CALLBACKS */ - } - else - { - /* Standard reception API called */ -#if (USE_HAL_UART_REGISTER_CALLBACKS == 1) - /*Call registered Rx complete callback*/ - huart->RxCpltCallback(huart); -#else - /*Call legacy weak Rx complete callback*/ - HAL_UART_RxCpltCallback(huart); -#endif /* USE_HAL_UART_REGISTER_CALLBACKS */ - } - - return HAL_OK; - } - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Configures the UART peripheral. - * @param huart Pointer to a UART_HandleTypeDef structure that contains - * the configuration information for the specified UART module. - * @retval None - */ -static void UART_SetConfig(UART_HandleTypeDef *huart) -{ - uint32_t tmpreg; - uint32_t pclk; - - /* Check the parameters */ - assert_param(IS_UART_BAUDRATE(huart->Init.BaudRate)); - assert_param(IS_UART_STOPBITS(huart->Init.StopBits)); - assert_param(IS_UART_PARITY(huart->Init.Parity)); - assert_param(IS_UART_MODE(huart->Init.Mode)); - - /*-------------------------- USART CR2 Configuration -----------------------*/ - /* Configure the UART Stop Bits: Set STOP[13:12] bits - according to huart->Init.StopBits value */ - MODIFY_REG(huart->Instance->CR2, USART_CR2_STOP, huart->Init.StopBits); - - /*-------------------------- USART CR1 Configuration -----------------------*/ - /* Configure the UART Word Length, Parity and mode: - Set the M bits according to huart->Init.WordLength value - Set PCE and PS bits according to huart->Init.Parity value - Set TE and RE bits according to huart->Init.Mode value - Set OVER8 bit according to huart->Init.OverSampling value */ - - tmpreg = (uint32_t)huart->Init.WordLength | huart->Init.Parity | huart->Init.Mode | huart->Init.OverSampling; - MODIFY_REG(huart->Instance->CR1, - (uint32_t)(USART_CR1_M | USART_CR1_PCE | USART_CR1_PS | USART_CR1_TE | USART_CR1_RE | USART_CR1_OVER8), - tmpreg); - - /*-------------------------- USART CR3 Configuration -----------------------*/ - /* Configure the UART HFC: Set CTSE and RTSE bits according to huart->Init.HwFlowCtl value */ - MODIFY_REG(huart->Instance->CR3, (USART_CR3_RTSE | USART_CR3_CTSE), huart->Init.HwFlowCtl); - - -#if defined(USART6) && defined(UART9) && defined(UART10) - if ((huart->Instance == USART1) || (huart->Instance == USART6) || (huart->Instance == UART9) || (huart->Instance == UART10)) - { - pclk = HAL_RCC_GetPCLK2Freq(); - } -#elif defined(USART6) - if ((huart->Instance == USART1) || (huart->Instance == USART6)) - { - pclk = HAL_RCC_GetPCLK2Freq(); - } -#else - if (huart->Instance == USART1) - { - pclk = HAL_RCC_GetPCLK2Freq(); - } -#endif /* USART6 */ - else - { - pclk = HAL_RCC_GetPCLK1Freq(); - } - /*-------------------------- USART BRR Configuration ---------------------*/ - if (huart->Init.OverSampling == UART_OVERSAMPLING_8) - { - huart->Instance->BRR = UART_BRR_SAMPLING8(pclk, huart->Init.BaudRate); - } - else - { - huart->Instance->BRR = UART_BRR_SAMPLING16(pclk, huart->Init.BaudRate); - } -} - -/** - * @} - */ - -#endif /* HAL_UART_MODULE_ENABLED */ -/** - * @} - */ - -/** - * @} - */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_usart.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_usart.c deleted file mode 100644 index 0af05821f14118..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_usart.c +++ /dev/null @@ -1,2824 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_usart.c - * @author MCD Application Team - * @brief USART HAL module driver. - * This file provides firmware functions to manage the following - * functionalities of the Universal Synchronous/Asynchronous Receiver Transmitter - * Peripheral (USART). - * + Initialization and de-initialization functions - * + IO operation functions - * + Peripheral Control functions - @verbatim - ============================================================================== - ##### How to use this driver ##### - ============================================================================== - [..] - The USART HAL driver can be used as follows: - - (#) Declare a USART_HandleTypeDef handle structure (eg. USART_HandleTypeDef husart). - (#) Initialize the USART low level resources by implementing the HAL_USART_MspInit() API: - (##) Enable the USARTx interface clock. - (##) USART pins configuration: - (+++) Enable the clock for the USART GPIOs. - (+++) Configure the USART pins as alternate function pull-up. - (##) NVIC configuration if you need to use interrupt process (HAL_USART_Transmit_IT(), - HAL_USART_Receive_IT() and HAL_USART_TransmitReceive_IT() APIs): - (+++) Configure the USARTx interrupt priority. - (+++) Enable the NVIC USART IRQ handle. - (##) DMA Configuration if you need to use DMA process (HAL_USART_Transmit_DMA() - HAL_USART_Receive_DMA() and HAL_USART_TransmitReceive_DMA() APIs): - (+++) Declare a DMA handle structure for the Tx/Rx stream. - (+++) Enable the DMAx interface clock. - (+++) Configure the declared DMA handle structure with the required Tx/Rx parameters. - (+++) Configure the DMA Tx/Rx stream. - (+++) Associate the initialized DMA handle to the USART DMA Tx/Rx handle. - (+++) Configure the priority and enable the NVIC for the transfer complete interrupt on the DMA Tx/Rx stream. - (+++) Configure the USARTx interrupt priority and enable the NVIC USART IRQ handle - (used for last byte sending completion detection in DMA non circular mode) - - (#) Program the Baud Rate, Word Length, Stop Bit, Parity, Hardware - flow control and Mode(Receiver/Transmitter) in the husart Init structure. - - (#) Initialize the USART registers by calling the HAL_USART_Init() API: - (++) These APIs configures also the low level Hardware GPIO, CLOCK, CORTEX...etc) - by calling the customized HAL_USART_MspInit(&husart) API. - - -@@- The specific USART interrupts (Transmission complete interrupt, - RXNE interrupt and Error Interrupts) will be managed using the macros - __HAL_USART_ENABLE_IT() and __HAL_USART_DISABLE_IT() inside the transmit and receive process. - - (#) Three operation modes are available within this driver : - - *** Polling mode IO operation *** - ================================= - [..] - (+) Send an amount of data in blocking mode using HAL_USART_Transmit() - (+) Receive an amount of data in blocking mode using HAL_USART_Receive() - - *** Interrupt mode IO operation *** - =================================== - [..] - (+) Send an amount of data in non blocking mode using HAL_USART_Transmit_IT() - (+) At transmission end of transfer HAL_USART_TxHalfCpltCallback is executed and user can - add his own code by customization of function pointer HAL_USART_TxCpltCallback - (+) Receive an amount of data in non blocking mode using HAL_USART_Receive_IT() - (+) At reception end of transfer HAL_USART_RxCpltCallback is executed and user can - add his own code by customization of function pointer HAL_USART_RxCpltCallback - (+) In case of transfer Error, HAL_USART_ErrorCallback() function is executed and user can - add his own code by customization of function pointer HAL_USART_ErrorCallback - - *** DMA mode IO operation *** - ============================== - [..] - (+) Send an amount of data in non blocking mode (DMA) using HAL_USART_Transmit_DMA() - (+) At transmission end of half transfer HAL_USART_TxHalfCpltCallback is executed and user can - add his own code by customization of function pointer HAL_USART_TxHalfCpltCallback - (+) At transmission end of transfer HAL_USART_TxCpltCallback is executed and user can - add his own code by customization of function pointer HAL_USART_TxCpltCallback - (+) Receive an amount of data in non blocking mode (DMA) using HAL_USART_Receive_DMA() - (+) At reception end of half transfer HAL_USART_RxHalfCpltCallback is executed and user can - add his own code by customization of function pointer HAL_USART_RxHalfCpltCallback - (+) At reception end of transfer HAL_USART_RxCpltCallback is executed and user can - add his own code by customization of function pointer HAL_USART_RxCpltCallback - (+) In case of transfer Error, HAL_USART_ErrorCallback() function is executed and user can - add his own code by customization of function pointer HAL_USART_ErrorCallback - (+) Pause the DMA Transfer using HAL_USART_DMAPause() - (+) Resume the DMA Transfer using HAL_USART_DMAResume() - (+) Stop the DMA Transfer using HAL_USART_DMAStop() - - *** USART HAL driver macros list *** - ============================================= - [..] - Below the list of most used macros in USART HAL driver. - - (+) __HAL_USART_ENABLE: Enable the USART peripheral - (+) __HAL_USART_DISABLE: Disable the USART peripheral - (+) __HAL_USART_GET_FLAG : Check whether the specified USART flag is set or not - (+) __HAL_USART_CLEAR_FLAG : Clear the specified USART pending flag - (+) __HAL_USART_ENABLE_IT: Enable the specified USART interrupt - (+) __HAL_USART_DISABLE_IT: Disable the specified USART interrupt - - [..] - (@) You can refer to the USART HAL driver header file for more useful macros - - ##### Callback registration ##### - ================================== - - [..] - The compilation define USE_HAL_USART_REGISTER_CALLBACKS when set to 1 - allows the user to configure dynamically the driver callbacks. - - [..] - Use Function @ref HAL_USART_RegisterCallback() to register a user callback. - Function @ref HAL_USART_RegisterCallback() allows to register following callbacks: - (+) TxHalfCpltCallback : Tx Half Complete Callback. - (+) TxCpltCallback : Tx Complete Callback. - (+) RxHalfCpltCallback : Rx Half Complete Callback. - (+) RxCpltCallback : Rx Complete Callback. - (+) TxRxCpltCallback : Tx Rx Complete Callback. - (+) ErrorCallback : Error Callback. - (+) AbortCpltCallback : Abort Complete Callback. - (+) MspInitCallback : USART MspInit. - (+) MspDeInitCallback : USART MspDeInit. - This function takes as parameters the HAL peripheral handle, the Callback ID - and a pointer to the user callback function. - - [..] - Use function @ref HAL_USART_UnRegisterCallback() to reset a callback to the default - weak (surcharged) function. - @ref HAL_USART_UnRegisterCallback() takes as parameters the HAL peripheral handle, - and the Callback ID. - This function allows to reset following callbacks: - (+) TxHalfCpltCallback : Tx Half Complete Callback. - (+) TxCpltCallback : Tx Complete Callback. - (+) RxHalfCpltCallback : Rx Half Complete Callback. - (+) RxCpltCallback : Rx Complete Callback. - (+) TxRxCpltCallback : Tx Rx Complete Callback. - (+) ErrorCallback : Error Callback. - (+) AbortCpltCallback : Abort Complete Callback. - (+) MspInitCallback : USART MspInit. - (+) MspDeInitCallback : USART MspDeInit. - - [..] - By default, after the @ref HAL_USART_Init() and when the state is HAL_USART_STATE_RESET - all callbacks are set to the corresponding weak (surcharged) functions: - examples @ref HAL_USART_TxCpltCallback(), @ref HAL_USART_RxHalfCpltCallback(). - Exception done for MspInit and MspDeInit functions that are respectively - reset to the legacy weak (surcharged) functions in the @ref HAL_USART_Init() - and @ref HAL_USART_DeInit() only when these callbacks are null (not registered beforehand). - If not, MspInit or MspDeInit are not null, the @ref HAL_USART_Init() and @ref HAL_USART_DeInit() - keep and use the user MspInit/MspDeInit callbacks (registered beforehand). - - [..] - Callbacks can be registered/unregistered in HAL_USART_STATE_READY state only. - Exception done MspInit/MspDeInit that can be registered/unregistered - in HAL_USART_STATE_READY or HAL_USART_STATE_RESET state, thus registered (user) - MspInit/DeInit callbacks can be used during the Init/DeInit. - In that case first register the MspInit/MspDeInit user callbacks - using @ref HAL_USART_RegisterCallback() before calling @ref HAL_USART_DeInit() - or @ref HAL_USART_Init() function. - - [..] - When The compilation define USE_HAL_USART_REGISTER_CALLBACKS is set to 0 or - not defined, the callback registration feature is not available - and weak (surcharged) callbacks are used. - - @endverbatim - [..] - (@) Additional remark: If the parity is enabled, then the MSB bit of the data written - in the data register is transmitted but is changed by the parity bit. - Depending on the frame length defined by the M bit (8-bits or 9-bits), - the possible USART frame formats are as listed in the following table: - +-------------------------------------------------------------+ - | M bit | PCE bit | USART frame | - |---------------------|---------------------------------------| - | 0 | 0 | | SB | 8 bit data | STB | | - |---------|-----------|---------------------------------------| - | 0 | 1 | | SB | 7 bit data | PB | STB | | - |---------|-----------|---------------------------------------| - | 1 | 0 | | SB | 9 bit data | STB | | - |---------|-----------|---------------------------------------| - | 1 | 1 | | SB | 8 bit data | PB | STB | | - +-------------------------------------------------------------+ - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @defgroup USART USART - * @brief HAL USART Synchronous module driver - * @{ - */ -#ifdef HAL_USART_MODULE_ENABLED -/* Private typedef -----------------------------------------------------------*/ -/* Private define ------------------------------------------------------------*/ -/** @addtogroup USART_Private_Constants - * @{ - */ -#define DUMMY_DATA 0xFFFFU -#define USART_TIMEOUT_VALUE 22000U -/** - * @} - */ -/* Private macro -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private function prototypes -----------------------------------------------*/ -/* Private functions ---------------------------------------------------------*/ -/** @addtogroup USART_Private_Functions - * @{ - */ -#if (USE_HAL_USART_REGISTER_CALLBACKS == 1) -void USART_InitCallbacksToDefault(USART_HandleTypeDef *husart); -#endif /* USE_HAL_USART_REGISTER_CALLBACKS */ -static void USART_EndTxTransfer(USART_HandleTypeDef *husart); -static void USART_EndRxTransfer(USART_HandleTypeDef *husart); -static HAL_StatusTypeDef USART_Transmit_IT(USART_HandleTypeDef *husart); -static HAL_StatusTypeDef USART_EndTransmit_IT(USART_HandleTypeDef *husart); -static HAL_StatusTypeDef USART_Receive_IT(USART_HandleTypeDef *husart); -static HAL_StatusTypeDef USART_TransmitReceive_IT(USART_HandleTypeDef *husart); -static void USART_SetConfig(USART_HandleTypeDef *husart); -static void USART_DMATransmitCplt(DMA_HandleTypeDef *hdma); -static void USART_DMATxHalfCplt(DMA_HandleTypeDef *hdma); -static void USART_DMAReceiveCplt(DMA_HandleTypeDef *hdma); -static void USART_DMARxHalfCplt(DMA_HandleTypeDef *hdma); -static void USART_DMAError(DMA_HandleTypeDef *hdma); -static void USART_DMAAbortOnError(DMA_HandleTypeDef *hdma); -static void USART_DMATxAbortCallback(DMA_HandleTypeDef *hdma); -static void USART_DMARxAbortCallback(DMA_HandleTypeDef *hdma); - -static HAL_StatusTypeDef USART_WaitOnFlagUntilTimeout(USART_HandleTypeDef *husart, uint32_t Flag, FlagStatus Status, - uint32_t Tickstart, uint32_t Timeout); -/** - * @} - */ - -/* Exported functions --------------------------------------------------------*/ -/** @defgroup USART_Exported_Functions USART Exported Functions - * @{ - */ - -/** @defgroup USART_Exported_Functions_Group1 USART Initialization and de-initialization functions - * @brief Initialization and Configuration functions - * -@verbatim - ============================================================================== - ##### Initialization and Configuration functions ##### - ============================================================================== - [..] - This subsection provides a set of functions allowing to initialize the USART - in asynchronous and in synchronous modes. - (+) For the asynchronous mode only these parameters can be configured: - (++) Baud Rate - (++) Word Length - (++) Stop Bit - (++) Parity: If the parity is enabled, then the MSB bit of the data written - in the data register is transmitted but is changed by the parity bit. - Depending on the frame length defined by the M bit (8-bits or 9-bits), - please refer to Reference manual for possible USART frame formats. - (++) USART polarity - (++) USART phase - (++) USART LastBit - (++) Receiver/transmitter modes - - [..] - The HAL_USART_Init() function follows the USART synchronous configuration - procedures (details for the procedures are available in reference manual - (RM0430 for STM32F4X3xx MCUs and RM0402 for STM32F412xx MCUs - RM0383 for STM32F411xC/E MCUs and RM0401 for STM32F410xx MCUs - RM0090 for STM32F4X5xx/STM32F4X7xx/STM32F429xx/STM32F439xx MCUs - RM0390 for STM32F446xx MCUs and RM0386 for STM32F469xx/STM32F479xx MCUs)). - -@endverbatim - * @{ - */ - -/** - * @brief Initialize the USART mode according to the specified - * parameters in the USART_InitTypeDef and initialize the associated handle. - * @param husart Pointer to a USART_HandleTypeDef structure that contains - * the configuration information for the specified USART module. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_USART_Init(USART_HandleTypeDef *husart) -{ - /* Check the USART handle allocation */ - if (husart == NULL) - { - return HAL_ERROR; - } - - /* Check the parameters */ - assert_param(IS_USART_INSTANCE(husart->Instance)); - - if (husart->State == HAL_USART_STATE_RESET) - { - /* Allocate lock resource and initialize it */ - husart->Lock = HAL_UNLOCKED; - -#if (USE_HAL_USART_REGISTER_CALLBACKS == 1) - USART_InitCallbacksToDefault(husart); - - if (husart->MspInitCallback == NULL) - { - husart->MspInitCallback = HAL_USART_MspInit; - } - - /* Init the low level hardware */ - husart->MspInitCallback(husart); -#else - /* Init the low level hardware : GPIO, CLOCK */ - HAL_USART_MspInit(husart); -#endif /* USE_HAL_USART_REGISTER_CALLBACKS */ - } - - husart->State = HAL_USART_STATE_BUSY; - - /* Set the USART Communication parameters */ - USART_SetConfig(husart); - - /* In USART mode, the following bits must be kept cleared: - - LINEN bit in the USART_CR2 register - - HDSEL, SCEN and IREN bits in the USART_CR3 register */ - CLEAR_BIT(husart->Instance->CR2, USART_CR2_LINEN); - CLEAR_BIT(husart->Instance->CR3, (USART_CR3_SCEN | USART_CR3_HDSEL | USART_CR3_IREN)); - - /* Enable the Peripheral */ - __HAL_USART_ENABLE(husart); - - /* Initialize the USART state */ - husart->ErrorCode = HAL_USART_ERROR_NONE; - husart->State = HAL_USART_STATE_READY; - - return HAL_OK; -} - -/** - * @brief DeInitializes the USART peripheral. - * @param husart Pointer to a USART_HandleTypeDef structure that contains - * the configuration information for the specified USART module. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_USART_DeInit(USART_HandleTypeDef *husart) -{ - /* Check the USART handle allocation */ - if (husart == NULL) - { - return HAL_ERROR; - } - - /* Check the parameters */ - assert_param(IS_USART_INSTANCE(husart->Instance)); - - husart->State = HAL_USART_STATE_BUSY; - - /* Disable the Peripheral */ - __HAL_USART_DISABLE(husart); - -#if (USE_HAL_USART_REGISTER_CALLBACKS == 1) - if (husart->MspDeInitCallback == NULL) - { - husart->MspDeInitCallback = HAL_USART_MspDeInit; - } - /* DeInit the low level hardware */ - husart->MspDeInitCallback(husart); -#else - /* DeInit the low level hardware */ - HAL_USART_MspDeInit(husart); -#endif /* USE_HAL_USART_REGISTER_CALLBACKS */ - - husart->ErrorCode = HAL_USART_ERROR_NONE; - husart->State = HAL_USART_STATE_RESET; - - /* Release Lock */ - __HAL_UNLOCK(husart); - - return HAL_OK; -} - -/** - * @brief USART MSP Init. - * @param husart Pointer to a USART_HandleTypeDef structure that contains - * the configuration information for the specified USART module. - * @retval None - */ -__weak void HAL_USART_MspInit(USART_HandleTypeDef *husart) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(husart); - /* NOTE: This function should not be modified, when the callback is needed, - the HAL_USART_MspInit could be implemented in the user file - */ -} - -/** - * @brief USART MSP DeInit. - * @param husart Pointer to a USART_HandleTypeDef structure that contains - * the configuration information for the specified USART module. - * @retval None - */ -__weak void HAL_USART_MspDeInit(USART_HandleTypeDef *husart) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(husart); - /* NOTE: This function should not be modified, when the callback is needed, - the HAL_USART_MspDeInit could be implemented in the user file - */ -} - -#if (USE_HAL_USART_REGISTER_CALLBACKS == 1) -/** - * @brief Register a User USART Callback - * To be used instead of the weak predefined callback - * @param husart usart handle - * @param CallbackID ID of the callback to be registered - * This parameter can be one of the following values: - * @arg @ref HAL_USART_TX_HALFCOMPLETE_CB_ID Tx Half Complete Callback ID - * @arg @ref HAL_USART_TX_COMPLETE_CB_ID Tx Complete Callback ID - * @arg @ref HAL_USART_RX_HALFCOMPLETE_CB_ID Rx Half Complete Callback ID - * @arg @ref HAL_USART_RX_COMPLETE_CB_ID Rx Complete Callback ID - * @arg @ref HAL_USART_TX_RX_COMPLETE_CB_ID Rx Complete Callback ID - * @arg @ref HAL_USART_ERROR_CB_ID Error Callback ID - * @arg @ref HAL_USART_ABORT_COMPLETE_CB_ID Abort Complete Callback ID - * @arg @ref HAL_USART_MSPINIT_CB_ID MspInit Callback ID - * @arg @ref HAL_USART_MSPDEINIT_CB_ID MspDeInit Callback ID - * @param pCallback pointer to the Callback function - * @retval HAL status -+ */ -HAL_StatusTypeDef HAL_USART_RegisterCallback(USART_HandleTypeDef *husart, HAL_USART_CallbackIDTypeDef CallbackID, - pUSART_CallbackTypeDef pCallback) -{ - HAL_StatusTypeDef status = HAL_OK; - - if (pCallback == NULL) - { - /* Update the error code */ - husart->ErrorCode |= HAL_USART_ERROR_INVALID_CALLBACK; - - return HAL_ERROR; - } - /* Process locked */ - __HAL_LOCK(husart); - - if (husart->State == HAL_USART_STATE_READY) - { - switch (CallbackID) - { - case HAL_USART_TX_HALFCOMPLETE_CB_ID : - husart->TxHalfCpltCallback = pCallback; - break; - - case HAL_USART_TX_COMPLETE_CB_ID : - husart->TxCpltCallback = pCallback; - break; - - case HAL_USART_RX_HALFCOMPLETE_CB_ID : - husart->RxHalfCpltCallback = pCallback; - break; - - case HAL_USART_RX_COMPLETE_CB_ID : - husart->RxCpltCallback = pCallback; - break; - - case HAL_USART_TX_RX_COMPLETE_CB_ID : - husart->TxRxCpltCallback = pCallback; - break; - - case HAL_USART_ERROR_CB_ID : - husart->ErrorCallback = pCallback; - break; - - case HAL_USART_ABORT_COMPLETE_CB_ID : - husart->AbortCpltCallback = pCallback; - break; - - case HAL_USART_MSPINIT_CB_ID : - husart->MspInitCallback = pCallback; - break; - - case HAL_USART_MSPDEINIT_CB_ID : - husart->MspDeInitCallback = pCallback; - break; - - default : - /* Update the error code */ - husart->ErrorCode |= HAL_USART_ERROR_INVALID_CALLBACK; - - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else if (husart->State == HAL_USART_STATE_RESET) - { - switch (CallbackID) - { - case HAL_USART_MSPINIT_CB_ID : - husart->MspInitCallback = pCallback; - break; - - case HAL_USART_MSPDEINIT_CB_ID : - husart->MspDeInitCallback = pCallback; - break; - - default : - /* Update the error code */ - husart->ErrorCode |= HAL_USART_ERROR_INVALID_CALLBACK; - - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else - { - /* Update the error code */ - husart->ErrorCode |= HAL_USART_ERROR_INVALID_CALLBACK; - - /* Return error status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(husart); - - return status; -} - -/** - * @brief Unregister an USART Callback - * USART callaback is redirected to the weak predefined callback - * @param husart usart handle - * @param CallbackID ID of the callback to be unregistered - * This parameter can be one of the following values: - * @arg @ref HAL_USART_TX_HALFCOMPLETE_CB_ID Tx Half Complete Callback ID - * @arg @ref HAL_USART_TX_COMPLETE_CB_ID Tx Complete Callback ID - * @arg @ref HAL_USART_RX_HALFCOMPLETE_CB_ID Rx Half Complete Callback ID - * @arg @ref HAL_USART_RX_COMPLETE_CB_ID Rx Complete Callback ID - * @arg @ref HAL_USART_TX_RX_COMPLETE_CB_ID Rx Complete Callback ID - * @arg @ref HAL_USART_ERROR_CB_ID Error Callback ID - * @arg @ref HAL_USART_ABORT_COMPLETE_CB_ID Abort Complete Callback ID - * @arg @ref HAL_USART_MSPINIT_CB_ID MspInit Callback ID - * @arg @ref HAL_USART_MSPDEINIT_CB_ID MspDeInit Callback ID - * @retval HAL status - */ -HAL_StatusTypeDef HAL_USART_UnRegisterCallback(USART_HandleTypeDef *husart, HAL_USART_CallbackIDTypeDef CallbackID) -{ - HAL_StatusTypeDef status = HAL_OK; - - /* Process locked */ - __HAL_LOCK(husart); - - if (husart->State == HAL_USART_STATE_READY) - { - switch (CallbackID) - { - case HAL_USART_TX_HALFCOMPLETE_CB_ID : - husart->TxHalfCpltCallback = HAL_USART_TxHalfCpltCallback; /* Legacy weak TxHalfCpltCallback */ - break; - - case HAL_USART_TX_COMPLETE_CB_ID : - husart->TxCpltCallback = HAL_USART_TxCpltCallback; /* Legacy weak TxCpltCallback */ - break; - - case HAL_USART_RX_HALFCOMPLETE_CB_ID : - husart->RxHalfCpltCallback = HAL_USART_RxHalfCpltCallback; /* Legacy weak RxHalfCpltCallback */ - break; - - case HAL_USART_RX_COMPLETE_CB_ID : - husart->RxCpltCallback = HAL_USART_RxCpltCallback; /* Legacy weak RxCpltCallback */ - break; - - case HAL_USART_TX_RX_COMPLETE_CB_ID : - husart->TxRxCpltCallback = HAL_USART_TxRxCpltCallback; /* Legacy weak TxRxCpltCallback */ - break; - - case HAL_USART_ERROR_CB_ID : - husart->ErrorCallback = HAL_USART_ErrorCallback; /* Legacy weak ErrorCallback */ - break; - - case HAL_USART_ABORT_COMPLETE_CB_ID : - husart->AbortCpltCallback = HAL_USART_AbortCpltCallback; /* Legacy weak AbortCpltCallback */ - break; - - case HAL_USART_MSPINIT_CB_ID : - husart->MspInitCallback = HAL_USART_MspInit; /* Legacy weak MspInitCallback */ - break; - - case HAL_USART_MSPDEINIT_CB_ID : - husart->MspDeInitCallback = HAL_USART_MspDeInit; /* Legacy weak MspDeInitCallback */ - break; - - default : - /* Update the error code */ - husart->ErrorCode |= HAL_USART_ERROR_INVALID_CALLBACK; - - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else if (husart->State == HAL_USART_STATE_RESET) - { - switch (CallbackID) - { - case HAL_USART_MSPINIT_CB_ID : - husart->MspInitCallback = HAL_USART_MspInit; - break; - - case HAL_USART_MSPDEINIT_CB_ID : - husart->MspDeInitCallback = HAL_USART_MspDeInit; - break; - - default : - /* Update the error code */ - husart->ErrorCode |= HAL_USART_ERROR_INVALID_CALLBACK; - - /* Return error status */ - status = HAL_ERROR; - break; - } - } - else - { - /* Update the error code */ - husart->ErrorCode |= HAL_USART_ERROR_INVALID_CALLBACK; - - /* Return error status */ - status = HAL_ERROR; - } - - /* Release Lock */ - __HAL_UNLOCK(husart); - - return status; -} -#endif /* USE_HAL_USART_REGISTER_CALLBACKS */ - -/** - * @} - */ - -/** @defgroup USART_Exported_Functions_Group2 IO operation functions - * @brief USART Transmit and Receive functions - * -@verbatim - ============================================================================== - ##### IO operation functions ##### - ============================================================================== - [..] - This subsection provides a set of functions allowing to manage the USART synchronous - data transfers. - - [..] - The USART supports master mode only: it cannot receive or send data related to an input - clock (SCLK is always an output). - - (#) There are two modes of transfer: - (++) Blocking mode: The communication is performed in polling mode. - The HAL status of all data processing is returned by the same function - after finishing transfer. - (++) No-Blocking mode: The communication is performed using Interrupts - or DMA, These API's return the HAL status. - The end of the data processing will be indicated through the - dedicated USART IRQ when using Interrupt mode or the DMA IRQ when - using DMA mode. - The HAL_USART_TxCpltCallback(), HAL_USART_RxCpltCallback() and HAL_USART_TxRxCpltCallback() - user callbacks - will be executed respectively at the end of the transmit or Receive process - The HAL_USART_ErrorCallback() user callback will be executed when a communication - error is detected - - (#) Blocking mode APIs are : - (++) HAL_USART_Transmit() in simplex mode - (++) HAL_USART_Receive() in full duplex receive only - (++) HAL_USART_TransmitReceive() in full duplex mode - - (#) Non Blocking mode APIs with Interrupt are : - (++) HAL_USART_Transmit_IT()in simplex mode - (++) HAL_USART_Receive_IT() in full duplex receive only - (++) HAL_USART_TransmitReceive_IT() in full duplex mode - (++) HAL_USART_IRQHandler() - - (#) Non Blocking mode functions with DMA are : - (++) HAL_USART_Transmit_DMA()in simplex mode - (++) HAL_USART_Receive_DMA() in full duplex receive only - (++) HAL_USART_TransmitReceive_DMA() in full duplex mode - (++) HAL_USART_DMAPause() - (++) HAL_USART_DMAResume() - (++) HAL_USART_DMAStop() - - (#) A set of Transfer Complete Callbacks are provided in non Blocking mode: - (++) HAL_USART_TxHalfCpltCallback() - (++) HAL_USART_TxCpltCallback() - (++) HAL_USART_RxHalfCpltCallback() - (++) HAL_USART_RxCpltCallback() - (++) HAL_USART_ErrorCallback() - (++) HAL_USART_TxRxCpltCallback() - - (#) Non-Blocking mode transfers could be aborted using Abort API's : - (++) HAL_USART_Abort() - (++) HAL_USART_Abort_IT() - - (#) For Abort services based on interrupts (HAL_USART_Abort_IT), a Abort Complete Callbacks is provided: - (++) HAL_USART_AbortCpltCallback() - - (#) In Non-Blocking mode transfers, possible errors are split into 2 categories. - Errors are handled as follows : - (++) Error is considered as Recoverable and non blocking : Transfer could go till end, but error severity is - to be evaluated by user : this concerns Frame Error, Parity Error or Noise Error in Interrupt mode reception . - Received character is then retrieved and stored in Rx buffer, Error code is set to allow user to identify error type, - and HAL_USART_ErrorCallback() user callback is executed. Transfer is kept ongoing on USART side. - If user wants to abort it, Abort services should be called by user. - (++) Error is considered as Blocking : Transfer could not be completed properly and is aborted. - This concerns Overrun Error In Interrupt mode reception and all errors in DMA mode. - Error code is set to allow user to identify error type, and HAL_USART_ErrorCallback() user callback is executed. - -@endverbatim - * @{ - */ - -/** - * @brief Simplex Send an amount of data in blocking mode. - * @note When USART parity is not enabled (PCE = 0), and Word Length is configured to 9 bits (M1-M0 = 01), - * the sent data is handled as a set of u16. In this case, Size must indicate the number - * of u16 provided through pTxData. - * @param husart Pointer to a USART_HandleTypeDef structure that contains - * the configuration information for the specified USART module. - * @param pTxData Pointer to data buffer (u8 or u16 data elements). - * @param Size Amount of data elements (u8 or u16) to be sent. - * @param Timeout Timeout duration. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_USART_Transmit(USART_HandleTypeDef *husart, uint8_t *pTxData, uint16_t Size, uint32_t Timeout) -{ - uint8_t *ptxdata8bits; - uint16_t *ptxdata16bits; - uint32_t tickstart; - - if (husart->State == HAL_USART_STATE_READY) - { - if ((pTxData == NULL) || (Size == 0)) - { - return HAL_ERROR; - } - - /* Process Locked */ - __HAL_LOCK(husart); - - husart->ErrorCode = HAL_USART_ERROR_NONE; - husart->State = HAL_USART_STATE_BUSY_TX; - - /* Init tickstart for timeout management */ - tickstart = HAL_GetTick(); - - husart->TxXferSize = Size; - husart->TxXferCount = Size; - - /* In case of 9bits/No Parity transfer, pTxData needs to be handled as a uint16_t pointer */ - if ((husart->Init.WordLength == USART_WORDLENGTH_9B) && (husart->Init.Parity == USART_PARITY_NONE)) - { - ptxdata8bits = NULL; - ptxdata16bits = (uint16_t *) pTxData; - } - else - { - ptxdata8bits = pTxData; - ptxdata16bits = NULL; - } - - while (husart->TxXferCount > 0U) - { - /* Wait for TXE flag in order to write data in DR */ - if (USART_WaitOnFlagUntilTimeout(husart, USART_FLAG_TXE, RESET, tickstart, Timeout) != HAL_OK) - { - return HAL_TIMEOUT; - } - if (ptxdata8bits == NULL) - { - husart->Instance->DR = (uint16_t)(*ptxdata16bits & (uint16_t)0x01FF); - ptxdata16bits++; - } - else - { - husart->Instance->DR = (uint8_t)(*ptxdata8bits & (uint8_t)0xFF); - ptxdata8bits++; - } - - husart->TxXferCount--; - } - - if (USART_WaitOnFlagUntilTimeout(husart, USART_FLAG_TC, RESET, tickstart, Timeout) != HAL_OK) - { - return HAL_TIMEOUT; - } - - husart->State = HAL_USART_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(husart); - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Full-Duplex Receive an amount of data in blocking mode. - * @note To receive synchronous data, dummy data are simultaneously transmitted. - * @note When USART parity is not enabled (PCE = 0), and Word Length is configured to 9 bits (M1-M0 = 01), - * the received data is handled as a set of u16. In this case, Size must indicate the number - * of u16 available through pRxData. - * @param husart Pointer to a USART_HandleTypeDef structure that contains - * the configuration information for the specified USART module. - * @param pRxData Pointer to data buffer (u8 or u16 data elements). - * @param Size Amount of data elements (u8 or u16) to be received. - * @param Timeout Timeout duration. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_USART_Receive(USART_HandleTypeDef *husart, uint8_t *pRxData, uint16_t Size, uint32_t Timeout) -{ - uint8_t *prxdata8bits; - uint16_t *prxdata16bits; - uint32_t tickstart; - - if (husart->State == HAL_USART_STATE_READY) - { - if ((pRxData == NULL) || (Size == 0)) - { - return HAL_ERROR; - } - /* Process Locked */ - __HAL_LOCK(husart); - - husart->ErrorCode = HAL_USART_ERROR_NONE; - husart->State = HAL_USART_STATE_BUSY_RX; - - /* Init tickstart for timeout management */ - tickstart = HAL_GetTick(); - - husart->RxXferSize = Size; - husart->RxXferCount = Size; - - /* In case of 9bits/No Parity transfer, pRxData needs to be handled as a uint16_t pointer */ - if ((husart->Init.WordLength == USART_WORDLENGTH_9B) && (husart->Init.Parity == USART_PARITY_NONE)) - { - prxdata8bits = NULL; - prxdata16bits = (uint16_t *) pRxData; - } - else - { - prxdata8bits = pRxData; - prxdata16bits = NULL; - } - - /* Check the remain data to be received */ - while (husart->RxXferCount > 0U) - { - /* Wait until TXE flag is set to send dummy byte in order to generate the - * clock for the slave to send data. - * Whatever the frame length (7, 8 or 9-bit long), the same dummy value - * can be written for all the cases. */ - if (USART_WaitOnFlagUntilTimeout(husart, USART_FLAG_TXE, RESET, tickstart, Timeout) != HAL_OK) - { - return HAL_TIMEOUT; - } - husart->Instance->DR = (DUMMY_DATA & (uint16_t)0x0FF); - - /* Wait until RXNE flag is set to receive the byte */ - if (USART_WaitOnFlagUntilTimeout(husart, USART_FLAG_RXNE, RESET, tickstart, Timeout) != HAL_OK) - { - return HAL_TIMEOUT; - } - - if (prxdata8bits == NULL) - { - *prxdata16bits = (uint16_t)(husart->Instance->DR & (uint16_t)0x01FF); - prxdata16bits++; - } - else - { - if ((husart->Init.WordLength == USART_WORDLENGTH_9B) || ((husart->Init.WordLength == USART_WORDLENGTH_8B) && (husart->Init.Parity == USART_PARITY_NONE))) - { - *prxdata8bits = (uint8_t)(husart->Instance->DR & (uint8_t)0x0FF); - } - else - { - *prxdata8bits = (uint8_t)(husart->Instance->DR & (uint8_t)0x07F); - } - prxdata8bits++; - } - husart->RxXferCount--; - } - - husart->State = HAL_USART_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(husart); - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Full-Duplex Send and Receive an amount of data in full-duplex mode (blocking mode). - * @note When USART parity is not enabled (PCE = 0), and Word Length is configured to 9 bits (M1-M0 = 01), - * the sent data and the received data are handled as sets of u16. In this case, Size must indicate the number - * of u16 available through pTxData and through pRxData. - * @param husart Pointer to a USART_HandleTypeDef structure that contains - * the configuration information for the specified USART module. - * @param pTxData Pointer to TX data buffer (u8 or u16 data elements). - * @param pRxData Pointer to RX data buffer (u8 or u16 data elements). - * @param Size Amount of data elements (u8 or u16) to be sent (same amount to be received). - * @param Timeout Timeout duration - * @retval HAL status - */ -HAL_StatusTypeDef HAL_USART_TransmitReceive(USART_HandleTypeDef *husart, uint8_t *pTxData, uint8_t *pRxData, - uint16_t Size, uint32_t Timeout) -{ - uint8_t *prxdata8bits; - uint16_t *prxdata16bits; - uint8_t *ptxdata8bits; - uint16_t *ptxdata16bits; - uint16_t rxdatacount; - uint32_t tickstart; - - if (husart->State == HAL_USART_STATE_READY) - { - if ((pTxData == NULL) || (pRxData == NULL) || (Size == 0)) - { - return HAL_ERROR; - } - - /* In case of 9bits/No Parity transfer, pTxData and pRxData buffers provided as input parameter - should be aligned on a u16 frontier, as data to be filled into TDR/retrieved from RDR will be - handled through a u16 cast. */ - if ((husart->Init.WordLength == USART_WORDLENGTH_9B) && (husart->Init.Parity == USART_PARITY_NONE)) - { - if (((((uint32_t)pTxData) & 1U) != 0U) || ((((uint32_t)pRxData) & 1U) != 0U)) - { - return HAL_ERROR; - } - } - /* Process Locked */ - __HAL_LOCK(husart); - - husart->ErrorCode = HAL_USART_ERROR_NONE; - husart->State = HAL_USART_STATE_BUSY_RX; - - /* Init tickstart for timeout management */ - tickstart = HAL_GetTick(); - - husart->RxXferSize = Size; - husart->TxXferSize = Size; - husart->TxXferCount = Size; - husart->RxXferCount = Size; - - /* In case of 9bits/No Parity transfer, pRxData needs to be handled as a uint16_t pointer */ - if ((husart->Init.WordLength == USART_WORDLENGTH_9B) && (husart->Init.Parity == USART_PARITY_NONE)) - { - prxdata8bits = NULL; - ptxdata8bits = NULL; - ptxdata16bits = (uint16_t *) pTxData; - prxdata16bits = (uint16_t *) pRxData; - } - else - { - prxdata8bits = pRxData; - ptxdata8bits = pTxData; - ptxdata16bits = NULL; - prxdata16bits = NULL; - } - - /* Check the remain data to be received */ - /* rxdatacount is a temporary variable for MISRAC2012-Rule-13.5 */ - rxdatacount = husart->RxXferCount; - while ((husart->TxXferCount > 0U) || (rxdatacount > 0U)) - { - if (husart->TxXferCount > 0U) - { - /* Wait for TXE flag in order to write data in DR */ - if (USART_WaitOnFlagUntilTimeout(husart, USART_FLAG_TXE, RESET, tickstart, Timeout) != HAL_OK) - { - return HAL_TIMEOUT; - } - - if (ptxdata8bits == NULL) - { - husart->Instance->DR = (uint16_t)(*ptxdata16bits & (uint16_t)0x01FF); - ptxdata16bits++; - } - else - { - husart->Instance->DR = (uint8_t)(*ptxdata8bits & (uint8_t)0xFF); - ptxdata8bits++; - } - - husart->TxXferCount--; - } - - if (husart->RxXferCount > 0U) - { - /* Wait for RXNE Flag */ - if (USART_WaitOnFlagUntilTimeout(husart, USART_FLAG_RXNE, RESET, tickstart, Timeout) != HAL_OK) - { - return HAL_TIMEOUT; - } - if (prxdata8bits == NULL) - { - *prxdata16bits = (uint16_t)(husart->Instance->DR & (uint16_t)0x01FF); - prxdata16bits++; - } - else - { - if ((husart->Init.WordLength == USART_WORDLENGTH_9B) || ((husart->Init.WordLength == USART_WORDLENGTH_8B) && (husart->Init.Parity == USART_PARITY_NONE))) - { - *prxdata8bits = (uint8_t)(husart->Instance->DR & (uint8_t)0x0FF); - } - else - { - *prxdata8bits = (uint8_t)(husart->Instance->DR & (uint8_t)0x07F); - } - - prxdata8bits++; - } - - husart->RxXferCount--; - } - rxdatacount = husart->RxXferCount; - } - - husart->State = HAL_USART_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(husart); - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Simplex Send an amount of data in non-blocking mode. - * @note When USART parity is not enabled (PCE = 0), and Word Length is configured to 9 bits (M1-M0 = 01), - * the sent data is handled as a set of u16. In this case, Size must indicate the number - * of u16 provided through pTxData. - * @param husart Pointer to a USART_HandleTypeDef structure that contains - * the configuration information for the specified USART module. - * @param pTxData Pointer to data buffer (u8 or u16 data elements). - * @param Size Amount of data elements (u8 or u16) to be sent. - * @retval HAL status - * @note The USART errors are not managed to avoid the overrun error. - */ -HAL_StatusTypeDef HAL_USART_Transmit_IT(USART_HandleTypeDef *husart, uint8_t *pTxData, uint16_t Size) -{ - if (husart->State == HAL_USART_STATE_READY) - { - if ((pTxData == NULL) || (Size == 0)) - { - return HAL_ERROR; - } - - /* Process Locked */ - __HAL_LOCK(husart); - - husart->pTxBuffPtr = pTxData; - husart->TxXferSize = Size; - husart->TxXferCount = Size; - - husart->ErrorCode = HAL_USART_ERROR_NONE; - husart->State = HAL_USART_STATE_BUSY_TX; - - /* The USART Error Interrupts: (Frame error, Noise error, Overrun error) - are not managed by the USART transmit process to avoid the overrun interrupt - when the USART mode is configured for transmit and receive "USART_MODE_TX_RX" - to benefit for the frame error and noise interrupts the USART mode should be - configured only for transmit "USART_MODE_TX" - The __HAL_USART_ENABLE_IT(husart, USART_IT_ERR) can be used to enable the Frame error, - Noise error interrupt */ - - /* Process Unlocked */ - __HAL_UNLOCK(husart); - - /* Enable the USART Transmit Data Register Empty Interrupt */ - SET_BIT(husart->Instance->CR1, USART_CR1_TXEIE); - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Simplex Receive an amount of data in non-blocking mode. - * @note To receive synchronous data, dummy data are simultaneously transmitted. - * @note When USART parity is not enabled (PCE = 0), and Word Length is configured to 9 bits (M1-M0 = 01), - * the received data is handled as a set of u16. In this case, Size must indicate the number - * of u16 available through pRxData. - * @param husart Pointer to a USART_HandleTypeDef structure that contains - * the configuration information for the specified USART module. - * @param pRxData Pointer to data buffer (u8 or u16 data elements). - * @param Size Amount of data elements (u8 or u16) to be received. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_USART_Receive_IT(USART_HandleTypeDef *husart, uint8_t *pRxData, uint16_t Size) -{ - if (husart->State == HAL_USART_STATE_READY) - { - if ((pRxData == NULL) || (Size == 0)) - { - return HAL_ERROR; - } - /* Process Locked */ - __HAL_LOCK(husart); - - husart->pRxBuffPtr = pRxData; - husart->RxXferSize = Size; - husart->RxXferCount = Size; - - husart->ErrorCode = HAL_USART_ERROR_NONE; - husart->State = HAL_USART_STATE_BUSY_RX; - - /* Process Unlocked */ - __HAL_UNLOCK(husart); - - /* Enable the USART Parity Error and Data Register not empty Interrupts */ - SET_BIT(husart->Instance->CR1, USART_CR1_PEIE | USART_CR1_RXNEIE); - - /* Enable the USART Error Interrupt: (Frame error, noise error, overrun error) */ - SET_BIT(husart->Instance->CR3, USART_CR3_EIE); - - /* Send dummy byte in order to generate the clock for the slave to send data */ - husart->Instance->DR = (DUMMY_DATA & (uint16_t)0x01FF); - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Full-Duplex Send and Receive an amount of data in full-duplex mode (non-blocking). - * @note When USART parity is not enabled (PCE = 0), and Word Length is configured to 9 bits (M1-M0 = 01), - * the sent data and the received data are handled as sets of u16. In this case, Size must indicate the number - * of u16 available through pTxData and through pRxData. - * @param husart Pointer to a USART_HandleTypeDef structure that contains - * the configuration information for the specified USART module. - * @param pTxData Pointer to TX data buffer (u8 or u16 data elements). - * @param pRxData Pointer to RX data buffer (u8 or u16 data elements). - * @param Size Amount of data elements (u8 or u16) to be sent (same amount to be received). - * @retval HAL status - */ -HAL_StatusTypeDef HAL_USART_TransmitReceive_IT(USART_HandleTypeDef *husart, uint8_t *pTxData, uint8_t *pRxData, - uint16_t Size) -{ - if (husart->State == HAL_USART_STATE_READY) - { - if ((pTxData == NULL) || (pRxData == NULL) || (Size == 0)) - { - return HAL_ERROR; - } - /* Process Locked */ - __HAL_LOCK(husart); - - husart->pRxBuffPtr = pRxData; - husart->RxXferSize = Size; - husart->RxXferCount = Size; - husart->pTxBuffPtr = pTxData; - husart->TxXferSize = Size; - husart->TxXferCount = Size; - - husart->ErrorCode = HAL_USART_ERROR_NONE; - husart->State = HAL_USART_STATE_BUSY_TX_RX; - - /* Process Unlocked */ - __HAL_UNLOCK(husart); - - /* Enable the USART Data Register not empty Interrupt */ - SET_BIT(husart->Instance->CR1, USART_CR1_RXNEIE); - - /* Enable the USART Parity Error Interrupt */ - SET_BIT(husart->Instance->CR1, USART_CR1_PEIE); - - /* Enable the USART Error Interrupt: (Frame error, noise error, overrun error) */ - SET_BIT(husart->Instance->CR3, USART_CR3_EIE); - - /* Enable the USART Transmit Data Register Empty Interrupt */ - SET_BIT(husart->Instance->CR1, USART_CR1_TXEIE); - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Simplex Send an amount of data in DMA mode. - * @note When USART parity is not enabled (PCE = 0), and Word Length is configured to 9 bits (M1-M0 = 01), - * the sent data is handled as a set of u16. In this case, Size must indicate the number - * of u16 provided through pTxData. - * @param husart Pointer to a USART_HandleTypeDef structure that contains - * the configuration information for the specified USART module. - * @param pTxData Pointer to data buffer (u8 or u16 data elements). - * @param Size Amount of data elements (u8 or u16) to be sent. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_USART_Transmit_DMA(USART_HandleTypeDef *husart, uint8_t *pTxData, uint16_t Size) -{ - uint32_t *tmp; - - if (husart->State == HAL_USART_STATE_READY) - { - if ((pTxData == NULL) || (Size == 0)) - { - return HAL_ERROR; - } - /* Process Locked */ - __HAL_LOCK(husart); - - husart->pTxBuffPtr = pTxData; - husart->TxXferSize = Size; - husart->TxXferCount = Size; - - husart->ErrorCode = HAL_USART_ERROR_NONE; - husart->State = HAL_USART_STATE_BUSY_TX; - - /* Set the USART DMA transfer complete callback */ - husart->hdmatx->XferCpltCallback = USART_DMATransmitCplt; - - /* Set the USART DMA Half transfer complete callback */ - husart->hdmatx->XferHalfCpltCallback = USART_DMATxHalfCplt; - - /* Set the DMA error callback */ - husart->hdmatx->XferErrorCallback = USART_DMAError; - - /* Set the DMA abort callback */ - husart->hdmatx->XferAbortCallback = NULL; - - /* Enable the USART transmit DMA stream */ - tmp = (uint32_t *)&pTxData; - HAL_DMA_Start_IT(husart->hdmatx, *(uint32_t *)tmp, (uint32_t)&husart->Instance->DR, Size); - - /* Clear the TC flag in the SR register by writing 0 to it */ - __HAL_USART_CLEAR_FLAG(husart, USART_FLAG_TC); - - /* Process Unlocked */ - __HAL_UNLOCK(husart); - - /* Enable the DMA transfer for transmit request by setting the DMAT bit - in the USART CR3 register */ - SET_BIT(husart->Instance->CR3, USART_CR3_DMAT); - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Full-Duplex Receive an amount of data in DMA mode. - * @note When USART parity is not enabled (PCE = 0), and Word Length is configured to 9 bits (M1-M0 = 01), - * the received data is handled as a set of u16. In this case, Size must indicate the number - * of u16 available through pRxData. - * @param husart Pointer to a USART_HandleTypeDef structure that contains - * the configuration information for the specified USART module. - * @param pRxData Pointer to data buffer (u8 or u16 data elements). - * @param Size Amount of data elements (u8 or u16) to be received. - * @retval HAL status - * @note The USART DMA transmit stream must be configured in order to generate the clock for the slave. - * @note When the USART parity is enabled (PCE = 1) the data received contain the parity bit. - */ -HAL_StatusTypeDef HAL_USART_Receive_DMA(USART_HandleTypeDef *husart, uint8_t *pRxData, uint16_t Size) -{ - uint32_t *tmp; - - if (husart->State == HAL_USART_STATE_READY) - { - if ((pRxData == NULL) || (Size == 0)) - { - return HAL_ERROR; - } - - /* Process Locked */ - __HAL_LOCK(husart); - - husart->pRxBuffPtr = pRxData; - husart->RxXferSize = Size; - husart->pTxBuffPtr = pRxData; - husart->TxXferSize = Size; - - husart->ErrorCode = HAL_USART_ERROR_NONE; - husart->State = HAL_USART_STATE_BUSY_RX; - - /* Set the USART DMA Rx transfer complete callback */ - husart->hdmarx->XferCpltCallback = USART_DMAReceiveCplt; - - /* Set the USART DMA Half transfer complete callback */ - husart->hdmarx->XferHalfCpltCallback = USART_DMARxHalfCplt; - - /* Set the USART DMA Rx transfer error callback */ - husart->hdmarx->XferErrorCallback = USART_DMAError; - - /* Set the DMA abort callback */ - husart->hdmarx->XferAbortCallback = NULL; - - /* Set the USART Tx DMA transfer complete callback as NULL because the communication closing - is performed in DMA reception complete callback */ - husart->hdmatx->XferHalfCpltCallback = NULL; - husart->hdmatx->XferCpltCallback = NULL; - - /* Set the DMA error callback */ - husart->hdmatx->XferErrorCallback = USART_DMAError; - - /* Set the DMA AbortCpltCallback */ - husart->hdmatx->XferAbortCallback = NULL; - - /* Enable the USART receive DMA stream */ - tmp = (uint32_t *)&pRxData; - HAL_DMA_Start_IT(husart->hdmarx, (uint32_t)&husart->Instance->DR, *(uint32_t *)tmp, Size); - - /* Enable the USART transmit DMA stream: the transmit stream is used in order - to generate in the non-blocking mode the clock to the slave device, - this mode isn't a simplex receive mode but a full-duplex receive one */ - HAL_DMA_Start_IT(husart->hdmatx, *(uint32_t *)tmp, (uint32_t)&husart->Instance->DR, Size); - - /* Clear the Overrun flag just before enabling the DMA Rx request: mandatory for the second transfer */ - __HAL_USART_CLEAR_OREFLAG(husart); - - /* Process Unlocked */ - __HAL_UNLOCK(husart); - - /* Enable the USART Parity Error Interrupt */ - SET_BIT(husart->Instance->CR1, USART_CR1_PEIE); - - /* Enable the USART Error Interrupt: (Frame error, noise error, overrun error) */ - SET_BIT(husart->Instance->CR3, USART_CR3_EIE); - - /* Enable the DMA transfer for the receiver request by setting the DMAR bit - in the USART CR3 register */ - SET_BIT(husart->Instance->CR3, USART_CR3_DMAR); - - /* Enable the DMA transfer for transmit request by setting the DMAT bit - in the USART CR3 register */ - SET_BIT(husart->Instance->CR3, USART_CR3_DMAT); - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Full-Duplex Transmit Receive an amount of data in DMA mode. - * @note When USART parity is not enabled (PCE = 0), and Word Length is configured to 9 bits (M1-M0 = 01), - * the sent data and the received data are handled as sets of u16. In this case, Size must indicate the number - * of u16 available through pTxData and through pRxData. - * @param husart Pointer to a USART_HandleTypeDef structure that contains - * the configuration information for the specified USART module. - * @param pTxData Pointer to TX data buffer (u8 or u16 data elements). - * @param pRxData Pointer to RX data buffer (u8 or u16 data elements). - * @param Size Amount of data elements (u8 or u16) to be received/sent. - * @note When the USART parity is enabled (PCE = 1) the data received contain the parity bit. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_USART_TransmitReceive_DMA(USART_HandleTypeDef *husart, uint8_t *pTxData, uint8_t *pRxData, - uint16_t Size) -{ - uint32_t *tmp; - - if (husart->State == HAL_USART_STATE_READY) - { - if ((pTxData == NULL) || (pRxData == NULL) || (Size == 0)) - { - return HAL_ERROR; - } - /* Process Locked */ - __HAL_LOCK(husart); - - husart->pRxBuffPtr = pRxData; - husart->RxXferSize = Size; - husart->pTxBuffPtr = pTxData; - husart->TxXferSize = Size; - - husart->ErrorCode = HAL_USART_ERROR_NONE; - husart->State = HAL_USART_STATE_BUSY_TX_RX; - - /* Set the USART DMA Rx transfer complete callback */ - husart->hdmarx->XferCpltCallback = USART_DMAReceiveCplt; - - /* Set the USART DMA Half transfer complete callback */ - husart->hdmarx->XferHalfCpltCallback = USART_DMARxHalfCplt; - - /* Set the USART DMA Tx transfer complete callback */ - husart->hdmatx->XferCpltCallback = USART_DMATransmitCplt; - - /* Set the USART DMA Half transfer complete callback */ - husart->hdmatx->XferHalfCpltCallback = USART_DMATxHalfCplt; - - /* Set the USART DMA Tx transfer error callback */ - husart->hdmatx->XferErrorCallback = USART_DMAError; - - /* Set the USART DMA Rx transfer error callback */ - husart->hdmarx->XferErrorCallback = USART_DMAError; - - /* Set the DMA abort callback */ - husart->hdmarx->XferAbortCallback = NULL; - - /* Enable the USART receive DMA stream */ - tmp = (uint32_t *)&pRxData; - HAL_DMA_Start_IT(husart->hdmarx, (uint32_t)&husart->Instance->DR, *(uint32_t *)tmp, Size); - - /* Enable the USART transmit DMA stream */ - tmp = (uint32_t *)&pTxData; - HAL_DMA_Start_IT(husart->hdmatx, *(uint32_t *)tmp, (uint32_t)&husart->Instance->DR, Size); - - /* Clear the TC flag in the SR register by writing 0 to it */ - __HAL_USART_CLEAR_FLAG(husart, USART_FLAG_TC); - - /* Clear the Overrun flag: mandatory for the second transfer in circular mode */ - __HAL_USART_CLEAR_OREFLAG(husart); - - /* Process Unlocked */ - __HAL_UNLOCK(husart); - - /* Enable the USART Parity Error Interrupt */ - SET_BIT(husart->Instance->CR1, USART_CR1_PEIE); - - /* Enable the USART Error Interrupt: (Frame error, noise error, overrun error) */ - SET_BIT(husart->Instance->CR3, USART_CR3_EIE); - - /* Enable the DMA transfer for the receiver request by setting the DMAR bit - in the USART CR3 register */ - SET_BIT(husart->Instance->CR3, USART_CR3_DMAR); - - /* Enable the DMA transfer for transmit request by setting the DMAT bit - in the USART CR3 register */ - SET_BIT(husart->Instance->CR3, USART_CR3_DMAT); - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Pauses the DMA Transfer. - * @param husart Pointer to a USART_HandleTypeDef structure that contains - * the configuration information for the specified USART module. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_USART_DMAPause(USART_HandleTypeDef *husart) -{ - /* Process Locked */ - __HAL_LOCK(husart); - - /* Disable the USART DMA Tx request */ - CLEAR_BIT(husart->Instance->CR3, USART_CR3_DMAT); - - /* Process Unlocked */ - __HAL_UNLOCK(husart); - - return HAL_OK; -} - -/** - * @brief Resumes the DMA Transfer. - * @param husart Pointer to a USART_HandleTypeDef structure that contains - * the configuration information for the specified USART module. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_USART_DMAResume(USART_HandleTypeDef *husart) -{ - /* Process Locked */ - __HAL_LOCK(husart); - - /* Enable the USART DMA Tx request */ - SET_BIT(husart->Instance->CR3, USART_CR3_DMAT); - - /* Process Unlocked */ - __HAL_UNLOCK(husart); - - return HAL_OK; -} - -/** - * @brief Stops the DMA Transfer. - * @param husart Pointer to a USART_HandleTypeDef structure that contains - * the configuration information for the specified USART module. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_USART_DMAStop(USART_HandleTypeDef *husart) -{ - uint32_t dmarequest = 0x00U; - /* The Lock is not implemented on this API to allow the user application - to call the HAL USART API under callbacks HAL_USART_TxCpltCallback() / HAL_USART_RxCpltCallback(): - when calling HAL_DMA_Abort() API the DMA TX/RX Transfer complete interrupt is generated - and the correspond call back is executed HAL_USART_TxCpltCallback() / HAL_USART_RxCpltCallback() - */ - - /* Stop USART DMA Tx request if ongoing */ - dmarequest = HAL_IS_BIT_SET(husart->Instance->CR3, USART_CR3_DMAT); - if ((husart->State == HAL_USART_STATE_BUSY_TX) && dmarequest) - { - USART_EndTxTransfer(husart); - - /* Abort the USART DMA Tx channel */ - if (husart->hdmatx != NULL) - { - HAL_DMA_Abort(husart->hdmatx); - } - - /* Disable the USART Tx DMA request */ - CLEAR_BIT(husart->Instance->CR3, USART_CR3_DMAT); - } - - /* Stop USART DMA Rx request if ongoing */ - dmarequest = HAL_IS_BIT_SET(husart->Instance->CR3, USART_CR3_DMAR); - if ((husart->State == HAL_USART_STATE_BUSY_RX) && dmarequest) - { - USART_EndRxTransfer(husart); - - /* Abort the USART DMA Rx channel */ - if (husart->hdmarx != NULL) - { - HAL_DMA_Abort(husart->hdmarx); - } - - /* Disable the USART Rx DMA request */ - CLEAR_BIT(husart->Instance->CR3, USART_CR3_DMAR); - } - - return HAL_OK; -} - -/** - * @brief Abort ongoing transfer (blocking mode). - * @param husart USART handle. - * @note This procedure could be used for aborting any ongoing transfer (either Tx or Rx, - * as described by TransferType parameter) started in Interrupt or DMA mode. - * This procedure performs following operations : - * - Disable PPP Interrupts (depending of transfer direction) - * - Disable the DMA transfer in the peripheral register (if enabled) - * - Abort DMA transfer by calling HAL_DMA_Abort (in case of transfer in DMA mode) - * - Set handle State to READY - * @note This procedure is executed in blocking mode : when exiting function, Abort is considered as completed. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_USART_Abort(USART_HandleTypeDef *husart) -{ - /* Disable TXEIE, TCIE, RXNE, PE and ERR (Frame error, noise error, overrun error) interrupts */ - CLEAR_BIT(husart->Instance->CR1, (USART_CR1_RXNEIE | USART_CR1_PEIE | USART_CR1_TXEIE | USART_CR1_TCIE)); - CLEAR_BIT(husart->Instance->CR3, USART_CR3_EIE); - - /* Disable the USART DMA Tx request if enabled */ - if (HAL_IS_BIT_SET(husart->Instance->CR3, USART_CR3_DMAT)) - { - CLEAR_BIT(husart->Instance->CR3, USART_CR3_DMAT); - - /* Abort the USART DMA Tx channel : use blocking DMA Abort API (no callback) */ - if (husart->hdmatx != NULL) - { - /* Set the USART DMA Abort callback to Null. - No call back execution at end of DMA abort procedure */ - husart->hdmatx->XferAbortCallback = NULL; - - HAL_DMA_Abort(husart->hdmatx); - } - } - - /* Disable the USART DMA Rx request if enabled */ - if (HAL_IS_BIT_SET(husart->Instance->CR3, USART_CR3_DMAR)) - { - CLEAR_BIT(husart->Instance->CR3, USART_CR3_DMAR); - - /* Abort the USART DMA Rx channel : use blocking DMA Abort API (no callback) */ - if (husart->hdmarx != NULL) - { - /* Set the USART DMA Abort callback to Null. - No call back execution at end of DMA abort procedure */ - husart->hdmarx->XferAbortCallback = NULL; - - HAL_DMA_Abort(husart->hdmarx); - } - } - - /* Reset Tx and Rx transfer counters */ - husart->TxXferCount = 0x00U; - husart->RxXferCount = 0x00U; - - /* Restore husart->State to Ready */ - husart->State = HAL_USART_STATE_READY; - - /* Reset Handle ErrorCode to No Error */ - husart->ErrorCode = HAL_USART_ERROR_NONE; - - return HAL_OK; -} - -/** - * @brief Abort ongoing transfer (Interrupt mode). - * @param husart USART handle. - * @note This procedure could be used for aborting any ongoing transfer (either Tx or Rx, - * as described by TransferType parameter) started in Interrupt or DMA mode. - * This procedure performs following operations : - * - Disable PPP Interrupts (depending of transfer direction) - * - Disable the DMA transfer in the peripheral register (if enabled) - * - Abort DMA transfer by calling HAL_DMA_Abort_IT (in case of transfer in DMA mode) - * - Set handle State to READY - * - At abort completion, call user abort complete callback - * @note This procedure is executed in Interrupt mode, meaning that abort procedure could be - * considered as completed only when user abort complete callback is executed (not when exiting function). - * @retval HAL status - */ -HAL_StatusTypeDef HAL_USART_Abort_IT(USART_HandleTypeDef *husart) -{ - uint32_t AbortCplt = 0x01U; - - /* Disable TXEIE, TCIE, RXNE, PE and ERR (Frame error, noise error, overrun error) interrupts */ - CLEAR_BIT(husart->Instance->CR1, (USART_CR1_RXNEIE | USART_CR1_PEIE | USART_CR1_TXEIE | USART_CR1_TCIE)); - CLEAR_BIT(husart->Instance->CR3, USART_CR3_EIE); - - /* If DMA Tx and/or DMA Rx Handles are associated to USART Handle, DMA Abort complete callbacks should be initialised - before any call to DMA Abort functions */ - /* DMA Tx Handle is valid */ - if (husart->hdmatx != NULL) - { - /* Set DMA Abort Complete callback if USART DMA Tx request if enabled. - Otherwise, set it to NULL */ - if (HAL_IS_BIT_SET(husart->Instance->CR3, USART_CR3_DMAT)) - { - husart->hdmatx->XferAbortCallback = USART_DMATxAbortCallback; - } - else - { - husart->hdmatx->XferAbortCallback = NULL; - } - } - /* DMA Rx Handle is valid */ - if (husart->hdmarx != NULL) - { - /* Set DMA Abort Complete callback if USART DMA Rx request if enabled. - Otherwise, set it to NULL */ - if (HAL_IS_BIT_SET(husart->Instance->CR3, USART_CR3_DMAR)) - { - husart->hdmarx->XferAbortCallback = USART_DMARxAbortCallback; - } - else - { - husart->hdmarx->XferAbortCallback = NULL; - } - } - - /* Disable the USART DMA Tx request if enabled */ - if (HAL_IS_BIT_SET(husart->Instance->CR3, USART_CR3_DMAT)) - { - /* Disable DMA Tx at USART level */ - CLEAR_BIT(husart->Instance->CR3, USART_CR3_DMAT); - - /* Abort the USART DMA Tx channel : use non blocking DMA Abort API (callback) */ - if (husart->hdmatx != NULL) - { - /* USART Tx DMA Abort callback has already been initialised : - will lead to call HAL_USART_AbortCpltCallback() at end of DMA abort procedure */ - - /* Abort DMA TX */ - if (HAL_DMA_Abort_IT(husart->hdmatx) != HAL_OK) - { - husart->hdmatx->XferAbortCallback = NULL; - } - else - { - AbortCplt = 0x00U; - } - } - } - - /* Disable the USART DMA Rx request if enabled */ - if (HAL_IS_BIT_SET(husart->Instance->CR3, USART_CR3_DMAR)) - { - CLEAR_BIT(husart->Instance->CR3, USART_CR3_DMAR); - - /* Abort the USART DMA Rx channel : use non blocking DMA Abort API (callback) */ - if (husart->hdmarx != NULL) - { - /* USART Rx DMA Abort callback has already been initialised : - will lead to call HAL_USART_AbortCpltCallback() at end of DMA abort procedure */ - - /* Abort DMA RX */ - if (HAL_DMA_Abort_IT(husart->hdmarx) != HAL_OK) - { - husart->hdmarx->XferAbortCallback = NULL; - AbortCplt = 0x01U; - } - else - { - AbortCplt = 0x00U; - } - } - } - - /* if no DMA abort complete callback execution is required => call user Abort Complete callback */ - if (AbortCplt == 0x01U) - { - /* Reset Tx and Rx transfer counters */ - husart->TxXferCount = 0x00U; - husart->RxXferCount = 0x00U; - - /* Reset errorCode */ - husart->ErrorCode = HAL_USART_ERROR_NONE; - - /* Restore husart->State to Ready */ - husart->State = HAL_USART_STATE_READY; - - /* As no DMA to be aborted, call directly user Abort complete callback */ -#if (USE_HAL_USART_REGISTER_CALLBACKS == 1) - /* Call registered Abort Complete Callback */ - husart->AbortCpltCallback(husart); -#else - /* Call legacy weak Abort Complete Callback */ - HAL_USART_AbortCpltCallback(husart); -#endif /* USE_HAL_USART_REGISTER_CALLBACKS */ - } - - return HAL_OK; -} - -/** - * @brief This function handles USART interrupt request. - * @param husart Pointer to a USART_HandleTypeDef structure that contains - * the configuration information for the specified USART module. - * @retval None - */ -void HAL_USART_IRQHandler(USART_HandleTypeDef *husart) -{ - uint32_t isrflags = READ_REG(husart->Instance->SR); - uint32_t cr1its = READ_REG(husart->Instance->CR1); - uint32_t cr3its = READ_REG(husart->Instance->CR3); - uint32_t errorflags = 0x00U; - uint32_t dmarequest = 0x00U; - - /* If no error occurs */ - errorflags = (isrflags & (uint32_t)(USART_SR_PE | USART_SR_FE | USART_SR_ORE | USART_SR_NE)); - if (errorflags == RESET) - { - /* USART in mode Receiver -------------------------------------------------*/ - if (((isrflags & USART_SR_RXNE) != RESET) && ((cr1its & USART_CR1_RXNEIE) != RESET)) - { - if (husart->State == HAL_USART_STATE_BUSY_RX) - { - USART_Receive_IT(husart); - } - else - { - USART_TransmitReceive_IT(husart); - } - return; - } - } - /* If some errors occur */ - if ((errorflags != RESET) && (((cr3its & USART_CR3_EIE) != RESET) || ((cr1its & (USART_CR1_RXNEIE | USART_CR1_PEIE)) != RESET))) - { - /* USART parity error interrupt occurred ----------------------------------*/ - if (((isrflags & USART_SR_PE) != RESET) && ((cr1its & USART_CR1_PEIE) != RESET)) - { - husart->ErrorCode |= HAL_USART_ERROR_PE; - } - - /* USART noise error interrupt occurred --------------------------------*/ - if (((isrflags & USART_SR_NE) != RESET) && ((cr3its & USART_CR3_EIE) != RESET)) - { - husart->ErrorCode |= HAL_USART_ERROR_NE; - } - - /* USART frame error interrupt occurred --------------------------------*/ - if (((isrflags & USART_SR_FE) != RESET) && ((cr3its & USART_CR3_EIE) != RESET)) - { - husart->ErrorCode |= HAL_USART_ERROR_FE; - } - - /* USART Over-Run interrupt occurred -----------------------------------*/ - if (((isrflags & USART_SR_ORE) != RESET) && (((cr1its & USART_CR1_RXNEIE) != RESET) || ((cr3its & USART_CR3_EIE) != RESET))) - { - husart->ErrorCode |= HAL_USART_ERROR_ORE; - } - - if (husart->ErrorCode != HAL_USART_ERROR_NONE) - { - /* USART in mode Receiver -----------------------------------------------*/ - if (((isrflags & USART_SR_RXNE) != RESET) && ((cr1its & USART_CR1_RXNEIE) != RESET)) - { - if (husart->State == HAL_USART_STATE_BUSY_RX) - { - USART_Receive_IT(husart); - } - else - { - USART_TransmitReceive_IT(husart); - } - } - /* If Overrun error occurs, or if any error occurs in DMA mode reception, - consider error as blocking */ - dmarequest = HAL_IS_BIT_SET(husart->Instance->CR3, USART_CR3_DMAR); - if (((husart->ErrorCode & HAL_USART_ERROR_ORE) != RESET) || dmarequest) - { - /* Set the USART state ready to be able to start again the process, - Disable Rx Interrupts, and disable Rx DMA request, if ongoing */ - USART_EndRxTransfer(husart); - - /* Disable the USART DMA Rx request if enabled */ - if (HAL_IS_BIT_SET(husart->Instance->CR3, USART_CR3_DMAR)) - { - CLEAR_BIT(husart->Instance->CR3, USART_CR3_DMAR); - - /* Abort the USART DMA Rx channel */ - if (husart->hdmarx != NULL) - { - /* Set the USART DMA Abort callback : - will lead to call HAL_USART_ErrorCallback() at end of DMA abort procedure */ - husart->hdmarx->XferAbortCallback = USART_DMAAbortOnError; - - if (HAL_DMA_Abort_IT(husart->hdmarx) != HAL_OK) - { - /* Call Directly XferAbortCallback function in case of error */ - husart->hdmarx->XferAbortCallback(husart->hdmarx); - } - } - else - { - /* Call user error callback */ -#if (USE_HAL_USART_REGISTER_CALLBACKS == 1) - /* Call registered Error Callback */ - husart->ErrorCallback(husart); -#else - /* Call legacy weak Error Callback */ - HAL_USART_ErrorCallback(husart); -#endif /* USE_HAL_USART_REGISTER_CALLBACKS */ - } - } - else - { - /* Call user error callback */ -#if (USE_HAL_USART_REGISTER_CALLBACKS == 1) - /* Call registered Error Callback */ - husart->ErrorCallback(husart); -#else - /* Call legacy weak Error Callback */ - HAL_USART_ErrorCallback(husart); -#endif /* USE_HAL_USART_REGISTER_CALLBACKS */ - } - } - else - { - /* Call user error callback */ -#if (USE_HAL_USART_REGISTER_CALLBACKS == 1) - /* Call registered Error Callback */ - husart->ErrorCallback(husart); -#else - /* Call legacy weak Error Callback */ - HAL_USART_ErrorCallback(husart); -#endif /* USE_HAL_USART_REGISTER_CALLBACKS */ - husart->ErrorCode = HAL_USART_ERROR_NONE; - } - } - return; - } - - /* USART in mode Transmitter -----------------------------------------------*/ - if (((isrflags & USART_SR_TXE) != RESET) && ((cr1its & USART_CR1_TXEIE) != RESET)) - { - if (husart->State == HAL_USART_STATE_BUSY_TX) - { - USART_Transmit_IT(husart); - } - else - { - USART_TransmitReceive_IT(husart); - } - return; - } - - /* USART in mode Transmitter (transmission end) ----------------------------*/ - if (((isrflags & USART_SR_TC) != RESET) && ((cr1its & USART_CR1_TCIE) != RESET)) - { - USART_EndTransmit_IT(husart); - return; - } -} - -/** - * @brief Tx Transfer completed callbacks. - * @param husart Pointer to a USART_HandleTypeDef structure that contains - * the configuration information for the specified USART module. - * @retval None - */ -__weak void HAL_USART_TxCpltCallback(USART_HandleTypeDef *husart) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(husart); - /* NOTE: This function should not be modified, when the callback is needed, - the HAL_USART_TxCpltCallback could be implemented in the user file - */ -} - -/** - * @brief Tx Half Transfer completed callbacks. - * @param husart Pointer to a USART_HandleTypeDef structure that contains - * the configuration information for the specified USART module. - * @retval None - */ -__weak void HAL_USART_TxHalfCpltCallback(USART_HandleTypeDef *husart) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(husart); - /* NOTE: This function should not be modified, when the callback is needed, - the HAL_USART_TxHalfCpltCallback could be implemented in the user file - */ -} - -/** - * @brief Rx Transfer completed callbacks. - * @param husart Pointer to a USART_HandleTypeDef structure that contains - * the configuration information for the specified USART module. - * @retval None - */ -__weak void HAL_USART_RxCpltCallback(USART_HandleTypeDef *husart) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(husart); - /* NOTE: This function should not be modified, when the callback is needed, - the HAL_USART_RxCpltCallback could be implemented in the user file - */ -} - -/** - * @brief Rx Half Transfer completed callbacks. - * @param husart Pointer to a USART_HandleTypeDef structure that contains - * the configuration information for the specified USART module. - * @retval None - */ -__weak void HAL_USART_RxHalfCpltCallback(USART_HandleTypeDef *husart) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(husart); - /* NOTE: This function should not be modified, when the callback is needed, - the HAL_USART_RxHalfCpltCallback could be implemented in the user file - */ -} - -/** - * @brief Tx/Rx Transfers completed callback for the non-blocking process. - * @param husart Pointer to a USART_HandleTypeDef structure that contains - * the configuration information for the specified USART module. - * @retval None - */ -__weak void HAL_USART_TxRxCpltCallback(USART_HandleTypeDef *husart) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(husart); - /* NOTE: This function should not be modified, when the callback is needed, - the HAL_USART_TxRxCpltCallback could be implemented in the user file - */ -} - -/** - * @brief USART error callbacks. - * @param husart Pointer to a USART_HandleTypeDef structure that contains - * the configuration information for the specified USART module. - * @retval None - */ -__weak void HAL_USART_ErrorCallback(USART_HandleTypeDef *husart) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(husart); - /* NOTE: This function should not be modified, when the callback is needed, - the HAL_USART_ErrorCallback could be implemented in the user file - */ -} - -/** - * @brief USART Abort Complete callback. - * @param husart USART handle. - * @retval None - */ -__weak void HAL_USART_AbortCpltCallback(USART_HandleTypeDef *husart) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(husart); - - /* NOTE : This function should not be modified, when the callback is needed, - the HAL_USART_AbortCpltCallback can be implemented in the user file. - */ -} - -/** - * @} - */ - -/** @defgroup USART_Exported_Functions_Group3 Peripheral State and Errors functions - * @brief USART State and Errors functions - * -@verbatim - ============================================================================== - ##### Peripheral State and Errors functions ##### - ============================================================================== - [..] - This subsection provides a set of functions allowing to return the State of - USART communication - process, return Peripheral Errors occurred during communication process - (+) HAL_USART_GetState() API can be helpful to check in run-time the state - of the USART peripheral. - (+) HAL_USART_GetError() check in run-time errors that could be occurred during - communication. -@endverbatim - * @{ - */ - -/** - * @brief Returns the USART state. - * @param husart Pointer to a USART_HandleTypeDef structure that contains - * the configuration information for the specified USART module. - * @retval HAL state - */ -HAL_USART_StateTypeDef HAL_USART_GetState(USART_HandleTypeDef *husart) -{ - return husart->State; -} - -/** - * @brief Return the USART error code - * @param husart Pointer to a USART_HandleTypeDef structure that contains - * the configuration information for the specified USART. - * @retval USART Error Code - */ -uint32_t HAL_USART_GetError(USART_HandleTypeDef *husart) -{ - return husart->ErrorCode; -} - -/** - * @} - */ - -/** @defgroup USART_Private_Functions USART Private Functions - * @{ - */ - -/** - * @brief Initialize the callbacks to their default values. - * @param husart USART handle. - * @retval none - */ -#if (USE_HAL_USART_REGISTER_CALLBACKS == 1) -void USART_InitCallbacksToDefault(USART_HandleTypeDef *husart) -{ - /* Init the USART Callback settings */ - husart->TxHalfCpltCallback = HAL_USART_TxHalfCpltCallback; /* Legacy weak TxHalfCpltCallback */ - husart->TxCpltCallback = HAL_USART_TxCpltCallback; /* Legacy weak TxCpltCallback */ - husart->RxHalfCpltCallback = HAL_USART_RxHalfCpltCallback; /* Legacy weak RxHalfCpltCallback */ - husart->RxCpltCallback = HAL_USART_RxCpltCallback; /* Legacy weak RxCpltCallback */ - husart->TxRxCpltCallback = HAL_USART_TxRxCpltCallback; /* Legacy weak TxRxCpltCallback */ - husart->ErrorCallback = HAL_USART_ErrorCallback; /* Legacy weak ErrorCallback */ - husart->AbortCpltCallback = HAL_USART_AbortCpltCallback; /* Legacy weak AbortCpltCallback */ -} -#endif /* USE_HAL_USART_REGISTER_CALLBACKS */ - -/** - * @brief DMA USART transmit process complete callback. - * @param hdma Pointer to a DMA_HandleTypeDef structure that contains - * the configuration information for the specified DMA module. - * @retval None - */ -static void USART_DMATransmitCplt(DMA_HandleTypeDef *hdma) -{ - USART_HandleTypeDef *husart = (USART_HandleTypeDef *)((DMA_HandleTypeDef *)hdma)->Parent; - /* DMA Normal mode */ - if ((hdma->Instance->CR & DMA_SxCR_CIRC) == 0U) - { - husart->TxXferCount = 0U; - if (husart->State == HAL_USART_STATE_BUSY_TX) - { - /* Disable the DMA transfer for transmit request by resetting the DMAT bit - in the USART CR3 register */ - CLEAR_BIT(husart->Instance->CR3, USART_CR3_DMAT); - - /* Enable the USART Transmit Complete Interrupt */ - SET_BIT(husart->Instance->CR1, USART_CR1_TCIE); - } - } - /* DMA Circular mode */ - else - { - if (husart->State == HAL_USART_STATE_BUSY_TX) - { -#if (USE_HAL_USART_REGISTER_CALLBACKS == 1) - /* Call registered Tx Complete Callback */ - husart->TxCpltCallback(husart); -#else - /* Call legacy weak Tx Complete Callback */ - HAL_USART_TxCpltCallback(husart); -#endif /* USE_HAL_USART_REGISTER_CALLBACKS */ - } - } -} - -/** - * @brief DMA USART transmit process half complete callback - * @param hdma Pointer to a DMA_HandleTypeDef structure that contains - * the configuration information for the specified DMA module. - * @retval None - */ -static void USART_DMATxHalfCplt(DMA_HandleTypeDef *hdma) -{ - USART_HandleTypeDef *husart = (USART_HandleTypeDef *)((DMA_HandleTypeDef *)hdma)->Parent; - -#if (USE_HAL_USART_REGISTER_CALLBACKS == 1) - /* Call registered Tx Half Complete Callback */ - husart->TxHalfCpltCallback(husart); -#else - /* Call legacy weak Tx Half Complete Callback */ - HAL_USART_TxHalfCpltCallback(husart); -#endif /* USE_HAL_USART_REGISTER_CALLBACKS */ -} - -/** - * @brief DMA USART receive process complete callback. - * @param hdma Pointer to a DMA_HandleTypeDef structure that contains - * the configuration information for the specified DMA module. - * @retval None - */ -static void USART_DMAReceiveCplt(DMA_HandleTypeDef *hdma) -{ - USART_HandleTypeDef *husart = (USART_HandleTypeDef *)((DMA_HandleTypeDef *)hdma)->Parent; - /* DMA Normal mode */ - if ((hdma->Instance->CR & DMA_SxCR_CIRC) == 0U) - { - husart->RxXferCount = 0x00U; - - /* Disable RXNE, PE and ERR (Frame error, noise error, overrun error) interrupts */ - CLEAR_BIT(husart->Instance->CR1, USART_CR1_PEIE); - CLEAR_BIT(husart->Instance->CR3, USART_CR3_EIE); - - /* Disable the DMA transfer for the Transmit/receiver request by clearing the DMAT/DMAR bit - in the USART CR3 register */ - CLEAR_BIT(husart->Instance->CR3, USART_CR3_DMAR); - CLEAR_BIT(husart->Instance->CR3, USART_CR3_DMAT); - - /* The USART state is HAL_USART_STATE_BUSY_RX */ - if (husart->State == HAL_USART_STATE_BUSY_RX) - { -#if (USE_HAL_USART_REGISTER_CALLBACKS == 1) - /* Call registered Rx Complete Callback */ - husart->RxCpltCallback(husart); -#else - /* Call legacy weak Rx Complete Callback */ - HAL_USART_RxCpltCallback(husart); -#endif /* USE_HAL_USART_REGISTER_CALLBACKS */ - } - /* The USART state is HAL_USART_STATE_BUSY_TX_RX */ - else - { -#if (USE_HAL_USART_REGISTER_CALLBACKS == 1) - /* Call registered Tx Rx Complete Callback */ - husart->TxRxCpltCallback(husart); -#else - /* Call legacy weak Tx Rx Complete Callback */ - HAL_USART_TxRxCpltCallback(husart); -#endif /* USE_HAL_USART_REGISTER_CALLBACKS */ - } - husart->State = HAL_USART_STATE_READY; - } - /* DMA circular mode */ - else - { - if (husart->State == HAL_USART_STATE_BUSY_RX) - { -#if (USE_HAL_USART_REGISTER_CALLBACKS == 1) - /* Call registered Rx Complete Callback */ - husart->RxCpltCallback(husart); -#else - /* Call legacy weak Rx Complete Callback */ - HAL_USART_RxCpltCallback(husart); -#endif /* USE_HAL_USART_REGISTER_CALLBACKS */ - } - /* The USART state is HAL_USART_STATE_BUSY_TX_RX */ - else - { -#if (USE_HAL_USART_REGISTER_CALLBACKS == 1) - /* Call registered Tx Rx Complete Callback */ - husart->TxRxCpltCallback(husart); -#else - /* Call legacy weak Tx Rx Complete Callback */ - HAL_USART_TxRxCpltCallback(husart); -#endif /* USE_HAL_USART_REGISTER_CALLBACKS */ - } - } -} - -/** - * @brief DMA USART receive process half complete callback - * @param hdma Pointer to a DMA_HandleTypeDef structure that contains - * the configuration information for the specified DMA module. - * @retval None - */ -static void USART_DMARxHalfCplt(DMA_HandleTypeDef *hdma) -{ - USART_HandleTypeDef *husart = (USART_HandleTypeDef *)((DMA_HandleTypeDef *)hdma)->Parent; - -#if (USE_HAL_USART_REGISTER_CALLBACKS == 1) - /* Call registered Rx Half Complete Callback */ - husart->RxHalfCpltCallback(husart); -#else - /* Call legacy weak Rx Half Complete Callback */ - HAL_USART_RxHalfCpltCallback(husart); -#endif /* USE_HAL_USART_REGISTER_CALLBACKS */ -} - -/** - * @brief DMA USART communication error callback. - * @param hdma Pointer to a DMA_HandleTypeDef structure that contains - * the configuration information for the specified DMA module. - * @retval None - */ -static void USART_DMAError(DMA_HandleTypeDef *hdma) -{ - uint32_t dmarequest = 0x00U; - USART_HandleTypeDef *husart = (USART_HandleTypeDef *)((DMA_HandleTypeDef *)hdma)->Parent; - husart->RxXferCount = 0x00U; - husart->TxXferCount = 0x00U; - - /* Stop USART DMA Tx request if ongoing */ - dmarequest = HAL_IS_BIT_SET(husart->Instance->CR3, USART_CR3_DMAT); - if ((husart->State == HAL_USART_STATE_BUSY_TX) && dmarequest) - { - USART_EndTxTransfer(husart); - } - - /* Stop USART DMA Rx request if ongoing */ - dmarequest = HAL_IS_BIT_SET(husart->Instance->CR3, USART_CR3_DMAR); - if ((husart->State == HAL_USART_STATE_BUSY_RX) && dmarequest) - { - USART_EndRxTransfer(husart); - } - - husart->ErrorCode |= HAL_USART_ERROR_DMA; - husart->State = HAL_USART_STATE_READY; - -#if (USE_HAL_USART_REGISTER_CALLBACKS == 1) - /* Call registered Error Callback */ - husart->ErrorCallback(husart); -#else - /* Call legacy weak Error Callback */ - HAL_USART_ErrorCallback(husart); -#endif /* USE_HAL_USART_REGISTER_CALLBACKS */ -} - -/** - * @brief This function handles USART Communication Timeout. - * @param husart Pointer to a USART_HandleTypeDef structure that contains - * the configuration information for the specified USART module. - * @param Flag specifies the USART flag to check. - * @param Status The new Flag status (SET or RESET). - * @param Tickstart Tick start value. - * @param Timeout Timeout duration. - * @retval HAL status - */ -static HAL_StatusTypeDef USART_WaitOnFlagUntilTimeout(USART_HandleTypeDef *husart, uint32_t Flag, FlagStatus Status, - uint32_t Tickstart, uint32_t Timeout) -{ - /* Wait until flag is set */ - while ((__HAL_USART_GET_FLAG(husart, Flag) ? SET : RESET) == Status) - { - /* Check for the Timeout */ - if (Timeout != HAL_MAX_DELAY) - { - if ((Timeout == 0U) || ((HAL_GetTick() - Tickstart) > Timeout)) - { - /* Disable the USART Transmit Complete Interrupt */ - CLEAR_BIT(husart->Instance->CR1, USART_CR1_TXEIE); - - /* Disable the USART RXNE Interrupt */ - CLEAR_BIT(husart->Instance->CR1, USART_CR1_RXNEIE); - - /* Disable the USART Parity Error Interrupt */ - CLEAR_BIT(husart->Instance->CR1, USART_CR1_PEIE); - - /* Disable the USART Error Interrupt: (Frame error, noise error, overrun error) */ - CLEAR_BIT(husart->Instance->CR3, USART_CR3_EIE); - - husart->State = HAL_USART_STATE_READY; - - /* Process Unlocked */ - __HAL_UNLOCK(husart); - - return HAL_TIMEOUT; - } - } - } - return HAL_OK; -} - -/** - * @brief End ongoing Tx transfer on USART peripheral (following error detection or Transmit completion). - * @param husart USART handle. - * @retval None - */ -static void USART_EndTxTransfer(USART_HandleTypeDef *husart) -{ - /* Disable TXEIE and TCIE interrupts */ - CLEAR_BIT(husart->Instance->CR1, (USART_CR1_TXEIE | USART_CR1_TCIE)); - - /* At end of Tx process, restore husart->State to Ready */ - husart->State = HAL_USART_STATE_READY; -} - -/** - * @brief End ongoing Rx transfer on USART peripheral (following error detection or Reception completion). - * @param husart USART handle. - * @retval None - */ -static void USART_EndRxTransfer(USART_HandleTypeDef *husart) -{ - /* Disable RXNE, PE and ERR interrupts */ - CLEAR_BIT(husart->Instance->CR1, (USART_CR1_RXNEIE | USART_CR1_PEIE)); - CLEAR_BIT(husart->Instance->CR3, USART_CR3_EIE); - - /* At end of Rx process, restore husart->State to Ready */ - husart->State = HAL_USART_STATE_READY; -} - -/** - * @brief DMA USART communication abort callback, when initiated by HAL services on Error - * (To be called at end of DMA Abort procedure following error occurrence). - * @param hdma DMA handle. - * @retval None - */ -static void USART_DMAAbortOnError(DMA_HandleTypeDef *hdma) -{ - USART_HandleTypeDef *husart = (USART_HandleTypeDef *)((DMA_HandleTypeDef *)hdma)->Parent; - husart->RxXferCount = 0x00U; - husart->TxXferCount = 0x00U; - -#if (USE_HAL_USART_REGISTER_CALLBACKS == 1) - /* Call registered Error Callback */ - husart->ErrorCallback(husart); -#else - /* Call legacy weak Error Callback */ - HAL_USART_ErrorCallback(husart); -#endif /* USE_HAL_USART_REGISTER_CALLBACKS */ -} - -/** - * @brief DMA USART Tx communication abort callback, when initiated by user - * (To be called at end of DMA Tx Abort procedure following user abort request). - * @note When this callback is executed, User Abort complete call back is called only if no - * Abort still ongoing for Rx DMA Handle. - * @param hdma DMA handle. - * @retval None - */ -static void USART_DMATxAbortCallback(DMA_HandleTypeDef *hdma) -{ - USART_HandleTypeDef *husart = (USART_HandleTypeDef *)((DMA_HandleTypeDef *)hdma)->Parent; - - husart->hdmatx->XferAbortCallback = NULL; - - /* Check if an Abort process is still ongoing */ - if (husart->hdmarx != NULL) - { - if (husart->hdmarx->XferAbortCallback != NULL) - { - return; - } - } - - /* No Abort process still ongoing : All DMA channels are aborted, call user Abort Complete callback */ - husart->TxXferCount = 0x00U; - husart->RxXferCount = 0x00U; - - /* Reset errorCode */ - husart->ErrorCode = HAL_USART_ERROR_NONE; - - /* Restore husart->State to Ready */ - husart->State = HAL_USART_STATE_READY; - - /* Call user Abort complete callback */ -#if (USE_HAL_USART_REGISTER_CALLBACKS == 1) - /* Call registered Abort Complete Callback */ - husart->AbortCpltCallback(husart); -#else - /* Call legacy weak Abort Complete Callback */ - HAL_USART_AbortCpltCallback(husart); -#endif /* USE_HAL_USART_REGISTER_CALLBACKS */ -} - -/** - * @brief DMA USART Rx communication abort callback, when initiated by user - * (To be called at end of DMA Rx Abort procedure following user abort request). - * @note When this callback is executed, User Abort complete call back is called only if no - * Abort still ongoing for Tx DMA Handle. - * @param hdma DMA handle. - * @retval None - */ -static void USART_DMARxAbortCallback(DMA_HandleTypeDef *hdma) -{ - USART_HandleTypeDef *husart = (USART_HandleTypeDef *)((DMA_HandleTypeDef *)hdma)->Parent; - - husart->hdmarx->XferAbortCallback = NULL; - - /* Check if an Abort process is still ongoing */ - if (husart->hdmatx != NULL) - { - if (husart->hdmatx->XferAbortCallback != NULL) - { - return; - } - } - - /* No Abort process still ongoing : All DMA channels are aborted, call user Abort Complete callback */ - husart->TxXferCount = 0x00U; - husart->RxXferCount = 0x00U; - - /* Reset errorCode */ - husart->ErrorCode = HAL_USART_ERROR_NONE; - - /* Restore husart->State to Ready */ - husart->State = HAL_USART_STATE_READY; - - /* Call user Abort complete callback */ -#if (USE_HAL_USART_REGISTER_CALLBACKS == 1) - /* Call registered Abort Complete Callback */ - husart->AbortCpltCallback(husart); -#else - /* Call legacy weak Abort Complete Callback */ - HAL_USART_AbortCpltCallback(husart); -#endif /* USE_HAL_USART_REGISTER_CALLBACKS */ -} - -/** - * @brief Simplex Send an amount of data in non-blocking mode. - * @param husart Pointer to a USART_HandleTypeDef structure that contains - * the configuration information for the specified USART module. - * @retval HAL status - * @note The USART errors are not managed to avoid the overrun error. - */ -static HAL_StatusTypeDef USART_Transmit_IT(USART_HandleTypeDef *husart) -{ - uint16_t *tmp; - - if (husart->State == HAL_USART_STATE_BUSY_TX) - { - if ((husart->Init.WordLength == USART_WORDLENGTH_9B) && (husart->Init.Parity == USART_PARITY_NONE)) - { - tmp = (uint16_t *) husart->pTxBuffPtr; - husart->Instance->DR = (uint16_t)(*tmp & (uint16_t)0x01FF); - husart->pTxBuffPtr += 2U; - } - else - { - husart->Instance->DR = (uint8_t)(*husart->pTxBuffPtr++ & (uint8_t)0x00FF); - } - - if (--husart->TxXferCount == 0U) - { - /* Disable the USART Transmit data register empty Interrupt */ - CLEAR_BIT(husart->Instance->CR1, USART_CR1_TXEIE); - - /* Enable the USART Transmit Complete Interrupt */ - SET_BIT(husart->Instance->CR1, USART_CR1_TCIE); - } - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Wraps up transmission in non blocking mode. - * @param husart Pointer to a USART_HandleTypeDef structure that contains - * the configuration information for the specified USART module. - * @retval HAL status - */ -static HAL_StatusTypeDef USART_EndTransmit_IT(USART_HandleTypeDef *husart) -{ - /* Disable the USART Transmit Complete Interrupt */ - CLEAR_BIT(husart->Instance->CR1, USART_CR1_TCIE); - - /* Disable the USART Error Interrupt: (Frame error, noise error, overrun error) */ - CLEAR_BIT(husart->Instance->CR3, USART_CR3_EIE); - - husart->State = HAL_USART_STATE_READY; - -#if (USE_HAL_USART_REGISTER_CALLBACKS == 1) - /* Call registered Tx Complete Callback */ - husart->TxCpltCallback(husart); -#else - /* Call legacy weak Tx Complete Callback */ - HAL_USART_TxCpltCallback(husart); -#endif /* USE_HAL_USART_REGISTER_CALLBACKS */ - - return HAL_OK; -} - -/** - * @brief Simplex Receive an amount of data in non-blocking mode. - * @param husart Pointer to a USART_HandleTypeDef structure that contains - * the configuration information for the specified USART module. - * @retval HAL status - */ -static HAL_StatusTypeDef USART_Receive_IT(USART_HandleTypeDef *husart) -{ - uint8_t *pdata8bits; - uint16_t *pdata16bits; - - if (husart->State == HAL_USART_STATE_BUSY_RX) - { - if ((husart->Init.WordLength == USART_WORDLENGTH_9B) && (husart->Init.Parity == USART_PARITY_NONE)) - { - pdata8bits = NULL; - pdata16bits = (uint16_t *) husart->pRxBuffPtr; - *pdata16bits = (uint16_t)(husart->Instance->DR & (uint16_t)0x01FF); - husart->pRxBuffPtr += 2U; - } - else - { - pdata8bits = (uint8_t *) husart->pRxBuffPtr; - pdata16bits = NULL; - - if ((husart->Init.WordLength == USART_WORDLENGTH_9B) || ((husart->Init.WordLength == USART_WORDLENGTH_8B) && (husart->Init.Parity == USART_PARITY_NONE))) - { - *pdata8bits = (uint8_t)(husart->Instance->DR & (uint8_t)0x00FF); - } - else - { - *pdata8bits = (uint8_t)(husart->Instance->DR & (uint8_t)0x007F); - } - - husart->pRxBuffPtr += 1U; - } - - husart->RxXferCount--; - - if (husart->RxXferCount == 0U) - { - /* Disable the USART RXNE Interrupt */ - CLEAR_BIT(husart->Instance->CR1, USART_CR1_RXNEIE); - - /* Disable the USART Parity Error Interrupt */ - CLEAR_BIT(husart->Instance->CR1, USART_CR1_PEIE); - - /* Disable the USART Error Interrupt: (Frame error, noise error, overrun error) */ - CLEAR_BIT(husart->Instance->CR3, USART_CR3_EIE); - - husart->State = HAL_USART_STATE_READY; -#if (USE_HAL_USART_REGISTER_CALLBACKS == 1) - /* Call registered Rx Complete Callback */ - husart->RxCpltCallback(husart); -#else - /* Call legacy weak Rx Complete Callback */ - HAL_USART_RxCpltCallback(husart); -#endif /* USE_HAL_USART_REGISTER_CALLBACKS */ - - return HAL_OK; - } - else - { - /* Send dummy byte in order to generate the clock for the slave to send the next data. - * Whatever the frame length (7, 8 or 9-bit long), the same dummy value - * can be written for all the cases. */ - husart->Instance->DR = (DUMMY_DATA & (uint16_t)0x0FF); - } - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Full-Duplex Send receive an amount of data in full-duplex mode (non-blocking). - * @param husart Pointer to a USART_HandleTypeDef structure that contains - * the configuration information for the specified USART module. - * @retval HAL status - */ -static HAL_StatusTypeDef USART_TransmitReceive_IT(USART_HandleTypeDef *husart) -{ - uint8_t *pdata8bits; - uint16_t *pdata16bits; - - if (husart->State == HAL_USART_STATE_BUSY_TX_RX) - { - if (husart->TxXferCount != 0x00U) - { - if (__HAL_USART_GET_FLAG(husart, USART_FLAG_TXE) != RESET) - { - if ((husart->Init.WordLength == USART_WORDLENGTH_9B) && (husart->Init.Parity == USART_PARITY_NONE)) - { - pdata8bits = NULL; - pdata16bits = (uint16_t *) husart->pTxBuffPtr; - husart->Instance->DR = (uint16_t)(*pdata16bits & (uint16_t)0x01FF); - husart->pTxBuffPtr += 2U; - } - else - { - husart->Instance->DR = (uint8_t)(*husart->pTxBuffPtr++ & (uint8_t)0x00FF); - } - - husart->TxXferCount--; - - /* Check the latest data transmitted */ - if (husart->TxXferCount == 0U) - { - CLEAR_BIT(husart->Instance->CR1, USART_CR1_TXEIE); - } - } - } - - if (husart->RxXferCount != 0x00U) - { - if (__HAL_USART_GET_FLAG(husart, USART_FLAG_RXNE) != RESET) - { - if ((husart->Init.WordLength == USART_WORDLENGTH_9B) && (husart->Init.Parity == USART_PARITY_NONE)) - { - pdata8bits = NULL; - pdata16bits = (uint16_t *) husart->pRxBuffPtr; - *pdata16bits = (uint16_t)(husart->Instance->DR & (uint16_t)0x01FF); - husart->pRxBuffPtr += 2U; - } - else - { - pdata8bits = (uint8_t *) husart->pRxBuffPtr; - pdata16bits = NULL; - if ((husart->Init.WordLength == USART_WORDLENGTH_9B) || ((husart->Init.WordLength == USART_WORDLENGTH_8B) && (husart->Init.Parity == USART_PARITY_NONE))) - { - *pdata8bits = (uint8_t)(husart->Instance->DR & (uint8_t)0x00FF); - } - else - { - *pdata8bits = (uint8_t)(husart->Instance->DR & (uint8_t)0x007F); - } - husart->pRxBuffPtr += 1U; - } - - husart->RxXferCount--; - } - } - - /* Check the latest data received */ - if (husart->RxXferCount == 0U) - { - /* Disable the USART RXNE Interrupt */ - CLEAR_BIT(husart->Instance->CR1, USART_CR1_RXNEIE); - - /* Disable the USART Parity Error Interrupt */ - CLEAR_BIT(husart->Instance->CR1, USART_CR1_PEIE); - - /* Disable the USART Error Interrupt: (Frame error, noise error, overrun error) */ - CLEAR_BIT(husart->Instance->CR3, USART_CR3_EIE); - - husart->State = HAL_USART_STATE_READY; - -#if (USE_HAL_USART_REGISTER_CALLBACKS == 1) - /* Call registered Tx Rx Complete Callback */ - husart->TxRxCpltCallback(husart); -#else - /* Call legacy weak Tx Rx Complete Callback */ - HAL_USART_TxRxCpltCallback(husart); -#endif /* USE_HAL_USART_REGISTER_CALLBACKS */ - - return HAL_OK; - } - - return HAL_OK; - } - else - { - return HAL_BUSY; - } -} - -/** - * @brief Configures the USART peripheral. - * @param husart Pointer to a USART_HandleTypeDef structure that contains - * the configuration information for the specified USART module. - * @retval None - */ -static void USART_SetConfig(USART_HandleTypeDef *husart) -{ - uint32_t tmpreg = 0x00U; - uint32_t pclk; - - /* Check the parameters */ - assert_param(IS_USART_INSTANCE(husart->Instance)); - assert_param(IS_USART_POLARITY(husart->Init.CLKPolarity)); - assert_param(IS_USART_PHASE(husart->Init.CLKPhase)); - assert_param(IS_USART_LASTBIT(husart->Init.CLKLastBit)); - assert_param(IS_USART_BAUDRATE(husart->Init.BaudRate)); - assert_param(IS_USART_WORD_LENGTH(husart->Init.WordLength)); - assert_param(IS_USART_STOPBITS(husart->Init.StopBits)); - assert_param(IS_USART_PARITY(husart->Init.Parity)); - assert_param(IS_USART_MODE(husart->Init.Mode)); - - /* The LBCL, CPOL and CPHA bits have to be selected when both the transmitter and the - receiver are disabled (TE=RE=0) to ensure that the clock pulses function correctly. */ - CLEAR_BIT(husart->Instance->CR1, (USART_CR1_TE | USART_CR1_RE)); - - /*---------------------------- USART CR2 Configuration ---------------------*/ - tmpreg = husart->Instance->CR2; - /* Clear CLKEN, CPOL, CPHA and LBCL bits */ - tmpreg &= (uint32_t)~((uint32_t)(USART_CR2_CPHA | USART_CR2_CPOL | USART_CR2_CLKEN | USART_CR2_LBCL | USART_CR2_STOP)); - /* Configure the USART Clock, CPOL, CPHA and LastBit -----------------------*/ - /* Set CPOL bit according to husart->Init.CLKPolarity value */ - /* Set CPHA bit according to husart->Init.CLKPhase value */ - /* Set LBCL bit according to husart->Init.CLKLastBit value */ - /* Set Stop Bits: Set STOP[13:12] bits according to husart->Init.StopBits value */ - tmpreg |= (uint32_t)(USART_CLOCK_ENABLE | husart->Init.CLKPolarity | - husart->Init.CLKPhase | husart->Init.CLKLastBit | husart->Init.StopBits); - /* Write to USART CR2 */ - WRITE_REG(husart->Instance->CR2, (uint32_t)tmpreg); - - /*-------------------------- USART CR1 Configuration -----------------------*/ - tmpreg = husart->Instance->CR1; - - /* Clear M, PCE, PS, TE, RE and OVER8 bits */ - tmpreg &= (uint32_t)~((uint32_t)(USART_CR1_M | USART_CR1_PCE | USART_CR1_PS | USART_CR1_TE | \ - USART_CR1_RE | USART_CR1_OVER8)); - - /* Configure the USART Word Length, Parity and mode: - Set the M bits according to husart->Init.WordLength value - Set PCE and PS bits according to husart->Init.Parity value - Set TE and RE bits according to husart->Init.Mode value - Force OVER8 bit to 1 in order to reach the max USART frequencies */ - tmpreg |= (uint32_t)husart->Init.WordLength | husart->Init.Parity | husart->Init.Mode | USART_CR1_OVER8; - - /* Write to USART CR1 */ - WRITE_REG(husart->Instance->CR1, (uint32_t)tmpreg); - - /*-------------------------- USART CR3 Configuration -----------------------*/ - /* Clear CTSE and RTSE bits */ - CLEAR_BIT(husart->Instance->CR3, (USART_CR3_RTSE | USART_CR3_CTSE)); - - /*-------------------------- USART BRR Configuration -----------------------*/ -#if defined(USART6) && defined(UART9) && defined(UART10) - if ((husart->Instance == USART1) || (husart->Instance == USART6) || (husart->Instance == UART9) || (husart->Instance == UART10)) - { - pclk = HAL_RCC_GetPCLK2Freq(); - husart->Instance->BRR = USART_BRR(pclk, husart->Init.BaudRate); - } -#elif defined(USART6) - if((husart->Instance == USART1) || (husart->Instance == USART6)) - { - pclk = HAL_RCC_GetPCLK2Freq(); - husart->Instance->BRR = USART_BRR(pclk, husart->Init.BaudRate); - } -#else - if(husart->Instance == USART1) - { - pclk = HAL_RCC_GetPCLK2Freq(); - husart->Instance->BRR = USART_BRR(pclk, husart->Init.BaudRate); - } -#endif /* USART6 || UART9 || UART10 */ - else - { - pclk = HAL_RCC_GetPCLK1Freq(); - husart->Instance->BRR = USART_BRR(pclk, husart->Init.BaudRate); - } -} - -/** - * @} - */ - -/** - * @} - */ - -#endif /* HAL_USART_MODULE_ENABLED */ -/** - * @} - */ - -/** - * @} - */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_wwdg.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_wwdg.c deleted file mode 100644 index d1e2fa071e8892..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_wwdg.c +++ /dev/null @@ -1,422 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_wwdg.c - * @author MCD Application Team - * @brief WWDG HAL module driver. - * This file provides firmware functions to manage the following - * functionalities of the Window Watchdog (WWDG) peripheral: - * + Initialization and Configuration functions - * + IO operation functions - @verbatim - ============================================================================== - ##### WWDG Specific features ##### - ============================================================================== - [..] - Once enabled the WWDG generates a system reset on expiry of a programmed - time period, unless the program refreshes the counter (T[6;0] downcounter) - before reaching 0x3F value (i.e. a reset is generated when the counter - value rolls down from 0x40 to 0x3F). - - (+) An MCU reset is also generated if the counter value is refreshed - before the counter has reached the refresh window value. This - implies that the counter must be refreshed in a limited window. - (+) Once enabled the WWDG cannot be disabled except by a system reset. - (+) If required by application, an Early Wakeup Interrupt can be triggered - in order to be warned before WWDG expiration. The Early Wakeup Interrupt - (EWI) can be used if specific safety operations or data logging must - be performed before the actual reset is generated. When the downcounter - reaches 0x40, interrupt occurs. This mechanism requires WWDG interrupt - line to be enabled in NVIC. Once enabled, EWI interrupt cannot be - disabled except by a system reset. - (+) WWDGRST flag in RCC CSR register can be used to inform when a WWDG - reset occurs. - (+) The WWDG counter input clock is derived from the APB clock divided - by a programmable prescaler. - (+) WWDG clock (Hz) = PCLK1 / (4096 * Prescaler) - (+) WWDG timeout (mS) = 1000 * (T[5;0] + 1) / WWDG clock (Hz) - where T[5;0] are the lowest 6 bits of Counter. - (+) WWDG Counter refresh is allowed between the following limits : - (++) min time (mS) = 1000 * (Counter - Window) / WWDG clock - (++) max time (mS) = 1000 * (Counter - 0x40) / WWDG clock - (+) Typical values: - (++) Counter min (T[5;0] = 0x00) at 42MHz (PCLK1) with zero prescaler: - max timeout before reset: approximately 97.52s - (++) Counter max (T[5;0] = 0x3F) at 42MHz (PCLK1) with prescaler - dividing by 8: - max timeout before reset: approximately 49.93ms - - ##### How to use this driver ##### - ============================================================================== - - *** Common driver usage *** - =========================== - - [..] - (+) Enable WWDG APB1 clock using __HAL_RCC_WWDG_CLK_ENABLE(). - (+) Configure the WWDG prescaler, refresh window value, counter value and early - interrupt status using HAL_WWDG_Init() function. This will automatically - enable WWDG and start its downcounter. Time reference can be taken from - function exit. Care must be taken to provide a counter value - greater than 0x40 to prevent generation of immediate reset. - (+) If the Early Wakeup Interrupt (EWI) feature is enabled, an interrupt is - generated when the counter reaches 0x40. When HAL_WWDG_IRQHandler is - triggered by the interrupt service routine, flag will be automatically - cleared and HAL_WWDG_WakeupCallback user callback will be executed. User - can add his own code by customization of callback HAL_WWDG_WakeupCallback. - (+) Then the application program must refresh the WWDG counter at regular - intervals during normal operation to prevent an MCU reset, using - HAL_WWDG_Refresh() function. This operation must occur only when - the counter is lower than the refresh window value already programmed. - - *** Callback registration *** - ============================= - - [..] - The compilation define USE_HAL_WWDG_REGISTER_CALLBACKS when set to 1 allows - the user to configure dynamically the driver callbacks. Use Functions - HAL_WWDG_RegisterCallback() to register a user callback. - - (+) Function HAL_WWDG_RegisterCallback() allows to register following - callbacks: - (++) EwiCallback : callback for Early WakeUp Interrupt. - (++) MspInitCallback : WWDG MspInit. - This function takes as parameters the HAL peripheral handle, the Callback ID - and a pointer to the user callback function. - - (+) Use function HAL_WWDG_UnRegisterCallback() to reset a callback to - the default weak (surcharged) function. HAL_WWDG_UnRegisterCallback() - takes as parameters the HAL peripheral handle and the Callback ID. - This function allows to reset following callbacks: - (++) EwiCallback : callback for Early WakeUp Interrupt. - (++) MspInitCallback : WWDG MspInit. - - [..] - When calling HAL_WWDG_Init function, callbacks are reset to the - corresponding legacy weak (surcharged) functions: - HAL_WWDG_EarlyWakeupCallback() and HAL_WWDG_MspInit() only if they have - not been registered before. - - [..] - When compilation define USE_HAL_WWDG_REGISTER_CALLBACKS is set to 0 or - not defined, the callback registering feature is not available - and weak (surcharged) callbacks are used. - - *** WWDG HAL driver macros list *** - =================================== - [..] - Below the list of available macros in WWDG HAL driver. - (+) __HAL_WWDG_ENABLE: Enable the WWDG peripheral - (+) __HAL_WWDG_GET_FLAG: Get the selected WWDG's flag status - (+) __HAL_WWDG_CLEAR_FLAG: Clear the WWDG's pending flags - (+) __HAL_WWDG_ENABLE_IT: Enable the WWDG early wakeup interrupt - - @endverbatim - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -#ifdef HAL_WWDG_MODULE_ENABLED -/** @defgroup WWDG WWDG - * @brief WWDG HAL module driver. - * @{ - */ - -/* Private typedef -----------------------------------------------------------*/ -/* Private define ------------------------------------------------------------*/ -/* Private macro -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private function prototypes -----------------------------------------------*/ -/* Exported functions --------------------------------------------------------*/ - -/** @defgroup WWDG_Exported_Functions WWDG Exported Functions - * @{ - */ - -/** @defgroup WWDG_Exported_Functions_Group1 Initialization and Configuration functions - * @brief Initialization and Configuration functions. - * -@verbatim - ============================================================================== - ##### Initialization and Configuration functions ##### - ============================================================================== - [..] - This section provides functions allowing to: - (+) Initialize and start the WWDG according to the specified parameters - in the WWDG_InitTypeDef of associated handle. - (+) Initialize the WWDG MSP. - -@endverbatim - * @{ - */ - -/** - * @brief Initialize the WWDG according to the specified. - * parameters in the WWDG_InitTypeDef of associated handle. - * @param hwwdg pointer to a WWDG_HandleTypeDef structure that contains - * the configuration information for the specified WWDG module. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_WWDG_Init(WWDG_HandleTypeDef *hwwdg) -{ - /* Check the WWDG handle allocation */ - if (hwwdg == NULL) - { - return HAL_ERROR; - } - - /* Check the parameters */ - assert_param(IS_WWDG_ALL_INSTANCE(hwwdg->Instance)); - assert_param(IS_WWDG_PRESCALER(hwwdg->Init.Prescaler)); - assert_param(IS_WWDG_WINDOW(hwwdg->Init.Window)); - assert_param(IS_WWDG_COUNTER(hwwdg->Init.Counter)); - assert_param(IS_WWDG_EWI_MODE(hwwdg->Init.EWIMode)); - -#if (USE_HAL_WWDG_REGISTER_CALLBACKS == 1) - /* Reset Callback pointers */ - if (hwwdg->EwiCallback == NULL) - { - hwwdg->EwiCallback = HAL_WWDG_EarlyWakeupCallback; - } - - if (hwwdg->MspInitCallback == NULL) - { - hwwdg->MspInitCallback = HAL_WWDG_MspInit; - } - - /* Init the low level hardware */ - hwwdg->MspInitCallback(hwwdg); -#else - /* Init the low level hardware */ - HAL_WWDG_MspInit(hwwdg); -#endif /* USE_HAL_WWDG_REGISTER_CALLBACKS */ - - /* Set WWDG Counter */ - WRITE_REG(hwwdg->Instance->CR, (WWDG_CR_WDGA | hwwdg->Init.Counter)); - - /* Set WWDG Prescaler and Window */ - WRITE_REG(hwwdg->Instance->CFR, (hwwdg->Init.EWIMode | hwwdg->Init.Prescaler | hwwdg->Init.Window)); - - /* Return function status */ - return HAL_OK; -} - - -/** - * @brief Initialize the WWDG MSP. - * @param hwwdg pointer to a WWDG_HandleTypeDef structure that contains - * the configuration information for the specified WWDG module. - * @note When rewriting this function in user file, mechanism may be added - * to avoid multiple initialize when HAL_WWDG_Init function is called - * again to change parameters. - * @retval None - */ -__weak void HAL_WWDG_MspInit(WWDG_HandleTypeDef *hwwdg) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hwwdg); - - /* NOTE: This function should not be modified, when the callback is needed, - the HAL_WWDG_MspInit could be implemented in the user file - */ -} - - -#if (USE_HAL_WWDG_REGISTER_CALLBACKS == 1) -/** - * @brief Register a User WWDG Callback - * To be used instead of the weak (surcharged) predefined callback - * @param hwwdg WWDG handle - * @param CallbackID ID of the callback to be registered - * This parameter can be one of the following values: - * @arg @ref HAL_WWDG_EWI_CB_ID Early WakeUp Interrupt Callback ID - * @arg @ref HAL_WWDG_MSPINIT_CB_ID MspInit callback ID - * @param pCallback pointer to the Callback function - * @retval status - */ -HAL_StatusTypeDef HAL_WWDG_RegisterCallback(WWDG_HandleTypeDef *hwwdg, HAL_WWDG_CallbackIDTypeDef CallbackID, - pWWDG_CallbackTypeDef pCallback) -{ - HAL_StatusTypeDef status = HAL_OK; - - if (pCallback == NULL) - { - status = HAL_ERROR; - } - else - { - switch (CallbackID) - { - case HAL_WWDG_EWI_CB_ID: - hwwdg->EwiCallback = pCallback; - break; - - case HAL_WWDG_MSPINIT_CB_ID: - hwwdg->MspInitCallback = pCallback; - break; - - default: - status = HAL_ERROR; - break; - } - } - - return status; -} - - -/** - * @brief Unregister a WWDG Callback - * WWDG Callback is redirected to the weak (surcharged) predefined callback - * @param hwwdg WWDG handle - * @param CallbackID ID of the callback to be registered - * This parameter can be one of the following values: - * @arg @ref HAL_WWDG_EWI_CB_ID Early WakeUp Interrupt Callback ID - * @arg @ref HAL_WWDG_MSPINIT_CB_ID MspInit callback ID - * @retval status - */ -HAL_StatusTypeDef HAL_WWDG_UnRegisterCallback(WWDG_HandleTypeDef *hwwdg, HAL_WWDG_CallbackIDTypeDef CallbackID) -{ - HAL_StatusTypeDef status = HAL_OK; - - switch (CallbackID) - { - case HAL_WWDG_EWI_CB_ID: - hwwdg->EwiCallback = HAL_WWDG_EarlyWakeupCallback; - break; - - case HAL_WWDG_MSPINIT_CB_ID: - hwwdg->MspInitCallback = HAL_WWDG_MspInit; - break; - - default: - status = HAL_ERROR; - break; - } - - return status; -} -#endif /* USE_HAL_WWDG_REGISTER_CALLBACKS */ - -/** - * @} - */ - -/** @defgroup WWDG_Exported_Functions_Group2 IO operation functions - * @brief IO operation functions - * -@verbatim - ============================================================================== - ##### IO operation functions ##### - ============================================================================== - [..] - This section provides functions allowing to: - (+) Refresh the WWDG. - (+) Handle WWDG interrupt request and associated function callback. - -@endverbatim - * @{ - */ - -/** - * @brief Refresh the WWDG. - * @param hwwdg pointer to a WWDG_HandleTypeDef structure that contains - * the configuration information for the specified WWDG module. - * @retval HAL status - */ -HAL_StatusTypeDef HAL_WWDG_Refresh(WWDG_HandleTypeDef *hwwdg) -{ - /* Write to WWDG CR the WWDG Counter value to refresh with */ - WRITE_REG(hwwdg->Instance->CR, (hwwdg->Init.Counter)); - - /* Return function status */ - return HAL_OK; -} - -/** - * @brief Handle WWDG interrupt request. - * @note The Early Wakeup Interrupt (EWI) can be used if specific safety operations - * or data logging must be performed before the actual reset is generated. - * The EWI interrupt is enabled by calling HAL_WWDG_Init function with - * EWIMode set to WWDG_EWI_ENABLE. - * When the downcounter reaches the value 0x40, and EWI interrupt is - * generated and the corresponding Interrupt Service Routine (ISR) can - * be used to trigger specific actions (such as communications or data - * logging), before resetting the device. - * @param hwwdg pointer to a WWDG_HandleTypeDef structure that contains - * the configuration information for the specified WWDG module. - * @retval None - */ -void HAL_WWDG_IRQHandler(WWDG_HandleTypeDef *hwwdg) -{ - /* Check if Early Wakeup Interrupt is enable */ - if (__HAL_WWDG_GET_IT_SOURCE(hwwdg, WWDG_IT_EWI) != RESET) - { - /* Check if WWDG Early Wakeup Interrupt occurred */ - if (__HAL_WWDG_GET_FLAG(hwwdg, WWDG_FLAG_EWIF) != RESET) - { - /* Clear the WWDG Early Wakeup flag */ - __HAL_WWDG_CLEAR_FLAG(hwwdg, WWDG_FLAG_EWIF); - -#if (USE_HAL_WWDG_REGISTER_CALLBACKS == 1) - /* Early Wakeup registered callback */ - hwwdg->EwiCallback(hwwdg); -#else - /* Early Wakeup callback */ - HAL_WWDG_EarlyWakeupCallback(hwwdg); -#endif /* USE_HAL_WWDG_REGISTER_CALLBACKS */ - } - } -} - - -/** - * @brief WWDG Early Wakeup callback. - * @param hwwdg pointer to a WWDG_HandleTypeDef structure that contains - * the configuration information for the specified WWDG module. - * @retval None - */ -__weak void HAL_WWDG_EarlyWakeupCallback(WWDG_HandleTypeDef *hwwdg) -{ - /* Prevent unused argument(s) compilation warning */ - UNUSED(hwwdg); - - /* NOTE: This function should not be modified, when the callback is needed, - the HAL_WWDG_EarlyWakeupCallback could be implemented in the user file - */ -} - -/** - * @} - */ - -/** - * @} - */ - -#endif /* HAL_WWDG_MODULE_ENABLED */ -/** - * @} - */ - -/** - * @} - */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_adc.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_adc.c deleted file mode 100644 index 5710e2664e0cc6..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_adc.c +++ /dev/null @@ -1,924 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_ll_adc.c - * @author MCD Application Team - * @brief ADC LL module driver - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ -#if defined(USE_FULL_LL_DRIVER) - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_ll_adc.h" -#include "stm32f4xx_ll_bus.h" - -#ifdef USE_FULL_ASSERT - #include "stm32_assert.h" -#else - #define assert_param(expr) ((void)0U) -#endif - -/** @addtogroup STM32F4xx_LL_Driver - * @{ - */ - -#if defined (ADC1) || defined (ADC2) || defined (ADC3) - -/** @addtogroup ADC_LL ADC - * @{ - */ - -/* Private types -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private constants ---------------------------------------------------------*/ -/* Private macros ------------------------------------------------------------*/ - -/** @addtogroup ADC_LL_Private_Macros - * @{ - */ - -/* Check of parameters for configuration of ADC hierarchical scope: */ -/* common to several ADC instances. */ -#define IS_LL_ADC_COMMON_CLOCK(__CLOCK__) \ - ( ((__CLOCK__) == LL_ADC_CLOCK_SYNC_PCLK_DIV2) \ - || ((__CLOCK__) == LL_ADC_CLOCK_SYNC_PCLK_DIV4) \ - || ((__CLOCK__) == LL_ADC_CLOCK_SYNC_PCLK_DIV6) \ - || ((__CLOCK__) == LL_ADC_CLOCK_SYNC_PCLK_DIV8) \ - ) - -/* Check of parameters for configuration of ADC hierarchical scope: */ -/* ADC instance. */ -#define IS_LL_ADC_RESOLUTION(__RESOLUTION__) \ - ( ((__RESOLUTION__) == LL_ADC_RESOLUTION_12B) \ - || ((__RESOLUTION__) == LL_ADC_RESOLUTION_10B) \ - || ((__RESOLUTION__) == LL_ADC_RESOLUTION_8B) \ - || ((__RESOLUTION__) == LL_ADC_RESOLUTION_6B) \ - ) - -#define IS_LL_ADC_DATA_ALIGN(__DATA_ALIGN__) \ - ( ((__DATA_ALIGN__) == LL_ADC_DATA_ALIGN_RIGHT) \ - || ((__DATA_ALIGN__) == LL_ADC_DATA_ALIGN_LEFT) \ - ) - -#define IS_LL_ADC_SCAN_SELECTION(__SCAN_SELECTION__) \ - ( ((__SCAN_SELECTION__) == LL_ADC_SEQ_SCAN_DISABLE) \ - || ((__SCAN_SELECTION__) == LL_ADC_SEQ_SCAN_ENABLE) \ - ) - -#define IS_LL_ADC_SEQ_SCAN_MODE(__SEQ_SCAN_MODE__) \ - ( ((__SCAN_MODE__) == LL_ADC_SEQ_SCAN_DISABLE) \ - || ((__SCAN_MODE__) == LL_ADC_SEQ_SCAN_ENABLE) \ - ) - -/* Check of parameters for configuration of ADC hierarchical scope: */ -/* ADC group regular */ -#define IS_LL_ADC_REG_TRIG_SOURCE(__REG_TRIG_SOURCE__) \ - ( ((__REG_TRIG_SOURCE__) == LL_ADC_REG_TRIG_SOFTWARE) \ - || ((__REG_TRIG_SOURCE__) == LL_ADC_REG_TRIG_EXT_TIM1_CH1) \ - || ((__REG_TRIG_SOURCE__) == LL_ADC_REG_TRIG_EXT_TIM1_CH2) \ - || ((__REG_TRIG_SOURCE__) == LL_ADC_REG_TRIG_EXT_TIM1_CH3) \ - || ((__REG_TRIG_SOURCE__) == LL_ADC_REG_TRIG_EXT_TIM2_CH2) \ - || ((__REG_TRIG_SOURCE__) == LL_ADC_REG_TRIG_EXT_TIM2_CH3) \ - || ((__REG_TRIG_SOURCE__) == LL_ADC_REG_TRIG_EXT_TIM2_CH4) \ - || ((__REG_TRIG_SOURCE__) == LL_ADC_REG_TRIG_EXT_TIM2_TRGO) \ - || ((__REG_TRIG_SOURCE__) == LL_ADC_REG_TRIG_EXT_TIM3_CH1) \ - || ((__REG_TRIG_SOURCE__) == LL_ADC_REG_TRIG_EXT_TIM3_TRGO) \ - || ((__REG_TRIG_SOURCE__) == LL_ADC_REG_TRIG_EXT_TIM4_CH4) \ - || ((__REG_TRIG_SOURCE__) == LL_ADC_REG_TRIG_EXT_TIM5_CH1) \ - || ((__REG_TRIG_SOURCE__) == LL_ADC_REG_TRIG_EXT_TIM5_CH2) \ - || ((__REG_TRIG_SOURCE__) == LL_ADC_REG_TRIG_EXT_TIM5_CH3) \ - || ((__REG_TRIG_SOURCE__) == LL_ADC_REG_TRIG_EXT_TIM8_CH1) \ - || ((__REG_TRIG_SOURCE__) == LL_ADC_REG_TRIG_EXT_TIM8_TRGO) \ - || ((__REG_TRIG_SOURCE__) == LL_ADC_REG_TRIG_EXT_EXTI_LINE11) \ - ) -#define IS_LL_ADC_REG_CONTINUOUS_MODE(__REG_CONTINUOUS_MODE__) \ - ( ((__REG_CONTINUOUS_MODE__) == LL_ADC_REG_CONV_SINGLE) \ - || ((__REG_CONTINUOUS_MODE__) == LL_ADC_REG_CONV_CONTINUOUS) \ - ) - -#define IS_LL_ADC_REG_DMA_TRANSFER(__REG_DMA_TRANSFER__) \ - ( ((__REG_DMA_TRANSFER__) == LL_ADC_REG_DMA_TRANSFER_NONE) \ - || ((__REG_DMA_TRANSFER__) == LL_ADC_REG_DMA_TRANSFER_LIMITED) \ - || ((__REG_DMA_TRANSFER__) == LL_ADC_REG_DMA_TRANSFER_UNLIMITED) \ - ) - -#define IS_LL_ADC_REG_FLAG_EOC_SELECTION(__REG_FLAG_EOC_SELECTION__) \ - ( ((__REG_FLAG_EOC_SELECTION__) == LL_ADC_REG_FLAG_EOC_SEQUENCE_CONV) \ - || ((__REG_FLAG_EOC_SELECTION__) == LL_ADC_REG_FLAG_EOC_UNITARY_CONV) \ - ) - -#define IS_LL_ADC_REG_SEQ_SCAN_LENGTH(__REG_SEQ_SCAN_LENGTH__) \ - ( ((__REG_SEQ_SCAN_LENGTH__) == LL_ADC_REG_SEQ_SCAN_DISABLE) \ - || ((__REG_SEQ_SCAN_LENGTH__) == LL_ADC_REG_SEQ_SCAN_ENABLE_2RANKS) \ - || ((__REG_SEQ_SCAN_LENGTH__) == LL_ADC_REG_SEQ_SCAN_ENABLE_3RANKS) \ - || ((__REG_SEQ_SCAN_LENGTH__) == LL_ADC_REG_SEQ_SCAN_ENABLE_4RANKS) \ - || ((__REG_SEQ_SCAN_LENGTH__) == LL_ADC_REG_SEQ_SCAN_ENABLE_5RANKS) \ - || ((__REG_SEQ_SCAN_LENGTH__) == LL_ADC_REG_SEQ_SCAN_ENABLE_6RANKS) \ - || ((__REG_SEQ_SCAN_LENGTH__) == LL_ADC_REG_SEQ_SCAN_ENABLE_7RANKS) \ - || ((__REG_SEQ_SCAN_LENGTH__) == LL_ADC_REG_SEQ_SCAN_ENABLE_8RANKS) \ - || ((__REG_SEQ_SCAN_LENGTH__) == LL_ADC_REG_SEQ_SCAN_ENABLE_9RANKS) \ - || ((__REG_SEQ_SCAN_LENGTH__) == LL_ADC_REG_SEQ_SCAN_ENABLE_10RANKS) \ - || ((__REG_SEQ_SCAN_LENGTH__) == LL_ADC_REG_SEQ_SCAN_ENABLE_11RANKS) \ - || ((__REG_SEQ_SCAN_LENGTH__) == LL_ADC_REG_SEQ_SCAN_ENABLE_12RANKS) \ - || ((__REG_SEQ_SCAN_LENGTH__) == LL_ADC_REG_SEQ_SCAN_ENABLE_13RANKS) \ - || ((__REG_SEQ_SCAN_LENGTH__) == LL_ADC_REG_SEQ_SCAN_ENABLE_14RANKS) \ - || ((__REG_SEQ_SCAN_LENGTH__) == LL_ADC_REG_SEQ_SCAN_ENABLE_15RANKS) \ - || ((__REG_SEQ_SCAN_LENGTH__) == LL_ADC_REG_SEQ_SCAN_ENABLE_16RANKS) \ - ) - -#define IS_LL_ADC_REG_SEQ_SCAN_DISCONT_MODE(__REG_SEQ_DISCONT_MODE__) \ - ( ((__REG_SEQ_DISCONT_MODE__) == LL_ADC_REG_SEQ_DISCONT_DISABLE) \ - || ((__REG_SEQ_DISCONT_MODE__) == LL_ADC_REG_SEQ_DISCONT_1RANK) \ - || ((__REG_SEQ_DISCONT_MODE__) == LL_ADC_REG_SEQ_DISCONT_2RANKS) \ - || ((__REG_SEQ_DISCONT_MODE__) == LL_ADC_REG_SEQ_DISCONT_3RANKS) \ - || ((__REG_SEQ_DISCONT_MODE__) == LL_ADC_REG_SEQ_DISCONT_4RANKS) \ - || ((__REG_SEQ_DISCONT_MODE__) == LL_ADC_REG_SEQ_DISCONT_5RANKS) \ - || ((__REG_SEQ_DISCONT_MODE__) == LL_ADC_REG_SEQ_DISCONT_6RANKS) \ - || ((__REG_SEQ_DISCONT_MODE__) == LL_ADC_REG_SEQ_DISCONT_7RANKS) \ - || ((__REG_SEQ_DISCONT_MODE__) == LL_ADC_REG_SEQ_DISCONT_8RANKS) \ - ) - -/* Check of parameters for configuration of ADC hierarchical scope: */ -/* ADC group injected */ -#define IS_LL_ADC_INJ_TRIG_SOURCE(__INJ_TRIG_SOURCE__) \ - ( ((__INJ_TRIG_SOURCE__) == LL_ADC_INJ_TRIG_SOFTWARE) \ - || ((__INJ_TRIG_SOURCE__) == LL_ADC_INJ_TRIG_EXT_TIM1_CH4) \ - || ((__INJ_TRIG_SOURCE__) == LL_ADC_INJ_TRIG_EXT_TIM1_TRGO) \ - || ((__INJ_TRIG_SOURCE__) == LL_ADC_INJ_TRIG_EXT_TIM2_CH1) \ - || ((__INJ_TRIG_SOURCE__) == LL_ADC_INJ_TRIG_EXT_TIM2_TRGO) \ - || ((__INJ_TRIG_SOURCE__) == LL_ADC_INJ_TRIG_EXT_TIM3_CH2) \ - || ((__INJ_TRIG_SOURCE__) == LL_ADC_INJ_TRIG_EXT_TIM3_CH4) \ - || ((__INJ_TRIG_SOURCE__) == LL_ADC_INJ_TRIG_EXT_TIM4_CH1) \ - || ((__INJ_TRIG_SOURCE__) == LL_ADC_INJ_TRIG_EXT_TIM4_CH2) \ - || ((__INJ_TRIG_SOURCE__) == LL_ADC_INJ_TRIG_EXT_TIM4_CH3) \ - || ((__INJ_TRIG_SOURCE__) == LL_ADC_INJ_TRIG_EXT_TIM4_TRGO) \ - || ((__INJ_TRIG_SOURCE__) == LL_ADC_INJ_TRIG_EXT_TIM5_CH4) \ - || ((__INJ_TRIG_SOURCE__) == LL_ADC_INJ_TRIG_EXT_TIM5_TRGO) \ - || ((__INJ_TRIG_SOURCE__) == LL_ADC_INJ_TRIG_EXT_TIM8_CH2) \ - || ((__INJ_TRIG_SOURCE__) == LL_ADC_INJ_TRIG_EXT_TIM8_CH3) \ - || ((__INJ_TRIG_SOURCE__) == LL_ADC_INJ_TRIG_EXT_TIM8_CH4) \ - || ((__INJ_TRIG_SOURCE__) == LL_ADC_INJ_TRIG_EXT_EXTI_LINE15) \ - ) - -#define IS_LL_ADC_INJ_TRIG_EXT_EDGE(__INJ_TRIG_EXT_EDGE__) \ - ( ((__INJ_TRIG_EXT_EDGE__) == LL_ADC_INJ_TRIG_EXT_RISING) \ - || ((__INJ_TRIG_EXT_EDGE__) == LL_ADC_INJ_TRIG_EXT_FALLING) \ - || ((__INJ_TRIG_EXT_EDGE__) == LL_ADC_INJ_TRIG_EXT_RISINGFALLING) \ - ) - -#define IS_LL_ADC_INJ_TRIG_AUTO(__INJ_TRIG_AUTO__) \ - ( ((__INJ_TRIG_AUTO__) == LL_ADC_INJ_TRIG_INDEPENDENT) \ - || ((__INJ_TRIG_AUTO__) == LL_ADC_INJ_TRIG_FROM_GRP_REGULAR) \ - ) - -#define IS_LL_ADC_INJ_SEQ_SCAN_LENGTH(__INJ_SEQ_SCAN_LENGTH__) \ - ( ((__INJ_SEQ_SCAN_LENGTH__) == LL_ADC_INJ_SEQ_SCAN_DISABLE) \ - || ((__INJ_SEQ_SCAN_LENGTH__) == LL_ADC_INJ_SEQ_SCAN_ENABLE_2RANKS) \ - || ((__INJ_SEQ_SCAN_LENGTH__) == LL_ADC_INJ_SEQ_SCAN_ENABLE_3RANKS) \ - || ((__INJ_SEQ_SCAN_LENGTH__) == LL_ADC_INJ_SEQ_SCAN_ENABLE_4RANKS) \ - ) - -#define IS_LL_ADC_INJ_SEQ_SCAN_DISCONT_MODE(__INJ_SEQ_DISCONT_MODE__) \ - ( ((__INJ_SEQ_DISCONT_MODE__) == LL_ADC_INJ_SEQ_DISCONT_DISABLE) \ - || ((__INJ_SEQ_DISCONT_MODE__) == LL_ADC_INJ_SEQ_DISCONT_1RANK) \ - ) - -#if defined(ADC_MULTIMODE_SUPPORT) -/* Check of parameters for configuration of ADC hierarchical scope: */ -/* multimode. */ -#if defined(ADC3) -#define IS_LL_ADC_MULTI_MODE(__MULTI_MODE__) \ - ( ((__MULTI_MODE__) == LL_ADC_MULTI_INDEPENDENT) \ - || ((__MULTI_MODE__) == LL_ADC_MULTI_DUAL_REG_SIMULT) \ - || ((__MULTI_MODE__) == LL_ADC_MULTI_DUAL_REG_INTERL) \ - || ((__MULTI_MODE__) == LL_ADC_MULTI_DUAL_INJ_SIMULT) \ - || ((__MULTI_MODE__) == LL_ADC_MULTI_DUAL_INJ_ALTERN) \ - || ((__MULTI_MODE__) == LL_ADC_MULTI_DUAL_REG_SIM_INJ_SIM) \ - || ((__MULTI_MODE__) == LL_ADC_MULTI_DUAL_REG_SIM_INJ_ALT) \ - || ((__MULTI_MODE__) == LL_ADC_MULTI_DUAL_REG_INT_INJ_SIM) \ - || ((__MULTI_MODE__) == LL_ADC_MULTI_TRIPLE_REG_SIM_INJ_SIM) \ - || ((__MULTI_MODE__) == LL_ADC_MULTI_TRIPLE_REG_SIM_INJ_ALT) \ - || ((__MULTI_MODE__) == LL_ADC_MULTI_TRIPLE_INJ_SIMULT) \ - || ((__MULTI_MODE__) == LL_ADC_MULTI_TRIPLE_REG_SIMULT) \ - || ((__MULTI_MODE__) == LL_ADC_MULTI_TRIPLE_REG_INTERL) \ - || ((__MULTI_MODE__) == LL_ADC_MULTI_TRIPLE_INJ_ALTERN) \ - ) -#else -#define IS_LL_ADC_MULTI_MODE(__MULTI_MODE__) \ - ( ((__MULTI_MODE__) == LL_ADC_MULTI_INDEPENDENT) \ - || ((__MULTI_MODE__) == LL_ADC_MULTI_DUAL_REG_SIMULT) \ - || ((__MULTI_MODE__) == LL_ADC_MULTI_DUAL_REG_INTERL) \ - || ((__MULTI_MODE__) == LL_ADC_MULTI_DUAL_INJ_SIMULT) \ - || ((__MULTI_MODE__) == LL_ADC_MULTI_DUAL_INJ_ALTERN) \ - || ((__MULTI_MODE__) == LL_ADC_MULTI_DUAL_REG_SIM_INJ_SIM) \ - || ((__MULTI_MODE__) == LL_ADC_MULTI_DUAL_REG_SIM_INJ_ALT) \ - || ((__MULTI_MODE__) == LL_ADC_MULTI_DUAL_REG_INT_INJ_SIM) \ - ) -#endif - -#define IS_LL_ADC_MULTI_DMA_TRANSFER(__MULTI_DMA_TRANSFER__) \ - ( ((__MULTI_DMA_TRANSFER__) == LL_ADC_MULTI_REG_DMA_EACH_ADC) \ - || ((__MULTI_DMA_TRANSFER__) == LL_ADC_MULTI_REG_DMA_LIMIT_1) \ - || ((__MULTI_DMA_TRANSFER__) == LL_ADC_MULTI_REG_DMA_LIMIT_2) \ - || ((__MULTI_DMA_TRANSFER__) == LL_ADC_MULTI_REG_DMA_LIMIT_3) \ - || ((__MULTI_DMA_TRANSFER__) == LL_ADC_MULTI_REG_DMA_UNLMT_1) \ - || ((__MULTI_DMA_TRANSFER__) == LL_ADC_MULTI_REG_DMA_UNLMT_2) \ - || ((__MULTI_DMA_TRANSFER__) == LL_ADC_MULTI_REG_DMA_UNLMT_3) \ - ) - -#define IS_LL_ADC_MULTI_TWOSMP_DELAY(__MULTI_TWOSMP_DELAY__) \ - ( ((__MULTI_TWOSMP_DELAY__) == LL_ADC_MULTI_TWOSMP_DELAY_5CYCLES) \ - || ((__MULTI_TWOSMP_DELAY__) == LL_ADC_MULTI_TWOSMP_DELAY_6CYCLES) \ - || ((__MULTI_TWOSMP_DELAY__) == LL_ADC_MULTI_TWOSMP_DELAY_7CYCLES) \ - || ((__MULTI_TWOSMP_DELAY__) == LL_ADC_MULTI_TWOSMP_DELAY_8CYCLES) \ - || ((__MULTI_TWOSMP_DELAY__) == LL_ADC_MULTI_TWOSMP_DELAY_9CYCLES) \ - || ((__MULTI_TWOSMP_DELAY__) == LL_ADC_MULTI_TWOSMP_DELAY_10CYCLES) \ - || ((__MULTI_TWOSMP_DELAY__) == LL_ADC_MULTI_TWOSMP_DELAY_11CYCLES) \ - || ((__MULTI_TWOSMP_DELAY__) == LL_ADC_MULTI_TWOSMP_DELAY_12CYCLES) \ - || ((__MULTI_TWOSMP_DELAY__) == LL_ADC_MULTI_TWOSMP_DELAY_13CYCLES) \ - || ((__MULTI_TWOSMP_DELAY__) == LL_ADC_MULTI_TWOSMP_DELAY_14CYCLES) \ - || ((__MULTI_TWOSMP_DELAY__) == LL_ADC_MULTI_TWOSMP_DELAY_15CYCLES) \ - || ((__MULTI_TWOSMP_DELAY__) == LL_ADC_MULTI_TWOSMP_DELAY_16CYCLES) \ - || ((__MULTI_TWOSMP_DELAY__) == LL_ADC_MULTI_TWOSMP_DELAY_17CYCLES) \ - || ((__MULTI_TWOSMP_DELAY__) == LL_ADC_MULTI_TWOSMP_DELAY_18CYCLES) \ - || ((__MULTI_TWOSMP_DELAY__) == LL_ADC_MULTI_TWOSMP_DELAY_19CYCLES) \ - || ((__MULTI_TWOSMP_DELAY__) == LL_ADC_MULTI_TWOSMP_DELAY_20CYCLES) \ - ) - -#define IS_LL_ADC_MULTI_MASTER_SLAVE(__MULTI_MASTER_SLAVE__) \ - ( ((__MULTI_MASTER_SLAVE__) == LL_ADC_MULTI_MASTER) \ - || ((__MULTI_MASTER_SLAVE__) == LL_ADC_MULTI_SLAVE) \ - || ((__MULTI_MASTER_SLAVE__) == LL_ADC_MULTI_MASTER_SLAVE) \ - ) - -#endif /* ADC_MULTIMODE_SUPPORT */ -/** - * @} - */ - - -/* Private function prototypes -----------------------------------------------*/ - -/* Exported functions --------------------------------------------------------*/ -/** @addtogroup ADC_LL_Exported_Functions - * @{ - */ - -/** @addtogroup ADC_LL_EF_Init - * @{ - */ - -/** - * @brief De-initialize registers of all ADC instances belonging to - * the same ADC common instance to their default reset values. - * @param ADCxy_COMMON ADC common instance - * (can be set directly from CMSIS definition or by using helper macro @ref __LL_ADC_COMMON_INSTANCE() ) - * @retval An ErrorStatus enumeration value: - * - SUCCESS: ADC common registers are de-initialized - * - ERROR: not applicable - */ -ErrorStatus LL_ADC_CommonDeInit(ADC_Common_TypeDef *ADCxy_COMMON) -{ - /* Check the parameters */ - assert_param(IS_ADC_COMMON_INSTANCE(ADCxy_COMMON)); - - - /* Force reset of ADC clock (core clock) */ - LL_APB2_GRP1_ForceReset(LL_APB2_GRP1_PERIPH_ADC); - - /* Release reset of ADC clock (core clock) */ - LL_APB2_GRP1_ReleaseReset(LL_APB2_GRP1_PERIPH_ADC); - - return SUCCESS; -} - -/** - * @brief Initialize some features of ADC common parameters - * (all ADC instances belonging to the same ADC common instance) - * and multimode (for devices with several ADC instances available). - * @note The setting of ADC common parameters is conditioned to - * ADC instances state: - * All ADC instances belonging to the same ADC common instance - * must be disabled. - * @param ADCxy_COMMON ADC common instance - * (can be set directly from CMSIS definition or by using helper macro @ref __LL_ADC_COMMON_INSTANCE() ) - * @param ADC_CommonInitStruct Pointer to a @ref LL_ADC_CommonInitTypeDef structure - * @retval An ErrorStatus enumeration value: - * - SUCCESS: ADC common registers are initialized - * - ERROR: ADC common registers are not initialized - */ -ErrorStatus LL_ADC_CommonInit(ADC_Common_TypeDef *ADCxy_COMMON, LL_ADC_CommonInitTypeDef *ADC_CommonInitStruct) -{ - ErrorStatus status = SUCCESS; - - /* Check the parameters */ - assert_param(IS_ADC_COMMON_INSTANCE(ADCxy_COMMON)); - assert_param(IS_LL_ADC_COMMON_CLOCK(ADC_CommonInitStruct->CommonClock)); - -#if defined(ADC_MULTIMODE_SUPPORT) - assert_param(IS_LL_ADC_MULTI_MODE(ADC_CommonInitStruct->Multimode)); - if(ADC_CommonInitStruct->Multimode != LL_ADC_MULTI_INDEPENDENT) - { - assert_param(IS_LL_ADC_MULTI_DMA_TRANSFER(ADC_CommonInitStruct->MultiDMATransfer)); - assert_param(IS_LL_ADC_MULTI_TWOSMP_DELAY(ADC_CommonInitStruct->MultiTwoSamplingDelay)); - } -#endif /* ADC_MULTIMODE_SUPPORT */ - - /* Note: Hardware constraint (refer to description of functions */ - /* "LL_ADC_SetCommonXXX()" and "LL_ADC_SetMultiXXX()"): */ - /* On this STM32 series, setting of these features is conditioned to */ - /* ADC state: */ - /* All ADC instances of the ADC common group must be disabled. */ - if(__LL_ADC_IS_ENABLED_ALL_COMMON_INSTANCE(ADCxy_COMMON) == 0UL) - { - /* Configuration of ADC hierarchical scope: */ - /* - common to several ADC */ - /* (all ADC instances belonging to the same ADC common instance) */ - /* - Set ADC clock (conversion clock) */ - /* - multimode (if several ADC instances available on the */ - /* selected device) */ - /* - Set ADC multimode configuration */ - /* - Set ADC multimode DMA transfer */ - /* - Set ADC multimode: delay between 2 sampling phases */ -#if defined(ADC_MULTIMODE_SUPPORT) - if(ADC_CommonInitStruct->Multimode != LL_ADC_MULTI_INDEPENDENT) - { - MODIFY_REG(ADCxy_COMMON->CCR, - ADC_CCR_ADCPRE - | ADC_CCR_MULTI - | ADC_CCR_DMA - | ADC_CCR_DDS - | ADC_CCR_DELAY - , - ADC_CommonInitStruct->CommonClock - | ADC_CommonInitStruct->Multimode - | ADC_CommonInitStruct->MultiDMATransfer - | ADC_CommonInitStruct->MultiTwoSamplingDelay - ); - } - else - { - MODIFY_REG(ADCxy_COMMON->CCR, - ADC_CCR_ADCPRE - | ADC_CCR_MULTI - | ADC_CCR_DMA - | ADC_CCR_DDS - | ADC_CCR_DELAY - , - ADC_CommonInitStruct->CommonClock - | LL_ADC_MULTI_INDEPENDENT - ); - } -#else - LL_ADC_SetCommonClock(ADCxy_COMMON, ADC_CommonInitStruct->CommonClock); -#endif - } - else - { - /* Initialization error: One or several ADC instances belonging to */ - /* the same ADC common instance are not disabled. */ - status = ERROR; - } - - return status; -} - -/** - * @brief Set each @ref LL_ADC_CommonInitTypeDef field to default value. - * @param ADC_CommonInitStruct Pointer to a @ref LL_ADC_CommonInitTypeDef structure - * whose fields will be set to default values. - * @retval None - */ -void LL_ADC_CommonStructInit(LL_ADC_CommonInitTypeDef *ADC_CommonInitStruct) -{ - /* Set ADC_CommonInitStruct fields to default values */ - /* Set fields of ADC common */ - /* (all ADC instances belonging to the same ADC common instance) */ - ADC_CommonInitStruct->CommonClock = LL_ADC_CLOCK_SYNC_PCLK_DIV2; - -#if defined(ADC_MULTIMODE_SUPPORT) - /* Set fields of ADC multimode */ - ADC_CommonInitStruct->Multimode = LL_ADC_MULTI_INDEPENDENT; - ADC_CommonInitStruct->MultiDMATransfer = LL_ADC_MULTI_REG_DMA_EACH_ADC; - ADC_CommonInitStruct->MultiTwoSamplingDelay = LL_ADC_MULTI_TWOSMP_DELAY_5CYCLES; -#endif /* ADC_MULTIMODE_SUPPORT */ -} - -/** - * @brief De-initialize registers of the selected ADC instance - * to their default reset values. - * @note To reset all ADC instances quickly (perform a hard reset), - * use function @ref LL_ADC_CommonDeInit(). - * @param ADCx ADC instance - * @retval An ErrorStatus enumeration value: - * - SUCCESS: ADC registers are de-initialized - * - ERROR: ADC registers are not de-initialized - */ -ErrorStatus LL_ADC_DeInit(ADC_TypeDef *ADCx) -{ - ErrorStatus status = SUCCESS; - - /* Check the parameters */ - assert_param(IS_ADC_ALL_INSTANCE(ADCx)); - - /* Disable ADC instance if not already disabled. */ - if(LL_ADC_IsEnabled(ADCx) == 1UL) - { - /* Set ADC group regular trigger source to SW start to ensure to not */ - /* have an external trigger event occurring during the conversion stop */ - /* ADC disable process. */ - LL_ADC_REG_SetTriggerSource(ADCx, LL_ADC_REG_TRIG_SOFTWARE); - - /* Set ADC group injected trigger source to SW start to ensure to not */ - /* have an external trigger event occurring during the conversion stop */ - /* ADC disable process. */ - LL_ADC_INJ_SetTriggerSource(ADCx, LL_ADC_INJ_TRIG_SOFTWARE); - - /* Disable the ADC instance */ - LL_ADC_Disable(ADCx); - } - - /* Check whether ADC state is compliant with expected state */ - /* (hardware requirements of bits state to reset registers below) */ - if(READ_BIT(ADCx->CR2, ADC_CR2_ADON) == 0UL) - { - /* ========== Reset ADC registers ========== */ - /* Reset register SR */ - CLEAR_BIT(ADCx->SR, - ( LL_ADC_FLAG_STRT - | LL_ADC_FLAG_JSTRT - | LL_ADC_FLAG_EOCS - | LL_ADC_FLAG_OVR - | LL_ADC_FLAG_JEOS - | LL_ADC_FLAG_AWD1 ) - ); - - /* Reset register CR1 */ - CLEAR_BIT(ADCx->CR1, - ( ADC_CR1_OVRIE | ADC_CR1_RES | ADC_CR1_AWDEN - | ADC_CR1_JAWDEN - | ADC_CR1_DISCNUM | ADC_CR1_JDISCEN | ADC_CR1_DISCEN - | ADC_CR1_JAUTO | ADC_CR1_AWDSGL | ADC_CR1_SCAN - | ADC_CR1_JEOCIE | ADC_CR1_AWDIE | ADC_CR1_EOCIE - | ADC_CR1_AWDCH ) - ); - - /* Reset register CR2 */ - CLEAR_BIT(ADCx->CR2, - ( ADC_CR2_SWSTART | ADC_CR2_EXTEN | ADC_CR2_EXTSEL - | ADC_CR2_JSWSTART | ADC_CR2_JEXTEN | ADC_CR2_JEXTSEL - | ADC_CR2_ALIGN | ADC_CR2_EOCS - | ADC_CR2_DDS | ADC_CR2_DMA - | ADC_CR2_CONT | ADC_CR2_ADON ) - ); - - /* Reset register SMPR1 */ - CLEAR_BIT(ADCx->SMPR1, - ( ADC_SMPR1_SMP18 | ADC_SMPR1_SMP17 | ADC_SMPR1_SMP16 - | ADC_SMPR1_SMP15 | ADC_SMPR1_SMP14 | ADC_SMPR1_SMP13 - | ADC_SMPR1_SMP12 | ADC_SMPR1_SMP11 | ADC_SMPR1_SMP10) - ); - - /* Reset register SMPR2 */ - CLEAR_BIT(ADCx->SMPR2, - ( ADC_SMPR2_SMP9 - | ADC_SMPR2_SMP8 | ADC_SMPR2_SMP7 | ADC_SMPR2_SMP6 - | ADC_SMPR2_SMP5 | ADC_SMPR2_SMP4 | ADC_SMPR2_SMP3 - | ADC_SMPR2_SMP2 | ADC_SMPR2_SMP1 | ADC_SMPR2_SMP0) - ); - - /* Reset register JOFR1 */ - CLEAR_BIT(ADCx->JOFR1, ADC_JOFR1_JOFFSET1); - /* Reset register JOFR2 */ - CLEAR_BIT(ADCx->JOFR2, ADC_JOFR2_JOFFSET2); - /* Reset register JOFR3 */ - CLEAR_BIT(ADCx->JOFR3, ADC_JOFR3_JOFFSET3); - /* Reset register JOFR4 */ - CLEAR_BIT(ADCx->JOFR4, ADC_JOFR4_JOFFSET4); - - /* Reset register HTR */ - SET_BIT(ADCx->HTR, ADC_HTR_HT); - /* Reset register LTR */ - CLEAR_BIT(ADCx->LTR, ADC_LTR_LT); - - /* Reset register SQR1 */ - CLEAR_BIT(ADCx->SQR1, - ( ADC_SQR1_L - | ADC_SQR1_SQ16 - | ADC_SQR1_SQ15 | ADC_SQR1_SQ14 | ADC_SQR1_SQ13) - ); - - /* Reset register SQR2 */ - CLEAR_BIT(ADCx->SQR2, - ( ADC_SQR2_SQ12 | ADC_SQR2_SQ11 | ADC_SQR2_SQ10 - | ADC_SQR2_SQ9 | ADC_SQR2_SQ8 | ADC_SQR2_SQ7) - ); - - /* Reset register SQR3 */ - CLEAR_BIT(ADCx->SQR3, - ( ADC_SQR3_SQ6 | ADC_SQR3_SQ5 | ADC_SQR3_SQ4 - | ADC_SQR3_SQ3 | ADC_SQR3_SQ2 | ADC_SQR3_SQ1) - ); - - /* Reset register JSQR */ - CLEAR_BIT(ADCx->JSQR, - ( ADC_JSQR_JL - | ADC_JSQR_JSQ4 | ADC_JSQR_JSQ3 - | ADC_JSQR_JSQ2 | ADC_JSQR_JSQ1 ) - ); - - /* Reset register DR */ - /* bits in access mode read only, no direct reset applicable */ - - /* Reset registers JDR1, JDR2, JDR3, JDR4 */ - /* bits in access mode read only, no direct reset applicable */ - - /* Reset register CCR */ - CLEAR_BIT(ADC->CCR, ADC_CCR_TSVREFE | ADC_CCR_ADCPRE); - } - - return status; -} - -/** - * @brief Initialize some features of ADC instance. - * @note These parameters have an impact on ADC scope: ADC instance. - * Affects both group regular and group injected (availability - * of ADC group injected depends on STM32 families). - * Refer to corresponding unitary functions into - * @ref ADC_LL_EF_Configuration_ADC_Instance . - * @note The setting of these parameters by function @ref LL_ADC_Init() - * is conditioned to ADC state: - * ADC instance must be disabled. - * This condition is applied to all ADC features, for efficiency - * and compatibility over all STM32 families. However, the different - * features can be set under different ADC state conditions - * (setting possible with ADC enabled without conversion on going, - * ADC enabled with conversion on going, ...) - * Each feature can be updated afterwards with a unitary function - * and potentially with ADC in a different state than disabled, - * refer to description of each function for setting - * conditioned to ADC state. - * @note After using this function, some other features must be configured - * using LL unitary functions. - * The minimum configuration remaining to be done is: - * - Set ADC group regular or group injected sequencer: - * map channel on the selected sequencer rank. - * Refer to function @ref LL_ADC_REG_SetSequencerRanks(). - * - Set ADC channel sampling time - * Refer to function LL_ADC_SetChannelSamplingTime(); - * @param ADCx ADC instance - * @param ADC_InitStruct Pointer to a @ref LL_ADC_REG_InitTypeDef structure - * @retval An ErrorStatus enumeration value: - * - SUCCESS: ADC registers are initialized - * - ERROR: ADC registers are not initialized - */ -ErrorStatus LL_ADC_Init(ADC_TypeDef *ADCx, LL_ADC_InitTypeDef *ADC_InitStruct) -{ - ErrorStatus status = SUCCESS; - - /* Check the parameters */ - assert_param(IS_ADC_ALL_INSTANCE(ADCx)); - - assert_param(IS_LL_ADC_RESOLUTION(ADC_InitStruct->Resolution)); - assert_param(IS_LL_ADC_DATA_ALIGN(ADC_InitStruct->DataAlignment)); - assert_param(IS_LL_ADC_SCAN_SELECTION(ADC_InitStruct->SequencersScanMode)); - - /* Note: Hardware constraint (refer to description of this function): */ - /* ADC instance must be disabled. */ - if(LL_ADC_IsEnabled(ADCx) == 0UL) - { - /* Configuration of ADC hierarchical scope: */ - /* - ADC instance */ - /* - Set ADC data resolution */ - /* - Set ADC conversion data alignment */ - MODIFY_REG(ADCx->CR1, - ADC_CR1_RES - | ADC_CR1_SCAN - , - ADC_InitStruct->Resolution - | ADC_InitStruct->SequencersScanMode - ); - - MODIFY_REG(ADCx->CR2, - ADC_CR2_ALIGN - , - ADC_InitStruct->DataAlignment - ); - - } - else - { - /* Initialization error: ADC instance is not disabled. */ - status = ERROR; - } - return status; -} - -/** - * @brief Set each @ref LL_ADC_InitTypeDef field to default value. - * @param ADC_InitStruct Pointer to a @ref LL_ADC_InitTypeDef structure - * whose fields will be set to default values. - * @retval None - */ -void LL_ADC_StructInit(LL_ADC_InitTypeDef *ADC_InitStruct) -{ - /* Set ADC_InitStruct fields to default values */ - /* Set fields of ADC instance */ - ADC_InitStruct->Resolution = LL_ADC_RESOLUTION_12B; - ADC_InitStruct->DataAlignment = LL_ADC_DATA_ALIGN_RIGHT; - - /* Enable scan mode to have a generic behavior with ADC of other */ - /* STM32 families, without this setting available: */ - /* ADC group regular sequencer and ADC group injected sequencer depend */ - /* only of their own configuration. */ - ADC_InitStruct->SequencersScanMode = LL_ADC_SEQ_SCAN_ENABLE; - -} - -/** - * @brief Initialize some features of ADC group regular. - * @note These parameters have an impact on ADC scope: ADC group regular. - * Refer to corresponding unitary functions into - * @ref ADC_LL_EF_Configuration_ADC_Group_Regular - * (functions with prefix "REG"). - * @note The setting of these parameters by function @ref LL_ADC_Init() - * is conditioned to ADC state: - * ADC instance must be disabled. - * This condition is applied to all ADC features, for efficiency - * and compatibility over all STM32 families. However, the different - * features can be set under different ADC state conditions - * (setting possible with ADC enabled without conversion on going, - * ADC enabled with conversion on going, ...) - * Each feature can be updated afterwards with a unitary function - * and potentially with ADC in a different state than disabled, - * refer to description of each function for setting - * conditioned to ADC state. - * @note After using this function, other features must be configured - * using LL unitary functions. - * The minimum configuration remaining to be done is: - * - Set ADC group regular or group injected sequencer: - * map channel on the selected sequencer rank. - * Refer to function @ref LL_ADC_REG_SetSequencerRanks(). - * - Set ADC channel sampling time - * Refer to function LL_ADC_SetChannelSamplingTime(); - * @param ADCx ADC instance - * @param ADC_REG_InitStruct Pointer to a @ref LL_ADC_REG_InitTypeDef structure - * @retval An ErrorStatus enumeration value: - * - SUCCESS: ADC registers are initialized - * - ERROR: ADC registers are not initialized - */ -ErrorStatus LL_ADC_REG_Init(ADC_TypeDef *ADCx, LL_ADC_REG_InitTypeDef *ADC_REG_InitStruct) -{ - ErrorStatus status = SUCCESS; - - /* Check the parameters */ - assert_param(IS_ADC_ALL_INSTANCE(ADCx)); - assert_param(IS_LL_ADC_REG_TRIG_SOURCE(ADC_REG_InitStruct->TriggerSource)); - assert_param(IS_LL_ADC_REG_SEQ_SCAN_LENGTH(ADC_REG_InitStruct->SequencerLength)); - if(ADC_REG_InitStruct->SequencerLength != LL_ADC_REG_SEQ_SCAN_DISABLE) - { - assert_param(IS_LL_ADC_REG_SEQ_SCAN_DISCONT_MODE(ADC_REG_InitStruct->SequencerDiscont)); - } - assert_param(IS_LL_ADC_REG_CONTINUOUS_MODE(ADC_REG_InitStruct->ContinuousMode)); - assert_param(IS_LL_ADC_REG_DMA_TRANSFER(ADC_REG_InitStruct->DMATransfer)); - - /* ADC group regular continuous mode and discontinuous mode */ - /* can not be enabled simultenaeously */ - assert_param((ADC_REG_InitStruct->ContinuousMode == LL_ADC_REG_CONV_SINGLE) - || (ADC_REG_InitStruct->SequencerDiscont == LL_ADC_REG_SEQ_DISCONT_DISABLE)); - - /* Note: Hardware constraint (refer to description of this function): */ - /* ADC instance must be disabled. */ - if(LL_ADC_IsEnabled(ADCx) == 0UL) - { - /* Configuration of ADC hierarchical scope: */ - /* - ADC group regular */ - /* - Set ADC group regular trigger source */ - /* - Set ADC group regular sequencer length */ - /* - Set ADC group regular sequencer discontinuous mode */ - /* - Set ADC group regular continuous mode */ - /* - Set ADC group regular conversion data transfer: no transfer or */ - /* transfer by DMA, and DMA requests mode */ - /* Note: On this STM32 series, ADC trigger edge is set when starting */ - /* ADC conversion. */ - /* Refer to function @ref LL_ADC_REG_StartConversionExtTrig(). */ - if(ADC_REG_InitStruct->SequencerLength != LL_ADC_REG_SEQ_SCAN_DISABLE) - { - MODIFY_REG(ADCx->CR1, - ADC_CR1_DISCEN - | ADC_CR1_DISCNUM - , - ADC_REG_InitStruct->SequencerDiscont - ); - } - else - { - MODIFY_REG(ADCx->CR1, - ADC_CR1_DISCEN - | ADC_CR1_DISCNUM - , - LL_ADC_REG_SEQ_DISCONT_DISABLE - ); - } - - MODIFY_REG(ADCx->CR2, - ADC_CR2_EXTSEL - | ADC_CR2_EXTEN - | ADC_CR2_CONT - | ADC_CR2_DMA - | ADC_CR2_DDS - , - (ADC_REG_InitStruct->TriggerSource & ADC_CR2_EXTSEL) - | ADC_REG_InitStruct->ContinuousMode - | ADC_REG_InitStruct->DMATransfer - ); - - /* Set ADC group regular sequencer length and scan direction */ - /* Note: Hardware constraint (refer to description of this function): */ - /* Note: If ADC instance feature scan mode is disabled */ - /* (refer to ADC instance initialization structure */ - /* parameter @ref SequencersScanMode */ - /* or function @ref LL_ADC_SetSequencersScanMode() ), */ - /* this parameter is discarded. */ - LL_ADC_REG_SetSequencerLength(ADCx, ADC_REG_InitStruct->SequencerLength); - } - else - { - /* Initialization error: ADC instance is not disabled. */ - status = ERROR; - } - return status; -} - -/** - * @brief Set each @ref LL_ADC_REG_InitTypeDef field to default value. - * @param ADC_REG_InitStruct Pointer to a @ref LL_ADC_REG_InitTypeDef structure - * whose fields will be set to default values. - * @retval None - */ -void LL_ADC_REG_StructInit(LL_ADC_REG_InitTypeDef *ADC_REG_InitStruct) -{ - /* Set ADC_REG_InitStruct fields to default values */ - /* Set fields of ADC group regular */ - /* Note: On this STM32 series, ADC trigger edge is set when starting */ - /* ADC conversion. */ - /* Refer to function @ref LL_ADC_REG_StartConversionExtTrig(). */ - ADC_REG_InitStruct->TriggerSource = LL_ADC_REG_TRIG_SOFTWARE; - ADC_REG_InitStruct->SequencerLength = LL_ADC_REG_SEQ_SCAN_DISABLE; - ADC_REG_InitStruct->SequencerDiscont = LL_ADC_REG_SEQ_DISCONT_DISABLE; - ADC_REG_InitStruct->ContinuousMode = LL_ADC_REG_CONV_SINGLE; - ADC_REG_InitStruct->DMATransfer = LL_ADC_REG_DMA_TRANSFER_NONE; -} - -/** - * @brief Initialize some features of ADC group injected. - * @note These parameters have an impact on ADC scope: ADC group injected. - * Refer to corresponding unitary functions into - * @ref ADC_LL_EF_Configuration_ADC_Group_Regular - * (functions with prefix "INJ"). - * @note The setting of these parameters by function @ref LL_ADC_Init() - * is conditioned to ADC state: - * ADC instance must be disabled. - * This condition is applied to all ADC features, for efficiency - * and compatibility over all STM32 families. However, the different - * features can be set under different ADC state conditions - * (setting possible with ADC enabled without conversion on going, - * ADC enabled with conversion on going, ...) - * Each feature can be updated afterwards with a unitary function - * and potentially with ADC in a different state than disabled, - * refer to description of each function for setting - * conditioned to ADC state. - * @note After using this function, other features must be configured - * using LL unitary functions. - * The minimum configuration remaining to be done is: - * - Set ADC group injected sequencer: - * map channel on the selected sequencer rank. - * Refer to function @ref LL_ADC_INJ_SetSequencerRanks(). - * - Set ADC channel sampling time - * Refer to function LL_ADC_SetChannelSamplingTime(); - * @param ADCx ADC instance - * @param ADC_INJ_InitStruct Pointer to a @ref LL_ADC_INJ_InitTypeDef structure - * @retval An ErrorStatus enumeration value: - * - SUCCESS: ADC registers are initialized - * - ERROR: ADC registers are not initialized - */ -ErrorStatus LL_ADC_INJ_Init(ADC_TypeDef *ADCx, LL_ADC_INJ_InitTypeDef *ADC_INJ_InitStruct) -{ - ErrorStatus status = SUCCESS; - - /* Check the parameters */ - assert_param(IS_ADC_ALL_INSTANCE(ADCx)); - assert_param(IS_LL_ADC_INJ_TRIG_SOURCE(ADC_INJ_InitStruct->TriggerSource)); - assert_param(IS_LL_ADC_INJ_SEQ_SCAN_LENGTH(ADC_INJ_InitStruct->SequencerLength)); - if(ADC_INJ_InitStruct->SequencerLength != LL_ADC_INJ_SEQ_SCAN_DISABLE) - { - assert_param(IS_LL_ADC_INJ_SEQ_SCAN_DISCONT_MODE(ADC_INJ_InitStruct->SequencerDiscont)); - } - assert_param(IS_LL_ADC_INJ_TRIG_AUTO(ADC_INJ_InitStruct->TrigAuto)); - - /* Note: Hardware constraint (refer to description of this function): */ - /* ADC instance must be disabled. */ - if(LL_ADC_IsEnabled(ADCx) == 0UL) - { - /* Configuration of ADC hierarchical scope: */ - /* - ADC group injected */ - /* - Set ADC group injected trigger source */ - /* - Set ADC group injected sequencer length */ - /* - Set ADC group injected sequencer discontinuous mode */ - /* - Set ADC group injected conversion trigger: independent or */ - /* from ADC group regular */ - /* Note: On this STM32 series, ADC trigger edge is set when starting */ - /* ADC conversion. */ - /* Refer to function @ref LL_ADC_INJ_StartConversionExtTrig(). */ - if(ADC_INJ_InitStruct->SequencerLength != LL_ADC_REG_SEQ_SCAN_DISABLE) - { - MODIFY_REG(ADCx->CR1, - ADC_CR1_JDISCEN - | ADC_CR1_JAUTO - , - ADC_INJ_InitStruct->SequencerDiscont - | ADC_INJ_InitStruct->TrigAuto - ); - } - else - { - MODIFY_REG(ADCx->CR1, - ADC_CR1_JDISCEN - | ADC_CR1_JAUTO - , - LL_ADC_REG_SEQ_DISCONT_DISABLE - | ADC_INJ_InitStruct->TrigAuto - ); - } - - MODIFY_REG(ADCx->CR2, - ADC_CR2_JEXTSEL - | ADC_CR2_JEXTEN - , - (ADC_INJ_InitStruct->TriggerSource & ADC_CR2_JEXTSEL) - ); - - /* Note: Hardware constraint (refer to description of this function): */ - /* Note: If ADC instance feature scan mode is disabled */ - /* (refer to ADC instance initialization structure */ - /* parameter @ref SequencersScanMode */ - /* or function @ref LL_ADC_SetSequencersScanMode() ), */ - /* this parameter is discarded. */ - LL_ADC_INJ_SetSequencerLength(ADCx, ADC_INJ_InitStruct->SequencerLength); - } - else - { - /* Initialization error: ADC instance is not disabled. */ - status = ERROR; - } - return status; -} - -/** - * @brief Set each @ref LL_ADC_INJ_InitTypeDef field to default value. - * @param ADC_INJ_InitStruct Pointer to a @ref LL_ADC_INJ_InitTypeDef structure - * whose fields will be set to default values. - * @retval None - */ -void LL_ADC_INJ_StructInit(LL_ADC_INJ_InitTypeDef *ADC_INJ_InitStruct) -{ - /* Set ADC_INJ_InitStruct fields to default values */ - /* Set fields of ADC group injected */ - ADC_INJ_InitStruct->TriggerSource = LL_ADC_INJ_TRIG_SOFTWARE; - ADC_INJ_InitStruct->SequencerLength = LL_ADC_INJ_SEQ_SCAN_DISABLE; - ADC_INJ_InitStruct->SequencerDiscont = LL_ADC_INJ_SEQ_DISCONT_DISABLE; - ADC_INJ_InitStruct->TrigAuto = LL_ADC_INJ_TRIG_INDEPENDENT; -} - -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ - -#endif /* ADC1 || ADC2 || ADC3 */ - -/** - * @} - */ - -#endif /* USE_FULL_LL_DRIVER */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_crc.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_crc.c deleted file mode 100644 index 372e2f2723d74c..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_crc.c +++ /dev/null @@ -1,107 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_ll_crc.c - * @author MCD Application Team - * @brief CRC LL module driver. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ -#if defined(USE_FULL_LL_DRIVER) - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_ll_crc.h" -#include "stm32f4xx_ll_bus.h" - -#ifdef USE_FULL_ASSERT -#include "stm32_assert.h" -#else -#define assert_param(expr) ((void)0U) -#endif/* USE_FULL_ASSERT */ - -/** @addtogroup STM32F4xx_LL_Driver - * @{ - */ - -#if defined (CRC) - -/** @addtogroup CRC_LL - * @{ - */ - -/* Private types -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private constants ---------------------------------------------------------*/ -/* Private macros ------------------------------------------------------------*/ -/* Private function prototypes -----------------------------------------------*/ - -/* Exported functions --------------------------------------------------------*/ -/** @addtogroup CRC_LL_Exported_Functions - * @{ - */ - -/** @addtogroup CRC_LL_EF_Init - * @{ - */ - -/** - * @brief De-initialize CRC registers (Registers restored to their default values). - * @param CRCx CRC Instance - * @retval An ErrorStatus enumeration value: - * - SUCCESS: CRC registers are de-initialized - * - ERROR: CRC registers are not de-initialized - */ -ErrorStatus LL_CRC_DeInit(CRC_TypeDef *CRCx) -{ - ErrorStatus status = SUCCESS; - - /* Check the parameters */ - assert_param(IS_CRC_ALL_INSTANCE(CRCx)); - - if (CRCx == CRC) - { - /* Force CRC reset */ - LL_AHB1_GRP1_ForceReset(LL_AHB1_GRP1_PERIPH_CRC); - - /* Release CRC reset */ - LL_AHB1_GRP1_ReleaseReset(LL_AHB1_GRP1_PERIPH_CRC); - } - else - { - status = ERROR; - } - - return (status); -} - -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ - -#endif /* defined (CRC) */ - -/** - * @} - */ - -#endif /* USE_FULL_LL_DRIVER */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ - diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_dac.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_dac.c deleted file mode 100644 index 1316504b4fc4e1..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_dac.c +++ /dev/null @@ -1,282 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_ll_dac.c - * @author MCD Application Team - * @brief DAC LL module driver - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ -#if defined(USE_FULL_LL_DRIVER) - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_ll_dac.h" -#include "stm32f4xx_ll_bus.h" - -#ifdef USE_FULL_ASSERT -#include "stm32_assert.h" -#else -#define assert_param(expr) ((void)0U) -#endif /* USE_FULL_ASSERT */ - -/** @addtogroup STM32F4xx_LL_Driver - * @{ - */ - -#if defined(DAC) - -/** @addtogroup DAC_LL DAC - * @{ - */ - -/* Private types -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private constants ---------------------------------------------------------*/ -/* Private macros ------------------------------------------------------------*/ - -/** @addtogroup DAC_LL_Private_Macros - * @{ - */ -#if defined(DAC_CHANNEL2_SUPPORT) -#define IS_LL_DAC_CHANNEL(__DACX__, __DAC_CHANNEL__) \ - ( \ - ((__DAC_CHANNEL__) == LL_DAC_CHANNEL_1) \ - || ((__DAC_CHANNEL__) == LL_DAC_CHANNEL_2) \ - ) -#else -#define IS_LL_DAC_CHANNEL(__DACX__, __DAC_CHANNEL__) \ - ( \ - ((__DAC_CHANNEL__) == LL_DAC_CHANNEL_1) \ - ) -#endif /* DAC_CHANNEL2_SUPPORT */ - -#define IS_LL_DAC_TRIGGER_SOURCE(__TRIGGER_SOURCE__) \ - ( ((__TRIGGER_SOURCE__) == LL_DAC_TRIG_SOFTWARE) \ - || ((__TRIGGER_SOURCE__) == LL_DAC_TRIG_EXT_TIM2_TRGO) \ - || ((__TRIGGER_SOURCE__) == LL_DAC_TRIG_EXT_TIM4_TRGO) \ - || ((__TRIGGER_SOURCE__) == LL_DAC_TRIG_EXT_TIM5_TRGO) \ - || ((__TRIGGER_SOURCE__) == LL_DAC_TRIG_EXT_TIM6_TRGO) \ - || ((__TRIGGER_SOURCE__) == LL_DAC_TRIG_EXT_TIM7_TRGO) \ - || ((__TRIGGER_SOURCE__) == LL_DAC_TRIG_EXT_TIM8_TRGO) \ - || ((__TRIGGER_SOURCE__) == LL_DAC_TRIG_EXT_EXTI_LINE9) \ - ) - -#define IS_LL_DAC_WAVE_AUTO_GENER_MODE(__WAVE_AUTO_GENERATION_MODE__) \ - ( ((__WAVE_AUTO_GENERATION_MODE__) == LL_DAC_WAVE_AUTO_GENERATION_NONE) \ - || ((__WAVE_AUTO_GENERATION_MODE__) == LL_DAC_WAVE_AUTO_GENERATION_NOISE) \ - || ((__WAVE_AUTO_GENERATION_MODE__) == LL_DAC_WAVE_AUTO_GENERATION_TRIANGLE) \ - ) - -#define IS_LL_DAC_WAVE_AUTO_GENER_CONFIG(__WAVE_AUTO_GENERATION_MODE__, __WAVE_AUTO_GENERATION_CONFIG__) \ - ( (((__WAVE_AUTO_GENERATION_MODE__) == LL_DAC_WAVE_AUTO_GENERATION_NOISE) \ - && ( ((__WAVE_AUTO_GENERATION_CONFIG__) == LL_DAC_NOISE_LFSR_UNMASK_BIT0) \ - || ((__WAVE_AUTO_GENERATION_CONFIG__) == LL_DAC_NOISE_LFSR_UNMASK_BITS1_0) \ - || ((__WAVE_AUTO_GENERATION_CONFIG__) == LL_DAC_NOISE_LFSR_UNMASK_BITS2_0) \ - || ((__WAVE_AUTO_GENERATION_CONFIG__) == LL_DAC_NOISE_LFSR_UNMASK_BITS3_0) \ - || ((__WAVE_AUTO_GENERATION_CONFIG__) == LL_DAC_NOISE_LFSR_UNMASK_BITS4_0) \ - || ((__WAVE_AUTO_GENERATION_CONFIG__) == LL_DAC_NOISE_LFSR_UNMASK_BITS5_0) \ - || ((__WAVE_AUTO_GENERATION_CONFIG__) == LL_DAC_NOISE_LFSR_UNMASK_BITS6_0) \ - || ((__WAVE_AUTO_GENERATION_CONFIG__) == LL_DAC_NOISE_LFSR_UNMASK_BITS7_0) \ - || ((__WAVE_AUTO_GENERATION_CONFIG__) == LL_DAC_NOISE_LFSR_UNMASK_BITS8_0) \ - || ((__WAVE_AUTO_GENERATION_CONFIG__) == LL_DAC_NOISE_LFSR_UNMASK_BITS9_0) \ - || ((__WAVE_AUTO_GENERATION_CONFIG__) == LL_DAC_NOISE_LFSR_UNMASK_BITS10_0) \ - || ((__WAVE_AUTO_GENERATION_CONFIG__) == LL_DAC_NOISE_LFSR_UNMASK_BITS11_0)) \ - ) \ - ||(((__WAVE_AUTO_GENERATION_MODE__) == LL_DAC_WAVE_AUTO_GENERATION_TRIANGLE) \ - && ( ((__WAVE_AUTO_GENERATION_CONFIG__) == LL_DAC_TRIANGLE_AMPLITUDE_1) \ - || ((__WAVE_AUTO_GENERATION_CONFIG__) == LL_DAC_TRIANGLE_AMPLITUDE_3) \ - || ((__WAVE_AUTO_GENERATION_CONFIG__) == LL_DAC_TRIANGLE_AMPLITUDE_7) \ - || ((__WAVE_AUTO_GENERATION_CONFIG__) == LL_DAC_TRIANGLE_AMPLITUDE_15) \ - || ((__WAVE_AUTO_GENERATION_CONFIG__) == LL_DAC_TRIANGLE_AMPLITUDE_31) \ - || ((__WAVE_AUTO_GENERATION_CONFIG__) == LL_DAC_TRIANGLE_AMPLITUDE_63) \ - || ((__WAVE_AUTO_GENERATION_CONFIG__) == LL_DAC_TRIANGLE_AMPLITUDE_127) \ - || ((__WAVE_AUTO_GENERATION_CONFIG__) == LL_DAC_TRIANGLE_AMPLITUDE_255) \ - || ((__WAVE_AUTO_GENERATION_CONFIG__) == LL_DAC_TRIANGLE_AMPLITUDE_511) \ - || ((__WAVE_AUTO_GENERATION_CONFIG__) == LL_DAC_TRIANGLE_AMPLITUDE_1023) \ - || ((__WAVE_AUTO_GENERATION_CONFIG__) == LL_DAC_TRIANGLE_AMPLITUDE_2047) \ - || ((__WAVE_AUTO_GENERATION_CONFIG__) == LL_DAC_TRIANGLE_AMPLITUDE_4095)) \ - ) \ - ) - -#define IS_LL_DAC_OUTPUT_BUFFER(__OUTPUT_BUFFER__) \ - ( ((__OUTPUT_BUFFER__) == LL_DAC_OUTPUT_BUFFER_ENABLE) \ - || ((__OUTPUT_BUFFER__) == LL_DAC_OUTPUT_BUFFER_DISABLE) \ - ) - -/** - * @} - */ - - -/* Private function prototypes -----------------------------------------------*/ - -/* Exported functions --------------------------------------------------------*/ -/** @addtogroup DAC_LL_Exported_Functions - * @{ - */ - -/** @addtogroup DAC_LL_EF_Init - * @{ - */ - -/** - * @brief De-initialize registers of the selected DAC instance - * to their default reset values. - * @param DACx DAC instance - * @retval An ErrorStatus enumeration value: - * - SUCCESS: DAC registers are de-initialized - * - ERROR: not applicable - */ -ErrorStatus LL_DAC_DeInit(DAC_TypeDef *DACx) -{ - /* Check the parameters */ - assert_param(IS_DAC_ALL_INSTANCE(DACx)); - - /* Force reset of DAC clock */ - LL_APB1_GRP1_ForceReset(LL_APB1_GRP1_PERIPH_DAC1); - - /* Release reset of DAC clock */ - LL_APB1_GRP1_ReleaseReset(LL_APB1_GRP1_PERIPH_DAC1); - - return SUCCESS; -} - -/** - * @brief Initialize some features of DAC channel. - * @note @ref LL_DAC_Init() aims to ease basic configuration of a DAC channel. - * Leaving it ready to be enabled and output: - * a level by calling one of - * @ref LL_DAC_ConvertData12RightAligned - * @ref LL_DAC_ConvertData12LeftAligned - * @ref LL_DAC_ConvertData8RightAligned - * or one of the supported autogenerated wave. - * @note This function allows configuration of: - * - Output mode - * - Trigger - * - Wave generation - * @note The setting of these parameters by function @ref LL_DAC_Init() - * is conditioned to DAC state: - * DAC channel must be disabled. - * @param DACx DAC instance - * @param DAC_Channel This parameter can be one of the following values: - * @arg @ref LL_DAC_CHANNEL_1 - * @arg @ref LL_DAC_CHANNEL_2 (1) - * - * (1) On this STM32 serie, parameter not available on all devices. - * Refer to device datasheet for channels availability. - * @param DAC_InitStruct Pointer to a @ref LL_DAC_InitTypeDef structure - * @retval An ErrorStatus enumeration value: - * - SUCCESS: DAC registers are initialized - * - ERROR: DAC registers are not initialized - */ -ErrorStatus LL_DAC_Init(DAC_TypeDef *DACx, uint32_t DAC_Channel, LL_DAC_InitTypeDef *DAC_InitStruct) -{ - ErrorStatus status = SUCCESS; - - /* Check the parameters */ - assert_param(IS_DAC_ALL_INSTANCE(DACx)); - assert_param(IS_LL_DAC_CHANNEL(DACx, DAC_Channel)); - assert_param(IS_LL_DAC_TRIGGER_SOURCE(DAC_InitStruct->TriggerSource)); - assert_param(IS_LL_DAC_OUTPUT_BUFFER(DAC_InitStruct->OutputBuffer)); - assert_param(IS_LL_DAC_WAVE_AUTO_GENER_MODE(DAC_InitStruct->WaveAutoGeneration)); - if (DAC_InitStruct->WaveAutoGeneration != LL_DAC_WAVE_AUTO_GENERATION_NONE) - { - assert_param(IS_LL_DAC_WAVE_AUTO_GENER_CONFIG(DAC_InitStruct->WaveAutoGeneration, - DAC_InitStruct->WaveAutoGenerationConfig)); - } - - /* Note: Hardware constraint (refer to description of this function) */ - /* DAC instance must be disabled. */ - if (LL_DAC_IsEnabled(DACx, DAC_Channel) == 0UL) - { - /* Configuration of DAC channel: */ - /* - TriggerSource */ - /* - WaveAutoGeneration */ - /* - OutputBuffer */ - /* - OutputMode */ - if (DAC_InitStruct->WaveAutoGeneration != LL_DAC_WAVE_AUTO_GENERATION_NONE) - { - MODIFY_REG(DACx->CR, - (DAC_CR_TSEL1 - | DAC_CR_WAVE1 - | DAC_CR_MAMP1 - | DAC_CR_BOFF1 - ) << (DAC_Channel & DAC_CR_CHX_BITOFFSET_MASK) - , - (DAC_InitStruct->TriggerSource - | DAC_InitStruct->WaveAutoGeneration - | DAC_InitStruct->WaveAutoGenerationConfig - | DAC_InitStruct->OutputBuffer - ) << (DAC_Channel & DAC_CR_CHX_BITOFFSET_MASK) - ); - } - else - { - MODIFY_REG(DACx->CR, - (DAC_CR_TSEL1 - | DAC_CR_WAVE1 - | DAC_CR_BOFF1 - ) << (DAC_Channel & DAC_CR_CHX_BITOFFSET_MASK) - , - (DAC_InitStruct->TriggerSource - | LL_DAC_WAVE_AUTO_GENERATION_NONE - | DAC_InitStruct->OutputBuffer - ) << (DAC_Channel & DAC_CR_CHX_BITOFFSET_MASK) - ); - } - } - else - { - /* Initialization error: DAC instance is not disabled. */ - status = ERROR; - } - return status; -} - -/** - * @brief Set each @ref LL_DAC_InitTypeDef field to default value. - * @param DAC_InitStruct pointer to a @ref LL_DAC_InitTypeDef structure - * whose fields will be set to default values. - * @retval None - */ -void LL_DAC_StructInit(LL_DAC_InitTypeDef *DAC_InitStruct) -{ - /* Set DAC_InitStruct fields to default values */ - DAC_InitStruct->TriggerSource = LL_DAC_TRIG_SOFTWARE; - DAC_InitStruct->WaveAutoGeneration = LL_DAC_WAVE_AUTO_GENERATION_NONE; - /* Note: Parameter discarded if wave auto generation is disabled, */ - /* set anyway to its default value. */ - DAC_InitStruct->WaveAutoGenerationConfig = LL_DAC_NOISE_LFSR_UNMASK_BIT0; - DAC_InitStruct->OutputBuffer = LL_DAC_OUTPUT_BUFFER_ENABLE; -} - -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ - -#endif /* DAC */ - -/** - * @} - */ - -#endif /* USE_FULL_LL_DRIVER */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_dma.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_dma.c deleted file mode 100644 index e4cbae4c98b0a4..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_dma.c +++ /dev/null @@ -1,425 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_ll_dma.c - * @author MCD Application Team - * @brief DMA LL module driver. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ -#if defined(USE_FULL_LL_DRIVER) - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_ll_dma.h" -#include "stm32f4xx_ll_bus.h" -#ifdef USE_FULL_ASSERT -#include "stm32_assert.h" -#else -#define assert_param(expr) ((void)0U) -#endif - -/** @addtogroup STM32F4xx_LL_Driver - * @{ - */ - -#if defined (DMA1) || defined (DMA2) - -/** @defgroup DMA_LL DMA - * @{ - */ - -/* Private types -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private constants ---------------------------------------------------------*/ -/* Private macros ------------------------------------------------------------*/ -/** @addtogroup DMA_LL_Private_Macros - * @{ - */ -#define IS_LL_DMA_DIRECTION(__VALUE__) (((__VALUE__) == LL_DMA_DIRECTION_PERIPH_TO_MEMORY) || \ - ((__VALUE__) == LL_DMA_DIRECTION_MEMORY_TO_PERIPH) || \ - ((__VALUE__) == LL_DMA_DIRECTION_MEMORY_TO_MEMORY)) - -#define IS_LL_DMA_MODE(__VALUE__) (((__VALUE__) == LL_DMA_MODE_NORMAL) || \ - ((__VALUE__) == LL_DMA_MODE_CIRCULAR) || \ - ((__VALUE__) == LL_DMA_MODE_PFCTRL)) - -#define IS_LL_DMA_PERIPHINCMODE(__VALUE__) (((__VALUE__) == LL_DMA_PERIPH_INCREMENT) || \ - ((__VALUE__) == LL_DMA_PERIPH_NOINCREMENT)) - -#define IS_LL_DMA_MEMORYINCMODE(__VALUE__) (((__VALUE__) == LL_DMA_MEMORY_INCREMENT) || \ - ((__VALUE__) == LL_DMA_MEMORY_NOINCREMENT)) - -#define IS_LL_DMA_PERIPHDATASIZE(__VALUE__) (((__VALUE__) == LL_DMA_PDATAALIGN_BYTE) || \ - ((__VALUE__) == LL_DMA_PDATAALIGN_HALFWORD) || \ - ((__VALUE__) == LL_DMA_PDATAALIGN_WORD)) - -#define IS_LL_DMA_MEMORYDATASIZE(__VALUE__) (((__VALUE__) == LL_DMA_MDATAALIGN_BYTE) || \ - ((__VALUE__) == LL_DMA_MDATAALIGN_HALFWORD) || \ - ((__VALUE__) == LL_DMA_MDATAALIGN_WORD)) - -#define IS_LL_DMA_NBDATA(__VALUE__) ((__VALUE__) <= 0x0000FFFFU) - -#define IS_LL_DMA_CHANNEL(__VALUE__) (((__VALUE__) == LL_DMA_CHANNEL_0) || \ - ((__VALUE__) == LL_DMA_CHANNEL_1) || \ - ((__VALUE__) == LL_DMA_CHANNEL_2) || \ - ((__VALUE__) == LL_DMA_CHANNEL_3) || \ - ((__VALUE__) == LL_DMA_CHANNEL_4) || \ - ((__VALUE__) == LL_DMA_CHANNEL_5) || \ - ((__VALUE__) == LL_DMA_CHANNEL_6) || \ - ((__VALUE__) == LL_DMA_CHANNEL_7)) - -#define IS_LL_DMA_PRIORITY(__VALUE__) (((__VALUE__) == LL_DMA_PRIORITY_LOW) || \ - ((__VALUE__) == LL_DMA_PRIORITY_MEDIUM) || \ - ((__VALUE__) == LL_DMA_PRIORITY_HIGH) || \ - ((__VALUE__) == LL_DMA_PRIORITY_VERYHIGH)) - -#define IS_LL_DMA_ALL_STREAM_INSTANCE(INSTANCE, STREAM) ((((INSTANCE) == DMA1) && \ - (((STREAM) == LL_DMA_STREAM_0) || \ - ((STREAM) == LL_DMA_STREAM_1) || \ - ((STREAM) == LL_DMA_STREAM_2) || \ - ((STREAM) == LL_DMA_STREAM_3) || \ - ((STREAM) == LL_DMA_STREAM_4) || \ - ((STREAM) == LL_DMA_STREAM_5) || \ - ((STREAM) == LL_DMA_STREAM_6) || \ - ((STREAM) == LL_DMA_STREAM_7) || \ - ((STREAM) == LL_DMA_STREAM_ALL))) ||\ - (((INSTANCE) == DMA2) && \ - (((STREAM) == LL_DMA_STREAM_0) || \ - ((STREAM) == LL_DMA_STREAM_1) || \ - ((STREAM) == LL_DMA_STREAM_2) || \ - ((STREAM) == LL_DMA_STREAM_3) || \ - ((STREAM) == LL_DMA_STREAM_4) || \ - ((STREAM) == LL_DMA_STREAM_5) || \ - ((STREAM) == LL_DMA_STREAM_6) || \ - ((STREAM) == LL_DMA_STREAM_7) || \ - ((STREAM) == LL_DMA_STREAM_ALL)))) - -#define IS_LL_DMA_FIFO_MODE_STATE(STATE) (((STATE) == LL_DMA_FIFOMODE_DISABLE ) || \ - ((STATE) == LL_DMA_FIFOMODE_ENABLE)) - -#define IS_LL_DMA_FIFO_THRESHOLD(THRESHOLD) (((THRESHOLD) == LL_DMA_FIFOTHRESHOLD_1_4) || \ - ((THRESHOLD) == LL_DMA_FIFOTHRESHOLD_1_2) || \ - ((THRESHOLD) == LL_DMA_FIFOTHRESHOLD_3_4) || \ - ((THRESHOLD) == LL_DMA_FIFOTHRESHOLD_FULL)) - -#define IS_LL_DMA_MEMORY_BURST(BURST) (((BURST) == LL_DMA_MBURST_SINGLE) || \ - ((BURST) == LL_DMA_MBURST_INC4) || \ - ((BURST) == LL_DMA_MBURST_INC8) || \ - ((BURST) == LL_DMA_MBURST_INC16)) - -#define IS_LL_DMA_PERIPHERAL_BURST(BURST) (((BURST) == LL_DMA_PBURST_SINGLE) || \ - ((BURST) == LL_DMA_PBURST_INC4) || \ - ((BURST) == LL_DMA_PBURST_INC8) || \ - ((BURST) == LL_DMA_PBURST_INC16)) - -/** - * @} - */ - -/* Private function prototypes -----------------------------------------------*/ - -/* Exported functions --------------------------------------------------------*/ -/** @addtogroup DMA_LL_Exported_Functions - * @{ - */ - -/** @addtogroup DMA_LL_EF_Init - * @{ - */ - -/** - * @brief De-initialize the DMA registers to their default reset values. - * @param DMAx DMAx Instance - * @param Stream This parameter can be one of the following values: - * @arg @ref LL_DMA_STREAM_0 - * @arg @ref LL_DMA_STREAM_1 - * @arg @ref LL_DMA_STREAM_2 - * @arg @ref LL_DMA_STREAM_3 - * @arg @ref LL_DMA_STREAM_4 - * @arg @ref LL_DMA_STREAM_5 - * @arg @ref LL_DMA_STREAM_6 - * @arg @ref LL_DMA_STREAM_7 - * @arg @ref LL_DMA_STREAM_ALL - * @retval An ErrorStatus enumeration value: - * - SUCCESS: DMA registers are de-initialized - * - ERROR: DMA registers are not de-initialized - */ -uint32_t LL_DMA_DeInit(DMA_TypeDef *DMAx, uint32_t Stream) -{ - DMA_Stream_TypeDef *tmp = (DMA_Stream_TypeDef *)DMA1_Stream0; - ErrorStatus status = SUCCESS; - - /* Check the DMA Instance DMAx and Stream parameters*/ - assert_param(IS_LL_DMA_ALL_STREAM_INSTANCE(DMAx, Stream)); - - if (Stream == LL_DMA_STREAM_ALL) - { - if (DMAx == DMA1) - { - /* Force reset of DMA clock */ - LL_AHB1_GRP1_ForceReset(LL_AHB1_GRP1_PERIPH_DMA1); - - /* Release reset of DMA clock */ - LL_AHB1_GRP1_ReleaseReset(LL_AHB1_GRP1_PERIPH_DMA1); - } - else if (DMAx == DMA2) - { - /* Force reset of DMA clock */ - LL_AHB1_GRP1_ForceReset(LL_AHB1_GRP1_PERIPH_DMA2); - - /* Release reset of DMA clock */ - LL_AHB1_GRP1_ReleaseReset(LL_AHB1_GRP1_PERIPH_DMA2); - } - else - { - status = ERROR; - } - } - else - { - /* Disable the selected Stream */ - LL_DMA_DisableStream(DMAx,Stream); - - /* Get the DMA Stream Instance */ - tmp = (DMA_Stream_TypeDef *)(__LL_DMA_GET_STREAM_INSTANCE(DMAx, Stream)); - - /* Reset DMAx_Streamy configuration register */ - LL_DMA_WriteReg(tmp, CR, 0U); - - /* Reset DMAx_Streamy remaining bytes register */ - LL_DMA_WriteReg(tmp, NDTR, 0U); - - /* Reset DMAx_Streamy peripheral address register */ - LL_DMA_WriteReg(tmp, PAR, 0U); - - /* Reset DMAx_Streamy memory address register */ - LL_DMA_WriteReg(tmp, M0AR, 0U); - - /* Reset DMAx_Streamy memory address register */ - LL_DMA_WriteReg(tmp, M1AR, 0U); - - /* Reset DMAx_Streamy FIFO control register */ - LL_DMA_WriteReg(tmp, FCR, 0x00000021U); - - /* Reset Channel register field for DMAx Stream*/ - LL_DMA_SetChannelSelection(DMAx, Stream, LL_DMA_CHANNEL_0); - - if(Stream == LL_DMA_STREAM_0) - { - /* Reset the Stream0 pending flags */ - DMAx->LIFCR = 0x0000003FU; - } - else if(Stream == LL_DMA_STREAM_1) - { - /* Reset the Stream1 pending flags */ - DMAx->LIFCR = 0x00000F40U; - } - else if(Stream == LL_DMA_STREAM_2) - { - /* Reset the Stream2 pending flags */ - DMAx->LIFCR = 0x003F0000U; - } - else if(Stream == LL_DMA_STREAM_3) - { - /* Reset the Stream3 pending flags */ - DMAx->LIFCR = 0x0F400000U; - } - else if(Stream == LL_DMA_STREAM_4) - { - /* Reset the Stream4 pending flags */ - DMAx->HIFCR = 0x0000003FU; - } - else if(Stream == LL_DMA_STREAM_5) - { - /* Reset the Stream5 pending flags */ - DMAx->HIFCR = 0x00000F40U; - } - else if(Stream == LL_DMA_STREAM_6) - { - /* Reset the Stream6 pending flags */ - DMAx->HIFCR = 0x003F0000U; - } - else if(Stream == LL_DMA_STREAM_7) - { - /* Reset the Stream7 pending flags */ - DMAx->HIFCR = 0x0F400000U; - } - else - { - status = ERROR; - } - } - - return status; -} - -/** - * @brief Initialize the DMA registers according to the specified parameters in DMA_InitStruct. - * @note To convert DMAx_Streamy Instance to DMAx Instance and Streamy, use helper macros : - * @arg @ref __LL_DMA_GET_INSTANCE - * @arg @ref __LL_DMA_GET_STREAM - * @param DMAx DMAx Instance - * @param Stream This parameter can be one of the following values: - * @arg @ref LL_DMA_STREAM_0 - * @arg @ref LL_DMA_STREAM_1 - * @arg @ref LL_DMA_STREAM_2 - * @arg @ref LL_DMA_STREAM_3 - * @arg @ref LL_DMA_STREAM_4 - * @arg @ref LL_DMA_STREAM_5 - * @arg @ref LL_DMA_STREAM_6 - * @arg @ref LL_DMA_STREAM_7 - * @param DMA_InitStruct pointer to a @ref LL_DMA_InitTypeDef structure. - * @retval An ErrorStatus enumeration value: - * - SUCCESS: DMA registers are initialized - * - ERROR: Not applicable - */ -uint32_t LL_DMA_Init(DMA_TypeDef *DMAx, uint32_t Stream, LL_DMA_InitTypeDef *DMA_InitStruct) -{ - /* Check the DMA Instance DMAx and Stream parameters*/ - assert_param(IS_LL_DMA_ALL_STREAM_INSTANCE(DMAx, Stream)); - - /* Check the DMA parameters from DMA_InitStruct */ - assert_param(IS_LL_DMA_DIRECTION(DMA_InitStruct->Direction)); - assert_param(IS_LL_DMA_MODE(DMA_InitStruct->Mode)); - assert_param(IS_LL_DMA_PERIPHINCMODE(DMA_InitStruct->PeriphOrM2MSrcIncMode)); - assert_param(IS_LL_DMA_MEMORYINCMODE(DMA_InitStruct->MemoryOrM2MDstIncMode)); - assert_param(IS_LL_DMA_PERIPHDATASIZE(DMA_InitStruct->PeriphOrM2MSrcDataSize)); - assert_param(IS_LL_DMA_MEMORYDATASIZE(DMA_InitStruct->MemoryOrM2MDstDataSize)); - assert_param(IS_LL_DMA_NBDATA(DMA_InitStruct->NbData)); - assert_param(IS_LL_DMA_CHANNEL(DMA_InitStruct->Channel)); - assert_param(IS_LL_DMA_PRIORITY(DMA_InitStruct->Priority)); - assert_param(IS_LL_DMA_FIFO_MODE_STATE(DMA_InitStruct->FIFOMode)); - /* Check the memory burst, peripheral burst and FIFO threshold parameters only - when FIFO mode is enabled */ - if(DMA_InitStruct->FIFOMode != LL_DMA_FIFOMODE_DISABLE) - { - assert_param(IS_LL_DMA_FIFO_THRESHOLD(DMA_InitStruct->FIFOThreshold)); - assert_param(IS_LL_DMA_MEMORY_BURST(DMA_InitStruct->MemBurst)); - assert_param(IS_LL_DMA_PERIPHERAL_BURST(DMA_InitStruct->PeriphBurst)); - } - - /*---------------------------- DMAx SxCR Configuration ------------------------ - * Configure DMAx_Streamy: data transfer direction, data transfer mode, - * peripheral and memory increment mode, - * data size alignment and priority level with parameters : - * - Direction: DMA_SxCR_DIR[1:0] bits - * - Mode: DMA_SxCR_CIRC bit - * - PeriphOrM2MSrcIncMode: DMA_SxCR_PINC bit - * - MemoryOrM2MDstIncMode: DMA_SxCR_MINC bit - * - PeriphOrM2MSrcDataSize: DMA_SxCR_PSIZE[1:0] bits - * - MemoryOrM2MDstDataSize: DMA_SxCR_MSIZE[1:0] bits - * - Priority: DMA_SxCR_PL[1:0] bits - */ - LL_DMA_ConfigTransfer(DMAx, Stream, DMA_InitStruct->Direction | \ - DMA_InitStruct->Mode | \ - DMA_InitStruct->PeriphOrM2MSrcIncMode | \ - DMA_InitStruct->MemoryOrM2MDstIncMode | \ - DMA_InitStruct->PeriphOrM2MSrcDataSize | \ - DMA_InitStruct->MemoryOrM2MDstDataSize | \ - DMA_InitStruct->Priority - ); - - if(DMA_InitStruct->FIFOMode != LL_DMA_FIFOMODE_DISABLE) - { - /*---------------------------- DMAx SxFCR Configuration ------------------------ - * Configure DMAx_Streamy: fifo mode and fifo threshold with parameters : - * - FIFOMode: DMA_SxFCR_DMDIS bit - * - FIFOThreshold: DMA_SxFCR_FTH[1:0] bits - */ - LL_DMA_ConfigFifo(DMAx, Stream, DMA_InitStruct->FIFOMode, DMA_InitStruct->FIFOThreshold); - - /*---------------------------- DMAx SxCR Configuration -------------------------- - * Configure DMAx_Streamy: memory burst transfer with parameters : - * - MemBurst: DMA_SxCR_MBURST[1:0] bits - */ - LL_DMA_SetMemoryBurstxfer(DMAx,Stream,DMA_InitStruct->MemBurst); - - /*---------------------------- DMAx SxCR Configuration -------------------------- - * Configure DMAx_Streamy: peripheral burst transfer with parameters : - * - PeriphBurst: DMA_SxCR_PBURST[1:0] bits - */ - LL_DMA_SetPeriphBurstxfer(DMAx,Stream,DMA_InitStruct->PeriphBurst); - } - - /*-------------------------- DMAx SxM0AR Configuration -------------------------- - * Configure the memory or destination base address with parameter : - * - MemoryOrM2MDstAddress: DMA_SxM0AR_M0A[31:0] bits - */ - LL_DMA_SetMemoryAddress(DMAx, Stream, DMA_InitStruct->MemoryOrM2MDstAddress); - - /*-------------------------- DMAx SxPAR Configuration --------------------------- - * Configure the peripheral or source base address with parameter : - * - PeriphOrM2MSrcAddress: DMA_SxPAR_PA[31:0] bits - */ - LL_DMA_SetPeriphAddress(DMAx, Stream, DMA_InitStruct->PeriphOrM2MSrcAddress); - - /*--------------------------- DMAx SxNDTR Configuration ------------------------- - * Configure the peripheral base address with parameter : - * - NbData: DMA_SxNDT[15:0] bits - */ - LL_DMA_SetDataLength(DMAx, Stream, DMA_InitStruct->NbData); - - /*--------------------------- DMA SxCR_CHSEL Configuration ---------------------- - * Configure the peripheral base address with parameter : - * - PeriphRequest: DMA_SxCR_CHSEL[2:0] bits - */ - LL_DMA_SetChannelSelection(DMAx, Stream, DMA_InitStruct->Channel); - - return SUCCESS; -} - -/** - * @brief Set each @ref LL_DMA_InitTypeDef field to default value. - * @param DMA_InitStruct Pointer to a @ref LL_DMA_InitTypeDef structure. - * @retval None - */ -void LL_DMA_StructInit(LL_DMA_InitTypeDef *DMA_InitStruct) -{ - /* Set DMA_InitStruct fields to default values */ - DMA_InitStruct->PeriphOrM2MSrcAddress = 0x00000000U; - DMA_InitStruct->MemoryOrM2MDstAddress = 0x00000000U; - DMA_InitStruct->Direction = LL_DMA_DIRECTION_PERIPH_TO_MEMORY; - DMA_InitStruct->Mode = LL_DMA_MODE_NORMAL; - DMA_InitStruct->PeriphOrM2MSrcIncMode = LL_DMA_PERIPH_NOINCREMENT; - DMA_InitStruct->MemoryOrM2MDstIncMode = LL_DMA_MEMORY_NOINCREMENT; - DMA_InitStruct->PeriphOrM2MSrcDataSize = LL_DMA_PDATAALIGN_BYTE; - DMA_InitStruct->MemoryOrM2MDstDataSize = LL_DMA_MDATAALIGN_BYTE; - DMA_InitStruct->NbData = 0x00000000U; - DMA_InitStruct->Channel = LL_DMA_CHANNEL_0; - DMA_InitStruct->Priority = LL_DMA_PRIORITY_LOW; - DMA_InitStruct->FIFOMode = LL_DMA_FIFOMODE_DISABLE; - DMA_InitStruct->FIFOThreshold = LL_DMA_FIFOTHRESHOLD_1_4; - DMA_InitStruct->MemBurst = LL_DMA_MBURST_SINGLE; - DMA_InitStruct->PeriphBurst = LL_DMA_PBURST_SINGLE; -} - -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ - -#endif /* DMA1 || DMA2 */ - -/** - * @} - */ - -#endif /* USE_FULL_LL_DRIVER */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_dma2d.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_dma2d.c deleted file mode 100644 index 92941c4fb632c5..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_dma2d.c +++ /dev/null @@ -1,598 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_ll_dma2d.c - * @author MCD Application Team - * @brief DMA2D LL module driver. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ -#if defined(USE_FULL_LL_DRIVER) - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_ll_dma2d.h" -#include "stm32f4xx_ll_bus.h" -#ifdef USE_FULL_ASSERT -#include "stm32_assert.h" -#else -#define assert_param(expr) ((void)0U) -#endif /* USE_FULL_ASSERT */ - -/** @addtogroup STM32F4xx_LL_Driver - * @{ - */ - -#if defined (DMA2D) - -/** @addtogroup DMA2D_LL - * @{ - */ - -/* Private types -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private constants ---------------------------------------------------------*/ -/** @addtogroup DMA2D_LL_Private_Constants DMA2D Private Constants - * @{ - */ -#define LL_DMA2D_COLOR 0xFFU /*!< Maximum output color setting */ -#define LL_DMA2D_NUMBEROFLINES DMA2D_NLR_NL /*!< Maximum number of lines */ -#define LL_DMA2D_NUMBEROFPIXELS (DMA2D_NLR_PL >> DMA2D_NLR_PL_Pos) /*!< Maximum number of pixels per lines */ -#define LL_DMA2D_OFFSET_MAX 0x3FFFU /*!< Maximum output line offset expressed in pixels */ -#define LL_DMA2D_CLUTSIZE_MAX 0xFFU /*!< Maximum CLUT size */ -/** - * @} - */ -/* Private macros ------------------------------------------------------------*/ -/** @addtogroup DMA2D_LL_Private_Macros - * @{ - */ -#define IS_LL_DMA2D_MODE(MODE) (((MODE) == LL_DMA2D_MODE_M2M) || \ - ((MODE) == LL_DMA2D_MODE_M2M_PFC) || \ - ((MODE) == LL_DMA2D_MODE_M2M_BLEND) || \ - ((MODE) == LL_DMA2D_MODE_R2M)) - -#define IS_LL_DMA2D_OCMODE(MODE_ARGB) (((MODE_ARGB) == LL_DMA2D_OUTPUT_MODE_ARGB8888) || \ - ((MODE_ARGB) == LL_DMA2D_OUTPUT_MODE_RGB888) || \ - ((MODE_ARGB) == LL_DMA2D_OUTPUT_MODE_RGB565) || \ - ((MODE_ARGB) == LL_DMA2D_OUTPUT_MODE_ARGB1555) || \ - ((MODE_ARGB) == LL_DMA2D_OUTPUT_MODE_ARGB4444)) - -#define IS_LL_DMA2D_GREEN(GREEN) ((GREEN) <= LL_DMA2D_COLOR) -#define IS_LL_DMA2D_RED(RED) ((RED) <= LL_DMA2D_COLOR) -#define IS_LL_DMA2D_BLUE(BLUE) ((BLUE) <= LL_DMA2D_COLOR) -#define IS_LL_DMA2D_ALPHA(ALPHA) ((ALPHA) <= LL_DMA2D_COLOR) - - -#define IS_LL_DMA2D_OFFSET(OFFSET) ((OFFSET) <= LL_DMA2D_OFFSET_MAX) - -#define IS_LL_DMA2D_LINE(LINES) ((LINES) <= LL_DMA2D_NUMBEROFLINES) -#define IS_LL_DMA2D_PIXEL(PIXELS) ((PIXELS) <= LL_DMA2D_NUMBEROFPIXELS) - - - -#define IS_LL_DMA2D_LCMODE(MODE_ARGB) (((MODE_ARGB) == LL_DMA2D_INPUT_MODE_ARGB8888) || \ - ((MODE_ARGB) == LL_DMA2D_INPUT_MODE_RGB888) || \ - ((MODE_ARGB) == LL_DMA2D_INPUT_MODE_RGB565) || \ - ((MODE_ARGB) == LL_DMA2D_INPUT_MODE_ARGB1555) || \ - ((MODE_ARGB) == LL_DMA2D_INPUT_MODE_ARGB4444) || \ - ((MODE_ARGB) == LL_DMA2D_INPUT_MODE_L8) || \ - ((MODE_ARGB) == LL_DMA2D_INPUT_MODE_AL44) || \ - ((MODE_ARGB) == LL_DMA2D_INPUT_MODE_AL88) || \ - ((MODE_ARGB) == LL_DMA2D_INPUT_MODE_L4) || \ - ((MODE_ARGB) == LL_DMA2D_INPUT_MODE_A8) || \ - ((MODE_ARGB) == LL_DMA2D_INPUT_MODE_A4)) - -#define IS_LL_DMA2D_CLUTCMODE(CLUTCMODE) (((CLUTCMODE) == LL_DMA2D_CLUT_COLOR_MODE_ARGB8888) || \ - ((CLUTCMODE) == LL_DMA2D_CLUT_COLOR_MODE_RGB888)) - -#define IS_LL_DMA2D_CLUTSIZE(SIZE) ((SIZE) <= LL_DMA2D_CLUTSIZE_MAX) - -#define IS_LL_DMA2D_ALPHAMODE(MODE) (((MODE) == LL_DMA2D_ALPHA_MODE_NO_MODIF) || \ - ((MODE) == LL_DMA2D_ALPHA_MODE_REPLACE) || \ - ((MODE) == LL_DMA2D_ALPHA_MODE_COMBINE)) - - -/** - * @} - */ - -/* Private function prototypes -----------------------------------------------*/ - -/* Exported functions --------------------------------------------------------*/ -/** @addtogroup DMA2D_LL_Exported_Functions - * @{ - */ - -/** @addtogroup DMA2D_LL_EF_Init_Functions Initialization and De-initialization Functions - * @{ - */ - -/** - * @brief De-initialize DMA2D registers (registers restored to their default values). - * @param DMA2Dx DMA2D Instance - * @retval An ErrorStatus enumeration value: - * - SUCCESS: DMA2D registers are de-initialized - * - ERROR: DMA2D registers are not de-initialized - */ -ErrorStatus LL_DMA2D_DeInit(DMA2D_TypeDef *DMA2Dx) -{ - ErrorStatus status = SUCCESS; - - /* Check the parameters */ - assert_param(IS_DMA2D_ALL_INSTANCE(DMA2Dx)); - - if (DMA2Dx == DMA2D) - { - /* Force reset of DMA2D clock */ - LL_AHB1_GRP1_ForceReset(LL_AHB1_GRP1_PERIPH_DMA2D); - - /* Release reset of DMA2D clock */ - LL_AHB1_GRP1_ReleaseReset(LL_AHB1_GRP1_PERIPH_DMA2D); - } - else - { - status = ERROR; - } - - return (status); -} - -/** - * @brief Initialize DMA2D registers according to the specified parameters in DMA2D_InitStruct. - * @note DMA2D transfers must be disabled to set initialization bits in configuration registers, - * otherwise ERROR result is returned. - * @param DMA2Dx DMA2D Instance - * @param DMA2D_InitStruct pointer to a LL_DMA2D_InitTypeDef structure - * that contains the configuration information for the specified DMA2D peripheral. - * @retval An ErrorStatus enumeration value: - * - SUCCESS: DMA2D registers are initialized according to DMA2D_InitStruct content - * - ERROR: Issue occurred during DMA2D registers initialization - */ -ErrorStatus LL_DMA2D_Init(DMA2D_TypeDef *DMA2Dx, LL_DMA2D_InitTypeDef *DMA2D_InitStruct) -{ - ErrorStatus status = ERROR; - LL_DMA2D_ColorTypeDef dma2d_colorstruct; - uint32_t tmp; - uint32_t tmp1; - uint32_t tmp2; - uint32_t regMask; - uint32_t regValue; - - /* Check the parameters */ - assert_param(IS_DMA2D_ALL_INSTANCE(DMA2Dx)); - assert_param(IS_LL_DMA2D_MODE(DMA2D_InitStruct->Mode)); - assert_param(IS_LL_DMA2D_OCMODE(DMA2D_InitStruct->ColorMode)); - assert_param(IS_LL_DMA2D_LINE(DMA2D_InitStruct->NbrOfLines)); - assert_param(IS_LL_DMA2D_PIXEL(DMA2D_InitStruct->NbrOfPixelsPerLines)); - assert_param(IS_LL_DMA2D_GREEN(DMA2D_InitStruct->OutputGreen)); - assert_param(IS_LL_DMA2D_RED(DMA2D_InitStruct->OutputRed)); - assert_param(IS_LL_DMA2D_BLUE(DMA2D_InitStruct->OutputBlue)); - assert_param(IS_LL_DMA2D_ALPHA(DMA2D_InitStruct->OutputAlpha)); - assert_param(IS_LL_DMA2D_OFFSET(DMA2D_InitStruct->LineOffset)); - - /* DMA2D transfers must be disabled to configure bits in initialization registers */ - tmp = LL_DMA2D_IsTransferOngoing(DMA2Dx); - tmp1 = LL_DMA2D_FGND_IsEnabledCLUTLoad(DMA2Dx); - tmp2 = LL_DMA2D_BGND_IsEnabledCLUTLoad(DMA2Dx); - if ((tmp == 0U) && (tmp1 == 0U) && (tmp2 == 0U)) - { - /* DMA2D CR register configuration -------------------------------------------*/ - LL_DMA2D_SetMode(DMA2Dx, DMA2D_InitStruct->Mode); - - /* DMA2D OPFCCR register configuration ---------------------------------------*/ - regMask = DMA2D_OPFCCR_CM; - regValue = DMA2D_InitStruct->ColorMode; - - - - - MODIFY_REG(DMA2Dx->OPFCCR, regMask, regValue); - - /* DMA2D OOR register configuration ------------------------------------------*/ - LL_DMA2D_SetLineOffset(DMA2Dx, DMA2D_InitStruct->LineOffset); - - /* DMA2D NLR register configuration ------------------------------------------*/ - LL_DMA2D_ConfigSize(DMA2Dx, DMA2D_InitStruct->NbrOfLines, DMA2D_InitStruct->NbrOfPixelsPerLines); - - /* DMA2D OMAR register configuration ------------------------------------------*/ - LL_DMA2D_SetOutputMemAddr(DMA2Dx, DMA2D_InitStruct->OutputMemoryAddress); - - /* DMA2D OCOLR register configuration ------------------------------------------*/ - dma2d_colorstruct.ColorMode = DMA2D_InitStruct->ColorMode; - dma2d_colorstruct.OutputBlue = DMA2D_InitStruct->OutputBlue; - dma2d_colorstruct.OutputGreen = DMA2D_InitStruct->OutputGreen; - dma2d_colorstruct.OutputRed = DMA2D_InitStruct->OutputRed; - dma2d_colorstruct.OutputAlpha = DMA2D_InitStruct->OutputAlpha; - LL_DMA2D_ConfigOutputColor(DMA2Dx, &dma2d_colorstruct); - - status = SUCCESS; - } - /* If DMA2D transfers are not disabled, return ERROR */ - - return (status); -} - -/** - * @brief Set each @ref LL_DMA2D_InitTypeDef field to default value. - * @param DMA2D_InitStruct pointer to a @ref LL_DMA2D_InitTypeDef structure - * whose fields will be set to default values. - * @retval None - */ -void LL_DMA2D_StructInit(LL_DMA2D_InitTypeDef *DMA2D_InitStruct) -{ - /* Set DMA2D_InitStruct fields to default values */ - DMA2D_InitStruct->Mode = LL_DMA2D_MODE_M2M; - DMA2D_InitStruct->ColorMode = LL_DMA2D_OUTPUT_MODE_ARGB8888; - DMA2D_InitStruct->NbrOfLines = 0x0U; - DMA2D_InitStruct->NbrOfPixelsPerLines = 0x0U; - DMA2D_InitStruct->LineOffset = 0x0U; - DMA2D_InitStruct->OutputBlue = 0x0U; - DMA2D_InitStruct->OutputGreen = 0x0U; - DMA2D_InitStruct->OutputRed = 0x0U; - DMA2D_InitStruct->OutputAlpha = 0x0U; - DMA2D_InitStruct->OutputMemoryAddress = 0x0U; -} - -/** - * @brief Configure the foreground or background according to the specified parameters - * in the LL_DMA2D_LayerCfgTypeDef structure. - * @param DMA2Dx DMA2D Instance - * @param DMA2D_LayerCfg pointer to a LL_DMA2D_LayerCfgTypeDef structure that contains - * the configuration information for the specified layer. - * @param LayerIdx DMA2D Layer index. - * This parameter can be one of the following values: - * 0(background) / 1(foreground) - * @retval None - */ -void LL_DMA2D_ConfigLayer(DMA2D_TypeDef *DMA2Dx, LL_DMA2D_LayerCfgTypeDef *DMA2D_LayerCfg, uint32_t LayerIdx) -{ - /* Check the parameters */ - assert_param(IS_LL_DMA2D_OFFSET(DMA2D_LayerCfg->LineOffset)); - assert_param(IS_LL_DMA2D_LCMODE(DMA2D_LayerCfg->ColorMode)); - assert_param(IS_LL_DMA2D_CLUTCMODE(DMA2D_LayerCfg->CLUTColorMode)); - assert_param(IS_LL_DMA2D_CLUTSIZE(DMA2D_LayerCfg->CLUTSize)); - assert_param(IS_LL_DMA2D_ALPHAMODE(DMA2D_LayerCfg->AlphaMode)); - assert_param(IS_LL_DMA2D_GREEN(DMA2D_LayerCfg->Green)); - assert_param(IS_LL_DMA2D_RED(DMA2D_LayerCfg->Red)); - assert_param(IS_LL_DMA2D_BLUE(DMA2D_LayerCfg->Blue)); - assert_param(IS_LL_DMA2D_ALPHA(DMA2D_LayerCfg->Alpha)); - - - if (LayerIdx == 0U) - { - /* Configure the background memory address */ - LL_DMA2D_BGND_SetMemAddr(DMA2Dx, DMA2D_LayerCfg->MemoryAddress); - - /* Configure the background line offset */ - LL_DMA2D_BGND_SetLineOffset(DMA2Dx, DMA2D_LayerCfg->LineOffset); - - /* Configure the background Alpha value, Alpha mode, CLUT size, CLUT Color mode and Color mode */ - MODIFY_REG(DMA2Dx->BGPFCCR, \ - (DMA2D_BGPFCCR_ALPHA | DMA2D_BGPFCCR_AM | DMA2D_BGPFCCR_CS | DMA2D_BGPFCCR_CCM | DMA2D_BGPFCCR_CM), \ - ((DMA2D_LayerCfg->Alpha << DMA2D_BGPFCCR_ALPHA_Pos) | DMA2D_LayerCfg->AlphaMode | \ - (DMA2D_LayerCfg->CLUTSize << DMA2D_BGPFCCR_CS_Pos) | DMA2D_LayerCfg->CLUTColorMode | \ - DMA2D_LayerCfg->ColorMode)); - - /* Configure the background color */ - LL_DMA2D_BGND_SetColor(DMA2Dx, DMA2D_LayerCfg->Red, DMA2D_LayerCfg->Green, DMA2D_LayerCfg->Blue); - - /* Configure the background CLUT memory address */ - LL_DMA2D_BGND_SetCLUTMemAddr(DMA2Dx, DMA2D_LayerCfg->CLUTMemoryAddress); - } - else - { - /* Configure the foreground memory address */ - LL_DMA2D_FGND_SetMemAddr(DMA2Dx, DMA2D_LayerCfg->MemoryAddress); - - /* Configure the foreground line offset */ - LL_DMA2D_FGND_SetLineOffset(DMA2Dx, DMA2D_LayerCfg->LineOffset); - - /* Configure the foreground Alpha value, Alpha mode, CLUT size, CLUT Color mode and Color mode */ - MODIFY_REG(DMA2Dx->FGPFCCR, \ - (DMA2D_FGPFCCR_ALPHA | DMA2D_FGPFCCR_AM | DMA2D_FGPFCCR_CS | DMA2D_FGPFCCR_CCM | DMA2D_FGPFCCR_CM), \ - ((DMA2D_LayerCfg->Alpha << DMA2D_FGPFCCR_ALPHA_Pos) | DMA2D_LayerCfg->AlphaMode | \ - (DMA2D_LayerCfg->CLUTSize << DMA2D_FGPFCCR_CS_Pos) | DMA2D_LayerCfg->CLUTColorMode | \ - DMA2D_LayerCfg->ColorMode)); - - /* Configure the foreground color */ - LL_DMA2D_FGND_SetColor(DMA2Dx, DMA2D_LayerCfg->Red, DMA2D_LayerCfg->Green, DMA2D_LayerCfg->Blue); - - /* Configure the foreground CLUT memory address */ - LL_DMA2D_FGND_SetCLUTMemAddr(DMA2Dx, DMA2D_LayerCfg->CLUTMemoryAddress); - } -} - -/** - * @brief Set each @ref LL_DMA2D_LayerCfgTypeDef field to default value. - * @param DMA2D_LayerCfg pointer to a @ref LL_DMA2D_LayerCfgTypeDef structure - * whose fields will be set to default values. - * @retval None - */ -void LL_DMA2D_LayerCfgStructInit(LL_DMA2D_LayerCfgTypeDef *DMA2D_LayerCfg) -{ - /* Set DMA2D_LayerCfg fields to default values */ - DMA2D_LayerCfg->MemoryAddress = 0x0U; - DMA2D_LayerCfg->ColorMode = LL_DMA2D_INPUT_MODE_ARGB8888; - DMA2D_LayerCfg->LineOffset = 0x0U; - DMA2D_LayerCfg->CLUTColorMode = LL_DMA2D_CLUT_COLOR_MODE_ARGB8888; - DMA2D_LayerCfg->CLUTSize = 0x0U; - DMA2D_LayerCfg->AlphaMode = LL_DMA2D_ALPHA_MODE_NO_MODIF; - DMA2D_LayerCfg->Alpha = 0x0U; - DMA2D_LayerCfg->Blue = 0x0U; - DMA2D_LayerCfg->Green = 0x0U; - DMA2D_LayerCfg->Red = 0x0U; - DMA2D_LayerCfg->CLUTMemoryAddress = 0x0U; -} - -/** - * @brief Initialize DMA2D output color register according to the specified parameters - * in DMA2D_ColorStruct. - * @param DMA2Dx DMA2D Instance - * @param DMA2D_ColorStruct pointer to a LL_DMA2D_ColorTypeDef structure that contains - * the color configuration information for the specified DMA2D peripheral. - * @retval None - */ -void LL_DMA2D_ConfigOutputColor(DMA2D_TypeDef *DMA2Dx, LL_DMA2D_ColorTypeDef *DMA2D_ColorStruct) -{ - uint32_t outgreen; - uint32_t outred; - uint32_t outalpha; - - /* Check the parameters */ - assert_param(IS_DMA2D_ALL_INSTANCE(DMA2Dx)); - assert_param(IS_LL_DMA2D_OCMODE(DMA2D_ColorStruct->ColorMode)); - assert_param(IS_LL_DMA2D_GREEN(DMA2D_ColorStruct->OutputGreen)); - assert_param(IS_LL_DMA2D_RED(DMA2D_ColorStruct->OutputRed)); - assert_param(IS_LL_DMA2D_BLUE(DMA2D_ColorStruct->OutputBlue)); - assert_param(IS_LL_DMA2D_ALPHA(DMA2D_ColorStruct->OutputAlpha)); - - /* DMA2D OCOLR register configuration ------------------------------------------*/ - if (DMA2D_ColorStruct->ColorMode == LL_DMA2D_OUTPUT_MODE_ARGB8888) - { - outgreen = DMA2D_ColorStruct->OutputGreen << 8U; - outred = DMA2D_ColorStruct->OutputRed << 16U; - outalpha = DMA2D_ColorStruct->OutputAlpha << 24U; - } - else if (DMA2D_ColorStruct->ColorMode == LL_DMA2D_OUTPUT_MODE_RGB888) - { - outgreen = DMA2D_ColorStruct->OutputGreen << 8U; - outred = DMA2D_ColorStruct->OutputRed << 16U; - outalpha = 0x00000000U; - } - else if (DMA2D_ColorStruct->ColorMode == LL_DMA2D_OUTPUT_MODE_RGB565) - { - outgreen = DMA2D_ColorStruct->OutputGreen << 5U; - outred = DMA2D_ColorStruct->OutputRed << 11U; - outalpha = 0x00000000U; - } - else if (DMA2D_ColorStruct->ColorMode == LL_DMA2D_OUTPUT_MODE_ARGB1555) - { - outgreen = DMA2D_ColorStruct->OutputGreen << 5U; - outred = DMA2D_ColorStruct->OutputRed << 10U; - outalpha = DMA2D_ColorStruct->OutputAlpha << 15U; - } - else /* ColorMode = LL_DMA2D_OUTPUT_MODE_ARGB4444 */ - { - outgreen = DMA2D_ColorStruct->OutputGreen << 4U; - outred = DMA2D_ColorStruct->OutputRed << 8U; - outalpha = DMA2D_ColorStruct->OutputAlpha << 12U; - } - LL_DMA2D_SetOutputColor(DMA2Dx, (outgreen | outred | DMA2D_ColorStruct->OutputBlue | outalpha)); -} - -/** - * @brief Return DMA2D output Blue color. - * @param DMA2Dx DMA2D Instance. - * @param ColorMode This parameter can be one of the following values: - * @arg @ref LL_DMA2D_OUTPUT_MODE_ARGB8888 - * @arg @ref LL_DMA2D_OUTPUT_MODE_RGB888 - * @arg @ref LL_DMA2D_OUTPUT_MODE_RGB565 - * @arg @ref LL_DMA2D_OUTPUT_MODE_ARGB1555 - * @arg @ref LL_DMA2D_OUTPUT_MODE_ARGB4444 - * @retval Output Blue color value between Min_Data=0 and Max_Data=0xFF - */ -uint32_t LL_DMA2D_GetOutputBlueColor(DMA2D_TypeDef *DMA2Dx, uint32_t ColorMode) -{ - uint32_t color; - - /* Check the parameters */ - assert_param(IS_DMA2D_ALL_INSTANCE(DMA2Dx)); - assert_param(IS_LL_DMA2D_OCMODE(ColorMode)); - - /* DMA2D OCOLR register reading ------------------------------------------*/ - if (ColorMode == LL_DMA2D_OUTPUT_MODE_ARGB8888) - { - color = (uint32_t)(READ_BIT(DMA2Dx->OCOLR, 0xFFU)); - } - else if (ColorMode == LL_DMA2D_OUTPUT_MODE_RGB888) - { - color = (uint32_t)(READ_BIT(DMA2Dx->OCOLR, 0xFFU)); - } - else if (ColorMode == LL_DMA2D_OUTPUT_MODE_RGB565) - { - color = (uint32_t)(READ_BIT(DMA2Dx->OCOLR, 0x1FU)); - } - else if (ColorMode == LL_DMA2D_OUTPUT_MODE_ARGB1555) - { - color = (uint32_t)(READ_BIT(DMA2Dx->OCOLR, 0x1FU)); - } - else /* ColorMode = LL_DMA2D_OUTPUT_MODE_ARGB4444 */ - { - color = (uint32_t)(READ_BIT(DMA2Dx->OCOLR, 0xFU)); - } - - return color; -} - -/** - * @brief Return DMA2D output Green color. - * @param DMA2Dx DMA2D Instance. - * @param ColorMode This parameter can be one of the following values: - * @arg @ref LL_DMA2D_OUTPUT_MODE_ARGB8888 - * @arg @ref LL_DMA2D_OUTPUT_MODE_RGB888 - * @arg @ref LL_DMA2D_OUTPUT_MODE_RGB565 - * @arg @ref LL_DMA2D_OUTPUT_MODE_ARGB1555 - * @arg @ref LL_DMA2D_OUTPUT_MODE_ARGB4444 - * @retval Output Green color value between Min_Data=0 and Max_Data=0xFF - */ -uint32_t LL_DMA2D_GetOutputGreenColor(DMA2D_TypeDef *DMA2Dx, uint32_t ColorMode) -{ - uint32_t color; - - /* Check the parameters */ - assert_param(IS_DMA2D_ALL_INSTANCE(DMA2Dx)); - assert_param(IS_LL_DMA2D_OCMODE(ColorMode)); - - /* DMA2D OCOLR register reading ------------------------------------------*/ - if (ColorMode == LL_DMA2D_OUTPUT_MODE_ARGB8888) - { - color = (uint32_t)(READ_BIT(DMA2Dx->OCOLR, 0xFF00U) >> 8U); - } - else if (ColorMode == LL_DMA2D_OUTPUT_MODE_RGB888) - { - color = (uint32_t)(READ_BIT(DMA2Dx->OCOLR, 0xFF00U) >> 8U); - } - else if (ColorMode == LL_DMA2D_OUTPUT_MODE_RGB565) - { - color = (uint32_t)(READ_BIT(DMA2Dx->OCOLR, 0x7E0U) >> 5U); - } - else if (ColorMode == LL_DMA2D_OUTPUT_MODE_ARGB1555) - { - color = (uint32_t)(READ_BIT(DMA2Dx->OCOLR, 0x3E0U) >> 5U); - } - else /* ColorMode = LL_DMA2D_OUTPUT_MODE_ARGB4444 */ - { - color = (uint32_t)(READ_BIT(DMA2Dx->OCOLR, 0xF0U) >> 4U); - } - - return color; -} - -/** - * @brief Return DMA2D output Red color. - * @param DMA2Dx DMA2D Instance. - * @param ColorMode This parameter can be one of the following values: - * @arg @ref LL_DMA2D_OUTPUT_MODE_ARGB8888 - * @arg @ref LL_DMA2D_OUTPUT_MODE_RGB888 - * @arg @ref LL_DMA2D_OUTPUT_MODE_RGB565 - * @arg @ref LL_DMA2D_OUTPUT_MODE_ARGB1555 - * @arg @ref LL_DMA2D_OUTPUT_MODE_ARGB4444 - * @retval Output Red color value between Min_Data=0 and Max_Data=0xFF - */ -uint32_t LL_DMA2D_GetOutputRedColor(DMA2D_TypeDef *DMA2Dx, uint32_t ColorMode) -{ - uint32_t color; - - /* Check the parameters */ - assert_param(IS_DMA2D_ALL_INSTANCE(DMA2Dx)); - assert_param(IS_LL_DMA2D_OCMODE(ColorMode)); - - /* DMA2D OCOLR register reading ------------------------------------------*/ - if (ColorMode == LL_DMA2D_OUTPUT_MODE_ARGB8888) - { - color = (uint32_t)(READ_BIT(DMA2Dx->OCOLR, 0xFF0000U) >> 16U); - } - else if (ColorMode == LL_DMA2D_OUTPUT_MODE_RGB888) - { - color = (uint32_t)(READ_BIT(DMA2Dx->OCOLR, 0xFF0000U) >> 16U); - } - else if (ColorMode == LL_DMA2D_OUTPUT_MODE_RGB565) - { - color = (uint32_t)(READ_BIT(DMA2Dx->OCOLR, 0xF800U) >> 11U); - } - else if (ColorMode == LL_DMA2D_OUTPUT_MODE_ARGB1555) - { - color = (uint32_t)(READ_BIT(DMA2Dx->OCOLR, 0x7C00U) >> 10U); - } - else /* ColorMode = LL_DMA2D_OUTPUT_MODE_ARGB4444 */ - { - color = (uint32_t)(READ_BIT(DMA2Dx->OCOLR, 0xF00U) >> 8U); - } - - return color; -} - -/** - * @brief Return DMA2D output Alpha color. - * @param DMA2Dx DMA2D Instance. - * @param ColorMode This parameter can be one of the following values: - * @arg @ref LL_DMA2D_OUTPUT_MODE_ARGB8888 - * @arg @ref LL_DMA2D_OUTPUT_MODE_RGB888 - * @arg @ref LL_DMA2D_OUTPUT_MODE_RGB565 - * @arg @ref LL_DMA2D_OUTPUT_MODE_ARGB1555 - * @arg @ref LL_DMA2D_OUTPUT_MODE_ARGB4444 - * @retval Output Alpha color value between Min_Data=0 and Max_Data=0xFF - */ -uint32_t LL_DMA2D_GetOutputAlphaColor(DMA2D_TypeDef *DMA2Dx, uint32_t ColorMode) -{ - uint32_t color; - - /* Check the parameters */ - assert_param(IS_DMA2D_ALL_INSTANCE(DMA2Dx)); - assert_param(IS_LL_DMA2D_OCMODE(ColorMode)); - - /* DMA2D OCOLR register reading ------------------------------------------*/ - if (ColorMode == LL_DMA2D_OUTPUT_MODE_ARGB8888) - { - color = (uint32_t)(READ_BIT(DMA2Dx->OCOLR, 0xFF000000U) >> 24U); - } - else if ((ColorMode == LL_DMA2D_OUTPUT_MODE_RGB888) || (ColorMode == LL_DMA2D_OUTPUT_MODE_RGB565)) - { - color = 0x0U; - } - else if (ColorMode == LL_DMA2D_OUTPUT_MODE_ARGB1555) - { - color = (uint32_t)(READ_BIT(DMA2Dx->OCOLR, 0x8000U) >> 15U); - } - else /* ColorMode = LL_DMA2D_OUTPUT_MODE_ARGB4444 */ - { - color = (uint32_t)(READ_BIT(DMA2Dx->OCOLR, 0xF000U) >> 12U); - } - - return color; -} - -/** - * @brief Configure DMA2D transfer size. - * @param DMA2Dx DMA2D Instance - * @param NbrOfLines Value between Min_Data=0 and Max_Data=0xFFFF - * @param NbrOfPixelsPerLines Value between Min_Data=0 and Max_Data=0x3FFF - * @retval None - */ -void LL_DMA2D_ConfigSize(DMA2D_TypeDef *DMA2Dx, uint32_t NbrOfLines, uint32_t NbrOfPixelsPerLines) -{ - MODIFY_REG(DMA2Dx->NLR, (DMA2D_NLR_PL | DMA2D_NLR_NL), \ - ((NbrOfPixelsPerLines << DMA2D_NLR_PL_Pos) | NbrOfLines)); -} - -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ - -#endif /* defined (DMA2D) */ - -/** - * @} - */ - -#endif /* USE_FULL_LL_DRIVER */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ - diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_exti.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_exti.c deleted file mode 100644 index 31d70ac68196c6..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_exti.c +++ /dev/null @@ -1,214 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_ll_exti.c - * @author MCD Application Team - * @brief EXTI LL module driver. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ -#if defined(USE_FULL_LL_DRIVER) - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_ll_exti.h" -#ifdef USE_FULL_ASSERT -#include "stm32_assert.h" -#else -#define assert_param(expr) ((void)0U) -#endif - -/** @addtogroup STM32F4xx_LL_Driver - * @{ - */ - -#if defined (EXTI) - -/** @defgroup EXTI_LL EXTI - * @{ - */ - -/* Private types -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private constants ---------------------------------------------------------*/ -/* Private macros ------------------------------------------------------------*/ -/** @addtogroup EXTI_LL_Private_Macros - * @{ - */ - -#define IS_LL_EXTI_LINE_0_31(__VALUE__) (((__VALUE__) & ~LL_EXTI_LINE_ALL_0_31) == 0x00000000U) - -#define IS_LL_EXTI_MODE(__VALUE__) (((__VALUE__) == LL_EXTI_MODE_IT) \ - || ((__VALUE__) == LL_EXTI_MODE_EVENT) \ - || ((__VALUE__) == LL_EXTI_MODE_IT_EVENT)) - - -#define IS_LL_EXTI_TRIGGER(__VALUE__) (((__VALUE__) == LL_EXTI_TRIGGER_NONE) \ - || ((__VALUE__) == LL_EXTI_TRIGGER_RISING) \ - || ((__VALUE__) == LL_EXTI_TRIGGER_FALLING) \ - || ((__VALUE__) == LL_EXTI_TRIGGER_RISING_FALLING)) - -/** - * @} - */ - -/* Private function prototypes -----------------------------------------------*/ - -/* Exported functions --------------------------------------------------------*/ -/** @addtogroup EXTI_LL_Exported_Functions - * @{ - */ - -/** @addtogroup EXTI_LL_EF_Init - * @{ - */ - -/** - * @brief De-initialize the EXTI registers to their default reset values. - * @retval An ErrorStatus enumeration value: - * - SUCCESS: EXTI registers are de-initialized - * - ERROR: not applicable - */ -uint32_t LL_EXTI_DeInit(void) -{ - /* Interrupt mask register set to default reset values */ - LL_EXTI_WriteReg(IMR, 0x00000000U); - /* Event mask register set to default reset values */ - LL_EXTI_WriteReg(EMR, 0x00000000U); - /* Rising Trigger selection register set to default reset values */ - LL_EXTI_WriteReg(RTSR, 0x00000000U); - /* Falling Trigger selection register set to default reset values */ - LL_EXTI_WriteReg(FTSR, 0x00000000U); - /* Software interrupt event register set to default reset values */ - LL_EXTI_WriteReg(SWIER, 0x00000000U); - /* Pending register set to default reset values */ - LL_EXTI_WriteReg(PR, 0x00FFFFFFU); - - return SUCCESS; -} - -/** - * @brief Initialize the EXTI registers according to the specified parameters in EXTI_InitStruct. - * @param EXTI_InitStruct pointer to a @ref LL_EXTI_InitTypeDef structure. - * @retval An ErrorStatus enumeration value: - * - SUCCESS: EXTI registers are initialized - * - ERROR: not applicable - */ -uint32_t LL_EXTI_Init(LL_EXTI_InitTypeDef *EXTI_InitStruct) -{ - ErrorStatus status = SUCCESS; - /* Check the parameters */ - assert_param(IS_LL_EXTI_LINE_0_31(EXTI_InitStruct->Line_0_31)); - assert_param(IS_FUNCTIONAL_STATE(EXTI_InitStruct->LineCommand)); - assert_param(IS_LL_EXTI_MODE(EXTI_InitStruct->Mode)); - - /* ENABLE LineCommand */ - if (EXTI_InitStruct->LineCommand != DISABLE) - { - assert_param(IS_LL_EXTI_TRIGGER(EXTI_InitStruct->Trigger)); - - /* Configure EXTI Lines in range from 0 to 31 */ - if (EXTI_InitStruct->Line_0_31 != LL_EXTI_LINE_NONE) - { - switch (EXTI_InitStruct->Mode) - { - case LL_EXTI_MODE_IT: - /* First Disable Event on provided Lines */ - LL_EXTI_DisableEvent_0_31(EXTI_InitStruct->Line_0_31); - /* Then Enable IT on provided Lines */ - LL_EXTI_EnableIT_0_31(EXTI_InitStruct->Line_0_31); - break; - case LL_EXTI_MODE_EVENT: - /* First Disable IT on provided Lines */ - LL_EXTI_DisableIT_0_31(EXTI_InitStruct->Line_0_31); - /* Then Enable Event on provided Lines */ - LL_EXTI_EnableEvent_0_31(EXTI_InitStruct->Line_0_31); - break; - case LL_EXTI_MODE_IT_EVENT: - /* Directly Enable IT & Event on provided Lines */ - LL_EXTI_EnableIT_0_31(EXTI_InitStruct->Line_0_31); - LL_EXTI_EnableEvent_0_31(EXTI_InitStruct->Line_0_31); - break; - default: - status = ERROR; - break; - } - if (EXTI_InitStruct->Trigger != LL_EXTI_TRIGGER_NONE) - { - switch (EXTI_InitStruct->Trigger) - { - case LL_EXTI_TRIGGER_RISING: - /* First Disable Falling Trigger on provided Lines */ - LL_EXTI_DisableFallingTrig_0_31(EXTI_InitStruct->Line_0_31); - /* Then Enable Rising Trigger on provided Lines */ - LL_EXTI_EnableRisingTrig_0_31(EXTI_InitStruct->Line_0_31); - break; - case LL_EXTI_TRIGGER_FALLING: - /* First Disable Rising Trigger on provided Lines */ - LL_EXTI_DisableRisingTrig_0_31(EXTI_InitStruct->Line_0_31); - /* Then Enable Falling Trigger on provided Lines */ - LL_EXTI_EnableFallingTrig_0_31(EXTI_InitStruct->Line_0_31); - break; - case LL_EXTI_TRIGGER_RISING_FALLING: - LL_EXTI_EnableRisingTrig_0_31(EXTI_InitStruct->Line_0_31); - LL_EXTI_EnableFallingTrig_0_31(EXTI_InitStruct->Line_0_31); - break; - default: - status = ERROR; - break; - } - } - } - } - /* DISABLE LineCommand */ - else - { - /* De-configure EXTI Lines in range from 0 to 31 */ - LL_EXTI_DisableIT_0_31(EXTI_InitStruct->Line_0_31); - LL_EXTI_DisableEvent_0_31(EXTI_InitStruct->Line_0_31); - } - return status; -} - -/** - * @brief Set each @ref LL_EXTI_InitTypeDef field to default value. - * @param EXTI_InitStruct Pointer to a @ref LL_EXTI_InitTypeDef structure. - * @retval None - */ -void LL_EXTI_StructInit(LL_EXTI_InitTypeDef *EXTI_InitStruct) -{ - EXTI_InitStruct->Line_0_31 = LL_EXTI_LINE_NONE; - EXTI_InitStruct->LineCommand = DISABLE; - EXTI_InitStruct->Mode = LL_EXTI_MODE_IT; - EXTI_InitStruct->Trigger = LL_EXTI_TRIGGER_FALLING; -} - -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ - -#endif /* defined (EXTI) */ - -/** - * @} - */ - -#endif /* USE_FULL_LL_DRIVER */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_fmc.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_fmc.c deleted file mode 100644 index 2e4dadb32e674a..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_fmc.c +++ /dev/null @@ -1,1692 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_ll_fmc.c - * @author MCD Application Team - * @brief FMC Low Layer HAL module driver. - * - * This file provides firmware functions to manage the following - * functionalities of the Flexible Memory Controller (FMC) peripheral memories: - * + Initialization/de-initialization functions - * + Peripheral Control functions - * + Peripheral State functions - * - @verbatim - ============================================================================== - ##### FMC peripheral features ##### - ============================================================================== - [..] The Flexible memory controller (FMC) includes three memory controllers: - (+) The NOR/PSRAM memory controller - (+) The NAND/PC Card memory controller - (+) The Synchronous DRAM (SDRAM) controller - - [..] The FMC functional block makes the interface with synchronous and asynchronous static - memories, SDRAM memories, and 16-bit PC memory cards. Its main purposes are: - (+) to translate AHB transactions into the appropriate external device protocol - (+) to meet the access time requirements of the external memory devices - - [..] All external memories share the addresses, data and control signals with the controller. - Each external device is accessed by means of a unique Chip Select. The FMC performs - only one access at a time to an external device. - The main features of the FMC controller are the following: - (+) Interface with static-memory mapped devices including: - (++) Static random access memory (SRAM) - (++) Read-only memory (ROM) - (++) NOR Flash memory/OneNAND Flash memory - (++) PSRAM (4 memory banks) - (++) 16-bit PC Card compatible devices - (++) Two banks of NAND Flash memory with ECC hardware to check up to 8 Kbytes of - data - (+) Interface with synchronous DRAM (SDRAM) memories - (+) Independent Chip Select control for each memory bank - (+) Independent configuration for each memory bank - - @endverbatim - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @defgroup FMC_LL FMC Low Layer - * @brief FMC driver modules - * @{ - */ - -#if defined (HAL_SRAM_MODULE_ENABLED) || defined(HAL_NOR_MODULE_ENABLED) || defined(HAL_NAND_MODULE_ENABLED) || defined(HAL_PCCARD_MODULE_ENABLED) || defined(HAL_SDRAM_MODULE_ENABLED) - -#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) || defined(STM32F446xx) || defined(STM32F469xx) || defined(STM32F479xx) - -/* Private typedef -----------------------------------------------------------*/ -/* Private define ------------------------------------------------------------*/ -/* Private macro -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private function prototypes -----------------------------------------------*/ -/* Private functions ---------------------------------------------------------*/ -/** @addtogroup FMC_LL_Private_Functions - * @{ - */ - -/** @addtogroup FMC_LL_NORSRAM - * @brief NORSRAM Controller functions - * - @verbatim - ============================================================================== - ##### How to use NORSRAM device driver ##### - ============================================================================== - - [..] - This driver contains a set of APIs to interface with the FMC NORSRAM banks in order - to run the NORSRAM external devices. - - (+) FMC NORSRAM bank reset using the function FMC_NORSRAM_DeInit() - (+) FMC NORSRAM bank control configuration using the function FMC_NORSRAM_Init() - (+) FMC NORSRAM bank timing configuration using the function FMC_NORSRAM_Timing_Init() - (+) FMC NORSRAM bank extended timing configuration using the function - FMC_NORSRAM_Extended_Timing_Init() - (+) FMC NORSRAM bank enable/disable write operation using the functions - FMC_NORSRAM_WriteOperation_Enable()/FMC_NORSRAM_WriteOperation_Disable() - - -@endverbatim - * @{ - */ - -/** @addtogroup FMC_LL_NORSRAM_Private_Functions_Group1 - * @brief Initialization and Configuration functions - * - @verbatim - ============================================================================== - ##### Initialization and de_initialization functions ##### - ============================================================================== - [..] - This section provides functions allowing to: - (+) Initialize and configure the FMC NORSRAM interface - (+) De-initialize the FMC NORSRAM interface - (+) Configure the FMC clock and associated GPIOs - -@endverbatim - * @{ - */ - -/** - * @brief Initialize the FMC_NORSRAM device according to the specified - * control parameters in the FMC_NORSRAM_InitTypeDef - * @param Device Pointer to NORSRAM device instance - * @param Init Pointer to NORSRAM Initialization structure - * @retval HAL status - */ -HAL_StatusTypeDef FMC_NORSRAM_Init(FMC_NORSRAM_TypeDef *Device, FMC_NORSRAM_InitTypeDef* Init) -{ - uint32_t tmpr = 0U; - - /* Check the parameters */ - assert_param(IS_FMC_NORSRAM_DEVICE(Device)); - assert_param(IS_FMC_NORSRAM_BANK(Init->NSBank)); - assert_param(IS_FMC_MUX(Init->DataAddressMux)); - assert_param(IS_FMC_MEMORY(Init->MemoryType)); - assert_param(IS_FMC_NORSRAM_MEMORY_WIDTH(Init->MemoryDataWidth)); - assert_param(IS_FMC_BURSTMODE(Init->BurstAccessMode)); - assert_param(IS_FMC_WAIT_POLARITY(Init->WaitSignalPolarity)); -#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) - assert_param(IS_FMC_WRAP_MODE(Init->WrapMode)); -#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx */ - assert_param(IS_FMC_WAIT_SIGNAL_ACTIVE(Init->WaitSignalActive)); - assert_param(IS_FMC_WRITE_OPERATION(Init->WriteOperation)); - assert_param(IS_FMC_WAITE_SIGNAL(Init->WaitSignal)); - assert_param(IS_FMC_EXTENDED_MODE(Init->ExtendedMode)); - assert_param(IS_FMC_ASYNWAIT(Init->AsynchronousWait)); - assert_param(IS_FMC_WRITE_BURST(Init->WriteBurst)); - assert_param(IS_FMC_CONTINOUS_CLOCK(Init->ContinuousClock)); - assert_param(IS_FMC_PAGESIZE(Init->PageSize)); -#if defined (STM32F446xx) || defined(STM32F469xx) || defined(STM32F479xx) - assert_param(IS_FMC_WRITE_FIFO(Init->WriteFifo)); -#endif /* STM32F446xx || STM32F469xx || STM32F479xx */ - - /* Get the BTCR register value */ - tmpr = Device->BTCR[Init->NSBank]; - -#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) - /* Clear MBKEN, MUXEN, MTYP, MWID, FACCEN, BURSTEN, WAITPOL, WRAPMOD, WAITCFG, WREN, - WAITEN, EXTMOD, ASYNCWAIT, CPSIZE, CBURSTRW and CCLKEN bits */ - tmpr &= ((uint32_t)~(FMC_BCR1_MBKEN | FMC_BCR1_MUXEN | FMC_BCR1_MTYP | \ - FMC_BCR1_MWID | FMC_BCR1_FACCEN | FMC_BCR1_BURSTEN | \ - FMC_BCR1_WAITPOL | FMC_BCR1_WRAPMOD | FMC_BCR1_WAITCFG | \ - FMC_BCR1_WREN | FMC_BCR1_WAITEN | FMC_BCR1_EXTMOD | \ - FMC_BCR1_ASYNCWAIT | FMC_BCR1_CPSIZE | FMC_BCR1_CBURSTRW | \ - FMC_BCR1_CCLKEN)); - - /* Set NORSRAM device control parameters */ - tmpr |= (uint32_t)(Init->DataAddressMux |\ - Init->MemoryType |\ - Init->MemoryDataWidth |\ - Init->BurstAccessMode |\ - Init->WaitSignalPolarity |\ - Init->WrapMode |\ - Init->WaitSignalActive |\ - Init->WriteOperation |\ - Init->WaitSignal |\ - Init->ExtendedMode |\ - Init->AsynchronousWait |\ - Init->PageSize |\ - Init->WriteBurst |\ - Init->ContinuousClock); -#else /* defined(STM32F446xx) || defined(STM32F469xx) || defined(STM32F479xx) */ - /* Clear MBKEN, MUXEN, MTYP, MWID, FACCEN, BURSTEN, WAITPOL, CPSIZE, WAITCFG, WREN, - WAITEN, EXTMOD, ASYNCWAIT, CBURSTRW, CCLKEN and WFDIS bits */ - tmpr &= ((uint32_t)~(FMC_BCR1_MBKEN | FMC_BCR1_MUXEN | FMC_BCR1_MTYP | \ - FMC_BCR1_MWID | FMC_BCR1_FACCEN | FMC_BCR1_BURSTEN | \ - FMC_BCR1_WAITPOL | FMC_BCR1_WAITCFG | FMC_BCR1_CPSIZE | \ - FMC_BCR1_WREN | FMC_BCR1_WAITEN | FMC_BCR1_EXTMOD | \ - FMC_BCR1_ASYNCWAIT | FMC_BCR1_CBURSTRW | FMC_BCR1_CCLKEN | \ - FMC_BCR1_WFDIS)); - - /* Set NORSRAM device control parameters */ - tmpr |= (uint32_t)(Init->DataAddressMux |\ - Init->MemoryType |\ - Init->MemoryDataWidth |\ - Init->BurstAccessMode |\ - Init->WaitSignalPolarity |\ - Init->WaitSignalActive |\ - Init->WriteOperation |\ - Init->WaitSignal |\ - Init->ExtendedMode |\ - Init->AsynchronousWait |\ - Init->WriteBurst |\ - Init->ContinuousClock |\ - Init->PageSize |\ - Init->WriteFifo); -#endif /* defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) */ - - if(Init->MemoryType == FMC_MEMORY_TYPE_NOR) - { - tmpr |= (uint32_t)FMC_NORSRAM_FLASH_ACCESS_ENABLE; - } - - Device->BTCR[Init->NSBank] = tmpr; - - /* Configure synchronous mode when Continuous clock is enabled for bank2..4 */ - if((Init->ContinuousClock == FMC_CONTINUOUS_CLOCK_SYNC_ASYNC) && (Init->NSBank != FMC_NORSRAM_BANK1)) - { - Device->BTCR[FMC_NORSRAM_BANK1] |= (uint32_t)(Init->ContinuousClock); - } - -#if defined(STM32F446xx) || defined(STM32F469xx) || defined(STM32F479xx) - if(Init->NSBank != FMC_NORSRAM_BANK1) - { - Device->BTCR[FMC_NORSRAM_BANK1] |= (uint32_t)(Init->WriteFifo); - } -#endif /* STM32F446xx || STM32F469xx || STM32F479xx */ - - return HAL_OK; -} - -/** - * @brief DeInitialize the FMC_NORSRAM peripheral - * @param Device Pointer to NORSRAM device instance - * @param ExDevice Pointer to NORSRAM extended mode device instance - * @param Bank NORSRAM bank number - * @retval HAL status - */ -HAL_StatusTypeDef FMC_NORSRAM_DeInit(FMC_NORSRAM_TypeDef *Device, FMC_NORSRAM_EXTENDED_TypeDef *ExDevice, uint32_t Bank) -{ - /* Check the parameters */ - assert_param(IS_FMC_NORSRAM_DEVICE(Device)); - assert_param(IS_FMC_NORSRAM_EXTENDED_DEVICE(ExDevice)); - assert_param(IS_FMC_NORSRAM_BANK(Bank)); - - /* Disable the FMC_NORSRAM device */ - __FMC_NORSRAM_DISABLE(Device, Bank); - - /* De-initialize the FMC_NORSRAM device */ - /* FMC_NORSRAM_BANK1 */ - if(Bank == FMC_NORSRAM_BANK1) - { - Device->BTCR[Bank] = 0x000030DBU; - } - /* FMC_NORSRAM_BANK2, FMC_NORSRAM_BANK3 or FMC_NORSRAM_BANK4 */ - else - { - Device->BTCR[Bank] = 0x000030D2U; - } - - Device->BTCR[Bank + 1U] = 0x0FFFFFFFU; - ExDevice->BWTR[Bank] = 0x0FFFFFFFU; - - return HAL_OK; -} - -/** - * @brief Initialize the FMC_NORSRAM Timing according to the specified - * parameters in the FMC_NORSRAM_TimingTypeDef - * @param Device Pointer to NORSRAM device instance - * @param Timing Pointer to NORSRAM Timing structure - * @param Bank NORSRAM bank number - * @retval HAL status - */ -HAL_StatusTypeDef FMC_NORSRAM_Timing_Init(FMC_NORSRAM_TypeDef *Device, FMC_NORSRAM_TimingTypeDef *Timing, uint32_t Bank) -{ - uint32_t tmpr = 0U; - - /* Check the parameters */ - assert_param(IS_FMC_NORSRAM_DEVICE(Device)); - assert_param(IS_FMC_ADDRESS_SETUP_TIME(Timing->AddressSetupTime)); - assert_param(IS_FMC_ADDRESS_HOLD_TIME(Timing->AddressHoldTime)); - assert_param(IS_FMC_DATASETUP_TIME(Timing->DataSetupTime)); - assert_param(IS_FMC_TURNAROUND_TIME(Timing->BusTurnAroundDuration)); - assert_param(IS_FMC_CLK_DIV(Timing->CLKDivision)); - assert_param(IS_FMC_DATA_LATENCY(Timing->DataLatency)); - assert_param(IS_FMC_ACCESS_MODE(Timing->AccessMode)); - assert_param(IS_FMC_NORSRAM_BANK(Bank)); - - /* Get the BTCR register value */ - tmpr = Device->BTCR[Bank + 1U]; - - /* Clear ADDSET, ADDHLD, DATAST, BUSTURN, CLKDIV, DATLAT and ACCMOD bits */ - tmpr &= ((uint32_t)~(FMC_BTR1_ADDSET | FMC_BTR1_ADDHLD | FMC_BTR1_DATAST | \ - FMC_BTR1_BUSTURN | FMC_BTR1_CLKDIV | FMC_BTR1_DATLAT | \ - FMC_BTR1_ACCMOD)); - - /* Set FMC_NORSRAM device timing parameters */ - tmpr |= (uint32_t)(Timing->AddressSetupTime |\ - ((Timing->AddressHoldTime) << 4U) |\ - ((Timing->DataSetupTime) << 8U) |\ - ((Timing->BusTurnAroundDuration) << 16U) |\ - (((Timing->CLKDivision) - 1U) << 20U) |\ - (((Timing->DataLatency) - 2U) << 24U) |\ - (Timing->AccessMode)); - - Device->BTCR[Bank + 1U] = tmpr; - - /* Configure Clock division value (in NORSRAM bank 1) when continuous clock is enabled */ - if(HAL_IS_BIT_SET(Device->BTCR[FMC_NORSRAM_BANK1], FMC_BCR1_CCLKEN)) - { - tmpr = (uint32_t)(Device->BTCR[FMC_NORSRAM_BANK1 + 1U] & ~(0x0FU << 20U)); - tmpr |= (uint32_t)(((Timing->CLKDivision) - 1U) << 20U); - Device->BTCR[FMC_NORSRAM_BANK1 + 1U] = tmpr; - } - - return HAL_OK; -} - -/** - * @brief Initialize the FMC_NORSRAM Extended mode Timing according to the specified - * parameters in the FMC_NORSRAM_TimingTypeDef - * @param Device Pointer to NORSRAM device instance - * @param Timing Pointer to NORSRAM Timing structure - * @param Bank NORSRAM bank number - * @retval HAL status - */ -HAL_StatusTypeDef FMC_NORSRAM_Extended_Timing_Init(FMC_NORSRAM_EXTENDED_TypeDef *Device, FMC_NORSRAM_TimingTypeDef *Timing, uint32_t Bank, uint32_t ExtendedMode) -{ - uint32_t tmpr = 0U; - - /* Check the parameters */ - assert_param(IS_FMC_EXTENDED_MODE(ExtendedMode)); - - /* Set NORSRAM device timing register for write configuration, if extended mode is used */ - if(ExtendedMode == FMC_EXTENDED_MODE_ENABLE) - { - /* Check the parameters */ - assert_param(IS_FMC_NORSRAM_EXTENDED_DEVICE(Device)); - assert_param(IS_FMC_ADDRESS_SETUP_TIME(Timing->AddressSetupTime)); - assert_param(IS_FMC_ADDRESS_HOLD_TIME(Timing->AddressHoldTime)); - assert_param(IS_FMC_DATASETUP_TIME(Timing->DataSetupTime)); - assert_param(IS_FMC_TURNAROUND_TIME(Timing->BusTurnAroundDuration)); - assert_param(IS_FMC_ACCESS_MODE(Timing->AccessMode)); - assert_param(IS_FMC_NORSRAM_BANK(Bank)); - - /* Get the BWTR register value */ - tmpr = Device->BWTR[Bank]; - - /* Clear ADDSET, ADDHLD, DATAST, BUSTURN and ACCMOD bits */ - tmpr &= ((uint32_t)~(FMC_BWTR1_ADDSET | FMC_BWTR1_ADDHLD | FMC_BWTR1_DATAST | \ - FMC_BWTR1_BUSTURN | FMC_BWTR1_ACCMOD)); - - tmpr |= (uint32_t)(Timing->AddressSetupTime |\ - ((Timing->AddressHoldTime) << 4U) |\ - ((Timing->DataSetupTime) << 8U) |\ - ((Timing->BusTurnAroundDuration) << 16U) |\ - (Timing->AccessMode)); - - Device->BWTR[Bank] = tmpr; - } - else - { - Device->BWTR[Bank] = 0x0FFFFFFFU; - } - - return HAL_OK; -} -/** - * @} - */ - -/** @addtogroup FMC_LL_NORSRAM_Private_Functions_Group2 - * @brief management functions - * -@verbatim - ============================================================================== - ##### FMC_NORSRAM Control functions ##### - ============================================================================== - [..] - This subsection provides a set of functions allowing to control dynamically - the FMC NORSRAM interface. - -@endverbatim - * @{ - */ -/** - * @brief Enables dynamically FMC_NORSRAM write operation. - * @param Device Pointer to NORSRAM device instance - * @param Bank NORSRAM bank number - * @retval HAL status - */ -HAL_StatusTypeDef FMC_NORSRAM_WriteOperation_Enable(FMC_NORSRAM_TypeDef *Device, uint32_t Bank) -{ - /* Check the parameters */ - assert_param(IS_FMC_NORSRAM_DEVICE(Device)); - assert_param(IS_FMC_NORSRAM_BANK(Bank)); - - /* Enable write operation */ - Device->BTCR[Bank] |= FMC_WRITE_OPERATION_ENABLE; - - return HAL_OK; -} - -/** - * @brief Disables dynamically FMC_NORSRAM write operation. - * @param Device Pointer to NORSRAM device instance - * @param Bank NORSRAM bank number - * @retval HAL status - */ -HAL_StatusTypeDef FMC_NORSRAM_WriteOperation_Disable(FMC_NORSRAM_TypeDef *Device, uint32_t Bank) -{ - /* Check the parameters */ - assert_param(IS_FMC_NORSRAM_DEVICE(Device)); - assert_param(IS_FMC_NORSRAM_BANK(Bank)); - - /* Disable write operation */ - Device->BTCR[Bank] &= ~FMC_WRITE_OPERATION_ENABLE; - - return HAL_OK; -} - -/** - * @} - */ - -/** - * @} - */ - -/** @addtogroup FMC_LL_NAND - * @brief NAND Controller functions - * - @verbatim - ============================================================================== - ##### How to use NAND device driver ##### - ============================================================================== - [..] - This driver contains a set of APIs to interface with the FMC NAND banks in order - to run the NAND external devices. - - (+) FMC NAND bank reset using the function FMC_NAND_DeInit() - (+) FMC NAND bank control configuration using the function FMC_NAND_Init() - (+) FMC NAND bank common space timing configuration using the function - FMC_NAND_CommonSpace_Timing_Init() - (+) FMC NAND bank attribute space timing configuration using the function - FMC_NAND_AttributeSpace_Timing_Init() - (+) FMC NAND bank enable/disable ECC correction feature using the functions - FMC_NAND_ECC_Enable()/FMC_NAND_ECC_Disable() - (+) FMC NAND bank get ECC correction code using the function FMC_NAND_GetECC() - -@endverbatim - * @{ - */ - -#if defined(STM32F446xx) || defined(STM32F469xx) || defined(STM32F479xx) -/** @defgroup HAL_FMC_NAND_Group1 Initialization/de-initialization functions - * @brief Initialization and Configuration functions - * -@verbatim - ============================================================================== - ##### Initialization and de_initialization functions ##### - ============================================================================== - [..] - This section provides functions allowing to: - (+) Initialize and configure the FMC NAND interface - (+) De-initialize the FMC NAND interface - (+) Configure the FMC clock and associated GPIOs - -@endverbatim - * @{ - */ - -/** - * @brief Initializes the FMC_NAND device according to the specified - * control parameters in the FMC_NAND_HandleTypeDef - * @param Device Pointer to NAND device instance - * @param Init Pointer to NAND Initialization structure - * @retval HAL status - */ -HAL_StatusTypeDef FMC_NAND_Init(FMC_NAND_TypeDef *Device, FMC_NAND_InitTypeDef *Init) -{ - uint32_t tmpr = 0U; - - /* Check the parameters */ - assert_param(IS_FMC_NAND_DEVICE(Device)); - assert_param(IS_FMC_NAND_BANK(Init->NandBank)); - assert_param(IS_FMC_WAIT_FEATURE(Init->Waitfeature)); - assert_param(IS_FMC_NAND_MEMORY_WIDTH(Init->MemoryDataWidth)); - assert_param(IS_FMC_ECC_STATE(Init->EccComputation)); - assert_param(IS_FMC_ECCPAGE_SIZE(Init->ECCPageSize)); - assert_param(IS_FMC_TCLR_TIME(Init->TCLRSetupTime)); - assert_param(IS_FMC_TAR_TIME(Init->TARSetupTime)); - - /* Get the NAND bank register value */ - tmpr = Device->PCR; - - /* Clear PWAITEN, PBKEN, PTYP, PWID, ECCEN, TCLR, TAR and ECCPS bits */ - tmpr &= ((uint32_t)~(FMC_PCR_PWAITEN | FMC_PCR_PBKEN | FMC_PCR_PTYP | \ - FMC_PCR_PWID | FMC_PCR_ECCEN | FMC_PCR_TCLR | \ - FMC_PCR_TAR | FMC_PCR_ECCPS)); - - /* Set NAND device control parameters */ - tmpr |= (uint32_t)(Init->Waitfeature |\ - FMC_PCR_MEMORY_TYPE_NAND |\ - Init->MemoryDataWidth |\ - Init->EccComputation |\ - Init->ECCPageSize |\ - ((Init->TCLRSetupTime) << 9U) |\ - ((Init->TARSetupTime) << 13U)); - - /* NAND bank registers configuration */ - Device->PCR = tmpr; - - return HAL_OK; -} - -/** - * @brief Initializes the FMC_NAND Common space Timing according to the specified - * parameters in the FMC_NAND_PCC_TimingTypeDef - * @param Device Pointer to NAND device instance - * @param Timing Pointer to NAND timing structure - * @param Bank NAND bank number - * @retval HAL status - */ -HAL_StatusTypeDef FMC_NAND_CommonSpace_Timing_Init(FMC_NAND_TypeDef *Device, FMC_NAND_PCC_TimingTypeDef *Timing, uint32_t Bank) -{ - uint32_t tmpr = 0U; - - /* Check the parameters */ - assert_param(IS_FMC_NAND_DEVICE(Device)); - assert_param(IS_FMC_SETUP_TIME(Timing->SetupTime)); - assert_param(IS_FMC_WAIT_TIME(Timing->WaitSetupTime)); - assert_param(IS_FMC_HOLD_TIME(Timing->HoldSetupTime)); - assert_param(IS_FMC_HIZ_TIME(Timing->HiZSetupTime)); - assert_param(IS_FMC_NAND_BANK(Bank)); - - /* Get the NAND bank 2 register value */ - tmpr = Device->PMEM; - - - /* Clear MEMSETx, MEMWAITx, MEMHOLDx and MEMHIZx bits */ - tmpr &= ((uint32_t)~(FMC_PMEM_MEMSET2 | FMC_PMEM_MEMWAIT2 | FMC_PMEM_MEMHOLD2 | \ - FMC_PMEM_MEMHIZ2)); - - /* Set FMC_NAND device timing parameters */ - tmpr |= (uint32_t)(Timing->SetupTime |\ - ((Timing->WaitSetupTime) << 8U) |\ - ((Timing->HoldSetupTime) << 16U) |\ - ((Timing->HiZSetupTime) << 24U) - ); - - /* NAND bank registers configuration */ - Device->PMEM = tmpr; - - return HAL_OK; -} - -/** - * @brief Initializes the FMC_NAND Attribute space Timing according to the specified - * parameters in the FMC_NAND_PCC_TimingTypeDef - * @param Device Pointer to NAND device instance - * @param Timing Pointer to NAND timing structure - * @param Bank NAND bank number - * @retval HAL status - */ -HAL_StatusTypeDef FMC_NAND_AttributeSpace_Timing_Init(FMC_NAND_TypeDef *Device, FMC_NAND_PCC_TimingTypeDef *Timing, uint32_t Bank) -{ - uint32_t tmpr = 0U; - - /* Check the parameters */ - assert_param(IS_FMC_NAND_DEVICE(Device)); - assert_param(IS_FMC_SETUP_TIME(Timing->SetupTime)); - assert_param(IS_FMC_WAIT_TIME(Timing->WaitSetupTime)); - assert_param(IS_FMC_HOLD_TIME(Timing->HoldSetupTime)); - assert_param(IS_FMC_HIZ_TIME(Timing->HiZSetupTime)); - assert_param(IS_FMC_NAND_BANK(Bank)); - - /* Get the NAND bank register value */ - tmpr = Device->PATT; - - /* Clear ATTSETx, ATTWAITx, ATTHOLDx and ATTHIZx bits */ - tmpr &= ((uint32_t)~(FMC_PATT_ATTSET2 | FMC_PATT_ATTWAIT2 | FMC_PATT_ATTHOLD2 | \ - FMC_PATT_ATTHIZ2)); - - /* Set FMC_NAND device timing parameters */ - tmpr |= (uint32_t)(Timing->SetupTime |\ - ((Timing->WaitSetupTime) << 8U) |\ - ((Timing->HoldSetupTime) << 16U) |\ - ((Timing->HiZSetupTime) << 24U)); - - /* NAND bank registers configuration */ - Device->PATT = tmpr; - - return HAL_OK; -} - - -/** - * @brief DeInitializes the FMC_NAND device - * @param Device Pointer to NAND device instance - * @param Bank NAND bank number - * @retval HAL status - */ -HAL_StatusTypeDef FMC_NAND_DeInit(FMC_NAND_TypeDef *Device, uint32_t Bank) -{ - /* Check the parameters */ - assert_param(IS_FMC_NAND_DEVICE(Device)); - assert_param(IS_FMC_NAND_BANK(Bank)); - - /* Disable the NAND Bank */ - __FMC_NAND_DISABLE(Device, Bank); - - /* De-initialize the NAND Bank */ - /* Set the FMC_NAND_BANK registers to their reset values */ - Device->PCR = 0x00000018U; - Device->SR = 0x00000040U; - Device->PMEM = 0xFCFCFCFCU; - Device->PATT = 0xFCFCFCFCU; - - return HAL_OK; -} - -/** - * @} - */ - - -/** @defgroup HAL_FMC_NAND_Group2 Control functions - * @brief management functions - * -@verbatim - ============================================================================== - ##### FMC_NAND Control functions ##### - ============================================================================== - [..] - This subsection provides a set of functions allowing to control dynamically - the FMC NAND interface. - -@endverbatim - * @{ - */ - - -/** - * @brief Enables dynamically FMC_NAND ECC feature. - * @param Device Pointer to NAND device instance - * @param Bank NAND bank number - * @retval HAL status - */ -HAL_StatusTypeDef FMC_NAND_ECC_Enable(FMC_NAND_TypeDef *Device, uint32_t Bank) -{ - /* Check the parameters */ - assert_param(IS_FMC_NAND_DEVICE(Device)); - assert_param(IS_FMC_NAND_BANK(Bank)); - - /* Enable ECC feature */ - Device->PCR |= FMC_PCR_ECCEN; - - return HAL_OK; -} - - -/** - * @brief Disables dynamically FMC_NAND ECC feature. - * @param Device Pointer to NAND device instance - * @param Bank NAND bank number - * @retval HAL status - */ -HAL_StatusTypeDef FMC_NAND_ECC_Disable(FMC_NAND_TypeDef *Device, uint32_t Bank) -{ - /* Check the parameters */ - assert_param(IS_FMC_NAND_DEVICE(Device)); - assert_param(IS_FMC_NAND_BANK(Bank)); - - /* Disable ECC feature */ - Device->PCR &= ~FMC_PCR_ECCEN; - - return HAL_OK; -} - -/** - * @brief Disables dynamically FMC_NAND ECC feature. - * @param Device Pointer to NAND device instance - * @param ECCval Pointer to ECC value - * @param Bank NAND bank number - * @param Timeout Timeout wait value - * @retval HAL status - */ -HAL_StatusTypeDef FMC_NAND_GetECC(FMC_NAND_TypeDef *Device, uint32_t *ECCval, uint32_t Bank, uint32_t Timeout) -{ - uint32_t tickstart = 0U; - - /* Check the parameters */ - assert_param(IS_FMC_NAND_DEVICE(Device)); - assert_param(IS_FMC_NAND_BANK(Bank)); - - /* Get tick */ - tickstart = HAL_GetTick(); - - /* Wait until FIFO is empty */ - while(__FMC_NAND_GET_FLAG(Device, Bank, FMC_FLAG_FEMPT) == RESET) - { - /* Check for the Timeout */ - if(Timeout != HAL_MAX_DELAY) - { - if((Timeout == 0U)||((HAL_GetTick() - tickstart ) > Timeout)) - { - return HAL_TIMEOUT; - } - } - } - - /* Get the ECCR register value */ - *ECCval = (uint32_t)Device->ECCR; - - return HAL_OK; -} - -/** - * @} - */ - -#else /* defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) */ -/** @defgroup HAL_FMC_NAND_Group1 Initialization/de-initialization functions - * @brief Initialization and Configuration functions - * -@verbatim - ============================================================================== - ##### Initialization and de_initialization functions ##### - ============================================================================== - [..] - This section provides functions allowing to: - (+) Initialize and configure the FMC NAND interface - (+) De-initialize the FMC NAND interface - (+) Configure the FMC clock and associated GPIOs - -@endverbatim - * @{ - */ -/** - * @brief Initializes the FMC_NAND device according to the specified - * control parameters in the FMC_NAND_HandleTypeDef - * @param Device Pointer to NAND device instance - * @param Init Pointer to NAND Initialization structure - * @retval HAL status - */ -HAL_StatusTypeDef FMC_NAND_Init(FMC_NAND_TypeDef *Device, FMC_NAND_InitTypeDef *Init) -{ - uint32_t tmpr = 0U; - - /* Check the parameters */ - assert_param(IS_FMC_NAND_DEVICE(Device)); - assert_param(IS_FMC_NAND_BANK(Init->NandBank)); - assert_param(IS_FMC_WAIT_FEATURE(Init->Waitfeature)); - assert_param(IS_FMC_NAND_MEMORY_WIDTH(Init->MemoryDataWidth)); - assert_param(IS_FMC_ECC_STATE(Init->EccComputation)); - assert_param(IS_FMC_ECCPAGE_SIZE(Init->ECCPageSize)); - assert_param(IS_FMC_TCLR_TIME(Init->TCLRSetupTime)); - assert_param(IS_FMC_TAR_TIME(Init->TARSetupTime)); - - if(Init->NandBank == FMC_NAND_BANK2) - { - /* Get the NAND bank 2 register value */ - tmpr = Device->PCR2; - } - else - { - /* Get the NAND bank 3 register value */ - tmpr = Device->PCR3; - } - - /* Clear PWAITEN, PBKEN, PTYP, PWID, ECCEN, TCLR, TAR and ECCPS bits */ - tmpr &= ((uint32_t)~(FMC_PCR2_PWAITEN | FMC_PCR2_PBKEN | FMC_PCR2_PTYP | \ - FMC_PCR2_PWID | FMC_PCR2_ECCEN | FMC_PCR2_TCLR | \ - FMC_PCR2_TAR | FMC_PCR2_ECCPS)); - - /* Set NAND device control parameters */ - tmpr |= (uint32_t)(Init->Waitfeature |\ - FMC_PCR_MEMORY_TYPE_NAND |\ - Init->MemoryDataWidth |\ - Init->EccComputation |\ - Init->ECCPageSize |\ - ((Init->TCLRSetupTime) << 9U) |\ - ((Init->TARSetupTime) << 13U)); - - if(Init->NandBank == FMC_NAND_BANK2) - { - /* NAND bank 2 registers configuration */ - Device->PCR2 = tmpr; - } - else - { - /* NAND bank 3 registers configuration */ - Device->PCR3 = tmpr; - } - - return HAL_OK; - -} - -/** - * @brief Initializes the FMC_NAND Common space Timing according to the specified - * parameters in the FMC_NAND_PCC_TimingTypeDef - * @param Device Pointer to NAND device instance - * @param Timing Pointer to NAND timing structure - * @param Bank NAND bank number - * @retval HAL status - */ -HAL_StatusTypeDef FMC_NAND_CommonSpace_Timing_Init(FMC_NAND_TypeDef *Device, FMC_NAND_PCC_TimingTypeDef *Timing, uint32_t Bank) -{ - uint32_t tmpr = 0U; - - /* Check the parameters */ - assert_param(IS_FMC_NAND_DEVICE(Device)); - assert_param(IS_FMC_SETUP_TIME(Timing->SetupTime)); - assert_param(IS_FMC_WAIT_TIME(Timing->WaitSetupTime)); - assert_param(IS_FMC_HOLD_TIME(Timing->HoldSetupTime)); - assert_param(IS_FMC_HIZ_TIME(Timing->HiZSetupTime)); - assert_param(IS_FMC_NAND_BANK(Bank)); - - if(Bank == FMC_NAND_BANK2) - { - /* Get the NAND bank 2 register value */ - tmpr = Device->PMEM2; - } - else - { - /* Get the NAND bank 3 register value */ - tmpr = Device->PMEM3; - } - - /* Clear MEMSETx, MEMWAITx, MEMHOLDx and MEMHIZx bits */ - tmpr &= ((uint32_t)~(FMC_PMEM2_MEMSET2 | FMC_PMEM2_MEMWAIT2 | FMC_PMEM2_MEMHOLD2 | \ - FMC_PMEM2_MEMHIZ2)); - - /* Set FMC_NAND device timing parameters */ - tmpr |= (uint32_t)(Timing->SetupTime |\ - ((Timing->WaitSetupTime) << 8U) |\ - ((Timing->HoldSetupTime) << 16U) |\ - ((Timing->HiZSetupTime) << 24U) - ); - - if(Bank == FMC_NAND_BANK2) - { - /* NAND bank 2 registers configuration */ - Device->PMEM2 = tmpr; - } - else - { - /* NAND bank 3 registers configuration */ - Device->PMEM3 = tmpr; - } - - return HAL_OK; -} - -/** - * @brief Initializes the FMC_NAND Attribute space Timing according to the specified - * parameters in the FMC_NAND_PCC_TimingTypeDef - * @param Device Pointer to NAND device instance - * @param Timing Pointer to NAND timing structure - * @param Bank NAND bank number - * @retval HAL status - */ -HAL_StatusTypeDef FMC_NAND_AttributeSpace_Timing_Init(FMC_NAND_TypeDef *Device, FMC_NAND_PCC_TimingTypeDef *Timing, uint32_t Bank) -{ - uint32_t tmpr = 0U; - - /* Check the parameters */ - assert_param(IS_FMC_NAND_DEVICE(Device)); - assert_param(IS_FMC_SETUP_TIME(Timing->SetupTime)); - assert_param(IS_FMC_WAIT_TIME(Timing->WaitSetupTime)); - assert_param(IS_FMC_HOLD_TIME(Timing->HoldSetupTime)); - assert_param(IS_FMC_HIZ_TIME(Timing->HiZSetupTime)); - assert_param(IS_FMC_NAND_BANK(Bank)); - - if(Bank == FMC_NAND_BANK2) - { - /* Get the NAND bank 2 register value */ - tmpr = Device->PATT2; - } - else - { - /* Get the NAND bank 3 register value */ - tmpr = Device->PATT3; - } - - /* Clear ATTSETx, ATTWAITx, ATTHOLDx and ATTHIZx bits */ - tmpr &= ((uint32_t)~(FMC_PATT2_ATTSET2 | FMC_PATT2_ATTWAIT2 | FMC_PATT2_ATTHOLD2 | \ - FMC_PATT2_ATTHIZ2)); - - /* Set FMC_NAND device timing parameters */ - tmpr |= (uint32_t)(Timing->SetupTime |\ - ((Timing->WaitSetupTime) << 8U) |\ - ((Timing->HoldSetupTime) << 16U) |\ - ((Timing->HiZSetupTime) << 24U)); - - if(Bank == FMC_NAND_BANK2) - { - /* NAND bank 2 registers configuration */ - Device->PATT2 = tmpr; - } - else - { - /* NAND bank 3 registers configuration */ - Device->PATT3 = tmpr; - } - - return HAL_OK; -} - -/** - * @brief DeInitializes the FMC_NAND device - * @param Device Pointer to NAND device instance - * @param Bank NAND bank number - * @retval HAL status - */ -HAL_StatusTypeDef FMC_NAND_DeInit(FMC_NAND_TypeDef *Device, uint32_t Bank) -{ - /* Check the parameters */ - assert_param(IS_FMC_NAND_DEVICE(Device)); - assert_param(IS_FMC_NAND_BANK(Bank)); - - /* Disable the NAND Bank */ - __FMC_NAND_DISABLE(Device, Bank); - - /* De-initialize the NAND Bank */ - if(Bank == FMC_NAND_BANK2) - { - /* Set the FMC_NAND_BANK2 registers to their reset values */ - Device->PCR2 = 0x00000018U; - Device->SR2 = 0x00000040U; - Device->PMEM2 = 0xFCFCFCFCU; - Device->PATT2 = 0xFCFCFCFCU; - } - /* FMC_Bank3_NAND */ - else - { - /* Set the FMC_NAND_BANK3 registers to their reset values */ - Device->PCR3 = 0x00000018U; - Device->SR3 = 0x00000040U; - Device->PMEM3 = 0xFCFCFCFCU; - Device->PATT3 = 0xFCFCFCFCU; - } - - return HAL_OK; -} - -/** - * @} - */ - -/** @addtogroup FMC_LL_NAND_Private_Functions_Group2 - * @brief management functions - * -@verbatim - ============================================================================== - ##### FMC_NAND Control functions ##### - ============================================================================== - [..] - This subsection provides a set of functions allowing to control dynamically - the FMC NAND interface. - -@endverbatim - * @{ - */ -/** - * @brief Enables dynamically FMC_NAND ECC feature. - * @param Device Pointer to NAND device instance - * @param Bank NAND bank number - * @retval HAL status - */ -HAL_StatusTypeDef FMC_NAND_ECC_Enable(FMC_NAND_TypeDef *Device, uint32_t Bank) -{ - /* Check the parameters */ - assert_param(IS_FMC_NAND_DEVICE(Device)); - assert_param(IS_FMC_NAND_BANK(Bank)); - - /* Enable ECC feature */ - if(Bank == FMC_NAND_BANK2) - { - Device->PCR2 |= FMC_PCR2_ECCEN; - } - else - { - Device->PCR3 |= FMC_PCR3_ECCEN; - } - - return HAL_OK; -} - -/** - * @brief Disables dynamically FMC_NAND ECC feature. - * @param Device Pointer to NAND device instance - * @param Bank NAND bank number - * @retval HAL status - */ -HAL_StatusTypeDef FMC_NAND_ECC_Disable(FMC_NAND_TypeDef *Device, uint32_t Bank) -{ - /* Check the parameters */ - assert_param(IS_FMC_NAND_DEVICE(Device)); - assert_param(IS_FMC_NAND_BANK(Bank)); - - /* Disable ECC feature */ - if(Bank == FMC_NAND_BANK2) - { - Device->PCR2 &= ~FMC_PCR2_ECCEN; - } - else - { - Device->PCR3 &= ~FMC_PCR3_ECCEN; - } - - return HAL_OK; -} - -/** - * @brief Disables dynamically FMC_NAND ECC feature. - * @param Device Pointer to NAND device instance - * @param ECCval Pointer to ECC value - * @param Bank NAND bank number - * @param Timeout Timeout wait value - * @retval HAL status - */ -HAL_StatusTypeDef FMC_NAND_GetECC(FMC_NAND_TypeDef *Device, uint32_t *ECCval, uint32_t Bank, uint32_t Timeout) -{ - uint32_t tickstart = 0U; - - /* Check the parameters */ - assert_param(IS_FMC_NAND_DEVICE(Device)); - assert_param(IS_FMC_NAND_BANK(Bank)); - - /* Get tick */ - tickstart = HAL_GetTick(); - - /* Wait until FIFO is empty */ - while(__FMC_NAND_GET_FLAG(Device, Bank, FMC_FLAG_FEMPT) == RESET) - { - /* Check for the Timeout */ - if(Timeout != HAL_MAX_DELAY) - { - if((Timeout == 0U)||((HAL_GetTick() - tickstart ) > Timeout)) - { - return HAL_TIMEOUT; - } - } - } - - if(Bank == FMC_NAND_BANK2) - { - /* Get the ECCR2 register value */ - *ECCval = (uint32_t)Device->ECCR2; - } - else - { - /* Get the ECCR3 register value */ - *ECCval = (uint32_t)Device->ECCR3; - } - - return HAL_OK; -} - -/** - * @} - */ - -#endif /* defined(STM32F446xx) || defined(STM32F469xx) || defined(STM32F479xx) */ -/** - * @} - */ - -#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) -/** @addtogroup FMC_LL_PCCARD - * @brief PCCARD Controller functions - * - @verbatim - ============================================================================== - ##### How to use PCCARD device driver ##### - ============================================================================== - [..] - This driver contains a set of APIs to interface with the FMC PCCARD bank in order - to run the PCCARD/compact flash external devices. - - (+) FMC PCCARD bank reset using the function FMC_PCCARD_DeInit() - (+) FMC PCCARD bank control configuration using the function FMC_PCCARD_Init() - (+) FMC PCCARD bank common space timing configuration using the function - FMC_PCCARD_CommonSpace_Timing_Init() - (+) FMC PCCARD bank attribute space timing configuration using the function - FMC_PCCARD_AttributeSpace_Timing_Init() - (+) FMC PCCARD bank IO space timing configuration using the function - FMC_PCCARD_IOSpace_Timing_Init() -@endverbatim - * @{ - */ - -/** @addtogroup FMC_LL_PCCARD_Private_Functions_Group1 - * @brief Initialization and Configuration functions - * -@verbatim - ============================================================================== - ##### Initialization and de_initialization functions ##### - ============================================================================== - [..] - This section provides functions allowing to: - (+) Initialize and configure the FMC PCCARD interface - (+) De-initialize the FMC PCCARD interface - (+) Configure the FMC clock and associated GPIOs - -@endverbatim - * @{ - */ - -/** - * @brief Initializes the FMC_PCCARD device according to the specified - * control parameters in the FMC_PCCARD_HandleTypeDef - * @param Device Pointer to PCCARD device instance - * @param Init Pointer to PCCARD Initialization structure - * @retval HAL status - */ -HAL_StatusTypeDef FMC_PCCARD_Init(FMC_PCCARD_TypeDef *Device, FMC_PCCARD_InitTypeDef *Init) -{ - uint32_t tmpr = 0U; - - /* Check the parameters */ - assert_param(IS_FMC_PCCARD_DEVICE(Device)); - assert_param(IS_FMC_WAIT_FEATURE(Init->Waitfeature)); - assert_param(IS_FMC_TCLR_TIME(Init->TCLRSetupTime)); - assert_param(IS_FMC_TAR_TIME(Init->TARSetupTime)); - - /* Get PCCARD control register value */ - tmpr = Device->PCR4; - - /* Clear TAR, TCLR, PWAITEN and PWID bits */ - tmpr &= ((uint32_t)~(FMC_PCR4_TAR | FMC_PCR4_TCLR | FMC_PCR4_PWAITEN | \ - FMC_PCR4_PWID | FMC_PCR4_PTYP)); - - /* Set FMC_PCCARD device control parameters */ - tmpr |= (uint32_t)(Init->Waitfeature |\ - FMC_NAND_PCC_MEM_BUS_WIDTH_16 |\ - (Init->TCLRSetupTime << 9U) |\ - (Init->TARSetupTime << 13U)); - - Device->PCR4 = tmpr; - - return HAL_OK; -} - -/** - * @brief Initializes the FMC_PCCARD Common space Timing according to the specified - * parameters in the FMC_NAND_PCC_TimingTypeDef - * @param Device Pointer to PCCARD device instance - * @param Timing Pointer to PCCARD timing structure - * @retval HAL status - */ -HAL_StatusTypeDef FMC_PCCARD_CommonSpace_Timing_Init(FMC_PCCARD_TypeDef *Device, FMC_NAND_PCC_TimingTypeDef *Timing) -{ - uint32_t tmpr = 0U; - - /* Check the parameters */ - assert_param(IS_FMC_PCCARD_DEVICE(Device)); - assert_param(IS_FMC_SETUP_TIME(Timing->SetupTime)); - assert_param(IS_FMC_WAIT_TIME(Timing->WaitSetupTime)); - assert_param(IS_FMC_HOLD_TIME(Timing->HoldSetupTime)); - assert_param(IS_FMC_HIZ_TIME(Timing->HiZSetupTime)); - - /* Get PCCARD common space timing register value */ - tmpr = Device->PMEM4; - - /* Clear MEMSETx, MEMWAITx, MEMHOLDx and MEMHIZx bits */ - tmpr &= ((uint32_t)~(FMC_PMEM4_MEMSET4 | FMC_PMEM4_MEMWAIT4 | FMC_PMEM4_MEMHOLD4 | \ - FMC_PMEM4_MEMHIZ4)); - /* Set PCCARD timing parameters */ - tmpr |= (uint32_t)(Timing->SetupTime |\ - ((Timing->WaitSetupTime) << 8U) |\ - ((Timing->HoldSetupTime) << 16U) |\ - ((Timing->HiZSetupTime) << 24U)); - - Device->PMEM4 = tmpr; - - return HAL_OK; -} - -/** - * @brief Initializes the FMC_PCCARD Attribute space Timing according to the specified - * parameters in the FMC_NAND_PCC_TimingTypeDef - * @param Device Pointer to PCCARD device instance - * @param Timing Pointer to PCCARD timing structure - * @retval HAL status - */ -HAL_StatusTypeDef FMC_PCCARD_AttributeSpace_Timing_Init(FMC_PCCARD_TypeDef *Device, FMC_NAND_PCC_TimingTypeDef *Timing) -{ - uint32_t tmpr = 0U; - - /* Check the parameters */ - assert_param(IS_FMC_PCCARD_DEVICE(Device)); - assert_param(IS_FMC_SETUP_TIME(Timing->SetupTime)); - assert_param(IS_FMC_WAIT_TIME(Timing->WaitSetupTime)); - assert_param(IS_FMC_HOLD_TIME(Timing->HoldSetupTime)); - assert_param(IS_FMC_HIZ_TIME(Timing->HiZSetupTime)); - - /* Get PCCARD timing parameters */ - tmpr = Device->PATT4; - - /* Clear ATTSETx, ATTWAITx, ATTHOLDx and ATTHIZx bits */ - tmpr &= ((uint32_t)~(FMC_PATT4_ATTSET4 | FMC_PATT4_ATTWAIT4 | FMC_PATT4_ATTHOLD4 | \ - FMC_PATT4_ATTHIZ4)); - - /* Set PCCARD timing parameters */ - tmpr |= (uint32_t)(Timing->SetupTime |\ - ((Timing->WaitSetupTime) << 8U) |\ - ((Timing->HoldSetupTime) << 16U) |\ - ((Timing->HiZSetupTime) << 24U)); - Device->PATT4 = tmpr; - - return HAL_OK; -} - -/** - * @brief Initializes the FMC_PCCARD IO space Timing according to the specified - * parameters in the FMC_NAND_PCC_TimingTypeDef - * @param Device Pointer to PCCARD device instance - * @param Timing Pointer to PCCARD timing structure - * @retval HAL status - */ -HAL_StatusTypeDef FMC_PCCARD_IOSpace_Timing_Init(FMC_PCCARD_TypeDef *Device, FMC_NAND_PCC_TimingTypeDef *Timing) -{ - uint32_t tmpr = 0; - - /* Check the parameters */ - assert_param(IS_FMC_PCCARD_DEVICE(Device)); - assert_param(IS_FMC_SETUP_TIME(Timing->SetupTime)); - assert_param(IS_FMC_WAIT_TIME(Timing->WaitSetupTime)); - assert_param(IS_FMC_HOLD_TIME(Timing->HoldSetupTime)); - assert_param(IS_FMC_HIZ_TIME(Timing->HiZSetupTime)); - - /* Get FMC_PCCARD device timing parameters */ - tmpr = Device->PIO4; - - /* Clear IOSET4, IOWAIT4, IOHOLD4 and IOHIZ4 bits */ - tmpr &= ((uint32_t)~(FMC_PIO4_IOSET4 | FMC_PIO4_IOWAIT4 | FMC_PIO4_IOHOLD4 | \ - FMC_PIO4_IOHIZ4)); - - /* Set FMC_PCCARD device timing parameters */ - tmpr |= (uint32_t)(Timing->SetupTime |\ - ((Timing->WaitSetupTime) << 8U) |\ - ((Timing->HoldSetupTime) << 16U) |\ - ((Timing->HiZSetupTime) << 24U)); - - Device->PIO4 = tmpr; - - return HAL_OK; -} - -/** - * @brief DeInitializes the FMC_PCCARD device - * @param Device Pointer to PCCARD device instance - * @retval HAL status - */ -HAL_StatusTypeDef FMC_PCCARD_DeInit(FMC_PCCARD_TypeDef *Device) -{ - /* Check the parameters */ - assert_param(IS_FMC_PCCARD_DEVICE(Device)); - - /* Disable the FMC_PCCARD device */ - __FMC_PCCARD_DISABLE(Device); - - /* De-initialize the FMC_PCCARD device */ - Device->PCR4 = 0x00000018U; - Device->SR4 = 0x00000000U; - Device->PMEM4 = 0xFCFCFCFCU; - Device->PATT4 = 0xFCFCFCFCU; - Device->PIO4 = 0xFCFCFCFCU; - - return HAL_OK; -} - -/** - * @} - */ -#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx */ - - -/** @addtogroup FMC_LL_SDRAM - * @brief SDRAM Controller functions - * - @verbatim - ============================================================================== - ##### How to use SDRAM device driver ##### - ============================================================================== - [..] - This driver contains a set of APIs to interface with the FMC SDRAM banks in order - to run the SDRAM external devices. - - (+) FMC SDRAM bank reset using the function FMC_SDRAM_DeInit() - (+) FMC SDRAM bank control configuration using the function FMC_SDRAM_Init() - (+) FMC SDRAM bank timing configuration using the function FMC_SDRAM_Timing_Init() - (+) FMC SDRAM bank enable/disable write operation using the functions - FMC_SDRAM_WriteOperation_Enable()/FMC_SDRAM_WriteOperation_Disable() - (+) FMC SDRAM bank send command using the function FMC_SDRAM_SendCommand() - -@endverbatim - * @{ - */ - -/** @addtogroup FMC_LL_SDRAM_Private_Functions_Group1 - * @brief Initialization and Configuration functions - * -@verbatim - ============================================================================== - ##### Initialization and de_initialization functions ##### - ============================================================================== - [..] - This section provides functions allowing to: - (+) Initialize and configure the FMC SDRAM interface - (+) De-initialize the FMC SDRAM interface - (+) Configure the FMC clock and associated GPIOs - -@endverbatim - * @{ - */ - -/** - * @brief Initializes the FMC_SDRAM device according to the specified - * control parameters in the FMC_SDRAM_InitTypeDef - * @param Device Pointer to SDRAM device instance - * @param Init Pointer to SDRAM Initialization structure - * @retval HAL status - */ -HAL_StatusTypeDef FMC_SDRAM_Init(FMC_SDRAM_TypeDef *Device, FMC_SDRAM_InitTypeDef *Init) -{ - uint32_t tmpr1 = 0U; - uint32_t tmpr2 = 0U; - - /* Check the parameters */ - assert_param(IS_FMC_SDRAM_DEVICE(Device)); - assert_param(IS_FMC_SDRAM_BANK(Init->SDBank)); - assert_param(IS_FMC_COLUMNBITS_NUMBER(Init->ColumnBitsNumber)); - assert_param(IS_FMC_ROWBITS_NUMBER(Init->RowBitsNumber)); - assert_param(IS_FMC_SDMEMORY_WIDTH(Init->MemoryDataWidth)); - assert_param(IS_FMC_INTERNALBANK_NUMBER(Init->InternalBankNumber)); - assert_param(IS_FMC_CAS_LATENCY(Init->CASLatency)); - assert_param(IS_FMC_WRITE_PROTECTION(Init->WriteProtection)); - assert_param(IS_FMC_SDCLOCK_PERIOD(Init->SDClockPeriod)); - assert_param(IS_FMC_READ_BURST(Init->ReadBurst)); - assert_param(IS_FMC_READPIPE_DELAY(Init->ReadPipeDelay)); - - /* Set SDRAM bank configuration parameters */ - if (Init->SDBank != FMC_SDRAM_BANK2) - { - tmpr1 = Device->SDCR[FMC_SDRAM_BANK1]; - - /* Clear NC, NR, MWID, NB, CAS, WP, SDCLK, RBURST, and RPIPE bits */ - tmpr1 &= ((uint32_t)~(FMC_SDCR1_NC | FMC_SDCR1_NR | FMC_SDCR1_MWID | \ - FMC_SDCR1_NB | FMC_SDCR1_CAS | FMC_SDCR1_WP | \ - FMC_SDCR1_SDCLK | FMC_SDCR1_RBURST | FMC_SDCR1_RPIPE)); - - - tmpr1 |= (uint32_t)(Init->ColumnBitsNumber |\ - Init->RowBitsNumber |\ - Init->MemoryDataWidth |\ - Init->InternalBankNumber |\ - Init->CASLatency |\ - Init->WriteProtection |\ - Init->SDClockPeriod |\ - Init->ReadBurst |\ - Init->ReadPipeDelay - ); - Device->SDCR[FMC_SDRAM_BANK1] = tmpr1; - } - else /* FMC_Bank2_SDRAM */ - { - tmpr1 = Device->SDCR[FMC_SDRAM_BANK1]; - - /* Clear NC, NR, MWID, NB, CAS, WP, SDCLK, RBURST, and RPIPE bits */ - tmpr1 &= ((uint32_t)~(FMC_SDCR1_SDCLK | FMC_SDCR1_RBURST | FMC_SDCR1_RPIPE)); - - tmpr1 |= (uint32_t)(Init->SDClockPeriod |\ - Init->ReadBurst |\ - Init->ReadPipeDelay); - - tmpr2 = Device->SDCR[FMC_SDRAM_BANK2]; - - /* Clear NC, NR, MWID, NB, CAS, WP, SDCLK, RBURST, and RPIPE bits */ - tmpr2 &= ((uint32_t)~(FMC_SDCR1_NC | FMC_SDCR1_NR | FMC_SDCR1_MWID | \ - FMC_SDCR1_NB | FMC_SDCR1_CAS | FMC_SDCR1_WP | \ - FMC_SDCR1_SDCLK | FMC_SDCR1_RBURST | FMC_SDCR1_RPIPE)); - - tmpr2 |= (uint32_t)(Init->ColumnBitsNumber |\ - Init->RowBitsNumber |\ - Init->MemoryDataWidth |\ - Init->InternalBankNumber |\ - Init->CASLatency |\ - Init->WriteProtection); - - Device->SDCR[FMC_SDRAM_BANK1] = tmpr1; - Device->SDCR[FMC_SDRAM_BANK2] = tmpr2; - } - - return HAL_OK; -} - -/** - * @brief Initializes the FMC_SDRAM device timing according to the specified - * parameters in the FMC_SDRAM_TimingTypeDef - * @param Device Pointer to SDRAM device instance - * @param Timing Pointer to SDRAM Timing structure - * @param Bank SDRAM bank number - * @retval HAL status - */ -HAL_StatusTypeDef FMC_SDRAM_Timing_Init(FMC_SDRAM_TypeDef *Device, FMC_SDRAM_TimingTypeDef *Timing, uint32_t Bank) -{ - uint32_t tmpr1 = 0U; - uint32_t tmpr2 = 0U; - - /* Check the parameters */ - assert_param(IS_FMC_SDRAM_DEVICE(Device)); - assert_param(IS_FMC_LOADTOACTIVE_DELAY(Timing->LoadToActiveDelay)); - assert_param(IS_FMC_EXITSELFREFRESH_DELAY(Timing->ExitSelfRefreshDelay)); - assert_param(IS_FMC_SELFREFRESH_TIME(Timing->SelfRefreshTime)); - assert_param(IS_FMC_ROWCYCLE_DELAY(Timing->RowCycleDelay)); - assert_param(IS_FMC_WRITE_RECOVERY_TIME(Timing->WriteRecoveryTime)); - assert_param(IS_FMC_RP_DELAY(Timing->RPDelay)); - assert_param(IS_FMC_RCD_DELAY(Timing->RCDDelay)); - assert_param(IS_FMC_SDRAM_BANK(Bank)); - - /* Set SDRAM device timing parameters */ - if (Bank != FMC_SDRAM_BANK2) - { - tmpr1 = Device->SDTR[FMC_SDRAM_BANK1]; - - /* Clear TMRD, TXSR, TRAS, TRC, TWR, TRP and TRCD bits */ - tmpr1 &= ((uint32_t)~(FMC_SDTR1_TMRD | FMC_SDTR1_TXSR | FMC_SDTR1_TRAS | \ - FMC_SDTR1_TRC | FMC_SDTR1_TWR | FMC_SDTR1_TRP | \ - FMC_SDTR1_TRCD)); - - tmpr1 |= (uint32_t)(((Timing->LoadToActiveDelay)-1U) |\ - (((Timing->ExitSelfRefreshDelay)-1U) << 4U) |\ - (((Timing->SelfRefreshTime)-1U) << 8U) |\ - (((Timing->RowCycleDelay)-1U) << 12U) |\ - (((Timing->WriteRecoveryTime)-1U) <<16U) |\ - (((Timing->RPDelay)-1U) << 20U) |\ - (((Timing->RCDDelay)-1U) << 24U)); - Device->SDTR[FMC_SDRAM_BANK1] = tmpr1; - } - else /* FMC_Bank2_SDRAM */ - { - tmpr1 = Device->SDTR[FMC_SDRAM_BANK1]; - - /* Clear TRC and TRP bits */ - tmpr1 &= ((uint32_t)~(FMC_SDTR1_TRC | FMC_SDTR1_TRP)); - - tmpr1 |= (uint32_t)((((Timing->RowCycleDelay)-1U) << 12U) |\ - (((Timing->RPDelay)-1U) << 20U)); - - tmpr2 = Device->SDTR[FMC_SDRAM_BANK2]; - - /* Clear TMRD, TXSR, TRAS, TRC, TWR, TRP and TRCD bits */ - tmpr2 &= ((uint32_t)~(FMC_SDTR1_TMRD | FMC_SDTR1_TXSR | FMC_SDTR1_TRAS | \ - FMC_SDTR1_TRC | FMC_SDTR1_TWR | FMC_SDTR1_TRP | \ - FMC_SDTR1_TRCD)); - - tmpr2 |= (uint32_t)((((Timing->LoadToActiveDelay)-1U) |\ - (((Timing->ExitSelfRefreshDelay)-1U) << 4U) |\ - (((Timing->SelfRefreshTime)-1U) << 8U) |\ - (((Timing->WriteRecoveryTime)-1U) <<16U) |\ - (((Timing->RCDDelay)-1U) << 24U))); - - Device->SDTR[FMC_SDRAM_BANK1] = tmpr1; - Device->SDTR[FMC_SDRAM_BANK2] = tmpr2; - } - return HAL_OK; -} - -/** - * @brief DeInitializes the FMC_SDRAM peripheral - * @param Device Pointer to SDRAM device instance - * @retval HAL status - */ -HAL_StatusTypeDef FMC_SDRAM_DeInit(FMC_SDRAM_TypeDef *Device, uint32_t Bank) -{ - /* Check the parameters */ - assert_param(IS_FMC_SDRAM_DEVICE(Device)); - assert_param(IS_FMC_SDRAM_BANK(Bank)); - - /* De-initialize the SDRAM device */ - Device->SDCR[Bank] = 0x000002D0U; - Device->SDTR[Bank] = 0x0FFFFFFFU; - Device->SDCMR = 0x00000000U; - Device->SDRTR = 0x00000000U; - Device->SDSR = 0x00000000U; - - return HAL_OK; -} - -/** - * @} - */ - -/** @addtogroup FMC_LL_SDRAMPrivate_Functions_Group2 - * @brief management functions - * -@verbatim - ============================================================================== - ##### FMC_SDRAM Control functions ##### - ============================================================================== - [..] - This subsection provides a set of functions allowing to control dynamically - the FMC SDRAM interface. - -@endverbatim - * @{ - */ -/** - * @brief Enables dynamically FMC_SDRAM write protection. - * @param Device Pointer to SDRAM device instance - * @param Bank SDRAM bank number - * @retval HAL status - */ -HAL_StatusTypeDef FMC_SDRAM_WriteProtection_Enable(FMC_SDRAM_TypeDef *Device, uint32_t Bank) -{ - /* Check the parameters */ - assert_param(IS_FMC_SDRAM_DEVICE(Device)); - assert_param(IS_FMC_SDRAM_BANK(Bank)); - - /* Enable write protection */ - Device->SDCR[Bank] |= FMC_SDRAM_WRITE_PROTECTION_ENABLE; - - return HAL_OK; -} - -/** - * @brief Disables dynamically FMC_SDRAM write protection. - * @param hsdram FMC_SDRAM handle - * @retval HAL status - */ -HAL_StatusTypeDef FMC_SDRAM_WriteProtection_Disable(FMC_SDRAM_TypeDef *Device, uint32_t Bank) -{ - /* Check the parameters */ - assert_param(IS_FMC_SDRAM_DEVICE(Device)); - assert_param(IS_FMC_SDRAM_BANK(Bank)); - - /* Disable write protection */ - Device->SDCR[Bank] &= ~FMC_SDRAM_WRITE_PROTECTION_ENABLE; - - return HAL_OK; -} - -/** - * @brief Send Command to the FMC SDRAM bank - * @param Device Pointer to SDRAM device instance - * @param Command Pointer to SDRAM command structure - * @param Timing Pointer to SDRAM Timing structure - * @param Timeout Timeout wait value - * @retval HAL state - */ -HAL_StatusTypeDef FMC_SDRAM_SendCommand(FMC_SDRAM_TypeDef *Device, FMC_SDRAM_CommandTypeDef *Command, uint32_t Timeout) -{ - __IO uint32_t tmpr = 0U; - uint32_t tickstart = 0U; - - /* Check the parameters */ - assert_param(IS_FMC_SDRAM_DEVICE(Device)); - assert_param(IS_FMC_COMMAND_MODE(Command->CommandMode)); - assert_param(IS_FMC_COMMAND_TARGET(Command->CommandTarget)); - assert_param(IS_FMC_AUTOREFRESH_NUMBER(Command->AutoRefreshNumber)); - assert_param(IS_FMC_MODE_REGISTER(Command->ModeRegisterDefinition)); - - /* Set command register */ - tmpr = (uint32_t)((Command->CommandMode) |\ - (Command->CommandTarget) |\ - (((Command->AutoRefreshNumber)-1U) << 5U) |\ - ((Command->ModeRegisterDefinition) << 9U) - ); - - Device->SDCMR = tmpr; - - /* Get tick */ - tickstart = HAL_GetTick(); - - /* Wait until command is send */ - while(HAL_IS_BIT_SET(Device->SDSR, FMC_SDSR_BUSY)) - { - /* Check for the Timeout */ - if(Timeout != HAL_MAX_DELAY) - { - if((Timeout == 0U)||((HAL_GetTick() - tickstart ) > Timeout)) - { - return HAL_TIMEOUT; - } - } - } - - return HAL_OK; -} - -/** - * @brief Program the SDRAM Memory Refresh rate. - * @param Device Pointer to SDRAM device instance - * @param RefreshRate The SDRAM refresh rate value. - * @retval HAL state - */ -HAL_StatusTypeDef FMC_SDRAM_ProgramRefreshRate(FMC_SDRAM_TypeDef *Device, uint32_t RefreshRate) -{ - /* Check the parameters */ - assert_param(IS_FMC_SDRAM_DEVICE(Device)); - assert_param(IS_FMC_REFRESH_RATE(RefreshRate)); - - /* Set the refresh rate in command register */ - Device->SDRTR |= (RefreshRate<<1U); - - return HAL_OK; -} - -/** - * @brief Set the Number of consecutive SDRAM Memory auto Refresh commands. - * @param Device Pointer to SDRAM device instance - * @param AutoRefreshNumber Specifies the auto Refresh number. - * @retval None - */ -HAL_StatusTypeDef FMC_SDRAM_SetAutoRefreshNumber(FMC_SDRAM_TypeDef *Device, uint32_t AutoRefreshNumber) -{ - /* Check the parameters */ - assert_param(IS_FMC_SDRAM_DEVICE(Device)); - assert_param(IS_FMC_AUTOREFRESH_NUMBER(AutoRefreshNumber)); - - /* Set the Auto-refresh number in command register */ - Device->SDCMR |= (AutoRefreshNumber << 5U); - - return HAL_OK; -} - -/** - * @brief Returns the indicated FMC SDRAM bank mode status. - * @param Device Pointer to SDRAM device instance - * @param Bank Defines the FMC SDRAM bank. This parameter can be - * FMC_Bank1_SDRAM or FMC_Bank2_SDRAM. - * @retval The FMC SDRAM bank mode status, could be on of the following values: - * FMC_SDRAM_NORMAL_MODE, FMC_SDRAM_SELF_REFRESH_MODE or - * FMC_SDRAM_POWER_DOWN_MODE. - */ -uint32_t FMC_SDRAM_GetModeStatus(FMC_SDRAM_TypeDef *Device, uint32_t Bank) -{ - uint32_t tmpreg = 0U; - - /* Check the parameters */ - assert_param(IS_FMC_SDRAM_DEVICE(Device)); - assert_param(IS_FMC_SDRAM_BANK(Bank)); - - /* Get the corresponding bank mode */ - if(Bank == FMC_SDRAM_BANK1) - { - tmpreg = (uint32_t)(Device->SDSR & FMC_SDSR_MODES1); - } - else - { - tmpreg = ((uint32_t)(Device->SDSR & FMC_SDSR_MODES2) >> 2U); - } - - /* Return the mode status */ - return tmpreg; -} - -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ -#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || STM32F446xx || STM32F469xx || STM32F479xx */ -#endif /* HAL_SRAM_MODULE_ENABLED || HAL_NOR_MODULE_ENABLED || HAL_NAND_MODULE_ENABLED || HAL_PCCARD_MODULE_ENABLED || HAL_SDRAM_MODULE_ENABLED */ - -/** - * @} - */ - -/** - * @} - */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_fmpi2c.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_fmpi2c.c deleted file mode 100644 index 8fcb2a1580e9f2..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_fmpi2c.c +++ /dev/null @@ -1,220 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_ll_fmpi2c.c - * @author MCD Application Team - * @brief FMPI2C LL module driver. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ -#if defined(USE_FULL_LL_DRIVER) - -#if defined(FMPI2C_CR1_PE) -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_ll_fmpi2c.h" -#include "stm32f4xx_ll_bus.h" -#ifdef USE_FULL_ASSERT -#include "stm32_assert.h" -#else -#define assert_param(expr) ((void)0U) -#endif /* USE_FULL_ASSERT */ - -/** @addtogroup STM32F4xx_LL_Driver - * @{ - */ - -#if defined (FMPI2C1) - -/** @defgroup FMPI2C_LL FMPI2C - * @{ - */ - -/* Private types -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private constants ---------------------------------------------------------*/ -/* Private macros ------------------------------------------------------------*/ -/** @addtogroup FMPI2C_LL_Private_Macros - * @{ - */ - -#define IS_LL_FMPI2C_PERIPHERAL_MODE(__VALUE__) (((__VALUE__) == LL_FMPI2C_MODE_I2C) || \ - ((__VALUE__) == LL_FMPI2C_MODE_SMBUS_HOST) || \ - ((__VALUE__) == LL_FMPI2C_MODE_SMBUS_DEVICE) || \ - ((__VALUE__) == LL_FMPI2C_MODE_SMBUS_DEVICE_ARP)) - -#define IS_LL_FMPI2C_ANALOG_FILTER(__VALUE__) (((__VALUE__) == LL_FMPI2C_ANALOGFILTER_ENABLE) || \ - ((__VALUE__) == LL_FMPI2C_ANALOGFILTER_DISABLE)) - -#define IS_LL_FMPI2C_DIGITAL_FILTER(__VALUE__) ((__VALUE__) <= 0x0000000FU) - -#define IS_LL_FMPI2C_OWN_ADDRESS1(__VALUE__) ((__VALUE__) <= 0x000003FFU) - -#define IS_LL_FMPI2C_TYPE_ACKNOWLEDGE(__VALUE__) (((__VALUE__) == LL_FMPI2C_ACK) || \ - ((__VALUE__) == LL_FMPI2C_NACK)) - -#define IS_LL_FMPI2C_OWN_ADDRSIZE(__VALUE__) (((__VALUE__) == LL_FMPI2C_OWNADDRESS1_7BIT) || \ - ((__VALUE__) == LL_FMPI2C_OWNADDRESS1_10BIT)) -/** - * @} - */ - -/* Private function prototypes -----------------------------------------------*/ - -/* Exported functions --------------------------------------------------------*/ -/** @addtogroup FMPI2C_LL_Exported_Functions - * @{ - */ - -/** @addtogroup FMPI2C_LL_EF_Init - * @{ - */ - -/** - * @brief De-initialize the FMPI2C registers to their default reset values. - * @param FMPI2Cx FMPI2C Instance. - * @retval An ErrorStatus enumeration value: - * - SUCCESS: FMPI2C registers are de-initialized - * - ERROR: FMPI2C registers are not de-initialized - */ -ErrorStatus LL_FMPI2C_DeInit(FMPI2C_TypeDef *FMPI2Cx) -{ - ErrorStatus status = SUCCESS; - - /* Check the FMPI2C Instance FMPI2Cx */ - assert_param(IS_FMPI2C_ALL_INSTANCE(FMPI2Cx)); - - if (FMPI2Cx == FMPI2C1) - { - /* Force reset of FMPI2C clock */ - LL_APB1_GRP1_ForceReset(LL_APB1_GRP1_PERIPH_FMPI2C1); - - /* Release reset of FMPI2C clock */ - LL_APB1_GRP1_ReleaseReset(LL_APB1_GRP1_PERIPH_FMPI2C1); - } - else - { - status = ERROR; - } - - return status; -} - -/** - * @brief Initialize the FMPI2C registers according to the specified parameters in FMPI2C_InitStruct. - * @param FMPI2Cx FMPI2C Instance. - * @param FMPI2C_InitStruct pointer to a @ref LL_FMPI2C_InitTypeDef structure. - * @retval An ErrorStatus enumeration value: - * - SUCCESS: FMPI2C registers are initialized - * - ERROR: Not applicable - */ -ErrorStatus LL_FMPI2C_Init(FMPI2C_TypeDef *FMPI2Cx, LL_FMPI2C_InitTypeDef *FMPI2C_InitStruct) -{ - /* Check the FMPI2C Instance FMPI2Cx */ - assert_param(IS_FMPI2C_ALL_INSTANCE(FMPI2Cx)); - - /* Check the FMPI2C parameters from FMPI2C_InitStruct */ - assert_param(IS_LL_FMPI2C_PERIPHERAL_MODE(FMPI2C_InitStruct->PeripheralMode)); - assert_param(IS_LL_FMPI2C_ANALOG_FILTER(FMPI2C_InitStruct->AnalogFilter)); - assert_param(IS_LL_FMPI2C_DIGITAL_FILTER(FMPI2C_InitStruct->DigitalFilter)); - assert_param(IS_LL_FMPI2C_OWN_ADDRESS1(FMPI2C_InitStruct->OwnAddress1)); - assert_param(IS_LL_FMPI2C_TYPE_ACKNOWLEDGE(FMPI2C_InitStruct->TypeAcknowledge)); - assert_param(IS_LL_FMPI2C_OWN_ADDRSIZE(FMPI2C_InitStruct->OwnAddrSize)); - - /* Disable the selected FMPI2Cx Peripheral */ - LL_FMPI2C_Disable(FMPI2Cx); - - /*---------------------------- FMPI2Cx CR1 Configuration ------------------------ - * Configure the analog and digital noise filters with parameters : - * - AnalogFilter: FMPI2C_CR1_ANFOFF bit - * - DigitalFilter: FMPI2C_CR1_DNF[3:0] bits - */ - LL_FMPI2C_ConfigFilters(FMPI2Cx, FMPI2C_InitStruct->AnalogFilter, FMPI2C_InitStruct->DigitalFilter); - - /*---------------------------- FMPI2Cx TIMINGR Configuration -------------------- - * Configure the SDA setup, hold time and the SCL high, low period with parameter : - * - Timing: FMPI2C_TIMINGR_PRESC[3:0], FMPI2C_TIMINGR_SCLDEL[3:0], FMPI2C_TIMINGR_SDADEL[3:0], - * FMPI2C_TIMINGR_SCLH[7:0] and FMPI2C_TIMINGR_SCLL[7:0] bits - */ - LL_FMPI2C_SetTiming(FMPI2Cx, FMPI2C_InitStruct->Timing); - - /* Enable the selected FMPI2Cx Peripheral */ - LL_FMPI2C_Enable(FMPI2Cx); - - /*---------------------------- FMPI2Cx OAR1 Configuration ----------------------- - * Disable, Configure and Enable FMPI2Cx device own address 1 with parameters : - * - OwnAddress1: FMPI2C_OAR1_OA1[9:0] bits - * - OwnAddrSize: FMPI2C_OAR1_OA1MODE bit - */ - LL_FMPI2C_DisableOwnAddress1(FMPI2Cx); - LL_FMPI2C_SetOwnAddress1(FMPI2Cx, FMPI2C_InitStruct->OwnAddress1, FMPI2C_InitStruct->OwnAddrSize); - - /* OwnAdress1 == 0 is reserved for General Call address */ - if (FMPI2C_InitStruct->OwnAddress1 != 0U) - { - LL_FMPI2C_EnableOwnAddress1(FMPI2Cx); - } - - /*---------------------------- FMPI2Cx MODE Configuration ----------------------- - * Configure FMPI2Cx peripheral mode with parameter : - * - PeripheralMode: FMPI2C_CR1_SMBDEN and FMPI2C_CR1_SMBHEN bits - */ - LL_FMPI2C_SetMode(FMPI2Cx, FMPI2C_InitStruct->PeripheralMode); - - /*---------------------------- FMPI2Cx CR2 Configuration ------------------------ - * Configure the ACKnowledge or Non ACKnowledge condition - * after the address receive match code or next received byte with parameter : - * - TypeAcknowledge: FMPI2C_CR2_NACK bit - */ - LL_FMPI2C_AcknowledgeNextData(FMPI2Cx, FMPI2C_InitStruct->TypeAcknowledge); - - return SUCCESS; -} - -/** - * @brief Set each @ref LL_FMPI2C_InitTypeDef field to default value. - * @param FMPI2C_InitStruct Pointer to a @ref LL_FMPI2C_InitTypeDef structure. - * @retval None - */ -void LL_FMPI2C_StructInit(LL_FMPI2C_InitTypeDef *FMPI2C_InitStruct) -{ - /* Set FMPI2C_InitStruct fields to default values */ - FMPI2C_InitStruct->PeripheralMode = LL_FMPI2C_MODE_I2C; - FMPI2C_InitStruct->Timing = 0U; - FMPI2C_InitStruct->AnalogFilter = LL_FMPI2C_ANALOGFILTER_ENABLE; - FMPI2C_InitStruct->DigitalFilter = 0U; - FMPI2C_InitStruct->OwnAddress1 = 0U; - FMPI2C_InitStruct->TypeAcknowledge = LL_FMPI2C_NACK; - FMPI2C_InitStruct->OwnAddrSize = LL_FMPI2C_OWNADDRESS1_7BIT; -} - -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ - -#endif /* FMPI2C1 */ - -/** - * @} - */ - -#endif /* FMPI2C_CR1_PE */ -#endif /* USE_FULL_LL_DRIVER */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_fsmc.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_fsmc.c deleted file mode 100644 index 98681374448250..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_fsmc.c +++ /dev/null @@ -1,1009 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_ll_fsmc.c - * @author MCD Application Team - * @brief FSMC Low Layer HAL module driver. - * - * This file provides firmware functions to manage the following - * functionalities of the Flexible Static Memory Controller (FSMC) peripheral memories: - * + Initialization/de-initialization functions - * + Peripheral Control functions - * + Peripheral State functions - * - @verbatim - ============================================================================== - ##### FSMC peripheral features ##### - ============================================================================== - [..] The Flexible static memory controller (FSMC) includes two memory controllers: - (+) The NOR/PSRAM memory controller - (+) The NAND/PC Card memory controller - - [..] The FSMC functional block makes the interface with synchronous and asynchronous static - memories, SDRAM memories, and 16-bit PC memory cards. Its main purposes are: - (+) to translate AHB transactions into the appropriate external device protocol. - (+) to meet the access time requirements of the external memory devices. - - [..] All external memories share the addresses, data and control signals with the controller. - Each external device is accessed by means of a unique Chip Select. The FSMC performs - only one access at a time to an external device. - The main features of the FSMC controller are the following: - (+) Interface with static-memory mapped devices including: - (++) Static random access memory (SRAM). - (++) Read-only memory (ROM). - (++) NOR Flash memory/OneNAND Flash memory. - (++) PSRAM (4 memory banks). - (++) 16-bit PC Card compatible devices. - (++) Two banks of NAND Flash memory with ECC hardware to check up to 8 Kbytes of - data. - (+) Independent Chip Select control for each memory bank. - (+) Independent configuration for each memory bank. - - @endverbatim - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @defgroup FSMC_LL FSMC Low Layer - * @brief FSMC driver modules - * @{ - */ - -#if defined (HAL_SRAM_MODULE_ENABLED) || defined(HAL_NOR_MODULE_ENABLED) || defined(HAL_NAND_MODULE_ENABLED) || defined(HAL_PCCARD_MODULE_ENABLED) -#if defined(STM32F405xx) || defined(STM32F415xx) || defined(STM32F407xx) || defined(STM32F417xx) || defined(STM32F412Zx) ||\ - defined(STM32F412Vx) || defined(STM32F412Rx) || defined(STM32F413xx) || defined(STM32F423xx) -/* Private typedef -----------------------------------------------------------*/ -/* Private define ------------------------------------------------------------*/ -/* Private macro -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private function prototypes -----------------------------------------------*/ -/* Private functions ---------------------------------------------------------*/ -/** @addtogroup FSMC_LL_Private_Functions - * @{ - */ - -/** @addtogroup FSMC_LL_NORSRAM - * @brief NORSRAM Controller functions - * - @verbatim - ============================================================================== - ##### How to use NORSRAM device driver ##### - ============================================================================== - - [..] - This driver contains a set of APIs to interface with the FSMC NORSRAM banks in order - to run the NORSRAM external devices. - - (+) FSMC NORSRAM bank reset using the function FSMC_NORSRAM_DeInit() - (+) FSMC NORSRAM bank control configuration using the function FSMC_NORSRAM_Init() - (+) FSMC NORSRAM bank timing configuration using the function FSMC_NORSRAM_Timing_Init() - (+) FSMC NORSRAM bank extended timing configuration using the function - FSMC_NORSRAM_Extended_Timing_Init() - (+) FSMC NORSRAM bank enable/disable write operation using the functions - FSMC_NORSRAM_WriteOperation_Enable()/FSMC_NORSRAM_WriteOperation_Disable() - -@endverbatim - * @{ - */ - -/** @addtogroup FSMC_LL_NORSRAM_Private_Functions_Group1 - * @brief Initialization and Configuration functions - * - @verbatim - ============================================================================== - ##### Initialization and de_initialization functions ##### - ============================================================================== - [..] - This section provides functions allowing to: - (+) Initialize and configure the FSMC NORSRAM interface - (+) De-initialize the FSMC NORSRAM interface - (+) Configure the FSMC clock and associated GPIOs - -@endverbatim - * @{ - */ - -/** - * @brief Initialize the FSMC_NORSRAM device according to the specified - * control parameters in the FSMC_NORSRAM_InitTypeDef - * @param Device Pointer to NORSRAM device instance - * @param Init Pointer to NORSRAM Initialization structure - * @retval HAL status - */ -HAL_StatusTypeDef FSMC_NORSRAM_Init(FSMC_NORSRAM_TypeDef *Device, FSMC_NORSRAM_InitTypeDef* Init) -{ - uint32_t tmpr = 0U; - - /* Check the parameters */ - assert_param(IS_FSMC_NORSRAM_DEVICE(Device)); - assert_param(IS_FSMC_NORSRAM_BANK(Init->NSBank)); - assert_param(IS_FSMC_MUX(Init->DataAddressMux)); - assert_param(IS_FSMC_MEMORY(Init->MemoryType)); - assert_param(IS_FSMC_NORSRAM_MEMORY_WIDTH(Init->MemoryDataWidth)); - assert_param(IS_FSMC_BURSTMODE(Init->BurstAccessMode)); - assert_param(IS_FSMC_WAIT_POLARITY(Init->WaitSignalPolarity)); -#if defined(STM32F405xx) || defined(STM32F415xx) || defined(STM32F407xx) || defined(STM32F417xx) - assert_param(IS_FSMC_WRAP_MODE(Init->WrapMode)); -#endif /* STM32F405xx || STM32F415xx || STM32F407xx || STM32F417xx */ - assert_param(IS_FSMC_WAIT_SIGNAL_ACTIVE(Init->WaitSignalActive)); - assert_param(IS_FSMC_WRITE_OPERATION(Init->WriteOperation)); - assert_param(IS_FSMC_WAITE_SIGNAL(Init->WaitSignal)); - assert_param(IS_FSMC_EXTENDED_MODE(Init->ExtendedMode)); - assert_param(IS_FSMC_ASYNWAIT(Init->AsynchronousWait)); - assert_param(IS_FSMC_WRITE_BURST(Init->WriteBurst)); - assert_param(IS_FSMC_PAGESIZE(Init->PageSize)); -#if defined(STM32F412Zx) || defined(STM32F412Vx) || defined(STM32F412Rx) || defined(STM32F413xx) || defined(STM32F423xx) - assert_param(IS_FSMC_WRITE_FIFO(Init->WriteFifo)); - assert_param(IS_FSMC_CONTINOUS_CLOCK(Init->ContinuousClock)); -#endif /* STM32F412Zx || STM32F412Vx || STM32F413xx || STM32F423xx */ - - /* Get the BTCR register value */ - tmpr = Device->BTCR[Init->NSBank]; - -#if defined(STM32F405xx) || defined(STM32F415xx) || defined(STM32F407xx) || defined(STM32F417xx) - /* Clear MBKEN, MUXEN, MTYP, MWID, FACCEN, BURSTEN, WAITPOL, WRAPMOD, WAITCFG, WREN, - WAITEN, EXTMOD, ASYNCWAIT, CPSIZE and CBURSTRW bits */ - tmpr &= ((uint32_t)~(FSMC_BCR1_MBKEN | FSMC_BCR1_MUXEN | FSMC_BCR1_MTYP | \ - FSMC_BCR1_MWID | FSMC_BCR1_FACCEN | FSMC_BCR1_BURSTEN | \ - FSMC_BCR1_WAITPOL | FSMC_BCR1_WRAPMOD | FSMC_BCR1_WAITCFG | \ - FSMC_BCR1_WREN | FSMC_BCR1_WAITEN | FSMC_BCR1_EXTMOD | \ - FSMC_BCR1_ASYNCWAIT | FSMC_BCR1_CPSIZE | FSMC_BCR1_CBURSTRW)); - /* Set NORSRAM device control parameters */ - tmpr |= (uint32_t)(Init->DataAddressMux |\ - Init->MemoryType |\ - Init->MemoryDataWidth |\ - Init->BurstAccessMode |\ - Init->WaitSignalPolarity |\ - Init->WrapMode |\ - Init->WaitSignalActive |\ - Init->WriteOperation |\ - Init->WaitSignal |\ - Init->ExtendedMode |\ - Init->AsynchronousWait |\ - Init->PageSize |\ - Init->WriteBurst - ); -#else /* STM32F412Zx || STM32F412Vx || STM32F412Rx || STM32F413xx || STM32F423xx */ - /* Clear MBKEN, MUXEN, MTYP, MWID, FACCEN, BURSTEN, WAITPOL, WAITCFG, WREN, - WAITEN, EXTMOD, ASYNCWAIT,CPSIZE, CBURSTRW, CCLKEN and WFDIS bits */ - tmpr &= ((uint32_t)~(FSMC_BCR1_MBKEN | FSMC_BCR1_MUXEN | FSMC_BCR1_MTYP | \ - FSMC_BCR1_MWID | FSMC_BCR1_FACCEN | FSMC_BCR1_BURSTEN | \ - FSMC_BCR1_WAITPOL | FSMC_BCR1_WAITCFG | FSMC_BCR1_WREN | \ - FSMC_BCR1_WAITEN | FSMC_BCR1_EXTMOD | FSMC_BCR1_ASYNCWAIT | \ - FSMC_BCR1_CPSIZE | FSMC_BCR1_CBURSTRW | FSMC_BCR1_CCLKEN | \ - FSMC_BCR1_WFDIS)); - /* Set NORSRAM device control parameters */ - tmpr |= (uint32_t)(Init->DataAddressMux |\ - Init->MemoryType |\ - Init->MemoryDataWidth |\ - Init->BurstAccessMode |\ - Init->WaitSignalPolarity |\ - Init->WaitSignalActive |\ - Init->WriteOperation |\ - Init->WaitSignal |\ - Init->ExtendedMode |\ - Init->AsynchronousWait |\ - Init->WriteBurst |\ - Init->ContinuousClock |\ - Init->PageSize |\ - Init->WriteFifo); -#endif /* STM32F405xx || STM32F415xx || STM32F407xx || STM32F417xx */ - - if(Init->MemoryType == FSMC_MEMORY_TYPE_NOR) - { - tmpr |= (uint32_t)FSMC_NORSRAM_FLASH_ACCESS_ENABLE; - } - - Device->BTCR[Init->NSBank] = tmpr; - -#if defined(STM32F412Zx) || defined(STM32F412Vx) || defined(STM32F412Rx) || defined(STM32F413xx) || defined(STM32F423xx) - /* Configure synchronous mode when Continuous clock is enabled for bank2..4 */ - if((Init->ContinuousClock == FSMC_CONTINUOUS_CLOCK_SYNC_ASYNC) && (Init->NSBank != FSMC_NORSRAM_BANK1)) - { - Device->BTCR[FSMC_NORSRAM_BANK1] |= (uint32_t)(Init->ContinuousClock); - } - - if(Init->NSBank != FSMC_NORSRAM_BANK1) - { - Device->BTCR[FSMC_NORSRAM_BANK1] |= (uint32_t)(Init->WriteFifo); - } -#endif /* STM32F412Zx || STM32F412Vx || STM32F412Rx || STM32F413xx || STM32F423xx */ - - return HAL_OK; -} - -/** - * @brief DeInitialize the FSMC_NORSRAM peripheral - * @param Device Pointer to NORSRAM device instance - * @param ExDevice Pointer to NORSRAM extended mode device instance - * @param Bank NORSRAM bank number - * @retval HAL status - */ -HAL_StatusTypeDef FSMC_NORSRAM_DeInit(FSMC_NORSRAM_TypeDef *Device, FSMC_NORSRAM_EXTENDED_TypeDef *ExDevice, uint32_t Bank) -{ - /* Check the parameters */ - assert_param(IS_FSMC_NORSRAM_DEVICE(Device)); - assert_param(IS_FSMC_NORSRAM_EXTENDED_DEVICE(ExDevice)); - assert_param(IS_FSMC_NORSRAM_BANK(Bank)); - - /* Disable the FSMC_NORSRAM device */ - __FSMC_NORSRAM_DISABLE(Device, Bank); - - /* De-initialize the FSMC_NORSRAM device */ - /* FSMC_NORSRAM_BANK1 */ - if(Bank == FSMC_NORSRAM_BANK1) - { - Device->BTCR[Bank] = 0x000030DBU; - } - /* FSMC_NORSRAM_BANK2, FSMC_NORSRAM_BANK3 or FSMC_NORSRAM_BANK4 */ - else - { - Device->BTCR[Bank] = 0x000030D2U; - } - - Device->BTCR[Bank + 1U] = 0x0FFFFFFFU; - ExDevice->BWTR[Bank] = 0x0FFFFFFFU; - - return HAL_OK; -} - - -/** - * @brief Initialize the FSMC_NORSRAM Timing according to the specified - * parameters in the FSMC_NORSRAM_TimingTypeDef - * @param Device Pointer to NORSRAM device instance - * @param Timing Pointer to NORSRAM Timing structure - * @param Bank NORSRAM bank number - * @retval HAL status - */ -HAL_StatusTypeDef FSMC_NORSRAM_Timing_Init(FSMC_NORSRAM_TypeDef *Device, FSMC_NORSRAM_TimingTypeDef *Timing, uint32_t Bank) -{ - uint32_t tmpr = 0U; - - /* Check the parameters */ - assert_param(IS_FSMC_NORSRAM_DEVICE(Device)); - assert_param(IS_FSMC_ADDRESS_SETUP_TIME(Timing->AddressSetupTime)); - assert_param(IS_FSMC_ADDRESS_HOLD_TIME(Timing->AddressHoldTime)); - assert_param(IS_FSMC_DATASETUP_TIME(Timing->DataSetupTime)); - assert_param(IS_FSMC_TURNAROUND_TIME(Timing->BusTurnAroundDuration)); - assert_param(IS_FSMC_CLK_DIV(Timing->CLKDivision)); - assert_param(IS_FSMC_DATA_LATENCY(Timing->DataLatency)); - assert_param(IS_FSMC_ACCESS_MODE(Timing->AccessMode)); - assert_param(IS_FSMC_NORSRAM_BANK(Bank)); - - /* Get the BTCR register value */ - tmpr = Device->BTCR[Bank + 1U]; - - /* Clear ADDSET, ADDHLD, DATAST, BUSTURN, CLKDIV, DATLAT and ACCMOD bits */ - tmpr &= ((uint32_t)~(FSMC_BTR1_ADDSET | FSMC_BTR1_ADDHLD | FSMC_BTR1_DATAST | \ - FSMC_BTR1_BUSTURN | FSMC_BTR1_CLKDIV | FSMC_BTR1_DATLAT | \ - FSMC_BTR1_ACCMOD)); - - /* Set FSMC_NORSRAM device timing parameters */ - tmpr |= (uint32_t)(Timing->AddressSetupTime |\ - ((Timing->AddressHoldTime) << 4U) |\ - ((Timing->DataSetupTime) << 8U) |\ - ((Timing->BusTurnAroundDuration) << 16U) |\ - (((Timing->CLKDivision)-1U) << 20U) |\ - (((Timing->DataLatency)-2U) << 24U) |\ - (Timing->AccessMode)); - - Device->BTCR[Bank + 1] = tmpr; - -#if defined(STM32F412Zx) || defined(STM32F412Vx) || defined(STM32F412Rx) || defined(STM32F413xx) || defined(STM32F423xx) - /* Configure Clock division value (in NORSRAM bank 1) when continuous clock is enabled */ - if(HAL_IS_BIT_SET(Device->BTCR[FSMC_NORSRAM_BANK1], FSMC_BCR1_CCLKEN)) - { - tmpr = (uint32_t)(Device->BTCR[FSMC_NORSRAM_BANK1 + 1U] & ~(0x0FU << 20U)); - tmpr |= (uint32_t)(((Timing->CLKDivision)-1U) << 20U); - Device->BTCR[FSMC_NORSRAM_BANK1 + 1U] = tmpr; - } -#endif /* STM32F412Zx || STM32F412Vx || STM32F412Rx || STM32F413xx || STM32F423xx */ - - return HAL_OK; -} - -/** - * @brief Initialize the FSMC_NORSRAM Extended mode Timing according to the specified - * parameters in the FSMC_NORSRAM_TimingTypeDef - * @param Device Pointer to NORSRAM device instance - * @param Timing Pointer to NORSRAM Timing structure - * @param Bank NORSRAM bank number - * @retval HAL status - */ -HAL_StatusTypeDef FSMC_NORSRAM_Extended_Timing_Init(FSMC_NORSRAM_EXTENDED_TypeDef *Device, FSMC_NORSRAM_TimingTypeDef *Timing, uint32_t Bank, uint32_t ExtendedMode) -{ - uint32_t tmpr = 0U; - - /* Check the parameters */ - assert_param(IS_FSMC_EXTENDED_MODE(ExtendedMode)); - - /* Set NORSRAM device timing register for write configuration, if extended mode is used */ - if(ExtendedMode == FSMC_EXTENDED_MODE_ENABLE) - { - /* Check the parameters */ - assert_param(IS_FSMC_NORSRAM_EXTENDED_DEVICE(Device)); - assert_param(IS_FSMC_ADDRESS_SETUP_TIME(Timing->AddressSetupTime)); - assert_param(IS_FSMC_ADDRESS_HOLD_TIME(Timing->AddressHoldTime)); - assert_param(IS_FSMC_DATASETUP_TIME(Timing->DataSetupTime)); - assert_param(IS_FSMC_TURNAROUND_TIME(Timing->BusTurnAroundDuration)); - assert_param(IS_FSMC_ACCESS_MODE(Timing->AccessMode)); - assert_param(IS_FSMC_NORSRAM_BANK(Bank)); - - /* Get the BWTR register value */ - tmpr = Device->BWTR[Bank]; - - /* Clear ADDSET, ADDHLD, DATAST, BUSTURN and ACCMOD bits */ - tmpr &= ((uint32_t)~(FSMC_BWTR1_ADDSET | FSMC_BWTR1_ADDHLD | FSMC_BWTR1_DATAST | \ - FSMC_BWTR1_BUSTURN | FSMC_BWTR1_ACCMOD)); - - tmpr |= (uint32_t)(Timing->AddressSetupTime |\ - ((Timing->AddressHoldTime) << 4U) |\ - ((Timing->DataSetupTime) << 8U) |\ - ((Timing->BusTurnAroundDuration) << 16U) |\ - (Timing->AccessMode)); - - Device->BWTR[Bank] = tmpr; - } - else - { - Device->BWTR[Bank] = 0x0FFFFFFFU; - } - - return HAL_OK; -} -/** - * @} - */ - -/** @addtogroup FSMC_LL_NORSRAM_Private_Functions_Group2 - * @brief management functions - * -@verbatim - ============================================================================== - ##### FSMC_NORSRAM Control functions ##### - ============================================================================== - [..] - This subsection provides a set of functions allowing to control dynamically - the FSMC NORSRAM interface. - -@endverbatim - * @{ - */ - -/** - * @brief Enables dynamically FSMC_NORSRAM write operation. - * @param Device Pointer to NORSRAM device instance - * @param Bank NORSRAM bank number - * @retval HAL status - */ -HAL_StatusTypeDef FSMC_NORSRAM_WriteOperation_Enable(FSMC_NORSRAM_TypeDef *Device, uint32_t Bank) -{ - /* Check the parameters */ - assert_param(IS_FSMC_NORSRAM_DEVICE(Device)); - assert_param(IS_FSMC_NORSRAM_BANK(Bank)); - - /* Enable write operation */ - Device->BTCR[Bank] |= FSMC_WRITE_OPERATION_ENABLE; - - return HAL_OK; -} - -/** - * @brief Disables dynamically FSMC_NORSRAM write operation. - * @param Device Pointer to NORSRAM device instance - * @param Bank NORSRAM bank number - * @retval HAL status - */ -HAL_StatusTypeDef FSMC_NORSRAM_WriteOperation_Disable(FSMC_NORSRAM_TypeDef *Device, uint32_t Bank) -{ - /* Check the parameters */ - assert_param(IS_FSMC_NORSRAM_DEVICE(Device)); - assert_param(IS_FSMC_NORSRAM_BANK(Bank)); - - /* Disable write operation */ - Device->BTCR[Bank] &= ~FSMC_WRITE_OPERATION_ENABLE; - - return HAL_OK; -} -/** - * @} - */ - -/** - * @} - */ - -#if defined(STM32F405xx) || defined(STM32F415xx) || defined(STM32F407xx) || defined(STM32F417xx) -/** @addtogroup FSMC_LL_NAND - * @brief NAND Controller functions - * - @verbatim - ============================================================================== - ##### How to use NAND device driver ##### - ============================================================================== - [..] - This driver contains a set of APIs to interface with the FSMC NAND banks in order - to run the NAND external devices. - - (+) FSMC NAND bank reset using the function FSMC_NAND_DeInit() - (+) FSMC NAND bank control configuration using the function FSMC_NAND_Init() - (+) FSMC NAND bank common space timing configuration using the function - FSMC_NAND_CommonSpace_Timing_Init() - (+) FSMC NAND bank attribute space timing configuration using the function - FSMC_NAND_AttributeSpace_Timing_Init() - (+) FSMC NAND bank enable/disable ECC correction feature using the functions - FSMC_NAND_ECC_Enable()/FSMC_NAND_ECC_Disable() - (+) FSMC NAND bank get ECC correction code using the function FSMC_NAND_GetECC() - -@endverbatim - * @{ - */ - -/** @addtogroup FSMC_LL_NAND_Private_Functions_Group1 - * @brief Initialization and Configuration functions - * -@verbatim - ============================================================================== - ##### Initialization and de_initialization functions ##### - ============================================================================== - [..] - This section provides functions allowing to: - (+) Initialize and configure the FSMC NAND interface - (+) De-initialize the FSMC NAND interface - (+) Configure the FSMC clock and associated GPIOs - -@endverbatim - * @{ - */ - -/** - * @brief Initializes the FSMC_NAND device according to the specified - * control parameters in the FSMC_NAND_HandleTypeDef - * @param Device Pointer to NAND device instance - * @param Init Pointer to NAND Initialization structure - * @retval HAL status - */ -HAL_StatusTypeDef FSMC_NAND_Init(FSMC_NAND_TypeDef *Device, FSMC_NAND_InitTypeDef *Init) -{ - uint32_t tmpr = 0U; - - /* Check the parameters */ - assert_param(IS_FSMC_NAND_BANK(Init->NandBank)); - assert_param(IS_FSMC_WAIT_FEATURE(Init->Waitfeature)); - assert_param(IS_FSMC_NAND_MEMORY_WIDTH(Init->MemoryDataWidth)); - assert_param(IS_FSMC_ECC_STATE(Init->EccComputation)); - assert_param(IS_FSMC_ECCPAGE_SIZE(Init->ECCPageSize)); - assert_param(IS_FSMC_TCLR_TIME(Init->TCLRSetupTime)); - assert_param(IS_FSMC_TAR_TIME(Init->TARSetupTime)); - - if(Init->NandBank == FSMC_NAND_BANK2) - { - /* Get the NAND bank 2 register value */ - tmpr = Device->PCR2; - } - else - { - /* Get the NAND bank 3 register value */ - tmpr = Device->PCR3; - } - - /* Clear PWAITEN, PBKEN, PTYP, PWID, ECCEN, TCLR, TAR and ECCPS bits */ - tmpr &= ((uint32_t)~(FSMC_PCR2_PWAITEN | FSMC_PCR2_PBKEN | FSMC_PCR2_PTYP | \ - FSMC_PCR2_PWID | FSMC_PCR2_ECCEN | FSMC_PCR2_TCLR | \ - FSMC_PCR2_TAR | FSMC_PCR2_ECCPS)); - - /* Set NAND device control parameters */ - tmpr |= (uint32_t)(Init->Waitfeature |\ - FSMC_PCR_MEMORY_TYPE_NAND |\ - Init->MemoryDataWidth |\ - Init->EccComputation |\ - Init->ECCPageSize |\ - ((Init->TCLRSetupTime) << 9U) |\ - ((Init->TARSetupTime) << 13U)); - - if(Init->NandBank == FSMC_NAND_BANK2) - { - /* NAND bank 2 registers configuration */ - Device->PCR2 = tmpr; - } - else - { - /* NAND bank 3 registers configuration */ - Device->PCR3 = tmpr; - } - - return HAL_OK; -} - -/** - * @brief Initializes the FSMC_NAND Common space Timing according to the specified - * parameters in the FSMC_NAND_PCC_TimingTypeDef - * @param Device Pointer to NAND device instance - * @param Timing Pointer to NAND timing structure - * @param Bank NAND bank number - * @retval HAL status - */ -HAL_StatusTypeDef FSMC_NAND_CommonSpace_Timing_Init(FSMC_NAND_TypeDef *Device, FSMC_NAND_PCC_TimingTypeDef *Timing, uint32_t Bank) -{ - uint32_t tmpr = 0U; - - /* Check the parameters */ - assert_param(IS_FSMC_SETUP_TIME(Timing->SetupTime)); - assert_param(IS_FSMC_WAIT_TIME(Timing->WaitSetupTime)); - assert_param(IS_FSMC_HOLD_TIME(Timing->HoldSetupTime)); - assert_param(IS_FSMC_HIZ_TIME(Timing->HiZSetupTime)); - - if(Bank == FSMC_NAND_BANK2) - { - /* Get the NAND bank 2 register value */ - tmpr = Device->PMEM2; - } - else - { - /* Get the NAND bank 3 register value */ - tmpr = Device->PMEM3; - } - - /* Clear MEMSETx, MEMWAITx, MEMHOLDx and MEMHIZx bits */ - tmpr &= ((uint32_t)~(FSMC_PMEM2_MEMSET2 | FSMC_PMEM2_MEMWAIT2 | FSMC_PMEM2_MEMHOLD2 | \ - FSMC_PMEM2_MEMHIZ2)); - - /* Set FSMC_NAND device timing parameters */ - tmpr |= (uint32_t)(Timing->SetupTime |\ - ((Timing->WaitSetupTime) << 8U) |\ - ((Timing->HoldSetupTime) << 16U) |\ - ((Timing->HiZSetupTime) << 24U) - ); - - if(Bank == FSMC_NAND_BANK2) - { - /* NAND bank 2 registers configuration */ - Device->PMEM2 = tmpr; - } - else - { - /* NAND bank 3 registers configuration */ - Device->PMEM3 = tmpr; - } - - return HAL_OK; -} - -/** - * @brief Initializes the FSMC_NAND Attribute space Timing according to the specified - * parameters in the FSMC_NAND_PCC_TimingTypeDef - * @param Device Pointer to NAND device instance - * @param Timing Pointer to NAND timing structure - * @param Bank NAND bank number - * @retval HAL status - */ -HAL_StatusTypeDef FSMC_NAND_AttributeSpace_Timing_Init(FSMC_NAND_TypeDef *Device, FSMC_NAND_PCC_TimingTypeDef *Timing, uint32_t Bank) -{ - uint32_t tmpr = 0U; - - /* Check the parameters */ - assert_param(IS_FSMC_SETUP_TIME(Timing->SetupTime)); - assert_param(IS_FSMC_WAIT_TIME(Timing->WaitSetupTime)); - assert_param(IS_FSMC_HOLD_TIME(Timing->HoldSetupTime)); - assert_param(IS_FSMC_HIZ_TIME(Timing->HiZSetupTime)); - - if(Bank == FSMC_NAND_BANK2) - { - /* Get the NAND bank 2 register value */ - tmpr = Device->PATT2; - } - else - { - /* Get the NAND bank 3 register value */ - tmpr = Device->PATT3; - } - - /* Clear ATTSETx, ATTWAITx, ATTHOLDx and ATTHIZx bits */ - tmpr &= ((uint32_t)~(FSMC_PATT2_ATTSET2 | FSMC_PATT2_ATTWAIT2 | FSMC_PATT2_ATTHOLD2 | \ - FSMC_PATT2_ATTHIZ2)); - - /* Set FSMC_NAND device timing parameters */ - tmpr |= (uint32_t)(Timing->SetupTime |\ - ((Timing->WaitSetupTime) << 8U) |\ - ((Timing->HoldSetupTime) << 16U) |\ - ((Timing->HiZSetupTime) << 24U) - ); - - if(Bank == FSMC_NAND_BANK2) - { - /* NAND bank 2 registers configuration */ - Device->PATT2 = tmpr; - } - else - { - /* NAND bank 3 registers configuration */ - Device->PATT3 = tmpr; - } - - return HAL_OK; -} - -/** - * @brief DeInitializes the FSMC_NAND device - * @param Device Pointer to NAND device instance - * @param Bank NAND bank number - * @retval HAL status - */ -HAL_StatusTypeDef FSMC_NAND_DeInit(FSMC_NAND_TypeDef *Device, uint32_t Bank) -{ - /* Disable the NAND Bank */ - __FSMC_NAND_DISABLE(Device, Bank); - - /* De-initialize the NAND Bank */ - if(Bank == FSMC_NAND_BANK2) - { - /* Set the FSMC_NAND_BANK2 registers to their reset values */ - Device->PCR2 = 0x00000018U; - Device->SR2 = 0x00000040U; - Device->PMEM2 = 0xFCFCFCFCU; - Device->PATT2 = 0xFCFCFCFCU; - } - /* FSMC_Bank3_NAND */ - else - { - /* Set the FSMC_NAND_BANK3 registers to their reset values */ - Device->PCR3 = 0x00000018U; - Device->SR3 = 0x00000040U; - Device->PMEM3 = 0xFCFCFCFCU; - Device->PATT3 = 0xFCFCFCFCU; - } - - return HAL_OK; -} -/** - * @} - */ - -/** @addtogroup FSMC_LL_NAND_Private_Functions_Group2 - * @brief management functions - * -@verbatim - ============================================================================== - ##### FSMC_NAND Control functions ##### - ============================================================================== - [..] - This subsection provides a set of functions allowing to control dynamically - the FSMC NAND interface. - -@endverbatim - * @{ - */ - -/** - * @brief Enables dynamically FSMC_NAND ECC feature. - * @param Device Pointer to NAND device instance - * @param Bank NAND bank number - * @retval HAL status - */ -HAL_StatusTypeDef FSMC_NAND_ECC_Enable(FSMC_NAND_TypeDef *Device, uint32_t Bank) -{ - /* Enable ECC feature */ - if(Bank == FSMC_NAND_BANK2) - { - Device->PCR2 |= FSMC_PCR2_ECCEN; - } - else - { - Device->PCR3 |= FSMC_PCR3_ECCEN; - } - - return HAL_OK; -} - -/** - * @brief Disables dynamically FSMC_NAND ECC feature. - * @param Device Pointer to NAND device instance - * @param Bank NAND bank number - * @retval HAL status - */ -HAL_StatusTypeDef FSMC_NAND_ECC_Disable(FSMC_NAND_TypeDef *Device, uint32_t Bank) -{ - /* Disable ECC feature */ - if(Bank == FSMC_NAND_BANK2) - { - Device->PCR2 &= ~FSMC_PCR2_ECCEN; - } - else - { - Device->PCR3 &= ~FSMC_PCR3_ECCEN; - } - - return HAL_OK; -} - -/** - * @brief Disables dynamically FSMC_NAND ECC feature. - * @param Device Pointer to NAND device instance - * @param ECCval Pointer to ECC value - * @param Bank NAND bank number - * @param Timeout Timeout wait value - * @retval HAL status - */ -HAL_StatusTypeDef FSMC_NAND_GetECC(FSMC_NAND_TypeDef *Device, uint32_t *ECCval, uint32_t Bank, uint32_t Timeout) -{ - uint32_t tickstart = 0U; - - /* Check the parameters */ - assert_param(IS_FSMC_NAND_DEVICE(Device)); - assert_param(IS_FSMC_NAND_BANK(Bank)); - - /* Get tick */ - tickstart = HAL_GetTick(); - - /* Wait until FIFO is empty */ - while(__FSMC_NAND_GET_FLAG(Device, Bank, FSMC_FLAG_FEMPT) == RESET) - { - /* Check for the Timeout */ - if(Timeout != HAL_MAX_DELAY) - { - if((Timeout == 0U)||((HAL_GetTick() - tickstart ) > Timeout)) - { - return HAL_TIMEOUT; - } - } - } - - if(Bank == FSMC_NAND_BANK2) - { - /* Get the ECCR2 register value */ - *ECCval = (uint32_t)Device->ECCR2; - } - else - { - /* Get the ECCR3 register value */ - *ECCval = (uint32_t)Device->ECCR3; - } - - return HAL_OK; -} - -/** - * @} - */ - -/** - * @} - */ - -/** @addtogroup FSMC_LL_PCCARD - * @brief PCCARD Controller functions - * - @verbatim - ============================================================================== - ##### How to use PCCARD device driver ##### - ============================================================================== - [..] - This driver contains a set of APIs to interface with the FSMC PCCARD bank in order - to run the PCCARD/compact flash external devices. - - (+) FSMC PCCARD bank reset using the function FSMC_PCCARD_DeInit() - (+) FSMC PCCARD bank control configuration using the function FSMC_PCCARD_Init() - (+) FSMC PCCARD bank common space timing configuration using the function - FSMC_PCCARD_CommonSpace_Timing_Init() - (+) FSMC PCCARD bank attribute space timing configuration using the function - FSMC_PCCARD_AttributeSpace_Timing_Init() - (+) FSMC PCCARD bank IO space timing configuration using the function - FSMC_PCCARD_IOSpace_Timing_Init() - -@endverbatim - * @{ - */ - -/** @addtogroup FSMC_LL_PCCARD_Private_Functions_Group1 - * @brief Initialization and Configuration functions - * -@verbatim - ============================================================================== - ##### Initialization and de_initialization functions ##### - ============================================================================== - [..] - This section provides functions allowing to: - (+) Initialize and configure the FSMC PCCARD interface - (+) De-initialize the FSMC PCCARD interface - (+) Configure the FSMC clock and associated GPIOs - -@endverbatim - * @{ - */ - -/** - * @brief Initializes the FSMC_PCCARD device according to the specified - * control parameters in the FSMC_PCCARD_HandleTypeDef - * @param Device Pointer to PCCARD device instance - * @param Init Pointer to PCCARD Initialization structure - * @retval HAL status - */ -HAL_StatusTypeDef FSMC_PCCARD_Init(FSMC_PCCARD_TypeDef *Device, FSMC_PCCARD_InitTypeDef *Init) -{ - uint32_t tmpr = 0U; - - /* Check the parameters */ - assert_param(IS_FSMC_WAIT_FEATURE(Init->Waitfeature)); - assert_param(IS_FSMC_TCLR_TIME(Init->TCLRSetupTime)); - assert_param(IS_FSMC_TAR_TIME(Init->TARSetupTime)); - - /* Get PCCARD control register value */ - tmpr = Device->PCR4; - - /* Clear TAR, TCLR, PWAITEN and PWID bits */ - tmpr &= ((uint32_t)~(FSMC_PCR4_TAR | FSMC_PCR4_TCLR | FSMC_PCR4_PWAITEN | \ - FSMC_PCR4_PWID | FSMC_PCR4_PTYP)); - - /* Set FSMC_PCCARD device control parameters */ - tmpr |= (uint32_t)(Init->Waitfeature |\ - FSMC_NAND_PCC_MEM_BUS_WIDTH_16 |\ - (Init->TCLRSetupTime << 9U) |\ - (Init->TARSetupTime << 13U)); - - Device->PCR4 = tmpr; - - return HAL_OK; -} - -/** - * @brief Initializes the FSMC_PCCARD Common space Timing according to the specified - * parameters in the FSMC_NAND_PCC_TimingTypeDef - * @param Device Pointer to PCCARD device instance - * @param Timing Pointer to PCCARD timing structure - * @retval HAL status - */ -HAL_StatusTypeDef FSMC_PCCARD_CommonSpace_Timing_Init(FSMC_PCCARD_TypeDef *Device, FSMC_NAND_PCC_TimingTypeDef *Timing) -{ - uint32_t tmpr = 0U; - - /* Check the parameters */ - assert_param(IS_FSMC_SETUP_TIME(Timing->SetupTime)); - assert_param(IS_FSMC_WAIT_TIME(Timing->WaitSetupTime)); - assert_param(IS_FSMC_HOLD_TIME(Timing->HoldSetupTime)); - assert_param(IS_FSMC_HIZ_TIME(Timing->HiZSetupTime)); - - /* Get PCCARD common space timing register value */ - tmpr = Device->PMEM4; - - /* Clear MEMSETx, MEMWAITx, MEMHOLDx and MEMHIZx bits */ - tmpr &= ((uint32_t)~(FSMC_PMEM4_MEMSET4 | FSMC_PMEM4_MEMWAIT4 | FSMC_PMEM4_MEMHOLD4 | \ - FSMC_PMEM4_MEMHIZ4)); - /* Set PCCARD timing parameters */ - tmpr |= (uint32_t)((Timing->SetupTime |\ - ((Timing->WaitSetupTime) << 8U) |\ - (Timing->HoldSetupTime) << 16U) |\ - ((Timing->HiZSetupTime) << 24U)); - - Device->PMEM4 = tmpr; - - return HAL_OK; -} - -/** - * @brief Initializes the FSMC_PCCARD Attribute space Timing according to the specified - * parameters in the FSMC_NAND_PCC_TimingTypeDef - * @param Device Pointer to PCCARD device instance - * @param Timing Pointer to PCCARD timing structure - * @retval HAL status - */ -HAL_StatusTypeDef FSMC_PCCARD_AttributeSpace_Timing_Init(FSMC_PCCARD_TypeDef *Device, FSMC_NAND_PCC_TimingTypeDef *Timing) -{ - uint32_t tmpr = 0U; - - /* Check the parameters */ - assert_param(IS_FSMC_SETUP_TIME(Timing->SetupTime)); - assert_param(IS_FSMC_WAIT_TIME(Timing->WaitSetupTime)); - assert_param(IS_FSMC_HOLD_TIME(Timing->HoldSetupTime)); - assert_param(IS_FSMC_HIZ_TIME(Timing->HiZSetupTime)); - - /* Get PCCARD timing parameters */ - tmpr = Device->PATT4; - - /* Clear ATTSETx, ATTWAITx, ATTHOLDx and ATTHIZx bits */ - tmpr &= ((uint32_t)~(FSMC_PATT4_ATTSET4 | FSMC_PATT4_ATTWAIT4 | FSMC_PATT4_ATTHOLD4 | \ - FSMC_PATT4_ATTHIZ4)); - - /* Set PCCARD timing parameters */ - tmpr |= (uint32_t)(Timing->SetupTime |\ - ((Timing->WaitSetupTime) << 8U) |\ - ((Timing->HoldSetupTime) << 16U) |\ - ((Timing->HiZSetupTime) << 24U)); - Device->PATT4 = tmpr; - - return HAL_OK; -} - -/** - * @brief Initializes the FSMC_PCCARD IO space Timing according to the specified - * parameters in the FSMC_NAND_PCC_TimingTypeDef - * @param Device Pointer to PCCARD device instance - * @param Timing Pointer to PCCARD timing structure - * @retval HAL status - */ -HAL_StatusTypeDef FSMC_PCCARD_IOSpace_Timing_Init(FSMC_PCCARD_TypeDef *Device, FSMC_NAND_PCC_TimingTypeDef *Timing) -{ - uint32_t tmpr = 0U; - - /* Check the parameters */ - assert_param(IS_FSMC_SETUP_TIME(Timing->SetupTime)); - assert_param(IS_FSMC_WAIT_TIME(Timing->WaitSetupTime)); - assert_param(IS_FSMC_HOLD_TIME(Timing->HoldSetupTime)); - assert_param(IS_FSMC_HIZ_TIME(Timing->HiZSetupTime)); - - /* Get FSMC_PCCARD device timing parameters */ - tmpr = Device->PIO4; - - /* Clear IOSET4, IOWAIT4, IOHOLD4 and IOHIZ4 bits */ - tmpr &= ((uint32_t)~(FSMC_PIO4_IOSET4 | FSMC_PIO4_IOWAIT4 | FSMC_PIO4_IOHOLD4 | \ - FSMC_PIO4_IOHIZ4)); - - /* Set FSMC_PCCARD device timing parameters */ - tmpr |= (uint32_t)(Timing->SetupTime |\ - ((Timing->WaitSetupTime) << 8U) |\ - ((Timing->HoldSetupTime) << 16U) |\ - ((Timing->HiZSetupTime) << 24U)); - - Device->PIO4 = tmpr; - - return HAL_OK; -} - -/** - * @brief DeInitializes the FSMC_PCCARD device - * @param Device Pointer to PCCARD device instance - * @retval HAL status - */ -HAL_StatusTypeDef FSMC_PCCARD_DeInit(FSMC_PCCARD_TypeDef *Device) -{ - /* Disable the FSMC_PCCARD device */ - __FSMC_PCCARD_DISABLE(Device); - - /* De-initialize the FSMC_PCCARD device */ - Device->PCR4 = 0x00000018U; - Device->SR4 = 0x00000000U; - Device->PMEM4 = 0xFCFCFCFCU; - Device->PATT4 = 0xFCFCFCFCU; - Device->PIO4 = 0xFCFCFCFCU; - - return HAL_OK; -} -/** - * @} - */ - -/** - * @} - */ -#endif /* STM32F405xx || STM32F415xx || STM32F407xx || STM32F417xx */ - -/** - * @} - */ -#endif /* STM32F405xx || STM32F415xx || STM32F407xx || STM32F417xx || STM32F412Zx || STM32F412Vx || STM32F413xx || STM32F423xx */ -#endif /* HAL_SRAM_MODULE_ENABLED || HAL_NOR_MODULE_ENABLED || HAL_NAND_MODULE_ENABLED || HAL_PCCARD_MODULE_ENABLED */ - -/** - * @} - */ - -/** - * @} - */ -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_gpio.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_gpio.c deleted file mode 100644 index bfdcb1e6eef578..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_gpio.c +++ /dev/null @@ -1,305 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_ll_gpio.c - * @author MCD Application Team - * @brief GPIO LL module driver. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ -#if defined(USE_FULL_LL_DRIVER) - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_ll_gpio.h" -#include "stm32f4xx_ll_bus.h" -#ifdef USE_FULL_ASSERT -#include "stm32_assert.h" -#else -#define assert_param(expr) ((void)0U) -#endif - -/** @addtogroup STM32F4xx_LL_Driver - * @{ - */ - -#if defined (GPIOA) || defined (GPIOB) || defined (GPIOC) || defined (GPIOD) || defined (GPIOE) || defined (GPIOF) || defined (GPIOG) || defined (GPIOH) || defined (GPIOI) || defined (GPIOJ) || defined (GPIOK) - -/** @addtogroup GPIO_LL - * @{ - */ - -/* Private types -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private constants ---------------------------------------------------------*/ -/* Private macros ------------------------------------------------------------*/ -/** @addtogroup GPIO_LL_Private_Macros - * @{ - */ -#define IS_LL_GPIO_PIN(__VALUE__) (((0x00000000U) < (__VALUE__)) && ((__VALUE__) <= (LL_GPIO_PIN_ALL))) - -#define IS_LL_GPIO_MODE(__VALUE__) (((__VALUE__) == LL_GPIO_MODE_INPUT) ||\ - ((__VALUE__) == LL_GPIO_MODE_OUTPUT) ||\ - ((__VALUE__) == LL_GPIO_MODE_ALTERNATE) ||\ - ((__VALUE__) == LL_GPIO_MODE_ANALOG)) - -#define IS_LL_GPIO_OUTPUT_TYPE(__VALUE__) (((__VALUE__) == LL_GPIO_OUTPUT_PUSHPULL) ||\ - ((__VALUE__) == LL_GPIO_OUTPUT_OPENDRAIN)) - -#define IS_LL_GPIO_SPEED(__VALUE__) (((__VALUE__) == LL_GPIO_SPEED_FREQ_LOW) ||\ - ((__VALUE__) == LL_GPIO_SPEED_FREQ_MEDIUM) ||\ - ((__VALUE__) == LL_GPIO_SPEED_FREQ_HIGH) ||\ - ((__VALUE__) == LL_GPIO_SPEED_FREQ_VERY_HIGH)) - -#define IS_LL_GPIO_PULL(__VALUE__) (((__VALUE__) == LL_GPIO_PULL_NO) ||\ - ((__VALUE__) == LL_GPIO_PULL_UP) ||\ - ((__VALUE__) == LL_GPIO_PULL_DOWN)) - -#define IS_LL_GPIO_ALTERNATE(__VALUE__) (((__VALUE__) == LL_GPIO_AF_0 ) ||\ - ((__VALUE__) == LL_GPIO_AF_1 ) ||\ - ((__VALUE__) == LL_GPIO_AF_2 ) ||\ - ((__VALUE__) == LL_GPIO_AF_3 ) ||\ - ((__VALUE__) == LL_GPIO_AF_4 ) ||\ - ((__VALUE__) == LL_GPIO_AF_5 ) ||\ - ((__VALUE__) == LL_GPIO_AF_6 ) ||\ - ((__VALUE__) == LL_GPIO_AF_7 ) ||\ - ((__VALUE__) == LL_GPIO_AF_8 ) ||\ - ((__VALUE__) == LL_GPIO_AF_9 ) ||\ - ((__VALUE__) == LL_GPIO_AF_10 ) ||\ - ((__VALUE__) == LL_GPIO_AF_11 ) ||\ - ((__VALUE__) == LL_GPIO_AF_12 ) ||\ - ((__VALUE__) == LL_GPIO_AF_13 ) ||\ - ((__VALUE__) == LL_GPIO_AF_14 ) ||\ - ((__VALUE__) == LL_GPIO_AF_15 )) -/** - * @} - */ - -/* Private function prototypes -----------------------------------------------*/ - -/* Exported functions --------------------------------------------------------*/ -/** @addtogroup GPIO_LL_Exported_Functions - * @{ - */ - -/** @addtogroup GPIO_LL_EF_Init - * @{ - */ - -/** - * @brief De-initialize GPIO registers (Registers restored to their default values). - * @param GPIOx GPIO Port - * @retval An ErrorStatus enumeration value: - * - SUCCESS: GPIO registers are de-initialized - * - ERROR: Wrong GPIO Port - */ -ErrorStatus LL_GPIO_DeInit(GPIO_TypeDef *GPIOx) -{ - ErrorStatus status = SUCCESS; - - /* Check the parameters */ - assert_param(IS_GPIO_ALL_INSTANCE(GPIOx)); - - /* Force and Release reset on clock of GPIOx Port */ - if (GPIOx == GPIOA) - { - LL_AHB1_GRP1_ForceReset(LL_AHB1_GRP1_PERIPH_GPIOA); - LL_AHB1_GRP1_ReleaseReset(LL_AHB1_GRP1_PERIPH_GPIOA); - } - else if (GPIOx == GPIOB) - { - LL_AHB1_GRP1_ForceReset(LL_AHB1_GRP1_PERIPH_GPIOB); - LL_AHB1_GRP1_ReleaseReset(LL_AHB1_GRP1_PERIPH_GPIOB); - } - else if (GPIOx == GPIOC) - { - LL_AHB1_GRP1_ForceReset(LL_AHB1_GRP1_PERIPH_GPIOC); - LL_AHB1_GRP1_ReleaseReset(LL_AHB1_GRP1_PERIPH_GPIOC); - } -#if defined(GPIOD) - else if (GPIOx == GPIOD) - { - LL_AHB1_GRP1_ForceReset(LL_AHB1_GRP1_PERIPH_GPIOD); - LL_AHB1_GRP1_ReleaseReset(LL_AHB1_GRP1_PERIPH_GPIOD); - } -#endif /* GPIOD */ -#if defined(GPIOE) - else if (GPIOx == GPIOE) - { - LL_AHB1_GRP1_ForceReset(LL_AHB1_GRP1_PERIPH_GPIOE); - LL_AHB1_GRP1_ReleaseReset(LL_AHB1_GRP1_PERIPH_GPIOE); - } -#endif /* GPIOE */ -#if defined(GPIOF) - else if (GPIOx == GPIOF) - { - LL_AHB1_GRP1_ForceReset(LL_AHB1_GRP1_PERIPH_GPIOF); - LL_AHB1_GRP1_ReleaseReset(LL_AHB1_GRP1_PERIPH_GPIOF); - } -#endif /* GPIOF */ -#if defined(GPIOG) - else if (GPIOx == GPIOG) - { - LL_AHB1_GRP1_ForceReset(LL_AHB1_GRP1_PERIPH_GPIOG); - LL_AHB1_GRP1_ReleaseReset(LL_AHB1_GRP1_PERIPH_GPIOG); - } -#endif /* GPIOG */ -#if defined(GPIOH) - else if (GPIOx == GPIOH) - { - LL_AHB1_GRP1_ForceReset(LL_AHB1_GRP1_PERIPH_GPIOH); - LL_AHB1_GRP1_ReleaseReset(LL_AHB1_GRP1_PERIPH_GPIOH); - } -#endif /* GPIOH */ -#if defined(GPIOI) - else if (GPIOx == GPIOI) - { - LL_AHB1_GRP1_ForceReset(LL_AHB1_GRP1_PERIPH_GPIOI); - LL_AHB1_GRP1_ReleaseReset(LL_AHB1_GRP1_PERIPH_GPIOI); - } -#endif /* GPIOI */ -#if defined(GPIOJ) - else if (GPIOx == GPIOJ) - { - LL_AHB1_GRP1_ForceReset(LL_AHB1_GRP1_PERIPH_GPIOJ); - LL_AHB1_GRP1_ReleaseReset(LL_AHB1_GRP1_PERIPH_GPIOJ); - } -#endif /* GPIOJ */ -#if defined(GPIOK) - else if (GPIOx == GPIOK) - { - LL_AHB1_GRP1_ForceReset(LL_AHB1_GRP1_PERIPH_GPIOK); - LL_AHB1_GRP1_ReleaseReset(LL_AHB1_GRP1_PERIPH_GPIOK); - } -#endif /* GPIOK */ - else - { - status = ERROR; - } - - return (status); -} - -/** - * @brief Initialize GPIO registers according to the specified parameters in GPIO_InitStruct. - * @param GPIOx GPIO Port - * @param GPIO_InitStruct pointer to a @ref LL_GPIO_InitTypeDef structure - * that contains the configuration information for the specified GPIO peripheral. - * @retval An ErrorStatus enumeration value: - * - SUCCESS: GPIO registers are initialized according to GPIO_InitStruct content - * - ERROR: Not applicable - */ -ErrorStatus LL_GPIO_Init(GPIO_TypeDef *GPIOx, LL_GPIO_InitTypeDef *GPIO_InitStruct) -{ - uint32_t pinpos = 0x00000000U; - uint32_t currentpin = 0x00000000U; - - /* Check the parameters */ - assert_param(IS_GPIO_ALL_INSTANCE(GPIOx)); - assert_param(IS_LL_GPIO_PIN(GPIO_InitStruct->Pin)); - assert_param(IS_LL_GPIO_MODE(GPIO_InitStruct->Mode)); - assert_param(IS_LL_GPIO_PULL(GPIO_InitStruct->Pull)); - - /* ------------------------- Configure the port pins ---------------- */ - /* Initialize pinpos on first pin set */ - pinpos = POSITION_VAL(GPIO_InitStruct->Pin); - - /* Configure the port pins */ - while (((GPIO_InitStruct->Pin) >> pinpos) != 0x00000000U) - { - /* Get current io position */ - currentpin = (GPIO_InitStruct->Pin) & (0x00000001U << pinpos); - - if (currentpin) - { - - if ((GPIO_InitStruct->Mode == LL_GPIO_MODE_OUTPUT) || (GPIO_InitStruct->Mode == LL_GPIO_MODE_ALTERNATE)) - { - /* Check Speed mode parameters */ - assert_param(IS_LL_GPIO_SPEED(GPIO_InitStruct->Speed)); - - /* Speed mode configuration */ - LL_GPIO_SetPinSpeed(GPIOx, currentpin, GPIO_InitStruct->Speed); - - /* Check Output mode parameters */ - assert_param(IS_LL_GPIO_OUTPUT_TYPE(GPIO_InitStruct->OutputType)); - - /* Output mode configuration*/ - LL_GPIO_SetPinOutputType(GPIOx, currentpin, GPIO_InitStruct->OutputType); - } - - /* Pull-up Pull down resistor configuration*/ - LL_GPIO_SetPinPull(GPIOx, currentpin, GPIO_InitStruct->Pull); - - if (GPIO_InitStruct->Mode == LL_GPIO_MODE_ALTERNATE) - { - /* Check Alternate parameter */ - assert_param(IS_LL_GPIO_ALTERNATE(GPIO_InitStruct->Alternate)); - - /* Speed mode configuration */ - if (POSITION_VAL(currentpin) < 0x00000008U) - { - LL_GPIO_SetAFPin_0_7(GPIOx, currentpin, GPIO_InitStruct->Alternate); - } - else - { - LL_GPIO_SetAFPin_8_15(GPIOx, currentpin, GPIO_InitStruct->Alternate); - } - } - - /* Pin Mode configuration */ - LL_GPIO_SetPinMode(GPIOx, currentpin, GPIO_InitStruct->Mode); - } - pinpos++; - } - - return (SUCCESS); -} - -/** - * @brief Set each @ref LL_GPIO_InitTypeDef field to default value. - * @param GPIO_InitStruct pointer to a @ref LL_GPIO_InitTypeDef structure - * whose fields will be set to default values. - * @retval None - */ - -void LL_GPIO_StructInit(LL_GPIO_InitTypeDef *GPIO_InitStruct) -{ - /* Reset GPIO init structure parameters values */ - GPIO_InitStruct->Pin = LL_GPIO_PIN_ALL; - GPIO_InitStruct->Mode = LL_GPIO_MODE_ANALOG; - GPIO_InitStruct->Speed = LL_GPIO_SPEED_FREQ_LOW; - GPIO_InitStruct->OutputType = LL_GPIO_OUTPUT_PUSHPULL; - GPIO_InitStruct->Pull = LL_GPIO_PULL_NO; - GPIO_InitStruct->Alternate = LL_GPIO_AF_0; -} - -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ - -#endif /* defined (GPIOA) || defined (GPIOB) || defined (GPIOC) || defined (GPIOD) || defined (GPIOE) || defined (GPIOF) || defined (GPIOG) || defined (GPIOH) || defined (GPIOI) || defined (GPIOJ) || defined (GPIOK) */ - -/** - * @} - */ - -#endif /* USE_FULL_LL_DRIVER */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_i2c.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_i2c.c deleted file mode 100644 index 125fb2ca13fc7a..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_i2c.c +++ /dev/null @@ -1,253 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_ll_i2c.c - * @author MCD Application Team - * @brief I2C LL module driver. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ -#if defined(USE_FULL_LL_DRIVER) - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_ll_i2c.h" -#include "stm32f4xx_ll_bus.h" -#include "stm32f4xx_ll_rcc.h" -#ifdef USE_FULL_ASSERT -#include "stm32_assert.h" -#else -#define assert_param(expr) ((void)0U) -#endif - -/** @addtogroup STM32F4xx_LL_Driver - * @{ - */ - -#if defined (I2C1) || defined (I2C2) || defined (I2C3) - -/** @defgroup I2C_LL I2C - * @{ - */ - -/* Private types -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private constants ---------------------------------------------------------*/ -/* Private macros ------------------------------------------------------------*/ -/** @addtogroup I2C_LL_Private_Macros - * @{ - */ - -#define IS_LL_I2C_PERIPHERAL_MODE(__VALUE__) (((__VALUE__) == LL_I2C_MODE_I2C) || \ - ((__VALUE__) == LL_I2C_MODE_SMBUS_HOST) || \ - ((__VALUE__) == LL_I2C_MODE_SMBUS_DEVICE) || \ - ((__VALUE__) == LL_I2C_MODE_SMBUS_DEVICE_ARP)) - -#define IS_LL_I2C_CLOCK_SPEED(__VALUE__) (((__VALUE__) > 0U) && ((__VALUE__) <= LL_I2C_MAX_SPEED_FAST)) - -#define IS_LL_I2C_DUTY_CYCLE(__VALUE__) (((__VALUE__) == LL_I2C_DUTYCYCLE_2) || \ - ((__VALUE__) == LL_I2C_DUTYCYCLE_16_9)) - -#if defined(I2C_FLTR_ANOFF)&&defined(I2C_FLTR_DNF) -#define IS_LL_I2C_ANALOG_FILTER(__VALUE__) (((__VALUE__) == LL_I2C_ANALOGFILTER_ENABLE) || \ - ((__VALUE__) == LL_I2C_ANALOGFILTER_DISABLE)) - -#define IS_LL_I2C_DIGITAL_FILTER(__VALUE__) ((__VALUE__) <= 0x0000000FU) - -#endif -#define IS_LL_I2C_OWN_ADDRESS1(__VALUE__) ((__VALUE__) <= 0x000003FFU) - -#define IS_LL_I2C_TYPE_ACKNOWLEDGE(__VALUE__) (((__VALUE__) == LL_I2C_ACK) || \ - ((__VALUE__) == LL_I2C_NACK)) - -#define IS_LL_I2C_OWN_ADDRSIZE(__VALUE__) (((__VALUE__) == LL_I2C_OWNADDRESS1_7BIT) || \ - ((__VALUE__) == LL_I2C_OWNADDRESS1_10BIT)) -/** - * @} - */ - -/* Private function prototypes -----------------------------------------------*/ - -/* Exported functions --------------------------------------------------------*/ -/** @addtogroup I2C_LL_Exported_Functions - * @{ - */ - -/** @addtogroup I2C_LL_EF_Init - * @{ - */ - -/** - * @brief De-initialize the I2C registers to their default reset values. - * @param I2Cx I2C Instance. - * @retval An ErrorStatus enumeration value: - * - SUCCESS I2C registers are de-initialized - * - ERROR I2C registers are not de-initialized - */ -uint32_t LL_I2C_DeInit(I2C_TypeDef *I2Cx) -{ - ErrorStatus status = SUCCESS; - - /* Check the I2C Instance I2Cx */ - assert_param(IS_I2C_ALL_INSTANCE(I2Cx)); - - if (I2Cx == I2C1) - { - /* Force reset of I2C clock */ - LL_APB1_GRP1_ForceReset(LL_APB1_GRP1_PERIPH_I2C1); - - /* Release reset of I2C clock */ - LL_APB1_GRP1_ReleaseReset(LL_APB1_GRP1_PERIPH_I2C1); - } - else if (I2Cx == I2C2) - { - /* Force reset of I2C clock */ - LL_APB1_GRP1_ForceReset(LL_APB1_GRP1_PERIPH_I2C2); - - /* Release reset of I2C clock */ - LL_APB1_GRP1_ReleaseReset(LL_APB1_GRP1_PERIPH_I2C2); - - } -#if defined(I2C3) - else if (I2Cx == I2C3) - { - /* Force reset of I2C clock */ - LL_APB1_GRP1_ForceReset(LL_APB1_GRP1_PERIPH_I2C3); - - /* Release reset of I2C clock */ - LL_APB1_GRP1_ReleaseReset(LL_APB1_GRP1_PERIPH_I2C3); - } -#endif - else - { - status = ERROR; - } - - return status; -} - -/** - * @brief Initialize the I2C registers according to the specified parameters in I2C_InitStruct. - * @param I2Cx I2C Instance. - * @param I2C_InitStruct pointer to a @ref LL_I2C_InitTypeDef structure. - * @retval An ErrorStatus enumeration value: - * - SUCCESS I2C registers are initialized - * - ERROR Not applicable - */ -uint32_t LL_I2C_Init(I2C_TypeDef *I2Cx, LL_I2C_InitTypeDef *I2C_InitStruct) -{ - LL_RCC_ClocksTypeDef rcc_clocks; - - /* Check the I2C Instance I2Cx */ - assert_param(IS_I2C_ALL_INSTANCE(I2Cx)); - - /* Check the I2C parameters from I2C_InitStruct */ - assert_param(IS_LL_I2C_PERIPHERAL_MODE(I2C_InitStruct->PeripheralMode)); - assert_param(IS_LL_I2C_CLOCK_SPEED(I2C_InitStruct->ClockSpeed)); - assert_param(IS_LL_I2C_DUTY_CYCLE(I2C_InitStruct->DutyCycle)); -#if defined(I2C_FLTR_ANOFF)&&defined(I2C_FLTR_DNF) - assert_param(IS_LL_I2C_ANALOG_FILTER(I2C_InitStruct->AnalogFilter)); - assert_param(IS_LL_I2C_DIGITAL_FILTER(I2C_InitStruct->DigitalFilter)); -#endif - assert_param(IS_LL_I2C_OWN_ADDRESS1(I2C_InitStruct->OwnAddress1)); - assert_param(IS_LL_I2C_TYPE_ACKNOWLEDGE(I2C_InitStruct->TypeAcknowledge)); - assert_param(IS_LL_I2C_OWN_ADDRSIZE(I2C_InitStruct->OwnAddrSize)); - - /* Disable the selected I2Cx Peripheral */ - LL_I2C_Disable(I2Cx); - - /* Retrieve Clock frequencies */ - LL_RCC_GetSystemClocksFreq(&rcc_clocks); - -#if defined(I2C_FLTR_ANOFF)&&defined(I2C_FLTR_DNF) - /*---------------------------- I2Cx FLTR Configuration ----------------------- - * Configure the analog and digital noise filters with parameters : - * - AnalogFilter: I2C_FLTR_ANFOFF bit - * - DigitalFilter: I2C_FLTR_DNF[3:0] bits - */ - LL_I2C_ConfigFilters(I2Cx, I2C_InitStruct->AnalogFilter, I2C_InitStruct->DigitalFilter); - -#endif - /*---------------------------- I2Cx SCL Clock Speed Configuration ------------ - * Configure the SCL speed : - * - ClockSpeed: I2C_CR2_FREQ[5:0], I2C_TRISE_TRISE[5:0], I2C_CCR_FS, - * and I2C_CCR_CCR[11:0] bits - * - DutyCycle: I2C_CCR_DUTY[7:0] bits - */ - LL_I2C_ConfigSpeed(I2Cx, rcc_clocks.PCLK1_Frequency, I2C_InitStruct->ClockSpeed, I2C_InitStruct->DutyCycle); - - /*---------------------------- I2Cx OAR1 Configuration ----------------------- - * Disable, Configure and Enable I2Cx device own address 1 with parameters : - * - OwnAddress1: I2C_OAR1_ADD[9:8], I2C_OAR1_ADD[7:1] and I2C_OAR1_ADD0 bits - * - OwnAddrSize: I2C_OAR1_ADDMODE bit - */ - LL_I2C_SetOwnAddress1(I2Cx, I2C_InitStruct->OwnAddress1, I2C_InitStruct->OwnAddrSize); - - /*---------------------------- I2Cx MODE Configuration ----------------------- - * Configure I2Cx peripheral mode with parameter : - * - PeripheralMode: I2C_CR1_SMBUS, I2C_CR1_SMBTYPE and I2C_CR1_ENARP bits - */ - LL_I2C_SetMode(I2Cx, I2C_InitStruct->PeripheralMode); - - /* Enable the selected I2Cx Peripheral */ - LL_I2C_Enable(I2Cx); - - /*---------------------------- I2Cx CR2 Configuration ------------------------ - * Configure the ACKnowledge or Non ACKnowledge condition - * after the address receive match code or next received byte with parameter : - * - TypeAcknowledge: I2C_CR2_NACK bit - */ - LL_I2C_AcknowledgeNextData(I2Cx, I2C_InitStruct->TypeAcknowledge); - - return SUCCESS; -} - -/** - * @brief Set each @ref LL_I2C_InitTypeDef field to default value. - * @param I2C_InitStruct Pointer to a @ref LL_I2C_InitTypeDef structure. - * @retval None - */ -void LL_I2C_StructInit(LL_I2C_InitTypeDef *I2C_InitStruct) -{ - /* Set I2C_InitStruct fields to default values */ - I2C_InitStruct->PeripheralMode = LL_I2C_MODE_I2C; - I2C_InitStruct->ClockSpeed = 5000U; - I2C_InitStruct->DutyCycle = LL_I2C_DUTYCYCLE_2; -#if defined(I2C_FLTR_ANOFF)&&defined(I2C_FLTR_DNF) - I2C_InitStruct->AnalogFilter = LL_I2C_ANALOGFILTER_ENABLE; - I2C_InitStruct->DigitalFilter = 0U; -#endif - I2C_InitStruct->OwnAddress1 = 0U; - I2C_InitStruct->TypeAcknowledge = LL_I2C_NACK; - I2C_InitStruct->OwnAddrSize = LL_I2C_OWNADDRESS1_7BIT; -} - -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ - -#endif /* I2C1 || I2C2 || I2C3 */ - -/** - * @} - */ - -#endif /* USE_FULL_LL_DRIVER */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_lptim.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_lptim.c deleted file mode 100644 index 780961d58c63f5..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_lptim.c +++ /dev/null @@ -1,300 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_ll_lptim.c - * @author MCD Application Team - * @brief LPTIM LL module driver. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ -#if defined(USE_FULL_LL_DRIVER) - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_ll_lptim.h" -#include "stm32f4xx_ll_bus.h" -#include "stm32f4xx_ll_rcc.h" - - -#ifdef USE_FULL_ASSERT -#include "stm32_assert.h" -#else -#define assert_param(expr) ((void)0U) -#endif /* USE_FULL_ASSERT */ - -/** @addtogroup STM32F4xx_LL_Driver - * @{ - */ - -#if defined (LPTIM1) - -/** @addtogroup LPTIM_LL - * @{ - */ - -/* Private types -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private constants ---------------------------------------------------------*/ -/* Private macros ------------------------------------------------------------*/ -/** @addtogroup LPTIM_LL_Private_Macros - * @{ - */ -#define IS_LL_LPTIM_CLOCK_SOURCE(__VALUE__) (((__VALUE__) == LL_LPTIM_CLK_SOURCE_INTERNAL) \ - || ((__VALUE__) == LL_LPTIM_CLK_SOURCE_EXTERNAL)) - -#define IS_LL_LPTIM_CLOCK_PRESCALER(__VALUE__) (((__VALUE__) == LL_LPTIM_PRESCALER_DIV1) \ - || ((__VALUE__) == LL_LPTIM_PRESCALER_DIV2) \ - || ((__VALUE__) == LL_LPTIM_PRESCALER_DIV4) \ - || ((__VALUE__) == LL_LPTIM_PRESCALER_DIV8) \ - || ((__VALUE__) == LL_LPTIM_PRESCALER_DIV16) \ - || ((__VALUE__) == LL_LPTIM_PRESCALER_DIV32) \ - || ((__VALUE__) == LL_LPTIM_PRESCALER_DIV64) \ - || ((__VALUE__) == LL_LPTIM_PRESCALER_DIV128)) - -#define IS_LL_LPTIM_WAVEFORM(__VALUE__) (((__VALUE__) == LL_LPTIM_OUTPUT_WAVEFORM_PWM) \ - || ((__VALUE__) == LL_LPTIM_OUTPUT_WAVEFORM_SETONCE)) - -#define IS_LL_LPTIM_OUTPUT_POLARITY(__VALUE__) (((__VALUE__) == LL_LPTIM_OUTPUT_POLARITY_REGULAR) \ - || ((__VALUE__) == LL_LPTIM_OUTPUT_POLARITY_INVERSE)) -/** - * @} - */ - - -/* Private function prototypes -----------------------------------------------*/ -/* Private functions ---------------------------------------------------------*/ -/** @defgroup LPTIM_Private_Functions LPTIM Private Functions - * @{ - */ -/** - * @} - */ -/* Exported functions --------------------------------------------------------*/ -/** @addtogroup LPTIM_LL_Exported_Functions - * @{ - */ - -/** @addtogroup LPTIM_LL_EF_Init - * @{ - */ - -/** - * @brief Set LPTIMx registers to their reset values. - * @param LPTIMx LP Timer instance - * @retval An ErrorStatus enumeration value: - * - SUCCESS: LPTIMx registers are de-initialized - * - ERROR: invalid LPTIMx instance - */ -ErrorStatus LL_LPTIM_DeInit(LPTIM_TypeDef *LPTIMx) -{ - ErrorStatus result = SUCCESS; - - /* Check the parameters */ - assert_param(IS_LPTIM_INSTANCE(LPTIMx)); - - if (LPTIMx == LPTIM1) - { - LL_APB1_GRP1_ForceReset(LL_APB1_GRP1_PERIPH_LPTIM1); - LL_APB1_GRP1_ReleaseReset(LL_APB1_GRP1_PERIPH_LPTIM1); - } - else - { - result = ERROR; - } - - return result; -} - -/** - * @brief Set each fields of the LPTIM_InitStruct structure to its default - * value. - * @param LPTIM_InitStruct pointer to a @ref LL_LPTIM_InitTypeDef structure - * @retval None - */ -void LL_LPTIM_StructInit(LL_LPTIM_InitTypeDef *LPTIM_InitStruct) -{ - /* Set the default configuration */ - LPTIM_InitStruct->ClockSource = LL_LPTIM_CLK_SOURCE_INTERNAL; - LPTIM_InitStruct->Prescaler = LL_LPTIM_PRESCALER_DIV1; - LPTIM_InitStruct->Waveform = LL_LPTIM_OUTPUT_WAVEFORM_PWM; - LPTIM_InitStruct->Polarity = LL_LPTIM_OUTPUT_POLARITY_REGULAR; -} - -/** - * @brief Configure the LPTIMx peripheral according to the specified parameters. - * @note LL_LPTIM_Init can only be called when the LPTIM instance is disabled. - * @note LPTIMx can be disabled using unitary function @ref LL_LPTIM_Disable(). - * @param LPTIMx LP Timer Instance - * @param LPTIM_InitStruct pointer to a @ref LL_LPTIM_InitTypeDef structure - * @retval An ErrorStatus enumeration value: - * - SUCCESS: LPTIMx instance has been initialized - * - ERROR: LPTIMx instance hasn't been initialized - */ -ErrorStatus LL_LPTIM_Init(LPTIM_TypeDef *LPTIMx, LL_LPTIM_InitTypeDef *LPTIM_InitStruct) -{ - ErrorStatus result = SUCCESS; - /* Check the parameters */ - assert_param(IS_LPTIM_INSTANCE(LPTIMx)); - assert_param(IS_LL_LPTIM_CLOCK_SOURCE(LPTIM_InitStruct->ClockSource)); - assert_param(IS_LL_LPTIM_CLOCK_PRESCALER(LPTIM_InitStruct->Prescaler)); - assert_param(IS_LL_LPTIM_WAVEFORM(LPTIM_InitStruct->Waveform)); - assert_param(IS_LL_LPTIM_OUTPUT_POLARITY(LPTIM_InitStruct->Polarity)); - - /* The LPTIMx_CFGR register must only be modified when the LPTIM is disabled - (ENABLE bit is reset to 0). - */ - if (LL_LPTIM_IsEnabled(LPTIMx) == 1UL) - { - result = ERROR; - } - else - { - /* Set CKSEL bitfield according to ClockSource value */ - /* Set PRESC bitfield according to Prescaler value */ - /* Set WAVE bitfield according to Waveform value */ - /* Set WAVEPOL bitfield according to Polarity value */ - MODIFY_REG(LPTIMx->CFGR, - (LPTIM_CFGR_CKSEL | LPTIM_CFGR_PRESC | LPTIM_CFGR_WAVE | LPTIM_CFGR_WAVPOL), - LPTIM_InitStruct->ClockSource | \ - LPTIM_InitStruct->Prescaler | \ - LPTIM_InitStruct->Waveform | \ - LPTIM_InitStruct->Polarity); - } - - return result; -} - -/** - * @brief Disable the LPTIM instance - * @rmtoll CR ENABLE LL_LPTIM_Disable - * @param LPTIMx Low-Power Timer instance - * @note The following sequence is required to solve LPTIM disable HW limitation. - * Please check Errata Sheet ES0335 for more details under "MCU may remain - * stuck in LPTIM interrupt when entering Stop mode" section. - * @retval None - */ -void LL_LPTIM_Disable(LPTIM_TypeDef *LPTIMx) -{ - LL_RCC_ClocksTypeDef rcc_clock; - uint32_t tmpclksource = 0; - uint32_t tmpIER; - uint32_t tmpCFGR; - uint32_t tmpCMP; - uint32_t tmpARR; - uint32_t tmpOR; - - /* Check the parameters */ - assert_param(IS_LPTIM_INSTANCE(LPTIMx)); - - __disable_irq(); - - /********** Save LPTIM Config *********/ - /* Save LPTIM source clock */ - switch ((uint32_t)LPTIMx) - { - case LPTIM1_BASE: - tmpclksource = LL_RCC_GetLPTIMClockSource(LL_RCC_LPTIM1_CLKSOURCE); - break; - default: - break; - } - - /* Save LPTIM configuration registers */ - tmpIER = LPTIMx->IER; - tmpCFGR = LPTIMx->CFGR; - tmpCMP = LPTIMx->CMP; - tmpARR = LPTIMx->ARR; - tmpOR = LPTIMx->OR; - - /************* Reset LPTIM ************/ - (void)LL_LPTIM_DeInit(LPTIMx); - - /********* Restore LPTIM Config *******/ - LL_RCC_GetSystemClocksFreq(&rcc_clock); - - if ((tmpCMP != 0UL) || (tmpARR != 0UL)) - { - /* Force LPTIM source kernel clock from APB */ - switch ((uint32_t)LPTIMx) - { - case LPTIM1_BASE: - LL_RCC_SetLPTIMClockSource(LL_RCC_LPTIM1_CLKSOURCE_PCLK1); - break; - default: - break; - } - - if (tmpCMP != 0UL) - { - /* Restore CMP and ARR registers (LPTIM should be enabled first) */ - LPTIMx->CR |= LPTIM_CR_ENABLE; - LPTIMx->CMP = tmpCMP; - - /* Polling on CMP write ok status after above restore operation */ - do - { - rcc_clock.SYSCLK_Frequency--; /* Used for timeout */ - } while (((LL_LPTIM_IsActiveFlag_CMPOK(LPTIMx) != 1UL)) && ((rcc_clock.SYSCLK_Frequency) > 0UL)); - - LL_LPTIM_ClearFlag_CMPOK(LPTIMx); - } - - if (tmpARR != 0UL) - { - LPTIMx->CR |= LPTIM_CR_ENABLE; - LPTIMx->ARR = tmpARR; - - LL_RCC_GetSystemClocksFreq(&rcc_clock); - /* Polling on ARR write ok status after above restore operation */ - do - { - rcc_clock.SYSCLK_Frequency--; /* Used for timeout */ - } - while (((LL_LPTIM_IsActiveFlag_ARROK(LPTIMx) != 1UL)) && ((rcc_clock.SYSCLK_Frequency) > 0UL)); - - LL_LPTIM_ClearFlag_ARROK(LPTIMx); - } - - - /* Restore LPTIM source kernel clock */ - LL_RCC_SetLPTIMClockSource(tmpclksource); - } - - /* Restore configuration registers (LPTIM should be disabled first) */ - LPTIMx->CR &= ~(LPTIM_CR_ENABLE); - LPTIMx->IER = tmpIER; - LPTIMx->CFGR = tmpCFGR; - LPTIMx->OR = tmpOR; - - __enable_irq(); -} - -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ - -#endif /* LPTIM1 */ - -/** - * @} - */ - -#endif /* USE_FULL_LL_DRIVER */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_pwr.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_pwr.c deleted file mode 100644 index fe04bc44c935a6..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_pwr.c +++ /dev/null @@ -1,85 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_ll_pwr.c - * @author MCD Application Team - * @brief PWR LL module driver. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ -#if defined(USE_FULL_LL_DRIVER) - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_ll_pwr.h" -#include "stm32f4xx_ll_bus.h" - -/** @addtogroup STM32F4xx_LL_Driver - * @{ - */ - -#if defined(PWR) - -/** @defgroup PWR_LL PWR - * @{ - */ - -/* Private types -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private constants ---------------------------------------------------------*/ -/* Private macros ------------------------------------------------------------*/ -/* Private function prototypes -----------------------------------------------*/ - -/* Exported functions --------------------------------------------------------*/ -/** @addtogroup PWR_LL_Exported_Functions - * @{ - */ - -/** @addtogroup PWR_LL_EF_Init - * @{ - */ - -/** - * @brief De-initialize the PWR registers to their default reset values. - * @retval An ErrorStatus enumeration value: - * - SUCCESS: PWR registers are de-initialized - * - ERROR: not applicable - */ -ErrorStatus LL_PWR_DeInit(void) -{ - /* Force reset of PWR clock */ - LL_APB1_GRP1_ForceReset(LL_APB1_GRP1_PERIPH_PWR); - - /* Release reset of PWR clock */ - LL_APB1_GRP1_ReleaseReset(LL_APB1_GRP1_PERIPH_PWR); - - return SUCCESS; -} - -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ -#endif /* defined(PWR) */ -/** - * @} - */ - -#endif /* USE_FULL_LL_DRIVER */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_rcc.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_rcc.c deleted file mode 100644 index ea18adc325e78b..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_rcc.c +++ /dev/null @@ -1,1663 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_ll_rcc.c - * @author MCD Application Team - * @brief RCC LL module driver. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ -#if defined(USE_FULL_LL_DRIVER) - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_ll_rcc.h" -#ifdef USE_FULL_ASSERT - #include "stm32_assert.h" -#else - #define assert_param(expr) ((void)0U) -#endif -/** @addtogroup STM32F4xx_LL_Driver - * @{ - */ - -#if defined(RCC) - -/** @addtogroup RCC_LL - * @{ - */ - -/* Private types -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private constants ---------------------------------------------------------*/ -/* Private macros ------------------------------------------------------------*/ -/** @addtogroup RCC_LL_Private_Macros - * @{ - */ -#if defined(FMPI2C1) -#define IS_LL_RCC_FMPI2C_CLKSOURCE(__VALUE__) ((__VALUE__) == LL_RCC_FMPI2C1_CLKSOURCE) -#endif /* FMPI2C1 */ - -#if defined(LPTIM1) -#define IS_LL_RCC_LPTIM_CLKSOURCE(__VALUE__) (((__VALUE__) == LL_RCC_LPTIM1_CLKSOURCE)) -#endif /* LPTIM1 */ - -#if defined(SAI1) -#if defined(RCC_DCKCFGR_SAI1SRC) -#define IS_LL_RCC_SAI_CLKSOURCE(__VALUE__) (((__VALUE__) == LL_RCC_SAI1_CLKSOURCE) \ - || ((__VALUE__) == LL_RCC_SAI2_CLKSOURCE)) -#elif defined(RCC_DCKCFGR_SAI1ASRC) -#define IS_LL_RCC_SAI_CLKSOURCE(__VALUE__) (((__VALUE__) == LL_RCC_SAI1_A_CLKSOURCE) \ - || ((__VALUE__) == LL_RCC_SAI1_B_CLKSOURCE)) -#endif /* RCC_DCKCFGR_SAI1SRC */ -#endif /* SAI1 */ - -#if defined(SDIO) -#define IS_LL_RCC_SDIO_CLKSOURCE(__VALUE__) (((__VALUE__) == LL_RCC_SDIO_CLKSOURCE)) -#endif /* SDIO */ - -#if defined(RNG) -#define IS_LL_RCC_RNG_CLKSOURCE(__VALUE__) (((__VALUE__) == LL_RCC_RNG_CLKSOURCE)) -#endif /* RNG */ - -#if defined(USB_OTG_FS) || defined(USB_OTG_HS) -#define IS_LL_RCC_USB_CLKSOURCE(__VALUE__) (((__VALUE__) == LL_RCC_USB_CLKSOURCE)) -#endif /* USB_OTG_FS || USB_OTG_HS */ - -#if defined(DFSDM2_Channel0) -#define IS_LL_RCC_DFSDM_CLKSOURCE(__VALUE__) (((__VALUE__) == LL_RCC_DFSDM1_CLKSOURCE)) - -#define IS_LL_RCC_DFSDM_AUDIO_CLKSOURCE(__VALUE__) (((__VALUE__) == LL_RCC_DFSDM1_AUDIO_CLKSOURCE) \ - || ((__VALUE__) == LL_RCC_DFSDM2_AUDIO_CLKSOURCE)) -#elif defined(DFSDM1_Channel0) -#define IS_LL_RCC_DFSDM_CLKSOURCE(__VALUE__) (((__VALUE__) == LL_RCC_DFSDM1_CLKSOURCE)) - -#define IS_LL_RCC_DFSDM_AUDIO_CLKSOURCE(__VALUE__) (((__VALUE__) == LL_RCC_DFSDM1_AUDIO_CLKSOURCE)) -#endif /* DFSDM2_Channel0 */ - -#if defined(RCC_DCKCFGR_I2S2SRC) -#define IS_LL_RCC_I2S_CLKSOURCE(__VALUE__) (((__VALUE__) == LL_RCC_I2S1_CLKSOURCE) \ - || ((__VALUE__) == LL_RCC_I2S2_CLKSOURCE)) -#else -#define IS_LL_RCC_I2S_CLKSOURCE(__VALUE__) (((__VALUE__) == LL_RCC_I2S1_CLKSOURCE)) -#endif /* RCC_DCKCFGR_I2S2SRC */ - -#if defined(CEC) -#define IS_LL_RCC_CEC_CLKSOURCE(__VALUE__) (((__VALUE__) == LL_RCC_CEC_CLKSOURCE)) -#endif /* CEC */ - -#if defined(DSI) -#define IS_LL_RCC_DSI_CLKSOURCE(__VALUE__) (((__VALUE__) == LL_RCC_DSI_CLKSOURCE)) -#endif /* DSI */ - -#if defined(LTDC) -#define IS_LL_RCC_LTDC_CLKSOURCE(__VALUE__) (((__VALUE__) == LL_RCC_LTDC_CLKSOURCE)) -#endif /* LTDC */ - -#if defined(SPDIFRX) -#define IS_LL_RCC_SPDIFRX_CLKSOURCE(__VALUE__) (((__VALUE__) == LL_RCC_SPDIFRX1_CLKSOURCE)) -#endif /* SPDIFRX */ -/** - * @} - */ - -/* Private function prototypes -----------------------------------------------*/ -/** @defgroup RCC_LL_Private_Functions RCC Private functions - * @{ - */ -uint32_t RCC_GetSystemClockFreq(void); -uint32_t RCC_GetHCLKClockFreq(uint32_t SYSCLK_Frequency); -uint32_t RCC_GetPCLK1ClockFreq(uint32_t HCLK_Frequency); -uint32_t RCC_GetPCLK2ClockFreq(uint32_t HCLK_Frequency); -uint32_t RCC_PLL_GetFreqDomain_SYS(uint32_t SYSCLK_Source); -uint32_t RCC_PLL_GetFreqDomain_48M(void); -#if defined(RCC_DCKCFGR_I2SSRC) || defined(RCC_DCKCFGR_I2S1SRC) -uint32_t RCC_PLL_GetFreqDomain_I2S(void); -#endif /* RCC_DCKCFGR_I2SSRC || RCC_DCKCFGR_I2S1SRC */ -#if defined(SPDIFRX) -uint32_t RCC_PLL_GetFreqDomain_SPDIFRX(void); -#endif /* SPDIFRX */ -#if defined(RCC_PLLCFGR_PLLR) -#if defined(SAI1) -uint32_t RCC_PLL_GetFreqDomain_SAI(void); -#endif /* SAI1 */ -#endif /* RCC_PLLCFGR_PLLR */ -#if defined(DSI) -uint32_t RCC_PLL_GetFreqDomain_DSI(void); -#endif /* DSI */ -#if defined(RCC_PLLSAI_SUPPORT) -uint32_t RCC_PLLSAI_GetFreqDomain_SAI(void); -#if defined(RCC_PLLSAICFGR_PLLSAIP) -uint32_t RCC_PLLSAI_GetFreqDomain_48M(void); -#endif /* RCC_PLLSAICFGR_PLLSAIP */ -#if defined(LTDC) -uint32_t RCC_PLLSAI_GetFreqDomain_LTDC(void); -#endif /* LTDC */ -#endif /* RCC_PLLSAI_SUPPORT */ -#if defined(RCC_PLLI2S_SUPPORT) -uint32_t RCC_PLLI2S_GetFreqDomain_I2S(void); -#if defined(RCC_PLLI2SCFGR_PLLI2SQ) && !defined(RCC_DCKCFGR_PLLI2SDIVQ) -uint32_t RCC_PLLI2S_GetFreqDomain_48M(void); -#endif /* RCC_PLLI2SCFGR_PLLI2SQ && !RCC_DCKCFGR_PLLI2SDIVQ */ -#if defined(SAI1) -uint32_t RCC_PLLI2S_GetFreqDomain_SAI(void); -#endif /* SAI1 */ -#if defined(SPDIFRX) -uint32_t RCC_PLLI2S_GetFreqDomain_SPDIFRX(void); -#endif /* SPDIFRX */ -#endif /* RCC_PLLI2S_SUPPORT */ -/** - * @} - */ - - -/* Exported functions --------------------------------------------------------*/ -/** @addtogroup RCC_LL_Exported_Functions - * @{ - */ - -/** @addtogroup RCC_LL_EF_Init - * @{ - */ - -/** - * @brief Reset the RCC clock configuration to the default reset state. - * @note The default reset state of the clock configuration is given below: - * - HSI ON and used as system clock source - * - HSE and PLL OFF - * - AHB, APB1 and APB2 prescaler set to 1. - * - CSS, MCO OFF - * - All interrupts disabled - * @note This function doesn't modify the configuration of the - * - Peripheral clocks - * - LSI, LSE and RTC clocks - * @retval An ErrorStatus enumeration value: - * - SUCCESS: RCC registers are de-initialized - * - ERROR: not applicable - */ -ErrorStatus LL_RCC_DeInit(void) -{ - __IO uint32_t vl_mask; - - /* Set HSION bit */ - LL_RCC_HSI_Enable(); - - /* Wait for HSI READY bit */ - while(LL_RCC_HSI_IsReady() != 1U) - {} - - /* Reset CFGR register */ - LL_RCC_WriteReg(CFGR, 0x00000000U); - - /* Read CR register */ - vl_mask = LL_RCC_ReadReg(CR); - - /* Reset HSEON, HSEBYP, PLLON, CSSON bits */ - CLEAR_BIT(vl_mask, - (RCC_CR_HSEON | RCC_CR_HSEBYP | RCC_CR_PLLON | RCC_CR_CSSON)); - -#if defined(RCC_PLLSAI_SUPPORT) - /* Reset PLLSAION bit */ - CLEAR_BIT(vl_mask, RCC_CR_PLLSAION); -#endif /* RCC_PLLSAI_SUPPORT */ - -#if defined(RCC_PLLI2S_SUPPORT) - /* Reset PLLI2SON bit */ - CLEAR_BIT(vl_mask, RCC_CR_PLLI2SON); -#endif /* RCC_PLLI2S_SUPPORT */ - - /* Write new value in CR register */ - LL_RCC_WriteReg(CR, vl_mask); - - /* Set HSITRIM bits to the reset value*/ - LL_RCC_HSI_SetCalibTrimming(0x10U); - - /* Wait for PLL READY bit to be reset */ - while(LL_RCC_PLL_IsReady() != 0U) - {} - - /* Reset PLLCFGR register */ - LL_RCC_WriteReg(PLLCFGR, RCC_PLLCFGR_RST_VALUE); - -#if defined(RCC_PLLI2S_SUPPORT) - /* Reset PLLI2SCFGR register */ - LL_RCC_WriteReg(PLLI2SCFGR, RCC_PLLI2SCFGR_RST_VALUE); -#endif /* RCC_PLLI2S_SUPPORT */ - -#if defined(RCC_PLLSAI_SUPPORT) - /* Reset PLLSAICFGR register */ - LL_RCC_WriteReg(PLLSAICFGR, RCC_PLLSAICFGR_RST_VALUE); -#endif /* RCC_PLLSAI_SUPPORT */ - - /* Disable all interrupts */ - CLEAR_BIT(RCC->CIR, RCC_CIR_LSIRDYIE | RCC_CIR_LSERDYIE | RCC_CIR_HSIRDYIE | RCC_CIR_HSERDYIE | RCC_CIR_PLLRDYIE); - -#if defined(RCC_CIR_PLLI2SRDYIE) - CLEAR_BIT(RCC->CIR, RCC_CIR_PLLI2SRDYIE); -#endif /* RCC_CIR_PLLI2SRDYIE */ - -#if defined(RCC_CIR_PLLSAIRDYIE) - CLEAR_BIT(RCC->CIR, RCC_CIR_PLLSAIRDYIE); -#endif /* RCC_CIR_PLLSAIRDYIE */ - - /* Clear all interrupt flags */ - SET_BIT(RCC->CIR, RCC_CIR_LSIRDYC | RCC_CIR_LSERDYC | RCC_CIR_HSIRDYC | RCC_CIR_HSERDYC | RCC_CIR_PLLRDYC | RCC_CIR_CSSC); - -#if defined(RCC_CIR_PLLI2SRDYC) - SET_BIT(RCC->CIR, RCC_CIR_PLLI2SRDYC); -#endif /* RCC_CIR_PLLI2SRDYC */ - -#if defined(RCC_CIR_PLLSAIRDYC) - SET_BIT(RCC->CIR, RCC_CIR_PLLSAIRDYC); -#endif /* RCC_CIR_PLLSAIRDYC */ - - /* Clear LSION bit */ - CLEAR_BIT(RCC->CSR, RCC_CSR_LSION); - - /* Reset all CSR flags */ - SET_BIT(RCC->CSR, RCC_CSR_RMVF); - - return SUCCESS; -} - -/** - * @} - */ - -/** @addtogroup RCC_LL_EF_Get_Freq - * @brief Return the frequencies of different on chip clocks; System, AHB, APB1 and APB2 buses clocks - * and different peripheral clocks available on the device. - * @note If SYSCLK source is HSI, function returns values based on HSI_VALUE(**) - * @note If SYSCLK source is HSE, function returns values based on HSE_VALUE(***) - * @note If SYSCLK source is PLL, function returns values based on HSE_VALUE(***) - * or HSI_VALUE(**) multiplied/divided by the PLL factors. - * @note (**) HSI_VALUE is a constant defined in this file (default value - * 16 MHz) but the real value may vary depending on the variations - * in voltage and temperature. - * @note (***) HSE_VALUE is a constant defined in this file (default value - * 25 MHz), user has to ensure that HSE_VALUE is same as the real - * frequency of the crystal used. Otherwise, this function may - * have wrong result. - * @note The result of this function could be incorrect when using fractional - * value for HSE crystal. - * @note This function can be used by the user application to compute the - * baud-rate for the communication peripherals or configure other parameters. - * @{ - */ - -/** - * @brief Return the frequencies of different on chip clocks; System, AHB, APB1 and APB2 buses clocks - * @note Each time SYSCLK, HCLK, PCLK1 and/or PCLK2 clock changes, this function - * must be called to update structure fields. Otherwise, any - * configuration based on this function will be incorrect. - * @param RCC_Clocks pointer to a @ref LL_RCC_ClocksTypeDef structure which will hold the clocks frequencies - * @retval None - */ -void LL_RCC_GetSystemClocksFreq(LL_RCC_ClocksTypeDef *RCC_Clocks) -{ - /* Get SYSCLK frequency */ - RCC_Clocks->SYSCLK_Frequency = RCC_GetSystemClockFreq(); - - /* HCLK clock frequency */ - RCC_Clocks->HCLK_Frequency = RCC_GetHCLKClockFreq(RCC_Clocks->SYSCLK_Frequency); - - /* PCLK1 clock frequency */ - RCC_Clocks->PCLK1_Frequency = RCC_GetPCLK1ClockFreq(RCC_Clocks->HCLK_Frequency); - - /* PCLK2 clock frequency */ - RCC_Clocks->PCLK2_Frequency = RCC_GetPCLK2ClockFreq(RCC_Clocks->HCLK_Frequency); -} - -#if defined(FMPI2C1) -/** - * @brief Return FMPI2Cx clock frequency - * @param FMPI2CxSource This parameter can be one of the following values: - * @arg @ref LL_RCC_FMPI2C1_CLKSOURCE - * @retval FMPI2C clock frequency (in Hz) - * - @ref LL_RCC_PERIPH_FREQUENCY_NO indicates that HSI oscillator is not ready - */ -uint32_t LL_RCC_GetFMPI2CClockFreq(uint32_t FMPI2CxSource) -{ - uint32_t FMPI2C_frequency = LL_RCC_PERIPH_FREQUENCY_NO; - - /* Check parameter */ - assert_param(IS_LL_RCC_FMPI2C_CLKSOURCE(FMPI2CxSource)); - - if (FMPI2CxSource == LL_RCC_FMPI2C1_CLKSOURCE) - { - /* FMPI2C1 CLK clock frequency */ - switch (LL_RCC_GetFMPI2CClockSource(FMPI2CxSource)) - { - case LL_RCC_FMPI2C1_CLKSOURCE_SYSCLK: /* FMPI2C1 Clock is System Clock */ - FMPI2C_frequency = RCC_GetSystemClockFreq(); - break; - - case LL_RCC_FMPI2C1_CLKSOURCE_HSI: /* FMPI2C1 Clock is HSI Osc. */ - if (LL_RCC_HSI_IsReady()) - { - FMPI2C_frequency = HSI_VALUE; - } - break; - - case LL_RCC_FMPI2C1_CLKSOURCE_PCLK1: /* FMPI2C1 Clock is PCLK1 */ - default: - FMPI2C_frequency = RCC_GetPCLK1ClockFreq(RCC_GetHCLKClockFreq(RCC_GetSystemClockFreq())); - break; - } - } - - return FMPI2C_frequency; -} -#endif /* FMPI2C1 */ - -/** - * @brief Return I2Sx clock frequency - * @param I2SxSource This parameter can be one of the following values: - * @arg @ref LL_RCC_I2S1_CLKSOURCE - * @arg @ref LL_RCC_I2S2_CLKSOURCE (*) - * - * (*) value not defined in all devices. - * @retval I2S clock frequency (in Hz) - * - @ref LL_RCC_PERIPH_FREQUENCY_NO indicates that oscillator is not ready - */ -uint32_t LL_RCC_GetI2SClockFreq(uint32_t I2SxSource) -{ - uint32_t i2s_frequency = LL_RCC_PERIPH_FREQUENCY_NO; - - /* Check parameter */ - assert_param(IS_LL_RCC_I2S_CLKSOURCE(I2SxSource)); - - if (I2SxSource == LL_RCC_I2S1_CLKSOURCE) - { - /* I2S1 CLK clock frequency */ - switch (LL_RCC_GetI2SClockSource(I2SxSource)) - { -#if defined(RCC_PLLI2S_SUPPORT) - case LL_RCC_I2S1_CLKSOURCE_PLLI2S: /* I2S1 Clock is PLLI2S */ - if (LL_RCC_PLLI2S_IsReady()) - { - i2s_frequency = RCC_PLLI2S_GetFreqDomain_I2S(); - } - break; -#endif /* RCC_PLLI2S_SUPPORT */ - -#if defined(RCC_DCKCFGR_I2SSRC) || defined(RCC_DCKCFGR_I2S1SRC) - case LL_RCC_I2S1_CLKSOURCE_PLL: /* I2S1 Clock is PLL */ - if (LL_RCC_PLL_IsReady()) - { - i2s_frequency = RCC_PLL_GetFreqDomain_I2S(); - } - break; - - case LL_RCC_I2S1_CLKSOURCE_PLLSRC: /* I2S1 Clock is PLL Main source */ - switch (LL_RCC_PLL_GetMainSource()) - { - case LL_RCC_PLLSOURCE_HSE: /* I2S1 Clock is HSE Osc. */ - if (LL_RCC_HSE_IsReady()) - { - i2s_frequency = HSE_VALUE; - } - break; - - case LL_RCC_PLLSOURCE_HSI: /* I2S1 Clock is HSI Osc. */ - default: - if (LL_RCC_HSI_IsReady()) - { - i2s_frequency = HSI_VALUE; - } - break; - } - break; -#endif /* RCC_DCKCFGR_I2SSRC || RCC_DCKCFGR_I2S1SRC */ - - case LL_RCC_I2S1_CLKSOURCE_PIN: /* I2S1 Clock is External clock */ - default: - i2s_frequency = EXTERNAL_CLOCK_VALUE; - break; - } - } -#if defined(RCC_DCKCFGR_I2S2SRC) - else - { - /* I2S2 CLK clock frequency */ - switch (LL_RCC_GetI2SClockSource(I2SxSource)) - { - case LL_RCC_I2S2_CLKSOURCE_PLLI2S: /* I2S2 Clock is PLLI2S */ - if (LL_RCC_PLLI2S_IsReady()) - { - i2s_frequency = RCC_PLLI2S_GetFreqDomain_I2S(); - } - break; - - case LL_RCC_I2S2_CLKSOURCE_PLL: /* I2S2 Clock is PLL */ - if (LL_RCC_PLL_IsReady()) - { - i2s_frequency = RCC_PLL_GetFreqDomain_I2S(); - } - break; - - case LL_RCC_I2S2_CLKSOURCE_PLLSRC: /* I2S2 Clock is PLL Main source */ - switch (LL_RCC_PLL_GetMainSource()) - { - case LL_RCC_PLLSOURCE_HSE: /* I2S2 Clock is HSE Osc. */ - if (LL_RCC_HSE_IsReady()) - { - i2s_frequency = HSE_VALUE; - } - break; - - case LL_RCC_PLLSOURCE_HSI: /* I2S2 Clock is HSI Osc. */ - default: - if (LL_RCC_HSI_IsReady()) - { - i2s_frequency = HSI_VALUE; - } - break; - } - break; - - case LL_RCC_I2S2_CLKSOURCE_PIN: /* I2S2 Clock is External clock */ - default: - i2s_frequency = EXTERNAL_CLOCK_VALUE; - break; - } - } -#endif /* RCC_DCKCFGR_I2S2SRC */ - - return i2s_frequency; -} - -#if defined(LPTIM1) -/** - * @brief Return LPTIMx clock frequency - * @param LPTIMxSource This parameter can be one of the following values: - * @arg @ref LL_RCC_LPTIM1_CLKSOURCE - * @retval LPTIM clock frequency (in Hz) - * - @ref LL_RCC_PERIPH_FREQUENCY_NO indicates that oscillator (HSI, LSI or LSE) is not ready - */ -uint32_t LL_RCC_GetLPTIMClockFreq(uint32_t LPTIMxSource) -{ - uint32_t lptim_frequency = LL_RCC_PERIPH_FREQUENCY_NO; - - /* Check parameter */ - assert_param(IS_LL_RCC_LPTIM_CLKSOURCE(LPTIMxSource)); - - if (LPTIMxSource == LL_RCC_LPTIM1_CLKSOURCE) - { - /* LPTIM1CLK clock frequency */ - switch (LL_RCC_GetLPTIMClockSource(LPTIMxSource)) - { - case LL_RCC_LPTIM1_CLKSOURCE_LSI: /* LPTIM1 Clock is LSI Osc. */ - if (LL_RCC_LSI_IsReady()) - { - lptim_frequency = LSI_VALUE; - } - break; - - case LL_RCC_LPTIM1_CLKSOURCE_HSI: /* LPTIM1 Clock is HSI Osc. */ - if (LL_RCC_HSI_IsReady()) - { - lptim_frequency = HSI_VALUE; - } - break; - - case LL_RCC_LPTIM1_CLKSOURCE_LSE: /* LPTIM1 Clock is LSE Osc. */ - if (LL_RCC_LSE_IsReady()) - { - lptim_frequency = LSE_VALUE; - } - break; - - case LL_RCC_LPTIM1_CLKSOURCE_PCLK1: /* LPTIM1 Clock is PCLK1 */ - default: - lptim_frequency = RCC_GetPCLK1ClockFreq(RCC_GetHCLKClockFreq(RCC_GetSystemClockFreq())); - break; - } - } - - return lptim_frequency; -} -#endif /* LPTIM1 */ - -#if defined(SAI1) -/** - * @brief Return SAIx clock frequency - * @param SAIxSource This parameter can be one of the following values: - * @arg @ref LL_RCC_SAI1_CLKSOURCE (*) - * @arg @ref LL_RCC_SAI2_CLKSOURCE (*) - * @arg @ref LL_RCC_SAI1_A_CLKSOURCE (*) - * @arg @ref LL_RCC_SAI1_B_CLKSOURCE (*) - * - * (*) value not defined in all devices. - * @retval SAI clock frequency (in Hz) - * - @ref LL_RCC_PERIPH_FREQUENCY_NO indicates that oscillator is not ready - */ -uint32_t LL_RCC_GetSAIClockFreq(uint32_t SAIxSource) -{ - uint32_t sai_frequency = LL_RCC_PERIPH_FREQUENCY_NO; - - /* Check parameter */ - assert_param(IS_LL_RCC_SAI_CLKSOURCE(SAIxSource)); - -#if defined(RCC_DCKCFGR_SAI1SRC) - if ((SAIxSource == LL_RCC_SAI1_CLKSOURCE) || (SAIxSource == LL_RCC_SAI2_CLKSOURCE)) - { - /* SAI1CLK clock frequency */ - switch (LL_RCC_GetSAIClockSource(SAIxSource)) - { - case LL_RCC_SAI1_CLKSOURCE_PLLSAI: /* PLLSAI clock used as SAI1 clock source */ - case LL_RCC_SAI2_CLKSOURCE_PLLSAI: /* PLLSAI clock used as SAI2 clock source */ - if (LL_RCC_PLLSAI_IsReady()) - { - sai_frequency = RCC_PLLSAI_GetFreqDomain_SAI(); - } - break; - - case LL_RCC_SAI1_CLKSOURCE_PLLI2S: /* PLLI2S clock used as SAI1 clock source */ - case LL_RCC_SAI2_CLKSOURCE_PLLI2S: /* PLLI2S clock used as SAI2 clock source */ - if (LL_RCC_PLLI2S_IsReady()) - { - sai_frequency = RCC_PLLI2S_GetFreqDomain_SAI(); - } - break; - - case LL_RCC_SAI1_CLKSOURCE_PLL: /* PLL clock used as SAI1 clock source */ - case LL_RCC_SAI2_CLKSOURCE_PLL: /* PLL clock used as SAI2 clock source */ - if (LL_RCC_PLL_IsReady()) - { - sai_frequency = RCC_PLL_GetFreqDomain_SAI(); - } - break; - - case LL_RCC_SAI2_CLKSOURCE_PLLSRC: - switch (LL_RCC_PLL_GetMainSource()) - { - case LL_RCC_PLLSOURCE_HSE: /* HSE clock used as SAI2 clock source */ - if (LL_RCC_HSE_IsReady()) - { - sai_frequency = HSE_VALUE; - } - break; - - case LL_RCC_PLLSOURCE_HSI: /* HSI clock used as SAI2 clock source */ - default: - if (LL_RCC_HSI_IsReady()) - { - sai_frequency = HSI_VALUE; - } - break; - } - break; - - case LL_RCC_SAI1_CLKSOURCE_PIN: /* External input clock used as SAI1 clock source */ - default: - sai_frequency = EXTERNAL_CLOCK_VALUE; - break; - } - } -#endif /* RCC_DCKCFGR_SAI1SRC */ -#if defined(RCC_DCKCFGR_SAI1ASRC) - if ((SAIxSource == LL_RCC_SAI1_A_CLKSOURCE) || (SAIxSource == LL_RCC_SAI1_B_CLKSOURCE)) - { - /* SAI1CLK clock frequency */ - switch (LL_RCC_GetSAIClockSource(SAIxSource)) - { -#if defined(RCC_PLLSAI_SUPPORT) - case LL_RCC_SAI1_A_CLKSOURCE_PLLSAI: /* PLLSAI clock used as SAI1 Block A clock source */ - case LL_RCC_SAI1_B_CLKSOURCE_PLLSAI: /* PLLSAI clock used as SAI1 Block B clock source */ - if (LL_RCC_PLLSAI_IsReady()) - { - sai_frequency = RCC_PLLSAI_GetFreqDomain_SAI(); - } - break; -#endif /* RCC_PLLSAI_SUPPORT */ - - case LL_RCC_SAI1_A_CLKSOURCE_PLLI2S: /* PLLI2S clock used as SAI1 Block A clock source */ - case LL_RCC_SAI1_B_CLKSOURCE_PLLI2S: /* PLLI2S clock used as SAI1 Block B clock source */ - if (LL_RCC_PLLI2S_IsReady()) - { - sai_frequency = RCC_PLLI2S_GetFreqDomain_SAI(); - } - break; - -#if defined(RCC_SAI1A_PLLSOURCE_SUPPORT) - case LL_RCC_SAI1_A_CLKSOURCE_PLL: /* PLL clock used as SAI1 Block A clock source */ - case LL_RCC_SAI1_B_CLKSOURCE_PLL: /* PLL clock used as SAI1 Block B clock source */ - if (LL_RCC_PLL_IsReady()) - { - sai_frequency = RCC_PLL_GetFreqDomain_SAI(); - } - break; - - case LL_RCC_SAI1_A_CLKSOURCE_PLLSRC: - case LL_RCC_SAI1_B_CLKSOURCE_PLLSRC: - switch (LL_RCC_PLL_GetMainSource()) - { - case LL_RCC_PLLSOURCE_HSE: /* HSE clock used as SAI1 Block A or B clock source */ - if (LL_RCC_HSE_IsReady()) - { - sai_frequency = HSE_VALUE; - } - break; - - case LL_RCC_PLLSOURCE_HSI: /* HSI clock used as SAI1 Block A or B clock source */ - default: - if (LL_RCC_HSI_IsReady()) - { - sai_frequency = HSI_VALUE; - } - break; - } - break; -#endif /* RCC_SAI1A_PLLSOURCE_SUPPORT */ - - case LL_RCC_SAI1_A_CLKSOURCE_PIN: /* External input clock used as SAI1 Block A clock source */ - case LL_RCC_SAI1_B_CLKSOURCE_PIN: /* External input clock used as SAI1 Block B clock source */ - default: - sai_frequency = EXTERNAL_CLOCK_VALUE; - break; - } - } -#endif /* RCC_DCKCFGR_SAI1ASRC */ - - return sai_frequency; -} -#endif /* SAI1 */ - -#if defined(SDIO) -/** - * @brief Return SDIOx clock frequency - * @param SDIOxSource This parameter can be one of the following values: - * @arg @ref LL_RCC_SDIO_CLKSOURCE - * @retval SDIO clock frequency (in Hz) - * - @ref LL_RCC_PERIPH_FREQUENCY_NO indicates that oscillator is not ready - */ -uint32_t LL_RCC_GetSDIOClockFreq(uint32_t SDIOxSource) -{ - uint32_t SDIO_frequency = LL_RCC_PERIPH_FREQUENCY_NO; - - /* Check parameter */ - assert_param(IS_LL_RCC_SDIO_CLKSOURCE(SDIOxSource)); - - if (SDIOxSource == LL_RCC_SDIO_CLKSOURCE) - { -#if defined(RCC_DCKCFGR_SDIOSEL) || defined(RCC_DCKCFGR2_SDIOSEL) - /* SDIOCLK clock frequency */ - switch (LL_RCC_GetSDIOClockSource(SDIOxSource)) - { - case LL_RCC_SDIO_CLKSOURCE_PLL48CLK: /* PLL48M clock used as SDIO clock source */ - switch (LL_RCC_GetCK48MClockSource(LL_RCC_CK48M_CLKSOURCE)) - { - case LL_RCC_CK48M_CLKSOURCE_PLL: /* PLL clock used as 48Mhz domain clock */ - if (LL_RCC_PLL_IsReady()) - { - SDIO_frequency = RCC_PLL_GetFreqDomain_48M(); - } - break; - -#if defined(RCC_PLLSAI_SUPPORT) - case LL_RCC_CK48M_CLKSOURCE_PLLSAI: /* PLLSAI clock used as 48Mhz domain clock */ - default: - if (LL_RCC_PLLSAI_IsReady()) - { - SDIO_frequency = RCC_PLLSAI_GetFreqDomain_48M(); - } - break; -#endif /* RCC_PLLSAI_SUPPORT */ - -#if defined(RCC_PLLI2SCFGR_PLLI2SQ) && !defined(RCC_DCKCFGR_PLLI2SDIVQ) - case LL_RCC_CK48M_CLKSOURCE_PLLI2S: /* PLLI2S clock used as 48Mhz domain clock */ - default: - if (LL_RCC_PLLI2S_IsReady()) - { - SDIO_frequency = RCC_PLLI2S_GetFreqDomain_48M(); - } - break; -#endif /* RCC_PLLI2SCFGR_PLLI2SQ && !RCC_DCKCFGR_PLLI2SDIVQ */ - } - break; - - case LL_RCC_SDIO_CLKSOURCE_SYSCLK: /* PLL clock used as SDIO clock source */ - default: - SDIO_frequency = RCC_GetSystemClockFreq(); - break; - } -#else - /* PLL clock used as 48Mhz domain clock */ - if (LL_RCC_PLL_IsReady()) - { - SDIO_frequency = RCC_PLL_GetFreqDomain_48M(); - } -#endif /* RCC_DCKCFGR_SDIOSEL || RCC_DCKCFGR2_SDIOSEL */ - } - - return SDIO_frequency; -} -#endif /* SDIO */ - -#if defined(RNG) -/** - * @brief Return RNGx clock frequency - * @param RNGxSource This parameter can be one of the following values: - * @arg @ref LL_RCC_RNG_CLKSOURCE - * @retval RNG clock frequency (in Hz) - * - @ref LL_RCC_PERIPH_FREQUENCY_NO indicates that oscillator is not ready - */ -uint32_t LL_RCC_GetRNGClockFreq(uint32_t RNGxSource) -{ - uint32_t rng_frequency = LL_RCC_PERIPH_FREQUENCY_NO; - - /* Check parameter */ - assert_param(IS_LL_RCC_RNG_CLKSOURCE(RNGxSource)); - -#if defined(RCC_DCKCFGR_CK48MSEL) || defined(RCC_DCKCFGR2_CK48MSEL) - /* RNGCLK clock frequency */ - switch (LL_RCC_GetRNGClockSource(RNGxSource)) - { -#if defined(RCC_PLLI2SCFGR_PLLI2SQ) && !defined(RCC_DCKCFGR_PLLI2SDIVQ) - case LL_RCC_RNG_CLKSOURCE_PLLI2S: /* PLLI2S clock used as RNG clock source */ - if (LL_RCC_PLLI2S_IsReady()) - { - rng_frequency = RCC_PLLI2S_GetFreqDomain_48M(); - } - break; -#endif /* RCC_PLLI2SCFGR_PLLI2SQ && !RCC_DCKCFGR_PLLI2SDIVQ */ - -#if defined(RCC_PLLSAI_SUPPORT) - case LL_RCC_RNG_CLKSOURCE_PLLSAI: /* PLLSAI clock used as RNG clock source */ - if (LL_RCC_PLLSAI_IsReady()) - { - rng_frequency = RCC_PLLSAI_GetFreqDomain_48M(); - } - break; -#endif /* RCC_PLLSAI_SUPPORT */ - - case LL_RCC_RNG_CLKSOURCE_PLL: /* PLL clock used as RNG clock source */ - default: - if (LL_RCC_PLL_IsReady()) - { - rng_frequency = RCC_PLL_GetFreqDomain_48M(); - } - break; - } -#else - /* PLL clock used as RNG clock source */ - if (LL_RCC_PLL_IsReady()) - { - rng_frequency = RCC_PLL_GetFreqDomain_48M(); - } -#endif /* RCC_DCKCFGR_CK48MSEL || RCC_DCKCFGR2_CK48MSEL */ - - return rng_frequency; -} -#endif /* RNG */ - -#if defined(CEC) -/** - * @brief Return CEC clock frequency - * @param CECxSource This parameter can be one of the following values: - * @arg @ref LL_RCC_CEC_CLKSOURCE - * @retval CEC clock frequency (in Hz) - * - @ref LL_RCC_PERIPH_FREQUENCY_NO indicates that oscillator (HSI or LSE) is not ready - */ -uint32_t LL_RCC_GetCECClockFreq(uint32_t CECxSource) -{ - uint32_t cec_frequency = LL_RCC_PERIPH_FREQUENCY_NO; - - /* Check parameter */ - assert_param(IS_LL_RCC_CEC_CLKSOURCE(CECxSource)); - - /* CECCLK clock frequency */ - switch (LL_RCC_GetCECClockSource(CECxSource)) - { - case LL_RCC_CEC_CLKSOURCE_LSE: /* CEC Clock is LSE Osc. */ - if (LL_RCC_LSE_IsReady()) - { - cec_frequency = LSE_VALUE; - } - break; - - case LL_RCC_CEC_CLKSOURCE_HSI_DIV488: /* CEC Clock is HSI Osc. */ - default: - if (LL_RCC_HSI_IsReady()) - { - cec_frequency = HSI_VALUE/488U; - } - break; - } - - return cec_frequency; -} -#endif /* CEC */ - -#if defined(USB_OTG_FS) || defined(USB_OTG_HS) -/** - * @brief Return USBx clock frequency - * @param USBxSource This parameter can be one of the following values: - * @arg @ref LL_RCC_USB_CLKSOURCE - * @retval USB clock frequency (in Hz) - * - @ref LL_RCC_PERIPH_FREQUENCY_NO indicates that oscillator is not ready - */ -uint32_t LL_RCC_GetUSBClockFreq(uint32_t USBxSource) -{ - uint32_t usb_frequency = LL_RCC_PERIPH_FREQUENCY_NO; - - /* Check parameter */ - assert_param(IS_LL_RCC_USB_CLKSOURCE(USBxSource)); - -#if defined(RCC_DCKCFGR_CK48MSEL) || defined(RCC_DCKCFGR2_CK48MSEL) - /* USBCLK clock frequency */ - switch (LL_RCC_GetUSBClockSource(USBxSource)) - { -#if defined(RCC_PLLI2SCFGR_PLLI2SQ) && !defined(RCC_DCKCFGR_PLLI2SDIVQ) - case LL_RCC_USB_CLKSOURCE_PLLI2S: /* PLLI2S clock used as USB clock source */ - if (LL_RCC_PLLI2S_IsReady()) - { - usb_frequency = RCC_PLLI2S_GetFreqDomain_48M(); - } - break; - -#endif /* RCC_PLLI2SCFGR_PLLI2SQ && !RCC_DCKCFGR_PLLI2SDIVQ */ - -#if defined(RCC_PLLSAI_SUPPORT) - case LL_RCC_USB_CLKSOURCE_PLLSAI: /* PLLSAI clock used as USB clock source */ - if (LL_RCC_PLLSAI_IsReady()) - { - usb_frequency = RCC_PLLSAI_GetFreqDomain_48M(); - } - break; -#endif /* RCC_PLLSAI_SUPPORT */ - - case LL_RCC_USB_CLKSOURCE_PLL: /* PLL clock used as USB clock source */ - default: - if (LL_RCC_PLL_IsReady()) - { - usb_frequency = RCC_PLL_GetFreqDomain_48M(); - } - break; - } -#else - /* PLL clock used as USB clock source */ - if (LL_RCC_PLL_IsReady()) - { - usb_frequency = RCC_PLL_GetFreqDomain_48M(); - } -#endif /* RCC_DCKCFGR_CK48MSEL || RCC_DCKCFGR2_CK48MSEL */ - - return usb_frequency; -} -#endif /* USB_OTG_FS || USB_OTG_HS */ - -#if defined(DFSDM1_Channel0) -/** - * @brief Return DFSDMx clock frequency - * @param DFSDMxSource This parameter can be one of the following values: - * @arg @ref LL_RCC_DFSDM1_CLKSOURCE - * @arg @ref LL_RCC_DFSDM2_CLKSOURCE (*) - * - * (*) value not defined in all devices. - * @retval DFSDM clock frequency (in Hz) - */ -uint32_t LL_RCC_GetDFSDMClockFreq(uint32_t DFSDMxSource) -{ - uint32_t dfsdm_frequency = LL_RCC_PERIPH_FREQUENCY_NO; - - /* Check parameter */ - assert_param(IS_LL_RCC_DFSDM_CLKSOURCE(DFSDMxSource)); - - if (DFSDMxSource == LL_RCC_DFSDM1_CLKSOURCE) - { - /* DFSDM1CLK clock frequency */ - switch (LL_RCC_GetDFSDMClockSource(DFSDMxSource)) - { - case LL_RCC_DFSDM1_CLKSOURCE_SYSCLK: /* DFSDM1 Clock is SYSCLK */ - dfsdm_frequency = RCC_GetSystemClockFreq(); - break; - - case LL_RCC_DFSDM1_CLKSOURCE_PCLK2: /* DFSDM1 Clock is PCLK2 */ - default: - dfsdm_frequency = RCC_GetPCLK2ClockFreq(RCC_GetHCLKClockFreq(RCC_GetSystemClockFreq())); - break; - } - } -#if defined(DFSDM2_Channel0) - else - { - /* DFSDM2CLK clock frequency */ - switch (LL_RCC_GetDFSDMClockSource(DFSDMxSource)) - { - case LL_RCC_DFSDM2_CLKSOURCE_SYSCLK: /* DFSDM2 Clock is SYSCLK */ - dfsdm_frequency = RCC_GetSystemClockFreq(); - break; - - case LL_RCC_DFSDM2_CLKSOURCE_PCLK2: /* DFSDM2 Clock is PCLK2 */ - default: - dfsdm_frequency = RCC_GetPCLK2ClockFreq(RCC_GetHCLKClockFreq(RCC_GetSystemClockFreq())); - break; - } - } -#endif /* DFSDM2_Channel0 */ - - return dfsdm_frequency; -} - -/** - * @brief Return DFSDMx Audio clock frequency - * @param DFSDMxSource This parameter can be one of the following values: - * @arg @ref LL_RCC_DFSDM1_AUDIO_CLKSOURCE - * @arg @ref LL_RCC_DFSDM2_AUDIO_CLKSOURCE (*) - * - * (*) value not defined in all devices. - * @retval DFSDM clock frequency (in Hz) - * - @ref LL_RCC_PERIPH_FREQUENCY_NO indicates that oscillator is not ready - */ -uint32_t LL_RCC_GetDFSDMAudioClockFreq(uint32_t DFSDMxSource) -{ - uint32_t dfsdm_frequency = LL_RCC_PERIPH_FREQUENCY_NO; - - /* Check parameter */ - assert_param(IS_LL_RCC_DFSDM_AUDIO_CLKSOURCE(DFSDMxSource)); - - if (DFSDMxSource == LL_RCC_DFSDM1_AUDIO_CLKSOURCE) - { - /* DFSDM1CLK clock frequency */ - switch (LL_RCC_GetDFSDMAudioClockSource(DFSDMxSource)) - { - case LL_RCC_DFSDM1_AUDIO_CLKSOURCE_I2S1: /* I2S1 clock used as DFSDM1 clock */ - dfsdm_frequency = LL_RCC_GetI2SClockFreq(LL_RCC_I2S1_CLKSOURCE); - break; - - case LL_RCC_DFSDM1_AUDIO_CLKSOURCE_I2S2: /* I2S2 clock used as DFSDM1 clock */ - default: - dfsdm_frequency = LL_RCC_GetI2SClockFreq(LL_RCC_I2S2_CLKSOURCE); - break; - } - } -#if defined(DFSDM2_Channel0) - else - { - /* DFSDM2CLK clock frequency */ - switch (LL_RCC_GetDFSDMAudioClockSource(DFSDMxSource)) - { - case LL_RCC_DFSDM2_AUDIO_CLKSOURCE_I2S1: /* I2S1 clock used as DFSDM2 clock */ - dfsdm_frequency = LL_RCC_GetI2SClockFreq(LL_RCC_I2S1_CLKSOURCE); - break; - - case LL_RCC_DFSDM2_AUDIO_CLKSOURCE_I2S2: /* I2S2 clock used as DFSDM2 clock */ - default: - dfsdm_frequency = LL_RCC_GetI2SClockFreq(LL_RCC_I2S2_CLKSOURCE); - break; - } - } -#endif /* DFSDM2_Channel0 */ - - return dfsdm_frequency; -} -#endif /* DFSDM1_Channel0 */ - -#if defined(DSI) -/** - * @brief Return DSI clock frequency - * @param DSIxSource This parameter can be one of the following values: - * @arg @ref LL_RCC_DSI_CLKSOURCE - * @retval DSI clock frequency (in Hz) - * - @ref LL_RCC_PERIPH_FREQUENCY_NO indicates that oscillator is not ready - * - @ref LL_RCC_PERIPH_FREQUENCY_NA indicates that external clock is used - */ -uint32_t LL_RCC_GetDSIClockFreq(uint32_t DSIxSource) -{ - uint32_t dsi_frequency = LL_RCC_PERIPH_FREQUENCY_NO; - - /* Check parameter */ - assert_param(IS_LL_RCC_DSI_CLKSOURCE(DSIxSource)); - - /* DSICLK clock frequency */ - switch (LL_RCC_GetDSIClockSource(DSIxSource)) - { - case LL_RCC_DSI_CLKSOURCE_PLL: /* DSI Clock is PLL Osc. */ - if (LL_RCC_PLL_IsReady()) - { - dsi_frequency = RCC_PLL_GetFreqDomain_DSI(); - } - break; - - case LL_RCC_DSI_CLKSOURCE_PHY: /* DSI Clock is DSI physical clock. */ - default: - dsi_frequency = LL_RCC_PERIPH_FREQUENCY_NA; - break; - } - - return dsi_frequency; -} -#endif /* DSI */ - -#if defined(LTDC) -/** - * @brief Return LTDC clock frequency - * @param LTDCxSource This parameter can be one of the following values: - * @arg @ref LL_RCC_LTDC_CLKSOURCE - * @retval LTDC clock frequency (in Hz) - * - @ref LL_RCC_PERIPH_FREQUENCY_NO indicates that oscillator PLLSAI is not ready - */ -uint32_t LL_RCC_GetLTDCClockFreq(uint32_t LTDCxSource) -{ - uint32_t ltdc_frequency = LL_RCC_PERIPH_FREQUENCY_NO; - - /* Check parameter */ - assert_param(IS_LL_RCC_LTDC_CLKSOURCE(LTDCxSource)); - - if (LL_RCC_PLLSAI_IsReady()) - { - ltdc_frequency = RCC_PLLSAI_GetFreqDomain_LTDC(); - } - - return ltdc_frequency; -} -#endif /* LTDC */ - -#if defined(SPDIFRX) -/** - * @brief Return SPDIFRX clock frequency - * @param SPDIFRXxSource This parameter can be one of the following values: - * @arg @ref LL_RCC_SPDIFRX1_CLKSOURCE - * @retval SPDIFRX clock frequency (in Hz) - * - @ref LL_RCC_PERIPH_FREQUENCY_NO indicates that oscillator is not ready - */ -uint32_t LL_RCC_GetSPDIFRXClockFreq(uint32_t SPDIFRXxSource) -{ - uint32_t spdifrx_frequency = LL_RCC_PERIPH_FREQUENCY_NO; - - /* Check parameter */ - assert_param(IS_LL_RCC_SPDIFRX_CLKSOURCE(SPDIFRXxSource)); - - /* SPDIFRX1CLK clock frequency */ - switch (LL_RCC_GetSPDIFRXClockSource(SPDIFRXxSource)) - { - case LL_RCC_SPDIFRX1_CLKSOURCE_PLLI2S: /* SPDIFRX Clock is PLLI2S Osc. */ - if (LL_RCC_PLLI2S_IsReady()) - { - spdifrx_frequency = RCC_PLLI2S_GetFreqDomain_SPDIFRX(); - } - break; - - case LL_RCC_SPDIFRX1_CLKSOURCE_PLL: /* SPDIFRX Clock is PLL Osc. */ - default: - if (LL_RCC_PLL_IsReady()) - { - spdifrx_frequency = RCC_PLL_GetFreqDomain_SPDIFRX(); - } - break; - } - - return spdifrx_frequency; -} -#endif /* SPDIFRX */ - -/** - * @} - */ - -/** - * @} - */ - -/** @addtogroup RCC_LL_Private_Functions - * @{ - */ - -/** - * @brief Return SYSTEM clock frequency - * @retval SYSTEM clock frequency (in Hz) - */ -uint32_t RCC_GetSystemClockFreq(void) -{ - uint32_t frequency = 0U; - - /* Get SYSCLK source -------------------------------------------------------*/ - switch (LL_RCC_GetSysClkSource()) - { - case LL_RCC_SYS_CLKSOURCE_STATUS_HSI: /* HSI used as system clock source */ - frequency = HSI_VALUE; - break; - - case LL_RCC_SYS_CLKSOURCE_STATUS_HSE: /* HSE used as system clock source */ - frequency = HSE_VALUE; - break; - - case LL_RCC_SYS_CLKSOURCE_STATUS_PLL: /* PLL used as system clock source */ - frequency = RCC_PLL_GetFreqDomain_SYS(LL_RCC_SYS_CLKSOURCE_STATUS_PLL); - break; - -#if defined(RCC_PLLR_SYSCLK_SUPPORT) - case LL_RCC_SYS_CLKSOURCE_STATUS_PLLR: /* PLLR used as system clock source */ - frequency = RCC_PLL_GetFreqDomain_SYS(LL_RCC_SYS_CLKSOURCE_STATUS_PLLR); - break; -#endif /* RCC_PLLR_SYSCLK_SUPPORT */ - - default: - frequency = HSI_VALUE; - break; - } - - return frequency; -} - -/** - * @brief Return HCLK clock frequency - * @param SYSCLK_Frequency SYSCLK clock frequency - * @retval HCLK clock frequency (in Hz) - */ -uint32_t RCC_GetHCLKClockFreq(uint32_t SYSCLK_Frequency) -{ - /* HCLK clock frequency */ - return __LL_RCC_CALC_HCLK_FREQ(SYSCLK_Frequency, LL_RCC_GetAHBPrescaler()); -} - -/** - * @brief Return PCLK1 clock frequency - * @param HCLK_Frequency HCLK clock frequency - * @retval PCLK1 clock frequency (in Hz) - */ -uint32_t RCC_GetPCLK1ClockFreq(uint32_t HCLK_Frequency) -{ - /* PCLK1 clock frequency */ - return __LL_RCC_CALC_PCLK1_FREQ(HCLK_Frequency, LL_RCC_GetAPB1Prescaler()); -} - -/** - * @brief Return PCLK2 clock frequency - * @param HCLK_Frequency HCLK clock frequency - * @retval PCLK2 clock frequency (in Hz) - */ -uint32_t RCC_GetPCLK2ClockFreq(uint32_t HCLK_Frequency) -{ - /* PCLK2 clock frequency */ - return __LL_RCC_CALC_PCLK2_FREQ(HCLK_Frequency, LL_RCC_GetAPB2Prescaler()); -} - -/** - * @brief Return PLL clock frequency used for system domain - * @param SYSCLK_Source System clock source - * @retval PLL clock frequency (in Hz) - */ -uint32_t RCC_PLL_GetFreqDomain_SYS(uint32_t SYSCLK_Source) -{ - uint32_t pllinputfreq = 0U, pllsource = 0U, plloutputfreq = 0U; - - /* PLL_VCO = (HSE_VALUE or HSI_VALUE / PLLM) * PLLN - SYSCLK = PLL_VCO / (PLLP or PLLR) - */ - pllsource = LL_RCC_PLL_GetMainSource(); - - switch (pllsource) - { - case LL_RCC_PLLSOURCE_HSI: /* HSI used as PLL clock source */ - pllinputfreq = HSI_VALUE; - break; - - case LL_RCC_PLLSOURCE_HSE: /* HSE used as PLL clock source */ - pllinputfreq = HSE_VALUE; - break; - - default: - pllinputfreq = HSI_VALUE; - break; - } - - if (SYSCLK_Source == LL_RCC_SYS_CLKSOURCE_STATUS_PLL) - { - plloutputfreq = __LL_RCC_CALC_PLLCLK_FREQ(pllinputfreq, LL_RCC_PLL_GetDivider(), - LL_RCC_PLL_GetN(), LL_RCC_PLL_GetP()); - } -#if defined(RCC_PLLR_SYSCLK_SUPPORT) - else - { - plloutputfreq = __LL_RCC_CALC_PLLRCLK_FREQ(pllinputfreq, LL_RCC_PLL_GetDivider(), - LL_RCC_PLL_GetN(), LL_RCC_PLL_GetR()); - } -#endif /* RCC_PLLR_SYSCLK_SUPPORT */ - - return plloutputfreq; -} - -/** - * @brief Return PLL clock frequency used for 48 MHz domain - * @retval PLL clock frequency (in Hz) - */ -uint32_t RCC_PLL_GetFreqDomain_48M(void) -{ - uint32_t pllinputfreq = 0U, pllsource = 0U; - - /* PLL_VCO = (HSE_VALUE or HSI_VALUE / PLLM ) * PLLN - 48M Domain clock = PLL_VCO / PLLQ - */ - pllsource = LL_RCC_PLL_GetMainSource(); - - switch (pllsource) - { - case LL_RCC_PLLSOURCE_HSI: /* HSI used as PLL clock source */ - pllinputfreq = HSI_VALUE; - break; - - case LL_RCC_PLLSOURCE_HSE: /* HSE used as PLL clock source */ - pllinputfreq = HSE_VALUE; - break; - - default: - pllinputfreq = HSI_VALUE; - break; - } - return __LL_RCC_CALC_PLLCLK_48M_FREQ(pllinputfreq, LL_RCC_PLL_GetDivider(), - LL_RCC_PLL_GetN(), LL_RCC_PLL_GetQ()); -} - -#if defined(DSI) -/** - * @brief Return PLL clock frequency used for DSI clock - * @retval PLL clock frequency (in Hz) - */ -uint32_t RCC_PLL_GetFreqDomain_DSI(void) -{ - uint32_t pllinputfreq = 0U, pllsource = 0U; - - /* PLL_VCO = (HSE_VALUE or HSI_VALUE / PLLM) * PLLN - DSICLK = PLL_VCO / PLLR - */ - pllsource = LL_RCC_PLL_GetMainSource(); - - switch (pllsource) - { - case LL_RCC_PLLSOURCE_HSE: /* HSE used as PLL clock source */ - pllinputfreq = HSE_VALUE; - break; - - case LL_RCC_PLLSOURCE_HSI: /* HSI used as PLL clock source */ - default: - pllinputfreq = HSI_VALUE; - break; - } - return __LL_RCC_CALC_PLLCLK_DSI_FREQ(pllinputfreq, LL_RCC_PLL_GetDivider(), - LL_RCC_PLL_GetN(), LL_RCC_PLL_GetR()); -} -#endif /* DSI */ - -#if defined(RCC_DCKCFGR_I2SSRC) || defined(RCC_DCKCFGR_I2S1SRC) -/** - * @brief Return PLL clock frequency used for I2S clock - * @retval PLL clock frequency (in Hz) - */ -uint32_t RCC_PLL_GetFreqDomain_I2S(void) -{ - uint32_t pllinputfreq = 0U, pllsource = 0U; - - /* PLL_VCO = (HSE_VALUE or HSI_VALUE / PLLM) * PLLN - I2SCLK = PLL_VCO / PLLR - */ - pllsource = LL_RCC_PLL_GetMainSource(); - - switch (pllsource) - { - case LL_RCC_PLLSOURCE_HSE: /* HSE used as PLL clock source */ - pllinputfreq = HSE_VALUE; - break; - - case LL_RCC_PLLSOURCE_HSI: /* HSI used as PLL clock source */ - default: - pllinputfreq = HSI_VALUE; - break; - } - return __LL_RCC_CALC_PLLCLK_I2S_FREQ(pllinputfreq, LL_RCC_PLL_GetDivider(), - LL_RCC_PLL_GetN(), LL_RCC_PLL_GetR()); -} -#endif /* RCC_DCKCFGR_I2SSRC || RCC_DCKCFGR_I2S1SRC */ - -#if defined(SPDIFRX) -/** - * @brief Return PLL clock frequency used for SPDIFRX clock - * @retval PLL clock frequency (in Hz) - */ -uint32_t RCC_PLL_GetFreqDomain_SPDIFRX(void) -{ - uint32_t pllinputfreq = 0U, pllsource = 0U; - - /* PLL_VCO = (HSE_VALUE or HSI_VALUE / PLLM) * PLLN - SPDIFRXCLK = PLL_VCO / PLLR - */ - pllsource = LL_RCC_PLL_GetMainSource(); - - switch (pllsource) - { - case LL_RCC_PLLSOURCE_HSE: /* HSE used as PLL clock source */ - pllinputfreq = HSE_VALUE; - break; - - case LL_RCC_PLLSOURCE_HSI: /* HSI used as PLL clock source */ - default: - pllinputfreq = HSI_VALUE; - break; - } - return __LL_RCC_CALC_PLLCLK_SPDIFRX_FREQ(pllinputfreq, LL_RCC_PLL_GetDivider(), - LL_RCC_PLL_GetN(), LL_RCC_PLL_GetR()); -} -#endif /* SPDIFRX */ - -#if defined(RCC_PLLCFGR_PLLR) -#if defined(SAI1) -/** - * @brief Return PLL clock frequency used for SAI clock - * @retval PLL clock frequency (in Hz) - */ -uint32_t RCC_PLL_GetFreqDomain_SAI(void) -{ - uint32_t pllinputfreq = 0U, pllsource = 0U, plloutputfreq = 0U; - - /* PLL_VCO = (HSE_VALUE or HSI_VALUE / PLLM) * PLLN - SAICLK = (PLL_VCO / PLLR) / PLLDIVR - or - SAICLK = PLL_VCO / PLLR - */ - pllsource = LL_RCC_PLL_GetMainSource(); - - switch (pllsource) - { - case LL_RCC_PLLSOURCE_HSE: /* HSE used as PLL clock source */ - pllinputfreq = HSE_VALUE; - break; - - case LL_RCC_PLLSOURCE_HSI: /* HSI used as PLL clock source */ - default: - pllinputfreq = HSI_VALUE; - break; - } - -#if defined(RCC_DCKCFGR_PLLDIVR) - plloutputfreq = __LL_RCC_CALC_PLLCLK_SAI_FREQ(pllinputfreq, LL_RCC_PLL_GetDivider(), - LL_RCC_PLL_GetN(), LL_RCC_PLL_GetR(), LL_RCC_PLL_GetDIVR()); -#else - plloutputfreq = __LL_RCC_CALC_PLLCLK_SAI_FREQ(pllinputfreq, LL_RCC_PLL_GetDivider(), - LL_RCC_PLL_GetN(), LL_RCC_PLL_GetR()); -#endif /* RCC_DCKCFGR_PLLDIVR */ - - return plloutputfreq; -} -#endif /* SAI1 */ -#endif /* RCC_PLLCFGR_PLLR */ - -#if defined(RCC_PLLSAI_SUPPORT) -/** - * @brief Return PLLSAI clock frequency used for SAI domain - * @retval PLLSAI clock frequency (in Hz) - */ -uint32_t RCC_PLLSAI_GetFreqDomain_SAI(void) -{ - uint32_t pllinputfreq = 0U, pllsource = 0U; - - /* PLLSAI_VCO = (HSE_VALUE or HSI_VALUE / PLLSAIM) * PLLSAIN - SAI domain clock = (PLLSAI_VCO / PLLSAIQ) / PLLSAIDIVQ - */ - pllsource = LL_RCC_PLL_GetMainSource(); - - switch (pllsource) - { - case LL_RCC_PLLSOURCE_HSI: /* HSI used as PLLSAI clock source */ - pllinputfreq = HSI_VALUE; - break; - - case LL_RCC_PLLSOURCE_HSE: /* HSE used as PLLSAI clock source */ - pllinputfreq = HSE_VALUE; - break; - - default: - pllinputfreq = HSI_VALUE; - break; - } - return __LL_RCC_CALC_PLLSAI_SAI_FREQ(pllinputfreq, LL_RCC_PLLSAI_GetDivider(), - LL_RCC_PLLSAI_GetN(), LL_RCC_PLLSAI_GetQ(), LL_RCC_PLLSAI_GetDIVQ()); -} - -#if defined(RCC_PLLSAICFGR_PLLSAIP) -/** - * @brief Return PLLSAI clock frequency used for 48Mhz domain - * @retval PLLSAI clock frequency (in Hz) - */ -uint32_t RCC_PLLSAI_GetFreqDomain_48M(void) -{ - uint32_t pllinputfreq = 0U, pllsource = 0U; - - /* PLLSAI_VCO = (HSE_VALUE or HSI_VALUE / PLLSAIM) * PLLSAIN - 48M Domain clock = PLLSAI_VCO / PLLSAIP - */ - pllsource = LL_RCC_PLL_GetMainSource(); - - switch (pllsource) - { - case LL_RCC_PLLSOURCE_HSI: /* HSI used as PLLSAI clock source */ - pllinputfreq = HSI_VALUE; - break; - - case LL_RCC_PLLSOURCE_HSE: /* HSE used as PLLSAI clock source */ - pllinputfreq = HSE_VALUE; - break; - - default: - pllinputfreq = HSI_VALUE; - break; - } - return __LL_RCC_CALC_PLLSAI_48M_FREQ(pllinputfreq, LL_RCC_PLLSAI_GetDivider(), - LL_RCC_PLLSAI_GetN(), LL_RCC_PLLSAI_GetP()); -} -#endif /* RCC_PLLSAICFGR_PLLSAIP */ - -#if defined(LTDC) -/** - * @brief Return PLLSAI clock frequency used for LTDC domain - * @retval PLLSAI clock frequency (in Hz) - */ -uint32_t RCC_PLLSAI_GetFreqDomain_LTDC(void) -{ - uint32_t pllinputfreq = 0U, pllsource = 0U; - - /* PLLSAI_VCO = (HSE_VALUE or HSI_VALUE / PLLSAIM) * PLLSAIN - LTDC Domain clock = (PLLSAI_VCO / PLLSAIR) / PLLSAIDIVR - */ - pllsource = LL_RCC_PLL_GetMainSource(); - - switch (pllsource) - { - case LL_RCC_PLLSOURCE_HSI: /* HSI used as PLLSAI clock source */ - pllinputfreq = HSI_VALUE; - break; - - case LL_RCC_PLLSOURCE_HSE: /* HSE used as PLLSAI clock source */ - pllinputfreq = HSE_VALUE; - break; - - default: - pllinputfreq = HSI_VALUE; - break; - } - return __LL_RCC_CALC_PLLSAI_LTDC_FREQ(pllinputfreq, LL_RCC_PLLSAI_GetDivider(), - LL_RCC_PLLSAI_GetN(), LL_RCC_PLLSAI_GetR(), LL_RCC_PLLSAI_GetDIVR()); -} -#endif /* LTDC */ -#endif /* RCC_PLLSAI_SUPPORT */ - -#if defined(RCC_PLLI2S_SUPPORT) -#if defined(SAI1) -/** - * @brief Return PLLI2S clock frequency used for SAI domains - * @retval PLLI2S clock frequency (in Hz) - */ -uint32_t RCC_PLLI2S_GetFreqDomain_SAI(void) -{ - uint32_t plli2sinputfreq = 0U, plli2ssource = 0U, plli2soutputfreq = 0U; - - /* PLLI2S_VCO = (HSE_VALUE or HSI_VALUE / PLLI2SM) * PLLI2SN - SAI domain clock = (PLLI2S_VCO / PLLI2SQ) / PLLI2SDIVQ - or - SAI domain clock = (PLLI2S_VCO / PLLI2SR) / PLLI2SDIVR - */ - plli2ssource = LL_RCC_PLLI2S_GetMainSource(); - - switch (plli2ssource) - { - case LL_RCC_PLLSOURCE_HSE: /* HSE used as PLLI2S clock source */ - plli2sinputfreq = HSE_VALUE; - break; - -#if defined(RCC_PLLI2SCFGR_PLLI2SSRC) - case LL_RCC_PLLI2SSOURCE_PIN: /* External pin input clock used as PLLI2S clock source */ - plli2sinputfreq = EXTERNAL_CLOCK_VALUE; - break; -#endif /* RCC_PLLI2SCFGR_PLLI2SSRC */ - - case LL_RCC_PLLSOURCE_HSI: /* HSI used as PLLI2S clock source */ - default: - plli2sinputfreq = HSI_VALUE; - break; - } - -#if defined(RCC_DCKCFGR_PLLI2SDIVQ) - plli2soutputfreq = __LL_RCC_CALC_PLLI2S_SAI_FREQ(plli2sinputfreq, LL_RCC_PLLI2S_GetDivider(), - LL_RCC_PLLI2S_GetN(), LL_RCC_PLLI2S_GetQ(), LL_RCC_PLLI2S_GetDIVQ()); -#else - plli2soutputfreq = __LL_RCC_CALC_PLLI2S_SAI_FREQ(plli2sinputfreq, LL_RCC_PLLI2S_GetDivider(), - LL_RCC_PLLI2S_GetN(), LL_RCC_PLLI2S_GetR(), LL_RCC_PLLI2S_GetDIVR()); -#endif /* RCC_DCKCFGR_PLLI2SDIVQ */ - - return plli2soutputfreq; -} -#endif /* SAI1 */ - -#if defined(SPDIFRX) -/** - * @brief Return PLLI2S clock frequency used for SPDIFRX domain - * @retval PLLI2S clock frequency (in Hz) - */ -uint32_t RCC_PLLI2S_GetFreqDomain_SPDIFRX(void) -{ - uint32_t pllinputfreq = 0U, pllsource = 0U; - - /* PLLI2S_VCO = (HSE_VALUE or HSI_VALUE / PLLI2SM) * PLLI2SN - SPDIFRX Domain clock = PLLI2S_VCO / PLLI2SP - */ - pllsource = LL_RCC_PLLI2S_GetMainSource(); - - switch (pllsource) - { - case LL_RCC_PLLSOURCE_HSE: /* HSE used as PLLI2S clock source */ - pllinputfreq = HSE_VALUE; - break; - - case LL_RCC_PLLSOURCE_HSI: /* HSI used as PLLI2S clock source */ - default: - pllinputfreq = HSI_VALUE; - break; - } - - return __LL_RCC_CALC_PLLI2S_SPDIFRX_FREQ(pllinputfreq, LL_RCC_PLLI2S_GetDivider(), - LL_RCC_PLLI2S_GetN(), LL_RCC_PLLI2S_GetP()); -} -#endif /* SPDIFRX */ - -/** - * @brief Return PLLI2S clock frequency used for I2S domain - * @retval PLLI2S clock frequency (in Hz) - */ -uint32_t RCC_PLLI2S_GetFreqDomain_I2S(void) -{ - uint32_t plli2sinputfreq = 0U, plli2ssource = 0U, plli2soutputfreq = 0U; - - /* PLLI2S_VCO = (HSE_VALUE or HSI_VALUE / PLLI2SM) * PLLI2SN - I2S Domain clock = PLLI2S_VCO / PLLI2SR - */ - plli2ssource = LL_RCC_PLLI2S_GetMainSource(); - - switch (plli2ssource) - { - case LL_RCC_PLLSOURCE_HSE: /* HSE used as PLLI2S clock source */ - plli2sinputfreq = HSE_VALUE; - break; - -#if defined(RCC_PLLI2SCFGR_PLLI2SSRC) - case LL_RCC_PLLI2SSOURCE_PIN: /* External pin input clock used as PLLI2S clock source */ - plli2sinputfreq = EXTERNAL_CLOCK_VALUE; - break; -#endif /* RCC_PLLI2SCFGR_PLLI2SSRC */ - - case LL_RCC_PLLSOURCE_HSI: /* HSI used as PLLI2S clock source */ - default: - plli2sinputfreq = HSI_VALUE; - break; - } - - plli2soutputfreq = __LL_RCC_CALC_PLLI2S_I2S_FREQ(plli2sinputfreq, LL_RCC_PLLI2S_GetDivider(), - LL_RCC_PLLI2S_GetN(), LL_RCC_PLLI2S_GetR()); - - return plli2soutputfreq; -} - -#if defined(RCC_PLLI2SCFGR_PLLI2SQ) && !defined(RCC_DCKCFGR_PLLI2SDIVQ) -/** - * @brief Return PLLI2S clock frequency used for 48Mhz domain - * @retval PLLI2S clock frequency (in Hz) - */ -uint32_t RCC_PLLI2S_GetFreqDomain_48M(void) -{ - uint32_t plli2sinputfreq = 0U, plli2ssource = 0U, plli2soutputfreq = 0U; - - /* PLL48M_VCO = (HSE_VALUE or HSI_VALUE / PLLI2SM) * PLLI2SN - 48M Domain clock = PLLI2S_VCO / PLLI2SQ - */ - plli2ssource = LL_RCC_PLLI2S_GetMainSource(); - - switch (plli2ssource) - { - case LL_RCC_PLLSOURCE_HSE: /* HSE used as PLLI2S clock source */ - plli2sinputfreq = HSE_VALUE; - break; - -#if defined(RCC_PLLI2SCFGR_PLLI2SSRC) - case LL_RCC_PLLI2SSOURCE_PIN: /* External pin input clock used as PLLI2S clock source */ - plli2sinputfreq = EXTERNAL_CLOCK_VALUE; - break; -#endif /* RCC_PLLI2SCFGR_PLLI2SSRC */ - - case LL_RCC_PLLSOURCE_HSI: /* HSI used as PLLI2S clock source */ - default: - plli2sinputfreq = HSI_VALUE; - break; - } - - plli2soutputfreq = __LL_RCC_CALC_PLLI2S_48M_FREQ(plli2sinputfreq, LL_RCC_PLLI2S_GetDivider(), - LL_RCC_PLLI2S_GetN(), LL_RCC_PLLI2S_GetQ()); - - return plli2soutputfreq; -} -#endif /* RCC_PLLI2SCFGR_PLLI2SQ && !RCC_DCKCFGR_PLLI2SDIVQ */ -#endif /* RCC_PLLI2S_SUPPORT */ -/** - * @} - */ - -/** - * @} - */ - -#endif /* defined(RCC) */ - -/** - * @} - */ - -#endif /* USE_FULL_LL_DRIVER */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_rng.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_rng.c deleted file mode 100644 index 1b202c9606d037..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_rng.c +++ /dev/null @@ -1,104 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_ll_rng.c - * @author MCD Application Team - * @brief RNG LL module driver. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ -#if defined(USE_FULL_LL_DRIVER) - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_ll_rng.h" -#include "stm32f4xx_ll_bus.h" - -#ifdef USE_FULL_ASSERT -#include "stm32_assert.h" -#else -#define assert_param(expr) ((void)0U) -#endif /* USE_FULL_ASSERT */ - -/** @addtogroup STM32F4xx_LL_Driver - * @{ - */ - -#if defined (RNG) - -/** @addtogroup RNG_LL - * @{ - */ - -/* Private types -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private constants ---------------------------------------------------------*/ -/* Private macros ------------------------------------------------------------*/ -/* Private function prototypes -----------------------------------------------*/ - -/* Exported functions --------------------------------------------------------*/ -/** @addtogroup RNG_LL_Exported_Functions - * @{ - */ - -/** @addtogroup RNG_LL_EF_Init - * @{ - */ - -/** - * @brief De-initialize RNG registers (Registers restored to their default values). - * @param RNGx RNG Instance - * @retval An ErrorStatus enumeration value: - * - SUCCESS: RNG registers are de-initialized - * - ERROR: not applicable - */ -ErrorStatus LL_RNG_DeInit(RNG_TypeDef *RNGx) -{ - /* Check the parameters */ - assert_param(IS_RNG_ALL_INSTANCE(RNGx)); -#if !defined(RCC_AHB2_SUPPORT) - /* Enable RNG reset state */ - LL_AHB1_GRP1_ForceReset(LL_AHB1_GRP1_PERIPH_RNG); - - /* Release RNG from reset state */ - LL_AHB1_GRP1_ReleaseReset(LL_AHB1_GRP1_PERIPH_RNG); -#else - /* Enable RNG reset state */ - LL_AHB2_GRP1_ForceReset(LL_AHB2_GRP1_PERIPH_RNG); - - /* Release RNG from reset state */ - LL_AHB2_GRP1_ReleaseReset(LL_AHB2_GRP1_PERIPH_RNG); -#endif /* !RCC_AHB2_SUPPORT */ - return (SUCCESS); -} - -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ - -#endif /* RNG */ - -/** - * @} - */ - -#endif /* USE_FULL_LL_DRIVER */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ - diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_rtc.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_rtc.c deleted file mode 100644 index 14c3cfa5ca0f3c..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_rtc.c +++ /dev/null @@ -1,865 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_ll_rtc.c - * @author MCD Application Team - * @brief RTC LL module driver. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ -#if defined(USE_FULL_LL_DRIVER) - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_ll_rtc.h" -#include "stm32f4xx_ll_cortex.h" -#ifdef USE_FULL_ASSERT -#include "stm32_assert.h" -#else -#define assert_param(expr) ((void)0U) -#endif - -/** @addtogroup STM32F4xx_LL_Driver - * @{ - */ - -#if defined(RTC) - -/** @addtogroup RTC_LL - * @{ - */ - -/* Private types -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private constants ---------------------------------------------------------*/ -/** @addtogroup RTC_LL_Private_Constants - * @{ - */ -/* Default values used for prescaler */ -#define RTC_ASYNCH_PRESC_DEFAULT 0x0000007FU -#define RTC_SYNCH_PRESC_DEFAULT 0x000000FFU - -/* Values used for timeout */ -#define RTC_INITMODE_TIMEOUT 1000U /* 1s when tick set to 1ms */ -#define RTC_SYNCHRO_TIMEOUT 1000U /* 1s when tick set to 1ms */ -/** - * @} - */ - -/* Private macros ------------------------------------------------------------*/ -/** @addtogroup RTC_LL_Private_Macros - * @{ - */ - -#define IS_LL_RTC_HOURFORMAT(__VALUE__) (((__VALUE__) == LL_RTC_HOURFORMAT_24HOUR) \ - || ((__VALUE__) == LL_RTC_HOURFORMAT_AMPM)) - -#define IS_LL_RTC_ASYNCH_PREDIV(__VALUE__) ((__VALUE__) <= 0x7FU) - -#define IS_LL_RTC_SYNCH_PREDIV(__VALUE__) ((__VALUE__) <= 0x7FFFU) - -#define IS_LL_RTC_FORMAT(__VALUE__) (((__VALUE__) == LL_RTC_FORMAT_BIN) \ - || ((__VALUE__) == LL_RTC_FORMAT_BCD)) - -#define IS_LL_RTC_TIME_FORMAT(__VALUE__) (((__VALUE__) == LL_RTC_TIME_FORMAT_AM_OR_24) \ - || ((__VALUE__) == LL_RTC_TIME_FORMAT_PM)) - -#define IS_LL_RTC_HOUR12(__HOUR__) (((__HOUR__) > 0U) && ((__HOUR__) <= 12U)) -#define IS_LL_RTC_HOUR24(__HOUR__) ((__HOUR__) <= 23U) -#define IS_LL_RTC_MINUTES(__MINUTES__) ((__MINUTES__) <= 59U) -#define IS_LL_RTC_SECONDS(__SECONDS__) ((__SECONDS__) <= 59U) - -#define IS_LL_RTC_WEEKDAY(__VALUE__) (((__VALUE__) == LL_RTC_WEEKDAY_MONDAY) \ - || ((__VALUE__) == LL_RTC_WEEKDAY_TUESDAY) \ - || ((__VALUE__) == LL_RTC_WEEKDAY_WEDNESDAY) \ - || ((__VALUE__) == LL_RTC_WEEKDAY_THURSDAY) \ - || ((__VALUE__) == LL_RTC_WEEKDAY_FRIDAY) \ - || ((__VALUE__) == LL_RTC_WEEKDAY_SATURDAY) \ - || ((__VALUE__) == LL_RTC_WEEKDAY_SUNDAY)) - -#define IS_LL_RTC_DAY(__DAY__) (((__DAY__) >= 1U) && ((__DAY__) <= 31U)) - -#define IS_LL_RTC_MONTH(__MONTH__) (((__MONTH__) >= 1U) && ((__MONTH__) <= 12U)) - -#define IS_LL_RTC_YEAR(__YEAR__) ((__YEAR__) <= 99U) - -#define IS_LL_RTC_ALMA_MASK(__VALUE__) (((__VALUE__) == LL_RTC_ALMA_MASK_NONE) \ - || ((__VALUE__) == LL_RTC_ALMA_MASK_DATEWEEKDAY) \ - || ((__VALUE__) == LL_RTC_ALMA_MASK_HOURS) \ - || ((__VALUE__) == LL_RTC_ALMA_MASK_MINUTES) \ - || ((__VALUE__) == LL_RTC_ALMA_MASK_SECONDS) \ - || ((__VALUE__) == LL_RTC_ALMA_MASK_ALL)) - -#define IS_LL_RTC_ALMB_MASK(__VALUE__) (((__VALUE__) == LL_RTC_ALMB_MASK_NONE) \ - || ((__VALUE__) == LL_RTC_ALMB_MASK_DATEWEEKDAY) \ - || ((__VALUE__) == LL_RTC_ALMB_MASK_HOURS) \ - || ((__VALUE__) == LL_RTC_ALMB_MASK_MINUTES) \ - || ((__VALUE__) == LL_RTC_ALMB_MASK_SECONDS) \ - || ((__VALUE__) == LL_RTC_ALMB_MASK_ALL)) - - -#define IS_LL_RTC_ALMA_DATE_WEEKDAY_SEL(__SEL__) (((__SEL__) == LL_RTC_ALMA_DATEWEEKDAYSEL_DATE) || \ - ((__SEL__) == LL_RTC_ALMA_DATEWEEKDAYSEL_WEEKDAY)) - -#define IS_LL_RTC_ALMB_DATE_WEEKDAY_SEL(__SEL__) (((__SEL__) == LL_RTC_ALMB_DATEWEEKDAYSEL_DATE) || \ - ((__SEL__) == LL_RTC_ALMB_DATEWEEKDAYSEL_WEEKDAY)) - - -/** - * @} - */ -/* Private function prototypes -----------------------------------------------*/ -/* Exported functions --------------------------------------------------------*/ -/** @addtogroup RTC_LL_Exported_Functions - * @{ - */ - -/** @addtogroup RTC_LL_EF_Init - * @{ - */ - -/** - * @brief De-Initializes the RTC registers to their default reset values. - * @note This function doesn't reset the RTC Clock source and RTC Backup Data - * registers. - * @param RTCx RTC Instance - * @retval An ErrorStatus enumeration value: - * - SUCCESS: RTC registers are de-initialized - * - ERROR: RTC registers are not de-initialized - */ -ErrorStatus LL_RTC_DeInit(RTC_TypeDef *RTCx) -{ - ErrorStatus status = ERROR; - - /* Check the parameter */ - assert_param(IS_RTC_ALL_INSTANCE(RTCx)); - - /* Disable the write protection for RTC registers */ - LL_RTC_DisableWriteProtection(RTCx); - - /* Set Initialization mode */ - if (LL_RTC_EnterInitMode(RTCx) != ERROR) - { - /* Reset TR, DR and CR registers */ - LL_RTC_WriteReg(RTCx, TR, 0x00000000U); -#if defined(RTC_WAKEUP_SUPPORT) - LL_RTC_WriteReg(RTCx, WUTR, RTC_WUTR_WUT); -#endif /* RTC_WAKEUP_SUPPORT */ - LL_RTC_WriteReg(RTCx, DR , (RTC_DR_WDU_0 | RTC_DR_MU_0 | RTC_DR_DU_0)); - /* Reset All CR bits except CR[2:0] */ -#if defined(RTC_WAKEUP_SUPPORT) - LL_RTC_WriteReg(RTCx, CR, (LL_RTC_ReadReg(RTCx, CR) & RTC_CR_WUCKSEL)); -#else - LL_RTC_WriteReg(RTCx, CR, 0x00000000U); -#endif /* RTC_WAKEUP_SUPPORT */ - LL_RTC_WriteReg(RTCx, PRER, (RTC_PRER_PREDIV_A | RTC_SYNCH_PRESC_DEFAULT)); - LL_RTC_WriteReg(RTCx, ALRMAR, 0x00000000U); - LL_RTC_WriteReg(RTCx, ALRMBR, 0x00000000U); - LL_RTC_WriteReg(RTCx, SHIFTR, 0x00000000U); - LL_RTC_WriteReg(RTCx, CALR, 0x00000000U); - LL_RTC_WriteReg(RTCx, ALRMASSR, 0x00000000U); - LL_RTC_WriteReg(RTCx, ALRMBSSR, 0x00000000U); - - /* Reset ISR register and exit initialization mode */ - LL_RTC_WriteReg(RTCx, ISR, 0x00000000U); - - /* Reset Tamper and alternate functions configuration register */ - LL_RTC_WriteReg(RTCx, TAFCR, 0x00000000U); - - /* Wait till the RTC RSF flag is set */ - status = LL_RTC_WaitForSynchro(RTCx); - } - - /* Enable the write protection for RTC registers */ - LL_RTC_EnableWriteProtection(RTCx); - - return status; -} - -/** - * @brief Initializes the RTC registers according to the specified parameters - * in RTC_InitStruct. - * @param RTCx RTC Instance - * @param RTC_InitStruct pointer to a @ref LL_RTC_InitTypeDef structure that contains - * the configuration information for the RTC peripheral. - * @note The RTC Prescaler register is write protected and can be written in - * initialization mode only. - * @retval An ErrorStatus enumeration value: - * - SUCCESS: RTC registers are initialized - * - ERROR: RTC registers are not initialized - */ -ErrorStatus LL_RTC_Init(RTC_TypeDef *RTCx, LL_RTC_InitTypeDef *RTC_InitStruct) -{ - ErrorStatus status = ERROR; - - /* Check the parameters */ - assert_param(IS_RTC_ALL_INSTANCE(RTCx)); - assert_param(IS_LL_RTC_HOURFORMAT(RTC_InitStruct->HourFormat)); - assert_param(IS_LL_RTC_ASYNCH_PREDIV(RTC_InitStruct->AsynchPrescaler)); - assert_param(IS_LL_RTC_SYNCH_PREDIV(RTC_InitStruct->SynchPrescaler)); - - /* Disable the write protection for RTC registers */ - LL_RTC_DisableWriteProtection(RTCx); - - /* Set Initialization mode */ - if (LL_RTC_EnterInitMode(RTCx) != ERROR) - { - /* Set Hour Format */ - LL_RTC_SetHourFormat(RTCx, RTC_InitStruct->HourFormat); - - /* Configure Synchronous and Asynchronous prescaler factor */ - LL_RTC_SetSynchPrescaler(RTCx, RTC_InitStruct->SynchPrescaler); - LL_RTC_SetAsynchPrescaler(RTCx, RTC_InitStruct->AsynchPrescaler); - - /* Exit Initialization mode */ - LL_RTC_DisableInitMode(RTCx); - - status = SUCCESS; - } - /* Enable the write protection for RTC registers */ - LL_RTC_EnableWriteProtection(RTCx); - - return status; -} - -/** - * @brief Set each @ref LL_RTC_InitTypeDef field to default value. - * @param RTC_InitStruct pointer to a @ref LL_RTC_InitTypeDef structure which will be initialized. - * @retval None - */ -void LL_RTC_StructInit(LL_RTC_InitTypeDef *RTC_InitStruct) -{ - /* Set RTC_InitStruct fields to default values */ - RTC_InitStruct->HourFormat = LL_RTC_HOURFORMAT_24HOUR; - RTC_InitStruct->AsynchPrescaler = RTC_ASYNCH_PRESC_DEFAULT; - RTC_InitStruct->SynchPrescaler = RTC_SYNCH_PRESC_DEFAULT; -} - -/** - * @brief Set the RTC current time. - * @param RTCx RTC Instance - * @param RTC_Format This parameter can be one of the following values: - * @arg @ref LL_RTC_FORMAT_BIN - * @arg @ref LL_RTC_FORMAT_BCD - * @param RTC_TimeStruct pointer to a RTC_TimeTypeDef structure that contains - * the time configuration information for the RTC. - * @retval An ErrorStatus enumeration value: - * - SUCCESS: RTC Time register is configured - * - ERROR: RTC Time register is not configured - */ -ErrorStatus LL_RTC_TIME_Init(RTC_TypeDef *RTCx, uint32_t RTC_Format, LL_RTC_TimeTypeDef *RTC_TimeStruct) -{ - ErrorStatus status = ERROR; - - /* Check the parameters */ - assert_param(IS_RTC_ALL_INSTANCE(RTCx)); - assert_param(IS_LL_RTC_FORMAT(RTC_Format)); - - if (RTC_Format == LL_RTC_FORMAT_BIN) - { - if (LL_RTC_GetHourFormat(RTCx) != LL_RTC_HOURFORMAT_24HOUR) - { - assert_param(IS_LL_RTC_HOUR12(RTC_TimeStruct->Hours)); - assert_param(IS_LL_RTC_TIME_FORMAT(RTC_TimeStruct->TimeFormat)); - } - else - { - RTC_TimeStruct->TimeFormat = 0x00U; - assert_param(IS_LL_RTC_HOUR24(RTC_TimeStruct->Hours)); - } - assert_param(IS_LL_RTC_MINUTES(RTC_TimeStruct->Minutes)); - assert_param(IS_LL_RTC_SECONDS(RTC_TimeStruct->Seconds)); - } - else - { - if (LL_RTC_GetHourFormat(RTCx) != LL_RTC_HOURFORMAT_24HOUR) - { - assert_param(IS_LL_RTC_HOUR12(__LL_RTC_CONVERT_BCD2BIN(RTC_TimeStruct->Hours))); - assert_param(IS_LL_RTC_TIME_FORMAT(RTC_TimeStruct->TimeFormat)); - } - else - { - RTC_TimeStruct->TimeFormat = 0x00U; - assert_param(IS_LL_RTC_HOUR24(__LL_RTC_CONVERT_BCD2BIN(RTC_TimeStruct->Hours))); - } - assert_param(IS_LL_RTC_MINUTES(__LL_RTC_CONVERT_BCD2BIN(RTC_TimeStruct->Minutes))); - assert_param(IS_LL_RTC_SECONDS(__LL_RTC_CONVERT_BCD2BIN(RTC_TimeStruct->Seconds))); - } - - /* Disable the write protection for RTC registers */ - LL_RTC_DisableWriteProtection(RTCx); - - /* Set Initialization mode */ - if (LL_RTC_EnterInitMode(RTCx) != ERROR) - { - /* Check the input parameters format */ - if (RTC_Format != LL_RTC_FORMAT_BIN) - { - LL_RTC_TIME_Config(RTCx, RTC_TimeStruct->TimeFormat, RTC_TimeStruct->Hours, - RTC_TimeStruct->Minutes, RTC_TimeStruct->Seconds); - } - else - { - LL_RTC_TIME_Config(RTCx, RTC_TimeStruct->TimeFormat, __LL_RTC_CONVERT_BIN2BCD(RTC_TimeStruct->Hours), - __LL_RTC_CONVERT_BIN2BCD(RTC_TimeStruct->Minutes), - __LL_RTC_CONVERT_BIN2BCD(RTC_TimeStruct->Seconds)); - } - - /* Exit Initialization mode */ - LL_RTC_DisableInitMode(RTCx); - - /* If RTC_CR_BYPSHAD bit = 0, wait for synchro else this check is not needed */ - if (LL_RTC_IsShadowRegBypassEnabled(RTCx) == 0U) - { - status = LL_RTC_WaitForSynchro(RTCx); - } - else - { - status = SUCCESS; - } - } - /* Enable the write protection for RTC registers */ - LL_RTC_EnableWriteProtection(RTCx); - - return status; -} - -/** - * @brief Set each @ref LL_RTC_TimeTypeDef field to default value (Time = 00h:00min:00sec). - * @param RTC_TimeStruct pointer to a @ref LL_RTC_TimeTypeDef structure which will be initialized. - * @retval None - */ -void LL_RTC_TIME_StructInit(LL_RTC_TimeTypeDef *RTC_TimeStruct) -{ - /* Time = 00h:00min:00sec */ - RTC_TimeStruct->TimeFormat = LL_RTC_TIME_FORMAT_AM_OR_24; - RTC_TimeStruct->Hours = 0U; - RTC_TimeStruct->Minutes = 0U; - RTC_TimeStruct->Seconds = 0U; -} - -/** - * @brief Set the RTC current date. - * @param RTCx RTC Instance - * @param RTC_Format This parameter can be one of the following values: - * @arg @ref LL_RTC_FORMAT_BIN - * @arg @ref LL_RTC_FORMAT_BCD - * @param RTC_DateStruct pointer to a RTC_DateTypeDef structure that contains - * the date configuration information for the RTC. - * @retval An ErrorStatus enumeration value: - * - SUCCESS: RTC Day register is configured - * - ERROR: RTC Day register is not configured - */ -ErrorStatus LL_RTC_DATE_Init(RTC_TypeDef *RTCx, uint32_t RTC_Format, LL_RTC_DateTypeDef *RTC_DateStruct) -{ - ErrorStatus status = ERROR; - - /* Check the parameters */ - assert_param(IS_RTC_ALL_INSTANCE(RTCx)); - assert_param(IS_LL_RTC_FORMAT(RTC_Format)); - - if ((RTC_Format == LL_RTC_FORMAT_BIN) && ((RTC_DateStruct->Month & 0x10U) == 0x10U)) - { - RTC_DateStruct->Month = (RTC_DateStruct->Month & (uint32_t)~(0x10U)) + 0x0AU; - } - if (RTC_Format == LL_RTC_FORMAT_BIN) - { - assert_param(IS_LL_RTC_YEAR(RTC_DateStruct->Year)); - assert_param(IS_LL_RTC_MONTH(RTC_DateStruct->Month)); - assert_param(IS_LL_RTC_DAY(RTC_DateStruct->Day)); - } - else - { - assert_param(IS_LL_RTC_YEAR(__LL_RTC_CONVERT_BCD2BIN(RTC_DateStruct->Year))); - assert_param(IS_LL_RTC_MONTH(__LL_RTC_CONVERT_BCD2BIN(RTC_DateStruct->Month))); - assert_param(IS_LL_RTC_DAY(__LL_RTC_CONVERT_BCD2BIN(RTC_DateStruct->Day))); - } - assert_param(IS_LL_RTC_WEEKDAY(RTC_DateStruct->WeekDay)); - - /* Disable the write protection for RTC registers */ - LL_RTC_DisableWriteProtection(RTCx); - - /* Set Initialization mode */ - if (LL_RTC_EnterInitMode(RTCx) != ERROR) - { - /* Check the input parameters format */ - if (RTC_Format != LL_RTC_FORMAT_BIN) - { - LL_RTC_DATE_Config(RTCx, RTC_DateStruct->WeekDay, RTC_DateStruct->Day, RTC_DateStruct->Month, RTC_DateStruct->Year); - } - else - { - LL_RTC_DATE_Config(RTCx, RTC_DateStruct->WeekDay, __LL_RTC_CONVERT_BIN2BCD(RTC_DateStruct->Day), - __LL_RTC_CONVERT_BIN2BCD(RTC_DateStruct->Month), __LL_RTC_CONVERT_BIN2BCD(RTC_DateStruct->Year)); - } - - /* Exit Initialization mode */ - LL_RTC_DisableInitMode(RTCx); - - /* If RTC_CR_BYPSHAD bit = 0, wait for synchro else this check is not needed */ - if (LL_RTC_IsShadowRegBypassEnabled(RTCx) == 0U) - { - status = LL_RTC_WaitForSynchro(RTCx); - } - else - { - status = SUCCESS; - } - } - /* Enable the write protection for RTC registers */ - LL_RTC_EnableWriteProtection(RTCx); - - return status; -} - -/** - * @brief Set each @ref LL_RTC_DateTypeDef field to default value (date = Monday, January 01 xx00) - * @param RTC_DateStruct pointer to a @ref LL_RTC_DateTypeDef structure which will be initialized. - * @retval None - */ -void LL_RTC_DATE_StructInit(LL_RTC_DateTypeDef *RTC_DateStruct) -{ - /* Monday, January 01 xx00 */ - RTC_DateStruct->WeekDay = LL_RTC_WEEKDAY_MONDAY; - RTC_DateStruct->Day = 1U; - RTC_DateStruct->Month = LL_RTC_MONTH_JANUARY; - RTC_DateStruct->Year = 0U; -} - -/** - * @brief Set the RTC Alarm A. - * @note The Alarm register can only be written when the corresponding Alarm - * is disabled (Use @ref LL_RTC_ALMA_Disable function). - * @param RTCx RTC Instance - * @param RTC_Format This parameter can be one of the following values: - * @arg @ref LL_RTC_FORMAT_BIN - * @arg @ref LL_RTC_FORMAT_BCD - * @param RTC_AlarmStruct pointer to a @ref LL_RTC_AlarmTypeDef structure that - * contains the alarm configuration parameters. - * @retval An ErrorStatus enumeration value: - * - SUCCESS: ALARMA registers are configured - * - ERROR: ALARMA registers are not configured - */ -ErrorStatus LL_RTC_ALMA_Init(RTC_TypeDef *RTCx, uint32_t RTC_Format, LL_RTC_AlarmTypeDef *RTC_AlarmStruct) -{ - /* Check the parameters */ - assert_param(IS_RTC_ALL_INSTANCE(RTCx)); - assert_param(IS_LL_RTC_FORMAT(RTC_Format)); - assert_param(IS_LL_RTC_ALMA_MASK(RTC_AlarmStruct->AlarmMask)); - assert_param(IS_LL_RTC_ALMA_DATE_WEEKDAY_SEL(RTC_AlarmStruct->AlarmDateWeekDaySel)); - - if (RTC_Format == LL_RTC_FORMAT_BIN) - { - if (LL_RTC_GetHourFormat(RTCx) != LL_RTC_HOURFORMAT_24HOUR) - { - assert_param(IS_LL_RTC_HOUR12(RTC_AlarmStruct->AlarmTime.Hours)); - assert_param(IS_LL_RTC_TIME_FORMAT(RTC_AlarmStruct->AlarmTime.TimeFormat)); - } - else - { - RTC_AlarmStruct->AlarmTime.TimeFormat = 0x00U; - assert_param(IS_LL_RTC_HOUR24(RTC_AlarmStruct->AlarmTime.Hours)); - } - assert_param(IS_LL_RTC_MINUTES(RTC_AlarmStruct->AlarmTime.Minutes)); - assert_param(IS_LL_RTC_SECONDS(RTC_AlarmStruct->AlarmTime.Seconds)); - - if (RTC_AlarmStruct->AlarmDateWeekDaySel == LL_RTC_ALMA_DATEWEEKDAYSEL_DATE) - { - assert_param(IS_LL_RTC_DAY(RTC_AlarmStruct->AlarmDateWeekDay)); - } - else - { - assert_param(IS_LL_RTC_WEEKDAY(RTC_AlarmStruct->AlarmDateWeekDay)); - } - } - else - { - if (LL_RTC_GetHourFormat(RTCx) != LL_RTC_HOURFORMAT_24HOUR) - { - assert_param(IS_LL_RTC_HOUR12(__LL_RTC_CONVERT_BCD2BIN(RTC_AlarmStruct->AlarmTime.Hours))); - assert_param(IS_LL_RTC_TIME_FORMAT(RTC_AlarmStruct->AlarmTime.TimeFormat)); - } - else - { - RTC_AlarmStruct->AlarmTime.TimeFormat = 0x00U; - assert_param(IS_LL_RTC_HOUR24(__LL_RTC_CONVERT_BCD2BIN(RTC_AlarmStruct->AlarmTime.Hours))); - } - - assert_param(IS_LL_RTC_MINUTES(__LL_RTC_CONVERT_BCD2BIN(RTC_AlarmStruct->AlarmTime.Minutes))); - assert_param(IS_LL_RTC_SECONDS(__LL_RTC_CONVERT_BCD2BIN(RTC_AlarmStruct->AlarmTime.Seconds))); - - if (RTC_AlarmStruct->AlarmDateWeekDaySel == LL_RTC_ALMA_DATEWEEKDAYSEL_DATE) - { - assert_param(IS_LL_RTC_DAY(__LL_RTC_CONVERT_BCD2BIN(RTC_AlarmStruct->AlarmDateWeekDay))); - } - else - { - assert_param(IS_LL_RTC_WEEKDAY(__LL_RTC_CONVERT_BCD2BIN(RTC_AlarmStruct->AlarmDateWeekDay))); - } - } - - /* Disable the write protection for RTC registers */ - LL_RTC_DisableWriteProtection(RTCx); - - /* Select weekday selection */ - if (RTC_AlarmStruct->AlarmDateWeekDaySel == LL_RTC_ALMA_DATEWEEKDAYSEL_DATE) - { - /* Set the date for ALARM */ - LL_RTC_ALMA_DisableWeekday(RTCx); - if (RTC_Format != LL_RTC_FORMAT_BIN) - { - LL_RTC_ALMA_SetDay(RTCx, RTC_AlarmStruct->AlarmDateWeekDay); - } - else - { - LL_RTC_ALMA_SetDay(RTCx, __LL_RTC_CONVERT_BIN2BCD(RTC_AlarmStruct->AlarmDateWeekDay)); - } - } - else - { - /* Set the week day for ALARM */ - LL_RTC_ALMA_EnableWeekday(RTCx); - LL_RTC_ALMA_SetWeekDay(RTCx, RTC_AlarmStruct->AlarmDateWeekDay); - } - - /* Configure the Alarm register */ - if (RTC_Format != LL_RTC_FORMAT_BIN) - { - LL_RTC_ALMA_ConfigTime(RTCx, RTC_AlarmStruct->AlarmTime.TimeFormat, RTC_AlarmStruct->AlarmTime.Hours, - RTC_AlarmStruct->AlarmTime.Minutes, RTC_AlarmStruct->AlarmTime.Seconds); - } - else - { - LL_RTC_ALMA_ConfigTime(RTCx, RTC_AlarmStruct->AlarmTime.TimeFormat, - __LL_RTC_CONVERT_BIN2BCD(RTC_AlarmStruct->AlarmTime.Hours), - __LL_RTC_CONVERT_BIN2BCD(RTC_AlarmStruct->AlarmTime.Minutes), - __LL_RTC_CONVERT_BIN2BCD(RTC_AlarmStruct->AlarmTime.Seconds)); - } - /* Set ALARM mask */ - LL_RTC_ALMA_SetMask(RTCx, RTC_AlarmStruct->AlarmMask); - - /* Enable the write protection for RTC registers */ - LL_RTC_EnableWriteProtection(RTCx); - - return SUCCESS; -} - -/** - * @brief Set the RTC Alarm B. - * @note The Alarm register can only be written when the corresponding Alarm - * is disabled (@ref LL_RTC_ALMB_Disable function). - * @param RTCx RTC Instance - * @param RTC_Format This parameter can be one of the following values: - * @arg @ref LL_RTC_FORMAT_BIN - * @arg @ref LL_RTC_FORMAT_BCD - * @param RTC_AlarmStruct pointer to a @ref LL_RTC_AlarmTypeDef structure that - * contains the alarm configuration parameters. - * @retval An ErrorStatus enumeration value: - * - SUCCESS: ALARMB registers are configured - * - ERROR: ALARMB registers are not configured - */ -ErrorStatus LL_RTC_ALMB_Init(RTC_TypeDef *RTCx, uint32_t RTC_Format, LL_RTC_AlarmTypeDef *RTC_AlarmStruct) -{ - /* Check the parameters */ - assert_param(IS_RTC_ALL_INSTANCE(RTCx)); - assert_param(IS_LL_RTC_FORMAT(RTC_Format)); - assert_param(IS_LL_RTC_ALMB_MASK(RTC_AlarmStruct->AlarmMask)); - assert_param(IS_LL_RTC_ALMB_DATE_WEEKDAY_SEL(RTC_AlarmStruct->AlarmDateWeekDaySel)); - - if (RTC_Format == LL_RTC_FORMAT_BIN) - { - if (LL_RTC_GetHourFormat(RTCx) != LL_RTC_HOURFORMAT_24HOUR) - { - assert_param(IS_LL_RTC_HOUR12(RTC_AlarmStruct->AlarmTime.Hours)); - assert_param(IS_LL_RTC_TIME_FORMAT(RTC_AlarmStruct->AlarmTime.TimeFormat)); - } - else - { - RTC_AlarmStruct->AlarmTime.TimeFormat = 0x00U; - assert_param(IS_LL_RTC_HOUR24(RTC_AlarmStruct->AlarmTime.Hours)); - } - assert_param(IS_LL_RTC_MINUTES(RTC_AlarmStruct->AlarmTime.Minutes)); - assert_param(IS_LL_RTC_SECONDS(RTC_AlarmStruct->AlarmTime.Seconds)); - - if (RTC_AlarmStruct->AlarmDateWeekDaySel == LL_RTC_ALMB_DATEWEEKDAYSEL_DATE) - { - assert_param(IS_LL_RTC_DAY(RTC_AlarmStruct->AlarmDateWeekDay)); - } - else - { - assert_param(IS_LL_RTC_WEEKDAY(RTC_AlarmStruct->AlarmDateWeekDay)); - } - } - else - { - if (LL_RTC_GetHourFormat(RTCx) != LL_RTC_HOURFORMAT_24HOUR) - { - assert_param(IS_LL_RTC_HOUR12(__LL_RTC_CONVERT_BCD2BIN(RTC_AlarmStruct->AlarmTime.Hours))); - assert_param(IS_LL_RTC_TIME_FORMAT(RTC_AlarmStruct->AlarmTime.TimeFormat)); - } - else - { - RTC_AlarmStruct->AlarmTime.TimeFormat = 0x00U; - assert_param(IS_LL_RTC_HOUR24(__LL_RTC_CONVERT_BCD2BIN(RTC_AlarmStruct->AlarmTime.Hours))); - } - - assert_param(IS_LL_RTC_MINUTES(__LL_RTC_CONVERT_BCD2BIN(RTC_AlarmStruct->AlarmTime.Minutes))); - assert_param(IS_LL_RTC_SECONDS(__LL_RTC_CONVERT_BCD2BIN(RTC_AlarmStruct->AlarmTime.Seconds))); - - if (RTC_AlarmStruct->AlarmDateWeekDaySel == LL_RTC_ALMB_DATEWEEKDAYSEL_DATE) - { - assert_param(IS_LL_RTC_DAY(__LL_RTC_CONVERT_BCD2BIN(RTC_AlarmStruct->AlarmDateWeekDay))); - } - else - { - assert_param(IS_LL_RTC_WEEKDAY(__LL_RTC_CONVERT_BCD2BIN(RTC_AlarmStruct->AlarmDateWeekDay))); - } - } - - /* Disable the write protection for RTC registers */ - LL_RTC_DisableWriteProtection(RTCx); - - /* Select weekday selection */ - if (RTC_AlarmStruct->AlarmDateWeekDaySel == LL_RTC_ALMB_DATEWEEKDAYSEL_DATE) - { - /* Set the date for ALARM */ - LL_RTC_ALMB_DisableWeekday(RTCx); - if (RTC_Format != LL_RTC_FORMAT_BIN) - { - LL_RTC_ALMB_SetDay(RTCx, RTC_AlarmStruct->AlarmDateWeekDay); - } - else - { - LL_RTC_ALMB_SetDay(RTCx, __LL_RTC_CONVERT_BIN2BCD(RTC_AlarmStruct->AlarmDateWeekDay)); - } - } - else - { - /* Set the week day for ALARM */ - LL_RTC_ALMB_EnableWeekday(RTCx); - LL_RTC_ALMB_SetWeekDay(RTCx, RTC_AlarmStruct->AlarmDateWeekDay); - } - - /* Configure the Alarm register */ - if (RTC_Format != LL_RTC_FORMAT_BIN) - { - LL_RTC_ALMB_ConfigTime(RTCx, RTC_AlarmStruct->AlarmTime.TimeFormat, RTC_AlarmStruct->AlarmTime.Hours, - RTC_AlarmStruct->AlarmTime.Minutes, RTC_AlarmStruct->AlarmTime.Seconds); - } - else - { - LL_RTC_ALMB_ConfigTime(RTCx, RTC_AlarmStruct->AlarmTime.TimeFormat, - __LL_RTC_CONVERT_BIN2BCD(RTC_AlarmStruct->AlarmTime.Hours), - __LL_RTC_CONVERT_BIN2BCD(RTC_AlarmStruct->AlarmTime.Minutes), - __LL_RTC_CONVERT_BIN2BCD(RTC_AlarmStruct->AlarmTime.Seconds)); - } - /* Set ALARM mask */ - LL_RTC_ALMB_SetMask(RTCx, RTC_AlarmStruct->AlarmMask); - - /* Enable the write protection for RTC registers */ - LL_RTC_EnableWriteProtection(RTCx); - - return SUCCESS; -} - -/** - * @brief Set each @ref LL_RTC_AlarmTypeDef of ALARMA field to default value (Time = 00h:00mn:00sec / - * Day = 1st day of the month/Mask = all fields are masked). - * @param RTC_AlarmStruct pointer to a @ref LL_RTC_AlarmTypeDef structure which will be initialized. - * @retval None - */ -void LL_RTC_ALMA_StructInit(LL_RTC_AlarmTypeDef *RTC_AlarmStruct) -{ - /* Alarm Time Settings : Time = 00h:00mn:00sec */ - RTC_AlarmStruct->AlarmTime.TimeFormat = LL_RTC_ALMA_TIME_FORMAT_AM; - RTC_AlarmStruct->AlarmTime.Hours = 0U; - RTC_AlarmStruct->AlarmTime.Minutes = 0U; - RTC_AlarmStruct->AlarmTime.Seconds = 0U; - - /* Alarm Day Settings : Day = 1st day of the month */ - RTC_AlarmStruct->AlarmDateWeekDaySel = LL_RTC_ALMA_DATEWEEKDAYSEL_DATE; - RTC_AlarmStruct->AlarmDateWeekDay = 1U; - - /* Alarm Masks Settings : Mask = all fields are not masked */ - RTC_AlarmStruct->AlarmMask = LL_RTC_ALMA_MASK_NONE; -} - -/** - * @brief Set each @ref LL_RTC_AlarmTypeDef of ALARMA field to default value (Time = 00h:00mn:00sec / - * Day = 1st day of the month/Mask = all fields are masked). - * @param RTC_AlarmStruct pointer to a @ref LL_RTC_AlarmTypeDef structure which will be initialized. - * @retval None - */ -void LL_RTC_ALMB_StructInit(LL_RTC_AlarmTypeDef *RTC_AlarmStruct) -{ - /* Alarm Time Settings : Time = 00h:00mn:00sec */ - RTC_AlarmStruct->AlarmTime.TimeFormat = LL_RTC_ALMB_TIME_FORMAT_AM; - RTC_AlarmStruct->AlarmTime.Hours = 0U; - RTC_AlarmStruct->AlarmTime.Minutes = 0U; - RTC_AlarmStruct->AlarmTime.Seconds = 0U; - - /* Alarm Day Settings : Day = 1st day of the month */ - RTC_AlarmStruct->AlarmDateWeekDaySel = LL_RTC_ALMB_DATEWEEKDAYSEL_DATE; - RTC_AlarmStruct->AlarmDateWeekDay = 1U; - - /* Alarm Masks Settings : Mask = all fields are not masked */ - RTC_AlarmStruct->AlarmMask = LL_RTC_ALMB_MASK_NONE; -} - -/** - * @brief Enters the RTC Initialization mode. - * @note The RTC Initialization mode is write protected, use the - * @ref LL_RTC_DisableWriteProtection before calling this function. - * @param RTCx RTC Instance - * @retval An ErrorStatus enumeration value: - * - SUCCESS: RTC is in Init mode - * - ERROR: RTC is not in Init mode - */ -ErrorStatus LL_RTC_EnterInitMode(RTC_TypeDef *RTCx) -{ - __IO uint32_t timeout = RTC_INITMODE_TIMEOUT; - ErrorStatus status = SUCCESS; - uint32_t tmp = 0U; - - /* Check the parameter */ - assert_param(IS_RTC_ALL_INSTANCE(RTCx)); - - /* Check if the Initialization mode is set */ - if (LL_RTC_IsActiveFlag_INIT(RTCx) == 0U) - { - /* Set the Initialization mode */ - LL_RTC_EnableInitMode(RTCx); - - /* Wait till RTC is in INIT state and if Time out is reached exit */ - tmp = LL_RTC_IsActiveFlag_INIT(RTCx); - while ((timeout != 0U) && (tmp != 1U)) - { - if (LL_SYSTICK_IsActiveCounterFlag() == 1U) - { - timeout --; - } - tmp = LL_RTC_IsActiveFlag_INIT(RTCx); - if (timeout == 0U) - { - status = ERROR; - } - } - } - return status; -} - -/** - * @brief Exit the RTC Initialization mode. - * @note When the initialization sequence is complete, the calendar restarts - * counting after 4 RTCCLK cycles. - * @note The RTC Initialization mode is write protected, use the - * @ref LL_RTC_DisableWriteProtection before calling this function. - * @param RTCx RTC Instance - * @retval An ErrorStatus enumeration value: - * - SUCCESS: RTC exited from in Init mode - * - ERROR: Not applicable - */ -ErrorStatus LL_RTC_ExitInitMode(RTC_TypeDef *RTCx) -{ - /* Check the parameter */ - assert_param(IS_RTC_ALL_INSTANCE(RTCx)); - - /* Disable initialization mode */ - LL_RTC_DisableInitMode(RTCx); - - return SUCCESS; -} - -/** - * @brief Waits until the RTC Time and Day registers (RTC_TR and RTC_DR) are - * synchronized with RTC APB clock. - * @note The RTC Resynchronization mode is write protected, use the - * @ref LL_RTC_DisableWriteProtection before calling this function. - * @note To read the calendar through the shadow registers after Calendar - * initialization, calendar update or after wakeup from low power modes - * the software must first clear the RSF flag. - * The software must then wait until it is set again before reading - * the calendar, which means that the calendar registers have been - * correctly copied into the RTC_TR and RTC_DR shadow registers. - * @param RTCx RTC Instance - * @retval An ErrorStatus enumeration value: - * - SUCCESS: RTC registers are synchronised - * - ERROR: RTC registers are not synchronised - */ -ErrorStatus LL_RTC_WaitForSynchro(RTC_TypeDef *RTCx) -{ - __IO uint32_t timeout = RTC_SYNCHRO_TIMEOUT; - ErrorStatus status = SUCCESS; - uint32_t tmp = 0U; - - /* Check the parameter */ - assert_param(IS_RTC_ALL_INSTANCE(RTCx)); - - /* Clear RSF flag */ - LL_RTC_ClearFlag_RS(RTCx); - - /* Wait the registers to be synchronised */ - tmp = LL_RTC_IsActiveFlag_RS(RTCx); - while ((timeout != 0U) && (tmp != 0U)) - { - if (LL_SYSTICK_IsActiveCounterFlag() == 1U) - { - timeout--; - } - tmp = LL_RTC_IsActiveFlag_RS(RTCx); - if (timeout == 0U) - { - status = ERROR; - } - } - - if (status != ERROR) - { - timeout = RTC_SYNCHRO_TIMEOUT; - tmp = LL_RTC_IsActiveFlag_RS(RTCx); - while ((timeout != 0U) && (tmp != 1U)) - { - if (LL_SYSTICK_IsActiveCounterFlag() == 1U) - { - timeout--; - } - tmp = LL_RTC_IsActiveFlag_RS(RTCx); - if (timeout == 0U) - { - status = ERROR; - } - } - } - - return (status); -} - -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ - -#endif /* defined(RTC) */ - -/** - * @} - */ - -#endif /* USE_FULL_LL_DRIVER */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_sdmmc.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_sdmmc.c deleted file mode 100644 index ff89435bf7e2e4..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_sdmmc.c +++ /dev/null @@ -1,1547 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_ll_sdmmc.c - * @author MCD Application Team - * @brief SDMMC Low Layer HAL module driver. - * - * This file provides firmware functions to manage the following - * functionalities of the SDMMC peripheral: - * + Initialization/de-initialization functions - * + I/O operation functions - * + Peripheral Control functions - * + Peripheral State functions - * - @verbatim - ============================================================================== - ##### SDMMC peripheral features ##### - ============================================================================== - [..] The SD/SDMMC MMC card host interface (SDMMC) provides an interface between the AHB - peripheral bus and MultiMedia cards (MMCs), SD memory cards, SDMMC cards and CE-ATA - devices. - - [..] The SDMMC features include the following: - (+) Full compliance with MultiMedia Card System Specification Version 4.2. Card support - for three different databus modes: 1-bit (default), 4-bit and 8-bit - (+) Full compatibility with previous versions of MultiMedia Cards (forward compatibility) - (+) Full compliance with SD Memory Card Specifications Version 2.0 - (+) Full compliance with SD I/O Card Specification Version 2.0: card support for two - different data bus modes: 1-bit (default) and 4-bit - (+) Full support of the CE-ATA features (full compliance with CE-ATA digital protocol - Rev1.1) - (+) Data transfer up to 48 MHz for the 8 bit mode - (+) Data and command output enable signals to control external bidirectional drivers - - ##### How to use this driver ##### - ============================================================================== - [..] - This driver is a considered as a driver of service for external devices drivers - that interfaces with the SDMMC peripheral. - According to the device used (SD card/ MMC card / SDMMC card ...), a set of APIs - is used in the device's driver to perform SDMMC operations and functionalities. - - This driver is almost transparent for the final user, it is only used to implement other - functionalities of the external device. - - [..] - (+) The SDMMC clock (SDMMCCLK = 48 MHz) is coming from a specific output (MSI, PLLUSB1CLK, - PLLUSB2CLK). Before start working with SDMMC peripheral make sure that the - PLL is well configured. - The SDMMC peripheral uses two clock signals: - (++) SDMMC adapter clock (SDMMCCLK = 48 MHz) - (++) APB2 bus clock (PCLK2) - - -@@- PCLK2 and SDMMC_CK clock frequencies must respect the following condition: - Frequency(PCLK2) >= (3 / 8 x Frequency(SDMMC_CK)) - - (+) Enable/Disable peripheral clock using RCC peripheral macros related to SDMMC - peripheral. - - (+) Enable the Power ON State using the SDIO_PowerState_ON() - function and disable it using the function SDIO_PowerState_OFF(). - - (+) Enable/Disable the clock using the __SDIO_ENABLE()/__SDIO_DISABLE() macros. - - (+) Enable/Disable the peripheral interrupts using the macros __SDIO_ENABLE_IT() - and __SDIO_DISABLE_IT() if you need to use interrupt mode. - - (+) When using the DMA mode - (++) Configure the DMA in the MSP layer of the external device - (++) Active the needed channel Request - (++) Enable the DMA using __SDIO_DMA_ENABLE() macro or Disable it using the macro - __SDIO_DMA_DISABLE(). - - (+) To control the CPSM (Command Path State Machine) and send - commands to the card use the SDIO_SendCommand(), - SDIO_GetCommandResponse() and SDIO_GetResponse() functions. First, user has - to fill the command structure (pointer to SDIO_CmdInitTypeDef) according - to the selected command to be sent. - The parameters that should be filled are: - (++) Command Argument - (++) Command Index - (++) Command Response type - (++) Command Wait - (++) CPSM Status (Enable or Disable). - - -@@- To check if the command is well received, read the SDIO_CMDRESP - register using the SDIO_GetCommandResponse(). - The SDMMC responses registers (SDIO_RESP1 to SDIO_RESP2), use the - SDIO_GetResponse() function. - - (+) To control the DPSM (Data Path State Machine) and send/receive - data to/from the card use the SDIO_DataConfig(), SDIO_GetDataCounter(), - SDIO_ReadFIFO(), SDIO_WriteFIFO() and SDIO_GetFIFOCount() functions. - - *** Read Operations *** - ======================= - [..] - (#) First, user has to fill the data structure (pointer to - SDIO_DataInitTypeDef) according to the selected data type to be received. - The parameters that should be filled are: - (++) Data TimeOut - (++) Data Length - (++) Data Block size - (++) Data Transfer direction: should be from card (To SDMMC) - (++) Data Transfer mode - (++) DPSM Status (Enable or Disable) - - (#) Configure the SDMMC resources to receive the data from the card - according to selected transfer mode (Refer to Step 8, 9 and 10). - - (#) Send the selected Read command (refer to step 11). - - (#) Use the SDIO flags/interrupts to check the transfer status. - - *** Write Operations *** - ======================== - [..] - (#) First, user has to fill the data structure (pointer to - SDIO_DataInitTypeDef) according to the selected data type to be received. - The parameters that should be filled are: - (++) Data TimeOut - (++) Data Length - (++) Data Block size - (++) Data Transfer direction: should be to card (To CARD) - (++) Data Transfer mode - (++) DPSM Status (Enable or Disable) - - (#) Configure the SDMMC resources to send the data to the card according to - selected transfer mode. - - (#) Send the selected Write command. - - (#) Use the SDIO flags/interrupts to check the transfer status. - - *** Command management operations *** - ===================================== - [..] - (#) The commands used for Read/Write/Erase operations are managed in - separate functions. - Each function allows to send the needed command with the related argument, - then check the response. - By the same approach, you could implement a command and check the response. - - @endverbatim - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal.h" - -#if defined(SDIO) - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @defgroup SDMMC_LL SDMMC Low Layer - * @brief Low layer module for SD - * @{ - */ - -#if defined(HAL_SD_MODULE_ENABLED) || defined(HAL_MMC_MODULE_ENABLED) - -/* Private typedef -----------------------------------------------------------*/ -/* Private define ------------------------------------------------------------*/ -/* Private macro -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private function prototypes -----------------------------------------------*/ -static uint32_t SDMMC_GetCmdError(SDIO_TypeDef *SDIOx); -static uint32_t SDMMC_GetCmdResp1(SDIO_TypeDef *SDIOx, uint8_t SD_CMD, uint32_t Timeout); -static uint32_t SDMMC_GetCmdResp2(SDIO_TypeDef *SDIOx); -static uint32_t SDMMC_GetCmdResp3(SDIO_TypeDef *SDIOx); -static uint32_t SDMMC_GetCmdResp7(SDIO_TypeDef *SDIOx); -static uint32_t SDMMC_GetCmdResp6(SDIO_TypeDef *SDIOx, uint8_t SD_CMD, uint16_t *pRCA); - -/* Exported functions --------------------------------------------------------*/ - -/** @defgroup SDMMC_LL_Exported_Functions SDMMC Low Layer Exported Functions - * @{ - */ - -/** @defgroup HAL_SDMMC_LL_Group1 Initialization de-initialization functions - * @brief Initialization and Configuration functions - * -@verbatim - =============================================================================== - ##### Initialization/de-initialization functions ##### - =============================================================================== - [..] This section provides functions allowing to: - -@endverbatim - * @{ - */ - -/** - * @brief Initializes the SDMMC according to the specified - * parameters in the SDMMC_InitTypeDef and create the associated handle. - * @param SDIOx: Pointer to SDMMC register base - * @param Init: SDMMC initialization structure - * @retval HAL status - */ -HAL_StatusTypeDef SDIO_Init(SDIO_TypeDef *SDIOx, SDIO_InitTypeDef Init) -{ - uint32_t tmpreg = 0; - - /* Check the parameters */ - assert_param(IS_SDIO_ALL_INSTANCE(SDIOx)); - assert_param(IS_SDIO_CLOCK_EDGE(Init.ClockEdge)); - assert_param(IS_SDIO_CLOCK_BYPASS(Init.ClockBypass)); - assert_param(IS_SDIO_CLOCK_POWER_SAVE(Init.ClockPowerSave)); - assert_param(IS_SDIO_BUS_WIDE(Init.BusWide)); - assert_param(IS_SDIO_HARDWARE_FLOW_CONTROL(Init.HardwareFlowControl)); - assert_param(IS_SDIO_CLKDIV(Init.ClockDiv)); - - /* Set SDMMC configuration parameters */ - tmpreg |= (Init.ClockEdge |\ - Init.ClockBypass |\ - Init.ClockPowerSave |\ - Init.BusWide |\ - Init.HardwareFlowControl |\ - Init.ClockDiv - ); - - /* Write to SDMMC CLKCR */ - MODIFY_REG(SDIOx->CLKCR, CLKCR_CLEAR_MASK, tmpreg); - - return HAL_OK; -} - - -/** - * @} - */ - -/** @defgroup HAL_SDMMC_LL_Group2 IO operation functions - * @brief Data transfers functions - * -@verbatim - =============================================================================== - ##### I/O operation functions ##### - =============================================================================== - [..] - This subsection provides a set of functions allowing to manage the SDMMC data - transfers. - -@endverbatim - * @{ - */ - -/** - * @brief Read data (word) from Rx FIFO in blocking mode (polling) - * @param SDIOx: Pointer to SDMMC register base - * @retval HAL status - */ -uint32_t SDIO_ReadFIFO(SDIO_TypeDef *SDIOx) -{ - /* Read data from Rx FIFO */ - return (SDIOx->FIFO); -} - -/** - * @brief Write data (word) to Tx FIFO in blocking mode (polling) - * @param SDIOx: Pointer to SDMMC register base - * @param pWriteData: pointer to data to write - * @retval HAL status - */ -HAL_StatusTypeDef SDIO_WriteFIFO(SDIO_TypeDef *SDIOx, uint32_t *pWriteData) -{ - /* Write data to FIFO */ - SDIOx->FIFO = *pWriteData; - - return HAL_OK; -} - -/** - * @} - */ - -/** @defgroup HAL_SDMMC_LL_Group3 Peripheral Control functions - * @brief management functions - * -@verbatim - =============================================================================== - ##### Peripheral Control functions ##### - =============================================================================== - [..] - This subsection provides a set of functions allowing to control the SDMMC data - transfers. - -@endverbatim - * @{ - */ - -/** - * @brief Set SDMMC Power state to ON. - * @param SDIOx: Pointer to SDMMC register base - * @retval HAL status - */ -HAL_StatusTypeDef SDIO_PowerState_ON(SDIO_TypeDef *SDIOx) -{ - /* Set power state to ON */ - SDIOx->POWER = SDIO_POWER_PWRCTRL; - - /* 1ms: required power up waiting time before starting the SD initialization - sequence */ - HAL_Delay(2); - - return HAL_OK; -} - -/** - * @brief Set SDMMC Power state to OFF. - * @param SDIOx: Pointer to SDMMC register base - * @retval HAL status - */ -HAL_StatusTypeDef SDIO_PowerState_OFF(SDIO_TypeDef *SDIOx) -{ - /* Set power state to OFF */ - SDIOx->POWER = (uint32_t)0x00000000; - - return HAL_OK; -} - -/** - * @brief Get SDMMC Power state. - * @param SDIOx: Pointer to SDMMC register base - * @retval Power status of the controller. The returned value can be one of the - * following values: - * - 0x00: Power OFF - * - 0x02: Power UP - * - 0x03: Power ON - */ -uint32_t SDIO_GetPowerState(SDIO_TypeDef *SDIOx) -{ - return (SDIOx->POWER & SDIO_POWER_PWRCTRL); -} - -/** - * @brief Configure the SDMMC command path according to the specified parameters in - * SDIO_CmdInitTypeDef structure and send the command - * @param SDIOx: Pointer to SDMMC register base - * @param Command: pointer to a SDIO_CmdInitTypeDef structure that contains - * the configuration information for the SDMMC command - * @retval HAL status - */ -HAL_StatusTypeDef SDIO_SendCommand(SDIO_TypeDef *SDIOx, SDIO_CmdInitTypeDef *Command) -{ - uint32_t tmpreg = 0; - - /* Check the parameters */ - assert_param(IS_SDIO_CMD_INDEX(Command->CmdIndex)); - assert_param(IS_SDIO_RESPONSE(Command->Response)); - assert_param(IS_SDIO_WAIT(Command->WaitForInterrupt)); - assert_param(IS_SDIO_CPSM(Command->CPSM)); - - /* Set the SDMMC Argument value */ - SDIOx->ARG = Command->Argument; - - /* Set SDMMC command parameters */ - tmpreg |= (uint32_t)(Command->CmdIndex |\ - Command->Response |\ - Command->WaitForInterrupt |\ - Command->CPSM); - - /* Write to SDMMC CMD register */ - MODIFY_REG(SDIOx->CMD, CMD_CLEAR_MASK, tmpreg); - - return HAL_OK; -} - -/** - * @brief Return the command index of last command for which response received - * @param SDIOx: Pointer to SDMMC register base - * @retval Command index of the last command response received - */ -uint8_t SDIO_GetCommandResponse(SDIO_TypeDef *SDIOx) -{ - return (uint8_t)(SDIOx->RESPCMD); -} - - -/** - * @brief Return the response received from the card for the last command - * @param SDIOx: Pointer to SDMMC register base - * @param Response: Specifies the SDMMC response register. - * This parameter can be one of the following values: - * @arg SDIO_RESP1: Response Register 1 - * @arg SDIO_RESP2: Response Register 2 - * @arg SDIO_RESP3: Response Register 3 - * @arg SDIO_RESP4: Response Register 4 - * @retval The Corresponding response register value - */ -uint32_t SDIO_GetResponse(SDIO_TypeDef *SDIOx, uint32_t Response) -{ - uint32_t tmp; - - /* Check the parameters */ - assert_param(IS_SDIO_RESP(Response)); - - /* Get the response */ - tmp = (uint32_t)(&(SDIOx->RESP1)) + Response; - - return (*(__IO uint32_t *) tmp); -} - -/** - * @brief Configure the SDMMC data path according to the specified - * parameters in the SDIO_DataInitTypeDef. - * @param SDIOx: Pointer to SDIO register base - * @param Data : pointer to a SDIO_DataInitTypeDef structure - * that contains the configuration information for the SDMMC data. - * @retval HAL status - */ -HAL_StatusTypeDef SDIO_ConfigData(SDIO_TypeDef *SDIOx, SDIO_DataInitTypeDef* Data) -{ - uint32_t tmpreg = 0; - - /* Check the parameters */ - assert_param(IS_SDIO_DATA_LENGTH(Data->DataLength)); - assert_param(IS_SDIO_BLOCK_SIZE(Data->DataBlockSize)); - assert_param(IS_SDIO_TRANSFER_DIR(Data->TransferDir)); - assert_param(IS_SDIO_TRANSFER_MODE(Data->TransferMode)); - assert_param(IS_SDIO_DPSM(Data->DPSM)); - - /* Set the SDMMC Data TimeOut value */ - SDIOx->DTIMER = Data->DataTimeOut; - - /* Set the SDMMC DataLength value */ - SDIOx->DLEN = Data->DataLength; - - /* Set the SDMMC data configuration parameters */ - tmpreg |= (uint32_t)(Data->DataBlockSize |\ - Data->TransferDir |\ - Data->TransferMode |\ - Data->DPSM); - - /* Write to SDMMC DCTRL */ - MODIFY_REG(SDIOx->DCTRL, DCTRL_CLEAR_MASK, tmpreg); - - return HAL_OK; - -} - -/** - * @brief Returns number of remaining data bytes to be transferred. - * @param SDIOx: Pointer to SDIO register base - * @retval Number of remaining data bytes to be transferred - */ -uint32_t SDIO_GetDataCounter(SDIO_TypeDef *SDIOx) -{ - return (SDIOx->DCOUNT); -} - -/** - * @brief Get the FIFO data - * @param SDIOx: Pointer to SDIO register base - * @retval Data received - */ -uint32_t SDIO_GetFIFOCount(SDIO_TypeDef *SDIOx) -{ - return (SDIOx->FIFO); -} - -/** - * @brief Sets one of the two options of inserting read wait interval. - * @param SDIOx: Pointer to SDIO register base - * @param SDIO_ReadWaitMode: SDMMC Read Wait operation mode. - * This parameter can be: - * @arg SDIO_READ_WAIT_MODE_CLK: Read Wait control by stopping SDMMCCLK - * @arg SDIO_READ_WAIT_MODE_DATA2: Read Wait control using SDMMC_DATA2 - * @retval None - */ -HAL_StatusTypeDef SDIO_SetSDMMCReadWaitMode(SDIO_TypeDef *SDIOx, uint32_t SDIO_ReadWaitMode) -{ - /* Check the parameters */ - assert_param(IS_SDIO_READWAIT_MODE(SDIO_ReadWaitMode)); - - /* Set SDMMC read wait mode */ - MODIFY_REG(SDIOx->DCTRL, SDIO_DCTRL_RWMOD, SDIO_ReadWaitMode); - - return HAL_OK; -} - -/** - * @} - */ - - -/** @defgroup HAL_SDMMC_LL_Group4 Command management functions - * @brief Data transfers functions - * -@verbatim - =============================================================================== - ##### Commands management functions ##### - =============================================================================== - [..] - This subsection provides a set of functions allowing to manage the needed commands. - -@endverbatim - * @{ - */ - -/** - * @brief Send the Data Block Length command and check the response - * @param SDIOx: Pointer to SDIO register base - * @retval HAL status - */ -uint32_t SDMMC_CmdBlockLength(SDIO_TypeDef *SDIOx, uint32_t BlockSize) -{ - SDIO_CmdInitTypeDef sdmmc_cmdinit; - uint32_t errorstate; - - /* Set Block Size for Card */ - sdmmc_cmdinit.Argument = (uint32_t)BlockSize; - sdmmc_cmdinit.CmdIndex = SDMMC_CMD_SET_BLOCKLEN; - sdmmc_cmdinit.Response = SDIO_RESPONSE_SHORT; - sdmmc_cmdinit.WaitForInterrupt = SDIO_WAIT_NO; - sdmmc_cmdinit.CPSM = SDIO_CPSM_ENABLE; - (void)SDIO_SendCommand(SDIOx, &sdmmc_cmdinit); - - /* Check for error conditions */ - errorstate = SDMMC_GetCmdResp1(SDIOx, SDMMC_CMD_SET_BLOCKLEN, SDIO_CMDTIMEOUT); - - return errorstate; -} - -/** - * @brief Send the Read Single Block command and check the response - * @param SDIOx: Pointer to SDIO register base - * @retval HAL status - */ -uint32_t SDMMC_CmdReadSingleBlock(SDIO_TypeDef *SDIOx, uint32_t ReadAdd) -{ - SDIO_CmdInitTypeDef sdmmc_cmdinit; - uint32_t errorstate; - - /* Set Block Size for Card */ - sdmmc_cmdinit.Argument = (uint32_t)ReadAdd; - sdmmc_cmdinit.CmdIndex = SDMMC_CMD_READ_SINGLE_BLOCK; - sdmmc_cmdinit.Response = SDIO_RESPONSE_SHORT; - sdmmc_cmdinit.WaitForInterrupt = SDIO_WAIT_NO; - sdmmc_cmdinit.CPSM = SDIO_CPSM_ENABLE; - (void)SDIO_SendCommand(SDIOx, &sdmmc_cmdinit); - - /* Check for error conditions */ - errorstate = SDMMC_GetCmdResp1(SDIOx, SDMMC_CMD_READ_SINGLE_BLOCK, SDIO_CMDTIMEOUT); - - return errorstate; -} - -/** - * @brief Send the Read Multi Block command and check the response - * @param SDIOx: Pointer to SDIO register base - * @retval HAL status - */ -uint32_t SDMMC_CmdReadMultiBlock(SDIO_TypeDef *SDIOx, uint32_t ReadAdd) -{ - SDIO_CmdInitTypeDef sdmmc_cmdinit; - uint32_t errorstate; - - /* Set Block Size for Card */ - sdmmc_cmdinit.Argument = (uint32_t)ReadAdd; - sdmmc_cmdinit.CmdIndex = SDMMC_CMD_READ_MULT_BLOCK; - sdmmc_cmdinit.Response = SDIO_RESPONSE_SHORT; - sdmmc_cmdinit.WaitForInterrupt = SDIO_WAIT_NO; - sdmmc_cmdinit.CPSM = SDIO_CPSM_ENABLE; - (void)SDIO_SendCommand(SDIOx, &sdmmc_cmdinit); - - /* Check for error conditions */ - errorstate = SDMMC_GetCmdResp1(SDIOx, SDMMC_CMD_READ_MULT_BLOCK, SDIO_CMDTIMEOUT); - - return errorstate; -} - -/** - * @brief Send the Write Single Block command and check the response - * @param SDIOx: Pointer to SDIO register base - * @retval HAL status - */ -uint32_t SDMMC_CmdWriteSingleBlock(SDIO_TypeDef *SDIOx, uint32_t WriteAdd) -{ - SDIO_CmdInitTypeDef sdmmc_cmdinit; - uint32_t errorstate; - - /* Set Block Size for Card */ - sdmmc_cmdinit.Argument = (uint32_t)WriteAdd; - sdmmc_cmdinit.CmdIndex = SDMMC_CMD_WRITE_SINGLE_BLOCK; - sdmmc_cmdinit.Response = SDIO_RESPONSE_SHORT; - sdmmc_cmdinit.WaitForInterrupt = SDIO_WAIT_NO; - sdmmc_cmdinit.CPSM = SDIO_CPSM_ENABLE; - (void)SDIO_SendCommand(SDIOx, &sdmmc_cmdinit); - - /* Check for error conditions */ - errorstate = SDMMC_GetCmdResp1(SDIOx, SDMMC_CMD_WRITE_SINGLE_BLOCK, SDIO_CMDTIMEOUT); - - return errorstate; -} - -/** - * @brief Send the Write Multi Block command and check the response - * @param SDIOx: Pointer to SDIO register base - * @retval HAL status - */ -uint32_t SDMMC_CmdWriteMultiBlock(SDIO_TypeDef *SDIOx, uint32_t WriteAdd) -{ - SDIO_CmdInitTypeDef sdmmc_cmdinit; - uint32_t errorstate; - - /* Set Block Size for Card */ - sdmmc_cmdinit.Argument = (uint32_t)WriteAdd; - sdmmc_cmdinit.CmdIndex = SDMMC_CMD_WRITE_MULT_BLOCK; - sdmmc_cmdinit.Response = SDIO_RESPONSE_SHORT; - sdmmc_cmdinit.WaitForInterrupt = SDIO_WAIT_NO; - sdmmc_cmdinit.CPSM = SDIO_CPSM_ENABLE; - (void)SDIO_SendCommand(SDIOx, &sdmmc_cmdinit); - - /* Check for error conditions */ - errorstate = SDMMC_GetCmdResp1(SDIOx, SDMMC_CMD_WRITE_MULT_BLOCK, SDIO_CMDTIMEOUT); - - return errorstate; -} - -/** - * @brief Send the Start Address Erase command for SD and check the response - * @param SDIOx: Pointer to SDIO register base - * @retval HAL status - */ -uint32_t SDMMC_CmdSDEraseStartAdd(SDIO_TypeDef *SDIOx, uint32_t StartAdd) -{ - SDIO_CmdInitTypeDef sdmmc_cmdinit; - uint32_t errorstate; - - /* Set Block Size for Card */ - sdmmc_cmdinit.Argument = (uint32_t)StartAdd; - sdmmc_cmdinit.CmdIndex = SDMMC_CMD_SD_ERASE_GRP_START; - sdmmc_cmdinit.Response = SDIO_RESPONSE_SHORT; - sdmmc_cmdinit.WaitForInterrupt = SDIO_WAIT_NO; - sdmmc_cmdinit.CPSM = SDIO_CPSM_ENABLE; - (void)SDIO_SendCommand(SDIOx, &sdmmc_cmdinit); - - /* Check for error conditions */ - errorstate = SDMMC_GetCmdResp1(SDIOx, SDMMC_CMD_SD_ERASE_GRP_START, SDIO_CMDTIMEOUT); - - return errorstate; -} - -/** - * @brief Send the End Address Erase command for SD and check the response - * @param SDIOx: Pointer to SDIO register base - * @retval HAL status - */ -uint32_t SDMMC_CmdSDEraseEndAdd(SDIO_TypeDef *SDIOx, uint32_t EndAdd) -{ - SDIO_CmdInitTypeDef sdmmc_cmdinit; - uint32_t errorstate; - - /* Set Block Size for Card */ - sdmmc_cmdinit.Argument = (uint32_t)EndAdd; - sdmmc_cmdinit.CmdIndex = SDMMC_CMD_SD_ERASE_GRP_END; - sdmmc_cmdinit.Response = SDIO_RESPONSE_SHORT; - sdmmc_cmdinit.WaitForInterrupt = SDIO_WAIT_NO; - sdmmc_cmdinit.CPSM = SDIO_CPSM_ENABLE; - (void)SDIO_SendCommand(SDIOx, &sdmmc_cmdinit); - - /* Check for error conditions */ - errorstate = SDMMC_GetCmdResp1(SDIOx, SDMMC_CMD_SD_ERASE_GRP_END, SDIO_CMDTIMEOUT); - - return errorstate; -} - -/** - * @brief Send the Start Address Erase command and check the response - * @param SDIOx: Pointer to SDIO register base - * @retval HAL status - */ -uint32_t SDMMC_CmdEraseStartAdd(SDIO_TypeDef *SDIOx, uint32_t StartAdd) -{ - SDIO_CmdInitTypeDef sdmmc_cmdinit; - uint32_t errorstate; - - /* Set Block Size for Card */ - sdmmc_cmdinit.Argument = (uint32_t)StartAdd; - sdmmc_cmdinit.CmdIndex = SDMMC_CMD_ERASE_GRP_START; - sdmmc_cmdinit.Response = SDIO_RESPONSE_SHORT; - sdmmc_cmdinit.WaitForInterrupt = SDIO_WAIT_NO; - sdmmc_cmdinit.CPSM = SDIO_CPSM_ENABLE; - (void)SDIO_SendCommand(SDIOx, &sdmmc_cmdinit); - - /* Check for error conditions */ - errorstate = SDMMC_GetCmdResp1(SDIOx, SDMMC_CMD_ERASE_GRP_START, SDIO_CMDTIMEOUT); - - return errorstate; -} - -/** - * @brief Send the End Address Erase command and check the response - * @param SDIOx: Pointer to SDIO register base - * @retval HAL status - */ -uint32_t SDMMC_CmdEraseEndAdd(SDIO_TypeDef *SDIOx, uint32_t EndAdd) -{ - SDIO_CmdInitTypeDef sdmmc_cmdinit; - uint32_t errorstate; - - /* Set Block Size for Card */ - sdmmc_cmdinit.Argument = (uint32_t)EndAdd; - sdmmc_cmdinit.CmdIndex = SDMMC_CMD_ERASE_GRP_END; - sdmmc_cmdinit.Response = SDIO_RESPONSE_SHORT; - sdmmc_cmdinit.WaitForInterrupt = SDIO_WAIT_NO; - sdmmc_cmdinit.CPSM = SDIO_CPSM_ENABLE; - (void)SDIO_SendCommand(SDIOx, &sdmmc_cmdinit); - - /* Check for error conditions */ - errorstate = SDMMC_GetCmdResp1(SDIOx, SDMMC_CMD_ERASE_GRP_END, SDIO_CMDTIMEOUT); - - return errorstate; -} - -/** - * @brief Send the Erase command and check the response - * @param SDIOx: Pointer to SDIO register base - * @retval HAL status - */ -uint32_t SDMMC_CmdErase(SDIO_TypeDef *SDIOx) -{ - SDIO_CmdInitTypeDef sdmmc_cmdinit; - uint32_t errorstate; - - /* Set Block Size for Card */ - sdmmc_cmdinit.Argument = 0U; - sdmmc_cmdinit.CmdIndex = SDMMC_CMD_ERASE; - sdmmc_cmdinit.Response = SDIO_RESPONSE_SHORT; - sdmmc_cmdinit.WaitForInterrupt = SDIO_WAIT_NO; - sdmmc_cmdinit.CPSM = SDIO_CPSM_ENABLE; - (void)SDIO_SendCommand(SDIOx, &sdmmc_cmdinit); - - /* Check for error conditions */ - errorstate = SDMMC_GetCmdResp1(SDIOx, SDMMC_CMD_ERASE, SDIO_MAXERASETIMEOUT); - - return errorstate; -} - -/** - * @brief Send the Stop Transfer command and check the response. - * @param SDIOx: Pointer to SDIO register base - * @retval HAL status - */ -uint32_t SDMMC_CmdStopTransfer(SDIO_TypeDef *SDIOx) -{ - SDIO_CmdInitTypeDef sdmmc_cmdinit; - uint32_t errorstate; - - /* Send CMD12 STOP_TRANSMISSION */ - sdmmc_cmdinit.Argument = 0U; - sdmmc_cmdinit.CmdIndex = SDMMC_CMD_STOP_TRANSMISSION; - sdmmc_cmdinit.Response = SDIO_RESPONSE_SHORT; - sdmmc_cmdinit.WaitForInterrupt = SDIO_WAIT_NO; - sdmmc_cmdinit.CPSM = SDIO_CPSM_ENABLE; - (void)SDIO_SendCommand(SDIOx, &sdmmc_cmdinit); - - /* Check for error conditions */ - errorstate = SDMMC_GetCmdResp1(SDIOx, SDMMC_CMD_STOP_TRANSMISSION, SDIO_STOPTRANSFERTIMEOUT); - - return errorstate; -} - -/** - * @brief Send the Select Deselect command and check the response. - * @param SDIOx: Pointer to SDIO register base - * @param addr: Address of the card to be selected - * @retval HAL status - */ -uint32_t SDMMC_CmdSelDesel(SDIO_TypeDef *SDIOx, uint64_t Addr) -{ - SDIO_CmdInitTypeDef sdmmc_cmdinit; - uint32_t errorstate; - - /* Send CMD7 SDMMC_SEL_DESEL_CARD */ - sdmmc_cmdinit.Argument = (uint32_t)Addr; - sdmmc_cmdinit.CmdIndex = SDMMC_CMD_SEL_DESEL_CARD; - sdmmc_cmdinit.Response = SDIO_RESPONSE_SHORT; - sdmmc_cmdinit.WaitForInterrupt = SDIO_WAIT_NO; - sdmmc_cmdinit.CPSM = SDIO_CPSM_ENABLE; - (void)SDIO_SendCommand(SDIOx, &sdmmc_cmdinit); - - /* Check for error conditions */ - errorstate = SDMMC_GetCmdResp1(SDIOx, SDMMC_CMD_SEL_DESEL_CARD, SDIO_CMDTIMEOUT); - - return errorstate; -} - -/** - * @brief Send the Go Idle State command and check the response. - * @param SDIOx: Pointer to SDIO register base - * @retval HAL status - */ -uint32_t SDMMC_CmdGoIdleState(SDIO_TypeDef *SDIOx) -{ - SDIO_CmdInitTypeDef sdmmc_cmdinit; - uint32_t errorstate; - - sdmmc_cmdinit.Argument = 0U; - sdmmc_cmdinit.CmdIndex = SDMMC_CMD_GO_IDLE_STATE; - sdmmc_cmdinit.Response = SDIO_RESPONSE_NO; - sdmmc_cmdinit.WaitForInterrupt = SDIO_WAIT_NO; - sdmmc_cmdinit.CPSM = SDIO_CPSM_ENABLE; - (void)SDIO_SendCommand(SDIOx, &sdmmc_cmdinit); - - /* Check for error conditions */ - errorstate = SDMMC_GetCmdError(SDIOx); - - return errorstate; -} - -/** - * @brief Send the Operating Condition command and check the response. - * @param SDIOx: Pointer to SDIO register base - * @retval HAL status - */ -uint32_t SDMMC_CmdOperCond(SDIO_TypeDef *SDIOx) -{ - SDIO_CmdInitTypeDef sdmmc_cmdinit; - uint32_t errorstate; - - /* Send CMD8 to verify SD card interface operating condition */ - /* Argument: - [31:12]: Reserved (shall be set to '0') - - [11:8]: Supply Voltage (VHS) 0x1 (Range: 2.7-3.6 V) - - [7:0]: Check Pattern (recommended 0xAA) */ - /* CMD Response: R7 */ - sdmmc_cmdinit.Argument = SDMMC_CHECK_PATTERN; - sdmmc_cmdinit.CmdIndex = SDMMC_CMD_HS_SEND_EXT_CSD; - sdmmc_cmdinit.Response = SDIO_RESPONSE_SHORT; - sdmmc_cmdinit.WaitForInterrupt = SDIO_WAIT_NO; - sdmmc_cmdinit.CPSM = SDIO_CPSM_ENABLE; - (void)SDIO_SendCommand(SDIOx, &sdmmc_cmdinit); - - /* Check for error conditions */ - errorstate = SDMMC_GetCmdResp7(SDIOx); - - return errorstate; -} - -/** - * @brief Send the Application command to verify that that the next command - * is an application specific com-mand rather than a standard command - * and check the response. - * @param SDIOx: Pointer to SDIO register base - * @param Argument: Command Argument - * @retval HAL status - */ -uint32_t SDMMC_CmdAppCommand(SDIO_TypeDef *SDIOx, uint32_t Argument) -{ - SDIO_CmdInitTypeDef sdmmc_cmdinit; - uint32_t errorstate; - - sdmmc_cmdinit.Argument = (uint32_t)Argument; - sdmmc_cmdinit.CmdIndex = SDMMC_CMD_APP_CMD; - sdmmc_cmdinit.Response = SDIO_RESPONSE_SHORT; - sdmmc_cmdinit.WaitForInterrupt = SDIO_WAIT_NO; - sdmmc_cmdinit.CPSM = SDIO_CPSM_ENABLE; - (void)SDIO_SendCommand(SDIOx, &sdmmc_cmdinit); - - /* Check for error conditions */ - /* If there is a HAL_ERROR, it is a MMC card, else - it is a SD card: SD card 2.0 (voltage range mismatch) - or SD card 1.x */ - errorstate = SDMMC_GetCmdResp1(SDIOx, SDMMC_CMD_APP_CMD, SDIO_CMDTIMEOUT); - - return errorstate; -} - -/** - * @brief Send the command asking the accessed card to send its operating - * condition register (OCR) - * @param SDIOx: Pointer to SDIO register base - * @param Argument: Command Argument - * @retval HAL status - */ -uint32_t SDMMC_CmdAppOperCommand(SDIO_TypeDef *SDIOx, uint32_t Argument) -{ - SDIO_CmdInitTypeDef sdmmc_cmdinit; - uint32_t errorstate; - - sdmmc_cmdinit.Argument = SDMMC_VOLTAGE_WINDOW_SD | Argument; - sdmmc_cmdinit.CmdIndex = SDMMC_CMD_SD_APP_OP_COND; - sdmmc_cmdinit.Response = SDIO_RESPONSE_SHORT; - sdmmc_cmdinit.WaitForInterrupt = SDIO_WAIT_NO; - sdmmc_cmdinit.CPSM = SDIO_CPSM_ENABLE; - (void)SDIO_SendCommand(SDIOx, &sdmmc_cmdinit); - - /* Check for error conditions */ - errorstate = SDMMC_GetCmdResp3(SDIOx); - - return errorstate; -} - -/** - * @brief Send the Bus Width command and check the response. - * @param SDIOx: Pointer to SDIO register base - * @param BusWidth: BusWidth - * @retval HAL status - */ -uint32_t SDMMC_CmdBusWidth(SDIO_TypeDef *SDIOx, uint32_t BusWidth) -{ - SDIO_CmdInitTypeDef sdmmc_cmdinit; - uint32_t errorstate; - - sdmmc_cmdinit.Argument = (uint32_t)BusWidth; - sdmmc_cmdinit.CmdIndex = SDMMC_CMD_APP_SD_SET_BUSWIDTH; - sdmmc_cmdinit.Response = SDIO_RESPONSE_SHORT; - sdmmc_cmdinit.WaitForInterrupt = SDIO_WAIT_NO; - sdmmc_cmdinit.CPSM = SDIO_CPSM_ENABLE; - (void)SDIO_SendCommand(SDIOx, &sdmmc_cmdinit); - - /* Check for error conditions */ - errorstate = SDMMC_GetCmdResp1(SDIOx, SDMMC_CMD_APP_SD_SET_BUSWIDTH, SDIO_CMDTIMEOUT); - - return errorstate; -} - -/** - * @brief Send the Send SCR command and check the response. - * @param SDIOx: Pointer to SDIO register base - * @retval HAL status - */ -uint32_t SDMMC_CmdSendSCR(SDIO_TypeDef *SDIOx) -{ - SDIO_CmdInitTypeDef sdmmc_cmdinit; - uint32_t errorstate; - - /* Send CMD51 SD_APP_SEND_SCR */ - sdmmc_cmdinit.Argument = 0U; - sdmmc_cmdinit.CmdIndex = SDMMC_CMD_SD_APP_SEND_SCR; - sdmmc_cmdinit.Response = SDIO_RESPONSE_SHORT; - sdmmc_cmdinit.WaitForInterrupt = SDIO_WAIT_NO; - sdmmc_cmdinit.CPSM = SDIO_CPSM_ENABLE; - (void)SDIO_SendCommand(SDIOx, &sdmmc_cmdinit); - - /* Check for error conditions */ - errorstate = SDMMC_GetCmdResp1(SDIOx, SDMMC_CMD_SD_APP_SEND_SCR, SDIO_CMDTIMEOUT); - - return errorstate; -} - -/** - * @brief Send the Send CID command and check the response. - * @param SDIOx: Pointer to SDIO register base - * @retval HAL status - */ -uint32_t SDMMC_CmdSendCID(SDIO_TypeDef *SDIOx) -{ - SDIO_CmdInitTypeDef sdmmc_cmdinit; - uint32_t errorstate; - - /* Send CMD2 ALL_SEND_CID */ - sdmmc_cmdinit.Argument = 0U; - sdmmc_cmdinit.CmdIndex = SDMMC_CMD_ALL_SEND_CID; - sdmmc_cmdinit.Response = SDIO_RESPONSE_LONG; - sdmmc_cmdinit.WaitForInterrupt = SDIO_WAIT_NO; - sdmmc_cmdinit.CPSM = SDIO_CPSM_ENABLE; - (void)SDIO_SendCommand(SDIOx, &sdmmc_cmdinit); - - /* Check for error conditions */ - errorstate = SDMMC_GetCmdResp2(SDIOx); - - return errorstate; -} - -/** - * @brief Send the Send CSD command and check the response. - * @param SDIOx: Pointer to SDIO register base - * @param Argument: Command Argument - * @retval HAL status - */ -uint32_t SDMMC_CmdSendCSD(SDIO_TypeDef *SDIOx, uint32_t Argument) -{ - SDIO_CmdInitTypeDef sdmmc_cmdinit; - uint32_t errorstate; - - /* Send CMD9 SEND_CSD */ - sdmmc_cmdinit.Argument = Argument; - sdmmc_cmdinit.CmdIndex = SDMMC_CMD_SEND_CSD; - sdmmc_cmdinit.Response = SDIO_RESPONSE_LONG; - sdmmc_cmdinit.WaitForInterrupt = SDIO_WAIT_NO; - sdmmc_cmdinit.CPSM = SDIO_CPSM_ENABLE; - (void)SDIO_SendCommand(SDIOx, &sdmmc_cmdinit); - - /* Check for error conditions */ - errorstate = SDMMC_GetCmdResp2(SDIOx); - - return errorstate; -} - -/** - * @brief Send the Send CSD command and check the response. - * @param SDIOx: Pointer to SDIO register base - * @param pRCA: Card RCA - * @retval HAL status - */ -uint32_t SDMMC_CmdSetRelAdd(SDIO_TypeDef *SDIOx, uint16_t *pRCA) -{ - SDIO_CmdInitTypeDef sdmmc_cmdinit; - uint32_t errorstate; - - /* Send CMD3 SD_CMD_SET_REL_ADDR */ - sdmmc_cmdinit.Argument = 0U; - sdmmc_cmdinit.CmdIndex = SDMMC_CMD_SET_REL_ADDR; - sdmmc_cmdinit.Response = SDIO_RESPONSE_SHORT; - sdmmc_cmdinit.WaitForInterrupt = SDIO_WAIT_NO; - sdmmc_cmdinit.CPSM = SDIO_CPSM_ENABLE; - (void)SDIO_SendCommand(SDIOx, &sdmmc_cmdinit); - - /* Check for error conditions */ - errorstate = SDMMC_GetCmdResp6(SDIOx, SDMMC_CMD_SET_REL_ADDR, pRCA); - - return errorstate; -} - -/** - * @brief Send the Status command and check the response. - * @param SDIOx: Pointer to SDIO register base - * @param Argument: Command Argument - * @retval HAL status - */ -uint32_t SDMMC_CmdSendStatus(SDIO_TypeDef *SDIOx, uint32_t Argument) -{ - SDIO_CmdInitTypeDef sdmmc_cmdinit; - uint32_t errorstate; - - sdmmc_cmdinit.Argument = Argument; - sdmmc_cmdinit.CmdIndex = SDMMC_CMD_SEND_STATUS; - sdmmc_cmdinit.Response = SDIO_RESPONSE_SHORT; - sdmmc_cmdinit.WaitForInterrupt = SDIO_WAIT_NO; - sdmmc_cmdinit.CPSM = SDIO_CPSM_ENABLE; - (void)SDIO_SendCommand(SDIOx, &sdmmc_cmdinit); - - /* Check for error conditions */ - errorstate = SDMMC_GetCmdResp1(SDIOx, SDMMC_CMD_SEND_STATUS, SDIO_CMDTIMEOUT); - - return errorstate; -} - -/** - * @brief Send the Status register command and check the response. - * @param SDIOx: Pointer to SDIO register base - * @retval HAL status - */ -uint32_t SDMMC_CmdStatusRegister(SDIO_TypeDef *SDIOx) -{ - SDIO_CmdInitTypeDef sdmmc_cmdinit; - uint32_t errorstate; - - sdmmc_cmdinit.Argument = 0U; - sdmmc_cmdinit.CmdIndex = SDMMC_CMD_SD_APP_STATUS; - sdmmc_cmdinit.Response = SDIO_RESPONSE_SHORT; - sdmmc_cmdinit.WaitForInterrupt = SDIO_WAIT_NO; - sdmmc_cmdinit.CPSM = SDIO_CPSM_ENABLE; - (void)SDIO_SendCommand(SDIOx, &sdmmc_cmdinit); - - /* Check for error conditions */ - errorstate = SDMMC_GetCmdResp1(SDIOx, SDMMC_CMD_SD_APP_STATUS, SDIO_CMDTIMEOUT); - - return errorstate; -} - -/** - * @brief Sends host capacity support information and activates the card's - * initialization process. Send SDMMC_CMD_SEND_OP_COND command - * @param SDIOx: Pointer to SDIO register base - * @parame Argument: Argument used for the command - * @retval HAL status - */ -uint32_t SDMMC_CmdOpCondition(SDIO_TypeDef *SDIOx, uint32_t Argument) -{ - SDIO_CmdInitTypeDef sdmmc_cmdinit; - uint32_t errorstate; - - sdmmc_cmdinit.Argument = Argument; - sdmmc_cmdinit.CmdIndex = SDMMC_CMD_SEND_OP_COND; - sdmmc_cmdinit.Response = SDIO_RESPONSE_SHORT; - sdmmc_cmdinit.WaitForInterrupt = SDIO_WAIT_NO; - sdmmc_cmdinit.CPSM = SDIO_CPSM_ENABLE; - (void)SDIO_SendCommand(SDIOx, &sdmmc_cmdinit); - - /* Check for error conditions */ - errorstate = SDMMC_GetCmdResp3(SDIOx); - - return errorstate; -} - -/** - * @brief Checks switchable function and switch card function. SDMMC_CMD_HS_SWITCH command - * @param SDIOx: Pointer to SDIO register base - * @parame Argument: Argument used for the command - * @retval HAL status - */ -uint32_t SDMMC_CmdSwitch(SDIO_TypeDef *SDIOx, uint32_t Argument) -{ - SDIO_CmdInitTypeDef sdmmc_cmdinit; - uint32_t errorstate; - - /* Send CMD6 to activate SDR50 Mode and Power Limit 1.44W */ - /* CMD Response: R1 */ - sdmmc_cmdinit.Argument = Argument; /* SDMMC_SDR25_SWITCH_PATTERN */ - sdmmc_cmdinit.CmdIndex = SDMMC_CMD_HS_SWITCH; - sdmmc_cmdinit.Response = SDIO_RESPONSE_SHORT; - sdmmc_cmdinit.WaitForInterrupt = SDIO_WAIT_NO; - sdmmc_cmdinit.CPSM = SDIO_CPSM_ENABLE; - (void)SDIO_SendCommand(SDIOx, &sdmmc_cmdinit); - - /* Check for error conditions */ - errorstate = SDMMC_GetCmdResp1(SDIOx, SDMMC_CMD_HS_SWITCH, SDIO_CMDTIMEOUT); - - return errorstate; -} - -/** - * @} - */ - -/* Private function ----------------------------------------------------------*/ -/** @addtogroup SD_Private_Functions - * @{ - */ - -/** - * @brief Checks for error conditions for CMD0. - * @param hsd: SD handle - * @retval SD Card error state - */ -static uint32_t SDMMC_GetCmdError(SDIO_TypeDef *SDIOx) -{ - /* 8 is the number of required instructions cycles for the below loop statement. - The SDIO_CMDTIMEOUT is expressed in ms */ - uint32_t count = SDIO_CMDTIMEOUT * (SystemCoreClock / 8U /1000U); - - do - { - if (count-- == 0U) - { - return SDMMC_ERROR_TIMEOUT; - } - - }while(!__SDIO_GET_FLAG(SDIOx, SDIO_FLAG_CMDSENT)); - - /* Clear all the static flags */ - __SDIO_CLEAR_FLAG(SDIOx, SDIO_STATIC_CMD_FLAGS); - - return SDMMC_ERROR_NONE; -} - -/** - * @brief Checks for error conditions for R1 response. - * @param hsd: SD handle - * @param SD_CMD: The sent command index - * @retval SD Card error state - */ -static uint32_t SDMMC_GetCmdResp1(SDIO_TypeDef *SDIOx, uint8_t SD_CMD, uint32_t Timeout) -{ - uint32_t response_r1; - uint32_t sta_reg; - - /* 8 is the number of required instructions cycles for the below loop statement. - The Timeout is expressed in ms */ - uint32_t count = Timeout * (SystemCoreClock / 8U /1000U); - - do - { - if (count-- == 0U) - { - return SDMMC_ERROR_TIMEOUT; - } - sta_reg = SDIOx->STA; - }while(((sta_reg & (SDIO_FLAG_CCRCFAIL | SDIO_FLAG_CMDREND | SDIO_FLAG_CTIMEOUT)) == 0U) || - ((sta_reg & SDIO_FLAG_CMDACT) != 0U )); - - if(__SDIO_GET_FLAG(SDIOx, SDIO_FLAG_CTIMEOUT)) - { - __SDIO_CLEAR_FLAG(SDIOx, SDIO_FLAG_CTIMEOUT); - - return SDMMC_ERROR_CMD_RSP_TIMEOUT; - } - else if(__SDIO_GET_FLAG(SDIOx, SDIO_FLAG_CCRCFAIL)) - { - __SDIO_CLEAR_FLAG(SDIOx, SDIO_FLAG_CCRCFAIL); - - return SDMMC_ERROR_CMD_CRC_FAIL; - } - else - { - /* Nothing to do */ - } - - /* Clear all the static flags */ - __SDIO_CLEAR_FLAG(SDIOx, SDIO_STATIC_CMD_FLAGS); - - /* Check response received is of desired command */ - if(SDIO_GetCommandResponse(SDIOx) != SD_CMD) - { - return SDMMC_ERROR_CMD_CRC_FAIL; - } - - /* We have received response, retrieve it for analysis */ - response_r1 = SDIO_GetResponse(SDIOx, SDIO_RESP1); - - if((response_r1 & SDMMC_OCR_ERRORBITS) == SDMMC_ALLZERO) - { - return SDMMC_ERROR_NONE; - } - else if((response_r1 & SDMMC_OCR_ADDR_OUT_OF_RANGE) == SDMMC_OCR_ADDR_OUT_OF_RANGE) - { - return SDMMC_ERROR_ADDR_OUT_OF_RANGE; - } - else if((response_r1 & SDMMC_OCR_ADDR_MISALIGNED) == SDMMC_OCR_ADDR_MISALIGNED) - { - return SDMMC_ERROR_ADDR_MISALIGNED; - } - else if((response_r1 & SDMMC_OCR_BLOCK_LEN_ERR) == SDMMC_OCR_BLOCK_LEN_ERR) - { - return SDMMC_ERROR_BLOCK_LEN_ERR; - } - else if((response_r1 & SDMMC_OCR_ERASE_SEQ_ERR) == SDMMC_OCR_ERASE_SEQ_ERR) - { - return SDMMC_ERROR_ERASE_SEQ_ERR; - } - else if((response_r1 & SDMMC_OCR_BAD_ERASE_PARAM) == SDMMC_OCR_BAD_ERASE_PARAM) - { - return SDMMC_ERROR_BAD_ERASE_PARAM; - } - else if((response_r1 & SDMMC_OCR_WRITE_PROT_VIOLATION) == SDMMC_OCR_WRITE_PROT_VIOLATION) - { - return SDMMC_ERROR_WRITE_PROT_VIOLATION; - } - else if((response_r1 & SDMMC_OCR_LOCK_UNLOCK_FAILED) == SDMMC_OCR_LOCK_UNLOCK_FAILED) - { - return SDMMC_ERROR_LOCK_UNLOCK_FAILED; - } - else if((response_r1 & SDMMC_OCR_COM_CRC_FAILED) == SDMMC_OCR_COM_CRC_FAILED) - { - return SDMMC_ERROR_COM_CRC_FAILED; - } - else if((response_r1 & SDMMC_OCR_ILLEGAL_CMD) == SDMMC_OCR_ILLEGAL_CMD) - { - return SDMMC_ERROR_ILLEGAL_CMD; - } - else if((response_r1 & SDMMC_OCR_CARD_ECC_FAILED) == SDMMC_OCR_CARD_ECC_FAILED) - { - return SDMMC_ERROR_CARD_ECC_FAILED; - } - else if((response_r1 & SDMMC_OCR_CC_ERROR) == SDMMC_OCR_CC_ERROR) - { - return SDMMC_ERROR_CC_ERR; - } - else if((response_r1 & SDMMC_OCR_STREAM_READ_UNDERRUN) == SDMMC_OCR_STREAM_READ_UNDERRUN) - { - return SDMMC_ERROR_STREAM_READ_UNDERRUN; - } - else if((response_r1 & SDMMC_OCR_STREAM_WRITE_OVERRUN) == SDMMC_OCR_STREAM_WRITE_OVERRUN) - { - return SDMMC_ERROR_STREAM_WRITE_OVERRUN; - } - else if((response_r1 & SDMMC_OCR_CID_CSD_OVERWRITE) == SDMMC_OCR_CID_CSD_OVERWRITE) - { - return SDMMC_ERROR_CID_CSD_OVERWRITE; - } - else if((response_r1 & SDMMC_OCR_WP_ERASE_SKIP) == SDMMC_OCR_WP_ERASE_SKIP) - { - return SDMMC_ERROR_WP_ERASE_SKIP; - } - else if((response_r1 & SDMMC_OCR_CARD_ECC_DISABLED) == SDMMC_OCR_CARD_ECC_DISABLED) - { - return SDMMC_ERROR_CARD_ECC_DISABLED; - } - else if((response_r1 & SDMMC_OCR_ERASE_RESET) == SDMMC_OCR_ERASE_RESET) - { - return SDMMC_ERROR_ERASE_RESET; - } - else if((response_r1 & SDMMC_OCR_AKE_SEQ_ERROR) == SDMMC_OCR_AKE_SEQ_ERROR) - { - return SDMMC_ERROR_AKE_SEQ_ERR; - } - else - { - return SDMMC_ERROR_GENERAL_UNKNOWN_ERR; - } -} - -/** - * @brief Checks for error conditions for R2 (CID or CSD) response. - * @param hsd: SD handle - * @retval SD Card error state - */ -static uint32_t SDMMC_GetCmdResp2(SDIO_TypeDef *SDIOx) -{ - uint32_t sta_reg; - /* 8 is the number of required instructions cycles for the below loop statement. - The SDIO_CMDTIMEOUT is expressed in ms */ - uint32_t count = SDIO_CMDTIMEOUT * (SystemCoreClock / 8U /1000U); - - do - { - if (count-- == 0U) - { - return SDMMC_ERROR_TIMEOUT; - } - sta_reg = SDIOx->STA; - }while(((sta_reg & (SDIO_FLAG_CCRCFAIL | SDIO_FLAG_CMDREND | SDIO_FLAG_CTIMEOUT)) == 0U) || - ((sta_reg & SDIO_FLAG_CMDACT) != 0U )); - - if (__SDIO_GET_FLAG(SDIOx, SDIO_FLAG_CTIMEOUT)) - { - __SDIO_CLEAR_FLAG(SDIOx, SDIO_FLAG_CTIMEOUT); - - return SDMMC_ERROR_CMD_RSP_TIMEOUT; - } - else if (__SDIO_GET_FLAG(SDIOx, SDIO_FLAG_CCRCFAIL)) - { - __SDIO_CLEAR_FLAG(SDIOx, SDIO_FLAG_CCRCFAIL); - - return SDMMC_ERROR_CMD_CRC_FAIL; - } - else - { - /* No error flag set */ - /* Clear all the static flags */ - __SDIO_CLEAR_FLAG(SDIOx, SDIO_STATIC_CMD_FLAGS); - } - - return SDMMC_ERROR_NONE; -} - -/** - * @brief Checks for error conditions for R3 (OCR) response. - * @param hsd: SD handle - * @retval SD Card error state - */ -static uint32_t SDMMC_GetCmdResp3(SDIO_TypeDef *SDIOx) -{ - uint32_t sta_reg; - /* 8 is the number of required instructions cycles for the below loop statement. - The SDIO_CMDTIMEOUT is expressed in ms */ - uint32_t count = SDIO_CMDTIMEOUT * (SystemCoreClock / 8U /1000U); - - do - { - if (count-- == 0U) - { - return SDMMC_ERROR_TIMEOUT; - } - sta_reg = SDIOx->STA; - }while(((sta_reg & (SDIO_FLAG_CCRCFAIL | SDIO_FLAG_CMDREND | SDIO_FLAG_CTIMEOUT)) == 0U) || - ((sta_reg & SDIO_FLAG_CMDACT) != 0U )); - - if(__SDIO_GET_FLAG(SDIOx, SDIO_FLAG_CTIMEOUT)) - { - __SDIO_CLEAR_FLAG(SDIOx, SDIO_FLAG_CTIMEOUT); - - return SDMMC_ERROR_CMD_RSP_TIMEOUT; - } - else - { - /* Clear all the static flags */ - __SDIO_CLEAR_FLAG(SDIOx, SDIO_STATIC_CMD_FLAGS); - } - - return SDMMC_ERROR_NONE; -} - -/** - * @brief Checks for error conditions for R6 (RCA) response. - * @param hsd: SD handle - * @param SD_CMD: The sent command index - * @param pRCA: Pointer to the variable that will contain the SD card relative - * address RCA - * @retval SD Card error state - */ -static uint32_t SDMMC_GetCmdResp6(SDIO_TypeDef *SDIOx, uint8_t SD_CMD, uint16_t *pRCA) -{ - uint32_t response_r1; - uint32_t sta_reg; - - /* 8 is the number of required instructions cycles for the below loop statement. - The SDIO_CMDTIMEOUT is expressed in ms */ - uint32_t count = SDIO_CMDTIMEOUT * (SystemCoreClock / 8U /1000U); - - do - { - if (count-- == 0U) - { - return SDMMC_ERROR_TIMEOUT; - } - sta_reg = SDIOx->STA; - }while(((sta_reg & (SDIO_FLAG_CCRCFAIL | SDIO_FLAG_CMDREND | SDIO_FLAG_CTIMEOUT)) == 0U) || - ((sta_reg & SDIO_FLAG_CMDACT) != 0U )); - - if(__SDIO_GET_FLAG(SDIOx, SDIO_FLAG_CTIMEOUT)) - { - __SDIO_CLEAR_FLAG(SDIOx, SDIO_FLAG_CTIMEOUT); - - return SDMMC_ERROR_CMD_RSP_TIMEOUT; - } - else if(__SDIO_GET_FLAG(SDIOx, SDIO_FLAG_CCRCFAIL)) - { - __SDIO_CLEAR_FLAG(SDIOx, SDIO_FLAG_CCRCFAIL); - - return SDMMC_ERROR_CMD_CRC_FAIL; - } - else - { - /* Nothing to do */ - } - - /* Check response received is of desired command */ - if(SDIO_GetCommandResponse(SDIOx) != SD_CMD) - { - return SDMMC_ERROR_CMD_CRC_FAIL; - } - - /* Clear all the static flags */ - __SDIO_CLEAR_FLAG(SDIOx, SDIO_STATIC_CMD_FLAGS); - - /* We have received response, retrieve it. */ - response_r1 = SDIO_GetResponse(SDIOx, SDIO_RESP1); - - if((response_r1 & (SDMMC_R6_GENERAL_UNKNOWN_ERROR | SDMMC_R6_ILLEGAL_CMD | SDMMC_R6_COM_CRC_FAILED)) == SDMMC_ALLZERO) - { - *pRCA = (uint16_t) (response_r1 >> 16); - - return SDMMC_ERROR_NONE; - } - else if((response_r1 & SDMMC_R6_ILLEGAL_CMD) == SDMMC_R6_ILLEGAL_CMD) - { - return SDMMC_ERROR_ILLEGAL_CMD; - } - else if((response_r1 & SDMMC_R6_COM_CRC_FAILED) == SDMMC_R6_COM_CRC_FAILED) - { - return SDMMC_ERROR_COM_CRC_FAILED; - } - else - { - return SDMMC_ERROR_GENERAL_UNKNOWN_ERR; - } -} - -/** - * @brief Checks for error conditions for R7 response. - * @param hsd: SD handle - * @retval SD Card error state - */ -static uint32_t SDMMC_GetCmdResp7(SDIO_TypeDef *SDIOx) -{ - uint32_t sta_reg; - /* 8 is the number of required instructions cycles for the below loop statement. - The SDIO_CMDTIMEOUT is expressed in ms */ - uint32_t count = SDIO_CMDTIMEOUT * (SystemCoreClock / 8U /1000U); - - do - { - if (count-- == 0U) - { - return SDMMC_ERROR_TIMEOUT; - } - sta_reg = SDIOx->STA; - }while(((sta_reg & (SDIO_FLAG_CCRCFAIL | SDIO_FLAG_CMDREND | SDIO_FLAG_CTIMEOUT)) == 0U) || - ((sta_reg & SDIO_FLAG_CMDACT) != 0U )); - - if(__SDIO_GET_FLAG(SDIOx, SDIO_FLAG_CTIMEOUT)) - { - /* Card is SD V2.0 compliant */ - __SDIO_CLEAR_FLAG(SDIOx, SDIO_FLAG_CTIMEOUT); - - return SDMMC_ERROR_CMD_RSP_TIMEOUT; - } - else if(__SDIO_GET_FLAG(SDIOx, SDIO_FLAG_CCRCFAIL)) - { - /* Card is SD V2.0 compliant */ - __SDIO_CLEAR_FLAG(SDIOx, SDIO_FLAG_CCRCFAIL); - - return SDMMC_ERROR_CMD_CRC_FAIL; - } - else - { - /* Nothing to do */ - } - - if(__SDIO_GET_FLAG(SDIOx, SDIO_FLAG_CMDREND)) - { - /* Card is SD V2.0 compliant */ - __SDIO_CLEAR_FLAG(SDIOx, SDIO_FLAG_CMDREND); - } - - return SDMMC_ERROR_NONE; - -} - -/** - * @brief Send the Send EXT_CSD command and check the response. - * @param SDIOx: Pointer to SDMMC register base - * @param Argument: Command Argument - * @retval HAL status - */ -uint32_t SDMMC_CmdSendEXTCSD(SDIO_TypeDef *SDIOx, uint32_t Argument) -{ - SDIO_CmdInitTypeDef sdmmc_cmdinit; - uint32_t errorstate; - - /* Send CMD9 SEND_CSD */ - sdmmc_cmdinit.Argument = Argument; - sdmmc_cmdinit.CmdIndex = SDMMC_CMD_HS_SEND_EXT_CSD; - sdmmc_cmdinit.Response = SDIO_RESPONSE_SHORT; - sdmmc_cmdinit.WaitForInterrupt = SDIO_WAIT_NO; - sdmmc_cmdinit.CPSM = SDIO_CPSM_ENABLE; - (void)SDIO_SendCommand(SDIOx, &sdmmc_cmdinit); - - /* Check for error conditions */ - errorstate = SDMMC_GetCmdResp1(SDIOx, SDMMC_CMD_HS_SEND_EXT_CSD,SDIO_CMDTIMEOUT); - - return errorstate; -} - - -/** - * @} - */ - -#endif /* HAL_SD_MODULE_ENABLED || HAL_MMC_MODULE_ENABLED */ -/** - * @} - */ - -/** - * @} - */ - -#endif /* SDIO */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_spi.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_spi.c deleted file mode 100644 index 2fde18057e5321..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_spi.c +++ /dev/null @@ -1,626 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_ll_spi.c - * @author MCD Application Team - * @brief SPI LL module driver. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ -#if defined(USE_FULL_LL_DRIVER) - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_ll_spi.h" -#include "stm32f4xx_ll_bus.h" -#include "stm32f4xx_ll_rcc.h" - -#ifdef USE_FULL_ASSERT -#include "stm32_assert.h" -#else -#define assert_param(expr) ((void)0U) -#endif /* USE_FULL_ASSERT */ - -/** @addtogroup STM32F4xx_LL_Driver - * @{ - */ - -#if defined (SPI1) || defined (SPI2) || defined (SPI3) || defined (SPI4) || defined (SPI5) || defined(SPI6) - -/** @addtogroup SPI_LL - * @{ - */ - -/* Private types -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ - -/* Private constants ---------------------------------------------------------*/ -/** @defgroup SPI_LL_Private_Constants SPI Private Constants - * @{ - */ -/* SPI registers Masks */ -#define SPI_CR1_CLEAR_MASK (SPI_CR1_CPHA | SPI_CR1_CPOL | SPI_CR1_MSTR | \ - SPI_CR1_BR | SPI_CR1_LSBFIRST | SPI_CR1_SSI | \ - SPI_CR1_SSM | SPI_CR1_RXONLY | SPI_CR1_DFF | \ - SPI_CR1_CRCNEXT | SPI_CR1_CRCEN | SPI_CR1_BIDIOE | \ - SPI_CR1_BIDIMODE) -/** - * @} - */ - -/* Private macros ------------------------------------------------------------*/ -/** @defgroup SPI_LL_Private_Macros SPI Private Macros - * @{ - */ -#define IS_LL_SPI_TRANSFER_DIRECTION(__VALUE__) (((__VALUE__) == LL_SPI_FULL_DUPLEX) \ - || ((__VALUE__) == LL_SPI_SIMPLEX_RX) \ - || ((__VALUE__) == LL_SPI_HALF_DUPLEX_RX) \ - || ((__VALUE__) == LL_SPI_HALF_DUPLEX_TX)) - -#define IS_LL_SPI_MODE(__VALUE__) (((__VALUE__) == LL_SPI_MODE_MASTER) \ - || ((__VALUE__) == LL_SPI_MODE_SLAVE)) - -#define IS_LL_SPI_DATAWIDTH(__VALUE__) (((__VALUE__) == LL_SPI_DATAWIDTH_8BIT) \ - || ((__VALUE__) == LL_SPI_DATAWIDTH_16BIT)) - -#define IS_LL_SPI_POLARITY(__VALUE__) (((__VALUE__) == LL_SPI_POLARITY_LOW) \ - || ((__VALUE__) == LL_SPI_POLARITY_HIGH)) - -#define IS_LL_SPI_PHASE(__VALUE__) (((__VALUE__) == LL_SPI_PHASE_1EDGE) \ - || ((__VALUE__) == LL_SPI_PHASE_2EDGE)) - -#define IS_LL_SPI_NSS(__VALUE__) (((__VALUE__) == LL_SPI_NSS_SOFT) \ - || ((__VALUE__) == LL_SPI_NSS_HARD_INPUT) \ - || ((__VALUE__) == LL_SPI_NSS_HARD_OUTPUT)) - -#define IS_LL_SPI_BAUDRATE(__VALUE__) (((__VALUE__) == LL_SPI_BAUDRATEPRESCALER_DIV2) \ - || ((__VALUE__) == LL_SPI_BAUDRATEPRESCALER_DIV4) \ - || ((__VALUE__) == LL_SPI_BAUDRATEPRESCALER_DIV8) \ - || ((__VALUE__) == LL_SPI_BAUDRATEPRESCALER_DIV16) \ - || ((__VALUE__) == LL_SPI_BAUDRATEPRESCALER_DIV32) \ - || ((__VALUE__) == LL_SPI_BAUDRATEPRESCALER_DIV64) \ - || ((__VALUE__) == LL_SPI_BAUDRATEPRESCALER_DIV128) \ - || ((__VALUE__) == LL_SPI_BAUDRATEPRESCALER_DIV256)) - -#define IS_LL_SPI_BITORDER(__VALUE__) (((__VALUE__) == LL_SPI_LSB_FIRST) \ - || ((__VALUE__) == LL_SPI_MSB_FIRST)) - -#define IS_LL_SPI_CRCCALCULATION(__VALUE__) (((__VALUE__) == LL_SPI_CRCCALCULATION_ENABLE) \ - || ((__VALUE__) == LL_SPI_CRCCALCULATION_DISABLE)) - -#define IS_LL_SPI_CRC_POLYNOMIAL(__VALUE__) ((__VALUE__) >= 0x1U) - -/** - * @} - */ - -/* Private function prototypes -----------------------------------------------*/ - -/* Exported functions --------------------------------------------------------*/ -/** @addtogroup SPI_LL_Exported_Functions - * @{ - */ - -/** @addtogroup SPI_LL_EF_Init - * @{ - */ - -/** - * @brief De-initialize the SPI registers to their default reset values. - * @param SPIx SPI Instance - * @retval An ErrorStatus enumeration value: - * - SUCCESS: SPI registers are de-initialized - * - ERROR: SPI registers are not de-initialized - */ -ErrorStatus LL_SPI_DeInit(SPI_TypeDef *SPIx) -{ - ErrorStatus status = ERROR; - - /* Check the parameters */ - assert_param(IS_SPI_ALL_INSTANCE(SPIx)); - -#if defined(SPI1) - if (SPIx == SPI1) - { - /* Force reset of SPI clock */ - LL_APB2_GRP1_ForceReset(LL_APB2_GRP1_PERIPH_SPI1); - - /* Release reset of SPI clock */ - LL_APB2_GRP1_ReleaseReset(LL_APB2_GRP1_PERIPH_SPI1); - - status = SUCCESS; - } -#endif /* SPI1 */ -#if defined(SPI2) - if (SPIx == SPI2) - { - /* Force reset of SPI clock */ - LL_APB1_GRP1_ForceReset(LL_APB1_GRP1_PERIPH_SPI2); - - /* Release reset of SPI clock */ - LL_APB1_GRP1_ReleaseReset(LL_APB1_GRP1_PERIPH_SPI2); - - status = SUCCESS; - } -#endif /* SPI2 */ -#if defined(SPI3) - if (SPIx == SPI3) - { - /* Force reset of SPI clock */ - LL_APB1_GRP1_ForceReset(LL_APB1_GRP1_PERIPH_SPI3); - - /* Release reset of SPI clock */ - LL_APB1_GRP1_ReleaseReset(LL_APB1_GRP1_PERIPH_SPI3); - - status = SUCCESS; - } -#endif /* SPI3 */ -#if defined(SPI4) - if (SPIx == SPI4) - { - /* Force reset of SPI clock */ - LL_APB2_GRP1_ForceReset(LL_APB2_GRP1_PERIPH_SPI4); - - /* Release reset of SPI clock */ - LL_APB2_GRP1_ReleaseReset(LL_APB2_GRP1_PERIPH_SPI4); - - status = SUCCESS; - } -#endif /* SPI4 */ -#if defined(SPI5) - if (SPIx == SPI5) - { - /* Force reset of SPI clock */ - LL_APB2_GRP1_ForceReset(LL_APB2_GRP1_PERIPH_SPI5); - - /* Release reset of SPI clock */ - LL_APB2_GRP1_ReleaseReset(LL_APB2_GRP1_PERIPH_SPI5); - - status = SUCCESS; - } -#endif /* SPI5 */ -#if defined(SPI6) - if (SPIx == SPI6) - { - /* Force reset of SPI clock */ - LL_APB2_GRP1_ForceReset(LL_APB2_GRP1_PERIPH_SPI6); - - /* Release reset of SPI clock */ - LL_APB2_GRP1_ReleaseReset(LL_APB2_GRP1_PERIPH_SPI6); - - status = SUCCESS; - } -#endif /* SPI6 */ - - return status; -} - -/** - * @brief Initialize the SPI registers according to the specified parameters in SPI_InitStruct. - * @note As some bits in SPI configuration registers can only be written when the SPI is disabled (SPI_CR1_SPE bit =0), - * SPI peripheral should be in disabled state prior calling this function. Otherwise, ERROR result will be returned. - * @param SPIx SPI Instance - * @param SPI_InitStruct pointer to a @ref LL_SPI_InitTypeDef structure - * @retval An ErrorStatus enumeration value. (Return always SUCCESS) - */ -ErrorStatus LL_SPI_Init(SPI_TypeDef *SPIx, LL_SPI_InitTypeDef *SPI_InitStruct) -{ - ErrorStatus status = ERROR; - - /* Check the SPI Instance SPIx*/ - assert_param(IS_SPI_ALL_INSTANCE(SPIx)); - - /* Check the SPI parameters from SPI_InitStruct*/ - assert_param(IS_LL_SPI_TRANSFER_DIRECTION(SPI_InitStruct->TransferDirection)); - assert_param(IS_LL_SPI_MODE(SPI_InitStruct->Mode)); - assert_param(IS_LL_SPI_DATAWIDTH(SPI_InitStruct->DataWidth)); - assert_param(IS_LL_SPI_POLARITY(SPI_InitStruct->ClockPolarity)); - assert_param(IS_LL_SPI_PHASE(SPI_InitStruct->ClockPhase)); - assert_param(IS_LL_SPI_NSS(SPI_InitStruct->NSS)); - assert_param(IS_LL_SPI_BAUDRATE(SPI_InitStruct->BaudRate)); - assert_param(IS_LL_SPI_BITORDER(SPI_InitStruct->BitOrder)); - assert_param(IS_LL_SPI_CRCCALCULATION(SPI_InitStruct->CRCCalculation)); - - if (LL_SPI_IsEnabled(SPIx) == 0x00000000U) - { - /*---------------------------- SPIx CR1 Configuration ------------------------ - * Configure SPIx CR1 with parameters: - * - TransferDirection: SPI_CR1_BIDIMODE, SPI_CR1_BIDIOE and SPI_CR1_RXONLY bits - * - Master/Slave Mode: SPI_CR1_MSTR bit - * - DataWidth: SPI_CR1_DFF bit - * - ClockPolarity: SPI_CR1_CPOL bit - * - ClockPhase: SPI_CR1_CPHA bit - * - NSS management: SPI_CR1_SSM bit - * - BaudRate prescaler: SPI_CR1_BR[2:0] bits - * - BitOrder: SPI_CR1_LSBFIRST bit - * - CRCCalculation: SPI_CR1_CRCEN bit - */ - MODIFY_REG(SPIx->CR1, - SPI_CR1_CLEAR_MASK, - SPI_InitStruct->TransferDirection | SPI_InitStruct->Mode | SPI_InitStruct->DataWidth | - SPI_InitStruct->ClockPolarity | SPI_InitStruct->ClockPhase | - SPI_InitStruct->NSS | SPI_InitStruct->BaudRate | - SPI_InitStruct->BitOrder | SPI_InitStruct->CRCCalculation); - - /*---------------------------- SPIx CR2 Configuration ------------------------ - * Configure SPIx CR2 with parameters: - * - NSS management: SSOE bit - */ - MODIFY_REG(SPIx->CR2, SPI_CR2_SSOE, (SPI_InitStruct->NSS >> 16U)); - - /*---------------------------- SPIx CRCPR Configuration ---------------------- - * Configure SPIx CRCPR with parameters: - * - CRCPoly: CRCPOLY[15:0] bits - */ - if (SPI_InitStruct->CRCCalculation == LL_SPI_CRCCALCULATION_ENABLE) - { - assert_param(IS_LL_SPI_CRC_POLYNOMIAL(SPI_InitStruct->CRCPoly)); - LL_SPI_SetCRCPolynomial(SPIx, SPI_InitStruct->CRCPoly); - } - status = SUCCESS; - } - - /* Activate the SPI mode (Reset I2SMOD bit in I2SCFGR register) */ - CLEAR_BIT(SPIx->I2SCFGR, SPI_I2SCFGR_I2SMOD); - return status; -} - -/** - * @brief Set each @ref LL_SPI_InitTypeDef field to default value. - * @param SPI_InitStruct pointer to a @ref LL_SPI_InitTypeDef structure - * whose fields will be set to default values. - * @retval None - */ -void LL_SPI_StructInit(LL_SPI_InitTypeDef *SPI_InitStruct) -{ - /* Set SPI_InitStruct fields to default values */ - SPI_InitStruct->TransferDirection = LL_SPI_FULL_DUPLEX; - SPI_InitStruct->Mode = LL_SPI_MODE_SLAVE; - SPI_InitStruct->DataWidth = LL_SPI_DATAWIDTH_8BIT; - SPI_InitStruct->ClockPolarity = LL_SPI_POLARITY_LOW; - SPI_InitStruct->ClockPhase = LL_SPI_PHASE_1EDGE; - SPI_InitStruct->NSS = LL_SPI_NSS_HARD_INPUT; - SPI_InitStruct->BaudRate = LL_SPI_BAUDRATEPRESCALER_DIV2; - SPI_InitStruct->BitOrder = LL_SPI_MSB_FIRST; - SPI_InitStruct->CRCCalculation = LL_SPI_CRCCALCULATION_DISABLE; - SPI_InitStruct->CRCPoly = 7U; -} - -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ - -/** @addtogroup I2S_LL - * @{ - */ - -/* Private types -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private constants ---------------------------------------------------------*/ -/** @defgroup I2S_LL_Private_Constants I2S Private Constants - * @{ - */ -/* I2S registers Masks */ -#define I2S_I2SCFGR_CLEAR_MASK (SPI_I2SCFGR_CHLEN | SPI_I2SCFGR_DATLEN | \ - SPI_I2SCFGR_CKPOL | SPI_I2SCFGR_I2SSTD | \ - SPI_I2SCFGR_I2SCFG | SPI_I2SCFGR_I2SMOD ) - -#define I2S_I2SPR_CLEAR_MASK 0x0002U -/** - * @} - */ -/* Private macros ------------------------------------------------------------*/ -/** @defgroup I2S_LL_Private_Macros I2S Private Macros - * @{ - */ - -#define IS_LL_I2S_DATAFORMAT(__VALUE__) (((__VALUE__) == LL_I2S_DATAFORMAT_16B) \ - || ((__VALUE__) == LL_I2S_DATAFORMAT_16B_EXTENDED) \ - || ((__VALUE__) == LL_I2S_DATAFORMAT_24B) \ - || ((__VALUE__) == LL_I2S_DATAFORMAT_32B)) - -#define IS_LL_I2S_CPOL(__VALUE__) (((__VALUE__) == LL_I2S_POLARITY_LOW) \ - || ((__VALUE__) == LL_I2S_POLARITY_HIGH)) - -#define IS_LL_I2S_STANDARD(__VALUE__) (((__VALUE__) == LL_I2S_STANDARD_PHILIPS) \ - || ((__VALUE__) == LL_I2S_STANDARD_MSB) \ - || ((__VALUE__) == LL_I2S_STANDARD_LSB) \ - || ((__VALUE__) == LL_I2S_STANDARD_PCM_SHORT) \ - || ((__VALUE__) == LL_I2S_STANDARD_PCM_LONG)) - -#define IS_LL_I2S_MODE(__VALUE__) (((__VALUE__) == LL_I2S_MODE_SLAVE_TX) \ - || ((__VALUE__) == LL_I2S_MODE_SLAVE_RX) \ - || ((__VALUE__) == LL_I2S_MODE_MASTER_TX) \ - || ((__VALUE__) == LL_I2S_MODE_MASTER_RX)) - -#define IS_LL_I2S_MCLK_OUTPUT(__VALUE__) (((__VALUE__) == LL_I2S_MCLK_OUTPUT_ENABLE) \ - || ((__VALUE__) == LL_I2S_MCLK_OUTPUT_DISABLE)) - -#define IS_LL_I2S_AUDIO_FREQ(__VALUE__) ((((__VALUE__) >= LL_I2S_AUDIOFREQ_8K) \ - && ((__VALUE__) <= LL_I2S_AUDIOFREQ_192K)) \ - || ((__VALUE__) == LL_I2S_AUDIOFREQ_DEFAULT)) - -#define IS_LL_I2S_PRESCALER_LINEAR(__VALUE__) ((__VALUE__) >= 0x2U) - -#define IS_LL_I2S_PRESCALER_PARITY(__VALUE__) (((__VALUE__) == LL_I2S_PRESCALER_PARITY_EVEN) \ - || ((__VALUE__) == LL_I2S_PRESCALER_PARITY_ODD)) -/** - * @} - */ - -/* Private function prototypes -----------------------------------------------*/ - -/* Exported functions --------------------------------------------------------*/ -/** @addtogroup I2S_LL_Exported_Functions - * @{ - */ - -/** @addtogroup I2S_LL_EF_Init - * @{ - */ - -/** - * @brief De-initialize the SPI/I2S registers to their default reset values. - * @param SPIx SPI Instance - * @retval An ErrorStatus enumeration value: - * - SUCCESS: SPI registers are de-initialized - * - ERROR: SPI registers are not de-initialized - */ -ErrorStatus LL_I2S_DeInit(SPI_TypeDef *SPIx) -{ - return LL_SPI_DeInit(SPIx); -} - -/** - * @brief Initializes the SPI/I2S registers according to the specified parameters in I2S_InitStruct. - * @note As some bits in SPI configuration registers can only be written when the SPI is disabled (SPI_CR1_SPE bit =0), - * SPI peripheral should be in disabled state prior calling this function. Otherwise, ERROR result will be returned. - * @param SPIx SPI Instance - * @param I2S_InitStruct pointer to a @ref LL_I2S_InitTypeDef structure - * @retval An ErrorStatus enumeration value: - * - SUCCESS: SPI registers are Initialized - * - ERROR: SPI registers are not Initialized - */ -ErrorStatus LL_I2S_Init(SPI_TypeDef *SPIx, LL_I2S_InitTypeDef *I2S_InitStruct) -{ - uint32_t i2sdiv = 2U; - uint32_t i2sodd = 0U; - uint32_t packetlength = 1U; - uint32_t tmp; - uint32_t sourceclock; - ErrorStatus status = ERROR; - - /* Check the I2S parameters */ - assert_param(IS_I2S_ALL_INSTANCE(SPIx)); - assert_param(IS_LL_I2S_MODE(I2S_InitStruct->Mode)); - assert_param(IS_LL_I2S_STANDARD(I2S_InitStruct->Standard)); - assert_param(IS_LL_I2S_DATAFORMAT(I2S_InitStruct->DataFormat)); - assert_param(IS_LL_I2S_MCLK_OUTPUT(I2S_InitStruct->MCLKOutput)); - assert_param(IS_LL_I2S_AUDIO_FREQ(I2S_InitStruct->AudioFreq)); - assert_param(IS_LL_I2S_CPOL(I2S_InitStruct->ClockPolarity)); - - if (LL_I2S_IsEnabled(SPIx) == 0x00000000U) - { - /*---------------------------- SPIx I2SCFGR Configuration -------------------- - * Configure SPIx I2SCFGR with parameters: - * - Mode: SPI_I2SCFGR_I2SCFG[1:0] bit - * - Standard: SPI_I2SCFGR_I2SSTD[1:0] and SPI_I2SCFGR_PCMSYNC bits - * - DataFormat: SPI_I2SCFGR_CHLEN and SPI_I2SCFGR_DATLEN bits - * - ClockPolarity: SPI_I2SCFGR_CKPOL bit - */ - - /* Write to SPIx I2SCFGR */ - MODIFY_REG(SPIx->I2SCFGR, - I2S_I2SCFGR_CLEAR_MASK, - I2S_InitStruct->Mode | I2S_InitStruct->Standard | - I2S_InitStruct->DataFormat | I2S_InitStruct->ClockPolarity | - SPI_I2SCFGR_I2SMOD); - - /*---------------------------- SPIx I2SPR Configuration ---------------------- - * Configure SPIx I2SPR with parameters: - * - MCLKOutput: SPI_I2SPR_MCKOE bit - * - AudioFreq: SPI_I2SPR_I2SDIV[7:0] and SPI_I2SPR_ODD bits - */ - - /* If the requested audio frequency is not the default, compute the prescaler (i2sodd, i2sdiv) - * else, default values are used: i2sodd = 0U, i2sdiv = 2U. - */ - if (I2S_InitStruct->AudioFreq != LL_I2S_AUDIOFREQ_DEFAULT) - { - /* Check the frame length (For the Prescaler computing) - * Default value: LL_I2S_DATAFORMAT_16B (packetlength = 1U). - */ - if (I2S_InitStruct->DataFormat != LL_I2S_DATAFORMAT_16B) - { - /* Packet length is 32 bits */ - packetlength = 2U; - } - - /* If an external I2S clock has to be used, the specific define should be set - in the project configuration or in the stm32f4xx_ll_rcc.h file */ - /* Get the I2S source clock value */ - sourceclock = LL_RCC_GetI2SClockFreq(LL_RCC_I2S1_CLKSOURCE); - - /* Compute the Real divider depending on the MCLK output state with a floating point */ - if (I2S_InitStruct->MCLKOutput == LL_I2S_MCLK_OUTPUT_ENABLE) - { - /* MCLK output is enabled */ - tmp = (((((sourceclock / 256U) * 10U) / I2S_InitStruct->AudioFreq)) + 5U); - } - else - { - /* MCLK output is disabled */ - tmp = (((((sourceclock / (32U * packetlength)) * 10U) / I2S_InitStruct->AudioFreq)) + 5U); - } - - /* Remove the floating point */ - tmp = tmp / 10U; - - /* Check the parity of the divider */ - i2sodd = (tmp & (uint16_t)0x0001U); - - /* Compute the i2sdiv prescaler */ - i2sdiv = ((tmp - i2sodd) / 2U); - - /* Get the Mask for the Odd bit (SPI_I2SPR[8]) register */ - i2sodd = (i2sodd << 8U); - } - - /* Test if the divider is 1 or 0 or greater than 0xFF */ - if ((i2sdiv < 2U) || (i2sdiv > 0xFFU)) - { - /* Set the default values */ - i2sdiv = 2U; - i2sodd = 0U; - } - - /* Write to SPIx I2SPR register the computed value */ - WRITE_REG(SPIx->I2SPR, i2sdiv | i2sodd | I2S_InitStruct->MCLKOutput); - - status = SUCCESS; - } - return status; -} - -/** - * @brief Set each @ref LL_I2S_InitTypeDef field to default value. - * @param I2S_InitStruct pointer to a @ref LL_I2S_InitTypeDef structure - * whose fields will be set to default values. - * @retval None - */ -void LL_I2S_StructInit(LL_I2S_InitTypeDef *I2S_InitStruct) -{ - /*--------------- Reset I2S init structure parameters values -----------------*/ - I2S_InitStruct->Mode = LL_I2S_MODE_SLAVE_TX; - I2S_InitStruct->Standard = LL_I2S_STANDARD_PHILIPS; - I2S_InitStruct->DataFormat = LL_I2S_DATAFORMAT_16B; - I2S_InitStruct->MCLKOutput = LL_I2S_MCLK_OUTPUT_DISABLE; - I2S_InitStruct->AudioFreq = LL_I2S_AUDIOFREQ_DEFAULT; - I2S_InitStruct->ClockPolarity = LL_I2S_POLARITY_LOW; -} - -/** - * @brief Set linear and parity prescaler. - * @note To calculate value of PrescalerLinear(I2SDIV[7:0] bits) and PrescalerParity(ODD bit)\n - * Check Audio frequency table and formulas inside Reference Manual (SPI/I2S). - * @param SPIx SPI Instance - * @param PrescalerLinear value Min_Data=0x02 and Max_Data=0xFF. - * @param PrescalerParity This parameter can be one of the following values: - * @arg @ref LL_I2S_PRESCALER_PARITY_EVEN - * @arg @ref LL_I2S_PRESCALER_PARITY_ODD - * @retval None - */ -void LL_I2S_ConfigPrescaler(SPI_TypeDef *SPIx, uint32_t PrescalerLinear, uint32_t PrescalerParity) -{ - /* Check the I2S parameters */ - assert_param(IS_I2S_ALL_INSTANCE(SPIx)); - assert_param(IS_LL_I2S_PRESCALER_LINEAR(PrescalerLinear)); - assert_param(IS_LL_I2S_PRESCALER_PARITY(PrescalerParity)); - - /* Write to SPIx I2SPR */ - MODIFY_REG(SPIx->I2SPR, SPI_I2SPR_I2SDIV | SPI_I2SPR_ODD, PrescalerLinear | (PrescalerParity << 8U)); -} - -#if defined (SPI_I2S_FULLDUPLEX_SUPPORT) -/** - * @brief Configures the full duplex mode for the I2Sx peripheral using its extension - * I2Sxext according to the specified parameters in the I2S_InitStruct. - * @note The structure pointed by I2S_InitStruct parameter should be the same - * used for the master I2S peripheral. In this case, if the master is - * configured as transmitter, the slave will be receiver and vice versa. - * Or you can force a different mode by modifying the field I2S_Mode to the - * value I2S_SlaveRx or I2S_SlaveTx independently of the master configuration. - * @param I2Sxext SPI Instance - * @param I2S_InitStruct pointer to a @ref LL_I2S_InitTypeDef structure - * @retval An ErrorStatus enumeration value: - * - SUCCESS: I2Sxext registers are Initialized - * - ERROR: I2Sxext registers are not Initialized - */ -ErrorStatus LL_I2S_InitFullDuplex(SPI_TypeDef *I2Sxext, LL_I2S_InitTypeDef *I2S_InitStruct) -{ - uint32_t mode = 0U; - ErrorStatus status = ERROR; - - /* Check the I2S parameters */ - assert_param(IS_I2S_EXT_ALL_INSTANCE(I2Sxext)); - assert_param(IS_LL_I2S_MODE(I2S_InitStruct->Mode)); - assert_param(IS_LL_I2S_STANDARD(I2S_InitStruct->Standard)); - assert_param(IS_LL_I2S_DATAFORMAT(I2S_InitStruct->DataFormat)); - assert_param(IS_LL_I2S_CPOL(I2S_InitStruct->ClockPolarity)); - - if (LL_I2S_IsEnabled(I2Sxext) == 0x00000000U) - { - /*---------------------------- SPIx I2SCFGR Configuration -------------------- - * Configure SPIx I2SCFGR with parameters: - * - Mode: SPI_I2SCFGR_I2SCFG[1:0] bit - * - Standard: SPI_I2SCFGR_I2SSTD[1:0] and SPI_I2SCFGR_PCMSYNC bits - * - DataFormat: SPI_I2SCFGR_CHLEN and SPI_I2SCFGR_DATLEN bits - * - ClockPolarity: SPI_I2SCFGR_CKPOL bit - */ - - /* Reset I2SPR registers */ - WRITE_REG(I2Sxext->I2SPR, I2S_I2SPR_CLEAR_MASK); - - /* Get the mode to be configured for the extended I2S */ - if ((I2S_InitStruct->Mode == LL_I2S_MODE_MASTER_TX) || (I2S_InitStruct->Mode == LL_I2S_MODE_SLAVE_TX)) - { - mode = LL_I2S_MODE_SLAVE_RX; - } - else - { - if ((I2S_InitStruct->Mode == LL_I2S_MODE_MASTER_RX) || (I2S_InitStruct->Mode == LL_I2S_MODE_SLAVE_RX)) - { - mode = LL_I2S_MODE_SLAVE_TX; - } - } - - /* Write to SPIx I2SCFGR */ - MODIFY_REG(I2Sxext->I2SCFGR, - I2S_I2SCFGR_CLEAR_MASK, - I2S_InitStruct->Standard | - I2S_InitStruct->DataFormat | I2S_InitStruct->ClockPolarity | - SPI_I2SCFGR_I2SMOD | mode); - - status = SUCCESS; - } - return status; -} -#endif /* SPI_I2S_FULLDUPLEX_SUPPORT */ - -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ - -#endif /* defined (SPI1) || defined (SPI2) || defined (SPI3) || defined (SPI4) || defined (SPI5) || defined(SPI6) */ - -/** - * @} - */ - -#endif /* USE_FULL_LL_DRIVER */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_tim.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_tim.c deleted file mode 100644 index 089c5adebbd488..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_tim.c +++ /dev/null @@ -1,1191 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_ll_tim.c - * @author MCD Application Team - * @brief TIM LL module driver. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ -#if defined(USE_FULL_LL_DRIVER) - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_ll_tim.h" -#include "stm32f4xx_ll_bus.h" - -#ifdef USE_FULL_ASSERT -#include "stm32_assert.h" -#else -#define assert_param(expr) ((void)0U) -#endif /* USE_FULL_ASSERT */ - -/** @addtogroup STM32F4xx_LL_Driver - * @{ - */ - -#if defined (TIM1) || defined (TIM2) || defined (TIM3) || defined (TIM4) || defined (TIM5) || defined (TIM6) || defined (TIM7) || defined (TIM8) || defined (TIM9) || defined (TIM10) || defined (TIM11) || defined (TIM12) || defined (TIM13) || defined (TIM14) - -/** @addtogroup TIM_LL - * @{ - */ - -/* Private types -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private constants ---------------------------------------------------------*/ -/* Private macros ------------------------------------------------------------*/ -/** @addtogroup TIM_LL_Private_Macros - * @{ - */ -#define IS_LL_TIM_COUNTERMODE(__VALUE__) (((__VALUE__) == LL_TIM_COUNTERMODE_UP) \ - || ((__VALUE__) == LL_TIM_COUNTERMODE_DOWN) \ - || ((__VALUE__) == LL_TIM_COUNTERMODE_CENTER_UP) \ - || ((__VALUE__) == LL_TIM_COUNTERMODE_CENTER_DOWN) \ - || ((__VALUE__) == LL_TIM_COUNTERMODE_CENTER_UP_DOWN)) - -#define IS_LL_TIM_CLOCKDIVISION(__VALUE__) (((__VALUE__) == LL_TIM_CLOCKDIVISION_DIV1) \ - || ((__VALUE__) == LL_TIM_CLOCKDIVISION_DIV2) \ - || ((__VALUE__) == LL_TIM_CLOCKDIVISION_DIV4)) - -#define IS_LL_TIM_OCMODE(__VALUE__) (((__VALUE__) == LL_TIM_OCMODE_FROZEN) \ - || ((__VALUE__) == LL_TIM_OCMODE_ACTIVE) \ - || ((__VALUE__) == LL_TIM_OCMODE_INACTIVE) \ - || ((__VALUE__) == LL_TIM_OCMODE_TOGGLE) \ - || ((__VALUE__) == LL_TIM_OCMODE_FORCED_INACTIVE) \ - || ((__VALUE__) == LL_TIM_OCMODE_FORCED_ACTIVE) \ - || ((__VALUE__) == LL_TIM_OCMODE_PWM1) \ - || ((__VALUE__) == LL_TIM_OCMODE_PWM2)) - -#define IS_LL_TIM_OCSTATE(__VALUE__) (((__VALUE__) == LL_TIM_OCSTATE_DISABLE) \ - || ((__VALUE__) == LL_TIM_OCSTATE_ENABLE)) - -#define IS_LL_TIM_OCPOLARITY(__VALUE__) (((__VALUE__) == LL_TIM_OCPOLARITY_HIGH) \ - || ((__VALUE__) == LL_TIM_OCPOLARITY_LOW)) - -#define IS_LL_TIM_OCIDLESTATE(__VALUE__) (((__VALUE__) == LL_TIM_OCIDLESTATE_LOW) \ - || ((__VALUE__) == LL_TIM_OCIDLESTATE_HIGH)) - -#define IS_LL_TIM_ACTIVEINPUT(__VALUE__) (((__VALUE__) == LL_TIM_ACTIVEINPUT_DIRECTTI) \ - || ((__VALUE__) == LL_TIM_ACTIVEINPUT_INDIRECTTI) \ - || ((__VALUE__) == LL_TIM_ACTIVEINPUT_TRC)) - -#define IS_LL_TIM_ICPSC(__VALUE__) (((__VALUE__) == LL_TIM_ICPSC_DIV1) \ - || ((__VALUE__) == LL_TIM_ICPSC_DIV2) \ - || ((__VALUE__) == LL_TIM_ICPSC_DIV4) \ - || ((__VALUE__) == LL_TIM_ICPSC_DIV8)) - -#define IS_LL_TIM_IC_FILTER(__VALUE__) (((__VALUE__) == LL_TIM_IC_FILTER_FDIV1) \ - || ((__VALUE__) == LL_TIM_IC_FILTER_FDIV1_N2) \ - || ((__VALUE__) == LL_TIM_IC_FILTER_FDIV1_N4) \ - || ((__VALUE__) == LL_TIM_IC_FILTER_FDIV1_N8) \ - || ((__VALUE__) == LL_TIM_IC_FILTER_FDIV2_N6) \ - || ((__VALUE__) == LL_TIM_IC_FILTER_FDIV2_N8) \ - || ((__VALUE__) == LL_TIM_IC_FILTER_FDIV4_N6) \ - || ((__VALUE__) == LL_TIM_IC_FILTER_FDIV4_N8) \ - || ((__VALUE__) == LL_TIM_IC_FILTER_FDIV8_N6) \ - || ((__VALUE__) == LL_TIM_IC_FILTER_FDIV8_N8) \ - || ((__VALUE__) == LL_TIM_IC_FILTER_FDIV16_N5) \ - || ((__VALUE__) == LL_TIM_IC_FILTER_FDIV16_N6) \ - || ((__VALUE__) == LL_TIM_IC_FILTER_FDIV16_N8) \ - || ((__VALUE__) == LL_TIM_IC_FILTER_FDIV32_N5) \ - || ((__VALUE__) == LL_TIM_IC_FILTER_FDIV32_N6) \ - || ((__VALUE__) == LL_TIM_IC_FILTER_FDIV32_N8)) - -#define IS_LL_TIM_IC_POLARITY(__VALUE__) (((__VALUE__) == LL_TIM_IC_POLARITY_RISING) \ - || ((__VALUE__) == LL_TIM_IC_POLARITY_FALLING) \ - || ((__VALUE__) == LL_TIM_IC_POLARITY_BOTHEDGE)) - -#define IS_LL_TIM_ENCODERMODE(__VALUE__) (((__VALUE__) == LL_TIM_ENCODERMODE_X2_TI1) \ - || ((__VALUE__) == LL_TIM_ENCODERMODE_X2_TI2) \ - || ((__VALUE__) == LL_TIM_ENCODERMODE_X4_TI12)) - -#define IS_LL_TIM_IC_POLARITY_ENCODER(__VALUE__) (((__VALUE__) == LL_TIM_IC_POLARITY_RISING) \ - || ((__VALUE__) == LL_TIM_IC_POLARITY_FALLING)) - -#define IS_LL_TIM_OSSR_STATE(__VALUE__) (((__VALUE__) == LL_TIM_OSSR_DISABLE) \ - || ((__VALUE__) == LL_TIM_OSSR_ENABLE)) - -#define IS_LL_TIM_OSSI_STATE(__VALUE__) (((__VALUE__) == LL_TIM_OSSI_DISABLE) \ - || ((__VALUE__) == LL_TIM_OSSI_ENABLE)) - -#define IS_LL_TIM_LOCK_LEVEL(__VALUE__) (((__VALUE__) == LL_TIM_LOCKLEVEL_OFF) \ - || ((__VALUE__) == LL_TIM_LOCKLEVEL_1) \ - || ((__VALUE__) == LL_TIM_LOCKLEVEL_2) \ - || ((__VALUE__) == LL_TIM_LOCKLEVEL_3)) - -#define IS_LL_TIM_BREAK_STATE(__VALUE__) (((__VALUE__) == LL_TIM_BREAK_DISABLE) \ - || ((__VALUE__) == LL_TIM_BREAK_ENABLE)) - -#define IS_LL_TIM_BREAK_POLARITY(__VALUE__) (((__VALUE__) == LL_TIM_BREAK_POLARITY_LOW) \ - || ((__VALUE__) == LL_TIM_BREAK_POLARITY_HIGH)) - -#define IS_LL_TIM_AUTOMATIC_OUTPUT_STATE(__VALUE__) (((__VALUE__) == LL_TIM_AUTOMATICOUTPUT_DISABLE) \ - || ((__VALUE__) == LL_TIM_AUTOMATICOUTPUT_ENABLE)) -/** - * @} - */ - - -/* Private function prototypes -----------------------------------------------*/ -/** @defgroup TIM_LL_Private_Functions TIM Private Functions - * @{ - */ -static ErrorStatus OC1Config(TIM_TypeDef *TIMx, LL_TIM_OC_InitTypeDef *TIM_OCInitStruct); -static ErrorStatus OC2Config(TIM_TypeDef *TIMx, LL_TIM_OC_InitTypeDef *TIM_OCInitStruct); -static ErrorStatus OC3Config(TIM_TypeDef *TIMx, LL_TIM_OC_InitTypeDef *TIM_OCInitStruct); -static ErrorStatus OC4Config(TIM_TypeDef *TIMx, LL_TIM_OC_InitTypeDef *TIM_OCInitStruct); -static ErrorStatus IC1Config(TIM_TypeDef *TIMx, LL_TIM_IC_InitTypeDef *TIM_ICInitStruct); -static ErrorStatus IC2Config(TIM_TypeDef *TIMx, LL_TIM_IC_InitTypeDef *TIM_ICInitStruct); -static ErrorStatus IC3Config(TIM_TypeDef *TIMx, LL_TIM_IC_InitTypeDef *TIM_ICInitStruct); -static ErrorStatus IC4Config(TIM_TypeDef *TIMx, LL_TIM_IC_InitTypeDef *TIM_ICInitStruct); -/** - * @} - */ - -/* Exported functions --------------------------------------------------------*/ -/** @addtogroup TIM_LL_Exported_Functions - * @{ - */ - -/** @addtogroup TIM_LL_EF_Init - * @{ - */ - -/** - * @brief Set TIMx registers to their reset values. - * @param TIMx Timer instance - * @retval An ErrorStatus enumeration value: - * - SUCCESS: TIMx registers are de-initialized - * - ERROR: invalid TIMx instance - */ -ErrorStatus LL_TIM_DeInit(TIM_TypeDef *TIMx) -{ - ErrorStatus result = SUCCESS; - - /* Check the parameters */ - assert_param(IS_TIM_INSTANCE(TIMx)); - - if (TIMx == TIM1) - { - LL_APB2_GRP1_ForceReset(LL_APB2_GRP1_PERIPH_TIM1); - LL_APB2_GRP1_ReleaseReset(LL_APB2_GRP1_PERIPH_TIM1); - } -#if defined(TIM2) - else if (TIMx == TIM2) - { - LL_APB1_GRP1_ForceReset(LL_APB1_GRP1_PERIPH_TIM2); - LL_APB1_GRP1_ReleaseReset(LL_APB1_GRP1_PERIPH_TIM2); - } -#endif /* TIM2 */ -#if defined(TIM3) - else if (TIMx == TIM3) - { - LL_APB1_GRP1_ForceReset(LL_APB1_GRP1_PERIPH_TIM3); - LL_APB1_GRP1_ReleaseReset(LL_APB1_GRP1_PERIPH_TIM3); - } -#endif /* TIM3 */ -#if defined(TIM4) - else if (TIMx == TIM4) - { - LL_APB1_GRP1_ForceReset(LL_APB1_GRP1_PERIPH_TIM4); - LL_APB1_GRP1_ReleaseReset(LL_APB1_GRP1_PERIPH_TIM4); - } -#endif /* TIM4 */ -#if defined(TIM5) - else if (TIMx == TIM5) - { - LL_APB1_GRP1_ForceReset(LL_APB1_GRP1_PERIPH_TIM5); - LL_APB1_GRP1_ReleaseReset(LL_APB1_GRP1_PERIPH_TIM5); - } -#endif /* TIM5 */ -#if defined(TIM6) - else if (TIMx == TIM6) - { - LL_APB1_GRP1_ForceReset(LL_APB1_GRP1_PERIPH_TIM6); - LL_APB1_GRP1_ReleaseReset(LL_APB1_GRP1_PERIPH_TIM6); - } -#endif /* TIM6 */ -#if defined (TIM7) - else if (TIMx == TIM7) - { - LL_APB1_GRP1_ForceReset(LL_APB1_GRP1_PERIPH_TIM7); - LL_APB1_GRP1_ReleaseReset(LL_APB1_GRP1_PERIPH_TIM7); - } -#endif /* TIM7 */ -#if defined(TIM8) - else if (TIMx == TIM8) - { - LL_APB2_GRP1_ForceReset(LL_APB2_GRP1_PERIPH_TIM8); - LL_APB2_GRP1_ReleaseReset(LL_APB2_GRP1_PERIPH_TIM8); - } -#endif /* TIM8 */ -#if defined(TIM9) - else if (TIMx == TIM9) - { - LL_APB2_GRP1_ForceReset(LL_APB2_GRP1_PERIPH_TIM9); - LL_APB2_GRP1_ReleaseReset(LL_APB2_GRP1_PERIPH_TIM9); - } -#endif /* TIM9 */ -#if defined(TIM10) - else if (TIMx == TIM10) - { - LL_APB2_GRP1_ForceReset(LL_APB2_GRP1_PERIPH_TIM10); - LL_APB2_GRP1_ReleaseReset(LL_APB2_GRP1_PERIPH_TIM10); - } -#endif /* TIM10 */ -#if defined(TIM11) - else if (TIMx == TIM11) - { - LL_APB2_GRP1_ForceReset(LL_APB2_GRP1_PERIPH_TIM11); - LL_APB2_GRP1_ReleaseReset(LL_APB2_GRP1_PERIPH_TIM11); - } -#endif /* TIM11 */ -#if defined(TIM12) - else if (TIMx == TIM12) - { - LL_APB1_GRP1_ForceReset(LL_APB1_GRP1_PERIPH_TIM12); - LL_APB1_GRP1_ReleaseReset(LL_APB1_GRP1_PERIPH_TIM12); - } -#endif /* TIM12 */ -#if defined(TIM13) - else if (TIMx == TIM13) - { - LL_APB1_GRP1_ForceReset(LL_APB1_GRP1_PERIPH_TIM13); - LL_APB1_GRP1_ReleaseReset(LL_APB1_GRP1_PERIPH_TIM13); - } -#endif /* TIM13 */ -#if defined(TIM14) - else if (TIMx == TIM14) - { - LL_APB1_GRP1_ForceReset(LL_APB1_GRP1_PERIPH_TIM14); - LL_APB1_GRP1_ReleaseReset(LL_APB1_GRP1_PERIPH_TIM14); - } -#endif /* TIM14 */ - else - { - result = ERROR; - } - - return result; -} - -/** - * @brief Set the fields of the time base unit configuration data structure - * to their default values. - * @param TIM_InitStruct pointer to a @ref LL_TIM_InitTypeDef structure (time base unit configuration data structure) - * @retval None - */ -void LL_TIM_StructInit(LL_TIM_InitTypeDef *TIM_InitStruct) -{ - /* Set the default configuration */ - TIM_InitStruct->Prescaler = (uint16_t)0x0000; - TIM_InitStruct->CounterMode = LL_TIM_COUNTERMODE_UP; - TIM_InitStruct->Autoreload = 0xFFFFFFFFU; - TIM_InitStruct->ClockDivision = LL_TIM_CLOCKDIVISION_DIV1; - TIM_InitStruct->RepetitionCounter = 0x00000000U; -} - -/** - * @brief Configure the TIMx time base unit. - * @param TIMx Timer Instance - * @param TIM_InitStruct pointer to a @ref LL_TIM_InitTypeDef structure - * (TIMx time base unit configuration data structure) - * @retval An ErrorStatus enumeration value: - * - SUCCESS: TIMx registers are de-initialized - * - ERROR: not applicable - */ -ErrorStatus LL_TIM_Init(TIM_TypeDef *TIMx, LL_TIM_InitTypeDef *TIM_InitStruct) -{ - uint32_t tmpcr1; - - /* Check the parameters */ - assert_param(IS_TIM_INSTANCE(TIMx)); - assert_param(IS_LL_TIM_COUNTERMODE(TIM_InitStruct->CounterMode)); - assert_param(IS_LL_TIM_CLOCKDIVISION(TIM_InitStruct->ClockDivision)); - - tmpcr1 = LL_TIM_ReadReg(TIMx, CR1); - - if (IS_TIM_COUNTER_MODE_SELECT_INSTANCE(TIMx)) - { - /* Select the Counter Mode */ - MODIFY_REG(tmpcr1, (TIM_CR1_DIR | TIM_CR1_CMS), TIM_InitStruct->CounterMode); - } - - if (IS_TIM_CLOCK_DIVISION_INSTANCE(TIMx)) - { - /* Set the clock division */ - MODIFY_REG(tmpcr1, TIM_CR1_CKD, TIM_InitStruct->ClockDivision); - } - - /* Write to TIMx CR1 */ - LL_TIM_WriteReg(TIMx, CR1, tmpcr1); - - /* Set the Autoreload value */ - LL_TIM_SetAutoReload(TIMx, TIM_InitStruct->Autoreload); - - /* Set the Prescaler value */ - LL_TIM_SetPrescaler(TIMx, TIM_InitStruct->Prescaler); - - if (IS_TIM_REPETITION_COUNTER_INSTANCE(TIMx)) - { - /* Set the Repetition Counter value */ - LL_TIM_SetRepetitionCounter(TIMx, TIM_InitStruct->RepetitionCounter); - } - - /* Generate an update event to reload the Prescaler - and the repetition counter value (if applicable) immediately */ - LL_TIM_GenerateEvent_UPDATE(TIMx); - - return SUCCESS; -} - -/** - * @brief Set the fields of the TIMx output channel configuration data - * structure to their default values. - * @param TIM_OC_InitStruct pointer to a @ref LL_TIM_OC_InitTypeDef structure - * (the output channel configuration data structure) - * @retval None - */ -void LL_TIM_OC_StructInit(LL_TIM_OC_InitTypeDef *TIM_OC_InitStruct) -{ - /* Set the default configuration */ - TIM_OC_InitStruct->OCMode = LL_TIM_OCMODE_FROZEN; - TIM_OC_InitStruct->OCState = LL_TIM_OCSTATE_DISABLE; - TIM_OC_InitStruct->OCNState = LL_TIM_OCSTATE_DISABLE; - TIM_OC_InitStruct->CompareValue = 0x00000000U; - TIM_OC_InitStruct->OCPolarity = LL_TIM_OCPOLARITY_HIGH; - TIM_OC_InitStruct->OCNPolarity = LL_TIM_OCPOLARITY_HIGH; - TIM_OC_InitStruct->OCIdleState = LL_TIM_OCIDLESTATE_LOW; - TIM_OC_InitStruct->OCNIdleState = LL_TIM_OCIDLESTATE_LOW; -} - -/** - * @brief Configure the TIMx output channel. - * @param TIMx Timer Instance - * @param Channel This parameter can be one of the following values: - * @arg @ref LL_TIM_CHANNEL_CH1 - * @arg @ref LL_TIM_CHANNEL_CH2 - * @arg @ref LL_TIM_CHANNEL_CH3 - * @arg @ref LL_TIM_CHANNEL_CH4 - * @param TIM_OC_InitStruct pointer to a @ref LL_TIM_OC_InitTypeDef structure (TIMx output channel configuration - * data structure) - * @retval An ErrorStatus enumeration value: - * - SUCCESS: TIMx output channel is initialized - * - ERROR: TIMx output channel is not initialized - */ -ErrorStatus LL_TIM_OC_Init(TIM_TypeDef *TIMx, uint32_t Channel, LL_TIM_OC_InitTypeDef *TIM_OC_InitStruct) -{ - ErrorStatus result = ERROR; - - switch (Channel) - { - case LL_TIM_CHANNEL_CH1: - result = OC1Config(TIMx, TIM_OC_InitStruct); - break; - case LL_TIM_CHANNEL_CH2: - result = OC2Config(TIMx, TIM_OC_InitStruct); - break; - case LL_TIM_CHANNEL_CH3: - result = OC3Config(TIMx, TIM_OC_InitStruct); - break; - case LL_TIM_CHANNEL_CH4: - result = OC4Config(TIMx, TIM_OC_InitStruct); - break; - default: - break; - } - - return result; -} - -/** - * @brief Set the fields of the TIMx input channel configuration data - * structure to their default values. - * @param TIM_ICInitStruct pointer to a @ref LL_TIM_IC_InitTypeDef structure (the input channel configuration - * data structure) - * @retval None - */ -void LL_TIM_IC_StructInit(LL_TIM_IC_InitTypeDef *TIM_ICInitStruct) -{ - /* Set the default configuration */ - TIM_ICInitStruct->ICPolarity = LL_TIM_IC_POLARITY_RISING; - TIM_ICInitStruct->ICActiveInput = LL_TIM_ACTIVEINPUT_DIRECTTI; - TIM_ICInitStruct->ICPrescaler = LL_TIM_ICPSC_DIV1; - TIM_ICInitStruct->ICFilter = LL_TIM_IC_FILTER_FDIV1; -} - -/** - * @brief Configure the TIMx input channel. - * @param TIMx Timer Instance - * @param Channel This parameter can be one of the following values: - * @arg @ref LL_TIM_CHANNEL_CH1 - * @arg @ref LL_TIM_CHANNEL_CH2 - * @arg @ref LL_TIM_CHANNEL_CH3 - * @arg @ref LL_TIM_CHANNEL_CH4 - * @param TIM_IC_InitStruct pointer to a @ref LL_TIM_IC_InitTypeDef structure (TIMx input channel configuration data - * structure) - * @retval An ErrorStatus enumeration value: - * - SUCCESS: TIMx output channel is initialized - * - ERROR: TIMx output channel is not initialized - */ -ErrorStatus LL_TIM_IC_Init(TIM_TypeDef *TIMx, uint32_t Channel, LL_TIM_IC_InitTypeDef *TIM_IC_InitStruct) -{ - ErrorStatus result = ERROR; - - switch (Channel) - { - case LL_TIM_CHANNEL_CH1: - result = IC1Config(TIMx, TIM_IC_InitStruct); - break; - case LL_TIM_CHANNEL_CH2: - result = IC2Config(TIMx, TIM_IC_InitStruct); - break; - case LL_TIM_CHANNEL_CH3: - result = IC3Config(TIMx, TIM_IC_InitStruct); - break; - case LL_TIM_CHANNEL_CH4: - result = IC4Config(TIMx, TIM_IC_InitStruct); - break; - default: - break; - } - - return result; -} - -/** - * @brief Fills each TIM_EncoderInitStruct field with its default value - * @param TIM_EncoderInitStruct pointer to a @ref LL_TIM_ENCODER_InitTypeDef structure (encoder interface - * configuration data structure) - * @retval None - */ -void LL_TIM_ENCODER_StructInit(LL_TIM_ENCODER_InitTypeDef *TIM_EncoderInitStruct) -{ - /* Set the default configuration */ - TIM_EncoderInitStruct->EncoderMode = LL_TIM_ENCODERMODE_X2_TI1; - TIM_EncoderInitStruct->IC1Polarity = LL_TIM_IC_POLARITY_RISING; - TIM_EncoderInitStruct->IC1ActiveInput = LL_TIM_ACTIVEINPUT_DIRECTTI; - TIM_EncoderInitStruct->IC1Prescaler = LL_TIM_ICPSC_DIV1; - TIM_EncoderInitStruct->IC1Filter = LL_TIM_IC_FILTER_FDIV1; - TIM_EncoderInitStruct->IC2Polarity = LL_TIM_IC_POLARITY_RISING; - TIM_EncoderInitStruct->IC2ActiveInput = LL_TIM_ACTIVEINPUT_DIRECTTI; - TIM_EncoderInitStruct->IC2Prescaler = LL_TIM_ICPSC_DIV1; - TIM_EncoderInitStruct->IC2Filter = LL_TIM_IC_FILTER_FDIV1; -} - -/** - * @brief Configure the encoder interface of the timer instance. - * @param TIMx Timer Instance - * @param TIM_EncoderInitStruct pointer to a @ref LL_TIM_ENCODER_InitTypeDef structure (TIMx encoder interface - * configuration data structure) - * @retval An ErrorStatus enumeration value: - * - SUCCESS: TIMx registers are de-initialized - * - ERROR: not applicable - */ -ErrorStatus LL_TIM_ENCODER_Init(TIM_TypeDef *TIMx, LL_TIM_ENCODER_InitTypeDef *TIM_EncoderInitStruct) -{ - uint32_t tmpccmr1; - uint32_t tmpccer; - - /* Check the parameters */ - assert_param(IS_TIM_ENCODER_INTERFACE_INSTANCE(TIMx)); - assert_param(IS_LL_TIM_ENCODERMODE(TIM_EncoderInitStruct->EncoderMode)); - assert_param(IS_LL_TIM_IC_POLARITY_ENCODER(TIM_EncoderInitStruct->IC1Polarity)); - assert_param(IS_LL_TIM_ACTIVEINPUT(TIM_EncoderInitStruct->IC1ActiveInput)); - assert_param(IS_LL_TIM_ICPSC(TIM_EncoderInitStruct->IC1Prescaler)); - assert_param(IS_LL_TIM_IC_FILTER(TIM_EncoderInitStruct->IC1Filter)); - assert_param(IS_LL_TIM_IC_POLARITY_ENCODER(TIM_EncoderInitStruct->IC2Polarity)); - assert_param(IS_LL_TIM_ACTIVEINPUT(TIM_EncoderInitStruct->IC2ActiveInput)); - assert_param(IS_LL_TIM_ICPSC(TIM_EncoderInitStruct->IC2Prescaler)); - assert_param(IS_LL_TIM_IC_FILTER(TIM_EncoderInitStruct->IC2Filter)); - - /* Disable the CC1 and CC2: Reset the CC1E and CC2E Bits */ - TIMx->CCER &= (uint32_t)~(TIM_CCER_CC1E | TIM_CCER_CC2E); - - /* Get the TIMx CCMR1 register value */ - tmpccmr1 = LL_TIM_ReadReg(TIMx, CCMR1); - - /* Get the TIMx CCER register value */ - tmpccer = LL_TIM_ReadReg(TIMx, CCER); - - /* Configure TI1 */ - tmpccmr1 &= (uint32_t)~(TIM_CCMR1_CC1S | TIM_CCMR1_IC1F | TIM_CCMR1_IC1PSC); - tmpccmr1 |= (uint32_t)(TIM_EncoderInitStruct->IC1ActiveInput >> 16U); - tmpccmr1 |= (uint32_t)(TIM_EncoderInitStruct->IC1Filter >> 16U); - tmpccmr1 |= (uint32_t)(TIM_EncoderInitStruct->IC1Prescaler >> 16U); - - /* Configure TI2 */ - tmpccmr1 &= (uint32_t)~(TIM_CCMR1_CC2S | TIM_CCMR1_IC2F | TIM_CCMR1_IC2PSC); - tmpccmr1 |= (uint32_t)(TIM_EncoderInitStruct->IC2ActiveInput >> 8U); - tmpccmr1 |= (uint32_t)(TIM_EncoderInitStruct->IC2Filter >> 8U); - tmpccmr1 |= (uint32_t)(TIM_EncoderInitStruct->IC2Prescaler >> 8U); - - /* Set TI1 and TI2 polarity and enable TI1 and TI2 */ - tmpccer &= (uint32_t)~(TIM_CCER_CC1P | TIM_CCER_CC1NP | TIM_CCER_CC2P | TIM_CCER_CC2NP); - tmpccer |= (uint32_t)(TIM_EncoderInitStruct->IC1Polarity); - tmpccer |= (uint32_t)(TIM_EncoderInitStruct->IC2Polarity << 4U); - tmpccer |= (uint32_t)(TIM_CCER_CC1E | TIM_CCER_CC2E); - - /* Set encoder mode */ - LL_TIM_SetEncoderMode(TIMx, TIM_EncoderInitStruct->EncoderMode); - - /* Write to TIMx CCMR1 */ - LL_TIM_WriteReg(TIMx, CCMR1, tmpccmr1); - - /* Write to TIMx CCER */ - LL_TIM_WriteReg(TIMx, CCER, tmpccer); - - return SUCCESS; -} - -/** - * @brief Set the fields of the TIMx Hall sensor interface configuration data - * structure to their default values. - * @param TIM_HallSensorInitStruct pointer to a @ref LL_TIM_HALLSENSOR_InitTypeDef structure (HALL sensor interface - * configuration data structure) - * @retval None - */ -void LL_TIM_HALLSENSOR_StructInit(LL_TIM_HALLSENSOR_InitTypeDef *TIM_HallSensorInitStruct) -{ - /* Set the default configuration */ - TIM_HallSensorInitStruct->IC1Polarity = LL_TIM_IC_POLARITY_RISING; - TIM_HallSensorInitStruct->IC1Prescaler = LL_TIM_ICPSC_DIV1; - TIM_HallSensorInitStruct->IC1Filter = LL_TIM_IC_FILTER_FDIV1; - TIM_HallSensorInitStruct->CommutationDelay = 0U; -} - -/** - * @brief Configure the Hall sensor interface of the timer instance. - * @note TIMx CH1, CH2 and CH3 inputs connected through a XOR - * to the TI1 input channel - * @note TIMx slave mode controller is configured in reset mode. - Selected internal trigger is TI1F_ED. - * @note Channel 1 is configured as input, IC1 is mapped on TRC. - * @note Captured value stored in TIMx_CCR1 correspond to the time elapsed - * between 2 changes on the inputs. It gives information about motor speed. - * @note Channel 2 is configured in output PWM 2 mode. - * @note Compare value stored in TIMx_CCR2 corresponds to the commutation delay. - * @note OC2REF is selected as trigger output on TRGO. - * @note LL_TIM_IC_POLARITY_BOTHEDGE must not be used for TI1 when it is used - * when TIMx operates in Hall sensor interface mode. - * @param TIMx Timer Instance - * @param TIM_HallSensorInitStruct pointer to a @ref LL_TIM_HALLSENSOR_InitTypeDef structure (TIMx HALL sensor - * interface configuration data structure) - * @retval An ErrorStatus enumeration value: - * - SUCCESS: TIMx registers are de-initialized - * - ERROR: not applicable - */ -ErrorStatus LL_TIM_HALLSENSOR_Init(TIM_TypeDef *TIMx, LL_TIM_HALLSENSOR_InitTypeDef *TIM_HallSensorInitStruct) -{ - uint32_t tmpcr2; - uint32_t tmpccmr1; - uint32_t tmpccer; - uint32_t tmpsmcr; - - /* Check the parameters */ - assert_param(IS_TIM_HALL_SENSOR_INTERFACE_INSTANCE(TIMx)); - assert_param(IS_LL_TIM_IC_POLARITY_ENCODER(TIM_HallSensorInitStruct->IC1Polarity)); - assert_param(IS_LL_TIM_ICPSC(TIM_HallSensorInitStruct->IC1Prescaler)); - assert_param(IS_LL_TIM_IC_FILTER(TIM_HallSensorInitStruct->IC1Filter)); - - /* Disable the CC1 and CC2: Reset the CC1E and CC2E Bits */ - TIMx->CCER &= (uint32_t)~(TIM_CCER_CC1E | TIM_CCER_CC2E); - - /* Get the TIMx CR2 register value */ - tmpcr2 = LL_TIM_ReadReg(TIMx, CR2); - - /* Get the TIMx CCMR1 register value */ - tmpccmr1 = LL_TIM_ReadReg(TIMx, CCMR1); - - /* Get the TIMx CCER register value */ - tmpccer = LL_TIM_ReadReg(TIMx, CCER); - - /* Get the TIMx SMCR register value */ - tmpsmcr = LL_TIM_ReadReg(TIMx, SMCR); - - /* Connect TIMx_CH1, CH2 and CH3 pins to the TI1 input */ - tmpcr2 |= TIM_CR2_TI1S; - - /* OC2REF signal is used as trigger output (TRGO) */ - tmpcr2 |= LL_TIM_TRGO_OC2REF; - - /* Configure the slave mode controller */ - tmpsmcr &= (uint32_t)~(TIM_SMCR_TS | TIM_SMCR_SMS); - tmpsmcr |= LL_TIM_TS_TI1F_ED; - tmpsmcr |= LL_TIM_SLAVEMODE_RESET; - - /* Configure input channel 1 */ - tmpccmr1 &= (uint32_t)~(TIM_CCMR1_CC1S | TIM_CCMR1_IC1F | TIM_CCMR1_IC1PSC); - tmpccmr1 |= (uint32_t)(LL_TIM_ACTIVEINPUT_TRC >> 16U); - tmpccmr1 |= (uint32_t)(TIM_HallSensorInitStruct->IC1Filter >> 16U); - tmpccmr1 |= (uint32_t)(TIM_HallSensorInitStruct->IC1Prescaler >> 16U); - - /* Configure input channel 2 */ - tmpccmr1 &= (uint32_t)~(TIM_CCMR1_OC2M | TIM_CCMR1_OC2FE | TIM_CCMR1_OC2PE | TIM_CCMR1_OC2CE); - tmpccmr1 |= (uint32_t)(LL_TIM_OCMODE_PWM2 << 8U); - - /* Set Channel 1 polarity and enable Channel 1 and Channel2 */ - tmpccer &= (uint32_t)~(TIM_CCER_CC1P | TIM_CCER_CC1NP | TIM_CCER_CC2P | TIM_CCER_CC2NP); - tmpccer |= (uint32_t)(TIM_HallSensorInitStruct->IC1Polarity); - tmpccer |= (uint32_t)(TIM_CCER_CC1E | TIM_CCER_CC2E); - - /* Write to TIMx CR2 */ - LL_TIM_WriteReg(TIMx, CR2, tmpcr2); - - /* Write to TIMx SMCR */ - LL_TIM_WriteReg(TIMx, SMCR, tmpsmcr); - - /* Write to TIMx CCMR1 */ - LL_TIM_WriteReg(TIMx, CCMR1, tmpccmr1); - - /* Write to TIMx CCER */ - LL_TIM_WriteReg(TIMx, CCER, tmpccer); - - /* Write to TIMx CCR2 */ - LL_TIM_OC_SetCompareCH2(TIMx, TIM_HallSensorInitStruct->CommutationDelay); - - return SUCCESS; -} - -/** - * @brief Set the fields of the Break and Dead Time configuration data structure - * to their default values. - * @param TIM_BDTRInitStruct pointer to a @ref LL_TIM_BDTR_InitTypeDef structure (Break and Dead Time configuration - * data structure) - * @retval None - */ -void LL_TIM_BDTR_StructInit(LL_TIM_BDTR_InitTypeDef *TIM_BDTRInitStruct) -{ - /* Set the default configuration */ - TIM_BDTRInitStruct->OSSRState = LL_TIM_OSSR_DISABLE; - TIM_BDTRInitStruct->OSSIState = LL_TIM_OSSI_DISABLE; - TIM_BDTRInitStruct->LockLevel = LL_TIM_LOCKLEVEL_OFF; - TIM_BDTRInitStruct->DeadTime = (uint8_t)0x00; - TIM_BDTRInitStruct->BreakState = LL_TIM_BREAK_DISABLE; - TIM_BDTRInitStruct->BreakPolarity = LL_TIM_BREAK_POLARITY_LOW; - TIM_BDTRInitStruct->AutomaticOutput = LL_TIM_AUTOMATICOUTPUT_DISABLE; -} - -/** - * @brief Configure the Break and Dead Time feature of the timer instance. - * @note As the bits AOE, BKP, BKE, OSSR, OSSI and DTG[7:0] can be write-locked - * depending on the LOCK configuration, it can be necessary to configure all of - * them during the first write access to the TIMx_BDTR register. - * @note Macro IS_TIM_BREAK_INSTANCE(TIMx) can be used to check whether or not - * a timer instance provides a break input. - * @param TIMx Timer Instance - * @param TIM_BDTRInitStruct pointer to a @ref LL_TIM_BDTR_InitTypeDef structure (Break and Dead Time configuration - * data structure) - * @retval An ErrorStatus enumeration value: - * - SUCCESS: Break and Dead Time is initialized - * - ERROR: not applicable - */ -ErrorStatus LL_TIM_BDTR_Init(TIM_TypeDef *TIMx, LL_TIM_BDTR_InitTypeDef *TIM_BDTRInitStruct) -{ - uint32_t tmpbdtr = 0; - - /* Check the parameters */ - assert_param(IS_TIM_BREAK_INSTANCE(TIMx)); - assert_param(IS_LL_TIM_OSSR_STATE(TIM_BDTRInitStruct->OSSRState)); - assert_param(IS_LL_TIM_OSSI_STATE(TIM_BDTRInitStruct->OSSIState)); - assert_param(IS_LL_TIM_LOCK_LEVEL(TIM_BDTRInitStruct->LockLevel)); - assert_param(IS_LL_TIM_BREAK_STATE(TIM_BDTRInitStruct->BreakState)); - assert_param(IS_LL_TIM_BREAK_POLARITY(TIM_BDTRInitStruct->BreakPolarity)); - assert_param(IS_LL_TIM_AUTOMATIC_OUTPUT_STATE(TIM_BDTRInitStruct->AutomaticOutput)); - - /* Set the Lock level, the Break enable Bit and the Polarity, the OSSR State, - the OSSI State, the dead time value and the Automatic Output Enable Bit */ - - /* Set the BDTR bits */ - MODIFY_REG(tmpbdtr, TIM_BDTR_DTG, TIM_BDTRInitStruct->DeadTime); - MODIFY_REG(tmpbdtr, TIM_BDTR_LOCK, TIM_BDTRInitStruct->LockLevel); - MODIFY_REG(tmpbdtr, TIM_BDTR_OSSI, TIM_BDTRInitStruct->OSSIState); - MODIFY_REG(tmpbdtr, TIM_BDTR_OSSR, TIM_BDTRInitStruct->OSSRState); - MODIFY_REG(tmpbdtr, TIM_BDTR_BKE, TIM_BDTRInitStruct->BreakState); - MODIFY_REG(tmpbdtr, TIM_BDTR_BKP, TIM_BDTRInitStruct->BreakPolarity); - MODIFY_REG(tmpbdtr, TIM_BDTR_AOE, TIM_BDTRInitStruct->AutomaticOutput); - MODIFY_REG(tmpbdtr, TIM_BDTR_MOE, TIM_BDTRInitStruct->AutomaticOutput); - - /* Set TIMx_BDTR */ - LL_TIM_WriteReg(TIMx, BDTR, tmpbdtr); - - return SUCCESS; -} -/** - * @} - */ - -/** - * @} - */ - -/** @addtogroup TIM_LL_Private_Functions TIM Private Functions - * @brief Private functions - * @{ - */ -/** - * @brief Configure the TIMx output channel 1. - * @param TIMx Timer Instance - * @param TIM_OCInitStruct pointer to the the TIMx output channel 1 configuration data structure - * @retval An ErrorStatus enumeration value: - * - SUCCESS: TIMx registers are de-initialized - * - ERROR: not applicable - */ -static ErrorStatus OC1Config(TIM_TypeDef *TIMx, LL_TIM_OC_InitTypeDef *TIM_OCInitStruct) -{ - uint32_t tmpccmr1; - uint32_t tmpccer; - uint32_t tmpcr2; - - /* Check the parameters */ - assert_param(IS_TIM_CC1_INSTANCE(TIMx)); - assert_param(IS_LL_TIM_OCMODE(TIM_OCInitStruct->OCMode)); - assert_param(IS_LL_TIM_OCSTATE(TIM_OCInitStruct->OCState)); - assert_param(IS_LL_TIM_OCPOLARITY(TIM_OCInitStruct->OCPolarity)); - assert_param(IS_LL_TIM_OCSTATE(TIM_OCInitStruct->OCNState)); - assert_param(IS_LL_TIM_OCPOLARITY(TIM_OCInitStruct->OCNPolarity)); - - /* Disable the Channel 1: Reset the CC1E Bit */ - CLEAR_BIT(TIMx->CCER, TIM_CCER_CC1E); - - /* Get the TIMx CCER register value */ - tmpccer = LL_TIM_ReadReg(TIMx, CCER); - - /* Get the TIMx CR2 register value */ - tmpcr2 = LL_TIM_ReadReg(TIMx, CR2); - - /* Get the TIMx CCMR1 register value */ - tmpccmr1 = LL_TIM_ReadReg(TIMx, CCMR1); - - /* Reset Capture/Compare selection Bits */ - CLEAR_BIT(tmpccmr1, TIM_CCMR1_CC1S); - - /* Set the Output Compare Mode */ - MODIFY_REG(tmpccmr1, TIM_CCMR1_OC1M, TIM_OCInitStruct->OCMode); - - /* Set the Output Compare Polarity */ - MODIFY_REG(tmpccer, TIM_CCER_CC1P, TIM_OCInitStruct->OCPolarity); - - /* Set the Output State */ - MODIFY_REG(tmpccer, TIM_CCER_CC1E, TIM_OCInitStruct->OCState); - - if (IS_TIM_BREAK_INSTANCE(TIMx)) - { - assert_param(IS_LL_TIM_OCIDLESTATE(TIM_OCInitStruct->OCNIdleState)); - assert_param(IS_LL_TIM_OCIDLESTATE(TIM_OCInitStruct->OCIdleState)); - - /* Set the complementary output Polarity */ - MODIFY_REG(tmpccer, TIM_CCER_CC1NP, TIM_OCInitStruct->OCNPolarity << 2U); - - /* Set the complementary output State */ - MODIFY_REG(tmpccer, TIM_CCER_CC1NE, TIM_OCInitStruct->OCNState << 2U); - - /* Set the Output Idle state */ - MODIFY_REG(tmpcr2, TIM_CR2_OIS1, TIM_OCInitStruct->OCIdleState); - - /* Set the complementary output Idle state */ - MODIFY_REG(tmpcr2, TIM_CR2_OIS1N, TIM_OCInitStruct->OCNIdleState << 1U); - } - - /* Write to TIMx CR2 */ - LL_TIM_WriteReg(TIMx, CR2, tmpcr2); - - /* Write to TIMx CCMR1 */ - LL_TIM_WriteReg(TIMx, CCMR1, tmpccmr1); - - /* Set the Capture Compare Register value */ - LL_TIM_OC_SetCompareCH1(TIMx, TIM_OCInitStruct->CompareValue); - - /* Write to TIMx CCER */ - LL_TIM_WriteReg(TIMx, CCER, tmpccer); - - return SUCCESS; -} - -/** - * @brief Configure the TIMx output channel 2. - * @param TIMx Timer Instance - * @param TIM_OCInitStruct pointer to the the TIMx output channel 2 configuration data structure - * @retval An ErrorStatus enumeration value: - * - SUCCESS: TIMx registers are de-initialized - * - ERROR: not applicable - */ -static ErrorStatus OC2Config(TIM_TypeDef *TIMx, LL_TIM_OC_InitTypeDef *TIM_OCInitStruct) -{ - uint32_t tmpccmr1; - uint32_t tmpccer; - uint32_t tmpcr2; - - /* Check the parameters */ - assert_param(IS_TIM_CC2_INSTANCE(TIMx)); - assert_param(IS_LL_TIM_OCMODE(TIM_OCInitStruct->OCMode)); - assert_param(IS_LL_TIM_OCSTATE(TIM_OCInitStruct->OCState)); - assert_param(IS_LL_TIM_OCPOLARITY(TIM_OCInitStruct->OCPolarity)); - assert_param(IS_LL_TIM_OCSTATE(TIM_OCInitStruct->OCNState)); - assert_param(IS_LL_TIM_OCPOLARITY(TIM_OCInitStruct->OCNPolarity)); - - /* Disable the Channel 2: Reset the CC2E Bit */ - CLEAR_BIT(TIMx->CCER, TIM_CCER_CC2E); - - /* Get the TIMx CCER register value */ - tmpccer = LL_TIM_ReadReg(TIMx, CCER); - - /* Get the TIMx CR2 register value */ - tmpcr2 = LL_TIM_ReadReg(TIMx, CR2); - - /* Get the TIMx CCMR1 register value */ - tmpccmr1 = LL_TIM_ReadReg(TIMx, CCMR1); - - /* Reset Capture/Compare selection Bits */ - CLEAR_BIT(tmpccmr1, TIM_CCMR1_CC2S); - - /* Select the Output Compare Mode */ - MODIFY_REG(tmpccmr1, TIM_CCMR1_OC2M, TIM_OCInitStruct->OCMode << 8U); - - /* Set the Output Compare Polarity */ - MODIFY_REG(tmpccer, TIM_CCER_CC2P, TIM_OCInitStruct->OCPolarity << 4U); - - /* Set the Output State */ - MODIFY_REG(tmpccer, TIM_CCER_CC2E, TIM_OCInitStruct->OCState << 4U); - - if (IS_TIM_BREAK_INSTANCE(TIMx)) - { - assert_param(IS_LL_TIM_OCIDLESTATE(TIM_OCInitStruct->OCNIdleState)); - assert_param(IS_LL_TIM_OCIDLESTATE(TIM_OCInitStruct->OCIdleState)); - - /* Set the complementary output Polarity */ - MODIFY_REG(tmpccer, TIM_CCER_CC2NP, TIM_OCInitStruct->OCNPolarity << 6U); - - /* Set the complementary output State */ - MODIFY_REG(tmpccer, TIM_CCER_CC2NE, TIM_OCInitStruct->OCNState << 6U); - - /* Set the Output Idle state */ - MODIFY_REG(tmpcr2, TIM_CR2_OIS2, TIM_OCInitStruct->OCIdleState << 2U); - - /* Set the complementary output Idle state */ - MODIFY_REG(tmpcr2, TIM_CR2_OIS2N, TIM_OCInitStruct->OCNIdleState << 3U); - } - - /* Write to TIMx CR2 */ - LL_TIM_WriteReg(TIMx, CR2, tmpcr2); - - /* Write to TIMx CCMR1 */ - LL_TIM_WriteReg(TIMx, CCMR1, tmpccmr1); - - /* Set the Capture Compare Register value */ - LL_TIM_OC_SetCompareCH2(TIMx, TIM_OCInitStruct->CompareValue); - - /* Write to TIMx CCER */ - LL_TIM_WriteReg(TIMx, CCER, tmpccer); - - return SUCCESS; -} - -/** - * @brief Configure the TIMx output channel 3. - * @param TIMx Timer Instance - * @param TIM_OCInitStruct pointer to the the TIMx output channel 3 configuration data structure - * @retval An ErrorStatus enumeration value: - * - SUCCESS: TIMx registers are de-initialized - * - ERROR: not applicable - */ -static ErrorStatus OC3Config(TIM_TypeDef *TIMx, LL_TIM_OC_InitTypeDef *TIM_OCInitStruct) -{ - uint32_t tmpccmr2; - uint32_t tmpccer; - uint32_t tmpcr2; - - /* Check the parameters */ - assert_param(IS_TIM_CC3_INSTANCE(TIMx)); - assert_param(IS_LL_TIM_OCMODE(TIM_OCInitStruct->OCMode)); - assert_param(IS_LL_TIM_OCSTATE(TIM_OCInitStruct->OCState)); - assert_param(IS_LL_TIM_OCPOLARITY(TIM_OCInitStruct->OCPolarity)); - assert_param(IS_LL_TIM_OCSTATE(TIM_OCInitStruct->OCNState)); - assert_param(IS_LL_TIM_OCPOLARITY(TIM_OCInitStruct->OCNPolarity)); - - /* Disable the Channel 3: Reset the CC3E Bit */ - CLEAR_BIT(TIMx->CCER, TIM_CCER_CC3E); - - /* Get the TIMx CCER register value */ - tmpccer = LL_TIM_ReadReg(TIMx, CCER); - - /* Get the TIMx CR2 register value */ - tmpcr2 = LL_TIM_ReadReg(TIMx, CR2); - - /* Get the TIMx CCMR2 register value */ - tmpccmr2 = LL_TIM_ReadReg(TIMx, CCMR2); - - /* Reset Capture/Compare selection Bits */ - CLEAR_BIT(tmpccmr2, TIM_CCMR2_CC3S); - - /* Select the Output Compare Mode */ - MODIFY_REG(tmpccmr2, TIM_CCMR2_OC3M, TIM_OCInitStruct->OCMode); - - /* Set the Output Compare Polarity */ - MODIFY_REG(tmpccer, TIM_CCER_CC3P, TIM_OCInitStruct->OCPolarity << 8U); - - /* Set the Output State */ - MODIFY_REG(tmpccer, TIM_CCER_CC3E, TIM_OCInitStruct->OCState << 8U); - - if (IS_TIM_BREAK_INSTANCE(TIMx)) - { - assert_param(IS_LL_TIM_OCIDLESTATE(TIM_OCInitStruct->OCNIdleState)); - assert_param(IS_LL_TIM_OCIDLESTATE(TIM_OCInitStruct->OCIdleState)); - - /* Set the complementary output Polarity */ - MODIFY_REG(tmpccer, TIM_CCER_CC3NP, TIM_OCInitStruct->OCNPolarity << 10U); - - /* Set the complementary output State */ - MODIFY_REG(tmpccer, TIM_CCER_CC3NE, TIM_OCInitStruct->OCNState << 10U); - - /* Set the Output Idle state */ - MODIFY_REG(tmpcr2, TIM_CR2_OIS3, TIM_OCInitStruct->OCIdleState << 4U); - - /* Set the complementary output Idle state */ - MODIFY_REG(tmpcr2, TIM_CR2_OIS3N, TIM_OCInitStruct->OCNIdleState << 5U); - } - - /* Write to TIMx CR2 */ - LL_TIM_WriteReg(TIMx, CR2, tmpcr2); - - /* Write to TIMx CCMR2 */ - LL_TIM_WriteReg(TIMx, CCMR2, tmpccmr2); - - /* Set the Capture Compare Register value */ - LL_TIM_OC_SetCompareCH3(TIMx, TIM_OCInitStruct->CompareValue); - - /* Write to TIMx CCER */ - LL_TIM_WriteReg(TIMx, CCER, tmpccer); - - return SUCCESS; -} - -/** - * @brief Configure the TIMx output channel 4. - * @param TIMx Timer Instance - * @param TIM_OCInitStruct pointer to the the TIMx output channel 4 configuration data structure - * @retval An ErrorStatus enumeration value: - * - SUCCESS: TIMx registers are de-initialized - * - ERROR: not applicable - */ -static ErrorStatus OC4Config(TIM_TypeDef *TIMx, LL_TIM_OC_InitTypeDef *TIM_OCInitStruct) -{ - uint32_t tmpccmr2; - uint32_t tmpccer; - uint32_t tmpcr2; - - /* Check the parameters */ - assert_param(IS_TIM_CC4_INSTANCE(TIMx)); - assert_param(IS_LL_TIM_OCMODE(TIM_OCInitStruct->OCMode)); - assert_param(IS_LL_TIM_OCSTATE(TIM_OCInitStruct->OCState)); - assert_param(IS_LL_TIM_OCPOLARITY(TIM_OCInitStruct->OCPolarity)); - assert_param(IS_LL_TIM_OCPOLARITY(TIM_OCInitStruct->OCNPolarity)); - assert_param(IS_LL_TIM_OCSTATE(TIM_OCInitStruct->OCNState)); - - /* Disable the Channel 4: Reset the CC4E Bit */ - CLEAR_BIT(TIMx->CCER, TIM_CCER_CC4E); - - /* Get the TIMx CCER register value */ - tmpccer = LL_TIM_ReadReg(TIMx, CCER); - - /* Get the TIMx CR2 register value */ - tmpcr2 = LL_TIM_ReadReg(TIMx, CR2); - - /* Get the TIMx CCMR2 register value */ - tmpccmr2 = LL_TIM_ReadReg(TIMx, CCMR2); - - /* Reset Capture/Compare selection Bits */ - CLEAR_BIT(tmpccmr2, TIM_CCMR2_CC4S); - - /* Select the Output Compare Mode */ - MODIFY_REG(tmpccmr2, TIM_CCMR2_OC4M, TIM_OCInitStruct->OCMode << 8U); - - /* Set the Output Compare Polarity */ - MODIFY_REG(tmpccer, TIM_CCER_CC4P, TIM_OCInitStruct->OCPolarity << 12U); - - /* Set the Output State */ - MODIFY_REG(tmpccer, TIM_CCER_CC4E, TIM_OCInitStruct->OCState << 12U); - - if (IS_TIM_BREAK_INSTANCE(TIMx)) - { - assert_param(IS_LL_TIM_OCIDLESTATE(TIM_OCInitStruct->OCNIdleState)); - assert_param(IS_LL_TIM_OCIDLESTATE(TIM_OCInitStruct->OCIdleState)); - - /* Set the Output Idle state */ - MODIFY_REG(tmpcr2, TIM_CR2_OIS4, TIM_OCInitStruct->OCIdleState << 6U); - } - - /* Write to TIMx CR2 */ - LL_TIM_WriteReg(TIMx, CR2, tmpcr2); - - /* Write to TIMx CCMR2 */ - LL_TIM_WriteReg(TIMx, CCMR2, tmpccmr2); - - /* Set the Capture Compare Register value */ - LL_TIM_OC_SetCompareCH4(TIMx, TIM_OCInitStruct->CompareValue); - - /* Write to TIMx CCER */ - LL_TIM_WriteReg(TIMx, CCER, tmpccer); - - return SUCCESS; -} - - -/** - * @brief Configure the TIMx input channel 1. - * @param TIMx Timer Instance - * @param TIM_ICInitStruct pointer to the the TIMx input channel 1 configuration data structure - * @retval An ErrorStatus enumeration value: - * - SUCCESS: TIMx registers are de-initialized - * - ERROR: not applicable - */ -static ErrorStatus IC1Config(TIM_TypeDef *TIMx, LL_TIM_IC_InitTypeDef *TIM_ICInitStruct) -{ - /* Check the parameters */ - assert_param(IS_TIM_CC1_INSTANCE(TIMx)); - assert_param(IS_LL_TIM_IC_POLARITY(TIM_ICInitStruct->ICPolarity)); - assert_param(IS_LL_TIM_ACTIVEINPUT(TIM_ICInitStruct->ICActiveInput)); - assert_param(IS_LL_TIM_ICPSC(TIM_ICInitStruct->ICPrescaler)); - assert_param(IS_LL_TIM_IC_FILTER(TIM_ICInitStruct->ICFilter)); - - /* Disable the Channel 1: Reset the CC1E Bit */ - TIMx->CCER &= (uint32_t)~TIM_CCER_CC1E; - - /* Select the Input and set the filter and the prescaler value */ - MODIFY_REG(TIMx->CCMR1, - (TIM_CCMR1_CC1S | TIM_CCMR1_IC1F | TIM_CCMR1_IC1PSC), - (TIM_ICInitStruct->ICActiveInput | TIM_ICInitStruct->ICFilter | TIM_ICInitStruct->ICPrescaler) >> 16U); - - /* Select the Polarity and set the CC1E Bit */ - MODIFY_REG(TIMx->CCER, - (TIM_CCER_CC1P | TIM_CCER_CC1NP), - (TIM_ICInitStruct->ICPolarity | TIM_CCER_CC1E)); - - return SUCCESS; -} - -/** - * @brief Configure the TIMx input channel 2. - * @param TIMx Timer Instance - * @param TIM_ICInitStruct pointer to the the TIMx input channel 2 configuration data structure - * @retval An ErrorStatus enumeration value: - * - SUCCESS: TIMx registers are de-initialized - * - ERROR: not applicable - */ -static ErrorStatus IC2Config(TIM_TypeDef *TIMx, LL_TIM_IC_InitTypeDef *TIM_ICInitStruct) -{ - /* Check the parameters */ - assert_param(IS_TIM_CC2_INSTANCE(TIMx)); - assert_param(IS_LL_TIM_IC_POLARITY(TIM_ICInitStruct->ICPolarity)); - assert_param(IS_LL_TIM_ACTIVEINPUT(TIM_ICInitStruct->ICActiveInput)); - assert_param(IS_LL_TIM_ICPSC(TIM_ICInitStruct->ICPrescaler)); - assert_param(IS_LL_TIM_IC_FILTER(TIM_ICInitStruct->ICFilter)); - - /* Disable the Channel 2: Reset the CC2E Bit */ - TIMx->CCER &= (uint32_t)~TIM_CCER_CC2E; - - /* Select the Input and set the filter and the prescaler value */ - MODIFY_REG(TIMx->CCMR1, - (TIM_CCMR1_CC2S | TIM_CCMR1_IC2F | TIM_CCMR1_IC2PSC), - (TIM_ICInitStruct->ICActiveInput | TIM_ICInitStruct->ICFilter | TIM_ICInitStruct->ICPrescaler) >> 8U); - - /* Select the Polarity and set the CC2E Bit */ - MODIFY_REG(TIMx->CCER, - (TIM_CCER_CC2P | TIM_CCER_CC2NP), - ((TIM_ICInitStruct->ICPolarity << 4U) | TIM_CCER_CC2E)); - - return SUCCESS; -} - -/** - * @brief Configure the TIMx input channel 3. - * @param TIMx Timer Instance - * @param TIM_ICInitStruct pointer to the the TIMx input channel 3 configuration data structure - * @retval An ErrorStatus enumeration value: - * - SUCCESS: TIMx registers are de-initialized - * - ERROR: not applicable - */ -static ErrorStatus IC3Config(TIM_TypeDef *TIMx, LL_TIM_IC_InitTypeDef *TIM_ICInitStruct) -{ - /* Check the parameters */ - assert_param(IS_TIM_CC3_INSTANCE(TIMx)); - assert_param(IS_LL_TIM_IC_POLARITY(TIM_ICInitStruct->ICPolarity)); - assert_param(IS_LL_TIM_ACTIVEINPUT(TIM_ICInitStruct->ICActiveInput)); - assert_param(IS_LL_TIM_ICPSC(TIM_ICInitStruct->ICPrescaler)); - assert_param(IS_LL_TIM_IC_FILTER(TIM_ICInitStruct->ICFilter)); - - /* Disable the Channel 3: Reset the CC3E Bit */ - TIMx->CCER &= (uint32_t)~TIM_CCER_CC3E; - - /* Select the Input and set the filter and the prescaler value */ - MODIFY_REG(TIMx->CCMR2, - (TIM_CCMR2_CC3S | TIM_CCMR2_IC3F | TIM_CCMR2_IC3PSC), - (TIM_ICInitStruct->ICActiveInput | TIM_ICInitStruct->ICFilter | TIM_ICInitStruct->ICPrescaler) >> 16U); - - /* Select the Polarity and set the CC3E Bit */ - MODIFY_REG(TIMx->CCER, - (TIM_CCER_CC3P | TIM_CCER_CC3NP), - ((TIM_ICInitStruct->ICPolarity << 8U) | TIM_CCER_CC3E)); - - return SUCCESS; -} - -/** - * @brief Configure the TIMx input channel 4. - * @param TIMx Timer Instance - * @param TIM_ICInitStruct pointer to the the TIMx input channel 4 configuration data structure - * @retval An ErrorStatus enumeration value: - * - SUCCESS: TIMx registers are de-initialized - * - ERROR: not applicable - */ -static ErrorStatus IC4Config(TIM_TypeDef *TIMx, LL_TIM_IC_InitTypeDef *TIM_ICInitStruct) -{ - /* Check the parameters */ - assert_param(IS_TIM_CC4_INSTANCE(TIMx)); - assert_param(IS_LL_TIM_IC_POLARITY(TIM_ICInitStruct->ICPolarity)); - assert_param(IS_LL_TIM_ACTIVEINPUT(TIM_ICInitStruct->ICActiveInput)); - assert_param(IS_LL_TIM_ICPSC(TIM_ICInitStruct->ICPrescaler)); - assert_param(IS_LL_TIM_IC_FILTER(TIM_ICInitStruct->ICFilter)); - - /* Disable the Channel 4: Reset the CC4E Bit */ - TIMx->CCER &= (uint32_t)~TIM_CCER_CC4E; - - /* Select the Input and set the filter and the prescaler value */ - MODIFY_REG(TIMx->CCMR2, - (TIM_CCMR2_CC4S | TIM_CCMR2_IC4F | TIM_CCMR2_IC4PSC), - (TIM_ICInitStruct->ICActiveInput | TIM_ICInitStruct->ICFilter | TIM_ICInitStruct->ICPrescaler) >> 8U); - - /* Select the Polarity and set the CC2E Bit */ - MODIFY_REG(TIMx->CCER, - (TIM_CCER_CC4P | TIM_CCER_CC4NP), - ((TIM_ICInitStruct->ICPolarity << 12U) | TIM_CCER_CC4E)); - - return SUCCESS; -} - - -/** - * @} - */ - -/** - * @} - */ - -#endif /* TIM1 || TIM2 || TIM3 || TIM4 || TIM5 || TIM6 || TIM7 || TIM8 || TIM9 || TIM10 || TIM11 || TIM12 || TIM13 || TIM14 */ - -/** - * @} - */ - -#endif /* USE_FULL_LL_DRIVER */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_usart.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_usart.c deleted file mode 100644 index 150d8bbf629358..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_usart.c +++ /dev/null @@ -1,502 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_ll_usart.c - * @author MCD Application Team - * @brief USART LL module driver. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -#if defined(USE_FULL_LL_DRIVER) - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_ll_usart.h" -#include "stm32f4xx_ll_rcc.h" -#include "stm32f4xx_ll_bus.h" -#ifdef USE_FULL_ASSERT -#include "stm32_assert.h" -#else -#define assert_param(expr) ((void)0U) -#endif - -/** @addtogroup STM32F4xx_LL_Driver - * @{ - */ - -#if defined (USART1) || defined (USART2) || defined (USART3) || defined (USART6) || defined (UART4) || defined (UART5) || defined (UART7) || defined (UART8) || defined (UART9) || defined (UART10) - -/** @addtogroup USART_LL - * @{ - */ - -/* Private types -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private constants ---------------------------------------------------------*/ -/** @addtogroup USART_LL_Private_Constants - * @{ - */ - -/** - * @} - */ - - -/* Private macros ------------------------------------------------------------*/ -/** @addtogroup USART_LL_Private_Macros - * @{ - */ - -/* __BAUDRATE__ The maximum Baud Rate is derived from the maximum clock available - * divided by the smallest oversampling used on the USART (i.e. 8) */ -#define IS_LL_USART_BAUDRATE(__BAUDRATE__) ((__BAUDRATE__) <= 12500000U) - -/* __VALUE__ In case of oversampling by 16 and 8, BRR content must be greater than or equal to 16d. */ -#define IS_LL_USART_BRR_MIN(__VALUE__) ((__VALUE__) >= 16U) - -#define IS_LL_USART_DIRECTION(__VALUE__) (((__VALUE__) == LL_USART_DIRECTION_NONE) \ - || ((__VALUE__) == LL_USART_DIRECTION_RX) \ - || ((__VALUE__) == LL_USART_DIRECTION_TX) \ - || ((__VALUE__) == LL_USART_DIRECTION_TX_RX)) - -#define IS_LL_USART_PARITY(__VALUE__) (((__VALUE__) == LL_USART_PARITY_NONE) \ - || ((__VALUE__) == LL_USART_PARITY_EVEN) \ - || ((__VALUE__) == LL_USART_PARITY_ODD)) - -#define IS_LL_USART_DATAWIDTH(__VALUE__) (((__VALUE__) == LL_USART_DATAWIDTH_8B) \ - || ((__VALUE__) == LL_USART_DATAWIDTH_9B)) - -#define IS_LL_USART_OVERSAMPLING(__VALUE__) (((__VALUE__) == LL_USART_OVERSAMPLING_16) \ - || ((__VALUE__) == LL_USART_OVERSAMPLING_8)) - -#define IS_LL_USART_LASTBITCLKOUTPUT(__VALUE__) (((__VALUE__) == LL_USART_LASTCLKPULSE_NO_OUTPUT) \ - || ((__VALUE__) == LL_USART_LASTCLKPULSE_OUTPUT)) - -#define IS_LL_USART_CLOCKPHASE(__VALUE__) (((__VALUE__) == LL_USART_PHASE_1EDGE) \ - || ((__VALUE__) == LL_USART_PHASE_2EDGE)) - -#define IS_LL_USART_CLOCKPOLARITY(__VALUE__) (((__VALUE__) == LL_USART_POLARITY_LOW) \ - || ((__VALUE__) == LL_USART_POLARITY_HIGH)) - -#define IS_LL_USART_CLOCKOUTPUT(__VALUE__) (((__VALUE__) == LL_USART_CLOCK_DISABLE) \ - || ((__VALUE__) == LL_USART_CLOCK_ENABLE)) - -#define IS_LL_USART_STOPBITS(__VALUE__) (((__VALUE__) == LL_USART_STOPBITS_0_5) \ - || ((__VALUE__) == LL_USART_STOPBITS_1) \ - || ((__VALUE__) == LL_USART_STOPBITS_1_5) \ - || ((__VALUE__) == LL_USART_STOPBITS_2)) - -#define IS_LL_USART_HWCONTROL(__VALUE__) (((__VALUE__) == LL_USART_HWCONTROL_NONE) \ - || ((__VALUE__) == LL_USART_HWCONTROL_RTS) \ - || ((__VALUE__) == LL_USART_HWCONTROL_CTS) \ - || ((__VALUE__) == LL_USART_HWCONTROL_RTS_CTS)) - -/** - * @} - */ - -/* Private function prototypes -----------------------------------------------*/ - -/* Exported functions --------------------------------------------------------*/ -/** @addtogroup USART_LL_Exported_Functions - * @{ - */ - -/** @addtogroup USART_LL_EF_Init - * @{ - */ - -/** - * @brief De-initialize USART registers (Registers restored to their default values). - * @param USARTx USART Instance - * @retval An ErrorStatus enumeration value: - * - SUCCESS: USART registers are de-initialized - * - ERROR: USART registers are not de-initialized - */ -ErrorStatus LL_USART_DeInit(USART_TypeDef *USARTx) -{ - ErrorStatus status = SUCCESS; - - /* Check the parameters */ - assert_param(IS_UART_INSTANCE(USARTx)); - - if (USARTx == USART1) - { - /* Force reset of USART clock */ - LL_APB2_GRP1_ForceReset(LL_APB2_GRP1_PERIPH_USART1); - - /* Release reset of USART clock */ - LL_APB2_GRP1_ReleaseReset(LL_APB2_GRP1_PERIPH_USART1); - } - else if (USARTx == USART2) - { - /* Force reset of USART clock */ - LL_APB1_GRP1_ForceReset(LL_APB1_GRP1_PERIPH_USART2); - - /* Release reset of USART clock */ - LL_APB1_GRP1_ReleaseReset(LL_APB1_GRP1_PERIPH_USART2); - } -#if defined(USART3) - else if (USARTx == USART3) - { - /* Force reset of USART clock */ - LL_APB1_GRP1_ForceReset(LL_APB1_GRP1_PERIPH_USART3); - - /* Release reset of USART clock */ - LL_APB1_GRP1_ReleaseReset(LL_APB1_GRP1_PERIPH_USART3); - } -#endif /* USART3 */ -#if defined(USART6) - else if (USARTx == USART6) - { - /* Force reset of USART clock */ - LL_APB2_GRP1_ForceReset(LL_APB2_GRP1_PERIPH_USART6); - - /* Release reset of USART clock */ - LL_APB2_GRP1_ReleaseReset(LL_APB2_GRP1_PERIPH_USART6); - } -#endif /* USART6 */ -#if defined(UART4) - else if (USARTx == UART4) - { - /* Force reset of UART clock */ - LL_APB1_GRP1_ForceReset(LL_APB1_GRP1_PERIPH_UART4); - - /* Release reset of UART clock */ - LL_APB1_GRP1_ReleaseReset(LL_APB1_GRP1_PERIPH_UART4); - } -#endif /* UART4 */ -#if defined(UART5) - else if (USARTx == UART5) - { - /* Force reset of UART clock */ - LL_APB1_GRP1_ForceReset(LL_APB1_GRP1_PERIPH_UART5); - - /* Release reset of UART clock */ - LL_APB1_GRP1_ReleaseReset(LL_APB1_GRP1_PERIPH_UART5); - } -#endif /* UART5 */ -#if defined(UART7) - else if (USARTx == UART7) - { - /* Force reset of UART clock */ - LL_APB1_GRP1_ForceReset(LL_APB1_GRP1_PERIPH_UART7); - - /* Release reset of UART clock */ - LL_APB1_GRP1_ReleaseReset(LL_APB1_GRP1_PERIPH_UART7); - } -#endif /* UART7 */ -#if defined(UART8) - else if (USARTx == UART8) - { - /* Force reset of UART clock */ - LL_APB1_GRP1_ForceReset(LL_APB1_GRP1_PERIPH_UART8); - - /* Release reset of UART clock */ - LL_APB1_GRP1_ReleaseReset(LL_APB1_GRP1_PERIPH_UART8); - } -#endif /* UART8 */ -#if defined(UART9) - else if (USARTx == UART9) - { - /* Force reset of UART clock */ - LL_APB2_GRP1_ForceReset(LL_APB2_GRP1_PERIPH_UART9); - - /* Release reset of UART clock */ - LL_APB2_GRP1_ReleaseReset(LL_APB2_GRP1_PERIPH_UART9); - } -#endif /* UART9 */ -#if defined(UART10) - else if (USARTx == UART10) - { - /* Force reset of UART clock */ - LL_APB2_GRP1_ForceReset(LL_APB2_GRP1_PERIPH_UART10); - - /* Release reset of UART clock */ - LL_APB2_GRP1_ReleaseReset(LL_APB2_GRP1_PERIPH_UART10); - } -#endif /* UART10 */ - else - { - status = ERROR; - } - - return (status); -} - -/** - * @brief Initialize USART registers according to the specified - * parameters in USART_InitStruct. - * @note As some bits in USART configuration registers can only be written when the USART is disabled (USART_CR1_UE bit =0), - * USART IP should be in disabled state prior calling this function. Otherwise, ERROR result will be returned. - * @note Baud rate value stored in USART_InitStruct BaudRate field, should be valid (different from 0). - * @param USARTx USART Instance - * @param USART_InitStruct pointer to a LL_USART_InitTypeDef structure - * that contains the configuration information for the specified USART peripheral. - * @retval An ErrorStatus enumeration value: - * - SUCCESS: USART registers are initialized according to USART_InitStruct content - * - ERROR: Problem occurred during USART Registers initialization - */ -ErrorStatus LL_USART_Init(USART_TypeDef *USARTx, LL_USART_InitTypeDef *USART_InitStruct) -{ - ErrorStatus status = ERROR; - uint32_t periphclk = LL_RCC_PERIPH_FREQUENCY_NO; - LL_RCC_ClocksTypeDef rcc_clocks; - - /* Check the parameters */ - assert_param(IS_UART_INSTANCE(USARTx)); - assert_param(IS_LL_USART_BAUDRATE(USART_InitStruct->BaudRate)); - assert_param(IS_LL_USART_DATAWIDTH(USART_InitStruct->DataWidth)); - assert_param(IS_LL_USART_STOPBITS(USART_InitStruct->StopBits)); - assert_param(IS_LL_USART_PARITY(USART_InitStruct->Parity)); - assert_param(IS_LL_USART_DIRECTION(USART_InitStruct->TransferDirection)); - assert_param(IS_LL_USART_HWCONTROL(USART_InitStruct->HardwareFlowControl)); - assert_param(IS_LL_USART_OVERSAMPLING(USART_InitStruct->OverSampling)); - - /* USART needs to be in disabled state, in order to be able to configure some bits in - CRx registers */ - if (LL_USART_IsEnabled(USARTx) == 0U) - { - /*---------------------------- USART CR1 Configuration ----------------------- - * Configure USARTx CR1 (USART Word Length, Parity, Mode and Oversampling bits) with parameters: - * - DataWidth: USART_CR1_M bits according to USART_InitStruct->DataWidth value - * - Parity: USART_CR1_PCE, USART_CR1_PS bits according to USART_InitStruct->Parity value - * - TransferDirection: USART_CR1_TE, USART_CR1_RE bits according to USART_InitStruct->TransferDirection value - * - Oversampling: USART_CR1_OVER8 bit according to USART_InitStruct->OverSampling value. - */ - MODIFY_REG(USARTx->CR1, - (USART_CR1_M | USART_CR1_PCE | USART_CR1_PS | - USART_CR1_TE | USART_CR1_RE | USART_CR1_OVER8), - (USART_InitStruct->DataWidth | USART_InitStruct->Parity | - USART_InitStruct->TransferDirection | USART_InitStruct->OverSampling)); - - /*---------------------------- USART CR2 Configuration ----------------------- - * Configure USARTx CR2 (Stop bits) with parameters: - * - Stop Bits: USART_CR2_STOP bits according to USART_InitStruct->StopBits value. - * - CLKEN, CPOL, CPHA and LBCL bits are to be configured using LL_USART_ClockInit(). - */ - LL_USART_SetStopBitsLength(USARTx, USART_InitStruct->StopBits); - - /*---------------------------- USART CR3 Configuration ----------------------- - * Configure USARTx CR3 (Hardware Flow Control) with parameters: - * - HardwareFlowControl: USART_CR3_RTSE, USART_CR3_CTSE bits according to USART_InitStruct->HardwareFlowControl value. - */ - LL_USART_SetHWFlowCtrl(USARTx, USART_InitStruct->HardwareFlowControl); - - /*---------------------------- USART BRR Configuration ----------------------- - * Retrieve Clock frequency used for USART Peripheral - */ - LL_RCC_GetSystemClocksFreq(&rcc_clocks); - if (USARTx == USART1) - { - periphclk = rcc_clocks.PCLK2_Frequency; - } - else if (USARTx == USART2) - { - periphclk = rcc_clocks.PCLK1_Frequency; - } -#if defined(USART3) - else if (USARTx == USART3) - { - periphclk = rcc_clocks.PCLK1_Frequency; - } -#endif /* USART3 */ -#if defined(USART6) - else if (USARTx == USART6) - { - periphclk = rcc_clocks.PCLK2_Frequency; - } -#endif /* USART6 */ -#if defined(UART4) - else if (USARTx == UART4) - { - periphclk = rcc_clocks.PCLK1_Frequency; - } -#endif /* UART4 */ -#if defined(UART5) - else if (USARTx == UART5) - { - periphclk = rcc_clocks.PCLK1_Frequency; - } -#endif /* UART5 */ -#if defined(UART7) - else if (USARTx == UART7) - { - periphclk = rcc_clocks.PCLK1_Frequency; - } -#endif /* UART7 */ -#if defined(UART8) - else if (USARTx == UART8) - { - periphclk = rcc_clocks.PCLK1_Frequency; - } -#endif /* UART8 */ -#if defined(UART9) - else if (USARTx == UART9) - { - periphclk = rcc_clocks.PCLK2_Frequency; - } -#endif /* UART9 */ -#if defined(UART10) - else if (USARTx == UART10) - { - periphclk = rcc_clocks.PCLK2_Frequency; - } -#endif /* UART10 */ - else - { - /* Nothing to do, as error code is already assigned to ERROR value */ - } - - /* Configure the USART Baud Rate : - - valid baud rate value (different from 0) is required - - Peripheral clock as returned by RCC service, should be valid (different from 0). - */ - if ((periphclk != LL_RCC_PERIPH_FREQUENCY_NO) - && (USART_InitStruct->BaudRate != 0U)) - { - status = SUCCESS; - LL_USART_SetBaudRate(USARTx, - periphclk, - USART_InitStruct->OverSampling, - USART_InitStruct->BaudRate); - - /* Check BRR is greater than or equal to 16d */ - assert_param(IS_LL_USART_BRR_MIN(USARTx->BRR)); - } - } - /* Endif (=> USART not in Disabled state => return ERROR) */ - - return (status); -} - -/** - * @brief Set each @ref LL_USART_InitTypeDef field to default value. - * @param USART_InitStruct Pointer to a @ref LL_USART_InitTypeDef structure - * whose fields will be set to default values. - * @retval None - */ - -void LL_USART_StructInit(LL_USART_InitTypeDef *USART_InitStruct) -{ - /* Set USART_InitStruct fields to default values */ - USART_InitStruct->BaudRate = 9600U; - USART_InitStruct->DataWidth = LL_USART_DATAWIDTH_8B; - USART_InitStruct->StopBits = LL_USART_STOPBITS_1; - USART_InitStruct->Parity = LL_USART_PARITY_NONE ; - USART_InitStruct->TransferDirection = LL_USART_DIRECTION_TX_RX; - USART_InitStruct->HardwareFlowControl = LL_USART_HWCONTROL_NONE; - USART_InitStruct->OverSampling = LL_USART_OVERSAMPLING_16; -} - -/** - * @brief Initialize USART Clock related settings according to the - * specified parameters in the USART_ClockInitStruct. - * @note As some bits in USART configuration registers can only be written when the USART is disabled (USART_CR1_UE bit =0), - * USART IP should be in disabled state prior calling this function. Otherwise, ERROR result will be returned. - * @param USARTx USART Instance - * @param USART_ClockInitStruct Pointer to a @ref LL_USART_ClockInitTypeDef structure - * that contains the Clock configuration information for the specified USART peripheral. - * @retval An ErrorStatus enumeration value: - * - SUCCESS: USART registers related to Clock settings are initialized according to USART_ClockInitStruct content - * - ERROR: Problem occurred during USART Registers initialization - */ -ErrorStatus LL_USART_ClockInit(USART_TypeDef *USARTx, LL_USART_ClockInitTypeDef *USART_ClockInitStruct) -{ - ErrorStatus status = SUCCESS; - - /* Check USART Instance and Clock signal output parameters */ - assert_param(IS_UART_INSTANCE(USARTx)); - assert_param(IS_LL_USART_CLOCKOUTPUT(USART_ClockInitStruct->ClockOutput)); - - /* USART needs to be in disabled state, in order to be able to configure some bits in - CRx registers */ - if (LL_USART_IsEnabled(USARTx) == 0U) - { - /*---------------------------- USART CR2 Configuration -----------------------*/ - /* If Clock signal has to be output */ - if (USART_ClockInitStruct->ClockOutput == LL_USART_CLOCK_DISABLE) - { - /* Deactivate Clock signal delivery : - * - Disable Clock Output: USART_CR2_CLKEN cleared - */ - LL_USART_DisableSCLKOutput(USARTx); - } - else - { - /* Ensure USART instance is USART capable */ - assert_param(IS_USART_INSTANCE(USARTx)); - - /* Check clock related parameters */ - assert_param(IS_LL_USART_CLOCKPOLARITY(USART_ClockInitStruct->ClockPolarity)); - assert_param(IS_LL_USART_CLOCKPHASE(USART_ClockInitStruct->ClockPhase)); - assert_param(IS_LL_USART_LASTBITCLKOUTPUT(USART_ClockInitStruct->LastBitClockPulse)); - - /*---------------------------- USART CR2 Configuration ----------------------- - * Configure USARTx CR2 (Clock signal related bits) with parameters: - * - Enable Clock Output: USART_CR2_CLKEN set - * - Clock Polarity: USART_CR2_CPOL bit according to USART_ClockInitStruct->ClockPolarity value - * - Clock Phase: USART_CR2_CPHA bit according to USART_ClockInitStruct->ClockPhase value - * - Last Bit Clock Pulse Output: USART_CR2_LBCL bit according to USART_ClockInitStruct->LastBitClockPulse value. - */ - MODIFY_REG(USARTx->CR2, - USART_CR2_CLKEN | USART_CR2_CPHA | USART_CR2_CPOL | USART_CR2_LBCL, - USART_CR2_CLKEN | USART_ClockInitStruct->ClockPolarity | - USART_ClockInitStruct->ClockPhase | USART_ClockInitStruct->LastBitClockPulse); - } - } - /* Else (USART not in Disabled state => return ERROR */ - else - { - status = ERROR; - } - - return (status); -} - -/** - * @brief Set each field of a @ref LL_USART_ClockInitTypeDef type structure to default value. - * @param USART_ClockInitStruct Pointer to a @ref LL_USART_ClockInitTypeDef structure - * whose fields will be set to default values. - * @retval None - */ -void LL_USART_ClockStructInit(LL_USART_ClockInitTypeDef *USART_ClockInitStruct) -{ - /* Set LL_USART_ClockInitStruct fields with default values */ - USART_ClockInitStruct->ClockOutput = LL_USART_CLOCK_DISABLE; - USART_ClockInitStruct->ClockPolarity = LL_USART_POLARITY_LOW; /* Not relevant when ClockOutput = LL_USART_CLOCK_DISABLE */ - USART_ClockInitStruct->ClockPhase = LL_USART_PHASE_1EDGE; /* Not relevant when ClockOutput = LL_USART_CLOCK_DISABLE */ - USART_ClockInitStruct->LastBitClockPulse = LL_USART_LASTCLKPULSE_NO_OUTPUT; /* Not relevant when ClockOutput = LL_USART_CLOCK_DISABLE */ -} - -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ - -#endif /* USART1 || USART2 || USART3 || USART6 || UART4 || UART5 || UART7 || UART8 || UART9 || UART10 */ - -/** - * @} - */ - -#endif /* USE_FULL_LL_DRIVER */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ - diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_usb.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_usb.c deleted file mode 100644 index cdd837da2db309..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_usb.c +++ /dev/null @@ -1,2106 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_ll_usb.c - * @author MCD Application Team - * @brief USB Low Layer HAL module driver. - * - * This file provides firmware functions to manage the following - * functionalities of the USB Peripheral Controller: - * + Initialization/de-initialization functions - * + I/O operation functions - * + Peripheral Control functions - * + Peripheral State functions - * - @verbatim - ============================================================================== - ##### How to use this driver ##### - ============================================================================== - [..] - (#) Fill parameters of Init structure in USB_OTG_CfgTypeDef structure. - - (#) Call USB_CoreInit() API to initialize the USB Core peripheral. - - (#) The upper HAL HCD/PCD driver will call the right routines for its internal processes. - - @endverbatim - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2016 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal.h" - -/** @addtogroup STM32F4xx_LL_USB_DRIVER - * @{ - */ - -#if defined (HAL_PCD_MODULE_ENABLED) || defined (HAL_HCD_MODULE_ENABLED) -#if defined (USB_OTG_FS) || defined (USB_OTG_HS) -/* Private typedef -----------------------------------------------------------*/ -/* Private define ------------------------------------------------------------*/ -/* Private macro -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private function prototypes -----------------------------------------------*/ -/* Private functions ---------------------------------------------------------*/ -#if defined (USB_OTG_FS) || defined (USB_OTG_HS) -static HAL_StatusTypeDef USB_CoreReset(USB_OTG_GlobalTypeDef *USBx); - -/* Exported functions --------------------------------------------------------*/ -/** @defgroup USB_LL_Exported_Functions USB Low Layer Exported Functions - * @{ - */ - -/** @defgroup USB_LL_Exported_Functions_Group1 Initialization/de-initialization functions - * @brief Initialization and Configuration functions - * -@verbatim - =============================================================================== - ##### Initialization/de-initialization functions ##### - =============================================================================== - -@endverbatim - * @{ - */ - -/** - * @brief Initializes the USB Core - * @param USBx USB Instance - * @param cfg pointer to a USB_OTG_CfgTypeDef structure that contains - * the configuration information for the specified USBx peripheral. - * @retval HAL status - */ -HAL_StatusTypeDef USB_CoreInit(USB_OTG_GlobalTypeDef *USBx, USB_OTG_CfgTypeDef cfg) -{ - HAL_StatusTypeDef ret; - - if (cfg.phy_itface == USB_OTG_ULPI_PHY) - { - USBx->GCCFG &= ~(USB_OTG_GCCFG_PWRDWN); - - /* Init The ULPI Interface */ - USBx->GUSBCFG &= ~(USB_OTG_GUSBCFG_TSDPS | USB_OTG_GUSBCFG_ULPIFSLS | USB_OTG_GUSBCFG_PHYSEL); - - /* Select vbus source */ - USBx->GUSBCFG &= ~(USB_OTG_GUSBCFG_ULPIEVBUSD | USB_OTG_GUSBCFG_ULPIEVBUSI); - if (cfg.use_external_vbus == 1U) - { - USBx->GUSBCFG |= USB_OTG_GUSBCFG_ULPIEVBUSD; - } - - /* Reset after a PHY select */ - ret = USB_CoreReset(USBx); - } - else /* FS interface (embedded Phy) */ - { - /* Select FS Embedded PHY */ - USBx->GUSBCFG |= USB_OTG_GUSBCFG_PHYSEL; - - /* Reset after a PHY select */ - ret = USB_CoreReset(USBx); - - if (cfg.battery_charging_enable == 0U) - { - /* Activate the USB Transceiver */ - USBx->GCCFG |= USB_OTG_GCCFG_PWRDWN; - } - else - { - /* Deactivate the USB Transceiver */ - USBx->GCCFG &= ~(USB_OTG_GCCFG_PWRDWN); - } - } - - if (cfg.dma_enable == 1U) - { - USBx->GAHBCFG |= USB_OTG_GAHBCFG_HBSTLEN_2; - USBx->GAHBCFG |= USB_OTG_GAHBCFG_DMAEN; - } - - return ret; -} - - -/** - * @brief Set the USB turnaround time - * @param USBx USB Instance - * @param hclk: AHB clock frequency - * @retval USB turnaround time In PHY Clocks number - */ -HAL_StatusTypeDef USB_SetTurnaroundTime(USB_OTG_GlobalTypeDef *USBx, - uint32_t hclk, uint8_t speed) -{ - uint32_t UsbTrd; - - /* The USBTRD is configured according to the tables below, depending on AHB frequency - used by application. In the low AHB frequency range it is used to stretch enough the USB response - time to IN tokens, the USB turnaround time, so to compensate for the longer AHB read access - latency to the Data FIFO */ - if (speed == USBD_FS_SPEED) - { - if ((hclk >= 14200000U) && (hclk < 15000000U)) - { - /* hclk Clock Range between 14.2-15 MHz */ - UsbTrd = 0xFU; - } - else if ((hclk >= 15000000U) && (hclk < 16000000U)) - { - /* hclk Clock Range between 15-16 MHz */ - UsbTrd = 0xEU; - } - else if ((hclk >= 16000000U) && (hclk < 17200000U)) - { - /* hclk Clock Range between 16-17.2 MHz */ - UsbTrd = 0xDU; - } - else if ((hclk >= 17200000U) && (hclk < 18500000U)) - { - /* hclk Clock Range between 17.2-18.5 MHz */ - UsbTrd = 0xCU; - } - else if ((hclk >= 18500000U) && (hclk < 20000000U)) - { - /* hclk Clock Range between 18.5-20 MHz */ - UsbTrd = 0xBU; - } - else if ((hclk >= 20000000U) && (hclk < 21800000U)) - { - /* hclk Clock Range between 20-21.8 MHz */ - UsbTrd = 0xAU; - } - else if ((hclk >= 21800000U) && (hclk < 24000000U)) - { - /* hclk Clock Range between 21.8-24 MHz */ - UsbTrd = 0x9U; - } - else if ((hclk >= 24000000U) && (hclk < 27700000U)) - { - /* hclk Clock Range between 24-27.7 MHz */ - UsbTrd = 0x8U; - } - else if ((hclk >= 27700000U) && (hclk < 32000000U)) - { - /* hclk Clock Range between 27.7-32 MHz */ - UsbTrd = 0x7U; - } - else /* if(hclk >= 32000000) */ - { - /* hclk Clock Range between 32-200 MHz */ - UsbTrd = 0x6U; - } - } - else if (speed == USBD_HS_SPEED) - { - UsbTrd = USBD_HS_TRDT_VALUE; - } - else - { - UsbTrd = USBD_DEFAULT_TRDT_VALUE; - } - - USBx->GUSBCFG &= ~USB_OTG_GUSBCFG_TRDT; - USBx->GUSBCFG |= (uint32_t)((UsbTrd << 10) & USB_OTG_GUSBCFG_TRDT); - - return HAL_OK; -} - -/** - * @brief USB_EnableGlobalInt - * Enables the controller's Global Int in the AHB Config reg - * @param USBx Selected device - * @retval HAL status - */ -HAL_StatusTypeDef USB_EnableGlobalInt(USB_OTG_GlobalTypeDef *USBx) -{ - USBx->GAHBCFG |= USB_OTG_GAHBCFG_GINT; - return HAL_OK; -} - -/** - * @brief USB_DisableGlobalInt - * Disable the controller's Global Int in the AHB Config reg - * @param USBx Selected device - * @retval HAL status - */ -HAL_StatusTypeDef USB_DisableGlobalInt(USB_OTG_GlobalTypeDef *USBx) -{ - USBx->GAHBCFG &= ~USB_OTG_GAHBCFG_GINT; - return HAL_OK; -} - -/** - * @brief USB_SetCurrentMode Set functional mode - * @param USBx Selected device - * @param mode current core mode - * This parameter can be one of these values: - * @arg USB_DEVICE_MODE Peripheral mode - * @arg USB_HOST_MODE Host mode - * @retval HAL status - */ -HAL_StatusTypeDef USB_SetCurrentMode(USB_OTG_GlobalTypeDef *USBx, USB_OTG_ModeTypeDef mode) -{ - uint32_t ms = 0U; - - USBx->GUSBCFG &= ~(USB_OTG_GUSBCFG_FHMOD | USB_OTG_GUSBCFG_FDMOD); - - if (mode == USB_HOST_MODE) - { - USBx->GUSBCFG |= USB_OTG_GUSBCFG_FHMOD; - - do - { - HAL_Delay(1U); - ms++; - } while ((USB_GetMode(USBx) != (uint32_t)USB_HOST_MODE) && (ms < 50U)); - } - else if (mode == USB_DEVICE_MODE) - { - USBx->GUSBCFG |= USB_OTG_GUSBCFG_FDMOD; - - do - { - HAL_Delay(1U); - ms++; - } while ((USB_GetMode(USBx) != (uint32_t)USB_DEVICE_MODE) && (ms < 50U)); - } - else - { - return HAL_ERROR; - } - - if (ms == 50U) - { - return HAL_ERROR; - } - - return HAL_OK; -} - -/** - * @brief USB_DevInit Initializes the USB_OTG controller registers - * for device mode - * @param USBx Selected device - * @param cfg pointer to a USB_OTG_CfgTypeDef structure that contains - * the configuration information for the specified USBx peripheral. - * @retval HAL status - */ -HAL_StatusTypeDef USB_DevInit(USB_OTG_GlobalTypeDef *USBx, USB_OTG_CfgTypeDef cfg) -{ - HAL_StatusTypeDef ret = HAL_OK; - uint32_t USBx_BASE = (uint32_t)USBx; - uint32_t i; - - for (i = 0U; i < 15U; i++) - { - USBx->DIEPTXF[i] = 0U; - } - -#if defined(STM32F446xx) || defined(STM32F469xx) || defined(STM32F479xx) || defined(STM32F412Zx) || defined(STM32F412Vx) || defined(STM32F412Rx) || defined(STM32F412Cx) || defined(STM32F413xx) || defined(STM32F423xx) - /* VBUS Sensing setup */ - if (cfg.vbus_sensing_enable == 0U) - { - USBx_DEVICE->DCTL |= USB_OTG_DCTL_SDIS; - - /* Deactivate VBUS Sensing B */ - USBx->GCCFG &= ~USB_OTG_GCCFG_VBDEN; - - /* B-peripheral session valid override enable */ - USBx->GOTGCTL |= USB_OTG_GOTGCTL_BVALOEN; - USBx->GOTGCTL |= USB_OTG_GOTGCTL_BVALOVAL; - } - else - { - /* Enable HW VBUS sensing */ - USBx->GCCFG |= USB_OTG_GCCFG_VBDEN; - } -#else - /* VBUS Sensing setup */ - if (cfg.vbus_sensing_enable == 0U) - { - /* - * Disable HW VBUS sensing. VBUS is internally considered to be always - * at VBUS-Valid level (5V). - */ - USBx_DEVICE->DCTL |= USB_OTG_DCTL_SDIS; - USBx->GCCFG |= USB_OTG_GCCFG_NOVBUSSENS; - USBx->GCCFG &= ~USB_OTG_GCCFG_VBUSBSEN; - USBx->GCCFG &= ~USB_OTG_GCCFG_VBUSASEN; - } - else - { - /* Enable HW VBUS sensing */ - USBx->GCCFG &= ~USB_OTG_GCCFG_NOVBUSSENS; - USBx->GCCFG |= USB_OTG_GCCFG_VBUSBSEN; - } -#endif /* defined(STM32F446xx) || defined(STM32F469xx) || defined(STM32F479xx) || defined(STM32F412Zx) || defined(STM32F412Vx) || defined(STM32F412Rx) || defined(STM32F412Cx) || defined(STM32F413xx) || defined(STM32F423xx) */ - - /* Restart the Phy Clock */ - USBx_PCGCCTL = 0U; - - /* Device mode configuration */ - USBx_DEVICE->DCFG |= DCFG_FRAME_INTERVAL_80; - - if (cfg.phy_itface == USB_OTG_ULPI_PHY) - { - if (cfg.speed == USBD_HS_SPEED) - { - /* Set Core speed to High speed mode */ - (void)USB_SetDevSpeed(USBx, USB_OTG_SPEED_HIGH); - } - else - { - /* Set Core speed to Full speed mode */ - (void)USB_SetDevSpeed(USBx, USB_OTG_SPEED_HIGH_IN_FULL); - } - } - else - { - /* Set Core speed to Full speed mode */ - (void)USB_SetDevSpeed(USBx, USB_OTG_SPEED_FULL); - } - - /* Flush the FIFOs */ - if (USB_FlushTxFifo(USBx, 0x10U) != HAL_OK) /* all Tx FIFOs */ - { - ret = HAL_ERROR; - } - - if (USB_FlushRxFifo(USBx) != HAL_OK) - { - ret = HAL_ERROR; - } - - /* Clear all pending Device Interrupts */ - USBx_DEVICE->DIEPMSK = 0U; - USBx_DEVICE->DOEPMSK = 0U; - USBx_DEVICE->DAINTMSK = 0U; - - for (i = 0U; i < cfg.dev_endpoints; i++) - { - if ((USBx_INEP(i)->DIEPCTL & USB_OTG_DIEPCTL_EPENA) == USB_OTG_DIEPCTL_EPENA) - { - if (i == 0U) - { - USBx_INEP(i)->DIEPCTL = USB_OTG_DIEPCTL_SNAK; - } - else - { - USBx_INEP(i)->DIEPCTL = USB_OTG_DIEPCTL_EPDIS | USB_OTG_DIEPCTL_SNAK; - } - } - else - { - USBx_INEP(i)->DIEPCTL = 0U; - } - - USBx_INEP(i)->DIEPTSIZ = 0U; - USBx_INEP(i)->DIEPINT = 0xFB7FU; - } - - for (i = 0U; i < cfg.dev_endpoints; i++) - { - if ((USBx_OUTEP(i)->DOEPCTL & USB_OTG_DOEPCTL_EPENA) == USB_OTG_DOEPCTL_EPENA) - { - if (i == 0U) - { - USBx_OUTEP(i)->DOEPCTL = USB_OTG_DOEPCTL_SNAK; - } - else - { - USBx_OUTEP(i)->DOEPCTL = USB_OTG_DOEPCTL_EPDIS | USB_OTG_DOEPCTL_SNAK; - } - } - else - { - USBx_OUTEP(i)->DOEPCTL = 0U; - } - - USBx_OUTEP(i)->DOEPTSIZ = 0U; - USBx_OUTEP(i)->DOEPINT = 0xFB7FU; - } - - USBx_DEVICE->DIEPMSK &= ~(USB_OTG_DIEPMSK_TXFURM); - - /* Disable all interrupts. */ - USBx->GINTMSK = 0U; - - /* Clear any pending interrupts */ - USBx->GINTSTS = 0xBFFFFFFFU; - - /* Enable the common interrupts */ - if (cfg.dma_enable == 0U) - { - USBx->GINTMSK |= USB_OTG_GINTMSK_RXFLVLM; - } - - /* Enable interrupts matching to the Device mode ONLY */ - USBx->GINTMSK |= USB_OTG_GINTMSK_USBSUSPM | USB_OTG_GINTMSK_USBRST | - USB_OTG_GINTMSK_ENUMDNEM | USB_OTG_GINTMSK_IEPINT | - USB_OTG_GINTMSK_OEPINT | USB_OTG_GINTMSK_IISOIXFRM | - USB_OTG_GINTMSK_PXFRM_IISOOXFRM | USB_OTG_GINTMSK_WUIM; - - if (cfg.Sof_enable != 0U) - { - USBx->GINTMSK |= USB_OTG_GINTMSK_SOFM; - } - - if (cfg.vbus_sensing_enable == 1U) - { - USBx->GINTMSK |= (USB_OTG_GINTMSK_SRQIM | USB_OTG_GINTMSK_OTGINT); - } - - return ret; -} - -/** - * @brief USB_OTG_FlushTxFifo : Flush a Tx FIFO - * @param USBx Selected device - * @param num FIFO number - * This parameter can be a value from 1 to 15 - 15 means Flush all Tx FIFOs - * @retval HAL status - */ -HAL_StatusTypeDef USB_FlushTxFifo(USB_OTG_GlobalTypeDef *USBx, uint32_t num) -{ - __IO uint32_t count = 0U; - - USBx->GRSTCTL = (USB_OTG_GRSTCTL_TXFFLSH | (num << 6)); - - do - { - if (++count > 200000U) - { - return HAL_TIMEOUT; - } - } while ((USBx->GRSTCTL & USB_OTG_GRSTCTL_TXFFLSH) == USB_OTG_GRSTCTL_TXFFLSH); - - return HAL_OK; -} - -/** - * @brief USB_FlushRxFifo : Flush Rx FIFO - * @param USBx Selected device - * @retval HAL status - */ -HAL_StatusTypeDef USB_FlushRxFifo(USB_OTG_GlobalTypeDef *USBx) -{ - __IO uint32_t count = 0U; - - USBx->GRSTCTL = USB_OTG_GRSTCTL_RXFFLSH; - - do - { - if (++count > 200000U) - { - return HAL_TIMEOUT; - } - } while ((USBx->GRSTCTL & USB_OTG_GRSTCTL_RXFFLSH) == USB_OTG_GRSTCTL_RXFFLSH); - - return HAL_OK; -} - -/** - * @brief USB_SetDevSpeed Initializes the DevSpd field of DCFG register - * depending the PHY type and the enumeration speed of the device. - * @param USBx Selected device - * @param speed device speed - * This parameter can be one of these values: - * @arg USB_OTG_SPEED_HIGH: High speed mode - * @arg USB_OTG_SPEED_HIGH_IN_FULL: High speed core in Full Speed mode - * @arg USB_OTG_SPEED_FULL: Full speed mode - * @retval Hal status - */ -HAL_StatusTypeDef USB_SetDevSpeed(USB_OTG_GlobalTypeDef *USBx, uint8_t speed) -{ - uint32_t USBx_BASE = (uint32_t)USBx; - - USBx_DEVICE->DCFG |= speed; - return HAL_OK; -} - -/** - * @brief USB_GetDevSpeed Return the Dev Speed - * @param USBx Selected device - * @retval speed device speed - * This parameter can be one of these values: - * @arg USBD_HS_SPEED: High speed mode - * @arg USBD_FS_SPEED: Full speed mode - */ -uint8_t USB_GetDevSpeed(USB_OTG_GlobalTypeDef *USBx) -{ - uint32_t USBx_BASE = (uint32_t)USBx; - uint8_t speed; - uint32_t DevEnumSpeed = USBx_DEVICE->DSTS & USB_OTG_DSTS_ENUMSPD; - - if (DevEnumSpeed == DSTS_ENUMSPD_HS_PHY_30MHZ_OR_60MHZ) - { - speed = USBD_HS_SPEED; - } - else if ((DevEnumSpeed == DSTS_ENUMSPD_FS_PHY_30MHZ_OR_60MHZ) || - (DevEnumSpeed == DSTS_ENUMSPD_FS_PHY_48MHZ)) - { - speed = USBD_FS_SPEED; - } - else - { - speed = 0xFU; - } - - return speed; -} - -/** - * @brief Activate and configure an endpoint - * @param USBx Selected device - * @param ep pointer to endpoint structure - * @retval HAL status - */ -HAL_StatusTypeDef USB_ActivateEndpoint(USB_OTG_GlobalTypeDef *USBx, USB_OTG_EPTypeDef *ep) -{ - uint32_t USBx_BASE = (uint32_t)USBx; - uint32_t epnum = (uint32_t)ep->num; - - if (ep->is_in == 1U) - { - USBx_DEVICE->DAINTMSK |= USB_OTG_DAINTMSK_IEPM & (uint32_t)(1UL << (ep->num & EP_ADDR_MSK)); - - if ((USBx_INEP(epnum)->DIEPCTL & USB_OTG_DIEPCTL_USBAEP) == 0U) - { - USBx_INEP(epnum)->DIEPCTL |= (ep->maxpacket & USB_OTG_DIEPCTL_MPSIZ) | - ((uint32_t)ep->type << 18) | (epnum << 22) | - USB_OTG_DIEPCTL_SD0PID_SEVNFRM | - USB_OTG_DIEPCTL_USBAEP; - } - } - else - { - USBx_DEVICE->DAINTMSK |= USB_OTG_DAINTMSK_OEPM & ((uint32_t)(1UL << (ep->num & EP_ADDR_MSK)) << 16); - - if (((USBx_OUTEP(epnum)->DOEPCTL) & USB_OTG_DOEPCTL_USBAEP) == 0U) - { - USBx_OUTEP(epnum)->DOEPCTL |= (ep->maxpacket & USB_OTG_DOEPCTL_MPSIZ) | - ((uint32_t)ep->type << 18) | - USB_OTG_DIEPCTL_SD0PID_SEVNFRM | - USB_OTG_DOEPCTL_USBAEP; - } - } - return HAL_OK; -} - -/** - * @brief Activate and configure a dedicated endpoint - * @param USBx Selected device - * @param ep pointer to endpoint structure - * @retval HAL status - */ -HAL_StatusTypeDef USB_ActivateDedicatedEndpoint(USB_OTG_GlobalTypeDef *USBx, USB_OTG_EPTypeDef *ep) -{ - uint32_t USBx_BASE = (uint32_t)USBx; - uint32_t epnum = (uint32_t)ep->num; - - /* Read DEPCTLn register */ - if (ep->is_in == 1U) - { - if (((USBx_INEP(epnum)->DIEPCTL) & USB_OTG_DIEPCTL_USBAEP) == 0U) - { - USBx_INEP(epnum)->DIEPCTL |= (ep->maxpacket & USB_OTG_DIEPCTL_MPSIZ) | - ((uint32_t)ep->type << 18) | (epnum << 22) | - USB_OTG_DIEPCTL_SD0PID_SEVNFRM | - USB_OTG_DIEPCTL_USBAEP; - } - - USBx_DEVICE->DEACHMSK |= USB_OTG_DAINTMSK_IEPM & (uint32_t)(1UL << (ep->num & EP_ADDR_MSK)); - } - else - { - if (((USBx_OUTEP(epnum)->DOEPCTL) & USB_OTG_DOEPCTL_USBAEP) == 0U) - { - USBx_OUTEP(epnum)->DOEPCTL |= (ep->maxpacket & USB_OTG_DOEPCTL_MPSIZ) | - ((uint32_t)ep->type << 18) | (epnum << 22) | - USB_OTG_DOEPCTL_USBAEP; - } - - USBx_DEVICE->DEACHMSK |= USB_OTG_DAINTMSK_OEPM & ((uint32_t)(1UL << (ep->num & EP_ADDR_MSK)) << 16); - } - - return HAL_OK; -} - -/** - * @brief De-activate and de-initialize an endpoint - * @param USBx Selected device - * @param ep pointer to endpoint structure - * @retval HAL status - */ -HAL_StatusTypeDef USB_DeactivateEndpoint(USB_OTG_GlobalTypeDef *USBx, USB_OTG_EPTypeDef *ep) -{ - uint32_t USBx_BASE = (uint32_t)USBx; - uint32_t epnum = (uint32_t)ep->num; - - /* Read DEPCTLn register */ - if (ep->is_in == 1U) - { - if ((USBx_INEP(epnum)->DIEPCTL & USB_OTG_DIEPCTL_EPENA) == USB_OTG_DIEPCTL_EPENA) - { - USBx_INEP(epnum)->DIEPCTL |= USB_OTG_DIEPCTL_SNAK; - USBx_INEP(epnum)->DIEPCTL |= USB_OTG_DIEPCTL_EPDIS; - } - - USBx_DEVICE->DEACHMSK &= ~(USB_OTG_DAINTMSK_IEPM & (uint32_t)(1UL << (ep->num & EP_ADDR_MSK))); - USBx_DEVICE->DAINTMSK &= ~(USB_OTG_DAINTMSK_IEPM & (uint32_t)(1UL << (ep->num & EP_ADDR_MSK))); - USBx_INEP(epnum)->DIEPCTL &= ~(USB_OTG_DIEPCTL_USBAEP | - USB_OTG_DIEPCTL_MPSIZ | - USB_OTG_DIEPCTL_TXFNUM | - USB_OTG_DIEPCTL_SD0PID_SEVNFRM | - USB_OTG_DIEPCTL_EPTYP); - } - else - { - if ((USBx_OUTEP(epnum)->DOEPCTL & USB_OTG_DOEPCTL_EPENA) == USB_OTG_DOEPCTL_EPENA) - { - USBx_OUTEP(epnum)->DOEPCTL |= USB_OTG_DOEPCTL_SNAK; - USBx_OUTEP(epnum)->DOEPCTL |= USB_OTG_DOEPCTL_EPDIS; - } - - USBx_DEVICE->DEACHMSK &= ~(USB_OTG_DAINTMSK_OEPM & ((uint32_t)(1UL << (ep->num & EP_ADDR_MSK)) << 16)); - USBx_DEVICE->DAINTMSK &= ~(USB_OTG_DAINTMSK_OEPM & ((uint32_t)(1UL << (ep->num & EP_ADDR_MSK)) << 16)); - USBx_OUTEP(epnum)->DOEPCTL &= ~(USB_OTG_DOEPCTL_USBAEP | - USB_OTG_DOEPCTL_MPSIZ | - USB_OTG_DOEPCTL_SD0PID_SEVNFRM | - USB_OTG_DOEPCTL_EPTYP); - } - - return HAL_OK; -} - -/** - * @brief De-activate and de-initialize a dedicated endpoint - * @param USBx Selected device - * @param ep pointer to endpoint structure - * @retval HAL status - */ -HAL_StatusTypeDef USB_DeactivateDedicatedEndpoint(USB_OTG_GlobalTypeDef *USBx, USB_OTG_EPTypeDef *ep) -{ - uint32_t USBx_BASE = (uint32_t)USBx; - uint32_t epnum = (uint32_t)ep->num; - - /* Read DEPCTLn register */ - if (ep->is_in == 1U) - { - if ((USBx_INEP(epnum)->DIEPCTL & USB_OTG_DIEPCTL_EPENA) == USB_OTG_DIEPCTL_EPENA) - { - USBx_INEP(epnum)->DIEPCTL |= USB_OTG_DIEPCTL_SNAK; - USBx_INEP(epnum)->DIEPCTL |= USB_OTG_DIEPCTL_EPDIS; - } - - USBx_INEP(epnum)->DIEPCTL &= ~ USB_OTG_DIEPCTL_USBAEP; - USBx_DEVICE->DAINTMSK &= ~(USB_OTG_DAINTMSK_IEPM & (uint32_t)(1UL << (ep->num & EP_ADDR_MSK))); - } - else - { - if ((USBx_OUTEP(epnum)->DOEPCTL & USB_OTG_DOEPCTL_EPENA) == USB_OTG_DOEPCTL_EPENA) - { - USBx_OUTEP(epnum)->DOEPCTL |= USB_OTG_DOEPCTL_SNAK; - USBx_OUTEP(epnum)->DOEPCTL |= USB_OTG_DOEPCTL_EPDIS; - } - - USBx_OUTEP(epnum)->DOEPCTL &= ~USB_OTG_DOEPCTL_USBAEP; - USBx_DEVICE->DAINTMSK &= ~(USB_OTG_DAINTMSK_OEPM & ((uint32_t)(1UL << (ep->num & EP_ADDR_MSK)) << 16)); - } - - return HAL_OK; -} - -/** - * @brief USB_EPStartXfer : setup and starts a transfer over an EP - * @param USBx Selected device - * @param ep pointer to endpoint structure - * @param dma USB dma enabled or disabled - * This parameter can be one of these values: - * 0 : DMA feature not used - * 1 : DMA feature used - * @retval HAL status - */ -HAL_StatusTypeDef USB_EPStartXfer(USB_OTG_GlobalTypeDef *USBx, USB_OTG_EPTypeDef *ep, uint8_t dma) -{ - uint32_t USBx_BASE = (uint32_t)USBx; - uint32_t epnum = (uint32_t)ep->num; - uint16_t pktcnt; - - /* IN endpoint */ - if (ep->is_in == 1U) - { - /* Zero Length Packet? */ - if (ep->xfer_len == 0U) - { - USBx_INEP(epnum)->DIEPTSIZ &= ~(USB_OTG_DIEPTSIZ_PKTCNT); - USBx_INEP(epnum)->DIEPTSIZ |= (USB_OTG_DIEPTSIZ_PKTCNT & (1U << 19)); - USBx_INEP(epnum)->DIEPTSIZ &= ~(USB_OTG_DIEPTSIZ_XFRSIZ); - } - else - { - /* Program the transfer size and packet count - * as follows: xfersize = N * maxpacket + - * short_packet pktcnt = N + (short_packet - * exist ? 1 : 0) - */ - USBx_INEP(epnum)->DIEPTSIZ &= ~(USB_OTG_DIEPTSIZ_XFRSIZ); - USBx_INEP(epnum)->DIEPTSIZ &= ~(USB_OTG_DIEPTSIZ_PKTCNT); - USBx_INEP(epnum)->DIEPTSIZ |= (USB_OTG_DIEPTSIZ_PKTCNT & - (((ep->xfer_len + ep->maxpacket - 1U) / ep->maxpacket) << 19)); - - USBx_INEP(epnum)->DIEPTSIZ |= (USB_OTG_DIEPTSIZ_XFRSIZ & ep->xfer_len); - - if (ep->type == EP_TYPE_ISOC) - { - USBx_INEP(epnum)->DIEPTSIZ &= ~(USB_OTG_DIEPTSIZ_MULCNT); - USBx_INEP(epnum)->DIEPTSIZ |= (USB_OTG_DIEPTSIZ_MULCNT & (1U << 29)); - } - } - - if (dma == 1U) - { - if ((uint32_t)ep->dma_addr != 0U) - { - USBx_INEP(epnum)->DIEPDMA = (uint32_t)(ep->dma_addr); - } - - if (ep->type == EP_TYPE_ISOC) - { - if ((USBx_DEVICE->DSTS & (1U << 8)) == 0U) - { - USBx_INEP(epnum)->DIEPCTL |= USB_OTG_DIEPCTL_SODDFRM; - } - else - { - USBx_INEP(epnum)->DIEPCTL |= USB_OTG_DIEPCTL_SD0PID_SEVNFRM; - } - } - - /* EP enable, IN data in FIFO */ - USBx_INEP(epnum)->DIEPCTL |= (USB_OTG_DIEPCTL_CNAK | USB_OTG_DIEPCTL_EPENA); - } - else - { - /* EP enable, IN data in FIFO */ - USBx_INEP(epnum)->DIEPCTL |= (USB_OTG_DIEPCTL_CNAK | USB_OTG_DIEPCTL_EPENA); - - if (ep->type != EP_TYPE_ISOC) - { - /* Enable the Tx FIFO Empty Interrupt for this EP */ - if (ep->xfer_len > 0U) - { - USBx_DEVICE->DIEPEMPMSK |= 1UL << (ep->num & EP_ADDR_MSK); - } - } - else - { - if ((USBx_DEVICE->DSTS & (1U << 8)) == 0U) - { - USBx_INEP(epnum)->DIEPCTL |= USB_OTG_DIEPCTL_SODDFRM; - } - else - { - USBx_INEP(epnum)->DIEPCTL |= USB_OTG_DIEPCTL_SD0PID_SEVNFRM; - } - - (void)USB_WritePacket(USBx, ep->xfer_buff, ep->num, (uint16_t)ep->xfer_len, dma); - } - } - } - else /* OUT endpoint */ - { - /* Program the transfer size and packet count as follows: - * pktcnt = N - * xfersize = N * maxpacket - */ - USBx_OUTEP(epnum)->DOEPTSIZ &= ~(USB_OTG_DOEPTSIZ_XFRSIZ); - USBx_OUTEP(epnum)->DOEPTSIZ &= ~(USB_OTG_DOEPTSIZ_PKTCNT); - - if (ep->xfer_len == 0U) - { - USBx_OUTEP(epnum)->DOEPTSIZ |= (USB_OTG_DOEPTSIZ_XFRSIZ & ep->maxpacket); - USBx_OUTEP(epnum)->DOEPTSIZ |= (USB_OTG_DOEPTSIZ_PKTCNT & (1U << 19)); - } - else - { - pktcnt = (uint16_t)((ep->xfer_len + ep->maxpacket - 1U) / ep->maxpacket); - USBx_OUTEP(epnum)->DOEPTSIZ |= USB_OTG_DOEPTSIZ_PKTCNT & ((uint32_t)pktcnt << 19); - USBx_OUTEP(epnum)->DOEPTSIZ |= USB_OTG_DOEPTSIZ_XFRSIZ & (ep->maxpacket * pktcnt); - } - - if (dma == 1U) - { - if ((uint32_t)ep->xfer_buff != 0U) - { - USBx_OUTEP(epnum)->DOEPDMA = (uint32_t)(ep->xfer_buff); - } - } - - if (ep->type == EP_TYPE_ISOC) - { - if ((USBx_DEVICE->DSTS & (1U << 8)) == 0U) - { - USBx_OUTEP(epnum)->DOEPCTL |= USB_OTG_DOEPCTL_SODDFRM; - } - else - { - USBx_OUTEP(epnum)->DOEPCTL |= USB_OTG_DOEPCTL_SD0PID_SEVNFRM; - } - } - /* EP enable */ - USBx_OUTEP(epnum)->DOEPCTL |= (USB_OTG_DOEPCTL_CNAK | USB_OTG_DOEPCTL_EPENA); - } - - return HAL_OK; -} - -/** - * @brief USB_EP0StartXfer : setup and starts a transfer over the EP 0 - * @param USBx Selected device - * @param ep pointer to endpoint structure - * @param dma USB dma enabled or disabled - * This parameter can be one of these values: - * 0 : DMA feature not used - * 1 : DMA feature used - * @retval HAL status - */ -HAL_StatusTypeDef USB_EP0StartXfer(USB_OTG_GlobalTypeDef *USBx, USB_OTG_EPTypeDef *ep, uint8_t dma) -{ - uint32_t USBx_BASE = (uint32_t)USBx; - uint32_t epnum = (uint32_t)ep->num; - - /* IN endpoint */ - if (ep->is_in == 1U) - { - /* Zero Length Packet? */ - if (ep->xfer_len == 0U) - { - USBx_INEP(epnum)->DIEPTSIZ &= ~(USB_OTG_DIEPTSIZ_PKTCNT); - USBx_INEP(epnum)->DIEPTSIZ |= (USB_OTG_DIEPTSIZ_PKTCNT & (1U << 19)); - USBx_INEP(epnum)->DIEPTSIZ &= ~(USB_OTG_DIEPTSIZ_XFRSIZ); - } - else - { - /* Program the transfer size and packet count - * as follows: xfersize = N * maxpacket + - * short_packet pktcnt = N + (short_packet - * exist ? 1 : 0) - */ - USBx_INEP(epnum)->DIEPTSIZ &= ~(USB_OTG_DIEPTSIZ_XFRSIZ); - USBx_INEP(epnum)->DIEPTSIZ &= ~(USB_OTG_DIEPTSIZ_PKTCNT); - - if (ep->xfer_len > ep->maxpacket) - { - ep->xfer_len = ep->maxpacket; - } - USBx_INEP(epnum)->DIEPTSIZ |= (USB_OTG_DIEPTSIZ_PKTCNT & (1U << 19)); - USBx_INEP(epnum)->DIEPTSIZ |= (USB_OTG_DIEPTSIZ_XFRSIZ & ep->xfer_len); - } - - if (dma == 1U) - { - if ((uint32_t)ep->dma_addr != 0U) - { - USBx_INEP(epnum)->DIEPDMA = (uint32_t)(ep->dma_addr); - } - - /* EP enable, IN data in FIFO */ - USBx_INEP(epnum)->DIEPCTL |= (USB_OTG_DIEPCTL_CNAK | USB_OTG_DIEPCTL_EPENA); - } - else - { - /* EP enable, IN data in FIFO */ - USBx_INEP(epnum)->DIEPCTL |= (USB_OTG_DIEPCTL_CNAK | USB_OTG_DIEPCTL_EPENA); - - /* Enable the Tx FIFO Empty Interrupt for this EP */ - if (ep->xfer_len > 0U) - { - USBx_DEVICE->DIEPEMPMSK |= 1UL << (ep->num & EP_ADDR_MSK); - } - } - } - else /* OUT endpoint */ - { - /* Program the transfer size and packet count as follows: - * pktcnt = N - * xfersize = N * maxpacket - */ - USBx_OUTEP(epnum)->DOEPTSIZ &= ~(USB_OTG_DOEPTSIZ_XFRSIZ); - USBx_OUTEP(epnum)->DOEPTSIZ &= ~(USB_OTG_DOEPTSIZ_PKTCNT); - - if (ep->xfer_len > 0U) - { - ep->xfer_len = ep->maxpacket; - } - - USBx_OUTEP(epnum)->DOEPTSIZ |= (USB_OTG_DOEPTSIZ_PKTCNT & (1U << 19)); - USBx_OUTEP(epnum)->DOEPTSIZ |= (USB_OTG_DOEPTSIZ_XFRSIZ & (ep->maxpacket)); - - if (dma == 1U) - { - if ((uint32_t)ep->xfer_buff != 0U) - { - USBx_OUTEP(epnum)->DOEPDMA = (uint32_t)(ep->xfer_buff); - } - } - - /* EP enable */ - USBx_OUTEP(epnum)->DOEPCTL |= (USB_OTG_DOEPCTL_CNAK | USB_OTG_DOEPCTL_EPENA); - } - - return HAL_OK; -} - -/** - * @brief USB_WritePacket : Writes a packet into the Tx FIFO associated - * with the EP/channel - * @param USBx Selected device - * @param src pointer to source buffer - * @param ch_ep_num endpoint or host channel number - * @param len Number of bytes to write - * @param dma USB dma enabled or disabled - * This parameter can be one of these values: - * 0 : DMA feature not used - * 1 : DMA feature used - * @retval HAL status - */ -HAL_StatusTypeDef USB_WritePacket(USB_OTG_GlobalTypeDef *USBx, uint8_t *src, - uint8_t ch_ep_num, uint16_t len, uint8_t dma) -{ - uint32_t USBx_BASE = (uint32_t)USBx; - uint8_t *pSrc = src; - uint32_t count32b; - uint32_t i; - - if (dma == 0U) - { - count32b = ((uint32_t)len + 3U) / 4U; - for (i = 0U; i < count32b; i++) - { - USBx_DFIFO((uint32_t)ch_ep_num) = __UNALIGNED_UINT32_READ(pSrc); - pSrc++; - pSrc++; - pSrc++; - pSrc++; - } - } - - return HAL_OK; -} - -/** - * @brief USB_ReadPacket : read a packet from the RX FIFO - * @param USBx Selected device - * @param dest source pointer - * @param len Number of bytes to read - * @retval pointer to destination buffer - */ -void *USB_ReadPacket(USB_OTG_GlobalTypeDef *USBx, uint8_t *dest, uint16_t len) -{ - uint32_t USBx_BASE = (uint32_t)USBx; - uint8_t *pDest = dest; - uint32_t pData; - uint32_t i; - uint32_t count32b = (uint32_t)len >> 2U; - uint16_t remaining_bytes = len % 4U; - - for (i = 0U; i < count32b; i++) - { - __UNALIGNED_UINT32_WRITE(pDest, USBx_DFIFO(0U)); - pDest++; - pDest++; - pDest++; - pDest++; - } - - /* When Number of data is not word aligned, read the remaining byte */ - if (remaining_bytes != 0U) - { - i = 0U; - __UNALIGNED_UINT32_WRITE(&pData, USBx_DFIFO(0U)); - - do - { - *(uint8_t *)pDest = (uint8_t)(pData >> (8U * (uint8_t)(i))); - i++; - pDest++; - remaining_bytes--; - } while (remaining_bytes != 0U); - } - - return ((void *)pDest); -} - -/** - * @brief USB_EPSetStall : set a stall condition over an EP - * @param USBx Selected device - * @param ep pointer to endpoint structure - * @retval HAL status - */ -HAL_StatusTypeDef USB_EPSetStall(USB_OTG_GlobalTypeDef *USBx, USB_OTG_EPTypeDef *ep) -{ - uint32_t USBx_BASE = (uint32_t)USBx; - uint32_t epnum = (uint32_t)ep->num; - - if (ep->is_in == 1U) - { - if (((USBx_INEP(epnum)->DIEPCTL & USB_OTG_DIEPCTL_EPENA) == 0U) && (epnum != 0U)) - { - USBx_INEP(epnum)->DIEPCTL &= ~(USB_OTG_DIEPCTL_EPDIS); - } - USBx_INEP(epnum)->DIEPCTL |= USB_OTG_DIEPCTL_STALL; - } - else - { - if (((USBx_OUTEP(epnum)->DOEPCTL & USB_OTG_DOEPCTL_EPENA) == 0U) && (epnum != 0U)) - { - USBx_OUTEP(epnum)->DOEPCTL &= ~(USB_OTG_DOEPCTL_EPDIS); - } - USBx_OUTEP(epnum)->DOEPCTL |= USB_OTG_DOEPCTL_STALL; - } - - return HAL_OK; -} - -/** - * @brief USB_EPClearStall : Clear a stall condition over an EP - * @param USBx Selected device - * @param ep pointer to endpoint structure - * @retval HAL status - */ -HAL_StatusTypeDef USB_EPClearStall(USB_OTG_GlobalTypeDef *USBx, USB_OTG_EPTypeDef *ep) -{ - uint32_t USBx_BASE = (uint32_t)USBx; - uint32_t epnum = (uint32_t)ep->num; - - if (ep->is_in == 1U) - { - USBx_INEP(epnum)->DIEPCTL &= ~USB_OTG_DIEPCTL_STALL; - if ((ep->type == EP_TYPE_INTR) || (ep->type == EP_TYPE_BULK)) - { - USBx_INEP(epnum)->DIEPCTL |= USB_OTG_DIEPCTL_SD0PID_SEVNFRM; /* DATA0 */ - } - } - else - { - USBx_OUTEP(epnum)->DOEPCTL &= ~USB_OTG_DOEPCTL_STALL; - if ((ep->type == EP_TYPE_INTR) || (ep->type == EP_TYPE_BULK)) - { - USBx_OUTEP(epnum)->DOEPCTL |= USB_OTG_DOEPCTL_SD0PID_SEVNFRM; /* DATA0 */ - } - } - return HAL_OK; -} - -/** - * @brief USB_StopDevice : Stop the usb device mode - * @param USBx Selected device - * @retval HAL status - */ -HAL_StatusTypeDef USB_StopDevice(USB_OTG_GlobalTypeDef *USBx) -{ - HAL_StatusTypeDef ret; - uint32_t USBx_BASE = (uint32_t)USBx; - uint32_t i; - - /* Clear Pending interrupt */ - for (i = 0U; i < 15U; i++) - { - USBx_INEP(i)->DIEPINT = 0xFB7FU; - USBx_OUTEP(i)->DOEPINT = 0xFB7FU; - } - - /* Clear interrupt masks */ - USBx_DEVICE->DIEPMSK = 0U; - USBx_DEVICE->DOEPMSK = 0U; - USBx_DEVICE->DAINTMSK = 0U; - - /* Flush the FIFO */ - ret = USB_FlushRxFifo(USBx); - if (ret != HAL_OK) - { - return ret; - } - - ret = USB_FlushTxFifo(USBx, 0x10U); - if (ret != HAL_OK) - { - return ret; - } - - return ret; -} - -/** - * @brief USB_SetDevAddress : Stop the usb device mode - * @param USBx Selected device - * @param address new device address to be assigned - * This parameter can be a value from 0 to 255 - * @retval HAL status - */ -HAL_StatusTypeDef USB_SetDevAddress(USB_OTG_GlobalTypeDef *USBx, uint8_t address) -{ - uint32_t USBx_BASE = (uint32_t)USBx; - - USBx_DEVICE->DCFG &= ~(USB_OTG_DCFG_DAD); - USBx_DEVICE->DCFG |= ((uint32_t)address << 4) & USB_OTG_DCFG_DAD; - - return HAL_OK; -} - -/** - * @brief USB_DevConnect : Connect the USB device by enabling Rpu - * @param USBx Selected device - * @retval HAL status - */ -HAL_StatusTypeDef USB_DevConnect(USB_OTG_GlobalTypeDef *USBx) -{ - uint32_t USBx_BASE = (uint32_t)USBx; - - /* In case phy is stopped, ensure to ungate and restore the phy CLK */ - USBx_PCGCCTL &= ~(USB_OTG_PCGCCTL_STOPCLK | USB_OTG_PCGCCTL_GATECLK); - - USBx_DEVICE->DCTL &= ~USB_OTG_DCTL_SDIS; - - return HAL_OK; -} - -/** - * @brief USB_DevDisconnect : Disconnect the USB device by disabling Rpu - * @param USBx Selected device - * @retval HAL status - */ -HAL_StatusTypeDef USB_DevDisconnect(USB_OTG_GlobalTypeDef *USBx) -{ - uint32_t USBx_BASE = (uint32_t)USBx; - - /* In case phy is stopped, ensure to ungate and restore the phy CLK */ - USBx_PCGCCTL &= ~(USB_OTG_PCGCCTL_STOPCLK | USB_OTG_PCGCCTL_GATECLK); - - USBx_DEVICE->DCTL |= USB_OTG_DCTL_SDIS; - - return HAL_OK; -} - -/** - * @brief USB_ReadInterrupts: return the global USB interrupt status - * @param USBx Selected device - * @retval HAL status - */ -uint32_t USB_ReadInterrupts(USB_OTG_GlobalTypeDef *USBx) -{ - uint32_t tmpreg; - - tmpreg = USBx->GINTSTS; - tmpreg &= USBx->GINTMSK; - - return tmpreg; -} - -/** - * @brief USB_ReadDevAllOutEpInterrupt: return the USB device OUT endpoints interrupt status - * @param USBx Selected device - * @retval HAL status - */ -uint32_t USB_ReadDevAllOutEpInterrupt(USB_OTG_GlobalTypeDef *USBx) -{ - uint32_t USBx_BASE = (uint32_t)USBx; - uint32_t tmpreg; - - tmpreg = USBx_DEVICE->DAINT; - tmpreg &= USBx_DEVICE->DAINTMSK; - - return ((tmpreg & 0xffff0000U) >> 16); -} - -/** - * @brief USB_ReadDevAllInEpInterrupt: return the USB device IN endpoints interrupt status - * @param USBx Selected device - * @retval HAL status - */ -uint32_t USB_ReadDevAllInEpInterrupt(USB_OTG_GlobalTypeDef *USBx) -{ - uint32_t USBx_BASE = (uint32_t)USBx; - uint32_t tmpreg; - - tmpreg = USBx_DEVICE->DAINT; - tmpreg &= USBx_DEVICE->DAINTMSK; - - return ((tmpreg & 0xFFFFU)); -} - -/** - * @brief Returns Device OUT EP Interrupt register - * @param USBx Selected device - * @param epnum endpoint number - * This parameter can be a value from 0 to 15 - * @retval Device OUT EP Interrupt register - */ -uint32_t USB_ReadDevOutEPInterrupt(USB_OTG_GlobalTypeDef *USBx, uint8_t epnum) -{ - uint32_t USBx_BASE = (uint32_t)USBx; - uint32_t tmpreg; - - tmpreg = USBx_OUTEP((uint32_t)epnum)->DOEPINT; - tmpreg &= USBx_DEVICE->DOEPMSK; - - return tmpreg; -} - -/** - * @brief Returns Device IN EP Interrupt register - * @param USBx Selected device - * @param epnum endpoint number - * This parameter can be a value from 0 to 15 - * @retval Device IN EP Interrupt register - */ -uint32_t USB_ReadDevInEPInterrupt(USB_OTG_GlobalTypeDef *USBx, uint8_t epnum) -{ - uint32_t USBx_BASE = (uint32_t)USBx; - uint32_t tmpreg; - uint32_t msk; - uint32_t emp; - - msk = USBx_DEVICE->DIEPMSK; - emp = USBx_DEVICE->DIEPEMPMSK; - msk |= ((emp >> (epnum & EP_ADDR_MSK)) & 0x1U) << 7; - tmpreg = USBx_INEP((uint32_t)epnum)->DIEPINT & msk; - - return tmpreg; -} - -/** - * @brief USB_ClearInterrupts: clear a USB interrupt - * @param USBx Selected device - * @param interrupt flag - * @retval None - */ -void USB_ClearInterrupts(USB_OTG_GlobalTypeDef *USBx, uint32_t interrupt) -{ - USBx->GINTSTS |= interrupt; -} - -/** - * @brief Returns USB core mode - * @param USBx Selected device - * @retval return core mode : Host or Device - * This parameter can be one of these values: - * 0 : Host - * 1 : Device - */ -uint32_t USB_GetMode(USB_OTG_GlobalTypeDef *USBx) -{ - return ((USBx->GINTSTS) & 0x1U); -} - -/** - * @brief Activate EP0 for Setup transactions - * @param USBx Selected device - * @retval HAL status - */ -HAL_StatusTypeDef USB_ActivateSetup(USB_OTG_GlobalTypeDef *USBx) -{ - uint32_t USBx_BASE = (uint32_t)USBx; - - /* Set the MPS of the IN EP0 to 64 bytes */ - USBx_INEP(0U)->DIEPCTL &= ~USB_OTG_DIEPCTL_MPSIZ; - - USBx_DEVICE->DCTL |= USB_OTG_DCTL_CGINAK; - - return HAL_OK; -} - -/** - * @brief Prepare the EP0 to start the first control setup - * @param USBx Selected device - * @param dma USB dma enabled or disabled - * This parameter can be one of these values: - * 0 : DMA feature not used - * 1 : DMA feature used - * @param psetup pointer to setup packet - * @retval HAL status - */ -HAL_StatusTypeDef USB_EP0_OutStart(USB_OTG_GlobalTypeDef *USBx, uint8_t dma, uint8_t *psetup) -{ - uint32_t USBx_BASE = (uint32_t)USBx; - uint32_t gSNPSiD = *(__IO uint32_t *)(&USBx->CID + 0x1U); - - if (gSNPSiD > USB_OTG_CORE_ID_300A) - { - if ((USBx_OUTEP(0U)->DOEPCTL & USB_OTG_DOEPCTL_EPENA) == USB_OTG_DOEPCTL_EPENA) - { - return HAL_OK; - } - } - - USBx_OUTEP(0U)->DOEPTSIZ = 0U; - USBx_OUTEP(0U)->DOEPTSIZ |= (USB_OTG_DOEPTSIZ_PKTCNT & (1U << 19)); - USBx_OUTEP(0U)->DOEPTSIZ |= (3U * 8U); - USBx_OUTEP(0U)->DOEPTSIZ |= USB_OTG_DOEPTSIZ_STUPCNT; - - if (dma == 1U) - { - USBx_OUTEP(0U)->DOEPDMA = (uint32_t)psetup; - /* EP enable */ - USBx_OUTEP(0U)->DOEPCTL |= USB_OTG_DOEPCTL_EPENA | USB_OTG_DOEPCTL_USBAEP; - } - - return HAL_OK; -} - -/** - * @brief Reset the USB Core (needed after USB clock settings change) - * @param USBx Selected device - * @retval HAL status - */ -static HAL_StatusTypeDef USB_CoreReset(USB_OTG_GlobalTypeDef *USBx) -{ - __IO uint32_t count = 0U; - - /* Wait for AHB master IDLE state. */ - do - { - if (++count > 200000U) - { - return HAL_TIMEOUT; - } - } while ((USBx->GRSTCTL & USB_OTG_GRSTCTL_AHBIDL) == 0U); - - /* Core Soft Reset */ - count = 0U; - USBx->GRSTCTL |= USB_OTG_GRSTCTL_CSRST; - - do - { - if (++count > 200000U) - { - return HAL_TIMEOUT; - } - } while ((USBx->GRSTCTL & USB_OTG_GRSTCTL_CSRST) == USB_OTG_GRSTCTL_CSRST); - - return HAL_OK; -} - -/** - * @brief USB_HostInit : Initializes the USB OTG controller registers - * for Host mode - * @param USBx Selected device - * @param cfg pointer to a USB_OTG_CfgTypeDef structure that contains - * the configuration information for the specified USBx peripheral. - * @retval HAL status - */ -HAL_StatusTypeDef USB_HostInit(USB_OTG_GlobalTypeDef *USBx, USB_OTG_CfgTypeDef cfg) -{ - uint32_t USBx_BASE = (uint32_t)USBx; - uint32_t i; - - /* Restart the Phy Clock */ - USBx_PCGCCTL = 0U; - -#if defined(STM32F446xx) || defined(STM32F469xx) || defined(STM32F479xx) || defined(STM32F412Zx) || defined(STM32F412Vx) || defined(STM32F412Rx) || defined(STM32F412Cx) || defined(STM32F413xx) || defined(STM32F423xx) - /* Disable HW VBUS sensing */ - USBx->GCCFG &= ~(USB_OTG_GCCFG_VBDEN); -#else - /* - * Disable HW VBUS sensing. VBUS is internally considered to be always - * at VBUS-Valid level (5V). - */ - USBx->GCCFG |= USB_OTG_GCCFG_NOVBUSSENS; - USBx->GCCFG &= ~USB_OTG_GCCFG_VBUSBSEN; - USBx->GCCFG &= ~USB_OTG_GCCFG_VBUSASEN; -#endif /* defined(STM32F446xx) || defined(STM32F469xx) || defined(STM32F479xx) || defined(STM32F412Zx) || defined(STM32F412Vx) || defined(STM32F412Rx) || defined(STM32F412Cx) || defined(STM32F413xx) || defined(STM32F423xx) */ -#if defined(STM32F412Zx) || defined(STM32F412Vx) || defined(STM32F412Rx) || defined(STM32F412Cx) || defined(STM32F413xx) || defined(STM32F423xx) - /* Disable Battery chargin detector */ - USBx->GCCFG &= ~(USB_OTG_GCCFG_BCDEN); -#endif /* defined(STM32F412Zx) || defined(STM32F412Vx) || defined(STM32F412Rx) || defined(STM32F412Cx) || defined(STM32F413xx) || defined(STM32F423xx) */ - - if ((USBx->CID & (0x1U << 8)) != 0U) - { - if (cfg.speed == USBH_FSLS_SPEED) - { - /* Force Device Enumeration to FS/LS mode only */ - USBx_HOST->HCFG |= USB_OTG_HCFG_FSLSS; - } - else - { - /* Set default Max speed support */ - USBx_HOST->HCFG &= ~(USB_OTG_HCFG_FSLSS); - } - } - else - { - /* Set default Max speed support */ - USBx_HOST->HCFG &= ~(USB_OTG_HCFG_FSLSS); - } - - /* Make sure the FIFOs are flushed. */ - (void)USB_FlushTxFifo(USBx, 0x10U); /* all Tx FIFOs */ - (void)USB_FlushRxFifo(USBx); - - /* Clear all pending HC Interrupts */ - for (i = 0U; i < cfg.Host_channels; i++) - { - USBx_HC(i)->HCINT = 0xFFFFFFFFU; - USBx_HC(i)->HCINTMSK = 0U; - } - - /* Disable all interrupts. */ - USBx->GINTMSK = 0U; - - /* Clear any pending interrupts */ - USBx->GINTSTS = 0xFFFFFFFFU; - - if ((USBx->CID & (0x1U << 8)) != 0U) - { - /* set Rx FIFO size */ - USBx->GRXFSIZ = 0x200U; - USBx->DIEPTXF0_HNPTXFSIZ = (uint32_t)(((0x100U << 16) & USB_OTG_NPTXFD) | 0x200U); - USBx->HPTXFSIZ = (uint32_t)(((0xE0U << 16) & USB_OTG_HPTXFSIZ_PTXFD) | 0x300U); - } - else - { - /* set Rx FIFO size */ - USBx->GRXFSIZ = 0x80U; - USBx->DIEPTXF0_HNPTXFSIZ = (uint32_t)(((0x60U << 16) & USB_OTG_NPTXFD) | 0x80U); - USBx->HPTXFSIZ = (uint32_t)(((0x40U << 16)& USB_OTG_HPTXFSIZ_PTXFD) | 0xE0U); - } - - /* Enable the common interrupts */ - if (cfg.dma_enable == 0U) - { - USBx->GINTMSK |= USB_OTG_GINTMSK_RXFLVLM; - } - - /* Enable interrupts matching to the Host mode ONLY */ - USBx->GINTMSK |= (USB_OTG_GINTMSK_PRTIM | USB_OTG_GINTMSK_HCIM | \ - USB_OTG_GINTMSK_SOFM | USB_OTG_GINTSTS_DISCINT | \ - USB_OTG_GINTMSK_PXFRM_IISOOXFRM | USB_OTG_GINTMSK_WUIM); - - return HAL_OK; -} - -/** - * @brief USB_InitFSLSPClkSel : Initializes the FSLSPClkSel field of the - * HCFG register on the PHY type and set the right frame interval - * @param USBx Selected device - * @param freq clock frequency - * This parameter can be one of these values: - * HCFG_48_MHZ : Full Speed 48 MHz Clock - * HCFG_6_MHZ : Low Speed 6 MHz Clock - * @retval HAL status - */ -HAL_StatusTypeDef USB_InitFSLSPClkSel(USB_OTG_GlobalTypeDef *USBx, uint8_t freq) -{ - uint32_t USBx_BASE = (uint32_t)USBx; - - USBx_HOST->HCFG &= ~(USB_OTG_HCFG_FSLSPCS); - USBx_HOST->HCFG |= (uint32_t)freq & USB_OTG_HCFG_FSLSPCS; - - if (freq == HCFG_48_MHZ) - { - USBx_HOST->HFIR = 48000U; - } - else if (freq == HCFG_6_MHZ) - { - USBx_HOST->HFIR = 6000U; - } - else - { - /* ... */ - } - - return HAL_OK; -} - -/** - * @brief USB_OTG_ResetPort : Reset Host Port - * @param USBx Selected device - * @retval HAL status - * @note (1)The application must wait at least 10 ms - * before clearing the reset bit. - */ -HAL_StatusTypeDef USB_ResetPort(USB_OTG_GlobalTypeDef *USBx) -{ - uint32_t USBx_BASE = (uint32_t)USBx; - - __IO uint32_t hprt0 = 0U; - - hprt0 = USBx_HPRT0; - - hprt0 &= ~(USB_OTG_HPRT_PENA | USB_OTG_HPRT_PCDET | - USB_OTG_HPRT_PENCHNG | USB_OTG_HPRT_POCCHNG); - - USBx_HPRT0 = (USB_OTG_HPRT_PRST | hprt0); - HAL_Delay(100U); /* See Note #1 */ - USBx_HPRT0 = ((~USB_OTG_HPRT_PRST) & hprt0); - HAL_Delay(10U); - - return HAL_OK; -} - -/** - * @brief USB_DriveVbus : activate or de-activate vbus - * @param state VBUS state - * This parameter can be one of these values: - * 0 : Deactivate VBUS - * 1 : Activate VBUS - * @retval HAL status - */ -HAL_StatusTypeDef USB_DriveVbus(USB_OTG_GlobalTypeDef *USBx, uint8_t state) -{ - uint32_t USBx_BASE = (uint32_t)USBx; - __IO uint32_t hprt0 = 0U; - - hprt0 = USBx_HPRT0; - - hprt0 &= ~(USB_OTG_HPRT_PENA | USB_OTG_HPRT_PCDET | - USB_OTG_HPRT_PENCHNG | USB_OTG_HPRT_POCCHNG); - - if (((hprt0 & USB_OTG_HPRT_PPWR) == 0U) && (state == 1U)) - { - USBx_HPRT0 = (USB_OTG_HPRT_PPWR | hprt0); - } - if (((hprt0 & USB_OTG_HPRT_PPWR) == USB_OTG_HPRT_PPWR) && (state == 0U)) - { - USBx_HPRT0 = ((~USB_OTG_HPRT_PPWR) & hprt0); - } - return HAL_OK; -} - -/** - * @brief Return Host Core speed - * @param USBx Selected device - * @retval speed : Host speed - * This parameter can be one of these values: - * @arg HCD_SPEED_HIGH: High speed mode - * @arg HCD_SPEED_FULL: Full speed mode - * @arg HCD_SPEED_LOW: Low speed mode - */ -uint32_t USB_GetHostSpeed(USB_OTG_GlobalTypeDef *USBx) -{ - uint32_t USBx_BASE = (uint32_t)USBx; - __IO uint32_t hprt0 = 0U; - - hprt0 = USBx_HPRT0; - return ((hprt0 & USB_OTG_HPRT_PSPD) >> 17); -} - -/** - * @brief Return Host Current Frame number - * @param USBx Selected device - * @retval current frame number - */ -uint32_t USB_GetCurrentFrame(USB_OTG_GlobalTypeDef *USBx) -{ - uint32_t USBx_BASE = (uint32_t)USBx; - - return (USBx_HOST->HFNUM & USB_OTG_HFNUM_FRNUM); -} - -/** - * @brief Initialize a host channel - * @param USBx Selected device - * @param ch_num Channel number - * This parameter can be a value from 1 to 15 - * @param epnum Endpoint number - * This parameter can be a value from 1 to 15 - * @param dev_address Current device address - * This parameter can be a value from 0 to 255 - * @param speed Current device speed - * This parameter can be one of these values: - * @arg USB_OTG_SPEED_HIGH: High speed mode - * @arg USB_OTG_SPEED_FULL: Full speed mode - * @arg USB_OTG_SPEED_LOW: Low speed mode - * @param ep_type Endpoint Type - * This parameter can be one of these values: - * @arg EP_TYPE_CTRL: Control type - * @arg EP_TYPE_ISOC: Isochronous type - * @arg EP_TYPE_BULK: Bulk type - * @arg EP_TYPE_INTR: Interrupt type - * @param mps Max Packet Size - * This parameter can be a value from 0 to 32K - * @retval HAL state - */ -HAL_StatusTypeDef USB_HC_Init(USB_OTG_GlobalTypeDef *USBx, uint8_t ch_num, - uint8_t epnum, uint8_t dev_address, uint8_t speed, - uint8_t ep_type, uint16_t mps) -{ - HAL_StatusTypeDef ret = HAL_OK; - uint32_t USBx_BASE = (uint32_t)USBx; - uint32_t HCcharEpDir; - uint32_t HCcharLowSpeed; - uint32_t HostCoreSpeed; - - /* Clear old interrupt conditions for this host channel. */ - USBx_HC((uint32_t)ch_num)->HCINT = 0xFFFFFFFFU; - - /* Enable channel interrupts required for this transfer. */ - switch (ep_type) - { - case EP_TYPE_CTRL: - case EP_TYPE_BULK: - USBx_HC((uint32_t)ch_num)->HCINTMSK = USB_OTG_HCINTMSK_XFRCM | - USB_OTG_HCINTMSK_STALLM | - USB_OTG_HCINTMSK_TXERRM | - USB_OTG_HCINTMSK_DTERRM | - USB_OTG_HCINTMSK_AHBERR | - USB_OTG_HCINTMSK_NAKM; - - if ((epnum & 0x80U) == 0x80U) - { - USBx_HC((uint32_t)ch_num)->HCINTMSK |= USB_OTG_HCINTMSK_BBERRM; - } - else - { - if ((USBx->CID & (0x1U << 8)) != 0U) - { - USBx_HC((uint32_t)ch_num)->HCINTMSK |= USB_OTG_HCINTMSK_NYET | - USB_OTG_HCINTMSK_ACKM; - } - } - break; - - case EP_TYPE_INTR: - USBx_HC((uint32_t)ch_num)->HCINTMSK = USB_OTG_HCINTMSK_XFRCM | - USB_OTG_HCINTMSK_STALLM | - USB_OTG_HCINTMSK_TXERRM | - USB_OTG_HCINTMSK_DTERRM | - USB_OTG_HCINTMSK_NAKM | - USB_OTG_HCINTMSK_AHBERR | - USB_OTG_HCINTMSK_FRMORM; - - if ((epnum & 0x80U) == 0x80U) - { - USBx_HC((uint32_t)ch_num)->HCINTMSK |= USB_OTG_HCINTMSK_BBERRM; - } - - break; - - case EP_TYPE_ISOC: - USBx_HC((uint32_t)ch_num)->HCINTMSK = USB_OTG_HCINTMSK_XFRCM | - USB_OTG_HCINTMSK_ACKM | - USB_OTG_HCINTMSK_AHBERR | - USB_OTG_HCINTMSK_FRMORM; - - if ((epnum & 0x80U) == 0x80U) - { - USBx_HC((uint32_t)ch_num)->HCINTMSK |= (USB_OTG_HCINTMSK_TXERRM | USB_OTG_HCINTMSK_BBERRM); - } - break; - - default: - ret = HAL_ERROR; - break; - } - - /* Enable the top level host channel interrupt. */ - USBx_HOST->HAINTMSK |= 1UL << (ch_num & 0xFU); - - /* Make sure host channel interrupts are enabled. */ - USBx->GINTMSK |= USB_OTG_GINTMSK_HCIM; - - /* Program the HCCHAR register */ - if ((epnum & 0x80U) == 0x80U) - { - HCcharEpDir = (0x1U << 15) & USB_OTG_HCCHAR_EPDIR; - } - else - { - HCcharEpDir = 0U; - } - - HostCoreSpeed = USB_GetHostSpeed(USBx); - - /* LS device plugged to HUB */ - if ((speed == HPRT0_PRTSPD_LOW_SPEED) && (HostCoreSpeed != HPRT0_PRTSPD_LOW_SPEED)) - { - HCcharLowSpeed = (0x1U << 17) & USB_OTG_HCCHAR_LSDEV; - } - else - { - HCcharLowSpeed = 0U; - } - - USBx_HC((uint32_t)ch_num)->HCCHAR = (((uint32_t)dev_address << 22) & USB_OTG_HCCHAR_DAD) | - ((((uint32_t)epnum & 0x7FU) << 11) & USB_OTG_HCCHAR_EPNUM) | - (((uint32_t)ep_type << 18) & USB_OTG_HCCHAR_EPTYP) | - ((uint32_t)mps & USB_OTG_HCCHAR_MPSIZ) | HCcharEpDir | HCcharLowSpeed; - - if (ep_type == EP_TYPE_INTR) - { - USBx_HC((uint32_t)ch_num)->HCCHAR |= USB_OTG_HCCHAR_ODDFRM ; - } - - return ret; -} - -/** - * @brief Start a transfer over a host channel - * @param USBx Selected device - * @param hc pointer to host channel structure - * @param dma USB dma enabled or disabled - * This parameter can be one of these values: - * 0 : DMA feature not used - * 1 : DMA feature used - * @retval HAL state - */ -HAL_StatusTypeDef USB_HC_StartXfer(USB_OTG_GlobalTypeDef *USBx, USB_OTG_HCTypeDef *hc, uint8_t dma) -{ - uint32_t USBx_BASE = (uint32_t)USBx; - uint32_t ch_num = (uint32_t)hc->ch_num; - __IO uint32_t tmpreg; - uint8_t is_oddframe; - uint16_t len_words; - uint16_t num_packets; - uint16_t max_hc_pkt_count = 256U; - - if (((USBx->CID & (0x1U << 8)) != 0U) && (hc->speed == USBH_HS_SPEED)) - { - /* in DMA mode host Core automatically issues ping in case of NYET/NAK */ - if ((dma == 1U) && ((hc->ep_type == EP_TYPE_CTRL) || (hc->ep_type == EP_TYPE_BULK))) - { - USBx_HC((uint32_t)ch_num)->HCINTMSK &= ~(USB_OTG_HCINTMSK_NYET | - USB_OTG_HCINTMSK_ACKM | - USB_OTG_HCINTMSK_NAKM); - } - - if ((dma == 0U) && (hc->do_ping == 1U)) - { - (void)USB_DoPing(USBx, hc->ch_num); - return HAL_OK; - } - - } - - /* Compute the expected number of packets associated to the transfer */ - if (hc->xfer_len > 0U) - { - num_packets = (uint16_t)((hc->xfer_len + hc->max_packet - 1U) / hc->max_packet); - - if (num_packets > max_hc_pkt_count) - { - num_packets = max_hc_pkt_count; - hc->XferSize = (uint32_t)num_packets * hc->max_packet; - } - } - else - { - num_packets = 1U; - } - - /* - * For IN channel HCTSIZ.XferSize is expected to be an integer multiple of - * max_packet size. - */ - if (hc->ep_is_in != 0U) - { - hc->XferSize = (uint32_t)num_packets * hc->max_packet; - } - else - { - hc->XferSize = hc->xfer_len; - } - - /* Initialize the HCTSIZn register */ - USBx_HC(ch_num)->HCTSIZ = (hc->XferSize & USB_OTG_HCTSIZ_XFRSIZ) | - (((uint32_t)num_packets << 19) & USB_OTG_HCTSIZ_PKTCNT) | - (((uint32_t)hc->data_pid << 29) & USB_OTG_HCTSIZ_DPID); - - if (dma != 0U) - { - /* xfer_buff MUST be 32-bits aligned */ - USBx_HC(ch_num)->HCDMA = (uint32_t)hc->xfer_buff; - } - - is_oddframe = (((uint32_t)USBx_HOST->HFNUM & 0x01U) != 0U) ? 0U : 1U; - USBx_HC(ch_num)->HCCHAR &= ~USB_OTG_HCCHAR_ODDFRM; - USBx_HC(ch_num)->HCCHAR |= (uint32_t)is_oddframe << 29; - - /* Set host channel enable */ - tmpreg = USBx_HC(ch_num)->HCCHAR; - tmpreg &= ~USB_OTG_HCCHAR_CHDIS; - - /* make sure to set the correct ep direction */ - if (hc->ep_is_in != 0U) - { - tmpreg |= USB_OTG_HCCHAR_EPDIR; - } - else - { - tmpreg &= ~USB_OTG_HCCHAR_EPDIR; - } - tmpreg |= USB_OTG_HCCHAR_CHENA; - USBx_HC(ch_num)->HCCHAR = tmpreg; - - if (dma != 0U) /* dma mode */ - { - return HAL_OK; - } - - if ((hc->ep_is_in == 0U) && (hc->xfer_len > 0U)) - { - switch (hc->ep_type) - { - /* Non periodic transfer */ - case EP_TYPE_CTRL: - case EP_TYPE_BULK: - - len_words = (uint16_t)((hc->xfer_len + 3U) / 4U); - - /* check if there is enough space in FIFO space */ - if (len_words > (USBx->HNPTXSTS & 0xFFFFU)) - { - /* need to process data in nptxfempty interrupt */ - USBx->GINTMSK |= USB_OTG_GINTMSK_NPTXFEM; - } - break; - - /* Periodic transfer */ - case EP_TYPE_INTR: - case EP_TYPE_ISOC: - len_words = (uint16_t)((hc->xfer_len + 3U) / 4U); - /* check if there is enough space in FIFO space */ - if (len_words > (USBx_HOST->HPTXSTS & 0xFFFFU)) /* split the transfer */ - { - /* need to process data in ptxfempty interrupt */ - USBx->GINTMSK |= USB_OTG_GINTMSK_PTXFEM; - } - break; - - default: - break; - } - - /* Write packet into the Tx FIFO. */ - (void)USB_WritePacket(USBx, hc->xfer_buff, hc->ch_num, (uint16_t)hc->xfer_len, 0); - } - - return HAL_OK; -} - -/** - * @brief Read all host channel interrupts status - * @param USBx Selected device - * @retval HAL state - */ -uint32_t USB_HC_ReadInterrupt(USB_OTG_GlobalTypeDef *USBx) -{ - uint32_t USBx_BASE = (uint32_t)USBx; - - return ((USBx_HOST->HAINT) & 0xFFFFU); -} - -/** - * @brief Halt a host channel - * @param USBx Selected device - * @param hc_num Host Channel number - * This parameter can be a value from 1 to 15 - * @retval HAL state - */ -HAL_StatusTypeDef USB_HC_Halt(USB_OTG_GlobalTypeDef *USBx, uint8_t hc_num) -{ - uint32_t USBx_BASE = (uint32_t)USBx; - uint32_t hcnum = (uint32_t)hc_num; - uint32_t count = 0U; - uint32_t HcEpType = (USBx_HC(hcnum)->HCCHAR & USB_OTG_HCCHAR_EPTYP) >> 18; - uint32_t ChannelEna = (USBx_HC(hcnum)->HCCHAR & USB_OTG_HCCHAR_CHENA) >> 31; - - if (((USBx->GAHBCFG & USB_OTG_GAHBCFG_DMAEN) == USB_OTG_GAHBCFG_DMAEN) && - (ChannelEna == 0U)) - { - return HAL_OK; - } - - /* Check for space in the request queue to issue the halt. */ - if ((HcEpType == HCCHAR_CTRL) || (HcEpType == HCCHAR_BULK)) - { - USBx_HC(hcnum)->HCCHAR |= USB_OTG_HCCHAR_CHDIS; - - if ((USBx->GAHBCFG & USB_OTG_GAHBCFG_DMAEN) == 0U) - { - if ((USBx->HNPTXSTS & (0xFFU << 16)) == 0U) - { - USBx_HC(hcnum)->HCCHAR &= ~USB_OTG_HCCHAR_CHENA; - USBx_HC(hcnum)->HCCHAR |= USB_OTG_HCCHAR_CHENA; - USBx_HC(hcnum)->HCCHAR &= ~USB_OTG_HCCHAR_EPDIR; - do - { - if (++count > 1000U) - { - break; - } - } while ((USBx_HC(hcnum)->HCCHAR & USB_OTG_HCCHAR_CHENA) == USB_OTG_HCCHAR_CHENA); - } - else - { - USBx_HC(hcnum)->HCCHAR |= USB_OTG_HCCHAR_CHENA; - } - } - } - else - { - USBx_HC(hcnum)->HCCHAR |= USB_OTG_HCCHAR_CHDIS; - - if ((USBx_HOST->HPTXSTS & (0xFFU << 16)) == 0U) - { - USBx_HC(hcnum)->HCCHAR &= ~USB_OTG_HCCHAR_CHENA; - USBx_HC(hcnum)->HCCHAR |= USB_OTG_HCCHAR_CHENA; - USBx_HC(hcnum)->HCCHAR &= ~USB_OTG_HCCHAR_EPDIR; - do - { - if (++count > 1000U) - { - break; - } - } while ((USBx_HC(hcnum)->HCCHAR & USB_OTG_HCCHAR_CHENA) == USB_OTG_HCCHAR_CHENA); - } - else - { - USBx_HC(hcnum)->HCCHAR |= USB_OTG_HCCHAR_CHENA; - } - } - - return HAL_OK; -} - -/** - * @brief Initiate Do Ping protocol - * @param USBx Selected device - * @param hc_num Host Channel number - * This parameter can be a value from 1 to 15 - * @retval HAL state - */ -HAL_StatusTypeDef USB_DoPing(USB_OTG_GlobalTypeDef *USBx, uint8_t ch_num) -{ - uint32_t USBx_BASE = (uint32_t)USBx; - uint32_t chnum = (uint32_t)ch_num; - uint32_t num_packets = 1U; - uint32_t tmpreg; - - USBx_HC(chnum)->HCTSIZ = ((num_packets << 19) & USB_OTG_HCTSIZ_PKTCNT) | - USB_OTG_HCTSIZ_DOPING; - - /* Set host channel enable */ - tmpreg = USBx_HC(chnum)->HCCHAR; - tmpreg &= ~USB_OTG_HCCHAR_CHDIS; - tmpreg |= USB_OTG_HCCHAR_CHENA; - USBx_HC(chnum)->HCCHAR = tmpreg; - - return HAL_OK; -} - -/** - * @brief Stop Host Core - * @param USBx Selected device - * @retval HAL state - */ -HAL_StatusTypeDef USB_StopHost(USB_OTG_GlobalTypeDef *USBx) -{ - uint32_t USBx_BASE = (uint32_t)USBx; - uint32_t count = 0U; - uint32_t value; - uint32_t i; - - (void)USB_DisableGlobalInt(USBx); - - /* Flush FIFO */ - (void)USB_FlushTxFifo(USBx, 0x10U); - (void)USB_FlushRxFifo(USBx); - - /* Flush out any leftover queued requests. */ - for (i = 0U; i <= 15U; i++) - { - value = USBx_HC(i)->HCCHAR; - value |= USB_OTG_HCCHAR_CHDIS; - value &= ~USB_OTG_HCCHAR_CHENA; - value &= ~USB_OTG_HCCHAR_EPDIR; - USBx_HC(i)->HCCHAR = value; - } - - /* Halt all channels to put them into a known state. */ - for (i = 0U; i <= 15U; i++) - { - value = USBx_HC(i)->HCCHAR; - value |= USB_OTG_HCCHAR_CHDIS; - value |= USB_OTG_HCCHAR_CHENA; - value &= ~USB_OTG_HCCHAR_EPDIR; - USBx_HC(i)->HCCHAR = value; - - do - { - if (++count > 1000U) - { - break; - } - } while ((USBx_HC(i)->HCCHAR & USB_OTG_HCCHAR_CHENA) == USB_OTG_HCCHAR_CHENA); - } - - /* Clear any pending Host interrupts */ - USBx_HOST->HAINT = 0xFFFFFFFFU; - USBx->GINTSTS = 0xFFFFFFFFU; - - (void)USB_EnableGlobalInt(USBx); - - return HAL_OK; -} - -/** - * @brief USB_ActivateRemoteWakeup active remote wakeup signalling - * @param USBx Selected device - * @retval HAL status - */ -HAL_StatusTypeDef USB_ActivateRemoteWakeup(USB_OTG_GlobalTypeDef *USBx) -{ - uint32_t USBx_BASE = (uint32_t)USBx; - - if ((USBx_DEVICE->DSTS & USB_OTG_DSTS_SUSPSTS) == USB_OTG_DSTS_SUSPSTS) - { - /* active Remote wakeup signalling */ - USBx_DEVICE->DCTL |= USB_OTG_DCTL_RWUSIG; - } - - return HAL_OK; -} - -/** - * @brief USB_DeActivateRemoteWakeup de-active remote wakeup signalling - * @param USBx Selected device - * @retval HAL status - */ -HAL_StatusTypeDef USB_DeActivateRemoteWakeup(USB_OTG_GlobalTypeDef *USBx) -{ - uint32_t USBx_BASE = (uint32_t)USBx; - - /* active Remote wakeup signalling */ - USBx_DEVICE->DCTL &= ~(USB_OTG_DCTL_RWUSIG); - - return HAL_OK; -} -#endif /* defined (USB_OTG_FS) || defined (USB_OTG_HS) */ - - -/** - * @} - */ - -/** - * @} - */ -#endif /* defined (USB_OTG_FS) || defined (USB_OTG_HS) */ -#endif /* defined (HAL_PCD_MODULE_ENABLED) || defined (HAL_HCD_MODULE_ENABLED) */ - -/** - * @} - */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_utils.c b/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_utils.c deleted file mode 100644 index 96f65272be1987..00000000000000 --- a/body/board/inc/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_utils.c +++ /dev/null @@ -1,752 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_ll_utils.c - * @author MCD Application Team - * @brief UTILS LL module driver. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_ll_utils.h" -#include "stm32f4xx_ll_rcc.h" -#include "stm32f4xx_ll_system.h" -#include "stm32f4xx_ll_pwr.h" -#ifdef USE_FULL_ASSERT -#include "stm32_assert.h" -#else -#define assert_param(expr) ((void)0U) -#endif /* USE_FULL_ASSERT */ - -/** @addtogroup STM32F4xx_LL_Driver - * @{ - */ - -/** @addtogroup UTILS_LL - * @{ - */ - -/* Private types -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private constants ---------------------------------------------------------*/ -/** @addtogroup UTILS_LL_Private_Constants - * @{ - */ -#if defined(RCC_MAX_FREQUENCY_SCALE1) -#define UTILS_MAX_FREQUENCY_SCALE1 RCC_MAX_FREQUENCY /*!< Maximum frequency for system clock at power scale1, in Hz */ -#endif /*RCC_MAX_FREQUENCY_SCALE1 */ -#define UTILS_MAX_FREQUENCY_SCALE2 RCC_MAX_FREQUENCY_SCALE2 /*!< Maximum frequency for system clock at power scale2, in Hz */ -#if defined(RCC_MAX_FREQUENCY_SCALE3) -#define UTILS_MAX_FREQUENCY_SCALE3 RCC_MAX_FREQUENCY_SCALE3 /*!< Maximum frequency for system clock at power scale3, in Hz */ -#endif /* MAX_FREQUENCY_SCALE3 */ - -/* Defines used for PLL range */ -#define UTILS_PLLVCO_INPUT_MIN RCC_PLLVCO_INPUT_MIN /*!< Frequency min for PLLVCO input, in Hz */ -#define UTILS_PLLVCO_INPUT_MAX RCC_PLLVCO_INPUT_MAX /*!< Frequency max for PLLVCO input, in Hz */ -#define UTILS_PLLVCO_OUTPUT_MIN RCC_PLLVCO_OUTPUT_MIN /*!< Frequency min for PLLVCO output, in Hz */ -#define UTILS_PLLVCO_OUTPUT_MAX RCC_PLLVCO_OUTPUT_MAX /*!< Frequency max for PLLVCO output, in Hz */ - -/* Defines used for HSE range */ -#define UTILS_HSE_FREQUENCY_MIN 4000000U /*!< Frequency min for HSE frequency, in Hz */ -#define UTILS_HSE_FREQUENCY_MAX 26000000U /*!< Frequency max for HSE frequency, in Hz */ - -/* Defines used for FLASH latency according to HCLK Frequency */ -#if defined(FLASH_SCALE1_LATENCY1_FREQ) -#define UTILS_SCALE1_LATENCY1_FREQ FLASH_SCALE1_LATENCY1_FREQ /*!< HCLK frequency to set FLASH latency 1 in power scale 1 */ -#endif -#if defined(FLASH_SCALE1_LATENCY2_FREQ) -#define UTILS_SCALE1_LATENCY2_FREQ FLASH_SCALE1_LATENCY2_FREQ /*!< HCLK frequency to set FLASH latency 2 in power scale 1 */ -#endif -#if defined(FLASH_SCALE1_LATENCY3_FREQ) -#define UTILS_SCALE1_LATENCY3_FREQ FLASH_SCALE1_LATENCY3_FREQ /*!< HCLK frequency to set FLASH latency 3 in power scale 1 */ -#endif -#if defined(FLASH_SCALE1_LATENCY4_FREQ) -#define UTILS_SCALE1_LATENCY4_FREQ FLASH_SCALE1_LATENCY4_FREQ /*!< HCLK frequency to set FLASH latency 4 in power scale 1 */ -#endif -#if defined(FLASH_SCALE1_LATENCY5_FREQ) -#define UTILS_SCALE1_LATENCY5_FREQ FLASH_SCALE1_LATENCY5_FREQ /*!< HCLK frequency to set FLASH latency 5 in power scale 1 */ -#endif -#define UTILS_SCALE2_LATENCY1_FREQ FLASH_SCALE2_LATENCY1_FREQ /*!< HCLK frequency to set FLASH latency 1 in power scale 2 */ -#define UTILS_SCALE2_LATENCY2_FREQ FLASH_SCALE2_LATENCY2_FREQ /*!< HCLK frequency to set FLASH latency 2 in power scale 2 */ -#if defined(FLASH_SCALE2_LATENCY3_FREQ) -#define UTILS_SCALE2_LATENCY3_FREQ FLASH_SCALE2_LATENCY3_FREQ /*!< HCLK frequency to set FLASH latency 2 in power scale 2 */ -#endif -#if defined(FLASH_SCALE2_LATENCY4_FREQ) -#define UTILS_SCALE2_LATENCY4_FREQ FLASH_SCALE2_LATENCY4_FREQ /*!< HCLK frequency to set FLASH latency 4 in power scale 2 */ -#endif -#if defined(FLASH_SCALE2_LATENCY5_FREQ) -#define UTILS_SCALE2_LATENCY5_FREQ FLASH_SCALE2_LATENCY5_FREQ /*!< HCLK frequency to set FLASH latency 5 in power scale 2 */ -#endif -#if defined(FLASH_SCALE3_LATENCY1_FREQ) -#define UTILS_SCALE3_LATENCY1_FREQ FLASH_SCALE3_LATENCY1_FREQ /*!< HCLK frequency to set FLASH latency 1 in power scale 3 */ -#endif -#if defined(FLASH_SCALE3_LATENCY2_FREQ) -#define UTILS_SCALE3_LATENCY2_FREQ FLASH_SCALE3_LATENCY2_FREQ /*!< HCLK frequency to set FLASH latency 2 in power scale 3 */ -#endif -#if defined(FLASH_SCALE3_LATENCY3_FREQ) -#define UTILS_SCALE3_LATENCY3_FREQ FLASH_SCALE3_LATENCY3_FREQ /*!< HCLK frequency to set FLASH latency 3 in power scale 3 */ -#endif -#if defined(FLASH_SCALE3_LATENCY4_FREQ) -#define UTILS_SCALE3_LATENCY4_FREQ FLASH_SCALE3_LATENCY4_FREQ /*!< HCLK frequency to set FLASH latency 4 in power scale 3 */ -#endif -#if defined(FLASH_SCALE3_LATENCY5_FREQ) -#define UTILS_SCALE3_LATENCY5_FREQ FLASH_SCALE3_LATENCY5_FREQ /*!< HCLK frequency to set FLASH latency 5 in power scale 3 */ -#endif -/** - * @} - */ - -/* Private macros ------------------------------------------------------------*/ -/** @addtogroup UTILS_LL_Private_Macros - * @{ - */ -#define IS_LL_UTILS_SYSCLK_DIV(__VALUE__) (((__VALUE__) == LL_RCC_SYSCLK_DIV_1) \ - || ((__VALUE__) == LL_RCC_SYSCLK_DIV_2) \ - || ((__VALUE__) == LL_RCC_SYSCLK_DIV_4) \ - || ((__VALUE__) == LL_RCC_SYSCLK_DIV_8) \ - || ((__VALUE__) == LL_RCC_SYSCLK_DIV_16) \ - || ((__VALUE__) == LL_RCC_SYSCLK_DIV_64) \ - || ((__VALUE__) == LL_RCC_SYSCLK_DIV_128) \ - || ((__VALUE__) == LL_RCC_SYSCLK_DIV_256) \ - || ((__VALUE__) == LL_RCC_SYSCLK_DIV_512)) - -#define IS_LL_UTILS_APB1_DIV(__VALUE__) (((__VALUE__) == LL_RCC_APB1_DIV_1) \ - || ((__VALUE__) == LL_RCC_APB1_DIV_2) \ - || ((__VALUE__) == LL_RCC_APB1_DIV_4) \ - || ((__VALUE__) == LL_RCC_APB1_DIV_8) \ - || ((__VALUE__) == LL_RCC_APB1_DIV_16)) - -#define IS_LL_UTILS_APB2_DIV(__VALUE__) (((__VALUE__) == LL_RCC_APB2_DIV_1) \ - || ((__VALUE__) == LL_RCC_APB2_DIV_2) \ - || ((__VALUE__) == LL_RCC_APB2_DIV_4) \ - || ((__VALUE__) == LL_RCC_APB2_DIV_8) \ - || ((__VALUE__) == LL_RCC_APB2_DIV_16)) - -#define IS_LL_UTILS_PLLM_VALUE(__VALUE__) (((__VALUE__) == LL_RCC_PLLM_DIV_2) \ - || ((__VALUE__) == LL_RCC_PLLM_DIV_3) \ - || ((__VALUE__) == LL_RCC_PLLM_DIV_4) \ - || ((__VALUE__) == LL_RCC_PLLM_DIV_5) \ - || ((__VALUE__) == LL_RCC_PLLM_DIV_6) \ - || ((__VALUE__) == LL_RCC_PLLM_DIV_7) \ - || ((__VALUE__) == LL_RCC_PLLM_DIV_8) \ - || ((__VALUE__) == LL_RCC_PLLM_DIV_9) \ - || ((__VALUE__) == LL_RCC_PLLM_DIV_10) \ - || ((__VALUE__) == LL_RCC_PLLM_DIV_11) \ - || ((__VALUE__) == LL_RCC_PLLM_DIV_12) \ - || ((__VALUE__) == LL_RCC_PLLM_DIV_13) \ - || ((__VALUE__) == LL_RCC_PLLM_DIV_14) \ - || ((__VALUE__) == LL_RCC_PLLM_DIV_15) \ - || ((__VALUE__) == LL_RCC_PLLM_DIV_16) \ - || ((__VALUE__) == LL_RCC_PLLM_DIV_17) \ - || ((__VALUE__) == LL_RCC_PLLM_DIV_18) \ - || ((__VALUE__) == LL_RCC_PLLM_DIV_19) \ - || ((__VALUE__) == LL_RCC_PLLM_DIV_20) \ - || ((__VALUE__) == LL_RCC_PLLM_DIV_21) \ - || ((__VALUE__) == LL_RCC_PLLM_DIV_22) \ - || ((__VALUE__) == LL_RCC_PLLM_DIV_23) \ - || ((__VALUE__) == LL_RCC_PLLM_DIV_24) \ - || ((__VALUE__) == LL_RCC_PLLM_DIV_25) \ - || ((__VALUE__) == LL_RCC_PLLM_DIV_26) \ - || ((__VALUE__) == LL_RCC_PLLM_DIV_27) \ - || ((__VALUE__) == LL_RCC_PLLM_DIV_28) \ - || ((__VALUE__) == LL_RCC_PLLM_DIV_29) \ - || ((__VALUE__) == LL_RCC_PLLM_DIV_30) \ - || ((__VALUE__) == LL_RCC_PLLM_DIV_31) \ - || ((__VALUE__) == LL_RCC_PLLM_DIV_32) \ - || ((__VALUE__) == LL_RCC_PLLM_DIV_33) \ - || ((__VALUE__) == LL_RCC_PLLM_DIV_34) \ - || ((__VALUE__) == LL_RCC_PLLM_DIV_35) \ - || ((__VALUE__) == LL_RCC_PLLM_DIV_36) \ - || ((__VALUE__) == LL_RCC_PLLM_DIV_37) \ - || ((__VALUE__) == LL_RCC_PLLM_DIV_38) \ - || ((__VALUE__) == LL_RCC_PLLM_DIV_39) \ - || ((__VALUE__) == LL_RCC_PLLM_DIV_40) \ - || ((__VALUE__) == LL_RCC_PLLM_DIV_41) \ - || ((__VALUE__) == LL_RCC_PLLM_DIV_42) \ - || ((__VALUE__) == LL_RCC_PLLM_DIV_43) \ - || ((__VALUE__) == LL_RCC_PLLM_DIV_44) \ - || ((__VALUE__) == LL_RCC_PLLM_DIV_45) \ - || ((__VALUE__) == LL_RCC_PLLM_DIV_46) \ - || ((__VALUE__) == LL_RCC_PLLM_DIV_47) \ - || ((__VALUE__) == LL_RCC_PLLM_DIV_48) \ - || ((__VALUE__) == LL_RCC_PLLM_DIV_49) \ - || ((__VALUE__) == LL_RCC_PLLM_DIV_50) \ - || ((__VALUE__) == LL_RCC_PLLM_DIV_51) \ - || ((__VALUE__) == LL_RCC_PLLM_DIV_52) \ - || ((__VALUE__) == LL_RCC_PLLM_DIV_53) \ - || ((__VALUE__) == LL_RCC_PLLM_DIV_54) \ - || ((__VALUE__) == LL_RCC_PLLM_DIV_55) \ - || ((__VALUE__) == LL_RCC_PLLM_DIV_56) \ - || ((__VALUE__) == LL_RCC_PLLM_DIV_57) \ - || ((__VALUE__) == LL_RCC_PLLM_DIV_58) \ - || ((__VALUE__) == LL_RCC_PLLM_DIV_59) \ - || ((__VALUE__) == LL_RCC_PLLM_DIV_60) \ - || ((__VALUE__) == LL_RCC_PLLM_DIV_61) \ - || ((__VALUE__) == LL_RCC_PLLM_DIV_62) \ - || ((__VALUE__) == LL_RCC_PLLM_DIV_63)) - -#define IS_LL_UTILS_PLLN_VALUE(__VALUE__) ((RCC_PLLN_MIN_VALUE <= (__VALUE__)) && ((__VALUE__) <= RCC_PLLN_MAX_VALUE)) - -#define IS_LL_UTILS_PLLP_VALUE(__VALUE__) (((__VALUE__) == LL_RCC_PLLP_DIV_2) \ - || ((__VALUE__) == LL_RCC_PLLP_DIV_4) \ - || ((__VALUE__) == LL_RCC_PLLP_DIV_6) \ - || ((__VALUE__) == LL_RCC_PLLP_DIV_8)) - -#define IS_LL_UTILS_PLLVCO_INPUT(__VALUE__) ((UTILS_PLLVCO_INPUT_MIN <= (__VALUE__)) && ((__VALUE__) <= UTILS_PLLVCO_INPUT_MAX)) - -#define IS_LL_UTILS_PLLVCO_OUTPUT(__VALUE__) ((UTILS_PLLVCO_OUTPUT_MIN <= (__VALUE__)) && ((__VALUE__) <= UTILS_PLLVCO_OUTPUT_MAX)) - -#if !defined(RCC_MAX_FREQUENCY_SCALE1) -#define IS_LL_UTILS_PLL_FREQUENCY(__VALUE__) ((LL_PWR_GetRegulVoltageScaling() == LL_PWR_REGU_VOLTAGE_SCALE2) ? ((__VALUE__) <= UTILS_MAX_FREQUENCY_SCALE2) : \ - ((__VALUE__) <= UTILS_MAX_FREQUENCY_SCALE3)) - -#elif defined(RCC_MAX_FREQUENCY_SCALE3) -#define IS_LL_UTILS_PLL_FREQUENCY(__VALUE__) ((LL_PWR_GetRegulVoltageScaling() == LL_PWR_REGU_VOLTAGE_SCALE1) ? ((__VALUE__) <= UTILS_MAX_FREQUENCY_SCALE1) : \ - (LL_PWR_GetRegulVoltageScaling() == LL_PWR_REGU_VOLTAGE_SCALE2) ? ((__VALUE__) <= UTILS_MAX_FREQUENCY_SCALE2) : \ - ((__VALUE__) <= UTILS_MAX_FREQUENCY_SCALE3)) - -#else -#define IS_LL_UTILS_PLL_FREQUENCY(__VALUE__) ((LL_PWR_GetRegulVoltageScaling() == LL_PWR_REGU_VOLTAGE_SCALE1) ? ((__VALUE__) <= UTILS_MAX_FREQUENCY_SCALE1) : \ - ((__VALUE__) <= UTILS_MAX_FREQUENCY_SCALE2)) - -#endif /* RCC_MAX_FREQUENCY_SCALE1*/ -#define IS_LL_UTILS_HSE_BYPASS(__STATE__) (((__STATE__) == LL_UTILS_HSEBYPASS_ON) \ - || ((__STATE__) == LL_UTILS_HSEBYPASS_OFF)) - -#define IS_LL_UTILS_HSE_FREQUENCY(__FREQUENCY__) (((__FREQUENCY__) >= UTILS_HSE_FREQUENCY_MIN) && ((__FREQUENCY__) <= UTILS_HSE_FREQUENCY_MAX)) -/** - * @} - */ -/* Private function prototypes -----------------------------------------------*/ -/** @defgroup UTILS_LL_Private_Functions UTILS Private functions - * @{ - */ -static uint32_t UTILS_GetPLLOutputFrequency(uint32_t PLL_InputFrequency, - LL_UTILS_PLLInitTypeDef *UTILS_PLLInitStruct); -static ErrorStatus UTILS_EnablePLLAndSwitchSystem(uint32_t SYSCLK_Frequency, LL_UTILS_ClkInitTypeDef *UTILS_ClkInitStruct); -static ErrorStatus UTILS_PLL_IsBusy(void); -/** - * @} - */ - -/* Exported functions --------------------------------------------------------*/ -/** @addtogroup UTILS_LL_Exported_Functions - * @{ - */ - -/** @addtogroup UTILS_LL_EF_DELAY - * @{ - */ - -/** - * @brief This function configures the Cortex-M SysTick source to have 1ms time base. - * @note When a RTOS is used, it is recommended to avoid changing the Systick - * configuration by calling this function, for a delay use rather osDelay RTOS service. - * @param HCLKFrequency HCLK frequency in Hz - * @note HCLK frequency can be calculated thanks to RCC helper macro or function @ref LL_RCC_GetSystemClocksFreq - * @retval None - */ -void LL_Init1msTick(uint32_t HCLKFrequency) -{ - /* Use frequency provided in argument */ - LL_InitTick(HCLKFrequency, 1000U); -} - -/** - * @brief This function provides accurate delay (in milliseconds) based - * on SysTick counter flag - * @note When a RTOS is used, it is recommended to avoid using blocking delay - * and use rather osDelay service. - * @note To respect 1ms timebase, user should call @ref LL_Init1msTick function which - * will configure Systick to 1ms - * @param Delay specifies the delay time length, in milliseconds. - * @retval None - */ -void LL_mDelay(uint32_t Delay) -{ - __IO uint32_t tmp = SysTick->CTRL; /* Clear the COUNTFLAG first */ - /* Add this code to indicate that local variable is not used */ - ((void)tmp); - - /* Add a period to guaranty minimum wait */ - if(Delay < LL_MAX_DELAY) - { - Delay++; - } - - while (Delay) - { - if((SysTick->CTRL & SysTick_CTRL_COUNTFLAG_Msk) != 0U) - { - Delay--; - } - } -} - -/** - * @} - */ - -/** @addtogroup UTILS_EF_SYSTEM - * @brief System Configuration functions - * - @verbatim - =============================================================================== - ##### System Configuration functions ##### - =============================================================================== - [..] - System, AHB and APB buses clocks configuration - - (+) The maximum frequency of the SYSCLK, HCLK, PCLK1 and PCLK2 is 180000000 Hz. - @endverbatim - @internal - Depending on the device voltage range, the maximum frequency should be - adapted accordingly to the Refenece manual. - @endinternal - * @{ - */ - -/** - * @brief This function sets directly SystemCoreClock CMSIS variable. - * @note Variable can be calculated also through SystemCoreClockUpdate function. - * @param HCLKFrequency HCLK frequency in Hz (can be calculated thanks to RCC helper macro) - * @retval None - */ -void LL_SetSystemCoreClock(uint32_t HCLKFrequency) -{ - /* HCLK clock frequency */ - SystemCoreClock = HCLKFrequency; -} - -/** - * @brief Update number of Flash wait states in line with new frequency and current - voltage range. - * @note This Function support ONLY devices with supply voltage (voltage range) between 2.7V and 3.6V - * @param HCLK_Frequency HCLK frequency - * @retval An ErrorStatus enumeration value: - * - SUCCESS: Latency has been modified - * - ERROR: Latency cannot be modified - */ -ErrorStatus LL_SetFlashLatency(uint32_t HCLK_Frequency) -{ - uint32_t timeout; - uint32_t getlatency; - uint32_t latency = LL_FLASH_LATENCY_0; /* default value 0WS */ - ErrorStatus status = SUCCESS; - - - /* Frequency cannot be equal to 0 */ - if(HCLK_Frequency == 0U) - { - status = ERROR; - } - else - { - if(LL_PWR_GetRegulVoltageScaling() == LL_PWR_REGU_VOLTAGE_SCALE1) - { -#if defined (UTILS_SCALE1_LATENCY5_FREQ) - if((HCLK_Frequency > UTILS_SCALE1_LATENCY5_FREQ)&&(latency == LL_FLASH_LATENCY_0)) - { - latency = LL_FLASH_LATENCY_5; - } -#endif /*UTILS_SCALE1_LATENCY5_FREQ */ -#if defined (UTILS_SCALE1_LATENCY4_FREQ) - if((HCLK_Frequency > UTILS_SCALE1_LATENCY4_FREQ)&&(latency == LL_FLASH_LATENCY_0)) - { - latency = LL_FLASH_LATENCY_4; - } -#endif /* UTILS_SCALE1_LATENCY4_FREQ */ -#if defined (UTILS_SCALE1_LATENCY3_FREQ) - if((HCLK_Frequency > UTILS_SCALE1_LATENCY3_FREQ)&&(latency == LL_FLASH_LATENCY_0)) - { - latency = LL_FLASH_LATENCY_3; - } -#endif /* UTILS_SCALE1_LATENCY3_FREQ */ -#if defined (UTILS_SCALE1_LATENCY2_FREQ) - if((HCLK_Frequency > UTILS_SCALE1_LATENCY2_FREQ)&&(latency == LL_FLASH_LATENCY_0)) - { - latency = LL_FLASH_LATENCY_2; - } - else - { - if((HCLK_Frequency > UTILS_SCALE1_LATENCY1_FREQ)&&(latency == LL_FLASH_LATENCY_0)) - { - latency = LL_FLASH_LATENCY_1; - } - } -#endif /* UTILS_SCALE1_LATENCY2_FREQ */ - } - if(LL_PWR_GetRegulVoltageScaling() == LL_PWR_REGU_VOLTAGE_SCALE2) - { -#if defined (UTILS_SCALE2_LATENCY5_FREQ) - if((HCLK_Frequency > UTILS_SCALE2_LATENCY5_FREQ)&&(latency == LL_FLASH_LATENCY_0)) - { - latency = LL_FLASH_LATENCY_5; - } -#endif /*UTILS_SCALE1_LATENCY5_FREQ */ -#if defined (UTILS_SCALE2_LATENCY4_FREQ) - if((HCLK_Frequency > UTILS_SCALE2_LATENCY4_FREQ)&&(latency == LL_FLASH_LATENCY_0)) - { - latency = LL_FLASH_LATENCY_4; - } -#endif /*UTILS_SCALE1_LATENCY4_FREQ */ -#if defined (UTILS_SCALE2_LATENCY3_FREQ) - if((HCLK_Frequency > UTILS_SCALE2_LATENCY3_FREQ)&&(latency == LL_FLASH_LATENCY_0)) - { - latency = LL_FLASH_LATENCY_3; - } -#endif /*UTILS_SCALE1_LATENCY3_FREQ */ - if((HCLK_Frequency > UTILS_SCALE2_LATENCY2_FREQ)&&(latency == LL_FLASH_LATENCY_0)) - { - latency = LL_FLASH_LATENCY_2; - } - else - { - if((HCLK_Frequency > UTILS_SCALE2_LATENCY1_FREQ)&&(latency == LL_FLASH_LATENCY_0)) - { - latency = LL_FLASH_LATENCY_1; - } - } - } -#if defined (LL_PWR_REGU_VOLTAGE_SCALE3) - if(LL_PWR_GetRegulVoltageScaling() == LL_PWR_REGU_VOLTAGE_SCALE3) - { -#if defined (UTILS_SCALE3_LATENCY3_FREQ) - if((HCLK_Frequency > UTILS_SCALE3_LATENCY3_FREQ)&&(latency == LL_FLASH_LATENCY_0)) - { - latency = LL_FLASH_LATENCY_3; - } -#endif /*UTILS_SCALE1_LATENCY3_FREQ */ -#if defined (UTILS_SCALE3_LATENCY2_FREQ) - if((HCLK_Frequency > UTILS_SCALE3_LATENCY2_FREQ)&&(latency == LL_FLASH_LATENCY_0)) - { - latency = LL_FLASH_LATENCY_2; - } - else - { - if((HCLK_Frequency > UTILS_SCALE3_LATENCY1_FREQ)&&(latency == LL_FLASH_LATENCY_0)) - { - latency = LL_FLASH_LATENCY_1; - } - } - } -#endif /*UTILS_SCALE1_LATENCY2_FREQ */ -#endif /* LL_PWR_REGU_VOLTAGE_SCALE3 */ - - LL_FLASH_SetLatency(latency); - /* Check that the new number of wait states is taken into account to access the Flash - memory by reading the FLASH_ACR register */ - timeout = 2; - do - { - /* Wait for Flash latency to be updated */ - getlatency = LL_FLASH_GetLatency(); - timeout--; - } while ((getlatency != latency) && (timeout > 0)); - - if(getlatency != latency) - { - status = ERROR; - } - else - { - status = SUCCESS; - } - } - return status; -} - -/** - * @brief This function configures system clock at maximum frequency with HSI as clock source of the PLL - * @note The application need to ensure that PLL is disabled. - * @note Function is based on the following formula: - * - PLL output frequency = (((HSI frequency / PLLM) * PLLN) / PLLP) - * - PLLM: ensure that the VCO input frequency ranges from @ref RCC_PLLVCO_INPUT_MIN to @ref RCC_PLLVCO_INPUT_MAX (PLLVCO_input = HSI frequency / PLLM) - * - PLLN: ensure that the VCO output frequency is between @ref RCC_PLLVCO_OUTPUT_MIN and @ref RCC_PLLVCO_OUTPUT_MAX (PLLVCO_output = PLLVCO_input * PLLN) - * - PLLP: ensure that max frequency at 180000000 Hz is reach (PLLVCO_output / PLLP) - * @param UTILS_PLLInitStruct pointer to a @ref LL_UTILS_PLLInitTypeDef structure that contains - * the configuration information for the PLL. - * @param UTILS_ClkInitStruct pointer to a @ref LL_UTILS_ClkInitTypeDef structure that contains - * the configuration information for the BUS prescalers. - * @retval An ErrorStatus enumeration value: - * - SUCCESS: Max frequency configuration done - * - ERROR: Max frequency configuration not done - */ -ErrorStatus LL_PLL_ConfigSystemClock_HSI(LL_UTILS_PLLInitTypeDef *UTILS_PLLInitStruct, - LL_UTILS_ClkInitTypeDef *UTILS_ClkInitStruct) -{ - ErrorStatus status = SUCCESS; - uint32_t pllfreq = 0U; - - /* Check if one of the PLL is enabled */ - if(UTILS_PLL_IsBusy() == SUCCESS) - { - /* Calculate the new PLL output frequency */ - pllfreq = UTILS_GetPLLOutputFrequency(HSI_VALUE, UTILS_PLLInitStruct); - - /* Enable HSI if not enabled */ - if(LL_RCC_HSI_IsReady() != 1U) - { - LL_RCC_HSI_Enable(); - while (LL_RCC_HSI_IsReady() != 1U) - { - /* Wait for HSI ready */ - } - } - - /* Configure PLL */ - LL_RCC_PLL_ConfigDomain_SYS(LL_RCC_PLLSOURCE_HSI, UTILS_PLLInitStruct->PLLM, UTILS_PLLInitStruct->PLLN, - UTILS_PLLInitStruct->PLLP); - - /* Enable PLL and switch system clock to PLL */ - status = UTILS_EnablePLLAndSwitchSystem(pllfreq, UTILS_ClkInitStruct); - } - else - { - /* Current PLL configuration cannot be modified */ - status = ERROR; - } - - return status; -} - -/** - * @brief This function configures system clock with HSE as clock source of the PLL - * @note The application need to ensure that PLL is disabled. - * - PLL output frequency = (((HSI frequency / PLLM) * PLLN) / PLLP) - * - PLLM: ensure that the VCO input frequency ranges from @ref RCC_PLLVCO_INPUT_MIN to @ref RCC_PLLVCO_INPUT_MAX (PLLVCO_input = HSI frequency / PLLM) - * - PLLN: ensure that the VCO output frequency is between @ref RCC_PLLVCO_OUTPUT_MIN and @ref RCC_PLLVCO_OUTPUT_MAX (PLLVCO_output = PLLVCO_input * PLLN) - * - PLLP: ensure that max frequency at 180000000 Hz is reach (PLLVCO_output / PLLP) - * @param HSEFrequency Value between Min_Data = 4000000 and Max_Data = 26000000 - * @param HSEBypass This parameter can be one of the following values: - * @arg @ref LL_UTILS_HSEBYPASS_ON - * @arg @ref LL_UTILS_HSEBYPASS_OFF - * @param UTILS_PLLInitStruct pointer to a @ref LL_UTILS_PLLInitTypeDef structure that contains - * the configuration information for the PLL. - * @param UTILS_ClkInitStruct pointer to a @ref LL_UTILS_ClkInitTypeDef structure that contains - * the configuration information for the BUS prescalers. - * @retval An ErrorStatus enumeration value: - * - SUCCESS: Max frequency configuration done - * - ERROR: Max frequency configuration not done - */ -ErrorStatus LL_PLL_ConfigSystemClock_HSE(uint32_t HSEFrequency, uint32_t HSEBypass, - LL_UTILS_PLLInitTypeDef *UTILS_PLLInitStruct, LL_UTILS_ClkInitTypeDef *UTILS_ClkInitStruct) -{ - ErrorStatus status = SUCCESS; - uint32_t pllfreq = 0U; - - /* Check the parameters */ - assert_param(IS_LL_UTILS_HSE_FREQUENCY(HSEFrequency)); - assert_param(IS_LL_UTILS_HSE_BYPASS(HSEBypass)); - - /* Check if one of the PLL is enabled */ - if(UTILS_PLL_IsBusy() == SUCCESS) - { - /* Calculate the new PLL output frequency */ - pllfreq = UTILS_GetPLLOutputFrequency(HSEFrequency, UTILS_PLLInitStruct); - - /* Enable HSE if not enabled */ - if(LL_RCC_HSE_IsReady() != 1U) - { - /* Check if need to enable HSE bypass feature or not */ - if(HSEBypass == LL_UTILS_HSEBYPASS_ON) - { - LL_RCC_HSE_EnableBypass(); - } - else - { - LL_RCC_HSE_DisableBypass(); - } - - /* Enable HSE */ - LL_RCC_HSE_Enable(); - while (LL_RCC_HSE_IsReady() != 1U) - { - /* Wait for HSE ready */ - } - } - - /* Configure PLL */ - LL_RCC_PLL_ConfigDomain_SYS(LL_RCC_PLLSOURCE_HSE, UTILS_PLLInitStruct->PLLM, UTILS_PLLInitStruct->PLLN, - UTILS_PLLInitStruct->PLLP); - - /* Enable PLL and switch system clock to PLL */ - status = UTILS_EnablePLLAndSwitchSystem(pllfreq, UTILS_ClkInitStruct); - } - else - { - /* Current PLL configuration cannot be modified */ - status = ERROR; - } - - return status; -} - -/** - * @} - */ - -/** - * @} - */ - -/** @addtogroup UTILS_LL_Private_Functions - * @{ - */ -/** - * @brief Function to check that PLL can be modified - * @param PLL_InputFrequency PLL input frequency (in Hz) - * @param UTILS_PLLInitStruct pointer to a @ref LL_UTILS_PLLInitTypeDef structure that contains - * the configuration information for the PLL. - * @retval PLL output frequency (in Hz) - */ -static uint32_t UTILS_GetPLLOutputFrequency(uint32_t PLL_InputFrequency, LL_UTILS_PLLInitTypeDef *UTILS_PLLInitStruct) -{ - uint32_t pllfreq = 0U; - - /* Check the parameters */ - assert_param(IS_LL_UTILS_PLLM_VALUE(UTILS_PLLInitStruct->PLLM)); - assert_param(IS_LL_UTILS_PLLN_VALUE(UTILS_PLLInitStruct->PLLN)); - assert_param(IS_LL_UTILS_PLLP_VALUE(UTILS_PLLInitStruct->PLLP)); - - /* Check different PLL parameters according to RM */ - /* - PLLM: ensure that the VCO input frequency ranges from @ref UTILS_PLLVCO_INPUT_MIN to @ref UTILS_PLLVCO_INPUT_MAX MHz. */ - pllfreq = PLL_InputFrequency / (UTILS_PLLInitStruct->PLLM & (RCC_PLLCFGR_PLLM >> RCC_PLLCFGR_PLLM_Pos)); - assert_param(IS_LL_UTILS_PLLVCO_INPUT(pllfreq)); - - /* - PLLN: ensure that the VCO output frequency is between @ref UTILS_PLLVCO_OUTPUT_MIN and @ref UTILS_PLLVCO_OUTPUT_MAX .*/ - pllfreq = pllfreq * (UTILS_PLLInitStruct->PLLN & (RCC_PLLCFGR_PLLN >> RCC_PLLCFGR_PLLN_Pos)); - assert_param(IS_LL_UTILS_PLLVCO_OUTPUT(pllfreq)); - - /* - PLLP: ensure that max frequency at @ref RCC_MAX_FREQUENCY Hz is reached */ - pllfreq = pllfreq / (((UTILS_PLLInitStruct->PLLP >> RCC_PLLCFGR_PLLP_Pos) + 1) * 2); - assert_param(IS_LL_UTILS_PLL_FREQUENCY(pllfreq)); - - return pllfreq; -} - -/** - * @brief Function to check that PLL can be modified - * @retval An ErrorStatus enumeration value: - * - SUCCESS: PLL modification can be done - * - ERROR: PLL is busy - */ -static ErrorStatus UTILS_PLL_IsBusy(void) -{ - ErrorStatus status = SUCCESS; - - /* Check if PLL is busy*/ - if(LL_RCC_PLL_IsReady() != 0U) - { - /* PLL configuration cannot be modified */ - status = ERROR; - } - -#if defined(RCC_PLLSAI_SUPPORT) - /* Check if PLLSAI is busy*/ - if(LL_RCC_PLLSAI_IsReady() != 0U) - { - /* PLLSAI1 configuration cannot be modified */ - status = ERROR; - } -#endif /*RCC_PLLSAI_SUPPORT*/ -#if defined(RCC_PLLI2S_SUPPORT) - /* Check if PLLI2S is busy*/ - if(LL_RCC_PLLI2S_IsReady() != 0U) - { - /* PLLI2S configuration cannot be modified */ - status = ERROR; - } -#endif /*RCC_PLLI2S_SUPPORT*/ - return status; -} - -/** - * @brief Function to enable PLL and switch system clock to PLL - * @param SYSCLK_Frequency SYSCLK frequency - * @param UTILS_ClkInitStruct pointer to a @ref LL_UTILS_ClkInitTypeDef structure that contains - * the configuration information for the BUS prescalers. - * @retval An ErrorStatus enumeration value: - * - SUCCESS: No problem to switch system to PLL - * - ERROR: Problem to switch system to PLL - */ -static ErrorStatus UTILS_EnablePLLAndSwitchSystem(uint32_t SYSCLK_Frequency, LL_UTILS_ClkInitTypeDef *UTILS_ClkInitStruct) -{ - ErrorStatus status = SUCCESS; - uint32_t hclk_frequency = 0U; - - assert_param(IS_LL_UTILS_SYSCLK_DIV(UTILS_ClkInitStruct->AHBCLKDivider)); - assert_param(IS_LL_UTILS_APB1_DIV(UTILS_ClkInitStruct->APB1CLKDivider)); - assert_param(IS_LL_UTILS_APB2_DIV(UTILS_ClkInitStruct->APB2CLKDivider)); - - /* Calculate HCLK frequency */ - hclk_frequency = __LL_RCC_CALC_HCLK_FREQ(SYSCLK_Frequency, UTILS_ClkInitStruct->AHBCLKDivider); - - /* Increasing the number of wait states because of higher CPU frequency */ - if(SystemCoreClock < hclk_frequency) - { - /* Set FLASH latency to highest latency */ - status = LL_SetFlashLatency(hclk_frequency); - } - - /* Update system clock configuration */ - if(status == SUCCESS) - { - /* Enable PLL */ - LL_RCC_PLL_Enable(); - while (LL_RCC_PLL_IsReady() != 1U) - { - /* Wait for PLL ready */ - } - - /* Sysclk activation on the main PLL */ - LL_RCC_SetAHBPrescaler(UTILS_ClkInitStruct->AHBCLKDivider); - LL_RCC_SetSysClkSource(LL_RCC_SYS_CLKSOURCE_PLL); - while (LL_RCC_GetSysClkSource() != LL_RCC_SYS_CLKSOURCE_STATUS_PLL) - { - /* Wait for system clock switch to PLL */ - } - - /* Set APB1 & APB2 prescaler*/ - LL_RCC_SetAPB1Prescaler(UTILS_ClkInitStruct->APB1CLKDivider); - LL_RCC_SetAPB2Prescaler(UTILS_ClkInitStruct->APB2CLKDivider); - } - - /* Decreasing the number of wait states because of lower CPU frequency */ - if(SystemCoreClock > hclk_frequency) - { - /* Set FLASH latency to lowest latency */ - status = LL_SetFlashLatency(hclk_frequency); - } - - /* Update SystemCoreClock variable */ - if(status == SUCCESS) - { - LL_SetSystemCoreClock(hclk_frequency); - } - - return status; -} - -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/arm_common_tables.h b/body/board/inc/arm_common_tables.h deleted file mode 100644 index 8742a5699153c3..00000000000000 --- a/body/board/inc/arm_common_tables.h +++ /dev/null @@ -1,136 +0,0 @@ -/* ---------------------------------------------------------------------- -* Copyright (C) 2010-2014 ARM Limited. All rights reserved. -* -* $Date: 19. October 2015 -* $Revision: V.1.4.5 a -* -* Project: CMSIS DSP Library -* Title: arm_common_tables.h -* -* Description: This file has extern declaration for common tables like Bitreverse, reciprocal etc which are used across different functions -* -* Target Processor: Cortex-M4/Cortex-M3 -* -* Redistribution and use in source and binary forms, with or without -* modification, are permitted provided that the following conditions -* are met: -* - Redistributions of source code must retain the above copyright -* notice, this list of conditions and the following disclaimer. -* - Redistributions in binary form must reproduce the above copyright -* notice, this list of conditions and the following disclaimer in -* the documentation and/or other materials provided with the -* distribution. -* - Neither the name of ARM LIMITED nor the names of its contributors -* may be used to endorse or promote products derived from this -* software without specific prior written permission. -* -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER -* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -* POSSIBILITY OF SUCH DAMAGE. -* -------------------------------------------------------------------- */ - -#ifndef _ARM_COMMON_TABLES_H -#define _ARM_COMMON_TABLES_H - -#include "arm_math.h" - -extern const uint16_t armBitRevTable[1024]; -extern const q15_t armRecipTableQ15[64]; -extern const q31_t armRecipTableQ31[64]; -/* extern const q31_t realCoefAQ31[1024]; */ -/* extern const q31_t realCoefBQ31[1024]; */ -extern const float32_t twiddleCoef_16[32]; -extern const float32_t twiddleCoef_32[64]; -extern const float32_t twiddleCoef_64[128]; -extern const float32_t twiddleCoef_128[256]; -extern const float32_t twiddleCoef_256[512]; -extern const float32_t twiddleCoef_512[1024]; -extern const float32_t twiddleCoef_1024[2048]; -extern const float32_t twiddleCoef_2048[4096]; -extern const float32_t twiddleCoef_4096[8192]; -#define twiddleCoef twiddleCoef_4096 -extern const q31_t twiddleCoef_16_q31[24]; -extern const q31_t twiddleCoef_32_q31[48]; -extern const q31_t twiddleCoef_64_q31[96]; -extern const q31_t twiddleCoef_128_q31[192]; -extern const q31_t twiddleCoef_256_q31[384]; -extern const q31_t twiddleCoef_512_q31[768]; -extern const q31_t twiddleCoef_1024_q31[1536]; -extern const q31_t twiddleCoef_2048_q31[3072]; -extern const q31_t twiddleCoef_4096_q31[6144]; -extern const q15_t twiddleCoef_16_q15[24]; -extern const q15_t twiddleCoef_32_q15[48]; -extern const q15_t twiddleCoef_64_q15[96]; -extern const q15_t twiddleCoef_128_q15[192]; -extern const q15_t twiddleCoef_256_q15[384]; -extern const q15_t twiddleCoef_512_q15[768]; -extern const q15_t twiddleCoef_1024_q15[1536]; -extern const q15_t twiddleCoef_2048_q15[3072]; -extern const q15_t twiddleCoef_4096_q15[6144]; -extern const float32_t twiddleCoef_rfft_32[32]; -extern const float32_t twiddleCoef_rfft_64[64]; -extern const float32_t twiddleCoef_rfft_128[128]; -extern const float32_t twiddleCoef_rfft_256[256]; -extern const float32_t twiddleCoef_rfft_512[512]; -extern const float32_t twiddleCoef_rfft_1024[1024]; -extern const float32_t twiddleCoef_rfft_2048[2048]; -extern const float32_t twiddleCoef_rfft_4096[4096]; - - -/* floating-point bit reversal tables */ -#define ARMBITREVINDEXTABLE__16_TABLE_LENGTH ((uint16_t)20 ) -#define ARMBITREVINDEXTABLE__32_TABLE_LENGTH ((uint16_t)48 ) -#define ARMBITREVINDEXTABLE__64_TABLE_LENGTH ((uint16_t)56 ) -#define ARMBITREVINDEXTABLE_128_TABLE_LENGTH ((uint16_t)208 ) -#define ARMBITREVINDEXTABLE_256_TABLE_LENGTH ((uint16_t)440 ) -#define ARMBITREVINDEXTABLE_512_TABLE_LENGTH ((uint16_t)448 ) -#define ARMBITREVINDEXTABLE1024_TABLE_LENGTH ((uint16_t)1800) -#define ARMBITREVINDEXTABLE2048_TABLE_LENGTH ((uint16_t)3808) -#define ARMBITREVINDEXTABLE4096_TABLE_LENGTH ((uint16_t)4032) - -extern const uint16_t armBitRevIndexTable16[ARMBITREVINDEXTABLE__16_TABLE_LENGTH]; -extern const uint16_t armBitRevIndexTable32[ARMBITREVINDEXTABLE__32_TABLE_LENGTH]; -extern const uint16_t armBitRevIndexTable64[ARMBITREVINDEXTABLE__64_TABLE_LENGTH]; -extern const uint16_t armBitRevIndexTable128[ARMBITREVINDEXTABLE_128_TABLE_LENGTH]; -extern const uint16_t armBitRevIndexTable256[ARMBITREVINDEXTABLE_256_TABLE_LENGTH]; -extern const uint16_t armBitRevIndexTable512[ARMBITREVINDEXTABLE_512_TABLE_LENGTH]; -extern const uint16_t armBitRevIndexTable1024[ARMBITREVINDEXTABLE1024_TABLE_LENGTH]; -extern const uint16_t armBitRevIndexTable2048[ARMBITREVINDEXTABLE2048_TABLE_LENGTH]; -extern const uint16_t armBitRevIndexTable4096[ARMBITREVINDEXTABLE4096_TABLE_LENGTH]; - -/* fixed-point bit reversal tables */ -#define ARMBITREVINDEXTABLE_FIXED___16_TABLE_LENGTH ((uint16_t)12 ) -#define ARMBITREVINDEXTABLE_FIXED___32_TABLE_LENGTH ((uint16_t)24 ) -#define ARMBITREVINDEXTABLE_FIXED___64_TABLE_LENGTH ((uint16_t)56 ) -#define ARMBITREVINDEXTABLE_FIXED__128_TABLE_LENGTH ((uint16_t)112 ) -#define ARMBITREVINDEXTABLE_FIXED__256_TABLE_LENGTH ((uint16_t)240 ) -#define ARMBITREVINDEXTABLE_FIXED__512_TABLE_LENGTH ((uint16_t)480 ) -#define ARMBITREVINDEXTABLE_FIXED_1024_TABLE_LENGTH ((uint16_t)992 ) -#define ARMBITREVINDEXTABLE_FIXED_2048_TABLE_LENGTH ((uint16_t)1984) -#define ARMBITREVINDEXTABLE_FIXED_4096_TABLE_LENGTH ((uint16_t)4032) - -extern const uint16_t armBitRevIndexTable_fixed_16[ARMBITREVINDEXTABLE_FIXED___16_TABLE_LENGTH]; -extern const uint16_t armBitRevIndexTable_fixed_32[ARMBITREVINDEXTABLE_FIXED___32_TABLE_LENGTH]; -extern const uint16_t armBitRevIndexTable_fixed_64[ARMBITREVINDEXTABLE_FIXED___64_TABLE_LENGTH]; -extern const uint16_t armBitRevIndexTable_fixed_128[ARMBITREVINDEXTABLE_FIXED__128_TABLE_LENGTH]; -extern const uint16_t armBitRevIndexTable_fixed_256[ARMBITREVINDEXTABLE_FIXED__256_TABLE_LENGTH]; -extern const uint16_t armBitRevIndexTable_fixed_512[ARMBITREVINDEXTABLE_FIXED__512_TABLE_LENGTH]; -extern const uint16_t armBitRevIndexTable_fixed_1024[ARMBITREVINDEXTABLE_FIXED_1024_TABLE_LENGTH]; -extern const uint16_t armBitRevIndexTable_fixed_2048[ARMBITREVINDEXTABLE_FIXED_2048_TABLE_LENGTH]; -extern const uint16_t armBitRevIndexTable_fixed_4096[ARMBITREVINDEXTABLE_FIXED_4096_TABLE_LENGTH]; - -/* Tables for Fast Math Sine and Cosine */ -extern const float32_t sinTable_f32[FAST_MATH_TABLE_SIZE + 1]; -extern const q31_t sinTable_q31[FAST_MATH_TABLE_SIZE + 1]; -extern const q15_t sinTable_q15[FAST_MATH_TABLE_SIZE + 1]; - -#endif /* ARM_COMMON_TABLES_H */ diff --git a/body/board/inc/arm_const_structs.h b/body/board/inc/arm_const_structs.h deleted file mode 100644 index 726d06eb692f05..00000000000000 --- a/body/board/inc/arm_const_structs.h +++ /dev/null @@ -1,79 +0,0 @@ -/* ---------------------------------------------------------------------- -* Copyright (C) 2010-2014 ARM Limited. All rights reserved. -* -* $Date: 19. March 2015 -* $Revision: V.1.4.5 -* -* Project: CMSIS DSP Library -* Title: arm_const_structs.h -* -* Description: This file has constant structs that are initialized for -* user convenience. For example, some can be given as -* arguments to the arm_cfft_f32() function. -* -* Target Processor: Cortex-M4/Cortex-M3 -* -* Redistribution and use in source and binary forms, with or without -* modification, are permitted provided that the following conditions -* are met: -* - Redistributions of source code must retain the above copyright -* notice, this list of conditions and the following disclaimer. -* - Redistributions in binary form must reproduce the above copyright -* notice, this list of conditions and the following disclaimer in -* the documentation and/or other materials provided with the -* distribution. -* - Neither the name of ARM LIMITED nor the names of its contributors -* may be used to endorse or promote products derived from this -* software without specific prior written permission. -* -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER -* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -* POSSIBILITY OF SUCH DAMAGE. -* -------------------------------------------------------------------- */ - -#ifndef _ARM_CONST_STRUCTS_H -#define _ARM_CONST_STRUCTS_H - -#include "arm_math.h" -#include "arm_common_tables.h" - - extern const arm_cfft_instance_f32 arm_cfft_sR_f32_len16; - extern const arm_cfft_instance_f32 arm_cfft_sR_f32_len32; - extern const arm_cfft_instance_f32 arm_cfft_sR_f32_len64; - extern const arm_cfft_instance_f32 arm_cfft_sR_f32_len128; - extern const arm_cfft_instance_f32 arm_cfft_sR_f32_len256; - extern const arm_cfft_instance_f32 arm_cfft_sR_f32_len512; - extern const arm_cfft_instance_f32 arm_cfft_sR_f32_len1024; - extern const arm_cfft_instance_f32 arm_cfft_sR_f32_len2048; - extern const arm_cfft_instance_f32 arm_cfft_sR_f32_len4096; - - extern const arm_cfft_instance_q31 arm_cfft_sR_q31_len16; - extern const arm_cfft_instance_q31 arm_cfft_sR_q31_len32; - extern const arm_cfft_instance_q31 arm_cfft_sR_q31_len64; - extern const arm_cfft_instance_q31 arm_cfft_sR_q31_len128; - extern const arm_cfft_instance_q31 arm_cfft_sR_q31_len256; - extern const arm_cfft_instance_q31 arm_cfft_sR_q31_len512; - extern const arm_cfft_instance_q31 arm_cfft_sR_q31_len1024; - extern const arm_cfft_instance_q31 arm_cfft_sR_q31_len2048; - extern const arm_cfft_instance_q31 arm_cfft_sR_q31_len4096; - - extern const arm_cfft_instance_q15 arm_cfft_sR_q15_len16; - extern const arm_cfft_instance_q15 arm_cfft_sR_q15_len32; - extern const arm_cfft_instance_q15 arm_cfft_sR_q15_len64; - extern const arm_cfft_instance_q15 arm_cfft_sR_q15_len128; - extern const arm_cfft_instance_q15 arm_cfft_sR_q15_len256; - extern const arm_cfft_instance_q15 arm_cfft_sR_q15_len512; - extern const arm_cfft_instance_q15 arm_cfft_sR_q15_len1024; - extern const arm_cfft_instance_q15 arm_cfft_sR_q15_len2048; - extern const arm_cfft_instance_q15 arm_cfft_sR_q15_len4096; - -#endif diff --git a/body/board/inc/arm_math.h b/body/board/inc/arm_math.h deleted file mode 100644 index d33f8a9b3b57f9..00000000000000 --- a/body/board/inc/arm_math.h +++ /dev/null @@ -1,7154 +0,0 @@ -/* ---------------------------------------------------------------------- -* Copyright (C) 2010-2015 ARM Limited. All rights reserved. -* -* $Date: 20. October 2015 -* $Revision: V1.4.5 b -* -* Project: CMSIS DSP Library -* Title: arm_math.h -* -* Description: Public header file for CMSIS DSP Library -* -* Target Processor: Cortex-M7/Cortex-M4/Cortex-M3/Cortex-M0 -* -* Redistribution and use in source and binary forms, with or without -* modification, are permitted provided that the following conditions -* are met: -* - Redistributions of source code must retain the above copyright -* notice, this list of conditions and the following disclaimer. -* - Redistributions in binary form must reproduce the above copyright -* notice, this list of conditions and the following disclaimer in -* the documentation and/or other materials provided with the -* distribution. -* - Neither the name of ARM LIMITED nor the names of its contributors -* may be used to endorse or promote products derived from this -* software without specific prior written permission. -* -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER -* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -* POSSIBILITY OF SUCH DAMAGE. - * -------------------------------------------------------------------- */ - -/** - \mainpage CMSIS DSP Software Library - * - * Introduction - * ------------ - * - * This user manual describes the CMSIS DSP software library, - * a suite of common signal processing functions for use on Cortex-M processor based devices. - * - * The library is divided into a number of functions each covering a specific category: - * - Basic math functions - * - Fast math functions - * - Complex math functions - * - Filters - * - Matrix functions - * - Transforms - * - Motor control functions - * - Statistical functions - * - Support functions - * - Interpolation functions - * - * The library has separate functions for operating on 8-bit integers, 16-bit integers, - * 32-bit integer and 32-bit floating-point values. - * - * Using the Library - * ------------ - * - * The library installer contains prebuilt versions of the libraries in the Lib folder. - * - arm_cortexM7lfdp_math.lib (Little endian and Double Precision Floating Point Unit on Cortex-M7) - * - arm_cortexM7bfdp_math.lib (Big endian and Double Precision Floating Point Unit on Cortex-M7) - * - arm_cortexM7lfsp_math.lib (Little endian and Single Precision Floating Point Unit on Cortex-M7) - * - arm_cortexM7bfsp_math.lib (Big endian and Single Precision Floating Point Unit on Cortex-M7) - * - arm_cortexM7l_math.lib (Little endian on Cortex-M7) - * - arm_cortexM7b_math.lib (Big endian on Cortex-M7) - * - arm_cortexM4lf_math.lib (Little endian and Floating Point Unit on Cortex-M4) - * - arm_cortexM4bf_math.lib (Big endian and Floating Point Unit on Cortex-M4) - * - arm_cortexM4l_math.lib (Little endian on Cortex-M4) - * - arm_cortexM4b_math.lib (Big endian on Cortex-M4) - * - arm_cortexM3l_math.lib (Little endian on Cortex-M3) - * - arm_cortexM3b_math.lib (Big endian on Cortex-M3) - * - arm_cortexM0l_math.lib (Little endian on Cortex-M0 / CortexM0+) - * - arm_cortexM0b_math.lib (Big endian on Cortex-M0 / CortexM0+) - * - * The library functions are declared in the public file arm_math.h which is placed in the Include folder. - * Simply include this file and link the appropriate library in the application and begin calling the library functions. The Library supports single - * public header file arm_math.h for Cortex-M7/M4/M3/M0/M0+ with little endian and big endian. Same header file will be used for floating point unit(FPU) variants. - * Define the appropriate pre processor MACRO ARM_MATH_CM7 or ARM_MATH_CM4 or ARM_MATH_CM3 or - * ARM_MATH_CM0 or ARM_MATH_CM0PLUS depending on the target processor in the application. - * - * Examples - * -------- - * - * The library ships with a number of examples which demonstrate how to use the library functions. - * - * Toolchain Support - * ------------ - * - * The library has been developed and tested with MDK-ARM version 5.14.0.0 - * The library is being tested in GCC and IAR toolchains and updates on this activity will be made available shortly. - * - * Building the Library - * ------------ - * - * The library installer contains a project file to re build libraries on MDK-ARM Tool chain in the CMSIS\\DSP_Lib\\Source\\ARM folder. - * - arm_cortexM_math.uvprojx - * - * - * The libraries can be built by opening the arm_cortexM_math.uvprojx project in MDK-ARM, selecting a specific target, and defining the optional pre processor MACROs detailed above. - * - * Pre-processor Macros - * ------------ - * - * Each library project have differant pre-processor macros. - * - * - UNALIGNED_SUPPORT_DISABLE: - * - * Define macro UNALIGNED_SUPPORT_DISABLE, If the silicon does not support unaligned memory access - * - * - ARM_MATH_BIG_ENDIAN: - * - * Define macro ARM_MATH_BIG_ENDIAN to build the library for big endian targets. By default library builds for little endian targets. - * - * - ARM_MATH_MATRIX_CHECK: - * - * Define macro ARM_MATH_MATRIX_CHECK for checking on the input and output sizes of matrices - * - * - ARM_MATH_ROUNDING: - * - * Define macro ARM_MATH_ROUNDING for rounding on support functions - * - * - ARM_MATH_CMx: - * - * Define macro ARM_MATH_CM4 for building the library on Cortex-M4 target, ARM_MATH_CM3 for building library on Cortex-M3 target - * and ARM_MATH_CM0 for building library on Cortex-M0 target, ARM_MATH_CM0PLUS for building library on Cortex-M0+ target, and - * ARM_MATH_CM7 for building the library on cortex-M7. - * - * - __FPU_PRESENT: - * - * Initialize macro __FPU_PRESENT = 1 when building on FPU supported Targets. Enable this macro for M4bf and M4lf libraries - * - *
- * CMSIS-DSP in ARM::CMSIS Pack - * ----------------------------- - * - * The following files relevant to CMSIS-DSP are present in the ARM::CMSIS Pack directories: - * |File/Folder |Content | - * |------------------------------|------------------------------------------------------------------------| - * |\b CMSIS\\Documentation\\DSP | This documentation | - * |\b CMSIS\\DSP_Lib | Software license agreement (license.txt) | - * |\b CMSIS\\DSP_Lib\\Examples | Example projects demonstrating the usage of the library functions | - * |\b CMSIS\\DSP_Lib\\Source | Source files for rebuilding the library | - * - *
- * Revision History of CMSIS-DSP - * ------------ - * Please refer to \ref ChangeLog_pg. - * - * Copyright Notice - * ------------ - * - * Copyright (C) 2010-2015 ARM Limited. All rights reserved. - */ - - -/** - * @defgroup groupMath Basic Math Functions - */ - -/** - * @defgroup groupFastMath Fast Math Functions - * This set of functions provides a fast approximation to sine, cosine, and square root. - * As compared to most of the other functions in the CMSIS math library, the fast math functions - * operate on individual values and not arrays. - * There are separate functions for Q15, Q31, and floating-point data. - * - */ - -/** - * @defgroup groupCmplxMath Complex Math Functions - * This set of functions operates on complex data vectors. - * The data in the complex arrays is stored in an interleaved fashion - * (real, imag, real, imag, ...). - * In the API functions, the number of samples in a complex array refers - * to the number of complex values; the array contains twice this number of - * real values. - */ - -/** - * @defgroup groupFilters Filtering Functions - */ - -/** - * @defgroup groupMatrix Matrix Functions - * - * This set of functions provides basic matrix math operations. - * The functions operate on matrix data structures. For example, - * the type - * definition for the floating-point matrix structure is shown - * below: - * 
- *     typedef struct
- *     {
- *       uint16_t numRows;     // number of rows of the matrix.
- *       uint16_t numCols;     // number of columns of the matrix.
- *       float32_t *pData;     // points to the data of the matrix.
- *     } arm_matrix_instance_f32;
- *
- * There are similar definitions for Q15 and Q31 data types. - * - * The structure specifies the size of the matrix and then points to - * an array of data. The array is of size numRows X numCols - * and the values are arranged in row order. That is, the - * matrix element (i, j) is stored at: - * 
- *     pData[i*numCols + j]
- *
- * - * \par Init Functions - * There is an associated initialization function for each type of matrix - * data structure. - * The initialization function sets the values of the internal structure fields. - * Refer to the function arm_mat_init_f32(), arm_mat_init_q31() - * and arm_mat_init_q15() for floating-point, Q31 and Q15 types, respectively. - * - * \par - * Use of the initialization function is optional. However, if initialization function is used - * then the instance structure cannot be placed into a const data section. - * To place the instance structure in a const data - * section, manually initialize the data structure. For example: - * 
- * arm_matrix_instance_f32 S = {nRows, nColumns, pData};
- * arm_matrix_instance_q31 S = {nRows, nColumns, pData};
- * arm_matrix_instance_q15 S = {nRows, nColumns, pData};
- *
- * where nRows specifies the number of rows, nColumns - * specifies the number of columns, and pData points to the - * data array. - * - * \par Size Checking - * By default all of the matrix functions perform size checking on the input and - * output matrices. For example, the matrix addition function verifies that the - * two input matrices and the output matrix all have the same number of rows and - * columns. If the size check fails the functions return: - * 
- *     ARM_MATH_SIZE_MISMATCH
- *
- * Otherwise the functions return - * 
- *     ARM_MATH_SUCCESS
- *
- * There is some overhead associated with this matrix size checking. - * The matrix size checking is enabled via the \#define - * 
- *     ARM_MATH_MATRIX_CHECK
- *
- * within the library project settings. By default this macro is defined - * and size checking is enabled. By changing the project settings and - * undefining this macro size checking is eliminated and the functions - * run a bit faster. With size checking disabled the functions always - * return ARM_MATH_SUCCESS. - */ - -/** - * @defgroup groupTransforms Transform Functions - */ - -/** - * @defgroup groupController Controller Functions - */ - -/** - * @defgroup groupStats Statistics Functions - */ -/** - * @defgroup groupSupport Support Functions - */ - -/** - * @defgroup groupInterpolation Interpolation Functions - * These functions perform 1- and 2-dimensional interpolation of data. - * Linear interpolation is used for 1-dimensional data and - * bilinear interpolation is used for 2-dimensional data. - */ - -/** - * @defgroup groupExamples Examples - */ -#ifndef _ARM_MATH_H -#define _ARM_MATH_H - -/* ignore some GCC warnings */ -#if defined ( __GNUC__ ) -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wsign-conversion" -#pragma GCC diagnostic ignored "-Wconversion" -#pragma GCC diagnostic ignored "-Wunused-parameter" -#endif - -#define __CMSIS_GENERIC /* disable NVIC and Systick functions */ - -#if defined(ARM_MATH_CM7) - #include "core_cm7.h" -#elif defined (ARM_MATH_CM4) - #include "core_cm4.h" -#elif defined (ARM_MATH_CM3) - #include "core_cm3.h" -#elif defined (ARM_MATH_CM0) - #include "core_cm0.h" - #define ARM_MATH_CM0_FAMILY -#elif defined (ARM_MATH_CM0PLUS) - #include "core_cm0plus.h" - #define ARM_MATH_CM0_FAMILY -#else - #error "Define according the used Cortex core ARM_MATH_CM7, ARM_MATH_CM4, ARM_MATH_CM3, ARM_MATH_CM0PLUS or ARM_MATH_CM0" -#endif - -#undef __CMSIS_GENERIC /* enable NVIC and Systick functions */ -#include "string.h" -#include "math.h" -#ifdef __cplusplus -extern "C" -{ -#endif - - - /** - * @brief Macros required for reciprocal calculation in Normalized LMS - */ - -#define DELTA_Q31 (0x100) -#define DELTA_Q15 0x5 -#define INDEX_MASK 0x0000003F -#ifndef PI -#define PI 3.14159265358979f -#endif - - /** - * @brief Macros required for SINE and COSINE Fast math approximations - */ - -#define FAST_MATH_TABLE_SIZE 512 -#define FAST_MATH_Q31_SHIFT (32 - 10) -#define FAST_MATH_Q15_SHIFT (16 - 10) -#define CONTROLLER_Q31_SHIFT (32 - 9) -#define TABLE_SIZE 256 -#define TABLE_SPACING_Q31 0x400000 -#define TABLE_SPACING_Q15 0x80 - - /** - * @brief Macros required for SINE and COSINE Controller functions - */ - /* 1.31(q31) Fixed value of 2/360 */ - /* -1 to +1 is divided into 360 values so total spacing is (2/360) */ -#define INPUT_SPACING 0xB60B61 - - /** - * @brief Macro for Unaligned Support - */ -#ifndef UNALIGNED_SUPPORT_DISABLE - #define ALIGN4 -#else - #if defined (__GNUC__) - #define ALIGN4 __attribute__((aligned(4))) - #else - #define ALIGN4 __align(4) - #endif -#endif /* #ifndef UNALIGNED_SUPPORT_DISABLE */ - - /** - * @brief Error status returned by some functions in the library. - */ - - typedef enum - { - ARM_MATH_SUCCESS = 0, /**< No error */ - ARM_MATH_ARGUMENT_ERROR = -1, /**< One or more arguments are incorrect */ - ARM_MATH_LENGTH_ERROR = -2, /**< Length of data buffer is incorrect */ - ARM_MATH_SIZE_MISMATCH = -3, /**< Size of matrices is not compatible with the operation. */ - ARM_MATH_NANINF = -4, /**< Not-a-number (NaN) or infinity is generated */ - ARM_MATH_SINGULAR = -5, /**< Generated by matrix inversion if the input matrix is singular and cannot be inverted. */ - ARM_MATH_TEST_FAILURE = -6 /**< Test Failed */ - } arm_status; - - /** - * @brief 8-bit fractional data type in 1.7 format. - */ - typedef int8_t q7_t; - - /** - * @brief 16-bit fractional data type in 1.15 format. - */ - typedef int16_t q15_t; - - /** - * @brief 32-bit fractional data type in 1.31 format. - */ - typedef int32_t q31_t; - - /** - * @brief 64-bit fractional data type in 1.63 format. - */ - typedef int64_t q63_t; - - /** - * @brief 32-bit floating-point type definition. - */ - typedef float float32_t; - - /** - * @brief 64-bit floating-point type definition. - */ - typedef double float64_t; - - /** - * @brief definition to read/write two 16 bit values. - */ -#if defined __CC_ARM - #define __SIMD32_TYPE int32_t __packed - #define CMSIS_UNUSED __attribute__((unused)) - -#elif defined(__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050) - #define __SIMD32_TYPE int32_t - #define CMSIS_UNUSED __attribute__((unused)) - -#elif defined __GNUC__ - #define __SIMD32_TYPE int32_t - #define CMSIS_UNUSED __attribute__((unused)) - -#elif defined __ICCARM__ - #define __SIMD32_TYPE int32_t __packed - #define CMSIS_UNUSED - -#elif defined __CSMC__ - #define __SIMD32_TYPE int32_t - #define CMSIS_UNUSED - -#elif defined __TASKING__ - #define __SIMD32_TYPE __unaligned int32_t - #define CMSIS_UNUSED - -#else - #error Unknown compiler -#endif - -#define __SIMD32(addr) (*(__SIMD32_TYPE **) & (addr)) -#define __SIMD32_CONST(addr) ((__SIMD32_TYPE *)(addr)) -#define _SIMD32_OFFSET(addr) (*(__SIMD32_TYPE *) (addr)) -#define __SIMD64(addr) (*(int64_t **) & (addr)) - -#if defined (ARM_MATH_CM3) || defined (ARM_MATH_CM0_FAMILY) - /** - * @brief definition to pack two 16 bit values. - */ -#define __PKHBT(ARG1, ARG2, ARG3) ( (((int32_t)(ARG1) << 0) & (int32_t)0x0000FFFF) | \ - (((int32_t)(ARG2) << ARG3) & (int32_t)0xFFFF0000) ) -#define __PKHTB(ARG1, ARG2, ARG3) ( (((int32_t)(ARG1) << 0) & (int32_t)0xFFFF0000) | \ - (((int32_t)(ARG2) >> ARG3) & (int32_t)0x0000FFFF) ) - -#endif - - - /** - * @brief definition to pack four 8 bit values. - */ -#ifndef ARM_MATH_BIG_ENDIAN - -#define __PACKq7(v0,v1,v2,v3) ( (((int32_t)(v0) << 0) & (int32_t)0x000000FF) | \ - (((int32_t)(v1) << 8) & (int32_t)0x0000FF00) | \ - (((int32_t)(v2) << 16) & (int32_t)0x00FF0000) | \ - (((int32_t)(v3) << 24) & (int32_t)0xFF000000) ) -#else - -#define __PACKq7(v0,v1,v2,v3) ( (((int32_t)(v3) << 0) & (int32_t)0x000000FF) | \ - (((int32_t)(v2) << 8) & (int32_t)0x0000FF00) | \ - (((int32_t)(v1) << 16) & (int32_t)0x00FF0000) | \ - (((int32_t)(v0) << 24) & (int32_t)0xFF000000) ) - -#endif - - - /** - * @brief Clips Q63 to Q31 values. - */ - static __INLINE q31_t clip_q63_to_q31( - q63_t x) - { - return ((q31_t) (x >> 32) != ((q31_t) x >> 31)) ? - ((0x7FFFFFFF ^ ((q31_t) (x >> 63)))) : (q31_t) x; - } - - /** - * @brief Clips Q63 to Q15 values. - */ - static __INLINE q15_t clip_q63_to_q15( - q63_t x) - { - return ((q31_t) (x >> 32) != ((q31_t) x >> 31)) ? - ((0x7FFF ^ ((q15_t) (x >> 63)))) : (q15_t) (x >> 15); - } - - /** - * @brief Clips Q31 to Q7 values. - */ - static __INLINE q7_t clip_q31_to_q7( - q31_t x) - { - return ((q31_t) (x >> 24) != ((q31_t) x >> 23)) ? - ((0x7F ^ ((q7_t) (x >> 31)))) : (q7_t) x; - } - - /** - * @brief Clips Q31 to Q15 values. - */ - static __INLINE q15_t clip_q31_to_q15( - q31_t x) - { - return ((q31_t) (x >> 16) != ((q31_t) x >> 15)) ? - ((0x7FFF ^ ((q15_t) (x >> 31)))) : (q15_t) x; - } - - /** - * @brief Multiplies 32 X 64 and returns 32 bit result in 2.30 format. - */ - - static __INLINE q63_t mult32x64( - q63_t x, - q31_t y) - { - return ((((q63_t) (x & 0x00000000FFFFFFFF) * y) >> 32) + - (((q63_t) (x >> 32) * y))); - } - -/* - #if defined (ARM_MATH_CM0_FAMILY) && defined ( __CC_ARM ) - #define __CLZ __clz - #endif - */ -/* note: function can be removed when all toolchain support __CLZ for Cortex-M0 */ -#if defined (ARM_MATH_CM0_FAMILY) && ((defined (__ICCARM__)) ) - static __INLINE uint32_t __CLZ( - q31_t data); - - static __INLINE uint32_t __CLZ( - q31_t data) - { - uint32_t count = 0; - uint32_t mask = 0x80000000; - - while((data & mask) == 0) - { - count += 1u; - mask = mask >> 1u; - } - - return (count); - } -#endif - - /** - * @brief Function to Calculates 1/in (reciprocal) value of Q31 Data type. - */ - - static __INLINE uint32_t arm_recip_q31( - q31_t in, - q31_t * dst, - q31_t * pRecipTable) - { - q31_t out; - uint32_t tempVal; - uint32_t index, i; - uint32_t signBits; - - if(in > 0) - { - signBits = ((uint32_t) (__CLZ( in) - 1)); - } - else - { - signBits = ((uint32_t) (__CLZ(-in) - 1)); - } - - /* Convert input sample to 1.31 format */ - in = (in << signBits); - - /* calculation of index for initial approximated Val */ - index = (uint32_t)(in >> 24); - index = (index & INDEX_MASK); - - /* 1.31 with exp 1 */ - out = pRecipTable[index]; - - /* calculation of reciprocal value */ - /* running approximation for two iterations */ - for (i = 0u; i < 2u; i++) - { - tempVal = (uint32_t) (((q63_t) in * out) >> 31); - tempVal = 0x7FFFFFFFu - tempVal; - /* 1.31 with exp 1 */ - /* out = (q31_t) (((q63_t) out * tempVal) >> 30); */ - out = clip_q63_to_q31(((q63_t) out * tempVal) >> 30); - } - - /* write output */ - *dst = out; - - /* return num of signbits of out = 1/in value */ - return (signBits + 1u); - } - - - /** - * @brief Function to Calculates 1/in (reciprocal) value of Q15 Data type. - */ - static __INLINE uint32_t arm_recip_q15( - q15_t in, - q15_t * dst, - q15_t * pRecipTable) - { - q15_t out = 0; - uint32_t tempVal = 0; - uint32_t index = 0, i = 0; - uint32_t signBits = 0; - - if(in > 0) - { - signBits = ((uint32_t)(__CLZ( in) - 17)); - } - else - { - signBits = ((uint32_t)(__CLZ(-in) - 17)); - } - - /* Convert input sample to 1.15 format */ - in = (in << signBits); - - /* calculation of index for initial approximated Val */ - index = (uint32_t)(in >> 8); - index = (index & INDEX_MASK); - - /* 1.15 with exp 1 */ - out = pRecipTable[index]; - - /* calculation of reciprocal value */ - /* running approximation for two iterations */ - for (i = 0u; i < 2u; i++) - { - tempVal = (uint32_t) (((q31_t) in * out) >> 15); - tempVal = 0x7FFFu - tempVal; - /* 1.15 with exp 1 */ - out = (q15_t) (((q31_t) out * tempVal) >> 14); - /* out = clip_q31_to_q15(((q31_t) out * tempVal) >> 14); */ - } - - /* write output */ - *dst = out; - - /* return num of signbits of out = 1/in value */ - return (signBits + 1); - } - - - /* - * @brief C custom defined intrinisic function for only M0 processors - */ -#if defined(ARM_MATH_CM0_FAMILY) - static __INLINE q31_t __SSAT( - q31_t x, - uint32_t y) - { - int32_t posMax, negMin; - uint32_t i; - - posMax = 1; - for (i = 0; i < (y - 1); i++) - { - posMax = posMax * 2; - } - - if(x > 0) - { - posMax = (posMax - 1); - - if(x > posMax) - { - x = posMax; - } - } - else - { - negMin = -posMax; - - if(x < negMin) - { - x = negMin; - } - } - return (x); - } -#endif /* end of ARM_MATH_CM0_FAMILY */ - - - /* - * @brief C custom defined intrinsic function for M3 and M0 processors - */ -#if defined (ARM_MATH_CM3) || defined (ARM_MATH_CM0_FAMILY) - - /* - * @brief C custom defined QADD8 for M3 and M0 processors - */ - static __INLINE uint32_t __QADD8( - uint32_t x, - uint32_t y) - { - q31_t r, s, t, u; - - r = __SSAT(((((q31_t)x << 24) >> 24) + (((q31_t)y << 24) >> 24)), 8) & (int32_t)0x000000FF; - s = __SSAT(((((q31_t)x << 16) >> 24) + (((q31_t)y << 16) >> 24)), 8) & (int32_t)0x000000FF; - t = __SSAT(((((q31_t)x << 8) >> 24) + (((q31_t)y << 8) >> 24)), 8) & (int32_t)0x000000FF; - u = __SSAT(((((q31_t)x ) >> 24) + (((q31_t)y ) >> 24)), 8) & (int32_t)0x000000FF; - - return ((uint32_t)((u << 24) | (t << 16) | (s << 8) | (r ))); - } - - - /* - * @brief C custom defined QSUB8 for M3 and M0 processors - */ - static __INLINE uint32_t __QSUB8( - uint32_t x, - uint32_t y) - { - q31_t r, s, t, u; - - r = __SSAT(((((q31_t)x << 24) >> 24) - (((q31_t)y << 24) >> 24)), 8) & (int32_t)0x000000FF; - s = __SSAT(((((q31_t)x << 16) >> 24) - (((q31_t)y << 16) >> 24)), 8) & (int32_t)0x000000FF; - t = __SSAT(((((q31_t)x << 8) >> 24) - (((q31_t)y << 8) >> 24)), 8) & (int32_t)0x000000FF; - u = __SSAT(((((q31_t)x ) >> 24) - (((q31_t)y ) >> 24)), 8) & (int32_t)0x000000FF; - - return ((uint32_t)((u << 24) | (t << 16) | (s << 8) | (r ))); - } - - - /* - * @brief C custom defined QADD16 for M3 and M0 processors - */ - static __INLINE uint32_t __QADD16( - uint32_t x, - uint32_t y) - { -/* q31_t r, s; without initialisation 'arm_offset_q15 test' fails but 'intrinsic' tests pass! for armCC */ - q31_t r = 0, s = 0; - - r = __SSAT(((((q31_t)x << 16) >> 16) + (((q31_t)y << 16) >> 16)), 16) & (int32_t)0x0000FFFF; - s = __SSAT(((((q31_t)x ) >> 16) + (((q31_t)y ) >> 16)), 16) & (int32_t)0x0000FFFF; - - return ((uint32_t)((s << 16) | (r ))); - } - - - /* - * @brief C custom defined SHADD16 for M3 and M0 processors - */ - static __INLINE uint32_t __SHADD16( - uint32_t x, - uint32_t y) - { - q31_t r, s; - - r = (((((q31_t)x << 16) >> 16) + (((q31_t)y << 16) >> 16)) >> 1) & (int32_t)0x0000FFFF; - s = (((((q31_t)x ) >> 16) + (((q31_t)y ) >> 16)) >> 1) & (int32_t)0x0000FFFF; - - return ((uint32_t)((s << 16) | (r ))); - } - - - /* - * @brief C custom defined QSUB16 for M3 and M0 processors - */ - static __INLINE uint32_t __QSUB16( - uint32_t x, - uint32_t y) - { - q31_t r, s; - - r = __SSAT(((((q31_t)x << 16) >> 16) - (((q31_t)y << 16) >> 16)), 16) & (int32_t)0x0000FFFF; - s = __SSAT(((((q31_t)x ) >> 16) - (((q31_t)y ) >> 16)), 16) & (int32_t)0x0000FFFF; - - return ((uint32_t)((s << 16) | (r ))); - } - - - /* - * @brief C custom defined SHSUB16 for M3 and M0 processors - */ - static __INLINE uint32_t __SHSUB16( - uint32_t x, - uint32_t y) - { - q31_t r, s; - - r = (((((q31_t)x << 16) >> 16) - (((q31_t)y << 16) >> 16)) >> 1) & (int32_t)0x0000FFFF; - s = (((((q31_t)x ) >> 16) - (((q31_t)y ) >> 16)) >> 1) & (int32_t)0x0000FFFF; - - return ((uint32_t)((s << 16) | (r ))); - } - - - /* - * @brief C custom defined QASX for M3 and M0 processors - */ - static __INLINE uint32_t __QASX( - uint32_t x, - uint32_t y) - { - q31_t r, s; - - r = __SSAT(((((q31_t)x << 16) >> 16) - (((q31_t)y ) >> 16)), 16) & (int32_t)0x0000FFFF; - s = __SSAT(((((q31_t)x ) >> 16) + (((q31_t)y << 16) >> 16)), 16) & (int32_t)0x0000FFFF; - - return ((uint32_t)((s << 16) | (r ))); - } - - - /* - * @brief C custom defined SHASX for M3 and M0 processors - */ - static __INLINE uint32_t __SHASX( - uint32_t x, - uint32_t y) - { - q31_t r, s; - - r = (((((q31_t)x << 16) >> 16) - (((q31_t)y ) >> 16)) >> 1) & (int32_t)0x0000FFFF; - s = (((((q31_t)x ) >> 16) + (((q31_t)y << 16) >> 16)) >> 1) & (int32_t)0x0000FFFF; - - return ((uint32_t)((s << 16) | (r ))); - } - - - /* - * @brief C custom defined QSAX for M3 and M0 processors - */ - static __INLINE uint32_t __QSAX( - uint32_t x, - uint32_t y) - { - q31_t r, s; - - r = __SSAT(((((q31_t)x << 16) >> 16) + (((q31_t)y ) >> 16)), 16) & (int32_t)0x0000FFFF; - s = __SSAT(((((q31_t)x ) >> 16) - (((q31_t)y << 16) >> 16)), 16) & (int32_t)0x0000FFFF; - - return ((uint32_t)((s << 16) | (r ))); - } - - - /* - * @brief C custom defined SHSAX for M3 and M0 processors - */ - static __INLINE uint32_t __SHSAX( - uint32_t x, - uint32_t y) - { - q31_t r, s; - - r = (((((q31_t)x << 16) >> 16) + (((q31_t)y ) >> 16)) >> 1) & (int32_t)0x0000FFFF; - s = (((((q31_t)x ) >> 16) - (((q31_t)y << 16) >> 16)) >> 1) & (int32_t)0x0000FFFF; - - return ((uint32_t)((s << 16) | (r ))); - } - - - /* - * @brief C custom defined SMUSDX for M3 and M0 processors - */ - static __INLINE uint32_t __SMUSDX( - uint32_t x, - uint32_t y) - { - return ((uint32_t)(((((q31_t)x << 16) >> 16) * (((q31_t)y ) >> 16)) - - ((((q31_t)x ) >> 16) * (((q31_t)y << 16) >> 16)) )); - } - - /* - * @brief C custom defined SMUADX for M3 and M0 processors - */ - static __INLINE uint32_t __SMUADX( - uint32_t x, - uint32_t y) - { - return ((uint32_t)(((((q31_t)x << 16) >> 16) * (((q31_t)y ) >> 16)) + - ((((q31_t)x ) >> 16) * (((q31_t)y << 16) >> 16)) )); - } - - - /* - * @brief C custom defined QADD for M3 and M0 processors - */ - static __INLINE int32_t __QADD( - int32_t x, - int32_t y) - { - return ((int32_t)(clip_q63_to_q31((q63_t)x + (q31_t)y))); - } - - - /* - * @brief C custom defined QSUB for M3 and M0 processors - */ - static __INLINE int32_t __QSUB( - int32_t x, - int32_t y) - { - return ((int32_t)(clip_q63_to_q31((q63_t)x - (q31_t)y))); - } - - - /* - * @brief C custom defined SMLAD for M3 and M0 processors - */ - static __INLINE uint32_t __SMLAD( - uint32_t x, - uint32_t y, - uint32_t sum) - { - return ((uint32_t)(((((q31_t)x << 16) >> 16) * (((q31_t)y << 16) >> 16)) + - ((((q31_t)x ) >> 16) * (((q31_t)y ) >> 16)) + - ( ((q31_t)sum ) ) )); - } - - - /* - * @brief C custom defined SMLADX for M3 and M0 processors - */ - static __INLINE uint32_t __SMLADX( - uint32_t x, - uint32_t y, - uint32_t sum) - { - return ((uint32_t)(((((q31_t)x << 16) >> 16) * (((q31_t)y ) >> 16)) + - ((((q31_t)x ) >> 16) * (((q31_t)y << 16) >> 16)) + - ( ((q31_t)sum ) ) )); - } - - - /* - * @brief C custom defined SMLSDX for M3 and M0 processors - */ - static __INLINE uint32_t __SMLSDX( - uint32_t x, - uint32_t y, - uint32_t sum) - { - return ((uint32_t)(((((q31_t)x << 16) >> 16) * (((q31_t)y ) >> 16)) - - ((((q31_t)x ) >> 16) * (((q31_t)y << 16) >> 16)) + - ( ((q31_t)sum ) ) )); - } - - - /* - * @brief C custom defined SMLALD for M3 and M0 processors - */ - static __INLINE uint64_t __SMLALD( - uint32_t x, - uint32_t y, - uint64_t sum) - { -/* return (sum + ((q15_t) (x >> 16) * (q15_t) (y >> 16)) + ((q15_t) x * (q15_t) y)); */ - return ((uint64_t)(((((q31_t)x << 16) >> 16) * (((q31_t)y << 16) >> 16)) + - ((((q31_t)x ) >> 16) * (((q31_t)y ) >> 16)) + - ( ((q63_t)sum ) ) )); - } - - - /* - * @brief C custom defined SMLALDX for M3 and M0 processors - */ - static __INLINE uint64_t __SMLALDX( - uint32_t x, - uint32_t y, - uint64_t sum) - { -/* return (sum + ((q15_t) (x >> 16) * (q15_t) y)) + ((q15_t) x * (q15_t) (y >> 16)); */ - return ((uint64_t)(((((q31_t)x << 16) >> 16) * (((q31_t)y ) >> 16)) + - ((((q31_t)x ) >> 16) * (((q31_t)y << 16) >> 16)) + - ( ((q63_t)sum ) ) )); - } - - - /* - * @brief C custom defined SMUAD for M3 and M0 processors - */ - static __INLINE uint32_t __SMUAD( - uint32_t x, - uint32_t y) - { - return ((uint32_t)(((((q31_t)x << 16) >> 16) * (((q31_t)y << 16) >> 16)) + - ((((q31_t)x ) >> 16) * (((q31_t)y ) >> 16)) )); - } - - - /* - * @brief C custom defined SMUSD for M3 and M0 processors - */ - static __INLINE uint32_t __SMUSD( - uint32_t x, - uint32_t y) - { - return ((uint32_t)(((((q31_t)x << 16) >> 16) * (((q31_t)y << 16) >> 16)) - - ((((q31_t)x ) >> 16) * (((q31_t)y ) >> 16)) )); - } - - - /* - * @brief C custom defined SXTB16 for M3 and M0 processors - */ - static __INLINE uint32_t __SXTB16( - uint32_t x) - { - return ((uint32_t)(((((q31_t)x << 24) >> 24) & (q31_t)0x0000FFFF) | - ((((q31_t)x << 8) >> 8) & (q31_t)0xFFFF0000) )); - } - -#endif /* defined (ARM_MATH_CM3) || defined (ARM_MATH_CM0_FAMILY) */ - - - /** - * @brief Instance structure for the Q7 FIR filter. - */ - typedef struct - { - uint16_t numTaps; /**< number of filter coefficients in the filter. */ - q7_t *pState; /**< points to the state variable array. The array is of length numTaps+blockSize-1. */ - q7_t *pCoeffs; /**< points to the coefficient array. The array is of length numTaps.*/ - } arm_fir_instance_q7; - - /** - * @brief Instance structure for the Q15 FIR filter. - */ - typedef struct - { - uint16_t numTaps; /**< number of filter coefficients in the filter. */ - q15_t *pState; /**< points to the state variable array. The array is of length numTaps+blockSize-1. */ - q15_t *pCoeffs; /**< points to the coefficient array. The array is of length numTaps.*/ - } arm_fir_instance_q15; - - /** - * @brief Instance structure for the Q31 FIR filter. - */ - typedef struct - { - uint16_t numTaps; /**< number of filter coefficients in the filter. */ - q31_t *pState; /**< points to the state variable array. The array is of length numTaps+blockSize-1. */ - q31_t *pCoeffs; /**< points to the coefficient array. The array is of length numTaps. */ - } arm_fir_instance_q31; - - /** - * @brief Instance structure for the floating-point FIR filter. - */ - typedef struct - { - uint16_t numTaps; /**< number of filter coefficients in the filter. */ - float32_t *pState; /**< points to the state variable array. The array is of length numTaps+blockSize-1. */ - float32_t *pCoeffs; /**< points to the coefficient array. The array is of length numTaps. */ - } arm_fir_instance_f32; - - - /** - * @brief Processing function for the Q7 FIR filter. - * @param[in] S points to an instance of the Q7 FIR filter structure. - * @param[in] pSrc points to the block of input data. - * @param[out] pDst points to the block of output data. - * @param[in] blockSize number of samples to process. - */ - void arm_fir_q7( - const arm_fir_instance_q7 * S, - q7_t * pSrc, - q7_t * pDst, - uint32_t blockSize); - - - /** - * @brief Initialization function for the Q7 FIR filter. - * @param[in,out] S points to an instance of the Q7 FIR structure. - * @param[in] numTaps Number of filter coefficients in the filter. - * @param[in] pCoeffs points to the filter coefficients. - * @param[in] pState points to the state buffer. - * @param[in] blockSize number of samples that are processed. - */ - void arm_fir_init_q7( - arm_fir_instance_q7 * S, - uint16_t numTaps, - q7_t * pCoeffs, - q7_t * pState, - uint32_t blockSize); - - - /** - * @brief Processing function for the Q15 FIR filter. - * @param[in] S points to an instance of the Q15 FIR structure. - * @param[in] pSrc points to the block of input data. - * @param[out] pDst points to the block of output data. - * @param[in] blockSize number of samples to process. - */ - void arm_fir_q15( - const arm_fir_instance_q15 * S, - q15_t * pSrc, - q15_t * pDst, - uint32_t blockSize); - - - /** - * @brief Processing function for the fast Q15 FIR filter for Cortex-M3 and Cortex-M4. - * @param[in] S points to an instance of the Q15 FIR filter structure. - * @param[in] pSrc points to the block of input data. - * @param[out] pDst points to the block of output data. - * @param[in] blockSize number of samples to process. - */ - void arm_fir_fast_q15( - const arm_fir_instance_q15 * S, - q15_t * pSrc, - q15_t * pDst, - uint32_t blockSize); - - - /** - * @brief Initialization function for the Q15 FIR filter. - * @param[in,out] S points to an instance of the Q15 FIR filter structure. - * @param[in] numTaps Number of filter coefficients in the filter. Must be even and greater than or equal to 4. - * @param[in] pCoeffs points to the filter coefficients. - * @param[in] pState points to the state buffer. - * @param[in] blockSize number of samples that are processed at a time. - * @return The function returns ARM_MATH_SUCCESS if initialization was successful or ARM_MATH_ARGUMENT_ERROR if - * numTaps is not a supported value. - */ - arm_status arm_fir_init_q15( - arm_fir_instance_q15 * S, - uint16_t numTaps, - q15_t * pCoeffs, - q15_t * pState, - uint32_t blockSize); - - - /** - * @brief Processing function for the Q31 FIR filter. - * @param[in] S points to an instance of the Q31 FIR filter structure. - * @param[in] pSrc points to the block of input data. - * @param[out] pDst points to the block of output data. - * @param[in] blockSize number of samples to process. - */ - void arm_fir_q31( - const arm_fir_instance_q31 * S, - q31_t * pSrc, - q31_t * pDst, - uint32_t blockSize); - - - /** - * @brief Processing function for the fast Q31 FIR filter for Cortex-M3 and Cortex-M4. - * @param[in] S points to an instance of the Q31 FIR structure. - * @param[in] pSrc points to the block of input data. - * @param[out] pDst points to the block of output data. - * @param[in] blockSize number of samples to process. - */ - void arm_fir_fast_q31( - const arm_fir_instance_q31 * S, - q31_t * pSrc, - q31_t * pDst, - uint32_t blockSize); - - - /** - * @brief Initialization function for the Q31 FIR filter. - * @param[in,out] S points to an instance of the Q31 FIR structure. - * @param[in] numTaps Number of filter coefficients in the filter. - * @param[in] pCoeffs points to the filter coefficients. - * @param[in] pState points to the state buffer. - * @param[in] blockSize number of samples that are processed at a time. - */ - void arm_fir_init_q31( - arm_fir_instance_q31 * S, - uint16_t numTaps, - q31_t * pCoeffs, - q31_t * pState, - uint32_t blockSize); - - - /** - * @brief Processing function for the floating-point FIR filter. - * @param[in] S points to an instance of the floating-point FIR structure. - * @param[in] pSrc points to the block of input data. - * @param[out] pDst points to the block of output data. - * @param[in] blockSize number of samples to process. - */ - void arm_fir_f32( - const arm_fir_instance_f32 * S, - float32_t * pSrc, - float32_t * pDst, - uint32_t blockSize); - - - /** - * @brief Initialization function for the floating-point FIR filter. - * @param[in,out] S points to an instance of the floating-point FIR filter structure. - * @param[in] numTaps Number of filter coefficients in the filter. - * @param[in] pCoeffs points to the filter coefficients. - * @param[in] pState points to the state buffer. - * @param[in] blockSize number of samples that are processed at a time. - */ - void arm_fir_init_f32( - arm_fir_instance_f32 * S, - uint16_t numTaps, - float32_t * pCoeffs, - float32_t * pState, - uint32_t blockSize); - - - /** - * @brief Instance structure for the Q15 Biquad cascade filter. - */ - typedef struct - { - int8_t numStages; /**< number of 2nd order stages in the filter. Overall order is 2*numStages. */ - q15_t *pState; /**< Points to the array of state coefficients. The array is of length 4*numStages. */ - q15_t *pCoeffs; /**< Points to the array of coefficients. The array is of length 5*numStages. */ - int8_t postShift; /**< Additional shift, in bits, applied to each output sample. */ - } arm_biquad_casd_df1_inst_q15; - - /** - * @brief Instance structure for the Q31 Biquad cascade filter. - */ - typedef struct - { - uint32_t numStages; /**< number of 2nd order stages in the filter. Overall order is 2*numStages. */ - q31_t *pState; /**< Points to the array of state coefficients. The array is of length 4*numStages. */ - q31_t *pCoeffs; /**< Points to the array of coefficients. The array is of length 5*numStages. */ - uint8_t postShift; /**< Additional shift, in bits, applied to each output sample. */ - } arm_biquad_casd_df1_inst_q31; - - /** - * @brief Instance structure for the floating-point Biquad cascade filter. - */ - typedef struct - { - uint32_t numStages; /**< number of 2nd order stages in the filter. Overall order is 2*numStages. */ - float32_t *pState; /**< Points to the array of state coefficients. The array is of length 4*numStages. */ - float32_t *pCoeffs; /**< Points to the array of coefficients. The array is of length 5*numStages. */ - } arm_biquad_casd_df1_inst_f32; - - - /** - * @brief Processing function for the Q15 Biquad cascade filter. - * @param[in] S points to an instance of the Q15 Biquad cascade structure. - * @param[in] pSrc points to the block of input data. - * @param[out] pDst points to the block of output data. - * @param[in] blockSize number of samples to process. - */ - void arm_biquad_cascade_df1_q15( - const arm_biquad_casd_df1_inst_q15 * S, - q15_t * pSrc, - q15_t * pDst, - uint32_t blockSize); - - - /** - * @brief Initialization function for the Q15 Biquad cascade filter. - * @param[in,out] S points to an instance of the Q15 Biquad cascade structure. - * @param[in] numStages number of 2nd order stages in the filter. - * @param[in] pCoeffs points to the filter coefficients. - * @param[in] pState points to the state buffer. - * @param[in] postShift Shift to be applied to the output. Varies according to the coefficients format - */ - void arm_biquad_cascade_df1_init_q15( - arm_biquad_casd_df1_inst_q15 * S, - uint8_t numStages, - q15_t * pCoeffs, - q15_t * pState, - int8_t postShift); - - - /** - * @brief Fast but less precise processing function for the Q15 Biquad cascade filter for Cortex-M3 and Cortex-M4. - * @param[in] S points to an instance of the Q15 Biquad cascade structure. - * @param[in] pSrc points to the block of input data. - * @param[out] pDst points to the block of output data. - * @param[in] blockSize number of samples to process. - */ - void arm_biquad_cascade_df1_fast_q15( - const arm_biquad_casd_df1_inst_q15 * S, - q15_t * pSrc, - q15_t * pDst, - uint32_t blockSize); - - - /** - * @brief Processing function for the Q31 Biquad cascade filter - * @param[in] S points to an instance of the Q31 Biquad cascade structure. - * @param[in] pSrc points to the block of input data. - * @param[out] pDst points to the block of output data. - * @param[in] blockSize number of samples to process. - */ - void arm_biquad_cascade_df1_q31( - const arm_biquad_casd_df1_inst_q31 * S, - q31_t * pSrc, - q31_t * pDst, - uint32_t blockSize); - - - /** - * @brief Fast but less precise processing function for the Q31 Biquad cascade filter for Cortex-M3 and Cortex-M4. - * @param[in] S points to an instance of the Q31 Biquad cascade structure. - * @param[in] pSrc points to the block of input data. - * @param[out] pDst points to the block of output data. - * @param[in] blockSize number of samples to process. - */ - void arm_biquad_cascade_df1_fast_q31( - const arm_biquad_casd_df1_inst_q31 * S, - q31_t * pSrc, - q31_t * pDst, - uint32_t blockSize); - - - /** - * @brief Initialization function for the Q31 Biquad cascade filter. - * @param[in,out] S points to an instance of the Q31 Biquad cascade structure. - * @param[in] numStages number of 2nd order stages in the filter. - * @param[in] pCoeffs points to the filter coefficients. - * @param[in] pState points to the state buffer. - * @param[in] postShift Shift to be applied to the output. Varies according to the coefficients format - */ - void arm_biquad_cascade_df1_init_q31( - arm_biquad_casd_df1_inst_q31 * S, - uint8_t numStages, - q31_t * pCoeffs, - q31_t * pState, - int8_t postShift); - - - /** - * @brief Processing function for the floating-point Biquad cascade filter. - * @param[in] S points to an instance of the floating-point Biquad cascade structure. - * @param[in] pSrc points to the block of input data. - * @param[out] pDst points to the block of output data. - * @param[in] blockSize number of samples to process. - */ - void arm_biquad_cascade_df1_f32( - const arm_biquad_casd_df1_inst_f32 * S, - float32_t * pSrc, - float32_t * pDst, - uint32_t blockSize); - - - /** - * @brief Initialization function for the floating-point Biquad cascade filter. - * @param[in,out] S points to an instance of the floating-point Biquad cascade structure. - * @param[in] numStages number of 2nd order stages in the filter. - * @param[in] pCoeffs points to the filter coefficients. - * @param[in] pState points to the state buffer. - */ - void arm_biquad_cascade_df1_init_f32( - arm_biquad_casd_df1_inst_f32 * S, - uint8_t numStages, - float32_t * pCoeffs, - float32_t * pState); - - - /** - * @brief Instance structure for the floating-point matrix structure. - */ - typedef struct - { - uint16_t numRows; /**< number of rows of the matrix. */ - uint16_t numCols; /**< number of columns of the matrix. */ - float32_t *pData; /**< points to the data of the matrix. */ - } arm_matrix_instance_f32; - - - /** - * @brief Instance structure for the floating-point matrix structure. - */ - typedef struct - { - uint16_t numRows; /**< number of rows of the matrix. */ - uint16_t numCols; /**< number of columns of the matrix. */ - float64_t *pData; /**< points to the data of the matrix. */ - } arm_matrix_instance_f64; - - /** - * @brief Instance structure for the Q15 matrix structure. - */ - typedef struct - { - uint16_t numRows; /**< number of rows of the matrix. */ - uint16_t numCols; /**< number of columns of the matrix. */ - q15_t *pData; /**< points to the data of the matrix. */ - } arm_matrix_instance_q15; - - /** - * @brief Instance structure for the Q31 matrix structure. - */ - typedef struct - { - uint16_t numRows; /**< number of rows of the matrix. */ - uint16_t numCols; /**< number of columns of the matrix. */ - q31_t *pData; /**< points to the data of the matrix. */ - } arm_matrix_instance_q31; - - - /** - * @brief Floating-point matrix addition. - * @param[in] pSrcA points to the first input matrix structure - * @param[in] pSrcB points to the second input matrix structure - * @param[out] pDst points to output matrix structure - * @return The function returns either - * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking. - */ - arm_status arm_mat_add_f32( - const arm_matrix_instance_f32 * pSrcA, - const arm_matrix_instance_f32 * pSrcB, - arm_matrix_instance_f32 * pDst); - - - /** - * @brief Q15 matrix addition. - * @param[in] pSrcA points to the first input matrix structure - * @param[in] pSrcB points to the second input matrix structure - * @param[out] pDst points to output matrix structure - * @return The function returns either - * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking. - */ - arm_status arm_mat_add_q15( - const arm_matrix_instance_q15 * pSrcA, - const arm_matrix_instance_q15 * pSrcB, - arm_matrix_instance_q15 * pDst); - - - /** - * @brief Q31 matrix addition. - * @param[in] pSrcA points to the first input matrix structure - * @param[in] pSrcB points to the second input matrix structure - * @param[out] pDst points to output matrix structure - * @return The function returns either - * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking. - */ - arm_status arm_mat_add_q31( - const arm_matrix_instance_q31 * pSrcA, - const arm_matrix_instance_q31 * pSrcB, - arm_matrix_instance_q31 * pDst); - - - /** - * @brief Floating-point, complex, matrix multiplication. - * @param[in] pSrcA points to the first input matrix structure - * @param[in] pSrcB points to the second input matrix structure - * @param[out] pDst points to output matrix structure - * @return The function returns either - * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking. - */ - arm_status arm_mat_cmplx_mult_f32( - const arm_matrix_instance_f32 * pSrcA, - const arm_matrix_instance_f32 * pSrcB, - arm_matrix_instance_f32 * pDst); - - - /** - * @brief Q15, complex, matrix multiplication. - * @param[in] pSrcA points to the first input matrix structure - * @param[in] pSrcB points to the second input matrix structure - * @param[out] pDst points to output matrix structure - * @return The function returns either - * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking. - */ - arm_status arm_mat_cmplx_mult_q15( - const arm_matrix_instance_q15 * pSrcA, - const arm_matrix_instance_q15 * pSrcB, - arm_matrix_instance_q15 * pDst, - q15_t * pScratch); - - - /** - * @brief Q31, complex, matrix multiplication. - * @param[in] pSrcA points to the first input matrix structure - * @param[in] pSrcB points to the second input matrix structure - * @param[out] pDst points to output matrix structure - * @return The function returns either - * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking. - */ - arm_status arm_mat_cmplx_mult_q31( - const arm_matrix_instance_q31 * pSrcA, - const arm_matrix_instance_q31 * pSrcB, - arm_matrix_instance_q31 * pDst); - - - /** - * @brief Floating-point matrix transpose. - * @param[in] pSrc points to the input matrix - * @param[out] pDst points to the output matrix - * @return The function returns either ARM_MATH_SIZE_MISMATCH - * or ARM_MATH_SUCCESS based on the outcome of size checking. - */ - arm_status arm_mat_trans_f32( - const arm_matrix_instance_f32 * pSrc, - arm_matrix_instance_f32 * pDst); - - - /** - * @brief Q15 matrix transpose. - * @param[in] pSrc points to the input matrix - * @param[out] pDst points to the output matrix - * @return The function returns either ARM_MATH_SIZE_MISMATCH - * or ARM_MATH_SUCCESS based on the outcome of size checking. - */ - arm_status arm_mat_trans_q15( - const arm_matrix_instance_q15 * pSrc, - arm_matrix_instance_q15 * pDst); - - - /** - * @brief Q31 matrix transpose. - * @param[in] pSrc points to the input matrix - * @param[out] pDst points to the output matrix - * @return The function returns either ARM_MATH_SIZE_MISMATCH - * or ARM_MATH_SUCCESS based on the outcome of size checking. - */ - arm_status arm_mat_trans_q31( - const arm_matrix_instance_q31 * pSrc, - arm_matrix_instance_q31 * pDst); - - - /** - * @brief Floating-point matrix multiplication - * @param[in] pSrcA points to the first input matrix structure - * @param[in] pSrcB points to the second input matrix structure - * @param[out] pDst points to output matrix structure - * @return The function returns either - * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking. - */ - arm_status arm_mat_mult_f32( - const arm_matrix_instance_f32 * pSrcA, - const arm_matrix_instance_f32 * pSrcB, - arm_matrix_instance_f32 * pDst); - - - /** - * @brief Q15 matrix multiplication - * @param[in] pSrcA points to the first input matrix structure - * @param[in] pSrcB points to the second input matrix structure - * @param[out] pDst points to output matrix structure - * @param[in] pState points to the array for storing intermediate results - * @return The function returns either - * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking. - */ - arm_status arm_mat_mult_q15( - const arm_matrix_instance_q15 * pSrcA, - const arm_matrix_instance_q15 * pSrcB, - arm_matrix_instance_q15 * pDst, - q15_t * pState); - - - /** - * @brief Q15 matrix multiplication (fast variant) for Cortex-M3 and Cortex-M4 - * @param[in] pSrcA points to the first input matrix structure - * @param[in] pSrcB points to the second input matrix structure - * @param[out] pDst points to output matrix structure - * @param[in] pState points to the array for storing intermediate results - * @return The function returns either - * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking. - */ - arm_status arm_mat_mult_fast_q15( - const arm_matrix_instance_q15 * pSrcA, - const arm_matrix_instance_q15 * pSrcB, - arm_matrix_instance_q15 * pDst, - q15_t * pState); - - - /** - * @brief Q31 matrix multiplication - * @param[in] pSrcA points to the first input matrix structure - * @param[in] pSrcB points to the second input matrix structure - * @param[out] pDst points to output matrix structure - * @return The function returns either - * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking. - */ - arm_status arm_mat_mult_q31( - const arm_matrix_instance_q31 * pSrcA, - const arm_matrix_instance_q31 * pSrcB, - arm_matrix_instance_q31 * pDst); - - - /** - * @brief Q31 matrix multiplication (fast variant) for Cortex-M3 and Cortex-M4 - * @param[in] pSrcA points to the first input matrix structure - * @param[in] pSrcB points to the second input matrix structure - * @param[out] pDst points to output matrix structure - * @return The function returns either - * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking. - */ - arm_status arm_mat_mult_fast_q31( - const arm_matrix_instance_q31 * pSrcA, - const arm_matrix_instance_q31 * pSrcB, - arm_matrix_instance_q31 * pDst); - - - /** - * @brief Floating-point matrix subtraction - * @param[in] pSrcA points to the first input matrix structure - * @param[in] pSrcB points to the second input matrix structure - * @param[out] pDst points to output matrix structure - * @return The function returns either - * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking. - */ - arm_status arm_mat_sub_f32( - const arm_matrix_instance_f32 * pSrcA, - const arm_matrix_instance_f32 * pSrcB, - arm_matrix_instance_f32 * pDst); - - - /** - * @brief Q15 matrix subtraction - * @param[in] pSrcA points to the first input matrix structure - * @param[in] pSrcB points to the second input matrix structure - * @param[out] pDst points to output matrix structure - * @return The function returns either - * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking. - */ - arm_status arm_mat_sub_q15( - const arm_matrix_instance_q15 * pSrcA, - const arm_matrix_instance_q15 * pSrcB, - arm_matrix_instance_q15 * pDst); - - - /** - * @brief Q31 matrix subtraction - * @param[in] pSrcA points to the first input matrix structure - * @param[in] pSrcB points to the second input matrix structure - * @param[out] pDst points to output matrix structure - * @return The function returns either - * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking. - */ - arm_status arm_mat_sub_q31( - const arm_matrix_instance_q31 * pSrcA, - const arm_matrix_instance_q31 * pSrcB, - arm_matrix_instance_q31 * pDst); - - - /** - * @brief Floating-point matrix scaling. - * @param[in] pSrc points to the input matrix - * @param[in] scale scale factor - * @param[out] pDst points to the output matrix - * @return The function returns either - * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking. - */ - arm_status arm_mat_scale_f32( - const arm_matrix_instance_f32 * pSrc, - float32_t scale, - arm_matrix_instance_f32 * pDst); - - - /** - * @brief Q15 matrix scaling. - * @param[in] pSrc points to input matrix - * @param[in] scaleFract fractional portion of the scale factor - * @param[in] shift number of bits to shift the result by - * @param[out] pDst points to output matrix - * @return The function returns either - * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking. - */ - arm_status arm_mat_scale_q15( - const arm_matrix_instance_q15 * pSrc, - q15_t scaleFract, - int32_t shift, - arm_matrix_instance_q15 * pDst); - - - /** - * @brief Q31 matrix scaling. - * @param[in] pSrc points to input matrix - * @param[in] scaleFract fractional portion of the scale factor - * @param[in] shift number of bits to shift the result by - * @param[out] pDst points to output matrix structure - * @return The function returns either - * ARM_MATH_SIZE_MISMATCH or ARM_MATH_SUCCESS based on the outcome of size checking. - */ - arm_status arm_mat_scale_q31( - const arm_matrix_instance_q31 * pSrc, - q31_t scaleFract, - int32_t shift, - arm_matrix_instance_q31 * pDst); - - - /** - * @brief Q31 matrix initialization. - * @param[in,out] S points to an instance of the floating-point matrix structure. - * @param[in] nRows number of rows in the matrix. - * @param[in] nColumns number of columns in the matrix. - * @param[in] pData points to the matrix data array. - */ - void arm_mat_init_q31( - arm_matrix_instance_q31 * S, - uint16_t nRows, - uint16_t nColumns, - q31_t * pData); - - - /** - * @brief Q15 matrix initialization. - * @param[in,out] S points to an instance of the floating-point matrix structure. - * @param[in] nRows number of rows in the matrix. - * @param[in] nColumns number of columns in the matrix. - * @param[in] pData points to the matrix data array. - */ - void arm_mat_init_q15( - arm_matrix_instance_q15 * S, - uint16_t nRows, - uint16_t nColumns, - q15_t * pData); - - - /** - * @brief Floating-point matrix initialization. - * @param[in,out] S points to an instance of the floating-point matrix structure. - * @param[in] nRows number of rows in the matrix. - * @param[in] nColumns number of columns in the matrix. - * @param[in] pData points to the matrix data array. - */ - void arm_mat_init_f32( - arm_matrix_instance_f32 * S, - uint16_t nRows, - uint16_t nColumns, - float32_t * pData); - - - - /** - * @brief Instance structure for the Q15 PID Control. - */ - typedef struct - { - q15_t A0; /**< The derived gain, A0 = Kp + Ki + Kd . */ -#ifdef ARM_MATH_CM0_FAMILY - q15_t A1; - q15_t A2; -#else - q31_t A1; /**< The derived gain A1 = -Kp - 2Kd | Kd.*/ -#endif - q15_t state[3]; /**< The state array of length 3. */ - q15_t Kp; /**< The proportional gain. */ - q15_t Ki; /**< The integral gain. */ - q15_t Kd; /**< The derivative gain. */ - } arm_pid_instance_q15; - - /** - * @brief Instance structure for the Q31 PID Control. - */ - typedef struct - { - q31_t A0; /**< The derived gain, A0 = Kp + Ki + Kd . */ - q31_t A1; /**< The derived gain, A1 = -Kp - 2Kd. */ - q31_t A2; /**< The derived gain, A2 = Kd . */ - q31_t state[3]; /**< The state array of length 3. */ - q31_t Kp; /**< The proportional gain. */ - q31_t Ki; /**< The integral gain. */ - q31_t Kd; /**< The derivative gain. */ - } arm_pid_instance_q31; - - /** - * @brief Instance structure for the floating-point PID Control. - */ - typedef struct - { - float32_t A0; /**< The derived gain, A0 = Kp + Ki + Kd . */ - float32_t A1; /**< The derived gain, A1 = -Kp - 2Kd. */ - float32_t A2; /**< The derived gain, A2 = Kd . */ - float32_t state[3]; /**< The state array of length 3. */ - float32_t Kp; /**< The proportional gain. */ - float32_t Ki; /**< The integral gain. */ - float32_t Kd; /**< The derivative gain. */ - } arm_pid_instance_f32; - - - - /** - * @brief Initialization function for the floating-point PID Control. - * @param[in,out] S points to an instance of the PID structure. - * @param[in] resetStateFlag flag to reset the state. 0 = no change in state 1 = reset the state. - */ - void arm_pid_init_f32( - arm_pid_instance_f32 * S, - int32_t resetStateFlag); - - - /** - * @brief Reset function for the floating-point PID Control. - * @param[in,out] S is an instance of the floating-point PID Control structure - */ - void arm_pid_reset_f32( - arm_pid_instance_f32 * S); - - - /** - * @brief Initialization function for the Q31 PID Control. - * @param[in,out] S points to an instance of the Q15 PID structure. - * @param[in] resetStateFlag flag to reset the state. 0 = no change in state 1 = reset the state. - */ - void arm_pid_init_q31( - arm_pid_instance_q31 * S, - int32_t resetStateFlag); - - - /** - * @brief Reset function for the Q31 PID Control. - * @param[in,out] S points to an instance of the Q31 PID Control structure - */ - - void arm_pid_reset_q31( - arm_pid_instance_q31 * S); - - - /** - * @brief Initialization function for the Q15 PID Control. - * @param[in,out] S points to an instance of the Q15 PID structure. - * @param[in] resetStateFlag flag to reset the state. 0 = no change in state 1 = reset the state. - */ - void arm_pid_init_q15( - arm_pid_instance_q15 * S, - int32_t resetStateFlag); - - - /** - * @brief Reset function for the Q15 PID Control. - * @param[in,out] S points to an instance of the q15 PID Control structure - */ - void arm_pid_reset_q15( - arm_pid_instance_q15 * S); - - - /** - * @brief Instance structure for the floating-point Linear Interpolate function. - */ - typedef struct - { - uint32_t nValues; /**< nValues */ - float32_t x1; /**< x1 */ - float32_t xSpacing; /**< xSpacing */ - float32_t *pYData; /**< pointer to the table of Y values */ - } arm_linear_interp_instance_f32; - - /** - * @brief Instance structure for the floating-point bilinear interpolation function. - */ - typedef struct - { - uint16_t numRows; /**< number of rows in the data table. */ - uint16_t numCols; /**< number of columns in the data table. */ - float32_t *pData; /**< points to the data table. */ - } arm_bilinear_interp_instance_f32; - - /** - * @brief Instance structure for the Q31 bilinear interpolation function. - */ - typedef struct - { - uint16_t numRows; /**< number of rows in the data table. */ - uint16_t numCols; /**< number of columns in the data table. */ - q31_t *pData; /**< points to the data table. */ - } arm_bilinear_interp_instance_q31; - - /** - * @brief Instance structure for the Q15 bilinear interpolation function. - */ - typedef struct - { - uint16_t numRows; /**< number of rows in the data table. */ - uint16_t numCols; /**< number of columns in the data table. */ - q15_t *pData; /**< points to the data table. */ - } arm_bilinear_interp_instance_q15; - - /** - * @brief Instance structure for the Q15 bilinear interpolation function. - */ - typedef struct - { - uint16_t numRows; /**< number of rows in the data table. */ - uint16_t numCols; /**< number of columns in the data table. */ - q7_t *pData; /**< points to the data table. */ - } arm_bilinear_interp_instance_q7; - - - /** - * @brief Q7 vector multiplication. - * @param[in] pSrcA points to the first input vector - * @param[in] pSrcB points to the second input vector - * @param[out] pDst points to the output vector - * @param[in] blockSize number of samples in each vector - */ - void arm_mult_q7( - q7_t * pSrcA, - q7_t * pSrcB, - q7_t * pDst, - uint32_t blockSize); - - - /** - * @brief Q15 vector multiplication. - * @param[in] pSrcA points to the first input vector - * @param[in] pSrcB points to the second input vector - * @param[out] pDst points to the output vector - * @param[in] blockSize number of samples in each vector - */ - void arm_mult_q15( - q15_t * pSrcA, - q15_t * pSrcB, - q15_t * pDst, - uint32_t blockSize); - - - /** - * @brief Q31 vector multiplication. - * @param[in] pSrcA points to the first input vector - * @param[in] pSrcB points to the second input vector - * @param[out] pDst points to the output vector - * @param[in] blockSize number of samples in each vector - */ - void arm_mult_q31( - q31_t * pSrcA, - q31_t * pSrcB, - q31_t * pDst, - uint32_t blockSize); - - - /** - * @brief Floating-point vector multiplication. - * @param[in] pSrcA points to the first input vector - * @param[in] pSrcB points to the second input vector - * @param[out] pDst points to the output vector - * @param[in] blockSize number of samples in each vector - */ - void arm_mult_f32( - float32_t * pSrcA, - float32_t * pSrcB, - float32_t * pDst, - uint32_t blockSize); - - - /** - * @brief Instance structure for the Q15 CFFT/CIFFT function. - */ - typedef struct - { - uint16_t fftLen; /**< length of the FFT. */ - uint8_t ifftFlag; /**< flag that selects forward (ifftFlag=0) or inverse (ifftFlag=1) transform. */ - uint8_t bitReverseFlag; /**< flag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output. */ - q15_t *pTwiddle; /**< points to the Sin twiddle factor table. */ - uint16_t *pBitRevTable; /**< points to the bit reversal table. */ - uint16_t twidCoefModifier; /**< twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table. */ - uint16_t bitRevFactor; /**< bit reversal modifier that supports different size FFTs with the same bit reversal table. */ - } arm_cfft_radix2_instance_q15; - -/* Deprecated */ - arm_status arm_cfft_radix2_init_q15( - arm_cfft_radix2_instance_q15 * S, - uint16_t fftLen, - uint8_t ifftFlag, - uint8_t bitReverseFlag); - -/* Deprecated */ - void arm_cfft_radix2_q15( - const arm_cfft_radix2_instance_q15 * S, - q15_t * pSrc); - - - /** - * @brief Instance structure for the Q15 CFFT/CIFFT function. - */ - typedef struct - { - uint16_t fftLen; /**< length of the FFT. */ - uint8_t ifftFlag; /**< flag that selects forward (ifftFlag=0) or inverse (ifftFlag=1) transform. */ - uint8_t bitReverseFlag; /**< flag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output. */ - q15_t *pTwiddle; /**< points to the twiddle factor table. */ - uint16_t *pBitRevTable; /**< points to the bit reversal table. */ - uint16_t twidCoefModifier; /**< twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table. */ - uint16_t bitRevFactor; /**< bit reversal modifier that supports different size FFTs with the same bit reversal table. */ - } arm_cfft_radix4_instance_q15; - -/* Deprecated */ - arm_status arm_cfft_radix4_init_q15( - arm_cfft_radix4_instance_q15 * S, - uint16_t fftLen, - uint8_t ifftFlag, - uint8_t bitReverseFlag); - -/* Deprecated */ - void arm_cfft_radix4_q15( - const arm_cfft_radix4_instance_q15 * S, - q15_t * pSrc); - - /** - * @brief Instance structure for the Radix-2 Q31 CFFT/CIFFT function. - */ - typedef struct - { - uint16_t fftLen; /**< length of the FFT. */ - uint8_t ifftFlag; /**< flag that selects forward (ifftFlag=0) or inverse (ifftFlag=1) transform. */ - uint8_t bitReverseFlag; /**< flag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output. */ - q31_t *pTwiddle; /**< points to the Twiddle factor table. */ - uint16_t *pBitRevTable; /**< points to the bit reversal table. */ - uint16_t twidCoefModifier; /**< twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table. */ - uint16_t bitRevFactor; /**< bit reversal modifier that supports different size FFTs with the same bit reversal table. */ - } arm_cfft_radix2_instance_q31; - -/* Deprecated */ - arm_status arm_cfft_radix2_init_q31( - arm_cfft_radix2_instance_q31 * S, - uint16_t fftLen, - uint8_t ifftFlag, - uint8_t bitReverseFlag); - -/* Deprecated */ - void arm_cfft_radix2_q31( - const arm_cfft_radix2_instance_q31 * S, - q31_t * pSrc); - - /** - * @brief Instance structure for the Q31 CFFT/CIFFT function. - */ - typedef struct - { - uint16_t fftLen; /**< length of the FFT. */ - uint8_t ifftFlag; /**< flag that selects forward (ifftFlag=0) or inverse (ifftFlag=1) transform. */ - uint8_t bitReverseFlag; /**< flag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output. */ - q31_t *pTwiddle; /**< points to the twiddle factor table. */ - uint16_t *pBitRevTable; /**< points to the bit reversal table. */ - uint16_t twidCoefModifier; /**< twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table. */ - uint16_t bitRevFactor; /**< bit reversal modifier that supports different size FFTs with the same bit reversal table. */ - } arm_cfft_radix4_instance_q31; - -/* Deprecated */ - void arm_cfft_radix4_q31( - const arm_cfft_radix4_instance_q31 * S, - q31_t * pSrc); - -/* Deprecated */ - arm_status arm_cfft_radix4_init_q31( - arm_cfft_radix4_instance_q31 * S, - uint16_t fftLen, - uint8_t ifftFlag, - uint8_t bitReverseFlag); - - /** - * @brief Instance structure for the floating-point CFFT/CIFFT function. - */ - typedef struct - { - uint16_t fftLen; /**< length of the FFT. */ - uint8_t ifftFlag; /**< flag that selects forward (ifftFlag=0) or inverse (ifftFlag=1) transform. */ - uint8_t bitReverseFlag; /**< flag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output. */ - float32_t *pTwiddle; /**< points to the Twiddle factor table. */ - uint16_t *pBitRevTable; /**< points to the bit reversal table. */ - uint16_t twidCoefModifier; /**< twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table. */ - uint16_t bitRevFactor; /**< bit reversal modifier that supports different size FFTs with the same bit reversal table. */ - float32_t onebyfftLen; /**< value of 1/fftLen. */ - } arm_cfft_radix2_instance_f32; - -/* Deprecated */ - arm_status arm_cfft_radix2_init_f32( - arm_cfft_radix2_instance_f32 * S, - uint16_t fftLen, - uint8_t ifftFlag, - uint8_t bitReverseFlag); - -/* Deprecated */ - void arm_cfft_radix2_f32( - const arm_cfft_radix2_instance_f32 * S, - float32_t * pSrc); - - /** - * @brief Instance structure for the floating-point CFFT/CIFFT function. - */ - typedef struct - { - uint16_t fftLen; /**< length of the FFT. */ - uint8_t ifftFlag; /**< flag that selects forward (ifftFlag=0) or inverse (ifftFlag=1) transform. */ - uint8_t bitReverseFlag; /**< flag that enables (bitReverseFlag=1) or disables (bitReverseFlag=0) bit reversal of output. */ - float32_t *pTwiddle; /**< points to the Twiddle factor table. */ - uint16_t *pBitRevTable; /**< points to the bit reversal table. */ - uint16_t twidCoefModifier; /**< twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table. */ - uint16_t bitRevFactor; /**< bit reversal modifier that supports different size FFTs with the same bit reversal table. */ - float32_t onebyfftLen; /**< value of 1/fftLen. */ - } arm_cfft_radix4_instance_f32; - -/* Deprecated */ - arm_status arm_cfft_radix4_init_f32( - arm_cfft_radix4_instance_f32 * S, - uint16_t fftLen, - uint8_t ifftFlag, - uint8_t bitReverseFlag); - -/* Deprecated */ - void arm_cfft_radix4_f32( - const arm_cfft_radix4_instance_f32 * S, - float32_t * pSrc); - - /** - * @brief Instance structure for the fixed-point CFFT/CIFFT function. - */ - typedef struct - { - uint16_t fftLen; /**< length of the FFT. */ - const q15_t *pTwiddle; /**< points to the Twiddle factor table. */ - const uint16_t *pBitRevTable; /**< points to the bit reversal table. */ - uint16_t bitRevLength; /**< bit reversal table length. */ - } arm_cfft_instance_q15; - -void arm_cfft_q15( - const arm_cfft_instance_q15 * S, - q15_t * p1, - uint8_t ifftFlag, - uint8_t bitReverseFlag); - - /** - * @brief Instance structure for the fixed-point CFFT/CIFFT function. - */ - typedef struct - { - uint16_t fftLen; /**< length of the FFT. */ - const q31_t *pTwiddle; /**< points to the Twiddle factor table. */ - const uint16_t *pBitRevTable; /**< points to the bit reversal table. */ - uint16_t bitRevLength; /**< bit reversal table length. */ - } arm_cfft_instance_q31; - -void arm_cfft_q31( - const arm_cfft_instance_q31 * S, - q31_t * p1, - uint8_t ifftFlag, - uint8_t bitReverseFlag); - - /** - * @brief Instance structure for the floating-point CFFT/CIFFT function. - */ - typedef struct - { - uint16_t fftLen; /**< length of the FFT. */ - const float32_t *pTwiddle; /**< points to the Twiddle factor table. */ - const uint16_t *pBitRevTable; /**< points to the bit reversal table. */ - uint16_t bitRevLength; /**< bit reversal table length. */ - } arm_cfft_instance_f32; - - void arm_cfft_f32( - const arm_cfft_instance_f32 * S, - float32_t * p1, - uint8_t ifftFlag, - uint8_t bitReverseFlag); - - /** - * @brief Instance structure for the Q15 RFFT/RIFFT function. - */ - typedef struct - { - uint32_t fftLenReal; /**< length of the real FFT. */ - uint8_t ifftFlagR; /**< flag that selects forward (ifftFlagR=0) or inverse (ifftFlagR=1) transform. */ - uint8_t bitReverseFlagR; /**< flag that enables (bitReverseFlagR=1) or disables (bitReverseFlagR=0) bit reversal of output. */ - uint32_t twidCoefRModifier; /**< twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table. */ - q15_t *pTwiddleAReal; /**< points to the real twiddle factor table. */ - q15_t *pTwiddleBReal; /**< points to the imag twiddle factor table. */ - const arm_cfft_instance_q15 *pCfft; /**< points to the complex FFT instance. */ - } arm_rfft_instance_q15; - - arm_status arm_rfft_init_q15( - arm_rfft_instance_q15 * S, - uint32_t fftLenReal, - uint32_t ifftFlagR, - uint32_t bitReverseFlag); - - void arm_rfft_q15( - const arm_rfft_instance_q15 * S, - q15_t * pSrc, - q15_t * pDst); - - /** - * @brief Instance structure for the Q31 RFFT/RIFFT function. - */ - typedef struct - { - uint32_t fftLenReal; /**< length of the real FFT. */ - uint8_t ifftFlagR; /**< flag that selects forward (ifftFlagR=0) or inverse (ifftFlagR=1) transform. */ - uint8_t bitReverseFlagR; /**< flag that enables (bitReverseFlagR=1) or disables (bitReverseFlagR=0) bit reversal of output. */ - uint32_t twidCoefRModifier; /**< twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table. */ - q31_t *pTwiddleAReal; /**< points to the real twiddle factor table. */ - q31_t *pTwiddleBReal; /**< points to the imag twiddle factor table. */ - const arm_cfft_instance_q31 *pCfft; /**< points to the complex FFT instance. */ - } arm_rfft_instance_q31; - - arm_status arm_rfft_init_q31( - arm_rfft_instance_q31 * S, - uint32_t fftLenReal, - uint32_t ifftFlagR, - uint32_t bitReverseFlag); - - void arm_rfft_q31( - const arm_rfft_instance_q31 * S, - q31_t * pSrc, - q31_t * pDst); - - /** - * @brief Instance structure for the floating-point RFFT/RIFFT function. - */ - typedef struct - { - uint32_t fftLenReal; /**< length of the real FFT. */ - uint16_t fftLenBy2; /**< length of the complex FFT. */ - uint8_t ifftFlagR; /**< flag that selects forward (ifftFlagR=0) or inverse (ifftFlagR=1) transform. */ - uint8_t bitReverseFlagR; /**< flag that enables (bitReverseFlagR=1) or disables (bitReverseFlagR=0) bit reversal of output. */ - uint32_t twidCoefRModifier; /**< twiddle coefficient modifier that supports different size FFTs with the same twiddle factor table. */ - float32_t *pTwiddleAReal; /**< points to the real twiddle factor table. */ - float32_t *pTwiddleBReal; /**< points to the imag twiddle factor table. */ - arm_cfft_radix4_instance_f32 *pCfft; /**< points to the complex FFT instance. */ - } arm_rfft_instance_f32; - - arm_status arm_rfft_init_f32( - arm_rfft_instance_f32 * S, - arm_cfft_radix4_instance_f32 * S_CFFT, - uint32_t fftLenReal, - uint32_t ifftFlagR, - uint32_t bitReverseFlag); - - void arm_rfft_f32( - const arm_rfft_instance_f32 * S, - float32_t * pSrc, - float32_t * pDst); - - /** - * @brief Instance structure for the floating-point RFFT/RIFFT function. - */ -typedef struct - { - arm_cfft_instance_f32 Sint; /**< Internal CFFT structure. */ - uint16_t fftLenRFFT; /**< length of the real sequence */ - float32_t * pTwiddleRFFT; /**< Twiddle factors real stage */ - } arm_rfft_fast_instance_f32 ; - -arm_status arm_rfft_fast_init_f32 ( - arm_rfft_fast_instance_f32 * S, - uint16_t fftLen); - -void arm_rfft_fast_f32( - arm_rfft_fast_instance_f32 * S, - float32_t * p, float32_t * pOut, - uint8_t ifftFlag); - - /** - * @brief Instance structure for the floating-point DCT4/IDCT4 function. - */ - typedef struct - { - uint16_t N; /**< length of the DCT4. */ - uint16_t Nby2; /**< half of the length of the DCT4. */ - float32_t normalize; /**< normalizing factor. */ - float32_t *pTwiddle; /**< points to the twiddle factor table. */ - float32_t *pCosFactor; /**< points to the cosFactor table. */ - arm_rfft_instance_f32 *pRfft; /**< points to the real FFT instance. */ - arm_cfft_radix4_instance_f32 *pCfft; /**< points to the complex FFT instance. */ - } arm_dct4_instance_f32; - - - /** - * @brief Initialization function for the floating-point DCT4/IDCT4. - * @param[in,out] S points to an instance of floating-point DCT4/IDCT4 structure. - * @param[in] S_RFFT points to an instance of floating-point RFFT/RIFFT structure. - * @param[in] S_CFFT points to an instance of floating-point CFFT/CIFFT structure. - * @param[in] N length of the DCT4. - * @param[in] Nby2 half of the length of the DCT4. - * @param[in] normalize normalizing factor. - * @return arm_status function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if fftLenReal is not a supported transform length. - */ - arm_status arm_dct4_init_f32( - arm_dct4_instance_f32 * S, - arm_rfft_instance_f32 * S_RFFT, - arm_cfft_radix4_instance_f32 * S_CFFT, - uint16_t N, - uint16_t Nby2, - float32_t normalize); - - - /** - * @brief Processing function for the floating-point DCT4/IDCT4. - * @param[in] S points to an instance of the floating-point DCT4/IDCT4 structure. - * @param[in] pState points to state buffer. - * @param[in,out] pInlineBuffer points to the in-place input and output buffer. - */ - void arm_dct4_f32( - const arm_dct4_instance_f32 * S, - float32_t * pState, - float32_t * pInlineBuffer); - - - /** - * @brief Instance structure for the Q31 DCT4/IDCT4 function. - */ - typedef struct - { - uint16_t N; /**< length of the DCT4. */ - uint16_t Nby2; /**< half of the length of the DCT4. */ - q31_t normalize; /**< normalizing factor. */ - q31_t *pTwiddle; /**< points to the twiddle factor table. */ - q31_t *pCosFactor; /**< points to the cosFactor table. */ - arm_rfft_instance_q31 *pRfft; /**< points to the real FFT instance. */ - arm_cfft_radix4_instance_q31 *pCfft; /**< points to the complex FFT instance. */ - } arm_dct4_instance_q31; - - - /** - * @brief Initialization function for the Q31 DCT4/IDCT4. - * @param[in,out] S points to an instance of Q31 DCT4/IDCT4 structure. - * @param[in] S_RFFT points to an instance of Q31 RFFT/RIFFT structure - * @param[in] S_CFFT points to an instance of Q31 CFFT/CIFFT structure - * @param[in] N length of the DCT4. - * @param[in] Nby2 half of the length of the DCT4. - * @param[in] normalize normalizing factor. - * @return arm_status function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if N is not a supported transform length. - */ - arm_status arm_dct4_init_q31( - arm_dct4_instance_q31 * S, - arm_rfft_instance_q31 * S_RFFT, - arm_cfft_radix4_instance_q31 * S_CFFT, - uint16_t N, - uint16_t Nby2, - q31_t normalize); - - - /** - * @brief Processing function for the Q31 DCT4/IDCT4. - * @param[in] S points to an instance of the Q31 DCT4 structure. - * @param[in] pState points to state buffer. - * @param[in,out] pInlineBuffer points to the in-place input and output buffer. - */ - void arm_dct4_q31( - const arm_dct4_instance_q31 * S, - q31_t * pState, - q31_t * pInlineBuffer); - - - /** - * @brief Instance structure for the Q15 DCT4/IDCT4 function. - */ - typedef struct - { - uint16_t N; /**< length of the DCT4. */ - uint16_t Nby2; /**< half of the length of the DCT4. */ - q15_t normalize; /**< normalizing factor. */ - q15_t *pTwiddle; /**< points to the twiddle factor table. */ - q15_t *pCosFactor; /**< points to the cosFactor table. */ - arm_rfft_instance_q15 *pRfft; /**< points to the real FFT instance. */ - arm_cfft_radix4_instance_q15 *pCfft; /**< points to the complex FFT instance. */ - } arm_dct4_instance_q15; - - - /** - * @brief Initialization function for the Q15 DCT4/IDCT4. - * @param[in,out] S points to an instance of Q15 DCT4/IDCT4 structure. - * @param[in] S_RFFT points to an instance of Q15 RFFT/RIFFT structure. - * @param[in] S_CFFT points to an instance of Q15 CFFT/CIFFT structure. - * @param[in] N length of the DCT4. - * @param[in] Nby2 half of the length of the DCT4. - * @param[in] normalize normalizing factor. - * @return arm_status function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_ARGUMENT_ERROR if N is not a supported transform length. - */ - arm_status arm_dct4_init_q15( - arm_dct4_instance_q15 * S, - arm_rfft_instance_q15 * S_RFFT, - arm_cfft_radix4_instance_q15 * S_CFFT, - uint16_t N, - uint16_t Nby2, - q15_t normalize); - - - /** - * @brief Processing function for the Q15 DCT4/IDCT4. - * @param[in] S points to an instance of the Q15 DCT4 structure. - * @param[in] pState points to state buffer. - * @param[in,out] pInlineBuffer points to the in-place input and output buffer. - */ - void arm_dct4_q15( - const arm_dct4_instance_q15 * S, - q15_t * pState, - q15_t * pInlineBuffer); - - - /** - * @brief Floating-point vector addition. - * @param[in] pSrcA points to the first input vector - * @param[in] pSrcB points to the second input vector - * @param[out] pDst points to the output vector - * @param[in] blockSize number of samples in each vector - */ - void arm_add_f32( - float32_t * pSrcA, - float32_t * pSrcB, - float32_t * pDst, - uint32_t blockSize); - - - /** - * @brief Q7 vector addition. - * @param[in] pSrcA points to the first input vector - * @param[in] pSrcB points to the second input vector - * @param[out] pDst points to the output vector - * @param[in] blockSize number of samples in each vector - */ - void arm_add_q7( - q7_t * pSrcA, - q7_t * pSrcB, - q7_t * pDst, - uint32_t blockSize); - - - /** - * @brief Q15 vector addition. - * @param[in] pSrcA points to the first input vector - * @param[in] pSrcB points to the second input vector - * @param[out] pDst points to the output vector - * @param[in] blockSize number of samples in each vector - */ - void arm_add_q15( - q15_t * pSrcA, - q15_t * pSrcB, - q15_t * pDst, - uint32_t blockSize); - - - /** - * @brief Q31 vector addition. - * @param[in] pSrcA points to the first input vector - * @param[in] pSrcB points to the second input vector - * @param[out] pDst points to the output vector - * @param[in] blockSize number of samples in each vector - */ - void arm_add_q31( - q31_t * pSrcA, - q31_t * pSrcB, - q31_t * pDst, - uint32_t blockSize); - - - /** - * @brief Floating-point vector subtraction. - * @param[in] pSrcA points to the first input vector - * @param[in] pSrcB points to the second input vector - * @param[out] pDst points to the output vector - * @param[in] blockSize number of samples in each vector - */ - void arm_sub_f32( - float32_t * pSrcA, - float32_t * pSrcB, - float32_t * pDst, - uint32_t blockSize); - - - /** - * @brief Q7 vector subtraction. - * @param[in] pSrcA points to the first input vector - * @param[in] pSrcB points to the second input vector - * @param[out] pDst points to the output vector - * @param[in] blockSize number of samples in each vector - */ - void arm_sub_q7( - q7_t * pSrcA, - q7_t * pSrcB, - q7_t * pDst, - uint32_t blockSize); - - - /** - * @brief Q15 vector subtraction. - * @param[in] pSrcA points to the first input vector - * @param[in] pSrcB points to the second input vector - * @param[out] pDst points to the output vector - * @param[in] blockSize number of samples in each vector - */ - void arm_sub_q15( - q15_t * pSrcA, - q15_t * pSrcB, - q15_t * pDst, - uint32_t blockSize); - - - /** - * @brief Q31 vector subtraction. - * @param[in] pSrcA points to the first input vector - * @param[in] pSrcB points to the second input vector - * @param[out] pDst points to the output vector - * @param[in] blockSize number of samples in each vector - */ - void arm_sub_q31( - q31_t * pSrcA, - q31_t * pSrcB, - q31_t * pDst, - uint32_t blockSize); - - - /** - * @brief Multiplies a floating-point vector by a scalar. - * @param[in] pSrc points to the input vector - * @param[in] scale scale factor to be applied - * @param[out] pDst points to the output vector - * @param[in] blockSize number of samples in the vector - */ - void arm_scale_f32( - float32_t * pSrc, - float32_t scale, - float32_t * pDst, - uint32_t blockSize); - - - /** - * @brief Multiplies a Q7 vector by a scalar. - * @param[in] pSrc points to the input vector - * @param[in] scaleFract fractional portion of the scale value - * @param[in] shift number of bits to shift the result by - * @param[out] pDst points to the output vector - * @param[in] blockSize number of samples in the vector - */ - void arm_scale_q7( - q7_t * pSrc, - q7_t scaleFract, - int8_t shift, - q7_t * pDst, - uint32_t blockSize); - - - /** - * @brief Multiplies a Q15 vector by a scalar. - * @param[in] pSrc points to the input vector - * @param[in] scaleFract fractional portion of the scale value - * @param[in] shift number of bits to shift the result by - * @param[out] pDst points to the output vector - * @param[in] blockSize number of samples in the vector - */ - void arm_scale_q15( - q15_t * pSrc, - q15_t scaleFract, - int8_t shift, - q15_t * pDst, - uint32_t blockSize); - - - /** - * @brief Multiplies a Q31 vector by a scalar. - * @param[in] pSrc points to the input vector - * @param[in] scaleFract fractional portion of the scale value - * @param[in] shift number of bits to shift the result by - * @param[out] pDst points to the output vector - * @param[in] blockSize number of samples in the vector - */ - void arm_scale_q31( - q31_t * pSrc, - q31_t scaleFract, - int8_t shift, - q31_t * pDst, - uint32_t blockSize); - - - /** - * @brief Q7 vector absolute value. - * @param[in] pSrc points to the input buffer - * @param[out] pDst points to the output buffer - * @param[in] blockSize number of samples in each vector - */ - void arm_abs_q7( - q7_t * pSrc, - q7_t * pDst, - uint32_t blockSize); - - - /** - * @brief Floating-point vector absolute value. - * @param[in] pSrc points to the input buffer - * @param[out] pDst points to the output buffer - * @param[in] blockSize number of samples in each vector - */ - void arm_abs_f32( - float32_t * pSrc, - float32_t * pDst, - uint32_t blockSize); - - - /** - * @brief Q15 vector absolute value. - * @param[in] pSrc points to the input buffer - * @param[out] pDst points to the output buffer - * @param[in] blockSize number of samples in each vector - */ - void arm_abs_q15( - q15_t * pSrc, - q15_t * pDst, - uint32_t blockSize); - - - /** - * @brief Q31 vector absolute value. - * @param[in] pSrc points to the input buffer - * @param[out] pDst points to the output buffer - * @param[in] blockSize number of samples in each vector - */ - void arm_abs_q31( - q31_t * pSrc, - q31_t * pDst, - uint32_t blockSize); - - - /** - * @brief Dot product of floating-point vectors. - * @param[in] pSrcA points to the first input vector - * @param[in] pSrcB points to the second input vector - * @param[in] blockSize number of samples in each vector - * @param[out] result output result returned here - */ - void arm_dot_prod_f32( - float32_t * pSrcA, - float32_t * pSrcB, - uint32_t blockSize, - float32_t * result); - - - /** - * @brief Dot product of Q7 vectors. - * @param[in] pSrcA points to the first input vector - * @param[in] pSrcB points to the second input vector - * @param[in] blockSize number of samples in each vector - * @param[out] result output result returned here - */ - void arm_dot_prod_q7( - q7_t * pSrcA, - q7_t * pSrcB, - uint32_t blockSize, - q31_t * result); - - - /** - * @brief Dot product of Q15 vectors. - * @param[in] pSrcA points to the first input vector - * @param[in] pSrcB points to the second input vector - * @param[in] blockSize number of samples in each vector - * @param[out] result output result returned here - */ - void arm_dot_prod_q15( - q15_t * pSrcA, - q15_t * pSrcB, - uint32_t blockSize, - q63_t * result); - - - /** - * @brief Dot product of Q31 vectors. - * @param[in] pSrcA points to the first input vector - * @param[in] pSrcB points to the second input vector - * @param[in] blockSize number of samples in each vector - * @param[out] result output result returned here - */ - void arm_dot_prod_q31( - q31_t * pSrcA, - q31_t * pSrcB, - uint32_t blockSize, - q63_t * result); - - - /** - * @brief Shifts the elements of a Q7 vector a specified number of bits. - * @param[in] pSrc points to the input vector - * @param[in] shiftBits number of bits to shift. A positive value shifts left; a negative value shifts right. - * @param[out] pDst points to the output vector - * @param[in] blockSize number of samples in the vector - */ - void arm_shift_q7( - q7_t * pSrc, - int8_t shiftBits, - q7_t * pDst, - uint32_t blockSize); - - - /** - * @brief Shifts the elements of a Q15 vector a specified number of bits. - * @param[in] pSrc points to the input vector - * @param[in] shiftBits number of bits to shift. A positive value shifts left; a negative value shifts right. - * @param[out] pDst points to the output vector - * @param[in] blockSize number of samples in the vector - */ - void arm_shift_q15( - q15_t * pSrc, - int8_t shiftBits, - q15_t * pDst, - uint32_t blockSize); - - - /** - * @brief Shifts the elements of a Q31 vector a specified number of bits. - * @param[in] pSrc points to the input vector - * @param[in] shiftBits number of bits to shift. A positive value shifts left; a negative value shifts right. - * @param[out] pDst points to the output vector - * @param[in] blockSize number of samples in the vector - */ - void arm_shift_q31( - q31_t * pSrc, - int8_t shiftBits, - q31_t * pDst, - uint32_t blockSize); - - - /** - * @brief Adds a constant offset to a floating-point vector. - * @param[in] pSrc points to the input vector - * @param[in] offset is the offset to be added - * @param[out] pDst points to the output vector - * @param[in] blockSize number of samples in the vector - */ - void arm_offset_f32( - float32_t * pSrc, - float32_t offset, - float32_t * pDst, - uint32_t blockSize); - - - /** - * @brief Adds a constant offset to a Q7 vector. - * @param[in] pSrc points to the input vector - * @param[in] offset is the offset to be added - * @param[out] pDst points to the output vector - * @param[in] blockSize number of samples in the vector - */ - void arm_offset_q7( - q7_t * pSrc, - q7_t offset, - q7_t * pDst, - uint32_t blockSize); - - - /** - * @brief Adds a constant offset to a Q15 vector. - * @param[in] pSrc points to the input vector - * @param[in] offset is the offset to be added - * @param[out] pDst points to the output vector - * @param[in] blockSize number of samples in the vector - */ - void arm_offset_q15( - q15_t * pSrc, - q15_t offset, - q15_t * pDst, - uint32_t blockSize); - - - /** - * @brief Adds a constant offset to a Q31 vector. - * @param[in] pSrc points to the input vector - * @param[in] offset is the offset to be added - * @param[out] pDst points to the output vector - * @param[in] blockSize number of samples in the vector - */ - void arm_offset_q31( - q31_t * pSrc, - q31_t offset, - q31_t * pDst, - uint32_t blockSize); - - - /** - * @brief Negates the elements of a floating-point vector. - * @param[in] pSrc points to the input vector - * @param[out] pDst points to the output vector - * @param[in] blockSize number of samples in the vector - */ - void arm_negate_f32( - float32_t * pSrc, - float32_t * pDst, - uint32_t blockSize); - - - /** - * @brief Negates the elements of a Q7 vector. - * @param[in] pSrc points to the input vector - * @param[out] pDst points to the output vector - * @param[in] blockSize number of samples in the vector - */ - void arm_negate_q7( - q7_t * pSrc, - q7_t * pDst, - uint32_t blockSize); - - - /** - * @brief Negates the elements of a Q15 vector. - * @param[in] pSrc points to the input vector - * @param[out] pDst points to the output vector - * @param[in] blockSize number of samples in the vector - */ - void arm_negate_q15( - q15_t * pSrc, - q15_t * pDst, - uint32_t blockSize); - - - /** - * @brief Negates the elements of a Q31 vector. - * @param[in] pSrc points to the input vector - * @param[out] pDst points to the output vector - * @param[in] blockSize number of samples in the vector - */ - void arm_negate_q31( - q31_t * pSrc, - q31_t * pDst, - uint32_t blockSize); - - - /** - * @brief Copies the elements of a floating-point vector. - * @param[in] pSrc input pointer - * @param[out] pDst output pointer - * @param[in] blockSize number of samples to process - */ - void arm_copy_f32( - float32_t * pSrc, - float32_t * pDst, - uint32_t blockSize); - - - /** - * @brief Copies the elements of a Q7 vector. - * @param[in] pSrc input pointer - * @param[out] pDst output pointer - * @param[in] blockSize number of samples to process - */ - void arm_copy_q7( - q7_t * pSrc, - q7_t * pDst, - uint32_t blockSize); - - - /** - * @brief Copies the elements of a Q15 vector. - * @param[in] pSrc input pointer - * @param[out] pDst output pointer - * @param[in] blockSize number of samples to process - */ - void arm_copy_q15( - q15_t * pSrc, - q15_t * pDst, - uint32_t blockSize); - - - /** - * @brief Copies the elements of a Q31 vector. - * @param[in] pSrc input pointer - * @param[out] pDst output pointer - * @param[in] blockSize number of samples to process - */ - void arm_copy_q31( - q31_t * pSrc, - q31_t * pDst, - uint32_t blockSize); - - - /** - * @brief Fills a constant value into a floating-point vector. - * @param[in] value input value to be filled - * @param[out] pDst output pointer - * @param[in] blockSize number of samples to process - */ - void arm_fill_f32( - float32_t value, - float32_t * pDst, - uint32_t blockSize); - - - /** - * @brief Fills a constant value into a Q7 vector. - * @param[in] value input value to be filled - * @param[out] pDst output pointer - * @param[in] blockSize number of samples to process - */ - void arm_fill_q7( - q7_t value, - q7_t * pDst, - uint32_t blockSize); - - - /** - * @brief Fills a constant value into a Q15 vector. - * @param[in] value input value to be filled - * @param[out] pDst output pointer - * @param[in] blockSize number of samples to process - */ - void arm_fill_q15( - q15_t value, - q15_t * pDst, - uint32_t blockSize); - - - /** - * @brief Fills a constant value into a Q31 vector. - * @param[in] value input value to be filled - * @param[out] pDst output pointer - * @param[in] blockSize number of samples to process - */ - void arm_fill_q31( - q31_t value, - q31_t * pDst, - uint32_t blockSize); - - -/** - * @brief Convolution of floating-point sequences. - * @param[in] pSrcA points to the first input sequence. - * @param[in] srcALen length of the first input sequence. - * @param[in] pSrcB points to the second input sequence. - * @param[in] srcBLen length of the second input sequence. - * @param[out] pDst points to the location where the output result is written. Length srcALen+srcBLen-1. - */ - void arm_conv_f32( - float32_t * pSrcA, - uint32_t srcALen, - float32_t * pSrcB, - uint32_t srcBLen, - float32_t * pDst); - - - /** - * @brief Convolution of Q15 sequences. - * @param[in] pSrcA points to the first input sequence. - * @param[in] srcALen length of the first input sequence. - * @param[in] pSrcB points to the second input sequence. - * @param[in] srcBLen length of the second input sequence. - * @param[out] pDst points to the block of output data Length srcALen+srcBLen-1. - * @param[in] pScratch1 points to scratch buffer of size max(srcALen, srcBLen) + 2*min(srcALen, srcBLen) - 2. - * @param[in] pScratch2 points to scratch buffer of size min(srcALen, srcBLen). - */ - void arm_conv_opt_q15( - q15_t * pSrcA, - uint32_t srcALen, - q15_t * pSrcB, - uint32_t srcBLen, - q15_t * pDst, - q15_t * pScratch1, - q15_t * pScratch2); - - -/** - * @brief Convolution of Q15 sequences. - * @param[in] pSrcA points to the first input sequence. - * @param[in] srcALen length of the first input sequence. - * @param[in] pSrcB points to the second input sequence. - * @param[in] srcBLen length of the second input sequence. - * @param[out] pDst points to the location where the output result is written. Length srcALen+srcBLen-1. - */ - void arm_conv_q15( - q15_t * pSrcA, - uint32_t srcALen, - q15_t * pSrcB, - uint32_t srcBLen, - q15_t * pDst); - - - /** - * @brief Convolution of Q15 sequences (fast version) for Cortex-M3 and Cortex-M4 - * @param[in] pSrcA points to the first input sequence. - * @param[in] srcALen length of the first input sequence. - * @param[in] pSrcB points to the second input sequence. - * @param[in] srcBLen length of the second input sequence. - * @param[out] pDst points to the block of output data Length srcALen+srcBLen-1. - */ - void arm_conv_fast_q15( - q15_t * pSrcA, - uint32_t srcALen, - q15_t * pSrcB, - uint32_t srcBLen, - q15_t * pDst); - - - /** - * @brief Convolution of Q15 sequences (fast version) for Cortex-M3 and Cortex-M4 - * @param[in] pSrcA points to the first input sequence. - * @param[in] srcALen length of the first input sequence. - * @param[in] pSrcB points to the second input sequence. - * @param[in] srcBLen length of the second input sequence. - * @param[out] pDst points to the block of output data Length srcALen+srcBLen-1. - * @param[in] pScratch1 points to scratch buffer of size max(srcALen, srcBLen) + 2*min(srcALen, srcBLen) - 2. - * @param[in] pScratch2 points to scratch buffer of size min(srcALen, srcBLen). - */ - void arm_conv_fast_opt_q15( - q15_t * pSrcA, - uint32_t srcALen, - q15_t * pSrcB, - uint32_t srcBLen, - q15_t * pDst, - q15_t * pScratch1, - q15_t * pScratch2); - - - /** - * @brief Convolution of Q31 sequences. - * @param[in] pSrcA points to the first input sequence. - * @param[in] srcALen length of the first input sequence. - * @param[in] pSrcB points to the second input sequence. - * @param[in] srcBLen length of the second input sequence. - * @param[out] pDst points to the block of output data Length srcALen+srcBLen-1. - */ - void arm_conv_q31( - q31_t * pSrcA, - uint32_t srcALen, - q31_t * pSrcB, - uint32_t srcBLen, - q31_t * pDst); - - - /** - * @brief Convolution of Q31 sequences (fast version) for Cortex-M3 and Cortex-M4 - * @param[in] pSrcA points to the first input sequence. - * @param[in] srcALen length of the first input sequence. - * @param[in] pSrcB points to the second input sequence. - * @param[in] srcBLen length of the second input sequence. - * @param[out] pDst points to the block of output data Length srcALen+srcBLen-1. - */ - void arm_conv_fast_q31( - q31_t * pSrcA, - uint32_t srcALen, - q31_t * pSrcB, - uint32_t srcBLen, - q31_t * pDst); - - - /** - * @brief Convolution of Q7 sequences. - * @param[in] pSrcA points to the first input sequence. - * @param[in] srcALen length of the first input sequence. - * @param[in] pSrcB points to the second input sequence. - * @param[in] srcBLen length of the second input sequence. - * @param[out] pDst points to the block of output data Length srcALen+srcBLen-1. - * @param[in] pScratch1 points to scratch buffer(of type q15_t) of size max(srcALen, srcBLen) + 2*min(srcALen, srcBLen) - 2. - * @param[in] pScratch2 points to scratch buffer (of type q15_t) of size min(srcALen, srcBLen). - */ - void arm_conv_opt_q7( - q7_t * pSrcA, - uint32_t srcALen, - q7_t * pSrcB, - uint32_t srcBLen, - q7_t * pDst, - q15_t * pScratch1, - q15_t * pScratch2); - - - /** - * @brief Convolution of Q7 sequences. - * @param[in] pSrcA points to the first input sequence. - * @param[in] srcALen length of the first input sequence. - * @param[in] pSrcB points to the second input sequence. - * @param[in] srcBLen length of the second input sequence. - * @param[out] pDst points to the block of output data Length srcALen+srcBLen-1. - */ - void arm_conv_q7( - q7_t * pSrcA, - uint32_t srcALen, - q7_t * pSrcB, - uint32_t srcBLen, - q7_t * pDst); - - - /** - * @brief Partial convolution of floating-point sequences. - * @param[in] pSrcA points to the first input sequence. - * @param[in] srcALen length of the first input sequence. - * @param[in] pSrcB points to the second input sequence. - * @param[in] srcBLen length of the second input sequence. - * @param[out] pDst points to the block of output data - * @param[in] firstIndex is the first output sample to start with. - * @param[in] numPoints is the number of output points to be computed. - * @return Returns either ARM_MATH_SUCCESS if the function completed correctly or ARM_MATH_ARGUMENT_ERROR if the requested subset is not in the range [0 srcALen+srcBLen-2]. - */ - arm_status arm_conv_partial_f32( - float32_t * pSrcA, - uint32_t srcALen, - float32_t * pSrcB, - uint32_t srcBLen, - float32_t * pDst, - uint32_t firstIndex, - uint32_t numPoints); - - - /** - * @brief Partial convolution of Q15 sequences. - * @param[in] pSrcA points to the first input sequence. - * @param[in] srcALen length of the first input sequence. - * @param[in] pSrcB points to the second input sequence. - * @param[in] srcBLen length of the second input sequence. - * @param[out] pDst points to the block of output data - * @param[in] firstIndex is the first output sample to start with. - * @param[in] numPoints is the number of output points to be computed. - * @param[in] pScratch1 points to scratch buffer of size max(srcALen, srcBLen) + 2*min(srcALen, srcBLen) - 2. - * @param[in] pScratch2 points to scratch buffer of size min(srcALen, srcBLen). - * @return Returns either ARM_MATH_SUCCESS if the function completed correctly or ARM_MATH_ARGUMENT_ERROR if the requested subset is not in the range [0 srcALen+srcBLen-2]. - */ - arm_status arm_conv_partial_opt_q15( - q15_t * pSrcA, - uint32_t srcALen, - q15_t * pSrcB, - uint32_t srcBLen, - q15_t * pDst, - uint32_t firstIndex, - uint32_t numPoints, - q15_t * pScratch1, - q15_t * pScratch2); - - - /** - * @brief Partial convolution of Q15 sequences. - * @param[in] pSrcA points to the first input sequence. - * @param[in] srcALen length of the first input sequence. - * @param[in] pSrcB points to the second input sequence. - * @param[in] srcBLen length of the second input sequence. - * @param[out] pDst points to the block of output data - * @param[in] firstIndex is the first output sample to start with. - * @param[in] numPoints is the number of output points to be computed. - * @return Returns either ARM_MATH_SUCCESS if the function completed correctly or ARM_MATH_ARGUMENT_ERROR if the requested subset is not in the range [0 srcALen+srcBLen-2]. - */ - arm_status arm_conv_partial_q15( - q15_t * pSrcA, - uint32_t srcALen, - q15_t * pSrcB, - uint32_t srcBLen, - q15_t * pDst, - uint32_t firstIndex, - uint32_t numPoints); - - - /** - * @brief Partial convolution of Q15 sequences (fast version) for Cortex-M3 and Cortex-M4 - * @param[in] pSrcA points to the first input sequence. - * @param[in] srcALen length of the first input sequence. - * @param[in] pSrcB points to the second input sequence. - * @param[in] srcBLen length of the second input sequence. - * @param[out] pDst points to the block of output data - * @param[in] firstIndex is the first output sample to start with. - * @param[in] numPoints is the number of output points to be computed. - * @return Returns either ARM_MATH_SUCCESS if the function completed correctly or ARM_MATH_ARGUMENT_ERROR if the requested subset is not in the range [0 srcALen+srcBLen-2]. - */ - arm_status arm_conv_partial_fast_q15( - q15_t * pSrcA, - uint32_t srcALen, - q15_t * pSrcB, - uint32_t srcBLen, - q15_t * pDst, - uint32_t firstIndex, - uint32_t numPoints); - - - /** - * @brief Partial convolution of Q15 sequences (fast version) for Cortex-M3 and Cortex-M4 - * @param[in] pSrcA points to the first input sequence. - * @param[in] srcALen length of the first input sequence. - * @param[in] pSrcB points to the second input sequence. - * @param[in] srcBLen length of the second input sequence. - * @param[out] pDst points to the block of output data - * @param[in] firstIndex is the first output sample to start with. - * @param[in] numPoints is the number of output points to be computed. - * @param[in] pScratch1 points to scratch buffer of size max(srcALen, srcBLen) + 2*min(srcALen, srcBLen) - 2. - * @param[in] pScratch2 points to scratch buffer of size min(srcALen, srcBLen). - * @return Returns either ARM_MATH_SUCCESS if the function completed correctly or ARM_MATH_ARGUMENT_ERROR if the requested subset is not in the range [0 srcALen+srcBLen-2]. - */ - arm_status arm_conv_partial_fast_opt_q15( - q15_t * pSrcA, - uint32_t srcALen, - q15_t * pSrcB, - uint32_t srcBLen, - q15_t * pDst, - uint32_t firstIndex, - uint32_t numPoints, - q15_t * pScratch1, - q15_t * pScratch2); - - - /** - * @brief Partial convolution of Q31 sequences. - * @param[in] pSrcA points to the first input sequence. - * @param[in] srcALen length of the first input sequence. - * @param[in] pSrcB points to the second input sequence. - * @param[in] srcBLen length of the second input sequence. - * @param[out] pDst points to the block of output data - * @param[in] firstIndex is the first output sample to start with. - * @param[in] numPoints is the number of output points to be computed. - * @return Returns either ARM_MATH_SUCCESS if the function completed correctly or ARM_MATH_ARGUMENT_ERROR if the requested subset is not in the range [0 srcALen+srcBLen-2]. - */ - arm_status arm_conv_partial_q31( - q31_t * pSrcA, - uint32_t srcALen, - q31_t * pSrcB, - uint32_t srcBLen, - q31_t * pDst, - uint32_t firstIndex, - uint32_t numPoints); - - - /** - * @brief Partial convolution of Q31 sequences (fast version) for Cortex-M3 and Cortex-M4 - * @param[in] pSrcA points to the first input sequence. - * @param[in] srcALen length of the first input sequence. - * @param[in] pSrcB points to the second input sequence. - * @param[in] srcBLen length of the second input sequence. - * @param[out] pDst points to the block of output data - * @param[in] firstIndex is the first output sample to start with. - * @param[in] numPoints is the number of output points to be computed. - * @return Returns either ARM_MATH_SUCCESS if the function completed correctly or ARM_MATH_ARGUMENT_ERROR if the requested subset is not in the range [0 srcALen+srcBLen-2]. - */ - arm_status arm_conv_partial_fast_q31( - q31_t * pSrcA, - uint32_t srcALen, - q31_t * pSrcB, - uint32_t srcBLen, - q31_t * pDst, - uint32_t firstIndex, - uint32_t numPoints); - - - /** - * @brief Partial convolution of Q7 sequences - * @param[in] pSrcA points to the first input sequence. - * @param[in] srcALen length of the first input sequence. - * @param[in] pSrcB points to the second input sequence. - * @param[in] srcBLen length of the second input sequence. - * @param[out] pDst points to the block of output data - * @param[in] firstIndex is the first output sample to start with. - * @param[in] numPoints is the number of output points to be computed. - * @param[in] pScratch1 points to scratch buffer(of type q15_t) of size max(srcALen, srcBLen) + 2*min(srcALen, srcBLen) - 2. - * @param[in] pScratch2 points to scratch buffer (of type q15_t) of size min(srcALen, srcBLen). - * @return Returns either ARM_MATH_SUCCESS if the function completed correctly or ARM_MATH_ARGUMENT_ERROR if the requested subset is not in the range [0 srcALen+srcBLen-2]. - */ - arm_status arm_conv_partial_opt_q7( - q7_t * pSrcA, - uint32_t srcALen, - q7_t * pSrcB, - uint32_t srcBLen, - q7_t * pDst, - uint32_t firstIndex, - uint32_t numPoints, - q15_t * pScratch1, - q15_t * pScratch2); - - -/** - * @brief Partial convolution of Q7 sequences. - * @param[in] pSrcA points to the first input sequence. - * @param[in] srcALen length of the first input sequence. - * @param[in] pSrcB points to the second input sequence. - * @param[in] srcBLen length of the second input sequence. - * @param[out] pDst points to the block of output data - * @param[in] firstIndex is the first output sample to start with. - * @param[in] numPoints is the number of output points to be computed. - * @return Returns either ARM_MATH_SUCCESS if the function completed correctly or ARM_MATH_ARGUMENT_ERROR if the requested subset is not in the range [0 srcALen+srcBLen-2]. - */ - arm_status arm_conv_partial_q7( - q7_t * pSrcA, - uint32_t srcALen, - q7_t * pSrcB, - uint32_t srcBLen, - q7_t * pDst, - uint32_t firstIndex, - uint32_t numPoints); - - - /** - * @brief Instance structure for the Q15 FIR decimator. - */ - typedef struct - { - uint8_t M; /**< decimation factor. */ - uint16_t numTaps; /**< number of coefficients in the filter. */ - q15_t *pCoeffs; /**< points to the coefficient array. The array is of length numTaps.*/ - q15_t *pState; /**< points to the state variable array. The array is of length numTaps+blockSize-1. */ - } arm_fir_decimate_instance_q15; - - /** - * @brief Instance structure for the Q31 FIR decimator. - */ - typedef struct - { - uint8_t M; /**< decimation factor. */ - uint16_t numTaps; /**< number of coefficients in the filter. */ - q31_t *pCoeffs; /**< points to the coefficient array. The array is of length numTaps.*/ - q31_t *pState; /**< points to the state variable array. The array is of length numTaps+blockSize-1. */ - } arm_fir_decimate_instance_q31; - - /** - * @brief Instance structure for the floating-point FIR decimator. - */ - typedef struct - { - uint8_t M; /**< decimation factor. */ - uint16_t numTaps; /**< number of coefficients in the filter. */ - float32_t *pCoeffs; /**< points to the coefficient array. The array is of length numTaps.*/ - float32_t *pState; /**< points to the state variable array. The array is of length numTaps+blockSize-1. */ - } arm_fir_decimate_instance_f32; - - - /** - * @brief Processing function for the floating-point FIR decimator. - * @param[in] S points to an instance of the floating-point FIR decimator structure. - * @param[in] pSrc points to the block of input data. - * @param[out] pDst points to the block of output data - * @param[in] blockSize number of input samples to process per call. - */ - void arm_fir_decimate_f32( - const arm_fir_decimate_instance_f32 * S, - float32_t * pSrc, - float32_t * pDst, - uint32_t blockSize); - - - /** - * @brief Initialization function for the floating-point FIR decimator. - * @param[in,out] S points to an instance of the floating-point FIR decimator structure. - * @param[in] numTaps number of coefficients in the filter. - * @param[in] M decimation factor. - * @param[in] pCoeffs points to the filter coefficients. - * @param[in] pState points to the state buffer. - * @param[in] blockSize number of input samples to process per call. - * @return The function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_LENGTH_ERROR if - * blockSize is not a multiple of M. - */ - arm_status arm_fir_decimate_init_f32( - arm_fir_decimate_instance_f32 * S, - uint16_t numTaps, - uint8_t M, - float32_t * pCoeffs, - float32_t * pState, - uint32_t blockSize); - - - /** - * @brief Processing function for the Q15 FIR decimator. - * @param[in] S points to an instance of the Q15 FIR decimator structure. - * @param[in] pSrc points to the block of input data. - * @param[out] pDst points to the block of output data - * @param[in] blockSize number of input samples to process per call. - */ - void arm_fir_decimate_q15( - const arm_fir_decimate_instance_q15 * S, - q15_t * pSrc, - q15_t * pDst, - uint32_t blockSize); - - - /** - * @brief Processing function for the Q15 FIR decimator (fast variant) for Cortex-M3 and Cortex-M4. - * @param[in] S points to an instance of the Q15 FIR decimator structure. - * @param[in] pSrc points to the block of input data. - * @param[out] pDst points to the block of output data - * @param[in] blockSize number of input samples to process per call. - */ - void arm_fir_decimate_fast_q15( - const arm_fir_decimate_instance_q15 * S, - q15_t * pSrc, - q15_t * pDst, - uint32_t blockSize); - - - /** - * @brief Initialization function for the Q15 FIR decimator. - * @param[in,out] S points to an instance of the Q15 FIR decimator structure. - * @param[in] numTaps number of coefficients in the filter. - * @param[in] M decimation factor. - * @param[in] pCoeffs points to the filter coefficients. - * @param[in] pState points to the state buffer. - * @param[in] blockSize number of input samples to process per call. - * @return The function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_LENGTH_ERROR if - * blockSize is not a multiple of M. - */ - arm_status arm_fir_decimate_init_q15( - arm_fir_decimate_instance_q15 * S, - uint16_t numTaps, - uint8_t M, - q15_t * pCoeffs, - q15_t * pState, - uint32_t blockSize); - - - /** - * @brief Processing function for the Q31 FIR decimator. - * @param[in] S points to an instance of the Q31 FIR decimator structure. - * @param[in] pSrc points to the block of input data. - * @param[out] pDst points to the block of output data - * @param[in] blockSize number of input samples to process per call. - */ - void arm_fir_decimate_q31( - const arm_fir_decimate_instance_q31 * S, - q31_t * pSrc, - q31_t * pDst, - uint32_t blockSize); - - /** - * @brief Processing function for the Q31 FIR decimator (fast variant) for Cortex-M3 and Cortex-M4. - * @param[in] S points to an instance of the Q31 FIR decimator structure. - * @param[in] pSrc points to the block of input data. - * @param[out] pDst points to the block of output data - * @param[in] blockSize number of input samples to process per call. - */ - void arm_fir_decimate_fast_q31( - arm_fir_decimate_instance_q31 * S, - q31_t * pSrc, - q31_t * pDst, - uint32_t blockSize); - - - /** - * @brief Initialization function for the Q31 FIR decimator. - * @param[in,out] S points to an instance of the Q31 FIR decimator structure. - * @param[in] numTaps number of coefficients in the filter. - * @param[in] M decimation factor. - * @param[in] pCoeffs points to the filter coefficients. - * @param[in] pState points to the state buffer. - * @param[in] blockSize number of input samples to process per call. - * @return The function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_LENGTH_ERROR if - * blockSize is not a multiple of M. - */ - arm_status arm_fir_decimate_init_q31( - arm_fir_decimate_instance_q31 * S, - uint16_t numTaps, - uint8_t M, - q31_t * pCoeffs, - q31_t * pState, - uint32_t blockSize); - - - /** - * @brief Instance structure for the Q15 FIR interpolator. - */ - typedef struct - { - uint8_t L; /**< upsample factor. */ - uint16_t phaseLength; /**< length of each polyphase filter component. */ - q15_t *pCoeffs; /**< points to the coefficient array. The array is of length L*phaseLength. */ - q15_t *pState; /**< points to the state variable array. The array is of length blockSize+phaseLength-1. */ - } arm_fir_interpolate_instance_q15; - - /** - * @brief Instance structure for the Q31 FIR interpolator. - */ - typedef struct - { - uint8_t L; /**< upsample factor. */ - uint16_t phaseLength; /**< length of each polyphase filter component. */ - q31_t *pCoeffs; /**< points to the coefficient array. The array is of length L*phaseLength. */ - q31_t *pState; /**< points to the state variable array. The array is of length blockSize+phaseLength-1. */ - } arm_fir_interpolate_instance_q31; - - /** - * @brief Instance structure for the floating-point FIR interpolator. - */ - typedef struct - { - uint8_t L; /**< upsample factor. */ - uint16_t phaseLength; /**< length of each polyphase filter component. */ - float32_t *pCoeffs; /**< points to the coefficient array. The array is of length L*phaseLength. */ - float32_t *pState; /**< points to the state variable array. The array is of length phaseLength+numTaps-1. */ - } arm_fir_interpolate_instance_f32; - - - /** - * @brief Processing function for the Q15 FIR interpolator. - * @param[in] S points to an instance of the Q15 FIR interpolator structure. - * @param[in] pSrc points to the block of input data. - * @param[out] pDst points to the block of output data. - * @param[in] blockSize number of input samples to process per call. - */ - void arm_fir_interpolate_q15( - const arm_fir_interpolate_instance_q15 * S, - q15_t * pSrc, - q15_t * pDst, - uint32_t blockSize); - - - /** - * @brief Initialization function for the Q15 FIR interpolator. - * @param[in,out] S points to an instance of the Q15 FIR interpolator structure. - * @param[in] L upsample factor. - * @param[in] numTaps number of filter coefficients in the filter. - * @param[in] pCoeffs points to the filter coefficient buffer. - * @param[in] pState points to the state buffer. - * @param[in] blockSize number of input samples to process per call. - * @return The function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_LENGTH_ERROR if - * the filter length numTaps is not a multiple of the interpolation factor L. - */ - arm_status arm_fir_interpolate_init_q15( - arm_fir_interpolate_instance_q15 * S, - uint8_t L, - uint16_t numTaps, - q15_t * pCoeffs, - q15_t * pState, - uint32_t blockSize); - - - /** - * @brief Processing function for the Q31 FIR interpolator. - * @param[in] S points to an instance of the Q15 FIR interpolator structure. - * @param[in] pSrc points to the block of input data. - * @param[out] pDst points to the block of output data. - * @param[in] blockSize number of input samples to process per call. - */ - void arm_fir_interpolate_q31( - const arm_fir_interpolate_instance_q31 * S, - q31_t * pSrc, - q31_t * pDst, - uint32_t blockSize); - - - /** - * @brief Initialization function for the Q31 FIR interpolator. - * @param[in,out] S points to an instance of the Q31 FIR interpolator structure. - * @param[in] L upsample factor. - * @param[in] numTaps number of filter coefficients in the filter. - * @param[in] pCoeffs points to the filter coefficient buffer. - * @param[in] pState points to the state buffer. - * @param[in] blockSize number of input samples to process per call. - * @return The function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_LENGTH_ERROR if - * the filter length numTaps is not a multiple of the interpolation factor L. - */ - arm_status arm_fir_interpolate_init_q31( - arm_fir_interpolate_instance_q31 * S, - uint8_t L, - uint16_t numTaps, - q31_t * pCoeffs, - q31_t * pState, - uint32_t blockSize); - - - /** - * @brief Processing function for the floating-point FIR interpolator. - * @param[in] S points to an instance of the floating-point FIR interpolator structure. - * @param[in] pSrc points to the block of input data. - * @param[out] pDst points to the block of output data. - * @param[in] blockSize number of input samples to process per call. - */ - void arm_fir_interpolate_f32( - const arm_fir_interpolate_instance_f32 * S, - float32_t * pSrc, - float32_t * pDst, - uint32_t blockSize); - - - /** - * @brief Initialization function for the floating-point FIR interpolator. - * @param[in,out] S points to an instance of the floating-point FIR interpolator structure. - * @param[in] L upsample factor. - * @param[in] numTaps number of filter coefficients in the filter. - * @param[in] pCoeffs points to the filter coefficient buffer. - * @param[in] pState points to the state buffer. - * @param[in] blockSize number of input samples to process per call. - * @return The function returns ARM_MATH_SUCCESS if initialization is successful or ARM_MATH_LENGTH_ERROR if - * the filter length numTaps is not a multiple of the interpolation factor L. - */ - arm_status arm_fir_interpolate_init_f32( - arm_fir_interpolate_instance_f32 * S, - uint8_t L, - uint16_t numTaps, - float32_t * pCoeffs, - float32_t * pState, - uint32_t blockSize); - - - /** - * @brief Instance structure for the high precision Q31 Biquad cascade filter. - */ - typedef struct - { - uint8_t numStages; /**< number of 2nd order stages in the filter. Overall order is 2*numStages. */ - q63_t *pState; /**< points to the array of state coefficients. The array is of length 4*numStages. */ - q31_t *pCoeffs; /**< points to the array of coefficients. The array is of length 5*numStages. */ - uint8_t postShift; /**< additional shift, in bits, applied to each output sample. */ - } arm_biquad_cas_df1_32x64_ins_q31; - - - /** - * @param[in] S points to an instance of the high precision Q31 Biquad cascade filter structure. - * @param[in] pSrc points to the block of input data. - * @param[out] pDst points to the block of output data - * @param[in] blockSize number of samples to process. - */ - void arm_biquad_cas_df1_32x64_q31( - const arm_biquad_cas_df1_32x64_ins_q31 * S, - q31_t * pSrc, - q31_t * pDst, - uint32_t blockSize); - - - /** - * @param[in,out] S points to an instance of the high precision Q31 Biquad cascade filter structure. - * @param[in] numStages number of 2nd order stages in the filter. - * @param[in] pCoeffs points to the filter coefficients. - * @param[in] pState points to the state buffer. - * @param[in] postShift shift to be applied to the output. Varies according to the coefficients format - */ - void arm_biquad_cas_df1_32x64_init_q31( - arm_biquad_cas_df1_32x64_ins_q31 * S, - uint8_t numStages, - q31_t * pCoeffs, - q63_t * pState, - uint8_t postShift); - - - /** - * @brief Instance structure for the floating-point transposed direct form II Biquad cascade filter. - */ - typedef struct - { - uint8_t numStages; /**< number of 2nd order stages in the filter. Overall order is 2*numStages. */ - float32_t *pState; /**< points to the array of state coefficients. The array is of length 2*numStages. */ - float32_t *pCoeffs; /**< points to the array of coefficients. The array is of length 5*numStages. */ - } arm_biquad_cascade_df2T_instance_f32; - - /** - * @brief Instance structure for the floating-point transposed direct form II Biquad cascade filter. - */ - typedef struct - { - uint8_t numStages; /**< number of 2nd order stages in the filter. Overall order is 2*numStages. */ - float32_t *pState; /**< points to the array of state coefficients. The array is of length 4*numStages. */ - float32_t *pCoeffs; /**< points to the array of coefficients. The array is of length 5*numStages. */ - } arm_biquad_cascade_stereo_df2T_instance_f32; - - /** - * @brief Instance structure for the floating-point transposed direct form II Biquad cascade filter. - */ - typedef struct - { - uint8_t numStages; /**< number of 2nd order stages in the filter. Overall order is 2*numStages. */ - float64_t *pState; /**< points to the array of state coefficients. The array is of length 2*numStages. */ - float64_t *pCoeffs; /**< points to the array of coefficients. The array is of length 5*numStages. */ - } arm_biquad_cascade_df2T_instance_f64; - - - /** - * @brief Processing function for the floating-point transposed direct form II Biquad cascade filter. - * @param[in] S points to an instance of the filter data structure. - * @param[in] pSrc points to the block of input data. - * @param[out] pDst points to the block of output data - * @param[in] blockSize number of samples to process. - */ - void arm_biquad_cascade_df2T_f32( - const arm_biquad_cascade_df2T_instance_f32 * S, - float32_t * pSrc, - float32_t * pDst, - uint32_t blockSize); - - - /** - * @brief Processing function for the floating-point transposed direct form II Biquad cascade filter. 2 channels - * @param[in] S points to an instance of the filter data structure. - * @param[in] pSrc points to the block of input data. - * @param[out] pDst points to the block of output data - * @param[in] blockSize number of samples to process. - */ - void arm_biquad_cascade_stereo_df2T_f32( - const arm_biquad_cascade_stereo_df2T_instance_f32 * S, - float32_t * pSrc, - float32_t * pDst, - uint32_t blockSize); - - - /** - * @brief Processing function for the floating-point transposed direct form II Biquad cascade filter. - * @param[in] S points to an instance of the filter data structure. - * @param[in] pSrc points to the block of input data. - * @param[out] pDst points to the block of output data - * @param[in] blockSize number of samples to process. - */ - void arm_biquad_cascade_df2T_f64( - const arm_biquad_cascade_df2T_instance_f64 * S, - float64_t * pSrc, - float64_t * pDst, - uint32_t blockSize); - - - /** - * @brief Initialization function for the floating-point transposed direct form II Biquad cascade filter. - * @param[in,out] S points to an instance of the filter data structure. - * @param[in] numStages number of 2nd order stages in the filter. - * @param[in] pCoeffs points to the filter coefficients. - * @param[in] pState points to the state buffer. - */ - void arm_biquad_cascade_df2T_init_f32( - arm_biquad_cascade_df2T_instance_f32 * S, - uint8_t numStages, - float32_t * pCoeffs, - float32_t * pState); - - - /** - * @brief Initialization function for the floating-point transposed direct form II Biquad cascade filter. - * @param[in,out] S points to an instance of the filter data structure. - * @param[in] numStages number of 2nd order stages in the filter. - * @param[in] pCoeffs points to the filter coefficients. - * @param[in] pState points to the state buffer. - */ - void arm_biquad_cascade_stereo_df2T_init_f32( - arm_biquad_cascade_stereo_df2T_instance_f32 * S, - uint8_t numStages, - float32_t * pCoeffs, - float32_t * pState); - - - /** - * @brief Initialization function for the floating-point transposed direct form II Biquad cascade filter. - * @param[in,out] S points to an instance of the filter data structure. - * @param[in] numStages number of 2nd order stages in the filter. - * @param[in] pCoeffs points to the filter coefficients. - * @param[in] pState points to the state buffer. - */ - void arm_biquad_cascade_df2T_init_f64( - arm_biquad_cascade_df2T_instance_f64 * S, - uint8_t numStages, - float64_t * pCoeffs, - float64_t * pState); - - - /** - * @brief Instance structure for the Q15 FIR lattice filter. - */ - typedef struct - { - uint16_t numStages; /**< number of filter stages. */ - q15_t *pState; /**< points to the state variable array. The array is of length numStages. */ - q15_t *pCoeffs; /**< points to the coefficient array. The array is of length numStages. */ - } arm_fir_lattice_instance_q15; - - /** - * @brief Instance structure for the Q31 FIR lattice filter. - */ - typedef struct - { - uint16_t numStages; /**< number of filter stages. */ - q31_t *pState; /**< points to the state variable array. The array is of length numStages. */ - q31_t *pCoeffs; /**< points to the coefficient array. The array is of length numStages. */ - } arm_fir_lattice_instance_q31; - - /** - * @brief Instance structure for the floating-point FIR lattice filter. - */ - typedef struct - { - uint16_t numStages; /**< number of filter stages. */ - float32_t *pState; /**< points to the state variable array. The array is of length numStages. */ - float32_t *pCoeffs; /**< points to the coefficient array. The array is of length numStages. */ - } arm_fir_lattice_instance_f32; - - - /** - * @brief Initialization function for the Q15 FIR lattice filter. - * @param[in] S points to an instance of the Q15 FIR lattice structure. - * @param[in] numStages number of filter stages. - * @param[in] pCoeffs points to the coefficient buffer. The array is of length numStages. - * @param[in] pState points to the state buffer. The array is of length numStages. - */ - void arm_fir_lattice_init_q15( - arm_fir_lattice_instance_q15 * S, - uint16_t numStages, - q15_t * pCoeffs, - q15_t * pState); - - - /** - * @brief Processing function for the Q15 FIR lattice filter. - * @param[in] S points to an instance of the Q15 FIR lattice structure. - * @param[in] pSrc points to the block of input data. - * @param[out] pDst points to the block of output data. - * @param[in] blockSize number of samples to process. - */ - void arm_fir_lattice_q15( - const arm_fir_lattice_instance_q15 * S, - q15_t * pSrc, - q15_t * pDst, - uint32_t blockSize); - - - /** - * @brief Initialization function for the Q31 FIR lattice filter. - * @param[in] S points to an instance of the Q31 FIR lattice structure. - * @param[in] numStages number of filter stages. - * @param[in] pCoeffs points to the coefficient buffer. The array is of length numStages. - * @param[in] pState points to the state buffer. The array is of length numStages. - */ - void arm_fir_lattice_init_q31( - arm_fir_lattice_instance_q31 * S, - uint16_t numStages, - q31_t * pCoeffs, - q31_t * pState); - - - /** - * @brief Processing function for the Q31 FIR lattice filter. - * @param[in] S points to an instance of the Q31 FIR lattice structure. - * @param[in] pSrc points to the block of input data. - * @param[out] pDst points to the block of output data - * @param[in] blockSize number of samples to process. - */ - void arm_fir_lattice_q31( - const arm_fir_lattice_instance_q31 * S, - q31_t * pSrc, - q31_t * pDst, - uint32_t blockSize); - - -/** - * @brief Initialization function for the floating-point FIR lattice filter. - * @param[in] S points to an instance of the floating-point FIR lattice structure. - * @param[in] numStages number of filter stages. - * @param[in] pCoeffs points to the coefficient buffer. The array is of length numStages. - * @param[in] pState points to the state buffer. The array is of length numStages. - */ - void arm_fir_lattice_init_f32( - arm_fir_lattice_instance_f32 * S, - uint16_t numStages, - float32_t * pCoeffs, - float32_t * pState); - - - /** - * @brief Processing function for the floating-point FIR lattice filter. - * @param[in] S points to an instance of the floating-point FIR lattice structure. - * @param[in] pSrc points to the block of input data. - * @param[out] pDst points to the block of output data - * @param[in] blockSize number of samples to process. - */ - void arm_fir_lattice_f32( - const arm_fir_lattice_instance_f32 * S, - float32_t * pSrc, - float32_t * pDst, - uint32_t blockSize); - - - /** - * @brief Instance structure for the Q15 IIR lattice filter. - */ - typedef struct - { - uint16_t numStages; /**< number of stages in the filter. */ - q15_t *pState; /**< points to the state variable array. The array is of length numStages+blockSize. */ - q15_t *pkCoeffs; /**< points to the reflection coefficient array. The array is of length numStages. */ - q15_t *pvCoeffs; /**< points to the ladder coefficient array. The array is of length numStages+1. */ - } arm_iir_lattice_instance_q15; - - /** - * @brief Instance structure for the Q31 IIR lattice filter. - */ - typedef struct - { - uint16_t numStages; /**< number of stages in the filter. */ - q31_t *pState; /**< points to the state variable array. The array is of length numStages+blockSize. */ - q31_t *pkCoeffs; /**< points to the reflection coefficient array. The array is of length numStages. */ - q31_t *pvCoeffs; /**< points to the ladder coefficient array. The array is of length numStages+1. */ - } arm_iir_lattice_instance_q31; - - /** - * @brief Instance structure for the floating-point IIR lattice filter. - */ - typedef struct - { - uint16_t numStages; /**< number of stages in the filter. */ - float32_t *pState; /**< points to the state variable array. The array is of length numStages+blockSize. */ - float32_t *pkCoeffs; /**< points to the reflection coefficient array. The array is of length numStages. */ - float32_t *pvCoeffs; /**< points to the ladder coefficient array. The array is of length numStages+1. */ - } arm_iir_lattice_instance_f32; - - - /** - * @brief Processing function for the floating-point IIR lattice filter. - * @param[in] S points to an instance of the floating-point IIR lattice structure. - * @param[in] pSrc points to the block of input data. - * @param[out] pDst points to the block of output data. - * @param[in] blockSize number of samples to process. - */ - void arm_iir_lattice_f32( - const arm_iir_lattice_instance_f32 * S, - float32_t * pSrc, - float32_t * pDst, - uint32_t blockSize); - - - /** - * @brief Initialization function for the floating-point IIR lattice filter. - * @param[in] S points to an instance of the floating-point IIR lattice structure. - * @param[in] numStages number of stages in the filter. - * @param[in] pkCoeffs points to the reflection coefficient buffer. The array is of length numStages. - * @param[in] pvCoeffs points to the ladder coefficient buffer. The array is of length numStages+1. - * @param[in] pState points to the state buffer. The array is of length numStages+blockSize-1. - * @param[in] blockSize number of samples to process. - */ - void arm_iir_lattice_init_f32( - arm_iir_lattice_instance_f32 * S, - uint16_t numStages, - float32_t * pkCoeffs, - float32_t * pvCoeffs, - float32_t * pState, - uint32_t blockSize); - - - /** - * @brief Processing function for the Q31 IIR lattice filter. - * @param[in] S points to an instance of the Q31 IIR lattice structure. - * @param[in] pSrc points to the block of input data. - * @param[out] pDst points to the block of output data. - * @param[in] blockSize number of samples to process. - */ - void arm_iir_lattice_q31( - const arm_iir_lattice_instance_q31 * S, - q31_t * pSrc, - q31_t * pDst, - uint32_t blockSize); - - - /** - * @brief Initialization function for the Q31 IIR lattice filter. - * @param[in] S points to an instance of the Q31 IIR lattice structure. - * @param[in] numStages number of stages in the filter. - * @param[in] pkCoeffs points to the reflection coefficient buffer. The array is of length numStages. - * @param[in] pvCoeffs points to the ladder coefficient buffer. The array is of length numStages+1. - * @param[in] pState points to the state buffer. The array is of length numStages+blockSize. - * @param[in] blockSize number of samples to process. - */ - void arm_iir_lattice_init_q31( - arm_iir_lattice_instance_q31 * S, - uint16_t numStages, - q31_t * pkCoeffs, - q31_t * pvCoeffs, - q31_t * pState, - uint32_t blockSize); - - - /** - * @brief Processing function for the Q15 IIR lattice filter. - * @param[in] S points to an instance of the Q15 IIR lattice structure. - * @param[in] pSrc points to the block of input data. - * @param[out] pDst points to the block of output data. - * @param[in] blockSize number of samples to process. - */ - void arm_iir_lattice_q15( - const arm_iir_lattice_instance_q15 * S, - q15_t * pSrc, - q15_t * pDst, - uint32_t blockSize); - - -/** - * @brief Initialization function for the Q15 IIR lattice filter. - * @param[in] S points to an instance of the fixed-point Q15 IIR lattice structure. - * @param[in] numStages number of stages in the filter. - * @param[in] pkCoeffs points to reflection coefficient buffer. The array is of length numStages. - * @param[in] pvCoeffs points to ladder coefficient buffer. The array is of length numStages+1. - * @param[in] pState points to state buffer. The array is of length numStages+blockSize. - * @param[in] blockSize number of samples to process per call. - */ - void arm_iir_lattice_init_q15( - arm_iir_lattice_instance_q15 * S, - uint16_t numStages, - q15_t * pkCoeffs, - q15_t * pvCoeffs, - q15_t * pState, - uint32_t blockSize); - - - /** - * @brief Instance structure for the floating-point LMS filter. - */ - typedef struct - { - uint16_t numTaps; /**< number of coefficients in the filter. */ - float32_t *pState; /**< points to the state variable array. The array is of length numTaps+blockSize-1. */ - float32_t *pCoeffs; /**< points to the coefficient array. The array is of length numTaps. */ - float32_t mu; /**< step size that controls filter coefficient updates. */ - } arm_lms_instance_f32; - - - /** - * @brief Processing function for floating-point LMS filter. - * @param[in] S points to an instance of the floating-point LMS filter structure. - * @param[in] pSrc points to the block of input data. - * @param[in] pRef points to the block of reference data. - * @param[out] pOut points to the block of output data. - * @param[out] pErr points to the block of error data. - * @param[in] blockSize number of samples to process. - */ - void arm_lms_f32( - const arm_lms_instance_f32 * S, - float32_t * pSrc, - float32_t * pRef, - float32_t * pOut, - float32_t * pErr, - uint32_t blockSize); - - - /** - * @brief Initialization function for floating-point LMS filter. - * @param[in] S points to an instance of the floating-point LMS filter structure. - * @param[in] numTaps number of filter coefficients. - * @param[in] pCoeffs points to the coefficient buffer. - * @param[in] pState points to state buffer. - * @param[in] mu step size that controls filter coefficient updates. - * @param[in] blockSize number of samples to process. - */ - void arm_lms_init_f32( - arm_lms_instance_f32 * S, - uint16_t numTaps, - float32_t * pCoeffs, - float32_t * pState, - float32_t mu, - uint32_t blockSize); - - - /** - * @brief Instance structure for the Q15 LMS filter. - */ - typedef struct - { - uint16_t numTaps; /**< number of coefficients in the filter. */ - q15_t *pState; /**< points to the state variable array. The array is of length numTaps+blockSize-1. */ - q15_t *pCoeffs; /**< points to the coefficient array. The array is of length numTaps. */ - q15_t mu; /**< step size that controls filter coefficient updates. */ - uint32_t postShift; /**< bit shift applied to coefficients. */ - } arm_lms_instance_q15; - - - /** - * @brief Initialization function for the Q15 LMS filter. - * @param[in] S points to an instance of the Q15 LMS filter structure. - * @param[in] numTaps number of filter coefficients. - * @param[in] pCoeffs points to the coefficient buffer. - * @param[in] pState points to the state buffer. - * @param[in] mu step size that controls filter coefficient updates. - * @param[in] blockSize number of samples to process. - * @param[in] postShift bit shift applied to coefficients. - */ - void arm_lms_init_q15( - arm_lms_instance_q15 * S, - uint16_t numTaps, - q15_t * pCoeffs, - q15_t * pState, - q15_t mu, - uint32_t blockSize, - uint32_t postShift); - - - /** - * @brief Processing function for Q15 LMS filter. - * @param[in] S points to an instance of the Q15 LMS filter structure. - * @param[in] pSrc points to the block of input data. - * @param[in] pRef points to the block of reference data. - * @param[out] pOut points to the block of output data. - * @param[out] pErr points to the block of error data. - * @param[in] blockSize number of samples to process. - */ - void arm_lms_q15( - const arm_lms_instance_q15 * S, - q15_t * pSrc, - q15_t * pRef, - q15_t * pOut, - q15_t * pErr, - uint32_t blockSize); - - - /** - * @brief Instance structure for the Q31 LMS filter. - */ - typedef struct - { - uint16_t numTaps; /**< number of coefficients in the filter. */ - q31_t *pState; /**< points to the state variable array. The array is of length numTaps+blockSize-1. */ - q31_t *pCoeffs; /**< points to the coefficient array. The array is of length numTaps. */ - q31_t mu; /**< step size that controls filter coefficient updates. */ - uint32_t postShift; /**< bit shift applied to coefficients. */ - } arm_lms_instance_q31; - - - /** - * @brief Processing function for Q31 LMS filter. - * @param[in] S points to an instance of the Q15 LMS filter structure. - * @param[in] pSrc points to the block of input data. - * @param[in] pRef points to the block of reference data. - * @param[out] pOut points to the block of output data. - * @param[out] pErr points to the block of error data. - * @param[in] blockSize number of samples to process. - */ - void arm_lms_q31( - const arm_lms_instance_q31 * S, - q31_t * pSrc, - q31_t * pRef, - q31_t * pOut, - q31_t * pErr, - uint32_t blockSize); - - - /** - * @brief Initialization function for Q31 LMS filter. - * @param[in] S points to an instance of the Q31 LMS filter structure. - * @param[in] numTaps number of filter coefficients. - * @param[in] pCoeffs points to coefficient buffer. - * @param[in] pState points to state buffer. - * @param[in] mu step size that controls filter coefficient updates. - * @param[in] blockSize number of samples to process. - * @param[in] postShift bit shift applied to coefficients. - */ - void arm_lms_init_q31( - arm_lms_instance_q31 * S, - uint16_t numTaps, - q31_t * pCoeffs, - q31_t * pState, - q31_t mu, - uint32_t blockSize, - uint32_t postShift); - - - /** - * @brief Instance structure for the floating-point normalized LMS filter. - */ - typedef struct - { - uint16_t numTaps; /**< number of coefficients in the filter. */ - float32_t *pState; /**< points to the state variable array. The array is of length numTaps+blockSize-1. */ - float32_t *pCoeffs; /**< points to the coefficient array. The array is of length numTaps. */ - float32_t mu; /**< step size that control filter coefficient updates. */ - float32_t energy; /**< saves previous frame energy. */ - float32_t x0; /**< saves previous input sample. */ - } arm_lms_norm_instance_f32; - - - /** - * @brief Processing function for floating-point normalized LMS filter. - * @param[in] S points to an instance of the floating-point normalized LMS filter structure. - * @param[in] pSrc points to the block of input data. - * @param[in] pRef points to the block of reference data. - * @param[out] pOut points to the block of output data. - * @param[out] pErr points to the block of error data. - * @param[in] blockSize number of samples to process. - */ - void arm_lms_norm_f32( - arm_lms_norm_instance_f32 * S, - float32_t * pSrc, - float32_t * pRef, - float32_t * pOut, - float32_t * pErr, - uint32_t blockSize); - - - /** - * @brief Initialization function for floating-point normalized LMS filter. - * @param[in] S points to an instance of the floating-point LMS filter structure. - * @param[in] numTaps number of filter coefficients. - * @param[in] pCoeffs points to coefficient buffer. - * @param[in] pState points to state buffer. - * @param[in] mu step size that controls filter coefficient updates. - * @param[in] blockSize number of samples to process. - */ - void arm_lms_norm_init_f32( - arm_lms_norm_instance_f32 * S, - uint16_t numTaps, - float32_t * pCoeffs, - float32_t * pState, - float32_t mu, - uint32_t blockSize); - - - /** - * @brief Instance structure for the Q31 normalized LMS filter. - */ - typedef struct - { - uint16_t numTaps; /**< number of coefficients in the filter. */ - q31_t *pState; /**< points to the state variable array. The array is of length numTaps+blockSize-1. */ - q31_t *pCoeffs; /**< points to the coefficient array. The array is of length numTaps. */ - q31_t mu; /**< step size that controls filter coefficient updates. */ - uint8_t postShift; /**< bit shift applied to coefficients. */ - q31_t *recipTable; /**< points to the reciprocal initial value table. */ - q31_t energy; /**< saves previous frame energy. */ - q31_t x0; /**< saves previous input sample. */ - } arm_lms_norm_instance_q31; - - - /** - * @brief Processing function for Q31 normalized LMS filter. - * @param[in] S points to an instance of the Q31 normalized LMS filter structure. - * @param[in] pSrc points to the block of input data. - * @param[in] pRef points to the block of reference data. - * @param[out] pOut points to the block of output data. - * @param[out] pErr points to the block of error data. - * @param[in] blockSize number of samples to process. - */ - void arm_lms_norm_q31( - arm_lms_norm_instance_q31 * S, - q31_t * pSrc, - q31_t * pRef, - q31_t * pOut, - q31_t * pErr, - uint32_t blockSize); - - - /** - * @brief Initialization function for Q31 normalized LMS filter. - * @param[in] S points to an instance of the Q31 normalized LMS filter structure. - * @param[in] numTaps number of filter coefficients. - * @param[in] pCoeffs points to coefficient buffer. - * @param[in] pState points to state buffer. - * @param[in] mu step size that controls filter coefficient updates. - * @param[in] blockSize number of samples to process. - * @param[in] postShift bit shift applied to coefficients. - */ - void arm_lms_norm_init_q31( - arm_lms_norm_instance_q31 * S, - uint16_t numTaps, - q31_t * pCoeffs, - q31_t * pState, - q31_t mu, - uint32_t blockSize, - uint8_t postShift); - - - /** - * @brief Instance structure for the Q15 normalized LMS filter. - */ - typedef struct - { - uint16_t numTaps; /**< Number of coefficients in the filter. */ - q15_t *pState; /**< points to the state variable array. The array is of length numTaps+blockSize-1. */ - q15_t *pCoeffs; /**< points to the coefficient array. The array is of length numTaps. */ - q15_t mu; /**< step size that controls filter coefficient updates. */ - uint8_t postShift; /**< bit shift applied to coefficients. */ - q15_t *recipTable; /**< Points to the reciprocal initial value table. */ - q15_t energy; /**< saves previous frame energy. */ - q15_t x0; /**< saves previous input sample. */ - } arm_lms_norm_instance_q15; - - - /** - * @brief Processing function for Q15 normalized LMS filter. - * @param[in] S points to an instance of the Q15 normalized LMS filter structure. - * @param[in] pSrc points to the block of input data. - * @param[in] pRef points to the block of reference data. - * @param[out] pOut points to the block of output data. - * @param[out] pErr points to the block of error data. - * @param[in] blockSize number of samples to process. - */ - void arm_lms_norm_q15( - arm_lms_norm_instance_q15 * S, - q15_t * pSrc, - q15_t * pRef, - q15_t * pOut, - q15_t * pErr, - uint32_t blockSize); - - - /** - * @brief Initialization function for Q15 normalized LMS filter. - * @param[in] S points to an instance of the Q15 normalized LMS filter structure. - * @param[in] numTaps number of filter coefficients. - * @param[in] pCoeffs points to coefficient buffer. - * @param[in] pState points to state buffer. - * @param[in] mu step size that controls filter coefficient updates. - * @param[in] blockSize number of samples to process. - * @param[in] postShift bit shift applied to coefficients. - */ - void arm_lms_norm_init_q15( - arm_lms_norm_instance_q15 * S, - uint16_t numTaps, - q15_t * pCoeffs, - q15_t * pState, - q15_t mu, - uint32_t blockSize, - uint8_t postShift); - - - /** - * @brief Correlation of floating-point sequences. - * @param[in] pSrcA points to the first input sequence. - * @param[in] srcALen length of the first input sequence. - * @param[in] pSrcB points to the second input sequence. - * @param[in] srcBLen length of the second input sequence. - * @param[out] pDst points to the block of output data Length 2 * max(srcALen, srcBLen) - 1. - */ - void arm_correlate_f32( - float32_t * pSrcA, - uint32_t srcALen, - float32_t * pSrcB, - uint32_t srcBLen, - float32_t * pDst); - - - /** - * @brief Correlation of Q15 sequences - * @param[in] pSrcA points to the first input sequence. - * @param[in] srcALen length of the first input sequence. - * @param[in] pSrcB points to the second input sequence. - * @param[in] srcBLen length of the second input sequence. - * @param[out] pDst points to the block of output data Length 2 * max(srcALen, srcBLen) - 1. - * @param[in] pScratch points to scratch buffer of size max(srcALen, srcBLen) + 2*min(srcALen, srcBLen) - 2. - */ - void arm_correlate_opt_q15( - q15_t * pSrcA, - uint32_t srcALen, - q15_t * pSrcB, - uint32_t srcBLen, - q15_t * pDst, - q15_t * pScratch); - - - /** - * @brief Correlation of Q15 sequences. - * @param[in] pSrcA points to the first input sequence. - * @param[in] srcALen length of the first input sequence. - * @param[in] pSrcB points to the second input sequence. - * @param[in] srcBLen length of the second input sequence. - * @param[out] pDst points to the block of output data Length 2 * max(srcALen, srcBLen) - 1. - */ - - void arm_correlate_q15( - q15_t * pSrcA, - uint32_t srcALen, - q15_t * pSrcB, - uint32_t srcBLen, - q15_t * pDst); - - - /** - * @brief Correlation of Q15 sequences (fast version) for Cortex-M3 and Cortex-M4. - * @param[in] pSrcA points to the first input sequence. - * @param[in] srcALen length of the first input sequence. - * @param[in] pSrcB points to the second input sequence. - * @param[in] srcBLen length of the second input sequence. - * @param[out] pDst points to the block of output data Length 2 * max(srcALen, srcBLen) - 1. - */ - - void arm_correlate_fast_q15( - q15_t * pSrcA, - uint32_t srcALen, - q15_t * pSrcB, - uint32_t srcBLen, - q15_t * pDst); - - - /** - * @brief Correlation of Q15 sequences (fast version) for Cortex-M3 and Cortex-M4. - * @param[in] pSrcA points to the first input sequence. - * @param[in] srcALen length of the first input sequence. - * @param[in] pSrcB points to the second input sequence. - * @param[in] srcBLen length of the second input sequence. - * @param[out] pDst points to the block of output data Length 2 * max(srcALen, srcBLen) - 1. - * @param[in] pScratch points to scratch buffer of size max(srcALen, srcBLen) + 2*min(srcALen, srcBLen) - 2. - */ - void arm_correlate_fast_opt_q15( - q15_t * pSrcA, - uint32_t srcALen, - q15_t * pSrcB, - uint32_t srcBLen, - q15_t * pDst, - q15_t * pScratch); - - - /** - * @brief Correlation of Q31 sequences. - * @param[in] pSrcA points to the first input sequence. - * @param[in] srcALen length of the first input sequence. - * @param[in] pSrcB points to the second input sequence. - * @param[in] srcBLen length of the second input sequence. - * @param[out] pDst points to the block of output data Length 2 * max(srcALen, srcBLen) - 1. - */ - void arm_correlate_q31( - q31_t * pSrcA, - uint32_t srcALen, - q31_t * pSrcB, - uint32_t srcBLen, - q31_t * pDst); - - - /** - * @brief Correlation of Q31 sequences (fast version) for Cortex-M3 and Cortex-M4 - * @param[in] pSrcA points to the first input sequence. - * @param[in] srcALen length of the first input sequence. - * @param[in] pSrcB points to the second input sequence. - * @param[in] srcBLen length of the second input sequence. - * @param[out] pDst points to the block of output data Length 2 * max(srcALen, srcBLen) - 1. - */ - void arm_correlate_fast_q31( - q31_t * pSrcA, - uint32_t srcALen, - q31_t * pSrcB, - uint32_t srcBLen, - q31_t * pDst); - - - /** - * @brief Correlation of Q7 sequences. - * @param[in] pSrcA points to the first input sequence. - * @param[in] srcALen length of the first input sequence. - * @param[in] pSrcB points to the second input sequence. - * @param[in] srcBLen length of the second input sequence. - * @param[out] pDst points to the block of output data Length 2 * max(srcALen, srcBLen) - 1. - * @param[in] pScratch1 points to scratch buffer(of type q15_t) of size max(srcALen, srcBLen) + 2*min(srcALen, srcBLen) - 2. - * @param[in] pScratch2 points to scratch buffer (of type q15_t) of size min(srcALen, srcBLen). - */ - void arm_correlate_opt_q7( - q7_t * pSrcA, - uint32_t srcALen, - q7_t * pSrcB, - uint32_t srcBLen, - q7_t * pDst, - q15_t * pScratch1, - q15_t * pScratch2); - - - /** - * @brief Correlation of Q7 sequences. - * @param[in] pSrcA points to the first input sequence. - * @param[in] srcALen length of the first input sequence. - * @param[in] pSrcB points to the second input sequence. - * @param[in] srcBLen length of the second input sequence. - * @param[out] pDst points to the block of output data Length 2 * max(srcALen, srcBLen) - 1. - */ - void arm_correlate_q7( - q7_t * pSrcA, - uint32_t srcALen, - q7_t * pSrcB, - uint32_t srcBLen, - q7_t * pDst); - - - /** - * @brief Instance structure for the floating-point sparse FIR filter. - */ - typedef struct - { - uint16_t numTaps; /**< number of coefficients in the filter. */ - uint16_t stateIndex; /**< state buffer index. Points to the oldest sample in the state buffer. */ - float32_t *pState; /**< points to the state buffer array. The array is of length maxDelay+blockSize-1. */ - float32_t *pCoeffs; /**< points to the coefficient array. The array is of length numTaps.*/ - uint16_t maxDelay; /**< maximum offset specified by the pTapDelay array. */ - int32_t *pTapDelay; /**< points to the array of delay values. The array is of length numTaps. */ - } arm_fir_sparse_instance_f32; - - /** - * @brief Instance structure for the Q31 sparse FIR filter. - */ - typedef struct - { - uint16_t numTaps; /**< number of coefficients in the filter. */ - uint16_t stateIndex; /**< state buffer index. Points to the oldest sample in the state buffer. */ - q31_t *pState; /**< points to the state buffer array. The array is of length maxDelay+blockSize-1. */ - q31_t *pCoeffs; /**< points to the coefficient array. The array is of length numTaps.*/ - uint16_t maxDelay; /**< maximum offset specified by the pTapDelay array. */ - int32_t *pTapDelay; /**< points to the array of delay values. The array is of length numTaps. */ - } arm_fir_sparse_instance_q31; - - /** - * @brief Instance structure for the Q15 sparse FIR filter. - */ - typedef struct - { - uint16_t numTaps; /**< number of coefficients in the filter. */ - uint16_t stateIndex; /**< state buffer index. Points to the oldest sample in the state buffer. */ - q15_t *pState; /**< points to the state buffer array. The array is of length maxDelay+blockSize-1. */ - q15_t *pCoeffs; /**< points to the coefficient array. The array is of length numTaps.*/ - uint16_t maxDelay; /**< maximum offset specified by the pTapDelay array. */ - int32_t *pTapDelay; /**< points to the array of delay values. The array is of length numTaps. */ - } arm_fir_sparse_instance_q15; - - /** - * @brief Instance structure for the Q7 sparse FIR filter. - */ - typedef struct - { - uint16_t numTaps; /**< number of coefficients in the filter. */ - uint16_t stateIndex; /**< state buffer index. Points to the oldest sample in the state buffer. */ - q7_t *pState; /**< points to the state buffer array. The array is of length maxDelay+blockSize-1. */ - q7_t *pCoeffs; /**< points to the coefficient array. The array is of length numTaps.*/ - uint16_t maxDelay; /**< maximum offset specified by the pTapDelay array. */ - int32_t *pTapDelay; /**< points to the array of delay values. The array is of length numTaps. */ - } arm_fir_sparse_instance_q7; - - - /** - * @brief Processing function for the floating-point sparse FIR filter. - * @param[in] S points to an instance of the floating-point sparse FIR structure. - * @param[in] pSrc points to the block of input data. - * @param[out] pDst points to the block of output data - * @param[in] pScratchIn points to a temporary buffer of size blockSize. - * @param[in] blockSize number of input samples to process per call. - */ - void arm_fir_sparse_f32( - arm_fir_sparse_instance_f32 * S, - float32_t * pSrc, - float32_t * pDst, - float32_t * pScratchIn, - uint32_t blockSize); - - - /** - * @brief Initialization function for the floating-point sparse FIR filter. - * @param[in,out] S points to an instance of the floating-point sparse FIR structure. - * @param[in] numTaps number of nonzero coefficients in the filter. - * @param[in] pCoeffs points to the array of filter coefficients. - * @param[in] pState points to the state buffer. - * @param[in] pTapDelay points to the array of offset times. - * @param[in] maxDelay maximum offset time supported. - * @param[in] blockSize number of samples that will be processed per block. - */ - void arm_fir_sparse_init_f32( - arm_fir_sparse_instance_f32 * S, - uint16_t numTaps, - float32_t * pCoeffs, - float32_t * pState, - int32_t * pTapDelay, - uint16_t maxDelay, - uint32_t blockSize); - - - /** - * @brief Processing function for the Q31 sparse FIR filter. - * @param[in] S points to an instance of the Q31 sparse FIR structure. - * @param[in] pSrc points to the block of input data. - * @param[out] pDst points to the block of output data - * @param[in] pScratchIn points to a temporary buffer of size blockSize. - * @param[in] blockSize number of input samples to process per call. - */ - void arm_fir_sparse_q31( - arm_fir_sparse_instance_q31 * S, - q31_t * pSrc, - q31_t * pDst, - q31_t * pScratchIn, - uint32_t blockSize); - - - /** - * @brief Initialization function for the Q31 sparse FIR filter. - * @param[in,out] S points to an instance of the Q31 sparse FIR structure. - * @param[in] numTaps number of nonzero coefficients in the filter. - * @param[in] pCoeffs points to the array of filter coefficients. - * @param[in] pState points to the state buffer. - * @param[in] pTapDelay points to the array of offset times. - * @param[in] maxDelay maximum offset time supported. - * @param[in] blockSize number of samples that will be processed per block. - */ - void arm_fir_sparse_init_q31( - arm_fir_sparse_instance_q31 * S, - uint16_t numTaps, - q31_t * pCoeffs, - q31_t * pState, - int32_t * pTapDelay, - uint16_t maxDelay, - uint32_t blockSize); - - - /** - * @brief Processing function for the Q15 sparse FIR filter. - * @param[in] S points to an instance of the Q15 sparse FIR structure. - * @param[in] pSrc points to the block of input data. - * @param[out] pDst points to the block of output data - * @param[in] pScratchIn points to a temporary buffer of size blockSize. - * @param[in] pScratchOut points to a temporary buffer of size blockSize. - * @param[in] blockSize number of input samples to process per call. - */ - void arm_fir_sparse_q15( - arm_fir_sparse_instance_q15 * S, - q15_t * pSrc, - q15_t * pDst, - q15_t * pScratchIn, - q31_t * pScratchOut, - uint32_t blockSize); - - - /** - * @brief Initialization function for the Q15 sparse FIR filter. - * @param[in,out] S points to an instance of the Q15 sparse FIR structure. - * @param[in] numTaps number of nonzero coefficients in the filter. - * @param[in] pCoeffs points to the array of filter coefficients. - * @param[in] pState points to the state buffer. - * @param[in] pTapDelay points to the array of offset times. - * @param[in] maxDelay maximum offset time supported. - * @param[in] blockSize number of samples that will be processed per block. - */ - void arm_fir_sparse_init_q15( - arm_fir_sparse_instance_q15 * S, - uint16_t numTaps, - q15_t * pCoeffs, - q15_t * pState, - int32_t * pTapDelay, - uint16_t maxDelay, - uint32_t blockSize); - - - /** - * @brief Processing function for the Q7 sparse FIR filter. - * @param[in] S points to an instance of the Q7 sparse FIR structure. - * @param[in] pSrc points to the block of input data. - * @param[out] pDst points to the block of output data - * @param[in] pScratchIn points to a temporary buffer of size blockSize. - * @param[in] pScratchOut points to a temporary buffer of size blockSize. - * @param[in] blockSize number of input samples to process per call. - */ - void arm_fir_sparse_q7( - arm_fir_sparse_instance_q7 * S, - q7_t * pSrc, - q7_t * pDst, - q7_t * pScratchIn, - q31_t * pScratchOut, - uint32_t blockSize); - - - /** - * @brief Initialization function for the Q7 sparse FIR filter. - * @param[in,out] S points to an instance of the Q7 sparse FIR structure. - * @param[in] numTaps number of nonzero coefficients in the filter. - * @param[in] pCoeffs points to the array of filter coefficients. - * @param[in] pState points to the state buffer. - * @param[in] pTapDelay points to the array of offset times. - * @param[in] maxDelay maximum offset time supported. - * @param[in] blockSize number of samples that will be processed per block. - */ - void arm_fir_sparse_init_q7( - arm_fir_sparse_instance_q7 * S, - uint16_t numTaps, - q7_t * pCoeffs, - q7_t * pState, - int32_t * pTapDelay, - uint16_t maxDelay, - uint32_t blockSize); - - - /** - * @brief Floating-point sin_cos function. - * @param[in] theta input value in degrees - * @param[out] pSinVal points to the processed sine output. - * @param[out] pCosVal points to the processed cos output. - */ - void arm_sin_cos_f32( - float32_t theta, - float32_t * pSinVal, - float32_t * pCosVal); - - - /** - * @brief Q31 sin_cos function. - * @param[in] theta scaled input value in degrees - * @param[out] pSinVal points to the processed sine output. - * @param[out] pCosVal points to the processed cosine output. - */ - void arm_sin_cos_q31( - q31_t theta, - q31_t * pSinVal, - q31_t * pCosVal); - - - /** - * @brief Floating-point complex conjugate. - * @param[in] pSrc points to the input vector - * @param[out] pDst points to the output vector - * @param[in] numSamples number of complex samples in each vector - */ - void arm_cmplx_conj_f32( - float32_t * pSrc, - float32_t * pDst, - uint32_t numSamples); - - /** - * @brief Q31 complex conjugate. - * @param[in] pSrc points to the input vector - * @param[out] pDst points to the output vector - * @param[in] numSamples number of complex samples in each vector - */ - void arm_cmplx_conj_q31( - q31_t * pSrc, - q31_t * pDst, - uint32_t numSamples); - - - /** - * @brief Q15 complex conjugate. - * @param[in] pSrc points to the input vector - * @param[out] pDst points to the output vector - * @param[in] numSamples number of complex samples in each vector - */ - void arm_cmplx_conj_q15( - q15_t * pSrc, - q15_t * pDst, - uint32_t numSamples); - - - /** - * @brief Floating-point complex magnitude squared - * @param[in] pSrc points to the complex input vector - * @param[out] pDst points to the real output vector - * @param[in] numSamples number of complex samples in the input vector - */ - void arm_cmplx_mag_squared_f32( - float32_t * pSrc, - float32_t * pDst, - uint32_t numSamples); - - - /** - * @brief Q31 complex magnitude squared - * @param[in] pSrc points to the complex input vector - * @param[out] pDst points to the real output vector - * @param[in] numSamples number of complex samples in the input vector - */ - void arm_cmplx_mag_squared_q31( - q31_t * pSrc, - q31_t * pDst, - uint32_t numSamples); - - - /** - * @brief Q15 complex magnitude squared - * @param[in] pSrc points to the complex input vector - * @param[out] pDst points to the real output vector - * @param[in] numSamples number of complex samples in the input vector - */ - void arm_cmplx_mag_squared_q15( - q15_t * pSrc, - q15_t * pDst, - uint32_t numSamples); - - - /** - * @ingroup groupController - */ - - /** - * @defgroup PID PID Motor Control - * - * A Proportional Integral Derivative (PID) controller is a generic feedback control - * loop mechanism widely used in industrial control systems. - * A PID controller is the most commonly used type of feedback controller. - * - * This set of functions implements (PID) controllers - * for Q15, Q31, and floating-point data types. The functions operate on a single sample - * of data and each call to the function returns a single processed value. - * S points to an instance of the PID control data structure. in - * is the input sample value. The functions return the output value. - * - * \par Algorithm: - * 
-   *    y[n] = y[n-1] + A0 * x[n] + A1 * x[n-1] + A2 * x[n-2]
-   *    A0 = Kp + Ki + Kd
-   *    A1 = (-Kp ) - (2 * Kd )
-   *    A2 = Kd
- * - * \par - * where \c Kp is proportional constant, \c Ki is Integral constant and \c Kd is Derivative constant - * - * \par - * \image html PID.gif "Proportional Integral Derivative Controller" - * - * \par - * The PID controller calculates an "error" value as the difference between - * the measured output and the reference input. - * The controller attempts to minimize the error by adjusting the process control inputs. - * The proportional value determines the reaction to the current error, - * the integral value determines the reaction based on the sum of recent errors, - * and the derivative value determines the reaction based on the rate at which the error has been changing. - * - * \par Instance Structure - * The Gains A0, A1, A2 and state variables for a PID controller are stored together in an instance data structure. - * A separate instance structure must be defined for each PID Controller. - * There are separate instance structure declarations for each of the 3 supported data types. - * - * \par Reset Functions - * There is also an associated reset function for each data type which clears the state array. - * - * \par Initialization Functions - * There is also an associated initialization function for each data type. - * The initialization function performs the following operations: - * - Initializes the Gains A0, A1, A2 from Kp,Ki, Kd gains. - * - Zeros out the values in the state buffer. - * - * \par - * Instance structure cannot be placed into a const data section and it is recommended to use the initialization function. - * - * \par Fixed-Point Behavior - * Care must be taken when using the fixed-point versions of the PID Controller functions. - * In particular, the overflow and saturation behavior of the accumulator used in each function must be considered. - * Refer to the function specific documentation below for usage guidelines. - */ - - /** - * @addtogroup PID - * @{ - */ - - /** - * @brief Process function for the floating-point PID Control. - * @param[in,out] S is an instance of the floating-point PID Control structure - * @param[in] in input sample to process - * @return out processed output sample. - */ - static __INLINE float32_t arm_pid_f32( - arm_pid_instance_f32 * S, - float32_t in) - { - float32_t out; - - /* y[n] = y[n-1] + A0 * x[n] + A1 * x[n-1] + A2 * x[n-2] */ - out = (S->A0 * in) + - (S->A1 * S->state[0]) + (S->A2 * S->state[1]) + (S->state[2]); - - /* Update state */ - S->state[1] = S->state[0]; - S->state[0] = in; - S->state[2] = out; - - /* return to application */ - return (out); - - } - - /** - * @brief Process function for the Q31 PID Control. - * @param[in,out] S points to an instance of the Q31 PID Control structure - * @param[in] in input sample to process - * @return out processed output sample. - * - * Scaling and Overflow Behavior: - * \par - * The function is implemented using an internal 64-bit accumulator. - * The accumulator has a 2.62 format and maintains full precision of the intermediate multiplication results but provides only a single guard bit. - * Thus, if the accumulator result overflows it wraps around rather than clip. - * In order to avoid overflows completely the input signal must be scaled down by 2 bits as there are four additions. - * After all multiply-accumulates are performed, the 2.62 accumulator is truncated to 1.32 format and then saturated to 1.31 format. - */ - static __INLINE q31_t arm_pid_q31( - arm_pid_instance_q31 * S, - q31_t in) - { - q63_t acc; - q31_t out; - - /* acc = A0 * x[n] */ - acc = (q63_t) S->A0 * in; - - /* acc += A1 * x[n-1] */ - acc += (q63_t) S->A1 * S->state[0]; - - /* acc += A2 * x[n-2] */ - acc += (q63_t) S->A2 * S->state[1]; - - /* convert output to 1.31 format to add y[n-1] */ - out = (q31_t) (acc >> 31u); - - /* out += y[n-1] */ - out += S->state[2]; - - /* Update state */ - S->state[1] = S->state[0]; - S->state[0] = in; - S->state[2] = out; - - /* return to application */ - return (out); - } - - - /** - * @brief Process function for the Q15 PID Control. - * @param[in,out] S points to an instance of the Q15 PID Control structure - * @param[in] in input sample to process - * @return out processed output sample. - * - * Scaling and Overflow Behavior: - * \par - * The function is implemented using a 64-bit internal accumulator. - * Both Gains and state variables are represented in 1.15 format and multiplications yield a 2.30 result. - * The 2.30 intermediate results are accumulated in a 64-bit accumulator in 34.30 format. - * There is no risk of internal overflow with this approach and the full precision of intermediate multiplications is preserved. - * After all additions have been performed, the accumulator is truncated to 34.15 format by discarding low 15 bits. - * Lastly, the accumulator is saturated to yield a result in 1.15 format. - */ - static __INLINE q15_t arm_pid_q15( - arm_pid_instance_q15 * S, - q15_t in) - { - q63_t acc; - q15_t out; - -#ifndef ARM_MATH_CM0_FAMILY - __SIMD32_TYPE *vstate; - - /* Implementation of PID controller */ - - /* acc = A0 * x[n] */ - acc = (q31_t) __SMUAD((uint32_t)S->A0, (uint32_t)in); - - /* acc += A1 * x[n-1] + A2 * x[n-2] */ - vstate = __SIMD32_CONST(S->state); - acc = (q63_t)__SMLALD((uint32_t)S->A1, (uint32_t)*vstate, (uint64_t)acc); -#else - /* acc = A0 * x[n] */ - acc = ((q31_t) S->A0) * in; - - /* acc += A1 * x[n-1] + A2 * x[n-2] */ - acc += (q31_t) S->A1 * S->state[0]; - acc += (q31_t) S->A2 * S->state[1]; -#endif - - /* acc += y[n-1] */ - acc += (q31_t) S->state[2] << 15; - - /* saturate the output */ - out = (q15_t) (__SSAT((acc >> 15), 16)); - - /* Update state */ - S->state[1] = S->state[0]; - S->state[0] = in; - S->state[2] = out; - - /* return to application */ - return (out); - } - - /** - * @} end of PID group - */ - - - /** - * @brief Floating-point matrix inverse. - * @param[in] src points to the instance of the input floating-point matrix structure. - * @param[out] dst points to the instance of the output floating-point matrix structure. - * @return The function returns ARM_MATH_SIZE_MISMATCH, if the dimensions do not match. - * If the input matrix is singular (does not have an inverse), then the algorithm terminates and returns error status ARM_MATH_SINGULAR. - */ - arm_status arm_mat_inverse_f32( - const arm_matrix_instance_f32 * src, - arm_matrix_instance_f32 * dst); - - - /** - * @brief Floating-point matrix inverse. - * @param[in] src points to the instance of the input floating-point matrix structure. - * @param[out] dst points to the instance of the output floating-point matrix structure. - * @return The function returns ARM_MATH_SIZE_MISMATCH, if the dimensions do not match. - * If the input matrix is singular (does not have an inverse), then the algorithm terminates and returns error status ARM_MATH_SINGULAR. - */ - arm_status arm_mat_inverse_f64( - const arm_matrix_instance_f64 * src, - arm_matrix_instance_f64 * dst); - - - - /** - * @ingroup groupController - */ - - /** - * @defgroup clarke Vector Clarke Transform - * Forward Clarke transform converts the instantaneous stator phases into a two-coordinate time invariant vector. - * Generally the Clarke transform uses three-phase currents Ia, Ib and Ic to calculate currents - * in the two-phase orthogonal stator axis Ialpha and Ibeta. - * When Ialpha is superposed with Ia as shown in the figure below - * \image html clarke.gif Stator current space vector and its components in (a,b). - * and Ia + Ib + Ic = 0, in this condition Ialpha and Ibeta - * can be calculated using only Ia and Ib. - * - * The function operates on a single sample of data and each call to the function returns the processed output. - * The library provides separate functions for Q31 and floating-point data types. - * \par Algorithm - * \image html clarkeFormula.gif - * where Ia and Ib are the instantaneous stator phases and - * pIalpha and pIbeta are the two coordinates of time invariant vector. - * \par Fixed-Point Behavior - * Care must be taken when using the Q31 version of the Clarke transform. - * In particular, the overflow and saturation behavior of the accumulator used must be considered. - * Refer to the function specific documentation below for usage guidelines. - */ - - /** - * @addtogroup clarke - * @{ - */ - - /** - * - * @brief Floating-point Clarke transform - * @param[in] Ia input three-phase coordinate a - * @param[in] Ib input three-phase coordinate b - * @param[out] pIalpha points to output two-phase orthogonal vector axis alpha - * @param[out] pIbeta points to output two-phase orthogonal vector axis beta - */ - static __INLINE void arm_clarke_f32( - float32_t Ia, - float32_t Ib, - float32_t * pIalpha, - float32_t * pIbeta) - { - /* Calculate pIalpha using the equation, pIalpha = Ia */ - *pIalpha = Ia; - - /* Calculate pIbeta using the equation, pIbeta = (1/sqrt(3)) * Ia + (2/sqrt(3)) * Ib */ - *pIbeta = ((float32_t) 0.57735026919 * Ia + (float32_t) 1.15470053838 * Ib); - } - - - /** - * @brief Clarke transform for Q31 version - * @param[in] Ia input three-phase coordinate a - * @param[in] Ib input three-phase coordinate b - * @param[out] pIalpha points to output two-phase orthogonal vector axis alpha - * @param[out] pIbeta points to output two-phase orthogonal vector axis beta - * - * Scaling and Overflow Behavior: - * \par - * The function is implemented using an internal 32-bit accumulator. - * The accumulator maintains 1.31 format by truncating lower 31 bits of the intermediate multiplication in 2.62 format. - * There is saturation on the addition, hence there is no risk of overflow. - */ - static __INLINE void arm_clarke_q31( - q31_t Ia, - q31_t Ib, - q31_t * pIalpha, - q31_t * pIbeta) - { - q31_t product1, product2; /* Temporary variables used to store intermediate results */ - - /* Calculating pIalpha from Ia by equation pIalpha = Ia */ - *pIalpha = Ia; - - /* Intermediate product is calculated by (1/(sqrt(3)) * Ia) */ - product1 = (q31_t) (((q63_t) Ia * 0x24F34E8B) >> 30); - - /* Intermediate product is calculated by (2/sqrt(3) * Ib) */ - product2 = (q31_t) (((q63_t) Ib * 0x49E69D16) >> 30); - - /* pIbeta is calculated by adding the intermediate products */ - *pIbeta = __QADD(product1, product2); - } - - /** - * @} end of clarke group - */ - - /** - * @brief Converts the elements of the Q7 vector to Q31 vector. - * @param[in] pSrc input pointer - * @param[out] pDst output pointer - * @param[in] blockSize number of samples to process - */ - void arm_q7_to_q31( - q7_t * pSrc, - q31_t * pDst, - uint32_t blockSize); - - - - /** - * @ingroup groupController - */ - - /** - * @defgroup inv_clarke Vector Inverse Clarke Transform - * Inverse Clarke transform converts the two-coordinate time invariant vector into instantaneous stator phases. - * - * The function operates on a single sample of data and each call to the function returns the processed output. - * The library provides separate functions for Q31 and floating-point data types. - * \par Algorithm - * \image html clarkeInvFormula.gif - * where pIa and pIb are the instantaneous stator phases and - * Ialpha and Ibeta are the two coordinates of time invariant vector. - * \par Fixed-Point Behavior - * Care must be taken when using the Q31 version of the Clarke transform. - * In particular, the overflow and saturation behavior of the accumulator used must be considered. - * Refer to the function specific documentation below for usage guidelines. - */ - - /** - * @addtogroup inv_clarke - * @{ - */ - - /** - * @brief Floating-point Inverse Clarke transform - * @param[in] Ialpha input two-phase orthogonal vector axis alpha - * @param[in] Ibeta input two-phase orthogonal vector axis beta - * @param[out] pIa points to output three-phase coordinate a - * @param[out] pIb points to output three-phase coordinate b - */ - static __INLINE void arm_inv_clarke_f32( - float32_t Ialpha, - float32_t Ibeta, - float32_t * pIa, - float32_t * pIb) - { - /* Calculating pIa from Ialpha by equation pIa = Ialpha */ - *pIa = Ialpha; - - /* Calculating pIb from Ialpha and Ibeta by equation pIb = -(1/2) * Ialpha + (sqrt(3)/2) * Ibeta */ - *pIb = -0.5f * Ialpha + 0.8660254039f * Ibeta; - } - - - /** - * @brief Inverse Clarke transform for Q31 version - * @param[in] Ialpha input two-phase orthogonal vector axis alpha - * @param[in] Ibeta input two-phase orthogonal vector axis beta - * @param[out] pIa points to output three-phase coordinate a - * @param[out] pIb points to output three-phase coordinate b - * - * Scaling and Overflow Behavior: - * \par - * The function is implemented using an internal 32-bit accumulator. - * The accumulator maintains 1.31 format by truncating lower 31 bits of the intermediate multiplication in 2.62 format. - * There is saturation on the subtraction, hence there is no risk of overflow. - */ - static __INLINE void arm_inv_clarke_q31( - q31_t Ialpha, - q31_t Ibeta, - q31_t * pIa, - q31_t * pIb) - { - q31_t product1, product2; /* Temporary variables used to store intermediate results */ - - /* Calculating pIa from Ialpha by equation pIa = Ialpha */ - *pIa = Ialpha; - - /* Intermediate product is calculated by (1/(2*sqrt(3)) * Ia) */ - product1 = (q31_t) (((q63_t) (Ialpha) * (0x40000000)) >> 31); - - /* Intermediate product is calculated by (1/sqrt(3) * pIb) */ - product2 = (q31_t) (((q63_t) (Ibeta) * (0x6ED9EBA1)) >> 31); - - /* pIb is calculated by subtracting the products */ - *pIb = __QSUB(product2, product1); - } - - /** - * @} end of inv_clarke group - */ - - /** - * @brief Converts the elements of the Q7 vector to Q15 vector. - * @param[in] pSrc input pointer - * @param[out] pDst output pointer - * @param[in] blockSize number of samples to process - */ - void arm_q7_to_q15( - q7_t * pSrc, - q15_t * pDst, - uint32_t blockSize); - - - - /** - * @ingroup groupController - */ - - /** - * @defgroup park Vector Park Transform - * - * Forward Park transform converts the input two-coordinate vector to flux and torque components. - * The Park transform can be used to realize the transformation of the Ialpha and the Ibeta currents - * from the stationary to the moving reference frame and control the spatial relationship between - * the stator vector current and rotor flux vector. - * If we consider the d axis aligned with the rotor flux, the diagram below shows the - * current vector and the relationship from the two reference frames: - * \image html park.gif "Stator current space vector and its component in (a,b) and in the d,q rotating reference frame" - * - * The function operates on a single sample of data and each call to the function returns the processed output. - * The library provides separate functions for Q31 and floating-point data types. - * \par Algorithm - * \image html parkFormula.gif - * where Ialpha and Ibeta are the stator vector components, - * pId and pIq are rotor vector components and cosVal and sinVal are the - * cosine and sine values of theta (rotor flux position). - * \par Fixed-Point Behavior - * Care must be taken when using the Q31 version of the Park transform. - * In particular, the overflow and saturation behavior of the accumulator used must be considered. - * Refer to the function specific documentation below for usage guidelines. - */ - - /** - * @addtogroup park - * @{ - */ - - /** - * @brief Floating-point Park transform - * @param[in] Ialpha input two-phase vector coordinate alpha - * @param[in] Ibeta input two-phase vector coordinate beta - * @param[out] pId points to output rotor reference frame d - * @param[out] pIq points to output rotor reference frame q - * @param[in] sinVal sine value of rotation angle theta - * @param[in] cosVal cosine value of rotation angle theta - * - * The function implements the forward Park transform. - * - */ - static __INLINE void arm_park_f32( - float32_t Ialpha, - float32_t Ibeta, - float32_t * pId, - float32_t * pIq, - float32_t sinVal, - float32_t cosVal) - { - /* Calculate pId using the equation, pId = Ialpha * cosVal + Ibeta * sinVal */ - *pId = Ialpha * cosVal + Ibeta * sinVal; - - /* Calculate pIq using the equation, pIq = - Ialpha * sinVal + Ibeta * cosVal */ - *pIq = -Ialpha * sinVal + Ibeta * cosVal; - } - - - /** - * @brief Park transform for Q31 version - * @param[in] Ialpha input two-phase vector coordinate alpha - * @param[in] Ibeta input two-phase vector coordinate beta - * @param[out] pId points to output rotor reference frame d - * @param[out] pIq points to output rotor reference frame q - * @param[in] sinVal sine value of rotation angle theta - * @param[in] cosVal cosine value of rotation angle theta - * - * Scaling and Overflow Behavior: - * \par - * The function is implemented using an internal 32-bit accumulator. - * The accumulator maintains 1.31 format by truncating lower 31 bits of the intermediate multiplication in 2.62 format. - * There is saturation on the addition and subtraction, hence there is no risk of overflow. - */ - static __INLINE void arm_park_q31( - q31_t Ialpha, - q31_t Ibeta, - q31_t * pId, - q31_t * pIq, - q31_t sinVal, - q31_t cosVal) - { - q31_t product1, product2; /* Temporary variables used to store intermediate results */ - q31_t product3, product4; /* Temporary variables used to store intermediate results */ - - /* Intermediate product is calculated by (Ialpha * cosVal) */ - product1 = (q31_t) (((q63_t) (Ialpha) * (cosVal)) >> 31); - - /* Intermediate product is calculated by (Ibeta * sinVal) */ - product2 = (q31_t) (((q63_t) (Ibeta) * (sinVal)) >> 31); - - - /* Intermediate product is calculated by (Ialpha * sinVal) */ - product3 = (q31_t) (((q63_t) (Ialpha) * (sinVal)) >> 31); - - /* Intermediate product is calculated by (Ibeta * cosVal) */ - product4 = (q31_t) (((q63_t) (Ibeta) * (cosVal)) >> 31); - - /* Calculate pId by adding the two intermediate products 1 and 2 */ - *pId = __QADD(product1, product2); - - /* Calculate pIq by subtracting the two intermediate products 3 from 4 */ - *pIq = __QSUB(product4, product3); - } - - /** - * @} end of park group - */ - - /** - * @brief Converts the elements of the Q7 vector to floating-point vector. - * @param[in] pSrc is input pointer - * @param[out] pDst is output pointer - * @param[in] blockSize is the number of samples to process - */ - void arm_q7_to_float( - q7_t * pSrc, - float32_t * pDst, - uint32_t blockSize); - - - /** - * @ingroup groupController - */ - - /** - * @defgroup inv_park Vector Inverse Park transform - * Inverse Park transform converts the input flux and torque components to two-coordinate vector. - * - * The function operates on a single sample of data and each call to the function returns the processed output. - * The library provides separate functions for Q31 and floating-point data types. - * \par Algorithm - * \image html parkInvFormula.gif - * where pIalpha and pIbeta are the stator vector components, - * Id and Iq are rotor vector components and cosVal and sinVal are the - * cosine and sine values of theta (rotor flux position). - * \par Fixed-Point Behavior - * Care must be taken when using the Q31 version of the Park transform. - * In particular, the overflow and saturation behavior of the accumulator used must be considered. - * Refer to the function specific documentation below for usage guidelines. - */ - - /** - * @addtogroup inv_park - * @{ - */ - - /** - * @brief Floating-point Inverse Park transform - * @param[in] Id input coordinate of rotor reference frame d - * @param[in] Iq input coordinate of rotor reference frame q - * @param[out] pIalpha points to output two-phase orthogonal vector axis alpha - * @param[out] pIbeta points to output two-phase orthogonal vector axis beta - * @param[in] sinVal sine value of rotation angle theta - * @param[in] cosVal cosine value of rotation angle theta - */ - static __INLINE void arm_inv_park_f32( - float32_t Id, - float32_t Iq, - float32_t * pIalpha, - float32_t * pIbeta, - float32_t sinVal, - float32_t cosVal) - { - /* Calculate pIalpha using the equation, pIalpha = Id * cosVal - Iq * sinVal */ - *pIalpha = Id * cosVal - Iq * sinVal; - - /* Calculate pIbeta using the equation, pIbeta = Id * sinVal + Iq * cosVal */ - *pIbeta = Id * sinVal + Iq * cosVal; - } - - - /** - * @brief Inverse Park transform for Q31 version - * @param[in] Id input coordinate of rotor reference frame d - * @param[in] Iq input coordinate of rotor reference frame q - * @param[out] pIalpha points to output two-phase orthogonal vector axis alpha - * @param[out] pIbeta points to output two-phase orthogonal vector axis beta - * @param[in] sinVal sine value of rotation angle theta - * @param[in] cosVal cosine value of rotation angle theta - * - * Scaling and Overflow Behavior: - * \par - * The function is implemented using an internal 32-bit accumulator. - * The accumulator maintains 1.31 format by truncating lower 31 bits of the intermediate multiplication in 2.62 format. - * There is saturation on the addition, hence there is no risk of overflow. - */ - static __INLINE void arm_inv_park_q31( - q31_t Id, - q31_t Iq, - q31_t * pIalpha, - q31_t * pIbeta, - q31_t sinVal, - q31_t cosVal) - { - q31_t product1, product2; /* Temporary variables used to store intermediate results */ - q31_t product3, product4; /* Temporary variables used to store intermediate results */ - - /* Intermediate product is calculated by (Id * cosVal) */ - product1 = (q31_t) (((q63_t) (Id) * (cosVal)) >> 31); - - /* Intermediate product is calculated by (Iq * sinVal) */ - product2 = (q31_t) (((q63_t) (Iq) * (sinVal)) >> 31); - - - /* Intermediate product is calculated by (Id * sinVal) */ - product3 = (q31_t) (((q63_t) (Id) * (sinVal)) >> 31); - - /* Intermediate product is calculated by (Iq * cosVal) */ - product4 = (q31_t) (((q63_t) (Iq) * (cosVal)) >> 31); - - /* Calculate pIalpha by using the two intermediate products 1 and 2 */ - *pIalpha = __QSUB(product1, product2); - - /* Calculate pIbeta by using the two intermediate products 3 and 4 */ - *pIbeta = __QADD(product4, product3); - } - - /** - * @} end of Inverse park group - */ - - - /** - * @brief Converts the elements of the Q31 vector to floating-point vector. - * @param[in] pSrc is input pointer - * @param[out] pDst is output pointer - * @param[in] blockSize is the number of samples to process - */ - void arm_q31_to_float( - q31_t * pSrc, - float32_t * pDst, - uint32_t blockSize); - - /** - * @ingroup groupInterpolation - */ - - /** - * @defgroup LinearInterpolate Linear Interpolation - * - * Linear interpolation is a method of curve fitting using linear polynomials. - * Linear interpolation works by effectively drawing a straight line between two neighboring samples and returning the appropriate point along that line - * - * \par - * \image html LinearInterp.gif "Linear interpolation" - * - * \par - * A Linear Interpolate function calculates an output value(y), for the input(x) - * using linear interpolation of the input values x0, x1( nearest input values) and the output values y0 and y1(nearest output values) - * - * \par Algorithm: - * 
-   *       y = y0 + (x - x0) * ((y1 - y0)/(x1-x0))
-   *       where x0, x1 are nearest values of input x
-   *             y0, y1 are nearest values to output y
-   *
- * - * \par - * This set of functions implements Linear interpolation process - * for Q7, Q15, Q31, and floating-point data types. The functions operate on a single - * sample of data and each call to the function returns a single processed value. - * S points to an instance of the Linear Interpolate function data structure. - * x is the input sample value. The functions returns the output value. - * - * \par - * if x is outside of the table boundary, Linear interpolation returns first value of the table - * if x is below input range and returns last value of table if x is above range. - */ - - /** - * @addtogroup LinearInterpolate - * @{ - */ - - /** - * @brief Process function for the floating-point Linear Interpolation Function. - * @param[in,out] S is an instance of the floating-point Linear Interpolation structure - * @param[in] x input sample to process - * @return y processed output sample. - * - */ - static __INLINE float32_t arm_linear_interp_f32( - arm_linear_interp_instance_f32 * S, - float32_t x) - { - float32_t y; - float32_t x0, x1; /* Nearest input values */ - float32_t y0, y1; /* Nearest output values */ - float32_t xSpacing = S->xSpacing; /* spacing between input values */ - int32_t i; /* Index variable */ - float32_t *pYData = S->pYData; /* pointer to output table */ - - /* Calculation of index */ - i = (int32_t) ((x - S->x1) / xSpacing); - - if(i < 0) - { - /* Iniatilize output for below specified range as least output value of table */ - y = pYData[0]; - } - else if((uint32_t)i >= S->nValues) - { - /* Iniatilize output for above specified range as last output value of table */ - y = pYData[S->nValues - 1]; - } - else - { - /* Calculation of nearest input values */ - x0 = S->x1 + i * xSpacing; - x1 = S->x1 + (i + 1) * xSpacing; - - /* Read of nearest output values */ - y0 = pYData[i]; - y1 = pYData[i + 1]; - - /* Calculation of output */ - y = y0 + (x - x0) * ((y1 - y0) / (x1 - x0)); - - } - - /* returns output value */ - return (y); - } - - - /** - * - * @brief Process function for the Q31 Linear Interpolation Function. - * @param[in] pYData pointer to Q31 Linear Interpolation table - * @param[in] x input sample to process - * @param[in] nValues number of table values - * @return y processed output sample. - * - * \par - * Input sample x is in 12.20 format which contains 12 bits for table index and 20 bits for fractional part. - * This function can support maximum of table size 2^12. - * - */ - static __INLINE q31_t arm_linear_interp_q31( - q31_t * pYData, - q31_t x, - uint32_t nValues) - { - q31_t y; /* output */ - q31_t y0, y1; /* Nearest output values */ - q31_t fract; /* fractional part */ - int32_t index; /* Index to read nearest output values */ - - /* Input is in 12.20 format */ - /* 12 bits for the table index */ - /* Index value calculation */ - index = ((x & (q31_t)0xFFF00000) >> 20); - - if(index >= (int32_t)(nValues - 1)) - { - return (pYData[nValues - 1]); - } - else if(index < 0) - { - return (pYData[0]); - } - else - { - /* 20 bits for the fractional part */ - /* shift left by 11 to keep fract in 1.31 format */ - fract = (x & 0x000FFFFF) << 11; - - /* Read two nearest output values from the index in 1.31(q31) format */ - y0 = pYData[index]; - y1 = pYData[index + 1]; - - /* Calculation of y0 * (1-fract) and y is in 2.30 format */ - y = ((q31_t) ((q63_t) y0 * (0x7FFFFFFF - fract) >> 32)); - - /* Calculation of y0 * (1-fract) + y1 *fract and y is in 2.30 format */ - y += ((q31_t) (((q63_t) y1 * fract) >> 32)); - - /* Convert y to 1.31 format */ - return (y << 1u); - } - } - - - /** - * - * @brief Process function for the Q15 Linear Interpolation Function. - * @param[in] pYData pointer to Q15 Linear Interpolation table - * @param[in] x input sample to process - * @param[in] nValues number of table values - * @return y processed output sample. - * - * \par - * Input sample x is in 12.20 format which contains 12 bits for table index and 20 bits for fractional part. - * This function can support maximum of table size 2^12. - * - */ - static __INLINE q15_t arm_linear_interp_q15( - q15_t * pYData, - q31_t x, - uint32_t nValues) - { - q63_t y; /* output */ - q15_t y0, y1; /* Nearest output values */ - q31_t fract; /* fractional part */ - int32_t index; /* Index to read nearest output values */ - - /* Input is in 12.20 format */ - /* 12 bits for the table index */ - /* Index value calculation */ - index = ((x & (int32_t)0xFFF00000) >> 20); - - if(index >= (int32_t)(nValues - 1)) - { - return (pYData[nValues - 1]); - } - else if(index < 0) - { - return (pYData[0]); - } - else - { - /* 20 bits for the fractional part */ - /* fract is in 12.20 format */ - fract = (x & 0x000FFFFF); - - /* Read two nearest output values from the index */ - y0 = pYData[index]; - y1 = pYData[index + 1]; - - /* Calculation of y0 * (1-fract) and y is in 13.35 format */ - y = ((q63_t) y0 * (0xFFFFF - fract)); - - /* Calculation of (y0 * (1-fract) + y1 * fract) and y is in 13.35 format */ - y += ((q63_t) y1 * (fract)); - - /* convert y to 1.15 format */ - return (q15_t) (y >> 20); - } - } - - - /** - * - * @brief Process function for the Q7 Linear Interpolation Function. - * @param[in] pYData pointer to Q7 Linear Interpolation table - * @param[in] x input sample to process - * @param[in] nValues number of table values - * @return y processed output sample. - * - * \par - * Input sample x is in 12.20 format which contains 12 bits for table index and 20 bits for fractional part. - * This function can support maximum of table size 2^12. - */ - static __INLINE q7_t arm_linear_interp_q7( - q7_t * pYData, - q31_t x, - uint32_t nValues) - { - q31_t y; /* output */ - q7_t y0, y1; /* Nearest output values */ - q31_t fract; /* fractional part */ - uint32_t index; /* Index to read nearest output values */ - - /* Input is in 12.20 format */ - /* 12 bits for the table index */ - /* Index value calculation */ - if (x < 0) - { - return (pYData[0]); - } - index = (x >> 20) & 0xfff; - - if(index >= (nValues - 1)) - { - return (pYData[nValues - 1]); - } - else - { - /* 20 bits for the fractional part */ - /* fract is in 12.20 format */ - fract = (x & 0x000FFFFF); - - /* Read two nearest output values from the index and are in 1.7(q7) format */ - y0 = pYData[index]; - y1 = pYData[index + 1]; - - /* Calculation of y0 * (1-fract ) and y is in 13.27(q27) format */ - y = ((y0 * (0xFFFFF - fract))); - - /* Calculation of y1 * fract + y0 * (1-fract) and y is in 13.27(q27) format */ - y += (y1 * fract); - - /* convert y to 1.7(q7) format */ - return (q7_t) (y >> 20); - } - } - - /** - * @} end of LinearInterpolate group - */ - - /** - * @brief Fast approximation to the trigonometric sine function for floating-point data. - * @param[in] x input value in radians. - * @return sin(x). - */ - float32_t arm_sin_f32( - float32_t x); - - - /** - * @brief Fast approximation to the trigonometric sine function for Q31 data. - * @param[in] x Scaled input value in radians. - * @return sin(x). - */ - q31_t arm_sin_q31( - q31_t x); - - - /** - * @brief Fast approximation to the trigonometric sine function for Q15 data. - * @param[in] x Scaled input value in radians. - * @return sin(x). - */ - q15_t arm_sin_q15( - q15_t x); - - - /** - * @brief Fast approximation to the trigonometric cosine function for floating-point data. - * @param[in] x input value in radians. - * @return cos(x). - */ - float32_t arm_cos_f32( - float32_t x); - - - /** - * @brief Fast approximation to the trigonometric cosine function for Q31 data. - * @param[in] x Scaled input value in radians. - * @return cos(x). - */ - q31_t arm_cos_q31( - q31_t x); - - - /** - * @brief Fast approximation to the trigonometric cosine function for Q15 data. - * @param[in] x Scaled input value in radians. - * @return cos(x). - */ - q15_t arm_cos_q15( - q15_t x); - - - /** - * @ingroup groupFastMath - */ - - - /** - * @defgroup SQRT Square Root - * - * Computes the square root of a number. - * There are separate functions for Q15, Q31, and floating-point data types. - * The square root function is computed using the Newton-Raphson algorithm. - * This is an iterative algorithm of the form: - * 
-   *      x1 = x0 - f(x0)/f'(x0)
-   *
- * where x1 is the current estimate, - * x0 is the previous estimate, and - * f'(x0) is the derivative of f() evaluated at x0. - * For the square root function, the algorithm reduces to: - * 
-   *     x0 = in/2                         [initial guess]
-   *     x1 = 1/2 * ( x0 + in / x0)        [each iteration]
-   *
- */ - - - /** - * @addtogroup SQRT - * @{ - */ - - /** - * @brief Floating-point square root function. - * @param[in] in input value. - * @param[out] pOut square root of input value. - * @return The function returns ARM_MATH_SUCCESS if input value is positive value or ARM_MATH_ARGUMENT_ERROR if - * in is negative value and returns zero output for negative values. - */ - static __INLINE arm_status arm_sqrt_f32( - float32_t in, - float32_t * pOut) - { - if(in >= 0.0f) - { - -#if (__FPU_USED == 1) && defined ( __CC_ARM ) - *pOut = __sqrtf(in); -#elif (__FPU_USED == 1) && (defined(__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050)) - *pOut = __builtin_sqrtf(in); -#elif (__FPU_USED == 1) && defined(__GNUC__) - *pOut = __builtin_sqrtf(in); -#elif (__FPU_USED == 1) && defined ( __ICCARM__ ) && (__VER__ >= 6040000) - __ASM("VSQRT.F32 %0,%1" : "=t"(*pOut) : "t"(in)); -#else - *pOut = sqrtf(in); -#endif - - return (ARM_MATH_SUCCESS); - } - else - { - *pOut = 0.0f; - return (ARM_MATH_ARGUMENT_ERROR); - } - } - - - /** - * @brief Q31 square root function. - * @param[in] in input value. The range of the input value is [0 +1) or 0x00000000 to 0x7FFFFFFF. - * @param[out] pOut square root of input value. - * @return The function returns ARM_MATH_SUCCESS if input value is positive value or ARM_MATH_ARGUMENT_ERROR if - * in is negative value and returns zero output for negative values. - */ - arm_status arm_sqrt_q31( - q31_t in, - q31_t * pOut); - - - /** - * @brief Q15 square root function. - * @param[in] in input value. The range of the input value is [0 +1) or 0x0000 to 0x7FFF. - * @param[out] pOut square root of input value. - * @return The function returns ARM_MATH_SUCCESS if input value is positive value or ARM_MATH_ARGUMENT_ERROR if - * in is negative value and returns zero output for negative values. - */ - arm_status arm_sqrt_q15( - q15_t in, - q15_t * pOut); - - /** - * @} end of SQRT group - */ - - - /** - * @brief floating-point Circular write function. - */ - static __INLINE void arm_circularWrite_f32( - int32_t * circBuffer, - int32_t L, - uint16_t * writeOffset, - int32_t bufferInc, - const int32_t * src, - int32_t srcInc, - uint32_t blockSize) - { - uint32_t i = 0u; - int32_t wOffset; - - /* Copy the value of Index pointer that points - * to the current location where the input samples to be copied */ - wOffset = *writeOffset; - - /* Loop over the blockSize */ - i = blockSize; - - while(i > 0u) - { - /* copy the input sample to the circular buffer */ - circBuffer[wOffset] = *src; - - /* Update the input pointer */ - src += srcInc; - - /* Circularly update wOffset. Watch out for positive and negative value */ - wOffset += bufferInc; - if(wOffset >= L) - wOffset -= L; - - /* Decrement the loop counter */ - i--; - } - - /* Update the index pointer */ - *writeOffset = (uint16_t)wOffset; - } - - - - /** - * @brief floating-point Circular Read function. - */ - static __INLINE void arm_circularRead_f32( - int32_t * circBuffer, - int32_t L, - int32_t * readOffset, - int32_t bufferInc, - int32_t * dst, - int32_t * dst_base, - int32_t dst_length, - int32_t dstInc, - uint32_t blockSize) - { - uint32_t i = 0u; - int32_t rOffset, dst_end; - - /* Copy the value of Index pointer that points - * to the current location from where the input samples to be read */ - rOffset = *readOffset; - dst_end = (int32_t) (dst_base + dst_length); - - /* Loop over the blockSize */ - i = blockSize; - - while(i > 0u) - { - /* copy the sample from the circular buffer to the destination buffer */ - *dst = circBuffer[rOffset]; - - /* Update the input pointer */ - dst += dstInc; - - if(dst == (int32_t *) dst_end) - { - dst = dst_base; - } - - /* Circularly update rOffset. Watch out for positive and negative value */ - rOffset += bufferInc; - - if(rOffset >= L) - { - rOffset -= L; - } - - /* Decrement the loop counter */ - i--; - } - - /* Update the index pointer */ - *readOffset = rOffset; - } - - - /** - * @brief Q15 Circular write function. - */ - static __INLINE void arm_circularWrite_q15( - q15_t * circBuffer, - int32_t L, - uint16_t * writeOffset, - int32_t bufferInc, - const q15_t * src, - int32_t srcInc, - uint32_t blockSize) - { - uint32_t i = 0u; - int32_t wOffset; - - /* Copy the value of Index pointer that points - * to the current location where the input samples to be copied */ - wOffset = *writeOffset; - - /* Loop over the blockSize */ - i = blockSize; - - while(i > 0u) - { - /* copy the input sample to the circular buffer */ - circBuffer[wOffset] = *src; - - /* Update the input pointer */ - src += srcInc; - - /* Circularly update wOffset. Watch out for positive and negative value */ - wOffset += bufferInc; - if(wOffset >= L) - wOffset -= L; - - /* Decrement the loop counter */ - i--; - } - - /* Update the index pointer */ - *writeOffset = (uint16_t)wOffset; - } - - - /** - * @brief Q15 Circular Read function. - */ - static __INLINE void arm_circularRead_q15( - q15_t * circBuffer, - int32_t L, - int32_t * readOffset, - int32_t bufferInc, - q15_t * dst, - q15_t * dst_base, - int32_t dst_length, - int32_t dstInc, - uint32_t blockSize) - { - uint32_t i = 0; - int32_t rOffset, dst_end; - - /* Copy the value of Index pointer that points - * to the current location from where the input samples to be read */ - rOffset = *readOffset; - - dst_end = (int32_t) (dst_base + dst_length); - - /* Loop over the blockSize */ - i = blockSize; - - while(i > 0u) - { - /* copy the sample from the circular buffer to the destination buffer */ - *dst = circBuffer[rOffset]; - - /* Update the input pointer */ - dst += dstInc; - - if(dst == (q15_t *) dst_end) - { - dst = dst_base; - } - - /* Circularly update wOffset. Watch out for positive and negative value */ - rOffset += bufferInc; - - if(rOffset >= L) - { - rOffset -= L; - } - - /* Decrement the loop counter */ - i--; - } - - /* Update the index pointer */ - *readOffset = rOffset; - } - - - /** - * @brief Q7 Circular write function. - */ - static __INLINE void arm_circularWrite_q7( - q7_t * circBuffer, - int32_t L, - uint16_t * writeOffset, - int32_t bufferInc, - const q7_t * src, - int32_t srcInc, - uint32_t blockSize) - { - uint32_t i = 0u; - int32_t wOffset; - - /* Copy the value of Index pointer that points - * to the current location where the input samples to be copied */ - wOffset = *writeOffset; - - /* Loop over the blockSize */ - i = blockSize; - - while(i > 0u) - { - /* copy the input sample to the circular buffer */ - circBuffer[wOffset] = *src; - - /* Update the input pointer */ - src += srcInc; - - /* Circularly update wOffset. Watch out for positive and negative value */ - wOffset += bufferInc; - if(wOffset >= L) - wOffset -= L; - - /* Decrement the loop counter */ - i--; - } - - /* Update the index pointer */ - *writeOffset = (uint16_t)wOffset; - } - - - /** - * @brief Q7 Circular Read function. - */ - static __INLINE void arm_circularRead_q7( - q7_t * circBuffer, - int32_t L, - int32_t * readOffset, - int32_t bufferInc, - q7_t * dst, - q7_t * dst_base, - int32_t dst_length, - int32_t dstInc, - uint32_t blockSize) - { - uint32_t i = 0; - int32_t rOffset, dst_end; - - /* Copy the value of Index pointer that points - * to the current location from where the input samples to be read */ - rOffset = *readOffset; - - dst_end = (int32_t) (dst_base + dst_length); - - /* Loop over the blockSize */ - i = blockSize; - - while(i > 0u) - { - /* copy the sample from the circular buffer to the destination buffer */ - *dst = circBuffer[rOffset]; - - /* Update the input pointer */ - dst += dstInc; - - if(dst == (q7_t *) dst_end) - { - dst = dst_base; - } - - /* Circularly update rOffset. Watch out for positive and negative value */ - rOffset += bufferInc; - - if(rOffset >= L) - { - rOffset -= L; - } - - /* Decrement the loop counter */ - i--; - } - - /* Update the index pointer */ - *readOffset = rOffset; - } - - - /** - * @brief Sum of the squares of the elements of a Q31 vector. - * @param[in] pSrc is input pointer - * @param[in] blockSize is the number of samples to process - * @param[out] pResult is output value. - */ - void arm_power_q31( - q31_t * pSrc, - uint32_t blockSize, - q63_t * pResult); - - - /** - * @brief Sum of the squares of the elements of a floating-point vector. - * @param[in] pSrc is input pointer - * @param[in] blockSize is the number of samples to process - * @param[out] pResult is output value. - */ - void arm_power_f32( - float32_t * pSrc, - uint32_t blockSize, - float32_t * pResult); - - - /** - * @brief Sum of the squares of the elements of a Q15 vector. - * @param[in] pSrc is input pointer - * @param[in] blockSize is the number of samples to process - * @param[out] pResult is output value. - */ - void arm_power_q15( - q15_t * pSrc, - uint32_t blockSize, - q63_t * pResult); - - - /** - * @brief Sum of the squares of the elements of a Q7 vector. - * @param[in] pSrc is input pointer - * @param[in] blockSize is the number of samples to process - * @param[out] pResult is output value. - */ - void arm_power_q7( - q7_t * pSrc, - uint32_t blockSize, - q31_t * pResult); - - - /** - * @brief Mean value of a Q7 vector. - * @param[in] pSrc is input pointer - * @param[in] blockSize is the number of samples to process - * @param[out] pResult is output value. - */ - void arm_mean_q7( - q7_t * pSrc, - uint32_t blockSize, - q7_t * pResult); - - - /** - * @brief Mean value of a Q15 vector. - * @param[in] pSrc is input pointer - * @param[in] blockSize is the number of samples to process - * @param[out] pResult is output value. - */ - void arm_mean_q15( - q15_t * pSrc, - uint32_t blockSize, - q15_t * pResult); - - - /** - * @brief Mean value of a Q31 vector. - * @param[in] pSrc is input pointer - * @param[in] blockSize is the number of samples to process - * @param[out] pResult is output value. - */ - void arm_mean_q31( - q31_t * pSrc, - uint32_t blockSize, - q31_t * pResult); - - - /** - * @brief Mean value of a floating-point vector. - * @param[in] pSrc is input pointer - * @param[in] blockSize is the number of samples to process - * @param[out] pResult is output value. - */ - void arm_mean_f32( - float32_t * pSrc, - uint32_t blockSize, - float32_t * pResult); - - - /** - * @brief Variance of the elements of a floating-point vector. - * @param[in] pSrc is input pointer - * @param[in] blockSize is the number of samples to process - * @param[out] pResult is output value. - */ - void arm_var_f32( - float32_t * pSrc, - uint32_t blockSize, - float32_t * pResult); - - - /** - * @brief Variance of the elements of a Q31 vector. - * @param[in] pSrc is input pointer - * @param[in] blockSize is the number of samples to process - * @param[out] pResult is output value. - */ - void arm_var_q31( - q31_t * pSrc, - uint32_t blockSize, - q31_t * pResult); - - - /** - * @brief Variance of the elements of a Q15 vector. - * @param[in] pSrc is input pointer - * @param[in] blockSize is the number of samples to process - * @param[out] pResult is output value. - */ - void arm_var_q15( - q15_t * pSrc, - uint32_t blockSize, - q15_t * pResult); - - - /** - * @brief Root Mean Square of the elements of a floating-point vector. - * @param[in] pSrc is input pointer - * @param[in] blockSize is the number of samples to process - * @param[out] pResult is output value. - */ - void arm_rms_f32( - float32_t * pSrc, - uint32_t blockSize, - float32_t * pResult); - - - /** - * @brief Root Mean Square of the elements of a Q31 vector. - * @param[in] pSrc is input pointer - * @param[in] blockSize is the number of samples to process - * @param[out] pResult is output value. - */ - void arm_rms_q31( - q31_t * pSrc, - uint32_t blockSize, - q31_t * pResult); - - - /** - * @brief Root Mean Square of the elements of a Q15 vector. - * @param[in] pSrc is input pointer - * @param[in] blockSize is the number of samples to process - * @param[out] pResult is output value. - */ - void arm_rms_q15( - q15_t * pSrc, - uint32_t blockSize, - q15_t * pResult); - - - /** - * @brief Standard deviation of the elements of a floating-point vector. - * @param[in] pSrc is input pointer - * @param[in] blockSize is the number of samples to process - * @param[out] pResult is output value. - */ - void arm_std_f32( - float32_t * pSrc, - uint32_t blockSize, - float32_t * pResult); - - - /** - * @brief Standard deviation of the elements of a Q31 vector. - * @param[in] pSrc is input pointer - * @param[in] blockSize is the number of samples to process - * @param[out] pResult is output value. - */ - void arm_std_q31( - q31_t * pSrc, - uint32_t blockSize, - q31_t * pResult); - - - /** - * @brief Standard deviation of the elements of a Q15 vector. - * @param[in] pSrc is input pointer - * @param[in] blockSize is the number of samples to process - * @param[out] pResult is output value. - */ - void arm_std_q15( - q15_t * pSrc, - uint32_t blockSize, - q15_t * pResult); - - - /** - * @brief Floating-point complex magnitude - * @param[in] pSrc points to the complex input vector - * @param[out] pDst points to the real output vector - * @param[in] numSamples number of complex samples in the input vector - */ - void arm_cmplx_mag_f32( - float32_t * pSrc, - float32_t * pDst, - uint32_t numSamples); - - - /** - * @brief Q31 complex magnitude - * @param[in] pSrc points to the complex input vector - * @param[out] pDst points to the real output vector - * @param[in] numSamples number of complex samples in the input vector - */ - void arm_cmplx_mag_q31( - q31_t * pSrc, - q31_t * pDst, - uint32_t numSamples); - - - /** - * @brief Q15 complex magnitude - * @param[in] pSrc points to the complex input vector - * @param[out] pDst points to the real output vector - * @param[in] numSamples number of complex samples in the input vector - */ - void arm_cmplx_mag_q15( - q15_t * pSrc, - q15_t * pDst, - uint32_t numSamples); - - - /** - * @brief Q15 complex dot product - * @param[in] pSrcA points to the first input vector - * @param[in] pSrcB points to the second input vector - * @param[in] numSamples number of complex samples in each vector - * @param[out] realResult real part of the result returned here - * @param[out] imagResult imaginary part of the result returned here - */ - void arm_cmplx_dot_prod_q15( - q15_t * pSrcA, - q15_t * pSrcB, - uint32_t numSamples, - q31_t * realResult, - q31_t * imagResult); - - - /** - * @brief Q31 complex dot product - * @param[in] pSrcA points to the first input vector - * @param[in] pSrcB points to the second input vector - * @param[in] numSamples number of complex samples in each vector - * @param[out] realResult real part of the result returned here - * @param[out] imagResult imaginary part of the result returned here - */ - void arm_cmplx_dot_prod_q31( - q31_t * pSrcA, - q31_t * pSrcB, - uint32_t numSamples, - q63_t * realResult, - q63_t * imagResult); - - - /** - * @brief Floating-point complex dot product - * @param[in] pSrcA points to the first input vector - * @param[in] pSrcB points to the second input vector - * @param[in] numSamples number of complex samples in each vector - * @param[out] realResult real part of the result returned here - * @param[out] imagResult imaginary part of the result returned here - */ - void arm_cmplx_dot_prod_f32( - float32_t * pSrcA, - float32_t * pSrcB, - uint32_t numSamples, - float32_t * realResult, - float32_t * imagResult); - - - /** - * @brief Q15 complex-by-real multiplication - * @param[in] pSrcCmplx points to the complex input vector - * @param[in] pSrcReal points to the real input vector - * @param[out] pCmplxDst points to the complex output vector - * @param[in] numSamples number of samples in each vector - */ - void arm_cmplx_mult_real_q15( - q15_t * pSrcCmplx, - q15_t * pSrcReal, - q15_t * pCmplxDst, - uint32_t numSamples); - - - /** - * @brief Q31 complex-by-real multiplication - * @param[in] pSrcCmplx points to the complex input vector - * @param[in] pSrcReal points to the real input vector - * @param[out] pCmplxDst points to the complex output vector - * @param[in] numSamples number of samples in each vector - */ - void arm_cmplx_mult_real_q31( - q31_t * pSrcCmplx, - q31_t * pSrcReal, - q31_t * pCmplxDst, - uint32_t numSamples); - - - /** - * @brief Floating-point complex-by-real multiplication - * @param[in] pSrcCmplx points to the complex input vector - * @param[in] pSrcReal points to the real input vector - * @param[out] pCmplxDst points to the complex output vector - * @param[in] numSamples number of samples in each vector - */ - void arm_cmplx_mult_real_f32( - float32_t * pSrcCmplx, - float32_t * pSrcReal, - float32_t * pCmplxDst, - uint32_t numSamples); - - - /** - * @brief Minimum value of a Q7 vector. - * @param[in] pSrc is input pointer - * @param[in] blockSize is the number of samples to process - * @param[out] result is output pointer - * @param[in] index is the array index of the minimum value in the input buffer. - */ - void arm_min_q7( - q7_t * pSrc, - uint32_t blockSize, - q7_t * result, - uint32_t * index); - - - /** - * @brief Minimum value of a Q15 vector. - * @param[in] pSrc is input pointer - * @param[in] blockSize is the number of samples to process - * @param[out] pResult is output pointer - * @param[in] pIndex is the array index of the minimum value in the input buffer. - */ - void arm_min_q15( - q15_t * pSrc, - uint32_t blockSize, - q15_t * pResult, - uint32_t * pIndex); - - - /** - * @brief Minimum value of a Q31 vector. - * @param[in] pSrc is input pointer - * @param[in] blockSize is the number of samples to process - * @param[out] pResult is output pointer - * @param[out] pIndex is the array index of the minimum value in the input buffer. - */ - void arm_min_q31( - q31_t * pSrc, - uint32_t blockSize, - q31_t * pResult, - uint32_t * pIndex); - - - /** - * @brief Minimum value of a floating-point vector. - * @param[in] pSrc is input pointer - * @param[in] blockSize is the number of samples to process - * @param[out] pResult is output pointer - * @param[out] pIndex is the array index of the minimum value in the input buffer. - */ - void arm_min_f32( - float32_t * pSrc, - uint32_t blockSize, - float32_t * pResult, - uint32_t * pIndex); - - -/** - * @brief Maximum value of a Q7 vector. - * @param[in] pSrc points to the input buffer - * @param[in] blockSize length of the input vector - * @param[out] pResult maximum value returned here - * @param[out] pIndex index of maximum value returned here - */ - void arm_max_q7( - q7_t * pSrc, - uint32_t blockSize, - q7_t * pResult, - uint32_t * pIndex); - - -/** - * @brief Maximum value of a Q15 vector. - * @param[in] pSrc points to the input buffer - * @param[in] blockSize length of the input vector - * @param[out] pResult maximum value returned here - * @param[out] pIndex index of maximum value returned here - */ - void arm_max_q15( - q15_t * pSrc, - uint32_t blockSize, - q15_t * pResult, - uint32_t * pIndex); - - -/** - * @brief Maximum value of a Q31 vector. - * @param[in] pSrc points to the input buffer - * @param[in] blockSize length of the input vector - * @param[out] pResult maximum value returned here - * @param[out] pIndex index of maximum value returned here - */ - void arm_max_q31( - q31_t * pSrc, - uint32_t blockSize, - q31_t * pResult, - uint32_t * pIndex); - - -/** - * @brief Maximum value of a floating-point vector. - * @param[in] pSrc points to the input buffer - * @param[in] blockSize length of the input vector - * @param[out] pResult maximum value returned here - * @param[out] pIndex index of maximum value returned here - */ - void arm_max_f32( - float32_t * pSrc, - uint32_t blockSize, - float32_t * pResult, - uint32_t * pIndex); - - - /** - * @brief Q15 complex-by-complex multiplication - * @param[in] pSrcA points to the first input vector - * @param[in] pSrcB points to the second input vector - * @param[out] pDst points to the output vector - * @param[in] numSamples number of complex samples in each vector - */ - void arm_cmplx_mult_cmplx_q15( - q15_t * pSrcA, - q15_t * pSrcB, - q15_t * pDst, - uint32_t numSamples); - - - /** - * @brief Q31 complex-by-complex multiplication - * @param[in] pSrcA points to the first input vector - * @param[in] pSrcB points to the second input vector - * @param[out] pDst points to the output vector - * @param[in] numSamples number of complex samples in each vector - */ - void arm_cmplx_mult_cmplx_q31( - q31_t * pSrcA, - q31_t * pSrcB, - q31_t * pDst, - uint32_t numSamples); - - - /** - * @brief Floating-point complex-by-complex multiplication - * @param[in] pSrcA points to the first input vector - * @param[in] pSrcB points to the second input vector - * @param[out] pDst points to the output vector - * @param[in] numSamples number of complex samples in each vector - */ - void arm_cmplx_mult_cmplx_f32( - float32_t * pSrcA, - float32_t * pSrcB, - float32_t * pDst, - uint32_t numSamples); - - - /** - * @brief Converts the elements of the floating-point vector to Q31 vector. - * @param[in] pSrc points to the floating-point input vector - * @param[out] pDst points to the Q31 output vector - * @param[in] blockSize length of the input vector - */ - void arm_float_to_q31( - float32_t * pSrc, - q31_t * pDst, - uint32_t blockSize); - - - /** - * @brief Converts the elements of the floating-point vector to Q15 vector. - * @param[in] pSrc points to the floating-point input vector - * @param[out] pDst points to the Q15 output vector - * @param[in] blockSize length of the input vector - */ - void arm_float_to_q15( - float32_t * pSrc, - q15_t * pDst, - uint32_t blockSize); - - - /** - * @brief Converts the elements of the floating-point vector to Q7 vector. - * @param[in] pSrc points to the floating-point input vector - * @param[out] pDst points to the Q7 output vector - * @param[in] blockSize length of the input vector - */ - void arm_float_to_q7( - float32_t * pSrc, - q7_t * pDst, - uint32_t blockSize); - - - /** - * @brief Converts the elements of the Q31 vector to Q15 vector. - * @param[in] pSrc is input pointer - * @param[out] pDst is output pointer - * @param[in] blockSize is the number of samples to process - */ - void arm_q31_to_q15( - q31_t * pSrc, - q15_t * pDst, - uint32_t blockSize); - - - /** - * @brief Converts the elements of the Q31 vector to Q7 vector. - * @param[in] pSrc is input pointer - * @param[out] pDst is output pointer - * @param[in] blockSize is the number of samples to process - */ - void arm_q31_to_q7( - q31_t * pSrc, - q7_t * pDst, - uint32_t blockSize); - - - /** - * @brief Converts the elements of the Q15 vector to floating-point vector. - * @param[in] pSrc is input pointer - * @param[out] pDst is output pointer - * @param[in] blockSize is the number of samples to process - */ - void arm_q15_to_float( - q15_t * pSrc, - float32_t * pDst, - uint32_t blockSize); - - - /** - * @brief Converts the elements of the Q15 vector to Q31 vector. - * @param[in] pSrc is input pointer - * @param[out] pDst is output pointer - * @param[in] blockSize is the number of samples to process - */ - void arm_q15_to_q31( - q15_t * pSrc, - q31_t * pDst, - uint32_t blockSize); - - - /** - * @brief Converts the elements of the Q15 vector to Q7 vector. - * @param[in] pSrc is input pointer - * @param[out] pDst is output pointer - * @param[in] blockSize is the number of samples to process - */ - void arm_q15_to_q7( - q15_t * pSrc, - q7_t * pDst, - uint32_t blockSize); - - - /** - * @ingroup groupInterpolation - */ - - /** - * @defgroup BilinearInterpolate Bilinear Interpolation - * - * Bilinear interpolation is an extension of linear interpolation applied to a two dimensional grid. - * The underlying function f(x, y) is sampled on a regular grid and the interpolation process - * determines values between the grid points. - * Bilinear interpolation is equivalent to two step linear interpolation, first in the x-dimension and then in the y-dimension. - * Bilinear interpolation is often used in image processing to rescale images. - * The CMSIS DSP library provides bilinear interpolation functions for Q7, Q15, Q31, and floating-point data types. - * - * Algorithm - * \par - * The instance structure used by the bilinear interpolation functions describes a two dimensional data table. - * For floating-point, the instance structure is defined as: - * 
-   *   typedef struct
-   *   {
-   *     uint16_t numRows;
-   *     uint16_t numCols;
-   *     float32_t *pData;
-   * } arm_bilinear_interp_instance_f32;
-   *
- * - * \par - * where numRows specifies the number of rows in the table; - * numCols specifies the number of columns in the table; - * and pData points to an array of size numRows*numCols values. - * The data table pTable is organized in row order and the supplied data values fall on integer indexes. - * That is, table element (x,y) is located at pTable[x + y*numCols] where x and y are integers. - * - * \par - * Let (x, y) specify the desired interpolation point. Then define: - * 
-   *     XF = floor(x)
-   *     YF = floor(y)
-   *
- * \par - * The interpolated output point is computed as: - * 
-   *  f(x, y) = f(XF, YF) * (1-(x-XF)) * (1-(y-YF))
-   *           + f(XF+1, YF) * (x-XF)*(1-(y-YF))
-   *           + f(XF, YF+1) * (1-(x-XF))*(y-YF)
-   *           + f(XF+1, YF+1) * (x-XF)*(y-YF)
-   *
- * Note that the coordinates (x, y) contain integer and fractional components. - * The integer components specify which portion of the table to use while the - * fractional components control the interpolation processor. - * - * \par - * if (x,y) are outside of the table boundary, Bilinear interpolation returns zero output. - */ - - /** - * @addtogroup BilinearInterpolate - * @{ - */ - - - /** - * - * @brief Floating-point bilinear interpolation. - * @param[in,out] S points to an instance of the interpolation structure. - * @param[in] X interpolation coordinate. - * @param[in] Y interpolation coordinate. - * @return out interpolated value. - */ - static __INLINE float32_t arm_bilinear_interp_f32( - const arm_bilinear_interp_instance_f32 * S, - float32_t X, - float32_t Y) - { - float32_t out; - float32_t f00, f01, f10, f11; - float32_t *pData = S->pData; - int32_t xIndex, yIndex, index; - float32_t xdiff, ydiff; - float32_t b1, b2, b3, b4; - - xIndex = (int32_t) X; - yIndex = (int32_t) Y; - - /* Care taken for table outside boundary */ - /* Returns zero output when values are outside table boundary */ - if(xIndex < 0 || xIndex > (S->numRows - 1) || yIndex < 0 || yIndex > (S->numCols - 1)) - { - return (0); - } - - /* Calculation of index for two nearest points in X-direction */ - index = (xIndex - 1) + (yIndex - 1) * S->numCols; - - - /* Read two nearest points in X-direction */ - f00 = pData[index]; - f01 = pData[index + 1]; - - /* Calculation of index for two nearest points in Y-direction */ - index = (xIndex - 1) + (yIndex) * S->numCols; - - - /* Read two nearest points in Y-direction */ - f10 = pData[index]; - f11 = pData[index + 1]; - - /* Calculation of intermediate values */ - b1 = f00; - b2 = f01 - f00; - b3 = f10 - f00; - b4 = f00 - f01 - f10 + f11; - - /* Calculation of fractional part in X */ - xdiff = X - xIndex; - - /* Calculation of fractional part in Y */ - ydiff = Y - yIndex; - - /* Calculation of bi-linear interpolated output */ - out = b1 + b2 * xdiff + b3 * ydiff + b4 * xdiff * ydiff; - - /* return to application */ - return (out); - } - - - /** - * - * @brief Q31 bilinear interpolation. - * @param[in,out] S points to an instance of the interpolation structure. - * @param[in] X interpolation coordinate in 12.20 format. - * @param[in] Y interpolation coordinate in 12.20 format. - * @return out interpolated value. - */ - static __INLINE q31_t arm_bilinear_interp_q31( - arm_bilinear_interp_instance_q31 * S, - q31_t X, - q31_t Y) - { - q31_t out; /* Temporary output */ - q31_t acc = 0; /* output */ - q31_t xfract, yfract; /* X, Y fractional parts */ - q31_t x1, x2, y1, y2; /* Nearest output values */ - int32_t rI, cI; /* Row and column indices */ - q31_t *pYData = S->pData; /* pointer to output table values */ - uint32_t nCols = S->numCols; /* num of rows */ - - /* Input is in 12.20 format */ - /* 12 bits for the table index */ - /* Index value calculation */ - rI = ((X & (q31_t)0xFFF00000) >> 20); - - /* Input is in 12.20 format */ - /* 12 bits for the table index */ - /* Index value calculation */ - cI = ((Y & (q31_t)0xFFF00000) >> 20); - - /* Care taken for table outside boundary */ - /* Returns zero output when values are outside table boundary */ - if(rI < 0 || rI > (S->numRows - 1) || cI < 0 || cI > (S->numCols - 1)) - { - return (0); - } - - /* 20 bits for the fractional part */ - /* shift left xfract by 11 to keep 1.31 format */ - xfract = (X & 0x000FFFFF) << 11u; - - /* Read two nearest output values from the index */ - x1 = pYData[(rI) + (int32_t)nCols * (cI) ]; - x2 = pYData[(rI) + (int32_t)nCols * (cI) + 1]; - - /* 20 bits for the fractional part */ - /* shift left yfract by 11 to keep 1.31 format */ - yfract = (Y & 0x000FFFFF) << 11u; - - /* Read two nearest output values from the index */ - y1 = pYData[(rI) + (int32_t)nCols * (cI + 1) ]; - y2 = pYData[(rI) + (int32_t)nCols * (cI + 1) + 1]; - - /* Calculation of x1 * (1-xfract ) * (1-yfract) and acc is in 3.29(q29) format */ - out = ((q31_t) (((q63_t) x1 * (0x7FFFFFFF - xfract)) >> 32)); - acc = ((q31_t) (((q63_t) out * (0x7FFFFFFF - yfract)) >> 32)); - - /* x2 * (xfract) * (1-yfract) in 3.29(q29) and adding to acc */ - out = ((q31_t) ((q63_t) x2 * (0x7FFFFFFF - yfract) >> 32)); - acc += ((q31_t) ((q63_t) out * (xfract) >> 32)); - - /* y1 * (1 - xfract) * (yfract) in 3.29(q29) and adding to acc */ - out = ((q31_t) ((q63_t) y1 * (0x7FFFFFFF - xfract) >> 32)); - acc += ((q31_t) ((q63_t) out * (yfract) >> 32)); - - /* y2 * (xfract) * (yfract) in 3.29(q29) and adding to acc */ - out = ((q31_t) ((q63_t) y2 * (xfract) >> 32)); - acc += ((q31_t) ((q63_t) out * (yfract) >> 32)); - - /* Convert acc to 1.31(q31) format */ - return ((q31_t)(acc << 2)); - } - - - /** - * @brief Q15 bilinear interpolation. - * @param[in,out] S points to an instance of the interpolation structure. - * @param[in] X interpolation coordinate in 12.20 format. - * @param[in] Y interpolation coordinate in 12.20 format. - * @return out interpolated value. - */ - static __INLINE q15_t arm_bilinear_interp_q15( - arm_bilinear_interp_instance_q15 * S, - q31_t X, - q31_t Y) - { - q63_t acc = 0; /* output */ - q31_t out; /* Temporary output */ - q15_t x1, x2, y1, y2; /* Nearest output values */ - q31_t xfract, yfract; /* X, Y fractional parts */ - int32_t rI, cI; /* Row and column indices */ - q15_t *pYData = S->pData; /* pointer to output table values */ - uint32_t nCols = S->numCols; /* num of rows */ - - /* Input is in 12.20 format */ - /* 12 bits for the table index */ - /* Index value calculation */ - rI = ((X & (q31_t)0xFFF00000) >> 20); - - /* Input is in 12.20 format */ - /* 12 bits for the table index */ - /* Index value calculation */ - cI = ((Y & (q31_t)0xFFF00000) >> 20); - - /* Care taken for table outside boundary */ - /* Returns zero output when values are outside table boundary */ - if(rI < 0 || rI > (S->numRows - 1) || cI < 0 || cI > (S->numCols - 1)) - { - return (0); - } - - /* 20 bits for the fractional part */ - /* xfract should be in 12.20 format */ - xfract = (X & 0x000FFFFF); - - /* Read two nearest output values from the index */ - x1 = pYData[((uint32_t)rI) + nCols * ((uint32_t)cI) ]; - x2 = pYData[((uint32_t)rI) + nCols * ((uint32_t)cI) + 1]; - - /* 20 bits for the fractional part */ - /* yfract should be in 12.20 format */ - yfract = (Y & 0x000FFFFF); - - /* Read two nearest output values from the index */ - y1 = pYData[((uint32_t)rI) + nCols * ((uint32_t)cI + 1) ]; - y2 = pYData[((uint32_t)rI) + nCols * ((uint32_t)cI + 1) + 1]; - - /* Calculation of x1 * (1-xfract ) * (1-yfract) and acc is in 13.51 format */ - - /* x1 is in 1.15(q15), xfract in 12.20 format and out is in 13.35 format */ - /* convert 13.35 to 13.31 by right shifting and out is in 1.31 */ - out = (q31_t) (((q63_t) x1 * (0xFFFFF - xfract)) >> 4u); - acc = ((q63_t) out * (0xFFFFF - yfract)); - - /* x2 * (xfract) * (1-yfract) in 1.51 and adding to acc */ - out = (q31_t) (((q63_t) x2 * (0xFFFFF - yfract)) >> 4u); - acc += ((q63_t) out * (xfract)); - - /* y1 * (1 - xfract) * (yfract) in 1.51 and adding to acc */ - out = (q31_t) (((q63_t) y1 * (0xFFFFF - xfract)) >> 4u); - acc += ((q63_t) out * (yfract)); - - /* y2 * (xfract) * (yfract) in 1.51 and adding to acc */ - out = (q31_t) (((q63_t) y2 * (xfract)) >> 4u); - acc += ((q63_t) out * (yfract)); - - /* acc is in 13.51 format and down shift acc by 36 times */ - /* Convert out to 1.15 format */ - return ((q15_t)(acc >> 36)); - } - - - /** - * @brief Q7 bilinear interpolation. - * @param[in,out] S points to an instance of the interpolation structure. - * @param[in] X interpolation coordinate in 12.20 format. - * @param[in] Y interpolation coordinate in 12.20 format. - * @return out interpolated value. - */ - static __INLINE q7_t arm_bilinear_interp_q7( - arm_bilinear_interp_instance_q7 * S, - q31_t X, - q31_t Y) - { - q63_t acc = 0; /* output */ - q31_t out; /* Temporary output */ - q31_t xfract, yfract; /* X, Y fractional parts */ - q7_t x1, x2, y1, y2; /* Nearest output values */ - int32_t rI, cI; /* Row and column indices */ - q7_t *pYData = S->pData; /* pointer to output table values */ - uint32_t nCols = S->numCols; /* num of rows */ - - /* Input is in 12.20 format */ - /* 12 bits for the table index */ - /* Index value calculation */ - rI = ((X & (q31_t)0xFFF00000) >> 20); - - /* Input is in 12.20 format */ - /* 12 bits for the table index */ - /* Index value calculation */ - cI = ((Y & (q31_t)0xFFF00000) >> 20); - - /* Care taken for table outside boundary */ - /* Returns zero output when values are outside table boundary */ - if(rI < 0 || rI > (S->numRows - 1) || cI < 0 || cI > (S->numCols - 1)) - { - return (0); - } - - /* 20 bits for the fractional part */ - /* xfract should be in 12.20 format */ - xfract = (X & (q31_t)0x000FFFFF); - - /* Read two nearest output values from the index */ - x1 = pYData[((uint32_t)rI) + nCols * ((uint32_t)cI) ]; - x2 = pYData[((uint32_t)rI) + nCols * ((uint32_t)cI) + 1]; - - /* 20 bits for the fractional part */ - /* yfract should be in 12.20 format */ - yfract = (Y & (q31_t)0x000FFFFF); - - /* Read two nearest output values from the index */ - y1 = pYData[((uint32_t)rI) + nCols * ((uint32_t)cI + 1) ]; - y2 = pYData[((uint32_t)rI) + nCols * ((uint32_t)cI + 1) + 1]; - - /* Calculation of x1 * (1-xfract ) * (1-yfract) and acc is in 16.47 format */ - out = ((x1 * (0xFFFFF - xfract))); - acc = (((q63_t) out * (0xFFFFF - yfract))); - - /* x2 * (xfract) * (1-yfract) in 2.22 and adding to acc */ - out = ((x2 * (0xFFFFF - yfract))); - acc += (((q63_t) out * (xfract))); - - /* y1 * (1 - xfract) * (yfract) in 2.22 and adding to acc */ - out = ((y1 * (0xFFFFF - xfract))); - acc += (((q63_t) out * (yfract))); - - /* y2 * (xfract) * (yfract) in 2.22 and adding to acc */ - out = ((y2 * (yfract))); - acc += (((q63_t) out * (xfract))); - - /* acc in 16.47 format and down shift by 40 to convert to 1.7 format */ - return ((q7_t)(acc >> 40)); - } - - /** - * @} end of BilinearInterpolate group - */ - - -/* SMMLAR */ -#define multAcc_32x32_keep32_R(a, x, y) \ - a = (q31_t) (((((q63_t) a) << 32) + ((q63_t) x * y) + 0x80000000LL ) >> 32) - -/* SMMLSR */ -#define multSub_32x32_keep32_R(a, x, y) \ - a = (q31_t) (((((q63_t) a) << 32) - ((q63_t) x * y) + 0x80000000LL ) >> 32) - -/* SMMULR */ -#define mult_32x32_keep32_R(a, x, y) \ - a = (q31_t) (((q63_t) x * y + 0x80000000LL ) >> 32) - -/* SMMLA */ -#define multAcc_32x32_keep32(a, x, y) \ - a += (q31_t) (((q63_t) x * y) >> 32) - -/* SMMLS */ -#define multSub_32x32_keep32(a, x, y) \ - a -= (q31_t) (((q63_t) x * y) >> 32) - -/* SMMUL */ -#define mult_32x32_keep32(a, x, y) \ - a = (q31_t) (((q63_t) x * y ) >> 32) - - -#if defined ( __CC_ARM ) - /* Enter low optimization region - place directly above function definition */ - #if defined( ARM_MATH_CM4 ) || defined( ARM_MATH_CM7) - #define LOW_OPTIMIZATION_ENTER \ - _Pragma ("push") \ - _Pragma ("O1") - #else - #define LOW_OPTIMIZATION_ENTER - #endif - - /* Exit low optimization region - place directly after end of function definition */ - #if defined( ARM_MATH_CM4 ) || defined( ARM_MATH_CM7) - #define LOW_OPTIMIZATION_EXIT \ - _Pragma ("pop") - #else - #define LOW_OPTIMIZATION_EXIT - #endif - - /* Enter low optimization region - place directly above function definition */ - #define IAR_ONLY_LOW_OPTIMIZATION_ENTER - - /* Exit low optimization region - place directly after end of function definition */ - #define IAR_ONLY_LOW_OPTIMIZATION_EXIT - -#elif defined(__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050) - #define LOW_OPTIMIZATION_ENTER - #define LOW_OPTIMIZATION_EXIT - #define IAR_ONLY_LOW_OPTIMIZATION_ENTER - #define IAR_ONLY_LOW_OPTIMIZATION_EXIT - -#elif defined(__GNUC__) - #define LOW_OPTIMIZATION_ENTER __attribute__(( optimize("-O1") )) - #define LOW_OPTIMIZATION_EXIT - #define IAR_ONLY_LOW_OPTIMIZATION_ENTER - #define IAR_ONLY_LOW_OPTIMIZATION_EXIT - -#elif defined(__ICCARM__) - /* Enter low optimization region - place directly above function definition */ - #if defined( ARM_MATH_CM4 ) || defined( ARM_MATH_CM7) - #define LOW_OPTIMIZATION_ENTER \ - _Pragma ("optimize=low") - #else - #define LOW_OPTIMIZATION_ENTER - #endif - - /* Exit low optimization region - place directly after end of function definition */ - #define LOW_OPTIMIZATION_EXIT - - /* Enter low optimization region - place directly above function definition */ - #if defined( ARM_MATH_CM4 ) || defined( ARM_MATH_CM7) - #define IAR_ONLY_LOW_OPTIMIZATION_ENTER \ - _Pragma ("optimize=low") - #else - #define IAR_ONLY_LOW_OPTIMIZATION_ENTER - #endif - - /* Exit low optimization region - place directly after end of function definition */ - #define IAR_ONLY_LOW_OPTIMIZATION_EXIT - -#elif defined(__CSMC__) - #define LOW_OPTIMIZATION_ENTER - #define LOW_OPTIMIZATION_EXIT - #define IAR_ONLY_LOW_OPTIMIZATION_ENTER - #define IAR_ONLY_LOW_OPTIMIZATION_EXIT - -#elif defined(__TASKING__) - #define LOW_OPTIMIZATION_ENTER - #define LOW_OPTIMIZATION_EXIT - #define IAR_ONLY_LOW_OPTIMIZATION_ENTER - #define IAR_ONLY_LOW_OPTIMIZATION_EXIT - -#endif - - -#ifdef __cplusplus -} -#endif - - -#if defined ( __GNUC__ ) -#pragma GCC diagnostic pop -#endif - -#endif /* _ARM_MATH_H */ - -/** - * - * End of file. - */ diff --git a/body/board/inc/cmsis_armcc.h b/body/board/inc/cmsis_armcc.h deleted file mode 100644 index 4d9d0645d3f747..00000000000000 --- a/body/board/inc/cmsis_armcc.h +++ /dev/null @@ -1,865 +0,0 @@ -/**************************************************************************//** - * @file cmsis_armcc.h - * @brief CMSIS compiler ARMCC (Arm Compiler 5) header file - * @version V5.0.4 - * @date 10. January 2018 - ******************************************************************************/ -/* - * Copyright (c) 2009-2018 Arm Limited. All rights reserved. - * - * SPDX-License-Identifier: Apache-2.0 - * - * Licensed under the Apache License, Version 2.0 (the License); you may - * not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an AS IS BASIS, WITHOUT - * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - -#ifndef __CMSIS_ARMCC_H -#define __CMSIS_ARMCC_H - - -#if defined(__ARMCC_VERSION) && (__ARMCC_VERSION < 400677) - #error "Please use Arm Compiler Toolchain V4.0.677 or later!" -#endif - -/* CMSIS compiler control architecture macros */ -#if ((defined (__TARGET_ARCH_6_M ) && (__TARGET_ARCH_6_M == 1)) || \ - (defined (__TARGET_ARCH_6S_M ) && (__TARGET_ARCH_6S_M == 1)) ) - #define __ARM_ARCH_6M__ 1 -#endif - -#if (defined (__TARGET_ARCH_7_M ) && (__TARGET_ARCH_7_M == 1)) - #define __ARM_ARCH_7M__ 1 -#endif - -#if (defined (__TARGET_ARCH_7E_M) && (__TARGET_ARCH_7E_M == 1)) - #define __ARM_ARCH_7EM__ 1 -#endif - - /* __ARM_ARCH_8M_BASE__ not applicable */ - /* __ARM_ARCH_8M_MAIN__ not applicable */ - - -/* CMSIS compiler specific defines */ -#ifndef __ASM - #define __ASM __asm -#endif -#ifndef __INLINE - #define __INLINE __inline -#endif -#ifndef __STATIC_INLINE - #define __STATIC_INLINE static __inline -#endif -#ifndef __STATIC_FORCEINLINE - #define __STATIC_FORCEINLINE static __forceinline -#endif -#ifndef __NO_RETURN - #define __NO_RETURN __declspec(noreturn) -#endif -#ifndef __USED - #define __USED __attribute__((used)) -#endif -#ifndef __WEAK - #define __WEAK __attribute__((weak)) -#endif -#ifndef __PACKED - #define __PACKED __attribute__((packed)) -#endif -#ifndef __PACKED_STRUCT - #define __PACKED_STRUCT __packed struct -#endif -#ifndef __PACKED_UNION - #define __PACKED_UNION __packed union -#endif -#ifndef __UNALIGNED_UINT32 /* deprecated */ - #define __UNALIGNED_UINT32(x) (*((__packed uint32_t *)(x))) -#endif -#ifndef __UNALIGNED_UINT16_WRITE - #define __UNALIGNED_UINT16_WRITE(addr, val) ((*((__packed uint16_t *)(addr))) = (val)) -#endif -#ifndef __UNALIGNED_UINT16_READ - #define __UNALIGNED_UINT16_READ(addr) (*((const __packed uint16_t *)(addr))) -#endif -#ifndef __UNALIGNED_UINT32_WRITE - #define __UNALIGNED_UINT32_WRITE(addr, val) ((*((__packed uint32_t *)(addr))) = (val)) -#endif -#ifndef __UNALIGNED_UINT32_READ - #define __UNALIGNED_UINT32_READ(addr) (*((const __packed uint32_t *)(addr))) -#endif -#ifndef __ALIGNED - #define __ALIGNED(x) __attribute__((aligned(x))) -#endif -#ifndef __RESTRICT - #define __RESTRICT __restrict -#endif - -/* ########################### Core Function Access ########################### */ -/** \ingroup CMSIS_Core_FunctionInterface - \defgroup CMSIS_Core_RegAccFunctions CMSIS Core Register Access Functions - @{ - */ - -/** - \brief Enable IRQ Interrupts - \details Enables IRQ interrupts by clearing the I-bit in the CPSR. - Can only be executed in Privileged modes. - */ -/* intrinsic void __enable_irq(); */ - - -/** - \brief Disable IRQ Interrupts - \details Disables IRQ interrupts by setting the I-bit in the CPSR. - Can only be executed in Privileged modes. - */ -/* intrinsic void __disable_irq(); */ - -/** - \brief Get Control Register - \details Returns the content of the Control Register. - \return Control Register value - */ -__STATIC_INLINE uint32_t __get_CONTROL(void) -{ - register uint32_t __regControl __ASM("control"); - return(__regControl); -} - - -/** - \brief Set Control Register - \details Writes the given value to the Control Register. - \param [in] control Control Register value to set - */ -__STATIC_INLINE void __set_CONTROL(uint32_t control) -{ - register uint32_t __regControl __ASM("control"); - __regControl = control; -} - - -/** - \brief Get IPSR Register - \details Returns the content of the IPSR Register. - \return IPSR Register value - */ -__STATIC_INLINE uint32_t __get_IPSR(void) -{ - register uint32_t __regIPSR __ASM("ipsr"); - return(__regIPSR); -} - - -/** - \brief Get APSR Register - \details Returns the content of the APSR Register. - \return APSR Register value - */ -__STATIC_INLINE uint32_t __get_APSR(void) -{ - register uint32_t __regAPSR __ASM("apsr"); - return(__regAPSR); -} - - -/** - \brief Get xPSR Register - \details Returns the content of the xPSR Register. - \return xPSR Register value - */ -__STATIC_INLINE uint32_t __get_xPSR(void) -{ - register uint32_t __regXPSR __ASM("xpsr"); - return(__regXPSR); -} - - -/** - \brief Get Process Stack Pointer - \details Returns the current value of the Process Stack Pointer (PSP). - \return PSP Register value - */ -__STATIC_INLINE uint32_t __get_PSP(void) -{ - register uint32_t __regProcessStackPointer __ASM("psp"); - return(__regProcessStackPointer); -} - - -/** - \brief Set Process Stack Pointer - \details Assigns the given value to the Process Stack Pointer (PSP). - \param [in] topOfProcStack Process Stack Pointer value to set - */ -__STATIC_INLINE void __set_PSP(uint32_t topOfProcStack) -{ - register uint32_t __regProcessStackPointer __ASM("psp"); - __regProcessStackPointer = topOfProcStack; -} - - -/** - \brief Get Main Stack Pointer - \details Returns the current value of the Main Stack Pointer (MSP). - \return MSP Register value - */ -__STATIC_INLINE uint32_t __get_MSP(void) -{ - register uint32_t __regMainStackPointer __ASM("msp"); - return(__regMainStackPointer); -} - - -/** - \brief Set Main Stack Pointer - \details Assigns the given value to the Main Stack Pointer (MSP). - \param [in] topOfMainStack Main Stack Pointer value to set - */ -__STATIC_INLINE void __set_MSP(uint32_t topOfMainStack) -{ - register uint32_t __regMainStackPointer __ASM("msp"); - __regMainStackPointer = topOfMainStack; -} - - -/** - \brief Get Priority Mask - \details Returns the current state of the priority mask bit from the Priority Mask Register. - \return Priority Mask value - */ -__STATIC_INLINE uint32_t __get_PRIMASK(void) -{ - register uint32_t __regPriMask __ASM("primask"); - return(__regPriMask); -} - - -/** - \brief Set Priority Mask - \details Assigns the given value to the Priority Mask Register. - \param [in] priMask Priority Mask - */ -__STATIC_INLINE void __set_PRIMASK(uint32_t priMask) -{ - register uint32_t __regPriMask __ASM("primask"); - __regPriMask = (priMask); -} - - -#if ((defined (__ARM_ARCH_7M__ ) && (__ARM_ARCH_7M__ == 1)) || \ - (defined (__ARM_ARCH_7EM__) && (__ARM_ARCH_7EM__ == 1)) ) - -/** - \brief Enable FIQ - \details Enables FIQ interrupts by clearing the F-bit in the CPSR. - Can only be executed in Privileged modes. - */ -#define __enable_fault_irq __enable_fiq - - -/** - \brief Disable FIQ - \details Disables FIQ interrupts by setting the F-bit in the CPSR. - Can only be executed in Privileged modes. - */ -#define __disable_fault_irq __disable_fiq - - -/** - \brief Get Base Priority - \details Returns the current value of the Base Priority register. - \return Base Priority register value - */ -__STATIC_INLINE uint32_t __get_BASEPRI(void) -{ - register uint32_t __regBasePri __ASM("basepri"); - return(__regBasePri); -} - - -/** - \brief Set Base Priority - \details Assigns the given value to the Base Priority register. - \param [in] basePri Base Priority value to set - */ -__STATIC_INLINE void __set_BASEPRI(uint32_t basePri) -{ - register uint32_t __regBasePri __ASM("basepri"); - __regBasePri = (basePri & 0xFFU); -} - - -/** - \brief Set Base Priority with condition - \details Assigns the given value to the Base Priority register only if BASEPRI masking is disabled, - or the new value increases the BASEPRI priority level. - \param [in] basePri Base Priority value to set - */ -__STATIC_INLINE void __set_BASEPRI_MAX(uint32_t basePri) -{ - register uint32_t __regBasePriMax __ASM("basepri_max"); - __regBasePriMax = (basePri & 0xFFU); -} - - -/** - \brief Get Fault Mask - \details Returns the current value of the Fault Mask register. - \return Fault Mask register value - */ -__STATIC_INLINE uint32_t __get_FAULTMASK(void) -{ - register uint32_t __regFaultMask __ASM("faultmask"); - return(__regFaultMask); -} - - -/** - \brief Set Fault Mask - \details Assigns the given value to the Fault Mask register. - \param [in] faultMask Fault Mask value to set - */ -__STATIC_INLINE void __set_FAULTMASK(uint32_t faultMask) -{ - register uint32_t __regFaultMask __ASM("faultmask"); - __regFaultMask = (faultMask & (uint32_t)1U); -} - -#endif /* ((defined (__ARM_ARCH_7M__ ) && (__ARM_ARCH_7M__ == 1)) || \ - (defined (__ARM_ARCH_7EM__) && (__ARM_ARCH_7EM__ == 1)) ) */ - - -/** - \brief Get FPSCR - \details Returns the current value of the Floating Point Status/Control register. - \return Floating Point Status/Control register value - */ -__STATIC_INLINE uint32_t __get_FPSCR(void) -{ -#if ((defined (__FPU_PRESENT) && (__FPU_PRESENT == 1U)) && \ - (defined (__FPU_USED ) && (__FPU_USED == 1U)) ) - register uint32_t __regfpscr __ASM("fpscr"); - return(__regfpscr); -#else - return(0U); -#endif -} - - -/** - \brief Set FPSCR - \details Assigns the given value to the Floating Point Status/Control register. - \param [in] fpscr Floating Point Status/Control value to set - */ -__STATIC_INLINE void __set_FPSCR(uint32_t fpscr) -{ -#if ((defined (__FPU_PRESENT) && (__FPU_PRESENT == 1U)) && \ - (defined (__FPU_USED ) && (__FPU_USED == 1U)) ) - register uint32_t __regfpscr __ASM("fpscr"); - __regfpscr = (fpscr); -#else - (void)fpscr; -#endif -} - - -/*@} end of CMSIS_Core_RegAccFunctions */ - - -/* ########################## Core Instruction Access ######################### */ -/** \defgroup CMSIS_Core_InstructionInterface CMSIS Core Instruction Interface - Access to dedicated instructions - @{ -*/ - -/** - \brief No Operation - \details No Operation does nothing. This instruction can be used for code alignment purposes. - */ -#define __NOP __nop - - -/** - \brief Wait For Interrupt - \details Wait For Interrupt is a hint instruction that suspends execution until one of a number of events occurs. - */ -#define __WFI __wfi - - -/** - \brief Wait For Event - \details Wait For Event is a hint instruction that permits the processor to enter - a low-power state until one of a number of events occurs. - */ -#define __WFE __wfe - - -/** - \brief Send Event - \details Send Event is a hint instruction. It causes an event to be signaled to the CPU. - */ -#define __SEV __sev - - -/** - \brief Instruction Synchronization Barrier - \details Instruction Synchronization Barrier flushes the pipeline in the processor, - so that all instructions following the ISB are fetched from cache or memory, - after the instruction has been completed. - */ -#define __ISB() do {\ - __schedule_barrier();\ - __isb(0xF);\ - __schedule_barrier();\ - } while (0U) - -/** - \brief Data Synchronization Barrier - \details Acts as a special kind of Data Memory Barrier. - It completes when all explicit memory accesses before this instruction complete. - */ -#define __DSB() do {\ - __schedule_barrier();\ - __dsb(0xF);\ - __schedule_barrier();\ - } while (0U) - -/** - \brief Data Memory Barrier - \details Ensures the apparent order of the explicit memory operations before - and after the instruction, without ensuring their completion. - */ -#define __DMB() do {\ - __schedule_barrier();\ - __dmb(0xF);\ - __schedule_barrier();\ - } while (0U) - - -/** - \brief Reverse byte order (32 bit) - \details Reverses the byte order in unsigned integer value. For example, 0x12345678 becomes 0x78563412. - \param [in] value Value to reverse - \return Reversed value - */ -#define __REV __rev - - -/** - \brief Reverse byte order (16 bit) - \details Reverses the byte order within each halfword of a word. For example, 0x12345678 becomes 0x34127856. - \param [in] value Value to reverse - \return Reversed value - */ -#ifndef __NO_EMBEDDED_ASM -__attribute__((section(".rev16_text"))) __STATIC_INLINE __ASM uint32_t __REV16(uint32_t value) -{ - rev16 r0, r0 - bx lr -} -#endif - - -/** - \brief Reverse byte order (16 bit) - \details Reverses the byte order in a 16-bit value and returns the signed 16-bit result. For example, 0x0080 becomes 0x8000. - \param [in] value Value to reverse - \return Reversed value - */ -#ifndef __NO_EMBEDDED_ASM -__attribute__((section(".revsh_text"))) __STATIC_INLINE __ASM int16_t __REVSH(int16_t value) -{ - revsh r0, r0 - bx lr -} -#endif - - -/** - \brief Rotate Right in unsigned value (32 bit) - \details Rotate Right (immediate) provides the value of the contents of a register rotated by a variable number of bits. - \param [in] op1 Value to rotate - \param [in] op2 Number of Bits to rotate - \return Rotated value - */ -#define __ROR __ror - - -/** - \brief Breakpoint - \details Causes the processor to enter Debug state. - Debug tools can use this to investigate system state when the instruction at a particular address is reached. - \param [in] value is ignored by the processor. - If required, a debugger can use it to store additional information about the breakpoint. - */ -#define __BKPT(value) __breakpoint(value) - - -/** - \brief Reverse bit order of value - \details Reverses the bit order of the given value. - \param [in] value Value to reverse - \return Reversed value - */ -#if ((defined (__ARM_ARCH_7M__ ) && (__ARM_ARCH_7M__ == 1)) || \ - (defined (__ARM_ARCH_7EM__) && (__ARM_ARCH_7EM__ == 1)) ) - #define __RBIT __rbit -#else -__attribute__((always_inline)) __STATIC_INLINE uint32_t __RBIT(uint32_t value) -{ - uint32_t result; - uint32_t s = (4U /*sizeof(v)*/ * 8U) - 1U; /* extra shift needed at end */ - - result = value; /* r will be reversed bits of v; first get LSB of v */ - for (value >>= 1U; value != 0U; value >>= 1U) - { - result <<= 1U; - result |= value & 1U; - s--; - } - result <<= s; /* shift when v's highest bits are zero */ - return result; -} -#endif - - -/** - \brief Count leading zeros - \details Counts the number of leading zeros of a data value. - \param [in] value Value to count the leading zeros - \return number of leading zeros in value - */ -#define __CLZ __clz - - -#if ((defined (__ARM_ARCH_7M__ ) && (__ARM_ARCH_7M__ == 1)) || \ - (defined (__ARM_ARCH_7EM__) && (__ARM_ARCH_7EM__ == 1)) ) - -/** - \brief LDR Exclusive (8 bit) - \details Executes a exclusive LDR instruction for 8 bit value. - \param [in] ptr Pointer to data - \return value of type uint8_t at (*ptr) - */ -#if defined(__ARMCC_VERSION) && (__ARMCC_VERSION < 5060020) - #define __LDREXB(ptr) ((uint8_t ) __ldrex(ptr)) -#else - #define __LDREXB(ptr) _Pragma("push") _Pragma("diag_suppress 3731") ((uint8_t ) __ldrex(ptr)) _Pragma("pop") -#endif - - -/** - \brief LDR Exclusive (16 bit) - \details Executes a exclusive LDR instruction for 16 bit values. - \param [in] ptr Pointer to data - \return value of type uint16_t at (*ptr) - */ -#if defined(__ARMCC_VERSION) && (__ARMCC_VERSION < 5060020) - #define __LDREXH(ptr) ((uint16_t) __ldrex(ptr)) -#else - #define __LDREXH(ptr) _Pragma("push") _Pragma("diag_suppress 3731") ((uint16_t) __ldrex(ptr)) _Pragma("pop") -#endif - - -/** - \brief LDR Exclusive (32 bit) - \details Executes a exclusive LDR instruction for 32 bit values. - \param [in] ptr Pointer to data - \return value of type uint32_t at (*ptr) - */ -#if defined(__ARMCC_VERSION) && (__ARMCC_VERSION < 5060020) - #define __LDREXW(ptr) ((uint32_t ) __ldrex(ptr)) -#else - #define __LDREXW(ptr) _Pragma("push") _Pragma("diag_suppress 3731") ((uint32_t ) __ldrex(ptr)) _Pragma("pop") -#endif - - -/** - \brief STR Exclusive (8 bit) - \details Executes a exclusive STR instruction for 8 bit values. - \param [in] value Value to store - \param [in] ptr Pointer to location - \return 0 Function succeeded - \return 1 Function failed - */ -#if defined(__ARMCC_VERSION) && (__ARMCC_VERSION < 5060020) - #define __STREXB(value, ptr) __strex(value, ptr) -#else - #define __STREXB(value, ptr) _Pragma("push") _Pragma("diag_suppress 3731") __strex(value, ptr) _Pragma("pop") -#endif - - -/** - \brief STR Exclusive (16 bit) - \details Executes a exclusive STR instruction for 16 bit values. - \param [in] value Value to store - \param [in] ptr Pointer to location - \return 0 Function succeeded - \return 1 Function failed - */ -#if defined(__ARMCC_VERSION) && (__ARMCC_VERSION < 5060020) - #define __STREXH(value, ptr) __strex(value, ptr) -#else - #define __STREXH(value, ptr) _Pragma("push") _Pragma("diag_suppress 3731") __strex(value, ptr) _Pragma("pop") -#endif - - -/** - \brief STR Exclusive (32 bit) - \details Executes a exclusive STR instruction for 32 bit values. - \param [in] value Value to store - \param [in] ptr Pointer to location - \return 0 Function succeeded - \return 1 Function failed - */ -#if defined(__ARMCC_VERSION) && (__ARMCC_VERSION < 5060020) - #define __STREXW(value, ptr) __strex(value, ptr) -#else - #define __STREXW(value, ptr) _Pragma("push") _Pragma("diag_suppress 3731") __strex(value, ptr) _Pragma("pop") -#endif - - -/** - \brief Remove the exclusive lock - \details Removes the exclusive lock which is created by LDREX. - */ -#define __CLREX __clrex - - -/** - \brief Signed Saturate - \details Saturates a signed value. - \param [in] value Value to be saturated - \param [in] sat Bit position to saturate to (1..32) - \return Saturated value - */ -#define __SSAT __ssat - - -/** - \brief Unsigned Saturate - \details Saturates an unsigned value. - \param [in] value Value to be saturated - \param [in] sat Bit position to saturate to (0..31) - \return Saturated value - */ -#define __USAT __usat - - -/** - \brief Rotate Right with Extend (32 bit) - \details Moves each bit of a bitstring right by one bit. - The carry input is shifted in at the left end of the bitstring. - \param [in] value Value to rotate - \return Rotated value - */ -#ifndef __NO_EMBEDDED_ASM -__attribute__((section(".rrx_text"))) __STATIC_INLINE __ASM uint32_t __RRX(uint32_t value) -{ - rrx r0, r0 - bx lr -} -#endif - - -/** - \brief LDRT Unprivileged (8 bit) - \details Executes a Unprivileged LDRT instruction for 8 bit value. - \param [in] ptr Pointer to data - \return value of type uint8_t at (*ptr) - */ -#define __LDRBT(ptr) ((uint8_t ) __ldrt(ptr)) - - -/** - \brief LDRT Unprivileged (16 bit) - \details Executes a Unprivileged LDRT instruction for 16 bit values. - \param [in] ptr Pointer to data - \return value of type uint16_t at (*ptr) - */ -#define __LDRHT(ptr) ((uint16_t) __ldrt(ptr)) - - -/** - \brief LDRT Unprivileged (32 bit) - \details Executes a Unprivileged LDRT instruction for 32 bit values. - \param [in] ptr Pointer to data - \return value of type uint32_t at (*ptr) - */ -#define __LDRT(ptr) ((uint32_t ) __ldrt(ptr)) - - -/** - \brief STRT Unprivileged (8 bit) - \details Executes a Unprivileged STRT instruction for 8 bit values. - \param [in] value Value to store - \param [in] ptr Pointer to location - */ -#define __STRBT(value, ptr) __strt(value, ptr) - - -/** - \brief STRT Unprivileged (16 bit) - \details Executes a Unprivileged STRT instruction for 16 bit values. - \param [in] value Value to store - \param [in] ptr Pointer to location - */ -#define __STRHT(value, ptr) __strt(value, ptr) - - -/** - \brief STRT Unprivileged (32 bit) - \details Executes a Unprivileged STRT instruction for 32 bit values. - \param [in] value Value to store - \param [in] ptr Pointer to location - */ -#define __STRT(value, ptr) __strt(value, ptr) - -#else /* ((defined (__ARM_ARCH_7M__ ) && (__ARM_ARCH_7M__ == 1)) || \ - (defined (__ARM_ARCH_7EM__) && (__ARM_ARCH_7EM__ == 1)) ) */ - -/** - \brief Signed Saturate - \details Saturates a signed value. - \param [in] value Value to be saturated - \param [in] sat Bit position to saturate to (1..32) - \return Saturated value - */ -__attribute__((always_inline)) __STATIC_INLINE int32_t __SSAT(int32_t val, uint32_t sat) -{ - if ((sat >= 1U) && (sat <= 32U)) - { - const int32_t max = (int32_t)((1U << (sat - 1U)) - 1U); - const int32_t min = -1 - max ; - if (val > max) - { - return max; - } - else if (val < min) - { - return min; - } - } - return val; -} - -/** - \brief Unsigned Saturate - \details Saturates an unsigned value. - \param [in] value Value to be saturated - \param [in] sat Bit position to saturate to (0..31) - \return Saturated value - */ -__attribute__((always_inline)) __STATIC_INLINE uint32_t __USAT(int32_t val, uint32_t sat) -{ - if (sat <= 31U) - { - const uint32_t max = ((1U << sat) - 1U); - if (val > (int32_t)max) - { - return max; - } - else if (val < 0) - { - return 0U; - } - } - return (uint32_t)val; -} - -#endif /* ((defined (__ARM_ARCH_7M__ ) && (__ARM_ARCH_7M__ == 1)) || \ - (defined (__ARM_ARCH_7EM__) && (__ARM_ARCH_7EM__ == 1)) ) */ - -/*@}*/ /* end of group CMSIS_Core_InstructionInterface */ - - -/* ################### Compiler specific Intrinsics ########################### */ -/** \defgroup CMSIS_SIMD_intrinsics CMSIS SIMD Intrinsics - Access to dedicated SIMD instructions - @{ -*/ - -#if ((defined (__ARM_ARCH_7EM__) && (__ARM_ARCH_7EM__ == 1)) ) - -#define __SADD8 __sadd8 -#define __QADD8 __qadd8 -#define __SHADD8 __shadd8 -#define __UADD8 __uadd8 -#define __UQADD8 __uqadd8 -#define __UHADD8 __uhadd8 -#define __SSUB8 __ssub8 -#define __QSUB8 __qsub8 -#define __SHSUB8 __shsub8 -#define __USUB8 __usub8 -#define __UQSUB8 __uqsub8 -#define __UHSUB8 __uhsub8 -#define __SADD16 __sadd16 -#define __QADD16 __qadd16 -#define __SHADD16 __shadd16 -#define __UADD16 __uadd16 -#define __UQADD16 __uqadd16 -#define __UHADD16 __uhadd16 -#define __SSUB16 __ssub16 -#define __QSUB16 __qsub16 -#define __SHSUB16 __shsub16 -#define __USUB16 __usub16 -#define __UQSUB16 __uqsub16 -#define __UHSUB16 __uhsub16 -#define __SASX __sasx -#define __QASX __qasx -#define __SHASX __shasx -#define __UASX __uasx -#define __UQASX __uqasx -#define __UHASX __uhasx -#define __SSAX __ssax -#define __QSAX __qsax -#define __SHSAX __shsax -#define __USAX __usax -#define __UQSAX __uqsax -#define __UHSAX __uhsax -#define __USAD8 __usad8 -#define __USADA8 __usada8 -#define __SSAT16 __ssat16 -#define __USAT16 __usat16 -#define __UXTB16 __uxtb16 -#define __UXTAB16 __uxtab16 -#define __SXTB16 __sxtb16 -#define __SXTAB16 __sxtab16 -#define __SMUAD __smuad -#define __SMUADX __smuadx -#define __SMLAD __smlad -#define __SMLADX __smladx -#define __SMLALD __smlald -#define __SMLALDX __smlaldx -#define __SMUSD __smusd -#define __SMUSDX __smusdx -#define __SMLSD __smlsd -#define __SMLSDX __smlsdx -#define __SMLSLD __smlsld -#define __SMLSLDX __smlsldx -#define __SEL __sel -#define __QADD __qadd -#define __QSUB __qsub - -#define __PKHBT(ARG1,ARG2,ARG3) ( ((((uint32_t)(ARG1)) ) & 0x0000FFFFUL) | \ - ((((uint32_t)(ARG2)) << (ARG3)) & 0xFFFF0000UL) ) - -#define __PKHTB(ARG1,ARG2,ARG3) ( ((((uint32_t)(ARG1)) ) & 0xFFFF0000UL) | \ - ((((uint32_t)(ARG2)) >> (ARG3)) & 0x0000FFFFUL) ) - -#define __SMMLA(ARG1,ARG2,ARG3) ( (int32_t)((((int64_t)(ARG1) * (ARG2)) + \ - ((int64_t)(ARG3) << 32U) ) >> 32U)) - -#endif /* ((defined (__ARM_ARCH_7EM__) && (__ARM_ARCH_7EM__ == 1)) ) */ -/*@} end of group CMSIS_SIMD_intrinsics */ - - -#endif /* __CMSIS_ARMCC_H */ diff --git a/body/board/inc/cmsis_armcc_V6.h b/body/board/inc/cmsis_armcc_V6.h deleted file mode 100644 index cd13240ce36025..00000000000000 --- a/body/board/inc/cmsis_armcc_V6.h +++ /dev/null @@ -1,1800 +0,0 @@ -/**************************************************************************//** - * @file cmsis_armcc_V6.h - * @brief CMSIS Cortex-M Core Function/Instruction Header File - * @version V4.30 - * @date 20. October 2015 - ******************************************************************************/ -/* Copyright (c) 2009 - 2015 ARM LIMITED - - All rights reserved. - Redistribution and use in source and binary forms, with or without - modification, are permitted provided that the following conditions are met: - - Redistributions of source code must retain the above copyright - notice, this list of conditions and the following disclaimer. - - Redistributions in binary form must reproduce the above copyright - notice, this list of conditions and the following disclaimer in the - documentation and/or other materials provided with the distribution. - - Neither the name of ARM nor the names of its contributors may be used - to endorse or promote products derived from this software without - specific prior written permission. - * - THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE - LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - POSSIBILITY OF SUCH DAMAGE. - ---------------------------------------------------------------------------*/ - - -#ifndef __CMSIS_ARMCC_V6_H -#define __CMSIS_ARMCC_V6_H - - -/* ########################### Core Function Access ########################### */ -/** \ingroup CMSIS_Core_FunctionInterface - \defgroup CMSIS_Core_RegAccFunctions CMSIS Core Register Access Functions - @{ - */ - -/** - \brief Enable IRQ Interrupts - \details Enables IRQ interrupts by clearing the I-bit in the CPSR. - Can only be executed in Privileged modes. - */ -__attribute__((always_inline)) __STATIC_INLINE void __enable_irq(void) -{ - __ASM volatile ("cpsie i" : : : "memory"); -} - - -/** - \brief Disable IRQ Interrupts - \details Disables IRQ interrupts by setting the I-bit in the CPSR. - Can only be executed in Privileged modes. - */ -__attribute__((always_inline)) __STATIC_INLINE void __disable_irq(void) -{ - __ASM volatile ("cpsid i" : : : "memory"); -} - - -/** - \brief Get Control Register - \details Returns the content of the Control Register. - \return Control Register value - */ -__attribute__((always_inline)) __STATIC_INLINE uint32_t __get_CONTROL(void) -{ - uint32_t result; - - __ASM volatile ("MRS %0, control" : "=r" (result) ); - return(result); -} - - -#if (__ARM_FEATURE_CMSE == 3U) -/** - \brief Get Control Register (non-secure) - \details Returns the content of the non-secure Control Register when in secure mode. - \return non-secure Control Register value - */ -__attribute__((always_inline)) __STATIC_INLINE uint32_t __TZ_get_CONTROL_NS(void) -{ - uint32_t result; - - __ASM volatile ("MRS %0, control_ns" : "=r" (result) ); - return(result); -} -#endif - - -/** - \brief Set Control Register - \details Writes the given value to the Control Register. - \param [in] control Control Register value to set - */ -__attribute__((always_inline)) __STATIC_INLINE void __set_CONTROL(uint32_t control) -{ - __ASM volatile ("MSR control, %0" : : "r" (control) : "memory"); -} - - -#if (__ARM_FEATURE_CMSE == 3U) -/** - \brief Set Control Register (non-secure) - \details Writes the given value to the non-secure Control Register when in secure state. - \param [in] control Control Register value to set - */ -__attribute__((always_inline)) __STATIC_INLINE void __TZ_set_CONTROL_NS(uint32_t control) -{ - __ASM volatile ("MSR control_ns, %0" : : "r" (control) : "memory"); -} -#endif - - -/** - \brief Get IPSR Register - \details Returns the content of the IPSR Register. - \return IPSR Register value - */ -__attribute__((always_inline)) __STATIC_INLINE uint32_t __get_IPSR(void) -{ - uint32_t result; - - __ASM volatile ("MRS %0, ipsr" : "=r" (result) ); - return(result); -} - - -#if (__ARM_FEATURE_CMSE == 3U) -/** - \brief Get IPSR Register (non-secure) - \details Returns the content of the non-secure IPSR Register when in secure state. - \return IPSR Register value - */ -__attribute__((always_inline)) __STATIC_INLINE uint32_t __TZ_get_IPSR_NS(void) -{ - uint32_t result; - - __ASM volatile ("MRS %0, ipsr_ns" : "=r" (result) ); - return(result); -} -#endif - - -/** - \brief Get APSR Register - \details Returns the content of the APSR Register. - \return APSR Register value - */ -__attribute__((always_inline)) __STATIC_INLINE uint32_t __get_APSR(void) -{ - uint32_t result; - - __ASM volatile ("MRS %0, apsr" : "=r" (result) ); - return(result); -} - - -#if (__ARM_FEATURE_CMSE == 3U) -/** - \brief Get APSR Register (non-secure) - \details Returns the content of the non-secure APSR Register when in secure state. - \return APSR Register value - */ -__attribute__((always_inline)) __STATIC_INLINE uint32_t __TZ_get_APSR_NS(void) -{ - uint32_t result; - - __ASM volatile ("MRS %0, apsr_ns" : "=r" (result) ); - return(result); -} -#endif - - -/** - \brief Get xPSR Register - \details Returns the content of the xPSR Register. - \return xPSR Register value - */ -__attribute__((always_inline)) __STATIC_INLINE uint32_t __get_xPSR(void) -{ - uint32_t result; - - __ASM volatile ("MRS %0, xpsr" : "=r" (result) ); - return(result); -} - - -#if (__ARM_FEATURE_CMSE == 3U) -/** - \brief Get xPSR Register (non-secure) - \details Returns the content of the non-secure xPSR Register when in secure state. - \return xPSR Register value - */ -__attribute__((always_inline)) __STATIC_INLINE uint32_t __TZ_get_xPSR_NS(void) -{ - uint32_t result; - - __ASM volatile ("MRS %0, xpsr_ns" : "=r" (result) ); - return(result); -} -#endif - - -/** - \brief Get Process Stack Pointer - \details Returns the current value of the Process Stack Pointer (PSP). - \return PSP Register value - */ -__attribute__((always_inline)) __STATIC_INLINE uint32_t __get_PSP(void) -{ - register uint32_t result; - - __ASM volatile ("MRS %0, psp" : "=r" (result) ); - return(result); -} - - -#if (__ARM_FEATURE_CMSE == 3U) -/** - \brief Get Process Stack Pointer (non-secure) - \details Returns the current value of the non-secure Process Stack Pointer (PSP) when in secure state. - \return PSP Register value - */ -__attribute__((always_inline)) __STATIC_INLINE uint32_t __TZ_get_PSP_NS(void) -{ - register uint32_t result; - - __ASM volatile ("MRS %0, psp_ns" : "=r" (result) ); - return(result); -} -#endif - - -/** - \brief Set Process Stack Pointer - \details Assigns the given value to the Process Stack Pointer (PSP). - \param [in] topOfProcStack Process Stack Pointer value to set - */ -__attribute__((always_inline)) __STATIC_INLINE void __set_PSP(uint32_t topOfProcStack) -{ - __ASM volatile ("MSR psp, %0" : : "r" (topOfProcStack) : "sp"); -} - - -#if (__ARM_FEATURE_CMSE == 3U) -/** - \brief Set Process Stack Pointer (non-secure) - \details Assigns the given value to the non-secure Process Stack Pointer (PSP) when in secure state. - \param [in] topOfProcStack Process Stack Pointer value to set - */ -__attribute__((always_inline)) __STATIC_INLINE void __TZ_set_PSP_NS(uint32_t topOfProcStack) -{ - __ASM volatile ("MSR psp_ns, %0" : : "r" (topOfProcStack) : "sp"); -} -#endif - - -/** - \brief Get Main Stack Pointer - \details Returns the current value of the Main Stack Pointer (MSP). - \return MSP Register value - */ -__attribute__((always_inline)) __STATIC_INLINE uint32_t __get_MSP(void) -{ - register uint32_t result; - - __ASM volatile ("MRS %0, msp" : "=r" (result) ); - return(result); -} - - -#if (__ARM_FEATURE_CMSE == 3U) -/** - \brief Get Main Stack Pointer (non-secure) - \details Returns the current value of the non-secure Main Stack Pointer (MSP) when in secure state. - \return MSP Register value - */ -__attribute__((always_inline)) __STATIC_INLINE uint32_t __TZ_get_MSP_NS(void) -{ - register uint32_t result; - - __ASM volatile ("MRS %0, msp_ns" : "=r" (result) ); - return(result); -} -#endif - - -/** - \brief Set Main Stack Pointer - \details Assigns the given value to the Main Stack Pointer (MSP). - \param [in] topOfMainStack Main Stack Pointer value to set - */ -__attribute__((always_inline)) __STATIC_INLINE void __set_MSP(uint32_t topOfMainStack) -{ - __ASM volatile ("MSR msp, %0" : : "r" (topOfMainStack) : "sp"); -} - - -#if (__ARM_FEATURE_CMSE == 3U) -/** - \brief Set Main Stack Pointer (non-secure) - \details Assigns the given value to the non-secure Main Stack Pointer (MSP) when in secure state. - \param [in] topOfMainStack Main Stack Pointer value to set - */ -__attribute__((always_inline)) __STATIC_INLINE void __TZ_set_MSP_NS(uint32_t topOfMainStack) -{ - __ASM volatile ("MSR msp_ns, %0" : : "r" (topOfMainStack) : "sp"); -} -#endif - - -/** - \brief Get Priority Mask - \details Returns the current state of the priority mask bit from the Priority Mask Register. - \return Priority Mask value - */ -__attribute__((always_inline)) __STATIC_INLINE uint32_t __get_PRIMASK(void) -{ - uint32_t result; - - __ASM volatile ("MRS %0, primask" : "=r" (result) ); - return(result); -} - - -#if (__ARM_FEATURE_CMSE == 3U) -/** - \brief Get Priority Mask (non-secure) - \details Returns the current state of the non-secure priority mask bit from the Priority Mask Register when in secure state. - \return Priority Mask value - */ -__attribute__((always_inline)) __STATIC_INLINE uint32_t __TZ_get_PRIMASK_NS(void) -{ - uint32_t result; - - __ASM volatile ("MRS %0, primask_ns" : "=r" (result) ); - return(result); -} -#endif - - -/** - \brief Set Priority Mask - \details Assigns the given value to the Priority Mask Register. - \param [in] priMask Priority Mask - */ -__attribute__((always_inline)) __STATIC_INLINE void __set_PRIMASK(uint32_t priMask) -{ - __ASM volatile ("MSR primask, %0" : : "r" (priMask) : "memory"); -} - - -#if (__ARM_FEATURE_CMSE == 3U) -/** - \brief Set Priority Mask (non-secure) - \details Assigns the given value to the non-secure Priority Mask Register when in secure state. - \param [in] priMask Priority Mask - */ -__attribute__((always_inline)) __STATIC_INLINE void __TZ_set_PRIMASK_NS(uint32_t priMask) -{ - __ASM volatile ("MSR primask_ns, %0" : : "r" (priMask) : "memory"); -} -#endif - - -#if ((__ARM_ARCH_7M__ == 1U) || (__ARM_ARCH_7EM__ == 1U) || (__ARM_ARCH_8M__ == 1U)) /* ToDo: ARMCC_V6: check if this is ok for cortex >=3 */ - -/** - \brief Enable FIQ - \details Enables FIQ interrupts by clearing the F-bit in the CPSR. - Can only be executed in Privileged modes. - */ -__attribute__((always_inline)) __STATIC_INLINE void __enable_fault_irq(void) -{ - __ASM volatile ("cpsie f" : : : "memory"); -} - - -/** - \brief Disable FIQ - \details Disables FIQ interrupts by setting the F-bit in the CPSR. - Can only be executed in Privileged modes. - */ -__attribute__((always_inline)) __STATIC_INLINE void __disable_fault_irq(void) -{ - __ASM volatile ("cpsid f" : : : "memory"); -} - - -/** - \brief Get Base Priority - \details Returns the current value of the Base Priority register. - \return Base Priority register value - */ -__attribute__((always_inline)) __STATIC_INLINE uint32_t __get_BASEPRI(void) -{ - uint32_t result; - - __ASM volatile ("MRS %0, basepri" : "=r" (result) ); - return(result); -} - - -#if (__ARM_FEATURE_CMSE == 3U) -/** - \brief Get Base Priority (non-secure) - \details Returns the current value of the non-secure Base Priority register when in secure state. - \return Base Priority register value - */ -__attribute__((always_inline)) __STATIC_INLINE uint32_t __TZ_get_BASEPRI_NS(void) -{ - uint32_t result; - - __ASM volatile ("MRS %0, basepri_ns" : "=r" (result) ); - return(result); -} -#endif - - -/** - \brief Set Base Priority - \details Assigns the given value to the Base Priority register. - \param [in] basePri Base Priority value to set - */ -__attribute__((always_inline)) __STATIC_INLINE void __set_BASEPRI(uint32_t value) -{ - __ASM volatile ("MSR basepri, %0" : : "r" (value) : "memory"); -} - - -#if (__ARM_FEATURE_CMSE == 3U) -/** - \brief Set Base Priority (non-secure) - \details Assigns the given value to the non-secure Base Priority register when in secure state. - \param [in] basePri Base Priority value to set - */ -__attribute__((always_inline)) __STATIC_INLINE void __TZ_set_BASEPRI_NS(uint32_t value) -{ - __ASM volatile ("MSR basepri_ns, %0" : : "r" (value) : "memory"); -} -#endif - - -/** - \brief Set Base Priority with condition - \details Assigns the given value to the Base Priority register only if BASEPRI masking is disabled, - or the new value increases the BASEPRI priority level. - \param [in] basePri Base Priority value to set - */ -__attribute__((always_inline)) __STATIC_INLINE void __set_BASEPRI_MAX(uint32_t value) -{ - __ASM volatile ("MSR basepri_max, %0" : : "r" (value) : "memory"); -} - - -#if (__ARM_FEATURE_CMSE == 3U) -/** - \brief Set Base Priority with condition (non_secure) - \details Assigns the given value to the non-secure Base Priority register when in secure state only if BASEPRI masking is disabled, - or the new value increases the BASEPRI priority level. - \param [in] basePri Base Priority value to set - */ -__attribute__((always_inline)) __STATIC_INLINE void __TZ_set_BASEPRI_MAX_NS(uint32_t value) -{ - __ASM volatile ("MSR basepri_max_ns, %0" : : "r" (value) : "memory"); -} -#endif - - -/** - \brief Get Fault Mask - \details Returns the current value of the Fault Mask register. - \return Fault Mask register value - */ -__attribute__((always_inline)) __STATIC_INLINE uint32_t __get_FAULTMASK(void) -{ - uint32_t result; - - __ASM volatile ("MRS %0, faultmask" : "=r" (result) ); - return(result); -} - - -#if (__ARM_FEATURE_CMSE == 3U) -/** - \brief Get Fault Mask (non-secure) - \details Returns the current value of the non-secure Fault Mask register when in secure state. - \return Fault Mask register value - */ -__attribute__((always_inline)) __STATIC_INLINE uint32_t __TZ_get_FAULTMASK_NS(void) -{ - uint32_t result; - - __ASM volatile ("MRS %0, faultmask_ns" : "=r" (result) ); - return(result); -} -#endif - - -/** - \brief Set Fault Mask - \details Assigns the given value to the Fault Mask register. - \param [in] faultMask Fault Mask value to set - */ -__attribute__((always_inline)) __STATIC_INLINE void __set_FAULTMASK(uint32_t faultMask) -{ - __ASM volatile ("MSR faultmask, %0" : : "r" (faultMask) : "memory"); -} - - -#if (__ARM_FEATURE_CMSE == 3U) -/** - \brief Set Fault Mask (non-secure) - \details Assigns the given value to the non-secure Fault Mask register when in secure state. - \param [in] faultMask Fault Mask value to set - */ -__attribute__((always_inline)) __STATIC_INLINE void __TZ_set_FAULTMASK_NS(uint32_t faultMask) -{ - __ASM volatile ("MSR faultmask_ns, %0" : : "r" (faultMask) : "memory"); -} -#endif - - -#endif /* ((__ARM_ARCH_7M__ == 1U) || (__ARM_ARCH_8M__ == 1U)) */ - - -#if (__ARM_ARCH_8M__ == 1U) - -/** - \brief Get Process Stack Pointer Limit - \details Returns the current value of the Process Stack Pointer Limit (PSPLIM). - \return PSPLIM Register value - */ -__attribute__((always_inline)) __STATIC_INLINE uint32_t __get_PSPLIM(void) -{ - register uint32_t result; - - __ASM volatile ("MRS %0, psplim" : "=r" (result) ); - return(result); -} - - -#if (__ARM_FEATURE_CMSE == 3U) && (__ARM_ARCH_PROFILE == 'M') /* ToDo: ARMCC_V6: check predefined macro for mainline */ -/** - \brief Get Process Stack Pointer Limit (non-secure) - \details Returns the current value of the non-secure Process Stack Pointer Limit (PSPLIM) when in secure state. - \return PSPLIM Register value - */ -__attribute__((always_inline)) __STATIC_INLINE uint32_t __TZ_get_PSPLIM_NS(void) -{ - register uint32_t result; - - __ASM volatile ("MRS %0, psplim_ns" : "=r" (result) ); - return(result); -} -#endif - - -/** - \brief Set Process Stack Pointer Limit - \details Assigns the given value to the Process Stack Pointer Limit (PSPLIM). - \param [in] ProcStackPtrLimit Process Stack Pointer Limit value to set - */ -__attribute__((always_inline)) __STATIC_INLINE void __set_PSPLIM(uint32_t ProcStackPtrLimit) -{ - __ASM volatile ("MSR psplim, %0" : : "r" (ProcStackPtrLimit)); -} - - -#if (__ARM_FEATURE_CMSE == 3U) && (__ARM_ARCH_PROFILE == 'M') /* ToDo: ARMCC_V6: check predefined macro for mainline */ -/** - \brief Set Process Stack Pointer (non-secure) - \details Assigns the given value to the non-secure Process Stack Pointer Limit (PSPLIM) when in secure state. - \param [in] ProcStackPtrLimit Process Stack Pointer Limit value to set - */ -__attribute__((always_inline)) __STATIC_INLINE void __TZ_set_PSPLIM_NS(uint32_t ProcStackPtrLimit) -{ - __ASM volatile ("MSR psplim_ns, %0\n" : : "r" (ProcStackPtrLimit)); -} -#endif - - -/** - \brief Get Main Stack Pointer Limit - \details Returns the current value of the Main Stack Pointer Limit (MSPLIM). - \return MSPLIM Register value - */ -__attribute__((always_inline)) __STATIC_INLINE uint32_t __get_MSPLIM(void) -{ - register uint32_t result; - - __ASM volatile ("MRS %0, msplim" : "=r" (result) ); - - return(result); -} - - -#if (__ARM_FEATURE_CMSE == 3U) && (__ARM_ARCH_PROFILE == 'M') /* ToDo: ARMCC_V6: check predefined macro for mainline */ -/** - \brief Get Main Stack Pointer Limit (non-secure) - \details Returns the current value of the non-secure Main Stack Pointer Limit(MSPLIM) when in secure state. - \return MSPLIM Register value - */ -__attribute__((always_inline)) __STATIC_INLINE uint32_t __TZ_get_MSPLIM_NS(void) -{ - register uint32_t result; - - __ASM volatile ("MRS %0, msplim_ns" : "=r" (result) ); - return(result); -} -#endif - - -/** - \brief Set Main Stack Pointer Limit - \details Assigns the given value to the Main Stack Pointer Limit (MSPLIM). - \param [in] MainStackPtrLimit Main Stack Pointer Limit value to set - */ -__attribute__((always_inline)) __STATIC_INLINE void __set_MSPLIM(uint32_t MainStackPtrLimit) -{ - __ASM volatile ("MSR msplim, %0" : : "r" (MainStackPtrLimit)); -} - - -#if (__ARM_FEATURE_CMSE == 3U) && (__ARM_ARCH_PROFILE == 'M') /* ToDo: ARMCC_V6: check predefined macro for mainline */ -/** - \brief Set Main Stack Pointer Limit (non-secure) - \details Assigns the given value to the non-secure Main Stack Pointer Limit (MSPLIM) when in secure state. - \param [in] MainStackPtrLimit Main Stack Pointer value to set - */ -__attribute__((always_inline)) __STATIC_INLINE void __TZ_set_MSPLIM_NS(uint32_t MainStackPtrLimit) -{ - __ASM volatile ("MSR msplim_ns, %0" : : "r" (MainStackPtrLimit)); -} -#endif - -#endif /* (__ARM_ARCH_8M__ == 1U) */ - - -#if ((__ARM_ARCH_7EM__ == 1U) || (__ARM_ARCH_8M__ == 1U)) /* ToDo: ARMCC_V6: check if this is ok for cortex >=4 */ - -/** - \brief Get FPSCR - \details eturns the current value of the Floating Point Status/Control register. - \return Floating Point Status/Control register value - */ -#define __get_FPSCR __builtin_arm_get_fpscr -#if 0 -__attribute__((always_inline)) __STATIC_INLINE uint32_t __get_FPSCR(void) -{ -#if (__FPU_PRESENT == 1U) && (__FPU_USED == 1U) - uint32_t result; - - __ASM volatile (""); /* Empty asm statement works as a scheduling barrier */ - __ASM volatile ("VMRS %0, fpscr" : "=r" (result) ); - __ASM volatile (""); - return(result); -#else - return(0); -#endif -} -#endif - -#if (__ARM_FEATURE_CMSE == 3U) -/** - \brief Get FPSCR (non-secure) - \details Returns the current value of the non-secure Floating Point Status/Control register when in secure state. - \return Floating Point Status/Control register value - */ -__attribute__((always_inline)) __STATIC_INLINE uint32_t __TZ_get_FPSCR_NS(void) -{ -#if (__FPU_PRESENT == 1U) && (__FPU_USED == 1U) - uint32_t result; - - __ASM volatile (""); /* Empty asm statement works as a scheduling barrier */ - __ASM volatile ("VMRS %0, fpscr_ns" : "=r" (result) ); - __ASM volatile (""); - return(result); -#else - return(0); -#endif -} -#endif - - -/** - \brief Set FPSCR - \details Assigns the given value to the Floating Point Status/Control register. - \param [in] fpscr Floating Point Status/Control value to set - */ -#define __set_FPSCR __builtin_arm_set_fpscr -#if 0 -__attribute__((always_inline)) __STATIC_INLINE void __set_FPSCR(uint32_t fpscr) -{ -#if (__FPU_PRESENT == 1U) && (__FPU_USED == 1U) - __ASM volatile (""); /* Empty asm statement works as a scheduling barrier */ - __ASM volatile ("VMSR fpscr, %0" : : "r" (fpscr) : "vfpcc"); - __ASM volatile (""); -#endif -} -#endif - -#if (__ARM_FEATURE_CMSE == 3U) -/** - \brief Set FPSCR (non-secure) - \details Assigns the given value to the non-secure Floating Point Status/Control register when in secure state. - \param [in] fpscr Floating Point Status/Control value to set - */ -__attribute__((always_inline)) __STATIC_INLINE void __TZ_set_FPSCR_NS(uint32_t fpscr) -{ -#if (__FPU_PRESENT == 1U) && (__FPU_USED == 1U) - __ASM volatile (""); /* Empty asm statement works as a scheduling barrier */ - __ASM volatile ("VMSR fpscr_ns, %0" : : "r" (fpscr) : "vfpcc"); - __ASM volatile (""); -#endif -} -#endif - -#endif /* ((__ARM_ARCH_7EM__ == 1U) || (__ARM_ARCH_8M__ == 1U)) */ - - - -/*@} end of CMSIS_Core_RegAccFunctions */ - - -/* ########################## Core Instruction Access ######################### */ -/** \defgroup CMSIS_Core_InstructionInterface CMSIS Core Instruction Interface - Access to dedicated instructions - @{ -*/ - -/* Define macros for porting to both thumb1 and thumb2. - * For thumb1, use low register (r0-r7), specified by constraint "l" - * Otherwise, use general registers, specified by constraint "r" */ -#if defined (__thumb__) && !defined (__thumb2__) -#define __CMSIS_GCC_OUT_REG(r) "=l" (r) -#define __CMSIS_GCC_USE_REG(r) "l" (r) -#else -#define __CMSIS_GCC_OUT_REG(r) "=r" (r) -#define __CMSIS_GCC_USE_REG(r) "r" (r) -#endif - -/** - \brief No Operation - \details No Operation does nothing. This instruction can be used for code alignment purposes. - */ -#define __NOP __builtin_arm_nop - -/** - \brief Wait For Interrupt - \details Wait For Interrupt is a hint instruction that suspends execution until one of a number of events occurs. - */ -#define __WFI __builtin_arm_wfi - - -/** - \brief Wait For Event - \details Wait For Event is a hint instruction that permits the processor to enter - a low-power state until one of a number of events occurs. - */ -#define __WFE __builtin_arm_wfe - - -/** - \brief Send Event - \details Send Event is a hint instruction. It causes an event to be signaled to the CPU. - */ -#define __SEV __builtin_arm_sev - - -/** - \brief Instruction Synchronization Barrier - \details Instruction Synchronization Barrier flushes the pipeline in the processor, - so that all instructions following the ISB are fetched from cache or memory, - after the instruction has been completed. - */ -#define __ISB() __builtin_arm_isb(0xF); - -/** - \brief Data Synchronization Barrier - \details Acts as a special kind of Data Memory Barrier. - It completes when all explicit memory accesses before this instruction complete. - */ -#define __DSB() __builtin_arm_dsb(0xF); - - -/** - \brief Data Memory Barrier - \details Ensures the apparent order of the explicit memory operations before - and after the instruction, without ensuring their completion. - */ -#define __DMB() __builtin_arm_dmb(0xF); - - -/** - \brief Reverse byte order (32 bit) - \details Reverses the byte order in integer value. - \param [in] value Value to reverse - \return Reversed value - */ -#define __REV __builtin_bswap32 - - -/** - \brief Reverse byte order (16 bit) - \details Reverses the byte order in two unsigned short values. - \param [in] value Value to reverse - \return Reversed value - */ -#define __REV16 __builtin_bswap16 /* ToDo: ARMCC_V6: check if __builtin_bswap16 could be used */ -#if 0 -__attribute__((always_inline)) __STATIC_INLINE uint32_t __REV16(uint32_t value) -{ - uint32_t result; - - __ASM volatile ("rev16 %0, %1" : __CMSIS_GCC_OUT_REG (result) : __CMSIS_GCC_USE_REG (value) ); - return(result); -} -#endif - - -/** - \brief Reverse byte order in signed short value - \details Reverses the byte order in a signed short value with sign extension to integer. - \param [in] value Value to reverse - \return Reversed value - */ - /* ToDo: ARMCC_V6: check if __builtin_bswap16 could be used */ -__attribute__((always_inline)) __STATIC_INLINE int32_t __REVSH(int32_t value) -{ - int32_t result; - - __ASM volatile ("revsh %0, %1" : __CMSIS_GCC_OUT_REG (result) : __CMSIS_GCC_USE_REG (value) ); - return(result); -} - - -/** - \brief Rotate Right in unsigned value (32 bit) - \details Rotate Right (immediate) provides the value of the contents of a register rotated by a variable number of bits. - \param [in] op1 Value to rotate - \param [in] op2 Number of Bits to rotate - \return Rotated value - */ -__attribute__((always_inline)) __STATIC_INLINE uint32_t __ROR(uint32_t op1, uint32_t op2) -{ - return (op1 >> op2) | (op1 << (32U - op2)); -} - - -/** - \brief Breakpoint - \details Causes the processor to enter Debug state. - Debug tools can use this to investigate system state when the instruction at a particular address is reached. - \param [in] value is ignored by the processor. - If required, a debugger can use it to store additional information about the breakpoint. - */ -#define __BKPT(value) __ASM volatile ("bkpt "#value) - - -/** - \brief Reverse bit order of value - \details Reverses the bit order of the given value. - \param [in] value Value to reverse - \return Reversed value - */ - /* ToDo: ARMCC_V6: check if __builtin_arm_rbit is supported */ -__attribute__((always_inline)) __STATIC_INLINE uint32_t __RBIT(uint32_t value) -{ - uint32_t result; - -#if ((__ARM_ARCH_7M__ == 1U) || (__ARM_ARCH_7EM__ == 1U) || (__ARM_ARCH_8M__ == 1U)) /* ToDo: ARMCC_V6: check if this is ok for cortex >=3 */ - __ASM volatile ("rbit %0, %1" : "=r" (result) : "r" (value) ); -#else - int32_t s = 4 /*sizeof(v)*/ * 8 - 1; /* extra shift needed at end */ - - result = value; /* r will be reversed bits of v; first get LSB of v */ - for (value >>= 1U; value; value >>= 1U) - { - result <<= 1U; - result |= value & 1U; - s--; - } - result <<= s; /* shift when v's highest bits are zero */ -#endif - return(result); -} - - -/** - \brief Count leading zeros - \details Counts the number of leading zeros of a data value. - \param [in] value Value to count the leading zeros - \return number of leading zeros in value - */ -#define __CLZ __builtin_clz - - -#if ((__ARM_ARCH_7M__ == 1U) || (__ARM_ARCH_7EM__ == 1U) || (__ARM_ARCH_8M__ == 1U)) /* ToDo: ARMCC_V6: check if this is ok for cortex >=3 */ - -/** - \brief LDR Exclusive (8 bit) - \details Executes a exclusive LDR instruction for 8 bit value. - \param [in] ptr Pointer to data - \return value of type uint8_t at (*ptr) - */ -#define __LDREXB (uint8_t)__builtin_arm_ldrex - - -/** - \brief LDR Exclusive (16 bit) - \details Executes a exclusive LDR instruction for 16 bit values. - \param [in] ptr Pointer to data - \return value of type uint16_t at (*ptr) - */ -#define __LDREXH (uint16_t)__builtin_arm_ldrex - - -/** - \brief LDR Exclusive (32 bit) - \details Executes a exclusive LDR instruction for 32 bit values. - \param [in] ptr Pointer to data - \return value of type uint32_t at (*ptr) - */ -#define __LDREXW (uint32_t)__builtin_arm_ldrex - - -/** - \brief STR Exclusive (8 bit) - \details Executes a exclusive STR instruction for 8 bit values. - \param [in] value Value to store - \param [in] ptr Pointer to location - \return 0 Function succeeded - \return 1 Function failed - */ -#define __STREXB (uint32_t)__builtin_arm_strex - - -/** - \brief STR Exclusive (16 bit) - \details Executes a exclusive STR instruction for 16 bit values. - \param [in] value Value to store - \param [in] ptr Pointer to location - \return 0 Function succeeded - \return 1 Function failed - */ -#define __STREXH (uint32_t)__builtin_arm_strex - - -/** - \brief STR Exclusive (32 bit) - \details Executes a exclusive STR instruction for 32 bit values. - \param [in] value Value to store - \param [in] ptr Pointer to location - \return 0 Function succeeded - \return 1 Function failed - */ -#define __STREXW (uint32_t)__builtin_arm_strex - - -/** - \brief Remove the exclusive lock - \details Removes the exclusive lock which is created by LDREX. - */ -#define __CLREX __builtin_arm_clrex - - -/** - \brief Signed Saturate - \details Saturates a signed value. - \param [in] value Value to be saturated - \param [in] sat Bit position to saturate to (1..32) - \return Saturated value - */ -/*#define __SSAT __builtin_arm_ssat*/ -#define __SSAT(ARG1,ARG2) \ -({ \ - int32_t __RES, __ARG1 = (ARG1); \ - __ASM ("ssat %0, %1, %2" : "=r" (__RES) : "I" (ARG2), "r" (__ARG1) ); \ - __RES; \ - }) - - -/** - \brief Unsigned Saturate - \details Saturates an unsigned value. - \param [in] value Value to be saturated - \param [in] sat Bit position to saturate to (0..31) - \return Saturated value - */ -#define __USAT __builtin_arm_usat -#if 0 -#define __USAT(ARG1,ARG2) \ -({ \ - uint32_t __RES, __ARG1 = (ARG1); \ - __ASM ("usat %0, %1, %2" : "=r" (__RES) : "I" (ARG2), "r" (__ARG1) ); \ - __RES; \ - }) -#endif - - -/** - \brief Rotate Right with Extend (32 bit) - \details Moves each bit of a bitstring right by one bit. - The carry input is shifted in at the left end of the bitstring. - \param [in] value Value to rotate - \return Rotated value - */ -__attribute__((always_inline)) __STATIC_INLINE uint32_t __RRX(uint32_t value) -{ - uint32_t result; - - __ASM volatile ("rrx %0, %1" : __CMSIS_GCC_OUT_REG (result) : __CMSIS_GCC_USE_REG (value) ); - return(result); -} - - -/** - \brief LDRT Unprivileged (8 bit) - \details Executes a Unprivileged LDRT instruction for 8 bit value. - \param [in] ptr Pointer to data - \return value of type uint8_t at (*ptr) - */ -__attribute__((always_inline)) __STATIC_INLINE uint8_t __LDRBT(volatile uint8_t *ptr) -{ - uint32_t result; - - __ASM volatile ("ldrbt %0, %1" : "=r" (result) : "Q" (*ptr) ); - return ((uint8_t) result); /* Add explicit type cast here */ -} - - -/** - \brief LDRT Unprivileged (16 bit) - \details Executes a Unprivileged LDRT instruction for 16 bit values. - \param [in] ptr Pointer to data - \return value of type uint16_t at (*ptr) - */ -__attribute__((always_inline)) __STATIC_INLINE uint16_t __LDRHT(volatile uint16_t *ptr) -{ - uint32_t result; - - __ASM volatile ("ldrht %0, %1" : "=r" (result) : "Q" (*ptr) ); - return ((uint16_t) result); /* Add explicit type cast here */ -} - - -/** - \brief LDRT Unprivileged (32 bit) - \details Executes a Unprivileged LDRT instruction for 32 bit values. - \param [in] ptr Pointer to data - \return value of type uint32_t at (*ptr) - */ -__attribute__((always_inline)) __STATIC_INLINE uint32_t __LDRT(volatile uint32_t *ptr) -{ - uint32_t result; - - __ASM volatile ("ldrt %0, %1" : "=r" (result) : "Q" (*ptr) ); - return(result); -} - - -/** - \brief STRT Unprivileged (8 bit) - \details Executes a Unprivileged STRT instruction for 8 bit values. - \param [in] value Value to store - \param [in] ptr Pointer to location - */ -__attribute__((always_inline)) __STATIC_INLINE void __STRBT(uint8_t value, volatile uint8_t *ptr) -{ - __ASM volatile ("strbt %1, %0" : "=Q" (*ptr) : "r" ((uint32_t)value) ); -} - - -/** - \brief STRT Unprivileged (16 bit) - \details Executes a Unprivileged STRT instruction for 16 bit values. - \param [in] value Value to store - \param [in] ptr Pointer to location - */ -__attribute__((always_inline)) __STATIC_INLINE void __STRHT(uint16_t value, volatile uint16_t *ptr) -{ - __ASM volatile ("strht %1, %0" : "=Q" (*ptr) : "r" ((uint32_t)value) ); -} - - -/** - \brief STRT Unprivileged (32 bit) - \details Executes a Unprivileged STRT instruction for 32 bit values. - \param [in] value Value to store - \param [in] ptr Pointer to location - */ -__attribute__((always_inline)) __STATIC_INLINE void __STRT(uint32_t value, volatile uint32_t *ptr) -{ - __ASM volatile ("strt %1, %0" : "=Q" (*ptr) : "r" (value) ); -} - -#endif /* ((__ARM_ARCH_7M__ == 1U) || (__ARM_ARCH_7EM__ == 1U) || (__ARM_ARCH_8M__ == 1U)) */ - - -#if (__ARM_ARCH_8M__ == 1U) - -/** - \brief Load-Acquire (8 bit) - \details Executes a LDAB instruction for 8 bit value. - \param [in] ptr Pointer to data - \return value of type uint8_t at (*ptr) - */ -__attribute__((always_inline)) __STATIC_INLINE uint8_t __LDAB(volatile uint8_t *ptr) -{ - uint32_t result; - - __ASM volatile ("ldab %0, %1" : "=r" (result) : "Q" (*ptr) ); - return ((uint8_t) result); -} - - -/** - \brief Load-Acquire (16 bit) - \details Executes a LDAH instruction for 16 bit values. - \param [in] ptr Pointer to data - \return value of type uint16_t at (*ptr) - */ -__attribute__((always_inline)) __STATIC_INLINE uint16_t __LDAH(volatile uint16_t *ptr) -{ - uint32_t result; - - __ASM volatile ("ldah %0, %1" : "=r" (result) : "Q" (*ptr) ); - return ((uint16_t) result); -} - - -/** - \brief Load-Acquire (32 bit) - \details Executes a LDA instruction for 32 bit values. - \param [in] ptr Pointer to data - \return value of type uint32_t at (*ptr) - */ -__attribute__((always_inline)) __STATIC_INLINE uint32_t __LDA(volatile uint32_t *ptr) -{ - uint32_t result; - - __ASM volatile ("lda %0, %1" : "=r" (result) : "Q" (*ptr) ); - return(result); -} - - -/** - \brief Store-Release (8 bit) - \details Executes a STLB instruction for 8 bit values. - \param [in] value Value to store - \param [in] ptr Pointer to location - */ -__attribute__((always_inline)) __STATIC_INLINE void __STLB(uint8_t value, volatile uint8_t *ptr) -{ - __ASM volatile ("stlb %1, %0" : "=Q" (*ptr) : "r" ((uint32_t)value) ); -} - - -/** - \brief Store-Release (16 bit) - \details Executes a STLH instruction for 16 bit values. - \param [in] value Value to store - \param [in] ptr Pointer to location - */ -__attribute__((always_inline)) __STATIC_INLINE void __STLH(uint16_t value, volatile uint16_t *ptr) -{ - __ASM volatile ("stlh %1, %0" : "=Q" (*ptr) : "r" ((uint32_t)value) ); -} - - -/** - \brief Store-Release (32 bit) - \details Executes a STL instruction for 32 bit values. - \param [in] value Value to store - \param [in] ptr Pointer to location - */ -__attribute__((always_inline)) __STATIC_INLINE void __STL(uint32_t value, volatile uint32_t *ptr) -{ - __ASM volatile ("stl %1, %0" : "=Q" (*ptr) : "r" ((uint32_t)value) ); -} - - -/** - \brief Load-Acquire Exclusive (8 bit) - \details Executes a LDAB exclusive instruction for 8 bit value. - \param [in] ptr Pointer to data - \return value of type uint8_t at (*ptr) - */ -#define __LDAEXB (uint8_t)__builtin_arm_ldaex - - -/** - \brief Load-Acquire Exclusive (16 bit) - \details Executes a LDAH exclusive instruction for 16 bit values. - \param [in] ptr Pointer to data - \return value of type uint16_t at (*ptr) - */ -#define __LDAEXH (uint16_t)__builtin_arm_ldaex - - -/** - \brief Load-Acquire Exclusive (32 bit) - \details Executes a LDA exclusive instruction for 32 bit values. - \param [in] ptr Pointer to data - \return value of type uint32_t at (*ptr) - */ -#define __LDAEX (uint32_t)__builtin_arm_ldaex - - -/** - \brief Store-Release Exclusive (8 bit) - \details Executes a STLB exclusive instruction for 8 bit values. - \param [in] value Value to store - \param [in] ptr Pointer to location - \return 0 Function succeeded - \return 1 Function failed - */ -#define __STLEXB (uint32_t)__builtin_arm_stlex - - -/** - \brief Store-Release Exclusive (16 bit) - \details Executes a STLH exclusive instruction for 16 bit values. - \param [in] value Value to store - \param [in] ptr Pointer to location - \return 0 Function succeeded - \return 1 Function failed - */ -#define __STLEXH (uint32_t)__builtin_arm_stlex - - -/** - \brief Store-Release Exclusive (32 bit) - \details Executes a STL exclusive instruction for 32 bit values. - \param [in] value Value to store - \param [in] ptr Pointer to location - \return 0 Function succeeded - \return 1 Function failed - */ -#define __STLEX (uint32_t)__builtin_arm_stlex - -#endif /* (__ARM_ARCH_8M__ == 1U) */ - -/*@}*/ /* end of group CMSIS_Core_InstructionInterface */ - - -/* ################### Compiler specific Intrinsics ########################### */ -/** \defgroup CMSIS_SIMD_intrinsics CMSIS SIMD Intrinsics - Access to dedicated SIMD instructions - @{ -*/ - -#if (__ARM_FEATURE_DSP == 1U) /* ToDo: ARMCC_V6: This should be ARCH >= ARMv7-M + SIMD */ - -__attribute__((always_inline)) __STATIC_INLINE uint32_t __SADD8(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("sadd8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__attribute__((always_inline)) __STATIC_INLINE uint32_t __QADD8(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("qadd8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__attribute__((always_inline)) __STATIC_INLINE uint32_t __SHADD8(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("shadd8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__attribute__((always_inline)) __STATIC_INLINE uint32_t __UADD8(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("uadd8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__attribute__((always_inline)) __STATIC_INLINE uint32_t __UQADD8(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("uqadd8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__attribute__((always_inline)) __STATIC_INLINE uint32_t __UHADD8(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("uhadd8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - - -__attribute__((always_inline)) __STATIC_INLINE uint32_t __SSUB8(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("ssub8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__attribute__((always_inline)) __STATIC_INLINE uint32_t __QSUB8(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("qsub8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__attribute__((always_inline)) __STATIC_INLINE uint32_t __SHSUB8(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("shsub8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__attribute__((always_inline)) __STATIC_INLINE uint32_t __USUB8(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("usub8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__attribute__((always_inline)) __STATIC_INLINE uint32_t __UQSUB8(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("uqsub8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__attribute__((always_inline)) __STATIC_INLINE uint32_t __UHSUB8(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("uhsub8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - - -__attribute__((always_inline)) __STATIC_INLINE uint32_t __SADD16(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("sadd16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__attribute__((always_inline)) __STATIC_INLINE uint32_t __QADD16(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("qadd16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__attribute__((always_inline)) __STATIC_INLINE uint32_t __SHADD16(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("shadd16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__attribute__((always_inline)) __STATIC_INLINE uint32_t __UADD16(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("uadd16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__attribute__((always_inline)) __STATIC_INLINE uint32_t __UQADD16(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("uqadd16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__attribute__((always_inline)) __STATIC_INLINE uint32_t __UHADD16(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("uhadd16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__attribute__((always_inline)) __STATIC_INLINE uint32_t __SSUB16(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("ssub16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__attribute__((always_inline)) __STATIC_INLINE uint32_t __QSUB16(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("qsub16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__attribute__((always_inline)) __STATIC_INLINE uint32_t __SHSUB16(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("shsub16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__attribute__((always_inline)) __STATIC_INLINE uint32_t __USUB16(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("usub16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__attribute__((always_inline)) __STATIC_INLINE uint32_t __UQSUB16(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("uqsub16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__attribute__((always_inline)) __STATIC_INLINE uint32_t __UHSUB16(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("uhsub16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__attribute__((always_inline)) __STATIC_INLINE uint32_t __SASX(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("sasx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__attribute__((always_inline)) __STATIC_INLINE uint32_t __QASX(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("qasx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__attribute__((always_inline)) __STATIC_INLINE uint32_t __SHASX(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("shasx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__attribute__((always_inline)) __STATIC_INLINE uint32_t __UASX(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("uasx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__attribute__((always_inline)) __STATIC_INLINE uint32_t __UQASX(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("uqasx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__attribute__((always_inline)) __STATIC_INLINE uint32_t __UHASX(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("uhasx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__attribute__((always_inline)) __STATIC_INLINE uint32_t __SSAX(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("ssax %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__attribute__((always_inline)) __STATIC_INLINE uint32_t __QSAX(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("qsax %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__attribute__((always_inline)) __STATIC_INLINE uint32_t __SHSAX(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("shsax %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__attribute__((always_inline)) __STATIC_INLINE uint32_t __USAX(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("usax %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__attribute__((always_inline)) __STATIC_INLINE uint32_t __UQSAX(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("uqsax %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__attribute__((always_inline)) __STATIC_INLINE uint32_t __UHSAX(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("uhsax %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__attribute__((always_inline)) __STATIC_INLINE uint32_t __USAD8(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("usad8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__attribute__((always_inline)) __STATIC_INLINE uint32_t __USADA8(uint32_t op1, uint32_t op2, uint32_t op3) -{ - uint32_t result; - - __ASM volatile ("usada8 %0, %1, %2, %3" : "=r" (result) : "r" (op1), "r" (op2), "r" (op3) ); - return(result); -} - -#define __SSAT16(ARG1,ARG2) \ -({ \ - uint32_t __RES, __ARG1 = (ARG1); \ - __ASM ("ssat16 %0, %1, %2" : "=r" (__RES) : "I" (ARG2), "r" (__ARG1) ); \ - __RES; \ - }) - -#define __USAT16(ARG1,ARG2) \ -({ \ - uint32_t __RES, __ARG1 = (ARG1); \ - __ASM ("usat16 %0, %1, %2" : "=r" (__RES) : "I" (ARG2), "r" (__ARG1) ); \ - __RES; \ - }) - -__attribute__((always_inline)) __STATIC_INLINE uint32_t __UXTB16(uint32_t op1) -{ - uint32_t result; - - __ASM volatile ("uxtb16 %0, %1" : "=r" (result) : "r" (op1)); - return(result); -} - -__attribute__((always_inline)) __STATIC_INLINE uint32_t __UXTAB16(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("uxtab16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__attribute__((always_inline)) __STATIC_INLINE uint32_t __SXTB16(uint32_t op1) -{ - uint32_t result; - - __ASM volatile ("sxtb16 %0, %1" : "=r" (result) : "r" (op1)); - return(result); -} - -__attribute__((always_inline)) __STATIC_INLINE uint32_t __SXTAB16(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("sxtab16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__attribute__((always_inline)) __STATIC_INLINE uint32_t __SMUAD (uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("smuad %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__attribute__((always_inline)) __STATIC_INLINE uint32_t __SMUADX (uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("smuadx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__attribute__((always_inline)) __STATIC_INLINE uint32_t __SMLAD (uint32_t op1, uint32_t op2, uint32_t op3) -{ - uint32_t result; - - __ASM volatile ("smlad %0, %1, %2, %3" : "=r" (result) : "r" (op1), "r" (op2), "r" (op3) ); - return(result); -} - -__attribute__((always_inline)) __STATIC_INLINE uint32_t __SMLADX (uint32_t op1, uint32_t op2, uint32_t op3) -{ - uint32_t result; - - __ASM volatile ("smladx %0, %1, %2, %3" : "=r" (result) : "r" (op1), "r" (op2), "r" (op3) ); - return(result); -} - -__attribute__((always_inline)) __STATIC_INLINE uint64_t __SMLALD (uint32_t op1, uint32_t op2, uint64_t acc) -{ - union llreg_u{ - uint32_t w32[2]; - uint64_t w64; - } llr; - llr.w64 = acc; - -#ifndef __ARMEB__ /* Little endian */ - __ASM volatile ("smlald %0, %1, %2, %3" : "=r" (llr.w32[0]), "=r" (llr.w32[1]): "r" (op1), "r" (op2) , "0" (llr.w32[0]), "1" (llr.w32[1]) ); -#else /* Big endian */ - __ASM volatile ("smlald %0, %1, %2, %3" : "=r" (llr.w32[1]), "=r" (llr.w32[0]): "r" (op1), "r" (op2) , "0" (llr.w32[1]), "1" (llr.w32[0]) ); -#endif - - return(llr.w64); -} - -__attribute__((always_inline)) __STATIC_INLINE uint64_t __SMLALDX (uint32_t op1, uint32_t op2, uint64_t acc) -{ - union llreg_u{ - uint32_t w32[2]; - uint64_t w64; - } llr; - llr.w64 = acc; - -#ifndef __ARMEB__ /* Little endian */ - __ASM volatile ("smlaldx %0, %1, %2, %3" : "=r" (llr.w32[0]), "=r" (llr.w32[1]): "r" (op1), "r" (op2) , "0" (llr.w32[0]), "1" (llr.w32[1]) ); -#else /* Big endian */ - __ASM volatile ("smlaldx %0, %1, %2, %3" : "=r" (llr.w32[1]), "=r" (llr.w32[0]): "r" (op1), "r" (op2) , "0" (llr.w32[1]), "1" (llr.w32[0]) ); -#endif - - return(llr.w64); -} - -__attribute__((always_inline)) __STATIC_INLINE uint32_t __SMUSD (uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("smusd %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__attribute__((always_inline)) __STATIC_INLINE uint32_t __SMUSDX (uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("smusdx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__attribute__((always_inline)) __STATIC_INLINE uint32_t __SMLSD (uint32_t op1, uint32_t op2, uint32_t op3) -{ - uint32_t result; - - __ASM volatile ("smlsd %0, %1, %2, %3" : "=r" (result) : "r" (op1), "r" (op2), "r" (op3) ); - return(result); -} - -__attribute__((always_inline)) __STATIC_INLINE uint32_t __SMLSDX (uint32_t op1, uint32_t op2, uint32_t op3) -{ - uint32_t result; - - __ASM volatile ("smlsdx %0, %1, %2, %3" : "=r" (result) : "r" (op1), "r" (op2), "r" (op3) ); - return(result); -} - -__attribute__((always_inline)) __STATIC_INLINE uint64_t __SMLSLD (uint32_t op1, uint32_t op2, uint64_t acc) -{ - union llreg_u{ - uint32_t w32[2]; - uint64_t w64; - } llr; - llr.w64 = acc; - -#ifndef __ARMEB__ /* Little endian */ - __ASM volatile ("smlsld %0, %1, %2, %3" : "=r" (llr.w32[0]), "=r" (llr.w32[1]): "r" (op1), "r" (op2) , "0" (llr.w32[0]), "1" (llr.w32[1]) ); -#else /* Big endian */ - __ASM volatile ("smlsld %0, %1, %2, %3" : "=r" (llr.w32[1]), "=r" (llr.w32[0]): "r" (op1), "r" (op2) , "0" (llr.w32[1]), "1" (llr.w32[0]) ); -#endif - - return(llr.w64); -} - -__attribute__((always_inline)) __STATIC_INLINE uint64_t __SMLSLDX (uint32_t op1, uint32_t op2, uint64_t acc) -{ - union llreg_u{ - uint32_t w32[2]; - uint64_t w64; - } llr; - llr.w64 = acc; - -#ifndef __ARMEB__ /* Little endian */ - __ASM volatile ("smlsldx %0, %1, %2, %3" : "=r" (llr.w32[0]), "=r" (llr.w32[1]): "r" (op1), "r" (op2) , "0" (llr.w32[0]), "1" (llr.w32[1]) ); -#else /* Big endian */ - __ASM volatile ("smlsldx %0, %1, %2, %3" : "=r" (llr.w32[1]), "=r" (llr.w32[0]): "r" (op1), "r" (op2) , "0" (llr.w32[1]), "1" (llr.w32[0]) ); -#endif - - return(llr.w64); -} - -__attribute__((always_inline)) __STATIC_INLINE uint32_t __SEL (uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("sel %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__attribute__((always_inline)) __STATIC_INLINE int32_t __QADD( int32_t op1, int32_t op2) -{ - int32_t result; - - __ASM volatile ("qadd %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__attribute__((always_inline)) __STATIC_INLINE int32_t __QSUB( int32_t op1, int32_t op2) -{ - int32_t result; - - __ASM volatile ("qsub %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -#define __PKHBT(ARG1,ARG2,ARG3) \ -({ \ - uint32_t __RES, __ARG1 = (ARG1), __ARG2 = (ARG2); \ - __ASM ("pkhbt %0, %1, %2, lsl %3" : "=r" (__RES) : "r" (__ARG1), "r" (__ARG2), "I" (ARG3) ); \ - __RES; \ - }) - -#define __PKHTB(ARG1,ARG2,ARG3) \ -({ \ - uint32_t __RES, __ARG1 = (ARG1), __ARG2 = (ARG2); \ - if (ARG3 == 0) \ - __ASM ("pkhtb %0, %1, %2" : "=r" (__RES) : "r" (__ARG1), "r" (__ARG2) ); \ - else \ - __ASM ("pkhtb %0, %1, %2, asr %3" : "=r" (__RES) : "r" (__ARG1), "r" (__ARG2), "I" (ARG3) ); \ - __RES; \ - }) - -__attribute__((always_inline)) __STATIC_INLINE uint32_t __SMMLA (int32_t op1, int32_t op2, int32_t op3) -{ - int32_t result; - - __ASM volatile ("smmla %0, %1, %2, %3" : "=r" (result): "r" (op1), "r" (op2), "r" (op3) ); - return(result); -} - -#endif /* (__ARM_FEATURE_DSP == 1U) */ -/*@} end of group CMSIS_SIMD_intrinsics */ - - -#endif /* __CMSIS_ARMCC_V6_H */ diff --git a/body/board/inc/cmsis_armclang.h b/body/board/inc/cmsis_armclang.h deleted file mode 100644 index 162a400ea1b016..00000000000000 --- a/body/board/inc/cmsis_armclang.h +++ /dev/null @@ -1,1869 +0,0 @@ -/**************************************************************************//** - * @file cmsis_armclang.h - * @brief CMSIS compiler armclang (Arm Compiler 6) header file - * @version V5.0.4 - * @date 10. January 2018 - ******************************************************************************/ -/* - * Copyright (c) 2009-2018 Arm Limited. All rights reserved. - * - * SPDX-License-Identifier: Apache-2.0 - * - * Licensed under the Apache License, Version 2.0 (the License); you may - * not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an AS IS BASIS, WITHOUT - * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - -/*lint -esym(9058, IRQn)*/ /* disable MISRA 2012 Rule 2.4 for IRQn */ - -#ifndef __CMSIS_ARMCLANG_H -#define __CMSIS_ARMCLANG_H - -#pragma clang system_header /* treat file as system include file */ - -#ifndef __ARM_COMPAT_H -#include /* Compatibility header for Arm Compiler 5 intrinsics */ -#endif - -/* CMSIS compiler specific defines */ -#ifndef __ASM - #define __ASM __asm -#endif -#ifndef __INLINE - #define __INLINE __inline -#endif -#ifndef __STATIC_INLINE - #define __STATIC_INLINE static __inline -#endif -#ifndef __STATIC_FORCEINLINE - #define __STATIC_FORCEINLINE __attribute__((always_inline)) static __inline -#endif -#ifndef __NO_RETURN - #define __NO_RETURN __attribute__((__noreturn__)) -#endif -#ifndef __USED - #define __USED __attribute__((used)) -#endif -#ifndef __WEAK - #define __WEAK __attribute__((weak)) -#endif -#ifndef __PACKED - #define __PACKED __attribute__((packed, aligned(1))) -#endif -#ifndef __PACKED_STRUCT - #define __PACKED_STRUCT struct __attribute__((packed, aligned(1))) -#endif -#ifndef __PACKED_UNION - #define __PACKED_UNION union __attribute__((packed, aligned(1))) -#endif -#ifndef __UNALIGNED_UINT32 /* deprecated */ - #pragma clang diagnostic push - #pragma clang diagnostic ignored "-Wpacked" -/*lint -esym(9058, T_UINT32)*/ /* disable MISRA 2012 Rule 2.4 for T_UINT32 */ - struct __attribute__((packed)) T_UINT32 { uint32_t v; }; - #pragma clang diagnostic pop - #define __UNALIGNED_UINT32(x) (((struct T_UINT32 *)(x))->v) -#endif -#ifndef __UNALIGNED_UINT16_WRITE - #pragma clang diagnostic push - #pragma clang diagnostic ignored "-Wpacked" -/*lint -esym(9058, T_UINT16_WRITE)*/ /* disable MISRA 2012 Rule 2.4 for T_UINT16_WRITE */ - __PACKED_STRUCT T_UINT16_WRITE { uint16_t v; }; - #pragma clang diagnostic pop - #define __UNALIGNED_UINT16_WRITE(addr, val) (void)((((struct T_UINT16_WRITE *)(void *)(addr))->v) = (val)) -#endif -#ifndef __UNALIGNED_UINT16_READ - #pragma clang diagnostic push - #pragma clang diagnostic ignored "-Wpacked" -/*lint -esym(9058, T_UINT16_READ)*/ /* disable MISRA 2012 Rule 2.4 for T_UINT16_READ */ - __PACKED_STRUCT T_UINT16_READ { uint16_t v; }; - #pragma clang diagnostic pop - #define __UNALIGNED_UINT16_READ(addr) (((const struct T_UINT16_READ *)(const void *)(addr))->v) -#endif -#ifndef __UNALIGNED_UINT32_WRITE - #pragma clang diagnostic push - #pragma clang diagnostic ignored "-Wpacked" -/*lint -esym(9058, T_UINT32_WRITE)*/ /* disable MISRA 2012 Rule 2.4 for T_UINT32_WRITE */ - __PACKED_STRUCT T_UINT32_WRITE { uint32_t v; }; - #pragma clang diagnostic pop - #define __UNALIGNED_UINT32_WRITE(addr, val) (void)((((struct T_UINT32_WRITE *)(void *)(addr))->v) = (val)) -#endif -#ifndef __UNALIGNED_UINT32_READ - #pragma clang diagnostic push - #pragma clang diagnostic ignored "-Wpacked" -/*lint -esym(9058, T_UINT32_READ)*/ /* disable MISRA 2012 Rule 2.4 for T_UINT32_READ */ - __PACKED_STRUCT T_UINT32_READ { uint32_t v; }; - #pragma clang diagnostic pop - #define __UNALIGNED_UINT32_READ(addr) (((const struct T_UINT32_READ *)(const void *)(addr))->v) -#endif -#ifndef __ALIGNED - #define __ALIGNED(x) __attribute__((aligned(x))) -#endif -#ifndef __RESTRICT - #define __RESTRICT __restrict -#endif - - -/* ########################### Core Function Access ########################### */ -/** \ingroup CMSIS_Core_FunctionInterface - \defgroup CMSIS_Core_RegAccFunctions CMSIS Core Register Access Functions - @{ - */ - -/** - \brief Enable IRQ Interrupts - \details Enables IRQ interrupts by clearing the I-bit in the CPSR. - Can only be executed in Privileged modes. - */ -/* intrinsic void __enable_irq(); see arm_compat.h */ - - -/** - \brief Disable IRQ Interrupts - \details Disables IRQ interrupts by setting the I-bit in the CPSR. - Can only be executed in Privileged modes. - */ -/* intrinsic void __disable_irq(); see arm_compat.h */ - - -/** - \brief Get Control Register - \details Returns the content of the Control Register. - \return Control Register value - */ -__STATIC_FORCEINLINE uint32_t __get_CONTROL(void) -{ - uint32_t result; - - __ASM volatile ("MRS %0, control" : "=r" (result) ); - return(result); -} - - -#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3)) -/** - \brief Get Control Register (non-secure) - \details Returns the content of the non-secure Control Register when in secure mode. - \return non-secure Control Register value - */ -__STATIC_FORCEINLINE uint32_t __TZ_get_CONTROL_NS(void) -{ - uint32_t result; - - __ASM volatile ("MRS %0, control_ns" : "=r" (result) ); - return(result); -} -#endif - - -/** - \brief Set Control Register - \details Writes the given value to the Control Register. - \param [in] control Control Register value to set - */ -__STATIC_FORCEINLINE void __set_CONTROL(uint32_t control) -{ - __ASM volatile ("MSR control, %0" : : "r" (control) : "memory"); -} - - -#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3)) -/** - \brief Set Control Register (non-secure) - \details Writes the given value to the non-secure Control Register when in secure state. - \param [in] control Control Register value to set - */ -__STATIC_FORCEINLINE void __TZ_set_CONTROL_NS(uint32_t control) -{ - __ASM volatile ("MSR control_ns, %0" : : "r" (control) : "memory"); -} -#endif - - -/** - \brief Get IPSR Register - \details Returns the content of the IPSR Register. - \return IPSR Register value - */ -__STATIC_FORCEINLINE uint32_t __get_IPSR(void) -{ - uint32_t result; - - __ASM volatile ("MRS %0, ipsr" : "=r" (result) ); - return(result); -} - - -/** - \brief Get APSR Register - \details Returns the content of the APSR Register. - \return APSR Register value - */ -__STATIC_FORCEINLINE uint32_t __get_APSR(void) -{ - uint32_t result; - - __ASM volatile ("MRS %0, apsr" : "=r" (result) ); - return(result); -} - - -/** - \brief Get xPSR Register - \details Returns the content of the xPSR Register. - \return xPSR Register value - */ -__STATIC_FORCEINLINE uint32_t __get_xPSR(void) -{ - uint32_t result; - - __ASM volatile ("MRS %0, xpsr" : "=r" (result) ); - return(result); -} - - -/** - \brief Get Process Stack Pointer - \details Returns the current value of the Process Stack Pointer (PSP). - \return PSP Register value - */ -__STATIC_FORCEINLINE uint32_t __get_PSP(void) -{ - uint32_t result; - - __ASM volatile ("MRS %0, psp" : "=r" (result) ); - return(result); -} - - -#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3)) -/** - \brief Get Process Stack Pointer (non-secure) - \details Returns the current value of the non-secure Process Stack Pointer (PSP) when in secure state. - \return PSP Register value - */ -__STATIC_FORCEINLINE uint32_t __TZ_get_PSP_NS(void) -{ - uint32_t result; - - __ASM volatile ("MRS %0, psp_ns" : "=r" (result) ); - return(result); -} -#endif - - -/** - \brief Set Process Stack Pointer - \details Assigns the given value to the Process Stack Pointer (PSP). - \param [in] topOfProcStack Process Stack Pointer value to set - */ -__STATIC_FORCEINLINE void __set_PSP(uint32_t topOfProcStack) -{ - __ASM volatile ("MSR psp, %0" : : "r" (topOfProcStack) : ); -} - - -#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3)) -/** - \brief Set Process Stack Pointer (non-secure) - \details Assigns the given value to the non-secure Process Stack Pointer (PSP) when in secure state. - \param [in] topOfProcStack Process Stack Pointer value to set - */ -__STATIC_FORCEINLINE void __TZ_set_PSP_NS(uint32_t topOfProcStack) -{ - __ASM volatile ("MSR psp_ns, %0" : : "r" (topOfProcStack) : ); -} -#endif - - -/** - \brief Get Main Stack Pointer - \details Returns the current value of the Main Stack Pointer (MSP). - \return MSP Register value - */ -__STATIC_FORCEINLINE uint32_t __get_MSP(void) -{ - uint32_t result; - - __ASM volatile ("MRS %0, msp" : "=r" (result) ); - return(result); -} - - -#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3)) -/** - \brief Get Main Stack Pointer (non-secure) - \details Returns the current value of the non-secure Main Stack Pointer (MSP) when in secure state. - \return MSP Register value - */ -__STATIC_FORCEINLINE uint32_t __TZ_get_MSP_NS(void) -{ - uint32_t result; - - __ASM volatile ("MRS %0, msp_ns" : "=r" (result) ); - return(result); -} -#endif - - -/** - \brief Set Main Stack Pointer - \details Assigns the given value to the Main Stack Pointer (MSP). - \param [in] topOfMainStack Main Stack Pointer value to set - */ -__STATIC_FORCEINLINE void __set_MSP(uint32_t topOfMainStack) -{ - __ASM volatile ("MSR msp, %0" : : "r" (topOfMainStack) : ); -} - - -#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3)) -/** - \brief Set Main Stack Pointer (non-secure) - \details Assigns the given value to the non-secure Main Stack Pointer (MSP) when in secure state. - \param [in] topOfMainStack Main Stack Pointer value to set - */ -__STATIC_FORCEINLINE void __TZ_set_MSP_NS(uint32_t topOfMainStack) -{ - __ASM volatile ("MSR msp_ns, %0" : : "r" (topOfMainStack) : ); -} -#endif - - -#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3)) -/** - \brief Get Stack Pointer (non-secure) - \details Returns the current value of the non-secure Stack Pointer (SP) when in secure state. - \return SP Register value - */ -__STATIC_FORCEINLINE uint32_t __TZ_get_SP_NS(void) -{ - uint32_t result; - - __ASM volatile ("MRS %0, sp_ns" : "=r" (result) ); - return(result); -} - - -/** - \brief Set Stack Pointer (non-secure) - \details Assigns the given value to the non-secure Stack Pointer (SP) when in secure state. - \param [in] topOfStack Stack Pointer value to set - */ -__STATIC_FORCEINLINE void __TZ_set_SP_NS(uint32_t topOfStack) -{ - __ASM volatile ("MSR sp_ns, %0" : : "r" (topOfStack) : ); -} -#endif - - -/** - \brief Get Priority Mask - \details Returns the current state of the priority mask bit from the Priority Mask Register. - \return Priority Mask value - */ -__STATIC_FORCEINLINE uint32_t __get_PRIMASK(void) -{ - uint32_t result; - - __ASM volatile ("MRS %0, primask" : "=r" (result) ); - return(result); -} - - -#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3)) -/** - \brief Get Priority Mask (non-secure) - \details Returns the current state of the non-secure priority mask bit from the Priority Mask Register when in secure state. - \return Priority Mask value - */ -__STATIC_FORCEINLINE uint32_t __TZ_get_PRIMASK_NS(void) -{ - uint32_t result; - - __ASM volatile ("MRS %0, primask_ns" : "=r" (result) ); - return(result); -} -#endif - - -/** - \brief Set Priority Mask - \details Assigns the given value to the Priority Mask Register. - \param [in] priMask Priority Mask - */ -__STATIC_FORCEINLINE void __set_PRIMASK(uint32_t priMask) -{ - __ASM volatile ("MSR primask, %0" : : "r" (priMask) : "memory"); -} - - -#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3)) -/** - \brief Set Priority Mask (non-secure) - \details Assigns the given value to the non-secure Priority Mask Register when in secure state. - \param [in] priMask Priority Mask - */ -__STATIC_FORCEINLINE void __TZ_set_PRIMASK_NS(uint32_t priMask) -{ - __ASM volatile ("MSR primask_ns, %0" : : "r" (priMask) : "memory"); -} -#endif - - -#if ((defined (__ARM_ARCH_7M__ ) && (__ARM_ARCH_7M__ == 1)) || \ - (defined (__ARM_ARCH_7EM__ ) && (__ARM_ARCH_7EM__ == 1)) || \ - (defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) ) -/** - \brief Enable FIQ - \details Enables FIQ interrupts by clearing the F-bit in the CPSR. - Can only be executed in Privileged modes. - */ -#define __enable_fault_irq __enable_fiq /* see arm_compat.h */ - - -/** - \brief Disable FIQ - \details Disables FIQ interrupts by setting the F-bit in the CPSR. - Can only be executed in Privileged modes. - */ -#define __disable_fault_irq __disable_fiq /* see arm_compat.h */ - - -/** - \brief Get Base Priority - \details Returns the current value of the Base Priority register. - \return Base Priority register value - */ -__STATIC_FORCEINLINE uint32_t __get_BASEPRI(void) -{ - uint32_t result; - - __ASM volatile ("MRS %0, basepri" : "=r" (result) ); - return(result); -} - - -#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3)) -/** - \brief Get Base Priority (non-secure) - \details Returns the current value of the non-secure Base Priority register when in secure state. - \return Base Priority register value - */ -__STATIC_FORCEINLINE uint32_t __TZ_get_BASEPRI_NS(void) -{ - uint32_t result; - - __ASM volatile ("MRS %0, basepri_ns" : "=r" (result) ); - return(result); -} -#endif - - -/** - \brief Set Base Priority - \details Assigns the given value to the Base Priority register. - \param [in] basePri Base Priority value to set - */ -__STATIC_FORCEINLINE void __set_BASEPRI(uint32_t basePri) -{ - __ASM volatile ("MSR basepri, %0" : : "r" (basePri) : "memory"); -} - - -#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3)) -/** - \brief Set Base Priority (non-secure) - \details Assigns the given value to the non-secure Base Priority register when in secure state. - \param [in] basePri Base Priority value to set - */ -__STATIC_FORCEINLINE void __TZ_set_BASEPRI_NS(uint32_t basePri) -{ - __ASM volatile ("MSR basepri_ns, %0" : : "r" (basePri) : "memory"); -} -#endif - - -/** - \brief Set Base Priority with condition - \details Assigns the given value to the Base Priority register only if BASEPRI masking is disabled, - or the new value increases the BASEPRI priority level. - \param [in] basePri Base Priority value to set - */ -__STATIC_FORCEINLINE void __set_BASEPRI_MAX(uint32_t basePri) -{ - __ASM volatile ("MSR basepri_max, %0" : : "r" (basePri) : "memory"); -} - - -/** - \brief Get Fault Mask - \details Returns the current value of the Fault Mask register. - \return Fault Mask register value - */ -__STATIC_FORCEINLINE uint32_t __get_FAULTMASK(void) -{ - uint32_t result; - - __ASM volatile ("MRS %0, faultmask" : "=r" (result) ); - return(result); -} - - -#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3)) -/** - \brief Get Fault Mask (non-secure) - \details Returns the current value of the non-secure Fault Mask register when in secure state. - \return Fault Mask register value - */ -__STATIC_FORCEINLINE uint32_t __TZ_get_FAULTMASK_NS(void) -{ - uint32_t result; - - __ASM volatile ("MRS %0, faultmask_ns" : "=r" (result) ); - return(result); -} -#endif - - -/** - \brief Set Fault Mask - \details Assigns the given value to the Fault Mask register. - \param [in] faultMask Fault Mask value to set - */ -__STATIC_FORCEINLINE void __set_FAULTMASK(uint32_t faultMask) -{ - __ASM volatile ("MSR faultmask, %0" : : "r" (faultMask) : "memory"); -} - - -#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3)) -/** - \brief Set Fault Mask (non-secure) - \details Assigns the given value to the non-secure Fault Mask register when in secure state. - \param [in] faultMask Fault Mask value to set - */ -__STATIC_FORCEINLINE void __TZ_set_FAULTMASK_NS(uint32_t faultMask) -{ - __ASM volatile ("MSR faultmask_ns, %0" : : "r" (faultMask) : "memory"); -} -#endif - -#endif /* ((defined (__ARM_ARCH_7M__ ) && (__ARM_ARCH_7M__ == 1)) || \ - (defined (__ARM_ARCH_7EM__ ) && (__ARM_ARCH_7EM__ == 1)) || \ - (defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) ) */ - - -#if ((defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) || \ - (defined (__ARM_ARCH_8M_BASE__ ) && (__ARM_ARCH_8M_BASE__ == 1)) ) - -/** - \brief Get Process Stack Pointer Limit - Devices without ARMv8-M Main Extensions (i.e. Cortex-M23) lack the non-secure - Stack Pointer Limit register hence zero is returned always in non-secure - mode. - - \details Returns the current value of the Process Stack Pointer Limit (PSPLIM). - \return PSPLIM Register value - */ -__STATIC_FORCEINLINE uint32_t __get_PSPLIM(void) -{ -#if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) && \ - (!defined (__ARM_FEATURE_CMSE) || (__ARM_FEATURE_CMSE < 3))) - // without main extensions, the non-secure PSPLIM is RAZ/WI - return 0U; -#else - uint32_t result; - __ASM volatile ("MRS %0, psplim" : "=r" (result) ); - return result; -#endif -} - -#if (defined (__ARM_FEATURE_CMSE) && (__ARM_FEATURE_CMSE == 3)) -/** - \brief Get Process Stack Pointer Limit (non-secure) - Devices without ARMv8-M Main Extensions (i.e. Cortex-M23) lack the non-secure - Stack Pointer Limit register hence zero is returned always in non-secure - mode. - - \details Returns the current value of the non-secure Process Stack Pointer Limit (PSPLIM) when in secure state. - \return PSPLIM Register value - */ -__STATIC_FORCEINLINE uint32_t __TZ_get_PSPLIM_NS(void) -{ -#if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1))) - // without main extensions, the non-secure PSPLIM is RAZ/WI - return 0U; -#else - uint32_t result; - __ASM volatile ("MRS %0, psplim_ns" : "=r" (result) ); - return result; -#endif -} -#endif - - -/** - \brief Set Process Stack Pointer Limit - Devices without ARMv8-M Main Extensions (i.e. Cortex-M23) lack the non-secure - Stack Pointer Limit register hence the write is silently ignored in non-secure - mode. - - \details Assigns the given value to the Process Stack Pointer Limit (PSPLIM). - \param [in] ProcStackPtrLimit Process Stack Pointer Limit value to set - */ -__STATIC_FORCEINLINE void __set_PSPLIM(uint32_t ProcStackPtrLimit) -{ -#if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) && \ - (!defined (__ARM_FEATURE_CMSE) || (__ARM_FEATURE_CMSE < 3))) - // without main extensions, the non-secure PSPLIM is RAZ/WI - (void)ProcStackPtrLimit; -#else - __ASM volatile ("MSR psplim, %0" : : "r" (ProcStackPtrLimit)); -#endif -} - - -#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3)) -/** - \brief Set Process Stack Pointer (non-secure) - Devices without ARMv8-M Main Extensions (i.e. Cortex-M23) lack the non-secure - Stack Pointer Limit register hence the write is silently ignored in non-secure - mode. - - \details Assigns the given value to the non-secure Process Stack Pointer Limit (PSPLIM) when in secure state. - \param [in] ProcStackPtrLimit Process Stack Pointer Limit value to set - */ -__STATIC_FORCEINLINE void __TZ_set_PSPLIM_NS(uint32_t ProcStackPtrLimit) -{ -#if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1))) - // without main extensions, the non-secure PSPLIM is RAZ/WI - (void)ProcStackPtrLimit; -#else - __ASM volatile ("MSR psplim_ns, %0\n" : : "r" (ProcStackPtrLimit)); -#endif -} -#endif - - -/** - \brief Get Main Stack Pointer Limit - Devices without ARMv8-M Main Extensions (i.e. Cortex-M23) lack the non-secure - Stack Pointer Limit register hence zero is returned always. - - \details Returns the current value of the Main Stack Pointer Limit (MSPLIM). - \return MSPLIM Register value - */ -__STATIC_FORCEINLINE uint32_t __get_MSPLIM(void) -{ -#if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) && \ - (!defined (__ARM_FEATURE_CMSE) || (__ARM_FEATURE_CMSE < 3))) - // without main extensions, the non-secure MSPLIM is RAZ/WI - return 0U; -#else - uint32_t result; - __ASM volatile ("MRS %0, msplim" : "=r" (result) ); - return result; -#endif -} - - -#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3)) -/** - \brief Get Main Stack Pointer Limit (non-secure) - Devices without ARMv8-M Main Extensions (i.e. Cortex-M23) lack the non-secure - Stack Pointer Limit register hence zero is returned always. - - \details Returns the current value of the non-secure Main Stack Pointer Limit(MSPLIM) when in secure state. - \return MSPLIM Register value - */ -__STATIC_FORCEINLINE uint32_t __TZ_get_MSPLIM_NS(void) -{ -#if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1))) - // without main extensions, the non-secure MSPLIM is RAZ/WI - return 0U; -#else - uint32_t result; - __ASM volatile ("MRS %0, msplim_ns" : "=r" (result) ); - return result; -#endif -} -#endif - - -/** - \brief Set Main Stack Pointer Limit - Devices without ARMv8-M Main Extensions (i.e. Cortex-M23) lack the non-secure - Stack Pointer Limit register hence the write is silently ignored. - - \details Assigns the given value to the Main Stack Pointer Limit (MSPLIM). - \param [in] MainStackPtrLimit Main Stack Pointer Limit value to set - */ -__STATIC_FORCEINLINE void __set_MSPLIM(uint32_t MainStackPtrLimit) -{ -#if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) && \ - (!defined (__ARM_FEATURE_CMSE) || (__ARM_FEATURE_CMSE < 3))) - // without main extensions, the non-secure MSPLIM is RAZ/WI - (void)MainStackPtrLimit; -#else - __ASM volatile ("MSR msplim, %0" : : "r" (MainStackPtrLimit)); -#endif -} - - -#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3)) -/** - \brief Set Main Stack Pointer Limit (non-secure) - Devices without ARMv8-M Main Extensions (i.e. Cortex-M23) lack the non-secure - Stack Pointer Limit register hence the write is silently ignored. - - \details Assigns the given value to the non-secure Main Stack Pointer Limit (MSPLIM) when in secure state. - \param [in] MainStackPtrLimit Main Stack Pointer value to set - */ -__STATIC_FORCEINLINE void __TZ_set_MSPLIM_NS(uint32_t MainStackPtrLimit) -{ -#if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1))) - // without main extensions, the non-secure MSPLIM is RAZ/WI - (void)MainStackPtrLimit; -#else - __ASM volatile ("MSR msplim_ns, %0" : : "r" (MainStackPtrLimit)); -#endif -} -#endif - -#endif /* ((defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) || \ - (defined (__ARM_ARCH_8M_BASE__ ) && (__ARM_ARCH_8M_BASE__ == 1)) ) */ - -/** - \brief Get FPSCR - \details Returns the current value of the Floating Point Status/Control register. - \return Floating Point Status/Control register value - */ -#if ((defined (__FPU_PRESENT) && (__FPU_PRESENT == 1U)) && \ - (defined (__FPU_USED ) && (__FPU_USED == 1U)) ) -#define __get_FPSCR (uint32_t)__builtin_arm_get_fpscr -#else -#define __get_FPSCR() ((uint32_t)0U) -#endif - -/** - \brief Set FPSCR - \details Assigns the given value to the Floating Point Status/Control register. - \param [in] fpscr Floating Point Status/Control value to set - */ -#if ((defined (__FPU_PRESENT) && (__FPU_PRESENT == 1U)) && \ - (defined (__FPU_USED ) && (__FPU_USED == 1U)) ) -#define __set_FPSCR __builtin_arm_set_fpscr -#else -#define __set_FPSCR(x) ((void)(x)) -#endif - - -/*@} end of CMSIS_Core_RegAccFunctions */ - - -/* ########################## Core Instruction Access ######################### */ -/** \defgroup CMSIS_Core_InstructionInterface CMSIS Core Instruction Interface - Access to dedicated instructions - @{ -*/ - -/* Define macros for porting to both thumb1 and thumb2. - * For thumb1, use low register (r0-r7), specified by constraint "l" - * Otherwise, use general registers, specified by constraint "r" */ -#if defined (__thumb__) && !defined (__thumb2__) -#define __CMSIS_GCC_OUT_REG(r) "=l" (r) -#define __CMSIS_GCC_USE_REG(r) "l" (r) -#else -#define __CMSIS_GCC_OUT_REG(r) "=r" (r) -#define __CMSIS_GCC_USE_REG(r) "r" (r) -#endif - -/** - \brief No Operation - \details No Operation does nothing. This instruction can be used for code alignment purposes. - */ -#define __NOP __builtin_arm_nop - -/** - \brief Wait For Interrupt - \details Wait For Interrupt is a hint instruction that suspends execution until one of a number of events occurs. - */ -#define __WFI __builtin_arm_wfi - - -/** - \brief Wait For Event - \details Wait For Event is a hint instruction that permits the processor to enter - a low-power state until one of a number of events occurs. - */ -#define __WFE __builtin_arm_wfe - - -/** - \brief Send Event - \details Send Event is a hint instruction. It causes an event to be signaled to the CPU. - */ -#define __SEV __builtin_arm_sev - - -/** - \brief Instruction Synchronization Barrier - \details Instruction Synchronization Barrier flushes the pipeline in the processor, - so that all instructions following the ISB are fetched from cache or memory, - after the instruction has been completed. - */ -#define __ISB() __builtin_arm_isb(0xF); - -/** - \brief Data Synchronization Barrier - \details Acts as a special kind of Data Memory Barrier. - It completes when all explicit memory accesses before this instruction complete. - */ -#define __DSB() __builtin_arm_dsb(0xF); - - -/** - \brief Data Memory Barrier - \details Ensures the apparent order of the explicit memory operations before - and after the instruction, without ensuring their completion. - */ -#define __DMB() __builtin_arm_dmb(0xF); - - -/** - \brief Reverse byte order (32 bit) - \details Reverses the byte order in unsigned integer value. For example, 0x12345678 becomes 0x78563412. - \param [in] value Value to reverse - \return Reversed value - */ -#define __REV(value) __builtin_bswap32(value) - - -/** - \brief Reverse byte order (16 bit) - \details Reverses the byte order within each halfword of a word. For example, 0x12345678 becomes 0x34127856. - \param [in] value Value to reverse - \return Reversed value - */ -#define __REV16(value) __ROR(__REV(value), 16) - - -/** - \brief Reverse byte order (16 bit) - \details Reverses the byte order in a 16-bit value and returns the signed 16-bit result. For example, 0x0080 becomes 0x8000. - \param [in] value Value to reverse - \return Reversed value - */ -#define __REVSH(value) (int16_t)__builtin_bswap16(value) - - -/** - \brief Rotate Right in unsigned value (32 bit) - \details Rotate Right (immediate) provides the value of the contents of a register rotated by a variable number of bits. - \param [in] op1 Value to rotate - \param [in] op2 Number of Bits to rotate - \return Rotated value - */ -__STATIC_FORCEINLINE uint32_t __ROR(uint32_t op1, uint32_t op2) -{ - op2 %= 32U; - if (op2 == 0U) - { - return op1; - } - return (op1 >> op2) | (op1 << (32U - op2)); -} - - -/** - \brief Breakpoint - \details Causes the processor to enter Debug state. - Debug tools can use this to investigate system state when the instruction at a particular address is reached. - \param [in] value is ignored by the processor. - If required, a debugger can use it to store additional information about the breakpoint. - */ -#define __BKPT(value) __ASM volatile ("bkpt "#value) - - -/** - \brief Reverse bit order of value - \details Reverses the bit order of the given value. - \param [in] value Value to reverse - \return Reversed value - */ -#define __RBIT __builtin_arm_rbit - -/** - \brief Count leading zeros - \details Counts the number of leading zeros of a data value. - \param [in] value Value to count the leading zeros - \return number of leading zeros in value - */ -#define __CLZ (uint8_t)__builtin_clz - - -#if ((defined (__ARM_ARCH_7M__ ) && (__ARM_ARCH_7M__ == 1)) || \ - (defined (__ARM_ARCH_7EM__ ) && (__ARM_ARCH_7EM__ == 1)) || \ - (defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) || \ - (defined (__ARM_ARCH_8M_BASE__ ) && (__ARM_ARCH_8M_BASE__ == 1)) ) -/** - \brief LDR Exclusive (8 bit) - \details Executes a exclusive LDR instruction for 8 bit value. - \param [in] ptr Pointer to data - \return value of type uint8_t at (*ptr) - */ -#define __LDREXB (uint8_t)__builtin_arm_ldrex - - -/** - \brief LDR Exclusive (16 bit) - \details Executes a exclusive LDR instruction for 16 bit values. - \param [in] ptr Pointer to data - \return value of type uint16_t at (*ptr) - */ -#define __LDREXH (uint16_t)__builtin_arm_ldrex - - -/** - \brief LDR Exclusive (32 bit) - \details Executes a exclusive LDR instruction for 32 bit values. - \param [in] ptr Pointer to data - \return value of type uint32_t at (*ptr) - */ -#define __LDREXW (uint32_t)__builtin_arm_ldrex - - -/** - \brief STR Exclusive (8 bit) - \details Executes a exclusive STR instruction for 8 bit values. - \param [in] value Value to store - \param [in] ptr Pointer to location - \return 0 Function succeeded - \return 1 Function failed - */ -#define __STREXB (uint32_t)__builtin_arm_strex - - -/** - \brief STR Exclusive (16 bit) - \details Executes a exclusive STR instruction for 16 bit values. - \param [in] value Value to store - \param [in] ptr Pointer to location - \return 0 Function succeeded - \return 1 Function failed - */ -#define __STREXH (uint32_t)__builtin_arm_strex - - -/** - \brief STR Exclusive (32 bit) - \details Executes a exclusive STR instruction for 32 bit values. - \param [in] value Value to store - \param [in] ptr Pointer to location - \return 0 Function succeeded - \return 1 Function failed - */ -#define __STREXW (uint32_t)__builtin_arm_strex - - -/** - \brief Remove the exclusive lock - \details Removes the exclusive lock which is created by LDREX. - */ -#define __CLREX __builtin_arm_clrex - -#endif /* ((defined (__ARM_ARCH_7M__ ) && (__ARM_ARCH_7M__ == 1)) || \ - (defined (__ARM_ARCH_7EM__ ) && (__ARM_ARCH_7EM__ == 1)) || \ - (defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) || \ - (defined (__ARM_ARCH_8M_BASE__ ) && (__ARM_ARCH_8M_BASE__ == 1)) ) */ - - -#if ((defined (__ARM_ARCH_7M__ ) && (__ARM_ARCH_7M__ == 1)) || \ - (defined (__ARM_ARCH_7EM__ ) && (__ARM_ARCH_7EM__ == 1)) || \ - (defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) ) - -/** - \brief Signed Saturate - \details Saturates a signed value. - \param [in] value Value to be saturated - \param [in] sat Bit position to saturate to (1..32) - \return Saturated value - */ -#define __SSAT __builtin_arm_ssat - - -/** - \brief Unsigned Saturate - \details Saturates an unsigned value. - \param [in] value Value to be saturated - \param [in] sat Bit position to saturate to (0..31) - \return Saturated value - */ -#define __USAT __builtin_arm_usat - - -/** - \brief Rotate Right with Extend (32 bit) - \details Moves each bit of a bitstring right by one bit. - The carry input is shifted in at the left end of the bitstring. - \param [in] value Value to rotate - \return Rotated value - */ -__STATIC_FORCEINLINE uint32_t __RRX(uint32_t value) -{ - uint32_t result; - - __ASM volatile ("rrx %0, %1" : __CMSIS_GCC_OUT_REG (result) : __CMSIS_GCC_USE_REG (value) ); - return(result); -} - - -/** - \brief LDRT Unprivileged (8 bit) - \details Executes a Unprivileged LDRT instruction for 8 bit value. - \param [in] ptr Pointer to data - \return value of type uint8_t at (*ptr) - */ -__STATIC_FORCEINLINE uint8_t __LDRBT(volatile uint8_t *ptr) -{ - uint32_t result; - - __ASM volatile ("ldrbt %0, %1" : "=r" (result) : "Q" (*ptr) ); - return ((uint8_t) result); /* Add explicit type cast here */ -} - - -/** - \brief LDRT Unprivileged (16 bit) - \details Executes a Unprivileged LDRT instruction for 16 bit values. - \param [in] ptr Pointer to data - \return value of type uint16_t at (*ptr) - */ -__STATIC_FORCEINLINE uint16_t __LDRHT(volatile uint16_t *ptr) -{ - uint32_t result; - - __ASM volatile ("ldrht %0, %1" : "=r" (result) : "Q" (*ptr) ); - return ((uint16_t) result); /* Add explicit type cast here */ -} - - -/** - \brief LDRT Unprivileged (32 bit) - \details Executes a Unprivileged LDRT instruction for 32 bit values. - \param [in] ptr Pointer to data - \return value of type uint32_t at (*ptr) - */ -__STATIC_FORCEINLINE uint32_t __LDRT(volatile uint32_t *ptr) -{ - uint32_t result; - - __ASM volatile ("ldrt %0, %1" : "=r" (result) : "Q" (*ptr) ); - return(result); -} - - -/** - \brief STRT Unprivileged (8 bit) - \details Executes a Unprivileged STRT instruction for 8 bit values. - \param [in] value Value to store - \param [in] ptr Pointer to location - */ -__STATIC_FORCEINLINE void __STRBT(uint8_t value, volatile uint8_t *ptr) -{ - __ASM volatile ("strbt %1, %0" : "=Q" (*ptr) : "r" ((uint32_t)value) ); -} - - -/** - \brief STRT Unprivileged (16 bit) - \details Executes a Unprivileged STRT instruction for 16 bit values. - \param [in] value Value to store - \param [in] ptr Pointer to location - */ -__STATIC_FORCEINLINE void __STRHT(uint16_t value, volatile uint16_t *ptr) -{ - __ASM volatile ("strht %1, %0" : "=Q" (*ptr) : "r" ((uint32_t)value) ); -} - - -/** - \brief STRT Unprivileged (32 bit) - \details Executes a Unprivileged STRT instruction for 32 bit values. - \param [in] value Value to store - \param [in] ptr Pointer to location - */ -__STATIC_FORCEINLINE void __STRT(uint32_t value, volatile uint32_t *ptr) -{ - __ASM volatile ("strt %1, %0" : "=Q" (*ptr) : "r" (value) ); -} - -#else /* ((defined (__ARM_ARCH_7M__ ) && (__ARM_ARCH_7M__ == 1)) || \ - (defined (__ARM_ARCH_7EM__ ) && (__ARM_ARCH_7EM__ == 1)) || \ - (defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) ) */ - -/** - \brief Signed Saturate - \details Saturates a signed value. - \param [in] value Value to be saturated - \param [in] sat Bit position to saturate to (1..32) - \return Saturated value - */ -__STATIC_FORCEINLINE int32_t __SSAT(int32_t val, uint32_t sat) -{ - if ((sat >= 1U) && (sat <= 32U)) - { - const int32_t max = (int32_t)((1U << (sat - 1U)) - 1U); - const int32_t min = -1 - max ; - if (val > max) - { - return max; - } - else if (val < min) - { - return min; - } - } - return val; -} - -/** - \brief Unsigned Saturate - \details Saturates an unsigned value. - \param [in] value Value to be saturated - \param [in] sat Bit position to saturate to (0..31) - \return Saturated value - */ -__STATIC_FORCEINLINE uint32_t __USAT(int32_t val, uint32_t sat) -{ - if (sat <= 31U) - { - const uint32_t max = ((1U << sat) - 1U); - if (val > (int32_t)max) - { - return max; - } - else if (val < 0) - { - return 0U; - } - } - return (uint32_t)val; -} - -#endif /* ((defined (__ARM_ARCH_7M__ ) && (__ARM_ARCH_7M__ == 1)) || \ - (defined (__ARM_ARCH_7EM__ ) && (__ARM_ARCH_7EM__ == 1)) || \ - (defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) ) */ - - -#if ((defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) || \ - (defined (__ARM_ARCH_8M_BASE__ ) && (__ARM_ARCH_8M_BASE__ == 1)) ) -/** - \brief Load-Acquire (8 bit) - \details Executes a LDAB instruction for 8 bit value. - \param [in] ptr Pointer to data - \return value of type uint8_t at (*ptr) - */ -__STATIC_FORCEINLINE uint8_t __LDAB(volatile uint8_t *ptr) -{ - uint32_t result; - - __ASM volatile ("ldab %0, %1" : "=r" (result) : "Q" (*ptr) ); - return ((uint8_t) result); -} - - -/** - \brief Load-Acquire (16 bit) - \details Executes a LDAH instruction for 16 bit values. - \param [in] ptr Pointer to data - \return value of type uint16_t at (*ptr) - */ -__STATIC_FORCEINLINE uint16_t __LDAH(volatile uint16_t *ptr) -{ - uint32_t result; - - __ASM volatile ("ldah %0, %1" : "=r" (result) : "Q" (*ptr) ); - return ((uint16_t) result); -} - - -/** - \brief Load-Acquire (32 bit) - \details Executes a LDA instruction for 32 bit values. - \param [in] ptr Pointer to data - \return value of type uint32_t at (*ptr) - */ -__STATIC_FORCEINLINE uint32_t __LDA(volatile uint32_t *ptr) -{ - uint32_t result; - - __ASM volatile ("lda %0, %1" : "=r" (result) : "Q" (*ptr) ); - return(result); -} - - -/** - \brief Store-Release (8 bit) - \details Executes a STLB instruction for 8 bit values. - \param [in] value Value to store - \param [in] ptr Pointer to location - */ -__STATIC_FORCEINLINE void __STLB(uint8_t value, volatile uint8_t *ptr) -{ - __ASM volatile ("stlb %1, %0" : "=Q" (*ptr) : "r" ((uint32_t)value) ); -} - - -/** - \brief Store-Release (16 bit) - \details Executes a STLH instruction for 16 bit values. - \param [in] value Value to store - \param [in] ptr Pointer to location - */ -__STATIC_FORCEINLINE void __STLH(uint16_t value, volatile uint16_t *ptr) -{ - __ASM volatile ("stlh %1, %0" : "=Q" (*ptr) : "r" ((uint32_t)value) ); -} - - -/** - \brief Store-Release (32 bit) - \details Executes a STL instruction for 32 bit values. - \param [in] value Value to store - \param [in] ptr Pointer to location - */ -__STATIC_FORCEINLINE void __STL(uint32_t value, volatile uint32_t *ptr) -{ - __ASM volatile ("stl %1, %0" : "=Q" (*ptr) : "r" ((uint32_t)value) ); -} - - -/** - \brief Load-Acquire Exclusive (8 bit) - \details Executes a LDAB exclusive instruction for 8 bit value. - \param [in] ptr Pointer to data - \return value of type uint8_t at (*ptr) - */ -#define __LDAEXB (uint8_t)__builtin_arm_ldaex - - -/** - \brief Load-Acquire Exclusive (16 bit) - \details Executes a LDAH exclusive instruction for 16 bit values. - \param [in] ptr Pointer to data - \return value of type uint16_t at (*ptr) - */ -#define __LDAEXH (uint16_t)__builtin_arm_ldaex - - -/** - \brief Load-Acquire Exclusive (32 bit) - \details Executes a LDA exclusive instruction for 32 bit values. - \param [in] ptr Pointer to data - \return value of type uint32_t at (*ptr) - */ -#define __LDAEX (uint32_t)__builtin_arm_ldaex - - -/** - \brief Store-Release Exclusive (8 bit) - \details Executes a STLB exclusive instruction for 8 bit values. - \param [in] value Value to store - \param [in] ptr Pointer to location - \return 0 Function succeeded - \return 1 Function failed - */ -#define __STLEXB (uint32_t)__builtin_arm_stlex - - -/** - \brief Store-Release Exclusive (16 bit) - \details Executes a STLH exclusive instruction for 16 bit values. - \param [in] value Value to store - \param [in] ptr Pointer to location - \return 0 Function succeeded - \return 1 Function failed - */ -#define __STLEXH (uint32_t)__builtin_arm_stlex - - -/** - \brief Store-Release Exclusive (32 bit) - \details Executes a STL exclusive instruction for 32 bit values. - \param [in] value Value to store - \param [in] ptr Pointer to location - \return 0 Function succeeded - \return 1 Function failed - */ -#define __STLEX (uint32_t)__builtin_arm_stlex - -#endif /* ((defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) || \ - (defined (__ARM_ARCH_8M_BASE__ ) && (__ARM_ARCH_8M_BASE__ == 1)) ) */ - -/*@}*/ /* end of group CMSIS_Core_InstructionInterface */ - - -/* ################### Compiler specific Intrinsics ########################### */ -/** \defgroup CMSIS_SIMD_intrinsics CMSIS SIMD Intrinsics - Access to dedicated SIMD instructions - @{ -*/ - -#if (defined (__ARM_FEATURE_DSP) && (__ARM_FEATURE_DSP == 1)) - -__STATIC_FORCEINLINE uint32_t __SADD8(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("sadd8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __QADD8(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("qadd8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __SHADD8(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("shadd8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __UADD8(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("uadd8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __UQADD8(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("uqadd8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __UHADD8(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("uhadd8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - - -__STATIC_FORCEINLINE uint32_t __SSUB8(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("ssub8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __QSUB8(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("qsub8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __SHSUB8(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("shsub8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __USUB8(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("usub8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __UQSUB8(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("uqsub8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __UHSUB8(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("uhsub8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - - -__STATIC_FORCEINLINE uint32_t __SADD16(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("sadd16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __QADD16(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("qadd16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __SHADD16(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("shadd16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __UADD16(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("uadd16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __UQADD16(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("uqadd16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __UHADD16(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("uhadd16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __SSUB16(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("ssub16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __QSUB16(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("qsub16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __SHSUB16(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("shsub16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __USUB16(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("usub16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __UQSUB16(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("uqsub16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __UHSUB16(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("uhsub16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __SASX(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("sasx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __QASX(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("qasx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __SHASX(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("shasx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __UASX(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("uasx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __UQASX(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("uqasx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __UHASX(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("uhasx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __SSAX(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("ssax %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __QSAX(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("qsax %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __SHSAX(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("shsax %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __USAX(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("usax %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __UQSAX(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("uqsax %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __UHSAX(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("uhsax %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __USAD8(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("usad8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __USADA8(uint32_t op1, uint32_t op2, uint32_t op3) -{ - uint32_t result; - - __ASM volatile ("usada8 %0, %1, %2, %3" : "=r" (result) : "r" (op1), "r" (op2), "r" (op3) ); - return(result); -} - -#define __SSAT16(ARG1,ARG2) \ -({ \ - int32_t __RES, __ARG1 = (ARG1); \ - __ASM ("ssat16 %0, %1, %2" : "=r" (__RES) : "I" (ARG2), "r" (__ARG1) ); \ - __RES; \ - }) - -#define __USAT16(ARG1,ARG2) \ -({ \ - uint32_t __RES, __ARG1 = (ARG1); \ - __ASM ("usat16 %0, %1, %2" : "=r" (__RES) : "I" (ARG2), "r" (__ARG1) ); \ - __RES; \ - }) - -__STATIC_FORCEINLINE uint32_t __UXTB16(uint32_t op1) -{ - uint32_t result; - - __ASM volatile ("uxtb16 %0, %1" : "=r" (result) : "r" (op1)); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __UXTAB16(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("uxtab16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __SXTB16(uint32_t op1) -{ - uint32_t result; - - __ASM volatile ("sxtb16 %0, %1" : "=r" (result) : "r" (op1)); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __SXTAB16(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("sxtab16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __SMUAD (uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("smuad %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __SMUADX (uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("smuadx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __SMLAD (uint32_t op1, uint32_t op2, uint32_t op3) -{ - uint32_t result; - - __ASM volatile ("smlad %0, %1, %2, %3" : "=r" (result) : "r" (op1), "r" (op2), "r" (op3) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __SMLADX (uint32_t op1, uint32_t op2, uint32_t op3) -{ - uint32_t result; - - __ASM volatile ("smladx %0, %1, %2, %3" : "=r" (result) : "r" (op1), "r" (op2), "r" (op3) ); - return(result); -} - -__STATIC_FORCEINLINE uint64_t __SMLALD (uint32_t op1, uint32_t op2, uint64_t acc) -{ - union llreg_u{ - uint32_t w32[2]; - uint64_t w64; - } llr; - llr.w64 = acc; - -#ifndef __ARMEB__ /* Little endian */ - __ASM volatile ("smlald %0, %1, %2, %3" : "=r" (llr.w32[0]), "=r" (llr.w32[1]): "r" (op1), "r" (op2) , "0" (llr.w32[0]), "1" (llr.w32[1]) ); -#else /* Big endian */ - __ASM volatile ("smlald %0, %1, %2, %3" : "=r" (llr.w32[1]), "=r" (llr.w32[0]): "r" (op1), "r" (op2) , "0" (llr.w32[1]), "1" (llr.w32[0]) ); -#endif - - return(llr.w64); -} - -__STATIC_FORCEINLINE uint64_t __SMLALDX (uint32_t op1, uint32_t op2, uint64_t acc) -{ - union llreg_u{ - uint32_t w32[2]; - uint64_t w64; - } llr; - llr.w64 = acc; - -#ifndef __ARMEB__ /* Little endian */ - __ASM volatile ("smlaldx %0, %1, %2, %3" : "=r" (llr.w32[0]), "=r" (llr.w32[1]): "r" (op1), "r" (op2) , "0" (llr.w32[0]), "1" (llr.w32[1]) ); -#else /* Big endian */ - __ASM volatile ("smlaldx %0, %1, %2, %3" : "=r" (llr.w32[1]), "=r" (llr.w32[0]): "r" (op1), "r" (op2) , "0" (llr.w32[1]), "1" (llr.w32[0]) ); -#endif - - return(llr.w64); -} - -__STATIC_FORCEINLINE uint32_t __SMUSD (uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("smusd %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __SMUSDX (uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("smusdx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __SMLSD (uint32_t op1, uint32_t op2, uint32_t op3) -{ - uint32_t result; - - __ASM volatile ("smlsd %0, %1, %2, %3" : "=r" (result) : "r" (op1), "r" (op2), "r" (op3) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __SMLSDX (uint32_t op1, uint32_t op2, uint32_t op3) -{ - uint32_t result; - - __ASM volatile ("smlsdx %0, %1, %2, %3" : "=r" (result) : "r" (op1), "r" (op2), "r" (op3) ); - return(result); -} - -__STATIC_FORCEINLINE uint64_t __SMLSLD (uint32_t op1, uint32_t op2, uint64_t acc) -{ - union llreg_u{ - uint32_t w32[2]; - uint64_t w64; - } llr; - llr.w64 = acc; - -#ifndef __ARMEB__ /* Little endian */ - __ASM volatile ("smlsld %0, %1, %2, %3" : "=r" (llr.w32[0]), "=r" (llr.w32[1]): "r" (op1), "r" (op2) , "0" (llr.w32[0]), "1" (llr.w32[1]) ); -#else /* Big endian */ - __ASM volatile ("smlsld %0, %1, %2, %3" : "=r" (llr.w32[1]), "=r" (llr.w32[0]): "r" (op1), "r" (op2) , "0" (llr.w32[1]), "1" (llr.w32[0]) ); -#endif - - return(llr.w64); -} - -__STATIC_FORCEINLINE uint64_t __SMLSLDX (uint32_t op1, uint32_t op2, uint64_t acc) -{ - union llreg_u{ - uint32_t w32[2]; - uint64_t w64; - } llr; - llr.w64 = acc; - -#ifndef __ARMEB__ /* Little endian */ - __ASM volatile ("smlsldx %0, %1, %2, %3" : "=r" (llr.w32[0]), "=r" (llr.w32[1]): "r" (op1), "r" (op2) , "0" (llr.w32[0]), "1" (llr.w32[1]) ); -#else /* Big endian */ - __ASM volatile ("smlsldx %0, %1, %2, %3" : "=r" (llr.w32[1]), "=r" (llr.w32[0]): "r" (op1), "r" (op2) , "0" (llr.w32[1]), "1" (llr.w32[0]) ); -#endif - - return(llr.w64); -} - -__STATIC_FORCEINLINE uint32_t __SEL (uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("sel %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE int32_t __QADD( int32_t op1, int32_t op2) -{ - int32_t result; - - __ASM volatile ("qadd %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE int32_t __QSUB( int32_t op1, int32_t op2) -{ - int32_t result; - - __ASM volatile ("qsub %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -#if 0 -#define __PKHBT(ARG1,ARG2,ARG3) \ -({ \ - uint32_t __RES, __ARG1 = (ARG1), __ARG2 = (ARG2); \ - __ASM ("pkhbt %0, %1, %2, lsl %3" : "=r" (__RES) : "r" (__ARG1), "r" (__ARG2), "I" (ARG3) ); \ - __RES; \ - }) - -#define __PKHTB(ARG1,ARG2,ARG3) \ -({ \ - uint32_t __RES, __ARG1 = (ARG1), __ARG2 = (ARG2); \ - if (ARG3 == 0) \ - __ASM ("pkhtb %0, %1, %2" : "=r" (__RES) : "r" (__ARG1), "r" (__ARG2) ); \ - else \ - __ASM ("pkhtb %0, %1, %2, asr %3" : "=r" (__RES) : "r" (__ARG1), "r" (__ARG2), "I" (ARG3) ); \ - __RES; \ - }) -#endif - -#define __PKHBT(ARG1,ARG2,ARG3) ( ((((uint32_t)(ARG1)) ) & 0x0000FFFFUL) | \ - ((((uint32_t)(ARG2)) << (ARG3)) & 0xFFFF0000UL) ) - -#define __PKHTB(ARG1,ARG2,ARG3) ( ((((uint32_t)(ARG1)) ) & 0xFFFF0000UL) | \ - ((((uint32_t)(ARG2)) >> (ARG3)) & 0x0000FFFFUL) ) - -__STATIC_FORCEINLINE int32_t __SMMLA (int32_t op1, int32_t op2, int32_t op3) -{ - int32_t result; - - __ASM volatile ("smmla %0, %1, %2, %3" : "=r" (result): "r" (op1), "r" (op2), "r" (op3) ); - return(result); -} - -#endif /* (__ARM_FEATURE_DSP == 1) */ -/*@} end of group CMSIS_SIMD_intrinsics */ - - -#endif /* __CMSIS_ARMCLANG_H */ diff --git a/body/board/inc/cmsis_compiler.h b/body/board/inc/cmsis_compiler.h deleted file mode 100644 index 94212eb87a94d1..00000000000000 --- a/body/board/inc/cmsis_compiler.h +++ /dev/null @@ -1,266 +0,0 @@ -/**************************************************************************//** - * @file cmsis_compiler.h - * @brief CMSIS compiler generic header file - * @version V5.0.4 - * @date 10. January 2018 - ******************************************************************************/ -/* - * Copyright (c) 2009-2018 Arm Limited. All rights reserved. - * - * SPDX-License-Identifier: Apache-2.0 - * - * Licensed under the Apache License, Version 2.0 (the License); you may - * not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an AS IS BASIS, WITHOUT - * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - -#ifndef __CMSIS_COMPILER_H -#define __CMSIS_COMPILER_H - -#include - -/* - * Arm Compiler 4/5 - */ -#if defined ( __CC_ARM ) - #include "cmsis_armcc.h" - - -/* - * Arm Compiler 6 (armclang) - */ -#elif defined (__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050) - #include "cmsis_armclang.h" - - -/* - * GNU Compiler - */ -#elif defined ( __GNUC__ ) - #include "cmsis_gcc.h" - - -/* - * IAR Compiler - */ -#elif defined ( __ICCARM__ ) - #include - - -/* - * TI Arm Compiler - */ -#elif defined ( __TI_ARM__ ) - #include - - #ifndef __ASM - #define __ASM __asm - #endif - #ifndef __INLINE - #define __INLINE inline - #endif - #ifndef __STATIC_INLINE - #define __STATIC_INLINE static inline - #endif - #ifndef __STATIC_FORCEINLINE - #define __STATIC_FORCEINLINE __STATIC_INLINE - #endif - #ifndef __NO_RETURN - #define __NO_RETURN __attribute__((noreturn)) - #endif - #ifndef __USED - #define __USED __attribute__((used)) - #endif - #ifndef __WEAK - #define __WEAK __attribute__((weak)) - #endif - #ifndef __PACKED - #define __PACKED __attribute__((packed)) - #endif - #ifndef __PACKED_STRUCT - #define __PACKED_STRUCT struct __attribute__((packed)) - #endif - #ifndef __PACKED_UNION - #define __PACKED_UNION union __attribute__((packed)) - #endif - #ifndef __UNALIGNED_UINT32 /* deprecated */ - struct __attribute__((packed)) T_UINT32 { uint32_t v; }; - #define __UNALIGNED_UINT32(x) (((struct T_UINT32 *)(x))->v) - #endif - #ifndef __UNALIGNED_UINT16_WRITE - __PACKED_STRUCT T_UINT16_WRITE { uint16_t v; }; - #define __UNALIGNED_UINT16_WRITE(addr, val) (void)((((struct T_UINT16_WRITE *)(void*)(addr))->v) = (val)) - #endif - #ifndef __UNALIGNED_UINT16_READ - __PACKED_STRUCT T_UINT16_READ { uint16_t v; }; - #define __UNALIGNED_UINT16_READ(addr) (((const struct T_UINT16_READ *)(const void *)(addr))->v) - #endif - #ifndef __UNALIGNED_UINT32_WRITE - __PACKED_STRUCT T_UINT32_WRITE { uint32_t v; }; - #define __UNALIGNED_UINT32_WRITE(addr, val) (void)((((struct T_UINT32_WRITE *)(void *)(addr))->v) = (val)) - #endif - #ifndef __UNALIGNED_UINT32_READ - __PACKED_STRUCT T_UINT32_READ { uint32_t v; }; - #define __UNALIGNED_UINT32_READ(addr) (((const struct T_UINT32_READ *)(const void *)(addr))->v) - #endif - #ifndef __ALIGNED - #define __ALIGNED(x) __attribute__((aligned(x))) - #endif - #ifndef __RESTRICT - #warning No compiler specific solution for __RESTRICT. __RESTRICT is ignored. - #define __RESTRICT - #endif - - -/* - * TASKING Compiler - */ -#elif defined ( __TASKING__ ) - /* - * The CMSIS functions have been implemented as intrinsics in the compiler. - * Please use "carm -?i" to get an up to date list of all intrinsics, - * Including the CMSIS ones. - */ - - #ifndef __ASM - #define __ASM __asm - #endif - #ifndef __INLINE - #define __INLINE inline - #endif - #ifndef __STATIC_INLINE - #define __STATIC_INLINE static inline - #endif - #ifndef __STATIC_FORCEINLINE - #define __STATIC_FORCEINLINE __STATIC_INLINE - #endif - #ifndef __NO_RETURN - #define __NO_RETURN __attribute__((noreturn)) - #endif - #ifndef __USED - #define __USED __attribute__((used)) - #endif - #ifndef __WEAK - #define __WEAK __attribute__((weak)) - #endif - #ifndef __PACKED - #define __PACKED __packed__ - #endif - #ifndef __PACKED_STRUCT - #define __PACKED_STRUCT struct __packed__ - #endif - #ifndef __PACKED_UNION - #define __PACKED_UNION union __packed__ - #endif - #ifndef __UNALIGNED_UINT32 /* deprecated */ - struct __packed__ T_UINT32 { uint32_t v; }; - #define __UNALIGNED_UINT32(x) (((struct T_UINT32 *)(x))->v) - #endif - #ifndef __UNALIGNED_UINT16_WRITE - __PACKED_STRUCT T_UINT16_WRITE { uint16_t v; }; - #define __UNALIGNED_UINT16_WRITE(addr, val) (void)((((struct T_UINT16_WRITE *)(void *)(addr))->v) = (val)) - #endif - #ifndef __UNALIGNED_UINT16_READ - __PACKED_STRUCT T_UINT16_READ { uint16_t v; }; - #define __UNALIGNED_UINT16_READ(addr) (((const struct T_UINT16_READ *)(const void *)(addr))->v) - #endif - #ifndef __UNALIGNED_UINT32_WRITE - __PACKED_STRUCT T_UINT32_WRITE { uint32_t v; }; - #define __UNALIGNED_UINT32_WRITE(addr, val) (void)((((struct T_UINT32_WRITE *)(void *)(addr))->v) = (val)) - #endif - #ifndef __UNALIGNED_UINT32_READ - __PACKED_STRUCT T_UINT32_READ { uint32_t v; }; - #define __UNALIGNED_UINT32_READ(addr) (((const struct T_UINT32_READ *)(const void *)(addr))->v) - #endif - #ifndef __ALIGNED - #define __ALIGNED(x) __align(x) - #endif - #ifndef __RESTRICT - #warning No compiler specific solution for __RESTRICT. __RESTRICT is ignored. - #define __RESTRICT - #endif - - -/* - * COSMIC Compiler - */ -#elif defined ( __CSMC__ ) - #include - - #ifndef __ASM - #define __ASM _asm - #endif - #ifndef __INLINE - #define __INLINE inline - #endif - #ifndef __STATIC_INLINE - #define __STATIC_INLINE static inline - #endif - #ifndef __STATIC_FORCEINLINE - #define __STATIC_FORCEINLINE __STATIC_INLINE - #endif - #ifndef __NO_RETURN - // NO RETURN is automatically detected hence no warning here - #define __NO_RETURN - #endif - #ifndef __USED - #warning No compiler specific solution for __USED. __USED is ignored. - #define __USED - #endif - #ifndef __WEAK - #define __WEAK __weak - #endif - #ifndef __PACKED - #define __PACKED @packed - #endif - #ifndef __PACKED_STRUCT - #define __PACKED_STRUCT @packed struct - #endif - #ifndef __PACKED_UNION - #define __PACKED_UNION @packed union - #endif - #ifndef __UNALIGNED_UINT32 /* deprecated */ - @packed struct T_UINT32 { uint32_t v; }; - #define __UNALIGNED_UINT32(x) (((struct T_UINT32 *)(x))->v) - #endif - #ifndef __UNALIGNED_UINT16_WRITE - __PACKED_STRUCT T_UINT16_WRITE { uint16_t v; }; - #define __UNALIGNED_UINT16_WRITE(addr, val) (void)((((struct T_UINT16_WRITE *)(void *)(addr))->v) = (val)) - #endif - #ifndef __UNALIGNED_UINT16_READ - __PACKED_STRUCT T_UINT16_READ { uint16_t v; }; - #define __UNALIGNED_UINT16_READ(addr) (((const struct T_UINT16_READ *)(const void *)(addr))->v) - #endif - #ifndef __UNALIGNED_UINT32_WRITE - __PACKED_STRUCT T_UINT32_WRITE { uint32_t v; }; - #define __UNALIGNED_UINT32_WRITE(addr, val) (void)((((struct T_UINT32_WRITE *)(void *)(addr))->v) = (val)) - #endif - #ifndef __UNALIGNED_UINT32_READ - __PACKED_STRUCT T_UINT32_READ { uint32_t v; }; - #define __UNALIGNED_UINT32_READ(addr) (((const struct T_UINT32_READ *)(const void *)(addr))->v) - #endif - #ifndef __ALIGNED - #warning No compiler specific solution for __ALIGNED. __ALIGNED is ignored. - #define __ALIGNED(x) - #endif - #ifndef __RESTRICT - #warning No compiler specific solution for __RESTRICT. __RESTRICT is ignored. - #define __RESTRICT - #endif - - -#else - #error Unknown compiler. -#endif - - -#endif /* __CMSIS_COMPILER_H */ - diff --git a/body/board/inc/cmsis_gcc.h b/body/board/inc/cmsis_gcc.h deleted file mode 100644 index 2d9db15a5def34..00000000000000 --- a/body/board/inc/cmsis_gcc.h +++ /dev/null @@ -1,2085 +0,0 @@ -/**************************************************************************//** - * @file cmsis_gcc.h - * @brief CMSIS compiler GCC header file - * @version V5.0.4 - * @date 09. April 2018 - ******************************************************************************/ -/* - * Copyright (c) 2009-2018 Arm Limited. All rights reserved. - * - * SPDX-License-Identifier: Apache-2.0 - * - * Licensed under the Apache License, Version 2.0 (the License); you may - * not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an AS IS BASIS, WITHOUT - * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - -#ifndef __CMSIS_GCC_H -#define __CMSIS_GCC_H - -/* ignore some GCC warnings */ -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wsign-conversion" -#pragma GCC diagnostic ignored "-Wconversion" -#pragma GCC diagnostic ignored "-Wunused-parameter" - -/* Fallback for __has_builtin */ -#ifndef __has_builtin - #define __has_builtin(x) (0) -#endif - -/* CMSIS compiler specific defines */ -#ifndef __ASM - #define __ASM __asm -#endif -#ifndef __INLINE - #define __INLINE inline -#endif -#ifndef __STATIC_INLINE - #define __STATIC_INLINE static inline -#endif -#ifndef __STATIC_FORCEINLINE - #define __STATIC_FORCEINLINE __attribute__((always_inline)) static inline -#endif -#ifndef __NO_RETURN - #define __NO_RETURN __attribute__((__noreturn__)) -#endif -#ifndef __USED - #define __USED __attribute__((used)) -#endif -#ifndef __WEAK - #define __WEAK __attribute__((weak)) -#endif -#ifndef __PACKED - #define __PACKED __attribute__((packed, aligned(1))) -#endif -#ifndef __PACKED_STRUCT - #define __PACKED_STRUCT struct __attribute__((packed, aligned(1))) -#endif -#ifndef __PACKED_UNION - #define __PACKED_UNION union __attribute__((packed, aligned(1))) -#endif -#ifndef __UNALIGNED_UINT32 /* deprecated */ - #pragma GCC diagnostic push - #pragma GCC diagnostic ignored "-Wpacked" - #pragma GCC diagnostic ignored "-Wattributes" - struct __attribute__((packed)) T_UINT32 { uint32_t v; }; - #pragma GCC diagnostic pop - #define __UNALIGNED_UINT32(x) (((struct T_UINT32 *)(x))->v) -#endif -#ifndef __UNALIGNED_UINT16_WRITE - #pragma GCC diagnostic push - #pragma GCC diagnostic ignored "-Wpacked" - #pragma GCC diagnostic ignored "-Wattributes" - __PACKED_STRUCT T_UINT16_WRITE { uint16_t v; }; - #pragma GCC diagnostic pop - #define __UNALIGNED_UINT16_WRITE(addr, val) (void)((((struct T_UINT16_WRITE *)(void *)(addr))->v) = (val)) -#endif -#ifndef __UNALIGNED_UINT16_READ - #pragma GCC diagnostic push - #pragma GCC diagnostic ignored "-Wpacked" - #pragma GCC diagnostic ignored "-Wattributes" - __PACKED_STRUCT T_UINT16_READ { uint16_t v; }; - #pragma GCC diagnostic pop - #define __UNALIGNED_UINT16_READ(addr) (((const struct T_UINT16_READ *)(const void *)(addr))->v) -#endif -#ifndef __UNALIGNED_UINT32_WRITE - #pragma GCC diagnostic push - #pragma GCC diagnostic ignored "-Wpacked" - #pragma GCC diagnostic ignored "-Wattributes" - __PACKED_STRUCT T_UINT32_WRITE { uint32_t v; }; - #pragma GCC diagnostic pop - #define __UNALIGNED_UINT32_WRITE(addr, val) (void)((((struct T_UINT32_WRITE *)(void *)(addr))->v) = (val)) -#endif -#ifndef __UNALIGNED_UINT32_READ - #pragma GCC diagnostic push - #pragma GCC diagnostic ignored "-Wpacked" - #pragma GCC diagnostic ignored "-Wattributes" - __PACKED_STRUCT T_UINT32_READ { uint32_t v; }; - #pragma GCC diagnostic pop - #define __UNALIGNED_UINT32_READ(addr) (((const struct T_UINT32_READ *)(const void *)(addr))->v) -#endif -#ifndef __ALIGNED - #define __ALIGNED(x) __attribute__((aligned(x))) -#endif -#ifndef __RESTRICT - #define __RESTRICT __restrict -#endif - - -/* ########################### Core Function Access ########################### */ -/** \ingroup CMSIS_Core_FunctionInterface - \defgroup CMSIS_Core_RegAccFunctions CMSIS Core Register Access Functions - @{ - */ - -/** - \brief Enable IRQ Interrupts - \details Enables IRQ interrupts by clearing the I-bit in the CPSR. - Can only be executed in Privileged modes. - */ -__STATIC_FORCEINLINE void __enable_irq(void) -{ - __ASM volatile ("cpsie i" : : : "memory"); -} - - -/** - \brief Disable IRQ Interrupts - \details Disables IRQ interrupts by setting the I-bit in the CPSR. - Can only be executed in Privileged modes. - */ -__STATIC_FORCEINLINE void __disable_irq(void) -{ - __ASM volatile ("cpsid i" : : : "memory"); -} - - -/** - \brief Get Control Register - \details Returns the content of the Control Register. - \return Control Register value - */ -__STATIC_FORCEINLINE uint32_t __get_CONTROL(void) -{ - uint32_t result; - - __ASM volatile ("MRS %0, control" : "=r" (result) ); - return(result); -} - - -#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3)) -/** - \brief Get Control Register (non-secure) - \details Returns the content of the non-secure Control Register when in secure mode. - \return non-secure Control Register value - */ -__STATIC_FORCEINLINE uint32_t __TZ_get_CONTROL_NS(void) -{ - uint32_t result; - - __ASM volatile ("MRS %0, control_ns" : "=r" (result) ); - return(result); -} -#endif - - -/** - \brief Set Control Register - \details Writes the given value to the Control Register. - \param [in] control Control Register value to set - */ -__STATIC_FORCEINLINE void __set_CONTROL(uint32_t control) -{ - __ASM volatile ("MSR control, %0" : : "r" (control) : "memory"); -} - - -#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3)) -/** - \brief Set Control Register (non-secure) - \details Writes the given value to the non-secure Control Register when in secure state. - \param [in] control Control Register value to set - */ -__STATIC_FORCEINLINE void __TZ_set_CONTROL_NS(uint32_t control) -{ - __ASM volatile ("MSR control_ns, %0" : : "r" (control) : "memory"); -} -#endif - - -/** - \brief Get IPSR Register - \details Returns the content of the IPSR Register. - \return IPSR Register value - */ -__STATIC_FORCEINLINE uint32_t __get_IPSR(void) -{ - uint32_t result; - - __ASM volatile ("MRS %0, ipsr" : "=r" (result) ); - return(result); -} - - -/** - \brief Get APSR Register - \details Returns the content of the APSR Register. - \return APSR Register value - */ -__STATIC_FORCEINLINE uint32_t __get_APSR(void) -{ - uint32_t result; - - __ASM volatile ("MRS %0, apsr" : "=r" (result) ); - return(result); -} - - -/** - \brief Get xPSR Register - \details Returns the content of the xPSR Register. - \return xPSR Register value - */ -__STATIC_FORCEINLINE uint32_t __get_xPSR(void) -{ - uint32_t result; - - __ASM volatile ("MRS %0, xpsr" : "=r" (result) ); - return(result); -} - - -/** - \brief Get Process Stack Pointer - \details Returns the current value of the Process Stack Pointer (PSP). - \return PSP Register value - */ -__STATIC_FORCEINLINE uint32_t __get_PSP(void) -{ - uint32_t result; - - __ASM volatile ("MRS %0, psp" : "=r" (result) ); - return(result); -} - - -#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3)) -/** - \brief Get Process Stack Pointer (non-secure) - \details Returns the current value of the non-secure Process Stack Pointer (PSP) when in secure state. - \return PSP Register value - */ -__STATIC_FORCEINLINE uint32_t __TZ_get_PSP_NS(void) -{ - uint32_t result; - - __ASM volatile ("MRS %0, psp_ns" : "=r" (result) ); - return(result); -} -#endif - - -/** - \brief Set Process Stack Pointer - \details Assigns the given value to the Process Stack Pointer (PSP). - \param [in] topOfProcStack Process Stack Pointer value to set - */ -__STATIC_FORCEINLINE void __set_PSP(uint32_t topOfProcStack) -{ - __ASM volatile ("MSR psp, %0" : : "r" (topOfProcStack) : ); -} - - -#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3)) -/** - \brief Set Process Stack Pointer (non-secure) - \details Assigns the given value to the non-secure Process Stack Pointer (PSP) when in secure state. - \param [in] topOfProcStack Process Stack Pointer value to set - */ -__STATIC_FORCEINLINE void __TZ_set_PSP_NS(uint32_t topOfProcStack) -{ - __ASM volatile ("MSR psp_ns, %0" : : "r" (topOfProcStack) : ); -} -#endif - - -/** - \brief Get Main Stack Pointer - \details Returns the current value of the Main Stack Pointer (MSP). - \return MSP Register value - */ -__STATIC_FORCEINLINE uint32_t __get_MSP(void) -{ - uint32_t result; - - __ASM volatile ("MRS %0, msp" : "=r" (result) ); - return(result); -} - - -#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3)) -/** - \brief Get Main Stack Pointer (non-secure) - \details Returns the current value of the non-secure Main Stack Pointer (MSP) when in secure state. - \return MSP Register value - */ -__STATIC_FORCEINLINE uint32_t __TZ_get_MSP_NS(void) -{ - uint32_t result; - - __ASM volatile ("MRS %0, msp_ns" : "=r" (result) ); - return(result); -} -#endif - - -/** - \brief Set Main Stack Pointer - \details Assigns the given value to the Main Stack Pointer (MSP). - \param [in] topOfMainStack Main Stack Pointer value to set - */ -__STATIC_FORCEINLINE void __set_MSP(uint32_t topOfMainStack) -{ - __ASM volatile ("MSR msp, %0" : : "r" (topOfMainStack) : ); -} - - -#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3)) -/** - \brief Set Main Stack Pointer (non-secure) - \details Assigns the given value to the non-secure Main Stack Pointer (MSP) when in secure state. - \param [in] topOfMainStack Main Stack Pointer value to set - */ -__STATIC_FORCEINLINE void __TZ_set_MSP_NS(uint32_t topOfMainStack) -{ - __ASM volatile ("MSR msp_ns, %0" : : "r" (topOfMainStack) : ); -} -#endif - - -#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3)) -/** - \brief Get Stack Pointer (non-secure) - \details Returns the current value of the non-secure Stack Pointer (SP) when in secure state. - \return SP Register value - */ -__STATIC_FORCEINLINE uint32_t __TZ_get_SP_NS(void) -{ - uint32_t result; - - __ASM volatile ("MRS %0, sp_ns" : "=r" (result) ); - return(result); -} - - -/** - \brief Set Stack Pointer (non-secure) - \details Assigns the given value to the non-secure Stack Pointer (SP) when in secure state. - \param [in] topOfStack Stack Pointer value to set - */ -__STATIC_FORCEINLINE void __TZ_set_SP_NS(uint32_t topOfStack) -{ - __ASM volatile ("MSR sp_ns, %0" : : "r" (topOfStack) : ); -} -#endif - - -/** - \brief Get Priority Mask - \details Returns the current state of the priority mask bit from the Priority Mask Register. - \return Priority Mask value - */ -__STATIC_FORCEINLINE uint32_t __get_PRIMASK(void) -{ - uint32_t result; - - __ASM volatile ("MRS %0, primask" : "=r" (result) :: "memory"); - return(result); -} - - -#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3)) -/** - \brief Get Priority Mask (non-secure) - \details Returns the current state of the non-secure priority mask bit from the Priority Mask Register when in secure state. - \return Priority Mask value - */ -__STATIC_FORCEINLINE uint32_t __TZ_get_PRIMASK_NS(void) -{ - uint32_t result; - - __ASM volatile ("MRS %0, primask_ns" : "=r" (result) :: "memory"); - return(result); -} -#endif - - -/** - \brief Set Priority Mask - \details Assigns the given value to the Priority Mask Register. - \param [in] priMask Priority Mask - */ -__STATIC_FORCEINLINE void __set_PRIMASK(uint32_t priMask) -{ - __ASM volatile ("MSR primask, %0" : : "r" (priMask) : "memory"); -} - - -#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3)) -/** - \brief Set Priority Mask (non-secure) - \details Assigns the given value to the non-secure Priority Mask Register when in secure state. - \param [in] priMask Priority Mask - */ -__STATIC_FORCEINLINE void __TZ_set_PRIMASK_NS(uint32_t priMask) -{ - __ASM volatile ("MSR primask_ns, %0" : : "r" (priMask) : "memory"); -} -#endif - - -#if ((defined (__ARM_ARCH_7M__ ) && (__ARM_ARCH_7M__ == 1)) || \ - (defined (__ARM_ARCH_7EM__ ) && (__ARM_ARCH_7EM__ == 1)) || \ - (defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) ) -/** - \brief Enable FIQ - \details Enables FIQ interrupts by clearing the F-bit in the CPSR. - Can only be executed in Privileged modes. - */ -__STATIC_FORCEINLINE void __enable_fault_irq(void) -{ - __ASM volatile ("cpsie f" : : : "memory"); -} - - -/** - \brief Disable FIQ - \details Disables FIQ interrupts by setting the F-bit in the CPSR. - Can only be executed in Privileged modes. - */ -__STATIC_FORCEINLINE void __disable_fault_irq(void) -{ - __ASM volatile ("cpsid f" : : : "memory"); -} - - -/** - \brief Get Base Priority - \details Returns the current value of the Base Priority register. - \return Base Priority register value - */ -__STATIC_FORCEINLINE uint32_t __get_BASEPRI(void) -{ - uint32_t result; - - __ASM volatile ("MRS %0, basepri" : "=r" (result) ); - return(result); -} - - -#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3)) -/** - \brief Get Base Priority (non-secure) - \details Returns the current value of the non-secure Base Priority register when in secure state. - \return Base Priority register value - */ -__STATIC_FORCEINLINE uint32_t __TZ_get_BASEPRI_NS(void) -{ - uint32_t result; - - __ASM volatile ("MRS %0, basepri_ns" : "=r" (result) ); - return(result); -} -#endif - - -/** - \brief Set Base Priority - \details Assigns the given value to the Base Priority register. - \param [in] basePri Base Priority value to set - */ -__STATIC_FORCEINLINE void __set_BASEPRI(uint32_t basePri) -{ - __ASM volatile ("MSR basepri, %0" : : "r" (basePri) : "memory"); -} - - -#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3)) -/** - \brief Set Base Priority (non-secure) - \details Assigns the given value to the non-secure Base Priority register when in secure state. - \param [in] basePri Base Priority value to set - */ -__STATIC_FORCEINLINE void __TZ_set_BASEPRI_NS(uint32_t basePri) -{ - __ASM volatile ("MSR basepri_ns, %0" : : "r" (basePri) : "memory"); -} -#endif - - -/** - \brief Set Base Priority with condition - \details Assigns the given value to the Base Priority register only if BASEPRI masking is disabled, - or the new value increases the BASEPRI priority level. - \param [in] basePri Base Priority value to set - */ -__STATIC_FORCEINLINE void __set_BASEPRI_MAX(uint32_t basePri) -{ - __ASM volatile ("MSR basepri_max, %0" : : "r" (basePri) : "memory"); -} - - -/** - \brief Get Fault Mask - \details Returns the current value of the Fault Mask register. - \return Fault Mask register value - */ -__STATIC_FORCEINLINE uint32_t __get_FAULTMASK(void) -{ - uint32_t result; - - __ASM volatile ("MRS %0, faultmask" : "=r" (result) ); - return(result); -} - - -#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3)) -/** - \brief Get Fault Mask (non-secure) - \details Returns the current value of the non-secure Fault Mask register when in secure state. - \return Fault Mask register value - */ -__STATIC_FORCEINLINE uint32_t __TZ_get_FAULTMASK_NS(void) -{ - uint32_t result; - - __ASM volatile ("MRS %0, faultmask_ns" : "=r" (result) ); - return(result); -} -#endif - - -/** - \brief Set Fault Mask - \details Assigns the given value to the Fault Mask register. - \param [in] faultMask Fault Mask value to set - */ -__STATIC_FORCEINLINE void __set_FAULTMASK(uint32_t faultMask) -{ - __ASM volatile ("MSR faultmask, %0" : : "r" (faultMask) : "memory"); -} - - -#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3)) -/** - \brief Set Fault Mask (non-secure) - \details Assigns the given value to the non-secure Fault Mask register when in secure state. - \param [in] faultMask Fault Mask value to set - */ -__STATIC_FORCEINLINE void __TZ_set_FAULTMASK_NS(uint32_t faultMask) -{ - __ASM volatile ("MSR faultmask_ns, %0" : : "r" (faultMask) : "memory"); -} -#endif - -#endif /* ((defined (__ARM_ARCH_7M__ ) && (__ARM_ARCH_7M__ == 1)) || \ - (defined (__ARM_ARCH_7EM__ ) && (__ARM_ARCH_7EM__ == 1)) || \ - (defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) ) */ - - -#if ((defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) || \ - (defined (__ARM_ARCH_8M_BASE__ ) && (__ARM_ARCH_8M_BASE__ == 1)) ) - -/** - \brief Get Process Stack Pointer Limit - Devices without ARMv8-M Main Extensions (i.e. Cortex-M23) lack the non-secure - Stack Pointer Limit register hence zero is returned always in non-secure - mode. - - \details Returns the current value of the Process Stack Pointer Limit (PSPLIM). - \return PSPLIM Register value - */ -__STATIC_FORCEINLINE uint32_t __get_PSPLIM(void) -{ -#if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) && \ - (!defined (__ARM_FEATURE_CMSE) || (__ARM_FEATURE_CMSE < 3))) - // without main extensions, the non-secure PSPLIM is RAZ/WI - return 0U; -#else - uint32_t result; - __ASM volatile ("MRS %0, psplim" : "=r" (result) ); - return result; -#endif -} - -#if (defined (__ARM_FEATURE_CMSE) && (__ARM_FEATURE_CMSE == 3)) -/** - \brief Get Process Stack Pointer Limit (non-secure) - Devices without ARMv8-M Main Extensions (i.e. Cortex-M23) lack the non-secure - Stack Pointer Limit register hence zero is returned always. - - \details Returns the current value of the non-secure Process Stack Pointer Limit (PSPLIM) when in secure state. - \return PSPLIM Register value - */ -__STATIC_FORCEINLINE uint32_t __TZ_get_PSPLIM_NS(void) -{ -#if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1))) - // without main extensions, the non-secure PSPLIM is RAZ/WI - return 0U; -#else - uint32_t result; - __ASM volatile ("MRS %0, psplim_ns" : "=r" (result) ); - return result; -#endif -} -#endif - - -/** - \brief Set Process Stack Pointer Limit - Devices without ARMv8-M Main Extensions (i.e. Cortex-M23) lack the non-secure - Stack Pointer Limit register hence the write is silently ignored in non-secure - mode. - - \details Assigns the given value to the Process Stack Pointer Limit (PSPLIM). - \param [in] ProcStackPtrLimit Process Stack Pointer Limit value to set - */ -__STATIC_FORCEINLINE void __set_PSPLIM(uint32_t ProcStackPtrLimit) -{ -#if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) && \ - (!defined (__ARM_FEATURE_CMSE) || (__ARM_FEATURE_CMSE < 3))) - // without main extensions, the non-secure PSPLIM is RAZ/WI - (void)ProcStackPtrLimit; -#else - __ASM volatile ("MSR psplim, %0" : : "r" (ProcStackPtrLimit)); -#endif -} - - -#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3)) -/** - \brief Set Process Stack Pointer (non-secure) - Devices without ARMv8-M Main Extensions (i.e. Cortex-M23) lack the non-secure - Stack Pointer Limit register hence the write is silently ignored. - - \details Assigns the given value to the non-secure Process Stack Pointer Limit (PSPLIM) when in secure state. - \param [in] ProcStackPtrLimit Process Stack Pointer Limit value to set - */ -__STATIC_FORCEINLINE void __TZ_set_PSPLIM_NS(uint32_t ProcStackPtrLimit) -{ -#if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1))) - // without main extensions, the non-secure PSPLIM is RAZ/WI - (void)ProcStackPtrLimit; -#else - __ASM volatile ("MSR psplim_ns, %0\n" : : "r" (ProcStackPtrLimit)); -#endif -} -#endif - - -/** - \brief Get Main Stack Pointer Limit - Devices without ARMv8-M Main Extensions (i.e. Cortex-M23) lack the non-secure - Stack Pointer Limit register hence zero is returned always in non-secure - mode. - - \details Returns the current value of the Main Stack Pointer Limit (MSPLIM). - \return MSPLIM Register value - */ -__STATIC_FORCEINLINE uint32_t __get_MSPLIM(void) -{ -#if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) && \ - (!defined (__ARM_FEATURE_CMSE) || (__ARM_FEATURE_CMSE < 3))) - // without main extensions, the non-secure MSPLIM is RAZ/WI - return 0U; -#else - uint32_t result; - __ASM volatile ("MRS %0, msplim" : "=r" (result) ); - return result; -#endif -} - - -#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3)) -/** - \brief Get Main Stack Pointer Limit (non-secure) - Devices without ARMv8-M Main Extensions (i.e. Cortex-M23) lack the non-secure - Stack Pointer Limit register hence zero is returned always. - - \details Returns the current value of the non-secure Main Stack Pointer Limit(MSPLIM) when in secure state. - \return MSPLIM Register value - */ -__STATIC_FORCEINLINE uint32_t __TZ_get_MSPLIM_NS(void) -{ -#if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1))) - // without main extensions, the non-secure MSPLIM is RAZ/WI - return 0U; -#else - uint32_t result; - __ASM volatile ("MRS %0, msplim_ns" : "=r" (result) ); - return result; -#endif -} -#endif - - -/** - \brief Set Main Stack Pointer Limit - Devices without ARMv8-M Main Extensions (i.e. Cortex-M23) lack the non-secure - Stack Pointer Limit register hence the write is silently ignored in non-secure - mode. - - \details Assigns the given value to the Main Stack Pointer Limit (MSPLIM). - \param [in] MainStackPtrLimit Main Stack Pointer Limit value to set - */ -__STATIC_FORCEINLINE void __set_MSPLIM(uint32_t MainStackPtrLimit) -{ -#if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) && \ - (!defined (__ARM_FEATURE_CMSE) || (__ARM_FEATURE_CMSE < 3))) - // without main extensions, the non-secure MSPLIM is RAZ/WI - (void)MainStackPtrLimit; -#else - __ASM volatile ("MSR msplim, %0" : : "r" (MainStackPtrLimit)); -#endif -} - - -#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3)) -/** - \brief Set Main Stack Pointer Limit (non-secure) - Devices without ARMv8-M Main Extensions (i.e. Cortex-M23) lack the non-secure - Stack Pointer Limit register hence the write is silently ignored. - - \details Assigns the given value to the non-secure Main Stack Pointer Limit (MSPLIM) when in secure state. - \param [in] MainStackPtrLimit Main Stack Pointer value to set - */ -__STATIC_FORCEINLINE void __TZ_set_MSPLIM_NS(uint32_t MainStackPtrLimit) -{ -#if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1))) - // without main extensions, the non-secure MSPLIM is RAZ/WI - (void)MainStackPtrLimit; -#else - __ASM volatile ("MSR msplim_ns, %0" : : "r" (MainStackPtrLimit)); -#endif -} -#endif - -#endif /* ((defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) || \ - (defined (__ARM_ARCH_8M_BASE__ ) && (__ARM_ARCH_8M_BASE__ == 1)) ) */ - - -/** - \brief Get FPSCR - \details Returns the current value of the Floating Point Status/Control register. - \return Floating Point Status/Control register value - */ -__STATIC_FORCEINLINE uint32_t __get_FPSCR(void) -{ -#if ((defined (__FPU_PRESENT) && (__FPU_PRESENT == 1U)) && \ - (defined (__FPU_USED ) && (__FPU_USED == 1U)) ) -#if __has_builtin(__builtin_arm_get_fpscr) -// Re-enable using built-in when GCC has been fixed -// || (__GNUC__ > 7) || (__GNUC__ == 7 && __GNUC_MINOR__ >= 2) - /* see https://gcc.gnu.org/ml/gcc-patches/2017-04/msg00443.html */ - return __builtin_arm_get_fpscr(); -#else - uint32_t result; - - __ASM volatile ("VMRS %0, fpscr" : "=r" (result) ); - return(result); -#endif -#else - return(0U); -#endif -} - - -/** - \brief Set FPSCR - \details Assigns the given value to the Floating Point Status/Control register. - \param [in] fpscr Floating Point Status/Control value to set - */ -__STATIC_FORCEINLINE void __set_FPSCR(uint32_t fpscr) -{ -#if ((defined (__FPU_PRESENT) && (__FPU_PRESENT == 1U)) && \ - (defined (__FPU_USED ) && (__FPU_USED == 1U)) ) -#if __has_builtin(__builtin_arm_set_fpscr) -// Re-enable using built-in when GCC has been fixed -// || (__GNUC__ > 7) || (__GNUC__ == 7 && __GNUC_MINOR__ >= 2) - /* see https://gcc.gnu.org/ml/gcc-patches/2017-04/msg00443.html */ - __builtin_arm_set_fpscr(fpscr); -#else - __ASM volatile ("VMSR fpscr, %0" : : "r" (fpscr) : "vfpcc", "memory"); -#endif -#else - (void)fpscr; -#endif -} - - -/*@} end of CMSIS_Core_RegAccFunctions */ - - -/* ########################## Core Instruction Access ######################### */ -/** \defgroup CMSIS_Core_InstructionInterface CMSIS Core Instruction Interface - Access to dedicated instructions - @{ -*/ - -/* Define macros for porting to both thumb1 and thumb2. - * For thumb1, use low register (r0-r7), specified by constraint "l" - * Otherwise, use general registers, specified by constraint "r" */ -#if defined (__thumb__) && !defined (__thumb2__) -#define __CMSIS_GCC_OUT_REG(r) "=l" (r) -#define __CMSIS_GCC_RW_REG(r) "+l" (r) -#define __CMSIS_GCC_USE_REG(r) "l" (r) -#else -#define __CMSIS_GCC_OUT_REG(r) "=r" (r) -#define __CMSIS_GCC_RW_REG(r) "+r" (r) -#define __CMSIS_GCC_USE_REG(r) "r" (r) -#endif - -/** - \brief No Operation - \details No Operation does nothing. This instruction can be used for code alignment purposes. - */ -#define __NOP() __ASM volatile ("nop") - -/** - \brief Wait For Interrupt - \details Wait For Interrupt is a hint instruction that suspends execution until one of a number of events occurs. - */ -#define __WFI() __ASM volatile ("wfi") - - -/** - \brief Wait For Event - \details Wait For Event is a hint instruction that permits the processor to enter - a low-power state until one of a number of events occurs. - */ -#define __WFE() __ASM volatile ("wfe") - - -/** - \brief Send Event - \details Send Event is a hint instruction. It causes an event to be signaled to the CPU. - */ -#define __SEV() __ASM volatile ("sev") - - -/** - \brief Instruction Synchronization Barrier - \details Instruction Synchronization Barrier flushes the pipeline in the processor, - so that all instructions following the ISB are fetched from cache or memory, - after the instruction has been completed. - */ -__STATIC_FORCEINLINE void __ISB(void) -{ - __ASM volatile ("isb 0xF":::"memory"); -} - - -/** - \brief Data Synchronization Barrier - \details Acts as a special kind of Data Memory Barrier. - It completes when all explicit memory accesses before this instruction complete. - */ -__STATIC_FORCEINLINE void __DSB(void) -{ - __ASM volatile ("dsb 0xF":::"memory"); -} - - -/** - \brief Data Memory Barrier - \details Ensures the apparent order of the explicit memory operations before - and after the instruction, without ensuring their completion. - */ -__STATIC_FORCEINLINE void __DMB(void) -{ - __ASM volatile ("dmb 0xF":::"memory"); -} - - -/** - \brief Reverse byte order (32 bit) - \details Reverses the byte order in unsigned integer value. For example, 0x12345678 becomes 0x78563412. - \param [in] value Value to reverse - \return Reversed value - */ -__STATIC_FORCEINLINE uint32_t __REV(uint32_t value) -{ -#if (__GNUC__ > 4) || (__GNUC__ == 4 && __GNUC_MINOR__ >= 5) - return __builtin_bswap32(value); -#else - uint32_t result; - - __ASM volatile ("rev %0, %1" : __CMSIS_GCC_OUT_REG (result) : __CMSIS_GCC_USE_REG (value) ); - return result; -#endif -} - - -/** - \brief Reverse byte order (16 bit) - \details Reverses the byte order within each halfword of a word. For example, 0x12345678 becomes 0x34127856. - \param [in] value Value to reverse - \return Reversed value - */ -__STATIC_FORCEINLINE uint32_t __REV16(uint32_t value) -{ - uint32_t result; - - __ASM volatile ("rev16 %0, %1" : __CMSIS_GCC_OUT_REG (result) : __CMSIS_GCC_USE_REG (value) ); - return result; -} - - -/** - \brief Reverse byte order (16 bit) - \details Reverses the byte order in a 16-bit value and returns the signed 16-bit result. For example, 0x0080 becomes 0x8000. - \param [in] value Value to reverse - \return Reversed value - */ -__STATIC_FORCEINLINE int16_t __REVSH(int16_t value) -{ -#if (__GNUC__ > 4) || (__GNUC__ == 4 && __GNUC_MINOR__ >= 8) - return (int16_t)__builtin_bswap16(value); -#else - int16_t result; - - __ASM volatile ("revsh %0, %1" : __CMSIS_GCC_OUT_REG (result) : __CMSIS_GCC_USE_REG (value) ); - return result; -#endif -} - - -/** - \brief Rotate Right in unsigned value (32 bit) - \details Rotate Right (immediate) provides the value of the contents of a register rotated by a variable number of bits. - \param [in] op1 Value to rotate - \param [in] op2 Number of Bits to rotate - \return Rotated value - */ -__STATIC_FORCEINLINE uint32_t __ROR(uint32_t op1, uint32_t op2) -{ - op2 %= 32U; - if (op2 == 0U) - { - return op1; - } - return (op1 >> op2) | (op1 << (32U - op2)); -} - - -/** - \brief Breakpoint - \details Causes the processor to enter Debug state. - Debug tools can use this to investigate system state when the instruction at a particular address is reached. - \param [in] value is ignored by the processor. - If required, a debugger can use it to store additional information about the breakpoint. - */ -#define __BKPT(value) __ASM volatile ("bkpt "#value) - - -/** - \brief Reverse bit order of value - \details Reverses the bit order of the given value. - \param [in] value Value to reverse - \return Reversed value - */ -__STATIC_FORCEINLINE uint32_t __RBIT(uint32_t value) -{ - uint32_t result; - -#if ((defined (__ARM_ARCH_7M__ ) && (__ARM_ARCH_7M__ == 1)) || \ - (defined (__ARM_ARCH_7EM__ ) && (__ARM_ARCH_7EM__ == 1)) || \ - (defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) ) - __ASM volatile ("rbit %0, %1" : "=r" (result) : "r" (value) ); -#else - uint32_t s = (4U /*sizeof(v)*/ * 8U) - 1U; /* extra shift needed at end */ - - result = value; /* r will be reversed bits of v; first get LSB of v */ - for (value >>= 1U; value != 0U; value >>= 1U) - { - result <<= 1U; - result |= value & 1U; - s--; - } - result <<= s; /* shift when v's highest bits are zero */ -#endif - return result; -} - - -/** - \brief Count leading zeros - \details Counts the number of leading zeros of a data value. - \param [in] value Value to count the leading zeros - \return number of leading zeros in value - */ -#define __CLZ (uint8_t)__builtin_clz - - -#if ((defined (__ARM_ARCH_7M__ ) && (__ARM_ARCH_7M__ == 1)) || \ - (defined (__ARM_ARCH_7EM__ ) && (__ARM_ARCH_7EM__ == 1)) || \ - (defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) || \ - (defined (__ARM_ARCH_8M_BASE__ ) && (__ARM_ARCH_8M_BASE__ == 1)) ) -/** - \brief LDR Exclusive (8 bit) - \details Executes a exclusive LDR instruction for 8 bit value. - \param [in] ptr Pointer to data - \return value of type uint8_t at (*ptr) - */ -__STATIC_FORCEINLINE uint8_t __LDREXB(volatile uint8_t *addr) -{ - uint32_t result; - -#if (__GNUC__ > 4) || (__GNUC__ == 4 && __GNUC_MINOR__ >= 8) - __ASM volatile ("ldrexb %0, %1" : "=r" (result) : "Q" (*addr) ); -#else - /* Prior to GCC 4.8, "Q" will be expanded to [rx, #0] which is not - accepted by assembler. So has to use following less efficient pattern. - */ - __ASM volatile ("ldrexb %0, [%1]" : "=r" (result) : "r" (addr) : "memory" ); -#endif - return ((uint8_t) result); /* Add explicit type cast here */ -} - - -/** - \brief LDR Exclusive (16 bit) - \details Executes a exclusive LDR instruction for 16 bit values. - \param [in] ptr Pointer to data - \return value of type uint16_t at (*ptr) - */ -__STATIC_FORCEINLINE uint16_t __LDREXH(volatile uint16_t *addr) -{ - uint32_t result; - -#if (__GNUC__ > 4) || (__GNUC__ == 4 && __GNUC_MINOR__ >= 8) - __ASM volatile ("ldrexh %0, %1" : "=r" (result) : "Q" (*addr) ); -#else - /* Prior to GCC 4.8, "Q" will be expanded to [rx, #0] which is not - accepted by assembler. So has to use following less efficient pattern. - */ - __ASM volatile ("ldrexh %0, [%1]" : "=r" (result) : "r" (addr) : "memory" ); -#endif - return ((uint16_t) result); /* Add explicit type cast here */ -} - - -/** - \brief LDR Exclusive (32 bit) - \details Executes a exclusive LDR instruction for 32 bit values. - \param [in] ptr Pointer to data - \return value of type uint32_t at (*ptr) - */ -__STATIC_FORCEINLINE uint32_t __LDREXW(volatile uint32_t *addr) -{ - uint32_t result; - - __ASM volatile ("ldrex %0, %1" : "=r" (result) : "Q" (*addr) ); - return(result); -} - - -/** - \brief STR Exclusive (8 bit) - \details Executes a exclusive STR instruction for 8 bit values. - \param [in] value Value to store - \param [in] ptr Pointer to location - \return 0 Function succeeded - \return 1 Function failed - */ -__STATIC_FORCEINLINE uint32_t __STREXB(uint8_t value, volatile uint8_t *addr) -{ - uint32_t result; - - __ASM volatile ("strexb %0, %2, %1" : "=&r" (result), "=Q" (*addr) : "r" ((uint32_t)value) ); - return(result); -} - - -/** - \brief STR Exclusive (16 bit) - \details Executes a exclusive STR instruction for 16 bit values. - \param [in] value Value to store - \param [in] ptr Pointer to location - \return 0 Function succeeded - \return 1 Function failed - */ -__STATIC_FORCEINLINE uint32_t __STREXH(uint16_t value, volatile uint16_t *addr) -{ - uint32_t result; - - __ASM volatile ("strexh %0, %2, %1" : "=&r" (result), "=Q" (*addr) : "r" ((uint32_t)value) ); - return(result); -} - - -/** - \brief STR Exclusive (32 bit) - \details Executes a exclusive STR instruction for 32 bit values. - \param [in] value Value to store - \param [in] ptr Pointer to location - \return 0 Function succeeded - \return 1 Function failed - */ -__STATIC_FORCEINLINE uint32_t __STREXW(uint32_t value, volatile uint32_t *addr) -{ - uint32_t result; - - __ASM volatile ("strex %0, %2, %1" : "=&r" (result), "=Q" (*addr) : "r" (value) ); - return(result); -} - - -/** - \brief Remove the exclusive lock - \details Removes the exclusive lock which is created by LDREX. - */ -__STATIC_FORCEINLINE void __CLREX(void) -{ - __ASM volatile ("clrex" ::: "memory"); -} - -#endif /* ((defined (__ARM_ARCH_7M__ ) && (__ARM_ARCH_7M__ == 1)) || \ - (defined (__ARM_ARCH_7EM__ ) && (__ARM_ARCH_7EM__ == 1)) || \ - (defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) || \ - (defined (__ARM_ARCH_8M_BASE__ ) && (__ARM_ARCH_8M_BASE__ == 1)) ) */ - - -#if ((defined (__ARM_ARCH_7M__ ) && (__ARM_ARCH_7M__ == 1)) || \ - (defined (__ARM_ARCH_7EM__ ) && (__ARM_ARCH_7EM__ == 1)) || \ - (defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) ) -/** - \brief Signed Saturate - \details Saturates a signed value. - \param [in] ARG1 Value to be saturated - \param [in] ARG2 Bit position to saturate to (1..32) - \return Saturated value - */ -#define __SSAT(ARG1,ARG2) \ -__extension__ \ -({ \ - int32_t __RES, __ARG1 = (ARG1); \ - __ASM ("ssat %0, %1, %2" : "=r" (__RES) : "I" (ARG2), "r" (__ARG1) ); \ - __RES; \ - }) - - -/** - \brief Unsigned Saturate - \details Saturates an unsigned value. - \param [in] ARG1 Value to be saturated - \param [in] ARG2 Bit position to saturate to (0..31) - \return Saturated value - */ -#define __USAT(ARG1,ARG2) \ - __extension__ \ -({ \ - uint32_t __RES, __ARG1 = (ARG1); \ - __ASM ("usat %0, %1, %2" : "=r" (__RES) : "I" (ARG2), "r" (__ARG1) ); \ - __RES; \ - }) - - -/** - \brief Rotate Right with Extend (32 bit) - \details Moves each bit of a bitstring right by one bit. - The carry input is shifted in at the left end of the bitstring. - \param [in] value Value to rotate - \return Rotated value - */ -__STATIC_FORCEINLINE uint32_t __RRX(uint32_t value) -{ - uint32_t result; - - __ASM volatile ("rrx %0, %1" : __CMSIS_GCC_OUT_REG (result) : __CMSIS_GCC_USE_REG (value) ); - return(result); -} - - -/** - \brief LDRT Unprivileged (8 bit) - \details Executes a Unprivileged LDRT instruction for 8 bit value. - \param [in] ptr Pointer to data - \return value of type uint8_t at (*ptr) - */ -__STATIC_FORCEINLINE uint8_t __LDRBT(volatile uint8_t *ptr) -{ - uint32_t result; - -#if (__GNUC__ > 4) || (__GNUC__ == 4 && __GNUC_MINOR__ >= 8) - __ASM volatile ("ldrbt %0, %1" : "=r" (result) : "Q" (*ptr) ); -#else - /* Prior to GCC 4.8, "Q" will be expanded to [rx, #0] which is not - accepted by assembler. So has to use following less efficient pattern. - */ - __ASM volatile ("ldrbt %0, [%1]" : "=r" (result) : "r" (ptr) : "memory" ); -#endif - return ((uint8_t) result); /* Add explicit type cast here */ -} - - -/** - \brief LDRT Unprivileged (16 bit) - \details Executes a Unprivileged LDRT instruction for 16 bit values. - \param [in] ptr Pointer to data - \return value of type uint16_t at (*ptr) - */ -__STATIC_FORCEINLINE uint16_t __LDRHT(volatile uint16_t *ptr) -{ - uint32_t result; - -#if (__GNUC__ > 4) || (__GNUC__ == 4 && __GNUC_MINOR__ >= 8) - __ASM volatile ("ldrht %0, %1" : "=r" (result) : "Q" (*ptr) ); -#else - /* Prior to GCC 4.8, "Q" will be expanded to [rx, #0] which is not - accepted by assembler. So has to use following less efficient pattern. - */ - __ASM volatile ("ldrht %0, [%1]" : "=r" (result) : "r" (ptr) : "memory" ); -#endif - return ((uint16_t) result); /* Add explicit type cast here */ -} - - -/** - \brief LDRT Unprivileged (32 bit) - \details Executes a Unprivileged LDRT instruction for 32 bit values. - \param [in] ptr Pointer to data - \return value of type uint32_t at (*ptr) - */ -__STATIC_FORCEINLINE uint32_t __LDRT(volatile uint32_t *ptr) -{ - uint32_t result; - - __ASM volatile ("ldrt %0, %1" : "=r" (result) : "Q" (*ptr) ); - return(result); -} - - -/** - \brief STRT Unprivileged (8 bit) - \details Executes a Unprivileged STRT instruction for 8 bit values. - \param [in] value Value to store - \param [in] ptr Pointer to location - */ -__STATIC_FORCEINLINE void __STRBT(uint8_t value, volatile uint8_t *ptr) -{ - __ASM volatile ("strbt %1, %0" : "=Q" (*ptr) : "r" ((uint32_t)value) ); -} - - -/** - \brief STRT Unprivileged (16 bit) - \details Executes a Unprivileged STRT instruction for 16 bit values. - \param [in] value Value to store - \param [in] ptr Pointer to location - */ -__STATIC_FORCEINLINE void __STRHT(uint16_t value, volatile uint16_t *ptr) -{ - __ASM volatile ("strht %1, %0" : "=Q" (*ptr) : "r" ((uint32_t)value) ); -} - - -/** - \brief STRT Unprivileged (32 bit) - \details Executes a Unprivileged STRT instruction for 32 bit values. - \param [in] value Value to store - \param [in] ptr Pointer to location - */ -__STATIC_FORCEINLINE void __STRT(uint32_t value, volatile uint32_t *ptr) -{ - __ASM volatile ("strt %1, %0" : "=Q" (*ptr) : "r" (value) ); -} - -#else /* ((defined (__ARM_ARCH_7M__ ) && (__ARM_ARCH_7M__ == 1)) || \ - (defined (__ARM_ARCH_7EM__ ) && (__ARM_ARCH_7EM__ == 1)) || \ - (defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) ) */ - -/** - \brief Signed Saturate - \details Saturates a signed value. - \param [in] value Value to be saturated - \param [in] sat Bit position to saturate to (1..32) - \return Saturated value - */ -__STATIC_FORCEINLINE int32_t __SSAT(int32_t val, uint32_t sat) -{ - if ((sat >= 1U) && (sat <= 32U)) - { - const int32_t max = (int32_t)((1U << (sat - 1U)) - 1U); - const int32_t min = -1 - max ; - if (val > max) - { - return max; - } - else if (val < min) - { - return min; - } - } - return val; -} - -/** - \brief Unsigned Saturate - \details Saturates an unsigned value. - \param [in] value Value to be saturated - \param [in] sat Bit position to saturate to (0..31) - \return Saturated value - */ -__STATIC_FORCEINLINE uint32_t __USAT(int32_t val, uint32_t sat) -{ - if (sat <= 31U) - { - const uint32_t max = ((1U << sat) - 1U); - if (val > (int32_t)max) - { - return max; - } - else if (val < 0) - { - return 0U; - } - } - return (uint32_t)val; -} - -#endif /* ((defined (__ARM_ARCH_7M__ ) && (__ARM_ARCH_7M__ == 1)) || \ - (defined (__ARM_ARCH_7EM__ ) && (__ARM_ARCH_7EM__ == 1)) || \ - (defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) ) */ - - -#if ((defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) || \ - (defined (__ARM_ARCH_8M_BASE__ ) && (__ARM_ARCH_8M_BASE__ == 1)) ) -/** - \brief Load-Acquire (8 bit) - \details Executes a LDAB instruction for 8 bit value. - \param [in] ptr Pointer to data - \return value of type uint8_t at (*ptr) - */ -__STATIC_FORCEINLINE uint8_t __LDAB(volatile uint8_t *ptr) -{ - uint32_t result; - - __ASM volatile ("ldab %0, %1" : "=r" (result) : "Q" (*ptr) ); - return ((uint8_t) result); -} - - -/** - \brief Load-Acquire (16 bit) - \details Executes a LDAH instruction for 16 bit values. - \param [in] ptr Pointer to data - \return value of type uint16_t at (*ptr) - */ -__STATIC_FORCEINLINE uint16_t __LDAH(volatile uint16_t *ptr) -{ - uint32_t result; - - __ASM volatile ("ldah %0, %1" : "=r" (result) : "Q" (*ptr) ); - return ((uint16_t) result); -} - - -/** - \brief Load-Acquire (32 bit) - \details Executes a LDA instruction for 32 bit values. - \param [in] ptr Pointer to data - \return value of type uint32_t at (*ptr) - */ -__STATIC_FORCEINLINE uint32_t __LDA(volatile uint32_t *ptr) -{ - uint32_t result; - - __ASM volatile ("lda %0, %1" : "=r" (result) : "Q" (*ptr) ); - return(result); -} - - -/** - \brief Store-Release (8 bit) - \details Executes a STLB instruction for 8 bit values. - \param [in] value Value to store - \param [in] ptr Pointer to location - */ -__STATIC_FORCEINLINE void __STLB(uint8_t value, volatile uint8_t *ptr) -{ - __ASM volatile ("stlb %1, %0" : "=Q" (*ptr) : "r" ((uint32_t)value) ); -} - - -/** - \brief Store-Release (16 bit) - \details Executes a STLH instruction for 16 bit values. - \param [in] value Value to store - \param [in] ptr Pointer to location - */ -__STATIC_FORCEINLINE void __STLH(uint16_t value, volatile uint16_t *ptr) -{ - __ASM volatile ("stlh %1, %0" : "=Q" (*ptr) : "r" ((uint32_t)value) ); -} - - -/** - \brief Store-Release (32 bit) - \details Executes a STL instruction for 32 bit values. - \param [in] value Value to store - \param [in] ptr Pointer to location - */ -__STATIC_FORCEINLINE void __STL(uint32_t value, volatile uint32_t *ptr) -{ - __ASM volatile ("stl %1, %0" : "=Q" (*ptr) : "r" ((uint32_t)value) ); -} - - -/** - \brief Load-Acquire Exclusive (8 bit) - \details Executes a LDAB exclusive instruction for 8 bit value. - \param [in] ptr Pointer to data - \return value of type uint8_t at (*ptr) - */ -__STATIC_FORCEINLINE uint8_t __LDAEXB(volatile uint8_t *ptr) -{ - uint32_t result; - - __ASM volatile ("ldaexb %0, %1" : "=r" (result) : "Q" (*ptr) ); - return ((uint8_t) result); -} - - -/** - \brief Load-Acquire Exclusive (16 bit) - \details Executes a LDAH exclusive instruction for 16 bit values. - \param [in] ptr Pointer to data - \return value of type uint16_t at (*ptr) - */ -__STATIC_FORCEINLINE uint16_t __LDAEXH(volatile uint16_t *ptr) -{ - uint32_t result; - - __ASM volatile ("ldaexh %0, %1" : "=r" (result) : "Q" (*ptr) ); - return ((uint16_t) result); -} - - -/** - \brief Load-Acquire Exclusive (32 bit) - \details Executes a LDA exclusive instruction for 32 bit values. - \param [in] ptr Pointer to data - \return value of type uint32_t at (*ptr) - */ -__STATIC_FORCEINLINE uint32_t __LDAEX(volatile uint32_t *ptr) -{ - uint32_t result; - - __ASM volatile ("ldaex %0, %1" : "=r" (result) : "Q" (*ptr) ); - return(result); -} - - -/** - \brief Store-Release Exclusive (8 bit) - \details Executes a STLB exclusive instruction for 8 bit values. - \param [in] value Value to store - \param [in] ptr Pointer to location - \return 0 Function succeeded - \return 1 Function failed - */ -__STATIC_FORCEINLINE uint32_t __STLEXB(uint8_t value, volatile uint8_t *ptr) -{ - uint32_t result; - - __ASM volatile ("stlexb %0, %2, %1" : "=&r" (result), "=Q" (*ptr) : "r" ((uint32_t)value) ); - return(result); -} - - -/** - \brief Store-Release Exclusive (16 bit) - \details Executes a STLH exclusive instruction for 16 bit values. - \param [in] value Value to store - \param [in] ptr Pointer to location - \return 0 Function succeeded - \return 1 Function failed - */ -__STATIC_FORCEINLINE uint32_t __STLEXH(uint16_t value, volatile uint16_t *ptr) -{ - uint32_t result; - - __ASM volatile ("stlexh %0, %2, %1" : "=&r" (result), "=Q" (*ptr) : "r" ((uint32_t)value) ); - return(result); -} - - -/** - \brief Store-Release Exclusive (32 bit) - \details Executes a STL exclusive instruction for 32 bit values. - \param [in] value Value to store - \param [in] ptr Pointer to location - \return 0 Function succeeded - \return 1 Function failed - */ -__STATIC_FORCEINLINE uint32_t __STLEX(uint32_t value, volatile uint32_t *ptr) -{ - uint32_t result; - - __ASM volatile ("stlex %0, %2, %1" : "=&r" (result), "=Q" (*ptr) : "r" ((uint32_t)value) ); - return(result); -} - -#endif /* ((defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) || \ - (defined (__ARM_ARCH_8M_BASE__ ) && (__ARM_ARCH_8M_BASE__ == 1)) ) */ - -/*@}*/ /* end of group CMSIS_Core_InstructionInterface */ - - -/* ################### Compiler specific Intrinsics ########################### */ -/** \defgroup CMSIS_SIMD_intrinsics CMSIS SIMD Intrinsics - Access to dedicated SIMD instructions - @{ -*/ - -#if (defined (__ARM_FEATURE_DSP) && (__ARM_FEATURE_DSP == 1)) - -__STATIC_FORCEINLINE uint32_t __SADD8(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("sadd8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __QADD8(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("qadd8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __SHADD8(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("shadd8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __UADD8(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("uadd8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __UQADD8(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("uqadd8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __UHADD8(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("uhadd8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - - -__STATIC_FORCEINLINE uint32_t __SSUB8(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("ssub8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __QSUB8(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("qsub8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __SHSUB8(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("shsub8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __USUB8(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("usub8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __UQSUB8(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("uqsub8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __UHSUB8(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("uhsub8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - - -__STATIC_FORCEINLINE uint32_t __SADD16(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("sadd16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __QADD16(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("qadd16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __SHADD16(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("shadd16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __UADD16(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("uadd16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __UQADD16(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("uqadd16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __UHADD16(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("uhadd16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __SSUB16(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("ssub16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __QSUB16(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("qsub16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __SHSUB16(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("shsub16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __USUB16(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("usub16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __UQSUB16(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("uqsub16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __UHSUB16(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("uhsub16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __SASX(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("sasx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __QASX(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("qasx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __SHASX(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("shasx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __UASX(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("uasx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __UQASX(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("uqasx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __UHASX(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("uhasx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __SSAX(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("ssax %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __QSAX(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("qsax %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __SHSAX(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("shsax %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __USAX(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("usax %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __UQSAX(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("uqsax %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __UHSAX(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("uhsax %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __USAD8(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("usad8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __USADA8(uint32_t op1, uint32_t op2, uint32_t op3) -{ - uint32_t result; - - __ASM volatile ("usada8 %0, %1, %2, %3" : "=r" (result) : "r" (op1), "r" (op2), "r" (op3) ); - return(result); -} - -#define __SSAT16(ARG1,ARG2) \ -({ \ - int32_t __RES, __ARG1 = (ARG1); \ - __ASM ("ssat16 %0, %1, %2" : "=r" (__RES) : "I" (ARG2), "r" (__ARG1) ); \ - __RES; \ - }) - -#define __USAT16(ARG1,ARG2) \ -({ \ - uint32_t __RES, __ARG1 = (ARG1); \ - __ASM ("usat16 %0, %1, %2" : "=r" (__RES) : "I" (ARG2), "r" (__ARG1) ); \ - __RES; \ - }) - -__STATIC_FORCEINLINE uint32_t __UXTB16(uint32_t op1) -{ - uint32_t result; - - __ASM volatile ("uxtb16 %0, %1" : "=r" (result) : "r" (op1)); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __UXTAB16(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("uxtab16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __SXTB16(uint32_t op1) -{ - uint32_t result; - - __ASM volatile ("sxtb16 %0, %1" : "=r" (result) : "r" (op1)); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __SXTAB16(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("sxtab16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __SMUAD (uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("smuad %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __SMUADX (uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("smuadx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __SMLAD (uint32_t op1, uint32_t op2, uint32_t op3) -{ - uint32_t result; - - __ASM volatile ("smlad %0, %1, %2, %3" : "=r" (result) : "r" (op1), "r" (op2), "r" (op3) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __SMLADX (uint32_t op1, uint32_t op2, uint32_t op3) -{ - uint32_t result; - - __ASM volatile ("smladx %0, %1, %2, %3" : "=r" (result) : "r" (op1), "r" (op2), "r" (op3) ); - return(result); -} - -__STATIC_FORCEINLINE uint64_t __SMLALD (uint32_t op1, uint32_t op2, uint64_t acc) -{ - union llreg_u{ - uint32_t w32[2]; - uint64_t w64; - } llr; - llr.w64 = acc; - -#ifndef __ARMEB__ /* Little endian */ - __ASM volatile ("smlald %0, %1, %2, %3" : "=r" (llr.w32[0]), "=r" (llr.w32[1]): "r" (op1), "r" (op2) , "0" (llr.w32[0]), "1" (llr.w32[1]) ); -#else /* Big endian */ - __ASM volatile ("smlald %0, %1, %2, %3" : "=r" (llr.w32[1]), "=r" (llr.w32[0]): "r" (op1), "r" (op2) , "0" (llr.w32[1]), "1" (llr.w32[0]) ); -#endif - - return(llr.w64); -} - -__STATIC_FORCEINLINE uint64_t __SMLALDX (uint32_t op1, uint32_t op2, uint64_t acc) -{ - union llreg_u{ - uint32_t w32[2]; - uint64_t w64; - } llr; - llr.w64 = acc; - -#ifndef __ARMEB__ /* Little endian */ - __ASM volatile ("smlaldx %0, %1, %2, %3" : "=r" (llr.w32[0]), "=r" (llr.w32[1]): "r" (op1), "r" (op2) , "0" (llr.w32[0]), "1" (llr.w32[1]) ); -#else /* Big endian */ - __ASM volatile ("smlaldx %0, %1, %2, %3" : "=r" (llr.w32[1]), "=r" (llr.w32[0]): "r" (op1), "r" (op2) , "0" (llr.w32[1]), "1" (llr.w32[0]) ); -#endif - - return(llr.w64); -} - -__STATIC_FORCEINLINE uint32_t __SMUSD (uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("smusd %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __SMUSDX (uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("smusdx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __SMLSD (uint32_t op1, uint32_t op2, uint32_t op3) -{ - uint32_t result; - - __ASM volatile ("smlsd %0, %1, %2, %3" : "=r" (result) : "r" (op1), "r" (op2), "r" (op3) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __SMLSDX (uint32_t op1, uint32_t op2, uint32_t op3) -{ - uint32_t result; - - __ASM volatile ("smlsdx %0, %1, %2, %3" : "=r" (result) : "r" (op1), "r" (op2), "r" (op3) ); - return(result); -} - -__STATIC_FORCEINLINE uint64_t __SMLSLD (uint32_t op1, uint32_t op2, uint64_t acc) -{ - union llreg_u{ - uint32_t w32[2]; - uint64_t w64; - } llr; - llr.w64 = acc; - -#ifndef __ARMEB__ /* Little endian */ - __ASM volatile ("smlsld %0, %1, %2, %3" : "=r" (llr.w32[0]), "=r" (llr.w32[1]): "r" (op1), "r" (op2) , "0" (llr.w32[0]), "1" (llr.w32[1]) ); -#else /* Big endian */ - __ASM volatile ("smlsld %0, %1, %2, %3" : "=r" (llr.w32[1]), "=r" (llr.w32[0]): "r" (op1), "r" (op2) , "0" (llr.w32[1]), "1" (llr.w32[0]) ); -#endif - - return(llr.w64); -} - -__STATIC_FORCEINLINE uint64_t __SMLSLDX (uint32_t op1, uint32_t op2, uint64_t acc) -{ - union llreg_u{ - uint32_t w32[2]; - uint64_t w64; - } llr; - llr.w64 = acc; - -#ifndef __ARMEB__ /* Little endian */ - __ASM volatile ("smlsldx %0, %1, %2, %3" : "=r" (llr.w32[0]), "=r" (llr.w32[1]): "r" (op1), "r" (op2) , "0" (llr.w32[0]), "1" (llr.w32[1]) ); -#else /* Big endian */ - __ASM volatile ("smlsldx %0, %1, %2, %3" : "=r" (llr.w32[1]), "=r" (llr.w32[0]): "r" (op1), "r" (op2) , "0" (llr.w32[1]), "1" (llr.w32[0]) ); -#endif - - return(llr.w64); -} - -__STATIC_FORCEINLINE uint32_t __SEL (uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("sel %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE int32_t __QADD( int32_t op1, int32_t op2) -{ - int32_t result; - - __ASM volatile ("qadd %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE int32_t __QSUB( int32_t op1, int32_t op2) -{ - int32_t result; - - __ASM volatile ("qsub %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -#if 0 -#define __PKHBT(ARG1,ARG2,ARG3) \ -({ \ - uint32_t __RES, __ARG1 = (ARG1), __ARG2 = (ARG2); \ - __ASM ("pkhbt %0, %1, %2, lsl %3" : "=r" (__RES) : "r" (__ARG1), "r" (__ARG2), "I" (ARG3) ); \ - __RES; \ - }) - -#define __PKHTB(ARG1,ARG2,ARG3) \ -({ \ - uint32_t __RES, __ARG1 = (ARG1), __ARG2 = (ARG2); \ - if (ARG3 == 0) \ - __ASM ("pkhtb %0, %1, %2" : "=r" (__RES) : "r" (__ARG1), "r" (__ARG2) ); \ - else \ - __ASM ("pkhtb %0, %1, %2, asr %3" : "=r" (__RES) : "r" (__ARG1), "r" (__ARG2), "I" (ARG3) ); \ - __RES; \ - }) -#endif - -#define __PKHBT(ARG1,ARG2,ARG3) ( ((((uint32_t)(ARG1)) ) & 0x0000FFFFUL) | \ - ((((uint32_t)(ARG2)) << (ARG3)) & 0xFFFF0000UL) ) - -#define __PKHTB(ARG1,ARG2,ARG3) ( ((((uint32_t)(ARG1)) ) & 0xFFFF0000UL) | \ - ((((uint32_t)(ARG2)) >> (ARG3)) & 0x0000FFFFUL) ) - -__STATIC_FORCEINLINE int32_t __SMMLA (int32_t op1, int32_t op2, int32_t op3) -{ - int32_t result; - - __ASM volatile ("smmla %0, %1, %2, %3" : "=r" (result): "r" (op1), "r" (op2), "r" (op3) ); - return(result); -} - -#endif /* (__ARM_FEATURE_DSP == 1) */ -/*@} end of group CMSIS_SIMD_intrinsics */ - - -#pragma GCC diagnostic pop - -#endif /* __CMSIS_GCC_H */ diff --git a/body/board/inc/cmsis_iccarm.h b/body/board/inc/cmsis_iccarm.h deleted file mode 100644 index 11c4af0eba7f2c..00000000000000 --- a/body/board/inc/cmsis_iccarm.h +++ /dev/null @@ -1,935 +0,0 @@ -/**************************************************************************//** - * @file cmsis_iccarm.h - * @brief CMSIS compiler ICCARM (IAR Compiler for Arm) header file - * @version V5.0.7 - * @date 19. June 2018 - ******************************************************************************/ - -//------------------------------------------------------------------------------ -// -// Copyright (c) 2017-2018 IAR Systems -// -// Licensed under the Apache License, Version 2.0 (the "License") -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. -// -//------------------------------------------------------------------------------ - - -#ifndef __CMSIS_ICCARM_H__ -#define __CMSIS_ICCARM_H__ - -#ifndef __ICCARM__ - #error This file should only be compiled by ICCARM -#endif - -#pragma system_include - -#define __IAR_FT _Pragma("inline=forced") __intrinsic - -#if (__VER__ >= 8000000) - #define __ICCARM_V8 1 -#else - #define __ICCARM_V8 0 -#endif - -#ifndef __ALIGNED - #if __ICCARM_V8 - #define __ALIGNED(x) __attribute__((aligned(x))) - #elif (__VER__ >= 7080000) - /* Needs IAR language extensions */ - #define __ALIGNED(x) __attribute__((aligned(x))) - #else - #warning No compiler specific solution for __ALIGNED.__ALIGNED is ignored. - #define __ALIGNED(x) - #endif -#endif - - -/* Define compiler macros for CPU architecture, used in CMSIS 5. - */ -#if __ARM_ARCH_6M__ || __ARM_ARCH_7M__ || __ARM_ARCH_7EM__ || __ARM_ARCH_8M_BASE__ || __ARM_ARCH_8M_MAIN__ -/* Macros already defined */ -#else - #if defined(__ARM8M_MAINLINE__) || defined(__ARM8EM_MAINLINE__) - #define __ARM_ARCH_8M_MAIN__ 1 - #elif defined(__ARM8M_BASELINE__) - #define __ARM_ARCH_8M_BASE__ 1 - #elif defined(__ARM_ARCH_PROFILE) && __ARM_ARCH_PROFILE == 'M' - #if __ARM_ARCH == 6 - #define __ARM_ARCH_6M__ 1 - #elif __ARM_ARCH == 7 - #if __ARM_FEATURE_DSP - #define __ARM_ARCH_7EM__ 1 - #else - #define __ARM_ARCH_7M__ 1 - #endif - #endif /* __ARM_ARCH */ - #endif /* __ARM_ARCH_PROFILE == 'M' */ -#endif - -/* Alternativ core deduction for older ICCARM's */ -#if !defined(__ARM_ARCH_6M__) && !defined(__ARM_ARCH_7M__) && !defined(__ARM_ARCH_7EM__) && \ - !defined(__ARM_ARCH_8M_BASE__) && !defined(__ARM_ARCH_8M_MAIN__) - #if defined(__ARM6M__) && (__CORE__ == __ARM6M__) - #define __ARM_ARCH_6M__ 1 - #elif defined(__ARM7M__) && (__CORE__ == __ARM7M__) - #define __ARM_ARCH_7M__ 1 - #elif defined(__ARM7EM__) && (__CORE__ == __ARM7EM__) - #define __ARM_ARCH_7EM__ 1 - #elif defined(__ARM8M_BASELINE__) && (__CORE == __ARM8M_BASELINE__) - #define __ARM_ARCH_8M_BASE__ 1 - #elif defined(__ARM8M_MAINLINE__) && (__CORE == __ARM8M_MAINLINE__) - #define __ARM_ARCH_8M_MAIN__ 1 - #elif defined(__ARM8EM_MAINLINE__) && (__CORE == __ARM8EM_MAINLINE__) - #define __ARM_ARCH_8M_MAIN__ 1 - #else - #error "Unknown target." - #endif -#endif - - - -#if defined(__ARM_ARCH_6M__) && __ARM_ARCH_6M__==1 - #define __IAR_M0_FAMILY 1 -#elif defined(__ARM_ARCH_8M_BASE__) && __ARM_ARCH_8M_BASE__==1 - #define __IAR_M0_FAMILY 1 -#else - #define __IAR_M0_FAMILY 0 -#endif - - -#ifndef __ASM - #define __ASM __asm -#endif - -#ifndef __INLINE - #define __INLINE inline -#endif - -#ifndef __NO_RETURN - #if __ICCARM_V8 - #define __NO_RETURN __attribute__((__noreturn__)) - #else - #define __NO_RETURN _Pragma("object_attribute=__noreturn") - #endif -#endif - -#ifndef __PACKED - #if __ICCARM_V8 - #define __PACKED __attribute__((packed, aligned(1))) - #else - /* Needs IAR language extensions */ - #define __PACKED __packed - #endif -#endif - -#ifndef __PACKED_STRUCT - #if __ICCARM_V8 - #define __PACKED_STRUCT struct __attribute__((packed, aligned(1))) - #else - /* Needs IAR language extensions */ - #define __PACKED_STRUCT __packed struct - #endif -#endif - -#ifndef __PACKED_UNION - #if __ICCARM_V8 - #define __PACKED_UNION union __attribute__((packed, aligned(1))) - #else - /* Needs IAR language extensions */ - #define __PACKED_UNION __packed union - #endif -#endif - -#ifndef __RESTRICT - #define __RESTRICT __restrict -#endif - -#ifndef __STATIC_INLINE - #define __STATIC_INLINE static inline -#endif - -#ifndef __FORCEINLINE - #define __FORCEINLINE _Pragma("inline=forced") -#endif - -#ifndef __STATIC_FORCEINLINE - #define __STATIC_FORCEINLINE __FORCEINLINE __STATIC_INLINE -#endif - -#ifndef __UNALIGNED_UINT16_READ -#pragma language=save -#pragma language=extended -__IAR_FT uint16_t __iar_uint16_read(void const *ptr) -{ - return *(__packed uint16_t*)(ptr); -} -#pragma language=restore -#define __UNALIGNED_UINT16_READ(PTR) __iar_uint16_read(PTR) -#endif - - -#ifndef __UNALIGNED_UINT16_WRITE -#pragma language=save -#pragma language=extended -__IAR_FT void __iar_uint16_write(void const *ptr, uint16_t val) -{ - *(__packed uint16_t*)(ptr) = val;; -} -#pragma language=restore -#define __UNALIGNED_UINT16_WRITE(PTR,VAL) __iar_uint16_write(PTR,VAL) -#endif - -#ifndef __UNALIGNED_UINT32_READ -#pragma language=save -#pragma language=extended -__IAR_FT uint32_t __iar_uint32_read(void const *ptr) -{ - return *(__packed uint32_t*)(ptr); -} -#pragma language=restore -#define __UNALIGNED_UINT32_READ(PTR) __iar_uint32_read(PTR) -#endif - -#ifndef __UNALIGNED_UINT32_WRITE -#pragma language=save -#pragma language=extended -__IAR_FT void __iar_uint32_write(void const *ptr, uint32_t val) -{ - *(__packed uint32_t*)(ptr) = val;; -} -#pragma language=restore -#define __UNALIGNED_UINT32_WRITE(PTR,VAL) __iar_uint32_write(PTR,VAL) -#endif - -#ifndef __UNALIGNED_UINT32 /* deprecated */ -#pragma language=save -#pragma language=extended -__packed struct __iar_u32 { uint32_t v; }; -#pragma language=restore -#define __UNALIGNED_UINT32(PTR) (((struct __iar_u32 *)(PTR))->v) -#endif - -#ifndef __USED - #if __ICCARM_V8 - #define __USED __attribute__((used)) - #else - #define __USED _Pragma("__root") - #endif -#endif - -#ifndef __WEAK - #if __ICCARM_V8 - #define __WEAK __attribute__((weak)) - #else - #define __WEAK _Pragma("__weak") - #endif -#endif - - -#ifndef __ICCARM_INTRINSICS_VERSION__ - #define __ICCARM_INTRINSICS_VERSION__ 0 -#endif - -#if __ICCARM_INTRINSICS_VERSION__ == 2 - - #if defined(__CLZ) - #undef __CLZ - #endif - #if defined(__REVSH) - #undef __REVSH - #endif - #if defined(__RBIT) - #undef __RBIT - #endif - #if defined(__SSAT) - #undef __SSAT - #endif - #if defined(__USAT) - #undef __USAT - #endif - - #include "iccarm_builtin.h" - - #define __disable_fault_irq __iar_builtin_disable_fiq - #define __disable_irq __iar_builtin_disable_interrupt - #define __enable_fault_irq __iar_builtin_enable_fiq - #define __enable_irq __iar_builtin_enable_interrupt - #define __arm_rsr __iar_builtin_rsr - #define __arm_wsr __iar_builtin_wsr - - - #define __get_APSR() (__arm_rsr("APSR")) - #define __get_BASEPRI() (__arm_rsr("BASEPRI")) - #define __get_CONTROL() (__arm_rsr("CONTROL")) - #define __get_FAULTMASK() (__arm_rsr("FAULTMASK")) - - #if ((defined (__FPU_PRESENT) && (__FPU_PRESENT == 1U)) && \ - (defined (__FPU_USED ) && (__FPU_USED == 1U)) ) - #define __get_FPSCR() (__arm_rsr("FPSCR")) - #define __set_FPSCR(VALUE) (__arm_wsr("FPSCR", (VALUE))) - #else - #define __get_FPSCR() ( 0 ) - #define __set_FPSCR(VALUE) ((void)VALUE) - #endif - - #define __get_IPSR() (__arm_rsr("IPSR")) - #define __get_MSP() (__arm_rsr("MSP")) - #if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) && \ - (!defined (__ARM_FEATURE_CMSE) || (__ARM_FEATURE_CMSE < 3))) - // without main extensions, the non-secure MSPLIM is RAZ/WI - #define __get_MSPLIM() (0U) - #else - #define __get_MSPLIM() (__arm_rsr("MSPLIM")) - #endif - #define __get_PRIMASK() (__arm_rsr("PRIMASK")) - #define __get_PSP() (__arm_rsr("PSP")) - - #if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) && \ - (!defined (__ARM_FEATURE_CMSE) || (__ARM_FEATURE_CMSE < 3))) - // without main extensions, the non-secure PSPLIM is RAZ/WI - #define __get_PSPLIM() (0U) - #else - #define __get_PSPLIM() (__arm_rsr("PSPLIM")) - #endif - - #define __get_xPSR() (__arm_rsr("xPSR")) - - #define __set_BASEPRI(VALUE) (__arm_wsr("BASEPRI", (VALUE))) - #define __set_BASEPRI_MAX(VALUE) (__arm_wsr("BASEPRI_MAX", (VALUE))) - #define __set_CONTROL(VALUE) (__arm_wsr("CONTROL", (VALUE))) - #define __set_FAULTMASK(VALUE) (__arm_wsr("FAULTMASK", (VALUE))) - #define __set_MSP(VALUE) (__arm_wsr("MSP", (VALUE))) - - #if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) && \ - (!defined (__ARM_FEATURE_CMSE) || (__ARM_FEATURE_CMSE < 3))) - // without main extensions, the non-secure MSPLIM is RAZ/WI - #define __set_MSPLIM(VALUE) ((void)(VALUE)) - #else - #define __set_MSPLIM(VALUE) (__arm_wsr("MSPLIM", (VALUE))) - #endif - #define __set_PRIMASK(VALUE) (__arm_wsr("PRIMASK", (VALUE))) - #define __set_PSP(VALUE) (__arm_wsr("PSP", (VALUE))) - #if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) && \ - (!defined (__ARM_FEATURE_CMSE) || (__ARM_FEATURE_CMSE < 3))) - // without main extensions, the non-secure PSPLIM is RAZ/WI - #define __set_PSPLIM(VALUE) ((void)(VALUE)) - #else - #define __set_PSPLIM(VALUE) (__arm_wsr("PSPLIM", (VALUE))) - #endif - - #define __TZ_get_CONTROL_NS() (__arm_rsr("CONTROL_NS")) - #define __TZ_set_CONTROL_NS(VALUE) (__arm_wsr("CONTROL_NS", (VALUE))) - #define __TZ_get_PSP_NS() (__arm_rsr("PSP_NS")) - #define __TZ_set_PSP_NS(VALUE) (__arm_wsr("PSP_NS", (VALUE))) - #define __TZ_get_MSP_NS() (__arm_rsr("MSP_NS")) - #define __TZ_set_MSP_NS(VALUE) (__arm_wsr("MSP_NS", (VALUE))) - #define __TZ_get_SP_NS() (__arm_rsr("SP_NS")) - #define __TZ_set_SP_NS(VALUE) (__arm_wsr("SP_NS", (VALUE))) - #define __TZ_get_PRIMASK_NS() (__arm_rsr("PRIMASK_NS")) - #define __TZ_set_PRIMASK_NS(VALUE) (__arm_wsr("PRIMASK_NS", (VALUE))) - #define __TZ_get_BASEPRI_NS() (__arm_rsr("BASEPRI_NS")) - #define __TZ_set_BASEPRI_NS(VALUE) (__arm_wsr("BASEPRI_NS", (VALUE))) - #define __TZ_get_FAULTMASK_NS() (__arm_rsr("FAULTMASK_NS")) - #define __TZ_set_FAULTMASK_NS(VALUE)(__arm_wsr("FAULTMASK_NS", (VALUE))) - - #if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) && \ - (!defined (__ARM_FEATURE_CMSE) || (__ARM_FEATURE_CMSE < 3))) - // without main extensions, the non-secure PSPLIM is RAZ/WI - #define __TZ_get_PSPLIM_NS() (0U) - #define __TZ_set_PSPLIM_NS(VALUE) ((void)(VALUE)) - #else - #define __TZ_get_PSPLIM_NS() (__arm_rsr("PSPLIM_NS")) - #define __TZ_set_PSPLIM_NS(VALUE) (__arm_wsr("PSPLIM_NS", (VALUE))) - #endif - - #define __TZ_get_MSPLIM_NS() (__arm_rsr("MSPLIM_NS")) - #define __TZ_set_MSPLIM_NS(VALUE) (__arm_wsr("MSPLIM_NS", (VALUE))) - - #define __NOP __iar_builtin_no_operation - - #define __CLZ __iar_builtin_CLZ - #define __CLREX __iar_builtin_CLREX - - #define __DMB __iar_builtin_DMB - #define __DSB __iar_builtin_DSB - #define __ISB __iar_builtin_ISB - - #define __LDREXB __iar_builtin_LDREXB - #define __LDREXH __iar_builtin_LDREXH - #define __LDREXW __iar_builtin_LDREX - - #define __RBIT __iar_builtin_RBIT - #define __REV __iar_builtin_REV - #define __REV16 __iar_builtin_REV16 - - __IAR_FT int16_t __REVSH(int16_t val) - { - return (int16_t) __iar_builtin_REVSH(val); - } - - #define __ROR __iar_builtin_ROR - #define __RRX __iar_builtin_RRX - - #define __SEV __iar_builtin_SEV - - #if !__IAR_M0_FAMILY - #define __SSAT __iar_builtin_SSAT - #endif - - #define __STREXB __iar_builtin_STREXB - #define __STREXH __iar_builtin_STREXH - #define __STREXW __iar_builtin_STREX - - #if !__IAR_M0_FAMILY - #define __USAT __iar_builtin_USAT - #endif - - #define __WFE __iar_builtin_WFE - #define __WFI __iar_builtin_WFI - - #if __ARM_MEDIA__ - #define __SADD8 __iar_builtin_SADD8 - #define __QADD8 __iar_builtin_QADD8 - #define __SHADD8 __iar_builtin_SHADD8 - #define __UADD8 __iar_builtin_UADD8 - #define __UQADD8 __iar_builtin_UQADD8 - #define __UHADD8 __iar_builtin_UHADD8 - #define __SSUB8 __iar_builtin_SSUB8 - #define __QSUB8 __iar_builtin_QSUB8 - #define __SHSUB8 __iar_builtin_SHSUB8 - #define __USUB8 __iar_builtin_USUB8 - #define __UQSUB8 __iar_builtin_UQSUB8 - #define __UHSUB8 __iar_builtin_UHSUB8 - #define __SADD16 __iar_builtin_SADD16 - #define __QADD16 __iar_builtin_QADD16 - #define __SHADD16 __iar_builtin_SHADD16 - #define __UADD16 __iar_builtin_UADD16 - #define __UQADD16 __iar_builtin_UQADD16 - #define __UHADD16 __iar_builtin_UHADD16 - #define __SSUB16 __iar_builtin_SSUB16 - #define __QSUB16 __iar_builtin_QSUB16 - #define __SHSUB16 __iar_builtin_SHSUB16 - #define __USUB16 __iar_builtin_USUB16 - #define __UQSUB16 __iar_builtin_UQSUB16 - #define __UHSUB16 __iar_builtin_UHSUB16 - #define __SASX __iar_builtin_SASX - #define __QASX __iar_builtin_QASX - #define __SHASX __iar_builtin_SHASX - #define __UASX __iar_builtin_UASX - #define __UQASX __iar_builtin_UQASX - #define __UHASX __iar_builtin_UHASX - #define __SSAX __iar_builtin_SSAX - #define __QSAX __iar_builtin_QSAX - #define __SHSAX __iar_builtin_SHSAX - #define __USAX __iar_builtin_USAX - #define __UQSAX __iar_builtin_UQSAX - #define __UHSAX __iar_builtin_UHSAX - #define __USAD8 __iar_builtin_USAD8 - #define __USADA8 __iar_builtin_USADA8 - #define __SSAT16 __iar_builtin_SSAT16 - #define __USAT16 __iar_builtin_USAT16 - #define __UXTB16 __iar_builtin_UXTB16 - #define __UXTAB16 __iar_builtin_UXTAB16 - #define __SXTB16 __iar_builtin_SXTB16 - #define __SXTAB16 __iar_builtin_SXTAB16 - #define __SMUAD __iar_builtin_SMUAD - #define __SMUADX __iar_builtin_SMUADX - #define __SMMLA __iar_builtin_SMMLA - #define __SMLAD __iar_builtin_SMLAD - #define __SMLADX __iar_builtin_SMLADX - #define __SMLALD __iar_builtin_SMLALD - #define __SMLALDX __iar_builtin_SMLALDX - #define __SMUSD __iar_builtin_SMUSD - #define __SMUSDX __iar_builtin_SMUSDX - #define __SMLSD __iar_builtin_SMLSD - #define __SMLSDX __iar_builtin_SMLSDX - #define __SMLSLD __iar_builtin_SMLSLD - #define __SMLSLDX __iar_builtin_SMLSLDX - #define __SEL __iar_builtin_SEL - #define __QADD __iar_builtin_QADD - #define __QSUB __iar_builtin_QSUB - #define __PKHBT __iar_builtin_PKHBT - #define __PKHTB __iar_builtin_PKHTB - #endif - -#else /* __ICCARM_INTRINSICS_VERSION__ == 2 */ - - #if __IAR_M0_FAMILY - /* Avoid clash between intrinsics.h and arm_math.h when compiling for Cortex-M0. */ - #define __CLZ __cmsis_iar_clz_not_active - #define __SSAT __cmsis_iar_ssat_not_active - #define __USAT __cmsis_iar_usat_not_active - #define __RBIT __cmsis_iar_rbit_not_active - #define __get_APSR __cmsis_iar_get_APSR_not_active - #endif - - - #if (!((defined (__FPU_PRESENT) && (__FPU_PRESENT == 1U)) && \ - (defined (__FPU_USED ) && (__FPU_USED == 1U)) )) - #define __get_FPSCR __cmsis_iar_get_FPSR_not_active - #define __set_FPSCR __cmsis_iar_set_FPSR_not_active - #endif - - #ifdef __INTRINSICS_INCLUDED - #error intrinsics.h is already included previously! - #endif - - #include - - #if __IAR_M0_FAMILY - /* Avoid clash between intrinsics.h and arm_math.h when compiling for Cortex-M0. */ - #undef __CLZ - #undef __SSAT - #undef __USAT - #undef __RBIT - #undef __get_APSR - - __STATIC_INLINE uint8_t __CLZ(uint32_t data) - { - if (data == 0U) { return 32U; } - - uint32_t count = 0U; - uint32_t mask = 0x80000000U; - - while ((data & mask) == 0U) - { - count += 1U; - mask = mask >> 1U; - } - return count; - } - - __STATIC_INLINE uint32_t __RBIT(uint32_t v) - { - uint8_t sc = 31U; - uint32_t r = v; - for (v >>= 1U; v; v >>= 1U) - { - r <<= 1U; - r |= v & 1U; - sc--; - } - return (r << sc); - } - - __STATIC_INLINE uint32_t __get_APSR(void) - { - uint32_t res; - __asm("MRS %0,APSR" : "=r" (res)); - return res; - } - - #endif - - #if (!((defined (__FPU_PRESENT) && (__FPU_PRESENT == 1U)) && \ - (defined (__FPU_USED ) && (__FPU_USED == 1U)) )) - #undef __get_FPSCR - #undef __set_FPSCR - #define __get_FPSCR() (0) - #define __set_FPSCR(VALUE) ((void)VALUE) - #endif - - #pragma diag_suppress=Pe940 - #pragma diag_suppress=Pe177 - - #define __enable_irq __enable_interrupt - #define __disable_irq __disable_interrupt - #define __NOP __no_operation - - #define __get_xPSR __get_PSR - - #if (!defined(__ARM_ARCH_6M__) || __ARM_ARCH_6M__==0) - - __IAR_FT uint32_t __LDREXW(uint32_t volatile *ptr) - { - return __LDREX((unsigned long *)ptr); - } - - __IAR_FT uint32_t __STREXW(uint32_t value, uint32_t volatile *ptr) - { - return __STREX(value, (unsigned long *)ptr); - } - #endif - - - /* __CORTEX_M is defined in core_cm0.h, core_cm3.h and core_cm4.h. */ - #if (__CORTEX_M >= 0x03) - - __IAR_FT uint32_t __RRX(uint32_t value) - { - uint32_t result; - __ASM("RRX %0, %1" : "=r"(result) : "r" (value) : "cc"); - return(result); - } - - __IAR_FT void __set_BASEPRI_MAX(uint32_t value) - { - __asm volatile("MSR BASEPRI_MAX,%0"::"r" (value)); - } - - - #define __enable_fault_irq __enable_fiq - #define __disable_fault_irq __disable_fiq - - - #endif /* (__CORTEX_M >= 0x03) */ - - __IAR_FT uint32_t __ROR(uint32_t op1, uint32_t op2) - { - return (op1 >> op2) | (op1 << ((sizeof(op1)*8)-op2)); - } - - #if ((defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) || \ - (defined (__ARM_ARCH_8M_BASE__ ) && (__ARM_ARCH_8M_BASE__ == 1)) ) - - __IAR_FT uint32_t __get_MSPLIM(void) - { - uint32_t res; - #if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) && \ - (!defined (__ARM_FEATURE_CMSE ) || (__ARM_FEATURE_CMSE < 3))) - // without main extensions, the non-secure MSPLIM is RAZ/WI - res = 0U; - #else - __asm volatile("MRS %0,MSPLIM" : "=r" (res)); - #endif - return res; - } - - __IAR_FT void __set_MSPLIM(uint32_t value) - { - #if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) && \ - (!defined (__ARM_FEATURE_CMSE ) || (__ARM_FEATURE_CMSE < 3))) - // without main extensions, the non-secure MSPLIM is RAZ/WI - (void)value; - #else - __asm volatile("MSR MSPLIM,%0" :: "r" (value)); - #endif - } - - __IAR_FT uint32_t __get_PSPLIM(void) - { - uint32_t res; - #if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) && \ - (!defined (__ARM_FEATURE_CMSE ) || (__ARM_FEATURE_CMSE < 3))) - // without main extensions, the non-secure PSPLIM is RAZ/WI - res = 0U; - #else - __asm volatile("MRS %0,PSPLIM" : "=r" (res)); - #endif - return res; - } - - __IAR_FT void __set_PSPLIM(uint32_t value) - { - #if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) && \ - (!defined (__ARM_FEATURE_CMSE ) || (__ARM_FEATURE_CMSE < 3))) - // without main extensions, the non-secure PSPLIM is RAZ/WI - (void)value; - #else - __asm volatile("MSR PSPLIM,%0" :: "r" (value)); - #endif - } - - __IAR_FT uint32_t __TZ_get_CONTROL_NS(void) - { - uint32_t res; - __asm volatile("MRS %0,CONTROL_NS" : "=r" (res)); - return res; - } - - __IAR_FT void __TZ_set_CONTROL_NS(uint32_t value) - { - __asm volatile("MSR CONTROL_NS,%0" :: "r" (value)); - } - - __IAR_FT uint32_t __TZ_get_PSP_NS(void) - { - uint32_t res; - __asm volatile("MRS %0,PSP_NS" : "=r" (res)); - return res; - } - - __IAR_FT void __TZ_set_PSP_NS(uint32_t value) - { - __asm volatile("MSR PSP_NS,%0" :: "r" (value)); - } - - __IAR_FT uint32_t __TZ_get_MSP_NS(void) - { - uint32_t res; - __asm volatile("MRS %0,MSP_NS" : "=r" (res)); - return res; - } - - __IAR_FT void __TZ_set_MSP_NS(uint32_t value) - { - __asm volatile("MSR MSP_NS,%0" :: "r" (value)); - } - - __IAR_FT uint32_t __TZ_get_SP_NS(void) - { - uint32_t res; - __asm volatile("MRS %0,SP_NS" : "=r" (res)); - return res; - } - __IAR_FT void __TZ_set_SP_NS(uint32_t value) - { - __asm volatile("MSR SP_NS,%0" :: "r" (value)); - } - - __IAR_FT uint32_t __TZ_get_PRIMASK_NS(void) - { - uint32_t res; - __asm volatile("MRS %0,PRIMASK_NS" : "=r" (res)); - return res; - } - - __IAR_FT void __TZ_set_PRIMASK_NS(uint32_t value) - { - __asm volatile("MSR PRIMASK_NS,%0" :: "r" (value)); - } - - __IAR_FT uint32_t __TZ_get_BASEPRI_NS(void) - { - uint32_t res; - __asm volatile("MRS %0,BASEPRI_NS" : "=r" (res)); - return res; - } - - __IAR_FT void __TZ_set_BASEPRI_NS(uint32_t value) - { - __asm volatile("MSR BASEPRI_NS,%0" :: "r" (value)); - } - - __IAR_FT uint32_t __TZ_get_FAULTMASK_NS(void) - { - uint32_t res; - __asm volatile("MRS %0,FAULTMASK_NS" : "=r" (res)); - return res; - } - - __IAR_FT void __TZ_set_FAULTMASK_NS(uint32_t value) - { - __asm volatile("MSR FAULTMASK_NS,%0" :: "r" (value)); - } - - __IAR_FT uint32_t __TZ_get_PSPLIM_NS(void) - { - uint32_t res; - #if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) && \ - (!defined (__ARM_FEATURE_CMSE ) || (__ARM_FEATURE_CMSE < 3))) - // without main extensions, the non-secure PSPLIM is RAZ/WI - res = 0U; - #else - __asm volatile("MRS %0,PSPLIM_NS" : "=r" (res)); - #endif - return res; - } - - __IAR_FT void __TZ_set_PSPLIM_NS(uint32_t value) - { - #if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) && \ - (!defined (__ARM_FEATURE_CMSE ) || (__ARM_FEATURE_CMSE < 3))) - // without main extensions, the non-secure PSPLIM is RAZ/WI - (void)value; - #else - __asm volatile("MSR PSPLIM_NS,%0" :: "r" (value)); - #endif - } - - __IAR_FT uint32_t __TZ_get_MSPLIM_NS(void) - { - uint32_t res; - __asm volatile("MRS %0,MSPLIM_NS" : "=r" (res)); - return res; - } - - __IAR_FT void __TZ_set_MSPLIM_NS(uint32_t value) - { - __asm volatile("MSR MSPLIM_NS,%0" :: "r" (value)); - } - - #endif /* __ARM_ARCH_8M_MAIN__ or __ARM_ARCH_8M_BASE__ */ - -#endif /* __ICCARM_INTRINSICS_VERSION__ == 2 */ - -#define __BKPT(value) __asm volatile ("BKPT %0" : : "i"(value)) - -#if __IAR_M0_FAMILY - __STATIC_INLINE int32_t __SSAT(int32_t val, uint32_t sat) - { - if ((sat >= 1U) && (sat <= 32U)) - { - const int32_t max = (int32_t)((1U << (sat - 1U)) - 1U); - const int32_t min = -1 - max ; - if (val > max) - { - return max; - } - else if (val < min) - { - return min; - } - } - return val; - } - - __STATIC_INLINE uint32_t __USAT(int32_t val, uint32_t sat) - { - if (sat <= 31U) - { - const uint32_t max = ((1U << sat) - 1U); - if (val > (int32_t)max) - { - return max; - } - else if (val < 0) - { - return 0U; - } - } - return (uint32_t)val; - } -#endif - -#if (__CORTEX_M >= 0x03) /* __CORTEX_M is defined in core_cm0.h, core_cm3.h and core_cm4.h. */ - - __IAR_FT uint8_t __LDRBT(volatile uint8_t *addr) - { - uint32_t res; - __ASM("LDRBT %0, [%1]" : "=r" (res) : "r" (addr) : "memory"); - return ((uint8_t)res); - } - - __IAR_FT uint16_t __LDRHT(volatile uint16_t *addr) - { - uint32_t res; - __ASM("LDRHT %0, [%1]" : "=r" (res) : "r" (addr) : "memory"); - return ((uint16_t)res); - } - - __IAR_FT uint32_t __LDRT(volatile uint32_t *addr) - { - uint32_t res; - __ASM("LDRT %0, [%1]" : "=r" (res) : "r" (addr) : "memory"); - return res; - } - - __IAR_FT void __STRBT(uint8_t value, volatile uint8_t *addr) - { - __ASM("STRBT %1, [%0]" : : "r" (addr), "r" ((uint32_t)value) : "memory"); - } - - __IAR_FT void __STRHT(uint16_t value, volatile uint16_t *addr) - { - __ASM("STRHT %1, [%0]" : : "r" (addr), "r" ((uint32_t)value) : "memory"); - } - - __IAR_FT void __STRT(uint32_t value, volatile uint32_t *addr) - { - __ASM("STRT %1, [%0]" : : "r" (addr), "r" (value) : "memory"); - } - -#endif /* (__CORTEX_M >= 0x03) */ - -#if ((defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) || \ - (defined (__ARM_ARCH_8M_BASE__ ) && (__ARM_ARCH_8M_BASE__ == 1)) ) - - - __IAR_FT uint8_t __LDAB(volatile uint8_t *ptr) - { - uint32_t res; - __ASM volatile ("LDAB %0, [%1]" : "=r" (res) : "r" (ptr) : "memory"); - return ((uint8_t)res); - } - - __IAR_FT uint16_t __LDAH(volatile uint16_t *ptr) - { - uint32_t res; - __ASM volatile ("LDAH %0, [%1]" : "=r" (res) : "r" (ptr) : "memory"); - return ((uint16_t)res); - } - - __IAR_FT uint32_t __LDA(volatile uint32_t *ptr) - { - uint32_t res; - __ASM volatile ("LDA %0, [%1]" : "=r" (res) : "r" (ptr) : "memory"); - return res; - } - - __IAR_FT void __STLB(uint8_t value, volatile uint8_t *ptr) - { - __ASM volatile ("STLB %1, [%0]" :: "r" (ptr), "r" (value) : "memory"); - } - - __IAR_FT void __STLH(uint16_t value, volatile uint16_t *ptr) - { - __ASM volatile ("STLH %1, [%0]" :: "r" (ptr), "r" (value) : "memory"); - } - - __IAR_FT void __STL(uint32_t value, volatile uint32_t *ptr) - { - __ASM volatile ("STL %1, [%0]" :: "r" (ptr), "r" (value) : "memory"); - } - - __IAR_FT uint8_t __LDAEXB(volatile uint8_t *ptr) - { - uint32_t res; - __ASM volatile ("LDAEXB %0, [%1]" : "=r" (res) : "r" (ptr) : "memory"); - return ((uint8_t)res); - } - - __IAR_FT uint16_t __LDAEXH(volatile uint16_t *ptr) - { - uint32_t res; - __ASM volatile ("LDAEXH %0, [%1]" : "=r" (res) : "r" (ptr) : "memory"); - return ((uint16_t)res); - } - - __IAR_FT uint32_t __LDAEX(volatile uint32_t *ptr) - { - uint32_t res; - __ASM volatile ("LDAEX %0, [%1]" : "=r" (res) : "r" (ptr) : "memory"); - return res; - } - - __IAR_FT uint32_t __STLEXB(uint8_t value, volatile uint8_t *ptr) - { - uint32_t res; - __ASM volatile ("STLEXB %0, %2, [%1]" : "=r" (res) : "r" (ptr), "r" (value) : "memory"); - return res; - } - - __IAR_FT uint32_t __STLEXH(uint16_t value, volatile uint16_t *ptr) - { - uint32_t res; - __ASM volatile ("STLEXH %0, %2, [%1]" : "=r" (res) : "r" (ptr), "r" (value) : "memory"); - return res; - } - - __IAR_FT uint32_t __STLEX(uint32_t value, volatile uint32_t *ptr) - { - uint32_t res; - __ASM volatile ("STLEX %0, %2, [%1]" : "=r" (res) : "r" (ptr), "r" (value) : "memory"); - return res; - } - -#endif /* __ARM_ARCH_8M_MAIN__ or __ARM_ARCH_8M_BASE__ */ - -#undef __IAR_FT -#undef __IAR_M0_FAMILY -#undef __ICCARM_V8 - -#pragma diag_default=Pe940 -#pragma diag_default=Pe177 - -#endif /* __CMSIS_ICCARM_H__ */ diff --git a/body/board/inc/cmsis_version.h b/body/board/inc/cmsis_version.h deleted file mode 100644 index 660f612aa31fe2..00000000000000 --- a/body/board/inc/cmsis_version.h +++ /dev/null @@ -1,39 +0,0 @@ -/**************************************************************************//** - * @file cmsis_version.h - * @brief CMSIS Core(M) Version definitions - * @version V5.0.2 - * @date 19. April 2017 - ******************************************************************************/ -/* - * Copyright (c) 2009-2017 ARM Limited. All rights reserved. - * - * SPDX-License-Identifier: Apache-2.0 - * - * Licensed under the Apache License, Version 2.0 (the License); you may - * not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an AS IS BASIS, WITHOUT - * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - -#if defined ( __ICCARM__ ) - #pragma system_include /* treat file as system include file for MISRA check */ -#elif defined (__clang__) - #pragma clang system_header /* treat file as system include file */ -#endif - -#ifndef __CMSIS_VERSION_H -#define __CMSIS_VERSION_H - -/* CMSIS Version definitions */ -#define __CM_CMSIS_VERSION_MAIN ( 5U) /*!< [31:16] CMSIS Core(M) main version */ -#define __CM_CMSIS_VERSION_SUB ( 1U) /*!< [15:0] CMSIS Core(M) sub version */ -#define __CM_CMSIS_VERSION ((__CM_CMSIS_VERSION_MAIN << 16U) | \ - __CM_CMSIS_VERSION_SUB ) /*!< CMSIS Core(M) version number */ -#endif diff --git a/body/board/inc/core_armv8mbl.h b/body/board/inc/core_armv8mbl.h deleted file mode 100644 index 251e4ede3a9f54..00000000000000 --- a/body/board/inc/core_armv8mbl.h +++ /dev/null @@ -1,1918 +0,0 @@ -/**************************************************************************//** - * @file core_armv8mbl.h - * @brief CMSIS Armv8-M Baseline Core Peripheral Access Layer Header File - * @version V5.0.7 - * @date 22. June 2018 - ******************************************************************************/ -/* - * Copyright (c) 2009-2018 Arm Limited. All rights reserved. - * - * SPDX-License-Identifier: Apache-2.0 - * - * Licensed under the Apache License, Version 2.0 (the License); you may - * not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an AS IS BASIS, WITHOUT - * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - -#if defined ( __ICCARM__ ) - #pragma system_include /* treat file as system include file for MISRA check */ -#elif defined (__clang__) - #pragma clang system_header /* treat file as system include file */ -#endif - -#ifndef __CORE_ARMV8MBL_H_GENERIC -#define __CORE_ARMV8MBL_H_GENERIC - -#include - -#ifdef __cplusplus - extern "C" { -#endif - -/** - \page CMSIS_MISRA_Exceptions MISRA-C:2004 Compliance Exceptions - CMSIS violates the following MISRA-C:2004 rules: - - \li Required Rule 8.5, object/function definition in header file.
- Function definitions in header files are used to allow 'inlining'. - - \li Required Rule 18.4, declaration of union type or object of union type: '{...}'.
- Unions are used for effective representation of core registers. - - \li Advisory Rule 19.7, Function-like macro defined.
- Function-like macros are used to allow more efficient code. - */ - - -/******************************************************************************* - * CMSIS definitions - ******************************************************************************/ -/** - \ingroup Cortex_ARMv8MBL - @{ - */ - -#include "cmsis_version.h" - -/* CMSIS definitions */ -#define __ARMv8MBL_CMSIS_VERSION_MAIN (__CM_CMSIS_VERSION_MAIN) /*!< \deprecated [31:16] CMSIS HAL main version */ -#define __ARMv8MBL_CMSIS_VERSION_SUB (__CM_CMSIS_VERSION_SUB) /*!< \deprecated [15:0] CMSIS HAL sub version */ -#define __ARMv8MBL_CMSIS_VERSION ((__ARMv8MBL_CMSIS_VERSION_MAIN << 16U) | \ - __ARMv8MBL_CMSIS_VERSION_SUB ) /*!< \deprecated CMSIS HAL version number */ - -#define __CORTEX_M ( 2U) /*!< Cortex-M Core */ - -/** __FPU_USED indicates whether an FPU is used or not. - This core does not support an FPU at all -*/ -#define __FPU_USED 0U - -#if defined ( __CC_ARM ) - #if defined __TARGET_FPU_VFP - #error "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)" - #endif - -#elif defined (__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050) - #if defined __ARM_PCS_VFP - #error "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)" - #endif - -#elif defined ( __GNUC__ ) - #if defined (__VFP_FP__) && !defined(__SOFTFP__) - #error "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)" - #endif - -#elif defined ( __ICCARM__ ) - #if defined __ARMVFP__ - #error "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)" - #endif - -#elif defined ( __TI_ARM__ ) - #if defined __TI_VFP_SUPPORT__ - #error "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)" - #endif - -#elif defined ( __TASKING__ ) - #if defined __FPU_VFP__ - #error "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)" - #endif - -#elif defined ( __CSMC__ ) - #if ( __CSMC__ & 0x400U) - #error "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)" - #endif - -#endif - -#include "cmsis_compiler.h" /* CMSIS compiler specific defines */ - - -#ifdef __cplusplus -} -#endif - -#endif /* __CORE_ARMV8MBL_H_GENERIC */ - -#ifndef __CMSIS_GENERIC - -#ifndef __CORE_ARMV8MBL_H_DEPENDANT -#define __CORE_ARMV8MBL_H_DEPENDANT - -#ifdef __cplusplus - extern "C" { -#endif - -/* check device defines and use defaults */ -#if defined __CHECK_DEVICE_DEFINES - #ifndef __ARMv8MBL_REV - #define __ARMv8MBL_REV 0x0000U - #warning "__ARMv8MBL_REV not defined in device header file; using default!" - #endif - - #ifndef __FPU_PRESENT - #define __FPU_PRESENT 0U - #warning "__FPU_PRESENT not defined in device header file; using default!" - #endif - - #ifndef __MPU_PRESENT - #define __MPU_PRESENT 0U - #warning "__MPU_PRESENT not defined in device header file; using default!" - #endif - - #ifndef __SAUREGION_PRESENT - #define __SAUREGION_PRESENT 0U - #warning "__SAUREGION_PRESENT not defined in device header file; using default!" - #endif - - #ifndef __VTOR_PRESENT - #define __VTOR_PRESENT 0U - #warning "__VTOR_PRESENT not defined in device header file; using default!" - #endif - - #ifndef __NVIC_PRIO_BITS - #define __NVIC_PRIO_BITS 2U - #warning "__NVIC_PRIO_BITS not defined in device header file; using default!" - #endif - - #ifndef __Vendor_SysTickConfig - #define __Vendor_SysTickConfig 0U - #warning "__Vendor_SysTickConfig not defined in device header file; using default!" - #endif - - #ifndef __ETM_PRESENT - #define __ETM_PRESENT 0U - #warning "__ETM_PRESENT not defined in device header file; using default!" - #endif - - #ifndef __MTB_PRESENT - #define __MTB_PRESENT 0U - #warning "__MTB_PRESENT not defined in device header file; using default!" - #endif - -#endif - -/* IO definitions (access restrictions to peripheral registers) */ -/** - \defgroup CMSIS_glob_defs CMSIS Global Defines - - IO Type Qualifiers are used - \li to specify the access to peripheral variables. - \li for automatic generation of peripheral register debug information. -*/ -#ifdef __cplusplus - #define __I volatile /*!< Defines 'read only' permissions */ -#else - #define __I volatile const /*!< Defines 'read only' permissions */ -#endif -#define __O volatile /*!< Defines 'write only' permissions */ -#define __IO volatile /*!< Defines 'read / write' permissions */ - -/* following defines should be used for structure members */ -#define __IM volatile const /*! Defines 'read only' structure member permissions */ -#define __OM volatile /*! Defines 'write only' structure member permissions */ -#define __IOM volatile /*! Defines 'read / write' structure member permissions */ - -/*@} end of group ARMv8MBL */ - - - -/******************************************************************************* - * Register Abstraction - Core Register contain: - - Core Register - - Core NVIC Register - - Core SCB Register - - Core SysTick Register - - Core Debug Register - - Core MPU Register - - Core SAU Register - ******************************************************************************/ -/** - \defgroup CMSIS_core_register Defines and Type Definitions - \brief Type definitions and defines for Cortex-M processor based devices. -*/ - -/** - \ingroup CMSIS_core_register - \defgroup CMSIS_CORE Status and Control Registers - \brief Core Register type definitions. - @{ - */ - -/** - \brief Union type to access the Application Program Status Register (APSR). - */ -typedef union -{ - struct - { - uint32_t _reserved0:28; /*!< bit: 0..27 Reserved */ - uint32_t V:1; /*!< bit: 28 Overflow condition code flag */ - uint32_t C:1; /*!< bit: 29 Carry condition code flag */ - uint32_t Z:1; /*!< bit: 30 Zero condition code flag */ - uint32_t N:1; /*!< bit: 31 Negative condition code flag */ - } b; /*!< Structure used for bit access */ - uint32_t w; /*!< Type used for word access */ -} APSR_Type; - -/* APSR Register Definitions */ -#define APSR_N_Pos 31U /*!< APSR: N Position */ -#define APSR_N_Msk (1UL << APSR_N_Pos) /*!< APSR: N Mask */ - -#define APSR_Z_Pos 30U /*!< APSR: Z Position */ -#define APSR_Z_Msk (1UL << APSR_Z_Pos) /*!< APSR: Z Mask */ - -#define APSR_C_Pos 29U /*!< APSR: C Position */ -#define APSR_C_Msk (1UL << APSR_C_Pos) /*!< APSR: C Mask */ - -#define APSR_V_Pos 28U /*!< APSR: V Position */ -#define APSR_V_Msk (1UL << APSR_V_Pos) /*!< APSR: V Mask */ - - -/** - \brief Union type to access the Interrupt Program Status Register (IPSR). - */ -typedef union -{ - struct - { - uint32_t ISR:9; /*!< bit: 0.. 8 Exception number */ - uint32_t _reserved0:23; /*!< bit: 9..31 Reserved */ - } b; /*!< Structure used for bit access */ - uint32_t w; /*!< Type used for word access */ -} IPSR_Type; - -/* IPSR Register Definitions */ -#define IPSR_ISR_Pos 0U /*!< IPSR: ISR Position */ -#define IPSR_ISR_Msk (0x1FFUL /*<< IPSR_ISR_Pos*/) /*!< IPSR: ISR Mask */ - - -/** - \brief Union type to access the Special-Purpose Program Status Registers (xPSR). - */ -typedef union -{ - struct - { - uint32_t ISR:9; /*!< bit: 0.. 8 Exception number */ - uint32_t _reserved0:15; /*!< bit: 9..23 Reserved */ - uint32_t T:1; /*!< bit: 24 Thumb bit (read 0) */ - uint32_t _reserved1:3; /*!< bit: 25..27 Reserved */ - uint32_t V:1; /*!< bit: 28 Overflow condition code flag */ - uint32_t C:1; /*!< bit: 29 Carry condition code flag */ - uint32_t Z:1; /*!< bit: 30 Zero condition code flag */ - uint32_t N:1; /*!< bit: 31 Negative condition code flag */ - } b; /*!< Structure used for bit access */ - uint32_t w; /*!< Type used for word access */ -} xPSR_Type; - -/* xPSR Register Definitions */ -#define xPSR_N_Pos 31U /*!< xPSR: N Position */ -#define xPSR_N_Msk (1UL << xPSR_N_Pos) /*!< xPSR: N Mask */ - -#define xPSR_Z_Pos 30U /*!< xPSR: Z Position */ -#define xPSR_Z_Msk (1UL << xPSR_Z_Pos) /*!< xPSR: Z Mask */ - -#define xPSR_C_Pos 29U /*!< xPSR: C Position */ -#define xPSR_C_Msk (1UL << xPSR_C_Pos) /*!< xPSR: C Mask */ - -#define xPSR_V_Pos 28U /*!< xPSR: V Position */ -#define xPSR_V_Msk (1UL << xPSR_V_Pos) /*!< xPSR: V Mask */ - -#define xPSR_T_Pos 24U /*!< xPSR: T Position */ -#define xPSR_T_Msk (1UL << xPSR_T_Pos) /*!< xPSR: T Mask */ - -#define xPSR_ISR_Pos 0U /*!< xPSR: ISR Position */ -#define xPSR_ISR_Msk (0x1FFUL /*<< xPSR_ISR_Pos*/) /*!< xPSR: ISR Mask */ - - -/** - \brief Union type to access the Control Registers (CONTROL). - */ -typedef union -{ - struct - { - uint32_t nPRIV:1; /*!< bit: 0 Execution privilege in Thread mode */ - uint32_t SPSEL:1; /*!< bit: 1 Stack-pointer select */ - uint32_t _reserved1:30; /*!< bit: 2..31 Reserved */ - } b; /*!< Structure used for bit access */ - uint32_t w; /*!< Type used for word access */ -} CONTROL_Type; - -/* CONTROL Register Definitions */ -#define CONTROL_SPSEL_Pos 1U /*!< CONTROL: SPSEL Position */ -#define CONTROL_SPSEL_Msk (1UL << CONTROL_SPSEL_Pos) /*!< CONTROL: SPSEL Mask */ - -#define CONTROL_nPRIV_Pos 0U /*!< CONTROL: nPRIV Position */ -#define CONTROL_nPRIV_Msk (1UL /*<< CONTROL_nPRIV_Pos*/) /*!< CONTROL: nPRIV Mask */ - -/*@} end of group CMSIS_CORE */ - - -/** - \ingroup CMSIS_core_register - \defgroup CMSIS_NVIC Nested Vectored Interrupt Controller (NVIC) - \brief Type definitions for the NVIC Registers - @{ - */ - -/** - \brief Structure type to access the Nested Vectored Interrupt Controller (NVIC). - */ -typedef struct -{ - __IOM uint32_t ISER[16U]; /*!< Offset: 0x000 (R/W) Interrupt Set Enable Register */ - uint32_t RESERVED0[16U]; - __IOM uint32_t ICER[16U]; /*!< Offset: 0x080 (R/W) Interrupt Clear Enable Register */ - uint32_t RSERVED1[16U]; - __IOM uint32_t ISPR[16U]; /*!< Offset: 0x100 (R/W) Interrupt Set Pending Register */ - uint32_t RESERVED2[16U]; - __IOM uint32_t ICPR[16U]; /*!< Offset: 0x180 (R/W) Interrupt Clear Pending Register */ - uint32_t RESERVED3[16U]; - __IOM uint32_t IABR[16U]; /*!< Offset: 0x200 (R/W) Interrupt Active bit Register */ - uint32_t RESERVED4[16U]; - __IOM uint32_t ITNS[16U]; /*!< Offset: 0x280 (R/W) Interrupt Non-Secure State Register */ - uint32_t RESERVED5[16U]; - __IOM uint32_t IPR[124U]; /*!< Offset: 0x300 (R/W) Interrupt Priority Register */ -} NVIC_Type; - -/*@} end of group CMSIS_NVIC */ - - -/** - \ingroup CMSIS_core_register - \defgroup CMSIS_SCB System Control Block (SCB) - \brief Type definitions for the System Control Block Registers - @{ - */ - -/** - \brief Structure type to access the System Control Block (SCB). - */ -typedef struct -{ - __IM uint32_t CPUID; /*!< Offset: 0x000 (R/ ) CPUID Base Register */ - __IOM uint32_t ICSR; /*!< Offset: 0x004 (R/W) Interrupt Control and State Register */ -#if defined (__VTOR_PRESENT) && (__VTOR_PRESENT == 1U) - __IOM uint32_t VTOR; /*!< Offset: 0x008 (R/W) Vector Table Offset Register */ -#else - uint32_t RESERVED0; -#endif - __IOM uint32_t AIRCR; /*!< Offset: 0x00C (R/W) Application Interrupt and Reset Control Register */ - __IOM uint32_t SCR; /*!< Offset: 0x010 (R/W) System Control Register */ - __IOM uint32_t CCR; /*!< Offset: 0x014 (R/W) Configuration Control Register */ - uint32_t RESERVED1; - __IOM uint32_t SHPR[2U]; /*!< Offset: 0x01C (R/W) System Handlers Priority Registers. [0] is RESERVED */ - __IOM uint32_t SHCSR; /*!< Offset: 0x024 (R/W) System Handler Control and State Register */ -} SCB_Type; - -/* SCB CPUID Register Definitions */ -#define SCB_CPUID_IMPLEMENTER_Pos 24U /*!< SCB CPUID: IMPLEMENTER Position */ -#define SCB_CPUID_IMPLEMENTER_Msk (0xFFUL << SCB_CPUID_IMPLEMENTER_Pos) /*!< SCB CPUID: IMPLEMENTER Mask */ - -#define SCB_CPUID_VARIANT_Pos 20U /*!< SCB CPUID: VARIANT Position */ -#define SCB_CPUID_VARIANT_Msk (0xFUL << SCB_CPUID_VARIANT_Pos) /*!< SCB CPUID: VARIANT Mask */ - -#define SCB_CPUID_ARCHITECTURE_Pos 16U /*!< SCB CPUID: ARCHITECTURE Position */ -#define SCB_CPUID_ARCHITECTURE_Msk (0xFUL << SCB_CPUID_ARCHITECTURE_Pos) /*!< SCB CPUID: ARCHITECTURE Mask */ - -#define SCB_CPUID_PARTNO_Pos 4U /*!< SCB CPUID: PARTNO Position */ -#define SCB_CPUID_PARTNO_Msk (0xFFFUL << SCB_CPUID_PARTNO_Pos) /*!< SCB CPUID: PARTNO Mask */ - -#define SCB_CPUID_REVISION_Pos 0U /*!< SCB CPUID: REVISION Position */ -#define SCB_CPUID_REVISION_Msk (0xFUL /*<< SCB_CPUID_REVISION_Pos*/) /*!< SCB CPUID: REVISION Mask */ - -/* SCB Interrupt Control State Register Definitions */ -#define SCB_ICSR_PENDNMISET_Pos 31U /*!< SCB ICSR: PENDNMISET Position */ -#define SCB_ICSR_PENDNMISET_Msk (1UL << SCB_ICSR_PENDNMISET_Pos) /*!< SCB ICSR: PENDNMISET Mask */ - -#define SCB_ICSR_NMIPENDSET_Pos SCB_ICSR_PENDNMISET_Pos /*!< SCB ICSR: NMIPENDSET Position, backward compatibility */ -#define SCB_ICSR_NMIPENDSET_Msk SCB_ICSR_PENDNMISET_Msk /*!< SCB ICSR: NMIPENDSET Mask, backward compatibility */ - -#define SCB_ICSR_PENDNMICLR_Pos 30U /*!< SCB ICSR: PENDNMICLR Position */ -#define SCB_ICSR_PENDNMICLR_Msk (1UL << SCB_ICSR_PENDNMICLR_Pos) /*!< SCB ICSR: PENDNMICLR Mask */ - -#define SCB_ICSR_PENDSVSET_Pos 28U /*!< SCB ICSR: PENDSVSET Position */ -#define SCB_ICSR_PENDSVSET_Msk (1UL << SCB_ICSR_PENDSVSET_Pos) /*!< SCB ICSR: PENDSVSET Mask */ - -#define SCB_ICSR_PENDSVCLR_Pos 27U /*!< SCB ICSR: PENDSVCLR Position */ -#define SCB_ICSR_PENDSVCLR_Msk (1UL << SCB_ICSR_PENDSVCLR_Pos) /*!< SCB ICSR: PENDSVCLR Mask */ - -#define SCB_ICSR_PENDSTSET_Pos 26U /*!< SCB ICSR: PENDSTSET Position */ -#define SCB_ICSR_PENDSTSET_Msk (1UL << SCB_ICSR_PENDSTSET_Pos) /*!< SCB ICSR: PENDSTSET Mask */ - -#define SCB_ICSR_PENDSTCLR_Pos 25U /*!< SCB ICSR: PENDSTCLR Position */ -#define SCB_ICSR_PENDSTCLR_Msk (1UL << SCB_ICSR_PENDSTCLR_Pos) /*!< SCB ICSR: PENDSTCLR Mask */ - -#define SCB_ICSR_STTNS_Pos 24U /*!< SCB ICSR: STTNS Position (Security Extension) */ -#define SCB_ICSR_STTNS_Msk (1UL << SCB_ICSR_STTNS_Pos) /*!< SCB ICSR: STTNS Mask (Security Extension) */ - -#define SCB_ICSR_ISRPREEMPT_Pos 23U /*!< SCB ICSR: ISRPREEMPT Position */ -#define SCB_ICSR_ISRPREEMPT_Msk (1UL << SCB_ICSR_ISRPREEMPT_Pos) /*!< SCB ICSR: ISRPREEMPT Mask */ - -#define SCB_ICSR_ISRPENDING_Pos 22U /*!< SCB ICSR: ISRPENDING Position */ -#define SCB_ICSR_ISRPENDING_Msk (1UL << SCB_ICSR_ISRPENDING_Pos) /*!< SCB ICSR: ISRPENDING Mask */ - -#define SCB_ICSR_VECTPENDING_Pos 12U /*!< SCB ICSR: VECTPENDING Position */ -#define SCB_ICSR_VECTPENDING_Msk (0x1FFUL << SCB_ICSR_VECTPENDING_Pos) /*!< SCB ICSR: VECTPENDING Mask */ - -#define SCB_ICSR_RETTOBASE_Pos 11U /*!< SCB ICSR: RETTOBASE Position */ -#define SCB_ICSR_RETTOBASE_Msk (1UL << SCB_ICSR_RETTOBASE_Pos) /*!< SCB ICSR: RETTOBASE Mask */ - -#define SCB_ICSR_VECTACTIVE_Pos 0U /*!< SCB ICSR: VECTACTIVE Position */ -#define SCB_ICSR_VECTACTIVE_Msk (0x1FFUL /*<< SCB_ICSR_VECTACTIVE_Pos*/) /*!< SCB ICSR: VECTACTIVE Mask */ - -#if defined (__VTOR_PRESENT) && (__VTOR_PRESENT == 1U) -/* SCB Vector Table Offset Register Definitions */ -#define SCB_VTOR_TBLOFF_Pos 7U /*!< SCB VTOR: TBLOFF Position */ -#define SCB_VTOR_TBLOFF_Msk (0x1FFFFFFUL << SCB_VTOR_TBLOFF_Pos) /*!< SCB VTOR: TBLOFF Mask */ -#endif - -/* SCB Application Interrupt and Reset Control Register Definitions */ -#define SCB_AIRCR_VECTKEY_Pos 16U /*!< SCB AIRCR: VECTKEY Position */ -#define SCB_AIRCR_VECTKEY_Msk (0xFFFFUL << SCB_AIRCR_VECTKEY_Pos) /*!< SCB AIRCR: VECTKEY Mask */ - -#define SCB_AIRCR_VECTKEYSTAT_Pos 16U /*!< SCB AIRCR: VECTKEYSTAT Position */ -#define SCB_AIRCR_VECTKEYSTAT_Msk (0xFFFFUL << SCB_AIRCR_VECTKEYSTAT_Pos) /*!< SCB AIRCR: VECTKEYSTAT Mask */ - -#define SCB_AIRCR_ENDIANESS_Pos 15U /*!< SCB AIRCR: ENDIANESS Position */ -#define SCB_AIRCR_ENDIANESS_Msk (1UL << SCB_AIRCR_ENDIANESS_Pos) /*!< SCB AIRCR: ENDIANESS Mask */ - -#define SCB_AIRCR_PRIS_Pos 14U /*!< SCB AIRCR: PRIS Position */ -#define SCB_AIRCR_PRIS_Msk (1UL << SCB_AIRCR_PRIS_Pos) /*!< SCB AIRCR: PRIS Mask */ - -#define SCB_AIRCR_BFHFNMINS_Pos 13U /*!< SCB AIRCR: BFHFNMINS Position */ -#define SCB_AIRCR_BFHFNMINS_Msk (1UL << SCB_AIRCR_BFHFNMINS_Pos) /*!< SCB AIRCR: BFHFNMINS Mask */ - -#define SCB_AIRCR_SYSRESETREQS_Pos 3U /*!< SCB AIRCR: SYSRESETREQS Position */ -#define SCB_AIRCR_SYSRESETREQS_Msk (1UL << SCB_AIRCR_SYSRESETREQS_Pos) /*!< SCB AIRCR: SYSRESETREQS Mask */ - -#define SCB_AIRCR_SYSRESETREQ_Pos 2U /*!< SCB AIRCR: SYSRESETREQ Position */ -#define SCB_AIRCR_SYSRESETREQ_Msk (1UL << SCB_AIRCR_SYSRESETREQ_Pos) /*!< SCB AIRCR: SYSRESETREQ Mask */ - -#define SCB_AIRCR_VECTCLRACTIVE_Pos 1U /*!< SCB AIRCR: VECTCLRACTIVE Position */ -#define SCB_AIRCR_VECTCLRACTIVE_Msk (1UL << SCB_AIRCR_VECTCLRACTIVE_Pos) /*!< SCB AIRCR: VECTCLRACTIVE Mask */ - -/* SCB System Control Register Definitions */ -#define SCB_SCR_SEVONPEND_Pos 4U /*!< SCB SCR: SEVONPEND Position */ -#define SCB_SCR_SEVONPEND_Msk (1UL << SCB_SCR_SEVONPEND_Pos) /*!< SCB SCR: SEVONPEND Mask */ - -#define SCB_SCR_SLEEPDEEPS_Pos 3U /*!< SCB SCR: SLEEPDEEPS Position */ -#define SCB_SCR_SLEEPDEEPS_Msk (1UL << SCB_SCR_SLEEPDEEPS_Pos) /*!< SCB SCR: SLEEPDEEPS Mask */ - -#define SCB_SCR_SLEEPDEEP_Pos 2U /*!< SCB SCR: SLEEPDEEP Position */ -#define SCB_SCR_SLEEPDEEP_Msk (1UL << SCB_SCR_SLEEPDEEP_Pos) /*!< SCB SCR: SLEEPDEEP Mask */ - -#define SCB_SCR_SLEEPONEXIT_Pos 1U /*!< SCB SCR: SLEEPONEXIT Position */ -#define SCB_SCR_SLEEPONEXIT_Msk (1UL << SCB_SCR_SLEEPONEXIT_Pos) /*!< SCB SCR: SLEEPONEXIT Mask */ - -/* SCB Configuration Control Register Definitions */ -#define SCB_CCR_BP_Pos 18U /*!< SCB CCR: BP Position */ -#define SCB_CCR_BP_Msk (1UL << SCB_CCR_BP_Pos) /*!< SCB CCR: BP Mask */ - -#define SCB_CCR_IC_Pos 17U /*!< SCB CCR: IC Position */ -#define SCB_CCR_IC_Msk (1UL << SCB_CCR_IC_Pos) /*!< SCB CCR: IC Mask */ - -#define SCB_CCR_DC_Pos 16U /*!< SCB CCR: DC Position */ -#define SCB_CCR_DC_Msk (1UL << SCB_CCR_DC_Pos) /*!< SCB CCR: DC Mask */ - -#define SCB_CCR_STKOFHFNMIGN_Pos 10U /*!< SCB CCR: STKOFHFNMIGN Position */ -#define SCB_CCR_STKOFHFNMIGN_Msk (1UL << SCB_CCR_STKOFHFNMIGN_Pos) /*!< SCB CCR: STKOFHFNMIGN Mask */ - -#define SCB_CCR_BFHFNMIGN_Pos 8U /*!< SCB CCR: BFHFNMIGN Position */ -#define SCB_CCR_BFHFNMIGN_Msk (1UL << SCB_CCR_BFHFNMIGN_Pos) /*!< SCB CCR: BFHFNMIGN Mask */ - -#define SCB_CCR_DIV_0_TRP_Pos 4U /*!< SCB CCR: DIV_0_TRP Position */ -#define SCB_CCR_DIV_0_TRP_Msk (1UL << SCB_CCR_DIV_0_TRP_Pos) /*!< SCB CCR: DIV_0_TRP Mask */ - -#define SCB_CCR_UNALIGN_TRP_Pos 3U /*!< SCB CCR: UNALIGN_TRP Position */ -#define SCB_CCR_UNALIGN_TRP_Msk (1UL << SCB_CCR_UNALIGN_TRP_Pos) /*!< SCB CCR: UNALIGN_TRP Mask */ - -#define SCB_CCR_USERSETMPEND_Pos 1U /*!< SCB CCR: USERSETMPEND Position */ -#define SCB_CCR_USERSETMPEND_Msk (1UL << SCB_CCR_USERSETMPEND_Pos) /*!< SCB CCR: USERSETMPEND Mask */ - -/* SCB System Handler Control and State Register Definitions */ -#define SCB_SHCSR_HARDFAULTPENDED_Pos 21U /*!< SCB SHCSR: HARDFAULTPENDED Position */ -#define SCB_SHCSR_HARDFAULTPENDED_Msk (1UL << SCB_SHCSR_HARDFAULTPENDED_Pos) /*!< SCB SHCSR: HARDFAULTPENDED Mask */ - -#define SCB_SHCSR_SVCALLPENDED_Pos 15U /*!< SCB SHCSR: SVCALLPENDED Position */ -#define SCB_SHCSR_SVCALLPENDED_Msk (1UL << SCB_SHCSR_SVCALLPENDED_Pos) /*!< SCB SHCSR: SVCALLPENDED Mask */ - -#define SCB_SHCSR_SYSTICKACT_Pos 11U /*!< SCB SHCSR: SYSTICKACT Position */ -#define SCB_SHCSR_SYSTICKACT_Msk (1UL << SCB_SHCSR_SYSTICKACT_Pos) /*!< SCB SHCSR: SYSTICKACT Mask */ - -#define SCB_SHCSR_PENDSVACT_Pos 10U /*!< SCB SHCSR: PENDSVACT Position */ -#define SCB_SHCSR_PENDSVACT_Msk (1UL << SCB_SHCSR_PENDSVACT_Pos) /*!< SCB SHCSR: PENDSVACT Mask */ - -#define SCB_SHCSR_SVCALLACT_Pos 7U /*!< SCB SHCSR: SVCALLACT Position */ -#define SCB_SHCSR_SVCALLACT_Msk (1UL << SCB_SHCSR_SVCALLACT_Pos) /*!< SCB SHCSR: SVCALLACT Mask */ - -#define SCB_SHCSR_NMIACT_Pos 5U /*!< SCB SHCSR: NMIACT Position */ -#define SCB_SHCSR_NMIACT_Msk (1UL << SCB_SHCSR_NMIACT_Pos) /*!< SCB SHCSR: NMIACT Mask */ - -#define SCB_SHCSR_HARDFAULTACT_Pos 2U /*!< SCB SHCSR: HARDFAULTACT Position */ -#define SCB_SHCSR_HARDFAULTACT_Msk (1UL << SCB_SHCSR_HARDFAULTACT_Pos) /*!< SCB SHCSR: HARDFAULTACT Mask */ - -/*@} end of group CMSIS_SCB */ - - -/** - \ingroup CMSIS_core_register - \defgroup CMSIS_SysTick System Tick Timer (SysTick) - \brief Type definitions for the System Timer Registers. - @{ - */ - -/** - \brief Structure type to access the System Timer (SysTick). - */ -typedef struct -{ - __IOM uint32_t CTRL; /*!< Offset: 0x000 (R/W) SysTick Control and Status Register */ - __IOM uint32_t LOAD; /*!< Offset: 0x004 (R/W) SysTick Reload Value Register */ - __IOM uint32_t VAL; /*!< Offset: 0x008 (R/W) SysTick Current Value Register */ - __IM uint32_t CALIB; /*!< Offset: 0x00C (R/ ) SysTick Calibration Register */ -} SysTick_Type; - -/* SysTick Control / Status Register Definitions */ -#define SysTick_CTRL_COUNTFLAG_Pos 16U /*!< SysTick CTRL: COUNTFLAG Position */ -#define SysTick_CTRL_COUNTFLAG_Msk (1UL << SysTick_CTRL_COUNTFLAG_Pos) /*!< SysTick CTRL: COUNTFLAG Mask */ - -#define SysTick_CTRL_CLKSOURCE_Pos 2U /*!< SysTick CTRL: CLKSOURCE Position */ -#define SysTick_CTRL_CLKSOURCE_Msk (1UL << SysTick_CTRL_CLKSOURCE_Pos) /*!< SysTick CTRL: CLKSOURCE Mask */ - -#define SysTick_CTRL_TICKINT_Pos 1U /*!< SysTick CTRL: TICKINT Position */ -#define SysTick_CTRL_TICKINT_Msk (1UL << SysTick_CTRL_TICKINT_Pos) /*!< SysTick CTRL: TICKINT Mask */ - -#define SysTick_CTRL_ENABLE_Pos 0U /*!< SysTick CTRL: ENABLE Position */ -#define SysTick_CTRL_ENABLE_Msk (1UL /*<< SysTick_CTRL_ENABLE_Pos*/) /*!< SysTick CTRL: ENABLE Mask */ - -/* SysTick Reload Register Definitions */ -#define SysTick_LOAD_RELOAD_Pos 0U /*!< SysTick LOAD: RELOAD Position */ -#define SysTick_LOAD_RELOAD_Msk (0xFFFFFFUL /*<< SysTick_LOAD_RELOAD_Pos*/) /*!< SysTick LOAD: RELOAD Mask */ - -/* SysTick Current Register Definitions */ -#define SysTick_VAL_CURRENT_Pos 0U /*!< SysTick VAL: CURRENT Position */ -#define SysTick_VAL_CURRENT_Msk (0xFFFFFFUL /*<< SysTick_VAL_CURRENT_Pos*/) /*!< SysTick VAL: CURRENT Mask */ - -/* SysTick Calibration Register Definitions */ -#define SysTick_CALIB_NOREF_Pos 31U /*!< SysTick CALIB: NOREF Position */ -#define SysTick_CALIB_NOREF_Msk (1UL << SysTick_CALIB_NOREF_Pos) /*!< SysTick CALIB: NOREF Mask */ - -#define SysTick_CALIB_SKEW_Pos 30U /*!< SysTick CALIB: SKEW Position */ -#define SysTick_CALIB_SKEW_Msk (1UL << SysTick_CALIB_SKEW_Pos) /*!< SysTick CALIB: SKEW Mask */ - -#define SysTick_CALIB_TENMS_Pos 0U /*!< SysTick CALIB: TENMS Position */ -#define SysTick_CALIB_TENMS_Msk (0xFFFFFFUL /*<< SysTick_CALIB_TENMS_Pos*/) /*!< SysTick CALIB: TENMS Mask */ - -/*@} end of group CMSIS_SysTick */ - - -/** - \ingroup CMSIS_core_register - \defgroup CMSIS_DWT Data Watchpoint and Trace (DWT) - \brief Type definitions for the Data Watchpoint and Trace (DWT) - @{ - */ - -/** - \brief Structure type to access the Data Watchpoint and Trace Register (DWT). - */ -typedef struct -{ - __IOM uint32_t CTRL; /*!< Offset: 0x000 (R/W) Control Register */ - uint32_t RESERVED0[6U]; - __IM uint32_t PCSR; /*!< Offset: 0x01C (R/ ) Program Counter Sample Register */ - __IOM uint32_t COMP0; /*!< Offset: 0x020 (R/W) Comparator Register 0 */ - uint32_t RESERVED1[1U]; - __IOM uint32_t FUNCTION0; /*!< Offset: 0x028 (R/W) Function Register 0 */ - uint32_t RESERVED2[1U]; - __IOM uint32_t COMP1; /*!< Offset: 0x030 (R/W) Comparator Register 1 */ - uint32_t RESERVED3[1U]; - __IOM uint32_t FUNCTION1; /*!< Offset: 0x038 (R/W) Function Register 1 */ - uint32_t RESERVED4[1U]; - __IOM uint32_t COMP2; /*!< Offset: 0x040 (R/W) Comparator Register 2 */ - uint32_t RESERVED5[1U]; - __IOM uint32_t FUNCTION2; /*!< Offset: 0x048 (R/W) Function Register 2 */ - uint32_t RESERVED6[1U]; - __IOM uint32_t COMP3; /*!< Offset: 0x050 (R/W) Comparator Register 3 */ - uint32_t RESERVED7[1U]; - __IOM uint32_t FUNCTION3; /*!< Offset: 0x058 (R/W) Function Register 3 */ - uint32_t RESERVED8[1U]; - __IOM uint32_t COMP4; /*!< Offset: 0x060 (R/W) Comparator Register 4 */ - uint32_t RESERVED9[1U]; - __IOM uint32_t FUNCTION4; /*!< Offset: 0x068 (R/W) Function Register 4 */ - uint32_t RESERVED10[1U]; - __IOM uint32_t COMP5; /*!< Offset: 0x070 (R/W) Comparator Register 5 */ - uint32_t RESERVED11[1U]; - __IOM uint32_t FUNCTION5; /*!< Offset: 0x078 (R/W) Function Register 5 */ - uint32_t RESERVED12[1U]; - __IOM uint32_t COMP6; /*!< Offset: 0x080 (R/W) Comparator Register 6 */ - uint32_t RESERVED13[1U]; - __IOM uint32_t FUNCTION6; /*!< Offset: 0x088 (R/W) Function Register 6 */ - uint32_t RESERVED14[1U]; - __IOM uint32_t COMP7; /*!< Offset: 0x090 (R/W) Comparator Register 7 */ - uint32_t RESERVED15[1U]; - __IOM uint32_t FUNCTION7; /*!< Offset: 0x098 (R/W) Function Register 7 */ - uint32_t RESERVED16[1U]; - __IOM uint32_t COMP8; /*!< Offset: 0x0A0 (R/W) Comparator Register 8 */ - uint32_t RESERVED17[1U]; - __IOM uint32_t FUNCTION8; /*!< Offset: 0x0A8 (R/W) Function Register 8 */ - uint32_t RESERVED18[1U]; - __IOM uint32_t COMP9; /*!< Offset: 0x0B0 (R/W) Comparator Register 9 */ - uint32_t RESERVED19[1U]; - __IOM uint32_t FUNCTION9; /*!< Offset: 0x0B8 (R/W) Function Register 9 */ - uint32_t RESERVED20[1U]; - __IOM uint32_t COMP10; /*!< Offset: 0x0C0 (R/W) Comparator Register 10 */ - uint32_t RESERVED21[1U]; - __IOM uint32_t FUNCTION10; /*!< Offset: 0x0C8 (R/W) Function Register 10 */ - uint32_t RESERVED22[1U]; - __IOM uint32_t COMP11; /*!< Offset: 0x0D0 (R/W) Comparator Register 11 */ - uint32_t RESERVED23[1U]; - __IOM uint32_t FUNCTION11; /*!< Offset: 0x0D8 (R/W) Function Register 11 */ - uint32_t RESERVED24[1U]; - __IOM uint32_t COMP12; /*!< Offset: 0x0E0 (R/W) Comparator Register 12 */ - uint32_t RESERVED25[1U]; - __IOM uint32_t FUNCTION12; /*!< Offset: 0x0E8 (R/W) Function Register 12 */ - uint32_t RESERVED26[1U]; - __IOM uint32_t COMP13; /*!< Offset: 0x0F0 (R/W) Comparator Register 13 */ - uint32_t RESERVED27[1U]; - __IOM uint32_t FUNCTION13; /*!< Offset: 0x0F8 (R/W) Function Register 13 */ - uint32_t RESERVED28[1U]; - __IOM uint32_t COMP14; /*!< Offset: 0x100 (R/W) Comparator Register 14 */ - uint32_t RESERVED29[1U]; - __IOM uint32_t FUNCTION14; /*!< Offset: 0x108 (R/W) Function Register 14 */ - uint32_t RESERVED30[1U]; - __IOM uint32_t COMP15; /*!< Offset: 0x110 (R/W) Comparator Register 15 */ - uint32_t RESERVED31[1U]; - __IOM uint32_t FUNCTION15; /*!< Offset: 0x118 (R/W) Function Register 15 */ -} DWT_Type; - -/* DWT Control Register Definitions */ -#define DWT_CTRL_NUMCOMP_Pos 28U /*!< DWT CTRL: NUMCOMP Position */ -#define DWT_CTRL_NUMCOMP_Msk (0xFUL << DWT_CTRL_NUMCOMP_Pos) /*!< DWT CTRL: NUMCOMP Mask */ - -#define DWT_CTRL_NOTRCPKT_Pos 27U /*!< DWT CTRL: NOTRCPKT Position */ -#define DWT_CTRL_NOTRCPKT_Msk (0x1UL << DWT_CTRL_NOTRCPKT_Pos) /*!< DWT CTRL: NOTRCPKT Mask */ - -#define DWT_CTRL_NOEXTTRIG_Pos 26U /*!< DWT CTRL: NOEXTTRIG Position */ -#define DWT_CTRL_NOEXTTRIG_Msk (0x1UL << DWT_CTRL_NOEXTTRIG_Pos) /*!< DWT CTRL: NOEXTTRIG Mask */ - -#define DWT_CTRL_NOCYCCNT_Pos 25U /*!< DWT CTRL: NOCYCCNT Position */ -#define DWT_CTRL_NOCYCCNT_Msk (0x1UL << DWT_CTRL_NOCYCCNT_Pos) /*!< DWT CTRL: NOCYCCNT Mask */ - -#define DWT_CTRL_NOPRFCNT_Pos 24U /*!< DWT CTRL: NOPRFCNT Position */ -#define DWT_CTRL_NOPRFCNT_Msk (0x1UL << DWT_CTRL_NOPRFCNT_Pos) /*!< DWT CTRL: NOPRFCNT Mask */ - -/* DWT Comparator Function Register Definitions */ -#define DWT_FUNCTION_ID_Pos 27U /*!< DWT FUNCTION: ID Position */ -#define DWT_FUNCTION_ID_Msk (0x1FUL << DWT_FUNCTION_ID_Pos) /*!< DWT FUNCTION: ID Mask */ - -#define DWT_FUNCTION_MATCHED_Pos 24U /*!< DWT FUNCTION: MATCHED Position */ -#define DWT_FUNCTION_MATCHED_Msk (0x1UL << DWT_FUNCTION_MATCHED_Pos) /*!< DWT FUNCTION: MATCHED Mask */ - -#define DWT_FUNCTION_DATAVSIZE_Pos 10U /*!< DWT FUNCTION: DATAVSIZE Position */ -#define DWT_FUNCTION_DATAVSIZE_Msk (0x3UL << DWT_FUNCTION_DATAVSIZE_Pos) /*!< DWT FUNCTION: DATAVSIZE Mask */ - -#define DWT_FUNCTION_ACTION_Pos 4U /*!< DWT FUNCTION: ACTION Position */ -#define DWT_FUNCTION_ACTION_Msk (0x3UL << DWT_FUNCTION_ACTION_Pos) /*!< DWT FUNCTION: ACTION Mask */ - -#define DWT_FUNCTION_MATCH_Pos 0U /*!< DWT FUNCTION: MATCH Position */ -#define DWT_FUNCTION_MATCH_Msk (0xFUL /*<< DWT_FUNCTION_MATCH_Pos*/) /*!< DWT FUNCTION: MATCH Mask */ - -/*@}*/ /* end of group CMSIS_DWT */ - - -/** - \ingroup CMSIS_core_register - \defgroup CMSIS_TPI Trace Port Interface (TPI) - \brief Type definitions for the Trace Port Interface (TPI) - @{ - */ - -/** - \brief Structure type to access the Trace Port Interface Register (TPI). - */ -typedef struct -{ - __IM uint32_t SSPSR; /*!< Offset: 0x000 (R/ ) Supported Parallel Port Sizes Register */ - __IOM uint32_t CSPSR; /*!< Offset: 0x004 (R/W) Current Parallel Port Sizes Register */ - uint32_t RESERVED0[2U]; - __IOM uint32_t ACPR; /*!< Offset: 0x010 (R/W) Asynchronous Clock Prescaler Register */ - uint32_t RESERVED1[55U]; - __IOM uint32_t SPPR; /*!< Offset: 0x0F0 (R/W) Selected Pin Protocol Register */ - uint32_t RESERVED2[131U]; - __IM uint32_t FFSR; /*!< Offset: 0x300 (R/ ) Formatter and Flush Status Register */ - __IOM uint32_t FFCR; /*!< Offset: 0x304 (R/W) Formatter and Flush Control Register */ - __IOM uint32_t PSCR; /*!< Offset: 0x308 (R/W) Periodic Synchronization Control Register */ - uint32_t RESERVED3[809U]; - __OM uint32_t LAR; /*!< Offset: 0xFB0 ( /W) Software Lock Access Register */ - __IM uint32_t LSR; /*!< Offset: 0xFB4 (R/ ) Software Lock Status Register */ - uint32_t RESERVED4[4U]; - __IM uint32_t TYPE; /*!< Offset: 0xFC8 (R/ ) Device Identifier Register */ - __IM uint32_t DEVTYPE; /*!< Offset: 0xFCC (R/ ) Device Type Register */ -} TPI_Type; - -/* TPI Asynchronous Clock Prescaler Register Definitions */ -#define TPI_ACPR_SWOSCALER_Pos 0U /*!< TPI ACPR: SWOSCALER Position */ -#define TPI_ACPR_SWOSCALER_Msk (0xFFFFUL /*<< TPI_ACPR_SWOSCALER_Pos*/) /*!< TPI ACPR: SWOSCALER Mask */ - -/* TPI Selected Pin Protocol Register Definitions */ -#define TPI_SPPR_TXMODE_Pos 0U /*!< TPI SPPR: TXMODE Position */ -#define TPI_SPPR_TXMODE_Msk (0x3UL /*<< TPI_SPPR_TXMODE_Pos*/) /*!< TPI SPPR: TXMODE Mask */ - -/* TPI Formatter and Flush Status Register Definitions */ -#define TPI_FFSR_FtNonStop_Pos 3U /*!< TPI FFSR: FtNonStop Position */ -#define TPI_FFSR_FtNonStop_Msk (0x1UL << TPI_FFSR_FtNonStop_Pos) /*!< TPI FFSR: FtNonStop Mask */ - -#define TPI_FFSR_TCPresent_Pos 2U /*!< TPI FFSR: TCPresent Position */ -#define TPI_FFSR_TCPresent_Msk (0x1UL << TPI_FFSR_TCPresent_Pos) /*!< TPI FFSR: TCPresent Mask */ - -#define TPI_FFSR_FtStopped_Pos 1U /*!< TPI FFSR: FtStopped Position */ -#define TPI_FFSR_FtStopped_Msk (0x1UL << TPI_FFSR_FtStopped_Pos) /*!< TPI FFSR: FtStopped Mask */ - -#define TPI_FFSR_FlInProg_Pos 0U /*!< TPI FFSR: FlInProg Position */ -#define TPI_FFSR_FlInProg_Msk (0x1UL /*<< TPI_FFSR_FlInProg_Pos*/) /*!< TPI FFSR: FlInProg Mask */ - -/* TPI Formatter and Flush Control Register Definitions */ -#define TPI_FFCR_TrigIn_Pos 8U /*!< TPI FFCR: TrigIn Position */ -#define TPI_FFCR_TrigIn_Msk (0x1UL << TPI_FFCR_TrigIn_Pos) /*!< TPI FFCR: TrigIn Mask */ - -#define TPI_FFCR_FOnMan_Pos 6U /*!< TPI FFCR: FOnMan Position */ -#define TPI_FFCR_FOnMan_Msk (0x1UL << TPI_FFCR_FOnMan_Pos) /*!< TPI FFCR: FOnMan Mask */ - -#define TPI_FFCR_EnFCont_Pos 1U /*!< TPI FFCR: EnFCont Position */ -#define TPI_FFCR_EnFCont_Msk (0x1UL << TPI_FFCR_EnFCont_Pos) /*!< TPI FFCR: EnFCont Mask */ - -/* TPI Periodic Synchronization Control Register Definitions */ -#define TPI_PSCR_PSCount_Pos 0U /*!< TPI PSCR: PSCount Position */ -#define TPI_PSCR_PSCount_Msk (0x1FUL /*<< TPI_PSCR_PSCount_Pos*/) /*!< TPI PSCR: TPSCount Mask */ - -/* TPI Software Lock Status Register Definitions */ -#define TPI_LSR_nTT_Pos 1U /*!< TPI LSR: Not thirty-two bit. Position */ -#define TPI_LSR_nTT_Msk (0x1UL << TPI_LSR_nTT_Pos) /*!< TPI LSR: Not thirty-two bit. Mask */ - -#define TPI_LSR_SLK_Pos 1U /*!< TPI LSR: Software Lock status Position */ -#define TPI_LSR_SLK_Msk (0x1UL << TPI_LSR_SLK_Pos) /*!< TPI LSR: Software Lock status Mask */ - -#define TPI_LSR_SLI_Pos 0U /*!< TPI LSR: Software Lock implemented Position */ -#define TPI_LSR_SLI_Msk (0x1UL /*<< TPI_LSR_SLI_Pos*/) /*!< TPI LSR: Software Lock implemented Mask */ - -/* TPI DEVID Register Definitions */ -#define TPI_DEVID_NRZVALID_Pos 11U /*!< TPI DEVID: NRZVALID Position */ -#define TPI_DEVID_NRZVALID_Msk (0x1UL << TPI_DEVID_NRZVALID_Pos) /*!< TPI DEVID: NRZVALID Mask */ - -#define TPI_DEVID_MANCVALID_Pos 10U /*!< TPI DEVID: MANCVALID Position */ -#define TPI_DEVID_MANCVALID_Msk (0x1UL << TPI_DEVID_MANCVALID_Pos) /*!< TPI DEVID: MANCVALID Mask */ - -#define TPI_DEVID_PTINVALID_Pos 9U /*!< TPI DEVID: PTINVALID Position */ -#define TPI_DEVID_PTINVALID_Msk (0x1UL << TPI_DEVID_PTINVALID_Pos) /*!< TPI DEVID: PTINVALID Mask */ - -#define TPI_DEVID_FIFOSZ_Pos 6U /*!< TPI DEVID: FIFO depth Position */ -#define TPI_DEVID_FIFOSZ_Msk (0x7UL << TPI_DEVID_FIFOSZ_Pos) /*!< TPI DEVID: FIFO depth Mask */ - -/* TPI DEVTYPE Register Definitions */ -#define TPI_DEVTYPE_SubType_Pos 4U /*!< TPI DEVTYPE: SubType Position */ -#define TPI_DEVTYPE_SubType_Msk (0xFUL /*<< TPI_DEVTYPE_SubType_Pos*/) /*!< TPI DEVTYPE: SubType Mask */ - -#define TPI_DEVTYPE_MajorType_Pos 0U /*!< TPI DEVTYPE: MajorType Position */ -#define TPI_DEVTYPE_MajorType_Msk (0xFUL << TPI_DEVTYPE_MajorType_Pos) /*!< TPI DEVTYPE: MajorType Mask */ - -/*@}*/ /* end of group CMSIS_TPI */ - - -#if defined (__MPU_PRESENT) && (__MPU_PRESENT == 1U) -/** - \ingroup CMSIS_core_register - \defgroup CMSIS_MPU Memory Protection Unit (MPU) - \brief Type definitions for the Memory Protection Unit (MPU) - @{ - */ - -/** - \brief Structure type to access the Memory Protection Unit (MPU). - */ -typedef struct -{ - __IM uint32_t TYPE; /*!< Offset: 0x000 (R/ ) MPU Type Register */ - __IOM uint32_t CTRL; /*!< Offset: 0x004 (R/W) MPU Control Register */ - __IOM uint32_t RNR; /*!< Offset: 0x008 (R/W) MPU Region Number Register */ - __IOM uint32_t RBAR; /*!< Offset: 0x00C (R/W) MPU Region Base Address Register */ - __IOM uint32_t RLAR; /*!< Offset: 0x010 (R/W) MPU Region Limit Address Register */ - uint32_t RESERVED0[7U]; - union { - __IOM uint32_t MAIR[2]; - struct { - __IOM uint32_t MAIR0; /*!< Offset: 0x030 (R/W) MPU Memory Attribute Indirection Register 0 */ - __IOM uint32_t MAIR1; /*!< Offset: 0x034 (R/W) MPU Memory Attribute Indirection Register 1 */ - }; - }; -} MPU_Type; - -#define MPU_TYPE_RALIASES 1U - -/* MPU Type Register Definitions */ -#define MPU_TYPE_IREGION_Pos 16U /*!< MPU TYPE: IREGION Position */ -#define MPU_TYPE_IREGION_Msk (0xFFUL << MPU_TYPE_IREGION_Pos) /*!< MPU TYPE: IREGION Mask */ - -#define MPU_TYPE_DREGION_Pos 8U /*!< MPU TYPE: DREGION Position */ -#define MPU_TYPE_DREGION_Msk (0xFFUL << MPU_TYPE_DREGION_Pos) /*!< MPU TYPE: DREGION Mask */ - -#define MPU_TYPE_SEPARATE_Pos 0U /*!< MPU TYPE: SEPARATE Position */ -#define MPU_TYPE_SEPARATE_Msk (1UL /*<< MPU_TYPE_SEPARATE_Pos*/) /*!< MPU TYPE: SEPARATE Mask */ - -/* MPU Control Register Definitions */ -#define MPU_CTRL_PRIVDEFENA_Pos 2U /*!< MPU CTRL: PRIVDEFENA Position */ -#define MPU_CTRL_PRIVDEFENA_Msk (1UL << MPU_CTRL_PRIVDEFENA_Pos) /*!< MPU CTRL: PRIVDEFENA Mask */ - -#define MPU_CTRL_HFNMIENA_Pos 1U /*!< MPU CTRL: HFNMIENA Position */ -#define MPU_CTRL_HFNMIENA_Msk (1UL << MPU_CTRL_HFNMIENA_Pos) /*!< MPU CTRL: HFNMIENA Mask */ - -#define MPU_CTRL_ENABLE_Pos 0U /*!< MPU CTRL: ENABLE Position */ -#define MPU_CTRL_ENABLE_Msk (1UL /*<< MPU_CTRL_ENABLE_Pos*/) /*!< MPU CTRL: ENABLE Mask */ - -/* MPU Region Number Register Definitions */ -#define MPU_RNR_REGION_Pos 0U /*!< MPU RNR: REGION Position */ -#define MPU_RNR_REGION_Msk (0xFFUL /*<< MPU_RNR_REGION_Pos*/) /*!< MPU RNR: REGION Mask */ - -/* MPU Region Base Address Register Definitions */ -#define MPU_RBAR_BASE_Pos 5U /*!< MPU RBAR: BASE Position */ -#define MPU_RBAR_BASE_Msk (0x7FFFFFFUL << MPU_RBAR_BASE_Pos) /*!< MPU RBAR: BASE Mask */ - -#define MPU_RBAR_SH_Pos 3U /*!< MPU RBAR: SH Position */ -#define MPU_RBAR_SH_Msk (0x3UL << MPU_RBAR_SH_Pos) /*!< MPU RBAR: SH Mask */ - -#define MPU_RBAR_AP_Pos 1U /*!< MPU RBAR: AP Position */ -#define MPU_RBAR_AP_Msk (0x3UL << MPU_RBAR_AP_Pos) /*!< MPU RBAR: AP Mask */ - -#define MPU_RBAR_XN_Pos 0U /*!< MPU RBAR: XN Position */ -#define MPU_RBAR_XN_Msk (01UL /*<< MPU_RBAR_XN_Pos*/) /*!< MPU RBAR: XN Mask */ - -/* MPU Region Limit Address Register Definitions */ -#define MPU_RLAR_LIMIT_Pos 5U /*!< MPU RLAR: LIMIT Position */ -#define MPU_RLAR_LIMIT_Msk (0x7FFFFFFUL << MPU_RLAR_LIMIT_Pos) /*!< MPU RLAR: LIMIT Mask */ - -#define MPU_RLAR_AttrIndx_Pos 1U /*!< MPU RLAR: AttrIndx Position */ -#define MPU_RLAR_AttrIndx_Msk (0x7UL << MPU_RLAR_AttrIndx_Pos) /*!< MPU RLAR: AttrIndx Mask */ - -#define MPU_RLAR_EN_Pos 0U /*!< MPU RLAR: EN Position */ -#define MPU_RLAR_EN_Msk (1UL /*<< MPU_RLAR_EN_Pos*/) /*!< MPU RLAR: EN Mask */ - -/* MPU Memory Attribute Indirection Register 0 Definitions */ -#define MPU_MAIR0_Attr3_Pos 24U /*!< MPU MAIR0: Attr3 Position */ -#define MPU_MAIR0_Attr3_Msk (0xFFUL << MPU_MAIR0_Attr3_Pos) /*!< MPU MAIR0: Attr3 Mask */ - -#define MPU_MAIR0_Attr2_Pos 16U /*!< MPU MAIR0: Attr2 Position */ -#define MPU_MAIR0_Attr2_Msk (0xFFUL << MPU_MAIR0_Attr2_Pos) /*!< MPU MAIR0: Attr2 Mask */ - -#define MPU_MAIR0_Attr1_Pos 8U /*!< MPU MAIR0: Attr1 Position */ -#define MPU_MAIR0_Attr1_Msk (0xFFUL << MPU_MAIR0_Attr1_Pos) /*!< MPU MAIR0: Attr1 Mask */ - -#define MPU_MAIR0_Attr0_Pos 0U /*!< MPU MAIR0: Attr0 Position */ -#define MPU_MAIR0_Attr0_Msk (0xFFUL /*<< MPU_MAIR0_Attr0_Pos*/) /*!< MPU MAIR0: Attr0 Mask */ - -/* MPU Memory Attribute Indirection Register 1 Definitions */ -#define MPU_MAIR1_Attr7_Pos 24U /*!< MPU MAIR1: Attr7 Position */ -#define MPU_MAIR1_Attr7_Msk (0xFFUL << MPU_MAIR1_Attr7_Pos) /*!< MPU MAIR1: Attr7 Mask */ - -#define MPU_MAIR1_Attr6_Pos 16U /*!< MPU MAIR1: Attr6 Position */ -#define MPU_MAIR1_Attr6_Msk (0xFFUL << MPU_MAIR1_Attr6_Pos) /*!< MPU MAIR1: Attr6 Mask */ - -#define MPU_MAIR1_Attr5_Pos 8U /*!< MPU MAIR1: Attr5 Position */ -#define MPU_MAIR1_Attr5_Msk (0xFFUL << MPU_MAIR1_Attr5_Pos) /*!< MPU MAIR1: Attr5 Mask */ - -#define MPU_MAIR1_Attr4_Pos 0U /*!< MPU MAIR1: Attr4 Position */ -#define MPU_MAIR1_Attr4_Msk (0xFFUL /*<< MPU_MAIR1_Attr4_Pos*/) /*!< MPU MAIR1: Attr4 Mask */ - -/*@} end of group CMSIS_MPU */ -#endif - - -#if defined (__ARM_FEATURE_CMSE) && (__ARM_FEATURE_CMSE == 3U) -/** - \ingroup CMSIS_core_register - \defgroup CMSIS_SAU Security Attribution Unit (SAU) - \brief Type definitions for the Security Attribution Unit (SAU) - @{ - */ - -/** - \brief Structure type to access the Security Attribution Unit (SAU). - */ -typedef struct -{ - __IOM uint32_t CTRL; /*!< Offset: 0x000 (R/W) SAU Control Register */ - __IM uint32_t TYPE; /*!< Offset: 0x004 (R/ ) SAU Type Register */ -#if defined (__SAUREGION_PRESENT) && (__SAUREGION_PRESENT == 1U) - __IOM uint32_t RNR; /*!< Offset: 0x008 (R/W) SAU Region Number Register */ - __IOM uint32_t RBAR; /*!< Offset: 0x00C (R/W) SAU Region Base Address Register */ - __IOM uint32_t RLAR; /*!< Offset: 0x010 (R/W) SAU Region Limit Address Register */ -#endif -} SAU_Type; - -/* SAU Control Register Definitions */ -#define SAU_CTRL_ALLNS_Pos 1U /*!< SAU CTRL: ALLNS Position */ -#define SAU_CTRL_ALLNS_Msk (1UL << SAU_CTRL_ALLNS_Pos) /*!< SAU CTRL: ALLNS Mask */ - -#define SAU_CTRL_ENABLE_Pos 0U /*!< SAU CTRL: ENABLE Position */ -#define SAU_CTRL_ENABLE_Msk (1UL /*<< SAU_CTRL_ENABLE_Pos*/) /*!< SAU CTRL: ENABLE Mask */ - -/* SAU Type Register Definitions */ -#define SAU_TYPE_SREGION_Pos 0U /*!< SAU TYPE: SREGION Position */ -#define SAU_TYPE_SREGION_Msk (0xFFUL /*<< SAU_TYPE_SREGION_Pos*/) /*!< SAU TYPE: SREGION Mask */ - -#if defined (__SAUREGION_PRESENT) && (__SAUREGION_PRESENT == 1U) -/* SAU Region Number Register Definitions */ -#define SAU_RNR_REGION_Pos 0U /*!< SAU RNR: REGION Position */ -#define SAU_RNR_REGION_Msk (0xFFUL /*<< SAU_RNR_REGION_Pos*/) /*!< SAU RNR: REGION Mask */ - -/* SAU Region Base Address Register Definitions */ -#define SAU_RBAR_BADDR_Pos 5U /*!< SAU RBAR: BADDR Position */ -#define SAU_RBAR_BADDR_Msk (0x7FFFFFFUL << SAU_RBAR_BADDR_Pos) /*!< SAU RBAR: BADDR Mask */ - -/* SAU Region Limit Address Register Definitions */ -#define SAU_RLAR_LADDR_Pos 5U /*!< SAU RLAR: LADDR Position */ -#define SAU_RLAR_LADDR_Msk (0x7FFFFFFUL << SAU_RLAR_LADDR_Pos) /*!< SAU RLAR: LADDR Mask */ - -#define SAU_RLAR_NSC_Pos 1U /*!< SAU RLAR: NSC Position */ -#define SAU_RLAR_NSC_Msk (1UL << SAU_RLAR_NSC_Pos) /*!< SAU RLAR: NSC Mask */ - -#define SAU_RLAR_ENABLE_Pos 0U /*!< SAU RLAR: ENABLE Position */ -#define SAU_RLAR_ENABLE_Msk (1UL /*<< SAU_RLAR_ENABLE_Pos*/) /*!< SAU RLAR: ENABLE Mask */ - -#endif /* defined (__SAUREGION_PRESENT) && (__SAUREGION_PRESENT == 1U) */ - -/*@} end of group CMSIS_SAU */ -#endif /* defined (__ARM_FEATURE_CMSE) && (__ARM_FEATURE_CMSE == 3U) */ - - -/** - \ingroup CMSIS_core_register - \defgroup CMSIS_CoreDebug Core Debug Registers (CoreDebug) - \brief Type definitions for the Core Debug Registers - @{ - */ - -/** - \brief Structure type to access the Core Debug Register (CoreDebug). - */ -typedef struct -{ - __IOM uint32_t DHCSR; /*!< Offset: 0x000 (R/W) Debug Halting Control and Status Register */ - __OM uint32_t DCRSR; /*!< Offset: 0x004 ( /W) Debug Core Register Selector Register */ - __IOM uint32_t DCRDR; /*!< Offset: 0x008 (R/W) Debug Core Register Data Register */ - __IOM uint32_t DEMCR; /*!< Offset: 0x00C (R/W) Debug Exception and Monitor Control Register */ - uint32_t RESERVED4[1U]; - __IOM uint32_t DAUTHCTRL; /*!< Offset: 0x014 (R/W) Debug Authentication Control Register */ - __IOM uint32_t DSCSR; /*!< Offset: 0x018 (R/W) Debug Security Control and Status Register */ -} CoreDebug_Type; - -/* Debug Halting Control and Status Register Definitions */ -#define CoreDebug_DHCSR_DBGKEY_Pos 16U /*!< CoreDebug DHCSR: DBGKEY Position */ -#define CoreDebug_DHCSR_DBGKEY_Msk (0xFFFFUL << CoreDebug_DHCSR_DBGKEY_Pos) /*!< CoreDebug DHCSR: DBGKEY Mask */ - -#define CoreDebug_DHCSR_S_RESTART_ST_Pos 26U /*!< CoreDebug DHCSR: S_RESTART_ST Position */ -#define CoreDebug_DHCSR_S_RESTART_ST_Msk (1UL << CoreDebug_DHCSR_S_RESTART_ST_Pos) /*!< CoreDebug DHCSR: S_RESTART_ST Mask */ - -#define CoreDebug_DHCSR_S_RESET_ST_Pos 25U /*!< CoreDebug DHCSR: S_RESET_ST Position */ -#define CoreDebug_DHCSR_S_RESET_ST_Msk (1UL << CoreDebug_DHCSR_S_RESET_ST_Pos) /*!< CoreDebug DHCSR: S_RESET_ST Mask */ - -#define CoreDebug_DHCSR_S_RETIRE_ST_Pos 24U /*!< CoreDebug DHCSR: S_RETIRE_ST Position */ -#define CoreDebug_DHCSR_S_RETIRE_ST_Msk (1UL << CoreDebug_DHCSR_S_RETIRE_ST_Pos) /*!< CoreDebug DHCSR: S_RETIRE_ST Mask */ - -#define CoreDebug_DHCSR_S_LOCKUP_Pos 19U /*!< CoreDebug DHCSR: S_LOCKUP Position */ -#define CoreDebug_DHCSR_S_LOCKUP_Msk (1UL << CoreDebug_DHCSR_S_LOCKUP_Pos) /*!< CoreDebug DHCSR: S_LOCKUP Mask */ - -#define CoreDebug_DHCSR_S_SLEEP_Pos 18U /*!< CoreDebug DHCSR: S_SLEEP Position */ -#define CoreDebug_DHCSR_S_SLEEP_Msk (1UL << CoreDebug_DHCSR_S_SLEEP_Pos) /*!< CoreDebug DHCSR: S_SLEEP Mask */ - -#define CoreDebug_DHCSR_S_HALT_Pos 17U /*!< CoreDebug DHCSR: S_HALT Position */ -#define CoreDebug_DHCSR_S_HALT_Msk (1UL << CoreDebug_DHCSR_S_HALT_Pos) /*!< CoreDebug DHCSR: S_HALT Mask */ - -#define CoreDebug_DHCSR_S_REGRDY_Pos 16U /*!< CoreDebug DHCSR: S_REGRDY Position */ -#define CoreDebug_DHCSR_S_REGRDY_Msk (1UL << CoreDebug_DHCSR_S_REGRDY_Pos) /*!< CoreDebug DHCSR: S_REGRDY Mask */ - -#define CoreDebug_DHCSR_C_MASKINTS_Pos 3U /*!< CoreDebug DHCSR: C_MASKINTS Position */ -#define CoreDebug_DHCSR_C_MASKINTS_Msk (1UL << CoreDebug_DHCSR_C_MASKINTS_Pos) /*!< CoreDebug DHCSR: C_MASKINTS Mask */ - -#define CoreDebug_DHCSR_C_STEP_Pos 2U /*!< CoreDebug DHCSR: C_STEP Position */ -#define CoreDebug_DHCSR_C_STEP_Msk (1UL << CoreDebug_DHCSR_C_STEP_Pos) /*!< CoreDebug DHCSR: C_STEP Mask */ - -#define CoreDebug_DHCSR_C_HALT_Pos 1U /*!< CoreDebug DHCSR: C_HALT Position */ -#define CoreDebug_DHCSR_C_HALT_Msk (1UL << CoreDebug_DHCSR_C_HALT_Pos) /*!< CoreDebug DHCSR: C_HALT Mask */ - -#define CoreDebug_DHCSR_C_DEBUGEN_Pos 0U /*!< CoreDebug DHCSR: C_DEBUGEN Position */ -#define CoreDebug_DHCSR_C_DEBUGEN_Msk (1UL /*<< CoreDebug_DHCSR_C_DEBUGEN_Pos*/) /*!< CoreDebug DHCSR: C_DEBUGEN Mask */ - -/* Debug Core Register Selector Register Definitions */ -#define CoreDebug_DCRSR_REGWnR_Pos 16U /*!< CoreDebug DCRSR: REGWnR Position */ -#define CoreDebug_DCRSR_REGWnR_Msk (1UL << CoreDebug_DCRSR_REGWnR_Pos) /*!< CoreDebug DCRSR: REGWnR Mask */ - -#define CoreDebug_DCRSR_REGSEL_Pos 0U /*!< CoreDebug DCRSR: REGSEL Position */ -#define CoreDebug_DCRSR_REGSEL_Msk (0x1FUL /*<< CoreDebug_DCRSR_REGSEL_Pos*/) /*!< CoreDebug DCRSR: REGSEL Mask */ - -/* Debug Exception and Monitor Control Register */ -#define CoreDebug_DEMCR_DWTENA_Pos 24U /*!< CoreDebug DEMCR: DWTENA Position */ -#define CoreDebug_DEMCR_DWTENA_Msk (1UL << CoreDebug_DEMCR_DWTENA_Pos) /*!< CoreDebug DEMCR: DWTENA Mask */ - -#define CoreDebug_DEMCR_VC_HARDERR_Pos 10U /*!< CoreDebug DEMCR: VC_HARDERR Position */ -#define CoreDebug_DEMCR_VC_HARDERR_Msk (1UL << CoreDebug_DEMCR_VC_HARDERR_Pos) /*!< CoreDebug DEMCR: VC_HARDERR Mask */ - -#define CoreDebug_DEMCR_VC_CORERESET_Pos 0U /*!< CoreDebug DEMCR: VC_CORERESET Position */ -#define CoreDebug_DEMCR_VC_CORERESET_Msk (1UL /*<< CoreDebug_DEMCR_VC_CORERESET_Pos*/) /*!< CoreDebug DEMCR: VC_CORERESET Mask */ - -/* Debug Authentication Control Register Definitions */ -#define CoreDebug_DAUTHCTRL_INTSPNIDEN_Pos 3U /*!< CoreDebug DAUTHCTRL: INTSPNIDEN, Position */ -#define CoreDebug_DAUTHCTRL_INTSPNIDEN_Msk (1UL << CoreDebug_DAUTHCTRL_INTSPNIDEN_Pos) /*!< CoreDebug DAUTHCTRL: INTSPNIDEN, Mask */ - -#define CoreDebug_DAUTHCTRL_SPNIDENSEL_Pos 2U /*!< CoreDebug DAUTHCTRL: SPNIDENSEL Position */ -#define CoreDebug_DAUTHCTRL_SPNIDENSEL_Msk (1UL << CoreDebug_DAUTHCTRL_SPNIDENSEL_Pos) /*!< CoreDebug DAUTHCTRL: SPNIDENSEL Mask */ - -#define CoreDebug_DAUTHCTRL_INTSPIDEN_Pos 1U /*!< CoreDebug DAUTHCTRL: INTSPIDEN Position */ -#define CoreDebug_DAUTHCTRL_INTSPIDEN_Msk (1UL << CoreDebug_DAUTHCTRL_INTSPIDEN_Pos) /*!< CoreDebug DAUTHCTRL: INTSPIDEN Mask */ - -#define CoreDebug_DAUTHCTRL_SPIDENSEL_Pos 0U /*!< CoreDebug DAUTHCTRL: SPIDENSEL Position */ -#define CoreDebug_DAUTHCTRL_SPIDENSEL_Msk (1UL /*<< CoreDebug_DAUTHCTRL_SPIDENSEL_Pos*/) /*!< CoreDebug DAUTHCTRL: SPIDENSEL Mask */ - -/* Debug Security Control and Status Register Definitions */ -#define CoreDebug_DSCSR_CDS_Pos 16U /*!< CoreDebug DSCSR: CDS Position */ -#define CoreDebug_DSCSR_CDS_Msk (1UL << CoreDebug_DSCSR_CDS_Pos) /*!< CoreDebug DSCSR: CDS Mask */ - -#define CoreDebug_DSCSR_SBRSEL_Pos 1U /*!< CoreDebug DSCSR: SBRSEL Position */ -#define CoreDebug_DSCSR_SBRSEL_Msk (1UL << CoreDebug_DSCSR_SBRSEL_Pos) /*!< CoreDebug DSCSR: SBRSEL Mask */ - -#define CoreDebug_DSCSR_SBRSELEN_Pos 0U /*!< CoreDebug DSCSR: SBRSELEN Position */ -#define CoreDebug_DSCSR_SBRSELEN_Msk (1UL /*<< CoreDebug_DSCSR_SBRSELEN_Pos*/) /*!< CoreDebug DSCSR: SBRSELEN Mask */ - -/*@} end of group CMSIS_CoreDebug */ - - -/** - \ingroup CMSIS_core_register - \defgroup CMSIS_core_bitfield Core register bit field macros - \brief Macros for use with bit field definitions (xxx_Pos, xxx_Msk). - @{ - */ - -/** - \brief Mask and shift a bit field value for use in a register bit range. - \param[in] field Name of the register bit field. - \param[in] value Value of the bit field. This parameter is interpreted as an uint32_t type. - \return Masked and shifted value. -*/ -#define _VAL2FLD(field, value) (((uint32_t)(value) << field ## _Pos) & field ## _Msk) - -/** - \brief Mask and shift a register value to extract a bit filed value. - \param[in] field Name of the register bit field. - \param[in] value Value of register. This parameter is interpreted as an uint32_t type. - \return Masked and shifted bit field value. -*/ -#define _FLD2VAL(field, value) (((uint32_t)(value) & field ## _Msk) >> field ## _Pos) - -/*@} end of group CMSIS_core_bitfield */ - - -/** - \ingroup CMSIS_core_register - \defgroup CMSIS_core_base Core Definitions - \brief Definitions for base addresses, unions, and structures. - @{ - */ - -/* Memory mapping of Core Hardware */ - #define SCS_BASE (0xE000E000UL) /*!< System Control Space Base Address */ - #define DWT_BASE (0xE0001000UL) /*!< DWT Base Address */ - #define TPI_BASE (0xE0040000UL) /*!< TPI Base Address */ - #define CoreDebug_BASE (0xE000EDF0UL) /*!< Core Debug Base Address */ - #define SysTick_BASE (SCS_BASE + 0x0010UL) /*!< SysTick Base Address */ - #define NVIC_BASE (SCS_BASE + 0x0100UL) /*!< NVIC Base Address */ - #define SCB_BASE (SCS_BASE + 0x0D00UL) /*!< System Control Block Base Address */ - - - #define SCB ((SCB_Type *) SCB_BASE ) /*!< SCB configuration struct */ - #define SysTick ((SysTick_Type *) SysTick_BASE ) /*!< SysTick configuration struct */ - #define NVIC ((NVIC_Type *) NVIC_BASE ) /*!< NVIC configuration struct */ - #define DWT ((DWT_Type *) DWT_BASE ) /*!< DWT configuration struct */ - #define TPI ((TPI_Type *) TPI_BASE ) /*!< TPI configuration struct */ - #define CoreDebug ((CoreDebug_Type *) CoreDebug_BASE ) /*!< Core Debug configuration struct */ - - #if defined (__MPU_PRESENT) && (__MPU_PRESENT == 1U) - #define MPU_BASE (SCS_BASE + 0x0D90UL) /*!< Memory Protection Unit */ - #define MPU ((MPU_Type *) MPU_BASE ) /*!< Memory Protection Unit */ - #endif - - #if defined (__ARM_FEATURE_CMSE) && (__ARM_FEATURE_CMSE == 3U) - #define SAU_BASE (SCS_BASE + 0x0DD0UL) /*!< Security Attribution Unit */ - #define SAU ((SAU_Type *) SAU_BASE ) /*!< Security Attribution Unit */ - #endif - -#if defined (__ARM_FEATURE_CMSE) && (__ARM_FEATURE_CMSE == 3U) - #define SCS_BASE_NS (0xE002E000UL) /*!< System Control Space Base Address (non-secure address space) */ - #define CoreDebug_BASE_NS (0xE002EDF0UL) /*!< Core Debug Base Address (non-secure address space) */ - #define SysTick_BASE_NS (SCS_BASE_NS + 0x0010UL) /*!< SysTick Base Address (non-secure address space) */ - #define NVIC_BASE_NS (SCS_BASE_NS + 0x0100UL) /*!< NVIC Base Address (non-secure address space) */ - #define SCB_BASE_NS (SCS_BASE_NS + 0x0D00UL) /*!< System Control Block Base Address (non-secure address space) */ - - #define SCB_NS ((SCB_Type *) SCB_BASE_NS ) /*!< SCB configuration struct (non-secure address space) */ - #define SysTick_NS ((SysTick_Type *) SysTick_BASE_NS ) /*!< SysTick configuration struct (non-secure address space) */ - #define NVIC_NS ((NVIC_Type *) NVIC_BASE_NS ) /*!< NVIC configuration struct (non-secure address space) */ - #define CoreDebug_NS ((CoreDebug_Type *) CoreDebug_BASE_NS) /*!< Core Debug configuration struct (non-secure address space) */ - - #if defined (__MPU_PRESENT) && (__MPU_PRESENT == 1U) - #define MPU_BASE_NS (SCS_BASE_NS + 0x0D90UL) /*!< Memory Protection Unit (non-secure address space) */ - #define MPU_NS ((MPU_Type *) MPU_BASE_NS ) /*!< Memory Protection Unit (non-secure address space) */ - #endif - -#endif /* defined (__ARM_FEATURE_CMSE) && (__ARM_FEATURE_CMSE == 3U) */ -/*@} */ - - - -/******************************************************************************* - * Hardware Abstraction Layer - Core Function Interface contains: - - Core NVIC Functions - - Core SysTick Functions - - Core Register Access Functions - ******************************************************************************/ -/** - \defgroup CMSIS_Core_FunctionInterface Functions and Instructions Reference -*/ - - - -/* ########################## NVIC functions #################################### */ -/** - \ingroup CMSIS_Core_FunctionInterface - \defgroup CMSIS_Core_NVICFunctions NVIC Functions - \brief Functions that manage interrupts and exceptions via the NVIC. - @{ - */ - -#ifdef CMSIS_NVIC_VIRTUAL - #ifndef CMSIS_NVIC_VIRTUAL_HEADER_FILE - #define CMSIS_NVIC_VIRTUAL_HEADER_FILE "cmsis_nvic_virtual.h" - #endif - #include CMSIS_NVIC_VIRTUAL_HEADER_FILE -#else - #define NVIC_SetPriorityGrouping __NVIC_SetPriorityGrouping - #define NVIC_GetPriorityGrouping __NVIC_GetPriorityGrouping - #define NVIC_EnableIRQ __NVIC_EnableIRQ - #define NVIC_GetEnableIRQ __NVIC_GetEnableIRQ - #define NVIC_DisableIRQ __NVIC_DisableIRQ - #define NVIC_GetPendingIRQ __NVIC_GetPendingIRQ - #define NVIC_SetPendingIRQ __NVIC_SetPendingIRQ - #define NVIC_ClearPendingIRQ __NVIC_ClearPendingIRQ - #define NVIC_GetActive __NVIC_GetActive - #define NVIC_SetPriority __NVIC_SetPriority - #define NVIC_GetPriority __NVIC_GetPriority - #define NVIC_SystemReset __NVIC_SystemReset -#endif /* CMSIS_NVIC_VIRTUAL */ - -#ifdef CMSIS_VECTAB_VIRTUAL - #ifndef CMSIS_VECTAB_VIRTUAL_HEADER_FILE - #define CMSIS_VECTAB_VIRTUAL_HEADER_FILE "cmsis_vectab_virtual.h" - #endif - #include CMSIS_VECTAB_VIRTUAL_HEADER_FILE -#else - #define NVIC_SetVector __NVIC_SetVector - #define NVIC_GetVector __NVIC_GetVector -#endif /* (CMSIS_VECTAB_VIRTUAL) */ - -#define NVIC_USER_IRQ_OFFSET 16 - - -/* Special LR values for Secure/Non-Secure call handling and exception handling */ - -/* Function Return Payload (from ARMv8-M Architecture Reference Manual) LR value on entry from Secure BLXNS */ -#define FNC_RETURN (0xFEFFFFFFUL) /* bit [0] ignored when processing a branch */ - -/* The following EXC_RETURN mask values are used to evaluate the LR on exception entry */ -#define EXC_RETURN_PREFIX (0xFF000000UL) /* bits [31:24] set to indicate an EXC_RETURN value */ -#define EXC_RETURN_S (0x00000040UL) /* bit [6] stack used to push registers: 0=Non-secure 1=Secure */ -#define EXC_RETURN_DCRS (0x00000020UL) /* bit [5] stacking rules for called registers: 0=skipped 1=saved */ -#define EXC_RETURN_FTYPE (0x00000010UL) /* bit [4] allocate stack for floating-point context: 0=done 1=skipped */ -#define EXC_RETURN_MODE (0x00000008UL) /* bit [3] processor mode for return: 0=Handler mode 1=Thread mode */ -#define EXC_RETURN_SPSEL (0x00000002UL) /* bit [1] stack pointer used to restore context: 0=MSP 1=PSP */ -#define EXC_RETURN_ES (0x00000001UL) /* bit [0] security state exception was taken to: 0=Non-secure 1=Secure */ - -/* Integrity Signature (from ARMv8-M Architecture Reference Manual) for exception context stacking */ -#if defined (__FPU_PRESENT) && (__FPU_PRESENT == 1U) /* Value for processors with floating-point extension: */ -#define EXC_INTEGRITY_SIGNATURE (0xFEFA125AUL) /* bit [0] SFTC must match LR bit[4] EXC_RETURN_FTYPE */ -#else -#define EXC_INTEGRITY_SIGNATURE (0xFEFA125BUL) /* Value for processors without floating-point extension */ -#endif - - -/* Interrupt Priorities are WORD accessible only under Armv6-M */ -/* The following MACROS handle generation of the register offset and byte masks */ -#define _BIT_SHIFT(IRQn) ( ((((uint32_t)(int32_t)(IRQn)) ) & 0x03UL) * 8UL) -#define _SHP_IDX(IRQn) ( (((((uint32_t)(int32_t)(IRQn)) & 0x0FUL)-8UL) >> 2UL) ) -#define _IP_IDX(IRQn) ( (((uint32_t)(int32_t)(IRQn)) >> 2UL) ) - -#define __NVIC_SetPriorityGrouping(X) (void)(X) -#define __NVIC_GetPriorityGrouping() (0U) - -/** - \brief Enable Interrupt - \details Enables a device specific interrupt in the NVIC interrupt controller. - \param [in] IRQn Device specific interrupt number. - \note IRQn must not be negative. - */ -__STATIC_INLINE void __NVIC_EnableIRQ(IRQn_Type IRQn) -{ - if ((int32_t)(IRQn) >= 0) - { - NVIC->ISER[(((uint32_t)IRQn) >> 5UL)] = (uint32_t)(1UL << (((uint32_t)IRQn) & 0x1FUL)); - } -} - - -/** - \brief Get Interrupt Enable status - \details Returns a device specific interrupt enable status from the NVIC interrupt controller. - \param [in] IRQn Device specific interrupt number. - \return 0 Interrupt is not enabled. - \return 1 Interrupt is enabled. - \note IRQn must not be negative. - */ -__STATIC_INLINE uint32_t __NVIC_GetEnableIRQ(IRQn_Type IRQn) -{ - if ((int32_t)(IRQn) >= 0) - { - return((uint32_t)(((NVIC->ISER[(((uint32_t)IRQn) >> 5UL)] & (1UL << (((uint32_t)IRQn) & 0x1FUL))) != 0UL) ? 1UL : 0UL)); - } - else - { - return(0U); - } -} - - -/** - \brief Disable Interrupt - \details Disables a device specific interrupt in the NVIC interrupt controller. - \param [in] IRQn Device specific interrupt number. - \note IRQn must not be negative. - */ -__STATIC_INLINE void __NVIC_DisableIRQ(IRQn_Type IRQn) -{ - if ((int32_t)(IRQn) >= 0) - { - NVIC->ICER[(((uint32_t)IRQn) >> 5UL)] = (uint32_t)(1UL << (((uint32_t)IRQn) & 0x1FUL)); - __DSB(); - __ISB(); - } -} - - -/** - \brief Get Pending Interrupt - \details Reads the NVIC pending register and returns the pending bit for the specified device specific interrupt. - \param [in] IRQn Device specific interrupt number. - \return 0 Interrupt status is not pending. - \return 1 Interrupt status is pending. - \note IRQn must not be negative. - */ -__STATIC_INLINE uint32_t __NVIC_GetPendingIRQ(IRQn_Type IRQn) -{ - if ((int32_t)(IRQn) >= 0) - { - return((uint32_t)(((NVIC->ISPR[(((uint32_t)IRQn) >> 5UL)] & (1UL << (((uint32_t)IRQn) & 0x1FUL))) != 0UL) ? 1UL : 0UL)); - } - else - { - return(0U); - } -} - - -/** - \brief Set Pending Interrupt - \details Sets the pending bit of a device specific interrupt in the NVIC pending register. - \param [in] IRQn Device specific interrupt number. - \note IRQn must not be negative. - */ -__STATIC_INLINE void __NVIC_SetPendingIRQ(IRQn_Type IRQn) -{ - if ((int32_t)(IRQn) >= 0) - { - NVIC->ISPR[(((uint32_t)IRQn) >> 5UL)] = (uint32_t)(1UL << (((uint32_t)IRQn) & 0x1FUL)); - } -} - - -/** - \brief Clear Pending Interrupt - \details Clears the pending bit of a device specific interrupt in the NVIC pending register. - \param [in] IRQn Device specific interrupt number. - \note IRQn must not be negative. - */ -__STATIC_INLINE void __NVIC_ClearPendingIRQ(IRQn_Type IRQn) -{ - if ((int32_t)(IRQn) >= 0) - { - NVIC->ICPR[(((uint32_t)IRQn) >> 5UL)] = (uint32_t)(1UL << (((uint32_t)IRQn) & 0x1FUL)); - } -} - - -/** - \brief Get Active Interrupt - \details Reads the active register in the NVIC and returns the active bit for the device specific interrupt. - \param [in] IRQn Device specific interrupt number. - \return 0 Interrupt status is not active. - \return 1 Interrupt status is active. - \note IRQn must not be negative. - */ -__STATIC_INLINE uint32_t __NVIC_GetActive(IRQn_Type IRQn) -{ - if ((int32_t)(IRQn) >= 0) - { - return((uint32_t)(((NVIC->IABR[(((uint32_t)IRQn) >> 5UL)] & (1UL << (((uint32_t)IRQn) & 0x1FUL))) != 0UL) ? 1UL : 0UL)); - } - else - { - return(0U); - } -} - - -#if defined (__ARM_FEATURE_CMSE) && (__ARM_FEATURE_CMSE == 3U) -/** - \brief Get Interrupt Target State - \details Reads the interrupt target field in the NVIC and returns the interrupt target bit for the device specific interrupt. - \param [in] IRQn Device specific interrupt number. - \return 0 if interrupt is assigned to Secure - \return 1 if interrupt is assigned to Non Secure - \note IRQn must not be negative. - */ -__STATIC_INLINE uint32_t NVIC_GetTargetState(IRQn_Type IRQn) -{ - if ((int32_t)(IRQn) >= 0) - { - return((uint32_t)(((NVIC->ITNS[(((uint32_t)IRQn) >> 5UL)] & (1UL << (((uint32_t)IRQn) & 0x1FUL))) != 0UL) ? 1UL : 0UL)); - } - else - { - return(0U); - } -} - - -/** - \brief Set Interrupt Target State - \details Sets the interrupt target field in the NVIC and returns the interrupt target bit for the device specific interrupt. - \param [in] IRQn Device specific interrupt number. - \return 0 if interrupt is assigned to Secure - 1 if interrupt is assigned to Non Secure - \note IRQn must not be negative. - */ -__STATIC_INLINE uint32_t NVIC_SetTargetState(IRQn_Type IRQn) -{ - if ((int32_t)(IRQn) >= 0) - { - NVIC->ITNS[(((uint32_t)IRQn) >> 5UL)] |= ((uint32_t)(1UL << (((uint32_t)IRQn) & 0x1FUL))); - return((uint32_t)(((NVIC->ITNS[(((uint32_t)IRQn) >> 5UL)] & (1UL << (((uint32_t)IRQn) & 0x1FUL))) != 0UL) ? 1UL : 0UL)); - } - else - { - return(0U); - } -} - - -/** - \brief Clear Interrupt Target State - \details Clears the interrupt target field in the NVIC and returns the interrupt target bit for the device specific interrupt. - \param [in] IRQn Device specific interrupt number. - \return 0 if interrupt is assigned to Secure - 1 if interrupt is assigned to Non Secure - \note IRQn must not be negative. - */ -__STATIC_INLINE uint32_t NVIC_ClearTargetState(IRQn_Type IRQn) -{ - if ((int32_t)(IRQn) >= 0) - { - NVIC->ITNS[(((uint32_t)IRQn) >> 5UL)] &= ~((uint32_t)(1UL << (((uint32_t)IRQn) & 0x1FUL))); - return((uint32_t)(((NVIC->ITNS[(((uint32_t)IRQn) >> 5UL)] & (1UL << (((uint32_t)IRQn) & 0x1FUL))) != 0UL) ? 1UL : 0UL)); - } - else - { - return(0U); - } -} -#endif /* defined (__ARM_FEATURE_CMSE) && (__ARM_FEATURE_CMSE == 3U) */ - - -/** - \brief Set Interrupt Priority - \details Sets the priority of a device specific interrupt or a processor exception. - The interrupt number can be positive to specify a device specific interrupt, - or negative to specify a processor exception. - \param [in] IRQn Interrupt number. - \param [in] priority Priority to set. - \note The priority cannot be set for every processor exception. - */ -__STATIC_INLINE void __NVIC_SetPriority(IRQn_Type IRQn, uint32_t priority) -{ - if ((int32_t)(IRQn) >= 0) - { - NVIC->IPR[_IP_IDX(IRQn)] = ((uint32_t)(NVIC->IPR[_IP_IDX(IRQn)] & ~(0xFFUL << _BIT_SHIFT(IRQn))) | - (((priority << (8U - __NVIC_PRIO_BITS)) & (uint32_t)0xFFUL) << _BIT_SHIFT(IRQn))); - } - else - { - SCB->SHPR[_SHP_IDX(IRQn)] = ((uint32_t)(SCB->SHPR[_SHP_IDX(IRQn)] & ~(0xFFUL << _BIT_SHIFT(IRQn))) | - (((priority << (8U - __NVIC_PRIO_BITS)) & (uint32_t)0xFFUL) << _BIT_SHIFT(IRQn))); - } -} - - -/** - \brief Get Interrupt Priority - \details Reads the priority of a device specific interrupt or a processor exception. - The interrupt number can be positive to specify a device specific interrupt, - or negative to specify a processor exception. - \param [in] IRQn Interrupt number. - \return Interrupt Priority. - Value is aligned automatically to the implemented priority bits of the microcontroller. - */ -__STATIC_INLINE uint32_t __NVIC_GetPriority(IRQn_Type IRQn) -{ - - if ((int32_t)(IRQn) >= 0) - { - return((uint32_t)(((NVIC->IPR[ _IP_IDX(IRQn)] >> _BIT_SHIFT(IRQn) ) & (uint32_t)0xFFUL) >> (8U - __NVIC_PRIO_BITS))); - } - else - { - return((uint32_t)(((SCB->SHPR[_SHP_IDX(IRQn)] >> _BIT_SHIFT(IRQn) ) & (uint32_t)0xFFUL) >> (8U - __NVIC_PRIO_BITS))); - } -} - - -/** - \brief Encode Priority - \details Encodes the priority for an interrupt with the given priority group, - preemptive priority value, and subpriority value. - In case of a conflict between priority grouping and available - priority bits (__NVIC_PRIO_BITS), the smallest possible priority group is set. - \param [in] PriorityGroup Used priority group. - \param [in] PreemptPriority Preemptive priority value (starting from 0). - \param [in] SubPriority Subpriority value (starting from 0). - \return Encoded priority. Value can be used in the function \ref NVIC_SetPriority(). - */ -__STATIC_INLINE uint32_t NVIC_EncodePriority (uint32_t PriorityGroup, uint32_t PreemptPriority, uint32_t SubPriority) -{ - uint32_t PriorityGroupTmp = (PriorityGroup & (uint32_t)0x07UL); /* only values 0..7 are used */ - uint32_t PreemptPriorityBits; - uint32_t SubPriorityBits; - - PreemptPriorityBits = ((7UL - PriorityGroupTmp) > (uint32_t)(__NVIC_PRIO_BITS)) ? (uint32_t)(__NVIC_PRIO_BITS) : (uint32_t)(7UL - PriorityGroupTmp); - SubPriorityBits = ((PriorityGroupTmp + (uint32_t)(__NVIC_PRIO_BITS)) < (uint32_t)7UL) ? (uint32_t)0UL : (uint32_t)((PriorityGroupTmp - 7UL) + (uint32_t)(__NVIC_PRIO_BITS)); - - return ( - ((PreemptPriority & (uint32_t)((1UL << (PreemptPriorityBits)) - 1UL)) << SubPriorityBits) | - ((SubPriority & (uint32_t)((1UL << (SubPriorityBits )) - 1UL))) - ); -} - - -/** - \brief Decode Priority - \details Decodes an interrupt priority value with a given priority group to - preemptive priority value and subpriority value. - In case of a conflict between priority grouping and available - priority bits (__NVIC_PRIO_BITS) the smallest possible priority group is set. - \param [in] Priority Priority value, which can be retrieved with the function \ref NVIC_GetPriority(). - \param [in] PriorityGroup Used priority group. - \param [out] pPreemptPriority Preemptive priority value (starting from 0). - \param [out] pSubPriority Subpriority value (starting from 0). - */ -__STATIC_INLINE void NVIC_DecodePriority (uint32_t Priority, uint32_t PriorityGroup, uint32_t* const pPreemptPriority, uint32_t* const pSubPriority) -{ - uint32_t PriorityGroupTmp = (PriorityGroup & (uint32_t)0x07UL); /* only values 0..7 are used */ - uint32_t PreemptPriorityBits; - uint32_t SubPriorityBits; - - PreemptPriorityBits = ((7UL - PriorityGroupTmp) > (uint32_t)(__NVIC_PRIO_BITS)) ? (uint32_t)(__NVIC_PRIO_BITS) : (uint32_t)(7UL - PriorityGroupTmp); - SubPriorityBits = ((PriorityGroupTmp + (uint32_t)(__NVIC_PRIO_BITS)) < (uint32_t)7UL) ? (uint32_t)0UL : (uint32_t)((PriorityGroupTmp - 7UL) + (uint32_t)(__NVIC_PRIO_BITS)); - - *pPreemptPriority = (Priority >> SubPriorityBits) & (uint32_t)((1UL << (PreemptPriorityBits)) - 1UL); - *pSubPriority = (Priority ) & (uint32_t)((1UL << (SubPriorityBits )) - 1UL); -} - - -/** - \brief Set Interrupt Vector - \details Sets an interrupt vector in SRAM based interrupt vector table. - The interrupt number can be positive to specify a device specific interrupt, - or negative to specify a processor exception. - VTOR must been relocated to SRAM before. - If VTOR is not present address 0 must be mapped to SRAM. - \param [in] IRQn Interrupt number - \param [in] vector Address of interrupt handler function - */ -__STATIC_INLINE void __NVIC_SetVector(IRQn_Type IRQn, uint32_t vector) -{ -#if defined (__VTOR_PRESENT) && (__VTOR_PRESENT == 1U) - uint32_t *vectors = (uint32_t *)SCB->VTOR; -#else - uint32_t *vectors = (uint32_t *)0x0U; -#endif - vectors[(int32_t)IRQn + NVIC_USER_IRQ_OFFSET] = vector; -} - - -/** - \brief Get Interrupt Vector - \details Reads an interrupt vector from interrupt vector table. - The interrupt number can be positive to specify a device specific interrupt, - or negative to specify a processor exception. - \param [in] IRQn Interrupt number. - \return Address of interrupt handler function - */ -__STATIC_INLINE uint32_t __NVIC_GetVector(IRQn_Type IRQn) -{ -#if defined (__VTOR_PRESENT) && (__VTOR_PRESENT == 1U) - uint32_t *vectors = (uint32_t *)SCB->VTOR; -#else - uint32_t *vectors = (uint32_t *)0x0U; -#endif - return vectors[(int32_t)IRQn + NVIC_USER_IRQ_OFFSET]; -} - - -/** - \brief System Reset - \details Initiates a system reset request to reset the MCU. - */ -__NO_RETURN __STATIC_INLINE void __NVIC_SystemReset(void) -{ - __DSB(); /* Ensure all outstanding memory accesses included - buffered write are completed before reset */ - SCB->AIRCR = ((0x5FAUL << SCB_AIRCR_VECTKEY_Pos) | - SCB_AIRCR_SYSRESETREQ_Msk); - __DSB(); /* Ensure completion of memory access */ - - for(;;) /* wait until reset */ - { - __NOP(); - } -} - -#if defined (__ARM_FEATURE_CMSE) && (__ARM_FEATURE_CMSE == 3U) -/** - \brief Enable Interrupt (non-secure) - \details Enables a device specific interrupt in the non-secure NVIC interrupt controller when in secure state. - \param [in] IRQn Device specific interrupt number. - \note IRQn must not be negative. - */ -__STATIC_INLINE void TZ_NVIC_EnableIRQ_NS(IRQn_Type IRQn) -{ - if ((int32_t)(IRQn) >= 0) - { - NVIC_NS->ISER[(((uint32_t)IRQn) >> 5UL)] = (uint32_t)(1UL << (((uint32_t)IRQn) & 0x1FUL)); - } -} - - -/** - \brief Get Interrupt Enable status (non-secure) - \details Returns a device specific interrupt enable status from the non-secure NVIC interrupt controller when in secure state. - \param [in] IRQn Device specific interrupt number. - \return 0 Interrupt is not enabled. - \return 1 Interrupt is enabled. - \note IRQn must not be negative. - */ -__STATIC_INLINE uint32_t TZ_NVIC_GetEnableIRQ_NS(IRQn_Type IRQn) -{ - if ((int32_t)(IRQn) >= 0) - { - return((uint32_t)(((NVIC_NS->ISER[(((uint32_t)IRQn) >> 5UL)] & (1UL << (((uint32_t)IRQn) & 0x1FUL))) != 0UL) ? 1UL : 0UL)); - } - else - { - return(0U); - } -} - - -/** - \brief Disable Interrupt (non-secure) - \details Disables a device specific interrupt in the non-secure NVIC interrupt controller when in secure state. - \param [in] IRQn Device specific interrupt number. - \note IRQn must not be negative. - */ -__STATIC_INLINE void TZ_NVIC_DisableIRQ_NS(IRQn_Type IRQn) -{ - if ((int32_t)(IRQn) >= 0) - { - NVIC_NS->ICER[(((uint32_t)IRQn) >> 5UL)] = (uint32_t)(1UL << (((uint32_t)IRQn) & 0x1FUL)); - } -} - - -/** - \brief Get Pending Interrupt (non-secure) - \details Reads the NVIC pending register in the non-secure NVIC when in secure state and returns the pending bit for the specified device specific interrupt. - \param [in] IRQn Device specific interrupt number. - \return 0 Interrupt status is not pending. - \return 1 Interrupt status is pending. - \note IRQn must not be negative. - */ -__STATIC_INLINE uint32_t TZ_NVIC_GetPendingIRQ_NS(IRQn_Type IRQn) -{ - if ((int32_t)(IRQn) >= 0) - { - return((uint32_t)(((NVIC_NS->ISPR[(((uint32_t)IRQn) >> 5UL)] & (1UL << (((uint32_t)IRQn) & 0x1FUL))) != 0UL) ? 1UL : 0UL)); - } - else - { - return(0U); - } -} - - -/** - \brief Set Pending Interrupt (non-secure) - \details Sets the pending bit of a device specific interrupt in the non-secure NVIC pending register when in secure state. - \param [in] IRQn Device specific interrupt number. - \note IRQn must not be negative. - */ -__STATIC_INLINE void TZ_NVIC_SetPendingIRQ_NS(IRQn_Type IRQn) -{ - if ((int32_t)(IRQn) >= 0) - { - NVIC_NS->ISPR[(((uint32_t)IRQn) >> 5UL)] = (uint32_t)(1UL << (((uint32_t)IRQn) & 0x1FUL)); - } -} - - -/** - \brief Clear Pending Interrupt (non-secure) - \details Clears the pending bit of a device specific interrupt in the non-secure NVIC pending register when in secure state. - \param [in] IRQn Device specific interrupt number. - \note IRQn must not be negative. - */ -__STATIC_INLINE void TZ_NVIC_ClearPendingIRQ_NS(IRQn_Type IRQn) -{ - if ((int32_t)(IRQn) >= 0) - { - NVIC_NS->ICPR[(((uint32_t)IRQn) >> 5UL)] = (uint32_t)(1UL << (((uint32_t)IRQn) & 0x1FUL)); - } -} - - -/** - \brief Get Active Interrupt (non-secure) - \details Reads the active register in non-secure NVIC when in secure state and returns the active bit for the device specific interrupt. - \param [in] IRQn Device specific interrupt number. - \return 0 Interrupt status is not active. - \return 1 Interrupt status is active. - \note IRQn must not be negative. - */ -__STATIC_INLINE uint32_t TZ_NVIC_GetActive_NS(IRQn_Type IRQn) -{ - if ((int32_t)(IRQn) >= 0) - { - return((uint32_t)(((NVIC_NS->IABR[(((uint32_t)IRQn) >> 5UL)] & (1UL << (((uint32_t)IRQn) & 0x1FUL))) != 0UL) ? 1UL : 0UL)); - } - else - { - return(0U); - } -} - - -/** - \brief Set Interrupt Priority (non-secure) - \details Sets the priority of a non-secure device specific interrupt or a non-secure processor exception when in secure state. - The interrupt number can be positive to specify a device specific interrupt, - or negative to specify a processor exception. - \param [in] IRQn Interrupt number. - \param [in] priority Priority to set. - \note The priority cannot be set for every non-secure processor exception. - */ -__STATIC_INLINE void TZ_NVIC_SetPriority_NS(IRQn_Type IRQn, uint32_t priority) -{ - if ((int32_t)(IRQn) >= 0) - { - NVIC_NS->IPR[_IP_IDX(IRQn)] = ((uint32_t)(NVIC_NS->IPR[_IP_IDX(IRQn)] & ~(0xFFUL << _BIT_SHIFT(IRQn))) | - (((priority << (8U - __NVIC_PRIO_BITS)) & (uint32_t)0xFFUL) << _BIT_SHIFT(IRQn))); - } - else - { - SCB_NS->SHPR[_SHP_IDX(IRQn)] = ((uint32_t)(SCB_NS->SHPR[_SHP_IDX(IRQn)] & ~(0xFFUL << _BIT_SHIFT(IRQn))) | - (((priority << (8U - __NVIC_PRIO_BITS)) & (uint32_t)0xFFUL) << _BIT_SHIFT(IRQn))); - } -} - - -/** - \brief Get Interrupt Priority (non-secure) - \details Reads the priority of a non-secure device specific interrupt or a non-secure processor exception when in secure state. - The interrupt number can be positive to specify a device specific interrupt, - or negative to specify a processor exception. - \param [in] IRQn Interrupt number. - \return Interrupt Priority. Value is aligned automatically to the implemented priority bits of the microcontroller. - */ -__STATIC_INLINE uint32_t TZ_NVIC_GetPriority_NS(IRQn_Type IRQn) -{ - - if ((int32_t)(IRQn) >= 0) - { - return((uint32_t)(((NVIC_NS->IPR[ _IP_IDX(IRQn)] >> _BIT_SHIFT(IRQn) ) & (uint32_t)0xFFUL) >> (8U - __NVIC_PRIO_BITS))); - } - else - { - return((uint32_t)(((SCB_NS->SHPR[_SHP_IDX(IRQn)] >> _BIT_SHIFT(IRQn) ) & (uint32_t)0xFFUL) >> (8U - __NVIC_PRIO_BITS))); - } -} -#endif /* defined (__ARM_FEATURE_CMSE) &&(__ARM_FEATURE_CMSE == 3U) */ - -/*@} end of CMSIS_Core_NVICFunctions */ - -/* ########################## MPU functions #################################### */ - -#if defined (__MPU_PRESENT) && (__MPU_PRESENT == 1U) - -#include "mpu_armv8.h" - -#endif - -/* ########################## FPU functions #################################### */ -/** - \ingroup CMSIS_Core_FunctionInterface - \defgroup CMSIS_Core_FpuFunctions FPU Functions - \brief Function that provides FPU type. - @{ - */ - -/** - \brief get FPU type - \details returns the FPU type - \returns - - \b 0: No FPU - - \b 1: Single precision FPU - - \b 2: Double + Single precision FPU - */ -__STATIC_INLINE uint32_t SCB_GetFPUType(void) -{ - return 0U; /* No FPU */ -} - - -/*@} end of CMSIS_Core_FpuFunctions */ - - - -/* ########################## SAU functions #################################### */ -/** - \ingroup CMSIS_Core_FunctionInterface - \defgroup CMSIS_Core_SAUFunctions SAU Functions - \brief Functions that configure the SAU. - @{ - */ - -#if defined (__ARM_FEATURE_CMSE) && (__ARM_FEATURE_CMSE == 3U) - -/** - \brief Enable SAU - \details Enables the Security Attribution Unit (SAU). - */ -__STATIC_INLINE void TZ_SAU_Enable(void) -{ - SAU->CTRL |= (SAU_CTRL_ENABLE_Msk); -} - - - -/** - \brief Disable SAU - \details Disables the Security Attribution Unit (SAU). - */ -__STATIC_INLINE void TZ_SAU_Disable(void) -{ - SAU->CTRL &= ~(SAU_CTRL_ENABLE_Msk); -} - -#endif /* defined (__ARM_FEATURE_CMSE) && (__ARM_FEATURE_CMSE == 3U) */ - -/*@} end of CMSIS_Core_SAUFunctions */ - - - - -/* ################################## SysTick function ############################################ */ -/** - \ingroup CMSIS_Core_FunctionInterface - \defgroup CMSIS_Core_SysTickFunctions SysTick Functions - \brief Functions that configure the System. - @{ - */ - -#if defined (__Vendor_SysTickConfig) && (__Vendor_SysTickConfig == 0U) - -/** - \brief System Tick Configuration - \details Initializes the System Timer and its interrupt, and starts the System Tick Timer. - Counter is in free running mode to generate periodic interrupts. - \param [in] ticks Number of ticks between two interrupts. - \return 0 Function succeeded. - \return 1 Function failed. - \note When the variable __Vendor_SysTickConfig is set to 1, then the - function SysTick_Config is not included. In this case, the file device.h - must contain a vendor-specific implementation of this function. - */ -__STATIC_INLINE uint32_t SysTick_Config(uint32_t ticks) -{ - if ((ticks - 1UL) > SysTick_LOAD_RELOAD_Msk) - { - return (1UL); /* Reload value impossible */ - } - - SysTick->LOAD = (uint32_t)(ticks - 1UL); /* set reload register */ - NVIC_SetPriority (SysTick_IRQn, (1UL << __NVIC_PRIO_BITS) - 1UL); /* set Priority for Systick Interrupt */ - SysTick->VAL = 0UL; /* Load the SysTick Counter Value */ - SysTick->CTRL = SysTick_CTRL_CLKSOURCE_Msk | - SysTick_CTRL_TICKINT_Msk | - SysTick_CTRL_ENABLE_Msk; /* Enable SysTick IRQ and SysTick Timer */ - return (0UL); /* Function successful */ -} - -#if defined (__ARM_FEATURE_CMSE) && (__ARM_FEATURE_CMSE == 3U) -/** - \brief System Tick Configuration (non-secure) - \details Initializes the non-secure System Timer and its interrupt when in secure state, and starts the System Tick Timer. - Counter is in free running mode to generate periodic interrupts. - \param [in] ticks Number of ticks between two interrupts. - \return 0 Function succeeded. - \return 1 Function failed. - \note When the variable __Vendor_SysTickConfig is set to 1, then the - function TZ_SysTick_Config_NS is not included. In this case, the file device.h - must contain a vendor-specific implementation of this function. - - */ -__STATIC_INLINE uint32_t TZ_SysTick_Config_NS(uint32_t ticks) -{ - if ((ticks - 1UL) > SysTick_LOAD_RELOAD_Msk) - { - return (1UL); /* Reload value impossible */ - } - - SysTick_NS->LOAD = (uint32_t)(ticks - 1UL); /* set reload register */ - TZ_NVIC_SetPriority_NS (SysTick_IRQn, (1UL << __NVIC_PRIO_BITS) - 1UL); /* set Priority for Systick Interrupt */ - SysTick_NS->VAL = 0UL; /* Load the SysTick Counter Value */ - SysTick_NS->CTRL = SysTick_CTRL_CLKSOURCE_Msk | - SysTick_CTRL_TICKINT_Msk | - SysTick_CTRL_ENABLE_Msk; /* Enable SysTick IRQ and SysTick Timer */ - return (0UL); /* Function successful */ -} -#endif /* defined (__ARM_FEATURE_CMSE) && (__ARM_FEATURE_CMSE == 3U) */ - -#endif - -/*@} end of CMSIS_Core_SysTickFunctions */ - - - - -#ifdef __cplusplus -} -#endif - -#endif /* __CORE_ARMV8MBL_H_DEPENDANT */ - -#endif /* __CMSIS_GENERIC */ diff --git a/body/board/inc/core_armv8mml.h b/body/board/inc/core_armv8mml.h deleted file mode 100644 index 3a3148ea3144ba..00000000000000 --- a/body/board/inc/core_armv8mml.h +++ /dev/null @@ -1,2927 +0,0 @@ -/**************************************************************************//** - * @file core_armv8mml.h - * @brief CMSIS Armv8-M Mainline Core Peripheral Access Layer Header File - * @version V5.0.7 - * @date 06. July 2018 - ******************************************************************************/ -/* - * Copyright (c) 2009-2018 Arm Limited. All rights reserved. - * - * SPDX-License-Identifier: Apache-2.0 - * - * Licensed under the Apache License, Version 2.0 (the License); you may - * not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an AS IS BASIS, WITHOUT - * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - -#if defined ( __ICCARM__ ) - #pragma system_include /* treat file as system include file for MISRA check */ -#elif defined (__clang__) - #pragma clang system_header /* treat file as system include file */ -#endif - -#ifndef __CORE_ARMV8MML_H_GENERIC -#define __CORE_ARMV8MML_H_GENERIC - -#include - -#ifdef __cplusplus - extern "C" { -#endif - -/** - \page CMSIS_MISRA_Exceptions MISRA-C:2004 Compliance Exceptions - CMSIS violates the following MISRA-C:2004 rules: - - \li Required Rule 8.5, object/function definition in header file.
- Function definitions in header files are used to allow 'inlining'. - - \li Required Rule 18.4, declaration of union type or object of union type: '{...}'.
- Unions are used for effective representation of core registers. - - \li Advisory Rule 19.7, Function-like macro defined.
- Function-like macros are used to allow more efficient code. - */ - - -/******************************************************************************* - * CMSIS definitions - ******************************************************************************/ -/** - \ingroup Cortex_ARMv8MML - @{ - */ - -#include "cmsis_version.h" - -/* CMSIS Armv8MML definitions */ -#define __ARMv8MML_CMSIS_VERSION_MAIN (__CM_CMSIS_VERSION_MAIN) /*!< \deprecated [31:16] CMSIS HAL main version */ -#define __ARMv8MML_CMSIS_VERSION_SUB (__CM_CMSIS_VERSION_SUB) /*!< \deprecated [15:0] CMSIS HAL sub version */ -#define __ARMv8MML_CMSIS_VERSION ((__ARMv8MML_CMSIS_VERSION_MAIN << 16U) | \ - __ARMv8MML_CMSIS_VERSION_SUB ) /*!< \deprecated CMSIS HAL version number */ - -#define __CORTEX_M (81U) /*!< Cortex-M Core */ - -/** __FPU_USED indicates whether an FPU is used or not. - For this, __FPU_PRESENT has to be checked prior to making use of FPU specific registers and functions. -*/ -#if defined ( __CC_ARM ) - #if defined __TARGET_FPU_VFP - #if defined (__FPU_PRESENT) && (__FPU_PRESENT == 1U) - #define __FPU_USED 1U - #else - #error "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)" - #define __FPU_USED 0U - #endif - #else - #define __FPU_USED 0U - #endif - - #if defined(__ARM_FEATURE_DSP) - #if defined(__DSP_PRESENT) && (__DSP_PRESENT == 1U) - #define __DSP_USED 1U - #else - #error "Compiler generates DSP (SIMD) instructions for a devices without DSP extensions (check __DSP_PRESENT)" - #define __DSP_USED 0U - #endif - #else - #define __DSP_USED 0U - #endif - -#elif defined (__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050) - #if defined __ARM_PCS_VFP - #if defined (__FPU_PRESENT) && (__FPU_PRESENT == 1U) - #define __FPU_USED 1U - #else - #warning "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)" - #define __FPU_USED 0U - #endif - #else - #define __FPU_USED 0U - #endif - - #if defined(__ARM_FEATURE_DSP) - #if defined(__DSP_PRESENT) && (__DSP_PRESENT == 1U) - #define __DSP_USED 1U - #else - #error "Compiler generates DSP (SIMD) instructions for a devices without DSP extensions (check __DSP_PRESENT)" - #define __DSP_USED 0U - #endif - #else - #define __DSP_USED 0U - #endif - -#elif defined ( __GNUC__ ) - #if defined (__VFP_FP__) && !defined(__SOFTFP__) - #if defined (__FPU_PRESENT) && (__FPU_PRESENT == 1U) - #define __FPU_USED 1U - #else - #error "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)" - #define __FPU_USED 0U - #endif - #else - #define __FPU_USED 0U - #endif - - #if defined(__ARM_FEATURE_DSP) - #if defined(__DSP_PRESENT) && (__DSP_PRESENT == 1U) - #define __DSP_USED 1U - #else - #error "Compiler generates DSP (SIMD) instructions for a devices without DSP extensions (check __DSP_PRESENT)" - #define __DSP_USED 0U - #endif - #else - #define __DSP_USED 0U - #endif - -#elif defined ( __ICCARM__ ) - #if defined __ARMVFP__ - #if defined (__FPU_PRESENT) && (__FPU_PRESENT == 1U) - #define __FPU_USED 1U - #else - #error "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)" - #define __FPU_USED 0U - #endif - #else - #define __FPU_USED 0U - #endif - - #if defined(__ARM_FEATURE_DSP) - #if defined(__DSP_PRESENT) && (__DSP_PRESENT == 1U) - #define __DSP_USED 1U - #else - #error "Compiler generates DSP (SIMD) instructions for a devices without DSP extensions (check __DSP_PRESENT)" - #define __DSP_USED 0U - #endif - #else - #define __DSP_USED 0U - #endif - -#elif defined ( __TI_ARM__ ) - #if defined __TI_VFP_SUPPORT__ - #if defined (__FPU_PRESENT) && (__FPU_PRESENT == 1U) - #define __FPU_USED 1U - #else - #error "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)" - #define __FPU_USED 0U - #endif - #else - #define __FPU_USED 0U - #endif - -#elif defined ( __TASKING__ ) - #if defined __FPU_VFP__ - #if defined (__FPU_PRESENT) && (__FPU_PRESENT == 1U) - #define __FPU_USED 1U - #else - #error "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)" - #define __FPU_USED 0U - #endif - #else - #define __FPU_USED 0U - #endif - -#elif defined ( __CSMC__ ) - #if ( __CSMC__ & 0x400U) - #if defined (__FPU_PRESENT) && (__FPU_PRESENT == 1U) - #define __FPU_USED 1U - #else - #error "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)" - #define __FPU_USED 0U - #endif - #else - #define __FPU_USED 0U - #endif - -#endif - -#include "cmsis_compiler.h" /* CMSIS compiler specific defines */ - - -#ifdef __cplusplus -} -#endif - -#endif /* __CORE_ARMV8MML_H_GENERIC */ - -#ifndef __CMSIS_GENERIC - -#ifndef __CORE_ARMV8MML_H_DEPENDANT -#define __CORE_ARMV8MML_H_DEPENDANT - -#ifdef __cplusplus - extern "C" { -#endif - -/* check device defines and use defaults */ -#if defined __CHECK_DEVICE_DEFINES - #ifndef __ARMv8MML_REV - #define __ARMv8MML_REV 0x0000U - #warning "__ARMv8MML_REV not defined in device header file; using default!" - #endif - - #ifndef __FPU_PRESENT - #define __FPU_PRESENT 0U - #warning "__FPU_PRESENT not defined in device header file; using default!" - #endif - - #ifndef __MPU_PRESENT - #define __MPU_PRESENT 0U - #warning "__MPU_PRESENT not defined in device header file; using default!" - #endif - - #ifndef __SAUREGION_PRESENT - #define __SAUREGION_PRESENT 0U - #warning "__SAUREGION_PRESENT not defined in device header file; using default!" - #endif - - #ifndef __DSP_PRESENT - #define __DSP_PRESENT 0U - #warning "__DSP_PRESENT not defined in device header file; using default!" - #endif - - #ifndef __NVIC_PRIO_BITS - #define __NVIC_PRIO_BITS 3U - #warning "__NVIC_PRIO_BITS not defined in device header file; using default!" - #endif - - #ifndef __Vendor_SysTickConfig - #define __Vendor_SysTickConfig 0U - #warning "__Vendor_SysTickConfig not defined in device header file; using default!" - #endif -#endif - -/* IO definitions (access restrictions to peripheral registers) */ -/** - \defgroup CMSIS_glob_defs CMSIS Global Defines - - IO Type Qualifiers are used - \li to specify the access to peripheral variables. - \li for automatic generation of peripheral register debug information. -*/ -#ifdef __cplusplus - #define __I volatile /*!< Defines 'read only' permissions */ -#else - #define __I volatile const /*!< Defines 'read only' permissions */ -#endif -#define __O volatile /*!< Defines 'write only' permissions */ -#define __IO volatile /*!< Defines 'read / write' permissions */ - -/* following defines should be used for structure members */ -#define __IM volatile const /*! Defines 'read only' structure member permissions */ -#define __OM volatile /*! Defines 'write only' structure member permissions */ -#define __IOM volatile /*! Defines 'read / write' structure member permissions */ - -/*@} end of group ARMv8MML */ - - - -/******************************************************************************* - * Register Abstraction - Core Register contain: - - Core Register - - Core NVIC Register - - Core SCB Register - - Core SysTick Register - - Core Debug Register - - Core MPU Register - - Core SAU Register - - Core FPU Register - ******************************************************************************/ -/** - \defgroup CMSIS_core_register Defines and Type Definitions - \brief Type definitions and defines for Cortex-M processor based devices. -*/ - -/** - \ingroup CMSIS_core_register - \defgroup CMSIS_CORE Status and Control Registers - \brief Core Register type definitions. - @{ - */ - -/** - \brief Union type to access the Application Program Status Register (APSR). - */ -typedef union -{ - struct - { - uint32_t _reserved0:16; /*!< bit: 0..15 Reserved */ - uint32_t GE:4; /*!< bit: 16..19 Greater than or Equal flags */ - uint32_t _reserved1:7; /*!< bit: 20..26 Reserved */ - uint32_t Q:1; /*!< bit: 27 Saturation condition flag */ - uint32_t V:1; /*!< bit: 28 Overflow condition code flag */ - uint32_t C:1; /*!< bit: 29 Carry condition code flag */ - uint32_t Z:1; /*!< bit: 30 Zero condition code flag */ - uint32_t N:1; /*!< bit: 31 Negative condition code flag */ - } b; /*!< Structure used for bit access */ - uint32_t w; /*!< Type used for word access */ -} APSR_Type; - -/* APSR Register Definitions */ -#define APSR_N_Pos 31U /*!< APSR: N Position */ -#define APSR_N_Msk (1UL << APSR_N_Pos) /*!< APSR: N Mask */ - -#define APSR_Z_Pos 30U /*!< APSR: Z Position */ -#define APSR_Z_Msk (1UL << APSR_Z_Pos) /*!< APSR: Z Mask */ - -#define APSR_C_Pos 29U /*!< APSR: C Position */ -#define APSR_C_Msk (1UL << APSR_C_Pos) /*!< APSR: C Mask */ - -#define APSR_V_Pos 28U /*!< APSR: V Position */ -#define APSR_V_Msk (1UL << APSR_V_Pos) /*!< APSR: V Mask */ - -#define APSR_Q_Pos 27U /*!< APSR: Q Position */ -#define APSR_Q_Msk (1UL << APSR_Q_Pos) /*!< APSR: Q Mask */ - -#define APSR_GE_Pos 16U /*!< APSR: GE Position */ -#define APSR_GE_Msk (0xFUL << APSR_GE_Pos) /*!< APSR: GE Mask */ - - -/** - \brief Union type to access the Interrupt Program Status Register (IPSR). - */ -typedef union -{ - struct - { - uint32_t ISR:9; /*!< bit: 0.. 8 Exception number */ - uint32_t _reserved0:23; /*!< bit: 9..31 Reserved */ - } b; /*!< Structure used for bit access */ - uint32_t w; /*!< Type used for word access */ -} IPSR_Type; - -/* IPSR Register Definitions */ -#define IPSR_ISR_Pos 0U /*!< IPSR: ISR Position */ -#define IPSR_ISR_Msk (0x1FFUL /*<< IPSR_ISR_Pos*/) /*!< IPSR: ISR Mask */ - - -/** - \brief Union type to access the Special-Purpose Program Status Registers (xPSR). - */ -typedef union -{ - struct - { - uint32_t ISR:9; /*!< bit: 0.. 8 Exception number */ - uint32_t _reserved0:7; /*!< bit: 9..15 Reserved */ - uint32_t GE:4; /*!< bit: 16..19 Greater than or Equal flags */ - uint32_t _reserved1:4; /*!< bit: 20..23 Reserved */ - uint32_t T:1; /*!< bit: 24 Thumb bit (read 0) */ - uint32_t IT:2; /*!< bit: 25..26 saved IT state (read 0) */ - uint32_t Q:1; /*!< bit: 27 Saturation condition flag */ - uint32_t V:1; /*!< bit: 28 Overflow condition code flag */ - uint32_t C:1; /*!< bit: 29 Carry condition code flag */ - uint32_t Z:1; /*!< bit: 30 Zero condition code flag */ - uint32_t N:1; /*!< bit: 31 Negative condition code flag */ - } b; /*!< Structure used for bit access */ - uint32_t w; /*!< Type used for word access */ -} xPSR_Type; - -/* xPSR Register Definitions */ -#define xPSR_N_Pos 31U /*!< xPSR: N Position */ -#define xPSR_N_Msk (1UL << xPSR_N_Pos) /*!< xPSR: N Mask */ - -#define xPSR_Z_Pos 30U /*!< xPSR: Z Position */ -#define xPSR_Z_Msk (1UL << xPSR_Z_Pos) /*!< xPSR: Z Mask */ - -#define xPSR_C_Pos 29U /*!< xPSR: C Position */ -#define xPSR_C_Msk (1UL << xPSR_C_Pos) /*!< xPSR: C Mask */ - -#define xPSR_V_Pos 28U /*!< xPSR: V Position */ -#define xPSR_V_Msk (1UL << xPSR_V_Pos) /*!< xPSR: V Mask */ - -#define xPSR_Q_Pos 27U /*!< xPSR: Q Position */ -#define xPSR_Q_Msk (1UL << xPSR_Q_Pos) /*!< xPSR: Q Mask */ - -#define xPSR_IT_Pos 25U /*!< xPSR: IT Position */ -#define xPSR_IT_Msk (3UL << xPSR_IT_Pos) /*!< xPSR: IT Mask */ - -#define xPSR_T_Pos 24U /*!< xPSR: T Position */ -#define xPSR_T_Msk (1UL << xPSR_T_Pos) /*!< xPSR: T Mask */ - -#define xPSR_GE_Pos 16U /*!< xPSR: GE Position */ -#define xPSR_GE_Msk (0xFUL << xPSR_GE_Pos) /*!< xPSR: GE Mask */ - -#define xPSR_ISR_Pos 0U /*!< xPSR: ISR Position */ -#define xPSR_ISR_Msk (0x1FFUL /*<< xPSR_ISR_Pos*/) /*!< xPSR: ISR Mask */ - - -/** - \brief Union type to access the Control Registers (CONTROL). - */ -typedef union -{ - struct - { - uint32_t nPRIV:1; /*!< bit: 0 Execution privilege in Thread mode */ - uint32_t SPSEL:1; /*!< bit: 1 Stack-pointer select */ - uint32_t FPCA:1; /*!< bit: 2 Floating-point context active */ - uint32_t SFPA:1; /*!< bit: 3 Secure floating-point active */ - uint32_t _reserved1:28; /*!< bit: 4..31 Reserved */ - } b; /*!< Structure used for bit access */ - uint32_t w; /*!< Type used for word access */ -} CONTROL_Type; - -/* CONTROL Register Definitions */ -#define CONTROL_SFPA_Pos 3U /*!< CONTROL: SFPA Position */ -#define CONTROL_SFPA_Msk (1UL << CONTROL_SFPA_Pos) /*!< CONTROL: SFPA Mask */ - -#define CONTROL_FPCA_Pos 2U /*!< CONTROL: FPCA Position */ -#define CONTROL_FPCA_Msk (1UL << CONTROL_FPCA_Pos) /*!< CONTROL: FPCA Mask */ - -#define CONTROL_SPSEL_Pos 1U /*!< CONTROL: SPSEL Position */ -#define CONTROL_SPSEL_Msk (1UL << CONTROL_SPSEL_Pos) /*!< CONTROL: SPSEL Mask */ - -#define CONTROL_nPRIV_Pos 0U /*!< CONTROL: nPRIV Position */ -#define CONTROL_nPRIV_Msk (1UL /*<< CONTROL_nPRIV_Pos*/) /*!< CONTROL: nPRIV Mask */ - -/*@} end of group CMSIS_CORE */ - - -/** - \ingroup CMSIS_core_register - \defgroup CMSIS_NVIC Nested Vectored Interrupt Controller (NVIC) - \brief Type definitions for the NVIC Registers - @{ - */ - -/** - \brief Structure type to access the Nested Vectored Interrupt Controller (NVIC). - */ -typedef struct -{ - __IOM uint32_t ISER[16U]; /*!< Offset: 0x000 (R/W) Interrupt Set Enable Register */ - uint32_t RESERVED0[16U]; - __IOM uint32_t ICER[16U]; /*!< Offset: 0x080 (R/W) Interrupt Clear Enable Register */ - uint32_t RSERVED1[16U]; - __IOM uint32_t ISPR[16U]; /*!< Offset: 0x100 (R/W) Interrupt Set Pending Register */ - uint32_t RESERVED2[16U]; - __IOM uint32_t ICPR[16U]; /*!< Offset: 0x180 (R/W) Interrupt Clear Pending Register */ - uint32_t RESERVED3[16U]; - __IOM uint32_t IABR[16U]; /*!< Offset: 0x200 (R/W) Interrupt Active bit Register */ - uint32_t RESERVED4[16U]; - __IOM uint32_t ITNS[16U]; /*!< Offset: 0x280 (R/W) Interrupt Non-Secure State Register */ - uint32_t RESERVED5[16U]; - __IOM uint8_t IPR[496U]; /*!< Offset: 0x300 (R/W) Interrupt Priority Register (8Bit wide) */ - uint32_t RESERVED6[580U]; - __OM uint32_t STIR; /*!< Offset: 0xE00 ( /W) Software Trigger Interrupt Register */ -} NVIC_Type; - -/* Software Triggered Interrupt Register Definitions */ -#define NVIC_STIR_INTID_Pos 0U /*!< STIR: INTLINESNUM Position */ -#define NVIC_STIR_INTID_Msk (0x1FFUL /*<< NVIC_STIR_INTID_Pos*/) /*!< STIR: INTLINESNUM Mask */ - -/*@} end of group CMSIS_NVIC */ - - -/** - \ingroup CMSIS_core_register - \defgroup CMSIS_SCB System Control Block (SCB) - \brief Type definitions for the System Control Block Registers - @{ - */ - -/** - \brief Structure type to access the System Control Block (SCB). - */ -typedef struct -{ - __IM uint32_t CPUID; /*!< Offset: 0x000 (R/ ) CPUID Base Register */ - __IOM uint32_t ICSR; /*!< Offset: 0x004 (R/W) Interrupt Control and State Register */ - __IOM uint32_t VTOR; /*!< Offset: 0x008 (R/W) Vector Table Offset Register */ - __IOM uint32_t AIRCR; /*!< Offset: 0x00C (R/W) Application Interrupt and Reset Control Register */ - __IOM uint32_t SCR; /*!< Offset: 0x010 (R/W) System Control Register */ - __IOM uint32_t CCR; /*!< Offset: 0x014 (R/W) Configuration Control Register */ - __IOM uint8_t SHPR[12U]; /*!< Offset: 0x018 (R/W) System Handlers Priority Registers (4-7, 8-11, 12-15) */ - __IOM uint32_t SHCSR; /*!< Offset: 0x024 (R/W) System Handler Control and State Register */ - __IOM uint32_t CFSR; /*!< Offset: 0x028 (R/W) Configurable Fault Status Register */ - __IOM uint32_t HFSR; /*!< Offset: 0x02C (R/W) HardFault Status Register */ - __IOM uint32_t DFSR; /*!< Offset: 0x030 (R/W) Debug Fault Status Register */ - __IOM uint32_t MMFAR; /*!< Offset: 0x034 (R/W) MemManage Fault Address Register */ - __IOM uint32_t BFAR; /*!< Offset: 0x038 (R/W) BusFault Address Register */ - __IOM uint32_t AFSR; /*!< Offset: 0x03C (R/W) Auxiliary Fault Status Register */ - __IM uint32_t ID_PFR[2U]; /*!< Offset: 0x040 (R/ ) Processor Feature Register */ - __IM uint32_t ID_DFR; /*!< Offset: 0x048 (R/ ) Debug Feature Register */ - __IM uint32_t ID_ADR; /*!< Offset: 0x04C (R/ ) Auxiliary Feature Register */ - __IM uint32_t ID_MMFR[4U]; /*!< Offset: 0x050 (R/ ) Memory Model Feature Register */ - __IM uint32_t ID_ISAR[6U]; /*!< Offset: 0x060 (R/ ) Instruction Set Attributes Register */ - __IM uint32_t CLIDR; /*!< Offset: 0x078 (R/ ) Cache Level ID register */ - __IM uint32_t CTR; /*!< Offset: 0x07C (R/ ) Cache Type register */ - __IM uint32_t CCSIDR; /*!< Offset: 0x080 (R/ ) Cache Size ID Register */ - __IOM uint32_t CSSELR; /*!< Offset: 0x084 (R/W) Cache Size Selection Register */ - __IOM uint32_t CPACR; /*!< Offset: 0x088 (R/W) Coprocessor Access Control Register */ - __IOM uint32_t NSACR; /*!< Offset: 0x08C (R/W) Non-Secure Access Control Register */ - uint32_t RESERVED3[92U]; - __OM uint32_t STIR; /*!< Offset: 0x200 ( /W) Software Triggered Interrupt Register */ - uint32_t RESERVED4[15U]; - __IM uint32_t MVFR0; /*!< Offset: 0x240 (R/ ) Media and VFP Feature Register 0 */ - __IM uint32_t MVFR1; /*!< Offset: 0x244 (R/ ) Media and VFP Feature Register 1 */ - __IM uint32_t MVFR2; /*!< Offset: 0x248 (R/ ) Media and VFP Feature Register 2 */ - uint32_t RESERVED5[1U]; - __OM uint32_t ICIALLU; /*!< Offset: 0x250 ( /W) I-Cache Invalidate All to PoU */ - uint32_t RESERVED6[1U]; - __OM uint32_t ICIMVAU; /*!< Offset: 0x258 ( /W) I-Cache Invalidate by MVA to PoU */ - __OM uint32_t DCIMVAC; /*!< Offset: 0x25C ( /W) D-Cache Invalidate by MVA to PoC */ - __OM uint32_t DCISW; /*!< Offset: 0x260 ( /W) D-Cache Invalidate by Set-way */ - __OM uint32_t DCCMVAU; /*!< Offset: 0x264 ( /W) D-Cache Clean by MVA to PoU */ - __OM uint32_t DCCMVAC; /*!< Offset: 0x268 ( /W) D-Cache Clean by MVA to PoC */ - __OM uint32_t DCCSW; /*!< Offset: 0x26C ( /W) D-Cache Clean by Set-way */ - __OM uint32_t DCCIMVAC; /*!< Offset: 0x270 ( /W) D-Cache Clean and Invalidate by MVA to PoC */ - __OM uint32_t DCCISW; /*!< Offset: 0x274 ( /W) D-Cache Clean and Invalidate by Set-way */ - uint32_t RESERVED7[6U]; - __IOM uint32_t ITCMCR; /*!< Offset: 0x290 (R/W) Instruction Tightly-Coupled Memory Control Register */ - __IOM uint32_t DTCMCR; /*!< Offset: 0x294 (R/W) Data Tightly-Coupled Memory Control Registers */ - __IOM uint32_t AHBPCR; /*!< Offset: 0x298 (R/W) AHBP Control Register */ - __IOM uint32_t CACR; /*!< Offset: 0x29C (R/W) L1 Cache Control Register */ - __IOM uint32_t AHBSCR; /*!< Offset: 0x2A0 (R/W) AHB Slave Control Register */ - uint32_t RESERVED8[1U]; - __IOM uint32_t ABFSR; /*!< Offset: 0x2A8 (R/W) Auxiliary Bus Fault Status Register */ -} SCB_Type; - -/* SCB CPUID Register Definitions */ -#define SCB_CPUID_IMPLEMENTER_Pos 24U /*!< SCB CPUID: IMPLEMENTER Position */ -#define SCB_CPUID_IMPLEMENTER_Msk (0xFFUL << SCB_CPUID_IMPLEMENTER_Pos) /*!< SCB CPUID: IMPLEMENTER Mask */ - -#define SCB_CPUID_VARIANT_Pos 20U /*!< SCB CPUID: VARIANT Position */ -#define SCB_CPUID_VARIANT_Msk (0xFUL << SCB_CPUID_VARIANT_Pos) /*!< SCB CPUID: VARIANT Mask */ - -#define SCB_CPUID_ARCHITECTURE_Pos 16U /*!< SCB CPUID: ARCHITECTURE Position */ -#define SCB_CPUID_ARCHITECTURE_Msk (0xFUL << SCB_CPUID_ARCHITECTURE_Pos) /*!< SCB CPUID: ARCHITECTURE Mask */ - -#define SCB_CPUID_PARTNO_Pos 4U /*!< SCB CPUID: PARTNO Position */ -#define SCB_CPUID_PARTNO_Msk (0xFFFUL << SCB_CPUID_PARTNO_Pos) /*!< SCB CPUID: PARTNO Mask */ - -#define SCB_CPUID_REVISION_Pos 0U /*!< SCB CPUID: REVISION Position */ -#define SCB_CPUID_REVISION_Msk (0xFUL /*<< SCB_CPUID_REVISION_Pos*/) /*!< SCB CPUID: REVISION Mask */ - -/* SCB Interrupt Control State Register Definitions */ -#define SCB_ICSR_PENDNMISET_Pos 31U /*!< SCB ICSR: PENDNMISET Position */ -#define SCB_ICSR_PENDNMISET_Msk (1UL << SCB_ICSR_PENDNMISET_Pos) /*!< SCB ICSR: PENDNMISET Mask */ - -#define SCB_ICSR_NMIPENDSET_Pos SCB_ICSR_PENDNMISET_Pos /*!< SCB ICSR: NMIPENDSET Position, backward compatibility */ -#define SCB_ICSR_NMIPENDSET_Msk SCB_ICSR_PENDNMISET_Msk /*!< SCB ICSR: NMIPENDSET Mask, backward compatibility */ - -#define SCB_ICSR_PENDNMICLR_Pos 30U /*!< SCB ICSR: PENDNMICLR Position */ -#define SCB_ICSR_PENDNMICLR_Msk (1UL << SCB_ICSR_PENDNMICLR_Pos) /*!< SCB ICSR: PENDNMICLR Mask */ - -#define SCB_ICSR_PENDSVSET_Pos 28U /*!< SCB ICSR: PENDSVSET Position */ -#define SCB_ICSR_PENDSVSET_Msk (1UL << SCB_ICSR_PENDSVSET_Pos) /*!< SCB ICSR: PENDSVSET Mask */ - -#define SCB_ICSR_PENDSVCLR_Pos 27U /*!< SCB ICSR: PENDSVCLR Position */ -#define SCB_ICSR_PENDSVCLR_Msk (1UL << SCB_ICSR_PENDSVCLR_Pos) /*!< SCB ICSR: PENDSVCLR Mask */ - -#define SCB_ICSR_PENDSTSET_Pos 26U /*!< SCB ICSR: PENDSTSET Position */ -#define SCB_ICSR_PENDSTSET_Msk (1UL << SCB_ICSR_PENDSTSET_Pos) /*!< SCB ICSR: PENDSTSET Mask */ - -#define SCB_ICSR_PENDSTCLR_Pos 25U /*!< SCB ICSR: PENDSTCLR Position */ -#define SCB_ICSR_PENDSTCLR_Msk (1UL << SCB_ICSR_PENDSTCLR_Pos) /*!< SCB ICSR: PENDSTCLR Mask */ - -#define SCB_ICSR_STTNS_Pos 24U /*!< SCB ICSR: STTNS Position (Security Extension) */ -#define SCB_ICSR_STTNS_Msk (1UL << SCB_ICSR_STTNS_Pos) /*!< SCB ICSR: STTNS Mask (Security Extension) */ - -#define SCB_ICSR_ISRPREEMPT_Pos 23U /*!< SCB ICSR: ISRPREEMPT Position */ -#define SCB_ICSR_ISRPREEMPT_Msk (1UL << SCB_ICSR_ISRPREEMPT_Pos) /*!< SCB ICSR: ISRPREEMPT Mask */ - -#define SCB_ICSR_ISRPENDING_Pos 22U /*!< SCB ICSR: ISRPENDING Position */ -#define SCB_ICSR_ISRPENDING_Msk (1UL << SCB_ICSR_ISRPENDING_Pos) /*!< SCB ICSR: ISRPENDING Mask */ - -#define SCB_ICSR_VECTPENDING_Pos 12U /*!< SCB ICSR: VECTPENDING Position */ -#define SCB_ICSR_VECTPENDING_Msk (0x1FFUL << SCB_ICSR_VECTPENDING_Pos) /*!< SCB ICSR: VECTPENDING Mask */ - -#define SCB_ICSR_RETTOBASE_Pos 11U /*!< SCB ICSR: RETTOBASE Position */ -#define SCB_ICSR_RETTOBASE_Msk (1UL << SCB_ICSR_RETTOBASE_Pos) /*!< SCB ICSR: RETTOBASE Mask */ - -#define SCB_ICSR_VECTACTIVE_Pos 0U /*!< SCB ICSR: VECTACTIVE Position */ -#define SCB_ICSR_VECTACTIVE_Msk (0x1FFUL /*<< SCB_ICSR_VECTACTIVE_Pos*/) /*!< SCB ICSR: VECTACTIVE Mask */ - -/* SCB Vector Table Offset Register Definitions */ -#define SCB_VTOR_TBLOFF_Pos 7U /*!< SCB VTOR: TBLOFF Position */ -#define SCB_VTOR_TBLOFF_Msk (0x1FFFFFFUL << SCB_VTOR_TBLOFF_Pos) /*!< SCB VTOR: TBLOFF Mask */ - -/* SCB Application Interrupt and Reset Control Register Definitions */ -#define SCB_AIRCR_VECTKEY_Pos 16U /*!< SCB AIRCR: VECTKEY Position */ -#define SCB_AIRCR_VECTKEY_Msk (0xFFFFUL << SCB_AIRCR_VECTKEY_Pos) /*!< SCB AIRCR: VECTKEY Mask */ - -#define SCB_AIRCR_VECTKEYSTAT_Pos 16U /*!< SCB AIRCR: VECTKEYSTAT Position */ -#define SCB_AIRCR_VECTKEYSTAT_Msk (0xFFFFUL << SCB_AIRCR_VECTKEYSTAT_Pos) /*!< SCB AIRCR: VECTKEYSTAT Mask */ - -#define SCB_AIRCR_ENDIANESS_Pos 15U /*!< SCB AIRCR: ENDIANESS Position */ -#define SCB_AIRCR_ENDIANESS_Msk (1UL << SCB_AIRCR_ENDIANESS_Pos) /*!< SCB AIRCR: ENDIANESS Mask */ - -#define SCB_AIRCR_PRIS_Pos 14U /*!< SCB AIRCR: PRIS Position */ -#define SCB_AIRCR_PRIS_Msk (1UL << SCB_AIRCR_PRIS_Pos) /*!< SCB AIRCR: PRIS Mask */ - -#define SCB_AIRCR_BFHFNMINS_Pos 13U /*!< SCB AIRCR: BFHFNMINS Position */ -#define SCB_AIRCR_BFHFNMINS_Msk (1UL << SCB_AIRCR_BFHFNMINS_Pos) /*!< SCB AIRCR: BFHFNMINS Mask */ - -#define SCB_AIRCR_PRIGROUP_Pos 8U /*!< SCB AIRCR: PRIGROUP Position */ -#define SCB_AIRCR_PRIGROUP_Msk (7UL << SCB_AIRCR_PRIGROUP_Pos) /*!< SCB AIRCR: PRIGROUP Mask */ - -#define SCB_AIRCR_SYSRESETREQS_Pos 3U /*!< SCB AIRCR: SYSRESETREQS Position */ -#define SCB_AIRCR_SYSRESETREQS_Msk (1UL << SCB_AIRCR_SYSRESETREQS_Pos) /*!< SCB AIRCR: SYSRESETREQS Mask */ - -#define SCB_AIRCR_SYSRESETREQ_Pos 2U /*!< SCB AIRCR: SYSRESETREQ Position */ -#define SCB_AIRCR_SYSRESETREQ_Msk (1UL << SCB_AIRCR_SYSRESETREQ_Pos) /*!< SCB AIRCR: SYSRESETREQ Mask */ - -#define SCB_AIRCR_VECTCLRACTIVE_Pos 1U /*!< SCB AIRCR: VECTCLRACTIVE Position */ -#define SCB_AIRCR_VECTCLRACTIVE_Msk (1UL << SCB_AIRCR_VECTCLRACTIVE_Pos) /*!< SCB AIRCR: VECTCLRACTIVE Mask */ - -/* SCB System Control Register Definitions */ -#define SCB_SCR_SEVONPEND_Pos 4U /*!< SCB SCR: SEVONPEND Position */ -#define SCB_SCR_SEVONPEND_Msk (1UL << SCB_SCR_SEVONPEND_Pos) /*!< SCB SCR: SEVONPEND Mask */ - -#define SCB_SCR_SLEEPDEEPS_Pos 3U /*!< SCB SCR: SLEEPDEEPS Position */ -#define SCB_SCR_SLEEPDEEPS_Msk (1UL << SCB_SCR_SLEEPDEEPS_Pos) /*!< SCB SCR: SLEEPDEEPS Mask */ - -#define SCB_SCR_SLEEPDEEP_Pos 2U /*!< SCB SCR: SLEEPDEEP Position */ -#define SCB_SCR_SLEEPDEEP_Msk (1UL << SCB_SCR_SLEEPDEEP_Pos) /*!< SCB SCR: SLEEPDEEP Mask */ - -#define SCB_SCR_SLEEPONEXIT_Pos 1U /*!< SCB SCR: SLEEPONEXIT Position */ -#define SCB_SCR_SLEEPONEXIT_Msk (1UL << SCB_SCR_SLEEPONEXIT_Pos) /*!< SCB SCR: SLEEPONEXIT Mask */ - -/* SCB Configuration Control Register Definitions */ -#define SCB_CCR_BP_Pos 18U /*!< SCB CCR: BP Position */ -#define SCB_CCR_BP_Msk (1UL << SCB_CCR_BP_Pos) /*!< SCB CCR: BP Mask */ - -#define SCB_CCR_IC_Pos 17U /*!< SCB CCR: IC Position */ -#define SCB_CCR_IC_Msk (1UL << SCB_CCR_IC_Pos) /*!< SCB CCR: IC Mask */ - -#define SCB_CCR_DC_Pos 16U /*!< SCB CCR: DC Position */ -#define SCB_CCR_DC_Msk (1UL << SCB_CCR_DC_Pos) /*!< SCB CCR: DC Mask */ - -#define SCB_CCR_STKOFHFNMIGN_Pos 10U /*!< SCB CCR: STKOFHFNMIGN Position */ -#define SCB_CCR_STKOFHFNMIGN_Msk (1UL << SCB_CCR_STKOFHFNMIGN_Pos) /*!< SCB CCR: STKOFHFNMIGN Mask */ - -#define SCB_CCR_BFHFNMIGN_Pos 8U /*!< SCB CCR: BFHFNMIGN Position */ -#define SCB_CCR_BFHFNMIGN_Msk (1UL << SCB_CCR_BFHFNMIGN_Pos) /*!< SCB CCR: BFHFNMIGN Mask */ - -#define SCB_CCR_DIV_0_TRP_Pos 4U /*!< SCB CCR: DIV_0_TRP Position */ -#define SCB_CCR_DIV_0_TRP_Msk (1UL << SCB_CCR_DIV_0_TRP_Pos) /*!< SCB CCR: DIV_0_TRP Mask */ - -#define SCB_CCR_UNALIGN_TRP_Pos 3U /*!< SCB CCR: UNALIGN_TRP Position */ -#define SCB_CCR_UNALIGN_TRP_Msk (1UL << SCB_CCR_UNALIGN_TRP_Pos) /*!< SCB CCR: UNALIGN_TRP Mask */ - -#define SCB_CCR_USERSETMPEND_Pos 1U /*!< SCB CCR: USERSETMPEND Position */ -#define SCB_CCR_USERSETMPEND_Msk (1UL << SCB_CCR_USERSETMPEND_Pos) /*!< SCB CCR: USERSETMPEND Mask */ - -/* SCB System Handler Control and State Register Definitions */ -#define SCB_SHCSR_HARDFAULTPENDED_Pos 21U /*!< SCB SHCSR: HARDFAULTPENDED Position */ -#define SCB_SHCSR_HARDFAULTPENDED_Msk (1UL << SCB_SHCSR_HARDFAULTPENDED_Pos) /*!< SCB SHCSR: HARDFAULTPENDED Mask */ - -#define SCB_SHCSR_SECUREFAULTPENDED_Pos 20U /*!< SCB SHCSR: SECUREFAULTPENDED Position */ -#define SCB_SHCSR_SECUREFAULTPENDED_Msk (1UL << SCB_SHCSR_SECUREFAULTPENDED_Pos) /*!< SCB SHCSR: SECUREFAULTPENDED Mask */ - -#define SCB_SHCSR_SECUREFAULTENA_Pos 19U /*!< SCB SHCSR: SECUREFAULTENA Position */ -#define SCB_SHCSR_SECUREFAULTENA_Msk (1UL << SCB_SHCSR_SECUREFAULTENA_Pos) /*!< SCB SHCSR: SECUREFAULTENA Mask */ - -#define SCB_SHCSR_USGFAULTENA_Pos 18U /*!< SCB SHCSR: USGFAULTENA Position */ -#define SCB_SHCSR_USGFAULTENA_Msk (1UL << SCB_SHCSR_USGFAULTENA_Pos) /*!< SCB SHCSR: USGFAULTENA Mask */ - -#define SCB_SHCSR_BUSFAULTENA_Pos 17U /*!< SCB SHCSR: BUSFAULTENA Position */ -#define SCB_SHCSR_BUSFAULTENA_Msk (1UL << SCB_SHCSR_BUSFAULTENA_Pos) /*!< SCB SHCSR: BUSFAULTENA Mask */ - -#define SCB_SHCSR_MEMFAULTENA_Pos 16U /*!< SCB SHCSR: MEMFAULTENA Position */ -#define SCB_SHCSR_MEMFAULTENA_Msk (1UL << SCB_SHCSR_MEMFAULTENA_Pos) /*!< SCB SHCSR: MEMFAULTENA Mask */ - -#define SCB_SHCSR_SVCALLPENDED_Pos 15U /*!< SCB SHCSR: SVCALLPENDED Position */ -#define SCB_SHCSR_SVCALLPENDED_Msk (1UL << SCB_SHCSR_SVCALLPENDED_Pos) /*!< SCB SHCSR: SVCALLPENDED Mask */ - -#define SCB_SHCSR_BUSFAULTPENDED_Pos 14U /*!< SCB SHCSR: BUSFAULTPENDED Position */ -#define SCB_SHCSR_BUSFAULTPENDED_Msk (1UL << SCB_SHCSR_BUSFAULTPENDED_Pos) /*!< SCB SHCSR: BUSFAULTPENDED Mask */ - -#define SCB_SHCSR_MEMFAULTPENDED_Pos 13U /*!< SCB SHCSR: MEMFAULTPENDED Position */ -#define SCB_SHCSR_MEMFAULTPENDED_Msk (1UL << SCB_SHCSR_MEMFAULTPENDED_Pos) /*!< SCB SHCSR: MEMFAULTPENDED Mask */ - -#define SCB_SHCSR_USGFAULTPENDED_Pos 12U /*!< SCB SHCSR: USGFAULTPENDED Position */ -#define SCB_SHCSR_USGFAULTPENDED_Msk (1UL << SCB_SHCSR_USGFAULTPENDED_Pos) /*!< SCB SHCSR: USGFAULTPENDED Mask */ - -#define SCB_SHCSR_SYSTICKACT_Pos 11U /*!< SCB SHCSR: SYSTICKACT Position */ -#define SCB_SHCSR_SYSTICKACT_Msk (1UL << SCB_SHCSR_SYSTICKACT_Pos) /*!< SCB SHCSR: SYSTICKACT Mask */ - -#define SCB_SHCSR_PENDSVACT_Pos 10U /*!< SCB SHCSR: PENDSVACT Position */ -#define SCB_SHCSR_PENDSVACT_Msk (1UL << SCB_SHCSR_PENDSVACT_Pos) /*!< SCB SHCSR: PENDSVACT Mask */ - -#define SCB_SHCSR_MONITORACT_Pos 8U /*!< SCB SHCSR: MONITORACT Position */ -#define SCB_SHCSR_MONITORACT_Msk (1UL << SCB_SHCSR_MONITORACT_Pos) /*!< SCB SHCSR: MONITORACT Mask */ - -#define SCB_SHCSR_SVCALLACT_Pos 7U /*!< SCB SHCSR: SVCALLACT Position */ -#define SCB_SHCSR_SVCALLACT_Msk (1UL << SCB_SHCSR_SVCALLACT_Pos) /*!< SCB SHCSR: SVCALLACT Mask */ - -#define SCB_SHCSR_NMIACT_Pos 5U /*!< SCB SHCSR: NMIACT Position */ -#define SCB_SHCSR_NMIACT_Msk (1UL << SCB_SHCSR_NMIACT_Pos) /*!< SCB SHCSR: NMIACT Mask */ - -#define SCB_SHCSR_SECUREFAULTACT_Pos 4U /*!< SCB SHCSR: SECUREFAULTACT Position */ -#define SCB_SHCSR_SECUREFAULTACT_Msk (1UL << SCB_SHCSR_SECUREFAULTACT_Pos) /*!< SCB SHCSR: SECUREFAULTACT Mask */ - -#define SCB_SHCSR_USGFAULTACT_Pos 3U /*!< SCB SHCSR: USGFAULTACT Position */ -#define SCB_SHCSR_USGFAULTACT_Msk (1UL << SCB_SHCSR_USGFAULTACT_Pos) /*!< SCB SHCSR: USGFAULTACT Mask */ - -#define SCB_SHCSR_HARDFAULTACT_Pos 2U /*!< SCB SHCSR: HARDFAULTACT Position */ -#define SCB_SHCSR_HARDFAULTACT_Msk (1UL << SCB_SHCSR_HARDFAULTACT_Pos) /*!< SCB SHCSR: HARDFAULTACT Mask */ - -#define SCB_SHCSR_BUSFAULTACT_Pos 1U /*!< SCB SHCSR: BUSFAULTACT Position */ -#define SCB_SHCSR_BUSFAULTACT_Msk (1UL << SCB_SHCSR_BUSFAULTACT_Pos) /*!< SCB SHCSR: BUSFAULTACT Mask */ - -#define SCB_SHCSR_MEMFAULTACT_Pos 0U /*!< SCB SHCSR: MEMFAULTACT Position */ -#define SCB_SHCSR_MEMFAULTACT_Msk (1UL /*<< SCB_SHCSR_MEMFAULTACT_Pos*/) /*!< SCB SHCSR: MEMFAULTACT Mask */ - -/* SCB Configurable Fault Status Register Definitions */ -#define SCB_CFSR_USGFAULTSR_Pos 16U /*!< SCB CFSR: Usage Fault Status Register Position */ -#define SCB_CFSR_USGFAULTSR_Msk (0xFFFFUL << SCB_CFSR_USGFAULTSR_Pos) /*!< SCB CFSR: Usage Fault Status Register Mask */ - -#define SCB_CFSR_BUSFAULTSR_Pos 8U /*!< SCB CFSR: Bus Fault Status Register Position */ -#define SCB_CFSR_BUSFAULTSR_Msk (0xFFUL << SCB_CFSR_BUSFAULTSR_Pos) /*!< SCB CFSR: Bus Fault Status Register Mask */ - -#define SCB_CFSR_MEMFAULTSR_Pos 0U /*!< SCB CFSR: Memory Manage Fault Status Register Position */ -#define SCB_CFSR_MEMFAULTSR_Msk (0xFFUL /*<< SCB_CFSR_MEMFAULTSR_Pos*/) /*!< SCB CFSR: Memory Manage Fault Status Register Mask */ - -/* MemManage Fault Status Register (part of SCB Configurable Fault Status Register) */ -#define SCB_CFSR_MMARVALID_Pos (SCB_SHCSR_MEMFAULTACT_Pos + 7U) /*!< SCB CFSR (MMFSR): MMARVALID Position */ -#define SCB_CFSR_MMARVALID_Msk (1UL << SCB_CFSR_MMARVALID_Pos) /*!< SCB CFSR (MMFSR): MMARVALID Mask */ - -#define SCB_CFSR_MLSPERR_Pos (SCB_SHCSR_MEMFAULTACT_Pos + 5U) /*!< SCB CFSR (MMFSR): MLSPERR Position */ -#define SCB_CFSR_MLSPERR_Msk (1UL << SCB_CFSR_MLSPERR_Pos) /*!< SCB CFSR (MMFSR): MLSPERR Mask */ - -#define SCB_CFSR_MSTKERR_Pos (SCB_SHCSR_MEMFAULTACT_Pos + 4U) /*!< SCB CFSR (MMFSR): MSTKERR Position */ -#define SCB_CFSR_MSTKERR_Msk (1UL << SCB_CFSR_MSTKERR_Pos) /*!< SCB CFSR (MMFSR): MSTKERR Mask */ - -#define SCB_CFSR_MUNSTKERR_Pos (SCB_SHCSR_MEMFAULTACT_Pos + 3U) /*!< SCB CFSR (MMFSR): MUNSTKERR Position */ -#define SCB_CFSR_MUNSTKERR_Msk (1UL << SCB_CFSR_MUNSTKERR_Pos) /*!< SCB CFSR (MMFSR): MUNSTKERR Mask */ - -#define SCB_CFSR_DACCVIOL_Pos (SCB_SHCSR_MEMFAULTACT_Pos + 1U) /*!< SCB CFSR (MMFSR): DACCVIOL Position */ -#define SCB_CFSR_DACCVIOL_Msk (1UL << SCB_CFSR_DACCVIOL_Pos) /*!< SCB CFSR (MMFSR): DACCVIOL Mask */ - -#define SCB_CFSR_IACCVIOL_Pos (SCB_SHCSR_MEMFAULTACT_Pos + 0U) /*!< SCB CFSR (MMFSR): IACCVIOL Position */ -#define SCB_CFSR_IACCVIOL_Msk (1UL /*<< SCB_CFSR_IACCVIOL_Pos*/) /*!< SCB CFSR (MMFSR): IACCVIOL Mask */ - -/* BusFault Status Register (part of SCB Configurable Fault Status Register) */ -#define SCB_CFSR_BFARVALID_Pos (SCB_CFSR_BUSFAULTSR_Pos + 7U) /*!< SCB CFSR (BFSR): BFARVALID Position */ -#define SCB_CFSR_BFARVALID_Msk (1UL << SCB_CFSR_BFARVALID_Pos) /*!< SCB CFSR (BFSR): BFARVALID Mask */ - -#define SCB_CFSR_LSPERR_Pos (SCB_CFSR_BUSFAULTSR_Pos + 5U) /*!< SCB CFSR (BFSR): LSPERR Position */ -#define SCB_CFSR_LSPERR_Msk (1UL << SCB_CFSR_LSPERR_Pos) /*!< SCB CFSR (BFSR): LSPERR Mask */ - -#define SCB_CFSR_STKERR_Pos (SCB_CFSR_BUSFAULTSR_Pos + 4U) /*!< SCB CFSR (BFSR): STKERR Position */ -#define SCB_CFSR_STKERR_Msk (1UL << SCB_CFSR_STKERR_Pos) /*!< SCB CFSR (BFSR): STKERR Mask */ - -#define SCB_CFSR_UNSTKERR_Pos (SCB_CFSR_BUSFAULTSR_Pos + 3U) /*!< SCB CFSR (BFSR): UNSTKERR Position */ -#define SCB_CFSR_UNSTKERR_Msk (1UL << SCB_CFSR_UNSTKERR_Pos) /*!< SCB CFSR (BFSR): UNSTKERR Mask */ - -#define SCB_CFSR_IMPRECISERR_Pos (SCB_CFSR_BUSFAULTSR_Pos + 2U) /*!< SCB CFSR (BFSR): IMPRECISERR Position */ -#define SCB_CFSR_IMPRECISERR_Msk (1UL << SCB_CFSR_IMPRECISERR_Pos) /*!< SCB CFSR (BFSR): IMPRECISERR Mask */ - -#define SCB_CFSR_PRECISERR_Pos (SCB_CFSR_BUSFAULTSR_Pos + 1U) /*!< SCB CFSR (BFSR): PRECISERR Position */ -#define SCB_CFSR_PRECISERR_Msk (1UL << SCB_CFSR_PRECISERR_Pos) /*!< SCB CFSR (BFSR): PRECISERR Mask */ - -#define SCB_CFSR_IBUSERR_Pos (SCB_CFSR_BUSFAULTSR_Pos + 0U) /*!< SCB CFSR (BFSR): IBUSERR Position */ -#define SCB_CFSR_IBUSERR_Msk (1UL << SCB_CFSR_IBUSERR_Pos) /*!< SCB CFSR (BFSR): IBUSERR Mask */ - -/* UsageFault Status Register (part of SCB Configurable Fault Status Register) */ -#define SCB_CFSR_DIVBYZERO_Pos (SCB_CFSR_USGFAULTSR_Pos + 9U) /*!< SCB CFSR (UFSR): DIVBYZERO Position */ -#define SCB_CFSR_DIVBYZERO_Msk (1UL << SCB_CFSR_DIVBYZERO_Pos) /*!< SCB CFSR (UFSR): DIVBYZERO Mask */ - -#define SCB_CFSR_UNALIGNED_Pos (SCB_CFSR_USGFAULTSR_Pos + 8U) /*!< SCB CFSR (UFSR): UNALIGNED Position */ -#define SCB_CFSR_UNALIGNED_Msk (1UL << SCB_CFSR_UNALIGNED_Pos) /*!< SCB CFSR (UFSR): UNALIGNED Mask */ - -#define SCB_CFSR_STKOF_Pos (SCB_CFSR_USGFAULTSR_Pos + 4U) /*!< SCB CFSR (UFSR): STKOF Position */ -#define SCB_CFSR_STKOF_Msk (1UL << SCB_CFSR_STKOF_Pos) /*!< SCB CFSR (UFSR): STKOF Mask */ - -#define SCB_CFSR_NOCP_Pos (SCB_CFSR_USGFAULTSR_Pos + 3U) /*!< SCB CFSR (UFSR): NOCP Position */ -#define SCB_CFSR_NOCP_Msk (1UL << SCB_CFSR_NOCP_Pos) /*!< SCB CFSR (UFSR): NOCP Mask */ - -#define SCB_CFSR_INVPC_Pos (SCB_CFSR_USGFAULTSR_Pos + 2U) /*!< SCB CFSR (UFSR): INVPC Position */ -#define SCB_CFSR_INVPC_Msk (1UL << SCB_CFSR_INVPC_Pos) /*!< SCB CFSR (UFSR): INVPC Mask */ - -#define SCB_CFSR_INVSTATE_Pos (SCB_CFSR_USGFAULTSR_Pos + 1U) /*!< SCB CFSR (UFSR): INVSTATE Position */ -#define SCB_CFSR_INVSTATE_Msk (1UL << SCB_CFSR_INVSTATE_Pos) /*!< SCB CFSR (UFSR): INVSTATE Mask */ - -#define SCB_CFSR_UNDEFINSTR_Pos (SCB_CFSR_USGFAULTSR_Pos + 0U) /*!< SCB CFSR (UFSR): UNDEFINSTR Position */ -#define SCB_CFSR_UNDEFINSTR_Msk (1UL << SCB_CFSR_UNDEFINSTR_Pos) /*!< SCB CFSR (UFSR): UNDEFINSTR Mask */ - -/* SCB Hard Fault Status Register Definitions */ -#define SCB_HFSR_DEBUGEVT_Pos 31U /*!< SCB HFSR: DEBUGEVT Position */ -#define SCB_HFSR_DEBUGEVT_Msk (1UL << SCB_HFSR_DEBUGEVT_Pos) /*!< SCB HFSR: DEBUGEVT Mask */ - -#define SCB_HFSR_FORCED_Pos 30U /*!< SCB HFSR: FORCED Position */ -#define SCB_HFSR_FORCED_Msk (1UL << SCB_HFSR_FORCED_Pos) /*!< SCB HFSR: FORCED Mask */ - -#define SCB_HFSR_VECTTBL_Pos 1U /*!< SCB HFSR: VECTTBL Position */ -#define SCB_HFSR_VECTTBL_Msk (1UL << SCB_HFSR_VECTTBL_Pos) /*!< SCB HFSR: VECTTBL Mask */ - -/* SCB Debug Fault Status Register Definitions */ -#define SCB_DFSR_EXTERNAL_Pos 4U /*!< SCB DFSR: EXTERNAL Position */ -#define SCB_DFSR_EXTERNAL_Msk (1UL << SCB_DFSR_EXTERNAL_Pos) /*!< SCB DFSR: EXTERNAL Mask */ - -#define SCB_DFSR_VCATCH_Pos 3U /*!< SCB DFSR: VCATCH Position */ -#define SCB_DFSR_VCATCH_Msk (1UL << SCB_DFSR_VCATCH_Pos) /*!< SCB DFSR: VCATCH Mask */ - -#define SCB_DFSR_DWTTRAP_Pos 2U /*!< SCB DFSR: DWTTRAP Position */ -#define SCB_DFSR_DWTTRAP_Msk (1UL << SCB_DFSR_DWTTRAP_Pos) /*!< SCB DFSR: DWTTRAP Mask */ - -#define SCB_DFSR_BKPT_Pos 1U /*!< SCB DFSR: BKPT Position */ -#define SCB_DFSR_BKPT_Msk (1UL << SCB_DFSR_BKPT_Pos) /*!< SCB DFSR: BKPT Mask */ - -#define SCB_DFSR_HALTED_Pos 0U /*!< SCB DFSR: HALTED Position */ -#define SCB_DFSR_HALTED_Msk (1UL /*<< SCB_DFSR_HALTED_Pos*/) /*!< SCB DFSR: HALTED Mask */ - -/* SCB Non-Secure Access Control Register Definitions */ -#define SCB_NSACR_CP11_Pos 11U /*!< SCB NSACR: CP11 Position */ -#define SCB_NSACR_CP11_Msk (1UL << SCB_NSACR_CP11_Pos) /*!< SCB NSACR: CP11 Mask */ - -#define SCB_NSACR_CP10_Pos 10U /*!< SCB NSACR: CP10 Position */ -#define SCB_NSACR_CP10_Msk (1UL << SCB_NSACR_CP10_Pos) /*!< SCB NSACR: CP10 Mask */ - -#define SCB_NSACR_CPn_Pos 0U /*!< SCB NSACR: CPn Position */ -#define SCB_NSACR_CPn_Msk (1UL /*<< SCB_NSACR_CPn_Pos*/) /*!< SCB NSACR: CPn Mask */ - -/* SCB Cache Level ID Register Definitions */ -#define SCB_CLIDR_LOUU_Pos 27U /*!< SCB CLIDR: LoUU Position */ -#define SCB_CLIDR_LOUU_Msk (7UL << SCB_CLIDR_LOUU_Pos) /*!< SCB CLIDR: LoUU Mask */ - -#define SCB_CLIDR_LOC_Pos 24U /*!< SCB CLIDR: LoC Position */ -#define SCB_CLIDR_LOC_Msk (7UL << SCB_CLIDR_LOC_Pos) /*!< SCB CLIDR: LoC Mask */ - -/* SCB Cache Type Register Definitions */ -#define SCB_CTR_FORMAT_Pos 29U /*!< SCB CTR: Format Position */ -#define SCB_CTR_FORMAT_Msk (7UL << SCB_CTR_FORMAT_Pos) /*!< SCB CTR: Format Mask */ - -#define SCB_CTR_CWG_Pos 24U /*!< SCB CTR: CWG Position */ -#define SCB_CTR_CWG_Msk (0xFUL << SCB_CTR_CWG_Pos) /*!< SCB CTR: CWG Mask */ - -#define SCB_CTR_ERG_Pos 20U /*!< SCB CTR: ERG Position */ -#define SCB_CTR_ERG_Msk (0xFUL << SCB_CTR_ERG_Pos) /*!< SCB CTR: ERG Mask */ - -#define SCB_CTR_DMINLINE_Pos 16U /*!< SCB CTR: DminLine Position */ -#define SCB_CTR_DMINLINE_Msk (0xFUL << SCB_CTR_DMINLINE_Pos) /*!< SCB CTR: DminLine Mask */ - -#define SCB_CTR_IMINLINE_Pos 0U /*!< SCB CTR: ImInLine Position */ -#define SCB_CTR_IMINLINE_Msk (0xFUL /*<< SCB_CTR_IMINLINE_Pos*/) /*!< SCB CTR: ImInLine Mask */ - -/* SCB Cache Size ID Register Definitions */ -#define SCB_CCSIDR_WT_Pos 31U /*!< SCB CCSIDR: WT Position */ -#define SCB_CCSIDR_WT_Msk (1UL << SCB_CCSIDR_WT_Pos) /*!< SCB CCSIDR: WT Mask */ - -#define SCB_CCSIDR_WB_Pos 30U /*!< SCB CCSIDR: WB Position */ -#define SCB_CCSIDR_WB_Msk (1UL << SCB_CCSIDR_WB_Pos) /*!< SCB CCSIDR: WB Mask */ - -#define SCB_CCSIDR_RA_Pos 29U /*!< SCB CCSIDR: RA Position */ -#define SCB_CCSIDR_RA_Msk (1UL << SCB_CCSIDR_RA_Pos) /*!< SCB CCSIDR: RA Mask */ - -#define SCB_CCSIDR_WA_Pos 28U /*!< SCB CCSIDR: WA Position */ -#define SCB_CCSIDR_WA_Msk (1UL << SCB_CCSIDR_WA_Pos) /*!< SCB CCSIDR: WA Mask */ - -#define SCB_CCSIDR_NUMSETS_Pos 13U /*!< SCB CCSIDR: NumSets Position */ -#define SCB_CCSIDR_NUMSETS_Msk (0x7FFFUL << SCB_CCSIDR_NUMSETS_Pos) /*!< SCB CCSIDR: NumSets Mask */ - -#define SCB_CCSIDR_ASSOCIATIVITY_Pos 3U /*!< SCB CCSIDR: Associativity Position */ -#define SCB_CCSIDR_ASSOCIATIVITY_Msk (0x3FFUL << SCB_CCSIDR_ASSOCIATIVITY_Pos) /*!< SCB CCSIDR: Associativity Mask */ - -#define SCB_CCSIDR_LINESIZE_Pos 0U /*!< SCB CCSIDR: LineSize Position */ -#define SCB_CCSIDR_LINESIZE_Msk (7UL /*<< SCB_CCSIDR_LINESIZE_Pos*/) /*!< SCB CCSIDR: LineSize Mask */ - -/* SCB Cache Size Selection Register Definitions */ -#define SCB_CSSELR_LEVEL_Pos 1U /*!< SCB CSSELR: Level Position */ -#define SCB_CSSELR_LEVEL_Msk (7UL << SCB_CSSELR_LEVEL_Pos) /*!< SCB CSSELR: Level Mask */ - -#define SCB_CSSELR_IND_Pos 0U /*!< SCB CSSELR: InD Position */ -#define SCB_CSSELR_IND_Msk (1UL /*<< SCB_CSSELR_IND_Pos*/) /*!< SCB CSSELR: InD Mask */ - -/* SCB Software Triggered Interrupt Register Definitions */ -#define SCB_STIR_INTID_Pos 0U /*!< SCB STIR: INTID Position */ -#define SCB_STIR_INTID_Msk (0x1FFUL /*<< SCB_STIR_INTID_Pos*/) /*!< SCB STIR: INTID Mask */ - -/* SCB D-Cache Invalidate by Set-way Register Definitions */ -#define SCB_DCISW_WAY_Pos 30U /*!< SCB DCISW: Way Position */ -#define SCB_DCISW_WAY_Msk (3UL << SCB_DCISW_WAY_Pos) /*!< SCB DCISW: Way Mask */ - -#define SCB_DCISW_SET_Pos 5U /*!< SCB DCISW: Set Position */ -#define SCB_DCISW_SET_Msk (0x1FFUL << SCB_DCISW_SET_Pos) /*!< SCB DCISW: Set Mask */ - -/* SCB D-Cache Clean by Set-way Register Definitions */ -#define SCB_DCCSW_WAY_Pos 30U /*!< SCB DCCSW: Way Position */ -#define SCB_DCCSW_WAY_Msk (3UL << SCB_DCCSW_WAY_Pos) /*!< SCB DCCSW: Way Mask */ - -#define SCB_DCCSW_SET_Pos 5U /*!< SCB DCCSW: Set Position */ -#define SCB_DCCSW_SET_Msk (0x1FFUL << SCB_DCCSW_SET_Pos) /*!< SCB DCCSW: Set Mask */ - -/* SCB D-Cache Clean and Invalidate by Set-way Register Definitions */ -#define SCB_DCCISW_WAY_Pos 30U /*!< SCB DCCISW: Way Position */ -#define SCB_DCCISW_WAY_Msk (3UL << SCB_DCCISW_WAY_Pos) /*!< SCB DCCISW: Way Mask */ - -#define SCB_DCCISW_SET_Pos 5U /*!< SCB DCCISW: Set Position */ -#define SCB_DCCISW_SET_Msk (0x1FFUL << SCB_DCCISW_SET_Pos) /*!< SCB DCCISW: Set Mask */ - -/* Instruction Tightly-Coupled Memory Control Register Definitions */ -#define SCB_ITCMCR_SZ_Pos 3U /*!< SCB ITCMCR: SZ Position */ -#define SCB_ITCMCR_SZ_Msk (0xFUL << SCB_ITCMCR_SZ_Pos) /*!< SCB ITCMCR: SZ Mask */ - -#define SCB_ITCMCR_RETEN_Pos 2U /*!< SCB ITCMCR: RETEN Position */ -#define SCB_ITCMCR_RETEN_Msk (1UL << SCB_ITCMCR_RETEN_Pos) /*!< SCB ITCMCR: RETEN Mask */ - -#define SCB_ITCMCR_RMW_Pos 1U /*!< SCB ITCMCR: RMW Position */ -#define SCB_ITCMCR_RMW_Msk (1UL << SCB_ITCMCR_RMW_Pos) /*!< SCB ITCMCR: RMW Mask */ - -#define SCB_ITCMCR_EN_Pos 0U /*!< SCB ITCMCR: EN Position */ -#define SCB_ITCMCR_EN_Msk (1UL /*<< SCB_ITCMCR_EN_Pos*/) /*!< SCB ITCMCR: EN Mask */ - -/* Data Tightly-Coupled Memory Control Register Definitions */ -#define SCB_DTCMCR_SZ_Pos 3U /*!< SCB DTCMCR: SZ Position */ -#define SCB_DTCMCR_SZ_Msk (0xFUL << SCB_DTCMCR_SZ_Pos) /*!< SCB DTCMCR: SZ Mask */ - -#define SCB_DTCMCR_RETEN_Pos 2U /*!< SCB DTCMCR: RETEN Position */ -#define SCB_DTCMCR_RETEN_Msk (1UL << SCB_DTCMCR_RETEN_Pos) /*!< SCB DTCMCR: RETEN Mask */ - -#define SCB_DTCMCR_RMW_Pos 1U /*!< SCB DTCMCR: RMW Position */ -#define SCB_DTCMCR_RMW_Msk (1UL << SCB_DTCMCR_RMW_Pos) /*!< SCB DTCMCR: RMW Mask */ - -#define SCB_DTCMCR_EN_Pos 0U /*!< SCB DTCMCR: EN Position */ -#define SCB_DTCMCR_EN_Msk (1UL /*<< SCB_DTCMCR_EN_Pos*/) /*!< SCB DTCMCR: EN Mask */ - -/* AHBP Control Register Definitions */ -#define SCB_AHBPCR_SZ_Pos 1U /*!< SCB AHBPCR: SZ Position */ -#define SCB_AHBPCR_SZ_Msk (7UL << SCB_AHBPCR_SZ_Pos) /*!< SCB AHBPCR: SZ Mask */ - -#define SCB_AHBPCR_EN_Pos 0U /*!< SCB AHBPCR: EN Position */ -#define SCB_AHBPCR_EN_Msk (1UL /*<< SCB_AHBPCR_EN_Pos*/) /*!< SCB AHBPCR: EN Mask */ - -/* L1 Cache Control Register Definitions */ -#define SCB_CACR_FORCEWT_Pos 2U /*!< SCB CACR: FORCEWT Position */ -#define SCB_CACR_FORCEWT_Msk (1UL << SCB_CACR_FORCEWT_Pos) /*!< SCB CACR: FORCEWT Mask */ - -#define SCB_CACR_ECCEN_Pos 1U /*!< SCB CACR: ECCEN Position */ -#define SCB_CACR_ECCEN_Msk (1UL << SCB_CACR_ECCEN_Pos) /*!< SCB CACR: ECCEN Mask */ - -#define SCB_CACR_SIWT_Pos 0U /*!< SCB CACR: SIWT Position */ -#define SCB_CACR_SIWT_Msk (1UL /*<< SCB_CACR_SIWT_Pos*/) /*!< SCB CACR: SIWT Mask */ - -/* AHBS Control Register Definitions */ -#define SCB_AHBSCR_INITCOUNT_Pos 11U /*!< SCB AHBSCR: INITCOUNT Position */ -#define SCB_AHBSCR_INITCOUNT_Msk (0x1FUL << SCB_AHBPCR_INITCOUNT_Pos) /*!< SCB AHBSCR: INITCOUNT Mask */ - -#define SCB_AHBSCR_TPRI_Pos 2U /*!< SCB AHBSCR: TPRI Position */ -#define SCB_AHBSCR_TPRI_Msk (0x1FFUL << SCB_AHBPCR_TPRI_Pos) /*!< SCB AHBSCR: TPRI Mask */ - -#define SCB_AHBSCR_CTL_Pos 0U /*!< SCB AHBSCR: CTL Position*/ -#define SCB_AHBSCR_CTL_Msk (3UL /*<< SCB_AHBPCR_CTL_Pos*/) /*!< SCB AHBSCR: CTL Mask */ - -/* Auxiliary Bus Fault Status Register Definitions */ -#define SCB_ABFSR_AXIMTYPE_Pos 8U /*!< SCB ABFSR: AXIMTYPE Position*/ -#define SCB_ABFSR_AXIMTYPE_Msk (3UL << SCB_ABFSR_AXIMTYPE_Pos) /*!< SCB ABFSR: AXIMTYPE Mask */ - -#define SCB_ABFSR_EPPB_Pos 4U /*!< SCB ABFSR: EPPB Position*/ -#define SCB_ABFSR_EPPB_Msk (1UL << SCB_ABFSR_EPPB_Pos) /*!< SCB ABFSR: EPPB Mask */ - -#define SCB_ABFSR_AXIM_Pos 3U /*!< SCB ABFSR: AXIM Position*/ -#define SCB_ABFSR_AXIM_Msk (1UL << SCB_ABFSR_AXIM_Pos) /*!< SCB ABFSR: AXIM Mask */ - -#define SCB_ABFSR_AHBP_Pos 2U /*!< SCB ABFSR: AHBP Position*/ -#define SCB_ABFSR_AHBP_Msk (1UL << SCB_ABFSR_AHBP_Pos) /*!< SCB ABFSR: AHBP Mask */ - -#define SCB_ABFSR_DTCM_Pos 1U /*!< SCB ABFSR: DTCM Position*/ -#define SCB_ABFSR_DTCM_Msk (1UL << SCB_ABFSR_DTCM_Pos) /*!< SCB ABFSR: DTCM Mask */ - -#define SCB_ABFSR_ITCM_Pos 0U /*!< SCB ABFSR: ITCM Position*/ -#define SCB_ABFSR_ITCM_Msk (1UL /*<< SCB_ABFSR_ITCM_Pos*/) /*!< SCB ABFSR: ITCM Mask */ - -/*@} end of group CMSIS_SCB */ - - -/** - \ingroup CMSIS_core_register - \defgroup CMSIS_SCnSCB System Controls not in SCB (SCnSCB) - \brief Type definitions for the System Control and ID Register not in the SCB - @{ - */ - -/** - \brief Structure type to access the System Control and ID Register not in the SCB. - */ -typedef struct -{ - uint32_t RESERVED0[1U]; - __IM uint32_t ICTR; /*!< Offset: 0x004 (R/ ) Interrupt Controller Type Register */ - __IOM uint32_t ACTLR; /*!< Offset: 0x008 (R/W) Auxiliary Control Register */ - __IOM uint32_t CPPWR; /*!< Offset: 0x00C (R/W) Coprocessor Power Control Register */ -} SCnSCB_Type; - -/* Interrupt Controller Type Register Definitions */ -#define SCnSCB_ICTR_INTLINESNUM_Pos 0U /*!< ICTR: INTLINESNUM Position */ -#define SCnSCB_ICTR_INTLINESNUM_Msk (0xFUL /*<< SCnSCB_ICTR_INTLINESNUM_Pos*/) /*!< ICTR: INTLINESNUM Mask */ - -/*@} end of group CMSIS_SCnotSCB */ - - -/** - \ingroup CMSIS_core_register - \defgroup CMSIS_SysTick System Tick Timer (SysTick) - \brief Type definitions for the System Timer Registers. - @{ - */ - -/** - \brief Structure type to access the System Timer (SysTick). - */ -typedef struct -{ - __IOM uint32_t CTRL; /*!< Offset: 0x000 (R/W) SysTick Control and Status Register */ - __IOM uint32_t LOAD; /*!< Offset: 0x004 (R/W) SysTick Reload Value Register */ - __IOM uint32_t VAL; /*!< Offset: 0x008 (R/W) SysTick Current Value Register */ - __IM uint32_t CALIB; /*!< Offset: 0x00C (R/ ) SysTick Calibration Register */ -} SysTick_Type; - -/* SysTick Control / Status Register Definitions */ -#define SysTick_CTRL_COUNTFLAG_Pos 16U /*!< SysTick CTRL: COUNTFLAG Position */ -#define SysTick_CTRL_COUNTFLAG_Msk (1UL << SysTick_CTRL_COUNTFLAG_Pos) /*!< SysTick CTRL: COUNTFLAG Mask */ - -#define SysTick_CTRL_CLKSOURCE_Pos 2U /*!< SysTick CTRL: CLKSOURCE Position */ -#define SysTick_CTRL_CLKSOURCE_Msk (1UL << SysTick_CTRL_CLKSOURCE_Pos) /*!< SysTick CTRL: CLKSOURCE Mask */ - -#define SysTick_CTRL_TICKINT_Pos 1U /*!< SysTick CTRL: TICKINT Position */ -#define SysTick_CTRL_TICKINT_Msk (1UL << SysTick_CTRL_TICKINT_Pos) /*!< SysTick CTRL: TICKINT Mask */ - -#define SysTick_CTRL_ENABLE_Pos 0U /*!< SysTick CTRL: ENABLE Position */ -#define SysTick_CTRL_ENABLE_Msk (1UL /*<< SysTick_CTRL_ENABLE_Pos*/) /*!< SysTick CTRL: ENABLE Mask */ - -/* SysTick Reload Register Definitions */ -#define SysTick_LOAD_RELOAD_Pos 0U /*!< SysTick LOAD: RELOAD Position */ -#define SysTick_LOAD_RELOAD_Msk (0xFFFFFFUL /*<< SysTick_LOAD_RELOAD_Pos*/) /*!< SysTick LOAD: RELOAD Mask */ - -/* SysTick Current Register Definitions */ -#define SysTick_VAL_CURRENT_Pos 0U /*!< SysTick VAL: CURRENT Position */ -#define SysTick_VAL_CURRENT_Msk (0xFFFFFFUL /*<< SysTick_VAL_CURRENT_Pos*/) /*!< SysTick VAL: CURRENT Mask */ - -/* SysTick Calibration Register Definitions */ -#define SysTick_CALIB_NOREF_Pos 31U /*!< SysTick CALIB: NOREF Position */ -#define SysTick_CALIB_NOREF_Msk (1UL << SysTick_CALIB_NOREF_Pos) /*!< SysTick CALIB: NOREF Mask */ - -#define SysTick_CALIB_SKEW_Pos 30U /*!< SysTick CALIB: SKEW Position */ -#define SysTick_CALIB_SKEW_Msk (1UL << SysTick_CALIB_SKEW_Pos) /*!< SysTick CALIB: SKEW Mask */ - -#define SysTick_CALIB_TENMS_Pos 0U /*!< SysTick CALIB: TENMS Position */ -#define SysTick_CALIB_TENMS_Msk (0xFFFFFFUL /*<< SysTick_CALIB_TENMS_Pos*/) /*!< SysTick CALIB: TENMS Mask */ - -/*@} end of group CMSIS_SysTick */ - - -/** - \ingroup CMSIS_core_register - \defgroup CMSIS_ITM Instrumentation Trace Macrocell (ITM) - \brief Type definitions for the Instrumentation Trace Macrocell (ITM) - @{ - */ - -/** - \brief Structure type to access the Instrumentation Trace Macrocell Register (ITM). - */ -typedef struct -{ - __OM union - { - __OM uint8_t u8; /*!< Offset: 0x000 ( /W) ITM Stimulus Port 8-bit */ - __OM uint16_t u16; /*!< Offset: 0x000 ( /W) ITM Stimulus Port 16-bit */ - __OM uint32_t u32; /*!< Offset: 0x000 ( /W) ITM Stimulus Port 32-bit */ - } PORT [32U]; /*!< Offset: 0x000 ( /W) ITM Stimulus Port Registers */ - uint32_t RESERVED0[864U]; - __IOM uint32_t TER; /*!< Offset: 0xE00 (R/W) ITM Trace Enable Register */ - uint32_t RESERVED1[15U]; - __IOM uint32_t TPR; /*!< Offset: 0xE40 (R/W) ITM Trace Privilege Register */ - uint32_t RESERVED2[15U]; - __IOM uint32_t TCR; /*!< Offset: 0xE80 (R/W) ITM Trace Control Register */ - uint32_t RESERVED3[29U]; - __OM uint32_t IWR; /*!< Offset: 0xEF8 ( /W) ITM Integration Write Register */ - __IM uint32_t IRR; /*!< Offset: 0xEFC (R/ ) ITM Integration Read Register */ - __IOM uint32_t IMCR; /*!< Offset: 0xF00 (R/W) ITM Integration Mode Control Register */ - uint32_t RESERVED4[43U]; - __OM uint32_t LAR; /*!< Offset: 0xFB0 ( /W) ITM Lock Access Register */ - __IM uint32_t LSR; /*!< Offset: 0xFB4 (R/ ) ITM Lock Status Register */ - uint32_t RESERVED5[1U]; - __IM uint32_t DEVARCH; /*!< Offset: 0xFBC (R/ ) ITM Device Architecture Register */ - uint32_t RESERVED6[4U]; - __IM uint32_t PID4; /*!< Offset: 0xFD0 (R/ ) ITM Peripheral Identification Register #4 */ - __IM uint32_t PID5; /*!< Offset: 0xFD4 (R/ ) ITM Peripheral Identification Register #5 */ - __IM uint32_t PID6; /*!< Offset: 0xFD8 (R/ ) ITM Peripheral Identification Register #6 */ - __IM uint32_t PID7; /*!< Offset: 0xFDC (R/ ) ITM Peripheral Identification Register #7 */ - __IM uint32_t PID0; /*!< Offset: 0xFE0 (R/ ) ITM Peripheral Identification Register #0 */ - __IM uint32_t PID1; /*!< Offset: 0xFE4 (R/ ) ITM Peripheral Identification Register #1 */ - __IM uint32_t PID2; /*!< Offset: 0xFE8 (R/ ) ITM Peripheral Identification Register #2 */ - __IM uint32_t PID3; /*!< Offset: 0xFEC (R/ ) ITM Peripheral Identification Register #3 */ - __IM uint32_t CID0; /*!< Offset: 0xFF0 (R/ ) ITM Component Identification Register #0 */ - __IM uint32_t CID1; /*!< Offset: 0xFF4 (R/ ) ITM Component Identification Register #1 */ - __IM uint32_t CID2; /*!< Offset: 0xFF8 (R/ ) ITM Component Identification Register #2 */ - __IM uint32_t CID3; /*!< Offset: 0xFFC (R/ ) ITM Component Identification Register #3 */ -} ITM_Type; - -/* ITM Stimulus Port Register Definitions */ -#define ITM_STIM_DISABLED_Pos 1U /*!< ITM STIM: DISABLED Position */ -#define ITM_STIM_DISABLED_Msk (0x1UL << ITM_STIM_DISABLED_Pos) /*!< ITM STIM: DISABLED Mask */ - -#define ITM_STIM_FIFOREADY_Pos 0U /*!< ITM STIM: FIFOREADY Position */ -#define ITM_STIM_FIFOREADY_Msk (0x1UL /*<< ITM_STIM_FIFOREADY_Pos*/) /*!< ITM STIM: FIFOREADY Mask */ - -/* ITM Trace Privilege Register Definitions */ -#define ITM_TPR_PRIVMASK_Pos 0U /*!< ITM TPR: PRIVMASK Position */ -#define ITM_TPR_PRIVMASK_Msk (0xFUL /*<< ITM_TPR_PRIVMASK_Pos*/) /*!< ITM TPR: PRIVMASK Mask */ - -/* ITM Trace Control Register Definitions */ -#define ITM_TCR_BUSY_Pos 23U /*!< ITM TCR: BUSY Position */ -#define ITM_TCR_BUSY_Msk (1UL << ITM_TCR_BUSY_Pos) /*!< ITM TCR: BUSY Mask */ - -#define ITM_TCR_TRACEBUSID_Pos 16U /*!< ITM TCR: ATBID Position */ -#define ITM_TCR_TRACEBUSID_Msk (0x7FUL << ITM_TCR_TRACEBUSID_Pos) /*!< ITM TCR: ATBID Mask */ - -#define ITM_TCR_GTSFREQ_Pos 10U /*!< ITM TCR: Global timestamp frequency Position */ -#define ITM_TCR_GTSFREQ_Msk (3UL << ITM_TCR_GTSFREQ_Pos) /*!< ITM TCR: Global timestamp frequency Mask */ - -#define ITM_TCR_TSPRESCALE_Pos 8U /*!< ITM TCR: TSPRESCALE Position */ -#define ITM_TCR_TSPRESCALE_Msk (3UL << ITM_TCR_TSPRESCALE_Pos) /*!< ITM TCR: TSPRESCALE Mask */ - -#define ITM_TCR_STALLENA_Pos 5U /*!< ITM TCR: STALLENA Position */ -#define ITM_TCR_STALLENA_Msk (1UL << ITM_TCR_STALLENA_Pos) /*!< ITM TCR: STALLENA Mask */ - -#define ITM_TCR_SWOENA_Pos 4U /*!< ITM TCR: SWOENA Position */ -#define ITM_TCR_SWOENA_Msk (1UL << ITM_TCR_SWOENA_Pos) /*!< ITM TCR: SWOENA Mask */ - -#define ITM_TCR_DWTENA_Pos 3U /*!< ITM TCR: DWTENA Position */ -#define ITM_TCR_DWTENA_Msk (1UL << ITM_TCR_DWTENA_Pos) /*!< ITM TCR: DWTENA Mask */ - -#define ITM_TCR_SYNCENA_Pos 2U /*!< ITM TCR: SYNCENA Position */ -#define ITM_TCR_SYNCENA_Msk (1UL << ITM_TCR_SYNCENA_Pos) /*!< ITM TCR: SYNCENA Mask */ - -#define ITM_TCR_TSENA_Pos 1U /*!< ITM TCR: TSENA Position */ -#define ITM_TCR_TSENA_Msk (1UL << ITM_TCR_TSENA_Pos) /*!< ITM TCR: TSENA Mask */ - -#define ITM_TCR_ITMENA_Pos 0U /*!< ITM TCR: ITM Enable bit Position */ -#define ITM_TCR_ITMENA_Msk (1UL /*<< ITM_TCR_ITMENA_Pos*/) /*!< ITM TCR: ITM Enable bit Mask */ - -/* ITM Integration Write Register Definitions */ -#define ITM_IWR_ATVALIDM_Pos 0U /*!< ITM IWR: ATVALIDM Position */ -#define ITM_IWR_ATVALIDM_Msk (1UL /*<< ITM_IWR_ATVALIDM_Pos*/) /*!< ITM IWR: ATVALIDM Mask */ - -/* ITM Integration Read Register Definitions */ -#define ITM_IRR_ATREADYM_Pos 0U /*!< ITM IRR: ATREADYM Position */ -#define ITM_IRR_ATREADYM_Msk (1UL /*<< ITM_IRR_ATREADYM_Pos*/) /*!< ITM IRR: ATREADYM Mask */ - -/* ITM Integration Mode Control Register Definitions */ -#define ITM_IMCR_INTEGRATION_Pos 0U /*!< ITM IMCR: INTEGRATION Position */ -#define ITM_IMCR_INTEGRATION_Msk (1UL /*<< ITM_IMCR_INTEGRATION_Pos*/) /*!< ITM IMCR: INTEGRATION Mask */ - -/* ITM Lock Status Register Definitions */ -#define ITM_LSR_ByteAcc_Pos 2U /*!< ITM LSR: ByteAcc Position */ -#define ITM_LSR_ByteAcc_Msk (1UL << ITM_LSR_ByteAcc_Pos) /*!< ITM LSR: ByteAcc Mask */ - -#define ITM_LSR_Access_Pos 1U /*!< ITM LSR: Access Position */ -#define ITM_LSR_Access_Msk (1UL << ITM_LSR_Access_Pos) /*!< ITM LSR: Access Mask */ - -#define ITM_LSR_Present_Pos 0U /*!< ITM LSR: Present Position */ -#define ITM_LSR_Present_Msk (1UL /*<< ITM_LSR_Present_Pos*/) /*!< ITM LSR: Present Mask */ - -/*@}*/ /* end of group CMSIS_ITM */ - - -/** - \ingroup CMSIS_core_register - \defgroup CMSIS_DWT Data Watchpoint and Trace (DWT) - \brief Type definitions for the Data Watchpoint and Trace (DWT) - @{ - */ - -/** - \brief Structure type to access the Data Watchpoint and Trace Register (DWT). - */ -typedef struct -{ - __IOM uint32_t CTRL; /*!< Offset: 0x000 (R/W) Control Register */ - __IOM uint32_t CYCCNT; /*!< Offset: 0x004 (R/W) Cycle Count Register */ - __IOM uint32_t CPICNT; /*!< Offset: 0x008 (R/W) CPI Count Register */ - __IOM uint32_t EXCCNT; /*!< Offset: 0x00C (R/W) Exception Overhead Count Register */ - __IOM uint32_t SLEEPCNT; /*!< Offset: 0x010 (R/W) Sleep Count Register */ - __IOM uint32_t LSUCNT; /*!< Offset: 0x014 (R/W) LSU Count Register */ - __IOM uint32_t FOLDCNT; /*!< Offset: 0x018 (R/W) Folded-instruction Count Register */ - __IM uint32_t PCSR; /*!< Offset: 0x01C (R/ ) Program Counter Sample Register */ - __IOM uint32_t COMP0; /*!< Offset: 0x020 (R/W) Comparator Register 0 */ - uint32_t RESERVED1[1U]; - __IOM uint32_t FUNCTION0; /*!< Offset: 0x028 (R/W) Function Register 0 */ - uint32_t RESERVED2[1U]; - __IOM uint32_t COMP1; /*!< Offset: 0x030 (R/W) Comparator Register 1 */ - uint32_t RESERVED3[1U]; - __IOM uint32_t FUNCTION1; /*!< Offset: 0x038 (R/W) Function Register 1 */ - uint32_t RESERVED4[1U]; - __IOM uint32_t COMP2; /*!< Offset: 0x040 (R/W) Comparator Register 2 */ - uint32_t RESERVED5[1U]; - __IOM uint32_t FUNCTION2; /*!< Offset: 0x048 (R/W) Function Register 2 */ - uint32_t RESERVED6[1U]; - __IOM uint32_t COMP3; /*!< Offset: 0x050 (R/W) Comparator Register 3 */ - uint32_t RESERVED7[1U]; - __IOM uint32_t FUNCTION3; /*!< Offset: 0x058 (R/W) Function Register 3 */ - uint32_t RESERVED8[1U]; - __IOM uint32_t COMP4; /*!< Offset: 0x060 (R/W) Comparator Register 4 */ - uint32_t RESERVED9[1U]; - __IOM uint32_t FUNCTION4; /*!< Offset: 0x068 (R/W) Function Register 4 */ - uint32_t RESERVED10[1U]; - __IOM uint32_t COMP5; /*!< Offset: 0x070 (R/W) Comparator Register 5 */ - uint32_t RESERVED11[1U]; - __IOM uint32_t FUNCTION5; /*!< Offset: 0x078 (R/W) Function Register 5 */ - uint32_t RESERVED12[1U]; - __IOM uint32_t COMP6; /*!< Offset: 0x080 (R/W) Comparator Register 6 */ - uint32_t RESERVED13[1U]; - __IOM uint32_t FUNCTION6; /*!< Offset: 0x088 (R/W) Function Register 6 */ - uint32_t RESERVED14[1U]; - __IOM uint32_t COMP7; /*!< Offset: 0x090 (R/W) Comparator Register 7 */ - uint32_t RESERVED15[1U]; - __IOM uint32_t FUNCTION7; /*!< Offset: 0x098 (R/W) Function Register 7 */ - uint32_t RESERVED16[1U]; - __IOM uint32_t COMP8; /*!< Offset: 0x0A0 (R/W) Comparator Register 8 */ - uint32_t RESERVED17[1U]; - __IOM uint32_t FUNCTION8; /*!< Offset: 0x0A8 (R/W) Function Register 8 */ - uint32_t RESERVED18[1U]; - __IOM uint32_t COMP9; /*!< Offset: 0x0B0 (R/W) Comparator Register 9 */ - uint32_t RESERVED19[1U]; - __IOM uint32_t FUNCTION9; /*!< Offset: 0x0B8 (R/W) Function Register 9 */ - uint32_t RESERVED20[1U]; - __IOM uint32_t COMP10; /*!< Offset: 0x0C0 (R/W) Comparator Register 10 */ - uint32_t RESERVED21[1U]; - __IOM uint32_t FUNCTION10; /*!< Offset: 0x0C8 (R/W) Function Register 10 */ - uint32_t RESERVED22[1U]; - __IOM uint32_t COMP11; /*!< Offset: 0x0D0 (R/W) Comparator Register 11 */ - uint32_t RESERVED23[1U]; - __IOM uint32_t FUNCTION11; /*!< Offset: 0x0D8 (R/W) Function Register 11 */ - uint32_t RESERVED24[1U]; - __IOM uint32_t COMP12; /*!< Offset: 0x0E0 (R/W) Comparator Register 12 */ - uint32_t RESERVED25[1U]; - __IOM uint32_t FUNCTION12; /*!< Offset: 0x0E8 (R/W) Function Register 12 */ - uint32_t RESERVED26[1U]; - __IOM uint32_t COMP13; /*!< Offset: 0x0F0 (R/W) Comparator Register 13 */ - uint32_t RESERVED27[1U]; - __IOM uint32_t FUNCTION13; /*!< Offset: 0x0F8 (R/W) Function Register 13 */ - uint32_t RESERVED28[1U]; - __IOM uint32_t COMP14; /*!< Offset: 0x100 (R/W) Comparator Register 14 */ - uint32_t RESERVED29[1U]; - __IOM uint32_t FUNCTION14; /*!< Offset: 0x108 (R/W) Function Register 14 */ - uint32_t RESERVED30[1U]; - __IOM uint32_t COMP15; /*!< Offset: 0x110 (R/W) Comparator Register 15 */ - uint32_t RESERVED31[1U]; - __IOM uint32_t FUNCTION15; /*!< Offset: 0x118 (R/W) Function Register 15 */ - uint32_t RESERVED32[934U]; - __IM uint32_t LSR; /*!< Offset: 0xFB4 (R ) Lock Status Register */ - uint32_t RESERVED33[1U]; - __IM uint32_t DEVARCH; /*!< Offset: 0xFBC (R/ ) Device Architecture Register */ -} DWT_Type; - -/* DWT Control Register Definitions */ -#define DWT_CTRL_NUMCOMP_Pos 28U /*!< DWT CTRL: NUMCOMP Position */ -#define DWT_CTRL_NUMCOMP_Msk (0xFUL << DWT_CTRL_NUMCOMP_Pos) /*!< DWT CTRL: NUMCOMP Mask */ - -#define DWT_CTRL_NOTRCPKT_Pos 27U /*!< DWT CTRL: NOTRCPKT Position */ -#define DWT_CTRL_NOTRCPKT_Msk (0x1UL << DWT_CTRL_NOTRCPKT_Pos) /*!< DWT CTRL: NOTRCPKT Mask */ - -#define DWT_CTRL_NOEXTTRIG_Pos 26U /*!< DWT CTRL: NOEXTTRIG Position */ -#define DWT_CTRL_NOEXTTRIG_Msk (0x1UL << DWT_CTRL_NOEXTTRIG_Pos) /*!< DWT CTRL: NOEXTTRIG Mask */ - -#define DWT_CTRL_NOCYCCNT_Pos 25U /*!< DWT CTRL: NOCYCCNT Position */ -#define DWT_CTRL_NOCYCCNT_Msk (0x1UL << DWT_CTRL_NOCYCCNT_Pos) /*!< DWT CTRL: NOCYCCNT Mask */ - -#define DWT_CTRL_NOPRFCNT_Pos 24U /*!< DWT CTRL: NOPRFCNT Position */ -#define DWT_CTRL_NOPRFCNT_Msk (0x1UL << DWT_CTRL_NOPRFCNT_Pos) /*!< DWT CTRL: NOPRFCNT Mask */ - -#define DWT_CTRL_CYCDISS_Pos 23U /*!< DWT CTRL: CYCDISS Position */ -#define DWT_CTRL_CYCDISS_Msk (0x1UL << DWT_CTRL_CYCDISS_Pos) /*!< DWT CTRL: CYCDISS Mask */ - -#define DWT_CTRL_CYCEVTENA_Pos 22U /*!< DWT CTRL: CYCEVTENA Position */ -#define DWT_CTRL_CYCEVTENA_Msk (0x1UL << DWT_CTRL_CYCEVTENA_Pos) /*!< DWT CTRL: CYCEVTENA Mask */ - -#define DWT_CTRL_FOLDEVTENA_Pos 21U /*!< DWT CTRL: FOLDEVTENA Position */ -#define DWT_CTRL_FOLDEVTENA_Msk (0x1UL << DWT_CTRL_FOLDEVTENA_Pos) /*!< DWT CTRL: FOLDEVTENA Mask */ - -#define DWT_CTRL_LSUEVTENA_Pos 20U /*!< DWT CTRL: LSUEVTENA Position */ -#define DWT_CTRL_LSUEVTENA_Msk (0x1UL << DWT_CTRL_LSUEVTENA_Pos) /*!< DWT CTRL: LSUEVTENA Mask */ - -#define DWT_CTRL_SLEEPEVTENA_Pos 19U /*!< DWT CTRL: SLEEPEVTENA Position */ -#define DWT_CTRL_SLEEPEVTENA_Msk (0x1UL << DWT_CTRL_SLEEPEVTENA_Pos) /*!< DWT CTRL: SLEEPEVTENA Mask */ - -#define DWT_CTRL_EXCEVTENA_Pos 18U /*!< DWT CTRL: EXCEVTENA Position */ -#define DWT_CTRL_EXCEVTENA_Msk (0x1UL << DWT_CTRL_EXCEVTENA_Pos) /*!< DWT CTRL: EXCEVTENA Mask */ - -#define DWT_CTRL_CPIEVTENA_Pos 17U /*!< DWT CTRL: CPIEVTENA Position */ -#define DWT_CTRL_CPIEVTENA_Msk (0x1UL << DWT_CTRL_CPIEVTENA_Pos) /*!< DWT CTRL: CPIEVTENA Mask */ - -#define DWT_CTRL_EXCTRCENA_Pos 16U /*!< DWT CTRL: EXCTRCENA Position */ -#define DWT_CTRL_EXCTRCENA_Msk (0x1UL << DWT_CTRL_EXCTRCENA_Pos) /*!< DWT CTRL: EXCTRCENA Mask */ - -#define DWT_CTRL_PCSAMPLENA_Pos 12U /*!< DWT CTRL: PCSAMPLENA Position */ -#define DWT_CTRL_PCSAMPLENA_Msk (0x1UL << DWT_CTRL_PCSAMPLENA_Pos) /*!< DWT CTRL: PCSAMPLENA Mask */ - -#define DWT_CTRL_SYNCTAP_Pos 10U /*!< DWT CTRL: SYNCTAP Position */ -#define DWT_CTRL_SYNCTAP_Msk (0x3UL << DWT_CTRL_SYNCTAP_Pos) /*!< DWT CTRL: SYNCTAP Mask */ - -#define DWT_CTRL_CYCTAP_Pos 9U /*!< DWT CTRL: CYCTAP Position */ -#define DWT_CTRL_CYCTAP_Msk (0x1UL << DWT_CTRL_CYCTAP_Pos) /*!< DWT CTRL: CYCTAP Mask */ - -#define DWT_CTRL_POSTINIT_Pos 5U /*!< DWT CTRL: POSTINIT Position */ -#define DWT_CTRL_POSTINIT_Msk (0xFUL << DWT_CTRL_POSTINIT_Pos) /*!< DWT CTRL: POSTINIT Mask */ - -#define DWT_CTRL_POSTPRESET_Pos 1U /*!< DWT CTRL: POSTPRESET Position */ -#define DWT_CTRL_POSTPRESET_Msk (0xFUL << DWT_CTRL_POSTPRESET_Pos) /*!< DWT CTRL: POSTPRESET Mask */ - -#define DWT_CTRL_CYCCNTENA_Pos 0U /*!< DWT CTRL: CYCCNTENA Position */ -#define DWT_CTRL_CYCCNTENA_Msk (0x1UL /*<< DWT_CTRL_CYCCNTENA_Pos*/) /*!< DWT CTRL: CYCCNTENA Mask */ - -/* DWT CPI Count Register Definitions */ -#define DWT_CPICNT_CPICNT_Pos 0U /*!< DWT CPICNT: CPICNT Position */ -#define DWT_CPICNT_CPICNT_Msk (0xFFUL /*<< DWT_CPICNT_CPICNT_Pos*/) /*!< DWT CPICNT: CPICNT Mask */ - -/* DWT Exception Overhead Count Register Definitions */ -#define DWT_EXCCNT_EXCCNT_Pos 0U /*!< DWT EXCCNT: EXCCNT Position */ -#define DWT_EXCCNT_EXCCNT_Msk (0xFFUL /*<< DWT_EXCCNT_EXCCNT_Pos*/) /*!< DWT EXCCNT: EXCCNT Mask */ - -/* DWT Sleep Count Register Definitions */ -#define DWT_SLEEPCNT_SLEEPCNT_Pos 0U /*!< DWT SLEEPCNT: SLEEPCNT Position */ -#define DWT_SLEEPCNT_SLEEPCNT_Msk (0xFFUL /*<< DWT_SLEEPCNT_SLEEPCNT_Pos*/) /*!< DWT SLEEPCNT: SLEEPCNT Mask */ - -/* DWT LSU Count Register Definitions */ -#define DWT_LSUCNT_LSUCNT_Pos 0U /*!< DWT LSUCNT: LSUCNT Position */ -#define DWT_LSUCNT_LSUCNT_Msk (0xFFUL /*<< DWT_LSUCNT_LSUCNT_Pos*/) /*!< DWT LSUCNT: LSUCNT Mask */ - -/* DWT Folded-instruction Count Register Definitions */ -#define DWT_FOLDCNT_FOLDCNT_Pos 0U /*!< DWT FOLDCNT: FOLDCNT Position */ -#define DWT_FOLDCNT_FOLDCNT_Msk (0xFFUL /*<< DWT_FOLDCNT_FOLDCNT_Pos*/) /*!< DWT FOLDCNT: FOLDCNT Mask */ - -/* DWT Comparator Function Register Definitions */ -#define DWT_FUNCTION_ID_Pos 27U /*!< DWT FUNCTION: ID Position */ -#define DWT_FUNCTION_ID_Msk (0x1FUL << DWT_FUNCTION_ID_Pos) /*!< DWT FUNCTION: ID Mask */ - -#define DWT_FUNCTION_MATCHED_Pos 24U /*!< DWT FUNCTION: MATCHED Position */ -#define DWT_FUNCTION_MATCHED_Msk (0x1UL << DWT_FUNCTION_MATCHED_Pos) /*!< DWT FUNCTION: MATCHED Mask */ - -#define DWT_FUNCTION_DATAVSIZE_Pos 10U /*!< DWT FUNCTION: DATAVSIZE Position */ -#define DWT_FUNCTION_DATAVSIZE_Msk (0x3UL << DWT_FUNCTION_DATAVSIZE_Pos) /*!< DWT FUNCTION: DATAVSIZE Mask */ - -#define DWT_FUNCTION_ACTION_Pos 4U /*!< DWT FUNCTION: ACTION Position */ -#define DWT_FUNCTION_ACTION_Msk (0x1UL << DWT_FUNCTION_ACTION_Pos) /*!< DWT FUNCTION: ACTION Mask */ - -#define DWT_FUNCTION_MATCH_Pos 0U /*!< DWT FUNCTION: MATCH Position */ -#define DWT_FUNCTION_MATCH_Msk (0xFUL /*<< DWT_FUNCTION_MATCH_Pos*/) /*!< DWT FUNCTION: MATCH Mask */ - -/*@}*/ /* end of group CMSIS_DWT */ - - -/** - \ingroup CMSIS_core_register - \defgroup CMSIS_TPI Trace Port Interface (TPI) - \brief Type definitions for the Trace Port Interface (TPI) - @{ - */ - -/** - \brief Structure type to access the Trace Port Interface Register (TPI). - */ -typedef struct -{ - __IM uint32_t SSPSR; /*!< Offset: 0x000 (R/ ) Supported Parallel Port Sizes Register */ - __IOM uint32_t CSPSR; /*!< Offset: 0x004 (R/W) Current Parallel Port Sizes Register */ - uint32_t RESERVED0[2U]; - __IOM uint32_t ACPR; /*!< Offset: 0x010 (R/W) Asynchronous Clock Prescaler Register */ - uint32_t RESERVED1[55U]; - __IOM uint32_t SPPR; /*!< Offset: 0x0F0 (R/W) Selected Pin Protocol Register */ - uint32_t RESERVED2[131U]; - __IM uint32_t FFSR; /*!< Offset: 0x300 (R/ ) Formatter and Flush Status Register */ - __IOM uint32_t FFCR; /*!< Offset: 0x304 (R/W) Formatter and Flush Control Register */ - __IOM uint32_t PSCR; /*!< Offset: 0x308 (R/W) Periodic Synchronization Control Register */ - uint32_t RESERVED3[809U]; - __OM uint32_t LAR; /*!< Offset: 0xFB0 ( /W) Software Lock Access Register */ - __IM uint32_t LSR; /*!< Offset: 0xFB4 (R/ ) Software Lock Status Register */ - uint32_t RESERVED4[4U]; - __IM uint32_t TYPE; /*!< Offset: 0xFC8 (R/ ) Device Identifier Register */ - __IM uint32_t DEVTYPE; /*!< Offset: 0xFCC (R/ ) Device Type Register */ -} TPI_Type; - -/* TPI Asynchronous Clock Prescaler Register Definitions */ -#define TPI_ACPR_SWOSCALER_Pos 0U /*!< TPI ACPR: SWOSCALER Position */ -#define TPI_ACPR_SWOSCALER_Msk (0xFFFFUL /*<< TPI_ACPR_SWOSCALER_Pos*/) /*!< TPI ACPR: SWOSCALER Mask */ - -/* TPI Selected Pin Protocol Register Definitions */ -#define TPI_SPPR_TXMODE_Pos 0U /*!< TPI SPPR: TXMODE Position */ -#define TPI_SPPR_TXMODE_Msk (0x3UL /*<< TPI_SPPR_TXMODE_Pos*/) /*!< TPI SPPR: TXMODE Mask */ - -/* TPI Formatter and Flush Status Register Definitions */ -#define TPI_FFSR_FtNonStop_Pos 3U /*!< TPI FFSR: FtNonStop Position */ -#define TPI_FFSR_FtNonStop_Msk (0x1UL << TPI_FFSR_FtNonStop_Pos) /*!< TPI FFSR: FtNonStop Mask */ - -#define TPI_FFSR_TCPresent_Pos 2U /*!< TPI FFSR: TCPresent Position */ -#define TPI_FFSR_TCPresent_Msk (0x1UL << TPI_FFSR_TCPresent_Pos) /*!< TPI FFSR: TCPresent Mask */ - -#define TPI_FFSR_FtStopped_Pos 1U /*!< TPI FFSR: FtStopped Position */ -#define TPI_FFSR_FtStopped_Msk (0x1UL << TPI_FFSR_FtStopped_Pos) /*!< TPI FFSR: FtStopped Mask */ - -#define TPI_FFSR_FlInProg_Pos 0U /*!< TPI FFSR: FlInProg Position */ -#define TPI_FFSR_FlInProg_Msk (0x1UL /*<< TPI_FFSR_FlInProg_Pos*/) /*!< TPI FFSR: FlInProg Mask */ - -/* TPI Formatter and Flush Control Register Definitions */ -#define TPI_FFCR_TrigIn_Pos 8U /*!< TPI FFCR: TrigIn Position */ -#define TPI_FFCR_TrigIn_Msk (0x1UL << TPI_FFCR_TrigIn_Pos) /*!< TPI FFCR: TrigIn Mask */ - -#define TPI_FFCR_FOnMan_Pos 6U /*!< TPI FFCR: FOnMan Position */ -#define TPI_FFCR_FOnMan_Msk (0x1UL << TPI_FFCR_FOnMan_Pos) /*!< TPI FFCR: FOnMan Mask */ - -#define TPI_FFCR_EnFCont_Pos 1U /*!< TPI FFCR: EnFCont Position */ -#define TPI_FFCR_EnFCont_Msk (0x1UL << TPI_FFCR_EnFCont_Pos) /*!< TPI FFCR: EnFCont Mask */ - -/* TPI Periodic Synchronization Control Register Definitions */ -#define TPI_PSCR_PSCount_Pos 0U /*!< TPI PSCR: PSCount Position */ -#define TPI_PSCR_PSCount_Msk (0x1FUL /*<< TPI_PSCR_PSCount_Pos*/) /*!< TPI PSCR: TPSCount Mask */ - -/* TPI Software Lock Status Register Definitions */ -#define TPI_LSR_nTT_Pos 1U /*!< TPI LSR: Not thirty-two bit. Position */ -#define TPI_LSR_nTT_Msk (0x1UL << TPI_LSR_nTT_Pos) /*!< TPI LSR: Not thirty-two bit. Mask */ - -#define TPI_LSR_SLK_Pos 1U /*!< TPI LSR: Software Lock status Position */ -#define TPI_LSR_SLK_Msk (0x1UL << TPI_LSR_SLK_Pos) /*!< TPI LSR: Software Lock status Mask */ - -#define TPI_LSR_SLI_Pos 0U /*!< TPI LSR: Software Lock implemented Position */ -#define TPI_LSR_SLI_Msk (0x1UL /*<< TPI_LSR_SLI_Pos*/) /*!< TPI LSR: Software Lock implemented Mask */ - -/* TPI DEVID Register Definitions */ -#define TPI_DEVID_NRZVALID_Pos 11U /*!< TPI DEVID: NRZVALID Position */ -#define TPI_DEVID_NRZVALID_Msk (0x1UL << TPI_DEVID_NRZVALID_Pos) /*!< TPI DEVID: NRZVALID Mask */ - -#define TPI_DEVID_MANCVALID_Pos 10U /*!< TPI DEVID: MANCVALID Position */ -#define TPI_DEVID_MANCVALID_Msk (0x1UL << TPI_DEVID_MANCVALID_Pos) /*!< TPI DEVID: MANCVALID Mask */ - -#define TPI_DEVID_PTINVALID_Pos 9U /*!< TPI DEVID: PTINVALID Position */ -#define TPI_DEVID_PTINVALID_Msk (0x1UL << TPI_DEVID_PTINVALID_Pos) /*!< TPI DEVID: PTINVALID Mask */ - -#define TPI_DEVID_FIFOSZ_Pos 6U /*!< TPI DEVID: FIFO depth Position */ -#define TPI_DEVID_FIFOSZ_Msk (0x7UL << TPI_DEVID_FIFOSZ_Pos) /*!< TPI DEVID: FIFO depth Mask */ - -/* TPI DEVTYPE Register Definitions */ -#define TPI_DEVTYPE_SubType_Pos 4U /*!< TPI DEVTYPE: SubType Position */ -#define TPI_DEVTYPE_SubType_Msk (0xFUL /*<< TPI_DEVTYPE_SubType_Pos*/) /*!< TPI DEVTYPE: SubType Mask */ - -#define TPI_DEVTYPE_MajorType_Pos 0U /*!< TPI DEVTYPE: MajorType Position */ -#define TPI_DEVTYPE_MajorType_Msk (0xFUL << TPI_DEVTYPE_MajorType_Pos) /*!< TPI DEVTYPE: MajorType Mask */ - -/*@}*/ /* end of group CMSIS_TPI */ - - -#if defined (__MPU_PRESENT) && (__MPU_PRESENT == 1U) -/** - \ingroup CMSIS_core_register - \defgroup CMSIS_MPU Memory Protection Unit (MPU) - \brief Type definitions for the Memory Protection Unit (MPU) - @{ - */ - -/** - \brief Structure type to access the Memory Protection Unit (MPU). - */ -typedef struct -{ - __IM uint32_t TYPE; /*!< Offset: 0x000 (R/ ) MPU Type Register */ - __IOM uint32_t CTRL; /*!< Offset: 0x004 (R/W) MPU Control Register */ - __IOM uint32_t RNR; /*!< Offset: 0x008 (R/W) MPU Region Number Register */ - __IOM uint32_t RBAR; /*!< Offset: 0x00C (R/W) MPU Region Base Address Register */ - __IOM uint32_t RLAR; /*!< Offset: 0x010 (R/W) MPU Region Limit Address Register */ - __IOM uint32_t RBAR_A1; /*!< Offset: 0x014 (R/W) MPU Region Base Address Register Alias 1 */ - __IOM uint32_t RLAR_A1; /*!< Offset: 0x018 (R/W) MPU Region Limit Address Register Alias 1 */ - __IOM uint32_t RBAR_A2; /*!< Offset: 0x01C (R/W) MPU Region Base Address Register Alias 2 */ - __IOM uint32_t RLAR_A2; /*!< Offset: 0x020 (R/W) MPU Region Limit Address Register Alias 2 */ - __IOM uint32_t RBAR_A3; /*!< Offset: 0x024 (R/W) MPU Region Base Address Register Alias 3 */ - __IOM uint32_t RLAR_A3; /*!< Offset: 0x028 (R/W) MPU Region Limit Address Register Alias 3 */ - uint32_t RESERVED0[1]; - union { - __IOM uint32_t MAIR[2]; - struct { - __IOM uint32_t MAIR0; /*!< Offset: 0x030 (R/W) MPU Memory Attribute Indirection Register 0 */ - __IOM uint32_t MAIR1; /*!< Offset: 0x034 (R/W) MPU Memory Attribute Indirection Register 1 */ - }; - }; -} MPU_Type; - -#define MPU_TYPE_RALIASES 4U - -/* MPU Type Register Definitions */ -#define MPU_TYPE_IREGION_Pos 16U /*!< MPU TYPE: IREGION Position */ -#define MPU_TYPE_IREGION_Msk (0xFFUL << MPU_TYPE_IREGION_Pos) /*!< MPU TYPE: IREGION Mask */ - -#define MPU_TYPE_DREGION_Pos 8U /*!< MPU TYPE: DREGION Position */ -#define MPU_TYPE_DREGION_Msk (0xFFUL << MPU_TYPE_DREGION_Pos) /*!< MPU TYPE: DREGION Mask */ - -#define MPU_TYPE_SEPARATE_Pos 0U /*!< MPU TYPE: SEPARATE Position */ -#define MPU_TYPE_SEPARATE_Msk (1UL /*<< MPU_TYPE_SEPARATE_Pos*/) /*!< MPU TYPE: SEPARATE Mask */ - -/* MPU Control Register Definitions */ -#define MPU_CTRL_PRIVDEFENA_Pos 2U /*!< MPU CTRL: PRIVDEFENA Position */ -#define MPU_CTRL_PRIVDEFENA_Msk (1UL << MPU_CTRL_PRIVDEFENA_Pos) /*!< MPU CTRL: PRIVDEFENA Mask */ - -#define MPU_CTRL_HFNMIENA_Pos 1U /*!< MPU CTRL: HFNMIENA Position */ -#define MPU_CTRL_HFNMIENA_Msk (1UL << MPU_CTRL_HFNMIENA_Pos) /*!< MPU CTRL: HFNMIENA Mask */ - -#define MPU_CTRL_ENABLE_Pos 0U /*!< MPU CTRL: ENABLE Position */ -#define MPU_CTRL_ENABLE_Msk (1UL /*<< MPU_CTRL_ENABLE_Pos*/) /*!< MPU CTRL: ENABLE Mask */ - -/* MPU Region Number Register Definitions */ -#define MPU_RNR_REGION_Pos 0U /*!< MPU RNR: REGION Position */ -#define MPU_RNR_REGION_Msk (0xFFUL /*<< MPU_RNR_REGION_Pos*/) /*!< MPU RNR: REGION Mask */ - -/* MPU Region Base Address Register Definitions */ -#define MPU_RBAR_BASE_Pos 5U /*!< MPU RBAR: BASE Position */ -#define MPU_RBAR_BASE_Msk (0x7FFFFFFUL << MPU_RBAR_BASE_Pos) /*!< MPU RBAR: BASE Mask */ - -#define MPU_RBAR_SH_Pos 3U /*!< MPU RBAR: SH Position */ -#define MPU_RBAR_SH_Msk (0x3UL << MPU_RBAR_SH_Pos) /*!< MPU RBAR: SH Mask */ - -#define MPU_RBAR_AP_Pos 1U /*!< MPU RBAR: AP Position */ -#define MPU_RBAR_AP_Msk (0x3UL << MPU_RBAR_AP_Pos) /*!< MPU RBAR: AP Mask */ - -#define MPU_RBAR_XN_Pos 0U /*!< MPU RBAR: XN Position */ -#define MPU_RBAR_XN_Msk (01UL /*<< MPU_RBAR_XN_Pos*/) /*!< MPU RBAR: XN Mask */ - -/* MPU Region Limit Address Register Definitions */ -#define MPU_RLAR_LIMIT_Pos 5U /*!< MPU RLAR: LIMIT Position */ -#define MPU_RLAR_LIMIT_Msk (0x7FFFFFFUL << MPU_RLAR_LIMIT_Pos) /*!< MPU RLAR: LIMIT Mask */ - -#define MPU_RLAR_AttrIndx_Pos 1U /*!< MPU RLAR: AttrIndx Position */ -#define MPU_RLAR_AttrIndx_Msk (0x7UL << MPU_RLAR_AttrIndx_Pos) /*!< MPU RLAR: AttrIndx Mask */ - -#define MPU_RLAR_EN_Pos 0U /*!< MPU RLAR: Region enable bit Position */ -#define MPU_RLAR_EN_Msk (1UL /*<< MPU_RLAR_EN_Pos*/) /*!< MPU RLAR: Region enable bit Disable Mask */ - -/* MPU Memory Attribute Indirection Register 0 Definitions */ -#define MPU_MAIR0_Attr3_Pos 24U /*!< MPU MAIR0: Attr3 Position */ -#define MPU_MAIR0_Attr3_Msk (0xFFUL << MPU_MAIR0_Attr3_Pos) /*!< MPU MAIR0: Attr3 Mask */ - -#define MPU_MAIR0_Attr2_Pos 16U /*!< MPU MAIR0: Attr2 Position */ -#define MPU_MAIR0_Attr2_Msk (0xFFUL << MPU_MAIR0_Attr2_Pos) /*!< MPU MAIR0: Attr2 Mask */ - -#define MPU_MAIR0_Attr1_Pos 8U /*!< MPU MAIR0: Attr1 Position */ -#define MPU_MAIR0_Attr1_Msk (0xFFUL << MPU_MAIR0_Attr1_Pos) /*!< MPU MAIR0: Attr1 Mask */ - -#define MPU_MAIR0_Attr0_Pos 0U /*!< MPU MAIR0: Attr0 Position */ -#define MPU_MAIR0_Attr0_Msk (0xFFUL /*<< MPU_MAIR0_Attr0_Pos*/) /*!< MPU MAIR0: Attr0 Mask */ - -/* MPU Memory Attribute Indirection Register 1 Definitions */ -#define MPU_MAIR1_Attr7_Pos 24U /*!< MPU MAIR1: Attr7 Position */ -#define MPU_MAIR1_Attr7_Msk (0xFFUL << MPU_MAIR1_Attr7_Pos) /*!< MPU MAIR1: Attr7 Mask */ - -#define MPU_MAIR1_Attr6_Pos 16U /*!< MPU MAIR1: Attr6 Position */ -#define MPU_MAIR1_Attr6_Msk (0xFFUL << MPU_MAIR1_Attr6_Pos) /*!< MPU MAIR1: Attr6 Mask */ - -#define MPU_MAIR1_Attr5_Pos 8U /*!< MPU MAIR1: Attr5 Position */ -#define MPU_MAIR1_Attr5_Msk (0xFFUL << MPU_MAIR1_Attr5_Pos) /*!< MPU MAIR1: Attr5 Mask */ - -#define MPU_MAIR1_Attr4_Pos 0U /*!< MPU MAIR1: Attr4 Position */ -#define MPU_MAIR1_Attr4_Msk (0xFFUL /*<< MPU_MAIR1_Attr4_Pos*/) /*!< MPU MAIR1: Attr4 Mask */ - -/*@} end of group CMSIS_MPU */ -#endif - - -#if defined (__ARM_FEATURE_CMSE) && (__ARM_FEATURE_CMSE == 3U) -/** - \ingroup CMSIS_core_register - \defgroup CMSIS_SAU Security Attribution Unit (SAU) - \brief Type definitions for the Security Attribution Unit (SAU) - @{ - */ - -/** - \brief Structure type to access the Security Attribution Unit (SAU). - */ -typedef struct -{ - __IOM uint32_t CTRL; /*!< Offset: 0x000 (R/W) SAU Control Register */ - __IM uint32_t TYPE; /*!< Offset: 0x004 (R/ ) SAU Type Register */ -#if defined (__SAUREGION_PRESENT) && (__SAUREGION_PRESENT == 1U) - __IOM uint32_t RNR; /*!< Offset: 0x008 (R/W) SAU Region Number Register */ - __IOM uint32_t RBAR; /*!< Offset: 0x00C (R/W) SAU Region Base Address Register */ - __IOM uint32_t RLAR; /*!< Offset: 0x010 (R/W) SAU Region Limit Address Register */ -#else - uint32_t RESERVED0[3]; -#endif - __IOM uint32_t SFSR; /*!< Offset: 0x014 (R/W) Secure Fault Status Register */ - __IOM uint32_t SFAR; /*!< Offset: 0x018 (R/W) Secure Fault Address Register */ -} SAU_Type; - -/* SAU Control Register Definitions */ -#define SAU_CTRL_ALLNS_Pos 1U /*!< SAU CTRL: ALLNS Position */ -#define SAU_CTRL_ALLNS_Msk (1UL << SAU_CTRL_ALLNS_Pos) /*!< SAU CTRL: ALLNS Mask */ - -#define SAU_CTRL_ENABLE_Pos 0U /*!< SAU CTRL: ENABLE Position */ -#define SAU_CTRL_ENABLE_Msk (1UL /*<< SAU_CTRL_ENABLE_Pos*/) /*!< SAU CTRL: ENABLE Mask */ - -/* SAU Type Register Definitions */ -#define SAU_TYPE_SREGION_Pos 0U /*!< SAU TYPE: SREGION Position */ -#define SAU_TYPE_SREGION_Msk (0xFFUL /*<< SAU_TYPE_SREGION_Pos*/) /*!< SAU TYPE: SREGION Mask */ - -#if defined (__SAUREGION_PRESENT) && (__SAUREGION_PRESENT == 1U) -/* SAU Region Number Register Definitions */ -#define SAU_RNR_REGION_Pos 0U /*!< SAU RNR: REGION Position */ -#define SAU_RNR_REGION_Msk (0xFFUL /*<< SAU_RNR_REGION_Pos*/) /*!< SAU RNR: REGION Mask */ - -/* SAU Region Base Address Register Definitions */ -#define SAU_RBAR_BADDR_Pos 5U /*!< SAU RBAR: BADDR Position */ -#define SAU_RBAR_BADDR_Msk (0x7FFFFFFUL << SAU_RBAR_BADDR_Pos) /*!< SAU RBAR: BADDR Mask */ - -/* SAU Region Limit Address Register Definitions */ -#define SAU_RLAR_LADDR_Pos 5U /*!< SAU RLAR: LADDR Position */ -#define SAU_RLAR_LADDR_Msk (0x7FFFFFFUL << SAU_RLAR_LADDR_Pos) /*!< SAU RLAR: LADDR Mask */ - -#define SAU_RLAR_NSC_Pos 1U /*!< SAU RLAR: NSC Position */ -#define SAU_RLAR_NSC_Msk (1UL << SAU_RLAR_NSC_Pos) /*!< SAU RLAR: NSC Mask */ - -#define SAU_RLAR_ENABLE_Pos 0U /*!< SAU RLAR: ENABLE Position */ -#define SAU_RLAR_ENABLE_Msk (1UL /*<< SAU_RLAR_ENABLE_Pos*/) /*!< SAU RLAR: ENABLE Mask */ - -#endif /* defined (__SAUREGION_PRESENT) && (__SAUREGION_PRESENT == 1U) */ - -/* Secure Fault Status Register Definitions */ -#define SAU_SFSR_LSERR_Pos 7U /*!< SAU SFSR: LSERR Position */ -#define SAU_SFSR_LSERR_Msk (1UL << SAU_SFSR_LSERR_Pos) /*!< SAU SFSR: LSERR Mask */ - -#define SAU_SFSR_SFARVALID_Pos 6U /*!< SAU SFSR: SFARVALID Position */ -#define SAU_SFSR_SFARVALID_Msk (1UL << SAU_SFSR_SFARVALID_Pos) /*!< SAU SFSR: SFARVALID Mask */ - -#define SAU_SFSR_LSPERR_Pos 5U /*!< SAU SFSR: LSPERR Position */ -#define SAU_SFSR_LSPERR_Msk (1UL << SAU_SFSR_LSPERR_Pos) /*!< SAU SFSR: LSPERR Mask */ - -#define SAU_SFSR_INVTRAN_Pos 4U /*!< SAU SFSR: INVTRAN Position */ -#define SAU_SFSR_INVTRAN_Msk (1UL << SAU_SFSR_INVTRAN_Pos) /*!< SAU SFSR: INVTRAN Mask */ - -#define SAU_SFSR_AUVIOL_Pos 3U /*!< SAU SFSR: AUVIOL Position */ -#define SAU_SFSR_AUVIOL_Msk (1UL << SAU_SFSR_AUVIOL_Pos) /*!< SAU SFSR: AUVIOL Mask */ - -#define SAU_SFSR_INVER_Pos 2U /*!< SAU SFSR: INVER Position */ -#define SAU_SFSR_INVER_Msk (1UL << SAU_SFSR_INVER_Pos) /*!< SAU SFSR: INVER Mask */ - -#define SAU_SFSR_INVIS_Pos 1U /*!< SAU SFSR: INVIS Position */ -#define SAU_SFSR_INVIS_Msk (1UL << SAU_SFSR_INVIS_Pos) /*!< SAU SFSR: INVIS Mask */ - -#define SAU_SFSR_INVEP_Pos 0U /*!< SAU SFSR: INVEP Position */ -#define SAU_SFSR_INVEP_Msk (1UL /*<< SAU_SFSR_INVEP_Pos*/) /*!< SAU SFSR: INVEP Mask */ - -/*@} end of group CMSIS_SAU */ -#endif /* defined (__ARM_FEATURE_CMSE) && (__ARM_FEATURE_CMSE == 3U) */ - - -/** - \ingroup CMSIS_core_register - \defgroup CMSIS_FPU Floating Point Unit (FPU) - \brief Type definitions for the Floating Point Unit (FPU) - @{ - */ - -/** - \brief Structure type to access the Floating Point Unit (FPU). - */ -typedef struct -{ - uint32_t RESERVED0[1U]; - __IOM uint32_t FPCCR; /*!< Offset: 0x004 (R/W) Floating-Point Context Control Register */ - __IOM uint32_t FPCAR; /*!< Offset: 0x008 (R/W) Floating-Point Context Address Register */ - __IOM uint32_t FPDSCR; /*!< Offset: 0x00C (R/W) Floating-Point Default Status Control Register */ - __IM uint32_t MVFR0; /*!< Offset: 0x010 (R/ ) Media and FP Feature Register 0 */ - __IM uint32_t MVFR1; /*!< Offset: 0x014 (R/ ) Media and FP Feature Register 1 */ -} FPU_Type; - -/* Floating-Point Context Control Register Definitions */ -#define FPU_FPCCR_ASPEN_Pos 31U /*!< FPCCR: ASPEN bit Position */ -#define FPU_FPCCR_ASPEN_Msk (1UL << FPU_FPCCR_ASPEN_Pos) /*!< FPCCR: ASPEN bit Mask */ - -#define FPU_FPCCR_LSPEN_Pos 30U /*!< FPCCR: LSPEN Position */ -#define FPU_FPCCR_LSPEN_Msk (1UL << FPU_FPCCR_LSPEN_Pos) /*!< FPCCR: LSPEN bit Mask */ - -#define FPU_FPCCR_LSPENS_Pos 29U /*!< FPCCR: LSPENS Position */ -#define FPU_FPCCR_LSPENS_Msk (1UL << FPU_FPCCR_LSPENS_Pos) /*!< FPCCR: LSPENS bit Mask */ - -#define FPU_FPCCR_CLRONRET_Pos 28U /*!< FPCCR: CLRONRET Position */ -#define FPU_FPCCR_CLRONRET_Msk (1UL << FPU_FPCCR_CLRONRET_Pos) /*!< FPCCR: CLRONRET bit Mask */ - -#define FPU_FPCCR_CLRONRETS_Pos 27U /*!< FPCCR: CLRONRETS Position */ -#define FPU_FPCCR_CLRONRETS_Msk (1UL << FPU_FPCCR_CLRONRETS_Pos) /*!< FPCCR: CLRONRETS bit Mask */ - -#define FPU_FPCCR_TS_Pos 26U /*!< FPCCR: TS Position */ -#define FPU_FPCCR_TS_Msk (1UL << FPU_FPCCR_TS_Pos) /*!< FPCCR: TS bit Mask */ - -#define FPU_FPCCR_UFRDY_Pos 10U /*!< FPCCR: UFRDY Position */ -#define FPU_FPCCR_UFRDY_Msk (1UL << FPU_FPCCR_UFRDY_Pos) /*!< FPCCR: UFRDY bit Mask */ - -#define FPU_FPCCR_SPLIMVIOL_Pos 9U /*!< FPCCR: SPLIMVIOL Position */ -#define FPU_FPCCR_SPLIMVIOL_Msk (1UL << FPU_FPCCR_SPLIMVIOL_Pos) /*!< FPCCR: SPLIMVIOL bit Mask */ - -#define FPU_FPCCR_MONRDY_Pos 8U /*!< FPCCR: MONRDY Position */ -#define FPU_FPCCR_MONRDY_Msk (1UL << FPU_FPCCR_MONRDY_Pos) /*!< FPCCR: MONRDY bit Mask */ - -#define FPU_FPCCR_SFRDY_Pos 7U /*!< FPCCR: SFRDY Position */ -#define FPU_FPCCR_SFRDY_Msk (1UL << FPU_FPCCR_SFRDY_Pos) /*!< FPCCR: SFRDY bit Mask */ - -#define FPU_FPCCR_BFRDY_Pos 6U /*!< FPCCR: BFRDY Position */ -#define FPU_FPCCR_BFRDY_Msk (1UL << FPU_FPCCR_BFRDY_Pos) /*!< FPCCR: BFRDY bit Mask */ - -#define FPU_FPCCR_MMRDY_Pos 5U /*!< FPCCR: MMRDY Position */ -#define FPU_FPCCR_MMRDY_Msk (1UL << FPU_FPCCR_MMRDY_Pos) /*!< FPCCR: MMRDY bit Mask */ - -#define FPU_FPCCR_HFRDY_Pos 4U /*!< FPCCR: HFRDY Position */ -#define FPU_FPCCR_HFRDY_Msk (1UL << FPU_FPCCR_HFRDY_Pos) /*!< FPCCR: HFRDY bit Mask */ - -#define FPU_FPCCR_THREAD_Pos 3U /*!< FPCCR: processor mode bit Position */ -#define FPU_FPCCR_THREAD_Msk (1UL << FPU_FPCCR_THREAD_Pos) /*!< FPCCR: processor mode active bit Mask */ - -#define FPU_FPCCR_S_Pos 2U /*!< FPCCR: Security status of the FP context bit Position */ -#define FPU_FPCCR_S_Msk (1UL << FPU_FPCCR_S_Pos) /*!< FPCCR: Security status of the FP context bit Mask */ - -#define FPU_FPCCR_USER_Pos 1U /*!< FPCCR: privilege level bit Position */ -#define FPU_FPCCR_USER_Msk (1UL << FPU_FPCCR_USER_Pos) /*!< FPCCR: privilege level bit Mask */ - -#define FPU_FPCCR_LSPACT_Pos 0U /*!< FPCCR: Lazy state preservation active bit Position */ -#define FPU_FPCCR_LSPACT_Msk (1UL /*<< FPU_FPCCR_LSPACT_Pos*/) /*!< FPCCR: Lazy state preservation active bit Mask */ - -/* Floating-Point Context Address Register Definitions */ -#define FPU_FPCAR_ADDRESS_Pos 3U /*!< FPCAR: ADDRESS bit Position */ -#define FPU_FPCAR_ADDRESS_Msk (0x1FFFFFFFUL << FPU_FPCAR_ADDRESS_Pos) /*!< FPCAR: ADDRESS bit Mask */ - -/* Floating-Point Default Status Control Register Definitions */ -#define FPU_FPDSCR_AHP_Pos 26U /*!< FPDSCR: AHP bit Position */ -#define FPU_FPDSCR_AHP_Msk (1UL << FPU_FPDSCR_AHP_Pos) /*!< FPDSCR: AHP bit Mask */ - -#define FPU_FPDSCR_DN_Pos 25U /*!< FPDSCR: DN bit Position */ -#define FPU_FPDSCR_DN_Msk (1UL << FPU_FPDSCR_DN_Pos) /*!< FPDSCR: DN bit Mask */ - -#define FPU_FPDSCR_FZ_Pos 24U /*!< FPDSCR: FZ bit Position */ -#define FPU_FPDSCR_FZ_Msk (1UL << FPU_FPDSCR_FZ_Pos) /*!< FPDSCR: FZ bit Mask */ - -#define FPU_FPDSCR_RMode_Pos 22U /*!< FPDSCR: RMode bit Position */ -#define FPU_FPDSCR_RMode_Msk (3UL << FPU_FPDSCR_RMode_Pos) /*!< FPDSCR: RMode bit Mask */ - -/* Media and FP Feature Register 0 Definitions */ -#define FPU_MVFR0_FP_rounding_modes_Pos 28U /*!< MVFR0: FP rounding modes bits Position */ -#define FPU_MVFR0_FP_rounding_modes_Msk (0xFUL << FPU_MVFR0_FP_rounding_modes_Pos) /*!< MVFR0: FP rounding modes bits Mask */ - -#define FPU_MVFR0_Short_vectors_Pos 24U /*!< MVFR0: Short vectors bits Position */ -#define FPU_MVFR0_Short_vectors_Msk (0xFUL << FPU_MVFR0_Short_vectors_Pos) /*!< MVFR0: Short vectors bits Mask */ - -#define FPU_MVFR0_Square_root_Pos 20U /*!< MVFR0: Square root bits Position */ -#define FPU_MVFR0_Square_root_Msk (0xFUL << FPU_MVFR0_Square_root_Pos) /*!< MVFR0: Square root bits Mask */ - -#define FPU_MVFR0_Divide_Pos 16U /*!< MVFR0: Divide bits Position */ -#define FPU_MVFR0_Divide_Msk (0xFUL << FPU_MVFR0_Divide_Pos) /*!< MVFR0: Divide bits Mask */ - -#define FPU_MVFR0_FP_excep_trapping_Pos 12U /*!< MVFR0: FP exception trapping bits Position */ -#define FPU_MVFR0_FP_excep_trapping_Msk (0xFUL << FPU_MVFR0_FP_excep_trapping_Pos) /*!< MVFR0: FP exception trapping bits Mask */ - -#define FPU_MVFR0_Double_precision_Pos 8U /*!< MVFR0: Double-precision bits Position */ -#define FPU_MVFR0_Double_precision_Msk (0xFUL << FPU_MVFR0_Double_precision_Pos) /*!< MVFR0: Double-precision bits Mask */ - -#define FPU_MVFR0_Single_precision_Pos 4U /*!< MVFR0: Single-precision bits Position */ -#define FPU_MVFR0_Single_precision_Msk (0xFUL << FPU_MVFR0_Single_precision_Pos) /*!< MVFR0: Single-precision bits Mask */ - -#define FPU_MVFR0_A_SIMD_registers_Pos 0U /*!< MVFR0: A_SIMD registers bits Position */ -#define FPU_MVFR0_A_SIMD_registers_Msk (0xFUL /*<< FPU_MVFR0_A_SIMD_registers_Pos*/) /*!< MVFR0: A_SIMD registers bits Mask */ - -/* Media and FP Feature Register 1 Definitions */ -#define FPU_MVFR1_FP_fused_MAC_Pos 28U /*!< MVFR1: FP fused MAC bits Position */ -#define FPU_MVFR1_FP_fused_MAC_Msk (0xFUL << FPU_MVFR1_FP_fused_MAC_Pos) /*!< MVFR1: FP fused MAC bits Mask */ - -#define FPU_MVFR1_FP_HPFP_Pos 24U /*!< MVFR1: FP HPFP bits Position */ -#define FPU_MVFR1_FP_HPFP_Msk (0xFUL << FPU_MVFR1_FP_HPFP_Pos) /*!< MVFR1: FP HPFP bits Mask */ - -#define FPU_MVFR1_D_NaN_mode_Pos 4U /*!< MVFR1: D_NaN mode bits Position */ -#define FPU_MVFR1_D_NaN_mode_Msk (0xFUL << FPU_MVFR1_D_NaN_mode_Pos) /*!< MVFR1: D_NaN mode bits Mask */ - -#define FPU_MVFR1_FtZ_mode_Pos 0U /*!< MVFR1: FtZ mode bits Position */ -#define FPU_MVFR1_FtZ_mode_Msk (0xFUL /*<< FPU_MVFR1_FtZ_mode_Pos*/) /*!< MVFR1: FtZ mode bits Mask */ - -/*@} end of group CMSIS_FPU */ - - -/** - \ingroup CMSIS_core_register - \defgroup CMSIS_CoreDebug Core Debug Registers (CoreDebug) - \brief Type definitions for the Core Debug Registers - @{ - */ - -/** - \brief Structure type to access the Core Debug Register (CoreDebug). - */ -typedef struct -{ - __IOM uint32_t DHCSR; /*!< Offset: 0x000 (R/W) Debug Halting Control and Status Register */ - __OM uint32_t DCRSR; /*!< Offset: 0x004 ( /W) Debug Core Register Selector Register */ - __IOM uint32_t DCRDR; /*!< Offset: 0x008 (R/W) Debug Core Register Data Register */ - __IOM uint32_t DEMCR; /*!< Offset: 0x00C (R/W) Debug Exception and Monitor Control Register */ - uint32_t RESERVED4[1U]; - __IOM uint32_t DAUTHCTRL; /*!< Offset: 0x014 (R/W) Debug Authentication Control Register */ - __IOM uint32_t DSCSR; /*!< Offset: 0x018 (R/W) Debug Security Control and Status Register */ -} CoreDebug_Type; - -/* Debug Halting Control and Status Register Definitions */ -#define CoreDebug_DHCSR_DBGKEY_Pos 16U /*!< CoreDebug DHCSR: DBGKEY Position */ -#define CoreDebug_DHCSR_DBGKEY_Msk (0xFFFFUL << CoreDebug_DHCSR_DBGKEY_Pos) /*!< CoreDebug DHCSR: DBGKEY Mask */ - -#define CoreDebug_DHCSR_S_RESTART_ST_Pos 26U /*!< CoreDebug DHCSR: S_RESTART_ST Position */ -#define CoreDebug_DHCSR_S_RESTART_ST_Msk (1UL << CoreDebug_DHCSR_S_RESTART_ST_Pos) /*!< CoreDebug DHCSR: S_RESTART_ST Mask */ - -#define CoreDebug_DHCSR_S_RESET_ST_Pos 25U /*!< CoreDebug DHCSR: S_RESET_ST Position */ -#define CoreDebug_DHCSR_S_RESET_ST_Msk (1UL << CoreDebug_DHCSR_S_RESET_ST_Pos) /*!< CoreDebug DHCSR: S_RESET_ST Mask */ - -#define CoreDebug_DHCSR_S_RETIRE_ST_Pos 24U /*!< CoreDebug DHCSR: S_RETIRE_ST Position */ -#define CoreDebug_DHCSR_S_RETIRE_ST_Msk (1UL << CoreDebug_DHCSR_S_RETIRE_ST_Pos) /*!< CoreDebug DHCSR: S_RETIRE_ST Mask */ - -#define CoreDebug_DHCSR_S_LOCKUP_Pos 19U /*!< CoreDebug DHCSR: S_LOCKUP Position */ -#define CoreDebug_DHCSR_S_LOCKUP_Msk (1UL << CoreDebug_DHCSR_S_LOCKUP_Pos) /*!< CoreDebug DHCSR: S_LOCKUP Mask */ - -#define CoreDebug_DHCSR_S_SLEEP_Pos 18U /*!< CoreDebug DHCSR: S_SLEEP Position */ -#define CoreDebug_DHCSR_S_SLEEP_Msk (1UL << CoreDebug_DHCSR_S_SLEEP_Pos) /*!< CoreDebug DHCSR: S_SLEEP Mask */ - -#define CoreDebug_DHCSR_S_HALT_Pos 17U /*!< CoreDebug DHCSR: S_HALT Position */ -#define CoreDebug_DHCSR_S_HALT_Msk (1UL << CoreDebug_DHCSR_S_HALT_Pos) /*!< CoreDebug DHCSR: S_HALT Mask */ - -#define CoreDebug_DHCSR_S_REGRDY_Pos 16U /*!< CoreDebug DHCSR: S_REGRDY Position */ -#define CoreDebug_DHCSR_S_REGRDY_Msk (1UL << CoreDebug_DHCSR_S_REGRDY_Pos) /*!< CoreDebug DHCSR: S_REGRDY Mask */ - -#define CoreDebug_DHCSR_C_SNAPSTALL_Pos 5U /*!< CoreDebug DHCSR: C_SNAPSTALL Position */ -#define CoreDebug_DHCSR_C_SNAPSTALL_Msk (1UL << CoreDebug_DHCSR_C_SNAPSTALL_Pos) /*!< CoreDebug DHCSR: C_SNAPSTALL Mask */ - -#define CoreDebug_DHCSR_C_MASKINTS_Pos 3U /*!< CoreDebug DHCSR: C_MASKINTS Position */ -#define CoreDebug_DHCSR_C_MASKINTS_Msk (1UL << CoreDebug_DHCSR_C_MASKINTS_Pos) /*!< CoreDebug DHCSR: C_MASKINTS Mask */ - -#define CoreDebug_DHCSR_C_STEP_Pos 2U /*!< CoreDebug DHCSR: C_STEP Position */ -#define CoreDebug_DHCSR_C_STEP_Msk (1UL << CoreDebug_DHCSR_C_STEP_Pos) /*!< CoreDebug DHCSR: C_STEP Mask */ - -#define CoreDebug_DHCSR_C_HALT_Pos 1U /*!< CoreDebug DHCSR: C_HALT Position */ -#define CoreDebug_DHCSR_C_HALT_Msk (1UL << CoreDebug_DHCSR_C_HALT_Pos) /*!< CoreDebug DHCSR: C_HALT Mask */ - -#define CoreDebug_DHCSR_C_DEBUGEN_Pos 0U /*!< CoreDebug DHCSR: C_DEBUGEN Position */ -#define CoreDebug_DHCSR_C_DEBUGEN_Msk (1UL /*<< CoreDebug_DHCSR_C_DEBUGEN_Pos*/) /*!< CoreDebug DHCSR: C_DEBUGEN Mask */ - -/* Debug Core Register Selector Register Definitions */ -#define CoreDebug_DCRSR_REGWnR_Pos 16U /*!< CoreDebug DCRSR: REGWnR Position */ -#define CoreDebug_DCRSR_REGWnR_Msk (1UL << CoreDebug_DCRSR_REGWnR_Pos) /*!< CoreDebug DCRSR: REGWnR Mask */ - -#define CoreDebug_DCRSR_REGSEL_Pos 0U /*!< CoreDebug DCRSR: REGSEL Position */ -#define CoreDebug_DCRSR_REGSEL_Msk (0x1FUL /*<< CoreDebug_DCRSR_REGSEL_Pos*/) /*!< CoreDebug DCRSR: REGSEL Mask */ - -/* Debug Exception and Monitor Control Register Definitions */ -#define CoreDebug_DEMCR_TRCENA_Pos 24U /*!< CoreDebug DEMCR: TRCENA Position */ -#define CoreDebug_DEMCR_TRCENA_Msk (1UL << CoreDebug_DEMCR_TRCENA_Pos) /*!< CoreDebug DEMCR: TRCENA Mask */ - -#define CoreDebug_DEMCR_MON_REQ_Pos 19U /*!< CoreDebug DEMCR: MON_REQ Position */ -#define CoreDebug_DEMCR_MON_REQ_Msk (1UL << CoreDebug_DEMCR_MON_REQ_Pos) /*!< CoreDebug DEMCR: MON_REQ Mask */ - -#define CoreDebug_DEMCR_MON_STEP_Pos 18U /*!< CoreDebug DEMCR: MON_STEP Position */ -#define CoreDebug_DEMCR_MON_STEP_Msk (1UL << CoreDebug_DEMCR_MON_STEP_Pos) /*!< CoreDebug DEMCR: MON_STEP Mask */ - -#define CoreDebug_DEMCR_MON_PEND_Pos 17U /*!< CoreDebug DEMCR: MON_PEND Position */ -#define CoreDebug_DEMCR_MON_PEND_Msk (1UL << CoreDebug_DEMCR_MON_PEND_Pos) /*!< CoreDebug DEMCR: MON_PEND Mask */ - -#define CoreDebug_DEMCR_MON_EN_Pos 16U /*!< CoreDebug DEMCR: MON_EN Position */ -#define CoreDebug_DEMCR_MON_EN_Msk (1UL << CoreDebug_DEMCR_MON_EN_Pos) /*!< CoreDebug DEMCR: MON_EN Mask */ - -#define CoreDebug_DEMCR_VC_HARDERR_Pos 10U /*!< CoreDebug DEMCR: VC_HARDERR Position */ -#define CoreDebug_DEMCR_VC_HARDERR_Msk (1UL << CoreDebug_DEMCR_VC_HARDERR_Pos) /*!< CoreDebug DEMCR: VC_HARDERR Mask */ - -#define CoreDebug_DEMCR_VC_INTERR_Pos 9U /*!< CoreDebug DEMCR: VC_INTERR Position */ -#define CoreDebug_DEMCR_VC_INTERR_Msk (1UL << CoreDebug_DEMCR_VC_INTERR_Pos) /*!< CoreDebug DEMCR: VC_INTERR Mask */ - -#define CoreDebug_DEMCR_VC_BUSERR_Pos 8U /*!< CoreDebug DEMCR: VC_BUSERR Position */ -#define CoreDebug_DEMCR_VC_BUSERR_Msk (1UL << CoreDebug_DEMCR_VC_BUSERR_Pos) /*!< CoreDebug DEMCR: VC_BUSERR Mask */ - -#define CoreDebug_DEMCR_VC_STATERR_Pos 7U /*!< CoreDebug DEMCR: VC_STATERR Position */ -#define CoreDebug_DEMCR_VC_STATERR_Msk (1UL << CoreDebug_DEMCR_VC_STATERR_Pos) /*!< CoreDebug DEMCR: VC_STATERR Mask */ - -#define CoreDebug_DEMCR_VC_CHKERR_Pos 6U /*!< CoreDebug DEMCR: VC_CHKERR Position */ -#define CoreDebug_DEMCR_VC_CHKERR_Msk (1UL << CoreDebug_DEMCR_VC_CHKERR_Pos) /*!< CoreDebug DEMCR: VC_CHKERR Mask */ - -#define CoreDebug_DEMCR_VC_NOCPERR_Pos 5U /*!< CoreDebug DEMCR: VC_NOCPERR Position */ -#define CoreDebug_DEMCR_VC_NOCPERR_Msk (1UL << CoreDebug_DEMCR_VC_NOCPERR_Pos) /*!< CoreDebug DEMCR: VC_NOCPERR Mask */ - -#define CoreDebug_DEMCR_VC_MMERR_Pos 4U /*!< CoreDebug DEMCR: VC_MMERR Position */ -#define CoreDebug_DEMCR_VC_MMERR_Msk (1UL << CoreDebug_DEMCR_VC_MMERR_Pos) /*!< CoreDebug DEMCR: VC_MMERR Mask */ - -#define CoreDebug_DEMCR_VC_CORERESET_Pos 0U /*!< CoreDebug DEMCR: VC_CORERESET Position */ -#define CoreDebug_DEMCR_VC_CORERESET_Msk (1UL /*<< CoreDebug_DEMCR_VC_CORERESET_Pos*/) /*!< CoreDebug DEMCR: VC_CORERESET Mask */ - -/* Debug Authentication Control Register Definitions */ -#define CoreDebug_DAUTHCTRL_INTSPNIDEN_Pos 3U /*!< CoreDebug DAUTHCTRL: INTSPNIDEN, Position */ -#define CoreDebug_DAUTHCTRL_INTSPNIDEN_Msk (1UL << CoreDebug_DAUTHCTRL_INTSPNIDEN_Pos) /*!< CoreDebug DAUTHCTRL: INTSPNIDEN, Mask */ - -#define CoreDebug_DAUTHCTRL_SPNIDENSEL_Pos 2U /*!< CoreDebug DAUTHCTRL: SPNIDENSEL Position */ -#define CoreDebug_DAUTHCTRL_SPNIDENSEL_Msk (1UL << CoreDebug_DAUTHCTRL_SPNIDENSEL_Pos) /*!< CoreDebug DAUTHCTRL: SPNIDENSEL Mask */ - -#define CoreDebug_DAUTHCTRL_INTSPIDEN_Pos 1U /*!< CoreDebug DAUTHCTRL: INTSPIDEN Position */ -#define CoreDebug_DAUTHCTRL_INTSPIDEN_Msk (1UL << CoreDebug_DAUTHCTRL_INTSPIDEN_Pos) /*!< CoreDebug DAUTHCTRL: INTSPIDEN Mask */ - -#define CoreDebug_DAUTHCTRL_SPIDENSEL_Pos 0U /*!< CoreDebug DAUTHCTRL: SPIDENSEL Position */ -#define CoreDebug_DAUTHCTRL_SPIDENSEL_Msk (1UL /*<< CoreDebug_DAUTHCTRL_SPIDENSEL_Pos*/) /*!< CoreDebug DAUTHCTRL: SPIDENSEL Mask */ - -/* Debug Security Control and Status Register Definitions */ -#define CoreDebug_DSCSR_CDS_Pos 16U /*!< CoreDebug DSCSR: CDS Position */ -#define CoreDebug_DSCSR_CDS_Msk (1UL << CoreDebug_DSCSR_CDS_Pos) /*!< CoreDebug DSCSR: CDS Mask */ - -#define CoreDebug_DSCSR_SBRSEL_Pos 1U /*!< CoreDebug DSCSR: SBRSEL Position */ -#define CoreDebug_DSCSR_SBRSEL_Msk (1UL << CoreDebug_DSCSR_SBRSEL_Pos) /*!< CoreDebug DSCSR: SBRSEL Mask */ - -#define CoreDebug_DSCSR_SBRSELEN_Pos 0U /*!< CoreDebug DSCSR: SBRSELEN Position */ -#define CoreDebug_DSCSR_SBRSELEN_Msk (1UL /*<< CoreDebug_DSCSR_SBRSELEN_Pos*/) /*!< CoreDebug DSCSR: SBRSELEN Mask */ - -/*@} end of group CMSIS_CoreDebug */ - - -/** - \ingroup CMSIS_core_register - \defgroup CMSIS_core_bitfield Core register bit field macros - \brief Macros for use with bit field definitions (xxx_Pos, xxx_Msk). - @{ - */ - -/** - \brief Mask and shift a bit field value for use in a register bit range. - \param[in] field Name of the register bit field. - \param[in] value Value of the bit field. This parameter is interpreted as an uint32_t type. - \return Masked and shifted value. -*/ -#define _VAL2FLD(field, value) (((uint32_t)(value) << field ## _Pos) & field ## _Msk) - -/** - \brief Mask and shift a register value to extract a bit filed value. - \param[in] field Name of the register bit field. - \param[in] value Value of register. This parameter is interpreted as an uint32_t type. - \return Masked and shifted bit field value. -*/ -#define _FLD2VAL(field, value) (((uint32_t)(value) & field ## _Msk) >> field ## _Pos) - -/*@} end of group CMSIS_core_bitfield */ - - -/** - \ingroup CMSIS_core_register - \defgroup CMSIS_core_base Core Definitions - \brief Definitions for base addresses, unions, and structures. - @{ - */ - -/* Memory mapping of Core Hardware */ - #define SCS_BASE (0xE000E000UL) /*!< System Control Space Base Address */ - #define ITM_BASE (0xE0000000UL) /*!< ITM Base Address */ - #define DWT_BASE (0xE0001000UL) /*!< DWT Base Address */ - #define TPI_BASE (0xE0040000UL) /*!< TPI Base Address */ - #define CoreDebug_BASE (0xE000EDF0UL) /*!< Core Debug Base Address */ - #define SysTick_BASE (SCS_BASE + 0x0010UL) /*!< SysTick Base Address */ - #define NVIC_BASE (SCS_BASE + 0x0100UL) /*!< NVIC Base Address */ - #define SCB_BASE (SCS_BASE + 0x0D00UL) /*!< System Control Block Base Address */ - - #define SCnSCB ((SCnSCB_Type *) SCS_BASE ) /*!< System control Register not in SCB */ - #define SCB ((SCB_Type *) SCB_BASE ) /*!< SCB configuration struct */ - #define SysTick ((SysTick_Type *) SysTick_BASE ) /*!< SysTick configuration struct */ - #define NVIC ((NVIC_Type *) NVIC_BASE ) /*!< NVIC configuration struct */ - #define ITM ((ITM_Type *) ITM_BASE ) /*!< ITM configuration struct */ - #define DWT ((DWT_Type *) DWT_BASE ) /*!< DWT configuration struct */ - #define TPI ((TPI_Type *) TPI_BASE ) /*!< TPI configuration struct */ - #define CoreDebug ((CoreDebug_Type *) CoreDebug_BASE ) /*!< Core Debug configuration struct */ - - #if defined (__MPU_PRESENT) && (__MPU_PRESENT == 1U) - #define MPU_BASE (SCS_BASE + 0x0D90UL) /*!< Memory Protection Unit */ - #define MPU ((MPU_Type *) MPU_BASE ) /*!< Memory Protection Unit */ - #endif - - #if defined (__ARM_FEATURE_CMSE) && (__ARM_FEATURE_CMSE == 3U) - #define SAU_BASE (SCS_BASE + 0x0DD0UL) /*!< Security Attribution Unit */ - #define SAU ((SAU_Type *) SAU_BASE ) /*!< Security Attribution Unit */ - #endif - - #define FPU_BASE (SCS_BASE + 0x0F30UL) /*!< Floating Point Unit */ - #define FPU ((FPU_Type *) FPU_BASE ) /*!< Floating Point Unit */ - -#if defined (__ARM_FEATURE_CMSE) && (__ARM_FEATURE_CMSE == 3U) - #define SCS_BASE_NS (0xE002E000UL) /*!< System Control Space Base Address (non-secure address space) */ - #define CoreDebug_BASE_NS (0xE002EDF0UL) /*!< Core Debug Base Address (non-secure address space) */ - #define SysTick_BASE_NS (SCS_BASE_NS + 0x0010UL) /*!< SysTick Base Address (non-secure address space) */ - #define NVIC_BASE_NS (SCS_BASE_NS + 0x0100UL) /*!< NVIC Base Address (non-secure address space) */ - #define SCB_BASE_NS (SCS_BASE_NS + 0x0D00UL) /*!< System Control Block Base Address (non-secure address space) */ - - #define SCnSCB_NS ((SCnSCB_Type *) SCS_BASE_NS ) /*!< System control Register not in SCB(non-secure address space) */ - #define SCB_NS ((SCB_Type *) SCB_BASE_NS ) /*!< SCB configuration struct (non-secure address space) */ - #define SysTick_NS ((SysTick_Type *) SysTick_BASE_NS ) /*!< SysTick configuration struct (non-secure address space) */ - #define NVIC_NS ((NVIC_Type *) NVIC_BASE_NS ) /*!< NVIC configuration struct (non-secure address space) */ - #define CoreDebug_NS ((CoreDebug_Type *) CoreDebug_BASE_NS) /*!< Core Debug configuration struct (non-secure address space) */ - - #if defined (__MPU_PRESENT) && (__MPU_PRESENT == 1U) - #define MPU_BASE_NS (SCS_BASE_NS + 0x0D90UL) /*!< Memory Protection Unit (non-secure address space) */ - #define MPU_NS ((MPU_Type *) MPU_BASE_NS ) /*!< Memory Protection Unit (non-secure address space) */ - #endif - - #define FPU_BASE_NS (SCS_BASE_NS + 0x0F30UL) /*!< Floating Point Unit (non-secure address space) */ - #define FPU_NS ((FPU_Type *) FPU_BASE_NS ) /*!< Floating Point Unit (non-secure address space) */ - -#endif /* defined (__ARM_FEATURE_CMSE) && (__ARM_FEATURE_CMSE == 3U) */ -/*@} */ - - - -/******************************************************************************* - * Hardware Abstraction Layer - Core Function Interface contains: - - Core NVIC Functions - - Core SysTick Functions - - Core Debug Functions - - Core Register Access Functions - ******************************************************************************/ -/** - \defgroup CMSIS_Core_FunctionInterface Functions and Instructions Reference -*/ - - - -/* ########################## NVIC functions #################################### */ -/** - \ingroup CMSIS_Core_FunctionInterface - \defgroup CMSIS_Core_NVICFunctions NVIC Functions - \brief Functions that manage interrupts and exceptions via the NVIC. - @{ - */ - -#ifdef CMSIS_NVIC_VIRTUAL - #ifndef CMSIS_NVIC_VIRTUAL_HEADER_FILE - #define CMSIS_NVIC_VIRTUAL_HEADER_FILE "cmsis_nvic_virtual.h" - #endif - #include CMSIS_NVIC_VIRTUAL_HEADER_FILE -#else - #define NVIC_SetPriorityGrouping __NVIC_SetPriorityGrouping - #define NVIC_GetPriorityGrouping __NVIC_GetPriorityGrouping - #define NVIC_EnableIRQ __NVIC_EnableIRQ - #define NVIC_GetEnableIRQ __NVIC_GetEnableIRQ - #define NVIC_DisableIRQ __NVIC_DisableIRQ - #define NVIC_GetPendingIRQ __NVIC_GetPendingIRQ - #define NVIC_SetPendingIRQ __NVIC_SetPendingIRQ - #define NVIC_ClearPendingIRQ __NVIC_ClearPendingIRQ - #define NVIC_GetActive __NVIC_GetActive - #define NVIC_SetPriority __NVIC_SetPriority - #define NVIC_GetPriority __NVIC_GetPriority - #define NVIC_SystemReset __NVIC_SystemReset -#endif /* CMSIS_NVIC_VIRTUAL */ - -#ifdef CMSIS_VECTAB_VIRTUAL - #ifndef CMSIS_VECTAB_VIRTUAL_HEADER_FILE - #define CMSIS_VECTAB_VIRTUAL_HEADER_FILE "cmsis_vectab_virtual.h" - #endif - #include CMSIS_VECTAB_VIRTUAL_HEADER_FILE -#else - #define NVIC_SetVector __NVIC_SetVector - #define NVIC_GetVector __NVIC_GetVector -#endif /* (CMSIS_VECTAB_VIRTUAL) */ - -#define NVIC_USER_IRQ_OFFSET 16 - - -/* Special LR values for Secure/Non-Secure call handling and exception handling */ - -/* Function Return Payload (from ARMv8-M Architecture Reference Manual) LR value on entry from Secure BLXNS */ -#define FNC_RETURN (0xFEFFFFFFUL) /* bit [0] ignored when processing a branch */ - -/* The following EXC_RETURN mask values are used to evaluate the LR on exception entry */ -#define EXC_RETURN_PREFIX (0xFF000000UL) /* bits [31:24] set to indicate an EXC_RETURN value */ -#define EXC_RETURN_S (0x00000040UL) /* bit [6] stack used to push registers: 0=Non-secure 1=Secure */ -#define EXC_RETURN_DCRS (0x00000020UL) /* bit [5] stacking rules for called registers: 0=skipped 1=saved */ -#define EXC_RETURN_FTYPE (0x00000010UL) /* bit [4] allocate stack for floating-point context: 0=done 1=skipped */ -#define EXC_RETURN_MODE (0x00000008UL) /* bit [3] processor mode for return: 0=Handler mode 1=Thread mode */ -#define EXC_RETURN_SPSEL (0x00000002UL) /* bit [1] stack pointer used to restore context: 0=MSP 1=PSP */ -#define EXC_RETURN_ES (0x00000001UL) /* bit [0] security state exception was taken to: 0=Non-secure 1=Secure */ - -/* Integrity Signature (from ARMv8-M Architecture Reference Manual) for exception context stacking */ -#if defined (__FPU_PRESENT) && (__FPU_PRESENT == 1U) /* Value for processors with floating-point extension: */ -#define EXC_INTEGRITY_SIGNATURE (0xFEFA125AUL) /* bit [0] SFTC must match LR bit[4] EXC_RETURN_FTYPE */ -#else -#define EXC_INTEGRITY_SIGNATURE (0xFEFA125BUL) /* Value for processors without floating-point extension */ -#endif - - -/** - \brief Set Priority Grouping - \details Sets the priority grouping field using the required unlock sequence. - The parameter PriorityGroup is assigned to the field SCB->AIRCR [10:8] PRIGROUP field. - Only values from 0..7 are used. - In case of a conflict between priority grouping and available - priority bits (__NVIC_PRIO_BITS), the smallest possible priority group is set. - \param [in] PriorityGroup Priority grouping field. - */ -__STATIC_INLINE void __NVIC_SetPriorityGrouping(uint32_t PriorityGroup) -{ - uint32_t reg_value; - uint32_t PriorityGroupTmp = (PriorityGroup & (uint32_t)0x07UL); /* only values 0..7 are used */ - - reg_value = SCB->AIRCR; /* read old register configuration */ - reg_value &= ~((uint32_t)(SCB_AIRCR_VECTKEY_Msk | SCB_AIRCR_PRIGROUP_Msk)); /* clear bits to change */ - reg_value = (reg_value | - ((uint32_t)0x5FAUL << SCB_AIRCR_VECTKEY_Pos) | - (PriorityGroupTmp << 8U) ); /* Insert write key and priorty group */ - SCB->AIRCR = reg_value; -} - - -/** - \brief Get Priority Grouping - \details Reads the priority grouping field from the NVIC Interrupt Controller. - \return Priority grouping field (SCB->AIRCR [10:8] PRIGROUP field). - */ -__STATIC_INLINE uint32_t __NVIC_GetPriorityGrouping(void) -{ - return ((uint32_t)((SCB->AIRCR & SCB_AIRCR_PRIGROUP_Msk) >> SCB_AIRCR_PRIGROUP_Pos)); -} - - -/** - \brief Enable Interrupt - \details Enables a device specific interrupt in the NVIC interrupt controller. - \param [in] IRQn Device specific interrupt number. - \note IRQn must not be negative. - */ -__STATIC_INLINE void __NVIC_EnableIRQ(IRQn_Type IRQn) -{ - if ((int32_t)(IRQn) >= 0) - { - NVIC->ISER[(((uint32_t)IRQn) >> 5UL)] = (uint32_t)(1UL << (((uint32_t)IRQn) & 0x1FUL)); - } -} - - -/** - \brief Get Interrupt Enable status - \details Returns a device specific interrupt enable status from the NVIC interrupt controller. - \param [in] IRQn Device specific interrupt number. - \return 0 Interrupt is not enabled. - \return 1 Interrupt is enabled. - \note IRQn must not be negative. - */ -__STATIC_INLINE uint32_t __NVIC_GetEnableIRQ(IRQn_Type IRQn) -{ - if ((int32_t)(IRQn) >= 0) - { - return((uint32_t)(((NVIC->ISER[(((uint32_t)IRQn) >> 5UL)] & (1UL << (((uint32_t)IRQn) & 0x1FUL))) != 0UL) ? 1UL : 0UL)); - } - else - { - return(0U); - } -} - - -/** - \brief Disable Interrupt - \details Disables a device specific interrupt in the NVIC interrupt controller. - \param [in] IRQn Device specific interrupt number. - \note IRQn must not be negative. - */ -__STATIC_INLINE void __NVIC_DisableIRQ(IRQn_Type IRQn) -{ - if ((int32_t)(IRQn) >= 0) - { - NVIC->ICER[(((uint32_t)IRQn) >> 5UL)] = (uint32_t)(1UL << (((uint32_t)IRQn) & 0x1FUL)); - __DSB(); - __ISB(); - } -} - - -/** - \brief Get Pending Interrupt - \details Reads the NVIC pending register and returns the pending bit for the specified device specific interrupt. - \param [in] IRQn Device specific interrupt number. - \return 0 Interrupt status is not pending. - \return 1 Interrupt status is pending. - \note IRQn must not be negative. - */ -__STATIC_INLINE uint32_t __NVIC_GetPendingIRQ(IRQn_Type IRQn) -{ - if ((int32_t)(IRQn) >= 0) - { - return((uint32_t)(((NVIC->ISPR[(((uint32_t)IRQn) >> 5UL)] & (1UL << (((uint32_t)IRQn) & 0x1FUL))) != 0UL) ? 1UL : 0UL)); - } - else - { - return(0U); - } -} - - -/** - \brief Set Pending Interrupt - \details Sets the pending bit of a device specific interrupt in the NVIC pending register. - \param [in] IRQn Device specific interrupt number. - \note IRQn must not be negative. - */ -__STATIC_INLINE void __NVIC_SetPendingIRQ(IRQn_Type IRQn) -{ - if ((int32_t)(IRQn) >= 0) - { - NVIC->ISPR[(((uint32_t)IRQn) >> 5UL)] = (uint32_t)(1UL << (((uint32_t)IRQn) & 0x1FUL)); - } -} - - -/** - \brief Clear Pending Interrupt - \details Clears the pending bit of a device specific interrupt in the NVIC pending register. - \param [in] IRQn Device specific interrupt number. - \note IRQn must not be negative. - */ -__STATIC_INLINE void __NVIC_ClearPendingIRQ(IRQn_Type IRQn) -{ - if ((int32_t)(IRQn) >= 0) - { - NVIC->ICPR[(((uint32_t)IRQn) >> 5UL)] = (uint32_t)(1UL << (((uint32_t)IRQn) & 0x1FUL)); - } -} - - -/** - \brief Get Active Interrupt - \details Reads the active register in the NVIC and returns the active bit for the device specific interrupt. - \param [in] IRQn Device specific interrupt number. - \return 0 Interrupt status is not active. - \return 1 Interrupt status is active. - \note IRQn must not be negative. - */ -__STATIC_INLINE uint32_t __NVIC_GetActive(IRQn_Type IRQn) -{ - if ((int32_t)(IRQn) >= 0) - { - return((uint32_t)(((NVIC->IABR[(((uint32_t)IRQn) >> 5UL)] & (1UL << (((uint32_t)IRQn) & 0x1FUL))) != 0UL) ? 1UL : 0UL)); - } - else - { - return(0U); - } -} - - -#if defined (__ARM_FEATURE_CMSE) && (__ARM_FEATURE_CMSE == 3U) -/** - \brief Get Interrupt Target State - \details Reads the interrupt target field in the NVIC and returns the interrupt target bit for the device specific interrupt. - \param [in] IRQn Device specific interrupt number. - \return 0 if interrupt is assigned to Secure - \return 1 if interrupt is assigned to Non Secure - \note IRQn must not be negative. - */ -__STATIC_INLINE uint32_t NVIC_GetTargetState(IRQn_Type IRQn) -{ - if ((int32_t)(IRQn) >= 0) - { - return((uint32_t)(((NVIC->ITNS[(((uint32_t)IRQn) >> 5UL)] & (1UL << (((uint32_t)IRQn) & 0x1FUL))) != 0UL) ? 1UL : 0UL)); - } - else - { - return(0U); - } -} - - -/** - \brief Set Interrupt Target State - \details Sets the interrupt target field in the NVIC and returns the interrupt target bit for the device specific interrupt. - \param [in] IRQn Device specific interrupt number. - \return 0 if interrupt is assigned to Secure - 1 if interrupt is assigned to Non Secure - \note IRQn must not be negative. - */ -__STATIC_INLINE uint32_t NVIC_SetTargetState(IRQn_Type IRQn) -{ - if ((int32_t)(IRQn) >= 0) - { - NVIC->ITNS[(((uint32_t)IRQn) >> 5UL)] |= ((uint32_t)(1UL << (((uint32_t)IRQn) & 0x1FUL))); - return((uint32_t)(((NVIC->ITNS[(((uint32_t)IRQn) >> 5UL)] & (1UL << (((uint32_t)IRQn) & 0x1FUL))) != 0UL) ? 1UL : 0UL)); - } - else - { - return(0U); - } -} - - -/** - \brief Clear Interrupt Target State - \details Clears the interrupt target field in the NVIC and returns the interrupt target bit for the device specific interrupt. - \param [in] IRQn Device specific interrupt number. - \return 0 if interrupt is assigned to Secure - 1 if interrupt is assigned to Non Secure - \note IRQn must not be negative. - */ -__STATIC_INLINE uint32_t NVIC_ClearTargetState(IRQn_Type IRQn) -{ - if ((int32_t)(IRQn) >= 0) - { - NVIC->ITNS[(((uint32_t)IRQn) >> 5UL)] &= ~((uint32_t)(1UL << (((uint32_t)IRQn) & 0x1FUL))); - return((uint32_t)(((NVIC->ITNS[(((uint32_t)IRQn) >> 5UL)] & (1UL << (((uint32_t)IRQn) & 0x1FUL))) != 0UL) ? 1UL : 0UL)); - } - else - { - return(0U); - } -} -#endif /* defined (__ARM_FEATURE_CMSE) && (__ARM_FEATURE_CMSE == 3U) */ - - -/** - \brief Set Interrupt Priority - \details Sets the priority of a device specific interrupt or a processor exception. - The interrupt number can be positive to specify a device specific interrupt, - or negative to specify a processor exception. - \param [in] IRQn Interrupt number. - \param [in] priority Priority to set. - \note The priority cannot be set for every processor exception. - */ -__STATIC_INLINE void __NVIC_SetPriority(IRQn_Type IRQn, uint32_t priority) -{ - if ((int32_t)(IRQn) >= 0) - { - NVIC->IPR[((uint32_t)IRQn)] = (uint8_t)((priority << (8U - __NVIC_PRIO_BITS)) & (uint32_t)0xFFUL); - } - else - { - SCB->SHPR[(((uint32_t)IRQn) & 0xFUL)-4UL] = (uint8_t)((priority << (8U - __NVIC_PRIO_BITS)) & (uint32_t)0xFFUL); - } -} - - -/** - \brief Get Interrupt Priority - \details Reads the priority of a device specific interrupt or a processor exception. - The interrupt number can be positive to specify a device specific interrupt, - or negative to specify a processor exception. - \param [in] IRQn Interrupt number. - \return Interrupt Priority. - Value is aligned automatically to the implemented priority bits of the microcontroller. - */ -__STATIC_INLINE uint32_t __NVIC_GetPriority(IRQn_Type IRQn) -{ - - if ((int32_t)(IRQn) >= 0) - { - return(((uint32_t)NVIC->IPR[((uint32_t)IRQn)] >> (8U - __NVIC_PRIO_BITS))); - } - else - { - return(((uint32_t)SCB->SHPR[(((uint32_t)IRQn) & 0xFUL)-4UL] >> (8U - __NVIC_PRIO_BITS))); - } -} - - -/** - \brief Encode Priority - \details Encodes the priority for an interrupt with the given priority group, - preemptive priority value, and subpriority value. - In case of a conflict between priority grouping and available - priority bits (__NVIC_PRIO_BITS), the smallest possible priority group is set. - \param [in] PriorityGroup Used priority group. - \param [in] PreemptPriority Preemptive priority value (starting from 0). - \param [in] SubPriority Subpriority value (starting from 0). - \return Encoded priority. Value can be used in the function \ref NVIC_SetPriority(). - */ -__STATIC_INLINE uint32_t NVIC_EncodePriority (uint32_t PriorityGroup, uint32_t PreemptPriority, uint32_t SubPriority) -{ - uint32_t PriorityGroupTmp = (PriorityGroup & (uint32_t)0x07UL); /* only values 0..7 are used */ - uint32_t PreemptPriorityBits; - uint32_t SubPriorityBits; - - PreemptPriorityBits = ((7UL - PriorityGroupTmp) > (uint32_t)(__NVIC_PRIO_BITS)) ? (uint32_t)(__NVIC_PRIO_BITS) : (uint32_t)(7UL - PriorityGroupTmp); - SubPriorityBits = ((PriorityGroupTmp + (uint32_t)(__NVIC_PRIO_BITS)) < (uint32_t)7UL) ? (uint32_t)0UL : (uint32_t)((PriorityGroupTmp - 7UL) + (uint32_t)(__NVIC_PRIO_BITS)); - - return ( - ((PreemptPriority & (uint32_t)((1UL << (PreemptPriorityBits)) - 1UL)) << SubPriorityBits) | - ((SubPriority & (uint32_t)((1UL << (SubPriorityBits )) - 1UL))) - ); -} - - -/** - \brief Decode Priority - \details Decodes an interrupt priority value with a given priority group to - preemptive priority value and subpriority value. - In case of a conflict between priority grouping and available - priority bits (__NVIC_PRIO_BITS) the smallest possible priority group is set. - \param [in] Priority Priority value, which can be retrieved with the function \ref NVIC_GetPriority(). - \param [in] PriorityGroup Used priority group. - \param [out] pPreemptPriority Preemptive priority value (starting from 0). - \param [out] pSubPriority Subpriority value (starting from 0). - */ -__STATIC_INLINE void NVIC_DecodePriority (uint32_t Priority, uint32_t PriorityGroup, uint32_t* const pPreemptPriority, uint32_t* const pSubPriority) -{ - uint32_t PriorityGroupTmp = (PriorityGroup & (uint32_t)0x07UL); /* only values 0..7 are used */ - uint32_t PreemptPriorityBits; - uint32_t SubPriorityBits; - - PreemptPriorityBits = ((7UL - PriorityGroupTmp) > (uint32_t)(__NVIC_PRIO_BITS)) ? (uint32_t)(__NVIC_PRIO_BITS) : (uint32_t)(7UL - PriorityGroupTmp); - SubPriorityBits = ((PriorityGroupTmp + (uint32_t)(__NVIC_PRIO_BITS)) < (uint32_t)7UL) ? (uint32_t)0UL : (uint32_t)((PriorityGroupTmp - 7UL) + (uint32_t)(__NVIC_PRIO_BITS)); - - *pPreemptPriority = (Priority >> SubPriorityBits) & (uint32_t)((1UL << (PreemptPriorityBits)) - 1UL); - *pSubPriority = (Priority ) & (uint32_t)((1UL << (SubPriorityBits )) - 1UL); -} - - -/** - \brief Set Interrupt Vector - \details Sets an interrupt vector in SRAM based interrupt vector table. - The interrupt number can be positive to specify a device specific interrupt, - or negative to specify a processor exception. - VTOR must been relocated to SRAM before. - \param [in] IRQn Interrupt number - \param [in] vector Address of interrupt handler function - */ -__STATIC_INLINE void __NVIC_SetVector(IRQn_Type IRQn, uint32_t vector) -{ - uint32_t *vectors = (uint32_t *)SCB->VTOR; - vectors[(int32_t)IRQn + NVIC_USER_IRQ_OFFSET] = vector; -} - - -/** - \brief Get Interrupt Vector - \details Reads an interrupt vector from interrupt vector table. - The interrupt number can be positive to specify a device specific interrupt, - or negative to specify a processor exception. - \param [in] IRQn Interrupt number. - \return Address of interrupt handler function - */ -__STATIC_INLINE uint32_t __NVIC_GetVector(IRQn_Type IRQn) -{ - uint32_t *vectors = (uint32_t *)SCB->VTOR; - return vectors[(int32_t)IRQn + NVIC_USER_IRQ_OFFSET]; -} - - -/** - \brief System Reset - \details Initiates a system reset request to reset the MCU. - */ -__NO_RETURN __STATIC_INLINE void __NVIC_SystemReset(void) -{ - __DSB(); /* Ensure all outstanding memory accesses included - buffered write are completed before reset */ - SCB->AIRCR = (uint32_t)((0x5FAUL << SCB_AIRCR_VECTKEY_Pos) | - (SCB->AIRCR & SCB_AIRCR_PRIGROUP_Msk) | - SCB_AIRCR_SYSRESETREQ_Msk ); /* Keep priority group unchanged */ - __DSB(); /* Ensure completion of memory access */ - - for(;;) /* wait until reset */ - { - __NOP(); - } -} - -#if defined (__ARM_FEATURE_CMSE) && (__ARM_FEATURE_CMSE == 3U) -/** - \brief Set Priority Grouping (non-secure) - \details Sets the non-secure priority grouping field when in secure state using the required unlock sequence. - The parameter PriorityGroup is assigned to the field SCB->AIRCR [10:8] PRIGROUP field. - Only values from 0..7 are used. - In case of a conflict between priority grouping and available - priority bits (__NVIC_PRIO_BITS), the smallest possible priority group is set. - \param [in] PriorityGroup Priority grouping field. - */ -__STATIC_INLINE void TZ_NVIC_SetPriorityGrouping_NS(uint32_t PriorityGroup) -{ - uint32_t reg_value; - uint32_t PriorityGroupTmp = (PriorityGroup & (uint32_t)0x07UL); /* only values 0..7 are used */ - - reg_value = SCB_NS->AIRCR; /* read old register configuration */ - reg_value &= ~((uint32_t)(SCB_AIRCR_VECTKEY_Msk | SCB_AIRCR_PRIGROUP_Msk)); /* clear bits to change */ - reg_value = (reg_value | - ((uint32_t)0x5FAUL << SCB_AIRCR_VECTKEY_Pos) | - (PriorityGroupTmp << 8U) ); /* Insert write key and priorty group */ - SCB_NS->AIRCR = reg_value; -} - - -/** - \brief Get Priority Grouping (non-secure) - \details Reads the priority grouping field from the non-secure NVIC when in secure state. - \return Priority grouping field (SCB->AIRCR [10:8] PRIGROUP field). - */ -__STATIC_INLINE uint32_t TZ_NVIC_GetPriorityGrouping_NS(void) -{ - return ((uint32_t)((SCB_NS->AIRCR & SCB_AIRCR_PRIGROUP_Msk) >> SCB_AIRCR_PRIGROUP_Pos)); -} - - -/** - \brief Enable Interrupt (non-secure) - \details Enables a device specific interrupt in the non-secure NVIC interrupt controller when in secure state. - \param [in] IRQn Device specific interrupt number. - \note IRQn must not be negative. - */ -__STATIC_INLINE void TZ_NVIC_EnableIRQ_NS(IRQn_Type IRQn) -{ - if ((int32_t)(IRQn) >= 0) - { - NVIC_NS->ISER[(((uint32_t)IRQn) >> 5UL)] = (uint32_t)(1UL << (((uint32_t)IRQn) & 0x1FUL)); - } -} - - -/** - \brief Get Interrupt Enable status (non-secure) - \details Returns a device specific interrupt enable status from the non-secure NVIC interrupt controller when in secure state. - \param [in] IRQn Device specific interrupt number. - \return 0 Interrupt is not enabled. - \return 1 Interrupt is enabled. - \note IRQn must not be negative. - */ -__STATIC_INLINE uint32_t TZ_NVIC_GetEnableIRQ_NS(IRQn_Type IRQn) -{ - if ((int32_t)(IRQn) >= 0) - { - return((uint32_t)(((NVIC_NS->ISER[(((uint32_t)IRQn) >> 5UL)] & (1UL << (((uint32_t)IRQn) & 0x1FUL))) != 0UL) ? 1UL : 0UL)); - } - else - { - return(0U); - } -} - - -/** - \brief Disable Interrupt (non-secure) - \details Disables a device specific interrupt in the non-secure NVIC interrupt controller when in secure state. - \param [in] IRQn Device specific interrupt number. - \note IRQn must not be negative. - */ -__STATIC_INLINE void TZ_NVIC_DisableIRQ_NS(IRQn_Type IRQn) -{ - if ((int32_t)(IRQn) >= 0) - { - NVIC_NS->ICER[(((uint32_t)IRQn) >> 5UL)] = (uint32_t)(1UL << (((uint32_t)IRQn) & 0x1FUL)); - } -} - - -/** - \brief Get Pending Interrupt (non-secure) - \details Reads the NVIC pending register in the non-secure NVIC when in secure state and returns the pending bit for the specified device specific interrupt. - \param [in] IRQn Device specific interrupt number. - \return 0 Interrupt status is not pending. - \return 1 Interrupt status is pending. - \note IRQn must not be negative. - */ -__STATIC_INLINE uint32_t TZ_NVIC_GetPendingIRQ_NS(IRQn_Type IRQn) -{ - if ((int32_t)(IRQn) >= 0) - { - return((uint32_t)(((NVIC_NS->ISPR[(((uint32_t)IRQn) >> 5UL)] & (1UL << (((uint32_t)IRQn) & 0x1FUL))) != 0UL) ? 1UL : 0UL)); - } - else - { - return(0U); - } -} - - -/** - \brief Set Pending Interrupt (non-secure) - \details Sets the pending bit of a device specific interrupt in the non-secure NVIC pending register when in secure state. - \param [in] IRQn Device specific interrupt number. - \note IRQn must not be negative. - */ -__STATIC_INLINE void TZ_NVIC_SetPendingIRQ_NS(IRQn_Type IRQn) -{ - if ((int32_t)(IRQn) >= 0) - { - NVIC_NS->ISPR[(((uint32_t)IRQn) >> 5UL)] = (uint32_t)(1UL << (((uint32_t)IRQn) & 0x1FUL)); - } -} - - -/** - \brief Clear Pending Interrupt (non-secure) - \details Clears the pending bit of a device specific interrupt in the non-secure NVIC pending register when in secure state. - \param [in] IRQn Device specific interrupt number. - \note IRQn must not be negative. - */ -__STATIC_INLINE void TZ_NVIC_ClearPendingIRQ_NS(IRQn_Type IRQn) -{ - if ((int32_t)(IRQn) >= 0) - { - NVIC_NS->ICPR[(((uint32_t)IRQn) >> 5UL)] = (uint32_t)(1UL << (((uint32_t)IRQn) & 0x1FUL)); - } -} - - -/** - \brief Get Active Interrupt (non-secure) - \details Reads the active register in non-secure NVIC when in secure state and returns the active bit for the device specific interrupt. - \param [in] IRQn Device specific interrupt number. - \return 0 Interrupt status is not active. - \return 1 Interrupt status is active. - \note IRQn must not be negative. - */ -__STATIC_INLINE uint32_t TZ_NVIC_GetActive_NS(IRQn_Type IRQn) -{ - if ((int32_t)(IRQn) >= 0) - { - return((uint32_t)(((NVIC_NS->IABR[(((uint32_t)IRQn) >> 5UL)] & (1UL << (((uint32_t)IRQn) & 0x1FUL))) != 0UL) ? 1UL : 0UL)); - } - else - { - return(0U); - } -} - - -/** - \brief Set Interrupt Priority (non-secure) - \details Sets the priority of a non-secure device specific interrupt or a non-secure processor exception when in secure state. - The interrupt number can be positive to specify a device specific interrupt, - or negative to specify a processor exception. - \param [in] IRQn Interrupt number. - \param [in] priority Priority to set. - \note The priority cannot be set for every non-secure processor exception. - */ -__STATIC_INLINE void TZ_NVIC_SetPriority_NS(IRQn_Type IRQn, uint32_t priority) -{ - if ((int32_t)(IRQn) >= 0) - { - NVIC_NS->IPR[((uint32_t)IRQn)] = (uint8_t)((priority << (8U - __NVIC_PRIO_BITS)) & (uint32_t)0xFFUL); - } - else - { - SCB_NS->SHPR[(((uint32_t)IRQn) & 0xFUL)-4UL] = (uint8_t)((priority << (8U - __NVIC_PRIO_BITS)) & (uint32_t)0xFFUL); - } -} - - -/** - \brief Get Interrupt Priority (non-secure) - \details Reads the priority of a non-secure device specific interrupt or a non-secure processor exception when in secure state. - The interrupt number can be positive to specify a device specific interrupt, - or negative to specify a processor exception. - \param [in] IRQn Interrupt number. - \return Interrupt Priority. Value is aligned automatically to the implemented priority bits of the microcontroller. - */ -__STATIC_INLINE uint32_t TZ_NVIC_GetPriority_NS(IRQn_Type IRQn) -{ - - if ((int32_t)(IRQn) >= 0) - { - return(((uint32_t)NVIC_NS->IPR[((uint32_t)IRQn)] >> (8U - __NVIC_PRIO_BITS))); - } - else - { - return(((uint32_t)SCB_NS->SHPR[(((uint32_t)IRQn) & 0xFUL)-4UL] >> (8U - __NVIC_PRIO_BITS))); - } -} -#endif /* defined (__ARM_FEATURE_CMSE) &&(__ARM_FEATURE_CMSE == 3U) */ - -/*@} end of CMSIS_Core_NVICFunctions */ - -/* ########################## MPU functions #################################### */ - -#if defined (__MPU_PRESENT) && (__MPU_PRESENT == 1U) - -#include "mpu_armv8.h" - -#endif - -/* ########################## FPU functions #################################### */ -/** - \ingroup CMSIS_Core_FunctionInterface - \defgroup CMSIS_Core_FpuFunctions FPU Functions - \brief Function that provides FPU type. - @{ - */ - -/** - \brief get FPU type - \details returns the FPU type - \returns - - \b 0: No FPU - - \b 1: Single precision FPU - - \b 2: Double + Single precision FPU - */ -__STATIC_INLINE uint32_t SCB_GetFPUType(void) -{ - uint32_t mvfr0; - - mvfr0 = FPU->MVFR0; - if ((mvfr0 & (FPU_MVFR0_Single_precision_Msk | FPU_MVFR0_Double_precision_Msk)) == 0x220U) - { - return 2U; /* Double + Single precision FPU */ - } - else if ((mvfr0 & (FPU_MVFR0_Single_precision_Msk | FPU_MVFR0_Double_precision_Msk)) == 0x020U) - { - return 1U; /* Single precision FPU */ - } - else - { - return 0U; /* No FPU */ - } -} - - -/*@} end of CMSIS_Core_FpuFunctions */ - - - -/* ########################## SAU functions #################################### */ -/** - \ingroup CMSIS_Core_FunctionInterface - \defgroup CMSIS_Core_SAUFunctions SAU Functions - \brief Functions that configure the SAU. - @{ - */ - -#if defined (__ARM_FEATURE_CMSE) && (__ARM_FEATURE_CMSE == 3U) - -/** - \brief Enable SAU - \details Enables the Security Attribution Unit (SAU). - */ -__STATIC_INLINE void TZ_SAU_Enable(void) -{ - SAU->CTRL |= (SAU_CTRL_ENABLE_Msk); -} - - - -/** - \brief Disable SAU - \details Disables the Security Attribution Unit (SAU). - */ -__STATIC_INLINE void TZ_SAU_Disable(void) -{ - SAU->CTRL &= ~(SAU_CTRL_ENABLE_Msk); -} - -#endif /* defined (__ARM_FEATURE_CMSE) && (__ARM_FEATURE_CMSE == 3U) */ - -/*@} end of CMSIS_Core_SAUFunctions */ - - - - -/* ################################## SysTick function ############################################ */ -/** - \ingroup CMSIS_Core_FunctionInterface - \defgroup CMSIS_Core_SysTickFunctions SysTick Functions - \brief Functions that configure the System. - @{ - */ - -#if defined (__Vendor_SysTickConfig) && (__Vendor_SysTickConfig == 0U) - -/** - \brief System Tick Configuration - \details Initializes the System Timer and its interrupt, and starts the System Tick Timer. - Counter is in free running mode to generate periodic interrupts. - \param [in] ticks Number of ticks between two interrupts. - \return 0 Function succeeded. - \return 1 Function failed. - \note When the variable __Vendor_SysTickConfig is set to 1, then the - function SysTick_Config is not included. In this case, the file device.h - must contain a vendor-specific implementation of this function. - */ -__STATIC_INLINE uint32_t SysTick_Config(uint32_t ticks) -{ - if ((ticks - 1UL) > SysTick_LOAD_RELOAD_Msk) - { - return (1UL); /* Reload value impossible */ - } - - SysTick->LOAD = (uint32_t)(ticks - 1UL); /* set reload register */ - NVIC_SetPriority (SysTick_IRQn, (1UL << __NVIC_PRIO_BITS) - 1UL); /* set Priority for Systick Interrupt */ - SysTick->VAL = 0UL; /* Load the SysTick Counter Value */ - SysTick->CTRL = SysTick_CTRL_CLKSOURCE_Msk | - SysTick_CTRL_TICKINT_Msk | - SysTick_CTRL_ENABLE_Msk; /* Enable SysTick IRQ and SysTick Timer */ - return (0UL); /* Function successful */ -} - -#if defined (__ARM_FEATURE_CMSE) && (__ARM_FEATURE_CMSE == 3U) -/** - \brief System Tick Configuration (non-secure) - \details Initializes the non-secure System Timer and its interrupt when in secure state, and starts the System Tick Timer. - Counter is in free running mode to generate periodic interrupts. - \param [in] ticks Number of ticks between two interrupts. - \return 0 Function succeeded. - \return 1 Function failed. - \note When the variable __Vendor_SysTickConfig is set to 1, then the - function TZ_SysTick_Config_NS is not included. In this case, the file device.h - must contain a vendor-specific implementation of this function. - - */ -__STATIC_INLINE uint32_t TZ_SysTick_Config_NS(uint32_t ticks) -{ - if ((ticks - 1UL) > SysTick_LOAD_RELOAD_Msk) - { - return (1UL); /* Reload value impossible */ - } - - SysTick_NS->LOAD = (uint32_t)(ticks - 1UL); /* set reload register */ - TZ_NVIC_SetPriority_NS (SysTick_IRQn, (1UL << __NVIC_PRIO_BITS) - 1UL); /* set Priority for Systick Interrupt */ - SysTick_NS->VAL = 0UL; /* Load the SysTick Counter Value */ - SysTick_NS->CTRL = SysTick_CTRL_CLKSOURCE_Msk | - SysTick_CTRL_TICKINT_Msk | - SysTick_CTRL_ENABLE_Msk; /* Enable SysTick IRQ and SysTick Timer */ - return (0UL); /* Function successful */ -} -#endif /* defined (__ARM_FEATURE_CMSE) && (__ARM_FEATURE_CMSE == 3U) */ - -#endif - -/*@} end of CMSIS_Core_SysTickFunctions */ - - - -/* ##################################### Debug In/Output function ########################################### */ -/** - \ingroup CMSIS_Core_FunctionInterface - \defgroup CMSIS_core_DebugFunctions ITM Functions - \brief Functions that access the ITM debug interface. - @{ - */ - -extern volatile int32_t ITM_RxBuffer; /*!< External variable to receive characters. */ -#define ITM_RXBUFFER_EMPTY ((int32_t)0x5AA55AA5U) /*!< Value identifying \ref ITM_RxBuffer is ready for next character. */ - - -/** - \brief ITM Send Character - \details Transmits a character via the ITM channel 0, and - \li Just returns when no debugger is connected that has booked the output. - \li Is blocking when a debugger is connected, but the previous character sent has not been transmitted. - \param [in] ch Character to transmit. - \returns Character to transmit. - */ -__STATIC_INLINE uint32_t ITM_SendChar (uint32_t ch) -{ - if (((ITM->TCR & ITM_TCR_ITMENA_Msk) != 0UL) && /* ITM enabled */ - ((ITM->TER & 1UL ) != 0UL) ) /* ITM Port #0 enabled */ - { - while (ITM->PORT[0U].u32 == 0UL) - { - __NOP(); - } - ITM->PORT[0U].u8 = (uint8_t)ch; - } - return (ch); -} - - -/** - \brief ITM Receive Character - \details Inputs a character via the external variable \ref ITM_RxBuffer. - \return Received character. - \return -1 No character pending. - */ -__STATIC_INLINE int32_t ITM_ReceiveChar (void) -{ - int32_t ch = -1; /* no character available */ - - if (ITM_RxBuffer != ITM_RXBUFFER_EMPTY) - { - ch = ITM_RxBuffer; - ITM_RxBuffer = ITM_RXBUFFER_EMPTY; /* ready for next character */ - } - - return (ch); -} - - -/** - \brief ITM Check Character - \details Checks whether a character is pending for reading in the variable \ref ITM_RxBuffer. - \return 0 No character available. - \return 1 Character available. - */ -__STATIC_INLINE int32_t ITM_CheckChar (void) -{ - - if (ITM_RxBuffer == ITM_RXBUFFER_EMPTY) - { - return (0); /* no character available */ - } - else - { - return (1); /* character available */ - } -} - -/*@} end of CMSIS_core_DebugFunctions */ - - - - -#ifdef __cplusplus -} -#endif - -#endif /* __CORE_ARMV8MML_H_DEPENDANT */ - -#endif /* __CMSIS_GENERIC */ diff --git a/body/board/inc/core_cm0plus.h b/body/board/inc/core_cm0plus.h deleted file mode 100644 index 424011ac363ade..00000000000000 --- a/body/board/inc/core_cm0plus.h +++ /dev/null @@ -1,1083 +0,0 @@ -/**************************************************************************//** - * @file core_cm0plus.h - * @brief CMSIS Cortex-M0+ Core Peripheral Access Layer Header File - * @version V5.0.6 - * @date 28. May 2018 - ******************************************************************************/ -/* - * Copyright (c) 2009-2018 Arm Limited. All rights reserved. - * - * SPDX-License-Identifier: Apache-2.0 - * - * Licensed under the Apache License, Version 2.0 (the License); you may - * not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an AS IS BASIS, WITHOUT - * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - -#if defined ( __ICCARM__ ) - #pragma system_include /* treat file as system include file for MISRA check */ -#elif defined (__clang__) - #pragma clang system_header /* treat file as system include file */ -#endif - -#ifndef __CORE_CM0PLUS_H_GENERIC -#define __CORE_CM0PLUS_H_GENERIC - -#include - -#ifdef __cplusplus - extern "C" { -#endif - -/** - \page CMSIS_MISRA_Exceptions MISRA-C:2004 Compliance Exceptions - CMSIS violates the following MISRA-C:2004 rules: - - \li Required Rule 8.5, object/function definition in header file.
- Function definitions in header files are used to allow 'inlining'. - - \li Required Rule 18.4, declaration of union type or object of union type: '{...}'.
- Unions are used for effective representation of core registers. - - \li Advisory Rule 19.7, Function-like macro defined.
- Function-like macros are used to allow more efficient code. - */ - - -/******************************************************************************* - * CMSIS definitions - ******************************************************************************/ -/** - \ingroup Cortex-M0+ - @{ - */ - -#include "cmsis_version.h" - -/* CMSIS CM0+ definitions */ -#define __CM0PLUS_CMSIS_VERSION_MAIN (__CM_CMSIS_VERSION_MAIN) /*!< \deprecated [31:16] CMSIS HAL main version */ -#define __CM0PLUS_CMSIS_VERSION_SUB (__CM_CMSIS_VERSION_SUB) /*!< \deprecated [15:0] CMSIS HAL sub version */ -#define __CM0PLUS_CMSIS_VERSION ((__CM0PLUS_CMSIS_VERSION_MAIN << 16U) | \ - __CM0PLUS_CMSIS_VERSION_SUB ) /*!< \deprecated CMSIS HAL version number */ - -#define __CORTEX_M (0U) /*!< Cortex-M Core */ - -/** __FPU_USED indicates whether an FPU is used or not. - This core does not support an FPU at all -*/ -#define __FPU_USED 0U - -#if defined ( __CC_ARM ) - #if defined __TARGET_FPU_VFP - #error "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)" - #endif - -#elif defined (__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050) - #if defined __ARM_PCS_VFP - #error "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)" - #endif - -#elif defined ( __GNUC__ ) - #if defined (__VFP_FP__) && !defined(__SOFTFP__) - #error "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)" - #endif - -#elif defined ( __ICCARM__ ) - #if defined __ARMVFP__ - #error "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)" - #endif - -#elif defined ( __TI_ARM__ ) - #if defined __TI_VFP_SUPPORT__ - #error "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)" - #endif - -#elif defined ( __TASKING__ ) - #if defined __FPU_VFP__ - #error "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)" - #endif - -#elif defined ( __CSMC__ ) - #if ( __CSMC__ & 0x400U) - #error "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)" - #endif - -#endif - -#include "cmsis_compiler.h" /* CMSIS compiler specific defines */ - - -#ifdef __cplusplus -} -#endif - -#endif /* __CORE_CM0PLUS_H_GENERIC */ - -#ifndef __CMSIS_GENERIC - -#ifndef __CORE_CM0PLUS_H_DEPENDANT -#define __CORE_CM0PLUS_H_DEPENDANT - -#ifdef __cplusplus - extern "C" { -#endif - -/* check device defines and use defaults */ -#if defined __CHECK_DEVICE_DEFINES - #ifndef __CM0PLUS_REV - #define __CM0PLUS_REV 0x0000U - #warning "__CM0PLUS_REV not defined in device header file; using default!" - #endif - - #ifndef __MPU_PRESENT - #define __MPU_PRESENT 0U - #warning "__MPU_PRESENT not defined in device header file; using default!" - #endif - - #ifndef __VTOR_PRESENT - #define __VTOR_PRESENT 0U - #warning "__VTOR_PRESENT not defined in device header file; using default!" - #endif - - #ifndef __NVIC_PRIO_BITS - #define __NVIC_PRIO_BITS 2U - #warning "__NVIC_PRIO_BITS not defined in device header file; using default!" - #endif - - #ifndef __Vendor_SysTickConfig - #define __Vendor_SysTickConfig 0U - #warning "__Vendor_SysTickConfig not defined in device header file; using default!" - #endif -#endif - -/* IO definitions (access restrictions to peripheral registers) */ -/** - \defgroup CMSIS_glob_defs CMSIS Global Defines - - IO Type Qualifiers are used - \li to specify the access to peripheral variables. - \li for automatic generation of peripheral register debug information. -*/ -#ifdef __cplusplus - #define __I volatile /*!< Defines 'read only' permissions */ -#else - #define __I volatile const /*!< Defines 'read only' permissions */ -#endif -#define __O volatile /*!< Defines 'write only' permissions */ -#define __IO volatile /*!< Defines 'read / write' permissions */ - -/* following defines should be used for structure members */ -#define __IM volatile const /*! Defines 'read only' structure member permissions */ -#define __OM volatile /*! Defines 'write only' structure member permissions */ -#define __IOM volatile /*! Defines 'read / write' structure member permissions */ - -/*@} end of group Cortex-M0+ */ - - - -/******************************************************************************* - * Register Abstraction - Core Register contain: - - Core Register - - Core NVIC Register - - Core SCB Register - - Core SysTick Register - - Core MPU Register - ******************************************************************************/ -/** - \defgroup CMSIS_core_register Defines and Type Definitions - \brief Type definitions and defines for Cortex-M processor based devices. -*/ - -/** - \ingroup CMSIS_core_register - \defgroup CMSIS_CORE Status and Control Registers - \brief Core Register type definitions. - @{ - */ - -/** - \brief Union type to access the Application Program Status Register (APSR). - */ -typedef union -{ - struct - { - uint32_t _reserved0:28; /*!< bit: 0..27 Reserved */ - uint32_t V:1; /*!< bit: 28 Overflow condition code flag */ - uint32_t C:1; /*!< bit: 29 Carry condition code flag */ - uint32_t Z:1; /*!< bit: 30 Zero condition code flag */ - uint32_t N:1; /*!< bit: 31 Negative condition code flag */ - } b; /*!< Structure used for bit access */ - uint32_t w; /*!< Type used for word access */ -} APSR_Type; - -/* APSR Register Definitions */ -#define APSR_N_Pos 31U /*!< APSR: N Position */ -#define APSR_N_Msk (1UL << APSR_N_Pos) /*!< APSR: N Mask */ - -#define APSR_Z_Pos 30U /*!< APSR: Z Position */ -#define APSR_Z_Msk (1UL << APSR_Z_Pos) /*!< APSR: Z Mask */ - -#define APSR_C_Pos 29U /*!< APSR: C Position */ -#define APSR_C_Msk (1UL << APSR_C_Pos) /*!< APSR: C Mask */ - -#define APSR_V_Pos 28U /*!< APSR: V Position */ -#define APSR_V_Msk (1UL << APSR_V_Pos) /*!< APSR: V Mask */ - - -/** - \brief Union type to access the Interrupt Program Status Register (IPSR). - */ -typedef union -{ - struct - { - uint32_t ISR:9; /*!< bit: 0.. 8 Exception number */ - uint32_t _reserved0:23; /*!< bit: 9..31 Reserved */ - } b; /*!< Structure used for bit access */ - uint32_t w; /*!< Type used for word access */ -} IPSR_Type; - -/* IPSR Register Definitions */ -#define IPSR_ISR_Pos 0U /*!< IPSR: ISR Position */ -#define IPSR_ISR_Msk (0x1FFUL /*<< IPSR_ISR_Pos*/) /*!< IPSR: ISR Mask */ - - -/** - \brief Union type to access the Special-Purpose Program Status Registers (xPSR). - */ -typedef union -{ - struct - { - uint32_t ISR:9; /*!< bit: 0.. 8 Exception number */ - uint32_t _reserved0:15; /*!< bit: 9..23 Reserved */ - uint32_t T:1; /*!< bit: 24 Thumb bit (read 0) */ - uint32_t _reserved1:3; /*!< bit: 25..27 Reserved */ - uint32_t V:1; /*!< bit: 28 Overflow condition code flag */ - uint32_t C:1; /*!< bit: 29 Carry condition code flag */ - uint32_t Z:1; /*!< bit: 30 Zero condition code flag */ - uint32_t N:1; /*!< bit: 31 Negative condition code flag */ - } b; /*!< Structure used for bit access */ - uint32_t w; /*!< Type used for word access */ -} xPSR_Type; - -/* xPSR Register Definitions */ -#define xPSR_N_Pos 31U /*!< xPSR: N Position */ -#define xPSR_N_Msk (1UL << xPSR_N_Pos) /*!< xPSR: N Mask */ - -#define xPSR_Z_Pos 30U /*!< xPSR: Z Position */ -#define xPSR_Z_Msk (1UL << xPSR_Z_Pos) /*!< xPSR: Z Mask */ - -#define xPSR_C_Pos 29U /*!< xPSR: C Position */ -#define xPSR_C_Msk (1UL << xPSR_C_Pos) /*!< xPSR: C Mask */ - -#define xPSR_V_Pos 28U /*!< xPSR: V Position */ -#define xPSR_V_Msk (1UL << xPSR_V_Pos) /*!< xPSR: V Mask */ - -#define xPSR_T_Pos 24U /*!< xPSR: T Position */ -#define xPSR_T_Msk (1UL << xPSR_T_Pos) /*!< xPSR: T Mask */ - -#define xPSR_ISR_Pos 0U /*!< xPSR: ISR Position */ -#define xPSR_ISR_Msk (0x1FFUL /*<< xPSR_ISR_Pos*/) /*!< xPSR: ISR Mask */ - - -/** - \brief Union type to access the Control Registers (CONTROL). - */ -typedef union -{ - struct - { - uint32_t nPRIV:1; /*!< bit: 0 Execution privilege in Thread mode */ - uint32_t SPSEL:1; /*!< bit: 1 Stack to be used */ - uint32_t _reserved1:30; /*!< bit: 2..31 Reserved */ - } b; /*!< Structure used for bit access */ - uint32_t w; /*!< Type used for word access */ -} CONTROL_Type; - -/* CONTROL Register Definitions */ -#define CONTROL_SPSEL_Pos 1U /*!< CONTROL: SPSEL Position */ -#define CONTROL_SPSEL_Msk (1UL << CONTROL_SPSEL_Pos) /*!< CONTROL: SPSEL Mask */ - -#define CONTROL_nPRIV_Pos 0U /*!< CONTROL: nPRIV Position */ -#define CONTROL_nPRIV_Msk (1UL /*<< CONTROL_nPRIV_Pos*/) /*!< CONTROL: nPRIV Mask */ - -/*@} end of group CMSIS_CORE */ - - -/** - \ingroup CMSIS_core_register - \defgroup CMSIS_NVIC Nested Vectored Interrupt Controller (NVIC) - \brief Type definitions for the NVIC Registers - @{ - */ - -/** - \brief Structure type to access the Nested Vectored Interrupt Controller (NVIC). - */ -typedef struct -{ - __IOM uint32_t ISER[1U]; /*!< Offset: 0x000 (R/W) Interrupt Set Enable Register */ - uint32_t RESERVED0[31U]; - __IOM uint32_t ICER[1U]; /*!< Offset: 0x080 (R/W) Interrupt Clear Enable Register */ - uint32_t RSERVED1[31U]; - __IOM uint32_t ISPR[1U]; /*!< Offset: 0x100 (R/W) Interrupt Set Pending Register */ - uint32_t RESERVED2[31U]; - __IOM uint32_t ICPR[1U]; /*!< Offset: 0x180 (R/W) Interrupt Clear Pending Register */ - uint32_t RESERVED3[31U]; - uint32_t RESERVED4[64U]; - __IOM uint32_t IP[8U]; /*!< Offset: 0x300 (R/W) Interrupt Priority Register */ -} NVIC_Type; - -/*@} end of group CMSIS_NVIC */ - - -/** - \ingroup CMSIS_core_register - \defgroup CMSIS_SCB System Control Block (SCB) - \brief Type definitions for the System Control Block Registers - @{ - */ - -/** - \brief Structure type to access the System Control Block (SCB). - */ -typedef struct -{ - __IM uint32_t CPUID; /*!< Offset: 0x000 (R/ ) CPUID Base Register */ - __IOM uint32_t ICSR; /*!< Offset: 0x004 (R/W) Interrupt Control and State Register */ -#if defined (__VTOR_PRESENT) && (__VTOR_PRESENT == 1U) - __IOM uint32_t VTOR; /*!< Offset: 0x008 (R/W) Vector Table Offset Register */ -#else - uint32_t RESERVED0; -#endif - __IOM uint32_t AIRCR; /*!< Offset: 0x00C (R/W) Application Interrupt and Reset Control Register */ - __IOM uint32_t SCR; /*!< Offset: 0x010 (R/W) System Control Register */ - __IOM uint32_t CCR; /*!< Offset: 0x014 (R/W) Configuration Control Register */ - uint32_t RESERVED1; - __IOM uint32_t SHP[2U]; /*!< Offset: 0x01C (R/W) System Handlers Priority Registers. [0] is RESERVED */ - __IOM uint32_t SHCSR; /*!< Offset: 0x024 (R/W) System Handler Control and State Register */ -} SCB_Type; - -/* SCB CPUID Register Definitions */ -#define SCB_CPUID_IMPLEMENTER_Pos 24U /*!< SCB CPUID: IMPLEMENTER Position */ -#define SCB_CPUID_IMPLEMENTER_Msk (0xFFUL << SCB_CPUID_IMPLEMENTER_Pos) /*!< SCB CPUID: IMPLEMENTER Mask */ - -#define SCB_CPUID_VARIANT_Pos 20U /*!< SCB CPUID: VARIANT Position */ -#define SCB_CPUID_VARIANT_Msk (0xFUL << SCB_CPUID_VARIANT_Pos) /*!< SCB CPUID: VARIANT Mask */ - -#define SCB_CPUID_ARCHITECTURE_Pos 16U /*!< SCB CPUID: ARCHITECTURE Position */ -#define SCB_CPUID_ARCHITECTURE_Msk (0xFUL << SCB_CPUID_ARCHITECTURE_Pos) /*!< SCB CPUID: ARCHITECTURE Mask */ - -#define SCB_CPUID_PARTNO_Pos 4U /*!< SCB CPUID: PARTNO Position */ -#define SCB_CPUID_PARTNO_Msk (0xFFFUL << SCB_CPUID_PARTNO_Pos) /*!< SCB CPUID: PARTNO Mask */ - -#define SCB_CPUID_REVISION_Pos 0U /*!< SCB CPUID: REVISION Position */ -#define SCB_CPUID_REVISION_Msk (0xFUL /*<< SCB_CPUID_REVISION_Pos*/) /*!< SCB CPUID: REVISION Mask */ - -/* SCB Interrupt Control State Register Definitions */ -#define SCB_ICSR_NMIPENDSET_Pos 31U /*!< SCB ICSR: NMIPENDSET Position */ -#define SCB_ICSR_NMIPENDSET_Msk (1UL << SCB_ICSR_NMIPENDSET_Pos) /*!< SCB ICSR: NMIPENDSET Mask */ - -#define SCB_ICSR_PENDSVSET_Pos 28U /*!< SCB ICSR: PENDSVSET Position */ -#define SCB_ICSR_PENDSVSET_Msk (1UL << SCB_ICSR_PENDSVSET_Pos) /*!< SCB ICSR: PENDSVSET Mask */ - -#define SCB_ICSR_PENDSVCLR_Pos 27U /*!< SCB ICSR: PENDSVCLR Position */ -#define SCB_ICSR_PENDSVCLR_Msk (1UL << SCB_ICSR_PENDSVCLR_Pos) /*!< SCB ICSR: PENDSVCLR Mask */ - -#define SCB_ICSR_PENDSTSET_Pos 26U /*!< SCB ICSR: PENDSTSET Position */ -#define SCB_ICSR_PENDSTSET_Msk (1UL << SCB_ICSR_PENDSTSET_Pos) /*!< SCB ICSR: PENDSTSET Mask */ - -#define SCB_ICSR_PENDSTCLR_Pos 25U /*!< SCB ICSR: PENDSTCLR Position */ -#define SCB_ICSR_PENDSTCLR_Msk (1UL << SCB_ICSR_PENDSTCLR_Pos) /*!< SCB ICSR: PENDSTCLR Mask */ - -#define SCB_ICSR_ISRPREEMPT_Pos 23U /*!< SCB ICSR: ISRPREEMPT Position */ -#define SCB_ICSR_ISRPREEMPT_Msk (1UL << SCB_ICSR_ISRPREEMPT_Pos) /*!< SCB ICSR: ISRPREEMPT Mask */ - -#define SCB_ICSR_ISRPENDING_Pos 22U /*!< SCB ICSR: ISRPENDING Position */ -#define SCB_ICSR_ISRPENDING_Msk (1UL << SCB_ICSR_ISRPENDING_Pos) /*!< SCB ICSR: ISRPENDING Mask */ - -#define SCB_ICSR_VECTPENDING_Pos 12U /*!< SCB ICSR: VECTPENDING Position */ -#define SCB_ICSR_VECTPENDING_Msk (0x1FFUL << SCB_ICSR_VECTPENDING_Pos) /*!< SCB ICSR: VECTPENDING Mask */ - -#define SCB_ICSR_VECTACTIVE_Pos 0U /*!< SCB ICSR: VECTACTIVE Position */ -#define SCB_ICSR_VECTACTIVE_Msk (0x1FFUL /*<< SCB_ICSR_VECTACTIVE_Pos*/) /*!< SCB ICSR: VECTACTIVE Mask */ - -#if defined (__VTOR_PRESENT) && (__VTOR_PRESENT == 1U) -/* SCB Interrupt Control State Register Definitions */ -#define SCB_VTOR_TBLOFF_Pos 8U /*!< SCB VTOR: TBLOFF Position */ -#define SCB_VTOR_TBLOFF_Msk (0xFFFFFFUL << SCB_VTOR_TBLOFF_Pos) /*!< SCB VTOR: TBLOFF Mask */ -#endif - -/* SCB Application Interrupt and Reset Control Register Definitions */ -#define SCB_AIRCR_VECTKEY_Pos 16U /*!< SCB AIRCR: VECTKEY Position */ -#define SCB_AIRCR_VECTKEY_Msk (0xFFFFUL << SCB_AIRCR_VECTKEY_Pos) /*!< SCB AIRCR: VECTKEY Mask */ - -#define SCB_AIRCR_VECTKEYSTAT_Pos 16U /*!< SCB AIRCR: VECTKEYSTAT Position */ -#define SCB_AIRCR_VECTKEYSTAT_Msk (0xFFFFUL << SCB_AIRCR_VECTKEYSTAT_Pos) /*!< SCB AIRCR: VECTKEYSTAT Mask */ - -#define SCB_AIRCR_ENDIANESS_Pos 15U /*!< SCB AIRCR: ENDIANESS Position */ -#define SCB_AIRCR_ENDIANESS_Msk (1UL << SCB_AIRCR_ENDIANESS_Pos) /*!< SCB AIRCR: ENDIANESS Mask */ - -#define SCB_AIRCR_SYSRESETREQ_Pos 2U /*!< SCB AIRCR: SYSRESETREQ Position */ -#define SCB_AIRCR_SYSRESETREQ_Msk (1UL << SCB_AIRCR_SYSRESETREQ_Pos) /*!< SCB AIRCR: SYSRESETREQ Mask */ - -#define SCB_AIRCR_VECTCLRACTIVE_Pos 1U /*!< SCB AIRCR: VECTCLRACTIVE Position */ -#define SCB_AIRCR_VECTCLRACTIVE_Msk (1UL << SCB_AIRCR_VECTCLRACTIVE_Pos) /*!< SCB AIRCR: VECTCLRACTIVE Mask */ - -/* SCB System Control Register Definitions */ -#define SCB_SCR_SEVONPEND_Pos 4U /*!< SCB SCR: SEVONPEND Position */ -#define SCB_SCR_SEVONPEND_Msk (1UL << SCB_SCR_SEVONPEND_Pos) /*!< SCB SCR: SEVONPEND Mask */ - -#define SCB_SCR_SLEEPDEEP_Pos 2U /*!< SCB SCR: SLEEPDEEP Position */ -#define SCB_SCR_SLEEPDEEP_Msk (1UL << SCB_SCR_SLEEPDEEP_Pos) /*!< SCB SCR: SLEEPDEEP Mask */ - -#define SCB_SCR_SLEEPONEXIT_Pos 1U /*!< SCB SCR: SLEEPONEXIT Position */ -#define SCB_SCR_SLEEPONEXIT_Msk (1UL << SCB_SCR_SLEEPONEXIT_Pos) /*!< SCB SCR: SLEEPONEXIT Mask */ - -/* SCB Configuration Control Register Definitions */ -#define SCB_CCR_STKALIGN_Pos 9U /*!< SCB CCR: STKALIGN Position */ -#define SCB_CCR_STKALIGN_Msk (1UL << SCB_CCR_STKALIGN_Pos) /*!< SCB CCR: STKALIGN Mask */ - -#define SCB_CCR_UNALIGN_TRP_Pos 3U /*!< SCB CCR: UNALIGN_TRP Position */ -#define SCB_CCR_UNALIGN_TRP_Msk (1UL << SCB_CCR_UNALIGN_TRP_Pos) /*!< SCB CCR: UNALIGN_TRP Mask */ - -/* SCB System Handler Control and State Register Definitions */ -#define SCB_SHCSR_SVCALLPENDED_Pos 15U /*!< SCB SHCSR: SVCALLPENDED Position */ -#define SCB_SHCSR_SVCALLPENDED_Msk (1UL << SCB_SHCSR_SVCALLPENDED_Pos) /*!< SCB SHCSR: SVCALLPENDED Mask */ - -/*@} end of group CMSIS_SCB */ - - -/** - \ingroup CMSIS_core_register - \defgroup CMSIS_SysTick System Tick Timer (SysTick) - \brief Type definitions for the System Timer Registers. - @{ - */ - -/** - \brief Structure type to access the System Timer (SysTick). - */ -typedef struct -{ - __IOM uint32_t CTRL; /*!< Offset: 0x000 (R/W) SysTick Control and Status Register */ - __IOM uint32_t LOAD; /*!< Offset: 0x004 (R/W) SysTick Reload Value Register */ - __IOM uint32_t VAL; /*!< Offset: 0x008 (R/W) SysTick Current Value Register */ - __IM uint32_t CALIB; /*!< Offset: 0x00C (R/ ) SysTick Calibration Register */ -} SysTick_Type; - -/* SysTick Control / Status Register Definitions */ -#define SysTick_CTRL_COUNTFLAG_Pos 16U /*!< SysTick CTRL: COUNTFLAG Position */ -#define SysTick_CTRL_COUNTFLAG_Msk (1UL << SysTick_CTRL_COUNTFLAG_Pos) /*!< SysTick CTRL: COUNTFLAG Mask */ - -#define SysTick_CTRL_CLKSOURCE_Pos 2U /*!< SysTick CTRL: CLKSOURCE Position */ -#define SysTick_CTRL_CLKSOURCE_Msk (1UL << SysTick_CTRL_CLKSOURCE_Pos) /*!< SysTick CTRL: CLKSOURCE Mask */ - -#define SysTick_CTRL_TICKINT_Pos 1U /*!< SysTick CTRL: TICKINT Position */ -#define SysTick_CTRL_TICKINT_Msk (1UL << SysTick_CTRL_TICKINT_Pos) /*!< SysTick CTRL: TICKINT Mask */ - -#define SysTick_CTRL_ENABLE_Pos 0U /*!< SysTick CTRL: ENABLE Position */ -#define SysTick_CTRL_ENABLE_Msk (1UL /*<< SysTick_CTRL_ENABLE_Pos*/) /*!< SysTick CTRL: ENABLE Mask */ - -/* SysTick Reload Register Definitions */ -#define SysTick_LOAD_RELOAD_Pos 0U /*!< SysTick LOAD: RELOAD Position */ -#define SysTick_LOAD_RELOAD_Msk (0xFFFFFFUL /*<< SysTick_LOAD_RELOAD_Pos*/) /*!< SysTick LOAD: RELOAD Mask */ - -/* SysTick Current Register Definitions */ -#define SysTick_VAL_CURRENT_Pos 0U /*!< SysTick VAL: CURRENT Position */ -#define SysTick_VAL_CURRENT_Msk (0xFFFFFFUL /*<< SysTick_VAL_CURRENT_Pos*/) /*!< SysTick VAL: CURRENT Mask */ - -/* SysTick Calibration Register Definitions */ -#define SysTick_CALIB_NOREF_Pos 31U /*!< SysTick CALIB: NOREF Position */ -#define SysTick_CALIB_NOREF_Msk (1UL << SysTick_CALIB_NOREF_Pos) /*!< SysTick CALIB: NOREF Mask */ - -#define SysTick_CALIB_SKEW_Pos 30U /*!< SysTick CALIB: SKEW Position */ -#define SysTick_CALIB_SKEW_Msk (1UL << SysTick_CALIB_SKEW_Pos) /*!< SysTick CALIB: SKEW Mask */ - -#define SysTick_CALIB_TENMS_Pos 0U /*!< SysTick CALIB: TENMS Position */ -#define SysTick_CALIB_TENMS_Msk (0xFFFFFFUL /*<< SysTick_CALIB_TENMS_Pos*/) /*!< SysTick CALIB: TENMS Mask */ - -/*@} end of group CMSIS_SysTick */ - -#if defined (__MPU_PRESENT) && (__MPU_PRESENT == 1U) -/** - \ingroup CMSIS_core_register - \defgroup CMSIS_MPU Memory Protection Unit (MPU) - \brief Type definitions for the Memory Protection Unit (MPU) - @{ - */ - -/** - \brief Structure type to access the Memory Protection Unit (MPU). - */ -typedef struct -{ - __IM uint32_t TYPE; /*!< Offset: 0x000 (R/ ) MPU Type Register */ - __IOM uint32_t CTRL; /*!< Offset: 0x004 (R/W) MPU Control Register */ - __IOM uint32_t RNR; /*!< Offset: 0x008 (R/W) MPU Region RNRber Register */ - __IOM uint32_t RBAR; /*!< Offset: 0x00C (R/W) MPU Region Base Address Register */ - __IOM uint32_t RASR; /*!< Offset: 0x010 (R/W) MPU Region Attribute and Size Register */ -} MPU_Type; - -#define MPU_TYPE_RALIASES 1U - -/* MPU Type Register Definitions */ -#define MPU_TYPE_IREGION_Pos 16U /*!< MPU TYPE: IREGION Position */ -#define MPU_TYPE_IREGION_Msk (0xFFUL << MPU_TYPE_IREGION_Pos) /*!< MPU TYPE: IREGION Mask */ - -#define MPU_TYPE_DREGION_Pos 8U /*!< MPU TYPE: DREGION Position */ -#define MPU_TYPE_DREGION_Msk (0xFFUL << MPU_TYPE_DREGION_Pos) /*!< MPU TYPE: DREGION Mask */ - -#define MPU_TYPE_SEPARATE_Pos 0U /*!< MPU TYPE: SEPARATE Position */ -#define MPU_TYPE_SEPARATE_Msk (1UL /*<< MPU_TYPE_SEPARATE_Pos*/) /*!< MPU TYPE: SEPARATE Mask */ - -/* MPU Control Register Definitions */ -#define MPU_CTRL_PRIVDEFENA_Pos 2U /*!< MPU CTRL: PRIVDEFENA Position */ -#define MPU_CTRL_PRIVDEFENA_Msk (1UL << MPU_CTRL_PRIVDEFENA_Pos) /*!< MPU CTRL: PRIVDEFENA Mask */ - -#define MPU_CTRL_HFNMIENA_Pos 1U /*!< MPU CTRL: HFNMIENA Position */ -#define MPU_CTRL_HFNMIENA_Msk (1UL << MPU_CTRL_HFNMIENA_Pos) /*!< MPU CTRL: HFNMIENA Mask */ - -#define MPU_CTRL_ENABLE_Pos 0U /*!< MPU CTRL: ENABLE Position */ -#define MPU_CTRL_ENABLE_Msk (1UL /*<< MPU_CTRL_ENABLE_Pos*/) /*!< MPU CTRL: ENABLE Mask */ - -/* MPU Region Number Register Definitions */ -#define MPU_RNR_REGION_Pos 0U /*!< MPU RNR: REGION Position */ -#define MPU_RNR_REGION_Msk (0xFFUL /*<< MPU_RNR_REGION_Pos*/) /*!< MPU RNR: REGION Mask */ - -/* MPU Region Base Address Register Definitions */ -#define MPU_RBAR_ADDR_Pos 8U /*!< MPU RBAR: ADDR Position */ -#define MPU_RBAR_ADDR_Msk (0xFFFFFFUL << MPU_RBAR_ADDR_Pos) /*!< MPU RBAR: ADDR Mask */ - -#define MPU_RBAR_VALID_Pos 4U /*!< MPU RBAR: VALID Position */ -#define MPU_RBAR_VALID_Msk (1UL << MPU_RBAR_VALID_Pos) /*!< MPU RBAR: VALID Mask */ - -#define MPU_RBAR_REGION_Pos 0U /*!< MPU RBAR: REGION Position */ -#define MPU_RBAR_REGION_Msk (0xFUL /*<< MPU_RBAR_REGION_Pos*/) /*!< MPU RBAR: REGION Mask */ - -/* MPU Region Attribute and Size Register Definitions */ -#define MPU_RASR_ATTRS_Pos 16U /*!< MPU RASR: MPU Region Attribute field Position */ -#define MPU_RASR_ATTRS_Msk (0xFFFFUL << MPU_RASR_ATTRS_Pos) /*!< MPU RASR: MPU Region Attribute field Mask */ - -#define MPU_RASR_XN_Pos 28U /*!< MPU RASR: ATTRS.XN Position */ -#define MPU_RASR_XN_Msk (1UL << MPU_RASR_XN_Pos) /*!< MPU RASR: ATTRS.XN Mask */ - -#define MPU_RASR_AP_Pos 24U /*!< MPU RASR: ATTRS.AP Position */ -#define MPU_RASR_AP_Msk (0x7UL << MPU_RASR_AP_Pos) /*!< MPU RASR: ATTRS.AP Mask */ - -#define MPU_RASR_TEX_Pos 19U /*!< MPU RASR: ATTRS.TEX Position */ -#define MPU_RASR_TEX_Msk (0x7UL << MPU_RASR_TEX_Pos) /*!< MPU RASR: ATTRS.TEX Mask */ - -#define MPU_RASR_S_Pos 18U /*!< MPU RASR: ATTRS.S Position */ -#define MPU_RASR_S_Msk (1UL << MPU_RASR_S_Pos) /*!< MPU RASR: ATTRS.S Mask */ - -#define MPU_RASR_C_Pos 17U /*!< MPU RASR: ATTRS.C Position */ -#define MPU_RASR_C_Msk (1UL << MPU_RASR_C_Pos) /*!< MPU RASR: ATTRS.C Mask */ - -#define MPU_RASR_B_Pos 16U /*!< MPU RASR: ATTRS.B Position */ -#define MPU_RASR_B_Msk (1UL << MPU_RASR_B_Pos) /*!< MPU RASR: ATTRS.B Mask */ - -#define MPU_RASR_SRD_Pos 8U /*!< MPU RASR: Sub-Region Disable Position */ -#define MPU_RASR_SRD_Msk (0xFFUL << MPU_RASR_SRD_Pos) /*!< MPU RASR: Sub-Region Disable Mask */ - -#define MPU_RASR_SIZE_Pos 1U /*!< MPU RASR: Region Size Field Position */ -#define MPU_RASR_SIZE_Msk (0x1FUL << MPU_RASR_SIZE_Pos) /*!< MPU RASR: Region Size Field Mask */ - -#define MPU_RASR_ENABLE_Pos 0U /*!< MPU RASR: Region enable bit Position */ -#define MPU_RASR_ENABLE_Msk (1UL /*<< MPU_RASR_ENABLE_Pos*/) /*!< MPU RASR: Region enable bit Disable Mask */ - -/*@} end of group CMSIS_MPU */ -#endif - - -/** - \ingroup CMSIS_core_register - \defgroup CMSIS_CoreDebug Core Debug Registers (CoreDebug) - \brief Cortex-M0+ Core Debug Registers (DCB registers, SHCSR, and DFSR) are only accessible over DAP and not via processor. - Therefore they are not covered by the Cortex-M0+ header file. - @{ - */ -/*@} end of group CMSIS_CoreDebug */ - - -/** - \ingroup CMSIS_core_register - \defgroup CMSIS_core_bitfield Core register bit field macros - \brief Macros for use with bit field definitions (xxx_Pos, xxx_Msk). - @{ - */ - -/** - \brief Mask and shift a bit field value for use in a register bit range. - \param[in] field Name of the register bit field. - \param[in] value Value of the bit field. This parameter is interpreted as an uint32_t type. - \return Masked and shifted value. -*/ -#define _VAL2FLD(field, value) (((uint32_t)(value) << field ## _Pos) & field ## _Msk) - -/** - \brief Mask and shift a register value to extract a bit filed value. - \param[in] field Name of the register bit field. - \param[in] value Value of register. This parameter is interpreted as an uint32_t type. - \return Masked and shifted bit field value. -*/ -#define _FLD2VAL(field, value) (((uint32_t)(value) & field ## _Msk) >> field ## _Pos) - -/*@} end of group CMSIS_core_bitfield */ - - -/** - \ingroup CMSIS_core_register - \defgroup CMSIS_core_base Core Definitions - \brief Definitions for base addresses, unions, and structures. - @{ - */ - -/* Memory mapping of Core Hardware */ -#define SCS_BASE (0xE000E000UL) /*!< System Control Space Base Address */ -#define SysTick_BASE (SCS_BASE + 0x0010UL) /*!< SysTick Base Address */ -#define NVIC_BASE (SCS_BASE + 0x0100UL) /*!< NVIC Base Address */ -#define SCB_BASE (SCS_BASE + 0x0D00UL) /*!< System Control Block Base Address */ - -#define SCB ((SCB_Type *) SCB_BASE ) /*!< SCB configuration struct */ -#define SysTick ((SysTick_Type *) SysTick_BASE ) /*!< SysTick configuration struct */ -#define NVIC ((NVIC_Type *) NVIC_BASE ) /*!< NVIC configuration struct */ - -#if defined (__MPU_PRESENT) && (__MPU_PRESENT == 1U) - #define MPU_BASE (SCS_BASE + 0x0D90UL) /*!< Memory Protection Unit */ - #define MPU ((MPU_Type *) MPU_BASE ) /*!< Memory Protection Unit */ -#endif - -/*@} */ - - - -/******************************************************************************* - * Hardware Abstraction Layer - Core Function Interface contains: - - Core NVIC Functions - - Core SysTick Functions - - Core Register Access Functions - ******************************************************************************/ -/** - \defgroup CMSIS_Core_FunctionInterface Functions and Instructions Reference -*/ - - - -/* ########################## NVIC functions #################################### */ -/** - \ingroup CMSIS_Core_FunctionInterface - \defgroup CMSIS_Core_NVICFunctions NVIC Functions - \brief Functions that manage interrupts and exceptions via the NVIC. - @{ - */ - -#ifdef CMSIS_NVIC_VIRTUAL - #ifndef CMSIS_NVIC_VIRTUAL_HEADER_FILE - #define CMSIS_NVIC_VIRTUAL_HEADER_FILE "cmsis_nvic_virtual.h" - #endif - #include CMSIS_NVIC_VIRTUAL_HEADER_FILE -#else - #define NVIC_SetPriorityGrouping __NVIC_SetPriorityGrouping - #define NVIC_GetPriorityGrouping __NVIC_GetPriorityGrouping - #define NVIC_EnableIRQ __NVIC_EnableIRQ - #define NVIC_GetEnableIRQ __NVIC_GetEnableIRQ - #define NVIC_DisableIRQ __NVIC_DisableIRQ - #define NVIC_GetPendingIRQ __NVIC_GetPendingIRQ - #define NVIC_SetPendingIRQ __NVIC_SetPendingIRQ - #define NVIC_ClearPendingIRQ __NVIC_ClearPendingIRQ -/*#define NVIC_GetActive __NVIC_GetActive not available for Cortex-M0+ */ - #define NVIC_SetPriority __NVIC_SetPriority - #define NVIC_GetPriority __NVIC_GetPriority - #define NVIC_SystemReset __NVIC_SystemReset -#endif /* CMSIS_NVIC_VIRTUAL */ - -#ifdef CMSIS_VECTAB_VIRTUAL - #ifndef CMSIS_VECTAB_VIRTUAL_HEADER_FILE - #define CMSIS_VECTAB_VIRTUAL_HEADER_FILE "cmsis_vectab_virtual.h" - #endif - #include CMSIS_VECTAB_VIRTUAL_HEADER_FILE -#else - #define NVIC_SetVector __NVIC_SetVector - #define NVIC_GetVector __NVIC_GetVector -#endif /* (CMSIS_VECTAB_VIRTUAL) */ - -#define NVIC_USER_IRQ_OFFSET 16 - - -/* The following EXC_RETURN values are saved the LR on exception entry */ -#define EXC_RETURN_HANDLER (0xFFFFFFF1UL) /* return to Handler mode, uses MSP after return */ -#define EXC_RETURN_THREAD_MSP (0xFFFFFFF9UL) /* return to Thread mode, uses MSP after return */ -#define EXC_RETURN_THREAD_PSP (0xFFFFFFFDUL) /* return to Thread mode, uses PSP after return */ - - -/* Interrupt Priorities are WORD accessible only under Armv6-M */ -/* The following MACROS handle generation of the register offset and byte masks */ -#define _BIT_SHIFT(IRQn) ( ((((uint32_t)(int32_t)(IRQn)) ) & 0x03UL) * 8UL) -#define _SHP_IDX(IRQn) ( (((((uint32_t)(int32_t)(IRQn)) & 0x0FUL)-8UL) >> 2UL) ) -#define _IP_IDX(IRQn) ( (((uint32_t)(int32_t)(IRQn)) >> 2UL) ) - -#define __NVIC_SetPriorityGrouping(X) (void)(X) -#define __NVIC_GetPriorityGrouping() (0U) - -/** - \brief Enable Interrupt - \details Enables a device specific interrupt in the NVIC interrupt controller. - \param [in] IRQn Device specific interrupt number. - \note IRQn must not be negative. - */ -__STATIC_INLINE void __NVIC_EnableIRQ(IRQn_Type IRQn) -{ - if ((int32_t)(IRQn) >= 0) - { - NVIC->ISER[0U] = (uint32_t)(1UL << (((uint32_t)IRQn) & 0x1FUL)); - } -} - - -/** - \brief Get Interrupt Enable status - \details Returns a device specific interrupt enable status from the NVIC interrupt controller. - \param [in] IRQn Device specific interrupt number. - \return 0 Interrupt is not enabled. - \return 1 Interrupt is enabled. - \note IRQn must not be negative. - */ -__STATIC_INLINE uint32_t __NVIC_GetEnableIRQ(IRQn_Type IRQn) -{ - if ((int32_t)(IRQn) >= 0) - { - return((uint32_t)(((NVIC->ISER[0U] & (1UL << (((uint32_t)IRQn) & 0x1FUL))) != 0UL) ? 1UL : 0UL)); - } - else - { - return(0U); - } -} - - -/** - \brief Disable Interrupt - \details Disables a device specific interrupt in the NVIC interrupt controller. - \param [in] IRQn Device specific interrupt number. - \note IRQn must not be negative. - */ -__STATIC_INLINE void __NVIC_DisableIRQ(IRQn_Type IRQn) -{ - if ((int32_t)(IRQn) >= 0) - { - NVIC->ICER[0U] = (uint32_t)(1UL << (((uint32_t)IRQn) & 0x1FUL)); - __DSB(); - __ISB(); - } -} - - -/** - \brief Get Pending Interrupt - \details Reads the NVIC pending register and returns the pending bit for the specified device specific interrupt. - \param [in] IRQn Device specific interrupt number. - \return 0 Interrupt status is not pending. - \return 1 Interrupt status is pending. - \note IRQn must not be negative. - */ -__STATIC_INLINE uint32_t __NVIC_GetPendingIRQ(IRQn_Type IRQn) -{ - if ((int32_t)(IRQn) >= 0) - { - return((uint32_t)(((NVIC->ISPR[0U] & (1UL << (((uint32_t)IRQn) & 0x1FUL))) != 0UL) ? 1UL : 0UL)); - } - else - { - return(0U); - } -} - - -/** - \brief Set Pending Interrupt - \details Sets the pending bit of a device specific interrupt in the NVIC pending register. - \param [in] IRQn Device specific interrupt number. - \note IRQn must not be negative. - */ -__STATIC_INLINE void __NVIC_SetPendingIRQ(IRQn_Type IRQn) -{ - if ((int32_t)(IRQn) >= 0) - { - NVIC->ISPR[0U] = (uint32_t)(1UL << (((uint32_t)IRQn) & 0x1FUL)); - } -} - - -/** - \brief Clear Pending Interrupt - \details Clears the pending bit of a device specific interrupt in the NVIC pending register. - \param [in] IRQn Device specific interrupt number. - \note IRQn must not be negative. - */ -__STATIC_INLINE void __NVIC_ClearPendingIRQ(IRQn_Type IRQn) -{ - if ((int32_t)(IRQn) >= 0) - { - NVIC->ICPR[0U] = (uint32_t)(1UL << (((uint32_t)IRQn) & 0x1FUL)); - } -} - - -/** - \brief Set Interrupt Priority - \details Sets the priority of a device specific interrupt or a processor exception. - The interrupt number can be positive to specify a device specific interrupt, - or negative to specify a processor exception. - \param [in] IRQn Interrupt number. - \param [in] priority Priority to set. - \note The priority cannot be set for every processor exception. - */ -__STATIC_INLINE void __NVIC_SetPriority(IRQn_Type IRQn, uint32_t priority) -{ - if ((int32_t)(IRQn) >= 0) - { - NVIC->IP[_IP_IDX(IRQn)] = ((uint32_t)(NVIC->IP[_IP_IDX(IRQn)] & ~(0xFFUL << _BIT_SHIFT(IRQn))) | - (((priority << (8U - __NVIC_PRIO_BITS)) & (uint32_t)0xFFUL) << _BIT_SHIFT(IRQn))); - } - else - { - SCB->SHP[_SHP_IDX(IRQn)] = ((uint32_t)(SCB->SHP[_SHP_IDX(IRQn)] & ~(0xFFUL << _BIT_SHIFT(IRQn))) | - (((priority << (8U - __NVIC_PRIO_BITS)) & (uint32_t)0xFFUL) << _BIT_SHIFT(IRQn))); - } -} - - -/** - \brief Get Interrupt Priority - \details Reads the priority of a device specific interrupt or a processor exception. - The interrupt number can be positive to specify a device specific interrupt, - or negative to specify a processor exception. - \param [in] IRQn Interrupt number. - \return Interrupt Priority. - Value is aligned automatically to the implemented priority bits of the microcontroller. - */ -__STATIC_INLINE uint32_t __NVIC_GetPriority(IRQn_Type IRQn) -{ - - if ((int32_t)(IRQn) >= 0) - { - return((uint32_t)(((NVIC->IP[ _IP_IDX(IRQn)] >> _BIT_SHIFT(IRQn) ) & (uint32_t)0xFFUL) >> (8U - __NVIC_PRIO_BITS))); - } - else - { - return((uint32_t)(((SCB->SHP[_SHP_IDX(IRQn)] >> _BIT_SHIFT(IRQn) ) & (uint32_t)0xFFUL) >> (8U - __NVIC_PRIO_BITS))); - } -} - - -/** - \brief Encode Priority - \details Encodes the priority for an interrupt with the given priority group, - preemptive priority value, and subpriority value. - In case of a conflict between priority grouping and available - priority bits (__NVIC_PRIO_BITS), the smallest possible priority group is set. - \param [in] PriorityGroup Used priority group. - \param [in] PreemptPriority Preemptive priority value (starting from 0). - \param [in] SubPriority Subpriority value (starting from 0). - \return Encoded priority. Value can be used in the function \ref NVIC_SetPriority(). - */ -__STATIC_INLINE uint32_t NVIC_EncodePriority (uint32_t PriorityGroup, uint32_t PreemptPriority, uint32_t SubPriority) -{ - uint32_t PriorityGroupTmp = (PriorityGroup & (uint32_t)0x07UL); /* only values 0..7 are used */ - uint32_t PreemptPriorityBits; - uint32_t SubPriorityBits; - - PreemptPriorityBits = ((7UL - PriorityGroupTmp) > (uint32_t)(__NVIC_PRIO_BITS)) ? (uint32_t)(__NVIC_PRIO_BITS) : (uint32_t)(7UL - PriorityGroupTmp); - SubPriorityBits = ((PriorityGroupTmp + (uint32_t)(__NVIC_PRIO_BITS)) < (uint32_t)7UL) ? (uint32_t)0UL : (uint32_t)((PriorityGroupTmp - 7UL) + (uint32_t)(__NVIC_PRIO_BITS)); - - return ( - ((PreemptPriority & (uint32_t)((1UL << (PreemptPriorityBits)) - 1UL)) << SubPriorityBits) | - ((SubPriority & (uint32_t)((1UL << (SubPriorityBits )) - 1UL))) - ); -} - - -/** - \brief Decode Priority - \details Decodes an interrupt priority value with a given priority group to - preemptive priority value and subpriority value. - In case of a conflict between priority grouping and available - priority bits (__NVIC_PRIO_BITS) the smallest possible priority group is set. - \param [in] Priority Priority value, which can be retrieved with the function \ref NVIC_GetPriority(). - \param [in] PriorityGroup Used priority group. - \param [out] pPreemptPriority Preemptive priority value (starting from 0). - \param [out] pSubPriority Subpriority value (starting from 0). - */ -__STATIC_INLINE void NVIC_DecodePriority (uint32_t Priority, uint32_t PriorityGroup, uint32_t* const pPreemptPriority, uint32_t* const pSubPriority) -{ - uint32_t PriorityGroupTmp = (PriorityGroup & (uint32_t)0x07UL); /* only values 0..7 are used */ - uint32_t PreemptPriorityBits; - uint32_t SubPriorityBits; - - PreemptPriorityBits = ((7UL - PriorityGroupTmp) > (uint32_t)(__NVIC_PRIO_BITS)) ? (uint32_t)(__NVIC_PRIO_BITS) : (uint32_t)(7UL - PriorityGroupTmp); - SubPriorityBits = ((PriorityGroupTmp + (uint32_t)(__NVIC_PRIO_BITS)) < (uint32_t)7UL) ? (uint32_t)0UL : (uint32_t)((PriorityGroupTmp - 7UL) + (uint32_t)(__NVIC_PRIO_BITS)); - - *pPreemptPriority = (Priority >> SubPriorityBits) & (uint32_t)((1UL << (PreemptPriorityBits)) - 1UL); - *pSubPriority = (Priority ) & (uint32_t)((1UL << (SubPriorityBits )) - 1UL); -} - - -/** - \brief Set Interrupt Vector - \details Sets an interrupt vector in SRAM based interrupt vector table. - The interrupt number can be positive to specify a device specific interrupt, - or negative to specify a processor exception. - VTOR must been relocated to SRAM before. - If VTOR is not present address 0 must be mapped to SRAM. - \param [in] IRQn Interrupt number - \param [in] vector Address of interrupt handler function - */ -__STATIC_INLINE void __NVIC_SetVector(IRQn_Type IRQn, uint32_t vector) -{ -#if defined (__VTOR_PRESENT) && (__VTOR_PRESENT == 1U) - uint32_t *vectors = (uint32_t *)SCB->VTOR; -#else - uint32_t *vectors = (uint32_t *)0x0U; -#endif - vectors[(int32_t)IRQn + NVIC_USER_IRQ_OFFSET] = vector; -} - - -/** - \brief Get Interrupt Vector - \details Reads an interrupt vector from interrupt vector table. - The interrupt number can be positive to specify a device specific interrupt, - or negative to specify a processor exception. - \param [in] IRQn Interrupt number. - \return Address of interrupt handler function - */ -__STATIC_INLINE uint32_t __NVIC_GetVector(IRQn_Type IRQn) -{ -#if defined (__VTOR_PRESENT) && (__VTOR_PRESENT == 1U) - uint32_t *vectors = (uint32_t *)SCB->VTOR; -#else - uint32_t *vectors = (uint32_t *)0x0U; -#endif - return vectors[(int32_t)IRQn + NVIC_USER_IRQ_OFFSET]; - -} - - -/** - \brief System Reset - \details Initiates a system reset request to reset the MCU. - */ -__NO_RETURN __STATIC_INLINE void __NVIC_SystemReset(void) -{ - __DSB(); /* Ensure all outstanding memory accesses included - buffered write are completed before reset */ - SCB->AIRCR = ((0x5FAUL << SCB_AIRCR_VECTKEY_Pos) | - SCB_AIRCR_SYSRESETREQ_Msk); - __DSB(); /* Ensure completion of memory access */ - - for(;;) /* wait until reset */ - { - __NOP(); - } -} - -/*@} end of CMSIS_Core_NVICFunctions */ - -/* ########################## MPU functions #################################### */ - -#if defined (__MPU_PRESENT) && (__MPU_PRESENT == 1U) - -#include "mpu_armv7.h" - -#endif - -/* ########################## FPU functions #################################### */ -/** - \ingroup CMSIS_Core_FunctionInterface - \defgroup CMSIS_Core_FpuFunctions FPU Functions - \brief Function that provides FPU type. - @{ - */ - -/** - \brief get FPU type - \details returns the FPU type - \returns - - \b 0: No FPU - - \b 1: Single precision FPU - - \b 2: Double + Single precision FPU - */ -__STATIC_INLINE uint32_t SCB_GetFPUType(void) -{ - return 0U; /* No FPU */ -} - - -/*@} end of CMSIS_Core_FpuFunctions */ - - - -/* ################################## SysTick function ############################################ */ -/** - \ingroup CMSIS_Core_FunctionInterface - \defgroup CMSIS_Core_SysTickFunctions SysTick Functions - \brief Functions that configure the System. - @{ - */ - -#if defined (__Vendor_SysTickConfig) && (__Vendor_SysTickConfig == 0U) - -/** - \brief System Tick Configuration - \details Initializes the System Timer and its interrupt, and starts the System Tick Timer. - Counter is in free running mode to generate periodic interrupts. - \param [in] ticks Number of ticks between two interrupts. - \return 0 Function succeeded. - \return 1 Function failed. - \note When the variable __Vendor_SysTickConfig is set to 1, then the - function SysTick_Config is not included. In this case, the file device.h - must contain a vendor-specific implementation of this function. - */ -__STATIC_INLINE uint32_t SysTick_Config(uint32_t ticks) -{ - if ((ticks - 1UL) > SysTick_LOAD_RELOAD_Msk) - { - return (1UL); /* Reload value impossible */ - } - - SysTick->LOAD = (uint32_t)(ticks - 1UL); /* set reload register */ - NVIC_SetPriority (SysTick_IRQn, (1UL << __NVIC_PRIO_BITS) - 1UL); /* set Priority for Systick Interrupt */ - SysTick->VAL = 0UL; /* Load the SysTick Counter Value */ - SysTick->CTRL = SysTick_CTRL_CLKSOURCE_Msk | - SysTick_CTRL_TICKINT_Msk | - SysTick_CTRL_ENABLE_Msk; /* Enable SysTick IRQ and SysTick Timer */ - return (0UL); /* Function successful */ -} - -#endif - -/*@} end of CMSIS_Core_SysTickFunctions */ - - - - -#ifdef __cplusplus -} -#endif - -#endif /* __CORE_CM0PLUS_H_DEPENDANT */ - -#endif /* __CMSIS_GENERIC */ diff --git a/body/board/inc/core_cm4.h b/body/board/inc/core_cm4.h deleted file mode 100644 index 7d56873532c314..00000000000000 --- a/body/board/inc/core_cm4.h +++ /dev/null @@ -1,2129 +0,0 @@ -/**************************************************************************//** - * @file core_cm4.h - * @brief CMSIS Cortex-M4 Core Peripheral Access Layer Header File - * @version V5.0.8 - * @date 04. June 2018 - ******************************************************************************/ -/* - * Copyright (c) 2009-2018 Arm Limited. All rights reserved. - * - * SPDX-License-Identifier: Apache-2.0 - * - * Licensed under the Apache License, Version 2.0 (the License); you may - * not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an AS IS BASIS, WITHOUT - * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - -#if defined ( __ICCARM__ ) - #pragma system_include /* treat file as system include file for MISRA check */ -#elif defined (__clang__) - #pragma clang system_header /* treat file as system include file */ -#endif - -#ifndef __CORE_CM4_H_GENERIC -#define __CORE_CM4_H_GENERIC - -#include - -#ifdef __cplusplus - extern "C" { -#endif - -/** - \page CMSIS_MISRA_Exceptions MISRA-C:2004 Compliance Exceptions - CMSIS violates the following MISRA-C:2004 rules: - - \li Required Rule 8.5, object/function definition in header file.
- Function definitions in header files are used to allow 'inlining'. - - \li Required Rule 18.4, declaration of union type or object of union type: '{...}'.
- Unions are used for effective representation of core registers. - - \li Advisory Rule 19.7, Function-like macro defined.
- Function-like macros are used to allow more efficient code. - */ - - -/******************************************************************************* - * CMSIS definitions - ******************************************************************************/ -/** - \ingroup Cortex_M4 - @{ - */ - -#include "cmsis_version.h" - -/* CMSIS CM4 definitions */ -#define __CM4_CMSIS_VERSION_MAIN (__CM_CMSIS_VERSION_MAIN) /*!< \deprecated [31:16] CMSIS HAL main version */ -#define __CM4_CMSIS_VERSION_SUB (__CM_CMSIS_VERSION_SUB) /*!< \deprecated [15:0] CMSIS HAL sub version */ -#define __CM4_CMSIS_VERSION ((__CM4_CMSIS_VERSION_MAIN << 16U) | \ - __CM4_CMSIS_VERSION_SUB ) /*!< \deprecated CMSIS HAL version number */ - -#define __CORTEX_M (4U) /*!< Cortex-M Core */ - -/** __FPU_USED indicates whether an FPU is used or not. - For this, __FPU_PRESENT has to be checked prior to making use of FPU specific registers and functions. -*/ -#if defined ( __CC_ARM ) - #if defined __TARGET_FPU_VFP - #if defined (__FPU_PRESENT) && (__FPU_PRESENT == 1U) - #define __FPU_USED 1U - #else - #error "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)" - #define __FPU_USED 0U - #endif - #else - #define __FPU_USED 0U - #endif - -#elif defined (__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050) - #if defined __ARM_PCS_VFP - #if defined (__FPU_PRESENT) && (__FPU_PRESENT == 1U) - #define __FPU_USED 1U - #else - #warning "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)" - #define __FPU_USED 0U - #endif - #else - #define __FPU_USED 0U - #endif - -#elif defined ( __GNUC__ ) - #if defined (__VFP_FP__) && !defined(__SOFTFP__) - #if defined (__FPU_PRESENT) && (__FPU_PRESENT == 1U) - #define __FPU_USED 1U - #else - #error "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)" - #define __FPU_USED 0U - #endif - #else - #define __FPU_USED 0U - #endif - -#elif defined ( __ICCARM__ ) - #if defined __ARMVFP__ - #if defined (__FPU_PRESENT) && (__FPU_PRESENT == 1U) - #define __FPU_USED 1U - #else - #error "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)" - #define __FPU_USED 0U - #endif - #else - #define __FPU_USED 0U - #endif - -#elif defined ( __TI_ARM__ ) - #if defined __TI_VFP_SUPPORT__ - #if defined (__FPU_PRESENT) && (__FPU_PRESENT == 1U) - #define __FPU_USED 1U - #else - #error "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)" - #define __FPU_USED 0U - #endif - #else - #define __FPU_USED 0U - #endif - -#elif defined ( __TASKING__ ) - #if defined __FPU_VFP__ - #if defined (__FPU_PRESENT) && (__FPU_PRESENT == 1U) - #define __FPU_USED 1U - #else - #error "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)" - #define __FPU_USED 0U - #endif - #else - #define __FPU_USED 0U - #endif - -#elif defined ( __CSMC__ ) - #if ( __CSMC__ & 0x400U) - #if defined (__FPU_PRESENT) && (__FPU_PRESENT == 1U) - #define __FPU_USED 1U - #else - #error "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)" - #define __FPU_USED 0U - #endif - #else - #define __FPU_USED 0U - #endif - -#endif - -#include "cmsis_compiler.h" /* CMSIS compiler specific defines */ - - -#ifdef __cplusplus -} -#endif - -#endif /* __CORE_CM4_H_GENERIC */ - -#ifndef __CMSIS_GENERIC - -#ifndef __CORE_CM4_H_DEPENDANT -#define __CORE_CM4_H_DEPENDANT - -#ifdef __cplusplus - extern "C" { -#endif - -/* check device defines and use defaults */ -#if defined __CHECK_DEVICE_DEFINES - #ifndef __CM4_REV - #define __CM4_REV 0x0000U - #warning "__CM4_REV not defined in device header file; using default!" - #endif - - #ifndef __FPU_PRESENT - #define __FPU_PRESENT 0U - #warning "__FPU_PRESENT not defined in device header file; using default!" - #endif - - #ifndef __MPU_PRESENT - #define __MPU_PRESENT 0U - #warning "__MPU_PRESENT not defined in device header file; using default!" - #endif - - #ifndef __NVIC_PRIO_BITS - #define __NVIC_PRIO_BITS 3U - #warning "__NVIC_PRIO_BITS not defined in device header file; using default!" - #endif - - #ifndef __Vendor_SysTickConfig - #define __Vendor_SysTickConfig 0U - #warning "__Vendor_SysTickConfig not defined in device header file; using default!" - #endif -#endif - -/* IO definitions (access restrictions to peripheral registers) */ -/** - \defgroup CMSIS_glob_defs CMSIS Global Defines - - IO Type Qualifiers are used - \li to specify the access to peripheral variables. - \li for automatic generation of peripheral register debug information. -*/ -#ifdef __cplusplus - #define __I volatile /*!< Defines 'read only' permissions */ -#else - #define __I volatile const /*!< Defines 'read only' permissions */ -#endif -#define __O volatile /*!< Defines 'write only' permissions */ -#define __IO volatile /*!< Defines 'read / write' permissions */ - -/* following defines should be used for structure members */ -#define __IM volatile const /*! Defines 'read only' structure member permissions */ -#define __OM volatile /*! Defines 'write only' structure member permissions */ -#define __IOM volatile /*! Defines 'read / write' structure member permissions */ - -/*@} end of group Cortex_M4 */ - - - -/******************************************************************************* - * Register Abstraction - Core Register contain: - - Core Register - - Core NVIC Register - - Core SCB Register - - Core SysTick Register - - Core Debug Register - - Core MPU Register - - Core FPU Register - ******************************************************************************/ -/** - \defgroup CMSIS_core_register Defines and Type Definitions - \brief Type definitions and defines for Cortex-M processor based devices. -*/ - -/** - \ingroup CMSIS_core_register - \defgroup CMSIS_CORE Status and Control Registers - \brief Core Register type definitions. - @{ - */ - -/** - \brief Union type to access the Application Program Status Register (APSR). - */ -typedef union -{ - struct - { - uint32_t _reserved0:16; /*!< bit: 0..15 Reserved */ - uint32_t GE:4; /*!< bit: 16..19 Greater than or Equal flags */ - uint32_t _reserved1:7; /*!< bit: 20..26 Reserved */ - uint32_t Q:1; /*!< bit: 27 Saturation condition flag */ - uint32_t V:1; /*!< bit: 28 Overflow condition code flag */ - uint32_t C:1; /*!< bit: 29 Carry condition code flag */ - uint32_t Z:1; /*!< bit: 30 Zero condition code flag */ - uint32_t N:1; /*!< bit: 31 Negative condition code flag */ - } b; /*!< Structure used for bit access */ - uint32_t w; /*!< Type used for word access */ -} APSR_Type; - -/* APSR Register Definitions */ -#define APSR_N_Pos 31U /*!< APSR: N Position */ -#define APSR_N_Msk (1UL << APSR_N_Pos) /*!< APSR: N Mask */ - -#define APSR_Z_Pos 30U /*!< APSR: Z Position */ -#define APSR_Z_Msk (1UL << APSR_Z_Pos) /*!< APSR: Z Mask */ - -#define APSR_C_Pos 29U /*!< APSR: C Position */ -#define APSR_C_Msk (1UL << APSR_C_Pos) /*!< APSR: C Mask */ - -#define APSR_V_Pos 28U /*!< APSR: V Position */ -#define APSR_V_Msk (1UL << APSR_V_Pos) /*!< APSR: V Mask */ - -#define APSR_Q_Pos 27U /*!< APSR: Q Position */ -#define APSR_Q_Msk (1UL << APSR_Q_Pos) /*!< APSR: Q Mask */ - -#define APSR_GE_Pos 16U /*!< APSR: GE Position */ -#define APSR_GE_Msk (0xFUL << APSR_GE_Pos) /*!< APSR: GE Mask */ - - -/** - \brief Union type to access the Interrupt Program Status Register (IPSR). - */ -typedef union -{ - struct - { - uint32_t ISR:9; /*!< bit: 0.. 8 Exception number */ - uint32_t _reserved0:23; /*!< bit: 9..31 Reserved */ - } b; /*!< Structure used for bit access */ - uint32_t w; /*!< Type used for word access */ -} IPSR_Type; - -/* IPSR Register Definitions */ -#define IPSR_ISR_Pos 0U /*!< IPSR: ISR Position */ -#define IPSR_ISR_Msk (0x1FFUL /*<< IPSR_ISR_Pos*/) /*!< IPSR: ISR Mask */ - - -/** - \brief Union type to access the Special-Purpose Program Status Registers (xPSR). - */ -typedef union -{ - struct - { - uint32_t ISR:9; /*!< bit: 0.. 8 Exception number */ - uint32_t _reserved0:1; /*!< bit: 9 Reserved */ - uint32_t ICI_IT_1:6; /*!< bit: 10..15 ICI/IT part 1 */ - uint32_t GE:4; /*!< bit: 16..19 Greater than or Equal flags */ - uint32_t _reserved1:4; /*!< bit: 20..23 Reserved */ - uint32_t T:1; /*!< bit: 24 Thumb bit */ - uint32_t ICI_IT_2:2; /*!< bit: 25..26 ICI/IT part 2 */ - uint32_t Q:1; /*!< bit: 27 Saturation condition flag */ - uint32_t V:1; /*!< bit: 28 Overflow condition code flag */ - uint32_t C:1; /*!< bit: 29 Carry condition code flag */ - uint32_t Z:1; /*!< bit: 30 Zero condition code flag */ - uint32_t N:1; /*!< bit: 31 Negative condition code flag */ - } b; /*!< Structure used for bit access */ - uint32_t w; /*!< Type used for word access */ -} xPSR_Type; - -/* xPSR Register Definitions */ -#define xPSR_N_Pos 31U /*!< xPSR: N Position */ -#define xPSR_N_Msk (1UL << xPSR_N_Pos) /*!< xPSR: N Mask */ - -#define xPSR_Z_Pos 30U /*!< xPSR: Z Position */ -#define xPSR_Z_Msk (1UL << xPSR_Z_Pos) /*!< xPSR: Z Mask */ - -#define xPSR_C_Pos 29U /*!< xPSR: C Position */ -#define xPSR_C_Msk (1UL << xPSR_C_Pos) /*!< xPSR: C Mask */ - -#define xPSR_V_Pos 28U /*!< xPSR: V Position */ -#define xPSR_V_Msk (1UL << xPSR_V_Pos) /*!< xPSR: V Mask */ - -#define xPSR_Q_Pos 27U /*!< xPSR: Q Position */ -#define xPSR_Q_Msk (1UL << xPSR_Q_Pos) /*!< xPSR: Q Mask */ - -#define xPSR_ICI_IT_2_Pos 25U /*!< xPSR: ICI/IT part 2 Position */ -#define xPSR_ICI_IT_2_Msk (3UL << xPSR_ICI_IT_2_Pos) /*!< xPSR: ICI/IT part 2 Mask */ - -#define xPSR_T_Pos 24U /*!< xPSR: T Position */ -#define xPSR_T_Msk (1UL << xPSR_T_Pos) /*!< xPSR: T Mask */ - -#define xPSR_GE_Pos 16U /*!< xPSR: GE Position */ -#define xPSR_GE_Msk (0xFUL << xPSR_GE_Pos) /*!< xPSR: GE Mask */ - -#define xPSR_ICI_IT_1_Pos 10U /*!< xPSR: ICI/IT part 1 Position */ -#define xPSR_ICI_IT_1_Msk (0x3FUL << xPSR_ICI_IT_1_Pos) /*!< xPSR: ICI/IT part 1 Mask */ - -#define xPSR_ISR_Pos 0U /*!< xPSR: ISR Position */ -#define xPSR_ISR_Msk (0x1FFUL /*<< xPSR_ISR_Pos*/) /*!< xPSR: ISR Mask */ - - -/** - \brief Union type to access the Control Registers (CONTROL). - */ -typedef union -{ - struct - { - uint32_t nPRIV:1; /*!< bit: 0 Execution privilege in Thread mode */ - uint32_t SPSEL:1; /*!< bit: 1 Stack to be used */ - uint32_t FPCA:1; /*!< bit: 2 FP extension active flag */ - uint32_t _reserved0:29; /*!< bit: 3..31 Reserved */ - } b; /*!< Structure used for bit access */ - uint32_t w; /*!< Type used for word access */ -} CONTROL_Type; - -/* CONTROL Register Definitions */ -#define CONTROL_FPCA_Pos 2U /*!< CONTROL: FPCA Position */ -#define CONTROL_FPCA_Msk (1UL << CONTROL_FPCA_Pos) /*!< CONTROL: FPCA Mask */ - -#define CONTROL_SPSEL_Pos 1U /*!< CONTROL: SPSEL Position */ -#define CONTROL_SPSEL_Msk (1UL << CONTROL_SPSEL_Pos) /*!< CONTROL: SPSEL Mask */ - -#define CONTROL_nPRIV_Pos 0U /*!< CONTROL: nPRIV Position */ -#define CONTROL_nPRIV_Msk (1UL /*<< CONTROL_nPRIV_Pos*/) /*!< CONTROL: nPRIV Mask */ - -/*@} end of group CMSIS_CORE */ - - -/** - \ingroup CMSIS_core_register - \defgroup CMSIS_NVIC Nested Vectored Interrupt Controller (NVIC) - \brief Type definitions for the NVIC Registers - @{ - */ - -/** - \brief Structure type to access the Nested Vectored Interrupt Controller (NVIC). - */ -typedef struct -{ - __IOM uint32_t ISER[8U]; /*!< Offset: 0x000 (R/W) Interrupt Set Enable Register */ - uint32_t RESERVED0[24U]; - __IOM uint32_t ICER[8U]; /*!< Offset: 0x080 (R/W) Interrupt Clear Enable Register */ - uint32_t RSERVED1[24U]; - __IOM uint32_t ISPR[8U]; /*!< Offset: 0x100 (R/W) Interrupt Set Pending Register */ - uint32_t RESERVED2[24U]; - __IOM uint32_t ICPR[8U]; /*!< Offset: 0x180 (R/W) Interrupt Clear Pending Register */ - uint32_t RESERVED3[24U]; - __IOM uint32_t IABR[8U]; /*!< Offset: 0x200 (R/W) Interrupt Active bit Register */ - uint32_t RESERVED4[56U]; - __IOM uint8_t IP[240U]; /*!< Offset: 0x300 (R/W) Interrupt Priority Register (8Bit wide) */ - uint32_t RESERVED5[644U]; - __OM uint32_t STIR; /*!< Offset: 0xE00 ( /W) Software Trigger Interrupt Register */ -} NVIC_Type; - -/* Software Triggered Interrupt Register Definitions */ -#define NVIC_STIR_INTID_Pos 0U /*!< STIR: INTLINESNUM Position */ -#define NVIC_STIR_INTID_Msk (0x1FFUL /*<< NVIC_STIR_INTID_Pos*/) /*!< STIR: INTLINESNUM Mask */ - -/*@} end of group CMSIS_NVIC */ - - -/** - \ingroup CMSIS_core_register - \defgroup CMSIS_SCB System Control Block (SCB) - \brief Type definitions for the System Control Block Registers - @{ - */ - -/** - \brief Structure type to access the System Control Block (SCB). - */ -typedef struct -{ - __IM uint32_t CPUID; /*!< Offset: 0x000 (R/ ) CPUID Base Register */ - __IOM uint32_t ICSR; /*!< Offset: 0x004 (R/W) Interrupt Control and State Register */ - __IOM uint32_t VTOR; /*!< Offset: 0x008 (R/W) Vector Table Offset Register */ - __IOM uint32_t AIRCR; /*!< Offset: 0x00C (R/W) Application Interrupt and Reset Control Register */ - __IOM uint32_t SCR; /*!< Offset: 0x010 (R/W) System Control Register */ - __IOM uint32_t CCR; /*!< Offset: 0x014 (R/W) Configuration Control Register */ - __IOM uint8_t SHP[12U]; /*!< Offset: 0x018 (R/W) System Handlers Priority Registers (4-7, 8-11, 12-15) */ - __IOM uint32_t SHCSR; /*!< Offset: 0x024 (R/W) System Handler Control and State Register */ - __IOM uint32_t CFSR; /*!< Offset: 0x028 (R/W) Configurable Fault Status Register */ - __IOM uint32_t HFSR; /*!< Offset: 0x02C (R/W) HardFault Status Register */ - __IOM uint32_t DFSR; /*!< Offset: 0x030 (R/W) Debug Fault Status Register */ - __IOM uint32_t MMFAR; /*!< Offset: 0x034 (R/W) MemManage Fault Address Register */ - __IOM uint32_t BFAR; /*!< Offset: 0x038 (R/W) BusFault Address Register */ - __IOM uint32_t AFSR; /*!< Offset: 0x03C (R/W) Auxiliary Fault Status Register */ - __IM uint32_t PFR[2U]; /*!< Offset: 0x040 (R/ ) Processor Feature Register */ - __IM uint32_t DFR; /*!< Offset: 0x048 (R/ ) Debug Feature Register */ - __IM uint32_t ADR; /*!< Offset: 0x04C (R/ ) Auxiliary Feature Register */ - __IM uint32_t MMFR[4U]; /*!< Offset: 0x050 (R/ ) Memory Model Feature Register */ - __IM uint32_t ISAR[5U]; /*!< Offset: 0x060 (R/ ) Instruction Set Attributes Register */ - uint32_t RESERVED0[5U]; - __IOM uint32_t CPACR; /*!< Offset: 0x088 (R/W) Coprocessor Access Control Register */ -} SCB_Type; - -/* SCB CPUID Register Definitions */ -#define SCB_CPUID_IMPLEMENTER_Pos 24U /*!< SCB CPUID: IMPLEMENTER Position */ -#define SCB_CPUID_IMPLEMENTER_Msk (0xFFUL << SCB_CPUID_IMPLEMENTER_Pos) /*!< SCB CPUID: IMPLEMENTER Mask */ - -#define SCB_CPUID_VARIANT_Pos 20U /*!< SCB CPUID: VARIANT Position */ -#define SCB_CPUID_VARIANT_Msk (0xFUL << SCB_CPUID_VARIANT_Pos) /*!< SCB CPUID: VARIANT Mask */ - -#define SCB_CPUID_ARCHITECTURE_Pos 16U /*!< SCB CPUID: ARCHITECTURE Position */ -#define SCB_CPUID_ARCHITECTURE_Msk (0xFUL << SCB_CPUID_ARCHITECTURE_Pos) /*!< SCB CPUID: ARCHITECTURE Mask */ - -#define SCB_CPUID_PARTNO_Pos 4U /*!< SCB CPUID: PARTNO Position */ -#define SCB_CPUID_PARTNO_Msk (0xFFFUL << SCB_CPUID_PARTNO_Pos) /*!< SCB CPUID: PARTNO Mask */ - -#define SCB_CPUID_REVISION_Pos 0U /*!< SCB CPUID: REVISION Position */ -#define SCB_CPUID_REVISION_Msk (0xFUL /*<< SCB_CPUID_REVISION_Pos*/) /*!< SCB CPUID: REVISION Mask */ - -/* SCB Interrupt Control State Register Definitions */ -#define SCB_ICSR_NMIPENDSET_Pos 31U /*!< SCB ICSR: NMIPENDSET Position */ -#define SCB_ICSR_NMIPENDSET_Msk (1UL << SCB_ICSR_NMIPENDSET_Pos) /*!< SCB ICSR: NMIPENDSET Mask */ - -#define SCB_ICSR_PENDSVSET_Pos 28U /*!< SCB ICSR: PENDSVSET Position */ -#define SCB_ICSR_PENDSVSET_Msk (1UL << SCB_ICSR_PENDSVSET_Pos) /*!< SCB ICSR: PENDSVSET Mask */ - -#define SCB_ICSR_PENDSVCLR_Pos 27U /*!< SCB ICSR: PENDSVCLR Position */ -#define SCB_ICSR_PENDSVCLR_Msk (1UL << SCB_ICSR_PENDSVCLR_Pos) /*!< SCB ICSR: PENDSVCLR Mask */ - -#define SCB_ICSR_PENDSTSET_Pos 26U /*!< SCB ICSR: PENDSTSET Position */ -#define SCB_ICSR_PENDSTSET_Msk (1UL << SCB_ICSR_PENDSTSET_Pos) /*!< SCB ICSR: PENDSTSET Mask */ - -#define SCB_ICSR_PENDSTCLR_Pos 25U /*!< SCB ICSR: PENDSTCLR Position */ -#define SCB_ICSR_PENDSTCLR_Msk (1UL << SCB_ICSR_PENDSTCLR_Pos) /*!< SCB ICSR: PENDSTCLR Mask */ - -#define SCB_ICSR_ISRPREEMPT_Pos 23U /*!< SCB ICSR: ISRPREEMPT Position */ -#define SCB_ICSR_ISRPREEMPT_Msk (1UL << SCB_ICSR_ISRPREEMPT_Pos) /*!< SCB ICSR: ISRPREEMPT Mask */ - -#define SCB_ICSR_ISRPENDING_Pos 22U /*!< SCB ICSR: ISRPENDING Position */ -#define SCB_ICSR_ISRPENDING_Msk (1UL << SCB_ICSR_ISRPENDING_Pos) /*!< SCB ICSR: ISRPENDING Mask */ - -#define SCB_ICSR_VECTPENDING_Pos 12U /*!< SCB ICSR: VECTPENDING Position */ -#define SCB_ICSR_VECTPENDING_Msk (0x1FFUL << SCB_ICSR_VECTPENDING_Pos) /*!< SCB ICSR: VECTPENDING Mask */ - -#define SCB_ICSR_RETTOBASE_Pos 11U /*!< SCB ICSR: RETTOBASE Position */ -#define SCB_ICSR_RETTOBASE_Msk (1UL << SCB_ICSR_RETTOBASE_Pos) /*!< SCB ICSR: RETTOBASE Mask */ - -#define SCB_ICSR_VECTACTIVE_Pos 0U /*!< SCB ICSR: VECTACTIVE Position */ -#define SCB_ICSR_VECTACTIVE_Msk (0x1FFUL /*<< SCB_ICSR_VECTACTIVE_Pos*/) /*!< SCB ICSR: VECTACTIVE Mask */ - -/* SCB Vector Table Offset Register Definitions */ -#define SCB_VTOR_TBLOFF_Pos 7U /*!< SCB VTOR: TBLOFF Position */ -#define SCB_VTOR_TBLOFF_Msk (0x1FFFFFFUL << SCB_VTOR_TBLOFF_Pos) /*!< SCB VTOR: TBLOFF Mask */ - -/* SCB Application Interrupt and Reset Control Register Definitions */ -#define SCB_AIRCR_VECTKEY_Pos 16U /*!< SCB AIRCR: VECTKEY Position */ -#define SCB_AIRCR_VECTKEY_Msk (0xFFFFUL << SCB_AIRCR_VECTKEY_Pos) /*!< SCB AIRCR: VECTKEY Mask */ - -#define SCB_AIRCR_VECTKEYSTAT_Pos 16U /*!< SCB AIRCR: VECTKEYSTAT Position */ -#define SCB_AIRCR_VECTKEYSTAT_Msk (0xFFFFUL << SCB_AIRCR_VECTKEYSTAT_Pos) /*!< SCB AIRCR: VECTKEYSTAT Mask */ - -#define SCB_AIRCR_ENDIANESS_Pos 15U /*!< SCB AIRCR: ENDIANESS Position */ -#define SCB_AIRCR_ENDIANESS_Msk (1UL << SCB_AIRCR_ENDIANESS_Pos) /*!< SCB AIRCR: ENDIANESS Mask */ - -#define SCB_AIRCR_PRIGROUP_Pos 8U /*!< SCB AIRCR: PRIGROUP Position */ -#define SCB_AIRCR_PRIGROUP_Msk (7UL << SCB_AIRCR_PRIGROUP_Pos) /*!< SCB AIRCR: PRIGROUP Mask */ - -#define SCB_AIRCR_SYSRESETREQ_Pos 2U /*!< SCB AIRCR: SYSRESETREQ Position */ -#define SCB_AIRCR_SYSRESETREQ_Msk (1UL << SCB_AIRCR_SYSRESETREQ_Pos) /*!< SCB AIRCR: SYSRESETREQ Mask */ - -#define SCB_AIRCR_VECTCLRACTIVE_Pos 1U /*!< SCB AIRCR: VECTCLRACTIVE Position */ -#define SCB_AIRCR_VECTCLRACTIVE_Msk (1UL << SCB_AIRCR_VECTCLRACTIVE_Pos) /*!< SCB AIRCR: VECTCLRACTIVE Mask */ - -#define SCB_AIRCR_VECTRESET_Pos 0U /*!< SCB AIRCR: VECTRESET Position */ -#define SCB_AIRCR_VECTRESET_Msk (1UL /*<< SCB_AIRCR_VECTRESET_Pos*/) /*!< SCB AIRCR: VECTRESET Mask */ - -/* SCB System Control Register Definitions */ -#define SCB_SCR_SEVONPEND_Pos 4U /*!< SCB SCR: SEVONPEND Position */ -#define SCB_SCR_SEVONPEND_Msk (1UL << SCB_SCR_SEVONPEND_Pos) /*!< SCB SCR: SEVONPEND Mask */ - -#define SCB_SCR_SLEEPDEEP_Pos 2U /*!< SCB SCR: SLEEPDEEP Position */ -#define SCB_SCR_SLEEPDEEP_Msk (1UL << SCB_SCR_SLEEPDEEP_Pos) /*!< SCB SCR: SLEEPDEEP Mask */ - -#define SCB_SCR_SLEEPONEXIT_Pos 1U /*!< SCB SCR: SLEEPONEXIT Position */ -#define SCB_SCR_SLEEPONEXIT_Msk (1UL << SCB_SCR_SLEEPONEXIT_Pos) /*!< SCB SCR: SLEEPONEXIT Mask */ - -/* SCB Configuration Control Register Definitions */ -#define SCB_CCR_STKALIGN_Pos 9U /*!< SCB CCR: STKALIGN Position */ -#define SCB_CCR_STKALIGN_Msk (1UL << SCB_CCR_STKALIGN_Pos) /*!< SCB CCR: STKALIGN Mask */ - -#define SCB_CCR_BFHFNMIGN_Pos 8U /*!< SCB CCR: BFHFNMIGN Position */ -#define SCB_CCR_BFHFNMIGN_Msk (1UL << SCB_CCR_BFHFNMIGN_Pos) /*!< SCB CCR: BFHFNMIGN Mask */ - -#define SCB_CCR_DIV_0_TRP_Pos 4U /*!< SCB CCR: DIV_0_TRP Position */ -#define SCB_CCR_DIV_0_TRP_Msk (1UL << SCB_CCR_DIV_0_TRP_Pos) /*!< SCB CCR: DIV_0_TRP Mask */ - -#define SCB_CCR_UNALIGN_TRP_Pos 3U /*!< SCB CCR: UNALIGN_TRP Position */ -#define SCB_CCR_UNALIGN_TRP_Msk (1UL << SCB_CCR_UNALIGN_TRP_Pos) /*!< SCB CCR: UNALIGN_TRP Mask */ - -#define SCB_CCR_USERSETMPEND_Pos 1U /*!< SCB CCR: USERSETMPEND Position */ -#define SCB_CCR_USERSETMPEND_Msk (1UL << SCB_CCR_USERSETMPEND_Pos) /*!< SCB CCR: USERSETMPEND Mask */ - -#define SCB_CCR_NONBASETHRDENA_Pos 0U /*!< SCB CCR: NONBASETHRDENA Position */ -#define SCB_CCR_NONBASETHRDENA_Msk (1UL /*<< SCB_CCR_NONBASETHRDENA_Pos*/) /*!< SCB CCR: NONBASETHRDENA Mask */ - -/* SCB System Handler Control and State Register Definitions */ -#define SCB_SHCSR_USGFAULTENA_Pos 18U /*!< SCB SHCSR: USGFAULTENA Position */ -#define SCB_SHCSR_USGFAULTENA_Msk (1UL << SCB_SHCSR_USGFAULTENA_Pos) /*!< SCB SHCSR: USGFAULTENA Mask */ - -#define SCB_SHCSR_BUSFAULTENA_Pos 17U /*!< SCB SHCSR: BUSFAULTENA Position */ -#define SCB_SHCSR_BUSFAULTENA_Msk (1UL << SCB_SHCSR_BUSFAULTENA_Pos) /*!< SCB SHCSR: BUSFAULTENA Mask */ - -#define SCB_SHCSR_MEMFAULTENA_Pos 16U /*!< SCB SHCSR: MEMFAULTENA Position */ -#define SCB_SHCSR_MEMFAULTENA_Msk (1UL << SCB_SHCSR_MEMFAULTENA_Pos) /*!< SCB SHCSR: MEMFAULTENA Mask */ - -#define SCB_SHCSR_SVCALLPENDED_Pos 15U /*!< SCB SHCSR: SVCALLPENDED Position */ -#define SCB_SHCSR_SVCALLPENDED_Msk (1UL << SCB_SHCSR_SVCALLPENDED_Pos) /*!< SCB SHCSR: SVCALLPENDED Mask */ - -#define SCB_SHCSR_BUSFAULTPENDED_Pos 14U /*!< SCB SHCSR: BUSFAULTPENDED Position */ -#define SCB_SHCSR_BUSFAULTPENDED_Msk (1UL << SCB_SHCSR_BUSFAULTPENDED_Pos) /*!< SCB SHCSR: BUSFAULTPENDED Mask */ - -#define SCB_SHCSR_MEMFAULTPENDED_Pos 13U /*!< SCB SHCSR: MEMFAULTPENDED Position */ -#define SCB_SHCSR_MEMFAULTPENDED_Msk (1UL << SCB_SHCSR_MEMFAULTPENDED_Pos) /*!< SCB SHCSR: MEMFAULTPENDED Mask */ - -#define SCB_SHCSR_USGFAULTPENDED_Pos 12U /*!< SCB SHCSR: USGFAULTPENDED Position */ -#define SCB_SHCSR_USGFAULTPENDED_Msk (1UL << SCB_SHCSR_USGFAULTPENDED_Pos) /*!< SCB SHCSR: USGFAULTPENDED Mask */ - -#define SCB_SHCSR_SYSTICKACT_Pos 11U /*!< SCB SHCSR: SYSTICKACT Position */ -#define SCB_SHCSR_SYSTICKACT_Msk (1UL << SCB_SHCSR_SYSTICKACT_Pos) /*!< SCB SHCSR: SYSTICKACT Mask */ - -#define SCB_SHCSR_PENDSVACT_Pos 10U /*!< SCB SHCSR: PENDSVACT Position */ -#define SCB_SHCSR_PENDSVACT_Msk (1UL << SCB_SHCSR_PENDSVACT_Pos) /*!< SCB SHCSR: PENDSVACT Mask */ - -#define SCB_SHCSR_MONITORACT_Pos 8U /*!< SCB SHCSR: MONITORACT Position */ -#define SCB_SHCSR_MONITORACT_Msk (1UL << SCB_SHCSR_MONITORACT_Pos) /*!< SCB SHCSR: MONITORACT Mask */ - -#define SCB_SHCSR_SVCALLACT_Pos 7U /*!< SCB SHCSR: SVCALLACT Position */ -#define SCB_SHCSR_SVCALLACT_Msk (1UL << SCB_SHCSR_SVCALLACT_Pos) /*!< SCB SHCSR: SVCALLACT Mask */ - -#define SCB_SHCSR_USGFAULTACT_Pos 3U /*!< SCB SHCSR: USGFAULTACT Position */ -#define SCB_SHCSR_USGFAULTACT_Msk (1UL << SCB_SHCSR_USGFAULTACT_Pos) /*!< SCB SHCSR: USGFAULTACT Mask */ - -#define SCB_SHCSR_BUSFAULTACT_Pos 1U /*!< SCB SHCSR: BUSFAULTACT Position */ -#define SCB_SHCSR_BUSFAULTACT_Msk (1UL << SCB_SHCSR_BUSFAULTACT_Pos) /*!< SCB SHCSR: BUSFAULTACT Mask */ - -#define SCB_SHCSR_MEMFAULTACT_Pos 0U /*!< SCB SHCSR: MEMFAULTACT Position */ -#define SCB_SHCSR_MEMFAULTACT_Msk (1UL /*<< SCB_SHCSR_MEMFAULTACT_Pos*/) /*!< SCB SHCSR: MEMFAULTACT Mask */ - -/* SCB Configurable Fault Status Register Definitions */ -#define SCB_CFSR_USGFAULTSR_Pos 16U /*!< SCB CFSR: Usage Fault Status Register Position */ -#define SCB_CFSR_USGFAULTSR_Msk (0xFFFFUL << SCB_CFSR_USGFAULTSR_Pos) /*!< SCB CFSR: Usage Fault Status Register Mask */ - -#define SCB_CFSR_BUSFAULTSR_Pos 8U /*!< SCB CFSR: Bus Fault Status Register Position */ -#define SCB_CFSR_BUSFAULTSR_Msk (0xFFUL << SCB_CFSR_BUSFAULTSR_Pos) /*!< SCB CFSR: Bus Fault Status Register Mask */ - -#define SCB_CFSR_MEMFAULTSR_Pos 0U /*!< SCB CFSR: Memory Manage Fault Status Register Position */ -#define SCB_CFSR_MEMFAULTSR_Msk (0xFFUL /*<< SCB_CFSR_MEMFAULTSR_Pos*/) /*!< SCB CFSR: Memory Manage Fault Status Register Mask */ - -/* MemManage Fault Status Register (part of SCB Configurable Fault Status Register) */ -#define SCB_CFSR_MMARVALID_Pos (SCB_SHCSR_MEMFAULTACT_Pos + 7U) /*!< SCB CFSR (MMFSR): MMARVALID Position */ -#define SCB_CFSR_MMARVALID_Msk (1UL << SCB_CFSR_MMARVALID_Pos) /*!< SCB CFSR (MMFSR): MMARVALID Mask */ - -#define SCB_CFSR_MLSPERR_Pos (SCB_SHCSR_MEMFAULTACT_Pos + 5U) /*!< SCB CFSR (MMFSR): MLSPERR Position */ -#define SCB_CFSR_MLSPERR_Msk (1UL << SCB_CFSR_MLSPERR_Pos) /*!< SCB CFSR (MMFSR): MLSPERR Mask */ - -#define SCB_CFSR_MSTKERR_Pos (SCB_SHCSR_MEMFAULTACT_Pos + 4U) /*!< SCB CFSR (MMFSR): MSTKERR Position */ -#define SCB_CFSR_MSTKERR_Msk (1UL << SCB_CFSR_MSTKERR_Pos) /*!< SCB CFSR (MMFSR): MSTKERR Mask */ - -#define SCB_CFSR_MUNSTKERR_Pos (SCB_SHCSR_MEMFAULTACT_Pos + 3U) /*!< SCB CFSR (MMFSR): MUNSTKERR Position */ -#define SCB_CFSR_MUNSTKERR_Msk (1UL << SCB_CFSR_MUNSTKERR_Pos) /*!< SCB CFSR (MMFSR): MUNSTKERR Mask */ - -#define SCB_CFSR_DACCVIOL_Pos (SCB_SHCSR_MEMFAULTACT_Pos + 1U) /*!< SCB CFSR (MMFSR): DACCVIOL Position */ -#define SCB_CFSR_DACCVIOL_Msk (1UL << SCB_CFSR_DACCVIOL_Pos) /*!< SCB CFSR (MMFSR): DACCVIOL Mask */ - -#define SCB_CFSR_IACCVIOL_Pos (SCB_SHCSR_MEMFAULTACT_Pos + 0U) /*!< SCB CFSR (MMFSR): IACCVIOL Position */ -#define SCB_CFSR_IACCVIOL_Msk (1UL /*<< SCB_CFSR_IACCVIOL_Pos*/) /*!< SCB CFSR (MMFSR): IACCVIOL Mask */ - -/* BusFault Status Register (part of SCB Configurable Fault Status Register) */ -#define SCB_CFSR_BFARVALID_Pos (SCB_CFSR_BUSFAULTSR_Pos + 7U) /*!< SCB CFSR (BFSR): BFARVALID Position */ -#define SCB_CFSR_BFARVALID_Msk (1UL << SCB_CFSR_BFARVALID_Pos) /*!< SCB CFSR (BFSR): BFARVALID Mask */ - -#define SCB_CFSR_LSPERR_Pos (SCB_CFSR_BUSFAULTSR_Pos + 5U) /*!< SCB CFSR (BFSR): LSPERR Position */ -#define SCB_CFSR_LSPERR_Msk (1UL << SCB_CFSR_LSPERR_Pos) /*!< SCB CFSR (BFSR): LSPERR Mask */ - -#define SCB_CFSR_STKERR_Pos (SCB_CFSR_BUSFAULTSR_Pos + 4U) /*!< SCB CFSR (BFSR): STKERR Position */ -#define SCB_CFSR_STKERR_Msk (1UL << SCB_CFSR_STKERR_Pos) /*!< SCB CFSR (BFSR): STKERR Mask */ - -#define SCB_CFSR_UNSTKERR_Pos (SCB_CFSR_BUSFAULTSR_Pos + 3U) /*!< SCB CFSR (BFSR): UNSTKERR Position */ -#define SCB_CFSR_UNSTKERR_Msk (1UL << SCB_CFSR_UNSTKERR_Pos) /*!< SCB CFSR (BFSR): UNSTKERR Mask */ - -#define SCB_CFSR_IMPRECISERR_Pos (SCB_CFSR_BUSFAULTSR_Pos + 2U) /*!< SCB CFSR (BFSR): IMPRECISERR Position */ -#define SCB_CFSR_IMPRECISERR_Msk (1UL << SCB_CFSR_IMPRECISERR_Pos) /*!< SCB CFSR (BFSR): IMPRECISERR Mask */ - -#define SCB_CFSR_PRECISERR_Pos (SCB_CFSR_BUSFAULTSR_Pos + 1U) /*!< SCB CFSR (BFSR): PRECISERR Position */ -#define SCB_CFSR_PRECISERR_Msk (1UL << SCB_CFSR_PRECISERR_Pos) /*!< SCB CFSR (BFSR): PRECISERR Mask */ - -#define SCB_CFSR_IBUSERR_Pos (SCB_CFSR_BUSFAULTSR_Pos + 0U) /*!< SCB CFSR (BFSR): IBUSERR Position */ -#define SCB_CFSR_IBUSERR_Msk (1UL << SCB_CFSR_IBUSERR_Pos) /*!< SCB CFSR (BFSR): IBUSERR Mask */ - -/* UsageFault Status Register (part of SCB Configurable Fault Status Register) */ -#define SCB_CFSR_DIVBYZERO_Pos (SCB_CFSR_USGFAULTSR_Pos + 9U) /*!< SCB CFSR (UFSR): DIVBYZERO Position */ -#define SCB_CFSR_DIVBYZERO_Msk (1UL << SCB_CFSR_DIVBYZERO_Pos) /*!< SCB CFSR (UFSR): DIVBYZERO Mask */ - -#define SCB_CFSR_UNALIGNED_Pos (SCB_CFSR_USGFAULTSR_Pos + 8U) /*!< SCB CFSR (UFSR): UNALIGNED Position */ -#define SCB_CFSR_UNALIGNED_Msk (1UL << SCB_CFSR_UNALIGNED_Pos) /*!< SCB CFSR (UFSR): UNALIGNED Mask */ - -#define SCB_CFSR_NOCP_Pos (SCB_CFSR_USGFAULTSR_Pos + 3U) /*!< SCB CFSR (UFSR): NOCP Position */ -#define SCB_CFSR_NOCP_Msk (1UL << SCB_CFSR_NOCP_Pos) /*!< SCB CFSR (UFSR): NOCP Mask */ - -#define SCB_CFSR_INVPC_Pos (SCB_CFSR_USGFAULTSR_Pos + 2U) /*!< SCB CFSR (UFSR): INVPC Position */ -#define SCB_CFSR_INVPC_Msk (1UL << SCB_CFSR_INVPC_Pos) /*!< SCB CFSR (UFSR): INVPC Mask */ - -#define SCB_CFSR_INVSTATE_Pos (SCB_CFSR_USGFAULTSR_Pos + 1U) /*!< SCB CFSR (UFSR): INVSTATE Position */ -#define SCB_CFSR_INVSTATE_Msk (1UL << SCB_CFSR_INVSTATE_Pos) /*!< SCB CFSR (UFSR): INVSTATE Mask */ - -#define SCB_CFSR_UNDEFINSTR_Pos (SCB_CFSR_USGFAULTSR_Pos + 0U) /*!< SCB CFSR (UFSR): UNDEFINSTR Position */ -#define SCB_CFSR_UNDEFINSTR_Msk (1UL << SCB_CFSR_UNDEFINSTR_Pos) /*!< SCB CFSR (UFSR): UNDEFINSTR Mask */ - -/* SCB Hard Fault Status Register Definitions */ -#define SCB_HFSR_DEBUGEVT_Pos 31U /*!< SCB HFSR: DEBUGEVT Position */ -#define SCB_HFSR_DEBUGEVT_Msk (1UL << SCB_HFSR_DEBUGEVT_Pos) /*!< SCB HFSR: DEBUGEVT Mask */ - -#define SCB_HFSR_FORCED_Pos 30U /*!< SCB HFSR: FORCED Position */ -#define SCB_HFSR_FORCED_Msk (1UL << SCB_HFSR_FORCED_Pos) /*!< SCB HFSR: FORCED Mask */ - -#define SCB_HFSR_VECTTBL_Pos 1U /*!< SCB HFSR: VECTTBL Position */ -#define SCB_HFSR_VECTTBL_Msk (1UL << SCB_HFSR_VECTTBL_Pos) /*!< SCB HFSR: VECTTBL Mask */ - -/* SCB Debug Fault Status Register Definitions */ -#define SCB_DFSR_EXTERNAL_Pos 4U /*!< SCB DFSR: EXTERNAL Position */ -#define SCB_DFSR_EXTERNAL_Msk (1UL << SCB_DFSR_EXTERNAL_Pos) /*!< SCB DFSR: EXTERNAL Mask */ - -#define SCB_DFSR_VCATCH_Pos 3U /*!< SCB DFSR: VCATCH Position */ -#define SCB_DFSR_VCATCH_Msk (1UL << SCB_DFSR_VCATCH_Pos) /*!< SCB DFSR: VCATCH Mask */ - -#define SCB_DFSR_DWTTRAP_Pos 2U /*!< SCB DFSR: DWTTRAP Position */ -#define SCB_DFSR_DWTTRAP_Msk (1UL << SCB_DFSR_DWTTRAP_Pos) /*!< SCB DFSR: DWTTRAP Mask */ - -#define SCB_DFSR_BKPT_Pos 1U /*!< SCB DFSR: BKPT Position */ -#define SCB_DFSR_BKPT_Msk (1UL << SCB_DFSR_BKPT_Pos) /*!< SCB DFSR: BKPT Mask */ - -#define SCB_DFSR_HALTED_Pos 0U /*!< SCB DFSR: HALTED Position */ -#define SCB_DFSR_HALTED_Msk (1UL /*<< SCB_DFSR_HALTED_Pos*/) /*!< SCB DFSR: HALTED Mask */ - -/*@} end of group CMSIS_SCB */ - - -/** - \ingroup CMSIS_core_register - \defgroup CMSIS_SCnSCB System Controls not in SCB (SCnSCB) - \brief Type definitions for the System Control and ID Register not in the SCB - @{ - */ - -/** - \brief Structure type to access the System Control and ID Register not in the SCB. - */ -typedef struct -{ - uint32_t RESERVED0[1U]; - __IM uint32_t ICTR; /*!< Offset: 0x004 (R/ ) Interrupt Controller Type Register */ - __IOM uint32_t ACTLR; /*!< Offset: 0x008 (R/W) Auxiliary Control Register */ -} SCnSCB_Type; - -/* Interrupt Controller Type Register Definitions */ -#define SCnSCB_ICTR_INTLINESNUM_Pos 0U /*!< ICTR: INTLINESNUM Position */ -#define SCnSCB_ICTR_INTLINESNUM_Msk (0xFUL /*<< SCnSCB_ICTR_INTLINESNUM_Pos*/) /*!< ICTR: INTLINESNUM Mask */ - -/* Auxiliary Control Register Definitions */ -#define SCnSCB_ACTLR_DISOOFP_Pos 9U /*!< ACTLR: DISOOFP Position */ -#define SCnSCB_ACTLR_DISOOFP_Msk (1UL << SCnSCB_ACTLR_DISOOFP_Pos) /*!< ACTLR: DISOOFP Mask */ - -#define SCnSCB_ACTLR_DISFPCA_Pos 8U /*!< ACTLR: DISFPCA Position */ -#define SCnSCB_ACTLR_DISFPCA_Msk (1UL << SCnSCB_ACTLR_DISFPCA_Pos) /*!< ACTLR: DISFPCA Mask */ - -#define SCnSCB_ACTLR_DISFOLD_Pos 2U /*!< ACTLR: DISFOLD Position */ -#define SCnSCB_ACTLR_DISFOLD_Msk (1UL << SCnSCB_ACTLR_DISFOLD_Pos) /*!< ACTLR: DISFOLD Mask */ - -#define SCnSCB_ACTLR_DISDEFWBUF_Pos 1U /*!< ACTLR: DISDEFWBUF Position */ -#define SCnSCB_ACTLR_DISDEFWBUF_Msk (1UL << SCnSCB_ACTLR_DISDEFWBUF_Pos) /*!< ACTLR: DISDEFWBUF Mask */ - -#define SCnSCB_ACTLR_DISMCYCINT_Pos 0U /*!< ACTLR: DISMCYCINT Position */ -#define SCnSCB_ACTLR_DISMCYCINT_Msk (1UL /*<< SCnSCB_ACTLR_DISMCYCINT_Pos*/) /*!< ACTLR: DISMCYCINT Mask */ - -/*@} end of group CMSIS_SCnotSCB */ - - -/** - \ingroup CMSIS_core_register - \defgroup CMSIS_SysTick System Tick Timer (SysTick) - \brief Type definitions for the System Timer Registers. - @{ - */ - -/** - \brief Structure type to access the System Timer (SysTick). - */ -typedef struct -{ - __IOM uint32_t CTRL; /*!< Offset: 0x000 (R/W) SysTick Control and Status Register */ - __IOM uint32_t LOAD; /*!< Offset: 0x004 (R/W) SysTick Reload Value Register */ - __IOM uint32_t VAL; /*!< Offset: 0x008 (R/W) SysTick Current Value Register */ - __IM uint32_t CALIB; /*!< Offset: 0x00C (R/ ) SysTick Calibration Register */ -} SysTick_Type; - -/* SysTick Control / Status Register Definitions */ -#define SysTick_CTRL_COUNTFLAG_Pos 16U /*!< SysTick CTRL: COUNTFLAG Position */ -#define SysTick_CTRL_COUNTFLAG_Msk (1UL << SysTick_CTRL_COUNTFLAG_Pos) /*!< SysTick CTRL: COUNTFLAG Mask */ - -#define SysTick_CTRL_CLKSOURCE_Pos 2U /*!< SysTick CTRL: CLKSOURCE Position */ -#define SysTick_CTRL_CLKSOURCE_Msk (1UL << SysTick_CTRL_CLKSOURCE_Pos) /*!< SysTick CTRL: CLKSOURCE Mask */ - -#define SysTick_CTRL_TICKINT_Pos 1U /*!< SysTick CTRL: TICKINT Position */ -#define SysTick_CTRL_TICKINT_Msk (1UL << SysTick_CTRL_TICKINT_Pos) /*!< SysTick CTRL: TICKINT Mask */ - -#define SysTick_CTRL_ENABLE_Pos 0U /*!< SysTick CTRL: ENABLE Position */ -#define SysTick_CTRL_ENABLE_Msk (1UL /*<< SysTick_CTRL_ENABLE_Pos*/) /*!< SysTick CTRL: ENABLE Mask */ - -/* SysTick Reload Register Definitions */ -#define SysTick_LOAD_RELOAD_Pos 0U /*!< SysTick LOAD: RELOAD Position */ -#define SysTick_LOAD_RELOAD_Msk (0xFFFFFFUL /*<< SysTick_LOAD_RELOAD_Pos*/) /*!< SysTick LOAD: RELOAD Mask */ - -/* SysTick Current Register Definitions */ -#define SysTick_VAL_CURRENT_Pos 0U /*!< SysTick VAL: CURRENT Position */ -#define SysTick_VAL_CURRENT_Msk (0xFFFFFFUL /*<< SysTick_VAL_CURRENT_Pos*/) /*!< SysTick VAL: CURRENT Mask */ - -/* SysTick Calibration Register Definitions */ -#define SysTick_CALIB_NOREF_Pos 31U /*!< SysTick CALIB: NOREF Position */ -#define SysTick_CALIB_NOREF_Msk (1UL << SysTick_CALIB_NOREF_Pos) /*!< SysTick CALIB: NOREF Mask */ - -#define SysTick_CALIB_SKEW_Pos 30U /*!< SysTick CALIB: SKEW Position */ -#define SysTick_CALIB_SKEW_Msk (1UL << SysTick_CALIB_SKEW_Pos) /*!< SysTick CALIB: SKEW Mask */ - -#define SysTick_CALIB_TENMS_Pos 0U /*!< SysTick CALIB: TENMS Position */ -#define SysTick_CALIB_TENMS_Msk (0xFFFFFFUL /*<< SysTick_CALIB_TENMS_Pos*/) /*!< SysTick CALIB: TENMS Mask */ - -/*@} end of group CMSIS_SysTick */ - - -/** - \ingroup CMSIS_core_register - \defgroup CMSIS_ITM Instrumentation Trace Macrocell (ITM) - \brief Type definitions for the Instrumentation Trace Macrocell (ITM) - @{ - */ - -/** - \brief Structure type to access the Instrumentation Trace Macrocell Register (ITM). - */ -typedef struct -{ - __OM union - { - __OM uint8_t u8; /*!< Offset: 0x000 ( /W) ITM Stimulus Port 8-bit */ - __OM uint16_t u16; /*!< Offset: 0x000 ( /W) ITM Stimulus Port 16-bit */ - __OM uint32_t u32; /*!< Offset: 0x000 ( /W) ITM Stimulus Port 32-bit */ - } PORT [32U]; /*!< Offset: 0x000 ( /W) ITM Stimulus Port Registers */ - uint32_t RESERVED0[864U]; - __IOM uint32_t TER; /*!< Offset: 0xE00 (R/W) ITM Trace Enable Register */ - uint32_t RESERVED1[15U]; - __IOM uint32_t TPR; /*!< Offset: 0xE40 (R/W) ITM Trace Privilege Register */ - uint32_t RESERVED2[15U]; - __IOM uint32_t TCR; /*!< Offset: 0xE80 (R/W) ITM Trace Control Register */ - uint32_t RESERVED3[29U]; - __OM uint32_t IWR; /*!< Offset: 0xEF8 ( /W) ITM Integration Write Register */ - __IM uint32_t IRR; /*!< Offset: 0xEFC (R/ ) ITM Integration Read Register */ - __IOM uint32_t IMCR; /*!< Offset: 0xF00 (R/W) ITM Integration Mode Control Register */ - uint32_t RESERVED4[43U]; - __OM uint32_t LAR; /*!< Offset: 0xFB0 ( /W) ITM Lock Access Register */ - __IM uint32_t LSR; /*!< Offset: 0xFB4 (R/ ) ITM Lock Status Register */ - uint32_t RESERVED5[6U]; - __IM uint32_t PID4; /*!< Offset: 0xFD0 (R/ ) ITM Peripheral Identification Register #4 */ - __IM uint32_t PID5; /*!< Offset: 0xFD4 (R/ ) ITM Peripheral Identification Register #5 */ - __IM uint32_t PID6; /*!< Offset: 0xFD8 (R/ ) ITM Peripheral Identification Register #6 */ - __IM uint32_t PID7; /*!< Offset: 0xFDC (R/ ) ITM Peripheral Identification Register #7 */ - __IM uint32_t PID0; /*!< Offset: 0xFE0 (R/ ) ITM Peripheral Identification Register #0 */ - __IM uint32_t PID1; /*!< Offset: 0xFE4 (R/ ) ITM Peripheral Identification Register #1 */ - __IM uint32_t PID2; /*!< Offset: 0xFE8 (R/ ) ITM Peripheral Identification Register #2 */ - __IM uint32_t PID3; /*!< Offset: 0xFEC (R/ ) ITM Peripheral Identification Register #3 */ - __IM uint32_t CID0; /*!< Offset: 0xFF0 (R/ ) ITM Component Identification Register #0 */ - __IM uint32_t CID1; /*!< Offset: 0xFF4 (R/ ) ITM Component Identification Register #1 */ - __IM uint32_t CID2; /*!< Offset: 0xFF8 (R/ ) ITM Component Identification Register #2 */ - __IM uint32_t CID3; /*!< Offset: 0xFFC (R/ ) ITM Component Identification Register #3 */ -} ITM_Type; - -/* ITM Trace Privilege Register Definitions */ -#define ITM_TPR_PRIVMASK_Pos 0U /*!< ITM TPR: PRIVMASK Position */ -#define ITM_TPR_PRIVMASK_Msk (0xFFFFFFFFUL /*<< ITM_TPR_PRIVMASK_Pos*/) /*!< ITM TPR: PRIVMASK Mask */ - -/* ITM Trace Control Register Definitions */ -#define ITM_TCR_BUSY_Pos 23U /*!< ITM TCR: BUSY Position */ -#define ITM_TCR_BUSY_Msk (1UL << ITM_TCR_BUSY_Pos) /*!< ITM TCR: BUSY Mask */ - -#define ITM_TCR_TraceBusID_Pos 16U /*!< ITM TCR: ATBID Position */ -#define ITM_TCR_TraceBusID_Msk (0x7FUL << ITM_TCR_TraceBusID_Pos) /*!< ITM TCR: ATBID Mask */ - -#define ITM_TCR_GTSFREQ_Pos 10U /*!< ITM TCR: Global timestamp frequency Position */ -#define ITM_TCR_GTSFREQ_Msk (3UL << ITM_TCR_GTSFREQ_Pos) /*!< ITM TCR: Global timestamp frequency Mask */ - -#define ITM_TCR_TSPrescale_Pos 8U /*!< ITM TCR: TSPrescale Position */ -#define ITM_TCR_TSPrescale_Msk (3UL << ITM_TCR_TSPrescale_Pos) /*!< ITM TCR: TSPrescale Mask */ - -#define ITM_TCR_SWOENA_Pos 4U /*!< ITM TCR: SWOENA Position */ -#define ITM_TCR_SWOENA_Msk (1UL << ITM_TCR_SWOENA_Pos) /*!< ITM TCR: SWOENA Mask */ - -#define ITM_TCR_DWTENA_Pos 3U /*!< ITM TCR: DWTENA Position */ -#define ITM_TCR_DWTENA_Msk (1UL << ITM_TCR_DWTENA_Pos) /*!< ITM TCR: DWTENA Mask */ - -#define ITM_TCR_SYNCENA_Pos 2U /*!< ITM TCR: SYNCENA Position */ -#define ITM_TCR_SYNCENA_Msk (1UL << ITM_TCR_SYNCENA_Pos) /*!< ITM TCR: SYNCENA Mask */ - -#define ITM_TCR_TSENA_Pos 1U /*!< ITM TCR: TSENA Position */ -#define ITM_TCR_TSENA_Msk (1UL << ITM_TCR_TSENA_Pos) /*!< ITM TCR: TSENA Mask */ - -#define ITM_TCR_ITMENA_Pos 0U /*!< ITM TCR: ITM Enable bit Position */ -#define ITM_TCR_ITMENA_Msk (1UL /*<< ITM_TCR_ITMENA_Pos*/) /*!< ITM TCR: ITM Enable bit Mask */ - -/* ITM Integration Write Register Definitions */ -#define ITM_IWR_ATVALIDM_Pos 0U /*!< ITM IWR: ATVALIDM Position */ -#define ITM_IWR_ATVALIDM_Msk (1UL /*<< ITM_IWR_ATVALIDM_Pos*/) /*!< ITM IWR: ATVALIDM Mask */ - -/* ITM Integration Read Register Definitions */ -#define ITM_IRR_ATREADYM_Pos 0U /*!< ITM IRR: ATREADYM Position */ -#define ITM_IRR_ATREADYM_Msk (1UL /*<< ITM_IRR_ATREADYM_Pos*/) /*!< ITM IRR: ATREADYM Mask */ - -/* ITM Integration Mode Control Register Definitions */ -#define ITM_IMCR_INTEGRATION_Pos 0U /*!< ITM IMCR: INTEGRATION Position */ -#define ITM_IMCR_INTEGRATION_Msk (1UL /*<< ITM_IMCR_INTEGRATION_Pos*/) /*!< ITM IMCR: INTEGRATION Mask */ - -/* ITM Lock Status Register Definitions */ -#define ITM_LSR_ByteAcc_Pos 2U /*!< ITM LSR: ByteAcc Position */ -#define ITM_LSR_ByteAcc_Msk (1UL << ITM_LSR_ByteAcc_Pos) /*!< ITM LSR: ByteAcc Mask */ - -#define ITM_LSR_Access_Pos 1U /*!< ITM LSR: Access Position */ -#define ITM_LSR_Access_Msk (1UL << ITM_LSR_Access_Pos) /*!< ITM LSR: Access Mask */ - -#define ITM_LSR_Present_Pos 0U /*!< ITM LSR: Present Position */ -#define ITM_LSR_Present_Msk (1UL /*<< ITM_LSR_Present_Pos*/) /*!< ITM LSR: Present Mask */ - -/*@}*/ /* end of group CMSIS_ITM */ - - -/** - \ingroup CMSIS_core_register - \defgroup CMSIS_DWT Data Watchpoint and Trace (DWT) - \brief Type definitions for the Data Watchpoint and Trace (DWT) - @{ - */ - -/** - \brief Structure type to access the Data Watchpoint and Trace Register (DWT). - */ -typedef struct -{ - __IOM uint32_t CTRL; /*!< Offset: 0x000 (R/W) Control Register */ - __IOM uint32_t CYCCNT; /*!< Offset: 0x004 (R/W) Cycle Count Register */ - __IOM uint32_t CPICNT; /*!< Offset: 0x008 (R/W) CPI Count Register */ - __IOM uint32_t EXCCNT; /*!< Offset: 0x00C (R/W) Exception Overhead Count Register */ - __IOM uint32_t SLEEPCNT; /*!< Offset: 0x010 (R/W) Sleep Count Register */ - __IOM uint32_t LSUCNT; /*!< Offset: 0x014 (R/W) LSU Count Register */ - __IOM uint32_t FOLDCNT; /*!< Offset: 0x018 (R/W) Folded-instruction Count Register */ - __IM uint32_t PCSR; /*!< Offset: 0x01C (R/ ) Program Counter Sample Register */ - __IOM uint32_t COMP0; /*!< Offset: 0x020 (R/W) Comparator Register 0 */ - __IOM uint32_t MASK0; /*!< Offset: 0x024 (R/W) Mask Register 0 */ - __IOM uint32_t FUNCTION0; /*!< Offset: 0x028 (R/W) Function Register 0 */ - uint32_t RESERVED0[1U]; - __IOM uint32_t COMP1; /*!< Offset: 0x030 (R/W) Comparator Register 1 */ - __IOM uint32_t MASK1; /*!< Offset: 0x034 (R/W) Mask Register 1 */ - __IOM uint32_t FUNCTION1; /*!< Offset: 0x038 (R/W) Function Register 1 */ - uint32_t RESERVED1[1U]; - __IOM uint32_t COMP2; /*!< Offset: 0x040 (R/W) Comparator Register 2 */ - __IOM uint32_t MASK2; /*!< Offset: 0x044 (R/W) Mask Register 2 */ - __IOM uint32_t FUNCTION2; /*!< Offset: 0x048 (R/W) Function Register 2 */ - uint32_t RESERVED2[1U]; - __IOM uint32_t COMP3; /*!< Offset: 0x050 (R/W) Comparator Register 3 */ - __IOM uint32_t MASK3; /*!< Offset: 0x054 (R/W) Mask Register 3 */ - __IOM uint32_t FUNCTION3; /*!< Offset: 0x058 (R/W) Function Register 3 */ -} DWT_Type; - -/* DWT Control Register Definitions */ -#define DWT_CTRL_NUMCOMP_Pos 28U /*!< DWT CTRL: NUMCOMP Position */ -#define DWT_CTRL_NUMCOMP_Msk (0xFUL << DWT_CTRL_NUMCOMP_Pos) /*!< DWT CTRL: NUMCOMP Mask */ - -#define DWT_CTRL_NOTRCPKT_Pos 27U /*!< DWT CTRL: NOTRCPKT Position */ -#define DWT_CTRL_NOTRCPKT_Msk (0x1UL << DWT_CTRL_NOTRCPKT_Pos) /*!< DWT CTRL: NOTRCPKT Mask */ - -#define DWT_CTRL_NOEXTTRIG_Pos 26U /*!< DWT CTRL: NOEXTTRIG Position */ -#define DWT_CTRL_NOEXTTRIG_Msk (0x1UL << DWT_CTRL_NOEXTTRIG_Pos) /*!< DWT CTRL: NOEXTTRIG Mask */ - -#define DWT_CTRL_NOCYCCNT_Pos 25U /*!< DWT CTRL: NOCYCCNT Position */ -#define DWT_CTRL_NOCYCCNT_Msk (0x1UL << DWT_CTRL_NOCYCCNT_Pos) /*!< DWT CTRL: NOCYCCNT Mask */ - -#define DWT_CTRL_NOPRFCNT_Pos 24U /*!< DWT CTRL: NOPRFCNT Position */ -#define DWT_CTRL_NOPRFCNT_Msk (0x1UL << DWT_CTRL_NOPRFCNT_Pos) /*!< DWT CTRL: NOPRFCNT Mask */ - -#define DWT_CTRL_CYCEVTENA_Pos 22U /*!< DWT CTRL: CYCEVTENA Position */ -#define DWT_CTRL_CYCEVTENA_Msk (0x1UL << DWT_CTRL_CYCEVTENA_Pos) /*!< DWT CTRL: CYCEVTENA Mask */ - -#define DWT_CTRL_FOLDEVTENA_Pos 21U /*!< DWT CTRL: FOLDEVTENA Position */ -#define DWT_CTRL_FOLDEVTENA_Msk (0x1UL << DWT_CTRL_FOLDEVTENA_Pos) /*!< DWT CTRL: FOLDEVTENA Mask */ - -#define DWT_CTRL_LSUEVTENA_Pos 20U /*!< DWT CTRL: LSUEVTENA Position */ -#define DWT_CTRL_LSUEVTENA_Msk (0x1UL << DWT_CTRL_LSUEVTENA_Pos) /*!< DWT CTRL: LSUEVTENA Mask */ - -#define DWT_CTRL_SLEEPEVTENA_Pos 19U /*!< DWT CTRL: SLEEPEVTENA Position */ -#define DWT_CTRL_SLEEPEVTENA_Msk (0x1UL << DWT_CTRL_SLEEPEVTENA_Pos) /*!< DWT CTRL: SLEEPEVTENA Mask */ - -#define DWT_CTRL_EXCEVTENA_Pos 18U /*!< DWT CTRL: EXCEVTENA Position */ -#define DWT_CTRL_EXCEVTENA_Msk (0x1UL << DWT_CTRL_EXCEVTENA_Pos) /*!< DWT CTRL: EXCEVTENA Mask */ - -#define DWT_CTRL_CPIEVTENA_Pos 17U /*!< DWT CTRL: CPIEVTENA Position */ -#define DWT_CTRL_CPIEVTENA_Msk (0x1UL << DWT_CTRL_CPIEVTENA_Pos) /*!< DWT CTRL: CPIEVTENA Mask */ - -#define DWT_CTRL_EXCTRCENA_Pos 16U /*!< DWT CTRL: EXCTRCENA Position */ -#define DWT_CTRL_EXCTRCENA_Msk (0x1UL << DWT_CTRL_EXCTRCENA_Pos) /*!< DWT CTRL: EXCTRCENA Mask */ - -#define DWT_CTRL_PCSAMPLENA_Pos 12U /*!< DWT CTRL: PCSAMPLENA Position */ -#define DWT_CTRL_PCSAMPLENA_Msk (0x1UL << DWT_CTRL_PCSAMPLENA_Pos) /*!< DWT CTRL: PCSAMPLENA Mask */ - -#define DWT_CTRL_SYNCTAP_Pos 10U /*!< DWT CTRL: SYNCTAP Position */ -#define DWT_CTRL_SYNCTAP_Msk (0x3UL << DWT_CTRL_SYNCTAP_Pos) /*!< DWT CTRL: SYNCTAP Mask */ - -#define DWT_CTRL_CYCTAP_Pos 9U /*!< DWT CTRL: CYCTAP Position */ -#define DWT_CTRL_CYCTAP_Msk (0x1UL << DWT_CTRL_CYCTAP_Pos) /*!< DWT CTRL: CYCTAP Mask */ - -#define DWT_CTRL_POSTINIT_Pos 5U /*!< DWT CTRL: POSTINIT Position */ -#define DWT_CTRL_POSTINIT_Msk (0xFUL << DWT_CTRL_POSTINIT_Pos) /*!< DWT CTRL: POSTINIT Mask */ - -#define DWT_CTRL_POSTPRESET_Pos 1U /*!< DWT CTRL: POSTPRESET Position */ -#define DWT_CTRL_POSTPRESET_Msk (0xFUL << DWT_CTRL_POSTPRESET_Pos) /*!< DWT CTRL: POSTPRESET Mask */ - -#define DWT_CTRL_CYCCNTENA_Pos 0U /*!< DWT CTRL: CYCCNTENA Position */ -#define DWT_CTRL_CYCCNTENA_Msk (0x1UL /*<< DWT_CTRL_CYCCNTENA_Pos*/) /*!< DWT CTRL: CYCCNTENA Mask */ - -/* DWT CPI Count Register Definitions */ -#define DWT_CPICNT_CPICNT_Pos 0U /*!< DWT CPICNT: CPICNT Position */ -#define DWT_CPICNT_CPICNT_Msk (0xFFUL /*<< DWT_CPICNT_CPICNT_Pos*/) /*!< DWT CPICNT: CPICNT Mask */ - -/* DWT Exception Overhead Count Register Definitions */ -#define DWT_EXCCNT_EXCCNT_Pos 0U /*!< DWT EXCCNT: EXCCNT Position */ -#define DWT_EXCCNT_EXCCNT_Msk (0xFFUL /*<< DWT_EXCCNT_EXCCNT_Pos*/) /*!< DWT EXCCNT: EXCCNT Mask */ - -/* DWT Sleep Count Register Definitions */ -#define DWT_SLEEPCNT_SLEEPCNT_Pos 0U /*!< DWT SLEEPCNT: SLEEPCNT Position */ -#define DWT_SLEEPCNT_SLEEPCNT_Msk (0xFFUL /*<< DWT_SLEEPCNT_SLEEPCNT_Pos*/) /*!< DWT SLEEPCNT: SLEEPCNT Mask */ - -/* DWT LSU Count Register Definitions */ -#define DWT_LSUCNT_LSUCNT_Pos 0U /*!< DWT LSUCNT: LSUCNT Position */ -#define DWT_LSUCNT_LSUCNT_Msk (0xFFUL /*<< DWT_LSUCNT_LSUCNT_Pos*/) /*!< DWT LSUCNT: LSUCNT Mask */ - -/* DWT Folded-instruction Count Register Definitions */ -#define DWT_FOLDCNT_FOLDCNT_Pos 0U /*!< DWT FOLDCNT: FOLDCNT Position */ -#define DWT_FOLDCNT_FOLDCNT_Msk (0xFFUL /*<< DWT_FOLDCNT_FOLDCNT_Pos*/) /*!< DWT FOLDCNT: FOLDCNT Mask */ - -/* DWT Comparator Mask Register Definitions */ -#define DWT_MASK_MASK_Pos 0U /*!< DWT MASK: MASK Position */ -#define DWT_MASK_MASK_Msk (0x1FUL /*<< DWT_MASK_MASK_Pos*/) /*!< DWT MASK: MASK Mask */ - -/* DWT Comparator Function Register Definitions */ -#define DWT_FUNCTION_MATCHED_Pos 24U /*!< DWT FUNCTION: MATCHED Position */ -#define DWT_FUNCTION_MATCHED_Msk (0x1UL << DWT_FUNCTION_MATCHED_Pos) /*!< DWT FUNCTION: MATCHED Mask */ - -#define DWT_FUNCTION_DATAVADDR1_Pos 16U /*!< DWT FUNCTION: DATAVADDR1 Position */ -#define DWT_FUNCTION_DATAVADDR1_Msk (0xFUL << DWT_FUNCTION_DATAVADDR1_Pos) /*!< DWT FUNCTION: DATAVADDR1 Mask */ - -#define DWT_FUNCTION_DATAVADDR0_Pos 12U /*!< DWT FUNCTION: DATAVADDR0 Position */ -#define DWT_FUNCTION_DATAVADDR0_Msk (0xFUL << DWT_FUNCTION_DATAVADDR0_Pos) /*!< DWT FUNCTION: DATAVADDR0 Mask */ - -#define DWT_FUNCTION_DATAVSIZE_Pos 10U /*!< DWT FUNCTION: DATAVSIZE Position */ -#define DWT_FUNCTION_DATAVSIZE_Msk (0x3UL << DWT_FUNCTION_DATAVSIZE_Pos) /*!< DWT FUNCTION: DATAVSIZE Mask */ - -#define DWT_FUNCTION_LNK1ENA_Pos 9U /*!< DWT FUNCTION: LNK1ENA Position */ -#define DWT_FUNCTION_LNK1ENA_Msk (0x1UL << DWT_FUNCTION_LNK1ENA_Pos) /*!< DWT FUNCTION: LNK1ENA Mask */ - -#define DWT_FUNCTION_DATAVMATCH_Pos 8U /*!< DWT FUNCTION: DATAVMATCH Position */ -#define DWT_FUNCTION_DATAVMATCH_Msk (0x1UL << DWT_FUNCTION_DATAVMATCH_Pos) /*!< DWT FUNCTION: DATAVMATCH Mask */ - -#define DWT_FUNCTION_CYCMATCH_Pos 7U /*!< DWT FUNCTION: CYCMATCH Position */ -#define DWT_FUNCTION_CYCMATCH_Msk (0x1UL << DWT_FUNCTION_CYCMATCH_Pos) /*!< DWT FUNCTION: CYCMATCH Mask */ - -#define DWT_FUNCTION_EMITRANGE_Pos 5U /*!< DWT FUNCTION: EMITRANGE Position */ -#define DWT_FUNCTION_EMITRANGE_Msk (0x1UL << DWT_FUNCTION_EMITRANGE_Pos) /*!< DWT FUNCTION: EMITRANGE Mask */ - -#define DWT_FUNCTION_FUNCTION_Pos 0U /*!< DWT FUNCTION: FUNCTION Position */ -#define DWT_FUNCTION_FUNCTION_Msk (0xFUL /*<< DWT_FUNCTION_FUNCTION_Pos*/) /*!< DWT FUNCTION: FUNCTION Mask */ - -/*@}*/ /* end of group CMSIS_DWT */ - - -/** - \ingroup CMSIS_core_register - \defgroup CMSIS_TPI Trace Port Interface (TPI) - \brief Type definitions for the Trace Port Interface (TPI) - @{ - */ - -/** - \brief Structure type to access the Trace Port Interface Register (TPI). - */ -typedef struct -{ - __IM uint32_t SSPSR; /*!< Offset: 0x000 (R/ ) Supported Parallel Port Size Register */ - __IOM uint32_t CSPSR; /*!< Offset: 0x004 (R/W) Current Parallel Port Size Register */ - uint32_t RESERVED0[2U]; - __IOM uint32_t ACPR; /*!< Offset: 0x010 (R/W) Asynchronous Clock Prescaler Register */ - uint32_t RESERVED1[55U]; - __IOM uint32_t SPPR; /*!< Offset: 0x0F0 (R/W) Selected Pin Protocol Register */ - uint32_t RESERVED2[131U]; - __IM uint32_t FFSR; /*!< Offset: 0x300 (R/ ) Formatter and Flush Status Register */ - __IOM uint32_t FFCR; /*!< Offset: 0x304 (R/W) Formatter and Flush Control Register */ - __IM uint32_t FSCR; /*!< Offset: 0x308 (R/ ) Formatter Synchronization Counter Register */ - uint32_t RESERVED3[759U]; - __IM uint32_t TRIGGER; /*!< Offset: 0xEE8 (R/ ) TRIGGER Register */ - __IM uint32_t FIFO0; /*!< Offset: 0xEEC (R/ ) Integration ETM Data */ - __IM uint32_t ITATBCTR2; /*!< Offset: 0xEF0 (R/ ) ITATBCTR2 */ - uint32_t RESERVED4[1U]; - __IM uint32_t ITATBCTR0; /*!< Offset: 0xEF8 (R/ ) ITATBCTR0 */ - __IM uint32_t FIFO1; /*!< Offset: 0xEFC (R/ ) Integration ITM Data */ - __IOM uint32_t ITCTRL; /*!< Offset: 0xF00 (R/W) Integration Mode Control */ - uint32_t RESERVED5[39U]; - __IOM uint32_t CLAIMSET; /*!< Offset: 0xFA0 (R/W) Claim tag set */ - __IOM uint32_t CLAIMCLR; /*!< Offset: 0xFA4 (R/W) Claim tag clear */ - uint32_t RESERVED7[8U]; - __IM uint32_t DEVID; /*!< Offset: 0xFC8 (R/ ) TPIU_DEVID */ - __IM uint32_t DEVTYPE; /*!< Offset: 0xFCC (R/ ) TPIU_DEVTYPE */ -} TPI_Type; - -/* TPI Asynchronous Clock Prescaler Register Definitions */ -#define TPI_ACPR_PRESCALER_Pos 0U /*!< TPI ACPR: PRESCALER Position */ -#define TPI_ACPR_PRESCALER_Msk (0x1FFFUL /*<< TPI_ACPR_PRESCALER_Pos*/) /*!< TPI ACPR: PRESCALER Mask */ - -/* TPI Selected Pin Protocol Register Definitions */ -#define TPI_SPPR_TXMODE_Pos 0U /*!< TPI SPPR: TXMODE Position */ -#define TPI_SPPR_TXMODE_Msk (0x3UL /*<< TPI_SPPR_TXMODE_Pos*/) /*!< TPI SPPR: TXMODE Mask */ - -/* TPI Formatter and Flush Status Register Definitions */ -#define TPI_FFSR_FtNonStop_Pos 3U /*!< TPI FFSR: FtNonStop Position */ -#define TPI_FFSR_FtNonStop_Msk (0x1UL << TPI_FFSR_FtNonStop_Pos) /*!< TPI FFSR: FtNonStop Mask */ - -#define TPI_FFSR_TCPresent_Pos 2U /*!< TPI FFSR: TCPresent Position */ -#define TPI_FFSR_TCPresent_Msk (0x1UL << TPI_FFSR_TCPresent_Pos) /*!< TPI FFSR: TCPresent Mask */ - -#define TPI_FFSR_FtStopped_Pos 1U /*!< TPI FFSR: FtStopped Position */ -#define TPI_FFSR_FtStopped_Msk (0x1UL << TPI_FFSR_FtStopped_Pos) /*!< TPI FFSR: FtStopped Mask */ - -#define TPI_FFSR_FlInProg_Pos 0U /*!< TPI FFSR: FlInProg Position */ -#define TPI_FFSR_FlInProg_Msk (0x1UL /*<< TPI_FFSR_FlInProg_Pos*/) /*!< TPI FFSR: FlInProg Mask */ - -/* TPI Formatter and Flush Control Register Definitions */ -#define TPI_FFCR_TrigIn_Pos 8U /*!< TPI FFCR: TrigIn Position */ -#define TPI_FFCR_TrigIn_Msk (0x1UL << TPI_FFCR_TrigIn_Pos) /*!< TPI FFCR: TrigIn Mask */ - -#define TPI_FFCR_EnFCont_Pos 1U /*!< TPI FFCR: EnFCont Position */ -#define TPI_FFCR_EnFCont_Msk (0x1UL << TPI_FFCR_EnFCont_Pos) /*!< TPI FFCR: EnFCont Mask */ - -/* TPI TRIGGER Register Definitions */ -#define TPI_TRIGGER_TRIGGER_Pos 0U /*!< TPI TRIGGER: TRIGGER Position */ -#define TPI_TRIGGER_TRIGGER_Msk (0x1UL /*<< TPI_TRIGGER_TRIGGER_Pos*/) /*!< TPI TRIGGER: TRIGGER Mask */ - -/* TPI Integration ETM Data Register Definitions (FIFO0) */ -#define TPI_FIFO0_ITM_ATVALID_Pos 29U /*!< TPI FIFO0: ITM_ATVALID Position */ -#define TPI_FIFO0_ITM_ATVALID_Msk (0x3UL << TPI_FIFO0_ITM_ATVALID_Pos) /*!< TPI FIFO0: ITM_ATVALID Mask */ - -#define TPI_FIFO0_ITM_bytecount_Pos 27U /*!< TPI FIFO0: ITM_bytecount Position */ -#define TPI_FIFO0_ITM_bytecount_Msk (0x3UL << TPI_FIFO0_ITM_bytecount_Pos) /*!< TPI FIFO0: ITM_bytecount Mask */ - -#define TPI_FIFO0_ETM_ATVALID_Pos 26U /*!< TPI FIFO0: ETM_ATVALID Position */ -#define TPI_FIFO0_ETM_ATVALID_Msk (0x3UL << TPI_FIFO0_ETM_ATVALID_Pos) /*!< TPI FIFO0: ETM_ATVALID Mask */ - -#define TPI_FIFO0_ETM_bytecount_Pos 24U /*!< TPI FIFO0: ETM_bytecount Position */ -#define TPI_FIFO0_ETM_bytecount_Msk (0x3UL << TPI_FIFO0_ETM_bytecount_Pos) /*!< TPI FIFO0: ETM_bytecount Mask */ - -#define TPI_FIFO0_ETM2_Pos 16U /*!< TPI FIFO0: ETM2 Position */ -#define TPI_FIFO0_ETM2_Msk (0xFFUL << TPI_FIFO0_ETM2_Pos) /*!< TPI FIFO0: ETM2 Mask */ - -#define TPI_FIFO0_ETM1_Pos 8U /*!< TPI FIFO0: ETM1 Position */ -#define TPI_FIFO0_ETM1_Msk (0xFFUL << TPI_FIFO0_ETM1_Pos) /*!< TPI FIFO0: ETM1 Mask */ - -#define TPI_FIFO0_ETM0_Pos 0U /*!< TPI FIFO0: ETM0 Position */ -#define TPI_FIFO0_ETM0_Msk (0xFFUL /*<< TPI_FIFO0_ETM0_Pos*/) /*!< TPI FIFO0: ETM0 Mask */ - -/* TPI ITATBCTR2 Register Definitions */ -#define TPI_ITATBCTR2_ATREADY2_Pos 0U /*!< TPI ITATBCTR2: ATREADY2 Position */ -#define TPI_ITATBCTR2_ATREADY2_Msk (0x1UL /*<< TPI_ITATBCTR2_ATREADY2_Pos*/) /*!< TPI ITATBCTR2: ATREADY2 Mask */ - -#define TPI_ITATBCTR2_ATREADY1_Pos 0U /*!< TPI ITATBCTR2: ATREADY1 Position */ -#define TPI_ITATBCTR2_ATREADY1_Msk (0x1UL /*<< TPI_ITATBCTR2_ATREADY1_Pos*/) /*!< TPI ITATBCTR2: ATREADY1 Mask */ - -/* TPI Integration ITM Data Register Definitions (FIFO1) */ -#define TPI_FIFO1_ITM_ATVALID_Pos 29U /*!< TPI FIFO1: ITM_ATVALID Position */ -#define TPI_FIFO1_ITM_ATVALID_Msk (0x3UL << TPI_FIFO1_ITM_ATVALID_Pos) /*!< TPI FIFO1: ITM_ATVALID Mask */ - -#define TPI_FIFO1_ITM_bytecount_Pos 27U /*!< TPI FIFO1: ITM_bytecount Position */ -#define TPI_FIFO1_ITM_bytecount_Msk (0x3UL << TPI_FIFO1_ITM_bytecount_Pos) /*!< TPI FIFO1: ITM_bytecount Mask */ - -#define TPI_FIFO1_ETM_ATVALID_Pos 26U /*!< TPI FIFO1: ETM_ATVALID Position */ -#define TPI_FIFO1_ETM_ATVALID_Msk (0x3UL << TPI_FIFO1_ETM_ATVALID_Pos) /*!< TPI FIFO1: ETM_ATVALID Mask */ - -#define TPI_FIFO1_ETM_bytecount_Pos 24U /*!< TPI FIFO1: ETM_bytecount Position */ -#define TPI_FIFO1_ETM_bytecount_Msk (0x3UL << TPI_FIFO1_ETM_bytecount_Pos) /*!< TPI FIFO1: ETM_bytecount Mask */ - -#define TPI_FIFO1_ITM2_Pos 16U /*!< TPI FIFO1: ITM2 Position */ -#define TPI_FIFO1_ITM2_Msk (0xFFUL << TPI_FIFO1_ITM2_Pos) /*!< TPI FIFO1: ITM2 Mask */ - -#define TPI_FIFO1_ITM1_Pos 8U /*!< TPI FIFO1: ITM1 Position */ -#define TPI_FIFO1_ITM1_Msk (0xFFUL << TPI_FIFO1_ITM1_Pos) /*!< TPI FIFO1: ITM1 Mask */ - -#define TPI_FIFO1_ITM0_Pos 0U /*!< TPI FIFO1: ITM0 Position */ -#define TPI_FIFO1_ITM0_Msk (0xFFUL /*<< TPI_FIFO1_ITM0_Pos*/) /*!< TPI FIFO1: ITM0 Mask */ - -/* TPI ITATBCTR0 Register Definitions */ -#define TPI_ITATBCTR0_ATREADY2_Pos 0U /*!< TPI ITATBCTR0: ATREADY2 Position */ -#define TPI_ITATBCTR0_ATREADY2_Msk (0x1UL /*<< TPI_ITATBCTR0_ATREADY2_Pos*/) /*!< TPI ITATBCTR0: ATREADY2 Mask */ - -#define TPI_ITATBCTR0_ATREADY1_Pos 0U /*!< TPI ITATBCTR0: ATREADY1 Position */ -#define TPI_ITATBCTR0_ATREADY1_Msk (0x1UL /*<< TPI_ITATBCTR0_ATREADY1_Pos*/) /*!< TPI ITATBCTR0: ATREADY1 Mask */ - -/* TPI Integration Mode Control Register Definitions */ -#define TPI_ITCTRL_Mode_Pos 0U /*!< TPI ITCTRL: Mode Position */ -#define TPI_ITCTRL_Mode_Msk (0x3UL /*<< TPI_ITCTRL_Mode_Pos*/) /*!< TPI ITCTRL: Mode Mask */ - -/* TPI DEVID Register Definitions */ -#define TPI_DEVID_NRZVALID_Pos 11U /*!< TPI DEVID: NRZVALID Position */ -#define TPI_DEVID_NRZVALID_Msk (0x1UL << TPI_DEVID_NRZVALID_Pos) /*!< TPI DEVID: NRZVALID Mask */ - -#define TPI_DEVID_MANCVALID_Pos 10U /*!< TPI DEVID: MANCVALID Position */ -#define TPI_DEVID_MANCVALID_Msk (0x1UL << TPI_DEVID_MANCVALID_Pos) /*!< TPI DEVID: MANCVALID Mask */ - -#define TPI_DEVID_PTINVALID_Pos 9U /*!< TPI DEVID: PTINVALID Position */ -#define TPI_DEVID_PTINVALID_Msk (0x1UL << TPI_DEVID_PTINVALID_Pos) /*!< TPI DEVID: PTINVALID Mask */ - -#define TPI_DEVID_MinBufSz_Pos 6U /*!< TPI DEVID: MinBufSz Position */ -#define TPI_DEVID_MinBufSz_Msk (0x7UL << TPI_DEVID_MinBufSz_Pos) /*!< TPI DEVID: MinBufSz Mask */ - -#define TPI_DEVID_AsynClkIn_Pos 5U /*!< TPI DEVID: AsynClkIn Position */ -#define TPI_DEVID_AsynClkIn_Msk (0x1UL << TPI_DEVID_AsynClkIn_Pos) /*!< TPI DEVID: AsynClkIn Mask */ - -#define TPI_DEVID_NrTraceInput_Pos 0U /*!< TPI DEVID: NrTraceInput Position */ -#define TPI_DEVID_NrTraceInput_Msk (0x1FUL /*<< TPI_DEVID_NrTraceInput_Pos*/) /*!< TPI DEVID: NrTraceInput Mask */ - -/* TPI DEVTYPE Register Definitions */ -#define TPI_DEVTYPE_SubType_Pos 4U /*!< TPI DEVTYPE: SubType Position */ -#define TPI_DEVTYPE_SubType_Msk (0xFUL /*<< TPI_DEVTYPE_SubType_Pos*/) /*!< TPI DEVTYPE: SubType Mask */ - -#define TPI_DEVTYPE_MajorType_Pos 0U /*!< TPI DEVTYPE: MajorType Position */ -#define TPI_DEVTYPE_MajorType_Msk (0xFUL << TPI_DEVTYPE_MajorType_Pos) /*!< TPI DEVTYPE: MajorType Mask */ - -/*@}*/ /* end of group CMSIS_TPI */ - - -#if defined (__MPU_PRESENT) && (__MPU_PRESENT == 1U) -/** - \ingroup CMSIS_core_register - \defgroup CMSIS_MPU Memory Protection Unit (MPU) - \brief Type definitions for the Memory Protection Unit (MPU) - @{ - */ - -/** - \brief Structure type to access the Memory Protection Unit (MPU). - */ -typedef struct -{ - __IM uint32_t TYPE; /*!< Offset: 0x000 (R/ ) MPU Type Register */ - __IOM uint32_t CTRL; /*!< Offset: 0x004 (R/W) MPU Control Register */ - __IOM uint32_t RNR; /*!< Offset: 0x008 (R/W) MPU Region RNRber Register */ - __IOM uint32_t RBAR; /*!< Offset: 0x00C (R/W) MPU Region Base Address Register */ - __IOM uint32_t RASR; /*!< Offset: 0x010 (R/W) MPU Region Attribute and Size Register */ - __IOM uint32_t RBAR_A1; /*!< Offset: 0x014 (R/W) MPU Alias 1 Region Base Address Register */ - __IOM uint32_t RASR_A1; /*!< Offset: 0x018 (R/W) MPU Alias 1 Region Attribute and Size Register */ - __IOM uint32_t RBAR_A2; /*!< Offset: 0x01C (R/W) MPU Alias 2 Region Base Address Register */ - __IOM uint32_t RASR_A2; /*!< Offset: 0x020 (R/W) MPU Alias 2 Region Attribute and Size Register */ - __IOM uint32_t RBAR_A3; /*!< Offset: 0x024 (R/W) MPU Alias 3 Region Base Address Register */ - __IOM uint32_t RASR_A3; /*!< Offset: 0x028 (R/W) MPU Alias 3 Region Attribute and Size Register */ -} MPU_Type; - -#define MPU_TYPE_RALIASES 4U - -/* MPU Type Register Definitions */ -#define MPU_TYPE_IREGION_Pos 16U /*!< MPU TYPE: IREGION Position */ -#define MPU_TYPE_IREGION_Msk (0xFFUL << MPU_TYPE_IREGION_Pos) /*!< MPU TYPE: IREGION Mask */ - -#define MPU_TYPE_DREGION_Pos 8U /*!< MPU TYPE: DREGION Position */ -#define MPU_TYPE_DREGION_Msk (0xFFUL << MPU_TYPE_DREGION_Pos) /*!< MPU TYPE: DREGION Mask */ - -#define MPU_TYPE_SEPARATE_Pos 0U /*!< MPU TYPE: SEPARATE Position */ -#define MPU_TYPE_SEPARATE_Msk (1UL /*<< MPU_TYPE_SEPARATE_Pos*/) /*!< MPU TYPE: SEPARATE Mask */ - -/* MPU Control Register Definitions */ -#define MPU_CTRL_PRIVDEFENA_Pos 2U /*!< MPU CTRL: PRIVDEFENA Position */ -#define MPU_CTRL_PRIVDEFENA_Msk (1UL << MPU_CTRL_PRIVDEFENA_Pos) /*!< MPU CTRL: PRIVDEFENA Mask */ - -#define MPU_CTRL_HFNMIENA_Pos 1U /*!< MPU CTRL: HFNMIENA Position */ -#define MPU_CTRL_HFNMIENA_Msk (1UL << MPU_CTRL_HFNMIENA_Pos) /*!< MPU CTRL: HFNMIENA Mask */ - -#define MPU_CTRL_ENABLE_Pos 0U /*!< MPU CTRL: ENABLE Position */ -#define MPU_CTRL_ENABLE_Msk (1UL /*<< MPU_CTRL_ENABLE_Pos*/) /*!< MPU CTRL: ENABLE Mask */ - -/* MPU Region Number Register Definitions */ -#define MPU_RNR_REGION_Pos 0U /*!< MPU RNR: REGION Position */ -#define MPU_RNR_REGION_Msk (0xFFUL /*<< MPU_RNR_REGION_Pos*/) /*!< MPU RNR: REGION Mask */ - -/* MPU Region Base Address Register Definitions */ -#define MPU_RBAR_ADDR_Pos 5U /*!< MPU RBAR: ADDR Position */ -#define MPU_RBAR_ADDR_Msk (0x7FFFFFFUL << MPU_RBAR_ADDR_Pos) /*!< MPU RBAR: ADDR Mask */ - -#define MPU_RBAR_VALID_Pos 4U /*!< MPU RBAR: VALID Position */ -#define MPU_RBAR_VALID_Msk (1UL << MPU_RBAR_VALID_Pos) /*!< MPU RBAR: VALID Mask */ - -#define MPU_RBAR_REGION_Pos 0U /*!< MPU RBAR: REGION Position */ -#define MPU_RBAR_REGION_Msk (0xFUL /*<< MPU_RBAR_REGION_Pos*/) /*!< MPU RBAR: REGION Mask */ - -/* MPU Region Attribute and Size Register Definitions */ -#define MPU_RASR_ATTRS_Pos 16U /*!< MPU RASR: MPU Region Attribute field Position */ -#define MPU_RASR_ATTRS_Msk (0xFFFFUL << MPU_RASR_ATTRS_Pos) /*!< MPU RASR: MPU Region Attribute field Mask */ - -#define MPU_RASR_XN_Pos 28U /*!< MPU RASR: ATTRS.XN Position */ -#define MPU_RASR_XN_Msk (1UL << MPU_RASR_XN_Pos) /*!< MPU RASR: ATTRS.XN Mask */ - -#define MPU_RASR_AP_Pos 24U /*!< MPU RASR: ATTRS.AP Position */ -#define MPU_RASR_AP_Msk (0x7UL << MPU_RASR_AP_Pos) /*!< MPU RASR: ATTRS.AP Mask */ - -#define MPU_RASR_TEX_Pos 19U /*!< MPU RASR: ATTRS.TEX Position */ -#define MPU_RASR_TEX_Msk (0x7UL << MPU_RASR_TEX_Pos) /*!< MPU RASR: ATTRS.TEX Mask */ - -#define MPU_RASR_S_Pos 18U /*!< MPU RASR: ATTRS.S Position */ -#define MPU_RASR_S_Msk (1UL << MPU_RASR_S_Pos) /*!< MPU RASR: ATTRS.S Mask */ - -#define MPU_RASR_C_Pos 17U /*!< MPU RASR: ATTRS.C Position */ -#define MPU_RASR_C_Msk (1UL << MPU_RASR_C_Pos) /*!< MPU RASR: ATTRS.C Mask */ - -#define MPU_RASR_B_Pos 16U /*!< MPU RASR: ATTRS.B Position */ -#define MPU_RASR_B_Msk (1UL << MPU_RASR_B_Pos) /*!< MPU RASR: ATTRS.B Mask */ - -#define MPU_RASR_SRD_Pos 8U /*!< MPU RASR: Sub-Region Disable Position */ -#define MPU_RASR_SRD_Msk (0xFFUL << MPU_RASR_SRD_Pos) /*!< MPU RASR: Sub-Region Disable Mask */ - -#define MPU_RASR_SIZE_Pos 1U /*!< MPU RASR: Region Size Field Position */ -#define MPU_RASR_SIZE_Msk (0x1FUL << MPU_RASR_SIZE_Pos) /*!< MPU RASR: Region Size Field Mask */ - -#define MPU_RASR_ENABLE_Pos 0U /*!< MPU RASR: Region enable bit Position */ -#define MPU_RASR_ENABLE_Msk (1UL /*<< MPU_RASR_ENABLE_Pos*/) /*!< MPU RASR: Region enable bit Disable Mask */ - -/*@} end of group CMSIS_MPU */ -#endif /* defined (__MPU_PRESENT) && (__MPU_PRESENT == 1U) */ - - -/** - \ingroup CMSIS_core_register - \defgroup CMSIS_FPU Floating Point Unit (FPU) - \brief Type definitions for the Floating Point Unit (FPU) - @{ - */ - -/** - \brief Structure type to access the Floating Point Unit (FPU). - */ -typedef struct -{ - uint32_t RESERVED0[1U]; - __IOM uint32_t FPCCR; /*!< Offset: 0x004 (R/W) Floating-Point Context Control Register */ - __IOM uint32_t FPCAR; /*!< Offset: 0x008 (R/W) Floating-Point Context Address Register */ - __IOM uint32_t FPDSCR; /*!< Offset: 0x00C (R/W) Floating-Point Default Status Control Register */ - __IM uint32_t MVFR0; /*!< Offset: 0x010 (R/ ) Media and FP Feature Register 0 */ - __IM uint32_t MVFR1; /*!< Offset: 0x014 (R/ ) Media and FP Feature Register 1 */ -} FPU_Type; - -/* Floating-Point Context Control Register Definitions */ -#define FPU_FPCCR_ASPEN_Pos 31U /*!< FPCCR: ASPEN bit Position */ -#define FPU_FPCCR_ASPEN_Msk (1UL << FPU_FPCCR_ASPEN_Pos) /*!< FPCCR: ASPEN bit Mask */ - -#define FPU_FPCCR_LSPEN_Pos 30U /*!< FPCCR: LSPEN Position */ -#define FPU_FPCCR_LSPEN_Msk (1UL << FPU_FPCCR_LSPEN_Pos) /*!< FPCCR: LSPEN bit Mask */ - -#define FPU_FPCCR_MONRDY_Pos 8U /*!< FPCCR: MONRDY Position */ -#define FPU_FPCCR_MONRDY_Msk (1UL << FPU_FPCCR_MONRDY_Pos) /*!< FPCCR: MONRDY bit Mask */ - -#define FPU_FPCCR_BFRDY_Pos 6U /*!< FPCCR: BFRDY Position */ -#define FPU_FPCCR_BFRDY_Msk (1UL << FPU_FPCCR_BFRDY_Pos) /*!< FPCCR: BFRDY bit Mask */ - -#define FPU_FPCCR_MMRDY_Pos 5U /*!< FPCCR: MMRDY Position */ -#define FPU_FPCCR_MMRDY_Msk (1UL << FPU_FPCCR_MMRDY_Pos) /*!< FPCCR: MMRDY bit Mask */ - -#define FPU_FPCCR_HFRDY_Pos 4U /*!< FPCCR: HFRDY Position */ -#define FPU_FPCCR_HFRDY_Msk (1UL << FPU_FPCCR_HFRDY_Pos) /*!< FPCCR: HFRDY bit Mask */ - -#define FPU_FPCCR_THREAD_Pos 3U /*!< FPCCR: processor mode bit Position */ -#define FPU_FPCCR_THREAD_Msk (1UL << FPU_FPCCR_THREAD_Pos) /*!< FPCCR: processor mode active bit Mask */ - -#define FPU_FPCCR_USER_Pos 1U /*!< FPCCR: privilege level bit Position */ -#define FPU_FPCCR_USER_Msk (1UL << FPU_FPCCR_USER_Pos) /*!< FPCCR: privilege level bit Mask */ - -#define FPU_FPCCR_LSPACT_Pos 0U /*!< FPCCR: Lazy state preservation active bit Position */ -#define FPU_FPCCR_LSPACT_Msk (1UL /*<< FPU_FPCCR_LSPACT_Pos*/) /*!< FPCCR: Lazy state preservation active bit Mask */ - -/* Floating-Point Context Address Register Definitions */ -#define FPU_FPCAR_ADDRESS_Pos 3U /*!< FPCAR: ADDRESS bit Position */ -#define FPU_FPCAR_ADDRESS_Msk (0x1FFFFFFFUL << FPU_FPCAR_ADDRESS_Pos) /*!< FPCAR: ADDRESS bit Mask */ - -/* Floating-Point Default Status Control Register Definitions */ -#define FPU_FPDSCR_AHP_Pos 26U /*!< FPDSCR: AHP bit Position */ -#define FPU_FPDSCR_AHP_Msk (1UL << FPU_FPDSCR_AHP_Pos) /*!< FPDSCR: AHP bit Mask */ - -#define FPU_FPDSCR_DN_Pos 25U /*!< FPDSCR: DN bit Position */ -#define FPU_FPDSCR_DN_Msk (1UL << FPU_FPDSCR_DN_Pos) /*!< FPDSCR: DN bit Mask */ - -#define FPU_FPDSCR_FZ_Pos 24U /*!< FPDSCR: FZ bit Position */ -#define FPU_FPDSCR_FZ_Msk (1UL << FPU_FPDSCR_FZ_Pos) /*!< FPDSCR: FZ bit Mask */ - -#define FPU_FPDSCR_RMode_Pos 22U /*!< FPDSCR: RMode bit Position */ -#define FPU_FPDSCR_RMode_Msk (3UL << FPU_FPDSCR_RMode_Pos) /*!< FPDSCR: RMode bit Mask */ - -/* Media and FP Feature Register 0 Definitions */ -#define FPU_MVFR0_FP_rounding_modes_Pos 28U /*!< MVFR0: FP rounding modes bits Position */ -#define FPU_MVFR0_FP_rounding_modes_Msk (0xFUL << FPU_MVFR0_FP_rounding_modes_Pos) /*!< MVFR0: FP rounding modes bits Mask */ - -#define FPU_MVFR0_Short_vectors_Pos 24U /*!< MVFR0: Short vectors bits Position */ -#define FPU_MVFR0_Short_vectors_Msk (0xFUL << FPU_MVFR0_Short_vectors_Pos) /*!< MVFR0: Short vectors bits Mask */ - -#define FPU_MVFR0_Square_root_Pos 20U /*!< MVFR0: Square root bits Position */ -#define FPU_MVFR0_Square_root_Msk (0xFUL << FPU_MVFR0_Square_root_Pos) /*!< MVFR0: Square root bits Mask */ - -#define FPU_MVFR0_Divide_Pos 16U /*!< MVFR0: Divide bits Position */ -#define FPU_MVFR0_Divide_Msk (0xFUL << FPU_MVFR0_Divide_Pos) /*!< MVFR0: Divide bits Mask */ - -#define FPU_MVFR0_FP_excep_trapping_Pos 12U /*!< MVFR0: FP exception trapping bits Position */ -#define FPU_MVFR0_FP_excep_trapping_Msk (0xFUL << FPU_MVFR0_FP_excep_trapping_Pos) /*!< MVFR0: FP exception trapping bits Mask */ - -#define FPU_MVFR0_Double_precision_Pos 8U /*!< MVFR0: Double-precision bits Position */ -#define FPU_MVFR0_Double_precision_Msk (0xFUL << FPU_MVFR0_Double_precision_Pos) /*!< MVFR0: Double-precision bits Mask */ - -#define FPU_MVFR0_Single_precision_Pos 4U /*!< MVFR0: Single-precision bits Position */ -#define FPU_MVFR0_Single_precision_Msk (0xFUL << FPU_MVFR0_Single_precision_Pos) /*!< MVFR0: Single-precision bits Mask */ - -#define FPU_MVFR0_A_SIMD_registers_Pos 0U /*!< MVFR0: A_SIMD registers bits Position */ -#define FPU_MVFR0_A_SIMD_registers_Msk (0xFUL /*<< FPU_MVFR0_A_SIMD_registers_Pos*/) /*!< MVFR0: A_SIMD registers bits Mask */ - -/* Media and FP Feature Register 1 Definitions */ -#define FPU_MVFR1_FP_fused_MAC_Pos 28U /*!< MVFR1: FP fused MAC bits Position */ -#define FPU_MVFR1_FP_fused_MAC_Msk (0xFUL << FPU_MVFR1_FP_fused_MAC_Pos) /*!< MVFR1: FP fused MAC bits Mask */ - -#define FPU_MVFR1_FP_HPFP_Pos 24U /*!< MVFR1: FP HPFP bits Position */ -#define FPU_MVFR1_FP_HPFP_Msk (0xFUL << FPU_MVFR1_FP_HPFP_Pos) /*!< MVFR1: FP HPFP bits Mask */ - -#define FPU_MVFR1_D_NaN_mode_Pos 4U /*!< MVFR1: D_NaN mode bits Position */ -#define FPU_MVFR1_D_NaN_mode_Msk (0xFUL << FPU_MVFR1_D_NaN_mode_Pos) /*!< MVFR1: D_NaN mode bits Mask */ - -#define FPU_MVFR1_FtZ_mode_Pos 0U /*!< MVFR1: FtZ mode bits Position */ -#define FPU_MVFR1_FtZ_mode_Msk (0xFUL /*<< FPU_MVFR1_FtZ_mode_Pos*/) /*!< MVFR1: FtZ mode bits Mask */ - -/*@} end of group CMSIS_FPU */ - - -/** - \ingroup CMSIS_core_register - \defgroup CMSIS_CoreDebug Core Debug Registers (CoreDebug) - \brief Type definitions for the Core Debug Registers - @{ - */ - -/** - \brief Structure type to access the Core Debug Register (CoreDebug). - */ -typedef struct -{ - __IOM uint32_t DHCSR; /*!< Offset: 0x000 (R/W) Debug Halting Control and Status Register */ - __OM uint32_t DCRSR; /*!< Offset: 0x004 ( /W) Debug Core Register Selector Register */ - __IOM uint32_t DCRDR; /*!< Offset: 0x008 (R/W) Debug Core Register Data Register */ - __IOM uint32_t DEMCR; /*!< Offset: 0x00C (R/W) Debug Exception and Monitor Control Register */ -} CoreDebug_Type; - -/* Debug Halting Control and Status Register Definitions */ -#define CoreDebug_DHCSR_DBGKEY_Pos 16U /*!< CoreDebug DHCSR: DBGKEY Position */ -#define CoreDebug_DHCSR_DBGKEY_Msk (0xFFFFUL << CoreDebug_DHCSR_DBGKEY_Pos) /*!< CoreDebug DHCSR: DBGKEY Mask */ - -#define CoreDebug_DHCSR_S_RESET_ST_Pos 25U /*!< CoreDebug DHCSR: S_RESET_ST Position */ -#define CoreDebug_DHCSR_S_RESET_ST_Msk (1UL << CoreDebug_DHCSR_S_RESET_ST_Pos) /*!< CoreDebug DHCSR: S_RESET_ST Mask */ - -#define CoreDebug_DHCSR_S_RETIRE_ST_Pos 24U /*!< CoreDebug DHCSR: S_RETIRE_ST Position */ -#define CoreDebug_DHCSR_S_RETIRE_ST_Msk (1UL << CoreDebug_DHCSR_S_RETIRE_ST_Pos) /*!< CoreDebug DHCSR: S_RETIRE_ST Mask */ - -#define CoreDebug_DHCSR_S_LOCKUP_Pos 19U /*!< CoreDebug DHCSR: S_LOCKUP Position */ -#define CoreDebug_DHCSR_S_LOCKUP_Msk (1UL << CoreDebug_DHCSR_S_LOCKUP_Pos) /*!< CoreDebug DHCSR: S_LOCKUP Mask */ - -#define CoreDebug_DHCSR_S_SLEEP_Pos 18U /*!< CoreDebug DHCSR: S_SLEEP Position */ -#define CoreDebug_DHCSR_S_SLEEP_Msk (1UL << CoreDebug_DHCSR_S_SLEEP_Pos) /*!< CoreDebug DHCSR: S_SLEEP Mask */ - -#define CoreDebug_DHCSR_S_HALT_Pos 17U /*!< CoreDebug DHCSR: S_HALT Position */ -#define CoreDebug_DHCSR_S_HALT_Msk (1UL << CoreDebug_DHCSR_S_HALT_Pos) /*!< CoreDebug DHCSR: S_HALT Mask */ - -#define CoreDebug_DHCSR_S_REGRDY_Pos 16U /*!< CoreDebug DHCSR: S_REGRDY Position */ -#define CoreDebug_DHCSR_S_REGRDY_Msk (1UL << CoreDebug_DHCSR_S_REGRDY_Pos) /*!< CoreDebug DHCSR: S_REGRDY Mask */ - -#define CoreDebug_DHCSR_C_SNAPSTALL_Pos 5U /*!< CoreDebug DHCSR: C_SNAPSTALL Position */ -#define CoreDebug_DHCSR_C_SNAPSTALL_Msk (1UL << CoreDebug_DHCSR_C_SNAPSTALL_Pos) /*!< CoreDebug DHCSR: C_SNAPSTALL Mask */ - -#define CoreDebug_DHCSR_C_MASKINTS_Pos 3U /*!< CoreDebug DHCSR: C_MASKINTS Position */ -#define CoreDebug_DHCSR_C_MASKINTS_Msk (1UL << CoreDebug_DHCSR_C_MASKINTS_Pos) /*!< CoreDebug DHCSR: C_MASKINTS Mask */ - -#define CoreDebug_DHCSR_C_STEP_Pos 2U /*!< CoreDebug DHCSR: C_STEP Position */ -#define CoreDebug_DHCSR_C_STEP_Msk (1UL << CoreDebug_DHCSR_C_STEP_Pos) /*!< CoreDebug DHCSR: C_STEP Mask */ - -#define CoreDebug_DHCSR_C_HALT_Pos 1U /*!< CoreDebug DHCSR: C_HALT Position */ -#define CoreDebug_DHCSR_C_HALT_Msk (1UL << CoreDebug_DHCSR_C_HALT_Pos) /*!< CoreDebug DHCSR: C_HALT Mask */ - -#define CoreDebug_DHCSR_C_DEBUGEN_Pos 0U /*!< CoreDebug DHCSR: C_DEBUGEN Position */ -#define CoreDebug_DHCSR_C_DEBUGEN_Msk (1UL /*<< CoreDebug_DHCSR_C_DEBUGEN_Pos*/) /*!< CoreDebug DHCSR: C_DEBUGEN Mask */ - -/* Debug Core Register Selector Register Definitions */ -#define CoreDebug_DCRSR_REGWnR_Pos 16U /*!< CoreDebug DCRSR: REGWnR Position */ -#define CoreDebug_DCRSR_REGWnR_Msk (1UL << CoreDebug_DCRSR_REGWnR_Pos) /*!< CoreDebug DCRSR: REGWnR Mask */ - -#define CoreDebug_DCRSR_REGSEL_Pos 0U /*!< CoreDebug DCRSR: REGSEL Position */ -#define CoreDebug_DCRSR_REGSEL_Msk (0x1FUL /*<< CoreDebug_DCRSR_REGSEL_Pos*/) /*!< CoreDebug DCRSR: REGSEL Mask */ - -/* Debug Exception and Monitor Control Register Definitions */ -#define CoreDebug_DEMCR_TRCENA_Pos 24U /*!< CoreDebug DEMCR: TRCENA Position */ -#define CoreDebug_DEMCR_TRCENA_Msk (1UL << CoreDebug_DEMCR_TRCENA_Pos) /*!< CoreDebug DEMCR: TRCENA Mask */ - -#define CoreDebug_DEMCR_MON_REQ_Pos 19U /*!< CoreDebug DEMCR: MON_REQ Position */ -#define CoreDebug_DEMCR_MON_REQ_Msk (1UL << CoreDebug_DEMCR_MON_REQ_Pos) /*!< CoreDebug DEMCR: MON_REQ Mask */ - -#define CoreDebug_DEMCR_MON_STEP_Pos 18U /*!< CoreDebug DEMCR: MON_STEP Position */ -#define CoreDebug_DEMCR_MON_STEP_Msk (1UL << CoreDebug_DEMCR_MON_STEP_Pos) /*!< CoreDebug DEMCR: MON_STEP Mask */ - -#define CoreDebug_DEMCR_MON_PEND_Pos 17U /*!< CoreDebug DEMCR: MON_PEND Position */ -#define CoreDebug_DEMCR_MON_PEND_Msk (1UL << CoreDebug_DEMCR_MON_PEND_Pos) /*!< CoreDebug DEMCR: MON_PEND Mask */ - -#define CoreDebug_DEMCR_MON_EN_Pos 16U /*!< CoreDebug DEMCR: MON_EN Position */ -#define CoreDebug_DEMCR_MON_EN_Msk (1UL << CoreDebug_DEMCR_MON_EN_Pos) /*!< CoreDebug DEMCR: MON_EN Mask */ - -#define CoreDebug_DEMCR_VC_HARDERR_Pos 10U /*!< CoreDebug DEMCR: VC_HARDERR Position */ -#define CoreDebug_DEMCR_VC_HARDERR_Msk (1UL << CoreDebug_DEMCR_VC_HARDERR_Pos) /*!< CoreDebug DEMCR: VC_HARDERR Mask */ - -#define CoreDebug_DEMCR_VC_INTERR_Pos 9U /*!< CoreDebug DEMCR: VC_INTERR Position */ -#define CoreDebug_DEMCR_VC_INTERR_Msk (1UL << CoreDebug_DEMCR_VC_INTERR_Pos) /*!< CoreDebug DEMCR: VC_INTERR Mask */ - -#define CoreDebug_DEMCR_VC_BUSERR_Pos 8U /*!< CoreDebug DEMCR: VC_BUSERR Position */ -#define CoreDebug_DEMCR_VC_BUSERR_Msk (1UL << CoreDebug_DEMCR_VC_BUSERR_Pos) /*!< CoreDebug DEMCR: VC_BUSERR Mask */ - -#define CoreDebug_DEMCR_VC_STATERR_Pos 7U /*!< CoreDebug DEMCR: VC_STATERR Position */ -#define CoreDebug_DEMCR_VC_STATERR_Msk (1UL << CoreDebug_DEMCR_VC_STATERR_Pos) /*!< CoreDebug DEMCR: VC_STATERR Mask */ - -#define CoreDebug_DEMCR_VC_CHKERR_Pos 6U /*!< CoreDebug DEMCR: VC_CHKERR Position */ -#define CoreDebug_DEMCR_VC_CHKERR_Msk (1UL << CoreDebug_DEMCR_VC_CHKERR_Pos) /*!< CoreDebug DEMCR: VC_CHKERR Mask */ - -#define CoreDebug_DEMCR_VC_NOCPERR_Pos 5U /*!< CoreDebug DEMCR: VC_NOCPERR Position */ -#define CoreDebug_DEMCR_VC_NOCPERR_Msk (1UL << CoreDebug_DEMCR_VC_NOCPERR_Pos) /*!< CoreDebug DEMCR: VC_NOCPERR Mask */ - -#define CoreDebug_DEMCR_VC_MMERR_Pos 4U /*!< CoreDebug DEMCR: VC_MMERR Position */ -#define CoreDebug_DEMCR_VC_MMERR_Msk (1UL << CoreDebug_DEMCR_VC_MMERR_Pos) /*!< CoreDebug DEMCR: VC_MMERR Mask */ - -#define CoreDebug_DEMCR_VC_CORERESET_Pos 0U /*!< CoreDebug DEMCR: VC_CORERESET Position */ -#define CoreDebug_DEMCR_VC_CORERESET_Msk (1UL /*<< CoreDebug_DEMCR_VC_CORERESET_Pos*/) /*!< CoreDebug DEMCR: VC_CORERESET Mask */ - -/*@} end of group CMSIS_CoreDebug */ - - -/** - \ingroup CMSIS_core_register - \defgroup CMSIS_core_bitfield Core register bit field macros - \brief Macros for use with bit field definitions (xxx_Pos, xxx_Msk). - @{ - */ - -/** - \brief Mask and shift a bit field value for use in a register bit range. - \param[in] field Name of the register bit field. - \param[in] value Value of the bit field. This parameter is interpreted as an uint32_t type. - \return Masked and shifted value. -*/ -#define _VAL2FLD(field, value) (((uint32_t)(value) << field ## _Pos) & field ## _Msk) - -/** - \brief Mask and shift a register value to extract a bit filed value. - \param[in] field Name of the register bit field. - \param[in] value Value of register. This parameter is interpreted as an uint32_t type. - \return Masked and shifted bit field value. -*/ -#define _FLD2VAL(field, value) (((uint32_t)(value) & field ## _Msk) >> field ## _Pos) - -/*@} end of group CMSIS_core_bitfield */ - - -/** - \ingroup CMSIS_core_register - \defgroup CMSIS_core_base Core Definitions - \brief Definitions for base addresses, unions, and structures. - @{ - */ - -/* Memory mapping of Core Hardware */ -#define SCS_BASE (0xE000E000UL) /*!< System Control Space Base Address */ -#define ITM_BASE (0xE0000000UL) /*!< ITM Base Address */ -#define DWT_BASE (0xE0001000UL) /*!< DWT Base Address */ -#define TPI_BASE (0xE0040000UL) /*!< TPI Base Address */ -#define CoreDebug_BASE (0xE000EDF0UL) /*!< Core Debug Base Address */ -#define SysTick_BASE (SCS_BASE + 0x0010UL) /*!< SysTick Base Address */ -#define NVIC_BASE (SCS_BASE + 0x0100UL) /*!< NVIC Base Address */ -#define SCB_BASE (SCS_BASE + 0x0D00UL) /*!< System Control Block Base Address */ - -#define SCnSCB ((SCnSCB_Type *) SCS_BASE ) /*!< System control Register not in SCB */ -#define SCB ((SCB_Type *) SCB_BASE ) /*!< SCB configuration struct */ -#define SysTick ((SysTick_Type *) SysTick_BASE ) /*!< SysTick configuration struct */ -#define NVIC ((NVIC_Type *) NVIC_BASE ) /*!< NVIC configuration struct */ -#define ITM ((ITM_Type *) ITM_BASE ) /*!< ITM configuration struct */ -#define DWT ((DWT_Type *) DWT_BASE ) /*!< DWT configuration struct */ -#define TPI ((TPI_Type *) TPI_BASE ) /*!< TPI configuration struct */ -#define CoreDebug ((CoreDebug_Type *) CoreDebug_BASE) /*!< Core Debug configuration struct */ - -#if defined (__MPU_PRESENT) && (__MPU_PRESENT == 1U) - #define MPU_BASE (SCS_BASE + 0x0D90UL) /*!< Memory Protection Unit */ - #define MPU ((MPU_Type *) MPU_BASE ) /*!< Memory Protection Unit */ -#endif - -#define FPU_BASE (SCS_BASE + 0x0F30UL) /*!< Floating Point Unit */ -#define FPU ((FPU_Type *) FPU_BASE ) /*!< Floating Point Unit */ - -/*@} */ - - - -/******************************************************************************* - * Hardware Abstraction Layer - Core Function Interface contains: - - Core NVIC Functions - - Core SysTick Functions - - Core Debug Functions - - Core Register Access Functions - ******************************************************************************/ -/** - \defgroup CMSIS_Core_FunctionInterface Functions and Instructions Reference -*/ - - - -/* ########################## NVIC functions #################################### */ -/** - \ingroup CMSIS_Core_FunctionInterface - \defgroup CMSIS_Core_NVICFunctions NVIC Functions - \brief Functions that manage interrupts and exceptions via the NVIC. - @{ - */ - -#ifdef CMSIS_NVIC_VIRTUAL - #ifndef CMSIS_NVIC_VIRTUAL_HEADER_FILE - #define CMSIS_NVIC_VIRTUAL_HEADER_FILE "cmsis_nvic_virtual.h" - #endif - #include CMSIS_NVIC_VIRTUAL_HEADER_FILE -#else - #define NVIC_SetPriorityGrouping __NVIC_SetPriorityGrouping - #define NVIC_GetPriorityGrouping __NVIC_GetPriorityGrouping - #define NVIC_EnableIRQ __NVIC_EnableIRQ - #define NVIC_GetEnableIRQ __NVIC_GetEnableIRQ - #define NVIC_DisableIRQ __NVIC_DisableIRQ - #define NVIC_GetPendingIRQ __NVIC_GetPendingIRQ - #define NVIC_SetPendingIRQ __NVIC_SetPendingIRQ - #define NVIC_ClearPendingIRQ __NVIC_ClearPendingIRQ - #define NVIC_GetActive __NVIC_GetActive - #define NVIC_SetPriority __NVIC_SetPriority - #define NVIC_GetPriority __NVIC_GetPriority - #define NVIC_SystemReset __NVIC_SystemReset -#endif /* CMSIS_NVIC_VIRTUAL */ - -#ifdef CMSIS_VECTAB_VIRTUAL - #ifndef CMSIS_VECTAB_VIRTUAL_HEADER_FILE - #define CMSIS_VECTAB_VIRTUAL_HEADER_FILE "cmsis_vectab_virtual.h" - #endif - #include CMSIS_VECTAB_VIRTUAL_HEADER_FILE -#else - #define NVIC_SetVector __NVIC_SetVector - #define NVIC_GetVector __NVIC_GetVector -#endif /* (CMSIS_VECTAB_VIRTUAL) */ - -#define NVIC_USER_IRQ_OFFSET 16 - - -/* The following EXC_RETURN values are saved the LR on exception entry */ -#define EXC_RETURN_HANDLER (0xFFFFFFF1UL) /* return to Handler mode, uses MSP after return */ -#define EXC_RETURN_THREAD_MSP (0xFFFFFFF9UL) /* return to Thread mode, uses MSP after return */ -#define EXC_RETURN_THREAD_PSP (0xFFFFFFFDUL) /* return to Thread mode, uses PSP after return */ -#define EXC_RETURN_HANDLER_FPU (0xFFFFFFE1UL) /* return to Handler mode, uses MSP after return, restore floating-point state */ -#define EXC_RETURN_THREAD_MSP_FPU (0xFFFFFFE9UL) /* return to Thread mode, uses MSP after return, restore floating-point state */ -#define EXC_RETURN_THREAD_PSP_FPU (0xFFFFFFEDUL) /* return to Thread mode, uses PSP after return, restore floating-point state */ - - -/** - \brief Set Priority Grouping - \details Sets the priority grouping field using the required unlock sequence. - The parameter PriorityGroup is assigned to the field SCB->AIRCR [10:8] PRIGROUP field. - Only values from 0..7 are used. - In case of a conflict between priority grouping and available - priority bits (__NVIC_PRIO_BITS), the smallest possible priority group is set. - \param [in] PriorityGroup Priority grouping field. - */ -__STATIC_INLINE void __NVIC_SetPriorityGrouping(uint32_t PriorityGroup) -{ - uint32_t reg_value; - uint32_t PriorityGroupTmp = (PriorityGroup & (uint32_t)0x07UL); /* only values 0..7 are used */ - - reg_value = SCB->AIRCR; /* read old register configuration */ - reg_value &= ~((uint32_t)(SCB_AIRCR_VECTKEY_Msk | SCB_AIRCR_PRIGROUP_Msk)); /* clear bits to change */ - reg_value = (reg_value | - ((uint32_t)0x5FAUL << SCB_AIRCR_VECTKEY_Pos) | - (PriorityGroupTmp << SCB_AIRCR_PRIGROUP_Pos) ); /* Insert write key and priority group */ - SCB->AIRCR = reg_value; -} - - -/** - \brief Get Priority Grouping - \details Reads the priority grouping field from the NVIC Interrupt Controller. - \return Priority grouping field (SCB->AIRCR [10:8] PRIGROUP field). - */ -__STATIC_INLINE uint32_t __NVIC_GetPriorityGrouping(void) -{ - return ((uint32_t)((SCB->AIRCR & SCB_AIRCR_PRIGROUP_Msk) >> SCB_AIRCR_PRIGROUP_Pos)); -} - - -/** - \brief Enable Interrupt - \details Enables a device specific interrupt in the NVIC interrupt controller. - \param [in] IRQn Device specific interrupt number. - \note IRQn must not be negative. - */ -__STATIC_INLINE void __NVIC_EnableIRQ(IRQn_Type IRQn) -{ - if ((int32_t)(IRQn) >= 0) - { - NVIC->ISER[(((uint32_t)IRQn) >> 5UL)] = (uint32_t)(1UL << (((uint32_t)IRQn) & 0x1FUL)); - } -} - - -/** - \brief Get Interrupt Enable status - \details Returns a device specific interrupt enable status from the NVIC interrupt controller. - \param [in] IRQn Device specific interrupt number. - \return 0 Interrupt is not enabled. - \return 1 Interrupt is enabled. - \note IRQn must not be negative. - */ -__STATIC_INLINE uint32_t __NVIC_GetEnableIRQ(IRQn_Type IRQn) -{ - if ((int32_t)(IRQn) >= 0) - { - return((uint32_t)(((NVIC->ISER[(((uint32_t)IRQn) >> 5UL)] & (1UL << (((uint32_t)IRQn) & 0x1FUL))) != 0UL) ? 1UL : 0UL)); - } - else - { - return(0U); - } -} - - -/** - \brief Disable Interrupt - \details Disables a device specific interrupt in the NVIC interrupt controller. - \param [in] IRQn Device specific interrupt number. - \note IRQn must not be negative. - */ -__STATIC_INLINE void __NVIC_DisableIRQ(IRQn_Type IRQn) -{ - if ((int32_t)(IRQn) >= 0) - { - NVIC->ICER[(((uint32_t)IRQn) >> 5UL)] = (uint32_t)(1UL << (((uint32_t)IRQn) & 0x1FUL)); - __DSB(); - __ISB(); - } -} - - -/** - \brief Get Pending Interrupt - \details Reads the NVIC pending register and returns the pending bit for the specified device specific interrupt. - \param [in] IRQn Device specific interrupt number. - \return 0 Interrupt status is not pending. - \return 1 Interrupt status is pending. - \note IRQn must not be negative. - */ -__STATIC_INLINE uint32_t __NVIC_GetPendingIRQ(IRQn_Type IRQn) -{ - if ((int32_t)(IRQn) >= 0) - { - return((uint32_t)(((NVIC->ISPR[(((uint32_t)IRQn) >> 5UL)] & (1UL << (((uint32_t)IRQn) & 0x1FUL))) != 0UL) ? 1UL : 0UL)); - } - else - { - return(0U); - } -} - - -/** - \brief Set Pending Interrupt - \details Sets the pending bit of a device specific interrupt in the NVIC pending register. - \param [in] IRQn Device specific interrupt number. - \note IRQn must not be negative. - */ -__STATIC_INLINE void __NVIC_SetPendingIRQ(IRQn_Type IRQn) -{ - if ((int32_t)(IRQn) >= 0) - { - NVIC->ISPR[(((uint32_t)IRQn) >> 5UL)] = (uint32_t)(1UL << (((uint32_t)IRQn) & 0x1FUL)); - } -} - - -/** - \brief Clear Pending Interrupt - \details Clears the pending bit of a device specific interrupt in the NVIC pending register. - \param [in] IRQn Device specific interrupt number. - \note IRQn must not be negative. - */ -__STATIC_INLINE void __NVIC_ClearPendingIRQ(IRQn_Type IRQn) -{ - if ((int32_t)(IRQn) >= 0) - { - NVIC->ICPR[(((uint32_t)IRQn) >> 5UL)] = (uint32_t)(1UL << (((uint32_t)IRQn) & 0x1FUL)); - } -} - - -/** - \brief Get Active Interrupt - \details Reads the active register in the NVIC and returns the active bit for the device specific interrupt. - \param [in] IRQn Device specific interrupt number. - \return 0 Interrupt status is not active. - \return 1 Interrupt status is active. - \note IRQn must not be negative. - */ -__STATIC_INLINE uint32_t __NVIC_GetActive(IRQn_Type IRQn) -{ - if ((int32_t)(IRQn) >= 0) - { - return((uint32_t)(((NVIC->IABR[(((uint32_t)IRQn) >> 5UL)] & (1UL << (((uint32_t)IRQn) & 0x1FUL))) != 0UL) ? 1UL : 0UL)); - } - else - { - return(0U); - } -} - - -/** - \brief Set Interrupt Priority - \details Sets the priority of a device specific interrupt or a processor exception. - The interrupt number can be positive to specify a device specific interrupt, - or negative to specify a processor exception. - \param [in] IRQn Interrupt number. - \param [in] priority Priority to set. - \note The priority cannot be set for every processor exception. - */ -__STATIC_INLINE void __NVIC_SetPriority(IRQn_Type IRQn, uint32_t priority) -{ - if ((int32_t)(IRQn) >= 0) - { - NVIC->IP[((uint32_t)IRQn)] = (uint8_t)((priority << (8U - __NVIC_PRIO_BITS)) & (uint32_t)0xFFUL); - } - else - { - SCB->SHP[(((uint32_t)IRQn) & 0xFUL)-4UL] = (uint8_t)((priority << (8U - __NVIC_PRIO_BITS)) & (uint32_t)0xFFUL); - } -} - - -/** - \brief Get Interrupt Priority - \details Reads the priority of a device specific interrupt or a processor exception. - The interrupt number can be positive to specify a device specific interrupt, - or negative to specify a processor exception. - \param [in] IRQn Interrupt number. - \return Interrupt Priority. - Value is aligned automatically to the implemented priority bits of the microcontroller. - */ -__STATIC_INLINE uint32_t __NVIC_GetPriority(IRQn_Type IRQn) -{ - - if ((int32_t)(IRQn) >= 0) - { - return(((uint32_t)NVIC->IP[((uint32_t)IRQn)] >> (8U - __NVIC_PRIO_BITS))); - } - else - { - return(((uint32_t)SCB->SHP[(((uint32_t)IRQn) & 0xFUL)-4UL] >> (8U - __NVIC_PRIO_BITS))); - } -} - - -/** - \brief Encode Priority - \details Encodes the priority for an interrupt with the given priority group, - preemptive priority value, and subpriority value. - In case of a conflict between priority grouping and available - priority bits (__NVIC_PRIO_BITS), the smallest possible priority group is set. - \param [in] PriorityGroup Used priority group. - \param [in] PreemptPriority Preemptive priority value (starting from 0). - \param [in] SubPriority Subpriority value (starting from 0). - \return Encoded priority. Value can be used in the function \ref NVIC_SetPriority(). - */ -__STATIC_INLINE uint32_t NVIC_EncodePriority (uint32_t PriorityGroup, uint32_t PreemptPriority, uint32_t SubPriority) -{ - uint32_t PriorityGroupTmp = (PriorityGroup & (uint32_t)0x07UL); /* only values 0..7 are used */ - uint32_t PreemptPriorityBits; - uint32_t SubPriorityBits; - - PreemptPriorityBits = ((7UL - PriorityGroupTmp) > (uint32_t)(__NVIC_PRIO_BITS)) ? (uint32_t)(__NVIC_PRIO_BITS) : (uint32_t)(7UL - PriorityGroupTmp); - SubPriorityBits = ((PriorityGroupTmp + (uint32_t)(__NVIC_PRIO_BITS)) < (uint32_t)7UL) ? (uint32_t)0UL : (uint32_t)((PriorityGroupTmp - 7UL) + (uint32_t)(__NVIC_PRIO_BITS)); - - return ( - ((PreemptPriority & (uint32_t)((1UL << (PreemptPriorityBits)) - 1UL)) << SubPriorityBits) | - ((SubPriority & (uint32_t)((1UL << (SubPriorityBits )) - 1UL))) - ); -} - - -/** - \brief Decode Priority - \details Decodes an interrupt priority value with a given priority group to - preemptive priority value and subpriority value. - In case of a conflict between priority grouping and available - priority bits (__NVIC_PRIO_BITS) the smallest possible priority group is set. - \param [in] Priority Priority value, which can be retrieved with the function \ref NVIC_GetPriority(). - \param [in] PriorityGroup Used priority group. - \param [out] pPreemptPriority Preemptive priority value (starting from 0). - \param [out] pSubPriority Subpriority value (starting from 0). - */ -__STATIC_INLINE void NVIC_DecodePriority (uint32_t Priority, uint32_t PriorityGroup, uint32_t* const pPreemptPriority, uint32_t* const pSubPriority) -{ - uint32_t PriorityGroupTmp = (PriorityGroup & (uint32_t)0x07UL); /* only values 0..7 are used */ - uint32_t PreemptPriorityBits; - uint32_t SubPriorityBits; - - PreemptPriorityBits = ((7UL - PriorityGroupTmp) > (uint32_t)(__NVIC_PRIO_BITS)) ? (uint32_t)(__NVIC_PRIO_BITS) : (uint32_t)(7UL - PriorityGroupTmp); - SubPriorityBits = ((PriorityGroupTmp + (uint32_t)(__NVIC_PRIO_BITS)) < (uint32_t)7UL) ? (uint32_t)0UL : (uint32_t)((PriorityGroupTmp - 7UL) + (uint32_t)(__NVIC_PRIO_BITS)); - - *pPreemptPriority = (Priority >> SubPriorityBits) & (uint32_t)((1UL << (PreemptPriorityBits)) - 1UL); - *pSubPriority = (Priority ) & (uint32_t)((1UL << (SubPriorityBits )) - 1UL); -} - - -/** - \brief Set Interrupt Vector - \details Sets an interrupt vector in SRAM based interrupt vector table. - The interrupt number can be positive to specify a device specific interrupt, - or negative to specify a processor exception. - VTOR must been relocated to SRAM before. - \param [in] IRQn Interrupt number - \param [in] vector Address of interrupt handler function - */ -__STATIC_INLINE void __NVIC_SetVector(IRQn_Type IRQn, uint32_t vector) -{ - uint32_t *vectors = (uint32_t *)SCB->VTOR; - vectors[(int32_t)IRQn + NVIC_USER_IRQ_OFFSET] = vector; -} - - -/** - \brief Get Interrupt Vector - \details Reads an interrupt vector from interrupt vector table. - The interrupt number can be positive to specify a device specific interrupt, - or negative to specify a processor exception. - \param [in] IRQn Interrupt number. - \return Address of interrupt handler function - */ -__STATIC_INLINE uint32_t __NVIC_GetVector(IRQn_Type IRQn) -{ - uint32_t *vectors = (uint32_t *)SCB->VTOR; - return vectors[(int32_t)IRQn + NVIC_USER_IRQ_OFFSET]; -} - - -/** - \brief System Reset - \details Initiates a system reset request to reset the MCU. - */ -__NO_RETURN __STATIC_INLINE void __NVIC_SystemReset(void) -{ - __DSB(); /* Ensure all outstanding memory accesses included - buffered write are completed before reset */ - SCB->AIRCR = (uint32_t)((0x5FAUL << SCB_AIRCR_VECTKEY_Pos) | - (SCB->AIRCR & SCB_AIRCR_PRIGROUP_Msk) | - SCB_AIRCR_SYSRESETREQ_Msk ); /* Keep priority group unchanged */ - __DSB(); /* Ensure completion of memory access */ - - for(;;) /* wait until reset */ - { - __NOP(); - } -} - -/*@} end of CMSIS_Core_NVICFunctions */ - -/* ########################## MPU functions #################################### */ - -#if defined (__MPU_PRESENT) && (__MPU_PRESENT == 1U) - -#include "mpu_armv7.h" - -#endif - - -/* ########################## FPU functions #################################### */ -/** - \ingroup CMSIS_Core_FunctionInterface - \defgroup CMSIS_Core_FpuFunctions FPU Functions - \brief Function that provides FPU type. - @{ - */ - -/** - \brief get FPU type - \details returns the FPU type - \returns - - \b 0: No FPU - - \b 1: Single precision FPU - - \b 2: Double + Single precision FPU - */ -__STATIC_INLINE uint32_t SCB_GetFPUType(void) -{ - uint32_t mvfr0; - - mvfr0 = FPU->MVFR0; - if ((mvfr0 & (FPU_MVFR0_Single_precision_Msk | FPU_MVFR0_Double_precision_Msk)) == 0x020U) - { - return 1U; /* Single precision FPU */ - } - else - { - return 0U; /* No FPU */ - } -} - - -/*@} end of CMSIS_Core_FpuFunctions */ - - - -/* ################################## SysTick function ############################################ */ -/** - \ingroup CMSIS_Core_FunctionInterface - \defgroup CMSIS_Core_SysTickFunctions SysTick Functions - \brief Functions that configure the System. - @{ - */ - -#if defined (__Vendor_SysTickConfig) && (__Vendor_SysTickConfig == 0U) - -/** - \brief System Tick Configuration - \details Initializes the System Timer and its interrupt, and starts the System Tick Timer. - Counter is in free running mode to generate periodic interrupts. - \param [in] ticks Number of ticks between two interrupts. - \return 0 Function succeeded. - \return 1 Function failed. - \note When the variable __Vendor_SysTickConfig is set to 1, then the - function SysTick_Config is not included. In this case, the file device.h - must contain a vendor-specific implementation of this function. - */ -__STATIC_INLINE uint32_t SysTick_Config(uint32_t ticks) -{ - if ((ticks - 1UL) > SysTick_LOAD_RELOAD_Msk) - { - return (1UL); /* Reload value impossible */ - } - - SysTick->LOAD = (uint32_t)(ticks - 1UL); /* set reload register */ - NVIC_SetPriority (SysTick_IRQn, (1UL << __NVIC_PRIO_BITS) - 1UL); /* set Priority for Systick Interrupt */ - SysTick->VAL = 0UL; /* Load the SysTick Counter Value */ - SysTick->CTRL = SysTick_CTRL_CLKSOURCE_Msk | - SysTick_CTRL_TICKINT_Msk | - SysTick_CTRL_ENABLE_Msk; /* Enable SysTick IRQ and SysTick Timer */ - return (0UL); /* Function successful */ -} - -#endif - -/*@} end of CMSIS_Core_SysTickFunctions */ - - - -/* ##################################### Debug In/Output function ########################################### */ -/** - \ingroup CMSIS_Core_FunctionInterface - \defgroup CMSIS_core_DebugFunctions ITM Functions - \brief Functions that access the ITM debug interface. - @{ - */ - -extern volatile int32_t ITM_RxBuffer; /*!< External variable to receive characters. */ -#define ITM_RXBUFFER_EMPTY ((int32_t)0x5AA55AA5U) /*!< Value identifying \ref ITM_RxBuffer is ready for next character. */ - - -/** - \brief ITM Send Character - \details Transmits a character via the ITM channel 0, and - \li Just returns when no debugger is connected that has booked the output. - \li Is blocking when a debugger is connected, but the previous character sent has not been transmitted. - \param [in] ch Character to transmit. - \returns Character to transmit. - */ -__STATIC_INLINE uint32_t ITM_SendChar (uint32_t ch) -{ - if (((ITM->TCR & ITM_TCR_ITMENA_Msk) != 0UL) && /* ITM enabled */ - ((ITM->TER & 1UL ) != 0UL) ) /* ITM Port #0 enabled */ - { - while (ITM->PORT[0U].u32 == 0UL) - { - __NOP(); - } - ITM->PORT[0U].u8 = (uint8_t)ch; - } - return (ch); -} - - -/** - \brief ITM Receive Character - \details Inputs a character via the external variable \ref ITM_RxBuffer. - \return Received character. - \return -1 No character pending. - */ -__STATIC_INLINE int32_t ITM_ReceiveChar (void) -{ - int32_t ch = -1; /* no character available */ - - if (ITM_RxBuffer != ITM_RXBUFFER_EMPTY) - { - ch = ITM_RxBuffer; - ITM_RxBuffer = ITM_RXBUFFER_EMPTY; /* ready for next character */ - } - - return (ch); -} - - -/** - \brief ITM Check Character - \details Checks whether a character is pending for reading in the variable \ref ITM_RxBuffer. - \return 0 No character available. - \return 1 Character available. - */ -__STATIC_INLINE int32_t ITM_CheckChar (void) -{ - - if (ITM_RxBuffer == ITM_RXBUFFER_EMPTY) - { - return (0); /* no character available */ - } - else - { - return (1); /* character available */ - } -} - -/*@} end of CMSIS_core_DebugFunctions */ - - - - -#ifdef __cplusplus -} -#endif - -#endif /* __CORE_CM4_H_DEPENDANT */ - -#endif /* __CMSIS_GENERIC */ diff --git a/body/board/inc/core_cmFunc.h b/body/board/inc/core_cmFunc.h deleted file mode 100644 index 652a48af07a93d..00000000000000 --- a/body/board/inc/core_cmFunc.h +++ /dev/null @@ -1,87 +0,0 @@ -/**************************************************************************//** - * @file core_cmFunc.h - * @brief CMSIS Cortex-M Core Function Access Header File - * @version V4.30 - * @date 20. October 2015 - ******************************************************************************/ -/* Copyright (c) 2009 - 2015 ARM LIMITED - - All rights reserved. - Redistribution and use in source and binary forms, with or without - modification, are permitted provided that the following conditions are met: - - Redistributions of source code must retain the above copyright - notice, this list of conditions and the following disclaimer. - - Redistributions in binary form must reproduce the above copyright - notice, this list of conditions and the following disclaimer in the - documentation and/or other materials provided with the distribution. - - Neither the name of ARM nor the names of its contributors may be used - to endorse or promote products derived from this software without - specific prior written permission. - * - THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE - LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - POSSIBILITY OF SUCH DAMAGE. - ---------------------------------------------------------------------------*/ - - -#if defined ( __ICCARM__ ) - #pragma system_include /* treat file as system include file for MISRA check */ -#elif defined(__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050) - #pragma clang system_header /* treat file as system include file */ -#endif - -#ifndef __CORE_CMFUNC_H -#define __CORE_CMFUNC_H - - -/* ########################### Core Function Access ########################### */ -/** \ingroup CMSIS_Core_FunctionInterface - \defgroup CMSIS_Core_RegAccFunctions CMSIS Core Register Access Functions - @{ -*/ - -/*------------------ RealView Compiler -----------------*/ -#if defined ( __CC_ARM ) - #include "cmsis_armcc.h" - -/*------------------ ARM Compiler V6 -------------------*/ -#elif defined(__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050) - #include "cmsis_armcc_V6.h" - -/*------------------ GNU Compiler ----------------------*/ -#elif defined ( __GNUC__ ) - #include "cmsis_gcc.h" - -/*------------------ ICC Compiler ----------------------*/ -#elif defined ( __ICCARM__ ) - #include - -/*------------------ TI CCS Compiler -------------------*/ -#elif defined ( __TMS470__ ) - #include - -/*------------------ TASKING Compiler ------------------*/ -#elif defined ( __TASKING__ ) - /* - * The CMSIS functions have been implemented as intrinsics in the compiler. - * Please use "carm -?i" to get an up to date list of all intrinsics, - * Including the CMSIS ones. - */ - -/*------------------ COSMIC Compiler -------------------*/ -#elif defined ( __CSMC__ ) - #include - -#endif - -/*@} end of CMSIS_Core_RegAccFunctions */ - -#endif /* __CORE_CMFUNC_H */ diff --git a/body/board/inc/core_cmInstr.h b/body/board/inc/core_cmInstr.h deleted file mode 100644 index f474b0e6f362c7..00000000000000 --- a/body/board/inc/core_cmInstr.h +++ /dev/null @@ -1,87 +0,0 @@ -/**************************************************************************//** - * @file core_cmInstr.h - * @brief CMSIS Cortex-M Core Instruction Access Header File - * @version V4.30 - * @date 20. October 2015 - ******************************************************************************/ -/* Copyright (c) 2009 - 2015 ARM LIMITED - - All rights reserved. - Redistribution and use in source and binary forms, with or without - modification, are permitted provided that the following conditions are met: - - Redistributions of source code must retain the above copyright - notice, this list of conditions and the following disclaimer. - - Redistributions in binary form must reproduce the above copyright - notice, this list of conditions and the following disclaimer in the - documentation and/or other materials provided with the distribution. - - Neither the name of ARM nor the names of its contributors may be used - to endorse or promote products derived from this software without - specific prior written permission. - * - THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE - LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - POSSIBILITY OF SUCH DAMAGE. - ---------------------------------------------------------------------------*/ - - -#if defined ( __ICCARM__ ) - #pragma system_include /* treat file as system include file for MISRA check */ -#elif defined(__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050) - #pragma clang system_header /* treat file as system include file */ -#endif - -#ifndef __CORE_CMINSTR_H -#define __CORE_CMINSTR_H - - -/* ########################## Core Instruction Access ######################### */ -/** \defgroup CMSIS_Core_InstructionInterface CMSIS Core Instruction Interface - Access to dedicated instructions - @{ -*/ - -/*------------------ RealView Compiler -----------------*/ -#if defined ( __CC_ARM ) - #include "cmsis_armcc.h" - -/*------------------ ARM Compiler V6 -------------------*/ -#elif defined(__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050) - #include "cmsis_armcc_V6.h" - -/*------------------ GNU Compiler ----------------------*/ -#elif defined ( __GNUC__ ) - #include "cmsis_gcc.h" - -/*------------------ ICC Compiler ----------------------*/ -#elif defined ( __ICCARM__ ) - #include - -/*------------------ TI CCS Compiler -------------------*/ -#elif defined ( __TMS470__ ) - #include - -/*------------------ TASKING Compiler ------------------*/ -#elif defined ( __TASKING__ ) - /* - * The CMSIS functions have been implemented as intrinsics in the compiler. - * Please use "carm -?i" to get an up to date list of all intrinsics, - * Including the CMSIS ones. - */ - -/*------------------ COSMIC Compiler -------------------*/ -#elif defined ( __CSMC__ ) - #include - -#endif - -/*@}*/ /* end of group CMSIS_Core_InstructionInterface */ - -#endif /* __CORE_CMINSTR_H */ diff --git a/body/board/inc/core_cmSimd.h b/body/board/inc/core_cmSimd.h deleted file mode 100644 index 66bf5c2a725b6d..00000000000000 --- a/body/board/inc/core_cmSimd.h +++ /dev/null @@ -1,96 +0,0 @@ -/**************************************************************************//** - * @file core_cmSimd.h - * @brief CMSIS Cortex-M SIMD Header File - * @version V4.30 - * @date 20. October 2015 - ******************************************************************************/ -/* Copyright (c) 2009 - 2015 ARM LIMITED - - All rights reserved. - Redistribution and use in source and binary forms, with or without - modification, are permitted provided that the following conditions are met: - - Redistributions of source code must retain the above copyright - notice, this list of conditions and the following disclaimer. - - Redistributions in binary form must reproduce the above copyright - notice, this list of conditions and the following disclaimer in the - documentation and/or other materials provided with the distribution. - - Neither the name of ARM nor the names of its contributors may be used - to endorse or promote products derived from this software without - specific prior written permission. - * - THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE - LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - POSSIBILITY OF SUCH DAMAGE. - ---------------------------------------------------------------------------*/ - - -#if defined ( __ICCARM__ ) - #pragma system_include /* treat file as system include file for MISRA check */ -#elif defined(__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050) - #pragma clang system_header /* treat file as system include file */ -#endif - -#ifndef __CORE_CMSIMD_H -#define __CORE_CMSIMD_H - -#ifdef __cplusplus - extern "C" { -#endif - - -/* ################### Compiler specific Intrinsics ########################### */ -/** \defgroup CMSIS_SIMD_intrinsics CMSIS SIMD Intrinsics - Access to dedicated SIMD instructions - @{ -*/ - -/*------------------ RealView Compiler -----------------*/ -#if defined ( __CC_ARM ) - #include "cmsis_armcc.h" - -/*------------------ ARM Compiler V6 -------------------*/ -#elif defined(__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050) - #include "cmsis_armcc_V6.h" - -/*------------------ GNU Compiler ----------------------*/ -#elif defined ( __GNUC__ ) - #include "cmsis_gcc.h" - -/*------------------ ICC Compiler ----------------------*/ -#elif defined ( __ICCARM__ ) - #include - -/*------------------ TI CCS Compiler -------------------*/ -#elif defined ( __TMS470__ ) - #include - -/*------------------ TASKING Compiler ------------------*/ -#elif defined ( __TASKING__ ) - /* - * The CMSIS functions have been implemented as intrinsics in the compiler. - * Please use "carm -?i" to get an up to date list of all intrinsics, - * Including the CMSIS ones. - */ - -/*------------------ COSMIC Compiler -------------------*/ -#elif defined ( __CSMC__ ) - #include - -#endif - -/*@} end of group CMSIS_SIMD_intrinsics */ - - -#ifdef __cplusplus -} -#endif - -#endif /* __CORE_CMSIMD_H */ diff --git a/body/board/inc/mpu_armv7.h b/body/board/inc/mpu_armv7.h deleted file mode 100644 index 01422033d08761..00000000000000 --- a/body/board/inc/mpu_armv7.h +++ /dev/null @@ -1,270 +0,0 @@ -/****************************************************************************** - * @file mpu_armv7.h - * @brief CMSIS MPU API for Armv7-M MPU - * @version V5.0.4 - * @date 10. January 2018 - ******************************************************************************/ -/* - * Copyright (c) 2017-2018 Arm Limited. All rights reserved. - * - * SPDX-License-Identifier: Apache-2.0 - * - * Licensed under the Apache License, Version 2.0 (the License); you may - * not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an AS IS BASIS, WITHOUT - * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - -#if defined ( __ICCARM__ ) - #pragma system_include /* treat file as system include file for MISRA check */ -#elif defined (__clang__) - #pragma clang system_header /* treat file as system include file */ -#endif - -#ifndef ARM_MPU_ARMV7_H -#define ARM_MPU_ARMV7_H - -#define ARM_MPU_REGION_SIZE_32B ((uint8_t)0x04U) ///!< MPU Region Size 32 Bytes -#define ARM_MPU_REGION_SIZE_64B ((uint8_t)0x05U) ///!< MPU Region Size 64 Bytes -#define ARM_MPU_REGION_SIZE_128B ((uint8_t)0x06U) ///!< MPU Region Size 128 Bytes -#define ARM_MPU_REGION_SIZE_256B ((uint8_t)0x07U) ///!< MPU Region Size 256 Bytes -#define ARM_MPU_REGION_SIZE_512B ((uint8_t)0x08U) ///!< MPU Region Size 512 Bytes -#define ARM_MPU_REGION_SIZE_1KB ((uint8_t)0x09U) ///!< MPU Region Size 1 KByte -#define ARM_MPU_REGION_SIZE_2KB ((uint8_t)0x0AU) ///!< MPU Region Size 2 KBytes -#define ARM_MPU_REGION_SIZE_4KB ((uint8_t)0x0BU) ///!< MPU Region Size 4 KBytes -#define ARM_MPU_REGION_SIZE_8KB ((uint8_t)0x0CU) ///!< MPU Region Size 8 KBytes -#define ARM_MPU_REGION_SIZE_16KB ((uint8_t)0x0DU) ///!< MPU Region Size 16 KBytes -#define ARM_MPU_REGION_SIZE_32KB ((uint8_t)0x0EU) ///!< MPU Region Size 32 KBytes -#define ARM_MPU_REGION_SIZE_64KB ((uint8_t)0x0FU) ///!< MPU Region Size 64 KBytes -#define ARM_MPU_REGION_SIZE_128KB ((uint8_t)0x10U) ///!< MPU Region Size 128 KBytes -#define ARM_MPU_REGION_SIZE_256KB ((uint8_t)0x11U) ///!< MPU Region Size 256 KBytes -#define ARM_MPU_REGION_SIZE_512KB ((uint8_t)0x12U) ///!< MPU Region Size 512 KBytes -#define ARM_MPU_REGION_SIZE_1MB ((uint8_t)0x13U) ///!< MPU Region Size 1 MByte -#define ARM_MPU_REGION_SIZE_2MB ((uint8_t)0x14U) ///!< MPU Region Size 2 MBytes -#define ARM_MPU_REGION_SIZE_4MB ((uint8_t)0x15U) ///!< MPU Region Size 4 MBytes -#define ARM_MPU_REGION_SIZE_8MB ((uint8_t)0x16U) ///!< MPU Region Size 8 MBytes -#define ARM_MPU_REGION_SIZE_16MB ((uint8_t)0x17U) ///!< MPU Region Size 16 MBytes -#define ARM_MPU_REGION_SIZE_32MB ((uint8_t)0x18U) ///!< MPU Region Size 32 MBytes -#define ARM_MPU_REGION_SIZE_64MB ((uint8_t)0x19U) ///!< MPU Region Size 64 MBytes -#define ARM_MPU_REGION_SIZE_128MB ((uint8_t)0x1AU) ///!< MPU Region Size 128 MBytes -#define ARM_MPU_REGION_SIZE_256MB ((uint8_t)0x1BU) ///!< MPU Region Size 256 MBytes -#define ARM_MPU_REGION_SIZE_512MB ((uint8_t)0x1CU) ///!< MPU Region Size 512 MBytes -#define ARM_MPU_REGION_SIZE_1GB ((uint8_t)0x1DU) ///!< MPU Region Size 1 GByte -#define ARM_MPU_REGION_SIZE_2GB ((uint8_t)0x1EU) ///!< MPU Region Size 2 GBytes -#define ARM_MPU_REGION_SIZE_4GB ((uint8_t)0x1FU) ///!< MPU Region Size 4 GBytes - -#define ARM_MPU_AP_NONE 0U ///!< MPU Access Permission no access -#define ARM_MPU_AP_PRIV 1U ///!< MPU Access Permission privileged access only -#define ARM_MPU_AP_URO 2U ///!< MPU Access Permission unprivileged access read-only -#define ARM_MPU_AP_FULL 3U ///!< MPU Access Permission full access -#define ARM_MPU_AP_PRO 5U ///!< MPU Access Permission privileged access read-only -#define ARM_MPU_AP_RO 6U ///!< MPU Access Permission read-only access - -/** MPU Region Base Address Register Value -* -* \param Region The region to be configured, number 0 to 15. -* \param BaseAddress The base address for the region. -*/ -#define ARM_MPU_RBAR(Region, BaseAddress) \ - (((BaseAddress) & MPU_RBAR_ADDR_Msk) | \ - ((Region) & MPU_RBAR_REGION_Msk) | \ - (MPU_RBAR_VALID_Msk)) - -/** -* MPU Memory Access Attributes -* -* \param TypeExtField Type extension field, allows you to configure memory access type, for example strongly ordered, peripheral. -* \param IsShareable Region is shareable between multiple bus masters. -* \param IsCacheable Region is cacheable, i.e. its value may be kept in cache. -* \param IsBufferable Region is bufferable, i.e. using write-back caching. Cacheable but non-bufferable regions use write-through policy. -*/ -#define ARM_MPU_ACCESS_(TypeExtField, IsShareable, IsCacheable, IsBufferable) \ - ((((TypeExtField ) << MPU_RASR_TEX_Pos) & MPU_RASR_TEX_Msk) | \ - (((IsShareable ) << MPU_RASR_S_Pos) & MPU_RASR_S_Msk) | \ - (((IsCacheable ) << MPU_RASR_C_Pos) & MPU_RASR_C_Msk) | \ - (((IsBufferable ) << MPU_RASR_B_Pos) & MPU_RASR_B_Msk)) - -/** -* MPU Region Attribute and Size Register Value -* -* \param DisableExec Instruction access disable bit, 1= disable instruction fetches. -* \param AccessPermission Data access permissions, allows you to configure read/write access for User and Privileged mode. -* \param AccessAttributes Memory access attribution, see \ref ARM_MPU_ACCESS_. -* \param SubRegionDisable Sub-region disable field. -* \param Size Region size of the region to be configured, for example 4K, 8K. -*/ -#define ARM_MPU_RASR_EX(DisableExec, AccessPermission, AccessAttributes, SubRegionDisable, Size) \ - ((((DisableExec ) << MPU_RASR_XN_Pos) & MPU_RASR_XN_Msk) | \ - (((AccessPermission) << MPU_RASR_AP_Pos) & MPU_RASR_AP_Msk) | \ - (((AccessAttributes) ) & (MPU_RASR_TEX_Msk | MPU_RASR_S_Msk | MPU_RASR_C_Msk | MPU_RASR_B_Msk))) - -/** -* MPU Region Attribute and Size Register Value -* -* \param DisableExec Instruction access disable bit, 1= disable instruction fetches. -* \param AccessPermission Data access permissions, allows you to configure read/write access for User and Privileged mode. -* \param TypeExtField Type extension field, allows you to configure memory access type, for example strongly ordered, peripheral. -* \param IsShareable Region is shareable between multiple bus masters. -* \param IsCacheable Region is cacheable, i.e. its value may be kept in cache. -* \param IsBufferable Region is bufferable, i.e. using write-back caching. Cacheable but non-bufferable regions use write-through policy. -* \param SubRegionDisable Sub-region disable field. -* \param Size Region size of the region to be configured, for example 4K, 8K. -*/ -#define ARM_MPU_RASR(DisableExec, AccessPermission, TypeExtField, IsShareable, IsCacheable, IsBufferable, SubRegionDisable, Size) \ - ARM_MPU_RASR_EX(DisableExec, AccessPermission, ARM_MPU_ACCESS_(TypeExtField, IsShareable, IsCacheable, IsBufferable), SubRegionDisable, Size) - -/** -* MPU Memory Access Attribute for strongly ordered memory. -* - TEX: 000b -* - Shareable -* - Non-cacheable -* - Non-bufferable -*/ -#define ARM_MPU_ACCESS_ORDERED ARM_MPU_ACCESS_(0U, 1U, 0U, 0U) - -/** -* MPU Memory Access Attribute for device memory. -* - TEX: 000b (if non-shareable) or 010b (if shareable) -* - Shareable or non-shareable -* - Non-cacheable -* - Bufferable (if shareable) or non-bufferable (if non-shareable) -* -* \param IsShareable Configures the device memory as shareable or non-shareable. -*/ -#define ARM_MPU_ACCESS_DEVICE(IsShareable) ((IsShareable) ? ARM_MPU_ACCESS_(0U, 1U, 0U, 1U) : ARM_MPU_ACCESS_(2U, 0U, 0U, 0U)) - -/** -* MPU Memory Access Attribute for normal memory. -* - TEX: 1BBb (reflecting outer cacheability rules) -* - Shareable or non-shareable -* - Cacheable or non-cacheable (reflecting inner cacheability rules) -* - Bufferable or non-bufferable (reflecting inner cacheability rules) -* -* \param OuterCp Configures the outer cache policy. -* \param InnerCp Configures the inner cache policy. -* \param IsShareable Configures the memory as shareable or non-shareable. -*/ -#define ARM_MPU_ACCESS_NORMAL(OuterCp, InnerCp, IsShareable) ARM_MPU_ACCESS_((4U | (OuterCp)), IsShareable, ((InnerCp) & 2U), ((InnerCp) & 1U)) - -/** -* MPU Memory Access Attribute non-cacheable policy. -*/ -#define ARM_MPU_CACHEP_NOCACHE 0U - -/** -* MPU Memory Access Attribute write-back, write and read allocate policy. -*/ -#define ARM_MPU_CACHEP_WB_WRA 1U - -/** -* MPU Memory Access Attribute write-through, no write allocate policy. -*/ -#define ARM_MPU_CACHEP_WT_NWA 2U - -/** -* MPU Memory Access Attribute write-back, no write allocate policy. -*/ -#define ARM_MPU_CACHEP_WB_NWA 3U - - -/** -* Struct for a single MPU Region -*/ -typedef struct { - uint32_t RBAR; //!< The region base address register value (RBAR) - uint32_t RASR; //!< The region attribute and size register value (RASR) \ref MPU_RASR -} ARM_MPU_Region_t; - -/** Enable the MPU. -* \param MPU_Control Default access permissions for unconfigured regions. -*/ -__STATIC_INLINE void ARM_MPU_Enable(uint32_t MPU_Control) -{ - __DSB(); - __ISB(); - MPU->CTRL = MPU_Control | MPU_CTRL_ENABLE_Msk; -#ifdef SCB_SHCSR_MEMFAULTENA_Msk - SCB->SHCSR |= SCB_SHCSR_MEMFAULTENA_Msk; -#endif -} - -/** Disable the MPU. -*/ -__STATIC_INLINE void ARM_MPU_Disable(void) -{ - __DSB(); - __ISB(); -#ifdef SCB_SHCSR_MEMFAULTENA_Msk - SCB->SHCSR &= ~SCB_SHCSR_MEMFAULTENA_Msk; -#endif - MPU->CTRL &= ~MPU_CTRL_ENABLE_Msk; -} - -/** Clear and disable the given MPU region. -* \param rnr Region number to be cleared. -*/ -__STATIC_INLINE void ARM_MPU_ClrRegion(uint32_t rnr) -{ - MPU->RNR = rnr; - MPU->RASR = 0U; -} - -/** Configure an MPU region. -* \param rbar Value for RBAR register. -* \param rsar Value for RSAR register. -*/ -__STATIC_INLINE void ARM_MPU_SetRegion(uint32_t rbar, uint32_t rasr) -{ - MPU->RBAR = rbar; - MPU->RASR = rasr; -} - -/** Configure the given MPU region. -* \param rnr Region number to be configured. -* \param rbar Value for RBAR register. -* \param rsar Value for RSAR register. -*/ -__STATIC_INLINE void ARM_MPU_SetRegionEx(uint32_t rnr, uint32_t rbar, uint32_t rasr) -{ - MPU->RNR = rnr; - MPU->RBAR = rbar; - MPU->RASR = rasr; -} - -/** Memcopy with strictly ordered memory access, e.g. for register targets. -* \param dst Destination data is copied to. -* \param src Source data is copied from. -* \param len Amount of data words to be copied. -*/ -__STATIC_INLINE void orderedCpy(volatile uint32_t* dst, const uint32_t* __RESTRICT src, uint32_t len) -{ - uint32_t i; - for (i = 0U; i < len; ++i) - { - dst[i] = src[i]; - } -} - -/** Load the given number of MPU regions from a table. -* \param table Pointer to the MPU configuration table. -* \param cnt Amount of regions to be configured. -*/ -__STATIC_INLINE void ARM_MPU_Load(ARM_MPU_Region_t const* table, uint32_t cnt) -{ - const uint32_t rowWordSize = sizeof(ARM_MPU_Region_t)/4U; - while (cnt > MPU_TYPE_RALIASES) { - orderedCpy(&(MPU->RBAR), &(table->RBAR), MPU_TYPE_RALIASES*rowWordSize); - table += MPU_TYPE_RALIASES; - cnt -= MPU_TYPE_RALIASES; - } - orderedCpy(&(MPU->RBAR), &(table->RBAR), cnt*rowWordSize); -} - -#endif diff --git a/body/board/inc/mpu_armv8.h b/body/board/inc/mpu_armv8.h deleted file mode 100644 index 62571da5b874cb..00000000000000 --- a/body/board/inc/mpu_armv8.h +++ /dev/null @@ -1,333 +0,0 @@ -/****************************************************************************** - * @file mpu_armv8.h - * @brief CMSIS MPU API for Armv8-M MPU - * @version V5.0.4 - * @date 10. January 2018 - ******************************************************************************/ -/* - * Copyright (c) 2017-2018 Arm Limited. All rights reserved. - * - * SPDX-License-Identifier: Apache-2.0 - * - * Licensed under the Apache License, Version 2.0 (the License); you may - * not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an AS IS BASIS, WITHOUT - * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - -#if defined ( __ICCARM__ ) - #pragma system_include /* treat file as system include file for MISRA check */ -#elif defined (__clang__) - #pragma clang system_header /* treat file as system include file */ -#endif - -#ifndef ARM_MPU_ARMV8_H -#define ARM_MPU_ARMV8_H - -/** \brief Attribute for device memory (outer only) */ -#define ARM_MPU_ATTR_DEVICE ( 0U ) - -/** \brief Attribute for non-cacheable, normal memory */ -#define ARM_MPU_ATTR_NON_CACHEABLE ( 4U ) - -/** \brief Attribute for normal memory (outer and inner) -* \param NT Non-Transient: Set to 1 for non-transient data. -* \param WB Write-Back: Set to 1 to use write-back update policy. -* \param RA Read Allocation: Set to 1 to use cache allocation on read miss. -* \param WA Write Allocation: Set to 1 to use cache allocation on write miss. -*/ -#define ARM_MPU_ATTR_MEMORY_(NT, WB, RA, WA) \ - (((NT & 1U) << 3U) | ((WB & 1U) << 2U) | ((RA & 1U) << 1U) | (WA & 1U)) - -/** \brief Device memory type non Gathering, non Re-ordering, non Early Write Acknowledgement */ -#define ARM_MPU_ATTR_DEVICE_nGnRnE (0U) - -/** \brief Device memory type non Gathering, non Re-ordering, Early Write Acknowledgement */ -#define ARM_MPU_ATTR_DEVICE_nGnRE (1U) - -/** \brief Device memory type non Gathering, Re-ordering, Early Write Acknowledgement */ -#define ARM_MPU_ATTR_DEVICE_nGRE (2U) - -/** \brief Device memory type Gathering, Re-ordering, Early Write Acknowledgement */ -#define ARM_MPU_ATTR_DEVICE_GRE (3U) - -/** \brief Memory Attribute -* \param O Outer memory attributes -* \param I O == ARM_MPU_ATTR_DEVICE: Device memory attributes, else: Inner memory attributes -*/ -#define ARM_MPU_ATTR(O, I) (((O & 0xFU) << 4U) | (((O & 0xFU) != 0U) ? (I & 0xFU) : ((I & 0x3U) << 2U))) - -/** \brief Normal memory non-shareable */ -#define ARM_MPU_SH_NON (0U) - -/** \brief Normal memory outer shareable */ -#define ARM_MPU_SH_OUTER (2U) - -/** \brief Normal memory inner shareable */ -#define ARM_MPU_SH_INNER (3U) - -/** \brief Memory access permissions -* \param RO Read-Only: Set to 1 for read-only memory. -* \param NP Non-Privileged: Set to 1 for non-privileged memory. -*/ -#define ARM_MPU_AP_(RO, NP) (((RO & 1U) << 1U) | (NP & 1U)) - -/** \brief Region Base Address Register value -* \param BASE The base address bits [31:5] of a memory region. The value is zero extended. Effective address gets 32 byte aligned. -* \param SH Defines the Shareability domain for this memory region. -* \param RO Read-Only: Set to 1 for a read-only memory region. -* \param NP Non-Privileged: Set to 1 for a non-privileged memory region. -* \oaram XN eXecute Never: Set to 1 for a non-executable memory region. -*/ -#define ARM_MPU_RBAR(BASE, SH, RO, NP, XN) \ - ((BASE & MPU_RBAR_BASE_Msk) | \ - ((SH << MPU_RBAR_SH_Pos) & MPU_RBAR_SH_Msk) | \ - ((ARM_MPU_AP_(RO, NP) << MPU_RBAR_AP_Pos) & MPU_RBAR_AP_Msk) | \ - ((XN << MPU_RBAR_XN_Pos) & MPU_RBAR_XN_Msk)) - -/** \brief Region Limit Address Register value -* \param LIMIT The limit address bits [31:5] for this memory region. The value is one extended. -* \param IDX The attribute index to be associated with this memory region. -*/ -#define ARM_MPU_RLAR(LIMIT, IDX) \ - ((LIMIT & MPU_RLAR_LIMIT_Msk) | \ - ((IDX << MPU_RLAR_AttrIndx_Pos) & MPU_RLAR_AttrIndx_Msk) | \ - (MPU_RLAR_EN_Msk)) - -/** -* Struct for a single MPU Region -*/ -typedef struct { - uint32_t RBAR; /*!< Region Base Address Register value */ - uint32_t RLAR; /*!< Region Limit Address Register value */ -} ARM_MPU_Region_t; - -/** Enable the MPU. -* \param MPU_Control Default access permissions for unconfigured regions. -*/ -__STATIC_INLINE void ARM_MPU_Enable(uint32_t MPU_Control) -{ - __DSB(); - __ISB(); - MPU->CTRL = MPU_Control | MPU_CTRL_ENABLE_Msk; -#ifdef SCB_SHCSR_MEMFAULTENA_Msk - SCB->SHCSR |= SCB_SHCSR_MEMFAULTENA_Msk; -#endif -} - -/** Disable the MPU. -*/ -__STATIC_INLINE void ARM_MPU_Disable(void) -{ - __DSB(); - __ISB(); -#ifdef SCB_SHCSR_MEMFAULTENA_Msk - SCB->SHCSR &= ~SCB_SHCSR_MEMFAULTENA_Msk; -#endif - MPU->CTRL &= ~MPU_CTRL_ENABLE_Msk; -} - -#ifdef MPU_NS -/** Enable the Non-secure MPU. -* \param MPU_Control Default access permissions for unconfigured regions. -*/ -__STATIC_INLINE void ARM_MPU_Enable_NS(uint32_t MPU_Control) -{ - __DSB(); - __ISB(); - MPU_NS->CTRL = MPU_Control | MPU_CTRL_ENABLE_Msk; -#ifdef SCB_SHCSR_MEMFAULTENA_Msk - SCB_NS->SHCSR |= SCB_SHCSR_MEMFAULTENA_Msk; -#endif -} - -/** Disable the Non-secure MPU. -*/ -__STATIC_INLINE void ARM_MPU_Disable_NS(void) -{ - __DSB(); - __ISB(); -#ifdef SCB_SHCSR_MEMFAULTENA_Msk - SCB_NS->SHCSR &= ~SCB_SHCSR_MEMFAULTENA_Msk; -#endif - MPU_NS->CTRL &= ~MPU_CTRL_ENABLE_Msk; -} -#endif - -/** Set the memory attribute encoding to the given MPU. -* \param mpu Pointer to the MPU to be configured. -* \param idx The attribute index to be set [0-7] -* \param attr The attribute value to be set. -*/ -__STATIC_INLINE void ARM_MPU_SetMemAttrEx(MPU_Type* mpu, uint8_t idx, uint8_t attr) -{ - const uint8_t reg = idx / 4U; - const uint32_t pos = ((idx % 4U) * 8U); - const uint32_t mask = 0xFFU << pos; - - if (reg >= (sizeof(mpu->MAIR) / sizeof(mpu->MAIR[0]))) { - return; // invalid index - } - - mpu->MAIR[reg] = ((mpu->MAIR[reg] & ~mask) | ((attr << pos) & mask)); -} - -/** Set the memory attribute encoding. -* \param idx The attribute index to be set [0-7] -* \param attr The attribute value to be set. -*/ -__STATIC_INLINE void ARM_MPU_SetMemAttr(uint8_t idx, uint8_t attr) -{ - ARM_MPU_SetMemAttrEx(MPU, idx, attr); -} - -#ifdef MPU_NS -/** Set the memory attribute encoding to the Non-secure MPU. -* \param idx The attribute index to be set [0-7] -* \param attr The attribute value to be set. -*/ -__STATIC_INLINE void ARM_MPU_SetMemAttr_NS(uint8_t idx, uint8_t attr) -{ - ARM_MPU_SetMemAttrEx(MPU_NS, idx, attr); -} -#endif - -/** Clear and disable the given MPU region of the given MPU. -* \param mpu Pointer to MPU to be used. -* \param rnr Region number to be cleared. -*/ -__STATIC_INLINE void ARM_MPU_ClrRegionEx(MPU_Type* mpu, uint32_t rnr) -{ - mpu->RNR = rnr; - mpu->RLAR = 0U; -} - -/** Clear and disable the given MPU region. -* \param rnr Region number to be cleared. -*/ -__STATIC_INLINE void ARM_MPU_ClrRegion(uint32_t rnr) -{ - ARM_MPU_ClrRegionEx(MPU, rnr); -} - -#ifdef MPU_NS -/** Clear and disable the given Non-secure MPU region. -* \param rnr Region number to be cleared. -*/ -__STATIC_INLINE void ARM_MPU_ClrRegion_NS(uint32_t rnr) -{ - ARM_MPU_ClrRegionEx(MPU_NS, rnr); -} -#endif - -/** Configure the given MPU region of the given MPU. -* \param mpu Pointer to MPU to be used. -* \param rnr Region number to be configured. -* \param rbar Value for RBAR register. -* \param rlar Value for RLAR register. -*/ -__STATIC_INLINE void ARM_MPU_SetRegionEx(MPU_Type* mpu, uint32_t rnr, uint32_t rbar, uint32_t rlar) -{ - mpu->RNR = rnr; - mpu->RBAR = rbar; - mpu->RLAR = rlar; -} - -/** Configure the given MPU region. -* \param rnr Region number to be configured. -* \param rbar Value for RBAR register. -* \param rlar Value for RLAR register. -*/ -__STATIC_INLINE void ARM_MPU_SetRegion(uint32_t rnr, uint32_t rbar, uint32_t rlar) -{ - ARM_MPU_SetRegionEx(MPU, rnr, rbar, rlar); -} - -#ifdef MPU_NS -/** Configure the given Non-secure MPU region. -* \param rnr Region number to be configured. -* \param rbar Value for RBAR register. -* \param rlar Value for RLAR register. -*/ -__STATIC_INLINE void ARM_MPU_SetRegion_NS(uint32_t rnr, uint32_t rbar, uint32_t rlar) -{ - ARM_MPU_SetRegionEx(MPU_NS, rnr, rbar, rlar); -} -#endif - -/** Memcopy with strictly ordered memory access, e.g. for register targets. -* \param dst Destination data is copied to. -* \param src Source data is copied from. -* \param len Amount of data words to be copied. -*/ -__STATIC_INLINE void orderedCpy(volatile uint32_t* dst, const uint32_t* __RESTRICT src, uint32_t len) -{ - uint32_t i; - for (i = 0U; i < len; ++i) - { - dst[i] = src[i]; - } -} - -/** Load the given number of MPU regions from a table to the given MPU. -* \param mpu Pointer to the MPU registers to be used. -* \param rnr First region number to be configured. -* \param table Pointer to the MPU configuration table. -* \param cnt Amount of regions to be configured. -*/ -__STATIC_INLINE void ARM_MPU_LoadEx(MPU_Type* mpu, uint32_t rnr, ARM_MPU_Region_t const* table, uint32_t cnt) -{ - const uint32_t rowWordSize = sizeof(ARM_MPU_Region_t)/4U; - if (cnt == 1U) { - mpu->RNR = rnr; - orderedCpy(&(mpu->RBAR), &(table->RBAR), rowWordSize); - } else { - uint32_t rnrBase = rnr & ~(MPU_TYPE_RALIASES-1U); - uint32_t rnrOffset = rnr % MPU_TYPE_RALIASES; - - mpu->RNR = rnrBase; - while ((rnrOffset + cnt) > MPU_TYPE_RALIASES) { - uint32_t c = MPU_TYPE_RALIASES - rnrOffset; - orderedCpy(&(mpu->RBAR)+(rnrOffset*2U), &(table->RBAR), c*rowWordSize); - table += c; - cnt -= c; - rnrOffset = 0U; - rnrBase += MPU_TYPE_RALIASES; - mpu->RNR = rnrBase; - } - - orderedCpy(&(mpu->RBAR)+(rnrOffset*2U), &(table->RBAR), cnt*rowWordSize); - } -} - -/** Load the given number of MPU regions from a table. -* \param rnr First region number to be configured. -* \param table Pointer to the MPU configuration table. -* \param cnt Amount of regions to be configured. -*/ -__STATIC_INLINE void ARM_MPU_Load(uint32_t rnr, ARM_MPU_Region_t const* table, uint32_t cnt) -{ - ARM_MPU_LoadEx(MPU, rnr, table, cnt); -} - -#ifdef MPU_NS -/** Load the given number of MPU regions from a table to the Non-secure MPU. -* \param rnr First region number to be configured. -* \param table Pointer to the MPU configuration table. -* \param cnt Amount of regions to be configured. -*/ -__STATIC_INLINE void ARM_MPU_Load_NS(uint32_t rnr, ARM_MPU_Region_t const* table, uint32_t cnt) -{ - ARM_MPU_LoadEx(MPU_NS, rnr, table, cnt); -} -#endif - -#endif - diff --git a/body/board/inc/stm32f413xx.h b/body/board/inc/stm32f413xx.h deleted file mode 100644 index e9db50f0cf92a3..00000000000000 --- a/body/board/inc/stm32f413xx.h +++ /dev/null @@ -1,15467 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f413xx.h - * @author MCD Application Team - * @brief CMSIS STM32F413xx Device Peripheral Access Layer Header File. - * - * This file contains: - * - Data structures and the address mapping for all peripherals - * - peripherals registers declarations and bits definition - * - Macros to access peripheral’s registers hardware - * - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/** @addtogroup CMSIS_Device - * @{ - */ - -/** @addtogroup stm32f413xx - * @{ - */ - -#ifndef __STM32F413xx_H -#define __STM32F413xx_H - -#ifdef __cplusplus - extern "C" { -#endif /* __cplusplus */ - -/** @addtogroup Configuration_section_for_CMSIS - * @{ - */ - -/** - * @brief Configuration of the Cortex-M4 Processor and Core Peripherals - */ -#define __CM4_REV 0x0001U /*!< Core revision r0p1 */ -#define __MPU_PRESENT 1U /*!< STM32F4XX provides an MPU */ -#define __NVIC_PRIO_BITS 4U /*!< STM32F4XX uses 4 Bits for the Priority Levels */ -#define __Vendor_SysTickConfig 0U /*!< Set to 1 if different SysTick Config is used */ -#define __FPU_PRESENT 1U /*!< FPU present */ - -/** - * @} - */ - -/** @addtogroup Peripheral_interrupt_number_definition - * @{ - */ - -/** - * @brief STM32F4XX Interrupt Number Definition, according to the selected device - * in @ref Library_configuration_section - */ -typedef enum -{ -/****** Cortex-M4 Processor Exceptions Numbers ****************************************************************/ - NonMaskableInt_IRQn = -14, /*!< 2 Non Maskable Interrupt */ - MemoryManagement_IRQn = -12, /*!< 4 Cortex-M4 Memory Management Interrupt */ - BusFault_IRQn = -11, /*!< 5 Cortex-M4 Bus Fault Interrupt */ - UsageFault_IRQn = -10, /*!< 6 Cortex-M4 Usage Fault Interrupt */ - SVCall_IRQn = -5, /*!< 11 Cortex-M4 SV Call Interrupt */ - DebugMonitor_IRQn = -4, /*!< 12 Cortex-M4 Debug Monitor Interrupt */ - PendSV_IRQn = -2, /*!< 14 Cortex-M4 Pend SV Interrupt */ - SysTick_IRQn = -1, /*!< 15 Cortex-M4 System Tick Interrupt */ -/****** STM32 specific Interrupt Numbers **********************************************************************/ - WWDG_IRQn = 0, /*!< Window WatchDog Interrupt */ - PVD_IRQn = 1, /*!< PVD through EXTI Line detection Interrupt */ - TAMP_STAMP_IRQn = 2, /*!< Tamper and TimeStamp interrupts through the EXTI line */ - RTC_WKUP_IRQn = 3, /*!< RTC Wakeup interrupt through the EXTI line */ - FLASH_IRQn = 4, /*!< FLASH global Interrupt */ - RCC_IRQn = 5, /*!< RCC global Interrupt */ - EXTI0_IRQn = 6, /*!< EXTI Line0 Interrupt */ - EXTI1_IRQn = 7, /*!< EXTI Line1 Interrupt */ - EXTI2_IRQn = 8, /*!< EXTI Line2 Interrupt */ - EXTI3_IRQn = 9, /*!< EXTI Line3 Interrupt */ - EXTI4_IRQn = 10, /*!< EXTI Line4 Interrupt */ - DMA1_Stream0_IRQn = 11, /*!< DMA1 Stream 0 global Interrupt */ - DMA1_Stream1_IRQn = 12, /*!< DMA1 Stream 1 global Interrupt */ - DMA1_Stream2_IRQn = 13, /*!< DMA1 Stream 2 global Interrupt */ - DMA1_Stream3_IRQn = 14, /*!< DMA1 Stream 3 global Interrupt */ - DMA1_Stream4_IRQn = 15, /*!< DMA1 Stream 4 global Interrupt */ - DMA1_Stream5_IRQn = 16, /*!< DMA1 Stream 5 global Interrupt */ - DMA1_Stream6_IRQn = 17, /*!< DMA1 Stream 6 global Interrupt */ - ADC_IRQn = 18, /*!< ADC1, ADC2 and ADC3 global Interrupts */ - CAN1_TX_IRQn = 19, /*!< CAN1 TX Interrupt */ - CAN1_RX0_IRQn = 20, /*!< CAN1 RX0 Interrupt */ - CAN1_RX1_IRQn = 21, /*!< CAN1 RX1 Interrupt */ - CAN1_SCE_IRQn = 22, /*!< CAN1 SCE Interrupt */ - EXTI9_5_IRQn = 23, /*!< External Line[9:5] Interrupts */ - TIM1_BRK_TIM9_IRQn = 24, /*!< TIM1 Break interrupt and TIM9 global interrupt */ - TIM1_UP_TIM10_IRQn = 25, /*!< TIM1 Update Interrupt and TIM10 global interrupt */ - TIM1_TRG_COM_TIM11_IRQn = 26, /*!< TIM1 Trigger and Commutation Interrupt and TIM11 global interrupt */ - TIM1_CC_IRQn = 27, /*!< TIM1 Capture Compare Interrupt */ - TIM2_IRQn = 28, /*!< TIM2 global Interrupt */ - TIM3_IRQn = 29, /*!< TIM3 global Interrupt */ - TIM4_IRQn = 30, /*!< TIM4 global Interrupt */ - I2C1_EV_IRQn = 31, /*!< I2C1 Event Interrupt */ - I2C1_ER_IRQn = 32, /*!< I2C1 Error Interrupt */ - I2C2_EV_IRQn = 33, /*!< I2C2 Event Interrupt */ - I2C2_ER_IRQn = 34, /*!< I2C2 Error Interrupt */ - SPI1_IRQn = 35, /*!< SPI1 global Interrupt */ - SPI2_IRQn = 36, /*!< SPI2 global Interrupt */ - USART1_IRQn = 37, /*!< USART1 global Interrupt */ - USART2_IRQn = 38, /*!< USART2 global Interrupt */ - USART3_IRQn = 39, /*!< USART3 global Interrupt */ - EXTI15_10_IRQn = 40, /*!< External Line[15:10] Interrupts */ - RTC_Alarm_IRQn = 41, /*!< RTC Alarm (A and B) through EXTI Line Interrupt */ - OTG_FS_WKUP_IRQn = 42, /*!< USB OTG FS Wakeup through EXTI line interrupt */ - TIM8_BRK_TIM12_IRQn = 43, /*!< TIM8 Break Interrupt and TIM12 global interrupt */ - TIM8_UP_TIM13_IRQn = 44, /*!< TIM8 Update Interrupt and TIM13 global interrupt */ - TIM8_TRG_COM_TIM14_IRQn = 45, /*!< TIM8 Trigger and Commutation Interrupt and TIM14 global interrupt */ - TIM8_CC_IRQn = 46, /*!< TIM8 Capture Compare global interrupt */ - DMA1_Stream7_IRQn = 47, /*!< DMA1 Stream7 Interrupt */ - SDIO_IRQn = 49, /*!< SDIO global Interrupt */ - TIM5_IRQn = 50, /*!< TIM5 global Interrupt */ - SPI3_IRQn = 51, /*!< SPI3 global Interrupt */ - UART4_IRQn = 52, /*!< UART4 global Interrupt */ - UART5_IRQn = 53, /*!< UART5 global Interrupt */ - TIM6_DAC_IRQn = 54, /*!< TIM6 global and DAC1&2 underrun error interrupts */ - TIM7_IRQn = 55, /*!< TIM7 global interrupt */ - DMA2_Stream0_IRQn = 56, /*!< DMA2 Stream 0 global Interrupt */ - DMA2_Stream1_IRQn = 57, /*!< DMA2 Stream 1 global Interrupt */ - DMA2_Stream2_IRQn = 58, /*!< DMA2 Stream 2 global Interrupt */ - DMA2_Stream3_IRQn = 59, /*!< DMA2 Stream 3 global Interrupt */ - DMA2_Stream4_IRQn = 60, /*!< DMA2 Stream 4 global Interrupt */ - DFSDM1_FLT0_IRQn = 61, /*!< DFSDM1 Filter 0 global Interrupt */ - DFSDM1_FLT1_IRQn = 62, /*!< DFSDM1 Filter 1 global Interrupt */ - CAN2_TX_IRQn = 63, /*!< CAN2 TX Interrupt */ - CAN2_RX0_IRQn = 64, /*!< CAN2 RX0 Interrupt */ - CAN2_RX1_IRQn = 65, /*!< CAN2 RX1 Interrupt */ - CAN2_SCE_IRQn = 66, /*!< CAN2 SCE Interrupt */ - OTG_FS_IRQn = 67, /*!< USB OTG FS global Interrupt */ - DMA2_Stream5_IRQn = 68, /*!< DMA2 Stream 5 global interrupt */ - DMA2_Stream6_IRQn = 69, /*!< DMA2 Stream 6 global interrupt */ - DMA2_Stream7_IRQn = 70, /*!< DMA2 Stream 7 global interrupt */ - USART6_IRQn = 71, /*!< USART6 global interrupt */ - I2C3_EV_IRQn = 72, /*!< I2C3 event interrupt */ - I2C3_ER_IRQn = 73, /*!< I2C3 error interrupt */ - CAN3_TX_IRQn = 74, /*!< CAN3 TX Interrupt */ - CAN3_RX0_IRQn = 75, /*!< CAN3 RX0 Interrupt */ - CAN3_RX1_IRQn = 76, /*!< CAN3 RX1 Interrupt */ - CAN3_SCE_IRQn = 77, /*!< CAN3 SCE Interrupt */ - RNG_IRQn = 80, /*!< RNG global Interrupt */ - FPU_IRQn = 81, /*!< FPU global interrupt */ - UART7_IRQn = 82, /*!< UART7 global interrupt */ - UART8_IRQn = 83, /*!< UART8 global interrupt */ - SPI4_IRQn = 84, /*!< SPI4 global Interrupt */ - SPI5_IRQn = 85, /*!< SPI5 global Interrupt */ - SAI1_IRQn = 87, /*!< SAI1 global Interrupt */ - UART9_IRQn = 88, /*!< UART9 global Interrupt */ - UART10_IRQn = 89, /*!< UART10 global Interrupt */ - QUADSPI_IRQn = 92, /*!< QuadSPI global Interrupt */ - FMPI2C1_EV_IRQn = 95, /*!< FMPI2C1 Event Interrupt */ - FMPI2C1_ER_IRQn = 96, /*!< FMPI2C1 Error Interrupt */ - LPTIM1_IRQn = 97, /*!< LP TIM1 interrupt */ - DFSDM2_FLT0_IRQn = 98, /*!< DFSDM2 Filter 0 global Interrupt */ - DFSDM2_FLT1_IRQn = 99, /*!< DFSDM2 Filter 1 global Interrupt */ - DFSDM2_FLT2_IRQn = 100, /*!< DFSDM2 Filter 2 global Interrupt */ - DFSDM2_FLT3_IRQn = 101 /*!< DFSDM2 Filter 3 global Interrupt */ -} IRQn_Type; - -/** - * @} - */ - -#include "core_cm4.h" /* Cortex-M4 processor and core peripherals */ -#include "system_stm32f4xx.h" -#include - -/** @addtogroup Peripheral_registers_structures - * @{ - */ - -/** - * @brief Analog to Digital Converter - */ - -typedef struct -{ - __IO uint32_t SR; /*!< ADC status register, Address offset: 0x00 */ - __IO uint32_t CR1; /*!< ADC control register 1, Address offset: 0x04 */ - __IO uint32_t CR2; /*!< ADC control register 2, Address offset: 0x08 */ - __IO uint32_t SMPR1; /*!< ADC sample time register 1, Address offset: 0x0C */ - __IO uint32_t SMPR2; /*!< ADC sample time register 2, Address offset: 0x10 */ - __IO uint32_t JOFR1; /*!< ADC injected channel data offset register 1, Address offset: 0x14 */ - __IO uint32_t JOFR2; /*!< ADC injected channel data offset register 2, Address offset: 0x18 */ - __IO uint32_t JOFR3; /*!< ADC injected channel data offset register 3, Address offset: 0x1C */ - __IO uint32_t JOFR4; /*!< ADC injected channel data offset register 4, Address offset: 0x20 */ - __IO uint32_t HTR; /*!< ADC watchdog higher threshold register, Address offset: 0x24 */ - __IO uint32_t LTR; /*!< ADC watchdog lower threshold register, Address offset: 0x28 */ - __IO uint32_t SQR1; /*!< ADC regular sequence register 1, Address offset: 0x2C */ - __IO uint32_t SQR2; /*!< ADC regular sequence register 2, Address offset: 0x30 */ - __IO uint32_t SQR3; /*!< ADC regular sequence register 3, Address offset: 0x34 */ - __IO uint32_t JSQR; /*!< ADC injected sequence register, Address offset: 0x38*/ - __IO uint32_t JDR1; /*!< ADC injected data register 1, Address offset: 0x3C */ - __IO uint32_t JDR2; /*!< ADC injected data register 2, Address offset: 0x40 */ - __IO uint32_t JDR3; /*!< ADC injected data register 3, Address offset: 0x44 */ - __IO uint32_t JDR4; /*!< ADC injected data register 4, Address offset: 0x48 */ - __IO uint32_t DR; /*!< ADC regular data register, Address offset: 0x4C */ -} ADC_TypeDef; - -typedef struct -{ - __IO uint32_t CSR; /*!< ADC Common status register, Address offset: ADC1 base address + 0x300 */ - __IO uint32_t CCR; /*!< ADC common control register, Address offset: ADC1 base address + 0x304 */ - __IO uint32_t CDR; /*!< ADC common regular data register for dual - AND triple modes, Address offset: ADC1 base address + 0x308 */ -} ADC_Common_TypeDef; - - -/** - * @brief Controller Area Network TxMailBox - */ - -typedef struct -{ - __IO uint32_t TIR; /*!< CAN TX mailbox identifier register */ - __IO uint32_t TDTR; /*!< CAN mailbox data length control and time stamp register */ - __IO uint32_t TDLR; /*!< CAN mailbox data low register */ - __IO uint32_t TDHR; /*!< CAN mailbox data high register */ -} CAN_TxMailBox_TypeDef; - -/** - * @brief Controller Area Network FIFOMailBox - */ - -typedef struct -{ - __IO uint32_t RIR; /*!< CAN receive FIFO mailbox identifier register */ - __IO uint32_t RDTR; /*!< CAN receive FIFO mailbox data length control and time stamp register */ - __IO uint32_t RDLR; /*!< CAN receive FIFO mailbox data low register */ - __IO uint32_t RDHR; /*!< CAN receive FIFO mailbox data high register */ -} CAN_FIFOMailBox_TypeDef; - -/** - * @brief Controller Area Network FilterRegister - */ - -typedef struct -{ - __IO uint32_t FR1; /*!< CAN Filter bank register 1 */ - __IO uint32_t FR2; /*!< CAN Filter bank register 1 */ -} CAN_FilterRegister_TypeDef; - -/** - * @brief Controller Area Network - */ - -typedef struct -{ - __IO uint32_t MCR; /*!< CAN master control register, Address offset: 0x00 */ - __IO uint32_t MSR; /*!< CAN master status register, Address offset: 0x04 */ - __IO uint32_t TSR; /*!< CAN transmit status register, Address offset: 0x08 */ - __IO uint32_t RF0R; /*!< CAN receive FIFO 0 register, Address offset: 0x0C */ - __IO uint32_t RF1R; /*!< CAN receive FIFO 1 register, Address offset: 0x10 */ - __IO uint32_t IER; /*!< CAN interrupt enable register, Address offset: 0x14 */ - __IO uint32_t ESR; /*!< CAN error status register, Address offset: 0x18 */ - __IO uint32_t BTR; /*!< CAN bit timing register, Address offset: 0x1C */ - uint32_t RESERVED0[88]; /*!< Reserved, 0x020 - 0x17F */ - CAN_TxMailBox_TypeDef sTxMailBox[3]; /*!< CAN Tx MailBox, Address offset: 0x180 - 0x1AC */ - CAN_FIFOMailBox_TypeDef sFIFOMailBox[2]; /*!< CAN FIFO MailBox, Address offset: 0x1B0 - 0x1CC */ - uint32_t RESERVED1[12]; /*!< Reserved, 0x1D0 - 0x1FF */ - __IO uint32_t FMR; /*!< CAN filter master register, Address offset: 0x200 */ - __IO uint32_t FM1R; /*!< CAN filter mode register, Address offset: 0x204 */ - uint32_t RESERVED2; /*!< Reserved, 0x208 */ - __IO uint32_t FS1R; /*!< CAN filter scale register, Address offset: 0x20C */ - uint32_t RESERVED3; /*!< Reserved, 0x210 */ - __IO uint32_t FFA1R; /*!< CAN filter FIFO assignment register, Address offset: 0x214 */ - uint32_t RESERVED4; /*!< Reserved, 0x218 */ - __IO uint32_t FA1R; /*!< CAN filter activation register, Address offset: 0x21C */ - uint32_t RESERVED5[8]; /*!< Reserved, 0x220-0x23F */ - CAN_FilterRegister_TypeDef sFilterRegister[28]; /*!< CAN Filter Register, Address offset: 0x240-0x31C */ -} CAN_TypeDef; - -/** - * @brief CRC calculation unit - */ - -typedef struct -{ - __IO uint32_t DR; /*!< CRC Data register, Address offset: 0x00 */ - __IO uint8_t IDR; /*!< CRC Independent data register, Address offset: 0x04 */ - uint8_t RESERVED0; /*!< Reserved, 0x05 */ - uint16_t RESERVED1; /*!< Reserved, 0x06 */ - __IO uint32_t CR; /*!< CRC Control register, Address offset: 0x08 */ -} CRC_TypeDef; - -/** - * @brief DFSDM module registers - */ -typedef struct -{ - __IO uint32_t FLTCR1; /*!< DFSDM control register1, Address offset: 0x100 */ - __IO uint32_t FLTCR2; /*!< DFSDM control register2, Address offset: 0x104 */ - __IO uint32_t FLTISR; /*!< DFSDM interrupt and status register, Address offset: 0x108 */ - __IO uint32_t FLTICR; /*!< DFSDM interrupt flag clear register, Address offset: 0x10C */ - __IO uint32_t FLTJCHGR; /*!< DFSDM injected channel group selection register, Address offset: 0x110 */ - __IO uint32_t FLTFCR; /*!< DFSDM filter control register, Address offset: 0x114 */ - __IO uint32_t FLTJDATAR; /*!< DFSDM data register for injected group, Address offset: 0x118 */ - __IO uint32_t FLTRDATAR; /*!< DFSDM data register for regular group, Address offset: 0x11C */ - __IO uint32_t FLTAWHTR; /*!< DFSDM analog watchdog high threshold register, Address offset: 0x120 */ - __IO uint32_t FLTAWLTR; /*!< DFSDM analog watchdog low threshold register, Address offset: 0x124 */ - __IO uint32_t FLTAWSR; /*!< DFSDM analog watchdog status register Address offset: 0x128 */ - __IO uint32_t FLTAWCFR; /*!< DFSDM analog watchdog clear flag register Address offset: 0x12C */ - __IO uint32_t FLTEXMAX; /*!< DFSDM extreme detector maximum register, Address offset: 0x130 */ - __IO uint32_t FLTEXMIN; /*!< DFSDM extreme detector minimum register Address offset: 0x134 */ - __IO uint32_t FLTCNVTIMR; /*!< DFSDM conversion timer, Address offset: 0x138 */ -} DFSDM_Filter_TypeDef; - -/** - * @brief DFSDM channel configuration registers - */ -typedef struct -{ - __IO uint32_t CHCFGR1; /*!< DFSDM channel configuration register1, Address offset: 0x00 */ - __IO uint32_t CHCFGR2; /*!< DFSDM channel configuration register2, Address offset: 0x04 */ - __IO uint32_t CHAWSCDR; /*!< DFSDM channel analog watchdog and - short circuit detector register, Address offset: 0x08 */ - __IO uint32_t CHWDATAR; /*!< DFSDM channel watchdog filter data register, Address offset: 0x0C */ - __IO uint32_t CHDATINR; /*!< DFSDM channel data input register, Address offset: 0x10 */ -} DFSDM_Channel_TypeDef; - -/** - * @brief Digital to Analog Converter - */ - -typedef struct -{ - __IO uint32_t CR; /*!< DAC control register, Address offset: 0x00 */ - __IO uint32_t SWTRIGR; /*!< DAC software trigger register, Address offset: 0x04 */ - __IO uint32_t DHR12R1; /*!< DAC channel1 12-bit right-aligned data holding register, Address offset: 0x08 */ - __IO uint32_t DHR12L1; /*!< DAC channel1 12-bit left aligned data holding register, Address offset: 0x0C */ - __IO uint32_t DHR8R1; /*!< DAC channel1 8-bit right aligned data holding register, Address offset: 0x10 */ - __IO uint32_t DHR12R2; /*!< DAC channel2 12-bit right aligned data holding register, Address offset: 0x14 */ - __IO uint32_t DHR12L2; /*!< DAC channel2 12-bit left aligned data holding register, Address offset: 0x18 */ - __IO uint32_t DHR8R2; /*!< DAC channel2 8-bit right-aligned data holding register, Address offset: 0x1C */ - __IO uint32_t DHR12RD; /*!< Dual DAC 12-bit right-aligned data holding register, Address offset: 0x20 */ - __IO uint32_t DHR12LD; /*!< DUAL DAC 12-bit left aligned data holding register, Address offset: 0x24 */ - __IO uint32_t DHR8RD; /*!< DUAL DAC 8-bit right aligned data holding register, Address offset: 0x28 */ - __IO uint32_t DOR1; /*!< DAC channel1 data output register, Address offset: 0x2C */ - __IO uint32_t DOR2; /*!< DAC channel2 data output register, Address offset: 0x30 */ - __IO uint32_t SR; /*!< DAC status register, Address offset: 0x34 */ -} DAC_TypeDef; - -/** - * @brief Debug MCU - */ - -typedef struct -{ - __IO uint32_t IDCODE; /*!< MCU device ID code, Address offset: 0x00 */ - __IO uint32_t CR; /*!< Debug MCU configuration register, Address offset: 0x04 */ - __IO uint32_t APB1FZ; /*!< Debug MCU APB1 freeze register, Address offset: 0x08 */ - __IO uint32_t APB2FZ; /*!< Debug MCU APB2 freeze register, Address offset: 0x0C */ -}DBGMCU_TypeDef; - - -/** - * @brief DMA Controller - */ - -typedef struct -{ - __IO uint32_t CR; /*!< DMA stream x configuration register */ - __IO uint32_t NDTR; /*!< DMA stream x number of data register */ - __IO uint32_t PAR; /*!< DMA stream x peripheral address register */ - __IO uint32_t M0AR; /*!< DMA stream x memory 0 address register */ - __IO uint32_t M1AR; /*!< DMA stream x memory 1 address register */ - __IO uint32_t FCR; /*!< DMA stream x FIFO control register */ -} DMA_Stream_TypeDef; - -typedef struct -{ - __IO uint32_t LISR; /*!< DMA low interrupt status register, Address offset: 0x00 */ - __IO uint32_t HISR; /*!< DMA high interrupt status register, Address offset: 0x04 */ - __IO uint32_t LIFCR; /*!< DMA low interrupt flag clear register, Address offset: 0x08 */ - __IO uint32_t HIFCR; /*!< DMA high interrupt flag clear register, Address offset: 0x0C */ -} DMA_TypeDef; - -/** - * @brief External Interrupt/Event Controller - */ - -typedef struct -{ - __IO uint32_t IMR; /*!< EXTI Interrupt mask register, Address offset: 0x00 */ - __IO uint32_t EMR; /*!< EXTI Event mask register, Address offset: 0x04 */ - __IO uint32_t RTSR; /*!< EXTI Rising trigger selection register, Address offset: 0x08 */ - __IO uint32_t FTSR; /*!< EXTI Falling trigger selection register, Address offset: 0x0C */ - __IO uint32_t SWIER; /*!< EXTI Software interrupt event register, Address offset: 0x10 */ - __IO uint32_t PR; /*!< EXTI Pending register, Address offset: 0x14 */ -} EXTI_TypeDef; - -/** - * @brief FLASH Registers - */ - -typedef struct -{ - __IO uint32_t ACR; /*!< FLASH access control register, Address offset: 0x00 */ - __IO uint32_t KEYR; /*!< FLASH key register, Address offset: 0x04 */ - __IO uint32_t OPTKEYR; /*!< FLASH option key register, Address offset: 0x08 */ - __IO uint32_t SR; /*!< FLASH status register, Address offset: 0x0C */ - __IO uint32_t CR; /*!< FLASH control register, Address offset: 0x10 */ - __IO uint32_t OPTCR; /*!< FLASH option control register , Address offset: 0x14 */ - __IO uint32_t OPTCR1; /*!< FLASH option control register 1, Address offset: 0x18 */ -} FLASH_TypeDef; - - - -/** - * @brief Flexible Static Memory Controller - */ - -typedef struct -{ - __IO uint32_t BTCR[8]; /*!< NOR/PSRAM chip-select control register(BCR) and chip-select timing register(BTR), Address offset: 0x00-1C */ -} FSMC_Bank1_TypeDef; - -/** - * @brief Flexible Static Memory Controller Bank1E - */ - -typedef struct -{ - __IO uint32_t BWTR[7]; /*!< NOR/PSRAM write timing registers, Address offset: 0x104-0x11C */ -} FSMC_Bank1E_TypeDef; -/** - * @brief General Purpose I/O - */ - -typedef struct -{ - __IO uint32_t MODER; /*!< GPIO port mode register, Address offset: 0x00 */ - __IO uint32_t OTYPER; /*!< GPIO port output type register, Address offset: 0x04 */ - __IO uint32_t OSPEEDR; /*!< GPIO port output speed register, Address offset: 0x08 */ - __IO uint32_t PUPDR; /*!< GPIO port pull-up/pull-down register, Address offset: 0x0C */ - __IO uint32_t IDR; /*!< GPIO port input data register, Address offset: 0x10 */ - __IO uint32_t ODR; /*!< GPIO port output data register, Address offset: 0x14 */ - __IO uint32_t BSRR; /*!< GPIO port bit set/reset register, Address offset: 0x18 */ - __IO uint32_t LCKR; /*!< GPIO port configuration lock register, Address offset: 0x1C */ - __IO uint32_t AFR[2]; /*!< GPIO alternate function registers, Address offset: 0x20-0x24 */ -} GPIO_TypeDef; - -/** - * @brief System configuration controller - */ - -typedef struct -{ - __IO uint32_t MEMRMP; /*!< SYSCFG memory remap register, Address offset: 0x00 */ - __IO uint32_t PMC; /*!< SYSCFG peripheral mode configuration register, Address offset: 0x04 */ - __IO uint32_t EXTICR[4]; /*!< SYSCFG external interrupt configuration registers, Address offset: 0x08-0x14 */ - uint32_t RESERVED; /*!< Reserved, 0x18 */ - __IO uint32_t CFGR2; /*!< SYSCFG Configuration register2, Address offset: 0x1C */ - __IO uint32_t CMPCR; /*!< SYSCFG Compensation cell control register, Address offset: 0x20 */ - uint32_t RESERVED1[2]; /*!< Reserved, 0x24-0x28 */ - __IO uint32_t CFGR; /*!< SYSCFG Configuration register, Address offset: 0x2C */ - __IO uint32_t MCHDLYCR; /*!< SYSCFG multi-channel delay register, Address offset: 0x30 */ -} SYSCFG_TypeDef; - -/** - * @brief Inter-integrated Circuit Interface - */ - -typedef struct -{ - __IO uint32_t CR1; /*!< I2C Control register 1, Address offset: 0x00 */ - __IO uint32_t CR2; /*!< I2C Control register 2, Address offset: 0x04 */ - __IO uint32_t OAR1; /*!< I2C Own address register 1, Address offset: 0x08 */ - __IO uint32_t OAR2; /*!< I2C Own address register 2, Address offset: 0x0C */ - __IO uint32_t DR; /*!< I2C Data register, Address offset: 0x10 */ - __IO uint32_t SR1; /*!< I2C Status register 1, Address offset: 0x14 */ - __IO uint32_t SR2; /*!< I2C Status register 2, Address offset: 0x18 */ - __IO uint32_t CCR; /*!< I2C Clock control register, Address offset: 0x1C */ - __IO uint32_t TRISE; /*!< I2C TRISE register, Address offset: 0x20 */ - __IO uint32_t FLTR; /*!< I2C FLTR register, Address offset: 0x24 */ -} I2C_TypeDef; - -/** - * @brief Inter-integrated Circuit Interface - */ - -typedef struct -{ - __IO uint32_t CR1; /*!< FMPI2C Control register 1, Address offset: 0x00 */ - __IO uint32_t CR2; /*!< FMPI2C Control register 2, Address offset: 0x04 */ - __IO uint32_t OAR1; /*!< FMPI2C Own address 1 register, Address offset: 0x08 */ - __IO uint32_t OAR2; /*!< FMPI2C Own address 2 register, Address offset: 0x0C */ - __IO uint32_t TIMINGR; /*!< FMPI2C Timing register, Address offset: 0x10 */ - __IO uint32_t TIMEOUTR; /*!< FMPI2C Timeout register, Address offset: 0x14 */ - __IO uint32_t ISR; /*!< FMPI2C Interrupt and status register, Address offset: 0x18 */ - __IO uint32_t ICR; /*!< FMPI2C Interrupt clear register, Address offset: 0x1C */ - __IO uint32_t PECR; /*!< FMPI2C PEC register, Address offset: 0x20 */ - __IO uint32_t RXDR; /*!< FMPI2C Receive data register, Address offset: 0x24 */ - __IO uint32_t TXDR; /*!< FMPI2C Transmit data register, Address offset: 0x28 */ -} FMPI2C_TypeDef; - -/** - * @brief Independent WATCHDOG - */ - -typedef struct -{ - __IO uint32_t KR; /*!< IWDG Key register, Address offset: 0x00 */ - __IO uint32_t PR; /*!< IWDG Prescaler register, Address offset: 0x04 */ - __IO uint32_t RLR; /*!< IWDG Reload register, Address offset: 0x08 */ - __IO uint32_t SR; /*!< IWDG Status register, Address offset: 0x0C */ -} IWDG_TypeDef; - - -/** - * @brief Power Control - */ - -typedef struct -{ - __IO uint32_t CR; /*!< PWR power control register, Address offset: 0x00 */ - __IO uint32_t CSR; /*!< PWR power control/status register, Address offset: 0x04 */ -} PWR_TypeDef; - -/** - * @brief Reset and Clock Control - */ - -typedef struct -{ - __IO uint32_t CR; /*!< RCC clock control register, Address offset: 0x00 */ - __IO uint32_t PLLCFGR; /*!< RCC PLL configuration register, Address offset: 0x04 */ - __IO uint32_t CFGR; /*!< RCC clock configuration register, Address offset: 0x08 */ - __IO uint32_t CIR; /*!< RCC clock interrupt register, Address offset: 0x0C */ - __IO uint32_t AHB1RSTR; /*!< RCC AHB1 peripheral reset register, Address offset: 0x10 */ - __IO uint32_t AHB2RSTR; /*!< RCC AHB2 peripheral reset register, Address offset: 0x14 */ - __IO uint32_t AHB3RSTR; /*!< RCC AHB3 peripheral reset register, Address offset: 0x18 */ - uint32_t RESERVED0; /*!< Reserved, 0x1C */ - __IO uint32_t APB1RSTR; /*!< RCC APB1 peripheral reset register, Address offset: 0x20 */ - __IO uint32_t APB2RSTR; /*!< RCC APB2 peripheral reset register, Address offset: 0x24 */ - uint32_t RESERVED1[2]; /*!< Reserved, 0x28-0x2C */ - __IO uint32_t AHB1ENR; /*!< RCC AHB1 peripheral clock register, Address offset: 0x30 */ - __IO uint32_t AHB2ENR; /*!< RCC AHB2 peripheral clock register, Address offset: 0x34 */ - __IO uint32_t AHB3ENR; /*!< RCC AHB3 peripheral clock register, Address offset: 0x38 */ - uint32_t RESERVED2; /*!< Reserved, 0x3C */ - __IO uint32_t APB1ENR; /*!< RCC APB1 peripheral clock enable register, Address offset: 0x40 */ - __IO uint32_t APB2ENR; /*!< RCC APB2 peripheral clock enable register, Address offset: 0x44 */ - uint32_t RESERVED3[2]; /*!< Reserved, 0x48-0x4C */ - __IO uint32_t AHB1LPENR; /*!< RCC AHB1 peripheral clock enable in low power mode register, Address offset: 0x50 */ - __IO uint32_t AHB2LPENR; /*!< RCC AHB2 peripheral clock enable in low power mode register, Address offset: 0x54 */ - __IO uint32_t AHB3LPENR; /*!< RCC AHB3 peripheral clock enable in low power mode register, Address offset: 0x58 */ - uint32_t RESERVED4; /*!< Reserved, 0x5C */ - __IO uint32_t APB1LPENR; /*!< RCC APB1 peripheral clock enable in low power mode register, Address offset: 0x60 */ - __IO uint32_t APB2LPENR; /*!< RCC APB2 peripheral clock enable in low power mode register, Address offset: 0x64 */ - uint32_t RESERVED5[2]; /*!< Reserved, 0x68-0x6C */ - __IO uint32_t BDCR; /*!< RCC Backup domain control register, Address offset: 0x70 */ - __IO uint32_t CSR; /*!< RCC clock control & status register, Address offset: 0x74 */ - uint32_t RESERVED6[2]; /*!< Reserved, 0x78-0x7C */ - __IO uint32_t SSCGR; /*!< RCC spread spectrum clock generation register, Address offset: 0x80 */ - __IO uint32_t PLLI2SCFGR; /*!< RCC PLLI2S configuration register, Address offset: 0x84 */ - uint32_t RESERVED7; /*!< Reserved, 0x84 */ - __IO uint32_t DCKCFGR; /*!< RCC Dedicated Clocks configuration register, Address offset: 0x8C */ - __IO uint32_t CKGATENR; /*!< RCC Clocks Gated ENable Register, Address offset: 0x90 */ - __IO uint32_t DCKCFGR2; /*!< RCC Dedicated Clocks configuration register 2, Address offset: 0x94 */ -} RCC_TypeDef; - -/** - * @brief Real-Time Clock - */ - -typedef struct -{ - __IO uint32_t TR; /*!< RTC time register, Address offset: 0x00 */ - __IO uint32_t DR; /*!< RTC date register, Address offset: 0x04 */ - __IO uint32_t CR; /*!< RTC control register, Address offset: 0x08 */ - __IO uint32_t ISR; /*!< RTC initialization and status register, Address offset: 0x0C */ - __IO uint32_t PRER; /*!< RTC prescaler register, Address offset: 0x10 */ - __IO uint32_t WUTR; /*!< RTC wakeup timer register, Address offset: 0x14 */ - __IO uint32_t CALIBR; /*!< RTC calibration register, Address offset: 0x18 */ - __IO uint32_t ALRMAR; /*!< RTC alarm A register, Address offset: 0x1C */ - __IO uint32_t ALRMBR; /*!< RTC alarm B register, Address offset: 0x20 */ - __IO uint32_t WPR; /*!< RTC write protection register, Address offset: 0x24 */ - __IO uint32_t SSR; /*!< RTC sub second register, Address offset: 0x28 */ - __IO uint32_t SHIFTR; /*!< RTC shift control register, Address offset: 0x2C */ - __IO uint32_t TSTR; /*!< RTC time stamp time register, Address offset: 0x30 */ - __IO uint32_t TSDR; /*!< RTC time stamp date register, Address offset: 0x34 */ - __IO uint32_t TSSSR; /*!< RTC time-stamp sub second register, Address offset: 0x38 */ - __IO uint32_t CALR; /*!< RTC calibration register, Address offset: 0x3C */ - __IO uint32_t TAFCR; /*!< RTC tamper and alternate function configuration register, Address offset: 0x40 */ - __IO uint32_t ALRMASSR;/*!< RTC alarm A sub second register, Address offset: 0x44 */ - __IO uint32_t ALRMBSSR;/*!< RTC alarm B sub second register, Address offset: 0x48 */ - uint32_t RESERVED7; /*!< Reserved, 0x4C */ - __IO uint32_t BKP0R; /*!< RTC backup register 1, Address offset: 0x50 */ - __IO uint32_t BKP1R; /*!< RTC backup register 1, Address offset: 0x54 */ - __IO uint32_t BKP2R; /*!< RTC backup register 2, Address offset: 0x58 */ - __IO uint32_t BKP3R; /*!< RTC backup register 3, Address offset: 0x5C */ - __IO uint32_t BKP4R; /*!< RTC backup register 4, Address offset: 0x60 */ - __IO uint32_t BKP5R; /*!< RTC backup register 5, Address offset: 0x64 */ - __IO uint32_t BKP6R; /*!< RTC backup register 6, Address offset: 0x68 */ - __IO uint32_t BKP7R; /*!< RTC backup register 7, Address offset: 0x6C */ - __IO uint32_t BKP8R; /*!< RTC backup register 8, Address offset: 0x70 */ - __IO uint32_t BKP9R; /*!< RTC backup register 9, Address offset: 0x74 */ - __IO uint32_t BKP10R; /*!< RTC backup register 10, Address offset: 0x78 */ - __IO uint32_t BKP11R; /*!< RTC backup register 11, Address offset: 0x7C */ - __IO uint32_t BKP12R; /*!< RTC backup register 12, Address offset: 0x80 */ - __IO uint32_t BKP13R; /*!< RTC backup register 13, Address offset: 0x84 */ - __IO uint32_t BKP14R; /*!< RTC backup register 14, Address offset: 0x88 */ - __IO uint32_t BKP15R; /*!< RTC backup register 15, Address offset: 0x8C */ - __IO uint32_t BKP16R; /*!< RTC backup register 16, Address offset: 0x90 */ - __IO uint32_t BKP17R; /*!< RTC backup register 17, Address offset: 0x94 */ - __IO uint32_t BKP18R; /*!< RTC backup register 18, Address offset: 0x98 */ - __IO uint32_t BKP19R; /*!< RTC backup register 19, Address offset: 0x9C */ -} RTC_TypeDef; - -/** - * @brief Serial Audio Interface - */ - -typedef struct -{ - __IO uint32_t GCR; /*!< SAI global configuration register, Address offset: 0x00 */ -} SAI_TypeDef; - -typedef struct -{ - __IO uint32_t CR1; /*!< SAI block x configuration register 1, Address offset: 0x04 */ - __IO uint32_t CR2; /*!< SAI block x configuration register 2, Address offset: 0x08 */ - __IO uint32_t FRCR; /*!< SAI block x frame configuration register, Address offset: 0x0C */ - __IO uint32_t SLOTR; /*!< SAI block x slot register, Address offset: 0x10 */ - __IO uint32_t IMR; /*!< SAI block x interrupt mask register, Address offset: 0x14 */ - __IO uint32_t SR; /*!< SAI block x status register, Address offset: 0x18 */ - __IO uint32_t CLRFR; /*!< SAI block x clear flag register, Address offset: 0x1C */ - __IO uint32_t DR; /*!< SAI block x data register, Address offset: 0x20 */ -} SAI_Block_TypeDef; - -/** - * @brief SD host Interface - */ - -typedef struct -{ - __IO uint32_t POWER; /*!< SDIO power control register, Address offset: 0x00 */ - __IO uint32_t CLKCR; /*!< SDI clock control register, Address offset: 0x04 */ - __IO uint32_t ARG; /*!< SDIO argument register, Address offset: 0x08 */ - __IO uint32_t CMD; /*!< SDIO command register, Address offset: 0x0C */ - __IO const uint32_t RESPCMD; /*!< SDIO command response register, Address offset: 0x10 */ - __IO const uint32_t RESP1; /*!< SDIO response 1 register, Address offset: 0x14 */ - __IO const uint32_t RESP2; /*!< SDIO response 2 register, Address offset: 0x18 */ - __IO const uint32_t RESP3; /*!< SDIO response 3 register, Address offset: 0x1C */ - __IO const uint32_t RESP4; /*!< SDIO response 4 register, Address offset: 0x20 */ - __IO uint32_t DTIMER; /*!< SDIO data timer register, Address offset: 0x24 */ - __IO uint32_t DLEN; /*!< SDIO data length register, Address offset: 0x28 */ - __IO uint32_t DCTRL; /*!< SDIO data control register, Address offset: 0x2C */ - __IO const uint32_t DCOUNT; /*!< SDIO data counter register, Address offset: 0x30 */ - __IO const uint32_t STA; /*!< SDIO status register, Address offset: 0x34 */ - __IO uint32_t ICR; /*!< SDIO interrupt clear register, Address offset: 0x38 */ - __IO uint32_t MASK; /*!< SDIO mask register, Address offset: 0x3C */ - uint32_t RESERVED0[2]; /*!< Reserved, 0x40-0x44 */ - __IO const uint32_t FIFOCNT; /*!< SDIO FIFO counter register, Address offset: 0x48 */ - uint32_t RESERVED1[13]; /*!< Reserved, 0x4C-0x7C */ - __IO uint32_t FIFO; /*!< SDIO data FIFO register, Address offset: 0x80 */ -} SDIO_TypeDef; - -/** - * @brief Serial Peripheral Interface - */ - -typedef struct -{ - __IO uint32_t CR1; /*!< SPI control register 1 (not used in I2S mode), Address offset: 0x00 */ - __IO uint32_t CR2; /*!< SPI control register 2, Address offset: 0x04 */ - __IO uint32_t SR; /*!< SPI status register, Address offset: 0x08 */ - __IO uint32_t DR; /*!< SPI data register, Address offset: 0x0C */ - __IO uint32_t CRCPR; /*!< SPI CRC polynomial register (not used in I2S mode), Address offset: 0x10 */ - __IO uint32_t RXCRCR; /*!< SPI RX CRC register (not used in I2S mode), Address offset: 0x14 */ - __IO uint32_t TXCRCR; /*!< SPI TX CRC register (not used in I2S mode), Address offset: 0x18 */ - __IO uint32_t I2SCFGR; /*!< SPI_I2S configuration register, Address offset: 0x1C */ - __IO uint32_t I2SPR; /*!< SPI_I2S prescaler register, Address offset: 0x20 */ -} SPI_TypeDef; - -/** - * @brief QUAD Serial Peripheral Interface - */ - -typedef struct -{ - __IO uint32_t CR; /*!< QUADSPI Control register, Address offset: 0x00 */ - __IO uint32_t DCR; /*!< QUADSPI Device Configuration register, Address offset: 0x04 */ - __IO uint32_t SR; /*!< QUADSPI Status register, Address offset: 0x08 */ - __IO uint32_t FCR; /*!< QUADSPI Flag Clear register, Address offset: 0x0C */ - __IO uint32_t DLR; /*!< QUADSPI Data Length register, Address offset: 0x10 */ - __IO uint32_t CCR; /*!< QUADSPI Communication Configuration register, Address offset: 0x14 */ - __IO uint32_t AR; /*!< QUADSPI Address register, Address offset: 0x18 */ - __IO uint32_t ABR; /*!< QUADSPI Alternate Bytes register, Address offset: 0x1C */ - __IO uint32_t DR; /*!< QUADSPI Data register, Address offset: 0x20 */ - __IO uint32_t PSMKR; /*!< QUADSPI Polling Status Mask register, Address offset: 0x24 */ - __IO uint32_t PSMAR; /*!< QUADSPI Polling Status Match register, Address offset: 0x28 */ - __IO uint32_t PIR; /*!< QUADSPI Polling Interval register, Address offset: 0x2C */ - __IO uint32_t LPTR; /*!< QUADSPI Low Power Timeout register, Address offset: 0x30 */ -} QUADSPI_TypeDef; - -/** - * @brief TIM - */ - -typedef struct -{ - __IO uint32_t CR1; /*!< TIM control register 1, Address offset: 0x00 */ - __IO uint32_t CR2; /*!< TIM control register 2, Address offset: 0x04 */ - __IO uint32_t SMCR; /*!< TIM slave mode control register, Address offset: 0x08 */ - __IO uint32_t DIER; /*!< TIM DMA/interrupt enable register, Address offset: 0x0C */ - __IO uint32_t SR; /*!< TIM status register, Address offset: 0x10 */ - __IO uint32_t EGR; /*!< TIM event generation register, Address offset: 0x14 */ - __IO uint32_t CCMR1; /*!< TIM capture/compare mode register 1, Address offset: 0x18 */ - __IO uint32_t CCMR2; /*!< TIM capture/compare mode register 2, Address offset: 0x1C */ - __IO uint32_t CCER; /*!< TIM capture/compare enable register, Address offset: 0x20 */ - __IO uint32_t CNT; /*!< TIM counter register, Address offset: 0x24 */ - __IO uint32_t PSC; /*!< TIM prescaler, Address offset: 0x28 */ - __IO uint32_t ARR; /*!< TIM auto-reload register, Address offset: 0x2C */ - __IO uint32_t RCR; /*!< TIM repetition counter register, Address offset: 0x30 */ - __IO uint32_t CCR1; /*!< TIM capture/compare register 1, Address offset: 0x34 */ - __IO uint32_t CCR2; /*!< TIM capture/compare register 2, Address offset: 0x38 */ - __IO uint32_t CCR3; /*!< TIM capture/compare register 3, Address offset: 0x3C */ - __IO uint32_t CCR4; /*!< TIM capture/compare register 4, Address offset: 0x40 */ - __IO uint32_t BDTR; /*!< TIM break and dead-time register, Address offset: 0x44 */ - __IO uint32_t DCR; /*!< TIM DMA control register, Address offset: 0x48 */ - __IO uint32_t DMAR; /*!< TIM DMA address for full transfer, Address offset: 0x4C */ - __IO uint32_t OR; /*!< TIM option register, Address offset: 0x50 */ -} TIM_TypeDef; - -/** - * @brief Universal Synchronous Asynchronous Receiver Transmitter - */ - -typedef struct -{ - __IO uint32_t SR; /*!< USART Status register, Address offset: 0x00 */ - __IO uint32_t DR; /*!< USART Data register, Address offset: 0x04 */ - __IO uint32_t BRR; /*!< USART Baud rate register, Address offset: 0x08 */ - __IO uint32_t CR1; /*!< USART Control register 1, Address offset: 0x0C */ - __IO uint32_t CR2; /*!< USART Control register 2, Address offset: 0x10 */ - __IO uint32_t CR3; /*!< USART Control register 3, Address offset: 0x14 */ - __IO uint32_t GTPR; /*!< USART Guard time and prescaler register, Address offset: 0x18 */ -} USART_TypeDef; - -/** - * @brief Window WATCHDOG - */ - -typedef struct -{ - __IO uint32_t CR; /*!< WWDG Control register, Address offset: 0x00 */ - __IO uint32_t CFR; /*!< WWDG Configuration register, Address offset: 0x04 */ - __IO uint32_t SR; /*!< WWDG Status register, Address offset: 0x08 */ -} WWDG_TypeDef; - -/** - * @brief RNG - */ - -typedef struct -{ - __IO uint32_t CR; /*!< RNG control register, Address offset: 0x00 */ - __IO uint32_t SR; /*!< RNG status register, Address offset: 0x04 */ - __IO uint32_t DR; /*!< RNG data register, Address offset: 0x08 */ -} RNG_TypeDef; - -/** - * @brief USB_OTG_Core_Registers - */ -typedef struct -{ - __IO uint32_t GOTGCTL; /*!< USB_OTG Control and Status Register 000h */ - __IO uint32_t GOTGINT; /*!< USB_OTG Interrupt Register 004h */ - __IO uint32_t GAHBCFG; /*!< Core AHB Configuration Register 008h */ - __IO uint32_t GUSBCFG; /*!< Core USB Configuration Register 00Ch */ - __IO uint32_t GRSTCTL; /*!< Core Reset Register 010h */ - __IO uint32_t GINTSTS; /*!< Core Interrupt Register 014h */ - __IO uint32_t GINTMSK; /*!< Core Interrupt Mask Register 018h */ - __IO uint32_t GRXSTSR; /*!< Receive Sts Q Read Register 01Ch */ - __IO uint32_t GRXSTSP; /*!< Receive Sts Q Read & POP Register 020h */ - __IO uint32_t GRXFSIZ; /*!< Receive FIFO Size Register 024h */ - __IO uint32_t DIEPTXF0_HNPTXFSIZ; /*!< EP0 / Non Periodic Tx FIFO Size Register 028h */ - __IO uint32_t HNPTXSTS; /*!< Non Periodic Tx FIFO/Queue Sts reg 02Ch */ - uint32_t Reserved30[2]; /*!< Reserved 030h */ - __IO uint32_t GCCFG; /*!< General Purpose IO Register 038h */ - __IO uint32_t CID; /*!< User ID Register 03Ch */ - uint32_t Reserved5[3]; /*!< Reserved 040h-048h */ - __IO uint32_t GHWCFG3; /*!< User HW config3 04Ch */ - uint32_t Reserved6; /*!< Reserved 050h */ - __IO uint32_t GLPMCFG; /*!< LPM Register 054h */ - uint32_t Reserved; /*!< Reserved 058h */ - __IO uint32_t GDFIFOCFG; /*!< DFIFO Software Config Register 05Ch */ - uint32_t Reserved43[40]; /*!< Reserved 058h-0FFh */ - __IO uint32_t HPTXFSIZ; /*!< Host Periodic Tx FIFO Size Reg 100h */ - __IO uint32_t DIEPTXF[0x0F]; /*!< dev Periodic Transmit FIFO */ -} USB_OTG_GlobalTypeDef; - -/** - * @brief USB_OTG_device_Registers - */ -typedef struct -{ - __IO uint32_t DCFG; /*!< dev Configuration Register 800h */ - __IO uint32_t DCTL; /*!< dev Control Register 804h */ - __IO uint32_t DSTS; /*!< dev Status Register (RO) 808h */ - uint32_t Reserved0C; /*!< Reserved 80Ch */ - __IO uint32_t DIEPMSK; /*!< dev IN Endpoint Mask 810h */ - __IO uint32_t DOEPMSK; /*!< dev OUT Endpoint Mask 814h */ - __IO uint32_t DAINT; /*!< dev All Endpoints Itr Reg 818h */ - __IO uint32_t DAINTMSK; /*!< dev All Endpoints Itr Mask 81Ch */ - uint32_t Reserved20; /*!< Reserved 820h */ - uint32_t Reserved9; /*!< Reserved 824h */ - __IO uint32_t DVBUSDIS; /*!< dev VBUS discharge Register 828h */ - __IO uint32_t DVBUSPULSE; /*!< dev VBUS Pulse Register 82Ch */ - __IO uint32_t DTHRCTL; /*!< dev threshold 830h */ - __IO uint32_t DIEPEMPMSK; /*!< dev empty msk 834h */ - __IO uint32_t DEACHINT; /*!< dedicated EP interrupt 838h */ - __IO uint32_t DEACHMSK; /*!< dedicated EP msk 83Ch */ - uint32_t Reserved40; /*!< dedicated EP mask 840h */ - __IO uint32_t DINEP1MSK; /*!< dedicated EP mask 844h */ - uint32_t Reserved44[15]; /*!< Reserved 844-87Ch */ - __IO uint32_t DOUTEP1MSK; /*!< dedicated EP msk 884h */ -} USB_OTG_DeviceTypeDef; - -/** - * @brief USB_OTG_IN_Endpoint-Specific_Register - */ -typedef struct -{ - __IO uint32_t DIEPCTL; /*!< dev IN Endpoint Control Reg 900h + (ep_num * 20h) + 00h */ - uint32_t Reserved04; /*!< Reserved 900h + (ep_num * 20h) + 04h */ - __IO uint32_t DIEPINT; /*!< dev IN Endpoint Itr Reg 900h + (ep_num * 20h) + 08h */ - uint32_t Reserved0C; /*!< Reserved 900h + (ep_num * 20h) + 0Ch */ - __IO uint32_t DIEPTSIZ; /*!< IN Endpoint Txfer Size 900h + (ep_num * 20h) + 10h */ - __IO uint32_t DIEPDMA; /*!< IN Endpoint DMA Address Reg 900h + (ep_num * 20h) + 14h */ - __IO uint32_t DTXFSTS; /*!< IN Endpoint Tx FIFO Status Reg 900h + (ep_num * 20h) + 18h */ - uint32_t Reserved18; /*!< Reserved 900h+(ep_num*20h)+1Ch-900h+ (ep_num * 20h) + 1Ch */ -} USB_OTG_INEndpointTypeDef; - -/** - * @brief USB_OTG_OUT_Endpoint-Specific_Registers - */ -typedef struct -{ - __IO uint32_t DOEPCTL; /*!< dev OUT Endpoint Control Reg B00h + (ep_num * 20h) + 00h */ - uint32_t Reserved04; /*!< Reserved B00h + (ep_num * 20h) + 04h */ - __IO uint32_t DOEPINT; /*!< dev OUT Endpoint Itr Reg B00h + (ep_num * 20h) + 08h */ - uint32_t Reserved0C; /*!< Reserved B00h + (ep_num * 20h) + 0Ch */ - __IO uint32_t DOEPTSIZ; /*!< dev OUT Endpoint Txfer Size B00h + (ep_num * 20h) + 10h */ - __IO uint32_t DOEPDMA; /*!< dev OUT Endpoint DMA Address B00h + (ep_num * 20h) + 14h */ - uint32_t Reserved18[2]; /*!< Reserved B00h + (ep_num * 20h) + 18h - B00h + (ep_num * 20h) + 1Ch */ -} USB_OTG_OUTEndpointTypeDef; - -/** - * @brief USB_OTG_Host_Mode_Register_Structures - */ -typedef struct -{ - __IO uint32_t HCFG; /*!< Host Configuration Register 400h */ - __IO uint32_t HFIR; /*!< Host Frame Interval Register 404h */ - __IO uint32_t HFNUM; /*!< Host Frame Nbr/Frame Remaining 408h */ - uint32_t Reserved40C; /*!< Reserved 40Ch */ - __IO uint32_t HPTXSTS; /*!< Host Periodic Tx FIFO/ Queue Status 410h */ - __IO uint32_t HAINT; /*!< Host All Channels Interrupt Register 414h */ - __IO uint32_t HAINTMSK; /*!< Host All Channels Interrupt Mask 418h */ -} USB_OTG_HostTypeDef; - -/** - * @brief USB_OTG_Host_Channel_Specific_Registers - */ -typedef struct -{ - __IO uint32_t HCCHAR; /*!< Host Channel Characteristics Register 500h */ - __IO uint32_t HCSPLT; /*!< Host Channel Split Control Register 504h */ - __IO uint32_t HCINT; /*!< Host Channel Interrupt Register 508h */ - __IO uint32_t HCINTMSK; /*!< Host Channel Interrupt Mask Register 50Ch */ - __IO uint32_t HCTSIZ; /*!< Host Channel Transfer Size Register 510h */ - __IO uint32_t HCDMA; /*!< Host Channel DMA Address Register 514h */ - uint32_t Reserved[2]; /*!< Reserved */ -} USB_OTG_HostChannelTypeDef; - -/** - * @brief LPTIMER - */ -typedef struct -{ - __IO uint32_t ISR; /*!< LPTIM Interrupt and Status register, Address offset: 0x00 */ - __IO uint32_t ICR; /*!< LPTIM Interrupt Clear register, Address offset: 0x04 */ - __IO uint32_t IER; /*!< LPTIM Interrupt Enable register, Address offset: 0x08 */ - __IO uint32_t CFGR; /*!< LPTIM Configuration register, Address offset: 0x0C */ - __IO uint32_t CR; /*!< LPTIM Control register, Address offset: 0x10 */ - __IO uint32_t CMP; /*!< LPTIM Compare register, Address offset: 0x14 */ - __IO uint32_t ARR; /*!< LPTIM Autoreload register, Address offset: 0x18 */ - __IO uint32_t CNT; /*!< LPTIM Counter register, Address offset: 0x1C */ - __IO uint32_t OR; /*!< LPTIM Option register, Address offset: 0x20 */ -} LPTIM_TypeDef; - -/** - * @} - */ - -/** @addtogroup Peripheral_memory_map - * @{ - */ -#define FLASH_BASE 0x08000000UL /*!< FLASH (up to 1.5 MB) base address in the alias region */ -#define SRAM1_BASE 0x20000000UL /*!< SRAM1(256 KB) base address in the alias region */ -#define SRAM2_BASE 0x20040000UL /*!< SRAM2(64 KB) base address in the alias region */ -#define PERIPH_BASE 0x40000000UL /*!< Peripheral base address in the alias region */ -#define FSMC_R_BASE 0xA0000000UL /*!< FSMC registers base address */ -#define QSPI_R_BASE 0xA0001000UL /*!< QuadSPI registers base address */ -#define SRAM1_BB_BASE 0x22000000UL /*!< SRAM1(256 KB) base address in the bit-band region */ -#define SRAM2_BB_BASE 0x22800000UL /*!< SRAM2(64 KB) base address in the bit-band region */ -#define PERIPH_BB_BASE 0x42000000UL /*!< Peripheral base address in the bit-band region */ -#define FLASH_END 0x0817FFFFUL /*!< FLASH end address */ -#define FLASH_OTP_BASE 0x1FFF7800UL /*!< Base address of : (up to 528 Bytes) embedded FLASH OTP Area */ -#define FLASH_OTP_END 0x1FFF7A0FUL /*!< End address of : (up to 528 Bytes) embedded FLASH OTP Area */ - -/* Legacy defines */ -#define SRAM_BASE SRAM1_BASE -#define SRAM_BB_BASE SRAM1_BB_BASE - -/*!< Peripheral memory map */ -#define APB1PERIPH_BASE PERIPH_BASE -#define APB2PERIPH_BASE (PERIPH_BASE + 0x00010000UL) -#define AHB1PERIPH_BASE (PERIPH_BASE + 0x00020000UL) -#define AHB2PERIPH_BASE (PERIPH_BASE + 0x10000000UL) - -/*!< APB1 peripherals */ -#define TIM2_BASE (APB1PERIPH_BASE + 0x0000UL) -#define TIM3_BASE (APB1PERIPH_BASE + 0x0400UL) -#define TIM4_BASE (APB1PERIPH_BASE + 0x0800UL) -#define TIM5_BASE (APB1PERIPH_BASE + 0x0C00UL) -#define TIM6_BASE (APB1PERIPH_BASE + 0x1000UL) -#define TIM7_BASE (APB1PERIPH_BASE + 0x1400UL) -#define TIM12_BASE (APB1PERIPH_BASE + 0x1800UL) -#define TIM13_BASE (APB1PERIPH_BASE + 0x1C00UL) -#define TIM14_BASE (APB1PERIPH_BASE + 0x2000UL) -#define LPTIM1_BASE (APB1PERIPH_BASE + 0x2400UL) -#define RTC_BASE (APB1PERIPH_BASE + 0x2800UL) -#define WWDG_BASE (APB1PERIPH_BASE + 0x2C00UL) -#define IWDG_BASE (APB1PERIPH_BASE + 0x3000UL) -#define I2S2ext_BASE (APB1PERIPH_BASE + 0x3400UL) -#define SPI2_BASE (APB1PERIPH_BASE + 0x3800UL) -#define SPI3_BASE (APB1PERIPH_BASE + 0x3C00UL) -#define I2S3ext_BASE (APB1PERIPH_BASE + 0x4000UL) -#define USART2_BASE (APB1PERIPH_BASE + 0x4400UL) -#define USART3_BASE (APB1PERIPH_BASE + 0x4800UL) -#define UART4_BASE (APB1PERIPH_BASE + 0x4C00UL) -#define UART5_BASE (APB1PERIPH_BASE + 0x5000UL) -#define I2C1_BASE (APB1PERIPH_BASE + 0x5400UL) -#define I2C2_BASE (APB1PERIPH_BASE + 0x5800UL) -#define I2C3_BASE (APB1PERIPH_BASE + 0x5C00UL) -#define FMPI2C1_BASE (APB1PERIPH_BASE + 0x6000UL) -#define CAN1_BASE (APB1PERIPH_BASE + 0x6400UL) -#define CAN2_BASE (APB1PERIPH_BASE + 0x6800UL) -#define CAN3_BASE (APB1PERIPH_BASE + 0x6C00UL) -#define PWR_BASE (APB1PERIPH_BASE + 0x7000UL) -#define DAC_BASE (APB1PERIPH_BASE + 0x7400UL) -#define UART7_BASE (APB1PERIPH_BASE + 0x7800UL) -#define UART8_BASE (APB1PERIPH_BASE + 0x7C00UL) - -/*!< APB2 peripherals */ -#define TIM1_BASE (APB2PERIPH_BASE + 0x0000UL) -#define TIM8_BASE (APB2PERIPH_BASE + 0x0400UL) -#define USART1_BASE (APB2PERIPH_BASE + 0x1000UL) -#define USART6_BASE (APB2PERIPH_BASE + 0x1400UL) -#define UART9_BASE (APB2PERIPH_BASE + 0x1800UL) -#define UART10_BASE (APB2PERIPH_BASE + 0x1C00UL) -#define ADC1_BASE (APB2PERIPH_BASE + 0x2000UL) -#define ADC1_COMMON_BASE (APB2PERIPH_BASE + 0x2300UL) -/* Legacy define */ -#define ADC_BASE ADC1_COMMON_BASE -#define SDIO_BASE (APB2PERIPH_BASE + 0x2C00UL) -#define SPI1_BASE (APB2PERIPH_BASE + 0x3000UL) -#define SPI4_BASE (APB2PERIPH_BASE + 0x3400UL) -#define SYSCFG_BASE (APB2PERIPH_BASE + 0x3800UL) -#define EXTI_BASE (APB2PERIPH_BASE + 0x3C00UL) -#define TIM9_BASE (APB2PERIPH_BASE + 0x4000UL) -#define TIM10_BASE (APB2PERIPH_BASE + 0x4400UL) -#define TIM11_BASE (APB2PERIPH_BASE + 0x4800UL) -#define SPI5_BASE (APB2PERIPH_BASE + 0x5000UL) -#define DFSDM1_BASE (APB2PERIPH_BASE + 0x6000UL) -#define DFSDM2_BASE (APB2PERIPH_BASE + 0x6400UL) -#define DFSDM1_Channel0_BASE (DFSDM1_BASE + 0x00UL) -#define DFSDM1_Channel1_BASE (DFSDM1_BASE + 0x20UL) -#define DFSDM1_Channel2_BASE (DFSDM1_BASE + 0x40UL) -#define DFSDM1_Channel3_BASE (DFSDM1_BASE + 0x60UL) -#define DFSDM1_Filter0_BASE (DFSDM1_BASE + 0x100UL) -#define DFSDM1_Filter1_BASE (DFSDM1_BASE + 0x180UL) -#define DFSDM2_Channel0_BASE (DFSDM2_BASE + 0x00UL) -#define DFSDM2_Channel1_BASE (DFSDM2_BASE + 0x20UL) -#define DFSDM2_Channel2_BASE (DFSDM2_BASE + 0x40UL) -#define DFSDM2_Channel3_BASE (DFSDM2_BASE + 0x60UL) -#define DFSDM2_Channel4_BASE (DFSDM2_BASE + 0x80UL) -#define DFSDM2_Channel5_BASE (DFSDM2_BASE + 0xA0UL) -#define DFSDM2_Channel6_BASE (DFSDM2_BASE + 0xC0UL) -#define DFSDM2_Channel7_BASE (DFSDM2_BASE + 0xE0UL) -#define DFSDM2_Filter0_BASE (DFSDM2_BASE + 0x100UL) -#define DFSDM2_Filter1_BASE (DFSDM2_BASE + 0x180UL) -#define DFSDM2_Filter2_BASE (DFSDM2_BASE + 0x200UL) -#define DFSDM2_Filter3_BASE (DFSDM2_BASE + 0x280UL) -#define SAI1_BASE (APB2PERIPH_BASE + 0x5800UL) -#define SAI1_Block_A_BASE (SAI1_BASE + 0x004UL) -#define SAI1_Block_B_BASE (SAI1_BASE + 0x024UL) - -/*!< AHB1 peripherals */ -#define GPIOA_BASE (AHB1PERIPH_BASE + 0x0000UL) -#define GPIOB_BASE (AHB1PERIPH_BASE + 0x0400UL) -#define GPIOC_BASE (AHB1PERIPH_BASE + 0x0800UL) -#define GPIOD_BASE (AHB1PERIPH_BASE + 0x0C00UL) -#define GPIOE_BASE (AHB1PERIPH_BASE + 0x1000UL) -#define GPIOF_BASE (AHB1PERIPH_BASE + 0x1400UL) -#define GPIOG_BASE (AHB1PERIPH_BASE + 0x1800UL) -#define GPIOH_BASE (AHB1PERIPH_BASE + 0x1C00UL) -#define CRC_BASE (AHB1PERIPH_BASE + 0x3000UL) -#define RCC_BASE (AHB1PERIPH_BASE + 0x3800UL) -#define FLASH_R_BASE (AHB1PERIPH_BASE + 0x3C00UL) -#define DMA1_BASE (AHB1PERIPH_BASE + 0x6000UL) -#define DMA1_Stream0_BASE (DMA1_BASE + 0x010UL) -#define DMA1_Stream1_BASE (DMA1_BASE + 0x028UL) -#define DMA1_Stream2_BASE (DMA1_BASE + 0x040UL) -#define DMA1_Stream3_BASE (DMA1_BASE + 0x058UL) -#define DMA1_Stream4_BASE (DMA1_BASE + 0x070UL) -#define DMA1_Stream5_BASE (DMA1_BASE + 0x088UL) -#define DMA1_Stream6_BASE (DMA1_BASE + 0x0A0UL) -#define DMA1_Stream7_BASE (DMA1_BASE + 0x0B8UL) -#define DMA2_BASE (AHB1PERIPH_BASE + 0x6400UL) -#define DMA2_Stream0_BASE (DMA2_BASE + 0x010UL) -#define DMA2_Stream1_BASE (DMA2_BASE + 0x028UL) -#define DMA2_Stream2_BASE (DMA2_BASE + 0x040UL) -#define DMA2_Stream3_BASE (DMA2_BASE + 0x058UL) -#define DMA2_Stream4_BASE (DMA2_BASE + 0x070UL) -#define DMA2_Stream5_BASE (DMA2_BASE + 0x088UL) -#define DMA2_Stream6_BASE (DMA2_BASE + 0x0A0UL) -#define DMA2_Stream7_BASE (DMA2_BASE + 0x0B8UL) - -/*!< AHB2 peripherals */ -#define RNG_BASE (AHB2PERIPH_BASE + 0x60800UL) - - -/*!< FSMC Bankx registers base address */ -#define FSMC_Bank1_R_BASE (FSMC_R_BASE + 0x0000UL) -#define FSMC_Bank1E_R_BASE (FSMC_R_BASE + 0x0104UL) - -/*!< Debug MCU registers base address */ -#define DBGMCU_BASE 0xE0042000UL -/*!< USB registers base address */ -#define USB_OTG_FS_PERIPH_BASE 0x50000000UL - -#define USB_OTG_GLOBAL_BASE 0x000UL -#define USB_OTG_DEVICE_BASE 0x800UL -#define USB_OTG_IN_ENDPOINT_BASE 0x900UL -#define USB_OTG_OUT_ENDPOINT_BASE 0xB00UL -#define USB_OTG_EP_REG_SIZE 0x20UL -#define USB_OTG_HOST_BASE 0x400UL -#define USB_OTG_HOST_PORT_BASE 0x440UL -#define USB_OTG_HOST_CHANNEL_BASE 0x500UL -#define USB_OTG_HOST_CHANNEL_SIZE 0x20UL -#define USB_OTG_PCGCCTL_BASE 0xE00UL -#define USB_OTG_FIFO_BASE 0x1000UL -#define USB_OTG_FIFO_SIZE 0x1000UL - -#define UID_BASE 0x1FFF7A10UL /*!< Unique device ID register base address */ -#define FLASHSIZE_BASE 0x1FFF7A22UL /*!< FLASH Size register base address */ -#define PACKAGE_BASE 0x1FFF7BF0UL /*!< Package size register base address */ -/** - * @} - */ - -/** @addtogroup Peripheral_declaration - * @{ - */ -#define TIM2 ((TIM_TypeDef *) TIM2_BASE) -#define TIM3 ((TIM_TypeDef *) TIM3_BASE) -#define TIM4 ((TIM_TypeDef *) TIM4_BASE) -#define TIM5 ((TIM_TypeDef *) TIM5_BASE) -#define TIM6 ((TIM_TypeDef *) TIM6_BASE) -#define TIM7 ((TIM_TypeDef *) TIM7_BASE) -#define TIM12 ((TIM_TypeDef *) TIM12_BASE) -#define TIM13 ((TIM_TypeDef *) TIM13_BASE) -#define TIM14 ((TIM_TypeDef *) TIM14_BASE) -#define LPTIM1 ((LPTIM_TypeDef *) LPTIM1_BASE) -#define RTC ((RTC_TypeDef *) RTC_BASE) -#define WWDG ((WWDG_TypeDef *) WWDG_BASE) -#define IWDG ((IWDG_TypeDef *) IWDG_BASE) -#define I2S2ext ((SPI_TypeDef *) I2S2ext_BASE) -#define SPI2 ((SPI_TypeDef *) SPI2_BASE) -#define SPI3 ((SPI_TypeDef *) SPI3_BASE) -#define I2S3ext ((SPI_TypeDef *) I2S3ext_BASE) -#define USART2 ((USART_TypeDef *) USART2_BASE) -#define USART3 ((USART_TypeDef *) USART3_BASE) -#define UART4 ((USART_TypeDef *) UART4_BASE) -#define UART5 ((USART_TypeDef *) UART5_BASE) -#define I2C1 ((I2C_TypeDef *) I2C1_BASE) -#define I2C2 ((I2C_TypeDef *) I2C2_BASE) -#define I2C3 ((I2C_TypeDef *) I2C3_BASE) -#define FMPI2C1 ((FMPI2C_TypeDef *) FMPI2C1_BASE) -#define CAN1 ((CAN_TypeDef *) CAN1_BASE) -#define CAN2 ((CAN_TypeDef *) CAN2_BASE) -#define CAN3 ((CAN_TypeDef *) CAN3_BASE) -#define PWR ((PWR_TypeDef *) PWR_BASE) -#define DAC1 ((DAC_TypeDef *) DAC_BASE) -#define DAC ((DAC_TypeDef *) DAC_BASE) /* Kept for legacy purpose */ -#define UART7 ((USART_TypeDef *) UART7_BASE) -#define UART8 ((USART_TypeDef *) UART8_BASE) -#define TIM1 ((TIM_TypeDef *) TIM1_BASE) -#define TIM8 ((TIM_TypeDef *) TIM8_BASE) -#define USART1 ((USART_TypeDef *) USART1_BASE) -#define USART6 ((USART_TypeDef *) USART6_BASE) -#define UART9 ((USART_TypeDef *) UART9_BASE) -#define UART10 ((USART_TypeDef *) UART10_BASE) -#define ADC1 ((ADC_TypeDef *) ADC1_BASE) -#define ADC1_COMMON ((ADC_Common_TypeDef *) ADC1_COMMON_BASE) -/* Legacy define */ -#define ADC ADC1_COMMON -#define SDIO ((SDIO_TypeDef *) SDIO_BASE) -#define SPI1 ((SPI_TypeDef *) SPI1_BASE) -#define SPI4 ((SPI_TypeDef *) SPI4_BASE) -#define SYSCFG ((SYSCFG_TypeDef *) SYSCFG_BASE) -#define EXTI ((EXTI_TypeDef *) EXTI_BASE) -#define TIM9 ((TIM_TypeDef *) TIM9_BASE) -#define TIM10 ((TIM_TypeDef *) TIM10_BASE) -#define TIM11 ((TIM_TypeDef *) TIM11_BASE) -#define SPI5 ((SPI_TypeDef *) SPI5_BASE) -#define DFSDM1_Channel0 ((DFSDM_Channel_TypeDef *) DFSDM1_Channel0_BASE) -#define DFSDM1_Channel1 ((DFSDM_Channel_TypeDef *) DFSDM1_Channel1_BASE) -#define DFSDM1_Channel2 ((DFSDM_Channel_TypeDef *) DFSDM1_Channel2_BASE) -#define DFSDM1_Channel3 ((DFSDM_Channel_TypeDef *) DFSDM1_Channel3_BASE) -#define DFSDM1_Filter0 ((DFSDM_Filter_TypeDef *) DFSDM1_Filter0_BASE) -#define DFSDM1_Filter1 ((DFSDM_Filter_TypeDef *) DFSDM1_Filter1_BASE) -#define DFSDM2_Channel0 ((DFSDM_Channel_TypeDef *) DFSDM2_Channel0_BASE) -#define DFSDM2_Channel1 ((DFSDM_Channel_TypeDef *) DFSDM2_Channel1_BASE) -#define DFSDM2_Channel2 ((DFSDM_Channel_TypeDef *) DFSDM2_Channel2_BASE) -#define DFSDM2_Channel3 ((DFSDM_Channel_TypeDef *) DFSDM2_Channel3_BASE) -#define DFSDM2_Channel4 ((DFSDM_Channel_TypeDef *) DFSDM2_Channel4_BASE) -#define DFSDM2_Channel5 ((DFSDM_Channel_TypeDef *) DFSDM2_Channel5_BASE) -#define DFSDM2_Channel6 ((DFSDM_Channel_TypeDef *) DFSDM2_Channel6_BASE) -#define DFSDM2_Channel7 ((DFSDM_Channel_TypeDef *) DFSDM2_Channel7_BASE) -#define DFSDM2_Filter0 ((DFSDM_Filter_TypeDef *) DFSDM2_Filter0_BASE) -#define DFSDM2_Filter1 ((DFSDM_Filter_TypeDef *) DFSDM2_Filter1_BASE) -#define DFSDM2_Filter2 ((DFSDM_Filter_TypeDef *) DFSDM2_Filter2_BASE) -#define DFSDM2_Filter3 ((DFSDM_Filter_TypeDef *) DFSDM2_Filter3_BASE) -#define SAI1 ((SAI_TypeDef *) SAI1_BASE) -#define SAI1_Block_A ((SAI_Block_TypeDef *)SAI1_Block_A_BASE) -#define SAI1_Block_B ((SAI_Block_TypeDef *)SAI1_Block_B_BASE) -#define GPIOA ((GPIO_TypeDef *) GPIOA_BASE) -#define GPIOB ((GPIO_TypeDef *) GPIOB_BASE) -#define GPIOC ((GPIO_TypeDef *) GPIOC_BASE) -#define GPIOD ((GPIO_TypeDef *) GPIOD_BASE) -#define GPIOE ((GPIO_TypeDef *) GPIOE_BASE) -#define GPIOF ((GPIO_TypeDef *) GPIOF_BASE) -#define GPIOG ((GPIO_TypeDef *) GPIOG_BASE) -#define GPIOH ((GPIO_TypeDef *) GPIOH_BASE) -#define CRC ((CRC_TypeDef *) CRC_BASE) -#define RCC ((RCC_TypeDef *) RCC_BASE) -#define FLASH ((FLASH_TypeDef *) FLASH_R_BASE) -#define DMA1 ((DMA_TypeDef *) DMA1_BASE) -#define DMA1_Stream0 ((DMA_Stream_TypeDef *) DMA1_Stream0_BASE) -#define DMA1_Stream1 ((DMA_Stream_TypeDef *) DMA1_Stream1_BASE) -#define DMA1_Stream2 ((DMA_Stream_TypeDef *) DMA1_Stream2_BASE) -#define DMA1_Stream3 ((DMA_Stream_TypeDef *) DMA1_Stream3_BASE) -#define DMA1_Stream4 ((DMA_Stream_TypeDef *) DMA1_Stream4_BASE) -#define DMA1_Stream5 ((DMA_Stream_TypeDef *) DMA1_Stream5_BASE) -#define DMA1_Stream6 ((DMA_Stream_TypeDef *) DMA1_Stream6_BASE) -#define DMA1_Stream7 ((DMA_Stream_TypeDef *) DMA1_Stream7_BASE) -#define DMA2 ((DMA_TypeDef *) DMA2_BASE) -#define DMA2_Stream0 ((DMA_Stream_TypeDef *) DMA2_Stream0_BASE) -#define DMA2_Stream1 ((DMA_Stream_TypeDef *) DMA2_Stream1_BASE) -#define DMA2_Stream2 ((DMA_Stream_TypeDef *) DMA2_Stream2_BASE) -#define DMA2_Stream3 ((DMA_Stream_TypeDef *) DMA2_Stream3_BASE) -#define DMA2_Stream4 ((DMA_Stream_TypeDef *) DMA2_Stream4_BASE) -#define DMA2_Stream5 ((DMA_Stream_TypeDef *) DMA2_Stream5_BASE) -#define DMA2_Stream6 ((DMA_Stream_TypeDef *) DMA2_Stream6_BASE) -#define DMA2_Stream7 ((DMA_Stream_TypeDef *) DMA2_Stream7_BASE) -#define RNG ((RNG_TypeDef *) RNG_BASE) -#define FSMC_Bank1 ((FSMC_Bank1_TypeDef *) FSMC_Bank1_R_BASE) -#define FSMC_Bank1E ((FSMC_Bank1E_TypeDef *) FSMC_Bank1E_R_BASE) -#define QUADSPI ((QUADSPI_TypeDef *) QSPI_R_BASE) -#define DBGMCU ((DBGMCU_TypeDef *) DBGMCU_BASE) -#define USB_OTG_FS ((USB_OTG_GlobalTypeDef *) USB_OTG_FS_PERIPH_BASE) - -/** - * @} - */ - -/** @addtogroup Exported_constants - * @{ - */ - -/** @addtogroup Hardware_Constant_Definition - * @{ - */ -#define LSI_STARTUP_TIME 40U /*!< LSI Maximum startup time in us */ -/** - * @} - */ - - /** @addtogroup Peripheral_Registers_Bits_Definition - * @{ - */ - -/******************************************************************************/ -/* Peripheral Registers_Bits_Definition */ -/******************************************************************************/ - -/******************************************************************************/ -/* */ -/* Analog to Digital Converter */ -/* */ -/******************************************************************************/ - -/******************** Bit definition for ADC_SR register ********************/ -#define ADC_SR_AWD_Pos (0U) -#define ADC_SR_AWD_Msk (0x1UL << ADC_SR_AWD_Pos) /*!< 0x00000001 */ -#define ADC_SR_AWD ADC_SR_AWD_Msk /*!
© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.
- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/** @addtogroup CMSIS - * @{ - */ - -/** @addtogroup stm32f4xx - * @{ - */ - -#ifndef __STM32F4xx_H -#define __STM32F4xx_H - -#ifdef __cplusplus - extern "C" { -#endif /* __cplusplus */ - -/** @addtogroup Library_configuration_section - * @{ - */ - -/** - * @brief STM32 Family - */ -#if !defined (STM32F4) -#define STM32F4 -#endif /* STM32F4 */ - -/* Uncomment the line below according to the target STM32 device used in your - application - */ -#if !defined (STM32F405xx) && !defined (STM32F415xx) && !defined (STM32F407xx) && !defined (STM32F417xx) && \ - !defined (STM32F427xx) && !defined (STM32F437xx) && !defined (STM32F429xx) && !defined (STM32F439xx) && \ - !defined (STM32F401xC) && !defined (STM32F401xE) && !defined (STM32F410Tx) && !defined (STM32F410Cx) && \ - !defined (STM32F410Rx) && !defined (STM32F411xE) && !defined (STM32F446xx) && !defined (STM32F469xx) && \ - !defined (STM32F479xx) && !defined (STM32F412Cx) && !defined (STM32F412Rx) && !defined (STM32F412Vx) && \ - !defined (STM32F412Zx) && !defined (STM32F413xx) && !defined (STM32F423xx) - /* #define STM32F405xx */ /*!< STM32F405RG, STM32F405VG and STM32F405ZG Devices */ - /* #define STM32F415xx */ /*!< STM32F415RG, STM32F415VG and STM32F415ZG Devices */ - /* #define STM32F407xx */ /*!< STM32F407VG, STM32F407VE, STM32F407ZG, STM32F407ZE, STM32F407IG and STM32F407IE Devices */ - /* #define STM32F417xx */ /*!< STM32F417VG, STM32F417VE, STM32F417ZG, STM32F417ZE, STM32F417IG and STM32F417IE Devices */ - /* #define STM32F427xx */ /*!< STM32F427VG, STM32F427VI, STM32F427ZG, STM32F427ZI, STM32F427IG and STM32F427II Devices */ - /* #define STM32F437xx */ /*!< STM32F437VG, STM32F437VI, STM32F437ZG, STM32F437ZI, STM32F437IG and STM32F437II Devices */ - /* #define STM32F429xx */ /*!< STM32F429VG, STM32F429VI, STM32F429ZG, STM32F429ZI, STM32F429BG, STM32F429BI, STM32F429NG, - STM32F439NI, STM32F429IG and STM32F429II Devices */ - /* #define STM32F439xx */ /*!< STM32F439VG, STM32F439VI, STM32F439ZG, STM32F439ZI, STM32F439BG, STM32F439BI, STM32F439NG, - STM32F439NI, STM32F439IG and STM32F439II Devices */ - /* #define STM32F401xC */ /*!< STM32F401CB, STM32F401CC, STM32F401RB, STM32F401RC, STM32F401VB and STM32F401VC Devices */ - /* #define STM32F401xE */ /*!< STM32F401CD, STM32F401RD, STM32F401VD, STM32F401CE, STM32F401RE and STM32F401VE Devices */ - /* #define STM32F410Tx */ /*!< STM32F410T8 and STM32F410TB Devices */ - /* #define STM32F410Cx */ /*!< STM32F410C8 and STM32F410CB Devices */ - /* #define STM32F410Rx */ /*!< STM32F410R8 and STM32F410RB Devices */ - /* #define STM32F411xE */ /*!< STM32F411CC, STM32F411RC, STM32F411VC, STM32F411CE, STM32F411RE and STM32F411VE Devices */ - /* #define STM32F446xx */ /*!< STM32F446MC, STM32F446ME, STM32F446RC, STM32F446RE, STM32F446VC, STM32F446VE, STM32F446ZC, - and STM32F446ZE Devices */ - /* #define STM32F469xx */ /*!< STM32F469AI, STM32F469II, STM32F469BI, STM32F469NI, STM32F469AG, STM32F469IG, STM32F469BG, - STM32F469NG, STM32F469AE, STM32F469IE, STM32F469BE and STM32F469NE Devices */ - /* #define STM32F479xx */ /*!< STM32F479AI, STM32F479II, STM32F479BI, STM32F479NI, STM32F479AG, STM32F479IG, STM32F479BG - and STM32F479NG Devices */ - /* #define STM32F412Cx */ /*!< STM32F412CEU and STM32F412CGU Devices */ - /* #define STM32F412Zx */ /*!< STM32F412ZET, STM32F412ZGT, STM32F412ZEJ and STM32F412ZGJ Devices */ - /* #define STM32F412Vx */ /*!< STM32F412VET, STM32F412VGT, STM32F412VEH and STM32F412VGH Devices */ - /* #define STM32F412Rx */ /*!< STM32F412RET, STM32F412RGT, STM32F412REY and STM32F412RGY Devices */ - /* #define STM32F413xx */ /*!< STM32F413CH, STM32F413MH, STM32F413RH, STM32F413VH, STM32F413ZH, STM32F413CG, STM32F413MG, - STM32F413RG, STM32F413VG and STM32F413ZG Devices */ - /* #define STM32F423xx */ /*!< STM32F423CH, STM32F423RH, STM32F423VH and STM32F423ZH Devices */ -#endif - -/* Tip: To avoid modifying this file each time you need to switch between these - devices, you can define the device in your toolchain compiler preprocessor. - */ -#if !defined (USE_HAL_DRIVER) -/** - * @brief Comment the line below if you will not use the peripherals drivers. - In this case, these drivers will not be included and the application code will - be based on direct access to peripherals registers - */ - /*#define USE_HAL_DRIVER */ -#endif /* USE_HAL_DRIVER */ - -/** - * @brief CMSIS version number V2.6.7 - */ -#define __STM32F4xx_CMSIS_VERSION_MAIN (0x02U) /*!< [31:24] main version */ -#define __STM32F4xx_CMSIS_VERSION_SUB1 (0x06U) /*!< [23:16] sub1 version */ -#define __STM32F4xx_CMSIS_VERSION_SUB2 (0x07U) /*!< [15:8] sub2 version */ -#define __STM32F4xx_CMSIS_VERSION_RC (0x00U) /*!< [7:0] release candidate */ -#define __STM32F4xx_CMSIS_VERSION ((__STM32F4xx_CMSIS_VERSION_MAIN << 24)\ - |(__STM32F4xx_CMSIS_VERSION_SUB1 << 16)\ - |(__STM32F4xx_CMSIS_VERSION_SUB2 << 8 )\ - |(__STM32F4xx_CMSIS_VERSION_RC)) - -/** - * @} - */ - -/** @addtogroup Device_Included - * @{ - */ - -#if defined(STM32F405xx) - #include "stm32f405xx.h" -#elif defined(STM32F415xx) - #include "stm32f415xx.h" -#elif defined(STM32F407xx) - #include "stm32f407xx.h" -#elif defined(STM32F417xx) - #include "stm32f417xx.h" -#elif defined(STM32F427xx) - #include "stm32f427xx.h" -#elif defined(STM32F437xx) - #include "stm32f437xx.h" -#elif defined(STM32F429xx) - #include "stm32f429xx.h" -#elif defined(STM32F439xx) - #include "stm32f439xx.h" -#elif defined(STM32F401xC) - #include "stm32f401xc.h" -#elif defined(STM32F401xE) - #include "stm32f401xe.h" -#elif defined(STM32F410Tx) - #include "stm32f410tx.h" -#elif defined(STM32F410Cx) - #include "stm32f410cx.h" -#elif defined(STM32F410Rx) - #include "stm32f410rx.h" -#elif defined(STM32F411xE) - #include "stm32f411xe.h" -#elif defined(STM32F446xx) - #include "stm32f446xx.h" -#elif defined(STM32F469xx) - #include "stm32f469xx.h" -#elif defined(STM32F479xx) - #include "stm32f479xx.h" -#elif defined(STM32F412Cx) - #include "stm32f412cx.h" -#elif defined(STM32F412Zx) - #include "stm32f412zx.h" -#elif defined(STM32F412Rx) - #include "stm32f412rx.h" -#elif defined(STM32F412Vx) - #include "stm32f412vx.h" -#elif defined(STM32F413xx) - #include "stm32f413xx.h" -#elif defined(STM32F423xx) - #include "stm32f423xx.h" -#else - #error "Please select first the target STM32F4xx device used in your application (in stm32f4xx.h file)" -#endif - -/** - * @} - */ - -/** @addtogroup Exported_types - * @{ - */ -typedef enum -{ - RESET = 0U, - SET = !RESET -} FlagStatus, ITStatus; - -typedef enum -{ - DISABLE = 0U, - ENABLE = !DISABLE -} FunctionalState; -#define IS_FUNCTIONAL_STATE(STATE) (((STATE) == DISABLE) || ((STATE) == ENABLE)) - -typedef enum -{ - SUCCESS = 0U, - ERROR = !SUCCESS -} ErrorStatus; - -/** - * @} - */ - - -/** @addtogroup Exported_macro - * @{ - */ -#define SET_BIT(REG, BIT) ((REG) |= (BIT)) - -#define CLEAR_BIT(REG, BIT) ((REG) &= ~(BIT)) - -#define READ_BIT(REG, BIT) ((REG) & (BIT)) - -#define CLEAR_REG(REG) ((REG) = (0x0)) - -#define WRITE_REG(REG, VAL) ((REG) = (VAL)) - -#define READ_REG(REG) ((REG)) - -#define MODIFY_REG(REG, CLEARMASK, SETMASK) WRITE_REG((REG), (((READ_REG(REG)) & (~(CLEARMASK))) | (SETMASK))) - -#define POSITION_VAL(VAL) (__CLZ(__RBIT(VAL))) - -/* Use of CMSIS compiler intrinsics for register exclusive access */ -/* Atomic 32-bit register access macro to set one or several bits */ -#define ATOMIC_SET_BIT(REG, BIT) \ - do { \ - uint32_t val; \ - do { \ - val = __LDREXW((__IO uint32_t *)&(REG)) | (BIT); \ - } while ((__STREXW(val,(__IO uint32_t *)&(REG))) != 0U); \ - } while(0) - -/* Atomic 32-bit register access macro to clear one or several bits */ -#define ATOMIC_CLEAR_BIT(REG, BIT) \ - do { \ - uint32_t val; \ - do { \ - val = __LDREXW((__IO uint32_t *)&(REG)) & ~(BIT); \ - } while ((__STREXW(val,(__IO uint32_t *)&(REG))) != 0U); \ - } while(0) - -/* Atomic 32-bit register access macro to clear and set one or several bits */ -#define ATOMIC_MODIFY_REG(REG, CLEARMSK, SETMASK) \ - do { \ - uint32_t val; \ - do { \ - val = (__LDREXW((__IO uint32_t *)&(REG)) & ~(CLEARMSK)) | (SETMASK); \ - } while ((__STREXW(val,(__IO uint32_t *)&(REG))) != 0U); \ - } while(0) - -/* Atomic 16-bit register access macro to set one or several bits */ -#define ATOMIC_SETH_BIT(REG, BIT) \ - do { \ - uint16_t val; \ - do { \ - val = __LDREXH((__IO uint16_t *)&(REG)) | (BIT); \ - } while ((__STREXH(val,(__IO uint16_t *)&(REG))) != 0U); \ - } while(0) - -/* Atomic 16-bit register access macro to clear one or several bits */ -#define ATOMIC_CLEARH_BIT(REG, BIT) \ - do { \ - uint16_t val; \ - do { \ - val = __LDREXH((__IO uint16_t *)&(REG)) & ~(BIT); \ - } while ((__STREXH(val,(__IO uint16_t *)&(REG))) != 0U); \ - } while(0) - -/* Atomic 16-bit register access macro to clear and set one or several bits */ -#define ATOMIC_MODIFYH_REG(REG, CLEARMSK, SETMASK) \ - do { \ - uint16_t val; \ - do { \ - val = (__LDREXH((__IO uint16_t *)&(REG)) & ~(CLEARMSK)) | (SETMASK); \ - } while ((__STREXH(val,(__IO uint16_t *)&(REG))) != 0U); \ - } while(0) - -/** - * @} - */ - -#if defined (USE_HAL_DRIVER) - #include "stm32f4xx_hal.h" -#endif /* USE_HAL_DRIVER */ - -#ifdef __cplusplus -} -#endif /* __cplusplus */ - -#endif /* __STM32F4xx_H */ -/** - * @} - */ - -/** - * @} - */ - - - - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/stm32f4xx_hal_conf.h b/body/board/inc/stm32f4xx_hal_conf.h deleted file mode 100644 index 37e76267eca523..00000000000000 --- a/body/board/inc/stm32f4xx_hal_conf.h +++ /dev/null @@ -1,477 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_conf.h - * @author MCD Application Team - * @brief HAL configuration file. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef __STM32F4xx_HAL_CONF_H -#define __STM32F4xx_HAL_CONF_H - -#ifdef __cplusplus - extern "C" { -#endif - -/* Exported types ------------------------------------------------------------*/ -/* Exported constants --------------------------------------------------------*/ - -/* ########################## Module Selection ############################## */ -/** - * @brief This is the list of modules to be used in the HAL driver - */ -#define HAL_MODULE_ENABLED -#define HAL_ADC_MODULE_ENABLED -/* #define HAL_CAN_MODULE_ENABLED */ -/* #define HAL_CAN_LEGACY_MODULE_ENABLED */ -/* #define HAL_CRC_MODULE_ENABLED */ -/* #define HAL_CEC_MODULE_ENABLED */ -/* #define HAL_CRYP_MODULE_ENABLED */ -/* #define HAL_DAC_MODULE_ENABLED */ -/* #define HAL_DCMI_MODULE_ENABLED */ -#define HAL_DMA_MODULE_ENABLED -/* #define HAL_ETH_MODULE_ENABLED */ -#define HAL_FLASH_MODULE_ENABLED -/* #define HAL_NAND_MODULE_ENABLED */ -/* #define HAL_NOR_MODULE_ENABLED */ -/* #define HAL_PCCARD_MODULE_ENABLED */ -/* #define HAL_SRAM_MODULE_ENABLED */ -/* #define HAL_SDRAM_MODULE_ENABLED */ -/* #define HAL_HASH_MODULE_ENABLED */ -#define HAL_GPIO_MODULE_ENABLED -#define HAL_I2C_MODULE_ENABLED -/* #define HAL_I2S_MODULE_ENABLED */ -/* #define HAL_IWDG_MODULE_ENABLED */ -/* #define HAL_LTDC_MODULE_ENABLED */ -#define HAL_PWR_MODULE_ENABLED -/* #define HAL_QSPI_MODULE_ENABLED */ -#define HAL_RCC_MODULE_ENABLED -/* #define HAL_RNG_MODULE_ENABLED */ -/* #define HAL_RTC_MODULE_ENABLED */ -/* #define HAL_SAI_MODULE_ENABLED */ -/* #define HAL_SD_MODULE_ENABLED */ -/* #define HAL_SPI_MODULE_ENABLED */ -#define HAL_TIM_MODULE_ENABLED -#define HAL_UART_MODULE_ENABLED -/* #define HAL_USART_MODULE_ENABLED */ -/* #define HAL_IRDA_MODULE_ENABLED */ -/* #define HAL_SMARTCARD_MODULE_ENABLED */ -/* #define HAL_WWDG_MODULE_ENABLED */ -#define HAL_CORTEX_MODULE_ENABLED -/* #define HAL_PCD_MODULE_ENABLED */ -/* #define HAL_HCD_MODULE_ENABLED */ -/* #define HAL_FMPI2C_MODULE_ENABLED */ -/* #define HAL_SPDIFRX_MODULE_ENABLED */ -/* #define HAL_DFSDM_MODULE_ENABLED */ -/* #define HAL_LPTIM_MODULE_ENABLED */ - -/* ########################## HSE/HSI Values adaptation ##################### */ -/** - * @brief Adjust the value of External High Speed oscillator (HSE) used in your application. - * This value is used by the RCC HAL module to compute the system frequency - * (when HSE is used as system clock source, directly or through the PLL). - */ -#if !defined (HSE_VALUE) - #define HSE_VALUE 8000000U /*!< Value of the External oscillator in Hz */ -#endif /* HSE_VALUE */ - -#if !defined (HSE_STARTUP_TIMEOUT) - #define HSE_STARTUP_TIMEOUT 100U /*!< Time out for HSE start up, in ms */ -#endif /* HSE_STARTUP_TIMEOUT */ - -/** - * @brief Internal High Speed oscillator (HSI) value. - * This value is used by the RCC HAL module to compute the system frequency - * (when HSI is used as system clock source, directly or through the PLL). - */ -#if !defined (HSI_VALUE) - #define HSI_VALUE 16000000U /*!< Value of the Internal oscillator in Hz*/ -#endif /* HSI_VALUE */ - -/** - * @brief Internal Low Speed oscillator (LSI) value. - */ -#if !defined (LSI_VALUE) - #define LSI_VALUE 32000U /*!< LSI Typical Value in Hz*/ -#endif /* LSI_VALUE */ /*!< Value of the Internal Low Speed oscillator in Hz - The real value may vary depending on the variations - in voltage and temperature.*/ -/** - * @brief External Low Speed oscillator (LSE) value. - */ -#if !defined (LSE_VALUE) - #define LSE_VALUE 32768U /*!< Value of the External Low Speed oscillator in Hz */ -#endif /* LSE_VALUE */ - -#if !defined (LSE_STARTUP_TIMEOUT) - #define LSE_STARTUP_TIMEOUT 5000U /*!< Time out for LSE start up, in ms */ -#endif /* LSE_STARTUP_TIMEOUT */ - -/** - * @brief External clock source for I2S peripheral - * This value is used by the I2S HAL module to compute the I2S clock source - * frequency, this source is inserted directly through I2S_CKIN pad. - */ -#if !defined (EXTERNAL_CLOCK_VALUE) - #define EXTERNAL_CLOCK_VALUE 12288000U /*!< Value of the External oscillator in Hz*/ -#endif /* EXTERNAL_CLOCK_VALUE */ - -/* Tip: To avoid modifying this file each time you need to use different HSE, - === you can define the HSE value in your toolchain compiler preprocessor. */ - -/* ########################### System Configuration ######################### */ -/** - * @brief This is the HAL system configuration section - */ -#define VDD_VALUE 3300U /*!< Value of VDD in mv */ -#define TICK_INT_PRIORITY 0x0FU /*!< tick interrupt priority */ -#define USE_RTOS 0U -#define PREFETCH_ENABLE 1U -#define INSTRUCTION_CACHE_ENABLE 1U -#define DATA_CACHE_ENABLE 1U - -#define USE_HAL_ADC_REGISTER_CALLBACKS 0U /* ADC register callback disabled */ -#define USE_HAL_CAN_REGISTER_CALLBACKS 0U /* CAN register callback disabled */ -#define USE_HAL_CEC_REGISTER_CALLBACKS 0U /* CEC register callback disabled */ -#define USE_HAL_CRYP_REGISTER_CALLBACKS 0U /* CRYP register callback disabled */ -#define USE_HAL_DAC_REGISTER_CALLBACKS 0U /* DAC register callback disabled */ -#define USE_HAL_DCMI_REGISTER_CALLBACKS 0U /* DCMI register callback disabled */ -#define USE_HAL_DFSDM_REGISTER_CALLBACKS 0U /* DFSDM register callback disabled */ -#define USE_HAL_DMA2D_REGISTER_CALLBACKS 0U /* DMA2D register callback disabled */ -#define USE_HAL_DSI_REGISTER_CALLBACKS 0U /* DSI register callback disabled */ -#define USE_HAL_ETH_REGISTER_CALLBACKS 0U /* ETH register callback disabled */ -#define USE_HAL_HASH_REGISTER_CALLBACKS 0U /* HASH register callback disabled */ -#define USE_HAL_HCD_REGISTER_CALLBACKS 0U /* HCD register callback disabled */ -#define USE_HAL_I2C_REGISTER_CALLBACKS 0U /* I2C register callback disabled */ -#define USE_HAL_FMPI2C_REGISTER_CALLBACKS 0U /* FMPI2C register callback disabled */ -#define USE_HAL_I2S_REGISTER_CALLBACKS 0U /* I2S register callback disabled */ -#define USE_HAL_IRDA_REGISTER_CALLBACKS 0U /* IRDA register callback disabled */ -#define USE_HAL_LPTIM_REGISTER_CALLBACKS 0U /* LPTIM register callback disabled */ -#define USE_HAL_LTDC_REGISTER_CALLBACKS 0U /* LTDC register callback disabled */ -#define USE_HAL_MMC_REGISTER_CALLBACKS 0U /* MMC register callback disabled */ -#define USE_HAL_NAND_REGISTER_CALLBACKS 0U /* NAND register callback disabled */ -#define USE_HAL_NOR_REGISTER_CALLBACKS 0U /* NOR register callback disabled */ -#define USE_HAL_PCCARD_REGISTER_CALLBACKS 0U /* PCCARD register callback disabled */ -#define USE_HAL_PCD_REGISTER_CALLBACKS 0U /* PCD register callback disabled */ -#define USE_HAL_QSPI_REGISTER_CALLBACKS 0U /* QSPI register callback disabled */ -#define USE_HAL_RNG_REGISTER_CALLBACKS 0U /* RNG register callback disabled */ -#define USE_HAL_RTC_REGISTER_CALLBACKS 0U /* RTC register callback disabled */ -#define USE_HAL_SAI_REGISTER_CALLBACKS 0U /* SAI register callback disabled */ -#define USE_HAL_SD_REGISTER_CALLBACKS 0U /* SD register callback disabled */ -#define USE_HAL_SMARTCARD_REGISTER_CALLBACKS 0U /* SMARTCARD register callback disabled */ -#define USE_HAL_SDRAM_REGISTER_CALLBACKS 0U /* SDRAM register callback disabled */ -#define USE_HAL_SRAM_REGISTER_CALLBACKS 0U /* SRAM register callback disabled */ -#define USE_HAL_SPDIFRX_REGISTER_CALLBACKS 0U /* SPDIFRX register callback disabled */ -#define USE_HAL_SMBUS_REGISTER_CALLBACKS 0U /* SMBUS register callback disabled */ -#define USE_HAL_SPI_REGISTER_CALLBACKS 0U /* SPI register callback disabled */ -#define USE_HAL_TIM_REGISTER_CALLBACKS 0U /* TIM register callback disabled */ -#define USE_HAL_UART_REGISTER_CALLBACKS 0U /* UART register callback disabled */ -#define USE_HAL_USART_REGISTER_CALLBACKS 0U /* USART register callback disabled */ -#define USE_HAL_WWDG_REGISTER_CALLBACKS 0U /* WWDG register callback disabled */ - -/* ########################## Assert Selection ############################## */ -/** - * @brief Uncomment the line below to expanse the "assert_param" macro in the - * HAL drivers code - */ -/* #define USE_FULL_ASSERT 1 */ - -/* ################## Ethernet peripheral configuration for NUCLEO 144 board ##################### */ - -/* Section 1 : Ethernet peripheral configuration */ - -/* MAC ADDRESS: MAC_ADDR0:MAC_ADDR1:MAC_ADDR2:MAC_ADDR3:MAC_ADDR4:MAC_ADDR5 */ -#define MAC_ADDR0 2U -#define MAC_ADDR1 0U -#define MAC_ADDR2 0U -#define MAC_ADDR3 0U -#define MAC_ADDR4 0U -#define MAC_ADDR5 0U - -/* Definition of the Ethernet driver buffers size and count */ -#define ETH_RX_BUF_SIZE ETH_MAX_PACKET_SIZE /* buffer size for receive */ -#define ETH_TX_BUF_SIZE ETH_MAX_PACKET_SIZE /* buffer size for transmit */ -#define ETH_RXBUFNB 5U /* 5 Rx buffers of size ETH_RX_BUF_SIZE */ -#define ETH_TXBUFNB 5U /* 5 Tx buffers of size ETH_TX_BUF_SIZE */ - -/* Section 2: PHY configuration section */ -/* LAN8742A PHY Address*/ -#define LAN8742A_PHY_ADDRESS 0x00U -/* PHY Reset delay these values are based on a 1 ms Systick interrupt*/ -#define PHY_RESET_DELAY 0x00000FFFU -/* PHY Configuration delay */ -#define PHY_CONFIG_DELAY 0x00000FFFU - -#define PHY_READ_TO 0x0000FFFFU -#define PHY_WRITE_TO 0x0000FFFFU - -/* Section 3: Common PHY Registers */ - -#define PHY_BCR ((uint16_t)0x00) /*!< Transceiver Basic Control Register */ -#define PHY_BSR ((uint16_t)0x01) /*!< Transceiver Basic Status Register */ - -#define PHY_RESET ((uint16_t)0x8000) /*!< PHY Reset */ -#define PHY_LOOPBACK ((uint16_t)0x4000) /*!< Select loop-back mode */ -#define PHY_FULLDUPLEX_100M ((uint16_t)0x2100) /*!< Set the full-duplex mode at 100 Mb/s */ -#define PHY_HALFDUPLEX_100M ((uint16_t)0x2000) /*!< Set the half-duplex mode at 100 Mb/s */ -#define PHY_FULLDUPLEX_10M ((uint16_t)0x0100) /*!< Set the full-duplex mode at 10 Mb/s */ -#define PHY_HALFDUPLEX_10M ((uint16_t)0x0000) /*!< Set the half-duplex mode at 10 Mb/s */ -#define PHY_AUTONEGOTIATION ((uint16_t)0x1000) /*!< Enable auto-negotiation function */ -#define PHY_RESTART_AUTONEGOTIATION ((uint16_t)0x0200) /*!< Restart auto-negotiation function */ -#define PHY_POWERDOWN ((uint16_t)0x0800) /*!< Select the power down mode */ -#define PHY_ISOLATE ((uint16_t)0x0400) /*!< Isolate PHY from MII */ - -#define PHY_AUTONEGO_COMPLETE ((uint16_t)0x0020) /*!< Auto-Negotiation process completed */ -#define PHY_LINKED_STATUS ((uint16_t)0x0004) /*!< Valid link established */ -#define PHY_JABBER_DETECTION ((uint16_t)0x0002) /*!< Jabber condition detected */ - -/* Section 4: Extended PHY Registers */ - -#define PHY_SR ((uint16_t)0x1F) /*!< PHY special control/ status register Offset */ - -#define PHY_SPEED_STATUS ((uint16_t)0x0004) /*!< PHY Speed mask */ -#define PHY_DUPLEX_STATUS ((uint16_t)0x0010) /*!< PHY Duplex mask */ - - -#define PHY_ISFR ((uint16_t)0x1D) /*!< PHY Interrupt Source Flag register Offset */ -#define PHY_ISFR_INT4 ((uint16_t)0x0010) /*!< PHY Link down inturrupt */ - -/* ################## SPI peripheral configuration ########################## */ - -/* CRC FEATURE: Use to activate CRC feature inside HAL SPI Driver -* Activated: CRC code is present inside driver -* Deactivated: CRC code cleaned from driver -*/ - -#define USE_SPI_CRC 1U - -/* Includes ------------------------------------------------------------------*/ -/** - * @brief Include module's header file - */ - -#ifdef HAL_RCC_MODULE_ENABLED - #include "stm32f4xx_hal_rcc.h" - #include "stm32f4xx_hal_rcc_ex.h" -#endif /* HAL_RCC_MODULE_ENABLED */ - -#ifdef HAL_GPIO_MODULE_ENABLED - #include "stm32f4xx_hal_gpio.h" - #include "stm32f4xx_hal_gpio_ex.h" -#endif /* HAL_GPIO_MODULE_ENABLED */ - -#ifdef HAL_DMA_MODULE_ENABLED - #include "stm32f4xx_hal_dma.h" - #include "stm32f4xx_hal_dma_ex.h" -#endif /* HAL_DMA_MODULE_ENABLED */ - -#ifdef HAL_CORTEX_MODULE_ENABLED - #include "stm32f4xx_hal_cortex.h" -#endif /* HAL_CORTEX_MODULE_ENABLED */ - -#ifdef HAL_ADC_MODULE_ENABLED - #include "stm32f4xx_hal_adc.h" -#endif /* HAL_ADC_MODULE_ENABLED */ - -#ifdef HAL_CAN_MODULE_ENABLED - #include "stm32f4xx_hal_can.h" -#endif /* HAL_CAN_MODULE_ENABLED */ - -#ifdef HAL_CAN_LEGACY_MODULE_ENABLED - #include "stm32f4xx_hal_can_legacy.h" -#endif /* HAL_CAN_LEGACY_MODULE_ENABLED */ - -#ifdef HAL_CRC_MODULE_ENABLED - #include "stm32f4xx_hal_crc.h" -#endif /* HAL_CRC_MODULE_ENABLED */ - -#ifdef HAL_CRYP_MODULE_ENABLED - #include "stm32f4xx_hal_cryp.h" - #include "stm32f4xx_hal_cryp_ex.h" -#endif /* HAL_CRYP_MODULE_ENABLED */ - -#ifdef HAL_DAC_MODULE_ENABLED - #include "stm32f4xx_hal_dac.h" -#endif /* HAL_DAC_MODULE_ENABLED */ - -#ifdef HAL_DCMI_MODULE_ENABLED - #include "stm32f4xx_hal_dcmi.h" -#endif /* HAL_DCMI_MODULE_ENABLED */ - -#ifdef HAL_ETH_MODULE_ENABLED - #include "stm32f4xx_hal_eth.h" -#endif /* HAL_ETH_MODULE_ENABLED */ - -#ifdef HAL_FLASH_MODULE_ENABLED - #include "stm32f4xx_hal_flash.h" - #include "stm32f4xx_hal_flash_ex.h" -#endif /* HAL_FLASH_MODULE_ENABLED */ - -#ifdef HAL_SRAM_MODULE_ENABLED - #include "stm32f4xx_hal_sram.h" -#endif /* HAL_SRAM_MODULE_ENABLED */ - -#ifdef HAL_NOR_MODULE_ENABLED - #include "stm32f4xx_hal_nor.h" -#endif /* HAL_NOR_MODULE_ENABLED */ - -#ifdef HAL_NAND_MODULE_ENABLED - #include "stm32f4xx_hal_nand.h" -#endif /* HAL_NAND_MODULE_ENABLED */ - -#ifdef HAL_PCCARD_MODULE_ENABLED - #include "stm32f4xx_hal_pccard.h" -#endif /* HAL_PCCARD_MODULE_ENABLED */ - -#ifdef HAL_SDRAM_MODULE_ENABLED - #include "stm32f4xx_hal_sdram.h" -#endif /* HAL_SDRAM_MODULE_ENABLED */ - -#ifdef HAL_HASH_MODULE_ENABLED - #include "stm32f4xx_hal_hash.h" -#endif /* HAL_HASH_MODULE_ENABLED */ - -#ifdef HAL_I2C_MODULE_ENABLED - #include "stm32f4xx_hal_i2c.h" - #include "stm32f4xx_hal_i2c_ex.h" -#endif /* HAL_I2C_MODULE_ENABLED */ - -#ifdef HAL_I2S_MODULE_ENABLED - #include "stm32f4xx_hal_i2s.h" - #include "stm32f4xx_hal_i2s_ex.h" -#endif /* HAL_I2S_MODULE_ENABLED */ - -#ifdef HAL_IWDG_MODULE_ENABLED - #include "stm32f4xx_hal_iwdg.h" -#endif /* HAL_IWDG_MODULE_ENABLED */ - -#ifdef HAL_LTDC_MODULE_ENABLED - #include "stm32f4xx_hal_ltdc.h" -#endif /* HAL_LTDC_MODULE_ENABLED */ - -#ifdef HAL_PWR_MODULE_ENABLED - #include "stm32f4xx_hal_pwr.h" - #include "stm32f4xx_hal_pwr_ex.h" -#endif /* HAL_PWR_MODULE_ENABLED */ - -#ifdef HAL_RNG_MODULE_ENABLED - #include "stm32f4xx_hal_rng.h" -#endif /* HAL_RNG_MODULE_ENABLED */ - -#ifdef HAL_RTC_MODULE_ENABLED - #include "stm32f4xx_hal_rtc.h" -#endif /* HAL_RTC_MODULE_ENABLED */ - -#ifdef HAL_SAI_MODULE_ENABLED - #include "stm32f4xx_hal_sai.h" -#endif /* HAL_SAI_MODULE_ENABLED */ - -#ifdef HAL_SD_MODULE_ENABLED - #include "stm32f4xx_hal_sd.h" -#endif /* HAL_SD_MODULE_ENABLED */ - -#ifdef HAL_SPI_MODULE_ENABLED - #include "stm32f4xx_hal_spi.h" -#endif /* HAL_SPI_MODULE_ENABLED */ - -#ifdef HAL_TIM_MODULE_ENABLED - #include "stm32f4xx_hal_tim.h" -#endif /* HAL_TIM_MODULE_ENABLED */ - -#ifdef HAL_UART_MODULE_ENABLED - #include "stm32f4xx_hal_uart.h" -#endif /* HAL_UART_MODULE_ENABLED */ - -#ifdef HAL_USART_MODULE_ENABLED - #include "stm32f4xx_hal_usart.h" -#endif /* HAL_USART_MODULE_ENABLED */ - -#ifdef HAL_IRDA_MODULE_ENABLED - #include "stm32f4xx_hal_irda.h" -#endif /* HAL_IRDA_MODULE_ENABLED */ - -#ifdef HAL_SMARTCARD_MODULE_ENABLED - #include "stm32f4xx_hal_smartcard.h" -#endif /* HAL_SMARTCARD_MODULE_ENABLED */ - -#ifdef HAL_WWDG_MODULE_ENABLED - #include "stm32f4xx_hal_wwdg.h" -#endif /* HAL_WWDG_MODULE_ENABLED */ - -#ifdef HAL_PCD_MODULE_ENABLED - #include "stm32f4xx_hal_pcd.h" -#endif /* HAL_PCD_MODULE_ENABLED */ - -#ifdef HAL_HCD_MODULE_ENABLED - #include "stm32f4xx_hal_hcd.h" -#endif /* HAL_HCD_MODULE_ENABLED */ - -#ifdef HAL_QSPI_MODULE_ENABLED - #include "stm32f4xx_hal_qspi.h" -#endif /* HAL_QSPI_MODULE_ENABLED */ - -#ifdef HAL_CEC_MODULE_ENABLED - #include "stm32f4xx_hal_cec.h" -#endif /* HAL_CEC_MODULE_ENABLED */ - -#ifdef HAL_FMPI2C_MODULE_ENABLED - #include "stm32f4xx_hal_fmpi2c.h" -#endif /* HAL_FMPI2C_MODULE_ENABLED */ - -#ifdef HAL_SPDIFRX_MODULE_ENABLED - #include "stm32f4xx_hal_spdifrx.h" -#endif /* HAL_SPDIFRX_MODULE_ENABLED */ - -#ifdef HAL_DFSDM_MODULE_ENABLED - #include "stm32f4xx_hal_dfsdm.h" -#endif /* HAL_DFSDM_MODULE_ENABLED */ - -#ifdef HAL_LPTIM_MODULE_ENABLED - #include "stm32f4xx_hal_lptim.h" -#endif /* HAL_LPTIM_MODULE_ENABLED */ - -/* Exported macro ------------------------------------------------------------*/ -#ifdef USE_FULL_ASSERT -/** - * @brief The assert_param macro is used for function's parameters check. - * @param expr: If expr is false, it calls assert_failed function - * which reports the name of the source file and the source - * line number of the call that failed. - * If expr is true, it returns no value. - * @retval None - */ - #define assert_param(expr) ((expr) ? (void)0 : assert_failed((uint8_t *)__FILE__, __LINE__)) -/* Exported functions ------------------------------------------------------- */ - void assert_failed(uint8_t* file, uint32_t line); -#else - #define assert_param(expr) ((void)0U) -#endif /* USE_FULL_ASSERT */ - -/** - * @} - */ - -/** - * @} - */ - -#ifdef __cplusplus -} -#endif - -#endif /* __STM32F4xx_HAL_CONF_H */ - - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/stm32f4xx_it.c b/body/board/inc/stm32f4xx_it.c deleted file mode 100644 index 5a9f5c36729694..00000000000000 --- a/body/board/inc/stm32f4xx_it.c +++ /dev/null @@ -1,169 +0,0 @@ -/** - ****************************************************************************** - * @file GPIO/GPIO_IOToggle/Src/stm32f4xx_it.c - * @author MCD Application Team - * @brief Main Interrupt Service Routines. - * This file provides template for all exceptions handler and - * peripherals interrupt service routine. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_it.h" - -/** @addtogroup STM32F4xx_HAL_Examples - * @{ - */ - -/** @addtogroup GPIO_IOToggle - * @{ - */ - -/* Private typedef -----------------------------------------------------------*/ -/* Private define ------------------------------------------------------------*/ -/* Private macro -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ - -/* Private function prototypes -----------------------------------------------*/ -void HAL_IncTick(void); -/* Private functions ---------------------------------------------------------*/ - -/******************************************************************************/ -/* Cortex-M4 Processor Exceptions Handlers */ -/******************************************************************************/ - -/** - * @brief This function handles NMI exception. - * @param None - * @retval None - */ -void NMI_Handler(void) -{ -} - -/** - * @brief This function handles Hard Fault exception. - * @param None - * @retval None - */ -void HardFault_Handler(void) -{ - /* Go to infinite loop when Hard Fault exception occurs */ - while (1) - { - } -} - -/** - * @brief This function handles Memory Manage exception. - * @param None - * @retval None - */ -void MemManage_Handler(void) -{ - /* Go to infinite loop when Memory Manage exception occurs */ - while (1) - { - } -} - -/** - * @brief This function handles Bus Fault exception. - * @param None - * @retval None - */ -void BusFault_Handler(void) -{ - /* Go to infinite loop when Bus Fault exception occurs */ - while (1) - { - } -} - -/** - * @brief This function handles Usage Fault exception. - * @param None - * @retval None - */ -void UsageFault_Handler(void) -{ - /* Go to infinite loop when Usage Fault exception occurs */ - while (1) - { - } -} - -/** - * @brief This function handles SVCall exception. - * @param None - * @retval None - */ -void SVC_Handler(void) -{ -} - -/** - * @brief This function handles Debug Monitor exception. - * @param None - * @retval None - */ -void DebugMon_Handler(void) -{ -} - -/** - * @brief This function handles PendSVC exception. - * @param None - * @retval None - */ -void PendSV_Handler(void) -{ -} - -/** - * @brief This function handles SysTick Handler. - * @param None - * @retval None - */ -void SysTick_Handler(void) -{ - HAL_IncTick(); -} - -/******************************************************************************/ -/* STM32F4xx Peripherals Interrupt Handlers */ -/* Add here the Interrupt Handler for the used peripheral(s) (PPP), for the */ -/* available peripheral interrupt handler's name please refer to the startup */ -/* file (startup_stm32f4xx.s). */ -/******************************************************************************/ - -/** - * @brief This function handles PPP interrupt request. - * @param None - * @retval None - */ -/*void PPP_IRQHandler(void) -{ -}*/ - - -/** - * @} - */ - -/** - * @} - */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/stm32f4xx_it.h b/body/board/inc/stm32f4xx_it.h deleted file mode 100644 index 47e94acd502f96..00000000000000 --- a/body/board/inc/stm32f4xx_it.h +++ /dev/null @@ -1,50 +0,0 @@ -/** - ****************************************************************************** - * @file GPIO/GPIO_IOToggle/Inc/stm32f4xx_it.h - * @author MCD Application Team - * @brief This file contains the headers of the interrupt handlers. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef __STM32F4xx_IT_H -#define __STM32F4xx_IT_H - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -/* Exported types ------------------------------------------------------------*/ -/* Exported constants --------------------------------------------------------*/ -/* Exported macro ------------------------------------------------------------*/ -/* Exported functions ------------------------------------------------------- */ - -void NMI_Handler(void); -void HardFault_Handler(void); -void MemManage_Handler(void); -void BusFault_Handler(void); -void UsageFault_Handler(void); -void SVC_Handler(void); -void DebugMon_Handler(void); -void PendSV_Handler(void); -void SysTick_Handler(void); - -#ifdef __cplusplus -} -#endif - -#endif /* __STM32F4xx_IT_H */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/system_stm32f4xx.c b/body/board/inc/system_stm32f4xx.c deleted file mode 100644 index 048783d32f4161..00000000000000 --- a/body/board/inc/system_stm32f4xx.c +++ /dev/null @@ -1,255 +0,0 @@ -/** - ****************************************************************************** - * @file system_stm32f4xx.c - * @author MCD Application Team - * @brief - CMSIS Cortex-M4 Device Peripheral Access Layer System Source File. - * - This file is dedicated only for STM32F413 NUCLEO 144 boards. - * - * This file provides two functions and one global variable to be called from - * user application: - * - SystemInit(): This function is called at startup just after reset and - * before branch to main program. This call is made inside - * the "startup_stm32f4xx.s" file. - * - * - SystemCoreClock variable: Contains the core clock (HCLK), it can be used - * by the user application to setup the SysTick - * timer or configure other parameters. - * - * - SystemCoreClockUpdate(): Updates the variable SystemCoreClock and must - * be called whenever the core clock is changed - * during program execution. - * - * - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/** @addtogroup CMSIS - * @{ - */ - -/** @addtogroup stm32f4xx_system - * @{ - */ - -/** @addtogroup STM32F4xx_System_Private_Includes - * @{ - */ - - -#include "stm32f4xx.h" - -#if !defined (HSE_VALUE) - #define HSE_VALUE ((uint32_t)8000000) /*!< Default value of the External oscillator in Hz */ -#endif /* HSE_VALUE */ - -#if !defined (HSI_VALUE) - #define HSI_VALUE ((uint32_t)16000000) /*!< Value of the Internal oscillator in Hz*/ -#endif /* HSI_VALUE */ - -/** - * @} - */ - -/** @addtogroup STM32F4xx_System_Private_TypesDefinitions - * @{ - */ - -/** - * @} - */ - -/** @addtogroup STM32F4xx_System_Private_Defines - * @{ - */ - -/************************* Miscellaneous Configuration ************************/ -/*!< Uncomment the following line if you need to relocate your vector Table in - Internal SRAM. */ -/* #define VECT_TAB_SRAM */ -#define VECT_TAB_OFFSET 0x00 /*!< Vector Table base offset field. - This value must be a multiple of 0x200. */ -/******************************************************************************/ - -/** - * @} - */ - -/** @addtogroup STM32F4xx_System_Private_Macros - * @{ - */ - -/** - * @} - */ - -/** @addtogroup STM32F4xx_System_Private_Variables - * @{ - */ - /* This variable is updated in three ways: - 1) by calling CMSIS function SystemCoreClockUpdate() - 2) by calling HAL API function HAL_RCC_GetHCLKFreq() - 3) each time HAL_RCC_ClockConfig() is called to configure the system clock frequency - Note: If you use this function to configure the system clock; then there - is no need to call the 2 first functions listed above, since SystemCoreClock - variable is updated automatically. - */ -uint32_t SystemCoreClock = 16000000; -const uint8_t AHBPrescTable[16] = {0, 0, 0, 0, 0, 0, 0, 0, 1, 2, 3, 4, 6, 7, 8, 9}; -const uint8_t APBPrescTable[8] = {0, 0, 0, 0, 1, 2, 3, 4}; -/** - * @} - */ - - -/** @addtogroup STM32F4xx_System_Private_Functions - * @{ - */ - -/** - * @brief Setup the microcontroller system - * Initialize the FPU setting, vector table location and External memory - * configuration. - * @param None - * @retval None - */ -void SystemInit(void) -{ - /* FPU settings ------------------------------------------------------------*/ - #if (__FPU_PRESENT == 1) && (__FPU_USED == 1) - SCB->CPACR |= ((3UL << 10*2)|(3UL << 11*2)); /* set CP10 and CP11 Full Access */ - #endif - /* Reset the RCC clock configuration to the default reset state ------------*/ - /* Set HSION bit */ - RCC->CR |= (uint32_t)0x00000001; - - /* Reset CFGR register */ - RCC->CFGR = 0x00000000; - - /* Reset HSEON, CSSON and PLLON bits */ - RCC->CR &= (uint32_t)0xFEF6FFFF; - - /* Reset PLLCFGR register */ - RCC->PLLCFGR = 0x24003010; - - /* Reset HSEBYP bit */ - RCC->CR &= (uint32_t)0xFFFBFFFF; - - /* Disable all interrupts */ - RCC->CIR = 0x00000000; - - - /* Configure the Vector Table location add offset address ------------------*/ -#ifdef VECT_TAB_SRAM - SCB->VTOR = SRAM_BASE | VECT_TAB_OFFSET; /* Vector Table Relocation in Internal SRAM */ -#else - SCB->VTOR = FLASH_BASE | VECT_TAB_OFFSET; /* Vector Table Relocation in Internal FLASH */ -#endif -} - -/** - * @brief Update SystemCoreClock variable according to Clock Register Values. - * The SystemCoreClock variable contains the core clock (HCLK), it can - * be used by the user application to setup the SysTick timer or configure - * other parameters. - * - * @note Each time the core clock (HCLK) changes, this function must be called - * to update SystemCoreClock variable value. Otherwise, any configuration - * based on this variable will be incorrect. - * - * @note - The system frequency computed by this function is not the real - * frequency in the chip. It is calculated based on the predefined - * constant and the selected clock source: - * - * - If SYSCLK source is HSI, SystemCoreClock will contain the HSI_VALUE(*) - * - * - If SYSCLK source is HSE, SystemCoreClock will contain the HSE_VALUE(**) - * - * - If SYSCLK source is PLL, SystemCoreClock will contain the HSE_VALUE(**) - * or HSI_VALUE(*) multiplied/divided by the PLL factors. - * - * (*) HSI_VALUE is a constant defined in stm32f4xx_hal_conf.h file (default value - * 16 MHz) but the real value may vary depending on the variations - * in voltage and temperature. - * - * (**) HSE_VALUE is a constant defined in stm32f4xx_hal_conf.h file (its value - * depends on the application requirements), user has to ensure that HSE_VALUE - * is same as the real frequency of the crystal used. Otherwise, this function - * may have wrong result. - * - * - The result of this function could be not correct when using fractional - * value for HSE crystal. - * - * @param None - * @retval None - */ -void SystemCoreClockUpdate(void) -{ - uint32_t tmp = 0, pllvco = 0, pllp = 2, pllsource = 0, pllm = 2; - - /* Get SYSCLK source -------------------------------------------------------*/ - tmp = RCC->CFGR & RCC_CFGR_SWS; - - switch (tmp) - { - case 0x00: /* HSI used as system clock source */ - SystemCoreClock = HSI_VALUE; - break; - case 0x04: /* HSE used as system clock source */ - SystemCoreClock = HSE_VALUE; - break; - case 0x08: /* PLL used as system clock source */ - - /* PLL_VCO = (HSE_VALUE or HSI_VALUE / PLL_M) * PLL_N - SYSCLK = PLL_VCO / PLL_P - */ - pllsource = (RCC->PLLCFGR & RCC_PLLCFGR_PLLSRC) >> 22; - pllm = RCC->PLLCFGR & RCC_PLLCFGR_PLLM; - - if (pllsource != 0) - { - /* HSE used as PLL clock source */ - pllvco = (HSE_VALUE / pllm) * ((RCC->PLLCFGR & RCC_PLLCFGR_PLLN) >> 6); - } - else - { - /* HSI used as PLL clock source */ - pllvco = (HSI_VALUE / pllm) * ((RCC->PLLCFGR & RCC_PLLCFGR_PLLN) >> 6); - } - - pllp = (((RCC->PLLCFGR & RCC_PLLCFGR_PLLP) >>16) + 1 ) *2; - SystemCoreClock = pllvco/pllp; - break; - default: - SystemCoreClock = HSI_VALUE; - break; - } - /* Compute HCLK frequency --------------------------------------------------*/ - /* Get HCLK prescaler */ - tmp = AHBPrescTable[((RCC->CFGR & RCC_CFGR_HPRE) >> 4)]; - /* HCLK frequency */ - SystemCoreClock >>= tmp; -} - -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/system_stm32f4xx.h b/body/board/inc/system_stm32f4xx.h deleted file mode 100644 index 99cb936c6fe9a2..00000000000000 --- a/body/board/inc/system_stm32f4xx.h +++ /dev/null @@ -1,122 +0,0 @@ -/** - ****************************************************************************** - * @file system_stm32f4xx.h - * @author MCD Application Team - * @brief CMSIS Cortex-M4 Device System Source File for STM32F4xx devices. - ****************************************************************************** - * @attention - * - *

© COPYRIGHT(c) 2017 STMicroelectronics

- * - * Redistribution and use in source and binary forms, with or without modification, - * are permitted provided that the following conditions are met: - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * 3. Neither the name of STMicroelectronics nor the names of its contributors - * may be used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE - * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL - * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR - * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, - * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE - * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************** - */ - -/** @addtogroup CMSIS - * @{ - */ - -/** @addtogroup stm32f4xx_system - * @{ - */ - -/** - * @brief Define to prevent recursive inclusion - */ -#ifndef __SYSTEM_STM32F4XX_H -#define __SYSTEM_STM32F4XX_H - -#ifdef __cplusplus - extern "C" { -#endif - -/** @addtogroup STM32F4xx_System_Includes - * @{ - */ - -/** - * @} - */ - - -/** @addtogroup STM32F4xx_System_Exported_types - * @{ - */ - /* This variable is updated in three ways: - 1) by calling CMSIS function SystemCoreClockUpdate() - 2) by calling HAL API function HAL_RCC_GetSysClockFreq() - 3) each time HAL_RCC_ClockConfig() is called to configure the system clock frequency - Note: If you use this function to configure the system clock; then there - is no need to call the 2 first functions listed above, since SystemCoreClock - variable is updated automatically. - */ -extern uint32_t SystemCoreClock; /*!< System Clock Frequency (Core Clock) */ - -extern const uint8_t AHBPrescTable[16]; /*!< AHB prescalers table values */ -extern const uint8_t APBPrescTable[8]; /*!< APB prescalers table values */ - -/** - * @} - */ - -/** @addtogroup STM32F4xx_System_Exported_Constants - * @{ - */ - -/** - * @} - */ - -/** @addtogroup STM32F4xx_System_Exported_Macros - * @{ - */ - -/** - * @} - */ - -/** @addtogroup STM32F4xx_System_Exported_Functions - * @{ - */ - -extern void SystemInit(void); -extern void SystemCoreClockUpdate(void); -/** - * @} - */ - -#ifdef __cplusplus -} -#endif - -#endif /*__SYSTEM_STM32F4XX_H */ - -/** - * @} - */ - -/** - * @} - */ -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/inc/tz_context.h b/body/board/inc/tz_context.h deleted file mode 100644 index 0d09749f3a5066..00000000000000 --- a/body/board/inc/tz_context.h +++ /dev/null @@ -1,70 +0,0 @@ -/****************************************************************************** - * @file tz_context.h - * @brief Context Management for Armv8-M TrustZone - * @version V1.0.1 - * @date 10. January 2018 - ******************************************************************************/ -/* - * Copyright (c) 2017-2018 Arm Limited. All rights reserved. - * - * SPDX-License-Identifier: Apache-2.0 - * - * Licensed under the Apache License, Version 2.0 (the License); you may - * not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an AS IS BASIS, WITHOUT - * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - -#if defined ( __ICCARM__ ) - #pragma system_include /* treat file as system include file for MISRA check */ -#elif defined (__clang__) - #pragma clang system_header /* treat file as system include file */ -#endif - -#ifndef TZ_CONTEXT_H -#define TZ_CONTEXT_H - -#include - -#ifndef TZ_MODULEID_T -#define TZ_MODULEID_T -/// \details Data type that identifies secure software modules called by a process. -typedef uint32_t TZ_ModuleId_t; -#endif - -/// \details TZ Memory ID identifies an allocated memory slot. -typedef uint32_t TZ_MemoryId_t; - -/// Initialize secure context memory system -/// \return execution status (1: success, 0: error) -uint32_t TZ_InitContextSystem_S (void); - -/// Allocate context memory for calling secure software modules in TrustZone -/// \param[in] module identifies software modules called from non-secure mode -/// \return value != 0 id TrustZone memory slot identifier -/// \return value 0 no memory available or internal error -TZ_MemoryId_t TZ_AllocModuleContext_S (TZ_ModuleId_t module); - -/// Free context memory that was previously allocated with \ref TZ_AllocModuleContext_S -/// \param[in] id TrustZone memory slot identifier -/// \return execution status (1: success, 0: error) -uint32_t TZ_FreeModuleContext_S (TZ_MemoryId_t id); - -/// Load secure context (called on RTOS thread context switch) -/// \param[in] id TrustZone memory slot identifier -/// \return execution status (1: success, 0: error) -uint32_t TZ_LoadContext_S (TZ_MemoryId_t id); - -/// Store secure context (called on RTOS thread context switch) -/// \param[in] id TrustZone memory slot identifier -/// \return execution status (1: success, 0: error) -uint32_t TZ_StoreContext_S (TZ_MemoryId_t id); - -#endif // TZ_CONTEXT_H diff --git a/body/board/libc.h b/body/board/libc.h deleted file mode 100644 index 1e32d4206e481a..00000000000000 --- a/body/board/libc.h +++ /dev/null @@ -1,64 +0,0 @@ -// **** libc **** - -void delay(uint32_t a) { - volatile uint32_t i; - for (i = 0; i < a; i++); -} - -void *memset(void *str, int c, unsigned int n) { - uint8_t *s = str; - for (unsigned int i = 0; i < n; i++) { - *s = c; - s++; - } - return str; -} - -#define UNALIGNED(X, Y) \ - (((uint32_t)(X) & (sizeof(uint32_t) - 1U)) | ((uint32_t)(Y) & (sizeof(uint32_t) - 1U))) - -void *memcpy(void *dest, const void *src, unsigned int len) { - unsigned int n = len; - uint8_t *d8 = dest; - const uint8_t *s8 = src; - - if ((n >= 4U) && !UNALIGNED(s8, d8)) { - uint32_t *d32 = (uint32_t *)d8; // cppcheck-suppress misra-c2012-11.3 ; already checked that it's properly aligned - const uint32_t *s32 = (const uint32_t *)s8; // cppcheck-suppress misra-c2012-11.3 ; already checked that it's properly aligned - - while(n >= 16U) { - *d32 = *s32; d32++; s32++; - *d32 = *s32; d32++; s32++; - *d32 = *s32; d32++; s32++; - *d32 = *s32; d32++; s32++; - n -= 16U; - } - - while(n >= 4U) { - *d32 = *s32; d32++; s32++; - n -= 4U; - } - - d8 = (uint8_t *)d32; - s8 = (const uint8_t *)s32; - } - while (n-- > 0U) { - *d8 = *s8; d8++; s8++; - } - return dest; -} - -int memcmp(const void * ptr1, const void * ptr2, unsigned int num) { - int ret = 0; - const uint8_t *p1 = ptr1; - const uint8_t *p2 = ptr2; - for (unsigned int i = 0; i < num; i++) { - if (*p1 != *p2) { - ret = -1; - break; - } - p1++; - p2++; - } - return ret; -} diff --git a/body/board/main.c b/body/board/main.c deleted file mode 100644 index 74837b17e6564c..00000000000000 --- a/body/board/main.c +++ /dev/null @@ -1,380 +0,0 @@ -#include -#include -#include "libc.h" -#include "stm32f4xx_hal.h" -#include "defines.h" -#include "config.h" -#include "setup.h" -#include "util.h" -#include "bldc/BLDC_controller.h" /* BLDC's header file */ -#include "bldc/rtwtypes.h" -#include "version.h" -#include "obj/gitversion.h" -#include "comms.h" -#include "drivers/clock.h" -#include "early_init.h" -#include "drivers/i2c_soft.h" -#include "drivers/angle_sensor.h" -#include "boards.h" - - -//------------------------------------------------------------------------ -// Global variables set externally -//------------------------------------------------------------------------ -extern TIM_HandleTypeDef htim_left; -extern TIM_HandleTypeDef htim_right; -extern ADC_HandleTypeDef hadc; -extern volatile adc_buf_t adc_buffer; - -// Matlab defines - from auto-code generation -//--------------- -extern P rtP_Left; /* Block parameters (auto storage) */ -extern P rtP_Right; /* Block parameters (auto storage) */ -extern ExtY rtY_Left; /* External outputs */ -extern ExtY rtY_Right; /* External outputs */ -extern ExtU rtU_Left; /* External inputs */ -extern ExtU rtU_Right; /* External inputs */ -//--------------- - -// TODO: remove both, unneeded. Also func in util.c too -extern int16_t speedAvg; // Average measured speed -extern int16_t speedAvgAbs; // Average measured speed in absolute - -extern volatile int pwml; // global variable for pwm left. -1000 to 1000 -extern volatile int pwmr; // global variable for pwm right. -1000 to 1000 - -extern uint8_t enable_motors; // global variable for motor enable - -extern int16_t batVoltage; // global variable for battery voltage - -extern int32_t motPosL; -extern int32_t motPosR; - -extern board_t board; - -//------------------------------------------------------------------------ -// Global variables set here in main.c -//------------------------------------------------------------------------ -extern volatile uint32_t buzzerTimer; -volatile uint32_t torque_cmd_timeout = 0U; -volatile uint32_t ignition_off_counter = 0U; - -uint16_t cnt_press = 0; - -int16_t batVoltageCalib; // global variable for calibrated battery voltage -int16_t board_temp_deg_c; // global variable for calibrated temperature in degrees Celsius -volatile int16_t cmdL; // global variable for Left Command -volatile int16_t cmdR; // global variable for Right Command - -uint8_t hw_type; // type of the board detected(0 - base, 3 - knee) -uint8_t ignition = 0; // global variable for ignition on SBU2 line -uint8_t charger_connected = 0; // status of the charger port -uint8_t pkt_idx = 0; // For CAN msg counter -//------------------------------------------------------------------------ -// Local variables -//------------------------------------------------------------------------ -static uint32_t tick_prev = 0U; - -static uint32_t main_loop_1Hz = 0U; -static uint32_t main_loop_1Hz_runtime = 0U; - -static uint32_t main_loop_10Hz = 0U; -static uint32_t main_loop_10Hz_runtime = 0U; - -static uint32_t main_loop_100Hz = 0U; -static uint32_t main_loop_100Hz_runtime = 0U; - -void __initialize_hardware_early(void) { - early_initialization(); -} - -int main(void) { - HAL_Init(); - HAL_NVIC_SetPriorityGrouping(NVIC_PRIORITYGROUP_4); - HAL_NVIC_SetPriority(MemoryManagement_IRQn, 0, 0); - HAL_NVIC_SetPriority(BusFault_IRQn, 0, 0); - HAL_NVIC_SetPriority(UsageFault_IRQn, 0, 0); - HAL_NVIC_SetPriority(SVCall_IRQn, 0, 0); - HAL_NVIC_SetPriority(DebugMonitor_IRQn, 0, 0); - HAL_NVIC_SetPriority(PendSV_IRQn, 0, 0); - HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0); - - SystemClock_Config(); - MX_GPIO_Clocks_Init(); - - __HAL_RCC_DMA2_CLK_DISABLE(); - - board_detect(); - MX_GPIO_Common_Init(); - MX_TIM_Init(); - MX_ADC_Init(); - BLDC_Init(); - - HAL_ADC_Start(&hadc); - - if (hw_type == HW_TYPE_BASE) { - out_enable(POWERSWITCH, true); - out_enable(IGNITION, ignition); - out_enable(TRANSCEIVER, true); - // Loop until button is released, only for base board - while(HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) { HAL_Delay(10); } - } else { - out_enable(POWERSWITCH, false); - ignition = 1; - knee_detected = 1; - } - // Reset LEDs on startup - out_enable(LED_RED, false); - out_enable(LED_GREEN, false); - out_enable(LED_BLUE, false); - - llcan_set_speed(board.CAN, 5000, false, false); - llcan_init(board.CAN); - - SW_I2C_init(); - IMU_soft_init(); - - poweronMelody(); - - int32_t board_temp_adcFixdt = adc_buffer.temp << 16; // Fixed-point filter output initialized with current ADC converted to fixed-point - int16_t board_temp_adcFilt = adc_buffer.temp; - - uint16_t sensor_angle[2] = { 0 }; - uint16_t hall_angle_offset[2] = { 0 }; - - uint16_t unknown_imu_data[6] = { 0 }; - - if (hw_type == HW_TYPE_KNEE) { - angle_sensor_read(sensor_angle); // Initial data to set offsets between angle sensor and hall sensor - hall_angle_offset[0] = (sensor_angle[0] * ANGLE_TO_DEGREES); - hall_angle_offset[1] = (sensor_angle[1] * ANGLE_TO_DEGREES); - } - - while(1) { - if ((HAL_GetTick() - tick_prev) >= 1) { // 1kHz loop - // runs at 100Hz - if ((HAL_GetTick() - (main_loop_100Hz - main_loop_100Hz_runtime)) >= 10) { - main_loop_100Hz_runtime = HAL_GetTick(); - - calcAvgSpeed(); - - if (ignition == 0) { - cmdL = cmdR = 0; - enable_motors = 0; - } - - if (!enable_motors || (torque_cmd_timeout > 10)) { - cmdL = cmdR = 0; - } - - if (ignition == 1 && enable_motors == 0 && (!rtY_Left.z_errCode && !rtY_Right.z_errCode) && (ABS(cmdL) < 50 && ABS(cmdR) < 50)) { - beepShort(6); // make 2 beeps indicating the motor enable - beepShort(4); - HAL_Delay(100); - cmdL = cmdR = 0; - enable_motors = 1; // enable motors - } - - if (hw_type == HW_TYPE_KNEE) { - // Safety to stop operation if angle sensor reading failed TODO: adjust sensivity and add lowpass to angle sensor? - fault_status.left_angle = (ABS((hall_angle_offset[0] + ((motPosL / 15 / GEARBOX_RATIO_LEFT) % 360)) - (sensor_angle[0] * ANGLE_TO_DEGREES)) > 5); - fault_status.right_angle = (ABS((hall_angle_offset[1] + ((motPosR / 15 / GEARBOX_RATIO_RIGHT) % 360)) - (sensor_angle[1] * ANGLE_TO_DEGREES)) > 5); - - if (fault_status.left_angle || fault_status.right_angle) { - cmdL = cmdR = 0; - } - // Safety to stop movement when reaching dead angles, around 20 and 340 degrees - if (((sensor_angle[0] < 900) && (cmdL < 0)) || ((sensor_angle[0] > 15500) && (cmdL > 0))) { - cmdL = 0; - } - if (((sensor_angle[1] < 900) && (cmdR < 0)) || ((sensor_angle[1] > 15500) && (cmdR > 0))) { - cmdR = 0; - } - } - - if (ABS(cmdL) < 10) { - rtP_Left.n_cruiseMotTgt = 0; - rtP_Left.b_cruiseCtrlEna = 1; - } else { - rtP_Left.b_cruiseCtrlEna = 0; - if (hw_type == HW_TYPE_KNEE) { - pwml = -CLAMP((int)cmdL, -TRQ_LIMIT_LEFT, TRQ_LIMIT_LEFT); - } else { - pwml = CLAMP((int)cmdL, -TORQUE_BASE_MAX, TORQUE_BASE_MAX); - } - } - if (ABS(cmdR) < 10) { - rtP_Right.n_cruiseMotTgt = 0; - rtP_Right.b_cruiseCtrlEna = 1; - } else { - rtP_Right.b_cruiseCtrlEna = 0; - if (hw_type == HW_TYPE_KNEE) { - pwmr = -CLAMP((int)cmdR, -TRQ_LIMIT_RIGHT, TRQ_LIMIT_RIGHT); - } else { - pwmr = -CLAMP((int)cmdR, -TORQUE_BASE_MAX, TORQUE_BASE_MAX); - } - } - - if (ignition_off_counter <= IGNITION_OFF_DELAY) { - // MOTORS_DATA: speed_L(2), speed_R(2), counter(1), checksum(1) - uint8_t dat[8]; - uint16_t speedL = rtY_Left.n_mot; - uint16_t speedR = -(rtY_Right.n_mot); // Invert speed sign for the right wheel - dat[0] = (speedL >> 8U) & 0xFFU; - dat[1] = speedL & 0xFFU; - dat[2] = (speedR >> 8U) & 0xFFU; - dat[3] = speedR & 0xFFU; - dat[4] = 0; - dat[5] = 0; - dat[6] = pkt_idx; - dat[7] = crc_checksum(dat, 7, crc_poly); - can_send_msg((0x201U + board.can_addr_offset), ((dat[7] << 24U) | (dat[6] << 16U) | (dat[5]<< 8U) | dat[4]), ((dat[3] << 24U) | (dat[2] << 16U) | (dat[1] << 8U) | dat[0]), 8U); - ++pkt_idx; - pkt_idx &= 0xFU; - - //MOTORS_CURRENT: left_pha_ab(2), left_pha_bc(2), right_pha_ab(2), right_pha_bc(2) - dat[0] = (rtU_Left.i_phaAB >> 8U) & 0xFFU; - dat[1] = rtU_Left.i_phaAB & 0xFFU; - dat[2] = (rtU_Left.i_phaBC >> 8U) & 0xFFU; - dat[3] = rtU_Left.i_phaBC & 0xFFU; - dat[4] = (rtU_Right.i_phaAB >> 8U) & 0xFFU; - dat[5] = rtU_Right.i_phaAB & 0xFFU; - dat[6] = (rtU_Right.i_phaBC >> 8U) & 0xFFU; - dat[7] = rtU_Right.i_phaBC & 0xFFU; - can_send_msg((0x204U + board.can_addr_offset), ((dat[7] << 24U) | (dat[6] << 16U) | (dat[5] << 8U) | dat[4]), ((dat[3] << 24U) | (dat[2] << 16U) | (dat[1] << 8U) | dat[0]), 8U); - - uint16_t left_hall_angle; - uint16_t right_hall_angle; - if (hw_type == HW_TYPE_KNEE) { - angle_sensor_read(sensor_angle); - left_hall_angle = hall_angle_offset[0] + ((motPosL / 15 / GEARBOX_RATIO_LEFT) % 360); - right_hall_angle = hall_angle_offset[1] + ((motPosR / 15 / GEARBOX_RATIO_RIGHT) % 360); - } else { - left_hall_angle = motPosL / 15; - right_hall_angle = -motPosR / 15; - } - //MOTORS_ANGLE: left angle sensor(2), right angle sensor(2), left hall angle(2), right hall angle(2) - dat[0] = (sensor_angle[0]>>8U) & 0xFFU; - dat[1] = sensor_angle[0] & 0xFFU; - dat[2] = (sensor_angle[1]>>8U) & 0xFFU; - dat[3] = sensor_angle[1] & 0xFFU; - dat[4] = (left_hall_angle>>8U) & 0xFFU; - dat[5] = left_hall_angle & 0xFFU; - dat[6] = (right_hall_angle>>8U) & 0xFFU; - dat[7] = right_hall_angle & 0xFFU; - can_send_msg((0x205U + board.can_addr_offset), ((dat[7] << 24U) | (dat[6] << 16U) | (dat[5] << 8U) | dat[4]), ((dat[3] << 24U) | (dat[2] << 16U) | (dat[1] << 8U) | dat[0]), 8U); - - IMU_soft_sensor_read(unknown_imu_data); - //BOARD_IMU_RAW1: FIXME: add comment after discovering data, looks like magnetometer - dat[0] = (unknown_imu_data[0]>>8U) & 0xFFU; - dat[1] = unknown_imu_data[0] & 0xFFU; - dat[2] = (unknown_imu_data[1]>>8U) & 0xFFU; - dat[3] = unknown_imu_data[1] & 0xFFU; - dat[4] = (unknown_imu_data[2]>>8U) & 0xFFU; - dat[5] = unknown_imu_data[2] & 0xFFU; - can_send_msg((0x206U + board.can_addr_offset), ((dat[5] << 8U) | dat[4]), ((dat[3] << 24U) | (dat[2] << 16U) | (dat[1] << 8U) | dat[0]), 6U); - - //BOARD_IMU_RAW2: FIXME: add comment after discovering data, looks like acceleration? - dat[0] = (unknown_imu_data[3]>>8U) & 0xFFU; - dat[1] = unknown_imu_data[3] & 0xFFU; - dat[2] = (unknown_imu_data[4]>>8U) & 0xFFU; - dat[3] = unknown_imu_data[4] & 0xFFU; - dat[4] = (unknown_imu_data[5]>>8U) & 0xFFU; - dat[5] = unknown_imu_data[5] & 0xFFU; - can_send_msg((0x207U + board.can_addr_offset), ((dat[5] << 8U) | dat[4]), ((dat[3] << 24U) | (dat[2] << 16U) | (dat[1] << 8U) | dat[0]), 6U); - } - torque_cmd_timeout = (torque_cmd_timeout < MAX_uint32_T) ? (torque_cmd_timeout+1) : 0; - main_loop_100Hz_runtime = HAL_GetTick() - main_loop_100Hz_runtime; - main_loop_100Hz = HAL_GetTick(); - } - - // runs at 10Hz - if ((HAL_GetTick() - (main_loop_10Hz - main_loop_10Hz_runtime)) >= 100) { - main_loop_10Hz_runtime = HAL_GetTick(); - if (ignition_off_counter <= IGNITION_OFF_DELAY) { - // VAR_VALUES: fault_status(0:4), enable_motors(0:1), ignition(0:1), left motor error(1), right motor error(1) - uint8_t dat[2]; - dat[0] = ((fault_status.right_angle << 5U) | (fault_status.right_i2c << 4U) | (fault_status.left_angle << 3U) | (fault_status.left_i2c << 2U) | (enable_motors << 1U) | ignition); - dat[1] = rtY_Left.z_errCode; - dat[2] = rtY_Right.z_errCode; - can_send_msg((0x202U + board.can_addr_offset), 0x0U, ((dat[2] << 16U) | (dat[1] << 8U) | dat[0]), 3U); - } - out_enable(LED_GREEN, ignition); - - main_loop_10Hz_runtime = HAL_GetTick() - main_loop_10Hz_runtime; - main_loop_10Hz = HAL_GetTick(); - } - - // runs at 1Hz - if ((HAL_GetTick() - (main_loop_1Hz - main_loop_1Hz_runtime)) >= 1000) { - main_loop_1Hz_runtime = HAL_GetTick(); - // ####### CALC BOARD TEMPERATURE ####### - filtLowPass32(adc_buffer.temp, TEMP_FILT_COEF, &board_temp_adcFixdt); - board_temp_adcFilt = (int16_t)(board_temp_adcFixdt >> 16); // convert fixed-point to integer - board_temp_deg_c = (TEMP_CAL_HIGH_DEG_C - TEMP_CAL_LOW_DEG_C) * (board_temp_adcFilt - TEMP_CAL_LOW_ADC) / (TEMP_CAL_HIGH_ADC - TEMP_CAL_LOW_ADC) + TEMP_CAL_LOW_DEG_C; - - // ####### CALC CALIBRATED BATTERY VOLTAGE ####### - batVoltageCalib = batVoltage * BAT_CALIB_REAL_VOLTAGE / BAT_CALIB_ADC; - - charger_connected = !HAL_GPIO_ReadPin(CHARGER_PORT, CHARGER_PIN); - uint8_t battery_percent = 100 - (((420 * BAT_CELLS) - batVoltageCalib) / BAT_CELLS / VOLTS_PER_PERCENT / 100); // Battery % left - - // BODY_DATA: MCU temp(2), battery voltage(2), battery_percent(0:7), charger_connected(0:1) - uint8_t dat[4]; - dat[0] = board_temp_deg_c & 0xFFU; - dat[1] = (batVoltageCalib >> 8U) & 0xFFU; - dat[2] = batVoltageCalib & 0xFFU; - dat[3] = (((battery_percent & 0x7FU) << 1U) | charger_connected); - can_send_msg((0x203U + board.can_addr_offset), 0x0U, ((dat[3] << 24U) | (dat[2] << 16U) | (dat[1] << 8U) | dat[0]), 4U); - - out_enable(LED_BLUE, false); // Reset LED after CAN RX - out_enable(LED_GREEN, true); // Always use LED to show that body is on - - if ((hw_type == HW_TYPE_BASE) && ignition) { - ignition_off_counter = 0; - } else { - ignition_off_counter = (ignition_off_counter < MAX_uint32_T) ? (ignition_off_counter+1) : 0; - } - - if ((TEMP_POWEROFF_ENABLE && board_temp_deg_c >= TEMP_POWEROFF && speedAvgAbs < 20) || (batVoltage < BAT_DEAD && speedAvgAbs < 20)) { // poweroff before mainboard burns OR low bat 3 - poweroff(); - } else if (rtY_Left.z_errCode || rtY_Right.z_errCode) { // 1 beep (low pitch): Motor error, disable motors - enable_motors = 0; - beepCount(1, 24, 1); - } else if (fault_status.left_angle || fault_status.left_i2c || fault_status.right_angle || fault_status.right_i2c) { // 2 beeps (low pitch): Motor error, disable motors - beepCount(2, 24, 1); - } else if (TEMP_WARNING_ENABLE && board_temp_deg_c >= TEMP_WARNING) { // 5 beeps (low pitch): Mainboard temperature warning - beepCount(5, 24, 1); - } else if (batVoltage < BAT_LVL1) { // 1 beep fast (medium pitch): Low bat 1 - beepCount(0, 10, 6); - out_enable(LED_RED, true); - } else if (batVoltage < BAT_LVL2) { // 1 beep slow (medium pitch): Low bat 2 - beepCount(0, 10, 30); - } else { // do not beep - beepCount(0, 0, 0); - out_enable(LED_RED, false); - } - - main_loop_1Hz_runtime = HAL_GetTick() - main_loop_1Hz_runtime; - main_loop_1Hz = HAL_GetTick(); - } - - if (hw_type == HW_TYPE_BASE) { - if (HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) { - cnt_press += 1; - if (cnt_press == (2 * 1008)) { - poweroff(); - } - } else if (cnt_press >= 10) { - ignition = !ignition; - out_enable(IGNITION, ignition); - beepShort(5); - cnt_press = 0; - } - } - - process_can(); - tick_prev = HAL_GetTick(); - } - } -} diff --git a/body/board/provision.h b/body/board/provision.h deleted file mode 100644 index 0e549db5b02ca6..00000000000000 --- a/body/board/provision.h +++ /dev/null @@ -1,15 +0,0 @@ -#define PROVISION_CHUNK_LEN 0x20U -#define PROVISION_CHUNK_ADDRESS 0x1FFF79E0U - -void get_provision_chunk(uint8_t *resp) { - (void)memcpy(resp, (uint8_t *)PROVISION_CHUNK_ADDRESS, PROVISION_CHUNK_LEN); - if (memcmp(resp, "\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff", 0x20) == 0) { - (void)memcpy(resp, "unprovisioned\x00\x00\x00testing123\x00\x00\xa3\xa6\x99\xec", 0x20); - } -} - -uint8_t chunk[PROVISION_CHUNK_LEN]; -bool is_provisioned(void) { - (void)memcpy(chunk, (uint8_t *)PROVISION_CHUNK_ADDRESS, PROVISION_CHUNK_LEN); - return (memcmp(chunk, "\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff", 0x20) != 0); -} diff --git a/body/board/recover.sh b/body/board/recover.sh deleted file mode 100755 index 0a521e1a20bf1f..00000000000000 --- a/body/board/recover.sh +++ /dev/null @@ -1,8 +0,0 @@ -#!/usr/bin/env sh -set -e - -FLASH_UTIL="openocd" - -scons -u - -$FLASH_UTIL -f interface/stlink.cfg -c "set CPUTAPID 0" -f target/stm32f4x.cfg -c init -c "reset halt" -c "flash write_image erase obj/body.bin.signed 0x08004000" -c "flash write_image erase obj/bootstub.body.bin 0x08000000" -c "reset run" -c "shutdown" diff --git a/body/board/setup.h b/body/board/setup.h deleted file mode 100644 index 898b2f393bd78a..00000000000000 --- a/body/board/setup.h +++ /dev/null @@ -1,372 +0,0 @@ -// Define to prevent recursive inclusion -#ifndef SETUP_H -#define SETUP_H - -#include "stm32f4xx_hal.h" - -TIM_HandleTypeDef htim_right; -TIM_HandleTypeDef htim_left; -ADC_HandleTypeDef hadc; -I2C_HandleTypeDef hi2c1; - -volatile adc_buf_t adc_buffer; -extern board_t board; - - -void MX_GPIO_Clocks_Init(void) { - /* GPIO Ports Clock Enable */ - __HAL_RCC_GPIOA_CLK_ENABLE(); - __HAL_RCC_GPIOB_CLK_ENABLE(); - __HAL_RCC_GPIOC_CLK_ENABLE(); - __HAL_RCC_GPIOD_CLK_ENABLE(); - - __HAL_RCC_CAN1_CLK_ENABLE(); - __HAL_RCC_CAN2_CLK_ENABLE(); -} - -void MX_GPIO_Common_Init(void) { - GPIO_InitTypeDef GPIO_InitStruct = { 0 }; - - GPIO_InitStruct.Mode = GPIO_MODE_INPUT; - GPIO_InitStruct.Pull = GPIO_NOPULL; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; - - GPIO_InitStruct.Pin = board.hall_left.hall_pinA; - HAL_GPIO_Init(board.hall_left.hall_portA, &GPIO_InitStruct); - - GPIO_InitStruct.Pin = board.hall_left.hall_pinB; - HAL_GPIO_Init(board.hall_left.hall_portB, &GPIO_InitStruct); - - GPIO_InitStruct.Pin = board.hall_left.hall_pinC; - HAL_GPIO_Init(board.hall_left.hall_portC, &GPIO_InitStruct); - - GPIO_InitStruct.Pin = board.hall_right.hall_pinA; - HAL_GPIO_Init(board.hall_right.hall_portA, &GPIO_InitStruct); - - GPIO_InitStruct.Pin = board.hall_right.hall_pinB; - HAL_GPIO_Init(board.hall_right.hall_portB, &GPIO_InitStruct); - - GPIO_InitStruct.Pin = board.hall_right.hall_pinC; - HAL_GPIO_Init(board.hall_right.hall_portC, &GPIO_InitStruct); - - GPIO_InitStruct.Pull = GPIO_PULLUP; - GPIO_InitStruct.Pin = CHARGER_PIN; - HAL_GPIO_Init(CHARGER_PORT, &GPIO_InitStruct); - - GPIO_InitStruct.Pull = GPIO_NOPULL; - - GPIO_InitStruct.Pin = BUTTON_PIN; - HAL_GPIO_Init(BUTTON_PORT, &GPIO_InitStruct); - - - GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; - - GPIO_InitStruct.Pin = board.led_pinR; - HAL_GPIO_Init(board.led_portR, &GPIO_InitStruct); - - GPIO_InitStruct.Pin = board.led_pinG; - HAL_GPIO_Init(board.led_portG, &GPIO_InitStruct); - - GPIO_InitStruct.Pin = board.led_pinB; - HAL_GPIO_Init(board.led_portB, &GPIO_InitStruct); - - if (board.can_pinEN != 0) { - GPIO_InitStruct.Pin = board.can_pinEN; - HAL_GPIO_Init(board.can_portEN, &GPIO_InitStruct); - } - - if (board.ignition_pin != 0) { - GPIO_InitStruct.Pin = board.ignition_pin; - HAL_GPIO_Init(board.ignition_port, &GPIO_InitStruct); - - } - - GPIO_InitStruct.Pin = BUZZER_PIN; - HAL_GPIO_Init(BUZZER_PORT, &GPIO_InitStruct); - - GPIO_InitStruct.Pin = OFF_PIN; - HAL_GPIO_Init(OFF_PORT, &GPIO_InitStruct); - - - GPIO_InitStruct.Mode = GPIO_MODE_ANALOG; - - GPIO_InitStruct.Pin = LEFT_DC_CUR_PIN; - HAL_GPIO_Init(LEFT_DC_CUR_PORT, &GPIO_InitStruct); - - GPIO_InitStruct.Pin = LEFT_U_CUR_PIN; - HAL_GPIO_Init(LEFT_U_CUR_PORT, &GPIO_InitStruct); - - GPIO_InitStruct.Pin = LEFT_V_CUR_PIN; - HAL_GPIO_Init(LEFT_V_CUR_PORT, &GPIO_InitStruct); - - GPIO_InitStruct.Pin = RIGHT_DC_CUR_PIN; - HAL_GPIO_Init(RIGHT_DC_CUR_PORT, &GPIO_InitStruct); - - GPIO_InitStruct.Pin = RIGHT_U_CUR_PIN; - HAL_GPIO_Init(RIGHT_U_CUR_PORT, &GPIO_InitStruct); - - GPIO_InitStruct.Pin = RIGHT_V_CUR_PIN; - HAL_GPIO_Init(RIGHT_V_CUR_PORT, &GPIO_InitStruct); - - GPIO_InitStruct.Pin = BATT_PIN; - HAL_GPIO_Init(BATT_PORT, &GPIO_InitStruct); - - GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; - GPIO_InitStruct.Alternate = GPIO_AF3_TIM8; - - GPIO_InitStruct.Pin = LEFT_TIM_UH_PIN; - HAL_GPIO_Init(LEFT_TIM_UH_PORT, &GPIO_InitStruct); - - GPIO_InitStruct.Pin = LEFT_TIM_VH_PIN; - HAL_GPIO_Init(LEFT_TIM_VH_PORT, &GPIO_InitStruct); - - GPIO_InitStruct.Pin = LEFT_TIM_WH_PIN; - HAL_GPIO_Init(LEFT_TIM_WH_PORT, &GPIO_InitStruct); - - GPIO_InitStruct.Pin = LEFT_TIM_UL_PIN; - HAL_GPIO_Init(LEFT_TIM_UL_PORT, &GPIO_InitStruct); - - GPIO_InitStruct.Pin = LEFT_TIM_VL_PIN; - HAL_GPIO_Init(LEFT_TIM_VL_PORT, &GPIO_InitStruct); - - GPIO_InitStruct.Pin = LEFT_TIM_WL_PIN; - HAL_GPIO_Init(LEFT_TIM_WL_PORT, &GPIO_InitStruct); - - GPIO_InitStruct.Alternate = GPIO_AF1_TIM1; - - GPIO_InitStruct.Pin = RIGHT_TIM_UH_PIN; - HAL_GPIO_Init(RIGHT_TIM_UH_PORT, &GPIO_InitStruct); - - GPIO_InitStruct.Pin = RIGHT_TIM_VH_PIN; - HAL_GPIO_Init(RIGHT_TIM_VH_PORT, &GPIO_InitStruct); - - GPIO_InitStruct.Pin = RIGHT_TIM_WH_PIN; - HAL_GPIO_Init(RIGHT_TIM_WH_PORT, &GPIO_InitStruct); - - GPIO_InitStruct.Pin = RIGHT_TIM_UL_PIN; - HAL_GPIO_Init(RIGHT_TIM_UL_PORT, &GPIO_InitStruct); - - GPIO_InitStruct.Pin = RIGHT_TIM_VL_PIN; - HAL_GPIO_Init(RIGHT_TIM_VL_PORT, &GPIO_InitStruct); - - GPIO_InitStruct.Pin = RIGHT_TIM_WL_PIN; - HAL_GPIO_Init(RIGHT_TIM_WL_PORT, &GPIO_InitStruct); - - // CAN bus - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH; - - GPIO_InitStruct.Alternate = board.can_alt_rx; - GPIO_InitStruct.Pin = board.can_pinRX; - HAL_GPIO_Init(board.can_portRX, &GPIO_InitStruct); - - GPIO_InitStruct.Alternate = board.can_alt_tx; - GPIO_InitStruct.Pin = board.can_pinTX; - HAL_GPIO_Init(board.can_portTX, &GPIO_InitStruct); -} - - -void MX_I2C_Init(void) { - GPIO_InitTypeDef GPIO_InitStruct = { 0 }; - - GPIO_InitStruct.Pin = GPIO_PIN_6|GPIO_PIN_7; - GPIO_InitStruct.Mode = GPIO_MODE_AF_OD; - GPIO_InitStruct.Pull = GPIO_PULLUP; - GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH; - GPIO_InitStruct.Alternate = GPIO_AF4_I2C1; - HAL_GPIO_Init(GPIOB, &GPIO_InitStruct); - - __HAL_RCC_I2C1_CLK_ENABLE(); - - hi2c1.Instance = I2C1; - hi2c1.Init.ClockSpeed = (I2C_CLOCKSPEED * 1000); - hi2c1.Init.DutyCycle = I2C_DUTYCYCLE_2; - hi2c1.Init.OwnAddress1 = 0; - hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT; - hi2c1.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE; - hi2c1.Init.OwnAddress2 = 0; - hi2c1.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE; - hi2c1.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE; - HAL_I2C_Init(&hi2c1); -} - - -void MX_TIM_Init(void) { - __HAL_RCC_TIM1_CLK_ENABLE(); - __HAL_RCC_TIM8_CLK_ENABLE(); - - TIM_MasterConfigTypeDef sMasterConfig; - TIM_OC_InitTypeDef sConfigOC; - TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig; - TIM_SlaveConfigTypeDef sTimConfig; - - htim_right.Instance = RIGHT_TIM; - htim_right.Init.Prescaler = 0; - htim_right.Init.CounterMode = TIM_COUNTERMODE_CENTERALIGNED1; - htim_right.Init.Period = CORE_FREQ / 2 / PWM_FREQ; - htim_right.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; - htim_right.Init.RepetitionCounter = 0; - htim_right.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; - HAL_TIM_PWM_Init(&htim_right); - - sMasterConfig.MasterOutputTrigger = TIM_TRGO_ENABLE; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE; - HAL_TIMEx_MasterConfigSynchronization(&htim_right, &sMasterConfig); - - sConfigOC.OCMode = TIM_OCMODE_PWM1; - sConfigOC.Pulse = 0; - sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; - sConfigOC.OCNPolarity = TIM_OCNPOLARITY_LOW; - sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; - sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET; - sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_SET; - HAL_TIM_PWM_ConfigChannel(&htim_right, &sConfigOC, TIM_CHANNEL_1); - HAL_TIM_PWM_ConfigChannel(&htim_right, &sConfigOC, TIM_CHANNEL_2); - HAL_TIM_PWM_ConfigChannel(&htim_right, &sConfigOC, TIM_CHANNEL_3); - - sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_ENABLE; - sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_ENABLE; - sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF; - sBreakDeadTimeConfig.DeadTime = DEAD_TIME; - sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE; - sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_LOW; - sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE; - HAL_TIMEx_ConfigBreakDeadTime(&htim_right, &sBreakDeadTimeConfig); - - htim_left.Instance = LEFT_TIM; - htim_left.Init.Prescaler = 0; - htim_left.Init.CounterMode = TIM_COUNTERMODE_CENTERALIGNED1; - htim_left.Init.Period = CORE_FREQ / 2 / PWM_FREQ; - htim_left.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; - htim_left.Init.RepetitionCounter = 0; - htim_left.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; - HAL_TIM_PWM_Init(&htim_left); - - sMasterConfig.MasterOutputTrigger = TIM_TRGO_UPDATE; - sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_ENABLE; - HAL_TIMEx_MasterConfigSynchronization(&htim_left, &sMasterConfig); - - sTimConfig.InputTrigger = TIM_TS_ITR0; - sTimConfig.SlaveMode = TIM_SLAVEMODE_GATED; - HAL_TIM_SlaveConfigSynchronization(&htim_left, &sTimConfig); - - // Start counting >0 to effectively offset timers by the time it takes for one ADC conversion to complete. - // This method allows that the Phase currents ADC measurements are properly aligned with LOW-FET ON region for both motors - LEFT_TIM->CNT = ADC_TOTAL_CONV_TIME; - - sConfigOC.OCMode = TIM_OCMODE_PWM1; - sConfigOC.Pulse = 0; - sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; - sConfigOC.OCNPolarity = TIM_OCNPOLARITY_LOW; - sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; - sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET; - sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_SET; - HAL_TIM_PWM_ConfigChannel(&htim_left, &sConfigOC, TIM_CHANNEL_1); - HAL_TIM_PWM_ConfigChannel(&htim_left, &sConfigOC, TIM_CHANNEL_2); - HAL_TIM_PWM_ConfigChannel(&htim_left, &sConfigOC, TIM_CHANNEL_3); - - sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_ENABLE; - sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_ENABLE; - sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_OFF; - sBreakDeadTimeConfig.DeadTime = DEAD_TIME; - sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE; - sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_LOW; - sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE; - HAL_TIMEx_ConfigBreakDeadTime(&htim_left, &sBreakDeadTimeConfig); - - LEFT_TIM->BDTR &= ~TIM_BDTR_MOE; - RIGHT_TIM->BDTR &= ~TIM_BDTR_MOE; - - HAL_TIM_PWM_Start(&htim_left, TIM_CHANNEL_1); - HAL_TIM_PWM_Start(&htim_left, TIM_CHANNEL_2); - HAL_TIM_PWM_Start(&htim_left, TIM_CHANNEL_3); - HAL_TIMEx_PWMN_Start(&htim_left, TIM_CHANNEL_1); - HAL_TIMEx_PWMN_Start(&htim_left, TIM_CHANNEL_2); - HAL_TIMEx_PWMN_Start(&htim_left, TIM_CHANNEL_3); - - HAL_TIM_PWM_Start(&htim_right, TIM_CHANNEL_1); - HAL_TIM_PWM_Start(&htim_right, TIM_CHANNEL_2); - HAL_TIM_PWM_Start(&htim_right, TIM_CHANNEL_3); - HAL_TIMEx_PWMN_Start(&htim_right, TIM_CHANNEL_1); - HAL_TIMEx_PWMN_Start(&htim_right, TIM_CHANNEL_2); - HAL_TIMEx_PWMN_Start(&htim_right, TIM_CHANNEL_3); - - htim_left.Instance->RCR = 1; - - __HAL_TIM_ENABLE(&htim_right); -} - -void MX_ADC_Init(void) { - ADC_MultiModeTypeDef multimode; - ADC_ChannelConfTypeDef sConfig; - - __HAL_RCC_ADC1_CLK_ENABLE(); - - hadc.Instance = ADC1; - hadc.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV4; - hadc.Init.Resolution = ADC_RESOLUTION_12B; - hadc.Init.ScanConvMode = ENABLE; - hadc.Init.ContinuousConvMode = DISABLE; - hadc.Init.DiscontinuousConvMode = DISABLE; - hadc.Init.ExternalTrigConv = ADC_EXTERNALTRIGCONV_T8_TRGO; - hadc.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_RISING; - hadc.Init.DataAlign = ADC_DATAALIGN_RIGHT; - hadc.Init.NbrOfConversion = 8; - HAL_ADC_Init(&hadc); - - HAL_ADCEx_MultiModeConfigChannel(&hadc, &multimode); - sConfig.SamplingTime = ADC_SAMPLETIME_15CYCLES; - - sConfig.Channel = ADC_CHANNEL_5; // pa5 left b -> right - sConfig.Rank = 1; - HAL_ADC_ConfigChannel(&hadc, &sConfig); - - sConfig.Channel = ADC_CHANNEL_6; // pa6 left c -> right - sConfig.Rank = 2; - HAL_ADC_ConfigChannel(&hadc, &sConfig); - - sConfig.Channel = ADC_CHANNEL_0; // pa0 right a -> left - sConfig.Rank = 3; - HAL_ADC_ConfigChannel(&hadc, &sConfig); - - sConfig.Channel = ADC_CHANNEL_1; // pa1 right b -> left - sConfig.Rank = 4; - HAL_ADC_ConfigChannel(&hadc, &sConfig); - - sConfig.Channel = ADC_CHANNEL_3; // pa3 left cur -> right - sConfig.Rank = 5; - HAL_ADC_ConfigChannel(&hadc, &sConfig); - - sConfig.Channel = ADC_CHANNEL_2; // pa2 right cur -> left - sConfig.Rank = 6; - HAL_ADC_ConfigChannel(&hadc, &sConfig); - - sConfig.Channel = ADC_CHANNEL_4; // pa4 vbat - sConfig.Rank = 7; - HAL_ADC_ConfigChannel(&hadc, &sConfig); - - sConfig.SamplingTime = ADC_SAMPLETIME_144CYCLES; - sConfig.Channel = ADC_CHANNEL_TEMPSENSOR; // internal temp - sConfig.Rank = 8; - HAL_ADC_ConfigChannel(&hadc, &sConfig); - - hadc.Instance->CR2 |= ADC_CR2_DMA | ADC_CR2_DDS | ADC_CCR_TSVREFE; - - __HAL_ADC_ENABLE(&hadc); - - __HAL_RCC_DMA2_CLK_ENABLE(); - - DMA2_Stream0->CR = 0; - DMA2_Stream0->NDTR = 8; - DMA2_Stream0->PAR = (uint32_t)&(ADC1->DR); - DMA2_Stream0->M0AR = (uint32_t)&adc_buffer; - DMA2_Stream0->CR = DMA_SxCR_MSIZE_1 | DMA_SxCR_PSIZE_1 | DMA_SxCR_MINC | DMA_SxCR_CIRC | DMA_SxCR_TCIE; - DMA2_Stream0->CR &= ~DMA_SxCR_CHSEL; - DMA2_Stream0->FCR &= ~DMA_SxFCR_DMDIS; - DMA2_Stream0->CR |= DMA_SxCR_EN; - - HAL_NVIC_SetPriority(DMA2_Stream0_IRQn, 0, 0); - HAL_NVIC_EnableIRQ(DMA2_Stream0_IRQn); -} - - -#endif diff --git a/body/board/startup_stm32f413xx.s b/body/board/startup_stm32f413xx.s deleted file mode 100644 index 52e2f833aac341..00000000000000 --- a/body/board/startup_stm32f413xx.s +++ /dev/null @@ -1,565 +0,0 @@ -/** - ****************************************************************************** - * @file startup_stm32f413xx.s - * @author MCD Application Team - * @brief STM32F413xx Devices vector table for GCC based toolchains. - * This module performs: - * - Set the initial SP - * - Set the initial PC == Reset_Handler, - * - Set the vector table entries with the exceptions ISR address - * - Branches to main in the C library (which eventually - * calls main()). - * After Reset the Cortex-M4 processor is in Thread mode, - * priority is Privileged, and the Stack is set to Main. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - - .syntax unified - .cpu cortex-m4 - .fpu softvfp - .thumb - -.global g_pfnVectors -.global Default_Handler - -/* start address for the initialization values of the .data section. -defined in linker script */ -.word _sidata -/* start address for the .data section. defined in linker script */ -.word _sdata -/* end address for the .data section. defined in linker script */ -.word _edata -/* start address for the .bss section. defined in linker script */ -.word _sbss -/* end address for the .bss section. defined in linker script */ -.word _ebss -/* stack used for SystemInit_ExtMemCtl; always internal RAM used */ - -/** - * @brief This is the code that gets called when the processor first - * starts execution following a reset event. Only the absolutely - * necessary set is performed, after which the application - * supplied main() routine is called. - * @param None - * @retval : None -*/ - - .section .text.Reset_Handler - .weak Reset_Handler - .type Reset_Handler, %function -Reset_Handler: - ldr sp, =_estack /* set stack pointer */ - bl __initialize_hardware_early - -/* Copy the data segment initializers from flash to SRAM */ - movs r1, #0 - b LoopCopyDataInit - -CopyDataInit: - ldr r3, =_sidata - ldr r3, [r3, r1] - str r3, [r0, r1] - adds r1, r1, #4 - -LoopCopyDataInit: - ldr r0, =_sdata - ldr r3, =_edata - adds r2, r0, r1 - cmp r2, r3 - bcc CopyDataInit - ldr r2, =_sbss - b LoopFillZerobss -/* Zero fill the bss segment. */ -FillZerobss: - movs r3, #0 - str r3, [r2], #4 - -LoopFillZerobss: - ldr r3, = _ebss - cmp r2, r3 - bcc FillZerobss - -/* Call the clock system intitialization function.*/ - /* bl SystemInit */ -/* Call static constructors */ - /* bl __libc_init_array */ -/* Call the application's entry point.*/ - bl main - bx lr -.size Reset_Handler, .-Reset_Handler - -/** - * @brief This is the code that gets called when the processor receives an - * unexpected interrupt. This simply enters an infinite loop, preserving - * the system state for examination by a debugger. - * @param None - * @retval None -*/ - .section .text.Default_Handler,"ax",%progbits -Default_Handler: -Infinite_Loop: - b Infinite_Loop - .size Default_Handler, .-Default_Handler -/****************************************************************************** -* -* The minimal vector table for a Cortex M3. Note that the proper constructs -* must be placed on this to ensure that it ends up at physical address -* 0x0000.0000. -* -*******************************************************************************/ - .section .isr_vector,"a",%progbits - .type g_pfnVectors, %object - .size g_pfnVectors, .-g_pfnVectors - -g_pfnVectors: - .word _estack - .word Reset_Handler - .word NMI_Handler - .word HardFault_Handler - .word MemManage_Handler - .word BusFault_Handler - .word UsageFault_Handler - .word 0 - .word 0 - .word 0 - .word 0 - .word SVC_Handler - .word DebugMon_Handler - .word 0 - .word PendSV_Handler - .word SysTick_Handler - - /* External Interrupts */ - .word WWDG_IRQHandler /* Window WatchDog */ - .word PVD_IRQHandler /* PVD through EXTI Line detection */ - .word TAMP_STAMP_IRQHandler /* Tamper and TimeStamps through the EXTI line */ - .word RTC_WKUP_IRQHandler /* RTC Wakeup through the EXTI line */ - .word FLASH_IRQHandler /* FLASH */ - .word RCC_IRQHandler /* RCC */ - .word EXTI0_IRQHandler /* EXTI Line0 */ - .word EXTI1_IRQHandler /* EXTI Line1 */ - .word EXTI2_IRQHandler /* EXTI Line2 */ - .word EXTI3_IRQHandler /* EXTI Line3 */ - .word EXTI4_IRQHandler /* EXTI Line4 */ - .word DMA1_Stream0_IRQHandler /* DMA1 Stream 0 */ - .word DMA1_Stream1_IRQHandler /* DMA1 Stream 1 */ - .word DMA1_Stream2_IRQHandler /* DMA1 Stream 2 */ - .word DMA1_Stream3_IRQHandler /* DMA1 Stream 3 */ - .word DMA1_Stream4_IRQHandler /* DMA1 Stream 4 */ - .word DMA1_Stream5_IRQHandler /* DMA1 Stream 5 */ - .word DMA1_Stream6_IRQHandler /* DMA1 Stream 6 */ - .word ADC_IRQHandler /* ADC1, ADC2 and ADC3s */ - .word CAN1_TX_IRQHandler /* CAN1 TX */ - .word CAN1_RX0_IRQHandler /* CAN1 RX0 */ - .word CAN1_RX1_IRQHandler /* CAN1 RX1 */ - .word CAN1_SCE_IRQHandler /* CAN1 SCE */ - .word EXTI9_5_IRQHandler /* External Line[9:5]s */ - .word TIM1_BRK_TIM9_IRQHandler /* TIM1 Break and TIM9 */ - .word TIM1_UP_TIM10_IRQHandler /* TIM1 Update and TIM10 */ - .word TIM1_TRG_COM_TIM11_IRQHandler /* TIM1 Trigger and Commutation and TIM11 */ - .word TIM1_CC_IRQHandler /* TIM1 Capture Compare */ - .word TIM2_IRQHandler /* TIM2 */ - .word TIM3_IRQHandler /* TIM3 */ - .word TIM4_IRQHandler /* TIM4 */ - .word I2C1_EV_IRQHandler /* I2C1 Event */ - .word I2C1_ER_IRQHandler /* I2C1 Error */ - .word I2C2_EV_IRQHandler /* I2C2 Event */ - .word I2C2_ER_IRQHandler /* I2C2 Error */ - .word SPI1_IRQHandler /* SPI1 */ - .word SPI2_IRQHandler /* SPI2 */ - .word USART1_IRQHandler /* USART1 */ - .word USART2_IRQHandler /* USART2 */ - .word USART3_IRQHandler /* USART3 */ - .word EXTI15_10_IRQHandler /* External Line[15:10]s */ - .word RTC_Alarm_IRQHandler /* RTC Alarm (A and B) through EXTI Line */ - .word OTG_FS_WKUP_IRQHandler /* USB OTG FS Wakeup through EXTI line */ - .word TIM8_BRK_TIM12_IRQHandler /* TIM8 Break and TIM12 */ - .word TIM8_UP_TIM13_IRQHandler /* TIM8 Update and TIM13 */ - .word TIM8_TRG_COM_TIM14_IRQHandler /* TIM8 Trigger and Commutation and TIM14 */ - .word TIM8_CC_IRQHandler /* TIM8 Capture Compare */ - .word DMA1_Stream7_IRQHandler /* DMA1 Stream7 */ - .word FSMC_IRQHandler /* FSMC */ - .word SDIO_IRQHandler /* SDIO */ - .word TIM5_IRQHandler /* TIM5 */ - .word SPI3_IRQHandler /* SPI3 */ - .word UART4_IRQHandler /* UART4 */ - .word UART5_IRQHandler /* UART5 */ - .word TIM6_DAC_IRQHandler /* TIM6, DAC1 and DAC2 */ - .word TIM7_IRQHandler /* TIM7 */ - .word DMA2_Stream0_IRQHandler /* DMA2 Stream 0 */ - .word DMA2_Stream1_IRQHandler /* DMA2 Stream 1 */ - .word DMA2_Stream2_IRQHandler /* DMA2 Stream 2 */ - .word DMA2_Stream3_IRQHandler /* DMA2 Stream 3 */ - .word DMA2_Stream4_IRQHandler /* DMA2 Stream 4 */ - .word DFSDM1_FLT0_IRQHandler /* DFSDM1 Filter0 */ - .word DFSDM1_FLT1_IRQHandler /* DFSDM1 Filter1 */ - .word CAN2_TX_IRQHandler /* CAN2 TX */ - .word CAN2_RX0_IRQHandler /* CAN2 RX0 */ - .word CAN2_RX1_IRQHandler /* CAN2 RX1 */ - .word CAN2_SCE_IRQHandler /* CAN2 SCE */ - .word OTG_FS_IRQHandler /* USB OTG FS */ - .word DMA2_Stream5_IRQHandler /* DMA2 Stream 5 */ - .word DMA2_Stream6_IRQHandler /* DMA2 Stream 6 */ - .word DMA2_Stream7_IRQHandler /* DMA2 Stream 7 */ - .word USART6_IRQHandler /* USART6 */ - .word I2C3_EV_IRQHandler /* I2C3 event */ - .word I2C3_ER_IRQHandler /* I2C3 error */ - .word CAN3_TX_IRQHandler /* CAN3 TX */ - .word CAN3_RX0_IRQHandler /* CAN3 RX0 */ - .word CAN3_RX1_IRQHandler /* CAN3 RX1 */ - .word CAN3_SCE_IRQHandler /* CAN3 SCE */ - .word 0 /* Reserved */ - .word 0 /* Reserved */ - .word RNG_IRQHandler /* RNG */ - .word FPU_IRQHandler /* FPU */ - .word UART7_IRQHandler /* UART7 */ - .word UART8_IRQHandler /* UART8 */ - .word SPI4_IRQHandler /* SPI4 */ - .word SPI5_IRQHandler /* SPI5 */ - .word 0 /* Reserved */ - .word SAI1_IRQHandler /* SAI1 */ - .word UART9_IRQHandler /* UART9 */ - .word UART10_IRQHandler /* UART10 */ - .word 0 /* Reserved */ - .word 0 /* Reserved */ - .word QUADSPI_IRQHandler /* QuadSPI */ - .word 0 /* Reserved */ - .word 0 /* Reserved */ - .word FMPI2C1_EV_IRQHandler /* FMPI2C1 Event */ - .word FMPI2C1_ER_IRQHandler /* FMPI2C1 Error */ - .word LPTIM1_IRQHandler /* LPTIM1 */ - .word DFSDM2_FLT0_IRQHandler /* DFSDM2 Filter0 */ - .word DFSDM2_FLT1_IRQHandler /* DFSDM2 Filter1 */ - .word DFSDM2_FLT2_IRQHandler /* DFSDM2 Filter2 */ - .word DFSDM2_FLT3_IRQHandler /* DFSDM2 Filter3 */ - -/******************************************************************************* -* -* Provide weak aliases for each Exception handler to the Default_Handler. -* As they are weak aliases, any function with the same name will override -* this definition. -* -*******************************************************************************/ - .weak NMI_Handler - .thumb_set NMI_Handler,Default_Handler - - .weak HardFault_Handler - .thumb_set HardFault_Handler,Default_Handler - - .weak MemManage_Handler - .thumb_set MemManage_Handler,Default_Handler - - .weak BusFault_Handler - .thumb_set BusFault_Handler,Default_Handler - - .weak UsageFault_Handler - .thumb_set UsageFault_Handler,Default_Handler - - .weak SVC_Handler - .thumb_set SVC_Handler,Default_Handler - - .weak DebugMon_Handler - .thumb_set DebugMon_Handler,Default_Handler - - .weak PendSV_Handler - .thumb_set PendSV_Handler,Default_Handler - - .weak SysTick_Handler - .thumb_set SysTick_Handler,Default_Handler - - .weak WWDG_IRQHandler - .thumb_set WWDG_IRQHandler,Default_Handler - - .weak PVD_IRQHandler - .thumb_set PVD_IRQHandler,Default_Handler - - .weak TAMP_STAMP_IRQHandler - .thumb_set TAMP_STAMP_IRQHandler,Default_Handler - - .weak RTC_WKUP_IRQHandler - .thumb_set RTC_WKUP_IRQHandler,Default_Handler - - .weak FLASH_IRQHandler - .thumb_set FLASH_IRQHandler,Default_Handler - - .weak RCC_IRQHandler - .thumb_set RCC_IRQHandler,Default_Handler - - .weak EXTI0_IRQHandler - .thumb_set EXTI0_IRQHandler,Default_Handler - - .weak EXTI1_IRQHandler - .thumb_set EXTI1_IRQHandler,Default_Handler - - .weak EXTI2_IRQHandler - .thumb_set EXTI2_IRQHandler,Default_Handler - - .weak EXTI3_IRQHandler - .thumb_set EXTI3_IRQHandler,Default_Handler - - .weak EXTI4_IRQHandler - .thumb_set EXTI4_IRQHandler,Default_Handler - - .weak DMA1_Stream0_IRQHandler - .thumb_set DMA1_Stream0_IRQHandler,Default_Handler - - .weak DMA1_Stream1_IRQHandler - .thumb_set DMA1_Stream1_IRQHandler,Default_Handler - - .weak DMA1_Stream2_IRQHandler - .thumb_set DMA1_Stream2_IRQHandler,Default_Handler - - .weak DMA1_Stream3_IRQHandler - .thumb_set DMA1_Stream3_IRQHandler,Default_Handler - - .weak DMA1_Stream4_IRQHandler - .thumb_set DMA1_Stream4_IRQHandler,Default_Handler - - .weak DMA1_Stream5_IRQHandler - .thumb_set DMA1_Stream5_IRQHandler,Default_Handler - - .weak DMA1_Stream6_IRQHandler - .thumb_set DMA1_Stream6_IRQHandler,Default_Handler - - .weak ADC_IRQHandler - .thumb_set ADC_IRQHandler,Default_Handler - - .weak CAN1_TX_IRQHandler - .thumb_set CAN1_TX_IRQHandler,Default_Handler - - .weak CAN1_RX0_IRQHandler - .thumb_set CAN1_RX0_IRQHandler,Default_Handler - - .weak CAN1_RX1_IRQHandler - .thumb_set CAN1_RX1_IRQHandler,Default_Handler - - .weak CAN1_SCE_IRQHandler - .thumb_set CAN1_SCE_IRQHandler,Default_Handler - - .weak EXTI9_5_IRQHandler - .thumb_set EXTI9_5_IRQHandler,Default_Handler - - .weak TIM1_BRK_TIM9_IRQHandler - .thumb_set TIM1_BRK_TIM9_IRQHandler,Default_Handler - - .weak TIM1_UP_TIM10_IRQHandler - .thumb_set TIM1_UP_TIM10_IRQHandler,Default_Handler - - .weak TIM1_TRG_COM_TIM11_IRQHandler - .thumb_set TIM1_TRG_COM_TIM11_IRQHandler,Default_Handler - - .weak TIM1_CC_IRQHandler - .thumb_set TIM1_CC_IRQHandler,Default_Handler - - .weak TIM2_IRQHandler - .thumb_set TIM2_IRQHandler,Default_Handler - - .weak TIM3_IRQHandler - .thumb_set TIM3_IRQHandler,Default_Handler - - .weak TIM4_IRQHandler - .thumb_set TIM4_IRQHandler,Default_Handler - - .weak I2C1_EV_IRQHandler - .thumb_set I2C1_EV_IRQHandler,Default_Handler - - .weak I2C1_ER_IRQHandler - .thumb_set I2C1_ER_IRQHandler,Default_Handler - - .weak I2C2_EV_IRQHandler - .thumb_set I2C2_EV_IRQHandler,Default_Handler - - .weak I2C2_ER_IRQHandler - .thumb_set I2C2_ER_IRQHandler,Default_Handler - - .weak SPI1_IRQHandler - .thumb_set SPI1_IRQHandler,Default_Handler - - .weak SPI2_IRQHandler - .thumb_set SPI2_IRQHandler,Default_Handler - - .weak USART1_IRQHandler - .thumb_set USART1_IRQHandler,Default_Handler - - .weak USART2_IRQHandler - .thumb_set USART2_IRQHandler,Default_Handler - - .weak USART3_IRQHandler - .thumb_set USART3_IRQHandler,Default_Handler - - .weak EXTI15_10_IRQHandler - .thumb_set EXTI15_10_IRQHandler,Default_Handler - - .weak RTC_Alarm_IRQHandler - .thumb_set RTC_Alarm_IRQHandler,Default_Handler - - .weak OTG_FS_WKUP_IRQHandler - .thumb_set OTG_FS_WKUP_IRQHandler,Default_Handler - - .weak TIM8_BRK_TIM12_IRQHandler - .thumb_set TIM8_BRK_TIM12_IRQHandler,Default_Handler - - .weak TIM8_UP_TIM13_IRQHandler - .thumb_set TIM8_UP_TIM13_IRQHandler,Default_Handler - - .weak TIM8_TRG_COM_TIM14_IRQHandler - .thumb_set TIM8_TRG_COM_TIM14_IRQHandler,Default_Handler - - .weak TIM8_CC_IRQHandler - .thumb_set TIM8_CC_IRQHandler,Default_Handler - - .weak DMA1_Stream7_IRQHandler - .thumb_set DMA1_Stream7_IRQHandler,Default_Handler - - .weak FSMC_IRQHandler - .thumb_set FSMC_IRQHandler,Default_Handler - - .weak SDIO_IRQHandler - .thumb_set SDIO_IRQHandler,Default_Handler - - .weak TIM5_IRQHandler - .thumb_set TIM5_IRQHandler,Default_Handler - - .weak SPI3_IRQHandler - .thumb_set SPI3_IRQHandler,Default_Handler - - .weak UART4_IRQHandler - .thumb_set UART4_IRQHandler,Default_Handler - - .weak UART5_IRQHandler - .thumb_set UART5_IRQHandler,Default_Handler - - .weak TIM6_DAC_IRQHandler - .thumb_set TIM6_DAC_IRQHandler,Default_Handler - - .weak TIM7_IRQHandler - .thumb_set TIM7_IRQHandler,Default_Handler - - .weak DMA2_Stream0_IRQHandler - .thumb_set DMA2_Stream0_IRQHandler,Default_Handler - - .weak DMA2_Stream1_IRQHandler - .thumb_set DMA2_Stream1_IRQHandler,Default_Handler - - .weak DMA2_Stream2_IRQHandler - .thumb_set DMA2_Stream2_IRQHandler,Default_Handler - - .weak DMA2_Stream3_IRQHandler - .thumb_set DMA2_Stream3_IRQHandler,Default_Handler - - .weak DMA2_Stream4_IRQHandler - .thumb_set DMA2_Stream4_IRQHandler,Default_Handler - - .weak DFSDM1_FLT0_IRQHandler - .thumb_set DFSDM1_FLT0_IRQHandler,Default_Handler - - .weak DFSDM1_FLT1_IRQHandler - .thumb_set DFSDM1_FLT1_IRQHandler,Default_Handler - - .weak CAN2_TX_IRQHandler - .thumb_set CAN2_TX_IRQHandler,Default_Handler - - .weak CAN2_RX0_IRQHandler - .thumb_set CAN2_RX0_IRQHandler,Default_Handler - - .weak CAN2_RX1_IRQHandler - .thumb_set CAN2_RX1_IRQHandler,Default_Handler - - .weak CAN2_SCE_IRQHandler - .thumb_set CAN2_SCE_IRQHandler,Default_Handler - - .weak OTG_FS_IRQHandler - .thumb_set OTG_FS_IRQHandler,Default_Handler - - .weak DMA2_Stream5_IRQHandler - .thumb_set DMA2_Stream5_IRQHandler,Default_Handler - - .weak DMA2_Stream6_IRQHandler - .thumb_set DMA2_Stream6_IRQHandler,Default_Handler - - .weak DMA2_Stream7_IRQHandler - .thumb_set DMA2_Stream7_IRQHandler,Default_Handler - - .weak USART6_IRQHandler - .thumb_set USART6_IRQHandler,Default_Handler - - .weak I2C3_EV_IRQHandler - .thumb_set I2C3_EV_IRQHandler,Default_Handler - - .weak I2C3_ER_IRQHandler - .thumb_set I2C3_ER_IRQHandler,Default_Handler - - .weak CAN3_TX_IRQHandler - .thumb_set CAN3_TX_IRQHandler,Default_Handler - - .weak CAN3_RX0_IRQHandler - .thumb_set CAN3_RX0_IRQHandler,Default_Handler - - .weak CAN3_RX1_IRQHandler - .thumb_set CAN3_RX1_IRQHandler,Default_Handler - - .weak CAN3_SCE_IRQHandler - .thumb_set CAN3_SCE_IRQHandler,Default_Handler - - .weak RNG_IRQHandler - .thumb_set RNG_IRQHandler,Default_Handler - - .weak FPU_IRQHandler - .thumb_set FPU_IRQHandler,Default_Handler - - .weak UART7_IRQHandler - .thumb_set UART7_IRQHandler,Default_Handler - - .weak UART8_IRQHandler - .thumb_set UART8_IRQHandler,Default_Handler - - .weak SPI4_IRQHandler - .thumb_set SPI4_IRQHandler,Default_Handler - - .weak SPI5_IRQHandler - .thumb_set SPI5_IRQHandler,Default_Handler - - .weak SAI1_IRQHandler - .thumb_set SAI1_IRQHandler,Default_Handler - - .weak UART9_IRQHandler - .thumb_set UART9_IRQHandler,Default_Handler - - .weak UART10_IRQHandler - .thumb_set UART10_IRQHandler,Default_Handler - - .weak QUADSPI_IRQHandler - .thumb_set QUADSPI_IRQHandler,Default_Handler - - .weak FMPI2C1_EV_IRQHandler - .thumb_set FMPI2C1_EV_IRQHandler,Default_Handler - - .weak FMPI2C1_ER_IRQHandler - .thumb_set FMPI2C1_ER_IRQHandler,Default_Handler - - .weak LPTIM1_IRQHandler - .thumb_set LPTIM1_IRQHandler,Default_Handler - - .weak DFSDM2_FLT0_IRQHandler - .thumb_set DFSDM2_FLT0_IRQHandler,Default_Handler - - .weak DFSDM2_FLT1_IRQHandler - .thumb_set DFSDM2_FLT1_IRQHandler,Default_Handler - - .weak DFSDM2_FLT2_IRQHandler - .thumb_set DFSDM2_FLT2_IRQHandler,Default_Handler - - .weak DFSDM2_FLT3_IRQHandler - .thumb_set DFSDM2_FLT3_IRQHandler,Default_Handler -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/body/board/stm32fx_flash.ld b/body/board/stm32fx_flash.ld deleted file mode 100644 index 9174e3d05b888b..00000000000000 --- a/body/board/stm32fx_flash.ld +++ /dev/null @@ -1,161 +0,0 @@ -/* -***************************************************************************** -** - -** File : LinkerScript.ld -** -** Abstract : Linker script for STM32F413ZHTx Device with -** 1536KByte FLASH, 320KByte RAM -** -** Set heap size, stack size and stack location according -** to application requirements. -** -** Set memory bank area and size if external memory is used. -** -** Target : STMicroelectronics STM32 -** -** -** Distribution: The file is distributed as is, without any warranty -** of any kind. -** -** (c)Copyright Ac6. -** You may use this file as-is or modify it according to the needs of your -** project. Distribution of this file (unmodified or modified) is not -** permitted. Ac6 permit registered System Workbench for MCU users the -** rights to distribute the assembled, compiled & linked contents of this -** file as part of an application binary file, provided that it is built -** using the System Workbench for MCU toolchain. -** -***************************************************************************** -*/ - -/* Entry Point */ -ENTRY(Reset_Handler) - -/* Highest address of the user mode stack */ -enter_bootloader_mode = 0x2004FFFC; -_estack = 0x2004FFFC; /* end of 128K RAM on AHB bus*/ -_app_start = 0x08004000; /* Reserve Sector 0(16K) for bootloader */ - -/* Generate a link error if heap and stack don't fit into RAM */ -_Min_Heap_Size = 0x200; /* required amount of heap */ -_Min_Stack_Size = 0x400; /* required amount of stack */ - -/* Specify the memory areas */ -MEMORY -{ - FLASH (rx) : ORIGIN = 0x08000000, LENGTH = 1024K - RAM (xrw) : ORIGIN = 0x20000000, LENGTH = 320K -} - -/* Define output sections */ -SECTIONS -{ - /* The startup code goes first into FLASH */ - .isr_vector : - { - . = ALIGN(4); - KEEP(*(.isr_vector)) /* Startup code */ - . = ALIGN(4); - } >FLASH - - /* The program code and other data goes into FLASH */ - .text : - { - . = ALIGN(4); - *(.text) /* .text sections (code) */ - *(.text*) /* .text* sections (code) */ - *(.glue_7) /* glue arm to thumb code */ - *(.glue_7t) /* glue thumb to arm code */ - *(.eh_frame) - - KEEP (*(.init)) - KEEP (*(.fini)) - - . = ALIGN(4); - _etext = .; /* define a global symbols at end of code */ - } >FLASH - - /* Constant data goes into FLASH */ - .rodata : - { - . = ALIGN(4); - *(.rodata) /* .rodata sections (constants, strings, etc.) */ - *(.rodata*) /* .rodata* sections (constants, strings, etc.) */ - . = ALIGN(4); - } >FLASH - - .ARM.extab : { *(.ARM.extab* .gnu.linkonce.armextab.*) } >FLASH - .ARM : { - __exidx_start = .; - *(.ARM.exidx*) - __exidx_end = .; - } >FLASH - - .preinit_array : - { - PROVIDE_HIDDEN (__preinit_array_start = .); - KEEP (*(.preinit_array*)) - PROVIDE_HIDDEN (__preinit_array_end = .); - } >FLASH - .init_array : - { - PROVIDE_HIDDEN (__init_array_start = .); - KEEP (*(SORT(.init_array.*))) - KEEP (*(.init_array*)) - PROVIDE_HIDDEN (__init_array_end = .); - } >FLASH - .fini_array : - { - PROVIDE_HIDDEN (__fini_array_start = .); - KEEP (*(SORT(.fini_array.*))) - KEEP (*(.fini_array*)) - PROVIDE_HIDDEN (__fini_array_end = .); - } >FLASH - - /* used by the startup to initialize data */ - _sidata = LOADADDR(.data); - - /* Initialized data sections goes into RAM, load LMA copy after code */ - .data : - { - . = ALIGN(4); - _sdata = .; /* create a global symbol at data start */ - *(.data) /* .data sections */ - *(.data*) /* .data* sections */ - - . = ALIGN(4); - _edata = .; /* define a global symbol at data end */ - } >RAM AT> FLASH - - /* Uninitialized data section */ - . = ALIGN(4); - .bss : - { - /* This is used by the startup in order to initialize the .bss secion */ - _sbss = .; /* define a global symbol at bss start */ - __bss_start__ = _sbss; - *(.bss) - *(.bss*) - *(COMMON) - - . = ALIGN(4); - _ebss = .; /* define a global symbol at bss end */ - __bss_end__ = _ebss; - } >RAM - - /* User_heap_stack section, used to check that there is enough RAM left */ - ._user_heap_stack : - { - . = ALIGN(8); - PROVIDE ( end = . ); - PROVIDE ( _end = . ); - . = . + _Min_Heap_Size; - . = . + _Min_Stack_Size; - . = ALIGN(8); - } >RAM - - .ARM.attributes 0 : { *(.ARM.attributes) } -} - - diff --git a/body/board/uds.h b/body/board/uds.h deleted file mode 100644 index f9e151be77d2b6..00000000000000 --- a/body/board/uds.h +++ /dev/null @@ -1,127 +0,0 @@ -extern uint8_t hw_type; -void can_send_msg(uint32_t addr, uint32_t dhr, uint32_t dlr, uint8_t len); - -uint8_t uid[10]; -uint32_t uds_engine_request = 0; -uint32_t uds_debug_request = 0; -uint8_t knee_detected = 0; -uint8_t sep_time = 0; - -void process_uds(uint32_t addr, uint32_t dlr) { - memcpy(uid, (void *)0x1FFF7A10U, 0xAU); - - if ((hw_type == HW_TYPE_BASE) && - ((addr == BROADCAST_ADDR) || - (addr == FALLBACK_ADDR))) { // OBD2 broadcast request, redirect to UDS? - switch(dlr) { - // VIN 09 OBD2 - case 0x020902U: - can_send_msg(FALLBACK_R_ADDR, 0x4D4F4301U, 0x02491410U, 8U); - uds_engine_request = 0xF190U; - break; - // VIN : F190 on broadcast - case 0x90F12203U: - can_send_msg(FALLBACK_R_ADDR, 0x4D4F4390U, 0xF1621410U, 8U); - break; - // VIN continue - default: - if ((dlr & 0xFF) == 0x30U) { - sep_time = (dlr >> 16U) & 0xFF; - delay(sep_time); - can_send_msg(FALLBACK_R_ADDR, 0x5659444FU, 0x42414D21U, 8U); - can_send_msg(FALLBACK_R_ADDR, 0x314E4F49U, 0x53524522U, 8U); - } - break; - } - } else if (addr == (ENGINE_ADDR + board.uds_offset)) { // UDS request to "main" ECU - switch(dlr) { - // TESTER PRESENT - case 0x3E02U: - can_send_msg(ENGINE_R_ADDR + board.uds_offset, 0x0U, 0x7E02U, 8U); - break; - // DIAGNOSTIC SESSION CONTROL: DEFAULT - case 0x011002U: - can_send_msg(ENGINE_R_ADDR + board.uds_offset, 0x0U, 0x015002U, 8U); - break; - // DIAGNOSTIC SESSION CONTROL: EXTENDED - case 0x031002U: - can_send_msg(ENGINE_R_ADDR + board.uds_offset, 0x0U, 0x035002U, 8U); - break; - // APPLICATION SOFTWARE IDENTIFICATION : F181 (used for fingerprinting, firmware version) - case 0x81F12203U: - COMPILE_TIME_ASSERT(sizeof(version) == 6U); - can_send_msg(ENGINE_R_ADDR + board.uds_offset, ((version[2] << 24U) | (version[1] << 16U) | (version[0] << 8U) | 0x81U), 0xF1620A10U, 8U); - uds_engine_request = 0xF181U; - break; - // ECU SERIAL NUMBER : F18C - case 0x8CF12203U: - can_send_msg(ENGINE_R_ADDR + board.uds_offset, ((uid[2] << 24U) | (uid[1] << 16U) | (uid[0] << 8U) | 0x8CU), 0xF1620D10U, 8U); - uds_engine_request = 0xF18CU; - break; - // VIN : F190 - case 0x90F12203U: - can_send_msg(ENGINE_R_ADDR + board.uds_offset, 0x4D4F4390U, 0xF1621410U, 8U); - uds_engine_request = 0xF190U; - break; - // FLOW CONTROL MESSAGE - default: - if ((dlr & 0xFF) == 0x30U) { - sep_time = (dlr >> 16U) & 0xFF; - delay(sep_time); - switch(uds_engine_request) { - // APPLICATION SOFTWARE IDENTIFICATION : F181 - case 0xF181U: - can_send_msg(ENGINE_R_ADDR + board.uds_offset, (knee_detected + 0x61), ((version[5] << 24U) | (version[4] << 16U) | (version[3] << 8U) | 0x21U), 8U); - uds_engine_request = 0; - break; - // ECU SERIAL NUMBER : F18C - case 0xF18CU: - can_send_msg(ENGINE_R_ADDR + board.uds_offset, ((uid[9] << 24U) | (uid[8] << 16U) | (uid[7]<< 8U) | uid[6]), ((uid[5] << 24U) | (uid[4] << 16U) | (uid[3] << 8U) | 0x21U), 8U); - uds_engine_request = 0; - break; - // VIN : F190 - case 0xF190U: - can_send_msg(ENGINE_R_ADDR + board.uds_offset, 0x5659444FU, 0x42414D21U, 8U); - can_send_msg(ENGINE_R_ADDR + board.uds_offset, 0x314E4F49U, 0x53524522U, 8U); - uds_engine_request = 0; - break; - } - } - break; - } - } else if (addr == (DEBUG_ADDR + board.uds_offset)) { // UDS request to "DEBUG" ECU - switch(dlr) { - // TESTER PRESENT - case 0x3E02U: - can_send_msg(DEBUG_R_ADDR + board.uds_offset, 0x0U, 0x7E02U, 8U); - break; - // DIAGNOSTIC SESSION CONTROL: DEFAULT - case 0x011002U: - can_send_msg(DEBUG_R_ADDR + board.uds_offset, 0x0U, 0x015002U, 8U); - break; - // DIAGNOSTIC SESSION CONTROL: EXTENDED - case 0x031002U: - can_send_msg(DEBUG_R_ADDR + board.uds_offset, 0x0U, 0x035002U, 8U); - break; - // APPLICATION SOFTWARE IDENTIFICATION : F181 (used for git hash logging) - case 0x81F12203U: - COMPILE_TIME_ASSERT(sizeof(gitversion) == 8U); - can_send_msg((DEBUG_R_ADDR + board.uds_offset), ((gitversion[2] << 24U) | (gitversion[1] << 16U) | (gitversion[0] << 8U) | 0x81U), 0xF1620B10U, 8U); - uds_debug_request = 0xF181U; - break; - default: - if ((dlr & 0xFF) == 0x30U) { - sep_time = (dlr >> 16U) & 0xFF; - delay(sep_time); - switch(uds_debug_request) { - // APPLICATION SOFTWARE IDENTIFICATION : F181 - case 0xF181U: - can_send_msg((DEBUG_R_ADDR + board.uds_offset), ((gitversion[7]<< 8U) | gitversion[6]), ((gitversion[5] << 24U) | (gitversion[4] << 16U) | (gitversion[3] << 8U) | 0x21U), 8U); - uds_debug_request = 0; - break; - } - } - break; - } - } -} diff --git a/body/board/util.c b/body/board/util.c deleted file mode 100644 index c0b19ff19ac493..00000000000000 --- a/body/board/util.c +++ /dev/null @@ -1,258 +0,0 @@ -#include -#include "stm32f4xx_hal.h" -#include "defines.h" -#include "config.h" -#include "util.h" -#include "bldc/BLDC_controller.h" -#include "bldc/rtwtypes.h" - -// TODO: simplify util.c to util.h - -//------------------------------------------------------------------------ -// Global variables set externally -//------------------------------------------------------------------------ -extern int16_t batVoltage; -extern uint8_t buzzerCount; // global variable for the buzzer counts. can be 1, 2, 3, 4, 5, 6, 7... -extern uint8_t buzzerFreq; // global variable for the buzzer pitch. can be 1, 2, 3, 4, 5, 6, 7... -extern uint8_t buzzerPattern; // global variable for the buzzer pattern. can be 1, 2, 3, 4, 5, 6, 7... - -extern uint8_t enable_motors; // global variable for motor enable -extern uint8_t ignition; // global variable for ignition on SBU2 line - -extern uint8_t hw_type; - -extern board_t board; - -//------------------------------------------------------------------------ -// Matlab defines - from auto-code generation -//--------------- -RT_MODEL rtM_Left_; /* Real-time model */ -RT_MODEL rtM_Right_; /* Real-time model */ -RT_MODEL *const rtM_Left = &rtM_Left_; -RT_MODEL *const rtM_Right = &rtM_Right_; - -extern P rtP_Left; /* Block parameters (auto storage) */ -DW rtDW_Left; /* Observable states */ -ExtU rtU_Left; /* External inputs */ -ExtY rtY_Left; /* External outputs */ - -P rtP_Right; /* Block parameters (auto storage) */ -DW rtDW_Right; /* Observable states */ -ExtU rtU_Right; /* External inputs */ -ExtY rtY_Right; /* External outputs */ -//--------------- - -int16_t speedAvg; // average measured speed -int16_t speedAvgAbs; // average measured speed in absolute - -uint8_t ctrlModReqRaw = CTRL_MOD_REQ; -uint8_t ctrlModReq = CTRL_MOD_REQ; // Final control mode request - - -void BLDC_Init(void) { - /* Set BLDC controller parameters */ - rtP_Left.b_angleMeasEna = 0; // Motor angle input: 0 = estimated angle, 1 = measured angle (e.g. if encoder is available) - rtP_Left.z_selPhaCurMeasABC = 0; // Left motor measured current phases {Green, Blue} = {iA, iB} -> do NOT change - rtP_Left.z_ctrlTypSel = CTRL_TYP_SEL; - rtP_Left.b_diagEna = DIAG_ENA; - rtP_Left.i_max = (I_MOT_MAX * A2BIT_CONV) << 4; // fixdt(1,16,4) - rtP_Left.n_max = N_MOT_MAX << 4; // fixdt(1,16,4) - rtP_Left.b_fieldWeakEna = FIELD_WEAK_ENA; - rtP_Left.id_fieldWeakMax = (FIELD_WEAK_MAX * A2BIT_CONV) << 4; // fixdt(1,16,4) - rtP_Left.a_phaAdvMax = PHASE_ADV_MAX << 4; // fixdt(1,16,4) - rtP_Left.r_fieldWeakHi = FIELD_WEAK_HI << 4; // fixdt(1,16,4) - rtP_Left.r_fieldWeakLo = FIELD_WEAK_LO << 4; // fixdt(1,16,4) - - rtP_Right = rtP_Left; // Copy the Left motor parameters to the Right motor parameters - rtP_Right.n_max = N_MOT_MAX << 4; // But add separate max RPM limit - rtP_Right.z_selPhaCurMeasABC = 1; // Right motor measured current phases {Blue, Yellow} = {iB, iC} -> do NOT change - - /* Pack LEFT motor data into RTM */ - rtM_Left->defaultParam = &rtP_Left; - rtM_Left->dwork = &rtDW_Left; - rtM_Left->inputs = &rtU_Left; - rtM_Left->outputs = &rtY_Left; - - /* Pack RIGHT motor data into RTM */ - rtM_Right->defaultParam = &rtP_Right; - rtM_Right->dwork = &rtDW_Right; - rtM_Right->inputs = &rtU_Right; - rtM_Right->outputs = &rtY_Right; - - /* Initialize BLDC controllers */ - BLDC_controller_initialize(rtM_Left); - BLDC_controller_initialize(rtM_Right); -} - -void out_enable(uint8_t out, bool enabled) { - switch(out) { - case LED_GREEN: - HAL_GPIO_WritePin(board.led_portG, board.led_pinG, !enabled); - break; - case LED_RED: - HAL_GPIO_WritePin(board.led_portR, board.led_pinR, !enabled); - break; - case LED_BLUE: - HAL_GPIO_WritePin(board.led_portB, board.led_pinB, !enabled); - break; - case IGNITION: - HAL_GPIO_WritePin(board.ignition_port, board.ignition_pin, enabled); - break; - case POWERSWITCH: - HAL_GPIO_WritePin(OFF_PORT, OFF_PIN, enabled); - break; - case TRANSCEIVER: - HAL_GPIO_WritePin(board.can_portEN, board.can_pinEN, !enabled); - break; - } -} - -void poweronMelody(void) { - buzzerCount = 0; - for (int i = 8; i >= 0; i--) { - buzzerFreq = (uint8_t)i; - HAL_Delay(100); - } - buzzerFreq = 0; -} - -void beepCount(uint8_t cnt, uint8_t freq, uint8_t pattern) { - buzzerCount = cnt; - buzzerFreq = freq; - buzzerPattern = pattern; -} - -void beepLong(uint8_t freq) { - buzzerCount = 0; - buzzerFreq = freq; - HAL_Delay(500); - buzzerFreq = 0; -} - -void beepShort(uint8_t freq) { - buzzerCount = 0; - buzzerFreq = freq; - HAL_Delay(100); - buzzerFreq = 0; -} - -void beepShortMany(uint8_t cnt, int8_t dir) { - if (dir >= 0) { // increasing tone - for(uint8_t i = 2*cnt; i >= 2; i=i-2) { - beepShort(i + 3); - } - } else { // decreasing tone - for(uint8_t i = 2; i <= 2*cnt; i=i+2) { - beepShort(i + 3); - } - } -} - -void calcAvgSpeed(void) { - // Calculate measured average speed. The minus sign (-) is because motors spin in opposite directions - speedAvg = ( rtY_Left.n_mot - rtY_Right.n_mot) / 2; - - // Handle the case when SPEED_COEFFICIENT sign is negative (which is when most significant bit is 1) - if (SPEED_COEFFICIENT & (1 << 16)) { - speedAvg = -speedAvg; - } - speedAvgAbs = ABS(speedAvg); -} - -void poweroff(void) { - enable_motors = 0; - buzzerCount = 0; - buzzerPattern = 0; - for (int i = 0; i < 8; i++) { - buzzerFreq = (uint8_t)i; - HAL_Delay(100); - } - out_enable(POWERSWITCH, false); - while(1) { - // Temporarily, to see that we went to power off but can't switch the latch - HAL_GPIO_TogglePin(board.led_portR, board.led_pinR); - HAL_Delay(100); - } -} - -#define PULL_EFFECTIVE_DELAY 4096 -uint8_t detect_with_pull(GPIO_TypeDef* GPIOx, uint16_t GPIO_Pin, uint32_t mode) { - GPIO_InitTypeDef GPIO_InitStruct; - GPIO_InitStruct.Pin = GPIO_Pin; - GPIO_InitStruct.Mode = GPIO_MODE_INPUT; - GPIO_InitStruct.Pull = mode; - HAL_GPIO_Init(GPIOx, &GPIO_InitStruct); - for (volatile int i=0; i= 0; i--) { - crc ^= dat[i]; - for (j = 0; j < 8; j++) { - if ((crc & 0x80U) != 0U) { - crc = (uint8_t)((crc << 1) ^ poly); - } - else { - crc <<= 1; - } - } - } - return crc; -} - -/* =========================== Filtering Functions =========================== */ - - /* Low pass filter fixed-point 32 bits: fixdt(1,32,16) - * Max: 32767.99998474121 - * Min: -32768 - * Res: 1.52587890625e-05 - * - * Inputs: u = int16 or int32 - * Outputs: y = fixdt(1,32,16) - * Parameters: coef = fixdt(0,16,16) = [0,65535U] - * - * Example: - * If coef = 0.8 (in floating point), then coef = 0.8 * 2^16 = 52429 (in fixed-point) - * filtLowPass16(u, 52429, &y); - * yint = (int16_t)(y >> 16); // the integer output is the fixed-point ouput shifted by 16 bits - */ -void filtLowPass32(int32_t u, uint16_t coef, int32_t *y) { - int64_t tmp; - tmp = ((int64_t)((u << 4) - (*y >> 12)) * coef) >> 4; - tmp = CLAMP(tmp, -2147483648LL, 2147483647LL); // Overflow protection: 2147483647LL = 2^31 - 1 - *y = (int32_t)tmp + (*y); -} - - /* rateLimiter16(int16_t u, int16_t rate, int16_t *y); - * Inputs: u = int16 - * Outputs: y = fixdt(1,16,4) - * Parameters: rate = fixdt(1,16,4) = [0, 32767] Do NOT make rate negative (>32767) - */ -void rateLimiter16(int16_t u, int16_t rate, int16_t *y) { - int16_t q0; - int16_t q1; - - q0 = (u << 4) - *y; - - if (q0 > rate) { - q0 = rate; - } else { - q1 = -rate; - if (q0 < q1) { - q0 = q1; - } - } - - *y = q0 + *y; -} diff --git a/body/board/util.h b/body/board/util.h deleted file mode 100644 index 0eea10bd0e340b..00000000000000 --- a/body/board/util.h +++ /dev/null @@ -1,33 +0,0 @@ -// Define to prevent recursive inclusion -#ifndef UTIL_H -#define UTIL_H - -#include -#include - -// Initialization Functions -void BLDC_Init(void); - -// General Functions -void out_enable(uint8_t led, bool enabled); -void poweronMelody(void); -void beepCount(uint8_t cnt, uint8_t freq, uint8_t pattern); -void beepLong(uint8_t freq); -void beepShort(uint8_t freq); -void beepShortMany(uint8_t cnt, int8_t dir); -void calcAvgSpeed(void); - -// Poweroff Functions -void poweroff(void); - -// GPIO functions -uint8_t detect_with_pull(GPIO_TypeDef* GPIOx, uint16_t GPIO_Pin, uint32_t mode); -uint8_t board_id(void); - -// Filtering Functions -void filtLowPass32(int32_t u, uint16_t coef, int32_t *y); -void rateLimiter16(int16_t u, int16_t rate, int16_t *y); - -uint8_t crc_checksum(uint8_t *dat, int len, const uint8_t poly); - -#endif diff --git a/body/board/version.h b/body/board/version.h deleted file mode 100644 index 2cc94a18092b21..00000000000000 --- a/body/board/version.h +++ /dev/null @@ -1 +0,0 @@ -const uint8_t version[6] = "0.3.00"; diff --git a/body/certs/debug b/body/certs/debug deleted file mode 100644 index 39864b6b1a36e4..00000000000000 --- a/body/certs/debug +++ /dev/null @@ -1,15 +0,0 @@ ------BEGIN RSA PRIVATE KEY----- -MIICXQIBAAKBgQC948lnRo4x44Rd7Y8bQAML4aKDC4XRx958fHV8K6+FbCaP1Z42 -U2kX0yygak0LjoDutpgObmGHZA+Iz3HeUD6VGjr/teN24vPk+A95cRsjt8rgmGQ9 -6HNjaNgjR+gl1F9XxFimMzir82Xpl1ekTueJNXa7ia5HVH1nFdiksOKHGQIDAQAB -AoGAQuPw2I6EHJLW1/eNB75e1FqhUqRGeYV8nEGDaUBCTi+wzc4kM2LijF/5QnDv -vvht9qkfm0XK2VSoHDtnEzcVM/l1ksb68n4R/1nUooAWY6cQI7dCSk/A6yS1EJFg -BXsgGbT/65khw9pzBW2zVtMVcVNWFayqfCO1I9WcDdA1x1kCQQDfrhoZTZNoDEUE -JKM4fiUdWr1h3Aw8KLJFFexSWeGDwo+qqnujYcKWkHa9qaH1RG5x8Kir9s9Oi4Js -mzKwov8fAkEA2VPJPWxJ4vVQpXle6wC1nyoL7s739yxMWFcabvkzDDhlIVBNdVJd -gZKsFWV7QnVNdDMjn9D27FwKu3i2D+kKxwJBANp1SMojqO765MEKI1t+YDNONx6H -cm+i85Fjuv4nCIjOEdCGVuCYDxtMFpxgO2y3HAMuHx5sm8XDnWsDHLvFRdMCQD7V -XqWHnYUk8AAnqy2+ssQl3/VXmZG5GQmhhV74Za3u0C5ljT+SZL6FrYMyKAT67T3f -WzllrT6BDglNyTWoZxkCQQCt0XSoGM3603GGYNt6AUlGSgtXSo/2Px7odGUtQoKA -FH9q6FVMYpQJ38spZxIGufZJmLP8LLg6YIWJj1F+akxr ------END RSA PRIVATE KEY----- diff --git a/body/certs/debug.pub b/body/certs/debug.pub deleted file mode 100644 index 00e219d7bb8cfa..00000000000000 --- a/body/certs/debug.pub +++ /dev/null @@ -1 +0,0 @@ -ssh-rsa AAAAB3NzaC1yc2EAAAADAQABAAAAgQC948lnRo4x44Rd7Y8bQAML4aKDC4XRx958fHV8K6+FbCaP1Z42U2kX0yygak0LjoDutpgObmGHZA+Iz3HeUD6VGjr/teN24vPk+A95cRsjt8rgmGQ96HNjaNgjR+gl1F9XxFimMzir82Xpl1ekTueJNXa7ia5HVH1nFdiksOKHGQ== batman@y840 diff --git a/body/certs/release.pub b/body/certs/release.pub deleted file mode 100644 index 19066e29a75cad..00000000000000 --- a/body/certs/release.pub +++ /dev/null @@ -1 +0,0 @@ -ssh-rsa AAAAB3NzaC1yc2EAAAADAQABAAAAgQDGN9GU2nOc0kKq6vdZI5qUMzHt234ngqofrgCFFxL0D2Whex0zACp9gar0HZp+bvtpoSgU/Ev8wexNKr+A9QTradljiuxi5ctrOra9k+wxqNj63Wrcu4+wU5UnJEVf/buV4jCOFffMT8z3PO4imt8LzHuEIC/m/ASKVYyvuvBRQQ== batman@y840 diff --git a/body/crypto/hash-internal.h b/body/crypto/hash-internal.h deleted file mode 100644 index 05ec3ec9fd22aa..00000000000000 --- a/body/crypto/hash-internal.h +++ /dev/null @@ -1,63 +0,0 @@ -/* - * Copyright 2007 The Android Open Source Project - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * * Neither the name of Google Inc. nor the names of its contributors may - * be used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY Google Inc. ``AS IS'' AND ANY EXPRESS OR - * IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF - * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO - * EVENT SHALL Google Inc. BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, - * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, - * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; - * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, - * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR - * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF - * ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - */ - -#ifndef SYSTEM_CORE_INCLUDE_MINCRYPT_HASH_INTERNAL_H_ -#define SYSTEM_CORE_INCLUDE_MINCRYPT_HASH_INTERNAL_H_ - -#include "stdint.h" - -#ifdef __cplusplus -extern "C" { -#endif // __cplusplus - -struct HASH_CTX; // forward decl - -typedef struct HASH_VTAB { - void (* const init)(struct HASH_CTX*); - void (* const update)(struct HASH_CTX*, const void*, int); - const uint8_t* (* const final)(struct HASH_CTX*); - const uint8_t* (* const hash)(const void*, int, uint8_t*); - int size; -} HASH_VTAB; - -typedef struct HASH_CTX { - const HASH_VTAB * f; - uint64_t count; - uint8_t buf[64]; - uint32_t state[8]; // upto SHA2 -} HASH_CTX; - -#define HASH_init(ctx) (ctx)->f->init(ctx) -#define HASH_update(ctx, data, len) (ctx)->f->update(ctx, data, len) -#define HASH_final(ctx) (ctx)->f->final(ctx) -#define HASH_hash(data, len, digest) (ctx)->f->hash(data, len, digest) -#define HASH_size(ctx) (ctx)->f->size - -#ifdef __cplusplus -} -#endif // __cplusplus - -#endif // SYSTEM_CORE_INCLUDE_MINCRYPT_HASH_INTERNAL_H_ diff --git a/body/crypto/rsa.c b/body/crypto/rsa.c deleted file mode 100644 index 24171e87909275..00000000000000 --- a/body/crypto/rsa.c +++ /dev/null @@ -1,294 +0,0 @@ -/* rsa.c -** -** Copyright 2012, The Android Open Source Project -** -** Redistribution and use in source and binary forms, with or without -** modification, are permitted provided that the following conditions are met: -** * Redistributions of source code must retain the above copyright -** notice, this list of conditions and the following disclaimer. -** * Redistributions in binary form must reproduce the above copyright -** notice, this list of conditions and the following disclaimer in the -** documentation and/or other materials provided with the distribution. -** * Neither the name of Google Inc. nor the names of its contributors may -** be used to endorse or promote products derived from this software -** without specific prior written permission. -** -** THIS SOFTWARE IS PROVIDED BY Google Inc. ``AS IS'' AND ANY EXPRESS OR -** IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF -** MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO -** EVENT SHALL Google Inc. BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, -** SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, -** PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; -** OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, -** WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR -** OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF -** ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -*/ - -#include "rsa.h" -#include "sha.h" - -// a[] -= mod -static void subM(const RSAPublicKey* key, - uint32_t* a) { - int64_t A = 0; - int i; - for (i = 0; i < key->len; ++i) { - A += (uint64_t)a[i] - key->n[i]; - a[i] = (uint32_t)A; - A >>= 32; - } -} - -// return a[] >= mod -static int geM(const RSAPublicKey* key, - const uint32_t* a) { - int i; - for (i = key->len; i;) { - --i; - if (a[i] < key->n[i]) return 0; - if (a[i] > key->n[i]) return 1; - } - return 1; // equal -} - -// montgomery c[] += a * b[] / R % mod -static void montMulAdd(const RSAPublicKey* key, - uint32_t* c, - const uint32_t a, - const uint32_t* b) { - uint64_t A = (uint64_t)a * b[0] + c[0]; - uint32_t d0 = (uint32_t)A * key->n0inv; - uint64_t B = (uint64_t)d0 * key->n[0] + (uint32_t)A; - int i; - - for (i = 1; i < key->len; ++i) { - A = (A >> 32) + (uint64_t)a * b[i] + c[i]; - B = (B >> 32) + (uint64_t)d0 * key->n[i] + (uint32_t)A; - c[i - 1] = (uint32_t)B; - } - - A = (A >> 32) + (B >> 32); - - c[i - 1] = (uint32_t)A; - - if (A >> 32) { - subM(key, c); - } -} - -// montgomery c[] = a[] * b[] / R % mod -static void montMul(const RSAPublicKey* key, - uint32_t* c, - const uint32_t* a, - const uint32_t* b) { - int i; - for (i = 0; i < key->len; ++i) { - c[i] = 0; - } - for (i = 0; i < key->len; ++i) { - montMulAdd(key, c, a[i], b); - } -} - -// In-place public exponentiation. -// Input and output big-endian byte array in inout. -static void modpow(const RSAPublicKey* key, - uint8_t* inout) { - uint32_t a[RSANUMWORDS]; - uint32_t aR[RSANUMWORDS]; - uint32_t aaR[RSANUMWORDS]; - uint32_t* aaa = 0; - int i; - - // Convert from big endian byte array to little endian word array. - for (i = 0; i < key->len; ++i) { - uint32_t tmp = - (inout[((key->len - 1 - i) * 4) + 0] << 24) | - (inout[((key->len - 1 - i) * 4) + 1] << 16) | - (inout[((key->len - 1 - i) * 4) + 2] << 8) | - (inout[((key->len - 1 - i) * 4) + 3] << 0); - a[i] = tmp; - } - - if (key->exponent == 65537) { - aaa = aaR; // Re-use location. - montMul(key, aR, a, key->rr); // aR = a * RR / R mod M - for (i = 0; i < 16; i += 2) { - montMul(key, aaR, aR, aR); // aaR = aR * aR / R mod M - montMul(key, aR, aaR, aaR); // aR = aaR * aaR / R mod M - } - montMul(key, aaa, aR, a); // aaa = aR * a / R mod M - } else if (key->exponent == 3) { - aaa = aR; // Re-use location. - montMul(key, aR, a, key->rr); /* aR = a * RR / R mod M */ - montMul(key, aaR, aR, aR); /* aaR = aR * aR / R mod M */ - montMul(key, aaa, aaR, a); /* aaa = aaR * a / R mod M */ - } - - // Make sure aaa < mod; aaa is at most 1x mod too large. - if (geM(key, aaa)) { - subM(key, aaa); - } - - // Convert to bigendian byte array - for (i = key->len - 1; i >= 0; --i) { - uint32_t tmp = aaa[i]; - *inout++ = tmp >> 24; - *inout++ = tmp >> 16; - *inout++ = tmp >> 8; - *inout++ = tmp >> 0; - } -} - -// Expected PKCS1.5 signature padding bytes, for a keytool RSA signature. -// Has the 0-length optional parameter encoded in the ASN1 (as opposed to the -// other flavor which omits the optional parameter entirely). This code does not -// accept signatures without the optional parameter. - -/* -static const uint8_t sha_padding[RSANUMBYTES] = { - 0x00, 0x01, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, - 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, - 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, - 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, - 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, - 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, - 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, - 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, - 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, - 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, - 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, - 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, - 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, - 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, - 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, - 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, - 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, - 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, - 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, - 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, - 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, - 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, - 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, - 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, - 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, - 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, - 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, - 0xff, 0xff, 0xff, 0xff, 0x00, 0x30, 0x21, 0x30, - 0x09, 0x06, 0x05, 0x2b, 0x0e, 0x03, 0x02, 0x1a, - 0x05, 0x00, 0x04, 0x14, - - // 20 bytes of hash go here. - 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 -}; -*/ - -static const uint8_t sha_padding_1024[RSANUMBYTES] = { - 0x00, 0x01, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, - 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, - 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, - 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, - 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, - 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, - 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, - 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, - 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, - 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, - 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, - 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, - 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, - 0xff, 0xff, 0xff, 0x00, - - // 20 bytes of hash go here. - 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 -}; - -// SHA-1 of PKCS1.5 signature sha_padding for 2048 bit, as above. -// At the location of the bytes of the hash all 00 are hashed. -/*static const uint8_t kExpectedPadShaRsa2048[SHA_DIGEST_SIZE] = { - 0xdc, 0xbd, 0xbe, 0x42, 0xd5, 0xf5, 0xa7, 0x2e, - 0x6e, 0xfc, 0xf5, 0x5d, 0xaf, 0x9d, 0xea, 0x68, - 0x7c, 0xfb, 0xf1, 0x67 -};*/ - -// Verify a 2048-bit RSA PKCS1.5 signature against an expected hash. -// Both e=3 and e=65537 are supported. hash_len may be -// SHA_DIGEST_SIZE (== 20) to indicate a SHA-1 hash, or -// SHA256_DIGEST_SIZE (== 32) to indicate a SHA-256 hash. No other -// values are supported. -// -// Returns 1 on successful verification, 0 on failure. -int RSA_verify(const RSAPublicKey *key, - const uint8_t *signature, - const int len, - const uint8_t *hash, - const int hash_len) { - uint8_t buf[RSANUMBYTES]; - int i; - //const uint8_t* padding_hash; - - if (key->len != RSANUMWORDS) { - return 0; // Wrong key passed in. - } - - if (len != sizeof(buf)) { - return 0; // Wrong input length. - } - - if (hash_len != SHA_DIGEST_SIZE) { - return 0; // Unsupported hash. - } - - if (key->exponent != 3 && key->exponent != 65537) { - return 0; // Unsupported exponent. - } - - for (i = 0; i < len; ++i) { // Copy input to local workspace. - buf[i] = signature[i]; - } - - modpow(key, buf); // In-place exponentiation. - -#ifdef TEST_RSA - printf("sig\n"); - for (i=0;i> (32 - (bits)))) - -static void SHA1_Transform(SHA_CTX* ctx) { - uint32_t W[80]; - uint32_t A, B, C, D, E; - uint8_t* p = ctx->buf; - int t; - - for(t = 0; t < 16; ++t) { - uint32_t tmp = *p++ << 24; - tmp |= *p++ << 16; - tmp |= *p++ << 8; - tmp |= *p++; - W[t] = tmp; - } - - for(; t < 80; t++) { - W[t] = rol(1,W[t-3] ^ W[t-8] ^ W[t-14] ^ W[t-16]); - } - - A = ctx->state[0]; - B = ctx->state[1]; - C = ctx->state[2]; - D = ctx->state[3]; - E = ctx->state[4]; - - for(t = 0; t < 80; t++) { - uint32_t tmp = rol(5,A) + E + W[t]; - - if (t < 20) - tmp += (D^(B&(C^D))) + 0x5A827999; - else if ( t < 40) - tmp += (B^C^D) + 0x6ED9EBA1; - else if ( t < 60) - tmp += ((B&C)|(D&(B|C))) + 0x8F1BBCDC; - else - tmp += (B^C^D) + 0xCA62C1D6; - - E = D; - D = C; - C = rol(30,B); - B = A; - A = tmp; - } - - ctx->state[0] += A; - ctx->state[1] += B; - ctx->state[2] += C; - ctx->state[3] += D; - ctx->state[4] += E; -} - -static const HASH_VTAB SHA_VTAB = { - SHA_init, - SHA_update, - SHA_final, - SHA_hash, - SHA_DIGEST_SIZE -}; - -void SHA_init(SHA_CTX* ctx) { - ctx->f = &SHA_VTAB; - ctx->state[0] = 0x67452301; - ctx->state[1] = 0xEFCDAB89; - ctx->state[2] = 0x98BADCFE; - ctx->state[3] = 0x10325476; - ctx->state[4] = 0xC3D2E1F0; - ctx->count = 0; -} - - -void SHA_update(SHA_CTX* ctx, const void* data, int len) { - int i = (int) (ctx->count & 63); - const uint8_t* p = (const uint8_t*)data; - - ctx->count += len; - - while (len--) { - ctx->buf[i++] = *p++; - if (i == 64) { - SHA1_Transform(ctx); - i = 0; - } - } -} - - -const uint8_t* SHA_final(SHA_CTX* ctx) { - uint8_t *p = ctx->buf; - uint64_t cnt = ctx->count * 8; - int i; - - SHA_update(ctx, (uint8_t*)"\x80", 1); - while ((ctx->count & 63) != 56) { - SHA_update(ctx, (uint8_t*)"\0", 1); - } - - /* Hack - right shift operator with non const argument requires - * libgcc.a which is missing in EON - * thus expanding for loop from - - for (i = 0; i < 8; ++i) { - uint8_t tmp = (uint8_t) (cnt >> ((7 - i) * 8)); - SHA_update(ctx, &tmp, 1); - } - - to - */ - - uint8_t tmp = 0; - tmp = (uint8_t) (cnt >> ((7 - 0) * 8)); - SHA_update(ctx, &tmp, 1); - tmp = (uint8_t) (cnt >> ((7 - 1) * 8)); - SHA_update(ctx, &tmp, 1); - tmp = (uint8_t) (cnt >> ((7 - 2) * 8)); - SHA_update(ctx, &tmp, 1); - tmp = (uint8_t) (cnt >> ((7 - 3) * 8)); - SHA_update(ctx, &tmp, 1); - tmp = (uint8_t) (cnt >> ((7 - 4) * 8)); - SHA_update(ctx, &tmp, 1); - tmp = (uint8_t) (cnt >> ((7 - 5) * 8)); - SHA_update(ctx, &tmp, 1); - tmp = (uint8_t) (cnt >> ((7 - 6) * 8)); - SHA_update(ctx, &tmp, 1); - tmp = (uint8_t) (cnt >> ((7 - 7) * 8)); - SHA_update(ctx, &tmp, 1); - - for (i = 0; i < 5; i++) { - uint32_t tmp = ctx->state[i]; - *p++ = tmp >> 24; - *p++ = tmp >> 16; - *p++ = tmp >> 8; - *p++ = tmp >> 0; - } - - return ctx->buf; -} - -/* Convenience function */ -const uint8_t* SHA_hash(const void* data, int len, uint8_t* digest) { - SHA_CTX ctx; - SHA_init(&ctx); - SHA_update(&ctx, data, len); - memcpy(digest, SHA_final(&ctx), SHA_DIGEST_SIZE); - return digest; -} diff --git a/body/crypto/sha.h b/body/crypto/sha.h deleted file mode 100644 index 4b51a531bf582a..00000000000000 --- a/body/crypto/sha.h +++ /dev/null @@ -1,51 +0,0 @@ -/* - * Copyright 2005 The Android Open Source Project - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * * Neither the name of Google Inc. nor the names of its contributors may - * be used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY Google Inc. ``AS IS'' AND ANY EXPRESS OR - * IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF - * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO - * EVENT SHALL Google Inc. BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, - * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, - * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; - * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, - * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR - * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF - * ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - */ -#ifndef SYSTEM_CORE_INCLUDE_MINCRYPT_SHA1_H_ -#define SYSTEM_CORE_INCLUDE_MINCRYPT_SHA1_H_ - -#include "hash-internal.h" - -#ifdef __cplusplus -extern "C" { -#endif // __cplusplus - -typedef HASH_CTX SHA_CTX; - -void SHA_init(SHA_CTX* ctx); -void SHA_update(SHA_CTX* ctx, const void* data, int len); -const uint8_t* SHA_final(SHA_CTX* ctx); - -// Convenience method. Returns digest address. -// NOTE: *digest needs to hold SHA_DIGEST_SIZE bytes. -const uint8_t* SHA_hash(const void* data, int len, uint8_t* digest); - -#define SHA_DIGEST_SIZE 20 - -#ifdef __cplusplus -} -#endif // __cplusplus - -#endif // SYSTEM_CORE_INCLUDE_MINCRYPT_SHA1_H_ diff --git a/body/crypto/sign.py b/body/crypto/sign.py deleted file mode 100755 index fe188e59d54d0a..00000000000000 --- a/body/crypto/sign.py +++ /dev/null @@ -1,38 +0,0 @@ -#!/usr/bin/env python3 -import os -import sys -import struct -import hashlib -from Crypto.PublicKey import RSA -import binascii - -# increment this to make new hardware not run old versions -VERSION = 2 - -if __name__ == "__main__": - with open(sys.argv[3], encoding='utf8') as k: - rsa = RSA.importKey(k.read()) - - with open(sys.argv[1], "rb") as f: - dat = f.read() - - print("signing", len(dat), "bytes") - - with open(sys.argv[2], "wb") as f: - if os.getenv("SETLEN") is not None: - # add the version at the end - dat += b"VERS" + struct.pack("I", VERSION) - # add the length at the beginning - x = struct.pack("I", len(dat)) + dat[4:] - # mock signature of dat[4:] - dd = hashlib.sha1(dat[4:]).digest() - else: - x = dat - dd = hashlib.sha1(dat).digest() - - print("hash:", str(binascii.hexlify(dd), "utf-8")) - dd = b"\x00\x01" + b"\xff" * 0x69 + b"\x00" + dd - rsa_out = pow(int.from_bytes(dd, byteorder='big', signed=False), rsa.d, rsa.n) - sig = (hex(rsa_out)[2:].rjust(0x100, '0')) - x += binascii.unhexlify(sig) - f.write(x) diff --git a/body/crypto/stdint.h b/body/crypto/stdint.h deleted file mode 100644 index 67ac93ed75f084..00000000000000 --- a/body/crypto/stdint.h +++ /dev/null @@ -1,4 +0,0 @@ -#define uint8_t unsigned char -#define uint32_t unsigned int -#define int64_t long long -#define uint64_t unsigned long long diff --git a/body/pyproject.toml b/body/pyproject.toml deleted file mode 100644 index bac2d7f0811503..00000000000000 --- a/body/pyproject.toml +++ /dev/null @@ -1,7 +0,0 @@ -# https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml -[tool.ruff] -select = ["E", "F", "W", "PIE", "C4", "ISC", "RUF100", "A"] -ignore = ["W292", "E741", "E402", "C408", "ISC003"] -line-length = 160 -target-version="py311" -flake8-implicit-str-concat.allow-multiline=false diff --git a/body/requirements.txt b/body/requirements.txt deleted file mode 100644 index 03258042951704..00000000000000 --- a/body/requirements.txt +++ /dev/null @@ -1,5 +0,0 @@ -cffi -scons -ruff -pre-commit -pycryptodome==3.9.8 diff --git a/cereal/README.md b/cereal/README.md deleted file mode 100644 index e3326aab0e98ca..00000000000000 --- a/cereal/README.md +++ /dev/null @@ -1,60 +0,0 @@ -# What is cereal? [![cereal tests](https://github.com/commaai/cereal/workflows/tests/badge.svg?event=push)](https://github.com/commaai/cereal/actions) [![codecov](https://codecov.io/gh/commaai/cereal/branch/master/graph/badge.svg)](https://codecov.io/gh/commaai/cereal) - -cereal is both a messaging spec for robotics systems as well as generic high performance IPC pub sub messaging with a single publisher and multiple subscribers. - -Imagine this use case: -* A sensor process reads gyro measurements directly from an IMU and publishes a `sensorEvents` packet -* A calibration process subscribes to the `sensorEvents` packet to use the IMU -* A localization process subscribes to the `sensorEvents` packet to use the IMU also - - -## Messaging Spec - -You'll find the message types in [log.capnp](log.capnp). It uses [Cap'n proto](https://capnproto.org/capnp-tool.html) and defines one struct called `Event`. - -All `Events` have a `logMonoTime` and a `valid`. Then a big union defines the packet type. - -### Best Practices - -- **All fields must describe quantities in SI units**, unless otherwise specified in the field name. -- In the context of the message they are in, field names should be completely unambiguous. -- All values should be easy to plot and be human-readable with minimal parsing. - -### Maintaining backwards-compatibility - -When making changes to the messaging spec you want to maintain backwards-compatibility, such that old logs can -be parsed with a new version of cereal. Adding structs and adding members to structs is generally safe, most other -things are not. Read more details [here](https://capnproto.org/language.html). - -### Custom forks - -Forks of [openpilot](https://github.com/commaai/openpilot) might want to add things to the messaging -spec, however this could conflict with future changes made in mainline cereal/openpilot. Rebasing against mainline openpilot -then means breaking backwards-compatibility with all old logs of your fork. So we added reserved events in -[custom.capnp](custom.capnp) that we will leave empty in mainline cereal/openpilot. **If you only modify those, you can ensure your -fork will remain backwards-compatible with all versions of mainline cereal/openpilot and your fork.** - -## Pub Sub Backends - -cereal supports two backends, one based on [zmq](https://zeromq.org/) and another called [msgq](messaging/msgq.cc), a custom pub sub based on shared memory that doesn't require the bytes to pass through the kernel. - -Example ---- -```python -import cereal.messaging as messaging - -# in subscriber -sm = messaging.SubMaster(['sensorEvents']) -while 1: - sm.update() - print(sm['sensorEvents']) - -``` - -```python -# in publisher -pm = messaging.PubMaster(['sensorEvents']) -dat = messaging.new_message('sensorEvents', size=1) -dat.sensorEvents[0] = {"gyro": {"v": [0.1, -0.1, 0.1]}} -pm.send('sensorEvents', dat) -``` diff --git a/cereal/gen/cpp/car.capnp.c++ b/cereal/gen/cpp/car.capnp.c++ new file mode 100644 index 00000000000000..3626d4c08b9a51 --- /dev/null +++ b/cereal/gen/cpp/car.capnp.c++ @@ -0,0 +1,7285 @@ +// Generated by Cap'n Proto compiler, DO NOT EDIT +// source: car.capnp + +#include "car.capnp.h" + +namespace capnp { +namespace schemas { +static const ::capnp::_::AlignedData<195> b_9b1657f34caf3ad3 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 211, 58, 175, 76, 243, 87, 22, 155, + 10, 0, 0, 0, 1, 0, 1, 0, + 141, 139, 175, 8, 231, 241, 42, 142, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 154, 0, 0, 0, + 29, 0, 0, 0, 23, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 111, 2, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 114, 46, 99, 97, 112, 110, + 112, 58, 67, 97, 114, 69, 118, 101, + 110, 116, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 1, 0, 1, 0, + 222, 39, 247, 5, 213, 197, 168, 186, + 1, 0, 0, 0, 82, 0, 0, 0, + 69, 118, 101, 110, 116, 78, 97, 109, + 101, 0, 0, 0, 0, 0, 0, 0, + 44, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 1, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 32, 1, 0, 0, 3, 0, 1, 0, + 44, 1, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 16, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 1, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 36, 1, 0, 0, 3, 0, 1, 0, + 48, 1, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 17, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 45, 1, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 40, 1, 0, 0, 3, 0, 1, 0, + 52, 1, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 18, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 49, 1, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 44, 1, 0, 0, 3, 0, 1, 0, + 56, 1, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 19, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 53, 1, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 52, 1, 0, 0, 3, 0, 1, 0, + 64, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 20, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 61, 1, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 60, 1, 0, 0, 3, 0, 1, 0, + 72, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 21, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 69, 1, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 72, 1, 0, 0, 3, 0, 1, 0, + 84, 1, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 22, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 81, 1, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 80, 1, 0, 0, 3, 0, 1, 0, + 92, 1, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 23, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 89, 1, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 88, 1, 0, 0, 3, 0, 1, 0, + 100, 1, 0, 0, 2, 0, 1, 0, + 10, 0, 0, 0, 24, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 1, 0, 0, 170, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 1, 0, 0, 3, 0, 1, 0, + 112, 1, 0, 0, 2, 0, 1, 0, + 9, 0, 0, 0, 25, 0, 0, 0, + 0, 0, 1, 0, 10, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 1, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 1, 0, 0, 3, 0, 1, 0, + 120, 1, 0, 0, 2, 0, 1, 0, + 110, 97, 109, 101, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 222, 39, 247, 5, 213, 197, 168, 186, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 110, 97, 98, 108, 101, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 110, 111, 69, 110, 116, 114, 121, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 119, 97, 114, 110, 105, 110, 103, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 115, 101, 114, 68, 105, 115, 97, + 98, 108, 101, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 111, 102, 116, 68, 105, 115, 97, + 98, 108, 101, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 109, 109, 101, 100, 105, 97, 116, + 101, 68, 105, 115, 97, 98, 108, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 114, 101, 69, 110, 97, 98, 108, + 101, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 101, 114, 109, 97, 110, 101, 110, + 116, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 111, 118, 101, 114, 114, 105, 100, 101, + 76, 111, 110, 103, 105, 116, 117, 100, + 105, 110, 97, 108, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 111, 118, 101, 114, 114, 105, 100, 101, + 76, 97, 116, 101, 114, 97, 108, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_9b1657f34caf3ad3 = b_9b1657f34caf3ad3.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_9b1657f34caf3ad3[] = { + &s_baa8c5d505f727de, +}; +static const uint16_t m_9b1657f34caf3ad3[] = {1, 6, 0, 2, 10, 9, 8, 7, 5, 4, 3}; +static const uint16_t i_9b1657f34caf3ad3[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10}; +const ::capnp::_::RawSchema s_9b1657f34caf3ad3 = { + 0x9b1657f34caf3ad3, b_9b1657f34caf3ad3.words, 195, d_9b1657f34caf3ad3, m_9b1657f34caf3ad3, + 1, 11, i_9b1657f34caf3ad3, nullptr, nullptr, { &s_9b1657f34caf3ad3, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<870> b_baa8c5d505f727de = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 222, 39, 247, 5, 213, 197, 168, 186, + 19, 0, 0, 0, 2, 0, 0, 0, + 211, 58, 175, 76, 243, 87, 22, 155, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 234, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 47, 14, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 114, 46, 99, 97, 112, 110, + 112, 58, 67, 97, 114, 69, 118, 101, + 110, 116, 46, 69, 118, 101, 110, 116, + 78, 97, 109, 101, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 92, 2, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 7, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 9, 7, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 148, 0, 0, 0, 0, 0, 0, 0, + 9, 7, 0, 0, 218, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 129, 0, 0, 0, 0, 0, 0, 0, + 13, 7, 0, 0, 202, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 17, 7, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 13, 7, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 9, 7, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 9, 7, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 5, 7, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 1, 7, 0, 0, 170, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 1, 7, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 253, 6, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 249, 6, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 245, 6, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 241, 6, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 125, 0, 0, 0, 0, 0, 0, 0, + 237, 6, 0, 0, 194, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 130, 0, 0, 0, 0, 0, 0, 0, + 237, 6, 0, 0, 170, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 237, 6, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 17, 0, 0, 0, 0, 0, 0, 0, + 233, 6, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 18, 0, 0, 0, 0, 0, 0, 0, + 229, 6, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 19, 0, 0, 0, 0, 0, 0, 0, + 225, 6, 0, 0, 178, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 20, 0, 0, 0, 0, 0, 0, 0, + 225, 6, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 22, 0, 0, 0, 0, 0, 0, 0, + 225, 6, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 23, 0, 0, 0, 0, 0, 0, 0, + 225, 6, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 24, 0, 0, 0, 0, 0, 0, 0, + 221, 6, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 147, 0, 0, 0, 0, 0, 0, 0, + 217, 6, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 0, 0, 0, 0, 0, 0, 0, + 217, 6, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 131, 0, 0, 0, 0, 0, 0, 0, + 213, 6, 0, 0, 202, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 26, 0, 0, 0, 0, 0, 0, 0, + 217, 6, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 27, 0, 0, 0, 0, 0, 0, 0, + 213, 6, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 28, 0, 0, 0, 0, 0, 0, 0, + 209, 6, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 0, 0, 0, 0, + 205, 6, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 149, 0, 0, 0, 0, 0, 0, 0, + 201, 6, 0, 0, 186, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 132, 0, 0, 0, 0, 0, 0, 0, + 201, 6, 0, 0, 186, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 30, 0, 0, 0, 0, 0, 0, 0, + 201, 6, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 31, 0, 0, 0, 0, 0, 0, 0, + 197, 6, 0, 0, 218, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 32, 0, 0, 0, 0, 0, 0, 0, + 201, 6, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 0, 0, 0, 0, + 197, 6, 0, 0, 162, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 34, 0, 0, 0, 0, 0, 0, 0, + 197, 6, 0, 0, 186, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 35, 0, 0, 0, 0, 0, 0, 0, + 197, 6, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 133, 0, 0, 0, 0, 0, 0, 0, + 197, 6, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 134, 0, 0, 0, 0, 0, 0, 0, + 197, 6, 0, 0, 210, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 135, 0, 0, 0, 0, 0, 0, 0, + 201, 6, 0, 0, 218, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 36, 0, 0, 0, 0, 0, 0, 0, + 205, 6, 0, 0, 178, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 0, 0, 0, 0, 0, 0, 0, + 205, 6, 0, 0, 202, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 38, 0, 0, 0, 0, 0, 0, 0, + 209, 6, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 39, 0, 0, 0, 0, 0, 0, 0, + 209, 6, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 136, 0, 0, 0, 0, 0, 0, 0, + 205, 6, 0, 0, 242, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 40, 0, 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118, 101, 71, 111, 116, + 77, 97, 105, 108, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_baa8c5d505f727de = b_baa8c5d505f727de.words; +#if !CAPNP_LITE +static const uint16_t m_baa8c5d505f727de[] = {51, 122, 123, 124, 120, 84, 46, 125, 28, 2, 11, 12, 20, 21, 47, 117, 110, 92, 111, 0, 66, 53, 109, 83, 62, 98, 22, 112, 14, 106, 126, 96, 16, 127, 90, 5, 101, 39, 68, 42, 41, 45, 7, 91, 79, 128, 86, 129, 108, 3, 40, 130, 94, 131, 132, 105, 133, 61, 49, 60, 69, 33, 34, 59, 71, 134, 65, 135, 107, 118, 103, 48, 63, 31, 30, 27, 93, 89, 88, 85, 136, 25, 137, 138, 18, 19, 119, 50, 29, 24, 23, 139, 13, 32, 55, 37, 43, 73, 57, 58, 95, 38, 44, 15, 67, 26, 72, 113, 36, 10, 100, 6, 52, 56, 140, 70, 17, 75, 97, 78, 76, 77, 104, 121, 82, 114, 80, 9, 35, 115, 1, 64, 74, 141, 142, 54, 143, 144, 145, 146, 147, 99, 148, 116, 81, 102, 8, 87, 4, 149, 150}; +const ::capnp::_::RawSchema s_baa8c5d505f727de = { + 0xbaa8c5d505f727de, b_baa8c5d505f727de.words, 870, nullptr, m_baa8c5d505f727de, + 0, 151, nullptr, nullptr, nullptr, { &s_baa8c5d505f727de, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(EventName_baa8c5d505f727de, baa8c5d505f727de); +static const ::capnp::_::AlignedData<871> b_9da4fa09e052903c = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 60, 144, 82, 224, 9, 250, 164, 157, + 10, 0, 0, 0, 1, 0, 9, 0, + 141, 139, 175, 8, 231, 241, 42, 142, + 6, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 154, 0, 0, 0, + 29, 0, 0, 0, 71, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 89, 0, 0, 0, 47, 11, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 114, 46, 99, 97, 112, 110, + 112, 58, 67, 97, 114, 83, 116, 97, + 116, 101, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 1, 0, 1, 0, + 163, 53, 89, 21, 166, 55, 26, 153, + 25, 0, 0, 0, 98, 0, 0, 0, + 175, 96, 110, 142, 71, 129, 78, 230, + 25, 0, 0, 0, 98, 0, 0, 0, + 137, 106, 111, 19, 69, 202, 4, 224, + 25, 0, 0, 0, 98, 0, 0, 0, + 246, 206, 74, 91, 131, 166, 92, 255, + 25, 0, 0, 0, 98, 0, 0, 0, + 87, 104, 101, 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114, + 67, 111, 117, 110, 116, 101, 114, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 110, 82, 99, 118, 84, 105, + 109, 101, 111, 117, 116, 68, 69, 80, + 82, 69, 67, 65, 84, 69, 68, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 117, 109, 76, 97, 103, 77, 115, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_9da4fa09e052903c = b_9da4fa09e052903c.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_9da4fa09e052903c[] = { + &s_991a37a6155935a3, + &s_9b1657f34caf3ad3, + &s_baa8c5d505f727de, + &s_e004ca45136f6a89, + &s_e64e81478e6e60af, + &s_ff5ca6835b4acef6, +}; +static const uint16_t m_9da4fa09e052903c[] = {16, 42, 5, 38, 19, 6, 11, 48, 12, 49, 40, 26, 47, 43, 28, 10, 50, 24, 46, 0, 32, 13, 41, 3, 4, 14, 23, 33, 20, 39, 45, 34, 21, 25, 18, 36, 35, 7, 37, 9, 15, 29, 8, 27, 30, 31, 1, 44, 17, 2, 22}; +static const uint16_t i_9da4fa09e052903c[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50}; +const ::capnp::_::RawSchema s_9da4fa09e052903c = { + 0x9da4fa09e052903c, b_9da4fa09e052903c.words, 871, d_9da4fa09e052903c, m_9da4fa09e052903c, + 6, 51, i_9da4fa09e052903c, nullptr, nullptr, { &s_9da4fa09e052903c, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<78> b_991a37a6155935a3 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 163, 53, 89, 21, 166, 55, 26, 153, + 19, 0, 0, 0, 1, 0, 2, 0, + 60, 144, 82, 224, 9, 250, 164, 157, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 250, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 231, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 114, 46, 99, 97, 112, 110, + 112, 58, 67, 97, 114, 83, 116, 97, + 116, 101, 46, 87, 104, 101, 101, 108, + 83, 112, 101, 101, 100, 115, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 16, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 0, 0, 0, 26, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 92, 0, 0, 0, 3, 0, 1, 0, + 104, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 0, 0, 0, 26, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 96, 0, 0, 0, 3, 0, 1, 0, + 108, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 0, 0, 0, 26, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 0, 0, 0, 3, 0, 1, 0, + 112, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 0, 0, 0, 26, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 0, 0, 0, 3, 0, 1, 0, + 116, 0, 0, 0, 2, 0, 1, 0, + 102, 108, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 114, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 108, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 114, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_991a37a6155935a3 = b_991a37a6155935a3.words; +#if !CAPNP_LITE +static const uint16_t m_991a37a6155935a3[] = {0, 1, 2, 3}; +static const uint16_t i_991a37a6155935a3[] = {0, 1, 2, 3}; +const ::capnp::_::RawSchema s_991a37a6155935a3 = { + 0x991a37a6155935a3, b_991a37a6155935a3.words, 78, nullptr, m_991a37a6155935a3, + 0, 4, i_991a37a6155935a3, nullptr, nullptr, { &s_991a37a6155935a3, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<128> b_e64e81478e6e60af = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 175, 96, 110, 142, 71, 129, 78, 230, + 19, 0, 0, 0, 1, 0, 2, 0, + 60, 144, 82, 224, 9, 250, 164, 157, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 250, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 143, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 114, 46, 99, 97, 112, 110, + 112, 58, 67, 97, 114, 83, 116, 97, + 116, 101, 46, 67, 114, 117, 105, 115, + 101, 83, 116, 97, 116, 101, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 28, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 181, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 176, 0, 0, 0, 3, 0, 1, 0, + 188, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 185, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 180, 0, 0, 0, 3, 0, 1, 0, + 192, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 189, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 188, 0, 0, 0, 3, 0, 1, 0, + 200, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 197, 0, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 196, 0, 0, 0, 3, 0, 1, 0, + 208, 0, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 205, 0, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 204, 0, 0, 0, 3, 0, 1, 0, + 216, 0, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 213, 0, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 212, 0, 0, 0, 3, 0, 1, 0, + 224, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 221, 0, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 220, 0, 0, 0, 3, 0, 1, 0, + 232, 0, 0, 0, 2, 0, 1, 0, + 101, 110, 97, 98, 108, 101, 100, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 112, 101, 101, 100, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 118, 97, 105, 108, 97, 98, 108, + 101, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 112, 101, 101, 100, 79, 102, 102, + 115, 101, 116, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 97, 110, 100, 115, 116, 105, + 108, 108, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 110, 111, 110, 65, 100, 97, 112, 116, + 105, 118, 101, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 112, 101, 101, 100, 67, 108, 117, + 115, 116, 101, 114, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_e64e81478e6e60af = b_e64e81478e6e60af.words; +#if !CAPNP_LITE +static const uint16_t m_e64e81478e6e60af[] = {2, 0, 5, 1, 6, 3, 4}; +static const uint16_t i_e64e81478e6e60af[] = {0, 1, 2, 3, 4, 5, 6}; +const ::capnp::_::RawSchema s_e64e81478e6e60af = { + 0xe64e81478e6e60af, b_e64e81478e6e60af.words, 128, nullptr, m_e64e81478e6e60af, + 0, 7, i_e64e81478e6e60af, nullptr, nullptr, { &s_e64e81478e6e60af, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<59> b_e004ca45136f6a89 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 137, 106, 111, 19, 69, 202, 4, 224, + 19, 0, 0, 0, 2, 0, 0, 0, + 60, 144, 82, 224, 9, 250, 164, 157, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 250, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 247, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 114, 46, 99, 97, 112, 110, + 112, 58, 67, 97, 114, 83, 116, 97, + 116, 101, 46, 71, 101, 97, 114, 83, + 104, 105, 102, 116, 101, 114, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 40, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 113, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 105, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 97, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 89, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 81, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 73, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 65, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 57, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 49, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 110, 107, 110, 111, 119, 110, 0, + 112, 97, 114, 107, 0, 0, 0, 0, + 100, 114, 105, 118, 101, 0, 0, 0, + 110, 101, 117, 116, 114, 97, 108, 0, + 114, 101, 118, 101, 114, 115, 101, 0, + 115, 112, 111, 114, 116, 0, 0, 0, + 108, 111, 119, 0, 0, 0, 0, 0, + 98, 114, 97, 107, 101, 0, 0, 0, + 101, 99, 111, 0, 0, 0, 0, 0, + 109, 97, 110, 117, 109, 97, 116, 105, + 99, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_e004ca45136f6a89 = b_e004ca45136f6a89.words; +#if !CAPNP_LITE +static const uint16_t m_e004ca45136f6a89[] = {7, 2, 8, 6, 9, 3, 1, 4, 5, 0}; +const ::capnp::_::RawSchema s_e004ca45136f6a89 = { + 0xe004ca45136f6a89, b_e004ca45136f6a89.words, 59, nullptr, m_e004ca45136f6a89, + 0, 10, nullptr, nullptr, nullptr, { &s_e004ca45136f6a89, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(GearShifter_e004ca45136f6a89, e004ca45136f6a89); +static const ::capnp::_::AlignedData<51> b_ff5ca6835b4acef6 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 246, 206, 74, 91, 131, 166, 92, 255, + 19, 0, 0, 0, 1, 0, 1, 0, + 60, 144, 82, 224, 9, 250, 164, 157, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 250, 0, 0, 0, + 33, 0, 0, 0, 23, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 119, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 114, 46, 99, 97, 112, 110, + 112, 58, 67, 97, 114, 83, 116, 97, + 116, 101, 46, 66, 117, 116, 116, 111, + 110, 69, 118, 101, 110, 116, 0, 0, + 4, 0, 0, 0, 1, 0, 1, 0, + 124, 113, 20, 84, 32, 0, 97, 225, + 1, 0, 0, 0, 42, 0, 0, 0, + 84, 121, 112, 101, 0, 0, 0, 0, + 8, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 36, 0, 0, 0, 3, 0, 1, 0, + 48, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 45, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 40, 0, 0, 0, 3, 0, 1, 0, + 52, 0, 0, 0, 2, 0, 1, 0, + 112, 114, 101, 115, 115, 101, 100, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 121, 112, 101, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 124, 113, 20, 84, 32, 0, 97, 225, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_ff5ca6835b4acef6 = b_ff5ca6835b4acef6.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_ff5ca6835b4acef6[] = { + &s_e16100205414717c, +}; +static const uint16_t m_ff5ca6835b4acef6[] = {0, 1}; +static const uint16_t i_ff5ca6835b4acef6[] = {0, 1}; +const ::capnp::_::RawSchema s_ff5ca6835b4acef6 = { + 0xff5ca6835b4acef6, b_ff5ca6835b4acef6.words, 51, d_ff5ca6835b4acef6, m_ff5ca6835b4acef6, + 1, 2, i_ff5ca6835b4acef6, nullptr, nullptr, { &s_ff5ca6835b4acef6, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<77> b_e16100205414717c = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 124, 113, 20, 84, 32, 0, 97, 225, + 31, 0, 0, 0, 2, 0, 0, 0, + 246, 206, 74, 91, 131, 166, 92, 255, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 34, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 39, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 114, 46, 99, 97, 112, 110, + 112, 58, 67, 97, 114, 83, 116, 97, + 116, 101, 46, 66, 117, 116, 116, 111, + 110, 69, 118, 101, 110, 116, 46, 84, + 121, 112, 101, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 48, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 137, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 129, 0, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 125, 0, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 121, 0, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 117, 0, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 113, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 105, 0, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 101, 0, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 97, 0, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 93, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 89, 0, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 85, 0, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 110, 107, 110, 111, 119, 110, 0, + 108, 101, 102, 116, 66, 108, 105, 110, + 107, 101, 114, 0, 0, 0, 0, 0, + 114, 105, 103, 104, 116, 66, 108, 105, + 110, 107, 101, 114, 0, 0, 0, 0, + 97, 99, 99, 101, 108, 67, 114, 117, + 105, 115, 101, 0, 0, 0, 0, 0, + 100, 101, 99, 101, 108, 67, 114, 117, + 105, 115, 101, 0, 0, 0, 0, 0, + 99, 97, 110, 99, 101, 108, 0, 0, + 97, 108, 116, 66, 117, 116, 116, 111, + 110, 49, 0, 0, 0, 0, 0, 0, + 97, 108, 116, 66, 117, 116, 116, 111, + 110, 50, 0, 0, 0, 0, 0, 0, + 97, 108, 116, 66, 117, 116, 116, 111, + 110, 51, 0, 0, 0, 0, 0, 0, + 115, 101, 116, 67, 114, 117, 105, 115, + 101, 0, 0, 0, 0, 0, 0, 0, + 114, 101, 115, 117, 109, 101, 67, 114, + 117, 105, 115, 101, 0, 0, 0, 0, + 103, 97, 112, 65, 100, 106, 117, 115, + 116, 67, 114, 117, 105, 115, 101, 0, } +}; +::capnp::word const* const bp_e16100205414717c = b_e16100205414717c.words; +#if !CAPNP_LITE +static const uint16_t m_e16100205414717c[] = {3, 6, 7, 8, 5, 4, 11, 1, 10, 2, 9, 0}; +const ::capnp::_::RawSchema s_e16100205414717c = { + 0xe16100205414717c, b_e16100205414717c.words, 77, nullptr, m_e16100205414717c, + 0, 12, nullptr, nullptr, nullptr, { &s_e16100205414717c, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(Type_e16100205414717c, e16100205414717c); +static const ::capnp::_::AlignedData<83> b_888ad6581cf0aacb = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 203, 170, 240, 28, 88, 214, 138, 136, + 10, 0, 0, 0, 1, 0, 0, 0, + 141, 139, 175, 8, 231, 241, 42, 142, + 3, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 162, 0, 0, 0, + 29, 0, 0, 0, 39, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 53, 0, 0, 0, 175, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 114, 46, 99, 97, 112, 110, + 112, 58, 82, 97, 100, 97, 114, 68, + 97, 116, 97, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 1, 0, 1, 0, + 173, 118, 186, 235, 121, 102, 168, 232, + 9, 0, 0, 0, 50, 0, 0, 0, + 54, 223, 31, 172, 235, 51, 243, 143, + 5, 0, 0, 0, 90, 0, 0, 0, + 69, 114, 114, 111, 114, 0, 0, 0, + 82, 97, 100, 97, 114, 80, 111, 105, + 110, 116, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 69, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 64, 0, 0, 0, 3, 0, 1, 0, + 92, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 89, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 84, 0, 0, 0, 3, 0, 1, 0, + 112, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 0, 0, 0, 186, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 0, 0, 0, 3, 0, 1, 0, + 140, 0, 0, 0, 2, 0, 1, 0, + 101, 114, 114, 111, 114, 115, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 173, 118, 186, 235, 121, 102, 168, 232, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 111, 105, 110, 116, 115, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 54, 223, 31, 172, 235, 51, 243, 143, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 110, 77, 111, 110, 111, 84, + 105, 109, 101, 115, 68, 69, 80, 82, + 69, 67, 65, 84, 69, 68, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_888ad6581cf0aacb = b_888ad6581cf0aacb.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_888ad6581cf0aacb[] = { + &s_8ff333ebac1fdf36, + &s_e8a86679ebba76ad, +}; +static const uint16_t m_888ad6581cf0aacb[] = {2, 0, 1}; +static const uint16_t i_888ad6581cf0aacb[] = {0, 1, 2}; +const ::capnp::_::RawSchema s_888ad6581cf0aacb = { + 0x888ad6581cf0aacb, b_888ad6581cf0aacb.words, 83, d_888ad6581cf0aacb, m_888ad6581cf0aacb, + 2, 3, i_888ad6581cf0aacb, nullptr, nullptr, { &s_888ad6581cf0aacb, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<32> b_e8a86679ebba76ad = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 173, 118, 186, 235, 121, 102, 168, 232, + 20, 0, 0, 0, 2, 0, 0, 0, + 203, 170, 240, 28, 88, 214, 138, 136, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 210, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 79, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 114, 46, 99, 97, 112, 110, + 112, 58, 82, 97, 100, 97, 114, 68, + 97, 116, 97, 46, 69, 114, 114, 111, + 114, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 12, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 25, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 17, 0, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 110, 69, 114, 114, 111, 114, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 97, 117, 108, 116, 0, 0, 0, + 119, 114, 111, 110, 103, 67, 111, 110, + 102, 105, 103, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_e8a86679ebba76ad = b_e8a86679ebba76ad.words; +#if !CAPNP_LITE +static const uint16_t m_e8a86679ebba76ad[] = {0, 1, 2}; +const ::capnp::_::RawSchema s_e8a86679ebba76ad = { + 0xe8a86679ebba76ad, b_e8a86679ebba76ad.words, 32, nullptr, m_e8a86679ebba76ad, + 0, 3, nullptr, nullptr, nullptr, { &s_e8a86679ebba76ad, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(Error_e8a86679ebba76ad, e8a86679ebba76ad); +static const ::capnp::_::AlignedData<124> b_8ff333ebac1fdf36 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 54, 223, 31, 172, 235, 51, 243, 143, + 20, 0, 0, 0, 1, 0, 4, 0, + 203, 170, 240, 28, 88, 214, 138, 136, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 250, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 143, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 114, 46, 99, 97, 112, 110, + 112, 58, 82, 97, 100, 97, 114, 68, + 97, 116, 97, 46, 82, 97, 100, 97, + 114, 80, 111, 105, 110, 116, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 28, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 181, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 176, 0, 0, 0, 3, 0, 1, 0, + 188, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 185, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 180, 0, 0, 0, 3, 0, 1, 0, + 192, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 189, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 184, 0, 0, 0, 3, 0, 1, 0, + 196, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 193, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 188, 0, 0, 0, 3, 0, 1, 0, + 200, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 197, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 192, 0, 0, 0, 3, 0, 1, 0, + 204, 0, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 201, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 196, 0, 0, 0, 3, 0, 1, 0, + 208, 0, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 224, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 205, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 204, 0, 0, 0, 3, 0, 1, 0, + 216, 0, 0, 0, 2, 0, 1, 0, + 116, 114, 97, 99, 107, 73, 100, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 82, 101, 108, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 82, 101, 108, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 118, 82, 101, 108, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 82, 101, 108, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 118, 82, 101, 108, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 101, 97, 115, 117, 114, 101, 100, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_8ff333ebac1fdf36 = b_8ff333ebac1fdf36.words; +#if !CAPNP_LITE +static const uint16_t m_8ff333ebac1fdf36[] = {4, 1, 6, 0, 3, 2, 5}; +static const uint16_t i_8ff333ebac1fdf36[] = {0, 1, 2, 3, 4, 5, 6}; +const ::capnp::_::RawSchema s_8ff333ebac1fdf36 = { + 0x8ff333ebac1fdf36, b_8ff333ebac1fdf36.words, 124, nullptr, m_8ff333ebac1fdf36, + 0, 7, i_8ff333ebac1fdf36, nullptr, nullptr, { &s_8ff333ebac1fdf36, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<313> b_f78829049ab814af = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 175, 20, 184, 154, 4, 41, 136, 247, + 10, 0, 0, 0, 1, 0, 3, 0, + 141, 139, 175, 8, 231, 241, 42, 142, + 6, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 170, 0, 0, 0, + 29, 0, 0, 0, 55, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 73, 0, 0, 0, 191, 3, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 114, 46, 99, 97, 112, 110, + 112, 58, 67, 97, 114, 67, 111, 110, + 116, 114, 111, 108, 0, 0, 0, 0, + 12, 0, 0, 0, 1, 0, 1, 0, + 40, 40, 67, 25, 169, 117, 114, 233, + 17, 0, 0, 0, 82, 0, 0, 0, + 211, 168, 11, 14, 110, 56, 14, 178, + 17, 0, 0, 0, 114, 0, 0, 0, + 56, 58, 176, 78, 124, 200, 149, 216, + 17, 0, 0, 0, 90, 0, 0, 0, + 65, 99, 116, 117, 97, 116, 111, 114, + 115, 0, 0, 0, 0, 0, 0, 0, + 67, 114, 117, 105, 115, 101, 67, 111, + 110, 116, 114, 111, 108, 0, 0, 0, + 72, 85, 68, 67, 111, 110, 116, 114, + 111, 108, 0, 0, 0, 0, 0, 0, + 68, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 205, 1, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 200, 1, 0, 0, 3, 0, 1, 0, + 212, 1, 0, 0, 2, 0, 1, 0, + 11, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 209, 1, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 208, 1, 0, 0, 3, 0, 1, 0, + 220, 1, 0, 0, 2, 0, 1, 0, + 12, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 217, 1, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 216, 1, 0, 0, 3, 0, 1, 0, + 228, 1, 0, 0, 2, 0, 1, 0, + 13, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 225, 1, 0, 0, 202, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 232, 1, 0, 0, 3, 0, 1, 0, + 244, 1, 0, 0, 2, 0, 1, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 241, 1, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 240, 1, 0, 0, 3, 0, 1, 0, + 252, 1, 0, 0, 2, 0, 1, 0, + 10, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 249, 1, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 248, 1, 0, 0, 3, 0, 1, 0, + 4, 2, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 2, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 2, 0, 0, 3, 0, 1, 0, + 12, 2, 0, 0, 2, 0, 1, 0, + 14, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 2, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 2, 0, 0, 3, 0, 1, 0, + 24, 2, 0, 0, 2, 0, 1, 0, + 15, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 2, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 20, 2, 0, 0, 3, 0, 1, 0, + 32, 2, 0, 0, 2, 0, 1, 0, + 16, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 2, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 28, 2, 0, 0, 3, 0, 1, 0, + 40, 2, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 10, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 2, 0, 0, 210, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 44, 2, 0, 0, 3, 0, 1, 0, + 56, 2, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 11, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 53, 2, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 52, 2, 0, 0, 3, 0, 1, 0, + 64, 2, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 12, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 61, 2, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 60, 2, 0, 0, 3, 0, 1, 0, + 72, 2, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 13, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 69, 2, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 68, 2, 0, 0, 3, 0, 1, 0, + 96, 2, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 14, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 93, 2, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 92, 2, 0, 0, 3, 0, 1, 0, + 120, 2, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 15, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 2, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 2, 0, 0, 3, 0, 1, 0, + 128, 2, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 16, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 125, 2, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 124, 2, 0, 0, 3, 0, 1, 0, + 136, 2, 0, 0, 2, 0, 1, 0, + 101, 110, 97, 98, 108, 101, 100, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 103, 97, 115, 68, 69, 80, 82, 69, + 67, 65, 84, 69, 68, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 98, 114, 97, 107, 101, 68, 69, 80, + 82, 69, 67, 65, 84, 69, 68, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 101, 101, 114, 105, 110, 103, + 84, 111, 114, 113, 117, 101, 68, 69, + 80, 82, 69, 67, 65, 84, 69, 68, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 114, 117, 105, 115, 101, 67, 111, + 110, 116, 114, 111, 108, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 211, 168, 11, 14, 110, 56, 14, 178, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 117, 100, 67, 111, 110, 116, 114, + 111, 108, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 56, 58, 176, 78, 124, 200, 149, 216, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 99, 116, 117, 97, 116, 111, 114, + 115, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 40, 40, 67, 25, 169, 117, 114, 233, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 99, 116, 105, 118, 101, 68, 69, + 80, 82, 69, 67, 65, 84, 69, 68, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 111, 108, 108, 68, 69, 80, 82, + 69, 67, 65, 84, 69, 68, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 105, 116, 99, 104, 68, 69, 80, + 82, 69, 67, 65, 84, 69, 68, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 99, 116, 117, 97, 116, 111, 114, + 115, 79, 117, 116, 112, 117, 116, 68, + 69, 80, 82, 69, 67, 65, 84, 69, + 68, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 40, 40, 67, 25, 169, 117, 114, 233, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 97, 116, 65, 99, 116, 105, 118, + 101, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 110, 103, 65, 99, 116, 105, + 118, 101, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 111, 114, 105, 101, 110, 116, 97, 116, + 105, 111, 110, 78, 69, 68, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 110, 103, 117, 108, 97, 114, 86, + 101, 108, 111, 99, 105, 116, 121, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 102, 116, 66, 108, 105, 110, + 107, 101, 114, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 105, 103, 104, 116, 66, 108, 105, + 110, 107, 101, 114, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_f78829049ab814af = b_f78829049ab814af.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_f78829049ab814af[] = { + &s_b20e386e0e0ba8d3, + &s_d895c87c4eb03a38, + &s_e97275a919432828, +}; +static const uint16_t m_f78829049ab814af[] = {7, 6, 10, 14, 2, 4, 0, 1, 5, 11, 15, 12, 13, 9, 16, 8, 3}; +static const uint16_t i_f78829049ab814af[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16}; +const ::capnp::_::RawSchema s_f78829049ab814af = { + 0xf78829049ab814af, b_f78829049ab814af.words, 313, d_f78829049ab814af, m_f78829049ab814af, + 3, 17, i_f78829049ab814af, nullptr, nullptr, { &s_f78829049ab814af, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<164> b_e97275a919432828 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 40, 40, 67, 25, 169, 117, 114, 233, + 21, 0, 0, 0, 1, 0, 5, 0, + 175, 20, 184, 154, 4, 41, 136, 247, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 250, 0, 0, 0, + 33, 0, 0, 0, 23, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 49, 0, 0, 0, 255, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 114, 46, 99, 97, 112, 110, + 112, 58, 67, 97, 114, 67, 111, 110, + 116, 114, 111, 108, 46, 65, 99, 116, + 117, 97, 116, 111, 114, 115, 0, 0, + 4, 0, 0, 0, 1, 0, 1, 0, + 130, 130, 144, 125, 145, 58, 15, 228, + 1, 0, 0, 0, 138, 0, 0, 0, + 76, 111, 110, 103, 67, 111, 110, 116, + 114, 111, 108, 83, 116, 97, 116, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 36, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 237, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 232, 0, 0, 0, 3, 0, 1, 0, + 244, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 241, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 236, 0, 0, 0, 3, 0, 1, 0, + 248, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 245, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 240, 0, 0, 0, 3, 0, 1, 0, + 252, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 249, 0, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 252, 0, 0, 0, 3, 0, 1, 0, + 8, 1, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 1, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 1, 0, 0, 3, 0, 1, 0, + 12, 1, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 10, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 1, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 1, 0, 0, 3, 0, 1, 0, + 24, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 1, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 1, 0, 0, 3, 0, 1, 0, + 28, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 1, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 24, 1, 0, 0, 3, 0, 1, 0, + 36, 1, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 8, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 1, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 32, 1, 0, 0, 3, 0, 1, 0, + 44, 1, 0, 0, 2, 0, 1, 0, + 103, 97, 115, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 98, 114, 97, 107, 101, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 101, 101, 114, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 101, 101, 114, 105, 110, 103, + 65, 110, 103, 108, 101, 68, 101, 103, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 99, 99, 101, 108, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 110, 103, 67, 111, 110, 116, + 114, 111, 108, 83, 116, 97, 116, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 130, 130, 144, 125, 145, 58, 15, 228, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 112, 101, 101, 100, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 117, 114, 118, 97, 116, 117, 114, + 101, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 101, 101, 114, 79, 117, 116, + 112, 117, 116, 67, 97, 110, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_e97275a919432828 = b_e97275a919432828.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_e97275a919432828[] = { + &s_e40f3a917d908282, +}; +static const uint16_t m_e97275a919432828[] = {4, 1, 7, 0, 5, 6, 2, 8, 3}; +static const uint16_t i_e97275a919432828[] = {0, 1, 2, 3, 4, 5, 6, 7, 8}; +const ::capnp::_::RawSchema s_e97275a919432828 = { + 0xe97275a919432828, b_e97275a919432828.words, 164, d_e97275a919432828, m_e97275a919432828, + 1, 9, i_e97275a919432828, nullptr, nullptr, { &s_e97275a919432828, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<38> b_e40f3a917d908282 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 130, 130, 144, 125, 145, 58, 15, 228, + 31, 0, 0, 0, 2, 0, 0, 0, + 40, 40, 67, 25, 169, 117, 114, 233, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 130, 1, 0, 0, + 41, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 0, 0, 0, 103, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 114, 46, 99, 97, 112, 110, + 112, 58, 67, 97, 114, 67, 111, 110, + 116, 114, 111, 108, 46, 65, 99, 116, + 117, 97, 116, 111, 114, 115, 46, 76, + 111, 110, 103, 67, 111, 110, 116, 114, + 111, 108, 83, 116, 97, 116, 101, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 16, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 25, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 111, 102, 102, 0, 0, 0, 0, 0, + 112, 105, 100, 0, 0, 0, 0, 0, + 115, 116, 111, 112, 112, 105, 110, 103, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 97, 114, 116, 105, 110, 103, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_e40f3a917d908282 = b_e40f3a917d908282.words; +#if !CAPNP_LITE +static const uint16_t m_e40f3a917d908282[] = {0, 1, 3, 2}; +const ::capnp::_::RawSchema s_e40f3a917d908282 = { + 0xe40f3a917d908282, b_e40f3a917d908282.words, 38, nullptr, m_e40f3a917d908282, + 0, 4, nullptr, nullptr, nullptr, { &s_e40f3a917d908282, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(LongControlState_e40f3a917d908282, e40f3a917d908282); +static const ::capnp::_::AlignedData<99> b_b20e386e0e0ba8d3 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 211, 168, 11, 14, 110, 56, 14, 178, + 21, 0, 0, 0, 1, 0, 2, 0, + 175, 20, 184, 154, 4, 41, 136, 247, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 26, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 31, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 114, 46, 99, 97, 112, 110, + 112, 58, 67, 97, 114, 67, 111, 110, + 116, 114, 111, 108, 46, 67, 114, 117, + 105, 115, 101, 67, 111, 110, 116, 114, + 111, 108, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 20, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 125, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 120, 0, 0, 0, 3, 0, 1, 0, + 132, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 129, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 124, 0, 0, 0, 3, 0, 1, 0, + 136, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 133, 0, 0, 0, 194, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 136, 0, 0, 0, 3, 0, 1, 0, + 148, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 145, 0, 0, 0, 194, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 148, 0, 0, 0, 3, 0, 1, 0, + 160, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 157, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 156, 0, 0, 0, 3, 0, 1, 0, + 168, 0, 0, 0, 2, 0, 1, 0, + 99, 97, 110, 99, 101, 108, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 101, 115, 117, 109, 101, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 112, 101, 101, 100, 79, 118, 101, + 114, 114, 105, 100, 101, 68, 69, 80, + 82, 69, 67, 65, 84, 69, 68, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 99, 99, 101, 108, 79, 118, 101, + 114, 114, 105, 100, 101, 68, 69, 80, + 82, 69, 67, 65, 84, 69, 68, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 111, 118, 101, 114, 114, 105, 100, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_b20e386e0e0ba8d3 = b_b20e386e0e0ba8d3.words; +#if !CAPNP_LITE +static const uint16_t m_b20e386e0e0ba8d3[] = {3, 0, 4, 1, 2}; +static const uint16_t i_b20e386e0e0ba8d3[] = {0, 1, 2, 3, 4}; +const ::capnp::_::RawSchema s_b20e386e0e0ba8d3 = { + 0xb20e386e0e0ba8d3, b_b20e386e0e0ba8d3.words, 99, nullptr, m_b20e386e0e0ba8d3, + 0, 5, i_b20e386e0e0ba8d3, nullptr, nullptr, { &s_b20e386e0e0ba8d3, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<204> b_d895c87c4eb03a38 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 56, 58, 176, 78, 124, 200, 149, 216, + 21, 0, 0, 0, 1, 0, 2, 0, + 175, 20, 184, 154, 4, 41, 136, 247, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 2, 1, 0, 0, + 33, 0, 0, 0, 39, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 61, 0, 0, 0, 111, 2, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 114, 46, 99, 97, 112, 110, + 112, 58, 67, 97, 114, 67, 111, 110, + 116, 114, 111, 108, 46, 72, 85, 68, + 67, 111, 110, 116, 114, 111, 108, 0, + 8, 0, 0, 0, 1, 0, 1, 0, + 212, 23, 110, 97, 132, 142, 215, 144, + 9, 0, 0, 0, 98, 0, 0, 0, + 158, 51, 78, 149, 108, 226, 165, 245, + 9, 0, 0, 0, 106, 0, 0, 0, + 86, 105, 115, 117, 97, 108, 65, 108, + 101, 114, 116, 0, 0, 0, 0, 0, + 65, 117, 100, 105, 98, 108, 101, 65, + 108, 101, 114, 116, 0, 0, 0, 0, + 44, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 1, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 36, 1, 0, 0, 3, 0, 1, 0, + 48, 1, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 45, 1, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 44, 1, 0, 0, 3, 0, 1, 0, + 56, 1, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 53, 1, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 52, 1, 0, 0, 3, 0, 1, 0, + 64, 1, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 61, 1, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 60, 1, 0, 0, 3, 0, 1, 0, + 72, 1, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 69, 1, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 68, 1, 0, 0, 3, 0, 1, 0, + 80, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 77, 1, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 76, 1, 0, 0, 3, 0, 1, 0, + 88, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 85, 1, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 88, 1, 0, 0, 3, 0, 1, 0, + 100, 1, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 1, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 96, 1, 0, 0, 3, 0, 1, 0, + 108, 1, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 1, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 1, 0, 0, 3, 0, 1, 0, + 116, 1, 0, 0, 2, 0, 1, 0, + 9, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 113, 1, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 1, 0, 0, 3, 0, 1, 0, + 124, 1, 0, 0, 2, 0, 1, 0, + 10, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 10, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 1, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 124, 1, 0, 0, 3, 0, 1, 0, + 136, 1, 0, 0, 2, 0, 1, 0, + 115, 112, 101, 101, 100, 86, 105, 115, + 105, 98, 108, 101, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 101, 116, 83, 112, 101, 101, 100, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 97, 110, 101, 115, 86, 105, 115, + 105, 98, 108, 101, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 97, 100, 86, 105, 115, 105, + 98, 108, 101, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 118, 105, 115, 117, 97, 108, 65, 108, + 101, 114, 116, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 212, 23, 110, 97, 132, 142, 215, 144, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 117, 100, 105, 98, 108, 101, 65, + 108, 101, 114, 116, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 158, 51, 78, 149, 108, 226, 165, 245, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 105, 103, 104, 116, 76, 97, 110, + 101, 86, 105, 115, 105, 98, 108, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 102, 116, 76, 97, 110, 101, + 86, 105, 115, 105, 98, 108, 101, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 105, 103, 104, 116, 76, 97, 110, + 101, 68, 101, 112, 97, 114, 116, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 102, 116, 76, 97, 110, 101, + 68, 101, 112, 97, 114, 116, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 97, 100, 68, 105, 115, 116, + 97, 110, 99, 101, 66, 97, 114, 115, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_d895c87c4eb03a38 = b_d895c87c4eb03a38.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_d895c87c4eb03a38[] = { + &s_90d78e84616e17d4, + &s_f5a5e26c954e339e, +}; +static const uint16_t m_d895c87c4eb03a38[] = {5, 2, 10, 3, 9, 7, 8, 6, 1, 0, 4}; +static const uint16_t i_d895c87c4eb03a38[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10}; +const ::capnp::_::RawSchema s_d895c87c4eb03a38 = { + 0xd895c87c4eb03a38, b_d895c87c4eb03a38.words, 204, d_d895c87c4eb03a38, m_d895c87c4eb03a38, + 2, 11, i_d895c87c4eb03a38, nullptr, nullptr, { &s_d895c87c4eb03a38, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<58> b_90d78e84616e17d4 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 212, 23, 110, 97, 132, 142, 215, 144, + 32, 0, 0, 0, 2, 0, 0, 0, + 56, 58, 176, 78, 124, 200, 149, 216, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 98, 1, 0, 0, + 41, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 0, 0, 0, 199, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 114, 46, 99, 97, 112, 110, + 112, 58, 67, 97, 114, 67, 111, 110, + 116, 114, 111, 108, 46, 72, 85, 68, + 67, 111, 110, 116, 114, 111, 108, 46, + 86, 105, 115, 117, 97, 108, 65, 108, + 101, 114, 116, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 32, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 89, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 81, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 73, 0, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 69, 0, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 65, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 61, 0, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 61, 0, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 57, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 110, 111, 110, 101, 0, 0, 0, 0, + 102, 99, 119, 0, 0, 0, 0, 0, + 115, 116, 101, 101, 114, 82, 101, 113, + 117, 105, 114, 101, 100, 0, 0, 0, + 98, 114, 97, 107, 101, 80, 114, 101, + 115, 115, 101, 100, 0, 0, 0, 0, + 119, 114, 111, 110, 103, 71, 101, 97, + 114, 0, 0, 0, 0, 0, 0, 0, + 115, 101, 97, 116, 98, 101, 108, 116, + 85, 110, 98, 117, 99, 107, 108, 101, + 100, 0, 0, 0, 0, 0, 0, 0, + 115, 112, 101, 101, 100, 84, 111, 111, + 72, 105, 103, 104, 0, 0, 0, 0, + 108, 100, 119, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_90d78e84616e17d4 = b_90d78e84616e17d4.words; +#if !CAPNP_LITE +static const uint16_t m_90d78e84616e17d4[] = {3, 1, 7, 0, 5, 6, 2, 4}; +const ::capnp::_::RawSchema s_90d78e84616e17d4 = { + 0x90d78e84616e17d4, b_90d78e84616e17d4.words, 58, nullptr, m_90d78e84616e17d4, + 0, 8, nullptr, nullptr, nullptr, { &s_90d78e84616e17d4, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(VisualAlert_90d78e84616e17d4, 90d78e84616e17d4); +static const ::capnp::_::AlignedData<121> b_f5a5e26c954e339e = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 158, 51, 78, 149, 108, 226, 165, 245, + 32, 0, 0, 0, 2, 0, 0, 0, + 56, 58, 176, 78, 124, 200, 149, 216, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 106, 1, 0, 0, + 41, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 0, 0, 0, 47, 2, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 114, 46, 99, 97, 112, 110, + 112, 58, 67, 97, 114, 67, 111, 110, + 116, 114, 111, 108, 46, 72, 85, 68, + 67, 111, 110, 116, 114, 111, 108, 46, + 65, 117, 100, 105, 98, 108, 101, 65, + 108, 101, 114, 116, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 92, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 1, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 5, 1, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 253, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 249, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 241, 0, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 237, 0, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 237, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 229, 0, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 225, 0, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 225, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 217, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 213, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 205, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 0, 0, 0, 0, + 197, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 189, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 181, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 173, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 17, 0, 0, 0, 0, 0, 0, 0, + 165, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 18, 0, 0, 0, 0, 0, 0, 0, + 157, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 19, 0, 0, 0, 0, 0, 0, 0, + 149, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 20, 0, 0, 0, 0, 0, 0, 0, + 141, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 0, 0, 0, 0, + 133, 0, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 22, 0, 0, 0, 0, 0, 0, 0, + 129, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 110, 111, 110, 101, 0, 0, 0, 0, + 101, 110, 103, 97, 103, 101, 0, 0, + 100, 105, 115, 101, 110, 103, 97, 103, + 101, 0, 0, 0, 0, 0, 0, 0, + 114, 101, 102, 117, 115, 101, 0, 0, + 119, 97, 114, 110, 105, 110, 103, 83, + 111, 102, 116, 0, 0, 0, 0, 0, + 119, 97, 114, 110, 105, 110, 103, 73, + 109, 109, 101, 100, 105, 97, 116, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 114, 111, 109, 112, 116, 0, 0, + 112, 114, 111, 109, 112, 116, 82, 101, + 112, 101, 97, 116, 0, 0, 0, 0, + 112, 114, 111, 109, 112, 116, 68, 105, + 115, 116, 114, 97, 99, 116, 101, 100, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 110, 103, 114, 121, 0, 0, 0, + 99, 111, 110, 116, 105, 110, 117, 101, + 100, 0, 0, 0, 0, 0, 0, 0, + 100, 101, 106, 97, 86, 117, 0, 0, + 100, 111, 99, 0, 0, 0, 0, 0, + 102, 97, 114, 116, 0, 0, 0, 0, + 102, 105, 114, 101, 102, 111, 120, 0, + 103, 111, 97, 116, 0, 0, 0, 0, + 104, 97, 108, 57, 48, 48, 48, 0, + 109, 97, 105, 108, 0, 0, 0, 0, + 110, 101, 115, 115, 105, 101, 0, 0, + 110, 111, 105, 99, 101, 0, 0, 0, + 115, 116, 97, 114, 116, 117, 112, 0, + 116, 104, 105, 115, 73, 115, 70, 105, + 110, 101, 0, 0, 0, 0, 0, 0, + 117, 119, 117, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_f5a5e26c954e339e = b_f5a5e26c954e339e.words; +#if !CAPNP_LITE +static const uint16_t m_f5a5e26c954e339e[] = {9, 10, 11, 2, 12, 1, 13, 14, 15, 16, 17, 18, 19, 0, 6, 8, 7, 3, 20, 21, 22, 5, 4}; +const ::capnp::_::RawSchema s_f5a5e26c954e339e = { + 0xf5a5e26c954e339e, b_f5a5e26c954e339e.words, 121, nullptr, m_f5a5e26c954e339e, + 0, 23, nullptr, nullptr, nullptr, { &s_f5a5e26c954e339e, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(AudibleAlert_f5a5e26c954e339e, f5a5e26c954e339e); +static const ::capnp::_::AlignedData<33> b_d817d6655115ca85 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 133, 202, 21, 81, 101, 214, 23, 216, + 10, 0, 0, 0, 1, 0, 0, 0, + 141, 139, 175, 8, 231, 241, 42, 142, + 1, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 162, 0, 0, 0, + 29, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 0, 0, 0, 63, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 114, 46, 99, 97, 112, 110, + 112, 58, 67, 97, 114, 79, 117, 116, + 112, 117, 116, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 4, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 3, 0, 1, 0, + 24, 0, 0, 0, 2, 0, 1, 0, + 97, 99, 116, 117, 97, 116, 111, 114, + 115, 79, 117, 116, 112, 117, 116, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 40, 40, 67, 25, 169, 117, 114, 233, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_d817d6655115ca85 = b_d817d6655115ca85.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_d817d6655115ca85[] = { + &s_e97275a919432828, +}; +static const uint16_t m_d817d6655115ca85[] = {0}; +static const uint16_t i_d817d6655115ca85[] = {0}; +const ::capnp::_::RawSchema s_d817d6655115ca85 = { + 0xd817d6655115ca85, b_d817d6655115ca85.words, 33, d_d817d6655115ca85, m_d817d6655115ca85, + 1, 1, i_d817d6655115ca85, nullptr, nullptr, { &s_d817d6655115ca85, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<1318> b_8c69372490aaa9da = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 218, 169, 170, 144, 36, 55, 105, 140, + 10, 0, 0, 0, 1, 0, 17, 0, + 141, 139, 175, 8, 231, 241, 42, 142, + 14, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 162, 0, 0, 0, + 29, 0, 0, 0, 231, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 17, 1, 0, 0, 255, 15, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 114, 46, 99, 97, 112, 110, + 112, 58, 67, 97, 114, 80, 97, 114, + 97, 109, 115, 0, 0, 0, 0, 0, + 56, 0, 0, 0, 1, 0, 1, 0, + 201, 176, 86, 96, 156, 52, 54, 232, + 105, 0, 0, 0, 106, 0, 0, 0, + 163, 221, 137, 28, 59, 178, 129, 181, + 105, 0, 0, 0, 114, 0, 0, 0, + 46, 76, 209, 203, 63, 114, 34, 150, + 105, 0, 0, 0, 138, 0, 0, 0, + 29, 204, 78, 128, 14, 110, 54, 128, + 109, 0, 0, 0, 162, 0, 0, 0, + 142, 155, 62, 48, 252, 206, 66, 195, + 113, 0, 0, 0, 178, 0, 0, 0, + 179, 51, 85, 4, 46, 71, 52, 163, + 117, 0, 0, 0, 146, 0, 0, 0, + 18, 106, 97, 40, 63, 30, 21, 157, + 121, 0, 0, 0, 138, 0, 0, 0, + 81, 244, 218, 30, 91, 30, 85, 149, + 125, 0, 0, 0, 98, 0, 0, 0, + 127, 247, 222, 226, 43, 81, 97, 214, + 125, 0, 0, 0, 138, 0, 0, 0, + 236, 192, 191, 20, 235, 46, 22, 143, + 129, 0, 0, 0, 138, 0, 0, 0, + 206, 89, 147, 12, 24, 86, 43, 150, + 133, 0, 0, 0, 50, 0, 0, 0, + 145, 214, 209, 89, 183, 155, 17, 247, + 129, 0, 0, 0, 34, 0, 0, 0, + 206, 64, 220, 216, 35, 85, 217, 159, + 125, 0, 0, 0, 146, 0, 0, 0, + 81, 60, 131, 42, 104, 227, 153, 255, + 129, 0, 0, 0, 130, 0, 0, 0, + 83, 97, 102, 101, 116, 121, 67, 111, + 110, 102, 105, 103, 0, 0, 0, 0, + 76, 97, 116, 101, 114, 97, 108, 80, + 97, 114, 97, 109, 115, 0, 0, 0, + 76, 97, 116, 101, 114, 97, 108, 80, + 73, 68, 84, 117, 110, 105, 110, 103, + 0, 0, 0, 0, 0, 0, 0, 0, + 76, 97, 116, 101, 114, 97, 108, 84, + 111, 114, 113, 117, 101, 84, 117, 110, + 105, 110, 103, 0, 0, 0, 0, 0, + 76, 111, 110, 103, 105, 116, 117, 100, + 105, 110, 97, 108, 80, 73, 68, 84, + 117, 110, 105, 110, 103, 0, 0, 0, + 76, 97, 116, 101, 114, 97, 108, 73, + 78, 68, 73, 84, 117, 110, 105, 110, + 103, 0, 0, 0, 0, 0, 0, 0, + 76, 97, 116, 101, 114, 97, 108, 76, + 81, 82, 84, 117, 110, 105, 110, 103, + 0, 0, 0, 0, 0, 0, 0, 0, + 83, 97, 102, 101, 116, 121, 77, 111, + 100, 101, 108, 0, 0, 0, 0, 0, + 83, 116, 101, 101, 114, 67, 111, 110, + 116, 114, 111, 108, 84, 121, 112, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 84, 114, 97, 110, 115, 109, 105, 115, + 115, 105, 111, 110, 84, 121, 112, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 67, 97, 114, 70, 119, 0, 0, 0, + 69, 99, 117, 0, 0, 0, 0, 0, + 70, 105, 110, 103, 101, 114, 112, 114, + 105, 110, 116, 83, 111, 117, 114, 99, + 101, 0, 0, 0, 0, 0, 0, 0, + 78, 101, 116, 119, 111, 114, 107, 76, + 111, 99, 97, 116, 105, 111, 110, 0, + 36, 1, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 237, 7, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 232, 7, 0, 0, 3, 0, 1, 0, + 244, 7, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 241, 7, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 240, 7, 0, 0, 3, 0, 1, 0, + 252, 7, 0, 0, 2, 0, 1, 0, + 52, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 249, 7, 0, 0, 170, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 252, 7, 0, 0, 3, 0, 1, 0, + 8, 8, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 8, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 8, 0, 0, 3, 0, 1, 0, + 16, 8, 0, 0, 2, 0, 1, 0, + 53, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 8, 0, 0, 186, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 8, 0, 0, 3, 0, 1, 0, + 28, 8, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 8, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 24, 8, 0, 0, 3, 0, 1, 0, + 36, 8, 0, 0, 2, 0, 1, 0, + 54, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 8, 0, 0, 170, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 36, 8, 0, 0, 3, 0, 1, 0, + 48, 8, 0, 0, 2, 0, 1, 0, + 9, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 45, 8, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 44, 8, 0, 0, 3, 0, 1, 0, + 56, 8, 0, 0, 2, 0, 1, 0, + 10, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 53, 8, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 52, 8, 0, 0, 3, 0, 1, 0, + 64, 8, 0, 0, 2, 0, 1, 0, + 59, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 61, 8, 0, 0, 178, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 64, 8, 0, 0, 3, 0, 1, 0, + 76, 8, 0, 0, 2, 0, 1, 0, + 58, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 10, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 73, 8, 0, 0, 178, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 76, 8, 0, 0, 3, 0, 1, 0, + 88, 8, 0, 0, 2, 0, 1, 0, + 64, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 11, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 85, 8, 0, 0, 170, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 88, 8, 0, 0, 3, 0, 1, 0, + 116, 8, 0, 0, 2, 0, 1, 0, + 65, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 12, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 113, 8, 0, 0, 162, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 8, 0, 0, 3, 0, 1, 0, + 144, 8, 0, 0, 2, 0, 1, 0, + 66, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 13, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 141, 8, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 144, 8, 0, 0, 3, 0, 1, 0, + 172, 8, 0, 0, 2, 0, 1, 0, + 67, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 14, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 169, 8, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 172, 8, 0, 0, 3, 0, 1, 0, + 200, 8, 0, 0, 2, 0, 1, 0, + 68, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 15, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 197, 8, 0, 0, 170, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 200, 8, 0, 0, 3, 0, 1, 0, + 228, 8, 0, 0, 2, 0, 1, 0, + 69, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 16, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 225, 8, 0, 0, 162, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 228, 8, 0, 0, 3, 0, 1, 0, + 0, 9, 0, 0, 2, 0, 1, 0, + 15, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 17, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 253, 8, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 248, 8, 0, 0, 3, 0, 1, 0, + 4, 9, 0, 0, 2, 0, 1, 0, + 16, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 9, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 9, 0, 0, 3, 0, 1, 0, + 12, 9, 0, 0, 2, 0, 1, 0, + 17, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 19, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 9, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 9, 0, 0, 3, 0, 1, 0, + 20, 9, 0, 0, 2, 0, 1, 0, + 18, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 20, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 17, 9, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 9, 0, 0, 3, 0, 1, 0, + 28, 9, 0, 0, 2, 0, 1, 0, + 19, 0, 0, 0, 8, 0, 0, 0, + 0, 0, 1, 0, 21, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 9, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 24, 9, 0, 0, 3, 0, 1, 0, + 36, 9, 0, 0, 2, 0, 1, 0, + 20, 0, 0, 0, 9, 0, 0, 0, + 0, 0, 1, 0, 22, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 9, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 36, 9, 0, 0, 3, 0, 1, 0, + 48, 9, 0, 0, 2, 0, 1, 0, + 22, 0, 0, 0, 10, 0, 0, 0, + 0, 0, 1, 0, 23, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 45, 9, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 48, 9, 0, 0, 3, 0, 1, 0, + 60, 9, 0, 0, 2, 0, 1, 0, + 23, 0, 0, 0, 11, 0, 0, 0, + 0, 0, 1, 0, 24, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 57, 9, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 60, 9, 0, 0, 3, 0, 1, 0, + 72, 9, 0, 0, 2, 0, 1, 0, + 24, 0, 0, 0, 8, 0, 0, 0, + 0, 0, 1, 0, 25, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 69, 9, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 72, 9, 0, 0, 3, 0, 1, 0, + 84, 9, 0, 0, 2, 0, 1, 0, + 26, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 104, 149, 51, 53, 10, 88, 252, 147, + 81, 9, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 27, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 28, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 61, 9, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 60, 9, 0, 0, 3, 0, 1, 0, + 72, 9, 0, 0, 2, 0, 1, 0, + 29, 0, 0, 0, 12, 0, 0, 0, + 0, 0, 1, 0, 29, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 69, 9, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 68, 9, 0, 0, 3, 0, 1, 0, + 80, 9, 0, 0, 2, 0, 1, 0, + 70, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 30, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 77, 9, 0, 0, 234, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 84, 9, 0, 0, 3, 0, 1, 0, + 96, 9, 0, 0, 2, 0, 1, 0, + 31, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 31, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 93, 9, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 92, 9, 0, 0, 3, 0, 1, 0, + 104, 9, 0, 0, 2, 0, 1, 0, + 36, 0, 0, 0, 13, 0, 0, 0, + 0, 0, 1, 0, 32, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 9, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 9, 0, 0, 3, 0, 1, 0, + 112, 9, 0, 0, 2, 0, 1, 0, + 55, 0, 0, 0, 14, 0, 0, 0, + 0, 0, 1, 0, 33, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 9, 0, 0, 194, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 9, 0, 0, 3, 0, 1, 0, + 124, 9, 0, 0, 2, 0, 1, 0, + 32, 0, 0, 0, 30, 0, 0, 0, + 0, 0, 1, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 9, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 124, 9, 0, 0, 3, 0, 1, 0, + 136, 9, 0, 0, 2, 0, 1, 0, + 33, 0, 0, 0, 8, 0, 0, 0, + 0, 0, 1, 0, 35, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 133, 9, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 136, 9, 0, 0, 3, 0, 1, 0, + 148, 9, 0, 0, 2, 0, 1, 0, + 38, 0, 0, 0, 16, 0, 0, 0, + 0, 0, 1, 0, 36, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 145, 9, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 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232, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 119, 104, 101, 101, 108, 83, 112, 101, + 101, 100, 70, 97, 99, 116, 111, 114, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 108, 97, 103, 115, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 108, 116, 101, 114, 110, 97, 116, + 105, 118, 101, 69, 120, 112, 101, 114, + 105, 101, 110, 99, 101, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 110, 111, 116, 67, 97, 114, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 97, 120, 76, 97, 116, 101, 114, + 97, 108, 65, 99, 99, 101, 108, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 117, 116, 111, 82, 101, 115, 117, + 109, 101, 83, 110, 103, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 97, 114, 116, 105, 110, 103, + 83, 116, 97, 116, 101, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 120, 112, 101, 114, 105, 109, 101, + 110, 116, 97, 108, 76, 111, 110, 103, + 105, 116, 117, 100, 105, 110, 97, 108, + 65, 118, 97, 105, 108, 97, 98, 108, + 101, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 105, 114, 101, 83, 116, 105, 102, + 102, 110, 101, 115, 115, 70, 97, 99, + 116, 111, 114, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 97, 115, 115, 105, 118, 101, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 101, 99, 79, 99, 82, 101, 113, + 117, 105, 114, 101, 100, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 101, 99, 79, 99, 75, 101, 121, + 65, 118, 97, 105, 108, 97, 98, 108, + 101, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_8c69372490aaa9da = b_8c69372490aaa9da.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_8c69372490aaa9da[] = { + &s_8f162eeb14bfc0ec, + &s_93fc580a35339568, + &s_95551e5b1edaf451, + &s_962b56180c9359ce, + &s_9fd95523d8dc40ce, + &s_b581b23b1c89dda3, + &s_c342cefc303e9b8e, + &s_d661512be2def77f, + &s_e836349c6056b0c9, + &s_ff99e3682a833c51, +}; +static const uint16_t m_8c69372490aaa9da[] = {63, 66, 15, 16, 1, 42, 0, 37, 19, 44, 39, 29, 6, 54, 4, 5, 2, 68, 47, 62, 53, 13, 14, 55, 38, 46, 26, 56, 59, 25, 17, 65, 52, 7, 49, 8, 48, 64, 36, 70, 3, 43, 34, 22, 60, 9, 40, 10, 72, 71, 31, 51, 67, 35, 33, 27, 45, 11, 12, 32, 20, 21, 58, 30, 50, 69, 23, 24, 41, 57, 28, 61, 18}; +static const uint16_t i_8c69372490aaa9da[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72}; +const ::capnp::_::RawSchema s_8c69372490aaa9da = { + 0x8c69372490aaa9da, b_8c69372490aaa9da.words, 1318, d_8c69372490aaa9da, m_8c69372490aaa9da, + 10, 73, i_8c69372490aaa9da, nullptr, nullptr, { &s_8c69372490aaa9da, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<85> b_e836349c6056b0c9 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 201, 176, 86, 96, 156, 52, 54, 232, + 20, 0, 0, 0, 1, 0, 2, 0, + 218, 169, 170, 144, 36, 55, 105, 140, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 10, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 231, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 114, 46, 99, 97, 112, 110, + 112, 58, 67, 97, 114, 80, 97, 114, + 97, 109, 115, 46, 83, 97, 102, 101, + 116, 121, 67, 111, 110, 102, 105, 103, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 16, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 0, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 96, 0, 0, 0, 3, 0, 1, 0, + 108, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 0, 0, 0, 178, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 0, 0, 0, 3, 0, 1, 0, + 120, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 0, 0, 0, 186, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 120, 0, 0, 0, 3, 0, 1, 0, + 132, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 129, 0, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 128, 0, 0, 0, 3, 0, 1, 0, + 140, 0, 0, 0, 2, 0, 1, 0, + 115, 97, 102, 101, 116, 121, 77, 111, + 100, 101, 108, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 81, 244, 218, 30, 91, 30, 85, 149, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 97, 102, 101, 116, 121, 80, 97, + 114, 97, 109, 68, 69, 80, 82, 69, + 67, 65, 84, 69, 68, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 97, 102, 101, 116, 121, 80, 97, + 114, 97, 109, 50, 68, 69, 80, 82, + 69, 67, 65, 84, 69, 68, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 97, 102, 101, 116, 121, 80, 97, + 114, 97, 109, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_e836349c6056b0c9 = b_e836349c6056b0c9.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_e836349c6056b0c9[] = { + &s_95551e5b1edaf451, +}; +static const uint16_t m_e836349c6056b0c9[] = {0, 3, 2, 1}; +static const uint16_t i_e836349c6056b0c9[] = {0, 1, 2, 3}; +const ::capnp::_::RawSchema s_e836349c6056b0c9 = { + 0xe836349c6056b0c9, b_e836349c6056b0c9.words, 85, d_e836349c6056b0c9, m_e836349c6056b0c9, + 1, 4, i_e836349c6056b0c9, nullptr, nullptr, { &s_e836349c6056b0c9, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<58> b_b581b23b1c89dda3 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 163, 221, 137, 28, 59, 178, 129, 181, + 20, 0, 0, 0, 1, 0, 0, 0, + 218, 169, 170, 144, 36, 55, 105, 140, + 2, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 18, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 119, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 114, 46, 99, 97, 112, 110, + 112, 58, 67, 97, 114, 80, 97, 114, + 97, 109, 115, 46, 76, 97, 116, 101, + 114, 97, 108, 80, 97, 114, 97, 109, + 115, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 8, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 40, 0, 0, 0, 3, 0, 1, 0, + 68, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 65, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 60, 0, 0, 0, 3, 0, 1, 0, + 88, 0, 0, 0, 2, 0, 1, 0, + 116, 111, 114, 113, 117, 101, 66, 80, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 111, 114, 113, 117, 101, 86, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_b581b23b1c89dda3 = b_b581b23b1c89dda3.words; +#if !CAPNP_LITE +static const uint16_t m_b581b23b1c89dda3[] = {0, 1}; +static const uint16_t i_b581b23b1c89dda3[] = {0, 1}; +const ::capnp::_::RawSchema s_b581b23b1c89dda3 = { + 0xb581b23b1c89dda3, b_b581b23b1c89dda3.words, 58, nullptr, m_b581b23b1c89dda3, + 0, 2, i_b581b23b1c89dda3, nullptr, nullptr, { &s_b581b23b1c89dda3, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<110> b_9622723fcbd14c2e = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 46, 76, 209, 203, 63, 114, 34, 150, + 20, 0, 0, 0, 1, 0, 1, 0, + 218, 169, 170, 144, 36, 55, 105, 140, + 4, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 42, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 31, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 114, 46, 99, 97, 112, 110, + 112, 58, 67, 97, 114, 80, 97, 114, + 97, 109, 115, 46, 76, 97, 116, 101, + 114, 97, 108, 80, 73, 68, 84, 117, + 110, 105, 110, 103, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 20, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 125, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 120, 0, 0, 0, 3, 0, 1, 0, + 148, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 145, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 140, 0, 0, 0, 3, 0, 1, 0, + 168, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 165, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 160, 0, 0, 0, 3, 0, 1, 0, + 188, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 185, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 180, 0, 0, 0, 3, 0, 1, 0, + 208, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 205, 0, 0, 0, 26, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 200, 0, 0, 0, 3, 0, 1, 0, + 212, 0, 0, 0, 2, 0, 1, 0, + 107, 112, 66, 80, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 107, 112, 86, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 107, 105, 66, 80, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 107, 105, 86, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 107, 102, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_9622723fcbd14c2e = b_9622723fcbd14c2e.words; +#if !CAPNP_LITE +static const uint16_t m_9622723fcbd14c2e[] = {4, 2, 3, 0, 1}; +static const uint16_t i_9622723fcbd14c2e[] = {0, 1, 2, 3, 4}; +const ::capnp::_::RawSchema s_9622723fcbd14c2e = { + 0x9622723fcbd14c2e, b_9622723fcbd14c2e.words, 110, nullptr, m_9622723fcbd14c2e, + 0, 5, i_9622723fcbd14c2e, nullptr, nullptr, { &s_9622723fcbd14c2e, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<147> b_80366e0e804ecc1d = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 29, 204, 78, 128, 14, 110, 54, 128, + 20, 0, 0, 0, 1, 0, 4, 0, + 218, 169, 170, 144, 36, 55, 105, 140, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 66, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 199, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 114, 46, 99, 97, 112, 110, + 112, 58, 67, 97, 114, 80, 97, 114, + 97, 109, 115, 46, 76, 97, 116, 101, + 114, 97, 108, 84, 111, 114, 113, 117, + 101, 84, 117, 110, 105, 110, 103, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 32, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 209, 0, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 212, 0, 0, 0, 3, 0, 1, 0, + 224, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 221, 0, 0, 0, 26, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 216, 0, 0, 0, 3, 0, 1, 0, + 228, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 225, 0, 0, 0, 26, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 220, 0, 0, 0, 3, 0, 1, 0, + 232, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 229, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 228, 0, 0, 0, 3, 0, 1, 0, + 240, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 237, 0, 0, 0, 26, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 232, 0, 0, 0, 3, 0, 1, 0, + 244, 0, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 241, 0, 0, 0, 202, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 248, 0, 0, 0, 3, 0, 1, 0, + 4, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 1, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 1, 0, 0, 3, 0, 1, 0, + 12, 1, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 1, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 1, 0, 0, 3, 0, 1, 0, + 20, 1, 0, 0, 2, 0, 1, 0, + 117, 115, 101, 83, 116, 101, 101, 114, + 105, 110, 103, 65, 110, 103, 108, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 107, 112, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 107, 105, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 114, 105, 99, 116, 105, 111, 110, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 107, 102, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 101, 101, 114, 105, 110, 103, + 65, 110, 103, 108, 101, 68, 101, 97, + 100, 122, 111, 110, 101, 68, 101, 103, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 97, 116, 65, 99, 99, 101, 108, + 70, 97, 99, 116, 111, 114, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 97, 116, 65, 99, 99, 101, 108, + 79, 102, 102, 115, 101, 116, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_80366e0e804ecc1d = b_80366e0e804ecc1d.words; +#if !CAPNP_LITE +static const uint16_t m_80366e0e804ecc1d[] = {3, 4, 2, 1, 6, 7, 5, 0}; +static const uint16_t i_80366e0e804ecc1d[] = {0, 1, 2, 3, 4, 5, 6, 7}; +const ::capnp::_::RawSchema s_80366e0e804ecc1d = { + 0x80366e0e804ecc1d, b_80366e0e804ecc1d.words, 147, nullptr, m_80366e0e804ecc1d, + 0, 8, i_80366e0e804ecc1d, nullptr, nullptr, { &s_80366e0e804ecc1d, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<151> b_c342cefc303e9b8e = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 142, 155, 62, 48, 252, 206, 66, 195, + 20, 0, 0, 0, 1, 0, 1, 0, + 218, 169, 170, 144, 36, 55, 105, 140, + 6, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 82, 1, 0, 0, + 41, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 0, 0, 0, 143, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 114, 46, 99, 97, 112, 110, + 112, 58, 67, 97, 114, 80, 97, 114, + 97, 109, 115, 46, 76, 111, 110, 103, + 105, 116, 117, 100, 105, 110, 97, 108, + 80, 73, 68, 84, 117, 110, 105, 110, + 103, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 28, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 181, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 176, 0, 0, 0, 3, 0, 1, 0, + 204, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 201, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 196, 0, 0, 0, 3, 0, 1, 0, + 224, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 221, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 216, 0, 0, 0, 3, 0, 1, 0, + 244, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 241, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 236, 0, 0, 0, 3, 0, 1, 0, + 8, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 1, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 1, 0, 0, 3, 0, 1, 0, + 32, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 1, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 28, 1, 0, 0, 3, 0, 1, 0, + 56, 1, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 53, 1, 0, 0, 26, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 48, 1, 0, 0, 3, 0, 1, 0, + 60, 1, 0, 0, 2, 0, 1, 0, + 107, 112, 66, 80, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 107, 112, 86, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 107, 105, 66, 80, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 107, 105, 86, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 101, 97, 100, 122, 111, 110, 101, + 66, 80, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 101, 97, 100, 122, 111, 110, 101, + 86, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 107, 102, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_c342cefc303e9b8e = b_c342cefc303e9b8e.words; +#if !CAPNP_LITE +static const uint16_t m_c342cefc303e9b8e[] = {4, 5, 6, 2, 3, 0, 1}; +static const uint16_t i_c342cefc303e9b8e[] = {0, 1, 2, 3, 4, 5, 6}; +const ::capnp::_::RawSchema s_c342cefc303e9b8e = { + 0xc342cefc303e9b8e, b_c342cefc303e9b8e.words, 151, nullptr, m_c342cefc303e9b8e, + 0, 7, i_c342cefc303e9b8e, nullptr, nullptr, { &s_c342cefc303e9b8e, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<250> b_a334472e045533b3 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 179, 51, 85, 4, 46, 71, 52, 163, + 20, 0, 0, 0, 1, 0, 2, 0, + 218, 169, 170, 144, 36, 55, 105, 140, + 8, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 50, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 167, 2, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 114, 46, 99, 97, 112, 110, + 112, 58, 67, 97, 114, 80, 97, 114, + 97, 109, 115, 46, 76, 97, 116, 101, + 114, 97, 108, 73, 78, 68, 73, 84, + 117, 110, 105, 110, 103, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 48, 0, 0, 0, 3, 0, 4, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 65, 1, 0, 0, 194, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 68, 1, 0, 0, 3, 0, 1, 0, + 80, 1, 0, 0, 2, 0, 1, 0, + 9, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 77, 1, 0, 0, 194, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 80, 1, 0, 0, 3, 0, 1, 0, + 92, 1, 0, 0, 2, 0, 1, 0, + 10, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 89, 1, 0, 0, 186, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 92, 1, 0, 0, 3, 0, 1, 0, + 104, 1, 0, 0, 2, 0, 1, 0, + 11, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 1, 0, 0, 2, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 1, 0, 0, 3, 0, 1, 0, + 120, 1, 0, 0, 2, 0, 1, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 1, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 1, 0, 0, 3, 0, 1, 0, + 144, 1, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 141, 1, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 140, 1, 0, 0, 3, 0, 1, 0, + 168, 1, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 165, 1, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 164, 1, 0, 0, 3, 0, 1, 0, + 192, 1, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 189, 1, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 188, 1, 0, 0, 3, 0, 1, 0, + 216, 1, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 213, 1, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 212, 1, 0, 0, 3, 0, 1, 0, + 240, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 237, 1, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 236, 1, 0, 0, 3, 0, 1, 0, + 8, 2, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 10, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 2, 0, 0, 194, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 2, 0, 0, 3, 0, 1, 0, + 36, 2, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 11, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 2, 0, 0, 186, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 36, 2, 0, 0, 3, 0, 1, 0, + 64, 2, 0, 0, 2, 0, 1, 0, + 111, 117, 116, 101, 114, 76, 111, 111, + 112, 71, 97, 105, 110, 68, 69, 80, + 82, 69, 67, 65, 84, 69, 68, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 110, 110, 101, 114, 76, 111, 111, + 112, 71, 97, 105, 110, 68, 69, 80, + 82, 69, 67, 65, 84, 69, 68, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 105, 109, 101, 67, 111, 110, 115, + 116, 97, 110, 116, 68, 69, 80, 82, + 69, 67, 65, 84, 69, 68, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 99, 116, 117, 97, 116, 111, 114, + 69, 102, 102, 101, 99, 116, 105, 118, + 101, 110, 101, 115, 115, 68, 69, 80, + 82, 69, 67, 65, 84, 69, 68, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 111, 117, 116, 101, 114, 76, 111, 111, + 112, 71, 97, 105, 110, 66, 80, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 111, 117, 116, 101, 114, 76, 111, 111, + 112, 71, 97, 105, 110, 86, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 110, 110, 101, 114, 76, 111, 111, + 112, 71, 97, 105, 110, 66, 80, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 110, 110, 101, 114, 76, 111, 111, + 112, 71, 97, 105, 110, 86, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 105, 109, 101, 67, 111, 110, 115, + 116, 97, 110, 116, 66, 80, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 105, 109, 101, 67, 111, 110, 115, + 116, 97, 110, 116, 86, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 99, 116, 117, 97, 116, 111, 114, + 69, 102, 102, 101, 99, 116, 105, 118, + 101, 110, 101, 115, 115, 66, 80, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 99, 116, 117, 97, 116, 111, 114, + 69, 102, 102, 101, 99, 116, 105, 118, + 101, 110, 101, 115, 115, 86, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_a334472e045533b3 = b_a334472e045533b3.words; +#if !CAPNP_LITE +static const uint16_t m_a334472e045533b3[] = {10, 3, 11, 6, 1, 7, 4, 0, 5, 8, 2, 9}; +static const uint16_t i_a334472e045533b3[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11}; +const ::capnp::_::RawSchema s_a334472e045533b3 = { + 0xa334472e045533b3, b_a334472e045533b3.words, 250, nullptr, m_a334472e045533b3, + 0, 12, i_a334472e045533b3, nullptr, nullptr, { &s_a334472e045533b3, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<159> b_9d151e3f28616a12 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 18, 106, 97, 40, 63, 30, 21, 157, + 20, 0, 0, 0, 1, 0, 2, 0, + 218, 169, 170, 144, 36, 55, 105, 140, + 5, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 42, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 199, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 114, 46, 99, 97, 112, 110, + 112, 58, 67, 97, 114, 80, 97, 114, + 97, 109, 115, 46, 76, 97, 116, 101, + 114, 97, 108, 76, 81, 82, 84, 117, + 110, 105, 110, 103, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 32, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 209, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 204, 0, 0, 0, 3, 0, 1, 0, + 216, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 213, 0, 0, 0, 26, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 208, 0, 0, 0, 3, 0, 1, 0, + 220, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 217, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 212, 0, 0, 0, 3, 0, 1, 0, + 224, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 221, 0, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 216, 0, 0, 0, 3, 0, 1, 0, + 244, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 241, 0, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 236, 0, 0, 0, 3, 0, 1, 0, + 8, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 1, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 1, 0, 0, 3, 0, 1, 0, + 28, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 1, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 20, 1, 0, 0, 3, 0, 1, 0, + 48, 1, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 45, 1, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 40, 1, 0, 0, 3, 0, 1, 0, + 68, 1, 0, 0, 2, 0, 1, 0, + 115, 99, 97, 108, 101, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 107, 105, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 99, 71, 97, 105, 110, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 98, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 107, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_9d151e3f28616a12 = b_9d151e3f28616a12.words; +#if !CAPNP_LITE +static const uint16_t m_9d151e3f28616a12[] = {3, 4, 5, 2, 6, 1, 7, 0}; +static const uint16_t i_9d151e3f28616a12[] = {0, 1, 2, 3, 4, 5, 6, 7}; +const ::capnp::_::RawSchema s_9d151e3f28616a12 = { + 0x9d151e3f28616a12, b_9d151e3f28616a12.words, 159, nullptr, m_9d151e3f28616a12, + 0, 8, i_9d151e3f28616a12, nullptr, nullptr, { &s_9d151e3f28616a12, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<167> b_95551e5b1edaf451 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 81, 244, 218, 30, 91, 30, 85, 149, + 20, 0, 0, 0, 2, 0, 0, 0, + 218, 169, 170, 144, 36, 55, 105, 140, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 2, 1, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 7, 3, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 114, 46, 99, 97, 112, 110, + 112, 58, 67, 97, 114, 80, 97, 114, + 97, 109, 115, 46, 83, 97, 102, 101, + 116, 121, 77, 111, 100, 101, 108, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 128, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 1, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 113, 1, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 109, 1, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 101, 1, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 93, 1, 0, 0, 26, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 85, 1, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 85, 1, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 77, 1, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 73, 1, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 65, 1, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 61, 1, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 53, 1, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 45, 1, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 0, 0, 0, 0, + 41, 1, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 33, 1, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 25, 1, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 21, 1, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 17, 0, 0, 0, 0, 0, 0, 0, + 17, 1, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 18, 0, 0, 0, 0, 0, 0, 0, + 13, 1, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 19, 0, 0, 0, 0, 0, 0, 0, + 5, 1, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 20, 0, 0, 0, 0, 0, 0, 0, + 1, 1, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 0, 0, 0, 0, + 253, 0, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 22, 0, 0, 0, 0, 0, 0, 0, + 249, 0, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 23, 0, 0, 0, 0, 0, 0, 0, + 245, 0, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 24, 0, 0, 0, 0, 0, 0, 0, + 241, 0, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 0, 0, 0, 0, 0, 0, 0, + 241, 0, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 26, 0, 0, 0, 0, 0, 0, 0, + 237, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 27, 0, 0, 0, 0, 0, 0, 0, + 229, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 28, 0, 0, 0, 0, 0, 0, 0, + 221, 0, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 0, 0, 0, 0, + 217, 0, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 30, 0, 0, 0, 0, 0, 0, 0, + 217, 0, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 31, 0, 0, 0, 0, 0, 0, 0, + 213, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 105, 108, 101, 110, 116, 0, 0, + 104, 111, 110, 100, 97, 78, 105, 100, + 101, 99, 0, 0, 0, 0, 0, 0, + 116, 111, 121, 111, 116, 97, 0, 0, + 101, 108, 109, 51, 50, 55, 0, 0, + 103, 109, 0, 0, 0, 0, 0, 0, + 104, 111, 110, 100, 97, 66, 111, 115, + 99, 104, 71, 105, 114, 97, 102, 102, + 101, 0, 0, 0, 0, 0, 0, 0, + 102, 111, 114, 100, 0, 0, 0, 0, + 99, 97, 100, 105, 108, 108, 97, 99, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 121, 117, 110, 100, 97, 105, 0, + 99, 104, 114, 121, 115, 108, 101, 114, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 101, 115, 108, 97, 0, 0, 0, + 115, 117, 98, 97, 114, 117, 0, 0, + 103, 109, 80, 97, 115, 115, 105, 118, + 101, 0, 0, 0, 0, 0, 0, 0, + 109, 97, 122, 100, 97, 0, 0, 0, + 110, 105, 115, 115, 97, 110, 0, 0, + 118, 111, 108, 107, 115, 119, 97, 103, + 101, 110, 0, 0, 0, 0, 0, 0, + 116, 111, 121, 111, 116, 97, 73, 112, + 97, 115, 0, 0, 0, 0, 0, 0, + 97, 108, 108, 79, 117, 116, 112, 117, + 116, 0, 0, 0, 0, 0, 0, 0, + 103, 109, 65, 115, 99, 109, 0, 0, + 110, 111, 79, 117, 116, 112, 117, 116, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 111, 110, 100, 97, 66, 111, 115, + 99, 104, 0, 0, 0, 0, 0, 0, + 118, 111, 108, 107, 115, 119, 97, 103, + 101, 110, 80, 113, 0, 0, 0, 0, + 115, 117, 98, 97, 114, 117, 80, 114, + 101, 103, 108, 111, 98, 97, 108, 0, + 104, 121, 117, 110, 100, 97, 105, 76, + 101, 103, 97, 99, 121, 0, 0, 0, + 104, 121, 117, 110, 100, 97, 105, 67, + 111, 109, 109, 117, 110, 105, 116, 121, + 0, 0, 0, 0, 0, 0, 0, 0, + 118, 111, 108, 107, 115, 119, 97, 103, + 101, 110, 77, 108, 98, 0, 0, 0, + 104, 111, 110, 103, 113, 105, 0, 0, + 98, 111, 100, 121, 0, 0, 0, 0, + 104, 121, 117, 110, 100, 97, 105, 67, + 97, 110, 102, 100, 0, 0, 0, 0, + 118, 111, 108, 107, 115, 119, 97, 103, + 101, 110, 77, 113, 98, 69, 118, 111, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 104, 114, 121, 115, 108, 101, 114, + 67, 117, 115, 119, 0, 0, 0, 0, + 112, 115, 97, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_95551e5b1edaf451 = b_95551e5b1edaf451.words; +#if !CAPNP_LITE +static const uint16_t m_95551e5b1edaf451[] = {17, 27, 7, 9, 30, 3, 6, 4, 18, 12, 20, 5, 1, 26, 8, 28, 24, 23, 13, 14, 19, 31, 0, 11, 22, 10, 2, 16, 15, 25, 29, 21}; +const ::capnp::_::RawSchema s_95551e5b1edaf451 = { + 0x95551e5b1edaf451, b_95551e5b1edaf451.words, 167, nullptr, m_95551e5b1edaf451, + 0, 32, nullptr, nullptr, nullptr, { &s_95551e5b1edaf451, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(SafetyModel_95551e5b1edaf451, 95551e5b1edaf451); +static const ::capnp::_::AlignedData<33> b_d661512be2def77f = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 127, 247, 222, 226, 43, 81, 97, 214, + 20, 0, 0, 0, 2, 0, 0, 0, + 218, 169, 170, 144, 36, 55, 105, 140, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 42, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 79, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 114, 46, 99, 97, 112, 110, + 112, 58, 67, 97, 114, 80, 97, 114, + 97, 109, 115, 46, 83, 116, 101, 101, + 114, 67, 111, 110, 116, 114, 111, 108, + 84, 121, 112, 101, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 12, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 162, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 111, 114, 113, 117, 101, 0, 0, + 97, 110, 103, 108, 101, 0, 0, 0, + 99, 117, 114, 118, 97, 116, 117, 114, + 101, 68, 69, 80, 82, 69, 67, 65, + 84, 69, 68, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_d661512be2def77f = b_d661512be2def77f.words; +#if !CAPNP_LITE +static const uint16_t m_d661512be2def77f[] = {1, 2, 0}; +const ::capnp::_::RawSchema s_d661512be2def77f = { + 0xd661512be2def77f, b_d661512be2def77f.words, 33, nullptr, m_d661512be2def77f, + 0, 3, nullptr, nullptr, nullptr, { &s_d661512be2def77f, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(SteerControlType_d661512be2def77f, d661512be2def77f); +static const ::capnp::_::AlignedData<40> b_8f162eeb14bfc0ec = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 236, 192, 191, 20, 235, 46, 22, 143, + 20, 0, 0, 0, 2, 0, 0, 0, + 218, 169, 170, 144, 36, 55, 105, 140, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 42, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 127, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 114, 46, 99, 97, 112, 110, + 112, 58, 67, 97, 114, 80, 97, 114, + 97, 109, 115, 46, 84, 114, 97, 110, + 115, 109, 105, 115, 115, 105, 111, 110, + 84, 121, 112, 101, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 20, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 53, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 45, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 25, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 110, 107, 110, 111, 119, 110, 0, + 97, 117, 116, 111, 109, 97, 116, 105, + 99, 0, 0, 0, 0, 0, 0, 0, + 109, 97, 110, 117, 97, 108, 0, 0, + 100, 105, 114, 101, 99, 116, 0, 0, + 99, 118, 116, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_8f162eeb14bfc0ec = b_8f162eeb14bfc0ec.words; +#if !CAPNP_LITE +static const uint16_t m_8f162eeb14bfc0ec[] = {1, 4, 3, 2, 0}; +const ::capnp::_::RawSchema s_8f162eeb14bfc0ec = { + 0x8f162eeb14bfc0ec, b_8f162eeb14bfc0ec.words, 40, nullptr, m_8f162eeb14bfc0ec, + 0, 5, nullptr, nullptr, nullptr, { &s_8f162eeb14bfc0ec, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(TransmissionType_8f162eeb14bfc0ec, 8f162eeb14bfc0ec); +static const ::capnp::_::AlignedData<176> b_962b56180c9359ce = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 206, 89, 147, 12, 24, 86, 43, 150, + 20, 0, 0, 0, 1, 0, 2, 0, + 218, 169, 170, 144, 36, 55, 105, 140, + 3, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 210, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 55, 2, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 114, 46, 99, 97, 112, 110, + 112, 58, 67, 97, 114, 80, 97, 114, + 97, 109, 115, 46, 67, 97, 114, 70, + 119, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 40, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 1, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 1, 0, 0, 3, 0, 1, 0, + 16, 1, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 1, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 1, 0, 0, 3, 0, 1, 0, + 24, 1, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 1, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 1, 0, 0, 3, 0, 1, 0, + 28, 1, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 1, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 24, 1, 0, 0, 3, 0, 1, 0, + 36, 1, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 1, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 32, 1, 0, 0, 3, 0, 1, 0, + 44, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 1, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 36, 1, 0, 0, 3, 0, 1, 0, + 64, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 61, 1, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 56, 1, 0, 0, 3, 0, 1, 0, + 68, 1, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 65, 1, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 60, 1, 0, 0, 3, 0, 1, 0, + 72, 1, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 96, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 69, 1, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 64, 1, 0, 0, 3, 0, 1, 0, + 76, 1, 0, 0, 2, 0, 1, 0, + 9, 0, 0, 0, 97, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 73, 1, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 72, 1, 0, 0, 3, 0, 1, 0, + 84, 1, 0, 0, 2, 0, 1, 0, + 101, 99, 117, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 145, 214, 209, 89, 183, 155, 17, 247, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 119, 86, 101, 114, 115, 105, 111, + 110, 0, 0, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 100, 100, 114, 101, 115, 115, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 117, 98, 65, 100, 100, 114, 101, + 115, 115, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 101, 115, 112, 111, 110, 115, 101, + 65, 100, 100, 114, 101, 115, 115, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 101, 113, 117, 101, 115, 116, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 13, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 98, 114, 97, 110, 100, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 98, 117, 115, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 103, 105, 110, 103, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 111, 98, 100, 77, 117, 108, 116, 105, + 112, 108, 101, 120, 105, 110, 103, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_962b56180c9359ce = b_962b56180c9359ce.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_962b56180c9359ce[] = { + &s_f7119bb759d1d691, +}; +static const uint16_t m_962b56180c9359ce[] = {2, 6, 7, 0, 1, 8, 9, 5, 4, 3}; +static const uint16_t i_962b56180c9359ce[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9}; +const ::capnp::_::RawSchema s_962b56180c9359ce = { + 0x962b56180c9359ce, b_962b56180c9359ce.words, 176, d_962b56180c9359ce, m_962b56180c9359ce, + 1, 10, i_962b56180c9359ce, nullptr, nullptr, { &s_962b56180c9359ce, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<130> b_f7119bb759d1d691 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 145, 214, 209, 89, 183, 155, 17, 247, + 20, 0, 0, 0, 2, 0, 0, 0, + 218, 169, 170, 144, 36, 55, 105, 140, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 194, 0, 0, 0, + 29, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 0, 0, 0, 95, 2, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 114, 46, 99, 97, 112, 110, + 112, 58, 67, 97, 114, 80, 97, 114, + 97, 109, 115, 46, 69, 99, 117, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 100, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 1, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 29, 1, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 21, 1, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 17, 1, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 13, 1, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 5, 1, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 0, 0, 0, 0, + 253, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 17, 0, 0, 0, 0, 0, 0, 0, + 245, 0, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 241, 0, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 237, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 229, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 221, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 213, 0, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 22, 0, 0, 0, 0, 0, 0, 0, + 213, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 23, 0, 0, 0, 0, 0, 0, 0, + 205, 0, 0, 0, 194, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 205, 0, 0, 0, 170, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 0, 0, 0, 0, + 205, 0, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 24, 0, 0, 0, 0, 0, 0, 0, + 201, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 193, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 185, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 177, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 169, 0, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 18, 0, 0, 0, 0, 0, 0, 0, + 165, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 19, 0, 0, 0, 0, 0, 0, 0, + 157, 0, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 20, 0, 0, 0, 0, 0, 0, 0, + 153, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 112, 115, 0, 0, 0, 0, 0, + 97, 98, 115, 0, 0, 0, 0, 0, + 102, 119, 100, 82, 97, 100, 97, 114, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 119, 100, 67, 97, 109, 101, 114, + 97, 0, 0, 0, 0, 0, 0, 0, + 101, 110, 103, 105, 110, 101, 0, 0, + 117, 110, 107, 110, 111, 119, 110, 0, + 100, 115, 117, 0, 0, 0, 0, 0, + 112, 97, 114, 107, 105, 110, 103, 65, + 100, 97, 115, 0, 0, 0, 0, 0, + 116, 114, 97, 110, 115, 109, 105, 115, + 115, 105, 111, 110, 0, 0, 0, 0, + 115, 114, 115, 0, 0, 0, 0, 0, + 103, 97, 116, 101, 119, 97, 121, 0, + 104, 117, 100, 0, 0, 0, 0, 0, + 99, 111, 109, 98, 105, 110, 97, 116, + 105, 111, 110, 77, 101, 116, 101, 114, + 0, 0, 0, 0, 0, 0, 0, 0, + 118, 115, 97, 0, 0, 0, 0, 0, + 112, 114, 111, 103, 114, 97, 109, 109, + 101, 100, 70, 117, 101, 108, 73, 110, + 106, 101, 99, 116, 105, 111, 110, 0, + 101, 108, 101, 99, 116, 114, 105, 99, + 66, 114, 97, 107, 101, 66, 111, 111, + 115, 116, 101, 114, 0, 0, 0, 0, + 115, 104, 105, 102, 116, 66, 121, 87, + 105, 114, 101, 0, 0, 0, 0, 0, + 100, 101, 98, 117, 103, 0, 0, 0, + 104, 121, 98, 114, 105, 100, 0, 0, + 97, 100, 97, 115, 0, 0, 0, 0, + 104, 118, 97, 99, 0, 0, 0, 0, + 99, 111, 114, 110, 101, 114, 82, 97, + 100, 97, 114, 0, 0, 0, 0, 0, + 101, 112, 98, 0, 0, 0, 0, 0, + 116, 101, 108, 101, 109, 97, 116, 105, + 99, 115, 0, 0, 0, 0, 0, 0, + 98, 111, 100, 121, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_f7119bb759d1d691 = b_f7119bb759d1d691.words; +#if !CAPNP_LITE +static const uint16_t m_f7119bb759d1d691[] = {1, 19, 24, 12, 21, 17, 6, 15, 4, 22, 0, 3, 2, 10, 11, 20, 18, 7, 14, 16, 9, 23, 8, 5, 13}; +const ::capnp::_::RawSchema s_f7119bb759d1d691 = { + 0xf7119bb759d1d691, b_f7119bb759d1d691.words, 130, nullptr, m_f7119bb759d1d691, + 0, 25, nullptr, nullptr, nullptr, { &s_f7119bb759d1d691, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(Ecu_f7119bb759d1d691, f7119bb759d1d691); +static const ::capnp::_::AlignedData<31> b_9fd95523d8dc40ce = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 206, 64, 220, 216, 35, 85, 217, 159, + 20, 0, 0, 0, 2, 0, 0, 0, + 218, 169, 170, 144, 36, 55, 105, 140, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 50, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 79, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 114, 46, 99, 97, 112, 110, + 112, 58, 67, 97, 114, 80, 97, 114, + 97, 109, 115, 46, 70, 105, 110, 103, + 101, 114, 112, 114, 105, 110, 116, 83, + 111, 117, 114, 99, 101, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 12, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 26, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 110, 0, 0, 0, 0, 0, + 102, 119, 0, 0, 0, 0, 0, 0, + 102, 105, 120, 101, 100, 0, 0, 0, } +}; +::capnp::word const* const bp_9fd95523d8dc40ce = b_9fd95523d8dc40ce.words; +#if !CAPNP_LITE +static const uint16_t m_9fd95523d8dc40ce[] = {0, 2, 1}; +const ::capnp::_::RawSchema s_9fd95523d8dc40ce = { + 0x9fd95523d8dc40ce, b_9fd95523d8dc40ce.words, 31, nullptr, m_9fd95523d8dc40ce, + 0, 3, nullptr, nullptr, nullptr, { &s_9fd95523d8dc40ce, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(FingerprintSource_9fd95523d8dc40ce, 9fd95523d8dc40ce); +static const ::capnp::_::AlignedData<28> b_ff99e3682a833c51 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 81, 60, 131, 42, 104, 227, 153, 255, + 20, 0, 0, 0, 2, 0, 0, 0, + 218, 169, 170, 144, 36, 55, 105, 140, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 34, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 55, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 114, 46, 99, 97, 112, 110, + 112, 58, 67, 97, 114, 80, 97, 114, + 97, 109, 115, 46, 78, 101, 116, 119, + 111, 114, 107, 76, 111, 99, 97, 116, + 105, 111, 110, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 8, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 17, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 119, 100, 67, 97, 109, 101, 114, + 97, 0, 0, 0, 0, 0, 0, 0, + 103, 97, 116, 101, 119, 97, 121, 0, } +}; +::capnp::word const* const bp_ff99e3682a833c51 = b_ff99e3682a833c51.words; +#if !CAPNP_LITE +static const uint16_t m_ff99e3682a833c51[] = {0, 1}; +const ::capnp::_::RawSchema s_ff99e3682a833c51 = { + 0xff99e3682a833c51, b_ff99e3682a833c51.words, 28, nullptr, m_ff99e3682a833c51, + 0, 2, nullptr, nullptr, nullptr, { &s_ff99e3682a833c51, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(NetworkLocation_ff99e3682a833c51, ff99e3682a833c51); +static const ::capnp::_::AlignedData<80> b_93fc580a35339568 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 104, 149, 51, 53, 10, 88, 252, 147, + 20, 0, 0, 0, 1, 0, 17, 0, + 218, 169, 170, 144, 36, 55, 105, 140, + 14, 0, 7, 0, 1, 0, 4, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 18, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 231, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 114, 46, 99, 97, 112, 110, + 112, 58, 67, 97, 114, 80, 97, 114, + 97, 109, 115, 46, 108, 97, 116, 101, + 114, 97, 108, 84, 117, 110, 105, 110, + 103, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 255, 255, 9, 0, 0, 0, + 0, 0, 1, 0, 26, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 92, 0, 0, 0, 3, 0, 1, 0, + 104, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 254, 255, 9, 0, 0, 0, + 0, 0, 1, 0, 27, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 0, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 0, 0, 0, 3, 0, 1, 0, + 112, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 253, 255, 9, 0, 0, 0, + 0, 0, 1, 0, 40, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 0, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 0, 0, 0, 3, 0, 1, 0, + 120, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 252, 255, 9, 0, 0, 0, + 0, 0, 1, 0, 67, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 0, 0, 0, 3, 0, 1, 0, + 124, 0, 0, 0, 2, 0, 1, 0, + 112, 105, 100, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 46, 76, 209, 203, 63, 114, 34, 150, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 110, 100, 105, 68, 69, 80, 82, + 69, 67, 65, 84, 69, 68, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 179, 51, 85, 4, 46, 71, 52, 163, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 113, 114, 68, 69, 80, 82, 69, + 67, 65, 84, 69, 68, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 18, 106, 97, 40, 63, 30, 21, 157, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 111, 114, 113, 117, 101, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 29, 204, 78, 128, 14, 110, 54, 128, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_93fc580a35339568 = b_93fc580a35339568.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_93fc580a35339568[] = { + &s_80366e0e804ecc1d, + &s_8c69372490aaa9da, + &s_9622723fcbd14c2e, + &s_9d151e3f28616a12, + &s_a334472e045533b3, +}; +static const uint16_t m_93fc580a35339568[] = {1, 2, 0, 3}; +static const uint16_t i_93fc580a35339568[] = {0, 1, 2, 3}; +const ::capnp::_::RawSchema s_93fc580a35339568 = { + 0x93fc580a35339568, b_93fc580a35339568.words, 80, d_93fc580a35339568, m_93fc580a35339568, + 5, 4, i_93fc580a35339568, nullptr, nullptr, { &s_93fc580a35339568, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +} // namespace schemas +} // namespace capnp + +// ======================================================================================= + +namespace cereal { + +// CarEvent +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t CarEvent::_capnpPrivate::dataWordSize; +constexpr uint16_t CarEvent::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind CarEvent::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* CarEvent::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// CarState +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t CarState::_capnpPrivate::dataWordSize; +constexpr uint16_t CarState::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind CarState::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* CarState::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// CarState::WheelSpeeds +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t CarState::WheelSpeeds::_capnpPrivate::dataWordSize; +constexpr uint16_t CarState::WheelSpeeds::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind CarState::WheelSpeeds::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* CarState::WheelSpeeds::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// CarState::CruiseState +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t CarState::CruiseState::_capnpPrivate::dataWordSize; +constexpr uint16_t CarState::CruiseState::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind CarState::CruiseState::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* CarState::CruiseState::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// CarState::ButtonEvent +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t CarState::ButtonEvent::_capnpPrivate::dataWordSize; +constexpr uint16_t CarState::ButtonEvent::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind CarState::ButtonEvent::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* CarState::ButtonEvent::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// RadarData +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t RadarData::_capnpPrivate::dataWordSize; +constexpr uint16_t RadarData::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind RadarData::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* RadarData::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// RadarData::RadarPoint +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t RadarData::RadarPoint::_capnpPrivate::dataWordSize; +constexpr uint16_t RadarData::RadarPoint::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind RadarData::RadarPoint::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* RadarData::RadarPoint::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// CarControl +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t CarControl::_capnpPrivate::dataWordSize; +constexpr uint16_t CarControl::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind CarControl::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* CarControl::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// CarControl::Actuators +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t CarControl::Actuators::_capnpPrivate::dataWordSize; +constexpr uint16_t CarControl::Actuators::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind CarControl::Actuators::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* CarControl::Actuators::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// CarControl::CruiseControl +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t CarControl::CruiseControl::_capnpPrivate::dataWordSize; +constexpr uint16_t CarControl::CruiseControl::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind CarControl::CruiseControl::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* CarControl::CruiseControl::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// CarControl::HUDControl +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t CarControl::HUDControl::_capnpPrivate::dataWordSize; +constexpr uint16_t CarControl::HUDControl::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind CarControl::HUDControl::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* CarControl::HUDControl::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// CarOutput +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t CarOutput::_capnpPrivate::dataWordSize; +constexpr uint16_t CarOutput::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind CarOutput::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* CarOutput::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// CarParams +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t CarParams::_capnpPrivate::dataWordSize; +constexpr uint16_t CarParams::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind CarParams::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* CarParams::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// CarParams::SafetyConfig +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t CarParams::SafetyConfig::_capnpPrivate::dataWordSize; +constexpr uint16_t CarParams::SafetyConfig::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind CarParams::SafetyConfig::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* CarParams::SafetyConfig::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// CarParams::LateralParams +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t CarParams::LateralParams::_capnpPrivate::dataWordSize; +constexpr uint16_t CarParams::LateralParams::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind CarParams::LateralParams::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* CarParams::LateralParams::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// CarParams::LateralPIDTuning +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t CarParams::LateralPIDTuning::_capnpPrivate::dataWordSize; +constexpr uint16_t CarParams::LateralPIDTuning::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind CarParams::LateralPIDTuning::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* CarParams::LateralPIDTuning::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// CarParams::LateralTorqueTuning +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t CarParams::LateralTorqueTuning::_capnpPrivate::dataWordSize; +constexpr uint16_t CarParams::LateralTorqueTuning::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind CarParams::LateralTorqueTuning::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* CarParams::LateralTorqueTuning::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// CarParams::LongitudinalPIDTuning +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t CarParams::LongitudinalPIDTuning::_capnpPrivate::dataWordSize; +constexpr uint16_t CarParams::LongitudinalPIDTuning::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind CarParams::LongitudinalPIDTuning::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* CarParams::LongitudinalPIDTuning::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// CarParams::LateralINDITuning +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t CarParams::LateralINDITuning::_capnpPrivate::dataWordSize; +constexpr uint16_t CarParams::LateralINDITuning::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind CarParams::LateralINDITuning::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* CarParams::LateralINDITuning::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// CarParams::LateralLQRTuning +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t CarParams::LateralLQRTuning::_capnpPrivate::dataWordSize; +constexpr uint16_t CarParams::LateralLQRTuning::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind CarParams::LateralLQRTuning::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* CarParams::LateralLQRTuning::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// CarParams::CarFw +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t CarParams::CarFw::_capnpPrivate::dataWordSize; +constexpr uint16_t CarParams::CarFw::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind CarParams::CarFw::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* CarParams::CarFw::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// CarParams::LateralTuning +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t CarParams::LateralTuning::_capnpPrivate::dataWordSize; +constexpr uint16_t CarParams::LateralTuning::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind CarParams::LateralTuning::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* CarParams::LateralTuning::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + + +} // namespace + diff --git a/cereal/gen/cpp/custom.capnp.c++ b/cereal/gen/cpp/custom.capnp.c++ new file mode 100644 index 00000000000000..f2c4158eb4eba7 --- /dev/null +++ b/cereal/gen/cpp/custom.capnp.c++ @@ -0,0 +1,1394 @@ +// Generated by Cap'n Proto compiler, DO NOT EDIT +// source: custom.capnp + +#include "custom.capnp.h" + +namespace capnp { +namespace schemas { +static const ::capnp::_::AlignedData<120> b_81c2f05a394cf4af = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 175, 244, 76, 57, 90, 240, 194, 129, + 13, 0, 0, 0, 1, 0, 1, 0, + 89, 10, 85, 29, 102, 186, 38, 181, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 10, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 87, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 117, 115, 116, 111, 109, 46, 99, + 97, 112, 110, 112, 58, 70, 114, 111, + 103, 80, 105, 108, 111, 116, 67, 97, + 114, 67, 111, 110, 116, 114, 111, 108, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 24, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 153, 0, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 152, 0, 0, 0, 3, 0, 1, 0, + 164, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 161, 0, 0, 0, 178, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 164, 0, 0, 0, 3, 0, 1, 0, + 176, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 173, 0, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 172, 0, 0, 0, 3, 0, 1, 0, + 184, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 181, 0, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 184, 0, 0, 0, 3, 0, 1, 0, + 196, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 193, 0, 0, 0, 178, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 196, 0, 0, 0, 3, 0, 1, 0, + 208, 0, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 205, 0, 0, 0, 234, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 212, 0, 0, 0, 3, 0, 1, 0, + 224, 0, 0, 0, 2, 0, 1, 0, + 97, 99, 99, 101, 108, 80, 114, 101, + 115, 115, 101, 100, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 108, 119, 97, 121, 115, 79, 110, + 76, 97, 116, 101, 114, 97, 108, 65, + 99, 116, 105, 118, 101, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 101, 99, 101, 108, 80, 114, 101, + 115, 115, 101, 100, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 99, 119, 69, 118, 101, 110, 116, + 84, 114, 105, 103, 103, 101, 114, 101, + 100, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 110, 111, 69, 110, 116, 114, 121, 69, + 118, 101, 110, 116, 84, 114, 105, 103, + 103, 101, 114, 101, 100, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 101, 101, 114, 83, 97, 116, + 117, 114, 97, 116, 101, 100, 69, 118, + 101, 110, 116, 84, 114, 105, 103, 103, + 101, 114, 101, 100, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_81c2f05a394cf4af = b_81c2f05a394cf4af.words; +#if !CAPNP_LITE +static const uint16_t m_81c2f05a394cf4af[] = {0, 1, 2, 3, 4, 5}; +static const uint16_t i_81c2f05a394cf4af[] = {0, 1, 2, 3, 4, 5}; +const ::capnp::_::RawSchema s_81c2f05a394cf4af = { + 0x81c2f05a394cf4af, b_81c2f05a394cf4af.words, 120, nullptr, m_81c2f05a394cf4af, + 0, 6, i_81c2f05a394cf4af, nullptr, nullptr, { &s_81c2f05a394cf4af, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<152> b_aedffd8f31e7b55d = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 93, 181, 231, 49, 143, 253, 223, 174, + 13, 0, 0, 0, 1, 0, 1, 0, + 89, 10, 85, 29, 102, 186, 38, 181, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 250, 0, 0, 0, + 33, 0, 0, 0, 23, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 45, 0, 0, 0, 199, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 117, 115, 116, 111, 109, 46, 99, + 97, 112, 110, 112, 58, 70, 114, 111, + 103, 80, 105, 108, 111, 116, 67, 97, + 114, 83, 116, 97, 116, 101, 0, 0, + 4, 0, 0, 0, 1, 0, 1, 0, + 63, 82, 246, 2, 226, 20, 71, 212, + 1, 0, 0, 0, 98, 0, 0, 0, + 66, 117, 116, 116, 111, 110, 69, 118, + 101, 110, 116, 0, 0, 0, 0, 0, + 32, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 209, 0, 0, 0, 194, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 212, 0, 0, 0, 3, 0, 1, 0, + 224, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 221, 0, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 220, 0, 0, 0, 3, 0, 1, 0, + 232, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 229, 0, 0, 0, 162, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 232, 0, 0, 0, 3, 0, 1, 0, + 244, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 241, 0, 0, 0, 162, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 244, 0, 0, 0, 3, 0, 1, 0, + 0, 1, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 253, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 248, 0, 0, 0, 3, 0, 1, 0, + 4, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 1, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 252, 0, 0, 0, 3, 0, 1, 0, + 8, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 1, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 1, 0, 0, 3, 0, 1, 0, + 16, 1, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 1, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 1, 0, 0, 3, 0, 1, 0, + 28, 1, 0, 0, 2, 0, 1, 0, + 97, 108, 119, 97, 121, 115, 79, 110, + 76, 97, 116, 101, 114, 97, 108, 68, + 105, 115, 97, 98, 108, 101, 100, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 98, 114, 97, 107, 101, 76, 105, 103, + 104, 116, 115, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 97, 115, 104, 98, 111, 97, 114, + 100, 83, 112, 101, 101, 100, 76, 105, + 109, 105, 116, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 105, 115, 116, 97, 110, 99, 101, + 76, 111, 110, 103, 80, 114, 101, 115, + 115, 101, 100, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 99, 111, 71, 101, 97, 114, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 97, 115, 77, 101, 110, 117, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 112, 111, 114, 116, 71, 101, 97, + 114, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 114, 97, 102, 102, 105, 99, 77, + 111, 100, 101, 65, 99, 116, 105, 118, + 101, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_aedffd8f31e7b55d = b_aedffd8f31e7b55d.words; +#if !CAPNP_LITE +static const uint16_t m_aedffd8f31e7b55d[] = {0, 1, 2, 3, 4, 5, 6, 7}; +static const uint16_t i_aedffd8f31e7b55d[] = {0, 1, 2, 3, 4, 5, 6, 7}; +const ::capnp::_::RawSchema s_aedffd8f31e7b55d = { + 0xaedffd8f31e7b55d, b_aedffd8f31e7b55d.words, 152, nullptr, m_aedffd8f31e7b55d, + 0, 8, i_aedffd8f31e7b55d, nullptr, nullptr, { &s_aedffd8f31e7b55d, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<22> b_d44714e202f6523f = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 63, 82, 246, 2, 226, 20, 71, 212, + 31, 0, 0, 0, 1, 0, 0, 0, + 93, 181, 231, 49, 143, 253, 223, 174, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 90, 1, 0, 0, + 41, 0, 0, 0, 23, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 117, 115, 116, 111, 109, 46, 99, + 97, 112, 110, 112, 58, 70, 114, 111, + 103, 80, 105, 108, 111, 116, 67, 97, + 114, 83, 116, 97, 116, 101, 46, 66, + 117, 116, 116, 111, 110, 69, 118, 101, + 110, 116, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 1, 0, 1, 0, + 12, 21, 3, 70, 63, 147, 214, 232, + 1, 0, 0, 0, 42, 0, 0, 0, + 84, 121, 112, 101, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_d44714e202f6523f = b_d44714e202f6523f.words; +#if !CAPNP_LITE +const ::capnp::_::RawSchema s_d44714e202f6523f = { + 0xd44714e202f6523f, b_d44714e202f6523f.words, 22, nullptr, nullptr, + 0, 0, nullptr, nullptr, nullptr, { &s_d44714e202f6523f, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<24> b_e8d6933f4603150c = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 12, 21, 3, 70, 63, 147, 214, 232, + 43, 0, 0, 0, 2, 0, 0, 0, + 63, 82, 246, 2, 226, 20, 71, 212, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 130, 1, 0, 0, + 41, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 0, 0, 0, 31, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 117, 115, 116, 111, 109, 46, 99, + 97, 112, 110, 112, 58, 70, 114, 111, + 103, 80, 105, 108, 111, 116, 67, 97, + 114, 83, 116, 97, 116, 101, 46, 66, + 117, 116, 116, 111, 110, 69, 118, 101, + 110, 116, 46, 84, 121, 112, 101, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 4, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 107, 97, 115, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_e8d6933f4603150c = b_e8d6933f4603150c.words; +#if !CAPNP_LITE +static const uint16_t m_e8d6933f4603150c[] = {0}; +const ::capnp::_::RawSchema s_e8d6933f4603150c = { + 0xe8d6933f4603150c, b_e8d6933f4603150c.words, 24, nullptr, m_e8d6933f4603150c, + 0, 1, nullptr, nullptr, nullptr, { &s_e8d6933f4603150c, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(Type_e8d6933f4603150c, e8d6933f4603150c); +static const ::capnp::_::AlignedData<51> b_f35cc4560bbf6ec2 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 194, 110, 191, 11, 86, 196, 92, 243, + 13, 0, 0, 0, 1, 0, 1, 0, + 89, 10, 85, 29, 102, 186, 38, 181, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 18, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 119, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 117, 115, 116, 111, 109, 46, 99, + 97, 112, 110, 112, 58, 70, 114, 111, + 103, 80, 105, 108, 111, 116, 68, 101, + 118, 105, 99, 101, 83, 116, 97, 116, + 101, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 8, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 40, 0, 0, 0, 3, 0, 1, 0, + 52, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 49, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 48, 0, 0, 0, 3, 0, 1, 0, + 60, 0, 0, 0, 2, 0, 1, 0, + 102, 114, 101, 101, 83, 112, 97, 99, + 101, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 115, 101, 100, 83, 112, 97, 99, + 101, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_f35cc4560bbf6ec2 = b_f35cc4560bbf6ec2.words; +#if !CAPNP_LITE +static const uint16_t m_f35cc4560bbf6ec2[] = {0, 1}; +static const uint16_t i_f35cc4560bbf6ec2[] = {0, 1}; +const ::capnp::_::RawSchema s_f35cc4560bbf6ec2 = { + 0xf35cc4560bbf6ec2, b_f35cc4560bbf6ec2.words, 51, nullptr, m_f35cc4560bbf6ec2, + 0, 2, i_f35cc4560bbf6ec2, nullptr, nullptr, { &s_f35cc4560bbf6ec2, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<69> b_da96579883444c35 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 53, 76, 68, 131, 152, 87, 150, 218, + 13, 0, 0, 0, 1, 0, 1, 0, + 89, 10, 85, 29, 102, 186, 38, 181, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 10, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 175, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 117, 115, 116, 111, 109, 46, 99, + 97, 112, 110, 112, 58, 70, 114, 111, + 103, 80, 105, 108, 111, 116, 78, 97, + 118, 105, 103, 97, 116, 105, 111, 110, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 12, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 69, 0, 0, 0, 194, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 72, 0, 0, 0, 3, 0, 1, 0, + 84, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 81, 0, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 80, 0, 0, 0, 3, 0, 1, 0, + 92, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 89, 0, 0, 0, 170, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 92, 0, 0, 0, 3, 0, 1, 0, + 104, 0, 0, 0, 2, 0, 1, 0, + 97, 112, 112, 114, 111, 97, 99, 104, + 105, 110, 103, 73, 110, 116, 101, 114, + 115, 101, 99, 116, 105, 111, 110, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 112, 112, 114, 111, 97, 99, 104, + 105, 110, 103, 84, 117, 114, 110, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 110, 97, 118, 105, 103, 97, 116, 105, + 111, 110, 83, 112, 101, 101, 100, 76, + 105, 109, 105, 116, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_da96579883444c35 = b_da96579883444c35.words; +#if !CAPNP_LITE +static const uint16_t m_da96579883444c35[] = {0, 1, 2}; +static const uint16_t i_da96579883444c35[] = {0, 1, 2}; +const ::capnp::_::RawSchema s_da96579883444c35 = { + 0xda96579883444c35, b_da96579883444c35.words, 69, nullptr, m_da96579883444c35, + 0, 3, i_da96579883444c35, nullptr, nullptr, { &s_da96579883444c35, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<599> b_80ae746ee2596b11 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 17, 107, 89, 226, 110, 116, 174, 128, + 13, 0, 0, 0, 1, 0, 15, 0, + 89, 10, 85, 29, 102, 186, 38, 181, + 2, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 218, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 175, 7, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 117, 115, 116, 111, 109, 46, 99, + 97, 112, 110, 112, 58, 70, 114, 111, + 103, 80, 105, 108, 111, 116, 80, 108, + 97, 110, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 140, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 197, 3, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 200, 3, 0, 0, 3, 0, 1, 0, + 212, 3, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 209, 3, 0, 0, 178, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 212, 3, 0, 0, 3, 0, 1, 0, + 224, 3, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 221, 3, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 220, 3, 0, 0, 3, 0, 1, 0, + 232, 3, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 229, 3, 0, 0, 178, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 232, 3, 0, 0, 3, 0, 1, 0, + 244, 3, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 96, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 241, 3, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 244, 3, 0, 0, 3, 0, 1, 0, + 0, 4, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 97, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 253, 3, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 252, 3, 0, 0, 3, 0, 1, 0, + 8, 4, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 4, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 4, 0, 0, 3, 0, 1, 0, + 20, 4, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 17, 4, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 4, 0, 0, 3, 0, 1, 0, + 44, 4, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 98, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 4, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 40, 4, 0, 0, 3, 0, 1, 0, + 52, 4, 0, 0, 2, 0, 1, 0, + 9, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 49, 4, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 48, 4, 0, 0, 3, 0, 1, 0, + 60, 4, 0, 0, 2, 0, 1, 0, + 10, 0, 0, 0, 8, 0, 0, 0, + 0, 0, 1, 0, 10, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 57, 4, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 56, 4, 0, 0, 3, 0, 1, 0, + 68, 4, 0, 0, 2, 0, 1, 0, + 11, 0, 0, 0, 9, 0, 0, 0, + 0, 0, 1, 0, 11, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 65, 4, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 64, 4, 0, 0, 3, 0, 1, 0, + 76, 4, 0, 0, 2, 0, 1, 0, + 12, 0, 0, 0, 10, 0, 0, 0, + 0, 0, 1, 0, 12, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 73, 4, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 72, 4, 0, 0, 3, 0, 1, 0, + 84, 4, 0, 0, 2, 0, 1, 0, + 13, 0, 0, 0, 11, 0, 0, 0, + 0, 0, 1, 0, 13, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 81, 4, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 80, 4, 0, 0, 3, 0, 1, 0, + 92, 4, 0, 0, 2, 0, 1, 0, + 14, 0, 0, 0, 99, 0, 0, 0, + 0, 0, 1, 0, 14, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 89, 4, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 88, 4, 0, 0, 3, 0, 1, 0, + 100, 4, 0, 0, 2, 0, 1, 0, + 15, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 15, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 4, 0, 0, 170, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 4, 0, 0, 3, 0, 1, 0, + 112, 4, 0, 0, 2, 0, 1, 0, + 16, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 16, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 4, 0, 0, 210, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 4, 0, 0, 3, 0, 1, 0, + 128, 4, 0, 0, 2, 0, 1, 0, + 17, 0, 0, 0, 16, 0, 0, 0, + 0, 0, 1, 0, 17, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 125, 4, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 128, 4, 0, 0, 3, 0, 1, 0, + 140, 4, 0, 0, 2, 0, 1, 0, + 18, 0, 0, 0, 100, 0, 0, 0, + 0, 0, 1, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 137, 4, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 136, 4, 0, 0, 3, 0, 1, 0, + 148, 4, 0, 0, 2, 0, 1, 0, + 19, 0, 0, 0, 17, 0, 0, 0, + 0, 0, 1, 0, 19, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 145, 4, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 148, 4, 0, 0, 3, 0, 1, 0, + 160, 4, 0, 0, 2, 0, 1, 0, + 20, 0, 0, 0, 18, 0, 0, 0, + 0, 0, 1, 0, 20, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 157, 4, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 156, 4, 0, 0, 3, 0, 1, 0, + 168, 4, 0, 0, 2, 0, 1, 0, + 21, 0, 0, 0, 19, 0, 0, 0, + 0, 0, 1, 0, 21, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 165, 4, 0, 0, 162, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 168, 4, 0, 0, 3, 0, 1, 0, + 180, 4, 0, 0, 2, 0, 1, 0, + 22, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 22, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 177, 4, 0, 0, 162, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 180, 4, 0, 0, 3, 0, 1, 0, + 192, 4, 0, 0, 2, 0, 1, 0, + 23, 0, 0, 0, 20, 0, 0, 0, + 0, 0, 1, 0, 23, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 189, 4, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 188, 4, 0, 0, 3, 0, 1, 0, + 200, 4, 0, 0, 2, 0, 1, 0, + 24, 0, 0, 0, 21, 0, 0, 0, + 0, 0, 1, 0, 24, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 197, 4, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 196, 4, 0, 0, 3, 0, 1, 0, + 208, 4, 0, 0, 2, 0, 1, 0, + 25, 0, 0, 0, 101, 0, 0, 0, + 0, 0, 1, 0, 25, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 205, 4, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 208, 4, 0, 0, 3, 0, 1, 0, + 220, 4, 0, 0, 2, 0, 1, 0, + 26, 0, 0, 0, 11, 0, 0, 0, + 0, 0, 1, 0, 26, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 217, 4, 0, 0, 202, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 224, 4, 0, 0, 3, 0, 1, 0, + 236, 4, 0, 0, 2, 0, 1, 0, + 27, 0, 0, 0, 24, 0, 0, 0, + 0, 0, 1, 0, 27, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 233, 4, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 228, 4, 0, 0, 3, 0, 1, 0, + 240, 4, 0, 0, 2, 0, 1, 0, + 28, 0, 0, 0, 102, 0, 0, 0, + 0, 0, 1, 0, 28, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 237, 4, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 236, 4, 0, 0, 3, 0, 1, 0, + 248, 4, 0, 0, 2, 0, 1, 0, + 29, 0, 0, 0, 103, 0, 0, 0, + 0, 0, 1, 0, 29, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 245, 4, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 244, 4, 0, 0, 3, 0, 1, 0, + 0, 5, 0, 0, 2, 0, 1, 0, + 30, 0, 0, 0, 25, 0, 0, 0, + 0, 0, 1, 0, 30, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 253, 4, 0, 0, 202, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 5, 0, 0, 3, 0, 1, 0, + 16, 5, 0, 0, 2, 0, 1, 0, + 31, 0, 0, 0, 26, 0, 0, 0, + 0, 0, 1, 0, 31, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 5, 0, 0, 178, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 5, 0, 0, 3, 0, 1, 0, + 28, 5, 0, 0, 2, 0, 1, 0, + 32, 0, 0, 0, 27, 0, 0, 0, + 0, 0, 1, 0, 32, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 5, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 20, 5, 0, 0, 3, 0, 1, 0, + 32, 5, 0, 0, 2, 0, 1, 0, + 33, 0, 0, 0, 104, 0, 0, 0, + 0, 0, 1, 0, 33, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 5, 0, 0, 170, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 32, 5, 0, 0, 3, 0, 1, 0, + 44, 5, 0, 0, 2, 0, 1, 0, + 34, 0, 0, 0, 28, 0, 0, 0, + 0, 0, 1, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 5, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 40, 5, 0, 0, 3, 0, 1, 0, + 52, 5, 0, 0, 2, 0, 1, 0, + 97, 99, 99, 101, 108, 101, 114, 97, + 116, 105, 111, 110, 74, 101, 114, 107, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 99, 99, 101, 108, 101, 114, 97, + 116, 105, 111, 110, 74, 101, 114, 107, + 83, 116, 111, 99, 107, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 97, 110, 103, 101, 114, 74, 101, + 114, 107, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 101, 115, 105, 114, 101, 100, 70, + 111, 108, 108, 111, 119, 68, 105, 115, + 116, 97, 110, 99, 101, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 120, 112, 101, 114, 105, 109, 101, + 110, 116, 97, 108, 77, 111, 100, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 111, 114, 99, 105, 110, 103, 83, + 116, 111, 112, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 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0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 112, 99, 111, 109, 105, 110, 103, + 83, 76, 67, 83, 112, 101, 101, 100, + 76, 105, 109, 105, 116, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 118, 67, 114, 117, 105, 115, 101, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 118, 116, 115, 99, 67, 111, 110, 116, + 114, 111, 108, 108, 105, 110, 103, 67, + 117, 114, 118, 101, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 118, 116, 115, 99, 83, 112, 101, 101, + 100, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_80ae746ee2596b11 = b_80ae746ee2596b11.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_80ae746ee2596b11[] = { + &s_9b1657f34caf3ad3, +}; +static const uint16_t m_80ae746ee2596b11[] = {0, 1, 2, 3, 4, 5, 6, 7, 9, 10, 8, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34}; +static const uint16_t i_80ae746ee2596b11[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34}; +const ::capnp::_::RawSchema s_80ae746ee2596b11 = { + 0x80ae746ee2596b11, b_80ae746ee2596b11.words, 599, d_80ae746ee2596b11, m_80ae746ee2596b11, + 1, 35, i_80ae746ee2596b11, nullptr, nullptr, { &s_80ae746ee2596b11, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<17> b_a5cd762cd951a455 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 85, 164, 81, 217, 44, 118, 205, 165, + 13, 0, 0, 0, 1, 0, 0, 0, + 89, 10, 85, 29, 102, 186, 38, 181, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 234, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 117, 115, 116, 111, 109, 46, 99, + 97, 112, 110, 112, 58, 67, 117, 115, + 116, 111, 109, 82, 101, 115, 101, 114, + 118, 101, 100, 53, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, } +}; +::capnp::word const* const bp_a5cd762cd951a455 = b_a5cd762cd951a455.words; +#if !CAPNP_LITE +const ::capnp::_::RawSchema s_a5cd762cd951a455 = { + 0xa5cd762cd951a455, b_a5cd762cd951a455.words, 17, nullptr, nullptr, + 0, 0, nullptr, nullptr, nullptr, { &s_a5cd762cd951a455, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<17> b_f98d843bfd7004a3 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 163, 4, 112, 253, 59, 132, 141, 249, + 13, 0, 0, 0, 1, 0, 0, 0, + 89, 10, 85, 29, 102, 186, 38, 181, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 234, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 117, 115, 116, 111, 109, 46, 99, + 97, 112, 110, 112, 58, 67, 117, 115, + 116, 111, 109, 82, 101, 115, 101, 114, + 118, 101, 100, 54, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, } +}; +::capnp::word const* const bp_f98d843bfd7004a3 = b_f98d843bfd7004a3.words; +#if !CAPNP_LITE +const ::capnp::_::RawSchema s_f98d843bfd7004a3 = { + 0xf98d843bfd7004a3, b_f98d843bfd7004a3.words, 17, nullptr, nullptr, + 0, 0, nullptr, nullptr, nullptr, { &s_f98d843bfd7004a3, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<17> b_b86e6369214c01c8 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 200, 1, 76, 33, 105, 99, 110, 184, + 13, 0, 0, 0, 1, 0, 0, 0, + 89, 10, 85, 29, 102, 186, 38, 181, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 234, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 117, 115, 116, 111, 109, 46, 99, + 97, 112, 110, 112, 58, 67, 117, 115, + 116, 111, 109, 82, 101, 115, 101, 114, + 118, 101, 100, 55, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, } +}; +::capnp::word const* const bp_b86e6369214c01c8 = b_b86e6369214c01c8.words; +#if !CAPNP_LITE +const ::capnp::_::RawSchema s_b86e6369214c01c8 = { + 0xb86e6369214c01c8, b_b86e6369214c01c8.words, 17, nullptr, nullptr, + 0, 0, nullptr, nullptr, nullptr, { &s_b86e6369214c01c8, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<17> b_f416ec09499d9d19 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 25, 157, 157, 73, 9, 236, 22, 244, + 13, 0, 0, 0, 1, 0, 0, 0, + 89, 10, 85, 29, 102, 186, 38, 181, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 234, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 117, 115, 116, 111, 109, 46, 99, + 97, 112, 110, 112, 58, 67, 117, 115, + 116, 111, 109, 82, 101, 115, 101, 114, + 118, 101, 100, 56, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, } +}; +::capnp::word const* const bp_f416ec09499d9d19 = b_f416ec09499d9d19.words; +#if !CAPNP_LITE +const ::capnp::_::RawSchema s_f416ec09499d9d19 = { + 0xf416ec09499d9d19, b_f416ec09499d9d19.words, 17, nullptr, nullptr, + 0, 0, nullptr, nullptr, nullptr, { &s_f416ec09499d9d19, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<17> b_a1680744031fdb2d = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 45, 219, 31, 3, 68, 7, 104, 161, + 13, 0, 0, 0, 1, 0, 0, 0, + 89, 10, 85, 29, 102, 186, 38, 181, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 234, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 117, 115, 116, 111, 109, 46, 99, + 97, 112, 110, 112, 58, 67, 117, 115, + 116, 111, 109, 82, 101, 115, 101, 114, + 118, 101, 100, 57, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, } +}; +::capnp::word const* const bp_a1680744031fdb2d = b_a1680744031fdb2d.words; +#if !CAPNP_LITE +const ::capnp::_::RawSchema s_a1680744031fdb2d = { + 0xa1680744031fdb2d, b_a1680744031fdb2d.words, 17, nullptr, nullptr, + 0, 0, nullptr, nullptr, nullptr, { &s_a1680744031fdb2d, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +} // namespace schemas +} // namespace capnp + +// ======================================================================================= + +namespace cereal { + +// FrogPilotCarControl +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t FrogPilotCarControl::_capnpPrivate::dataWordSize; +constexpr uint16_t FrogPilotCarControl::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind FrogPilotCarControl::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* FrogPilotCarControl::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// FrogPilotCarState +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t FrogPilotCarState::_capnpPrivate::dataWordSize; +constexpr uint16_t FrogPilotCarState::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind FrogPilotCarState::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* FrogPilotCarState::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// FrogPilotCarState::ButtonEvent +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t FrogPilotCarState::ButtonEvent::_capnpPrivate::dataWordSize; +constexpr uint16_t FrogPilotCarState::ButtonEvent::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind FrogPilotCarState::ButtonEvent::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* FrogPilotCarState::ButtonEvent::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// FrogPilotDeviceState +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t FrogPilotDeviceState::_capnpPrivate::dataWordSize; +constexpr uint16_t FrogPilotDeviceState::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind FrogPilotDeviceState::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* FrogPilotDeviceState::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// FrogPilotNavigation +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t FrogPilotNavigation::_capnpPrivate::dataWordSize; +constexpr uint16_t FrogPilotNavigation::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind FrogPilotNavigation::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* FrogPilotNavigation::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// FrogPilotPlan +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t FrogPilotPlan::_capnpPrivate::dataWordSize; +constexpr uint16_t FrogPilotPlan::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind FrogPilotPlan::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* FrogPilotPlan::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// CustomReserved5 +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t CustomReserved5::_capnpPrivate::dataWordSize; +constexpr uint16_t CustomReserved5::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind CustomReserved5::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* CustomReserved5::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// CustomReserved6 +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t CustomReserved6::_capnpPrivate::dataWordSize; +constexpr uint16_t CustomReserved6::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind CustomReserved6::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* CustomReserved6::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// CustomReserved7 +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t CustomReserved7::_capnpPrivate::dataWordSize; +constexpr uint16_t CustomReserved7::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind CustomReserved7::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* CustomReserved7::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// CustomReserved8 +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t CustomReserved8::_capnpPrivate::dataWordSize; +constexpr uint16_t CustomReserved8::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind CustomReserved8::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* CustomReserved8::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// CustomReserved9 +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t CustomReserved9::_capnpPrivate::dataWordSize; +constexpr uint16_t CustomReserved9::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind CustomReserved9::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* CustomReserved9::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + + +} // namespace + diff --git a/cereal/gen/cpp/legacy.capnp.c++ b/cereal/gen/cpp/legacy.capnp.c++ new file mode 100644 index 00000000000000..101795932bc537 --- /dev/null +++ b/cereal/gen/cpp/legacy.capnp.c++ @@ -0,0 +1,6878 @@ +// Generated by Cap'n Proto compiler, DO NOT EDIT +// source: legacy.capnp + +#include "legacy.capnp.h" + +namespace capnp { +namespace schemas { +static const ::capnp::_::AlignedData<48> b_9811e1f38f62f2d1 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 209, 242, 98, 143, 243, 225, 17, 152, + 13, 0, 0, 0, 1, 0, 1, 0, + 99, 42, 156, 136, 196, 30, 239, 128, + 1, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 186, 0, 0, 0, + 29, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 0, 0, 0, 119, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 76, 111, 103, + 82, 111, 116, 97, 116, 101, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 8, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 40, 0, 0, 0, 3, 0, 1, 0, + 52, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 49, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 44, 0, 0, 0, 3, 0, 1, 0, + 56, 0, 0, 0, 2, 0, 1, 0, + 115, 101, 103, 109, 101, 110, 116, 78, + 117, 109, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 97, 116, 104, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_9811e1f38f62f2d1 = b_9811e1f38f62f2d1.words; +#if !CAPNP_LITE +static const uint16_t m_9811e1f38f62f2d1[] = {1, 0}; +static const uint16_t i_9811e1f38f62f2d1[] = {0, 1}; +const ::capnp::_::RawSchema s_9811e1f38f62f2d1 = { + 0x9811e1f38f62f2d1, b_9811e1f38f62f2d1.words, 48, nullptr, m_9811e1f38f62f2d1, + 0, 2, i_9811e1f38f62f2d1, nullptr, nullptr, { &s_9811e1f38f62f2d1, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<81> b_c08240f996aefced = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 237, 252, 174, 150, 249, 64, 130, 192, + 13, 0, 0, 0, 1, 0, 1, 0, + 99, 42, 156, 136, 196, 30, 239, 128, + 2, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 162, 0, 0, 0, + 29, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 0, 0, 0, 231, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 76, 105, 118, + 101, 85, 73, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 16, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 0, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 96, 0, 0, 0, 3, 0, 1, 0, + 108, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 0, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 0, 0, 0, 3, 0, 1, 0, + 116, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 113, 0, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 0, 0, 0, 3, 0, 1, 0, + 124, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 0, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 120, 0, 0, 0, 3, 0, 1, 0, + 132, 0, 0, 0, 2, 0, 1, 0, + 114, 101, 97, 114, 86, 105, 101, 119, + 67, 97, 109, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 108, 101, 114, 116, 84, 101, 120, + 116, 49, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 108, 101, 114, 116, 84, 101, 120, + 116, 50, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 119, 97, 114, 101, 110, 101, 115, + 115, 83, 116, 97, 116, 117, 115, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_c08240f996aefced = b_c08240f996aefced.words; +#if !CAPNP_LITE +static const uint16_t m_c08240f996aefced[] = {1, 2, 3, 0}; +static const uint16_t i_c08240f996aefced[] = {0, 1, 2, 3}; +const ::capnp::_::RawSchema s_c08240f996aefced = { + 0xc08240f996aefced, b_c08240f996aefced.words, 81, nullptr, m_c08240f996aefced, + 0, 4, i_c08240f996aefced, nullptr, nullptr, { &s_c08240f996aefced, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<86> b_88dcce08ad29dda0 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 160, 221, 41, 173, 8, 206, 220, 136, + 13, 0, 0, 0, 1, 0, 1, 0, + 99, 42, 156, 136, 196, 30, 239, 128, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 218, 0, 0, 0, + 33, 0, 0, 0, 23, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 231, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 85, 105, 76, + 97, 121, 111, 117, 116, 83, 116, 97, + 116, 101, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 1, 0, 1, 0, + 133, 210, 148, 207, 10, 71, 23, 153, + 1, 0, 0, 0, 34, 0, 0, 0, + 65, 112, 112, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 96, 0, 0, 0, 3, 0, 1, 0, + 108, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 16, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 0, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 0, 0, 0, 3, 0, 1, 0, + 120, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 17, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 0, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 0, 0, 0, 3, 0, 1, 0, + 128, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 18, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 125, 0, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 124, 0, 0, 0, 3, 0, 1, 0, + 136, 0, 0, 0, 2, 0, 1, 0, + 97, 99, 116, 105, 118, 101, 65, 112, + 112, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 133, 210, 148, 207, 10, 71, 23, 153, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 105, 100, 101, 98, 97, 114, 67, + 111, 108, 108, 97, 112, 115, 101, 100, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 97, 112, 69, 110, 97, 98, 108, + 101, 100, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 111, 99, 107, 69, 110, 103, 97, + 103, 101, 100, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_88dcce08ad29dda0 = b_88dcce08ad29dda0.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_88dcce08ad29dda0[] = { + &s_9917470acf94d285, +}; +static const uint16_t m_88dcce08ad29dda0[] = {0, 2, 3, 1}; +static const uint16_t i_88dcce08ad29dda0[] = {0, 1, 2, 3}; +const ::capnp::_::RawSchema s_88dcce08ad29dda0 = { + 0x88dcce08ad29dda0, b_88dcce08ad29dda0.words, 86, d_88dcce08ad29dda0, m_88dcce08ad29dda0, + 1, 4, i_88dcce08ad29dda0, nullptr, nullptr, { &s_88dcce08ad29dda0, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<39> b_9917470acf94d285 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 133, 210, 148, 207, 10, 71, 23, 153, + 27, 0, 0, 0, 2, 0, 0, 0, + 160, 221, 41, 173, 8, 206, 220, 136, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 250, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 127, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 85, 105, 76, + 97, 121, 111, 117, 116, 83, 116, 97, + 116, 101, 46, 65, 112, 112, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 20, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 53, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 45, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 37, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 25, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 111, 109, 101, 0, 0, 0, 0, + 109, 117, 115, 105, 99, 0, 0, 0, + 110, 97, 118, 0, 0, 0, 0, 0, + 115, 101, 116, 116, 105, 110, 103, 115, + 0, 0, 0, 0, 0, 0, 0, 0, + 110, 111, 110, 101, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_9917470acf94d285 = b_9917470acf94d285.words; +#if !CAPNP_LITE +static const uint16_t m_9917470acf94d285[] = {0, 1, 2, 4, 3}; +const ::capnp::_::RawSchema s_9917470acf94d285 = { + 0x9917470acf94d285, b_9917470acf94d285.words, 39, nullptr, m_9917470acf94d285, + 0, 5, nullptr, nullptr, nullptr, { &s_9917470acf94d285, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(App_9917470acf94d285, 9917470acf94d285); +static const ::capnp::_::AlignedData<133> b_8afd33dc9b35e1aa = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 170, 225, 53, 155, 220, 51, 253, 138, + 13, 0, 0, 0, 1, 0, 2, 0, + 99, 42, 156, 136, 196, 30, 239, 128, + 4, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 250, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 87, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 79, 114, 98, + 115, 108, 97, 109, 67, 111, 114, 114, + 101, 99, 116, 105, 111, 110, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 24, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 153, 0, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 156, 0, 0, 0, 3, 0, 1, 0, + 168, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 165, 0, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 164, 0, 0, 0, 3, 0, 1, 0, + 192, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 189, 0, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 192, 0, 0, 0, 3, 0, 1, 0, + 220, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 217, 0, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 216, 0, 0, 0, 3, 0, 1, 0, + 244, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 241, 0, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 244, 0, 0, 0, 3, 0, 1, 0, + 16, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 1, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 1, 0, 0, 3, 0, 1, 0, + 24, 1, 0, 0, 2, 0, 1, 0, + 99, 111, 114, 114, 101, 99, 116, 105, + 111, 110, 77, 111, 110, 111, 84, 105, + 109, 101, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 114, 101, 80, 111, 115, 105, 116, + 105, 111, 110, 69, 67, 69, 70, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 111, 115, 116, 80, 111, 115, 105, + 116, 105, 111, 110, 69, 67, 69, 70, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 114, 101, 80, 111, 115, 101, 81, + 117, 97, 116, 69, 67, 69, 70, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 111, 115, 116, 80, 111, 115, 101, + 81, 117, 97, 116, 69, 67, 69, 70, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 110, 117, 109, 73, 110, 108, 105, 101, + 114, 115, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_8afd33dc9b35e1aa = b_8afd33dc9b35e1aa.words; +#if !CAPNP_LITE +static const uint16_t m_8afd33dc9b35e1aa[] = {0, 5, 4, 2, 3, 1}; +static const uint16_t i_8afd33dc9b35e1aa[] = {0, 1, 2, 3, 4, 5}; +const ::capnp::_::RawSchema s_8afd33dc9b35e1aa = { + 0x8afd33dc9b35e1aa, b_8afd33dc9b35e1aa.words, 133, nullptr, m_8afd33dc9b35e1aa, + 0, 6, i_8afd33dc9b35e1aa, nullptr, nullptr, { &s_8afd33dc9b35e1aa, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<48> b_a99a9d5b33cf5859 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 89, 88, 207, 51, 91, 157, 154, 169, + 13, 0, 0, 0, 1, 0, 1, 0, + 99, 42, 156, 136, 196, 30, 239, 128, + 1, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 226, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 119, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 69, 116, 104, + 101, 114, 110, 101, 116, 80, 97, 99, + 107, 101, 116, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 8, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 36, 0, 0, 0, 3, 0, 1, 0, + 48, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 45, 0, 0, 0, 26, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 40, 0, 0, 0, 3, 0, 1, 0, + 52, 0, 0, 0, 2, 0, 1, 0, + 112, 107, 116, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 115, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_a99a9d5b33cf5859 = b_a99a9d5b33cf5859.words; +#if !CAPNP_LITE +static const uint16_t m_a99a9d5b33cf5859[] = {0, 1}; +static const uint16_t i_a99a9d5b33cf5859[] = {0, 1}; +const ::capnp::_::RawSchema s_a99a9d5b33cf5859 = { + 0xa99a9d5b33cf5859, b_a99a9d5b33cf5859.words, 48, nullptr, m_a99a9d5b33cf5859, + 0, 2, i_a99a9d5b33cf5859, nullptr, nullptr, { &s_a99a9d5b33cf5859, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<48> b_cff7566681c277ce = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 206, 119, 194, 129, 102, 86, 247, 207, + 13, 0, 0, 0, 1, 0, 1, 0, + 99, 42, 156, 136, 196, 30, 239, 128, + 1, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 178, 0, 0, 0, + 29, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 0, 0, 0, 119, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 67, 101, 108, + 108, 73, 110, 102, 111, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 8, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 40, 0, 0, 0, 3, 0, 1, 0, + 52, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 49, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 44, 0, 0, 0, 3, 0, 1, 0, + 56, 0, 0, 0, 2, 0, 1, 0, + 116, 105, 109, 101, 115, 116, 97, 109, + 112, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 101, 112, 114, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_cff7566681c277ce = b_cff7566681c277ce.words; +#if !CAPNP_LITE +static const uint16_t m_cff7566681c277ce[] = {1, 0}; +static const uint16_t i_cff7566681c277ce[] = {0, 1}; +const ::capnp::_::RawSchema s_cff7566681c277ce = { + 0xcff7566681c277ce, b_cff7566681c277ce.words, 48, nullptr, m_cff7566681c277ce, + 0, 2, i_cff7566681c277ce, nullptr, nullptr, { &s_cff7566681c277ce, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<260> b_d4df5a192382ba0b = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 11, 186, 130, 35, 25, 90, 223, 212, + 13, 0, 0, 0, 1, 0, 5, 0, + 99, 42, 156, 136, 196, 30, 239, 128, + 5, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 178, 0, 0, 0, + 29, 0, 0, 0, 23, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 79, 3, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 87, 105, 102, + 105, 83, 99, 97, 110, 0, 0, 0, + 4, 0, 0, 0, 1, 0, 1, 0, + 81, 107, 95, 1, 159, 39, 106, 203, + 1, 0, 0, 0, 106, 0, 0, 0, + 67, 104, 97, 110, 110, 101, 108, 87, + 105, 100, 116, 104, 0, 0, 0, 0, + 60, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 149, 1, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 144, 1, 0, 0, 3, 0, 1, 0, + 156, 1, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 153, 1, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 148, 1, 0, 0, 3, 0, 1, 0, + 160, 1, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 157, 1, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 156, 1, 0, 0, 3, 0, 1, 0, + 168, 1, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 165, 1, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 164, 1, 0, 0, 3, 0, 1, 0, + 176, 1, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 173, 1, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 168, 1, 0, 0, 3, 0, 1, 0, + 180, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 177, 1, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 176, 1, 0, 0, 3, 0, 1, 0, + 188, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 185, 1, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 184, 1, 0, 0, 3, 0, 1, 0, + 196, 1, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 193, 1, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 192, 1, 0, 0, 3, 0, 1, 0, + 204, 1, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 12, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 201, 1, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 200, 1, 0, 0, 3, 0, 1, 0, + 212, 1, 0, 0, 2, 0, 1, 0, + 9, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 209, 1, 0, 0, 170, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 212, 1, 0, 0, 3, 0, 1, 0, + 224, 1, 0, 0, 2, 0, 1, 0, + 10, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 10, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 221, 1, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 220, 1, 0, 0, 3, 0, 1, 0, + 232, 1, 0, 0, 2, 0, 1, 0, + 11, 0, 0, 0, 208, 0, 0, 0, + 0, 0, 1, 0, 11, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 229, 1, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 232, 1, 0, 0, 3, 0, 1, 0, + 244, 1, 0, 0, 2, 0, 1, 0, + 12, 0, 0, 0, 209, 0, 0, 0, + 0, 0, 1, 0, 12, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 241, 1, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 240, 1, 0, 0, 3, 0, 1, 0, + 252, 1, 0, 0, 2, 0, 1, 0, + 13, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 13, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 249, 1, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 248, 1, 0, 0, 3, 0, 1, 0, + 4, 2, 0, 0, 2, 0, 1, 0, + 14, 0, 0, 0, 8, 0, 0, 0, + 0, 0, 1, 0, 14, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 2, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 2, 0, 0, 3, 0, 1, 0, + 12, 2, 0, 0, 2, 0, 1, 0, + 98, 115, 115, 105, 100, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 115, 105, 100, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 112, 97, 98, 105, 108, 105, + 116, 105, 101, 115, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 114, 101, 113, 117, 101, 110, 99, + 121, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 118, 101, 108, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 105, 109, 101, 115, 116, 97, 109, + 112, 0, 0, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 101, 110, 116, 101, 114, 70, 114, + 101, 113, 48, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 101, 110, 116, 101, 114, 70, 114, + 101, 113, 49, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 104, 97, 110, 110, 101, 108, 87, + 105, 100, 116, 104, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 81, 107, 95, 1, 159, 39, 106, 203, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 111, 112, 101, 114, 97, 116, 111, 114, + 70, 114, 105, 101, 110, 100, 108, 121, + 78, 97, 109, 101, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 118, 101, 110, 117, 101, 78, 97, 109, + 101, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 115, 56, 48, 50, 49, 49, 109, + 99, 82, 101, 115, 112, 111, 110, 100, + 101, 114, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 97, 115, 115, 112, 111, 105, 110, + 116, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 105, 115, 116, 97, 110, 99, 101, + 67, 109, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 105, 115, 116, 97, 110, 99, 101, + 83, 100, 67, 109, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_d4df5a192382ba0b = b_d4df5a192382ba0b.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_d4df5a192382ba0b[] = { + &s_cb6a279f015f6b51, +}; +static const uint16_t m_d4df5a192382ba0b[] = {0, 2, 6, 7, 8, 13, 14, 3, 11, 4, 9, 12, 1, 5, 10}; +static const uint16_t i_d4df5a192382ba0b[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14}; +const ::capnp::_::RawSchema s_d4df5a192382ba0b = { + 0xd4df5a192382ba0b, b_d4df5a192382ba0b.words, 260, d_d4df5a192382ba0b, m_d4df5a192382ba0b, + 1, 15, i_d4df5a192382ba0b, nullptr, nullptr, { &s_d4df5a192382ba0b, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<40> b_cb6a279f015f6b51 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 81, 107, 95, 1, 159, 39, 106, 203, + 22, 0, 0, 0, 2, 0, 0, 0, + 11, 186, 130, 35, 25, 90, 223, 212, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 26, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 127, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 87, 105, 102, + 105, 83, 99, 97, 110, 46, 67, 104, + 97, 110, 110, 101, 108, 87, 105, 100, + 116, 104, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 20, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 53, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 45, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 37, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 119, 50, 48, 77, 104, 122, 0, 0, + 119, 52, 48, 77, 104, 122, 0, 0, + 119, 56, 48, 77, 104, 122, 0, 0, + 119, 49, 54, 48, 77, 104, 122, 0, + 119, 56, 48, 80, 108, 117, 115, 56, + 48, 77, 104, 122, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_cb6a279f015f6b51 = b_cb6a279f015f6b51.words; +#if !CAPNP_LITE +static const uint16_t m_cb6a279f015f6b51[] = {3, 0, 1, 2, 4}; +const ::capnp::_::RawSchema s_cb6a279f015f6b51 = { + 0xcb6a279f015f6b51, b_cb6a279f015f6b51.words, 40, nullptr, m_cb6a279f015f6b51, + 0, 5, nullptr, nullptr, nullptr, { &s_cb6a279f015f6b51, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(ChannelWidth_cb6a279f015f6b51, cb6a279f015f6b51); +static const ::capnp::_::AlignedData<48> b_94b7baa90c5c321e = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 30, 50, 92, 12, 169, 186, 183, 148, + 13, 0, 0, 0, 1, 0, 1, 0, + 99, 42, 156, 136, 196, 30, 239, 128, + 1, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 218, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 119, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 76, 105, 118, + 101, 69, 118, 101, 110, 116, 68, 97, + 116, 97, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 8, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 36, 0, 0, 0, 3, 0, 1, 0, + 48, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 45, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 40, 0, 0, 0, 3, 0, 1, 0, + 52, 0, 0, 0, 2, 0, 1, 0, + 110, 97, 109, 101, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 118, 97, 108, 117, 101, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_94b7baa90c5c321e = b_94b7baa90c5c321e.words; +#if !CAPNP_LITE +static const uint16_t m_94b7baa90c5c321e[] = {0, 1}; +static const uint16_t i_94b7baa90c5c321e[] = {0, 1}; +const ::capnp::_::RawSchema s_94b7baa90c5c321e = { + 0x94b7baa90c5c321e, b_94b7baa90c5c321e.words, 48, nullptr, m_94b7baa90c5c321e, + 0, 2, i_94b7baa90c5c321e, nullptr, nullptr, { &s_94b7baa90c5c321e, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<314> b_b8aad62cffef28a9 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 169, 40, 239, 255, 44, 214, 170, 184, + 13, 0, 0, 0, 1, 0, 4, 0, + 99, 42, 156, 136, 196, 30, 239, 128, + 11, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 186, 0, 0, 0, + 29, 0, 0, 0, 87, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 0, 0, 0, 191, 3, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 77, 111, 100, + 101, 108, 68, 97, 116, 97, 0, 0, + 20, 0, 0, 0, 1, 0, 1, 0, + 8, 159, 158, 56, 234, 238, 23, 136, + 33, 0, 0, 0, 74, 0, 0, 0, + 145, 250, 38, 109, 249, 190, 201, 209, + 33, 0, 0, 0, 74, 0, 0, 0, + 20, 233, 211, 239, 16, 55, 110, 162, + 33, 0, 0, 0, 114, 0, 0, 0, + 248, 43, 15, 182, 95, 242, 68, 151, + 33, 0, 0, 0, 74, 0, 0, 0, + 34, 17, 7, 106, 156, 153, 143, 249, + 33, 0, 0, 0, 138, 0, 0, 0, + 80, 97, 116, 104, 68, 97, 116, 97, + 0, 0, 0, 0, 0, 0, 0, 0, + 76, 101, 97, 100, 68, 97, 116, 97, + 0, 0, 0, 0, 0, 0, 0, 0, + 77, 111, 100, 101, 108, 83, 101, 116, + 116, 105, 110, 103, 115, 0, 0, 0, + 77, 101, 116, 97, 68, 97, 116, 97, + 0, 0, 0, 0, 0, 0, 0, 0, + 76, 111, 110, 103, 105, 116, 117, 100, + 105, 110, 97, 108, 68, 97, 116, 97, + 0, 0, 0, 0, 0, 0, 0, 0, + 68, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 205, 1, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 200, 1, 0, 0, 3, 0, 1, 0, + 212, 1, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 209, 1, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 204, 1, 0, 0, 3, 0, 1, 0, + 216, 1, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 213, 1, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 212, 1, 0, 0, 3, 0, 1, 0, + 224, 1, 0, 0, 2, 0, 1, 0, + 9, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 221, 1, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 220, 1, 0, 0, 3, 0, 1, 0, + 232, 1, 0, 0, 2, 0, 1, 0, + 10, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 229, 1, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 224, 1, 0, 0, 3, 0, 1, 0, + 236, 1, 0, 0, 2, 0, 1, 0, + 12, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 233, 1, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 232, 1, 0, 0, 3, 0, 1, 0, + 244, 1, 0, 0, 2, 0, 1, 0, + 11, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 241, 1, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 240, 1, 0, 0, 3, 0, 1, 0, + 12, 2, 0, 0, 2, 0, 1, 0, + 13, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 2, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 2, 0, 0, 3, 0, 1, 0, + 20, 2, 0, 0, 2, 0, 1, 0, + 14, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 17, 2, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 2, 0, 0, 3, 0, 1, 0, + 40, 2, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 2, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 36, 2, 0, 0, 3, 0, 1, 0, + 48, 2, 0, 0, 2, 0, 1, 0, + 15, 0, 0, 0, 8, 0, 0, 0, + 0, 0, 1, 0, 10, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 45, 2, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 40, 2, 0, 0, 3, 0, 1, 0, + 52, 2, 0, 0, 2, 0, 1, 0, + 16, 0, 0, 0, 9, 0, 0, 0, + 0, 0, 1, 0, 11, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 49, 2, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 48, 2, 0, 0, 3, 0, 1, 0, + 60, 2, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 12, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 57, 2, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 56, 2, 0, 0, 3, 0, 1, 0, + 68, 2, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 13, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 65, 2, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 64, 2, 0, 0, 3, 0, 1, 0, + 76, 2, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 14, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 73, 2, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 76, 2, 0, 0, 3, 0, 1, 0, + 88, 2, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 10, 0, 0, 0, + 0, 0, 1, 0, 15, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 85, 2, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 80, 2, 0, 0, 3, 0, 1, 0, + 92, 2, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 16, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 89, 2, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 92, 2, 0, 0, 3, 0, 1, 0, + 104, 2, 0, 0, 2, 0, 1, 0, + 102, 114, 97, 109, 101, 73, 100, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 97, 116, 104, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 8, 159, 158, 56, 234, 238, 23, 136, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 102, 116, 76, 97, 110, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 8, 159, 158, 56, 234, 238, 23, 136, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 105, 103, 104, 116, 76, 97, 110, + 101, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 8, 159, 158, 56, 234, 238, 23, 136, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 97, 100, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 145, 250, 38, 109, 249, 190, 201, 209, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 101, 116, 116, 105, 110, 103, 115, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 20, 233, 211, 239, 16, 55, 110, 162, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 114, 101, 101, 80, 97, 116, 104, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 97, 100, 70, 117, 116, 117, + 114, 101, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 145, 250, 38, 109, 249, 190, 201, 209, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 112, 101, 101, 100, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 105, 109, 101, 115, 116, 97, 109, + 112, 69, 111, 102, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 101, 116, 97, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 248, 43, 15, 182, 95, 242, 68, 151, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 110, 103, 105, 116, 117, 100, + 105, 110, 97, 108, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 34, 17, 7, 106, 156, 153, 143, 249, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 114, 97, 109, 101, 65, 103, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 114, 97, 109, 101, 68, 114, 111, + 112, 80, 101, 114, 99, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 111, 100, 101, 108, 69, 120, 101, + 99, 117, 116, 105, 111, 110, 84, 105, + 109, 101, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 97, 119, 80, 114, 101, 100, 0, + 13, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 103, 112, 117, 69, 120, 101, 99, 117, + 116, 105, 111, 110, 84, 105, 109, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_b8aad62cffef28a9 = b_b8aad62cffef28a9.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_b8aad62cffef28a9[] = { + &s_8817eeea389e9f08, + &s_9744f25fb60f2bf8, + &s_a26e3710efd3e914, + &s_d1c9bef96d26fa91, + &s_f98f999c6a071122, +}; +static const uint16_t m_b8aad62cffef28a9[] = {12, 13, 0, 6, 16, 4, 7, 2, 11, 10, 14, 1, 15, 3, 5, 8, 9}; +static const uint16_t i_b8aad62cffef28a9[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16}; +const ::capnp::_::RawSchema s_b8aad62cffef28a9 = { + 0xb8aad62cffef28a9, b_b8aad62cffef28a9.words, 314, d_b8aad62cffef28a9, m_b8aad62cffef28a9, + 5, 17, i_b8aad62cffef28a9, nullptr, nullptr, { &s_b8aad62cffef28a9, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<121> b_8817eeea389e9f08 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 8, 159, 158, 56, 234, 238, 23, 136, + 23, 0, 0, 0, 1, 0, 2, 0, + 169, 40, 239, 255, 44, 214, 170, 184, + 3, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 2, 1, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 87, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 77, 111, 100, + 101, 108, 68, 97, 116, 97, 46, 80, + 97, 116, 104, 68, 97, 116, 97, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 24, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 153, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 148, 0, 0, 0, 3, 0, 1, 0, + 176, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 173, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 168, 0, 0, 0, 3, 0, 1, 0, + 180, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 177, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 172, 0, 0, 0, 3, 0, 1, 0, + 184, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 181, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 176, 0, 0, 0, 3, 0, 1, 0, + 204, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 201, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 196, 0, 0, 0, 3, 0, 1, 0, + 224, 0, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 221, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 220, 0, 0, 0, 3, 0, 1, 0, + 232, 0, 0, 0, 2, 0, 1, 0, + 112, 111, 105, 110, 116, 115, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 114, 111, 98, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 100, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 100, 115, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 111, 108, 121, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 118, 97, 108, 105, 100, 76, 101, 110, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_8817eeea389e9f08 = b_8817eeea389e9f08.words; +#if !CAPNP_LITE +static const uint16_t m_8817eeea389e9f08[] = {0, 4, 1, 2, 3, 5}; +static const uint16_t i_8817eeea389e9f08[] = {0, 1, 2, 3, 4, 5}; +const ::capnp::_::RawSchema s_8817eeea389e9f08 = { + 0x8817eeea389e9f08, b_8817eeea389e9f08.words, 121, nullptr, m_8817eeea389e9f08, + 0, 6, i_8817eeea389e9f08, nullptr, nullptr, { &s_8817eeea389e9f08, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<154> b_d1c9bef96d26fa91 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 145, 250, 38, 109, 249, 190, 201, 209, + 23, 0, 0, 0, 1, 0, 5, 0, + 169, 40, 239, 255, 44, 214, 170, 184, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 2, 1, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 255, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 77, 111, 100, + 101, 108, 68, 97, 116, 97, 46, 76, + 101, 97, 100, 68, 97, 116, 97, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 36, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 237, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 232, 0, 0, 0, 3, 0, 1, 0, + 244, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 241, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 236, 0, 0, 0, 3, 0, 1, 0, + 248, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 245, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 240, 0, 0, 0, 3, 0, 1, 0, + 252, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 249, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 244, 0, 0, 0, 3, 0, 1, 0, + 0, 1, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 253, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 252, 0, 0, 0, 3, 0, 1, 0, + 8, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 1, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 1, 0, 0, 3, 0, 1, 0, + 12, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 1, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 1, 0, 0, 3, 0, 1, 0, + 16, 1, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 1, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 1, 0, 0, 3, 0, 1, 0, + 20, 1, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 8, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 17, 1, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 1, 0, 0, 3, 0, 1, 0, + 24, 1, 0, 0, 2, 0, 1, 0, + 100, 105, 115, 116, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 114, 111, 98, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 100, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 101, 108, 86, 101, 108, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 101, 108, 86, 101, 108, 83, 116, + 100, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 101, 108, 89, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 101, 108, 89, 83, 116, 100, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 101, 108, 65, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 101, 108, 65, 83, 116, 100, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_d1c9bef96d26fa91 = b_d1c9bef96d26fa91.words; +#if !CAPNP_LITE +static const uint16_t m_d1c9bef96d26fa91[] = {0, 1, 7, 8, 3, 4, 5, 6, 2}; +static const uint16_t i_d1c9bef96d26fa91[] = {0, 1, 2, 3, 4, 5, 6, 7, 8}; +const ::capnp::_::RawSchema s_d1c9bef96d26fa91 = { + 0xd1c9bef96d26fa91, b_d1c9bef96d26fa91.words, 154, nullptr, m_d1c9bef96d26fa91, + 0, 9, i_d1c9bef96d26fa91, nullptr, nullptr, { &s_d1c9bef96d26fa91, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<141> b_a26e3710efd3e914 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 20, 233, 211, 239, 16, 55, 110, 162, + 23, 0, 0, 0, 1, 0, 1, 0, + 169, 40, 239, 255, 44, 214, 170, 184, + 3, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 42, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 143, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 77, 111, 100, + 101, 108, 68, 97, 116, 97, 46, 77, + 111, 100, 101, 108, 83, 101, 116, 116, + 105, 110, 103, 115, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 28, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 181, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 176, 0, 0, 0, 3, 0, 1, 0, + 188, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 185, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 180, 0, 0, 0, 3, 0, 1, 0, + 192, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 189, 0, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 188, 0, 0, 0, 3, 0, 1, 0, + 200, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 197, 0, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 196, 0, 0, 0, 3, 0, 1, 0, + 208, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 205, 0, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 204, 0, 0, 0, 3, 0, 1, 0, + 232, 0, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 229, 0, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 228, 0, 0, 0, 3, 0, 1, 0, + 0, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 253, 0, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 252, 0, 0, 0, 3, 0, 1, 0, + 24, 1, 0, 0, 2, 0, 1, 0, + 98, 105, 103, 66, 111, 120, 88, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 98, 105, 103, 66, 111, 120, 89, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 98, 105, 103, 66, 111, 120, 87, 105, + 100, 116, 104, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 98, 105, 103, 66, 111, 120, 72, 101, + 105, 103, 104, 116, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 98, 111, 120, 80, 114, 111, 106, 101, + 99, 116, 105, 111, 110, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 117, 118, 67, 111, 114, 114, 101, + 99, 116, 105, 111, 110, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 110, 112, 117, 116, 84, 114, 97, + 110, 115, 102, 111, 114, 109, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_a26e3710efd3e914 = b_a26e3710efd3e914.words; +#if !CAPNP_LITE +static const uint16_t m_a26e3710efd3e914[] = {3, 2, 0, 1, 4, 6, 5}; +static const uint16_t i_a26e3710efd3e914[] = {0, 1, 2, 3, 4, 5, 6}; +const ::capnp::_::RawSchema s_a26e3710efd3e914 = { + 0xa26e3710efd3e914, b_a26e3710efd3e914.words, 141, nullptr, m_a26e3710efd3e914, + 0, 7, i_a26e3710efd3e914, nullptr, nullptr, { &s_a26e3710efd3e914, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<126> b_9744f25fb60f2bf8 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 248, 43, 15, 182, 95, 242, 68, 151, + 23, 0, 0, 0, 1, 0, 2, 0, + 169, 40, 239, 255, 44, 214, 170, 184, + 2, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 2, 1, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 87, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 77, 111, 100, + 101, 108, 68, 97, 116, 97, 46, 77, + 101, 116, 97, 68, 97, 116, 97, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 24, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 153, 0, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 152, 0, 0, 0, 3, 0, 1, 0, + 164, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 161, 0, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 164, 0, 0, 0, 3, 0, 1, 0, + 192, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 189, 0, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 192, 0, 0, 0, 3, 0, 1, 0, + 204, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 201, 0, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 204, 0, 0, 0, 3, 0, 1, 0, + 216, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 213, 0, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 216, 0, 0, 0, 3, 0, 1, 0, + 228, 0, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 225, 0, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 224, 0, 0, 0, 3, 0, 1, 0, + 252, 0, 0, 0, 2, 0, 1, 0, + 101, 110, 103, 97, 103, 101, 100, 80, + 114, 111, 98, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 101, 115, 105, 114, 101, 80, 114, + 101, 100, 105, 99, 116, 105, 111, 110, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 98, 114, 97, 107, 101, 68, 105, 115, + 101, 110, 103, 97, 103, 101, 80, 114, + 111, 98, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 103, 97, 115, 68, 105, 115, 101, 110, + 103, 97, 103, 101, 80, 114, 111, 98, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 101, 101, 114, 79, 118, 101, + 114, 114, 105, 100, 101, 80, 114, 111, + 98, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 101, 115, 105, 114, 101, 83, 116, + 97, 116, 101, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_9744f25fb60f2bf8 = b_9744f25fb60f2bf8.words; +#if !CAPNP_LITE +static const uint16_t m_9744f25fb60f2bf8[] = {2, 1, 5, 0, 3, 4}; +static const uint16_t i_9744f25fb60f2bf8[] = {0, 1, 2, 3, 4, 5}; +const ::capnp::_::RawSchema s_9744f25fb60f2bf8 = { + 0x9744f25fb60f2bf8, b_9744f25fb60f2bf8.words, 126, nullptr, m_9744f25fb60f2bf8, + 0, 6, i_9744f25fb60f2bf8, nullptr, nullptr, { &s_9744f25fb60f2bf8, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<78> b_f98f999c6a071122 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 34, 17, 7, 106, 156, 153, 143, 249, + 23, 0, 0, 0, 1, 0, 0, 0, + 169, 40, 239, 255, 44, 214, 170, 184, + 3, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 66, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 175, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 77, 111, 100, + 101, 108, 68, 97, 116, 97, 46, 76, + 111, 110, 103, 105, 116, 117, 100, 105, + 110, 97, 108, 68, 97, 116, 97, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 12, 0, 0, 0, 3, 0, 4, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 69, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 64, 0, 0, 0, 3, 0, 1, 0, + 92, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 89, 0, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 88, 0, 0, 0, 3, 0, 1, 0, + 116, 0, 0, 0, 2, 0, 1, 0, + 0, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 113, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 0, 0, 0, 3, 0, 1, 0, + 140, 0, 0, 0, 2, 0, 1, 0, + 115, 112, 101, 101, 100, 115, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 99, 99, 101, 108, 101, 114, 97, + 116, 105, 111, 110, 115, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 105, 115, 116, 97, 110, 99, 101, + 115, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_f98f999c6a071122 = b_f98f999c6a071122.words; +#if !CAPNP_LITE +static const uint16_t m_f98f999c6a071122[] = {1, 2, 0}; +static const uint16_t i_f98f999c6a071122[] = {0, 1, 2}; +const ::capnp::_::RawSchema s_f98f999c6a071122 = { + 0xf98f999c6a071122, b_f98f999c6a071122.words, 78, nullptr, m_f98f999c6a071122, + 0, 3, i_f98f999c6a071122, nullptr, nullptr, { &s_f98f999c6a071122, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<62> b_c25bbbd524983447 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 71, 52, 152, 36, 213, 187, 91, 194, + 13, 0, 0, 0, 1, 0, 3, 0, + 99, 42, 156, 136, 196, 30, 239, 128, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 186, 0, 0, 0, + 29, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 0, 0, 0, 175, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 69, 67, 69, + 70, 80, 111, 105, 110, 116, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 12, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 69, 0, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 64, 0, 0, 0, 3, 0, 1, 0, + 76, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 73, 0, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 68, 0, 0, 0, 3, 0, 1, 0, + 80, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 77, 0, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 72, 0, 0, 0, 3, 0, 1, 0, + 84, 0, 0, 0, 2, 0, 1, 0, + 120, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 122, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_c25bbbd524983447 = b_c25bbbd524983447.words; +#if !CAPNP_LITE +static const uint16_t m_c25bbbd524983447[] = {0, 1, 2}; +static const uint16_t i_c25bbbd524983447[] = {0, 1, 2}; +const ::capnp::_::RawSchema s_c25bbbd524983447 = { + 0xc25bbbd524983447, b_c25bbbd524983447.words, 62, nullptr, m_c25bbbd524983447, + 0, 3, i_c25bbbd524983447, nullptr, nullptr, { &s_c25bbbd524983447, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<64> b_e10e21168db0c7f7 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 247, 199, 176, 141, 22, 33, 14, 225, + 13, 0, 0, 0, 1, 0, 2, 0, + 99, 42, 156, 136, 196, 30, 239, 128, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 10, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 175, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 69, 67, 69, + 70, 80, 111, 105, 110, 116, 68, 69, + 80, 82, 69, 67, 65, 84, 69, 68, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 12, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 69, 0, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 64, 0, 0, 0, 3, 0, 1, 0, + 76, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 73, 0, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 68, 0, 0, 0, 3, 0, 1, 0, + 80, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 77, 0, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 72, 0, 0, 0, 3, 0, 1, 0, + 84, 0, 0, 0, 2, 0, 1, 0, + 120, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 122, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_e10e21168db0c7f7 = b_e10e21168db0c7f7.words; +#if !CAPNP_LITE +static const uint16_t m_e10e21168db0c7f7[] = {0, 1, 2}; +static const uint16_t i_e10e21168db0c7f7[] = {0, 1, 2}; +const ::capnp::_::RawSchema s_e10e21168db0c7f7 = { + 0xe10e21168db0c7f7, b_e10e21168db0c7f7.words, 64, nullptr, m_e10e21168db0c7f7, + 0, 3, i_e10e21168db0c7f7, nullptr, nullptr, { &s_e10e21168db0c7f7, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<153> b_ab54c59699f8f9f3 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 243, 249, 248, 153, 150, 197, 84, 171, + 13, 0, 0, 0, 1, 0, 2, 0, + 99, 42, 156, 136, 196, 30, 239, 128, + 5, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 242, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 199, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 71, 80, 83, + 80, 108, 97, 110, 110, 101, 114, 80, + 111, 105, 110, 116, 115, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 32, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 209, 0, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 212, 0, 0, 0, 3, 0, 1, 0, + 224, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 221, 0, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 224, 0, 0, 0, 3, 0, 1, 0, + 252, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 249, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 244, 0, 0, 0, 3, 0, 1, 0, + 0, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 253, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 252, 0, 0, 0, 3, 0, 1, 0, + 8, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 1, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 1, 0, 0, 3, 0, 1, 0, + 16, 1, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 1, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 1, 0, 0, 3, 0, 1, 0, + 24, 1, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 1, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 1, 0, 0, 3, 0, 1, 0, + 28, 1, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 1, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 20, 1, 0, 0, 3, 0, 1, 0, + 48, 1, 0, 0, 2, 0, 1, 0, + 99, 117, 114, 80, 111, 115, 68, 69, + 80, 82, 69, 67, 65, 84, 69, 68, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 247, 199, 176, 141, 22, 33, 14, 225, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 111, 105, 110, 116, 115, 68, 69, + 80, 82, 69, 67, 65, 84, 69, 68, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 247, 199, 176, 141, 22, 33, 14, 225, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 118, 97, 108, 105, 100, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 114, 97, 99, 107, 78, 97, 109, + 101, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 112, 101, 101, 100, 76, 105, 109, + 105, 116, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 99, 99, 101, 108, 84, 97, 114, + 103, 101, 116, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 117, 114, 80, 111, 115, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 71, 52, 152, 36, 213, 187, 91, 194, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 111, 105, 110, 116, 115, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 71, 52, 152, 36, 213, 187, 91, 194, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_ab54c59699f8f9f3 = b_ab54c59699f8f9f3.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_ab54c59699f8f9f3[] = { + &s_c25bbbd524983447, + &s_e10e21168db0c7f7, +}; +static const uint16_t m_ab54c59699f8f9f3[] = {5, 6, 0, 7, 1, 4, 3, 2}; +static const uint16_t i_ab54c59699f8f9f3[] = {0, 1, 2, 3, 4, 5, 6, 7}; +const ::capnp::_::RawSchema s_ab54c59699f8f9f3 = { + 0xab54c59699f8f9f3, b_ab54c59699f8f9f3.words, 153, d_ab54c59699f8f9f3, m_ab54c59699f8f9f3, + 2, 8, i_ab54c59699f8f9f3, nullptr, nullptr, { &s_ab54c59699f8f9f3, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<155> b_f5ad1d90cdc1dd6b = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 107, 221, 193, 205, 144, 29, 173, 245, + 13, 0, 0, 0, 1, 0, 2, 0, + 99, 42, 156, 136, 196, 30, 239, 128, + 4, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 226, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 199, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 71, 80, 83, + 80, 108, 97, 110, 110, 101, 114, 80, + 108, 97, 110, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 32, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 209, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 204, 0, 0, 0, 3, 0, 1, 0, + 216, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 213, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 208, 0, 0, 0, 3, 0, 1, 0, + 236, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 233, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 232, 0, 0, 0, 3, 0, 1, 0, + 244, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 241, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 236, 0, 0, 0, 3, 0, 1, 0, + 248, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 245, 0, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 244, 0, 0, 0, 3, 0, 1, 0, + 0, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 253, 0, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 1, 0, 0, 3, 0, 1, 0, + 28, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 1, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 20, 1, 0, 0, 3, 0, 1, 0, + 48, 1, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 45, 1, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 44, 1, 0, 0, 3, 0, 1, 0, + 56, 1, 0, 0, 2, 0, 1, 0, + 118, 97, 108, 105, 100, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 111, 108, 121, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 114, 97, 99, 107, 78, 97, 109, + 101, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 112, 101, 101, 100, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 99, 99, 101, 108, 101, 114, 97, + 116, 105, 111, 110, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 111, 105, 110, 116, 115, 68, 69, + 80, 82, 69, 67, 65, 84, 69, 68, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 247, 199, 176, 141, 22, 33, 14, 225, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 111, 105, 110, 116, 115, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 71, 52, 152, 36, 213, 187, 91, 194, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 120, 76, 111, 111, 107, 97, 104, 101, + 97, 100, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_f5ad1d90cdc1dd6b = b_f5ad1d90cdc1dd6b.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_f5ad1d90cdc1dd6b[] = { + &s_c25bbbd524983447, + &s_e10e21168db0c7f7, +}; +static const uint16_t m_f5ad1d90cdc1dd6b[] = {4, 6, 5, 1, 3, 2, 0, 7}; +static const uint16_t i_f5ad1d90cdc1dd6b[] = {0, 1, 2, 3, 4, 5, 6, 7}; +const ::capnp::_::RawSchema s_f5ad1d90cdc1dd6b = { + 0xf5ad1d90cdc1dd6b, b_f5ad1d90cdc1dd6b.words, 155, d_f5ad1d90cdc1dd6b, m_f5ad1d90cdc1dd6b, + 2, 8, i_f5ad1d90cdc1dd6b, nullptr, nullptr, { &s_f5ad1d90cdc1dd6b, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<103> b_90c8426c3eaddd3b = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 59, 221, 173, 62, 108, 66, 200, 144, + 13, 0, 0, 0, 1, 0, 1, 0, + 99, 42, 156, 136, 196, 30, 239, 128, + 2, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 250, 0, 0, 0, + 33, 0, 0, 0, 39, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 53, 0, 0, 0, 31, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 85, 105, 78, + 97, 118, 105, 103, 97, 116, 105, 111, + 110, 69, 118, 101, 110, 116, 0, 0, + 8, 0, 0, 0, 1, 0, 1, 0, + 5, 234, 252, 248, 220, 7, 219, 232, + 9, 0, 0, 0, 42, 0, 0, 0, + 31, 154, 249, 94, 199, 136, 170, 185, + 5, 0, 0, 0, 58, 0, 0, 0, + 84, 121, 112, 101, 0, 0, 0, 0, + 83, 116, 97, 116, 117, 115, 0, 0, + 20, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 125, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 120, 0, 0, 0, 3, 0, 1, 0, + 132, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 129, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 124, 0, 0, 0, 3, 0, 1, 0, + 136, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 133, 0, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 132, 0, 0, 0, 3, 0, 1, 0, + 144, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 141, 0, 0, 0, 186, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 144, 0, 0, 0, 3, 0, 1, 0, + 156, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 153, 0, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 152, 0, 0, 0, 3, 0, 1, 0, + 164, 0, 0, 0, 2, 0, 1, 0, + 116, 121, 112, 101, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 5, 234, 252, 248, 220, 7, 219, 232, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 97, 116, 117, 115, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 31, 154, 249, 94, 199, 136, 170, 185, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 105, 115, 116, 97, 110, 99, 101, + 84, 111, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 110, 100, 82, 111, 97, 100, 80, + 111, 105, 110, 116, 68, 69, 80, 82, + 69, 67, 65, 84, 69, 68, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 247, 199, 176, 141, 22, 33, 14, 225, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 110, 100, 82, 111, 97, 100, 80, + 111, 105, 110, 116, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 71, 52, 152, 36, 213, 187, 91, 194, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_90c8426c3eaddd3b = b_90c8426c3eaddd3b.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_90c8426c3eaddd3b[] = { + &s_b9aa88c75ef99a1f, + &s_c25bbbd524983447, + &s_e10e21168db0c7f7, + &s_e8db07dcf8fcea05, +}; +static const uint16_t m_90c8426c3eaddd3b[] = {2, 4, 3, 1, 0}; +static const uint16_t i_90c8426c3eaddd3b[] = {0, 1, 2, 3, 4}; +const ::capnp::_::RawSchema s_90c8426c3eaddd3b = { + 0x90c8426c3eaddd3b, b_90c8426c3eaddd3b.words, 103, d_90c8426c3eaddd3b, m_90c8426c3eaddd3b, + 4, 5, i_90c8426c3eaddd3b, nullptr, nullptr, { &s_90c8426c3eaddd3b, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<53> b_e8db07dcf8fcea05 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 5, 234, 252, 248, 220, 7, 219, 232, + 31, 0, 0, 0, 2, 0, 0, 0, + 59, 221, 173, 62, 108, 66, 200, 144, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 34, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 175, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 85, 105, 78, + 97, 118, 105, 103, 97, 116, 105, 111, + 110, 69, 118, 101, 110, 116, 46, 84, + 121, 112, 101, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 28, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 77, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 69, 0, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 65, 0, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 61, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 57, 0, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 53, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 49, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 110, 111, 110, 101, 0, 0, 0, 0, + 108, 97, 110, 101, 67, 104, 97, 110, + 103, 101, 76, 101, 102, 116, 0, 0, + 108, 97, 110, 101, 67, 104, 97, 110, + 103, 101, 82, 105, 103, 104, 116, 0, + 109, 101, 114, 103, 101, 76, 101, 102, + 116, 0, 0, 0, 0, 0, 0, 0, + 109, 101, 114, 103, 101, 82, 105, 103, + 104, 116, 0, 0, 0, 0, 0, 0, + 116, 117, 114, 110, 76, 101, 102, 116, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 117, 114, 110, 82, 105, 103, 104, + 116, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_e8db07dcf8fcea05 = b_e8db07dcf8fcea05.words; +#if !CAPNP_LITE +static const uint16_t m_e8db07dcf8fcea05[] = {1, 2, 3, 4, 0, 5, 6}; +const ::capnp::_::RawSchema s_e8db07dcf8fcea05 = { + 0xe8db07dcf8fcea05, b_e8db07dcf8fcea05.words, 53, nullptr, m_e8db07dcf8fcea05, + 0, 7, nullptr, nullptr, nullptr, { &s_e8db07dcf8fcea05, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(Type_e8db07dcf8fcea05, e8db07dcf8fcea05); +static const ::capnp::_::AlignedData<36> b_b9aa88c75ef99a1f = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 31, 154, 249, 94, 199, 136, 170, 185, + 31, 0, 0, 0, 2, 0, 0, 0, + 59, 221, 173, 62, 108, 66, 200, 144, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 50, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 103, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 85, 105, 78, + 97, 118, 105, 103, 97, 116, 105, 111, + 110, 69, 118, 101, 110, 116, 46, 83, + 116, 97, 116, 117, 115, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 16, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 25, 0, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 110, 111, 110, 101, 0, 0, 0, 0, + 112, 97, 115, 115, 105, 118, 101, 0, + 97, 112, 112, 114, 111, 97, 99, 104, + 105, 110, 103, 0, 0, 0, 0, 0, + 97, 99, 116, 105, 118, 101, 0, 0, } +}; +::capnp::word const* const bp_b9aa88c75ef99a1f = b_b9aa88c75ef99a1f.words; +#if !CAPNP_LITE +static const uint16_t m_b9aa88c75ef99a1f[] = {3, 2, 0, 1}; +const ::capnp::_::RawSchema s_b9aa88c75ef99a1f = { + 0xb9aa88c75ef99a1f, b_b9aa88c75ef99a1f.words, 36, nullptr, m_b9aa88c75ef99a1f, + 0, 4, nullptr, nullptr, nullptr, { &s_b9aa88c75ef99a1f, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(Status_b9aa88c75ef99a1f, b9aa88c75ef99a1f); +static const ::capnp::_::AlignedData<406> b_b99b2bc7a57e8128 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 40, 129, 126, 165, 199, 43, 155, 185, + 13, 0, 0, 0, 1, 0, 10, 0, + 99, 42, 156, 136, 196, 30, 239, 128, + 7, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 242, 0, 0, 0, + 33, 0, 0, 0, 39, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 61, 0, 0, 0, 15, 5, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 76, 105, 118, + 101, 76, 111, 99, 97, 116, 105, 111, + 110, 68, 97, 116, 97, 0, 0, 0, + 8, 0, 0, 0, 1, 0, 1, 0, + 63, 176, 115, 84, 98, 196, 61, 148, + 9, 0, 0, 0, 74, 0, 0, 0, + 87, 246, 42, 37, 204, 211, 113, 200, + 9, 0, 0, 0, 106, 0, 0, 0, + 65, 99, 99, 117, 114, 97, 99, 121, + 0, 0, 0, 0, 0, 0, 0, 0, + 83, 101, 110, 115, 111, 114, 83, 111, + 117, 114, 99, 101, 0, 0, 0, 0, + 92, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 2, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 2, 0, 0, 3, 0, 1, 0, + 124, 2, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 2, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 2, 0, 0, 3, 0, 1, 0, + 128, 2, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 125, 2, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 120, 2, 0, 0, 3, 0, 1, 0, + 132, 2, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 129, 2, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 124, 2, 0, 0, 3, 0, 1, 0, + 136, 2, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 133, 2, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 128, 2, 0, 0, 3, 0, 1, 0, + 140, 2, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 137, 2, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 132, 2, 0, 0, 3, 0, 1, 0, + 160, 2, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 157, 2, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 152, 2, 0, 0, 3, 0, 1, 0, + 164, 2, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 8, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 161, 2, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 156, 2, 0, 0, 3, 0, 1, 0, + 168, 2, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 9, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 165, 2, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 160, 2, 0, 0, 3, 0, 1, 0, + 172, 2, 0, 0, 2, 0, 1, 0, + 9, 0, 0, 0, 10, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 169, 2, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 168, 2, 0, 0, 3, 0, 1, 0, + 180, 2, 0, 0, 2, 0, 1, 0, + 10, 0, 0, 0, 11, 0, 0, 0, + 0, 0, 1, 0, 10, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 177, 2, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 176, 2, 0, 0, 3, 0, 1, 0, + 188, 2, 0, 0, 2, 0, 1, 0, + 11, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 11, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 185, 2, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 180, 2, 0, 0, 3, 0, 1, 0, + 208, 2, 0, 0, 2, 0, 1, 0, + 12, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 12, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 205, 2, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 200, 2, 0, 0, 3, 0, 1, 0, + 228, 2, 0, 0, 2, 0, 1, 0, + 13, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 13, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 225, 2, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 224, 2, 0, 0, 3, 0, 1, 0, + 236, 2, 0, 0, 2, 0, 1, 0, + 14, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 14, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 233, 2, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 228, 2, 0, 0, 3, 0, 1, 0, + 240, 2, 0, 0, 2, 0, 1, 0, + 15, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 15, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 237, 2, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 236, 2, 0, 0, 3, 0, 1, 0, + 248, 2, 0, 0, 2, 0, 1, 0, + 16, 0, 0, 0, 14, 0, 0, 0, + 0, 0, 1, 0, 16, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 245, 2, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 240, 2, 0, 0, 3, 0, 1, 0, + 252, 2, 0, 0, 2, 0, 1, 0, + 17, 0, 0, 0, 8, 0, 0, 0, + 0, 0, 1, 0, 17, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 249, 2, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 248, 2, 0, 0, 3, 0, 1, 0, + 4, 3, 0, 0, 2, 0, 1, 0, + 18, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 3, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 3, 0, 0, 3, 0, 1, 0, + 28, 3, 0, 0, 2, 0, 1, 0, + 19, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 19, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 3, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 24, 3, 0, 0, 3, 0, 1, 0, + 52, 3, 0, 0, 2, 0, 1, 0, + 20, 0, 0, 0, 15, 0, 0, 0, + 0, 0, 1, 0, 20, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 49, 3, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 52, 3, 0, 0, 3, 0, 1, 0, + 64, 3, 0, 0, 2, 0, 1, 0, + 21, 0, 0, 0, 18, 0, 0, 0, + 0, 0, 1, 0, 21, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 61, 3, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 60, 3, 0, 0, 3, 0, 1, 0, + 72, 3, 0, 0, 2, 0, 1, 0, + 22, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 22, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 69, 3, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 68, 3, 0, 0, 3, 0, 1, 0, + 96, 3, 0, 0, 2, 0, 1, 0, + 115, 116, 97, 116, 117, 115, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 97, 116, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 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0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 97, 119, 67, 97, 108, 105, 98, + 114, 97, 116, 105, 111, 110, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 109, 117, 70, 114, 97, 109, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_b99b2bc7a57e8128 = b_b99b2bc7a57e8128.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_b99b2bc7a57e8128[] = { + &s_943dc4625473b03f, + &s_c871d3cc252af657, +}; +static const uint16_t m_b99b2bc7a57e8128[] = {12, 13, 3, 15, 16, 11, 8, 22, 1, 2, 7, 20, 19, 18, 6, 14, 4, 0, 17, 10, 5, 9, 21}; +static const uint16_t i_b99b2bc7a57e8128[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22}; +const ::capnp::_::RawSchema s_b99b2bc7a57e8128 = { + 0xb99b2bc7a57e8128, b_b99b2bc7a57e8128.words, 406, d_b99b2bc7a57e8128, m_b99b2bc7a57e8128, + 2, 23, i_b99b2bc7a57e8128, nullptr, nullptr, { &s_b99b2bc7a57e8128, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<159> b_943dc4625473b03f = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 63, 176, 115, 84, 98, 196, 61, 148, + 30, 0, 0, 0, 1, 0, 3, 0, + 40, 129, 126, 165, 199, 43, 155, 185, + 2, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 58, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 199, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 76, 105, 118, + 101, 76, 111, 99, 97, 116, 105, 111, + 110, 68, 97, 116, 97, 46, 65, 99, + 99, 117, 114, 97, 99, 121, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 32, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 209, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 208, 0, 0, 0, 3, 0, 1, 0, + 236, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 233, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 232, 0, 0, 0, 3, 0, 1, 0, + 4, 1, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 1, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 1, 0, 0, 3, 0, 1, 0, + 12, 1, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 1, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 1, 0, 0, 3, 0, 1, 0, + 20, 1, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 17, 1, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 1, 0, 0, 3, 0, 1, 0, + 28, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 1, 0, 0, 194, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 28, 1, 0, 0, 3, 0, 1, 0, + 40, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 1, 0, 0, 194, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 40, 1, 0, 0, 3, 0, 1, 0, + 52, 1, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 49, 1, 0, 0, 210, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 56, 1, 0, 0, 3, 0, 1, 0, + 68, 1, 0, 0, 2, 0, 1, 0, + 112, 78, 69, 68, 69, 114, 114, 111, + 114, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 118, 78, 69, 68, 69, 114, 114, 111, + 114, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 111, 108, 108, 69, 114, 114, 111, + 114, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 105, 116, 99, 104, 69, 114, 114, + 111, 114, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 101, 97, 100, 105, 110, 103, 69, + 114, 114, 111, 114, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 108, 108, 105, 112, 115, 111, 105, + 100, 83, 101, 109, 105, 77, 97, 106, + 111, 114, 69, 114, 114, 111, 114, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 108, 108, 105, 112, 115, 111, 105, + 100, 83, 101, 109, 105, 77, 105, 110, + 111, 114, 69, 114, 114, 111, 114, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 108, 108, 105, 112, 115, 111, 105, + 100, 79, 114, 105, 101, 110, 116, 97, + 116, 105, 111, 110, 69, 114, 114, 111, + 114, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_943dc4625473b03f = b_943dc4625473b03f.words; +#if !CAPNP_LITE +static const uint16_t m_943dc4625473b03f[] = {7, 5, 6, 4, 0, 3, 2, 1}; +static const uint16_t i_943dc4625473b03f[] = {0, 1, 2, 3, 4, 5, 6, 7}; +const ::capnp::_::RawSchema s_943dc4625473b03f = { + 0x943dc4625473b03f, b_943dc4625473b03f.words, 159, nullptr, m_943dc4625473b03f, + 0, 8, i_943dc4625473b03f, nullptr, nullptr, { &s_943dc4625473b03f, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<41> b_c871d3cc252af657 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 87, 246, 42, 37, 204, 211, 113, 200, + 30, 0, 0, 0, 2, 0, 0, 0, + 40, 129, 126, 165, 199, 43, 155, 185, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 90, 1, 0, 0, + 41, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 0, 0, 0, 127, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 76, 105, 118, + 101, 76, 111, 99, 97, 116, 105, 111, + 110, 68, 97, 116, 97, 46, 83, 101, + 110, 115, 111, 114, 83, 111, 117, 114, + 99, 101, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 20, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 53, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 49, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 25, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 112, 112, 108, 97, 110, 105, 120, + 0, 0, 0, 0, 0, 0, 0, 0, + 107, 97, 108, 109, 97, 110, 0, 0, + 111, 114, 98, 115, 108, 97, 109, 0, + 116, 105, 109, 105, 110, 103, 0, 0, + 100, 117, 109, 109, 121, 0, 0, 0, } +}; +::capnp::word const* const bp_c871d3cc252af657 = b_c871d3cc252af657.words; +#if !CAPNP_LITE +static const uint16_t m_c871d3cc252af657[] = {0, 4, 1, 2, 3}; +const ::capnp::_::RawSchema s_c871d3cc252af657 = { + 0xc871d3cc252af657, b_c871d3cc252af657.words, 41, nullptr, m_c871d3cc252af657, + 0, 5, nullptr, nullptr, nullptr, { &s_c871d3cc252af657, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(SensorSource_c871d3cc252af657, c871d3cc252af657); +static const ::capnp::_::AlignedData<118> b_d7700859ed1f5b76 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 118, 91, 31, 237, 89, 8, 112, 215, + 13, 0, 0, 0, 1, 0, 4, 0, + 99, 42, 156, 136, 196, 30, 239, 128, + 2, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 202, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 87, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 79, 114, 98, + 79, 100, 111, 109, 101, 116, 114, 121, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 24, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 153, 0, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 152, 0, 0, 0, 3, 0, 1, 0, + 164, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 161, 0, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 160, 0, 0, 0, 3, 0, 1, 0, + 172, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 169, 0, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 164, 0, 0, 0, 3, 0, 1, 0, + 192, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 189, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 184, 0, 0, 0, 3, 0, 1, 0, + 196, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 193, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 188, 0, 0, 0, 3, 0, 1, 0, + 200, 0, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 197, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 192, 0, 0, 0, 3, 0, 1, 0, + 220, 0, 0, 0, 2, 0, 1, 0, + 115, 116, 97, 114, 116, 77, 111, 110, + 111, 84, 105, 109, 101, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 110, 100, 77, 111, 110, 111, 84, + 105, 109, 101, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 114, 114, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 110, 108, 105, 101, 114, 115, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 97, 116, 99, 104, 101, 115, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_d7700859ed1f5b76 = b_d7700859ed1f5b76.words; +#if !CAPNP_LITE +static const uint16_t m_d7700859ed1f5b76[] = {1, 3, 2, 4, 5, 0}; +static const uint16_t i_d7700859ed1f5b76[] = {0, 1, 2, 3, 4, 5}; +const ::capnp::_::RawSchema s_d7700859ed1f5b76 = { + 0xd7700859ed1f5b76, b_d7700859ed1f5b76.words, 118, nullptr, m_d7700859ed1f5b76, + 0, 6, i_d7700859ed1f5b76, nullptr, nullptr, { &s_d7700859ed1f5b76, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<143> b_cd60164a8a0159ef = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 239, 89, 1, 138, 74, 22, 96, 205, + 13, 0, 0, 0, 1, 0, 2, 0, + 99, 42, 156, 136, 196, 30, 239, 128, + 5, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 202, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 143, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 79, 114, 98, + 70, 101, 97, 116, 117, 114, 101, 115, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 28, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 181, 0, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 180, 0, 0, 0, 3, 0, 1, 0, + 192, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 189, 0, 0, 0, 26, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 184, 0, 0, 0, 3, 0, 1, 0, + 212, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 209, 0, 0, 0, 26, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 204, 0, 0, 0, 3, 0, 1, 0, + 232, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 229, 0, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 228, 0, 0, 0, 3, 0, 1, 0, + 240, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 237, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 232, 0, 0, 0, 3, 0, 1, 0, + 4, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 1, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 1, 0, 0, 3, 0, 1, 0, + 16, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 1, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 1, 0, 0, 3, 0, 1, 0, + 36, 1, 0, 0, 2, 0, 1, 0, + 116, 105, 109, 101, 115, 116, 97, 109, + 112, 69, 111, 102, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 120, 115, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 115, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 101, 115, 99, 114, 105, 112, 116, + 111, 114, 115, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 111, 99, 116, 97, 118, 101, 115, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 105, 109, 101, 115, 116, 97, 109, + 112, 76, 97, 115, 116, 69, 111, 102, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 97, 116, 99, 104, 101, 115, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_cd60164a8a0159ef = b_cd60164a8a0159ef.words; +#if !CAPNP_LITE +static const uint16_t m_cd60164a8a0159ef[] = {3, 6, 4, 0, 5, 1, 2}; +static const uint16_t i_cd60164a8a0159ef[] = {0, 1, 2, 3, 4, 5, 6}; +const ::capnp::_::RawSchema s_cd60164a8a0159ef = { + 0xcd60164a8a0159ef, b_cd60164a8a0159ef.words, 143, nullptr, m_cd60164a8a0159ef, + 0, 7, i_cd60164a8a0159ef, nullptr, nullptr, { &s_cd60164a8a0159ef, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<99> b_d500d30c5803fa4f = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 79, 250, 3, 88, 12, 211, 0, 213, + 13, 0, 0, 0, 1, 0, 4, 0, + 99, 42, 156, 136, 196, 30, 239, 128, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 2, 1, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 31, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 79, 114, 98, + 70, 101, 97, 116, 117, 114, 101, 115, + 83, 117, 109, 109, 97, 114, 121, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 20, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 125, 0, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 124, 0, 0, 0, 3, 0, 1, 0, + 136, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 133, 0, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 136, 0, 0, 0, 3, 0, 1, 0, + 148, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 8, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 145, 0, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 144, 0, 0, 0, 3, 0, 1, 0, + 156, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 9, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 153, 0, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 152, 0, 0, 0, 3, 0, 1, 0, + 164, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 161, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 160, 0, 0, 0, 3, 0, 1, 0, + 172, 0, 0, 0, 2, 0, 1, 0, + 116, 105, 109, 101, 115, 116, 97, 109, + 112, 69, 111, 102, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 105, 109, 101, 115, 116, 97, 109, + 112, 76, 97, 115, 116, 69, 111, 102, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 101, 97, 116, 117, 114, 101, 67, + 111, 117, 110, 116, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 97, 116, 99, 104, 67, 111, 117, + 110, 116, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 111, 109, 112, 117, 116, 101, 78, + 115, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_d500d30c5803fa4f = b_d500d30c5803fa4f.words; +#if !CAPNP_LITE +static const uint16_t m_d500d30c5803fa4f[] = {4, 2, 3, 0, 1}; +static const uint16_t i_d500d30c5803fa4f[] = {0, 1, 2, 3, 4}; +const ::capnp::_::RawSchema s_d500d30c5803fa4f = { + 0xd500d30c5803fa4f, b_d500d30c5803fa4f.words, 99, nullptr, m_d500d30c5803fa4f, + 0, 5, i_d500d30c5803fa4f, nullptr, nullptr, { &s_d500d30c5803fa4f, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<83> b_c8233c0345e27e24 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 36, 126, 226, 69, 3, 60, 35, 200, + 13, 0, 0, 0, 1, 0, 1, 0, + 99, 42, 156, 136, 196, 30, 239, 128, + 3, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 202, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 231, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 79, 114, 98, + 75, 101, 121, 70, 114, 97, 109, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 16, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 0, 0, 0, 26, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 92, 0, 0, 0, 3, 0, 1, 0, + 104, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 96, 0, 0, 0, 3, 0, 1, 0, + 108, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 0, 0, 0, 3, 0, 1, 0, + 128, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 125, 0, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 124, 0, 0, 0, 3, 0, 1, 0, + 136, 0, 0, 0, 2, 0, 1, 0, + 105, 100, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 111, 115, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 71, 52, 152, 36, 213, 187, 91, 194, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 112, 111, 115, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 71, 52, 152, 36, 213, 187, 91, 194, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 101, 115, 99, 114, 105, 112, 116, + 111, 114, 115, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_c8233c0345e27e24 = b_c8233c0345e27e24.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_c8233c0345e27e24[] = { + &s_c25bbbd524983447, +}; +static const uint16_t m_c8233c0345e27e24[] = {3, 2, 0, 1}; +static const uint16_t i_c8233c0345e27e24[] = {0, 1, 2, 3}; +const ::capnp::_::RawSchema s_c8233c0345e27e24 = { + 0xc8233c0345e27e24, b_c8233c0345e27e24.words, 83, d_c8233c0345e27e24, m_c8233c0345e27e24, + 1, 4, i_c8233c0345e27e24, nullptr, nullptr, { &s_c8233c0345e27e24, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<95> b_92e21bb7ea38793a = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 58, 121, 56, 234, 183, 27, 226, 146, + 13, 0, 0, 0, 1, 0, 0, 0, + 99, 42, 156, 136, 196, 30, 239, 128, + 4, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 226, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 231, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 75, 97, 108, + 109, 97, 110, 79, 100, 111, 109, 101, + 116, 114, 121, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 16, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 92, 0, 0, 0, 3, 0, 1, 0, + 120, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 0, 0, 0, 3, 0, 1, 0, + 140, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 137, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 136, 0, 0, 0, 3, 0, 1, 0, + 164, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 161, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 156, 0, 0, 0, 3, 0, 1, 0, + 184, 0, 0, 0, 2, 0, 1, 0, + 116, 114, 97, 110, 115, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 111, 116, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 114, 97, 110, 115, 83, 116, 100, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 111, 116, 83, 116, 100, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_92e21bb7ea38793a = b_92e21bb7ea38793a.words; +#if !CAPNP_LITE +static const uint16_t m_92e21bb7ea38793a[] = {1, 3, 0, 2}; +static const uint16_t i_92e21bb7ea38793a[] = {0, 1, 2, 3}; +const ::capnp::_::RawSchema s_92e21bb7ea38793a = { + 0x92e21bb7ea38793a, b_92e21bb7ea38793a.words, 95, nullptr, m_92e21bb7ea38793a, + 0, 4, i_92e21bb7ea38793a, nullptr, nullptr, { &s_92e21bb7ea38793a, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<92> b_9b326d4e436afec7 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 199, 254, 106, 67, 78, 109, 50, 155, + 13, 0, 0, 0, 1, 0, 2, 0, + 99, 42, 156, 136, 196, 30, 239, 128, + 2, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 226, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 231, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 79, 114, 98, + 79, 98, 115, 101, 114, 118, 97, 116, + 105, 111, 110, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 16, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 0, 0, 0, 162, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 0, 0, 0, 3, 0, 1, 0, + 112, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 0, 0, 0, 178, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 0, 0, 0, 3, 0, 1, 0, + 140, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 137, 0, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 136, 0, 0, 0, 3, 0, 1, 0, + 164, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 161, 0, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 160, 0, 0, 0, 3, 0, 1, 0, + 172, 0, 0, 0, 2, 0, 1, 0, + 111, 98, 115, 101, 114, 118, 97, 116, + 105, 111, 110, 77, 111, 110, 111, 84, + 105, 109, 101, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 110, 111, 114, 109, 97, 108, 105, 122, + 101, 100, 67, 111, 111, 114, 100, 105, + 110, 97, 116, 101, 115, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 99, 97, 116, 105, 111, 110, + 69, 67, 69, 70, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 97, 116, 99, 104, 68, 105, 115, + 116, 97, 110, 99, 101, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_9b326d4e436afec7 = b_9b326d4e436afec7.words; +#if !CAPNP_LITE +static const uint16_t m_9b326d4e436afec7[] = {2, 3, 1, 0}; +static const uint16_t i_9b326d4e436afec7[] = {0, 1, 2, 3}; +const ::capnp::_::RawSchema s_9b326d4e436afec7 = { + 0x9b326d4e436afec7, b_9b326d4e436afec7.words, 92, nullptr, m_9b326d4e436afec7, + 0, 4, i_9b326d4e436afec7, nullptr, nullptr, { &s_9b326d4e436afec7, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<91> b_8fdfadb254ea867a = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 122, 134, 234, 84, 178, 173, 223, 143, + 13, 0, 0, 0, 1, 0, 1, 0, + 99, 42, 156, 136, 196, 30, 239, 128, + 3, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 10, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 231, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 67, 97, 108, + 105, 98, 114, 97, 116, 105, 111, 110, + 70, 101, 97, 116, 117, 114, 101, 115, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 16, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 92, 0, 0, 0, 3, 0, 1, 0, + 104, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 0, 0, 0, 26, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 96, 0, 0, 0, 3, 0, 1, 0, + 124, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 0, 0, 0, 26, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 0, 0, 0, 3, 0, 1, 0, + 144, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 141, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 136, 0, 0, 0, 3, 0, 1, 0, + 164, 0, 0, 0, 2, 0, 1, 0, + 102, 114, 97, 109, 101, 73, 100, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 48, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 49, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 97, 116, 117, 115, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_8fdfadb254ea867a = b_8fdfadb254ea867a.words; +#if !CAPNP_LITE +static const uint16_t m_8fdfadb254ea867a[] = {0, 1, 2, 3}; +static const uint16_t i_8fdfadb254ea867a[] = {0, 1, 2, 3}; +const ::capnp::_::RawSchema s_8fdfadb254ea867a = { + 0x8fdfadb254ea867a, b_8fdfadb254ea867a.words, 91, nullptr, m_8fdfadb254ea867a, + 0, 4, i_8fdfadb254ea867a, nullptr, nullptr, { &s_8fdfadb254ea867a, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<52> b_bd8822120928120c = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 12, 18, 40, 9, 18, 34, 136, 189, + 13, 0, 0, 0, 1, 0, 1, 0, + 99, 42, 156, 136, 196, 30, 239, 128, + 1, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 186, 0, 0, 0, + 29, 0, 0, 0, 23, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 0, 0, 0, 119, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 78, 97, 118, + 83, 116, 97, 116, 117, 115, 0, 0, + 4, 0, 0, 0, 1, 0, 1, 0, + 20, 120, 204, 202, 114, 214, 124, 206, + 1, 0, 0, 0, 66, 0, 0, 0, + 65, 100, 100, 114, 101, 115, 115, 0, + 8, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 40, 0, 0, 0, 3, 0, 1, 0, + 52, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 49, 0, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 48, 0, 0, 0, 3, 0, 1, 0, + 60, 0, 0, 0, 2, 0, 1, 0, + 105, 115, 78, 97, 118, 105, 103, 97, + 116, 105, 110, 103, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 117, 114, 114, 101, 110, 116, 65, + 100, 100, 114, 101, 115, 115, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 20, 120, 204, 202, 114, 214, 124, 206, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_bd8822120928120c = b_bd8822120928120c.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_bd8822120928120c[] = { + &s_ce7cd672cacc7814, +}; +static const uint16_t m_bd8822120928120c[] = {1, 0}; +static const uint16_t i_bd8822120928120c[] = {0, 1}; +const ::capnp::_::RawSchema s_bd8822120928120c = { + 0xbd8822120928120c, b_bd8822120928120c.words, 52, d_bd8822120928120c, m_bd8822120928120c, + 1, 2, i_bd8822120928120c, nullptr, nullptr, { &s_bd8822120928120c, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<153> b_ce7cd672cacc7814 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 20, 120, 204, 202, 114, 214, 124, 206, + 23, 0, 0, 0, 1, 0, 2, 0, + 12, 18, 40, 9, 18, 34, 136, 189, + 7, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 250, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 255, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 78, 97, 118, + 83, 116, 97, 116, 117, 115, 46, 65, + 100, 100, 114, 101, 115, 115, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 36, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 237, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 232, 0, 0, 0, 3, 0, 1, 0, + 244, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 241, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 236, 0, 0, 0, 3, 0, 1, 0, + 248, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 245, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 240, 0, 0, 0, 3, 0, 1, 0, + 252, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 249, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 244, 0, 0, 0, 3, 0, 1, 0, + 0, 1, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 253, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 248, 0, 0, 0, 3, 0, 1, 0, + 4, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 1, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 252, 0, 0, 0, 3, 0, 1, 0, + 8, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 1, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 1, 0, 0, 3, 0, 1, 0, + 12, 1, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 1, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 1, 0, 0, 3, 0, 1, 0, + 16, 1, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 1, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 1, 0, 0, 3, 0, 1, 0, + 20, 1, 0, 0, 2, 0, 1, 0, + 116, 105, 116, 108, 101, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 97, 116, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 110, 103, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 111, 117, 115, 101, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 100, 100, 114, 101, 115, 115, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 114, 101, 101, 116, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 105, 116, 121, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 97, 116, 101, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 111, 117, 110, 116, 114, 121, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_ce7cd672cacc7814 = b_ce7cd672cacc7814.words; +#if !CAPNP_LITE +static const uint16_t m_ce7cd672cacc7814[] = {4, 6, 8, 3, 1, 2, 7, 5, 0}; +static const uint16_t i_ce7cd672cacc7814[] = {0, 1, 2, 3, 4, 5, 6, 7, 8}; +const ::capnp::_::RawSchema s_ce7cd672cacc7814 = { + 0xce7cd672cacc7814, b_ce7cd672cacc7814.words, 153, nullptr, m_ce7cd672cacc7814, + 0, 9, i_ce7cd672cacc7814, nullptr, nullptr, { &s_ce7cd672cacc7814, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<75> b_db98be6565516acb = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 203, 106, 81, 101, 101, 190, 152, 219, + 13, 0, 0, 0, 1, 0, 1, 0, + 99, 42, 156, 136, 196, 30, 239, 128, + 1, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 186, 0, 0, 0, + 29, 0, 0, 0, 39, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 49, 0, 0, 0, 175, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 78, 97, 118, + 85, 112, 100, 97, 116, 101, 0, 0, + 8, 0, 0, 0, 1, 0, 1, 0, + 155, 187, 173, 124, 24, 249, 174, 158, + 9, 0, 0, 0, 58, 0, 0, 0, + 63, 218, 215, 196, 79, 155, 179, 165, + 5, 0, 0, 0, 66, 0, 0, 0, + 76, 97, 116, 76, 110, 103, 0, 0, + 83, 101, 103, 109, 101, 110, 116, 0, + 12, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 69, 0, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 68, 0, 0, 0, 3, 0, 1, 0, + 80, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 77, 0, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 76, 0, 0, 0, 3, 0, 1, 0, + 88, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 85, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 84, 0, 0, 0, 3, 0, 1, 0, + 112, 0, 0, 0, 2, 0, 1, 0, + 105, 115, 78, 97, 118, 105, 103, 97, + 116, 105, 110, 103, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 117, 114, 83, 101, 103, 109, 101, + 110, 116, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 101, 103, 109, 101, 110, 116, 115, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 63, 218, 215, 196, 79, 155, 179, 165, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_db98be6565516acb = b_db98be6565516acb.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_db98be6565516acb[] = { + &s_a5b39b4fc4d7da3f, +}; +static const uint16_t m_db98be6565516acb[] = {1, 0, 2}; +static const uint16_t i_db98be6565516acb[] = {0, 1, 2}; +const ::capnp::_::RawSchema s_db98be6565516acb = { + 0xdb98be6565516acb, b_db98be6565516acb.words, 75, d_db98be6565516acb, m_db98be6565516acb, + 1, 3, i_db98be6565516acb, nullptr, nullptr, { &s_db98be6565516acb, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<48> b_9eaef9187cadbb9b = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 155, 187, 173, 124, 24, 249, 174, 158, + 23, 0, 0, 0, 1, 0, 2, 0, + 203, 106, 81, 101, 101, 190, 152, 219, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 242, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 119, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 78, 97, 118, + 85, 112, 100, 97, 116, 101, 46, 76, + 97, 116, 76, 110, 103, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 8, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 36, 0, 0, 0, 3, 0, 1, 0, + 48, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 45, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 40, 0, 0, 0, 3, 0, 1, 0, + 52, 0, 0, 0, 2, 0, 1, 0, + 108, 97, 116, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 110, 103, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_9eaef9187cadbb9b = b_9eaef9187cadbb9b.words; +#if !CAPNP_LITE +static const uint16_t m_9eaef9187cadbb9b[] = {0, 1}; +static const uint16_t i_9eaef9187cadbb9b[] = {0, 1}; +const ::capnp::_::RawSchema s_9eaef9187cadbb9b = { + 0x9eaef9187cadbb9b, b_9eaef9187cadbb9b.words, 48, nullptr, m_9eaef9187cadbb9b, + 0, 2, i_9eaef9187cadbb9b, nullptr, nullptr, { &s_9eaef9187cadbb9b, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<150> b_a5b39b4fc4d7da3f = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 63, 218, 215, 196, 79, 155, 179, 165, + 23, 0, 0, 0, 1, 0, 3, 0, + 203, 106, 81, 101, 101, 190, 152, 219, + 3, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 250, 0, 0, 0, + 33, 0, 0, 0, 23, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 45, 0, 0, 0, 199, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 78, 97, 118, + 85, 112, 100, 97, 116, 101, 46, 83, + 101, 103, 109, 101, 110, 116, 0, 0, + 4, 0, 0, 0, 1, 0, 1, 0, + 111, 36, 81, 116, 99, 122, 65, 197, + 1, 0, 0, 0, 98, 0, 0, 0, + 73, 110, 115, 116, 114, 117, 99, 116, + 105, 111, 110, 0, 0, 0, 0, 0, + 32, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 209, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 204, 0, 0, 0, 3, 0, 1, 0, + 216, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 213, 0, 0, 0, 26, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 208, 0, 0, 0, 3, 0, 1, 0, + 220, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 217, 0, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 216, 0, 0, 0, 3, 0, 1, 0, + 228, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 225, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 224, 0, 0, 0, 3, 0, 1, 0, + 236, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 233, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 232, 0, 0, 0, 3, 0, 1, 0, + 244, 0, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 241, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 236, 0, 0, 0, 3, 0, 1, 0, + 248, 0, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 8, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 245, 0, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 244, 0, 0, 0, 3, 0, 1, 0, + 0, 1, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 253, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 248, 0, 0, 0, 3, 0, 1, 0, + 20, 1, 0, 0, 2, 0, 1, 0, + 102, 114, 111, 109, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 155, 187, 173, 124, 24, 249, 174, 158, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 111, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 155, 187, 173, 124, 24, 249, 174, 158, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 112, 100, 97, 116, 101, 84, 105, + 109, 101, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 105, 115, 116, 97, 110, 99, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 114, 111, 115, 115, 84, 105, 109, + 101, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 120, 105, 116, 78, 111, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 110, 115, 116, 114, 117, 99, 116, + 105, 111, 110, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 111, 36, 81, 116, 99, 122, 65, 197, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 97, 114, 116, 115, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 155, 187, 173, 124, 24, 249, 174, 158, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_a5b39b4fc4d7da3f = b_a5b39b4fc4d7da3f.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_a5b39b4fc4d7da3f[] = { + &s_9eaef9187cadbb9b, + &s_c5417a637451246f, +}; +static const uint16_t m_a5b39b4fc4d7da3f[] = {4, 3, 5, 0, 6, 7, 1, 2}; +static const uint16_t i_a5b39b4fc4d7da3f[] = {0, 1, 2, 3, 4, 5, 6, 7}; +const ::capnp::_::RawSchema s_a5b39b4fc4d7da3f = { + 0xa5b39b4fc4d7da3f, b_a5b39b4fc4d7da3f.words, 150, d_a5b39b4fc4d7da3f, m_a5b39b4fc4d7da3f, + 2, 8, i_a5b39b4fc4d7da3f, nullptr, nullptr, { &s_a5b39b4fc4d7da3f, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<117> b_c5417a637451246f = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 111, 36, 81, 116, 99, 122, 65, 197, + 31, 0, 0, 0, 2, 0, 0, 0, + 63, 218, 215, 196, 79, 155, 179, 165, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 90, 1, 0, 0, + 41, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 0, 0, 0, 231, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 78, 97, 118, + 85, 112, 100, 97, 116, 101, 46, 83, + 101, 103, 109, 101, 110, 116, 46, 73, + 110, 115, 116, 114, 117, 99, 116, 105, + 111, 110, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 80, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 233, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 229, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 225, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 221, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 217, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 213, 0, 0, 0, 170, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 213, 0, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 209, 0, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 209, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 201, 0, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 201, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 193, 0, 0, 0, 162, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 193, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 0, 0, 0, 0, + 185, 0, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 181, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 173, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 165, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 17, 0, 0, 0, 0, 0, 0, 0, + 161, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 18, 0, 0, 0, 0, 0, 0, 0, + 157, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 19, 0, 0, 0, 0, 0, 0, 0, + 149, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 117, 114, 110, 76, 101, 102, 116, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 117, 114, 110, 82, 105, 103, 104, + 116, 0, 0, 0, 0, 0, 0, 0, + 107, 101, 101, 112, 76, 101, 102, 116, + 0, 0, 0, 0, 0, 0, 0, 0, + 107, 101, 101, 112, 82, 105, 103, 104, + 116, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 114, 97, 105, 103, 104, 116, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 111, 117, 110, 100, 97, 98, 111, + 117, 116, 69, 120, 105, 116, 78, 117, + 109, 98, 101, 114, 0, 0, 0, 0, + 114, 111, 117, 110, 100, 97, 98, 111, + 117, 116, 69, 120, 105, 116, 0, 0, + 114, 111, 117, 110, 100, 97, 98, 111, + 117, 116, 84, 117, 114, 110, 76, 101, + 102, 116, 0, 0, 0, 0, 0, 0, + 117, 110, 107, 110, 56, 0, 0, 0, + 114, 111, 117, 110, 100, 97, 98, 111, + 117, 116, 83, 116, 114, 97, 105, 103, + 104, 116, 0, 0, 0, 0, 0, 0, + 117, 110, 107, 110, 49, 48, 0, 0, + 114, 111, 117, 110, 100, 97, 98, 111, + 117, 116, 84, 117, 114, 110, 82, 105, + 103, 104, 116, 0, 0, 0, 0, 0, + 117, 110, 107, 110, 49, 50, 0, 0, + 114, 111, 117, 110, 100, 97, 98, 111, + 117, 116, 85, 116, 117, 114, 110, 0, + 117, 110, 107, 110, 49, 52, 0, 0, + 97, 114, 114, 105, 118, 101, 0, 0, + 101, 120, 105, 116, 76, 101, 102, 116, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 120, 105, 116, 82, 105, 103, 104, + 116, 0, 0, 0, 0, 0, 0, 0, + 117, 110, 107, 110, 49, 56, 0, 0, + 117, 116, 117, 114, 110, 0, 0, 0, } +}; +::capnp::word const* const bp_c5417a637451246f = b_c5417a637451246f.words; +#if !CAPNP_LITE +static const uint16_t m_c5417a637451246f[] = {15, 16, 17, 2, 3, 6, 5, 9, 7, 11, 13, 4, 0, 1, 10, 12, 14, 18, 8, 19}; +const ::capnp::_::RawSchema s_c5417a637451246f = { + 0xc5417a637451246f, b_c5417a637451246f.words, 117, nullptr, m_c5417a637451246f, + 0, 20, nullptr, nullptr, nullptr, { &s_c5417a637451246f, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(Instruction_c5417a637451246f, c5417a637451246f); +static const ::capnp::_::AlignedData<86> b_acfa74a094e62626 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 38, 38, 230, 148, 160, 116, 250, 172, + 13, 0, 0, 0, 1, 0, 2, 0, + 99, 42, 156, 136, 196, 30, 239, 128, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 210, 0, 0, 0, + 33, 0, 0, 0, 39, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 53, 0, 0, 0, 231, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 84, 114, 97, + 102, 102, 105, 99, 69, 118, 101, 110, + 116, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 1, 0, 1, 0, + 75, 191, 53, 52, 37, 117, 93, 216, + 9, 0, 0, 0, 42, 0, 0, 0, + 73, 203, 92, 22, 114, 206, 246, 166, + 5, 0, 0, 0, 58, 0, 0, 0, + 84, 121, 112, 101, 0, 0, 0, 0, + 65, 99, 116, 105, 111, 110, 0, 0, + 16, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 92, 0, 0, 0, 3, 0, 1, 0, + 104, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 0, 0, 0, 3, 0, 1, 0, + 112, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 0, 0, 0, 3, 0, 1, 0, + 116, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 64, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 113, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 0, 0, 0, 3, 0, 1, 0, + 124, 0, 0, 0, 2, 0, 1, 0, + 116, 121, 112, 101, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 75, 191, 53, 52, 37, 117, 93, 216, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 105, 115, 116, 97, 110, 99, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 99, 116, 105, 111, 110, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 73, 203, 92, 22, 114, 206, 246, 166, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 101, 115, 117, 109, 105, 110, 103, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_acfa74a094e62626 = b_acfa74a094e62626.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_acfa74a094e62626[] = { + &s_a6f6ce72165ccb49, + &s_d85d75253435bf4b, +}; +static const uint16_t m_acfa74a094e62626[] = {2, 1, 3, 0}; +static const uint16_t i_acfa74a094e62626[] = {0, 1, 2, 3}; +const ::capnp::_::RawSchema s_acfa74a094e62626 = { + 0xacfa74a094e62626, b_acfa74a094e62626.words, 86, d_acfa74a094e62626, m_acfa74a094e62626, + 2, 4, i_acfa74a094e62626, nullptr, nullptr, { &s_acfa74a094e62626, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<43> b_d85d75253435bf4b = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 75, 191, 53, 52, 37, 117, 93, 216, + 26, 0, 0, 0, 2, 0, 0, 0, + 38, 38, 230, 148, 160, 116, 250, 172, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 250, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 127, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 84, 114, 97, + 102, 102, 105, 99, 69, 118, 101, 110, + 116, 46, 84, 121, 112, 101, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 20, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 53, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 49, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 45, 0, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 37, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 111, 112, 83, 105, 103, 110, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 105, 103, 104, 116, 82, 101, 100, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 105, 103, 104, 116, 89, 101, 108, + 108, 111, 119, 0, 0, 0, 0, 0, + 108, 105, 103, 104, 116, 71, 114, 101, + 101, 110, 0, 0, 0, 0, 0, 0, + 115, 116, 111, 112, 76, 105, 103, 104, + 116, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_d85d75253435bf4b = b_d85d75253435bf4b.words; +#if !CAPNP_LITE +static const uint16_t m_d85d75253435bf4b[] = {3, 1, 2, 4, 0}; +const ::capnp::_::RawSchema s_d85d75253435bf4b = { + 0xd85d75253435bf4b, b_d85d75253435bf4b.words, 43, nullptr, m_d85d75253435bf4b, + 0, 5, nullptr, nullptr, nullptr, { &s_d85d75253435bf4b, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(Type_d85d75253435bf4b, d85d75253435bf4b); +static const ::capnp::_::AlignedData<36> b_a6f6ce72165ccb49 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 73, 203, 92, 22, 114, 206, 246, 166, + 26, 0, 0, 0, 2, 0, 0, 0, + 38, 38, 230, 148, 160, 116, 250, 172, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 10, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 103, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 84, 114, 97, + 102, 102, 105, 99, 69, 118, 101, 110, + 116, 46, 65, 99, 116, 105, 111, 110, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 16, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 25, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 17, 0, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 110, 111, 110, 101, 0, 0, 0, 0, + 121, 105, 101, 108, 100, 0, 0, 0, + 115, 116, 111, 112, 0, 0, 0, 0, + 114, 101, 115, 117, 109, 101, 82, 101, + 97, 100, 121, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_a6f6ce72165ccb49 = b_a6f6ce72165ccb49.words; +#if !CAPNP_LITE +static const uint16_t m_a6f6ce72165ccb49[] = {0, 3, 2, 1}; +const ::capnp::_::RawSchema s_a6f6ce72165ccb49 = { + 0xa6f6ce72165ccb49, b_a6f6ce72165ccb49.words, 36, nullptr, m_a6f6ce72165ccb49, + 0, 4, nullptr, nullptr, nullptr, { &s_a6f6ce72165ccb49, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(Action_a6f6ce72165ccb49, a6f6ce72165ccb49); +static const ::capnp::_::AlignedData<60> b_dfdf30d03fc485bd = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 189, 133, 196, 63, 208, 48, 223, 223, + 13, 0, 0, 0, 1, 0, 1, 0, + 99, 42, 156, 136, 196, 30, 239, 128, + 1, 0, 7, 0, 0, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 202, 0, 0, 0, + 33, 0, 0, 0, 39, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 65, 0, 0, 0, 119, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 65, 110, 100, + 114, 111, 105, 100, 71, 110, 115, 115, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 1, 0, 1, 0, + 205, 214, 40, 244, 212, 16, 7, 162, + 9, 0, 0, 0, 106, 0, 0, 0, + 78, 253, 149, 48, 8, 123, 81, 226, + 9, 0, 0, 0, 146, 0, 0, 0, + 77, 101, 97, 115, 117, 114, 101, 109, + 101, 110, 116, 115, 0, 0, 0, 0, + 78, 97, 118, 105, 103, 97, 116, 105, + 111, 110, 77, 101, 115, 115, 97, 103, + 101, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 255, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 40, 0, 0, 0, 3, 0, 1, 0, + 52, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 254, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 49, 0, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 52, 0, 0, 0, 3, 0, 1, 0, + 64, 0, 0, 0, 2, 0, 1, 0, + 109, 101, 97, 115, 117, 114, 101, 109, + 101, 110, 116, 115, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 205, 214, 40, 244, 212, 16, 7, 162, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 110, 97, 118, 105, 103, 97, 116, 105, + 111, 110, 77, 101, 115, 115, 97, 103, + 101, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 78, 253, 149, 48, 8, 123, 81, 226, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_dfdf30d03fc485bd = b_dfdf30d03fc485bd.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_dfdf30d03fc485bd[] = { + &s_a20710d4f428d6cd, + &s_e2517b083095fd4e, +}; +static const uint16_t m_dfdf30d03fc485bd[] = {0, 1}; +static const uint16_t i_dfdf30d03fc485bd[] = {0, 1}; +const ::capnp::_::RawSchema s_dfdf30d03fc485bd = { + 0xdfdf30d03fc485bd, b_dfdf30d03fc485bd.words, 60, d_dfdf30d03fc485bd, m_dfdf30d03fc485bd, + 2, 2, i_dfdf30d03fc485bd, nullptr, nullptr, { &s_dfdf30d03fc485bd, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<61> b_a20710d4f428d6cd = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 205, 214, 40, 244, 212, 16, 7, 162, + 25, 0, 0, 0, 1, 0, 0, 0, + 189, 133, 196, 63, 208, 48, 223, 223, + 2, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 50, 1, 0, 0, + 37, 0, 0, 0, 39, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 61, 0, 0, 0, 119, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 65, 110, 100, + 114, 111, 105, 100, 71, 110, 115, 115, + 46, 77, 101, 97, 115, 117, 114, 101, + 109, 101, 110, 116, 115, 0, 0, 0, + 8, 0, 0, 0, 1, 0, 1, 0, + 80, 244, 56, 58, 69, 123, 226, 160, + 9, 0, 0, 0, 50, 0, 0, 0, + 77, 97, 119, 125, 113, 191, 73, 217, + 5, 0, 0, 0, 98, 0, 0, 0, + 67, 108, 111, 99, 107, 0, 0, 0, + 77, 101, 97, 115, 117, 114, 101, 109, + 101, 110, 116, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 36, 0, 0, 0, 3, 0, 1, 0, + 48, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 45, 0, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 44, 0, 0, 0, 3, 0, 1, 0, + 72, 0, 0, 0, 2, 0, 1, 0, + 99, 108, 111, 99, 107, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 80, 244, 56, 58, 69, 123, 226, 160, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 101, 97, 115, 117, 114, 101, 109, + 101, 110, 116, 115, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 77, 97, 119, 125, 113, 191, 73, 217, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_a20710d4f428d6cd = b_a20710d4f428d6cd.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_a20710d4f428d6cd[] = { + &s_a0e27b453a38f450, + &s_d949bf717d77614d, +}; +static const uint16_t m_a20710d4f428d6cd[] = {0, 1}; +static const uint16_t i_a20710d4f428d6cd[] = {0, 1}; +const ::capnp::_::RawSchema s_a20710d4f428d6cd = { + 0xa20710d4f428d6cd, b_a20710d4f428d6cd.words, 61, d_a20710d4f428d6cd, m_a20710d4f428d6cd, + 2, 2, i_a20710d4f428d6cd, nullptr, nullptr, { &s_a20710d4f428d6cd, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<290> b_a0e27b453a38f450 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 80, 244, 56, 58, 69, 123, 226, 160, + 38, 0, 0, 0, 1, 0, 9, 0, + 205, 214, 40, 244, 212, 16, 7, 162, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 98, 1, 0, 0, + 41, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 0, 0, 0, 135, 3, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 65, 110, 100, + 114, 111, 105, 100, 71, 110, 115, 115, + 46, 77, 101, 97, 115, 117, 114, 101, + 109, 101, 110, 116, 115, 46, 67, 108, + 111, 99, 107, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 64, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 177, 1, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 176, 1, 0, 0, 3, 0, 1, 0, + 188, 1, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 185, 1, 0, 0, 2, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 192, 1, 0, 0, 3, 0, 1, 0, + 204, 1, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 96, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 201, 1, 0, 0, 194, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 204, 1, 0, 0, 3, 0, 1, 0, + 216, 1, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 213, 1, 0, 0, 170, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 216, 1, 0, 0, 3, 0, 1, 0, + 228, 1, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 97, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 225, 1, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 224, 1, 0, 0, 3, 0, 1, 0, + 236, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 233, 1, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 232, 1, 0, 0, 3, 0, 1, 0, + 244, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 98, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 241, 1, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 244, 1, 0, 0, 3, 0, 1, 0, + 0, 2, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 253, 1, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 252, 1, 0, 0, 3, 0, 1, 0, + 8, 2, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 99, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 2, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 2, 0, 0, 3, 0, 1, 0, + 16, 2, 0, 0, 2, 0, 1, 0, + 9, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 2, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 2, 0, 0, 3, 0, 1, 0, + 24, 2, 0, 0, 2, 0, 1, 0, + 10, 0, 0, 0, 100, 0, 0, 0, + 0, 0, 1, 0, 10, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 2, 0, 0, 194, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 24, 2, 0, 0, 3, 0, 1, 0, + 36, 2, 0, 0, 2, 0, 1, 0, + 11, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 11, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 2, 0, 0, 170, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 36, 2, 0, 0, 3, 0, 1, 0, + 48, 2, 0, 0, 2, 0, 1, 0, + 12, 0, 0, 0, 101, 0, 0, 0, + 0, 0, 1, 0, 12, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 45, 2, 0, 0, 186, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 48, 2, 0, 0, 3, 0, 1, 0, + 60, 2, 0, 0, 2, 0, 1, 0, + 13, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 13, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 57, 2, 0, 0, 162, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 60, 2, 0, 0, 3, 0, 1, 0, + 72, 2, 0, 0, 2, 0, 1, 0, + 14, 0, 0, 0, 102, 0, 0, 0, + 0, 0, 1, 0, 14, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 69, 2, 0, 0, 18, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 80, 2, 0, 0, 3, 0, 1, 0, + 92, 2, 0, 0, 2, 0, 1, 0, + 15, 0, 0, 0, 8, 0, 0, 0, + 0, 0, 1, 0, 15, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 89, 2, 0, 0, 250, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 96, 2, 0, 0, 3, 0, 1, 0, + 108, 2, 0, 0, 2, 0, 1, 0, + 116, 105, 109, 101, 78, 97, 110, 111, + 115, 0, 0, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 97, 114, 100, 119, 97, 114, 101, + 67, 108, 111, 99, 107, 68, 105, 115, + 99, 111, 110, 116, 105, 110, 117, 105, + 116, 121, 67, 111, 117, 110, 116, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 97, 115, 84, 105, 109, 101, 85, + 110, 99, 101, 114, 116, 97, 105, 110, + 116, 121, 78, 97, 110, 111, 115, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 105, 109, 101, 85, 110, 99, 101, + 114, 116, 97, 105, 110, 116, 121, 78, + 97, 110, 111, 115, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 97, 115, 76, 101, 97, 112, 83, + 101, 99, 111, 110, 100, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 97, 112, 83, 101, 99, 111, + 110, 100, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 97, 115, 70, 117, 108, 108, 66, + 105, 97, 115, 78, 97, 110, 111, 115, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 117, 108, 108, 66, 105, 97, 115, + 78, 97, 110, 111, 115, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 97, 115, 66, 105, 97, 115, 78, + 97, 110, 111, 115, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 98, 105, 97, 115, 78, 97, 110, 111, + 115, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 97, 115, 66, 105, 97, 115, 85, + 110, 99, 101, 114, 116, 97, 105, 110, + 116, 121, 78, 97, 110, 111, 115, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 98, 105, 97, 115, 85, 110, 99, 101, + 114, 116, 97, 105, 110, 116, 121, 78, + 97, 110, 111, 115, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 97, 115, 68, 114, 105, 102, 116, + 78, 97, 110, 111, 115, 80, 101, 114, + 83, 101, 99, 111, 110, 100, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 114, 105, 102, 116, 78, 97, 110, + 111, 115, 80, 101, 114, 83, 101, 99, + 111, 110, 100, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 97, 115, 68, 114, 105, 102, 116, + 85, 110, 99, 101, 114, 116, 97, 105, + 110, 116, 121, 78, 97, 110, 111, 115, + 80, 101, 114, 83, 101, 99, 111, 110, + 100, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 114, 105, 102, 116, 85, 110, 99, + 101, 114, 116, 97, 105, 110, 116, 121, + 78, 97, 110, 111, 115, 80, 101, 114, + 83, 101, 99, 111, 110, 100, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_a0e27b453a38f450 = b_a0e27b453a38f450.words; +#if !CAPNP_LITE +static const uint16_t m_a0e27b453a38f450[] = {9, 11, 13, 15, 7, 1, 8, 10, 12, 14, 6, 4, 2, 5, 0, 3}; +static const uint16_t i_a0e27b453a38f450[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15}; +const ::capnp::_::RawSchema s_a0e27b453a38f450 = { + 0xa0e27b453a38f450, b_a0e27b453a38f450.words, 290, nullptr, m_a0e27b453a38f450, + 0, 16, i_a0e27b453a38f450, nullptr, nullptr, { &s_a0e27b453a38f450, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<420> b_d949bf717d77614d = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 77, 97, 119, 125, 113, 191, 73, 217, + 38, 0, 0, 0, 1, 0, 15, 0, + 205, 214, 40, 244, 212, 16, 7, 162, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 146, 1, 0, 0, + 45, 0, 0, 0, 55, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 89, 0, 0, 0, 15, 5, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 65, 110, 100, + 114, 111, 105, 100, 71, 110, 115, 115, + 46, 77, 101, 97, 115, 117, 114, 101, + 109, 101, 110, 116, 115, 46, 77, 101, + 97, 115, 117, 114, 101, 109, 101, 110, + 116, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 1, 0, 1, 0, + 251, 95, 235, 13, 255, 243, 241, 158, + 17, 0, 0, 0, 114, 0, 0, 0, + 114, 45, 225, 220, 10, 73, 185, 203, + 17, 0, 0, 0, 50, 0, 0, 0, + 168, 202, 212, 49, 98, 123, 78, 192, + 13, 0, 0, 0, 154, 0, 0, 0, + 67, 111, 110, 115, 116, 101, 108, 108, + 97, 116, 105, 111, 110, 0, 0, 0, + 83, 116, 97, 116, 101, 0, 0, 0, + 77, 117, 108, 116, 105, 112, 97, 116, + 104, 73, 110, 100, 105, 99, 97, 116, + 111, 114, 0, 0, 0, 0, 0, 0, + 92, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 2, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 2, 0, 0, 3, 0, 1, 0, + 124, 2, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 2, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 120, 2, 0, 0, 3, 0, 1, 0, + 132, 2, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 129, 2, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 128, 2, 0, 0, 3, 0, 1, 0, + 140, 2, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 137, 2, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 132, 2, 0, 0, 3, 0, 1, 0, + 144, 2, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 141, 2, 0, 0, 162, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 144, 2, 0, 0, 3, 0, 1, 0, + 156, 2, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 153, 2, 0, 0, 250, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 160, 2, 0, 0, 3, 0, 1, 0, + 172, 2, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 169, 2, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 164, 2, 0, 0, 3, 0, 1, 0, + 176, 2, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 173, 2, 0, 0, 250, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 180, 2, 0, 0, 3, 0, 1, 0, + 192, 2, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 189, 2, 0, 0, 82, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 204, 2, 0, 0, 3, 0, 1, 0, + 216, 2, 0, 0, 2, 0, 1, 0, + 9, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 213, 2, 0, 0, 218, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 220, 2, 0, 0, 3, 0, 1, 0, + 232, 2, 0, 0, 2, 0, 1, 0, + 10, 0, 0, 0, 8, 0, 0, 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0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_d949bf717d77614d = b_d949bf717d77614d.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_d949bf717d77614d[] = { + &s_9ef1f3ff0deb5ffb, + &s_c04e7b6231d4caa8, +}; +static const uint16_t m_d949bf717d77614d[] = {10, 9, 11, 15, 13, 17, 19, 6, 1, 14, 12, 16, 18, 20, 22, 7, 8, 4, 5, 21, 3, 0, 2}; +static const uint16_t i_d949bf717d77614d[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22}; +const ::capnp::_::RawSchema s_d949bf717d77614d = { + 0xd949bf717d77614d, b_d949bf717d77614d.words, 420, d_d949bf717d77614d, m_d949bf717d77614d, + 2, 23, i_d949bf717d77614d, nullptr, nullptr, { &s_d949bf717d77614d, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<50> b_9ef1f3ff0deb5ffb = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 251, 95, 235, 13, 255, 243, 241, 158, + 50, 0, 0, 0, 2, 0, 0, 0, + 77, 97, 119, 125, 113, 191, 73, 217, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 2, 2, 0, 0, + 49, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 45, 0, 0, 0, 175, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 65, 110, 100, + 114, 111, 105, 100, 71, 110, 115, 115, + 46, 77, 101, 97, 115, 117, 114, 101, + 109, 101, 110, 116, 115, 46, 77, 101, + 97, 115, 117, 114, 101, 109, 101, 110, + 116, 46, 67, 111, 110, 115, 116, 101, + 108, 108, 97, 116, 105, 111, 110, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 28, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 77, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 69, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 61, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 53, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 45, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 37, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 110, 107, 110, 111, 119, 110, 0, + 103, 112, 115, 0, 0, 0, 0, 0, + 115, 98, 97, 115, 0, 0, 0, 0, + 103, 108, 111, 110, 97, 115, 115, 0, + 113, 122, 115, 115, 0, 0, 0, 0, + 98, 101, 105, 100, 111, 117, 0, 0, + 103, 97, 108, 105, 108, 101, 111, 0, } +}; +::capnp::word const* const bp_9ef1f3ff0deb5ffb = b_9ef1f3ff0deb5ffb.words; +#if !CAPNP_LITE +static const uint16_t m_9ef1f3ff0deb5ffb[] = {5, 6, 3, 1, 4, 2, 0}; +const ::capnp::_::RawSchema s_9ef1f3ff0deb5ffb = { + 0x9ef1f3ff0deb5ffb, b_9ef1f3ff0deb5ffb.words, 50, nullptr, m_9ef1f3ff0deb5ffb, + 0, 7, nullptr, nullptr, nullptr, { &s_9ef1f3ff0deb5ffb, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(Constellation_9ef1f3ff0deb5ffb, 9ef1f3ff0deb5ffb); +static const ::capnp::_::AlignedData<96> b_cbb9490adce12d72 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 114, 45, 225, 220, 10, 73, 185, 203, + 50, 0, 0, 0, 2, 0, 0, 0, + 77, 97, 119, 125, 113, 191, 73, 217, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 194, 1, 0, 0, + 45, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 111, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 65, 110, 100, + 114, 111, 105, 100, 71, 110, 115, 115, + 46, 77, 101, 97, 115, 117, 114, 101, + 109, 101, 110, 116, 115, 46, 77, 101, + 97, 115, 117, 114, 101, 109, 101, 110, + 116, 46, 83, 116, 97, 116, 101, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 60, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 173, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 165, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 161, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 153, 0, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 149, 0, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 145, 0, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 141, 0, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 137, 0, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 133, 0, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 129, 0, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 125, 0, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 125, 0, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 121, 0, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 0, 0, 0, 0, + 121, 0, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 117, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 110, 107, 110, 111, 119, 110, 0, + 99, 111, 100, 101, 76, 111, 99, 107, + 0, 0, 0, 0, 0, 0, 0, 0, + 98, 105, 116, 83, 121, 110, 99, 0, + 115, 117, 98, 102, 114, 97, 109, 101, + 83, 121, 110, 99, 0, 0, 0, 0, + 116, 111, 119, 68, 101, 99, 111, 100, + 101, 100, 0, 0, 0, 0, 0, 0, + 109, 115, 101, 99, 65, 109, 98, 105, + 103, 117, 111, 117, 115, 0, 0, 0, + 115, 121, 109, 98, 111, 108, 83, 121, + 110, 99, 0, 0, 0, 0, 0, 0, + 103, 108, 111, 83, 116, 114, 105, 110, + 103, 83, 121, 110, 99, 0, 0, 0, + 103, 108, 111, 84, 111, 100, 68, 101, + 99, 111, 100, 101, 100, 0, 0, 0, + 98, 100, 115, 68, 50, 66, 105, 116, + 83, 121, 110, 99, 0, 0, 0, 0, + 98, 100, 115, 68, 50, 83, 117, 98, + 102, 114, 97, 109, 101, 83, 121, 110, + 99, 0, 0, 0, 0, 0, 0, 0, + 103, 97, 108, 69, 49, 98, 99, 67, + 111, 100, 101, 76, 111, 99, 107, 0, + 103, 97, 108, 69, 49, 99, 50, 110, + 100, 67, 111, 100, 101, 76, 111, 99, + 107, 0, 0, 0, 0, 0, 0, 0, + 103, 97, 108, 69, 49, 98, 80, 97, + 103, 101, 83, 121, 110, 99, 0, 0, + 115, 98, 97, 115, 83, 121, 110, 99, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_cbb9490adce12d72 = b_cbb9490adce12d72.words; +#if !CAPNP_LITE +static const uint16_t m_cbb9490adce12d72[] = {9, 10, 2, 1, 13, 11, 12, 7, 8, 5, 14, 3, 6, 4, 0}; +const ::capnp::_::RawSchema s_cbb9490adce12d72 = { + 0xcbb9490adce12d72, b_cbb9490adce12d72.words, 96, nullptr, m_cbb9490adce12d72, + 0, 15, nullptr, nullptr, nullptr, { &s_cbb9490adce12d72, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(State_cbb9490adce12d72, cbb9490adce12d72); +static const ::capnp::_::AlignedData<37> b_c04e7b6231d4caa8 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 168, 202, 212, 49, 98, 123, 78, 192, + 50, 0, 0, 0, 2, 0, 0, 0, + 77, 97, 119, 125, 113, 191, 73, 217, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 42, 2, 0, 0, + 53, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 49, 0, 0, 0, 79, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 65, 110, 100, + 114, 111, 105, 100, 71, 110, 115, 115, + 46, 77, 101, 97, 115, 117, 114, 101, + 109, 101, 110, 116, 115, 46, 77, 101, + 97, 115, 117, 114, 101, 109, 101, 110, + 116, 46, 77, 117, 108, 116, 105, 112, + 97, 116, 104, 73, 110, 100, 105, 99, + 97, 116, 111, 114, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 12, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 17, 0, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 110, 107, 110, 111, 119, 110, 0, + 100, 101, 116, 101, 99, 116, 101, 100, + 0, 0, 0, 0, 0, 0, 0, 0, + 110, 111, 116, 68, 101, 116, 101, 99, + 116, 101, 100, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_c04e7b6231d4caa8 = b_c04e7b6231d4caa8.words; +#if !CAPNP_LITE +static const uint16_t m_c04e7b6231d4caa8[] = {1, 2, 0}; +const ::capnp::_::RawSchema s_c04e7b6231d4caa8 = { + 0xc04e7b6231d4caa8, b_c04e7b6231d4caa8.words, 37, nullptr, m_c04e7b6231d4caa8, + 0, 3, nullptr, nullptr, nullptr, { &s_c04e7b6231d4caa8, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(MultipathIndicator_c04e7b6231d4caa8, c04e7b6231d4caa8); +static const ::capnp::_::AlignedData<115> b_e2517b083095fd4e = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 78, 253, 149, 48, 8, 123, 81, 226, + 25, 0, 0, 0, 1, 0, 3, 0, + 189, 133, 196, 63, 208, 48, 223, 223, + 1, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 90, 1, 0, 0, + 41, 0, 0, 0, 23, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 49, 0, 0, 0, 87, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 65, 110, 100, + 114, 111, 105, 100, 71, 110, 115, 115, + 46, 78, 97, 118, 105, 103, 97, 116, + 105, 111, 110, 77, 101, 115, 115, 97, + 103, 101, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 1, 0, 1, 0, + 111, 54, 53, 107, 153, 247, 31, 236, + 1, 0, 0, 0, 58, 0, 0, 0, + 83, 116, 97, 116, 117, 115, 0, 0, + 24, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 153, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 148, 0, 0, 0, 3, 0, 1, 0, + 160, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 157, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 152, 0, 0, 0, 3, 0, 1, 0, + 164, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 161, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 160, 0, 0, 0, 3, 0, 1, 0, + 172, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 169, 0, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 168, 0, 0, 0, 3, 0, 1, 0, + 180, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 177, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 172, 0, 0, 0, 3, 0, 1, 0, + 184, 0, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 8, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 181, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 176, 0, 0, 0, 3, 0, 1, 0, + 188, 0, 0, 0, 2, 0, 1, 0, + 116, 121, 112, 101, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 118, 73, 100, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 101, 115, 115, 97, 103, 101, 73, + 100, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 117, 98, 109, 101, 115, 115, 97, + 103, 101, 73, 100, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 97, 116, 97, 0, 0, 0, 0, + 13, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 97, 116, 117, 115, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 111, 54, 53, 107, 153, 247, 31, 236, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_e2517b083095fd4e = b_e2517b083095fd4e.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_e2517b083095fd4e[] = { + &s_ec1ff7996b35366f, +}; +static const uint16_t m_e2517b083095fd4e[] = {4, 2, 5, 3, 1, 0}; +static const uint16_t i_e2517b083095fd4e[] = {0, 1, 2, 3, 4, 5}; +const ::capnp::_::RawSchema s_e2517b083095fd4e = { + 0xe2517b083095fd4e, b_e2517b083095fd4e.words, 115, d_e2517b083095fd4e, m_e2517b083095fd4e, + 1, 6, i_e2517b083095fd4e, nullptr, nullptr, { &s_e2517b083095fd4e, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<35> b_ec1ff7996b35366f = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 111, 54, 53, 107, 153, 247, 31, 236, + 43, 0, 0, 0, 2, 0, 0, 0, + 78, 253, 149, 48, 8, 123, 81, 226, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 146, 1, 0, 0, + 45, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 79, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 65, 110, 100, + 114, 111, 105, 100, 71, 110, 115, 115, + 46, 78, 97, 118, 105, 103, 97, 116, + 105, 111, 110, 77, 101, 115, 115, 97, + 103, 101, 46, 83, 116, 97, 116, 117, + 115, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 12, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 17, 0, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 110, 107, 110, 111, 119, 110, 0, + 112, 97, 114, 105, 116, 121, 80, 97, + 115, 115, 101, 100, 0, 0, 0, 0, + 112, 97, 114, 105, 116, 121, 82, 101, + 98, 117, 105, 108, 116, 0, 0, 0, } +}; +::capnp::word const* const bp_ec1ff7996b35366f = b_ec1ff7996b35366f.words; +#if !CAPNP_LITE +static const uint16_t m_ec1ff7996b35366f[] = {1, 2, 0}; +const ::capnp::_::RawSchema s_ec1ff7996b35366f = { + 0xec1ff7996b35366f, b_ec1ff7996b35366f.words, 35, nullptr, m_ec1ff7996b35366f, + 0, 3, nullptr, nullptr, nullptr, { &s_ec1ff7996b35366f, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(Status_ec1ff7996b35366f, ec1ff7996b35366f); +static const ::capnp::_::AlignedData<104> b_e3d6685d4e9d8f7a = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 122, 143, 157, 78, 93, 104, 214, 227, + 13, 0, 0, 0, 1, 0, 1, 0, + 99, 42, 156, 136, 196, 30, 239, 128, + 4, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 178, 0, 0, 0, + 29, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 0, 0, 0, 31, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 103, 97, 99, 121, 46, 99, + 97, 112, 110, 112, 58, 76, 105, 100, + 97, 114, 80, 116, 115, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 20, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 125, 0, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 120, 0, 0, 0, 3, 0, 1, 0, + 148, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 145, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 140, 0, 0, 0, 3, 0, 1, 0, + 168, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 165, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 160, 0, 0, 0, 3, 0, 1, 0, + 188, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 185, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 180, 0, 0, 0, 3, 0, 1, 0, + 192, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 189, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 184, 0, 0, 0, 3, 0, 1, 0, + 196, 0, 0, 0, 2, 0, 1, 0, + 114, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 104, 101, 116, 97, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 101, 102, 108, 101, 99, 116, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 100, 120, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 107, 116, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_e3d6685d4e9d8f7a = b_e3d6685d4e9d8f7a.words; +#if !CAPNP_LITE +static const uint16_t m_e3d6685d4e9d8f7a[] = {3, 4, 0, 2, 1}; +static const uint16_t i_e3d6685d4e9d8f7a[] = {0, 1, 2, 3, 4}; +const ::capnp::_::RawSchema s_e3d6685d4e9d8f7a = { + 0xe3d6685d4e9d8f7a, b_e3d6685d4e9d8f7a.words, 104, nullptr, m_e3d6685d4e9d8f7a, + 0, 5, i_e3d6685d4e9d8f7a, nullptr, nullptr, { &s_e3d6685d4e9d8f7a, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +} // namespace schemas +} // namespace capnp + +// ======================================================================================= + +namespace cereal { + +// LogRotate +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t LogRotate::_capnpPrivate::dataWordSize; +constexpr uint16_t LogRotate::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind LogRotate::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* LogRotate::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// LiveUI +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t LiveUI::_capnpPrivate::dataWordSize; +constexpr uint16_t LiveUI::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind LiveUI::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* LiveUI::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// UiLayoutState +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t UiLayoutState::_capnpPrivate::dataWordSize; +constexpr uint16_t UiLayoutState::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind UiLayoutState::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* UiLayoutState::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// OrbslamCorrection +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t OrbslamCorrection::_capnpPrivate::dataWordSize; +constexpr uint16_t OrbslamCorrection::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind OrbslamCorrection::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* OrbslamCorrection::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// EthernetPacket +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t EthernetPacket::_capnpPrivate::dataWordSize; +constexpr uint16_t EthernetPacket::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind EthernetPacket::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* EthernetPacket::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// CellInfo +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t CellInfo::_capnpPrivate::dataWordSize; +constexpr uint16_t CellInfo::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind CellInfo::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* CellInfo::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// WifiScan +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t WifiScan::_capnpPrivate::dataWordSize; +constexpr uint16_t WifiScan::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind WifiScan::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* WifiScan::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// LiveEventData +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t LiveEventData::_capnpPrivate::dataWordSize; +constexpr uint16_t LiveEventData::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind LiveEventData::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* LiveEventData::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// ModelData +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t ModelData::_capnpPrivate::dataWordSize; +constexpr uint16_t ModelData::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind ModelData::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* ModelData::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// ModelData::PathData +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t ModelData::PathData::_capnpPrivate::dataWordSize; +constexpr uint16_t ModelData::PathData::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind ModelData::PathData::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* ModelData::PathData::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// ModelData::LeadData +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t ModelData::LeadData::_capnpPrivate::dataWordSize; +constexpr uint16_t ModelData::LeadData::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind ModelData::LeadData::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* ModelData::LeadData::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// ModelData::ModelSettings +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t ModelData::ModelSettings::_capnpPrivate::dataWordSize; +constexpr uint16_t ModelData::ModelSettings::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind ModelData::ModelSettings::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* ModelData::ModelSettings::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// ModelData::MetaData +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t ModelData::MetaData::_capnpPrivate::dataWordSize; +constexpr uint16_t ModelData::MetaData::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind ModelData::MetaData::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* ModelData::MetaData::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// ModelData::LongitudinalData +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t ModelData::LongitudinalData::_capnpPrivate::dataWordSize; +constexpr uint16_t ModelData::LongitudinalData::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind ModelData::LongitudinalData::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* ModelData::LongitudinalData::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// ECEFPoint +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t ECEFPoint::_capnpPrivate::dataWordSize; +constexpr uint16_t ECEFPoint::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind ECEFPoint::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* ECEFPoint::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// ECEFPointDEPRECATED +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t ECEFPointDEPRECATED::_capnpPrivate::dataWordSize; +constexpr uint16_t ECEFPointDEPRECATED::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind ECEFPointDEPRECATED::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* ECEFPointDEPRECATED::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// GPSPlannerPoints +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t GPSPlannerPoints::_capnpPrivate::dataWordSize; +constexpr uint16_t GPSPlannerPoints::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind GPSPlannerPoints::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* GPSPlannerPoints::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// GPSPlannerPlan +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t GPSPlannerPlan::_capnpPrivate::dataWordSize; +constexpr uint16_t GPSPlannerPlan::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind GPSPlannerPlan::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* GPSPlannerPlan::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// UiNavigationEvent +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t UiNavigationEvent::_capnpPrivate::dataWordSize; +constexpr uint16_t UiNavigationEvent::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind UiNavigationEvent::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* UiNavigationEvent::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// LiveLocationData +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t LiveLocationData::_capnpPrivate::dataWordSize; +constexpr uint16_t LiveLocationData::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind LiveLocationData::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* LiveLocationData::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// LiveLocationData::Accuracy +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t LiveLocationData::Accuracy::_capnpPrivate::dataWordSize; +constexpr uint16_t LiveLocationData::Accuracy::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind LiveLocationData::Accuracy::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* LiveLocationData::Accuracy::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// OrbOdometry +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t OrbOdometry::_capnpPrivate::dataWordSize; +constexpr uint16_t OrbOdometry::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind OrbOdometry::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* OrbOdometry::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// OrbFeatures +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t OrbFeatures::_capnpPrivate::dataWordSize; +constexpr uint16_t OrbFeatures::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind OrbFeatures::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* OrbFeatures::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// OrbFeaturesSummary +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t OrbFeaturesSummary::_capnpPrivate::dataWordSize; +constexpr uint16_t OrbFeaturesSummary::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind OrbFeaturesSummary::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* OrbFeaturesSummary::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// OrbKeyFrame +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t OrbKeyFrame::_capnpPrivate::dataWordSize; +constexpr uint16_t OrbKeyFrame::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind OrbKeyFrame::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* OrbKeyFrame::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// KalmanOdometry +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t KalmanOdometry::_capnpPrivate::dataWordSize; +constexpr uint16_t KalmanOdometry::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind KalmanOdometry::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* KalmanOdometry::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// OrbObservation +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t OrbObservation::_capnpPrivate::dataWordSize; +constexpr uint16_t OrbObservation::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind OrbObservation::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* OrbObservation::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// CalibrationFeatures +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t CalibrationFeatures::_capnpPrivate::dataWordSize; +constexpr uint16_t CalibrationFeatures::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind CalibrationFeatures::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* CalibrationFeatures::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// NavStatus +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t NavStatus::_capnpPrivate::dataWordSize; +constexpr uint16_t NavStatus::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind NavStatus::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* NavStatus::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// NavStatus::Address +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t NavStatus::Address::_capnpPrivate::dataWordSize; +constexpr uint16_t NavStatus::Address::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind NavStatus::Address::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* NavStatus::Address::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// NavUpdate +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t NavUpdate::_capnpPrivate::dataWordSize; +constexpr uint16_t NavUpdate::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind NavUpdate::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* NavUpdate::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// NavUpdate::LatLng +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t NavUpdate::LatLng::_capnpPrivate::dataWordSize; +constexpr uint16_t NavUpdate::LatLng::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind NavUpdate::LatLng::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* NavUpdate::LatLng::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// NavUpdate::Segment +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t NavUpdate::Segment::_capnpPrivate::dataWordSize; +constexpr uint16_t NavUpdate::Segment::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind NavUpdate::Segment::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* NavUpdate::Segment::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// TrafficEvent +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t TrafficEvent::_capnpPrivate::dataWordSize; +constexpr uint16_t TrafficEvent::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind TrafficEvent::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* TrafficEvent::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// AndroidGnss +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t AndroidGnss::_capnpPrivate::dataWordSize; +constexpr uint16_t AndroidGnss::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind AndroidGnss::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* AndroidGnss::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// AndroidGnss::Measurements +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t AndroidGnss::Measurements::_capnpPrivate::dataWordSize; +constexpr uint16_t AndroidGnss::Measurements::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind AndroidGnss::Measurements::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* AndroidGnss::Measurements::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// AndroidGnss::Measurements::Clock +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t AndroidGnss::Measurements::Clock::_capnpPrivate::dataWordSize; +constexpr uint16_t AndroidGnss::Measurements::Clock::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind AndroidGnss::Measurements::Clock::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* AndroidGnss::Measurements::Clock::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// AndroidGnss::Measurements::Measurement +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t AndroidGnss::Measurements::Measurement::_capnpPrivate::dataWordSize; +constexpr uint16_t AndroidGnss::Measurements::Measurement::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind AndroidGnss::Measurements::Measurement::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* AndroidGnss::Measurements::Measurement::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// AndroidGnss::NavigationMessage +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t AndroidGnss::NavigationMessage::_capnpPrivate::dataWordSize; +constexpr uint16_t AndroidGnss::NavigationMessage::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind AndroidGnss::NavigationMessage::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* AndroidGnss::NavigationMessage::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// LidarPts +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t LidarPts::_capnpPrivate::dataWordSize; +constexpr uint16_t LidarPts::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind LidarPts::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* LidarPts::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + + +} // namespace + diff --git a/cereal/gen/cpp/log.capnp.c++ b/cereal/gen/cpp/log.capnp.c++ new file mode 100644 index 00000000000000..f0ce855e9c2cca --- /dev/null +++ b/cereal/gen/cpp/log.capnp.c++ @@ -0,0 +1,31763 @@ +// Generated by Cap'n Proto compiler, DO NOT EDIT +// source: log.capnp + +#include "log.capnp.h" + +namespace capnp { +namespace schemas { +static const ::capnp::_::AlignedData<23> b_d578fb3372ed5043 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 67, 80, 237, 114, 51, 251, 120, 213, + 10, 0, 0, 0, 4, 0, 0, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 170, 0, 0, 0, + 29, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 24, 0, 0, 0, 3, 0, 1, 0, + 36, 0, 0, 0, 2, 0, 1, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 108, 111, 103, 86, 101, 114, + 115, 105, 111, 110, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_d578fb3372ed5043 = b_d578fb3372ed5043.words; +#if !CAPNP_LITE +const ::capnp::_::RawSchema s_d578fb3372ed5043 = { + 0xd578fb3372ed5043, b_d578fb3372ed5043.words, 23, nullptr, nullptr, + 0, 0, nullptr, nullptr, nullptr, { &s_d578fb3372ed5043, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<48> b_f8b13ce2183eb696 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 150, 182, 62, 24, 226, 60, 177, 248, + 10, 0, 0, 0, 1, 0, 0, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 1, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 0, 0, + 21, 0, 0, 0, 114, 0, 0, 0, + 25, 0, 0, 0, 23, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 63, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 125, 0, 0, 0, 23, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 77, 97, 112, 0, 0, 0, + 4, 0, 0, 0, 1, 0, 1, 0, + 14, 234, 110, 74, 8, 221, 223, 165, + 1, 0, 0, 0, 50, 0, 0, 0, + 69, 110, 116, 114, 121, 0, 0, 0, + 4, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 3, 0, 1, 0, + 56, 0, 0, 0, 2, 0, 1, 0, + 101, 110, 116, 114, 105, 101, 115, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 14, 234, 110, 74, 8, 221, 223, 165, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 1, 0, + 1, 0, 0, 0, 31, 0, 0, 0, + 4, 0, 0, 0, 2, 0, 1, 0, + 150, 182, 62, 24, 226, 60, 177, 248, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 1, 0, + 5, 0, 0, 0, 34, 0, 0, 0, + 5, 0, 0, 0, 50, 0, 0, 0, + 75, 101, 121, 0, 0, 0, 0, 0, + 86, 97, 108, 117, 101, 0, 0, 0, } +}; +::capnp::word const* const bp_f8b13ce2183eb696 = b_f8b13ce2183eb696.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_f8b13ce2183eb696[] = { + &s_a5dfdd084a6eea0e, +}; +static const uint16_t m_f8b13ce2183eb696[] = {0}; +static const uint16_t i_f8b13ce2183eb696[] = {0}; +KJ_CONSTEXPR(const) ::capnp::_::RawBrandedSchema::Dependency bd_f8b13ce2183eb696[] = { + { 16777216, ::cereal::Map< ::capnp::AnyPointer, ::capnp::AnyPointer>::Entry::_capnpPrivate::brand() }, +}; +const ::capnp::_::RawSchema s_f8b13ce2183eb696 = { + 0xf8b13ce2183eb696, b_f8b13ce2183eb696.words, 48, d_f8b13ce2183eb696, m_f8b13ce2183eb696, + 1, 1, i_f8b13ce2183eb696, nullptr, nullptr, { &s_f8b13ce2183eb696, nullptr, bd_f8b13ce2183eb696, 0, sizeof(bd_f8b13ce2183eb696) / sizeof(bd_f8b13ce2183eb696[0]), nullptr }, true +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<47> b_a5dfdd084a6eea0e = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 14, 234, 110, 74, 8, 221, 223, 165, + 14, 0, 0, 0, 1, 0, 0, 0, + 150, 182, 62, 24, 226, 60, 177, 248, + 2, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 0, 0, + 21, 0, 0, 0, 162, 0, 0, 0, + 29, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 0, 0, 0, 119, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 77, 97, 112, 46, 69, 110, + 116, 114, 121, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 8, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 36, 0, 0, 0, 3, 0, 1, 0, + 48, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 45, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 40, 0, 0, 0, 3, 0, 1, 0, + 52, 0, 0, 0, 2, 0, 1, 0, + 107, 101, 121, 0, 0, 0, 0, 0, + 18, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 150, 182, 62, 24, 226, 60, 177, 248, + 0, 0, 0, 0, 0, 0, 0, 0, + 18, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 118, 97, 108, 117, 101, 0, 0, 0, + 18, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 1, 0, 0, 0, 0, 0, + 150, 182, 62, 24, 226, 60, 177, 248, + 0, 0, 0, 0, 0, 0, 0, 0, + 18, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_a5dfdd084a6eea0e = b_a5dfdd084a6eea0e.words; +#if !CAPNP_LITE +static const uint16_t m_a5dfdd084a6eea0e[] = {0, 1}; +static const uint16_t i_a5dfdd084a6eea0e[] = {0, 1}; +const ::capnp::_::RawSchema s_a5dfdd084a6eea0e = { + 0xa5dfdd084a6eea0e, b_a5dfdd084a6eea0e.words, 47, nullptr, m_a5dfdd084a6eea0e, + 0, 2, i_a5dfdd084a6eea0e, nullptr, nullptr, { &s_a5dfdd084a6eea0e, nullptr, nullptr, 0, 0, nullptr }, true +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<33> b_d692e23d1a247d99 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 153, 125, 36, 26, 61, 226, 146, 214, + 10, 0, 0, 0, 2, 0, 0, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 18, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 79, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 76, 111, 110, 103, 105, 116, + 117, 100, 105, 110, 97, 108, 80, 101, + 114, 115, 111, 110, 97, 108, 105, 116, + 121, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 12, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 25, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 103, 103, 114, 101, 115, 115, 105, + 118, 101, 0, 0, 0, 0, 0, 0, + 115, 116, 97, 110, 100, 97, 114, 100, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 101, 108, 97, 120, 101, 100, 0, } +}; +::capnp::word const* const bp_d692e23d1a247d99 = b_d692e23d1a247d99.words; +#if !CAPNP_LITE +static const uint16_t m_d692e23d1a247d99[] = {0, 2, 1}; +const ::capnp::_::RawSchema s_d692e23d1a247d99 = { + 0xd692e23d1a247d99, b_d692e23d1a247d99.words, 33, nullptr, m_d692e23d1a247d99, + 0, 3, nullptr, nullptr, nullptr, { &s_d692e23d1a247d99, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(LongitudinalPersonality_d692e23d1a247d99, d692e23d1a247d99); +static const ::capnp::_::AlignedData<476> b_e71008caeb3fb65c = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 92, 182, 63, 235, 202, 8, 16, 231, + 10, 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97, 116, 101, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 98, 111, 111, 116, 108, 111, 103, 73, + 100, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_e71008caeb3fb65c = b_e71008caeb3fb65c.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_e71008caeb3fb65c[] = { + &s_9b513b93a887dbcd, + &s_9cfb5d53a4f615a5, + &s_9d5d7238eba86608, + &s_d97e3b28239f5580, + &s_e673e8725cdff0ad, + &s_f8b13ce2183eb696, + &s_fe2919d5c21f426c, +}; +static const uint16_t m_e71008caeb3fb65c[] = {5, 16, 6, 22, 7, 19, 3, 9, 2, 1, 11, 10, 21, 13, 14, 0, 15, 18, 8, 17, 12, 4, 20}; +static const uint16_t i_e71008caeb3fb65c[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22}; +KJ_CONSTEXPR(const) ::capnp::_::RawBrandedSchema::Dependency bd_e71008caeb3fb65c[] = { + { 16777232, ::cereal::Map< ::capnp::Text, ::capnp::Text>::_capnpPrivate::brand() }, + { 16777233, ::cereal::Map< ::capnp::Text, ::capnp::Data>::_capnpPrivate::brand() }, + { 16777235, ::cereal::Map< ::capnp::Text, ::capnp::Data>::_capnpPrivate::brand() }, +}; +const ::capnp::_::RawSchema s_e71008caeb3fb65c = { + 0xe71008caeb3fb65c, b_e71008caeb3fb65c.words, 476, d_e71008caeb3fb65c, m_e71008caeb3fb65c, + 7, 23, i_e71008caeb3fb65c, nullptr, nullptr, { &s_e71008caeb3fb65c, nullptr, bd_e71008caeb3fb65c, 0, sizeof(bd_e71008caeb3fb65c) / sizeof(bd_e71008caeb3fb65c[0]), nullptr }, true +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<52> b_9d5d7238eba86608 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 8, 102, 168, 235, 56, 114, 93, 157, + 19, 0, 0, 0, 2, 0, 0, 0, + 92, 182, 63, 235, 202, 8, 16, 231, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 242, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 199, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 73, 110, 105, 116, 68, 97, + 116, 97, 46, 68, 101, 118, 105, 99, + 101, 84, 121, 112, 101, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 32, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 89, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 81, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 73, 0, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 69, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 65, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 57, 0, 0, 0, 26, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 49, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 110, 107, 110, 111, 119, 110, 0, + 110, 101, 111, 0, 0, 0, 0, 0, + 99, 104, 102, 102, 114, 65, 110, 100, + 114, 111, 105, 100, 0, 0, 0, 0, + 99, 104, 102, 102, 114, 73, 111, 115, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 105, 99, 105, 0, 0, 0, 0, + 112, 99, 0, 0, 0, 0, 0, 0, + 116, 105, 122, 105, 0, 0, 0, 0, + 109, 105, 99, 105, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_9d5d7238eba86608 = b_9d5d7238eba86608.words; +#if !CAPNP_LITE +static const uint16_t m_9d5d7238eba86608[] = {2, 3, 7, 1, 5, 4, 6, 0}; +const ::capnp::_::RawSchema s_9d5d7238eba86608 = { + 0x9d5d7238eba86608, b_9d5d7238eba86608.words, 52, nullptr, m_9d5d7238eba86608, + 0, 8, nullptr, nullptr, nullptr, { &s_9d5d7238eba86608, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(DeviceType_9d5d7238eba86608, 9d5d7238eba86608); +static const ::capnp::_::AlignedData<82> b_e673e8725cdff0ad = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 173, 240, 223, 92, 114, 232, 115, 230, + 19, 0, 0, 0, 1, 0, 1, 0, + 92, 182, 63, 235, 202, 8, 16, 231, + 3, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 234, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 231, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 73, 110, 105, 116, 68, 97, + 116, 97, 46, 80, 97, 110, 100, 97, + 73, 110, 102, 111, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 16, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 96, 0, 0, 0, 3, 0, 1, 0, + 108, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 0, 0, 0, 3, 0, 1, 0, + 116, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 113, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 0, 0, 0, 3, 0, 1, 0, + 124, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 0, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 120, 0, 0, 0, 3, 0, 1, 0, + 132, 0, 0, 0, 2, 0, 1, 0, + 104, 97, 115, 80, 97, 110, 100, 97, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 111, 110, 103, 108, 101, 73, 100, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 86, 101, 114, 115, 105, 111, + 110, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 115, 112, 86, 101, 114, 115, 105, + 111, 110, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_e673e8725cdff0ad = b_e673e8725cdff0ad.words; +#if !CAPNP_LITE +static const uint16_t m_e673e8725cdff0ad[] = {1, 3, 0, 2}; +static const uint16_t i_e673e8725cdff0ad[] = {0, 1, 2, 3}; +const ::capnp::_::RawSchema s_e673e8725cdff0ad = { + 0xe673e8725cdff0ad, b_e673e8725cdff0ad.words, 82, nullptr, m_e673e8725cdff0ad, + 0, 4, i_e673e8725cdff0ad, nullptr, nullptr, { &s_e673e8725cdff0ad, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<379> b_fe2919d5c21f426c = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 108, 66, 31, 194, 213, 25, 41, 254, + 19, 0, 0, 0, 1, 0, 2, 0, + 92, 182, 63, 235, 202, 8, 16, 231, + 21, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 34, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 15, 5, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 73, 110, 105, 116, 68, 97, + 116, 97, 46, 65, 110, 100, 114, 111, + 105, 100, 66, 117, 105, 108, 100, 73, + 110, 102, 111, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 92, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 2, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 2, 0, 0, 3, 0, 1, 0, + 124, 2, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 2, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 120, 2, 0, 0, 3, 0, 1, 0, + 132, 2, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 129, 2, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 124, 2, 0, 0, 3, 0, 1, 0, + 136, 2, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 133, 2, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 128, 2, 0, 0, 3, 0, 1, 0, + 140, 2, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 137, 2, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 132, 2, 0, 0, 3, 0, 1, 0, + 144, 2, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 141, 2, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 140, 2, 0, 0, 3, 0, 1, 0, + 152, 2, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 149, 2, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 148, 2, 0, 0, 3, 0, 1, 0, + 160, 2, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 157, 2, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 152, 2, 0, 0, 3, 0, 1, 0, + 164, 2, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 8, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 161, 2, 0, 0, 26, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 156, 2, 0, 0, 3, 0, 1, 0, + 168, 2, 0, 0, 2, 0, 1, 0, + 9, 0, 0, 0, 9, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 165, 2, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 164, 2, 0, 0, 3, 0, 1, 0, + 176, 2, 0, 0, 2, 0, 1, 0, + 10, 0, 0, 0, 10, 0, 0, 0, + 0, 0, 1, 0, 10, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 173, 2, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 168, 2, 0, 0, 3, 0, 1, 0, + 180, 2, 0, 0, 2, 0, 1, 0, + 11, 0, 0, 0, 11, 0, 0, 0, + 0, 0, 1, 0, 11, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 177, 2, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 172, 2, 0, 0, 3, 0, 1, 0, + 184, 2, 0, 0, 2, 0, 1, 0, + 12, 0, 0, 0, 12, 0, 0, 0, + 0, 0, 1, 0, 12, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 181, 2, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 180, 2, 0, 0, 3, 0, 1, 0, + 192, 2, 0, 0, 2, 0, 1, 0, + 13, 0, 0, 0, 13, 0, 0, 0, + 0, 0, 1, 0, 13, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 189, 2, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 184, 2, 0, 0, 3, 0, 1, 0, + 196, 2, 0, 0, 2, 0, 1, 0, + 14, 0, 0, 0, 14, 0, 0, 0, + 0, 0, 1, 0, 14, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 193, 2, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 192, 2, 0, 0, 3, 0, 1, 0, + 220, 2, 0, 0, 2, 0, 1, 0, + 15, 0, 0, 0, 15, 0, 0, 0, + 0, 0, 1, 0, 15, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 217, 2, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 212, 2, 0, 0, 3, 0, 1, 0, + 224, 2, 0, 0, 2, 0, 1, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 16, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 221, 2, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 216, 2, 0, 0, 3, 0, 1, 0, + 228, 2, 0, 0, 2, 0, 1, 0, + 17, 0, 0, 0, 16, 0, 0, 0, + 0, 0, 1, 0, 17, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 225, 2, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 220, 2, 0, 0, 3, 0, 1, 0, + 232, 2, 0, 0, 2, 0, 1, 0, + 18, 0, 0, 0, 17, 0, 0, 0, + 0, 0, 1, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 229, 2, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 224, 2, 0, 0, 3, 0, 1, 0, + 236, 2, 0, 0, 2, 0, 1, 0, + 19, 0, 0, 0, 18, 0, 0, 0, + 0, 0, 1, 0, 19, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 233, 2, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 232, 2, 0, 0, 3, 0, 1, 0, + 244, 2, 0, 0, 2, 0, 1, 0, + 20, 0, 0, 0, 19, 0, 0, 0, + 0, 0, 1, 0, 20, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 241, 2, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 240, 2, 0, 0, 3, 0, 1, 0, + 252, 2, 0, 0, 2, 0, 1, 0, + 21, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 21, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 249, 2, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 248, 2, 0, 0, 3, 0, 1, 0, + 4, 3, 0, 0, 2, 0, 1, 0, + 22, 0, 0, 0, 20, 0, 0, 0, + 0, 0, 1, 0, 22, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 3, 0, 0, 170, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 3, 0, 0, 3, 0, 1, 0, + 16, 3, 0, 0, 2, 0, 1, 0, + 98, 111, 97, 114, 100, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 98, 111, 111, 116, 108, 111, 97, 100, + 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0, 0, + 118, 101, 114, 115, 105, 111, 110, 83, + 101, 99, 117, 114, 105, 116, 121, 80, + 97, 116, 99, 104, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_fe2919d5c21f426c = b_fe2919d5c21f426c.words; +#if !CAPNP_LITE +static const uint16_t m_fe2919d5c21f426c[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22}; +static const uint16_t i_fe2919d5c21f426c[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22}; +const ::capnp::_::RawSchema s_fe2919d5c21f426c = { + 0xfe2919d5c21f426c, b_fe2919d5c21f426c.words, 379, nullptr, m_fe2919d5c21f426c, + 0, 23, i_fe2919d5c21f426c, nullptr, nullptr, { &s_fe2919d5c21f426c, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<238> b_9b513b93a887dbcd = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 205, 219, 135, 168, 147, 59, 81, 155, + 19, 0, 0, 0, 1, 0, 6, 0, + 92, 182, 63, 235, 202, 8, 16, 231, + 3, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 10, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 23, 3, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 73, 110, 105, 116, 68, 97, + 116, 97, 46, 65, 110, 100, 114, 111, + 105, 100, 83, 101, 110, 115, 111, 114, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 56, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 1, 0, 0, 26, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 1, 0, 0, 3, 0, 1, 0, + 128, 1, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 125, 1, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 120, 1, 0, 0, 3, 0, 1, 0, + 132, 1, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 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1, 0, 0, 3, 0, 1, 0, + 208, 1, 0, 0, 2, 0, 1, 0, + 13, 0, 0, 0, 10, 0, 0, 0, + 0, 0, 1, 0, 13, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 205, 1, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 204, 1, 0, 0, 3, 0, 1, 0, + 216, 1, 0, 0, 2, 0, 1, 0, + 105, 100, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 110, 97, 109, 101, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 118, 101, 110, 100, 111, 114, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 118, 101, 114, 115, 105, 111, 110, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 97, 110, 100, 108, 101, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 121, 112, 101, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 97, 120, 82, 97, 110, 103, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 101, 115, 111, 108, 117, 116, 105, + 111, 110, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 111, 119, 101, 114, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 105, 110, 68, 101, 108, 97, 121, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 105, 102, 111, 82, 101, 115, 101, + 114, 118, 101, 100, 69, 118, 101, 110, + 116, 67, 111, 117, 110, 116, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 105, 102, 111, 77, 97, 120, 69, + 118, 101, 110, 116, 67, 111, 117, 110, + 116, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 114, 105, 110, 103, 84, 121, + 112, 101, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 97, 120, 68, 101, 108, 97, 121, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_9b513b93a887dbcd = b_9b513b93a887dbcd.words; +#if !CAPNP_LITE +static const uint16_t m_9b513b93a887dbcd[] = {11, 10, 4, 0, 13, 6, 9, 1, 8, 7, 12, 5, 2, 3}; +static const uint16_t i_9b513b93a887dbcd[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13}; +const ::capnp::_::RawSchema s_9b513b93a887dbcd = { + 0x9b513b93a887dbcd, b_9b513b93a887dbcd.words, 238, nullptr, m_9b513b93a887dbcd, + 0, 14, i_9b513b93a887dbcd, nullptr, nullptr, { &s_9b513b93a887dbcd, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<55> b_9cfb5d53a4f615a5 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 165, 21, 246, 164, 83, 93, 251, 156, + 19, 0, 0, 0, 1, 0, 0, 0, + 92, 182, 63, 235, 202, 8, 16, 231, + 1, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 42, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 63, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 73, 110, 105, 116, 68, 97, + 116, 97, 46, 67, 104, 102, 102, 114, + 65, 110, 100, 114, 111, 105, 100, 69, + 120, 116, 114, 97, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 4, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 202, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 20, 0, 0, 0, 3, 0, 1, 0, + 104, 0, 0, 0, 2, 0, 1, 0, + 97, 108, 108, 67, 97, 109, 101, 114, + 97, 67, 104, 97, 114, 97, 99, 116, + 101, 114, 105, 115, 116, 105, 99, 115, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 150, 182, 62, 24, 226, 60, 177, 248, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 1, 0, + 1, 0, 0, 0, 31, 0, 0, 0, + 4, 0, 0, 0, 2, 0, 1, 0, + 150, 182, 62, 24, 226, 60, 177, 248, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 39, 0, 0, 0, + 8, 0, 0, 0, 1, 0, 1, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 3, 0, 1, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 3, 0, 1, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_9cfb5d53a4f615a5 = b_9cfb5d53a4f615a5.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_9cfb5d53a4f615a5[] = { + &s_f8b13ce2183eb696, +}; +static const uint16_t m_9cfb5d53a4f615a5[] = {0}; +static const uint16_t i_9cfb5d53a4f615a5[] = {0}; +KJ_CONSTEXPR(const) ::capnp::_::RawBrandedSchema::Dependency bd_9cfb5d53a4f615a5[] = { + { 16777216, ::cereal::Map< ::capnp::Text, ::capnp::Text>::_capnpPrivate::brand() }, +}; +const ::capnp::_::RawSchema s_9cfb5d53a4f615a5 = { + 0x9cfb5d53a4f615a5, b_9cfb5d53a4f615a5.words, 55, d_9cfb5d53a4f615a5, m_9cfb5d53a4f615a5, + 1, 1, i_9cfb5d53a4f615a5, nullptr, nullptr, { &s_9cfb5d53a4f615a5, nullptr, bd_9cfb5d53a4f615a5, 0, sizeof(bd_9cfb5d53a4f615a5) / sizeof(bd_9cfb5d53a4f615a5[0]), nullptr }, true +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<82> b_d97e3b28239f5580 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 128, 85, 159, 35, 40, 59, 126, 217, + 19, 0, 0, 0, 1, 0, 1, 0, + 92, 182, 63, 235, 202, 8, 16, 231, + 3, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 2, 1, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 231, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 73, 110, 105, 116, 68, 97, + 116, 97, 46, 73, 111, 115, 66, 117, + 105, 108, 100, 73, 110, 102, 111, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 16, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 0, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 96, 0, 0, 0, 3, 0, 1, 0, + 108, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 0, 0, 0, 3, 0, 1, 0, + 116, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 113, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 0, 0, 0, 3, 0, 1, 0, + 124, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 0, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 120, 0, 0, 0, 3, 0, 1, 0, + 132, 0, 0, 0, 2, 0, 1, 0, + 97, 112, 112, 86, 101, 114, 115, 105, + 111, 110, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 112, 112, 66, 117, 105, 108, 100, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 111, 115, 86, 101, 114, 115, 105, 111, + 110, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 101, 118, 105, 99, 101, 77, 111, + 100, 101, 108, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_d97e3b28239f5580 = b_d97e3b28239f5580.words; +#if !CAPNP_LITE +static const uint16_t m_d97e3b28239f5580[] = {1, 0, 3, 2}; +static const uint16_t i_d97e3b28239f5580[] = {0, 1, 2, 3}; +const ::capnp::_::RawSchema s_d97e3b28239f5580 = { + 0xd97e3b28239f5580, b_d97e3b28239f5580.words, 82, nullptr, m_d97e3b28239f5580, + 0, 4, i_d97e3b28239f5580, nullptr, nullptr, { &s_d97e3b28239f5580, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<527> b_ea0245f695ae0a33 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 51, 10, 174, 149, 246, 69, 2, 234, + 10, 0, 0, 0, 1, 0, 12, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 7, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 162, 0, 0, 0, + 29, 0, 0, 0, 55, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 77, 0, 0, 0, 95, 6, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 70, 114, 97, 109, 101, 68, + 97, 116, 97, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 1, 0, 1, 0, + 121, 40, 16, 30, 240, 105, 177, 221, + 17, 0, 0, 0, 82, 0, 0, 0, + 156, 214, 93, 112, 231, 177, 16, 216, + 17, 0, 0, 0, 98, 0, 0, 0, + 72, 32, 29, 196, 186, 239, 195, 188, + 17, 0, 0, 0, 170, 0, 0, 0, + 70, 114, 97, 109, 101, 84, 121, 112, + 101, 0, 0, 0, 0, 0, 0, 0, + 73, 109, 97, 103, 101, 83, 101, 110, + 115, 111, 114, 0, 0, 0, 0, 0, + 65, 110, 100, 114, 111, 105, 100, 67, + 97, 112, 116, 117, 114, 101, 82, 101, + 115, 117, 108, 116, 0, 0, 0, 0, + 116, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 3, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 24, 3, 0, 0, 3, 0, 1, 0, + 36, 3, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 3, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 32, 3, 0, 0, 3, 0, 1, 0, + 44, 3, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 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114, 99, 101, + 110, 116, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 101, 113, 117, 101, 115, 116, 73, + 100, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_ea0245f695ae0a33 = b_ea0245f695ae0a33.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_ea0245f695ae0a33[] = { + &s_bcc3efbac41d2048, + &s_d810b1e7705dd69c, + &s_ddb169f01e102879, +}; +static const uint16_t m_ea0245f695ae0a33[] = {9, 1, 27, 17, 16, 0, 25, 3, 7, 15, 5, 20, 6, 4, 13, 11, 12, 14, 21, 23, 19, 28, 26, 18, 22, 24, 2, 8, 10}; +static const uint16_t i_ea0245f695ae0a33[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28}; +const ::capnp::_::RawSchema s_ea0245f695ae0a33 = { + 0xea0245f695ae0a33, b_ea0245f695ae0a33.words, 527, d_ea0245f695ae0a33, m_ea0245f695ae0a33, + 3, 29, i_ea0245f695ae0a33, nullptr, nullptr, { &s_ea0245f695ae0a33, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<35> b_ddb169f01e102879 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 121, 40, 16, 30, 240, 105, 177, 221, + 20, 0, 0, 0, 2, 0, 0, 0, + 51, 10, 174, 149, 246, 69, 2, 234, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 242, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 103, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 70, 114, 97, 109, 101, 68, + 97, 116, 97, 46, 70, 114, 97, 109, + 101, 84, 121, 112, 101, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 16, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 25, 0, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 110, 107, 110, 111, 119, 110, 0, + 110, 101, 111, 0, 0, 0, 0, 0, + 99, 104, 102, 102, 114, 65, 110, 100, + 114, 111, 105, 100, 0, 0, 0, 0, + 102, 114, 111, 110, 116, 0, 0, 0, } +}; +::capnp::word const* const bp_ddb169f01e102879 = b_ddb169f01e102879.words; +#if !CAPNP_LITE +static const uint16_t m_ddb169f01e102879[] = {2, 3, 1, 0}; +const ::capnp::_::RawSchema s_ddb169f01e102879 = { + 0xddb169f01e102879, b_ddb169f01e102879.words, 35, nullptr, m_ddb169f01e102879, + 0, 4, nullptr, nullptr, nullptr, { &s_ddb169f01e102879, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(FrameType_ddb169f01e102879, ddb169f01e102879); +static const ::capnp::_::AlignedData<34> b_d810b1e7705dd69c = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 156, 214, 93, 112, 231, 177, 16, 216, + 20, 0, 0, 0, 2, 0, 0, 0, + 51, 10, 174, 149, 246, 69, 2, 234, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 2, 1, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 103, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 70, 114, 97, 109, 101, 68, + 97, 116, 97, 46, 73, 109, 97, 103, + 101, 83, 101, 110, 115, 111, 114, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 16, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 25, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 17, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 110, 107, 110, 111, 119, 110, 0, + 97, 114, 48, 50, 51, 49, 0, 0, + 111, 120, 48, 51, 99, 49, 48, 0, + 111, 115, 48, 52, 99, 49, 48, 0, } +}; +::capnp::word const* const bp_d810b1e7705dd69c = b_d810b1e7705dd69c.words; +#if !CAPNP_LITE +static const uint16_t m_d810b1e7705dd69c[] = {1, 3, 2, 0}; +const ::capnp::_::RawSchema s_d810b1e7705dd69c = { + 0xd810b1e7705dd69c, b_d810b1e7705dd69c.words, 34, nullptr, m_d810b1e7705dd69c, + 0, 4, nullptr, nullptr, nullptr, { &s_d810b1e7705dd69c, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(ImageSensor_d810b1e7705dd69c, d810b1e7705dd69c); +static const ::capnp::_::AlignedData<144> b_bcc3efbac41d2048 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 72, 32, 29, 196, 186, 239, 195, 188, + 20, 0, 0, 0, 1, 0, 4, 0, + 51, 10, 174, 149, 246, 69, 2, 234, + 2, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 74, 1, 0, 0, + 41, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 0, 0, 0, 143, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 70, 114, 97, 109, 101, 68, + 97, 116, 97, 46, 65, 110, 100, 114, + 111, 105, 100, 67, 97, 112, 116, 117, + 114, 101, 82, 101, 115, 117, 108, 116, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 28, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 181, 0, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 180, 0, 0, 0, 3, 0, 1, 0, + 192, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 189, 0, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 188, 0, 0, 0, 3, 0, 1, 0, + 200, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 197, 0, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 196, 0, 0, 0, 3, 0, 1, 0, + 208, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 205, 0, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 208, 0, 0, 0, 3, 0, 1, 0, + 220, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 217, 0, 0, 0, 202, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 224, 0, 0, 0, 3, 0, 1, 0, + 252, 0, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 249, 0, 0, 0, 170, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 252, 0, 0, 0, 3, 0, 1, 0, + 24, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 1, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 20, 1, 0, 0, 3, 0, 1, 0, + 32, 1, 0, 0, 2, 0, 1, 0, + 115, 101, 110, 115, 105, 116, 105, 118, + 105, 116, 121, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 114, 97, 109, 101, 68, 117, 114, + 97, 116, 105, 111, 110, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 120, 112, 111, 115, 117, 114, 101, + 84, 105, 109, 101, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 111, 108, 108, 105, 110, 103, 83, + 104, 117, 116, 116, 101, 114, 83, 107, + 101, 119, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 111, 108, 111, 114, 67, 111, 114, + 114, 101, 99, 116, 105, 111, 110, 84, + 114, 97, 110, 115, 102, 111, 114, 109, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 111, 108, 111, 114, 67, 111, 114, + 114, 101, 99, 116, 105, 111, 110, 71, + 97, 105, 110, 115, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 105, 115, 112, 108, 97, 121, 82, + 111, 116, 97, 116, 105, 111, 110, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_bcc3efbac41d2048 = b_bcc3efbac41d2048.words; +#if !CAPNP_LITE +static const uint16_t m_bcc3efbac41d2048[] = {5, 4, 6, 2, 1, 3, 0}; +static const uint16_t i_bcc3efbac41d2048[] = {0, 1, 2, 3, 4, 5, 6}; +const ::capnp::_::RawSchema s_bcc3efbac41d2048 = { + 0xbcc3efbac41d2048, b_bcc3efbac41d2048.words, 144, nullptr, m_bcc3efbac41d2048, + 0, 7, i_bcc3efbac41d2048, nullptr, nullptr, { &s_bcc3efbac41d2048, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<84> b_b65fce64120af7d3 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 211, 247, 10, 18, 100, 206, 95, 182, + 10, 0, 0, 0, 1, 0, 2, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 1, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 162, 0, 0, 0, + 29, 0, 0, 0, 23, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 231, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 84, 104, 117, 109, 98, 110, + 97, 105, 108, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 1, 0, 1, 0, + 194, 112, 192, 33, 178, 155, 123, 206, + 1, 0, 0, 0, 74, 0, 0, 0, + 69, 110, 99, 111, 100, 105, 110, 103, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 92, 0, 0, 0, 3, 0, 1, 0, + 104, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 0, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 0, 0, 0, 3, 0, 1, 0, + 112, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 0, 0, 0, 3, 0, 1, 0, + 120, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 0, 0, 0, 3, 0, 1, 0, + 128, 0, 0, 0, 2, 0, 1, 0, + 102, 114, 97, 109, 101, 73, 100, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 105, 109, 101, 115, 116, 97, 109, + 112, 69, 111, 102, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 104, 117, 109, 98, 110, 97, 105, + 108, 0, 0, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 110, 99, 111, 100, 105, 110, 103, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 194, 112, 192, 33, 178, 155, 123, 206, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_b65fce64120af7d3 = b_b65fce64120af7d3.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_b65fce64120af7d3[] = { + &s_ce7b9bb221c070c2, +}; +static const uint16_t m_b65fce64120af7d3[] = {3, 0, 2, 1}; +static const uint16_t i_b65fce64120af7d3[] = {0, 1, 2, 3}; +const ::capnp::_::RawSchema s_b65fce64120af7d3 = { + 0xb65fce64120af7d3, b_b65fce64120af7d3.words, 84, d_b65fce64120af7d3, m_b65fce64120af7d3, + 1, 4, i_b65fce64120af7d3, nullptr, nullptr, { &s_b65fce64120af7d3, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<31> b_ce7b9bb221c070c2 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 194, 112, 192, 33, 178, 155, 123, 206, + 20, 0, 0, 0, 2, 0, 0, 0, + 211, 247, 10, 18, 100, 206, 95, 182, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 234, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 79, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 84, 104, 117, 109, 98, 110, + 97, 105, 108, 46, 69, 110, 99, 111, + 100, 105, 110, 103, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 12, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 110, 107, 110, 111, 119, 110, 0, + 106, 112, 101, 103, 0, 0, 0, 0, + 107, 101, 121, 102, 114, 97, 109, 101, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_ce7b9bb221c070c2 = b_ce7b9bb221c070c2.words; +#if !CAPNP_LITE +static const uint16_t m_ce7b9bb221c070c2[] = {1, 2, 0}; +const ::capnp::_::RawSchema s_ce7b9bb221c070c2 = { + 0xce7b9bb221c070c2, b_ce7b9bb221c070c2.words, 31, nullptr, m_ce7b9bb221c070c2, + 0, 3, nullptr, nullptr, nullptr, { &s_ce7b9bb221c070c2, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(Encoding_ce7b9bb221c070c2, ce7b9bb221c070c2); +static const ::capnp::_::AlignedData<64> b_9d291d7813ba4a88 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 136, 74, 186, 19, 120, 29, 41, 157, + 10, 0, 0, 0, 1, 0, 2, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 1, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 178, 0, 0, 0, + 29, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 0, 0, 0, 175, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 71, 80, 83, 78, 77, 69, + 65, 68, 97, 116, 97, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 12, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 69, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 68, 0, 0, 0, 3, 0, 1, 0, + 80, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 77, 0, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 76, 0, 0, 0, 3, 0, 1, 0, + 88, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 85, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 80, 0, 0, 0, 3, 0, 1, 0, + 92, 0, 0, 0, 2, 0, 1, 0, + 116, 105, 109, 101, 115, 116, 97, 109, + 112, 0, 0, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 99, 97, 108, 87, 97, 108, + 108, 84, 105, 109, 101, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 110, 109, 101, 97, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_9d291d7813ba4a88 = b_9d291d7813ba4a88.words; +#if !CAPNP_LITE +static const uint16_t m_9d291d7813ba4a88[] = {1, 2, 0}; +static const uint16_t i_9d291d7813ba4a88[] = {0, 1, 2}; +const ::capnp::_::RawSchema s_9d291d7813ba4a88 = { + 0x9d291d7813ba4a88, b_9d291d7813ba4a88.words, 64, nullptr, m_9d291d7813ba4a88, + 0, 3, i_9d291d7813ba4a88, nullptr, nullptr, { &s_9d291d7813ba4a88, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<279> b_a2b29a69d44529a1 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 161, 41, 69, 212, 105, 154, 178, 162, + 10, 0, 0, 0, 1, 0, 4, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 1, 0, 7, 0, 0, 0, 10, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 210, 0, 0, 0, + 33, 0, 0, 0, 39, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 61, 0, 0, 0, 135, 3, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 83, 101, 110, 115, 111, 114, + 69, 118, 101, 110, 116, 68, 97, 116, + 97, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 1, 0, 1, 0, + 252, 36, 252, 43, 189, 41, 52, 164, + 9, 0, 0, 0, 82, 0, 0, 0, + 13, 141, 244, 247, 232, 60, 155, 228, + 9, 0, 0, 0, 106, 0, 0, 0, + 83, 101, 110, 115, 111, 114, 86, 101, + 99, 0, 0, 0, 0, 0, 0, 0, + 83, 101, 110, 115, 111, 114, 83, 111, + 117, 114, 99, 101, 0, 0, 0, 0, + 64, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 177, 1, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 172, 1, 0, 0, 3, 0, 1, 0, + 184, 1, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 181, 1, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 176, 1, 0, 0, 3, 0, 1, 0, + 188, 1, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 185, 1, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 180, 1, 0, 0, 3, 0, 1, 0, + 192, 1, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 189, 1, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 188, 1, 0, 0, 3, 0, 1, 0, + 200, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 255, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 197, 1, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 196, 1, 0, 0, 3, 0, 1, 0, + 208, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 254, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 205, 1, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 204, 1, 0, 0, 3, 0, 1, 0, + 216, 1, 0, 0, 2, 0, 1, 0, + 7, 0, 253, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 213, 1, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 212, 1, 0, 0, 3, 0, 1, 0, + 224, 1, 0, 0, 2, 0, 1, 0, + 8, 0, 252, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 221, 1, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 216, 1, 0, 0, 3, 0, 1, 0, + 228, 1, 0, 0, 2, 0, 1, 0, + 15, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 225, 1, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 220, 1, 0, 0, 3, 0, 1, 0, + 232, 1, 0, 0, 2, 0, 1, 0, + 9, 0, 251, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 229, 1, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 228, 1, 0, 0, 3, 0, 1, 0, + 240, 1, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 192, 0, 0, 0, + 0, 0, 1, 0, 10, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 237, 1, 0, 0, 186, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 240, 1, 0, 0, 3, 0, 1, 0, + 252, 1, 0, 0, 2, 0, 1, 0, + 10, 0, 250, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 11, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 249, 1, 0, 0, 170, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 252, 1, 0, 0, 3, 0, 1, 0, + 8, 2, 0, 0, 2, 0, 1, 0, + 11, 0, 249, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 12, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 2, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 2, 0, 0, 3, 0, 1, 0, + 20, 2, 0, 0, 2, 0, 1, 0, + 12, 0, 248, 255, 7, 0, 0, 0, + 0, 0, 1, 0, 13, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 17, 2, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 2, 0, 0, 3, 0, 1, 0, + 28, 2, 0, 0, 2, 0, 1, 0, + 13, 0, 247, 255, 7, 0, 0, 0, + 0, 0, 1, 0, 14, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 2, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 20, 2, 0, 0, 3, 0, 1, 0, + 32, 2, 0, 0, 2, 0, 1, 0, + 14, 0, 246, 255, 7, 0, 0, 0, + 0, 0, 1, 0, 15, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 2, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 28, 2, 0, 0, 3, 0, 1, 0, + 40, 2, 0, 0, 2, 0, 1, 0, + 118, 101, 114, 115, 105, 111, 110, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 101, 110, 115, 111, 114, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 121, 112, 101, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 105, 109, 101, 115, 116, 97, 109, + 112, 0, 0, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 99, 99, 101, 108, 101, 114, 97, + 116, 105, 111, 110, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 252, 36, 252, 43, 189, 41, 52, 164, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 97, 103, 110, 101, 116, 105, 99, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 252, 36, 252, 43, 189, 41, 52, 164, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 111, 114, 105, 101, 110, 116, 97, 116, + 105, 111, 110, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 252, 36, 252, 43, 189, 41, 52, 164, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 103, 121, 114, 111, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 252, 36, 252, 43, 189, 41, 52, 164, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 111, 117, 114, 99, 101, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 13, 141, 244, 247, 232, 60, 155, 228, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 114, 101, 115, 115, 117, 114, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 252, 36, 252, 43, 189, 41, 52, 164, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 110, 99, 97, 108, 105, 98, 114, + 97, 116, 101, 100, 68, 69, 80, 82, + 69, 67, 65, 84, 69, 68, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 97, 103, 110, 101, 116, 105, 99, + 85, 110, 99, 97, 108, 105, 98, 114, + 97, 116, 101, 100, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 252, 36, 252, 43, 189, 41, 52, 164, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 103, 121, 114, 111, 85, 110, 99, 97, + 108, 105, 98, 114, 97, 116, 101, 100, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 252, 36, 252, 43, 189, 41, 52, 164, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 114, 111, 120, 105, 109, 105, 116, + 121, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 105, 103, 104, 116, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 101, 109, 112, 101, 114, 97, 116, + 117, 114, 101, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_a2b29a69d44529a1 = b_a2b29a69d44529a1.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_a2b29a69d44529a1[] = { + &s_a43429bd2bfc24fc, + &s_e49b3ce8f7f48d0d, +}; +static const uint16_t m_a2b29a69d44529a1[] = {4, 7, 12, 14, 5, 11, 6, 9, 13, 1, 8, 15, 3, 2, 10, 0}; +static const uint16_t i_a2b29a69d44529a1[] = {4, 5, 6, 7, 9, 11, 12, 13, 14, 15, 0, 1, 2, 3, 8, 10}; +const ::capnp::_::RawSchema s_a2b29a69d44529a1 = { + 0xa2b29a69d44529a1, b_a2b29a69d44529a1.words, 279, d_a2b29a69d44529a1, m_a2b29a69d44529a1, + 2, 16, i_a2b29a69d44529a1, nullptr, nullptr, { &s_a2b29a69d44529a1, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<53> b_a43429bd2bfc24fc = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 252, 36, 252, 43, 189, 41, 52, 164, + 26, 0, 0, 0, 1, 0, 1, 0, + 161, 41, 69, 212, 105, 154, 178, 162, + 1, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 34, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 119, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 83, 101, 110, 115, 111, 114, + 69, 118, 101, 110, 116, 68, 97, 116, + 97, 46, 83, 101, 110, 115, 111, 114, + 86, 101, 99, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 8, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 36, 0, 0, 0, 3, 0, 1, 0, + 64, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 61, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 56, 0, 0, 0, 3, 0, 1, 0, + 68, 0, 0, 0, 2, 0, 1, 0, + 118, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 97, 116, 117, 115, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_a43429bd2bfc24fc = b_a43429bd2bfc24fc.words; +#if !CAPNP_LITE +static const uint16_t m_a43429bd2bfc24fc[] = {1, 0}; +static const uint16_t i_a43429bd2bfc24fc[] = {0, 1}; +const ::capnp::_::RawSchema s_a43429bd2bfc24fc = { + 0xa43429bd2bfc24fc, b_a43429bd2bfc24fc.words, 53, nullptr, m_a43429bd2bfc24fc, + 0, 2, i_a43429bd2bfc24fc, nullptr, nullptr, { &s_a43429bd2bfc24fc, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<71> b_e49b3ce8f7f48d0d = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 13, 141, 244, 247, 232, 60, 155, 228, + 26, 0, 0, 0, 2, 0, 0, 0, + 161, 41, 69, 212, 105, 154, 178, 162, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 58, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 39, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 83, 101, 110, 115, 111, 114, + 69, 118, 101, 110, 116, 68, 97, 116, + 97, 46, 83, 101, 110, 115, 111, 114, + 83, 111, 117, 114, 99, 101, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 48, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 137, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 129, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 121, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 113, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 109, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 101, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 93, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 85, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 81, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 73, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 65, 0, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 61, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 110, 100, 114, 111, 105, 100, 0, + 105, 79, 83, 0, 0, 0, 0, 0, + 102, 105, 98, 101, 114, 0, 0, 0, + 118, 101, 108, 111, 100, 121, 110, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 98, 110, 111, 48, 53, 53, 0, 0, + 108, 115, 109, 54, 100, 115, 51, 0, + 98, 109, 112, 50, 56, 48, 0, 0, + 109, 109, 99, 51, 52, 49, 54, 120, + 0, 0, 0, 0, 0, 0, 0, 0, + 98, 109, 120, 48, 53, 53, 0, 0, + 114, 112, 114, 48, 53, 50, 49, 0, + 108, 115, 109, 54, 100, 115, 51, 116, + 114, 99, 0, 0, 0, 0, 0, 0, + 109, 109, 99, 53, 54, 48, 51, 110, + 106, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_e49b3ce8f7f48d0d = b_e49b3ce8f7f48d0d.words; +#if !CAPNP_LITE +static const uint16_t m_e49b3ce8f7f48d0d[] = {0, 6, 8, 4, 2, 1, 5, 10, 7, 11, 9, 3}; +const ::capnp::_::RawSchema s_e49b3ce8f7f48d0d = { + 0xe49b3ce8f7f48d0d, b_e49b3ce8f7f48d0d.words, 71, nullptr, m_e49b3ce8f7f48d0d, + 0, 12, nullptr, nullptr, nullptr, { &s_e49b3ce8f7f48d0d, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(SensorSource_e49b3ce8f7f48d0d, e49b3ce8f7f48d0d); +static const ::capnp::_::AlignedData<249> b_e946524859add50e = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 14, 213, 173, 89, 72, 82, 70, 233, + 10, 0, 0, 0, 1, 0, 8, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 1, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 210, 0, 0, 0, + 33, 0, 0, 0, 23, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 45, 0, 0, 0, 23, 3, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 71, 112, 115, 76, 111, 99, + 97, 116, 105, 111, 110, 68, 97, 116, + 97, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 1, 0, 1, 0, + 99, 72, 115, 92, 242, 121, 255, 211, + 1, 0, 0, 0, 106, 0, 0, 0, + 83, 101, 110, 115, 111, 114, 83, 111, + 117, 114, 99, 101, 0, 0, 0, 0, + 56, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 1, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 1, 0, 0, 3, 0, 1, 0, + 128, 1, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 125, 1, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 124, 1, 0, 0, 3, 0, 1, 0, + 136, 1, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 133, 1, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 132, 1, 0, 0, 3, 0, 1, 0, + 144, 1, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 141, 1, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 140, 1, 0, 0, 3, 0, 1, 0, + 152, 1, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 149, 1, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 144, 1, 0, 0, 3, 0, 1, 0, + 156, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 8, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 153, 1, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 152, 1, 0, 0, 3, 0, 1, 0, + 164, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 9, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 161, 1, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 164, 1, 0, 0, 3, 0, 1, 0, + 176, 1, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 173, 1, 0, 0, 162, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 176, 1, 0, 0, 3, 0, 1, 0, + 188, 1, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 185, 1, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 180, 1, 0, 0, 3, 0, 1, 0, + 192, 1, 0, 0, 2, 0, 1, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 189, 1, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 184, 1, 0, 0, 3, 0, 1, 0, + 212, 1, 0, 0, 2, 0, 1, 0, + 10, 0, 0, 0, 12, 0, 0, 0, + 0, 0, 1, 0, 10, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 209, 1, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 212, 1, 0, 0, 3, 0, 1, 0, + 224, 1, 0, 0, 2, 0, 1, 0, + 11, 0, 0, 0, 13, 0, 0, 0, + 0, 0, 1, 0, 11, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 221, 1, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 224, 1, 0, 0, 3, 0, 1, 0, + 236, 1, 0, 0, 2, 0, 1, 0, + 12, 0, 0, 0, 14, 0, 0, 0, + 0, 0, 1, 0, 12, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 233, 1, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 232, 1, 0, 0, 3, 0, 1, 0, + 244, 1, 0, 0, 2, 0, 1, 0, + 13, 0, 0, 0, 224, 1, 0, 0, + 0, 0, 1, 0, 13, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 241, 1, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 236, 1, 0, 0, 3, 0, 1, 0, + 248, 1, 0, 0, 2, 0, 1, 0, + 102, 108, 97, 103, 115, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 97, 116, 105, 116, 117, 100, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 110, 103, 105, 116, 117, 100, + 101, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 108, 116, 105, 116, 117, 100, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 112, 101, 101, 100, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 98, 101, 97, 114, 105, 110, 103, 68, + 101, 103, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 111, 114, 105, 122, 111, 110, 116, + 97, 108, 65, 99, 99, 117, 114, 97, + 99, 121, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 110, 105, 120, 84, 105, 109, 101, + 115, 116, 97, 109, 112, 77, 105, 108, + 108, 105, 115, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 111, 117, 114, 99, 101, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 99, 72, 115, 92, 242, 121, 255, 211, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 118, 78, 69, 68, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 118, 101, 114, 116, 105, 99, 97, 108, + 65, 99, 99, 117, 114, 97, 99, 121, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 98, 101, 97, 114, 105, 110, 103, 65, + 99, 99, 117, 114, 97, 99, 121, 68, + 101, 103, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 112, 101, 101, 100, 65, 99, 99, + 117, 114, 97, 99, 121, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 97, 115, 70, 105, 120, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_e946524859add50e = b_e946524859add50e.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_e946524859add50e[] = { + &s_d3ff79f25c734863, +}; +static const uint16_t m_e946524859add50e[] = {3, 11, 5, 0, 13, 6, 1, 2, 8, 4, 12, 7, 9, 10}; +static const uint16_t i_e946524859add50e[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13}; +const ::capnp::_::RawSchema s_e946524859add50e = { + 0xe946524859add50e, b_e946524859add50e.words, 249, d_e946524859add50e, m_e946524859add50e, + 1, 14, i_e946524859add50e, nullptr, nullptr, { &s_e946524859add50e, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<62> b_d3ff79f25c734863 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 99, 72, 115, 92, 242, 121, 255, 211, + 26, 0, 0, 0, 2, 0, 0, 0, + 14, 213, 173, 89, 72, 82, 70, 233, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 58, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 247, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 71, 112, 115, 76, 111, 99, + 97, 116, 105, 111, 110, 68, 97, 116, + 97, 46, 83, 101, 110, 115, 111, 114, + 83, 111, 117, 114, 99, 101, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 40, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 113, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 105, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 97, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 89, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 85, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 77, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 73, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 65, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 57, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 53, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 110, 100, 114, 111, 105, 100, 0, + 105, 79, 83, 0, 0, 0, 0, 0, + 99, 97, 114, 0, 0, 0, 0, 0, + 118, 101, 108, 111, 100, 121, 110, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 117, 115, 105, 111, 110, 0, 0, + 101, 120, 116, 101, 114, 110, 97, 108, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 98, 108, 111, 120, 0, 0, 0, + 116, 114, 105, 109, 98, 108, 101, 0, + 113, 99, 111, 109, 100, 105, 97, 103, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 110, 105, 99, 111, 114, 101, 0, } +}; +::capnp::word const* const bp_d3ff79f25c734863 = b_d3ff79f25c734863.words; +#if !CAPNP_LITE +static const uint16_t m_d3ff79f25c734863[] = {0, 2, 5, 4, 1, 8, 7, 6, 9, 3}; +const ::capnp::_::RawSchema s_d3ff79f25c734863 = { + 0xd3ff79f25c734863, b_d3ff79f25c734863.words, 62, nullptr, m_d3ff79f25c734863, + 0, 10, nullptr, nullptr, nullptr, { &s_d3ff79f25c734863, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(SensorSource_d3ff79f25c734863, d3ff79f25c734863); +static const ::capnp::_::AlignedData<51> b_ae674a34ba421466 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 102, 20, 66, 186, 52, 74, 103, 174, + 10, 0, 0, 0, 2, 0, 0, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 138, 0, 0, 0, + 29, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 0, 0, 0, 175, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 68, 101, 115, 105, 114, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 28, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 77, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 69, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 65, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 61, 0, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 57, 0, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 53, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 49, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 110, 111, 110, 101, 0, 0, 0, 0, + 116, 117, 114, 110, 76, 101, 102, 116, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 117, 114, 110, 82, 105, 103, 104, + 116, 0, 0, 0, 0, 0, 0, 0, + 108, 97, 110, 101, 67, 104, 97, 110, + 103, 101, 76, 101, 102, 116, 0, 0, + 108, 97, 110, 101, 67, 104, 97, 110, + 103, 101, 82, 105, 103, 104, 116, 0, + 107, 101, 101, 112, 76, 101, 102, 116, + 0, 0, 0, 0, 0, 0, 0, 0, + 107, 101, 101, 112, 82, 105, 103, 104, + 116, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_ae674a34ba421466 = b_ae674a34ba421466.words; +#if !CAPNP_LITE +static const uint16_t m_ae674a34ba421466[] = {5, 6, 3, 4, 0, 1, 2}; +const ::capnp::_::RawSchema s_ae674a34ba421466 = { + 0xae674a34ba421466, b_ae674a34ba421466.words, 51, nullptr, m_ae674a34ba421466, + 0, 7, nullptr, nullptr, nullptr, { &s_ae674a34ba421466, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(Desire_ae674a34ba421466, ae674a34ba421466); +static const ::capnp::_::AlignedData<39> b_cd37924bf7b2d3d2 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 210, 211, 178, 247, 75, 146, 55, 205, + 10, 0, 0, 0, 2, 0, 0, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 210, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 103, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 76, 97, 110, 101, 67, 104, + 97, 110, 103, 101, 83, 116, 97, 116, + 101, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 16, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 162, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 111, 102, 102, 0, 0, 0, 0, 0, + 112, 114, 101, 76, 97, 110, 101, 67, + 104, 97, 110, 103, 101, 0, 0, 0, + 108, 97, 110, 101, 67, 104, 97, 110, + 103, 101, 83, 116, 97, 114, 116, 105, + 110, 103, 0, 0, 0, 0, 0, 0, + 108, 97, 110, 101, 67, 104, 97, 110, + 103, 101, 70, 105, 110, 105, 115, 104, + 105, 110, 103, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_cd37924bf7b2d3d2 = b_cd37924bf7b2d3d2.words; +#if !CAPNP_LITE +static const uint16_t m_cd37924bf7b2d3d2[] = {3, 2, 0, 1}; +const ::capnp::_::RawSchema s_cd37924bf7b2d3d2 = { + 0xcd37924bf7b2d3d2, b_cd37924bf7b2d3d2.words, 39, nullptr, m_cd37924bf7b2d3d2, + 0, 4, nullptr, nullptr, nullptr, { &s_cd37924bf7b2d3d2, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(LaneChangeState_cd37924bf7b2d3d2, cd37924bf7b2d3d2); +static const ::capnp::_::AlignedData<30> b_9d0bc0c1fe671176 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 118, 17, 103, 254, 193, 192, 11, 157, + 10, 0, 0, 0, 2, 0, 0, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 242, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 79, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 76, 97, 110, 101, 67, 104, + 97, 110, 103, 101, 68, 105, 114, 101, + 99, 116, 105, 111, 110, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 12, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 110, 111, 110, 101, 0, 0, 0, 0, + 108, 101, 102, 116, 0, 0, 0, 0, + 114, 105, 103, 104, 116, 0, 0, 0, } +}; +::capnp::word const* const bp_9d0bc0c1fe671176 = b_9d0bc0c1fe671176.words; +#if !CAPNP_LITE +static const uint16_t m_9d0bc0c1fe671176[] = {1, 0, 2}; +const ::capnp::_::RawSchema s_9d0bc0c1fe671176 = { + 0x9d0bc0c1fe671176, b_9d0bc0c1fe671176.words, 30, nullptr, m_9d0bc0c1fe671176, + 0, 3, nullptr, nullptr, nullptr, { &s_9d0bc0c1fe671176, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(LaneChangeDirection_9d0bc0c1fe671176, 9d0bc0c1fe671176); +static const ::capnp::_::AlignedData<31> b_eeb9ea49d5c19b23 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 35, 155, 193, 213, 73, 234, 185, 238, + 10, 0, 0, 0, 2, 0, 0, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 194, 0, 0, 0, + 29, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 0, 0, 0, 79, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 84, 117, 114, 110, 68, 105, + 114, 101, 99, 116, 105, 111, 110, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 12, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 17, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 110, 111, 110, 101, 0, 0, 0, 0, + 116, 117, 114, 110, 76, 101, 102, 116, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 117, 114, 110, 82, 105, 103, 104, + 116, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_eeb9ea49d5c19b23 = b_eeb9ea49d5c19b23.words; +#if !CAPNP_LITE +static const uint16_t m_eeb9ea49d5c19b23[] = {0, 1, 2}; +const ::capnp::_::RawSchema s_eeb9ea49d5c19b23 = { + 0xeeb9ea49d5c19b23, b_eeb9ea49d5c19b23.words, 31, nullptr, m_eeb9ea49d5c19b23, + 0, 3, nullptr, nullptr, nullptr, { &s_eeb9ea49d5c19b23, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(TurnDirection_eeb9ea49d5c19b23, eeb9ea49d5c19b23); +static const ::capnp::_::AlignedData<77> b_8785009a964c7c59 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 89, 124, 76, 150, 154, 0, 133, 135, + 10, 0, 0, 0, 1, 0, 1, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 1, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 146, 0, 0, 0, + 29, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 0, 0, 0, 231, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 67, 97, 110, 68, 97, 116, + 97, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 16, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 92, 0, 0, 0, 3, 0, 1, 0, + 104, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 96, 0, 0, 0, 3, 0, 1, 0, + 108, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 0, 0, 0, 3, 0, 1, 0, + 112, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 0, 0, 0, 3, 0, 1, 0, + 116, 0, 0, 0, 2, 0, 1, 0, + 97, 100, 100, 114, 101, 115, 115, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 98, 117, 115, 84, 105, 109, 101, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 97, 116, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 114, 99, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_8785009a964c7c59 = b_8785009a964c7c59.words; +#if !CAPNP_LITE +static const uint16_t m_8785009a964c7c59[] = {0, 1, 2, 3}; +static const uint16_t i_8785009a964c7c59[] = {0, 1, 2, 3}; +const ::capnp::_::RawSchema s_8785009a964c7c59 = { + 0x8785009a964c7c59, b_8785009a964c7c59.words, 77, nullptr, m_8785009a964c7c59, + 0, 4, i_8785009a964c7c59, nullptr, nullptr, { &s_8785009a964c7c59, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<826> b_a4d8b5af2aa492eb = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 235, 146, 164, 42, 175, 181, 216, 164, + 10, 0, 0, 0, 1, 0, 12, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 10, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 178, 0, 0, 0, + 29, 0, 0, 0, 103, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 0, 0, 0, 23, 10, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 68, 101, 118, 105, 99, 101, + 83, 116, 97, 116, 101, 0, 0, 0, + 24, 0, 0, 0, 1, 0, 1, 0, + 111, 246, 61, 133, 41, 0, 121, 208, + 41, 0, 0, 0, 98, 0, 0, 0, + 126, 247, 84, 194, 16, 113, 15, 175, + 41, 0, 0, 0, 114, 0, 0, 0, + 157, 4, 209, 88, 201, 156, 199, 187, + 41, 0, 0, 0, 98, 0, 0, 0, + 19, 62, 32, 19, 138, 140, 48, 221, + 41, 0, 0, 0, 130, 0, 0, 0, + 252, 74, 192, 130, 45, 83, 87, 157, + 41, 0, 0, 0, 98, 0, 0, 0, + 160, 142, 137, 39, 234, 100, 140, 185, + 41, 0, 0, 0, 106, 0, 0, 0, + 84, 104, 101, 114, 109, 97, 108, 90, + 111, 110, 101, 0, 0, 0, 0, 0, + 84, 104, 101, 114, 109, 97, 108, 83, + 116, 97, 116, 117, 115, 0, 0, 0, + 78, 101, 116, 119, 111, 114, 107, 84, + 121, 112, 101, 0, 0, 0, 0, 0, + 78, 101, 116, 119, 111, 114, 107, 83, + 116, 114, 101, 110, 103, 116, 104, 0, + 78, 101, 116, 119, 111, 114, 107, 73, + 110, 102, 111, 0, 0, 0, 0, 0, + 78, 101, 116, 119, 111, 114, 107, 83, + 116, 97, 116, 115, 0, 0, 0, 0, + 184, 0, 0, 0, 3, 0, 4, 0, + 28, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 249, 4, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 248, 4, 0, 0, 3, 0, 1, 0, + 4, 5, 0, 0, 2, 0, 1, 0, + 29, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 5, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 5, 0, 0, 3, 0, 1, 0, + 12, 5, 0, 0, 2, 0, 1, 0, + 30, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 5, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 5, 0, 0, 3, 0, 1, 0, + 20, 5, 0, 0, 2, 0, 1, 0, + 31, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 17, 5, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 5, 0, 0, 3, 0, 1, 0, + 28, 5, 0, 0, 2, 0, 1, 0, + 32, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 5, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 24, 5, 0, 0, 3, 0, 1, 0, + 36, 5, 0, 0, 2, 0, 1, 0, + 33, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 5, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 32, 5, 0, 0, 3, 0, 1, 0, + 44, 5, 0, 0, 2, 0, 1, 0, + 34, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 5, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 40, 5, 0, 0, 3, 0, 1, 0, + 52, 5, 0, 0, 2, 0, 1, 0, + 9, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 49, 5, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 52, 5, 0, 0, 3, 0, 1, 0, + 64, 5, 0, 0, 2, 0, 1, 0, + 40, 0, 0, 0, 10, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 61, 5, 0, 0, 202, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 68, 5, 0, 0, 3, 0, 1, 0, + 80, 5, 0, 0, 2, 0, 1, 0, + 37, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 77, 5, 0, 0, 194, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 80, 5, 0, 0, 3, 0, 1, 0, + 92, 5, 0, 0, 2, 0, 1, 0, + 26, 0, 0, 0, 11, 0, 0, 0, + 0, 0, 1, 0, 10, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 89, 5, 0, 0, 186, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 92, 5, 0, 0, 3, 0, 1, 0, + 104, 5, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 192, 0, 0, 0, + 0, 0, 1, 0, 11, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 5, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 96, 5, 0, 0, 3, 0, 1, 0, + 108, 5, 0, 0, 2, 0, 1, 0, + 44, 0, 0, 0, 193, 0, 0, 0, + 0, 0, 1, 0, 12, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 5, 0, 0, 162, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 5, 0, 0, 3, 0, 1, 0, + 120, 5, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 13, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 5, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 5, 0, 0, 3, 0, 1, 0, + 128, 5, 0, 0, 2, 0, 1, 0, + 25, 0, 0, 0, 13, 0, 0, 0, + 0, 0, 1, 0, 14, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 125, 5, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 124, 5, 0, 0, 3, 0, 1, 0, + 136, 5, 0, 0, 2, 0, 1, 0, + 41, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 15, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 133, 5, 0, 0, 202, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 140, 5, 0, 0, 3, 0, 1, 0, + 152, 5, 0, 0, 2, 0, 1, 0, + 38, 0, 0, 0, 10, 0, 0, 0, + 0, 0, 1, 0, 16, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 149, 5, 0, 0, 202, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 156, 5, 0, 0, 3, 0, 1, 0, + 168, 5, 0, 0, 2, 0, 1, 0, + 42, 0, 0, 0, 194, 0, 0, 0, + 0, 0, 1, 0, 17, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 165, 5, 0, 0, 194, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 168, 5, 0, 0, 3, 0, 1, 0, + 180, 5, 0, 0, 2, 0, 1, 0, + 43, 0, 0, 0, 195, 0, 0, 0, + 0, 0, 1, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 177, 5, 0, 0, 218, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 184, 5, 0, 0, 3, 0, 1, 0, + 196, 5, 0, 0, 2, 0, 1, 0, + 10, 0, 0, 0, 25, 0, 0, 0, + 0, 0, 1, 0, 19, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 193, 5, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 196, 5, 0, 0, 3, 0, 1, 0, + 208, 5, 0, 0, 2, 0, 1, 0, + 36, 0, 0, 0, 44, 0, 0, 0, + 0, 0, 1, 0, 20, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 205, 5, 0, 0, 210, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 212, 5, 0, 0, 3, 0, 1, 0, + 224, 5, 0, 0, 2, 0, 1, 0, + 35, 0, 0, 0, 23, 0, 0, 0, + 0, 0, 1, 0, 21, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 221, 5, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 220, 5, 0, 0, 3, 0, 1, 0, + 232, 5, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 24, 0, 0, 0, + 0, 0, 1, 0, 22, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 229, 5, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 228, 5, 0, 0, 3, 0, 1, 0, + 240, 5, 0, 0, 2, 0, 1, 0, + 13, 0, 0, 0, 13, 0, 0, 0, + 0, 0, 1, 0, 23, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 237, 5, 0, 0, 170, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 240, 5, 0, 0, 3, 0, 1, 0, + 252, 5, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 25, 0, 0, 0, + 0, 0, 1, 0, 24, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 249, 5, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 248, 5, 0, 0, 3, 0, 1, 0, + 4, 6, 0, 0, 2, 0, 1, 0, + 14, 0, 0, 0, 14, 0, 0, 0, + 0, 0, 1, 0, 25, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 6, 0, 0, 178, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 6, 0, 0, 3, 0, 1, 0, + 16, 6, 0, 0, 2, 0, 1, 0, + 17, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 26, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 6, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 6, 0, 0, 3, 0, 1, 0, + 40, 6, 0, 0, 2, 0, 1, 0, + 18, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 27, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 6, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 36, 6, 0, 0, 3, 0, 1, 0, + 64, 6, 0, 0, 2, 0, 1, 0, + 19, 0, 0, 0, 15, 0, 0, 0, + 0, 0, 1, 0, 28, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 61, 6, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 60, 6, 0, 0, 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0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 110, 118, 109, 101, 84, 101, 109, 112, + 67, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 111, 100, 101, 109, 84, 101, 109, + 112, 67, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 99, 114, 101, 101, 110, 66, 114, + 105, 103, 104, 116, 110, 101, 115, 115, + 80, 101, 114, 99, 101, 110, 116, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 104, 101, 114, 109, 97, 108, 90, + 111, 110, 101, 115, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 111, 246, 61, 133, 41, 0, 121, 208, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 109, 105, 99, 84, 101, 109, 112, + 67, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 111, 119, 101, 114, 68, 114, 97, + 119, 87, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 110, 101, 116, 119, 111, 114, 107, 77, + 101, 116, 101, 114, 101, 100, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 111, 109, 80, 111, 119, 101, 114, + 68, 114, 97, 119, 87, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 110, 101, 116, 119, 111, 114, 107, 83, + 116, 97, 116, 115, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 160, 142, 137, 39, 234, 100, 140, 185, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 97, 120, 84, 101, 109, 112, 67, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 101, 118, 105, 99, 101, 84, 121, + 112, 101, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 8, 102, 168, 235, 56, 114, 93, 157, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_a4d8b5af2aa492eb = b_a4d8b5af2aa492eb.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_a4d8b5af2aa492eb[] = { + &s_9d57532d82c04afc, + &s_9d5d7238eba86608, + &s_af0f7110c254f77e, + &s_b98c64ea27898ea0, + &s_bbc79cc958d1049d, + &s_d0790029853df66f, + &s_dd308c8a13203e13, +}; +static const uint16_t m_a4d8b5af2aa492eb[] = {30, 6, 15, 8, 9, 29, 16, 25, 18, 17, 0, 1, 2, 3, 26, 34, 20, 45, 10, 7, 5, 27, 33, 32, 44, 4, 28, 19, 36, 31, 41, 43, 24, 22, 35, 23, 21, 39, 40, 37, 42, 11, 13, 14, 38, 12}; +static const uint16_t i_a4d8b5af2aa492eb[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45}; +const ::capnp::_::RawSchema s_a4d8b5af2aa492eb = { + 0xa4d8b5af2aa492eb, b_a4d8b5af2aa492eb.words, 826, d_a4d8b5af2aa492eb, m_a4d8b5af2aa492eb, + 7, 46, i_a4d8b5af2aa492eb, nullptr, nullptr, { &s_a4d8b5af2aa492eb, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<49> b_d0790029853df66f = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 111, 246, 61, 133, 41, 0, 121, 208, + 22, 0, 0, 0, 1, 0, 1, 0, + 235, 146, 164, 42, 175, 181, 216, 164, + 1, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 18, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 119, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 68, 101, 118, 105, 99, 101, + 83, 116, 97, 116, 101, 46, 84, 104, + 101, 114, 109, 97, 108, 90, 111, 110, + 101, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 8, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 36, 0, 0, 0, 3, 0, 1, 0, + 48, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 45, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 40, 0, 0, 0, 3, 0, 1, 0, + 52, 0, 0, 0, 2, 0, 1, 0, + 110, 97, 109, 101, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 101, 109, 112, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_d0790029853df66f = b_d0790029853df66f.words; +#if !CAPNP_LITE +static const uint16_t m_d0790029853df66f[] = {0, 1}; +static const uint16_t i_d0790029853df66f[] = {0, 1}; +const ::capnp::_::RawSchema s_d0790029853df66f = { + 0xd0790029853df66f, b_d0790029853df66f.words, 49, nullptr, m_d0790029853df66f, + 0, 2, i_d0790029853df66f, nullptr, nullptr, { &s_d0790029853df66f, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<35> b_af0f7110c254f77e = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 126, 247, 84, 194, 16, 113, 15, 175, + 22, 0, 0, 0, 2, 0, 0, 0, + 235, 146, 164, 42, 175, 181, 216, 164, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 34, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 103, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 68, 101, 118, 105, 99, 101, + 83, 116, 97, 116, 101, 46, 84, 104, + 101, 114, 109, 97, 108, 83, 116, 97, + 116, 117, 115, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 16, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 25, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 17, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 103, 114, 101, 101, 110, 0, 0, 0, + 121, 101, 108, 108, 111, 119, 0, 0, + 114, 101, 100, 0, 0, 0, 0, 0, + 100, 97, 110, 103, 101, 114, 0, 0, } +}; +::capnp::word const* const bp_af0f7110c254f77e = b_af0f7110c254f77e.words; +#if !CAPNP_LITE +static const uint16_t m_af0f7110c254f77e[] = {3, 0, 2, 1}; +const ::capnp::_::RawSchema s_af0f7110c254f77e = { + 0xaf0f7110c254f77e, b_af0f7110c254f77e.words, 35, nullptr, m_af0f7110c254f77e, + 0, 4, nullptr, nullptr, nullptr, { &s_af0f7110c254f77e, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(ThermalStatus_af0f7110c254f77e, af0f7110c254f77e); +static const ::capnp::_::AlignedData<48> b_bbc79cc958d1049d = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 157, 4, 209, 88, 201, 156, 199, 187, + 22, 0, 0, 0, 2, 0, 0, 0, + 235, 146, 164, 42, 175, 181, 216, 164, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 18, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 175, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 68, 101, 118, 105, 99, 101, + 83, 116, 97, 116, 101, 46, 78, 101, + 116, 119, 111, 114, 107, 84, 121, 112, + 101, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 28, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 77, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 69, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 61, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 53, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 45, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 37, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 110, 111, 110, 101, 0, 0, 0, 0, + 119, 105, 102, 105, 0, 0, 0, 0, + 99, 101, 108, 108, 50, 71, 0, 0, + 99, 101, 108, 108, 51, 71, 0, 0, + 99, 101, 108, 108, 52, 71, 0, 0, + 99, 101, 108, 108, 53, 71, 0, 0, + 101, 116, 104, 101, 114, 110, 101, 116, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_bbc79cc958d1049d = b_bbc79cc958d1049d.words; +#if !CAPNP_LITE +static const uint16_t m_bbc79cc958d1049d[] = {2, 3, 4, 5, 6, 0, 1}; +const ::capnp::_::RawSchema s_bbc79cc958d1049d = { + 0xbbc79cc958d1049d, b_bbc79cc958d1049d.words, 48, nullptr, m_bbc79cc958d1049d, + 0, 7, nullptr, nullptr, nullptr, { &s_bbc79cc958d1049d, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(NetworkType_bbc79cc958d1049d, bbc79cc958d1049d); +static const ::capnp::_::AlignedData<40> b_dd308c8a13203e13 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 19, 62, 32, 19, 138, 140, 48, 221, + 22, 0, 0, 0, 2, 0, 0, 0, + 235, 146, 164, 42, 175, 181, 216, 164, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 50, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 127, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 68, 101, 118, 105, 99, 101, + 83, 116, 97, 116, 101, 46, 78, 101, + 116, 119, 111, 114, 107, 83, 116, 114, + 101, 110, 103, 116, 104, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 20, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 53, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 45, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 37, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 25, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 110, 107, 110, 111, 119, 110, 0, + 112, 111, 111, 114, 0, 0, 0, 0, + 109, 111, 100, 101, 114, 97, 116, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 103, 111, 111, 100, 0, 0, 0, 0, + 103, 114, 101, 97, 116, 0, 0, 0, } +}; +::capnp::word const* const bp_dd308c8a13203e13 = b_dd308c8a13203e13.words; +#if !CAPNP_LITE +static const uint16_t m_dd308c8a13203e13[] = {3, 4, 2, 1, 0}; +const ::capnp::_::RawSchema s_dd308c8a13203e13 = { + 0xdd308c8a13203e13, b_dd308c8a13203e13.words, 40, nullptr, m_dd308c8a13203e13, + 0, 5, nullptr, nullptr, nullptr, { &s_dd308c8a13203e13, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(NetworkStrength_dd308c8a13203e13, dd308c8a13203e13); +static const ::capnp::_::AlignedData<111> b_9d57532d82c04afc = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 252, 74, 192, 130, 45, 83, 87, 157, + 22, 0, 0, 0, 1, 0, 1, 0, + 235, 146, 164, 42, 175, 181, 216, 164, + 5, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 18, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 87, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 68, 101, 118, 105, 99, 101, + 83, 116, 97, 116, 101, 46, 78, 101, + 116, 119, 111, 114, 107, 73, 110, 102, + 111, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 24, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 153, 0, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 152, 0, 0, 0, 3, 0, 1, 0, + 164, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 161, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 160, 0, 0, 0, 3, 0, 1, 0, + 172, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 169, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 164, 0, 0, 0, 3, 0, 1, 0, + 176, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 173, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 168, 0, 0, 0, 3, 0, 1, 0, + 180, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 177, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 172, 0, 0, 0, 3, 0, 1, 0, + 184, 0, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 181, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 176, 0, 0, 0, 3, 0, 1, 0, + 188, 0, 0, 0, 2, 0, 1, 0, + 116, 101, 99, 104, 110, 111, 108, 111, + 103, 121, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 111, 112, 101, 114, 97, 116, 111, 114, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 98, 97, 110, 100, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 104, 97, 110, 110, 101, 108, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 120, 116, 114, 97, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 97, 116, 101, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_9d57532d82c04afc = b_9d57532d82c04afc.words; +#if !CAPNP_LITE +static const uint16_t m_9d57532d82c04afc[] = {2, 3, 4, 1, 5, 0}; +static const uint16_t i_9d57532d82c04afc[] = {0, 1, 2, 3, 4, 5}; +const ::capnp::_::RawSchema s_9d57532d82c04afc = { + 0x9d57532d82c04afc, b_9d57532d82c04afc.words, 111, nullptr, m_9d57532d82c04afc, + 0, 6, i_9d57532d82c04afc, nullptr, nullptr, { &s_9d57532d82c04afc, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<49> b_b98c64ea27898ea0 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 160, 142, 137, 39, 234, 100, 140, 185, + 22, 0, 0, 0, 1, 0, 2, 0, + 235, 146, 164, 42, 175, 181, 216, 164, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 26, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 119, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 68, 101, 118, 105, 99, 101, + 83, 116, 97, 116, 101, 46, 78, 101, + 116, 119, 111, 114, 107, 83, 116, 97, + 116, 115, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 8, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 36, 0, 0, 0, 3, 0, 1, 0, + 48, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 45, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 40, 0, 0, 0, 3, 0, 1, 0, + 52, 0, 0, 0, 2, 0, 1, 0, + 119, 119, 97, 110, 84, 120, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 119, 119, 97, 110, 82, 120, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_b98c64ea27898ea0 = b_b98c64ea27898ea0.words; +#if !CAPNP_LITE +static const uint16_t m_b98c64ea27898ea0[] = {1, 0}; +static const uint16_t i_b98c64ea27898ea0[] = {0, 1}; +const ::capnp::_::RawSchema s_b98c64ea27898ea0 = { + 0xb98c64ea27898ea0, b_b98c64ea27898ea0.words, 49, nullptr, m_b98c64ea27898ea0, + 0, 2, i_b98c64ea27898ea0, nullptr, nullptr, { &s_b98c64ea27898ea0, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<646> b_a7649e2575e4591e = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 30, 89, 228, 117, 37, 158, 100, 167, + 10, 0, 0, 0, 1, 0, 9, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 4, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 170, 0, 0, 0, + 29, 0, 0, 0, 87, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 0, 0, 0, 31, 8, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 80, 97, 110, 100, 97, 83, + 116, 97, 116, 101, 0, 0, 0, 0, + 20, 0, 0, 0, 1, 0, 1, 0, + 187, 173, 201, 10, 139, 11, 253, 242, + 33, 0, 0, 0, 98, 0, 0, 0, + 152, 151, 36, 105, 127, 192, 85, 205, + 33, 0, 0, 0, 82, 0, 0, 0, + 81, 55, 91, 62, 249, 173, 88, 138, + 33, 0, 0, 0, 82, 0, 0, 0, + 191, 129, 192, 232, 209, 62, 154, 246, + 33, 0, 0, 0, 114, 0, 0, 0, + 92, 212, 12, 235, 45, 151, 210, 248, + 33, 0, 0, 0, 114, 0, 0, 0, + 70, 97, 117, 108, 116, 83, 116, 97, + 116, 117, 115, 0, 0, 0, 0, 0, + 70, 97, 117, 108, 116, 84, 121, 112, + 101, 0, 0, 0, 0, 0, 0, 0, + 80, 97, 110, 100, 97, 84, 121, 112, + 101, 0, 0, 0, 0, 0, 0, 0, + 72, 97, 114, 110, 101, 115, 115, 83, + 116, 97, 116, 117, 115, 0, 0, 0, + 80, 97, 110, 100, 97, 67, 97, 110, + 83, 116, 97, 116, 101, 0, 0, 0, + 148, 0, 0, 0, 3, 0, 4, 0, + 27, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 253, 3, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 248, 3, 0, 0, 3, 0, 1, 0, + 4, 4, 0, 0, 2, 0, 1, 0, + 28, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 4, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 252, 3, 0, 0, 3, 0, 1, 0, + 8, 4, 0, 0, 2, 0, 1, 0, + 0, 0, 0, 0, 64, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 4, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 4, 0, 0, 3, 0, 1, 0, + 16, 4, 0, 0, 2, 0, 1, 0, + 20, 0, 0, 0, 65, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 4, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 4, 0, 0, 3, 0, 1, 0, + 24, 4, 0, 0, 2, 0, 1, 0, + 29, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 4, 0, 0, 10, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 32, 4, 0, 0, 3, 0, 1, 0, + 44, 4, 0, 0, 2, 0, 1, 0, + 30, 0, 0, 0, 67, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 4, 0, 0, 2, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 48, 4, 0, 0, 3, 0, 1, 0, + 60, 4, 0, 0, 2, 0, 1, 0, + 31, 0, 0, 0, 68, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 57, 4, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 60, 4, 0, 0, 3, 0, 1, 0, + 72, 4, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 69, 4, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 72, 4, 0, 0, 3, 0, 1, 0, + 84, 4, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 81, 4, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 84, 4, 0, 0, 3, 0, 1, 0, + 96, 4, 0, 0, 2, 0, 1, 0, + 32, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 93, 4, 0, 0, 194, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 96, 4, 0, 0, 3, 0, 1, 0, + 108, 4, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 10, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 4, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 4, 0, 0, 3, 0, 1, 0, + 116, 4, 0, 0, 2, 0, 1, 0, + 33, 0, 0, 0, 12, 0, 0, 0, + 0, 0, 1, 0, 11, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 113, 4, 0, 0, 178, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 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0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 110, 83, 116, 97, 116, 101, + 49, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 92, 212, 12, 235, 45, 151, 210, 248, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 110, 83, 116, 97, 116, 101, + 50, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 92, 212, 12, 235, 45, 151, 210, 248, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 97, 102, 101, 116, 121, 82, 120, + 67, 104, 101, 99, 107, 115, 73, 110, + 118, 97, 108, 105, 100, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 112, 105, 67, 104, 101, 99, 107, + 115, 117, 109, 69, 114, 114, 111, 114, + 67, 111, 117, 110, 116, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 97, 110, 83, 116, 97, 108, 108, + 67, 111, 117, 110, 116, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 98, 117, 49, 86, 111, 108, 116, + 97, 103, 101, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 98, 117, 50, 86, 111, 108, 116, + 97, 103, 101, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_a7649e2575e4591e = b_a7649e2575e4591e.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_a7649e2575e4591e[] = { + &s_8a58adf93e5b3751, + &s_95551e5b1edaf451, + &s_a8883583b32c9877, + &s_cd55c07f69249798, + &s_f2fd0b8b0ac9adbb, + &s_f69a3ed1e8c081bf, + &s_f8d2972deb0cd45c, +}; +static const uint16_t m_a7649e2575e4591e[] = {23, 29, 30, 31, 3, 1, 28, 11, 34, 15, 18, 4, 9, 21, 6, 22, 13, 2, 25, 10, 16, 7, 14, 27, 26, 20, 32, 19, 24, 35, 36, 33, 5, 8, 17, 12, 0}; +static const uint16_t i_a7649e2575e4591e[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36}; +const ::capnp::_::RawSchema s_a7649e2575e4591e = { + 0xa7649e2575e4591e, b_a7649e2575e4591e.words, 646, d_a7649e2575e4591e, m_a7649e2575e4591e, + 7, 37, i_a7649e2575e4591e, nullptr, nullptr, { &s_a7649e2575e4591e, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<33> b_f2fd0b8b0ac9adbb = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 187, 173, 201, 10, 139, 11, 253, 242, + 21, 0, 0, 0, 2, 0, 0, 0, + 30, 89, 228, 117, 37, 158, 100, 167, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 10, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 79, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 80, 97, 110, 100, 97, 83, + 116, 97, 116, 101, 46, 70, 97, 117, + 108, 116, 83, 116, 97, 116, 117, 115, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 12, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 17, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 110, 111, 110, 101, 0, 0, 0, 0, + 102, 97, 117, 108, 116, 84, 101, 109, + 112, 0, 0, 0, 0, 0, 0, 0, + 102, 97, 117, 108, 116, 80, 101, 114, + 109, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_f2fd0b8b0ac9adbb = b_f2fd0b8b0ac9adbb.words; +#if !CAPNP_LITE +static const uint16_t m_f2fd0b8b0ac9adbb[] = {2, 1, 0}; +const ::capnp::_::RawSchema s_f2fd0b8b0ac9adbb = { + 0xf2fd0b8b0ac9adbb, b_f2fd0b8b0ac9adbb.words, 33, nullptr, m_f2fd0b8b0ac9adbb, + 0, 3, nullptr, nullptr, nullptr, { &s_f2fd0b8b0ac9adbb, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(FaultStatus_f2fd0b8b0ac9adbb, f2fd0b8b0ac9adbb); +static const ::capnp::_::AlignedData<182> b_cd55c07f69249798 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 152, 151, 36, 105, 127, 192, 85, 205, + 21, 0, 0, 0, 2, 0, 0, 0, + 30, 89, 228, 117, 37, 158, 100, 167, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 250, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 143, 2, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 80, 97, 110, 100, 97, 83, + 116, 97, 116, 101, 46, 70, 97, 117, + 108, 116, 84, 121, 112, 101, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 108, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 61, 1, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 61, 1, 0, 0, 186, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 61, 1, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 61, 1, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 61, 1, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 61, 1, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 61, 1, 0, 0, 234, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 65, 1, 0, 0, 194, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 65, 1, 0, 0, 162, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 65, 1, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 65, 1, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 65, 1, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 65, 1, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 0, 0, 0, 0, + 65, 1, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 65, 1, 0, 0, 170, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 65, 1, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 65, 1, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 17, 0, 0, 0, 0, 0, 0, 0, + 65, 1, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 18, 0, 0, 0, 0, 0, 0, 0, + 65, 1, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 19, 0, 0, 0, 0, 0, 0, 0, + 65, 1, 0, 0, 186, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 20, 0, 0, 0, 0, 0, 0, 0, + 65, 1, 0, 0, 202, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 0, 0, 0, 0, + 69, 1, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 22, 0, 0, 0, 0, 0, 0, 0, + 69, 1, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 23, 0, 0, 0, 0, 0, 0, 0, + 69, 1, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 24, 0, 0, 0, 0, 0, 0, 0, + 69, 1, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 0, 0, 0, 0, 0, 0, 0, + 69, 1, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 26, 0, 0, 0, 0, 0, 0, 0, + 69, 1, 0, 0, 178, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 101, 108, 97, 121, 77, 97, 108, + 102, 117, 110, 99, 116, 105, 111, 110, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 110, 117, 115, 101, 100, 73, 110, + 116, 101, 114, 114, 117, 112, 116, 72, + 97, 110, 100, 108, 101, 100, 0, 0, + 105, 110, 116, 101, 114, 114, 117, 112, + 116, 82, 97, 116, 101, 67, 97, 110, + 49, 0, 0, 0, 0, 0, 0, 0, + 105, 110, 116, 101, 114, 114, 117, 112, + 116, 82, 97, 116, 101, 67, 97, 110, + 50, 0, 0, 0, 0, 0, 0, 0, + 105, 110, 116, 101, 114, 114, 117, 112, + 116, 82, 97, 116, 101, 67, 97, 110, + 51, 0, 0, 0, 0, 0, 0, 0, + 105, 110, 116, 101, 114, 114, 117, 112, + 116, 82, 97, 116, 101, 84, 97, 99, + 104, 0, 0, 0, 0, 0, 0, 0, + 105, 110, 116, 101, 114, 114, 117, 112, + 116, 82, 97, 116, 101, 71, 109, 108, + 97, 110, 68, 69, 80, 82, 69, 67, + 65, 84, 69, 68, 0, 0, 0, 0, + 105, 110, 116, 101, 114, 114, 117, 112, + 116, 82, 97, 116, 101, 73, 110, 116, + 101, 114, 114, 117, 112, 116, 115, 0, + 105, 110, 116, 101, 114, 114, 117, 112, + 116, 82, 97, 116, 101, 83, 112, 105, + 68, 109, 97, 0, 0, 0, 0, 0, + 105, 110, 116, 101, 114, 114, 117, 112, + 116, 82, 97, 116, 101, 83, 112, 105, + 67, 115, 0, 0, 0, 0, 0, 0, + 105, 110, 116, 101, 114, 114, 117, 112, + 116, 82, 97, 116, 101, 85, 97, 114, + 116, 49, 0, 0, 0, 0, 0, 0, + 105, 110, 116, 101, 114, 114, 117, 112, + 116, 82, 97, 116, 101, 85, 97, 114, + 116, 50, 0, 0, 0, 0, 0, 0, + 105, 110, 116, 101, 114, 114, 117, 112, + 116, 82, 97, 116, 101, 85, 97, 114, + 116, 51, 0, 0, 0, 0, 0, 0, + 105, 110, 116, 101, 114, 114, 117, 112, + 116, 82, 97, 116, 101, 85, 97, 114, + 116, 53, 0, 0, 0, 0, 0, 0, + 105, 110, 116, 101, 114, 114, 117, 112, + 116, 82, 97, 116, 101, 85, 97, 114, + 116, 68, 109, 97, 0, 0, 0, 0, + 105, 110, 116, 101, 114, 114, 117, 112, + 116, 82, 97, 116, 101, 85, 115, 98, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 110, 116, 101, 114, 114, 117, 112, + 116, 82, 97, 116, 101, 84, 105, 109, + 49, 0, 0, 0, 0, 0, 0, 0, + 105, 110, 116, 101, 114, 114, 117, 112, + 116, 82, 97, 116, 101, 84, 105, 109, + 51, 0, 0, 0, 0, 0, 0, 0, + 114, 101, 103, 105, 115, 116, 101, 114, + 68, 105, 118, 101, 114, 103, 101, 110, + 116, 0, 0, 0, 0, 0, 0, 0, + 105, 110, 116, 101, 114, 114, 117, 112, + 116, 82, 97, 116, 101, 75, 108, 105, + 110, 101, 73, 110, 105, 116, 0, 0, + 105, 110, 116, 101, 114, 114, 117, 112, + 116, 82, 97, 116, 101, 67, 108, 111, + 99, 107, 83, 111, 117, 114, 99, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 110, 116, 101, 114, 114, 117, 112, + 116, 82, 97, 116, 101, 84, 105, 99, + 107, 0, 0, 0, 0, 0, 0, 0, + 105, 110, 116, 101, 114, 114, 117, 112, + 116, 82, 97, 116, 101, 69, 120, 116, + 105, 0, 0, 0, 0, 0, 0, 0, + 105, 110, 116, 101, 114, 114, 117, 112, + 116, 82, 97, 116, 101, 83, 112, 105, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 110, 116, 101, 114, 114, 117, 112, + 116, 82, 97, 116, 101, 85, 97, 114, + 116, 55, 0, 0, 0, 0, 0, 0, + 115, 105, 114, 101, 110, 77, 97, 108, + 102, 117, 110, 99, 116, 105, 111, 110, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 101, 97, 114, 116, 98, 101, 97, + 116, 76, 111, 111, 112, 87, 97, 116, + 99, 104, 100, 111, 103, 0, 0, 0, } +}; +::capnp::word const* const bp_cd55c07f69249798 = b_cd55c07f69249798.words; +#if !CAPNP_LITE +static const uint16_t m_cd55c07f69249798[] = {26, 2, 3, 4, 20, 22, 6, 7, 19, 23, 9, 8, 5, 21, 16, 17, 10, 11, 12, 13, 24, 14, 15, 18, 0, 25, 1}; +const ::capnp::_::RawSchema s_cd55c07f69249798 = { + 0xcd55c07f69249798, b_cd55c07f69249798.words, 182, nullptr, m_cd55c07f69249798, + 0, 27, nullptr, nullptr, nullptr, { &s_cd55c07f69249798, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(FaultType_cd55c07f69249798, cd55c07f69249798); +static const ::capnp::_::AlignedData<67> b_8a58adf93e5b3751 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 81, 55, 91, 62, 249, 173, 88, 138, + 21, 0, 0, 0, 2, 0, 0, 0, + 30, 89, 228, 117, 37, 158, 100, 167, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 250, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 15, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 80, 97, 110, 100, 97, 83, + 116, 97, 116, 101, 46, 80, 97, 110, + 100, 97, 84, 121, 112, 101, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 44, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 125, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 117, 0, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 113, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 109, 0, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 105, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 97, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 89, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 81, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 77, 0, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 73, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 65, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 110, 107, 110, 111, 119, 110, 0, + 119, 104, 105, 116, 101, 80, 97, 110, + 100, 97, 0, 0, 0, 0, 0, 0, + 103, 114, 101, 121, 80, 97, 110, 100, + 97, 0, 0, 0, 0, 0, 0, 0, + 98, 108, 97, 99, 107, 80, 97, 110, + 100, 97, 0, 0, 0, 0, 0, 0, + 112, 101, 100, 97, 108, 0, 0, 0, + 117, 110, 111, 0, 0, 0, 0, 0, + 100, 111, 115, 0, 0, 0, 0, 0, + 114, 101, 100, 80, 97, 110, 100, 97, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 101, 100, 80, 97, 110, 100, 97, + 86, 50, 0, 0, 0, 0, 0, 0, + 116, 114, 101, 115, 0, 0, 0, 0, + 99, 117, 97, 116, 114, 111, 0, 0, } +}; +::capnp::word const* const bp_8a58adf93e5b3751 = b_8a58adf93e5b3751.words; +#if !CAPNP_LITE +static const uint16_t m_8a58adf93e5b3751[] = {3, 10, 6, 2, 4, 7, 8, 9, 0, 5, 1}; +const ::capnp::_::RawSchema s_8a58adf93e5b3751 = { + 0x8a58adf93e5b3751, b_8a58adf93e5b3751.words, 67, nullptr, m_8a58adf93e5b3751, + 0, 11, nullptr, nullptr, nullptr, { &s_8a58adf93e5b3751, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(PandaType_8a58adf93e5b3751, 8a58adf93e5b3751); +static const ::capnp::_::AlignedData<32> b_f69a3ed1e8c081bf = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 191, 129, 192, 232, 209, 62, 154, 246, + 21, 0, 0, 0, 2, 0, 0, 0, + 30, 89, 228, 117, 37, 158, 100, 167, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 26, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 79, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 80, 97, 110, 100, 97, 83, + 116, 97, 116, 101, 46, 72, 97, 114, + 110, 101, 115, 115, 83, 116, 97, 116, + 117, 115, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 12, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 25, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 17, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 110, 111, 116, 67, 111, 110, 110, 101, + 99, 116, 101, 100, 0, 0, 0, 0, + 110, 111, 114, 109, 97, 108, 0, 0, + 102, 108, 105, 112, 112, 101, 100, 0, } +}; +::capnp::word const* const bp_f69a3ed1e8c081bf = b_f69a3ed1e8c081bf.words; +#if !CAPNP_LITE +static const uint16_t m_f69a3ed1e8c081bf[] = {2, 1, 0}; +const ::capnp::_::RawSchema s_f69a3ed1e8c081bf = { + 0xf69a3ed1e8c081bf, b_f69a3ed1e8c081bf.words, 32, nullptr, m_f69a3ed1e8c081bf, + 0, 3, nullptr, nullptr, nullptr, { &s_f69a3ed1e8c081bf, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(HarnessStatus_f69a3ed1e8c081bf, f69a3ed1e8c081bf); +static const ::capnp::_::AlignedData<424> b_f8d2972deb0cd45c = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 92, 212, 12, 235, 45, 151, 210, 248, + 21, 0, 0, 0, 1, 0, 8, 0, + 30, 89, 228, 117, 37, 158, 100, 167, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 26, 1, 0, 0, + 37, 0, 0, 0, 23, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 49, 0, 0, 0, 127, 5, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 80, 97, 110, 100, 97, 83, + 116, 97, 116, 101, 46, 80, 97, 110, + 100, 97, 67, 97, 110, 83, 116, 97, + 116, 101, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 1, 0, 1, 0, + 255, 131, 50, 209, 180, 80, 219, 192, + 1, 0, 0, 0, 106, 0, 0, 0, + 76, 101, 99, 69, 114, 114, 111, 114, + 67, 111, 100, 101, 0, 0, 0, 0, + 100, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 173, 2, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 168, 2, 0, 0, 3, 0, 1, 0, + 180, 2, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 177, 2, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 176, 2, 0, 0, 3, 0, 1, 0, + 188, 2, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 185, 2, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 184, 2, 0, 0, 3, 0, 1, 0, + 196, 2, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 193, 2, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 192, 2, 0, 0, 3, 0, 1, 0, + 204, 2, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 201, 2, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 200, 2, 0, 0, 3, 0, 1, 0, + 212, 2, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 209, 2, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 208, 2, 0, 0, 3, 0, 1, 0, + 220, 2, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 217, 2, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 216, 2, 0, 0, 3, 0, 1, 0, + 228, 2, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 225, 2, 0, 0, 162, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 228, 2, 0, 0, 3, 0, 1, 0, + 240, 2, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 237, 2, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 236, 2, 0, 0, 3, 0, 1, 0, + 248, 2, 0, 0, 2, 0, 1, 0, + 9, 0, 0, 0, 14, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 245, 2, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 248, 2, 0, 0, 3, 0, 1, 0, + 4, 3, 0, 0, 2, 0, 1, 0, + 10, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 10, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 3, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 3, 0, 0, 3, 0, 1, 0, + 12, 3, 0, 0, 2, 0, 1, 0, + 11, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 11, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 3, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 3, 0, 0, 3, 0, 1, 0, + 20, 3, 0, 0, 2, 0, 1, 0, + 12, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 12, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 17, 3, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 3, 0, 0, 3, 0, 1, 0, + 28, 3, 0, 0, 2, 0, 1, 0, + 13, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 13, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 3, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 24, 3, 0, 0, 3, 0, 1, 0, + 36, 3, 0, 0, 2, 0, 1, 0, + 14, 0, 0, 0, 8, 0, 0, 0, + 0, 0, 1, 0, 14, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 3, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 32, 3, 0, 0, 3, 0, 1, 0, + 44, 3, 0, 0, 2, 0, 1, 0, + 15, 0, 0, 0, 9, 0, 0, 0, + 0, 0, 1, 0, 15, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 3, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 40, 3, 0, 0, 3, 0, 1, 0, + 52, 3, 0, 0, 2, 0, 1, 0, + 16, 0, 0, 0, 20, 0, 0, 0, + 0, 0, 1, 0, 16, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 49, 3, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 48, 3, 0, 0, 3, 0, 1, 0, + 60, 3, 0, 0, 2, 0, 1, 0, + 17, 0, 0, 0, 21, 0, 0, 0, + 0, 0, 1, 0, 17, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 57, 3, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 56, 3, 0, 0, 3, 0, 1, 0, + 68, 3, 0, 0, 2, 0, 1, 0, + 18, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 65, 3, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 64, 3, 0, 0, 3, 0, 1, 0, + 76, 3, 0, 0, 2, 0, 1, 0, + 19, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 19, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 73, 3, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 72, 3, 0, 0, 3, 0, 1, 0, + 84, 3, 0, 0, 2, 0, 1, 0, + 20, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 20, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 81, 3, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 80, 3, 0, 0, 3, 0, 1, 0, + 92, 3, 0, 0, 2, 0, 1, 0, + 21, 0, 0, 0, 11, 0, 0, 0, + 0, 0, 1, 0, 21, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 89, 3, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 88, 3, 0, 0, 3, 0, 1, 0, + 100, 3, 0, 0, 2, 0, 1, 0, + 22, 0, 0, 0, 12, 0, 0, 0, + 0, 0, 1, 0, 22, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 3, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 96, 3, 0, 0, 3, 0, 1, 0, + 108, 3, 0, 0, 2, 0, 1, 0, + 23, 0, 0, 0, 13, 0, 0, 0, + 0, 0, 1, 0, 23, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 3, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 3, 0, 0, 3, 0, 1, 0, + 116, 3, 0, 0, 2, 0, 1, 0, + 24, 0, 0, 0, 14, 0, 0, 0, + 0, 0, 1, 0, 24, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 113, 3, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 3, 0, 0, 3, 0, 1, 0, + 124, 3, 0, 0, 2, 0, 1, 0, + 98, 117, 115, 79, 102, 102, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 98, 117, 115, 79, 102, 102, 67, 110, + 116, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 114, 114, 111, 114, 87, 97, 114, + 110, 105, 110, 103, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 114, 114, 111, 114, 80, 97, 115, + 115, 105, 118, 101, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 97, 115, 116, 69, 114, 114, 111, + 114, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 255, 131, 50, 209, 180, 80, 219, 192, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 97, 115, 116, 83, 116, 111, 114, + 101, 100, 69, 114, 114, 111, 114, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 255, 131, 50, 209, 180, 80, 219, 192, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 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120, 67, + 110, 116, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 111, 116, 97, 108, 82, 120, 67, + 110, 116, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 111, 116, 97, 108, 70, 119, 100, + 67, 110, 116, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 110, 83, 112, 101, 101, 100, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 110, 68, 97, 116, 97, 83, + 112, 101, 101, 100, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 110, 102, 100, 69, 110, 97, + 98, 108, 101, 100, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 98, 114, 115, 69, 110, 97, 98, 108, + 101, 100, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 110, 102, 100, 78, 111, 110, + 73, 115, 111, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 114, 113, 48, 67, 97, 108, 108, + 82, 97, 116, 101, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 114, 113, 49, 67, 97, 108, 108, + 82, 97, 116, 101, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 114, 113, 50, 67, 97, 108, 108, + 82, 97, 116, 101, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 110, 67, 111, 114, 101, 82, + 101, 115, 101, 116, 67, 110, 116, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_f8d2972deb0cd45c = b_f8d2972deb0cd45c.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_f8d2972deb0cd45c[] = { + &s_c0db50b4d13283ff, +}; +static const uint16_t m_f8d2972deb0cd45c[] = {19, 0, 1, 24, 17, 16, 18, 20, 3, 2, 21, 22, 23, 6, 7, 4, 5, 8, 10, 15, 14, 12, 13, 11, 9}; +static const uint16_t i_f8d2972deb0cd45c[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24}; +const ::capnp::_::RawSchema s_f8d2972deb0cd45c = { + 0xf8d2972deb0cd45c, b_f8d2972deb0cd45c.words, 424, d_f8d2972deb0cd45c, m_f8d2972deb0cd45c, + 1, 25, i_f8d2972deb0cd45c, nullptr, nullptr, { &s_f8d2972deb0cd45c, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<59> b_c0db50b4d13283ff = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 255, 131, 50, 209, 180, 80, 219, 192, + 35, 0, 0, 0, 2, 0, 0, 0, + 92, 212, 12, 235, 45, 151, 210, 248, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 130, 1, 0, 0, + 41, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 0, 0, 0, 199, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 80, 97, 110, 100, 97, 83, + 116, 97, 116, 101, 46, 80, 97, 110, + 100, 97, 67, 97, 110, 83, 116, 97, + 116, 101, 46, 76, 101, 99, 69, 114, + 114, 111, 114, 67, 111, 100, 101, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 32, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 89, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 81, 0, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 77, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 73, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 69, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 65, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 61, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 57, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 110, 111, 69, 114, 114, 111, 114, 0, + 115, 116, 117, 102, 102, 69, 114, 114, + 111, 114, 0, 0, 0, 0, 0, 0, + 102, 111, 114, 109, 69, 114, 114, 111, + 114, 0, 0, 0, 0, 0, 0, 0, + 97, 99, 107, 69, 114, 114, 111, 114, + 0, 0, 0, 0, 0, 0, 0, 0, + 98, 105, 116, 49, 69, 114, 114, 111, + 114, 0, 0, 0, 0, 0, 0, 0, + 98, 105, 116, 48, 69, 114, 114, 111, + 114, 0, 0, 0, 0, 0, 0, 0, + 99, 114, 99, 69, 114, 114, 111, 114, + 0, 0, 0, 0, 0, 0, 0, 0, + 110, 111, 67, 104, 97, 110, 103, 101, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_c0db50b4d13283ff = b_c0db50b4d13283ff.words; +#if !CAPNP_LITE +static const uint16_t m_c0db50b4d13283ff[] = {3, 5, 4, 6, 2, 7, 0, 1}; +const ::capnp::_::RawSchema s_c0db50b4d13283ff = { + 0xc0db50b4d13283ff, b_c0db50b4d13283ff.words, 59, nullptr, m_c0db50b4d13283ff, + 0, 8, nullptr, nullptr, nullptr, { &s_c0db50b4d13283ff, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(LecErrorCode_c0db50b4d13283ff, c0db50b4d13283ff); +static const ::capnp::_::AlignedData<102> b_ceb8f49734857a88 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 136, 122, 133, 52, 151, 244, 184, 206, + 10, 0, 0, 0, 1, 0, 2, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 210, 0, 0, 0, + 33, 0, 0, 0, 23, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 49, 0, 0, 0, 31, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 80, 101, 114, 105, 112, 104, + 101, 114, 97, 108, 83, 116, 97, 116, + 101, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 1, 0, 1, 0, + 119, 152, 44, 179, 131, 53, 136, 168, + 1, 0, 0, 0, 186, 0, 0, 0, + 85, 115, 98, 80, 111, 119, 101, 114, + 77, 111, 100, 101, 68, 69, 80, 82, + 69, 67, 65, 84, 69, 68, 0, 0, + 20, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 125, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 124, 0, 0, 0, 3, 0, 1, 0, + 136, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 133, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 128, 0, 0, 0, 3, 0, 1, 0, + 140, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 137, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 132, 0, 0, 0, 3, 0, 1, 0, + 144, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 141, 0, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 140, 0, 0, 0, 3, 0, 1, 0, + 152, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 149, 0, 0, 0, 186, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 152, 0, 0, 0, 3, 0, 1, 0, + 164, 0, 0, 0, 2, 0, 1, 0, + 112, 97, 110, 100, 97, 84, 121, 112, + 101, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 81, 55, 91, 62, 249, 173, 88, 138, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 118, 111, 108, 116, 97, 103, 101, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 117, 114, 114, 101, 110, 116, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 97, 110, 83, 112, 101, 101, 100, + 82, 112, 109, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 115, 98, 80, 111, 119, 101, 114, + 77, 111, 100, 101, 68, 69, 80, 82, + 69, 67, 65, 84, 69, 68, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 119, 152, 44, 179, 131, 53, 136, 168, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_ceb8f49734857a88 = b_ceb8f49734857a88.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_ceb8f49734857a88[] = { + &s_8a58adf93e5b3751, + &s_a8883583b32c9877, +}; +static const uint16_t m_ceb8f49734857a88[] = {2, 3, 0, 4, 1}; +static const uint16_t i_ceb8f49734857a88[] = {0, 1, 2, 3, 4}; +const ::capnp::_::RawSchema s_ceb8f49734857a88 = { + 0xceb8f49734857a88, b_ceb8f49734857a88.words, 102, d_ceb8f49734857a88, m_ceb8f49734857a88, + 2, 5, i_ceb8f49734857a88, nullptr, nullptr, { &s_ceb8f49734857a88, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<37> b_a8883583b32c9877 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 119, 152, 44, 179, 131, 53, 136, 168, + 26, 0, 0, 0, 2, 0, 0, 0, + 136, 122, 133, 52, 151, 244, 184, 206, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 138, 1, 0, 0, + 45, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 103, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 80, 101, 114, 105, 112, 104, + 101, 114, 97, 108, 83, 116, 97, 116, + 101, 46, 85, 115, 98, 80, 111, 119, + 101, 114, 77, 111, 100, 101, 68, 69, + 80, 82, 69, 67, 65, 84, 69, 68, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 16, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 25, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 17, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 110, 111, 110, 101, 0, 0, 0, 0, + 99, 108, 105, 101, 110, 116, 0, 0, + 99, 100, 112, 0, 0, 0, 0, 0, + 100, 99, 112, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_a8883583b32c9877 = b_a8883583b32c9877.words; +#if !CAPNP_LITE +static const uint16_t m_a8883583b32c9877[] = {2, 1, 3, 0}; +const ::capnp::_::RawSchema s_a8883583b32c9877 = { + 0xa8883583b32c9877, b_a8883583b32c9877.words, 37, nullptr, m_a8883583b32c9877, + 0, 4, nullptr, nullptr, nullptr, { &s_a8883583b32c9877, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(UsbPowerModeDEPRECATED_a8883583b32c9877, a8883583b32c9877); +static const ::capnp::_::AlignedData<326> b_9a185389d6fdd05f = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 95, 208, 253, 214, 137, 83, 24, 154, + 10, 0, 0, 0, 1, 0, 5, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 10, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 170, 0, 0, 0, + 29, 0, 0, 0, 23, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 247, 3, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 82, 97, 100, 97, 114, 83, + 116, 97, 116, 101, 0, 0, 0, 0, + 4, 0, 0, 0, 1, 0, 1, 0, + 133, 240, 12, 23, 217, 58, 111, 185, + 1, 0, 0, 0, 74, 0, 0, 0, + 76, 101, 97, 100, 68, 97, 116, 97, + 0, 0, 0, 0, 0, 0, 0, 0, + 72, 0, 0, 0, 3, 0, 4, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 233, 1, 0, 0, 170, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 236, 1, 0, 0, 3, 0, 1, 0, + 8, 2, 0, 0, 2, 0, 1, 0, + 13, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 2, 0, 0, 178, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 2, 0, 0, 3, 0, 1, 0, + 20, 2, 0, 0, 2, 0, 1, 0, + 14, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 17, 2, 0, 0, 162, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 20, 2, 0, 0, 3, 0, 1, 0, + 32, 2, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 2, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 24, 2, 0, 0, 3, 0, 1, 0, + 36, 2, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 2, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 28, 2, 0, 0, 3, 0, 1, 0, + 40, 2, 0, 0, 2, 0, 1, 0, + 10, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 2, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 36, 2, 0, 0, 3, 0, 1, 0, + 48, 2, 0, 0, 2, 0, 1, 0, + 0, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 45, 2, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 44, 2, 0, 0, 3, 0, 1, 0, + 56, 2, 0, 0, 2, 0, 1, 0, + 11, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 53, 2, 0, 0, 170, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 56, 2, 0, 0, 3, 0, 1, 0, + 68, 2, 0, 0, 2, 0, 1, 0, + 15, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 65, 2, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 68, 2, 0, 0, 3, 0, 1, 0, + 80, 2, 0, 0, 2, 0, 1, 0, + 16, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 77, 2, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 80, 2, 0, 0, 3, 0, 1, 0, + 92, 2, 0, 0, 2, 0, 1, 0, + 17, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 10, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 89, 2, 0, 0, 186, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 92, 2, 0, 0, 3, 0, 1, 0, + 120, 2, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 11, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 2, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 120, 2, 0, 0, 3, 0, 1, 0, + 132, 2, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 12, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 129, 2, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 128, 2, 0, 0, 3, 0, 1, 0, + 156, 2, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 13, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 153, 2, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 148, 2, 0, 0, 3, 0, 1, 0, + 160, 2, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 14, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 157, 2, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 156, 2, 0, 0, 3, 0, 1, 0, + 168, 2, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 15, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 165, 2, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 164, 2, 0, 0, 3, 0, 1, 0, + 176, 2, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 8, 0, 0, 0, + 0, 0, 1, 0, 16, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 173, 2, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 172, 2, 0, 0, 3, 0, 1, 0, + 184, 2, 0, 0, 2, 0, 1, 0, + 9, 0, 0, 0, 9, 0, 0, 0, + 0, 0, 1, 0, 17, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 181, 2, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 180, 2, 0, 0, 3, 0, 1, 0, + 192, 2, 0, 0, 2, 0, 1, 0, + 119, 97, 114, 112, 77, 97, 116, 114, + 105, 120, 68, 69, 80, 82, 69, 67, + 65, 84, 69, 68, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 110, 103, 108, 101, 79, 102, 102, + 115, 101, 116, 68, 69, 80, 82, 69, + 67, 65, 84, 69, 68, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 108, 83, 116, 97, 116, 117, + 115, 68, 69, 80, 82, 69, 67, 65, + 84, 69, 68, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 97, 100, 79, 110, 101, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 133, 240, 12, 23, 217, 58, 111, 185, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 97, 100, 84, 119, 111, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 133, 240, 12, 23, 217, 58, 111, 185, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 117, 109, 76, 97, 103, 77, 115, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 100, 77, 111, 110, 111, 84, 105, + 109, 101, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 116, 77, 111, 110, 111, 84, 105, + 109, 101, 68, 69, 80, 82, 69, 67, + 65, 84, 69, 68, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 108, 67, 121, 99, 108, 101, + 68, 69, 80, 82, 69, 67, 65, 84, + 69, 68, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 108, 80, 101, 114, 99, 68, + 69, 80, 82, 69, 67, 65, 84, 69, + 68, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 110, 77, 111, 110, 111, 84, + 105, 109, 101, 115, 68, 69, 80, 82, + 69, 67, 65, 84, 69, 68, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 114, 83, 116, 97, 116, 101, + 77, 111, 110, 111, 84, 105, 109, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 97, 100, 97, 114, 69, 114, 114, + 111, 114, 115, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 173, 118, 186, 235, 121, 102, 168, 232, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 97, 100, 70, 97, 114, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 133, 240, 12, 23, 217, 58, 111, 185, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 97, 100, 76, 101, 102, 116, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 133, 240, 12, 23, 217, 58, 111, 185, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 97, 100, 82, 105, 103, 104, + 116, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 133, 240, 12, 23, 217, 58, 111, 185, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 97, 100, 76, 101, 102, 116, + 70, 97, 114, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 133, 240, 12, 23, 217, 58, 111, 185, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 97, 100, 82, 105, 103, 104, + 116, 70, 97, 114, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 133, 240, 12, 23, 217, 58, 111, 185, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_9a185389d6fdd05f = b_9a185389d6fdd05f.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_9a185389d6fdd05f[] = { + &s_b96f3ad9170cf085, + &s_e8a86679ebba76ad, +}; +static const uint16_t m_9a185389d6fdd05f[] = {1, 8, 9, 2, 10, 11, 5, 7, 13, 14, 16, 3, 15, 17, 4, 6, 12, 0}; +static const uint16_t i_9a185389d6fdd05f[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17}; +const ::capnp::_::RawSchema s_9a185389d6fdd05f = { + 0x9a185389d6fdd05f, b_9a185389d6fdd05f.words, 326, d_9a185389d6fdd05f, m_9a185389d6fdd05f, + 2, 18, i_9a185389d6fdd05f, nullptr, nullptr, { &s_9a185389d6fdd05f, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<262> b_b96f3ad9170cf085 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 133, 240, 12, 23, 217, 58, 111, 185, + 21, 0, 0, 0, 1, 0, 7, 0, + 95, 208, 253, 214, 137, 83, 24, 154, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 242, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 135, 3, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 82, 97, 100, 97, 114, 83, + 116, 97, 116, 101, 46, 76, 101, 97, + 100, 68, 97, 116, 97, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 64, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 177, 1, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 172, 1, 0, 0, 3, 0, 1, 0, + 184, 1, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 181, 1, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 176, 1, 0, 0, 3, 0, 1, 0, + 188, 1, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 185, 1, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 180, 1, 0, 0, 3, 0, 1, 0, + 192, 1, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 189, 1, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 184, 1, 0, 0, 3, 0, 1, 0, + 196, 1, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 193, 1, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 188, 1, 0, 0, 3, 0, 1, 0, + 200, 1, 0, 0, 2, 0, 1, 0, + 15, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 197, 1, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 196, 1, 0, 0, 3, 0, 1, 0, + 208, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 205, 1, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 200, 1, 0, 0, 3, 0, 1, 0, + 212, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 209, 1, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 204, 1, 0, 0, 3, 0, 1, 0, + 216, 1, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 8, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 213, 1, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 208, 1, 0, 0, 3, 0, 1, 0, + 220, 1, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 9, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 217, 1, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 212, 1, 0, 0, 3, 0, 1, 0, + 224, 1, 0, 0, 2, 0, 1, 0, + 9, 0, 0, 0, 64, 1, 0, 0, + 0, 0, 1, 0, 10, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 221, 1, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 216, 1, 0, 0, 3, 0, 1, 0, + 228, 1, 0, 0, 2, 0, 1, 0, + 10, 0, 0, 0, 65, 1, 0, 0, + 0, 0, 1, 0, 11, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 225, 1, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 220, 1, 0, 0, 3, 0, 1, 0, + 232, 1, 0, 0, 2, 0, 1, 0, + 11, 0, 0, 0, 11, 0, 0, 0, + 0, 0, 1, 0, 12, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 229, 1, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 228, 1, 0, 0, 3, 0, 1, 0, + 240, 1, 0, 0, 2, 0, 1, 0, + 12, 0, 0, 0, 12, 0, 0, 0, + 0, 0, 1, 0, 13, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 237, 1, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 236, 1, 0, 0, 3, 0, 1, 0, + 248, 1, 0, 0, 2, 0, 1, 0, + 13, 0, 0, 0, 66, 1, 0, 0, + 0, 0, 1, 0, 14, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 245, 1, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 240, 1, 0, 0, 3, 0, 1, 0, + 252, 1, 0, 0, 2, 0, 1, 0, + 14, 0, 0, 0, 13, 0, 0, 0, + 0, 0, 1, 0, 15, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 249, 1, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 248, 1, 0, 0, 3, 0, 1, 0, + 4, 2, 0, 0, 2, 0, 1, 0, + 100, 82, 101, 108, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 82, 101, 108, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 118, 82, 101, 108, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 82, 101, 108, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 118, 76, 101, 97, 100, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 76, 101, 97, 100, 68, 69, 80, + 82, 69, 67, 65, 84, 69, 68, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 80, 97, 116, 104, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 118, 76, 97, 116, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 118, 76, 101, 97, 100, 75, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 76, 101, 97, 100, 75, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 99, 119, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 97, 116, 117, 115, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 76, 101, 97, 100, 84, 97, 117, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 111, 100, 101, 108, 80, 114, 111, + 98, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 97, 100, 97, 114, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 97, 100, 97, 114, 84, 114, 97, + 99, 107, 73, 100, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 255, 255, 255, 255, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_b96f3ad9170cf085 = b_b96f3ad9170cf085.words; +#if !CAPNP_LITE +static const uint16_t m_b96f3ad9170cf085[] = {5, 9, 12, 3, 6, 0, 10, 13, 14, 15, 11, 7, 4, 8, 2, 1}; +static const uint16_t i_b96f3ad9170cf085[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15}; +const ::capnp::_::RawSchema s_b96f3ad9170cf085 = { + 0xb96f3ad9170cf085, b_b96f3ad9170cf085.words, 262, nullptr, m_b96f3ad9170cf085, + 0, 16, i_b96f3ad9170cf085, nullptr, nullptr, { &s_b96f3ad9170cf085, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<264> b_96df70754d8390bc = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 188, 144, 131, 77, 117, 112, 223, 150, + 10, 0, 0, 0, 1, 0, 2, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 8, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 242, 0, 0, 0, + 33, 0, 0, 0, 23, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 223, 2, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 76, 105, 118, 101, 67, 97, + 108, 105, 98, 114, 97, 116, 105, 111, + 110, 68, 97, 116, 97, 0, 0, 0, + 4, 0, 0, 0, 1, 0, 1, 0, + 77, 57, 173, 102, 148, 2, 170, 202, + 1, 0, 0, 0, 58, 0, 0, 0, + 83, 116, 97, 116, 117, 115, 0, 0, + 52, 0, 0, 0, 3, 0, 4, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 93, 1, 0, 0, 170, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 96, 1, 0, 0, 3, 0, 1, 0, + 124, 1, 0, 0, 2, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 1, 0, 0, 162, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 124, 1, 0, 0, 3, 0, 1, 0, + 136, 1, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 133, 1, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 132, 1, 0, 0, 3, 0, 1, 0, + 144, 1, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 141, 1, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 136, 1, 0, 0, 3, 0, 1, 0, + 148, 1, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 145, 1, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 144, 1, 0, 0, 3, 0, 1, 0, + 172, 1, 0, 0, 2, 0, 1, 0, + 11, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 169, 1, 0, 0, 178, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 172, 1, 0, 0, 3, 0, 1, 0, + 200, 1, 0, 0, 2, 0, 1, 0, + 12, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 197, 1, 0, 0, 194, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 200, 1, 0, 0, 3, 0, 1, 0, + 228, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 225, 1, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 224, 1, 0, 0, 3, 0, 1, 0, + 252, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 249, 1, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 248, 1, 0, 0, 3, 0, 1, 0, + 20, 2, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 17, 2, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 2, 0, 0, 3, 0, 1, 0, + 28, 2, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 10, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 2, 0, 0, 162, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 28, 2, 0, 0, 3, 0, 1, 0, + 56, 2, 0, 0, 2, 0, 1, 0, + 0, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 11, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 53, 2, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 52, 2, 0, 0, 3, 0, 1, 0, + 64, 2, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 12, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 61, 2, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 56, 2, 0, 0, 3, 0, 1, 0, + 84, 2, 0, 0, 2, 0, 1, 0, + 119, 97, 114, 112, 77, 97, 116, 114, + 105, 120, 68, 69, 80, 82, 69, 67, + 65, 84, 69, 68, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 108, 83, 116, 97, 116, 117, + 115, 68, 69, 80, 82, 69, 67, 65, + 84, 69, 68, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 108, 67, 121, 99, 108, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 108, 80, 101, 114, 99, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 120, 116, 114, 105, 110, 115, 105, + 99, 77, 97, 116, 114, 105, 120, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 119, 97, 114, 112, 77, 97, 116, 114, + 105, 120, 50, 68, 69, 80, 82, 69, + 67, 65, 84, 69, 68, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 119, 97, 114, 112, 77, 97, 116, 114, + 105, 120, 66, 105, 103, 68, 69, 80, + 82, 69, 67, 65, 84, 69, 68, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 112, 121, 67, 97, 108, 105, 98, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 112, 121, 67, 97, 108, 105, 98, + 83, 112, 114, 101, 97, 100, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 118, 97, 108, 105, 100, 66, 108, 111, + 99, 107, 115, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 119, 105, 100, 101, 70, 114, 111, 109, + 68, 101, 118, 105, 99, 101, 69, 117, + 108, 101, 114, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 108, 83, 116, 97, 116, 117, + 115, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 77, 57, 173, 102, 148, 2, 170, 202, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 101, 105, 103, 104, 116, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_96df70754d8390bc = b_96df70754d8390bc.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_96df70754d8390bc[] = { + &s_caaa029466ad394d, +}; +static const uint16_t m_96df70754d8390bc[] = {2, 3, 11, 1, 4, 12, 7, 8, 9, 5, 6, 0, 10}; +static const uint16_t i_96df70754d8390bc[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12}; +const ::capnp::_::RawSchema s_96df70754d8390bc = { + 0x96df70754d8390bc, b_96df70754d8390bc.words, 264, d_96df70754d8390bc, m_96df70754d8390bc, + 1, 13, i_96df70754d8390bc, nullptr, nullptr, { &s_96df70754d8390bc, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<38> b_caaa029466ad394d = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 77, 57, 173, 102, 148, 2, 170, 202, + 30, 0, 0, 0, 2, 0, 0, 0, + 188, 144, 131, 77, 117, 112, 223, 150, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 42, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 103, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 76, 105, 118, 101, 67, 97, + 108, 105, 98, 114, 97, 116, 105, 111, + 110, 68, 97, 116, 97, 46, 83, 116, + 97, 116, 117, 115, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 16, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 37, 0, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 25, 0, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 110, 99, 97, 108, 105, 98, 114, + 97, 116, 101, 100, 0, 0, 0, 0, + 99, 97, 108, 105, 98, 114, 97, 116, + 101, 100, 0, 0, 0, 0, 0, 0, + 105, 110, 118, 97, 108, 105, 100, 0, + 114, 101, 99, 97, 108, 105, 98, 114, + 97, 116, 105, 110, 103, 0, 0, 0, } +}; +::capnp::word const* const bp_caaa029466ad394d = b_caaa029466ad394d.words; +#if !CAPNP_LITE +static const uint16_t m_caaa029466ad394d[] = {1, 2, 3, 0}; +const ::capnp::_::RawSchema s_caaa029466ad394d = { + 0xcaaa029466ad394d, b_caaa029466ad394d.words, 38, nullptr, m_caaa029466ad394d, + 0, 4, nullptr, nullptr, nullptr, { &s_caaa029466ad394d, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(Status_caaa029466ad394d, caaa029466ad394d); +static const ::capnp::_::AlignedData<171> b_8faa644732dec251 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 81, 194, 222, 50, 71, 100, 170, 143, + 10, 0, 0, 0, 1, 0, 5, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 170, 0, 0, 0, + 29, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 0, 0, 0, 55, 2, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 76, 105, 118, 101, 84, 114, + 97, 99, 107, 115, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 40, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 1, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 1, 0, 0, 3, 0, 1, 0, + 16, 1, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 1, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 1, 0, 0, 3, 0, 1, 0, + 20, 1, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 17, 1, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 1, 0, 0, 3, 0, 1, 0, + 24, 1, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 1, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 1, 0, 0, 3, 0, 1, 0, + 28, 1, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 1, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 20, 1, 0, 0, 3, 0, 1, 0, + 32, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 1, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 28, 1, 0, 0, 3, 0, 1, 0, + 40, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 1, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 32, 1, 0, 0, 3, 0, 1, 0, + 44, 1, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 1, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 40, 1, 0, 0, 3, 0, 1, 0, + 52, 1, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 0, 1, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 49, 1, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 48, 1, 0, 0, 3, 0, 1, 0, + 60, 1, 0, 0, 2, 0, 1, 0, + 9, 0, 0, 0, 1, 1, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 57, 1, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 56, 1, 0, 0, 3, 0, 1, 0, + 68, 1, 0, 0, 2, 0, 1, 0, + 116, 114, 97, 99, 107, 73, 100, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 82, 101, 108, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 82, 101, 108, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 118, 82, 101, 108, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 82, 101, 108, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 105, 109, 101, 83, 116, 97, 109, + 112, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 97, 116, 117, 115, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 117, 114, 114, 101, 110, 116, 84, + 105, 109, 101, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 97, 116, 105, 111, 110, 97, + 114, 121, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 111, 110, 99, 111, 109, 105, 110, 103, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_8faa644732dec251 = b_8faa644732dec251.words; +#if !CAPNP_LITE +static const uint16_t m_8faa644732dec251[] = {4, 7, 1, 9, 8, 6, 5, 0, 3, 2}; +static const uint16_t i_8faa644732dec251[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9}; +const ::capnp::_::RawSchema s_8faa644732dec251 = { + 0x8faa644732dec251, b_8faa644732dec251.words, 171, nullptr, m_8faa644732dec251, + 0, 10, i_8faa644732dec251, nullptr, nullptr, { &s_8faa644732dec251, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<1074> b_97ff69c53601abf1 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 241, 171, 1, 54, 197, 105, 255, 151, + 10, 0, 0, 0, 1, 0, 24, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 6, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 194, 0, 0, 0, + 29, 0, 0, 0, 167, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 205, 0, 0, 0, 95, 13, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 67, 111, 110, 116, 114, 111, + 108, 115, 83, 116, 97, 116, 101, 0, + 40, 0, 0, 0, 1, 0, 1, 0, + 97, 172, 209, 210, 150, 139, 229, 219, + 73, 0, 0, 0, 122, 0, 0, 0, + 98, 60, 25, 19, 209, 220, 208, 160, + 73, 0, 0, 0, 98, 0, 0, 0, + 100, 95, 152, 110, 157, 185, 139, 233, + 73, 0, 0, 0, 82, 0, 0, 0, + 94, 55, 50, 134, 52, 99, 148, 147, + 73, 0, 0, 0, 138, 0, 0, 0, + 227, 117, 147, 224, 201, 93, 140, 242, + 77, 0, 0, 0, 130, 0, 0, 0, + 164, 137, 246, 203, 80, 160, 116, 231, + 77, 0, 0, 0, 154, 0, 0, 0, + 222, 42, 200, 144, 215, 226, 36, 144, + 81, 0, 0, 0, 130, 0, 0, 0, + 241, 128, 153, 172, 136, 234, 228, 162, + 81, 0, 0, 0, 146, 0, 0, 0, + 97, 124, 111, 192, 149, 128, 157, 173, + 85, 0, 0, 0, 178, 0, 0, 0, + 45, 155, 136, 242, 240, 70, 58, 166, + 89, 0, 0, 0, 146, 0, 0, 0, + 79, 112, 101, 110, 112, 105, 108, 111, + 116, 83, 116, 97, 116, 101, 0, 0, + 65, 108, 101, 114, 116, 83, 116, 97, + 116, 117, 115, 0, 0, 0, 0, 0, + 65, 108, 101, 114, 116, 83, 105, 122, + 101, 0, 0, 0, 0, 0, 0, 0, + 76, 97, 116, 101, 114, 97, 108, 73, + 78, 68, 73, 83, 116, 97, 116, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 76, 97, 116, 101, 114, 97, 108, 80, + 73, 68, 83, 116, 97, 116, 101, 0, + 76, 97, 116, 101, 114, 97, 108, 84, + 111, 114, 113, 117, 101, 83, 116, 97, + 116, 101, 0, 0, 0, 0, 0, 0, + 76, 97, 116, 101, 114, 97, 108, 76, + 81, 82, 83, 116, 97, 116, 101, 0, + 76, 97, 116, 101, 114, 97, 108, 65, + 110, 103, 108, 101, 83, 116, 97, 116, + 101, 0, 0, 0, 0, 0, 0, 0, + 76, 97, 116, 101, 114, 97, 108, 67, + 117, 114, 118, 97, 116, 117, 114, 101, + 83, 116, 97, 116, 101, 0, 0, 0, + 76, 97, 116, 101, 114, 97, 108, 68, + 101, 98, 117, 103, 83, 116, 97, 116, + 101, 0, 0, 0, 0, 0, 0, 0, + 244, 0, 0, 0, 3, 0, 4, 0, + 30, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 157, 6, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 156, 6, 0, 0, 3, 0, 1, 0, + 168, 6, 0, 0, 2, 0, 1, 0, + 32, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 165, 6, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 164, 6, 0, 0, 3, 0, 1, 0, + 176, 6, 0, 0, 2, 0, 1, 0, + 9, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 173, 6, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 168, 6, 0, 0, 3, 0, 1, 0, + 180, 6, 0, 0, 2, 0, 1, 0, + 10, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 177, 6, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 176, 6, 0, 0, 3, 0, 1, 0, + 188, 6, 0, 0, 2, 0, 1, 0, + 13, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 185, 6, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 184, 6, 0, 0, 3, 0, 1, 0, + 196, 6, 0, 0, 2, 0, 1, 0, + 14, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 193, 6, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 192, 6, 0, 0, 3, 0, 1, 0, + 204, 6, 0, 0, 2, 0, 1, 0, + 36, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 201, 6, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 204, 6, 0, 0, 3, 0, 1, 0, + 216, 6, 0, 0, 2, 0, 1, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 213, 6, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 212, 6, 0, 0, 3, 0, 1, 0, + 224, 6, 0, 0, 2, 0, 1, 0, + 38, 0, 0, 0, 8, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 221, 6, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 224, 6, 0, 0, 3, 0, 1, 0, + 236, 6, 0, 0, 2, 0, 1, 0, + 39, 0, 0, 0, 9, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 233, 6, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 236, 6, 0, 0, 3, 0, 1, 0, + 248, 6, 0, 0, 2, 0, 1, 0, + 41, 0, 0, 0, 10, 0, 0, 0, + 0, 0, 1, 0, 10, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 245, 6, 0, 0, 170, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 248, 6, 0, 0, 3, 0, 1, 0, + 4, 7, 0, 0, 2, 0, 1, 0, + 42, 0, 0, 0, 11, 0, 0, 0, + 0, 0, 1, 0, 11, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 7, 0, 0, 170, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 7, 0, 0, 3, 0, 1, 0, + 16, 7, 0, 0, 2, 0, 1, 0, + 55, 0, 0, 0, 12, 0, 0, 0, + 0, 0, 1, 0, 12, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 7, 0, 0, 170, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 7, 0, 0, 3, 0, 1, 0, + 28, 7, 0, 0, 2, 0, 1, 0, + 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101, 68, 69, 80, 82, + 69, 67, 65, 84, 69, 68, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 118, 67, 114, 117, 105, 115, 101, 67, + 108, 117, 115, 116, 101, 114, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 120, 112, 101, 114, 105, 109, 101, + 110, 116, 97, 108, 77, 111, 100, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 101, 114, 115, 111, 110, 97, 108, + 105, 116, 121, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 153, 125, 36, 26, 61, 226, 146, 214, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_97ff69c53601abf1 = b_97ff69c53601abf1.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_97ff69c53601abf1[] = { + &s_a0d0dcd113193c62, + &s_d692e23d1a247d99, + &s_dbe58b96d2d1ac61, + &s_e40f3a917d908282, + &s_e98bb99d6e985f64, + &s_f5a5e26c954e339e, + &s_fd5b914d6b444695, +}; +static const uint16_t m_97ff69c53601abf1[] = {1, 35, 11, 10, 36, 42, 39, 54, 45, 38, 24, 25, 44, 27, 13, 26, 55, 16, 21, 15, 37, 53, 47, 56, 57, 43, 19, 41, 59, 51, 40, 14, 12, 52, 50, 30, 28, 49, 18, 60, 17, 23, 48, 31, 20, 29, 33, 34, 5, 9, 4, 8, 22, 58, 46, 0, 32, 2, 3, 6, 7}; +static const uint16_t i_97ff69c53601abf1[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60}; +const ::capnp::_::RawSchema s_97ff69c53601abf1 = { + 0x97ff69c53601abf1, b_97ff69c53601abf1.words, 1074, d_97ff69c53601abf1, m_97ff69c53601abf1, + 7, 61, i_97ff69c53601abf1, nullptr, nullptr, { &s_97ff69c53601abf1, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<43> b_dbe58b96d2d1ac61 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 97, 172, 209, 210, 150, 139, 229, 219, + 24, 0, 0, 0, 2, 0, 0, 0, + 241, 171, 1, 54, 197, 105, 255, 151, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 58, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 127, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 67, 111, 110, 116, 114, 111, + 108, 115, 83, 116, 97, 116, 101, 46, + 79, 112, 101, 110, 112, 105, 108, 111, + 116, 83, 116, 97, 116, 101, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 20, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 53, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 49, 0, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 45, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 37, 0, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 105, 115, 97, 98, 108, 101, 100, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 114, 101, 69, 110, 97, 98, 108, + 101, 100, 0, 0, 0, 0, 0, 0, + 101, 110, 97, 98, 108, 101, 100, 0, + 115, 111, 102, 116, 68, 105, 115, 97, + 98, 108, 105, 110, 103, 0, 0, 0, + 111, 118, 101, 114, 114, 105, 100, 105, + 110, 103, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_dbe58b96d2d1ac61 = b_dbe58b96d2d1ac61.words; +#if !CAPNP_LITE +static const uint16_t m_dbe58b96d2d1ac61[] = {0, 2, 4, 1, 3}; +const ::capnp::_::RawSchema s_dbe58b96d2d1ac61 = { + 0xdbe58b96d2d1ac61, b_dbe58b96d2d1ac61.words, 43, nullptr, m_dbe58b96d2d1ac61, + 0, 5, nullptr, nullptr, nullptr, { &s_dbe58b96d2d1ac61, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(OpenpilotState_dbe58b96d2d1ac61, dbe58b96d2d1ac61); +static const ::capnp::_::AlignedData<38> b_a0d0dcd113193c62 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 98, 60, 25, 19, 209, 220, 208, 160, + 24, 0, 0, 0, 2, 0, 0, 0, + 241, 171, 1, 54, 197, 105, 255, 151, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 34, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 103, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 67, 111, 110, 116, 114, 111, + 108, 115, 83, 116, 97, 116, 101, 46, + 65, 108, 101, 114, 116, 83, 116, 97, + 116, 117, 115, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 16, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 25, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 110, 111, 114, 109, 97, 108, 0, 0, + 117, 115, 101, 114, 80, 114, 111, 109, + 112, 116, 0, 0, 0, 0, 0, 0, + 99, 114, 105, 116, 105, 99, 97, 108, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 114, 111, 103, 112, 105, 108, 111, + 116, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_a0d0dcd113193c62 = b_a0d0dcd113193c62.words; +#if !CAPNP_LITE +static const uint16_t m_a0d0dcd113193c62[] = {2, 3, 0, 1}; +const ::capnp::_::RawSchema s_a0d0dcd113193c62 = { + 0xa0d0dcd113193c62, b_a0d0dcd113193c62.words, 38, nullptr, m_a0d0dcd113193c62, + 0, 4, nullptr, nullptr, nullptr, { &s_a0d0dcd113193c62, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(AlertStatus_a0d0dcd113193c62, a0d0dcd113193c62); +static const ::capnp::_::AlignedData<35> b_e98bb99d6e985f64 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 100, 95, 152, 110, 157, 185, 139, 233, + 24, 0, 0, 0, 2, 0, 0, 0, + 241, 171, 1, 54, 197, 105, 255, 151, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 18, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 103, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 67, 111, 110, 116, 114, 111, + 108, 115, 83, 116, 97, 116, 101, 46, + 65, 108, 101, 114, 116, 83, 105, 122, + 101, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 16, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 25, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 17, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 110, 111, 110, 101, 0, 0, 0, 0, + 115, 109, 97, 108, 108, 0, 0, 0, + 109, 105, 100, 0, 0, 0, 0, 0, + 102, 117, 108, 108, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_e98bb99d6e985f64 = b_e98bb99d6e985f64.words; +#if !CAPNP_LITE +static const uint16_t m_e98bb99d6e985f64[] = {3, 2, 0, 1}; +const ::capnp::_::RawSchema s_e98bb99d6e985f64 = { + 0xe98bb99d6e985f64, b_e98bb99d6e985f64.words, 35, nullptr, m_e98bb99d6e985f64, + 0, 4, nullptr, nullptr, nullptr, { &s_e98bb99d6e985f64, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(AlertSize_e98bb99d6e985f64, e98bb99d6e985f64); +static const ::capnp::_::AlignedData<229> b_939463348632375e = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 94, 55, 50, 134, 52, 99, 148, 147, + 24, 0, 0, 0, 1, 0, 6, 0, + 241, 171, 1, 54, 197, 105, 255, 151, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 74, 1, 0, 0, + 41, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 0, 0, 0, 223, 2, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 67, 111, 110, 116, 114, 111, + 108, 115, 83, 116, 97, 116, 101, 46, + 76, 97, 116, 101, 114, 97, 108, 73, + 78, 68, 73, 83, 116, 97, 116, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 52, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 93, 1, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 88, 1, 0, 0, 3, 0, 1, 0, + 100, 1, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 1, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 1, 0, 0, 3, 0, 1, 0, + 112, 1, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 1, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 1, 0, 0, 3, 0, 1, 0, + 120, 1, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 1, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 120, 1, 0, 0, 3, 0, 1, 0, + 132, 1, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 129, 1, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 128, 1, 0, 0, 3, 0, 1, 0, + 140, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 137, 1, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 136, 1, 0, 0, 3, 0, 1, 0, + 148, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 145, 1, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 144, 1, 0, 0, 3, 0, 1, 0, + 156, 1, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 153, 1, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 152, 1, 0, 0, 3, 0, 1, 0, + 164, 1, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 8, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 161, 1, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 156, 1, 0, 0, 3, 0, 1, 0, + 168, 1, 0, 0, 2, 0, 1, 0, + 9, 0, 0, 0, 9, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 165, 1, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 160, 1, 0, 0, 3, 0, 1, 0, + 172, 1, 0, 0, 2, 0, 1, 0, + 10, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 10, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 169, 1, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 168, 1, 0, 0, 3, 0, 1, 0, + 180, 1, 0, 0, 2, 0, 1, 0, + 11, 0, 0, 0, 10, 0, 0, 0, + 0, 0, 1, 0, 11, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 177, 1, 0, 0, 194, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 180, 1, 0, 0, 3, 0, 1, 0, + 192, 1, 0, 0, 2, 0, 1, 0, + 12, 0, 0, 0, 11, 0, 0, 0, + 0, 0, 1, 0, 12, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 189, 1, 0, 0, 186, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 192, 1, 0, 0, 3, 0, 1, 0, + 204, 1, 0, 0, 2, 0, 1, 0, + 97, 99, 116, 105, 118, 101, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 101, 101, 114, 105, 110, 103, + 65, 110, 103, 108, 101, 68, 101, 103, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 101, 101, 114, 105, 110, 103, + 82, 97, 116, 101, 68, 101, 103, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 101, 101, 114, 105, 110, 103, + 65, 99, 99, 101, 108, 68, 101, 103, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 97, 116, 101, 83, 101, 116, 80, + 111, 105, 110, 116, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 99, 99, 101, 108, 83, 101, 116, + 80, 111, 105, 110, 116, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 99, 99, 101, 108, 69, 114, 114, + 111, 114, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 101, 108, 97, 121, 101, 100, 79, + 117, 116, 112, 117, 116, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 101, 108, 116, 97, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 111, 117, 116, 112, 117, 116, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 97, 116, 117, 114, 97, 116, 101, + 100, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 101, 101, 114, 105, 110, 103, + 65, 110, 103, 108, 101, 68, 101, 115, + 105, 114, 101, 100, 68, 101, 103, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 101, 101, 114, 105, 110, 103, + 82, 97, 116, 101, 68, 101, 115, 105, + 114, 101, 100, 68, 101, 103, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_939463348632375e = b_939463348632375e.words; +#if !CAPNP_LITE +static const uint16_t m_939463348632375e[] = {6, 5, 0, 7, 8, 9, 4, 10, 3, 1, 11, 2, 12}; +static const uint16_t i_939463348632375e[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12}; +const ::capnp::_::RawSchema s_939463348632375e = { + 0x939463348632375e, b_939463348632375e.words, 229, nullptr, m_939463348632375e, + 0, 13, i_939463348632375e, nullptr, nullptr, { &s_939463348632375e, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<176> b_f28c5dc9e09375e3 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 227, 117, 147, 224, 201, 93, 140, 242, + 24, 0, 0, 0, 1, 0, 5, 0, + 241, 171, 1, 54, 197, 105, 255, 151, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 66, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 55, 2, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 67, 111, 110, 116, 114, 111, + 108, 115, 83, 116, 97, 116, 101, 46, + 76, 97, 116, 101, 114, 97, 108, 80, + 73, 68, 83, 116, 97, 116, 101, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 40, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 1, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 1, 0, 0, 3, 0, 1, 0, + 16, 1, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 1, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 1, 0, 0, 3, 0, 1, 0, + 28, 1, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 1, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 24, 1, 0, 0, 3, 0, 1, 0, + 36, 1, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 1, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 32, 1, 0, 0, 3, 0, 1, 0, + 44, 1, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 1, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 36, 1, 0, 0, 3, 0, 1, 0, + 48, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 45, 1, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 40, 1, 0, 0, 3, 0, 1, 0, + 52, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 49, 1, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 44, 1, 0, 0, 3, 0, 1, 0, + 56, 1, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 53, 1, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 48, 1, 0, 0, 3, 0, 1, 0, + 60, 1, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 57, 1, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 56, 1, 0, 0, 3, 0, 1, 0, + 68, 1, 0, 0, 2, 0, 1, 0, + 9, 0, 0, 0, 8, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 65, 1, 0, 0, 194, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 68, 1, 0, 0, 3, 0, 1, 0, + 80, 1, 0, 0, 2, 0, 1, 0, + 97, 99, 116, 105, 118, 101, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 101, 101, 114, 105, 110, 103, + 65, 110, 103, 108, 101, 68, 101, 103, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 101, 101, 114, 105, 110, 103, + 82, 97, 116, 101, 68, 101, 103, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 110, 103, 108, 101, 69, 114, 114, + 111, 114, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 111, 117, 116, 112, 117, 116, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 97, 116, 117, 114, 97, 116, 101, + 100, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 101, 101, 114, 105, 110, 103, + 65, 110, 103, 108, 101, 68, 101, 115, + 105, 114, 101, 100, 68, 101, 103, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_f28c5dc9e09375e3 = b_f28c5dc9e09375e3.words; +#if !CAPNP_LITE +static const uint16_t m_f28c5dc9e09375e3[] = {0, 3, 6, 5, 7, 4, 8, 1, 9, 2}; +static const uint16_t i_f28c5dc9e09375e3[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9}; +const ::capnp::_::RawSchema s_f28c5dc9e09375e3 = { + 0xf28c5dc9e09375e3, b_f28c5dc9e09375e3.words, 176, nullptr, m_f28c5dc9e09375e3, + 0, 10, i_f28c5dc9e09375e3, nullptr, nullptr, { &s_f28c5dc9e09375e3, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<210> b_e774a050cbf689a4 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 164, 137, 246, 203, 80, 160, 116, 231, + 24, 0, 0, 0, 1, 0, 5, 0, + 241, 171, 1, 54, 197, 105, 255, 151, + 1, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 90, 1, 0, 0, + 41, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 0, 0, 0, 167, 2, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 67, 111, 110, 116, 114, 111, + 108, 115, 83, 116, 97, 116, 101, 46, + 76, 97, 116, 101, 114, 97, 108, 84, + 111, 114, 113, 117, 101, 83, 116, 97, + 116, 101, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 48, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 65, 1, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 60, 1, 0, 0, 3, 0, 1, 0, + 72, 1, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 69, 1, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 64, 1, 0, 0, 3, 0, 1, 0, + 76, 1, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 73, 1, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 68, 1, 0, 0, 3, 0, 1, 0, + 80, 1, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 77, 1, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 72, 1, 0, 0, 3, 0, 1, 0, + 84, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 81, 1, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 76, 1, 0, 0, 3, 0, 1, 0, + 88, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 85, 1, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 80, 1, 0, 0, 3, 0, 1, 0, + 92, 1, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 89, 1, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 84, 1, 0, 0, 3, 0, 1, 0, + 96, 1, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 93, 1, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 92, 1, 0, 0, 3, 0, 1, 0, + 104, 1, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 1, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 1, 0, 0, 3, 0, 1, 0, + 112, 1, 0, 0, 2, 0, 1, 0, + 9, 0, 0, 0, 8, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 1, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 1, 0, 0, 3, 0, 1, 0, + 124, 1, 0, 0, 2, 0, 1, 0, + 10, 0, 0, 0, 9, 0, 0, 0, + 0, 0, 1, 0, 10, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 1, 0, 0, 162, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 124, 1, 0, 0, 3, 0, 1, 0, + 136, 1, 0, 0, 2, 0, 1, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 11, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 133, 1, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 128, 1, 0, 0, 3, 0, 1, 0, + 156, 1, 0, 0, 2, 0, 1, 0, + 97, 99, 116, 105, 118, 101, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 114, 114, 111, 114, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 111, 117, 116, 112, 117, 116, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 97, 116, 117, 114, 97, 116, 101, + 100, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 114, 114, 111, 114, 82, 97, 116, + 101, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 99, 116, 117, 97, 108, 76, 97, + 116, 101, 114, 97, 108, 65, 99, 99, + 101, 108, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 101, 115, 105, 114, 101, 100, 76, + 97, 116, 101, 114, 97, 108, 65, 99, + 99, 101, 108, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 110, 110, 76, 111, 103, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_e774a050cbf689a4 = b_e774a050cbf689a4.words; +#if !CAPNP_LITE +static const uint16_t m_e774a050cbf689a4[] = {0, 9, 4, 10, 1, 8, 5, 3, 11, 6, 2, 7}; +static const uint16_t i_e774a050cbf689a4[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11}; +const ::capnp::_::RawSchema s_e774a050cbf689a4 = { + 0xe774a050cbf689a4, b_e774a050cbf689a4.words, 210, nullptr, m_e774a050cbf689a4, + 0, 12, i_e774a050cbf689a4, nullptr, nullptr, { &s_e774a050cbf689a4, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<130> b_9024e2d790c82ade = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 222, 42, 200, 144, 215, 226, 36, 144, + 24, 0, 0, 0, 1, 0, 3, 0, + 241, 171, 1, 54, 197, 105, 255, 151, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 66, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 143, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 67, 111, 110, 116, 114, 111, + 108, 115, 83, 116, 97, 116, 101, 46, + 76, 97, 116, 101, 114, 97, 108, 76, + 81, 82, 83, 116, 97, 116, 101, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 28, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 181, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 176, 0, 0, 0, 3, 0, 1, 0, + 188, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 185, 0, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 188, 0, 0, 0, 3, 0, 1, 0, + 200, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 197, 0, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 192, 0, 0, 0, 3, 0, 1, 0, + 204, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 201, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 196, 0, 0, 0, 3, 0, 1, 0, + 208, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 205, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 204, 0, 0, 0, 3, 0, 1, 0, + 216, 0, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 213, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 212, 0, 0, 0, 3, 0, 1, 0, + 224, 0, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 221, 0, 0, 0, 194, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 224, 0, 0, 0, 3, 0, 1, 0, + 236, 0, 0, 0, 2, 0, 1, 0, + 97, 99, 116, 105, 118, 101, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 101, 101, 114, 105, 110, 103, + 65, 110, 103, 108, 101, 68, 101, 103, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 111, 117, 116, 112, 117, 116, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 113, 114, 79, 117, 116, 112, 117, + 116, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 97, 116, 117, 114, 97, 116, 101, + 100, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 101, 101, 114, 105, 110, 103, + 65, 110, 103, 108, 101, 68, 101, 115, + 105, 114, 101, 100, 68, 101, 103, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_9024e2d790c82ade = b_9024e2d790c82ade.words; +#if !CAPNP_LITE +static const uint16_t m_9024e2d790c82ade[] = {0, 2, 4, 3, 5, 1, 6}; +static const uint16_t i_9024e2d790c82ade[] = {0, 1, 2, 3, 4, 5, 6}; +const ::capnp::_::RawSchema s_9024e2d790c82ade = { + 0x9024e2d790c82ade, b_9024e2d790c82ade.words, 130, nullptr, m_9024e2d790c82ade, + 0, 7, i_9024e2d790c82ade, nullptr, nullptr, { &s_9024e2d790c82ade, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<100> b_a2e4ea88ac9980f1 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 241, 128, 153, 172, 136, 234, 228, 162, + 24, 0, 0, 0, 1, 0, 2, 0, + 241, 171, 1, 54, 197, 105, 255, 151, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 82, 1, 0, 0, + 41, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 0, 0, 0, 31, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 67, 111, 110, 116, 114, 111, + 108, 115, 83, 116, 97, 116, 101, 46, + 76, 97, 116, 101, 114, 97, 108, 65, + 110, 103, 108, 101, 83, 116, 97, 116, + 101, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 20, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 125, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 120, 0, 0, 0, 3, 0, 1, 0, + 132, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 129, 0, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 132, 0, 0, 0, 3, 0, 1, 0, + 144, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 141, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 136, 0, 0, 0, 3, 0, 1, 0, + 148, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 145, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 144, 0, 0, 0, 3, 0, 1, 0, + 156, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 153, 0, 0, 0, 194, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 156, 0, 0, 0, 3, 0, 1, 0, + 168, 0, 0, 0, 2, 0, 1, 0, + 97, 99, 116, 105, 118, 101, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 101, 101, 114, 105, 110, 103, + 65, 110, 103, 108, 101, 68, 101, 103, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 111, 117, 116, 112, 117, 116, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 97, 116, 117, 114, 97, 116, 101, + 100, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 101, 101, 114, 105, 110, 103, + 65, 110, 103, 108, 101, 68, 101, 115, + 105, 114, 101, 100, 68, 101, 103, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_a2e4ea88ac9980f1 = b_a2e4ea88ac9980f1.words; +#if !CAPNP_LITE +static const uint16_t m_a2e4ea88ac9980f1[] = {0, 2, 3, 1, 4}; +static const uint16_t i_a2e4ea88ac9980f1[] = {0, 1, 2, 3, 4}; +const ::capnp::_::RawSchema s_a2e4ea88ac9980f1 = { + 0xa2e4ea88ac9980f1, b_a2e4ea88ac9980f1.words, 100, nullptr, m_a2e4ea88ac9980f1, + 0, 5, i_a2e4ea88ac9980f1, nullptr, nullptr, { &s_a2e4ea88ac9980f1, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<159> b_ad9d8095c06f7c61 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 97, 124, 111, 192, 149, 128, 157, 173, + 24, 0, 0, 0, 1, 0, 4, 0, + 241, 171, 1, 54, 197, 105, 255, 151, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 114, 1, 0, 0, + 41, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 0, 0, 0, 255, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 67, 111, 110, 116, 114, 111, + 108, 115, 83, 116, 97, 116, 101, 46, + 76, 97, 116, 101, 114, 97, 108, 67, + 117, 114, 118, 97, 116, 117, 114, 101, + 83, 116, 97, 116, 101, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 36, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 237, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 232, 0, 0, 0, 3, 0, 1, 0, + 244, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 241, 0, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 240, 0, 0, 0, 3, 0, 1, 0, + 252, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 249, 0, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 252, 0, 0, 0, 3, 0, 1, 0, + 8, 1, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 1, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 1, 0, 0, 3, 0, 1, 0, + 12, 1, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 1, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 1, 0, 0, 3, 0, 1, 0, + 16, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 1, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 1, 0, 0, 3, 0, 1, 0, + 20, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 17, 1, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 1, 0, 0, 3, 0, 1, 0, + 24, 1, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 1, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 1, 0, 0, 3, 0, 1, 0, + 28, 1, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 1, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 24, 1, 0, 0, 3, 0, 1, 0, + 36, 1, 0, 0, 2, 0, 1, 0, + 97, 99, 116, 105, 118, 101, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 99, 116, 117, 97, 108, 67, 117, + 114, 118, 97, 116, 117, 114, 101, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 101, 115, 105, 114, 101, 100, 67, + 117, 114, 118, 97, 116, 117, 114, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 114, 114, 111, 114, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 111, 117, 116, 112, 117, 116, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 97, 116, 117, 114, 97, 116, 101, + 100, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_ad9d8095c06f7c61 = b_ad9d8095c06f7c61.words; +#if !CAPNP_LITE +static const uint16_t m_ad9d8095c06f7c61[] = {0, 1, 2, 3, 6, 5, 7, 4, 8}; +static const uint16_t i_ad9d8095c06f7c61[] = {0, 1, 2, 3, 4, 5, 6, 7, 8}; +const ::capnp::_::RawSchema s_ad9d8095c06f7c61 = { + 0xad9d8095c06f7c61, b_ad9d8095c06f7c61.words, 159, nullptr, m_ad9d8095c06f7c61, + 0, 9, i_ad9d8095c06f7c61, nullptr, nullptr, { &s_ad9d8095c06f7c61, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<83> b_a63a46f0f2889b2d = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 45, 155, 136, 242, 240, 70, 58, 166, + 24, 0, 0, 0, 1, 0, 2, 0, + 241, 171, 1, 54, 197, 105, 255, 151, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 82, 1, 0, 0, + 41, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 0, 0, 0, 231, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 67, 111, 110, 116, 114, 111, + 108, 115, 83, 116, 97, 116, 101, 46, + 76, 97, 116, 101, 114, 97, 108, 68, + 101, 98, 117, 103, 83, 116, 97, 116, + 101, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 16, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 92, 0, 0, 0, 3, 0, 1, 0, + 104, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 0, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 0, 0, 0, 3, 0, 1, 0, + 116, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 113, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 0, 0, 0, 3, 0, 1, 0, + 120, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 0, 0, 0, 3, 0, 1, 0, + 128, 0, 0, 0, 2, 0, 1, 0, + 97, 99, 116, 105, 118, 101, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 101, 101, 114, 105, 110, 103, + 65, 110, 103, 108, 101, 68, 101, 103, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 111, 117, 116, 112, 117, 116, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 97, 116, 117, 114, 97, 116, 101, + 100, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_a63a46f0f2889b2d = b_a63a46f0f2889b2d.words; +#if !CAPNP_LITE +static const uint16_t m_a63a46f0f2889b2d[] = {0, 2, 3, 1}; +static const uint16_t i_a63a46f0f2889b2d[] = {0, 1, 2, 3}; +const ::capnp::_::RawSchema s_a63a46f0f2889b2d = { + 0xa63a46f0f2889b2d, b_a63a46f0f2889b2d.words, 83, nullptr, m_a63a46f0f2889b2d, + 0, 4, i_a63a46f0f2889b2d, nullptr, nullptr, { &s_a63a46f0f2889b2d, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<134> b_fd5b914d6b444695 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 149, 70, 68, 107, 77, 145, 91, 253, + 24, 0, 0, 0, 1, 0, 24, 0, + 241, 171, 1, 54, 197, 105, 255, 151, + 6, 0, 7, 0, 1, 0, 7, 0, + 71, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 98, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 143, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 67, 111, 110, 116, 114, 111, + 108, 115, 83, 116, 97, 116, 101, 46, + 108, 97, 116, 101, 114, 97, 108, 67, + 111, 110, 116, 114, 111, 108, 83, 116, + 97, 116, 101, 0, 0, 0, 0, 0, + 28, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 255, 255, 5, 0, 0, 0, + 0, 0, 1, 0, 52, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 181, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 180, 0, 0, 0, 3, 0, 1, 0, + 192, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 254, 255, 5, 0, 0, 0, + 0, 0, 1, 0, 53, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 189, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 188, 0, 0, 0, 3, 0, 1, 0, + 200, 0, 0, 0, 2, 0, 1, 0, + 6, 0, 253, 255, 5, 0, 0, 0, + 0, 0, 1, 0, 55, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 197, 0, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 200, 0, 0, 0, 3, 0, 1, 0, + 212, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 252, 255, 5, 0, 0, 0, + 0, 0, 1, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 209, 0, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 208, 0, 0, 0, 3, 0, 1, 0, + 220, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 251, 255, 5, 0, 0, 0, + 0, 0, 1, 0, 59, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 217, 0, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 216, 0, 0, 0, 3, 0, 1, 0, + 228, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 250, 255, 5, 0, 0, 0, + 0, 0, 1, 0, 60, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 225, 0, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 224, 0, 0, 0, 3, 0, 1, 0, + 236, 0, 0, 0, 2, 0, 1, 0, + 5, 0, 249, 255, 5, 0, 0, 0, + 0, 0, 1, 0, 65, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 233, 0, 0, 0, 202, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 240, 0, 0, 0, 3, 0, 1, 0, + 252, 0, 0, 0, 2, 0, 1, 0, + 105, 110, 100, 105, 83, 116, 97, 116, + 101, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 94, 55, 50, 134, 52, 99, 148, 147, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 105, 100, 83, 116, 97, 116, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 227, 117, 147, 224, 201, 93, 140, 242, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 113, 114, 83, 116, 97, 116, 101, + 68, 69, 80, 82, 69, 67, 65, 84, + 69, 68, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 222, 42, 200, 144, 215, 226, 36, 144, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 110, 103, 108, 101, 83, 116, 97, + 116, 101, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 241, 128, 153, 172, 136, 234, 228, 162, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 101, 98, 117, 103, 83, 116, 97, + 116, 101, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 45, 155, 136, 242, 240, 70, 58, 166, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 111, 114, 113, 117, 101, 83, 116, + 97, 116, 101, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 164, 137, 246, 203, 80, 160, 116, 231, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 117, 114, 118, 97, 116, 117, 114, + 101, 83, 116, 97, 116, 101, 68, 69, + 80, 82, 69, 67, 65, 84, 69, 68, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 97, 124, 111, 192, 149, 128, 157, 173, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_fd5b914d6b444695 = b_fd5b914d6b444695.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_fd5b914d6b444695[] = { + &s_9024e2d790c82ade, + &s_939463348632375e, + &s_97ff69c53601abf1, + &s_a2e4ea88ac9980f1, + &s_a63a46f0f2889b2d, + &s_ad9d8095c06f7c61, + &s_e774a050cbf689a4, + &s_f28c5dc9e09375e3, +}; +static const uint16_t m_fd5b914d6b444695[] = {3, 6, 4, 0, 2, 1, 5}; +static const uint16_t i_fd5b914d6b444695[] = {0, 1, 2, 3, 4, 5, 6}; +const ::capnp::_::RawSchema s_fd5b914d6b444695 = { + 0xfd5b914d6b444695, b_fd5b914d6b444695.words, 134, d_fd5b914d6b444695, m_fd5b914d6b444695, + 8, 7, i_fd5b914d6b444695, nullptr, nullptr, { &s_fd5b914d6b444695, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<155> b_e8f9ba819993a776 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 118, 167, 147, 153, 129, 186, 249, 232, + 10, 0, 0, 0, 1, 0, 2, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 4, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 218, 0, 0, 0, + 33, 0, 0, 0, 55, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 77, 0, 0, 0, 199, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 68, 114, 105, 118, 105, 110, + 103, 77, 111, 100, 101, 108, 68, 97, + 116, 97, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 1, 0, 1, 0, + 181, 18, 77, 135, 16, 71, 30, 202, + 17, 0, 0, 0, 74, 0, 0, 0, + 37, 86, 126, 157, 54, 240, 110, 153, + 17, 0, 0, 0, 106, 0, 0, 0, + 93, 172, 25, 237, 164, 207, 207, 160, + 17, 0, 0, 0, 74, 0, 0, 0, + 80, 111, 108, 121, 80, 97, 116, 104, + 0, 0, 0, 0, 0, 0, 0, 0, + 76, 97, 110, 101, 76, 105, 110, 101, + 77, 101, 116, 97, 0, 0, 0, 0, + 77, 101, 116, 97, 68, 97, 116, 97, + 0, 0, 0, 0, 0, 0, 0, 0, + 32, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 209, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 204, 0, 0, 0, 3, 0, 1, 0, + 216, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 213, 0, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 212, 0, 0, 0, 3, 0, 1, 0, + 224, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 221, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 216, 0, 0, 0, 3, 0, 1, 0, + 228, 0, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 225, 0, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 224, 0, 0, 0, 3, 0, 1, 0, + 236, 0, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 233, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 228, 0, 0, 0, 3, 0, 1, 0, + 240, 0, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 237, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 232, 0, 0, 0, 3, 0, 1, 0, + 244, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 241, 0, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 240, 0, 0, 0, 3, 0, 1, 0, + 252, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 249, 0, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 252, 0, 0, 0, 3, 0, 1, 0, + 8, 1, 0, 0, 2, 0, 1, 0, + 102, 114, 97, 109, 101, 73, 100, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 114, 97, 109, 101, 73, 100, 69, + 120, 116, 114, 97, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 99, 116, 105, 111, 110, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 132, 69, 118, 90, 179, 188, 208, 148, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 97, 110, 101, 76, 105, 110, 101, + 77, 101, 116, 97, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 37, 86, 126, 157, 54, 240, 110, 153, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 101, 116, 97, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 93, 172, 25, 237, 164, 207, 207, 160, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 97, 116, 104, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 181, 18, 77, 135, 16, 71, 30, 202, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 114, 97, 109, 101, 68, 114, 111, + 112, 80, 101, 114, 99, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 111, 100, 101, 108, 69, 120, 101, + 99, 117, 116, 105, 111, 110, 84, 105, + 109, 101, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_e8f9ba819993a776 = b_e8f9ba819993a776.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_e8f9ba819993a776[] = { + &s_94d0bcb35a764584, + &s_996ef0369d7e5625, + &s_a0cfcfa4ed19ac5d, + &s_ca1e4710874d12b5, +}; +static const uint16_t m_e8f9ba819993a776[] = {2, 6, 0, 1, 3, 4, 7, 5}; +static const uint16_t i_e8f9ba819993a776[] = {0, 1, 2, 3, 4, 5, 6, 7}; +const ::capnp::_::RawSchema s_e8f9ba819993a776 = { + 0xe8f9ba819993a776, b_e8f9ba819993a776.words, 155, d_e8f9ba819993a776, m_e8f9ba819993a776, + 4, 8, i_e8f9ba819993a776, nullptr, nullptr, { &s_e8f9ba819993a776, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<79> b_ca1e4710874d12b5 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 181, 18, 77, 135, 16, 71, 30, 202, + 27, 0, 0, 0, 1, 0, 0, 0, + 118, 167, 147, 153, 129, 186, 249, 232, + 3, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 34, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 175, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 68, 114, 105, 118, 105, 110, + 103, 77, 111, 100, 101, 108, 68, 97, + 116, 97, 46, 80, 111, 108, 121, 80, + 97, 116, 104, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 12, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 69, 0, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 68, 0, 0, 0, 3, 0, 1, 0, + 96, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 93, 0, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 92, 0, 0, 0, 3, 0, 1, 0, + 120, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 0, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 0, 0, 0, 3, 0, 1, 0, + 144, 0, 0, 0, 2, 0, 1, 0, + 120, 67, 111, 101, 102, 102, 105, 99, + 105, 101, 110, 116, 115, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 67, 111, 101, 102, 102, 105, 99, + 105, 101, 110, 116, 115, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 122, 67, 111, 101, 102, 102, 105, 99, + 105, 101, 110, 116, 115, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_ca1e4710874d12b5 = b_ca1e4710874d12b5.words; +#if !CAPNP_LITE +static const uint16_t m_ca1e4710874d12b5[] = {0, 1, 2}; +static const uint16_t i_ca1e4710874d12b5[] = {0, 1, 2}; +const ::capnp::_::RawSchema s_ca1e4710874d12b5 = { + 0xca1e4710874d12b5, b_ca1e4710874d12b5.words, 79, nullptr, m_ca1e4710874d12b5, + 0, 3, i_ca1e4710874d12b5, nullptr, nullptr, { &s_ca1e4710874d12b5, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<81> b_996ef0369d7e5625 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 37, 86, 126, 157, 54, 240, 110, 153, + 27, 0, 0, 0, 1, 0, 2, 0, + 118, 167, 147, 153, 129, 186, 249, 232, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 66, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 231, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 68, 114, 105, 118, 105, 110, + 103, 77, 111, 100, 101, 108, 68, 97, + 116, 97, 46, 76, 97, 110, 101, 76, + 105, 110, 101, 77, 101, 116, 97, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 16, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 92, 0, 0, 0, 3, 0, 1, 0, + 104, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 96, 0, 0, 0, 3, 0, 1, 0, + 108, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 0, 0, 0, 3, 0, 1, 0, + 116, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 113, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 0, 0, 0, 3, 0, 1, 0, + 124, 0, 0, 0, 2, 0, 1, 0, + 108, 101, 102, 116, 89, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 105, 103, 104, 116, 89, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 102, 116, 80, 114, 111, 98, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 105, 103, 104, 116, 80, 114, 111, + 98, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_996ef0369d7e5625 = b_996ef0369d7e5625.words; +#if !CAPNP_LITE +static const uint16_t m_996ef0369d7e5625[] = {2, 0, 3, 1}; +static const uint16_t i_996ef0369d7e5625[] = {0, 1, 2, 3}; +const ::capnp::_::RawSchema s_996ef0369d7e5625 = { + 0x996ef0369d7e5625, b_996ef0369d7e5625.words, 81, nullptr, m_996ef0369d7e5625, + 0, 4, i_996ef0369d7e5625, nullptr, nullptr, { &s_996ef0369d7e5625, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<52> b_a0cfcfa4ed19ac5d = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 93, 172, 25, 237, 164, 207, 207, 160, + 27, 0, 0, 0, 1, 0, 1, 0, + 118, 167, 147, 153, 129, 186, 249, 232, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 34, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 119, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 68, 114, 105, 118, 105, 110, + 103, 77, 111, 100, 101, 108, 68, 97, + 116, 97, 46, 77, 101, 116, 97, 68, + 97, 116, 97, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 8, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 40, 0, 0, 0, 3, 0, 1, 0, + 52, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 49, 0, 0, 0, 162, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 52, 0, 0, 0, 3, 0, 1, 0, + 64, 0, 0, 0, 2, 0, 1, 0, + 108, 97, 110, 101, 67, 104, 97, 110, + 103, 101, 83, 116, 97, 116, 101, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 210, 211, 178, 247, 75, 146, 55, 205, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 97, 110, 101, 67, 104, 97, 110, + 103, 101, 68, 105, 114, 101, 99, 116, + 105, 111, 110, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 118, 17, 103, 254, 193, 192, 11, 157, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_a0cfcfa4ed19ac5d = b_a0cfcfa4ed19ac5d.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_a0cfcfa4ed19ac5d[] = { + &s_9d0bc0c1fe671176, + &s_cd37924bf7b2d3d2, +}; +static const uint16_t m_a0cfcfa4ed19ac5d[] = {1, 0}; +static const uint16_t i_a0cfcfa4ed19ac5d[] = {0, 1}; +const ::capnp::_::RawSchema s_a0cfcfa4ed19ac5d = { + 0xa0cfcfa4ed19ac5d, b_a0cfcfa4ed19ac5d.words, 52, d_a0cfcfa4ed19ac5d, m_a0cfcfa4ed19ac5d, + 2, 2, i_a0cfcfa4ed19ac5d, nullptr, nullptr, { &s_a0cfcfa4ed19ac5d, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<150> b_c3cbae1fd505ae80 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 128, 174, 5, 213, 31, 174, 203, 195, + 10, 0, 0, 0, 1, 0, 0, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 7, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 154, 0, 0, 0, + 29, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 0, 0, 0, 143, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 88, 89, 90, 84, 68, 97, + 116, 97, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 28, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 181, 0, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 176, 0, 0, 0, 3, 0, 1, 0, + 204, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 201, 0, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 196, 0, 0, 0, 3, 0, 1, 0, + 224, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 221, 0, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 216, 0, 0, 0, 3, 0, 1, 0, + 244, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 241, 0, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 236, 0, 0, 0, 3, 0, 1, 0, + 8, 1, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 1, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 1, 0, 0, 3, 0, 1, 0, + 28, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 1, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 20, 1, 0, 0, 3, 0, 1, 0, + 48, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 45, 1, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 40, 1, 0, 0, 3, 0, 1, 0, + 68, 1, 0, 0, 2, 0, 1, 0, + 120, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 122, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 120, 83, 116, 100, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 83, 116, 100, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 122, 83, 116, 100, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_c3cbae1fd505ae80 = b_c3cbae1fd505ae80.words; +#if !CAPNP_LITE +static const uint16_t m_c3cbae1fd505ae80[] = {3, 0, 4, 1, 5, 2, 6}; +static const uint16_t i_c3cbae1fd505ae80[] = {0, 1, 2, 3, 4, 5, 6}; +const ::capnp::_::RawSchema s_c3cbae1fd505ae80 = { + 0xc3cbae1fd505ae80, b_c3cbae1fd505ae80.words, 150, nullptr, m_c3cbae1fd505ae80, + 0, 7, i_c3cbae1fd505ae80, nullptr, nullptr, { &s_c3cbae1fd505ae80, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<510> b_c4713f6b0d36abe9 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 233, 171, 54, 13, 107, 63, 113, 196, + 10, 0, 0, 0, 1, 0, 6, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 17, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 178, 0, 0, 0, + 29, 0, 0, 0, 135, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 153, 0, 0, 0, 239, 5, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 77, 111, 100, 101, 108, 68, + 97, 116, 97, 86, 50, 0, 0, 0, + 32, 0, 0, 0, 1, 0, 1, 0, + 40, 175, 135, 33, 43, 237, 68, 164, + 57, 0, 0, 0, 90, 0, 0, 0, + 235, 127, 206, 208, 26, 136, 152, 214, + 57, 0, 0, 0, 90, 0, 0, 0, + 189, 250, 92, 180, 179, 106, 100, 209, + 57, 0, 0, 0, 74, 0, 0, 0, + 212, 28, 166, 210, 217, 71, 50, 170, + 57, 0, 0, 0, 130, 0, 0, 0, + 37, 141, 220, 188, 221, 165, 10, 134, + 57, 0, 0, 0, 170, 0, 0, 0, + 79, 136, 103, 46, 112, 192, 62, 251, + 61, 0, 0, 0, 42, 0, 0, 0, + 254, 172, 180, 166, 165, 236, 202, 132, + 57, 0, 0, 0, 186, 0, 0, 0, + 132, 69, 118, 90, 179, 188, 208, 148, + 61, 0, 0, 0, 58, 0, 0, 0, + 76, 101, 97, 100, 68, 97, 116, 97, + 86, 50, 0, 0, 0, 0, 0, 0, + 76, 101, 97, 100, 68, 97, 116, 97, + 86, 51, 0, 0, 0, 0, 0, 0, + 77, 101, 116, 97, 68, 97, 116, 97, + 0, 0, 0, 0, 0, 0, 0, 0, + 67, 111, 110, 102, 105, 100, 101, 110, + 99, 101, 67, 108, 97, 115, 115, 0, + 68, 105, 115, 101, 110, 103, 97, 103, + 101, 80, 114, 101, 100, 105, 99, 116, + 105, 111, 110, 115, 0, 0, 0, 0, + 80, 111, 115, 101, 0, 0, 0, 0, + 76, 97, 116, 101, 114, 97, 108, 80, + 108, 97, 110, 110, 101, 114, 83, 111, + 108, 117, 116, 105, 111, 110, 0, 0, + 65, 99, 116, 105, 111, 110, 0, 0, + 108, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 229, 2, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 224, 2, 0, 0, 3, 0, 1, 0, + 236, 2, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 233, 2, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 232, 2, 0, 0, 3, 0, 1, 0, + 244, 2, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 241, 2, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 240, 2, 0, 0, 3, 0, 1, 0, + 252, 2, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 249, 2, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 248, 2, 0, 0, 3, 0, 1, 0, + 4, 3, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 3, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 3, 0, 0, 3, 0, 1, 0, + 12, 3, 0, 0, 2, 0, 1, 0, + 9, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 3, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 3, 0, 0, 3, 0, 1, 0, + 20, 3, 0, 0, 2, 0, 1, 0, + 10, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 17, 3, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 3, 0, 0, 3, 0, 1, 0, + 28, 3, 0, 0, 2, 0, 1, 0, + 11, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 3, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 24, 3, 0, 0, 3, 0, 1, 0, + 36, 3, 0, 0, 2, 0, 1, 0, + 13, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 3, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 32, 3, 0, 0, 3, 0, 1, 0, + 60, 3, 0, 0, 2, 0, 1, 0, + 14, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 57, 3, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 56, 3, 0, 0, 3, 0, 1, 0, + 84, 3, 0, 0, 2, 0, 1, 0, + 16, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 10, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 81, 3, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 80, 3, 0, 0, 3, 0, 1, 0, + 108, 3, 0, 0, 2, 0, 1, 0, + 18, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 11, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 3, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 3, 0, 0, 3, 0, 1, 0, + 128, 3, 0, 0, 2, 0, 1, 0, + 20, 0, 0, 0, 8, 0, 0, 0, + 0, 0, 1, 0, 12, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 125, 3, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 120, 3, 0, 0, 3, 0, 1, 0, + 132, 3, 0, 0, 2, 0, 1, 0, + 15, 0, 0, 0, 9, 0, 0, 0, + 0, 0, 1, 0, 13, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 129, 3, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 128, 3, 0, 0, 3, 0, 1, 0, + 156, 3, 0, 0, 2, 0, 1, 0, + 17, 0, 0, 0, 10, 0, 0, 0, + 0, 0, 1, 0, 14, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 153, 3, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 152, 3, 0, 0, 3, 0, 1, 0, + 180, 3, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 15, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 177, 3, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 180, 3, 0, 0, 3, 0, 1, 0, + 192, 3, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 11, 0, 0, 0, + 0, 0, 1, 0, 16, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 189, 3, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 188, 3, 0, 0, 3, 0, 1, 0, + 200, 3, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 17, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 197, 3, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 200, 3, 0, 0, 3, 0, 1, 0, + 212, 3, 0, 0, 2, 0, 1, 0, + 19, 0, 0, 0, 12, 0, 0, 0, + 0, 0, 1, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 209, 3, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 204, 3, 0, 0, 3, 0, 1, 0, + 232, 3, 0, 0, 2, 0, 1, 0, + 12, 0, 0, 0, 13, 0, 0, 0, + 0, 0, 1, 0, 19, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 229, 3, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 228, 3, 0, 0, 3, 0, 1, 0, + 240, 3, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 7, 0, 0, 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0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 105, 109, 101, 115, 116, 97, 109, + 112, 69, 111, 102, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 111, 115, 105, 116, 105, 111, 110, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 128, 174, 5, 213, 31, 174, 203, 195, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 111, 114, 105, 101, 110, 116, 97, 116, + 105, 111, 110, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 128, 174, 5, 213, 31, 174, 203, 195, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 118, 101, 108, 111, 99, 105, 116, 121, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 128, 174, 5, 213, 31, 174, 203, 195, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 111, 114, 105, 101, 110, 116, 97, 116, + 105, 111, 110, 82, 97, 116, 101, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 128, 174, 5, 213, 31, 174, 203, 195, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 97, 110, 101, 76, 105, 110, 101, + 115, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 128, 174, 5, 213, 31, 174, 203, 195, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 97, 110, 101, 76, 105, 110, 101, + 80, 114, 111, 98, 115, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 111, 97, 100, 69, 100, 103, 101, + 115, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 128, 174, 5, 213, 31, 174, 203, 195, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 97, 100, 115, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 40, 175, 135, 33, 43, 237, 68, 164, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 101, 116, 97, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 189, 250, 92, 180, 179, 106, 100, 209, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 97, 110, 101, 76, 105, 110, 101, + 83, 116, 100, 115, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 111, 97, 100, 69, 100, 103, 101, + 83, 116, 100, 115, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 111, 100, 101, 108, 69, 120, 101, + 99, 117, 116, 105, 111, 110, 84, 105, + 109, 101, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 97, 119, 80, 114, 101, 100, 105, + 99, 116, 105, 111, 110, 115, 0, 0, + 13, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 103, 112, 117, 69, 120, 101, 99, 117, + 116, 105, 111, 110, 84, 105, 109, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 97, 100, 115, 86, 51, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 235, 127, 206, 208, 26, 136, 152, 214, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 99, 99, 101, 108, 101, 114, 97, + 116, 105, 111, 110, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 128, 174, 5, 213, 31, 174, 203, 195, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 114, 97, 109, 101, 73, 100, 69, + 120, 116, 114, 97, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 101, 109, 112, 111, 114, 97, 108, + 80, 111, 115, 101, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 79, 136, 103, 46, 112, 192, 62, 251, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 110, 97, 118, 69, 110, 97, 98, 108, + 101, 100, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 111, 110, 102, 105, 100, 101, 110, + 99, 101, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 212, 28, 166, 210, 217, 71, 50, 170, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 99, 97, 116, 105, 111, 110, + 77, 111, 110, 111, 84, 105, 109, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 97, 116, 101, 114, 97, 108, 80, + 108, 97, 110, 110, 101, 114, 83, 111, + 108, 117, 116, 105, 111, 110, 68, 69, + 80, 82, 69, 67, 65, 84, 69, 68, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 254, 172, 180, 166, 165, 236, 202, 132, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 99, 116, 105, 111, 110, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 132, 69, 118, 90, 179, 188, 208, 148, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_c4713f6b0d36abe9 = b_c4713f6b0d36abe9.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_c4713f6b0d36abe9[] = { + &s_84caeca5a6b4acfe, + &s_94d0bcb35a764584, + &s_a444ed2b2187af28, + &s_aa3247d9d2a61cd4, + &s_c3cbae1fd505ae80, + &s_d1646ab3b45cfabd, + &s_d698881ad0ce7feb, + &s_fb3ec0702e67884f, +}; +static const uint16_t m_c4713f6b0d36abe9[] = {19, 26, 23, 1, 2, 0, 20, 17, 9, 13, 8, 25, 11, 18, 24, 12, 15, 22, 5, 7, 4, 16, 14, 10, 21, 3, 6}; +static const uint16_t i_c4713f6b0d36abe9[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26}; +const ::capnp::_::RawSchema s_c4713f6b0d36abe9 = { + 0xc4713f6b0d36abe9, b_c4713f6b0d36abe9.words, 510, d_c4713f6b0d36abe9, m_c4713f6b0d36abe9, + 8, 27, i_c4713f6b0d36abe9, nullptr, nullptr, { &s_c4713f6b0d36abe9, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<87> b_a444ed2b2187af28 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 40, 175, 135, 33, 43, 237, 68, 164, + 22, 0, 0, 0, 1, 0, 1, 0, + 233, 171, 54, 13, 107, 63, 113, 196, + 2, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 10, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 231, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 77, 111, 100, 101, 108, 68, + 97, 116, 97, 86, 50, 46, 76, 101, + 97, 100, 68, 97, 116, 97, 86, 50, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 16, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 92, 0, 0, 0, 3, 0, 1, 0, + 104, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 0, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 96, 0, 0, 0, 3, 0, 1, 0, + 108, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 0, 0, 0, 3, 0, 1, 0, + 128, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 125, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 120, 0, 0, 0, 3, 0, 1, 0, + 148, 0, 0, 0, 2, 0, 1, 0, + 112, 114, 111, 98, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 120, 121, 118, 97, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 120, 121, 118, 97, 83, 116, 100, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_a444ed2b2187af28 = b_a444ed2b2187af28.words; +#if !CAPNP_LITE +static const uint16_t m_a444ed2b2187af28[] = {0, 1, 2, 3}; +static const uint16_t i_a444ed2b2187af28[] = {0, 1, 2, 3}; +const ::capnp::_::RawSchema s_a444ed2b2187af28 = { + 0xa444ed2b2187af28, b_a444ed2b2187af28.words, 87, nullptr, m_a444ed2b2187af28, + 0, 4, i_a444ed2b2187af28, nullptr, nullptr, { &s_a444ed2b2187af28, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<221> b_d698881ad0ce7feb = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 235, 127, 206, 208, 26, 136, 152, 214, + 22, 0, 0, 0, 1, 0, 1, 0, + 233, 171, 54, 13, 107, 63, 113, 196, + 9, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 10, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 111, 2, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 77, 111, 100, 101, 108, 68, + 97, 116, 97, 86, 50, 46, 76, 101, + 97, 100, 68, 97, 116, 97, 86, 51, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 44, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 1, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 32, 1, 0, 0, 3, 0, 1, 0, + 44, 1, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 1, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 40, 1, 0, 0, 3, 0, 1, 0, + 52, 1, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 49, 1, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 44, 1, 0, 0, 3, 0, 1, 0, + 72, 1, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 69, 1, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 64, 1, 0, 0, 3, 0, 1, 0, + 92, 1, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 89, 1, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 84, 1, 0, 0, 3, 0, 1, 0, + 112, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 1, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 1, 0, 0, 3, 0, 1, 0, + 132, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 129, 1, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 124, 1, 0, 0, 3, 0, 1, 0, + 152, 1, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 149, 1, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 144, 1, 0, 0, 3, 0, 1, 0, + 172, 1, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 169, 1, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 164, 1, 0, 0, 3, 0, 1, 0, + 192, 1, 0, 0, 2, 0, 1, 0, + 9, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 189, 1, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 184, 1, 0, 0, 3, 0, 1, 0, + 212, 1, 0, 0, 2, 0, 1, 0, + 10, 0, 0, 0, 8, 0, 0, 0, + 0, 0, 1, 0, 10, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 209, 1, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 204, 1, 0, 0, 3, 0, 1, 0, + 232, 1, 0, 0, 2, 0, 1, 0, + 112, 114, 111, 98, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 114, 111, 98, 84, 105, 109, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 120, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 120, 83, 116, 100, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 83, 116, 100, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 118, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 118, 83, 116, 100, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 83, 116, 100, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_d698881ad0ce7feb = b_d698881ad0ce7feb.words; +#if !CAPNP_LITE +static const uint16_t m_d698881ad0ce7feb[] = {9, 10, 0, 1, 2, 7, 8, 3, 4, 5, 6}; +static const uint16_t i_d698881ad0ce7feb[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10}; +const ::capnp::_::RawSchema s_d698881ad0ce7feb = { + 0xd698881ad0ce7feb, b_d698881ad0ce7feb.words, 221, nullptr, m_d698881ad0ce7feb, + 0, 11, i_d698881ad0ce7feb, nullptr, nullptr, { &s_d698881ad0ce7feb, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<212> b_d1646ab3b45cfabd = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 189, 250, 92, 180, 179, 106, 100, 209, + 22, 0, 0, 0, 1, 0, 3, 0, + 233, 171, 54, 13, 107, 63, 113, 196, + 3, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 250, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 111, 2, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 77, 111, 100, 101, 108, 68, + 97, 116, 97, 86, 50, 46, 77, 101, + 116, 97, 68, 97, 116, 97, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 44, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 1, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 36, 1, 0, 0, 3, 0, 1, 0, + 48, 1, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 45, 1, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 48, 1, 0, 0, 3, 0, 1, 0, + 76, 1, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 73, 1, 0, 0, 234, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 80, 1, 0, 0, 3, 0, 1, 0, + 92, 1, 0, 0, 2, 0, 1, 0, + 9, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 89, 1, 0, 0, 218, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 96, 1, 0, 0, 3, 0, 1, 0, + 108, 1, 0, 0, 2, 0, 1, 0, + 10, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 1, 0, 0, 226, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 1, 0, 0, 3, 0, 1, 0, + 124, 1, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 1, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 120, 1, 0, 0, 3, 0, 1, 0, + 148, 1, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 145, 1, 0, 0, 170, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 148, 1, 0, 0, 3, 0, 1, 0, + 160, 1, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 128, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 157, 1, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 160, 1, 0, 0, 3, 0, 1, 0, + 172, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 9, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 169, 1, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 168, 1, 0, 0, 3, 0, 1, 0, + 180, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 10, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 177, 1, 0, 0, 162, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 180, 1, 0, 0, 3, 0, 1, 0, + 192, 1, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 11, 0, 0, 0, + 0, 0, 1, 0, 10, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 189, 1, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 188, 1, 0, 0, 3, 0, 1, 0, + 200, 1, 0, 0, 2, 0, 1, 0, + 101, 110, 103, 97, 103, 101, 100, 80, + 114, 111, 98, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 101, 115, 105, 114, 101, 80, 114, + 101, 100, 105, 99, 116, 105, 111, 110, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 98, 114, 97, 107, 101, 68, 105, 115, + 101, 110, 103, 97, 103, 101, 80, 114, + 111, 98, 68, 69, 80, 82, 69, 67, + 65, 84, 69, 68, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 103, 97, 115, 68, 105, 115, 101, 110, + 103, 97, 103, 101, 80, 114, 111, 98, + 68, 69, 80, 82, 69, 67, 65, 84, + 69, 68, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 101, 101, 114, 79, 118, 101, + 114, 114, 105, 100, 101, 80, 114, 111, + 98, 68, 69, 80, 82, 69, 67, 65, + 84, 69, 68, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 101, 115, 105, 114, 101, 83, 116, + 97, 116, 101, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 105, 115, 101, 110, 103, 97, 103, + 101, 80, 114, 101, 100, 105, 99, 116, + 105, 111, 110, 115, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 37, 141, 220, 188, 221, 165, 10, 134, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 97, 114, 100, 66, 114, 97, 107, + 101, 80, 114, 101, 100, 105, 99, 116, + 101, 100, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 97, 110, 101, 67, 104, 97, 110, + 103, 101, 83, 116, 97, 116, 101, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 210, 211, 178, 247, 75, 146, 55, 205, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 97, 110, 101, 67, 104, 97, 110, + 103, 101, 68, 105, 114, 101, 99, 116, + 105, 111, 110, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 118, 17, 103, 254, 193, 192, 11, 157, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 117, 114, 110, 68, 105, 114, 101, + 99, 116, 105, 111, 110, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 35, 155, 193, 213, 73, 234, 185, 238, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_d1646ab3b45cfabd = b_d1646ab3b45cfabd.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_d1646ab3b45cfabd[] = { + &s_860aa5ddbcdc8d25, + &s_9d0bc0c1fe671176, + &s_cd37924bf7b2d3d2, + &s_eeb9ea49d5c19b23, +}; +static const uint16_t m_d1646ab3b45cfabd[] = {2, 1, 5, 6, 0, 3, 7, 9, 8, 4, 10}; +static const uint16_t i_d1646ab3b45cfabd[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10}; +const ::capnp::_::RawSchema s_d1646ab3b45cfabd = { + 0xd1646ab3b45cfabd, b_d1646ab3b45cfabd.words, 212, d_d1646ab3b45cfabd, m_d1646ab3b45cfabd, + 4, 11, i_d1646ab3b45cfabd, nullptr, nullptr, { &s_d1646ab3b45cfabd, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<31> b_aa3247d9d2a61cd4 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 212, 28, 166, 210, 217, 71, 50, 170, + 22, 0, 0, 0, 2, 0, 0, 0, + 233, 171, 54, 13, 107, 63, 113, 196, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 50, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 79, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 77, 111, 100, 101, 108, 68, + 97, 116, 97, 86, 50, 46, 67, 111, + 110, 102, 105, 100, 101, 110, 99, 101, + 67, 108, 97, 115, 115, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 12, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 101, 100, 0, 0, 0, 0, 0, + 121, 101, 108, 108, 111, 119, 0, 0, + 103, 114, 101, 101, 110, 0, 0, 0, } +}; +::capnp::word const* const bp_aa3247d9d2a61cd4 = b_aa3247d9d2a61cd4.words; +#if !CAPNP_LITE +static const uint16_t m_aa3247d9d2a61cd4[] = {2, 0, 1}; +const ::capnp::_::RawSchema s_aa3247d9d2a61cd4 = { + 0xaa3247d9d2a61cd4, b_aa3247d9d2a61cd4.words, 31, nullptr, m_aa3247d9d2a61cd4, + 0, 3, nullptr, nullptr, nullptr, { &s_aa3247d9d2a61cd4, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(ConfidenceClass_aa3247d9d2a61cd4, aa3247d9d2a61cd4); +static const ::capnp::_::AlignedData<211> b_860aa5ddbcdc8d25 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 37, 141, 220, 188, 221, 165, 10, 134, + 22, 0, 0, 0, 1, 0, 0, 0, + 233, 171, 54, 13, 107, 63, 113, 196, + 9, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 90, 1, 0, 0, + 41, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 0, 0, 0, 255, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 77, 111, 100, 101, 108, 68, + 97, 116, 97, 86, 50, 46, 68, 105, + 115, 101, 110, 103, 97, 103, 101, 80, + 114, 101, 100, 105, 99, 116, 105, 111, + 110, 115, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 36, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 237, 0, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 232, 0, 0, 0, 3, 0, 1, 0, + 4, 1, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 1, 0, 0, 162, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 1, 0, 0, 3, 0, 1, 0, + 32, 1, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 1, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 32, 1, 0, 0, 3, 0, 1, 0, + 60, 1, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 57, 1, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 60, 1, 0, 0, 3, 0, 1, 0, + 88, 1, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 85, 1, 0, 0, 18, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 96, 1, 0, 0, 3, 0, 1, 0, + 124, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 1, 0, 0, 18, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 132, 1, 0, 0, 3, 0, 1, 0, + 160, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 157, 1, 0, 0, 18, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 168, 1, 0, 0, 3, 0, 1, 0, + 196, 1, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 193, 1, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 192, 1, 0, 0, 3, 0, 1, 0, + 220, 1, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 8, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 217, 1, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 216, 1, 0, 0, 3, 0, 1, 0, + 244, 1, 0, 0, 2, 0, 1, 0, + 116, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 98, 114, 97, 107, 101, 68, 105, 115, + 101, 110, 103, 97, 103, 101, 80, 114, + 111, 98, 115, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 103, 97, 115, 68, 105, 115, 101, 110, + 103, 97, 103, 101, 80, 114, 111, 98, + 115, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 101, 101, 114, 79, 118, 101, + 114, 114, 105, 100, 101, 80, 114, 111, + 98, 115, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 98, 114, 97, 107, 101, 51, 77, 101, + 116, 101, 114, 115, 80, 101, 114, 83, + 101, 99, 111, 110, 100, 83, 113, 117, + 97, 114, 101, 100, 80, 114, 111, 98, + 115, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 98, 114, 97, 107, 101, 52, 77, 101, + 116, 101, 114, 115, 80, 101, 114, 83, + 101, 99, 111, 110, 100, 83, 113, 117, + 97, 114, 101, 100, 80, 114, 111, 98, + 115, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 98, 114, 97, 107, 101, 53, 77, 101, + 116, 101, 114, 115, 80, 101, 114, 83, + 101, 99, 111, 110, 100, 83, 113, 117, + 97, 114, 101, 100, 80, 114, 111, 98, + 115, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 103, 97, 115, 80, 114, 101, 115, 115, + 80, 114, 111, 98, 115, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 98, 114, 97, 107, 101, 80, 114, 101, + 115, 115, 80, 114, 111, 98, 115, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_860aa5ddbcdc8d25 = b_860aa5ddbcdc8d25.words; +#if !CAPNP_LITE +static const uint16_t m_860aa5ddbcdc8d25[] = {4, 5, 6, 1, 8, 2, 7, 3, 0}; +static const uint16_t i_860aa5ddbcdc8d25[] = {0, 1, 2, 3, 4, 5, 6, 7, 8}; +const ::capnp::_::RawSchema s_860aa5ddbcdc8d25 = { + 0x860aa5ddbcdc8d25, b_860aa5ddbcdc8d25.words, 211, nullptr, m_860aa5ddbcdc8d25, + 0, 9, i_860aa5ddbcdc8d25, nullptr, nullptr, { &s_860aa5ddbcdc8d25, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<95> b_fb3ec0702e67884f = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 79, 136, 103, 46, 112, 192, 62, 251, + 22, 0, 0, 0, 1, 0, 0, 0, + 233, 171, 54, 13, 107, 63, 113, 196, + 4, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 218, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 231, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 77, 111, 100, 101, 108, 68, + 97, 116, 97, 86, 50, 46, 80, 111, + 115, 101, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 16, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 92, 0, 0, 0, 3, 0, 1, 0, + 120, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 0, 0, 0, 3, 0, 1, 0, + 140, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 137, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 136, 0, 0, 0, 3, 0, 1, 0, + 164, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 161, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 156, 0, 0, 0, 3, 0, 1, 0, + 184, 0, 0, 0, 2, 0, 1, 0, + 116, 114, 97, 110, 115, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 111, 116, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 114, 97, 110, 115, 83, 116, 100, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 111, 116, 83, 116, 100, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_fb3ec0702e67884f = b_fb3ec0702e67884f.words; +#if !CAPNP_LITE +static const uint16_t m_fb3ec0702e67884f[] = {1, 3, 0, 2}; +static const uint16_t i_fb3ec0702e67884f[] = {0, 1, 2, 3}; +const ::capnp::_::RawSchema s_fb3ec0702e67884f = { + 0xfb3ec0702e67884f, b_fb3ec0702e67884f.words, 95, nullptr, m_fb3ec0702e67884f, + 0, 4, i_fb3ec0702e67884f, nullptr, nullptr, { &s_fb3ec0702e67884f, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<173> b_84caeca5a6b4acfe = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 254, 172, 180, 166, 165, 236, 202, 132, + 22, 0, 0, 0, 1, 0, 0, 0, + 233, 171, 54, 13, 107, 63, 113, 196, + 8, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 106, 1, 0, 0, + 41, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 0, 0, 0, 199, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 77, 111, 100, 101, 108, 68, + 97, 116, 97, 86, 50, 46, 76, 97, + 116, 101, 114, 97, 108, 80, 108, 97, + 110, 110, 101, 114, 83, 111, 108, 117, + 116, 105, 111, 110, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 32, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 209, 0, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 204, 0, 0, 0, 3, 0, 1, 0, + 232, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 229, 0, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 224, 0, 0, 0, 3, 0, 1, 0, + 252, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 249, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 244, 0, 0, 0, 3, 0, 1, 0, + 16, 1, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 1, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 1, 0, 0, 3, 0, 1, 0, + 36, 1, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 1, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 28, 1, 0, 0, 3, 0, 1, 0, + 56, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 53, 1, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 48, 1, 0, 0, 3, 0, 1, 0, + 76, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 73, 1, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 68, 1, 0, 0, 3, 0, 1, 0, + 96, 1, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 93, 1, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 92, 1, 0, 0, 3, 0, 1, 0, + 120, 1, 0, 0, 2, 0, 1, 0, + 120, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 97, 119, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 97, 119, 82, 97, 116, 101, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 120, 83, 116, 100, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 83, 116, 100, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 97, 119, 83, 116, 100, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 97, 119, 82, 97, 116, 101, 83, + 116, 100, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_84caeca5a6b4acfe = b_84caeca5a6b4acfe.words; +#if !CAPNP_LITE +static const uint16_t m_84caeca5a6b4acfe[] = {0, 4, 1, 5, 2, 3, 7, 6}; +static const uint16_t i_84caeca5a6b4acfe[] = {0, 1, 2, 3, 4, 5, 6, 7}; +const ::capnp::_::RawSchema s_84caeca5a6b4acfe = { + 0x84caeca5a6b4acfe, b_84caeca5a6b4acfe.words, 173, nullptr, m_84caeca5a6b4acfe, + 0, 8, i_84caeca5a6b4acfe, nullptr, nullptr, { &s_84caeca5a6b4acfe, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<35> b_94d0bcb35a764584 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 132, 69, 118, 90, 179, 188, 208, 148, + 22, 0, 0, 0, 1, 0, 1, 0, + 233, 171, 54, 13, 107, 63, 113, 196, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 234, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 63, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 77, 111, 100, 101, 108, 68, + 97, 116, 97, 86, 50, 46, 65, 99, + 116, 105, 111, 110, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 4, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 3, 0, 1, 0, + 28, 0, 0, 0, 2, 0, 1, 0, + 100, 101, 115, 105, 114, 101, 100, 67, + 117, 114, 118, 97, 116, 117, 114, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_94d0bcb35a764584 = b_94d0bcb35a764584.words; +#if !CAPNP_LITE +static const uint16_t m_94d0bcb35a764584[] = {0}; +static const uint16_t i_94d0bcb35a764584[] = {0}; +const ::capnp::_::RawSchema s_94d0bcb35a764584 = { + 0x94d0bcb35a764584, b_94d0bcb35a764584.words, 35, nullptr, m_94d0bcb35a764584, + 0, 1, i_94d0bcb35a764584, nullptr, nullptr, { &s_94d0bcb35a764584, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<176> b_89d394e3541735fc = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 252, 53, 23, 84, 227, 148, 211, 137, + 10, 0, 0, 0, 1, 0, 6, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 178, 0, 0, 0, + 29, 0, 0, 0, 23, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 0, 0, 0, 55, 2, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 69, 110, 99, 111, 100, 101, + 73, 110, 100, 101, 120, 0, 0, 0, + 4, 0, 0, 0, 1, 0, 1, 0, + 211, 204, 87, 193, 158, 37, 173, 192, + 1, 0, 0, 0, 42, 0, 0, 0, + 84, 121, 112, 101, 0, 0, 0, 0, + 40, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 1, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 1, 0, 0, 3, 0, 1, 0, + 16, 1, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 1, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 1, 0, 0, 3, 0, 1, 0, + 20, 1, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 17, 1, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 1, 0, 0, 3, 0, 1, 0, + 28, 1, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 1, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 24, 1, 0, 0, 3, 0, 1, 0, + 36, 1, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 1, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 32, 1, 0, 0, 3, 0, 1, 0, + 44, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 1, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 40, 1, 0, 0, 3, 0, 1, 0, + 52, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 49, 1, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 48, 1, 0, 0, 3, 0, 1, 0, + 60, 1, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 57, 1, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 56, 1, 0, 0, 3, 0, 1, 0, + 68, 1, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 10, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 65, 1, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 60, 1, 0, 0, 3, 0, 1, 0, + 72, 1, 0, 0, 2, 0, 1, 0, + 9, 0, 0, 0, 11, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 69, 1, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 64, 1, 0, 0, 3, 0, 1, 0, + 76, 1, 0, 0, 2, 0, 1, 0, + 102, 114, 97, 109, 101, 73, 100, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 121, 112, 101, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 211, 204, 87, 193, 158, 37, 173, 192, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 110, 99, 111, 100, 101, 73, 100, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 101, 103, 109, 101, 110, 116, 78, + 117, 109, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 101, 103, 109, 101, 110, 116, 73, + 100, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 101, 103, 109, 101, 110, 116, 73, + 100, 69, 110, 99, 111, 100, 101, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 105, 109, 101, 115, 116, 97, 109, + 112, 83, 111, 102, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 105, 109, 101, 115, 116, 97, 109, + 112, 69, 111, 102, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 108, 97, 103, 115, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 110, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_89d394e3541735fc = b_89d394e3541735fc.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_89d394e3541735fc[] = { + &s_c0ad259ec157ccd3, +}; +static const uint16_t m_89d394e3541735fc[] = {2, 8, 0, 9, 4, 5, 3, 7, 6, 1}; +static const uint16_t i_89d394e3541735fc[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9}; +const ::capnp::_::RawSchema s_89d394e3541735fc = { + 0x89d394e3541735fc, b_89d394e3541735fc.words, 176, d_89d394e3541735fc, m_89d394e3541735fc, + 1, 10, i_89d394e3541735fc, nullptr, nullptr, { &s_89d394e3541735fc, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<63> b_c0ad259ec157ccd3 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 211, 204, 87, 193, 158, 37, 173, 192, + 22, 0, 0, 0, 2, 0, 0, 0, + 252, 53, 23, 84, 227, 148, 211, 137, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 218, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 199, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 69, 110, 99, 111, 100, 101, + 73, 110, 100, 101, 120, 46, 84, 121, + 112, 101, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 32, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 89, 0, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 85, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 81, 0, 0, 0, 170, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 81, 0, 0, 0, 218, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 85, 0, 0, 0, 218, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 89, 0, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 85, 0, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 81, 0, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 98, 105, 103, 66, 111, 120, 76, 111, + 115, 115, 108, 101, 115, 115, 0, 0, + 102, 117, 108, 108, 72, 69, 86, 67, + 0, 0, 0, 0, 0, 0, 0, 0, + 98, 105, 103, 66, 111, 120, 72, 69, + 86, 67, 68, 69, 80, 82, 69, 67, + 65, 84, 69, 68, 0, 0, 0, 0, + 99, 104, 102, 102, 114, 65, 110, 100, + 114, 111, 105, 100, 72, 50, 54, 52, + 68, 69, 80, 82, 69, 67, 65, 84, + 69, 68, 0, 0, 0, 0, 0, 0, + 102, 117, 108, 108, 76, 111, 115, 115, + 108, 101, 115, 115, 67, 108, 105, 112, + 68, 69, 80, 82, 69, 67, 65, 84, + 69, 68, 0, 0, 0, 0, 0, 0, + 102, 114, 111, 110, 116, 68, 69, 80, + 82, 69, 67, 65, 84, 69, 68, 0, + 113, 99, 97, 109, 101, 114, 97, 72, + 50, 54, 52, 0, 0, 0, 0, 0, + 108, 105, 118, 101, 115, 116, 114, 101, + 97, 109, 72, 50, 54, 52, 0, 0, } +}; +::capnp::word const* const bp_c0ad259ec157ccd3 = b_c0ad259ec157ccd3.words; +#if !CAPNP_LITE +static const uint16_t m_c0ad259ec157ccd3[] = {2, 0, 3, 5, 1, 4, 7, 6}; +const ::capnp::_::RawSchema s_c0ad259ec157ccd3 = { + 0xc0ad259ec157ccd3, b_c0ad259ec157ccd3.words, 63, nullptr, m_c0ad259ec157ccd3, + 0, 8, nullptr, nullptr, nullptr, { &s_c0ad259ec157ccd3, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(Type_c0ad259ec157ccd3, c0ad259ec157ccd3); +static const ::capnp::_::AlignedData<124> b_ea095da1894f7d85 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 133, 125, 79, 137, 161, 93, 9, 234, + 10, 0, 0, 0, 1, 0, 3, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 2, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 210, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 143, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 65, 110, 100, 114, 111, 105, + 100, 76, 111, 103, 69, 110, 116, 114, + 121, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 28, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 181, 0, 0, 0, 26, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 176, 0, 0, 0, 3, 0, 1, 0, + 188, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 185, 0, 0, 0, 26, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 180, 0, 0, 0, 3, 0, 1, 0, + 192, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 189, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 188, 0, 0, 0, 3, 0, 1, 0, + 200, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 197, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 192, 0, 0, 0, 3, 0, 1, 0, + 204, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 201, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 196, 0, 0, 0, 3, 0, 1, 0, + 208, 0, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 205, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 200, 0, 0, 0, 3, 0, 1, 0, + 212, 0, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 209, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 204, 0, 0, 0, 3, 0, 1, 0, + 216, 0, 0, 0, 2, 0, 1, 0, + 105, 100, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 115, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 114, 105, 111, 114, 105, 116, 121, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 105, 100, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 105, 100, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 97, 103, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 101, 115, 115, 97, 103, 101, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_ea095da1894f7d85 = b_ea095da1894f7d85.words; +#if !CAPNP_LITE +static const uint16_t m_ea095da1894f7d85[] = {0, 6, 3, 2, 5, 4, 1}; +static const uint16_t i_ea095da1894f7d85[] = {0, 1, 2, 3, 4, 5, 6}; +const ::capnp::_::RawSchema s_ea095da1894f7d85 = { + 0xea095da1894f7d85, b_ea095da1894f7d85.words, 124, nullptr, m_ea095da1894f7d85, + 0, 7, i_ea095da1894f7d85, nullptr, nullptr, { &s_ea095da1894f7d85, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<711> b_e00b5b3eba12876c = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 108, 135, 18, 186, 62, 91, 11, 224, + 10, 0, 0, 0, 1, 0, 11, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 6, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 218, 0, 0, 0, + 33, 0, 0, 0, 39, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 65, 0, 0, 0, 199, 8, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 76, 111, 110, 103, 105, 116, + 117, 100, 105, 110, 97, 108, 80, 108, + 97, 110, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 1, 0, 1, 0, + 32, 145, 7, 204, 83, 167, 49, 178, + 9, 0, 0, 0, 186, 0, 0, 0, + 0, 16, 48, 245, 114, 176, 254, 140, + 13, 0, 0, 0, 114, 0, 0, 0, + 76, 111, 110, 103, 105, 116, 117, 100, + 105, 110, 97, 108, 80, 108, 97, 110, + 83, 111, 117, 114, 99, 101, 0, 0, + 71, 112, 115, 84, 114, 97, 106, 101, + 99, 116, 111, 114, 121, 0, 0, 0, + 160, 0, 0, 0, 3, 0, 4, 0, + 26, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 81, 4, 0, 0, 186, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 84, 4, 0, 0, 3, 0, 1, 0, + 96, 4, 0, 0, 2, 0, 1, 0, + 28, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 93, 4, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 92, 4, 0, 0, 3, 0, 1, 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0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 118, 77, 97, 120, 68, 69, 80, 82, + 69, 67, 65, 84, 69, 68, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 118, 67, 117, 114, 118, 97, 116, 117, + 114, 101, 68, 69, 80, 82, 69, 67, + 65, 84, 69, 68, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 101, 99, 101, 108, 70, 111, 114, + 84, 117, 114, 110, 68, 69, 80, 82, + 69, 67, 65, 84, 69, 68, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 97, 115, 76, 101, 102, 116, 76, + 97, 110, 101, 68, 69, 80, 82, 69, + 67, 65, 84, 69, 68, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 97, 115, 82, 105, 103, 104, 116, + 76, 97, 110, 101, 68, 69, 80, 82, + 69, 67, 65, 84, 69, 68, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 97, 112, 86, 97, 108, 105, 100, + 68, 69, 80, 82, 69, 67, 65, 84, + 69, 68, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 118, 83, 116, 97, 114, 116, 68, 69, + 80, 82, 69, 67, 65, 84, 69, 68, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 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111, 114, 68, 69, 80, + 82, 69, 67, 65, 84, 69, 68, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 111, 109, 109, 73, 115, 115, 117, + 101, 68, 69, 80, 82, 69, 67, 65, + 84, 69, 68, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 99, 99, 101, 108, 115, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 112, 101, 101, 100, 115, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 106, 101, 114, 107, 115, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 111, 108, 118, 101, 114, 69, 120, + 101, 99, 117, 116, 105, 111, 110, 84, + 105, 109, 101, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 101, 114, 115, 111, 110, 97, 108, + 105, 116, 121, 68, 69, 80, 82, 69, + 67, 65, 84, 69, 68, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 153, 125, 36, 26, 61, 226, 146, 214, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 104, 111, 117, 108, 100, 83, 116, + 111, 112, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 108, 108, 111, 119, 84, 104, 114, + 111, 116, 116, 108, 101, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 108, 108, 111, 119, 66, 114, 97, + 107, 101, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_e00b5b3eba12876c = b_e00b5b3eba12876c.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_e00b5b3eba12876c[] = { + &s_8cfeb072f5301000, + &s_9b1657f34caf3ad3, + &s_b231a753cc079120, + &s_d692e23d1a247d99, +}; +static const uint16_t m_e00b5b3eba12876c[] = {17, 27, 18, 5, 4, 32, 39, 38, 31, 1, 22, 13, 8, 19, 12, 7, 23, 24, 6, 34, 11, 0, 15, 2, 25, 9, 36, 29, 30, 10, 28, 37, 35, 33, 16, 21, 20, 26, 3, 14}; +static const uint16_t i_e00b5b3eba12876c[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39}; +const ::capnp::_::RawSchema s_e00b5b3eba12876c = { + 0xe00b5b3eba12876c, b_e00b5b3eba12876c.words, 711, d_e00b5b3eba12876c, m_e00b5b3eba12876c, + 4, 40, i_e00b5b3eba12876c, nullptr, nullptr, { &s_e00b5b3eba12876c, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<41> b_b231a753cc079120 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 32, 145, 7, 204, 83, 167, 49, 178, + 27, 0, 0, 0, 2, 0, 0, 0, + 108, 135, 18, 186, 62, 91, 11, 224, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 146, 1, 0, 0, + 45, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 127, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 76, 111, 110, 103, 105, 116, + 117, 100, 105, 110, 97, 108, 80, 108, + 97, 110, 46, 76, 111, 110, 103, 105, + 116, 117, 100, 105, 110, 97, 108, 80, + 108, 97, 110, 83, 111, 117, 114, 99, + 101, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 20, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 53, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 45, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 37, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 114, 117, 105, 115, 101, 0, 0, + 108, 101, 97, 100, 48, 0, 0, 0, + 108, 101, 97, 100, 49, 0, 0, 0, + 108, 101, 97, 100, 50, 0, 0, 0, + 101, 50, 101, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_b231a753cc079120 = b_b231a753cc079120.words; +#if !CAPNP_LITE +static const uint16_t m_b231a753cc079120[] = {0, 4, 1, 2, 3}; +const ::capnp::_::RawSchema s_b231a753cc079120 = { + 0xb231a753cc079120, b_b231a753cc079120.words, 41, nullptr, m_b231a753cc079120, + 0, 5, nullptr, nullptr, nullptr, { &s_b231a753cc079120, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(LongitudinalPlanSource_b231a753cc079120, b231a753cc079120); +static const ::capnp::_::AlignedData<58> b_8cfeb072f5301000 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 0, 16, 48, 245, 114, 176, 254, 140, + 27, 0, 0, 0, 1, 0, 0, 0, + 108, 135, 18, 186, 62, 91, 11, 224, + 2, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 74, 1, 0, 0, + 41, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 0, 0, 0, 119, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 76, 111, 110, 103, 105, 116, + 117, 100, 105, 110, 97, 108, 80, 108, + 97, 110, 46, 71, 112, 115, 84, 114, + 97, 106, 101, 99, 116, 111, 114, 121, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 8, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 36, 0, 0, 0, 3, 0, 1, 0, + 64, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 61, 0, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 56, 0, 0, 0, 3, 0, 1, 0, + 84, 0, 0, 0, 2, 0, 1, 0, + 120, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_8cfeb072f5301000 = b_8cfeb072f5301000.words; +#if !CAPNP_LITE +static const uint16_t m_8cfeb072f5301000[] = {0, 1}; +static const uint16_t i_8cfeb072f5301000[] = {0, 1}; +const ::capnp::_::RawSchema s_8cfeb072f5301000 = { + 0x8cfeb072f5301000, b_8cfeb072f5301000.words, 58, nullptr, m_8cfeb072f5301000, + 0, 2, i_8cfeb072f5301000, nullptr, nullptr, { &s_8cfeb072f5301000, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<67> b_fc0c9bb05e3927c1 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 193, 39, 57, 94, 176, 155, 12, 252, + 10, 0, 0, 0, 1, 0, 1, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 2, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 138, 0, 0, 0, + 29, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 0, 0, 0, 175, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 85, 105, 80, 108, 97, 110, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 12, 0, 0, 0, 3, 0, 4, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 69, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 68, 0, 0, 0, 3, 0, 1, 0, + 80, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 77, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 72, 0, 0, 0, 3, 0, 1, 0, + 100, 0, 0, 0, 2, 0, 1, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 92, 0, 0, 0, 3, 0, 1, 0, + 104, 0, 0, 0, 2, 0, 1, 0, + 112, 111, 115, 105, 116, 105, 111, 110, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 128, 174, 5, 213, 31, 174, 203, 195, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 99, 99, 101, 108, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 114, 97, 109, 101, 73, 100, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_fc0c9bb05e3927c1 = b_fc0c9bb05e3927c1.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_fc0c9bb05e3927c1[] = { + &s_c3cbae1fd505ae80, +}; +static const uint16_t m_fc0c9bb05e3927c1[] = {1, 2, 0}; +static const uint16_t i_fc0c9bb05e3927c1[] = {0, 1, 2}; +const ::capnp::_::RawSchema s_fc0c9bb05e3927c1 = { + 0xfc0c9bb05e3927c1, b_fc0c9bb05e3927c1.words, 67, d_fc0c9bb05e3927c1, m_fc0c9bb05e3927c1, + 1, 3, i_fc0c9bb05e3927c1, nullptr, nullptr, { &s_fc0c9bb05e3927c1, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<615> b_e1e9318e2ae8b51e = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 30, 181, 232, 42, 142, 49, 233, 225, + 10, 0, 0, 0, 1, 0, 9, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 9, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 178, 0, 0, 0, + 29, 0, 0, 0, 23, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 119, 7, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 76, 97, 116, 101, 114, 97, + 108, 80, 108, 97, 110, 0, 0, 0, + 4, 0, 0, 0, 1, 0, 1, 0, + 198, 33, 112, 91, 103, 124, 202, 253, + 1, 0, 0, 0, 98, 0, 0, 0, + 83, 111, 108, 118, 101, 114, 83, 116, + 97, 116, 101, 0, 0, 0, 0, 0, + 136, 0, 0, 0, 3, 0, 4, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 169, 3, 0, 0, 162, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 172, 3, 0, 0, 3, 0, 1, 0, + 184, 3, 0, 0, 2, 0, 1, 0, + 22, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 181, 3, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 180, 3, 0, 0, 3, 0, 1, 0, + 208, 3, 0, 0, 2, 0, 1, 0, + 23, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 205, 3, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 204, 3, 0, 0, 3, 0, 1, 0, + 232, 3, 0, 0, 2, 0, 1, 0, + 21, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 229, 3, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 228, 3, 0, 0, 3, 0, 1, 0, + 240, 3, 0, 0, 2, 0, 1, 0, + 24, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 237, 3, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 236, 3, 0, 0, 3, 0, 1, 0, + 8, 4, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 4, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 4, 0, 0, 3, 0, 1, 0, + 16, 4, 0, 0, 2, 0, 1, 0, + 25, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 4, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 4, 0, 0, 3, 0, 1, 0, + 40, 4, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 4, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 36, 4, 0, 0, 3, 0, 1, 0, + 48, 4, 0, 0, 2, 0, 1, 0, + 31, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 45, 4, 0, 0, 218, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 52, 4, 0, 0, 3, 0, 1, 0, + 64, 4, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 160, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 61, 4, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 64, 4, 0, 0, 3, 0, 1, 0, + 76, 4, 0, 0, 2, 0, 1, 0, + 30, 0, 0, 0, 161, 0, 0, 0, + 0, 0, 1, 0, 10, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 73, 4, 0, 0, 178, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 76, 4, 0, 0, 3, 0, 1, 0, + 88, 4, 0, 0, 2, 0, 1, 0, + 33, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 11, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 85, 4, 0, 0, 202, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 92, 4, 0, 0, 3, 0, 1, 0, + 104, 4, 0, 0, 2, 0, 1, 0, + 26, 0, 0, 0, 162, 0, 0, 0, + 0, 0, 1, 0, 12, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 4, 0, 0, 170, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 4, 0, 0, 3, 0, 1, 0, + 116, 4, 0, 0, 2, 0, 1, 0, + 32, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 13, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 113, 4, 0, 0, 210, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 120, 4, 0, 0, 3, 0, 1, 0, + 132, 4, 0, 0, 2, 0, 1, 0, + 29, 0, 0, 0, 163, 0, 0, 0, + 0, 0, 1, 0, 14, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 129, 4, 0, 0, 178, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 132, 4, 0, 0, 3, 0, 1, 0, + 144, 4, 0, 0, 2, 0, 1, 0, + 27, 0, 0, 0, 164, 0, 0, 0, + 0, 0, 1, 0, 15, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 141, 4, 0, 0, 162, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 144, 4, 0, 0, 3, 0, 1, 0, + 156, 4, 0, 0, 2, 0, 1, 0, + 28, 0, 0, 0, 165, 0, 0, 0, + 0, 0, 1, 0, 16, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 153, 4, 0, 0, 186, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 156, 4, 0, 0, 3, 0, 1, 0, + 168, 4, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 11, 0, 0, 0, + 0, 0, 1, 0, 17, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 165, 4, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 160, 4, 0, 0, 3, 0, 1, 0, + 172, 4, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 16, 0, 0, 0, + 0, 0, 1, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 169, 4, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 168, 4, 0, 0, 3, 0, 1, 0, + 180, 4, 0, 0, 2, 0, 1, 0, + 9, 0, 0, 0, 17, 0, 0, 0, + 0, 0, 1, 0, 19, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 177, 4, 0, 0, 162, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 180, 4, 0, 0, 3, 0, 1, 0, + 192, 4, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 20, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 189, 4, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 188, 4, 0, 0, 3, 0, 1, 0, + 216, 4, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 9, 0, 0, 0, + 0, 0, 1, 0, 21, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 213, 4, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 212, 4, 0, 0, 3, 0, 1, 0, + 224, 4, 0, 0, 2, 0, 1, 0, + 17, 0, 0, 0, 10, 0, 0, 0, + 0, 0, 1, 0, 22, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 221, 4, 0, 0, 162, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 224, 4, 0, 0, 3, 0, 1, 0, + 236, 4, 0, 0, 2, 0, 1, 0, + 18, 0, 0, 0, 11, 0, 0, 0, + 0, 0, 1, 0, 23, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 233, 4, 0, 0, 194, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 236, 4, 0, 0, 3, 0, 1, 0, + 248, 4, 0, 0, 2, 0, 1, 0, + 19, 0, 0, 0, 12, 0, 0, 0, + 0, 0, 1, 0, 24, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 245, 4, 0, 0, 186, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 248, 4, 0, 0, 3, 0, 1, 0, + 4, 5, 0, 0, 2, 0, 1, 0, + 20, 0, 0, 0, 13, 0, 0, 0, + 0, 0, 1, 0, 25, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 5, 0, 0, 218, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 5, 0, 0, 3, 0, 1, 0, + 20, 5, 0, 0, 2, 0, 1, 0, + 11, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 26, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 17, 5, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 5, 0, 0, 3, 0, 1, 0, + 40, 5, 0, 0, 2, 0, 1, 0, + 12, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 27, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 5, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 36, 5, 0, 0, 3, 0, 1, 0, + 64, 5, 0, 0, 2, 0, 1, 0, + 13, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 28, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 61, 5, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 60, 5, 0, 0, 3, 0, 1, 0, + 88, 5, 0, 0, 2, 0, 1, 0, + 10, 0, 0, 0, 166, 0, 0, 0, + 0, 0, 1, 0, 29, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 85, 5, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 84, 5, 0, 0, 3, 0, 1, 0, + 96, 5, 0, 0, 2, 0, 1, 0, + 14, 0, 0, 0, 14, 0, 0, 0, + 0, 0, 1, 0, 30, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 93, 5, 0, 0, 162, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 96, 5, 0, 0, 3, 0, 1, 0, + 108, 5, 0, 0, 2, 0, 1, 0, + 0, 0, 0, 0, 8, 0, 0, 0, + 0, 0, 1, 0, 31, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 5, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 5, 0, 0, 3, 0, 1, 0, + 116, 5, 0, 0, 2, 0, 1, 0, + 15, 0, 0, 0, 15, 0, 0, 0, + 0, 0, 1, 0, 32, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 113, 5, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 5, 0, 0, 3, 0, 1, 0, + 124, 5, 0, 0, 2, 0, 1, 0, + 16, 0, 0, 0, 8, 0, 0, 0, + 0, 0, 1, 0, 33, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 5, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 120, 5, 0, 0, 3, 0, 1, 0, + 132, 5, 0, 0, 2, 0, 1, 0, + 108, 97, 110, 101, 87, 105, 100, 116, + 104, 68, 69, 80, 82, 69, 67, 65, + 84, 69, 68, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 80, 111, 108, 121, 68, 69, 80, + 82, 69, 67, 65, 84, 69, 68, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 80, 111, 108, 121, 68, 69, 80, + 82, 69, 67, 65, 84, 69, 68, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 80, 114, 111, 98, 68, 69, 80, + 82, 69, 67, 65, 84, 69, 68, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 80, 111, 108, 121, 68, 69, 80, + 82, 69, 67, 65, 84, 69, 68, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 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9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 111, 108, 118, 101, 114, 67, 111, + 115, 116, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 111, 108, 118, 101, 114, 83, 116, + 97, 116, 101, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 198, 33, 112, 91, 103, 124, 202, 253, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_e1e9318e2ae8b51e = b_e1e9318e2ae8b51e.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_e1e9318e2ae8b51e[] = { + &s_9d0bc0c1fe671176, + &s_ae674a34ba421466, + &s_cd37924bf7b2d3d2, + &s_fdca7c675b7021c6, +}; +static const uint16_t m_e1e9318e2ae8b51e[] = {11, 2, 3, 15, 22, 23, 28, 27, 20, 1, 21, 17, 4, 5, 19, 18, 0, 31, 12, 9, 10, 16, 26, 6, 7, 24, 25, 14, 32, 30, 33, 8, 13, 29}; +static const uint16_t i_e1e9318e2ae8b51e[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33}; +const ::capnp::_::RawSchema s_e1e9318e2ae8b51e = { + 0xe1e9318e2ae8b51e, b_e1e9318e2ae8b51e.words, 615, d_e1e9318e2ae8b51e, m_e1e9318e2ae8b51e, + 4, 34, i_e1e9318e2ae8b51e, nullptr, nullptr, { &s_e1e9318e2ae8b51e, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<61> b_fdca7c675b7021c6 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 198, 33, 112, 91, 103, 124, 202, 253, + 22, 0, 0, 0, 1, 0, 0, 0, + 30, 181, 232, 42, 142, 49, 233, 225, + 2, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 18, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 119, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 76, 97, 116, 101, 114, 97, + 108, 80, 108, 97, 110, 46, 83, 111, + 108, 118, 101, 114, 83, 116, 97, 116, + 101, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 8, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 36, 0, 0, 0, 3, 0, 1, 0, + 80, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 77, 0, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 72, 0, 0, 0, 3, 0, 1, 0, + 100, 0, 0, 0, 2, 0, 1, 0, + 120, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_fdca7c675b7021c6 = b_fdca7c675b7021c6.words; +#if !CAPNP_LITE +static const uint16_t m_fdca7c675b7021c6[] = {1, 0}; +static const uint16_t i_fdca7c675b7021c6[] = {0, 1}; +const ::capnp::_::RawSchema s_fdca7c675b7021c6 = { + 0xfdca7c675b7021c6, b_fdca7c675b7021c6.words, 61, nullptr, m_fdca7c675b7021c6, + 0, 2, i_fdca7c675b7021c6, nullptr, nullptr, { &s_fdca7c675b7021c6, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<466> b_ebc5703d1ee7c129 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 41, 193, 231, 30, 61, 112, 197, 235, + 10, 0, 0, 0, 1, 0, 5, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 15, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 234, 0, 0, 0, + 33, 0, 0, 0, 39, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 57, 0, 0, 0, 239, 5, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 76, 105, 118, 101, 76, 111, + 99, 97, 116, 105, 111, 110, 75, 97, + 108, 109, 97, 110, 0, 0, 0, 0, + 8, 0, 0, 0, 1, 0, 1, 0, + 1, 252, 81, 75, 204, 200, 77, 142, + 9, 0, 0, 0, 58, 0, 0, 0, + 28, 206, 218, 102, 237, 249, 35, 191, + 5, 0, 0, 0, 98, 0, 0, 0, + 83, 116, 97, 116, 117, 115, 0, 0, + 77, 101, 97, 115, 117, 114, 101, 109, + 101, 110, 116, 0, 0, 0, 0, 0, + 108, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 229, 2, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 228, 2, 0, 0, 3, 0, 1, 0, + 240, 2, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 237, 2, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 240, 2, 0, 0, 3, 0, 1, 0, + 252, 2, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 249, 2, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 248, 2, 0, 0, 3, 0, 1, 0, + 4, 3, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 3, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 3, 0, 0, 3, 0, 1, 0, + 12, 3, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 3, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 3, 0, 0, 3, 0, 1, 0, + 20, 3, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 17, 3, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 20, 3, 0, 0, 3, 0, 1, 0, + 32, 3, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 3, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 28, 3, 0, 0, 3, 0, 1, 0, + 40, 3, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 3, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 36, 3, 0, 0, 3, 0, 1, 0, + 48, 3, 0, 0, 2, 0, 1, 0, + 9, 0, 0, 0, 8, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 45, 3, 0, 0, 178, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 48, 3, 0, 0, 3, 0, 1, 0, + 60, 3, 0, 0, 2, 0, 1, 0, + 10, 0, 0, 0, 9, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 57, 3, 0, 0, 202, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 64, 3, 0, 0, 3, 0, 1, 0, + 76, 3, 0, 0, 2, 0, 1, 0, + 11, 0, 0, 0, 10, 0, 0, 0, + 0, 0, 1, 0, 10, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 73, 3, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 76, 3, 0, 0, 3, 0, 1, 0, + 88, 3, 0, 0, 2, 0, 1, 0, + 12, 0, 0, 0, 11, 0, 0, 0, + 0, 0, 1, 0, 11, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 85, 3, 0, 0, 186, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 88, 3, 0, 0, 3, 0, 1, 0, + 100, 3, 0, 0, 2, 0, 1, 0, + 13, 0, 0, 0, 12, 0, 0, 0, + 0, 0, 1, 0, 12, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 3, 0, 0, 210, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 3, 0, 0, 3, 0, 1, 0, + 116, 3, 0, 0, 2, 0, 1, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 13, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 113, 3, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 3, 0, 0, 3, 0, 1, 0, + 120, 3, 0, 0, 2, 0, 1, 0, + 15, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 14, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 3, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 3, 0, 0, 3, 0, 1, 0, + 128, 3, 0, 0, 2, 0, 1, 0, + 16, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 15, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 125, 3, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 120, 3, 0, 0, 3, 0, 1, 0, + 132, 3, 0, 0, 2, 0, 1, 0, + 17, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 16, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 129, 3, 0, 0, 162, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 132, 3, 0, 0, 3, 0, 1, 0, + 144, 3, 0, 0, 2, 0, 1, 0, + 18, 0, 0, 0, 48, 0, 0, 0, + 0, 0, 1, 0, 17, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 141, 3, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 140, 3, 0, 0, 3, 0, 1, 0, + 152, 3, 0, 0, 2, 0, 1, 0, + 19, 0, 0, 0, 49, 0, 0, 0, + 0, 0, 1, 0, 18, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 149, 3, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 148, 3, 0, 0, 3, 0, 1, 0, + 160, 3, 0, 0, 2, 0, 1, 0, + 20, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 1, 0, 19, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 157, 3, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 152, 3, 0, 0, 3, 0, 1, 0, + 164, 3, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 13, 0, 0, 0, + 0, 0, 1, 0, 20, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 161, 3, 0, 0, 210, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 168, 3, 0, 0, 3, 0, 1, 0, + 180, 3, 0, 0, 2, 0, 1, 0, + 21, 0, 0, 0, 51, 0, 0, 0, + 0, 0, 1, 0, 21, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 177, 3, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 176, 3, 0, 0, 3, 0, 1, 0, + 188, 3, 0, 0, 2, 0, 1, 0, + 22, 0, 0, 0, 52, 0, 0, 0, + 0, 0, 1, 0, 22, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 185, 3, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 184, 3, 0, 0, 3, 0, 1, 0, + 196, 3, 0, 0, 2, 0, 1, 0, + 23, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 23, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 193, 3, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 192, 3, 0, 0, 3, 0, 1, 0, + 204, 3, 0, 0, 2, 0, 1, 0, + 24, 0, 0, 0, 53, 0, 0, 0, + 0, 0, 1, 0, 24, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 201, 3, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 200, 3, 0, 0, 3, 0, 1, 0, + 212, 3, 0, 0, 2, 0, 1, 0, + 25, 0, 0, 0, 8, 0, 0, 0, + 0, 0, 1, 0, 25, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 209, 3, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 208, 3, 0, 0, 3, 0, 1, 0, + 220, 3, 0, 0, 2, 0, 1, 0, + 26, 0, 0, 0, 14, 0, 0, 0, + 0, 0, 1, 0, 26, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 217, 3, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 216, 3, 0, 0, 3, 0, 1, 0, + 228, 3, 0, 0, 2, 0, 1, 0, + 112, 111, 115, 105, 116, 105, 111, 110, + 69, 67, 69, 70, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 28, 206, 218, 102, 237, 249, 35, 191, + 0, 0, 0, 0, 0, 0, 0, 0, + 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0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 99, 99, 101, 108, 101, 114, 97, + 116, 105, 111, 110, 67, 97, 108, 105, + 98, 114, 97, 116, 101, 100, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 28, 206, 218, 102, 237, 249, 35, 191, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 110, 103, 117, 108, 97, 114, 86, + 101, 108, 111, 99, 105, 116, 121, 67, + 97, 108, 105, 98, 114, 97, 116, 101, + 100, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 28, 206, 218, 102, 237, 249, 35, 191, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 103, 112, 115, 87, 101, 101, 107, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 103, 112, 115, 84, 105, 109, 101, 79, + 102, 87, 101, 101, 107, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 97, 116, 117, 115, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 1, 252, 81, 75, 204, 200, 77, 142, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 110, 105, 120, 84, 105, 109, 101, + 115, 116, 97, 109, 112, 77, 105, 108, + 108, 105, 115, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 110, 112, 117, 116, 115, 79, 75, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 111, 115, 101, 110, 101, 116, 79, + 75, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 103, 112, 115, 79, 75, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 108, 105, 98, 114, 97, 116, + 101, 100, 79, 114, 105, 101, 110, 116, + 97, 116, 105, 111, 110, 69, 67, 69, + 70, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 28, 206, 218, 102, 237, 249, 35, 191, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 101, 110, 115, 111, 114, 115, 79, + 75, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 101, 118, 105, 99, 101, 83, 116, + 97, 98, 108, 101, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 105, 109, 101, 83, 105, 110, 99, + 101, 82, 101, 115, 101, 116, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 120, 99, 101, 115, 115, 105, 118, + 101, 82, 101, 115, 101, 116, 115, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 105, 109, 101, 84, 111, 70, 105, + 114, 115, 116, 70, 105, 120, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 105, 108, 116, 101, 114, 83, 116, + 97, 116, 101, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 28, 206, 218, 102, 237, 249, 35, 191, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_ebc5703d1ee7c129 = b_ebc5703d1ee7c129.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_ebc5703d1ee7c129[] = { + &s_8e4dc8cc4b51fc01, + &s_bf23f9ed66dace1c, +}; +static const uint16_t m_ebc5703d1ee7c129[] = {11, 5, 12, 8, 20, 9, 22, 24, 26, 19, 14, 13, 17, 6, 7, 18, 0, 1, 21, 15, 23, 25, 16, 10, 4, 2, 3}; +static const uint16_t i_ebc5703d1ee7c129[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26}; +const ::capnp::_::RawSchema s_ebc5703d1ee7c129 = { + 0xebc5703d1ee7c129, b_ebc5703d1ee7c129.words, 466, d_ebc5703d1ee7c129, m_ebc5703d1ee7c129, + 2, 27, i_ebc5703d1ee7c129, nullptr, nullptr, { &s_ebc5703d1ee7c129, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<33> b_8e4dc8cc4b51fc01 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 1, 252, 81, 75, 204, 200, 77, 142, + 29, 0, 0, 0, 2, 0, 0, 0, + 41, 193, 231, 30, 61, 112, 197, 235, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 34, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 79, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 76, 105, 118, 101, 76, 111, + 99, 97, 116, 105, 111, 110, 75, 97, + 108, 109, 97, 110, 46, 83, 116, 97, + 116, 117, 115, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 12, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 25, 0, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 110, 105, 110, 105, 116, 105, 97, + 108, 105, 122, 101, 100, 0, 0, 0, + 117, 110, 99, 97, 108, 105, 98, 114, + 97, 116, 101, 100, 0, 0, 0, 0, + 118, 97, 108, 105, 100, 0, 0, 0, } +}; +::capnp::word const* const bp_8e4dc8cc4b51fc01 = b_8e4dc8cc4b51fc01.words; +#if !CAPNP_LITE +static const uint16_t m_8e4dc8cc4b51fc01[] = {1, 0, 2}; +const ::capnp::_::RawSchema s_8e4dc8cc4b51fc01 = { + 0x8e4dc8cc4b51fc01, b_8e4dc8cc4b51fc01.words, 33, nullptr, m_8e4dc8cc4b51fc01, + 0, 3, nullptr, nullptr, nullptr, { &s_8e4dc8cc4b51fc01, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(Status_8e4dc8cc4b51fc01, 8e4dc8cc4b51fc01); +static const ::capnp::_::AlignedData<73> b_bf23f9ed66dace1c = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 28, 206, 218, 102, 237, 249, 35, 191, + 29, 0, 0, 0, 1, 0, 1, 0, + 41, 193, 231, 30, 61, 112, 197, 235, + 2, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 74, 1, 0, 0, + 41, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 0, 0, 0, 175, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 76, 105, 118, 101, 76, 111, + 99, 97, 116, 105, 111, 110, 75, 97, + 108, 109, 97, 110, 46, 77, 101, 97, + 115, 117, 114, 101, 109, 101, 110, 116, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 12, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 69, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 64, 0, 0, 0, 3, 0, 1, 0, + 92, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 89, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 84, 0, 0, 0, 3, 0, 1, 0, + 112, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 0, 0, 0, 3, 0, 1, 0, + 116, 0, 0, 0, 2, 0, 1, 0, + 118, 97, 108, 117, 101, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 100, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 118, 97, 108, 105, 100, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_bf23f9ed66dace1c = b_bf23f9ed66dace1c.words; +#if !CAPNP_LITE +static const uint16_t m_bf23f9ed66dace1c[] = {1, 2, 0}; +static const uint16_t i_bf23f9ed66dace1c[] = {0, 1, 2}; +const ::capnp::_::RawSchema s_bf23f9ed66dace1c = { + 0xbf23f9ed66dace1c, b_bf23f9ed66dace1c.words, 73, nullptr, m_bf23f9ed66dace1c, + 0, 3, i_bf23f9ed66dace1c, nullptr, nullptr, { &s_bf23f9ed66dace1c, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<81> b_af85387b3f681406 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 6, 20, 104, 63, 123, 56, 133, 175, + 10, 0, 0, 0, 1, 0, 0, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 3, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 146, 0, 0, 0, + 29, 0, 0, 0, 55, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 65, 0, 0, 0, 175, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 80, 114, 111, 99, 76, 111, + 103, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 1, 0, 1, 0, + 40, 109, 158, 241, 19, 86, 184, 176, + 17, 0, 0, 0, 66, 0, 0, 0, + 135, 224, 44, 191, 197, 200, 137, 241, + 13, 0, 0, 0, 74, 0, 0, 0, + 212, 63, 139, 240, 148, 95, 9, 253, + 13, 0, 0, 0, 34, 0, 0, 0, + 80, 114, 111, 99, 101, 115, 115, 0, + 67, 80, 85, 84, 105, 109, 101, 115, + 0, 0, 0, 0, 0, 0, 0, 0, + 77, 101, 109, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 69, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 68, 0, 0, 0, 3, 0, 1, 0, + 96, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 93, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 88, 0, 0, 0, 3, 0, 1, 0, + 100, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 92, 0, 0, 0, 3, 0, 1, 0, + 120, 0, 0, 0, 2, 0, 1, 0, + 99, 112, 117, 84, 105, 109, 101, 115, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 135, 224, 44, 191, 197, 200, 137, 241, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 101, 109, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 212, 63, 139, 240, 148, 95, 9, 253, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 114, 111, 99, 115, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 40, 109, 158, 241, 19, 86, 184, 176, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_af85387b3f681406 = b_af85387b3f681406.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_af85387b3f681406[] = { + &s_b0b85613f19e6d28, + &s_f189c8c5bf2ce087, + &s_fd095f94f08b3fd4, +}; +static const uint16_t m_af85387b3f681406[] = {0, 1, 2}; +static const uint16_t i_af85387b3f681406[] = {0, 1, 2}; +const ::capnp::_::RawSchema s_af85387b3f681406 = { + 0xaf85387b3f681406, b_af85387b3f681406.words, 81, d_af85387b3f681406, m_af85387b3f681406, + 3, 3, i_af85387b3f681406, nullptr, nullptr, { &s_af85387b3f681406, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<285> b_b0b85613f19e6d28 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 40, 109, 158, 241, 19, 86, 184, 176, + 18, 0, 0, 0, 1, 0, 9, 0, + 6, 20, 104, 63, 123, 56, 133, 175, + 3, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 210, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 191, 3, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 80, 114, 111, 99, 76, 111, + 103, 46, 80, 114, 111, 99, 101, 115, + 115, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 68, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 205, 1, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 200, 1, 0, 0, 3, 0, 1, 0, + 212, 1, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 209, 1, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 204, 1, 0, 0, 3, 0, 1, 0, + 216, 1, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 213, 1, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 208, 1, 0, 0, 3, 0, 1, 0, + 220, 1, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 217, 1, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 212, 1, 0, 0, 3, 0, 1, 0, + 224, 1, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 221, 1, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 216, 1, 0, 0, 3, 0, 1, 0, + 228, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 225, 1, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 224, 1, 0, 0, 3, 0, 1, 0, + 236, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 233, 1, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 232, 1, 0, 0, 3, 0, 1, 0, + 244, 1, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 241, 1, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 244, 1, 0, 0, 3, 0, 1, 0, + 0, 2, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 253, 1, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 252, 1, 0, 0, 3, 0, 1, 0, + 8, 2, 0, 0, 2, 0, 1, 0, + 9, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 2, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 2, 0, 0, 3, 0, 1, 0, + 12, 2, 0, 0, 2, 0, 1, 0, + 10, 0, 0, 0, 10, 0, 0, 0, + 0, 0, 1, 0, 10, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 2, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 2, 0, 0, 3, 0, 1, 0, + 20, 2, 0, 0, 2, 0, 1, 0, + 11, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 11, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 17, 2, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 2, 0, 0, 3, 0, 1, 0, + 28, 2, 0, 0, 2, 0, 1, 0, + 12, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 12, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 2, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 20, 2, 0, 0, 3, 0, 1, 0, + 32, 2, 0, 0, 2, 0, 1, 0, + 13, 0, 0, 0, 8, 0, 0, 0, + 0, 0, 1, 0, 13, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 2, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 24, 2, 0, 0, 3, 0, 1, 0, + 36, 2, 0, 0, 2, 0, 1, 0, + 14, 0, 0, 0, 11, 0, 0, 0, + 0, 0, 1, 0, 14, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 2, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 32, 2, 0, 0, 3, 0, 1, 0, + 44, 2, 0, 0, 2, 0, 1, 0, + 15, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 15, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 2, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 36, 2, 0, 0, 3, 0, 1, 0, + 64, 2, 0, 0, 2, 0, 1, 0, + 16, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 16, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 61, 2, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 56, 2, 0, 0, 3, 0, 1, 0, + 68, 2, 0, 0, 2, 0, 1, 0, + 112, 105, 100, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 110, 97, 109, 101, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 97, 116, 101, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 112, 105, 100, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 112, 117, 85, 115, 101, 114, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 112, 117, 83, 121, 115, 116, 101, + 109, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 112, 117, 67, 104, 105, 108, 100, + 114, 101, 110, 85, 115, 101, 114, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 112, 117, 67, 104, 105, 108, 100, + 114, 101, 110, 83, 121, 115, 116, 101, + 109, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 114, 105, 111, 114, 105, 116, 121, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 110, 105, 99, 101, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 110, 117, 109, 84, 104, 114, 101, 97, + 100, 115, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 97, 114, 116, 84, 105, 109, + 101, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 101, 109, 86, 109, 115, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 101, 109, 82, 115, 115, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 114, 111, 99, 101, 115, 115, 111, + 114, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 109, 100, 108, 105, 110, 101, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 120, 101, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_b0b85613f19e6d28 = b_b0b85613f19e6d28.words; +#if !CAPNP_LITE +static const uint16_t m_b0b85613f19e6d28[] = {15, 7, 6, 5, 4, 16, 13, 12, 1, 9, 10, 0, 3, 8, 14, 11, 2}; +static const uint16_t i_b0b85613f19e6d28[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16}; +const ::capnp::_::RawSchema s_b0b85613f19e6d28 = { + 0xb0b85613f19e6d28, b_b0b85613f19e6d28.words, 285, nullptr, m_b0b85613f19e6d28, + 0, 17, i_b0b85613f19e6d28, nullptr, nullptr, { &s_b0b85613f19e6d28, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<138> b_f189c8c5bf2ce087 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 135, 224, 44, 191, 197, 200, 137, 241, + 18, 0, 0, 0, 1, 0, 5, 0, + 6, 20, 104, 63, 123, 56, 133, 175, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 218, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 199, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 80, 114, 111, 99, 76, 111, + 103, 46, 67, 80, 85, 84, 105, 109, + 101, 115, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 32, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 209, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 204, 0, 0, 0, 3, 0, 1, 0, + 216, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 213, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 208, 0, 0, 0, 3, 0, 1, 0, + 220, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 217, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 212, 0, 0, 0, 3, 0, 1, 0, + 224, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 221, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 216, 0, 0, 0, 3, 0, 1, 0, + 228, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 225, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 220, 0, 0, 0, 3, 0, 1, 0, + 232, 0, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 229, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 224, 0, 0, 0, 3, 0, 1, 0, + 236, 0, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 233, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 228, 0, 0, 0, 3, 0, 1, 0, + 240, 0, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 8, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 237, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 232, 0, 0, 0, 3, 0, 1, 0, + 244, 0, 0, 0, 2, 0, 1, 0, + 99, 112, 117, 78, 117, 109, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 115, 101, 114, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 110, 105, 99, 101, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 121, 115, 116, 101, 109, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 100, 108, 101, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 111, 119, 97, 105, 116, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 114, 113, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 111, 102, 116, 105, 114, 113, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_f189c8c5bf2ce087 = b_f189c8c5bf2ce087.words; +#if !CAPNP_LITE +static const uint16_t m_f189c8c5bf2ce087[] = {0, 4, 5, 6, 2, 7, 3, 1}; +static const uint16_t i_f189c8c5bf2ce087[] = {0, 1, 2, 3, 4, 5, 6, 7}; +const ::capnp::_::RawSchema s_f189c8c5bf2ce087 = { + 0xf189c8c5bf2ce087, b_f189c8c5bf2ce087.words, 138, nullptr, m_f189c8c5bf2ce087, + 0, 8, i_f189c8c5bf2ce087, nullptr, nullptr, { &s_f189c8c5bf2ce087, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<139> b_fd095f94f08b3fd4 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 212, 63, 139, 240, 148, 95, 9, 253, + 18, 0, 0, 0, 1, 0, 8, 0, + 6, 20, 104, 63, 123, 56, 133, 175, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 178, 0, 0, 0, + 29, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 0, 0, 0, 199, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 80, 114, 111, 99, 76, 111, + 103, 46, 77, 101, 109, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 32, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 209, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 204, 0, 0, 0, 3, 0, 1, 0, + 216, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 213, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 208, 0, 0, 0, 3, 0, 1, 0, + 220, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 217, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 216, 0, 0, 0, 3, 0, 1, 0, + 228, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 225, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 220, 0, 0, 0, 3, 0, 1, 0, + 232, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 229, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 224, 0, 0, 0, 3, 0, 1, 0, + 236, 0, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 233, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 228, 0, 0, 0, 3, 0, 1, 0, + 240, 0, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 237, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 236, 0, 0, 0, 3, 0, 1, 0, + 248, 0, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 245, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 240, 0, 0, 0, 3, 0, 1, 0, + 252, 0, 0, 0, 2, 0, 1, 0, + 116, 111, 116, 97, 108, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 114, 101, 101, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 118, 97, 105, 108, 97, 98, 108, + 101, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 98, 117, 102, 102, 101, 114, 115, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 99, 104, 101, 100, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 99, 116, 105, 118, 101, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 110, 97, 99, 116, 105, 118, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 104, 97, 114, 101, 100, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_fd095f94f08b3fd4 = b_fd095f94f08b3fd4.words; +#if !CAPNP_LITE +static const uint16_t m_fd095f94f08b3fd4[] = {5, 2, 3, 4, 1, 6, 7, 0}; +static const uint16_t i_fd095f94f08b3fd4[] = {0, 1, 2, 3, 4, 5, 6, 7}; +const ::capnp::_::RawSchema s_fd095f94f08b3fd4 = { + 0xfd095f94f08b3fd4, b_fd095f94f08b3fd4.words, 139, nullptr, m_fd095f94f08b3fd4, + 0, 8, i_fd095f94f08b3fd4, nullptr, nullptr, { &s_fd095f94f08b3fd4, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<216> b_afd47016570e9d09 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 9, 157, 14, 87, 22, 112, 212, 175, + 10, 0, 0, 0, 1, 0, 3, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 6, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 218, 0, 0, 0, + 33, 0, 0, 0, 103, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 137, 0, 0, 0, 55, 2, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 71, 110, 115, 115, 77, 101, + 97, 115, 117, 114, 101, 109, 101, 110, + 116, 115, 0, 0, 0, 0, 0, 0, + 24, 0, 0, 0, 1, 0, 1, 0, + 96, 184, 191, 168, 230, 107, 40, 243, + 41, 0, 0, 0, 130, 0, 0, 0, + 176, 118, 172, 134, 125, 161, 164, 234, + 41, 0, 0, 0, 170, 0, 0, 0, + 133, 173, 192, 135, 80, 239, 194, 188, + 45, 0, 0, 0, 210, 0, 0, 0, + 119, 8, 69, 168, 46, 156, 7, 130, + 53, 0, 0, 0, 130, 0, 0, 0, + 147, 141, 176, 4, 24, 188, 153, 194, + 53, 0, 0, 0, 114, 0, 0, 0, + 246, 153, 166, 150, 51, 155, 227, 246, + 53, 0, 0, 0, 130, 0, 0, 0, + 69, 112, 104, 101, 109, 101, 114, 105, + 115, 83, 116, 97, 116, 117, 115, 0, + 67, 111, 114, 114, 101, 99, 116, 101, + 100, 77, 101, 97, 115, 117, 114, 101, + 109, 101, 110, 116, 0, 0, 0, 0, + 69, 112, 104, 101, 109, 101, 114, 105, + 115, 83, 111, 117, 114, 99, 101, 68, + 69, 80, 82, 69, 67, 65, 84, 69, + 68, 0, 0, 0, 0, 0, 0, 0, + 67, 111, 110, 115, 116, 101, 108, 108, + 97, 116, 105, 111, 110, 73, 100, 0, + 69, 112, 104, 101, 109, 101, 114, 105, + 115, 84, 121, 112, 101, 0, 0, 0, + 69, 112, 104, 101, 109, 101, 114, 105, + 115, 83, 111, 117, 114, 99, 101, 0, + 40, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 1, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 1, 0, 0, 3, 0, 1, 0, + 20, 1, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 17, 1, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 1, 0, 0, 3, 0, 1, 0, + 24, 1, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 1, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 20, 1, 0, 0, 3, 0, 1, 0, + 32, 1, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 1, 0, 0, 178, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 32, 1, 0, 0, 3, 0, 1, 0, + 60, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 57, 1, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 60, 1, 0, 0, 3, 0, 1, 0, + 72, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 69, 1, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 72, 1, 0, 0, 3, 0, 1, 0, + 84, 1, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 81, 1, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 80, 1, 0, 0, 3, 0, 1, 0, + 92, 1, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 89, 1, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 88, 1, 0, 0, 3, 0, 1, 0, + 100, 1, 0, 0, 2, 0, 1, 0, + 9, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 1, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 96, 1, 0, 0, 3, 0, 1, 0, + 108, 1, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 1, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 1, 0, 0, 3, 0, 1, 0, + 136, 1, 0, 0, 2, 0, 1, 0, + 109, 101, 97, 115, 84, 105, 109, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 103, 112, 115, 87, 101, 101, 107, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 103, 112, 115, 84, 105, 109, 101, 79, + 102, 87, 101, 101, 107, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 111, 114, 114, 101, 99, 116, 101, + 100, 77, 101, 97, 115, 117, 114, 101, + 109, 101, 110, 116, 115, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 176, 118, 172, 134, 125, 161, 164, 234, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 107, 97, 108, 109, 97, 110, 80, 111, + 115, 105, 116, 105, 111, 110, 69, 67, + 69, 70, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 28, 206, 218, 102, 237, 249, 35, 191, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 107, 97, 108, 109, 97, 110, 86, 101, + 108, 111, 99, 105, 116, 121, 69, 67, + 69, 70, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 28, 206, 218, 102, 237, 249, 35, 191, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 111, 115, 105, 116, 105, 111, 110, + 69, 67, 69, 70, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 28, 206, 218, 102, 237, 249, 35, 191, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 118, 101, 108, 111, 99, 105, 116, 121, + 69, 67, 69, 70, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 28, 206, 218, 102, 237, 249, 35, 191, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 105, 109, 101, 84, 111, 70, 105, + 114, 115, 116, 70, 105, 120, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 112, 104, 101, 109, 101, 114, 105, + 115, 83, 116, 97, 116, 117, 115, 101, + 115, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 96, 184, 191, 168, 230, 107, 40, 243, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_afd47016570e9d09 = b_afd47016570e9d09.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_afd47016570e9d09[] = { + &s_bf23f9ed66dace1c, + &s_eaa4a17d86ac76b0, + &s_f3286be6a8bfb860, +}; +static const uint16_t m_afd47016570e9d09[] = {3, 9, 2, 1, 4, 5, 0, 6, 8, 7}; +static const uint16_t i_afd47016570e9d09[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9}; +const ::capnp::_::RawSchema s_afd47016570e9d09 = { + 0xafd47016570e9d09, b_afd47016570e9d09.words, 216, d_afd47016570e9d09, m_afd47016570e9d09, + 3, 10, i_afd47016570e9d09, nullptr, nullptr, { &s_afd47016570e9d09, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<111> b_f3286be6a8bfb860 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 96, 184, 191, 168, 230, 107, 40, 243, + 27, 0, 0, 0, 1, 0, 3, 0, + 9, 157, 14, 87, 22, 112, 212, 175, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 90, 1, 0, 0, + 41, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 0, 0, 0, 87, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 71, 110, 115, 115, 77, 101, + 97, 115, 117, 114, 101, 109, 101, 110, + 116, 115, 46, 69, 112, 104, 101, 109, + 101, 114, 105, 115, 83, 116, 97, 116, + 117, 115, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 24, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 153, 0, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 152, 0, 0, 0, 3, 0, 1, 0, + 164, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 161, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 156, 0, 0, 0, 3, 0, 1, 0, + 168, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 165, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 160, 0, 0, 0, 3, 0, 1, 0, + 172, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 169, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 164, 0, 0, 0, 3, 0, 1, 0, + 176, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 173, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 168, 0, 0, 0, 3, 0, 1, 0, + 180, 0, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 177, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 172, 0, 0, 0, 3, 0, 1, 0, + 184, 0, 0, 0, 2, 0, 1, 0, + 99, 111, 110, 115, 116, 101, 108, 108, + 97, 116, 105, 111, 110, 73, 100, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 119, 8, 69, 168, 46, 156, 7, 130, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 118, 73, 100, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 121, 112, 101, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 147, 141, 176, 4, 24, 188, 153, 194, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 111, 117, 114, 99, 101, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 246, 153, 166, 150, 51, 155, 227, 246, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 103, 112, 115, 87, 101, 101, 107, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 111, 119, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_f3286be6a8bfb860 = b_f3286be6a8bfb860.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_f3286be6a8bfb860[] = { + &s_82079c2ea8450877, + &s_c299bc1804b08d93, + &s_f6e39b3396a699f6, +}; +static const uint16_t m_f3286be6a8bfb860[] = {0, 4, 3, 1, 5, 2}; +static const uint16_t i_f3286be6a8bfb860[] = {0, 1, 2, 3, 4, 5}; +const ::capnp::_::RawSchema s_f3286be6a8bfb860 = { + 0xf3286be6a8bfb860, b_f3286be6a8bfb860.words, 111, d_f3286be6a8bfb860, m_f3286be6a8bfb860, + 3, 6, i_f3286be6a8bfb860, nullptr, nullptr, { &s_f3286be6a8bfb860, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<189> b_eaa4a17d86ac76b0 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 176, 118, 172, 134, 125, 161, 164, 234, + 27, 0, 0, 0, 1, 0, 5, 0, + 9, 157, 14, 87, 22, 112, 212, 175, + 3, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 130, 1, 0, 0, + 41, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 0, 0, 0, 55, 2, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 71, 110, 115, 115, 77, 101, + 97, 115, 117, 114, 101, 109, 101, 110, + 116, 115, 46, 67, 111, 114, 114, 101, + 99, 116, 101, 100, 77, 101, 97, 115, + 117, 114, 101, 109, 101, 110, 116, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 40, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 1, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 1, 0, 0, 3, 0, 1, 0, + 20, 1, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 17, 1, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 1, 0, 0, 3, 0, 1, 0, + 24, 1, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 1, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 24, 1, 0, 0, 3, 0, 1, 0, + 36, 1, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 1, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 32, 1, 0, 0, 3, 0, 1, 0, + 44, 1, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 1, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 40, 1, 0, 0, 3, 0, 1, 0, + 52, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 49, 1, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 48, 1, 0, 0, 3, 0, 1, 0, + 60, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 57, 1, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 60, 1, 0, 0, 3, 0, 1, 0, + 72, 1, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 69, 1, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 64, 1, 0, 0, 3, 0, 1, 0, + 92, 1, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 89, 1, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 84, 1, 0, 0, 3, 0, 1, 0, + 112, 1, 0, 0, 2, 0, 1, 0, + 9, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 1, 0, 0, 210, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 1, 0, 0, 3, 0, 1, 0, + 128, 1, 0, 0, 2, 0, 1, 0, + 99, 111, 110, 115, 116, 101, 108, 108, + 97, 116, 105, 111, 110, 73, 100, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 119, 8, 69, 168, 46, 156, 7, 130, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 118, 73, 100, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 103, 108, 111, 110, 97, 115, 115, 70, + 114, 101, 113, 117, 101, 110, 99, 121, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 115, 101, 117, 100, 111, 114, 97, + 110, 103, 101, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 115, 101, 117, 100, 111, 114, 97, + 110, 103, 101, 83, 116, 100, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 115, 101, 117, 100, 111, 114, 97, + 110, 103, 101, 82, 97, 116, 101, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 115, 101, 117, 100, 111, 114, 97, + 110, 103, 101, 82, 97, 116, 101, 83, + 116, 100, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 97, 116, 80, 111, 115, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 97, 116, 86, 101, 108, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 112, 104, 101, 109, 101, 114, 105, + 115, 83, 111, 117, 114, 99, 101, 68, + 69, 80, 82, 69, 67, 65, 84, 69, + 68, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 133, 173, 192, 135, 80, 239, 194, 188, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_eaa4a17d86ac76b0 = b_eaa4a17d86ac76b0.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_eaa4a17d86ac76b0[] = { + &s_82079c2ea8450877, + &s_bcc2ef5087c0ad85, +}; +static const uint16_t m_eaa4a17d86ac76b0[] = {0, 9, 2, 3, 5, 6, 4, 7, 8, 1}; +static const uint16_t i_eaa4a17d86ac76b0[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9}; +const ::capnp::_::RawSchema s_eaa4a17d86ac76b0 = { + 0xeaa4a17d86ac76b0, b_eaa4a17d86ac76b0.words, 189, d_eaa4a17d86ac76b0, m_eaa4a17d86ac76b0, + 2, 10, i_eaa4a17d86ac76b0, nullptr, nullptr, { &s_eaa4a17d86ac76b0, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<67> b_bcc2ef5087c0ad85 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 133, 173, 192, 135, 80, 239, 194, 188, + 27, 0, 0, 0, 1, 0, 1, 0, + 9, 157, 14, 87, 22, 112, 212, 175, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 170, 1, 0, 0, + 45, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 175, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 71, 110, 115, 115, 77, 101, + 97, 115, 117, 114, 101, 109, 101, 110, + 116, 115, 46, 69, 112, 104, 101, 109, + 101, 114, 105, 115, 83, 111, 117, 114, + 99, 101, 68, 69, 80, 82, 69, 67, + 65, 84, 69, 68, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 12, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 69, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 64, 0, 0, 0, 3, 0, 1, 0, + 76, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 73, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 68, 0, 0, 0, 3, 0, 1, 0, + 80, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 77, 0, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 76, 0, 0, 0, 3, 0, 1, 0, + 88, 0, 0, 0, 2, 0, 1, 0, + 116, 121, 112, 101, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 147, 141, 176, 4, 24, 188, 153, 194, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 103, 112, 115, 87, 101, 101, 107, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 103, 112, 115, 84, 105, 109, 101, 79, + 102, 87, 101, 101, 107, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_bcc2ef5087c0ad85 = b_bcc2ef5087c0ad85.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_bcc2ef5087c0ad85[] = { + &s_c299bc1804b08d93, +}; +static const uint16_t m_bcc2ef5087c0ad85[] = {2, 1, 0}; +static const uint16_t i_bcc2ef5087c0ad85[] = {0, 1, 2}; +const ::capnp::_::RawSchema s_bcc2ef5087c0ad85 = { + 0xbcc2ef5087c0ad85, b_bcc2ef5087c0ad85.words, 67, d_bcc2ef5087c0ad85, m_bcc2ef5087c0ad85, + 1, 3, i_bcc2ef5087c0ad85, nullptr, nullptr, { &s_bcc2ef5087c0ad85, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<48> b_82079c2ea8450877 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 119, 8, 69, 168, 46, 156, 7, 130, + 27, 0, 0, 0, 2, 0, 0, 0, + 9, 157, 14, 87, 22, 112, 212, 175, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 90, 1, 0, 0, + 41, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 0, 0, 0, 175, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 71, 110, 115, 115, 77, 101, + 97, 115, 117, 114, 101, 109, 101, 110, + 116, 115, 46, 67, 111, 110, 115, 116, + 101, 108, 108, 97, 116, 105, 111, 110, + 73, 100, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 28, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 77, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 69, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 61, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 53, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 45, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 37, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 103, 112, 115, 0, 0, 0, 0, 0, + 115, 98, 97, 115, 0, 0, 0, 0, + 103, 97, 108, 105, 108, 101, 111, 0, + 98, 101, 105, 100, 111, 117, 0, 0, + 105, 109, 101, 115, 0, 0, 0, 0, + 113, 122, 110, 115, 115, 0, 0, 0, + 103, 108, 111, 110, 97, 115, 115, 0, } +}; +::capnp::word const* const bp_82079c2ea8450877 = b_82079c2ea8450877.words; +#if !CAPNP_LITE +static const uint16_t m_82079c2ea8450877[] = {3, 2, 6, 0, 4, 5, 1}; +const ::capnp::_::RawSchema s_82079c2ea8450877 = { + 0x82079c2ea8450877, b_82079c2ea8450877.words, 48, nullptr, m_82079c2ea8450877, + 0, 7, nullptr, nullptr, nullptr, { &s_82079c2ea8450877, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(ConstellationId_82079c2ea8450877, 82079c2ea8450877); +static const ::capnp::_::AlignedData<39> b_c299bc1804b08d93 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 147, 141, 176, 4, 24, 188, 153, 194, + 27, 0, 0, 0, 2, 0, 0, 0, + 9, 157, 14, 87, 22, 112, 212, 175, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 74, 1, 0, 0, + 41, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 0, 0, 0, 103, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 71, 110, 115, 115, 77, 101, + 97, 115, 117, 114, 101, 109, 101, 110, + 116, 115, 46, 69, 112, 104, 101, 109, + 101, 114, 105, 115, 84, 121, 112, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 16, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 170, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 110, 97, 118, 0, 0, 0, 0, 0, + 110, 97, 115, 97, 85, 108, 116, 114, + 97, 82, 97, 112, 105, 100, 0, 0, + 103, 108, 111, 110, 97, 115, 115, 73, + 97, 99, 85, 108, 116, 114, 97, 82, + 97, 112, 105, 100, 0, 0, 0, 0, + 113, 99, 111, 109, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_c299bc1804b08d93 = b_c299bc1804b08d93.words; +#if !CAPNP_LITE +static const uint16_t m_c299bc1804b08d93[] = {2, 1, 0, 3}; +const ::capnp::_::RawSchema s_c299bc1804b08d93 = { + 0xc299bc1804b08d93, b_c299bc1804b08d93.words, 39, nullptr, m_c299bc1804b08d93, + 0, 4, nullptr, nullptr, nullptr, { &s_c299bc1804b08d93, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(EphemerisType_c299bc1804b08d93, c299bc1804b08d93); +static const ::capnp::_::AlignedData<38> b_f6e39b3396a699f6 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 246, 153, 166, 150, 51, 155, 227, 246, + 27, 0, 0, 0, 2, 0, 0, 0, + 9, 157, 14, 87, 22, 112, 212, 175, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 90, 1, 0, 0, + 41, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 0, 0, 0, 103, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 71, 110, 115, 115, 77, 101, + 97, 115, 117, 114, 101, 109, 101, 110, + 116, 115, 46, 69, 112, 104, 101, 109, + 101, 114, 105, 115, 83, 111, 117, 114, + 99, 101, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 16, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 37, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 25, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 103, 110, 115, 115, 67, 104, 105, 112, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 110, 116, 101, 114, 110, 101, 116, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 99, 104, 101, 0, 0, 0, + 117, 110, 107, 110, 111, 119, 110, 0, } +}; +::capnp::word const* const bp_f6e39b3396a699f6 = b_f6e39b3396a699f6.words; +#if !CAPNP_LITE +static const uint16_t m_f6e39b3396a699f6[] = {2, 0, 1, 3}; +const ::capnp::_::RawSchema s_f6e39b3396a699f6 = { + 0xf6e39b3396a699f6, b_f6e39b3396a699f6.words, 38, nullptr, m_f6e39b3396a699f6, + 0, 4, nullptr, nullptr, nullptr, { &s_f6e39b3396a699f6, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(EphemerisSource_f6e39b3396a699f6, f6e39b3396a699f6); +static const ::capnp::_::AlignedData<161> b_85dddd7ce6cefa5d = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 93, 250, 206, 230, 124, 221, 221, 133, + 10, 0, 0, 0, 1, 0, 1, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 1, 0, 7, 0, 0, 0, 7, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 162, 0, 0, 0, + 29, 0, 0, 0, 119, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 145, 0, 0, 0, 143, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 85, 98, 108, 111, 120, 71, + 110, 115, 115, 0, 0, 0, 0, 0, + 28, 0, 0, 0, 1, 0, 1, 0, + 83, 143, 104, 118, 255, 42, 100, 187, + 49, 0, 0, 0, 82, 0, 0, 0, + 244, 32, 152, 162, 70, 165, 59, 167, + 49, 0, 0, 0, 146, 0, 0, 0, + 92, 248, 24, 129, 120, 140, 65, 216, + 53, 0, 0, 0, 82, 0, 0, 0, + 38, 74, 154, 81, 222, 168, 163, 195, + 53, 0, 0, 0, 74, 0, 0, 0, + 168, 90, 39, 20, 177, 54, 176, 235, + 53, 0, 0, 0, 74, 0, 0, 0, + 198, 83, 14, 185, 16, 180, 25, 249, + 53, 0, 0, 0, 82, 0, 0, 0, + 12, 142, 56, 152, 17, 145, 197, 185, + 53, 0, 0, 0, 138, 0, 0, 0, + 83, 97, 116, 82, 101, 112, 111, 114, + 116, 0, 0, 0, 0, 0, 0, 0, + 77, 101, 97, 115, 117, 114, 101, 109, + 101, 110, 116, 82, 101, 112, 111, 114, + 116, 0, 0, 0, 0, 0, 0, 0, + 69, 112, 104, 101, 109, 101, 114, 105, + 115, 0, 0, 0, 0, 0, 0, 0, + 73, 111, 110, 111, 68, 97, 116, 97, + 0, 0, 0, 0, 0, 0, 0, 0, + 72, 119, 83, 116, 97, 116, 117, 115, + 0, 0, 0, 0, 0, 0, 0, 0, + 72, 119, 83, 116, 97, 116, 117, 115, + 50, 0, 0, 0, 0, 0, 0, 0, + 71, 108, 111, 110, 97, 115, 115, 69, + 112, 104, 101, 109, 101, 114, 105, 115, + 0, 0, 0, 0, 0, 0, 0, 0, + 28, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 255, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 181, 0, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 184, 0, 0, 0, 3, 0, 1, 0, + 196, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 254, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 193, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 192, 0, 0, 0, 3, 0, 1, 0, + 204, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 253, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 201, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 200, 0, 0, 0, 3, 0, 1, 0, + 212, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 252, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 209, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 208, 0, 0, 0, 3, 0, 1, 0, + 220, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 251, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 217, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 216, 0, 0, 0, 3, 0, 1, 0, + 228, 0, 0, 0, 2, 0, 1, 0, + 5, 0, 250, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 225, 0, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 228, 0, 0, 0, 3, 0, 1, 0, + 240, 0, 0, 0, 2, 0, 1, 0, + 6, 0, 249, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 237, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 236, 0, 0, 0, 3, 0, 1, 0, + 248, 0, 0, 0, 2, 0, 1, 0, + 109, 101, 97, 115, 117, 114, 101, 109, + 101, 110, 116, 82, 101, 112, 111, 114, + 116, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 244, 32, 152, 162, 70, 165, 59, 167, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 112, 104, 101, 109, 101, 114, 105, + 115, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 92, 248, 24, 129, 120, 140, 65, 216, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 111, 110, 111, 68, 97, 116, 97, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 38, 74, 154, 81, 222, 168, 163, 195, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 119, 83, 116, 97, 116, 117, 115, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 168, 90, 39, 20, 177, 54, 176, 235, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 119, 83, 116, 97, 116, 117, 115, + 50, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 198, 83, 14, 185, 16, 180, 25, 249, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 103, 108, 111, 110, 97, 115, 115, 69, + 112, 104, 101, 109, 101, 114, 105, 115, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 12, 142, 56, 152, 17, 145, 197, 185, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 97, 116, 82, 101, 112, 111, 114, + 116, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 83, 143, 104, 118, 255, 42, 100, 187, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_85dddd7ce6cefa5d = b_85dddd7ce6cefa5d.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_85dddd7ce6cefa5d[] = { + &s_a73ba546a29820f4, + &s_b9c5911198388e0c, + &s_bb642aff76688f53, + &s_c3a3a8de519a4a26, + &s_d8418c788118f85c, + &s_ebb036b114275aa8, + &s_f919b410b90e53c6, +}; +static const uint16_t m_85dddd7ce6cefa5d[] = {1, 5, 3, 4, 2, 0, 6}; +static const uint16_t i_85dddd7ce6cefa5d[] = {0, 1, 2, 3, 4, 5, 6}; +const ::capnp::_::RawSchema s_85dddd7ce6cefa5d = { + 0x85dddd7ce6cefa5d, b_85dddd7ce6cefa5d.words, 161, d_85dddd7ce6cefa5d, m_85dddd7ce6cefa5d, + 7, 7, i_85dddd7ce6cefa5d, nullptr, nullptr, { &s_85dddd7ce6cefa5d, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<55> b_bb642aff76688f53 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 83, 143, 104, 118, 255, 42, 100, 187, + 20, 0, 0, 0, 1, 0, 1, 0, + 93, 250, 206, 230, 124, 221, 221, 133, + 1, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 242, 0, 0, 0, + 33, 0, 0, 0, 23, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 119, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 85, 98, 108, 111, 120, 71, + 110, 115, 115, 46, 83, 97, 116, 82, + 101, 112, 111, 114, 116, 0, 0, 0, + 4, 0, 0, 0, 1, 0, 1, 0, + 67, 158, 215, 206, 2, 206, 157, 232, + 1, 0, 0, 0, 66, 0, 0, 0, + 83, 97, 116, 73, 110, 102, 111, 0, + 8, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 36, 0, 0, 0, 3, 0, 1, 0, + 48, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 45, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 40, 0, 0, 0, 3, 0, 1, 0, + 68, 0, 0, 0, 2, 0, 1, 0, + 105, 84, 111, 119, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 118, 115, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 67, 158, 215, 206, 2, 206, 157, 232, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_bb642aff76688f53 = b_bb642aff76688f53.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_bb642aff76688f53[] = { + &s_e89dce02ced79e43, +}; +static const uint16_t m_bb642aff76688f53[] = {0, 1}; +static const uint16_t i_bb642aff76688f53[] = {0, 1}; +const ::capnp::_::RawSchema s_bb642aff76688f53 = { + 0xbb642aff76688f53, b_bb642aff76688f53.words, 55, d_bb642aff76688f53, m_bb642aff76688f53, + 1, 2, i_bb642aff76688f53, nullptr, nullptr, { &s_bb642aff76688f53, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<65> b_e89dce02ced79e43 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 67, 158, 215, 206, 2, 206, 157, 232, + 30, 0, 0, 0, 1, 0, 1, 0, + 83, 143, 104, 118, 255, 42, 100, 187, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 50, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 175, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 85, 98, 108, 111, 120, 71, + 110, 115, 115, 46, 83, 97, 116, 82, + 101, 112, 111, 114, 116, 46, 83, 97, + 116, 73, 110, 102, 111, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 12, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 69, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 64, 0, 0, 0, 3, 0, 1, 0, + 76, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 73, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 68, 0, 0, 0, 3, 0, 1, 0, + 80, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 77, 0, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 76, 0, 0, 0, 3, 0, 1, 0, + 88, 0, 0, 0, 2, 0, 1, 0, + 115, 118, 73, 100, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 103, 110, 115, 115, 73, 100, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 108, 97, 103, 115, 66, 105, 116, + 102, 105, 101, 108, 100, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_e89dce02ced79e43 = b_e89dce02ced79e43.words; +#if !CAPNP_LITE +static const uint16_t m_e89dce02ced79e43[] = {2, 1, 0}; +static const uint16_t i_e89dce02ced79e43[] = {0, 1, 2}; +const ::capnp::_::RawSchema s_e89dce02ced79e43 = { + 0xe89dce02ced79e43, b_e89dce02ced79e43.words, 65, nullptr, m_e89dce02ced79e43, + 0, 3, i_e89dce02ced79e43, nullptr, nullptr, { &s_e89dce02ced79e43, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<124> b_a73ba546a29820f4 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 244, 32, 152, 162, 70, 165, 59, 167, + 20, 0, 0, 0, 1, 0, 2, 0, + 93, 250, 206, 230, 124, 221, 221, 133, + 2, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 50, 1, 0, 0, + 37, 0, 0, 0, 39, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 65, 0, 0, 0, 87, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 85, 98, 108, 111, 120, 71, + 110, 115, 115, 46, 77, 101, 97, 115, + 117, 114, 101, 109, 101, 110, 116, 82, + 101, 112, 111, 114, 116, 0, 0, 0, + 8, 0, 0, 0, 1, 0, 1, 0, + 182, 170, 96, 81, 214, 56, 184, 251, + 9, 0, 0, 0, 122, 0, 0, 0, + 1, 100, 50, 94, 95, 101, 138, 143, + 9, 0, 0, 0, 98, 0, 0, 0, + 82, 101, 99, 101, 105, 118, 101, 114, + 83, 116, 97, 116, 117, 115, 0, 0, + 77, 101, 97, 115, 117, 114, 101, 109, + 101, 110, 116, 0, 0, 0, 0, 0, + 24, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 153, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 148, 0, 0, 0, 3, 0, 1, 0, + 160, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 157, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 152, 0, 0, 0, 3, 0, 1, 0, + 164, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 161, 0, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 160, 0, 0, 0, 3, 0, 1, 0, + 172, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 169, 0, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 168, 0, 0, 0, 3, 0, 1, 0, + 180, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 12, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 177, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 172, 0, 0, 0, 3, 0, 1, 0, + 184, 0, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 181, 0, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 180, 0, 0, 0, 3, 0, 1, 0, + 208, 0, 0, 0, 2, 0, 1, 0, + 114, 99, 118, 84, 111, 119, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 103, 112, 115, 87, 101, 101, 107, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 97, 112, 83, 101, 99, 111, + 110, 100, 115, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 101, 99, 101, 105, 118, 101, 114, + 83, 116, 97, 116, 117, 115, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 182, 170, 96, 81, 214, 56, 184, 251, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 110, 117, 109, 77, 101, 97, 115, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 101, 97, 115, 117, 114, 101, 109, + 101, 110, 116, 115, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 1, 100, 50, 94, 95, 101, 138, 143, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_a73ba546a29820f4 = b_a73ba546a29820f4.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_a73ba546a29820f4[] = { + &s_8f8a655f5e326401, + &s_fbb838d65160aab6, +}; +static const uint16_t m_a73ba546a29820f4[] = {1, 2, 5, 4, 0, 3}; +static const uint16_t i_a73ba546a29820f4[] = {0, 1, 2, 3, 4, 5}; +const ::capnp::_::RawSchema s_a73ba546a29820f4 = { + 0xa73ba546a29820f4, b_a73ba546a29820f4.words, 124, d_a73ba546a29820f4, m_a73ba546a29820f4, + 2, 6, i_a73ba546a29820f4, nullptr, nullptr, { &s_a73ba546a29820f4, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<53> b_fbb838d65160aab6 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 182, 170, 96, 81, 214, 56, 184, 251, + 38, 0, 0, 0, 1, 0, 1, 0, + 244, 32, 152, 162, 70, 165, 59, 167, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 170, 1, 0, 0, + 45, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 119, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 85, 98, 108, 111, 120, 71, + 110, 115, 115, 46, 77, 101, 97, 115, + 117, 114, 101, 109, 101, 110, 116, 82, + 101, 112, 111, 114, 116, 46, 82, 101, + 99, 101, 105, 118, 101, 114, 83, 116, + 97, 116, 117, 115, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 8, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 40, 0, 0, 0, 3, 0, 1, 0, + 52, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 49, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 48, 0, 0, 0, 3, 0, 1, 0, + 60, 0, 0, 0, 2, 0, 1, 0, + 108, 101, 97, 112, 83, 101, 99, 86, + 97, 108, 105, 100, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 108, 107, 82, 101, 115, 101, 116, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_fbb838d65160aab6 = b_fbb838d65160aab6.words; +#if !CAPNP_LITE +static const uint16_t m_fbb838d65160aab6[] = {1, 0}; +static const uint16_t i_fbb838d65160aab6[] = {0, 1}; +const ::capnp::_::RawSchema s_fbb838d65160aab6 = { + 0xfbb838d65160aab6, b_fbb838d65160aab6.words, 53, nullptr, m_fbb838d65160aab6, + 0, 2, i_fbb838d65160aab6, nullptr, nullptr, { &s_fbb838d65160aab6, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<231> b_8f8a655f5e326401 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 1, 100, 50, 94, 95, 101, 138, 143, + 38, 0, 0, 0, 1, 0, 5, 0, + 244, 32, 152, 162, 70, 165, 59, 167, + 1, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 146, 1, 0, 0, + 45, 0, 0, 0, 23, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 57, 0, 0, 0, 223, 2, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 85, 98, 108, 111, 120, 71, + 110, 115, 115, 46, 77, 101, 97, 115, + 117, 114, 101, 109, 101, 110, 116, 82, + 101, 112, 111, 114, 116, 46, 77, 101, + 97, 115, 117, 114, 101, 109, 101, 110, + 116, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 1, 0, 1, 0, + 178, 153, 178, 2, 168, 179, 239, 232, + 1, 0, 0, 0, 122, 0, 0, 0, + 84, 114, 97, 99, 107, 105, 110, 103, + 83, 116, 97, 116, 117, 115, 0, 0, + 52, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 93, 1, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 88, 1, 0, 0, 3, 0, 1, 0, + 100, 1, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 1, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 96, 1, 0, 0, 3, 0, 1, 0, + 108, 1, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 1, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 1, 0, 0, 3, 0, 1, 0, + 116, 1, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 113, 1, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 1, 0, 0, 3, 0, 1, 0, + 124, 1, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 1, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 1, 0, 0, 3, 0, 1, 0, + 128, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 125, 1, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 120, 1, 0, 0, 3, 0, 1, 0, + 132, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 129, 1, 0, 0, 178, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 132, 1, 0, 0, 3, 0, 1, 0, + 144, 1, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 12, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 141, 1, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 140, 1, 0, 0, 3, 0, 1, 0, + 152, 1, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 149, 1, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 144, 1, 0, 0, 3, 0, 1, 0, + 156, 1, 0, 0, 2, 0, 1, 0, + 9, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 153, 1, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 156, 1, 0, 0, 3, 0, 1, 0, + 168, 1, 0, 0, 2, 0, 1, 0, + 10, 0, 0, 0, 8, 0, 0, 0, + 0, 0, 1, 0, 10, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 165, 1, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 168, 1, 0, 0, 3, 0, 1, 0, + 180, 1, 0, 0, 2, 0, 1, 0, + 11, 0, 0, 0, 9, 0, 0, 0, + 0, 0, 1, 0, 11, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 177, 1, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 176, 1, 0, 0, 3, 0, 1, 0, + 188, 1, 0, 0, 2, 0, 1, 0, + 12, 0, 0, 0, 26, 0, 0, 0, + 0, 0, 1, 0, 12, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 185, 1, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 180, 1, 0, 0, 3, 0, 1, 0, + 192, 1, 0, 0, 2, 0, 1, 0, + 115, 118, 73, 100, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 114, 97, 99, 107, 105, 110, 103, + 83, 116, 97, 116, 117, 115, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 178, 153, 178, 2, 168, 179, 239, 232, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 115, 101, 117, 100, 111, 114, 97, + 110, 103, 101, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 114, 114, 105, 101, 114, 67, + 121, 99, 108, 101, 115, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 111, 112, 112, 108, 101, 114, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 103, 110, 115, 115, 73, 100, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 103, 108, 111, 110, 97, 115, 115, 70, + 114, 101, 113, 117, 101, 110, 99, 121, + 73, 110, 100, 101, 120, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 99, 107, 116, 105, 109, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 110, 111, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 115, 101, 117, 100, 111, 114, 97, + 110, 103, 101, 83, 116, 100, 101, 118, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 114, 114, 105, 101, 114, 80, + 104, 97, 115, 101, 83, 116, 100, 101, + 118, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 111, 112, 112, 108, 101, 114, 83, + 116, 100, 101, 118, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 105, 103, 73, 100, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_8f8a655f5e326401 = b_8f8a655f5e326401.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_8f8a655f5e326401[] = { + &s_e8efb3a802b299b2, +}; +static const uint16_t m_8f8a655f5e326401[] = {3, 10, 8, 4, 11, 6, 5, 7, 2, 9, 12, 0, 1}; +static const uint16_t i_8f8a655f5e326401[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12}; +const ::capnp::_::RawSchema s_8f8a655f5e326401 = { + 0x8f8a655f5e326401, b_8f8a655f5e326401.words, 231, d_8f8a655f5e326401, m_8f8a655f5e326401, + 1, 13, i_8f8a655f5e326401, nullptr, nullptr, { &s_8f8a655f5e326401, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<90> b_e8efb3a802b299b2 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 178, 153, 178, 2, 168, 179, 239, 232, + 50, 0, 0, 0, 1, 0, 1, 0, + 1, 100, 50, 94, 95, 101, 138, 143, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 10, 2, 0, 0, + 53, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 49, 0, 0, 0, 231, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 85, 98, 108, 111, 120, 71, + 110, 115, 115, 46, 77, 101, 97, 115, + 117, 114, 101, 109, 101, 110, 116, 82, + 101, 112, 111, 114, 116, 46, 77, 101, + 97, 115, 117, 114, 101, 109, 101, 110, + 116, 46, 84, 114, 97, 99, 107, 105, + 110, 103, 83, 116, 97, 116, 117, 115, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 16, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 0, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 0, 0, 0, 3, 0, 1, 0, + 112, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 0, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 0, 0, 0, 3, 0, 1, 0, + 124, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 0, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 120, 0, 0, 0, 3, 0, 1, 0, + 132, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 129, 0, 0, 0, 162, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 132, 0, 0, 0, 3, 0, 1, 0, + 144, 0, 0, 0, 2, 0, 1, 0, + 112, 115, 101, 117, 100, 111, 114, 97, + 110, 103, 101, 86, 97, 108, 105, 100, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 114, 114, 105, 101, 114, 80, + 104, 97, 115, 101, 86, 97, 108, 105, + 100, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 97, 108, 102, 67, 121, 99, 108, + 101, 86, 97, 108, 105, 100, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 97, 108, 102, 67, 121, 99, 108, + 101, 83, 117, 98, 116, 114, 97, 99, + 116, 101, 100, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_e8efb3a802b299b2 = b_e8efb3a802b299b2.words; +#if !CAPNP_LITE +static const uint16_t m_e8efb3a802b299b2[] = {1, 3, 2, 0}; +static const uint16_t i_e8efb3a802b299b2[] = {0, 1, 2, 3}; +const ::capnp::_::RawSchema s_e8efb3a802b299b2 = { + 0xe8efb3a802b299b2, b_e8efb3a802b299b2.words, 90, nullptr, m_e8efb3a802b299b2, + 0, 4, i_e8efb3a802b299b2, nullptr, nullptr, { &s_e8efb3a802b299b2, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<682> b_d8418c788118f85c = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 92, 248, 24, 129, 120, 140, 65, 216, + 20, 0, 0, 0, 1, 0, 34, 0, + 93, 250, 206, 230, 124, 221, 221, 133, + 2, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 242, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 111, 9, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 85, 98, 108, 111, 120, 71, + 110, 115, 115, 46, 69, 112, 104, 101, + 109, 101, 114, 105, 115, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 172, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 165, 4, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 160, 4, 0, 0, 3, 0, 1, 0, + 172, 4, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 169, 4, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 164, 4, 0, 0, 3, 0, 1, 0, + 176, 4, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 173, 4, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 168, 4, 0, 0, 3, 0, 1, 0, + 180, 4, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 177, 4, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 172, 4, 0, 0, 3, 0, 1, 0, + 184, 4, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 181, 4, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 176, 4, 0, 0, 3, 0, 1, 0, + 188, 4, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 185, 4, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 180, 4, 0, 0, 3, 0, 1, 0, + 192, 4, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 189, 4, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 184, 4, 0, 0, 3, 0, 1, 0, + 196, 4, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 193, 4, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 188, 4, 0, 0, 3, 0, 1, 0, + 200, 4, 0, 0, 2, 0, 1, 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0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 105, 115, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 48, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 114, 99, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 111, 109, 101, 103, 97, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 111, 109, 101, 103, 97, 68, 111, 116, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 68, 111, 116, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 111, 100, 101, 115, 76, 50, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 103, 112, 115, 87, 101, 101, 107, 68, + 69, 80, 82, 69, 67, 65, 84, 69, + 68, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 50, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 118, 65, 99, 99, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 118, 72, 101, 97, 108, 116, 104, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 103, 100, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 111, 100, 99, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 114, 97, 110, 115, 109, 105, 115, + 115, 105, 111, 110, 84, 105, 109, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 105, 116, 73, 110, 116, 101, 114, + 118, 97, 108, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 111, 99, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 111, 110, 111, 67, 111, 101, 102, + 102, 115, 86, 97, 108, 105, 100, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 111, 110, 111, 65, 108, 112, 104, + 97, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 111, 110, 111, 66, 101, 116, 97, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 111, 119, 67, 111, 117, 110, 116, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 111, 101, 87, 101, 101, 107, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 111, 99, 87, 101, 101, 107, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_d8418c788118f85c = b_d8418c788118f85c.words; +#if !CAPNP_LITE +static const uint16_t m_d8418c788118f85c[] = {17, 7, 8, 9, 19, 21, 27, 23, 11, 14, 16, 3, 12, 15, 35, 28, 4, 22, 26, 33, 10, 38, 39, 37, 29, 13, 5, 2, 24, 20, 25, 6, 30, 31, 0, 32, 36, 42, 18, 41, 40, 34, 1}; +static const uint16_t i_d8418c788118f85c[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42}; +const ::capnp::_::RawSchema s_d8418c788118f85c = { + 0xd8418c788118f85c, b_d8418c788118f85c.words, 682, nullptr, m_d8418c788118f85c, + 0, 43, i_d8418c788118f85c, nullptr, nullptr, { &s_d8418c788118f85c, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<136> b_c3a3a8de519a4a26 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 38, 74, 154, 81, 222, 168, 163, 195, + 20, 0, 0, 0, 1, 0, 3, 0, + 93, 250, 206, 230, 124, 221, 221, 133, + 2, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 234, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 143, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 85, 98, 108, 111, 120, 71, + 110, 115, 115, 46, 73, 111, 110, 111, + 68, 97, 116, 97, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 28, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 181, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 180, 0, 0, 0, 3, 0, 1, 0, + 192, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 189, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 184, 0, 0, 0, 3, 0, 1, 0, + 196, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 193, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 188, 0, 0, 0, 3, 0, 1, 0, + 200, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 197, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 196, 0, 0, 0, 3, 0, 1, 0, + 224, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 221, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 220, 0, 0, 0, 3, 0, 1, 0, + 248, 0, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 32, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 245, 0, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 244, 0, 0, 0, 3, 0, 1, 0, + 0, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 33, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 253, 0, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 252, 0, 0, 0, 3, 0, 1, 0, + 8, 1, 0, 0, 2, 0, 1, 0, + 115, 118, 72, 101, 97, 108, 116, 104, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 111, 119, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 103, 112, 115, 87, 101, 101, 107, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 111, 110, 111, 65, 108, 112, 104, + 97, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 111, 110, 111, 66, 101, 116, 97, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 101, 97, 108, 116, 104, 86, 97, + 108, 105, 100, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 111, 110, 111, 67, 111, 101, 102, + 102, 115, 86, 97, 108, 105, 100, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_c3a3a8de519a4a26 = b_c3a3a8de519a4a26.words; +#if !CAPNP_LITE +static const uint16_t m_c3a3a8de519a4a26[] = {2, 5, 3, 4, 6, 0, 1}; +static const uint16_t i_c3a3a8de519a4a26[] = {0, 1, 2, 3, 4, 5, 6}; +const ::capnp::_::RawSchema s_c3a3a8de519a4a26 = { + 0xc3a3a8de519a4a26, b_c3a3a8de519a4a26.words, 136, nullptr, m_c3a3a8de519a4a26, + 0, 7, i_c3a3a8de519a4a26, nullptr, nullptr, { &s_c3a3a8de519a4a26, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<119> b_ebb036b114275aa8 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 168, 90, 39, 20, 177, 54, 176, 235, + 20, 0, 0, 0, 1, 0, 2, 0, + 93, 250, 206, 230, 124, 221, 221, 133, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 234, 0, 0, 0, + 33, 0, 0, 0, 39, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 69, 0, 0, 0, 87, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 85, 98, 108, 111, 120, 71, + 110, 115, 115, 46, 72, 119, 83, 116, + 97, 116, 117, 115, 0, 0, 0, 0, + 8, 0, 0, 0, 1, 0, 1, 0, + 83, 91, 77, 171, 40, 17, 62, 194, + 9, 0, 0, 0, 186, 0, 0, 0, + 89, 101, 228, 36, 169, 81, 59, 254, + 13, 0, 0, 0, 154, 0, 0, 0, + 65, 110, 116, 101, 110, 110, 97, 83, + 117, 112, 101, 114, 118, 105, 115, 111, + 114, 83, 116, 97, 116, 101, 0, 0, + 65, 110, 116, 101, 110, 110, 97, 80, + 111, 119, 101, 114, 83, 116, 97, 116, + 117, 115, 0, 0, 0, 0, 0, 0, + 24, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 153, 0, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 152, 0, 0, 0, 3, 0, 1, 0, + 164, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 161, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 156, 0, 0, 0, 3, 0, 1, 0, + 168, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 165, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 160, 0, 0, 0, 3, 0, 1, 0, + 172, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 169, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 164, 0, 0, 0, 3, 0, 1, 0, + 176, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 8, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 173, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 168, 0, 0, 0, 3, 0, 1, 0, + 180, 0, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 9, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 177, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 172, 0, 0, 0, 3, 0, 1, 0, + 184, 0, 0, 0, 2, 0, 1, 0, + 110, 111, 105, 115, 101, 80, 101, 114, + 77, 83, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 103, 99, 67, 110, 116, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 83, 116, 97, 116, 117, 115, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 83, 91, 77, 171, 40, 17, 62, 194, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 80, 111, 119, 101, 114, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 89, 101, 228, 36, 169, 81, 59, 254, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 106, 97, 109, 73, 110, 100, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 108, 97, 103, 115, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_ebb036b114275aa8 = b_ebb036b114275aa8.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_ebb036b114275aa8[] = { + &s_c23e1128ab4d5b53, + &s_fe3b51a924e46559, +}; +static const uint16_t m_ebb036b114275aa8[] = {3, 2, 1, 5, 4, 0}; +static const uint16_t i_ebb036b114275aa8[] = {0, 1, 2, 3, 4, 5}; +const ::capnp::_::RawSchema s_ebb036b114275aa8 = { + 0xebb036b114275aa8, b_ebb036b114275aa8.words, 119, d_ebb036b114275aa8, m_ebb036b114275aa8, + 2, 6, i_ebb036b114275aa8, nullptr, nullptr, { &s_ebb036b114275aa8, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<42> b_c23e1128ab4d5b53 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 83, 91, 77, 171, 40, 17, 62, 194, + 29, 0, 0, 0, 2, 0, 0, 0, + 168, 90, 39, 20, 177, 54, 176, 235, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 162, 1, 0, 0, + 45, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 127, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 85, 98, 108, 111, 120, 71, + 110, 115, 115, 46, 72, 119, 83, 116, + 97, 116, 117, 115, 46, 65, 110, 116, + 101, 110, 110, 97, 83, 117, 112, 101, + 114, 118, 105, 115, 111, 114, 83, 116, + 97, 116, 101, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 20, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 53, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 45, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 26, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 25, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 110, 105, 116, 0, 0, 0, 0, + 100, 111, 110, 116, 107, 110, 111, 119, + 0, 0, 0, 0, 0, 0, 0, 0, + 111, 107, 0, 0, 0, 0, 0, 0, + 115, 104, 111, 114, 116, 0, 0, 0, + 111, 112, 101, 110, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_c23e1128ab4d5b53 = b_c23e1128ab4d5b53.words; +#if !CAPNP_LITE +static const uint16_t m_c23e1128ab4d5b53[] = {1, 0, 2, 4, 3}; +const ::capnp::_::RawSchema s_c23e1128ab4d5b53 = { + 0xc23e1128ab4d5b53, b_c23e1128ab4d5b53.words, 42, nullptr, m_c23e1128ab4d5b53, + 0, 5, nullptr, nullptr, nullptr, { &s_c23e1128ab4d5b53, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(AntennaSupervisorState_c23e1128ab4d5b53, c23e1128ab4d5b53); +static const ::capnp::_::AlignedData<33> b_fe3b51a924e46559 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 89, 101, 228, 36, 169, 81, 59, 254, + 29, 0, 0, 0, 2, 0, 0, 0, + 168, 90, 39, 20, 177, 54, 176, 235, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 130, 1, 0, 0, + 41, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 0, 0, 0, 79, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 85, 98, 108, 111, 120, 71, + 110, 115, 115, 46, 72, 119, 83, 116, + 97, 116, 117, 115, 46, 65, 110, 116, + 101, 110, 110, 97, 80, 111, 119, 101, + 114, 83, 116, 97, 116, 117, 115, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 12, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 26, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 111, 102, 102, 0, 0, 0, 0, 0, + 111, 110, 0, 0, 0, 0, 0, 0, + 100, 111, 110, 116, 107, 110, 111, 119, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_fe3b51a924e46559 = b_fe3b51a924e46559.words; +#if !CAPNP_LITE +static const uint16_t m_fe3b51a924e46559[] = {2, 0, 1}; +const ::capnp::_::RawSchema s_fe3b51a924e46559 = { + 0xfe3b51a924e46559, b_fe3b51a924e46559.words, 33, nullptr, m_fe3b51a924e46559, + 0, 3, nullptr, nullptr, nullptr, { &s_fe3b51a924e46559, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(AntennaPowerStatus_fe3b51a924e46559, fe3b51a924e46559); +static const ::capnp::_::AlignedData<130> b_f919b410b90e53c6 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 198, 83, 14, 185, 16, 180, 25, 249, + 20, 0, 0, 0, 1, 0, 2, 0, + 93, 250, 206, 230, 124, 221, 221, 133, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 242, 0, 0, 0, + 33, 0, 0, 0, 23, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 45, 0, 0, 0, 143, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 85, 98, 108, 111, 120, 71, + 110, 115, 115, 46, 72, 119, 83, 116, + 97, 116, 117, 115, 50, 0, 0, 0, + 4, 0, 0, 0, 1, 0, 1, 0, + 185, 151, 28, 181, 94, 152, 208, 178, + 1, 0, 0, 0, 106, 0, 0, 0, + 67, 111, 110, 102, 105, 103, 83, 111, + 117, 114, 99, 101, 0, 0, 0, 0, + 28, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 181, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 176, 0, 0, 0, 3, 0, 1, 0, + 188, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 185, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 180, 0, 0, 0, 3, 0, 1, 0, + 192, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 189, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 184, 0, 0, 0, 3, 0, 1, 0, + 196, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 193, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 188, 0, 0, 0, 3, 0, 1, 0, + 200, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 197, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 196, 0, 0, 0, 3, 0, 1, 0, + 208, 0, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 205, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 204, 0, 0, 0, 3, 0, 1, 0, + 216, 0, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 213, 0, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 212, 0, 0, 0, 3, 0, 1, 0, + 224, 0, 0, 0, 2, 0, 1, 0, + 111, 102, 115, 73, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 97, 103, 73, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 111, 102, 115, 81, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 97, 103, 81, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 102, 103, 83, 111, 117, 114, 99, + 101, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 185, 151, 28, 181, 94, 152, 208, 178, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 119, 76, 101, 118, 67, 102, + 103, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 111, 115, 116, 83, 116, 97, 116, + 117, 115, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_f919b410b90e53c6 = b_f919b410b90e53c6.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_f919b410b90e53c6[] = { + &s_b2d0985eb51c97b9, +}; +static const uint16_t m_f919b410b90e53c6[] = {4, 5, 1, 3, 0, 2, 6}; +static const uint16_t i_f919b410b90e53c6[] = {0, 1, 2, 3, 4, 5, 6}; +const ::capnp::_::RawSchema s_f919b410b90e53c6 = { + 0xf919b410b90e53c6, b_f919b410b90e53c6.words, 130, d_f919b410b90e53c6, m_f919b410b90e53c6, + 1, 7, i_f919b410b90e53c6, nullptr, nullptr, { &s_f919b410b90e53c6, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<42> b_b2d0985eb51c97b9 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 185, 151, 28, 181, 94, 152, 208, 178, + 30, 0, 0, 0, 2, 0, 0, 0, + 198, 83, 14, 185, 16, 180, 25, 249, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 90, 1, 0, 0, + 41, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 0, 0, 0, 127, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 85, 98, 108, 111, 120, 71, + 110, 115, 115, 46, 72, 119, 83, 116, + 97, 116, 117, 115, 50, 46, 67, 111, + 110, 102, 105, 103, 83, 111, 117, 114, + 99, 101, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 20, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 53, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 49, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 110, 100, 101, 102, 105, 110, 101, + 100, 0, 0, 0, 0, 0, 0, 0, + 114, 111, 109, 0, 0, 0, 0, 0, + 111, 116, 112, 0, 0, 0, 0, 0, + 99, 111, 110, 102, 105, 103, 112, 105, + 110, 115, 0, 0, 0, 0, 0, 0, + 102, 108, 97, 115, 104, 0, 0, 0, } +}; +::capnp::word const* const bp_b2d0985eb51c97b9 = b_b2d0985eb51c97b9.words; +#if !CAPNP_LITE +static const uint16_t m_b2d0985eb51c97b9[] = {3, 4, 2, 1, 0}; +const ::capnp::_::RawSchema s_b2d0985eb51c97b9 = { + 0xb2d0985eb51c97b9, b_b2d0985eb51c97b9.words, 42, nullptr, m_b2d0985eb51c97b9, + 0, 5, nullptr, nullptr, nullptr, { &s_b2d0985eb51c97b9, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(ConfigSource_b2d0985eb51c97b9, b2d0985eb51c97b9); +static const ::capnp::_::AlignedData<521> b_b9c5911198388e0c = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 12, 142, 56, 152, 17, 145, 197, 185, + 20, 0, 0, 0, 1, 0, 18, 0, + 93, 250, 206, 230, 124, 221, 221, 133, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 42, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 63, 7, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 85, 98, 108, 111, 120, 71, + 110, 115, 115, 46, 71, 108, 111, 110, + 97, 115, 115, 69, 112, 104, 101, 109, + 101, 114, 105, 115, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 132, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 141, 3, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 136, 3, 0, 0, 3, 0, 1, 0, + 148, 3, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 145, 3, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 140, 3, 0, 0, 3, 0, 1, 0, + 152, 3, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 149, 3, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 148, 3, 0, 0, 3, 0, 1, 0, + 160, 3, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 157, 3, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 152, 3, 0, 0, 3, 0, 1, 0, + 164, 3, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 161, 3, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 156, 3, 0, 0, 3, 0, 1, 0, + 168, 3, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 165, 3, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 160, 3, 0, 0, 3, 0, 1, 0, + 172, 3, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 169, 3, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 164, 3, 0, 0, 3, 0, 1, 0, + 176, 3, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 173, 3, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 168, 3, 0, 0, 3, 0, 1, 0, + 180, 3, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 177, 3, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 172, 3, 0, 0, 3, 0, 1, 0, + 184, 3, 0, 0, 2, 0, 1, 0, + 9, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 181, 3, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 176, 3, 0, 0, 3, 0, 1, 0, + 188, 3, 0, 0, 2, 0, 1, 0, + 10, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 10, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 185, 3, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 180, 3, 0, 0, 3, 0, 1, 0, + 192, 3, 0, 0, 2, 0, 1, 0, + 11, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 11, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 189, 3, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 184, 3, 0, 0, 3, 0, 1, 0, + 196, 3, 0, 0, 2, 0, 1, 0, + 12, 0, 0, 0, 8, 0, 0, 0, + 0, 0, 1, 0, 12, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 193, 3, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 188, 3, 0, 0, 3, 0, 1, 0, + 200, 3, 0, 0, 2, 0, 1, 0, + 13, 0, 0, 0, 9, 0, 0, 0, + 0, 0, 1, 0, 13, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 197, 3, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 192, 3, 0, 0, 3, 0, 1, 0, + 204, 3, 0, 0, 2, 0, 1, 0, + 14, 0, 0, 0, 10, 0, 0, 0, + 0, 0, 1, 0, 14, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 201, 3, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 196, 3, 0, 0, 3, 0, 1, 0, + 208, 3, 0, 0, 2, 0, 1, 0, + 15, 0, 0, 0, 10, 0, 0, 0, + 0, 0, 1, 0, 15, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 205, 3, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 200, 3, 0, 0, 3, 0, 1, 0, + 212, 3, 0, 0, 2, 0, 1, 0, + 16, 0, 0, 0, 22, 0, 0, 0, + 0, 0, 1, 0, 16, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 209, 3, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 204, 3, 0, 0, 3, 0, 1, 0, + 216, 3, 0, 0, 2, 0, 1, 0, + 17, 0, 0, 0, 11, 0, 0, 0, + 0, 0, 1, 0, 17, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 213, 3, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 208, 3, 0, 0, 3, 0, 1, 0, + 220, 3, 0, 0, 2, 0, 1, 0, + 18, 0, 0, 0, 92, 0, 0, 0, + 0, 0, 1, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 217, 3, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 216, 3, 0, 0, 3, 0, 1, 0, + 228, 3, 0, 0, 2, 0, 1, 0, + 19, 0, 0, 0, 47, 0, 0, 0, + 0, 0, 1, 0, 19, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 225, 3, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 224, 3, 0, 0, 3, 0, 1, 0, + 236, 3, 0, 0, 2, 0, 1, 0, + 20, 0, 0, 0, 48, 0, 0, 0, + 0, 0, 1, 0, 20, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 233, 3, 0, 0, 26, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 228, 3, 0, 0, 3, 0, 1, 0, + 240, 3, 0, 0, 2, 0, 1, 0, + 21, 0, 0, 0, 13, 0, 0, 0, + 0, 0, 1, 0, 21, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 237, 3, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 232, 3, 0, 0, 3, 0, 1, 0, + 244, 3, 0, 0, 2, 0, 1, 0, + 22, 0, 0, 0, 14, 0, 0, 0, + 0, 0, 1, 0, 22, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 241, 3, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 240, 3, 0, 0, 3, 0, 1, 0, + 252, 3, 0, 0, 2, 0, 1, 0, + 23, 0, 0, 0, 15, 0, 0, 0, + 0, 0, 1, 0, 23, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 249, 3, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 244, 3, 0, 0, 3, 0, 1, 0, + 0, 4, 0, 0, 2, 0, 1, 0, + 24, 0, 0, 0, 93, 0, 0, 0, + 0, 0, 1, 0, 24, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 253, 3, 0, 0, 26, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 248, 3, 0, 0, 3, 0, 1, 0, + 4, 4, 0, 0, 2, 0, 1, 0, + 25, 0, 0, 0, 98, 0, 0, 0, + 0, 0, 1, 0, 25, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 4, 0, 0, 26, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 252, 3, 0, 0, 3, 0, 1, 0, + 8, 4, 0, 0, 2, 0, 1, 0, + 26, 0, 0, 0, 99, 0, 0, 0, + 0, 0, 1, 0, 26, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 4, 0, 0, 26, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 4, 0, 0, 3, 0, 1, 0, + 12, 4, 0, 0, 2, 0, 1, 0, + 27, 0, 0, 0, 100, 0, 0, 0, + 0, 0, 1, 0, 27, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 4, 0, 0, 26, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 4, 0, 0, 3, 0, 1, 0, + 16, 4, 0, 0, 2, 0, 1, 0, + 28, 0, 0, 0, 32, 0, 0, 0, + 0, 0, 1, 0, 28, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 4, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 4, 0, 0, 3, 0, 1, 0, + 28, 4, 0, 0, 2, 0, 1, 0, + 29, 0, 0, 0, 101, 0, 0, 0, + 0, 0, 1, 0, 29, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 4, 0, 0, 26, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 20, 4, 0, 0, 3, 0, 1, 0, + 32, 4, 0, 0, 2, 0, 1, 0, + 30, 0, 0, 0, 51, 0, 0, 0, + 0, 0, 1, 0, 30, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 4, 0, 0, 26, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 24, 4, 0, 0, 3, 0, 1, 0, + 36, 4, 0, 0, 2, 0, 1, 0, + 31, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 1, 0, 31, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 4, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 28, 4, 0, 0, 3, 0, 1, 0, + 40, 4, 0, 0, 2, 0, 1, 0, + 32, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 1, 0, 32, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 4, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 36, 4, 0, 0, 3, 0, 1, 0, + 48, 4, 0, 0, 2, 0, 1, 0, + 115, 118, 73, 100, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 101, 97, 114, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 97, 121, 73, 110, 89, 101, 97, + 114, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 111, 117, 114, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 105, 110, 117, 116, 101, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 101, 99, 111, 110, 100, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 120, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 120, 86, 101, 108, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 120, 65, 99, 99, 101, 108, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 86, 101, 108, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 65, 99, 99, 101, 108, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 122, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 122, 86, 101, 108, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 122, 65, 99, 99, 101, 108, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 118, 84, 121, 112, 101, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 118, 85, 82, 65, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 103, 101, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 118, 72, 101, 97, 108, 116, 104, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 107, 68, 69, 80, 82, 69, 67, + 65, 84, 69, 68, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 98, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 97, 117, 78, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 101, 108, 116, 97, 84, 97, 117, + 78, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 103, 97, 109, 109, 97, 78, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 49, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 50, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 51, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 52, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 114, 101, 113, 78, 117, 109, 68, + 69, 80, 82, 69, 67, 65, 84, 69, + 68, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 110, 52, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 110, 116, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 114, 101, 113, 78, 117, 109, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 107, 83, 101, 99, 111, 110, 100, + 115, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_b9c5911198388e0c = b_b9c5911198388e0c.words; +#if !CAPNP_LITE +static const uint16_t m_b9c5911198388e0c[] = {17, 2, 22, 31, 28, 23, 3, 4, 29, 30, 24, 25, 26, 27, 5, 18, 0, 15, 16, 21, 20, 19, 32, 6, 8, 7, 9, 11, 10, 1, 12, 14, 13}; +static const uint16_t i_b9c5911198388e0c[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32}; +const ::capnp::_::RawSchema s_b9c5911198388e0c = { + 0xb9c5911198388e0c, b_b9c5911198388e0c.words, 521, nullptr, m_b9c5911198388e0c, + 0, 33, i_b9c5911198388e0c, nullptr, nullptr, { &s_b9c5911198388e0c, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<146> b_de94674b07ae51c1 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 193, 81, 174, 7, 75, 103, 148, 222, + 10, 0, 0, 0, 1, 0, 2, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 1, 0, 7, 0, 0, 0, 5, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 154, 0, 0, 0, + 29, 0, 0, 0, 119, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 157, 0, 0, 0, 87, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 81, 99, 111, 109, 71, 110, + 115, 115, 0, 0, 0, 0, 0, 0, + 28, 0, 0, 0, 1, 0, 1, 0, + 238, 167, 173, 250, 182, 18, 26, 215, + 49, 0, 0, 0, 146, 0, 0, 0, + 233, 131, 108, 13, 154, 130, 30, 232, + 53, 0, 0, 0, 154, 0, 0, 0, + 59, 232, 202, 27, 14, 1, 1, 229, + 57, 0, 0, 0, 146, 0, 0, 0, + 146, 134, 123, 107, 216, 215, 128, 245, + 61, 0, 0, 0, 146, 0, 0, 0, + 11, 79, 143, 221, 74, 94, 150, 202, + 65, 0, 0, 0, 98, 0, 0, 0, + 92, 199, 198, 69, 148, 195, 83, 128, + 65, 0, 0, 0, 162, 0, 0, 0, + 112, 50, 103, 26, 129, 128, 251, 177, + 69, 0, 0, 0, 122, 0, 0, 0, + 77, 101, 97, 115, 117, 114, 101, 109, + 101, 110, 116, 83, 111, 117, 114, 99, + 101, 0, 0, 0, 0, 0, 0, 0, + 83, 86, 79, 98, 115, 101, 114, 118, + 97, 116, 105, 111, 110, 83, 116, 97, + 116, 101, 0, 0, 0, 0, 0, 0, + 77, 101, 97, 115, 117, 114, 101, 109, + 101, 110, 116, 83, 116, 97, 116, 117, + 115, 0, 0, 0, 0, 0, 0, 0, + 77, 101, 97, 115, 117, 114, 101, 109, + 101, 110, 116, 82, 101, 112, 111, 114, + 116, 0, 0, 0, 0, 0, 0, 0, + 67, 108, 111, 99, 107, 82, 101, 112, + 111, 114, 116, 0, 0, 0, 0, 0, + 68, 114, 77, 101, 97, 115, 117, 114, + 101, 109, 101, 110, 116, 82, 101, 112, + 111, 114, 116, 0, 0, 0, 0, 0, + 68, 114, 83, 118, 80, 111, 108, 121, + 82, 101, 112, 111, 114, 116, 0, 0, + 24, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 153, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 148, 0, 0, 0, 3, 0, 1, 0, + 160, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 255, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 157, 0, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 160, 0, 0, 0, 3, 0, 1, 0, + 172, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 254, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 169, 0, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 168, 0, 0, 0, 3, 0, 1, 0, + 180, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 253, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 177, 0, 0, 0, 162, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 180, 0, 0, 0, 3, 0, 1, 0, + 192, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 252, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 189, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 188, 0, 0, 0, 3, 0, 1, 0, + 200, 0, 0, 0, 2, 0, 1, 0, + 5, 0, 251, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 197, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 192, 0, 0, 0, 3, 0, 1, 0, + 204, 0, 0, 0, 2, 0, 1, 0, + 108, 111, 103, 84, 115, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 101, 97, 115, 117, 114, 101, 109, + 101, 110, 116, 82, 101, 112, 111, 114, + 116, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 146, 134, 123, 107, 216, 215, 128, 245, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 108, 111, 99, 107, 82, 101, 112, + 111, 114, 116, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 11, 79, 143, 221, 74, 94, 150, 202, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 114, 77, 101, 97, 115, 117, 114, + 101, 109, 101, 110, 116, 82, 101, 112, + 111, 114, 116, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 92, 199, 198, 69, 148, 195, 83, 128, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 114, 83, 118, 80, 111, 108, 121, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 112, 50, 103, 26, 129, 128, 251, 177, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 97, 119, 76, 111, 103, 0, 0, + 13, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_de94674b07ae51c1 = b_de94674b07ae51c1.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_de94674b07ae51c1[] = { + &s_8053c39445c6c75c, + &s_b1fb80811a673270, + &s_ca965e4add8f4f0b, + &s_f580d7d86b7b8692, +}; +static const uint16_t m_de94674b07ae51c1[] = {2, 3, 4, 0, 1, 5}; +static const uint16_t i_de94674b07ae51c1[] = {1, 2, 3, 4, 5, 0}; +const ::capnp::_::RawSchema s_de94674b07ae51c1 = { + 0xde94674b07ae51c1, b_de94674b07ae51c1.words, 146, d_de94674b07ae51c1, m_de94674b07ae51c1, + 4, 6, i_de94674b07ae51c1, nullptr, nullptr, { &s_de94674b07ae51c1, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<50> b_d71a12b6faada7ee = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 238, 167, 173, 250, 182, 18, 26, 215, + 19, 0, 0, 0, 2, 0, 0, 0, + 193, 81, 174, 7, 75, 103, 148, 222, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 42, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 175, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 81, 99, 111, 109, 71, 110, + 115, 115, 46, 77, 101, 97, 115, 117, + 114, 101, 109, 101, 110, 116, 83, 111, + 117, 114, 99, 101, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 28, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 77, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 69, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 61, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 53, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 49, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 45, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 103, 112, 115, 0, 0, 0, 0, 0, + 103, 108, 111, 110, 97, 115, 115, 0, + 98, 101, 105, 100, 111, 117, 0, 0, + 117, 110, 107, 110, 111, 119, 110, 51, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 110, 107, 110, 111, 119, 110, 52, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 110, 107, 110, 111, 119, 110, 53, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 98, 97, 115, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_d71a12b6faada7ee = b_d71a12b6faada7ee.words; +#if !CAPNP_LITE +static const uint16_t m_d71a12b6faada7ee[] = {2, 1, 0, 6, 3, 4, 5}; +const ::capnp::_::RawSchema s_d71a12b6faada7ee = { + 0xd71a12b6faada7ee, b_d71a12b6faada7ee.words, 50, nullptr, m_d71a12b6faada7ee, + 0, 7, nullptr, nullptr, nullptr, { &s_d71a12b6faada7ee, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(MeasurementSource_d71a12b6faada7ee, d71a12b6faada7ee); +static const ::capnp::_::AlignedData<63> b_e81e829a0d6c83e9 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 233, 131, 108, 13, 154, 130, 30, 232, + 19, 0, 0, 0, 2, 0, 0, 0, + 193, 81, 174, 7, 75, 103, 148, 222, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 50, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 247, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 81, 99, 111, 109, 71, 110, + 115, 115, 46, 83, 86, 79, 98, 115, + 101, 114, 118, 97, 116, 105, 111, 110, + 83, 116, 97, 116, 101, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 40, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 113, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 105, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 97, 0, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 93, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 85, 0, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 81, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 73, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 65, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 57, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 53, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 100, 108, 101, 0, 0, 0, 0, + 115, 101, 97, 114, 99, 104, 0, 0, + 115, 101, 97, 114, 99, 104, 86, 101, + 114, 105, 102, 121, 0, 0, 0, 0, + 98, 105, 116, 69, 100, 103, 101, 0, + 116, 114, 97, 99, 107, 86, 101, 114, + 105, 102, 121, 0, 0, 0, 0, 0, + 116, 114, 97, 99, 107, 0, 0, 0, + 114, 101, 115, 116, 97, 114, 116, 0, + 100, 112, 111, 0, 0, 0, 0, 0, + 103, 108, 111, 49, 48, 109, 115, 66, + 101, 0, 0, 0, 0, 0, 0, 0, + 103, 108, 111, 49, 48, 109, 115, 65, + 116, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_e81e829a0d6c83e9 = b_e81e829a0d6c83e9.words; +#if !CAPNP_LITE +static const uint16_t m_e81e829a0d6c83e9[] = {3, 7, 9, 8, 0, 6, 1, 2, 5, 4}; +const ::capnp::_::RawSchema s_e81e829a0d6c83e9 = { + 0xe81e829a0d6c83e9, b_e81e829a0d6c83e9.words, 63, nullptr, m_e81e829a0d6c83e9, + 0, 10, nullptr, nullptr, nullptr, { &s_e81e829a0d6c83e9, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(SVObservationState_e81e829a0d6c83e9, e81e829a0d6c83e9); +static const ::capnp::_::AlignedData<522> b_e501010e1bcae83b = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 59, 232, 202, 27, 14, 1, 1, 229, + 19, 0, 0, 0, 1, 0, 1, 0, + 193, 81, 174, 7, 75, 103, 148, 222, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 42, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 95, 6, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 81, 99, 111, 109, 71, 110, + 115, 115, 46, 77, 101, 97, 115, 117, + 114, 101, 109, 101, 110, 116, 83, 116, + 97, 116, 117, 115, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 116, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 3, 0, 0, 178, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 32, 3, 0, 0, 3, 0, 1, 0, + 44, 3, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 3, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 44, 3, 0, 0, 3, 0, 1, 0, + 56, 3, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 53, 3, 0, 0, 170, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 56, 3, 0, 0, 3, 0, 1, 0, + 68, 3, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 65, 3, 0, 0, 218, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 72, 3, 0, 0, 3, 0, 1, 0, + 84, 3, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 81, 3, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 84, 3, 0, 0, 3, 0, 1, 0, + 96, 3, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 93, 3, 0, 0, 170, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 96, 3, 0, 0, 3, 0, 1, 0, + 108, 3, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 3, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 3, 0, 0, 3, 0, 1, 0, + 116, 3, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 113, 3, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 3, 0, 0, 3, 0, 1, 0, + 128, 3, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 8, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 125, 3, 0, 0, 202, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 132, 3, 0, 0, 3, 0, 1, 0, + 144, 3, 0, 0, 2, 0, 1, 0, + 9, 0, 0, 0, 9, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 141, 3, 0, 0, 10, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 152, 3, 0, 0, 3, 0, 1, 0, + 164, 3, 0, 0, 2, 0, 1, 0, + 10, 0, 0, 0, 10, 0, 0, 0, + 0, 0, 1, 0, 10, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 161, 3, 0, 0, 18, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 172, 3, 0, 0, 3, 0, 1, 0, + 184, 3, 0, 0, 2, 0, 1, 0, + 11, 0, 0, 0, 11, 0, 0, 0, + 0, 0, 1, 0, 11, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 181, 3, 0, 0, 170, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 184, 3, 0, 0, 3, 0, 1, 0, + 196, 3, 0, 0, 2, 0, 1, 0, + 12, 0, 0, 0, 12, 0, 0, 0, + 0, 0, 1, 0, 12, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 193, 3, 0, 0, 170, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 196, 3, 0, 0, 3, 0, 1, 0, + 208, 3, 0, 0, 2, 0, 1, 0, + 13, 0, 0, 0, 13, 0, 0, 0, + 0, 0, 1, 0, 13, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 205, 3, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 208, 3, 0, 0, 3, 0, 1, 0, + 220, 3, 0, 0, 2, 0, 1, 0, + 14, 0, 0, 0, 14, 0, 0, 0, + 0, 0, 1, 0, 14, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 217, 3, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 216, 3, 0, 0, 3, 0, 1, 0, + 228, 3, 0, 0, 2, 0, 1, 0, + 15, 0, 0, 0, 15, 0, 0, 0, + 0, 0, 1, 0, 15, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 225, 3, 0, 0, 218, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 232, 3, 0, 0, 3, 0, 1, 0, + 244, 3, 0, 0, 2, 0, 1, 0, + 16, 0, 0, 0, 16, 0, 0, 0, + 0, 0, 1, 0, 16, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 241, 3, 0, 0, 170, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 244, 3, 0, 0, 3, 0, 1, 0, + 0, 4, 0, 0, 2, 0, 1, 0, + 17, 0, 0, 0, 17, 0, 0, 0, + 0, 0, 1, 0, 17, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 253, 3, 0, 0, 202, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 4, 0, 0, 3, 0, 1, 0, + 16, 4, 0, 0, 2, 0, 1, 0, + 18, 0, 0, 0, 18, 0, 0, 0, + 0, 0, 1, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 4, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 4, 0, 0, 3, 0, 1, 0, + 24, 4, 0, 0, 2, 0, 1, 0, + 19, 0, 0, 0, 19, 0, 0, 0, + 0, 0, 1, 0, 19, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 4, 0, 0, 26, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 32, 4, 0, 0, 3, 0, 1, 0, + 44, 4, 0, 0, 2, 0, 1, 0, + 20, 0, 0, 0, 20, 0, 0, 0, + 0, 0, 1, 0, 20, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 4, 0, 0, 162, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 44, 4, 0, 0, 3, 0, 1, 0, + 56, 4, 0, 0, 2, 0, 1, 0, + 21, 0, 0, 0, 21, 0, 0, 0, + 0, 0, 1, 0, 21, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 53, 4, 0, 0, 162, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 56, 4, 0, 0, 3, 0, 1, 0, + 68, 4, 0, 0, 2, 0, 1, 0, + 22, 0, 0, 0, 22, 0, 0, 0, + 0, 0, 1, 0, 22, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 65, 4, 0, 0, 194, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 68, 4, 0, 0, 3, 0, 1, 0, + 80, 4, 0, 0, 2, 0, 1, 0, + 23, 0, 0, 0, 23, 0, 0, 0, + 0, 0, 1, 0, 23, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 77, 4, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 80, 4, 0, 0, 3, 0, 1, 0, + 92, 4, 0, 0, 2, 0, 1, 0, + 24, 0, 0, 0, 24, 0, 0, 0, + 0, 0, 1, 0, 24, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 89, 4, 0, 0, 162, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 92, 4, 0, 0, 3, 0, 1, 0, + 104, 4, 0, 0, 2, 0, 1, 0, + 25, 0, 0, 0, 25, 0, 0, 0, + 0, 0, 1, 0, 25, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 4, 0, 0, 202, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 4, 0, 0, 3, 0, 1, 0, + 120, 4, 0, 0, 2, 0, 1, 0, + 26, 0, 0, 0, 26, 0, 0, 0, + 0, 0, 1, 0, 26, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 4, 0, 0, 210, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 124, 4, 0, 0, 3, 0, 1, 0, + 136, 4, 0, 0, 2, 0, 1, 0, + 27, 0, 0, 0, 27, 0, 0, 0, + 0, 0, 1, 0, 27, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 133, 4, 0, 0, 202, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 140, 4, 0, 0, 3, 0, 1, 0, + 152, 4, 0, 0, 2, 0, 1, 0, + 28, 0, 0, 0, 28, 0, 0, 0, + 0, 0, 1, 0, 28, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 149, 4, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 152, 4, 0, 0, 3, 0, 1, 0, + 164, 4, 0, 0, 2, 0, 1, 0, + 115, 117, 98, 77, 105, 108, 108, 105, + 115, 101, 99, 111, 110, 100, 73, 115, + 86, 97, 108, 105, 100, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 117, 98, 66, 105, 116, 84, 105, + 109, 101, 73, 115, 75, 110, 111, 119, + 110, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 97, 116, 101, 108, 108, 105, 116, + 101, 84, 105, 109, 101, 73, 115, 75, + 110, 111, 119, 110, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, 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0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_e501010e1bcae83b = b_e501010e1bcae83b.words; +#if !CAPNP_LITE +static const uint16_t m_e501010e1bcae83b[] = {3, 28, 5, 26, 15, 16, 20, 21, 22, 19, 17, 18, 24, 8, 9, 7, 6, 25, 4, 12, 27, 23, 14, 2, 13, 10, 1, 0, 11}; +static const uint16_t i_e501010e1bcae83b[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28}; +const ::capnp::_::RawSchema s_e501010e1bcae83b = { + 0xe501010e1bcae83b, b_e501010e1bcae83b.words, 522, nullptr, m_e501010e1bcae83b, + 0, 29, i_e501010e1bcae83b, nullptr, nullptr, { &s_e501010e1bcae83b, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<204> b_f580d7d86b7b8692 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 146, 134, 123, 107, 216, 215, 128, 245, + 19, 0, 0, 0, 1, 0, 4, 0, + 193, 81, 174, 7, 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0, 0, 0, + 92, 1, 0, 0, 3, 0, 1, 0, + 104, 1, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 1, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 1, 0, 0, 3, 0, 1, 0, + 116, 1, 0, 0, 2, 0, 1, 0, + 9, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 113, 1, 0, 0, 210, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 120, 1, 0, 0, 3, 0, 1, 0, + 132, 1, 0, 0, 2, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 10, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 129, 1, 0, 0, 26, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 124, 1, 0, 0, 3, 0, 1, 0, + 152, 1, 0, 0, 2, 0, 1, 0, + 115, 111, 117, 114, 99, 101, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 238, 167, 173, 250, 182, 18, 26, 215, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 67, 111, 117, 110, 116, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 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0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 105, 109, 101, 66, 105, 97, 115, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 108, 111, 99, 107, 84, 105, 109, + 101, 85, 110, 99, 101, 114, 116, 97, + 105, 110, 116, 121, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 108, 111, 99, 107, 70, 114, 101, + 113, 117, 101, 110, 99, 121, 66, 105, + 97, 115, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 108, 111, 99, 107, 70, 114, 101, + 113, 117, 101, 110, 99, 121, 85, 110, + 99, 101, 114, 116, 97, 105, 110, 116, + 121, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 118, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 39, 44, 187, 231, 90, 89, 12, 241, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_f580d7d86b7b8692 = b_f580d7d86b7b8692.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_f580d7d86b7b8692[] = { + &s_d71a12b6faada7ee, + &s_f10c595ae7bb2c27, +}; +static const uint16_t m_f580d7d86b7b8692[] = {8, 9, 7, 1, 3, 4, 2, 5, 0, 10, 6}; +static const uint16_t i_f580d7d86b7b8692[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10}; +const ::capnp::_::RawSchema s_f580d7d86b7b8692 = { + 0xf580d7d86b7b8692, b_f580d7d86b7b8692.words, 204, d_f580d7d86b7b8692, m_f580d7d86b7b8692, + 2, 11, i_f580d7d86b7b8692, nullptr, nullptr, { &s_f580d7d86b7b8692, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<454> b_f10c595ae7bb2c27 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 39, 44, 187, 231, 90, 89, 12, 241, + 37, 0, 0, 0, 1, 0, 8, 0, + 146, 134, 123, 107, 216, 215, 128, 245, + 1, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 66, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 183, 5, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 81, 99, 111, 109, 71, 110, + 115, 115, 46, 77, 101, 97, 115, 117, + 114, 101, 109, 101, 110, 116, 82, 101, + 112, 111, 114, 116, 46, 83, 86, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 104, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 201, 2, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 196, 2, 0, 0, 3, 0, 1, 0, + 208, 2, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 205, 2, 0, 0, 178, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 208, 2, 0, 0, 3, 0, 1, 0, + 220, 2, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 217, 2, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 220, 2, 0, 0, 3, 0, 1, 0, + 232, 2, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 229, 2, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 228, 2, 0, 0, 3, 0, 1, 0, + 240, 2, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 237, 2, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 240, 2, 0, 0, 3, 0, 1, 0, + 252, 2, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 249, 2, 0, 0, 162, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 252, 2, 0, 0, 3, 0, 1, 0, + 8, 3, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 8, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 3, 0, 0, 202, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 3, 0, 0, 3, 0, 1, 0, + 24, 3, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 9, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 3, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 20, 3, 0, 0, 3, 0, 1, 0, + 32, 3, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 3, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 28, 3, 0, 0, 3, 0, 1, 0, + 40, 3, 0, 0, 2, 0, 1, 0, + 9, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 3, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 32, 3, 0, 0, 3, 0, 1, 0, + 44, 3, 0, 0, 2, 0, 1, 0, + 10, 0, 0, 0, 14, 0, 0, 0, + 0, 0, 1, 0, 10, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 3, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 44, 3, 0, 0, 3, 0, 1, 0, + 56, 3, 0, 0, 2, 0, 1, 0, + 11, 0, 0, 0, 8, 0, 0, 0, + 0, 0, 1, 0, 11, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 53, 3, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 52, 3, 0, 0, 3, 0, 1, 0, + 64, 3, 0, 0, 2, 0, 1, 0, + 12, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 12, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 61, 3, 0, 0, 242, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 68, 3, 0, 0, 3, 0, 1, 0, + 80, 3, 0, 0, 2, 0, 1, 0, + 13, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 13, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 77, 3, 0, 0, 242, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 84, 3, 0, 0, 3, 0, 1, 0, + 96, 3, 0, 0, 2, 0, 1, 0, + 14, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 14, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 93, 3, 0, 0, 210, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 3, 0, 0, 3, 0, 1, 0, + 112, 3, 0, 0, 2, 0, 1, 0, + 15, 0, 0, 0, 8, 0, 0, 0, + 0, 0, 1, 0, 15, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 3, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 3, 0, 0, 3, 0, 1, 0, + 120, 3, 0, 0, 2, 0, 1, 0, + 16, 0, 0, 0, 9, 0, 0, 0, + 0, 0, 1, 0, 16, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 3, 0, 0, 218, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 124, 3, 0, 0, 3, 0, 1, 0, + 136, 3, 0, 0, 2, 0, 1, 0, + 17, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 17, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 133, 3, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 136, 3, 0, 0, 3, 0, 1, 0, + 148, 3, 0, 0, 2, 0, 1, 0, + 18, 0, 0, 0, 10, 0, 0, 0, + 0, 0, 1, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 145, 3, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 148, 3, 0, 0, 3, 0, 1, 0, + 160, 3, 0, 0, 2, 0, 1, 0, + 19, 0, 0, 0, 11, 0, 0, 0, + 0, 0, 1, 0, 19, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 157, 3, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 152, 3, 0, 0, 3, 0, 1, 0, + 164, 3, 0, 0, 2, 0, 1, 0, + 20, 0, 0, 0, 12, 0, 0, 0, + 0, 0, 1, 0, 20, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 161, 3, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 160, 3, 0, 0, 3, 0, 1, 0, + 172, 3, 0, 0, 2, 0, 1, 0, + 21, 0, 0, 0, 13, 0, 0, 0, + 0, 0, 1, 0, 21, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 169, 3, 0, 0, 218, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 176, 3, 0, 0, 3, 0, 1, 0, + 188, 3, 0, 0, 2, 0, 1, 0, + 22, 0, 0, 0, 9, 0, 0, 0, + 0, 0, 1, 0, 22, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 185, 3, 0, 0, 218, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 192, 3, 0, 0, 3, 0, 1, 0, + 204, 3, 0, 0, 2, 0, 1, 0, + 23, 0, 0, 0, 14, 0, 0, 0, + 0, 0, 1, 0, 23, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 201, 3, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 200, 3, 0, 0, 3, 0, 1, 0, + 212, 3, 0, 0, 2, 0, 1, 0, + 24, 0, 0, 0, 15, 0, 0, 0, + 0, 0, 1, 0, 24, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 209, 3, 0, 0, 170, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 212, 3, 0, 0, 3, 0, 1, 0, + 224, 3, 0, 0, 2, 0, 1, 0, + 25, 0, 0, 0, 15, 0, 0, 0, + 0, 0, 1, 0, 25, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 221, 3, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 220, 3, 0, 0, 3, 0, 1, 0, + 232, 3, 0, 0, 2, 0, 1, 0, + 115, 118, 73, 100, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 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0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 121, 99, 108, 101, 83, 108, 105, + 112, 67, 111, 117, 110, 116, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_f10c595ae7bb2c27 = b_f10c595ae7bb2c27.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_f10c595ae7bb2c27[] = { + &s_e501010e1bcae83b, + &s_e81e829a0d6c83e9, +}; +static const uint16_t m_f10c595ae7bb2c27[] = {19, 8, 22, 21, 25, 20, 7, 23, 24, 1, 6, 4, 5, 9, 17, 18, 2, 3, 11, 10, 0, 13, 12, 15, 16, 14}; +static const uint16_t i_f10c595ae7bb2c27[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25}; +const ::capnp::_::RawSchema s_f10c595ae7bb2c27 = { + 0xf10c595ae7bb2c27, b_f10c595ae7bb2c27.words, 454, d_f10c595ae7bb2c27, m_f10c595ae7bb2c27, + 2, 26, i_f10c595ae7bb2c27, nullptr, nullptr, { &s_f10c595ae7bb2c27, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<877> b_ca965e4add8f4f0b = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 11, 79, 143, 221, 74, 94, 150, 202, + 19, 0, 0, 0, 1, 0, 18, 0, + 193, 81, 174, 7, 75, 103, 148, 222, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 250, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 47, 11, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 81, 99, 111, 109, 71, 110, + 115, 115, 46, 67, 108, 111, 99, 107, + 82, 101, 112, 111, 114, 116, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 204, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 133, 5, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 132, 5, 0, 0, 3, 0, 1, 0, + 144, 5, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 141, 5, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 136, 5, 0, 0, 3, 0, 1, 0, + 148, 5, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 145, 5, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 144, 5, 0, 0, 3, 0, 1, 0, + 156, 5, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 153, 5, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 148, 5, 0, 0, 3, 0, 1, 0, + 160, 5, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 157, 5, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 160, 5, 0, 0, 3, 0, 1, 0, + 172, 5, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 169, 5, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 168, 5, 0, 0, 3, 0, 1, 0, + 180, 5, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 177, 5, 0, 0, 98, 0, 0, 0, + 0, 0, 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+ 232, 5, 0, 0, 2, 0, 1, 0, + 12, 0, 0, 0, 11, 0, 0, 0, + 0, 0, 1, 0, 12, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 229, 5, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 228, 5, 0, 0, 3, 0, 1, 0, + 240, 5, 0, 0, 2, 0, 1, 0, + 13, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 13, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 237, 5, 0, 0, 186, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 240, 5, 0, 0, 3, 0, 1, 0, + 252, 5, 0, 0, 2, 0, 1, 0, + 14, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 14, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 249, 5, 0, 0, 162, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 252, 5, 0, 0, 3, 0, 1, 0, + 8, 6, 0, 0, 2, 0, 1, 0, + 15, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 15, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 6, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 6, 0, 0, 3, 0, 1, 0, + 16, 6, 0, 0, 2, 0, 1, 0, + 16, 0, 0, 0, 8, 0, 0, 0, + 0, 0, 1, 0, 16, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 6, 0, 0, 226, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 20, 6, 0, 0, 3, 0, 1, 0, + 32, 6, 0, 0, 2, 0, 1, 0, + 17, 0, 0, 0, 21, 0, 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0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 108, 111, 99, 107, 82, 101, 115, + 101, 116, 115, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_ca965e4add8f4f0b = b_ca965e4add8f4f0b.words; +#if !CAPNP_LITE +static const uint16_t m_ca965e4add8f4f0b[] = {22, 21, 19, 20, 38, 39, 18, 28, 29, 50, 1, 48, 30, 27, 26, 24, 25, 44, 45, 42, 43, 23, 17, 16, 12, 14, 15, 10, 8, 7, 31, 33, 32, 5, 6, 36, 37, 40, 41, 34, 35, 3, 0, 11, 13, 9, 4, 2, 46, 49, 47}; +static const uint16_t i_ca965e4add8f4f0b[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50}; +const ::capnp::_::RawSchema s_ca965e4add8f4f0b = { + 0xca965e4add8f4f0b, b_ca965e4add8f4f0b.words, 877, nullptr, m_ca965e4add8f4f0b, + 0, 51, i_ca965e4add8f4f0b, nullptr, nullptr, { &s_ca965e4add8f4f0b, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<484> b_8053c39445c6c75c = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 92, 199, 198, 69, 148, 195, 83, 128, + 19, 0, 0, 0, 1, 0, 10, 0, + 193, 81, 174, 7, 75, 103, 148, 222, + 1, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 58, 1, 0, 0, + 37, 0, 0, 0, 23, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 45, 0, 0, 0, 39, 6, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 81, 99, 111, 109, 71, 110, + 115, 115, 46, 68, 114, 77, 101, 97, + 115, 117, 114, 101, 109, 101, 110, 116, + 82, 101, 112, 111, 114, 116, 0, 0, + 4, 0, 0, 0, 1, 0, 1, 0, + 156, 69, 191, 140, 223, 129, 139, 240, + 1, 0, 0, 0, 26, 0, 0, 0, + 83, 86, 0, 0, 0, 0, 0, 0, + 112, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 3, 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0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 114, 101, 113, 117, 101, 110, 99, + 121, 83, 111, 117, 114, 99, 101, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 111, 117, 114, 99, 101, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 238, 167, 173, 250, 182, 18, 26, 215, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 118, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 156, 69, 191, 140, 223, 129, 139, 240, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_8053c39445c6c75c = b_8053c39445c6c75c.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_8053c39445c6c75c[] = { + &s_d71a12b6faada7ee, + &s_f08b81df8cbf459c, +}; +static const uint16_t m_8053c39445c6c75c[] = {23, 24, 6, 5, 25, 17, 22, 19, 20, 21, 18, 16, 15, 8, 9, 13, 14, 10, 11, 12, 0, 3, 2, 1, 26, 27, 7, 4}; +static const uint16_t i_8053c39445c6c75c[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27}; +const ::capnp::_::RawSchema s_8053c39445c6c75c = { + 0x8053c39445c6c75c, b_8053c39445c6c75c.words, 484, d_8053c39445c6c75c, m_8053c39445c6c75c, + 2, 28, i_8053c39445c6c75c, nullptr, nullptr, { &s_8053c39445c6c75c, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<567> b_f08b81df8cbf459c = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 156, 69, 191, 140, 223, 129, 139, 240, + 39, 0, 0, 0, 1, 0, 12, 0, + 92, 199, 198, 69, 148, 195, 83, 128, + 1, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 82, 1, 0, 0, + 41, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 0, 0, 0, 63, 7, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 81, 99, 111, 109, 71, 110, + 115, 115, 46, 68, 114, 77, 101, 97, + 115, 117, 114, 101, 109, 101, 110, 116, + 82, 101, 112, 111, 114, 116, 46, 83, + 86, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 132, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 141, 3, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 136, 3, 0, 0, 3, 0, 1, 0, + 148, 3, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 145, 3, 0, 0, 178, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 148, 3, 0, 0, 3, 0, 1, 0, + 160, 3, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 157, 3, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 160, 3, 0, 0, 3, 0, 1, 0, + 172, 3, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 169, 3, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 168, 3, 0, 0, 3, 0, 1, 0, + 180, 3, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 177, 3, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 180, 3, 0, 0, 3, 0, 1, 0, + 192, 3, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 189, 3, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 188, 3, 0, 0, 3, 0, 1, 0, + 200, 3, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 197, 3, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 200, 3, 0, 0, 3, 0, 1, 0, + 212, 3, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 8, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 209, 3, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 208, 3, 0, 0, 3, 0, 1, 0, + 220, 3, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 217, 3, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 216, 3, 0, 0, 3, 0, 1, 0, + 228, 3, 0, 0, 2, 0, 1, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 225, 3, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 228, 3, 0, 0, 3, 0, 1, 0, + 240, 3, 0, 0, 2, 0, 1, 0, + 10, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 10, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 237, 3, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 236, 3, 0, 0, 3, 0, 1, 0, + 248, 3, 0, 0, 2, 0, 1, 0, + 11, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 11, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 245, 3, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 240, 3, 0, 0, 3, 0, 1, 0, + 252, 3, 0, 0, 2, 0, 1, 0, + 12, 0, 0, 0, 8, 0, 0, 0, + 0, 0, 1, 0, 12, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 249, 3, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 244, 3, 0, 0, 3, 0, 1, 0, + 0, 4, 0, 0, 2, 0, 1, 0, + 13, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 13, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 253, 3, 0, 0, 226, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 4, 0, 0, 3, 0, 1, 0, + 16, 4, 0, 0, 2, 0, 1, 0, + 14, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 14, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 4, 0, 0, 226, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 20, 4, 0, 0, 3, 0, 1, 0, + 32, 4, 0, 0, 2, 0, 1, 0, + 15, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 15, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 4, 0, 0, 194, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 32, 4, 0, 0, 3, 0, 1, 0, + 44, 4, 0, 0, 2, 0, 1, 0, + 16, 0, 0, 0, 8, 0, 0, 0, + 0, 0, 1, 0, 16, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 4, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 40, 4, 0, 0, 3, 0, 1, 0, + 52, 4, 0, 0, 2, 0, 1, 0, + 17, 0, 0, 0, 9, 0, 0, 0, + 0, 0, 1, 0, 17, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 49, 4, 0, 0, 202, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 56, 4, 0, 0, 3, 0, 1, 0, + 68, 4, 0, 0, 2, 0, 1, 0, + 18, 0, 0, 0, 10, 0, 0, 0, + 0, 0, 1, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 65, 4, 0, 0, 242, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 72, 4, 0, 0, 3, 0, 1, 0, + 84, 4, 0, 0, 2, 0, 1, 0, + 19, 0, 0, 0, 11, 0, 0, 0, + 0, 0, 1, 0, 19, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 81, 4, 0, 0, 242, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 88, 4, 0, 0, 3, 0, 1, 0, + 100, 4, 0, 0, 2, 0, 1, 0, + 20, 0, 0, 0, 12, 0, 0, 0, + 0, 0, 1, 0, 20, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 4, 0, 0, 210, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 4, 0, 0, 3, 0, 1, 0, + 116, 4, 0, 0, 2, 0, 1, 0, + 21, 0, 0, 0, 13, 0, 0, 0, + 0, 0, 1, 0, 21, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 113, 4, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 4, 0, 0, 3, 0, 1, 0, + 124, 4, 0, 0, 2, 0, 1, 0, + 22, 0, 0, 0, 14, 0, 0, 0, + 0, 0, 1, 0, 22, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 4, 0, 0, 218, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 128, 4, 0, 0, 3, 0, 1, 0, + 140, 4, 0, 0, 2, 0, 1, 0, + 23, 0, 0, 0, 15, 0, 0, 0, + 0, 0, 1, 0, 23, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 137, 4, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 140, 4, 0, 0, 3, 0, 1, 0, + 152, 4, 0, 0, 2, 0, 1, 0, + 24, 0, 0, 0, 16, 0, 0, 0, + 0, 0, 1, 0, 24, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 149, 4, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 144, 4, 0, 0, 3, 0, 1, 0, + 156, 4, 0, 0, 2, 0, 1, 0, + 25, 0, 0, 0, 17, 0, 0, 0, + 0, 0, 1, 0, 25, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 153, 4, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 152, 4, 0, 0, 3, 0, 1, 0, + 164, 4, 0, 0, 2, 0, 1, 0, + 26, 0, 0, 0, 18, 0, 0, 0, + 0, 0, 1, 0, 26, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 161, 4, 0, 0, 162, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 164, 4, 0, 0, 3, 0, 1, 0, + 176, 4, 0, 0, 2, 0, 1, 0, + 27, 0, 0, 0, 19, 0, 0, 0, + 0, 0, 1, 0, 27, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 173, 4, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 172, 4, 0, 0, 3, 0, 1, 0, + 184, 4, 0, 0, 2, 0, 1, 0, + 28, 0, 0, 0, 20, 0, 0, 0, + 0, 0, 1, 0, 28, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 181, 4, 0, 0, 170, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 184, 4, 0, 0, 3, 0, 1, 0, + 196, 4, 0, 0, 2, 0, 1, 0, + 29, 0, 0, 0, 11, 0, 0, 0, + 0, 0, 1, 0, 29, 0, 0, 0, + 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bp_f08b81df8cbf459c = b_f08b81df8cbf459c.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_f08b81df8cbf459c[] = { + &s_e501010e1bcae83b, + &s_e81e829a0d6c83e9, +}; +static const uint16_t m_f08b81df8cbf459c[] = {24, 10, 29, 7, 26, 25, 30, 5, 13, 14, 16, 17, 15, 27, 28, 1, 4, 32, 12, 9, 23, 2, 3, 31, 8, 6, 11, 0, 18, 19, 21, 22, 20}; +static const uint16_t i_f08b81df8cbf459c[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32}; +const ::capnp::_::RawSchema s_f08b81df8cbf459c = { + 0xf08b81df8cbf459c, b_f08b81df8cbf459c.words, 567, d_f08b81df8cbf459c, m_f08b81df8cbf459c, + 2, 33, i_f08b81df8cbf459c, nullptr, nullptr, { &s_f08b81df8cbf459c, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<427> b_b1fb80811a673270 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 112, 50, 103, 26, 129, 128, 251, 177, + 19, 0, 0, 0, 1, 0, 8, 0, + 193, 81, 174, 7, 75, 103, 148, 222, + 4, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 18, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 127, 5, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 81, 99, 111, 109, 71, 110, + 115, 115, 46, 68, 114, 83, 118, 80, + 111, 108, 121, 82, 101, 112, 111, 114, + 116, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 100, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 173, 2, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 168, 2, 0, 0, 3, 0, 1, 0, + 180, 2, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 177, 2, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 176, 2, 0, 0, 3, 0, 1, 0, + 188, 2, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 24, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 185, 2, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 184, 2, 0, 0, 3, 0, 1, 0, + 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0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 103, 112, 115, 87, 101, 101, 107, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 7, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 103, 112, 115, 84, 111, 119, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_b1fb80811a673270 = b_b1fb80811a673270.words; +#if !CAPNP_LITE +static const uint16_t m_b1fb80811a673270[] = {19, 20, 21, 1, 24, 23, 5, 3, 2, 7, 4, 8, 14, 15, 12, 6, 13, 16, 17, 0, 9, 18, 22, 10, 11}; +static const uint16_t i_b1fb80811a673270[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24}; +const ::capnp::_::RawSchema s_b1fb80811a673270 = { + 0xb1fb80811a673270, b_b1fb80811a673270.words, 427, nullptr, m_b1fb80811a673270, + 0, 25, i_b1fb80811a673270, nullptr, nullptr, { &s_b1fb80811a673270, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<104> b_c95fb49a7bdc4618 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 24, 70, 220, 123, 154, 180, 95, 201, + 10, 0, 0, 0, 1, 0, 5, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 138, 0, 0, 0, + 29, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 0, 0, 0, 31, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 67, 108, 111, 99, 107, 115, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 20, 0, 0, 0, 3, 0, 4, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 125, 0, 0, 0, 194, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 128, 0, 0, 0, 3, 0, 1, 0, + 140, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 137, 0, 0, 0, 202, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 144, 0, 0, 0, 3, 0, 1, 0, + 156, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 153, 0, 0, 0, 218, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 160, 0, 0, 0, 3, 0, 1, 0, + 172, 0, 0, 0, 2, 0, 1, 0, + 0, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 169, 0, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 168, 0, 0, 0, 3, 0, 1, 0, + 180, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 177, 0, 0, 0, 226, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 184, 0, 0, 0, 3, 0, 1, 0, + 196, 0, 0, 0, 2, 0, 1, 0, + 98, 111, 111, 116, 84, 105, 109, 101, + 78, 97, 110, 111, 115, 68, 69, 80, + 82, 69, 67, 65, 84, 69, 68, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 111, 110, 111, 116, 111, 110, 105, + 99, 78, 97, 110, 111, 115, 68, 69, + 80, 82, 69, 67, 65, 84, 69, 68, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 111, 110, 111, 116, 111, 110, 105, + 99, 82, 97, 119, 78, 97, 110, 111, + 115, 68, 69, 80, 82, 69, 67, 65, + 84, 68, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 119, 97, 108, 108, 84, 105, 109, 101, + 78, 97, 110, 111, 115, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 111, 100, 101, 109, 85, 112, 116, + 105, 109, 101, 77, 105, 108, 108, 105, + 115, 68, 69, 80, 82, 69, 67, 65, + 84, 69, 68, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_c95fb49a7bdc4618 = b_c95fb49a7bdc4618.words; +#if !CAPNP_LITE +static const uint16_t m_c95fb49a7bdc4618[] = {0, 4, 1, 2, 3}; +static const uint16_t i_c95fb49a7bdc4618[] = {0, 1, 2, 3, 4}; +const ::capnp::_::RawSchema s_c95fb49a7bdc4618 = { + 0xc95fb49a7bdc4618, b_c95fb49a7bdc4618.words, 104, nullptr, m_c95fb49a7bdc4618, + 0, 5, i_c95fb49a7bdc4618, nullptr, nullptr, { &s_c95fb49a7bdc4618, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<141> b_92a5e332a85f32a0 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 160, 50, 95, 168, 50, 227, 165, 146, + 10, 0, 0, 0, 1, 0, 3, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 4, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 178, 0, 0, 0, + 29, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 0, 0, 0, 143, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 76, 105, 118, 101, 77, 112, + 99, 68, 97, 116, 97, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 28, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 181, 0, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 176, 0, 0, 0, 3, 0, 1, 0, + 204, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 201, 0, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 196, 0, 0, 0, 3, 0, 1, 0, + 224, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 221, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 216, 0, 0, 0, 3, 0, 1, 0, + 244, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 241, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 240, 0, 0, 0, 3, 0, 1, 0, + 12, 1, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 1, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 1, 0, 0, 3, 0, 1, 0, + 20, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 17, 1, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 1, 0, 0, 3, 0, 1, 0, + 28, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 1, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 20, 1, 0, 0, 3, 0, 1, 0, + 32, 1, 0, 0, 2, 0, 1, 0, + 120, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 115, 105, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 117, 114, 118, 97, 116, 117, 114, + 101, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 113, 112, 73, 116, 101, 114, 97, 116, + 105, 111, 110, 115, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 108, 99, 117, 108, 97, 116, + 105, 111, 110, 84, 105, 109, 101, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 111, 115, 116, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_92a5e332a85f32a0 = b_92a5e332a85f32a0.words; +#if !CAPNP_LITE +static const uint16_t m_92a5e332a85f32a0[] = {5, 6, 3, 2, 4, 0, 1}; +static const uint16_t i_92a5e332a85f32a0[] = {0, 1, 2, 3, 4, 5, 6}; +const ::capnp::_::RawSchema s_92a5e332a85f32a0 = { + 0x92a5e332a85f32a0, b_92a5e332a85f32a0.words, 141, nullptr, m_92a5e332a85f32a0, + 0, 7, i_92a5e332a85f32a0, nullptr, nullptr, { &s_92a5e332a85f32a0, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<211> b_e7e17c434f865ae2 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 226, 90, 134, 79, 67, 124, 225, 231, + 10, 0, 0, 0, 1, 0, 4, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 6, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 18, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 111, 2, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 76, 105, 118, 101, 76, 111, + 110, 103, 105, 116, 117, 100, 105, 110, + 97, 108, 77, 112, 99, 68, 97, 116, + 97, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 44, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 1, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 32, 1, 0, 0, 3, 0, 1, 0, + 60, 1, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 57, 1, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 52, 1, 0, 0, 3, 0, 1, 0, + 80, 1, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 77, 1, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 72, 1, 0, 0, 3, 0, 1, 0, + 100, 1, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 1, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 92, 1, 0, 0, 3, 0, 1, 0, + 120, 1, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 1, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 1, 0, 0, 3, 0, 1, 0, + 140, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 137, 1, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 132, 1, 0, 0, 3, 0, 1, 0, + 160, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 157, 1, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 156, 1, 0, 0, 3, 0, 1, 0, + 168, 1, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 165, 1, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 164, 1, 0, 0, 3, 0, 1, 0, + 176, 1, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 173, 1, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 168, 1, 0, 0, 3, 0, 1, 0, + 180, 1, 0, 0, 2, 0, 1, 0, + 9, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 177, 1, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 176, 1, 0, 0, 3, 0, 1, 0, + 188, 1, 0, 0, 2, 0, 1, 0, + 10, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 10, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 185, 1, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 180, 1, 0, 0, 3, 0, 1, 0, + 192, 1, 0, 0, 2, 0, 1, 0, + 120, 69, 103, 111, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 118, 69, 103, 111, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 69, 103, 111, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 120, 76, 101, 97, 100, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 118, 76, 101, 97, 100, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 76, 101, 97, 100, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 76, 101, 97, 100, 84, 97, 117, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 113, 112, 73, 116, 101, 114, 97, 116, + 105, 111, 110, 115, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 112, 99, 73, 100, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 108, 99, 117, 108, 97, 116, + 105, 111, 110, 84, 105, 109, 101, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 111, 115, 116, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 11, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_e7e17c434f865ae2 = b_e7e17c434f865ae2.words; +#if !CAPNP_LITE +static const uint16_t m_e7e17c434f865ae2[] = {2, 5, 6, 9, 10, 8, 7, 1, 4, 0, 3}; +static const uint16_t i_e7e17c434f865ae2[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10}; +const ::capnp::_::RawSchema s_e7e17c434f865ae2 = { + 0xe7e17c434f865ae2, b_e7e17c434f865ae2.words, 211, nullptr, m_e7e17c434f865ae2, + 0, 11, i_e7e17c434f865ae2, nullptr, nullptr, { &s_e7e17c434f865ae2, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<55> b_e42401658e2715e2 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 226, 21, 39, 142, 101, 1, 36, 228, + 10, 0, 0, 0, 1, 0, 0, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 2, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 154, 0, 0, 0, + 29, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 0, 0, 0, 119, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 74, 111, 121, 115, 116, 105, + 99, 107, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 8, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 36, 0, 0, 0, 3, 0, 1, 0, + 64, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 61, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 56, 0, 0, 0, 3, 0, 1, 0, + 84, 0, 0, 0, 2, 0, 1, 0, + 97, 120, 101, 115, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 98, 117, 116, 116, 111, 110, 115, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_e42401658e2715e2 = b_e42401658e2715e2.words; +#if !CAPNP_LITE +static const uint16_t m_e42401658e2715e2[] = {0, 1}; +static const uint16_t i_e42401658e2715e2[] = {0, 1}; +const ::capnp::_::RawSchema s_e42401658e2715e2 = { + 0xe42401658e2715e2, b_e42401658e2715e2.words, 55, nullptr, m_e42401658e2715e2, + 0, 2, i_e42401658e2715e2, nullptr, nullptr, { &s_e42401658e2715e2, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<151> b_fc010c40147563b0 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 176, 99, 117, 20, 64, 12, 1, 252, + 10, 0, 0, 0, 1, 0, 3, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 3, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 194, 0, 0, 0, + 29, 0, 0, 0, 23, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 199, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 68, 114, 105, 118, 101, 114, + 83, 116, 97, 116, 101, 86, 50, 0, + 4, 0, 0, 0, 1, 0, 1, 0, + 106, 138, 242, 205, 177, 59, 247, 201, + 1, 0, 0, 0, 90, 0, 0, 0, + 68, 114, 105, 118, 101, 114, 68, 97, + 116, 97, 0, 0, 0, 0, 0, 0, + 32, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 209, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 204, 0, 0, 0, 3, 0, 1, 0, + 216, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 213, 0, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 216, 0, 0, 0, 3, 0, 1, 0, + 228, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 225, 0, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 228, 0, 0, 0, 3, 0, 1, 0, + 240, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 237, 0, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 236, 0, 0, 0, 3, 0, 1, 0, + 248, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 245, 0, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 244, 0, 0, 0, 3, 0, 1, 0, + 0, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 253, 0, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 1, 0, 0, 3, 0, 1, 0, + 12, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 1, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 1, 0, 0, 3, 0, 1, 0, + 20, 1, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 17, 1, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 1, 0, 0, 3, 0, 1, 0, + 28, 1, 0, 0, 2, 0, 1, 0, + 102, 114, 97, 109, 101, 73, 100, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 111, 100, 101, 108, 69, 120, 101, + 99, 117, 116, 105, 111, 110, 84, 105, + 109, 101, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 115, 112, 69, 120, 101, 99, 117, + 116, 105, 111, 110, 84, 105, 109, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 97, 119, 80, 114, 101, 100, 105, + 99, 116, 105, 111, 110, 115, 0, 0, + 13, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 111, 111, 114, 86, 105, 115, 105, + 111, 110, 80, 114, 111, 98, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 119, 104, 101, 101, 108, 79, 110, 82, + 105, 103, 104, 116, 80, 114, 111, 98, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 102, 116, 68, 114, 105, 118, + 101, 114, 68, 97, 116, 97, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 106, 138, 242, 205, 177, 59, 247, 201, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 105, 103, 104, 116, 68, 114, 105, + 118, 101, 114, 68, 97, 116, 97, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 106, 138, 242, 205, 177, 59, 247, 201, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_fc010c40147563b0 = b_fc010c40147563b0.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_fc010c40147563b0[] = { + &s_c9f73bb1cdf28a6a, +}; +static const uint16_t m_fc010c40147563b0[] = {2, 0, 6, 1, 4, 3, 7, 5}; +static const uint16_t i_fc010c40147563b0[] = {0, 1, 2, 3, 4, 5, 6, 7}; +const ::capnp::_::RawSchema s_fc010c40147563b0 = { + 0xfc010c40147563b0, b_fc010c40147563b0.words, 151, d_fc010c40147563b0, m_fc010c40147563b0, + 1, 8, i_fc010c40147563b0, nullptr, nullptr, { &s_fc010c40147563b0, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<252> b_c9f73bb1cdf28a6a = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 106, 138, 242, 205, 177, 59, 247, 201, + 24, 0, 0, 0, 1, 0, 4, 0, + 176, 99, 117, 20, 64, 12, 1, 252, + 6, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 26, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 223, 2, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 68, 114, 105, 118, 101, 114, + 83, 116, 97, 116, 101, 86, 50, 46, + 68, 114, 105, 118, 101, 114, 68, 97, + 116, 97, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 52, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 93, 1, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 92, 1, 0, 0, 3, 0, 1, 0, + 120, 1, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 1, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 120, 1, 0, 0, 3, 0, 1, 0, + 148, 1, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 145, 1, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 144, 1, 0, 0, 3, 0, 1, 0, + 172, 1, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 169, 1, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 168, 1, 0, 0, 3, 0, 1, 0, + 196, 1, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 193, 1, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 192, 1, 0, 0, 3, 0, 1, 0, + 204, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 201, 1, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 200, 1, 0, 0, 3, 0, 1, 0, + 212, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 209, 1, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 208, 1, 0, 0, 3, 0, 1, 0, + 220, 1, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 217, 1, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 216, 1, 0, 0, 3, 0, 1, 0, + 228, 1, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 225, 1, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 224, 1, 0, 0, 3, 0, 1, 0, + 236, 1, 0, 0, 2, 0, 1, 0, + 9, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 233, 1, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 232, 1, 0, 0, 3, 0, 1, 0, + 244, 1, 0, 0, 2, 0, 1, 0, + 10, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 10, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 241, 1, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 240, 1, 0, 0, 3, 0, 1, 0, + 252, 1, 0, 0, 2, 0, 1, 0, + 11, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 11, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 249, 1, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 248, 1, 0, 0, 3, 0, 1, 0, + 20, 2, 0, 0, 2, 0, 1, 0, + 12, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 12, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 17, 2, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 2, 0, 0, 3, 0, 1, 0, + 44, 2, 0, 0, 2, 0, 1, 0, + 102, 97, 99, 101, 79, 114, 105, 101, + 110, 116, 97, 116, 105, 111, 110, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 97, 99, 101, 79, 114, 105, 101, + 110, 116, 97, 116, 105, 111, 110, 83, + 116, 100, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 97, 99, 101, 80, 111, 115, 105, + 116, 105, 111, 110, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, 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0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 101, 102, 116, 66, 108, 105, 110, + 107, 80, 114, 111, 98, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 105, 103, 104, 116, 66, 108, 105, + 110, 107, 80, 114, 111, 98, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 117, 110, 103, 108, 97, 115, 115, + 101, 115, 80, 114, 111, 98, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 111, 99, 99, 108, 117, 100, 101, 100, + 80, 114, 111, 98, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 101, 97, 100, 121, 80, 114, 111, + 98, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 110, 111, 116, 82, 101, 97, 100, 121, + 80, 114, 111, 98, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_c9f73bb1cdf28a6a = b_c9f73bb1cdf28a6a.words; +#if !CAPNP_LITE +static const uint16_t m_c9f73bb1cdf28a6a[] = {0, 1, 2, 3, 4, 7, 5, 12, 10, 11, 8, 6, 9}; +static const uint16_t i_c9f73bb1cdf28a6a[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12}; +const ::capnp::_::RawSchema s_c9f73bb1cdf28a6a = { + 0xc9f73bb1cdf28a6a, b_c9f73bb1cdf28a6a.words, 252, nullptr, m_c9f73bb1cdf28a6a, + 0, 13, i_c9f73bb1cdf28a6a, nullptr, nullptr, { &s_c9f73bb1cdf28a6a, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<465> b_b83c6cc593ed0a00 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 0, 10, 237, 147, 197, 108, 60, 184, + 10, 0, 0, 0, 1, 0, 9, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 8, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 2, 1, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 183, 5, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 68, 114, 105, 118, 101, 114, + 83, 116, 97, 116, 101, 68, 69, 80, + 82, 69, 67, 65, 84, 69, 68, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 104, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 201, 2, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 196, 2, 0, 0, 3, 0, 1, 0, + 208, 2, 0, 0, 2, 0, 1, 0, + 24, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 205, 2, 0, 0, 170, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 208, 2, 0, 0, 3, 0, 1, 0, + 236, 2, 0, 0, 2, 0, 1, 0, + 25, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 233, 2, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 232, 2, 0, 0, 3, 0, 1, 0, + 244, 2, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 241, 2, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 240, 2, 0, 0, 3, 0, 1, 0, + 12, 3, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 3, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 3, 0, 0, 3, 0, 1, 0, + 36, 3, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 3, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 32, 3, 0, 0, 3, 0, 1, 0, + 44, 3, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 3, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 40, 3, 0, 0, 3, 0, 1, 0, + 52, 3, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 49, 3, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 48, 3, 0, 0, 3, 0, 1, 0, + 60, 3, 0, 0, 2, 0, 1, 0, + 9, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 57, 3, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 56, 3, 0, 0, 3, 0, 1, 0, + 68, 3, 0, 0, 2, 0, 1, 0, + 10, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 65, 3, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 64, 3, 0, 0, 3, 0, 1, 0, + 76, 3, 0, 0, 2, 0, 1, 0, + 23, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 10, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 73, 3, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 72, 3, 0, 0, 3, 0, 1, 0, + 84, 3, 0, 0, 2, 0, 1, 0, + 11, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 11, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 81, 3, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 84, 3, 0, 0, 3, 0, 1, 0, + 112, 3, 0, 0, 2, 0, 1, 0, + 12, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 12, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 3, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 3, 0, 0, 3, 0, 1, 0, + 136, 3, 0, 0, 2, 0, 1, 0, + 13, 0, 0, 0, 8, 0, 0, 0, + 0, 0, 1, 0, 13, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 133, 3, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 132, 3, 0, 0, 3, 0, 1, 0, + 144, 3, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 9, 0, 0, 0, + 0, 0, 1, 0, 14, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 141, 3, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 144, 3, 0, 0, 3, 0, 1, 0, + 156, 3, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 15, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 153, 3, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 152, 3, 0, 0, 3, 0, 1, 0, + 164, 3, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 10, 0, 0, 0, + 0, 0, 1, 0, 16, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 161, 3, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 164, 3, 0, 0, 3, 0, 1, 0, + 176, 3, 0, 0, 2, 0, 1, 0, + 14, 0, 0, 0, 11, 0, 0, 0, + 0, 0, 1, 0, 17, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 173, 3, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 172, 3, 0, 0, 3, 0, 1, 0, + 184, 3, 0, 0, 2, 0, 1, 0, + 15, 0, 0, 0, 12, 0, 0, 0, + 0, 0, 1, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 181, 3, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 180, 3, 0, 0, 3, 0, 1, 0, + 192, 3, 0, 0, 2, 0, 1, 0, + 16, 0, 0, 0, 13, 0, 0, 0, + 0, 0, 1, 0, 19, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 189, 3, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 188, 3, 0, 0, 3, 0, 1, 0, + 200, 3, 0, 0, 2, 0, 1, 0, + 17, 0, 0, 0, 14, 0, 0, 0, + 0, 0, 1, 0, 20, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 197, 3, 0, 0, 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0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 110, 111, 116, 82, 101, 97, 100, 121, + 80, 114, 111, 98, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_b83c6cc593ed0a00 = b_b83c6cc593ed0a00.words; +#if !CAPNP_LITE +static const uint16_t m_b83c6cc593ed0a00[] = {1, 20, 19, 16, 21, 3, 11, 4, 12, 5, 0, 10, 8, 6, 14, 25, 23, 18, 22, 17, 15, 24, 9, 7, 2, 13}; +static const uint16_t i_b83c6cc593ed0a00[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25}; +const ::capnp::_::RawSchema s_b83c6cc593ed0a00 = { + 0xb83c6cc593ed0a00, b_b83c6cc593ed0a00.words, 465, nullptr, m_b83c6cc593ed0a00, + 0, 26, i_b83c6cc593ed0a00, nullptr, nullptr, { &s_b83c6cc593ed0a00, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<313> b_b83cda094a1da284 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 132, 162, 29, 74, 9, 218, 60, 184, + 10, 0, 0, 0, 1, 0, 6, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 1, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 2, 1, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 247, 3, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 68, 114, 105, 118, 101, 114, + 77, 111, 110, 105, 116, 111, 114, 105, + 110, 103, 83, 116, 97, 116, 101, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 72, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 233, 1, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 228, 1, 0, 0, 3, 0, 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1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 2, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 36, 2, 0, 0, 3, 0, 1, 0, + 48, 2, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 45, 2, 0, 0, 162, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 48, 2, 0, 0, 3, 0, 1, 0, + 60, 2, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 57, 2, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 56, 2, 0, 0, 3, 0, 1, 0, + 68, 2, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 65, 2, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 68, 2, 0, 0, 3, 0, 1, 0, + 80, 2, 0, 0, 2, 0, 1, 0, + 9, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 10, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 77, 2, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 76, 2, 0, 0, 3, 0, 1, 0, + 88, 2, 0, 0, 2, 0, 1, 0, + 10, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 11, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 85, 2, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 84, 2, 0, 0, 3, 0, 1, 0, + 96, 2, 0, 0, 2, 0, 1, 0, + 11, 0, 0, 0, 8, 0, 0, 0, + 0, 0, 1, 0, 12, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 93, 2, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 96, 2, 0, 0, 3, 0, 1, 0, + 108, 2, 0, 0, 2, 0, 1, 0, + 12, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 13, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 2, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 2, 0, 0, 3, 0, 1, 0, + 116, 2, 0, 0, 2, 0, 1, 0, + 13, 0, 0, 0, 9, 0, 0, 0, + 0, 0, 1, 0, 14, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 113, 2, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 2, 0, 0, 3, 0, 1, 0, + 124, 2, 0, 0, 2, 0, 1, 0, + 16, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 15, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 2, 0, 0, 162, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 124, 2, 0, 0, 3, 0, 1, 0, + 136, 2, 0, 0, 2, 0, 1, 0, + 14, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 16, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 133, 2, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 132, 2, 0, 0, 3, 0, 1, 0, + 144, 2, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 10, 0, 0, 0, + 0, 0, 1, 0, 17, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 141, 2, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 140, 2, 0, 0, 3, 0, 1, 0, + 152, 2, 0, 0, 2, 0, 1, 0, + 101, 118, 101, 110, 116, 115, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 211, 58, 175, 76, 243, 87, 22, 155, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 97, 99, 101, 68, 101, 116, 101, + 99, 116, 101, 100, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 115, 68, 105, 115, 116, 114, 97, + 99, 116, 101, 100, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 119, 97, 114, 101, 110, 101, 115, + 115, 83, 116, 97, 116, 117, 115, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 115, 82, 72, 68, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 104, 100, 67, 104, 101, 99, 107, + 101, 100, 68, 69, 80, 82, 69, 67, + 65, 84, 69, 68, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 111, 115, 101, 80, 105, 116, 99, + 104, 79, 102, 102, 115, 101, 116, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 111, 115, 101, 80, 105, 116, 99, + 104, 86, 97, 108, 105, 100, 67, 111, + 117, 110, 116, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 111, 115, 101, 89, 97, 119, 79, + 102, 102, 115, 101, 116, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 111, 115, 101, 89, 97, 119, 86, + 97, 108, 105, 100, 67, 111, 117, 110, + 116, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 101, 112, 67, 104, 97, 110, + 103, 101, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 119, 97, 114, 101, 110, 101, 115, + 115, 65, 99, 116, 105, 118, 101, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 119, 97, 114, 101, 110, 101, 115, + 115, 80, 97, 115, 115, 105, 118, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 115, 76, 111, 119, 83, 116, 100, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 105, 83, 116, 100, 67, 111, 117, + 110, 116, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 115, 80, 114, 101, 118, 105, 101, + 119, 68, 69, 80, 82, 69, 67, 65, + 84, 69, 68, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 115, 65, 99, 116, 105, 118, 101, + 77, 111, 100, 101, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 105, 115, 116, 114, 97, 99, 116, + 101, 100, 84, 121, 112, 101, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_b83cda094a1da284 = b_b83cda094a1da284.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_b83cda094a1da284[] = { + &s_9b1657f34caf3ad3, +}; +static const uint16_t m_b83cda094a1da284[] = {11, 12, 3, 17, 0, 1, 14, 16, 2, 13, 15, 4, 6, 7, 8, 9, 5, 10}; +static const uint16_t i_b83cda094a1da284[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17}; +const ::capnp::_::RawSchema s_b83cda094a1da284 = { + 0xb83cda094a1da284, b_b83cda094a1da284.words, 313, d_b83cda094a1da284, m_b83cda094a1da284, + 1, 18, i_b83cda094a1da284, nullptr, nullptr, { &s_b83cda094a1da284, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<149> b_a12e8670927a2549 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 73, 37, 122, 146, 112, 134, 46, 161, + 10, 0, 0, 0, 1, 0, 1, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 5, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 122, 0, 0, 0, + 25, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 87, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 66, 111, 111, 116, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 24, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 153, 0, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 152, 0, 0, 0, 3, 0, 1, 0, + 164, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 161, 0, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 164, 0, 0, 0, 3, 0, 1, 0, + 176, 0, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 173, 0, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 176, 0, 0, 0, 3, 0, 1, 0, + 188, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 185, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 184, 0, 0, 0, 3, 0, 1, 0, + 196, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 193, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 188, 0, 0, 0, 3, 0, 1, 0, + 16, 1, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 1, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 1, 0, 0, 3, 0, 1, 0, + 96, 1, 0, 0, 2, 0, 1, 0, + 119, 97, 108, 108, 84, 105, 109, 101, + 78, 97, 110, 111, 115, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 97, 115, 116, 75, 109, 115, 103, + 68, 69, 80, 82, 69, 67, 65, 84, + 69, 68, 0, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 97, 115, 116, 80, 109, 115, 103, + 68, 69, 80, 82, 69, 67, 65, 84, + 69, 68, 0, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 97, 117, 110, 99, 104, 76, 111, + 103, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 115, 116, 111, 114, 101, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 150, 182, 62, 24, 226, 60, 177, 248, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 1, 0, + 1, 0, 0, 0, 31, 0, 0, 0, + 4, 0, 0, 0, 2, 0, 1, 0, + 150, 182, 62, 24, 226, 60, 177, 248, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 39, 0, 0, 0, + 8, 0, 0, 0, 1, 0, 1, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 3, 0, 1, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 3, 0, 1, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 111, 109, 109, 97, 110, 100, 115, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 150, 182, 62, 24, 226, 60, 177, 248, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 1, 0, + 1, 0, 0, 0, 31, 0, 0, 0, + 4, 0, 0, 0, 2, 0, 1, 0, + 150, 182, 62, 24, 226, 60, 177, 248, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 39, 0, 0, 0, + 8, 0, 0, 0, 1, 0, 1, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 3, 0, 1, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 3, 0, 1, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_a12e8670927a2549 = b_a12e8670927a2549.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_a12e8670927a2549[] = { + &s_f8b13ce2183eb696, +}; +static const uint16_t m_a12e8670927a2549[] = {5, 1, 2, 3, 4, 0}; +static const uint16_t i_a12e8670927a2549[] = {0, 1, 2, 3, 4, 5}; +KJ_CONSTEXPR(const) ::capnp::_::RawBrandedSchema::Dependency bd_a12e8670927a2549[] = { + { 16777220, ::cereal::Map< ::capnp::Text, ::capnp::Data>::_capnpPrivate::brand() }, + { 16777221, ::cereal::Map< ::capnp::Text, ::capnp::Data>::_capnpPrivate::brand() }, +}; +const ::capnp::_::RawSchema s_a12e8670927a2549 = { + 0xa12e8670927a2549, b_a12e8670927a2549.words, 149, d_a12e8670927a2549, m_a12e8670927a2549, + 1, 6, i_a12e8670927a2549, nullptr, nullptr, { &s_a12e8670927a2549, nullptr, bd_a12e8670927a2549, 0, sizeof(bd_a12e8670927a2549) / sizeof(bd_a12e8670927a2549[0]), nullptr }, true +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<277> b_d9058dcb967c2753 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 83, 39, 124, 150, 203, 141, 5, 217, + 10, 0, 0, 0, 1, 0, 7, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 1, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 234, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 135, 3, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 76, 105, 118, 101, 80, 97, + 114, 97, 109, 101, 116, 101, 114, 115, + 68, 97, 116, 97, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 64, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 177, 1, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 172, 1, 0, 0, 3, 0, 1, 0, + 184, 1, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 181, 1, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 180, 1, 0, 0, 3, 0, 1, 0, + 192, 1, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 189, 1, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 188, 1, 0, 0, 3, 0, 1, 0, + 200, 1, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 197, 1, 0, 0, 178, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 200, 1, 0, 0, 3, 0, 1, 0, + 212, 1, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 209, 1, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 208, 1, 0, 0, 3, 0, 1, 0, + 220, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 217, 1, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 216, 1, 0, 0, 3, 0, 1, 0, + 228, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 225, 1, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 224, 1, 0, 0, 3, 0, 1, 0, + 236, 1, 0, 0, 2, 0, 1, 0, + 15, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 233, 1, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 236, 1, 0, 0, 3, 0, 1, 0, + 248, 1, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 245, 1, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 244, 1, 0, 0, 3, 0, 1, 0, + 0, 2, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 253, 1, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 252, 1, 0, 0, 3, 0, 1, 0, + 8, 2, 0, 0, 2, 0, 1, 0, + 9, 0, 0, 0, 8, 0, 0, 0, + 0, 0, 1, 0, 10, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 2, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 2, 0, 0, 3, 0, 1, 0, + 20, 2, 0, 0, 2, 0, 1, 0, + 10, 0, 0, 0, 9, 0, 0, 0, + 0, 0, 1, 0, 11, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 17, 2, 0, 0, 178, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 20, 2, 0, 0, 3, 0, 1, 0, + 32, 2, 0, 0, 2, 0, 1, 0, + 11, 0, 0, 0, 10, 0, 0, 0, + 0, 0, 1, 0, 12, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 2, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 32, 2, 0, 0, 3, 0, 1, 0, + 44, 2, 0, 0, 2, 0, 1, 0, + 12, 0, 0, 0, 11, 0, 0, 0, + 0, 0, 1, 0, 13, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 2, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 40, 2, 0, 0, 3, 0, 1, 0, + 52, 2, 0, 0, 2, 0, 1, 0, + 13, 0, 0, 0, 12, 0, 0, 0, + 0, 0, 1, 0, 14, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 49, 2, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 44, 2, 0, 0, 3, 0, 1, 0, + 56, 2, 0, 0, 2, 0, 1, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 15, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 53, 2, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 52, 2, 0, 0, 3, 0, 1, 0, + 64, 2, 0, 0, 2, 0, 1, 0, + 118, 97, 108, 105, 100, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 103, 121, 114, 111, 66, 105, 97, 115, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 110, 103, 108, 101, 79, 102, 102, + 115, 101, 116, 68, 101, 103, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 110, 103, 108, 101, 79, 102, 102, + 115, 101, 116, 65, 118, 101, 114, 97, + 103, 101, 68, 101, 103, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 105, 102, 102, 110, 101, 115, + 115, 70, 97, 99, 116, 111, 114, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 101, 101, 114, 82, 97, 116, + 105, 111, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 101, 110, 115, 111, 114, 86, 97, + 108, 105, 100, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 97, 119, 82, 97, 116, 101, 68, + 69, 80, 82, 69, 67, 65, 84, 69, + 68, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 111, 115, 101, 110, 101, 116, 83, + 112, 101, 101, 100, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 111, 115, 101, 110, 101, 116, 86, + 97, 108, 105, 100, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 110, 103, 108, 101, 79, 102, 102, + 115, 101, 116, 70, 97, 115, 116, 83, + 116, 100, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 110, 103, 108, 101, 79, 102, 102, + 115, 101, 116, 65, 118, 101, 114, 97, + 103, 101, 83, 116, 100, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 105, 102, 102, 110, 101, 115, + 115, 70, 97, 99, 116, 111, 114, 83, + 116, 100, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 116, 101, 101, 114, 82, 97, 116, + 105, 111, 83, 116, 100, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 111, 108, 108, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 105, 108, 116, 101, 114, 83, 116, + 97, 116, 101, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 28, 206, 218, 102, 237, 249, 35, 191, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_d9058dcb967c2753 = b_d9058dcb967c2753.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_d9058dcb967c2753[] = { + &s_bf23f9ed66dace1c, +}; +static const uint16_t m_d9058dcb967c2753[] = {3, 11, 2, 10, 15, 1, 8, 9, 14, 6, 5, 13, 4, 12, 0, 7}; +static const uint16_t i_d9058dcb967c2753[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15}; +const ::capnp::_::RawSchema s_d9058dcb967c2753 = { + 0xd9058dcb967c2753, b_d9058dcb967c2753.words, 277, d_d9058dcb967c2753, m_d9058dcb967c2753, + 1, 16, i_d9058dcb967c2753, nullptr, nullptr, { &s_d9058dcb967c2753, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<240> b_e61690eb0b091692 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 146, 22, 9, 11, 235, 144, 22, 230, + 10, 0, 0, 0, 1, 0, 6, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 1, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 26, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 223, 2, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 76, 105, 118, 101, 84, 111, + 114, 113, 117, 101, 80, 97, 114, 97, + 109, 101, 116, 101, 114, 115, 68, 97, + 116, 97, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 52, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 93, 1, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 92, 1, 0, 0, 3, 0, 1, 0, + 104, 1, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 1, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 1, 0, 0, 3, 0, 1, 0, + 116, 1, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 113, 1, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 1, 0, 0, 3, 0, 1, 0, + 128, 1, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 125, 1, 0, 0, 186, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 128, 1, 0, 0, 3, 0, 1, 0, + 140, 1, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 137, 1, 0, 0, 186, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 140, 1, 0, 0, 3, 0, 1, 0, + 152, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 149, 1, 0, 0, 186, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 152, 1, 0, 0, 3, 0, 1, 0, + 164, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 161, 1, 0, 0, 226, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 168, 1, 0, 0, 3, 0, 1, 0, + 180, 1, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 177, 1, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 180, 1, 0, 0, 3, 0, 1, 0, + 192, 1, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 8, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 189, 1, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 184, 1, 0, 0, 3, 0, 1, 0, + 196, 1, 0, 0, 2, 0, 1, 0, + 9, 0, 0, 0, 9, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 193, 1, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 192, 1, 0, 0, 3, 0, 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0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 115, 101, 80, 97, 114, 97, 109, + 115, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_e61690eb0b091692 = b_e61690eb0b091692.words; +#if !CAPNP_LITE +static const uint16_t m_e61690eb0b091692[] = {8, 6, 3, 4, 1, 5, 2, 0, 9, 10, 7, 12, 11}; +static const uint16_t i_e61690eb0b091692[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12}; +const ::capnp::_::RawSchema s_e61690eb0b091692 = { + 0xe61690eb0b091692, b_e61690eb0b091692.words, 240, nullptr, m_e61690eb0b091692, + 0, 13, i_e61690eb0b091692, nullptr, nullptr, { &s_e61690eb0b091692, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<305> b_943e268f93f711a6 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 166, 17, 247, 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0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 111, 97, 100, 67, 117, 114, 118, + 97, 116, 117, 114, 101, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 105, 115, 116, 84, 111, 84, 117, + 114, 110, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 97, 112, 86, 97, 108, 105, 100, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 112, 101, 101, 100, 65, 100, 118, + 105, 115, 111, 114, 121, 86, 97, 108, + 105, 100, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 112, 101, 101, 100, 65, 100, 118, + 105, 115, 111, 114, 121, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 112, 101, 101, 100, 76, 105, 109, + 105, 116, 65, 104, 101, 97, 100, 86, + 97, 108, 105, 100, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 112, 101, 101, 100, 76, 105, 109, + 105, 116, 65, 104, 101, 97, 100, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 112, 101, 101, 100, 76, 105, 109, + 105, 116, 65, 104, 101, 97, 100, 68, + 105, 115, 116, 97, 110, 99, 101, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_943e268f93f711a6 = b_943e268f93f711a6.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_943e268f93f711a6[] = { + &s_e946524859add50e, +}; +static const uint16_t m_943e268f93f711a6[] = {3, 2, 10, 7, 11, 9, 8, 5, 6, 13, 12, 1, 15, 16, 14, 0, 4}; +static const uint16_t i_943e268f93f711a6[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16}; +const ::capnp::_::RawSchema s_943e268f93f711a6 = { + 0x943e268f93f711a6, b_943e268f93f711a6.words, 305, d_943e268f93f711a6, m_943e268f93f711a6, + 1, 17, i_943e268f93f711a6, nullptr, nullptr, { &s_943e268f93f711a6, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<210> b_fa9a296b9fd41a96 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 150, 26, 212, 159, 107, 41, 154, 250, + 10, 0, 0, 0, 1, 0, 2, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 8, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 202, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 55, 2, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 67, 97, 109, 101, 114, 97, + 79, 100, 111, 109, 101, 116, 114, 121, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 40, 0, 0, 0, 3, 0, 4, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 1, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 1, 0, 0, 3, 0, 1, 0, + 32, 1, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 1, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 24, 1, 0, 0, 3, 0, 1, 0, + 52, 1, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 49, 1, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 48, 1, 0, 0, 3, 0, 1, 0, + 76, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 73, 1, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 68, 1, 0, 0, 3, 0, 1, 0, + 96, 1, 0, 0, 2, 0, 1, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 93, 1, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 88, 1, 0, 0, 3, 0, 1, 0, + 100, 1, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 1, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 96, 1, 0, 0, 3, 0, 1, 0, + 108, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 1, 0, 0, 162, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 1, 0, 0, 3, 0, 1, 0, + 136, 1, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 133, 1, 0, 0, 186, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 136, 1, 0, 0, 3, 0, 1, 0, + 164, 1, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 6, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 161, 1, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 164, 1, 0, 0, 3, 0, 1, 0, + 192, 1, 0, 0, 2, 0, 1, 0, + 9, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 189, 1, 0, 0, 178, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 192, 1, 0, 0, 3, 0, 1, 0, + 220, 1, 0, 0, 2, 0, 1, 0, + 116, 114, 97, 110, 115, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 111, 116, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 114, 97, 110, 115, 83, 116, 100, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 111, 116, 83, 116, 100, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 114, 97, 109, 101, 73, 100, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 105, 109, 101, 115, 116, 97, 109, + 112, 69, 111, 102, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 119, 105, 100, 101, 70, 114, 111, 109, + 68, 101, 118, 105, 99, 101, 69, 117, + 108, 101, 114, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 119, 105, 100, 101, 70, 114, 111, 109, + 68, 101, 118, 105, 99, 101, 69, 117, + 108, 101, 114, 83, 116, 100, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 111, 97, 100, 84, 114, 97, 110, + 115, 102, 111, 114, 109, 84, 114, 97, + 110, 115, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 111, 97, 100, 84, 114, 97, 110, + 115, 102, 111, 114, 109, 84, 114, 97, + 110, 115, 83, 116, 100, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_fa9a296b9fd41a96 = b_fa9a296b9fd41a96.words; +#if !CAPNP_LITE +static const uint16_t m_fa9a296b9fd41a96[] = {4, 8, 9, 1, 3, 5, 0, 2, 6, 7}; +static const uint16_t i_fa9a296b9fd41a96[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9}; +const ::capnp::_::RawSchema s_fa9a296b9fd41a96 = { + 0xfa9a296b9fd41a96, b_fa9a296b9fd41a96.words, 210, nullptr, m_fa9a296b9fd41a96, + 0, 10, i_fa9a296b9fd41a96, nullptr, nullptr, { &s_fa9a296b9fd41a96, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<51> b_ef0382d244f56e38 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 56, 110, 245, 68, 210, 130, 3, 239, + 10, 0, 0, 0, 1, 0, 1, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 154, 0, 0, 0, + 29, 0, 0, 0, 23, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 119, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 83, 101, 110, 116, 105, 110, + 101, 108, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 1, 0, 1, 0, + 26, 3, 247, 182, 30, 230, 216, 162, + 1, 0, 0, 0, 106, 0, 0, 0, + 83, 101, 110, 116, 105, 110, 101, 108, + 84, 121, 112, 101, 0, 0, 0, 0, + 8, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 36, 0, 0, 0, 3, 0, 1, 0, + 48, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 45, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 40, 0, 0, 0, 3, 0, 1, 0, + 52, 0, 0, 0, 2, 0, 1, 0, + 116, 121, 112, 101, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 26, 3, 247, 182, 30, 230, 216, 162, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 105, 103, 110, 97, 108, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_ef0382d244f56e38 = b_ef0382d244f56e38.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_ef0382d244f56e38[] = { + &s_a2d8e61eb6f7031a, +}; +static const uint16_t m_ef0382d244f56e38[] = {1, 0}; +static const uint16_t i_ef0382d244f56e38[] = {0, 1}; +const ::capnp::_::RawSchema s_ef0382d244f56e38 = { + 0xef0382d244f56e38, b_ef0382d244f56e38.words, 51, d_ef0382d244f56e38, m_ef0382d244f56e38, + 1, 2, i_ef0382d244f56e38, nullptr, nullptr, { &s_ef0382d244f56e38, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<38> b_a2d8e61eb6f7031a = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 26, 3, 247, 182, 30, 230, 216, 162, + 19, 0, 0, 0, 2, 0, 0, 0, + 56, 110, 245, 68, 210, 130, 3, 239, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 2, 1, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 103, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 83, 101, 110, 116, 105, 110, + 101, 108, 46, 83, 101, 110, 116, 105, + 110, 101, 108, 84, 121, 112, 101, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 16, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 37, 0, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 110, 100, 79, 102, 83, 101, 103, + 109, 101, 110, 116, 0, 0, 0, 0, + 101, 110, 100, 79, 102, 82, 111, 117, + 116, 101, 0, 0, 0, 0, 0, 0, + 115, 116, 97, 114, 116, 79, 102, 83, + 101, 103, 109, 101, 110, 116, 0, 0, + 115, 116, 97, 114, 116, 79, 102, 82, + 111, 117, 116, 101, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_a2d8e61eb6f7031a = b_a2d8e61eb6f7031a.words; +#if !CAPNP_LITE +static const uint16_t m_a2d8e61eb6f7031a[] = {1, 0, 3, 2}; +const ::capnp::_::RawSchema s_a2d8e61eb6f7031a = { + 0xa2d8e61eb6f7031a, b_a2d8e61eb6f7031a.words, 38, nullptr, m_a2d8e61eb6f7031a, + 0, 4, nullptr, nullptr, nullptr, { &s_a2d8e61eb6f7031a, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(SentinelType_a2d8e61eb6f7031a, a2d8e61eb6f7031a); +static const ::capnp::_::AlignedData<33> b_fe35ad896ffaeacf = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 207, 234, 250, 111, 137, 173, 53, 254, + 10, 0, 0, 0, 1, 0, 1, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 146, 0, 0, 0, + 29, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 0, 0, 0, 63, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 85, 73, 68, 101, 98, 117, + 103, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 4, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 3, 0, 1, 0, + 24, 0, 0, 0, 2, 0, 1, 0, + 100, 114, 97, 119, 84, 105, 109, 101, + 77, 105, 108, 108, 105, 115, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_fe35ad896ffaeacf = b_fe35ad896ffaeacf.words; +#if !CAPNP_LITE +static const uint16_t m_fe35ad896ffaeacf[] = {0}; +static const uint16_t i_fe35ad896ffaeacf[] = {0}; +const ::capnp::_::RawSchema s_fe35ad896ffaeacf = { + 0xfe35ad896ffaeacf, b_fe35ad896ffaeacf.words, 33, nullptr, m_fe35ad896ffaeacf, + 0, 1, i_fe35ad896ffaeacf, nullptr, nullptr, { &s_fe35ad896ffaeacf, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<41> b_cf7154b31a69635b = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 91, 99, 105, 26, 179, 84, 113, 207, + 10, 0, 0, 0, 1, 0, 0, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 1, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 186, 0, 0, 0, + 29, 0, 0, 0, 23, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 63, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 77, 97, 110, 97, 103, 101, + 114, 83, 116, 97, 116, 101, 0, 0, + 4, 0, 0, 0, 1, 0, 1, 0, + 234, 105, 132, 112, 210, 84, 154, 134, + 1, 0, 0, 0, 106, 0, 0, 0, + 80, 114, 111, 99, 101, 115, 115, 83, + 116, 97, 116, 101, 0, 0, 0, 0, + 4, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 3, 0, 1, 0, + 40, 0, 0, 0, 2, 0, 1, 0, + 112, 114, 111, 99, 101, 115, 115, 101, + 115, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 234, 105, 132, 112, 210, 84, 154, 134, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_cf7154b31a69635b = b_cf7154b31a69635b.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_cf7154b31a69635b[] = { + &s_869a54d2708469ea, +}; +static const uint16_t m_cf7154b31a69635b[] = {0}; +static const uint16_t i_cf7154b31a69635b[] = {0}; +const ::capnp::_::RawSchema s_cf7154b31a69635b = { + 0xcf7154b31a69635b, b_cf7154b31a69635b.words, 41, d_cf7154b31a69635b, m_cf7154b31a69635b, + 1, 1, i_cf7154b31a69635b, nullptr, nullptr, { &s_cf7154b31a69635b, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<96> b_869a54d2708469ea = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 234, 105, 132, 112, 210, 84, 154, 134, + 23, 0, 0, 0, 1, 0, 2, 0, + 91, 99, 105, 26, 179, 84, 113, 207, + 1, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 34, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 31, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 77, 97, 110, 97, 103, 101, + 114, 83, 116, 97, 116, 101, 46, 80, + 114, 111, 99, 101, 115, 115, 83, 116, + 97, 116, 101, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 20, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 125, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 120, 0, 0, 0, 3, 0, 1, 0, + 132, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 129, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 124, 0, 0, 0, 3, 0, 1, 0, + 136, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 32, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 133, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 128, 0, 0, 0, 3, 0, 1, 0, + 140, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 137, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 136, 0, 0, 0, 3, 0, 1, 0, + 148, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 33, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 145, 0, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 144, 0, 0, 0, 3, 0, 1, 0, + 156, 0, 0, 0, 2, 0, 1, 0, + 110, 97, 109, 101, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 105, 100, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 117, 110, 110, 105, 110, 103, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 101, 120, 105, 116, 67, 111, 100, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 104, 111, 117, 108, 100, 66, 101, + 82, 117, 110, 110, 105, 110, 103, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_869a54d2708469ea = b_869a54d2708469ea.words; +#if !CAPNP_LITE +static const uint16_t m_869a54d2708469ea[] = {3, 0, 1, 2, 4}; +static const uint16_t i_869a54d2708469ea[] = {0, 1, 2, 3, 4}; +const ::capnp::_::RawSchema s_869a54d2708469ea = { + 0x869a54d2708469ea, b_869a54d2708469ea.words, 96, nullptr, m_869a54d2708469ea, + 0, 5, i_869a54d2708469ea, nullptr, nullptr, { &s_869a54d2708469ea, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<131> b_de266b39b76b461e = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 30, 70, 107, 183, 57, 107, 38, 222, + 10, 0, 0, 0, 1, 0, 3, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 1, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 194, 0, 0, 0, + 29, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 0, 0, 0, 143, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 85, 112, 108, 111, 97, 100, + 101, 114, 83, 116, 97, 116, 101, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 28, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 181, 0, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 184, 0, 0, 0, 3, 0, 1, 0, + 196, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 193, 0, 0, 0, 162, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 196, 0, 0, 0, 3, 0, 1, 0, + 208, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 205, 0, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 204, 0, 0, 0, 3, 0, 1, 0, + 216, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 213, 0, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 212, 0, 0, 0, 3, 0, 1, 0, + 224, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 221, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 220, 0, 0, 0, 3, 0, 1, 0, + 232, 0, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 229, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 228, 0, 0, 0, 3, 0, 1, 0, + 240, 0, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 237, 0, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 236, 0, 0, 0, 3, 0, 1, 0, + 248, 0, 0, 0, 2, 0, 1, 0, + 105, 109, 109, 101, 100, 105, 97, 116, + 101, 81, 117, 101, 117, 101, 83, 105, + 122, 101, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 109, 109, 101, 100, 105, 97, 116, + 101, 81, 117, 101, 117, 101, 67, 111, + 117, 110, 116, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 97, 119, 81, 117, 101, 117, 101, + 83, 105, 122, 101, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 97, 119, 81, 117, 101, 117, 101, + 67, 111, 117, 110, 116, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 97, 115, 116, 84, 105, 109, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 97, 115, 116, 83, 112, 101, 101, + 100, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 97, 115, 116, 70, 105, 108, 101, + 110, 97, 109, 101, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_de266b39b76b461e = b_de266b39b76b461e.words; +#if !CAPNP_LITE +static const uint16_t m_de266b39b76b461e[] = {1, 0, 6, 5, 4, 3, 2}; +static const uint16_t i_de266b39b76b461e[] = {0, 1, 2, 3, 4, 5, 6}; +const ::capnp::_::RawSchema s_de266b39b76b461e = { + 0xde266b39b76b461e, b_de266b39b76b461e.words, 131, nullptr, m_de266b39b76b461e, + 0, 7, i_de266b39b76b461e, nullptr, nullptr, { &s_de266b39b76b461e, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<254> b_c18216b27f8602af = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 175, 2, 134, 127, 178, 22, 130, 193, + 10, 0, 0, 0, 1, 0, 3, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 6, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 202, 0, 0, 0, + 33, 0, 0, 0, 71, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 89, 0, 0, 0, 223, 2, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 78, 97, 118, 73, 110, 115, + 116, 114, 117, 99, 116, 105, 111, 110, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 1, 0, 1, 0, + 217, 57, 164, 192, 137, 22, 205, 164, + 25, 0, 0, 0, 42, 0, 0, 0, + 146, 193, 229, 201, 216, 185, 165, 238, + 21, 0, 0, 0, 82, 0, 0, 0, + 102, 156, 208, 104, 165, 10, 110, 182, + 21, 0, 0, 0, 122, 0, 0, 0, + 69, 10, 226, 108, 26, 74, 236, 179, + 21, 0, 0, 0, 74, 0, 0, 0, + 76, 97, 110, 101, 0, 0, 0, 0, + 68, 105, 114, 101, 99, 116, 105, 111, + 110, 0, 0, 0, 0, 0, 0, 0, + 83, 112, 101, 101, 100, 76, 105, 109, + 105, 116, 83, 105, 103, 110, 0, 0, + 77, 97, 110, 101, 117, 118, 101, 114, + 0, 0, 0, 0, 0, 0, 0, 0, + 52, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 93, 1, 0, 0, 162, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 96, 1, 0, 0, 3, 0, 1, 0, + 108, 1, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 1, 0, 0, 178, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 1, 0, 0, 3, 0, 1, 0, + 120, 1, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 1, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 120, 1, 0, 0, 3, 0, 1, 0, + 132, 1, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 129, 1, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 128, 1, 0, 0, 3, 0, 1, 0, + 140, 1, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 137, 1, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 140, 1, 0, 0, 3, 0, 1, 0, + 152, 1, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 149, 1, 0, 0, 146, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 152, 1, 0, 0, 3, 0, 1, 0, + 164, 1, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 161, 1, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 160, 1, 0, 0, 3, 0, 1, 0, + 172, 1, 0, 0, 2, 0, 1, 0, + 7, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 169, 1, 0, 0, 170, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 172, 1, 0, 0, 3, 0, 1, 0, + 184, 1, 0, 0, 2, 0, 1, 0, + 8, 0, 0, 0, 4, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 181, 1, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 176, 1, 0, 0, 3, 0, 1, 0, + 204, 1, 0, 0, 2, 0, 1, 0, + 9, 0, 0, 0, 128, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 201, 1, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 200, 1, 0, 0, 3, 0, 1, 0, + 212, 1, 0, 0, 2, 0, 1, 0, + 10, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 10, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 209, 1, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 208, 1, 0, 0, 3, 0, 1, 0, + 220, 1, 0, 0, 2, 0, 1, 0, + 11, 0, 0, 0, 9, 0, 0, 0, + 0, 0, 1, 0, 11, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 217, 1, 0, 0, 122, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 216, 1, 0, 0, 3, 0, 1, 0, + 228, 1, 0, 0, 2, 0, 1, 0, + 12, 0, 0, 0, 5, 0, 0, 0, + 0, 0, 1, 0, 12, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 225, 1, 0, 0, 106, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 224, 1, 0, 0, 3, 0, 1, 0, + 252, 1, 0, 0, 2, 0, 1, 0, + 109, 97, 110, 101, 117, 118, 101, 114, + 80, 114, 105, 109, 97, 114, 121, 84, + 101, 120, 116, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 97, 110, 101, 117, 118, 101, 114, + 83, 101, 99, 111, 110, 100, 97, 114, + 121, 84, 101, 120, 116, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 97, 110, 101, 117, 118, 101, 114, + 68, 105, 115, 116, 97, 110, 99, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 97, 110, 101, 117, 118, 101, 114, + 84, 121, 112, 101, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 97, 110, 101, 117, 118, 101, 114, + 77, 111, 100, 105, 102, 105, 101, 114, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 105, 115, 116, 97, 110, 99, 101, + 82, 101, 109, 97, 105, 110, 105, 110, + 103, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 105, 109, 101, 82, 101, 109, 97, + 105, 110, 105, 110, 103, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 105, 109, 101, 82, 101, 109, 97, + 105, 110, 105, 110, 103, 84, 121, 112, + 105, 99, 97, 108, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 97, 110, 101, 115, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 217, 57, 164, 192, 137, 22, 205, 164, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 104, 111, 119, 70, 117, 108, 108, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 112, 101, 101, 100, 76, 105, 109, + 105, 116, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 112, 101, 101, 100, 76, 105, 109, + 105, 116, 83, 105, 103, 110, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 102, 156, 208, 104, 165, 10, 110, 182, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 108, 108, 77, 97, 110, 101, 117, + 118, 101, 114, 115, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 69, 10, 226, 108, 26, 74, 236, 179, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_c18216b27f8602af = b_c18216b27f8602af.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_c18216b27f8602af[] = { + &s_a4cd1689c0a439d9, + &s_b3ec4a1a6ce20a45, + &s_b66e0aa568d09c66, +}; +static const uint16_t m_c18216b27f8602af[] = {12, 5, 8, 2, 4, 0, 1, 3, 9, 10, 11, 6, 7}; +static const uint16_t i_c18216b27f8602af[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12}; +const ::capnp::_::RawSchema s_c18216b27f8602af = { + 0xc18216b27f8602af, b_c18216b27f8602af.words, 254, d_c18216b27f8602af, m_c18216b27f8602af, + 3, 13, i_c18216b27f8602af, nullptr, nullptr, { &s_c18216b27f8602af, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<69> b_a4cd1689c0a439d9 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 217, 57, 164, 192, 137, 22, 205, 164, + 25, 0, 0, 0, 1, 0, 1, 0, + 175, 2, 134, 127, 178, 22, 130, 193, + 1, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 242, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 175, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 78, 97, 118, 73, 110, 115, + 116, 114, 117, 99, 116, 105, 111, 110, + 46, 76, 97, 110, 101, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 12, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 69, 0, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 68, 0, 0, 0, 3, 0, 1, 0, + 96, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 93, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 88, 0, 0, 0, 3, 0, 1, 0, + 100, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 0, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 96, 0, 0, 0, 3, 0, 1, 0, + 108, 0, 0, 0, 2, 0, 1, 0, + 100, 105, 114, 101, 99, 116, 105, 111, + 110, 115, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 146, 193, 229, 201, 216, 185, 165, 238, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 99, 116, 105, 118, 101, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 99, 116, 105, 118, 101, 68, 105, + 114, 101, 99, 116, 105, 111, 110, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 146, 193, 229, 201, 216, 185, 165, 238, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 15, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_a4cd1689c0a439d9 = b_a4cd1689c0a439d9.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_a4cd1689c0a439d9[] = { + &s_eea5b9d8c9e5c192, +}; +static const uint16_t m_a4cd1689c0a439d9[] = {1, 2, 0}; +static const uint16_t i_a4cd1689c0a439d9[] = {0, 1, 2}; +const ::capnp::_::RawSchema s_a4cd1689c0a439d9 = { + 0xa4cd1689c0a439d9, b_a4cd1689c0a439d9.words, 69, d_a4cd1689c0a439d9, m_a4cd1689c0a439d9, + 1, 3, i_a4cd1689c0a439d9, nullptr, nullptr, { &s_a4cd1689c0a439d9, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<46> b_eea5b9d8c9e5c192 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 146, 193, 229, 201, 216, 185, 165, 238, + 25, 0, 0, 0, 2, 0, 0, 0, + 175, 2, 134, 127, 178, 22, 130, 193, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 26, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 151, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 78, 97, 118, 73, 110, 115, + 116, 114, 117, 99, 116, 105, 111, 110, + 46, 68, 105, 114, 101, 99, 116, 105, + 111, 110, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 24, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 65, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 57, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 2, 0, 0, 0, 0, 0, 0, 0, + 49, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 37, 0, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 110, 111, 110, 101, 0, 0, 0, 0, + 108, 101, 102, 116, 0, 0, 0, 0, + 114, 105, 103, 104, 116, 0, 0, 0, + 115, 116, 114, 97, 105, 103, 104, 116, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 108, 105, 103, 104, 116, 76, 101, + 102, 116, 0, 0, 0, 0, 0, 0, + 115, 108, 105, 103, 104, 116, 82, 105, + 103, 104, 116, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_eea5b9d8c9e5c192 = b_eea5b9d8c9e5c192.words; +#if !CAPNP_LITE +static const uint16_t m_eea5b9d8c9e5c192[] = {1, 0, 2, 4, 5, 3}; +const ::capnp::_::RawSchema s_eea5b9d8c9e5c192 = { + 0xeea5b9d8c9e5c192, b_eea5b9d8c9e5c192.words, 46, nullptr, m_eea5b9d8c9e5c192, + 0, 6, nullptr, nullptr, nullptr, { &s_eea5b9d8c9e5c192, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(Direction_eea5b9d8c9e5c192, eea5b9d8c9e5c192); +static const ::capnp::_::AlignedData<27> b_b66e0aa568d09c66 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 102, 156, 208, 104, 165, 10, 110, 182, + 25, 0, 0, 0, 2, 0, 0, 0, + 175, 2, 134, 127, 178, 22, 130, 193, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 66, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 55, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 78, 97, 118, 73, 110, 115, + 116, 114, 117, 99, 116, 105, 111, 110, + 46, 83, 112, 101, 101, 100, 76, 105, + 109, 105, 116, 83, 105, 103, 110, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 8, 0, 0, 0, 1, 0, 2, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 17, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 117, 116, 99, 100, 0, 0, 0, + 118, 105, 101, 110, 110, 97, 0, 0, } +}; +::capnp::word const* const bp_b66e0aa568d09c66 = b_b66e0aa568d09c66.words; +#if !CAPNP_LITE +static const uint16_t m_b66e0aa568d09c66[] = {0, 1}; +const ::capnp::_::RawSchema s_b66e0aa568d09c66 = { + 0xb66e0aa568d09c66, b_b66e0aa568d09c66.words, 27, nullptr, m_b66e0aa568d09c66, + 0, 2, nullptr, nullptr, nullptr, { &s_b66e0aa568d09c66, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +CAPNP_DEFINE_ENUM(SpeedLimitSign_b66e0aa568d09c66, b66e0aa568d09c66); +static const ::capnp::_::AlignedData<66> b_b3ec4a1a6ce20a45 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 69, 10, 226, 108, 26, 74, 236, 179, + 25, 0, 0, 0, 1, 0, 1, 0, + 175, 2, 134, 127, 178, 22, 130, 193, + 2, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 18, 1, 0, 0, + 37, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 33, 0, 0, 0, 175, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 78, 97, 118, 73, 110, 115, + 116, 114, 117, 99, 116, 105, 111, 110, + 46, 77, 97, 110, 101, 117, 118, 101, + 114, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 12, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 69, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 68, 0, 0, 0, 3, 0, 1, 0, + 80, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 77, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 72, 0, 0, 0, 3, 0, 1, 0, + 84, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 81, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 80, 0, 0, 0, 3, 0, 1, 0, + 92, 0, 0, 0, 2, 0, 1, 0, + 100, 105, 115, 116, 97, 110, 99, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 116, 121, 112, 101, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 111, 100, 105, 102, 105, 101, 114, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_b3ec4a1a6ce20a45 = b_b3ec4a1a6ce20a45.words; +#if !CAPNP_LITE +static const uint16_t m_b3ec4a1a6ce20a45[] = {0, 2, 1}; +static const uint16_t i_b3ec4a1a6ce20a45[] = {0, 1, 2}; +const ::capnp::_::RawSchema s_b3ec4a1a6ce20a45 = { + 0xb3ec4a1a6ce20a45, b_b3ec4a1a6ce20a45.words, 66, nullptr, m_b3ec4a1a6ce20a45, + 0, 3, i_b3ec4a1a6ce20a45, nullptr, nullptr, { &s_b3ec4a1a6ce20a45, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<41> b_a61452f6440d97d3 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 211, 151, 13, 68, 246, 82, 20, 166, + 10, 0, 0, 0, 1, 0, 0, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 1, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 154, 0, 0, 0, + 29, 0, 0, 0, 23, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 63, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 78, 97, 118, 82, 111, 117, + 116, 101, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 1, 0, 1, 0, + 133, 116, 30, 173, 83, 111, 201, 196, + 1, 0, 0, 0, 90, 0, 0, 0, + 67, 111, 111, 114, 100, 105, 110, 97, + 116, 101, 0, 0, 0, 0, 0, 0, + 4, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 0, 0, 0, 3, 0, 1, 0, + 40, 0, 0, 0, 2, 0, 1, 0, + 99, 111, 111, 114, 100, 105, 110, 97, + 116, 101, 115, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 133, 116, 30, 173, 83, 111, 201, 196, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_a61452f6440d97d3 = b_a61452f6440d97d3.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_a61452f6440d97d3[] = { + &s_c4c96f53ad1e7485, +}; +static const uint16_t m_a61452f6440d97d3[] = {0}; +static const uint16_t i_a61452f6440d97d3[] = {0}; +const ::capnp::_::RawSchema s_a61452f6440d97d3 = { + 0xa61452f6440d97d3, b_a61452f6440d97d3.words, 41, d_a61452f6440d97d3, m_a61452f6440d97d3, + 1, 1, i_a61452f6440d97d3, nullptr, nullptr, { &s_a61452f6440d97d3, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<50> b_c4c96f53ad1e7485 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 133, 116, 30, 173, 83, 111, 201, 196, + 19, 0, 0, 0, 1, 0, 1, 0, + 211, 151, 13, 68, 246, 82, 20, 166, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 242, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 119, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 78, 97, 118, 82, 111, 117, + 116, 101, 46, 67, 111, 111, 114, 100, + 105, 110, 97, 116, 101, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 8, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 40, 0, 0, 0, 3, 0, 1, 0, + 52, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 49, 0, 0, 0, 82, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 48, 0, 0, 0, 3, 0, 1, 0, + 60, 0, 0, 0, 2, 0, 1, 0, + 108, 97, 116, 105, 116, 117, 100, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 110, 103, 105, 116, 117, 100, + 101, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_c4c96f53ad1e7485 = b_c4c96f53ad1e7485.words; +#if !CAPNP_LITE +static const uint16_t m_c4c96f53ad1e7485[] = {0, 1}; +static const uint16_t i_c4c96f53ad1e7485[] = {0, 1}; +const ::capnp::_::RawSchema s_c4c96f53ad1e7485 = { + 0xc4c96f53ad1e7485, b_c4c96f53ad1e7485.words, 50, nullptr, m_c4c96f53ad1e7485, + 0, 2, i_c4c96f53ad1e7485, nullptr, nullptr, { &s_c4c96f53ad1e7485, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<66> b_a158dd2a4cfaa81b = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 27, 168, 250, 76, 42, 221, 88, 161, + 10, 0, 0, 0, 1, 0, 2, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 202, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 175, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 77, 97, 112, 82, 101, 110, + 100, 101, 114, 83, 116, 97, 116, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 12, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 69, 0, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 72, 0, 0, 0, 3, 0, 1, 0, + 84, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 81, 0, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 80, 0, 0, 0, 3, 0, 1, 0, + 92, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 89, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 84, 0, 0, 0, 3, 0, 1, 0, + 96, 0, 0, 0, 2, 0, 1, 0, + 108, 111, 99, 97, 116, 105, 111, 110, + 77, 111, 110, 111, 84, 105, 109, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 114, 101, 110, 100, 101, 114, 84, 105, + 109, 101, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 114, 97, 109, 101, 73, 100, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_a158dd2a4cfaa81b = b_a158dd2a4cfaa81b.words; +#if !CAPNP_LITE +static const uint16_t m_a158dd2a4cfaa81b[] = {2, 0, 1}; +static const uint16_t i_a158dd2a4cfaa81b[] = {0, 1, 2}; +const ::capnp::_::RawSchema s_a158dd2a4cfaa81b = { + 0xa158dd2a4cfaa81b, b_a158dd2a4cfaa81b.words, 66, nullptr, m_a158dd2a4cfaa81b, + 0, 3, i_a158dd2a4cfaa81b, nullptr, nullptr, { &s_a158dd2a4cfaa81b, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<143> b_ac3de5c437be057a = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 122, 5, 190, 55, 196, 229, 61, 172, + 10, 0, 0, 0, 1, 0, 3, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 3, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 186, 0, 0, 0, + 29, 0, 0, 0, 23, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 0, 0, 0, 143, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 78, 97, 118, 77, 111, 100, + 101, 108, 68, 97, 116, 97, 0, 0, + 4, 0, 0, 0, 1, 0, 1, 0, + 38, 126, 80, 178, 21, 230, 9, 190, + 1, 0, 0, 0, 58, 0, 0, 0, + 88, 89, 68, 97, 116, 97, 0, 0, + 28, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 181, 0, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 176, 0, 0, 0, 3, 0, 1, 0, + 188, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 185, 0, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 188, 0, 0, 0, 3, 0, 1, 0, + 200, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 197, 0, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 200, 0, 0, 0, 3, 0, 1, 0, + 212, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 209, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 208, 0, 0, 0, 3, 0, 1, 0, + 236, 0, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 233, 0, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 232, 0, 0, 0, 3, 0, 1, 0, + 244, 0, 0, 0, 2, 0, 1, 0, + 6, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 241, 0, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 244, 0, 0, 0, 3, 0, 1, 0, + 16, 1, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 1, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 1, 0, 0, 3, 0, 1, 0, + 28, 1, 0, 0, 2, 0, 1, 0, + 102, 114, 97, 109, 101, 73, 100, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 109, 111, 100, 101, 108, 69, 120, 101, + 99, 117, 116, 105, 111, 110, 84, 105, + 109, 101, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 115, 112, 69, 120, 101, 99, 117, + 116, 105, 111, 110, 84, 105, 109, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 101, 97, 116, 117, 114, 101, 115, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 111, 115, 105, 116, 105, 111, 110, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 38, 126, 80, 178, 21, 230, 9, 190, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 101, 115, 105, 114, 101, 80, 114, + 101, 100, 105, 99, 116, 105, 111, 110, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 99, 97, 116, 105, 111, 110, + 77, 111, 110, 111, 84, 105, 109, 101, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_ac3de5c437be057a = b_ac3de5c437be057a.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_ac3de5c437be057a[] = { + &s_be09e615b2507e26, +}; +static const uint16_t m_ac3de5c437be057a[] = {5, 2, 3, 0, 6, 1, 4}; +static const uint16_t i_ac3de5c437be057a[] = {0, 1, 2, 3, 4, 5, 6}; +const ::capnp::_::RawSchema s_ac3de5c437be057a = { + 0xac3de5c437be057a, b_ac3de5c437be057a.words, 143, d_ac3de5c437be057a, m_ac3de5c437be057a, + 1, 7, i_ac3de5c437be057a, nullptr, nullptr, { &s_ac3de5c437be057a, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<94> b_be09e615b2507e26 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 38, 126, 80, 178, 21, 230, 9, 190, + 23, 0, 0, 0, 1, 0, 0, 0, + 122, 5, 190, 55, 196, 229, 61, 172, + 4, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 242, 0, 0, 0, + 33, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 0, 0, 0, 231, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 78, 97, 118, 77, 111, 100, + 101, 108, 68, 97, 116, 97, 46, 88, + 89, 68, 97, 116, 97, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 16, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 0, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 92, 0, 0, 0, 3, 0, 1, 0, + 120, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 0, 0, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 0, 0, 0, 3, 0, 1, 0, + 140, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 137, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 132, 0, 0, 0, 3, 0, 1, 0, + 160, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 157, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 152, 0, 0, 0, 3, 0, 1, 0, + 180, 0, 0, 0, 2, 0, 1, 0, + 120, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 120, 83, 116, 100, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 83, 116, 100, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 3, 0, 1, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 14, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_be09e615b2507e26 = b_be09e615b2507e26.words; +#if !CAPNP_LITE +static const uint16_t m_be09e615b2507e26[] = {0, 2, 1, 3}; +static const uint16_t i_be09e615b2507e26[] = {0, 1, 2, 3}; +const ::capnp::_::RawSchema s_be09e615b2507e26 = { + 0xbe09e615b2507e26, b_be09e615b2507e26.words, 94, nullptr, m_be09e615b2507e26, + 0, 4, i_be09e615b2507e26, nullptr, nullptr, { &s_be09e615b2507e26, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<109> b_cf9aeab355dd85f0 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 240, 133, 221, 85, 179, 234, 154, 207, + 10, 0, 0, 0, 1, 0, 2, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 3, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 170, 0, 0, 0, + 29, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 0, 0, 0, 87, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 69, 110, 99, 111, 100, 101, + 68, 97, 116, 97, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 24, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 153, 0, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 148, 0, 0, 0, 3, 0, 1, 0, + 160, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 157, 0, 0, 0, 42, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 152, 0, 0, 0, 3, 0, 1, 0, + 164, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 161, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 156, 0, 0, 0, 3, 0, 1, 0, + 168, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 165, 0, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 168, 0, 0, 0, 3, 0, 1, 0, + 180, 0, 0, 0, 2, 0, 1, 0, + 4, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 177, 0, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 172, 0, 0, 0, 3, 0, 1, 0, + 184, 0, 0, 0, 2, 0, 1, 0, + 5, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 181, 0, 0, 0, 58, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 176, 0, 0, 0, 3, 0, 1, 0, + 188, 0, 0, 0, 2, 0, 1, 0, + 105, 100, 120, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 252, 53, 23, 84, 227, 148, 211, 137, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 97, 116, 97, 0, 0, 0, 0, + 13, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 101, 97, 100, 101, 114, 0, 0, + 13, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 110, 105, 120, 84, 105, 109, 101, + 115, 116, 97, 109, 112, 78, 97, 110, + 111, 115, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 9, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 119, 105, 100, 116, 104, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 104, 101, 105, 103, 104, 116, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 8, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_cf9aeab355dd85f0 = b_cf9aeab355dd85f0.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_cf9aeab355dd85f0[] = { + &s_89d394e3541735fc, +}; +static const uint16_t m_cf9aeab355dd85f0[] = {1, 2, 5, 0, 3, 4}; +static const uint16_t i_cf9aeab355dd85f0[] = {0, 1, 2, 3, 4, 5}; +const ::capnp::_::RawSchema s_cf9aeab355dd85f0 = { + 0xcf9aeab355dd85f0, b_cf9aeab355dd85f0.words, 109, d_cf9aeab355dd85f0, m_cf9aeab355dd85f0, + 1, 6, i_cf9aeab355dd85f0, nullptr, nullptr, { &s_cf9aeab355dd85f0, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<16> b_fe346a9de48d9b50 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 80, 155, 141, 228, 157, 106, 52, 254, + 10, 0, 0, 0, 1, 0, 0, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 154, 0, 0, 0, + 29, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 85, 115, 101, 114, 70, 108, + 97, 103, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, } +}; +::capnp::word const* const bp_fe346a9de48d9b50 = b_fe346a9de48d9b50.words; +#if !CAPNP_LITE +const ::capnp::_::RawSchema s_fe346a9de48d9b50 = { + 0xfe346a9de48d9b50, b_fe346a9de48d9b50.words, 16, nullptr, nullptr, + 0, 0, nullptr, nullptr, nullptr, { &s_fe346a9de48d9b50, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<85> b_dc24138990726023 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 35, 96, 114, 144, 137, 19, 36, 220, + 10, 0, 0, 0, 1, 0, 2, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 0, 0, 7, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 170, 0, 0, 0, + 29, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 25, 0, 0, 0, 231, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 77, 105, 99, 114, 111, 112, + 104, 111, 110, 101, 0, 0, 0, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 16, 0, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 97, 0, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 96, 0, 0, 0, 3, 0, 1, 0, + 108, 0, 0, 0, 2, 0, 1, 0, + 2, 0, 0, 0, 1, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 105, 0, 0, 0, 194, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 0, 0, 0, 3, 0, 1, 0, + 120, 0, 0, 0, 2, 0, 1, 0, + 3, 0, 0, 0, 2, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 0, 0, 0, 2, 1, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 124, 0, 0, 0, 3, 0, 1, 0, + 136, 0, 0, 0, 2, 0, 1, 0, + 1, 0, 0, 0, 3, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 133, 0, 0, 0, 178, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 136, 0, 0, 0, 3, 0, 1, 0, + 148, 0, 0, 0, 2, 0, 1, 0, + 115, 111, 117, 110, 100, 80, 114, 101, + 115, 115, 117, 114, 101, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 111, 117, 110, 100, 80, 114, 101, + 115, 115, 117, 114, 101, 87, 101, 105, + 103, 104, 116, 101, 100, 68, 98, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 102, 105, 108, 116, 101, 114, 101, 100, + 83, 111, 117, 110, 100, 80, 114, 101, + 115, 115, 117, 114, 101, 87, 101, 105, + 103, 104, 116, 101, 100, 68, 98, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 115, 111, 117, 110, 100, 80, 114, 101, + 115, 115, 117, 114, 101, 87, 101, 105, + 103, 104, 116, 101, 100, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 10, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_dc24138990726023 = b_dc24138990726023.words; +#if !CAPNP_LITE +static const uint16_t m_dc24138990726023[] = {2, 0, 3, 1}; +static const uint16_t i_dc24138990726023[] = {0, 1, 2, 3}; +const ::capnp::_::RawSchema s_dc24138990726023 = { + 0xdc24138990726023, b_dc24138990726023.words, 85, nullptr, m_dc24138990726023, + 0, 4, i_dc24138990726023, nullptr, nullptr, { &s_dc24138990726023, nullptr, nullptr, 0, 0, nullptr }, false +}; +#endif // !CAPNP_LITE +static const ::capnp::_::AlignedData<2198> b_d314cfd957229c11 = { + { 0, 0, 0, 0, 5, 0, 6, 0, + 17, 156, 34, 87, 217, 207, 20, 211, + 10, 0, 0, 0, 1, 0, 2, 0, + 91, 40, 164, 37, 126, 241, 177, 243, + 1, 0, 7, 0, 0, 0, 127, 0, + 4, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 130, 0, 0, 0, + 25, 0, 0, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 0, 0, 0, 63, 28, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 108, 111, 103, 46, 99, 97, 112, 110, + 112, 58, 69, 118, 101, 110, 116, 0, + 0, 0, 0, 0, 1, 0, 1, 0, + 4, 2, 0, 0, 3, 0, 4, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 1, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 14, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 14, 0, 0, 3, 0, 1, 0, + 24, 14, 0, 0, 2, 0, 1, 0, + 2, 0, 255, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 1, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 14, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 20, 14, 0, 0, 3, 0, 1, 0, + 32, 14, 0, 0, 2, 0, 1, 0, + 44, 0, 254, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 2, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 14, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 28, 14, 0, 0, 3, 0, 1, 0, + 40, 14, 0, 0, 2, 0, 1, 0, + 5, 0, 253, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 3, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 14, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 32, 14, 0, 0, 3, 0, 1, 0, + 44, 14, 0, 0, 2, 0, 1, 0, + 96, 0, 252, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 4, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 41, 14, 0, 0, 178, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 44, 14, 0, 0, 3, 0, 1, 0, + 56, 14, 0, 0, 2, 0, 1, 0, + 6, 0, 251, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 5, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 53, 14, 0, 0, 34, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 48, 14, 0, 0, 3, 0, 1, 0, + 76, 14, 0, 0, 2, 0, 1, 0, + 60, 0, 250, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 6, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 73, 14, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 72, 14, 0, 0, 3, 0, 1, 0, + 84, 14, 0, 0, 2, 0, 1, 0, + 7, 0, 249, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 7, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 81, 14, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 80, 14, 0, 0, 3, 0, 1, 0, + 92, 14, 0, 0, 2, 0, 1, 0, + 97, 0, 248, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 8, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 89, 14, 0, 0, 162, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 92, 14, 0, 0, 3, 0, 1, 0, + 120, 14, 0, 0, 2, 0, 1, 0, + 90, 0, 247, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 9, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 117, 14, 0, 0, 50, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 112, 14, 0, 0, 3, 0, 1, 0, + 124, 14, 0, 0, 2, 0, 1, 0, + 121, 0, 246, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 10, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 121, 14, 0, 0, 154, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 124, 14, 0, 0, 3, 0, 1, 0, + 136, 14, 0, 0, 2, 0, 1, 0, + 126, 0, 245, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 11, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 133, 14, 0, 0, 186, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 136, 14, 0, 0, 3, 0, 1, 0, + 164, 14, 0, 0, 2, 0, 1, 0, + 124, 0, 244, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 12, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 161, 14, 0, 0, 170, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 164, 14, 0, 0, 3, 0, 1, 0, + 176, 14, 0, 0, 2, 0, 1, 0, + 18, 0, 243, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 13, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 173, 14, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 172, 14, 0, 0, 3, 0, 1, 0, + 184, 14, 0, 0, 2, 0, 1, 0, + 95, 0, 242, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 14, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 181, 14, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 184, 14, 0, 0, 3, 0, 1, 0, + 196, 14, 0, 0, 2, 0, 1, 0, + 47, 0, 241, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 15, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 193, 14, 0, 0, 114, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 192, 14, 0, 0, 3, 0, 1, 0, + 204, 14, 0, 0, 2, 0, 1, 0, + 19, 0, 240, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 16, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 201, 14, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 200, 14, 0, 0, 3, 0, 1, 0, + 228, 14, 0, 0, 2, 0, 1, 0, + 20, 0, 239, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 17, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 225, 14, 0, 0, 66, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 220, 14, 0, 0, 3, 0, 1, 0, + 248, 14, 0, 0, 2, 0, 1, 0, + 61, 0, 238, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 18, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 245, 14, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 244, 14, 0, 0, 3, 0, 1, 0, + 0, 15, 0, 0, 2, 0, 1, 0, + 21, 0, 237, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 19, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 253, 14, 0, 0, 130, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 252, 14, 0, 0, 3, 0, 1, 0, + 8, 15, 0, 0, 2, 0, 1, 0, + 55, 0, 236, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 20, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 5, 15, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 4, 15, 0, 0, 3, 0, 1, 0, + 16, 15, 0, 0, 2, 0, 1, 0, + 31, 0, 235, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 21, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 15, 0, 0, 98, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 12, 15, 0, 0, 3, 0, 1, 0, + 24, 15, 0, 0, 2, 0, 1, 0, + 22, 0, 234, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 22, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 21, 15, 0, 0, 74, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 20, 15, 0, 0, 3, 0, 1, 0, + 32, 15, 0, 0, 2, 0, 1, 0, + 23, 0, 233, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 23, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 29, 15, 0, 0, 90, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 28, 15, 0, 0, 3, 0, 1, 0, + 40, 15, 0, 0, 2, 0, 1, 0, + 25, 0, 232, 255, 0, 0, 0, 0, + 0, 0, 1, 0, 24, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 37, 15, 0, 0, 138, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 40, 15, 0, 0, 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0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 117, 115, 116, 111, 109, 82, 101, + 115, 101, 114, 118, 101, 100, 82, 97, + 119, 68, 97, 116, 97, 50, 0, 0, + 13, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 13, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 99, 97, 114, 79, 117, 116, 112, 117, + 116, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 133, 202, 21, 81, 101, 214, 23, 216, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 100, 114, 105, 118, 105, 110, 103, 77, + 111, 100, 101, 108, 68, 97, 116, 97, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 118, 167, 147, 153, 129, 186, 249, 232, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 16, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, + 0, 0, 0, 0, 0, 0, 0, 0, } +}; +::capnp::word const* const bp_d314cfd957229c11 = b_d314cfd957229c11.words; +#if !CAPNP_LITE +static const ::capnp::_::RawSchema* const d_d314cfd957229c11[] = { + &s_80ae746ee2596b11, + &s_81c2f05a394cf4af, + &s_85dddd7ce6cefa5d, + &s_8785009a964c7c59, + &s_88dcce08ad29dda0, + &s_89d394e3541735fc, + &s_8afd33dc9b35e1aa, + &s_8c69372490aaa9da, + &s_8faa644732dec251, + &s_8fdfadb254ea867a, + &s_90c8426c3eaddd3b, + &s_92a5e332a85f32a0, + &s_92e21bb7ea38793a, + &s_943e268f93f711a6, + &s_94b7baa90c5c321e, + &s_96df70754d8390bc, + &s_97ff69c53601abf1, + &s_9a185389d6fdd05f, + &s_9b1657f34caf3ad3, + &s_9b326d4e436afec7, + &s_9d291d7813ba4a88, + &s_9da4fa09e052903c, + &s_a12e8670927a2549, + &s_a158dd2a4cfaa81b, + &s_a1680744031fdb2d, + &s_a2b29a69d44529a1, + &s_a4d8b5af2aa492eb, + &s_a5cd762cd951a455, + &s_a61452f6440d97d3, + &s_a7649e2575e4591e, + &s_a99a9d5b33cf5859, + &s_ab54c59699f8f9f3, + &s_ac3de5c437be057a, + &s_acfa74a094e62626, + &s_aedffd8f31e7b55d, + &s_af85387b3f681406, + &s_afd47016570e9d09, + &s_b65fce64120af7d3, + &s_b83c6cc593ed0a00, + &s_b83cda094a1da284, + &s_b86e6369214c01c8, + &s_b8aad62cffef28a9, + &s_b99b2bc7a57e8128, + &s_bd8822120928120c, + &s_c08240f996aefced, + &s_c18216b27f8602af, + &s_c4713f6b0d36abe9, + &s_c8233c0345e27e24, + &s_c95fb49a7bdc4618, + &s_cd60164a8a0159ef, + &s_ceb8f49734857a88, + &s_cf7154b31a69635b, + &s_cf9aeab355dd85f0, + &s_cff7566681c277ce, + &s_d4df5a192382ba0b, + &s_d500d30c5803fa4f, + &s_d7700859ed1f5b76, + &s_d817d6655115ca85, + &s_d9058dcb967c2753, + &s_da96579883444c35, + &s_db98be6565516acb, + &s_dc24138990726023, + &s_de266b39b76b461e, + &s_de94674b07ae51c1, + &s_dfdf30d03fc485bd, + &s_e00b5b3eba12876c, + &s_e1e9318e2ae8b51e, + &s_e3d6685d4e9d8f7a, + &s_e42401658e2715e2, + &s_e61690eb0b091692, + &s_e71008caeb3fb65c, + &s_e7e17c434f865ae2, + &s_e8f9ba819993a776, + &s_e946524859add50e, + &s_ea0245f695ae0a33, + &s_ea095da1894f7d85, + &s_ebc5703d1ee7c129, + &s_ef0382d244f56e38, + &s_f35cc4560bbf6ec2, + &s_f416ec09499d9d19, + &s_f5ad1d90cdc1dd6b, + &s_f78829049ab814af, + &s_f98d843bfd7004a3, + &s_fa9a296b9fd41a96, + &s_fc010c40147563b0, + &s_fc0c9bb05e3927c1, + &s_fe346a9de48d9b50, + &s_fe35ad896ffaeacf, +}; +static const uint16_t m_d314cfd957229c11[] = {98, 101, 30, 20, 55, 42, 60, 63, 5, 23, 127, 69, 22, 28, 35, 7, 112, 113, 114, 115, 116, 124, 125, 126, 6, 70, 87, 76, 71, 59, 92, 128, 85, 26, 10, 107, 108, 109, 110, 111, 91, 21, 48, 3, 41, 40, 99, 100, 1, 65, 64, 32, 96, 19, 8, 46, 25, 72, 51, 44, 37, 62, 36, 61, 94, 16, 14, 122, 119, 120, 117, 121, 118, 49, 18, 0, 24, 95, 78, 105, 103, 9, 75, 82, 104, 83, 38, 84, 27, 68, 54, 58, 56, 47, 53, 45, 12, 81, 80, 33, 89, 90, 31, 13, 2, 86, 15, 17, 4, 11, 73, 97, 123, 52, 66, 43, 34, 39, 102, 57, 50, 106, 79, 93, 67, 74, 88, 77, 29}; +static const uint16_t i_d314cfd957229c11[] = {1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 0, 67}; +const ::capnp::_::RawSchema s_d314cfd957229c11 = { + 0xd314cfd957229c11, b_d314cfd957229c11.words, 2198, d_d314cfd957229c11, m_d314cfd957229c11, + 88, 129, i_d314cfd957229c11, nullptr, nullptr, { &s_d314cfd957229c11, nullptr, nullptr, 0, 0, nullptr }, true +}; +#endif // !CAPNP_LITE +} // namespace schemas +} // namespace capnp + +// ======================================================================================= + +namespace cereal { + +// InitData +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t InitData::_capnpPrivate::dataWordSize; +constexpr uint16_t InitData::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind InitData::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* InitData::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// InitData::PandaInfo +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t InitData::PandaInfo::_capnpPrivate::dataWordSize; +constexpr uint16_t InitData::PandaInfo::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind InitData::PandaInfo::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* InitData::PandaInfo::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// InitData::AndroidBuildInfo +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t InitData::AndroidBuildInfo::_capnpPrivate::dataWordSize; +constexpr uint16_t InitData::AndroidBuildInfo::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind InitData::AndroidBuildInfo::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* InitData::AndroidBuildInfo::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// InitData::AndroidSensor +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t InitData::AndroidSensor::_capnpPrivate::dataWordSize; +constexpr uint16_t InitData::AndroidSensor::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind InitData::AndroidSensor::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* InitData::AndroidSensor::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// InitData::ChffrAndroidExtra +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t InitData::ChffrAndroidExtra::_capnpPrivate::dataWordSize; +constexpr uint16_t InitData::ChffrAndroidExtra::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind InitData::ChffrAndroidExtra::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* InitData::ChffrAndroidExtra::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// InitData::IosBuildInfo +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t InitData::IosBuildInfo::_capnpPrivate::dataWordSize; +constexpr uint16_t InitData::IosBuildInfo::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind InitData::IosBuildInfo::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* InitData::IosBuildInfo::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// FrameData +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t FrameData::_capnpPrivate::dataWordSize; +constexpr uint16_t FrameData::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind FrameData::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* FrameData::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// FrameData::AndroidCaptureResult +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t FrameData::AndroidCaptureResult::_capnpPrivate::dataWordSize; +constexpr uint16_t FrameData::AndroidCaptureResult::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind FrameData::AndroidCaptureResult::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* FrameData::AndroidCaptureResult::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// Thumbnail +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t Thumbnail::_capnpPrivate::dataWordSize; +constexpr uint16_t Thumbnail::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind Thumbnail::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* Thumbnail::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// GPSNMEAData +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t GPSNMEAData::_capnpPrivate::dataWordSize; +constexpr uint16_t GPSNMEAData::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind GPSNMEAData::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* GPSNMEAData::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// SensorEventData +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t SensorEventData::_capnpPrivate::dataWordSize; +constexpr uint16_t SensorEventData::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind SensorEventData::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* SensorEventData::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// SensorEventData::SensorVec +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t SensorEventData::SensorVec::_capnpPrivate::dataWordSize; +constexpr uint16_t SensorEventData::SensorVec::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind SensorEventData::SensorVec::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* SensorEventData::SensorVec::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// GpsLocationData +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t GpsLocationData::_capnpPrivate::dataWordSize; +constexpr uint16_t GpsLocationData::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind GpsLocationData::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* GpsLocationData::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// CanData +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t CanData::_capnpPrivate::dataWordSize; +constexpr uint16_t CanData::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind CanData::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* CanData::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// DeviceState +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t DeviceState::_capnpPrivate::dataWordSize; +constexpr uint16_t DeviceState::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind DeviceState::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* DeviceState::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// DeviceState::ThermalZone +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t DeviceState::ThermalZone::_capnpPrivate::dataWordSize; +constexpr uint16_t DeviceState::ThermalZone::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind DeviceState::ThermalZone::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* DeviceState::ThermalZone::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// DeviceState::NetworkInfo +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t DeviceState::NetworkInfo::_capnpPrivate::dataWordSize; +constexpr uint16_t DeviceState::NetworkInfo::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind DeviceState::NetworkInfo::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* DeviceState::NetworkInfo::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// DeviceState::NetworkStats +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t DeviceState::NetworkStats::_capnpPrivate::dataWordSize; +constexpr uint16_t DeviceState::NetworkStats::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind DeviceState::NetworkStats::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* DeviceState::NetworkStats::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// PandaState +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t PandaState::_capnpPrivate::dataWordSize; +constexpr uint16_t PandaState::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind PandaState::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* PandaState::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// PandaState::PandaCanState +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t PandaState::PandaCanState::_capnpPrivate::dataWordSize; +constexpr uint16_t PandaState::PandaCanState::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind PandaState::PandaCanState::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* PandaState::PandaCanState::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// PeripheralState +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t PeripheralState::_capnpPrivate::dataWordSize; +constexpr uint16_t PeripheralState::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind PeripheralState::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* PeripheralState::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// RadarState +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t RadarState::_capnpPrivate::dataWordSize; +constexpr uint16_t RadarState::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind RadarState::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* RadarState::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// RadarState::LeadData +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t RadarState::LeadData::_capnpPrivate::dataWordSize; +constexpr uint16_t RadarState::LeadData::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind RadarState::LeadData::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* RadarState::LeadData::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// LiveCalibrationData +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t LiveCalibrationData::_capnpPrivate::dataWordSize; +constexpr uint16_t LiveCalibrationData::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind LiveCalibrationData::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* LiveCalibrationData::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// LiveTracks +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t LiveTracks::_capnpPrivate::dataWordSize; +constexpr uint16_t LiveTracks::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind LiveTracks::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* LiveTracks::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// ControlsState +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t ControlsState::_capnpPrivate::dataWordSize; +constexpr uint16_t ControlsState::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind ControlsState::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* ControlsState::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// ControlsState::LateralINDIState +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t ControlsState::LateralINDIState::_capnpPrivate::dataWordSize; +constexpr uint16_t ControlsState::LateralINDIState::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind ControlsState::LateralINDIState::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* ControlsState::LateralINDIState::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// ControlsState::LateralPIDState +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t ControlsState::LateralPIDState::_capnpPrivate::dataWordSize; +constexpr uint16_t ControlsState::LateralPIDState::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind ControlsState::LateralPIDState::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* ControlsState::LateralPIDState::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// ControlsState::LateralTorqueState +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t ControlsState::LateralTorqueState::_capnpPrivate::dataWordSize; +constexpr uint16_t ControlsState::LateralTorqueState::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind ControlsState::LateralTorqueState::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* ControlsState::LateralTorqueState::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// ControlsState::LateralLQRState +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t ControlsState::LateralLQRState::_capnpPrivate::dataWordSize; +constexpr uint16_t ControlsState::LateralLQRState::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind ControlsState::LateralLQRState::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* ControlsState::LateralLQRState::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// ControlsState::LateralAngleState +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t ControlsState::LateralAngleState::_capnpPrivate::dataWordSize; +constexpr uint16_t ControlsState::LateralAngleState::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind ControlsState::LateralAngleState::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* ControlsState::LateralAngleState::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// ControlsState::LateralCurvatureState +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t ControlsState::LateralCurvatureState::_capnpPrivate::dataWordSize; +constexpr uint16_t ControlsState::LateralCurvatureState::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind ControlsState::LateralCurvatureState::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* ControlsState::LateralCurvatureState::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// ControlsState::LateralDebugState +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t ControlsState::LateralDebugState::_capnpPrivate::dataWordSize; +constexpr uint16_t ControlsState::LateralDebugState::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind ControlsState::LateralDebugState::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* ControlsState::LateralDebugState::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// ControlsState::LateralControlState +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t ControlsState::LateralControlState::_capnpPrivate::dataWordSize; +constexpr uint16_t ControlsState::LateralControlState::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind ControlsState::LateralControlState::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* ControlsState::LateralControlState::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// DrivingModelData +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t DrivingModelData::_capnpPrivate::dataWordSize; +constexpr uint16_t DrivingModelData::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind DrivingModelData::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* DrivingModelData::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// DrivingModelData::PolyPath +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t DrivingModelData::PolyPath::_capnpPrivate::dataWordSize; +constexpr uint16_t DrivingModelData::PolyPath::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind DrivingModelData::PolyPath::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* DrivingModelData::PolyPath::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// DrivingModelData::LaneLineMeta +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t DrivingModelData::LaneLineMeta::_capnpPrivate::dataWordSize; +constexpr uint16_t DrivingModelData::LaneLineMeta::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind DrivingModelData::LaneLineMeta::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* DrivingModelData::LaneLineMeta::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// DrivingModelData::MetaData +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t DrivingModelData::MetaData::_capnpPrivate::dataWordSize; +constexpr uint16_t DrivingModelData::MetaData::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind DrivingModelData::MetaData::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* DrivingModelData::MetaData::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// XYZTData +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t XYZTData::_capnpPrivate::dataWordSize; +constexpr uint16_t XYZTData::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind XYZTData::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* XYZTData::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// ModelDataV2 +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t ModelDataV2::_capnpPrivate::dataWordSize; +constexpr uint16_t ModelDataV2::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind ModelDataV2::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* ModelDataV2::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// ModelDataV2::LeadDataV2 +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t ModelDataV2::LeadDataV2::_capnpPrivate::dataWordSize; +constexpr uint16_t ModelDataV2::LeadDataV2::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind ModelDataV2::LeadDataV2::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* ModelDataV2::LeadDataV2::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// ModelDataV2::LeadDataV3 +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t ModelDataV2::LeadDataV3::_capnpPrivate::dataWordSize; +constexpr uint16_t ModelDataV2::LeadDataV3::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind ModelDataV2::LeadDataV3::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* ModelDataV2::LeadDataV3::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// ModelDataV2::MetaData +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t ModelDataV2::MetaData::_capnpPrivate::dataWordSize; +constexpr uint16_t ModelDataV2::MetaData::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind ModelDataV2::MetaData::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* ModelDataV2::MetaData::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// ModelDataV2::DisengagePredictions +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t ModelDataV2::DisengagePredictions::_capnpPrivate::dataWordSize; +constexpr uint16_t ModelDataV2::DisengagePredictions::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind ModelDataV2::DisengagePredictions::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* ModelDataV2::DisengagePredictions::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// ModelDataV2::Pose +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t ModelDataV2::Pose::_capnpPrivate::dataWordSize; +constexpr uint16_t ModelDataV2::Pose::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind ModelDataV2::Pose::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* ModelDataV2::Pose::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// ModelDataV2::LateralPlannerSolution +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t ModelDataV2::LateralPlannerSolution::_capnpPrivate::dataWordSize; +constexpr uint16_t ModelDataV2::LateralPlannerSolution::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind ModelDataV2::LateralPlannerSolution::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* ModelDataV2::LateralPlannerSolution::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// ModelDataV2::Action +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t ModelDataV2::Action::_capnpPrivate::dataWordSize; +constexpr uint16_t ModelDataV2::Action::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind ModelDataV2::Action::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* ModelDataV2::Action::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// EncodeIndex +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t EncodeIndex::_capnpPrivate::dataWordSize; +constexpr uint16_t EncodeIndex::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind EncodeIndex::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* EncodeIndex::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// AndroidLogEntry +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t AndroidLogEntry::_capnpPrivate::dataWordSize; +constexpr uint16_t AndroidLogEntry::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind AndroidLogEntry::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* AndroidLogEntry::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// LongitudinalPlan +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t LongitudinalPlan::_capnpPrivate::dataWordSize; +constexpr uint16_t LongitudinalPlan::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind LongitudinalPlan::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* LongitudinalPlan::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// LongitudinalPlan::GpsTrajectory +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t LongitudinalPlan::GpsTrajectory::_capnpPrivate::dataWordSize; +constexpr uint16_t LongitudinalPlan::GpsTrajectory::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind LongitudinalPlan::GpsTrajectory::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* LongitudinalPlan::GpsTrajectory::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// UiPlan +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t UiPlan::_capnpPrivate::dataWordSize; +constexpr uint16_t UiPlan::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind UiPlan::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* UiPlan::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// LateralPlan +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t LateralPlan::_capnpPrivate::dataWordSize; +constexpr uint16_t LateralPlan::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind LateralPlan::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* LateralPlan::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// LateralPlan::SolverState +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t LateralPlan::SolverState::_capnpPrivate::dataWordSize; +constexpr uint16_t LateralPlan::SolverState::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind LateralPlan::SolverState::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* LateralPlan::SolverState::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// LiveLocationKalman +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t LiveLocationKalman::_capnpPrivate::dataWordSize; +constexpr uint16_t LiveLocationKalman::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind LiveLocationKalman::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* LiveLocationKalman::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// LiveLocationKalman::Measurement +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t LiveLocationKalman::Measurement::_capnpPrivate::dataWordSize; +constexpr uint16_t LiveLocationKalman::Measurement::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind LiveLocationKalman::Measurement::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* LiveLocationKalman::Measurement::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// ProcLog +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t ProcLog::_capnpPrivate::dataWordSize; +constexpr uint16_t ProcLog::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind ProcLog::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* ProcLog::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// ProcLog::Process +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t ProcLog::Process::_capnpPrivate::dataWordSize; +constexpr uint16_t ProcLog::Process::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind ProcLog::Process::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* ProcLog::Process::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// ProcLog::CPUTimes +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t ProcLog::CPUTimes::_capnpPrivate::dataWordSize; +constexpr uint16_t ProcLog::CPUTimes::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind ProcLog::CPUTimes::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* ProcLog::CPUTimes::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// ProcLog::Mem +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t ProcLog::Mem::_capnpPrivate::dataWordSize; +constexpr uint16_t ProcLog::Mem::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind ProcLog::Mem::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* ProcLog::Mem::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// GnssMeasurements +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t GnssMeasurements::_capnpPrivate::dataWordSize; +constexpr uint16_t GnssMeasurements::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind GnssMeasurements::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* GnssMeasurements::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// GnssMeasurements::EphemerisStatus +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t GnssMeasurements::EphemerisStatus::_capnpPrivate::dataWordSize; +constexpr uint16_t GnssMeasurements::EphemerisStatus::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind GnssMeasurements::EphemerisStatus::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* GnssMeasurements::EphemerisStatus::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// GnssMeasurements::CorrectedMeasurement +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t GnssMeasurements::CorrectedMeasurement::_capnpPrivate::dataWordSize; +constexpr uint16_t GnssMeasurements::CorrectedMeasurement::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind GnssMeasurements::CorrectedMeasurement::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* GnssMeasurements::CorrectedMeasurement::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// GnssMeasurements::EphemerisSourceDEPRECATED +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t GnssMeasurements::EphemerisSourceDEPRECATED::_capnpPrivate::dataWordSize; +constexpr uint16_t GnssMeasurements::EphemerisSourceDEPRECATED::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind GnssMeasurements::EphemerisSourceDEPRECATED::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* GnssMeasurements::EphemerisSourceDEPRECATED::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// UbloxGnss +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t UbloxGnss::_capnpPrivate::dataWordSize; +constexpr uint16_t UbloxGnss::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind UbloxGnss::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* UbloxGnss::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// UbloxGnss::SatReport +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t UbloxGnss::SatReport::_capnpPrivate::dataWordSize; +constexpr uint16_t UbloxGnss::SatReport::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind UbloxGnss::SatReport::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* UbloxGnss::SatReport::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// UbloxGnss::SatReport::SatInfo +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t UbloxGnss::SatReport::SatInfo::_capnpPrivate::dataWordSize; +constexpr uint16_t UbloxGnss::SatReport::SatInfo::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind UbloxGnss::SatReport::SatInfo::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* UbloxGnss::SatReport::SatInfo::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// UbloxGnss::MeasurementReport +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t UbloxGnss::MeasurementReport::_capnpPrivate::dataWordSize; +constexpr uint16_t UbloxGnss::MeasurementReport::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind UbloxGnss::MeasurementReport::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* UbloxGnss::MeasurementReport::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// UbloxGnss::MeasurementReport::ReceiverStatus +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t UbloxGnss::MeasurementReport::ReceiverStatus::_capnpPrivate::dataWordSize; +constexpr uint16_t UbloxGnss::MeasurementReport::ReceiverStatus::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind UbloxGnss::MeasurementReport::ReceiverStatus::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* UbloxGnss::MeasurementReport::ReceiverStatus::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// UbloxGnss::MeasurementReport::Measurement +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t UbloxGnss::MeasurementReport::Measurement::_capnpPrivate::dataWordSize; +constexpr uint16_t UbloxGnss::MeasurementReport::Measurement::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind UbloxGnss::MeasurementReport::Measurement::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* UbloxGnss::MeasurementReport::Measurement::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// UbloxGnss::MeasurementReport::Measurement::TrackingStatus +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t UbloxGnss::MeasurementReport::Measurement::TrackingStatus::_capnpPrivate::dataWordSize; +constexpr uint16_t UbloxGnss::MeasurementReport::Measurement::TrackingStatus::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind UbloxGnss::MeasurementReport::Measurement::TrackingStatus::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* UbloxGnss::MeasurementReport::Measurement::TrackingStatus::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// UbloxGnss::Ephemeris +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t UbloxGnss::Ephemeris::_capnpPrivate::dataWordSize; +constexpr uint16_t UbloxGnss::Ephemeris::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind UbloxGnss::Ephemeris::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* UbloxGnss::Ephemeris::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// UbloxGnss::IonoData +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t UbloxGnss::IonoData::_capnpPrivate::dataWordSize; +constexpr uint16_t UbloxGnss::IonoData::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind UbloxGnss::IonoData::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* UbloxGnss::IonoData::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// UbloxGnss::HwStatus +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t UbloxGnss::HwStatus::_capnpPrivate::dataWordSize; +constexpr uint16_t UbloxGnss::HwStatus::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind UbloxGnss::HwStatus::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* UbloxGnss::HwStatus::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// UbloxGnss::HwStatus2 +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t UbloxGnss::HwStatus2::_capnpPrivate::dataWordSize; +constexpr uint16_t UbloxGnss::HwStatus2::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind UbloxGnss::HwStatus2::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* UbloxGnss::HwStatus2::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// UbloxGnss::GlonassEphemeris +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t UbloxGnss::GlonassEphemeris::_capnpPrivate::dataWordSize; +constexpr uint16_t UbloxGnss::GlonassEphemeris::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind UbloxGnss::GlonassEphemeris::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* UbloxGnss::GlonassEphemeris::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// QcomGnss +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t QcomGnss::_capnpPrivate::dataWordSize; +constexpr uint16_t QcomGnss::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind QcomGnss::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* QcomGnss::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// QcomGnss::MeasurementStatus +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t QcomGnss::MeasurementStatus::_capnpPrivate::dataWordSize; +constexpr uint16_t QcomGnss::MeasurementStatus::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind QcomGnss::MeasurementStatus::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* QcomGnss::MeasurementStatus::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// QcomGnss::MeasurementReport +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t QcomGnss::MeasurementReport::_capnpPrivate::dataWordSize; +constexpr uint16_t QcomGnss::MeasurementReport::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind QcomGnss::MeasurementReport::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* QcomGnss::MeasurementReport::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// QcomGnss::MeasurementReport::SV +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t QcomGnss::MeasurementReport::SV::_capnpPrivate::dataWordSize; +constexpr uint16_t QcomGnss::MeasurementReport::SV::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind QcomGnss::MeasurementReport::SV::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* QcomGnss::MeasurementReport::SV::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// QcomGnss::ClockReport +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t QcomGnss::ClockReport::_capnpPrivate::dataWordSize; +constexpr uint16_t QcomGnss::ClockReport::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind QcomGnss::ClockReport::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* QcomGnss::ClockReport::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// QcomGnss::DrMeasurementReport +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t QcomGnss::DrMeasurementReport::_capnpPrivate::dataWordSize; +constexpr uint16_t QcomGnss::DrMeasurementReport::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind QcomGnss::DrMeasurementReport::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* QcomGnss::DrMeasurementReport::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// QcomGnss::DrMeasurementReport::SV +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t QcomGnss::DrMeasurementReport::SV::_capnpPrivate::dataWordSize; +constexpr uint16_t QcomGnss::DrMeasurementReport::SV::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind QcomGnss::DrMeasurementReport::SV::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* QcomGnss::DrMeasurementReport::SV::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// QcomGnss::DrSvPolyReport +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t QcomGnss::DrSvPolyReport::_capnpPrivate::dataWordSize; +constexpr uint16_t QcomGnss::DrSvPolyReport::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind QcomGnss::DrSvPolyReport::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* QcomGnss::DrSvPolyReport::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// Clocks +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t Clocks::_capnpPrivate::dataWordSize; +constexpr uint16_t Clocks::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind Clocks::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* Clocks::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// LiveMpcData +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t LiveMpcData::_capnpPrivate::dataWordSize; +constexpr uint16_t LiveMpcData::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind LiveMpcData::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* LiveMpcData::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// LiveLongitudinalMpcData +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t LiveLongitudinalMpcData::_capnpPrivate::dataWordSize; +constexpr uint16_t LiveLongitudinalMpcData::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind LiveLongitudinalMpcData::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* LiveLongitudinalMpcData::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// Joystick +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t Joystick::_capnpPrivate::dataWordSize; +constexpr uint16_t Joystick::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind Joystick::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* Joystick::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// DriverStateV2 +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t DriverStateV2::_capnpPrivate::dataWordSize; +constexpr uint16_t DriverStateV2::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind DriverStateV2::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* DriverStateV2::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// DriverStateV2::DriverData +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t DriverStateV2::DriverData::_capnpPrivate::dataWordSize; +constexpr uint16_t DriverStateV2::DriverData::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind DriverStateV2::DriverData::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* DriverStateV2::DriverData::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// DriverStateDEPRECATED +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t DriverStateDEPRECATED::_capnpPrivate::dataWordSize; +constexpr uint16_t DriverStateDEPRECATED::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind DriverStateDEPRECATED::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* DriverStateDEPRECATED::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// DriverMonitoringState +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t DriverMonitoringState::_capnpPrivate::dataWordSize; +constexpr uint16_t DriverMonitoringState::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind DriverMonitoringState::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* DriverMonitoringState::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// Boot +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t Boot::_capnpPrivate::dataWordSize; +constexpr uint16_t Boot::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind Boot::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* Boot::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// LiveParametersData +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t LiveParametersData::_capnpPrivate::dataWordSize; +constexpr uint16_t LiveParametersData::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind LiveParametersData::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* LiveParametersData::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// LiveTorqueParametersData +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t LiveTorqueParametersData::_capnpPrivate::dataWordSize; +constexpr uint16_t LiveTorqueParametersData::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind LiveTorqueParametersData::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* LiveTorqueParametersData::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// LiveMapDataDEPRECATED +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t LiveMapDataDEPRECATED::_capnpPrivate::dataWordSize; +constexpr uint16_t LiveMapDataDEPRECATED::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind LiveMapDataDEPRECATED::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* LiveMapDataDEPRECATED::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// CameraOdometry +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t CameraOdometry::_capnpPrivate::dataWordSize; +constexpr uint16_t CameraOdometry::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind CameraOdometry::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* CameraOdometry::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// Sentinel +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t Sentinel::_capnpPrivate::dataWordSize; +constexpr uint16_t Sentinel::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind Sentinel::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* Sentinel::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// UIDebug +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t UIDebug::_capnpPrivate::dataWordSize; +constexpr uint16_t UIDebug::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind UIDebug::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* UIDebug::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// ManagerState +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t ManagerState::_capnpPrivate::dataWordSize; +constexpr uint16_t ManagerState::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind ManagerState::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* ManagerState::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// ManagerState::ProcessState +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t ManagerState::ProcessState::_capnpPrivate::dataWordSize; +constexpr uint16_t ManagerState::ProcessState::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind ManagerState::ProcessState::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* ManagerState::ProcessState::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// UploaderState +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t UploaderState::_capnpPrivate::dataWordSize; +constexpr uint16_t UploaderState::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind UploaderState::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* UploaderState::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// NavInstruction +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t NavInstruction::_capnpPrivate::dataWordSize; +constexpr uint16_t NavInstruction::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind NavInstruction::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* NavInstruction::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// NavInstruction::Lane +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t NavInstruction::Lane::_capnpPrivate::dataWordSize; +constexpr uint16_t NavInstruction::Lane::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind NavInstruction::Lane::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* NavInstruction::Lane::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// NavInstruction::Maneuver +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t NavInstruction::Maneuver::_capnpPrivate::dataWordSize; +constexpr uint16_t NavInstruction::Maneuver::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind NavInstruction::Maneuver::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* NavInstruction::Maneuver::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// NavRoute +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t NavRoute::_capnpPrivate::dataWordSize; +constexpr uint16_t NavRoute::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind NavRoute::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* NavRoute::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// NavRoute::Coordinate +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t NavRoute::Coordinate::_capnpPrivate::dataWordSize; +constexpr uint16_t NavRoute::Coordinate::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind NavRoute::Coordinate::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* NavRoute::Coordinate::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// MapRenderState +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t MapRenderState::_capnpPrivate::dataWordSize; +constexpr uint16_t MapRenderState::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind MapRenderState::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* MapRenderState::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// NavModelData +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t NavModelData::_capnpPrivate::dataWordSize; +constexpr uint16_t NavModelData::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind NavModelData::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* NavModelData::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// NavModelData::XYData +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t NavModelData::XYData::_capnpPrivate::dataWordSize; +constexpr uint16_t NavModelData::XYData::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind NavModelData::XYData::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* NavModelData::XYData::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// EncodeData +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t EncodeData::_capnpPrivate::dataWordSize; +constexpr uint16_t EncodeData::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind EncodeData::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* EncodeData::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// UserFlag +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t UserFlag::_capnpPrivate::dataWordSize; +constexpr uint16_t UserFlag::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind UserFlag::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* UserFlag::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// Microphone +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t Microphone::_capnpPrivate::dataWordSize; +constexpr uint16_t Microphone::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind Microphone::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* Microphone::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + +// Event +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr uint16_t Event::_capnpPrivate::dataWordSize; +constexpr uint16_t Event::_capnpPrivate::pointerCount; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#if !CAPNP_LITE +#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +constexpr ::capnp::Kind Event::_capnpPrivate::kind; +constexpr ::capnp::_::RawSchema const* Event::_capnpPrivate::schema; +#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL +#endif // !CAPNP_LITE + + +} // namespace + diff --git a/cereal/libcereal_shared.so b/cereal/libcereal_shared.so new file mode 100644 index 00000000000000..cd1465755ec853 Binary files /dev/null and b/cereal/libcereal_shared.so differ diff --git a/cereal/messaging/bridge b/cereal/messaging/bridge new file mode 100755 index 00000000000000..5c720055b3156e Binary files /dev/null and b/cereal/messaging/bridge differ diff --git a/cereal/messaging/bridge.cc b/cereal/messaging/bridge.cc deleted file mode 100644 index 8619c1e22640bb..00000000000000 --- a/cereal/messaging/bridge.cc +++ /dev/null @@ -1,92 +0,0 @@ -#include -#include -#include -#include -#include -#include - -typedef void (*sighandler_t)(int sig); - -#include "cereal/services.h" -#include "msgq/impl_msgq.h" -#include "msgq/impl_zmq.h" - -std::atomic do_exit = false; -static void set_do_exit(int sig) { - do_exit = true; -} - -void sigpipe_handler(int sig) { - assert(sig == SIGPIPE); - std::cout << "SIGPIPE received" << std::endl; -} - -static std::vector get_services(std::string whitelist_str, bool zmq_to_msgq) { - std::vector service_list; - for (const auto& it : services) { - std::string name = it.second.name; - bool in_whitelist = whitelist_str.find(name) != std::string::npos; - if (name == "plusFrame" || name == "uiLayoutState" || (zmq_to_msgq && !in_whitelist)) { - continue; - } - service_list.push_back(name); - } - return service_list; -} - -int main(int argc, char** argv) { - signal(SIGPIPE, (sighandler_t)sigpipe_handler); - signal(SIGINT, (sighandler_t)set_do_exit); - signal(SIGTERM, (sighandler_t)set_do_exit); - - bool zmq_to_msgq = argc > 2; - std::string ip = zmq_to_msgq ? argv[1] : "127.0.0.1"; - std::string whitelist_str = zmq_to_msgq ? std::string(argv[2]) : ""; - - Poller *poller; - Context *pub_context; - Context *sub_context; - if (zmq_to_msgq) { // republishes zmq debugging messages as msgq - poller = new ZMQPoller(); - pub_context = new MSGQContext(); - sub_context = new ZMQContext(); - } else { - poller = new MSGQPoller(); - pub_context = new ZMQContext(); - sub_context = new MSGQContext(); - } - - std::map sub2pub; - for (auto endpoint : get_services(whitelist_str, zmq_to_msgq)) { - PubSocket * pub_sock; - SubSocket * sub_sock; - if (zmq_to_msgq) { - pub_sock = new MSGQPubSocket(); - sub_sock = new ZMQSubSocket(); - } else { - pub_sock = new ZMQPubSocket(); - sub_sock = new MSGQSubSocket(); - } - pub_sock->connect(pub_context, endpoint); - sub_sock->connect(sub_context, endpoint, ip, false); - - poller->registerSocket(sub_sock); - sub2pub[sub_sock] = pub_sock; - } - - while (!do_exit) { - for (auto sub_sock : poller->poll(100)) { - Message * msg = sub_sock->receive(); - if (msg == NULL) continue; - int ret; - do { - ret = sub2pub[sub_sock]->sendMessage(msg); - } while (ret == -1 && errno == EINTR && !do_exit); - assert(ret >= 0 || do_exit); - delete msg; - - if (do_exit) break; - } - } - return 0; -} diff --git a/cereal/messaging/messaging.h b/cereal/messaging/messaging.h deleted file mode 100644 index f3850130e655e2..00000000000000 --- a/cereal/messaging/messaging.h +++ /dev/null @@ -1,112 +0,0 @@ -#pragma once - -#include -#include -#include -#include -#include -#include - -#include - -#include "cereal/gen/cpp/log.capnp.h" -#include "msgq/ipc.h" - -#ifdef __APPLE__ -#define CLOCK_BOOTTIME CLOCK_MONOTONIC -#endif - -#define MSG_MULTIPLE_PUBLISHERS 100 - - -class SubMaster { -public: - SubMaster(const std::vector &service_list, const std::vector &poll = {}, - const char *address = nullptr, const std::vector &ignore_alive = {}); - void update(int timeout = 1000); - void update_msgs(uint64_t current_time, const std::vector> &messages); - inline bool allAlive(const std::vector &service_list = {}) { return all_(service_list, false, true); } - inline bool allValid(const std::vector &service_list = {}) { return all_(service_list, true, false); } - inline bool allAliveAndValid(const std::vector &service_list = {}) { return all_(service_list, true, true); } - void drain(); - ~SubMaster(); - - uint64_t frame = 0; - bool updated(const char *name) const; - bool alive(const char *name) const; - bool valid(const char *name) const; - uint64_t rcv_frame(const char *name) const; - uint64_t rcv_time(const char *name) const; - cereal::Event::Reader &operator[](const char *name) const; - -private: - bool all_(const std::vector &service_list, bool valid, bool alive); - Poller *poller_ = nullptr; - struct SubMessage; - std::map messages_; - std::map services_; -}; - -class MessageBuilder : public capnp::MallocMessageBuilder { -public: - MessageBuilder() = default; - - cereal::Event::Builder initEvent(bool valid = true) { - cereal::Event::Builder event = initRoot(); - struct timespec t; - clock_gettime(CLOCK_BOOTTIME, &t); - uint64_t current_time = t.tv_sec * 1000000000ULL + t.tv_nsec; - event.setLogMonoTime(current_time); - event.setValid(valid); - return event; - } - - kj::ArrayPtr toBytes() { - heapArray_ = capnp::messageToFlatArray(*this); - return heapArray_.asBytes(); - } - - size_t getSerializedSize() { - return capnp::computeSerializedSizeInWords(*this) * sizeof(capnp::word); - } - - int serializeToBuffer(unsigned char *buffer, size_t buffer_size) { - size_t serialized_size = getSerializedSize(); - if (serialized_size > buffer_size) { return -1; } - kj::ArrayOutputStream out(kj::ArrayPtr(buffer, buffer_size)); - capnp::writeMessage(out, *this); - return serialized_size; - } - -private: - kj::Array heapArray_; -}; - -class PubMaster { -public: - PubMaster(const std::vector &service_list); - inline int send(const char *name, capnp::byte *data, size_t size) { return sockets_.at(name)->send((char *)data, size); } - int send(const char *name, MessageBuilder &msg); - ~PubMaster(); - -private: - std::map sockets_; -}; - -class AlignedBuffer { -public: - kj::ArrayPtr align(const char *data, const size_t size) { - words_size = size / sizeof(capnp::word) + 1; - if (aligned_buf.size() < words_size) { - aligned_buf = kj::heapArray(words_size < 512 ? 512 : words_size); - } - memcpy(aligned_buf.begin(), data, size); - return aligned_buf.slice(0, words_size); - } - inline kj::ArrayPtr align(Message *m) { - return align(m->getData(), m->getSize()); - } -private: - kj::Array aligned_buf; - size_t words_size; -}; diff --git a/cereal/messaging/socketmaster.cc b/cereal/messaging/socketmaster.cc deleted file mode 100644 index cd697b1f51ed20..00000000000000 --- a/cereal/messaging/socketmaster.cc +++ /dev/null @@ -1,211 +0,0 @@ -#include -#include -#include -#include -#include - -#include "cereal/services.h" -#include "cereal/messaging/messaging.h" - - -const bool SIMULATION = (getenv("SIMULATION") != nullptr) && (std::string(getenv("SIMULATION")) == "1"); - -static inline uint64_t nanos_since_boot() { - struct timespec t; - clock_gettime(CLOCK_BOOTTIME, &t); - return t.tv_sec * 1000000000ULL + t.tv_nsec; -} - -static inline bool inList(const std::vector &list, const char *value) { - for (auto &v : list) { - if (strcmp(value, v) == 0) return true; - } - return false; -} - -class MessageContext { -public: - MessageContext() : ctx_(nullptr) {} - ~MessageContext() { delete ctx_; } - inline Context *context() { - std::call_once(init_flag, [=]() { ctx_ = Context::create(); }); - return ctx_; - } -private: - Context *ctx_; - std::once_flag init_flag; -}; - -MessageContext message_context; - -struct SubMaster::SubMessage { - std::string name; - SubSocket *socket = nullptr; - int freq = 0; - bool updated = false, alive = false, valid = true, ignore_alive; - uint64_t rcv_time = 0, rcv_frame = 0; - void *allocated_msg_reader = nullptr; - bool is_polled = false; - capnp::FlatArrayMessageReader *msg_reader = nullptr; - AlignedBuffer aligned_buf; - cereal::Event::Reader event; -}; - -SubMaster::SubMaster(const std::vector &service_list, const std::vector &poll, - const char *address, const std::vector &ignore_alive) { - poller_ = Poller::create(); - for (auto name : service_list) { - assert(services.count(std::string(name)) > 0); - - service serv = services.at(std::string(name)); - SubSocket *socket = SubSocket::create(message_context.context(), name, address ? address : "127.0.0.1", true); - assert(socket != 0); - bool is_polled = inList(poll, name) || poll.empty(); - if (is_polled) poller_->registerSocket(socket); - SubMessage *m = new SubMessage{ - .name = name, - .socket = socket, - .freq = serv.frequency, - .ignore_alive = inList(ignore_alive, name), - .allocated_msg_reader = malloc(sizeof(capnp::FlatArrayMessageReader)), - .is_polled = is_polled}; - m->msg_reader = new (m->allocated_msg_reader) capnp::FlatArrayMessageReader({}); - messages_[socket] = m; - services_[name] = m; - } -} - -void SubMaster::update(int timeout) { - for (auto &kv : messages_) kv.second->updated = false; - - auto sockets = poller_->poll(timeout); - - // add non-polled sockets for non-blocking receive - for (auto &kv : messages_) { - SubMessage *m = kv.second; - SubSocket *s = kv.first; - if (!m->is_polled) sockets.push_back(s); - } - - uint64_t current_time = nanos_since_boot(); - - std::vector> messages; - - for (auto s : sockets) { - Message *msg = s->receive(true); - if (msg == nullptr) continue; - - SubMessage *m = messages_.at(s); - - m->msg_reader->~FlatArrayMessageReader(); - capnp::ReaderOptions options; - options.traversalLimitInWords = kj::maxValue; // Don't limit - m->msg_reader = new (m->allocated_msg_reader) capnp::FlatArrayMessageReader(m->aligned_buf.align(msg), options); - delete msg; - messages.push_back({m->name, m->msg_reader->getRoot()}); - } - - update_msgs(current_time, messages); -} - -void SubMaster::update_msgs(uint64_t current_time, const std::vector> &messages){ - if (++frame == UINT64_MAX) frame = 1; - - for (auto &kv : messages) { - auto m_find = services_.find(kv.first); - if (m_find == services_.end()){ - continue; - } - SubMessage *m = m_find->second; - m->event = kv.second; - m->updated = true; - m->rcv_time = current_time; - m->rcv_frame = frame; - m->valid = m->event.getValid(); - if (SIMULATION) m->alive = true; - } - - if (!SIMULATION) { - for (auto &kv : messages_) { - SubMessage *m = kv.second; - m->alive = (m->freq <= (1e-5) || ((current_time - m->rcv_time) * (1e-9)) < (10.0 / m->freq)); - } - } -} - -bool SubMaster::all_(const std::vector &service_list, bool valid, bool alive) { - int found = 0; - for (auto &kv : messages_) { - SubMessage *m = kv.second; - if (service_list.size() == 0 || inList(service_list, m->name.c_str())) { - found += (!valid || m->valid) && (!alive || (m->alive || m->ignore_alive)); - } - } - return service_list.size() == 0 ? found == messages_.size() : found == service_list.size(); -} - -void SubMaster::drain() { - while (true) { - auto polls = poller_->poll(0); - if (polls.size() == 0) - break; - - for (auto sock : polls) { - Message *msg = sock->receive(true); - delete msg; - } - } -} - -bool SubMaster::updated(const char *name) const { - return services_.at(name)->updated; -} - -bool SubMaster::alive(const char *name) const { - return services_.at(name)->alive; -} - -bool SubMaster::valid(const char *name) const { - return services_.at(name)->valid; -} - -uint64_t SubMaster::rcv_frame(const char *name) const { - return services_.at(name)->rcv_frame; -} - -uint64_t SubMaster::rcv_time(const char *name) const { - return services_.at(name)->rcv_time; -} - -cereal::Event::Reader &SubMaster::operator[](const char *name) const { - return services_.at(name)->event; -} - -SubMaster::~SubMaster() { - delete poller_; - for (auto &kv : messages_) { - SubMessage *m = kv.second; - m->msg_reader->~FlatArrayMessageReader(); - free(m->allocated_msg_reader); - delete m->socket; - delete m; - } -} - -PubMaster::PubMaster(const std::vector &service_list) { - for (auto name : service_list) { - assert(services.count(name) > 0); - PubSocket *socket = PubSocket::create(message_context.context(), name); - assert(socket); - sockets_[name] = socket; - } -} - -int PubMaster::send(const char *name, MessageBuilder &msg) { - auto bytes = msg.toBytes(); - return send(name, bytes.begin(), bytes.size()); -} - -PubMaster::~PubMaster() { - for (auto s : sockets_) delete s.second; -} diff --git a/cereal/messaging/tests/__init__.py b/cereal/messaging/tests/__init__.py deleted file mode 100644 index e69de29bb2d1d6..00000000000000 diff --git a/cereal/messaging/tests/test_messaging.py b/cereal/messaging/tests/test_messaging.py deleted file mode 100644 index 429c2d3c53eb74..00000000000000 --- a/cereal/messaging/tests/test_messaging.py +++ /dev/null @@ -1,195 +0,0 @@ -#!/usr/bin/env python3 -import os -import capnp -import multiprocessing -import numbers -import random -import threading -import time -import unittest -from parameterized import parameterized - -from cereal import log, car -import cereal.messaging as messaging -from cereal.services import SERVICE_LIST - -events = [evt for evt in log.Event.schema.union_fields if evt in SERVICE_LIST.keys()] - -def random_sock(): - return random.choice(events) - -def random_socks(num_socks=10): - return list({random_sock() for _ in range(num_socks)}) - -def random_bytes(length=1000): - return bytes([random.randrange(0xFF) for _ in range(length)]) - -def zmq_sleep(t=1): - if "ZMQ" in os.environ: - time.sleep(t) - -def zmq_expected_failure(func): - if "ZMQ" in os.environ: - return unittest.expectedFailure(func) - else: - return func - - -# TODO: this should take any capnp struct and returrn a msg with random populated data -def random_carstate(): - fields = ["vEgo", "aEgo", "gas", "steeringAngleDeg"] - msg = messaging.new_message("carState") - cs = msg.carState - for f in fields: - setattr(cs, f, random.random() * 10) - return msg - -# TODO: this should compare any capnp structs -def assert_carstate(cs1, cs2): - for f in car.CarState.schema.non_union_fields: - # TODO: check all types - val1, val2 = getattr(cs1, f), getattr(cs2, f) - if isinstance(val1, numbers.Number): - assert val1 == val2, f"{f}: sent '{val1}' vs recvd '{val2}'" - -def delayed_send(delay, sock, dat): - def send_func(): - sock.send(dat) - threading.Timer(delay, send_func).start() - - -class TestMessaging(unittest.TestCase): - def setUp(self): - # TODO: ZMQ tests are too slow; all sleeps will need to be - # replaced with logic to block on the necessary condition - if "ZMQ" in os.environ: - raise unittest.SkipTest - - # ZMQ pub socket takes too long to die - # sleep to prevent multiple publishers error between tests - zmq_sleep() - - @parameterized.expand(events) - def test_new_message(self, evt): - try: - msg = messaging.new_message(evt) - except capnp.lib.capnp.KjException: - msg = messaging.new_message(evt, random.randrange(200)) - self.assertLess(time.monotonic() - msg.logMonoTime, 0.1) - self.assertFalse(msg.valid) - self.assertEqual(evt, msg.which()) - - @parameterized.expand(events) - def test_pub_sock(self, evt): - messaging.pub_sock(evt) - - @parameterized.expand(events) - def test_sub_sock(self, evt): - messaging.sub_sock(evt) - - @parameterized.expand([ - (messaging.drain_sock, capnp._DynamicStructReader), - (messaging.drain_sock_raw, bytes), - ]) - def test_drain_sock(self, func, expected_type): - sock = "carState" - pub_sock = messaging.pub_sock(sock) - sub_sock = messaging.sub_sock(sock, timeout=1000) - zmq_sleep() - - # no wait and no msgs in queue - msgs = func(sub_sock) - self.assertIsInstance(msgs, list) - self.assertEqual(len(msgs), 0) - - # no wait but msgs are queued up - num_msgs = random.randrange(3, 10) - for _ in range(num_msgs): - pub_sock.send(messaging.new_message(sock).to_bytes()) - time.sleep(0.1) - msgs = func(sub_sock) - self.assertIsInstance(msgs, list) - self.assertTrue(all(isinstance(msg, expected_type) for msg in msgs)) - self.assertEqual(len(msgs), num_msgs) - - def test_recv_sock(self): - sock = "carState" - pub_sock = messaging.pub_sock(sock) - sub_sock = messaging.sub_sock(sock, timeout=100) - zmq_sleep() - - # no wait and no msg in queue, socket should timeout - recvd = messaging.recv_sock(sub_sock) - self.assertTrue(recvd is None) - - # no wait and one msg in queue - msg = random_carstate() - pub_sock.send(msg.to_bytes()) - time.sleep(0.01) - recvd = messaging.recv_sock(sub_sock) - self.assertIsInstance(recvd, capnp._DynamicStructReader) - # https://github.com/python/mypy/issues/13038 - assert_carstate(msg.carState, recvd.carState) - - def test_recv_one(self): - sock = "carState" - pub_sock = messaging.pub_sock(sock) - sub_sock = messaging.sub_sock(sock, timeout=1000) - zmq_sleep() - - # no msg in queue, socket should timeout - recvd = messaging.recv_one(sub_sock) - self.assertTrue(recvd is None) - - # one msg in queue - msg = random_carstate() - pub_sock.send(msg.to_bytes()) - recvd = messaging.recv_one(sub_sock) - self.assertIsInstance(recvd, capnp._DynamicStructReader) - assert_carstate(msg.carState, recvd.carState) - - @zmq_expected_failure - def test_recv_one_or_none(self): - sock = "carState" - pub_sock = messaging.pub_sock(sock) - sub_sock = messaging.sub_sock(sock) - zmq_sleep() - - # no msg in queue, socket shouldn't block - recvd = messaging.recv_one_or_none(sub_sock) - self.assertTrue(recvd is None) - - # one msg in queue - msg = random_carstate() - pub_sock.send(msg.to_bytes()) - recvd = messaging.recv_one_or_none(sub_sock) - self.assertIsInstance(recvd, capnp._DynamicStructReader) - assert_carstate(msg.carState, recvd.carState) - - def test_recv_one_retry(self): - sock = "carState" - sock_timeout = 0.1 - pub_sock = messaging.pub_sock(sock) - sub_sock = messaging.sub_sock(sock, timeout=round(sock_timeout*1000)) - zmq_sleep() - - # this test doesn't work with ZMQ since multiprocessing interrupts it - if "ZMQ" not in os.environ: - # wait 15 socket timeouts and make sure it's still retrying - p = multiprocessing.Process(target=messaging.recv_one_retry, args=(sub_sock,)) - p.start() - time.sleep(sock_timeout*15) - self.assertTrue(p.is_alive()) - p.terminate() - - # wait 15 socket timeouts before sending - msg = random_carstate() - delayed_send(sock_timeout*15, pub_sock, msg.to_bytes()) - start_time = time.monotonic() - recvd = messaging.recv_one_retry(sub_sock) - self.assertGreaterEqual(time.monotonic() - start_time, sock_timeout*15) - self.assertIsInstance(recvd, capnp._DynamicStructReader) - assert_carstate(msg.carState, recvd.carState) - -if __name__ == "__main__": - unittest.main() diff --git a/cereal/messaging/tests/test_pub_sub_master.py b/cereal/messaging/tests/test_pub_sub_master.py deleted file mode 100644 index 81a1cf2d57c28d..00000000000000 --- a/cereal/messaging/tests/test_pub_sub_master.py +++ /dev/null @@ -1,163 +0,0 @@ -#!/usr/bin/env python3 -import random -import time -from typing import Sized, cast -import unittest - -import cereal.messaging as messaging -from cereal.messaging.tests.test_messaging import events, random_sock, random_socks, \ - random_bytes, random_carstate, assert_carstate, \ - zmq_sleep - - -class TestSubMaster(unittest.TestCase): - - def setUp(self): - # ZMQ pub socket takes too long to die - # sleep to prevent multiple publishers error between tests - zmq_sleep(3) - - def test_init(self): - sm = messaging.SubMaster(events) - for p in [sm.updated, sm.recv_time, sm.recv_frame, sm.alive, - sm.sock, sm.data, sm.logMonoTime, sm.valid]: - self.assertEqual(len(cast(Sized, p)), len(events)) - - def test_init_state(self): - socks = random_socks() - sm = messaging.SubMaster(socks) - self.assertEqual(sm.frame, -1) - self.assertFalse(any(sm.updated.values())) - self.assertFalse(any(sm.alive.values())) - self.assertTrue(all(t == 0. for t in sm.recv_time.values())) - self.assertTrue(all(f == 0 for f in sm.recv_frame.values())) - self.assertTrue(all(t == 0 for t in sm.logMonoTime.values())) - - for p in [sm.updated, sm.recv_time, sm.recv_frame, sm.alive, - sm.sock, sm.data, sm.logMonoTime, sm.valid]: - self.assertEqual(len(cast(Sized, p)), len(socks)) - - def test_getitem(self): - sock = "carState" - pub_sock = messaging.pub_sock(sock) - sm = messaging.SubMaster([sock,]) - zmq_sleep() - - msg = random_carstate() - pub_sock.send(msg.to_bytes()) - sm.update(1000) - assert_carstate(msg.carState, sm[sock]) - - # TODO: break this test up to individually test SubMaster.update and SubMaster.update_msgs - def test_update(self): - sock = "carState" - pub_sock = messaging.pub_sock(sock) - sm = messaging.SubMaster([sock,]) - zmq_sleep() - - for i in range(10): - msg = messaging.new_message(sock) - pub_sock.send(msg.to_bytes()) - sm.update(1000) - self.assertEqual(sm.frame, i) - self.assertTrue(all(sm.updated.values())) - - def test_update_timeout(self): - sock = random_sock() - sm = messaging.SubMaster([sock,]) - for _ in range(5): - timeout = random.randrange(1000, 5000) - start_time = time.monotonic() - sm.update(timeout) - t = time.monotonic() - start_time - self.assertGreaterEqual(t, timeout/1000.) - self.assertLess(t, 5) - self.assertFalse(any(sm.updated.values())) - - def test_avg_frequency_checks(self): - for poll in (True, False): - sm = messaging.SubMaster(["modelV2", "carParams", "carState", "cameraOdometry", "liveCalibration"], - poll=("modelV2" if poll else None), - frequency=(20. if not poll else None)) - - checks = { - "carState": (20, 20), - "modelV2": (20, 20 if poll else 10), - "cameraOdometry": (20, 10), - "liveCalibration": (4, 4), - "carParams": (None, None), - } - - for service, (max_freq, min_freq) in checks.items(): - if max_freq is not None: - assert sm._check_avg_freq(service) - assert sm.max_freq[service] == max_freq*1.2 - assert sm.min_freq[service] == min_freq*0.8 - else: - assert not sm._check_avg_freq(service) - - def test_alive(self): - pass - - def test_ignore_alive(self): - pass - - def test_valid(self): - pass - - # SubMaster should always conflate - def test_conflate(self): - sock = "carState" - pub_sock = messaging.pub_sock(sock) - sm = messaging.SubMaster([sock,]) - - n = 10 - for i in range(n+1): - msg = messaging.new_message(sock) - msg.carState.vEgo = i - pub_sock.send(msg.to_bytes()) - time.sleep(0.01) - sm.update(1000) - self.assertEqual(sm[sock].vEgo, n) - - -class TestPubMaster(unittest.TestCase): - - def setUp(self): - # ZMQ pub socket takes too long to die - # sleep to prevent multiple publishers error between tests - zmq_sleep(3) - - def test_init(self): - messaging.PubMaster(events) - - def test_send(self): - socks = random_socks() - pm = messaging.PubMaster(socks) - sub_socks = {s: messaging.sub_sock(s, conflate=True, timeout=1000) for s in socks} - zmq_sleep() - - # PubMaster accepts either a capnp msg builder or bytes - for capnp in [True, False]: - for i in range(100): - sock = socks[i % len(socks)] - - if capnp: - try: - msg = messaging.new_message(sock) - except Exception: - msg = messaging.new_message(sock, random.randrange(50)) - else: - msg = random_bytes() - - pm.send(sock, msg) - recvd = sub_socks[sock].receive() - - if capnp: - msg.clear_write_flag() - msg = msg.to_bytes() - self.assertEqual(msg, recvd, i) - - -if __name__ == "__main__": - unittest.main() diff --git a/cereal/messaging/tests/test_services.py b/cereal/messaging/tests/test_services.py deleted file mode 100644 index 0fac379e439994..00000000000000 --- a/cereal/messaging/tests/test_services.py +++ /dev/null @@ -1,25 +0,0 @@ -#!/usr/bin/env python3 -import os -import tempfile -from typing import Dict -import unittest -from parameterized import parameterized - -import cereal.services as services -from cereal.services import SERVICE_LIST - - -class TestServices(unittest.TestCase): - - @parameterized.expand(SERVICE_LIST.keys()) - def test_services(self, s): - service = SERVICE_LIST[s] - self.assertTrue(service.frequency <= 104) - - def test_generated_header(self): - with tempfile.NamedTemporaryFile(suffix=".h") as f: - ret = os.system(f"python3 {services.__file__} > {f.name} && clang++ {f.name}") - self.assertEqual(ret, 0, "generated services header is not valid C") - -if __name__ == "__main__": - unittest.main() diff --git a/codecov.yml b/codecov.yml deleted file mode 100644 index 519e7d1a38f49b..00000000000000 --- a/codecov.yml +++ /dev/null @@ -1,13 +0,0 @@ -comment: false -coverage: - status: - project: - default: - informational: true - patch: off - -ignore: - - "**/test_*.py" - - "selfdrive/test/**" - - "system/version.py" # codecov changes depending on if we are in a branch or not - - "tools" diff --git a/common/clutil.cc b/common/clutil.cc deleted file mode 100644 index 4f2a783d3e6e46..00000000000000 --- a/common/clutil.cc +++ /dev/null @@ -1,200 +0,0 @@ -#include "common/clutil.h" - -#include -#include -#include - -#include "common/util.h" -#include "common/swaglog.h" - -namespace { // helper functions - -template -std::string get_info(Func get_info_func, Id id, Name param_name) { - size_t size = 0; - CL_CHECK(get_info_func(id, param_name, 0, NULL, &size)); - std::string info(size, '\0'); - CL_CHECK(get_info_func(id, param_name, size, info.data(), NULL)); - return info; -} -inline std::string get_platform_info(cl_platform_id id, cl_platform_info name) { return get_info(&clGetPlatformInfo, id, name); } -inline std::string get_device_info(cl_device_id id, cl_device_info name) { return get_info(&clGetDeviceInfo, id, name); } - -void cl_print_info(cl_platform_id platform, cl_device_id device) { - size_t work_group_size = 0; - cl_device_type device_type = 0; - clGetDeviceInfo(device, CL_DEVICE_MAX_WORK_GROUP_SIZE, sizeof(work_group_size), &work_group_size, NULL); - clGetDeviceInfo(device, CL_DEVICE_TYPE, sizeof(device_type), &device_type, NULL); - const char *type_str = "Other..."; - switch (device_type) { - case CL_DEVICE_TYPE_CPU: type_str ="CL_DEVICE_TYPE_CPU"; break; - case CL_DEVICE_TYPE_GPU: type_str = "CL_DEVICE_TYPE_GPU"; break; - case CL_DEVICE_TYPE_ACCELERATOR: type_str = "CL_DEVICE_TYPE_ACCELERATOR"; break; - } - - LOGD("vendor: %s", get_platform_info(platform, CL_PLATFORM_VENDOR).c_str()); - LOGD("platform version: %s", get_platform_info(platform, CL_PLATFORM_VERSION).c_str()); - LOGD("profile: %s", get_platform_info(platform, CL_PLATFORM_PROFILE).c_str()); - LOGD("extensions: %s", get_platform_info(platform, CL_PLATFORM_EXTENSIONS).c_str()); - LOGD("name: %s", get_device_info(device, CL_DEVICE_NAME).c_str()); - LOGD("device version: %s", get_device_info(device, CL_DEVICE_VERSION).c_str()); - LOGD("max work group size: %zu", work_group_size); - LOGD("type = %d, %s", (int)device_type, type_str); -} - -void cl_print_build_errors(cl_program program, cl_device_id device) { - cl_build_status status; - clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_STATUS, sizeof(status), &status, NULL); - size_t log_size; - clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_LOG, 0, NULL, &log_size); - std::string log(log_size, '\0'); - clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_LOG, log_size, &log[0], NULL); - - LOGE("build failed; status=%d, log: %s", status, log.c_str()); -} - -} // namespace - -cl_device_id cl_get_device_id(cl_device_type device_type) { - cl_uint num_platforms = 0; - CL_CHECK(clGetPlatformIDs(0, NULL, &num_platforms)); - std::unique_ptr platform_ids = std::make_unique(num_platforms); - CL_CHECK(clGetPlatformIDs(num_platforms, &platform_ids[0], NULL)); - - for (size_t i = 0; i < num_platforms; ++i) { - LOGD("platform[%zu] CL_PLATFORM_NAME: %s", i, get_platform_info(platform_ids[i], CL_PLATFORM_NAME).c_str()); - - // Get first device - if (cl_device_id device_id = NULL; clGetDeviceIDs(platform_ids[i], device_type, 1, &device_id, NULL) == 0 && device_id) { - cl_print_info(platform_ids[i], device_id); - return device_id; - } - } - LOGE("No valid openCL platform found"); - assert(0); - return nullptr; -} - -cl_context cl_create_context(cl_device_id device_id) { - return CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err)); -} - -cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args) { - return cl_program_from_source(ctx, device_id, util::read_file(path), args); -} - -cl_program cl_program_from_source(cl_context ctx, cl_device_id device_id, const std::string& src, const char* args) { - const char *csrc = src.c_str(); - cl_program prg = CL_CHECK_ERR(clCreateProgramWithSource(ctx, 1, &csrc, NULL, &err)); - if (int err = clBuildProgram(prg, 1, &device_id, args, NULL, NULL); err != 0) { - cl_print_build_errors(prg, device_id); - assert(0); - } - return prg; -} - -cl_program cl_program_from_binary(cl_context ctx, cl_device_id device_id, const uint8_t* binary, size_t length, const char* args) { - cl_program prg = CL_CHECK_ERR(clCreateProgramWithBinary(ctx, 1, &device_id, &length, &binary, NULL, &err)); - if (int err = clBuildProgram(prg, 1, &device_id, args, NULL, NULL); err != 0) { - cl_print_build_errors(prg, device_id); - assert(0); - } - return prg; -} - -// Given a cl code and return a string representation -#define CL_ERR_TO_STR(err) case err: return #err -const char* cl_get_error_string(int err) { - switch (err) { - CL_ERR_TO_STR(CL_SUCCESS); - CL_ERR_TO_STR(CL_DEVICE_NOT_FOUND); - CL_ERR_TO_STR(CL_DEVICE_NOT_AVAILABLE); - CL_ERR_TO_STR(CL_COMPILER_NOT_AVAILABLE); - CL_ERR_TO_STR(CL_MEM_OBJECT_ALLOCATION_FAILURE); - CL_ERR_TO_STR(CL_OUT_OF_RESOURCES); - CL_ERR_TO_STR(CL_OUT_OF_HOST_MEMORY); - CL_ERR_TO_STR(CL_PROFILING_INFO_NOT_AVAILABLE); - CL_ERR_TO_STR(CL_MEM_COPY_OVERLAP); - CL_ERR_TO_STR(CL_IMAGE_FORMAT_MISMATCH); - CL_ERR_TO_STR(CL_IMAGE_FORMAT_NOT_SUPPORTED); - CL_ERR_TO_STR(CL_MAP_FAILURE); - CL_ERR_TO_STR(CL_MISALIGNED_SUB_BUFFER_OFFSET); - CL_ERR_TO_STR(CL_EXEC_STATUS_ERROR_FOR_EVENTS_IN_WAIT_LIST); - CL_ERR_TO_STR(CL_COMPILE_PROGRAM_FAILURE); - CL_ERR_TO_STR(CL_LINKER_NOT_AVAILABLE); - CL_ERR_TO_STR(CL_LINK_PROGRAM_FAILURE); - CL_ERR_TO_STR(CL_DEVICE_PARTITION_FAILED); - CL_ERR_TO_STR(CL_KERNEL_ARG_INFO_NOT_AVAILABLE); - CL_ERR_TO_STR(CL_INVALID_VALUE); - CL_ERR_TO_STR(CL_INVALID_DEVICE_TYPE); - CL_ERR_TO_STR(CL_INVALID_PLATFORM); - CL_ERR_TO_STR(CL_INVALID_DEVICE); - CL_ERR_TO_STR(CL_INVALID_CONTEXT); - CL_ERR_TO_STR(CL_INVALID_QUEUE_PROPERTIES); - CL_ERR_TO_STR(CL_INVALID_COMMAND_QUEUE); - CL_ERR_TO_STR(CL_INVALID_HOST_PTR); - CL_ERR_TO_STR(CL_INVALID_MEM_OBJECT); - CL_ERR_TO_STR(CL_INVALID_IMAGE_FORMAT_DESCRIPTOR); - CL_ERR_TO_STR(CL_INVALID_IMAGE_SIZE); - CL_ERR_TO_STR(CL_INVALID_SAMPLER); - CL_ERR_TO_STR(CL_INVALID_BINARY); - CL_ERR_TO_STR(CL_INVALID_BUILD_OPTIONS); - CL_ERR_TO_STR(CL_INVALID_PROGRAM); - CL_ERR_TO_STR(CL_INVALID_PROGRAM_EXECUTABLE); - CL_ERR_TO_STR(CL_INVALID_KERNEL_NAME); - CL_ERR_TO_STR(CL_INVALID_KERNEL_DEFINITION); - CL_ERR_TO_STR(CL_INVALID_KERNEL); - CL_ERR_TO_STR(CL_INVALID_ARG_INDEX); - CL_ERR_TO_STR(CL_INVALID_ARG_VALUE); - CL_ERR_TO_STR(CL_INVALID_ARG_SIZE); - CL_ERR_TO_STR(CL_INVALID_KERNEL_ARGS); - CL_ERR_TO_STR(CL_INVALID_WORK_DIMENSION); - CL_ERR_TO_STR(CL_INVALID_WORK_GROUP_SIZE); - CL_ERR_TO_STR(CL_INVALID_WORK_ITEM_SIZE); - CL_ERR_TO_STR(CL_INVALID_GLOBAL_OFFSET); - CL_ERR_TO_STR(CL_INVALID_EVENT_WAIT_LIST); - CL_ERR_TO_STR(CL_INVALID_EVENT); - CL_ERR_TO_STR(CL_INVALID_OPERATION); - CL_ERR_TO_STR(CL_INVALID_GL_OBJECT); - CL_ERR_TO_STR(CL_INVALID_BUFFER_SIZE); - CL_ERR_TO_STR(CL_INVALID_MIP_LEVEL); - CL_ERR_TO_STR(CL_INVALID_GLOBAL_WORK_SIZE); - CL_ERR_TO_STR(CL_INVALID_PROPERTY); - CL_ERR_TO_STR(CL_INVALID_IMAGE_DESCRIPTOR); - CL_ERR_TO_STR(CL_INVALID_COMPILER_OPTIONS); - CL_ERR_TO_STR(CL_INVALID_LINKER_OPTIONS); - CL_ERR_TO_STR(CL_INVALID_DEVICE_PARTITION_COUNT); - case -69: return "CL_INVALID_PIPE_SIZE"; - case -70: return "CL_INVALID_DEVICE_QUEUE"; - case -71: return "CL_INVALID_SPEC_ID"; - case -72: return "CL_MAX_SIZE_RESTRICTION_EXCEEDED"; - case -1002: return "CL_INVALID_D3D10_DEVICE_KHR"; - case -1003: return "CL_INVALID_D3D10_RESOURCE_KHR"; - case -1004: return "CL_D3D10_RESOURCE_ALREADY_ACQUIRED_KHR"; - case -1005: return "CL_D3D10_RESOURCE_NOT_ACQUIRED_KHR"; - case -1006: return "CL_INVALID_D3D11_DEVICE_KHR"; - case -1007: return "CL_INVALID_D3D11_RESOURCE_KHR"; - case -1008: return "CL_D3D11_RESOURCE_ALREADY_ACQUIRED_KHR"; - case -1009: return "CL_D3D11_RESOURCE_NOT_ACQUIRED_KHR"; - case -1010: return "CL_INVALID_DX9_MEDIA_ADAPTER_KHR"; - case -1011: return "CL_INVALID_DX9_MEDIA_SURFACE_KHR"; - case -1012: return "CL_DX9_MEDIA_SURFACE_ALREADY_ACQUIRED_KHR"; - case -1013: return "CL_DX9_MEDIA_SURFACE_NOT_ACQUIRED_KHR"; - case -1093: return "CL_INVALID_EGL_OBJECT_KHR"; - case -1092: return "CL_EGL_RESOURCE_NOT_ACQUIRED_KHR"; - case -1001: return "CL_PLATFORM_NOT_FOUND_KHR"; - case -1057: return "CL_DEVICE_PARTITION_FAILED_EXT"; - case -1058: return "CL_INVALID_PARTITION_COUNT_EXT"; - case -1059: return "CL_INVALID_PARTITION_NAME_EXT"; - case -1094: return "CL_INVALID_ACCELERATOR_INTEL"; - case -1095: return "CL_INVALID_ACCELERATOR_TYPE_INTEL"; - case -1096: return "CL_INVALID_ACCELERATOR_DESCRIPTOR_INTEL"; - case -1097: return "CL_ACCELERATOR_TYPE_NOT_SUPPORTED_INTEL"; - case -1000: return "CL_INVALID_GL_SHAREGROUP_REFERENCE_KHR"; - case -1098: return "CL_INVALID_VA_API_MEDIA_ADAPTER_INTEL"; - case -1099: return "CL_INVALID_VA_API_MEDIA_SURFACE_INTEL"; - case -1100: return "CL_VA_API_MEDIA_SURFACE_ALREADY_ACQUIRED_INTEL"; - case -1101: return "CL_VA_API_MEDIA_SURFACE_NOT_ACQUIRED_INTEL"; - default: return "CL_UNKNOWN_ERROR"; - } -} diff --git a/common/clutil.h b/common/clutil.h deleted file mode 100644 index af986d64343fcf..00000000000000 --- a/common/clutil.h +++ /dev/null @@ -1,29 +0,0 @@ -#pragma once - -#ifdef __APPLE__ -#include -#else -#include -#endif - -#include - -#define CL_CHECK(_expr) \ - do { \ - assert(CL_SUCCESS == (_expr)); \ - } while (0) - -#define CL_CHECK_ERR(_expr) \ - ({ \ - cl_int err = CL_INVALID_VALUE; \ - __typeof__(_expr) _ret = _expr; \ - assert(_ret&& err == CL_SUCCESS); \ - _ret; \ - }) - -cl_device_id cl_get_device_id(cl_device_type device_type); -cl_context cl_create_context(cl_device_id device_id); -cl_program cl_program_from_source(cl_context ctx, cl_device_id device_id, const std::string& src, const char* args = nullptr); -cl_program cl_program_from_binary(cl_context ctx, cl_device_id device_id, const uint8_t* binary, size_t length, const char* args = nullptr); -cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args); -const char* cl_get_error_string(int err); diff --git a/common/gpio.cc b/common/gpio.cc deleted file mode 100644 index dd7ba34b6d3fc3..00000000000000 --- a/common/gpio.cc +++ /dev/null @@ -1,84 +0,0 @@ -#include "common/gpio.h" - -#include - -#ifdef __APPLE__ -int gpio_init(int pin_nr, bool output) { - return 0; -} - -int gpio_set(int pin_nr, bool high) { - return 0; -} - -int gpiochip_get_ro_value_fd(const char* consumer_label, int gpiochiop_id, int pin_nr) { - return 0; -} - -#else - -#include -#include - -#include -#include -#include - -#include "common/util.h" -#include "common/swaglog.h" - -int gpio_init(int pin_nr, bool output) { - char pin_dir_path[50]; - int pin_dir_path_len = snprintf(pin_dir_path, sizeof(pin_dir_path), - "/sys/class/gpio/gpio%d/direction", pin_nr); - if (pin_dir_path_len <= 0) { - return -1; - } - const char *value = output ? "out" : "in"; - return util::write_file(pin_dir_path, (void*)value, strlen(value)); -} - -int gpio_set(int pin_nr, bool high) { - char pin_val_path[50]; - int pin_val_path_len = snprintf(pin_val_path, sizeof(pin_val_path), - "/sys/class/gpio/gpio%d/value", pin_nr); - if (pin_val_path_len <= 0) { - return -1; - } - return util::write_file(pin_val_path, (void*)(high ? "1" : "0"), 1); -} - -int gpiochip_get_ro_value_fd(const char* consumer_label, int gpiochiop_id, int pin_nr) { - - // Assumed that all interrupt pins are unexported and rights are given to - // read from gpiochip0. - std::string gpiochip_path = "/dev/gpiochip" + std::to_string(gpiochiop_id); - int fd = open(gpiochip_path.c_str(), O_RDONLY); - if (fd < 0) { - LOGE("Error opening gpiochip0 fd"); - return -1; - } - - // Setup event - struct gpioevent_request rq; - rq.lineoffset = pin_nr; - rq.handleflags = GPIOHANDLE_REQUEST_INPUT; - - /* Requesting both edges as the data ready pulse from the lsm6ds sensor is - very short(75us) and is mostly detected as falling edge instead of rising. - So if it is detected as rising the following falling edge is skipped. */ - rq.eventflags = GPIOEVENT_REQUEST_BOTH_EDGES; - - strncpy(rq.consumer_label, consumer_label, std::size(rq.consumer_label) - 1); - int ret = util::safe_ioctl(fd, GPIO_GET_LINEEVENT_IOCTL, &rq); - if (ret == -1) { - LOGE("Unable to get line event from ioctl : %s", strerror(errno)); - close(fd); - return -1; - } - - close(fd); - return rq.fd; -} - -#endif diff --git a/common/gpio.h b/common/gpio.h deleted file mode 100644 index 89cdedd66c9ce8..00000000000000 --- a/common/gpio.h +++ /dev/null @@ -1,33 +0,0 @@ -#pragma once - -// Pin definitions -#ifdef QCOM2 - #define GPIO_HUB_RST_N 30 - #define GPIO_UBLOX_RST_N 32 - #define GPIO_UBLOX_SAFEBOOT_N 33 - #define GPIO_GNSS_PWR_EN 34 /* SCHEMATIC LABEL: GPIO_UBLOX_PWR_EN */ - #define GPIO_STM_RST_N 124 - #define GPIO_STM_BOOT0 134 - #define GPIO_BMX_ACCEL_INT 21 - #define GPIO_BMX_GYRO_INT 23 - #define GPIO_BMX_MAGN_INT 87 - #define GPIO_LSM_INT 84 - #define GPIOCHIP_INT 0 -#else - #define GPIO_HUB_RST_N 0 - #define GPIO_UBLOX_RST_N 0 - #define GPIO_UBLOX_SAFEBOOT_N 0 - #define GPIO_GNSS_PWR_EN 0 /* SCHEMATIC LABEL: GPIO_UBLOX_PWR_EN */ - #define GPIO_STM_RST_N 0 - #define GPIO_STM_BOOT0 0 - #define GPIO_BMX_ACCEL_INT 0 - #define GPIO_BMX_GYRO_INT 0 - #define GPIO_BMX_MAGN_INT 0 - #define GPIO_LSM_INT 0 - #define GPIOCHIP_INT 0 -#endif - -int gpio_init(int pin_nr, bool output); -int gpio_set(int pin_nr, bool high); - -int gpiochip_get_ro_value_fd(const char* consumer_label, int gpiochiop_id, int pin_nr); diff --git a/common/i2c.cc b/common/i2c.cc deleted file mode 100644 index 3d6c79efc5384b..00000000000000 --- a/common/i2c.cc +++ /dev/null @@ -1,92 +0,0 @@ -#include "common/i2c.h" - -#include -#include -#include - -#include -#include -#include - -#include "common/swaglog.h" -#include "common/util.h" - -#define UNUSED(x) (void)(x) - -#ifdef QCOM2 -// TODO: decide if we want to install libi2c-dev everywhere -extern "C" { - #include - #include -} - -I2CBus::I2CBus(uint8_t bus_id) { - char bus_name[20]; - snprintf(bus_name, 20, "/dev/i2c-%d", bus_id); - - i2c_fd = HANDLE_EINTR(open(bus_name, O_RDWR)); - if (i2c_fd < 0) { - throw std::runtime_error("Failed to open I2C bus"); - } -} - -I2CBus::~I2CBus() { - if (i2c_fd >= 0) { - close(i2c_fd); - } -} - -int I2CBus::read_register(uint8_t device_address, uint register_address, uint8_t *buffer, uint8_t len) { - std::lock_guard lk(m); - - int ret = 0; - - ret = HANDLE_EINTR(ioctl(i2c_fd, I2C_SLAVE, device_address)); - if (ret < 0) { goto fail; } - - ret = i2c_smbus_read_i2c_block_data(i2c_fd, register_address, len, buffer); - if ((ret < 0) || (ret != len)) { goto fail; } - -fail: - return ret; -} - -int I2CBus::set_register(uint8_t device_address, uint register_address, uint8_t data) { - std::lock_guard lk(m); - - int ret = 0; - - ret = HANDLE_EINTR(ioctl(i2c_fd, I2C_SLAVE, device_address)); - if (ret < 0) { goto fail; } - - ret = i2c_smbus_write_byte_data(i2c_fd, register_address, data); - if (ret < 0) { goto fail; } - -fail: - return ret; -} - -#else - -I2CBus::I2CBus(uint8_t bus_id) { - UNUSED(bus_id); - i2c_fd = -1; -} - -I2CBus::~I2CBus() {} - -int I2CBus::read_register(uint8_t device_address, uint register_address, uint8_t *buffer, uint8_t len) { - UNUSED(device_address); - UNUSED(register_address); - UNUSED(buffer); - UNUSED(len); - return -1; -} - -int I2CBus::set_register(uint8_t device_address, uint register_address, uint8_t data) { - UNUSED(device_address); - UNUSED(register_address); - UNUSED(data); - return -1; -} -#endif diff --git a/common/i2c.h b/common/i2c.h deleted file mode 100644 index ca0d4635b890c9..00000000000000 --- a/common/i2c.h +++ /dev/null @@ -1,19 +0,0 @@ -#pragma once - -#include -#include - -#include - -class I2CBus { - private: - int i2c_fd; - std::mutex m; - - public: - I2CBus(uint8_t bus_id); - ~I2CBus(); - - int read_register(uint8_t device_address, uint register_address, uint8_t *buffer, uint8_t len); - int set_register(uint8_t device_address, uint register_address, uint8_t data); -}; diff --git a/common/mat.h b/common/mat.h deleted file mode 100644 index 8e10d619717ba3..00000000000000 --- a/common/mat.h +++ /dev/null @@ -1,85 +0,0 @@ -#pragma once - -typedef struct vec3 { - float v[3]; -} vec3; - -typedef struct vec4 { - float v[4]; -} vec4; - -typedef struct mat3 { - float v[3*3]; -} mat3; - -typedef struct mat4 { - float v[4*4]; -} mat4; - -static inline mat3 matmul3(const mat3 &a, const mat3 &b) { - mat3 ret = {{0.0}}; - for (int r=0; r<3; r++) { - for (int c=0; c<3; c++) { - float v = 0.0; - for (int k=0; k<3; k++) { - v += a.v[r*3+k] * b.v[k*3+c]; - } - ret.v[r*3+c] = v; - } - } - return ret; -} - -static inline vec3 matvecmul3(const mat3 &a, const vec3 &b) { - vec3 ret = {{0.0}}; - for (int r=0; r<3; r++) { - for (int c=0; c<3; c++) { - ret.v[r] += a.v[r*3+c] * b.v[c]; - } - } - return ret; -} - -static inline mat4 matmul(const mat4 &a, const mat4 &b) { - mat4 ret = {{0.0}}; - for (int r=0; r<4; r++) { - for (int c=0; c<4; c++) { - float v = 0.0; - for (int k=0; k<4; k++) { - v += a.v[r*4+k] * b.v[k*4+c]; - } - ret.v[r*4+c] = v; - } - } - return ret; -} - -static inline vec4 matvecmul(const mat4 &a, const vec4 &b) { - vec4 ret = {{0.0}}; - for (int r=0; r<4; r++) { - for (int c=0; c<4; c++) { - ret.v[r] += a.v[r*4+c] * b.v[c]; - } - } - return ret; -} - -// scales the input and output space of a transformation matrix -// that assumes pixel-center origin. -static inline mat3 transform_scale_buffer(const mat3 &in, float s) { - // in_pt = ( transform(out_pt/s + 0.5) - 0.5) * s - - mat3 transform_out = {{ - 1.0f/s, 0.0f, 0.5f, - 0.0f, 1.0f/s, 0.5f, - 0.0f, 0.0f, 1.0f, - }}; - - mat3 transform_in = {{ - s, 0.0f, -0.5f*s, - 0.0f, s, -0.5f*s, - 0.0f, 0.0f, 1.0f, - }}; - - return matmul3(transform_in, matmul3(in, transform_out)); -} diff --git a/common/params.cc b/common/params.cc deleted file mode 100644 index 8149aa90fe5136..00000000000000 --- a/common/params.cc +++ /dev/null @@ -1,699 +0,0 @@ -#include "common/params.h" - -#include -#include - -#include -#include -#include -#include - -#include "common/queue.h" -#include "common/swaglog.h" -#include "common/util.h" -#include "system/hardware/hw.h" - -namespace { - -volatile sig_atomic_t params_do_exit = 0; -void params_sig_handler(int signal) { - params_do_exit = 1; -} - -int fsync_dir(const std::string &path) { - int result = -1; - int fd = HANDLE_EINTR(open(path.c_str(), O_RDONLY, 0755)); - if (fd >= 0) { - result = fsync(fd); - close(fd); - } - return result; -} - -bool create_params_path(const std::string ¶m_path, const std::string &key_path) { - // Make sure params path exists - if (!util::file_exists(param_path) && !util::create_directories(param_path, 0775)) { - return false; - } - - // See if the symlink exists, otherwise create it - if (!util::file_exists(key_path)) { - // 1) Create temp folder - // 2) Symlink it to temp link - // 3) Move symlink to /d - - std::string tmp_path = param_path + "/.tmp_XXXXXX"; - // this should be OK since mkdtemp just replaces characters in place - char *tmp_dir = mkdtemp((char *)tmp_path.c_str()); - if (tmp_dir == NULL) { - return false; - } - - std::string link_path = std::string(tmp_dir) + ".link"; - if (symlink(tmp_dir, link_path.c_str()) != 0) { - return false; - } - - // don't return false if it has been created by other - if (rename(link_path.c_str(), key_path.c_str()) != 0 && errno != EEXIST) { - return false; - } - } - - return true; -} - -std::string ensure_params_path(const std::string &prefix, const std::string &path = {}) { - std::string params_path = path.empty() ? Path::params() : path; - if (!create_params_path(params_path, params_path + prefix)) { - throw std::runtime_error(util::string_format( - "Failed to ensure params path, errno=%d, path=%s, param_prefix=%s", - errno, params_path.c_str(), prefix.c_str())); - } - return params_path; -} - -class FileLock { -public: - FileLock(const std::string &fn) { - fd_ = HANDLE_EINTR(open(fn.c_str(), O_CREAT, 0775)); - if (fd_ < 0 || HANDLE_EINTR(flock(fd_, LOCK_EX)) < 0) { - LOGE("Failed to lock file %s, errno=%d", fn.c_str(), errno); - } - } - ~FileLock() { close(fd_); } - -private: - int fd_ = -1; -}; - -std::unordered_map keys = { - {"AccessToken", CLEAR_ON_MANAGER_START | DONT_LOG}, - {"AlwaysOnDM", PERSISTENT | FROGPILOT_STORAGE}, - {"ApiCache_Device", PERSISTENT}, - {"ApiCache_NavDestinations", PERSISTENT}, - {"AssistNowToken", PERSISTENT}, - {"AthenadPid", PERSISTENT}, - {"AthenadUploadQueue", PERSISTENT}, - {"AthenadRecentlyViewedRoutes", PERSISTENT}, - {"BootCount", PERSISTENT}, - {"CalibrationParams", PERSISTENT}, - {"CameraDebugExpGain", CLEAR_ON_MANAGER_START}, - {"CameraDebugExpTime", CLEAR_ON_MANAGER_START}, - {"CarBatteryCapacity", PERSISTENT}, - {"CarParams", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, - {"CarParamsCache", CLEAR_ON_MANAGER_START}, - {"CarParamsPersistent", PERSISTENT}, - {"CarParamsPrevRoute", PERSISTENT}, - {"CarVin", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, - {"CompletedTrainingVersion", PERSISTENT}, - {"ControlsReady", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, - {"CurrentBootlog", PERSISTENT}, - {"CurrentRoute", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, - {"DisableLogging", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, - {"DisablePowerDown", PERSISTENT}, - {"DisableUpdates", PERSISTENT}, - {"DisengageOnAccelerator", PERSISTENT | FROGPILOT_STORAGE}, - {"DmModelInitialized", CLEAR_ON_ONROAD_TRANSITION}, - {"DongleId", PERSISTENT}, - {"DoReboot", CLEAR_ON_MANAGER_START}, - {"DoShutdown", CLEAR_ON_MANAGER_START}, - {"DoUninstall", CLEAR_ON_MANAGER_START}, - {"ExperimentalLongitudinalEnabled", PERSISTENT | DEVELOPMENT_ONLY | FROGPILOT_STORAGE}, - {"ExperimentalMode", PERSISTENT}, - {"ExperimentalModeConfirmed", PERSISTENT}, - {"FirmwareQueryDone", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, - {"ForcePowerDown", PERSISTENT}, - {"GitBranch", PERSISTENT}, - {"GitCommit", PERSISTENT}, - {"GitCommitDate", PERSISTENT}, - {"GitDiff", PERSISTENT}, - {"GithubSshKeys", PERSISTENT}, - {"GithubUsername", PERSISTENT}, - {"GitRemote", PERSISTENT}, - {"GsmApn", PERSISTENT}, - {"GsmMetered", PERSISTENT | FROGPILOT_STORAGE}, - {"GsmRoaming", PERSISTENT | FROGPILOT_STORAGE}, - {"HardwareSerial", PERSISTENT}, - {"HasAcceptedTerms", PERSISTENT}, - {"IMEI", PERSISTENT}, - {"InstallDate", PERSISTENT}, - {"IsDriverViewEnabled", CLEAR_ON_MANAGER_START}, - {"IsEngaged", PERSISTENT}, - {"IsLdwEnabled", PERSISTENT | FROGPILOT_STORAGE}, - {"IsMetric", PERSISTENT | FROGPILOT_STORAGE}, - {"IsOffroad", CLEAR_ON_MANAGER_START}, - {"IsOnroad", PERSISTENT}, - {"IsRhdDetected", PERSISTENT}, - {"IsReleaseBranch", CLEAR_ON_MANAGER_START}, - {"IsTakingSnapshot", CLEAR_ON_MANAGER_START}, - {"IsTestedBranch", CLEAR_ON_MANAGER_START}, - {"JoystickDebugMode", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION}, - {"LanguageSetting", PERSISTENT}, - {"LastAthenaPingTime", CLEAR_ON_MANAGER_START}, - {"LastGPSPosition", PERSISTENT}, - {"LastManagerExitReason", CLEAR_ON_MANAGER_START}, - {"LastOffroadStatusPacket", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION}, - {"LastPowerDropDetected", CLEAR_ON_MANAGER_START}, - {"LastUpdateException", CLEAR_ON_MANAGER_START}, - {"LastUpdateTime", PERSISTENT}, - {"LiveParameters", PERSISTENT}, - {"LiveTorqueParameters", PERSISTENT | DONT_LOG}, - {"LongitudinalPersonality", PERSISTENT}, - {"NavDestination", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION}, - {"NavDestinationWaypoints", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION}, - {"NavPastDestinations", PERSISTENT}, - {"NavSettingLeftSide", PERSISTENT | FROGPILOT_STORAGE}, - {"NavSettingTime24h", PERSISTENT}, - {"NetworkMetered", PERSISTENT}, - {"ObdMultiplexingChanged", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, - {"ObdMultiplexingEnabled", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, - {"Offroad_BadNvme", CLEAR_ON_MANAGER_START}, - {"Offroad_CarUnrecognized", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, - {"Offroad_ConnectivityNeeded", CLEAR_ON_MANAGER_START}, - {"Offroad_ConnectivityNeededPrompt", CLEAR_ON_MANAGER_START}, - {"Offroad_IsTakingSnapshot", CLEAR_ON_MANAGER_START}, - {"Offroad_NeosUpdate", CLEAR_ON_MANAGER_START}, - {"Offroad_NoFirmware", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, - {"Offroad_Recalibration", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, - {"Offroad_StorageMissing", CLEAR_ON_MANAGER_START}, - {"Offroad_TemperatureTooHigh", CLEAR_ON_MANAGER_START}, - {"Offroad_UnofficialHardware", CLEAR_ON_MANAGER_START}, - {"Offroad_UpdateFailed", CLEAR_ON_MANAGER_START}, - {"OpenpilotEnabledToggle", PERSISTENT | FROGPILOT_STORAGE}, - {"PandaHeartbeatLost", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION}, - {"PandaSomResetTriggered", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION}, - {"PandaSignatures", CLEAR_ON_MANAGER_START}, - {"PrimeType", PERSISTENT}, - {"RecordFront", PERSISTENT | FROGPILOT_STORAGE}, - {"RecordFrontLock", PERSISTENT}, // for the internal fleet - {"ReplayControlsState", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, - {"RouteCount", PERSISTENT}, - {"SecOCKey", PERSISTENT | DONT_LOG}, - {"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION}, - {"SshEnabled", PERSISTENT | FROGPILOT_STORAGE}, - {"TermsVersion", PERSISTENT}, - {"Timezone", PERSISTENT}, - {"TrainingVersion", PERSISTENT}, - {"UbloxAvailable", PERSISTENT}, - {"UpdateAvailable", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, - {"UpdateFailedCount", CLEAR_ON_MANAGER_START}, - {"UpdaterAvailableBranches", PERSISTENT}, - {"UpdaterCurrentDescription", CLEAR_ON_MANAGER_START}, - {"UpdaterCurrentReleaseNotes", CLEAR_ON_MANAGER_START}, - {"UpdaterFetchAvailable", CLEAR_ON_MANAGER_START}, - {"UpdaterNewDescription", CLEAR_ON_MANAGER_START}, - {"UpdaterNewReleaseNotes", CLEAR_ON_MANAGER_START}, - {"UpdaterState", CLEAR_ON_MANAGER_START}, - {"UpdaterTargetBranch", CLEAR_ON_MANAGER_START}, - {"UpdaterLastFetchTime", PERSISTENT}, - {"Version", PERSISTENT}, - - // FrogPilot parameters - {"AccelerationPath", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, - {"AccelerationProfile", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"AdjacentLeadsUI", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"AdjacentPath", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, - {"AdjacentPathMetrics", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, - {"AdvancedCustomUI", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, - {"AdvancedLateralTune", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"AggressiveFollow", PERSISTENT | FROGPILOT_CONTROLS}, - {"AggressiveJerkAcceleration", PERSISTENT | FROGPILOT_CONTROLS}, - {"AggressiveJerkDanger", PERSISTENT | FROGPILOT_CONTROLS}, - {"AggressiveJerkDeceleration", PERSISTENT | FROGPILOT_CONTROLS}, - {"AggressiveJerkSpeed", PERSISTENT | FROGPILOT_CONTROLS}, - {"AggressiveJerkSpeedDecrease", PERSISTENT | FROGPILOT_CONTROLS}, - {"AggressivePersonalityProfile", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"AlertVolumeControl", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, - {"AlwaysOnLateral", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"AlwaysOnLateralLKAS", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"AlwaysOnLateralMain", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"AMapKey1", PERSISTENT}, - {"AMapKey2", PERSISTENT}, - {"ApiCache_DriveStats", PERSISTENT}, - {"AutomaticallyUpdateModels", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"AutomaticUpdates", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_OTHER}, - {"AvailableModels", PERSISTENT}, - {"AvailableModelNames", PERSISTENT}, - {"BigMap", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, - {"BlacklistedModels", PERSISTENT | FROGPILOT_CONTROLS}, - {"BlindSpotMetrics", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, - {"BlindSpotPath", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, - {"BorderMetrics", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, - {"CameraView", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, - {"CancelModelDownload", PERSISTENT}, - {"CancelThemeDownload", PERSISTENT}, - {"CarMake", PERSISTENT}, - {"CarModel", PERSISTENT}, - {"CarModelName", PERSISTENT}, - {"CECurves", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"CECurvesLead", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"CELead", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"CEModelStopTime", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"CENavigation", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"CENavigationIntersections", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"CENavigationLead", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"CENavigationTurns", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"CertifiedHerbalistDrives", PERSISTENT | FROGPILOT_CONTROLS}, - {"CertifiedHerbalistScore", PERSISTENT | FROGPILOT_CONTROLS}, - {"CESignalSpeed", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"CESignalLaneDetection", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"CESlowerLead", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"CESpeed", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"CESpeedLead", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"CEStatus", CLEAR_ON_OFFROAD_TRANSITION}, - {"CEStoppedLead", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"ClassicModels", PERSISTENT}, - {"ClippedCurvatureModels", PERSISTENT}, - {"ClusterOffset", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VEHICLES}, - {"ColorToDownload", PERSISTENT}, - {"Compass", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, - {"ConditionalExperimental", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"CrosstrekTorque", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VEHICLES}, - {"CurveSensitivity", PERSISTENT | FROGPILOT_CONTROLS}, - {"CurveSpeedControl", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"CustomAlerts", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, - {"CustomColors", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, - {"CustomCruise", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"CustomCruiseLong", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"CustomDistanceIcons", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"CustomIcons", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, - {"CustomPersonalities", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"CustomSignals", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, - {"CustomSounds", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, - {"CustomUI", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, - {"DecelerationProfile", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"DesiredCurvatureModels", PERSISTENT}, - {"DeveloperUI", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, - {"DeviceManagement", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"DeviceShutdown", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"DisableOnroadUploads", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"DisableOpenpilotLongitudinal", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VEHICLES}, - {"DissolvedOxygenDrives", PERSISTENT | FROGPILOT_CONTROLS}, - {"DissolvedOxygenScore", PERSISTENT | FROGPILOT_CONTROLS}, - {"DistanceIconToDownload", PERSISTENT}, - {"DisengageVolume", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, - {"DoToggleReset", PERSISTENT}, - {"DownloadableColors", PERSISTENT}, - {"DownloadableDistanceIcons", PERSISTENT}, - {"DownloadableIcons", PERSISTENT}, - {"DownloadableSignals", PERSISTENT}, - {"DownloadableSounds", PERSISTENT}, - {"DownloadableWheels", PERSISTENT}, - {"DownloadAllModels", PERSISTENT}, - {"DragonRiderDrives", PERSISTENT | FROGPILOT_CONTROLS}, - {"DragonRiderScore", PERSISTENT | FROGPILOT_CONTROLS}, - {"DriverCamera", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, - {"DuckAmigoDrives", PERSISTENT | FROGPILOT_CONTROLS}, - {"DuckAmigoScore", PERSISTENT | FROGPILOT_CONTROLS}, - {"DynamicPathWidth", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, - {"DynamicPedalsOnUI", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, - {"EngageVolume", PERSISTENT | FROGPILOT_VISUALS}, - {"ExperimentalGMTune", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VEHICLES}, - {"ExperimentalModeActivation", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"ExperimentalModels", PERSISTENT}, - {"ExperimentalModeViaDistance", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"ExperimentalModeViaLKAS", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"ExperimentalModeViaTap", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"Fahrenheit", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, - {"FingerprintLogged", CLEAR_ON_MANAGER_START}, - {"ForceAutoTune", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"ForceAutoTuneOff", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"ForceFingerprint", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VEHICLES}, - {"ForceMPHDashboard", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"ForceOffroad", PERSISTENT}, - {"ForceOnroad", PERSISTENT}, - {"ForceStandstill", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"ForceStops", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"FPSCounter", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, - {"FrogPilotDrives", PERSISTENT | FROGPILOT_TRACKING}, - {"FrogPilotKilometers", PERSISTENT | FROGPILOT_TRACKING}, - {"FrogPilotMinutes", PERSISTENT | FROGPILOT_TRACKING}, - {"FrogPilotToggles", CLEAR_ON_MANAGER_START}, - {"FrogPilotTogglesUpdated", PERSISTENT}, - {"FrogPilotTuningLevels", CLEAR_ON_MANAGER_START}, - {"FrogsGoMoosTweak", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VEHICLES}, - {"FullMap", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, - {"GasRegenCmd", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VEHICLES}, - {"GMapKey", PERSISTENT}, - {"GoatScream", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, - {"GreenLightAlert", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, - {"HideAlerts", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, - {"HideAOLStatusBar", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"HideCEMStatusBar", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"HideCSCUI", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"HideLeadMarker", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, - {"HideMapIcon", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, - {"HideMaxSpeed", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, - {"HideSpeed", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, - {"HideSpeedLimit", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, - {"HolidayThemes", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, - {"HumanAcceleration", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"HumanFollowing", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"IconToDownload", PERSISTENT}, - {"IncreasedStoppedDistance", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"IncreaseThermalLimits", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"JerkInfo", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, - {"LaneChangeCustomizations", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"LaneChangeTime", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"LaneDetectionWidth", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"LaneLinesWidth", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, - {"LastMapsUpdate", PERSISTENT | FROGPILOT_OTHER}, - {"LateralMetrics", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, - {"LateralTune", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"LeadDepartingAlert", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, - {"LeadDetectionThreshold", PERSISTENT | FROGPILOT_CONTROLS}, - {"LeadInfo", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, - {"LockDoors", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VEHICLES}, - {"LongitudinalMetrics", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, - {"LongitudinalTune", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"LongPitch", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VEHICLES}, - {"LosAngelesDrives", PERSISTENT | FROGPILOT_CONTROLS}, - {"LosAngelesScore", PERSISTENT | FROGPILOT_CONTROLS}, - {"LoudBlindspotAlert", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, - {"LowVoltageShutdown", PERSISTENT | FROGPILOT_CONTROLS}, - {"ManualUpdateInitiated", PERSISTENT}, - {"MapAcceleration", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"MapboxPublicKey", PERSISTENT}, - {"MapboxSecretKey", PERSISTENT}, - {"MapDeceleration", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"MapGears", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"MapsSelected", PERSISTENT | FROGPILOT_OTHER}, - {"MapSpeedLimit", PERSISTENT}, - {"MapStyle", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, - {"MapTargetVelocities", PERSISTENT}, - {"MaxDesiredAcceleration", PERSISTENT | FROGPILOT_CONTROLS}, - {"MinimumBackupSize", PERSISTENT}, - {"MinimumLaneChangeSpeed", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"Model", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"ModelDrivesAndScores", PERSISTENT | FROGPILOT_CONTROLS}, - {"ModelDownloadProgress", PERSISTENT}, - {"ModelName", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"ModelRandomizer", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"ModelToDownload", PERSISTENT}, - {"ModelUI", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, - {"MTSCCurvatureCheck", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"MTSCEnabled", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"NavigationModels", PERSISTENT}, - {"NavigationUI", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, - {"NextMapSpeedLimit", PERSISTENT}, - {"NewLongAPI", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VEHICLES}, - {"NewLongAPIGM", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VEHICLES}, - {"NNFF", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"NNFFLite", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"NNFFModelName", CLEAR_ON_OFFROAD_TRANSITION}, - {"NoLogging", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"NorthDakotaDrives", PERSISTENT | FROGPILOT_CONTROLS}, - {"NorthDakotaScore", PERSISTENT | FROGPILOT_CONTROLS}, - {"NotreDameDrives", PERSISTENT | FROGPILOT_CONTROLS}, - {"NotreDameScore", PERSISTENT | FROGPILOT_CONTROLS}, - {"NoUploads", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"NudgelessLaneChange", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"NumericalTemp", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, - {"OfflineMode", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"Offset1", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"Offset2", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"Offset3", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"Offset4", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"OneLaneChange", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"OnroadDistanceButton", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"OnroadDistanceButtonPressed", PERSISTENT}, - {"openpilotMinutes", PERSISTENT}, - {"OSMDownloadBounds", PERSISTENT}, - {"OSMDownloadLocations", PERSISTENT}, - {"OSMDownloadProgress", CLEAR_ON_MANAGER_START}, - {"PathEdgeWidth", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, - {"PathWidth", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, - {"PauseAOLOnBrake", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"PauseLateralOnSignal", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"PauseLateralSpeed", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"PedalsOnUI", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, - {"PersonalizeOpenpilot", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, - {"PreferredSchedule", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_OTHER}, - {"PreviousSpeedLimit", PERSISTENT}, - {"PromptDistractedVolume", PERSISTENT | FROGPILOT_VISUALS}, - {"PromptVolume", PERSISTENT | FROGPILOT_VISUALS}, - {"QOLLateral", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"QOLLongitudinal", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"QOLVisuals", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, - {"RadarlessModels", PERSISTENT}, - {"RadicalTurtleDrives", PERSISTENT | FROGPILOT_CONTROLS}, - {"RadicalTurtleScore", PERSISTENT | FROGPILOT_CONTROLS}, - {"RainbowPath", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, - {"RandomEvents", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, - {"RecertifiedHerbalistDrives", PERSISTENT | FROGPILOT_CONTROLS}, - {"RecertifiedHerbalistScore", PERSISTENT | FROGPILOT_CONTROLS}, - {"RefuseVolume", PERSISTENT | FROGPILOT_VISUALS}, - {"RelaxedFollow", PERSISTENT | FROGPILOT_CONTROLS}, - {"RelaxedJerkAcceleration", PERSISTENT | FROGPILOT_CONTROLS}, - {"RelaxedJerkDanger", PERSISTENT | FROGPILOT_CONTROLS}, - {"RelaxedJerkDeceleration", PERSISTENT | FROGPILOT_CONTROLS}, - {"RelaxedJerkSpeed", PERSISTENT | FROGPILOT_CONTROLS}, - {"RelaxedJerkSpeedDecrease", PERSISTENT | FROGPILOT_CONTROLS}, - {"RelaxedPersonalityProfile", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"ReverseCruise", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"RoadEdgesWidth", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, - {"RoadName", PERSISTENT}, - {"RoadNameUI", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, - {"RotatingWheel", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, - {"ScreenBrightness", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, - {"ScreenBrightnessOnroad", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, - {"ScreenManagement", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, - {"ScreenRecorder", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, - {"ScreenTimeout", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, - {"ScreenTimeoutOnroad", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, - {"SearchInput", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_OTHER}, - {"SecretGoodOpenpilotDrives", PERSISTENT | FROGPILOT_CONTROLS}, - {"SecretGoodOpenpilotScore", PERSISTENT | FROGPILOT_CONTROLS}, - {"SetSpeedLimit", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"SetSpeedOffset", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"ShowCPU", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, - {"ShowGPU", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, - {"ShowIP", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, - {"ShowMemoryUsage", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, - {"ShowSLCOffset", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"ShowSpeedLimits", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, - {"ShowSteering", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, - {"ShowStoppingPoint", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, - {"ShowStoppingPointMetrics", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, - {"ShowStorageLeft", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, - {"ShowStorageUsed", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, - {"Sidebar", PERSISTENT | FROGPILOT_OTHER}, - {"SidebarMetrics", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, - {"SignalMetrics", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, - {"SignalToDownload", PERSISTENT}, - {"SLCConfirmation", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"SLCConfirmationHigher", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"SLCConfirmationLower", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"SLCConfirmed", PERSISTENT}, - {"SLCLookaheadHigher", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"SLCLookaheadLower", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"SLCFallback", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"SLCOverride", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"SLCPriority1", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"SLCPriority2", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"SLCPriority3", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"SNGHack", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VEHICLES}, - {"SoundToDownload", PERSISTENT}, - {"SpeedLimitChangedAlert", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"SpeedLimitController", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"SpeedLimitSources", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, - {"StandardFollow", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"StandardJerkAcceleration", PERSISTENT | FROGPILOT_CONTROLS}, - {"StandardJerkDanger", PERSISTENT | FROGPILOT_CONTROLS}, - {"StandardJerkDeceleration", PERSISTENT | FROGPILOT_CONTROLS}, - {"StandardJerkSpeed", PERSISTENT | FROGPILOT_CONTROLS}, - {"StandardJerkSpeedDecrease", PERSISTENT | FROGPILOT_CONTROLS}, - {"StandardPersonalityProfile", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"StandbyMode", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, - {"StartupMessageBottom", PERSISTENT | FROGPILOT_VISUALS}, - {"StartupMessageTop", PERSISTENT | FROGPILOT_VISUALS}, - {"StaticPedalsOnUI", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, - {"SteerFriction", PERSISTENT | FROGPILOT_CONTROLS}, - {"SteerFrictionStock", PERSISTENT}, - {"SteerLatAccel", PERSISTENT | FROGPILOT_CONTROLS}, - {"SteerLatAccelStock", PERSISTENT}, - {"SteerKP", PERSISTENT | FROGPILOT_CONTROLS}, - {"SteerKPStock", PERSISTENT}, - {"SteerRatio", PERSISTENT | FROGPILOT_CONTROLS}, - {"SteerRatioStock", PERSISTENT}, - {"StoppedTimer", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, - {"TacoTune", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"TestingSound", PERSISTENT}, - {"TetheringEnabled", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_OTHER}, - {"ThemeDownloadProgress", PERSISTENT}, - {"ToyotaDoors", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VEHICLES}, - {"TrafficFollow", PERSISTENT | FROGPILOT_CONTROLS}, - {"TrafficJerkAcceleration", PERSISTENT | FROGPILOT_CONTROLS}, - {"TrafficJerkDanger", PERSISTENT | FROGPILOT_CONTROLS}, - {"TrafficJerkDeceleration", PERSISTENT | FROGPILOT_CONTROLS}, - {"TrafficJerkSpeed", PERSISTENT | FROGPILOT_CONTROLS}, - {"TrafficJerkSpeedDecrease", PERSISTENT | FROGPILOT_CONTROLS}, - {"TrafficPersonalityProfile", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"TuningInfo", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, - {"TuningLevel", PERSISTENT}, - {"TuningLevelConfirmed", PERSISTENT}, - {"TurnAggressiveness", PERSISTENT | FROGPILOT_CONTROLS}, - {"TurnDesires", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"UnlimitedLength", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, - {"UnlockDoors", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VEHICLES}, - {"Updated", PERSISTENT}, - {"UpdateWheelImage", PERSISTENT}, - {"UseSI", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, - {"UseStockColors", CLEAR_ON_MANAGER_START}, - {"UseVienna", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"VisionTurnControl", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS}, - {"VoltSNG", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VEHICLES}, - {"WarningImmediateVolume", PERSISTENT | FROGPILOT_VISUALS}, - {"WarningSoftVolume", PERSISTENT | FROGPILOT_VISUALS}, - {"WD40Drives", PERSISTENT | FROGPILOT_CONTROLS}, - {"WD40Score", PERSISTENT | FROGPILOT_CONTROLS}, - {"WheelIcon", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, - {"WheelSpeed", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS}, - {"WheelToDownload", PERSISTENT}, -}; - -} // namespace - - -Params::Params(const std::string &path) { - params_prefix = "/" + util::getenv("OPENPILOT_PREFIX", "d"); - params_path = ensure_params_path(params_prefix, path); -} - -Params::~Params() { - if (future.valid()) { - future.wait(); - } - assert(queue.empty()); -} - -std::vector Params::allKeys() const { - std::vector ret; - for (auto &p : keys) { - ret.push_back(p.first); - } - return ret; -} - -bool Params::checkKey(const std::string &key) { - return keys.find(key) != keys.end(); -} - -ParamKeyType Params::getKeyType(const std::string &key) { - return static_cast(keys[key]); -} - -int Params::put(const char* key, const char* value, size_t value_size) { - // Information about safely and atomically writing a file: https://lwn.net/Articles/457667/ - // 1) Create temp file - // 2) Write data to temp file - // 3) fsync() the temp file - // 4) rename the temp file to the real name - // 5) fsync() the containing directory - std::string tmp_path = params_path + "/.tmp_value_XXXXXX"; - int tmp_fd = mkstemp((char*)tmp_path.c_str()); - if (tmp_fd < 0) return -1; - - int result = -1; - do { - // Write value to temp. - ssize_t bytes_written = HANDLE_EINTR(write(tmp_fd, value, value_size)); - if (bytes_written < 0 || (size_t)bytes_written != value_size) { - result = -20; - break; - } - - // fsync to force persist the changes. - if ((result = fsync(tmp_fd)) < 0) break; - - FileLock file_lock(params_path + "/.lock"); - - // Move temp into place. - if ((result = rename(tmp_path.c_str(), getParamPath(key).c_str())) < 0) break; - - // fsync parent directory - result = fsync_dir(getParamPath()); - } while (false); - - close(tmp_fd); - if (result != 0) { - ::unlink(tmp_path.c_str()); - } - return result; -} - -int Params::remove(const std::string &key) { - FileLock file_lock(params_path + "/.lock"); - int result = unlink(getParamPath(key).c_str()); - if (result != 0) { - return result; - } - return fsync_dir(getParamPath()); -} - -std::string Params::get(const std::string &key, bool block) { - if (!block) { - return util::read_file(getParamPath(key)); - } else { - // blocking read until successful - params_do_exit = 0; - void (*prev_handler_sigint)(int) = std::signal(SIGINT, params_sig_handler); - void (*prev_handler_sigterm)(int) = std::signal(SIGTERM, params_sig_handler); - - std::string value; - while (!params_do_exit) { - if (value = util::read_file(getParamPath(key)); !value.empty()) { - break; - } - util::sleep_for(100); // 0.1 s - } - - std::signal(SIGINT, prev_handler_sigint); - std::signal(SIGTERM, prev_handler_sigterm); - return value; - } -} - -std::map Params::readAll() { - FileLock file_lock(params_path + "/.lock"); - return util::read_files_in_dir(getParamPath()); -} - -void Params::clearAll(ParamKeyType key_type) { - FileLock file_lock(params_path + "/.lock"); - - // 1) delete params of key_type - // 2) delete files that are not defined in the keys. - if (DIR *d = opendir(getParamPath().c_str())) { - struct dirent *de = NULL; - while ((de = readdir(d))) { - if (de->d_type != DT_DIR) { - auto it = keys.find(de->d_name); - if (it == keys.end() || (it->second & key_type)) { - unlink(getParamPath(de->d_name).c_str()); - } - } - } - closedir(d); - } - - fsync_dir(getParamPath()); -} - -void Params::putNonBlocking(const std::string &key, const std::string &val) { - queue.push(std::make_pair(key, val)); - // start thread on demand - if (!future.valid() || future.wait_for(std::chrono::milliseconds(0)) == std::future_status::ready) { - future = std::async(std::launch::async, &Params::asyncWriteThread, this); - } -} - -void Params::asyncWriteThread() { - // TODO: write the latest one if a key has multiple values in the queue. - std::pair p; - while (queue.try_pop(p, 0)) { - // Params::put is Thread-Safe - put(p.first, p.second); - } -} diff --git a/common/params.h b/common/params.h deleted file mode 100644 index 461f522cf806bf..00000000000000 --- a/common/params.h +++ /dev/null @@ -1,96 +0,0 @@ -#pragma once - -#include -#include -#include -#include -#include -#include - -#include "common/queue.h" - -enum ParamKeyType { - PERSISTENT = 0x02, - CLEAR_ON_MANAGER_START = 0x04, - CLEAR_ON_ONROAD_TRANSITION = 0x08, - CLEAR_ON_OFFROAD_TRANSITION = 0x10, - DONT_LOG = 0x20, - DEVELOPMENT_ONLY = 0x40, - FROGPILOT_CONTROLS = 0x80, - FROGPILOT_OTHER = 0x400, - FROGPILOT_STORAGE = 0x800, - FROGPILOT_TRACKING = 0x1000, - FROGPILOT_VEHICLES = 0x100, - FROGPILOT_VISUALS = 0x200, - ALL = 0xFFFFFFFF -}; - -class Params { -public: - explicit Params(const std::string &path = {}); - ~Params(); - // Not copyable. - Params(const Params&) = delete; - Params& operator=(const Params&) = delete; - - std::vector allKeys() const; - bool checkKey(const std::string &key); - ParamKeyType getKeyType(const std::string &key); - inline std::string getParamPath(const std::string &key = {}) { - return params_path + params_prefix + (key.empty() ? "" : "/" + key); - } - - // Delete a value - int remove(const std::string &key); - void clearAll(ParamKeyType type); - - // helpers for reading values - std::string get(const std::string &key, bool block = false); - inline bool getBool(const std::string &key, bool block = false) { - return get(key, block) == "1"; - } - inline int getInt(const std::string &key, bool block = false) { - std::string value = get(key, block); - return value.empty() ? 0 : std::stoi(value); - } - inline float getFloat(const std::string &key, bool block = false) { - std::string value = get(key, block); - return value.empty() ? 0.0 : std::stof(value); - } - std::map readAll(); - - // helpers for writing values - int put(const char *key, const char *val, size_t value_size); - inline int put(const std::string &key, const std::string &val) { - return put(key.c_str(), val.data(), val.size()); - } - inline int putBool(const std::string &key, bool val) { - return put(key.c_str(), val ? "1" : "0", 1); - } - inline int putInt(const std::string &key, int val) { - return put(key.c_str(), std::to_string(val).c_str(), std::to_string(val).size()); - } - inline int putFloat(const std::string &key, float val) { - return put(key.c_str(), std::to_string(val).c_str(), std::to_string(val).size()); - } - void putNonBlocking(const std::string &key, const std::string &val); - inline void putBoolNonBlocking(const std::string &key, bool val) { - putNonBlocking(key, val ? "1" : "0"); - } - inline void putIntNonBlocking(const std::string &key, int val) { - putNonBlocking(key, std::to_string(val)); - } - inline void putFloatNonBlocking(const std::string &key, float val) { - putNonBlocking(key, std::to_string(val)); - } - -private: - void asyncWriteThread(); - - std::string params_path; - std::string params_prefix; - - // for nonblocking write - std::future future; - SafeQueue> queue; -}; diff --git a/common/params_pyx.cpp b/common/params_pyx.cpp new file mode 100644 index 00000000000000..a1a3c036ad978a --- /dev/null +++ b/common/params_pyx.cpp @@ -0,0 +1,20581 @@ +/* Generated by Cython 3.0.8 */ + +/* BEGIN: Cython Metadata +{ + "distutils": { + "depends": [ + "common/params.h" + ], + "language": "c++", + "name": "common.params_pyx", + "sources": [ + "/data/openpilot/common/params_pyx.pyx" + ] + }, + "module_name": "common.params_pyx" +} +END: Cython Metadata */ + +#ifndef PY_SSIZE_T_CLEAN +#define PY_SSIZE_T_CLEAN +#endif /* PY_SSIZE_T_CLEAN */ +#if defined(CYTHON_LIMITED_API) && 0 + #ifndef Py_LIMITED_API + #if CYTHON_LIMITED_API+0 > 0x03030000 + #define Py_LIMITED_API CYTHON_LIMITED_API + #else + #define Py_LIMITED_API 0x03030000 + #endif + #endif +#endif + +#include "Python.h" +#ifndef Py_PYTHON_H + #error Python headers needed to compile C extensions, please install development version of Python. +#elif PY_VERSION_HEX < 0x02070000 || (0x03000000 <= PY_VERSION_HEX && PY_VERSION_HEX < 0x03030000) + #error Cython requires Python 2.7+ or Python 3.3+. +#else +#if defined(CYTHON_LIMITED_API) && CYTHON_LIMITED_API +#define __PYX_EXTRA_ABI_MODULE_NAME "limited" +#else +#define __PYX_EXTRA_ABI_MODULE_NAME "" +#endif +#define CYTHON_ABI "3_0_8" __PYX_EXTRA_ABI_MODULE_NAME +#define __PYX_ABI_MODULE_NAME "_cython_" CYTHON_ABI +#define __PYX_TYPE_MODULE_PREFIX __PYX_ABI_MODULE_NAME "." +#define CYTHON_HEX_VERSION 0x030008F0 +#define CYTHON_FUTURE_DIVISION 1 +#include +#ifndef offsetof + #define offsetof(type, member) ( (size_t) & ((type*)0) -> member ) +#endif +#if !defined(_WIN32) && !defined(WIN32) && !defined(MS_WINDOWS) + #ifndef __stdcall + #define __stdcall + #endif + #ifndef __cdecl + #define __cdecl + #endif + #ifndef __fastcall + #define __fastcall + #endif +#endif +#ifndef DL_IMPORT + #define DL_IMPORT(t) t +#endif +#ifndef DL_EXPORT + #define DL_EXPORT(t) t +#endif +#define __PYX_COMMA , +#ifndef HAVE_LONG_LONG + #define HAVE_LONG_LONG +#endif +#ifndef PY_LONG_LONG + #define PY_LONG_LONG LONG_LONG +#endif +#ifndef Py_HUGE_VAL + #define Py_HUGE_VAL HUGE_VAL +#endif +#define __PYX_LIMITED_VERSION_HEX PY_VERSION_HEX +#if defined(GRAALVM_PYTHON) + /* For very preliminary testing purposes. Most variables are set the same as PyPy. + The existence of this section does not imply that anything works or is even tested */ + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 1 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #undef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #undef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 1 + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS (PY_MAJOR_VERSION >= 3) + #endif + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(PYPY_VERSION) + #define CYTHON_COMPILING_IN_PYPY 1 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #ifndef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #endif + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #undef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 1 + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS (PY_MAJOR_VERSION >= 3) + #endif + #if PY_VERSION_HEX < 0x03090000 + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #elif !defined(CYTHON_PEP489_MULTI_PHASE_INIT) + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE (PY_VERSION_HEX >= 0x030400a1 && PYPY_VERSION_NUM >= 0x07030C00) + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(CYTHON_LIMITED_API) + #ifdef Py_LIMITED_API + #undef __PYX_LIMITED_VERSION_HEX + #define __PYX_LIMITED_VERSION_HEX Py_LIMITED_API + #endif + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 1 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_CLINE_IN_TRACEBACK + #define CYTHON_CLINE_IN_TRACEBACK 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #undef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 1 + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #ifndef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #endif + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS 1 + #endif + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 1 + #ifndef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #endif + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(Py_GIL_DISABLED) || defined(Py_NOGIL) + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 1 + #ifndef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 1 + #endif + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #ifndef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #ifndef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 1 + #endif + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #ifndef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 1 + #endif + #ifndef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 1 + #endif + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #ifndef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 1 + #endif + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 +#else + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 1 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #ifndef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 1 + #endif + #ifndef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #endif + #ifndef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 1 + #endif + #if PY_MAJOR_VERSION < 3 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #ifndef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 1 + #endif + #ifndef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 1 + #endif + #ifndef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 1 + #endif + #if PY_VERSION_HEX < 0x030300F0 || PY_VERSION_HEX >= 0x030B00A2 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #elif !defined(CYTHON_USE_UNICODE_WRITER) + #define CYTHON_USE_UNICODE_WRITER 1 + #endif + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #ifndef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 1 + #endif + #ifndef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 1 + #endif + #ifndef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 1 + #endif + #ifndef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL (PY_MAJOR_VERSION < 3 || PY_VERSION_HEX >= 0x03060000 && PY_VERSION_HEX < 0x030C00A6) + #endif + #ifndef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL (PY_VERSION_HEX >= 0x030700A1) + #endif + #ifndef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 1 + #endif + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS 1 + #endif + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #elif !defined(CYTHON_PEP489_MULTI_PHASE_INIT) + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #ifndef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #endif + #if PY_VERSION_HEX < 0x030400a1 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #elif !defined(CYTHON_USE_TP_FINALIZE) + #define CYTHON_USE_TP_FINALIZE 1 + #endif + #if PY_VERSION_HEX < 0x030600B1 + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #elif !defined(CYTHON_USE_DICT_VERSIONS) + #define CYTHON_USE_DICT_VERSIONS (PY_VERSION_HEX < 0x030C00A5) + #endif + #if PY_VERSION_HEX < 0x030700A3 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #elif !defined(CYTHON_USE_EXC_INFO_STACK) + #define CYTHON_USE_EXC_INFO_STACK 1 + #endif + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 1 + #endif +#endif +#if !defined(CYTHON_FAST_PYCCALL) +#define CYTHON_FAST_PYCCALL (CYTHON_FAST_PYCALL && PY_VERSION_HEX >= 0x030600B1) +#endif +#if !defined(CYTHON_VECTORCALL) +#define CYTHON_VECTORCALL (CYTHON_FAST_PYCCALL && PY_VERSION_HEX >= 0x030800B1) +#endif +#define CYTHON_BACKPORT_VECTORCALL (CYTHON_METH_FASTCALL && PY_VERSION_HEX < 0x030800B1) +#if CYTHON_USE_PYLONG_INTERNALS + #if PY_MAJOR_VERSION < 3 + #include "longintrepr.h" + #endif + #undef SHIFT + #undef BASE + #undef MASK + #ifdef SIZEOF_VOID_P + enum { __pyx_check_sizeof_voidp = 1 / (int)(SIZEOF_VOID_P == sizeof(void*)) }; + #endif +#endif +#ifndef __has_attribute + #define __has_attribute(x) 0 +#endif +#ifndef __has_cpp_attribute + #define __has_cpp_attribute(x) 0 +#endif +#ifndef CYTHON_RESTRICT + #if defined(__GNUC__) + #define CYTHON_RESTRICT __restrict__ + #elif defined(_MSC_VER) && _MSC_VER >= 1400 + #define CYTHON_RESTRICT __restrict + #elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define CYTHON_RESTRICT restrict + #else + #define CYTHON_RESTRICT + #endif +#endif +#ifndef CYTHON_UNUSED + #if defined(__cplusplus) + /* for clang __has_cpp_attribute(maybe_unused) is true even before C++17 + * but leads to warnings with -pedantic, since it is a C++17 feature */ + #if ((defined(_MSVC_LANG) && _MSVC_LANG >= 201703L) || __cplusplus >= 201703L) + #if __has_cpp_attribute(maybe_unused) + #define CYTHON_UNUSED [[maybe_unused]] + #endif + #endif + #endif +#endif +#ifndef CYTHON_UNUSED +# if defined(__GNUC__) +# if !(defined(__cplusplus)) || (__GNUC__ > 3 || (__GNUC__ == 3 && __GNUC_MINOR__ >= 4)) +# define CYTHON_UNUSED __attribute__ ((__unused__)) +# else +# define CYTHON_UNUSED +# endif +# elif defined(__ICC) || (defined(__INTEL_COMPILER) && !defined(_MSC_VER)) +# define CYTHON_UNUSED __attribute__ ((__unused__)) +# else +# define CYTHON_UNUSED +# endif +#endif +#ifndef CYTHON_UNUSED_VAR +# if defined(__cplusplus) + template void CYTHON_UNUSED_VAR( const T& ) { } +# else +# define CYTHON_UNUSED_VAR(x) (void)(x) +# endif +#endif +#ifndef CYTHON_MAYBE_UNUSED_VAR + #define CYTHON_MAYBE_UNUSED_VAR(x) CYTHON_UNUSED_VAR(x) +#endif +#ifndef CYTHON_NCP_UNUSED +# if CYTHON_COMPILING_IN_CPYTHON +# define CYTHON_NCP_UNUSED +# else +# define CYTHON_NCP_UNUSED CYTHON_UNUSED +# endif +#endif +#ifndef CYTHON_USE_CPP_STD_MOVE + #if defined(__cplusplus) && (\ + __cplusplus >= 201103L || (defined(_MSC_VER) && _MSC_VER >= 1600)) + #define CYTHON_USE_CPP_STD_MOVE 1 + #else + #define CYTHON_USE_CPP_STD_MOVE 0 + #endif +#endif +#define __Pyx_void_to_None(void_result) ((void)(void_result), Py_INCREF(Py_None), Py_None) +#ifdef _MSC_VER + #ifndef _MSC_STDINT_H_ + #if _MSC_VER < 1300 + typedef unsigned char uint8_t; + typedef unsigned short uint16_t; + typedef unsigned int uint32_t; + #else + typedef unsigned __int8 uint8_t; + typedef unsigned __int16 uint16_t; + typedef unsigned __int32 uint32_t; + #endif + #endif + #if _MSC_VER < 1300 + #ifdef _WIN64 + typedef unsigned long long __pyx_uintptr_t; + #else + typedef unsigned int __pyx_uintptr_t; + #endif + #else + #ifdef _WIN64 + typedef unsigned __int64 __pyx_uintptr_t; + #else + typedef unsigned __int32 __pyx_uintptr_t; + #endif + #endif +#else + #include + typedef uintptr_t __pyx_uintptr_t; +#endif +#ifndef CYTHON_FALLTHROUGH + #if defined(__cplusplus) + /* for clang __has_cpp_attribute(fallthrough) is true even before C++17 + * but leads to warnings with -pedantic, since it is a C++17 feature */ + #if ((defined(_MSVC_LANG) && _MSVC_LANG >= 201703L) || __cplusplus >= 201703L) + #if __has_cpp_attribute(fallthrough) + #define CYTHON_FALLTHROUGH [[fallthrough]] + #endif + #endif + #ifndef CYTHON_FALLTHROUGH + #if __has_cpp_attribute(clang::fallthrough) + #define CYTHON_FALLTHROUGH [[clang::fallthrough]] + #elif __has_cpp_attribute(gnu::fallthrough) + #define CYTHON_FALLTHROUGH [[gnu::fallthrough]] + #endif + #endif + #endif + #ifndef CYTHON_FALLTHROUGH + #if __has_attribute(fallthrough) + #define CYTHON_FALLTHROUGH __attribute__((fallthrough)) + #else + #define CYTHON_FALLTHROUGH + #endif + #endif + #if defined(__clang__) && defined(__apple_build_version__) + #if __apple_build_version__ < 7000000 + #undef CYTHON_FALLTHROUGH + #define CYTHON_FALLTHROUGH + #endif + #endif +#endif +#ifdef __cplusplus + template + struct __PYX_IS_UNSIGNED_IMPL {static const bool value = T(0) < T(-1);}; + #define __PYX_IS_UNSIGNED(type) (__PYX_IS_UNSIGNED_IMPL::value) +#else + #define __PYX_IS_UNSIGNED(type) (((type)-1) > 0) +#endif +#if CYTHON_COMPILING_IN_PYPY == 1 + #define __PYX_NEED_TP_PRINT_SLOT (PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x030A0000) +#else + #define __PYX_NEED_TP_PRINT_SLOT (PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000) +#endif +#define __PYX_REINTERPRET_FUNCION(func_pointer, other_pointer) ((func_pointer)(void(*)(void))(other_pointer)) + +#ifndef __cplusplus + #error "Cython files generated with the C++ option must be compiled with a C++ compiler." +#endif +#ifndef CYTHON_INLINE + #if defined(__clang__) + #define CYTHON_INLINE __inline__ __attribute__ ((__unused__)) + #else + #define CYTHON_INLINE inline + #endif +#endif +template +void __Pyx_call_destructor(T& x) { + x.~T(); +} +template +class __Pyx_FakeReference { + public: + __Pyx_FakeReference() : ptr(NULL) { } + __Pyx_FakeReference(const T& ref) : ptr(const_cast(&ref)) { } + T *operator->() { return ptr; } + T *operator&() { return ptr; } + operator T&() { return *ptr; } + template bool operator ==(const U& other) const { return *ptr == other; } + template bool operator !=(const U& other) const { return *ptr != other; } + template bool operator==(const __Pyx_FakeReference& other) const { return *ptr == *other.ptr; } + template bool operator!=(const __Pyx_FakeReference& other) const { return *ptr != *other.ptr; } + private: + T *ptr; +}; + +#define __PYX_BUILD_PY_SSIZE_T "n" +#define CYTHON_FORMAT_SSIZE_T "z" +#if PY_MAJOR_VERSION < 3 + #define __Pyx_BUILTIN_MODULE_NAME "__builtin__" + #define __Pyx_DefaultClassType PyClass_Type + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_New(a+k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#else + #define __Pyx_BUILTIN_MODULE_NAME "builtins" + #define __Pyx_DefaultClassType PyType_Type +#if CYTHON_COMPILING_IN_LIMITED_API + static CYTHON_INLINE PyObject* __Pyx_PyCode_New(int a, int p, int k, int l, int s, int f, + PyObject *code, PyObject *c, PyObject* n, PyObject *v, + PyObject *fv, PyObject *cell, PyObject* fn, + PyObject *name, int fline, PyObject *lnos) { + PyObject *exception_table = NULL; + PyObject *types_module=NULL, *code_type=NULL, *result=NULL; + #if __PYX_LIMITED_VERSION_HEX < 0x030B0000 + PyObject *version_info; + PyObject *py_minor_version = NULL; + #endif + long minor_version = 0; + PyObject *type, *value, *traceback; + PyErr_Fetch(&type, &value, &traceback); + #if __PYX_LIMITED_VERSION_HEX >= 0x030B0000 + minor_version = 11; + #else + if (!(version_info = PySys_GetObject("version_info"))) goto end; + if (!(py_minor_version = PySequence_GetItem(version_info, 1))) goto end; + minor_version = PyLong_AsLong(py_minor_version); + Py_DECREF(py_minor_version); + if (minor_version == -1 && PyErr_Occurred()) goto end; + #endif + if (!(types_module = PyImport_ImportModule("types"))) goto end; + if (!(code_type = PyObject_GetAttrString(types_module, "CodeType"))) goto end; + if (minor_version <= 7) { + (void)p; + result = PyObject_CallFunction(code_type, "iiiiiOOOOOOiOO", a, k, l, s, f, code, + c, n, v, fn, name, fline, lnos, fv, cell); + } else if (minor_version <= 10) { + result = PyObject_CallFunction(code_type, "iiiiiiOOOOOOiOO", a,p, k, l, s, f, code, + c, n, v, fn, name, fline, lnos, fv, cell); + } else { + if (!(exception_table = PyBytes_FromStringAndSize(NULL, 0))) goto end; + result = PyObject_CallFunction(code_type, "iiiiiiOOOOOOOiOO", a,p, k, l, s, f, code, + c, n, v, fn, name, name, fline, lnos, exception_table, fv, cell); + } + end: + Py_XDECREF(code_type); + Py_XDECREF(exception_table); + Py_XDECREF(types_module); + if (type) { + PyErr_Restore(type, value, traceback); + } + return result; + } + #ifndef CO_OPTIMIZED + #define CO_OPTIMIZED 0x0001 + #endif + #ifndef CO_NEWLOCALS + #define CO_NEWLOCALS 0x0002 + #endif + #ifndef CO_VARARGS + #define CO_VARARGS 0x0004 + #endif + #ifndef CO_VARKEYWORDS + #define CO_VARKEYWORDS 0x0008 + #endif + #ifndef CO_ASYNC_GENERATOR + #define CO_ASYNC_GENERATOR 0x0200 + #endif + #ifndef CO_GENERATOR + #define CO_GENERATOR 0x0020 + #endif + #ifndef CO_COROUTINE + #define CO_COROUTINE 0x0080 + #endif +#elif PY_VERSION_HEX >= 0x030B0000 + static CYTHON_INLINE PyCodeObject* __Pyx_PyCode_New(int a, int p, int k, int l, int s, int f, + PyObject *code, PyObject *c, PyObject* n, PyObject *v, + PyObject *fv, PyObject *cell, PyObject* fn, + PyObject *name, int fline, PyObject *lnos) { + PyCodeObject *result; + PyObject *empty_bytes = PyBytes_FromStringAndSize("", 0); + if (!empty_bytes) return NULL; + result = + #if PY_VERSION_HEX >= 0x030C0000 + PyUnstable_Code_NewWithPosOnlyArgs + #else + PyCode_NewWithPosOnlyArgs + #endif + (a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, name, fline, lnos, empty_bytes); + Py_DECREF(empty_bytes); + return result; + } +#elif PY_VERSION_HEX >= 0x030800B2 && !CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_NewWithPosOnlyArgs(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#else + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#endif +#endif +#if PY_VERSION_HEX >= 0x030900A4 || defined(Py_IS_TYPE) + #define __Pyx_IS_TYPE(ob, type) Py_IS_TYPE(ob, type) +#else + #define __Pyx_IS_TYPE(ob, type) (((const PyObject*)ob)->ob_type == (type)) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_Is) + #define __Pyx_Py_Is(x, y) Py_Is(x, y) +#else + #define __Pyx_Py_Is(x, y) ((x) == (y)) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsNone) + #define __Pyx_Py_IsNone(ob) Py_IsNone(ob) +#else + #define __Pyx_Py_IsNone(ob) __Pyx_Py_Is((ob), Py_None) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsTrue) + #define __Pyx_Py_IsTrue(ob) Py_IsTrue(ob) +#else + #define __Pyx_Py_IsTrue(ob) __Pyx_Py_Is((ob), Py_True) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsFalse) + #define __Pyx_Py_IsFalse(ob) Py_IsFalse(ob) +#else + #define __Pyx_Py_IsFalse(ob) __Pyx_Py_Is((ob), Py_False) +#endif +#define __Pyx_NoneAsNull(obj) (__Pyx_Py_IsNone(obj) ? NULL : (obj)) +#if PY_VERSION_HEX >= 0x030900F0 && !CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyObject_GC_IsFinalized(o) PyObject_GC_IsFinalized(o) +#else + #define __Pyx_PyObject_GC_IsFinalized(o) _PyGC_FINALIZED(o) +#endif +#ifndef CO_COROUTINE + #define CO_COROUTINE 0x80 +#endif +#ifndef CO_ASYNC_GENERATOR + #define CO_ASYNC_GENERATOR 0x200 +#endif +#ifndef Py_TPFLAGS_CHECKTYPES + #define Py_TPFLAGS_CHECKTYPES 0 +#endif +#ifndef Py_TPFLAGS_HAVE_INDEX + #define Py_TPFLAGS_HAVE_INDEX 0 +#endif +#ifndef Py_TPFLAGS_HAVE_NEWBUFFER + #define Py_TPFLAGS_HAVE_NEWBUFFER 0 +#endif +#ifndef Py_TPFLAGS_HAVE_FINALIZE + #define Py_TPFLAGS_HAVE_FINALIZE 0 +#endif +#ifndef Py_TPFLAGS_SEQUENCE + #define Py_TPFLAGS_SEQUENCE 0 +#endif +#ifndef Py_TPFLAGS_MAPPING + #define Py_TPFLAGS_MAPPING 0 +#endif +#ifndef METH_STACKLESS + #define METH_STACKLESS 0 +#endif +#if PY_VERSION_HEX <= 0x030700A3 || !defined(METH_FASTCALL) + #ifndef METH_FASTCALL + #define METH_FASTCALL 0x80 + #endif + typedef PyObject *(*__Pyx_PyCFunctionFast) (PyObject *self, PyObject *const *args, Py_ssize_t nargs); + typedef PyObject *(*__Pyx_PyCFunctionFastWithKeywords) (PyObject *self, PyObject *const *args, + Py_ssize_t nargs, PyObject *kwnames); +#else + #define __Pyx_PyCFunctionFast _PyCFunctionFast + #define __Pyx_PyCFunctionFastWithKeywords _PyCFunctionFastWithKeywords +#endif +#if CYTHON_METH_FASTCALL + #define __Pyx_METH_FASTCALL METH_FASTCALL + #define __Pyx_PyCFunction_FastCall __Pyx_PyCFunctionFast + #define __Pyx_PyCFunction_FastCallWithKeywords __Pyx_PyCFunctionFastWithKeywords +#else + #define __Pyx_METH_FASTCALL METH_VARARGS + #define __Pyx_PyCFunction_FastCall PyCFunction + #define __Pyx_PyCFunction_FastCallWithKeywords PyCFunctionWithKeywords +#endif +#if CYTHON_VECTORCALL + #define __pyx_vectorcallfunc vectorcallfunc + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET PY_VECTORCALL_ARGUMENTS_OFFSET + #define __Pyx_PyVectorcall_NARGS(n) PyVectorcall_NARGS((size_t)(n)) +#elif CYTHON_BACKPORT_VECTORCALL + typedef PyObject *(*__pyx_vectorcallfunc)(PyObject *callable, PyObject *const *args, + size_t nargsf, PyObject *kwnames); + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET ((size_t)1 << (8 * sizeof(size_t) - 1)) + #define __Pyx_PyVectorcall_NARGS(n) ((Py_ssize_t)(((size_t)(n)) & ~__Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET)) +#else + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET 0 + #define __Pyx_PyVectorcall_NARGS(n) ((Py_ssize_t)(n)) +#endif +#if PY_MAJOR_VERSION >= 0x030900B1 +#define __Pyx_PyCFunction_CheckExact(func) PyCFunction_CheckExact(func) +#else +#define __Pyx_PyCFunction_CheckExact(func) PyCFunction_Check(func) +#endif +#define __Pyx_CyOrPyCFunction_Check(func) PyCFunction_Check(func) +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_CyOrPyCFunction_GET_FUNCTION(func) (((PyCFunctionObject*)(func))->m_ml->ml_meth) +#elif !CYTHON_COMPILING_IN_LIMITED_API +#define __Pyx_CyOrPyCFunction_GET_FUNCTION(func) PyCFunction_GET_FUNCTION(func) +#endif +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_CyOrPyCFunction_GET_FLAGS(func) (((PyCFunctionObject*)(func))->m_ml->ml_flags) +static CYTHON_INLINE PyObject* __Pyx_CyOrPyCFunction_GET_SELF(PyObject *func) { + return (__Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_STATIC) ? NULL : ((PyCFunctionObject*)func)->m_self; +} +#endif +static CYTHON_INLINE int __Pyx__IsSameCFunction(PyObject *func, void *cfunc) { +#if CYTHON_COMPILING_IN_LIMITED_API + return PyCFunction_Check(func) && PyCFunction_GetFunction(func) == (PyCFunction) cfunc; +#else + return PyCFunction_Check(func) && PyCFunction_GET_FUNCTION(func) == (PyCFunction) cfunc; +#endif +} +#define __Pyx_IsSameCFunction(func, cfunc) __Pyx__IsSameCFunction(func, cfunc) +#if __PYX_LIMITED_VERSION_HEX < 0x030900B1 + #define __Pyx_PyType_FromModuleAndSpec(m, s, b) ((void)m, PyType_FromSpecWithBases(s, b)) + typedef PyObject *(*__Pyx_PyCMethod)(PyObject *, PyTypeObject *, PyObject *const *, size_t, PyObject *); +#else + #define __Pyx_PyType_FromModuleAndSpec(m, s, b) PyType_FromModuleAndSpec(m, s, b) + #define __Pyx_PyCMethod PyCMethod +#endif +#ifndef METH_METHOD + #define METH_METHOD 0x200 +#endif +#if CYTHON_COMPILING_IN_PYPY && !defined(PyObject_Malloc) + #define PyObject_Malloc(s) PyMem_Malloc(s) + #define PyObject_Free(p) PyMem_Free(p) + #define PyObject_Realloc(p) PyMem_Realloc(p) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0) + #define __Pyx_PyFrame_SetLineNumber(frame, lineno) +#else + #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0) + #define __Pyx_PyFrame_SetLineNumber(frame, lineno) (frame)->f_lineno = (lineno) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyThreadState_Current PyThreadState_Get() +#elif !CYTHON_FAST_THREAD_STATE + #define __Pyx_PyThreadState_Current PyThreadState_GET() +#elif PY_VERSION_HEX >= 0x030d00A1 + #define __Pyx_PyThreadState_Current PyThreadState_GetUnchecked() +#elif PY_VERSION_HEX >= 0x03060000 + #define __Pyx_PyThreadState_Current _PyThreadState_UncheckedGet() +#elif PY_VERSION_HEX >= 0x03000000 + #define __Pyx_PyThreadState_Current PyThreadState_GET() +#else + #define __Pyx_PyThreadState_Current _PyThreadState_Current +#endif +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE void *__Pyx_PyModule_GetState(PyObject *op) +{ + void *result; + result = PyModule_GetState(op); + if (!result) + Py_FatalError("Couldn't find the module state"); + return result; +} +#endif +#define __Pyx_PyObject_GetSlot(obj, name, func_ctype) __Pyx_PyType_GetSlot(Py_TYPE(obj), name, func_ctype) +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyType_GetSlot(type, name, func_ctype) ((func_ctype) PyType_GetSlot((type), Py_##name)) +#else + #define __Pyx_PyType_GetSlot(type, name, func_ctype) ((type)->name) +#endif +#if PY_VERSION_HEX < 0x030700A2 && !defined(PyThread_tss_create) && !defined(Py_tss_NEEDS_INIT) +#include "pythread.h" +#define Py_tss_NEEDS_INIT 0 +typedef int Py_tss_t; +static CYTHON_INLINE int PyThread_tss_create(Py_tss_t *key) { + *key = PyThread_create_key(); + return 0; +} +static CYTHON_INLINE Py_tss_t * PyThread_tss_alloc(void) { + Py_tss_t *key = (Py_tss_t *)PyObject_Malloc(sizeof(Py_tss_t)); + *key = Py_tss_NEEDS_INIT; + return key; +} +static CYTHON_INLINE void PyThread_tss_free(Py_tss_t *key) { + PyObject_Free(key); +} +static CYTHON_INLINE int PyThread_tss_is_created(Py_tss_t *key) { + return *key != Py_tss_NEEDS_INIT; +} +static CYTHON_INLINE void PyThread_tss_delete(Py_tss_t *key) { + PyThread_delete_key(*key); + *key = Py_tss_NEEDS_INIT; +} +static CYTHON_INLINE int PyThread_tss_set(Py_tss_t *key, void *value) { + return PyThread_set_key_value(*key, value); +} +static CYTHON_INLINE void * PyThread_tss_get(Py_tss_t *key) { + return PyThread_get_key_value(*key); +} +#endif +#if PY_MAJOR_VERSION < 3 + #if CYTHON_COMPILING_IN_PYPY + #if PYPY_VERSION_NUM < 0x07030600 + #if defined(__cplusplus) && __cplusplus >= 201402L + [[deprecated("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6")]] + #elif defined(__GNUC__) || defined(__clang__) + __attribute__ ((__deprecated__("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6"))) + #elif defined(_MSC_VER) + __declspec(deprecated("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6")) + #endif + static CYTHON_INLINE int PyGILState_Check(void) { + return 0; + } + #else // PYPY_VERSION_NUM < 0x07030600 + #endif // PYPY_VERSION_NUM < 0x07030600 + #else + static CYTHON_INLINE int PyGILState_Check(void) { + PyThreadState * tstate = _PyThreadState_Current; + return tstate && (tstate == PyGILState_GetThisThreadState()); + } + #endif +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030d0000 || defined(_PyDict_NewPresized) +#define __Pyx_PyDict_NewPresized(n) ((n <= 8) ? PyDict_New() : _PyDict_NewPresized(n)) +#else +#define __Pyx_PyDict_NewPresized(n) PyDict_New() +#endif +#if PY_MAJOR_VERSION >= 3 || CYTHON_FUTURE_DIVISION + #define __Pyx_PyNumber_Divide(x,y) PyNumber_TrueDivide(x,y) + #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceTrueDivide(x,y) +#else + #define __Pyx_PyNumber_Divide(x,y) PyNumber_Divide(x,y) + #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceDivide(x,y) +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX > 0x030600B4 && PY_VERSION_HEX < 0x030d0000 && CYTHON_USE_UNICODE_INTERNALS +#define __Pyx_PyDict_GetItemStrWithError(dict, name) _PyDict_GetItem_KnownHash(dict, name, ((PyASCIIObject *) name)->hash) +static CYTHON_INLINE PyObject * __Pyx_PyDict_GetItemStr(PyObject *dict, PyObject *name) { + PyObject *res = __Pyx_PyDict_GetItemStrWithError(dict, name); + if (res == NULL) PyErr_Clear(); + return res; +} +#elif PY_MAJOR_VERSION >= 3 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07020000) +#define __Pyx_PyDict_GetItemStrWithError PyDict_GetItemWithError +#define __Pyx_PyDict_GetItemStr PyDict_GetItem +#else +static CYTHON_INLINE PyObject * __Pyx_PyDict_GetItemStrWithError(PyObject *dict, PyObject *name) { +#if CYTHON_COMPILING_IN_PYPY + return PyDict_GetItem(dict, name); +#else + PyDictEntry *ep; + PyDictObject *mp = (PyDictObject*) dict; + long hash = ((PyStringObject *) name)->ob_shash; + assert(hash != -1); + ep = (mp->ma_lookup)(mp, name, hash); + if (ep == NULL) { + return NULL; + } + return ep->me_value; +#endif +} +#define __Pyx_PyDict_GetItemStr PyDict_GetItem +#endif +#if CYTHON_USE_TYPE_SLOTS + #define __Pyx_PyType_GetFlags(tp) (((PyTypeObject *)tp)->tp_flags) + #define __Pyx_PyType_HasFeature(type, feature) ((__Pyx_PyType_GetFlags(type) & (feature)) != 0) + #define __Pyx_PyObject_GetIterNextFunc(obj) (Py_TYPE(obj)->tp_iternext) +#else + #define __Pyx_PyType_GetFlags(tp) (PyType_GetFlags((PyTypeObject *)tp)) + #define __Pyx_PyType_HasFeature(type, feature) PyType_HasFeature(type, feature) + #define __Pyx_PyObject_GetIterNextFunc(obj) PyIter_Next +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_SetItemOnTypeDict(tp, k, v) PyObject_GenericSetAttr((PyObject*)tp, k, v) +#else + #define __Pyx_SetItemOnTypeDict(tp, k, v) PyDict_SetItem(tp->tp_dict, k, v) +#endif +#if CYTHON_USE_TYPE_SPECS && PY_VERSION_HEX >= 0x03080000 +#define __Pyx_PyHeapTypeObject_GC_Del(obj) {\ + PyTypeObject *type = Py_TYPE((PyObject*)obj);\ + assert(__Pyx_PyType_HasFeature(type, Py_TPFLAGS_HEAPTYPE));\ + PyObject_GC_Del(obj);\ + Py_DECREF(type);\ +} +#else +#define __Pyx_PyHeapTypeObject_GC_Del(obj) PyObject_GC_Del(obj) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define CYTHON_PEP393_ENABLED 1 + #define __Pyx_PyUnicode_READY(op) (0) + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GetLength(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) PyUnicode_ReadChar(u, i) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) ((void)u, 1114111U) + #define __Pyx_PyUnicode_KIND(u) ((void)u, (0)) + #define __Pyx_PyUnicode_DATA(u) ((void*)u) + #define __Pyx_PyUnicode_READ(k, d, i) ((void)k, PyUnicode_ReadChar((PyObject*)(d), i)) + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GetLength(u)) +#elif PY_VERSION_HEX > 0x03030000 && defined(PyUnicode_KIND) + #define CYTHON_PEP393_ENABLED 1 + #if PY_VERSION_HEX >= 0x030C0000 + #define __Pyx_PyUnicode_READY(op) (0) + #else + #define __Pyx_PyUnicode_READY(op) (likely(PyUnicode_IS_READY(op)) ?\ + 0 : _PyUnicode_Ready((PyObject *)(op))) + #endif + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_LENGTH(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) PyUnicode_READ_CHAR(u, i) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) PyUnicode_MAX_CHAR_VALUE(u) + #define __Pyx_PyUnicode_KIND(u) ((int)PyUnicode_KIND(u)) + #define __Pyx_PyUnicode_DATA(u) PyUnicode_DATA(u) + #define __Pyx_PyUnicode_READ(k, d, i) PyUnicode_READ(k, d, i) + #define __Pyx_PyUnicode_WRITE(k, d, i, ch) PyUnicode_WRITE(k, d, i, (Py_UCS4) ch) + #if PY_VERSION_HEX >= 0x030C0000 + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_LENGTH(u)) + #else + #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x03090000 + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : ((PyCompactUnicodeObject *)(u))->wstr_length)) + #else + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : PyUnicode_GET_SIZE(u))) + #endif + #endif +#else + #define CYTHON_PEP393_ENABLED 0 + #define PyUnicode_1BYTE_KIND 1 + #define PyUnicode_2BYTE_KIND 2 + #define PyUnicode_4BYTE_KIND 4 + #define __Pyx_PyUnicode_READY(op) (0) + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_SIZE(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) ((Py_UCS4)(PyUnicode_AS_UNICODE(u)[i])) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) ((sizeof(Py_UNICODE) == 2) ? 65535U : 1114111U) + #define __Pyx_PyUnicode_KIND(u) ((int)sizeof(Py_UNICODE)) + #define __Pyx_PyUnicode_DATA(u) ((void*)PyUnicode_AS_UNICODE(u)) + #define __Pyx_PyUnicode_READ(k, d, i) ((void)(k), (Py_UCS4)(((Py_UNICODE*)d)[i])) + #define __Pyx_PyUnicode_WRITE(k, d, i, ch) (((void)(k)), ((Py_UNICODE*)d)[i] = (Py_UNICODE) ch) + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_SIZE(u)) +#endif +#if CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyUnicode_Concat(a, b) PyNumber_Add(a, b) + #define __Pyx_PyUnicode_ConcatSafe(a, b) PyNumber_Add(a, b) +#else + #define __Pyx_PyUnicode_Concat(a, b) PyUnicode_Concat(a, b) + #define __Pyx_PyUnicode_ConcatSafe(a, b) ((unlikely((a) == Py_None) || unlikely((b) == Py_None)) ?\ + PyNumber_Add(a, b) : __Pyx_PyUnicode_Concat(a, b)) +#endif +#if CYTHON_COMPILING_IN_PYPY + #if !defined(PyUnicode_DecodeUnicodeEscape) + #define PyUnicode_DecodeUnicodeEscape(s, size, errors) PyUnicode_Decode(s, size, "unicode_escape", errors) + #endif + #if !defined(PyUnicode_Contains) || (PY_MAJOR_VERSION == 2 && PYPY_VERSION_NUM < 0x07030500) + #undef PyUnicode_Contains + #define PyUnicode_Contains(u, s) PySequence_Contains(u, s) + #endif + #if !defined(PyByteArray_Check) + #define PyByteArray_Check(obj) PyObject_TypeCheck(obj, &PyByteArray_Type) + #endif + #if !defined(PyObject_Format) + #define PyObject_Format(obj, fmt) PyObject_CallMethod(obj, "__format__", "O", fmt) + #endif +#endif +#define __Pyx_PyString_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyString_Check(b) && !PyString_CheckExact(b)))) ? PyNumber_Remainder(a, b) : __Pyx_PyString_Format(a, b)) +#define __Pyx_PyUnicode_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyUnicode_Check(b) && !PyUnicode_CheckExact(b)))) ? PyNumber_Remainder(a, b) : PyUnicode_Format(a, b)) +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyString_Format(a, b) PyUnicode_Format(a, b) +#else + #define __Pyx_PyString_Format(a, b) PyString_Format(a, b) +#endif +#if PY_MAJOR_VERSION < 3 && !defined(PyObject_ASCII) + #define PyObject_ASCII(o) PyObject_Repr(o) +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyBaseString_Type PyUnicode_Type + #define PyStringObject PyUnicodeObject + #define PyString_Type PyUnicode_Type + #define PyString_Check PyUnicode_Check + #define PyString_CheckExact PyUnicode_CheckExact +#ifndef PyObject_Unicode + #define PyObject_Unicode PyObject_Str +#endif +#endif +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyBaseString_Check(obj) PyUnicode_Check(obj) + #define __Pyx_PyBaseString_CheckExact(obj) PyUnicode_CheckExact(obj) +#else + #define __Pyx_PyBaseString_Check(obj) (PyString_Check(obj) || PyUnicode_Check(obj)) + #define __Pyx_PyBaseString_CheckExact(obj) (PyString_CheckExact(obj) || PyUnicode_CheckExact(obj)) +#endif +#if CYTHON_COMPILING_IN_CPYTHON + #define __Pyx_PySequence_ListKeepNew(obj)\ + (likely(PyList_CheckExact(obj) && Py_REFCNT(obj) == 1) ? __Pyx_NewRef(obj) : PySequence_List(obj)) +#else + #define __Pyx_PySequence_ListKeepNew(obj) PySequence_List(obj) +#endif +#ifndef PySet_CheckExact + #define PySet_CheckExact(obj) __Pyx_IS_TYPE(obj, &PySet_Type) +#endif +#if PY_VERSION_HEX >= 0x030900A4 + #define __Pyx_SET_REFCNT(obj, refcnt) Py_SET_REFCNT(obj, refcnt) + #define __Pyx_SET_SIZE(obj, size) Py_SET_SIZE(obj, size) +#else + #define __Pyx_SET_REFCNT(obj, refcnt) Py_REFCNT(obj) = (refcnt) + #define __Pyx_SET_SIZE(obj, size) Py_SIZE(obj) = (size) +#endif +#if CYTHON_ASSUME_SAFE_MACROS + #define __Pyx_PySequence_ITEM(o, i) PySequence_ITEM(o, i) + #define __Pyx_PySequence_SIZE(seq) Py_SIZE(seq) + #define __Pyx_PyTuple_SET_ITEM(o, i, v) (PyTuple_SET_ITEM(o, i, v), (0)) + #define __Pyx_PyList_SET_ITEM(o, i, v) (PyList_SET_ITEM(o, i, v), (0)) + #define __Pyx_PyTuple_GET_SIZE(o) PyTuple_GET_SIZE(o) + #define __Pyx_PyList_GET_SIZE(o) PyList_GET_SIZE(o) + #define __Pyx_PySet_GET_SIZE(o) PySet_GET_SIZE(o) + #define __Pyx_PyBytes_GET_SIZE(o) PyBytes_GET_SIZE(o) + #define __Pyx_PyByteArray_GET_SIZE(o) PyByteArray_GET_SIZE(o) +#else + #define __Pyx_PySequence_ITEM(o, i) PySequence_GetItem(o, i) + #define __Pyx_PySequence_SIZE(seq) PySequence_Size(seq) + #define __Pyx_PyTuple_SET_ITEM(o, i, v) PyTuple_SetItem(o, i, v) + #define __Pyx_PyList_SET_ITEM(o, i, v) PyList_SetItem(o, i, v) + #define __Pyx_PyTuple_GET_SIZE(o) PyTuple_Size(o) + #define __Pyx_PyList_GET_SIZE(o) PyList_Size(o) + #define __Pyx_PySet_GET_SIZE(o) PySet_Size(o) + #define __Pyx_PyBytes_GET_SIZE(o) PyBytes_Size(o) + #define __Pyx_PyByteArray_GET_SIZE(o) PyByteArray_Size(o) +#endif +#if PY_VERSION_HEX >= 0x030d00A1 + #define __Pyx_PyImport_AddModuleRef(name) PyImport_AddModuleRef(name) +#else + static CYTHON_INLINE PyObject *__Pyx_PyImport_AddModuleRef(const char *name) { + PyObject *module = PyImport_AddModule(name); + Py_XINCREF(module); + return module; + } +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyIntObject PyLongObject + #define PyInt_Type PyLong_Type + #define PyInt_Check(op) PyLong_Check(op) + #define PyInt_CheckExact(op) PyLong_CheckExact(op) + #define __Pyx_Py3Int_Check(op) PyLong_Check(op) + #define __Pyx_Py3Int_CheckExact(op) PyLong_CheckExact(op) + #define PyInt_FromString PyLong_FromString + #define PyInt_FromUnicode PyLong_FromUnicode + #define PyInt_FromLong PyLong_FromLong + #define PyInt_FromSize_t PyLong_FromSize_t + #define PyInt_FromSsize_t PyLong_FromSsize_t + #define PyInt_AsLong PyLong_AsLong + #define PyInt_AS_LONG PyLong_AS_LONG + #define PyInt_AsSsize_t PyLong_AsSsize_t + #define PyInt_AsUnsignedLongMask PyLong_AsUnsignedLongMask + #define PyInt_AsUnsignedLongLongMask PyLong_AsUnsignedLongLongMask + #define PyNumber_Int PyNumber_Long +#else + #define __Pyx_Py3Int_Check(op) (PyLong_Check(op) || PyInt_Check(op)) + #define __Pyx_Py3Int_CheckExact(op) (PyLong_CheckExact(op) || PyInt_CheckExact(op)) +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyBoolObject PyLongObject +#endif +#if PY_MAJOR_VERSION >= 3 && CYTHON_COMPILING_IN_PYPY + #ifndef PyUnicode_InternFromString + #define PyUnicode_InternFromString(s) PyUnicode_FromString(s) + #endif +#endif +#if PY_VERSION_HEX < 0x030200A4 + typedef long Py_hash_t; + #define __Pyx_PyInt_FromHash_t PyInt_FromLong + #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsHash_t +#else + #define __Pyx_PyInt_FromHash_t PyInt_FromSsize_t + #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsSsize_t +#endif +#if CYTHON_USE_ASYNC_SLOTS + #if PY_VERSION_HEX >= 0x030500B1 + #define __Pyx_PyAsyncMethodsStruct PyAsyncMethods + #define __Pyx_PyType_AsAsync(obj) (Py_TYPE(obj)->tp_as_async) + #else + #define __Pyx_PyType_AsAsync(obj) ((__Pyx_PyAsyncMethodsStruct*) (Py_TYPE(obj)->tp_reserved)) + #endif +#else + #define __Pyx_PyType_AsAsync(obj) NULL +#endif +#ifndef __Pyx_PyAsyncMethodsStruct + typedef struct { + unaryfunc am_await; + unaryfunc am_aiter; + unaryfunc am_anext; + } __Pyx_PyAsyncMethodsStruct; +#endif + +#if defined(_WIN32) || defined(WIN32) || defined(MS_WINDOWS) + #if !defined(_USE_MATH_DEFINES) + #define _USE_MATH_DEFINES + #endif +#endif +#include +#ifdef NAN +#define __PYX_NAN() ((float) NAN) +#else +static CYTHON_INLINE float __PYX_NAN() { + float value; + memset(&value, 0xFF, sizeof(value)); + return value; +} +#endif +#if defined(__CYGWIN__) && defined(_LDBL_EQ_DBL) +#define __Pyx_truncl trunc +#else +#define __Pyx_truncl truncl +#endif + +#define __PYX_MARK_ERR_POS(f_index, lineno) \ + { __pyx_filename = __pyx_f[f_index]; (void)__pyx_filename; __pyx_lineno = lineno; (void)__pyx_lineno; __pyx_clineno = __LINE__; (void)__pyx_clineno; } +#define __PYX_ERR(f_index, lineno, Ln_error) \ + { __PYX_MARK_ERR_POS(f_index, lineno) goto Ln_error; } + +#ifdef CYTHON_EXTERN_C + #undef __PYX_EXTERN_C + #define __PYX_EXTERN_C CYTHON_EXTERN_C +#elif defined(__PYX_EXTERN_C) + #ifdef _MSC_VER + #pragma message ("Please do not define the '__PYX_EXTERN_C' macro externally. Use 'CYTHON_EXTERN_C' instead.") + #else + #warning Please do not define the '__PYX_EXTERN_C' macro externally. Use 'CYTHON_EXTERN_C' instead. + #endif +#else + #define __PYX_EXTERN_C extern "C++" +#endif + +#define __PYX_HAVE__common__params_pyx +#define __PYX_HAVE_API__common__params_pyx +/* Early includes */ +#include +#include +#include "ios" +#include "new" +#include "stdexcept" +#include "typeinfo" +#include +#include "common/params.h" +#ifdef _OPENMP +#include +#endif /* _OPENMP */ + +#if defined(PYREX_WITHOUT_ASSERTIONS) && !defined(CYTHON_WITHOUT_ASSERTIONS) +#define CYTHON_WITHOUT_ASSERTIONS +#endif + +typedef struct {PyObject **p; const char *s; const Py_ssize_t n; const char* encoding; + const char is_unicode; const char is_str; const char intern; } __Pyx_StringTabEntry; + +#define __PYX_DEFAULT_STRING_ENCODING_IS_ASCII 0 +#define __PYX_DEFAULT_STRING_ENCODING_IS_UTF8 0 +#define __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT (PY_MAJOR_VERSION >= 3 && __PYX_DEFAULT_STRING_ENCODING_IS_UTF8) +#define __PYX_DEFAULT_STRING_ENCODING "" +#define __Pyx_PyObject_FromString __Pyx_PyBytes_FromString +#define __Pyx_PyObject_FromStringAndSize __Pyx_PyBytes_FromStringAndSize +#define __Pyx_uchar_cast(c) ((unsigned char)c) +#define __Pyx_long_cast(x) ((long)x) +#define __Pyx_fits_Py_ssize_t(v, type, is_signed) (\ + (sizeof(type) < sizeof(Py_ssize_t)) ||\ + (sizeof(type) > sizeof(Py_ssize_t) &&\ + likely(v < (type)PY_SSIZE_T_MAX ||\ + v == (type)PY_SSIZE_T_MAX) &&\ + (!is_signed || likely(v > (type)PY_SSIZE_T_MIN ||\ + v == (type)PY_SSIZE_T_MIN))) ||\ + (sizeof(type) == sizeof(Py_ssize_t) &&\ + (is_signed || likely(v < (type)PY_SSIZE_T_MAX ||\ + v == (type)PY_SSIZE_T_MAX))) ) +static CYTHON_INLINE int __Pyx_is_valid_index(Py_ssize_t i, Py_ssize_t limit) { + return (size_t) i < (size_t) limit; +} +#if defined (__cplusplus) && __cplusplus >= 201103L + #include + #define __Pyx_sst_abs(value) std::abs(value) +#elif SIZEOF_INT >= SIZEOF_SIZE_T + #define __Pyx_sst_abs(value) abs(value) +#elif SIZEOF_LONG >= SIZEOF_SIZE_T + #define __Pyx_sst_abs(value) labs(value) +#elif defined (_MSC_VER) + #define __Pyx_sst_abs(value) ((Py_ssize_t)_abs64(value)) +#elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define __Pyx_sst_abs(value) llabs(value) +#elif defined (__GNUC__) + #define __Pyx_sst_abs(value) __builtin_llabs(value) +#else + #define __Pyx_sst_abs(value) ((value<0) ? -value : value) +#endif +static CYTHON_INLINE Py_ssize_t __Pyx_ssize_strlen(const char *s); +static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject*); +static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject*, Py_ssize_t* length); +static CYTHON_INLINE PyObject* __Pyx_PyByteArray_FromString(const char*); +#define __Pyx_PyByteArray_FromStringAndSize(s, l) PyByteArray_FromStringAndSize((const char*)s, l) +#define __Pyx_PyBytes_FromString PyBytes_FromString +#define __Pyx_PyBytes_FromStringAndSize PyBytes_FromStringAndSize +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char*); +#if PY_MAJOR_VERSION < 3 + #define __Pyx_PyStr_FromString __Pyx_PyBytes_FromString + #define __Pyx_PyStr_FromStringAndSize __Pyx_PyBytes_FromStringAndSize +#else + #define __Pyx_PyStr_FromString __Pyx_PyUnicode_FromString + #define __Pyx_PyStr_FromStringAndSize __Pyx_PyUnicode_FromStringAndSize +#endif +#define __Pyx_PyBytes_AsWritableString(s) ((char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsWritableSString(s) ((signed char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsWritableUString(s) ((unsigned char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsString(s) ((const char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsSString(s) ((const signed char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsUString(s) ((const unsigned char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyObject_AsWritableString(s) ((char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsWritableSString(s) ((signed char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsWritableUString(s) ((unsigned char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsSString(s) ((const signed char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsUString(s) ((const unsigned char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_FromCString(s) __Pyx_PyObject_FromString((const char*)s) +#define __Pyx_PyBytes_FromCString(s) __Pyx_PyBytes_FromString((const char*)s) +#define __Pyx_PyByteArray_FromCString(s) __Pyx_PyByteArray_FromString((const char*)s) +#define __Pyx_PyStr_FromCString(s) __Pyx_PyStr_FromString((const char*)s) +#define __Pyx_PyUnicode_FromCString(s) __Pyx_PyUnicode_FromString((const char*)s) +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE size_t __Pyx_Py_UNICODE_strlen(const wchar_t *u) +{ + const wchar_t *u_end = u; + while (*u_end++) ; + return (size_t)(u_end - u - 1); +} +#else +static CYTHON_INLINE size_t __Pyx_Py_UNICODE_strlen(const Py_UNICODE *u) +{ + const Py_UNICODE *u_end = u; + while (*u_end++) ; + return (size_t)(u_end - u - 1); +} +#endif +#define __Pyx_PyUnicode_FromOrdinal(o) PyUnicode_FromOrdinal((int)o) +#define __Pyx_PyUnicode_FromUnicode(u) PyUnicode_FromUnicode(u, __Pyx_Py_UNICODE_strlen(u)) +#define __Pyx_PyUnicode_FromUnicodeAndLength PyUnicode_FromUnicode +#define __Pyx_PyUnicode_AsUnicode PyUnicode_AsUnicode +#define __Pyx_NewRef(obj) (Py_INCREF(obj), obj) +#define __Pyx_Owned_Py_None(b) __Pyx_NewRef(Py_None) +static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b); +static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject*); +static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject*); +static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x); +#define __Pyx_PySequence_Tuple(obj)\ + (likely(PyTuple_CheckExact(obj)) ? __Pyx_NewRef(obj) : PySequence_Tuple(obj)) +static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject*); +static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t); +static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject*); +#if CYTHON_ASSUME_SAFE_MACROS +#define __pyx_PyFloat_AsDouble(x) (PyFloat_CheckExact(x) ? PyFloat_AS_DOUBLE(x) : PyFloat_AsDouble(x)) +#else +#define __pyx_PyFloat_AsDouble(x) PyFloat_AsDouble(x) +#endif +#define __pyx_PyFloat_AsFloat(x) ((float) __pyx_PyFloat_AsDouble(x)) +#if PY_MAJOR_VERSION >= 3 +#define __Pyx_PyNumber_Int(x) (PyLong_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Long(x)) +#else +#define __Pyx_PyNumber_Int(x) (PyInt_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Int(x)) +#endif +#if CYTHON_USE_PYLONG_INTERNALS + #if PY_VERSION_HEX >= 0x030C00A7 + #ifndef _PyLong_SIGN_MASK + #define _PyLong_SIGN_MASK 3 + #endif + #ifndef _PyLong_NON_SIZE_BITS + #define _PyLong_NON_SIZE_BITS 3 + #endif + #define __Pyx_PyLong_Sign(x) (((PyLongObject*)x)->long_value.lv_tag & _PyLong_SIGN_MASK) + #define __Pyx_PyLong_IsNeg(x) ((__Pyx_PyLong_Sign(x) & 2) != 0) + #define __Pyx_PyLong_IsNonNeg(x) (!__Pyx_PyLong_IsNeg(x)) + #define __Pyx_PyLong_IsZero(x) (__Pyx_PyLong_Sign(x) & 1) + #define __Pyx_PyLong_IsPos(x) (__Pyx_PyLong_Sign(x) == 0) + #define __Pyx_PyLong_CompactValueUnsigned(x) (__Pyx_PyLong_Digits(x)[0]) + #define __Pyx_PyLong_DigitCount(x) ((Py_ssize_t) (((PyLongObject*)x)->long_value.lv_tag >> _PyLong_NON_SIZE_BITS)) + #define __Pyx_PyLong_SignedDigitCount(x)\ + ((1 - (Py_ssize_t) __Pyx_PyLong_Sign(x)) * __Pyx_PyLong_DigitCount(x)) + #if defined(PyUnstable_Long_IsCompact) && defined(PyUnstable_Long_CompactValue) + #define __Pyx_PyLong_IsCompact(x) PyUnstable_Long_IsCompact((PyLongObject*) x) + #define __Pyx_PyLong_CompactValue(x) PyUnstable_Long_CompactValue((PyLongObject*) x) + #else + #define __Pyx_PyLong_IsCompact(x) (((PyLongObject*)x)->long_value.lv_tag < (2 << _PyLong_NON_SIZE_BITS)) + #define __Pyx_PyLong_CompactValue(x) ((1 - (Py_ssize_t) __Pyx_PyLong_Sign(x)) * (Py_ssize_t) __Pyx_PyLong_Digits(x)[0]) + #endif + typedef Py_ssize_t __Pyx_compact_pylong; + typedef size_t __Pyx_compact_upylong; + #else + #define __Pyx_PyLong_IsNeg(x) (Py_SIZE(x) < 0) + #define __Pyx_PyLong_IsNonNeg(x) (Py_SIZE(x) >= 0) + #define __Pyx_PyLong_IsZero(x) (Py_SIZE(x) == 0) + #define __Pyx_PyLong_IsPos(x) (Py_SIZE(x) > 0) + #define __Pyx_PyLong_CompactValueUnsigned(x) ((Py_SIZE(x) == 0) ? 0 : __Pyx_PyLong_Digits(x)[0]) + #define __Pyx_PyLong_DigitCount(x) __Pyx_sst_abs(Py_SIZE(x)) + #define __Pyx_PyLong_SignedDigitCount(x) Py_SIZE(x) + #define __Pyx_PyLong_IsCompact(x) (Py_SIZE(x) == 0 || Py_SIZE(x) == 1 || Py_SIZE(x) == -1) + #define __Pyx_PyLong_CompactValue(x)\ + ((Py_SIZE(x) == 0) ? (sdigit) 0 : ((Py_SIZE(x) < 0) ? -(sdigit)__Pyx_PyLong_Digits(x)[0] : (sdigit)__Pyx_PyLong_Digits(x)[0])) + typedef sdigit __Pyx_compact_pylong; + typedef digit __Pyx_compact_upylong; + #endif + #if PY_VERSION_HEX >= 0x030C00A5 + #define __Pyx_PyLong_Digits(x) (((PyLongObject*)x)->long_value.ob_digit) + #else + #define __Pyx_PyLong_Digits(x) (((PyLongObject*)x)->ob_digit) + #endif +#endif +#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII +#include +static int __Pyx_sys_getdefaultencoding_not_ascii; +static int __Pyx_init_sys_getdefaultencoding_params(void) { + PyObject* sys; + PyObject* default_encoding = NULL; + PyObject* ascii_chars_u = NULL; + PyObject* ascii_chars_b = NULL; + const char* default_encoding_c; + sys = PyImport_ImportModule("sys"); + if (!sys) goto bad; + default_encoding = PyObject_CallMethod(sys, (char*) "getdefaultencoding", NULL); + Py_DECREF(sys); + if (!default_encoding) goto bad; + default_encoding_c = PyBytes_AsString(default_encoding); + if (!default_encoding_c) goto bad; + if (strcmp(default_encoding_c, "ascii") == 0) { + __Pyx_sys_getdefaultencoding_not_ascii = 0; + } else { + char ascii_chars[128]; + int c; + for (c = 0; c < 128; c++) { + ascii_chars[c] = (char) c; + } + __Pyx_sys_getdefaultencoding_not_ascii = 1; + ascii_chars_u = PyUnicode_DecodeASCII(ascii_chars, 128, NULL); + if (!ascii_chars_u) goto bad; + ascii_chars_b = PyUnicode_AsEncodedString(ascii_chars_u, default_encoding_c, NULL); + if (!ascii_chars_b || !PyBytes_Check(ascii_chars_b) || memcmp(ascii_chars, PyBytes_AS_STRING(ascii_chars_b), 128) != 0) { + PyErr_Format( + PyExc_ValueError, + "This module compiled with c_string_encoding=ascii, but default encoding '%.200s' is not a superset of ascii.", + default_encoding_c); + goto bad; + } + Py_DECREF(ascii_chars_u); + Py_DECREF(ascii_chars_b); + } + Py_DECREF(default_encoding); + return 0; +bad: + Py_XDECREF(default_encoding); + Py_XDECREF(ascii_chars_u); + Py_XDECREF(ascii_chars_b); + return -1; +} +#endif +#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT && PY_MAJOR_VERSION >= 3 +#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_DecodeUTF8(c_str, size, NULL) +#else +#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_Decode(c_str, size, __PYX_DEFAULT_STRING_ENCODING, NULL) +#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT +#include +static char* __PYX_DEFAULT_STRING_ENCODING; +static int __Pyx_init_sys_getdefaultencoding_params(void) { + PyObject* sys; + PyObject* default_encoding = NULL; + char* default_encoding_c; + sys = PyImport_ImportModule("sys"); + if (!sys) goto bad; + default_encoding = PyObject_CallMethod(sys, (char*) (const char*) "getdefaultencoding", NULL); + Py_DECREF(sys); + if (!default_encoding) goto bad; + default_encoding_c = PyBytes_AsString(default_encoding); + if (!default_encoding_c) goto bad; + __PYX_DEFAULT_STRING_ENCODING = (char*) malloc(strlen(default_encoding_c) + 1); + if (!__PYX_DEFAULT_STRING_ENCODING) goto bad; + strcpy(__PYX_DEFAULT_STRING_ENCODING, default_encoding_c); + Py_DECREF(default_encoding); + return 0; +bad: + Py_XDECREF(default_encoding); + return -1; +} +#endif +#endif + + +/* Test for GCC > 2.95 */ +#if defined(__GNUC__) && (__GNUC__ > 2 || (__GNUC__ == 2 && (__GNUC_MINOR__ > 95))) + #define likely(x) __builtin_expect(!!(x), 1) + #define unlikely(x) __builtin_expect(!!(x), 0) +#else /* !__GNUC__ or GCC < 2.95 */ + #define likely(x) (x) + #define unlikely(x) (x) +#endif /* __GNUC__ */ +static CYTHON_INLINE void __Pyx_pretend_to_initialize(void* ptr) { (void)ptr; } + +#if !CYTHON_USE_MODULE_STATE +static PyObject *__pyx_m = NULL; +#endif +static int __pyx_lineno; +static int __pyx_clineno = 0; +static const char * __pyx_cfilenm = __FILE__; +static const char *__pyx_filename; + +/* #### Code section: filename_table ### */ + +static const char *__pyx_f[] = { + "common/params_pyx.pyx", + "", +}; +/* #### Code section: utility_code_proto_before_types ### */ +/* ForceInitThreads.proto */ +#ifndef __PYX_FORCE_INIT_THREADS + #define __PYX_FORCE_INIT_THREADS 0 +#endif + +/* NoFastGil.proto */ +#define __Pyx_PyGILState_Ensure PyGILState_Ensure +#define __Pyx_PyGILState_Release PyGILState_Release +#define __Pyx_FastGIL_Remember() +#define __Pyx_FastGIL_Forget() +#define __Pyx_FastGilFuncInit() + +/* #### Code section: numeric_typedefs ### */ +/* #### Code section: complex_type_declarations ### */ +/* #### Code section: type_declarations ### */ + +/*--- Type declarations ---*/ +struct __pyx_obj_6common_10params_pyx_Params; +struct __pyx_obj___Pyx_EnumMeta; + +/* "common/params_pyx.pyx":50 + * pass + * + * cdef class Params: # <<<<<<<<<<<<<< + * cdef c_Params* p + * + */ +struct __pyx_obj_6common_10params_pyx_Params { + PyObject_HEAD + Params *p; +}; + + +/* "EnumBase":16 + * + * @cython.internal + * cdef class __Pyx_EnumMeta(type): # <<<<<<<<<<<<<< + * def __init__(cls, name, parents, dct): + * type.__init__(cls, name, parents, dct) + */ +struct __pyx_obj___Pyx_EnumMeta { + PyHeapTypeObject __pyx_base; +}; + +/* #### Code section: utility_code_proto ### */ + +/* --- Runtime support code (head) --- */ +/* Refnanny.proto */ +#ifndef CYTHON_REFNANNY + #define CYTHON_REFNANNY 0 +#endif +#if CYTHON_REFNANNY + typedef struct { + void (*INCREF)(void*, PyObject*, Py_ssize_t); + void (*DECREF)(void*, PyObject*, Py_ssize_t); + void (*GOTREF)(void*, PyObject*, Py_ssize_t); + void (*GIVEREF)(void*, PyObject*, Py_ssize_t); + void* (*SetupContext)(const char*, Py_ssize_t, const char*); + void (*FinishContext)(void**); + } __Pyx_RefNannyAPIStruct; + static __Pyx_RefNannyAPIStruct *__Pyx_RefNanny = NULL; + static __Pyx_RefNannyAPIStruct *__Pyx_RefNannyImportAPI(const char *modname); + #define __Pyx_RefNannyDeclarations void *__pyx_refnanny = NULL; +#ifdef WITH_THREAD + #define __Pyx_RefNannySetupContext(name, acquire_gil)\ + if (acquire_gil) {\ + PyGILState_STATE __pyx_gilstate_save = PyGILState_Ensure();\ + __pyx_refnanny = __Pyx_RefNanny->SetupContext((name), (__LINE__), (__FILE__));\ + PyGILState_Release(__pyx_gilstate_save);\ + } else {\ + __pyx_refnanny = __Pyx_RefNanny->SetupContext((name), (__LINE__), (__FILE__));\ + } + #define __Pyx_RefNannyFinishContextNogil() {\ + PyGILState_STATE __pyx_gilstate_save = PyGILState_Ensure();\ + __Pyx_RefNannyFinishContext();\ + PyGILState_Release(__pyx_gilstate_save);\ + } +#else + #define __Pyx_RefNannySetupContext(name, acquire_gil)\ + __pyx_refnanny = __Pyx_RefNanny->SetupContext((name), (__LINE__), (__FILE__)) + #define __Pyx_RefNannyFinishContextNogil() __Pyx_RefNannyFinishContext() +#endif + #define __Pyx_RefNannyFinishContextNogil() {\ + PyGILState_STATE __pyx_gilstate_save = PyGILState_Ensure();\ + __Pyx_RefNannyFinishContext();\ + PyGILState_Release(__pyx_gilstate_save);\ + } + #define __Pyx_RefNannyFinishContext()\ + __Pyx_RefNanny->FinishContext(&__pyx_refnanny) + #define __Pyx_INCREF(r) __Pyx_RefNanny->INCREF(__pyx_refnanny, (PyObject *)(r), (__LINE__)) + #define __Pyx_DECREF(r) __Pyx_RefNanny->DECREF(__pyx_refnanny, (PyObject *)(r), (__LINE__)) + #define __Pyx_GOTREF(r) __Pyx_RefNanny->GOTREF(__pyx_refnanny, (PyObject *)(r), (__LINE__)) + #define __Pyx_GIVEREF(r) __Pyx_RefNanny->GIVEREF(__pyx_refnanny, (PyObject *)(r), (__LINE__)) + #define __Pyx_XINCREF(r) do { if((r) == NULL); else {__Pyx_INCREF(r); }} while(0) + #define __Pyx_XDECREF(r) do { if((r) == NULL); else {__Pyx_DECREF(r); }} while(0) + #define __Pyx_XGOTREF(r) do { if((r) == NULL); else {__Pyx_GOTREF(r); }} while(0) + #define __Pyx_XGIVEREF(r) do { if((r) == NULL); else {__Pyx_GIVEREF(r);}} while(0) +#else + #define __Pyx_RefNannyDeclarations + #define __Pyx_RefNannySetupContext(name, acquire_gil) + #define __Pyx_RefNannyFinishContextNogil() + #define __Pyx_RefNannyFinishContext() + #define __Pyx_INCREF(r) Py_INCREF(r) + #define __Pyx_DECREF(r) Py_DECREF(r) + #define __Pyx_GOTREF(r) + #define __Pyx_GIVEREF(r) + #define __Pyx_XINCREF(r) Py_XINCREF(r) + #define __Pyx_XDECREF(r) Py_XDECREF(r) + #define __Pyx_XGOTREF(r) + #define __Pyx_XGIVEREF(r) +#endif +#define __Pyx_Py_XDECREF_SET(r, v) do {\ + PyObject *tmp = (PyObject *) r;\ + r = v; Py_XDECREF(tmp);\ + } while (0) +#define __Pyx_XDECREF_SET(r, v) do {\ + PyObject *tmp = (PyObject *) r;\ + r = v; __Pyx_XDECREF(tmp);\ + } while (0) +#define __Pyx_DECREF_SET(r, v) do {\ + PyObject *tmp = (PyObject *) r;\ + r = v; __Pyx_DECREF(tmp);\ + } while (0) +#define __Pyx_CLEAR(r) do { PyObject* tmp = ((PyObject*)(r)); r = NULL; __Pyx_DECREF(tmp);} while(0) +#define __Pyx_XCLEAR(r) do { if((r) != NULL) {PyObject* tmp = ((PyObject*)(r)); r = NULL; __Pyx_DECREF(tmp);}} while(0) + +/* PyErrExceptionMatches.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyErr_ExceptionMatches(err) __Pyx_PyErr_ExceptionMatchesInState(__pyx_tstate, err) +static CYTHON_INLINE int __Pyx_PyErr_ExceptionMatchesInState(PyThreadState* tstate, PyObject* err); +#else +#define __Pyx_PyErr_ExceptionMatches(err) PyErr_ExceptionMatches(err) +#endif + +/* PyThreadStateGet.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyThreadState_declare PyThreadState *__pyx_tstate; +#define __Pyx_PyThreadState_assign __pyx_tstate = __Pyx_PyThreadState_Current; +#if PY_VERSION_HEX >= 0x030C00A6 +#define __Pyx_PyErr_Occurred() (__pyx_tstate->current_exception != NULL) +#define __Pyx_PyErr_CurrentExceptionType() (__pyx_tstate->current_exception ? (PyObject*) Py_TYPE(__pyx_tstate->current_exception) : (PyObject*) NULL) +#else +#define __Pyx_PyErr_Occurred() (__pyx_tstate->curexc_type != NULL) +#define __Pyx_PyErr_CurrentExceptionType() (__pyx_tstate->curexc_type) +#endif +#else +#define __Pyx_PyThreadState_declare +#define __Pyx_PyThreadState_assign +#define __Pyx_PyErr_Occurred() (PyErr_Occurred() != NULL) +#define __Pyx_PyErr_CurrentExceptionType() PyErr_Occurred() +#endif + +/* PyErrFetchRestore.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyErr_Clear() __Pyx_ErrRestore(NULL, NULL, NULL) +#define __Pyx_ErrRestoreWithState(type, value, tb) __Pyx_ErrRestoreInState(PyThreadState_GET(), type, value, tb) +#define __Pyx_ErrFetchWithState(type, value, tb) __Pyx_ErrFetchInState(PyThreadState_GET(), type, value, tb) +#define __Pyx_ErrRestore(type, value, tb) __Pyx_ErrRestoreInState(__pyx_tstate, type, value, tb) +#define __Pyx_ErrFetch(type, value, tb) __Pyx_ErrFetchInState(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx_ErrRestoreInState(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb); +static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A6 +#define __Pyx_PyErr_SetNone(exc) (Py_INCREF(exc), __Pyx_ErrRestore((exc), NULL, NULL)) +#else +#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc) +#endif +#else +#define __Pyx_PyErr_Clear() PyErr_Clear() +#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc) +#define __Pyx_ErrRestoreWithState(type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetchWithState(type, value, tb) PyErr_Fetch(type, value, tb) +#define __Pyx_ErrRestoreInState(tstate, type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetchInState(tstate, type, value, tb) PyErr_Fetch(type, value, tb) +#define __Pyx_ErrRestore(type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetch(type, value, tb) PyErr_Fetch(type, value, tb) +#endif + +/* PyObjectGetAttrStr.proto */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStr(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GetAttrStr(o,n) PyObject_GetAttr(o,n) +#endif + +/* PyObjectGetAttrStrNoError.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name); + +/* GetBuiltinName.proto */ +static PyObject *__Pyx_GetBuiltinName(PyObject *name); + +/* PyDictVersioning.proto */ +#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS +#define __PYX_DICT_VERSION_INIT ((PY_UINT64_T) -1) +#define __PYX_GET_DICT_VERSION(dict) (((PyDictObject*)(dict))->ma_version_tag) +#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var)\ + (version_var) = __PYX_GET_DICT_VERSION(dict);\ + (cache_var) = (value); +#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) {\ + static PY_UINT64_T __pyx_dict_version = 0;\ + static PyObject *__pyx_dict_cached_value = NULL;\ + if (likely(__PYX_GET_DICT_VERSION(DICT) == __pyx_dict_version)) {\ + (VAR) = __pyx_dict_cached_value;\ + } else {\ + (VAR) = __pyx_dict_cached_value = (LOOKUP);\ + __pyx_dict_version = __PYX_GET_DICT_VERSION(DICT);\ + }\ +} +static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj); +static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj); +static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version); +#else +#define __PYX_GET_DICT_VERSION(dict) (0) +#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var) +#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) (VAR) = (LOOKUP); +#endif + +/* GetModuleGlobalName.proto */ +#if CYTHON_USE_DICT_VERSIONS +#define __Pyx_GetModuleGlobalName(var, name) do {\ + static PY_UINT64_T __pyx_dict_version = 0;\ + static PyObject *__pyx_dict_cached_value = NULL;\ + (var) = (likely(__pyx_dict_version == __PYX_GET_DICT_VERSION(__pyx_d))) ?\ + (likely(__pyx_dict_cached_value) ? __Pyx_NewRef(__pyx_dict_cached_value) : __Pyx_GetBuiltinName(name)) :\ + __Pyx__GetModuleGlobalName(name, &__pyx_dict_version, &__pyx_dict_cached_value);\ +} while(0) +#define __Pyx_GetModuleGlobalNameUncached(var, name) do {\ + PY_UINT64_T __pyx_dict_version;\ + PyObject *__pyx_dict_cached_value;\ + (var) = __Pyx__GetModuleGlobalName(name, &__pyx_dict_version, &__pyx_dict_cached_value);\ +} while(0) +static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value); +#else +#define __Pyx_GetModuleGlobalName(var, name) (var) = __Pyx__GetModuleGlobalName(name) +#define __Pyx_GetModuleGlobalNameUncached(var, name) (var) = __Pyx__GetModuleGlobalName(name) +static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name); +#endif + +/* PyFunctionFastCall.proto */ +#if CYTHON_FAST_PYCALL +#if !CYTHON_VECTORCALL +#define __Pyx_PyFunction_FastCall(func, args, nargs)\ + __Pyx_PyFunction_FastCallDict((func), (args), (nargs), NULL) +static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs); +#endif +#define __Pyx_BUILD_ASSERT_EXPR(cond)\ + (sizeof(char [1 - 2*!(cond)]) - 1) +#ifndef Py_MEMBER_SIZE +#define Py_MEMBER_SIZE(type, member) sizeof(((type *)0)->member) +#endif +#if !CYTHON_VECTORCALL +#if PY_VERSION_HEX >= 0x03080000 + #include "frameobject.h" +#if PY_VERSION_HEX >= 0x030b00a6 && !CYTHON_COMPILING_IN_LIMITED_API + #ifndef Py_BUILD_CORE + #define Py_BUILD_CORE 1 + #endif + #include "internal/pycore_frame.h" +#endif + #define __Pxy_PyFrame_Initialize_Offsets() + #define __Pyx_PyFrame_GetLocalsplus(frame) ((frame)->f_localsplus) +#else + static size_t __pyx_pyframe_localsplus_offset = 0; + #include "frameobject.h" + #define __Pxy_PyFrame_Initialize_Offsets()\ + ((void)__Pyx_BUILD_ASSERT_EXPR(sizeof(PyFrameObject) == offsetof(PyFrameObject, f_localsplus) + Py_MEMBER_SIZE(PyFrameObject, f_localsplus)),\ + (void)(__pyx_pyframe_localsplus_offset = ((size_t)PyFrame_Type.tp_basicsize) - Py_MEMBER_SIZE(PyFrameObject, f_localsplus))) + #define __Pyx_PyFrame_GetLocalsplus(frame)\ + (assert(__pyx_pyframe_localsplus_offset), (PyObject **)(((char *)(frame)) + __pyx_pyframe_localsplus_offset)) +#endif +#endif +#endif + +/* PyObjectCall.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw); +#else +#define __Pyx_PyObject_Call(func, arg, kw) PyObject_Call(func, arg, kw) +#endif + +/* PyObjectCallMethO.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg); +#endif + +/* PyObjectFastCall.proto */ +#define __Pyx_PyObject_FastCall(func, args, nargs) __Pyx_PyObject_FastCallDict(func, args, (size_t)(nargs), NULL) +static CYTHON_INLINE PyObject* __Pyx_PyObject_FastCallDict(PyObject *func, PyObject **args, size_t nargs, PyObject *kwargs); + +/* TupleAndListFromArray.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyList_FromArray(PyObject *const *src, Py_ssize_t n); +static CYTHON_INLINE PyObject* __Pyx_PyTuple_FromArray(PyObject *const *src, Py_ssize_t n); +#endif + +/* IncludeStringH.proto */ +#include + +/* BytesEquals.proto */ +static CYTHON_INLINE int __Pyx_PyBytes_Equals(PyObject* s1, PyObject* s2, int equals); + +/* UnicodeEquals.proto */ +static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int equals); + +/* fastcall.proto */ +#if CYTHON_AVOID_BORROWED_REFS + #define __Pyx_Arg_VARARGS(args, i) PySequence_GetItem(args, i) +#elif CYTHON_ASSUME_SAFE_MACROS + #define __Pyx_Arg_VARARGS(args, i) PyTuple_GET_ITEM(args, i) +#else + #define __Pyx_Arg_VARARGS(args, i) PyTuple_GetItem(args, i) +#endif +#if CYTHON_AVOID_BORROWED_REFS + #define __Pyx_Arg_NewRef_VARARGS(arg) __Pyx_NewRef(arg) + #define __Pyx_Arg_XDECREF_VARARGS(arg) Py_XDECREF(arg) +#else + #define __Pyx_Arg_NewRef_VARARGS(arg) arg + #define __Pyx_Arg_XDECREF_VARARGS(arg) +#endif +#define __Pyx_NumKwargs_VARARGS(kwds) PyDict_Size(kwds) +#define __Pyx_KwValues_VARARGS(args, nargs) NULL +#define __Pyx_GetKwValue_VARARGS(kw, kwvalues, s) __Pyx_PyDict_GetItemStrWithError(kw, s) +#define __Pyx_KwargsAsDict_VARARGS(kw, kwvalues) PyDict_Copy(kw) +#if CYTHON_METH_FASTCALL + #define __Pyx_Arg_FASTCALL(args, i) args[i] + #define __Pyx_NumKwargs_FASTCALL(kwds) PyTuple_GET_SIZE(kwds) + #define __Pyx_KwValues_FASTCALL(args, nargs) ((args) + (nargs)) + static CYTHON_INLINE PyObject * __Pyx_GetKwValue_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues, PyObject *s); +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 + CYTHON_UNUSED static PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues); + #else + #define __Pyx_KwargsAsDict_FASTCALL(kw, kwvalues) _PyStack_AsDict(kwvalues, kw) + #endif + #define __Pyx_Arg_NewRef_FASTCALL(arg) arg /* no-op, __Pyx_Arg_FASTCALL is direct and this needs + to have the same reference counting */ + #define __Pyx_Arg_XDECREF_FASTCALL(arg) +#else + #define __Pyx_Arg_FASTCALL __Pyx_Arg_VARARGS + #define __Pyx_NumKwargs_FASTCALL __Pyx_NumKwargs_VARARGS + #define __Pyx_KwValues_FASTCALL __Pyx_KwValues_VARARGS + #define __Pyx_GetKwValue_FASTCALL __Pyx_GetKwValue_VARARGS + #define __Pyx_KwargsAsDict_FASTCALL __Pyx_KwargsAsDict_VARARGS + #define __Pyx_Arg_NewRef_FASTCALL(arg) __Pyx_Arg_NewRef_VARARGS(arg) + #define __Pyx_Arg_XDECREF_FASTCALL(arg) __Pyx_Arg_XDECREF_VARARGS(arg) +#endif +#if CYTHON_COMPILING_IN_CPYTHON && CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS +#define __Pyx_ArgsSlice_VARARGS(args, start, stop) __Pyx_PyTuple_FromArray(&__Pyx_Arg_VARARGS(args, start), stop - start) +#define __Pyx_ArgsSlice_FASTCALL(args, start, stop) __Pyx_PyTuple_FromArray(&__Pyx_Arg_FASTCALL(args, start), stop - start) +#else +#define __Pyx_ArgsSlice_VARARGS(args, start, stop) PyTuple_GetSlice(args, start, stop) +#define __Pyx_ArgsSlice_FASTCALL(args, start, stop) PyTuple_GetSlice(args, start, stop) +#endif + +/* RaiseArgTupleInvalid.proto */ +static void __Pyx_RaiseArgtupleInvalid(const char* func_name, int exact, + Py_ssize_t num_min, Py_ssize_t num_max, Py_ssize_t num_found); + +/* RaiseDoubleKeywords.proto */ +static void __Pyx_RaiseDoubleKeywordsError(const char* func_name, PyObject* kw_name); + +/* ParseKeywords.proto */ +static int __Pyx_ParseOptionalKeywords(PyObject *kwds, PyObject *const *kwvalues, + PyObject **argnames[], + PyObject *kwds2, PyObject *values[], Py_ssize_t num_pos_args, + const char* function_name); + +/* PyObjectSetAttrStr.proto */ +#if CYTHON_USE_TYPE_SLOTS +#define __Pyx_PyObject_DelAttrStr(o,n) __Pyx_PyObject_SetAttrStr(o, n, NULL) +static CYTHON_INLINE int __Pyx_PyObject_SetAttrStr(PyObject* obj, PyObject* attr_name, PyObject* value); +#else +#define __Pyx_PyObject_DelAttrStr(o,n) PyObject_DelAttr(o,n) +#define __Pyx_PyObject_SetAttrStr(o,n,v) PyObject_SetAttr(o,n,v) +#endif + +/* GetItemInt.proto */ +#define __Pyx_GetItemInt(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_Fast(o, (Py_ssize_t)i, is_list, wraparound, boundscheck) :\ + (is_list ? (PyErr_SetString(PyExc_IndexError, "list index out of range"), (PyObject*)NULL) :\ + __Pyx_GetItemInt_Generic(o, to_py_func(i)))) +#define __Pyx_GetItemInt_List(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_List_Fast(o, (Py_ssize_t)i, wraparound, boundscheck) :\ + (PyErr_SetString(PyExc_IndexError, "list index out of range"), (PyObject*)NULL)) +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, + int wraparound, int boundscheck); +#define __Pyx_GetItemInt_Tuple(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_Tuple_Fast(o, (Py_ssize_t)i, wraparound, boundscheck) :\ + (PyErr_SetString(PyExc_IndexError, "tuple index out of range"), (PyObject*)NULL)) +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i, + int wraparound, int boundscheck); +static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j); +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, + int is_list, int wraparound, int boundscheck); + +/* PyObjectCallOneArg.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg); + +/* ObjectGetItem.proto */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject *__Pyx_PyObject_GetItem(PyObject *obj, PyObject *key); +#else +#define __Pyx_PyObject_GetItem(obj, key) PyObject_GetItem(obj, key) +#endif + +/* KeywordStringCheck.proto */ +static int __Pyx_CheckKeywordStrings(PyObject *kw, const char* function_name, int kw_allowed); + +/* GetAttr3.proto */ +static CYTHON_INLINE PyObject *__Pyx_GetAttr3(PyObject *, PyObject *, PyObject *); + +/* RaiseUnexpectedTypeError.proto */ +static int __Pyx_RaiseUnexpectedTypeError(const char *expected, PyObject *obj); + +/* RaiseException.proto */ +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause); + +/* PySequenceContains.proto */ +static CYTHON_INLINE int __Pyx_PySequence_ContainsTF(PyObject* item, PyObject* seq, int eq) { + int result = PySequence_Contains(seq, item); + return unlikely(result < 0) ? result : (result == (eq == Py_EQ)); +} + +/* Import.proto */ +static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level); + +/* ImportFrom.proto */ +static PyObject* __Pyx_ImportFrom(PyObject* module, PyObject* name); + +/* GetAttr.proto */ +static CYTHON_INLINE PyObject *__Pyx_GetAttr(PyObject *, PyObject *); + +/* HasAttr.proto */ +#if __PYX_LIMITED_VERSION_HEX >= 0x030d00A1 +#define __Pyx_HasAttr(o, n) PyObject_HasAttrWithError(o, n) +#else +static CYTHON_INLINE int __Pyx_HasAttr(PyObject *, PyObject *); +#endif + +/* MoveIfSupported.proto */ +#if CYTHON_USE_CPP_STD_MOVE + #include + #define __PYX_STD_MOVE_IF_SUPPORTED(x) std::move(x) +#else + #define __PYX_STD_MOVE_IF_SUPPORTED(x) x +#endif + +/* IncludeCppStringH.proto */ +#include + +/* decode_c_string_utf16.proto */ +static CYTHON_INLINE PyObject *__Pyx_PyUnicode_DecodeUTF16(const char *s, Py_ssize_t size, const char *errors) { + int byteorder = 0; + return PyUnicode_DecodeUTF16(s, size, errors, &byteorder); +} +static CYTHON_INLINE PyObject *__Pyx_PyUnicode_DecodeUTF16LE(const char *s, Py_ssize_t size, const char *errors) { + int byteorder = -1; + return PyUnicode_DecodeUTF16(s, size, errors, &byteorder); +} +static CYTHON_INLINE PyObject *__Pyx_PyUnicode_DecodeUTF16BE(const char *s, Py_ssize_t size, const char *errors) { + int byteorder = 1; + return PyUnicode_DecodeUTF16(s, size, errors, &byteorder); +} + +/* decode_c_bytes.proto */ +static CYTHON_INLINE PyObject* __Pyx_decode_c_bytes( + const char* cstring, Py_ssize_t length, Py_ssize_t start, Py_ssize_t stop, + const char* encoding, const char* errors, + PyObject* (*decode_func)(const char *s, Py_ssize_t size, const char *errors)); + +/* decode_cpp_string.proto */ +static CYTHON_INLINE PyObject* __Pyx_decode_cpp_string( + std::string cppstring, Py_ssize_t start, Py_ssize_t stop, + const char* encoding, const char* errors, + PyObject* (*decode_func)(const char *s, Py_ssize_t size, const char *errors)) { + return __Pyx_decode_c_bytes( + cppstring.data(), cppstring.size(), start, stop, encoding, errors, decode_func); +} + +/* IncludeStructmemberH.proto */ +#include + +/* FixUpExtensionType.proto */ +#if CYTHON_USE_TYPE_SPECS +static int __Pyx_fix_up_extension_type_from_spec(PyType_Spec *spec, PyTypeObject *type); +#endif + +/* PyObjectCallNoArg.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func); + +/* PyObjectGetMethod.proto */ +static int __Pyx_PyObject_GetMethod(PyObject *obj, PyObject *name, PyObject **method); + +/* PyObjectCallMethod0.proto */ +static PyObject* __Pyx_PyObject_CallMethod0(PyObject* obj, PyObject* method_name); + +/* ValidateBasesTuple.proto */ +#if CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API || CYTHON_USE_TYPE_SPECS +static int __Pyx_validate_bases_tuple(const char *type_name, Py_ssize_t dictoffset, PyObject *bases); +#endif + +/* PyType_Ready.proto */ +CYTHON_UNUSED static int __Pyx_PyType_Ready(PyTypeObject *t); + +/* PyObject_GenericGetAttrNoDict.proto */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GenericGetAttrNoDict PyObject_GenericGetAttr +#endif + +/* PyObject_GenericGetAttr.proto */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GenericGetAttr PyObject_GenericGetAttr +#endif + +/* SetupReduce.proto */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_setup_reduce(PyObject* type_obj); +#endif + +/* FetchSharedCythonModule.proto */ +static PyObject *__Pyx_FetchSharedCythonABIModule(void); + +/* FetchCommonType.proto */ +#if !CYTHON_USE_TYPE_SPECS +static PyTypeObject* __Pyx_FetchCommonType(PyTypeObject* type); +#else +static PyTypeObject* __Pyx_FetchCommonTypeFromSpec(PyObject *module, PyType_Spec *spec, PyObject *bases); +#endif + +/* PyMethodNew.proto */ +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject *__Pyx_PyMethod_New(PyObject *func, PyObject *self, PyObject *typ) { + PyObject *typesModule=NULL, *methodType=NULL, *result=NULL; + CYTHON_UNUSED_VAR(typ); + if (!self) + return __Pyx_NewRef(func); + typesModule = PyImport_ImportModule("types"); + if (!typesModule) return NULL; + methodType = PyObject_GetAttrString(typesModule, "MethodType"); + Py_DECREF(typesModule); + if (!methodType) return NULL; + result = PyObject_CallFunctionObjArgs(methodType, func, self, NULL); + Py_DECREF(methodType); + return result; +} +#elif PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx_PyMethod_New(PyObject *func, PyObject *self, PyObject *typ) { + CYTHON_UNUSED_VAR(typ); + if (!self) + return __Pyx_NewRef(func); + return PyMethod_New(func, self); +} +#else + #define __Pyx_PyMethod_New PyMethod_New +#endif + +/* PyVectorcallFastCallDict.proto */ +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE PyObject *__Pyx_PyVectorcall_FastCallDict(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw); +#endif + +/* CythonFunctionShared.proto */ +#define __Pyx_CyFunction_USED +#define __Pyx_CYFUNCTION_STATICMETHOD 0x01 +#define __Pyx_CYFUNCTION_CLASSMETHOD 0x02 +#define __Pyx_CYFUNCTION_CCLASS 0x04 +#define __Pyx_CYFUNCTION_COROUTINE 0x08 +#define __Pyx_CyFunction_GetClosure(f)\ + (((__pyx_CyFunctionObject *) (f))->func_closure) +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_CyFunction_GetClassObj(f)\ + (((__pyx_CyFunctionObject *) (f))->func_classobj) +#else + #define __Pyx_CyFunction_GetClassObj(f)\ + ((PyObject*) ((PyCMethodObject *) (f))->mm_class) +#endif +#define __Pyx_CyFunction_SetClassObj(f, classobj)\ + __Pyx__CyFunction_SetClassObj((__pyx_CyFunctionObject *) (f), (classobj)) +#define __Pyx_CyFunction_Defaults(type, f)\ + ((type *)(((__pyx_CyFunctionObject *) (f))->defaults)) +#define __Pyx_CyFunction_SetDefaultsGetter(f, g)\ + ((__pyx_CyFunctionObject *) (f))->defaults_getter = (g) +typedef struct { +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject_HEAD + PyObject *func; +#elif PY_VERSION_HEX < 0x030900B1 + PyCFunctionObject func; +#else + PyCMethodObject func; +#endif +#if CYTHON_BACKPORT_VECTORCALL + __pyx_vectorcallfunc func_vectorcall; +#endif +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API + PyObject *func_weakreflist; +#endif + PyObject *func_dict; + PyObject *func_name; + PyObject *func_qualname; + PyObject *func_doc; + PyObject *func_globals; + PyObject *func_code; + PyObject *func_closure; +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + PyObject *func_classobj; +#endif + void *defaults; + int defaults_pyobjects; + size_t defaults_size; + int flags; + PyObject *defaults_tuple; + PyObject *defaults_kwdict; + PyObject *(*defaults_getter)(PyObject *); + PyObject *func_annotations; + PyObject *func_is_coroutine; +} __pyx_CyFunctionObject; +#undef __Pyx_CyOrPyCFunction_Check +#define __Pyx_CyFunction_Check(obj) __Pyx_TypeCheck(obj, __pyx_CyFunctionType) +#define __Pyx_CyOrPyCFunction_Check(obj) __Pyx_TypeCheck2(obj, __pyx_CyFunctionType, &PyCFunction_Type) +#define __Pyx_CyFunction_CheckExact(obj) __Pyx_IS_TYPE(obj, __pyx_CyFunctionType) +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc); +#undef __Pyx_IsSameCFunction +#define __Pyx_IsSameCFunction(func, cfunc) __Pyx__IsSameCyOrCFunction(func, cfunc) +static PyObject *__Pyx_CyFunction_Init(__pyx_CyFunctionObject* op, PyMethodDef *ml, + int flags, PyObject* qualname, + PyObject *closure, + PyObject *module, PyObject *globals, + PyObject* code); +static CYTHON_INLINE void __Pyx__CyFunction_SetClassObj(__pyx_CyFunctionObject* f, PyObject* classobj); +static CYTHON_INLINE void *__Pyx_CyFunction_InitDefaults(PyObject *m, + size_t size, + int pyobjects); +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsTuple(PyObject *m, + PyObject *tuple); +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsKwDict(PyObject *m, + PyObject *dict); +static CYTHON_INLINE void __Pyx_CyFunction_SetAnnotationsDict(PyObject *m, + PyObject *dict); +static int __pyx_CyFunction_init(PyObject *module); +#if CYTHON_METH_FASTCALL +static PyObject * __Pyx_CyFunction_Vectorcall_NOARGS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_O(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +#if CYTHON_BACKPORT_VECTORCALL +#define __Pyx_CyFunction_func_vectorcall(f) (((__pyx_CyFunctionObject*)f)->func_vectorcall) +#else +#define __Pyx_CyFunction_func_vectorcall(f) (((PyCFunctionObject*)f)->vectorcall) +#endif +#endif + +/* CythonFunction.proto */ +static PyObject *__Pyx_CyFunction_New(PyMethodDef *ml, + int flags, PyObject* qualname, + PyObject *closure, + PyObject *module, PyObject *globals, + PyObject* code); + +/* Py3UpdateBases.proto */ +static PyObject* __Pyx_PEP560_update_bases(PyObject *bases); + +/* SetNameInClass.proto */ +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030500A1 && PY_VERSION_HEX < 0x030d0000 +#define __Pyx_SetNameInClass(ns, name, value)\ + (likely(PyDict_CheckExact(ns)) ? _PyDict_SetItem_KnownHash(ns, name, value, ((PyASCIIObject *) name)->hash) : PyObject_SetItem(ns, name, value)) +#elif CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_SetNameInClass(ns, name, value)\ + (likely(PyDict_CheckExact(ns)) ? PyDict_SetItem(ns, name, value) : PyObject_SetItem(ns, name, value)) +#else +#define __Pyx_SetNameInClass(ns, name, value) PyObject_SetItem(ns, name, value) +#endif + +/* SetNewInClass.proto */ +static int __Pyx_SetNewInClass(PyObject *ns, PyObject *name, PyObject *value); + +/* CalculateMetaclass.proto */ +static PyObject *__Pyx_CalculateMetaclass(PyTypeObject *metaclass, PyObject *bases); + +/* PyObjectCall2Args.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call2Args(PyObject* function, PyObject* arg1, PyObject* arg2); + +/* PyObjectLookupSpecial.proto */ +#if CYTHON_USE_PYTYPE_LOOKUP && CYTHON_USE_TYPE_SLOTS +#define __Pyx_PyObject_LookupSpecialNoError(obj, attr_name) __Pyx__PyObject_LookupSpecial(obj, attr_name, 0) +#define __Pyx_PyObject_LookupSpecial(obj, attr_name) __Pyx__PyObject_LookupSpecial(obj, attr_name, 1) +static CYTHON_INLINE PyObject* __Pyx__PyObject_LookupSpecial(PyObject* obj, PyObject* attr_name, int with_error); +#else +#define __Pyx_PyObject_LookupSpecialNoError(o,n) __Pyx_PyObject_GetAttrStrNoError(o,n) +#define __Pyx_PyObject_LookupSpecial(o,n) __Pyx_PyObject_GetAttrStr(o,n) +#endif + +/* Py3ClassCreate.proto */ +static PyObject *__Pyx_Py3MetaclassPrepare(PyObject *metaclass, PyObject *bases, PyObject *name, PyObject *qualname, + PyObject *mkw, PyObject *modname, PyObject *doc); +static PyObject *__Pyx_Py3ClassCreate(PyObject *metaclass, PyObject *name, PyObject *bases, PyObject *dict, + PyObject *mkw, int calculate_metaclass, int allow_py2_metaclass); + +/* Globals.proto */ +static PyObject* __Pyx_Globals(void); + +/* dict_getitem_default.proto */ +static PyObject* __Pyx_PyDict_GetItemDefault(PyObject* d, PyObject* key, PyObject* default_value); + +/* UnpackUnboundCMethod.proto */ +typedef struct { + PyObject *type; + PyObject **method_name; + PyCFunction func; + PyObject *method; + int flag; +} __Pyx_CachedCFunction; + +/* CallUnboundCMethod1.proto */ +static PyObject* __Pyx__CallUnboundCMethod1(__Pyx_CachedCFunction* cfunc, PyObject* self, PyObject* arg); +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_CallUnboundCMethod1(__Pyx_CachedCFunction* cfunc, PyObject* self, PyObject* arg); +#else +#define __Pyx_CallUnboundCMethod1(cfunc, self, arg) __Pyx__CallUnboundCMethod1(cfunc, self, arg) +#endif + +/* CallUnboundCMethod2.proto */ +static PyObject* __Pyx__CallUnboundCMethod2(__Pyx_CachedCFunction* cfunc, PyObject* self, PyObject* arg1, PyObject* arg2); +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030600B1 +static CYTHON_INLINE PyObject *__Pyx_CallUnboundCMethod2(__Pyx_CachedCFunction *cfunc, PyObject *self, PyObject *arg1, PyObject *arg2); +#else +#define __Pyx_CallUnboundCMethod2(cfunc, self, arg1, arg2) __Pyx__CallUnboundCMethod2(cfunc, self, arg1, arg2) +#endif + +/* CLineInTraceback.proto */ +#ifdef CYTHON_CLINE_IN_TRACEBACK +#define __Pyx_CLineForTraceback(tstate, c_line) (((CYTHON_CLINE_IN_TRACEBACK)) ? c_line : 0) +#else +static int __Pyx_CLineForTraceback(PyThreadState *tstate, int c_line); +#endif + +/* CodeObjectCache.proto */ +#if !CYTHON_COMPILING_IN_LIMITED_API +typedef struct { + PyCodeObject* code_object; + int code_line; +} __Pyx_CodeObjectCacheEntry; +struct __Pyx_CodeObjectCache { + int count; + int max_count; + __Pyx_CodeObjectCacheEntry* entries; +}; +static struct __Pyx_CodeObjectCache __pyx_code_cache = {0,0,NULL}; +static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line); +static PyCodeObject *__pyx_find_code_object(int code_line); +static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object); +#endif + +/* AddTraceback.proto */ +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename); + +/* GCCDiagnostics.proto */ +#if !defined(__INTEL_COMPILER) && defined(__GNUC__) && (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 6)) +#define __Pyx_HAS_GCC_DIAGNOSTIC +#endif + +/* CppExceptionConversion.proto */ +#ifndef __Pyx_CppExn2PyErr +#include +#include +#include +#include +static void __Pyx_CppExn2PyErr() { + try { + if (PyErr_Occurred()) + ; // let the latest Python exn pass through and ignore the current one + else + throw; + } catch (const std::bad_alloc& exn) { + PyErr_SetString(PyExc_MemoryError, exn.what()); + } catch (const std::bad_cast& exn) { + PyErr_SetString(PyExc_TypeError, exn.what()); + } catch (const std::bad_typeid& exn) { + PyErr_SetString(PyExc_TypeError, exn.what()); + } catch (const std::domain_error& exn) { + PyErr_SetString(PyExc_ValueError, exn.what()); + } catch (const std::invalid_argument& exn) { + PyErr_SetString(PyExc_ValueError, exn.what()); + } catch (const std::ios_base::failure& exn) { + PyErr_SetString(PyExc_IOError, exn.what()); + } catch (const std::out_of_range& exn) { + PyErr_SetString(PyExc_IndexError, exn.what()); + } catch (const std::overflow_error& exn) { + PyErr_SetString(PyExc_OverflowError, exn.what()); + } catch (const std::range_error& exn) { + PyErr_SetString(PyExc_ArithmeticError, exn.what()); + } catch (const std::underflow_error& exn) { + PyErr_SetString(PyExc_ArithmeticError, exn.what()); + } catch (const std::exception& exn) { + PyErr_SetString(PyExc_RuntimeError, exn.what()); + } + catch (...) + { + PyErr_SetString(PyExc_RuntimeError, "Unknown exception"); + } +} +#endif + +/* CIntFromPy.proto */ +static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *); + +/* CIntFromPy.proto */ +static CYTHON_INLINE enum ParamKeyType __Pyx_PyInt_As_enum__ParamKeyType(PyObject *); + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value); + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_enum__ParamKeyType(enum ParamKeyType value); + +/* CIntFromPy.proto */ +static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *); + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value); + +/* FormatTypeName.proto */ +#if CYTHON_COMPILING_IN_LIMITED_API +typedef PyObject *__Pyx_TypeName; +#define __Pyx_FMT_TYPENAME "%U" +static __Pyx_TypeName __Pyx_PyType_GetName(PyTypeObject* tp); +#define __Pyx_DECREF_TypeName(obj) Py_XDECREF(obj) +#else +typedef const char *__Pyx_TypeName; +#define __Pyx_FMT_TYPENAME "%.200s" +#define __Pyx_PyType_GetName(tp) ((tp)->tp_name) +#define __Pyx_DECREF_TypeName(obj) +#endif + +/* FastTypeChecks.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_TypeCheck(obj, type) __Pyx_IsSubtype(Py_TYPE(obj), (PyTypeObject *)type) +#define __Pyx_TypeCheck2(obj, type1, type2) __Pyx_IsAnySubtype2(Py_TYPE(obj), (PyTypeObject *)type1, (PyTypeObject *)type2) +static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b); +static CYTHON_INLINE int __Pyx_IsAnySubtype2(PyTypeObject *cls, PyTypeObject *a, PyTypeObject *b); +static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches(PyObject *err, PyObject *type); +static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches2(PyObject *err, PyObject *type1, PyObject *type2); +#else +#define __Pyx_TypeCheck(obj, type) PyObject_TypeCheck(obj, (PyTypeObject *)type) +#define __Pyx_TypeCheck2(obj, type1, type2) (PyObject_TypeCheck(obj, (PyTypeObject *)type1) || PyObject_TypeCheck(obj, (PyTypeObject *)type2)) +#define __Pyx_PyErr_GivenExceptionMatches(err, type) PyErr_GivenExceptionMatches(err, type) +#define __Pyx_PyErr_GivenExceptionMatches2(err, type1, type2) (PyErr_GivenExceptionMatches(err, type1) || PyErr_GivenExceptionMatches(err, type2)) +#endif +#define __Pyx_PyErr_ExceptionMatches2(err1, err2) __Pyx_PyErr_GivenExceptionMatches2(__Pyx_PyErr_CurrentExceptionType(), err1, err2) +#define __Pyx_PyException_Check(obj) __Pyx_TypeCheck(obj, PyExc_Exception) + +/* CheckBinaryVersion.proto */ +static unsigned long __Pyx_get_runtime_version(void); +static int __Pyx_check_binary_version(unsigned long ct_version, unsigned long rt_version, int allow_newer); + +/* InitStrings.proto */ +static int __Pyx_InitStrings(__Pyx_StringTabEntry *t); + +/* #### Code section: module_declarations ### */ + +/* Module declarations from "libcpp" */ + +/* Module declarations from "libc.string" */ + +/* Module declarations from "libcpp.string" */ + +/* Module declarations from "libcpp.vector" */ + +/* Module declarations from "common.params_pyx" */ +static PyObject *__Pyx_OrderedDict = 0; +static PyObject *__Pyx_EnumBase = 0; +static PyObject *__Pyx_FlagBase = 0; +static PyObject *__Pyx_globals = 0; +static PyObject *__Pyx_Enum_enum__space_ParamKeyType_to_py(enum ParamKeyType); /*proto*/ +static std::string __pyx_convert_string_from_py_std__in_string(PyObject *); /*proto*/ +static CYTHON_INLINE PyObject *__pyx_convert_PyObject_string_to_py_std__in_string(std::string const &); /*proto*/ +static CYTHON_INLINE PyObject *__pyx_convert_PyUnicode_string_to_py_std__in_string(std::string const &); /*proto*/ +static CYTHON_INLINE PyObject *__pyx_convert_PyStr_string_to_py_std__in_string(std::string const &); /*proto*/ +static CYTHON_INLINE PyObject *__pyx_convert_PyBytes_string_to_py_std__in_string(std::string const &); /*proto*/ +static CYTHON_INLINE PyObject *__pyx_convert_PyByteArray_string_to_py_std__in_string(std::string const &); /*proto*/ +static PyObject *__pyx_convert_vector_to_py_std_3a__3a_string(std::vector const &); /*proto*/ +static PyObject *__pyx_unpickle___Pyx_EnumMeta__set_state(struct __pyx_obj___Pyx_EnumMeta *, PyObject *); /*proto*/ +/* #### Code section: typeinfo ### */ +/* #### Code section: before_global_var ### */ +#define __Pyx_MODULE_NAME "common.params_pyx" +extern int __pyx_module_is_main_common__params_pyx; +int __pyx_module_is_main_common__params_pyx = 0; + +/* Implementation of "common.params_pyx" */ +/* #### Code section: global_var ### */ +static PyObject *__pyx_builtin_KeyboardInterrupt; +static PyObject *__pyx_builtin_TypeError; +static PyObject *__pyx_builtin_MemoryError; +static PyObject *__pyx_builtin_range; +static PyObject *__pyx_builtin_ValueError; +/* #### Code section: string_decls ### */ +static const char __pyx_k_[] = ""; +static const char __pyx_k_d[] = "d"; +static const char __pyx_k_k[] = "k"; +static const char __pyx_k_r[] = "r"; +static const char __pyx_k_v[] = "v"; +static const char __pyx_k__3[] = "."; +static const char __pyx_k_gc[] = "gc"; +static const char __pyx_k_ALL[] = "ALL"; +static const char __pyx_k__53[] = "?"; +static const char __pyx_k_cls[] = "cls"; +static const char __pyx_k_dat[] = "dat"; +static const char __pyx_k_dct[] = "dct"; +static const char __pyx_k_doc[] = "__doc__"; +static const char __pyx_k_get[] = "get"; +static const char __pyx_k_key[] = "key"; +static const char __pyx_k_new[] = "__new__"; +static const char __pyx_k_put[] = "put"; +static const char __pyx_k_res[] = "res"; +static const char __pyx_k_s_s[] = "%s.%s"; +static const char __pyx_k_str[] = "__str__"; +static const char __pyx_k_val[] = "val"; +static const char __pyx_k_dict[] = "__dict__"; +static const char __pyx_k_enum[] = "enum"; +static const char __pyx_k_init[] = "__init__"; +static const char __pyx_k_main[] = "__main__"; +static const char __pyx_k_name[] = "name"; +static const char __pyx_k_repr[] = "__repr__"; +static const char __pyx_k_self[] = "self"; +static const char __pyx_k_test[] = "__test__"; +static const char __pyx_k_block[] = "block"; +static const char __pyx_k_class[] = "__class__"; +static const char __pyx_k_range[] = "range"; +static const char __pyx_k_s_s_d[] = "<%s.%s: %d>"; +static const char __pyx_k_state[] = "state"; +static const char __pyx_k_super[] = "super"; +static const char __pyx_k_value[] = "value"; +static const char __pyx_k_Params[] = "Params"; +static const char __pyx_k_decode[] = "decode"; +static const char __pyx_k_dict_2[] = "_dict"; +static const char __pyx_k_enable[] = "enable"; +static const char __pyx_k_encode[] = "encode"; +static const char __pyx_k_import[] = "__import__"; +static const char __pyx_k_module[] = "__module__"; +static const char __pyx_k_name_2[] = "__name__"; +static const char __pyx_k_pickle[] = "pickle"; +static const char __pyx_k_reduce[] = "__reduce__"; +static const char __pyx_k_remove[] = "remove"; +static const char __pyx_k_update[] = "update"; +static const char __pyx_k_values[] = "values"; +static const char __pyx_k_IntEnum[] = "IntEnum"; +static const char __pyx_k_IntFlag[] = "IntFlag"; +static const char __pyx_k_disable[] = "disable"; +static const char __pyx_k_get_int[] = "get_int"; +static const char __pyx_k_members[] = "__members__"; +static const char __pyx_k_parents[] = "parents"; +static const char __pyx_k_prepare[] = "__prepare__"; +static const char __pyx_k_put_int[] = "put_int"; +static const char __pyx_k_tx_type[] = "tx_type"; +static const char __pyx_k_EnumBase[] = "EnumBase"; +static const char __pyx_k_EnumType[] = "EnumType"; +static const char __pyx_k_all_keys[] = "all_keys"; +static const char __pyx_k_encoding[] = "encoding"; +static const char __pyx_k_get_bool[] = "get_bool"; +static const char __pyx_k_getstate[] = "__getstate__"; +static const char __pyx_k_module_2[] = "module"; +static const char __pyx_k_put_bool[] = "put_bool"; +static const char __pyx_k_pyx_type[] = "__pyx_type"; +static const char __pyx_k_qualname[] = "__qualname__"; +static const char __pyx_k_set_name[] = "__set_name__"; +static const char __pyx_k_setstate[] = "__setstate__"; +static const char __pyx_k_TypeError[] = "TypeError"; +static const char __pyx_k_check_key[] = "check_key"; +static const char __pyx_k_clear_all[] = "clear_all"; +static const char __pyx_k_dat_bytes[] = "dat_bytes"; +static const char __pyx_k_get_float[] = "get_float"; +static const char __pyx_k_isenabled[] = "isenabled"; +static const char __pyx_k_key_bytes[] = "key_bytes"; +static const char __pyx_k_metaclass[] = "__metaclass__"; +static const char __pyx_k_put_float[] = "put_float"; +static const char __pyx_k_pyx_state[] = "__pyx_state"; +static const char __pyx_k_reduce_ex[] = "__reduce_ex__"; +static const char __pyx_k_PERSISTENT[] = "PERSISTENT"; +static const char __pyx_k_Params_get[] = "Params.get"; +static const char __pyx_k_Params_put[] = "Params.put"; +static const char __pyx_k_ValueError[] = "ValueError"; +static const char __pyx_k_pyx_result[] = "__pyx_result"; +static const char __pyx_k_MemoryError[] = "MemoryError"; +static const char __pyx_k_OrderedDict[] = "OrderedDict"; +static const char __pyx_k_PickleError[] = "PickleError"; +static const char __pyx_k_collections[] = "collections"; +static const char __pyx_k_mro_entries[] = "__mro_entries__"; +static const char __pyx_k_ParamKeyType[] = "ParamKeyType"; +static const char __pyx_k_Pyx_EnumBase[] = "__Pyx_EnumBase"; +static const char __pyx_k_Pyx_FlagBase[] = "__Pyx_FlagBase"; +static const char __pyx_k_ensure_bytes[] = "ensure_bytes"; +static const char __pyx_k_get_key_type[] = "get_key_type"; +static const char __pyx_k_is_coroutine[] = "_is_coroutine"; +static const char __pyx_k_member_names[] = "_member_names_"; +static const char __pyx_k_pyx_checksum[] = "__pyx_checksum"; +static const char __pyx_k_stringsource[] = ""; +static const char __pyx_k_use_setstate[] = "use_setstate"; +static const char __pyx_k_Params_remove[] = "Params.remove"; +static const char __pyx_k_class_getitem[] = "__class_getitem__"; +static const char __pyx_k_init_subclass[] = "__init_subclass__"; +static const char __pyx_k_reduce_cython[] = "__reduce_cython__"; +static const char __pyx_k_Params_get_int[] = "Params.get_int"; +static const char __pyx_k_Params_put_int[] = "Params.put_int"; +static const char __pyx_k_UnknownKeyName[] = "UnknownKeyName"; +static const char __pyx_k_get_param_path[] = "get_param_path"; +static const char __pyx_k_FROGPILOT_OTHER[] = "FROGPILOT_OTHER"; +static const char __pyx_k_Params_all_keys[] = "Params.all_keys"; +static const char __pyx_k_Params_get_bool[] = "Params.get_bool"; +static const char __pyx_k_Params_put_bool[] = "Params.put_bool"; +static const char __pyx_k_put_nonblocking[] = "put_nonblocking"; +static const char __pyx_k_pyx_PickleError[] = "__pyx_PickleError"; +static const char __pyx_k_setstate_cython[] = "__setstate_cython__"; +static const char __pyx_k_DEVELOPMENT_ONLY[] = "DEVELOPMENT_ONLY"; +static const char __pyx_k_Params_check_key[] = "Params.check_key"; +static const char __pyx_k_Params_clear_all[] = "Params.clear_all"; +static const char __pyx_k_Params_get_float[] = "Params.get_float"; +static const char __pyx_k_Params_put_float[] = "Params.put_float"; +static const char __pyx_k_FROGPILOT_STORAGE[] = "FROGPILOT_STORAGE"; +static const char __pyx_k_FROGPILOT_VISUALS[] = "FROGPILOT_VISUALS"; +static const char __pyx_k_KeyboardInterrupt[] = "KeyboardInterrupt"; +static const char __pyx_k_common_params_pyx[] = "common.params_pyx"; +static const char __pyx_k_FROGPILOT_CONTROLS[] = "FROGPILOT_CONTROLS"; +static const char __pyx_k_FROGPILOT_TRACKING[] = "FROGPILOT_TRACKING"; +static const char __pyx_k_FROGPILOT_VEHICLES[] = "FROGPILOT_VEHICLES"; +static const char __pyx_k_Pyx_EnumBase___new[] = "__Pyx_EnumBase.__new__"; +static const char __pyx_k_Pyx_EnumBase___str[] = "__Pyx_EnumBase.__str__"; +static const char __pyx_k_Pyx_FlagBase___new[] = "__Pyx_FlagBase.__new__"; +static const char __pyx_k_Pyx_FlagBase___str[] = "__Pyx_FlagBase.__str__"; +static const char __pyx_k_asyncio_coroutines[] = "asyncio.coroutines"; +static const char __pyx_k_cline_in_traceback[] = "cline_in_traceback"; +static const char __pyx_k_Params_get_key_type[] = "Params.get_key_type"; +static const char __pyx_k_Pyx_EnumBase___repr[] = "__Pyx_EnumBase.__repr__"; +static const char __pyx_k_Pyx_FlagBase___repr[] = "__Pyx_FlagBase.__repr__"; +static const char __pyx_k_put_int_nonblocking[] = "put_int_nonblocking"; +static const char __pyx_k_Unknown_enum_value_s[] = "Unknown enum value: '%s'"; +static const char __pyx_k_put_bool_nonblocking[] = "put_bool_nonblocking"; +static const char __pyx_k_Params_get_param_path[] = "Params.get_param_path"; +static const char __pyx_k_common_params_pyx_pyx[] = "common/params_pyx.pyx"; +static const char __pyx_k_put_float_nonblocking[] = "put_float_nonblocking"; +static const char __pyx_k_CLEAR_ON_MANAGER_START[] = "CLEAR_ON_MANAGER_START"; +static const char __pyx_k_Params___reduce_cython[] = "Params.__reduce_cython__"; +static const char __pyx_k_Params_put_nonblocking[] = "Params.put_nonblocking"; +static const char __pyx_k_Params___setstate_cython[] = "Params.__setstate_cython__"; +static const char __pyx_k_CLEAR_ON_ONROAD_TRANSITION[] = "CLEAR_ON_ONROAD_TRANSITION"; +static const char __pyx_k_Params_put_int_nonblocking[] = "Params.put_int_nonblocking"; +static const char __pyx_k_CLEAR_ON_OFFROAD_TRANSITION[] = "CLEAR_ON_OFFROAD_TRANSITION"; +static const char __pyx_k_Params_put_bool_nonblocking[] = "Params.put_bool_nonblocking"; +static const char __pyx_k_pyx_unpickle___Pyx_EnumMeta[] = "__pyx_unpickle___Pyx_EnumMeta"; +static const char __pyx_k_Params_put_float_nonblocking[] = "Params.put_float_nonblocking"; +static const char __pyx_k_Pyx_EnumMeta___reduce_cython[] = "__Pyx_EnumMeta.__reduce_cython__"; +static const char __pyx_k_Pyx_EnumMeta___setstate_cython[] = "__Pyx_EnumMeta.__setstate_cython__"; +static const char __pyx_k_Incompatible_checksums_0x_x_vs_0[] = "Incompatible checksums (0x%x vs (0xe3b0c44, 0xda39a3e, 0xd41d8cd) = ())"; +static const char __pyx_k_no_default___reduce___due_to_non[] = "no default __reduce__ due to non-trivial __cinit__"; +/* #### Code section: decls ### */ +static int __pyx_pf_8EnumBase_14__Pyx_EnumMeta___init__(struct __pyx_obj___Pyx_EnumMeta *__pyx_v_cls, PyObject *__pyx_v_name, PyObject *__pyx_v_parents, PyObject *__pyx_v_dct); /* proto */ +static PyObject *__pyx_pf_8EnumBase_14__Pyx_EnumMeta_2__iter__(struct __pyx_obj___Pyx_EnumMeta *__pyx_v_cls); /* proto */ +static PyObject *__pyx_pf_8EnumBase_14__Pyx_EnumMeta_4__getitem__(struct __pyx_obj___Pyx_EnumMeta *__pyx_v_cls, PyObject *__pyx_v_name); /* proto */ +static PyObject *__pyx_pf_8EnumBase_14__Pyx_EnumMeta_6__reduce_cython__(struct __pyx_obj___Pyx_EnumMeta *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_8EnumBase_14__Pyx_EnumMeta_8__setstate_cython__(struct __pyx_obj___Pyx_EnumMeta *__pyx_v_self, PyObject *__pyx_v___pyx_state); /* proto */ +static PyObject *__pyx_pf_8EnumBase_14__Pyx_EnumBase___new__(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_cls, PyObject *__pyx_v_value, PyObject *__pyx_v_name); /* proto */ +static PyObject *__pyx_pf_8EnumBase_14__Pyx_EnumBase_2__repr__(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_8EnumBase_14__Pyx_EnumBase_4__str__(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_8EnumBase_14__Pyx_FlagBase___new__(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_cls, PyObject *__pyx_v_value, PyObject *__pyx_v_name); /* proto */ +static PyObject *__pyx_pf_8EnumBase_14__Pyx_FlagBase_2__repr__(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_8EnumBase_14__Pyx_FlagBase_4__str__(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_8EnumBase___pyx_unpickle___Pyx_EnumMeta(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v___pyx_type, long __pyx_v___pyx_checksum, PyObject *__pyx_v___pyx_state); /* proto */ +static PyObject *__pyx_pf_6common_10params_pyx_ensure_bytes(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_v); /* proto */ +static int __pyx_pf_6common_10params_pyx_6Params___cinit__(struct __pyx_obj_6common_10params_pyx_Params *__pyx_v_self, PyObject *__pyx_v_d); /* proto */ +static void __pyx_pf_6common_10params_pyx_6Params_2__dealloc__(struct __pyx_obj_6common_10params_pyx_Params *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_6common_10params_pyx_6Params_4clear_all(struct __pyx_obj_6common_10params_pyx_Params *__pyx_v_self, PyObject *__pyx_v_tx_type); /* proto */ +static PyObject *__pyx_pf_6common_10params_pyx_6Params_6check_key(struct __pyx_obj_6common_10params_pyx_Params *__pyx_v_self, PyObject *__pyx_v_key); /* proto */ +static PyObject *__pyx_pf_6common_10params_pyx_6Params_8get(struct __pyx_obj_6common_10params_pyx_Params *__pyx_v_self, PyObject *__pyx_v_key, bool __pyx_v_block, PyObject *__pyx_v_encoding); /* proto */ +static PyObject *__pyx_pf_6common_10params_pyx_6Params_10get_bool(struct __pyx_obj_6common_10params_pyx_Params *__pyx_v_self, PyObject *__pyx_v_key, bool __pyx_v_block); /* proto */ +static PyObject *__pyx_pf_6common_10params_pyx_6Params_12get_int(struct __pyx_obj_6common_10params_pyx_Params *__pyx_v_self, PyObject *__pyx_v_key, bool __pyx_v_block); /* proto */ +static PyObject *__pyx_pf_6common_10params_pyx_6Params_14get_float(struct __pyx_obj_6common_10params_pyx_Params *__pyx_v_self, PyObject *__pyx_v_key, bool __pyx_v_block); /* proto */ +static PyObject *__pyx_pf_6common_10params_pyx_6Params_16put(struct __pyx_obj_6common_10params_pyx_Params *__pyx_v_self, PyObject *__pyx_v_key, PyObject *__pyx_v_dat); /* proto */ +static PyObject *__pyx_pf_6common_10params_pyx_6Params_18put_bool(struct __pyx_obj_6common_10params_pyx_Params *__pyx_v_self, PyObject *__pyx_v_key, bool __pyx_v_val); /* proto */ +static PyObject *__pyx_pf_6common_10params_pyx_6Params_20put_int(struct __pyx_obj_6common_10params_pyx_Params *__pyx_v_self, PyObject *__pyx_v_key, int __pyx_v_val); /* proto */ +static PyObject *__pyx_pf_6common_10params_pyx_6Params_22put_float(struct __pyx_obj_6common_10params_pyx_Params *__pyx_v_self, PyObject *__pyx_v_key, float __pyx_v_val); /* proto */ +static PyObject *__pyx_pf_6common_10params_pyx_6Params_24put_nonblocking(struct __pyx_obj_6common_10params_pyx_Params *__pyx_v_self, PyObject *__pyx_v_key, PyObject *__pyx_v_dat); /* proto */ +static PyObject *__pyx_pf_6common_10params_pyx_6Params_26put_bool_nonblocking(struct __pyx_obj_6common_10params_pyx_Params *__pyx_v_self, PyObject *__pyx_v_key, bool __pyx_v_val); /* proto */ +static PyObject *__pyx_pf_6common_10params_pyx_6Params_28put_int_nonblocking(struct __pyx_obj_6common_10params_pyx_Params *__pyx_v_self, PyObject *__pyx_v_key, int __pyx_v_val); /* proto */ +static PyObject *__pyx_pf_6common_10params_pyx_6Params_30put_float_nonblocking(struct __pyx_obj_6common_10params_pyx_Params *__pyx_v_self, PyObject *__pyx_v_key, float __pyx_v_val); /* proto */ +static PyObject *__pyx_pf_6common_10params_pyx_6Params_32remove(struct __pyx_obj_6common_10params_pyx_Params *__pyx_v_self, PyObject *__pyx_v_key); /* proto */ +static PyObject *__pyx_pf_6common_10params_pyx_6Params_34get_param_path(struct __pyx_obj_6common_10params_pyx_Params *__pyx_v_self, PyObject *__pyx_v_key); /* proto */ +static PyObject *__pyx_pf_6common_10params_pyx_6Params_36all_keys(struct __pyx_obj_6common_10params_pyx_Params *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_6common_10params_pyx_6Params_38get_key_type(struct __pyx_obj_6common_10params_pyx_Params *__pyx_v_self, PyObject *__pyx_v_key); /* proto */ +static PyObject *__pyx_pf_6common_10params_pyx_6Params_40__reduce_cython__(CYTHON_UNUSED struct __pyx_obj_6common_10params_pyx_Params *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_6common_10params_pyx_6Params_42__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_6common_10params_pyx_Params *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static PyObject *__pyx_tp_new_6common_10params_pyx_Params(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static __Pyx_CachedCFunction __pyx_umethod_PyDict_Type_get = {0, 0, 0, 0, 0}; +/* #### Code section: late_includes ### */ +/* #### Code section: module_state ### */ +typedef struct { + PyObject *__pyx_d; + PyObject *__pyx_b; + PyObject *__pyx_cython_runtime; + PyObject *__pyx_empty_tuple; + PyObject *__pyx_empty_bytes; + PyObject *__pyx_empty_unicode; + #ifdef __Pyx_CyFunction_USED + PyTypeObject *__pyx_CyFunctionType; + #endif + #ifdef __Pyx_FusedFunction_USED + PyTypeObject *__pyx_FusedFunctionType; + #endif + #ifdef __Pyx_Generator_USED + PyTypeObject *__pyx_GeneratorType; + #endif + #ifdef __Pyx_IterableCoroutine_USED + PyTypeObject *__pyx_IterableCoroutineType; + #endif + #ifdef __Pyx_Coroutine_USED + PyTypeObject *__pyx_CoroutineAwaitType; + #endif + #ifdef __Pyx_Coroutine_USED + PyTypeObject *__pyx_CoroutineType; + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + PyObject *__pyx_type_6common_10params_pyx_Params; + PyObject *__Pyx_EnumMeta; + #endif + PyTypeObject *__pyx_ptype_6common_10params_pyx_Params; + PyTypeObject *__pyx_ptype___Pyx_EnumMeta; + PyObject *__pyx_kp_s_; + PyObject *__pyx_kp_u_; + PyObject *__pyx_n_s_ALL; + PyObject *__pyx_n_s_CLEAR_ON_MANAGER_START; + PyObject *__pyx_n_s_CLEAR_ON_OFFROAD_TRANSITION; + PyObject *__pyx_n_s_CLEAR_ON_ONROAD_TRANSITION; + PyObject *__pyx_n_s_DEVELOPMENT_ONLY; + PyObject *__pyx_n_s_EnumBase; + PyObject *__pyx_n_s_EnumType; + PyObject *__pyx_n_s_FROGPILOT_CONTROLS; + PyObject *__pyx_n_s_FROGPILOT_OTHER; + PyObject *__pyx_n_s_FROGPILOT_STORAGE; + PyObject *__pyx_n_s_FROGPILOT_TRACKING; + PyObject *__pyx_n_s_FROGPILOT_VEHICLES; + PyObject *__pyx_n_s_FROGPILOT_VISUALS; + PyObject *__pyx_kp_s_Incompatible_checksums_0x_x_vs_0; + PyObject *__pyx_n_s_IntEnum; + PyObject *__pyx_n_s_IntFlag; + PyObject *__pyx_n_s_KeyboardInterrupt; + PyObject *__pyx_n_s_MemoryError; + PyObject *__pyx_n_s_OrderedDict; + PyObject *__pyx_n_s_PERSISTENT; + PyObject *__pyx_n_s_ParamKeyType; + PyObject *__pyx_n_s_Params; + PyObject *__pyx_n_s_Params___reduce_cython; + PyObject *__pyx_n_s_Params___setstate_cython; + PyObject *__pyx_n_s_Params_all_keys; + PyObject *__pyx_n_s_Params_check_key; + PyObject *__pyx_n_s_Params_clear_all; + PyObject *__pyx_n_s_Params_get; + PyObject *__pyx_n_s_Params_get_bool; + PyObject *__pyx_n_s_Params_get_float; + PyObject *__pyx_n_s_Params_get_int; + PyObject *__pyx_n_s_Params_get_key_type; + PyObject *__pyx_n_s_Params_get_param_path; + PyObject *__pyx_n_s_Params_put; + PyObject *__pyx_n_s_Params_put_bool; + PyObject *__pyx_n_s_Params_put_bool_nonblocking; + PyObject *__pyx_n_s_Params_put_float; + PyObject *__pyx_n_s_Params_put_float_nonblocking; + PyObject *__pyx_n_s_Params_put_int; + PyObject *__pyx_n_s_Params_put_int_nonblocking; + PyObject *__pyx_n_s_Params_put_nonblocking; + PyObject *__pyx_n_s_Params_remove; + PyObject *__pyx_n_s_PickleError; + PyObject *__pyx_n_s_Pyx_EnumBase; + PyObject *__pyx_n_s_Pyx_EnumBase___new; + PyObject *__pyx_n_s_Pyx_EnumBase___repr; + PyObject *__pyx_n_s_Pyx_EnumBase___str; + PyObject *__pyx_n_s_Pyx_EnumMeta___reduce_cython; + PyObject *__pyx_n_s_Pyx_EnumMeta___setstate_cython; + PyObject *__pyx_n_s_Pyx_FlagBase; + PyObject *__pyx_n_s_Pyx_FlagBase___new; + PyObject *__pyx_n_s_Pyx_FlagBase___repr; + PyObject *__pyx_n_s_Pyx_FlagBase___str; + PyObject *__pyx_n_s_TypeError; + PyObject *__pyx_n_s_UnknownKeyName; + PyObject *__pyx_kp_s_Unknown_enum_value_s; + PyObject *__pyx_n_s_ValueError; + PyObject *__pyx_kp_u__3; + PyObject *__pyx_n_s__53; + PyObject *__pyx_n_s_all_keys; + PyObject *__pyx_n_s_asyncio_coroutines; + PyObject *__pyx_n_s_block; + PyObject *__pyx_n_s_check_key; + PyObject *__pyx_n_s_class; + PyObject *__pyx_n_s_class_getitem; + PyObject *__pyx_n_s_clear_all; + PyObject *__pyx_n_s_cline_in_traceback; + PyObject *__pyx_n_s_cls; + PyObject *__pyx_n_s_collections; + PyObject *__pyx_kp_s_common_params_pyx; + PyObject *__pyx_kp_s_common_params_pyx_pyx; + PyObject *__pyx_n_s_d; + PyObject *__pyx_n_s_dat; + PyObject *__pyx_n_s_dat_bytes; + PyObject *__pyx_n_s_dct; + PyObject *__pyx_n_s_decode; + PyObject *__pyx_n_s_dict; + PyObject *__pyx_n_s_dict_2; + PyObject *__pyx_kp_u_disable; + PyObject *__pyx_n_s_doc; + PyObject 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*__pyx_n_s_self; + PyObject *__pyx_n_s_set_name; + PyObject *__pyx_n_s_setstate; + PyObject *__pyx_n_s_setstate_cython; + PyObject *__pyx_n_s_state; + PyObject *__pyx_n_s_str; + PyObject *__pyx_kp_s_stringsource; + PyObject *__pyx_n_s_super; + PyObject *__pyx_n_s_test; + PyObject *__pyx_n_s_tx_type; + PyObject *__pyx_n_s_update; + PyObject *__pyx_n_s_use_setstate; + PyObject *__pyx_n_s_v; + PyObject *__pyx_n_s_val; + PyObject *__pyx_n_s_value; + PyObject *__pyx_n_s_values; + PyObject *__pyx_int_222419149; + PyObject *__pyx_int_228825662; + PyObject *__pyx_int_238750788; + PyObject *__pyx_k__4; + PyObject *__pyx_tuple__2; + PyObject *__pyx_tuple__5; + PyObject *__pyx_tuple__7; + PyObject *__pyx_tuple__9; + PyObject *__pyx_tuple__11; + PyObject *__pyx_tuple__12; + PyObject *__pyx_tuple__18; + PyObject *__pyx_tuple__20; + PyObject *__pyx_tuple__22; + PyObject *__pyx_tuple__24; + PyObject *__pyx_tuple__26; + PyObject *__pyx_tuple__28; + PyObject *__pyx_tuple__29; + PyObject *__pyx_tuple__31; + PyObject *__pyx_tuple__34; + PyObject *__pyx_tuple__36; + PyObject *__pyx_tuple__44; + PyObject *__pyx_tuple__46; + PyObject *__pyx_tuple__48; + PyObject *__pyx_codeobj__6; + PyObject *__pyx_codeobj__8; + PyObject *__pyx_codeobj__10; + PyObject *__pyx_codeobj__13; + PyObject *__pyx_codeobj__14; + PyObject *__pyx_codeobj__15; + PyObject *__pyx_codeobj__16; + PyObject *__pyx_codeobj__17; + PyObject *__pyx_codeobj__19; + PyObject *__pyx_codeobj__21; + PyObject *__pyx_codeobj__23; + PyObject *__pyx_codeobj__25; + PyObject *__pyx_codeobj__27; + PyObject *__pyx_codeobj__30; + PyObject *__pyx_codeobj__32; + PyObject *__pyx_codeobj__33; + PyObject *__pyx_codeobj__35; + PyObject *__pyx_codeobj__37; + PyObject *__pyx_codeobj__38; + PyObject *__pyx_codeobj__39; + PyObject *__pyx_codeobj__40; + PyObject *__pyx_codeobj__41; + PyObject *__pyx_codeobj__42; + PyObject *__pyx_codeobj__43; + PyObject *__pyx_codeobj__45; + PyObject *__pyx_codeobj__47; + PyObject *__pyx_codeobj__49; + PyObject *__pyx_codeobj__50; + PyObject *__pyx_codeobj__51; + PyObject *__pyx_codeobj__52; +} __pyx_mstate; + +#if CYTHON_USE_MODULE_STATE +#ifdef __cplusplus +namespace { + extern struct PyModuleDef __pyx_moduledef; +} /* anonymous namespace */ +#else +static struct PyModuleDef __pyx_moduledef; +#endif + +#define __pyx_mstate(o) ((__pyx_mstate *)__Pyx_PyModule_GetState(o)) + +#define __pyx_mstate_global (__pyx_mstate(PyState_FindModule(&__pyx_moduledef))) + +#define __pyx_m (PyState_FindModule(&__pyx_moduledef)) +#else +static __pyx_mstate __pyx_mstate_global_static = +#ifdef __cplusplus + {}; +#else + {0}; +#endif +static __pyx_mstate *__pyx_mstate_global = &__pyx_mstate_global_static; +#endif +/* #### Code section: module_state_clear ### */ +#if CYTHON_USE_MODULE_STATE +static int __pyx_m_clear(PyObject *m) { + __pyx_mstate *clear_module_state = __pyx_mstate(m); + if (!clear_module_state) return 0; + Py_CLEAR(clear_module_state->__pyx_d); + Py_CLEAR(clear_module_state->__pyx_b); + Py_CLEAR(clear_module_state->__pyx_cython_runtime); + Py_CLEAR(clear_module_state->__pyx_empty_tuple); + Py_CLEAR(clear_module_state->__pyx_empty_bytes); + Py_CLEAR(clear_module_state->__pyx_empty_unicode); + #ifdef __Pyx_CyFunction_USED + Py_CLEAR(clear_module_state->__pyx_CyFunctionType); + #endif + #ifdef __Pyx_FusedFunction_USED + Py_CLEAR(clear_module_state->__pyx_FusedFunctionType); + #endif + Py_CLEAR(clear_module_state->__pyx_ptype_6common_10params_pyx_Params); + Py_CLEAR(clear_module_state->__pyx_type_6common_10params_pyx_Params); + Py_CLEAR(clear_module_state->__pyx_ptype___Pyx_EnumMeta); + Py_CLEAR(clear_module_state->__Pyx_EnumMeta); + Py_CLEAR(clear_module_state->__pyx_kp_s_); + Py_CLEAR(clear_module_state->__pyx_kp_u_); + Py_CLEAR(clear_module_state->__pyx_n_s_ALL); + Py_CLEAR(clear_module_state->__pyx_n_s_CLEAR_ON_MANAGER_START); + Py_CLEAR(clear_module_state->__pyx_n_s_CLEAR_ON_OFFROAD_TRANSITION); + Py_CLEAR(clear_module_state->__pyx_n_s_CLEAR_ON_ONROAD_TRANSITION); + Py_CLEAR(clear_module_state->__pyx_n_s_DEVELOPMENT_ONLY); + Py_CLEAR(clear_module_state->__pyx_n_s_EnumBase); + Py_CLEAR(clear_module_state->__pyx_n_s_EnumType); + Py_CLEAR(clear_module_state->__pyx_n_s_FROGPILOT_CONTROLS); + Py_CLEAR(clear_module_state->__pyx_n_s_FROGPILOT_OTHER); + Py_CLEAR(clear_module_state->__pyx_n_s_FROGPILOT_STORAGE); + Py_CLEAR(clear_module_state->__pyx_n_s_FROGPILOT_TRACKING); + Py_CLEAR(clear_module_state->__pyx_n_s_FROGPILOT_VEHICLES); + Py_CLEAR(clear_module_state->__pyx_n_s_FROGPILOT_VISUALS); + Py_CLEAR(clear_module_state->__pyx_kp_s_Incompatible_checksums_0x_x_vs_0); + Py_CLEAR(clear_module_state->__pyx_n_s_IntEnum); + Py_CLEAR(clear_module_state->__pyx_n_s_IntFlag); + Py_CLEAR(clear_module_state->__pyx_n_s_KeyboardInterrupt); + Py_CLEAR(clear_module_state->__pyx_n_s_MemoryError); + Py_CLEAR(clear_module_state->__pyx_n_s_OrderedDict); + Py_CLEAR(clear_module_state->__pyx_n_s_PERSISTENT); + Py_CLEAR(clear_module_state->__pyx_n_s_ParamKeyType); + Py_CLEAR(clear_module_state->__pyx_n_s_Params); + Py_CLEAR(clear_module_state->__pyx_n_s_Params___reduce_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_Params___setstate_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_Params_all_keys); + Py_CLEAR(clear_module_state->__pyx_n_s_Params_check_key); + Py_CLEAR(clear_module_state->__pyx_n_s_Params_clear_all); + Py_CLEAR(clear_module_state->__pyx_n_s_Params_get); + Py_CLEAR(clear_module_state->__pyx_n_s_Params_get_bool); + Py_CLEAR(clear_module_state->__pyx_n_s_Params_get_float); + Py_CLEAR(clear_module_state->__pyx_n_s_Params_get_int); + Py_CLEAR(clear_module_state->__pyx_n_s_Params_get_key_type); + Py_CLEAR(clear_module_state->__pyx_n_s_Params_get_param_path); + Py_CLEAR(clear_module_state->__pyx_n_s_Params_put); + Py_CLEAR(clear_module_state->__pyx_n_s_Params_put_bool); + Py_CLEAR(clear_module_state->__pyx_n_s_Params_put_bool_nonblocking); + Py_CLEAR(clear_module_state->__pyx_n_s_Params_put_float); + Py_CLEAR(clear_module_state->__pyx_n_s_Params_put_float_nonblocking); + Py_CLEAR(clear_module_state->__pyx_n_s_Params_put_int); + Py_CLEAR(clear_module_state->__pyx_n_s_Params_put_int_nonblocking); + Py_CLEAR(clear_module_state->__pyx_n_s_Params_put_nonblocking); + Py_CLEAR(clear_module_state->__pyx_n_s_Params_remove); + Py_CLEAR(clear_module_state->__pyx_n_s_PickleError); + Py_CLEAR(clear_module_state->__pyx_n_s_Pyx_EnumBase); + Py_CLEAR(clear_module_state->__pyx_n_s_Pyx_EnumBase___new); + Py_CLEAR(clear_module_state->__pyx_n_s_Pyx_EnumBase___repr); + Py_CLEAR(clear_module_state->__pyx_n_s_Pyx_EnumBase___str); + Py_CLEAR(clear_module_state->__pyx_n_s_Pyx_EnumMeta___reduce_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_Pyx_EnumMeta___setstate_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_Pyx_FlagBase); + Py_CLEAR(clear_module_state->__pyx_n_s_Pyx_FlagBase___new); + Py_CLEAR(clear_module_state->__pyx_n_s_Pyx_FlagBase___repr); + Py_CLEAR(clear_module_state->__pyx_n_s_Pyx_FlagBase___str); + Py_CLEAR(clear_module_state->__pyx_n_s_TypeError); + Py_CLEAR(clear_module_state->__pyx_n_s_UnknownKeyName); + Py_CLEAR(clear_module_state->__pyx_kp_s_Unknown_enum_value_s); + Py_CLEAR(clear_module_state->__pyx_n_s_ValueError); + Py_CLEAR(clear_module_state->__pyx_kp_u__3); + Py_CLEAR(clear_module_state->__pyx_n_s__53); + Py_CLEAR(clear_module_state->__pyx_n_s_all_keys); + Py_CLEAR(clear_module_state->__pyx_n_s_asyncio_coroutines); + Py_CLEAR(clear_module_state->__pyx_n_s_block); + Py_CLEAR(clear_module_state->__pyx_n_s_check_key); + Py_CLEAR(clear_module_state->__pyx_n_s_class); + Py_CLEAR(clear_module_state->__pyx_n_s_class_getitem); + Py_CLEAR(clear_module_state->__pyx_n_s_clear_all); + Py_CLEAR(clear_module_state->__pyx_n_s_cline_in_traceback); + Py_CLEAR(clear_module_state->__pyx_n_s_cls); + Py_CLEAR(clear_module_state->__pyx_n_s_collections); + Py_CLEAR(clear_module_state->__pyx_kp_s_common_params_pyx); + Py_CLEAR(clear_module_state->__pyx_kp_s_common_params_pyx_pyx); + Py_CLEAR(clear_module_state->__pyx_n_s_d); + Py_CLEAR(clear_module_state->__pyx_n_s_dat); + Py_CLEAR(clear_module_state->__pyx_n_s_dat_bytes); + Py_CLEAR(clear_module_state->__pyx_n_s_dct); + Py_CLEAR(clear_module_state->__pyx_n_s_decode); + Py_CLEAR(clear_module_state->__pyx_n_s_dict); + Py_CLEAR(clear_module_state->__pyx_n_s_dict_2); + Py_CLEAR(clear_module_state->__pyx_kp_u_disable); + Py_CLEAR(clear_module_state->__pyx_n_s_doc); + Py_CLEAR(clear_module_state->__pyx_kp_u_enable); + Py_CLEAR(clear_module_state->__pyx_n_s_encode); + Py_CLEAR(clear_module_state->__pyx_n_s_encoding); + Py_CLEAR(clear_module_state->__pyx_n_s_ensure_bytes); + Py_CLEAR(clear_module_state->__pyx_n_s_enum); + Py_CLEAR(clear_module_state->__pyx_kp_u_gc); + Py_CLEAR(clear_module_state->__pyx_n_s_get); + Py_CLEAR(clear_module_state->__pyx_n_s_get_bool); + Py_CLEAR(clear_module_state->__pyx_n_s_get_float); + Py_CLEAR(clear_module_state->__pyx_n_s_get_int); + Py_CLEAR(clear_module_state->__pyx_n_s_get_key_type); + Py_CLEAR(clear_module_state->__pyx_n_s_get_param_path); + Py_CLEAR(clear_module_state->__pyx_n_s_getstate); + Py_CLEAR(clear_module_state->__pyx_n_s_import); + Py_CLEAR(clear_module_state->__pyx_n_s_init); + Py_CLEAR(clear_module_state->__pyx_n_s_init_subclass); + Py_CLEAR(clear_module_state->__pyx_n_s_is_coroutine); + Py_CLEAR(clear_module_state->__pyx_kp_u_isenabled); + Py_CLEAR(clear_module_state->__pyx_n_s_k); + Py_CLEAR(clear_module_state->__pyx_n_s_key); + Py_CLEAR(clear_module_state->__pyx_n_s_key_bytes); + Py_CLEAR(clear_module_state->__pyx_n_s_main); + Py_CLEAR(clear_module_state->__pyx_n_s_member_names); + Py_CLEAR(clear_module_state->__pyx_n_s_members); + Py_CLEAR(clear_module_state->__pyx_n_s_metaclass); + Py_CLEAR(clear_module_state->__pyx_n_s_module); + Py_CLEAR(clear_module_state->__pyx_n_s_module_2); + Py_CLEAR(clear_module_state->__pyx_n_s_mro_entries); + Py_CLEAR(clear_module_state->__pyx_n_s_name); + Py_CLEAR(clear_module_state->__pyx_n_s_name_2); + Py_CLEAR(clear_module_state->__pyx_n_s_new); + Py_CLEAR(clear_module_state->__pyx_kp_s_no_default___reduce___due_to_non); + Py_CLEAR(clear_module_state->__pyx_n_s_parents); + Py_CLEAR(clear_module_state->__pyx_n_s_pickle); + Py_CLEAR(clear_module_state->__pyx_n_s_prepare); + Py_CLEAR(clear_module_state->__pyx_n_s_put); + Py_CLEAR(clear_module_state->__pyx_n_s_put_bool); + Py_CLEAR(clear_module_state->__pyx_n_s_put_bool_nonblocking); + Py_CLEAR(clear_module_state->__pyx_n_s_put_float); + Py_CLEAR(clear_module_state->__pyx_n_s_put_float_nonblocking); + Py_CLEAR(clear_module_state->__pyx_n_s_put_int); + Py_CLEAR(clear_module_state->__pyx_n_s_put_int_nonblocking); + Py_CLEAR(clear_module_state->__pyx_n_s_put_nonblocking); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_PickleError); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_checksum); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_result); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_state); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_type); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_unpickle___Pyx_EnumMeta); + Py_CLEAR(clear_module_state->__pyx_n_s_qualname); + Py_CLEAR(clear_module_state->__pyx_n_s_r); + Py_CLEAR(clear_module_state->__pyx_n_s_range); + Py_CLEAR(clear_module_state->__pyx_n_s_reduce); + Py_CLEAR(clear_module_state->__pyx_n_s_reduce_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_reduce_ex); + Py_CLEAR(clear_module_state->__pyx_n_s_remove); + Py_CLEAR(clear_module_state->__pyx_n_s_repr); + Py_CLEAR(clear_module_state->__pyx_n_s_res); + Py_CLEAR(clear_module_state->__pyx_kp_s_s_s); + Py_CLEAR(clear_module_state->__pyx_kp_s_s_s_d); + Py_CLEAR(clear_module_state->__pyx_n_s_self); + Py_CLEAR(clear_module_state->__pyx_n_s_set_name); + Py_CLEAR(clear_module_state->__pyx_n_s_setstate); + Py_CLEAR(clear_module_state->__pyx_n_s_setstate_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_state); + Py_CLEAR(clear_module_state->__pyx_n_s_str); + Py_CLEAR(clear_module_state->__pyx_kp_s_stringsource); + Py_CLEAR(clear_module_state->__pyx_n_s_super); + Py_CLEAR(clear_module_state->__pyx_n_s_test); + Py_CLEAR(clear_module_state->__pyx_n_s_tx_type); + Py_CLEAR(clear_module_state->__pyx_n_s_update); + Py_CLEAR(clear_module_state->__pyx_n_s_use_setstate); + Py_CLEAR(clear_module_state->__pyx_n_s_v); + Py_CLEAR(clear_module_state->__pyx_n_s_val); + Py_CLEAR(clear_module_state->__pyx_n_s_value); + Py_CLEAR(clear_module_state->__pyx_n_s_values); + Py_CLEAR(clear_module_state->__pyx_int_222419149); + Py_CLEAR(clear_module_state->__pyx_int_228825662); + Py_CLEAR(clear_module_state->__pyx_int_238750788); + Py_CLEAR(clear_module_state->__pyx_k__4); + Py_CLEAR(clear_module_state->__pyx_tuple__2); + Py_CLEAR(clear_module_state->__pyx_tuple__5); + Py_CLEAR(clear_module_state->__pyx_tuple__7); + Py_CLEAR(clear_module_state->__pyx_tuple__9); + Py_CLEAR(clear_module_state->__pyx_tuple__11); + Py_CLEAR(clear_module_state->__pyx_tuple__12); + Py_CLEAR(clear_module_state->__pyx_tuple__18); + Py_CLEAR(clear_module_state->__pyx_tuple__20); + Py_CLEAR(clear_module_state->__pyx_tuple__22); + Py_CLEAR(clear_module_state->__pyx_tuple__24); + Py_CLEAR(clear_module_state->__pyx_tuple__26); + Py_CLEAR(clear_module_state->__pyx_tuple__28); + Py_CLEAR(clear_module_state->__pyx_tuple__29); + Py_CLEAR(clear_module_state->__pyx_tuple__31); + Py_CLEAR(clear_module_state->__pyx_tuple__34); + Py_CLEAR(clear_module_state->__pyx_tuple__36); + Py_CLEAR(clear_module_state->__pyx_tuple__44); + Py_CLEAR(clear_module_state->__pyx_tuple__46); + Py_CLEAR(clear_module_state->__pyx_tuple__48); + Py_CLEAR(clear_module_state->__pyx_codeobj__6); + Py_CLEAR(clear_module_state->__pyx_codeobj__8); + Py_CLEAR(clear_module_state->__pyx_codeobj__10); + Py_CLEAR(clear_module_state->__pyx_codeobj__13); + Py_CLEAR(clear_module_state->__pyx_codeobj__14); + Py_CLEAR(clear_module_state->__pyx_codeobj__15); + Py_CLEAR(clear_module_state->__pyx_codeobj__16); + Py_CLEAR(clear_module_state->__pyx_codeobj__17); + Py_CLEAR(clear_module_state->__pyx_codeobj__19); + Py_CLEAR(clear_module_state->__pyx_codeobj__21); + Py_CLEAR(clear_module_state->__pyx_codeobj__23); + Py_CLEAR(clear_module_state->__pyx_codeobj__25); + Py_CLEAR(clear_module_state->__pyx_codeobj__27); + Py_CLEAR(clear_module_state->__pyx_codeobj__30); + Py_CLEAR(clear_module_state->__pyx_codeobj__32); + Py_CLEAR(clear_module_state->__pyx_codeobj__33); + Py_CLEAR(clear_module_state->__pyx_codeobj__35); + Py_CLEAR(clear_module_state->__pyx_codeobj__37); + Py_CLEAR(clear_module_state->__pyx_codeobj__38); + Py_CLEAR(clear_module_state->__pyx_codeobj__39); + Py_CLEAR(clear_module_state->__pyx_codeobj__40); + Py_CLEAR(clear_module_state->__pyx_codeobj__41); + Py_CLEAR(clear_module_state->__pyx_codeobj__42); + Py_CLEAR(clear_module_state->__pyx_codeobj__43); + Py_CLEAR(clear_module_state->__pyx_codeobj__45); + Py_CLEAR(clear_module_state->__pyx_codeobj__47); + Py_CLEAR(clear_module_state->__pyx_codeobj__49); + Py_CLEAR(clear_module_state->__pyx_codeobj__50); + Py_CLEAR(clear_module_state->__pyx_codeobj__51); + Py_CLEAR(clear_module_state->__pyx_codeobj__52); + return 0; +} +#endif +/* #### Code section: module_state_traverse ### */ +#if CYTHON_USE_MODULE_STATE +static int __pyx_m_traverse(PyObject *m, visitproc visit, void *arg) { + __pyx_mstate *traverse_module_state = __pyx_mstate(m); + if (!traverse_module_state) return 0; + Py_VISIT(traverse_module_state->__pyx_d); + Py_VISIT(traverse_module_state->__pyx_b); + Py_VISIT(traverse_module_state->__pyx_cython_runtime); + Py_VISIT(traverse_module_state->__pyx_empty_tuple); + Py_VISIT(traverse_module_state->__pyx_empty_bytes); + Py_VISIT(traverse_module_state->__pyx_empty_unicode); + #ifdef __Pyx_CyFunction_USED + Py_VISIT(traverse_module_state->__pyx_CyFunctionType); + #endif + #ifdef __Pyx_FusedFunction_USED + Py_VISIT(traverse_module_state->__pyx_FusedFunctionType); + #endif + Py_VISIT(traverse_module_state->__pyx_ptype_6common_10params_pyx_Params); + Py_VISIT(traverse_module_state->__pyx_type_6common_10params_pyx_Params); + Py_VISIT(traverse_module_state->__pyx_ptype___Pyx_EnumMeta); + Py_VISIT(traverse_module_state->__Pyx_EnumMeta); + Py_VISIT(traverse_module_state->__pyx_kp_s_); + Py_VISIT(traverse_module_state->__pyx_kp_u_); + Py_VISIT(traverse_module_state->__pyx_n_s_ALL); + Py_VISIT(traverse_module_state->__pyx_n_s_CLEAR_ON_MANAGER_START); + Py_VISIT(traverse_module_state->__pyx_n_s_CLEAR_ON_OFFROAD_TRANSITION); + Py_VISIT(traverse_module_state->__pyx_n_s_CLEAR_ON_ONROAD_TRANSITION); + Py_VISIT(traverse_module_state->__pyx_n_s_DEVELOPMENT_ONLY); + Py_VISIT(traverse_module_state->__pyx_n_s_EnumBase); + Py_VISIT(traverse_module_state->__pyx_n_s_EnumType); + Py_VISIT(traverse_module_state->__pyx_n_s_FROGPILOT_CONTROLS); + Py_VISIT(traverse_module_state->__pyx_n_s_FROGPILOT_OTHER); + Py_VISIT(traverse_module_state->__pyx_n_s_FROGPILOT_STORAGE); + Py_VISIT(traverse_module_state->__pyx_n_s_FROGPILOT_TRACKING); + Py_VISIT(traverse_module_state->__pyx_n_s_FROGPILOT_VEHICLES); + Py_VISIT(traverse_module_state->__pyx_n_s_FROGPILOT_VISUALS); + Py_VISIT(traverse_module_state->__pyx_kp_s_Incompatible_checksums_0x_x_vs_0); + Py_VISIT(traverse_module_state->__pyx_n_s_IntEnum); + Py_VISIT(traverse_module_state->__pyx_n_s_IntFlag); + Py_VISIT(traverse_module_state->__pyx_n_s_KeyboardInterrupt); + Py_VISIT(traverse_module_state->__pyx_n_s_MemoryError); + Py_VISIT(traverse_module_state->__pyx_n_s_OrderedDict); + Py_VISIT(traverse_module_state->__pyx_n_s_PERSISTENT); + Py_VISIT(traverse_module_state->__pyx_n_s_ParamKeyType); + Py_VISIT(traverse_module_state->__pyx_n_s_Params); + Py_VISIT(traverse_module_state->__pyx_n_s_Params___reduce_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_Params___setstate_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_Params_all_keys); + Py_VISIT(traverse_module_state->__pyx_n_s_Params_check_key); + Py_VISIT(traverse_module_state->__pyx_n_s_Params_clear_all); + Py_VISIT(traverse_module_state->__pyx_n_s_Params_get); + Py_VISIT(traverse_module_state->__pyx_n_s_Params_get_bool); + Py_VISIT(traverse_module_state->__pyx_n_s_Params_get_float); + Py_VISIT(traverse_module_state->__pyx_n_s_Params_get_int); + Py_VISIT(traverse_module_state->__pyx_n_s_Params_get_key_type); + Py_VISIT(traverse_module_state->__pyx_n_s_Params_get_param_path); + Py_VISIT(traverse_module_state->__pyx_n_s_Params_put); + Py_VISIT(traverse_module_state->__pyx_n_s_Params_put_bool); + Py_VISIT(traverse_module_state->__pyx_n_s_Params_put_bool_nonblocking); + Py_VISIT(traverse_module_state->__pyx_n_s_Params_put_float); + Py_VISIT(traverse_module_state->__pyx_n_s_Params_put_float_nonblocking); + Py_VISIT(traverse_module_state->__pyx_n_s_Params_put_int); + Py_VISIT(traverse_module_state->__pyx_n_s_Params_put_int_nonblocking); + Py_VISIT(traverse_module_state->__pyx_n_s_Params_put_nonblocking); + Py_VISIT(traverse_module_state->__pyx_n_s_Params_remove); + Py_VISIT(traverse_module_state->__pyx_n_s_PickleError); + Py_VISIT(traverse_module_state->__pyx_n_s_Pyx_EnumBase); + Py_VISIT(traverse_module_state->__pyx_n_s_Pyx_EnumBase___new); + Py_VISIT(traverse_module_state->__pyx_n_s_Pyx_EnumBase___repr); + Py_VISIT(traverse_module_state->__pyx_n_s_Pyx_EnumBase___str); + Py_VISIT(traverse_module_state->__pyx_n_s_Pyx_EnumMeta___reduce_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_Pyx_EnumMeta___setstate_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_Pyx_FlagBase); + Py_VISIT(traverse_module_state->__pyx_n_s_Pyx_FlagBase___new); + Py_VISIT(traverse_module_state->__pyx_n_s_Pyx_FlagBase___repr); + Py_VISIT(traverse_module_state->__pyx_n_s_Pyx_FlagBase___str); + Py_VISIT(traverse_module_state->__pyx_n_s_TypeError); + Py_VISIT(traverse_module_state->__pyx_n_s_UnknownKeyName); + Py_VISIT(traverse_module_state->__pyx_kp_s_Unknown_enum_value_s); + Py_VISIT(traverse_module_state->__pyx_n_s_ValueError); + Py_VISIT(traverse_module_state->__pyx_kp_u__3); + Py_VISIT(traverse_module_state->__pyx_n_s__53); + Py_VISIT(traverse_module_state->__pyx_n_s_all_keys); + Py_VISIT(traverse_module_state->__pyx_n_s_asyncio_coroutines); + Py_VISIT(traverse_module_state->__pyx_n_s_block); + Py_VISIT(traverse_module_state->__pyx_n_s_check_key); + Py_VISIT(traverse_module_state->__pyx_n_s_class); + Py_VISIT(traverse_module_state->__pyx_n_s_class_getitem); + Py_VISIT(traverse_module_state->__pyx_n_s_clear_all); + Py_VISIT(traverse_module_state->__pyx_n_s_cline_in_traceback); + Py_VISIT(traverse_module_state->__pyx_n_s_cls); + Py_VISIT(traverse_module_state->__pyx_n_s_collections); + Py_VISIT(traverse_module_state->__pyx_kp_s_common_params_pyx); + Py_VISIT(traverse_module_state->__pyx_kp_s_common_params_pyx_pyx); + Py_VISIT(traverse_module_state->__pyx_n_s_d); + Py_VISIT(traverse_module_state->__pyx_n_s_dat); + Py_VISIT(traverse_module_state->__pyx_n_s_dat_bytes); + Py_VISIT(traverse_module_state->__pyx_n_s_dct); + Py_VISIT(traverse_module_state->__pyx_n_s_decode); + Py_VISIT(traverse_module_state->__pyx_n_s_dict); + Py_VISIT(traverse_module_state->__pyx_n_s_dict_2); + Py_VISIT(traverse_module_state->__pyx_kp_u_disable); + Py_VISIT(traverse_module_state->__pyx_n_s_doc); + Py_VISIT(traverse_module_state->__pyx_kp_u_enable); + Py_VISIT(traverse_module_state->__pyx_n_s_encode); + Py_VISIT(traverse_module_state->__pyx_n_s_encoding); + Py_VISIT(traverse_module_state->__pyx_n_s_ensure_bytes); + Py_VISIT(traverse_module_state->__pyx_n_s_enum); + Py_VISIT(traverse_module_state->__pyx_kp_u_gc); + Py_VISIT(traverse_module_state->__pyx_n_s_get); + Py_VISIT(traverse_module_state->__pyx_n_s_get_bool); + Py_VISIT(traverse_module_state->__pyx_n_s_get_float); + Py_VISIT(traverse_module_state->__pyx_n_s_get_int); + Py_VISIT(traverse_module_state->__pyx_n_s_get_key_type); + Py_VISIT(traverse_module_state->__pyx_n_s_get_param_path); + Py_VISIT(traverse_module_state->__pyx_n_s_getstate); + Py_VISIT(traverse_module_state->__pyx_n_s_import); + Py_VISIT(traverse_module_state->__pyx_n_s_init); + Py_VISIT(traverse_module_state->__pyx_n_s_init_subclass); + Py_VISIT(traverse_module_state->__pyx_n_s_is_coroutine); + Py_VISIT(traverse_module_state->__pyx_kp_u_isenabled); + Py_VISIT(traverse_module_state->__pyx_n_s_k); + Py_VISIT(traverse_module_state->__pyx_n_s_key); + Py_VISIT(traverse_module_state->__pyx_n_s_key_bytes); + Py_VISIT(traverse_module_state->__pyx_n_s_main); + Py_VISIT(traverse_module_state->__pyx_n_s_member_names); + Py_VISIT(traverse_module_state->__pyx_n_s_members); + Py_VISIT(traverse_module_state->__pyx_n_s_metaclass); + Py_VISIT(traverse_module_state->__pyx_n_s_module); + Py_VISIT(traverse_module_state->__pyx_n_s_module_2); + Py_VISIT(traverse_module_state->__pyx_n_s_mro_entries); + Py_VISIT(traverse_module_state->__pyx_n_s_name); + Py_VISIT(traverse_module_state->__pyx_n_s_name_2); + Py_VISIT(traverse_module_state->__pyx_n_s_new); + Py_VISIT(traverse_module_state->__pyx_kp_s_no_default___reduce___due_to_non); + Py_VISIT(traverse_module_state->__pyx_n_s_parents); + Py_VISIT(traverse_module_state->__pyx_n_s_pickle); + Py_VISIT(traverse_module_state->__pyx_n_s_prepare); + Py_VISIT(traverse_module_state->__pyx_n_s_put); + Py_VISIT(traverse_module_state->__pyx_n_s_put_bool); + Py_VISIT(traverse_module_state->__pyx_n_s_put_bool_nonblocking); + Py_VISIT(traverse_module_state->__pyx_n_s_put_float); + Py_VISIT(traverse_module_state->__pyx_n_s_put_float_nonblocking); + Py_VISIT(traverse_module_state->__pyx_n_s_put_int); + Py_VISIT(traverse_module_state->__pyx_n_s_put_int_nonblocking); + Py_VISIT(traverse_module_state->__pyx_n_s_put_nonblocking); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_PickleError); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_checksum); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_result); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_state); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_type); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_unpickle___Pyx_EnumMeta); + Py_VISIT(traverse_module_state->__pyx_n_s_qualname); + Py_VISIT(traverse_module_state->__pyx_n_s_r); + Py_VISIT(traverse_module_state->__pyx_n_s_range); + Py_VISIT(traverse_module_state->__pyx_n_s_reduce); + Py_VISIT(traverse_module_state->__pyx_n_s_reduce_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_reduce_ex); + Py_VISIT(traverse_module_state->__pyx_n_s_remove); + Py_VISIT(traverse_module_state->__pyx_n_s_repr); + Py_VISIT(traverse_module_state->__pyx_n_s_res); + Py_VISIT(traverse_module_state->__pyx_kp_s_s_s); + Py_VISIT(traverse_module_state->__pyx_kp_s_s_s_d); + Py_VISIT(traverse_module_state->__pyx_n_s_self); + Py_VISIT(traverse_module_state->__pyx_n_s_set_name); + Py_VISIT(traverse_module_state->__pyx_n_s_setstate); + Py_VISIT(traverse_module_state->__pyx_n_s_setstate_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_state); + Py_VISIT(traverse_module_state->__pyx_n_s_str); + Py_VISIT(traverse_module_state->__pyx_kp_s_stringsource); + Py_VISIT(traverse_module_state->__pyx_n_s_super); + Py_VISIT(traverse_module_state->__pyx_n_s_test); + Py_VISIT(traverse_module_state->__pyx_n_s_tx_type); + Py_VISIT(traverse_module_state->__pyx_n_s_update); + Py_VISIT(traverse_module_state->__pyx_n_s_use_setstate); + Py_VISIT(traverse_module_state->__pyx_n_s_v); + Py_VISIT(traverse_module_state->__pyx_n_s_val); + Py_VISIT(traverse_module_state->__pyx_n_s_value); + Py_VISIT(traverse_module_state->__pyx_n_s_values); + Py_VISIT(traverse_module_state->__pyx_int_222419149); + Py_VISIT(traverse_module_state->__pyx_int_228825662); + Py_VISIT(traverse_module_state->__pyx_int_238750788); + Py_VISIT(traverse_module_state->__pyx_k__4); + Py_VISIT(traverse_module_state->__pyx_tuple__2); + Py_VISIT(traverse_module_state->__pyx_tuple__5); + Py_VISIT(traverse_module_state->__pyx_tuple__7); + Py_VISIT(traverse_module_state->__pyx_tuple__9); + Py_VISIT(traverse_module_state->__pyx_tuple__11); + Py_VISIT(traverse_module_state->__pyx_tuple__12); + Py_VISIT(traverse_module_state->__pyx_tuple__18); + Py_VISIT(traverse_module_state->__pyx_tuple__20); + Py_VISIT(traverse_module_state->__pyx_tuple__22); + Py_VISIT(traverse_module_state->__pyx_tuple__24); + Py_VISIT(traverse_module_state->__pyx_tuple__26); + Py_VISIT(traverse_module_state->__pyx_tuple__28); + Py_VISIT(traverse_module_state->__pyx_tuple__29); + Py_VISIT(traverse_module_state->__pyx_tuple__31); + Py_VISIT(traverse_module_state->__pyx_tuple__34); + Py_VISIT(traverse_module_state->__pyx_tuple__36); + Py_VISIT(traverse_module_state->__pyx_tuple__44); + Py_VISIT(traverse_module_state->__pyx_tuple__46); + Py_VISIT(traverse_module_state->__pyx_tuple__48); + Py_VISIT(traverse_module_state->__pyx_codeobj__6); + Py_VISIT(traverse_module_state->__pyx_codeobj__8); + Py_VISIT(traverse_module_state->__pyx_codeobj__10); + Py_VISIT(traverse_module_state->__pyx_codeobj__13); + Py_VISIT(traverse_module_state->__pyx_codeobj__14); + Py_VISIT(traverse_module_state->__pyx_codeobj__15); + Py_VISIT(traverse_module_state->__pyx_codeobj__16); + Py_VISIT(traverse_module_state->__pyx_codeobj__17); + Py_VISIT(traverse_module_state->__pyx_codeobj__19); + Py_VISIT(traverse_module_state->__pyx_codeobj__21); + Py_VISIT(traverse_module_state->__pyx_codeobj__23); + Py_VISIT(traverse_module_state->__pyx_codeobj__25); + Py_VISIT(traverse_module_state->__pyx_codeobj__27); + Py_VISIT(traverse_module_state->__pyx_codeobj__30); + Py_VISIT(traverse_module_state->__pyx_codeobj__32); + Py_VISIT(traverse_module_state->__pyx_codeobj__33); + Py_VISIT(traverse_module_state->__pyx_codeobj__35); + Py_VISIT(traverse_module_state->__pyx_codeobj__37); + Py_VISIT(traverse_module_state->__pyx_codeobj__38); + Py_VISIT(traverse_module_state->__pyx_codeobj__39); + Py_VISIT(traverse_module_state->__pyx_codeobj__40); + Py_VISIT(traverse_module_state->__pyx_codeobj__41); + Py_VISIT(traverse_module_state->__pyx_codeobj__42); + Py_VISIT(traverse_module_state->__pyx_codeobj__43); + Py_VISIT(traverse_module_state->__pyx_codeobj__45); + Py_VISIT(traverse_module_state->__pyx_codeobj__47); + Py_VISIT(traverse_module_state->__pyx_codeobj__49); + Py_VISIT(traverse_module_state->__pyx_codeobj__50); + Py_VISIT(traverse_module_state->__pyx_codeobj__51); + Py_VISIT(traverse_module_state->__pyx_codeobj__52); + return 0; +} +#endif +/* #### Code section: module_state_defines ### */ +#define __pyx_d __pyx_mstate_global->__pyx_d +#define __pyx_b __pyx_mstate_global->__pyx_b +#define __pyx_cython_runtime __pyx_mstate_global->__pyx_cython_runtime +#define __pyx_empty_tuple __pyx_mstate_global->__pyx_empty_tuple +#define __pyx_empty_bytes __pyx_mstate_global->__pyx_empty_bytes +#define __pyx_empty_unicode __pyx_mstate_global->__pyx_empty_unicode +#ifdef __Pyx_CyFunction_USED +#define __pyx_CyFunctionType __pyx_mstate_global->__pyx_CyFunctionType +#endif +#ifdef __Pyx_FusedFunction_USED +#define __pyx_FusedFunctionType __pyx_mstate_global->__pyx_FusedFunctionType +#endif +#ifdef __Pyx_Generator_USED +#define __pyx_GeneratorType __pyx_mstate_global->__pyx_GeneratorType +#endif +#ifdef __Pyx_IterableCoroutine_USED +#define __pyx_IterableCoroutineType __pyx_mstate_global->__pyx_IterableCoroutineType +#endif +#ifdef __Pyx_Coroutine_USED +#define __pyx_CoroutineAwaitType __pyx_mstate_global->__pyx_CoroutineAwaitType +#endif +#ifdef __Pyx_Coroutine_USED +#define __pyx_CoroutineType __pyx_mstate_global->__pyx_CoroutineType +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#define __pyx_type_6common_10params_pyx_Params __pyx_mstate_global->__pyx_type_6common_10params_pyx_Params +#define __Pyx_EnumMeta __pyx_mstate_global->__Pyx_EnumMeta +#endif +#define __pyx_ptype_6common_10params_pyx_Params __pyx_mstate_global->__pyx_ptype_6common_10params_pyx_Params +#define __pyx_ptype___Pyx_EnumMeta __pyx_mstate_global->__pyx_ptype___Pyx_EnumMeta +#define __pyx_kp_s_ __pyx_mstate_global->__pyx_kp_s_ +#define __pyx_kp_u_ __pyx_mstate_global->__pyx_kp_u_ +#define __pyx_n_s_ALL __pyx_mstate_global->__pyx_n_s_ALL +#define __pyx_n_s_CLEAR_ON_MANAGER_START __pyx_mstate_global->__pyx_n_s_CLEAR_ON_MANAGER_START +#define __pyx_n_s_CLEAR_ON_OFFROAD_TRANSITION __pyx_mstate_global->__pyx_n_s_CLEAR_ON_OFFROAD_TRANSITION +#define __pyx_n_s_CLEAR_ON_ONROAD_TRANSITION __pyx_mstate_global->__pyx_n_s_CLEAR_ON_ONROAD_TRANSITION +#define __pyx_n_s_DEVELOPMENT_ONLY __pyx_mstate_global->__pyx_n_s_DEVELOPMENT_ONLY +#define __pyx_n_s_EnumBase __pyx_mstate_global->__pyx_n_s_EnumBase +#define __pyx_n_s_EnumType __pyx_mstate_global->__pyx_n_s_EnumType +#define __pyx_n_s_FROGPILOT_CONTROLS __pyx_mstate_global->__pyx_n_s_FROGPILOT_CONTROLS +#define __pyx_n_s_FROGPILOT_OTHER __pyx_mstate_global->__pyx_n_s_FROGPILOT_OTHER +#define __pyx_n_s_FROGPILOT_STORAGE __pyx_mstate_global->__pyx_n_s_FROGPILOT_STORAGE +#define __pyx_n_s_FROGPILOT_TRACKING __pyx_mstate_global->__pyx_n_s_FROGPILOT_TRACKING +#define __pyx_n_s_FROGPILOT_VEHICLES __pyx_mstate_global->__pyx_n_s_FROGPILOT_VEHICLES +#define __pyx_n_s_FROGPILOT_VISUALS __pyx_mstate_global->__pyx_n_s_FROGPILOT_VISUALS +#define __pyx_kp_s_Incompatible_checksums_0x_x_vs_0 __pyx_mstate_global->__pyx_kp_s_Incompatible_checksums_0x_x_vs_0 +#define __pyx_n_s_IntEnum __pyx_mstate_global->__pyx_n_s_IntEnum +#define __pyx_n_s_IntFlag __pyx_mstate_global->__pyx_n_s_IntFlag +#define __pyx_n_s_KeyboardInterrupt __pyx_mstate_global->__pyx_n_s_KeyboardInterrupt +#define __pyx_n_s_MemoryError __pyx_mstate_global->__pyx_n_s_MemoryError +#define __pyx_n_s_OrderedDict __pyx_mstate_global->__pyx_n_s_OrderedDict +#define __pyx_n_s_PERSISTENT __pyx_mstate_global->__pyx_n_s_PERSISTENT +#define __pyx_n_s_ParamKeyType __pyx_mstate_global->__pyx_n_s_ParamKeyType +#define __pyx_n_s_Params __pyx_mstate_global->__pyx_n_s_Params +#define __pyx_n_s_Params___reduce_cython __pyx_mstate_global->__pyx_n_s_Params___reduce_cython +#define __pyx_n_s_Params___setstate_cython __pyx_mstate_global->__pyx_n_s_Params___setstate_cython +#define __pyx_n_s_Params_all_keys __pyx_mstate_global->__pyx_n_s_Params_all_keys +#define __pyx_n_s_Params_check_key __pyx_mstate_global->__pyx_n_s_Params_check_key +#define __pyx_n_s_Params_clear_all __pyx_mstate_global->__pyx_n_s_Params_clear_all +#define __pyx_n_s_Params_get __pyx_mstate_global->__pyx_n_s_Params_get +#define __pyx_n_s_Params_get_bool __pyx_mstate_global->__pyx_n_s_Params_get_bool +#define __pyx_n_s_Params_get_float __pyx_mstate_global->__pyx_n_s_Params_get_float +#define __pyx_n_s_Params_get_int __pyx_mstate_global->__pyx_n_s_Params_get_int +#define __pyx_n_s_Params_get_key_type __pyx_mstate_global->__pyx_n_s_Params_get_key_type +#define __pyx_n_s_Params_get_param_path __pyx_mstate_global->__pyx_n_s_Params_get_param_path +#define __pyx_n_s_Params_put __pyx_mstate_global->__pyx_n_s_Params_put +#define __pyx_n_s_Params_put_bool __pyx_mstate_global->__pyx_n_s_Params_put_bool +#define __pyx_n_s_Params_put_bool_nonblocking __pyx_mstate_global->__pyx_n_s_Params_put_bool_nonblocking +#define __pyx_n_s_Params_put_float __pyx_mstate_global->__pyx_n_s_Params_put_float +#define __pyx_n_s_Params_put_float_nonblocking __pyx_mstate_global->__pyx_n_s_Params_put_float_nonblocking +#define __pyx_n_s_Params_put_int __pyx_mstate_global->__pyx_n_s_Params_put_int +#define __pyx_n_s_Params_put_int_nonblocking __pyx_mstate_global->__pyx_n_s_Params_put_int_nonblocking +#define __pyx_n_s_Params_put_nonblocking __pyx_mstate_global->__pyx_n_s_Params_put_nonblocking +#define __pyx_n_s_Params_remove __pyx_mstate_global->__pyx_n_s_Params_remove +#define __pyx_n_s_PickleError __pyx_mstate_global->__pyx_n_s_PickleError +#define __pyx_n_s_Pyx_EnumBase __pyx_mstate_global->__pyx_n_s_Pyx_EnumBase +#define __pyx_n_s_Pyx_EnumBase___new __pyx_mstate_global->__pyx_n_s_Pyx_EnumBase___new +#define __pyx_n_s_Pyx_EnumBase___repr __pyx_mstate_global->__pyx_n_s_Pyx_EnumBase___repr +#define __pyx_n_s_Pyx_EnumBase___str __pyx_mstate_global->__pyx_n_s_Pyx_EnumBase___str +#define __pyx_n_s_Pyx_EnumMeta___reduce_cython __pyx_mstate_global->__pyx_n_s_Pyx_EnumMeta___reduce_cython +#define __pyx_n_s_Pyx_EnumMeta___setstate_cython __pyx_mstate_global->__pyx_n_s_Pyx_EnumMeta___setstate_cython +#define __pyx_n_s_Pyx_FlagBase __pyx_mstate_global->__pyx_n_s_Pyx_FlagBase +#define __pyx_n_s_Pyx_FlagBase___new __pyx_mstate_global->__pyx_n_s_Pyx_FlagBase___new +#define __pyx_n_s_Pyx_FlagBase___repr __pyx_mstate_global->__pyx_n_s_Pyx_FlagBase___repr +#define __pyx_n_s_Pyx_FlagBase___str __pyx_mstate_global->__pyx_n_s_Pyx_FlagBase___str +#define __pyx_n_s_TypeError __pyx_mstate_global->__pyx_n_s_TypeError +#define __pyx_n_s_UnknownKeyName __pyx_mstate_global->__pyx_n_s_UnknownKeyName +#define __pyx_kp_s_Unknown_enum_value_s __pyx_mstate_global->__pyx_kp_s_Unknown_enum_value_s +#define __pyx_n_s_ValueError __pyx_mstate_global->__pyx_n_s_ValueError +#define __pyx_kp_u__3 __pyx_mstate_global->__pyx_kp_u__3 +#define __pyx_n_s__53 __pyx_mstate_global->__pyx_n_s__53 +#define __pyx_n_s_all_keys __pyx_mstate_global->__pyx_n_s_all_keys +#define __pyx_n_s_asyncio_coroutines __pyx_mstate_global->__pyx_n_s_asyncio_coroutines +#define __pyx_n_s_block __pyx_mstate_global->__pyx_n_s_block +#define __pyx_n_s_check_key __pyx_mstate_global->__pyx_n_s_check_key +#define __pyx_n_s_class __pyx_mstate_global->__pyx_n_s_class +#define __pyx_n_s_class_getitem __pyx_mstate_global->__pyx_n_s_class_getitem +#define __pyx_n_s_clear_all __pyx_mstate_global->__pyx_n_s_clear_all +#define __pyx_n_s_cline_in_traceback __pyx_mstate_global->__pyx_n_s_cline_in_traceback +#define __pyx_n_s_cls __pyx_mstate_global->__pyx_n_s_cls +#define __pyx_n_s_collections __pyx_mstate_global->__pyx_n_s_collections +#define __pyx_kp_s_common_params_pyx __pyx_mstate_global->__pyx_kp_s_common_params_pyx +#define __pyx_kp_s_common_params_pyx_pyx __pyx_mstate_global->__pyx_kp_s_common_params_pyx_pyx +#define __pyx_n_s_d __pyx_mstate_global->__pyx_n_s_d +#define __pyx_n_s_dat __pyx_mstate_global->__pyx_n_s_dat +#define __pyx_n_s_dat_bytes __pyx_mstate_global->__pyx_n_s_dat_bytes +#define __pyx_n_s_dct __pyx_mstate_global->__pyx_n_s_dct +#define __pyx_n_s_decode __pyx_mstate_global->__pyx_n_s_decode +#define __pyx_n_s_dict __pyx_mstate_global->__pyx_n_s_dict +#define __pyx_n_s_dict_2 __pyx_mstate_global->__pyx_n_s_dict_2 +#define __pyx_kp_u_disable __pyx_mstate_global->__pyx_kp_u_disable +#define __pyx_n_s_doc __pyx_mstate_global->__pyx_n_s_doc +#define __pyx_kp_u_enable __pyx_mstate_global->__pyx_kp_u_enable +#define __pyx_n_s_encode __pyx_mstate_global->__pyx_n_s_encode +#define __pyx_n_s_encoding __pyx_mstate_global->__pyx_n_s_encoding +#define __pyx_n_s_ensure_bytes __pyx_mstate_global->__pyx_n_s_ensure_bytes +#define __pyx_n_s_enum __pyx_mstate_global->__pyx_n_s_enum +#define __pyx_kp_u_gc __pyx_mstate_global->__pyx_kp_u_gc +#define __pyx_n_s_get __pyx_mstate_global->__pyx_n_s_get +#define __pyx_n_s_get_bool __pyx_mstate_global->__pyx_n_s_get_bool +#define __pyx_n_s_get_float __pyx_mstate_global->__pyx_n_s_get_float +#define __pyx_n_s_get_int __pyx_mstate_global->__pyx_n_s_get_int +#define __pyx_n_s_get_key_type __pyx_mstate_global->__pyx_n_s_get_key_type +#define __pyx_n_s_get_param_path __pyx_mstate_global->__pyx_n_s_get_param_path +#define __pyx_n_s_getstate __pyx_mstate_global->__pyx_n_s_getstate +#define __pyx_n_s_import __pyx_mstate_global->__pyx_n_s_import +#define __pyx_n_s_init __pyx_mstate_global->__pyx_n_s_init +#define __pyx_n_s_init_subclass __pyx_mstate_global->__pyx_n_s_init_subclass +#define __pyx_n_s_is_coroutine __pyx_mstate_global->__pyx_n_s_is_coroutine +#define __pyx_kp_u_isenabled __pyx_mstate_global->__pyx_kp_u_isenabled +#define __pyx_n_s_k __pyx_mstate_global->__pyx_n_s_k +#define __pyx_n_s_key __pyx_mstate_global->__pyx_n_s_key +#define __pyx_n_s_key_bytes __pyx_mstate_global->__pyx_n_s_key_bytes +#define __pyx_n_s_main __pyx_mstate_global->__pyx_n_s_main +#define __pyx_n_s_member_names __pyx_mstate_global->__pyx_n_s_member_names +#define __pyx_n_s_members __pyx_mstate_global->__pyx_n_s_members +#define __pyx_n_s_metaclass __pyx_mstate_global->__pyx_n_s_metaclass +#define __pyx_n_s_module __pyx_mstate_global->__pyx_n_s_module +#define __pyx_n_s_module_2 __pyx_mstate_global->__pyx_n_s_module_2 +#define __pyx_n_s_mro_entries __pyx_mstate_global->__pyx_n_s_mro_entries +#define __pyx_n_s_name __pyx_mstate_global->__pyx_n_s_name +#define __pyx_n_s_name_2 __pyx_mstate_global->__pyx_n_s_name_2 +#define __pyx_n_s_new __pyx_mstate_global->__pyx_n_s_new +#define __pyx_kp_s_no_default___reduce___due_to_non __pyx_mstate_global->__pyx_kp_s_no_default___reduce___due_to_non +#define __pyx_n_s_parents __pyx_mstate_global->__pyx_n_s_parents +#define __pyx_n_s_pickle __pyx_mstate_global->__pyx_n_s_pickle +#define __pyx_n_s_prepare __pyx_mstate_global->__pyx_n_s_prepare +#define __pyx_n_s_put __pyx_mstate_global->__pyx_n_s_put +#define __pyx_n_s_put_bool __pyx_mstate_global->__pyx_n_s_put_bool +#define __pyx_n_s_put_bool_nonblocking __pyx_mstate_global->__pyx_n_s_put_bool_nonblocking +#define __pyx_n_s_put_float __pyx_mstate_global->__pyx_n_s_put_float +#define __pyx_n_s_put_float_nonblocking __pyx_mstate_global->__pyx_n_s_put_float_nonblocking +#define __pyx_n_s_put_int __pyx_mstate_global->__pyx_n_s_put_int +#define __pyx_n_s_put_int_nonblocking __pyx_mstate_global->__pyx_n_s_put_int_nonblocking +#define __pyx_n_s_put_nonblocking __pyx_mstate_global->__pyx_n_s_put_nonblocking +#define __pyx_n_s_pyx_PickleError __pyx_mstate_global->__pyx_n_s_pyx_PickleError +#define __pyx_n_s_pyx_checksum __pyx_mstate_global->__pyx_n_s_pyx_checksum +#define __pyx_n_s_pyx_result __pyx_mstate_global->__pyx_n_s_pyx_result +#define __pyx_n_s_pyx_state __pyx_mstate_global->__pyx_n_s_pyx_state +#define __pyx_n_s_pyx_type __pyx_mstate_global->__pyx_n_s_pyx_type +#define __pyx_n_s_pyx_unpickle___Pyx_EnumMeta __pyx_mstate_global->__pyx_n_s_pyx_unpickle___Pyx_EnumMeta +#define __pyx_n_s_qualname __pyx_mstate_global->__pyx_n_s_qualname +#define __pyx_n_s_r __pyx_mstate_global->__pyx_n_s_r +#define __pyx_n_s_range __pyx_mstate_global->__pyx_n_s_range +#define __pyx_n_s_reduce __pyx_mstate_global->__pyx_n_s_reduce +#define __pyx_n_s_reduce_cython __pyx_mstate_global->__pyx_n_s_reduce_cython +#define __pyx_n_s_reduce_ex __pyx_mstate_global->__pyx_n_s_reduce_ex +#define __pyx_n_s_remove __pyx_mstate_global->__pyx_n_s_remove +#define __pyx_n_s_repr __pyx_mstate_global->__pyx_n_s_repr +#define __pyx_n_s_res __pyx_mstate_global->__pyx_n_s_res +#define __pyx_kp_s_s_s __pyx_mstate_global->__pyx_kp_s_s_s +#define __pyx_kp_s_s_s_d __pyx_mstate_global->__pyx_kp_s_s_s_d +#define __pyx_n_s_self __pyx_mstate_global->__pyx_n_s_self +#define __pyx_n_s_set_name __pyx_mstate_global->__pyx_n_s_set_name +#define __pyx_n_s_setstate __pyx_mstate_global->__pyx_n_s_setstate +#define __pyx_n_s_setstate_cython __pyx_mstate_global->__pyx_n_s_setstate_cython +#define __pyx_n_s_state __pyx_mstate_global->__pyx_n_s_state +#define __pyx_n_s_str __pyx_mstate_global->__pyx_n_s_str +#define __pyx_kp_s_stringsource __pyx_mstate_global->__pyx_kp_s_stringsource +#define __pyx_n_s_super __pyx_mstate_global->__pyx_n_s_super +#define __pyx_n_s_test __pyx_mstate_global->__pyx_n_s_test +#define __pyx_n_s_tx_type __pyx_mstate_global->__pyx_n_s_tx_type +#define __pyx_n_s_update __pyx_mstate_global->__pyx_n_s_update +#define __pyx_n_s_use_setstate __pyx_mstate_global->__pyx_n_s_use_setstate +#define __pyx_n_s_v __pyx_mstate_global->__pyx_n_s_v +#define __pyx_n_s_val __pyx_mstate_global->__pyx_n_s_val +#define __pyx_n_s_value __pyx_mstate_global->__pyx_n_s_value +#define __pyx_n_s_values __pyx_mstate_global->__pyx_n_s_values +#define __pyx_int_222419149 __pyx_mstate_global->__pyx_int_222419149 +#define __pyx_int_228825662 __pyx_mstate_global->__pyx_int_228825662 +#define __pyx_int_238750788 __pyx_mstate_global->__pyx_int_238750788 +#define __pyx_k__4 __pyx_mstate_global->__pyx_k__4 +#define __pyx_tuple__2 __pyx_mstate_global->__pyx_tuple__2 +#define __pyx_tuple__5 __pyx_mstate_global->__pyx_tuple__5 +#define __pyx_tuple__7 __pyx_mstate_global->__pyx_tuple__7 +#define __pyx_tuple__9 __pyx_mstate_global->__pyx_tuple__9 +#define __pyx_tuple__11 __pyx_mstate_global->__pyx_tuple__11 +#define __pyx_tuple__12 __pyx_mstate_global->__pyx_tuple__12 +#define __pyx_tuple__18 __pyx_mstate_global->__pyx_tuple__18 +#define __pyx_tuple__20 __pyx_mstate_global->__pyx_tuple__20 +#define __pyx_tuple__22 __pyx_mstate_global->__pyx_tuple__22 +#define __pyx_tuple__24 __pyx_mstate_global->__pyx_tuple__24 +#define __pyx_tuple__26 __pyx_mstate_global->__pyx_tuple__26 +#define __pyx_tuple__28 __pyx_mstate_global->__pyx_tuple__28 +#define __pyx_tuple__29 __pyx_mstate_global->__pyx_tuple__29 +#define __pyx_tuple__31 __pyx_mstate_global->__pyx_tuple__31 +#define __pyx_tuple__34 __pyx_mstate_global->__pyx_tuple__34 +#define __pyx_tuple__36 __pyx_mstate_global->__pyx_tuple__36 +#define __pyx_tuple__44 __pyx_mstate_global->__pyx_tuple__44 +#define __pyx_tuple__46 __pyx_mstate_global->__pyx_tuple__46 +#define __pyx_tuple__48 __pyx_mstate_global->__pyx_tuple__48 +#define __pyx_codeobj__6 __pyx_mstate_global->__pyx_codeobj__6 +#define __pyx_codeobj__8 __pyx_mstate_global->__pyx_codeobj__8 +#define __pyx_codeobj__10 __pyx_mstate_global->__pyx_codeobj__10 +#define __pyx_codeobj__13 __pyx_mstate_global->__pyx_codeobj__13 +#define __pyx_codeobj__14 __pyx_mstate_global->__pyx_codeobj__14 +#define __pyx_codeobj__15 __pyx_mstate_global->__pyx_codeobj__15 +#define __pyx_codeobj__16 __pyx_mstate_global->__pyx_codeobj__16 +#define __pyx_codeobj__17 __pyx_mstate_global->__pyx_codeobj__17 +#define __pyx_codeobj__19 __pyx_mstate_global->__pyx_codeobj__19 +#define __pyx_codeobj__21 __pyx_mstate_global->__pyx_codeobj__21 +#define __pyx_codeobj__23 __pyx_mstate_global->__pyx_codeobj__23 +#define __pyx_codeobj__25 __pyx_mstate_global->__pyx_codeobj__25 +#define __pyx_codeobj__27 __pyx_mstate_global->__pyx_codeobj__27 +#define __pyx_codeobj__30 __pyx_mstate_global->__pyx_codeobj__30 +#define __pyx_codeobj__32 __pyx_mstate_global->__pyx_codeobj__32 +#define __pyx_codeobj__33 __pyx_mstate_global->__pyx_codeobj__33 +#define __pyx_codeobj__35 __pyx_mstate_global->__pyx_codeobj__35 +#define __pyx_codeobj__37 __pyx_mstate_global->__pyx_codeobj__37 +#define __pyx_codeobj__38 __pyx_mstate_global->__pyx_codeobj__38 +#define __pyx_codeobj__39 __pyx_mstate_global->__pyx_codeobj__39 +#define __pyx_codeobj__40 __pyx_mstate_global->__pyx_codeobj__40 +#define __pyx_codeobj__41 __pyx_mstate_global->__pyx_codeobj__41 +#define __pyx_codeobj__42 __pyx_mstate_global->__pyx_codeobj__42 +#define __pyx_codeobj__43 __pyx_mstate_global->__pyx_codeobj__43 +#define __pyx_codeobj__45 __pyx_mstate_global->__pyx_codeobj__45 +#define __pyx_codeobj__47 __pyx_mstate_global->__pyx_codeobj__47 +#define __pyx_codeobj__49 __pyx_mstate_global->__pyx_codeobj__49 +#define __pyx_codeobj__50 __pyx_mstate_global->__pyx_codeobj__50 +#define __pyx_codeobj__51 __pyx_mstate_global->__pyx_codeobj__51 +#define __pyx_codeobj__52 __pyx_mstate_global->__pyx_codeobj__52 +/* #### Code section: module_code ### */ + +/* "EnumTypeToPy":132 + * + * @cname("__Pyx_Enum_enum__space_ParamKeyType_to_py") + * cdef __Pyx_Enum_enum__space_ParamKeyType_to_py(ParamKeyType c_val): # <<<<<<<<<<<<<< + * cdef object __pyx_enum + * + */ + +static PyObject *__Pyx_Enum_enum__space_ParamKeyType_to_py(enum ParamKeyType __pyx_v_c_val) { 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PyDict_Size(kwargs) : 0; + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) { + return NULL; + } + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) { + return NULL; + } + #endif + if ( +#if PY_MAJOR_VERSION >= 3 + co->co_kwonlyargcount == 0 && +#endif + likely(kwargs == NULL || nk == 0) && + co->co_flags == (CO_OPTIMIZED | CO_NEWLOCALS | CO_NOFREE)) { + if (argdefs == NULL && co->co_argcount == nargs) { + result = __Pyx_PyFunction_FastCallNoKw(co, args, nargs, globals); + goto done; + } + else if (nargs == 0 && argdefs != NULL + && co->co_argcount == Py_SIZE(argdefs)) { + /* function called with no arguments, but all parameters have + a default value: use default values as arguments .*/ + args = &PyTuple_GET_ITEM(argdefs, 0); + result =__Pyx_PyFunction_FastCallNoKw(co, args, Py_SIZE(argdefs), globals); + goto done; + } + } + if (kwargs != NULL) { + Py_ssize_t pos, i; + kwtuple = PyTuple_New(2 * nk); + if (kwtuple == NULL) { + result = NULL; 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+ #endif + result = cfunc(self, arg); + Py_LeaveRecursiveCall(); + if (unlikely(!result) && unlikely(!PyErr_Occurred())) { + PyErr_SetString( + PyExc_SystemError, + "NULL result without error in PyObject_Call"); + } + return result; +} +#endif + +/* PyObjectFastCall */ +#if PY_VERSION_HEX < 0x03090000 || CYTHON_COMPILING_IN_LIMITED_API +static PyObject* __Pyx_PyObject_FastCall_fallback(PyObject *func, PyObject **args, size_t nargs, PyObject *kwargs) { + PyObject *argstuple; + PyObject *result = 0; + size_t i; + argstuple = PyTuple_New((Py_ssize_t)nargs); + if (unlikely(!argstuple)) return NULL; + for (i = 0; i < nargs; i++) { + Py_INCREF(args[i]); + if (__Pyx_PyTuple_SET_ITEM(argstuple, (Py_ssize_t)i, args[i]) < 0) goto bad; + } + result = __Pyx_PyObject_Call(func, argstuple, kwargs); + bad: + Py_DECREF(argstuple); + return result; +} +#endif +static CYTHON_INLINE PyObject* __Pyx_PyObject_FastCallDict(PyObject *func, PyObject **args, size_t _nargs, PyObject *kwargs) { + Py_ssize_t nargs = __Pyx_PyVectorcall_NARGS(_nargs); +#if CYTHON_COMPILING_IN_CPYTHON + if (nargs == 0 && kwargs == NULL) { + if (__Pyx_CyOrPyCFunction_Check(func) && likely( __Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_NOARGS)) + return __Pyx_PyObject_CallMethO(func, NULL); + } + else if (nargs == 1 && kwargs == NULL) { + if (__Pyx_CyOrPyCFunction_Check(func) && likely( __Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_O)) + return __Pyx_PyObject_CallMethO(func, args[0]); + } +#endif + #if PY_VERSION_HEX < 0x030800B1 + #if CYTHON_FAST_PYCCALL + if (PyCFunction_Check(func)) { + if (kwargs) { + return _PyCFunction_FastCallDict(func, args, nargs, kwargs); + } else { + return _PyCFunction_FastCallKeywords(func, args, nargs, NULL); + } + } + #if PY_VERSION_HEX >= 0x030700A1 + if (!kwargs && __Pyx_IS_TYPE(func, &PyMethodDescr_Type)) { + return _PyMethodDescr_FastCallKeywords(func, args, nargs, NULL); + } + #endif + #endif + #if CYTHON_FAST_PYCALL + if (PyFunction_Check(func)) { + return __Pyx_PyFunction_FastCallDict(func, args, nargs, kwargs); + } + #endif + #endif + if (kwargs == NULL) { + #if CYTHON_VECTORCALL + #if PY_VERSION_HEX < 0x03090000 + vectorcallfunc f = _PyVectorcall_Function(func); + #else + vectorcallfunc f = PyVectorcall_Function(func); + #endif + if (f) { + return f(func, args, (size_t)nargs, NULL); + } + #elif defined(__Pyx_CyFunction_USED) && CYTHON_BACKPORT_VECTORCALL + if (__Pyx_CyFunction_CheckExact(func)) { + __pyx_vectorcallfunc f = __Pyx_CyFunction_func_vectorcall(func); + if (f) return f(func, args, (size_t)nargs, NULL); + } + #endif + } + if (nargs == 0) { + return __Pyx_PyObject_Call(func, __pyx_empty_tuple, kwargs); + } + #if PY_VERSION_HEX >= 0x03090000 && !CYTHON_COMPILING_IN_LIMITED_API + return PyObject_VectorcallDict(func, args, (size_t)nargs, kwargs); + #else + return __Pyx_PyObject_FastCall_fallback(func, args, (size_t)nargs, kwargs); + #endif +} + +/* TupleAndListFromArray */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE void __Pyx_copy_object_array(PyObject *const *CYTHON_RESTRICT src, PyObject** CYTHON_RESTRICT dest, Py_ssize_t length) { + PyObject *v; + Py_ssize_t i; + for (i = 0; i < length; i++) { + v = dest[i] = src[i]; + Py_INCREF(v); + } +} +static CYTHON_INLINE PyObject * +__Pyx_PyTuple_FromArray(PyObject *const *src, Py_ssize_t n) +{ + PyObject *res; + if (n <= 0) { + Py_INCREF(__pyx_empty_tuple); + return __pyx_empty_tuple; + } + res = PyTuple_New(n); + if (unlikely(res == NULL)) return NULL; + __Pyx_copy_object_array(src, ((PyTupleObject*)res)->ob_item, n); + return res; +} +static CYTHON_INLINE PyObject * +__Pyx_PyList_FromArray(PyObject *const *src, Py_ssize_t n) +{ + PyObject *res; + if (n <= 0) { + return PyList_New(0); + } + res = PyList_New(n); + if (unlikely(res == NULL)) return NULL; + __Pyx_copy_object_array(src, ((PyListObject*)res)->ob_item, n); + return res; +} +#endif + +/* BytesEquals */ +static CYTHON_INLINE int __Pyx_PyBytes_Equals(PyObject* s1, PyObject* s2, int equals) { +#if CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API + return PyObject_RichCompareBool(s1, s2, equals); +#else + if (s1 == s2) { + return (equals == Py_EQ); + } else if (PyBytes_CheckExact(s1) & PyBytes_CheckExact(s2)) { + const char *ps1, *ps2; + Py_ssize_t length = PyBytes_GET_SIZE(s1); + if (length != PyBytes_GET_SIZE(s2)) + return (equals == Py_NE); + ps1 = PyBytes_AS_STRING(s1); + ps2 = PyBytes_AS_STRING(s2); + if (ps1[0] != ps2[0]) { + return (equals == Py_NE); + } else if (length == 1) { + return (equals == Py_EQ); + } else { + int result; +#if CYTHON_USE_UNICODE_INTERNALS && (PY_VERSION_HEX < 0x030B0000) + Py_hash_t hash1, hash2; + hash1 = ((PyBytesObject*)s1)->ob_shash; + hash2 = ((PyBytesObject*)s2)->ob_shash; + if (hash1 != hash2 && hash1 != -1 && hash2 != -1) { + return (equals == Py_NE); + } +#endif + result = memcmp(ps1, ps2, (size_t)length); + return (equals == Py_EQ) ? (result == 0) : (result != 0); + } + } else if ((s1 == Py_None) & PyBytes_CheckExact(s2)) { + return (equals == Py_NE); + } else if ((s2 == Py_None) & PyBytes_CheckExact(s1)) { + return (equals == Py_NE); + } else { + int result; + PyObject* py_result = PyObject_RichCompare(s1, s2, equals); + if (!py_result) + return -1; + result = __Pyx_PyObject_IsTrue(py_result); + Py_DECREF(py_result); + return result; + } +#endif +} + +/* UnicodeEquals */ +static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int equals) { +#if CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API + return PyObject_RichCompareBool(s1, s2, equals); +#else +#if PY_MAJOR_VERSION < 3 + PyObject* owned_ref = NULL; +#endif + int s1_is_unicode, s2_is_unicode; + if (s1 == s2) { + goto return_eq; + } + s1_is_unicode = PyUnicode_CheckExact(s1); + s2_is_unicode = PyUnicode_CheckExact(s2); +#if PY_MAJOR_VERSION < 3 + if ((s1_is_unicode & (!s2_is_unicode)) && PyString_CheckExact(s2)) { + owned_ref = PyUnicode_FromObject(s2); + if (unlikely(!owned_ref)) + return -1; + s2 = owned_ref; + s2_is_unicode = 1; + } else if ((s2_is_unicode & (!s1_is_unicode)) && PyString_CheckExact(s1)) { + owned_ref = PyUnicode_FromObject(s1); + if (unlikely(!owned_ref)) + return -1; + s1 = owned_ref; + s1_is_unicode = 1; + } else if (((!s2_is_unicode) & (!s1_is_unicode))) { + return __Pyx_PyBytes_Equals(s1, s2, equals); + } +#endif + if (s1_is_unicode & s2_is_unicode) { + Py_ssize_t length; + int kind; + void *data1, *data2; + if (unlikely(__Pyx_PyUnicode_READY(s1) < 0) || unlikely(__Pyx_PyUnicode_READY(s2) < 0)) + return -1; + length = __Pyx_PyUnicode_GET_LENGTH(s1); + if (length != __Pyx_PyUnicode_GET_LENGTH(s2)) { + goto return_ne; + } +#if CYTHON_USE_UNICODE_INTERNALS + { + Py_hash_t hash1, hash2; + #if CYTHON_PEP393_ENABLED + hash1 = ((PyASCIIObject*)s1)->hash; + hash2 = ((PyASCIIObject*)s2)->hash; + #else + hash1 = ((PyUnicodeObject*)s1)->hash; + hash2 = ((PyUnicodeObject*)s2)->hash; + #endif + if (hash1 != hash2 && hash1 != -1 && hash2 != -1) { + goto return_ne; + } + } +#endif + kind = __Pyx_PyUnicode_KIND(s1); + if (kind != __Pyx_PyUnicode_KIND(s2)) { + goto return_ne; + } + data1 = __Pyx_PyUnicode_DATA(s1); + data2 = __Pyx_PyUnicode_DATA(s2); + if (__Pyx_PyUnicode_READ(kind, data1, 0) != __Pyx_PyUnicode_READ(kind, data2, 0)) { + goto return_ne; + } else if (length == 1) { + goto return_eq; + } else { + int result = memcmp(data1, data2, (size_t)(length * kind)); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_EQ) ? (result == 0) : (result != 0); + } + } else if ((s1 == Py_None) & s2_is_unicode) { + goto return_ne; + } else if ((s2 == Py_None) & s1_is_unicode) { + goto return_ne; + } else { + int result; + PyObject* py_result = PyObject_RichCompare(s1, s2, equals); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + if (!py_result) + return -1; + result = __Pyx_PyObject_IsTrue(py_result); + Py_DECREF(py_result); + return result; + } +return_eq: + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_EQ); +return_ne: + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_NE); +#endif +} + +/* fastcall */ +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE PyObject * __Pyx_GetKwValue_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues, PyObject *s) +{ + Py_ssize_t i, n = PyTuple_GET_SIZE(kwnames); + for (i = 0; i < n; i++) + { + if (s == PyTuple_GET_ITEM(kwnames, i)) return kwvalues[i]; + } + for (i = 0; i < n; i++) + { + int eq = __Pyx_PyUnicode_Equals(s, PyTuple_GET_ITEM(kwnames, i), Py_EQ); + if (unlikely(eq != 0)) { + if (unlikely(eq < 0)) return NULL; + return kwvalues[i]; + } + } + return NULL; +} +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 +CYTHON_UNUSED static PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues) { + Py_ssize_t i, nkwargs = PyTuple_GET_SIZE(kwnames); + PyObject *dict; + dict = PyDict_New(); + if (unlikely(!dict)) + return NULL; + for (i=0; i= 3 + "%s() got multiple values for keyword argument '%U'", func_name, kw_name); + #else + "%s() got multiple values for keyword argument '%s'", func_name, + PyString_AsString(kw_name)); + #endif +} + +/* ParseKeywords */ +static int __Pyx_ParseOptionalKeywords( + PyObject *kwds, + PyObject *const *kwvalues, + PyObject **argnames[], + PyObject *kwds2, + PyObject *values[], + Py_ssize_t num_pos_args, + const char* function_name) +{ + PyObject *key = 0, *value = 0; + Py_ssize_t pos = 0; + PyObject*** name; + PyObject*** first_kw_arg = argnames + num_pos_args; + int kwds_is_tuple = CYTHON_METH_FASTCALL && likely(PyTuple_Check(kwds)); + while (1) { + Py_XDECREF(key); key = NULL; + Py_XDECREF(value); value = NULL; + if (kwds_is_tuple) { + Py_ssize_t size; +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(kwds); +#else + size = PyTuple_Size(kwds); + if (size < 0) goto bad; +#endif + if (pos >= size) break; +#if CYTHON_AVOID_BORROWED_REFS + key = __Pyx_PySequence_ITEM(kwds, pos); + if (!key) goto bad; +#elif CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kwds, pos); +#else + key = PyTuple_GetItem(kwds, pos); + if (!key) goto bad; +#endif + value = kwvalues[pos]; + pos++; + } + else + { + if (!PyDict_Next(kwds, &pos, &key, &value)) break; +#if CYTHON_AVOID_BORROWED_REFS + Py_INCREF(key); +#endif + } + name = first_kw_arg; + while (*name && (**name != key)) name++; + if (*name) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + Py_INCREF(value); + Py_DECREF(key); +#endif + key = NULL; + value = NULL; + continue; + } +#if !CYTHON_AVOID_BORROWED_REFS + Py_INCREF(key); +#endif + Py_INCREF(value); + name = first_kw_arg; + #if PY_MAJOR_VERSION < 3 + if (likely(PyString_Check(key))) { + while (*name) { + if ((CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**name) == PyString_GET_SIZE(key)) + && _PyString_Eq(**name, key)) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + value = NULL; +#endif + break; + } + name++; + } + if (*name) continue; + else { + PyObject*** argname = argnames; + while (argname != first_kw_arg) { + if ((**argname == key) || ( + (CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**argname) == PyString_GET_SIZE(key)) + && _PyString_Eq(**argname, key))) { + goto arg_passed_twice; + } + argname++; + } + } + } else + #endif + if (likely(PyUnicode_Check(key))) { + while (*name) { + int cmp = ( + #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 + (__Pyx_PyUnicode_GET_LENGTH(**name) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : + #endif + PyUnicode_Compare(**name, key) + ); + if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; + if (cmp == 0) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + value = NULL; +#endif + break; + } + name++; + } + if (*name) continue; + else { + PyObject*** argname = argnames; + while (argname != first_kw_arg) { + int cmp = (**argname == key) ? 0 : + #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 + (__Pyx_PyUnicode_GET_LENGTH(**argname) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : + #endif + PyUnicode_Compare(**argname, key); + if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; + if (cmp == 0) goto arg_passed_twice; + argname++; + } + } + } else + goto invalid_keyword_type; + if (kwds2) { + if (unlikely(PyDict_SetItem(kwds2, key, value))) goto bad; + } else { + goto invalid_keyword; + } + } + Py_XDECREF(key); + Py_XDECREF(value); + return 0; +arg_passed_twice: + __Pyx_RaiseDoubleKeywordsError(function_name, key); + goto bad; +invalid_keyword_type: + PyErr_Format(PyExc_TypeError, + "%.200s() keywords must be strings", function_name); + goto bad; +invalid_keyword: + #if PY_MAJOR_VERSION < 3 + PyErr_Format(PyExc_TypeError, + "%.200s() got an unexpected keyword argument '%.200s'", + function_name, PyString_AsString(key)); + #else + PyErr_Format(PyExc_TypeError, + "%s() got an unexpected keyword argument '%U'", + function_name, key); + #endif +bad: + Py_XDECREF(key); + Py_XDECREF(value); + return -1; +} + +/* PyObjectSetAttrStr */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE int __Pyx_PyObject_SetAttrStr(PyObject* obj, PyObject* attr_name, PyObject* value) { + PyTypeObject* tp = Py_TYPE(obj); + if (likely(tp->tp_setattro)) + return tp->tp_setattro(obj, attr_name, value); +#if PY_MAJOR_VERSION < 3 + if (likely(tp->tp_setattr)) + return tp->tp_setattr(obj, PyString_AS_STRING(attr_name), value); +#endif + return PyObject_SetAttr(obj, attr_name, value); +} +#endif + +/* GetItemInt */ +static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j) { + PyObject *r; + if (unlikely(!j)) return NULL; + r = PyObject_GetItem(o, j); + Py_DECREF(j); + return r; +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + Py_ssize_t wrapped_i = i; + if (wraparound & unlikely(i < 0)) { + wrapped_i += PyList_GET_SIZE(o); + } + if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyList_GET_SIZE(o)))) { + PyObject *r = PyList_GET_ITEM(o, wrapped_i); + Py_INCREF(r); + return r; + } + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +#else + return PySequence_GetItem(o, i); +#endif +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + Py_ssize_t wrapped_i = i; + if (wraparound & unlikely(i < 0)) { + wrapped_i += PyTuple_GET_SIZE(o); + } + if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyTuple_GET_SIZE(o)))) { + PyObject *r = PyTuple_GET_ITEM(o, wrapped_i); + Py_INCREF(r); + return r; + } + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +#else + return PySequence_GetItem(o, i); +#endif +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, int is_list, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS && CYTHON_USE_TYPE_SLOTS + if (is_list || PyList_CheckExact(o)) { + Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyList_GET_SIZE(o); + if ((!boundscheck) || (likely(__Pyx_is_valid_index(n, PyList_GET_SIZE(o))))) { + PyObject *r = PyList_GET_ITEM(o, n); + Py_INCREF(r); + return r; + } + } + else if (PyTuple_CheckExact(o)) { + Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyTuple_GET_SIZE(o); + if ((!boundscheck) || likely(__Pyx_is_valid_index(n, PyTuple_GET_SIZE(o)))) { + PyObject *r = PyTuple_GET_ITEM(o, n); + Py_INCREF(r); + return r; + } + } else { + PyMappingMethods *mm = Py_TYPE(o)->tp_as_mapping; + PySequenceMethods *sm = Py_TYPE(o)->tp_as_sequence; + if (mm && mm->mp_subscript) { + PyObject *r, *key = PyInt_FromSsize_t(i); + if (unlikely(!key)) return NULL; + r = mm->mp_subscript(o, key); + Py_DECREF(key); + return r; + } + if (likely(sm && sm->sq_item)) { + if (wraparound && unlikely(i < 0) && likely(sm->sq_length)) { + Py_ssize_t l = sm->sq_length(o); + if (likely(l >= 0)) { + i += l; + } else { + if (!PyErr_ExceptionMatches(PyExc_OverflowError)) + return NULL; + PyErr_Clear(); + } + } + return sm->sq_item(o, i); + } + } +#else + if (is_list || !PyMapping_Check(o)) { + return PySequence_GetItem(o, i); + } +#endif + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +} + +/* PyObjectCallOneArg */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg) { + PyObject *args[2] = {NULL, arg}; + return __Pyx_PyObject_FastCall(func, args+1, 1 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET); +} + +/* ObjectGetItem */ +#if CYTHON_USE_TYPE_SLOTS +static PyObject *__Pyx_PyObject_GetIndex(PyObject *obj, PyObject *index) { + PyObject *runerr = NULL; + Py_ssize_t key_value; + key_value = __Pyx_PyIndex_AsSsize_t(index); + if (likely(key_value != -1 || !(runerr = PyErr_Occurred()))) { + return __Pyx_GetItemInt_Fast(obj, key_value, 0, 1, 1); + } + if (PyErr_GivenExceptionMatches(runerr, PyExc_OverflowError)) { + __Pyx_TypeName index_type_name = __Pyx_PyType_GetName(Py_TYPE(index)); + PyErr_Clear(); + PyErr_Format(PyExc_IndexError, + "cannot fit '" __Pyx_FMT_TYPENAME "' into an index-sized integer", index_type_name); + __Pyx_DECREF_TypeName(index_type_name); + } + return NULL; +} +static PyObject *__Pyx_PyObject_GetItem_Slow(PyObject *obj, PyObject *key) { + __Pyx_TypeName obj_type_name; + if (likely(PyType_Check(obj))) { + PyObject *meth = __Pyx_PyObject_GetAttrStrNoError(obj, __pyx_n_s_class_getitem); + if (!meth) { + PyErr_Clear(); + } else { + PyObject *result = __Pyx_PyObject_CallOneArg(meth, key); + Py_DECREF(meth); + return result; + } + } + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, + "'" __Pyx_FMT_TYPENAME "' object is not subscriptable", obj_type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return NULL; +} +static PyObject *__Pyx_PyObject_GetItem(PyObject *obj, PyObject *key) { + PyTypeObject *tp = Py_TYPE(obj); + PyMappingMethods *mm = tp->tp_as_mapping; + PySequenceMethods *sm = tp->tp_as_sequence; + if (likely(mm && mm->mp_subscript)) { + return mm->mp_subscript(obj, key); + } + if (likely(sm && sm->sq_item)) { + return __Pyx_PyObject_GetIndex(obj, key); + } + return __Pyx_PyObject_GetItem_Slow(obj, key); +} +#endif + +/* KeywordStringCheck */ +static int __Pyx_CheckKeywordStrings( + PyObject *kw, + const char* function_name, + int kw_allowed) +{ + PyObject* key = 0; + Py_ssize_t pos = 0; +#if CYTHON_COMPILING_IN_PYPY + if (!kw_allowed && PyDict_Next(kw, &pos, &key, 0)) + goto invalid_keyword; + return 1; +#else + if (CYTHON_METH_FASTCALL && likely(PyTuple_Check(kw))) { + Py_ssize_t kwsize; +#if CYTHON_ASSUME_SAFE_MACROS + kwsize = PyTuple_GET_SIZE(kw); +#else + kwsize = PyTuple_Size(kw); + if (kwsize < 0) return 0; +#endif + if (unlikely(kwsize == 0)) + return 1; + if (!kw_allowed) { +#if CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kw, 0); +#else + key = PyTuple_GetItem(kw, pos); + if (!key) return 0; +#endif + goto invalid_keyword; + } +#if PY_VERSION_HEX < 0x03090000 + for (pos = 0; pos < kwsize; pos++) { +#if CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kw, pos); +#else + key = PyTuple_GetItem(kw, pos); + if (!key) return 0; +#endif + if (unlikely(!PyUnicode_Check(key))) + goto invalid_keyword_type; + } +#endif + return 1; + } + while (PyDict_Next(kw, &pos, &key, 0)) { + #if PY_MAJOR_VERSION < 3 + if (unlikely(!PyString_Check(key))) + #endif + if (unlikely(!PyUnicode_Check(key))) + goto invalid_keyword_type; + } + if (!kw_allowed && unlikely(key)) + goto invalid_keyword; + return 1; +invalid_keyword_type: + PyErr_Format(PyExc_TypeError, + "%.200s() keywords must be strings", function_name); + return 0; +#endif +invalid_keyword: + #if PY_MAJOR_VERSION < 3 + PyErr_Format(PyExc_TypeError, + "%.200s() got an unexpected keyword argument '%.200s'", + function_name, PyString_AsString(key)); + #else + PyErr_Format(PyExc_TypeError, + "%s() got an unexpected keyword argument '%U'", + function_name, key); + #endif + return 0; +} + +/* GetAttr3 */ +#if __PYX_LIMITED_VERSION_HEX < 0x030d00A1 +static PyObject *__Pyx_GetAttr3Default(PyObject *d) { + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + if (unlikely(!__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) + return NULL; + __Pyx_PyErr_Clear(); + Py_INCREF(d); + return d; +} +#endif +static CYTHON_INLINE PyObject *__Pyx_GetAttr3(PyObject *o, PyObject *n, PyObject *d) { + PyObject *r; +#if __PYX_LIMITED_VERSION_HEX >= 0x030d00A1 + int res = PyObject_GetOptionalAttr(o, n, &r); + return (res != 0) ? r : __Pyx_NewRef(d); +#else + #if CYTHON_USE_TYPE_SLOTS + if (likely(PyString_Check(n))) { + r = __Pyx_PyObject_GetAttrStrNoError(o, n); + if (unlikely(!r) && likely(!PyErr_Occurred())) { + r = __Pyx_NewRef(d); + } + return r; + } + #endif + r = PyObject_GetAttr(o, n); + return (likely(r)) ? r : __Pyx_GetAttr3Default(d); +#endif +} + +/* RaiseUnexpectedTypeError */ +static int +__Pyx_RaiseUnexpectedTypeError(const char *expected, PyObject *obj) +{ + __Pyx_TypeName obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, "Expected %s, got " __Pyx_FMT_TYPENAME, + expected, obj_type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return 0; +} + +/* RaiseException */ +#if PY_MAJOR_VERSION < 3 +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) { + __Pyx_PyThreadState_declare + CYTHON_UNUSED_VAR(cause); + Py_XINCREF(type); + if (!value || value == Py_None) + value = NULL; + else + Py_INCREF(value); + if (!tb || tb == Py_None) + tb = NULL; + else { + Py_INCREF(tb); + if (!PyTraceBack_Check(tb)) { + PyErr_SetString(PyExc_TypeError, + "raise: arg 3 must be a traceback or None"); + goto raise_error; + } + } + if (PyType_Check(type)) { +#if CYTHON_COMPILING_IN_PYPY + if (!value) { + Py_INCREF(Py_None); + value = Py_None; + } +#endif + PyErr_NormalizeException(&type, &value, &tb); + } else { + if (value) { + PyErr_SetString(PyExc_TypeError, + "instance exception may not have a separate value"); + goto raise_error; + } + value = type; + type = (PyObject*) Py_TYPE(type); + Py_INCREF(type); + if (!PyType_IsSubtype((PyTypeObject *)type, (PyTypeObject *)PyExc_BaseException)) { + PyErr_SetString(PyExc_TypeError, + "raise: exception class must be a subclass of BaseException"); + goto raise_error; + } + } + __Pyx_PyThreadState_assign + __Pyx_ErrRestore(type, value, tb); + return; +raise_error: + Py_XDECREF(value); + Py_XDECREF(type); + Py_XDECREF(tb); + return; +} +#else +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) { + PyObject* owned_instance = NULL; + if (tb == Py_None) { + tb = 0; + } else if (tb && !PyTraceBack_Check(tb)) { + PyErr_SetString(PyExc_TypeError, + "raise: arg 3 must be a traceback or None"); + goto bad; + } + if (value == Py_None) + value = 0; + if (PyExceptionInstance_Check(type)) { + if (value) { + PyErr_SetString(PyExc_TypeError, + "instance exception may not have a separate value"); + goto bad; + } + value = type; + type = (PyObject*) Py_TYPE(value); + } else if (PyExceptionClass_Check(type)) { + PyObject *instance_class = NULL; + if (value && PyExceptionInstance_Check(value)) { + instance_class = (PyObject*) Py_TYPE(value); + if (instance_class != type) { + int is_subclass = PyObject_IsSubclass(instance_class, type); + if (!is_subclass) { + instance_class = NULL; + } else if (unlikely(is_subclass == -1)) { + goto bad; + } else { + type = instance_class; + } + } + } + if (!instance_class) { + PyObject *args; + if (!value) + args = PyTuple_New(0); + else if (PyTuple_Check(value)) { + Py_INCREF(value); + args = value; + } else + args = PyTuple_Pack(1, value); + if (!args) + goto bad; + owned_instance = PyObject_Call(type, args, NULL); + Py_DECREF(args); + if (!owned_instance) + goto bad; + value = owned_instance; + if (!PyExceptionInstance_Check(value)) { + PyErr_Format(PyExc_TypeError, + "calling %R should have returned an instance of " + "BaseException, not %R", + type, Py_TYPE(value)); + goto bad; + } + } + } else { + PyErr_SetString(PyExc_TypeError, + "raise: exception class must be a subclass of BaseException"); + goto bad; + } + if (cause) { + PyObject *fixed_cause; + if (cause == Py_None) { + fixed_cause = NULL; + } else if (PyExceptionClass_Check(cause)) { + fixed_cause = PyObject_CallObject(cause, NULL); + if (fixed_cause == NULL) + goto bad; + } else if (PyExceptionInstance_Check(cause)) { + fixed_cause = cause; + Py_INCREF(fixed_cause); + } else { + PyErr_SetString(PyExc_TypeError, + "exception causes must derive from " + "BaseException"); + goto bad; + } + PyException_SetCause(value, fixed_cause); + } + PyErr_SetObject(type, value); + if (tb) { + #if PY_VERSION_HEX >= 0x030C00A6 + PyException_SetTraceback(value, tb); + #elif CYTHON_FAST_THREAD_STATE + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject* tmp_tb = tstate->curexc_traceback; + if (tb != tmp_tb) { + Py_INCREF(tb); + tstate->curexc_traceback = tb; + Py_XDECREF(tmp_tb); + } +#else + PyObject *tmp_type, *tmp_value, *tmp_tb; + PyErr_Fetch(&tmp_type, &tmp_value, &tmp_tb); + Py_INCREF(tb); + PyErr_Restore(tmp_type, tmp_value, tb); + Py_XDECREF(tmp_tb); +#endif + } +bad: + Py_XDECREF(owned_instance); + return; +} +#endif + +/* Import */ +static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level) { + PyObject *module = 0; + PyObject *empty_dict = 0; + PyObject *empty_list = 0; + #if PY_MAJOR_VERSION < 3 + PyObject *py_import; + py_import = __Pyx_PyObject_GetAttrStr(__pyx_b, __pyx_n_s_import); + if (unlikely(!py_import)) + goto bad; + if (!from_list) { + empty_list = PyList_New(0); + if (unlikely(!empty_list)) + goto bad; + from_list = empty_list; + } + #endif + empty_dict = PyDict_New(); + if (unlikely(!empty_dict)) + goto bad; + { + #if PY_MAJOR_VERSION >= 3 + if (level == -1) { + if (strchr(__Pyx_MODULE_NAME, '.') != NULL) { + module = PyImport_ImportModuleLevelObject( + name, __pyx_d, empty_dict, from_list, 1); + if (unlikely(!module)) { + if (unlikely(!PyErr_ExceptionMatches(PyExc_ImportError))) + goto bad; + PyErr_Clear(); + } + } + level = 0; + } + #endif + if (!module) { + #if PY_MAJOR_VERSION < 3 + PyObject *py_level = PyInt_FromLong(level); + if (unlikely(!py_level)) + goto bad; + module = PyObject_CallFunctionObjArgs(py_import, + name, __pyx_d, empty_dict, from_list, py_level, (PyObject *)NULL); + Py_DECREF(py_level); + #else + module = PyImport_ImportModuleLevelObject( + name, __pyx_d, empty_dict, from_list, level); + #endif + } + } +bad: + Py_XDECREF(empty_dict); + Py_XDECREF(empty_list); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(py_import); + #endif + return module; +} + +/* ImportFrom */ +static PyObject* __Pyx_ImportFrom(PyObject* module, PyObject* name) { + PyObject* value = __Pyx_PyObject_GetAttrStr(module, name); + if (unlikely(!value) && PyErr_ExceptionMatches(PyExc_AttributeError)) { + const char* module_name_str = 0; + PyObject* module_name = 0; + PyObject* module_dot = 0; + PyObject* full_name = 0; + PyErr_Clear(); + module_name_str = PyModule_GetName(module); + if (unlikely(!module_name_str)) { goto modbad; } + module_name = PyUnicode_FromString(module_name_str); + if (unlikely(!module_name)) { goto modbad; } + module_dot = PyUnicode_Concat(module_name, __pyx_kp_u__3); + if (unlikely(!module_dot)) { goto modbad; } + full_name = PyUnicode_Concat(module_dot, name); + if (unlikely(!full_name)) { goto modbad; } + #if PY_VERSION_HEX < 0x030700A1 || (CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM < 0x07030400) + { + PyObject *modules = PyImport_GetModuleDict(); + if (unlikely(!modules)) + goto modbad; + value = PyObject_GetItem(modules, full_name); + } + #else + value = PyImport_GetModule(full_name); + #endif + modbad: + Py_XDECREF(full_name); + Py_XDECREF(module_dot); + Py_XDECREF(module_name); + } + if (unlikely(!value)) { + PyErr_Format(PyExc_ImportError, + #if PY_MAJOR_VERSION < 3 + "cannot import name %.230s", PyString_AS_STRING(name)); + #else + "cannot import name %S", name); + #endif + } + return value; +} + +/* GetAttr */ +static CYTHON_INLINE PyObject *__Pyx_GetAttr(PyObject *o, PyObject *n) { +#if CYTHON_USE_TYPE_SLOTS +#if PY_MAJOR_VERSION >= 3 + if (likely(PyUnicode_Check(n))) +#else + if (likely(PyString_Check(n))) +#endif + return __Pyx_PyObject_GetAttrStr(o, n); +#endif + return PyObject_GetAttr(o, n); +} + +/* HasAttr */ +#if __PYX_LIMITED_VERSION_HEX < 0x030d00A1 +static CYTHON_INLINE int __Pyx_HasAttr(PyObject *o, PyObject *n) { + PyObject *r; + if (unlikely(!__Pyx_PyBaseString_Check(n))) { + PyErr_SetString(PyExc_TypeError, + "hasattr(): attribute name must be string"); + return -1; + } + r = __Pyx_GetAttr(o, n); + if (!r) { + PyErr_Clear(); + return 0; + } else { + Py_DECREF(r); + return 1; + } +} +#endif + +/* decode_c_bytes */ +static CYTHON_INLINE PyObject* __Pyx_decode_c_bytes( + const char* cstring, Py_ssize_t length, Py_ssize_t start, Py_ssize_t stop, + const char* encoding, const char* errors, + PyObject* (*decode_func)(const char *s, Py_ssize_t size, const char *errors)) { + if (unlikely((start < 0) | (stop < 0))) { + if (start < 0) { + start += length; + if (start < 0) + start = 0; + } + if (stop < 0) + stop += length; + } + if (stop > length) + stop = length; + if (unlikely(stop <= start)) + return __Pyx_NewRef(__pyx_empty_unicode); + length = stop - start; + cstring += start; + if (decode_func) { + return decode_func(cstring, length, errors); + } else { + return PyUnicode_Decode(cstring, length, encoding, errors); + } +} + +/* FixUpExtensionType */ +#if CYTHON_USE_TYPE_SPECS +static int __Pyx_fix_up_extension_type_from_spec(PyType_Spec *spec, PyTypeObject *type) { +#if PY_VERSION_HEX > 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + CYTHON_UNUSED_VAR(spec); + CYTHON_UNUSED_VAR(type); +#else + const PyType_Slot *slot = spec->slots; + while (slot && slot->slot && slot->slot != Py_tp_members) + slot++; + if (slot && slot->slot == Py_tp_members) { + int changed = 0; +#if !(PY_VERSION_HEX <= 0x030900b1 && CYTHON_COMPILING_IN_CPYTHON) + const +#endif + PyMemberDef *memb = (PyMemberDef*) slot->pfunc; + while (memb && memb->name) { + if (memb->name[0] == '_' && memb->name[1] == '_') { +#if PY_VERSION_HEX < 0x030900b1 + if (strcmp(memb->name, "__weaklistoffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); + type->tp_weaklistoffset = memb->offset; + changed = 1; + } + else if (strcmp(memb->name, "__dictoffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); + type->tp_dictoffset = memb->offset; + changed = 1; + } +#if CYTHON_METH_FASTCALL + else if (strcmp(memb->name, "__vectorcalloffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); +#if PY_VERSION_HEX >= 0x030800b4 + type->tp_vectorcall_offset = memb->offset; +#else + type->tp_print = (printfunc) memb->offset; +#endif + changed = 1; + } +#endif +#else + if ((0)); +#endif +#if PY_VERSION_HEX <= 0x030900b1 && CYTHON_COMPILING_IN_CPYTHON + else if (strcmp(memb->name, "__module__") == 0) { + PyObject *descr; + assert(memb->type == T_OBJECT); + assert(memb->flags == 0 || memb->flags == READONLY); + descr = PyDescr_NewMember(type, memb); + if (unlikely(!descr)) + return -1; + if (unlikely(PyDict_SetItem(type->tp_dict, PyDescr_NAME(descr), descr) < 0)) { + Py_DECREF(descr); + return -1; + } + Py_DECREF(descr); + changed = 1; + } +#endif + } + memb++; + } + if (changed) + PyType_Modified(type); + } +#endif + return 0; +} +#endif + +/* PyObjectCallNoArg */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func) { + PyObject *arg[2] = {NULL, NULL}; + return __Pyx_PyObject_FastCall(func, arg + 1, 0 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET); +} + +/* PyObjectGetMethod */ +static int __Pyx_PyObject_GetMethod(PyObject *obj, PyObject *name, PyObject **method) { + PyObject *attr; +#if CYTHON_UNPACK_METHODS && CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_PYTYPE_LOOKUP + __Pyx_TypeName type_name; + PyTypeObject *tp = Py_TYPE(obj); + PyObject *descr; + descrgetfunc f = NULL; + PyObject **dictptr, *dict; + int meth_found = 0; + assert (*method == NULL); + if (unlikely(tp->tp_getattro != PyObject_GenericGetAttr)) { + attr = __Pyx_PyObject_GetAttrStr(obj, name); + goto try_unpack; + } + if (unlikely(tp->tp_dict == NULL) && unlikely(PyType_Ready(tp) < 0)) { + return 0; + } + descr = _PyType_Lookup(tp, name); + if (likely(descr != NULL)) { + Py_INCREF(descr); +#if defined(Py_TPFLAGS_METHOD_DESCRIPTOR) && Py_TPFLAGS_METHOD_DESCRIPTOR + if (__Pyx_PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_METHOD_DESCRIPTOR)) +#elif PY_MAJOR_VERSION >= 3 + #ifdef __Pyx_CyFunction_USED + if (likely(PyFunction_Check(descr) || __Pyx_IS_TYPE(descr, &PyMethodDescr_Type) || __Pyx_CyFunction_Check(descr))) + #else + if (likely(PyFunction_Check(descr) || __Pyx_IS_TYPE(descr, &PyMethodDescr_Type))) + #endif +#else + #ifdef __Pyx_CyFunction_USED + if (likely(PyFunction_Check(descr) || __Pyx_CyFunction_Check(descr))) + #else + if (likely(PyFunction_Check(descr))) + #endif +#endif + { + meth_found = 1; + } else { + f = Py_TYPE(descr)->tp_descr_get; + if (f != NULL && PyDescr_IsData(descr)) { + attr = f(descr, obj, (PyObject *)Py_TYPE(obj)); + Py_DECREF(descr); + goto try_unpack; + } + } + } + dictptr = _PyObject_GetDictPtr(obj); + if (dictptr != NULL && (dict = *dictptr) != NULL) { + Py_INCREF(dict); + attr = __Pyx_PyDict_GetItemStr(dict, name); + if (attr != NULL) { + Py_INCREF(attr); + Py_DECREF(dict); + Py_XDECREF(descr); + goto try_unpack; + } + Py_DECREF(dict); + } + if (meth_found) { + *method = descr; + return 1; + } + if (f != NULL) { + attr = f(descr, obj, (PyObject *)Py_TYPE(obj)); + Py_DECREF(descr); + goto try_unpack; + } + if (likely(descr != NULL)) { + *method = descr; + return 0; + } + type_name = __Pyx_PyType_GetName(tp); + PyErr_Format(PyExc_AttributeError, +#if PY_MAJOR_VERSION >= 3 + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%U'", + type_name, name); +#else + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%.400s'", + type_name, PyString_AS_STRING(name)); +#endif + __Pyx_DECREF_TypeName(type_name); + return 0; +#else + attr = __Pyx_PyObject_GetAttrStr(obj, name); + goto try_unpack; +#endif +try_unpack: +#if CYTHON_UNPACK_METHODS + if (likely(attr) && PyMethod_Check(attr) && likely(PyMethod_GET_SELF(attr) == obj)) { + PyObject *function = PyMethod_GET_FUNCTION(attr); + Py_INCREF(function); + Py_DECREF(attr); + *method = function; + return 1; + } +#endif + *method = attr; + return 0; +} + +/* PyObjectCallMethod0 */ +static PyObject* __Pyx_PyObject_CallMethod0(PyObject* obj, PyObject* method_name) { + PyObject *method = NULL, *result = NULL; + int is_method = __Pyx_PyObject_GetMethod(obj, method_name, &method); + if (likely(is_method)) { + result = __Pyx_PyObject_CallOneArg(method, obj); + Py_DECREF(method); + return result; + } + if (unlikely(!method)) goto bad; + result = __Pyx_PyObject_CallNoArg(method); + Py_DECREF(method); +bad: + return result; +} + +/* ValidateBasesTuple */ +#if CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API || CYTHON_USE_TYPE_SPECS +static int __Pyx_validate_bases_tuple(const char *type_name, Py_ssize_t dictoffset, PyObject *bases) { + Py_ssize_t i, n; +#if CYTHON_ASSUME_SAFE_MACROS + n = PyTuple_GET_SIZE(bases); +#else + n = PyTuple_Size(bases); + if (n < 0) return -1; +#endif + for (i = 1; i < n; i++) + { +#if CYTHON_AVOID_BORROWED_REFS + PyObject *b0 = PySequence_GetItem(bases, i); + if (!b0) return -1; +#elif CYTHON_ASSUME_SAFE_MACROS + PyObject *b0 = PyTuple_GET_ITEM(bases, i); +#else + PyObject *b0 = PyTuple_GetItem(bases, i); + if (!b0) return -1; +#endif + PyTypeObject *b; +#if PY_MAJOR_VERSION < 3 + if (PyClass_Check(b0)) + { + PyErr_Format(PyExc_TypeError, "base class '%.200s' is an old-style class", + PyString_AS_STRING(((PyClassObject*)b0)->cl_name)); +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } +#endif + b = (PyTypeObject*) b0; + if (!__Pyx_PyType_HasFeature(b, Py_TPFLAGS_HEAPTYPE)) + { + __Pyx_TypeName b_name = __Pyx_PyType_GetName(b); + PyErr_Format(PyExc_TypeError, + "base class '" __Pyx_FMT_TYPENAME "' is not a heap type", b_name); + __Pyx_DECREF_TypeName(b_name); +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } + if (dictoffset == 0) + { + Py_ssize_t b_dictoffset = 0; +#if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + b_dictoffset = b->tp_dictoffset; +#else + PyObject *py_b_dictoffset = PyObject_GetAttrString((PyObject*)b, "__dictoffset__"); + if (!py_b_dictoffset) goto dictoffset_return; + b_dictoffset = PyLong_AsSsize_t(py_b_dictoffset); + Py_DECREF(py_b_dictoffset); + if (b_dictoffset == -1 && PyErr_Occurred()) goto dictoffset_return; +#endif + if (b_dictoffset) { + { + __Pyx_TypeName b_name = __Pyx_PyType_GetName(b); + PyErr_Format(PyExc_TypeError, + "extension type '%.200s' has no __dict__ slot, " + "but base type '" __Pyx_FMT_TYPENAME "' has: " + "either add 'cdef dict __dict__' to the extension type " + "or add '__slots__ = [...]' to the base type", + type_name, b_name); + __Pyx_DECREF_TypeName(b_name); + } +#if !(CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY) + dictoffset_return: +#endif +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } + } +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + } + return 0; +} +#endif + +/* PyType_Ready */ +static int __Pyx_PyType_Ready(PyTypeObject *t) { +#if CYTHON_USE_TYPE_SPECS || !(CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API) || defined(PYSTON_MAJOR_VERSION) + (void)__Pyx_PyObject_CallMethod0; +#if CYTHON_USE_TYPE_SPECS + (void)__Pyx_validate_bases_tuple; +#endif + return PyType_Ready(t); +#else + int r; + PyObject *bases = __Pyx_PyType_GetSlot(t, tp_bases, PyObject*); + if (bases && unlikely(__Pyx_validate_bases_tuple(t->tp_name, t->tp_dictoffset, bases) == -1)) + return -1; +#if PY_VERSION_HEX >= 0x03050000 && !defined(PYSTON_MAJOR_VERSION) + { + int gc_was_enabled; + #if PY_VERSION_HEX >= 0x030A00b1 + gc_was_enabled = PyGC_Disable(); + (void)__Pyx_PyObject_CallMethod0; + #else + PyObject *ret, *py_status; + PyObject *gc = NULL; + #if PY_VERSION_HEX >= 0x030700a1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM+0 >= 0x07030400) + gc = PyImport_GetModule(__pyx_kp_u_gc); + #endif + if (unlikely(!gc)) gc = PyImport_Import(__pyx_kp_u_gc); + if (unlikely(!gc)) return -1; + py_status = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_isenabled); + if (unlikely(!py_status)) { + Py_DECREF(gc); + return -1; + } + gc_was_enabled = __Pyx_PyObject_IsTrue(py_status); + Py_DECREF(py_status); + if (gc_was_enabled > 0) { + ret = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_disable); + if (unlikely(!ret)) { + Py_DECREF(gc); + return -1; + } + Py_DECREF(ret); + } else if (unlikely(gc_was_enabled == -1)) { + Py_DECREF(gc); + return -1; + } + #endif + t->tp_flags |= Py_TPFLAGS_HEAPTYPE; +#if PY_VERSION_HEX >= 0x030A0000 + t->tp_flags |= Py_TPFLAGS_IMMUTABLETYPE; +#endif +#else + (void)__Pyx_PyObject_CallMethod0; +#endif + r = PyType_Ready(t); +#if PY_VERSION_HEX >= 0x03050000 && !defined(PYSTON_MAJOR_VERSION) + t->tp_flags &= ~Py_TPFLAGS_HEAPTYPE; + #if PY_VERSION_HEX >= 0x030A00b1 + if (gc_was_enabled) + PyGC_Enable(); + #else + if (gc_was_enabled) { + PyObject *tp, *v, *tb; + PyErr_Fetch(&tp, &v, &tb); + ret = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_enable); + if (likely(ret || r == -1)) { + Py_XDECREF(ret); + PyErr_Restore(tp, v, tb); + } else { + Py_XDECREF(tp); + Py_XDECREF(v); + Py_XDECREF(tb); + r = -1; + } + } + Py_DECREF(gc); + #endif + } +#endif + return r; +#endif +} + +/* PyObject_GenericGetAttrNoDict */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject *__Pyx_RaiseGenericGetAttributeError(PyTypeObject *tp, PyObject *attr_name) { + __Pyx_TypeName type_name = __Pyx_PyType_GetName(tp); + PyErr_Format(PyExc_AttributeError, +#if PY_MAJOR_VERSION >= 3 + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%U'", + type_name, attr_name); +#else + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%.400s'", + type_name, PyString_AS_STRING(attr_name)); +#endif + __Pyx_DECREF_TypeName(type_name); + return NULL; +} +static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name) { + PyObject *descr; + PyTypeObject *tp = Py_TYPE(obj); + if (unlikely(!PyString_Check(attr_name))) { + return PyObject_GenericGetAttr(obj, attr_name); + } + assert(!tp->tp_dictoffset); + descr = _PyType_Lookup(tp, attr_name); + if (unlikely(!descr)) { + return __Pyx_RaiseGenericGetAttributeError(tp, attr_name); + } + Py_INCREF(descr); + #if PY_MAJOR_VERSION < 3 + if (likely(PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_HAVE_CLASS))) + #endif + { + descrgetfunc f = Py_TYPE(descr)->tp_descr_get; + if (unlikely(f)) { + PyObject *res = f(descr, obj, (PyObject *)tp); + Py_DECREF(descr); + return res; + } + } + return descr; +} +#endif + +/* PyObject_GenericGetAttr */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name) { + if (unlikely(Py_TYPE(obj)->tp_dictoffset)) { + return PyObject_GenericGetAttr(obj, attr_name); + } + return __Pyx_PyObject_GenericGetAttrNoDict(obj, attr_name); +} +#endif + +/* SetupReduce */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_setup_reduce_is_named(PyObject* meth, PyObject* name) { + int ret; + PyObject *name_attr; + name_attr = __Pyx_PyObject_GetAttrStrNoError(meth, __pyx_n_s_name_2); + if (likely(name_attr)) { + ret = PyObject_RichCompareBool(name_attr, name, Py_EQ); + } else { + ret = -1; + } + if (unlikely(ret < 0)) { + PyErr_Clear(); + ret = 0; + } + Py_XDECREF(name_attr); + return ret; +} +static int __Pyx_setup_reduce(PyObject* type_obj) { + int ret = 0; + PyObject *object_reduce = NULL; + PyObject *object_getstate = NULL; + PyObject *object_reduce_ex = NULL; + PyObject *reduce = NULL; + PyObject *reduce_ex = NULL; + PyObject *reduce_cython = NULL; + PyObject *setstate = NULL; + PyObject *setstate_cython = NULL; + PyObject *getstate = NULL; +#if CYTHON_USE_PYTYPE_LOOKUP + getstate = _PyType_Lookup((PyTypeObject*)type_obj, __pyx_n_s_getstate); +#else + getstate = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_getstate); + if (!getstate && PyErr_Occurred()) { + goto __PYX_BAD; + } +#endif + if (getstate) { +#if CYTHON_USE_PYTYPE_LOOKUP + object_getstate = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_getstate); +#else + object_getstate = __Pyx_PyObject_GetAttrStrNoError((PyObject*)&PyBaseObject_Type, __pyx_n_s_getstate); + if (!object_getstate && PyErr_Occurred()) { + goto __PYX_BAD; + } +#endif + if (object_getstate != getstate) { + goto __PYX_GOOD; + } + } +#if CYTHON_USE_PYTYPE_LOOKUP + object_reduce_ex = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; +#else + object_reduce_ex = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; +#endif + reduce_ex = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce_ex); if (unlikely(!reduce_ex)) goto __PYX_BAD; + if (reduce_ex == object_reduce_ex) { +#if CYTHON_USE_PYTYPE_LOOKUP + object_reduce = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; +#else + object_reduce = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; +#endif + reduce = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce); if (unlikely(!reduce)) goto __PYX_BAD; + if (reduce == object_reduce || __Pyx_setup_reduce_is_named(reduce, __pyx_n_s_reduce_cython)) { + reduce_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_reduce_cython); + if (likely(reduce_cython)) { + ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce, reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + } else if (reduce == object_reduce || PyErr_Occurred()) { + goto __PYX_BAD; + } + setstate = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_setstate); + if (!setstate) PyErr_Clear(); + if (!setstate || __Pyx_setup_reduce_is_named(setstate, __pyx_n_s_setstate_cython)) { + setstate_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_setstate_cython); + if (likely(setstate_cython)) { + ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate, setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + } else if (!setstate || PyErr_Occurred()) { + goto __PYX_BAD; + } + } + PyType_Modified((PyTypeObject*)type_obj); + } + } + goto __PYX_GOOD; +__PYX_BAD: + if (!PyErr_Occurred()) { + __Pyx_TypeName type_obj_name = + __Pyx_PyType_GetName((PyTypeObject*)type_obj); + PyErr_Format(PyExc_RuntimeError, + "Unable to initialize pickling for " __Pyx_FMT_TYPENAME, type_obj_name); + __Pyx_DECREF_TypeName(type_obj_name); + } + ret = -1; +__PYX_GOOD: +#if !CYTHON_USE_PYTYPE_LOOKUP + Py_XDECREF(object_reduce); + Py_XDECREF(object_reduce_ex); + Py_XDECREF(object_getstate); + Py_XDECREF(getstate); +#endif + Py_XDECREF(reduce); + Py_XDECREF(reduce_ex); + Py_XDECREF(reduce_cython); + Py_XDECREF(setstate); + Py_XDECREF(setstate_cython); + return ret; +} +#endif + +/* FetchSharedCythonModule */ +static PyObject *__Pyx_FetchSharedCythonABIModule(void) { + return __Pyx_PyImport_AddModuleRef((char*) __PYX_ABI_MODULE_NAME); +} + +/* FetchCommonType */ +static int __Pyx_VerifyCachedType(PyObject *cached_type, + const char *name, + Py_ssize_t basicsize, + Py_ssize_t expected_basicsize) { + if (!PyType_Check(cached_type)) { + PyErr_Format(PyExc_TypeError, + "Shared Cython type %.200s is not a type object", name); + return -1; + } + if (basicsize != expected_basicsize) { + PyErr_Format(PyExc_TypeError, + "Shared Cython type %.200s has the wrong size, try recompiling", + name); + return -1; + } + return 0; +} +#if !CYTHON_USE_TYPE_SPECS +static PyTypeObject* __Pyx_FetchCommonType(PyTypeObject* type) { + PyObject* abi_module; + const char* object_name; + PyTypeObject *cached_type = NULL; + abi_module = __Pyx_FetchSharedCythonABIModule(); + if (!abi_module) return NULL; + object_name = strrchr(type->tp_name, '.'); + object_name = object_name ? object_name+1 : type->tp_name; + cached_type = (PyTypeObject*) PyObject_GetAttrString(abi_module, object_name); + if (cached_type) { + if (__Pyx_VerifyCachedType( + (PyObject *)cached_type, + object_name, + cached_type->tp_basicsize, + type->tp_basicsize) < 0) { + goto bad; + } + goto done; + } + if (!PyErr_ExceptionMatches(PyExc_AttributeError)) goto bad; + PyErr_Clear(); + if (PyType_Ready(type) < 0) goto bad; + if (PyObject_SetAttrString(abi_module, object_name, (PyObject *)type) < 0) + goto bad; + Py_INCREF(type); + cached_type = type; +done: + Py_DECREF(abi_module); + return cached_type; +bad: + Py_XDECREF(cached_type); + cached_type = NULL; + goto done; +} +#else +static PyTypeObject *__Pyx_FetchCommonTypeFromSpec(PyObject *module, PyType_Spec *spec, PyObject *bases) { + PyObject *abi_module, *cached_type = NULL; + const char* object_name = strrchr(spec->name, '.'); + object_name = object_name ? object_name+1 : spec->name; + abi_module = __Pyx_FetchSharedCythonABIModule(); + if (!abi_module) return NULL; + cached_type = PyObject_GetAttrString(abi_module, object_name); + if (cached_type) { + Py_ssize_t basicsize; +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *py_basicsize; + py_basicsize = PyObject_GetAttrString(cached_type, "__basicsize__"); + if (unlikely(!py_basicsize)) goto bad; + basicsize = PyLong_AsSsize_t(py_basicsize); + Py_DECREF(py_basicsize); + py_basicsize = 0; + if (unlikely(basicsize == (Py_ssize_t)-1) && PyErr_Occurred()) goto bad; +#else + basicsize = likely(PyType_Check(cached_type)) ? ((PyTypeObject*) cached_type)->tp_basicsize : -1; +#endif + if (__Pyx_VerifyCachedType( + cached_type, + object_name, + basicsize, + spec->basicsize) < 0) { + goto bad; + } + goto done; + } + if (!PyErr_ExceptionMatches(PyExc_AttributeError)) goto bad; + PyErr_Clear(); + CYTHON_UNUSED_VAR(module); + cached_type = __Pyx_PyType_FromModuleAndSpec(abi_module, spec, bases); + if (unlikely(!cached_type)) goto bad; + if (unlikely(__Pyx_fix_up_extension_type_from_spec(spec, (PyTypeObject *) cached_type) < 0)) goto bad; + if (PyObject_SetAttrString(abi_module, object_name, cached_type) < 0) goto bad; +done: + Py_DECREF(abi_module); + assert(cached_type == NULL || PyType_Check(cached_type)); + return (PyTypeObject *) cached_type; +bad: + Py_XDECREF(cached_type); + cached_type = NULL; + goto done; +} +#endif + +/* PyVectorcallFastCallDict */ +#if CYTHON_METH_FASTCALL +static PyObject *__Pyx_PyVectorcall_FastCallDict_kw(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw) +{ + PyObject *res = NULL; + PyObject *kwnames; + PyObject **newargs; + PyObject **kwvalues; + Py_ssize_t i, pos; + size_t j; + PyObject *key, *value; + unsigned long keys_are_strings; + Py_ssize_t nkw = PyDict_GET_SIZE(kw); + newargs = (PyObject **)PyMem_Malloc((nargs + (size_t)nkw) * sizeof(args[0])); + if (unlikely(newargs == NULL)) { + PyErr_NoMemory(); + return NULL; + } + for (j = 0; j < nargs; j++) newargs[j] = args[j]; + kwnames = PyTuple_New(nkw); + if (unlikely(kwnames == NULL)) { + PyMem_Free(newargs); + return NULL; + } + kwvalues = newargs + nargs; + pos = i = 0; + keys_are_strings = Py_TPFLAGS_UNICODE_SUBCLASS; + while (PyDict_Next(kw, &pos, &key, &value)) { + keys_are_strings &= Py_TYPE(key)->tp_flags; + Py_INCREF(key); + Py_INCREF(value); + PyTuple_SET_ITEM(kwnames, i, key); + kwvalues[i] = value; + i++; + } + if (unlikely(!keys_are_strings)) { + PyErr_SetString(PyExc_TypeError, "keywords must be strings"); + goto cleanup; + } + res = vc(func, newargs, nargs, kwnames); +cleanup: + Py_DECREF(kwnames); + for (i = 0; i < nkw; i++) + Py_DECREF(kwvalues[i]); + PyMem_Free(newargs); + return res; +} +static CYTHON_INLINE PyObject *__Pyx_PyVectorcall_FastCallDict(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw) +{ + if (likely(kw == NULL) || PyDict_GET_SIZE(kw) == 0) { + return vc(func, args, nargs, NULL); + } + return __Pyx_PyVectorcall_FastCallDict_kw(func, vc, args, nargs, kw); +} +#endif + +/* CythonFunctionShared */ +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc) { + if (__Pyx_CyFunction_Check(func)) { + return PyCFunction_GetFunction(((__pyx_CyFunctionObject*)func)->func) == (PyCFunction) cfunc; + } else if (PyCFunction_Check(func)) { + return PyCFunction_GetFunction(func) == (PyCFunction) cfunc; + } + return 0; +} +#else +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc) { + return __Pyx_CyOrPyCFunction_Check(func) && __Pyx_CyOrPyCFunction_GET_FUNCTION(func) == (PyCFunction) cfunc; +} +#endif +static CYTHON_INLINE void __Pyx__CyFunction_SetClassObj(__pyx_CyFunctionObject* f, PyObject* classobj) { +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + __Pyx_Py_XDECREF_SET( + __Pyx_CyFunction_GetClassObj(f), + ((classobj) ? __Pyx_NewRef(classobj) : NULL)); +#else + __Pyx_Py_XDECREF_SET( + ((PyCMethodObject *) (f))->mm_class, + (PyTypeObject*)((classobj) ? __Pyx_NewRef(classobj) : NULL)); +#endif +} +static PyObject * +__Pyx_CyFunction_get_doc(__pyx_CyFunctionObject *op, void *closure) +{ + CYTHON_UNUSED_VAR(closure); + if (unlikely(op->func_doc == NULL)) { +#if CYTHON_COMPILING_IN_LIMITED_API + op->func_doc = PyObject_GetAttrString(op->func, "__doc__"); + if (unlikely(!op->func_doc)) return NULL; +#else + if (((PyCFunctionObject*)op)->m_ml->ml_doc) { +#if PY_MAJOR_VERSION >= 3 + op->func_doc = PyUnicode_FromString(((PyCFunctionObject*)op)->m_ml->ml_doc); +#else + op->func_doc = PyString_FromString(((PyCFunctionObject*)op)->m_ml->ml_doc); +#endif + if (unlikely(op->func_doc == NULL)) + return NULL; + } else { + Py_INCREF(Py_None); + return Py_None; + } +#endif + } + Py_INCREF(op->func_doc); + return op->func_doc; +} +static int +__Pyx_CyFunction_set_doc(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (value == NULL) { + value = Py_None; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_doc, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_name(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(op->func_name == NULL)) { +#if CYTHON_COMPILING_IN_LIMITED_API + op->func_name = PyObject_GetAttrString(op->func, "__name__"); +#elif PY_MAJOR_VERSION >= 3 + op->func_name = PyUnicode_InternFromString(((PyCFunctionObject*)op)->m_ml->ml_name); +#else + op->func_name = PyString_InternFromString(((PyCFunctionObject*)op)->m_ml->ml_name); +#endif + if (unlikely(op->func_name == NULL)) + return NULL; + } + Py_INCREF(op->func_name); + return op->func_name; +} +static int +__Pyx_CyFunction_set_name(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); +#if PY_MAJOR_VERSION >= 3 + if (unlikely(value == NULL || !PyUnicode_Check(value))) +#else + if (unlikely(value == NULL || !PyString_Check(value))) +#endif + { + PyErr_SetString(PyExc_TypeError, + "__name__ must be set to a string object"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_name, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_qualname(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + Py_INCREF(op->func_qualname); + return op->func_qualname; +} +static int +__Pyx_CyFunction_set_qualname(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); +#if PY_MAJOR_VERSION >= 3 + if (unlikely(value == NULL || !PyUnicode_Check(value))) +#else + if (unlikely(value == NULL || !PyString_Check(value))) +#endif + { + PyErr_SetString(PyExc_TypeError, + "__qualname__ must be set to a string object"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_qualname, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_dict(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(op->func_dict == NULL)) { + op->func_dict = PyDict_New(); + if (unlikely(op->func_dict == NULL)) + return NULL; + } + Py_INCREF(op->func_dict); + return op->func_dict; +} +static int +__Pyx_CyFunction_set_dict(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(value == NULL)) { + PyErr_SetString(PyExc_TypeError, + "function's dictionary may not be deleted"); + return -1; + } + if (unlikely(!PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "setting function's dictionary to a non-dict"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_dict, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_globals(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + Py_INCREF(op->func_globals); + return op->func_globals; +} +static PyObject * +__Pyx_CyFunction_get_closure(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(op); + CYTHON_UNUSED_VAR(context); + Py_INCREF(Py_None); + return Py_None; +} +static PyObject * +__Pyx_CyFunction_get_code(__pyx_CyFunctionObject *op, void *context) +{ + PyObject* result = (op->func_code) ? op->func_code : Py_None; + CYTHON_UNUSED_VAR(context); + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_init_defaults(__pyx_CyFunctionObject *op) { + int result = 0; + PyObject *res = op->defaults_getter((PyObject *) op); + if (unlikely(!res)) + return -1; + #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + op->defaults_tuple = PyTuple_GET_ITEM(res, 0); + Py_INCREF(op->defaults_tuple); + op->defaults_kwdict = PyTuple_GET_ITEM(res, 1); + Py_INCREF(op->defaults_kwdict); + #else + op->defaults_tuple = __Pyx_PySequence_ITEM(res, 0); + if (unlikely(!op->defaults_tuple)) result = -1; + else { + op->defaults_kwdict = __Pyx_PySequence_ITEM(res, 1); + if (unlikely(!op->defaults_kwdict)) result = -1; + } + #endif + Py_DECREF(res); + return result; +} +static int +__Pyx_CyFunction_set_defaults(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value) { + value = Py_None; + } else if (unlikely(value != Py_None && !PyTuple_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__defaults__ must be set to a tuple object"); + return -1; + } + PyErr_WarnEx(PyExc_RuntimeWarning, "changes to cyfunction.__defaults__ will not " + "currently affect the values used in function calls", 1); + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->defaults_tuple, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_defaults(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->defaults_tuple; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + if (op->defaults_getter) { + if (unlikely(__Pyx_CyFunction_init_defaults(op) < 0)) return NULL; + result = op->defaults_tuple; + } else { + result = Py_None; + } + } + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_set_kwdefaults(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value) { + value = Py_None; + } else if (unlikely(value != Py_None && !PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__kwdefaults__ must be set to a dict object"); + return -1; + } + PyErr_WarnEx(PyExc_RuntimeWarning, "changes to cyfunction.__kwdefaults__ will not " + "currently affect the values used in function calls", 1); + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->defaults_kwdict, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_kwdefaults(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->defaults_kwdict; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + if (op->defaults_getter) { + if (unlikely(__Pyx_CyFunction_init_defaults(op) < 0)) return NULL; + result = op->defaults_kwdict; + } else { + result = Py_None; + } + } + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_set_annotations(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value || value == Py_None) { + value = NULL; + } else if (unlikely(!PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__annotations__ must be set to a dict object"); + return -1; + } + Py_XINCREF(value); + __Pyx_Py_XDECREF_SET(op->func_annotations, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_annotations(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->func_annotations; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + result = PyDict_New(); + if (unlikely(!result)) return NULL; + op->func_annotations = result; + } + Py_INCREF(result); + return result; +} +static PyObject * +__Pyx_CyFunction_get_is_coroutine(__pyx_CyFunctionObject *op, void *context) { + int is_coroutine; + CYTHON_UNUSED_VAR(context); + if (op->func_is_coroutine) { + return __Pyx_NewRef(op->func_is_coroutine); + } + is_coroutine = op->flags & __Pyx_CYFUNCTION_COROUTINE; +#if PY_VERSION_HEX >= 0x03050000 + if (is_coroutine) { + PyObject *module, *fromlist, *marker = __pyx_n_s_is_coroutine; + fromlist = PyList_New(1); + if (unlikely(!fromlist)) return NULL; + Py_INCREF(marker); +#if CYTHON_ASSUME_SAFE_MACROS + PyList_SET_ITEM(fromlist, 0, marker); +#else + if (unlikely(PyList_SetItem(fromlist, 0, marker) < 0)) { + Py_DECREF(marker); + Py_DECREF(fromlist); + return NULL; + } +#endif + module = PyImport_ImportModuleLevelObject(__pyx_n_s_asyncio_coroutines, NULL, NULL, fromlist, 0); + Py_DECREF(fromlist); + if (unlikely(!module)) goto ignore; + op->func_is_coroutine = __Pyx_PyObject_GetAttrStr(module, marker); + Py_DECREF(module); + if (likely(op->func_is_coroutine)) { + return __Pyx_NewRef(op->func_is_coroutine); + } +ignore: + PyErr_Clear(); + } +#endif + op->func_is_coroutine = __Pyx_PyBool_FromLong(is_coroutine); + return __Pyx_NewRef(op->func_is_coroutine); +} +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject * +__Pyx_CyFunction_get_module(__pyx_CyFunctionObject *op, void *context) { + CYTHON_UNUSED_VAR(context); + return PyObject_GetAttrString(op->func, "__module__"); +} +static int +__Pyx_CyFunction_set_module(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + return PyObject_SetAttrString(op->func, "__module__", value); +} +#endif +static PyGetSetDef __pyx_CyFunction_getsets[] = { + {(char *) "func_doc", (getter)__Pyx_CyFunction_get_doc, (setter)__Pyx_CyFunction_set_doc, 0, 0}, + {(char *) "__doc__", (getter)__Pyx_CyFunction_get_doc, (setter)__Pyx_CyFunction_set_doc, 0, 0}, + {(char *) "func_name", (getter)__Pyx_CyFunction_get_name, (setter)__Pyx_CyFunction_set_name, 0, 0}, + {(char *) "__name__", (getter)__Pyx_CyFunction_get_name, (setter)__Pyx_CyFunction_set_name, 0, 0}, + {(char *) "__qualname__", (getter)__Pyx_CyFunction_get_qualname, (setter)__Pyx_CyFunction_set_qualname, 0, 0}, + {(char *) "func_dict", (getter)__Pyx_CyFunction_get_dict, (setter)__Pyx_CyFunction_set_dict, 0, 0}, + {(char *) "__dict__", (getter)__Pyx_CyFunction_get_dict, (setter)__Pyx_CyFunction_set_dict, 0, 0}, + {(char *) "func_globals", (getter)__Pyx_CyFunction_get_globals, 0, 0, 0}, + {(char *) "__globals__", (getter)__Pyx_CyFunction_get_globals, 0, 0, 0}, + {(char *) "func_closure", (getter)__Pyx_CyFunction_get_closure, 0, 0, 0}, + {(char *) "__closure__", (getter)__Pyx_CyFunction_get_closure, 0, 0, 0}, + {(char *) "func_code", (getter)__Pyx_CyFunction_get_code, 0, 0, 0}, + {(char *) "__code__", (getter)__Pyx_CyFunction_get_code, 0, 0, 0}, + {(char *) "func_defaults", (getter)__Pyx_CyFunction_get_defaults, (setter)__Pyx_CyFunction_set_defaults, 0, 0}, + {(char *) "__defaults__", (getter)__Pyx_CyFunction_get_defaults, (setter)__Pyx_CyFunction_set_defaults, 0, 0}, + {(char *) "__kwdefaults__", (getter)__Pyx_CyFunction_get_kwdefaults, (setter)__Pyx_CyFunction_set_kwdefaults, 0, 0}, + {(char *) "__annotations__", (getter)__Pyx_CyFunction_get_annotations, (setter)__Pyx_CyFunction_set_annotations, 0, 0}, + {(char *) "_is_coroutine", (getter)__Pyx_CyFunction_get_is_coroutine, 0, 0, 0}, +#if CYTHON_COMPILING_IN_LIMITED_API + {"__module__", (getter)__Pyx_CyFunction_get_module, (setter)__Pyx_CyFunction_set_module, 0, 0}, +#endif + {0, 0, 0, 0, 0} +}; +static PyMemberDef __pyx_CyFunction_members[] = { +#if !CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__module__", T_OBJECT, offsetof(PyCFunctionObject, m_module), 0, 0}, +#endif +#if CYTHON_USE_TYPE_SPECS + {(char *) "__dictoffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_dict), READONLY, 0}, +#if CYTHON_METH_FASTCALL +#if CYTHON_BACKPORT_VECTORCALL + {(char *) "__vectorcalloffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_vectorcall), READONLY, 0}, +#else +#if !CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__vectorcalloffset__", T_PYSSIZET, offsetof(PyCFunctionObject, vectorcall), READONLY, 0}, +#endif +#endif +#endif +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__weaklistoffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_weakreflist), READONLY, 0}, +#else + {(char *) "__weaklistoffset__", T_PYSSIZET, offsetof(PyCFunctionObject, m_weakreflist), READONLY, 0}, +#endif +#endif + {0, 0, 0, 0, 0} +}; +static PyObject * +__Pyx_CyFunction_reduce(__pyx_CyFunctionObject *m, PyObject *args) +{ + CYTHON_UNUSED_VAR(args); +#if PY_MAJOR_VERSION >= 3 + Py_INCREF(m->func_qualname); + return m->func_qualname; +#else + return PyString_FromString(((PyCFunctionObject*)m)->m_ml->ml_name); +#endif +} +static PyMethodDef __pyx_CyFunction_methods[] = { + {"__reduce__", (PyCFunction)__Pyx_CyFunction_reduce, METH_VARARGS, 0}, + {0, 0, 0, 0} +}; +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API +#define __Pyx_CyFunction_weakreflist(cyfunc) ((cyfunc)->func_weakreflist) +#else +#define __Pyx_CyFunction_weakreflist(cyfunc) (((PyCFunctionObject*)cyfunc)->m_weakreflist) +#endif +static PyObject *__Pyx_CyFunction_Init(__pyx_CyFunctionObject *op, PyMethodDef *ml, int flags, PyObject* qualname, + PyObject *closure, PyObject *module, PyObject* globals, PyObject* code) { +#if !CYTHON_COMPILING_IN_LIMITED_API + PyCFunctionObject *cf = (PyCFunctionObject*) op; +#endif + if (unlikely(op == NULL)) + return NULL; +#if CYTHON_COMPILING_IN_LIMITED_API + op->func = PyCFunction_NewEx(ml, (PyObject*)op, module); + if (unlikely(!op->func)) return NULL; +#endif + op->flags = flags; + __Pyx_CyFunction_weakreflist(op) = NULL; +#if !CYTHON_COMPILING_IN_LIMITED_API + cf->m_ml = ml; + cf->m_self = (PyObject *) op; +#endif + Py_XINCREF(closure); + op->func_closure = closure; +#if !CYTHON_COMPILING_IN_LIMITED_API + Py_XINCREF(module); + cf->m_module = module; +#endif + op->func_dict = NULL; + op->func_name = NULL; + Py_INCREF(qualname); + op->func_qualname = qualname; + op->func_doc = NULL; +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + op->func_classobj = NULL; +#else + ((PyCMethodObject*)op)->mm_class = NULL; +#endif + op->func_globals = globals; + Py_INCREF(op->func_globals); + Py_XINCREF(code); + op->func_code = code; + op->defaults_pyobjects = 0; + op->defaults_size = 0; + op->defaults = NULL; + op->defaults_tuple = NULL; + op->defaults_kwdict = NULL; + op->defaults_getter = NULL; + op->func_annotations = NULL; + op->func_is_coroutine = NULL; +#if CYTHON_METH_FASTCALL + switch (ml->ml_flags & (METH_VARARGS | METH_FASTCALL | METH_NOARGS | METH_O | METH_KEYWORDS | METH_METHOD)) { + case METH_NOARGS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_NOARGS; + break; + case METH_O: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_O; + break; + case METH_METHOD | METH_FASTCALL | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD; + break; + case METH_FASTCALL | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS; + break; + case METH_VARARGS | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = NULL; + break; + default: + PyErr_SetString(PyExc_SystemError, "Bad call flags for CyFunction"); + Py_DECREF(op); + return NULL; + } +#endif + return (PyObject *) op; +} +static int +__Pyx_CyFunction_clear(__pyx_CyFunctionObject *m) +{ + Py_CLEAR(m->func_closure); +#if CYTHON_COMPILING_IN_LIMITED_API + Py_CLEAR(m->func); +#else + Py_CLEAR(((PyCFunctionObject*)m)->m_module); +#endif + Py_CLEAR(m->func_dict); + Py_CLEAR(m->func_name); + Py_CLEAR(m->func_qualname); + Py_CLEAR(m->func_doc); + Py_CLEAR(m->func_globals); + Py_CLEAR(m->func_code); +#if !CYTHON_COMPILING_IN_LIMITED_API +#if PY_VERSION_HEX < 0x030900B1 + Py_CLEAR(__Pyx_CyFunction_GetClassObj(m)); +#else + { + PyObject *cls = (PyObject*) ((PyCMethodObject *) (m))->mm_class; + ((PyCMethodObject *) (m))->mm_class = NULL; + Py_XDECREF(cls); + } +#endif +#endif + Py_CLEAR(m->defaults_tuple); + Py_CLEAR(m->defaults_kwdict); + Py_CLEAR(m->func_annotations); + Py_CLEAR(m->func_is_coroutine); + if (m->defaults) { + PyObject **pydefaults = __Pyx_CyFunction_Defaults(PyObject *, m); + int i; + for (i = 0; i < m->defaults_pyobjects; i++) + Py_XDECREF(pydefaults[i]); + PyObject_Free(m->defaults); + m->defaults = NULL; + } + return 0; +} +static void __Pyx__CyFunction_dealloc(__pyx_CyFunctionObject *m) +{ + if (__Pyx_CyFunction_weakreflist(m) != NULL) + PyObject_ClearWeakRefs((PyObject *) m); + __Pyx_CyFunction_clear(m); + __Pyx_PyHeapTypeObject_GC_Del(m); +} +static void __Pyx_CyFunction_dealloc(__pyx_CyFunctionObject *m) +{ + PyObject_GC_UnTrack(m); + __Pyx__CyFunction_dealloc(m); +} +static int __Pyx_CyFunction_traverse(__pyx_CyFunctionObject *m, visitproc visit, void *arg) +{ + Py_VISIT(m->func_closure); +#if CYTHON_COMPILING_IN_LIMITED_API + Py_VISIT(m->func); +#else + Py_VISIT(((PyCFunctionObject*)m)->m_module); +#endif + Py_VISIT(m->func_dict); + Py_VISIT(m->func_name); + Py_VISIT(m->func_qualname); + Py_VISIT(m->func_doc); + Py_VISIT(m->func_globals); + Py_VISIT(m->func_code); +#if !CYTHON_COMPILING_IN_LIMITED_API + Py_VISIT(__Pyx_CyFunction_GetClassObj(m)); +#endif + Py_VISIT(m->defaults_tuple); + Py_VISIT(m->defaults_kwdict); + Py_VISIT(m->func_is_coroutine); + if (m->defaults) { + PyObject **pydefaults = __Pyx_CyFunction_Defaults(PyObject *, m); + int i; + for (i = 0; i < m->defaults_pyobjects; i++) + Py_VISIT(pydefaults[i]); + } + return 0; +} +static PyObject* +__Pyx_CyFunction_repr(__pyx_CyFunctionObject *op) +{ +#if PY_MAJOR_VERSION >= 3 + return PyUnicode_FromFormat("", + op->func_qualname, (void *)op); +#else + return PyString_FromFormat("", + PyString_AsString(op->func_qualname), (void *)op); +#endif +} +static PyObject * __Pyx_CyFunction_CallMethod(PyObject *func, PyObject *self, PyObject *arg, PyObject *kw) { +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *f = ((__pyx_CyFunctionObject*)func)->func; + PyObject *py_name = NULL; + PyCFunction meth; + int flags; + meth = PyCFunction_GetFunction(f); + if (unlikely(!meth)) return NULL; + flags = PyCFunction_GetFlags(f); + if (unlikely(flags < 0)) return NULL; +#else + PyCFunctionObject* f = (PyCFunctionObject*)func; + PyCFunction meth = f->m_ml->ml_meth; + int flags = f->m_ml->ml_flags; +#endif + Py_ssize_t size; + switch (flags & (METH_VARARGS | METH_KEYWORDS | METH_NOARGS | METH_O)) { + case METH_VARARGS: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) + return (*meth)(self, arg); + break; + case METH_VARARGS | METH_KEYWORDS: + return (*(PyCFunctionWithKeywords)(void*)meth)(self, arg, kw); + case METH_NOARGS: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) { +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(arg); +#else + size = PyTuple_Size(arg); + if (unlikely(size < 0)) return NULL; +#endif + if (likely(size == 0)) + return (*meth)(self, NULL); +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, + "%.200S() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + py_name, size); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, + "%.200s() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + f->m_ml->ml_name, size); +#endif + return NULL; + } + break; + case METH_O: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) { +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(arg); +#else + size = PyTuple_Size(arg); + if (unlikely(size < 0)) return NULL; +#endif + if (likely(size == 1)) { + PyObject *result, *arg0; + #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + arg0 = PyTuple_GET_ITEM(arg, 0); + #else + arg0 = __Pyx_PySequence_ITEM(arg, 0); if (unlikely(!arg0)) return NULL; + #endif + result = (*meth)(self, arg0); + #if !(CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS) + Py_DECREF(arg0); + #endif + return result; + } +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, + "%.200S() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + py_name, size); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, + "%.200s() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + f->m_ml->ml_name, size); +#endif + return NULL; + } + break; + default: + PyErr_SetString(PyExc_SystemError, "Bad call flags for CyFunction"); + return NULL; + } +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, "%.200S() takes no keyword arguments", + py_name); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, "%.200s() takes no keyword arguments", + f->m_ml->ml_name); +#endif + return NULL; +} +static CYTHON_INLINE PyObject *__Pyx_CyFunction_Call(PyObject *func, PyObject *arg, PyObject *kw) { + PyObject *self, *result; +#if CYTHON_COMPILING_IN_LIMITED_API + self = PyCFunction_GetSelf(((__pyx_CyFunctionObject*)func)->func); + if (unlikely(!self) && PyErr_Occurred()) return NULL; +#else + self = ((PyCFunctionObject*)func)->m_self; +#endif + result = __Pyx_CyFunction_CallMethod(func, self, arg, kw); + return result; +} +static PyObject *__Pyx_CyFunction_CallAsMethod(PyObject *func, PyObject *args, PyObject *kw) { + PyObject *result; + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *) func; +#if CYTHON_METH_FASTCALL + __pyx_vectorcallfunc vc = __Pyx_CyFunction_func_vectorcall(cyfunc); + if (vc) { +#if CYTHON_ASSUME_SAFE_MACROS + return __Pyx_PyVectorcall_FastCallDict(func, vc, &PyTuple_GET_ITEM(args, 0), (size_t)PyTuple_GET_SIZE(args), kw); +#else + (void) &__Pyx_PyVectorcall_FastCallDict; + return PyVectorcall_Call(func, args, kw); +#endif + } +#endif + if ((cyfunc->flags & __Pyx_CYFUNCTION_CCLASS) && !(cyfunc->flags & __Pyx_CYFUNCTION_STATICMETHOD)) { + Py_ssize_t argc; + PyObject *new_args; + PyObject *self; +#if CYTHON_ASSUME_SAFE_MACROS + argc = PyTuple_GET_SIZE(args); +#else + argc = PyTuple_Size(args); + if (unlikely(!argc) < 0) return NULL; +#endif + new_args = PyTuple_GetSlice(args, 1, argc); + if (unlikely(!new_args)) + return NULL; + self = PyTuple_GetItem(args, 0); + if (unlikely(!self)) { + Py_DECREF(new_args); +#if PY_MAJOR_VERSION > 2 + PyErr_Format(PyExc_TypeError, + "unbound method %.200S() needs an argument", + cyfunc->func_qualname); +#else + PyErr_SetString(PyExc_TypeError, + "unbound method needs an argument"); +#endif + return NULL; + } + result = __Pyx_CyFunction_CallMethod(func, self, new_args, kw); + Py_DECREF(new_args); + } else { + result = __Pyx_CyFunction_Call(func, args, kw); + } + return result; +} +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE int __Pyx_CyFunction_Vectorcall_CheckArgs(__pyx_CyFunctionObject *cyfunc, Py_ssize_t nargs, PyObject *kwnames) +{ + int ret = 0; + if ((cyfunc->flags & __Pyx_CYFUNCTION_CCLASS) && !(cyfunc->flags & __Pyx_CYFUNCTION_STATICMETHOD)) { + if (unlikely(nargs < 1)) { + PyErr_Format(PyExc_TypeError, "%.200s() needs an argument", + ((PyCFunctionObject*)cyfunc)->m_ml->ml_name); + return -1; + } + ret = 1; + } + if (unlikely(kwnames) && unlikely(PyTuple_GET_SIZE(kwnames))) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes no keyword arguments", ((PyCFunctionObject*)cyfunc)->m_ml->ml_name); + return -1; + } + return ret; +} +static PyObject * __Pyx_CyFunction_Vectorcall_NOARGS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, kwnames)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + if (unlikely(nargs != 0)) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + def->ml_name, nargs); + return NULL; + } + return def->ml_meth(self, NULL); +} +static PyObject * __Pyx_CyFunction_Vectorcall_O(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, kwnames)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + if (unlikely(nargs != 1)) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + def->ml_name, nargs); + return NULL; + } + return def->ml_meth(self, args[0]); +} +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, NULL)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + return ((_PyCFunctionFastWithKeywords)(void(*)(void))def->ml_meth)(self, args, nargs, kwnames); +} +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; + PyTypeObject *cls = (PyTypeObject *) __Pyx_CyFunction_GetClassObj(cyfunc); +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, NULL)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + return ((__Pyx_PyCMethod)(void(*)(void))def->ml_meth)(self, cls, args, (size_t)nargs, kwnames); +} +#endif +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_CyFunctionType_slots[] = { + {Py_tp_dealloc, (void *)__Pyx_CyFunction_dealloc}, + {Py_tp_repr, (void *)__Pyx_CyFunction_repr}, + {Py_tp_call, (void *)__Pyx_CyFunction_CallAsMethod}, + {Py_tp_traverse, (void *)__Pyx_CyFunction_traverse}, + {Py_tp_clear, (void *)__Pyx_CyFunction_clear}, + {Py_tp_methods, (void *)__pyx_CyFunction_methods}, + {Py_tp_members, (void *)__pyx_CyFunction_members}, + {Py_tp_getset, (void *)__pyx_CyFunction_getsets}, + {Py_tp_descr_get, (void *)__Pyx_PyMethod_New}, + {0, 0}, +}; +static PyType_Spec __pyx_CyFunctionType_spec = { + __PYX_TYPE_MODULE_PREFIX "cython_function_or_method", + sizeof(__pyx_CyFunctionObject), + 0, +#ifdef Py_TPFLAGS_METHOD_DESCRIPTOR + Py_TPFLAGS_METHOD_DESCRIPTOR | +#endif +#if (defined(_Py_TPFLAGS_HAVE_VECTORCALL) && CYTHON_METH_FASTCALL) + _Py_TPFLAGS_HAVE_VECTORCALL | +#endif + Py_TPFLAGS_DEFAULT | Py_TPFLAGS_HAVE_GC | Py_TPFLAGS_BASETYPE, + __pyx_CyFunctionType_slots +}; +#else +static PyTypeObject __pyx_CyFunctionType_type = { + PyVarObject_HEAD_INIT(0, 0) + __PYX_TYPE_MODULE_PREFIX "cython_function_or_method", + sizeof(__pyx_CyFunctionObject), + 0, + (destructor) __Pyx_CyFunction_dealloc, +#if !CYTHON_METH_FASTCALL + 0, +#elif CYTHON_BACKPORT_VECTORCALL + (printfunc)offsetof(__pyx_CyFunctionObject, func_vectorcall), +#else + offsetof(PyCFunctionObject, vectorcall), +#endif + 0, + 0, +#if PY_MAJOR_VERSION < 3 + 0, +#else + 0, +#endif + (reprfunc) __Pyx_CyFunction_repr, + 0, + 0, + 0, + 0, + __Pyx_CyFunction_CallAsMethod, + 0, + 0, + 0, + 0, +#ifdef Py_TPFLAGS_METHOD_DESCRIPTOR + Py_TPFLAGS_METHOD_DESCRIPTOR | +#endif +#if defined(_Py_TPFLAGS_HAVE_VECTORCALL) && CYTHON_METH_FASTCALL + _Py_TPFLAGS_HAVE_VECTORCALL | +#endif + Py_TPFLAGS_DEFAULT | Py_TPFLAGS_HAVE_GC | Py_TPFLAGS_BASETYPE, + 0, + (traverseproc) __Pyx_CyFunction_traverse, + (inquiry) __Pyx_CyFunction_clear, + 0, +#if PY_VERSION_HEX < 0x030500A0 + offsetof(__pyx_CyFunctionObject, func_weakreflist), +#else + offsetof(PyCFunctionObject, m_weakreflist), +#endif + 0, + 0, + __pyx_CyFunction_methods, + __pyx_CyFunction_members, + __pyx_CyFunction_getsets, + 0, + 0, + __Pyx_PyMethod_New, + 0, + offsetof(__pyx_CyFunctionObject, func_dict), + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, +#if PY_VERSION_HEX >= 0x030400a1 + 0, +#endif +#if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, +#endif +#if __PYX_NEED_TP_PRINT_SLOT + 0, +#endif +#if PY_VERSION_HEX >= 0x030C0000 + 0, +#endif +#if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, +#endif +}; +#endif +static int __pyx_CyFunction_init(PyObject *module) { +#if CYTHON_USE_TYPE_SPECS + __pyx_CyFunctionType = __Pyx_FetchCommonTypeFromSpec(module, &__pyx_CyFunctionType_spec, NULL); +#else + CYTHON_UNUSED_VAR(module); + __pyx_CyFunctionType = __Pyx_FetchCommonType(&__pyx_CyFunctionType_type); +#endif + if (unlikely(__pyx_CyFunctionType == NULL)) { + return -1; + } + return 0; +} +static CYTHON_INLINE void *__Pyx_CyFunction_InitDefaults(PyObject *func, size_t size, int pyobjects) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults = PyObject_Malloc(size); + if (unlikely(!m->defaults)) + return PyErr_NoMemory(); + memset(m->defaults, 0, size); + m->defaults_pyobjects = pyobjects; + m->defaults_size = size; + return m->defaults; +} +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsTuple(PyObject *func, PyObject *tuple) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults_tuple = tuple; + Py_INCREF(tuple); +} +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsKwDict(PyObject *func, PyObject *dict) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults_kwdict = dict; + Py_INCREF(dict); +} +static CYTHON_INLINE void __Pyx_CyFunction_SetAnnotationsDict(PyObject *func, PyObject *dict) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->func_annotations = dict; + Py_INCREF(dict); +} + +/* CythonFunction */ +static PyObject *__Pyx_CyFunction_New(PyMethodDef *ml, int flags, PyObject* qualname, + PyObject *closure, PyObject *module, PyObject* globals, PyObject* code) { + PyObject *op = __Pyx_CyFunction_Init( + PyObject_GC_New(__pyx_CyFunctionObject, __pyx_CyFunctionType), + ml, flags, qualname, closure, module, globals, code + ); + if (likely(op)) { + PyObject_GC_Track(op); + } + return op; +} + +/* Py3UpdateBases */ +static PyObject* +__Pyx_PEP560_update_bases(PyObject *bases) +{ + Py_ssize_t i, j, size_bases; + PyObject *base, *meth, *new_base, *result, *new_bases = NULL; + size_bases = PyTuple_GET_SIZE(bases); + for (i = 0; i < size_bases; i++) { + base = PyTuple_GET_ITEM(bases, i); + if (PyType_Check(base)) { + if (new_bases) { + if (PyList_Append(new_bases, base) < 0) { + goto error; + } + } + continue; + } + meth = __Pyx_PyObject_GetAttrStrNoError(base, __pyx_n_s_mro_entries); + if (!meth && PyErr_Occurred()) { + goto error; + } + if (!meth) { + if (new_bases) { + if (PyList_Append(new_bases, base) < 0) { + goto error; + } + } + continue; + } + new_base = __Pyx_PyObject_CallOneArg(meth, bases); + Py_DECREF(meth); + if (!new_base) { + goto error; + } + if (!PyTuple_Check(new_base)) { + PyErr_SetString(PyExc_TypeError, + "__mro_entries__ must return a tuple"); + Py_DECREF(new_base); + goto error; + } + if (!new_bases) { + if (!(new_bases = PyList_New(i))) { + goto error; + } + for (j = 0; j < i; j++) { + base = PyTuple_GET_ITEM(bases, j); + PyList_SET_ITEM(new_bases, j, base); + Py_INCREF(base); + } + } + j = PyList_GET_SIZE(new_bases); + if (PyList_SetSlice(new_bases, j, j, new_base) < 0) { + goto error; + } + Py_DECREF(new_base); + } + if (!new_bases) { + Py_INCREF(bases); + return bases; + } + result = PyList_AsTuple(new_bases); + Py_DECREF(new_bases); + return result; +error: + Py_XDECREF(new_bases); + return NULL; +} + +/* SetNewInClass */ +static int __Pyx_SetNewInClass(PyObject *ns, PyObject *name, PyObject *value) { +#ifdef __Pyx_CyFunction_USED + int ret; + if (__Pyx_CyFunction_Check(value)) { + PyObject *staticnew = PyStaticMethod_New(value); + if (unlikely(!staticnew)) return -1; + ret = __Pyx_SetNameInClass(ns, name, staticnew); + Py_DECREF(staticnew); + return ret; + } +#endif + return __Pyx_SetNameInClass(ns, name, value); +} + +/* CalculateMetaclass */ +static PyObject *__Pyx_CalculateMetaclass(PyTypeObject *metaclass, PyObject *bases) { + Py_ssize_t i, nbases; +#if CYTHON_ASSUME_SAFE_MACROS + nbases = PyTuple_GET_SIZE(bases); +#else + nbases = PyTuple_Size(bases); + if (nbases < 0) return NULL; +#endif + for (i=0; i < nbases; i++) { + PyTypeObject *tmptype; +#if CYTHON_ASSUME_SAFE_MACROS + PyObject *tmp = PyTuple_GET_ITEM(bases, i); +#else + PyObject *tmp = PyTuple_GetItem(bases, i); + if (!tmp) return NULL; +#endif + tmptype = Py_TYPE(tmp); +#if PY_MAJOR_VERSION < 3 + if (tmptype == &PyClass_Type) + continue; +#endif + if (!metaclass) { + metaclass = tmptype; + continue; + } + if (PyType_IsSubtype(metaclass, tmptype)) + continue; + if (PyType_IsSubtype(tmptype, metaclass)) { + metaclass = tmptype; + continue; + } + PyErr_SetString(PyExc_TypeError, + "metaclass conflict: " + "the metaclass of a derived class " + "must be a (non-strict) subclass " + "of the metaclasses of all its bases"); + return NULL; + } + if (!metaclass) { +#if PY_MAJOR_VERSION < 3 + metaclass = &PyClass_Type; +#else + metaclass = &PyType_Type; +#endif + } + Py_INCREF((PyObject*) metaclass); + return (PyObject*) metaclass; +} + +/* PyObjectCall2Args */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call2Args(PyObject* function, PyObject* arg1, PyObject* arg2) { + PyObject *args[3] = {NULL, arg1, arg2}; + return __Pyx_PyObject_FastCall(function, args+1, 2 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET); +} + +/* PyObjectLookupSpecial */ +#if CYTHON_USE_PYTYPE_LOOKUP && CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject* __Pyx__PyObject_LookupSpecial(PyObject* obj, PyObject* attr_name, int with_error) { + PyObject *res; + PyTypeObject *tp = Py_TYPE(obj); +#if PY_MAJOR_VERSION < 3 + if (unlikely(PyInstance_Check(obj))) + return with_error ? __Pyx_PyObject_GetAttrStr(obj, attr_name) : __Pyx_PyObject_GetAttrStrNoError(obj, attr_name); +#endif + res = _PyType_Lookup(tp, attr_name); + if (likely(res)) { + descrgetfunc f = Py_TYPE(res)->tp_descr_get; + if (!f) { + Py_INCREF(res); + } else { + res = f(res, obj, (PyObject *)tp); + } + } else if (with_error) { + PyErr_SetObject(PyExc_AttributeError, attr_name); + } + return res; +} +#endif + +/* Py3ClassCreate */ +static PyObject *__Pyx_Py3MetaclassPrepare(PyObject *metaclass, PyObject *bases, PyObject *name, + PyObject *qualname, PyObject *mkw, PyObject *modname, PyObject *doc) { + PyObject *ns; + if (metaclass) { + PyObject *prep = __Pyx_PyObject_GetAttrStrNoError(metaclass, __pyx_n_s_prepare); + if (prep) { + PyObject *pargs[3] = {NULL, name, bases}; + ns = __Pyx_PyObject_FastCallDict(prep, pargs+1, 2 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET, mkw); + Py_DECREF(prep); + } else { + if (unlikely(PyErr_Occurred())) + return NULL; + ns = PyDict_New(); + } + } else { + ns = PyDict_New(); + } + if (unlikely(!ns)) + return NULL; + if (unlikely(PyObject_SetItem(ns, __pyx_n_s_module, modname) < 0)) goto bad; +#if PY_VERSION_HEX >= 0x03030000 + if (unlikely(PyObject_SetItem(ns, __pyx_n_s_qualname, qualname) < 0)) goto bad; +#else + CYTHON_MAYBE_UNUSED_VAR(qualname); +#endif + if (unlikely(doc && PyObject_SetItem(ns, __pyx_n_s_doc, doc) < 0)) goto bad; + return ns; +bad: + Py_DECREF(ns); + return NULL; +} +#if PY_VERSION_HEX < 0x030600A4 && CYTHON_PEP487_INIT_SUBCLASS +static int __Pyx_SetNamesPEP487(PyObject *type_obj) { + PyTypeObject *type = (PyTypeObject*) type_obj; + PyObject *names_to_set, *key, *value, *set_name, *tmp; + Py_ssize_t i = 0; +#if CYTHON_USE_TYPE_SLOTS + names_to_set = PyDict_Copy(type->tp_dict); +#else + { + PyObject *d = PyObject_GetAttr(type_obj, __pyx_n_s_dict); + names_to_set = NULL; + if (likely(d)) { + PyObject *names_to_set = PyDict_New(); + int ret = likely(names_to_set) ? PyDict_Update(names_to_set, d) : -1; + Py_DECREF(d); + if (unlikely(ret < 0)) + Py_CLEAR(names_to_set); + } + } +#endif + if (unlikely(names_to_set == NULL)) + goto bad; + while (PyDict_Next(names_to_set, &i, &key, &value)) { + set_name = __Pyx_PyObject_LookupSpecialNoError(value, __pyx_n_s_set_name); + if (unlikely(set_name != NULL)) { + tmp = __Pyx_PyObject_Call2Args(set_name, type_obj, key); + Py_DECREF(set_name); + if (unlikely(tmp == NULL)) { + __Pyx_TypeName value_type_name = + __Pyx_PyType_GetName(Py_TYPE(value)); + __Pyx_TypeName type_name = __Pyx_PyType_GetName(type); + PyErr_Format(PyExc_RuntimeError, +#if PY_MAJOR_VERSION >= 3 + "Error calling __set_name__ on '" __Pyx_FMT_TYPENAME "' instance %R " "in '" __Pyx_FMT_TYPENAME "'", + value_type_name, key, type_name); +#else + "Error calling __set_name__ on '" __Pyx_FMT_TYPENAME "' instance %.100s in '" __Pyx_FMT_TYPENAME "'", + value_type_name, + PyString_Check(key) ? PyString_AS_STRING(key) : "?", + type_name); +#endif + goto bad; + } else { + Py_DECREF(tmp); + } + } + else if (unlikely(PyErr_Occurred())) { + goto bad; + } + } + Py_DECREF(names_to_set); + return 0; +bad: + Py_XDECREF(names_to_set); + return -1; +} +static PyObject *__Pyx_InitSubclassPEP487(PyObject *type_obj, PyObject *mkw) { +#if CYTHON_USE_TYPE_SLOTS && CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + PyTypeObject *type = (PyTypeObject*) type_obj; + PyObject *mro = type->tp_mro; + Py_ssize_t i, nbases; + if (unlikely(!mro)) goto done; + (void) &__Pyx_GetBuiltinName; + Py_INCREF(mro); + nbases = PyTuple_GET_SIZE(mro); + assert(PyTuple_GET_ITEM(mro, 0) == type_obj); + for (i = 1; i < nbases-1; i++) { + PyObject *base, *dict, *meth; + base = PyTuple_GET_ITEM(mro, i); + dict = ((PyTypeObject *)base)->tp_dict; + meth = __Pyx_PyDict_GetItemStrWithError(dict, __pyx_n_s_init_subclass); + if (unlikely(meth)) { + descrgetfunc f = Py_TYPE(meth)->tp_descr_get; + PyObject *res; + Py_INCREF(meth); + if (likely(f)) { + res = f(meth, NULL, type_obj); + Py_DECREF(meth); + if (unlikely(!res)) goto bad; + meth = res; + } + res = __Pyx_PyObject_FastCallDict(meth, NULL, 0, mkw); + Py_DECREF(meth); + if (unlikely(!res)) goto bad; + Py_DECREF(res); + goto done; + } else if (unlikely(PyErr_Occurred())) { + goto bad; + } + } +done: + Py_XDECREF(mro); + return type_obj; +bad: + Py_XDECREF(mro); + Py_DECREF(type_obj); + return NULL; +#else + PyObject *super_type, *super, *func, *res; +#if CYTHON_COMPILING_IN_PYPY && !defined(PySuper_Type) + super_type = __Pyx_GetBuiltinName(__pyx_n_s_super); +#else + super_type = (PyObject*) &PySuper_Type; + (void) &__Pyx_GetBuiltinName; +#endif + super = likely(super_type) ? __Pyx_PyObject_Call2Args(super_type, type_obj, type_obj) : NULL; +#if CYTHON_COMPILING_IN_PYPY && !defined(PySuper_Type) + Py_XDECREF(super_type); +#endif + if (unlikely(!super)) { + Py_CLEAR(type_obj); + goto done; + } + func = __Pyx_PyObject_GetAttrStrNoError(super, __pyx_n_s_init_subclass); + Py_DECREF(super); + if (likely(!func)) { + if (unlikely(PyErr_Occurred())) + Py_CLEAR(type_obj); + goto done; + } + res = __Pyx_PyObject_FastCallDict(func, NULL, 0, mkw); + Py_DECREF(func); + if (unlikely(!res)) + Py_CLEAR(type_obj); + Py_XDECREF(res); +done: + return type_obj; +#endif +} +#endif +static PyObject *__Pyx_Py3ClassCreate(PyObject *metaclass, PyObject *name, PyObject *bases, + PyObject *dict, PyObject *mkw, + int calculate_metaclass, int allow_py2_metaclass) { + PyObject *result; + PyObject *owned_metaclass = NULL; + PyObject *margs[4] = {NULL, name, bases, dict}; + if (allow_py2_metaclass) { + owned_metaclass = PyObject_GetItem(dict, __pyx_n_s_metaclass); + if (owned_metaclass) { + metaclass = owned_metaclass; + } else if (likely(PyErr_ExceptionMatches(PyExc_KeyError))) { + PyErr_Clear(); + } else { + return NULL; + } + } + if (calculate_metaclass && (!metaclass || PyType_Check(metaclass))) { + metaclass = __Pyx_CalculateMetaclass((PyTypeObject*) metaclass, bases); + Py_XDECREF(owned_metaclass); + if (unlikely(!metaclass)) + return NULL; + owned_metaclass = metaclass; + } + result = __Pyx_PyObject_FastCallDict(metaclass, margs+1, 3 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET, +#if PY_VERSION_HEX < 0x030600A4 + (metaclass == (PyObject*)&PyType_Type) ? NULL : mkw +#else + mkw +#endif + ); + Py_XDECREF(owned_metaclass); +#if PY_VERSION_HEX < 0x030600A4 && CYTHON_PEP487_INIT_SUBCLASS + if (likely(result) && likely(PyType_Check(result))) { + if (unlikely(__Pyx_SetNamesPEP487(result) < 0)) { + Py_CLEAR(result); + } else { + result = __Pyx_InitSubclassPEP487(result, mkw); + } + } +#else + (void) &__Pyx_GetBuiltinName; +#endif + return result; +} + +/* Globals */ +static PyObject* __Pyx_Globals(void) { + return __Pyx_NewRef(__pyx_d); +} + +/* UnpackUnboundCMethod */ +static PyObject *__Pyx_SelflessCall(PyObject *method, PyObject *args, PyObject *kwargs) { + PyObject *result; + PyObject *selfless_args = PyTuple_GetSlice(args, 1, PyTuple_Size(args)); + if (unlikely(!selfless_args)) return NULL; + result = PyObject_Call(method, selfless_args, kwargs); + Py_DECREF(selfless_args); + return result; +} +static PyMethodDef __Pyx_UnboundCMethod_Def = { + "CythonUnboundCMethod", + __PYX_REINTERPRET_FUNCION(PyCFunction, __Pyx_SelflessCall), + METH_VARARGS | METH_KEYWORDS, + NULL +}; +static int __Pyx_TryUnpackUnboundCMethod(__Pyx_CachedCFunction* target) { + PyObject *method; + method = __Pyx_PyObject_GetAttrStr(target->type, *target->method_name); + if (unlikely(!method)) + return -1; + target->method = method; +#if CYTHON_COMPILING_IN_CPYTHON + #if PY_MAJOR_VERSION >= 3 + if (likely(__Pyx_TypeCheck(method, &PyMethodDescr_Type))) + #else + if (likely(!__Pyx_CyOrPyCFunction_Check(method))) + #endif + { + PyMethodDescrObject *descr = (PyMethodDescrObject*) method; + target->func = descr->d_method->ml_meth; + target->flag = descr->d_method->ml_flags & ~(METH_CLASS | METH_STATIC | METH_COEXIST | METH_STACKLESS); + } else +#endif +#if CYTHON_COMPILING_IN_PYPY +#else + if (PyCFunction_Check(method)) +#endif + { + PyObject *self; + int self_found; +#if CYTHON_COMPILING_IN_LIMITED_API || CYTHON_COMPILING_IN_PYPY + self = PyObject_GetAttrString(method, "__self__"); + if (!self) { + PyErr_Clear(); + } +#else + self = PyCFunction_GET_SELF(method); +#endif + self_found = (self && self != Py_None); +#if CYTHON_COMPILING_IN_LIMITED_API || CYTHON_COMPILING_IN_PYPY + Py_XDECREF(self); +#endif + if (self_found) { + PyObject *unbound_method = PyCFunction_New(&__Pyx_UnboundCMethod_Def, method); + if (unlikely(!unbound_method)) return -1; + Py_DECREF(method); + target->method = unbound_method; + } + } + return 0; +} + +/* CallUnboundCMethod1 */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_CallUnboundCMethod1(__Pyx_CachedCFunction* cfunc, PyObject* self, PyObject* arg) { + if (likely(cfunc->func)) { + int flag = cfunc->flag; + if (flag == METH_O) { + return (*(cfunc->func))(self, arg); + } else if ((PY_VERSION_HEX >= 0x030600B1) && flag == METH_FASTCALL) { + #if PY_VERSION_HEX >= 0x030700A0 + return (*(__Pyx_PyCFunctionFast)(void*)(PyCFunction)cfunc->func)(self, &arg, 1); + #else + return (*(__Pyx_PyCFunctionFastWithKeywords)(void*)(PyCFunction)cfunc->func)(self, &arg, 1, NULL); + #endif + } else if ((PY_VERSION_HEX >= 0x030700A0) && flag == (METH_FASTCALL | METH_KEYWORDS)) { + return (*(__Pyx_PyCFunctionFastWithKeywords)(void*)(PyCFunction)cfunc->func)(self, &arg, 1, NULL); + } + } + return __Pyx__CallUnboundCMethod1(cfunc, self, arg); +} +#endif +static PyObject* __Pyx__CallUnboundCMethod1(__Pyx_CachedCFunction* cfunc, PyObject* self, PyObject* arg){ + PyObject *args, *result = NULL; + if (unlikely(!cfunc->func && !cfunc->method) && unlikely(__Pyx_TryUnpackUnboundCMethod(cfunc) < 0)) return NULL; +#if CYTHON_COMPILING_IN_CPYTHON + if (cfunc->func && (cfunc->flag & METH_VARARGS)) { + args = PyTuple_New(1); + if (unlikely(!args)) goto bad; + Py_INCREF(arg); + PyTuple_SET_ITEM(args, 0, arg); + if (cfunc->flag & METH_KEYWORDS) + result = (*(PyCFunctionWithKeywords)(void*)(PyCFunction)cfunc->func)(self, args, NULL); + else + result = (*cfunc->func)(self, args); + } else { + args = PyTuple_New(2); + if (unlikely(!args)) goto bad; + Py_INCREF(self); + PyTuple_SET_ITEM(args, 0, self); + Py_INCREF(arg); + PyTuple_SET_ITEM(args, 1, arg); + result = __Pyx_PyObject_Call(cfunc->method, args, NULL); + } +#else + args = PyTuple_Pack(2, self, arg); + if (unlikely(!args)) goto bad; + result = __Pyx_PyObject_Call(cfunc->method, args, NULL); +#endif +bad: + Py_XDECREF(args); + return result; +} + +/* CallUnboundCMethod2 */ +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030600B1 +static CYTHON_INLINE PyObject *__Pyx_CallUnboundCMethod2(__Pyx_CachedCFunction *cfunc, PyObject *self, PyObject *arg1, PyObject *arg2) { + if (likely(cfunc->func)) { + PyObject *args[2] = {arg1, arg2}; + if (cfunc->flag == METH_FASTCALL) { + #if PY_VERSION_HEX >= 0x030700A0 + return (*(__Pyx_PyCFunctionFast)(void*)(PyCFunction)cfunc->func)(self, args, 2); + #else + return (*(__Pyx_PyCFunctionFastWithKeywords)(void*)(PyCFunction)cfunc->func)(self, args, 2, NULL); + #endif + } + #if PY_VERSION_HEX >= 0x030700A0 + if (cfunc->flag == (METH_FASTCALL | METH_KEYWORDS)) + return (*(__Pyx_PyCFunctionFastWithKeywords)(void*)(PyCFunction)cfunc->func)(self, args, 2, NULL); + #endif + } + return __Pyx__CallUnboundCMethod2(cfunc, self, arg1, arg2); +} +#endif +static PyObject* __Pyx__CallUnboundCMethod2(__Pyx_CachedCFunction* cfunc, PyObject* self, PyObject* arg1, PyObject* arg2){ + PyObject *args, *result = NULL; + if (unlikely(!cfunc->func && !cfunc->method) && unlikely(__Pyx_TryUnpackUnboundCMethod(cfunc) < 0)) return NULL; +#if CYTHON_COMPILING_IN_CPYTHON + if (cfunc->func && (cfunc->flag & METH_VARARGS)) { + args = PyTuple_New(2); + if (unlikely(!args)) goto bad; + Py_INCREF(arg1); + PyTuple_SET_ITEM(args, 0, arg1); + Py_INCREF(arg2); + PyTuple_SET_ITEM(args, 1, arg2); + if (cfunc->flag & METH_KEYWORDS) + result = (*(PyCFunctionWithKeywords)(void*)(PyCFunction)cfunc->func)(self, args, NULL); + else + result = (*cfunc->func)(self, args); + } else { + args = PyTuple_New(3); + if (unlikely(!args)) goto bad; + Py_INCREF(self); + PyTuple_SET_ITEM(args, 0, self); + Py_INCREF(arg1); + PyTuple_SET_ITEM(args, 1, arg1); + Py_INCREF(arg2); + PyTuple_SET_ITEM(args, 2, arg2); + result = __Pyx_PyObject_Call(cfunc->method, args, NULL); + } +#else + args = PyTuple_Pack(3, self, arg1, arg2); + if (unlikely(!args)) goto bad; + result = __Pyx_PyObject_Call(cfunc->method, args, NULL); +#endif +bad: + Py_XDECREF(args); + return result; +} + +/* dict_getitem_default */ +static PyObject* __Pyx_PyDict_GetItemDefault(PyObject* d, PyObject* key, PyObject* default_value) { + PyObject* value; +#if PY_MAJOR_VERSION >= 3 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07020000) + value = PyDict_GetItemWithError(d, key); + if (unlikely(!value)) { + if (unlikely(PyErr_Occurred())) + return NULL; + value = default_value; + } + Py_INCREF(value); + if ((1)); +#else + if (PyString_CheckExact(key) || PyUnicode_CheckExact(key) || PyInt_CheckExact(key)) { + value = PyDict_GetItem(d, key); + if (unlikely(!value)) { + value = default_value; + } + Py_INCREF(value); + } +#endif + else { + if (default_value == Py_None) + value = __Pyx_CallUnboundCMethod1(&__pyx_umethod_PyDict_Type_get, d, key); + else + value = __Pyx_CallUnboundCMethod2(&__pyx_umethod_PyDict_Type_get, d, key, default_value); + } + return value; +} + +/* CLineInTraceback */ +#ifndef CYTHON_CLINE_IN_TRACEBACK +static int __Pyx_CLineForTraceback(PyThreadState *tstate, int c_line) { + PyObject *use_cline; + PyObject *ptype, *pvalue, *ptraceback; +#if CYTHON_COMPILING_IN_CPYTHON + PyObject **cython_runtime_dict; +#endif + CYTHON_MAYBE_UNUSED_VAR(tstate); + if (unlikely(!__pyx_cython_runtime)) { + return c_line; + } + __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); +#if CYTHON_COMPILING_IN_CPYTHON + cython_runtime_dict = _PyObject_GetDictPtr(__pyx_cython_runtime); + if (likely(cython_runtime_dict)) { + __PYX_PY_DICT_LOOKUP_IF_MODIFIED( + use_cline, *cython_runtime_dict, + __Pyx_PyDict_GetItemStr(*cython_runtime_dict, __pyx_n_s_cline_in_traceback)) + } else +#endif + { + PyObject *use_cline_obj = __Pyx_PyObject_GetAttrStrNoError(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback); + if (use_cline_obj) { + use_cline = PyObject_Not(use_cline_obj) ? Py_False : Py_True; + Py_DECREF(use_cline_obj); + } else { + PyErr_Clear(); + use_cline = NULL; + } + } + if (!use_cline) { + c_line = 0; + (void) PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False); + } + else if (use_cline == Py_False || (use_cline != Py_True && PyObject_Not(use_cline) != 0)) { + c_line = 0; + } + __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); + return c_line; +} +#endif + +/* CodeObjectCache */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line) { + int start = 0, mid = 0, end = count - 1; + if (end >= 0 && code_line > entries[end].code_line) { + return count; + } + while (start < end) { + mid = start + (end - start) / 2; + if (code_line < entries[mid].code_line) { + end = mid; + } else if (code_line > entries[mid].code_line) { + start = mid + 1; + } else { + return mid; + } + } + if (code_line <= entries[mid].code_line) { + return mid; + } else { + return mid + 1; + } +} +static PyCodeObject *__pyx_find_code_object(int code_line) { + PyCodeObject* code_object; + int pos; + if (unlikely(!code_line) || unlikely(!__pyx_code_cache.entries)) { + return NULL; + } + pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); + if (unlikely(pos >= __pyx_code_cache.count) || unlikely(__pyx_code_cache.entries[pos].code_line != code_line)) { + return NULL; + } + code_object = __pyx_code_cache.entries[pos].code_object; + Py_INCREF(code_object); + return code_object; +} +static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object) { + int pos, i; + __Pyx_CodeObjectCacheEntry* entries = __pyx_code_cache.entries; + if (unlikely(!code_line)) { + return; + } + if (unlikely(!entries)) { + entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Malloc(64*sizeof(__Pyx_CodeObjectCacheEntry)); + if (likely(entries)) { + __pyx_code_cache.entries = entries; + __pyx_code_cache.max_count = 64; + __pyx_code_cache.count = 1; + entries[0].code_line = code_line; + entries[0].code_object = code_object; + Py_INCREF(code_object); + } + return; + } + pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); + if ((pos < __pyx_code_cache.count) && unlikely(__pyx_code_cache.entries[pos].code_line == code_line)) { + PyCodeObject* tmp = entries[pos].code_object; + entries[pos].code_object = code_object; + Py_DECREF(tmp); + return; + } + if (__pyx_code_cache.count == __pyx_code_cache.max_count) { + int new_max = __pyx_code_cache.max_count + 64; + entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Realloc( + __pyx_code_cache.entries, ((size_t)new_max) * sizeof(__Pyx_CodeObjectCacheEntry)); + if (unlikely(!entries)) { + return; + } + __pyx_code_cache.entries = entries; + __pyx_code_cache.max_count = new_max; + } + for (i=__pyx_code_cache.count; i>pos; i--) { + entries[i] = entries[i-1]; + } + entries[pos].code_line = code_line; + entries[pos].code_object = code_object; + __pyx_code_cache.count++; + Py_INCREF(code_object); +} +#endif + +/* AddTraceback */ +#include "compile.h" +#include "frameobject.h" +#include "traceback.h" +#if PY_VERSION_HEX >= 0x030b00a6 && !CYTHON_COMPILING_IN_LIMITED_API + #ifndef Py_BUILD_CORE + #define Py_BUILD_CORE 1 + #endif + #include "internal/pycore_frame.h" +#endif +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject *__Pyx_PyCode_Replace_For_AddTraceback(PyObject *code, PyObject *scratch_dict, + PyObject *firstlineno, PyObject *name) { + PyObject *replace = NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "co_firstlineno", firstlineno))) return NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "co_name", name))) return NULL; + replace = PyObject_GetAttrString(code, "replace"); + if (likely(replace)) { + PyObject *result; + result = PyObject_Call(replace, __pyx_empty_tuple, scratch_dict); + Py_DECREF(replace); + return result; + } + PyErr_Clear(); + #if __PYX_LIMITED_VERSION_HEX < 0x030780000 + { + PyObject *compiled = NULL, *result = NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "code", code))) return NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "type", (PyObject*)(&PyType_Type)))) return NULL; + compiled = Py_CompileString( + "out = type(code)(\n" + " code.co_argcount, code.co_kwonlyargcount, code.co_nlocals, code.co_stacksize,\n" + " code.co_flags, code.co_code, code.co_consts, code.co_names,\n" + " code.co_varnames, code.co_filename, co_name, co_firstlineno,\n" + " code.co_lnotab)\n", "", Py_file_input); + if (!compiled) return NULL; + result = PyEval_EvalCode(compiled, scratch_dict, scratch_dict); + Py_DECREF(compiled); + if (!result) PyErr_Print(); + Py_DECREF(result); + result = PyDict_GetItemString(scratch_dict, "out"); + if (result) Py_INCREF(result); + return result; + } + #else + return NULL; + #endif +} +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename) { + PyObject *code_object = NULL, *py_py_line = NULL, *py_funcname = NULL, *dict = NULL; + PyObject *replace = NULL, *getframe = NULL, *frame = NULL; + PyObject *exc_type, *exc_value, *exc_traceback; + int success = 0; + if (c_line) { + (void) __pyx_cfilenm; + (void) __Pyx_CLineForTraceback(__Pyx_PyThreadState_Current, c_line); + } + PyErr_Fetch(&exc_type, &exc_value, &exc_traceback); + code_object = Py_CompileString("_getframe()", filename, Py_eval_input); + if (unlikely(!code_object)) goto bad; + py_py_line = PyLong_FromLong(py_line); + if (unlikely(!py_py_line)) goto bad; + py_funcname = PyUnicode_FromString(funcname); + if (unlikely(!py_funcname)) goto bad; + dict = PyDict_New(); + if (unlikely(!dict)) goto bad; + { + PyObject *old_code_object = code_object; + code_object = __Pyx_PyCode_Replace_For_AddTraceback(code_object, dict, py_py_line, py_funcname); + Py_DECREF(old_code_object); + } + if (unlikely(!code_object)) goto bad; + getframe = PySys_GetObject("_getframe"); + if (unlikely(!getframe)) goto bad; + if (unlikely(PyDict_SetItemString(dict, "_getframe", getframe))) goto bad; + frame = PyEval_EvalCode(code_object, dict, dict); + if (unlikely(!frame) || frame == Py_None) goto bad; + success = 1; + bad: + PyErr_Restore(exc_type, exc_value, exc_traceback); + Py_XDECREF(code_object); + Py_XDECREF(py_py_line); + Py_XDECREF(py_funcname); + Py_XDECREF(dict); + Py_XDECREF(replace); + if (success) { + PyTraceBack_Here( + (struct _frame*)frame); + } + Py_XDECREF(frame); +} +#else +static PyCodeObject* __Pyx_CreateCodeObjectForTraceback( + const char *funcname, int c_line, + int py_line, const char *filename) { + PyCodeObject *py_code = NULL; + PyObject *py_funcname = NULL; + #if PY_MAJOR_VERSION < 3 + PyObject *py_srcfile = NULL; + py_srcfile = PyString_FromString(filename); + if (!py_srcfile) goto bad; + #endif + if (c_line) { + #if PY_MAJOR_VERSION < 3 + py_funcname = PyString_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); + if (!py_funcname) goto bad; + #else + py_funcname = PyUnicode_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); + if (!py_funcname) goto bad; + funcname = PyUnicode_AsUTF8(py_funcname); + if (!funcname) goto bad; + #endif + } + else { + #if PY_MAJOR_VERSION < 3 + py_funcname = PyString_FromString(funcname); + if (!py_funcname) goto bad; + #endif + } + #if PY_MAJOR_VERSION < 3 + py_code = __Pyx_PyCode_New( + 0, + 0, + 0, + 0, + 0, + 0, + __pyx_empty_bytes, /*PyObject *code,*/ + __pyx_empty_tuple, /*PyObject *consts,*/ + __pyx_empty_tuple, /*PyObject *names,*/ + __pyx_empty_tuple, /*PyObject *varnames,*/ + __pyx_empty_tuple, /*PyObject *freevars,*/ + __pyx_empty_tuple, /*PyObject *cellvars,*/ + py_srcfile, /*PyObject *filename,*/ + py_funcname, /*PyObject *name,*/ + py_line, + __pyx_empty_bytes /*PyObject *lnotab*/ + ); + Py_DECREF(py_srcfile); + #else + py_code = PyCode_NewEmpty(filename, funcname, py_line); + #endif + Py_XDECREF(py_funcname); + return py_code; +bad: + Py_XDECREF(py_funcname); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(py_srcfile); + #endif + return NULL; +} +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename) { + PyCodeObject *py_code = 0; + PyFrameObject *py_frame = 0; + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject *ptype, *pvalue, *ptraceback; + if (c_line) { + c_line = __Pyx_CLineForTraceback(tstate, c_line); + } + py_code = __pyx_find_code_object(c_line ? -c_line : py_line); + if (!py_code) { + __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); + py_code = __Pyx_CreateCodeObjectForTraceback( + funcname, c_line, py_line, filename); + if (!py_code) { + /* If the code object creation fails, then we should clear the + fetched exception references and propagate the new exception */ + Py_XDECREF(ptype); + Py_XDECREF(pvalue); + Py_XDECREF(ptraceback); + goto bad; + } + __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); + __pyx_insert_code_object(c_line ? -c_line : py_line, py_code); + } + py_frame = PyFrame_New( + tstate, /*PyThreadState *tstate,*/ + py_code, /*PyCodeObject *code,*/ + __pyx_d, /*PyObject *globals,*/ + 0 /*PyObject *locals*/ + ); + if (!py_frame) goto bad; + __Pyx_PyFrame_SetLineNumber(py_frame, py_line); + PyTraceBack_Here(py_frame); +bad: + Py_XDECREF(py_code); + Py_XDECREF(py_frame); +} +#endif + +/* CIntFromPyVerify */ +#define __PYX_VERIFY_RETURN_INT(target_type, func_type, func_value)\ + __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 0) +#define __PYX_VERIFY_RETURN_INT_EXC(target_type, func_type, func_value)\ + __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 1) +#define __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, exc)\ + {\ + func_type value = func_value;\ + if (sizeof(target_type) < sizeof(func_type)) {\ + if (unlikely(value != (func_type) (target_type) value)) {\ + func_type zero = 0;\ + if (exc && unlikely(value == (func_type)-1 && PyErr_Occurred()))\ + return (target_type) -1;\ + if (is_unsigned && unlikely(value < zero))\ + goto raise_neg_overflow;\ + else\ + goto raise_overflow;\ + }\ + }\ + return (target_type) value;\ + } + +/* CIntFromPy */ +static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(int) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(int, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (int) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(int, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(int) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 2 * PyLong_SHIFT)) { + return (int) (((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(int) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 3 * PyLong_SHIFT)) { + return (int) (((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(int) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 4 * PyLong_SHIFT)) { + return (int) (((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (int) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(int) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(int, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(int) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(int, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(int, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(int) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(int) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + return (int) ((((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(int) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + return (int) ((((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 4 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(int) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 4 * PyLong_SHIFT)) { + return (int) ((((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(int) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(int, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(int) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(int, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + int val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (int) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (int) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (int) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (int) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (int) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(int) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((int) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(int) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((int) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((int) 1) << (sizeof(int) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (int) -1; + } + } else { + int val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (int) -1; + val = __Pyx_PyInt_As_int(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to int"); + return (int) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to int"); + return (int) -1; +} + +/* CIntFromPy */ +static CYTHON_INLINE enum ParamKeyType __Pyx_PyInt_As_enum__ParamKeyType(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const enum ParamKeyType neg_one = (enum ParamKeyType) -1, const_zero = (enum ParamKeyType) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(enum ParamKeyType) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(enum ParamKeyType, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (enum ParamKeyType) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(enum ParamKeyType, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(enum ParamKeyType) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(enum ParamKeyType, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(enum ParamKeyType) >= 2 * PyLong_SHIFT)) { + return (enum ParamKeyType) (((((enum ParamKeyType)digits[1]) << PyLong_SHIFT) | (enum ParamKeyType)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(enum ParamKeyType) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(enum ParamKeyType, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(enum ParamKeyType) >= 3 * PyLong_SHIFT)) { + return (enum ParamKeyType) (((((((enum ParamKeyType)digits[2]) << PyLong_SHIFT) | (enum ParamKeyType)digits[1]) << PyLong_SHIFT) | (enum ParamKeyType)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(enum ParamKeyType) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(enum ParamKeyType, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(enum ParamKeyType) >= 4 * PyLong_SHIFT)) { + return (enum ParamKeyType) (((((((((enum ParamKeyType)digits[3]) << PyLong_SHIFT) | (enum ParamKeyType)digits[2]) << PyLong_SHIFT) | (enum ParamKeyType)digits[1]) << PyLong_SHIFT) | (enum ParamKeyType)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (enum ParamKeyType) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(enum ParamKeyType) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(enum ParamKeyType, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(enum ParamKeyType) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(enum ParamKeyType, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(enum ParamKeyType, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(enum ParamKeyType) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(enum ParamKeyType, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(enum ParamKeyType) - 1 > 2 * PyLong_SHIFT)) { + return (enum ParamKeyType) (((enum ParamKeyType)-1)*(((((enum ParamKeyType)digits[1]) << PyLong_SHIFT) | (enum ParamKeyType)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(enum ParamKeyType) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(enum ParamKeyType, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(enum ParamKeyType) - 1 > 2 * PyLong_SHIFT)) { + return (enum ParamKeyType) ((((((enum ParamKeyType)digits[1]) << PyLong_SHIFT) | (enum ParamKeyType)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(enum ParamKeyType) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(enum ParamKeyType, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(enum ParamKeyType) - 1 > 3 * PyLong_SHIFT)) { + return (enum ParamKeyType) (((enum ParamKeyType)-1)*(((((((enum ParamKeyType)digits[2]) << PyLong_SHIFT) | (enum ParamKeyType)digits[1]) << PyLong_SHIFT) | (enum ParamKeyType)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(enum ParamKeyType) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(enum ParamKeyType, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(enum ParamKeyType) - 1 > 3 * PyLong_SHIFT)) { + return (enum ParamKeyType) ((((((((enum ParamKeyType)digits[2]) << PyLong_SHIFT) | (enum ParamKeyType)digits[1]) << PyLong_SHIFT) | (enum ParamKeyType)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(enum ParamKeyType) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(enum ParamKeyType, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(enum ParamKeyType) - 1 > 4 * PyLong_SHIFT)) { + return (enum ParamKeyType) (((enum ParamKeyType)-1)*(((((((((enum ParamKeyType)digits[3]) << PyLong_SHIFT) | (enum ParamKeyType)digits[2]) << PyLong_SHIFT) | (enum ParamKeyType)digits[1]) << PyLong_SHIFT) | (enum ParamKeyType)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(enum ParamKeyType) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(enum ParamKeyType, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(enum ParamKeyType) - 1 > 4 * PyLong_SHIFT)) { + return (enum ParamKeyType) ((((((((((enum ParamKeyType)digits[3]) << PyLong_SHIFT) | (enum ParamKeyType)digits[2]) << PyLong_SHIFT) | (enum ParamKeyType)digits[1]) << PyLong_SHIFT) | (enum ParamKeyType)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(enum ParamKeyType) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(enum ParamKeyType, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(enum ParamKeyType) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(enum ParamKeyType, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + PyErr_SetString(PyExc_RuntimeError, + "_PyLong_AsByteArray() not available, cannot convert large enums"); + return (enum ParamKeyType) -1; + } else { + enum ParamKeyType val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (enum ParamKeyType) -1; + val = __Pyx_PyInt_As_enum__ParamKeyType(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to enum ParamKeyType"); + return (enum ParamKeyType) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to enum ParamKeyType"); + return (enum ParamKeyType) -1; +} + +/* CIntToPy */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(int) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(int) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(int) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(int) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(int) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; +#if !CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030d0000 + return _PyLong_FromByteArray(bytes, sizeof(int), + little, !is_unsigned); +#else + PyObject *from_bytes, *result = NULL; + PyObject *py_bytes = NULL, *arg_tuple = NULL, *kwds = NULL, *order_str = NULL; + from_bytes = PyObject_GetAttrString((PyObject*)&PyLong_Type, "from_bytes"); + if (!from_bytes) return NULL; + py_bytes = PyBytes_FromStringAndSize((char*)bytes, sizeof(int)); + if (!py_bytes) goto limited_bad; + order_str = PyUnicode_FromString(little ? "little" : "big"); + if (!order_str) goto limited_bad; + arg_tuple = PyTuple_Pack(2, py_bytes, order_str); + if (!arg_tuple) goto limited_bad; + if (!is_unsigned) { + kwds = PyDict_New(); + if (!kwds) goto limited_bad; + if (PyDict_SetItemString(kwds, "signed", __Pyx_NewRef(Py_True))) goto limited_bad; + } + result = PyObject_Call(from_bytes, arg_tuple, kwds); + limited_bad: + Py_XDECREF(kwds); + Py_XDECREF(arg_tuple); + Py_XDECREF(order_str); + Py_XDECREF(py_bytes); + Py_XDECREF(from_bytes); + return result; +#endif + } +} + +/* CIntToPy */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_enum__ParamKeyType(enum ParamKeyType value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const enum ParamKeyType neg_one = (enum ParamKeyType) -1, const_zero = (enum ParamKeyType) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(enum ParamKeyType) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(enum ParamKeyType) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(enum ParamKeyType) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(enum ParamKeyType) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(enum ParamKeyType) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; +#if !CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030d0000 + return _PyLong_FromByteArray(bytes, sizeof(enum ParamKeyType), + little, !is_unsigned); +#else + PyObject *from_bytes, *result = NULL; + PyObject *py_bytes = NULL, *arg_tuple = NULL, *kwds = NULL, *order_str = NULL; + from_bytes = PyObject_GetAttrString((PyObject*)&PyLong_Type, "from_bytes"); + if (!from_bytes) return NULL; + py_bytes = PyBytes_FromStringAndSize((char*)bytes, sizeof(enum ParamKeyType)); + if (!py_bytes) goto limited_bad; + order_str = PyUnicode_FromString(little ? "little" : "big"); + if (!order_str) goto limited_bad; + arg_tuple = PyTuple_Pack(2, py_bytes, order_str); + if (!arg_tuple) goto limited_bad; + if (!is_unsigned) { + kwds = PyDict_New(); + if (!kwds) goto limited_bad; + if (PyDict_SetItemString(kwds, "signed", __Pyx_NewRef(Py_True))) goto limited_bad; + } + result = PyObject_Call(from_bytes, arg_tuple, kwds); + limited_bad: + Py_XDECREF(kwds); + Py_XDECREF(arg_tuple); + Py_XDECREF(order_str); + Py_XDECREF(py_bytes); + Py_XDECREF(from_bytes); + return result; +#endif + } +} + +/* CIntFromPy */ +static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const long neg_one = (long) -1, const_zero = (long) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(long) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(long, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (long) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(long, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(long) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 2 * PyLong_SHIFT)) { + return (long) (((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(long) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 3 * PyLong_SHIFT)) { + return (long) (((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(long) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 4 * PyLong_SHIFT)) { + return (long) (((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (long) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(long) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(long, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(long) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(long, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(long, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(long) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(long) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + return (long) ((((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(long) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + return (long) ((((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 4 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(long) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 4 * PyLong_SHIFT)) { + return (long) ((((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(long) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(long, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(long) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(long, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + long val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (long) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (long) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (long) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (long) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (long) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(long) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((long) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(long) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((long) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((long) 1) << (sizeof(long) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (long) -1; + } + } else { + long val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (long) -1; + val = __Pyx_PyInt_As_long(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to long"); + return (long) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to long"); + return (long) -1; +} + +/* CIntToPy */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const long neg_one = (long) -1, const_zero = (long) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(long) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(long) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(long) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; +#if !CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030d0000 + return _PyLong_FromByteArray(bytes, sizeof(long), + little, !is_unsigned); +#else + PyObject *from_bytes, *result = NULL; + PyObject *py_bytes = NULL, *arg_tuple = NULL, *kwds = NULL, *order_str = NULL; + from_bytes = PyObject_GetAttrString((PyObject*)&PyLong_Type, "from_bytes"); + if (!from_bytes) return NULL; + py_bytes = PyBytes_FromStringAndSize((char*)bytes, sizeof(long)); + if (!py_bytes) goto limited_bad; + order_str = PyUnicode_FromString(little ? "little" : "big"); + if (!order_str) goto limited_bad; + arg_tuple = PyTuple_Pack(2, py_bytes, order_str); + if (!arg_tuple) goto limited_bad; + if (!is_unsigned) { + kwds = PyDict_New(); + if (!kwds) goto limited_bad; + if (PyDict_SetItemString(kwds, "signed", __Pyx_NewRef(Py_True))) goto limited_bad; + } + result = PyObject_Call(from_bytes, arg_tuple, kwds); + limited_bad: + Py_XDECREF(kwds); + Py_XDECREF(arg_tuple); + Py_XDECREF(order_str); + Py_XDECREF(py_bytes); + Py_XDECREF(from_bytes); + return result; +#endif + } +} + +/* FormatTypeName */ +#if CYTHON_COMPILING_IN_LIMITED_API +static __Pyx_TypeName +__Pyx_PyType_GetName(PyTypeObject* tp) +{ + PyObject *name = __Pyx_PyObject_GetAttrStr((PyObject *)tp, + __pyx_n_s_name_2); + if (unlikely(name == NULL) || unlikely(!PyUnicode_Check(name))) { + PyErr_Clear(); + Py_XDECREF(name); + name = __Pyx_NewRef(__pyx_n_s__53); + } + return name; +} +#endif + +/* FastTypeChecks */ +#if CYTHON_COMPILING_IN_CPYTHON +static int __Pyx_InBases(PyTypeObject *a, PyTypeObject *b) { + while (a) { + a = __Pyx_PyType_GetSlot(a, tp_base, PyTypeObject*); + if (a == b) + return 1; + } + return b == &PyBaseObject_Type; +} +static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b) { + PyObject *mro; + if (a == b) return 1; + mro = a->tp_mro; + if (likely(mro)) { + Py_ssize_t i, n; + n = PyTuple_GET_SIZE(mro); + for (i = 0; i < n; i++) { + if (PyTuple_GET_ITEM(mro, i) == (PyObject *)b) + return 1; + } + return 0; + } + return __Pyx_InBases(a, b); +} +static CYTHON_INLINE int __Pyx_IsAnySubtype2(PyTypeObject *cls, PyTypeObject *a, PyTypeObject *b) { + PyObject *mro; + if (cls == a || cls == b) return 1; + mro = cls->tp_mro; + if (likely(mro)) { + Py_ssize_t i, n; + n = PyTuple_GET_SIZE(mro); + for (i = 0; i < n; i++) { + PyObject *base = PyTuple_GET_ITEM(mro, i); + if (base == (PyObject *)a || base == (PyObject *)b) + return 1; + } + return 0; + } + return __Pyx_InBases(cls, a) || __Pyx_InBases(cls, b); +} +#if PY_MAJOR_VERSION == 2 +static int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject* exc_type2) { + PyObject *exception, *value, *tb; + int res; + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + __Pyx_ErrFetch(&exception, &value, &tb); + res = exc_type1 ? PyObject_IsSubclass(err, exc_type1) : 0; + if (unlikely(res == -1)) { + PyErr_WriteUnraisable(err); + res = 0; + } + if (!res) { + res = PyObject_IsSubclass(err, exc_type2); + if (unlikely(res == -1)) { + PyErr_WriteUnraisable(err); + res = 0; + } + } + __Pyx_ErrRestore(exception, value, tb); + return res; +} +#else +static CYTHON_INLINE int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject *exc_type2) { + if (exc_type1) { + return __Pyx_IsAnySubtype2((PyTypeObject*)err, (PyTypeObject*)exc_type1, (PyTypeObject*)exc_type2); + } else { + return __Pyx_IsSubtype((PyTypeObject*)err, (PyTypeObject*)exc_type2); + } +} +#endif +static int __Pyx_PyErr_GivenExceptionMatchesTuple(PyObject *exc_type, PyObject *tuple) { + Py_ssize_t i, n; + assert(PyExceptionClass_Check(exc_type)); + n = PyTuple_GET_SIZE(tuple); +#if PY_MAJOR_VERSION >= 3 + for (i=0; i= 0x030B00A4 + return Py_Version & ~0xFFUL; +#else + const char* rt_version = Py_GetVersion(); + unsigned long version = 0; + unsigned long factor = 0x01000000UL; + unsigned int digit = 0; + int i = 0; + while (factor) { + while ('0' <= rt_version[i] && rt_version[i] <= '9') { + digit = digit * 10 + (unsigned int) (rt_version[i] - '0'); + ++i; + } + version += factor * digit; + if (rt_version[i] != '.') + break; + digit = 0; + factor >>= 8; + ++i; + } + return version; +#endif +} +static int __Pyx_check_binary_version(unsigned long ct_version, unsigned long rt_version, int allow_newer) { + const unsigned long MAJOR_MINOR = 0xFFFF0000UL; + if ((rt_version & MAJOR_MINOR) == (ct_version & MAJOR_MINOR)) + return 0; + if (likely(allow_newer && (rt_version & MAJOR_MINOR) > (ct_version & MAJOR_MINOR))) + return 1; + { + char message[200]; + PyOS_snprintf(message, sizeof(message), + "compile time Python version %d.%d " + "of module '%.100s' " + "%s " + "runtime version %d.%d", + (int) (ct_version >> 24), (int) ((ct_version >> 16) & 0xFF), + __Pyx_MODULE_NAME, + (allow_newer) ? "was newer than" : "does not match", + (int) (rt_version >> 24), (int) ((rt_version >> 16) & 0xFF) + ); + return PyErr_WarnEx(NULL, message, 1); + } +} + +/* InitStrings */ +#if PY_MAJOR_VERSION >= 3 +static int __Pyx_InitString(__Pyx_StringTabEntry t, PyObject **str) { + if (t.is_unicode | t.is_str) { + if (t.intern) { + *str = PyUnicode_InternFromString(t.s); + } else if (t.encoding) { + *str = PyUnicode_Decode(t.s, t.n - 1, t.encoding, NULL); + } else { + *str = PyUnicode_FromStringAndSize(t.s, t.n - 1); + } + } else { + *str = PyBytes_FromStringAndSize(t.s, t.n - 1); + } + if (!*str) + return -1; + if (PyObject_Hash(*str) == -1) + return -1; + return 0; +} +#endif +static int __Pyx_InitStrings(__Pyx_StringTabEntry *t) { + while (t->p) { + #if PY_MAJOR_VERSION >= 3 + __Pyx_InitString(*t, t->p); + #else + if (t->is_unicode) { + *t->p = PyUnicode_DecodeUTF8(t->s, t->n - 1, NULL); + } else if (t->intern) { + *t->p = PyString_InternFromString(t->s); + } else { + *t->p = PyString_FromStringAndSize(t->s, t->n - 1); + } + if (!*t->p) + return -1; + if (PyObject_Hash(*t->p) == -1) + return -1; + #endif + ++t; + } + return 0; +} + +#include +static CYTHON_INLINE Py_ssize_t __Pyx_ssize_strlen(const char *s) { + size_t len = strlen(s); + if (unlikely(len > (size_t) PY_SSIZE_T_MAX)) { + PyErr_SetString(PyExc_OverflowError, "byte string is too long"); + return -1; + } + return (Py_ssize_t) len; +} +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char* c_str) { + Py_ssize_t len = __Pyx_ssize_strlen(c_str); + if (unlikely(len < 0)) return NULL; + return __Pyx_PyUnicode_FromStringAndSize(c_str, len); +} +static CYTHON_INLINE PyObject* __Pyx_PyByteArray_FromString(const char* c_str) { + Py_ssize_t len = __Pyx_ssize_strlen(c_str); + if (unlikely(len < 0)) return NULL; + return PyByteArray_FromStringAndSize(c_str, len); +} +static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject* o) { + Py_ssize_t ignore; + return __Pyx_PyObject_AsStringAndSize(o, &ignore); +} +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT +#if !CYTHON_PEP393_ENABLED +static const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { + char* defenc_c; + PyObject* defenc = _PyUnicode_AsDefaultEncodedString(o, NULL); + if (!defenc) return NULL; + defenc_c = PyBytes_AS_STRING(defenc); +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + { + char* end = defenc_c + PyBytes_GET_SIZE(defenc); + char* c; + for (c = defenc_c; c < end; c++) { + if ((unsigned char) (*c) >= 128) { + PyUnicode_AsASCIIString(o); + return NULL; + } + } + } +#endif + *length = PyBytes_GET_SIZE(defenc); + return defenc_c; +} +#else +static CYTHON_INLINE const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { + if (unlikely(__Pyx_PyUnicode_READY(o) == -1)) return NULL; +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + if (likely(PyUnicode_IS_ASCII(o))) { + *length = PyUnicode_GET_LENGTH(o); + return PyUnicode_AsUTF8(o); + } else { + PyUnicode_AsASCIIString(o); + return NULL; + } +#else + return PyUnicode_AsUTF8AndSize(o, length); +#endif +} +#endif +#endif +static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject* o, Py_ssize_t *length) { +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT + if ( +#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + __Pyx_sys_getdefaultencoding_not_ascii && +#endif + PyUnicode_Check(o)) { + return __Pyx_PyUnicode_AsStringAndSize(o, length); + } else +#endif +#if (!CYTHON_COMPILING_IN_PYPY && !CYTHON_COMPILING_IN_LIMITED_API) || (defined(PyByteArray_AS_STRING) && defined(PyByteArray_GET_SIZE)) + if (PyByteArray_Check(o)) { + *length = PyByteArray_GET_SIZE(o); + return PyByteArray_AS_STRING(o); + } else +#endif + { + char* result; + int r = PyBytes_AsStringAndSize(o, &result, length); + if (unlikely(r < 0)) { + return NULL; + } else { + return result; + } + } +} +static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject* x) { + int is_true = x == Py_True; + if (is_true | (x == Py_False) | (x == Py_None)) return is_true; + else return PyObject_IsTrue(x); +} +static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject* x) { + int retval; + if (unlikely(!x)) return -1; + retval = __Pyx_PyObject_IsTrue(x); + Py_DECREF(x); + return retval; +} +static PyObject* __Pyx_PyNumber_IntOrLongWrongResultType(PyObject* result, const char* type_name) { + __Pyx_TypeName result_type_name = __Pyx_PyType_GetName(Py_TYPE(result)); +#if PY_MAJOR_VERSION >= 3 + if (PyLong_Check(result)) { + if (PyErr_WarnFormat(PyExc_DeprecationWarning, 1, + "__int__ returned non-int (type " __Pyx_FMT_TYPENAME "). " + "The ability to return an instance of a strict subclass of int is deprecated, " + "and may be removed in a future version of Python.", + result_type_name)) { + __Pyx_DECREF_TypeName(result_type_name); + Py_DECREF(result); + return NULL; + } + __Pyx_DECREF_TypeName(result_type_name); + return result; + } +#endif + PyErr_Format(PyExc_TypeError, + "__%.4s__ returned non-%.4s (type " __Pyx_FMT_TYPENAME ")", + type_name, type_name, result_type_name); + __Pyx_DECREF_TypeName(result_type_name); + Py_DECREF(result); + return NULL; +} +static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x) { +#if CYTHON_USE_TYPE_SLOTS + PyNumberMethods *m; +#endif + const char *name = NULL; + PyObject *res = NULL; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x) || PyLong_Check(x))) +#else + if (likely(PyLong_Check(x))) +#endif + return __Pyx_NewRef(x); +#if CYTHON_USE_TYPE_SLOTS + m = Py_TYPE(x)->tp_as_number; + #if PY_MAJOR_VERSION < 3 + if (m && m->nb_int) { + name = "int"; + res = m->nb_int(x); + } + else if (m && m->nb_long) { + name = "long"; + res = m->nb_long(x); + } + #else + if (likely(m && m->nb_int)) { + name = "int"; + res = m->nb_int(x); + } + #endif +#else + if (!PyBytes_CheckExact(x) && !PyUnicode_CheckExact(x)) { + res = PyNumber_Int(x); + } +#endif + if (likely(res)) { +#if PY_MAJOR_VERSION < 3 + if (unlikely(!PyInt_Check(res) && !PyLong_Check(res))) { +#else + if (unlikely(!PyLong_CheckExact(res))) { +#endif + return __Pyx_PyNumber_IntOrLongWrongResultType(res, name); + } + } + else if (!PyErr_Occurred()) { + PyErr_SetString(PyExc_TypeError, + "an integer is required"); + } + return res; +} +static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject* b) { + Py_ssize_t ival; + PyObject *x; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_CheckExact(b))) { + if (sizeof(Py_ssize_t) >= sizeof(long)) + return PyInt_AS_LONG(b); + else + return PyInt_AsSsize_t(b); + } +#endif + if (likely(PyLong_CheckExact(b))) { + #if CYTHON_USE_PYLONG_INTERNALS + if (likely(__Pyx_PyLong_IsCompact(b))) { + return __Pyx_PyLong_CompactValue(b); + } else { + const digit* digits = __Pyx_PyLong_Digits(b); + const Py_ssize_t size = __Pyx_PyLong_SignedDigitCount(b); + switch (size) { + case 2: + if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { + return (Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -2: + if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case 3: + if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { + return (Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -3: + if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case 4: + if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { + return (Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -4: + if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + } + } + #endif + return PyLong_AsSsize_t(b); + } + x = PyNumber_Index(b); + if (!x) return -1; + ival = PyInt_AsSsize_t(x); + Py_DECREF(x); + return ival; +} +static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject* o) { + if (sizeof(Py_hash_t) == sizeof(Py_ssize_t)) { + return (Py_hash_t) __Pyx_PyIndex_AsSsize_t(o); +#if PY_MAJOR_VERSION < 3 + } else if (likely(PyInt_CheckExact(o))) { + return PyInt_AS_LONG(o); +#endif + } else { + Py_ssize_t ival; + PyObject *x; + x = PyNumber_Index(o); + if (!x) return -1; + ival = PyInt_AsLong(x); + Py_DECREF(x); + return ival; + } +} +static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b) { + return b ? __Pyx_NewRef(Py_True) : __Pyx_NewRef(Py_False); +} +static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t ival) { + return PyInt_FromSize_t(ival); +} + + +/* #### Code section: utility_code_pragmas_end ### */ +#ifdef _MSC_VER +#pragma warning( pop ) +#endif + + + +/* #### Code section: end ### */ +#endif /* Py_PYTHON_H */ diff --git a/common/params_pyx.so b/common/params_pyx.so new file mode 100644 index 00000000000000..4d28509ec81f09 Binary files /dev/null and b/common/params_pyx.so differ diff --git a/common/prefix.h b/common/prefix.h deleted file mode 100644 index 11d0bc10661e06..00000000000000 --- a/common/prefix.h +++ /dev/null @@ -1,39 +0,0 @@ -#pragma once - -#include -#include - -#include "common/params.h" -#include "common/util.h" -#include "system/hardware/hw.h" - -class OpenpilotPrefix { -public: - OpenpilotPrefix(std::string prefix = {}) { - if (prefix.empty()) { - prefix = util::random_string(15); - } - msgq_path = "/dev/shm/" + prefix; - bool ret = util::create_directories(msgq_path, 0777); - assert(ret); - setenv("OPENPILOT_PREFIX", prefix.c_str(), 1); - } - - ~OpenpilotPrefix() { - auto param_path = Params().getParamPath(); - if (util::file_exists(param_path)) { - std::string real_path = util::readlink(param_path); - system(util::string_format("rm %s -rf", real_path.c_str()).c_str()); - unlink(param_path.c_str()); - } - if (getenv("COMMA_CACHE") == nullptr) { - system(util::string_format("rm %s -rf", Path::download_cache_root().c_str()).c_str()); - } - system(util::string_format("rm %s -rf", Path::comma_home().c_str()).c_str()); - system(util::string_format("rm %s -rf", msgq_path.c_str()).c_str()); - unsetenv("OPENPILOT_PREFIX"); - } - -private: - std::string msgq_path; -}; diff --git a/common/queue.h b/common/queue.h deleted file mode 100644 index b3558b11a47f49..00000000000000 --- a/common/queue.h +++ /dev/null @@ -1,52 +0,0 @@ -#pragma once - -#include -#include -#include - -template -class SafeQueue { -public: - SafeQueue() = default; - - void push(const T& v) { - { - std::unique_lock lk(m); - q.push(v); - } - cv.notify_one(); - } - - T pop() { - std::unique_lock lk(m); - cv.wait(lk, [this] { return !q.empty(); }); - T v = q.front(); - q.pop(); - return v; - } - - bool try_pop(T& v, int timeout_ms = 0) { - std::unique_lock lk(m); - if (!cv.wait_for(lk, std::chrono::milliseconds(timeout_ms), [this] { return !q.empty(); })) { - return false; - } - v = q.front(); - q.pop(); - return true; - } - - bool empty() const { - std::scoped_lock lk(m); - return q.empty(); - } - - size_t size() const { - std::scoped_lock lk(m); - return q.size(); - } - -private: - mutable std::mutex m; - std::condition_variable cv; - std::queue q; -}; diff --git a/common/ratekeeper.cc b/common/ratekeeper.cc deleted file mode 100644 index 7e63815168d1e8..00000000000000 --- a/common/ratekeeper.cc +++ /dev/null @@ -1,40 +0,0 @@ -#include "common/ratekeeper.h" - -#include - -#include "common/swaglog.h" -#include "common/timing.h" -#include "common/util.h" - -RateKeeper::RateKeeper(const std::string &name, float rate, float print_delay_threshold) - : name(name), - print_delay_threshold(std::max(0.f, print_delay_threshold)) { - interval = 1 / rate; - last_monitor_time = seconds_since_boot(); - next_frame_time = last_monitor_time + interval; -} - -bool RateKeeper::keepTime() { - bool lagged = monitorTime(); - if (remaining_ > 0) { - util::sleep_for(remaining_ * 1000); - } - return lagged; -} - -bool RateKeeper::monitorTime() { - ++frame_; - last_monitor_time = seconds_since_boot(); - remaining_ = next_frame_time - last_monitor_time; - - bool lagged = remaining_ < 0; - if (lagged) { - if (print_delay_threshold > 0 && remaining_ < -print_delay_threshold) { - LOGW("%s lagging by %.2f ms", name.c_str(), -remaining_ * 1000); - } - next_frame_time = last_monitor_time + interval; - } else { - next_frame_time += interval; - } - return lagged; -} diff --git a/common/ratekeeper.h b/common/ratekeeper.h deleted file mode 100644 index e7323c6ec3428e..00000000000000 --- a/common/ratekeeper.h +++ /dev/null @@ -1,23 +0,0 @@ -#pragma once - -#include -#include - -class RateKeeper { -public: - RateKeeper(const std::string &name, float rate, float print_delay_threshold = 0); - ~RateKeeper() {} - bool keepTime(); - bool monitorTime(); - inline uint64_t frame() const { return frame_; } - inline double remaining() const { return remaining_; } - -private: - double interval; - double next_frame_time; - double last_monitor_time; - double remaining_ = 0; - float print_delay_threshold = 0; - uint64_t frame_ = 0; - std::string name; -}; diff --git a/common/swaglog.cc b/common/swaglog.cc deleted file mode 100644 index 7864a6355a6030..00000000000000 --- a/common/swaglog.cc +++ /dev/null @@ -1,152 +0,0 @@ -#ifndef _GNU_SOURCE -#define _GNU_SOURCE -#endif - -#include "common/swaglog.h" - -#include -#include -#include -#include - -#include -#include -#include "third_party/json11/json11.hpp" -#include "common/version.h" -#include "system/hardware/hw.h" - -class SwaglogState { -public: - SwaglogState() { - zctx = zmq_ctx_new(); - sock = zmq_socket(zctx, ZMQ_PUSH); - - // Timeout on shutdown for messages to be received by the logging process - int timeout = 100; - zmq_setsockopt(sock, ZMQ_LINGER, &timeout, sizeof(timeout)); - zmq_connect(sock, Path::swaglog_ipc().c_str()); - - print_level = CLOUDLOG_WARNING; - if (const char* print_lvl = getenv("LOGPRINT")) { - if (strcmp(print_lvl, "debug") == 0) { - print_level = CLOUDLOG_DEBUG; - } else if (strcmp(print_lvl, "info") == 0) { - print_level = CLOUDLOG_INFO; - } else if (strcmp(print_lvl, "warning") == 0) { - print_level = CLOUDLOG_WARNING; - } - } - - ctx_j = json11::Json::object{}; - if (char* dongle_id = getenv("DONGLE_ID")) { - ctx_j["dongle_id"] = dongle_id; - } - if (char* git_origin = getenv("GIT_ORIGIN")) { - ctx_j["origin"] = git_origin; - } - if (char* git_branch = getenv("GIT_BRANCH")) { - ctx_j["branch"] = git_branch; - } - if (char* git_commit = getenv("GIT_COMMIT")) { - ctx_j["commit"] = git_commit; - } - if (char* daemon_name = getenv("MANAGER_DAEMON")) { - ctx_j["daemon"] = daemon_name; - } - ctx_j["version"] = COMMA_VERSION; - ctx_j["dirty"] = !getenv("CLEAN"); - ctx_j["device"] = Hardware::get_name(); - } - - ~SwaglogState() { - zmq_close(sock); - zmq_ctx_destroy(zctx); - } - - void log(int levelnum, const char* filename, int lineno, const char* func, const char* msg, const std::string& log_s) { - std::lock_guard lk(lock); - if (levelnum >= print_level) { - printf("%s: %s\n", filename, msg); - } - zmq_send(sock, log_s.data(), log_s.length(), ZMQ_NOBLOCK); - } - - std::mutex lock; - void* zctx = nullptr; - void* sock = nullptr; - int print_level; - json11::Json::object ctx_j; -}; - -bool LOG_TIMESTAMPS = getenv("LOG_TIMESTAMPS"); -uint32_t NO_FRAME_ID = std::numeric_limits::max(); - -static void cloudlog_common(int levelnum, const char* filename, int lineno, const char* func, - char* msg_buf, const json11::Json::object &msg_j={}) { - static SwaglogState s; - - json11::Json::object log_j = json11::Json::object { - {"ctx", s.ctx_j}, - {"levelnum", levelnum}, - {"filename", filename}, - {"lineno", lineno}, - {"funcname", func}, - {"created", seconds_since_epoch()} - }; - if (msg_j.empty()) { - log_j["msg"] = msg_buf; - } else { - log_j["msg"] = msg_j; - } - - std::string log_s; - log_s += (char)levelnum; - ((json11::Json)log_j).dump(log_s); - s.log(levelnum, filename, lineno, func, msg_buf, log_s); - - free(msg_buf); -} - -void cloudlog_e(int levelnum, const char* filename, int lineno, const char* func, - const char* fmt, ...) { - va_list args; - va_start(args, fmt); - char* msg_buf = nullptr; - int ret = vasprintf(&msg_buf, fmt, args); - va_end(args); - if (ret <= 0 || !msg_buf) return; - cloudlog_common(levelnum, filename, lineno, func, msg_buf); -} - -void cloudlog_t_common(int levelnum, const char* filename, int lineno, const char* func, - uint32_t frame_id, const char* fmt, va_list args) { - if (!LOG_TIMESTAMPS) return; - char* msg_buf = nullptr; - int ret = vasprintf(&msg_buf, fmt, args); - if (ret <= 0 || !msg_buf) return; - json11::Json::object tspt_j = json11::Json::object{ - {"event", msg_buf}, - {"time", std::to_string(nanos_since_boot())} - }; - if (frame_id < NO_FRAME_ID) { - tspt_j["frame_id"] = std::to_string(frame_id); - } - tspt_j = json11::Json::object{{"timestamp", tspt_j}}; - cloudlog_common(levelnum, filename, lineno, func, msg_buf, tspt_j); -} - - -void cloudlog_te(int levelnum, const char* filename, int lineno, const char* func, - const char* fmt, ...) { - va_list args; - va_start(args, fmt); - cloudlog_t_common(levelnum, filename, lineno, func, NO_FRAME_ID, fmt, args); - va_end(args); -} -void cloudlog_te(int levelnum, const char* filename, int lineno, const char* func, - uint32_t frame_id, const char* fmt, ...) { - va_list args; - va_start(args, fmt); - cloudlog_t_common(levelnum, filename, lineno, func, frame_id, fmt, args); - va_end(args); -} diff --git a/common/swaglog.h b/common/swaglog.h deleted file mode 100644 index 06d45b1d981af0..00000000000000 --- a/common/swaglog.h +++ /dev/null @@ -1,76 +0,0 @@ -#pragma once - -#include "common/timing.h" - -#define CLOUDLOG_DEBUG 10 -#define CLOUDLOG_INFO 20 -#define CLOUDLOG_WARNING 30 -#define CLOUDLOG_ERROR 40 -#define CLOUDLOG_CRITICAL 50 - - -#ifdef __GNUC__ -#define SWAG_LOG_CHECK_FMT(a, b) __attribute__ ((format (printf, a, b))) -#else -#define SWAG_LOG_CHECK_FMT(a, b) -#endif - -void cloudlog_e(int levelnum, const char* filename, int lineno, const char* func, - const char* fmt, ...) SWAG_LOG_CHECK_FMT(5, 6); - -void cloudlog_te(int levelnum, const char* filename, int lineno, const char* func, - const char* fmt, ...) SWAG_LOG_CHECK_FMT(5, 6); - -void cloudlog_te(int levelnum, const char* filename, int lineno, const char* func, - uint32_t frame_id, const char* fmt, ...) SWAG_LOG_CHECK_FMT(6, 7); - - -#define cloudlog(lvl, fmt, ...) cloudlog_e(lvl, __FILE__, __LINE__, \ - __func__, \ - fmt, ## __VA_ARGS__) - -#define cloudlog_t(lvl, ...) cloudlog_te(lvl, __FILE__, __LINE__, \ - __func__, \ - __VA_ARGS__) - - -#define cloudlog_rl(burst, millis, lvl, fmt, ...) \ -{ \ - static uint64_t __begin = 0; \ - static int __printed = 0; \ - static int __missed = 0; \ - \ - int __burst = (burst); \ - int __millis = (millis); \ - uint64_t __ts = nanos_since_boot(); \ - \ - if (!__begin) { __begin = __ts; } \ - \ - if (__begin + __millis*1000000ULL < __ts) { \ - if (__missed) { \ - cloudlog(CLOUDLOG_WARNING, "cloudlog: %d messages suppressed", __missed); \ - } \ - __begin = 0; \ - __printed = 0; \ - __missed = 0; \ - } \ - \ - if (__printed < __burst) { \ - cloudlog(lvl, fmt, ## __VA_ARGS__); \ - __printed++; \ - } else { \ - __missed++; \ - } \ -} - - -#define LOGT(...) cloudlog_t(CLOUDLOG_DEBUG, __VA_ARGS__) -#define LOGD(fmt, ...) cloudlog(CLOUDLOG_DEBUG, fmt, ## __VA_ARGS__) -#define LOG(fmt, ...) cloudlog(CLOUDLOG_INFO, fmt, ## __VA_ARGS__) -#define LOGW(fmt, ...) cloudlog(CLOUDLOG_WARNING, fmt, ## __VA_ARGS__) -#define LOGE(fmt, ...) cloudlog(CLOUDLOG_ERROR, fmt, ## __VA_ARGS__) - -#define LOGD_100(fmt, ...) cloudlog_rl(2, 100, CLOUDLOG_DEBUG, fmt, ## __VA_ARGS__) -#define LOG_100(fmt, ...) cloudlog_rl(2, 100, CLOUDLOG_INFO, fmt, ## __VA_ARGS__) -#define LOGW_100(fmt, ...) cloudlog_rl(2, 100, CLOUDLOG_WARNING, fmt, ## __VA_ARGS__) -#define LOGE_100(fmt, ...) cloudlog_rl(2, 100, CLOUDLOG_ERROR, fmt, ## __VA_ARGS__) diff --git a/common/tests/.gitignore b/common/tests/.gitignore deleted file mode 100644 index 6cddfc7bdf0936..00000000000000 --- a/common/tests/.gitignore +++ /dev/null @@ -1 +0,0 @@ -test_common diff --git a/common/tests/__init__.py b/common/tests/__init__.py deleted file mode 100644 index e69de29bb2d1d6..00000000000000 diff --git a/common/tests/test_file_helpers.py b/common/tests/test_file_helpers.py deleted file mode 100644 index a9977c2362d301..00000000000000 --- a/common/tests/test_file_helpers.py +++ /dev/null @@ -1,19 +0,0 @@ -import os -from uuid import uuid4 - -from openpilot.common.file_helpers import atomic_write_in_dir - - -class TestFileHelpers: - def run_atomic_write_func(self, atomic_write_func): - path = f"/tmp/tmp{uuid4()}" - with atomic_write_func(path) as f: - f.write("test") - assert not os.path.exists(path) - - with open(path) as f: - assert f.read() == "test" - os.remove(path) - - def test_atomic_write_in_dir(self): - self.run_atomic_write_func(atomic_write_in_dir) diff --git a/common/tests/test_markdown.py b/common/tests/test_markdown.py deleted file mode 100644 index d3c7e02c69810e..00000000000000 --- a/common/tests/test_markdown.py +++ /dev/null @@ -1,15 +0,0 @@ -import os - -from openpilot.common.basedir import BASEDIR -from openpilot.common.markdown import parse_markdown - - -class TestMarkdown: - def test_all_release_notes(self): - with open(os.path.join(BASEDIR, "RELEASES.md")) as f: - release_notes = f.read().split("\n\n") - assert len(release_notes) > 10 - - for rn in release_notes: - md = parse_markdown(rn) - assert len(md) > 0 diff --git a/common/tests/test_numpy_fast.py b/common/tests/test_numpy_fast.py deleted file mode 100644 index aa53851db04981..00000000000000 --- a/common/tests/test_numpy_fast.py +++ /dev/null @@ -1,21 +0,0 @@ -import numpy as np - -from openpilot.common.numpy_fast import interp - - -class TestInterp: - def test_correctness_controls(self): - _A_CRUISE_MIN_BP = np.asarray([0., 5., 10., 20., 40.]) - _A_CRUISE_MIN_V = np.asarray([-1.0, -.8, -.67, -.5, -.30]) - v_ego_arr = [-1, -1e-12, 0, 4, 5, 6, 7, 10, 11, 15.2, 20, 21, 39, - 39.999999, 40, 41] - - expected = np.interp(v_ego_arr, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V) - actual = interp(v_ego_arr, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V) - - np.testing.assert_equal(actual, expected) - - for v_ego in v_ego_arr: - expected = np.interp(v_ego, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V) - actual = interp(v_ego, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V) - np.testing.assert_equal(actual, expected) diff --git a/common/tests/test_params.cc b/common/tests/test_params.cc deleted file mode 100644 index f8d6c79f552a2b..00000000000000 --- a/common/tests/test_params.cc +++ /dev/null @@ -1,27 +0,0 @@ -#include "catch2/catch.hpp" -#define private public -#include "common/params.h" -#include "common/util.h" - -TEST_CASE("params_nonblocking_put") { - char tmp_path[] = "/tmp/asyncWriter_XXXXXX"; - const std::string param_path = mkdtemp(tmp_path); - auto param_names = {"CarParams", "IsMetric"}; - { - Params params(param_path); - for (const auto &name : param_names) { - params.putNonBlocking(name, "1"); - // param is empty - REQUIRE(params.get(name).empty()); - } - - // check if thread is running - REQUIRE(params.future.valid()); - REQUIRE(params.future.wait_for(std::chrono::milliseconds(0)) == std::future_status::timeout); - } - // check results - Params p(param_path); - for (const auto &name : param_names) { - REQUIRE(p.get(name) == "1"); - } -} diff --git a/common/tests/test_params.py b/common/tests/test_params.py deleted file mode 100644 index 16cbc45295d527..00000000000000 --- a/common/tests/test_params.py +++ /dev/null @@ -1,109 +0,0 @@ -import pytest -import os -import threading -import time -import uuid - -from openpilot.common.params import Params, ParamKeyType, UnknownKeyName - -class TestParams: - def setup_method(self): - self.params = Params() - - def test_params_put_and_get(self): - self.params.put("DongleId", "cb38263377b873ee") - assert self.params.get("DongleId") == b"cb38263377b873ee" - - def test_params_non_ascii(self): - st = b"\xe1\x90\xff" - self.params.put("CarParams", st) - assert self.params.get("CarParams") == st - - def test_params_get_cleared_manager_start(self): - self.params.put("CarParams", "test") - self.params.put("DongleId", "cb38263377b873ee") - assert self.params.get("CarParams") == b"test" - - undefined_param = self.params.get_param_path(uuid.uuid4().hex) - with open(undefined_param, "w") as f: - f.write("test") - assert os.path.isfile(undefined_param) - - self.params.clear_all(ParamKeyType.CLEAR_ON_MANAGER_START) - assert self.params.get("CarParams") is None - assert self.params.get("DongleId") is not None - assert not os.path.isfile(undefined_param) - - def test_params_two_things(self): - self.params.put("DongleId", "bob") - self.params.put("AthenadPid", "123") - assert self.params.get("DongleId") == b"bob" - assert self.params.get("AthenadPid") == b"123" - - def test_params_get_block(self): - def _delayed_writer(): - time.sleep(0.1) - self.params.put("CarParams", "test") - threading.Thread(target=_delayed_writer).start() - assert self.params.get("CarParams") is None - assert self.params.get("CarParams", True) == b"test" - - def test_params_unknown_key_fails(self): - with pytest.raises(UnknownKeyName): - self.params.get("swag") - - with pytest.raises(UnknownKeyName): - self.params.get_bool("swag") - - with pytest.raises(UnknownKeyName): - self.params.put("swag", "abc") - - with pytest.raises(UnknownKeyName): - self.params.put_bool("swag", True) - - def test_remove_not_there(self): - assert self.params.get("CarParams") is None - self.params.remove("CarParams") - assert self.params.get("CarParams") is None - - def test_get_bool(self): - self.params.remove("IsMetric") - assert not self.params.get_bool("IsMetric") - - self.params.put_bool("IsMetric", True) - assert self.params.get_bool("IsMetric") - - self.params.put_bool("IsMetric", False) - assert not self.params.get_bool("IsMetric") - - self.params.put("IsMetric", "1") - assert self.params.get_bool("IsMetric") - - self.params.put("IsMetric", "0") - assert not self.params.get_bool("IsMetric") - - def test_put_non_blocking_with_get_block(self): - q = Params() - def _delayed_writer(): - time.sleep(0.1) - Params().put_nonblocking("CarParams", "test") - threading.Thread(target=_delayed_writer).start() - assert q.get("CarParams") is None - assert q.get("CarParams", True) == b"test" - - def test_put_bool_non_blocking_with_get_block(self): - q = Params() - def _delayed_writer(): - time.sleep(0.1) - Params().put_bool_nonblocking("CarParams", True) - threading.Thread(target=_delayed_writer).start() - assert q.get("CarParams") is None - assert q.get("CarParams", True) == b"1" - - def test_params_all_keys(self): - keys = Params().all_keys() - - # sanity checks - assert len(keys) > 20 - assert len(keys) == len(set(keys)) - assert b"CarParams" in keys diff --git a/common/tests/test_runner.cc b/common/tests/test_runner.cc deleted file mode 100644 index 62bf7476a18996..00000000000000 --- a/common/tests/test_runner.cc +++ /dev/null @@ -1,2 +0,0 @@ -#define CATCH_CONFIG_MAIN -#include "catch2/catch.hpp" diff --git a/common/tests/test_simple_kalman.py b/common/tests/test_simple_kalman.py deleted file mode 100644 index f4a967e58ad418..00000000000000 --- a/common/tests/test_simple_kalman.py +++ /dev/null @@ -1,29 +0,0 @@ -from openpilot.common.simple_kalman import KF1D - - -class TestSimpleKalman: - def setup_method(self): - dt = 0.01 - x0_0 = 0.0 - x1_0 = 0.0 - A0_0 = 1.0 - A0_1 = dt - A1_0 = 0.0 - A1_1 = 1.0 - C0_0 = 1.0 - C0_1 = 0.0 - K0_0 = 0.12287673 - K1_0 = 0.29666309 - - self.kf = KF1D(x0=[[x0_0], [x1_0]], - A=[[A0_0, A0_1], [A1_0, A1_1]], - C=[C0_0, C0_1], - K=[[K0_0], [K1_0]]) - - def test_getter_setter(self): - self.kf.set_x([[1.0], [1.0]]) - assert self.kf.x == [[1.0], [1.0]] - - def update_returns_state(self): - x = self.kf.update(100) - assert x == self.kf.x diff --git a/common/tests/test_swaglog.cc b/common/tests/test_swaglog.cc deleted file mode 100644 index 09bc4c3795fd5e..00000000000000 --- a/common/tests/test_swaglog.cc +++ /dev/null @@ -1,88 +0,0 @@ -#include - -#include - -#include "catch2/catch.hpp" -#include "common/swaglog.h" -#include "common/util.h" -#include "common/version.h" -#include "system/hardware/hw.h" -#include "third_party/json11/json11.hpp" - -std::string daemon_name = "testy"; -std::string dongle_id = "test_dongle_id"; -int LINE_NO = 0; - -void log_thread(int thread_id, int msg_cnt) { - for (int i = 0; i < msg_cnt; ++i) { - LOGD("%d", thread_id); - LINE_NO = __LINE__ - 1; - usleep(1); - } -} - -void recv_log(int thread_cnt, int thread_msg_cnt) { - void *zctx = zmq_ctx_new(); - void *sock = zmq_socket(zctx, ZMQ_PULL); - zmq_bind(sock, Path::swaglog_ipc().c_str()); - std::vector thread_msgs(thread_cnt); - int total_count = 0; - - for (auto start = std::chrono::steady_clock::now(), now = start; - now < start + std::chrono::seconds{1} && total_count < (thread_cnt * thread_msg_cnt); - now = std::chrono::steady_clock::now()) { - char buf[4096] = {}; - if (zmq_recv(sock, buf, sizeof(buf), ZMQ_DONTWAIT) <= 0) { - if (errno == EAGAIN || errno == EINTR || errno == EFSM) continue; - break; - } - - REQUIRE(buf[0] == CLOUDLOG_DEBUG); - std::string err; - auto msg = json11::Json::parse(buf + 1, err); - REQUIRE(!msg.is_null()); - - REQUIRE(msg["levelnum"].int_value() == CLOUDLOG_DEBUG); - REQUIRE_THAT(msg["filename"].string_value(), Catch::Contains("test_swaglog.cc")); - REQUIRE(msg["funcname"].string_value() == "log_thread"); - REQUIRE(msg["lineno"].int_value() == LINE_NO); - - auto ctx = msg["ctx"]; - - REQUIRE(ctx["daemon"].string_value() == daemon_name); - REQUIRE(ctx["dongle_id"].string_value() == dongle_id); - REQUIRE(ctx["dirty"].bool_value() == true); - - REQUIRE(ctx["version"].string_value() == COMMA_VERSION); - - std::string device = Hardware::get_name(); - REQUIRE(ctx["device"].string_value() == device); - - int thread_id = atoi(msg["msg"].string_value().c_str()); - REQUIRE((thread_id >= 0 && thread_id < thread_cnt)); - thread_msgs[thread_id]++; - total_count++; - } - for (int i = 0; i < thread_cnt; ++i) { - INFO("thread :" << i); - REQUIRE(thread_msgs[i] == thread_msg_cnt); - } - zmq_close(sock); - zmq_ctx_destroy(zctx); -} - -TEST_CASE("swaglog") { - setenv("MANAGER_DAEMON", daemon_name.c_str(), 1); - setenv("DONGLE_ID", dongle_id.c_str(), 1); - setenv("dirty", "1", 1); - const int thread_cnt = 5; - const int thread_msg_cnt = 100; - - std::vector log_threads; - for (int i = 0; i < thread_cnt; ++i) { - log_threads.push_back(std::thread(log_thread, i, thread_msg_cnt)); - } - for (auto &t : log_threads) t.join(); - - recv_log(thread_cnt, thread_msg_cnt); -} diff --git a/common/tests/test_util.cc b/common/tests/test_util.cc deleted file mode 100644 index de87fa3e0642ed..00000000000000 --- a/common/tests/test_util.cc +++ /dev/null @@ -1,147 +0,0 @@ - -#include -#include -#include - -#include -#include -#include -#include -#include - -#include "catch2/catch.hpp" -#include "common/util.h" - -std::string random_bytes(int size) { - std::random_device rd; - std::independent_bits_engine rbe(rd()); - std::string bytes(size + 1, '\0'); - std::generate(bytes.begin(), bytes.end(), std::ref(rbe)); - return bytes; -} - -TEST_CASE("util::read_file") { - SECTION("read /proc/version") { - std::string ret = util::read_file("/proc/version"); - REQUIRE(ret.find("Linux version") != std::string::npos); - } - SECTION("read from sysfs") { - std::string ret = util::read_file("/sys/power/wakeup_count"); - REQUIRE(!ret.empty()); - } - SECTION("read file") { - char filename[] = "/tmp/test_read_XXXXXX"; - int fd = mkstemp(filename); - - REQUIRE(util::read_file(filename).empty()); - - std::string content = random_bytes(64 * 1024); - write(fd, content.c_str(), content.size()); - std::string ret = util::read_file(filename); - bool equal = (ret == content); - REQUIRE(equal); - close(fd); - } - SECTION("read directory") { - REQUIRE(util::read_file(".").empty()); - } - SECTION("read non-existent file") { - std::string ret = util::read_file("does_not_exist"); - REQUIRE(ret.empty()); - } - SECTION("read non-permission") { - REQUIRE(util::read_file("/proc/kmsg").empty()); - } -} - -TEST_CASE("util::file_exists") { - char filename[] = "/tmp/test_file_exists_XXXXXX"; - int fd = mkstemp(filename); - REQUIRE(fd != -1); - close(fd); - - SECTION("existent file") { - REQUIRE(util::file_exists(filename)); - REQUIRE(util::file_exists("/tmp")); - } - SECTION("nonexistent file") { - std::string fn = filename; - REQUIRE(!util::file_exists(fn + "/nonexistent")); - } - SECTION("file has no access permissions") { - std::string fn = "/proc/kmsg"; - std::ifstream f(fn); - REQUIRE(f.good() == false); - REQUIRE(util::file_exists(fn)); - } - ::remove(filename); -} - -TEST_CASE("util::read_files_in_dir") { - char tmp_path[] = "/tmp/test_XXXXXX"; - const std::string test_path = mkdtemp(tmp_path); - const std::string files[] = {".test1", "'test2'", "test3"}; - for (auto fn : files) { - std::ofstream{test_path + "/" + fn} << fn; - } - mkdir((test_path + "/dir").c_str(), 0777); - - std::map result = util::read_files_in_dir(test_path); - REQUIRE(result.find("dir") == result.end()); - REQUIRE(result.size() == std::size(files)); - for (auto& [k, v] : result) { - REQUIRE(k == v); - } -} - - -TEST_CASE("util::safe_fwrite") { - char filename[] = "/tmp/XXXXXX"; - int fd = mkstemp(filename); - close(fd); - std::string dat = random_bytes(1024 * 1024); - - FILE *f = util::safe_fopen(filename, "wb"); - REQUIRE(f != nullptr); - size_t size = util::safe_fwrite(dat.data(), 1, dat.size(), f); - REQUIRE(size == dat.size()); - int ret = util::safe_fflush(f); - REQUIRE(ret == 0); - ret = fclose(f); - REQUIRE(ret == 0); - bool equal = (dat == util::read_file(filename)); - REQUIRE(equal); -} - -TEST_CASE("util::create_directories") { - system("rm /tmp/test_create_directories -rf"); - std::string dir = "/tmp/test_create_directories/a/b/c/d/e/f"; - - auto check_dir_permissions = [](const std::string &dir, mode_t mode) -> bool { - struct stat st = {}; - return stat(dir.c_str(), &st) == 0 && (st.st_mode & S_IFMT) == S_IFDIR && (st.st_mode & (S_IRWXU | S_IRWXG | S_IRWXO)) == mode; - }; - - SECTION("create_directories") { - REQUIRE(util::create_directories(dir, 0755)); - REQUIRE(check_dir_permissions(dir, 0755)); - } - SECTION("dir already exists") { - REQUIRE(util::create_directories(dir, 0755)); - REQUIRE(util::create_directories(dir, 0755)); - } - SECTION("a file exists with the same name") { - REQUIRE(util::create_directories(dir, 0755)); - int f = open((dir + "/file").c_str(), O_RDWR | O_CREAT); - REQUIRE(f != -1); - close(f); - REQUIRE(util::create_directories(dir + "/file", 0755) == false); - REQUIRE(util::create_directories(dir + "/file/1/2/3", 0755) == false); - } - SECTION("end with slashes") { - REQUIRE(util::create_directories(dir + "/", 0755)); - } - SECTION("empty") { - REQUIRE(util::create_directories("", 0755) == false); - } -} diff --git a/common/timing.h b/common/timing.h deleted file mode 100644 index 83f55e0c4009f5..00000000000000 --- a/common/timing.h +++ /dev/null @@ -1,51 +0,0 @@ -#pragma once - -#include -#include - -#ifdef __APPLE__ -#define CLOCK_BOOTTIME CLOCK_MONOTONIC -#endif - -static inline uint64_t nanos_since_boot() { - struct timespec t; - clock_gettime(CLOCK_BOOTTIME, &t); - return t.tv_sec * 1000000000ULL + t.tv_nsec; -} - -static inline double millis_since_boot() { - struct timespec t; - clock_gettime(CLOCK_BOOTTIME, &t); - return t.tv_sec * 1000.0 + t.tv_nsec * 1e-6; -} - -static inline double seconds_since_boot() { - struct timespec t; - clock_gettime(CLOCK_BOOTTIME, &t); - return (double)t.tv_sec + t.tv_nsec * 1e-9; -} - -static inline uint64_t nanos_since_epoch() { - struct timespec t; - clock_gettime(CLOCK_REALTIME, &t); - return t.tv_sec * 1000000000ULL + t.tv_nsec; -} - -static inline double seconds_since_epoch() { - struct timespec t; - clock_gettime(CLOCK_REALTIME, &t); - return (double)t.tv_sec + t.tv_nsec * 1e-9; -} - -// you probably should use nanos_since_boot instead -static inline uint64_t nanos_monotonic() { - struct timespec t; - clock_gettime(CLOCK_MONOTONIC, &t); - return t.tv_sec * 1000000000ULL + t.tv_nsec; -} - -static inline uint64_t nanos_monotonic_raw() { - struct timespec t; - clock_gettime(CLOCK_MONOTONIC_RAW, &t); - return t.tv_sec * 1000000000ULL + t.tv_nsec; -} diff --git a/common/transformations/README.md b/common/transformations/README.md deleted file mode 100644 index 42a060da80bf32..00000000000000 --- a/common/transformations/README.md +++ /dev/null @@ -1,70 +0,0 @@ - -Reference Frames ------- -Many reference frames are used throughout. This -folder contains all helper functions needed to -transform between them. Generally this is done -by generating a rotation matrix and multiplying. - - -| Name | [x, y, z] | Units | Notes | -| :-------------: |:-------------:| :-----:| :----: | -| Geodetic | [Latitude, Longitude, Altitude] | geodetic coordinates | Sometimes used as [lon, lat, alt], avoid this frame. | -| ECEF | [x, y, z] | meters | We use **ITRF14 (IGS14)**, NOT NAD83.
This is the global Mesh3D frame. | -| NED | [North, East, Down] | meters | Relative to earth's surface, useful for visualizing. | -| Device | [Forward, Right, Down] | meters | This is the Mesh3D local frame.
Relative to camera, **not imu.**
![img](http://upload.wikimedia.org/wikipedia/commons/thumb/2/2f/RPY_angles_of_airplanes.png/440px-RPY_angles_of_airplanes.png)| -| Calibrated | [Forward, Right, Down] | meters | This is the frame the model outputs are in.
More details below.
| -| Car | [Forward, Right, Down] | meters | This is useful for estimating position of points on the road.
More details below.
| -| View | [Right, Down, Forward] | meters | Like device frame, but according to camera conventions. | -| Camera | [u, v, focal] | pixels | Like view frame, but 2d on the camera image.| -| Normalized Camera | [u / focal, v / focal, 1] | / | | -| Model | [u, v, focal] | pixels | The sampled rectangle of the full camera frame the model uses. | -| Normalized Model | [u / focal, v / focal, 1] | / | | - - - - -Orientation Conventions ------- -Quaternions, rotation matrices and euler angles are three -equivalent representations of orientation and all three are -used throughout the code base. - -For euler angles the preferred convention is [roll, pitch, yaw] -which corresponds to rotations around the [x, y, z] axes. All -euler angles should always be in radians or radians/s unless -for plotting or display purposes. For quaternions the hamilton -notations is preferred which is [qw, qx, qy, qz]. All quaternions -should always be normalized with a strictly positive qw. **These -quaternions are a unique representation of orientation whereas euler angles -or rotation matrices are not.** - -To rotate from one frame into another with euler angles the -convention is to rotate around roll, then pitch and then yaw, -while rotating around the rotated axes, not the original axes. - - -Car frame ------- -Device frame is aligned with the road-facing camera used by openpilot. However, when controlling the vehicle it is helpful to think in a reference frame aligned with the vehicle. These two reference frames can be different. - -The orientation of car frame is defined to be aligned with the car's direction of travel and the road plane when the vehicle is driving on a flat road and not turning. The origin of car frame is defined to be directly below device frame (in car frame), such that it is on the road plane. The position and orientation of this frame is not necessarily always aligned with the direction of travel or the road plane due to suspension movements and other effects. - - -Calibrated frame ------- -It is helpful for openpilot's driving model to take in images that look similar when mounted differently in different cars. To achieve this we "calibrate" the images by transforming it into calibrated frame. Calibrated frame is defined to be aligned with car frame in pitch and yaw, and aligned with device frame in roll. It also has the same origin as device frame. - - -Example ------- -To transform global Mesh3D positions and orientations (positions_ecef, quats_ecef) into the local frame described by the -first position and orientation from Mesh3D one would do: -``` -ecef_from_local = rot_from_quat(quats_ecef[0]) -local_from_ecef = ecef_from_local.T -positions_local = np.einsum('ij,kj->ki', local_from_ecef, postions_ecef - positions_ecef[0]) -rotations_global = rot_from_quat(quats_ecef) -rotations_local = np.einsum('ij,kjl->kil', local_from_ecef, rotations_global) -eulers_local = euler_from_rot(rotations_local) -``` diff --git a/common/transformations/coordinates.cc b/common/transformations/coordinates.cc deleted file mode 100644 index 5b00b53a4f4928..00000000000000 --- a/common/transformations/coordinates.cc +++ /dev/null @@ -1,100 +0,0 @@ -#define _USE_MATH_DEFINES - -#include "common/transformations/coordinates.hpp" - -#include -#include -#include - -double a = 6378137; // lgtm [cpp/short-global-name] -double b = 6356752.3142; // lgtm [cpp/short-global-name] -double esq = 6.69437999014 * 0.001; // lgtm [cpp/short-global-name] -double e1sq = 6.73949674228 * 0.001; - - -static Geodetic to_degrees(Geodetic geodetic){ - geodetic.lat = RAD2DEG(geodetic.lat); - geodetic.lon = RAD2DEG(geodetic.lon); - return geodetic; -} - -static Geodetic to_radians(Geodetic geodetic){ - geodetic.lat = DEG2RAD(geodetic.lat); - geodetic.lon = DEG2RAD(geodetic.lon); - return geodetic; -} - - -ECEF geodetic2ecef(Geodetic g){ - g = to_radians(g); - double xi = sqrt(1.0 - esq * pow(sin(g.lat), 2)); - double x = (a / xi + g.alt) * cos(g.lat) * cos(g.lon); - double y = (a / xi + g.alt) * cos(g.lat) * sin(g.lon); - double z = (a / xi * (1.0 - esq) + g.alt) * sin(g.lat); - return {x, y, z}; -} - -Geodetic ecef2geodetic(ECEF e){ - // Convert from ECEF to geodetic using Ferrari's methods - // https://en.wikipedia.org/wiki/Geographic_coordinate_conversion#Ferrari.27s_solution - double x = e.x; - double y = e.y; - double z = e.z; - - double r = sqrt(x * x + y * y); - double Esq = a * a - b * b; - double F = 54 * b * b * z * z; - double G = r * r + (1 - esq) * z * z - esq * Esq; - double C = (esq * esq * F * r * r) / (pow(G, 3)); - double S = cbrt(1 + C + sqrt(C * C + 2 * C)); - double P = F / (3 * pow((S + 1 / S + 1), 2) * G * G); - double Q = sqrt(1 + 2 * esq * esq * P); - double r_0 = -(P * esq * r) / (1 + Q) + sqrt(0.5 * a * a*(1 + 1.0 / Q) - P * (1 - esq) * z * z / (Q * (1 + Q)) - 0.5 * P * r * r); - double U = sqrt(pow((r - esq * r_0), 2) + z * z); - double V = sqrt(pow((r - esq * r_0), 2) + (1 - esq) * z * z); - double Z_0 = b * b * z / (a * V); - double h = U * (1 - b * b / (a * V)); - - double lat = atan((z + e1sq * Z_0) / r); - double lon = atan2(y, x); - - return to_degrees({lat, lon, h}); -} - -LocalCoord::LocalCoord(Geodetic g, ECEF e){ - init_ecef << e.x, e.y, e.z; - - g = to_radians(g); - - ned2ecef_matrix << - -sin(g.lat)*cos(g.lon), -sin(g.lon), -cos(g.lat)*cos(g.lon), - -sin(g.lat)*sin(g.lon), cos(g.lon), -cos(g.lat)*sin(g.lon), - cos(g.lat), 0, -sin(g.lat); - ecef2ned_matrix = ned2ecef_matrix.transpose(); -} - -NED LocalCoord::ecef2ned(ECEF e) { - Eigen::Vector3d ecef; - ecef << e.x, e.y, e.z; - - Eigen::Vector3d ned = (ecef2ned_matrix * (ecef - init_ecef)); - return {ned[0], ned[1], ned[2]}; -} - -ECEF LocalCoord::ned2ecef(NED n) { - Eigen::Vector3d ned; - ned << n.n, n.e, n.d; - - Eigen::Vector3d ecef = (ned2ecef_matrix * ned) + init_ecef; - return {ecef[0], ecef[1], ecef[2]}; -} - -NED LocalCoord::geodetic2ned(Geodetic g) { - ECEF e = ::geodetic2ecef(g); - return ecef2ned(e); -} - -Geodetic LocalCoord::ned2geodetic(NED n){ - ECEF e = ned2ecef(n); - return ::ecef2geodetic(e); -} diff --git a/common/transformations/coordinates.hpp b/common/transformations/coordinates.hpp deleted file mode 100644 index 32ec2ff66e3058..00000000000000 --- a/common/transformations/coordinates.hpp +++ /dev/null @@ -1,43 +0,0 @@ -#pragma once - -#include - -#define DEG2RAD(x) ((x) * M_PI / 180.0) -#define RAD2DEG(x) ((x) * 180.0 / M_PI) - -struct ECEF { - double x, y, z; - Eigen::Vector3d to_vector(){ - return Eigen::Vector3d(x, y, z); - } -}; - -struct NED { - double n, e, d; - Eigen::Vector3d to_vector(){ - return Eigen::Vector3d(n, e, d); - } -}; - -struct Geodetic { - double lat, lon, alt; - bool radians=false; -}; - -ECEF geodetic2ecef(Geodetic g); -Geodetic ecef2geodetic(ECEF e); - -class LocalCoord { -public: - Eigen::Matrix3d ned2ecef_matrix; - Eigen::Matrix3d ecef2ned_matrix; - Eigen::Vector3d init_ecef; - LocalCoord(Geodetic g, ECEF e); - LocalCoord(Geodetic g) : LocalCoord(g, ::geodetic2ecef(g)) {} - LocalCoord(ECEF e) : LocalCoord(::ecef2geodetic(e), e) {} - - NED ecef2ned(ECEF e); - ECEF ned2ecef(NED n); - NED geodetic2ned(Geodetic g); - Geodetic ned2geodetic(NED n); -}; diff --git a/common/transformations/orientation.cc b/common/transformations/orientation.cc deleted file mode 100644 index 00888c3a926080..00000000000000 --- a/common/transformations/orientation.cc +++ /dev/null @@ -1,144 +0,0 @@ -#define _USE_MATH_DEFINES - -#include -#include -#include - -#include "common/transformations/orientation.hpp" -#include "common/transformations/coordinates.hpp" - -Eigen::Quaterniond ensure_unique(Eigen::Quaterniond quat){ - if (quat.w() > 0){ - return quat; - } else { - return Eigen::Quaterniond(-quat.w(), -quat.x(), -quat.y(), -quat.z()); - } -} - -Eigen::Quaterniond euler2quat(Eigen::Vector3d euler){ - Eigen::Quaterniond q; - - q = Eigen::AngleAxisd(euler(2), Eigen::Vector3d::UnitZ()) - * Eigen::AngleAxisd(euler(1), Eigen::Vector3d::UnitY()) - * Eigen::AngleAxisd(euler(0), Eigen::Vector3d::UnitX()); - return ensure_unique(q); -} - - -Eigen::Vector3d quat2euler(Eigen::Quaterniond quat){ - // TODO: switch to eigen implementation if the range of the Euler angles doesn't matter anymore - // Eigen::Vector3d euler = quat.toRotationMatrix().eulerAngles(2, 1, 0); - // return {euler(2), euler(1), euler(0)}; - double gamma = atan2(2 * (quat.w() * quat.x() + quat.y() * quat.z()), 1 - 2 * (quat.x()*quat.x() + quat.y()*quat.y())); - double asin_arg_clipped = std::clamp(2 * (quat.w() * quat.y() - quat.z() * quat.x()), -1.0, 1.0); - double theta = asin(asin_arg_clipped); - double psi = atan2(2 * (quat.w() * quat.z() + quat.x() * quat.y()), 1 - 2 * (quat.y()*quat.y() + quat.z()*quat.z())); - return {gamma, theta, psi}; -} - -Eigen::Matrix3d quat2rot(Eigen::Quaterniond quat){ - return quat.toRotationMatrix(); -} - -Eigen::Quaterniond rot2quat(const Eigen::Matrix3d &rot){ - return ensure_unique(Eigen::Quaterniond(rot)); -} - -Eigen::Matrix3d euler2rot(Eigen::Vector3d euler){ - return quat2rot(euler2quat(euler)); -} - -Eigen::Vector3d rot2euler(const Eigen::Matrix3d &rot){ - return quat2euler(rot2quat(rot)); -} - -Eigen::Matrix3d rot_matrix(double roll, double pitch, double yaw){ - return euler2rot({roll, pitch, yaw}); -} - -Eigen::Matrix3d rot(Eigen::Vector3d axis, double angle){ - Eigen::Quaterniond q; - q = Eigen::AngleAxisd(angle, axis); - return q.toRotationMatrix(); -} - - -Eigen::Vector3d ecef_euler_from_ned(ECEF ecef_init, Eigen::Vector3d ned_pose) { - /* - Using Rotations to Build Aerospace Coordinate Systems - Don Koks - https://apps.dtic.mil/dtic/tr/fulltext/u2/a484864.pdf - */ - LocalCoord converter = LocalCoord(ecef_init); - Eigen::Vector3d zero = ecef_init.to_vector(); - - Eigen::Vector3d x0 = converter.ned2ecef({1, 0, 0}).to_vector() - zero; - Eigen::Vector3d y0 = converter.ned2ecef({0, 1, 0}).to_vector() - zero; - Eigen::Vector3d z0 = converter.ned2ecef({0, 0, 1}).to_vector() - zero; - - Eigen::Vector3d x1 = rot(z0, ned_pose(2)) * x0; - Eigen::Vector3d y1 = rot(z0, ned_pose(2)) * y0; - Eigen::Vector3d z1 = rot(z0, ned_pose(2)) * z0; - - Eigen::Vector3d x2 = rot(y1, ned_pose(1)) * x1; - Eigen::Vector3d y2 = rot(y1, ned_pose(1)) * y1; - Eigen::Vector3d z2 = rot(y1, ned_pose(1)) * z1; - - Eigen::Vector3d x3 = rot(x2, ned_pose(0)) * x2; - Eigen::Vector3d y3 = rot(x2, ned_pose(0)) * y2; - - - x0 = Eigen::Vector3d(1, 0, 0); - y0 = Eigen::Vector3d(0, 1, 0); - z0 = Eigen::Vector3d(0, 0, 1); - - double psi = atan2(x3.dot(y0), x3.dot(x0)); - double theta = atan2(-x3.dot(z0), sqrt(pow(x3.dot(x0), 2) + pow(x3.dot(y0), 2))); - - y2 = rot(z0, psi) * y0; - z2 = rot(y2, theta) * z0; - - double phi = atan2(y3.dot(z2), y3.dot(y2)); - - return {phi, theta, psi}; -} - -Eigen::Vector3d ned_euler_from_ecef(ECEF ecef_init, Eigen::Vector3d ecef_pose){ - /* - Using Rotations to Build Aerospace Coordinate Systems - Don Koks - https://apps.dtic.mil/dtic/tr/fulltext/u2/a484864.pdf - */ - LocalCoord converter = LocalCoord(ecef_init); - - Eigen::Vector3d x0 = Eigen::Vector3d(1, 0, 0); - Eigen::Vector3d y0 = Eigen::Vector3d(0, 1, 0); - Eigen::Vector3d z0 = Eigen::Vector3d(0, 0, 1); - - Eigen::Vector3d x1 = rot(z0, ecef_pose(2)) * x0; - Eigen::Vector3d y1 = rot(z0, ecef_pose(2)) * y0; - Eigen::Vector3d z1 = rot(z0, ecef_pose(2)) * z0; - - Eigen::Vector3d x2 = rot(y1, ecef_pose(1)) * x1; - Eigen::Vector3d y2 = rot(y1, ecef_pose(1)) * y1; - Eigen::Vector3d z2 = rot(y1, ecef_pose(1)) * z1; - - Eigen::Vector3d x3 = rot(x2, ecef_pose(0)) * x2; - Eigen::Vector3d y3 = rot(x2, ecef_pose(0)) * y2; - - Eigen::Vector3d zero = ecef_init.to_vector(); - x0 = converter.ned2ecef({1, 0, 0}).to_vector() - zero; - y0 = converter.ned2ecef({0, 1, 0}).to_vector() - zero; - z0 = converter.ned2ecef({0, 0, 1}).to_vector() - zero; - - double psi = atan2(x3.dot(y0), x3.dot(x0)); - double theta = atan2(-x3.dot(z0), sqrt(pow(x3.dot(x0), 2) + pow(x3.dot(y0), 2))); - - y2 = rot(z0, psi) * y0; - z2 = rot(y2, theta) * z0; - - double phi = atan2(y3.dot(z2), y3.dot(y2)); - - return {phi, theta, psi}; -} - diff --git a/common/transformations/orientation.hpp b/common/transformations/orientation.hpp deleted file mode 100644 index 150b12cadee1d1..00000000000000 --- a/common/transformations/orientation.hpp +++ /dev/null @@ -1,17 +0,0 @@ -#pragma once -#include -#include "common/transformations/coordinates.hpp" - - -Eigen::Quaterniond ensure_unique(Eigen::Quaterniond quat); - -Eigen::Quaterniond euler2quat(Eigen::Vector3d euler); -Eigen::Vector3d quat2euler(Eigen::Quaterniond quat); -Eigen::Matrix3d quat2rot(Eigen::Quaterniond quat); -Eigen::Quaterniond rot2quat(const Eigen::Matrix3d &rot); -Eigen::Matrix3d euler2rot(Eigen::Vector3d euler); -Eigen::Vector3d rot2euler(const Eigen::Matrix3d &rot); -Eigen::Matrix3d rot_matrix(double roll, double pitch, double yaw); -Eigen::Matrix3d rot(Eigen::Vector3d axis, double angle); -Eigen::Vector3d ecef_euler_from_ned(ECEF ecef_init, Eigen::Vector3d ned_pose); -Eigen::Vector3d ned_euler_from_ecef(ECEF ecef_init, Eigen::Vector3d ecef_pose); diff --git a/common/transformations/tests/__init__.py b/common/transformations/tests/__init__.py deleted file mode 100644 index e69de29bb2d1d6..00000000000000 diff --git a/common/transformations/tests/test_coordinates.py b/common/transformations/tests/test_coordinates.py deleted file mode 100644 index 11a6bf70eefabb..00000000000000 --- a/common/transformations/tests/test_coordinates.py +++ /dev/null @@ -1,104 +0,0 @@ -import numpy as np - -import openpilot.common.transformations.coordinates as coord - -geodetic_positions = np.array([[37.7610403, -122.4778699, 115], - [27.4840915, -68.5867592, 2380], - [32.4916858, -113.652821, -6], - [15.1392514, 103.6976037, 24], - [24.2302229, 44.2835412, 1650]]) - -ecef_positions = np.array([[-2711076.55270557, -4259167.14692758, 3884579.87669935], - [ 2068042.69652729, -5273435.40316622, 2927004.89190746], - [-2160412.60461669, -4932588.89873832, 3406542.29652851], - [-1458247.92550567, 5983060.87496612, 1654984.6099885 ], - [ 4167239.10867871, 4064301.90363223, 2602234.6065749 ]]) - -ecef_positions_offset = np.array([[-2711004.46961115, -4259099.33540613, 3884605.16002147], - [ 2068074.30639499, -5273413.78835412, 2927012.48741131], - [-2160344.53748176, -4932586.20092211, 3406636.2962545 ], - [-1458211.98517094, 5983151.11161276, 1655077.02698447], - [ 4167271.20055269, 4064398.22619263, 2602238.95265847]]) - - -ned_offsets = np.array([[78.722153649976391, 24.396208657446344, 60.343017506838436], - [10.699003365155221, 37.319278617604269, 4.1084100025050407], - [95.282646251726959, 61.266689955574428, -25.376506058505054], - [68.535769283630003, -56.285970011848889, -100.54840137956515], - [-33.066609321880179, 46.549821994306861, -84.062540548335591]]) - -ecef_init_batch = np.array([2068042.69652729, -5273435.40316622, 2927004.89190746]) -ecef_positions_offset_batch = np.array([[ 2068089.41454771, -5273434.46829148, 2927074.04783672], - [ 2068103.31628647, -5273393.92275431, 2927102.08725987], - [ 2068108.49939636, -5273359.27047121, 2927045.07091581], - [ 2068075.12395611, -5273381.69432566, 2927041.08207992], - [ 2068060.72033399, -5273430.6061505, 2927094.54928305]]) - -ned_offsets_batch = np.array([[ 53.88103168, 43.83445935, -46.27488057], - [ 93.83378995, 71.57943024, -30.23113187], - [ 57.26725796, 89.05602684, 23.02265814], - [ 49.71775195, 49.79767572, 17.15351015], - [ 78.56272609, 18.53100158, -43.25290759]]) - - -class TestNED: - def test_small_distances(self): - start_geodetic = np.array([33.8042184, -117.888593, 0.0]) - local_coord = coord.LocalCoord.from_geodetic(start_geodetic) - - start_ned = local_coord.geodetic2ned(start_geodetic) - np.testing.assert_array_equal(start_ned, np.zeros(3,)) - - west_geodetic = start_geodetic + [0, -0.0005, 0] - west_ned = local_coord.geodetic2ned(west_geodetic) - assert np.abs(west_ned[0]) < 1e-3 - assert west_ned[1] < 0 - - southwest_geodetic = start_geodetic + [-0.0005, -0.002, 0] - southwest_ned = local_coord.geodetic2ned(southwest_geodetic) - assert southwest_ned[0] < 0 - assert southwest_ned[1] < 0 - - def test_ecef_geodetic(self): - # testing single - np.testing.assert_allclose(ecef_positions[0], coord.geodetic2ecef(geodetic_positions[0]), rtol=1e-9) - np.testing.assert_allclose(geodetic_positions[0, :2], coord.ecef2geodetic(ecef_positions[0])[:2], rtol=1e-9) - np.testing.assert_allclose(geodetic_positions[0, 2], coord.ecef2geodetic(ecef_positions[0])[2], rtol=1e-9, atol=1e-4) - - np.testing.assert_allclose(geodetic_positions[:, :2], coord.ecef2geodetic(ecef_positions)[:, :2], rtol=1e-9) - np.testing.assert_allclose(geodetic_positions[:, 2], coord.ecef2geodetic(ecef_positions)[:, 2], rtol=1e-9, atol=1e-4) - np.testing.assert_allclose(ecef_positions, coord.geodetic2ecef(geodetic_positions), rtol=1e-9) - - - def test_ned(self): - for ecef_pos in ecef_positions: - converter = coord.LocalCoord.from_ecef(ecef_pos) - ecef_pos_moved = ecef_pos + [25, -25, 25] - ecef_pos_moved_double_converted = converter.ned2ecef(converter.ecef2ned(ecef_pos_moved)) - np.testing.assert_allclose(ecef_pos_moved, ecef_pos_moved_double_converted, rtol=1e-9) - - for geo_pos in geodetic_positions: - converter = coord.LocalCoord.from_geodetic(geo_pos) - geo_pos_moved = geo_pos + np.array([0, 0, 10]) - geo_pos_double_converted_moved = converter.ned2geodetic(converter.geodetic2ned(geo_pos) + np.array([0, 0, -10])) - np.testing.assert_allclose(geo_pos_moved[:2], geo_pos_double_converted_moved[:2], rtol=1e-9, atol=1e-6) - np.testing.assert_allclose(geo_pos_moved[2], geo_pos_double_converted_moved[2], rtol=1e-9, atol=1e-4) - - def test_ned_saved_results(self): - for i, ecef_pos in enumerate(ecef_positions): - converter = coord.LocalCoord.from_ecef(ecef_pos) - np.testing.assert_allclose(converter.ned2ecef(ned_offsets[i]), - ecef_positions_offset[i], - rtol=1e-9, atol=1e-4) - np.testing.assert_allclose(converter.ecef2ned(ecef_positions_offset[i]), - ned_offsets[i], - rtol=1e-9, atol=1e-4) - - def test_ned_batch(self): - converter = coord.LocalCoord.from_ecef(ecef_init_batch) - np.testing.assert_allclose(converter.ecef2ned(ecef_positions_offset_batch), - ned_offsets_batch, - rtol=1e-9, atol=1e-7) - np.testing.assert_allclose(converter.ned2ecef(ned_offsets_batch), - ecef_positions_offset_batch, - rtol=1e-9, atol=1e-7) diff --git a/common/transformations/tests/test_orientation.py b/common/transformations/tests/test_orientation.py deleted file mode 100644 index 55fbc6581e3c89..00000000000000 --- a/common/transformations/tests/test_orientation.py +++ /dev/null @@ -1,61 +0,0 @@ -import numpy as np - -from openpilot.common.transformations.orientation import euler2quat, quat2euler, euler2rot, rot2euler, \ - rot2quat, quat2rot, \ - ned_euler_from_ecef - -eulers = np.array([[ 1.46520501, 2.78688383, 2.92780854], - [ 4.86909526, 3.60618161, 4.30648981], - [ 3.72175965, 2.68763705, 5.43895988], - [ 5.92306687, 5.69573614, 0.81100357], - [ 0.67838374, 5.02402037, 2.47106426]]) - -quats = np.array([[ 0.66855182, -0.71500939, 0.19539353, 0.06017818], - [ 0.43163717, 0.70013301, 0.28209145, 0.49389021], - [ 0.44121991, -0.08252646, 0.34257534, 0.82532207], - [ 0.88578382, -0.04515356, -0.32936046, 0.32383617], - [ 0.06578165, 0.61282835, 0.07126891, 0.78424163]]) - -ecef_positions = np.array([[-2711076.55270557, -4259167.14692758, 3884579.87669935], - [ 2068042.69652729, -5273435.40316622, 2927004.89190746], - [-2160412.60461669, -4932588.89873832, 3406542.29652851], - [-1458247.92550567, 5983060.87496612, 1654984.6099885 ], - [ 4167239.10867871, 4064301.90363223, 2602234.6065749 ]]) - -ned_eulers = np.array([[ 0.46806039, -0.4881889 , 1.65697808], - [-2.14525969, -0.36533066, 0.73813479], - [-1.39523364, -0.58540761, -1.77376356], - [-1.84220435, 0.61828016, -1.03310421], - [ 2.50450101, 0.36304151, 0.33136365]]) - - -class TestOrientation: - def test_quat_euler(self): - for i, eul in enumerate(eulers): - np.testing.assert_allclose(quats[i], euler2quat(eul), rtol=1e-7) - np.testing.assert_allclose(quats[i], euler2quat(quat2euler(quats[i])), rtol=1e-6) - for i, eul in enumerate(eulers): - np.testing.assert_allclose(quats[i], euler2quat(list(eul)), rtol=1e-7) - np.testing.assert_allclose(quats[i], euler2quat(quat2euler(list(quats[i]))), rtol=1e-6) - np.testing.assert_allclose(quats, euler2quat(eulers), rtol=1e-7) - np.testing.assert_allclose(quats, euler2quat(quat2euler(quats)), rtol=1e-6) - - def test_rot_euler(self): - for eul in eulers: - np.testing.assert_allclose(euler2quat(eul), euler2quat(rot2euler(euler2rot(eul))), rtol=1e-7) - for eul in eulers: - np.testing.assert_allclose(euler2quat(eul), euler2quat(rot2euler(euler2rot(list(eul)))), rtol=1e-7) - np.testing.assert_allclose(euler2quat(eulers), euler2quat(rot2euler(euler2rot(eulers))), rtol=1e-7) - - def test_rot_quat(self): - for quat in quats: - np.testing.assert_allclose(quat, rot2quat(quat2rot(quat)), rtol=1e-7) - for quat in quats: - np.testing.assert_allclose(quat, rot2quat(quat2rot(list(quat))), rtol=1e-7) - np.testing.assert_allclose(quats, rot2quat(quat2rot(quats)), rtol=1e-7) - - def test_euler_ned(self): - for i in range(len(eulers)): - np.testing.assert_allclose(ned_eulers[i], ned_euler_from_ecef(ecef_positions[i], eulers[i]), rtol=1e-7) - #np.testing.assert_allclose(eulers[i], ecef_euler_from_ned(ecef_positions[i], ned_eulers[i]), rtol=1e-7) - # np.testing.assert_allclose(ned_eulers, ned_euler_from_ecef(ecef_positions, eulers), rtol=1e-7) diff --git a/common/transformations/transformations.cpp b/common/transformations/transformations.cpp new file mode 100644 index 00000000000000..0eea8b004b3f13 --- /dev/null +++ b/common/transformations/transformations.cpp @@ -0,0 +1,16660 @@ +/* Generated by Cython 3.0.8 */ + +/* BEGIN: Cython Metadata +{ + "distutils": { + "depends": [ + "common/transformations/coordinates.cc", + "common/transformations/coordinates.hpp", + "common/transformations/orientation.cc", + "common/transformations/orientation.hpp", + "openpilot/common/transformations/coordinates.cc", + "openpilot/common/transformations/coordinates.hpp", + "openpilot/common/transformations/orientation.cc", + "openpilot/common/transformations/orientation.hpp" + ], + "include_dirs": [ + "common/transformations", + "openpilot/common/transformations" + ], + "language": "c++", + "name": "common.transformations.transformations", + "sources": [ + "/data/openpilot/common/transformations/transformations.pyx" + ] + }, + "module_name": "common.transformations.transformations" +} +END: Cython Metadata */ + +#ifndef PY_SSIZE_T_CLEAN +#define PY_SSIZE_T_CLEAN +#endif /* PY_SSIZE_T_CLEAN */ +#if defined(CYTHON_LIMITED_API) && 0 + #ifndef Py_LIMITED_API + #if CYTHON_LIMITED_API+0 > 0x03030000 + #define Py_LIMITED_API CYTHON_LIMITED_API + #else + #define Py_LIMITED_API 0x03030000 + #endif + #endif +#endif + +#include "Python.h" +#ifndef Py_PYTHON_H + #error Python headers needed to compile C extensions, please install development version of Python. +#elif PY_VERSION_HEX < 0x02070000 || (0x03000000 <= PY_VERSION_HEX && PY_VERSION_HEX < 0x03030000) + #error Cython requires Python 2.7+ or Python 3.3+. +#else +#if defined(CYTHON_LIMITED_API) && CYTHON_LIMITED_API +#define __PYX_EXTRA_ABI_MODULE_NAME "limited" +#else +#define __PYX_EXTRA_ABI_MODULE_NAME "" +#endif +#define CYTHON_ABI "3_0_8" __PYX_EXTRA_ABI_MODULE_NAME +#define __PYX_ABI_MODULE_NAME "_cython_" CYTHON_ABI +#define __PYX_TYPE_MODULE_PREFIX __PYX_ABI_MODULE_NAME "." +#define CYTHON_HEX_VERSION 0x030008F0 +#define CYTHON_FUTURE_DIVISION 1 +#include +#ifndef offsetof + #define offsetof(type, member) ( (size_t) & ((type*)0) -> member ) +#endif +#if !defined(_WIN32) && !defined(WIN32) && !defined(MS_WINDOWS) + #ifndef __stdcall + #define __stdcall + #endif + #ifndef __cdecl + #define __cdecl + #endif + #ifndef __fastcall + #define __fastcall + #endif +#endif +#ifndef DL_IMPORT + #define DL_IMPORT(t) t +#endif +#ifndef DL_EXPORT + #define DL_EXPORT(t) t +#endif +#define __PYX_COMMA , +#ifndef HAVE_LONG_LONG + #define HAVE_LONG_LONG +#endif +#ifndef PY_LONG_LONG + #define PY_LONG_LONG LONG_LONG +#endif +#ifndef Py_HUGE_VAL + #define Py_HUGE_VAL HUGE_VAL +#endif +#define __PYX_LIMITED_VERSION_HEX PY_VERSION_HEX +#if defined(GRAALVM_PYTHON) + /* For very preliminary testing purposes. Most variables are set the same as PyPy. + The existence of this section does not imply that anything works or is even tested */ + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 1 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #undef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #undef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 1 + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS (PY_MAJOR_VERSION >= 3) + #endif + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(PYPY_VERSION) + #define CYTHON_COMPILING_IN_PYPY 1 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #ifndef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #endif + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #undef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 1 + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS (PY_MAJOR_VERSION >= 3) + #endif + #if PY_VERSION_HEX < 0x03090000 + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #elif !defined(CYTHON_PEP489_MULTI_PHASE_INIT) + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE (PY_VERSION_HEX >= 0x030400a1 && PYPY_VERSION_NUM >= 0x07030C00) + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(CYTHON_LIMITED_API) + #ifdef Py_LIMITED_API + #undef __PYX_LIMITED_VERSION_HEX + #define __PYX_LIMITED_VERSION_HEX Py_LIMITED_API + #endif + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 1 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_CLINE_IN_TRACEBACK + #define CYTHON_CLINE_IN_TRACEBACK 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #undef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 1 + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #ifndef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #endif + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS 1 + #endif + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 1 + #ifndef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #endif + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(Py_GIL_DISABLED) || defined(Py_NOGIL) + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 1 + #ifndef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 1 + #endif + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #ifndef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #ifndef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 1 + #endif + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #ifndef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 1 + #endif + #ifndef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 1 + #endif + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #ifndef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 1 + #endif + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 +#else + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 1 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #ifndef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 1 + #endif + #ifndef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #endif + #ifndef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 1 + #endif + #if PY_MAJOR_VERSION < 3 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #ifndef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 1 + #endif + #ifndef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 1 + #endif + #ifndef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 1 + #endif + #if PY_VERSION_HEX < 0x030300F0 || PY_VERSION_HEX >= 0x030B00A2 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #elif !defined(CYTHON_USE_UNICODE_WRITER) + #define CYTHON_USE_UNICODE_WRITER 1 + #endif + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #ifndef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 1 + #endif + #ifndef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 1 + #endif + #ifndef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 1 + #endif + #ifndef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL (PY_MAJOR_VERSION < 3 || PY_VERSION_HEX >= 0x03060000 && PY_VERSION_HEX < 0x030C00A6) + #endif + #ifndef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL (PY_VERSION_HEX >= 0x030700A1) + #endif + #ifndef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 1 + #endif + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS 1 + #endif + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #elif !defined(CYTHON_PEP489_MULTI_PHASE_INIT) + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #ifndef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #endif + #if PY_VERSION_HEX < 0x030400a1 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #elif !defined(CYTHON_USE_TP_FINALIZE) + #define CYTHON_USE_TP_FINALIZE 1 + #endif + #if PY_VERSION_HEX < 0x030600B1 + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #elif !defined(CYTHON_USE_DICT_VERSIONS) + #define CYTHON_USE_DICT_VERSIONS (PY_VERSION_HEX < 0x030C00A5) + #endif + #if PY_VERSION_HEX < 0x030700A3 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #elif !defined(CYTHON_USE_EXC_INFO_STACK) + #define CYTHON_USE_EXC_INFO_STACK 1 + #endif + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 1 + #endif +#endif +#if !defined(CYTHON_FAST_PYCCALL) +#define CYTHON_FAST_PYCCALL (CYTHON_FAST_PYCALL && PY_VERSION_HEX >= 0x030600B1) +#endif +#if !defined(CYTHON_VECTORCALL) +#define CYTHON_VECTORCALL (CYTHON_FAST_PYCCALL && PY_VERSION_HEX >= 0x030800B1) +#endif +#define CYTHON_BACKPORT_VECTORCALL (CYTHON_METH_FASTCALL && PY_VERSION_HEX < 0x030800B1) +#if CYTHON_USE_PYLONG_INTERNALS + #if PY_MAJOR_VERSION < 3 + #include "longintrepr.h" + #endif + #undef SHIFT + #undef BASE + #undef MASK + #ifdef SIZEOF_VOID_P + enum { __pyx_check_sizeof_voidp = 1 / (int)(SIZEOF_VOID_P == sizeof(void*)) }; + #endif +#endif +#ifndef __has_attribute + #define __has_attribute(x) 0 +#endif +#ifndef __has_cpp_attribute + #define __has_cpp_attribute(x) 0 +#endif +#ifndef CYTHON_RESTRICT + #if defined(__GNUC__) + #define CYTHON_RESTRICT __restrict__ + #elif defined(_MSC_VER) && _MSC_VER >= 1400 + #define CYTHON_RESTRICT __restrict + #elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define CYTHON_RESTRICT restrict + #else + #define CYTHON_RESTRICT + #endif +#endif +#ifndef CYTHON_UNUSED + #if defined(__cplusplus) + /* for clang __has_cpp_attribute(maybe_unused) is true even before C++17 + * but leads to warnings with -pedantic, since it is a C++17 feature */ + #if ((defined(_MSVC_LANG) && _MSVC_LANG >= 201703L) || __cplusplus >= 201703L) + #if __has_cpp_attribute(maybe_unused) + #define CYTHON_UNUSED [[maybe_unused]] + #endif + #endif + #endif +#endif +#ifndef CYTHON_UNUSED +# if defined(__GNUC__) +# if !(defined(__cplusplus)) || (__GNUC__ > 3 || (__GNUC__ == 3 && __GNUC_MINOR__ >= 4)) +# define CYTHON_UNUSED __attribute__ ((__unused__)) +# else +# define CYTHON_UNUSED +# endif +# elif defined(__ICC) || (defined(__INTEL_COMPILER) && !defined(_MSC_VER)) +# define CYTHON_UNUSED __attribute__ ((__unused__)) +# else +# define CYTHON_UNUSED +# endif +#endif +#ifndef CYTHON_UNUSED_VAR +# if defined(__cplusplus) + template void CYTHON_UNUSED_VAR( const T& ) { } +# else +# define CYTHON_UNUSED_VAR(x) (void)(x) +# endif +#endif +#ifndef CYTHON_MAYBE_UNUSED_VAR + #define CYTHON_MAYBE_UNUSED_VAR(x) CYTHON_UNUSED_VAR(x) +#endif +#ifndef CYTHON_NCP_UNUSED +# if CYTHON_COMPILING_IN_CPYTHON +# define CYTHON_NCP_UNUSED +# else +# define CYTHON_NCP_UNUSED CYTHON_UNUSED +# endif +#endif +#ifndef CYTHON_USE_CPP_STD_MOVE + #if defined(__cplusplus) && (\ + __cplusplus >= 201103L || (defined(_MSC_VER) && _MSC_VER >= 1600)) + #define CYTHON_USE_CPP_STD_MOVE 1 + #else + #define CYTHON_USE_CPP_STD_MOVE 0 + #endif +#endif +#define __Pyx_void_to_None(void_result) ((void)(void_result), Py_INCREF(Py_None), Py_None) +#ifdef _MSC_VER + #ifndef _MSC_STDINT_H_ + #if _MSC_VER < 1300 + typedef unsigned char uint8_t; + typedef unsigned short uint16_t; + typedef unsigned int uint32_t; + #else + typedef unsigned __int8 uint8_t; + typedef unsigned __int16 uint16_t; + typedef unsigned __int32 uint32_t; + #endif + #endif + #if _MSC_VER < 1300 + #ifdef _WIN64 + typedef unsigned long long __pyx_uintptr_t; + #else + typedef unsigned int __pyx_uintptr_t; + #endif + #else + #ifdef _WIN64 + typedef unsigned __int64 __pyx_uintptr_t; + #else + typedef unsigned __int32 __pyx_uintptr_t; + #endif + #endif +#else + #include + typedef uintptr_t __pyx_uintptr_t; +#endif +#ifndef CYTHON_FALLTHROUGH + #if defined(__cplusplus) + /* for clang __has_cpp_attribute(fallthrough) is true even before C++17 + * but leads to warnings with -pedantic, since it is a C++17 feature */ + #if ((defined(_MSVC_LANG) && _MSVC_LANG >= 201703L) || __cplusplus >= 201703L) + #if __has_cpp_attribute(fallthrough) + #define CYTHON_FALLTHROUGH [[fallthrough]] + #endif + #endif + #ifndef CYTHON_FALLTHROUGH + #if __has_cpp_attribute(clang::fallthrough) + #define CYTHON_FALLTHROUGH [[clang::fallthrough]] + #elif __has_cpp_attribute(gnu::fallthrough) + #define CYTHON_FALLTHROUGH [[gnu::fallthrough]] + #endif + #endif + #endif + #ifndef CYTHON_FALLTHROUGH + #if __has_attribute(fallthrough) + #define CYTHON_FALLTHROUGH __attribute__((fallthrough)) + #else + #define CYTHON_FALLTHROUGH + #endif + #endif + #if defined(__clang__) && defined(__apple_build_version__) + #if __apple_build_version__ < 7000000 + #undef CYTHON_FALLTHROUGH + #define CYTHON_FALLTHROUGH + #endif + #endif +#endif +#ifdef __cplusplus + template + struct __PYX_IS_UNSIGNED_IMPL {static const bool value = T(0) < T(-1);}; + #define __PYX_IS_UNSIGNED(type) (__PYX_IS_UNSIGNED_IMPL::value) +#else + #define __PYX_IS_UNSIGNED(type) (((type)-1) > 0) +#endif +#if CYTHON_COMPILING_IN_PYPY == 1 + #define __PYX_NEED_TP_PRINT_SLOT (PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x030A0000) +#else + #define __PYX_NEED_TP_PRINT_SLOT (PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000) +#endif +#define __PYX_REINTERPRET_FUNCION(func_pointer, other_pointer) ((func_pointer)(void(*)(void))(other_pointer)) + +#ifndef __cplusplus + #error "Cython files generated with the C++ option must be compiled with a C++ compiler." +#endif +#ifndef CYTHON_INLINE + #if defined(__clang__) + #define CYTHON_INLINE __inline__ __attribute__ ((__unused__)) + #else + #define CYTHON_INLINE inline + #endif +#endif +template +void __Pyx_call_destructor(T& x) { + x.~T(); +} +template +class __Pyx_FakeReference { + public: + __Pyx_FakeReference() : ptr(NULL) { } + __Pyx_FakeReference(const T& ref) : ptr(const_cast(&ref)) { } + T *operator->() { return ptr; } + T *operator&() { return ptr; } + operator T&() { return *ptr; } + template bool operator ==(const U& other) const { return *ptr == other; } + template bool operator !=(const U& other) const { return *ptr != other; } + template bool operator==(const __Pyx_FakeReference& other) const { return *ptr == *other.ptr; } + template bool operator!=(const __Pyx_FakeReference& other) const { return *ptr != *other.ptr; } + private: + T *ptr; +}; + +#define __PYX_BUILD_PY_SSIZE_T "n" +#define CYTHON_FORMAT_SSIZE_T "z" +#if PY_MAJOR_VERSION < 3 + #define __Pyx_BUILTIN_MODULE_NAME "__builtin__" + #define __Pyx_DefaultClassType PyClass_Type + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_New(a+k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#else + #define __Pyx_BUILTIN_MODULE_NAME "builtins" + #define __Pyx_DefaultClassType PyType_Type +#if CYTHON_COMPILING_IN_LIMITED_API + static CYTHON_INLINE PyObject* __Pyx_PyCode_New(int a, int p, int k, int l, int s, int f, + PyObject *code, PyObject *c, PyObject* n, PyObject *v, + PyObject *fv, PyObject *cell, PyObject* fn, + PyObject *name, int fline, PyObject *lnos) { + PyObject *exception_table = NULL; + PyObject *types_module=NULL, *code_type=NULL, *result=NULL; + #if __PYX_LIMITED_VERSION_HEX < 0x030B0000 + PyObject *version_info; + PyObject *py_minor_version = NULL; + #endif + long minor_version = 0; + PyObject *type, *value, *traceback; + PyErr_Fetch(&type, &value, &traceback); + #if __PYX_LIMITED_VERSION_HEX >= 0x030B0000 + minor_version = 11; + #else + if (!(version_info = PySys_GetObject("version_info"))) goto end; + if (!(py_minor_version = PySequence_GetItem(version_info, 1))) goto end; + minor_version = PyLong_AsLong(py_minor_version); + Py_DECREF(py_minor_version); + if (minor_version == -1 && PyErr_Occurred()) goto end; + #endif + if (!(types_module = PyImport_ImportModule("types"))) goto end; + if (!(code_type = PyObject_GetAttrString(types_module, "CodeType"))) goto end; + if (minor_version <= 7) { + (void)p; + result = PyObject_CallFunction(code_type, "iiiiiOOOOOOiOO", a, k, l, s, f, code, + c, n, v, fn, name, fline, lnos, fv, cell); + } else if (minor_version <= 10) { + result = PyObject_CallFunction(code_type, "iiiiiiOOOOOOiOO", a,p, k, l, s, f, code, + c, n, v, fn, name, fline, lnos, fv, cell); + } else { + if (!(exception_table = PyBytes_FromStringAndSize(NULL, 0))) goto end; + result = PyObject_CallFunction(code_type, "iiiiiiOOOOOOOiOO", a,p, k, l, s, f, code, + c, n, v, fn, name, name, fline, lnos, exception_table, fv, cell); + } + end: + Py_XDECREF(code_type); + Py_XDECREF(exception_table); + Py_XDECREF(types_module); + if (type) { + PyErr_Restore(type, value, traceback); + } + return result; + } + #ifndef CO_OPTIMIZED + #define CO_OPTIMIZED 0x0001 + #endif + #ifndef CO_NEWLOCALS + #define CO_NEWLOCALS 0x0002 + #endif + #ifndef CO_VARARGS + #define CO_VARARGS 0x0004 + #endif + #ifndef CO_VARKEYWORDS + #define CO_VARKEYWORDS 0x0008 + #endif + #ifndef CO_ASYNC_GENERATOR + #define CO_ASYNC_GENERATOR 0x0200 + #endif + #ifndef CO_GENERATOR + #define CO_GENERATOR 0x0020 + #endif + #ifndef CO_COROUTINE + #define CO_COROUTINE 0x0080 + #endif +#elif PY_VERSION_HEX >= 0x030B0000 + static CYTHON_INLINE PyCodeObject* __Pyx_PyCode_New(int a, int p, int k, int l, int s, int f, + PyObject *code, PyObject *c, PyObject* n, PyObject *v, + PyObject *fv, PyObject *cell, PyObject* fn, + PyObject *name, int fline, PyObject *lnos) { + PyCodeObject *result; + PyObject *empty_bytes = PyBytes_FromStringAndSize("", 0); + if (!empty_bytes) return NULL; + result = + #if PY_VERSION_HEX >= 0x030C0000 + PyUnstable_Code_NewWithPosOnlyArgs + #else + PyCode_NewWithPosOnlyArgs + #endif + (a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, name, fline, lnos, empty_bytes); + Py_DECREF(empty_bytes); + return result; + } +#elif PY_VERSION_HEX >= 0x030800B2 && !CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_NewWithPosOnlyArgs(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#else + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#endif +#endif +#if PY_VERSION_HEX >= 0x030900A4 || defined(Py_IS_TYPE) + #define __Pyx_IS_TYPE(ob, type) Py_IS_TYPE(ob, type) +#else + #define __Pyx_IS_TYPE(ob, type) (((const PyObject*)ob)->ob_type == (type)) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_Is) + #define __Pyx_Py_Is(x, y) Py_Is(x, y) +#else + #define __Pyx_Py_Is(x, y) ((x) == (y)) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsNone) + #define __Pyx_Py_IsNone(ob) Py_IsNone(ob) +#else + #define __Pyx_Py_IsNone(ob) __Pyx_Py_Is((ob), Py_None) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsTrue) + #define __Pyx_Py_IsTrue(ob) Py_IsTrue(ob) +#else + #define __Pyx_Py_IsTrue(ob) __Pyx_Py_Is((ob), Py_True) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsFalse) + #define __Pyx_Py_IsFalse(ob) Py_IsFalse(ob) +#else + #define __Pyx_Py_IsFalse(ob) __Pyx_Py_Is((ob), Py_False) +#endif +#define __Pyx_NoneAsNull(obj) (__Pyx_Py_IsNone(obj) ? NULL : (obj)) +#if PY_VERSION_HEX >= 0x030900F0 && !CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyObject_GC_IsFinalized(o) PyObject_GC_IsFinalized(o) +#else + #define __Pyx_PyObject_GC_IsFinalized(o) _PyGC_FINALIZED(o) +#endif +#ifndef CO_COROUTINE + #define CO_COROUTINE 0x80 +#endif +#ifndef CO_ASYNC_GENERATOR + #define CO_ASYNC_GENERATOR 0x200 +#endif +#ifndef Py_TPFLAGS_CHECKTYPES + #define Py_TPFLAGS_CHECKTYPES 0 +#endif +#ifndef Py_TPFLAGS_HAVE_INDEX + #define Py_TPFLAGS_HAVE_INDEX 0 +#endif +#ifndef Py_TPFLAGS_HAVE_NEWBUFFER + #define Py_TPFLAGS_HAVE_NEWBUFFER 0 +#endif +#ifndef Py_TPFLAGS_HAVE_FINALIZE + #define Py_TPFLAGS_HAVE_FINALIZE 0 +#endif +#ifndef Py_TPFLAGS_SEQUENCE + #define Py_TPFLAGS_SEQUENCE 0 +#endif +#ifndef Py_TPFLAGS_MAPPING + #define Py_TPFLAGS_MAPPING 0 +#endif +#ifndef METH_STACKLESS + #define METH_STACKLESS 0 +#endif +#if PY_VERSION_HEX <= 0x030700A3 || !defined(METH_FASTCALL) + #ifndef METH_FASTCALL + #define METH_FASTCALL 0x80 + #endif + typedef PyObject *(*__Pyx_PyCFunctionFast) (PyObject *self, PyObject *const *args, Py_ssize_t nargs); + typedef PyObject *(*__Pyx_PyCFunctionFastWithKeywords) (PyObject *self, PyObject *const *args, + Py_ssize_t nargs, PyObject *kwnames); +#else + #define __Pyx_PyCFunctionFast _PyCFunctionFast + #define __Pyx_PyCFunctionFastWithKeywords _PyCFunctionFastWithKeywords +#endif +#if CYTHON_METH_FASTCALL + #define __Pyx_METH_FASTCALL METH_FASTCALL + #define __Pyx_PyCFunction_FastCall __Pyx_PyCFunctionFast + #define __Pyx_PyCFunction_FastCallWithKeywords __Pyx_PyCFunctionFastWithKeywords +#else + #define __Pyx_METH_FASTCALL METH_VARARGS + #define __Pyx_PyCFunction_FastCall PyCFunction + #define __Pyx_PyCFunction_FastCallWithKeywords PyCFunctionWithKeywords +#endif +#if CYTHON_VECTORCALL + #define __pyx_vectorcallfunc vectorcallfunc + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET PY_VECTORCALL_ARGUMENTS_OFFSET + #define __Pyx_PyVectorcall_NARGS(n) PyVectorcall_NARGS((size_t)(n)) +#elif CYTHON_BACKPORT_VECTORCALL + typedef PyObject *(*__pyx_vectorcallfunc)(PyObject *callable, PyObject *const *args, + size_t nargsf, PyObject *kwnames); + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET ((size_t)1 << (8 * sizeof(size_t) - 1)) + #define __Pyx_PyVectorcall_NARGS(n) ((Py_ssize_t)(((size_t)(n)) & ~__Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET)) +#else + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET 0 + #define __Pyx_PyVectorcall_NARGS(n) ((Py_ssize_t)(n)) +#endif +#if PY_MAJOR_VERSION >= 0x030900B1 +#define __Pyx_PyCFunction_CheckExact(func) PyCFunction_CheckExact(func) +#else +#define __Pyx_PyCFunction_CheckExact(func) PyCFunction_Check(func) +#endif +#define __Pyx_CyOrPyCFunction_Check(func) PyCFunction_Check(func) +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_CyOrPyCFunction_GET_FUNCTION(func) (((PyCFunctionObject*)(func))->m_ml->ml_meth) +#elif !CYTHON_COMPILING_IN_LIMITED_API +#define __Pyx_CyOrPyCFunction_GET_FUNCTION(func) PyCFunction_GET_FUNCTION(func) +#endif +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_CyOrPyCFunction_GET_FLAGS(func) (((PyCFunctionObject*)(func))->m_ml->ml_flags) +static CYTHON_INLINE PyObject* __Pyx_CyOrPyCFunction_GET_SELF(PyObject *func) { + return (__Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_STATIC) ? NULL : ((PyCFunctionObject*)func)->m_self; +} +#endif +static CYTHON_INLINE int __Pyx__IsSameCFunction(PyObject *func, void *cfunc) { +#if CYTHON_COMPILING_IN_LIMITED_API + return PyCFunction_Check(func) && PyCFunction_GetFunction(func) == (PyCFunction) cfunc; +#else + return PyCFunction_Check(func) && PyCFunction_GET_FUNCTION(func) == (PyCFunction) cfunc; +#endif +} +#define __Pyx_IsSameCFunction(func, cfunc) __Pyx__IsSameCFunction(func, cfunc) +#if __PYX_LIMITED_VERSION_HEX < 0x030900B1 + #define __Pyx_PyType_FromModuleAndSpec(m, s, b) ((void)m, PyType_FromSpecWithBases(s, b)) + typedef PyObject *(*__Pyx_PyCMethod)(PyObject *, PyTypeObject *, PyObject *const *, size_t, PyObject *); +#else + #define __Pyx_PyType_FromModuleAndSpec(m, s, b) PyType_FromModuleAndSpec(m, s, b) + #define __Pyx_PyCMethod PyCMethod +#endif +#ifndef METH_METHOD + #define METH_METHOD 0x200 +#endif +#if CYTHON_COMPILING_IN_PYPY && !defined(PyObject_Malloc) + #define PyObject_Malloc(s) PyMem_Malloc(s) + #define PyObject_Free(p) PyMem_Free(p) + #define PyObject_Realloc(p) PyMem_Realloc(p) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0) + #define __Pyx_PyFrame_SetLineNumber(frame, lineno) +#else + #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0) + #define __Pyx_PyFrame_SetLineNumber(frame, lineno) (frame)->f_lineno = (lineno) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyThreadState_Current PyThreadState_Get() +#elif !CYTHON_FAST_THREAD_STATE + #define __Pyx_PyThreadState_Current PyThreadState_GET() +#elif PY_VERSION_HEX >= 0x030d00A1 + #define __Pyx_PyThreadState_Current PyThreadState_GetUnchecked() +#elif PY_VERSION_HEX >= 0x03060000 + #define __Pyx_PyThreadState_Current _PyThreadState_UncheckedGet() +#elif PY_VERSION_HEX >= 0x03000000 + #define __Pyx_PyThreadState_Current PyThreadState_GET() +#else + #define __Pyx_PyThreadState_Current _PyThreadState_Current +#endif +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE void *__Pyx_PyModule_GetState(PyObject *op) +{ + void *result; + result = PyModule_GetState(op); + if (!result) + Py_FatalError("Couldn't find the module state"); + return result; +} +#endif +#define __Pyx_PyObject_GetSlot(obj, name, func_ctype) __Pyx_PyType_GetSlot(Py_TYPE(obj), name, func_ctype) +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyType_GetSlot(type, name, func_ctype) ((func_ctype) PyType_GetSlot((type), Py_##name)) +#else + #define __Pyx_PyType_GetSlot(type, name, func_ctype) ((type)->name) +#endif +#if PY_VERSION_HEX < 0x030700A2 && !defined(PyThread_tss_create) && !defined(Py_tss_NEEDS_INIT) +#include "pythread.h" +#define Py_tss_NEEDS_INIT 0 +typedef int Py_tss_t; +static CYTHON_INLINE int PyThread_tss_create(Py_tss_t *key) { + *key = PyThread_create_key(); + return 0; +} +static CYTHON_INLINE Py_tss_t * PyThread_tss_alloc(void) { + Py_tss_t *key = (Py_tss_t *)PyObject_Malloc(sizeof(Py_tss_t)); + *key = Py_tss_NEEDS_INIT; + return key; +} +static CYTHON_INLINE void PyThread_tss_free(Py_tss_t *key) { + PyObject_Free(key); +} +static CYTHON_INLINE int PyThread_tss_is_created(Py_tss_t *key) { + return *key != Py_tss_NEEDS_INIT; +} +static CYTHON_INLINE void PyThread_tss_delete(Py_tss_t *key) { + PyThread_delete_key(*key); + *key = Py_tss_NEEDS_INIT; +} +static CYTHON_INLINE int PyThread_tss_set(Py_tss_t *key, void *value) { + return PyThread_set_key_value(*key, value); +} +static CYTHON_INLINE void * PyThread_tss_get(Py_tss_t *key) { + return PyThread_get_key_value(*key); +} +#endif +#if PY_MAJOR_VERSION < 3 + #if CYTHON_COMPILING_IN_PYPY + #if PYPY_VERSION_NUM < 0x07030600 + #if defined(__cplusplus) && __cplusplus >= 201402L + [[deprecated("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6")]] + #elif defined(__GNUC__) || defined(__clang__) + __attribute__ ((__deprecated__("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6"))) + #elif defined(_MSC_VER) + __declspec(deprecated("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6")) + #endif + static CYTHON_INLINE int PyGILState_Check(void) { + return 0; + } + #else // PYPY_VERSION_NUM < 0x07030600 + #endif // PYPY_VERSION_NUM < 0x07030600 + #else + static CYTHON_INLINE int PyGILState_Check(void) { + PyThreadState * tstate = _PyThreadState_Current; + return tstate && (tstate == PyGILState_GetThisThreadState()); + } + #endif +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030d0000 || defined(_PyDict_NewPresized) +#define __Pyx_PyDict_NewPresized(n) ((n <= 8) ? PyDict_New() : _PyDict_NewPresized(n)) +#else +#define __Pyx_PyDict_NewPresized(n) PyDict_New() +#endif +#if PY_MAJOR_VERSION >= 3 || CYTHON_FUTURE_DIVISION + #define __Pyx_PyNumber_Divide(x,y) PyNumber_TrueDivide(x,y) + #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceTrueDivide(x,y) +#else + #define __Pyx_PyNumber_Divide(x,y) PyNumber_Divide(x,y) + #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceDivide(x,y) +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX > 0x030600B4 && PY_VERSION_HEX < 0x030d0000 && CYTHON_USE_UNICODE_INTERNALS +#define __Pyx_PyDict_GetItemStrWithError(dict, name) _PyDict_GetItem_KnownHash(dict, name, ((PyASCIIObject *) name)->hash) +static CYTHON_INLINE PyObject * __Pyx_PyDict_GetItemStr(PyObject *dict, PyObject *name) { + PyObject *res = __Pyx_PyDict_GetItemStrWithError(dict, name); + if (res == NULL) PyErr_Clear(); + return res; +} +#elif PY_MAJOR_VERSION >= 3 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07020000) +#define __Pyx_PyDict_GetItemStrWithError PyDict_GetItemWithError +#define __Pyx_PyDict_GetItemStr PyDict_GetItem +#else +static CYTHON_INLINE PyObject * __Pyx_PyDict_GetItemStrWithError(PyObject *dict, PyObject *name) { +#if CYTHON_COMPILING_IN_PYPY + return PyDict_GetItem(dict, name); +#else + PyDictEntry *ep; + PyDictObject *mp = (PyDictObject*) dict; + long hash = ((PyStringObject *) name)->ob_shash; + assert(hash != -1); + ep = (mp->ma_lookup)(mp, name, hash); + if (ep == NULL) { + return NULL; + } + return ep->me_value; +#endif +} +#define __Pyx_PyDict_GetItemStr PyDict_GetItem +#endif +#if CYTHON_USE_TYPE_SLOTS + #define __Pyx_PyType_GetFlags(tp) (((PyTypeObject *)tp)->tp_flags) + #define __Pyx_PyType_HasFeature(type, feature) ((__Pyx_PyType_GetFlags(type) & (feature)) != 0) + #define __Pyx_PyObject_GetIterNextFunc(obj) (Py_TYPE(obj)->tp_iternext) +#else + #define __Pyx_PyType_GetFlags(tp) (PyType_GetFlags((PyTypeObject *)tp)) + #define __Pyx_PyType_HasFeature(type, feature) PyType_HasFeature(type, feature) + #define __Pyx_PyObject_GetIterNextFunc(obj) PyIter_Next +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_SetItemOnTypeDict(tp, k, v) PyObject_GenericSetAttr((PyObject*)tp, k, v) +#else + #define __Pyx_SetItemOnTypeDict(tp, k, v) PyDict_SetItem(tp->tp_dict, k, v) +#endif +#if CYTHON_USE_TYPE_SPECS && PY_VERSION_HEX >= 0x03080000 +#define __Pyx_PyHeapTypeObject_GC_Del(obj) {\ + PyTypeObject *type = Py_TYPE((PyObject*)obj);\ + assert(__Pyx_PyType_HasFeature(type, Py_TPFLAGS_HEAPTYPE));\ + PyObject_GC_Del(obj);\ + Py_DECREF(type);\ +} +#else +#define __Pyx_PyHeapTypeObject_GC_Del(obj) PyObject_GC_Del(obj) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define CYTHON_PEP393_ENABLED 1 + #define __Pyx_PyUnicode_READY(op) (0) + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GetLength(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) PyUnicode_ReadChar(u, i) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) ((void)u, 1114111U) + #define __Pyx_PyUnicode_KIND(u) ((void)u, (0)) + #define __Pyx_PyUnicode_DATA(u) ((void*)u) + #define __Pyx_PyUnicode_READ(k, d, i) ((void)k, PyUnicode_ReadChar((PyObject*)(d), i)) + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GetLength(u)) +#elif PY_VERSION_HEX > 0x03030000 && defined(PyUnicode_KIND) + #define CYTHON_PEP393_ENABLED 1 + #if PY_VERSION_HEX >= 0x030C0000 + #define __Pyx_PyUnicode_READY(op) (0) + #else + #define __Pyx_PyUnicode_READY(op) (likely(PyUnicode_IS_READY(op)) ?\ + 0 : _PyUnicode_Ready((PyObject *)(op))) + #endif + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_LENGTH(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) PyUnicode_READ_CHAR(u, i) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) PyUnicode_MAX_CHAR_VALUE(u) + #define __Pyx_PyUnicode_KIND(u) ((int)PyUnicode_KIND(u)) + #define __Pyx_PyUnicode_DATA(u) PyUnicode_DATA(u) + #define __Pyx_PyUnicode_READ(k, d, i) PyUnicode_READ(k, d, i) + #define __Pyx_PyUnicode_WRITE(k, d, i, ch) PyUnicode_WRITE(k, d, i, (Py_UCS4) ch) + #if PY_VERSION_HEX >= 0x030C0000 + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_LENGTH(u)) + #else + #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x03090000 + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : ((PyCompactUnicodeObject *)(u))->wstr_length)) + #else + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : PyUnicode_GET_SIZE(u))) + #endif + #endif +#else + #define CYTHON_PEP393_ENABLED 0 + #define PyUnicode_1BYTE_KIND 1 + #define PyUnicode_2BYTE_KIND 2 + #define PyUnicode_4BYTE_KIND 4 + #define __Pyx_PyUnicode_READY(op) (0) + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_SIZE(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) ((Py_UCS4)(PyUnicode_AS_UNICODE(u)[i])) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) ((sizeof(Py_UNICODE) == 2) ? 65535U : 1114111U) + #define __Pyx_PyUnicode_KIND(u) ((int)sizeof(Py_UNICODE)) + #define __Pyx_PyUnicode_DATA(u) ((void*)PyUnicode_AS_UNICODE(u)) + #define __Pyx_PyUnicode_READ(k, d, i) ((void)(k), (Py_UCS4)(((Py_UNICODE*)d)[i])) + #define __Pyx_PyUnicode_WRITE(k, d, i, ch) (((void)(k)), ((Py_UNICODE*)d)[i] = (Py_UNICODE) ch) + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_SIZE(u)) +#endif +#if CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyUnicode_Concat(a, b) PyNumber_Add(a, b) + #define __Pyx_PyUnicode_ConcatSafe(a, b) PyNumber_Add(a, b) +#else + #define __Pyx_PyUnicode_Concat(a, b) PyUnicode_Concat(a, b) + #define __Pyx_PyUnicode_ConcatSafe(a, b) ((unlikely((a) == Py_None) || unlikely((b) == Py_None)) ?\ + PyNumber_Add(a, b) : __Pyx_PyUnicode_Concat(a, b)) +#endif +#if CYTHON_COMPILING_IN_PYPY + #if !defined(PyUnicode_DecodeUnicodeEscape) + #define PyUnicode_DecodeUnicodeEscape(s, size, errors) PyUnicode_Decode(s, size, "unicode_escape", errors) + #endif + #if !defined(PyUnicode_Contains) || (PY_MAJOR_VERSION == 2 && PYPY_VERSION_NUM < 0x07030500) + #undef PyUnicode_Contains + #define PyUnicode_Contains(u, s) PySequence_Contains(u, s) + #endif + #if !defined(PyByteArray_Check) + #define PyByteArray_Check(obj) PyObject_TypeCheck(obj, &PyByteArray_Type) + #endif + #if !defined(PyObject_Format) + #define PyObject_Format(obj, fmt) PyObject_CallMethod(obj, "__format__", "O", fmt) + #endif +#endif +#define __Pyx_PyString_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyString_Check(b) && !PyString_CheckExact(b)))) ? PyNumber_Remainder(a, b) : __Pyx_PyString_Format(a, b)) +#define __Pyx_PyUnicode_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyUnicode_Check(b) && !PyUnicode_CheckExact(b)))) ? PyNumber_Remainder(a, b) : PyUnicode_Format(a, b)) +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyString_Format(a, b) PyUnicode_Format(a, b) +#else + #define __Pyx_PyString_Format(a, b) PyString_Format(a, b) +#endif +#if PY_MAJOR_VERSION < 3 && !defined(PyObject_ASCII) + #define PyObject_ASCII(o) PyObject_Repr(o) +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyBaseString_Type PyUnicode_Type + #define PyStringObject PyUnicodeObject + #define PyString_Type PyUnicode_Type + #define PyString_Check PyUnicode_Check + #define PyString_CheckExact PyUnicode_CheckExact +#ifndef PyObject_Unicode + #define PyObject_Unicode PyObject_Str +#endif +#endif +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyBaseString_Check(obj) PyUnicode_Check(obj) + #define __Pyx_PyBaseString_CheckExact(obj) PyUnicode_CheckExact(obj) +#else + #define __Pyx_PyBaseString_Check(obj) (PyString_Check(obj) || PyUnicode_Check(obj)) + #define __Pyx_PyBaseString_CheckExact(obj) (PyString_CheckExact(obj) || PyUnicode_CheckExact(obj)) +#endif +#if CYTHON_COMPILING_IN_CPYTHON + #define __Pyx_PySequence_ListKeepNew(obj)\ + (likely(PyList_CheckExact(obj) && Py_REFCNT(obj) == 1) ? __Pyx_NewRef(obj) : PySequence_List(obj)) +#else + #define __Pyx_PySequence_ListKeepNew(obj) PySequence_List(obj) +#endif +#ifndef PySet_CheckExact + #define PySet_CheckExact(obj) __Pyx_IS_TYPE(obj, &PySet_Type) +#endif +#if PY_VERSION_HEX >= 0x030900A4 + #define __Pyx_SET_REFCNT(obj, refcnt) Py_SET_REFCNT(obj, refcnt) + #define __Pyx_SET_SIZE(obj, size) Py_SET_SIZE(obj, size) +#else + #define __Pyx_SET_REFCNT(obj, refcnt) Py_REFCNT(obj) = (refcnt) + #define __Pyx_SET_SIZE(obj, size) Py_SIZE(obj) = (size) +#endif +#if CYTHON_ASSUME_SAFE_MACROS + #define __Pyx_PySequence_ITEM(o, i) PySequence_ITEM(o, i) + #define __Pyx_PySequence_SIZE(seq) Py_SIZE(seq) + #define __Pyx_PyTuple_SET_ITEM(o, i, v) (PyTuple_SET_ITEM(o, i, v), (0)) + #define __Pyx_PyList_SET_ITEM(o, i, v) (PyList_SET_ITEM(o, i, v), (0)) + #define __Pyx_PyTuple_GET_SIZE(o) PyTuple_GET_SIZE(o) + #define __Pyx_PyList_GET_SIZE(o) PyList_GET_SIZE(o) + #define __Pyx_PySet_GET_SIZE(o) PySet_GET_SIZE(o) + #define __Pyx_PyBytes_GET_SIZE(o) PyBytes_GET_SIZE(o) + #define __Pyx_PyByteArray_GET_SIZE(o) PyByteArray_GET_SIZE(o) +#else + #define __Pyx_PySequence_ITEM(o, i) PySequence_GetItem(o, i) + #define __Pyx_PySequence_SIZE(seq) PySequence_Size(seq) + #define __Pyx_PyTuple_SET_ITEM(o, i, v) PyTuple_SetItem(o, i, v) + #define __Pyx_PyList_SET_ITEM(o, i, v) PyList_SetItem(o, i, v) + #define __Pyx_PyTuple_GET_SIZE(o) PyTuple_Size(o) + #define __Pyx_PyList_GET_SIZE(o) PyList_Size(o) + #define __Pyx_PySet_GET_SIZE(o) PySet_Size(o) + #define __Pyx_PyBytes_GET_SIZE(o) PyBytes_Size(o) + #define __Pyx_PyByteArray_GET_SIZE(o) PyByteArray_Size(o) +#endif +#if PY_VERSION_HEX >= 0x030d00A1 + #define __Pyx_PyImport_AddModuleRef(name) PyImport_AddModuleRef(name) +#else + static CYTHON_INLINE PyObject *__Pyx_PyImport_AddModuleRef(const char *name) { + PyObject *module = PyImport_AddModule(name); + Py_XINCREF(module); + return module; + } +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyIntObject PyLongObject + #define PyInt_Type PyLong_Type + #define PyInt_Check(op) PyLong_Check(op) + #define PyInt_CheckExact(op) PyLong_CheckExact(op) + #define __Pyx_Py3Int_Check(op) PyLong_Check(op) + #define __Pyx_Py3Int_CheckExact(op) PyLong_CheckExact(op) + #define PyInt_FromString PyLong_FromString + #define PyInt_FromUnicode PyLong_FromUnicode + #define PyInt_FromLong PyLong_FromLong + #define PyInt_FromSize_t PyLong_FromSize_t + #define PyInt_FromSsize_t PyLong_FromSsize_t + #define PyInt_AsLong PyLong_AsLong + #define PyInt_AS_LONG PyLong_AS_LONG + #define PyInt_AsSsize_t PyLong_AsSsize_t + #define PyInt_AsUnsignedLongMask PyLong_AsUnsignedLongMask + #define PyInt_AsUnsignedLongLongMask PyLong_AsUnsignedLongLongMask + #define PyNumber_Int PyNumber_Long +#else + #define __Pyx_Py3Int_Check(op) (PyLong_Check(op) || PyInt_Check(op)) + #define __Pyx_Py3Int_CheckExact(op) (PyLong_CheckExact(op) || PyInt_CheckExact(op)) +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyBoolObject PyLongObject +#endif +#if PY_MAJOR_VERSION >= 3 && CYTHON_COMPILING_IN_PYPY + #ifndef PyUnicode_InternFromString + #define PyUnicode_InternFromString(s) PyUnicode_FromString(s) + #endif +#endif +#if PY_VERSION_HEX < 0x030200A4 + typedef long Py_hash_t; + #define __Pyx_PyInt_FromHash_t PyInt_FromLong + #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsHash_t +#else + #define __Pyx_PyInt_FromHash_t PyInt_FromSsize_t + #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsSsize_t +#endif +#if CYTHON_USE_ASYNC_SLOTS + #if PY_VERSION_HEX >= 0x030500B1 + #define __Pyx_PyAsyncMethodsStruct PyAsyncMethods + #define __Pyx_PyType_AsAsync(obj) (Py_TYPE(obj)->tp_as_async) + #else + #define __Pyx_PyType_AsAsync(obj) ((__Pyx_PyAsyncMethodsStruct*) (Py_TYPE(obj)->tp_reserved)) + #endif +#else + #define __Pyx_PyType_AsAsync(obj) NULL +#endif +#ifndef __Pyx_PyAsyncMethodsStruct + typedef struct { + unaryfunc am_await; + unaryfunc am_aiter; + unaryfunc am_anext; + } __Pyx_PyAsyncMethodsStruct; +#endif + +#if defined(_WIN32) || defined(WIN32) || defined(MS_WINDOWS) + #if !defined(_USE_MATH_DEFINES) + #define _USE_MATH_DEFINES + #endif +#endif +#include +#ifdef NAN +#define __PYX_NAN() ((float) NAN) +#else +static CYTHON_INLINE float __PYX_NAN() { + float value; + memset(&value, 0xFF, sizeof(value)); + return value; +} +#endif +#if defined(__CYGWIN__) && defined(_LDBL_EQ_DBL) +#define __Pyx_truncl trunc +#else +#define __Pyx_truncl truncl +#endif + +#define __PYX_MARK_ERR_POS(f_index, lineno) \ + { __pyx_filename = __pyx_f[f_index]; (void)__pyx_filename; __pyx_lineno = lineno; (void)__pyx_lineno; __pyx_clineno = __LINE__; (void)__pyx_clineno; } +#define __PYX_ERR(f_index, lineno, Ln_error) \ + { __PYX_MARK_ERR_POS(f_index, lineno) goto Ln_error; } + +#ifdef CYTHON_EXTERN_C + #undef __PYX_EXTERN_C + #define __PYX_EXTERN_C CYTHON_EXTERN_C +#elif defined(__PYX_EXTERN_C) + #ifdef _MSC_VER + #pragma message ("Please do not define the '__PYX_EXTERN_C' macro externally. Use 'CYTHON_EXTERN_C' instead.") + #else + #warning Please do not define the '__PYX_EXTERN_C' macro externally. Use 'CYTHON_EXTERN_C' instead. + #endif +#else + #define __PYX_EXTERN_C extern "C++" +#endif + +#define __PYX_HAVE__common__transformations__transformations +#define __PYX_HAVE_API__common__transformations__transformations +/* Early includes */ +#include "orientation.cc" +#include "orientation.hpp" +#include "coordinates.cc" +#include "coordinates.hpp" +#include +#include + + /* Using NumPy API declarations from "numpy/__init__.cython-30.pxd" */ + +#include "numpy/arrayobject.h" +#include "numpy/ndarrayobject.h" +#include "numpy/ndarraytypes.h" +#include "numpy/arrayscalars.h" +#include "numpy/ufuncobject.h" +#ifdef _OPENMP +#include +#endif /* _OPENMP */ + +#if defined(PYREX_WITHOUT_ASSERTIONS) && !defined(CYTHON_WITHOUT_ASSERTIONS) +#define CYTHON_WITHOUT_ASSERTIONS +#endif + +typedef struct {PyObject **p; const char *s; const Py_ssize_t n; const char* encoding; + const char is_unicode; const char is_str; const char intern; } __Pyx_StringTabEntry; + +#define __PYX_DEFAULT_STRING_ENCODING_IS_ASCII 0 +#define __PYX_DEFAULT_STRING_ENCODING_IS_UTF8 0 +#define __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT (PY_MAJOR_VERSION >= 3 && __PYX_DEFAULT_STRING_ENCODING_IS_UTF8) +#define __PYX_DEFAULT_STRING_ENCODING "" +#define __Pyx_PyObject_FromString __Pyx_PyBytes_FromString +#define __Pyx_PyObject_FromStringAndSize __Pyx_PyBytes_FromStringAndSize +#define __Pyx_uchar_cast(c) ((unsigned char)c) +#define __Pyx_long_cast(x) ((long)x) +#define __Pyx_fits_Py_ssize_t(v, type, is_signed) (\ + (sizeof(type) < sizeof(Py_ssize_t)) ||\ + (sizeof(type) > sizeof(Py_ssize_t) &&\ + likely(v < (type)PY_SSIZE_T_MAX ||\ + v == (type)PY_SSIZE_T_MAX) &&\ + (!is_signed || likely(v > (type)PY_SSIZE_T_MIN ||\ + v == (type)PY_SSIZE_T_MIN))) ||\ + (sizeof(type) == sizeof(Py_ssize_t) &&\ + (is_signed || likely(v < (type)PY_SSIZE_T_MAX ||\ + v == (type)PY_SSIZE_T_MAX))) ) +static CYTHON_INLINE int __Pyx_is_valid_index(Py_ssize_t i, Py_ssize_t limit) { + return (size_t) i < (size_t) limit; +} +#if defined (__cplusplus) && __cplusplus >= 201103L + #include + #define __Pyx_sst_abs(value) std::abs(value) +#elif SIZEOF_INT >= SIZEOF_SIZE_T + #define __Pyx_sst_abs(value) abs(value) +#elif SIZEOF_LONG >= SIZEOF_SIZE_T + #define __Pyx_sst_abs(value) labs(value) +#elif defined (_MSC_VER) + #define __Pyx_sst_abs(value) ((Py_ssize_t)_abs64(value)) +#elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define __Pyx_sst_abs(value) llabs(value) +#elif defined (__GNUC__) + #define __Pyx_sst_abs(value) __builtin_llabs(value) +#else + #define __Pyx_sst_abs(value) ((value<0) ? -value : value) +#endif +static CYTHON_INLINE Py_ssize_t __Pyx_ssize_strlen(const char *s); +static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject*); +static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject*, Py_ssize_t* length); +static CYTHON_INLINE PyObject* __Pyx_PyByteArray_FromString(const char*); +#define __Pyx_PyByteArray_FromStringAndSize(s, l) PyByteArray_FromStringAndSize((const char*)s, l) +#define __Pyx_PyBytes_FromString PyBytes_FromString +#define __Pyx_PyBytes_FromStringAndSize PyBytes_FromStringAndSize +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char*); +#if PY_MAJOR_VERSION < 3 + #define __Pyx_PyStr_FromString __Pyx_PyBytes_FromString + #define __Pyx_PyStr_FromStringAndSize __Pyx_PyBytes_FromStringAndSize +#else + #define __Pyx_PyStr_FromString __Pyx_PyUnicode_FromString + #define __Pyx_PyStr_FromStringAndSize __Pyx_PyUnicode_FromStringAndSize +#endif +#define __Pyx_PyBytes_AsWritableString(s) ((char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsWritableSString(s) ((signed char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsWritableUString(s) ((unsigned char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsString(s) ((const char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsSString(s) ((const signed char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsUString(s) ((const unsigned char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyObject_AsWritableString(s) ((char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsWritableSString(s) ((signed char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsWritableUString(s) ((unsigned char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsSString(s) ((const signed char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsUString(s) ((const unsigned char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_FromCString(s) __Pyx_PyObject_FromString((const char*)s) +#define __Pyx_PyBytes_FromCString(s) __Pyx_PyBytes_FromString((const char*)s) +#define __Pyx_PyByteArray_FromCString(s) __Pyx_PyByteArray_FromString((const char*)s) +#define __Pyx_PyStr_FromCString(s) __Pyx_PyStr_FromString((const char*)s) +#define __Pyx_PyUnicode_FromCString(s) __Pyx_PyUnicode_FromString((const char*)s) +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE size_t __Pyx_Py_UNICODE_strlen(const wchar_t *u) +{ + const wchar_t *u_end = u; + while (*u_end++) ; + return (size_t)(u_end - u - 1); +} +#else +static CYTHON_INLINE size_t __Pyx_Py_UNICODE_strlen(const Py_UNICODE *u) +{ + const Py_UNICODE *u_end = u; + while (*u_end++) ; + return (size_t)(u_end - u - 1); +} +#endif +#define __Pyx_PyUnicode_FromOrdinal(o) PyUnicode_FromOrdinal((int)o) +#define __Pyx_PyUnicode_FromUnicode(u) PyUnicode_FromUnicode(u, __Pyx_Py_UNICODE_strlen(u)) +#define __Pyx_PyUnicode_FromUnicodeAndLength PyUnicode_FromUnicode +#define __Pyx_PyUnicode_AsUnicode PyUnicode_AsUnicode +#define __Pyx_NewRef(obj) (Py_INCREF(obj), obj) +#define __Pyx_Owned_Py_None(b) __Pyx_NewRef(Py_None) +static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b); +static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject*); +static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject*); +static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x); +#define __Pyx_PySequence_Tuple(obj)\ + (likely(PyTuple_CheckExact(obj)) ? __Pyx_NewRef(obj) : PySequence_Tuple(obj)) +static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject*); +static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t); +static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject*); +#if CYTHON_ASSUME_SAFE_MACROS +#define __pyx_PyFloat_AsDouble(x) (PyFloat_CheckExact(x) ? PyFloat_AS_DOUBLE(x) : PyFloat_AsDouble(x)) +#else +#define __pyx_PyFloat_AsDouble(x) PyFloat_AsDouble(x) +#endif +#define __pyx_PyFloat_AsFloat(x) ((float) __pyx_PyFloat_AsDouble(x)) +#if PY_MAJOR_VERSION >= 3 +#define __Pyx_PyNumber_Int(x) (PyLong_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Long(x)) +#else +#define __Pyx_PyNumber_Int(x) (PyInt_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Int(x)) +#endif +#if CYTHON_USE_PYLONG_INTERNALS + #if PY_VERSION_HEX >= 0x030C00A7 + #ifndef _PyLong_SIGN_MASK + #define _PyLong_SIGN_MASK 3 + #endif + #ifndef _PyLong_NON_SIZE_BITS + #define _PyLong_NON_SIZE_BITS 3 + #endif + #define __Pyx_PyLong_Sign(x) (((PyLongObject*)x)->long_value.lv_tag & _PyLong_SIGN_MASK) + #define __Pyx_PyLong_IsNeg(x) ((__Pyx_PyLong_Sign(x) & 2) != 0) + #define __Pyx_PyLong_IsNonNeg(x) (!__Pyx_PyLong_IsNeg(x)) + #define __Pyx_PyLong_IsZero(x) (__Pyx_PyLong_Sign(x) & 1) + #define __Pyx_PyLong_IsPos(x) (__Pyx_PyLong_Sign(x) == 0) + #define __Pyx_PyLong_CompactValueUnsigned(x) (__Pyx_PyLong_Digits(x)[0]) + #define __Pyx_PyLong_DigitCount(x) ((Py_ssize_t) (((PyLongObject*)x)->long_value.lv_tag >> _PyLong_NON_SIZE_BITS)) + #define __Pyx_PyLong_SignedDigitCount(x)\ + ((1 - (Py_ssize_t) __Pyx_PyLong_Sign(x)) * __Pyx_PyLong_DigitCount(x)) + #if defined(PyUnstable_Long_IsCompact) && defined(PyUnstable_Long_CompactValue) + #define __Pyx_PyLong_IsCompact(x) PyUnstable_Long_IsCompact((PyLongObject*) x) + #define __Pyx_PyLong_CompactValue(x) PyUnstable_Long_CompactValue((PyLongObject*) x) + #else + #define __Pyx_PyLong_IsCompact(x) (((PyLongObject*)x)->long_value.lv_tag < (2 << _PyLong_NON_SIZE_BITS)) + #define __Pyx_PyLong_CompactValue(x) ((1 - (Py_ssize_t) __Pyx_PyLong_Sign(x)) * (Py_ssize_t) __Pyx_PyLong_Digits(x)[0]) + #endif + typedef Py_ssize_t __Pyx_compact_pylong; + typedef size_t __Pyx_compact_upylong; + #else + #define __Pyx_PyLong_IsNeg(x) (Py_SIZE(x) < 0) + #define __Pyx_PyLong_IsNonNeg(x) (Py_SIZE(x) >= 0) + #define __Pyx_PyLong_IsZero(x) (Py_SIZE(x) == 0) + #define __Pyx_PyLong_IsPos(x) (Py_SIZE(x) > 0) + #define __Pyx_PyLong_CompactValueUnsigned(x) ((Py_SIZE(x) == 0) ? 0 : __Pyx_PyLong_Digits(x)[0]) + #define __Pyx_PyLong_DigitCount(x) __Pyx_sst_abs(Py_SIZE(x)) + #define __Pyx_PyLong_SignedDigitCount(x) Py_SIZE(x) + #define __Pyx_PyLong_IsCompact(x) (Py_SIZE(x) == 0 || Py_SIZE(x) == 1 || Py_SIZE(x) == -1) + #define __Pyx_PyLong_CompactValue(x)\ + ((Py_SIZE(x) == 0) ? (sdigit) 0 : ((Py_SIZE(x) < 0) ? -(sdigit)__Pyx_PyLong_Digits(x)[0] : (sdigit)__Pyx_PyLong_Digits(x)[0])) + typedef sdigit __Pyx_compact_pylong; + typedef digit __Pyx_compact_upylong; + #endif + #if PY_VERSION_HEX >= 0x030C00A5 + #define __Pyx_PyLong_Digits(x) (((PyLongObject*)x)->long_value.ob_digit) + #else + #define __Pyx_PyLong_Digits(x) (((PyLongObject*)x)->ob_digit) + #endif +#endif +#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII +#include +static int __Pyx_sys_getdefaultencoding_not_ascii; +static int __Pyx_init_sys_getdefaultencoding_params(void) { + PyObject* sys; + PyObject* default_encoding = NULL; + PyObject* ascii_chars_u = NULL; + PyObject* ascii_chars_b = NULL; + const char* default_encoding_c; + sys = PyImport_ImportModule("sys"); + if (!sys) goto bad; + default_encoding = PyObject_CallMethod(sys, (char*) "getdefaultencoding", NULL); + Py_DECREF(sys); + if (!default_encoding) goto bad; + default_encoding_c = PyBytes_AsString(default_encoding); + if (!default_encoding_c) goto bad; + if (strcmp(default_encoding_c, "ascii") == 0) { + __Pyx_sys_getdefaultencoding_not_ascii = 0; + } else { + char ascii_chars[128]; + int c; + for (c = 0; c < 128; c++) { + ascii_chars[c] = (char) c; + } + __Pyx_sys_getdefaultencoding_not_ascii = 1; + ascii_chars_u = PyUnicode_DecodeASCII(ascii_chars, 128, NULL); + if (!ascii_chars_u) goto bad; + ascii_chars_b = PyUnicode_AsEncodedString(ascii_chars_u, default_encoding_c, NULL); + if (!ascii_chars_b || !PyBytes_Check(ascii_chars_b) || memcmp(ascii_chars, PyBytes_AS_STRING(ascii_chars_b), 128) != 0) { + PyErr_Format( + PyExc_ValueError, + "This module compiled with c_string_encoding=ascii, but default encoding '%.200s' is not a superset of ascii.", + default_encoding_c); + goto bad; + } + Py_DECREF(ascii_chars_u); + Py_DECREF(ascii_chars_b); + } + Py_DECREF(default_encoding); + return 0; +bad: + Py_XDECREF(default_encoding); + Py_XDECREF(ascii_chars_u); + Py_XDECREF(ascii_chars_b); + return -1; +} +#endif +#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT && PY_MAJOR_VERSION >= 3 +#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_DecodeUTF8(c_str, size, NULL) +#else +#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_Decode(c_str, size, __PYX_DEFAULT_STRING_ENCODING, NULL) +#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT +#include +static char* __PYX_DEFAULT_STRING_ENCODING; +static int __Pyx_init_sys_getdefaultencoding_params(void) { + PyObject* sys; + PyObject* default_encoding = NULL; + char* default_encoding_c; + sys = PyImport_ImportModule("sys"); + if (!sys) goto bad; + default_encoding = PyObject_CallMethod(sys, (char*) (const char*) "getdefaultencoding", NULL); + Py_DECREF(sys); + if (!default_encoding) goto bad; + default_encoding_c = PyBytes_AsString(default_encoding); + if (!default_encoding_c) goto bad; + __PYX_DEFAULT_STRING_ENCODING = (char*) malloc(strlen(default_encoding_c) + 1); + if (!__PYX_DEFAULT_STRING_ENCODING) goto bad; + strcpy(__PYX_DEFAULT_STRING_ENCODING, default_encoding_c); + Py_DECREF(default_encoding); + return 0; +bad: + Py_XDECREF(default_encoding); + return -1; +} +#endif +#endif + + +/* Test for GCC > 2.95 */ +#if defined(__GNUC__) && (__GNUC__ > 2 || (__GNUC__ == 2 && (__GNUC_MINOR__ > 95))) + #define likely(x) __builtin_expect(!!(x), 1) + #define unlikely(x) __builtin_expect(!!(x), 0) +#else /* !__GNUC__ or GCC < 2.95 */ + #define likely(x) (x) + #define unlikely(x) (x) +#endif /* __GNUC__ */ +static CYTHON_INLINE void __Pyx_pretend_to_initialize(void* ptr) { (void)ptr; } + +#if !CYTHON_USE_MODULE_STATE +static PyObject *__pyx_m = NULL; +#endif +static int __pyx_lineno; +static int __pyx_clineno = 0; +static const char * __pyx_cfilenm = __FILE__; +static const char *__pyx_filename; + +/* Header.proto */ +#if !defined(CYTHON_CCOMPLEX) + #if defined(__cplusplus) + #define CYTHON_CCOMPLEX 1 + #elif (defined(_Complex_I) && !defined(_MSC_VER)) || ((defined (__STDC_VERSION__) && __STDC_VERSION__ >= 201112L) && !defined(__STDC_NO_COMPLEX__) && !defined(_MSC_VER)) + #define CYTHON_CCOMPLEX 1 + #else + #define CYTHON_CCOMPLEX 0 + #endif +#endif +#if CYTHON_CCOMPLEX + #ifdef __cplusplus + #include + #else + #include + #endif +#endif +#if CYTHON_CCOMPLEX && !defined(__cplusplus) && defined(__sun__) && defined(__GNUC__) + #undef _Complex_I + #define _Complex_I 1.0fj +#endif + +/* #### Code section: filename_table ### */ + +static const char *__pyx_f[] = { + "common/transformations/transformations.pyx", + "", + "__init__.cython-30.pxd", + "type.pxd", +}; +/* #### Code section: utility_code_proto_before_types ### */ +/* ForceInitThreads.proto */ +#ifndef __PYX_FORCE_INIT_THREADS + #define __PYX_FORCE_INIT_THREADS 0 +#endif + +/* BufferFormatStructs.proto */ +struct __Pyx_StructField_; +#define __PYX_BUF_FLAGS_PACKED_STRUCT (1 << 0) +typedef struct { + const char* name; + struct __Pyx_StructField_* fields; + size_t size; + size_t arraysize[8]; + int ndim; + char typegroup; + char is_unsigned; + int flags; +} __Pyx_TypeInfo; +typedef struct __Pyx_StructField_ { + __Pyx_TypeInfo* type; + const char* name; + size_t offset; +} __Pyx_StructField; +typedef struct { + __Pyx_StructField* field; + size_t parent_offset; +} __Pyx_BufFmt_StackElem; +typedef struct { + __Pyx_StructField root; + __Pyx_BufFmt_StackElem* head; + size_t fmt_offset; + size_t new_count, enc_count; + size_t struct_alignment; + int is_complex; + char enc_type; + char new_packmode; + char enc_packmode; + char is_valid_array; +} __Pyx_BufFmt_Context; + +/* #### Code section: numeric_typedefs ### */ + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":730 + * # in Cython to enable them only on the right systems. + * + * ctypedef npy_int8 int8_t # <<<<<<<<<<<<<< + * ctypedef npy_int16 int16_t + * ctypedef npy_int32 int32_t + */ +typedef npy_int8 __pyx_t_5numpy_int8_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":731 + * + * ctypedef npy_int8 int8_t + * ctypedef npy_int16 int16_t # <<<<<<<<<<<<<< + * ctypedef npy_int32 int32_t + * ctypedef npy_int64 int64_t + */ +typedef npy_int16 __pyx_t_5numpy_int16_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":732 + * ctypedef npy_int8 int8_t + * ctypedef npy_int16 int16_t + * ctypedef npy_int32 int32_t # <<<<<<<<<<<<<< + * ctypedef npy_int64 int64_t + * #ctypedef npy_int96 int96_t + */ +typedef npy_int32 __pyx_t_5numpy_int32_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":733 + * ctypedef npy_int16 int16_t + * ctypedef npy_int32 int32_t + * ctypedef npy_int64 int64_t # <<<<<<<<<<<<<< + * #ctypedef npy_int96 int96_t + * #ctypedef npy_int128 int128_t + */ +typedef npy_int64 __pyx_t_5numpy_int64_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":737 + * #ctypedef npy_int128 int128_t + * + * ctypedef npy_uint8 uint8_t # <<<<<<<<<<<<<< + * ctypedef npy_uint16 uint16_t + * ctypedef npy_uint32 uint32_t + */ +typedef npy_uint8 __pyx_t_5numpy_uint8_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":738 + * + * ctypedef npy_uint8 uint8_t + * ctypedef npy_uint16 uint16_t # <<<<<<<<<<<<<< + * ctypedef npy_uint32 uint32_t + * ctypedef npy_uint64 uint64_t + */ +typedef npy_uint16 __pyx_t_5numpy_uint16_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":739 + * ctypedef npy_uint8 uint8_t + * ctypedef npy_uint16 uint16_t + * ctypedef npy_uint32 uint32_t # <<<<<<<<<<<<<< + * ctypedef npy_uint64 uint64_t + * #ctypedef npy_uint96 uint96_t + */ +typedef npy_uint32 __pyx_t_5numpy_uint32_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":740 + * ctypedef npy_uint16 uint16_t + * ctypedef npy_uint32 uint32_t + * ctypedef npy_uint64 uint64_t # <<<<<<<<<<<<<< + * #ctypedef npy_uint96 uint96_t + * #ctypedef npy_uint128 uint128_t + */ +typedef npy_uint64 __pyx_t_5numpy_uint64_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":744 + * #ctypedef npy_uint128 uint128_t + * + * ctypedef npy_float32 float32_t # <<<<<<<<<<<<<< + * ctypedef npy_float64 float64_t + * #ctypedef npy_float80 float80_t + */ +typedef npy_float32 __pyx_t_5numpy_float32_t; 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+static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A6 +#define __Pyx_PyErr_SetNone(exc) (Py_INCREF(exc), __Pyx_ErrRestore((exc), NULL, NULL)) +#else +#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc) +#endif +#else +#define __Pyx_PyErr_Clear() PyErr_Clear() +#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc) +#define __Pyx_ErrRestoreWithState(type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetchWithState(type, value, tb) PyErr_Fetch(type, value, tb) +#define __Pyx_ErrRestoreInState(tstate, type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetchInState(tstate, type, value, tb) PyErr_Fetch(type, value, tb) +#define __Pyx_ErrRestore(type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetch(type, value, tb) PyErr_Fetch(type, value, tb) +#endif + +/* PyObjectGetAttrStr.proto */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStr(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GetAttrStr(o,n) PyObject_GetAttr(o,n) +#endif + +/* PyObjectGetAttrStrNoError.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name); + +/* GetBuiltinName.proto */ +static PyObject *__Pyx_GetBuiltinName(PyObject *name); + +/* GetTopmostException.proto */ +#if CYTHON_USE_EXC_INFO_STACK && CYTHON_FAST_THREAD_STATE +static _PyErr_StackItem * __Pyx_PyErr_GetTopmostException(PyThreadState *tstate); +#endif + +/* SaveResetException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_ExceptionSave(type, value, tb) __Pyx__ExceptionSave(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionSave(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#define __Pyx_ExceptionReset(type, value, tb) __Pyx__ExceptionReset(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionReset(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb); +#else +#define __Pyx_ExceptionSave(type, value, tb) PyErr_GetExcInfo(type, value, tb) +#define __Pyx_ExceptionReset(type, value, tb) PyErr_SetExcInfo(type, value, tb) +#endif + +/* GetException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_GetException(type, value, tb) __Pyx__GetException(__pyx_tstate, type, value, tb) +static int __Pyx__GetException(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#else +static int __Pyx_GetException(PyObject **type, PyObject **value, PyObject **tb); +#endif + +/* PyObjectCall.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw); +#else +#define __Pyx_PyObject_Call(func, arg, kw) PyObject_Call(func, arg, kw) +#endif + +/* RaiseException.proto */ +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause); + +/* PyDictVersioning.proto */ +#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS +#define __PYX_DICT_VERSION_INIT ((PY_UINT64_T) -1) +#define __PYX_GET_DICT_VERSION(dict) (((PyDictObject*)(dict))->ma_version_tag) +#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var)\ + (version_var) = __PYX_GET_DICT_VERSION(dict);\ + (cache_var) = (value); +#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) {\ + static PY_UINT64_T __pyx_dict_version = 0;\ + static PyObject *__pyx_dict_cached_value = NULL;\ + if (likely(__PYX_GET_DICT_VERSION(DICT) == __pyx_dict_version)) {\ + (VAR) = __pyx_dict_cached_value;\ + } else {\ + (VAR) = __pyx_dict_cached_value = (LOOKUP);\ + __pyx_dict_version = __PYX_GET_DICT_VERSION(DICT);\ + }\ +} +static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj); +static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj); +static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version); +#else +#define __PYX_GET_DICT_VERSION(dict) (0) +#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var) +#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) (VAR) = (LOOKUP); +#endif + +/* GetModuleGlobalName.proto */ +#if CYTHON_USE_DICT_VERSIONS +#define __Pyx_GetModuleGlobalName(var, name) do {\ + static PY_UINT64_T __pyx_dict_version = 0;\ + static PyObject *__pyx_dict_cached_value = NULL;\ + (var) = (likely(__pyx_dict_version == __PYX_GET_DICT_VERSION(__pyx_d))) ?\ + (likely(__pyx_dict_cached_value) ? __Pyx_NewRef(__pyx_dict_cached_value) : __Pyx_GetBuiltinName(name)) :\ + __Pyx__GetModuleGlobalName(name, &__pyx_dict_version, &__pyx_dict_cached_value);\ +} while(0) +#define __Pyx_GetModuleGlobalNameUncached(var, name) do {\ + PY_UINT64_T __pyx_dict_version;\ + PyObject *__pyx_dict_cached_value;\ + (var) = __Pyx__GetModuleGlobalName(name, &__pyx_dict_version, &__pyx_dict_cached_value);\ +} while(0) +static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value); +#else +#define __Pyx_GetModuleGlobalName(var, name) (var) = __Pyx__GetModuleGlobalName(name) +#define __Pyx_GetModuleGlobalNameUncached(var, name) (var) = __Pyx__GetModuleGlobalName(name) +static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name); +#endif + +/* PyFunctionFastCall.proto */ +#if CYTHON_FAST_PYCALL +#if !CYTHON_VECTORCALL +#define __Pyx_PyFunction_FastCall(func, args, nargs)\ + __Pyx_PyFunction_FastCallDict((func), (args), (nargs), NULL) +static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs); +#endif +#define __Pyx_BUILD_ASSERT_EXPR(cond)\ + (sizeof(char [1 - 2*!(cond)]) - 1) +#ifndef Py_MEMBER_SIZE +#define Py_MEMBER_SIZE(type, member) sizeof(((type *)0)->member) +#endif +#if !CYTHON_VECTORCALL +#if PY_VERSION_HEX >= 0x03080000 + #include "frameobject.h" +#if PY_VERSION_HEX >= 0x030b00a6 && !CYTHON_COMPILING_IN_LIMITED_API + #ifndef Py_BUILD_CORE + #define Py_BUILD_CORE 1 + #endif + #include "internal/pycore_frame.h" +#endif + #define __Pxy_PyFrame_Initialize_Offsets() + #define __Pyx_PyFrame_GetLocalsplus(frame) ((frame)->f_localsplus) +#else + static size_t __pyx_pyframe_localsplus_offset = 0; + #include "frameobject.h" + #define __Pxy_PyFrame_Initialize_Offsets()\ + ((void)__Pyx_BUILD_ASSERT_EXPR(sizeof(PyFrameObject) == offsetof(PyFrameObject, f_localsplus) + Py_MEMBER_SIZE(PyFrameObject, f_localsplus)),\ + (void)(__pyx_pyframe_localsplus_offset = ((size_t)PyFrame_Type.tp_basicsize) - Py_MEMBER_SIZE(PyFrameObject, f_localsplus))) + #define __Pyx_PyFrame_GetLocalsplus(frame)\ + (assert(__pyx_pyframe_localsplus_offset), (PyObject **)(((char *)(frame)) + __pyx_pyframe_localsplus_offset)) +#endif +#endif +#endif + +/* PyObjectCallMethO.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg); +#endif + +/* PyObjectFastCall.proto */ +#define __Pyx_PyObject_FastCall(func, args, nargs) __Pyx_PyObject_FastCallDict(func, args, (size_t)(nargs), NULL) +static CYTHON_INLINE PyObject* __Pyx_PyObject_FastCallDict(PyObject *func, PyObject **args, size_t nargs, PyObject *kwargs); + +/* ExtTypeTest.proto */ +static CYTHON_INLINE int __Pyx_TypeTest(PyObject *obj, PyTypeObject *type); + +/* IsLittleEndian.proto */ +static CYTHON_INLINE int __Pyx_Is_Little_Endian(void); + +/* BufferFormatCheck.proto */ +static const char* __Pyx_BufFmt_CheckString(__Pyx_BufFmt_Context* ctx, const char* ts); +static void __Pyx_BufFmt_Init(__Pyx_BufFmt_Context* ctx, + __Pyx_BufFmt_StackElem* stack, + __Pyx_TypeInfo* type); + +/* BufferGetAndValidate.proto */ +#define __Pyx_GetBufferAndValidate(buf, obj, dtype, flags, nd, cast, stack)\ + ((obj == Py_None || obj == NULL) ?\ + (__Pyx_ZeroBuffer(buf), 0) :\ + __Pyx__GetBufferAndValidate(buf, obj, dtype, flags, nd, cast, stack)) +static int __Pyx__GetBufferAndValidate(Py_buffer* buf, PyObject* obj, + __Pyx_TypeInfo* dtype, int flags, int nd, int cast, __Pyx_BufFmt_StackElem* stack); +static void __Pyx_ZeroBuffer(Py_buffer* buf); +static CYTHON_INLINE void __Pyx_SafeReleaseBuffer(Py_buffer* info); +static Py_ssize_t __Pyx_minusones[] = { -1, -1, -1, -1, -1, -1, -1, -1 }; +static Py_ssize_t __Pyx_zeros[] = { 0, 0, 0, 0, 0, 0, 0, 0 }; + +/* AssertionsEnabled.proto */ +#if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX < 0x02070600 && !defined(Py_OptimizeFlag) + #define __Pyx_init_assertions_enabled() (0) + #define __pyx_assertions_enabled() (1) +#elif CYTHON_COMPILING_IN_LIMITED_API || (CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030C0000) + static int __pyx_assertions_enabled_flag; + #define __pyx_assertions_enabled() (__pyx_assertions_enabled_flag) + static int __Pyx_init_assertions_enabled(void) { + PyObject *builtins, *debug, *debug_str; + int flag; + builtins = PyEval_GetBuiltins(); + if (!builtins) goto bad; + debug_str = PyUnicode_FromStringAndSize("__debug__", 9); + if (!debug_str) goto bad; + debug = PyObject_GetItem(builtins, debug_str); + Py_DECREF(debug_str); + if (!debug) goto bad; + flag = PyObject_IsTrue(debug); + Py_DECREF(debug); + if (flag == -1) goto bad; + __pyx_assertions_enabled_flag = flag; + return 0; + bad: + __pyx_assertions_enabled_flag = 1; + return -1; + } +#else + #define __Pyx_init_assertions_enabled() (0) + #define __pyx_assertions_enabled() (!Py_OptimizeFlag) +#endif + +/* GetItemInt.proto */ +#define __Pyx_GetItemInt(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_Fast(o, (Py_ssize_t)i, is_list, wraparound, boundscheck) :\ + (is_list ? (PyErr_SetString(PyExc_IndexError, "list index out of range"), (PyObject*)NULL) :\ + __Pyx_GetItemInt_Generic(o, to_py_func(i)))) +#define __Pyx_GetItemInt_List(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_List_Fast(o, (Py_ssize_t)i, wraparound, boundscheck) :\ + (PyErr_SetString(PyExc_IndexError, "list index out of range"), (PyObject*)NULL)) +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, + int wraparound, int boundscheck); +#define __Pyx_GetItemInt_Tuple(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_Tuple_Fast(o, (Py_ssize_t)i, wraparound, boundscheck) :\ + (PyErr_SetString(PyExc_IndexError, "tuple index out of range"), (PyObject*)NULL)) +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i, + int wraparound, int boundscheck); +static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j); +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, + int is_list, int wraparound, int boundscheck); + +/* TupleAndListFromArray.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyList_FromArray(PyObject *const *src, Py_ssize_t n); +static CYTHON_INLINE PyObject* __Pyx_PyTuple_FromArray(PyObject *const *src, Py_ssize_t n); +#endif + +/* IncludeStringH.proto */ +#include + +/* BytesEquals.proto */ +static CYTHON_INLINE int __Pyx_PyBytes_Equals(PyObject* s1, PyObject* s2, int equals); + +/* UnicodeEquals.proto */ +static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int equals); + +/* fastcall.proto */ +#if CYTHON_AVOID_BORROWED_REFS + #define __Pyx_Arg_VARARGS(args, i) PySequence_GetItem(args, i) +#elif CYTHON_ASSUME_SAFE_MACROS + #define __Pyx_Arg_VARARGS(args, i) PyTuple_GET_ITEM(args, i) +#else + #define __Pyx_Arg_VARARGS(args, i) PyTuple_GetItem(args, i) +#endif +#if CYTHON_AVOID_BORROWED_REFS + #define __Pyx_Arg_NewRef_VARARGS(arg) __Pyx_NewRef(arg) + #define __Pyx_Arg_XDECREF_VARARGS(arg) Py_XDECREF(arg) +#else + #define __Pyx_Arg_NewRef_VARARGS(arg) arg + #define __Pyx_Arg_XDECREF_VARARGS(arg) +#endif +#define __Pyx_NumKwargs_VARARGS(kwds) PyDict_Size(kwds) +#define __Pyx_KwValues_VARARGS(args, nargs) NULL +#define __Pyx_GetKwValue_VARARGS(kw, kwvalues, s) __Pyx_PyDict_GetItemStrWithError(kw, s) +#define __Pyx_KwargsAsDict_VARARGS(kw, kwvalues) PyDict_Copy(kw) +#if CYTHON_METH_FASTCALL + #define __Pyx_Arg_FASTCALL(args, i) args[i] + #define __Pyx_NumKwargs_FASTCALL(kwds) PyTuple_GET_SIZE(kwds) + #define __Pyx_KwValues_FASTCALL(args, nargs) ((args) + (nargs)) + static CYTHON_INLINE PyObject * __Pyx_GetKwValue_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues, PyObject *s); +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 + CYTHON_UNUSED static PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues); + #else + #define __Pyx_KwargsAsDict_FASTCALL(kw, kwvalues) _PyStack_AsDict(kwvalues, kw) + #endif + #define __Pyx_Arg_NewRef_FASTCALL(arg) arg /* no-op, __Pyx_Arg_FASTCALL is direct and this needs + to have the same reference counting */ + #define __Pyx_Arg_XDECREF_FASTCALL(arg) +#else + #define __Pyx_Arg_FASTCALL __Pyx_Arg_VARARGS + #define __Pyx_NumKwargs_FASTCALL __Pyx_NumKwargs_VARARGS + #define __Pyx_KwValues_FASTCALL __Pyx_KwValues_VARARGS + #define __Pyx_GetKwValue_FASTCALL __Pyx_GetKwValue_VARARGS + #define __Pyx_KwargsAsDict_FASTCALL __Pyx_KwargsAsDict_VARARGS + #define __Pyx_Arg_NewRef_FASTCALL(arg) __Pyx_Arg_NewRef_VARARGS(arg) + #define __Pyx_Arg_XDECREF_FASTCALL(arg) __Pyx_Arg_XDECREF_VARARGS(arg) +#endif +#if CYTHON_COMPILING_IN_CPYTHON && CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS +#define __Pyx_ArgsSlice_VARARGS(args, start, stop) __Pyx_PyTuple_FromArray(&__Pyx_Arg_VARARGS(args, start), stop - start) +#define __Pyx_ArgsSlice_FASTCALL(args, start, stop) __Pyx_PyTuple_FromArray(&__Pyx_Arg_FASTCALL(args, start), stop - start) +#else +#define __Pyx_ArgsSlice_VARARGS(args, start, stop) PyTuple_GetSlice(args, start, stop) +#define __Pyx_ArgsSlice_FASTCALL(args, start, stop) PyTuple_GetSlice(args, start, stop) +#endif + +/* RaiseDoubleKeywords.proto */ +static void __Pyx_RaiseDoubleKeywordsError(const char* func_name, PyObject* kw_name); + +/* ParseKeywords.proto */ +static int __Pyx_ParseOptionalKeywords(PyObject *kwds, PyObject *const *kwvalues, + PyObject **argnames[], + PyObject *kwds2, PyObject *values[], Py_ssize_t num_pos_args, + const char* function_name); + +/* RaiseArgTupleInvalid.proto */ +static void __Pyx_RaiseArgtupleInvalid(const char* func_name, int exact, + Py_ssize_t num_min, Py_ssize_t num_max, Py_ssize_t num_found); + +/* MoveIfSupported.proto */ +#if CYTHON_USE_CPP_STD_MOVE + #include + #define __PYX_STD_MOVE_IF_SUPPORTED(x) std::move(x) +#else + #define __PYX_STD_MOVE_IF_SUPPORTED(x) x +#endif + +/* KeywordStringCheck.proto */ +static int __Pyx_CheckKeywordStrings(PyObject *kw, const char* function_name, int kw_allowed); + +/* IncludeStructmemberH.proto */ +#include + +/* FixUpExtensionType.proto */ +#if CYTHON_USE_TYPE_SPECS +static int __Pyx_fix_up_extension_type_from_spec(PyType_Spec *spec, PyTypeObject *type); +#endif + +/* PyObjectCallNoArg.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func); + +/* PyObjectCallOneArg.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg); + +/* PyObjectGetMethod.proto */ +static int __Pyx_PyObject_GetMethod(PyObject *obj, PyObject *name, PyObject **method); + +/* PyObjectCallMethod0.proto */ +static PyObject* __Pyx_PyObject_CallMethod0(PyObject* obj, PyObject* method_name); + +/* ValidateBasesTuple.proto */ +#if CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API || CYTHON_USE_TYPE_SPECS +static int __Pyx_validate_bases_tuple(const char *type_name, Py_ssize_t dictoffset, PyObject *bases); +#endif + +/* PyType_Ready.proto */ +CYTHON_UNUSED static int __Pyx_PyType_Ready(PyTypeObject *t); + +/* PyObject_GenericGetAttrNoDict.proto */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GenericGetAttrNoDict PyObject_GenericGetAttr +#endif + +/* PyObject_GenericGetAttr.proto */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GenericGetAttr PyObject_GenericGetAttr +#endif + +/* SetupReduce.proto */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_setup_reduce(PyObject* type_obj); +#endif + +/* TypeImport.proto */ +#ifndef __PYX_HAVE_RT_ImportType_proto_3_0_8 +#define __PYX_HAVE_RT_ImportType_proto_3_0_8 +#if defined (__STDC_VERSION__) && __STDC_VERSION__ >= 201112L +#include +#endif +#if (defined (__STDC_VERSION__) && __STDC_VERSION__ >= 201112L) || __cplusplus >= 201103L +#define __PYX_GET_STRUCT_ALIGNMENT_3_0_8(s) alignof(s) +#else +#define __PYX_GET_STRUCT_ALIGNMENT_3_0_8(s) sizeof(void*) +#endif +enum __Pyx_ImportType_CheckSize_3_0_8 { + __Pyx_ImportType_CheckSize_Error_3_0_8 = 0, + __Pyx_ImportType_CheckSize_Warn_3_0_8 = 1, + __Pyx_ImportType_CheckSize_Ignore_3_0_8 = 2 +}; +static PyTypeObject *__Pyx_ImportType_3_0_8(PyObject* module, const char *module_name, const char *class_name, size_t size, size_t alignment, enum __Pyx_ImportType_CheckSize_3_0_8 check_size); +#endif + +/* Import.proto */ +static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level); + +/* ImportDottedModule.proto */ +static PyObject *__Pyx_ImportDottedModule(PyObject *name, PyObject *parts_tuple); +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx_ImportDottedModule_WalkParts(PyObject *module, PyObject *name, PyObject *parts_tuple); +#endif + +/* FetchSharedCythonModule.proto */ +static PyObject *__Pyx_FetchSharedCythonABIModule(void); + +/* FetchCommonType.proto */ +#if !CYTHON_USE_TYPE_SPECS +static PyTypeObject* __Pyx_FetchCommonType(PyTypeObject* type); +#else +static PyTypeObject* __Pyx_FetchCommonTypeFromSpec(PyObject *module, PyType_Spec *spec, PyObject *bases); +#endif + +/* PyMethodNew.proto */ +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject *__Pyx_PyMethod_New(PyObject *func, PyObject *self, PyObject *typ) { + PyObject *typesModule=NULL, *methodType=NULL, *result=NULL; + CYTHON_UNUSED_VAR(typ); + if (!self) + return __Pyx_NewRef(func); + typesModule = PyImport_ImportModule("types"); + if (!typesModule) return NULL; + methodType = PyObject_GetAttrString(typesModule, "MethodType"); + Py_DECREF(typesModule); + if (!methodType) return NULL; + result = PyObject_CallFunctionObjArgs(methodType, func, self, NULL); + Py_DECREF(methodType); + return result; +} +#elif PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx_PyMethod_New(PyObject *func, PyObject *self, PyObject *typ) { + CYTHON_UNUSED_VAR(typ); + if (!self) + return __Pyx_NewRef(func); + return PyMethod_New(func, self); +} +#else + #define __Pyx_PyMethod_New PyMethod_New +#endif + +/* PyVectorcallFastCallDict.proto */ +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE PyObject *__Pyx_PyVectorcall_FastCallDict(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw); +#endif + +/* CythonFunctionShared.proto */ +#define __Pyx_CyFunction_USED +#define __Pyx_CYFUNCTION_STATICMETHOD 0x01 +#define __Pyx_CYFUNCTION_CLASSMETHOD 0x02 +#define __Pyx_CYFUNCTION_CCLASS 0x04 +#define __Pyx_CYFUNCTION_COROUTINE 0x08 +#define __Pyx_CyFunction_GetClosure(f)\ + (((__pyx_CyFunctionObject *) (f))->func_closure) +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_CyFunction_GetClassObj(f)\ + (((__pyx_CyFunctionObject *) (f))->func_classobj) +#else + #define __Pyx_CyFunction_GetClassObj(f)\ + ((PyObject*) ((PyCMethodObject *) (f))->mm_class) +#endif +#define __Pyx_CyFunction_SetClassObj(f, classobj)\ + __Pyx__CyFunction_SetClassObj((__pyx_CyFunctionObject *) (f), (classobj)) +#define __Pyx_CyFunction_Defaults(type, f)\ + ((type *)(((__pyx_CyFunctionObject *) (f))->defaults)) +#define __Pyx_CyFunction_SetDefaultsGetter(f, g)\ + ((__pyx_CyFunctionObject *) (f))->defaults_getter = (g) +typedef struct { +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject_HEAD + PyObject *func; +#elif PY_VERSION_HEX < 0x030900B1 + PyCFunctionObject func; +#else + PyCMethodObject func; +#endif +#if CYTHON_BACKPORT_VECTORCALL + __pyx_vectorcallfunc func_vectorcall; +#endif +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API + PyObject *func_weakreflist; +#endif + PyObject *func_dict; + PyObject *func_name; + PyObject *func_qualname; + PyObject *func_doc; + PyObject *func_globals; + PyObject *func_code; + PyObject *func_closure; +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + PyObject *func_classobj; +#endif + void *defaults; + int defaults_pyobjects; + size_t defaults_size; + int flags; + PyObject *defaults_tuple; + PyObject *defaults_kwdict; + PyObject *(*defaults_getter)(PyObject *); + PyObject *func_annotations; + PyObject *func_is_coroutine; +} __pyx_CyFunctionObject; +#undef __Pyx_CyOrPyCFunction_Check +#define __Pyx_CyFunction_Check(obj) __Pyx_TypeCheck(obj, __pyx_CyFunctionType) +#define __Pyx_CyOrPyCFunction_Check(obj) __Pyx_TypeCheck2(obj, __pyx_CyFunctionType, &PyCFunction_Type) +#define __Pyx_CyFunction_CheckExact(obj) __Pyx_IS_TYPE(obj, __pyx_CyFunctionType) +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc); +#undef __Pyx_IsSameCFunction +#define __Pyx_IsSameCFunction(func, cfunc) __Pyx__IsSameCyOrCFunction(func, cfunc) +static PyObject *__Pyx_CyFunction_Init(__pyx_CyFunctionObject* op, PyMethodDef *ml, + int flags, PyObject* qualname, + PyObject *closure, + PyObject *module, PyObject *globals, + PyObject* code); +static CYTHON_INLINE void __Pyx__CyFunction_SetClassObj(__pyx_CyFunctionObject* f, PyObject* classobj); +static CYTHON_INLINE void *__Pyx_CyFunction_InitDefaults(PyObject *m, + size_t size, + int pyobjects); +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsTuple(PyObject *m, + PyObject *tuple); +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsKwDict(PyObject *m, + PyObject *dict); +static CYTHON_INLINE void __Pyx_CyFunction_SetAnnotationsDict(PyObject *m, + PyObject *dict); +static int __pyx_CyFunction_init(PyObject *module); +#if CYTHON_METH_FASTCALL +static PyObject * __Pyx_CyFunction_Vectorcall_NOARGS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_O(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +#if CYTHON_BACKPORT_VECTORCALL +#define __Pyx_CyFunction_func_vectorcall(f) (((__pyx_CyFunctionObject*)f)->func_vectorcall) +#else +#define __Pyx_CyFunction_func_vectorcall(f) (((PyCFunctionObject*)f)->vectorcall) +#endif +#endif + +/* CythonFunction.proto */ +static PyObject *__Pyx_CyFunction_New(PyMethodDef *ml, + int flags, PyObject* qualname, + PyObject *closure, + PyObject *module, PyObject *globals, + PyObject* code); + +/* ClassMethod.proto */ +#include "descrobject.h" +CYTHON_UNUSED static PyObject* __Pyx_Method_ClassMethod(PyObject *method); + +/* GetNameInClass.proto */ +#define __Pyx_GetNameInClass(var, nmspace, name) (var) = __Pyx__GetNameInClass(nmspace, name) +static PyObject *__Pyx__GetNameInClass(PyObject *nmspace, PyObject *name); + +/* CLineInTraceback.proto */ +#ifdef CYTHON_CLINE_IN_TRACEBACK +#define __Pyx_CLineForTraceback(tstate, c_line) (((CYTHON_CLINE_IN_TRACEBACK)) ? c_line : 0) +#else +static int __Pyx_CLineForTraceback(PyThreadState *tstate, int c_line); +#endif + +/* CodeObjectCache.proto */ +#if !CYTHON_COMPILING_IN_LIMITED_API +typedef struct { + PyCodeObject* code_object; + int code_line; +} __Pyx_CodeObjectCacheEntry; +struct __Pyx_CodeObjectCache { + int count; + int max_count; + __Pyx_CodeObjectCacheEntry* entries; +}; +static struct __Pyx_CodeObjectCache __pyx_code_cache = {0,0,NULL}; +static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line); +static PyCodeObject *__pyx_find_code_object(int code_line); +static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object); +#endif + +/* AddTraceback.proto */ +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename); + +/* BufferStructDeclare.proto */ +typedef struct { + Py_ssize_t shape, strides, suboffsets; +} __Pyx_Buf_DimInfo; +typedef struct { + size_t refcount; + Py_buffer pybuffer; +} __Pyx_Buffer; +typedef struct { + __Pyx_Buffer *rcbuffer; + char *data; + __Pyx_Buf_DimInfo diminfo[8]; +} __Pyx_LocalBuf_ND; + +#if PY_MAJOR_VERSION < 3 + static int __Pyx_GetBuffer(PyObject *obj, Py_buffer *view, int flags); + static void __Pyx_ReleaseBuffer(Py_buffer *view); +#else + #define __Pyx_GetBuffer PyObject_GetBuffer + #define __Pyx_ReleaseBuffer PyBuffer_Release +#endif + + +/* GCCDiagnostics.proto */ +#if !defined(__INTEL_COMPILER) && defined(__GNUC__) && (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 6)) +#define __Pyx_HAS_GCC_DIAGNOSTIC +#endif + +/* RealImag.proto */ +#if CYTHON_CCOMPLEX + #ifdef __cplusplus + #define __Pyx_CREAL(z) ((z).real()) + #define __Pyx_CIMAG(z) ((z).imag()) + #else + #define __Pyx_CREAL(z) (__real__(z)) + #define __Pyx_CIMAG(z) (__imag__(z)) + #endif +#else + #define __Pyx_CREAL(z) ((z).real) + #define __Pyx_CIMAG(z) ((z).imag) +#endif +#if defined(__cplusplus) && CYTHON_CCOMPLEX\ + && (defined(_WIN32) || defined(__clang__) || (defined(__GNUC__) && (__GNUC__ >= 5 || __GNUC__ == 4 && __GNUC_MINOR__ >= 4 )) || __cplusplus >= 201103) + #define __Pyx_SET_CREAL(z,x) ((z).real(x)) + #define __Pyx_SET_CIMAG(z,y) ((z).imag(y)) +#else + #define __Pyx_SET_CREAL(z,x) __Pyx_CREAL(z) = (x) + #define __Pyx_SET_CIMAG(z,y) __Pyx_CIMAG(z) = (y) +#endif + +/* Arithmetic.proto */ +#if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) + #define __Pyx_c_eq_float(a, b) ((a)==(b)) + #define __Pyx_c_sum_float(a, b) ((a)+(b)) + #define __Pyx_c_diff_float(a, b) ((a)-(b)) + #define __Pyx_c_prod_float(a, b) ((a)*(b)) + #define __Pyx_c_quot_float(a, b) ((a)/(b)) + #define __Pyx_c_neg_float(a) (-(a)) + #ifdef __cplusplus + #define __Pyx_c_is_zero_float(z) ((z)==(float)0) + #define __Pyx_c_conj_float(z) (::std::conj(z)) + #if 1 + #define __Pyx_c_abs_float(z) (::std::abs(z)) + #define __Pyx_c_pow_float(a, b) (::std::pow(a, b)) + #endif + #else + #define __Pyx_c_is_zero_float(z) ((z)==0) + #define __Pyx_c_conj_float(z) (conjf(z)) + #if 1 + #define __Pyx_c_abs_float(z) (cabsf(z)) + #define __Pyx_c_pow_float(a, b) (cpowf(a, b)) + #endif + #endif +#else + static CYTHON_INLINE int __Pyx_c_eq_float(__pyx_t_float_complex, __pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_sum_float(__pyx_t_float_complex, __pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_diff_float(__pyx_t_float_complex, __pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_prod_float(__pyx_t_float_complex, __pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_quot_float(__pyx_t_float_complex, __pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_neg_float(__pyx_t_float_complex); + static CYTHON_INLINE int __Pyx_c_is_zero_float(__pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_conj_float(__pyx_t_float_complex); + #if 1 + static CYTHON_INLINE float __Pyx_c_abs_float(__pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_pow_float(__pyx_t_float_complex, __pyx_t_float_complex); + #endif +#endif + +/* Arithmetic.proto */ +#if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) + #define __Pyx_c_eq_double(a, b) ((a)==(b)) + #define __Pyx_c_sum_double(a, b) ((a)+(b)) + #define __Pyx_c_diff_double(a, b) ((a)-(b)) + #define __Pyx_c_prod_double(a, b) ((a)*(b)) + #define __Pyx_c_quot_double(a, b) ((a)/(b)) + #define __Pyx_c_neg_double(a) (-(a)) + #ifdef __cplusplus + #define __Pyx_c_is_zero_double(z) ((z)==(double)0) + #define __Pyx_c_conj_double(z) (::std::conj(z)) + #if 1 + #define __Pyx_c_abs_double(z) (::std::abs(z)) + #define __Pyx_c_pow_double(a, b) (::std::pow(a, b)) + #endif + #else + #define __Pyx_c_is_zero_double(z) ((z)==0) + #define __Pyx_c_conj_double(z) (conj(z)) + #if 1 + #define __Pyx_c_abs_double(z) (cabs(z)) + #define __Pyx_c_pow_double(a, b) (cpow(a, b)) + #endif + #endif +#else + static CYTHON_INLINE int __Pyx_c_eq_double(__pyx_t_double_complex, __pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_sum_double(__pyx_t_double_complex, __pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_diff_double(__pyx_t_double_complex, __pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_prod_double(__pyx_t_double_complex, __pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_quot_double(__pyx_t_double_complex, __pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_neg_double(__pyx_t_double_complex); + static CYTHON_INLINE int __Pyx_c_is_zero_double(__pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_conj_double(__pyx_t_double_complex); + #if 1 + static CYTHON_INLINE double __Pyx_c_abs_double(__pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_pow_double(__pyx_t_double_complex, __pyx_t_double_complex); + #endif +#endif + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value); + +/* FormatTypeName.proto */ +#if CYTHON_COMPILING_IN_LIMITED_API +typedef PyObject *__Pyx_TypeName; +#define __Pyx_FMT_TYPENAME "%U" +static __Pyx_TypeName __Pyx_PyType_GetName(PyTypeObject* tp); +#define __Pyx_DECREF_TypeName(obj) Py_XDECREF(obj) +#else +typedef const char *__Pyx_TypeName; +#define __Pyx_FMT_TYPENAME "%.200s" +#define __Pyx_PyType_GetName(tp) ((tp)->tp_name) +#define __Pyx_DECREF_TypeName(obj) +#endif + +/* CIntFromPy.proto */ +static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *); + +/* CIntFromPy.proto */ +static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *); + +/* FastTypeChecks.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_TypeCheck(obj, type) __Pyx_IsSubtype(Py_TYPE(obj), (PyTypeObject *)type) +#define __Pyx_TypeCheck2(obj, type1, type2) __Pyx_IsAnySubtype2(Py_TYPE(obj), (PyTypeObject *)type1, (PyTypeObject *)type2) +static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b); +static CYTHON_INLINE int __Pyx_IsAnySubtype2(PyTypeObject *cls, PyTypeObject *a, PyTypeObject *b); +static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches(PyObject *err, PyObject *type); +static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches2(PyObject *err, PyObject *type1, PyObject *type2); +#else +#define __Pyx_TypeCheck(obj, type) PyObject_TypeCheck(obj, (PyTypeObject *)type) +#define __Pyx_TypeCheck2(obj, type1, type2) (PyObject_TypeCheck(obj, (PyTypeObject *)type1) || PyObject_TypeCheck(obj, (PyTypeObject *)type2)) +#define __Pyx_PyErr_GivenExceptionMatches(err, type) PyErr_GivenExceptionMatches(err, type) +#define __Pyx_PyErr_GivenExceptionMatches2(err, type1, type2) (PyErr_GivenExceptionMatches(err, type1) || PyErr_GivenExceptionMatches(err, type2)) +#endif +#define __Pyx_PyErr_ExceptionMatches2(err1, err2) __Pyx_PyErr_GivenExceptionMatches2(__Pyx_PyErr_CurrentExceptionType(), err1, err2) +#define __Pyx_PyException_Check(obj) __Pyx_TypeCheck(obj, PyExc_Exception) + +/* CheckBinaryVersion.proto */ +static unsigned long __Pyx_get_runtime_version(void); +static int __Pyx_check_binary_version(unsigned long ct_version, unsigned long rt_version, int allow_newer); + +/* InitStrings.proto */ +static int __Pyx_InitStrings(__Pyx_StringTabEntry *t); + +/* #### Code section: module_declarations ### */ +static CYTHON_INLINE PyObject *__pyx_f_5numpy_7ndarray_4base_base(PyArrayObject *__pyx_v_self); /* proto*/ +static CYTHON_INLINE PyArray_Descr *__pyx_f_5numpy_7ndarray_5descr_descr(PyArrayObject *__pyx_v_self); /* proto*/ +static CYTHON_INLINE int __pyx_f_5numpy_7ndarray_4ndim_ndim(PyArrayObject *__pyx_v_self); /* proto*/ +static CYTHON_INLINE npy_intp *__pyx_f_5numpy_7ndarray_5shape_shape(PyArrayObject *__pyx_v_self); /* proto*/ +static CYTHON_INLINE npy_intp *__pyx_f_5numpy_7ndarray_7strides_strides(PyArrayObject *__pyx_v_self); /* proto*/ +static CYTHON_INLINE npy_intp __pyx_f_5numpy_7ndarray_4size_size(PyArrayObject *__pyx_v_self); /* proto*/ +static CYTHON_INLINE char *__pyx_f_5numpy_7ndarray_4data_data(PyArrayObject *__pyx_v_self); /* proto*/ + +/* Module declarations from "libcpp" */ + +/* Module declarations from "openpilot.common.transformations.transformations" */ + +/* Module declarations from "libc.string" */ + +/* Module declarations from "libc.stdio" */ + +/* Module declarations from "__builtin__" */ + +/* Module declarations from "cpython.type" */ + +/* Module declarations from "cpython" */ + +/* Module declarations from "cpython.object" */ + +/* Module declarations from "cpython.ref" */ + +/* Module declarations from "numpy" */ + +/* Module declarations from "numpy" */ + +/* Module declarations from "common.transformations.transformations" */ +static PyArrayObject *__pyx_f_6common_15transformations_15transformations_matrix2numpy(Eigen::Matrix3d); /*proto*/ +static Eigen::Matrix3d __pyx_f_6common_15transformations_15transformations_numpy2matrix(PyArrayObject *); /*proto*/ +static struct ECEF __pyx_f_6common_15transformations_15transformations_list2ecef(PyObject *); /*proto*/ +static struct NED __pyx_f_6common_15transformations_15transformations_list2ned(PyObject *); /*proto*/ +static struct Geodetic __pyx_f_6common_15transformations_15transformations_list2geodetic(PyObject *); /*proto*/ +/* #### Code section: typeinfo ### */ +static __Pyx_TypeInfo __Pyx_TypeInfo_double = { "double", NULL, sizeof(double), { 0 }, 0, 'R', 0, 0 }; +/* #### Code section: before_global_var ### */ +#define __Pyx_MODULE_NAME "common.transformations.transformations" +extern int __pyx_module_is_main_common__transformations__transformations; +int __pyx_module_is_main_common__transformations__transformations = 0; + +/* Implementation of "common.transformations.transformations" */ +/* #### Code section: global_var ### */ +static PyObject *__pyx_builtin_AssertionError; +static PyObject *__pyx_builtin_TypeError; +static PyObject *__pyx_builtin_ImportError; +/* #### Code section: string_decls ### */ +static const char __pyx_k_e[] = "e"; +static const char __pyx_k_g[] = "g"; +static const char __pyx_k_n[] = "n"; +static const char __pyx_k_q[] = "q"; +static const char __pyx_k_r[] = "r"; +static const char __pyx_k__3[] = "*"; +static const char __pyx_k_gc[] = "gc"; +static const char __pyx_k_np[] = "np"; +static const char __pyx_k__42[] = "?"; +static const char __pyx_k_cls[] = "cls"; +static const char __pyx_k_ned[] = "ned"; +static const char __pyx_k_rot[] = "rot"; +static const char __pyx_k_yaw[] = "yaw"; +static const char __pyx_k_dict[] = "__dict__"; +static const char __pyx_k_ecef[] = "ecef"; +static const char __pyx_k_init[] = "init"; +static const char __pyx_k_main[] = "__main__"; +static const char __pyx_k_name[] = "__name__"; +static const char __pyx_k_pose[] = "pose"; +static const char __pyx_k_quat[] = "quat"; +static const char __pyx_k_roll[] = "roll"; +static const char __pyx_k_self[] = "self"; +static const char __pyx_k_spec[] = "__spec__"; +static const char __pyx_k_test[] = "__test__"; +static const char __pyx_k_array[] = "array"; +static const char __pyx_k_dtype[] = "dtype"; +static const char __pyx_k_euler[] = "euler"; +static const char __pyx_k_numpy[] = "numpy"; +static const char __pyx_k_pitch[] = "pitch"; +static const char __pyx_k_double[] = "double"; +static const char __pyx_k_enable[] = "enable"; +static const char __pyx_k_import[] = "__import__"; +static const char __pyx_k_reduce[] = "__reduce__"; +static const char __pyx_k_disable[] = "disable"; +static const char __pyx_k_geodetic[] = "geodetic"; +static const char __pyx_k_getstate[] = "__getstate__"; +static const char __pyx_k_ned_pose[] = "ned_pose"; +static const char __pyx_k_setstate[] = "__setstate__"; +static const char __pyx_k_TypeError[] = "TypeError"; +static const char __pyx_k_ecef_init[] = "ecef_init"; +static const char __pyx_k_ecef_pose[] = "ecef_pose"; +static const char __pyx_k_from_ecef[] = "from_ecef"; +static const char __pyx_k_isenabled[] = "isenabled"; +static const char __pyx_k_pyx_state[] = "__pyx_state"; +static const char __pyx_k_reduce_ex[] = "__reduce_ex__"; +static const char __pyx_k_LocalCoord[] = "LocalCoord"; +static const char __pyx_k_rot_matrix[] = "rot_matrix"; +static const char __pyx_k_ImportError[] = "ImportError"; +static const char __pyx_k_initializing[] = "_initializing"; +static const char __pyx_k_is_coroutine[] = "_is_coroutine"; +static const char __pyx_k_stringsource[] = ""; +static const char __pyx_k_from_geodetic[] = "from_geodetic"; +static const char __pyx_k_reduce_cython[] = "__reduce_cython__"; +static const char __pyx_k_AssertionError[] = "AssertionError"; +static const char __pyx_k_asfortranarray[] = "asfortranarray"; +static const char __pyx_k_ecef2ned_matrix[] = "ecef2ned_matrix"; +static const char __pyx_k_ecef2ned_single[] = "ecef2ned_single"; +static const char __pyx_k_ned2ecef_matrix[] = "ned2ecef_matrix"; +static const char __pyx_k_ned2ecef_single[] = "ned2ecef_single"; +static const char __pyx_k_quat2rot_single[] = "quat2rot_single"; +static const char __pyx_k_rot2quat_single[] = "rot2quat_single"; +static const char __pyx_k_setstate_cython[] = "__setstate_cython__"; +static const char __pyx_k_euler2rot_single[] = "euler2rot_single"; +static const char __pyx_k_rot2euler_single[] = "rot2euler_single"; +static const char __pyx_k_euler2quat_single[] = "euler2quat_single"; +static const char __pyx_k_quat2euler_single[] = "quat2euler_single"; +static const char __pyx_k_asyncio_coroutines[] = "asyncio.coroutines"; +static const char __pyx_k_cline_in_traceback[] = "cline_in_traceback"; +static const char __pyx_k_geodetic2ned_single[] = "geodetic2ned_single"; +static const char __pyx_k_ned2geodetic_single[] = "ned2geodetic_single"; +static const char __pyx_k_LocalCoord_from_ecef[] = "LocalCoord.from_ecef"; +static const char __pyx_k_ecef2geodetic_single[] = "ecef2geodetic_single"; +static const char __pyx_k_geodetic2ecef_single[] = "geodetic2ecef_single"; +static const char __pyx_k_LocalCoord_from_geodetic[] = "LocalCoord.from_geodetic"; +static const char __pyx_k_LocalCoord___reduce_cython[] = "LocalCoord.__reduce_cython__"; +static const char __pyx_k_LocalCoord_ecef2ned_single[] = "LocalCoord.ecef2ned_single"; +static const char __pyx_k_LocalCoord_ned2ecef_single[] = "LocalCoord.ned2ecef_single"; +static const char __pyx_k_ecef_euler_from_ned_single[] = "ecef_euler_from_ned_single"; +static const char __pyx_k_ned_euler_from_ecef_single[] = "ned_euler_from_ecef_single"; +static const char __pyx_k_LocalCoord___setstate_cython[] = "LocalCoord.__setstate_cython__"; +static const char __pyx_k_LocalCoord_geodetic2ned_single[] = "LocalCoord.geodetic2ned_single"; +static const char __pyx_k_LocalCoord_ned2geodetic_single[] = "LocalCoord.ned2geodetic_single"; +static const char __pyx_k_numpy_core_multiarray_failed_to[] = "numpy.core.multiarray failed to import"; +static const char __pyx_k_common_transformations_transform[] = "common/transformations/transformations.pyx"; +static const char __pyx_k_numpy_core_umath_failed_to_impor[] = "numpy.core.umath failed to import"; +static const char __pyx_k_self_lc_cannot_be_converted_to_a[] = "self.lc cannot be converted to a Python object for pickling"; +static const char __pyx_k_common_transformations_transform_2[] = "common.transformations.transformations"; +/* #### Code section: decls ### */ +static PyObject *__pyx_pf_6common_15transformations_15transformations_euler2quat_single(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_euler); /* proto */ +static PyObject *__pyx_pf_6common_15transformations_15transformations_2quat2euler_single(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_quat); /* proto */ +static PyObject *__pyx_pf_6common_15transformations_15transformations_4quat2rot_single(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_quat); /* proto */ +static PyObject *__pyx_pf_6common_15transformations_15transformations_6rot2quat_single(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_rot); /* proto */ +static PyObject *__pyx_pf_6common_15transformations_15transformations_8euler2rot_single(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_euler); /* proto */ +static PyObject *__pyx_pf_6common_15transformations_15transformations_10rot2euler_single(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_rot); /* proto */ +static PyObject *__pyx_pf_6common_15transformations_15transformations_12rot_matrix(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_roll, PyObject *__pyx_v_pitch, PyObject *__pyx_v_yaw); /* proto */ +static PyObject *__pyx_pf_6common_15transformations_15transformations_14ecef_euler_from_ned_single(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_ecef_init, PyObject *__pyx_v_ned_pose); /* proto */ +static PyObject *__pyx_pf_6common_15transformations_15transformations_16ned_euler_from_ecef_single(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_ecef_init, PyObject *__pyx_v_ecef_pose); /* proto */ +static PyObject *__pyx_pf_6common_15transformations_15transformations_18geodetic2ecef_single(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_geodetic); /* proto */ +static PyObject *__pyx_pf_6common_15transformations_15transformations_20ecef2geodetic_single(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_ecef); /* proto */ +static int __pyx_pf_6common_15transformations_15transformations_10LocalCoord___init__(struct __pyx_obj_6common_15transformations_15transformations_LocalCoord *__pyx_v_self, PyObject *__pyx_v_geodetic, PyObject *__pyx_v_ecef); /* proto */ +static PyObject *__pyx_pf_6common_15transformations_15transformations_10LocalCoord_15ned2ecef_matrix___get__(struct __pyx_obj_6common_15transformations_15transformations_LocalCoord *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_6common_15transformations_15transformations_10LocalCoord_15ecef2ned_matrix___get__(struct __pyx_obj_6common_15transformations_15transformations_LocalCoord *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_6common_15transformations_15transformations_10LocalCoord_20ned_from_ecef_matrix___get__(struct __pyx_obj_6common_15transformations_15transformations_LocalCoord *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_6common_15transformations_15transformations_10LocalCoord_20ecef_from_ned_matrix___get__(struct __pyx_obj_6common_15transformations_15transformations_LocalCoord *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_6common_15transformations_15transformations_10LocalCoord_2from_geodetic(PyTypeObject *__pyx_v_cls, PyObject *__pyx_v_geodetic); /* proto */ +static PyObject *__pyx_pf_6common_15transformations_15transformations_10LocalCoord_4from_ecef(PyTypeObject *__pyx_v_cls, PyObject *__pyx_v_ecef); /* proto */ +static PyObject *__pyx_pf_6common_15transformations_15transformations_10LocalCoord_6ecef2ned_single(struct __pyx_obj_6common_15transformations_15transformations_LocalCoord *__pyx_v_self, PyObject *__pyx_v_ecef); /* proto */ +static PyObject *__pyx_pf_6common_15transformations_15transformations_10LocalCoord_8ned2ecef_single(struct __pyx_obj_6common_15transformations_15transformations_LocalCoord *__pyx_v_self, PyObject *__pyx_v_ned); /* proto */ +static PyObject *__pyx_pf_6common_15transformations_15transformations_10LocalCoord_10geodetic2ned_single(struct __pyx_obj_6common_15transformations_15transformations_LocalCoord *__pyx_v_self, PyObject *__pyx_v_geodetic); /* proto */ +static PyObject *__pyx_pf_6common_15transformations_15transformations_10LocalCoord_12ned2geodetic_single(struct __pyx_obj_6common_15transformations_15transformations_LocalCoord *__pyx_v_self, PyObject *__pyx_v_ned); /* proto */ +static void __pyx_pf_6common_15transformations_15transformations_10LocalCoord_14__dealloc__(struct __pyx_obj_6common_15transformations_15transformations_LocalCoord *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_6common_15transformations_15transformations_10LocalCoord_16__reduce_cython__(CYTHON_UNUSED struct __pyx_obj_6common_15transformations_15transformations_LocalCoord *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_6common_15transformations_15transformations_10LocalCoord_18__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_6common_15transformations_15transformations_LocalCoord *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static PyObject *__pyx_tp_new_6common_15transformations_15transformations_LocalCoord(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +/* #### Code section: late_includes ### */ +/* #### Code section: module_state ### */ +typedef struct { + PyObject *__pyx_d; + PyObject *__pyx_b; + PyObject *__pyx_cython_runtime; + PyObject *__pyx_empty_tuple; + PyObject *__pyx_empty_bytes; + PyObject *__pyx_empty_unicode; + #ifdef __Pyx_CyFunction_USED + PyTypeObject *__pyx_CyFunctionType; + #endif + #ifdef __Pyx_FusedFunction_USED + PyTypeObject *__pyx_FusedFunctionType; + #endif + #ifdef __Pyx_Generator_USED + PyTypeObject *__pyx_GeneratorType; + #endif + #ifdef __Pyx_IterableCoroutine_USED + PyTypeObject *__pyx_IterableCoroutineType; + #endif + #ifdef __Pyx_Coroutine_USED + PyTypeObject *__pyx_CoroutineAwaitType; + #endif + #ifdef __Pyx_Coroutine_USED + PyTypeObject *__pyx_CoroutineType; + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + PyTypeObject *__pyx_ptype_7cpython_4type_type; + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + PyTypeObject *__pyx_ptype_5numpy_dtype; + PyTypeObject *__pyx_ptype_5numpy_flatiter; + PyTypeObject *__pyx_ptype_5numpy_broadcast; + PyTypeObject *__pyx_ptype_5numpy_ndarray; + PyTypeObject *__pyx_ptype_5numpy_generic; + PyTypeObject *__pyx_ptype_5numpy_number; + PyTypeObject *__pyx_ptype_5numpy_integer; + PyTypeObject *__pyx_ptype_5numpy_signedinteger; + PyTypeObject *__pyx_ptype_5numpy_unsignedinteger; + PyTypeObject *__pyx_ptype_5numpy_inexact; + PyTypeObject *__pyx_ptype_5numpy_floating; + PyTypeObject *__pyx_ptype_5numpy_complexfloating; + PyTypeObject *__pyx_ptype_5numpy_flexible; + PyTypeObject *__pyx_ptype_5numpy_character; + PyTypeObject *__pyx_ptype_5numpy_ufunc; + #if CYTHON_USE_MODULE_STATE + PyObject *__pyx_type_6common_15transformations_15transformations_LocalCoord; + #endif + PyTypeObject *__pyx_ptype_6common_15transformations_15transformations_LocalCoord; + PyObject *__pyx_n_s_AssertionError; + PyObject *__pyx_n_s_ImportError; + PyObject *__pyx_n_s_LocalCoord; + PyObject *__pyx_n_s_LocalCoord___reduce_cython; + PyObject *__pyx_n_s_LocalCoord___setstate_cython; + PyObject *__pyx_n_s_LocalCoord_ecef2ned_single; + PyObject *__pyx_n_s_LocalCoord_from_ecef; + PyObject *__pyx_n_s_LocalCoord_from_geodetic; + PyObject *__pyx_n_s_LocalCoord_geodetic2ned_single; + PyObject *__pyx_n_s_LocalCoord_ned2ecef_single; + PyObject *__pyx_n_s_LocalCoord_ned2geodetic_single; + PyObject *__pyx_n_s_TypeError; + PyObject *__pyx_n_s__3; + PyObject *__pyx_n_s__42; + PyObject *__pyx_n_s_array; + PyObject *__pyx_n_s_asfortranarray; + PyObject *__pyx_n_s_asyncio_coroutines; + PyObject *__pyx_n_s_cline_in_traceback; + PyObject *__pyx_n_s_cls; + PyObject *__pyx_kp_s_common_transformations_transform; + PyObject *__pyx_n_s_common_transformations_transform_2; + PyObject *__pyx_n_s_dict; + PyObject *__pyx_kp_u_disable; + PyObject *__pyx_n_s_double; + PyObject *__pyx_n_s_dtype; + PyObject *__pyx_n_s_e; + PyObject *__pyx_n_s_ecef; + PyObject *__pyx_n_s_ecef2geodetic_single; + PyObject *__pyx_n_s_ecef2ned_matrix; + PyObject *__pyx_n_s_ecef2ned_single; + PyObject *__pyx_n_s_ecef_euler_from_ned_single; + PyObject *__pyx_n_s_ecef_init; + PyObject *__pyx_n_s_ecef_pose; + PyObject *__pyx_kp_u_enable; + PyObject *__pyx_n_s_euler; + PyObject *__pyx_n_s_euler2quat_single; + PyObject *__pyx_n_s_euler2rot_single; + PyObject *__pyx_n_s_from_ecef; + PyObject *__pyx_n_s_from_geodetic; + PyObject *__pyx_n_s_g; + PyObject *__pyx_kp_u_gc; + PyObject *__pyx_n_s_geodetic; + PyObject *__pyx_n_s_geodetic2ecef_single; + PyObject *__pyx_n_s_geodetic2ned_single; + PyObject *__pyx_n_s_getstate; + PyObject *__pyx_n_s_import; + PyObject *__pyx_n_s_init; + PyObject *__pyx_n_s_initializing; + PyObject *__pyx_n_s_is_coroutine; + PyObject *__pyx_kp_u_isenabled; + PyObject *__pyx_n_s_main; + PyObject *__pyx_n_s_n; + PyObject *__pyx_n_s_name; + PyObject *__pyx_n_s_ned; + PyObject *__pyx_n_s_ned2ecef_matrix; + PyObject *__pyx_n_s_ned2ecef_single; + PyObject *__pyx_n_s_ned2geodetic_single; + PyObject *__pyx_n_s_ned_euler_from_ecef_single; + PyObject *__pyx_n_s_ned_pose; + PyObject *__pyx_n_s_np; + PyObject *__pyx_n_s_numpy; + PyObject *__pyx_kp_u_numpy_core_multiarray_failed_to; + PyObject *__pyx_kp_u_numpy_core_umath_failed_to_impor; + PyObject *__pyx_n_s_pitch; + PyObject *__pyx_n_s_pose; + PyObject *__pyx_n_s_pyx_state; + PyObject *__pyx_n_s_q; + PyObject *__pyx_n_s_quat; + PyObject *__pyx_n_s_quat2euler_single; + PyObject *__pyx_n_s_quat2rot_single; + PyObject *__pyx_n_s_r; + PyObject *__pyx_n_s_reduce; + PyObject *__pyx_n_s_reduce_cython; + PyObject *__pyx_n_s_reduce_ex; + PyObject *__pyx_n_s_roll; + PyObject *__pyx_n_s_rot; + PyObject *__pyx_n_s_rot2euler_single; + PyObject *__pyx_n_s_rot2quat_single; + PyObject *__pyx_n_s_rot_matrix; + PyObject *__pyx_n_s_self; + PyObject *__pyx_kp_s_self_lc_cannot_be_converted_to_a; + PyObject *__pyx_n_s_setstate; + PyObject *__pyx_n_s_setstate_cython; + PyObject *__pyx_n_s_spec; + PyObject *__pyx_kp_s_stringsource; + PyObject *__pyx_n_s_test; + PyObject *__pyx_n_s_yaw; + PyObject *__pyx_tuple_; + PyObject *__pyx_tuple__2; + PyObject *__pyx_tuple__4; + PyObject *__pyx_tuple__6; + PyObject *__pyx_tuple__8; + PyObject *__pyx_tuple__10; + PyObject *__pyx_tuple__12; + PyObject *__pyx_tuple__14; + PyObject *__pyx_tuple__16; + PyObject *__pyx_tuple__18; + PyObject *__pyx_tuple__20; + PyObject *__pyx_tuple__22; + PyObject *__pyx_tuple__24; + PyObject *__pyx_tuple__26; + PyObject *__pyx_tuple__28; + PyObject *__pyx_tuple__30; + PyObject *__pyx_tuple__32; + PyObject *__pyx_tuple__34; + PyObject *__pyx_tuple__36; + PyObject *__pyx_tuple__38; + PyObject *__pyx_tuple__40; + PyObject *__pyx_codeobj__5; + PyObject *__pyx_codeobj__7; + PyObject *__pyx_codeobj__9; + PyObject *__pyx_codeobj__11; + PyObject *__pyx_codeobj__13; + PyObject *__pyx_codeobj__15; + PyObject *__pyx_codeobj__17; + PyObject *__pyx_codeobj__19; + PyObject *__pyx_codeobj__21; + PyObject *__pyx_codeobj__23; + PyObject *__pyx_codeobj__25; + PyObject *__pyx_codeobj__27; + PyObject *__pyx_codeobj__29; + PyObject *__pyx_codeobj__31; + PyObject *__pyx_codeobj__33; + PyObject *__pyx_codeobj__35; + PyObject *__pyx_codeobj__37; + PyObject *__pyx_codeobj__39; + PyObject *__pyx_codeobj__41; +} __pyx_mstate; + +#if CYTHON_USE_MODULE_STATE +#ifdef __cplusplus +namespace { + extern struct PyModuleDef __pyx_moduledef; +} /* anonymous namespace */ +#else +static struct PyModuleDef __pyx_moduledef; +#endif + +#define __pyx_mstate(o) ((__pyx_mstate *)__Pyx_PyModule_GetState(o)) + +#define __pyx_mstate_global (__pyx_mstate(PyState_FindModule(&__pyx_moduledef))) + +#define __pyx_m (PyState_FindModule(&__pyx_moduledef)) +#else +static __pyx_mstate __pyx_mstate_global_static = +#ifdef __cplusplus + {}; +#else + {0}; +#endif +static __pyx_mstate *__pyx_mstate_global = &__pyx_mstate_global_static; +#endif +/* #### Code section: module_state_clear ### */ +#if CYTHON_USE_MODULE_STATE +static int __pyx_m_clear(PyObject *m) { + __pyx_mstate *clear_module_state = __pyx_mstate(m); + if (!clear_module_state) return 0; + Py_CLEAR(clear_module_state->__pyx_d); + Py_CLEAR(clear_module_state->__pyx_b); + Py_CLEAR(clear_module_state->__pyx_cython_runtime); + Py_CLEAR(clear_module_state->__pyx_empty_tuple); + Py_CLEAR(clear_module_state->__pyx_empty_bytes); + Py_CLEAR(clear_module_state->__pyx_empty_unicode); + #ifdef __Pyx_CyFunction_USED + Py_CLEAR(clear_module_state->__pyx_CyFunctionType); + #endif + #ifdef __Pyx_FusedFunction_USED + Py_CLEAR(clear_module_state->__pyx_FusedFunctionType); + #endif + Py_CLEAR(clear_module_state->__pyx_ptype_7cpython_4type_type); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_dtype); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_flatiter); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_broadcast); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_ndarray); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_generic); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_number); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_integer); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_signedinteger); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_unsignedinteger); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_inexact); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_floating); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_complexfloating); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_flexible); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_character); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_ufunc); + Py_CLEAR(clear_module_state->__pyx_ptype_6common_15transformations_15transformations_LocalCoord); + Py_CLEAR(clear_module_state->__pyx_type_6common_15transformations_15transformations_LocalCoord); + Py_CLEAR(clear_module_state->__pyx_n_s_AssertionError); + Py_CLEAR(clear_module_state->__pyx_n_s_ImportError); + Py_CLEAR(clear_module_state->__pyx_n_s_LocalCoord); + Py_CLEAR(clear_module_state->__pyx_n_s_LocalCoord___reduce_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_LocalCoord___setstate_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_LocalCoord_ecef2ned_single); + Py_CLEAR(clear_module_state->__pyx_n_s_LocalCoord_from_ecef); + Py_CLEAR(clear_module_state->__pyx_n_s_LocalCoord_from_geodetic); + Py_CLEAR(clear_module_state->__pyx_n_s_LocalCoord_geodetic2ned_single); + Py_CLEAR(clear_module_state->__pyx_n_s_LocalCoord_ned2ecef_single); + Py_CLEAR(clear_module_state->__pyx_n_s_LocalCoord_ned2geodetic_single); + Py_CLEAR(clear_module_state->__pyx_n_s_TypeError); + Py_CLEAR(clear_module_state->__pyx_n_s__3); + Py_CLEAR(clear_module_state->__pyx_n_s__42); + Py_CLEAR(clear_module_state->__pyx_n_s_array); + Py_CLEAR(clear_module_state->__pyx_n_s_asfortranarray); + Py_CLEAR(clear_module_state->__pyx_n_s_asyncio_coroutines); + Py_CLEAR(clear_module_state->__pyx_n_s_cline_in_traceback); + Py_CLEAR(clear_module_state->__pyx_n_s_cls); + Py_CLEAR(clear_module_state->__pyx_kp_s_common_transformations_transform); + Py_CLEAR(clear_module_state->__pyx_n_s_common_transformations_transform_2); + Py_CLEAR(clear_module_state->__pyx_n_s_dict); + Py_CLEAR(clear_module_state->__pyx_kp_u_disable); + Py_CLEAR(clear_module_state->__pyx_n_s_double); + Py_CLEAR(clear_module_state->__pyx_n_s_dtype); + Py_CLEAR(clear_module_state->__pyx_n_s_e); + Py_CLEAR(clear_module_state->__pyx_n_s_ecef); + Py_CLEAR(clear_module_state->__pyx_n_s_ecef2geodetic_single); + Py_CLEAR(clear_module_state->__pyx_n_s_ecef2ned_matrix); + Py_CLEAR(clear_module_state->__pyx_n_s_ecef2ned_single); + Py_CLEAR(clear_module_state->__pyx_n_s_ecef_euler_from_ned_single); + Py_CLEAR(clear_module_state->__pyx_n_s_ecef_init); + Py_CLEAR(clear_module_state->__pyx_n_s_ecef_pose); + Py_CLEAR(clear_module_state->__pyx_kp_u_enable); + Py_CLEAR(clear_module_state->__pyx_n_s_euler); + Py_CLEAR(clear_module_state->__pyx_n_s_euler2quat_single); + Py_CLEAR(clear_module_state->__pyx_n_s_euler2rot_single); + Py_CLEAR(clear_module_state->__pyx_n_s_from_ecef); + Py_CLEAR(clear_module_state->__pyx_n_s_from_geodetic); + Py_CLEAR(clear_module_state->__pyx_n_s_g); + Py_CLEAR(clear_module_state->__pyx_kp_u_gc); + Py_CLEAR(clear_module_state->__pyx_n_s_geodetic); + Py_CLEAR(clear_module_state->__pyx_n_s_geodetic2ecef_single); + Py_CLEAR(clear_module_state->__pyx_n_s_geodetic2ned_single); + Py_CLEAR(clear_module_state->__pyx_n_s_getstate); + Py_CLEAR(clear_module_state->__pyx_n_s_import); + Py_CLEAR(clear_module_state->__pyx_n_s_init); + Py_CLEAR(clear_module_state->__pyx_n_s_initializing); + Py_CLEAR(clear_module_state->__pyx_n_s_is_coroutine); + Py_CLEAR(clear_module_state->__pyx_kp_u_isenabled); + Py_CLEAR(clear_module_state->__pyx_n_s_main); + Py_CLEAR(clear_module_state->__pyx_n_s_n); + Py_CLEAR(clear_module_state->__pyx_n_s_name); + Py_CLEAR(clear_module_state->__pyx_n_s_ned); + Py_CLEAR(clear_module_state->__pyx_n_s_ned2ecef_matrix); + Py_CLEAR(clear_module_state->__pyx_n_s_ned2ecef_single); + Py_CLEAR(clear_module_state->__pyx_n_s_ned2geodetic_single); + Py_CLEAR(clear_module_state->__pyx_n_s_ned_euler_from_ecef_single); + Py_CLEAR(clear_module_state->__pyx_n_s_ned_pose); + Py_CLEAR(clear_module_state->__pyx_n_s_np); + Py_CLEAR(clear_module_state->__pyx_n_s_numpy); + Py_CLEAR(clear_module_state->__pyx_kp_u_numpy_core_multiarray_failed_to); + Py_CLEAR(clear_module_state->__pyx_kp_u_numpy_core_umath_failed_to_impor); + Py_CLEAR(clear_module_state->__pyx_n_s_pitch); + Py_CLEAR(clear_module_state->__pyx_n_s_pose); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_state); + Py_CLEAR(clear_module_state->__pyx_n_s_q); + Py_CLEAR(clear_module_state->__pyx_n_s_quat); + Py_CLEAR(clear_module_state->__pyx_n_s_quat2euler_single); + Py_CLEAR(clear_module_state->__pyx_n_s_quat2rot_single); + Py_CLEAR(clear_module_state->__pyx_n_s_r); + Py_CLEAR(clear_module_state->__pyx_n_s_reduce); + Py_CLEAR(clear_module_state->__pyx_n_s_reduce_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_reduce_ex); + Py_CLEAR(clear_module_state->__pyx_n_s_roll); + Py_CLEAR(clear_module_state->__pyx_n_s_rot); + Py_CLEAR(clear_module_state->__pyx_n_s_rot2euler_single); + Py_CLEAR(clear_module_state->__pyx_n_s_rot2quat_single); + Py_CLEAR(clear_module_state->__pyx_n_s_rot_matrix); + Py_CLEAR(clear_module_state->__pyx_n_s_self); + Py_CLEAR(clear_module_state->__pyx_kp_s_self_lc_cannot_be_converted_to_a); + Py_CLEAR(clear_module_state->__pyx_n_s_setstate); + Py_CLEAR(clear_module_state->__pyx_n_s_setstate_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_spec); + Py_CLEAR(clear_module_state->__pyx_kp_s_stringsource); + Py_CLEAR(clear_module_state->__pyx_n_s_test); + Py_CLEAR(clear_module_state->__pyx_n_s_yaw); + Py_CLEAR(clear_module_state->__pyx_tuple_); + Py_CLEAR(clear_module_state->__pyx_tuple__2); + Py_CLEAR(clear_module_state->__pyx_tuple__4); + Py_CLEAR(clear_module_state->__pyx_tuple__6); + Py_CLEAR(clear_module_state->__pyx_tuple__8); + Py_CLEAR(clear_module_state->__pyx_tuple__10); + Py_CLEAR(clear_module_state->__pyx_tuple__12); + Py_CLEAR(clear_module_state->__pyx_tuple__14); + Py_CLEAR(clear_module_state->__pyx_tuple__16); + Py_CLEAR(clear_module_state->__pyx_tuple__18); + Py_CLEAR(clear_module_state->__pyx_tuple__20); + Py_CLEAR(clear_module_state->__pyx_tuple__22); + Py_CLEAR(clear_module_state->__pyx_tuple__24); + Py_CLEAR(clear_module_state->__pyx_tuple__26); + Py_CLEAR(clear_module_state->__pyx_tuple__28); + Py_CLEAR(clear_module_state->__pyx_tuple__30); + Py_CLEAR(clear_module_state->__pyx_tuple__32); + Py_CLEAR(clear_module_state->__pyx_tuple__34); + Py_CLEAR(clear_module_state->__pyx_tuple__36); + Py_CLEAR(clear_module_state->__pyx_tuple__38); + Py_CLEAR(clear_module_state->__pyx_tuple__40); + Py_CLEAR(clear_module_state->__pyx_codeobj__5); + Py_CLEAR(clear_module_state->__pyx_codeobj__7); + Py_CLEAR(clear_module_state->__pyx_codeobj__9); + Py_CLEAR(clear_module_state->__pyx_codeobj__11); + Py_CLEAR(clear_module_state->__pyx_codeobj__13); + Py_CLEAR(clear_module_state->__pyx_codeobj__15); + Py_CLEAR(clear_module_state->__pyx_codeobj__17); + Py_CLEAR(clear_module_state->__pyx_codeobj__19); + Py_CLEAR(clear_module_state->__pyx_codeobj__21); + Py_CLEAR(clear_module_state->__pyx_codeobj__23); + Py_CLEAR(clear_module_state->__pyx_codeobj__25); + Py_CLEAR(clear_module_state->__pyx_codeobj__27); + Py_CLEAR(clear_module_state->__pyx_codeobj__29); + Py_CLEAR(clear_module_state->__pyx_codeobj__31); + Py_CLEAR(clear_module_state->__pyx_codeobj__33); + Py_CLEAR(clear_module_state->__pyx_codeobj__35); + Py_CLEAR(clear_module_state->__pyx_codeobj__37); + Py_CLEAR(clear_module_state->__pyx_codeobj__39); + Py_CLEAR(clear_module_state->__pyx_codeobj__41); + return 0; +} +#endif +/* #### Code section: module_state_traverse ### */ +#if CYTHON_USE_MODULE_STATE +static int __pyx_m_traverse(PyObject *m, visitproc visit, void *arg) { + __pyx_mstate *traverse_module_state = __pyx_mstate(m); + if (!traverse_module_state) return 0; + Py_VISIT(traverse_module_state->__pyx_d); + Py_VISIT(traverse_module_state->__pyx_b); + Py_VISIT(traverse_module_state->__pyx_cython_runtime); + Py_VISIT(traverse_module_state->__pyx_empty_tuple); + Py_VISIT(traverse_module_state->__pyx_empty_bytes); + Py_VISIT(traverse_module_state->__pyx_empty_unicode); + #ifdef __Pyx_CyFunction_USED + Py_VISIT(traverse_module_state->__pyx_CyFunctionType); + #endif + #ifdef __Pyx_FusedFunction_USED + Py_VISIT(traverse_module_state->__pyx_FusedFunctionType); + #endif + Py_VISIT(traverse_module_state->__pyx_ptype_7cpython_4type_type); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_dtype); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_flatiter); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_broadcast); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_ndarray); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_generic); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_number); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_integer); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_signedinteger); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_unsignedinteger); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_inexact); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_floating); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_complexfloating); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_flexible); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_character); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_ufunc); + Py_VISIT(traverse_module_state->__pyx_ptype_6common_15transformations_15transformations_LocalCoord); + Py_VISIT(traverse_module_state->__pyx_type_6common_15transformations_15transformations_LocalCoord); + Py_VISIT(traverse_module_state->__pyx_n_s_AssertionError); + Py_VISIT(traverse_module_state->__pyx_n_s_ImportError); + Py_VISIT(traverse_module_state->__pyx_n_s_LocalCoord); + Py_VISIT(traverse_module_state->__pyx_n_s_LocalCoord___reduce_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_LocalCoord___setstate_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_LocalCoord_ecef2ned_single); + Py_VISIT(traverse_module_state->__pyx_n_s_LocalCoord_from_ecef); + Py_VISIT(traverse_module_state->__pyx_n_s_LocalCoord_from_geodetic); + Py_VISIT(traverse_module_state->__pyx_n_s_LocalCoord_geodetic2ned_single); + Py_VISIT(traverse_module_state->__pyx_n_s_LocalCoord_ned2ecef_single); + Py_VISIT(traverse_module_state->__pyx_n_s_LocalCoord_ned2geodetic_single); + Py_VISIT(traverse_module_state->__pyx_n_s_TypeError); + Py_VISIT(traverse_module_state->__pyx_n_s__3); + Py_VISIT(traverse_module_state->__pyx_n_s__42); + Py_VISIT(traverse_module_state->__pyx_n_s_array); + Py_VISIT(traverse_module_state->__pyx_n_s_asfortranarray); + Py_VISIT(traverse_module_state->__pyx_n_s_asyncio_coroutines); + Py_VISIT(traverse_module_state->__pyx_n_s_cline_in_traceback); + Py_VISIT(traverse_module_state->__pyx_n_s_cls); + Py_VISIT(traverse_module_state->__pyx_kp_s_common_transformations_transform); + Py_VISIT(traverse_module_state->__pyx_n_s_common_transformations_transform_2); + Py_VISIT(traverse_module_state->__pyx_n_s_dict); + Py_VISIT(traverse_module_state->__pyx_kp_u_disable); + Py_VISIT(traverse_module_state->__pyx_n_s_double); + Py_VISIT(traverse_module_state->__pyx_n_s_dtype); + Py_VISIT(traverse_module_state->__pyx_n_s_e); + Py_VISIT(traverse_module_state->__pyx_n_s_ecef); + Py_VISIT(traverse_module_state->__pyx_n_s_ecef2geodetic_single); + Py_VISIT(traverse_module_state->__pyx_n_s_ecef2ned_matrix); + Py_VISIT(traverse_module_state->__pyx_n_s_ecef2ned_single); + Py_VISIT(traverse_module_state->__pyx_n_s_ecef_euler_from_ned_single); + Py_VISIT(traverse_module_state->__pyx_n_s_ecef_init); + Py_VISIT(traverse_module_state->__pyx_n_s_ecef_pose); + Py_VISIT(traverse_module_state->__pyx_kp_u_enable); + Py_VISIT(traverse_module_state->__pyx_n_s_euler); + Py_VISIT(traverse_module_state->__pyx_n_s_euler2quat_single); + Py_VISIT(traverse_module_state->__pyx_n_s_euler2rot_single); + Py_VISIT(traverse_module_state->__pyx_n_s_from_ecef); + Py_VISIT(traverse_module_state->__pyx_n_s_from_geodetic); + Py_VISIT(traverse_module_state->__pyx_n_s_g); + Py_VISIT(traverse_module_state->__pyx_kp_u_gc); + Py_VISIT(traverse_module_state->__pyx_n_s_geodetic); + Py_VISIT(traverse_module_state->__pyx_n_s_geodetic2ecef_single); + Py_VISIT(traverse_module_state->__pyx_n_s_geodetic2ned_single); + Py_VISIT(traverse_module_state->__pyx_n_s_getstate); + Py_VISIT(traverse_module_state->__pyx_n_s_import); + Py_VISIT(traverse_module_state->__pyx_n_s_init); + Py_VISIT(traverse_module_state->__pyx_n_s_initializing); + Py_VISIT(traverse_module_state->__pyx_n_s_is_coroutine); + Py_VISIT(traverse_module_state->__pyx_kp_u_isenabled); + Py_VISIT(traverse_module_state->__pyx_n_s_main); + Py_VISIT(traverse_module_state->__pyx_n_s_n); + Py_VISIT(traverse_module_state->__pyx_n_s_name); + Py_VISIT(traverse_module_state->__pyx_n_s_ned); + Py_VISIT(traverse_module_state->__pyx_n_s_ned2ecef_matrix); + Py_VISIT(traverse_module_state->__pyx_n_s_ned2ecef_single); + Py_VISIT(traverse_module_state->__pyx_n_s_ned2geodetic_single); + Py_VISIT(traverse_module_state->__pyx_n_s_ned_euler_from_ecef_single); + Py_VISIT(traverse_module_state->__pyx_n_s_ned_pose); + Py_VISIT(traverse_module_state->__pyx_n_s_np); + Py_VISIT(traverse_module_state->__pyx_n_s_numpy); + Py_VISIT(traverse_module_state->__pyx_kp_u_numpy_core_multiarray_failed_to); + Py_VISIT(traverse_module_state->__pyx_kp_u_numpy_core_umath_failed_to_impor); + Py_VISIT(traverse_module_state->__pyx_n_s_pitch); + Py_VISIT(traverse_module_state->__pyx_n_s_pose); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_state); + Py_VISIT(traverse_module_state->__pyx_n_s_q); + Py_VISIT(traverse_module_state->__pyx_n_s_quat); + Py_VISIT(traverse_module_state->__pyx_n_s_quat2euler_single); + Py_VISIT(traverse_module_state->__pyx_n_s_quat2rot_single); + Py_VISIT(traverse_module_state->__pyx_n_s_r); + Py_VISIT(traverse_module_state->__pyx_n_s_reduce); + Py_VISIT(traverse_module_state->__pyx_n_s_reduce_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_reduce_ex); + Py_VISIT(traverse_module_state->__pyx_n_s_roll); + Py_VISIT(traverse_module_state->__pyx_n_s_rot); + Py_VISIT(traverse_module_state->__pyx_n_s_rot2euler_single); + Py_VISIT(traverse_module_state->__pyx_n_s_rot2quat_single); + Py_VISIT(traverse_module_state->__pyx_n_s_rot_matrix); + Py_VISIT(traverse_module_state->__pyx_n_s_self); + Py_VISIT(traverse_module_state->__pyx_kp_s_self_lc_cannot_be_converted_to_a); + Py_VISIT(traverse_module_state->__pyx_n_s_setstate); + Py_VISIT(traverse_module_state->__pyx_n_s_setstate_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_spec); + Py_VISIT(traverse_module_state->__pyx_kp_s_stringsource); + Py_VISIT(traverse_module_state->__pyx_n_s_test); + Py_VISIT(traverse_module_state->__pyx_n_s_yaw); + Py_VISIT(traverse_module_state->__pyx_tuple_); + Py_VISIT(traverse_module_state->__pyx_tuple__2); + Py_VISIT(traverse_module_state->__pyx_tuple__4); + Py_VISIT(traverse_module_state->__pyx_tuple__6); + Py_VISIT(traverse_module_state->__pyx_tuple__8); + Py_VISIT(traverse_module_state->__pyx_tuple__10); + Py_VISIT(traverse_module_state->__pyx_tuple__12); + Py_VISIT(traverse_module_state->__pyx_tuple__14); + Py_VISIT(traverse_module_state->__pyx_tuple__16); + Py_VISIT(traverse_module_state->__pyx_tuple__18); + Py_VISIT(traverse_module_state->__pyx_tuple__20); + Py_VISIT(traverse_module_state->__pyx_tuple__22); + Py_VISIT(traverse_module_state->__pyx_tuple__24); + Py_VISIT(traverse_module_state->__pyx_tuple__26); + Py_VISIT(traverse_module_state->__pyx_tuple__28); + Py_VISIT(traverse_module_state->__pyx_tuple__30); + Py_VISIT(traverse_module_state->__pyx_tuple__32); + Py_VISIT(traverse_module_state->__pyx_tuple__34); + Py_VISIT(traverse_module_state->__pyx_tuple__36); + Py_VISIT(traverse_module_state->__pyx_tuple__38); + Py_VISIT(traverse_module_state->__pyx_tuple__40); + Py_VISIT(traverse_module_state->__pyx_codeobj__5); + Py_VISIT(traverse_module_state->__pyx_codeobj__7); + Py_VISIT(traverse_module_state->__pyx_codeobj__9); + Py_VISIT(traverse_module_state->__pyx_codeobj__11); + Py_VISIT(traverse_module_state->__pyx_codeobj__13); + Py_VISIT(traverse_module_state->__pyx_codeobj__15); + Py_VISIT(traverse_module_state->__pyx_codeobj__17); + Py_VISIT(traverse_module_state->__pyx_codeobj__19); + Py_VISIT(traverse_module_state->__pyx_codeobj__21); + Py_VISIT(traverse_module_state->__pyx_codeobj__23); + Py_VISIT(traverse_module_state->__pyx_codeobj__25); + Py_VISIT(traverse_module_state->__pyx_codeobj__27); + Py_VISIT(traverse_module_state->__pyx_codeobj__29); + Py_VISIT(traverse_module_state->__pyx_codeobj__31); + Py_VISIT(traverse_module_state->__pyx_codeobj__33); + Py_VISIT(traverse_module_state->__pyx_codeobj__35); + Py_VISIT(traverse_module_state->__pyx_codeobj__37); + Py_VISIT(traverse_module_state->__pyx_codeobj__39); + Py_VISIT(traverse_module_state->__pyx_codeobj__41); + return 0; +} +#endif +/* #### Code section: module_state_defines ### */ +#define __pyx_d __pyx_mstate_global->__pyx_d +#define __pyx_b __pyx_mstate_global->__pyx_b +#define __pyx_cython_runtime __pyx_mstate_global->__pyx_cython_runtime +#define __pyx_empty_tuple __pyx_mstate_global->__pyx_empty_tuple +#define __pyx_empty_bytes __pyx_mstate_global->__pyx_empty_bytes +#define __pyx_empty_unicode __pyx_mstate_global->__pyx_empty_unicode +#ifdef __Pyx_CyFunction_USED +#define __pyx_CyFunctionType __pyx_mstate_global->__pyx_CyFunctionType +#endif +#ifdef __Pyx_FusedFunction_USED +#define __pyx_FusedFunctionType __pyx_mstate_global->__pyx_FusedFunctionType +#endif +#ifdef __Pyx_Generator_USED +#define __pyx_GeneratorType __pyx_mstate_global->__pyx_GeneratorType +#endif +#ifdef __Pyx_IterableCoroutine_USED +#define __pyx_IterableCoroutineType __pyx_mstate_global->__pyx_IterableCoroutineType +#endif +#ifdef __Pyx_Coroutine_USED +#define __pyx_CoroutineAwaitType __pyx_mstate_global->__pyx_CoroutineAwaitType +#endif +#ifdef __Pyx_Coroutine_USED +#define __pyx_CoroutineType __pyx_mstate_global->__pyx_CoroutineType +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#define __pyx_ptype_7cpython_4type_type __pyx_mstate_global->__pyx_ptype_7cpython_4type_type +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#define __pyx_ptype_5numpy_dtype __pyx_mstate_global->__pyx_ptype_5numpy_dtype +#define __pyx_ptype_5numpy_flatiter __pyx_mstate_global->__pyx_ptype_5numpy_flatiter +#define __pyx_ptype_5numpy_broadcast __pyx_mstate_global->__pyx_ptype_5numpy_broadcast +#define __pyx_ptype_5numpy_ndarray __pyx_mstate_global->__pyx_ptype_5numpy_ndarray +#define __pyx_ptype_5numpy_generic __pyx_mstate_global->__pyx_ptype_5numpy_generic +#define __pyx_ptype_5numpy_number __pyx_mstate_global->__pyx_ptype_5numpy_number +#define __pyx_ptype_5numpy_integer __pyx_mstate_global->__pyx_ptype_5numpy_integer +#define __pyx_ptype_5numpy_signedinteger __pyx_mstate_global->__pyx_ptype_5numpy_signedinteger +#define __pyx_ptype_5numpy_unsignedinteger __pyx_mstate_global->__pyx_ptype_5numpy_unsignedinteger +#define __pyx_ptype_5numpy_inexact __pyx_mstate_global->__pyx_ptype_5numpy_inexact +#define __pyx_ptype_5numpy_floating __pyx_mstate_global->__pyx_ptype_5numpy_floating +#define __pyx_ptype_5numpy_complexfloating __pyx_mstate_global->__pyx_ptype_5numpy_complexfloating +#define __pyx_ptype_5numpy_flexible __pyx_mstate_global->__pyx_ptype_5numpy_flexible +#define __pyx_ptype_5numpy_character __pyx_mstate_global->__pyx_ptype_5numpy_character +#define __pyx_ptype_5numpy_ufunc __pyx_mstate_global->__pyx_ptype_5numpy_ufunc +#if CYTHON_USE_MODULE_STATE +#define __pyx_type_6common_15transformations_15transformations_LocalCoord __pyx_mstate_global->__pyx_type_6common_15transformations_15transformations_LocalCoord +#endif +#define __pyx_ptype_6common_15transformations_15transformations_LocalCoord __pyx_mstate_global->__pyx_ptype_6common_15transformations_15transformations_LocalCoord +#define __pyx_n_s_AssertionError __pyx_mstate_global->__pyx_n_s_AssertionError +#define __pyx_n_s_ImportError __pyx_mstate_global->__pyx_n_s_ImportError +#define __pyx_n_s_LocalCoord __pyx_mstate_global->__pyx_n_s_LocalCoord +#define __pyx_n_s_LocalCoord___reduce_cython __pyx_mstate_global->__pyx_n_s_LocalCoord___reduce_cython +#define __pyx_n_s_LocalCoord___setstate_cython __pyx_mstate_global->__pyx_n_s_LocalCoord___setstate_cython +#define __pyx_n_s_LocalCoord_ecef2ned_single __pyx_mstate_global->__pyx_n_s_LocalCoord_ecef2ned_single +#define __pyx_n_s_LocalCoord_from_ecef __pyx_mstate_global->__pyx_n_s_LocalCoord_from_ecef +#define __pyx_n_s_LocalCoord_from_geodetic __pyx_mstate_global->__pyx_n_s_LocalCoord_from_geodetic +#define __pyx_n_s_LocalCoord_geodetic2ned_single __pyx_mstate_global->__pyx_n_s_LocalCoord_geodetic2ned_single +#define __pyx_n_s_LocalCoord_ned2ecef_single __pyx_mstate_global->__pyx_n_s_LocalCoord_ned2ecef_single +#define __pyx_n_s_LocalCoord_ned2geodetic_single __pyx_mstate_global->__pyx_n_s_LocalCoord_ned2geodetic_single +#define __pyx_n_s_TypeError __pyx_mstate_global->__pyx_n_s_TypeError +#define __pyx_n_s__3 __pyx_mstate_global->__pyx_n_s__3 +#define __pyx_n_s__42 __pyx_mstate_global->__pyx_n_s__42 +#define __pyx_n_s_array __pyx_mstate_global->__pyx_n_s_array +#define __pyx_n_s_asfortranarray __pyx_mstate_global->__pyx_n_s_asfortranarray +#define __pyx_n_s_asyncio_coroutines __pyx_mstate_global->__pyx_n_s_asyncio_coroutines +#define __pyx_n_s_cline_in_traceback __pyx_mstate_global->__pyx_n_s_cline_in_traceback +#define __pyx_n_s_cls __pyx_mstate_global->__pyx_n_s_cls +#define __pyx_kp_s_common_transformations_transform __pyx_mstate_global->__pyx_kp_s_common_transformations_transform +#define __pyx_n_s_common_transformations_transform_2 __pyx_mstate_global->__pyx_n_s_common_transformations_transform_2 +#define __pyx_n_s_dict __pyx_mstate_global->__pyx_n_s_dict +#define __pyx_kp_u_disable __pyx_mstate_global->__pyx_kp_u_disable +#define __pyx_n_s_double __pyx_mstate_global->__pyx_n_s_double +#define __pyx_n_s_dtype __pyx_mstate_global->__pyx_n_s_dtype +#define __pyx_n_s_e __pyx_mstate_global->__pyx_n_s_e +#define __pyx_n_s_ecef __pyx_mstate_global->__pyx_n_s_ecef +#define __pyx_n_s_ecef2geodetic_single __pyx_mstate_global->__pyx_n_s_ecef2geodetic_single +#define __pyx_n_s_ecef2ned_matrix __pyx_mstate_global->__pyx_n_s_ecef2ned_matrix +#define __pyx_n_s_ecef2ned_single __pyx_mstate_global->__pyx_n_s_ecef2ned_single +#define __pyx_n_s_ecef_euler_from_ned_single __pyx_mstate_global->__pyx_n_s_ecef_euler_from_ned_single +#define __pyx_n_s_ecef_init __pyx_mstate_global->__pyx_n_s_ecef_init +#define __pyx_n_s_ecef_pose __pyx_mstate_global->__pyx_n_s_ecef_pose +#define __pyx_kp_u_enable __pyx_mstate_global->__pyx_kp_u_enable +#define __pyx_n_s_euler __pyx_mstate_global->__pyx_n_s_euler +#define __pyx_n_s_euler2quat_single __pyx_mstate_global->__pyx_n_s_euler2quat_single +#define __pyx_n_s_euler2rot_single __pyx_mstate_global->__pyx_n_s_euler2rot_single +#define __pyx_n_s_from_ecef __pyx_mstate_global->__pyx_n_s_from_ecef +#define __pyx_n_s_from_geodetic __pyx_mstate_global->__pyx_n_s_from_geodetic +#define __pyx_n_s_g __pyx_mstate_global->__pyx_n_s_g +#define __pyx_kp_u_gc __pyx_mstate_global->__pyx_kp_u_gc +#define __pyx_n_s_geodetic __pyx_mstate_global->__pyx_n_s_geodetic +#define __pyx_n_s_geodetic2ecef_single __pyx_mstate_global->__pyx_n_s_geodetic2ecef_single +#define __pyx_n_s_geodetic2ned_single __pyx_mstate_global->__pyx_n_s_geodetic2ned_single +#define __pyx_n_s_getstate __pyx_mstate_global->__pyx_n_s_getstate +#define __pyx_n_s_import __pyx_mstate_global->__pyx_n_s_import +#define __pyx_n_s_init __pyx_mstate_global->__pyx_n_s_init +#define __pyx_n_s_initializing __pyx_mstate_global->__pyx_n_s_initializing +#define __pyx_n_s_is_coroutine __pyx_mstate_global->__pyx_n_s_is_coroutine +#define __pyx_kp_u_isenabled __pyx_mstate_global->__pyx_kp_u_isenabled +#define __pyx_n_s_main __pyx_mstate_global->__pyx_n_s_main +#define __pyx_n_s_n __pyx_mstate_global->__pyx_n_s_n +#define __pyx_n_s_name __pyx_mstate_global->__pyx_n_s_name +#define __pyx_n_s_ned __pyx_mstate_global->__pyx_n_s_ned +#define __pyx_n_s_ned2ecef_matrix __pyx_mstate_global->__pyx_n_s_ned2ecef_matrix +#define __pyx_n_s_ned2ecef_single __pyx_mstate_global->__pyx_n_s_ned2ecef_single +#define __pyx_n_s_ned2geodetic_single __pyx_mstate_global->__pyx_n_s_ned2geodetic_single +#define __pyx_n_s_ned_euler_from_ecef_single __pyx_mstate_global->__pyx_n_s_ned_euler_from_ecef_single +#define __pyx_n_s_ned_pose __pyx_mstate_global->__pyx_n_s_ned_pose +#define __pyx_n_s_np __pyx_mstate_global->__pyx_n_s_np +#define __pyx_n_s_numpy __pyx_mstate_global->__pyx_n_s_numpy +#define __pyx_kp_u_numpy_core_multiarray_failed_to __pyx_mstate_global->__pyx_kp_u_numpy_core_multiarray_failed_to +#define __pyx_kp_u_numpy_core_umath_failed_to_impor __pyx_mstate_global->__pyx_kp_u_numpy_core_umath_failed_to_impor +#define __pyx_n_s_pitch __pyx_mstate_global->__pyx_n_s_pitch +#define __pyx_n_s_pose __pyx_mstate_global->__pyx_n_s_pose +#define __pyx_n_s_pyx_state __pyx_mstate_global->__pyx_n_s_pyx_state +#define __pyx_n_s_q __pyx_mstate_global->__pyx_n_s_q +#define __pyx_n_s_quat __pyx_mstate_global->__pyx_n_s_quat +#define __pyx_n_s_quat2euler_single __pyx_mstate_global->__pyx_n_s_quat2euler_single +#define __pyx_n_s_quat2rot_single __pyx_mstate_global->__pyx_n_s_quat2rot_single +#define __pyx_n_s_r __pyx_mstate_global->__pyx_n_s_r +#define __pyx_n_s_reduce __pyx_mstate_global->__pyx_n_s_reduce +#define __pyx_n_s_reduce_cython __pyx_mstate_global->__pyx_n_s_reduce_cython +#define __pyx_n_s_reduce_ex __pyx_mstate_global->__pyx_n_s_reduce_ex +#define __pyx_n_s_roll __pyx_mstate_global->__pyx_n_s_roll +#define __pyx_n_s_rot __pyx_mstate_global->__pyx_n_s_rot +#define __pyx_n_s_rot2euler_single __pyx_mstate_global->__pyx_n_s_rot2euler_single +#define __pyx_n_s_rot2quat_single __pyx_mstate_global->__pyx_n_s_rot2quat_single +#define __pyx_n_s_rot_matrix __pyx_mstate_global->__pyx_n_s_rot_matrix +#define __pyx_n_s_self __pyx_mstate_global->__pyx_n_s_self +#define __pyx_kp_s_self_lc_cannot_be_converted_to_a __pyx_mstate_global->__pyx_kp_s_self_lc_cannot_be_converted_to_a +#define __pyx_n_s_setstate __pyx_mstate_global->__pyx_n_s_setstate +#define __pyx_n_s_setstate_cython __pyx_mstate_global->__pyx_n_s_setstate_cython +#define __pyx_n_s_spec __pyx_mstate_global->__pyx_n_s_spec +#define __pyx_kp_s_stringsource __pyx_mstate_global->__pyx_kp_s_stringsource +#define __pyx_n_s_test __pyx_mstate_global->__pyx_n_s_test +#define __pyx_n_s_yaw __pyx_mstate_global->__pyx_n_s_yaw +#define __pyx_tuple_ __pyx_mstate_global->__pyx_tuple_ +#define __pyx_tuple__2 __pyx_mstate_global->__pyx_tuple__2 +#define __pyx_tuple__4 __pyx_mstate_global->__pyx_tuple__4 +#define __pyx_tuple__6 __pyx_mstate_global->__pyx_tuple__6 +#define __pyx_tuple__8 __pyx_mstate_global->__pyx_tuple__8 +#define __pyx_tuple__10 __pyx_mstate_global->__pyx_tuple__10 +#define __pyx_tuple__12 __pyx_mstate_global->__pyx_tuple__12 +#define __pyx_tuple__14 __pyx_mstate_global->__pyx_tuple__14 +#define __pyx_tuple__16 __pyx_mstate_global->__pyx_tuple__16 +#define __pyx_tuple__18 __pyx_mstate_global->__pyx_tuple__18 +#define __pyx_tuple__20 __pyx_mstate_global->__pyx_tuple__20 +#define __pyx_tuple__22 __pyx_mstate_global->__pyx_tuple__22 +#define __pyx_tuple__24 __pyx_mstate_global->__pyx_tuple__24 +#define __pyx_tuple__26 __pyx_mstate_global->__pyx_tuple__26 +#define __pyx_tuple__28 __pyx_mstate_global->__pyx_tuple__28 +#define __pyx_tuple__30 __pyx_mstate_global->__pyx_tuple__30 +#define __pyx_tuple__32 __pyx_mstate_global->__pyx_tuple__32 +#define __pyx_tuple__34 __pyx_mstate_global->__pyx_tuple__34 +#define __pyx_tuple__36 __pyx_mstate_global->__pyx_tuple__36 +#define __pyx_tuple__38 __pyx_mstate_global->__pyx_tuple__38 +#define __pyx_tuple__40 __pyx_mstate_global->__pyx_tuple__40 +#define __pyx_codeobj__5 __pyx_mstate_global->__pyx_codeobj__5 +#define __pyx_codeobj__7 __pyx_mstate_global->__pyx_codeobj__7 +#define __pyx_codeobj__9 __pyx_mstate_global->__pyx_codeobj__9 +#define __pyx_codeobj__11 __pyx_mstate_global->__pyx_codeobj__11 +#define __pyx_codeobj__13 __pyx_mstate_global->__pyx_codeobj__13 +#define __pyx_codeobj__15 __pyx_mstate_global->__pyx_codeobj__15 +#define __pyx_codeobj__17 __pyx_mstate_global->__pyx_codeobj__17 +#define __pyx_codeobj__19 __pyx_mstate_global->__pyx_codeobj__19 +#define __pyx_codeobj__21 __pyx_mstate_global->__pyx_codeobj__21 +#define __pyx_codeobj__23 __pyx_mstate_global->__pyx_codeobj__23 +#define __pyx_codeobj__25 __pyx_mstate_global->__pyx_codeobj__25 +#define __pyx_codeobj__27 __pyx_mstate_global->__pyx_codeobj__27 +#define __pyx_codeobj__29 __pyx_mstate_global->__pyx_codeobj__29 +#define __pyx_codeobj__31 __pyx_mstate_global->__pyx_codeobj__31 +#define __pyx_codeobj__33 __pyx_mstate_global->__pyx_codeobj__33 +#define __pyx_codeobj__35 __pyx_mstate_global->__pyx_codeobj__35 +#define __pyx_codeobj__37 __pyx_mstate_global->__pyx_codeobj__37 +#define __pyx_codeobj__39 __pyx_mstate_global->__pyx_codeobj__39 +#define __pyx_codeobj__41 __pyx_mstate_global->__pyx_codeobj__41 +/* #### Code section: module_code ### */ + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":245 + * + * @property + * cdef inline PyObject* base(self) nogil: # <<<<<<<<<<<<<< + * """Returns a borrowed reference to the object owning the data/memory. + * """ + */ + +static CYTHON_INLINE PyObject *__pyx_f_5numpy_7ndarray_4base_base(PyArrayObject *__pyx_v_self) { + PyObject *__pyx_r; + + /* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":248 + * """Returns a borrowed reference to the object owning the data/memory. + * """ + * return PyArray_BASE(self) # <<<<<<<<<<<<<< + * + * @property + */ + __pyx_r = PyArray_BASE(__pyx_v_self); + goto __pyx_L0; + + /* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":245 + * + * @property + * cdef inline PyObject* base(self) nogil: # <<<<<<<<<<<<<< + * """Returns a borrowed reference to the object owning the data/memory. + * """ + */ + + /* function exit code */ + __pyx_L0:; + return __pyx_r; +} + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":251 + * + * @property + * cdef inline dtype descr(self): # <<<<<<<<<<<<<< + * """Returns an owned reference to the dtype of the array. + * """ + */ + +static CYTHON_INLINE PyArray_Descr *__pyx_f_5numpy_7ndarray_5descr_descr(PyArrayObject *__pyx_v_self) { + PyArray_Descr *__pyx_r = NULL; + __Pyx_RefNannyDeclarations + PyArray_Descr *__pyx_t_1; + __Pyx_RefNannySetupContext("descr", 1); + + /* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":254 + * """Returns an owned reference to the dtype of the array. + * """ + * return PyArray_DESCR(self) # <<<<<<<<<<<<<< + * + * @property + */ + __Pyx_XDECREF((PyObject *)__pyx_r); + __pyx_t_1 = PyArray_DESCR(__pyx_v_self); + __Pyx_INCREF((PyObject *)((PyArray_Descr *)__pyx_t_1)); + __pyx_r = ((PyArray_Descr *)__pyx_t_1); + goto __pyx_L0; + + /* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":251 + * + * @property + * cdef inline dtype descr(self): # <<<<<<<<<<<<<< + * """Returns an owned reference to the dtype of the array. + * """ + */ + + /* function exit code */ + __pyx_L0:; + __Pyx_XGIVEREF((PyObject *)__pyx_r); + __Pyx_RefNannyFinishContext(); + return __pyx_r; +} + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":257 + * + * @property + * cdef inline int ndim(self) nogil: # <<<<<<<<<<<<<< + * """Returns the number of dimensions in the array. + * """ + */ + +static CYTHON_INLINE int __pyx_f_5numpy_7ndarray_4ndim_ndim(PyArrayObject *__pyx_v_self) { + int __pyx_r; + + /* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":260 + * """Returns the number of dimensions in the array. + * """ + * return PyArray_NDIM(self) # <<<<<<<<<<<<<< + * + * @property + */ + __pyx_r = PyArray_NDIM(__pyx_v_self); + goto __pyx_L0; + + /* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":257 + * + * @property + * cdef inline int ndim(self) nogil: # <<<<<<<<<<<<<< + * """Returns the number of dimensions in the array. + * """ + */ + + /* function exit code */ + __pyx_L0:; + return __pyx_r; +} + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":263 + * + * @property + * cdef inline npy_intp *shape(self) nogil: # <<<<<<<<<<<<<< + * """Returns a pointer to the dimensions/shape of the array. + * The number of elements matches the number of dimensions of the array (ndim). + */ + +static CYTHON_INLINE npy_intp *__pyx_f_5numpy_7ndarray_5shape_shape(PyArrayObject *__pyx_v_self) { + npy_intp *__pyx_r; + + /* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":268 + * Can return NULL for 0-dimensional arrays. + * """ + * return PyArray_DIMS(self) # <<<<<<<<<<<<<< + * + * @property + */ + __pyx_r = PyArray_DIMS(__pyx_v_self); + goto __pyx_L0; + + /* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":263 + * + * @property + * cdef inline npy_intp *shape(self) nogil: # <<<<<<<<<<<<<< + * """Returns a pointer to the dimensions/shape of the array. + * The number of elements matches the number of dimensions of the array (ndim). + */ + + /* function exit code */ + __pyx_L0:; + return __pyx_r; +} + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":271 + * + * @property + * cdef inline npy_intp *strides(self) nogil: # <<<<<<<<<<<<<< + * """Returns a pointer to the strides of the array. + * The number of elements matches the number of dimensions of the array (ndim). + */ + +static CYTHON_INLINE npy_intp *__pyx_f_5numpy_7ndarray_7strides_strides(PyArrayObject *__pyx_v_self) { + npy_intp *__pyx_r; + + /* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":275 + * The number of elements matches the number of dimensions of the array (ndim). + * """ + * return PyArray_STRIDES(self) # <<<<<<<<<<<<<< + * + * @property + */ + __pyx_r = PyArray_STRIDES(__pyx_v_self); + goto __pyx_L0; + + /* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":271 + * + * @property + * cdef inline npy_intp *strides(self) nogil: # <<<<<<<<<<<<<< + * """Returns a pointer to the strides of the array. + * The number of elements matches the number of dimensions of the array (ndim). + */ + + /* function exit code */ + __pyx_L0:; + return __pyx_r; +} + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":278 + * + * @property + * cdef inline npy_intp size(self) nogil: # <<<<<<<<<<<<<< + * """Returns the total size (in number of elements) of the array. + * """ + */ + +static CYTHON_INLINE npy_intp __pyx_f_5numpy_7ndarray_4size_size(PyArrayObject *__pyx_v_self) { + npy_intp __pyx_r; + + /* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":281 + * """Returns the total size (in number of elements) of the array. + * """ + * return PyArray_SIZE(self) # <<<<<<<<<<<<<< + * + * @property + */ + __pyx_r = PyArray_SIZE(__pyx_v_self); + goto __pyx_L0; + + /* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":278 + * + * @property + * cdef inline npy_intp size(self) nogil: # <<<<<<<<<<<<<< + * """Returns the total size (in number of elements) of the array. + * """ + */ + + /* function exit code */ + 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alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + return o; +} + +static void __pyx_tp_dealloc_6common_15transformations_15transformations_LocalCoord(PyObject *o) { + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && (!PyType_IS_GC(Py_TYPE(o)) || !__Pyx_PyObject_GC_IsFinalized(o))) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_6common_15transformations_15transformations_LocalCoord) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + 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(PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_6common_15transformations_15transformations_10LocalCoord_17__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_6common_15transformations_15transformations_10LocalCoord_19__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; + +static struct PyGetSetDef __pyx_getsets_6common_15transformations_15transformations_LocalCoord[] = { + {(char *)"ned2ecef_matrix", __pyx_getprop_6common_15transformations_15transformations_10LocalCoord_ned2ecef_matrix, 0, (char *)0, 0}, + {(char *)"ecef2ned_matrix", __pyx_getprop_6common_15transformations_15transformations_10LocalCoord_ecef2ned_matrix, 0, (char *)0, 0}, + {(char *)"ned_from_ecef_matrix", __pyx_getprop_6common_15transformations_15transformations_10LocalCoord_ned_from_ecef_matrix, 0, (char *)0, 0}, + {(char *)"ecef_from_ned_matrix", 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+ } + #if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(exc_type); + #endif + return result; +} +#endif + +/* PyErrFetchRestore */ +#if CYTHON_FAST_THREAD_STATE +static CYTHON_INLINE void __Pyx_ErrRestoreInState(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb) { +#if PY_VERSION_HEX >= 0x030C00A6 + PyObject *tmp_value; + assert(type == NULL || (value != NULL && type == (PyObject*) Py_TYPE(value))); + if (value) { + #if CYTHON_COMPILING_IN_CPYTHON + if (unlikely(((PyBaseExceptionObject*) value)->traceback != tb)) + #endif + PyException_SetTraceback(value, tb); + } + tmp_value = tstate->current_exception; + tstate->current_exception = value; + Py_XDECREF(tmp_value); + Py_XDECREF(type); + Py_XDECREF(tb); +#else + PyObject *tmp_type, *tmp_value, *tmp_tb; + tmp_type = tstate->curexc_type; + tmp_value = tstate->curexc_value; + tmp_tb = tstate->curexc_traceback; + tstate->curexc_type = type; + tstate->curexc_value = value; + tstate->curexc_traceback = tb; + Py_XDECREF(tmp_type); + Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); +#endif +} +static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { +#if PY_VERSION_HEX >= 0x030C00A6 + PyObject* exc_value; + exc_value = tstate->current_exception; + tstate->current_exception = 0; + *value = exc_value; + *type = NULL; + *tb = NULL; + if (exc_value) { + *type = (PyObject*) Py_TYPE(exc_value); + Py_INCREF(*type); + #if CYTHON_COMPILING_IN_CPYTHON + *tb = ((PyBaseExceptionObject*) exc_value)->traceback; + Py_XINCREF(*tb); + #else + *tb = PyException_GetTraceback(exc_value); + #endif + } +#else + *type = tstate->curexc_type; + *value = tstate->curexc_value; + *tb = tstate->curexc_traceback; + tstate->curexc_type = 0; + tstate->curexc_value = 0; + tstate->curexc_traceback = 0; +#endif +} +#endif + +/* PyObjectGetAttrStr */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStr(PyObject* obj, PyObject* attr_name) { + PyTypeObject* tp = Py_TYPE(obj); + if (likely(tp->tp_getattro)) + return tp->tp_getattro(obj, attr_name); +#if PY_MAJOR_VERSION < 3 + if (likely(tp->tp_getattr)) + return tp->tp_getattr(obj, PyString_AS_STRING(attr_name)); +#endif + return PyObject_GetAttr(obj, attr_name); +} +#endif + +/* PyObjectGetAttrStrNoError */ +#if __PYX_LIMITED_VERSION_HEX < 0x030d00A1 +static void __Pyx_PyObject_GetAttrStr_ClearAttributeError(void) { + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + if (likely(__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) + __Pyx_PyErr_Clear(); +} +#endif +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name) { + PyObject *result; +#if __PYX_LIMITED_VERSION_HEX >= 0x030d00A1 + (void) PyObject_GetOptionalAttr(obj, attr_name, &result); + return result; +#else +#if CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_TYPE_SLOTS && PY_VERSION_HEX >= 0x030700B1 + PyTypeObject* tp = Py_TYPE(obj); + if (likely(tp->tp_getattro == PyObject_GenericGetAttr)) { + return _PyObject_GenericGetAttrWithDict(obj, attr_name, NULL, 1); + } +#endif + result = __Pyx_PyObject_GetAttrStr(obj, attr_name); + if (unlikely(!result)) { + __Pyx_PyObject_GetAttrStr_ClearAttributeError(); + } + return result; +#endif +} + +/* GetBuiltinName */ +static PyObject *__Pyx_GetBuiltinName(PyObject *name) { + PyObject* result = __Pyx_PyObject_GetAttrStrNoError(__pyx_b, name); + if (unlikely(!result) && !PyErr_Occurred()) { + PyErr_Format(PyExc_NameError, +#if PY_MAJOR_VERSION >= 3 + "name '%U' is not defined", name); +#else + "name '%.200s' is not defined", PyString_AS_STRING(name)); +#endif + } + return result; +} + +/* GetTopmostException */ +#if CYTHON_USE_EXC_INFO_STACK && CYTHON_FAST_THREAD_STATE +static _PyErr_StackItem * +__Pyx_PyErr_GetTopmostException(PyThreadState *tstate) +{ + _PyErr_StackItem *exc_info = tstate->exc_info; + while ((exc_info->exc_value == NULL || exc_info->exc_value == Py_None) && + exc_info->previous_item != NULL) + { + exc_info = exc_info->previous_item; + } + return exc_info; +} +#endif + +/* SaveResetException */ +#if CYTHON_FAST_THREAD_STATE +static CYTHON_INLINE void __Pyx__ExceptionSave(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { + #if CYTHON_USE_EXC_INFO_STACK && PY_VERSION_HEX >= 0x030B00a4 + _PyErr_StackItem *exc_info = __Pyx_PyErr_GetTopmostException(tstate); + PyObject *exc_value = exc_info->exc_value; + if (exc_value == NULL || exc_value == Py_None) { + *value = NULL; + *type = NULL; + *tb = NULL; + } else { + *value = exc_value; + Py_INCREF(*value); + *type = (PyObject*) Py_TYPE(exc_value); + Py_INCREF(*type); + *tb = PyException_GetTraceback(exc_value); + } + #elif CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = __Pyx_PyErr_GetTopmostException(tstate); + *type = exc_info->exc_type; + *value = exc_info->exc_value; + *tb = exc_info->exc_traceback; + Py_XINCREF(*type); + Py_XINCREF(*value); + Py_XINCREF(*tb); + #else + *type = tstate->exc_type; + *value = tstate->exc_value; + *tb = tstate->exc_traceback; + Py_XINCREF(*type); + Py_XINCREF(*value); + Py_XINCREF(*tb); + #endif +} +static CYTHON_INLINE void __Pyx__ExceptionReset(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb) { + #if CYTHON_USE_EXC_INFO_STACK && PY_VERSION_HEX >= 0x030B00a4 + _PyErr_StackItem *exc_info = tstate->exc_info; + PyObject *tmp_value = exc_info->exc_value; + exc_info->exc_value = value; + Py_XDECREF(tmp_value); + Py_XDECREF(type); + Py_XDECREF(tb); + #else + PyObject *tmp_type, *tmp_value, *tmp_tb; + #if CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = tstate->exc_info; + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = type; + exc_info->exc_value = value; + exc_info->exc_traceback = tb; + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = type; + tstate->exc_value = value; + tstate->exc_traceback = tb; + #endif + Py_XDECREF(tmp_type); + Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); + #endif +} +#endif + +/* GetException */ +#if CYTHON_FAST_THREAD_STATE +static int __Pyx__GetException(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) +#else +static int __Pyx_GetException(PyObject **type, PyObject **value, PyObject **tb) +#endif +{ + PyObject *local_type = NULL, *local_value, *local_tb = NULL; +#if CYTHON_FAST_THREAD_STATE + PyObject *tmp_type, *tmp_value, *tmp_tb; + #if PY_VERSION_HEX >= 0x030C00A6 + local_value = tstate->current_exception; + tstate->current_exception = 0; + if (likely(local_value)) { + local_type = (PyObject*) Py_TYPE(local_value); + Py_INCREF(local_type); + local_tb = PyException_GetTraceback(local_value); + } + #else + local_type = tstate->curexc_type; + local_value = tstate->curexc_value; + local_tb = tstate->curexc_traceback; + tstate->curexc_type = 0; + tstate->curexc_value = 0; + tstate->curexc_traceback = 0; + #endif +#else + PyErr_Fetch(&local_type, &local_value, &local_tb); +#endif + PyErr_NormalizeException(&local_type, &local_value, &local_tb); +#if CYTHON_FAST_THREAD_STATE && PY_VERSION_HEX >= 0x030C00A6 + if (unlikely(tstate->current_exception)) +#elif CYTHON_FAST_THREAD_STATE + if (unlikely(tstate->curexc_type)) +#else + if (unlikely(PyErr_Occurred())) +#endif + goto bad; + #if PY_MAJOR_VERSION >= 3 + if (local_tb) { + if (unlikely(PyException_SetTraceback(local_value, local_tb) < 0)) + goto bad; + } + #endif + Py_XINCREF(local_tb); + Py_XINCREF(local_type); + Py_XINCREF(local_value); + *type = local_type; + *value = local_value; + *tb = local_tb; +#if CYTHON_FAST_THREAD_STATE + #if CYTHON_USE_EXC_INFO_STACK + { + _PyErr_StackItem *exc_info = tstate->exc_info; + #if PY_VERSION_HEX >= 0x030B00a4 + tmp_value = exc_info->exc_value; + exc_info->exc_value = local_value; + tmp_type = NULL; + tmp_tb = NULL; + Py_XDECREF(local_type); + Py_XDECREF(local_tb); + #else + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = local_type; + exc_info->exc_value = local_value; + exc_info->exc_traceback = local_tb; + #endif + } + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = local_type; + tstate->exc_value = local_value; + tstate->exc_traceback = local_tb; + #endif + Py_XDECREF(tmp_type); + Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); +#else + PyErr_SetExcInfo(local_type, local_value, local_tb); +#endif + return 0; +bad: + *type = 0; + *value = 0; + *tb = 0; + Py_XDECREF(local_type); + Py_XDECREF(local_value); + Py_XDECREF(local_tb); + return -1; +} + +/* PyObjectCall */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw) { + PyObject *result; + ternaryfunc call = Py_TYPE(func)->tp_call; + if (unlikely(!call)) + return PyObject_Call(func, arg, kw); + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) + return NULL; + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) + return NULL; + #endif + result = (*call)(func, arg, kw); + Py_LeaveRecursiveCall(); + if (unlikely(!result) && unlikely(!PyErr_Occurred())) { + PyErr_SetString( + PyExc_SystemError, + "NULL result without error in PyObject_Call"); + } + return result; +} +#endif + +/* RaiseException */ +#if PY_MAJOR_VERSION < 3 +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) { + __Pyx_PyThreadState_declare + CYTHON_UNUSED_VAR(cause); + Py_XINCREF(type); + if (!value || value == Py_None) + value = NULL; + else + Py_INCREF(value); + if (!tb || tb == Py_None) + tb = NULL; + else { + Py_INCREF(tb); + if (!PyTraceBack_Check(tb)) { + PyErr_SetString(PyExc_TypeError, + "raise: arg 3 must be a traceback or None"); + goto raise_error; + } + } + if (PyType_Check(type)) { +#if CYTHON_COMPILING_IN_PYPY + if (!value) { + Py_INCREF(Py_None); + value = Py_None; + } +#endif + PyErr_NormalizeException(&type, &value, &tb); + } else { + if (value) { + PyErr_SetString(PyExc_TypeError, + "instance exception may not have a separate value"); + goto raise_error; + } + value = type; + type = (PyObject*) Py_TYPE(type); + Py_INCREF(type); + if (!PyType_IsSubtype((PyTypeObject *)type, (PyTypeObject *)PyExc_BaseException)) { + PyErr_SetString(PyExc_TypeError, + "raise: exception class must be a subclass of BaseException"); + goto raise_error; + } + } + __Pyx_PyThreadState_assign + __Pyx_ErrRestore(type, value, tb); + return; +raise_error: + Py_XDECREF(value); + Py_XDECREF(type); + Py_XDECREF(tb); + return; +} +#else +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) { + PyObject* owned_instance = NULL; + if (tb == Py_None) { + tb = 0; + } else if (tb && !PyTraceBack_Check(tb)) { + PyErr_SetString(PyExc_TypeError, + "raise: arg 3 must be a traceback or None"); + goto bad; + } + if (value == Py_None) + value = 0; + if (PyExceptionInstance_Check(type)) { + if (value) { + PyErr_SetString(PyExc_TypeError, + "instance exception may not have a separate value"); + goto bad; + } + value = type; + type = (PyObject*) Py_TYPE(value); + } else if (PyExceptionClass_Check(type)) { + PyObject *instance_class = NULL; + if (value && PyExceptionInstance_Check(value)) { + instance_class = (PyObject*) Py_TYPE(value); + if (instance_class != type) { + int is_subclass = PyObject_IsSubclass(instance_class, type); + if (!is_subclass) { + instance_class = NULL; + } else if (unlikely(is_subclass == -1)) { + goto bad; + } else { + type = instance_class; + } + } + } + if (!instance_class) { + PyObject *args; + if (!value) + args = PyTuple_New(0); + else if (PyTuple_Check(value)) { + Py_INCREF(value); + args = value; + } else + args = PyTuple_Pack(1, value); + if (!args) + goto bad; + owned_instance = PyObject_Call(type, args, NULL); + Py_DECREF(args); + if (!owned_instance) + goto bad; + value = owned_instance; + if (!PyExceptionInstance_Check(value)) { + PyErr_Format(PyExc_TypeError, + "calling %R should have returned an instance of " + "BaseException, not %R", + type, Py_TYPE(value)); + goto bad; + } + } + } else { + PyErr_SetString(PyExc_TypeError, + "raise: exception class must be a subclass of BaseException"); + goto bad; + } + if (cause) { + PyObject *fixed_cause; + if (cause == Py_None) { + fixed_cause = NULL; + } else if (PyExceptionClass_Check(cause)) { + fixed_cause = PyObject_CallObject(cause, NULL); + if (fixed_cause == NULL) + goto bad; + } else if (PyExceptionInstance_Check(cause)) { + fixed_cause = cause; + Py_INCREF(fixed_cause); + } else { + PyErr_SetString(PyExc_TypeError, + "exception causes must derive from " + "BaseException"); + goto bad; + } + PyException_SetCause(value, fixed_cause); + } + PyErr_SetObject(type, value); + if (tb) { + #if PY_VERSION_HEX >= 0x030C00A6 + PyException_SetTraceback(value, tb); + #elif CYTHON_FAST_THREAD_STATE + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject* tmp_tb = tstate->curexc_traceback; + if (tb != tmp_tb) { + Py_INCREF(tb); + tstate->curexc_traceback = tb; + Py_XDECREF(tmp_tb); + } +#else + PyObject *tmp_type, *tmp_value, *tmp_tb; + PyErr_Fetch(&tmp_type, &tmp_value, &tmp_tb); + Py_INCREF(tb); + PyErr_Restore(tmp_type, tmp_value, tb); + Py_XDECREF(tmp_tb); +#endif + } +bad: + Py_XDECREF(owned_instance); + return; +} +#endif + +/* PyDictVersioning */ +#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj) { + PyObject *dict = Py_TYPE(obj)->tp_dict; + return likely(dict) ? __PYX_GET_DICT_VERSION(dict) : 0; +} +static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj) { + PyObject **dictptr = NULL; + Py_ssize_t offset = Py_TYPE(obj)->tp_dictoffset; + if (offset) { +#if CYTHON_COMPILING_IN_CPYTHON + dictptr = (likely(offset > 0)) ? (PyObject **) ((char *)obj + offset) : _PyObject_GetDictPtr(obj); +#else + dictptr = _PyObject_GetDictPtr(obj); +#endif + } + return (dictptr && *dictptr) ? __PYX_GET_DICT_VERSION(*dictptr) : 0; +} +static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version) { + PyObject *dict = Py_TYPE(obj)->tp_dict; + if (unlikely(!dict) || unlikely(tp_dict_version != __PYX_GET_DICT_VERSION(dict))) + return 0; + return obj_dict_version == __Pyx_get_object_dict_version(obj); +} +#endif + +/* GetModuleGlobalName */ +#if CYTHON_USE_DICT_VERSIONS +static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value) +#else +static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name) +#endif +{ + PyObject *result; +#if !CYTHON_AVOID_BORROWED_REFS +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030500A1 && PY_VERSION_HEX < 0x030d0000 + result = _PyDict_GetItem_KnownHash(__pyx_d, name, ((PyASCIIObject *) name)->hash); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } else if (unlikely(PyErr_Occurred())) { + return NULL; + } +#elif CYTHON_COMPILING_IN_LIMITED_API + if (unlikely(!__pyx_m)) { + return NULL; + } + result = PyObject_GetAttr(__pyx_m, name); + if (likely(result)) { + return result; + } +#else + result = PyDict_GetItem(__pyx_d, name); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } +#endif +#else + result = PyObject_GetItem(__pyx_d, name); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } + PyErr_Clear(); +#endif + return __Pyx_GetBuiltinName(name); +} + +/* PyFunctionFastCall */ +#if CYTHON_FAST_PYCALL && !CYTHON_VECTORCALL +static PyObject* __Pyx_PyFunction_FastCallNoKw(PyCodeObject *co, PyObject **args, Py_ssize_t na, + PyObject *globals) { + PyFrameObject *f; + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject **fastlocals; + Py_ssize_t i; + PyObject *result; + assert(globals != NULL); + /* XXX Perhaps we should create a specialized + PyFrame_New() that doesn't take locals, but does + take builtins without sanity checking them. + */ + assert(tstate != NULL); + f = PyFrame_New(tstate, co, globals, NULL); + if (f == NULL) { + return NULL; + } + fastlocals = __Pyx_PyFrame_GetLocalsplus(f); + for (i = 0; i < na; i++) { + Py_INCREF(*args); + fastlocals[i] = *args++; + } + result = PyEval_EvalFrameEx(f,0); + ++tstate->recursion_depth; + Py_DECREF(f); + --tstate->recursion_depth; + return result; +} +static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs) { + PyCodeObject *co = (PyCodeObject *)PyFunction_GET_CODE(func); + PyObject *globals = PyFunction_GET_GLOBALS(func); + PyObject *argdefs = PyFunction_GET_DEFAULTS(func); + PyObject *closure; +#if PY_MAJOR_VERSION >= 3 + PyObject *kwdefs; +#endif + PyObject *kwtuple, **k; + PyObject **d; + Py_ssize_t nd; + Py_ssize_t nk; + PyObject *result; + assert(kwargs == NULL || PyDict_Check(kwargs)); + nk = kwargs ? PyDict_Size(kwargs) : 0; + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) { + return NULL; + } + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) { + return NULL; + } + #endif + if ( +#if PY_MAJOR_VERSION >= 3 + co->co_kwonlyargcount == 0 && +#endif + likely(kwargs == NULL || nk == 0) && + co->co_flags == (CO_OPTIMIZED | CO_NEWLOCALS | CO_NOFREE)) { + if (argdefs == NULL && co->co_argcount == nargs) { + result = __Pyx_PyFunction_FastCallNoKw(co, args, nargs, globals); + goto done; + } + else if (nargs == 0 && argdefs != NULL + && co->co_argcount == Py_SIZE(argdefs)) { + /* function called with no arguments, but all parameters have + a default value: use default values as arguments .*/ + args = &PyTuple_GET_ITEM(argdefs, 0); + result =__Pyx_PyFunction_FastCallNoKw(co, args, Py_SIZE(argdefs), globals); + goto done; + } + } + if (kwargs != NULL) { + Py_ssize_t pos, i; + kwtuple = PyTuple_New(2 * nk); + if (kwtuple == NULL) { + result = NULL; + goto done; + } + k = &PyTuple_GET_ITEM(kwtuple, 0); + pos = i = 0; + while (PyDict_Next(kwargs, &pos, &k[i], &k[i+1])) { + Py_INCREF(k[i]); + Py_INCREF(k[i+1]); + i += 2; + } + nk = i / 2; + } + else { + kwtuple = NULL; + k = NULL; + } + closure = PyFunction_GET_CLOSURE(func); +#if PY_MAJOR_VERSION >= 3 + kwdefs = PyFunction_GET_KW_DEFAULTS(func); +#endif + if (argdefs != NULL) { + d = &PyTuple_GET_ITEM(argdefs, 0); + nd = Py_SIZE(argdefs); + } + else { + d = NULL; + nd = 0; + } +#if PY_MAJOR_VERSION >= 3 + result = PyEval_EvalCodeEx((PyObject*)co, globals, (PyObject *)NULL, + args, (int)nargs, + k, (int)nk, + d, (int)nd, kwdefs, closure); +#else + result = PyEval_EvalCodeEx(co, globals, (PyObject *)NULL, + args, (int)nargs, + k, (int)nk, + d, (int)nd, closure); +#endif + Py_XDECREF(kwtuple); +done: + Py_LeaveRecursiveCall(); + return result; +} +#endif + +/* PyObjectCallMethO */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg) { + PyObject *self, *result; + PyCFunction cfunc; + cfunc = __Pyx_CyOrPyCFunction_GET_FUNCTION(func); + self = __Pyx_CyOrPyCFunction_GET_SELF(func); + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) + return NULL; + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) + return NULL; + #endif + result = cfunc(self, arg); + Py_LeaveRecursiveCall(); + if (unlikely(!result) && unlikely(!PyErr_Occurred())) { + PyErr_SetString( + PyExc_SystemError, + "NULL result without error in PyObject_Call"); + } + return result; +} +#endif + +/* PyObjectFastCall */ +#if PY_VERSION_HEX < 0x03090000 || CYTHON_COMPILING_IN_LIMITED_API +static PyObject* __Pyx_PyObject_FastCall_fallback(PyObject *func, PyObject **args, size_t nargs, PyObject *kwargs) { + PyObject *argstuple; + PyObject *result = 0; + size_t i; + argstuple = PyTuple_New((Py_ssize_t)nargs); + if (unlikely(!argstuple)) return NULL; + for (i = 0; i < nargs; i++) { + Py_INCREF(args[i]); + if (__Pyx_PyTuple_SET_ITEM(argstuple, (Py_ssize_t)i, args[i]) < 0) goto bad; + } + result = __Pyx_PyObject_Call(func, argstuple, kwargs); + bad: + Py_DECREF(argstuple); + return result; +} +#endif +static CYTHON_INLINE PyObject* __Pyx_PyObject_FastCallDict(PyObject *func, PyObject **args, size_t _nargs, PyObject *kwargs) { + Py_ssize_t nargs = __Pyx_PyVectorcall_NARGS(_nargs); +#if CYTHON_COMPILING_IN_CPYTHON + if (nargs == 0 && kwargs == NULL) { + if (__Pyx_CyOrPyCFunction_Check(func) && likely( __Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_NOARGS)) + return __Pyx_PyObject_CallMethO(func, NULL); + } + else if (nargs == 1 && kwargs == NULL) { + if (__Pyx_CyOrPyCFunction_Check(func) && likely( __Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_O)) + return __Pyx_PyObject_CallMethO(func, args[0]); + } +#endif + #if PY_VERSION_HEX < 0x030800B1 + #if CYTHON_FAST_PYCCALL + if (PyCFunction_Check(func)) { + if (kwargs) { + return _PyCFunction_FastCallDict(func, args, nargs, kwargs); + } else { + return _PyCFunction_FastCallKeywords(func, args, nargs, NULL); + } + } + #if PY_VERSION_HEX >= 0x030700A1 + if (!kwargs && __Pyx_IS_TYPE(func, &PyMethodDescr_Type)) { + return _PyMethodDescr_FastCallKeywords(func, args, nargs, NULL); + } + #endif + #endif + #if CYTHON_FAST_PYCALL + if (PyFunction_Check(func)) { + return __Pyx_PyFunction_FastCallDict(func, args, nargs, kwargs); + } + #endif + #endif + if (kwargs == NULL) { + #if CYTHON_VECTORCALL + #if PY_VERSION_HEX < 0x03090000 + vectorcallfunc f = _PyVectorcall_Function(func); + #else + vectorcallfunc f = PyVectorcall_Function(func); + #endif + if (f) { + return f(func, args, (size_t)nargs, NULL); + } + #elif defined(__Pyx_CyFunction_USED) && CYTHON_BACKPORT_VECTORCALL + if (__Pyx_CyFunction_CheckExact(func)) { + __pyx_vectorcallfunc f = __Pyx_CyFunction_func_vectorcall(func); + if (f) return f(func, args, (size_t)nargs, NULL); + } + #endif + } + if (nargs == 0) { + return __Pyx_PyObject_Call(func, __pyx_empty_tuple, kwargs); + } + #if PY_VERSION_HEX >= 0x03090000 && !CYTHON_COMPILING_IN_LIMITED_API + return PyObject_VectorcallDict(func, args, (size_t)nargs, kwargs); + #else + return __Pyx_PyObject_FastCall_fallback(func, args, (size_t)nargs, kwargs); + #endif +} + +/* ExtTypeTest */ +static CYTHON_INLINE int __Pyx_TypeTest(PyObject *obj, PyTypeObject *type) { + __Pyx_TypeName obj_type_name; + __Pyx_TypeName type_name; + if (unlikely(!type)) { + PyErr_SetString(PyExc_SystemError, "Missing type object"); + return 0; + } + if (likely(__Pyx_TypeCheck(obj, type))) + return 1; + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + type_name = __Pyx_PyType_GetName(type); + PyErr_Format(PyExc_TypeError, + "Cannot convert " __Pyx_FMT_TYPENAME " to " __Pyx_FMT_TYPENAME, + obj_type_name, type_name); + __Pyx_DECREF_TypeName(obj_type_name); + __Pyx_DECREF_TypeName(type_name); + return 0; +} + +/* IsLittleEndian */ +static CYTHON_INLINE int __Pyx_Is_Little_Endian(void) +{ + union { + uint32_t u32; + uint8_t u8[4]; + } S; + S.u32 = 0x01020304; + return S.u8[0] == 4; +} + +/* BufferFormatCheck */ +static void __Pyx_BufFmt_Init(__Pyx_BufFmt_Context* ctx, + __Pyx_BufFmt_StackElem* stack, + __Pyx_TypeInfo* type) { + stack[0].field = &ctx->root; + stack[0].parent_offset = 0; + ctx->root.type = type; + ctx->root.name = "buffer dtype"; + ctx->root.offset = 0; + ctx->head = stack; + ctx->head->field = &ctx->root; + ctx->fmt_offset = 0; + ctx->head->parent_offset = 0; + ctx->new_packmode = '@'; + ctx->enc_packmode = '@'; + ctx->new_count = 1; + ctx->enc_count = 0; + ctx->enc_type = 0; + ctx->is_complex = 0; + ctx->is_valid_array = 0; + ctx->struct_alignment = 0; + while (type->typegroup == 'S') { + ++ctx->head; + ctx->head->field = type->fields; + ctx->head->parent_offset = 0; + type = type->fields->type; + } +} +static int __Pyx_BufFmt_ParseNumber(const char** ts) { + int count; + const char* t = *ts; + if (*t < '0' || *t > '9') { + return -1; + } else { + count = *t++ - '0'; + while (*t >= '0' && *t <= '9') { + count *= 10; + count += *t++ - '0'; + } + } + *ts = t; + return count; +} +static int __Pyx_BufFmt_ExpectNumber(const char **ts) { + int number = __Pyx_BufFmt_ParseNumber(ts); + if (number == -1) + PyErr_Format(PyExc_ValueError,\ + "Does not understand character buffer dtype format string ('%c')", **ts); + return number; +} +static void __Pyx_BufFmt_RaiseUnexpectedChar(char ch) { + PyErr_Format(PyExc_ValueError, + "Unexpected format string character: '%c'", ch); +} +static const char* __Pyx_BufFmt_DescribeTypeChar(char ch, int is_complex) { + switch (ch) { + case '?': return "'bool'"; + case 'c': return "'char'"; + case 'b': return "'signed char'"; + case 'B': return "'unsigned char'"; + case 'h': return "'short'"; + case 'H': return "'unsigned short'"; + case 'i': return "'int'"; + case 'I': return "'unsigned int'"; + case 'l': return "'long'"; + case 'L': return "'unsigned long'"; + case 'q': return "'long long'"; + case 'Q': return "'unsigned long long'"; + case 'f': return (is_complex ? "'complex float'" : "'float'"); + case 'd': return (is_complex ? "'complex double'" : "'double'"); + case 'g': return (is_complex ? "'complex long double'" : "'long double'"); + case 'T': return "a struct"; + case 'O': return "Python object"; + case 'P': return "a pointer"; + case 's': case 'p': return "a string"; + case 0: return "end"; + default: return "unparsable format string"; + } +} +static size_t __Pyx_BufFmt_TypeCharToStandardSize(char ch, int is_complex) { + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return 2; + case 'i': case 'I': case 'l': case 'L': return 4; + case 'q': case 'Q': return 8; + case 'f': return (is_complex ? 8 : 4); + case 'd': return (is_complex ? 16 : 8); + case 'g': { + PyErr_SetString(PyExc_ValueError, "Python does not define a standard format string size for long double ('g').."); + return 0; + } + case 'O': case 'P': return sizeof(void*); + default: + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } +} +static size_t __Pyx_BufFmt_TypeCharToNativeSize(char ch, int is_complex) { + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return sizeof(short); + case 'i': case 'I': return sizeof(int); + case 'l': case 'L': return sizeof(long); + #ifdef HAVE_LONG_LONG + case 'q': case 'Q': return sizeof(PY_LONG_LONG); + #endif + case 'f': return sizeof(float) * (is_complex ? 2 : 1); + case 'd': return sizeof(double) * (is_complex ? 2 : 1); + case 'g': return sizeof(long double) * (is_complex ? 2 : 1); + case 'O': case 'P': return sizeof(void*); + default: { + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } + } +} +typedef struct { char c; short x; } __Pyx_st_short; +typedef struct { char c; int x; } __Pyx_st_int; +typedef struct { char c; long x; } __Pyx_st_long; +typedef struct { char c; float x; } __Pyx_st_float; +typedef struct { char c; double x; } __Pyx_st_double; +typedef struct { char c; long double x; } __Pyx_st_longdouble; +typedef struct { char c; void *x; } __Pyx_st_void_p; +#ifdef HAVE_LONG_LONG +typedef struct { char c; PY_LONG_LONG x; } __Pyx_st_longlong; +#endif +static size_t __Pyx_BufFmt_TypeCharToAlignment(char ch, int is_complex) { + CYTHON_UNUSED_VAR(is_complex); + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return sizeof(__Pyx_st_short) - sizeof(short); + case 'i': case 'I': return sizeof(__Pyx_st_int) - sizeof(int); + case 'l': case 'L': return sizeof(__Pyx_st_long) - sizeof(long); +#ifdef HAVE_LONG_LONG + case 'q': case 'Q': return sizeof(__Pyx_st_longlong) - sizeof(PY_LONG_LONG); +#endif + case 'f': return sizeof(__Pyx_st_float) - sizeof(float); + case 'd': return sizeof(__Pyx_st_double) - sizeof(double); + case 'g': return sizeof(__Pyx_st_longdouble) - sizeof(long double); + case 'P': case 'O': return sizeof(__Pyx_st_void_p) - sizeof(void*); + default: + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } +} +/* These are for computing the padding at the end of the struct to align + on the first member of the struct. This will probably the same as above, + but we don't have any guarantees. + */ +typedef struct { short x; char c; } __Pyx_pad_short; +typedef struct { int x; char c; } __Pyx_pad_int; +typedef struct { long x; char c; } __Pyx_pad_long; +typedef struct { float x; char c; } __Pyx_pad_float; +typedef struct { double x; char c; } __Pyx_pad_double; +typedef struct { long double x; char c; } __Pyx_pad_longdouble; +typedef struct { void *x; char c; } __Pyx_pad_void_p; +#ifdef HAVE_LONG_LONG +typedef struct { PY_LONG_LONG x; char c; } __Pyx_pad_longlong; +#endif +static size_t __Pyx_BufFmt_TypeCharToPadding(char ch, int is_complex) { + CYTHON_UNUSED_VAR(is_complex); + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return sizeof(__Pyx_pad_short) - sizeof(short); + case 'i': case 'I': return sizeof(__Pyx_pad_int) - sizeof(int); + case 'l': case 'L': return sizeof(__Pyx_pad_long) - sizeof(long); +#ifdef HAVE_LONG_LONG + case 'q': case 'Q': return sizeof(__Pyx_pad_longlong) - sizeof(PY_LONG_LONG); +#endif + case 'f': return sizeof(__Pyx_pad_float) - sizeof(float); + case 'd': return sizeof(__Pyx_pad_double) - sizeof(double); + case 'g': return sizeof(__Pyx_pad_longdouble) - sizeof(long double); + case 'P': case 'O': return sizeof(__Pyx_pad_void_p) - sizeof(void*); + default: + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } +} +static char __Pyx_BufFmt_TypeCharToGroup(char ch, int is_complex) { + switch (ch) { + case 'c': + return 'H'; + case 'b': case 'h': case 'i': + case 'l': case 'q': case 's': case 'p': + return 'I'; + case '?': case 'B': case 'H': case 'I': case 'L': case 'Q': + return 'U'; + case 'f': case 'd': case 'g': + return (is_complex ? 'C' : 'R'); + case 'O': + return 'O'; + case 'P': + return 'P'; + default: { + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } + } +} +static void __Pyx_BufFmt_RaiseExpected(__Pyx_BufFmt_Context* ctx) { + if (ctx->head == NULL || ctx->head->field == &ctx->root) { + const char* expected; + const char* quote; + if (ctx->head == NULL) { + expected = "end"; + quote = ""; + } else { + expected = ctx->head->field->type->name; + quote = "'"; + } + PyErr_Format(PyExc_ValueError, + "Buffer dtype mismatch, expected %s%s%s but got %s", + quote, expected, quote, + __Pyx_BufFmt_DescribeTypeChar(ctx->enc_type, ctx->is_complex)); + } else { + __Pyx_StructField* field = ctx->head->field; + __Pyx_StructField* parent = (ctx->head - 1)->field; + PyErr_Format(PyExc_ValueError, + "Buffer dtype mismatch, expected '%s' but got %s in '%s.%s'", + field->type->name, __Pyx_BufFmt_DescribeTypeChar(ctx->enc_type, ctx->is_complex), + parent->type->name, field->name); + } +} +static int __Pyx_BufFmt_ProcessTypeChunk(__Pyx_BufFmt_Context* ctx) { + char group; + size_t size, offset, arraysize = 1; + if (ctx->enc_type == 0) return 0; + if (ctx->head->field->type->arraysize[0]) { + int i, ndim = 0; + if (ctx->enc_type == 's' || ctx->enc_type == 'p') { + ctx->is_valid_array = ctx->head->field->type->ndim == 1; + ndim = 1; + if (ctx->enc_count != ctx->head->field->type->arraysize[0]) { + PyErr_Format(PyExc_ValueError, + "Expected a dimension of size %zu, got %zu", + ctx->head->field->type->arraysize[0], ctx->enc_count); + return -1; + } + } + if (!ctx->is_valid_array) { + PyErr_Format(PyExc_ValueError, "Expected %d dimensions, got %d", + ctx->head->field->type->ndim, ndim); + return -1; + } + for (i = 0; i < ctx->head->field->type->ndim; i++) { + arraysize *= ctx->head->field->type->arraysize[i]; + } + ctx->is_valid_array = 0; + ctx->enc_count = 1; + } + group = __Pyx_BufFmt_TypeCharToGroup(ctx->enc_type, ctx->is_complex); + do { + __Pyx_StructField* field = ctx->head->field; + __Pyx_TypeInfo* type = field->type; + if (ctx->enc_packmode == '@' || ctx->enc_packmode == '^') { + size = __Pyx_BufFmt_TypeCharToNativeSize(ctx->enc_type, ctx->is_complex); + } else { + size = __Pyx_BufFmt_TypeCharToStandardSize(ctx->enc_type, ctx->is_complex); + } + if (ctx->enc_packmode == '@') { + size_t align_at = __Pyx_BufFmt_TypeCharToAlignment(ctx->enc_type, ctx->is_complex); + size_t align_mod_offset; + if (align_at == 0) return -1; + align_mod_offset = ctx->fmt_offset % align_at; + if (align_mod_offset > 0) ctx->fmt_offset += align_at - align_mod_offset; + if (ctx->struct_alignment == 0) + ctx->struct_alignment = __Pyx_BufFmt_TypeCharToPadding(ctx->enc_type, + ctx->is_complex); + } + if (type->size != size || type->typegroup != group) { + if (type->typegroup == 'C' && type->fields != NULL) { + size_t parent_offset = ctx->head->parent_offset + field->offset; + ++ctx->head; + ctx->head->field = type->fields; + ctx->head->parent_offset = parent_offset; + continue; + } + if ((type->typegroup == 'H' || group == 'H') && type->size == size) { + } else { + __Pyx_BufFmt_RaiseExpected(ctx); + return -1; + } + } + offset = ctx->head->parent_offset + field->offset; + if (ctx->fmt_offset != offset) { + PyErr_Format(PyExc_ValueError, + "Buffer dtype mismatch; next field is at offset %" CYTHON_FORMAT_SSIZE_T "d but %" CYTHON_FORMAT_SSIZE_T "d expected", + (Py_ssize_t)ctx->fmt_offset, (Py_ssize_t)offset); + return -1; + } + ctx->fmt_offset += size; + if (arraysize) + ctx->fmt_offset += (arraysize - 1) * size; + --ctx->enc_count; + while (1) { + if (field == &ctx->root) { + ctx->head = NULL; + if (ctx->enc_count != 0) { + __Pyx_BufFmt_RaiseExpected(ctx); + return -1; + } + break; + } + ctx->head->field = ++field; + if (field->type == NULL) { + --ctx->head; + field = ctx->head->field; + continue; + } else if (field->type->typegroup == 'S') { + size_t parent_offset = ctx->head->parent_offset + field->offset; + if (field->type->fields->type == NULL) continue; + field = field->type->fields; + ++ctx->head; + ctx->head->field = field; + ctx->head->parent_offset = parent_offset; + break; + } else { + break; + } + } + } while (ctx->enc_count); + ctx->enc_type = 0; + ctx->is_complex = 0; + return 0; +} +static int +__pyx_buffmt_parse_array(__Pyx_BufFmt_Context* ctx, const char** tsp) +{ + const char *ts = *tsp; + int i = 0, number, ndim; + ++ts; + if (ctx->new_count != 1) { + PyErr_SetString(PyExc_ValueError, + "Cannot handle repeated arrays in format string"); + return -1; + } + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return -1; + ndim = ctx->head->field->type->ndim; + while (*ts && *ts != ')') { + switch (*ts) { + case ' ': case '\f': case '\r': case '\n': case '\t': case '\v': continue; + default: break; + } + number = __Pyx_BufFmt_ExpectNumber(&ts); + if (number == -1) return -1; + if (i < ndim && (size_t) number != ctx->head->field->type->arraysize[i]) { + PyErr_Format(PyExc_ValueError, + "Expected a dimension of size %zu, got %d", + ctx->head->field->type->arraysize[i], number); + return -1; + } + if (*ts != ',' && *ts != ')') { + PyErr_Format(PyExc_ValueError, + "Expected a comma in format string, got '%c'", *ts); + return -1; + } + if (*ts == ',') ts++; + i++; + } + if (i != ndim) { + PyErr_Format(PyExc_ValueError, "Expected %d dimension(s), got %d", + ctx->head->field->type->ndim, i); + return -1; + } + if (!*ts) { + PyErr_SetString(PyExc_ValueError, + "Unexpected end of format string, expected ')'"); + return -1; + } + ctx->is_valid_array = 1; + ctx->new_count = 1; + *tsp = ++ts; + return 0; +} +static const char* __Pyx_BufFmt_CheckString(__Pyx_BufFmt_Context* ctx, const char* ts) { + int got_Z = 0; + while (1) { + switch(*ts) { + case 0: + if (ctx->enc_type != 0 && ctx->head == NULL) { + __Pyx_BufFmt_RaiseExpected(ctx); + return NULL; + } + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + if (ctx->head != NULL) { + __Pyx_BufFmt_RaiseExpected(ctx); + return NULL; + } + return ts; + case ' ': + case '\r': + case '\n': + ++ts; + break; + case '<': + if (!__Pyx_Is_Little_Endian()) { + PyErr_SetString(PyExc_ValueError, "Little-endian buffer not supported on big-endian compiler"); + return NULL; + } + ctx->new_packmode = '='; + ++ts; + break; + case '>': + case '!': + if (__Pyx_Is_Little_Endian()) { + PyErr_SetString(PyExc_ValueError, "Big-endian buffer not supported on little-endian compiler"); + return NULL; + } + ctx->new_packmode = '='; + ++ts; + break; + case '=': + case '@': + case '^': + ctx->new_packmode = *ts++; + break; + case 'T': + { + const char* ts_after_sub; + size_t i, struct_count = ctx->new_count; + size_t struct_alignment = ctx->struct_alignment; + ctx->new_count = 1; + ++ts; + if (*ts != '{') { + PyErr_SetString(PyExc_ValueError, "Buffer acquisition: Expected '{' after 'T'"); + return NULL; + } + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->enc_type = 0; + ctx->enc_count = 0; + ctx->struct_alignment = 0; + ++ts; + ts_after_sub = ts; + for (i = 0; i != struct_count; ++i) { + ts_after_sub = __Pyx_BufFmt_CheckString(ctx, ts); + if (!ts_after_sub) return NULL; + } + ts = ts_after_sub; + if (struct_alignment) ctx->struct_alignment = struct_alignment; + } + break; + case '}': + { + size_t alignment = ctx->struct_alignment; + ++ts; + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->enc_type = 0; + if (alignment && ctx->fmt_offset % alignment) { + ctx->fmt_offset += alignment - (ctx->fmt_offset % alignment); + } + } + return ts; + case 'x': + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->fmt_offset += ctx->new_count; + ctx->new_count = 1; + ctx->enc_count = 0; + ctx->enc_type = 0; + ctx->enc_packmode = ctx->new_packmode; + ++ts; + break; + case 'Z': + got_Z = 1; + ++ts; + if (*ts != 'f' && *ts != 'd' && *ts != 'g') { + __Pyx_BufFmt_RaiseUnexpectedChar('Z'); + return NULL; + } + CYTHON_FALLTHROUGH; + case '?': case 'c': case 'b': case 'B': case 'h': case 'H': case 'i': case 'I': + case 'l': case 'L': case 'q': case 'Q': + case 'f': case 'd': case 'g': + case 'O': case 'p': + if ((ctx->enc_type == *ts) && (got_Z == ctx->is_complex) && + (ctx->enc_packmode == ctx->new_packmode) && (!ctx->is_valid_array)) { + ctx->enc_count += ctx->new_count; + ctx->new_count = 1; + got_Z = 0; + ++ts; + break; + } + CYTHON_FALLTHROUGH; + case 's': + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->enc_count = ctx->new_count; + ctx->enc_packmode = ctx->new_packmode; + ctx->enc_type = *ts; + ctx->is_complex = got_Z; + ++ts; + ctx->new_count = 1; + got_Z = 0; + break; + case ':': + ++ts; + while(*ts != ':') ++ts; + ++ts; + break; + case '(': + if (__pyx_buffmt_parse_array(ctx, &ts) < 0) return NULL; + break; + default: + { + int number = __Pyx_BufFmt_ExpectNumber(&ts); + if (number == -1) return NULL; + ctx->new_count = (size_t)number; + } + } + } +} + +/* BufferGetAndValidate */ + static CYTHON_INLINE void __Pyx_SafeReleaseBuffer(Py_buffer* info) { + if (unlikely(info->buf == NULL)) return; + if (info->suboffsets == __Pyx_minusones) info->suboffsets = NULL; + __Pyx_ReleaseBuffer(info); +} +static void __Pyx_ZeroBuffer(Py_buffer* buf) { + buf->buf = NULL; + buf->obj = NULL; + buf->strides = __Pyx_zeros; + buf->shape = __Pyx_zeros; + buf->suboffsets = __Pyx_minusones; +} +static int __Pyx__GetBufferAndValidate( + Py_buffer* buf, PyObject* obj, __Pyx_TypeInfo* dtype, int flags, + int nd, int cast, __Pyx_BufFmt_StackElem* stack) +{ + buf->buf = NULL; + if (unlikely(__Pyx_GetBuffer(obj, buf, flags) == -1)) { + __Pyx_ZeroBuffer(buf); + return -1; + } + if (unlikely(buf->ndim != nd)) { + PyErr_Format(PyExc_ValueError, + "Buffer has wrong number of dimensions (expected %d, got %d)", + nd, buf->ndim); + goto fail; + } + if (!cast) { + __Pyx_BufFmt_Context ctx; + __Pyx_BufFmt_Init(&ctx, stack, dtype); + if (!__Pyx_BufFmt_CheckString(&ctx, buf->format)) goto fail; + } + if (unlikely((size_t)buf->itemsize != dtype->size)) { + PyErr_Format(PyExc_ValueError, + "Item size of buffer (%" CYTHON_FORMAT_SSIZE_T "d byte%s) does not match size of '%s' (%" CYTHON_FORMAT_SSIZE_T "d byte%s)", + buf->itemsize, (buf->itemsize > 1) ? "s" : "", + dtype->name, (Py_ssize_t)dtype->size, (dtype->size > 1) ? "s" : ""); + goto fail; + } + if (buf->suboffsets == NULL) buf->suboffsets = __Pyx_minusones; + return 0; +fail:; + __Pyx_SafeReleaseBuffer(buf); + return -1; +} + +/* GetItemInt */ + static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j) { + PyObject *r; + if (unlikely(!j)) return NULL; + r = PyObject_GetItem(o, j); + Py_DECREF(j); + return r; +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + Py_ssize_t wrapped_i = i; + if (wraparound & unlikely(i < 0)) { + wrapped_i += PyList_GET_SIZE(o); + } + if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyList_GET_SIZE(o)))) { + PyObject *r = PyList_GET_ITEM(o, wrapped_i); + Py_INCREF(r); + return r; + } + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +#else + return PySequence_GetItem(o, i); +#endif +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + Py_ssize_t wrapped_i = i; + if (wraparound & unlikely(i < 0)) { + wrapped_i += PyTuple_GET_SIZE(o); + } + if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyTuple_GET_SIZE(o)))) { + PyObject *r = PyTuple_GET_ITEM(o, wrapped_i); + Py_INCREF(r); + return r; + } + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +#else + return PySequence_GetItem(o, i); +#endif +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, int is_list, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS && CYTHON_USE_TYPE_SLOTS + if (is_list || PyList_CheckExact(o)) { + Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyList_GET_SIZE(o); + if ((!boundscheck) || (likely(__Pyx_is_valid_index(n, PyList_GET_SIZE(o))))) { + PyObject *r = PyList_GET_ITEM(o, n); + Py_INCREF(r); + return r; + } + } + else if (PyTuple_CheckExact(o)) { + Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyTuple_GET_SIZE(o); + if ((!boundscheck) || likely(__Pyx_is_valid_index(n, PyTuple_GET_SIZE(o)))) { + PyObject *r = PyTuple_GET_ITEM(o, n); + Py_INCREF(r); + return r; + } + } else { + PyMappingMethods *mm = Py_TYPE(o)->tp_as_mapping; + PySequenceMethods *sm = Py_TYPE(o)->tp_as_sequence; + if (mm && mm->mp_subscript) { + PyObject *r, *key = PyInt_FromSsize_t(i); + if (unlikely(!key)) return NULL; + r = mm->mp_subscript(o, key); + Py_DECREF(key); + return r; + } + if (likely(sm && sm->sq_item)) { + if (wraparound && unlikely(i < 0) && likely(sm->sq_length)) { + Py_ssize_t l = sm->sq_length(o); + if (likely(l >= 0)) { + i += l; + } else { + if (!PyErr_ExceptionMatches(PyExc_OverflowError)) + return NULL; + PyErr_Clear(); + } + } + return sm->sq_item(o, i); + } + } +#else + if (is_list || !PyMapping_Check(o)) { + return PySequence_GetItem(o, i); + } +#endif + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +} + +/* TupleAndListFromArray */ + #if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE void __Pyx_copy_object_array(PyObject *const *CYTHON_RESTRICT src, PyObject** CYTHON_RESTRICT dest, Py_ssize_t length) { + PyObject *v; + Py_ssize_t i; + for (i = 0; i < length; i++) { + v = dest[i] = src[i]; + Py_INCREF(v); + } +} +static CYTHON_INLINE PyObject * +__Pyx_PyTuple_FromArray(PyObject *const *src, Py_ssize_t n) +{ + PyObject *res; + if (n <= 0) { + Py_INCREF(__pyx_empty_tuple); + return __pyx_empty_tuple; + } + res = PyTuple_New(n); + if (unlikely(res == NULL)) return NULL; + __Pyx_copy_object_array(src, ((PyTupleObject*)res)->ob_item, n); + return res; +} +static CYTHON_INLINE PyObject * +__Pyx_PyList_FromArray(PyObject *const *src, Py_ssize_t n) +{ + PyObject *res; + if (n <= 0) { + return PyList_New(0); + } + res = PyList_New(n); + if (unlikely(res == NULL)) return NULL; + __Pyx_copy_object_array(src, ((PyListObject*)res)->ob_item, n); + return res; +} +#endif + +/* BytesEquals */ + static CYTHON_INLINE int __Pyx_PyBytes_Equals(PyObject* s1, PyObject* s2, int equals) { +#if CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API + return PyObject_RichCompareBool(s1, s2, equals); +#else + if (s1 == s2) { + return (equals == Py_EQ); + } else if (PyBytes_CheckExact(s1) & PyBytes_CheckExact(s2)) { + const char *ps1, *ps2; + Py_ssize_t length = PyBytes_GET_SIZE(s1); + if (length != PyBytes_GET_SIZE(s2)) + return (equals == Py_NE); + ps1 = PyBytes_AS_STRING(s1); + ps2 = PyBytes_AS_STRING(s2); + if (ps1[0] != ps2[0]) { + return (equals == Py_NE); + } else if (length == 1) { + return (equals == Py_EQ); + } else { + int result; +#if CYTHON_USE_UNICODE_INTERNALS && (PY_VERSION_HEX < 0x030B0000) + Py_hash_t hash1, hash2; + hash1 = ((PyBytesObject*)s1)->ob_shash; + hash2 = ((PyBytesObject*)s2)->ob_shash; + if (hash1 != hash2 && hash1 != -1 && hash2 != -1) { + return (equals == Py_NE); + } +#endif + result = memcmp(ps1, ps2, (size_t)length); + return (equals == Py_EQ) ? (result == 0) : (result != 0); + } + } else if ((s1 == Py_None) & PyBytes_CheckExact(s2)) { + return (equals == Py_NE); + } else if ((s2 == Py_None) & PyBytes_CheckExact(s1)) { + return (equals == Py_NE); + } else { + int result; + PyObject* py_result = PyObject_RichCompare(s1, s2, equals); + if (!py_result) + return -1; + result = __Pyx_PyObject_IsTrue(py_result); + Py_DECREF(py_result); + return result; + } +#endif +} + +/* UnicodeEquals */ + static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int equals) { +#if CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API + return PyObject_RichCompareBool(s1, s2, equals); +#else +#if PY_MAJOR_VERSION < 3 + PyObject* owned_ref = NULL; +#endif + int s1_is_unicode, s2_is_unicode; + if (s1 == s2) { + goto return_eq; + } + s1_is_unicode = PyUnicode_CheckExact(s1); + s2_is_unicode = PyUnicode_CheckExact(s2); +#if PY_MAJOR_VERSION < 3 + if ((s1_is_unicode & (!s2_is_unicode)) && PyString_CheckExact(s2)) { + owned_ref = PyUnicode_FromObject(s2); + if (unlikely(!owned_ref)) + return -1; + s2 = owned_ref; + s2_is_unicode = 1; + } else if ((s2_is_unicode & (!s1_is_unicode)) && PyString_CheckExact(s1)) { + owned_ref = PyUnicode_FromObject(s1); + if (unlikely(!owned_ref)) + return -1; + s1 = owned_ref; + s1_is_unicode = 1; + } else if (((!s2_is_unicode) & (!s1_is_unicode))) { + return __Pyx_PyBytes_Equals(s1, s2, equals); + } +#endif + if (s1_is_unicode & s2_is_unicode) { + Py_ssize_t length; + int kind; + void *data1, *data2; + if (unlikely(__Pyx_PyUnicode_READY(s1) < 0) || unlikely(__Pyx_PyUnicode_READY(s2) < 0)) + return -1; + length = __Pyx_PyUnicode_GET_LENGTH(s1); + if (length != __Pyx_PyUnicode_GET_LENGTH(s2)) { + goto return_ne; + } +#if CYTHON_USE_UNICODE_INTERNALS + { + Py_hash_t hash1, hash2; + #if CYTHON_PEP393_ENABLED + hash1 = ((PyASCIIObject*)s1)->hash; + hash2 = ((PyASCIIObject*)s2)->hash; + #else + hash1 = ((PyUnicodeObject*)s1)->hash; + hash2 = ((PyUnicodeObject*)s2)->hash; + #endif + if (hash1 != hash2 && hash1 != -1 && hash2 != -1) { + goto return_ne; + } + } +#endif + kind = __Pyx_PyUnicode_KIND(s1); + if (kind != __Pyx_PyUnicode_KIND(s2)) { + goto return_ne; + } + data1 = __Pyx_PyUnicode_DATA(s1); + data2 = __Pyx_PyUnicode_DATA(s2); + if (__Pyx_PyUnicode_READ(kind, data1, 0) != __Pyx_PyUnicode_READ(kind, data2, 0)) { + goto return_ne; + } else if (length == 1) { + goto return_eq; + } else { + int result = memcmp(data1, data2, (size_t)(length * kind)); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_EQ) ? (result == 0) : (result != 0); + } + } else if ((s1 == Py_None) & s2_is_unicode) { + goto return_ne; + } else if ((s2 == Py_None) & s1_is_unicode) { + goto return_ne; + } else { + int result; + PyObject* py_result = PyObject_RichCompare(s1, s2, equals); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + if (!py_result) + return -1; + result = __Pyx_PyObject_IsTrue(py_result); + Py_DECREF(py_result); + return result; + } +return_eq: + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_EQ); +return_ne: + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_NE); +#endif +} + +/* fastcall */ + #if CYTHON_METH_FASTCALL +static CYTHON_INLINE PyObject * __Pyx_GetKwValue_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues, PyObject *s) +{ + Py_ssize_t i, n = PyTuple_GET_SIZE(kwnames); + for (i = 0; i < n; i++) + { + if (s == PyTuple_GET_ITEM(kwnames, i)) return kwvalues[i]; + } + for (i = 0; i < n; i++) + { + int eq = __Pyx_PyUnicode_Equals(s, PyTuple_GET_ITEM(kwnames, i), Py_EQ); + if (unlikely(eq != 0)) { + if (unlikely(eq < 0)) return NULL; + return kwvalues[i]; + } + } + return NULL; +} +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 +CYTHON_UNUSED static PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues) { + Py_ssize_t i, nkwargs = PyTuple_GET_SIZE(kwnames); + PyObject *dict; + dict = PyDict_New(); + if (unlikely(!dict)) + return NULL; + for (i=0; i= 3 + "%s() got multiple values for keyword argument '%U'", func_name, kw_name); + #else + "%s() got multiple values for keyword argument '%s'", func_name, + PyString_AsString(kw_name)); + #endif +} + +/* ParseKeywords */ + static int __Pyx_ParseOptionalKeywords( + PyObject *kwds, + PyObject *const *kwvalues, + PyObject **argnames[], + PyObject *kwds2, + PyObject *values[], + Py_ssize_t num_pos_args, + const char* function_name) +{ + PyObject *key = 0, *value = 0; + Py_ssize_t pos = 0; + PyObject*** name; + PyObject*** first_kw_arg = argnames + num_pos_args; + int kwds_is_tuple = CYTHON_METH_FASTCALL && likely(PyTuple_Check(kwds)); + while (1) { + Py_XDECREF(key); key = NULL; + Py_XDECREF(value); value = NULL; + if (kwds_is_tuple) { + Py_ssize_t size; +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(kwds); +#else + size = PyTuple_Size(kwds); + if (size < 0) goto bad; +#endif + if (pos >= size) break; +#if CYTHON_AVOID_BORROWED_REFS + key = __Pyx_PySequence_ITEM(kwds, pos); + if (!key) goto bad; +#elif CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kwds, pos); +#else + key = PyTuple_GetItem(kwds, pos); + if (!key) goto bad; +#endif + value = kwvalues[pos]; + pos++; + } + else + { + if (!PyDict_Next(kwds, &pos, &key, &value)) break; +#if CYTHON_AVOID_BORROWED_REFS + Py_INCREF(key); +#endif + } + name = first_kw_arg; + while (*name && (**name != key)) name++; + if (*name) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + Py_INCREF(value); + Py_DECREF(key); +#endif + key = NULL; + value = NULL; + continue; + } +#if !CYTHON_AVOID_BORROWED_REFS + Py_INCREF(key); +#endif + Py_INCREF(value); + name = first_kw_arg; + #if PY_MAJOR_VERSION < 3 + if (likely(PyString_Check(key))) { + while (*name) { + if ((CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**name) == PyString_GET_SIZE(key)) + && _PyString_Eq(**name, key)) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + value = NULL; +#endif + break; + } + name++; + } + if (*name) continue; + else { + PyObject*** argname = argnames; + while (argname != first_kw_arg) { + if ((**argname == key) || ( + (CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**argname) == PyString_GET_SIZE(key)) + && _PyString_Eq(**argname, key))) { + goto arg_passed_twice; + } + argname++; + } + } + } else + #endif + if (likely(PyUnicode_Check(key))) { + while (*name) { + int cmp = ( + #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 + (__Pyx_PyUnicode_GET_LENGTH(**name) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : + #endif + PyUnicode_Compare(**name, key) + ); + if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; + if (cmp == 0) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + value = NULL; +#endif + break; + } + name++; + } + if (*name) continue; + else { + PyObject*** argname = argnames; + while (argname != first_kw_arg) { + int cmp = (**argname == key) ? 0 : + #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 + (__Pyx_PyUnicode_GET_LENGTH(**argname) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : + #endif + PyUnicode_Compare(**argname, key); + if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; + if (cmp == 0) goto arg_passed_twice; + argname++; + } + } + } else + goto invalid_keyword_type; + if (kwds2) { + if (unlikely(PyDict_SetItem(kwds2, key, value))) goto bad; + } else { + goto invalid_keyword; + } + } + Py_XDECREF(key); + Py_XDECREF(value); + return 0; +arg_passed_twice: + __Pyx_RaiseDoubleKeywordsError(function_name, key); + goto bad; +invalid_keyword_type: + PyErr_Format(PyExc_TypeError, + "%.200s() keywords must be strings", function_name); + goto bad; +invalid_keyword: + #if PY_MAJOR_VERSION < 3 + PyErr_Format(PyExc_TypeError, + "%.200s() got an unexpected keyword argument '%.200s'", + function_name, PyString_AsString(key)); + #else + PyErr_Format(PyExc_TypeError, + "%s() got an unexpected keyword argument '%U'", + function_name, key); + #endif +bad: + Py_XDECREF(key); + Py_XDECREF(value); + return -1; +} + +/* RaiseArgTupleInvalid */ + static void __Pyx_RaiseArgtupleInvalid( + const char* func_name, + int exact, + Py_ssize_t num_min, + Py_ssize_t num_max, + Py_ssize_t num_found) +{ + Py_ssize_t num_expected; + const char *more_or_less; + if (num_found < num_min) { + num_expected = num_min; + more_or_less = "at least"; + } else { + num_expected = num_max; + more_or_less = "at most"; + } + if (exact) { + more_or_less = "exactly"; + } + PyErr_Format(PyExc_TypeError, + "%.200s() takes %.8s %" CYTHON_FORMAT_SSIZE_T "d positional argument%.1s (%" CYTHON_FORMAT_SSIZE_T "d given)", + func_name, more_or_less, num_expected, + (num_expected == 1) ? "" : "s", num_found); +} + +/* KeywordStringCheck */ + static int __Pyx_CheckKeywordStrings( + PyObject *kw, + const char* function_name, + int kw_allowed) +{ + PyObject* key = 0; + Py_ssize_t pos = 0; +#if CYTHON_COMPILING_IN_PYPY + if (!kw_allowed && PyDict_Next(kw, &pos, &key, 0)) + goto invalid_keyword; + return 1; +#else + if (CYTHON_METH_FASTCALL && likely(PyTuple_Check(kw))) { + Py_ssize_t kwsize; +#if CYTHON_ASSUME_SAFE_MACROS + kwsize = PyTuple_GET_SIZE(kw); +#else + kwsize = PyTuple_Size(kw); + if (kwsize < 0) return 0; +#endif + if (unlikely(kwsize == 0)) + return 1; + if (!kw_allowed) { +#if CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kw, 0); +#else + key = PyTuple_GetItem(kw, pos); + if (!key) return 0; +#endif + goto invalid_keyword; + } +#if PY_VERSION_HEX < 0x03090000 + for (pos = 0; pos < kwsize; pos++) { +#if CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kw, pos); +#else + key = PyTuple_GetItem(kw, pos); + if (!key) return 0; +#endif + if (unlikely(!PyUnicode_Check(key))) + goto invalid_keyword_type; + } +#endif + return 1; + } + while (PyDict_Next(kw, &pos, &key, 0)) { + #if PY_MAJOR_VERSION < 3 + if (unlikely(!PyString_Check(key))) + #endif + if (unlikely(!PyUnicode_Check(key))) + goto invalid_keyword_type; + } + if (!kw_allowed && unlikely(key)) + goto invalid_keyword; + return 1; +invalid_keyword_type: + PyErr_Format(PyExc_TypeError, + "%.200s() keywords must be strings", function_name); + return 0; +#endif +invalid_keyword: + #if PY_MAJOR_VERSION < 3 + PyErr_Format(PyExc_TypeError, + "%.200s() got an unexpected keyword argument '%.200s'", + function_name, PyString_AsString(key)); + #else + PyErr_Format(PyExc_TypeError, + "%s() got an unexpected keyword argument '%U'", + function_name, key); + #endif + return 0; +} + +/* FixUpExtensionType */ + #if CYTHON_USE_TYPE_SPECS +static int __Pyx_fix_up_extension_type_from_spec(PyType_Spec *spec, PyTypeObject *type) { +#if PY_VERSION_HEX > 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + CYTHON_UNUSED_VAR(spec); + CYTHON_UNUSED_VAR(type); +#else + const PyType_Slot *slot = spec->slots; + while (slot && slot->slot && slot->slot != Py_tp_members) + slot++; + if (slot && slot->slot == Py_tp_members) { + int changed = 0; +#if !(PY_VERSION_HEX <= 0x030900b1 && CYTHON_COMPILING_IN_CPYTHON) + const +#endif + PyMemberDef *memb = (PyMemberDef*) slot->pfunc; + while (memb && memb->name) { + if (memb->name[0] == '_' && memb->name[1] == '_') { +#if PY_VERSION_HEX < 0x030900b1 + if (strcmp(memb->name, "__weaklistoffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); + type->tp_weaklistoffset = memb->offset; + changed = 1; + } + else if (strcmp(memb->name, "__dictoffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); + type->tp_dictoffset = memb->offset; + changed = 1; + } +#if CYTHON_METH_FASTCALL + else if (strcmp(memb->name, "__vectorcalloffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); +#if PY_VERSION_HEX >= 0x030800b4 + type->tp_vectorcall_offset = memb->offset; +#else + type->tp_print = (printfunc) memb->offset; +#endif + changed = 1; + } +#endif +#else + if ((0)); +#endif +#if PY_VERSION_HEX <= 0x030900b1 && CYTHON_COMPILING_IN_CPYTHON + else if (strcmp(memb->name, "__module__") == 0) { + PyObject *descr; + assert(memb->type == T_OBJECT); + assert(memb->flags == 0 || memb->flags == READONLY); + descr = PyDescr_NewMember(type, memb); + if (unlikely(!descr)) + return -1; + if (unlikely(PyDict_SetItem(type->tp_dict, PyDescr_NAME(descr), descr) < 0)) { + Py_DECREF(descr); + return -1; + } + Py_DECREF(descr); + changed = 1; + } +#endif + } + memb++; + } + if (changed) + PyType_Modified(type); + } +#endif + return 0; +} +#endif + +/* PyObjectCallNoArg */ + static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func) { + PyObject *arg[2] = {NULL, NULL}; + return __Pyx_PyObject_FastCall(func, arg + 1, 0 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET); +} + +/* PyObjectCallOneArg */ + static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg) { + PyObject *args[2] = {NULL, arg}; + return __Pyx_PyObject_FastCall(func, args+1, 1 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET); +} + +/* PyObjectGetMethod */ + static int __Pyx_PyObject_GetMethod(PyObject *obj, PyObject *name, PyObject **method) { + PyObject *attr; +#if CYTHON_UNPACK_METHODS && CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_PYTYPE_LOOKUP + __Pyx_TypeName type_name; + PyTypeObject *tp = Py_TYPE(obj); + PyObject *descr; + descrgetfunc f = NULL; + PyObject **dictptr, *dict; + int meth_found = 0; + assert (*method == NULL); + if (unlikely(tp->tp_getattro != PyObject_GenericGetAttr)) { + attr = __Pyx_PyObject_GetAttrStr(obj, name); + goto try_unpack; + } + if (unlikely(tp->tp_dict == NULL) && unlikely(PyType_Ready(tp) < 0)) { + return 0; + } + descr = _PyType_Lookup(tp, name); + if (likely(descr != NULL)) { + Py_INCREF(descr); +#if defined(Py_TPFLAGS_METHOD_DESCRIPTOR) && Py_TPFLAGS_METHOD_DESCRIPTOR + if (__Pyx_PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_METHOD_DESCRIPTOR)) +#elif PY_MAJOR_VERSION >= 3 + #ifdef __Pyx_CyFunction_USED + if (likely(PyFunction_Check(descr) || __Pyx_IS_TYPE(descr, &PyMethodDescr_Type) || __Pyx_CyFunction_Check(descr))) + #else + if (likely(PyFunction_Check(descr) || __Pyx_IS_TYPE(descr, &PyMethodDescr_Type))) + #endif +#else + #ifdef __Pyx_CyFunction_USED + if (likely(PyFunction_Check(descr) || __Pyx_CyFunction_Check(descr))) + #else + if (likely(PyFunction_Check(descr))) + #endif +#endif + { + meth_found = 1; + } else { + f = Py_TYPE(descr)->tp_descr_get; + if (f != NULL && PyDescr_IsData(descr)) { + attr = f(descr, obj, (PyObject *)Py_TYPE(obj)); + Py_DECREF(descr); + goto try_unpack; + } + } + } + dictptr = _PyObject_GetDictPtr(obj); + if (dictptr != NULL && (dict = *dictptr) != NULL) { + Py_INCREF(dict); + attr = __Pyx_PyDict_GetItemStr(dict, name); + if (attr != NULL) { + Py_INCREF(attr); + Py_DECREF(dict); + Py_XDECREF(descr); + goto try_unpack; + } + Py_DECREF(dict); + } + if (meth_found) { + *method = descr; + return 1; + } + if (f != NULL) { + attr = f(descr, obj, (PyObject *)Py_TYPE(obj)); + Py_DECREF(descr); + goto try_unpack; + } + if (likely(descr != NULL)) { + *method = descr; + return 0; + } + type_name = __Pyx_PyType_GetName(tp); + PyErr_Format(PyExc_AttributeError, +#if PY_MAJOR_VERSION >= 3 + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%U'", + type_name, name); +#else + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%.400s'", + type_name, PyString_AS_STRING(name)); +#endif + __Pyx_DECREF_TypeName(type_name); + return 0; +#else + attr = __Pyx_PyObject_GetAttrStr(obj, name); + goto try_unpack; +#endif +try_unpack: +#if CYTHON_UNPACK_METHODS + if (likely(attr) && PyMethod_Check(attr) && likely(PyMethod_GET_SELF(attr) == obj)) { + PyObject *function = PyMethod_GET_FUNCTION(attr); + Py_INCREF(function); + Py_DECREF(attr); + *method = function; + return 1; + } +#endif + *method = attr; + return 0; +} + +/* PyObjectCallMethod0 */ + static PyObject* __Pyx_PyObject_CallMethod0(PyObject* obj, PyObject* method_name) { + PyObject *method = NULL, *result = NULL; + int is_method = __Pyx_PyObject_GetMethod(obj, method_name, &method); + if (likely(is_method)) { + result = __Pyx_PyObject_CallOneArg(method, obj); + Py_DECREF(method); + return result; + } + if (unlikely(!method)) goto bad; + result = __Pyx_PyObject_CallNoArg(method); + Py_DECREF(method); +bad: + return result; +} + +/* ValidateBasesTuple */ + #if CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API || CYTHON_USE_TYPE_SPECS +static int __Pyx_validate_bases_tuple(const char *type_name, Py_ssize_t dictoffset, PyObject *bases) { + Py_ssize_t i, n; +#if CYTHON_ASSUME_SAFE_MACROS + n = PyTuple_GET_SIZE(bases); +#else + n = PyTuple_Size(bases); + if (n < 0) return -1; +#endif + for (i = 1; i < n; i++) + { +#if CYTHON_AVOID_BORROWED_REFS + PyObject *b0 = PySequence_GetItem(bases, i); + if (!b0) return -1; +#elif CYTHON_ASSUME_SAFE_MACROS + PyObject *b0 = PyTuple_GET_ITEM(bases, i); +#else + PyObject *b0 = PyTuple_GetItem(bases, i); + if (!b0) return -1; +#endif + PyTypeObject *b; +#if PY_MAJOR_VERSION < 3 + if (PyClass_Check(b0)) + { + PyErr_Format(PyExc_TypeError, "base class '%.200s' is an old-style class", + PyString_AS_STRING(((PyClassObject*)b0)->cl_name)); +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } +#endif + b = (PyTypeObject*) b0; + if (!__Pyx_PyType_HasFeature(b, Py_TPFLAGS_HEAPTYPE)) + { + __Pyx_TypeName b_name = __Pyx_PyType_GetName(b); + PyErr_Format(PyExc_TypeError, + "base class '" __Pyx_FMT_TYPENAME "' is not a heap type", b_name); + __Pyx_DECREF_TypeName(b_name); +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } + if (dictoffset == 0) + { + Py_ssize_t b_dictoffset = 0; +#if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + b_dictoffset = b->tp_dictoffset; +#else + PyObject *py_b_dictoffset = PyObject_GetAttrString((PyObject*)b, "__dictoffset__"); + if (!py_b_dictoffset) goto dictoffset_return; + b_dictoffset = PyLong_AsSsize_t(py_b_dictoffset); + Py_DECREF(py_b_dictoffset); + if (b_dictoffset == -1 && PyErr_Occurred()) goto dictoffset_return; +#endif + if (b_dictoffset) { + { + __Pyx_TypeName b_name = __Pyx_PyType_GetName(b); + PyErr_Format(PyExc_TypeError, + "extension type '%.200s' has no __dict__ slot, " + "but base type '" __Pyx_FMT_TYPENAME "' has: " + "either add 'cdef dict __dict__' to the extension type " + "or add '__slots__ = [...]' to the base type", + type_name, b_name); + __Pyx_DECREF_TypeName(b_name); + } +#if !(CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY) + dictoffset_return: +#endif +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } + } +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + } + return 0; +} +#endif + +/* PyType_Ready */ + static int __Pyx_PyType_Ready(PyTypeObject *t) { +#if CYTHON_USE_TYPE_SPECS || !(CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API) || defined(PYSTON_MAJOR_VERSION) + (void)__Pyx_PyObject_CallMethod0; +#if CYTHON_USE_TYPE_SPECS + (void)__Pyx_validate_bases_tuple; +#endif + return PyType_Ready(t); +#else + int r; + PyObject *bases = __Pyx_PyType_GetSlot(t, tp_bases, PyObject*); + if (bases && unlikely(__Pyx_validate_bases_tuple(t->tp_name, t->tp_dictoffset, bases) == -1)) + return -1; +#if PY_VERSION_HEX >= 0x03050000 && !defined(PYSTON_MAJOR_VERSION) + { + int gc_was_enabled; + #if PY_VERSION_HEX >= 0x030A00b1 + gc_was_enabled = PyGC_Disable(); + (void)__Pyx_PyObject_CallMethod0; + #else + PyObject *ret, *py_status; + PyObject *gc = NULL; + #if PY_VERSION_HEX >= 0x030700a1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM+0 >= 0x07030400) + gc = PyImport_GetModule(__pyx_kp_u_gc); + #endif + if (unlikely(!gc)) gc = PyImport_Import(__pyx_kp_u_gc); + if (unlikely(!gc)) return -1; + py_status = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_isenabled); + if (unlikely(!py_status)) { + Py_DECREF(gc); + return -1; + } + gc_was_enabled = __Pyx_PyObject_IsTrue(py_status); + Py_DECREF(py_status); + if (gc_was_enabled > 0) { + ret = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_disable); + if (unlikely(!ret)) { + Py_DECREF(gc); + return -1; + } + Py_DECREF(ret); + } else if (unlikely(gc_was_enabled == -1)) { + Py_DECREF(gc); + return -1; + } + #endif + t->tp_flags |= Py_TPFLAGS_HEAPTYPE; +#if PY_VERSION_HEX >= 0x030A0000 + t->tp_flags |= Py_TPFLAGS_IMMUTABLETYPE; +#endif +#else + (void)__Pyx_PyObject_CallMethod0; +#endif + r = PyType_Ready(t); +#if PY_VERSION_HEX >= 0x03050000 && !defined(PYSTON_MAJOR_VERSION) + t->tp_flags &= ~Py_TPFLAGS_HEAPTYPE; + #if PY_VERSION_HEX >= 0x030A00b1 + if (gc_was_enabled) + PyGC_Enable(); + #else + if (gc_was_enabled) { + PyObject *tp, *v, *tb; + PyErr_Fetch(&tp, &v, &tb); + ret = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_enable); + if (likely(ret || r == -1)) { + Py_XDECREF(ret); + PyErr_Restore(tp, v, tb); + } else { + Py_XDECREF(tp); + Py_XDECREF(v); + Py_XDECREF(tb); + r = -1; + } + } + Py_DECREF(gc); + #endif + } +#endif + return r; +#endif +} + +/* PyObject_GenericGetAttrNoDict */ + #if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject *__Pyx_RaiseGenericGetAttributeError(PyTypeObject *tp, PyObject *attr_name) { + __Pyx_TypeName type_name = __Pyx_PyType_GetName(tp); + PyErr_Format(PyExc_AttributeError, +#if PY_MAJOR_VERSION >= 3 + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%U'", + type_name, attr_name); +#else + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%.400s'", + type_name, PyString_AS_STRING(attr_name)); +#endif + __Pyx_DECREF_TypeName(type_name); + return NULL; +} +static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name) { + PyObject *descr; + PyTypeObject *tp = Py_TYPE(obj); + if (unlikely(!PyString_Check(attr_name))) { + return PyObject_GenericGetAttr(obj, attr_name); + } + assert(!tp->tp_dictoffset); + descr = _PyType_Lookup(tp, attr_name); + if (unlikely(!descr)) { + return __Pyx_RaiseGenericGetAttributeError(tp, attr_name); + } + Py_INCREF(descr); + #if PY_MAJOR_VERSION < 3 + if (likely(PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_HAVE_CLASS))) + #endif + { + descrgetfunc f = Py_TYPE(descr)->tp_descr_get; + if (unlikely(f)) { + PyObject *res = f(descr, obj, (PyObject *)tp); + Py_DECREF(descr); + return res; + } + } + return descr; +} +#endif + +/* PyObject_GenericGetAttr */ + #if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name) { + if (unlikely(Py_TYPE(obj)->tp_dictoffset)) { + return PyObject_GenericGetAttr(obj, attr_name); + } + return __Pyx_PyObject_GenericGetAttrNoDict(obj, attr_name); +} +#endif + +/* SetupReduce */ + #if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_setup_reduce_is_named(PyObject* meth, PyObject* name) { + int ret; + PyObject *name_attr; + name_attr = __Pyx_PyObject_GetAttrStrNoError(meth, __pyx_n_s_name); + if (likely(name_attr)) { + ret = PyObject_RichCompareBool(name_attr, name, Py_EQ); + } else { + ret = -1; + } + if (unlikely(ret < 0)) { + PyErr_Clear(); + ret = 0; + } + Py_XDECREF(name_attr); + return ret; +} +static int __Pyx_setup_reduce(PyObject* type_obj) { + int ret = 0; + PyObject *object_reduce = NULL; + PyObject *object_getstate = NULL; + PyObject *object_reduce_ex = NULL; + PyObject *reduce = NULL; + PyObject *reduce_ex = NULL; + PyObject *reduce_cython = NULL; + PyObject *setstate = NULL; + PyObject *setstate_cython = NULL; + PyObject *getstate = NULL; +#if CYTHON_USE_PYTYPE_LOOKUP + getstate = _PyType_Lookup((PyTypeObject*)type_obj, __pyx_n_s_getstate); +#else + getstate = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_getstate); + if (!getstate && PyErr_Occurred()) { + goto __PYX_BAD; + } +#endif + if (getstate) { +#if CYTHON_USE_PYTYPE_LOOKUP + object_getstate = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_getstate); +#else + object_getstate = __Pyx_PyObject_GetAttrStrNoError((PyObject*)&PyBaseObject_Type, __pyx_n_s_getstate); + if (!object_getstate && PyErr_Occurred()) { + goto __PYX_BAD; + } +#endif + if (object_getstate != getstate) { + goto __PYX_GOOD; + } + } +#if CYTHON_USE_PYTYPE_LOOKUP + object_reduce_ex = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; +#else + object_reduce_ex = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; +#endif + reduce_ex = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce_ex); if (unlikely(!reduce_ex)) goto __PYX_BAD; + if (reduce_ex == object_reduce_ex) { +#if CYTHON_USE_PYTYPE_LOOKUP + object_reduce = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; +#else + object_reduce = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; +#endif + reduce = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce); if (unlikely(!reduce)) goto __PYX_BAD; + if (reduce == object_reduce || __Pyx_setup_reduce_is_named(reduce, __pyx_n_s_reduce_cython)) { + reduce_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_reduce_cython); + if (likely(reduce_cython)) { + ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce, reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + } else if (reduce == object_reduce || PyErr_Occurred()) { + goto __PYX_BAD; + } + setstate = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_setstate); + if (!setstate) PyErr_Clear(); + if (!setstate || __Pyx_setup_reduce_is_named(setstate, __pyx_n_s_setstate_cython)) { + setstate_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_setstate_cython); + if (likely(setstate_cython)) { + ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate, setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + } else if (!setstate || PyErr_Occurred()) { + goto __PYX_BAD; + } + } + PyType_Modified((PyTypeObject*)type_obj); + } + } + goto __PYX_GOOD; +__PYX_BAD: + if (!PyErr_Occurred()) { + __Pyx_TypeName type_obj_name = + __Pyx_PyType_GetName((PyTypeObject*)type_obj); + PyErr_Format(PyExc_RuntimeError, + "Unable to initialize pickling for " __Pyx_FMT_TYPENAME, type_obj_name); + __Pyx_DECREF_TypeName(type_obj_name); + } + ret = -1; +__PYX_GOOD: +#if !CYTHON_USE_PYTYPE_LOOKUP + Py_XDECREF(object_reduce); + Py_XDECREF(object_reduce_ex); + Py_XDECREF(object_getstate); + Py_XDECREF(getstate); +#endif + Py_XDECREF(reduce); + Py_XDECREF(reduce_ex); + Py_XDECREF(reduce_cython); + Py_XDECREF(setstate); + Py_XDECREF(setstate_cython); + return ret; +} +#endif + +/* TypeImport */ + #ifndef __PYX_HAVE_RT_ImportType_3_0_8 +#define __PYX_HAVE_RT_ImportType_3_0_8 +static PyTypeObject *__Pyx_ImportType_3_0_8(PyObject *module, const char *module_name, const char *class_name, + size_t size, size_t alignment, enum __Pyx_ImportType_CheckSize_3_0_8 check_size) +{ + PyObject *result = 0; + char warning[200]; + Py_ssize_t basicsize; + Py_ssize_t itemsize; +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *py_basicsize; + PyObject *py_itemsize; +#endif + result = PyObject_GetAttrString(module, class_name); + if (!result) + goto bad; + if (!PyType_Check(result)) { + PyErr_Format(PyExc_TypeError, + "%.200s.%.200s is not a type object", + module_name, class_name); + goto bad; + } +#if !CYTHON_COMPILING_IN_LIMITED_API + basicsize = ((PyTypeObject *)result)->tp_basicsize; + itemsize = ((PyTypeObject *)result)->tp_itemsize; +#else + py_basicsize = PyObject_GetAttrString(result, "__basicsize__"); + if (!py_basicsize) + goto bad; + basicsize = PyLong_AsSsize_t(py_basicsize); + Py_DECREF(py_basicsize); + py_basicsize = 0; + if (basicsize == (Py_ssize_t)-1 && PyErr_Occurred()) + goto bad; + py_itemsize = PyObject_GetAttrString(result, "__itemsize__"); + if (!py_itemsize) + goto bad; + itemsize = PyLong_AsSsize_t(py_itemsize); + Py_DECREF(py_itemsize); + py_itemsize = 0; + if (itemsize == (Py_ssize_t)-1 && PyErr_Occurred()) + goto bad; +#endif + if (itemsize) { + if (size % alignment) { + alignment = size % alignment; + } + if (itemsize < (Py_ssize_t)alignment) + itemsize = (Py_ssize_t)alignment; + } + if ((size_t)(basicsize + itemsize) < size) { + PyErr_Format(PyExc_ValueError, + "%.200s.%.200s size changed, may indicate binary incompatibility. " + "Expected %zd from C header, got %zd from PyObject", + module_name, class_name, size, basicsize+itemsize); + goto bad; + } + if (check_size == __Pyx_ImportType_CheckSize_Error_3_0_8 && + ((size_t)basicsize > size || (size_t)(basicsize + itemsize) < size)) { + PyErr_Format(PyExc_ValueError, + "%.200s.%.200s size changed, may indicate binary incompatibility. " + "Expected %zd from C header, got %zd-%zd from PyObject", + module_name, class_name, size, basicsize, basicsize+itemsize); + goto bad; + } + else if (check_size == __Pyx_ImportType_CheckSize_Warn_3_0_8 && (size_t)basicsize > size) { + PyOS_snprintf(warning, sizeof(warning), + "%s.%s size changed, may indicate binary incompatibility. " + "Expected %zd from C header, got %zd from PyObject", + module_name, class_name, size, basicsize); + if (PyErr_WarnEx(NULL, warning, 0) < 0) goto bad; + } + return (PyTypeObject *)result; +bad: + Py_XDECREF(result); + return NULL; +} +#endif + +/* Import */ + static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level) { + PyObject *module = 0; + PyObject *empty_dict = 0; + PyObject *empty_list = 0; + #if PY_MAJOR_VERSION < 3 + PyObject *py_import; + py_import = __Pyx_PyObject_GetAttrStr(__pyx_b, __pyx_n_s_import); + if (unlikely(!py_import)) + goto bad; + if (!from_list) { + empty_list = PyList_New(0); + if (unlikely(!empty_list)) + goto bad; + from_list = empty_list; + } + #endif + empty_dict = PyDict_New(); + if (unlikely(!empty_dict)) + goto bad; + { + #if PY_MAJOR_VERSION >= 3 + if (level == -1) { + if (strchr(__Pyx_MODULE_NAME, '.') != NULL) { + module = PyImport_ImportModuleLevelObject( + name, __pyx_d, empty_dict, from_list, 1); + if (unlikely(!module)) { + if (unlikely(!PyErr_ExceptionMatches(PyExc_ImportError))) + goto bad; + PyErr_Clear(); + } + } + level = 0; + } + #endif + if (!module) { + #if PY_MAJOR_VERSION < 3 + PyObject *py_level = PyInt_FromLong(level); + if (unlikely(!py_level)) + goto bad; + module = PyObject_CallFunctionObjArgs(py_import, + name, __pyx_d, empty_dict, from_list, py_level, (PyObject *)NULL); + Py_DECREF(py_level); + #else + module = PyImport_ImportModuleLevelObject( + name, __pyx_d, empty_dict, from_list, level); + #endif + } + } +bad: + Py_XDECREF(empty_dict); + Py_XDECREF(empty_list); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(py_import); + #endif + return module; +} + +/* ImportDottedModule */ + #if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx__ImportDottedModule_Error(PyObject *name, PyObject *parts_tuple, Py_ssize_t count) { + PyObject *partial_name = NULL, *slice = NULL, *sep = NULL; + if (unlikely(PyErr_Occurred())) { + PyErr_Clear(); + } + if (likely(PyTuple_GET_SIZE(parts_tuple) == count)) { + partial_name = name; + } else { + slice = PySequence_GetSlice(parts_tuple, 0, count); + if (unlikely(!slice)) + goto bad; + sep = PyUnicode_FromStringAndSize(".", 1); + if (unlikely(!sep)) + goto bad; + partial_name = PyUnicode_Join(sep, slice); + } + PyErr_Format( +#if PY_MAJOR_VERSION < 3 + PyExc_ImportError, + "No module named '%s'", PyString_AS_STRING(partial_name)); +#else +#if PY_VERSION_HEX >= 0x030600B1 + PyExc_ModuleNotFoundError, +#else + PyExc_ImportError, +#endif + "No module named '%U'", partial_name); +#endif +bad: + Py_XDECREF(sep); + Py_XDECREF(slice); + Py_XDECREF(partial_name); + return NULL; +} +#endif +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx__ImportDottedModule_Lookup(PyObject *name) { + PyObject *imported_module; +#if PY_VERSION_HEX < 0x030700A1 || (CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM < 0x07030400) + PyObject *modules = PyImport_GetModuleDict(); + if (unlikely(!modules)) + return NULL; + imported_module = __Pyx_PyDict_GetItemStr(modules, name); + Py_XINCREF(imported_module); +#else + imported_module = PyImport_GetModule(name); +#endif + return imported_module; +} +#endif +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx_ImportDottedModule_WalkParts(PyObject *module, PyObject *name, PyObject *parts_tuple) { + Py_ssize_t i, nparts; + nparts = PyTuple_GET_SIZE(parts_tuple); + for (i=1; i < nparts && module; i++) { + PyObject *part, *submodule; +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + part = PyTuple_GET_ITEM(parts_tuple, i); +#else + part = PySequence_ITEM(parts_tuple, i); +#endif + submodule = __Pyx_PyObject_GetAttrStrNoError(module, part); +#if !(CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS) + Py_DECREF(part); +#endif + Py_DECREF(module); + module = submodule; + } + if (unlikely(!module)) { + return __Pyx__ImportDottedModule_Error(name, parts_tuple, i); + } + return module; +} +#endif +static PyObject *__Pyx__ImportDottedModule(PyObject *name, PyObject *parts_tuple) { +#if PY_MAJOR_VERSION < 3 + PyObject *module, *from_list, *star = __pyx_n_s__3; + CYTHON_UNUSED_VAR(parts_tuple); + from_list = PyList_New(1); + if (unlikely(!from_list)) + return NULL; + Py_INCREF(star); + PyList_SET_ITEM(from_list, 0, star); + module = __Pyx_Import(name, from_list, 0); + Py_DECREF(from_list); + return module; +#else + PyObject *imported_module; + PyObject *module = __Pyx_Import(name, NULL, 0); + if (!parts_tuple || unlikely(!module)) + return module; + imported_module = __Pyx__ImportDottedModule_Lookup(name); + if (likely(imported_module)) { + Py_DECREF(module); + return imported_module; + } + PyErr_Clear(); + return __Pyx_ImportDottedModule_WalkParts(module, name, parts_tuple); +#endif +} +static PyObject *__Pyx_ImportDottedModule(PyObject *name, PyObject *parts_tuple) { +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030400B1 + PyObject *module = __Pyx__ImportDottedModule_Lookup(name); + if (likely(module)) { + PyObject *spec = __Pyx_PyObject_GetAttrStrNoError(module, __pyx_n_s_spec); + if (likely(spec)) { + PyObject *unsafe = __Pyx_PyObject_GetAttrStrNoError(spec, __pyx_n_s_initializing); + if (likely(!unsafe || !__Pyx_PyObject_IsTrue(unsafe))) { + Py_DECREF(spec); + spec = NULL; + } + Py_XDECREF(unsafe); + } + if (likely(!spec)) { + PyErr_Clear(); + return module; + } + Py_DECREF(spec); + Py_DECREF(module); + } else if (PyErr_Occurred()) { + PyErr_Clear(); + } +#endif + return __Pyx__ImportDottedModule(name, parts_tuple); +} + +/* FetchSharedCythonModule */ + static PyObject *__Pyx_FetchSharedCythonABIModule(void) { + return __Pyx_PyImport_AddModuleRef((char*) __PYX_ABI_MODULE_NAME); +} + +/* FetchCommonType */ + static int __Pyx_VerifyCachedType(PyObject *cached_type, + const char *name, + Py_ssize_t basicsize, + Py_ssize_t expected_basicsize) { + if (!PyType_Check(cached_type)) { + PyErr_Format(PyExc_TypeError, + "Shared Cython type %.200s is not a type object", name); + return -1; + } + if (basicsize != expected_basicsize) { + PyErr_Format(PyExc_TypeError, + "Shared Cython type %.200s has the wrong size, try recompiling", + name); + return -1; + } + return 0; +} +#if !CYTHON_USE_TYPE_SPECS +static PyTypeObject* __Pyx_FetchCommonType(PyTypeObject* type) { + PyObject* abi_module; + const char* object_name; + PyTypeObject *cached_type = NULL; + abi_module = __Pyx_FetchSharedCythonABIModule(); + if (!abi_module) return NULL; + object_name = strrchr(type->tp_name, '.'); + object_name = object_name ? object_name+1 : type->tp_name; + cached_type = (PyTypeObject*) PyObject_GetAttrString(abi_module, object_name); + if (cached_type) { + if (__Pyx_VerifyCachedType( + (PyObject *)cached_type, + object_name, + cached_type->tp_basicsize, + type->tp_basicsize) < 0) { + goto bad; + } + goto done; + } + if (!PyErr_ExceptionMatches(PyExc_AttributeError)) goto bad; + PyErr_Clear(); + if (PyType_Ready(type) < 0) goto bad; + if (PyObject_SetAttrString(abi_module, object_name, (PyObject *)type) < 0) + goto bad; + Py_INCREF(type); + cached_type = type; +done: + Py_DECREF(abi_module); + return cached_type; +bad: + Py_XDECREF(cached_type); + cached_type = NULL; + goto done; +} +#else +static PyTypeObject *__Pyx_FetchCommonTypeFromSpec(PyObject *module, PyType_Spec *spec, PyObject *bases) { + PyObject *abi_module, *cached_type = NULL; + const char* object_name = strrchr(spec->name, '.'); + object_name = object_name ? object_name+1 : spec->name; + abi_module = __Pyx_FetchSharedCythonABIModule(); + if (!abi_module) return NULL; + cached_type = PyObject_GetAttrString(abi_module, object_name); + if (cached_type) { + Py_ssize_t basicsize; +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *py_basicsize; + py_basicsize = PyObject_GetAttrString(cached_type, "__basicsize__"); + if (unlikely(!py_basicsize)) goto bad; + basicsize = PyLong_AsSsize_t(py_basicsize); + Py_DECREF(py_basicsize); + py_basicsize = 0; + if (unlikely(basicsize == (Py_ssize_t)-1) && PyErr_Occurred()) goto bad; +#else + basicsize = likely(PyType_Check(cached_type)) ? ((PyTypeObject*) cached_type)->tp_basicsize : -1; +#endif + if (__Pyx_VerifyCachedType( + cached_type, + object_name, + basicsize, + spec->basicsize) < 0) { + goto bad; + } + goto done; + } + if (!PyErr_ExceptionMatches(PyExc_AttributeError)) goto bad; + PyErr_Clear(); + CYTHON_UNUSED_VAR(module); + cached_type = __Pyx_PyType_FromModuleAndSpec(abi_module, spec, bases); + if (unlikely(!cached_type)) goto bad; + if (unlikely(__Pyx_fix_up_extension_type_from_spec(spec, (PyTypeObject *) cached_type) < 0)) goto bad; + if (PyObject_SetAttrString(abi_module, object_name, cached_type) < 0) goto bad; +done: + Py_DECREF(abi_module); + assert(cached_type == NULL || PyType_Check(cached_type)); + return (PyTypeObject *) cached_type; +bad: + Py_XDECREF(cached_type); + cached_type = NULL; + goto done; +} +#endif + +/* PyVectorcallFastCallDict */ + #if CYTHON_METH_FASTCALL +static PyObject *__Pyx_PyVectorcall_FastCallDict_kw(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw) +{ + PyObject *res = NULL; + PyObject *kwnames; + PyObject **newargs; + PyObject **kwvalues; + Py_ssize_t i, pos; + size_t j; + PyObject *key, *value; + unsigned long keys_are_strings; + Py_ssize_t nkw = PyDict_GET_SIZE(kw); + newargs = (PyObject **)PyMem_Malloc((nargs + (size_t)nkw) * sizeof(args[0])); + if (unlikely(newargs == NULL)) { + PyErr_NoMemory(); + return NULL; + } + for (j = 0; j < nargs; j++) newargs[j] = args[j]; + kwnames = PyTuple_New(nkw); + if (unlikely(kwnames == NULL)) { + PyMem_Free(newargs); + return NULL; + } + kwvalues = newargs + nargs; + pos = i = 0; + keys_are_strings = Py_TPFLAGS_UNICODE_SUBCLASS; + while (PyDict_Next(kw, &pos, &key, &value)) { + keys_are_strings &= Py_TYPE(key)->tp_flags; + Py_INCREF(key); + Py_INCREF(value); + PyTuple_SET_ITEM(kwnames, i, key); + kwvalues[i] = value; + i++; + } + if (unlikely(!keys_are_strings)) { + PyErr_SetString(PyExc_TypeError, "keywords must be strings"); + goto cleanup; + } + res = vc(func, newargs, nargs, kwnames); +cleanup: + Py_DECREF(kwnames); + for (i = 0; i < nkw; i++) + Py_DECREF(kwvalues[i]); + PyMem_Free(newargs); + return res; +} +static CYTHON_INLINE PyObject *__Pyx_PyVectorcall_FastCallDict(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw) +{ + if (likely(kw == NULL) || PyDict_GET_SIZE(kw) == 0) { + return vc(func, args, nargs, NULL); + } + return __Pyx_PyVectorcall_FastCallDict_kw(func, vc, args, nargs, kw); +} +#endif + +/* CythonFunctionShared */ + #if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc) { + if (__Pyx_CyFunction_Check(func)) { + return PyCFunction_GetFunction(((__pyx_CyFunctionObject*)func)->func) == (PyCFunction) cfunc; + } else if (PyCFunction_Check(func)) { + return PyCFunction_GetFunction(func) == (PyCFunction) cfunc; + } + return 0; +} +#else +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc) { + return __Pyx_CyOrPyCFunction_Check(func) && __Pyx_CyOrPyCFunction_GET_FUNCTION(func) == (PyCFunction) cfunc; +} +#endif +static CYTHON_INLINE void __Pyx__CyFunction_SetClassObj(__pyx_CyFunctionObject* f, PyObject* classobj) { +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + __Pyx_Py_XDECREF_SET( + __Pyx_CyFunction_GetClassObj(f), + ((classobj) ? __Pyx_NewRef(classobj) : NULL)); +#else + __Pyx_Py_XDECREF_SET( + ((PyCMethodObject *) (f))->mm_class, + (PyTypeObject*)((classobj) ? __Pyx_NewRef(classobj) : NULL)); +#endif +} +static PyObject * +__Pyx_CyFunction_get_doc(__pyx_CyFunctionObject *op, void *closure) +{ + CYTHON_UNUSED_VAR(closure); + if (unlikely(op->func_doc == NULL)) { +#if CYTHON_COMPILING_IN_LIMITED_API + op->func_doc = PyObject_GetAttrString(op->func, "__doc__"); + if (unlikely(!op->func_doc)) return NULL; +#else + if (((PyCFunctionObject*)op)->m_ml->ml_doc) { +#if PY_MAJOR_VERSION >= 3 + op->func_doc = PyUnicode_FromString(((PyCFunctionObject*)op)->m_ml->ml_doc); +#else + op->func_doc = PyString_FromString(((PyCFunctionObject*)op)->m_ml->ml_doc); +#endif + if (unlikely(op->func_doc == NULL)) + return NULL; + } else { + Py_INCREF(Py_None); + return Py_None; + } +#endif + } + Py_INCREF(op->func_doc); + return op->func_doc; +} +static int +__Pyx_CyFunction_set_doc(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (value == NULL) { + value = Py_None; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_doc, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_name(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(op->func_name == NULL)) { +#if CYTHON_COMPILING_IN_LIMITED_API + op->func_name = PyObject_GetAttrString(op->func, "__name__"); +#elif PY_MAJOR_VERSION >= 3 + op->func_name = PyUnicode_InternFromString(((PyCFunctionObject*)op)->m_ml->ml_name); +#else + op->func_name = PyString_InternFromString(((PyCFunctionObject*)op)->m_ml->ml_name); +#endif + if (unlikely(op->func_name == NULL)) + return NULL; + } + Py_INCREF(op->func_name); + return op->func_name; +} +static int +__Pyx_CyFunction_set_name(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); +#if PY_MAJOR_VERSION >= 3 + if (unlikely(value == NULL || !PyUnicode_Check(value))) +#else + if (unlikely(value == NULL || !PyString_Check(value))) +#endif + { + PyErr_SetString(PyExc_TypeError, + "__name__ must be set to a string object"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_name, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_qualname(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + Py_INCREF(op->func_qualname); + return op->func_qualname; +} +static int +__Pyx_CyFunction_set_qualname(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); +#if PY_MAJOR_VERSION >= 3 + if (unlikely(value == NULL || !PyUnicode_Check(value))) +#else + if (unlikely(value == NULL || !PyString_Check(value))) +#endif + { + PyErr_SetString(PyExc_TypeError, + "__qualname__ must be set to a string object"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_qualname, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_dict(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(op->func_dict == NULL)) { + op->func_dict = PyDict_New(); + if (unlikely(op->func_dict == NULL)) + return NULL; + } + Py_INCREF(op->func_dict); + return op->func_dict; +} +static int +__Pyx_CyFunction_set_dict(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(value == NULL)) { + PyErr_SetString(PyExc_TypeError, + "function's dictionary may not be deleted"); + return -1; + } + if (unlikely(!PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "setting function's dictionary to a non-dict"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_dict, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_globals(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + Py_INCREF(op->func_globals); + return op->func_globals; +} +static PyObject * +__Pyx_CyFunction_get_closure(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(op); + CYTHON_UNUSED_VAR(context); + Py_INCREF(Py_None); + return Py_None; +} +static PyObject * +__Pyx_CyFunction_get_code(__pyx_CyFunctionObject *op, void *context) +{ + PyObject* result = (op->func_code) ? op->func_code : Py_None; + CYTHON_UNUSED_VAR(context); + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_init_defaults(__pyx_CyFunctionObject *op) { + int result = 0; + PyObject *res = op->defaults_getter((PyObject *) op); + if (unlikely(!res)) + return -1; + #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + op->defaults_tuple = PyTuple_GET_ITEM(res, 0); + Py_INCREF(op->defaults_tuple); + op->defaults_kwdict = PyTuple_GET_ITEM(res, 1); + Py_INCREF(op->defaults_kwdict); + #else + op->defaults_tuple = __Pyx_PySequence_ITEM(res, 0); + if (unlikely(!op->defaults_tuple)) result = -1; + else { + op->defaults_kwdict = __Pyx_PySequence_ITEM(res, 1); + if (unlikely(!op->defaults_kwdict)) result = -1; + } + #endif + Py_DECREF(res); + return result; +} +static int +__Pyx_CyFunction_set_defaults(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value) { + value = Py_None; + } else if (unlikely(value != Py_None && !PyTuple_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__defaults__ must be set to a tuple object"); + return -1; + } + PyErr_WarnEx(PyExc_RuntimeWarning, "changes to cyfunction.__defaults__ will not " + "currently affect the values used in function calls", 1); + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->defaults_tuple, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_defaults(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->defaults_tuple; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + if (op->defaults_getter) { + if (unlikely(__Pyx_CyFunction_init_defaults(op) < 0)) return NULL; + result = op->defaults_tuple; + } else { + result = Py_None; + } + } + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_set_kwdefaults(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value) { + value = Py_None; + } else if (unlikely(value != Py_None && !PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__kwdefaults__ must be set to a dict object"); + return -1; + } + PyErr_WarnEx(PyExc_RuntimeWarning, "changes to cyfunction.__kwdefaults__ will not " + "currently affect the values used in function calls", 1); + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->defaults_kwdict, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_kwdefaults(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->defaults_kwdict; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + if (op->defaults_getter) { + if (unlikely(__Pyx_CyFunction_init_defaults(op) < 0)) return NULL; + result = op->defaults_kwdict; + } else { + result = Py_None; + } + } + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_set_annotations(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value || value == Py_None) { + value = NULL; + } else if (unlikely(!PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__annotations__ must be set to a dict object"); + return -1; + } + Py_XINCREF(value); + __Pyx_Py_XDECREF_SET(op->func_annotations, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_annotations(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->func_annotations; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + result = PyDict_New(); + if (unlikely(!result)) return NULL; + op->func_annotations = result; + } + Py_INCREF(result); + return result; +} +static PyObject * +__Pyx_CyFunction_get_is_coroutine(__pyx_CyFunctionObject *op, void *context) { + int is_coroutine; + CYTHON_UNUSED_VAR(context); + if (op->func_is_coroutine) { + return __Pyx_NewRef(op->func_is_coroutine); + } + is_coroutine = op->flags & __Pyx_CYFUNCTION_COROUTINE; +#if PY_VERSION_HEX >= 0x03050000 + if (is_coroutine) { + PyObject *module, *fromlist, *marker = __pyx_n_s_is_coroutine; + fromlist = PyList_New(1); + if (unlikely(!fromlist)) return NULL; + Py_INCREF(marker); +#if CYTHON_ASSUME_SAFE_MACROS + PyList_SET_ITEM(fromlist, 0, marker); +#else + if (unlikely(PyList_SetItem(fromlist, 0, marker) < 0)) { + Py_DECREF(marker); + Py_DECREF(fromlist); + return NULL; + } +#endif + module = PyImport_ImportModuleLevelObject(__pyx_n_s_asyncio_coroutines, NULL, NULL, fromlist, 0); + Py_DECREF(fromlist); + if (unlikely(!module)) goto ignore; + op->func_is_coroutine = __Pyx_PyObject_GetAttrStr(module, marker); + Py_DECREF(module); + if (likely(op->func_is_coroutine)) { + return __Pyx_NewRef(op->func_is_coroutine); + } +ignore: + PyErr_Clear(); + } +#endif + op->func_is_coroutine = __Pyx_PyBool_FromLong(is_coroutine); + return __Pyx_NewRef(op->func_is_coroutine); +} +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject * +__Pyx_CyFunction_get_module(__pyx_CyFunctionObject *op, void *context) { + CYTHON_UNUSED_VAR(context); + return PyObject_GetAttrString(op->func, "__module__"); +} +static int +__Pyx_CyFunction_set_module(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + return PyObject_SetAttrString(op->func, "__module__", value); +} +#endif +static PyGetSetDef __pyx_CyFunction_getsets[] = { + {(char *) "func_doc", (getter)__Pyx_CyFunction_get_doc, (setter)__Pyx_CyFunction_set_doc, 0, 0}, + {(char *) "__doc__", (getter)__Pyx_CyFunction_get_doc, (setter)__Pyx_CyFunction_set_doc, 0, 0}, + {(char *) "func_name", (getter)__Pyx_CyFunction_get_name, (setter)__Pyx_CyFunction_set_name, 0, 0}, + {(char *) "__name__", (getter)__Pyx_CyFunction_get_name, (setter)__Pyx_CyFunction_set_name, 0, 0}, + {(char *) "__qualname__", (getter)__Pyx_CyFunction_get_qualname, (setter)__Pyx_CyFunction_set_qualname, 0, 0}, + {(char *) "func_dict", (getter)__Pyx_CyFunction_get_dict, (setter)__Pyx_CyFunction_set_dict, 0, 0}, + {(char *) "__dict__", (getter)__Pyx_CyFunction_get_dict, (setter)__Pyx_CyFunction_set_dict, 0, 0}, + {(char *) "func_globals", (getter)__Pyx_CyFunction_get_globals, 0, 0, 0}, + {(char *) "__globals__", (getter)__Pyx_CyFunction_get_globals, 0, 0, 0}, + {(char *) "func_closure", (getter)__Pyx_CyFunction_get_closure, 0, 0, 0}, + {(char *) "__closure__", (getter)__Pyx_CyFunction_get_closure, 0, 0, 0}, + {(char *) "func_code", (getter)__Pyx_CyFunction_get_code, 0, 0, 0}, + {(char *) "__code__", (getter)__Pyx_CyFunction_get_code, 0, 0, 0}, + {(char *) "func_defaults", (getter)__Pyx_CyFunction_get_defaults, (setter)__Pyx_CyFunction_set_defaults, 0, 0}, + {(char *) "__defaults__", (getter)__Pyx_CyFunction_get_defaults, (setter)__Pyx_CyFunction_set_defaults, 0, 0}, + {(char *) "__kwdefaults__", (getter)__Pyx_CyFunction_get_kwdefaults, (setter)__Pyx_CyFunction_set_kwdefaults, 0, 0}, + {(char *) "__annotations__", (getter)__Pyx_CyFunction_get_annotations, (setter)__Pyx_CyFunction_set_annotations, 0, 0}, + {(char *) "_is_coroutine", (getter)__Pyx_CyFunction_get_is_coroutine, 0, 0, 0}, +#if CYTHON_COMPILING_IN_LIMITED_API + {"__module__", (getter)__Pyx_CyFunction_get_module, (setter)__Pyx_CyFunction_set_module, 0, 0}, +#endif + {0, 0, 0, 0, 0} +}; +static PyMemberDef __pyx_CyFunction_members[] = { +#if !CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__module__", T_OBJECT, offsetof(PyCFunctionObject, m_module), 0, 0}, +#endif +#if CYTHON_USE_TYPE_SPECS + {(char *) "__dictoffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_dict), READONLY, 0}, +#if CYTHON_METH_FASTCALL +#if CYTHON_BACKPORT_VECTORCALL + {(char *) "__vectorcalloffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_vectorcall), READONLY, 0}, +#else +#if !CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__vectorcalloffset__", T_PYSSIZET, offsetof(PyCFunctionObject, vectorcall), READONLY, 0}, +#endif +#endif +#endif +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__weaklistoffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_weakreflist), READONLY, 0}, +#else + {(char *) "__weaklistoffset__", T_PYSSIZET, offsetof(PyCFunctionObject, m_weakreflist), READONLY, 0}, +#endif +#endif + {0, 0, 0, 0, 0} +}; +static PyObject * +__Pyx_CyFunction_reduce(__pyx_CyFunctionObject *m, PyObject *args) +{ + CYTHON_UNUSED_VAR(args); +#if PY_MAJOR_VERSION >= 3 + Py_INCREF(m->func_qualname); + return m->func_qualname; +#else + return PyString_FromString(((PyCFunctionObject*)m)->m_ml->ml_name); +#endif +} +static PyMethodDef __pyx_CyFunction_methods[] = { + {"__reduce__", (PyCFunction)__Pyx_CyFunction_reduce, METH_VARARGS, 0}, + {0, 0, 0, 0} +}; +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API +#define __Pyx_CyFunction_weakreflist(cyfunc) ((cyfunc)->func_weakreflist) +#else +#define __Pyx_CyFunction_weakreflist(cyfunc) (((PyCFunctionObject*)cyfunc)->m_weakreflist) +#endif +static PyObject *__Pyx_CyFunction_Init(__pyx_CyFunctionObject *op, PyMethodDef *ml, int flags, PyObject* qualname, + PyObject *closure, PyObject *module, PyObject* globals, PyObject* code) { +#if !CYTHON_COMPILING_IN_LIMITED_API + PyCFunctionObject *cf = (PyCFunctionObject*) op; +#endif + if (unlikely(op == NULL)) + return NULL; +#if CYTHON_COMPILING_IN_LIMITED_API + op->func = PyCFunction_NewEx(ml, (PyObject*)op, module); + if (unlikely(!op->func)) return NULL; +#endif + op->flags = flags; + __Pyx_CyFunction_weakreflist(op) = NULL; +#if !CYTHON_COMPILING_IN_LIMITED_API + cf->m_ml = ml; + cf->m_self = (PyObject *) op; +#endif + Py_XINCREF(closure); + op->func_closure = closure; +#if !CYTHON_COMPILING_IN_LIMITED_API + Py_XINCREF(module); + cf->m_module = module; +#endif + op->func_dict = NULL; + op->func_name = NULL; + Py_INCREF(qualname); + op->func_qualname = qualname; + op->func_doc = NULL; +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + op->func_classobj = NULL; +#else + ((PyCMethodObject*)op)->mm_class = NULL; +#endif + op->func_globals = globals; + Py_INCREF(op->func_globals); + Py_XINCREF(code); + op->func_code = code; + op->defaults_pyobjects = 0; + op->defaults_size = 0; + op->defaults = NULL; + op->defaults_tuple = NULL; + op->defaults_kwdict = NULL; + op->defaults_getter = NULL; + op->func_annotations = NULL; + op->func_is_coroutine = NULL; +#if CYTHON_METH_FASTCALL + switch (ml->ml_flags & (METH_VARARGS | METH_FASTCALL | METH_NOARGS | METH_O | METH_KEYWORDS | METH_METHOD)) { + case METH_NOARGS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_NOARGS; + break; + case METH_O: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_O; + break; + case METH_METHOD | METH_FASTCALL | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD; + break; + case METH_FASTCALL | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS; + break; + case METH_VARARGS | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = NULL; + break; + default: + PyErr_SetString(PyExc_SystemError, "Bad call flags for CyFunction"); + Py_DECREF(op); + return NULL; + } +#endif + return (PyObject *) op; +} +static int +__Pyx_CyFunction_clear(__pyx_CyFunctionObject *m) +{ + Py_CLEAR(m->func_closure); +#if CYTHON_COMPILING_IN_LIMITED_API + Py_CLEAR(m->func); +#else + Py_CLEAR(((PyCFunctionObject*)m)->m_module); +#endif + Py_CLEAR(m->func_dict); + Py_CLEAR(m->func_name); + Py_CLEAR(m->func_qualname); + Py_CLEAR(m->func_doc); + Py_CLEAR(m->func_globals); + Py_CLEAR(m->func_code); +#if !CYTHON_COMPILING_IN_LIMITED_API +#if PY_VERSION_HEX < 0x030900B1 + Py_CLEAR(__Pyx_CyFunction_GetClassObj(m)); +#else + { + PyObject *cls = (PyObject*) ((PyCMethodObject *) (m))->mm_class; + ((PyCMethodObject *) (m))->mm_class = NULL; + Py_XDECREF(cls); + } +#endif +#endif + Py_CLEAR(m->defaults_tuple); + Py_CLEAR(m->defaults_kwdict); + Py_CLEAR(m->func_annotations); + Py_CLEAR(m->func_is_coroutine); + if (m->defaults) { + PyObject **pydefaults = __Pyx_CyFunction_Defaults(PyObject *, m); + int i; + for (i = 0; i < m->defaults_pyobjects; i++) + Py_XDECREF(pydefaults[i]); + PyObject_Free(m->defaults); + m->defaults = NULL; + } + return 0; +} +static void __Pyx__CyFunction_dealloc(__pyx_CyFunctionObject *m) +{ + if (__Pyx_CyFunction_weakreflist(m) != NULL) + PyObject_ClearWeakRefs((PyObject *) m); + __Pyx_CyFunction_clear(m); + __Pyx_PyHeapTypeObject_GC_Del(m); +} +static void __Pyx_CyFunction_dealloc(__pyx_CyFunctionObject *m) +{ + PyObject_GC_UnTrack(m); + __Pyx__CyFunction_dealloc(m); +} +static int __Pyx_CyFunction_traverse(__pyx_CyFunctionObject *m, visitproc visit, void *arg) +{ + Py_VISIT(m->func_closure); +#if CYTHON_COMPILING_IN_LIMITED_API + Py_VISIT(m->func); +#else + Py_VISIT(((PyCFunctionObject*)m)->m_module); +#endif + Py_VISIT(m->func_dict); + Py_VISIT(m->func_name); + Py_VISIT(m->func_qualname); + Py_VISIT(m->func_doc); + Py_VISIT(m->func_globals); + Py_VISIT(m->func_code); +#if !CYTHON_COMPILING_IN_LIMITED_API + Py_VISIT(__Pyx_CyFunction_GetClassObj(m)); +#endif + Py_VISIT(m->defaults_tuple); + Py_VISIT(m->defaults_kwdict); + Py_VISIT(m->func_is_coroutine); + if (m->defaults) { + PyObject **pydefaults = __Pyx_CyFunction_Defaults(PyObject *, m); + int i; + for (i = 0; i < m->defaults_pyobjects; i++) + Py_VISIT(pydefaults[i]); + } + return 0; +} +static PyObject* +__Pyx_CyFunction_repr(__pyx_CyFunctionObject *op) +{ +#if PY_MAJOR_VERSION >= 3 + return PyUnicode_FromFormat("", + op->func_qualname, (void *)op); +#else + return PyString_FromFormat("", + PyString_AsString(op->func_qualname), (void *)op); +#endif +} +static PyObject * __Pyx_CyFunction_CallMethod(PyObject *func, PyObject *self, PyObject *arg, PyObject *kw) { +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *f = ((__pyx_CyFunctionObject*)func)->func; + PyObject *py_name = NULL; + PyCFunction meth; + int flags; + meth = PyCFunction_GetFunction(f); + if (unlikely(!meth)) return NULL; + flags = PyCFunction_GetFlags(f); + if (unlikely(flags < 0)) return NULL; +#else + PyCFunctionObject* f = (PyCFunctionObject*)func; + PyCFunction meth = f->m_ml->ml_meth; + int flags = f->m_ml->ml_flags; +#endif + Py_ssize_t size; + switch (flags & (METH_VARARGS | METH_KEYWORDS | METH_NOARGS | METH_O)) { + case METH_VARARGS: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) + return (*meth)(self, arg); + break; + case METH_VARARGS | METH_KEYWORDS: + return (*(PyCFunctionWithKeywords)(void*)meth)(self, arg, kw); + case METH_NOARGS: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) { +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(arg); +#else + size = PyTuple_Size(arg); + if (unlikely(size < 0)) return NULL; +#endif + if (likely(size == 0)) + return (*meth)(self, NULL); +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, + "%.200S() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + py_name, size); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, + "%.200s() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + f->m_ml->ml_name, size); +#endif + return NULL; + } + break; + case METH_O: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) { +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(arg); +#else + size = PyTuple_Size(arg); + if (unlikely(size < 0)) return NULL; +#endif + if (likely(size == 1)) { + PyObject *result, *arg0; + #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + arg0 = PyTuple_GET_ITEM(arg, 0); + #else + arg0 = __Pyx_PySequence_ITEM(arg, 0); if (unlikely(!arg0)) return NULL; + #endif + result = (*meth)(self, arg0); + #if !(CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS) + Py_DECREF(arg0); + #endif + return result; + } +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, + "%.200S() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + py_name, size); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, + "%.200s() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + f->m_ml->ml_name, size); +#endif + return NULL; + } + break; + default: + PyErr_SetString(PyExc_SystemError, "Bad call flags for CyFunction"); + return NULL; + } +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, "%.200S() takes no keyword arguments", + py_name); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, "%.200s() takes no keyword arguments", + f->m_ml->ml_name); +#endif + return NULL; +} +static CYTHON_INLINE PyObject *__Pyx_CyFunction_Call(PyObject *func, PyObject *arg, PyObject *kw) { + PyObject *self, *result; +#if CYTHON_COMPILING_IN_LIMITED_API + self = PyCFunction_GetSelf(((__pyx_CyFunctionObject*)func)->func); + if (unlikely(!self) && PyErr_Occurred()) return NULL; +#else + self = ((PyCFunctionObject*)func)->m_self; +#endif + result = __Pyx_CyFunction_CallMethod(func, self, arg, kw); + return result; +} +static PyObject *__Pyx_CyFunction_CallAsMethod(PyObject *func, PyObject *args, PyObject *kw) { + PyObject *result; + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *) func; +#if CYTHON_METH_FASTCALL + __pyx_vectorcallfunc vc = __Pyx_CyFunction_func_vectorcall(cyfunc); + if (vc) { +#if CYTHON_ASSUME_SAFE_MACROS + return __Pyx_PyVectorcall_FastCallDict(func, vc, &PyTuple_GET_ITEM(args, 0), (size_t)PyTuple_GET_SIZE(args), kw); +#else + (void) &__Pyx_PyVectorcall_FastCallDict; + return PyVectorcall_Call(func, args, kw); +#endif + } +#endif + if ((cyfunc->flags & __Pyx_CYFUNCTION_CCLASS) && !(cyfunc->flags & __Pyx_CYFUNCTION_STATICMETHOD)) { + Py_ssize_t argc; + PyObject *new_args; + PyObject *self; +#if CYTHON_ASSUME_SAFE_MACROS + argc = PyTuple_GET_SIZE(args); +#else + argc = PyTuple_Size(args); + if (unlikely(!argc) < 0) return NULL; +#endif + new_args = PyTuple_GetSlice(args, 1, argc); + if (unlikely(!new_args)) + return NULL; + self = PyTuple_GetItem(args, 0); + if (unlikely(!self)) { + Py_DECREF(new_args); +#if PY_MAJOR_VERSION > 2 + PyErr_Format(PyExc_TypeError, + "unbound method %.200S() needs an argument", + cyfunc->func_qualname); +#else + PyErr_SetString(PyExc_TypeError, + "unbound method needs an argument"); +#endif + return NULL; + } + result = __Pyx_CyFunction_CallMethod(func, self, new_args, kw); + Py_DECREF(new_args); + } else { + result = __Pyx_CyFunction_Call(func, args, kw); + } + return result; +} +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE int __Pyx_CyFunction_Vectorcall_CheckArgs(__pyx_CyFunctionObject *cyfunc, Py_ssize_t nargs, PyObject *kwnames) +{ + int ret = 0; + if ((cyfunc->flags & __Pyx_CYFUNCTION_CCLASS) && !(cyfunc->flags & __Pyx_CYFUNCTION_STATICMETHOD)) { + if (unlikely(nargs < 1)) { + PyErr_Format(PyExc_TypeError, "%.200s() needs an argument", + ((PyCFunctionObject*)cyfunc)->m_ml->ml_name); + return -1; + } + ret = 1; + } + if (unlikely(kwnames) && unlikely(PyTuple_GET_SIZE(kwnames))) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes no keyword arguments", ((PyCFunctionObject*)cyfunc)->m_ml->ml_name); + return -1; + } + return ret; +} +static PyObject * __Pyx_CyFunction_Vectorcall_NOARGS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, kwnames)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + if (unlikely(nargs != 0)) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + def->ml_name, nargs); + return NULL; + } + return def->ml_meth(self, NULL); +} +static PyObject * __Pyx_CyFunction_Vectorcall_O(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, kwnames)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + if (unlikely(nargs != 1)) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + def->ml_name, nargs); + return NULL; + } + return def->ml_meth(self, args[0]); +} +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, NULL)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + return ((_PyCFunctionFastWithKeywords)(void(*)(void))def->ml_meth)(self, args, nargs, kwnames); +} +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; + PyTypeObject *cls = (PyTypeObject *) __Pyx_CyFunction_GetClassObj(cyfunc); +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, NULL)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + return ((__Pyx_PyCMethod)(void(*)(void))def->ml_meth)(self, cls, args, (size_t)nargs, kwnames); +} +#endif +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_CyFunctionType_slots[] = { + {Py_tp_dealloc, (void *)__Pyx_CyFunction_dealloc}, + {Py_tp_repr, (void *)__Pyx_CyFunction_repr}, + {Py_tp_call, (void *)__Pyx_CyFunction_CallAsMethod}, + {Py_tp_traverse, (void *)__Pyx_CyFunction_traverse}, + {Py_tp_clear, (void *)__Pyx_CyFunction_clear}, + {Py_tp_methods, (void *)__pyx_CyFunction_methods}, + {Py_tp_members, (void *)__pyx_CyFunction_members}, + {Py_tp_getset, (void *)__pyx_CyFunction_getsets}, + {Py_tp_descr_get, (void *)__Pyx_PyMethod_New}, + {0, 0}, +}; +static PyType_Spec __pyx_CyFunctionType_spec = { + __PYX_TYPE_MODULE_PREFIX "cython_function_or_method", + sizeof(__pyx_CyFunctionObject), + 0, +#ifdef Py_TPFLAGS_METHOD_DESCRIPTOR + Py_TPFLAGS_METHOD_DESCRIPTOR | +#endif +#if (defined(_Py_TPFLAGS_HAVE_VECTORCALL) && CYTHON_METH_FASTCALL) + _Py_TPFLAGS_HAVE_VECTORCALL | +#endif + Py_TPFLAGS_DEFAULT | Py_TPFLAGS_HAVE_GC | Py_TPFLAGS_BASETYPE, + __pyx_CyFunctionType_slots +}; +#else +static PyTypeObject __pyx_CyFunctionType_type = { + PyVarObject_HEAD_INIT(0, 0) + __PYX_TYPE_MODULE_PREFIX "cython_function_or_method", + sizeof(__pyx_CyFunctionObject), + 0, + (destructor) __Pyx_CyFunction_dealloc, +#if !CYTHON_METH_FASTCALL + 0, +#elif CYTHON_BACKPORT_VECTORCALL + (printfunc)offsetof(__pyx_CyFunctionObject, func_vectorcall), +#else + offsetof(PyCFunctionObject, vectorcall), +#endif + 0, + 0, +#if PY_MAJOR_VERSION < 3 + 0, +#else + 0, +#endif + (reprfunc) __Pyx_CyFunction_repr, + 0, + 0, + 0, + 0, + __Pyx_CyFunction_CallAsMethod, + 0, + 0, + 0, + 0, +#ifdef Py_TPFLAGS_METHOD_DESCRIPTOR + Py_TPFLAGS_METHOD_DESCRIPTOR | +#endif +#if defined(_Py_TPFLAGS_HAVE_VECTORCALL) && CYTHON_METH_FASTCALL + _Py_TPFLAGS_HAVE_VECTORCALL | +#endif + Py_TPFLAGS_DEFAULT | Py_TPFLAGS_HAVE_GC | Py_TPFLAGS_BASETYPE, + 0, + (traverseproc) __Pyx_CyFunction_traverse, + (inquiry) __Pyx_CyFunction_clear, + 0, +#if PY_VERSION_HEX < 0x030500A0 + offsetof(__pyx_CyFunctionObject, func_weakreflist), +#else + offsetof(PyCFunctionObject, m_weakreflist), +#endif + 0, + 0, + __pyx_CyFunction_methods, + __pyx_CyFunction_members, + __pyx_CyFunction_getsets, + 0, + 0, + __Pyx_PyMethod_New, + 0, + offsetof(__pyx_CyFunctionObject, func_dict), + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, +#if PY_VERSION_HEX >= 0x030400a1 + 0, +#endif +#if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, +#endif +#if __PYX_NEED_TP_PRINT_SLOT + 0, +#endif +#if PY_VERSION_HEX >= 0x030C0000 + 0, +#endif +#if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, +#endif +}; +#endif +static int __pyx_CyFunction_init(PyObject *module) { +#if CYTHON_USE_TYPE_SPECS + __pyx_CyFunctionType = __Pyx_FetchCommonTypeFromSpec(module, &__pyx_CyFunctionType_spec, NULL); +#else + CYTHON_UNUSED_VAR(module); + __pyx_CyFunctionType = __Pyx_FetchCommonType(&__pyx_CyFunctionType_type); +#endif + if (unlikely(__pyx_CyFunctionType == NULL)) { + return -1; + } + return 0; +} +static CYTHON_INLINE void *__Pyx_CyFunction_InitDefaults(PyObject *func, size_t size, int pyobjects) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults = PyObject_Malloc(size); + if (unlikely(!m->defaults)) + return PyErr_NoMemory(); + memset(m->defaults, 0, size); + m->defaults_pyobjects = pyobjects; + m->defaults_size = size; + return m->defaults; +} +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsTuple(PyObject *func, PyObject *tuple) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults_tuple = tuple; + Py_INCREF(tuple); +} +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsKwDict(PyObject *func, PyObject *dict) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults_kwdict = dict; + Py_INCREF(dict); +} +static CYTHON_INLINE void __Pyx_CyFunction_SetAnnotationsDict(PyObject *func, PyObject *dict) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->func_annotations = dict; + Py_INCREF(dict); +} + +/* CythonFunction */ + static PyObject *__Pyx_CyFunction_New(PyMethodDef *ml, int flags, PyObject* qualname, + PyObject *closure, PyObject *module, PyObject* globals, PyObject* code) { + PyObject *op = __Pyx_CyFunction_Init( + PyObject_GC_New(__pyx_CyFunctionObject, __pyx_CyFunctionType), + ml, flags, qualname, closure, module, globals, code + ); + if (likely(op)) { + PyObject_GC_Track(op); + } + return op; +} + +/* ClassMethod */ + static PyObject* __Pyx_Method_ClassMethod(PyObject *method) { +#if CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM <= 0x05080000 + if (PyObject_TypeCheck(method, &PyWrapperDescr_Type)) { + return PyClassMethod_New(method); + } +#else +#if CYTHON_COMPILING_IN_PYPY + if (PyMethodDescr_Check(method)) +#else + #if PY_MAJOR_VERSION == 2 + static PyTypeObject *methoddescr_type = NULL; + if (unlikely(methoddescr_type == NULL)) { + PyObject *meth = PyObject_GetAttrString((PyObject*)&PyList_Type, "append"); + if (unlikely(!meth)) return NULL; + methoddescr_type = Py_TYPE(meth); + Py_DECREF(meth); + } + #else + PyTypeObject *methoddescr_type = &PyMethodDescr_Type; + #endif + if (__Pyx_TypeCheck(method, methoddescr_type)) +#endif + { + PyMethodDescrObject *descr = (PyMethodDescrObject *)method; + #if PY_VERSION_HEX < 0x03020000 + PyTypeObject *d_type = descr->d_type; + #else + PyTypeObject *d_type = descr->d_common.d_type; + #endif + return PyDescr_NewClassMethod(d_type, descr->d_method); + } +#endif + else if (PyMethod_Check(method)) { + return PyClassMethod_New(PyMethod_GET_FUNCTION(method)); + } + else { + return PyClassMethod_New(method); + } +} + +/* GetNameInClass */ + static PyObject *__Pyx__GetNameInClass(PyObject *nmspace, PyObject *name) { + PyObject *result; + PyObject *dict; + assert(PyType_Check(nmspace)); +#if CYTHON_USE_TYPE_SLOTS + dict = ((PyTypeObject*)nmspace)->tp_dict; + Py_XINCREF(dict); +#else + dict = PyObject_GetAttr(nmspace, __pyx_n_s_dict); +#endif + if (likely(dict)) { + result = PyObject_GetItem(dict, name); + Py_DECREF(dict); + if (result) { + return result; + } + } + PyErr_Clear(); + __Pyx_GetModuleGlobalNameUncached(result, name); + return result; +} + +/* CLineInTraceback */ + #ifndef CYTHON_CLINE_IN_TRACEBACK +static int __Pyx_CLineForTraceback(PyThreadState *tstate, int c_line) { + PyObject *use_cline; + PyObject *ptype, *pvalue, *ptraceback; +#if CYTHON_COMPILING_IN_CPYTHON + PyObject **cython_runtime_dict; +#endif + CYTHON_MAYBE_UNUSED_VAR(tstate); + if (unlikely(!__pyx_cython_runtime)) { + return c_line; + } + __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); +#if CYTHON_COMPILING_IN_CPYTHON + cython_runtime_dict = _PyObject_GetDictPtr(__pyx_cython_runtime); + if (likely(cython_runtime_dict)) { + __PYX_PY_DICT_LOOKUP_IF_MODIFIED( + use_cline, *cython_runtime_dict, + __Pyx_PyDict_GetItemStr(*cython_runtime_dict, __pyx_n_s_cline_in_traceback)) + } else +#endif + { + PyObject *use_cline_obj = __Pyx_PyObject_GetAttrStrNoError(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback); + if (use_cline_obj) { + use_cline = PyObject_Not(use_cline_obj) ? Py_False : Py_True; + Py_DECREF(use_cline_obj); + } else { + PyErr_Clear(); + use_cline = NULL; + } + } + if (!use_cline) { + c_line = 0; + (void) PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False); + } + else if (use_cline == Py_False || (use_cline != Py_True && PyObject_Not(use_cline) != 0)) { + c_line = 0; + } + __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); + return c_line; +} +#endif + +/* CodeObjectCache */ + #if !CYTHON_COMPILING_IN_LIMITED_API +static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line) { + int start = 0, mid = 0, end = count - 1; + if (end >= 0 && code_line > entries[end].code_line) { + return count; + } + while (start < end) { + mid = start + (end - start) / 2; + if (code_line < entries[mid].code_line) { + end = mid; + } else if (code_line > entries[mid].code_line) { + start = mid + 1; + } else { + return mid; + } + } + if (code_line <= entries[mid].code_line) { + return mid; + } else { + return mid + 1; + } +} +static PyCodeObject *__pyx_find_code_object(int code_line) { + PyCodeObject* code_object; + int pos; + if (unlikely(!code_line) || unlikely(!__pyx_code_cache.entries)) { + return NULL; + } + pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); + if (unlikely(pos >= __pyx_code_cache.count) || unlikely(__pyx_code_cache.entries[pos].code_line != code_line)) { + return NULL; + } + code_object = __pyx_code_cache.entries[pos].code_object; + Py_INCREF(code_object); + return code_object; +} +static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object) { + int pos, i; + __Pyx_CodeObjectCacheEntry* entries = __pyx_code_cache.entries; + if (unlikely(!code_line)) { + return; + } + if (unlikely(!entries)) { + entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Malloc(64*sizeof(__Pyx_CodeObjectCacheEntry)); + if (likely(entries)) { + __pyx_code_cache.entries = entries; + __pyx_code_cache.max_count = 64; + __pyx_code_cache.count = 1; + entries[0].code_line = code_line; + entries[0].code_object = code_object; + Py_INCREF(code_object); + } + return; + } + pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); + if ((pos < __pyx_code_cache.count) && unlikely(__pyx_code_cache.entries[pos].code_line == code_line)) { + PyCodeObject* tmp = entries[pos].code_object; + entries[pos].code_object = code_object; + Py_DECREF(tmp); + return; + } + if (__pyx_code_cache.count == __pyx_code_cache.max_count) { + int new_max = __pyx_code_cache.max_count + 64; + entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Realloc( + __pyx_code_cache.entries, ((size_t)new_max) * sizeof(__Pyx_CodeObjectCacheEntry)); + if (unlikely(!entries)) { + return; + } + __pyx_code_cache.entries = entries; + __pyx_code_cache.max_count = new_max; + } + for (i=__pyx_code_cache.count; i>pos; i--) { + entries[i] = entries[i-1]; + } + entries[pos].code_line = code_line; + entries[pos].code_object = code_object; + __pyx_code_cache.count++; + Py_INCREF(code_object); +} +#endif + +/* AddTraceback */ + #include "compile.h" +#include "frameobject.h" +#include "traceback.h" +#if PY_VERSION_HEX >= 0x030b00a6 && !CYTHON_COMPILING_IN_LIMITED_API + #ifndef Py_BUILD_CORE + #define Py_BUILD_CORE 1 + #endif + #include "internal/pycore_frame.h" +#endif +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject *__Pyx_PyCode_Replace_For_AddTraceback(PyObject *code, PyObject *scratch_dict, + PyObject *firstlineno, PyObject *name) { + PyObject *replace = NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "co_firstlineno", firstlineno))) return NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "co_name", name))) return NULL; + replace = PyObject_GetAttrString(code, "replace"); + if (likely(replace)) { + PyObject *result; + result = PyObject_Call(replace, __pyx_empty_tuple, scratch_dict); + Py_DECREF(replace); + return result; + } + PyErr_Clear(); + #if __PYX_LIMITED_VERSION_HEX < 0x030780000 + { + PyObject *compiled = NULL, *result = NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "code", code))) return NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "type", (PyObject*)(&PyType_Type)))) return NULL; + compiled = Py_CompileString( + "out = type(code)(\n" + " code.co_argcount, code.co_kwonlyargcount, code.co_nlocals, code.co_stacksize,\n" + " code.co_flags, code.co_code, code.co_consts, code.co_names,\n" + " code.co_varnames, code.co_filename, co_name, co_firstlineno,\n" + " code.co_lnotab)\n", "", Py_file_input); + if (!compiled) return NULL; + result = PyEval_EvalCode(compiled, scratch_dict, scratch_dict); + Py_DECREF(compiled); + if (!result) PyErr_Print(); + Py_DECREF(result); + result = PyDict_GetItemString(scratch_dict, "out"); + if (result) Py_INCREF(result); + return result; + } + #else + return NULL; + #endif +} +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename) { + PyObject *code_object = NULL, *py_py_line = NULL, *py_funcname = NULL, *dict = NULL; + PyObject *replace = NULL, *getframe = NULL, *frame = NULL; + PyObject *exc_type, *exc_value, *exc_traceback; + int success = 0; + if (c_line) { + (void) __pyx_cfilenm; + (void) __Pyx_CLineForTraceback(__Pyx_PyThreadState_Current, c_line); + } + PyErr_Fetch(&exc_type, &exc_value, &exc_traceback); + code_object = Py_CompileString("_getframe()", filename, Py_eval_input); + if (unlikely(!code_object)) goto bad; + py_py_line = PyLong_FromLong(py_line); + if (unlikely(!py_py_line)) goto bad; + py_funcname = PyUnicode_FromString(funcname); + if (unlikely(!py_funcname)) goto bad; + dict = PyDict_New(); + if (unlikely(!dict)) goto bad; + { + PyObject *old_code_object = code_object; + code_object = __Pyx_PyCode_Replace_For_AddTraceback(code_object, dict, py_py_line, py_funcname); + Py_DECREF(old_code_object); + } + if (unlikely(!code_object)) goto bad; + getframe = PySys_GetObject("_getframe"); + if (unlikely(!getframe)) goto bad; + if (unlikely(PyDict_SetItemString(dict, "_getframe", getframe))) goto bad; + frame = PyEval_EvalCode(code_object, dict, dict); + if (unlikely(!frame) || frame == Py_None) goto bad; + success = 1; + bad: + PyErr_Restore(exc_type, exc_value, exc_traceback); + Py_XDECREF(code_object); + Py_XDECREF(py_py_line); + Py_XDECREF(py_funcname); + Py_XDECREF(dict); + Py_XDECREF(replace); + if (success) { + PyTraceBack_Here( + (struct _frame*)frame); + } + Py_XDECREF(frame); +} +#else +static PyCodeObject* __Pyx_CreateCodeObjectForTraceback( + const char *funcname, int c_line, + int py_line, const char *filename) { + PyCodeObject *py_code = NULL; + PyObject *py_funcname = NULL; + #if PY_MAJOR_VERSION < 3 + PyObject *py_srcfile = NULL; + py_srcfile = PyString_FromString(filename); + if (!py_srcfile) goto bad; + #endif + if (c_line) { + #if PY_MAJOR_VERSION < 3 + py_funcname = PyString_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); + if (!py_funcname) goto bad; + #else + py_funcname = PyUnicode_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); + if (!py_funcname) goto bad; + funcname = PyUnicode_AsUTF8(py_funcname); + if (!funcname) goto bad; + #endif + } + else { + #if PY_MAJOR_VERSION < 3 + py_funcname = PyString_FromString(funcname); + if (!py_funcname) goto bad; + #endif + } + #if PY_MAJOR_VERSION < 3 + py_code = __Pyx_PyCode_New( + 0, + 0, + 0, + 0, + 0, + 0, + __pyx_empty_bytes, /*PyObject *code,*/ + __pyx_empty_tuple, /*PyObject *consts,*/ + __pyx_empty_tuple, /*PyObject *names,*/ + __pyx_empty_tuple, /*PyObject *varnames,*/ + __pyx_empty_tuple, /*PyObject *freevars,*/ + __pyx_empty_tuple, /*PyObject *cellvars,*/ + py_srcfile, /*PyObject *filename,*/ + py_funcname, /*PyObject *name,*/ + py_line, + __pyx_empty_bytes /*PyObject *lnotab*/ + ); + Py_DECREF(py_srcfile); + #else + py_code = PyCode_NewEmpty(filename, funcname, py_line); + #endif + Py_XDECREF(py_funcname); + return py_code; +bad: + Py_XDECREF(py_funcname); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(py_srcfile); + #endif + return NULL; +} +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename) { + PyCodeObject *py_code = 0; + PyFrameObject *py_frame = 0; + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject *ptype, *pvalue, *ptraceback; + if (c_line) { + c_line = __Pyx_CLineForTraceback(tstate, c_line); + } + py_code = __pyx_find_code_object(c_line ? -c_line : py_line); + if (!py_code) { + __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); + py_code = __Pyx_CreateCodeObjectForTraceback( + funcname, c_line, py_line, filename); + if (!py_code) { + /* If the code object creation fails, then we should clear the + fetched exception references and propagate the new exception */ + Py_XDECREF(ptype); + Py_XDECREF(pvalue); + Py_XDECREF(ptraceback); + goto bad; + } + __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); + __pyx_insert_code_object(c_line ? -c_line : py_line, py_code); + } + py_frame = PyFrame_New( + tstate, /*PyThreadState *tstate,*/ + py_code, /*PyCodeObject *code,*/ + __pyx_d, /*PyObject *globals,*/ + 0 /*PyObject *locals*/ + ); + if (!py_frame) goto bad; + __Pyx_PyFrame_SetLineNumber(py_frame, py_line); + PyTraceBack_Here(py_frame); +bad: + Py_XDECREF(py_code); + Py_XDECREF(py_frame); +} +#endif + +#if PY_MAJOR_VERSION < 3 +static int __Pyx_GetBuffer(PyObject *obj, Py_buffer *view, int flags) { + __Pyx_TypeName obj_type_name; + if (PyObject_CheckBuffer(obj)) return PyObject_GetBuffer(obj, view, flags); + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, + "'" __Pyx_FMT_TYPENAME "' does not have the buffer interface", + obj_type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return -1; +} +static void __Pyx_ReleaseBuffer(Py_buffer *view) { + PyObject *obj = view->obj; + if (!obj) return; + if (PyObject_CheckBuffer(obj)) { + PyBuffer_Release(view); + return; + } + if ((0)) {} + view->obj = NULL; + Py_DECREF(obj); +} +#endif + + + /* Declarations */ + #if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) + #ifdef __cplusplus + static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float x, float y) { + return ::std::complex< float >(x, y); + } + #else + static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float x, float y) { + return x + y*(__pyx_t_float_complex)_Complex_I; + } + #endif +#else + static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float x, float y) { + __pyx_t_float_complex z; + z.real = x; + z.imag = y; + return z; + } +#endif + +/* Arithmetic */ + #if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) +#else + static CYTHON_INLINE int __Pyx_c_eq_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + return (a.real == b.real) && (a.imag == b.imag); + } + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_sum_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + __pyx_t_float_complex z; + z.real = a.real + b.real; + z.imag = a.imag + b.imag; + return z; + } + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_diff_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + __pyx_t_float_complex z; + z.real = a.real - b.real; + z.imag = a.imag - b.imag; + return z; + } + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_prod_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + __pyx_t_float_complex z; + z.real = a.real * b.real - a.imag * b.imag; + z.imag = a.real * b.imag + a.imag * b.real; + return z; + } + #if 1 + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_quot_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + if (b.imag == 0) { + return __pyx_t_float_complex_from_parts(a.real / b.real, a.imag / b.real); + } else if (fabsf(b.real) >= fabsf(b.imag)) { + if (b.real == 0 && b.imag == 0) { + return __pyx_t_float_complex_from_parts(a.real / b.real, a.imag / b.imag); + } else { + float r = b.imag / b.real; + float s = (float)(1.0) / (b.real + b.imag * r); + return __pyx_t_float_complex_from_parts( + (a.real + a.imag * r) * s, (a.imag - a.real * r) * s); + } + } else { + float r = b.real / b.imag; + float s = (float)(1.0) / (b.imag + b.real * r); + return __pyx_t_float_complex_from_parts( + (a.real * r + a.imag) * s, (a.imag * r - a.real) * s); + } + } + #else + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_quot_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + if (b.imag == 0) { + return __pyx_t_float_complex_from_parts(a.real / b.real, a.imag / b.real); + } else { + float denom = b.real * b.real + b.imag * b.imag; + return __pyx_t_float_complex_from_parts( + (a.real * b.real + a.imag * b.imag) / denom, + (a.imag * b.real - a.real * b.imag) / denom); + } + } + #endif + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_neg_float(__pyx_t_float_complex a) { + __pyx_t_float_complex z; + z.real = -a.real; + z.imag = -a.imag; + return z; + } + static CYTHON_INLINE int __Pyx_c_is_zero_float(__pyx_t_float_complex a) { + return (a.real == 0) && (a.imag == 0); + } + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_conj_float(__pyx_t_float_complex a) { + __pyx_t_float_complex z; + z.real = a.real; + z.imag = -a.imag; + return z; + } + #if 1 + static CYTHON_INLINE float __Pyx_c_abs_float(__pyx_t_float_complex z) { + #if !defined(HAVE_HYPOT) || defined(_MSC_VER) + return sqrtf(z.real*z.real + z.imag*z.imag); + #else + return hypotf(z.real, z.imag); + #endif + } + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_pow_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + __pyx_t_float_complex z; + float r, lnr, theta, z_r, z_theta; + if (b.imag == 0 && b.real == (int)b.real) { + if (b.real < 0) { + float denom = a.real * a.real + a.imag * a.imag; + a.real = a.real / denom; + a.imag = -a.imag / denom; + b.real = -b.real; + } + switch ((int)b.real) { + case 0: + z.real = 1; + z.imag = 0; + return z; + case 1: + return a; + case 2: + return __Pyx_c_prod_float(a, a); + case 3: + z = __Pyx_c_prod_float(a, a); + return __Pyx_c_prod_float(z, a); + case 4: + z = __Pyx_c_prod_float(a, a); + return __Pyx_c_prod_float(z, z); + } + } + if (a.imag == 0) { + if (a.real == 0) { + return a; + } else if ((b.imag == 0) && (a.real >= 0)) { + z.real = powf(a.real, b.real); + z.imag = 0; + return z; + } else if (a.real > 0) { + r = a.real; + theta = 0; + } else { + r = -a.real; + theta = atan2f(0.0, -1.0); + } + } else { + r = __Pyx_c_abs_float(a); + theta = atan2f(a.imag, a.real); + } + lnr = logf(r); + z_r = expf(lnr * b.real - theta * b.imag); + z_theta = theta * b.real + lnr * b.imag; + z.real = z_r * cosf(z_theta); + z.imag = z_r * sinf(z_theta); + return z; + } + #endif +#endif + +/* Declarations */ + #if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) + #ifdef __cplusplus + static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double x, double y) { + return ::std::complex< double >(x, y); + } + #else + static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double x, double y) { + return x + y*(__pyx_t_double_complex)_Complex_I; + } + #endif +#else + static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double x, double y) { + __pyx_t_double_complex z; + z.real = x; + z.imag = y; + return z; + } +#endif + +/* Arithmetic */ + #if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) +#else + static CYTHON_INLINE int __Pyx_c_eq_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + return (a.real == b.real) && (a.imag == b.imag); + } + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_sum_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + __pyx_t_double_complex z; + z.real = a.real + b.real; + z.imag = a.imag + b.imag; + return z; + } + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_diff_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + __pyx_t_double_complex z; + z.real = a.real - b.real; + z.imag = a.imag - b.imag; + return z; + } + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_prod_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + __pyx_t_double_complex z; + z.real = a.real * b.real - a.imag * b.imag; + z.imag = a.real * b.imag + a.imag * b.real; + return z; + } + #if 1 + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_quot_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + if (b.imag == 0) { + return __pyx_t_double_complex_from_parts(a.real / b.real, a.imag / b.real); + } else if (fabs(b.real) >= fabs(b.imag)) { + if (b.real == 0 && b.imag == 0) { + return __pyx_t_double_complex_from_parts(a.real / b.real, a.imag / b.imag); + } else { + double r = b.imag / b.real; + double s = (double)(1.0) / (b.real + b.imag * r); + return __pyx_t_double_complex_from_parts( + (a.real + a.imag * r) * s, (a.imag - a.real * r) * s); + } + } else { + double r = b.real / b.imag; + double s = (double)(1.0) / (b.imag + b.real * r); + return __pyx_t_double_complex_from_parts( + (a.real * r + a.imag) * s, (a.imag * r - a.real) * s); + } + } + #else + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_quot_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + if (b.imag == 0) { + return __pyx_t_double_complex_from_parts(a.real / b.real, a.imag / b.real); + } else { + double denom = b.real * b.real + b.imag * b.imag; + return __pyx_t_double_complex_from_parts( + (a.real * b.real + a.imag * b.imag) / denom, + (a.imag * b.real - a.real * b.imag) / denom); + } + } + #endif + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_neg_double(__pyx_t_double_complex a) { + __pyx_t_double_complex z; + z.real = -a.real; + z.imag = -a.imag; + return z; + } + static CYTHON_INLINE int __Pyx_c_is_zero_double(__pyx_t_double_complex a) { + return (a.real == 0) && (a.imag == 0); + } + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_conj_double(__pyx_t_double_complex a) { + __pyx_t_double_complex z; + z.real = a.real; + z.imag = -a.imag; + return z; + } + #if 1 + static CYTHON_INLINE double __Pyx_c_abs_double(__pyx_t_double_complex z) { + #if !defined(HAVE_HYPOT) || defined(_MSC_VER) + return sqrt(z.real*z.real + z.imag*z.imag); + #else + return hypot(z.real, z.imag); + #endif + } + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_pow_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + __pyx_t_double_complex z; + double r, lnr, theta, z_r, z_theta; + if (b.imag == 0 && b.real == (int)b.real) { + if (b.real < 0) { + double denom = a.real * a.real + a.imag * a.imag; + a.real = a.real / denom; + a.imag = -a.imag / denom; + b.real = -b.real; + } + switch ((int)b.real) { + case 0: + z.real = 1; + z.imag = 0; + return z; + case 1: + return a; + case 2: + return __Pyx_c_prod_double(a, a); + case 3: + z = __Pyx_c_prod_double(a, a); + return __Pyx_c_prod_double(z, a); + case 4: + z = __Pyx_c_prod_double(a, a); + return __Pyx_c_prod_double(z, z); + } + } + if (a.imag == 0) { + if (a.real == 0) { + return a; + } else if ((b.imag == 0) && (a.real >= 0)) { + z.real = pow(a.real, b.real); + z.imag = 0; + return z; + } else if (a.real > 0) { + r = a.real; + theta = 0; + } else { + r = -a.real; + theta = atan2(0.0, -1.0); + } + } else { + r = __Pyx_c_abs_double(a); + theta = atan2(a.imag, a.real); + } + lnr = log(r); + z_r = exp(lnr * b.real - theta * b.imag); + z_theta = theta * b.real + lnr * b.imag; + z.real = z_r * cos(z_theta); + z.imag = z_r * sin(z_theta); + return z; + } + #endif +#endif + +/* CIntToPy */ + static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const long neg_one = (long) -1, const_zero = (long) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(long) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(long) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(long) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; +#if !CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030d0000 + return _PyLong_FromByteArray(bytes, sizeof(long), + little, !is_unsigned); +#else + PyObject *from_bytes, *result = NULL; + PyObject *py_bytes = NULL, *arg_tuple = NULL, *kwds = NULL, *order_str = NULL; + from_bytes = PyObject_GetAttrString((PyObject*)&PyLong_Type, "from_bytes"); + if (!from_bytes) return NULL; + py_bytes = PyBytes_FromStringAndSize((char*)bytes, sizeof(long)); + if (!py_bytes) goto limited_bad; + order_str = PyUnicode_FromString(little ? "little" : "big"); + if (!order_str) goto limited_bad; + arg_tuple = PyTuple_Pack(2, py_bytes, order_str); + if (!arg_tuple) goto limited_bad; + if (!is_unsigned) { + kwds = PyDict_New(); + if (!kwds) goto limited_bad; + if (PyDict_SetItemString(kwds, "signed", __Pyx_NewRef(Py_True))) goto limited_bad; + } + result = PyObject_Call(from_bytes, arg_tuple, kwds); + limited_bad: + Py_XDECREF(kwds); + Py_XDECREF(arg_tuple); + Py_XDECREF(order_str); + Py_XDECREF(py_bytes); + Py_XDECREF(from_bytes); + return result; +#endif + } +} + +/* FormatTypeName */ + #if CYTHON_COMPILING_IN_LIMITED_API +static __Pyx_TypeName +__Pyx_PyType_GetName(PyTypeObject* tp) +{ + PyObject *name = __Pyx_PyObject_GetAttrStr((PyObject *)tp, + __pyx_n_s_name); + if (unlikely(name == NULL) || unlikely(!PyUnicode_Check(name))) { + PyErr_Clear(); + Py_XDECREF(name); + name = __Pyx_NewRef(__pyx_n_s__42); + } + return name; +} +#endif + +/* CIntFromPyVerify */ + #define __PYX_VERIFY_RETURN_INT(target_type, func_type, func_value)\ + __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 0) +#define __PYX_VERIFY_RETURN_INT_EXC(target_type, func_type, func_value)\ + __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 1) +#define __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, exc)\ + {\ + func_type value = func_value;\ + if (sizeof(target_type) < sizeof(func_type)) {\ + if (unlikely(value != (func_type) (target_type) value)) {\ + func_type zero = 0;\ + if (exc && unlikely(value == (func_type)-1 && PyErr_Occurred()))\ + return (target_type) -1;\ + if (is_unsigned && unlikely(value < zero))\ + goto raise_neg_overflow;\ + else\ + goto raise_overflow;\ + }\ + }\ + return (target_type) value;\ + } + +/* CIntFromPy */ + static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const long neg_one = (long) -1, const_zero = (long) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(long) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(long, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (long) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(long, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(long) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 2 * PyLong_SHIFT)) { + return (long) (((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(long) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 3 * PyLong_SHIFT)) { + return (long) (((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(long) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 4 * PyLong_SHIFT)) { + return (long) (((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (long) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(long) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(long, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(long) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(long, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(long, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(long) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(long) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + return (long) ((((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(long) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + return (long) ((((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 4 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(long) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 4 * PyLong_SHIFT)) { + return (long) ((((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(long) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(long, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(long) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(long, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + long val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (long) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (long) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (long) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (long) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (long) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(long) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((long) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(long) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((long) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((long) 1) << (sizeof(long) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (long) -1; + } + } else { + long val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (long) -1; + val = __Pyx_PyInt_As_long(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to long"); + return (long) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to long"); + return (long) -1; +} + +/* CIntFromPy */ + static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(int) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(int, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (int) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(int, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(int) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 2 * PyLong_SHIFT)) { + return (int) (((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(int) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 3 * PyLong_SHIFT)) { + return (int) (((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(int) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 4 * PyLong_SHIFT)) { + return (int) (((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (int) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(int) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(int, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(int) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(int, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(int, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(int) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(int) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + return (int) ((((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(int) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + return (int) ((((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 4 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(int) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 4 * PyLong_SHIFT)) { + return (int) ((((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(int) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(int, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(int) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(int, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + int val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (int) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (int) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (int) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (int) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (int) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(int) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((int) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(int) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((int) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((int) 1) << (sizeof(int) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (int) -1; + } + } else { + int val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (int) -1; + val = __Pyx_PyInt_As_int(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to int"); + return (int) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to int"); + return (int) -1; +} + +/* FastTypeChecks */ + #if CYTHON_COMPILING_IN_CPYTHON +static int __Pyx_InBases(PyTypeObject *a, PyTypeObject *b) { + while (a) { + a = __Pyx_PyType_GetSlot(a, tp_base, PyTypeObject*); + if (a == b) + return 1; + } + return b == &PyBaseObject_Type; +} +static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b) { + PyObject *mro; + if (a == b) return 1; + mro = a->tp_mro; + if (likely(mro)) { + Py_ssize_t i, n; + n = PyTuple_GET_SIZE(mro); + for (i = 0; i < n; i++) { + if (PyTuple_GET_ITEM(mro, i) == (PyObject *)b) + return 1; + } + return 0; + } + return __Pyx_InBases(a, b); +} +static CYTHON_INLINE int __Pyx_IsAnySubtype2(PyTypeObject *cls, PyTypeObject *a, PyTypeObject *b) { + PyObject *mro; + if (cls == a || cls == b) return 1; + mro = cls->tp_mro; + if (likely(mro)) { + Py_ssize_t i, n; + n = PyTuple_GET_SIZE(mro); + for (i = 0; i < n; i++) { + PyObject *base = PyTuple_GET_ITEM(mro, i); + if (base == (PyObject *)a || base == (PyObject *)b) + return 1; + } + return 0; + } + return __Pyx_InBases(cls, a) || __Pyx_InBases(cls, b); +} +#if PY_MAJOR_VERSION == 2 +static int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject* exc_type2) { + PyObject *exception, *value, *tb; + int res; + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + __Pyx_ErrFetch(&exception, &value, &tb); + res = exc_type1 ? PyObject_IsSubclass(err, exc_type1) : 0; + if (unlikely(res == -1)) { + PyErr_WriteUnraisable(err); + res = 0; + } + if (!res) { + res = PyObject_IsSubclass(err, exc_type2); + if (unlikely(res == -1)) { + PyErr_WriteUnraisable(err); + res = 0; + } + } + __Pyx_ErrRestore(exception, value, tb); + return res; +} +#else +static CYTHON_INLINE int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject *exc_type2) { + if (exc_type1) { + return __Pyx_IsAnySubtype2((PyTypeObject*)err, (PyTypeObject*)exc_type1, (PyTypeObject*)exc_type2); + } else { + return __Pyx_IsSubtype((PyTypeObject*)err, (PyTypeObject*)exc_type2); + } +} +#endif +static int __Pyx_PyErr_GivenExceptionMatchesTuple(PyObject *exc_type, PyObject *tuple) { + Py_ssize_t i, n; + assert(PyExceptionClass_Check(exc_type)); + n = PyTuple_GET_SIZE(tuple); +#if PY_MAJOR_VERSION >= 3 + for (i=0; i= 0x030B00A4 + return Py_Version & ~0xFFUL; +#else + const char* rt_version = Py_GetVersion(); + unsigned long version = 0; + unsigned long factor = 0x01000000UL; + unsigned int digit = 0; + int i = 0; + while (factor) { + while ('0' <= rt_version[i] && rt_version[i] <= '9') { + digit = digit * 10 + (unsigned int) (rt_version[i] - '0'); + ++i; + } + version += factor * digit; + if (rt_version[i] != '.') + break; + digit = 0; + factor >>= 8; + ++i; + } + return version; +#endif +} +static int __Pyx_check_binary_version(unsigned long ct_version, unsigned long rt_version, int allow_newer) { + const unsigned long MAJOR_MINOR = 0xFFFF0000UL; + if ((rt_version & MAJOR_MINOR) == (ct_version & MAJOR_MINOR)) + return 0; + if (likely(allow_newer && (rt_version & MAJOR_MINOR) > (ct_version & MAJOR_MINOR))) + return 1; + { + char message[200]; + PyOS_snprintf(message, sizeof(message), + "compile time Python version %d.%d " + "of module '%.100s' " + "%s " + "runtime version %d.%d", + (int) (ct_version >> 24), (int) ((ct_version >> 16) & 0xFF), + __Pyx_MODULE_NAME, + (allow_newer) ? "was newer than" : "does not match", + (int) (rt_version >> 24), (int) ((rt_version >> 16) & 0xFF) + ); + return PyErr_WarnEx(NULL, message, 1); + } +} + +/* InitStrings */ + #if PY_MAJOR_VERSION >= 3 +static int __Pyx_InitString(__Pyx_StringTabEntry t, PyObject **str) { + if (t.is_unicode | t.is_str) { + if (t.intern) { + *str = PyUnicode_InternFromString(t.s); + } else if (t.encoding) { + *str = PyUnicode_Decode(t.s, t.n - 1, t.encoding, NULL); + } else { + *str = PyUnicode_FromStringAndSize(t.s, t.n - 1); + } + } else { + *str = PyBytes_FromStringAndSize(t.s, t.n - 1); + } + if (!*str) + return -1; + if (PyObject_Hash(*str) == -1) + return -1; + return 0; +} +#endif +static int __Pyx_InitStrings(__Pyx_StringTabEntry *t) { + while (t->p) { + #if PY_MAJOR_VERSION >= 3 + __Pyx_InitString(*t, t->p); + #else + if (t->is_unicode) { + *t->p = PyUnicode_DecodeUTF8(t->s, t->n - 1, NULL); + } else if (t->intern) { + *t->p = PyString_InternFromString(t->s); + } else { + *t->p = PyString_FromStringAndSize(t->s, t->n - 1); + } + if (!*t->p) + return -1; + if (PyObject_Hash(*t->p) == -1) + return -1; + #endif + ++t; + } + return 0; +} + +#include +static CYTHON_INLINE Py_ssize_t __Pyx_ssize_strlen(const char *s) { + size_t len = strlen(s); + if (unlikely(len > (size_t) PY_SSIZE_T_MAX)) { + PyErr_SetString(PyExc_OverflowError, "byte string is too long"); + return -1; + } + return (Py_ssize_t) len; +} +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char* c_str) { + Py_ssize_t len = __Pyx_ssize_strlen(c_str); + if (unlikely(len < 0)) return NULL; + return __Pyx_PyUnicode_FromStringAndSize(c_str, len); +} +static CYTHON_INLINE PyObject* __Pyx_PyByteArray_FromString(const char* c_str) { + Py_ssize_t len = __Pyx_ssize_strlen(c_str); + if (unlikely(len < 0)) return NULL; + return PyByteArray_FromStringAndSize(c_str, len); +} +static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject* o) { + Py_ssize_t ignore; + return __Pyx_PyObject_AsStringAndSize(o, &ignore); +} +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT +#if !CYTHON_PEP393_ENABLED +static const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { + char* defenc_c; + PyObject* defenc = _PyUnicode_AsDefaultEncodedString(o, NULL); + if (!defenc) return NULL; + defenc_c = PyBytes_AS_STRING(defenc); +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + { + char* end = defenc_c + PyBytes_GET_SIZE(defenc); + char* c; + for (c = defenc_c; c < end; c++) { + if ((unsigned char) (*c) >= 128) { + PyUnicode_AsASCIIString(o); + return NULL; + } + } + } +#endif + *length = PyBytes_GET_SIZE(defenc); + return defenc_c; +} +#else +static CYTHON_INLINE const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { + if (unlikely(__Pyx_PyUnicode_READY(o) == -1)) return NULL; +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + if (likely(PyUnicode_IS_ASCII(o))) { + *length = PyUnicode_GET_LENGTH(o); + return PyUnicode_AsUTF8(o); + } else { + PyUnicode_AsASCIIString(o); + return NULL; + } +#else + return PyUnicode_AsUTF8AndSize(o, length); +#endif +} +#endif +#endif +static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject* o, Py_ssize_t *length) { +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT + if ( +#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + __Pyx_sys_getdefaultencoding_not_ascii && +#endif + PyUnicode_Check(o)) { + return __Pyx_PyUnicode_AsStringAndSize(o, length); + } else +#endif +#if (!CYTHON_COMPILING_IN_PYPY && !CYTHON_COMPILING_IN_LIMITED_API) || (defined(PyByteArray_AS_STRING) && defined(PyByteArray_GET_SIZE)) + if (PyByteArray_Check(o)) { + *length = PyByteArray_GET_SIZE(o); + return PyByteArray_AS_STRING(o); + } else +#endif + { + char* result; + int r = PyBytes_AsStringAndSize(o, &result, length); + if (unlikely(r < 0)) { + return NULL; + } else { + return result; + } + } +} +static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject* x) { + int is_true = x == Py_True; + if (is_true | (x == Py_False) | (x == Py_None)) return is_true; + else return PyObject_IsTrue(x); +} +static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject* x) { + int retval; + if (unlikely(!x)) return -1; + retval = __Pyx_PyObject_IsTrue(x); + Py_DECREF(x); + return retval; +} +static PyObject* __Pyx_PyNumber_IntOrLongWrongResultType(PyObject* result, const char* type_name) { + __Pyx_TypeName result_type_name = __Pyx_PyType_GetName(Py_TYPE(result)); +#if PY_MAJOR_VERSION >= 3 + if (PyLong_Check(result)) { + if (PyErr_WarnFormat(PyExc_DeprecationWarning, 1, + "__int__ returned non-int (type " __Pyx_FMT_TYPENAME "). " + "The ability to return an instance of a strict subclass of int is deprecated, " + "and may be removed in a future version of Python.", + result_type_name)) { + __Pyx_DECREF_TypeName(result_type_name); + Py_DECREF(result); + return NULL; + } + __Pyx_DECREF_TypeName(result_type_name); + return result; + } +#endif + PyErr_Format(PyExc_TypeError, + "__%.4s__ returned non-%.4s (type " __Pyx_FMT_TYPENAME ")", + type_name, type_name, result_type_name); + __Pyx_DECREF_TypeName(result_type_name); + Py_DECREF(result); + return NULL; +} +static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x) { +#if CYTHON_USE_TYPE_SLOTS + PyNumberMethods *m; +#endif + const char *name = NULL; + PyObject *res = NULL; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x) || PyLong_Check(x))) +#else + if (likely(PyLong_Check(x))) +#endif + return __Pyx_NewRef(x); +#if CYTHON_USE_TYPE_SLOTS + m = Py_TYPE(x)->tp_as_number; + #if PY_MAJOR_VERSION < 3 + if (m && m->nb_int) { + name = "int"; + res = m->nb_int(x); + } + else if (m && m->nb_long) { + name = "long"; + res = m->nb_long(x); + } + #else + if (likely(m && m->nb_int)) { + name = "int"; + res = m->nb_int(x); + } + #endif +#else + if (!PyBytes_CheckExact(x) && !PyUnicode_CheckExact(x)) { + res = PyNumber_Int(x); + } +#endif + if (likely(res)) { +#if PY_MAJOR_VERSION < 3 + if (unlikely(!PyInt_Check(res) && !PyLong_Check(res))) { +#else + if (unlikely(!PyLong_CheckExact(res))) { +#endif + return __Pyx_PyNumber_IntOrLongWrongResultType(res, name); + } + } + else if (!PyErr_Occurred()) { + PyErr_SetString(PyExc_TypeError, + "an integer is required"); + } + return res; +} +static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject* b) { + Py_ssize_t ival; + PyObject *x; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_CheckExact(b))) { + if (sizeof(Py_ssize_t) >= sizeof(long)) + return PyInt_AS_LONG(b); + else + return PyInt_AsSsize_t(b); + } +#endif + if (likely(PyLong_CheckExact(b))) { + #if CYTHON_USE_PYLONG_INTERNALS + if (likely(__Pyx_PyLong_IsCompact(b))) { + return __Pyx_PyLong_CompactValue(b); + } else { + const digit* digits = __Pyx_PyLong_Digits(b); + const Py_ssize_t size = __Pyx_PyLong_SignedDigitCount(b); + switch (size) { + case 2: + if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { + return (Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -2: + if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case 3: + if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { + return (Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -3: + if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case 4: + if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { + return (Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -4: + if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + } + } + #endif + return PyLong_AsSsize_t(b); + } + x = PyNumber_Index(b); + if (!x) return -1; + ival = PyInt_AsSsize_t(x); + Py_DECREF(x); + return ival; +} +static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject* o) { + if (sizeof(Py_hash_t) == sizeof(Py_ssize_t)) { + return (Py_hash_t) __Pyx_PyIndex_AsSsize_t(o); +#if PY_MAJOR_VERSION < 3 + } else if (likely(PyInt_CheckExact(o))) { + return PyInt_AS_LONG(o); +#endif + } else { + Py_ssize_t ival; + PyObject *x; + x = PyNumber_Index(o); + if (!x) return -1; + ival = PyInt_AsLong(x); + Py_DECREF(x); + return ival; + } +} +static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b) { + return b ? __Pyx_NewRef(Py_True) : __Pyx_NewRef(Py_False); +} +static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t ival) { + return PyInt_FromSize_t(ival); +} + + +/* #### Code section: utility_code_pragmas_end ### */ +#ifdef _MSC_VER +#pragma warning( pop ) +#endif + + + +/* #### Code section: end ### */ +#endif /* Py_PYTHON_H */ diff --git a/common/transformations/transformations.so b/common/transformations/transformations.so new file mode 100644 index 00000000000000..a7d5e60276cd55 Binary files /dev/null and b/common/transformations/transformations.so differ diff --git a/common/util.cc b/common/util.cc deleted file mode 100644 index 5ffd6e4099f27b..00000000000000 --- a/common/util.cc +++ /dev/null @@ -1,274 +0,0 @@ -#include "common/util.h" - -#include -#include -#include - -#include -#include -#include -#include -#include -#include -#include -#include - -#ifdef __linux__ -#include -#include -#ifndef __USE_GNU -#define __USE_GNU -#endif -#include -#endif // __linux__ - -namespace util { - -void set_thread_name(const char* name) { -#ifdef __linux__ - // pthread_setname_np is dumb (fails instead of truncates) - prctl(PR_SET_NAME, (unsigned long)name, 0, 0, 0); -#endif -} - -int set_realtime_priority(int level) { -#ifdef __linux__ - long tid = syscall(SYS_gettid); - - // should match python using chrt - struct sched_param sa; - memset(&sa, 0, sizeof(sa)); - sa.sched_priority = level; - return sched_setscheduler(tid, SCHED_FIFO, &sa); -#else - return -1; -#endif -} - -int set_core_affinity(std::vector cores) { -#ifdef __linux__ - long tid = syscall(SYS_gettid); - cpu_set_t cpu; - - CPU_ZERO(&cpu); - for (const int n : cores) { - CPU_SET(n, &cpu); - } - return sched_setaffinity(tid, sizeof(cpu), &cpu); -#else - return -1; -#endif -} - -int set_file_descriptor_limit(uint64_t limit_val) { - struct rlimit limit; - int status; - - if ((status = getrlimit(RLIMIT_NOFILE, &limit)) < 0) - return status; - - limit.rlim_cur = limit_val; - if ((status = setrlimit(RLIMIT_NOFILE, &limit)) < 0) - return status; - - return 0; -} - -std::string read_file(const std::string& fn) { - std::ifstream f(fn, std::ios::binary | std::ios::in); - if (f.is_open()) { - f.seekg(0, std::ios::end); - int size = f.tellg(); - if (f.good() && size > 0) { - std::string result(size, '\0'); - f.seekg(0, std::ios::beg); - f.read(result.data(), size); - // return either good() or has reached end-of-file (e.g. /sys/power/wakeup_count) - if (f.good() || f.eof()) { - result.resize(f.gcount()); - return result; - } - } - // fallback for files created on read, e.g. procfs - std::stringstream buffer; - buffer << f.rdbuf(); - return buffer.str(); - } - return std::string(); -} - -std::map read_files_in_dir(const std::string &path) { - std::map ret; - DIR *d = opendir(path.c_str()); - if (!d) return ret; - - struct dirent *de = NULL; - while ((de = readdir(d))) { - if (de->d_type != DT_DIR) { - ret[de->d_name] = util::read_file(path + "/" + de->d_name); - } - } - - closedir(d); - return ret; -} - -int write_file(const char* path, const void* data, size_t size, int flags, mode_t mode) { - int fd = HANDLE_EINTR(open(path, flags, mode)); - if (fd == -1) { - return -1; - } - ssize_t n = HANDLE_EINTR(write(fd, data, size)); - close(fd); - return (n >= 0 && (size_t)n == size) ? 0 : -1; -} - -FILE* safe_fopen(const char* filename, const char* mode) { - FILE* fp = NULL; - do { - fp = fopen(filename, mode); - } while ((nullptr == fp) && (errno == EINTR)); - return fp; -} - -size_t safe_fwrite(const void* ptr, size_t size, size_t count, FILE* stream) { - size_t written = 0; - do { - size_t ret = ::fwrite((void*)((char *)ptr + written * size), size, count - written, stream); - if (ret == 0 && errno != EINTR) break; - written += ret; - } while (written != count); - return written; -} - -int safe_fflush(FILE *stream) { - int ret = EOF; - do { - ret = fflush(stream); - } while ((EOF == ret) && (errno == EINTR)); - return ret; -} - -int safe_ioctl(int fd, unsigned long request, void *argp) { - int ret; - do { - ret = ioctl(fd, request, argp); - } while ((ret == -1) && (errno == EINTR)); - return ret; -} - -std::string readlink(const std::string &path) { - char buff[4096]; - ssize_t len = ::readlink(path.c_str(), buff, sizeof(buff)-1); - if (len != -1) { - buff[len] = '\0'; - return std::string(buff); - } - return ""; -} - -bool file_exists(const std::string& fn) { - struct stat st = {}; - return stat(fn.c_str(), &st) != -1; -} - -static bool createDirectory(std::string dir, mode_t mode) { - auto verify_dir = [](const std::string& dir) -> bool { - struct stat st = {}; - return (stat(dir.c_str(), &st) == 0 && (st.st_mode & S_IFMT) == S_IFDIR); - }; - // remove trailing /'s - while (dir.size() > 1 && dir.back() == '/') { - dir.pop_back(); - } - // try to mkdir this directory - if (mkdir(dir.c_str(), mode) == 0) return true; - if (errno == EEXIST) return verify_dir(dir); - if (errno != ENOENT) return false; - - // mkdir failed because the parent dir doesn't exist, so try to create it - size_t slash = dir.rfind('/'); - if ((slash == std::string::npos || slash < 1) || - !createDirectory(dir.substr(0, slash), mode)) { - return false; - } - - // try again - if (mkdir(dir.c_str(), mode) == 0) return true; - return errno == EEXIST && verify_dir(dir); -} - -bool create_directories(const std::string& dir, mode_t mode) { - if (dir.empty()) return false; - return createDirectory(dir, mode); -} - -std::string getenv(const char* key, std::string default_val) { - const char* val = ::getenv(key); - return val ? val : default_val; -} - -int getenv(const char* key, int default_val) { - const char* val = ::getenv(key); - return val ? atoi(val) : default_val; -} - -float getenv(const char* key, float default_val) { - const char* val = ::getenv(key); - return val ? atof(val) : default_val; -} - -std::string hexdump(const uint8_t* in, const size_t size) { - std::stringstream ss; - ss << std::hex << std::setfill('0'); - for (size_t i = 0; i < size; i++) { - ss << std::setw(2) << static_cast(in[i]); - } - return ss.str(); -} - -int random_int(int min, int max) { - std::random_device dev; - std::mt19937 rng(dev()); - std::uniform_int_distribution dist(min, max); - return dist(rng); -} - -std::string random_string(std::string::size_type length) { - const std::string chrs = "0123456789abcdefghijklmnopqrstuvwxyzABCDEFGHIJKLMNOPQRSTUVWXYZ"; - std::mt19937 rg{std::random_device{}()}; - std::uniform_int_distribution pick(0, chrs.length() - 1); - std::string s; - s.reserve(length); - while (length--) { - s += chrs[pick(rg)]; - } - return s; -} - -bool starts_with(const std::string &s1, const std::string &s2) { - return strncmp(s1.c_str(), s2.c_str(), s2.size()) == 0; -} - -bool ends_with(const std::string& s, const std::string& suffix) { - return s.size() >= suffix.size() && - strcmp(s.c_str() + (s.size() - suffix.size()), suffix.c_str()) == 0; -} - -std::string check_output(const std::string& command) { - char buffer[128]; - std::string result; - std::unique_ptr pipe(popen(command.c_str(), "r"), pclose); - - if (!pipe) { - return ""; - } - - while (fgets(buffer, std::size(buffer), pipe.get()) != nullptr) { - result += std::string(buffer); - } - - return result; -} - -} // namespace util diff --git a/common/util.h b/common/util.h deleted file mode 100644 index 4c67312a41e577..00000000000000 --- a/common/util.h +++ /dev/null @@ -1,185 +0,0 @@ -#pragma once - -#include -#include -#include - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -// keep trying if x gets interrupted by a signal -#define HANDLE_EINTR(x) \ - ({ \ - decltype(x) ret_; \ - int try_cnt = 0; \ - do { \ - ret_ = (x); \ - } while (ret_ == -1 && errno == EINTR && try_cnt++ < 100); \ - ret_; \ - }) - -#ifndef sighandler_t -typedef void (*sighandler_t)(int sig); -#endif - -const double MILE_TO_KM = 1.609344; -const double KM_TO_MILE = 1. / MILE_TO_KM; -const double MS_TO_KPH = 3.6; -const double MS_TO_MPH = MS_TO_KPH * KM_TO_MILE; -const double METER_TO_MILE = KM_TO_MILE / 1000.0; -const double METER_TO_FOOT = 3.28084; -const double FOOT_TO_METER = 1. / METER_TO_FOOT; -const double CM_TO_INCH = 1. / 2.54; -const double INCH_TO_CM = 1. / CM_TO_INCH; - -namespace util { - -void set_thread_name(const char* name); -int set_realtime_priority(int level); -int set_core_affinity(std::vector cores); -int set_file_descriptor_limit(uint64_t limit); - -// ***** math helpers ***** - -// map x from [a1, a2] to [b1, b2] -template -T map_val(T x, T a1, T a2, T b1, T b2) { - x = std::clamp(x, a1, a2); - T ra = a2 - a1; - T rb = b2 - b1; - return (x - a1) * rb / ra + b1; -} - -// ***** string helpers ***** - -template -std::string string_format(const std::string& format, Args... args) { - size_t size = snprintf(nullptr, 0, format.c_str(), args...) + 1; - std::unique_ptr buf(new char[size]); - snprintf(buf.get(), size, format.c_str(), args...); - return std::string(buf.get(), buf.get() + size - 1); -} - -std::string getenv(const char* key, std::string default_val = ""); -int getenv(const char* key, int default_val); -float getenv(const char* key, float default_val); - -std::string hexdump(const uint8_t* in, const size_t size); -bool starts_with(const std::string &s1, const std::string &s2); -bool ends_with(const std::string &s, const std::string &suffix); - -// ***** random helpers ***** -int random_int(int min, int max); -std::string random_string(std::string::size_type length); - -// **** file helpers ***** -std::string read_file(const std::string& fn); -std::map read_files_in_dir(const std::string& path); -int write_file(const char* path, const void* data, size_t size, int flags = O_WRONLY, mode_t mode = 0664); - -FILE* safe_fopen(const char* filename, const char* mode); -size_t safe_fwrite(const void * ptr, size_t size, size_t count, FILE * stream); -int safe_fflush(FILE *stream); -int safe_ioctl(int fd, unsigned long request, void *argp); - -std::string readlink(const std::string& path); -bool file_exists(const std::string& fn); -bool create_directories(const std::string &dir, mode_t mode); - -std::string check_output(const std::string& command); - -inline void sleep_for(const int milliseconds) { - if (milliseconds > 0) { - std::this_thread::sleep_for(std::chrono::milliseconds(milliseconds)); - } -} - -} // namespace util - -class ExitHandler { -public: - ExitHandler() { - std::signal(SIGINT, (sighandler_t)set_do_exit); - std::signal(SIGTERM, (sighandler_t)set_do_exit); - -#ifndef __APPLE__ - std::signal(SIGPWR, (sighandler_t)set_do_exit); -#endif - } - inline static std::atomic power_failure = false; - inline static std::atomic signal = 0; - inline operator bool() { return do_exit; } - inline ExitHandler& operator=(bool v) { - signal = 0; - do_exit = v; - return *this; - } -private: - static void set_do_exit(int sig) { -#ifndef __APPLE__ - power_failure = (sig == SIGPWR); -#endif - signal = sig; - do_exit = true; - } - inline static std::atomic do_exit = false; -}; - -struct unique_fd { - unique_fd(int fd = -1) : fd_(fd) {} - unique_fd& operator=(unique_fd&& uf) { - fd_ = uf.fd_; - uf.fd_ = -1; - return *this; - } - ~unique_fd() { - if (fd_ != -1) close(fd_); - } - operator int() const { return fd_; } - int fd_; -}; - -class FirstOrderFilter { -public: - FirstOrderFilter(float x0, float ts, float dt, bool initialized = true) { - k_ = (dt / ts) / (1.0 + dt / ts); - x_ = x0; - initialized_ = initialized; - } - inline float update(float x) { - if (initialized_) { - x_ = (1. - k_) * x_ + k_ * x; - } else { - initialized_ = true; - x_ = x; - } - return x_; - } - inline void reset(float x) { x_ = x; } - inline float x(){ return x_; } - -private: - float x_, k_; - bool initialized_; -}; - -template -void update_max_atomic(std::atomic& max, T const& value) { - T prev = max; - while (prev < value && !max.compare_exchange_weak(prev, value)) {} -} - -typedef struct Rect { - int x; - int y; - int w; - int h; -} Rect; diff --git a/common/watchdog.cc b/common/watchdog.cc deleted file mode 100644 index 3483ad21c2c608..00000000000000 --- a/common/watchdog.cc +++ /dev/null @@ -1,11 +0,0 @@ -#include - -#include "common/watchdog.h" -#include "common/util.h" - -const std::string watchdog_fn_prefix = "/dev/shm/wd_"; // + - -bool watchdog_kick(uint64_t ts) { - static std::string fn = watchdog_fn_prefix + std::to_string(getpid()); - return util::write_file(fn.c_str(), &ts, sizeof(ts), O_WRONLY | O_CREAT) > 0; -} diff --git a/common/watchdog.h b/common/watchdog.h deleted file mode 100644 index 12dd2ca0355f09..00000000000000 --- a/common/watchdog.h +++ /dev/null @@ -1,5 +0,0 @@ -#pragma once - -#include - -bool watchdog_kick(uint64_t ts); diff --git a/conftest.py b/conftest.py deleted file mode 100644 index fc4931fb54d2f9..00000000000000 --- a/conftest.py +++ /dev/null @@ -1,100 +0,0 @@ -import contextlib -import gc -import os -import pytest -import random - -from openpilot.common.prefix import OpenpilotPrefix -from openpilot.system.manager import manager -from openpilot.system.hardware import TICI, HARDWARE - - -def pytest_sessionstart(session): - # TODO: fix tests and enable test order randomization - if session.config.pluginmanager.hasplugin('randomly'): - session.config.option.randomly_reorganize = False - - -@pytest.hookimpl(hookwrapper=True, trylast=True) -def pytest_runtest_call(item): - # ensure we run as a hook after capturemanager's - if item.get_closest_marker("nocapture") is not None: - capmanager = item.config.pluginmanager.getplugin("capturemanager") - with capmanager.global_and_fixture_disabled(): - yield - else: - yield - - -@contextlib.contextmanager -def clean_env(): - starting_env = dict(os.environ) - yield - os.environ.clear() - os.environ.update(starting_env) - - -@pytest.fixture(scope="function", autouse=True) -def openpilot_function_fixture(request): - random.seed(0) - - with clean_env(): - # setup a clean environment for each test - with OpenpilotPrefix(shared_download_cache=request.node.get_closest_marker("shared_download_cache") is not None) as prefix: - prefix = os.environ["OPENPILOT_PREFIX"] - - yield - - # ensure the test doesn't change the prefix - assert "OPENPILOT_PREFIX" in os.environ and prefix == os.environ["OPENPILOT_PREFIX"] - - # cleanup any started processes - manager.manager_cleanup() - - # some processes disable gc for performance, re-enable here - if not gc.isenabled(): - gc.enable() - gc.collect() - -# If you use setUpClass, the environment variables won't be cleared properly, -# so we need to hook both the function and class pytest fixtures -@pytest.fixture(scope="class", autouse=True) -def openpilot_class_fixture(): - with clean_env(): - yield - - -@pytest.fixture(scope="function") -def tici_setup_fixture(openpilot_function_fixture): - """Ensure a consistent state for tests on-device. Needs the openpilot function fixture to run first.""" - HARDWARE.initialize_hardware() - HARDWARE.set_power_save(False) - os.system("pkill -9 -f athena") - - -@pytest.hookimpl(tryfirst=True) -def pytest_collection_modifyitems(config, items): - skipper = pytest.mark.skip(reason="Skipping tici test on PC") - for item in items: - if "tici" in item.keywords: - if not TICI: - item.add_marker(skipper) - else: - item.fixturenames.append('tici_setup_fixture') - - if "xdist_group_class_property" in item.keywords: - class_property_name = item.get_closest_marker('xdist_group_class_property').args[0] - class_property_value = getattr(item.cls, class_property_name) - item.add_marker(pytest.mark.xdist_group(class_property_value)) - - -@pytest.hookimpl(trylast=True) -def pytest_configure(config): - config_line = "xdist_group_class_property: group tests by a property of the class that contains them" - config.addinivalue_line("markers", config_line) - - config_line = "nocapture: don't capture test output" - config.addinivalue_line("markers", config_line) - - config_line = "shared_download_cache: share download cache between tests" - config.addinivalue_line("markers", config_line) diff --git a/docs/BOUNTIES.md b/docs/BOUNTIES.md deleted file mode 100644 index 31e19e12061c55..00000000000000 --- a/docs/BOUNTIES.md +++ /dev/null @@ -1,62 +0,0 @@ -# [Bounties](https://github.com/orgs/commaai/projects/26/views/1) - -Get paid to improve openpilot! - -## Rules - -* code must be merged into openpilot master -* bounty eligibility is solely at our discretion -* once you open a PR, the bounty is locked to you until you stop working on it -* open a ticket at [comma.ai/support](https://comma.ai/support/shop-order) with links to your PRs to claim -* get an extra 20% if you redeem your bounty in [comma shop](https://comma.ai/shop) credit (including refunds on previous orders) -* for bounties >$100, the first PR gets a lock, which times out after a week of no progress - -We put up each bounty with the intention that it'll get merged, but occasionally the right resolution is to close the bounty, which only becomes clear once some effort is put in. -This is still valuable work, so we'll pay out $100 for getting any bounty closed with a good explanation. - -## Issue bounties - -We've tagged bounty-eligible issues across openpilot and the rest of our repos; check out all the open ones [here](https://github.com/orgs/commaai/projects/26/views/1). These bounties roughly work out like this: -* **$100** - a few hours of work for an experienced openpilot developer; a good intro for someone new to openpilot -* **$300** - a day of work for an experienced openpilot developer -* **$500** - a few days of work for an experienced openpilot developer -* **$1k+** - a week or two of work (could be less for the right person) - -New bounties can be proposed in the [**#contributing**](https://discord.com/channels/469524606043160576/1183173332531687454) channel in Discord. - -## Car bounties - -The car bounties only apply to cars that have a path to ship in openpilot release, which excludes unsupportable cars (e.g. Fords with a steering lockout) or cars that require extra hardware (Honda Accord with serial steering). - -#### Brand or platform port - $2000 -Example PR: [commaai/openpilot#23331](https://github.com/commaai/openpilot/pull/23331) - -This is for adding support for an entirely new brand or a substantially new ADAS platform within a brand (e.g. the Volkswagen PQ platform). - -#### Model port - $250 -Example PR: [commaai/openpilot#30245](https://github.com/commaai/openpilot/pull/30245) - -This is for porting a new car model that runs on a platform openpilot already supports. -In the average case, this is a few hours of work for an experienced software developer. - -This bounty also covers getting openpilot supported on a previously unsupported trim of an already supported car, e.g. the Chevy Bolt without ACC. - -#### Reverse Engineering a new Actuation Message - $300 - -This is for cars that are already supported, and it has three components: -* reverse a new steering, adaptive cruise, or AEB message -* merge the DBC definitions to [opendbc](http://github.com/commaai/opendbc) -* merge the openpilot code to use it and post a demo route - -The control doesn't have to be perfect, but it should generally do what it's supposed to do. - -### Specific Cars - -#### Rivian R1T or R1S - $3000 - -Get a Rivian driving with openpilot. -Requires a merged port with lateral control and at least a POC of longitudinal control. - -#### Chevy Bolt with SuperCruise - $2500 - -The Bolt is already supported on the trim with standard ACC. Get openpilot working on the trim with SuperCruise. It must be a normal install: no extra pandas or other hardware, no ECU reflashes, etc. The full bounty is for a port with lateral and longitudinal control. $1500 of the bounty can be claimed with a lateral-only port. diff --git a/docs/Makefile b/docs/Makefile deleted file mode 100644 index 09103e206ec444..00000000000000 --- a/docs/Makefile +++ /dev/null @@ -1,53 +0,0 @@ -# Minimal makefile for Sphinx documentation -# - -OPENPILOT_ROOT = `git rev-parse --show-toplevel` - -# You can set these variables from the command line, and also -# from the environment for the first two. -SPHINXOPTS ?= -SPHINXBUILD ?= sphinx-build -DOCSDIR = "$(OPENPILOT_ROOT)/docs" -SOURCEDIR = "$(OPENPILOT_ROOT)/build/docs" -DOCSBUILDDIR = "$(OPENPILOT_ROOT)/build/docs" -BUILDDIR = "$(OPENPILOT_ROOT)/build" - -# Put it first so that "make" without argument is like "make help". -help: - @$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(DOCSBUILDDIR)" $(SPHINXOPTS) $(O) - -clean: - @echo "Cleaning build folder..." - rm -rf "$(BUILDDIR)" - -.PHONY: help Makefile - -# Catch-all target: route all unknown targets to Sphinx using the new -# "make mode" option. $(O) is meant as a shortcut for $(SPHINXOPTS). -%: Makefile - @echo "Cleaning build folder..." - rm -rf "$(BUILDDIR)" - mkdir -p "$(DOCSBUILDDIR)" - - @echo "Copying docs & config to build folder..." - cp -a "$(DOCSDIR)" "$(BUILDDIR)" - cd "$(OPENPILOT_ROOT)" && \ - find . -type f \( -name "*.md" -o -name "*.rst" -o -name "*.png" -o -name "*.jpg" -o -name "*.svg" \) \ - -not -path "*/.*" \ - -not -path "./build/*" \ - -not -path "./docs/*" \ - -not -path "./xx/*" \ - -exec cp --parents "{}" ./build/docs/ \; - - @echo "Building rst files..." - sphinx-apidoc -o "$(DOCSBUILDDIR)" ../ \ - ../xx ../rednose_repo ../notebooks ../panda_jungle \ - ../third_party \ - ../panda/examples \ - ../scripts \ - ../selfdrive/modeld \ - ../selfdrive/debug \ - $(shell find .. -type d -name "*test* -not -path "**.venv**" \") - - @echo "Building html files..." - @$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(DOCSBUILDDIR)" $(SPHINXOPTS) $(O) diff --git a/docs/README.md b/docs/README.md deleted file mode 100644 index 838b00e7ae09c2..00000000000000 --- a/docs/README.md +++ /dev/null @@ -1,3 +0,0 @@ -# openpilot-docs - -These docs are autogenerated from [this folder](https://github.com/commaai/openpilot/tree/master/docs) in the main openpilot repository. \ No newline at end of file diff --git a/docs/SAFETY.md b/docs/SAFETY.md deleted file mode 100644 index 4b568728a7fd90..00000000000000 --- a/docs/SAFETY.md +++ /dev/null @@ -1,36 +0,0 @@ -# Safety - -openpilot is an Adaptive Cruise Control (ACC) and Automated Lane Centering (ALC) system. -Like other ACC and ALC systems, openpilot is a failsafe passive system and it requires the -driver to be alert and to pay attention at all times. - -In order to enforce driver alertness, openpilot includes a driver monitoring feature -that alerts the driver when distracted. - -However, even with an attentive driver, we must make further efforts for the system to be -safe. We repeat, **driver alertness is necessary, but not sufficient, for openpilot to be -used safely** and openpilot is provided with no warranty of fitness for any purpose. - -openpilot is developed in good faith to be compliant with FMVSS requirements and to follow -industry standards of safety for Level 2 Driver Assistance Systems. In particular, we observe -ISO26262 guidelines, including those from [pertinent documents](https://www.nhtsa.gov/sites/nhtsa.dot.gov/files/documents/13498a_812_573_alcsystemreport.pdf) -released by NHTSA. In addition, we impose strict coding guidelines (like [MISRA C : 2012](https://www.misra.org.uk/what-is-misra/)) -on parts of openpilot that are safety relevant. We also perform software-in-the-loop, -hardware-in-the-loop and in-vehicle tests before each software release. - -Following Hazard and Risk Analysis and FMEA, at a very high level, we have designed openpilot -ensuring two main safety requirements. - -1. The driver must always be capable to immediately retake manual control of the vehicle, - by stepping on the brake pedal or by pressing the cancel button. -2. The vehicle must not alter its trajectory too quickly for the driver to safely - react. This means that while the system is engaged, the actuators are constrained - to operate within reasonable limits[^1]. - -For additional safety implementation details, refer to [panda safety model](https://github.com/commaai/panda#safety-model). For vehicle specific implementation of the safety concept, refer to [panda/board/safety/](https://github.com/commaai/panda/tree/master/board/safety). - -**Extra note**: comma.ai strongly discourages the use of openpilot forks with safety code either missing or - not fully meeting the above requirements. - -[^1]: For these actuator limits we observe ISO11270 and ISO15622. Lateral limits described there translate to 0.9 seconds of maximum actuation to achieve a 1m lateral deviation. - diff --git a/docs/WORKFLOW.md b/docs/WORKFLOW.md deleted file mode 100644 index 85ae8d86f46f76..00000000000000 --- a/docs/WORKFLOW.md +++ /dev/null @@ -1,42 +0,0 @@ -# openpilot development workflow - -Aside from the ML models, most tools used for openpilot development are in this repo. - -Most development happens on normal Ubuntu workstations, and not in cars or directly on comma devices. See the [setup guide](../tools) for getting your PC setup for openpilot development. - -## Quick start - -```bash -# get the latest stuff -git pull -git submodule update --init --recursive - -# update dependencies -tools/ubuntu_setup.sh - -# build everything -scons -j$(nproc) - -# build just the ui with either of these -scons -j8 selfdrive/ui/ -cd selfdrive/ui/ && scons -u -j8 - -# test everything -pytest . - -# test just logging services -cd system/loggerd && pytest . - -# run the linter -pre-commit run --all -``` - -## Testing - -### Automated Testing - -All PRs and commits are automatically checked by GitHub Actions. Check out `.github/workflows/` for what GitHub Actions runs. Any new tests should be added to GitHub Actions. - -### Code Style and Linting - -Code is automatically checked for style by GitHub Actions as part of the automated tests. You can also run these tests yourself by running `pre-commit run --all`. diff --git a/docs/_static/favicon.ico b/docs/_static/favicon.ico deleted file mode 100644 index 976929954f3dac..00000000000000 Binary files a/docs/_static/favicon.ico and /dev/null differ diff --git a/docs/_static/logo.png b/docs/_static/logo.png deleted file mode 100644 index 269956508556e4..00000000000000 Binary files a/docs/_static/logo.png and /dev/null differ diff --git a/docs/_static/robots.txt b/docs/_static/robots.txt deleted file mode 100644 index 3bcd24fb5d5f9d..00000000000000 --- a/docs/_static/robots.txt +++ /dev/null @@ -1,2 +0,0 @@ -User-agent: * -Sitemap: https://docs.comma.ai/sitemap.xml \ No newline at end of file diff --git a/docs/assets/icon-star-empty.svg b/docs/assets/icon-star-empty.svg deleted file mode 100644 index 5d3c32d6711aba..00000000000000 --- a/docs/assets/icon-star-empty.svg +++ /dev/null @@ -1,56 +0,0 @@ - - - - - - image/svg+xml - - - - - - - - diff --git a/docs/assets/icon-star-full.svg b/docs/assets/icon-star-full.svg deleted file mode 100644 index 294db2b7f27c01..00000000000000 --- a/docs/assets/icon-star-full.svg +++ /dev/null @@ -1,56 +0,0 @@ - - - - - - image/svg+xml - - - - - - - - diff --git a/docs/assets/icon-star-half.svg b/docs/assets/icon-star-half.svg deleted file mode 100644 index ab905fddcb4de2..00000000000000 --- a/docs/assets/icon-star-half.svg +++ /dev/null @@ -1,66 +0,0 @@ - - - - - - image/svg+xml - - - - - - - - - - diff --git a/docs/assets/icon-youtube.svg b/docs/assets/icon-youtube.svg deleted file mode 100644 index 4e2c9fdfa91083..00000000000000 --- a/docs/assets/icon-youtube.svg +++ /dev/null @@ -1,12 +0,0 @@ - - - - - - - - - - - - \ No newline at end of file diff --git a/docs/c_docs.rst b/docs/c_docs.rst deleted file mode 100644 index 3b89fe98747200..00000000000000 --- a/docs/c_docs.rst +++ /dev/null @@ -1,89 +0,0 @@ -openpilot -========== - - -opendbc ------- -.. autodoxygenindex:: - :project: opendbc_can - - -cereal ------- - -messaging -^^^^^^^^^ -.. autodoxygenindex:: - :project: msgq_repo_msgq - -visionipc -^^^^^^^^^ -.. autodoxygenindex:: - :project: msgq_repo_msgq_visionipc - - -selfdrive ---------- - -camerad -^^^^^^^ -.. autodoxygenindex:: - :project: system_camerad_cameras - -locationd -^^^^^^^^^ -.. autodoxygenindex:: - :project: selfdrive_locationd - -ui -^^ - -.. autodoxygenindex:: - :project: selfdrive_ui - -replay -"""""" -.. autodoxygenindex:: - :project: tools_replay - -qt -"" -.. autodoxygenindex:: - :project: selfdrive_ui_qt_offroad -.. autodoxygenindex:: - :project: selfdrive_ui_qt_maps - -proclogd -^^^^^^^^ -.. autodoxygenindex:: - :project: system_proclogd - -modeld -^^^^^^ -.. autodoxygenindex:: - :project: selfdrive_modeld_transforms -.. autodoxygenindex:: - :project: selfdrive_modeld_models -.. autodoxygenindex:: - :project: selfdrive_modeld_runners - -common -^^^^^^ -.. autodoxygenindex:: - :project: common - -sensorsd -^^^^^^^^ -.. autodoxygenindex:: - :project: system_sensord_sensors - -pandad -^^^^^^ -.. autodoxygenindex:: - :project: selfdrive_pandad - - -rednose -------- -.. autodoxygenindex:: - :project: rednose_repo_rednose_helpers diff --git a/docs/conf.py b/docs/conf.py deleted file mode 100644 index 9a8d6466970777..00000000000000 --- a/docs/conf.py +++ /dev/null @@ -1,147 +0,0 @@ -# type: ignore - -# Configuration file for the Sphinx documentation builder. -# -# This file only contains a selection of the most common options. For a full -# list see the documentation: -# https://www.sphinx-doc.org/en/master/usage/configuration.html - -# -- Path setup -------------------------------------------------------------- - -# If extensions (or modules to document with autodoc) are in another directory, -# add these directories to sys.path here. If the directory is relative to the -# documentation root, use os.path.abspath to make it absolute, like shown here. -# -import os -import sys -from os.path import exists - -from openpilot.common.basedir import BASEDIR -from openpilot.system.version import get_version - -sys.path.insert(0, os.path.abspath('.')) -sys.path.insert(0, os.path.abspath('..')) - -VERSION = get_version() - - -# -- Project information ----------------------------------------------------- - -project = 'openpilot docs' -copyright = '2021, comma.ai' # noqa: A001 -author = 'comma.ai' -version = VERSION -release = VERSION -language = 'en' - - -# -- General configuration --------------------------------------------------- - -# Add any Sphinx extension module names here, as strings. They can be -# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom -# ones. -extensions = [ - 'sphinx.ext.autodoc', # Auto-generate docs - 'sphinx.ext.viewcode', # Add view code link to modules - 'sphinx_rtd_theme', # Read The Docs theme - 'myst_parser', # Markdown parsing - 'breathe', # Doxygen C/C++ integration - 'sphinx_sitemap', # sitemap generation for SEO -] - -myst_html_meta = { - "description": "openpilot docs", - "keywords": "op, openpilot, docs, documentation", - "robots": "all,follow", - "googlebot": "index,follow,snippet,archive", - "property=og:locale": "en_US", - "property=og:site_name": "docs.comma.ai", - "property=og:url": "https://docs.comma.ai", - "property=og:title": "openpilot Documentation", - "property=og:type": "website", - "property=og:image:type": "image/jpeg", - "property=og:image:width": "400", - "property=og:image": "https://docs.comma.ai/_static/logo.png", - "property=og:image:url": "https://docs.comma.ai/_static/logo.png", - "property=og:image:secure_url": "https://docs.comma.ai/_static/logo.png", - "property=og:description": "openpilot Documentation", - "property=twitter:card": "summary_large_image", - "property=twitter:logo": "https://docs.comma.ai/_static/logo.png", - "property=twitter:title": "openpilot Documentation", - "property=twitter:description": "openpilot Documentation" -} - -html_baseurl = 'https://docs.comma.ai/' -sitemap_filename = "sitemap.xml" - -# Add any paths that contain templates here, relative to this directory. -templates_path = ['_templates'] - -# List of patterns, relative to source directory, that match files and -# directories to ignore when looking for source files. -# This pattern also affects html_static_path and html_extra_path. -exclude_patterns = [] - - -# -- c docs configuration --------------------------------------------------- - -# Breathe Configuration -# breathe_default_project = "c_docs" -breathe_build_directory = f"{BASEDIR}/build/docs/html/xml" -breathe_separate_member_pages = True -breathe_default_members = ('members', 'private-members', 'undoc-members') -breathe_domain_by_extension = { - "h": "cc", -} -breathe_implementation_filename_extensions = ['.c', '.cc'] -breathe_doxygen_config_options = {} -breathe_projects_source = {} - -# only document files that have accompanying .cc files next to them -print("searching for c_docs...") -for root, _, files in os.walk(BASEDIR): - found = False - breath_src = {} - breathe_srcs_list = [] - - for file in files: - ccFile = os.path.join(root, file)[:-2] + ".cc" - - if file.endswith(".h") and exists(ccFile): - f = os.path.join(root, file) - - parent_dir_abs = os.path.dirname(f) - parent_dir = parent_dir_abs[len(BASEDIR) + 1:] - parent_project = parent_dir.replace('/', '_') - print(f"\tFOUND: {f} in {parent_project}") - - breathe_srcs_list.append(file) - found = True - - if found: - breath_src[parent_project] = (parent_dir_abs, breathe_srcs_list) - breathe_projects_source.update(breath_src) - -print(f"breathe_projects_source: {breathe_projects_source.keys()}") - -# -- Options for HTML output ------------------------------------------------- - -# The theme to use for HTML and HTML Help pages. See the documentation for -# a list of builtin themes. -# -html_theme = 'sphinx_rtd_theme' -html_show_copyright = True - -# Add any paths that contain custom static files (such as style sheets) here, -# relative to this directory. They are copied after the builtin static files, -# so a file named "default.css" will overwrite the builtin "default.css". -html_static_path = ['_static'] -html_logo = '_static/logo.png' -html_favicon = '_static/favicon.ico' -html_theme_options = { - 'logo_only': False, - 'display_version': True, - 'vcs_pageview_mode': 'blob', - 'style_nav_header_background': '#000000', -} -html_extra_path = ['_static'] diff --git a/docs/index.md b/docs/index.md deleted file mode 100644 index 0fb2617a5b74ab..00000000000000 --- a/docs/index.md +++ /dev/null @@ -1,42 +0,0 @@ -# openpilot Documentation - -```{include} README.md -``` - -```{toctree} -:caption: 'General' -:maxdepth: 4 - -CARS.md -CONTRIBUTING.md -INTEGRATION.md -LIMITATIONS.md -SAFETY.md -``` - -```{toctree} -:caption: 'Overview' -:maxdepth: 2 - -overview.rst -``` - -## API Documentation - -- {ref}`genindex` -- {ref}`modindex` -- {ref}`search` - -```{toctree} -:caption: 'Python API' -:maxdepth: 2 - -modules.rst -``` - -```{toctree} -:caption: 'C/C++ API' -:maxdepth: 4 - -c_docs.rst -``` \ No newline at end of file diff --git a/docs/overview.rst b/docs/overview.rst deleted file mode 100644 index 8c552077f38fc5..00000000000000 --- a/docs/overview.rst +++ /dev/null @@ -1,72 +0,0 @@ -openpilot -========= - -.. toctree:: - :maxdepth: 4 - - Debugging - system/loggerd/README.md - Driver Monitoring - Process Replay - -cereal -========= - -.. toctree:: - :maxdepth: 4 - - cereal/README.md - cereal/messaging/msgq.md - -models -========= - -.. toctree:: - :maxdepth: 4 - - models/README.md - -opendbc -========= - -.. toctree:: - :maxdepth: 4 - - opendbc/README.md - -panda -========= - -.. toctree:: - :maxdepth: 4 - - panda/README.md - panda/UPDATING.md - panda/board/README.md - panda/drivers/linux/README.md - panda/drivers/windows/README.md - - -rednose -========= -.. toctree:: - :maxdepth: 4 - - rednose_repo/README.md - - -tools -========= -.. toctree:: - :maxdepth: 4 - - tools/CTF.md - tools/joystick/README.md - tools/lib/README.md - tools/plotjuggler/README.md - tools/replay/README.md - tools/serial/README.md - Simulator - tools/ssh/README.md - Webcam - tools/cabana/README.md diff --git a/msgq_repo/.dockerignore b/msgq_repo/.dockerignore deleted file mode 100644 index 5b2d46270d8cc8..00000000000000 --- a/msgq_repo/.dockerignore +++ /dev/null @@ -1 +0,0 @@ -.sconsign.dblite diff --git a/msgq_repo/.github/workflows/repo.yml b/msgq_repo/.github/workflows/repo.yml deleted file mode 100644 index 5f12686f8f5e3e..00000000000000 --- a/msgq_repo/.github/workflows/repo.yml +++ /dev/null @@ -1,27 +0,0 @@ -name: repo - -on: - schedule: - - cron: "0 15 1 * *" - workflow_dispatch: - -jobs: - pre-commit-autoupdate: - name: pre-commit autoupdate - runs-on: ubuntu-latest - container: - steps: - - uses: actions/checkout@v3 - - name: pre-commit autoupdate - run: | - git config --global --add safe.directory '*' - pre-commit autoupdate - - name: Create Pull Request - uses: peter-evans/create-pull-request@5b4a9f6a9e2af26e5f02351490b90d01eb8ec1e5 - with: - token: ${{ secrets.ACTIONS_CREATE_PR_PAT }} - commit-message: Update pre-commit hook versions - title: 'pre-commit: autoupdate hooks' - branch: pre-commit-updates - base: master - delete-branch: true diff --git a/msgq_repo/.github/workflows/tests.yml b/msgq_repo/.github/workflows/tests.yml deleted file mode 100644 index 16219b0bc80ee7..00000000000000 --- a/msgq_repo/.github/workflows/tests.yml +++ /dev/null @@ -1,61 +0,0 @@ -name: tests - -on: [push, pull_request] - -env: - DOCKER_REGISTRY: ghcr.io/commaai - RUN: docker run -e PYTHONWARNINGS=error --shm-size 1G --name msgq msgq /bin/sh -c - RUN_NAMED: docker run -e PYTHONWARNINGS=error --shm-size 1G --rm msgq /bin/sh -c - CI_RUN: docker run -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID --rm msgqci /bin/bash -c - BUILD: docker buildx build --pull --load --cache-to type=inline --cache-from $DOCKER_REGISTRY/msgq:latest -t msgq -f Dockerfile . - PYTHONWARNINGS: error - -jobs: - build: - name: build - runs-on: ubuntu-latest - steps: - - uses: actions/checkout@v3 - - name: Build docker image - run: eval "$BUILD" - - name: Push to dockerhub - if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/msgq' - run: | - docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }} - docker tag msgq $DOCKER_REGISTRY/msgq:latest - docker push $DOCKER_REGISTRY/msgq:latest - - unit_tests: - name: unit tests - runs-on: ubuntu-latest - strategy: - matrix: - flags: ['', '--asan', '--ubsan'] - backend: ['MSGQ', 'ZMQ'] - steps: - - uses: actions/checkout@v3 - - name: Build docker image - run: eval "$BUILD" - - name: C++ tests - run: | - $RUN "export ${{ matrix.backend }}=1 && \ - scons ${{ matrix.flags }} -j$(nproc) && \ - msgq/test_runner && \ - msgq/visionipc/test_runner" - - name: python tests - run: $RUN_NAMED "${{ matrix.backend }}=1 coverage run -m unittest discover ." - - name: Upload coverage - run: | - docker commit msgq msgqci - $CI_RUN "cd /project/msgq && bash <(curl -s https://codecov.io/bash) -v -F unit_tests_${{ matrix.backend }}" - - static_analysis: - name: static analysis - runs-on: ubuntu-latest - steps: - - uses: actions/checkout@v3 - - name: Build docker image - run: eval "$BUILD" - - name: Static analysis - # TODO: a package pre-commit installs has a warning, remove the unset once that's fixed - run: $RUN "git init && git add -A && unset PYTHONWARNINGS && pre-commit run --all" diff --git a/msgq_repo/.pre-commit-config.yaml b/msgq_repo/.pre-commit-config.yaml deleted file mode 100644 index b32abe20c3dc23..00000000000000 --- a/msgq_repo/.pre-commit-config.yaml +++ /dev/null @@ -1,48 +0,0 @@ -files: ^msgq/ -repos: -- repo: https://github.com/pre-commit/pre-commit-hooks - rev: v4.6.0 - hooks: - - id: check-ast - - id: check-yaml - - id: check-executables-have-shebangs - - id: check-shebang-scripts-are-executable -- repo: https://github.com/pre-commit/mirrors-mypy - rev: v1.9.0 - hooks: - - id: mypy -- repo: https://github.com/astral-sh/ruff-pre-commit - rev: v0.3.5 - hooks: - - id: ruff -- repo: local - hooks: - - id: cppcheck - name: cppcheck - entry: cppcheck - language: system - types: [c++] - exclude: '^(msgq/msgq_tests.cc|msgq/test_runner.cc)' - args: - - --error-exitcode=1 - - --inline-suppr - - --language=c++ - - --force - - --quiet - - -j4 -- repo: https://github.com/cpplint/cpplint - rev: 1.6.1 - hooks: - - id: cpplint - args: - - --quiet - - --counting=detailed - - --linelength=240 - - --filter=-build,-legal,-readability,-runtime,-whitespace,+build/include_subdir,+build/forward_decl,+build/include_what_you_use,+build/deprecated,+whitespace/comma,+whitespace/line_length,+whitespace/empty_if_body,+whitespace/empty_loop_body,+whitespace/empty_conditional_body,+whitespace/forcolon,+whitespace/parens,+whitespace/semicolon,+whitespace/tab,+readability/braces -- repo: https://github.com/codespell-project/codespell - rev: v2.2.6 - hooks: - - id: codespell - args: - - -L ned - - --builtins clear,rare,informal,usage,code,names,en-GB_to_en-US diff --git a/msgq_repo/Dockerfile b/msgq_repo/Dockerfile deleted file mode 100644 index 982d8fa5bef3df..00000000000000 --- a/msgq_repo/Dockerfile +++ /dev/null @@ -1,54 +0,0 @@ -FROM ubuntu:24.04 - -ENV DEBIAN_FRONTEND=noninteractive -RUN apt-get update && apt-get install -y --no-install-recommends \ - autoconf \ - build-essential \ - ca-certificates \ - capnproto \ - clang \ - cppcheck \ - curl \ - git \ - libbz2-dev \ - libcapnp-dev \ - libclang-rt-dev \ - libffi-dev \ - liblzma-dev \ - libncurses5-dev \ - libncursesw5-dev \ - libreadline-dev \ - libsqlite3-dev \ - libssl-dev \ - libtool \ - libzmq3-dev \ - llvm \ - make \ - cmake \ - ocl-icd-opencl-dev \ - opencl-headers \ - python3-dev \ - python3-pip \ - tk-dev \ - wget \ - xz-utils \ - zlib1g-dev \ - && rm -rf /var/lib/apt/lists/* - -RUN pip3 install --break-system-packages --no-cache-dir pyyaml Cython scons pycapnp pre-commit ruff parameterized coverage numpy - -WORKDIR /project/msgq/ -RUN cd /tmp/ && \ - git clone -b v2.x --depth 1 https://github.com/catchorg/Catch2.git && \ - cd Catch2 && \ - mv single_include/* /project/msgq/ && \ - cd .. \ - rm -rf Catch2 - -WORKDIR /project/msgq - -ENV PYTHONPATH=/project - -COPY . . -RUN ls && rm -rf .git && \ - scons -c && scons -j$(nproc) diff --git a/msgq_repo/README.md b/msgq_repo/README.md deleted file mode 100644 index dc10530e0a1a59..00000000000000 --- a/msgq_repo/README.md +++ /dev/null @@ -1,54 +0,0 @@ -# MSGQ: A lock free single producer multi consumer message queue - -## What is this library? -MSGQ is a generic high performance IPC pub sub system with a single publisher and multiple subscribers. MSGQ is designed to be a high performance replacement for ZMQ-like SUB/PUB patterns. It uses a ring buffer in shared memory to efficiently read and write data. Each read requires a copy. Writing can be done without a copy, as long as the size of the data is known in advance. While MSGQ is the core of this library, this library also allows replacing the MSGQ backend with ZMQ or a spoofed implementation that can be used for deterministic testing. This library also contains visionipc, an IPC system specifically for large contiguous buffers (like images/video). - -## Storage -The storage for the queue consists of an area of metadata, and the actual buffer. The metadata contains: - -1. A counter to the number of readers that are active -2. A pointer to the head of the queue for writing. From now on referred to as *write pointer* -3. A cycle counter for the writer. This counter is incremented when the writer wraps around -4. N pointers, pointing to the current read position for all the readers. From now on referred to as *read pointer* -5. N counters, counting the number of cycles for all the readers -6. N booleans, indicating validity for all the readers. From now on referred to as *validity flag* - -The counter and the pointer are both 32 bit values, packed into 64 bit so they can be read and written atomically. - -The data buffer is a ring buffer. All messages are prefixed by an 8 byte size field, followed by the data. A size of -1 indicates a wrap-around, and means the next message is stored at the beginning of the buffer. - - -## Writing -Writing involves the following steps: - -1. Check if the area that is to be written overlaps with any of the read pointers, mark those readers as invalid by clearing the validity flag. -2. Write the message -3. Increase the write pointer by the size of the message - -In case there is not enough space at the end of the buffer, a special empty message with a prefix of -1 is written. The cycle counter is incremented by one. In this case step 1 will check there are no read pointers pointing to the remainder of the buffer. Then another write cycle will start with the actual message. - -There always needs to be 8 bytes of empty space at the end of the buffer. By doing this there is always space to write the -1. - -## Reset reader -When the reader is lagging too much behind the read pointer becomes invalid and no longer points to the beginning of a valid message. To reset a reader to the current write pointer, the following steps are performed: - -1. Set valid flag -2. Set read cycle counter to that of the writer -3. Set read pointer to write pointer - -## Reading -Reading involves the following steps: - -1. Read the size field at the current read pointer -2. Read the validity flag -3. Copy the data out of the buffer -4. Increase the read pointer by the size of the message -5. Check the validity flag again - -Before starting the copy, the valid flag is checked. This is to prevent a race condition where the size prefix was invalid, and the read could read outside of the buffer. Make sure that step 1 and 2 are not reordered by your compiler or CPU. - -If a writer overwrites the data while it's being copied out, the data will be invalid. Therefore the validity flag is also checked after reading it. The order of step 4 and 5 does not matter. - -If at steps 2 or 5 the validity flag is not set, the reader is reset. Any data that was already read is discarded. After the reader is reset, the reading starts from the beginning. - -If a message with size -1 is encountered, step 3 and 4 are replaced by increasing the cycle counter and setting the read pointer to the beginning of the buffer. After that another read is performed. diff --git a/msgq_repo/codecov.yml b/msgq_repo/codecov.yml deleted file mode 100644 index 83427c3ee8b6e5..00000000000000 --- a/msgq_repo/codecov.yml +++ /dev/null @@ -1,8 +0,0 @@ -comment: false -coverage: - status: - project: - default: - informational: true - patch: off - diff --git a/msgq_repo/msgq/event.cc b/msgq_repo/msgq/event.cc deleted file mode 100644 index be782e3b881132..00000000000000 --- a/msgq_repo/msgq/event.cc +++ /dev/null @@ -1,236 +0,0 @@ -#include -#include -#include -#include -#include -#include -#include - -#include -#include -#include -#include -#include -#include - -#include "msgq/event.h" - -#ifndef __APPLE__ -#include - -void event_state_shm_mmap(std::string endpoint, std::string identifier, char **shm_mem, std::string *shm_path) { - const char* op_prefix = std::getenv("OPENPILOT_PREFIX"); - - std::string full_path = "/dev/shm/"; - if (op_prefix) { - full_path += std::string(op_prefix) + "/"; - } - full_path += CEREAL_EVENTS_PREFIX + "/"; - if (identifier.size() > 0) { - full_path += identifier + "/"; - } - std::filesystem::create_directories(full_path); - full_path += endpoint; - - int shm_fd = open(full_path.c_str(), O_RDWR | O_CREAT, 0664); - if (shm_fd < 0) { - throw std::runtime_error("Could not open shared memory file."); - } - - int rc = ftruncate(shm_fd, sizeof(EventState)); - if (rc < 0){ - close(shm_fd); - throw std::runtime_error("Could not truncate shared memory file."); - } - - char * mem = (char*)mmap(NULL, sizeof(EventState), PROT_READ | PROT_WRITE, MAP_SHARED, shm_fd, 0); - close(shm_fd); - if (mem == nullptr) { - throw std::runtime_error("Could not map shared memory file."); - } - - if (shm_mem != nullptr) - *shm_mem = mem; - if (shm_path != nullptr) - *shm_path = full_path; -} - -SocketEventHandle::SocketEventHandle(std::string endpoint, std::string identifier, bool override) { - char *mem; - event_state_shm_mmap(endpoint, identifier, &mem, &this->shm_path); - - this->state = (EventState*)mem; - if (override) { - this->state->fds[0] = eventfd(0, EFD_NONBLOCK); - this->state->fds[1] = eventfd(0, EFD_NONBLOCK); - } -} - -SocketEventHandle::~SocketEventHandle() { - close(this->state->fds[0]); - close(this->state->fds[1]); - munmap(this->state, sizeof(EventState)); - unlink(this->shm_path.c_str()); -} - -bool SocketEventHandle::is_enabled() { - return this->state->enabled; -} - -void SocketEventHandle::set_enabled(bool enabled) { - this->state->enabled = enabled; -} - -Event SocketEventHandle::recv_called() { - return Event(this->state->fds[0]); -} - -Event SocketEventHandle::recv_ready() { - return Event(this->state->fds[1]); -} - -void SocketEventHandle::toggle_fake_events(bool enabled) { - if (enabled) - setenv("CEREAL_FAKE", "1", true); - else - unsetenv("CEREAL_FAKE"); -} - -void SocketEventHandle::set_fake_prefix(std::string prefix) { - if (prefix.size() == 0) { - unsetenv("CEREAL_FAKE_PREFIX"); - } else { - setenv("CEREAL_FAKE_PREFIX", prefix.c_str(), true); - } -} - -std::string SocketEventHandle::fake_prefix() { - const char* prefix = std::getenv("CEREAL_FAKE_PREFIX"); - if (prefix == nullptr) { - return ""; - } else { - return std::string(prefix); - } -} - -Event::Event(int fd): event_fd(fd) {} - -void Event::set() const { - throw_if_invalid(); - - uint64_t val = 1; - size_t count = write(this->event_fd, &val, sizeof(uint64_t)); - assert(count == sizeof(uint64_t)); -} - -int Event::clear() const { - throw_if_invalid(); - - uint64_t val = 0; - // read the eventfd to clear it - read(this->event_fd, &val, sizeof(uint64_t)); - - return val; -} - -void Event::wait(int timeout_sec) const { - throw_if_invalid(); - - int event_count; - struct pollfd fds = { this->event_fd, POLLIN, 0 }; - struct timespec timeout = { timeout_sec, 0 };; - - sigset_t signals; - sigfillset(&signals); - sigdelset(&signals, SIGALRM); - sigdelset(&signals, SIGINT); - sigdelset(&signals, SIGTERM); - sigdelset(&signals, SIGQUIT); - - event_count = ppoll(&fds, 1, timeout_sec < 0 ? nullptr : &timeout, &signals); - - if (event_count == 0) { - throw std::runtime_error("Event timed out pid: " + std::to_string(getpid())); - } else if (event_count < 0) { - throw std::runtime_error("Event poll failed, errno: " + std::to_string(errno) + " pid: " + std::to_string(getpid())); - } -} - -bool Event::peek() const { - throw_if_invalid(); - - int event_count; - - struct pollfd fds = { this->event_fd, POLLIN, 0 }; - - // poll with timeout zero to return status immediately - event_count = poll(&fds, 1, 0); - - return event_count != 0; -} - -bool Event::is_valid() const { - return event_fd != -1; -} - -int Event::fd() const { - return event_fd; -} - -int Event::wait_for_one(const std::vector& events, int timeout_sec) { - struct pollfd fds[events.size()]; - for (size_t i = 0; i < events.size(); i++) { - fds[i] = { events[i].fd(), POLLIN, 0 }; - } - - struct timespec timeout = { timeout_sec, 0 }; - - sigset_t signals; - sigfillset(&signals); - sigdelset(&signals, SIGALRM); - sigdelset(&signals, SIGINT); - sigdelset(&signals, SIGTERM); - sigdelset(&signals, SIGQUIT); - - int event_count = ppoll(fds, events.size(), timeout_sec < 0 ? nullptr : &timeout, &signals); - - if (event_count == 0) { - throw std::runtime_error("Event timed out pid: " + std::to_string(getpid())); - } else if (event_count < 0) { - throw std::runtime_error("Event poll failed, errno: " + std::to_string(errno) + " pid: " + std::to_string(getpid())); - } - - for (size_t i = 0; i < events.size(); i++) { - if (fds[i].revents & POLLIN) { - return i; - } - } - - throw std::runtime_error("Event poll failed, no events ready"); -} -#else -// Stub implementation for Darwin, which does not support eventfd -void event_state_shm_mmap(std::string endpoint, std::string identifier, char **shm_mem, std::string *shm_path) {} - -SocketEventHandle::SocketEventHandle(std::string endpoint, std::string identifier, bool override) { - std::cerr << "SocketEventHandle not supported on macOS" << std::endl; - assert(false); -} -SocketEventHandle::~SocketEventHandle() {} -bool SocketEventHandle::is_enabled() { return this->state->enabled; } -void SocketEventHandle::set_enabled(bool enabled) {} -Event SocketEventHandle::recv_called() { return Event(); } -Event SocketEventHandle::recv_ready() { return Event(); } -void SocketEventHandle::toggle_fake_events(bool enabled) {} -void SocketEventHandle::set_fake_prefix(std::string prefix) {} -std::string SocketEventHandle::fake_prefix() { return ""; } - -Event::Event(int fd): event_fd(fd) {} -void Event::set() const {} -int Event::clear() const { return 0; } -void Event::wait(int timeout_sec) const {} -bool Event::peek() const { return false; } -bool Event::is_valid() const { return false; } -int Event::fd() const { return this->event_fd; } -int Event::wait_for_one(const std::vector& events, int timeout_sec) { return -1; } -#endif diff --git a/msgq_repo/msgq/event.h b/msgq_repo/msgq/event.h deleted file mode 100644 index c638b6b4ea9b81..00000000000000 --- a/msgq_repo/msgq/event.h +++ /dev/null @@ -1,58 +0,0 @@ -#pragma once - -#include -#include - -#define CEREAL_EVENTS_PREFIX std::string("cereal_events") - -void event_state_shm_mmap(std::string endpoint, std::string identifier, char **shm_mem, std::string *shm_path); - -enum EventPurpose { - RECV_CALLED, - RECV_READY -}; - -struct EventState { - int fds[2]; - bool enabled; -}; - -class Event { -private: - int event_fd = -1; - - inline void throw_if_invalid() const { - if (!this->is_valid()) { - throw std::runtime_error("Event does not have valid file descriptor."); - } - } -public: - Event(int fd = -1); - - void set() const; - int clear() const; - void wait(int timeout_sec = -1) const; - bool peek() const; - bool is_valid() const; - int fd() const; - - static int wait_for_one(const std::vector& events, int timeout_sec = -1); -}; - -class SocketEventHandle { -private: - std::string shm_path; - EventState* state; -public: - SocketEventHandle(std::string endpoint, std::string identifier = "", bool override = true); - ~SocketEventHandle(); - - bool is_enabled(); - void set_enabled(bool enabled); - Event recv_called(); - Event recv_ready(); - - static void toggle_fake_events(bool enabled); - static void set_fake_prefix(std::string prefix); - static std::string fake_prefix(); -}; diff --git a/msgq_repo/msgq/impl_fake.cc b/msgq_repo/msgq/impl_fake.cc deleted file mode 100644 index a7607206f4654f..00000000000000 --- a/msgq_repo/msgq/impl_fake.cc +++ /dev/null @@ -1,9 +0,0 @@ -#include "msgq/impl_fake.h" - -void FakePoller::registerSocket(SubSocket *socket) { - this->sockets.push_back(socket); -} - -std::vector FakePoller::poll(int timeout) { - return this->sockets; -} diff --git a/msgq_repo/msgq/impl_fake.h b/msgq_repo/msgq/impl_fake.h deleted file mode 100644 index 2c3b74dc9a637d..00000000000000 --- a/msgq_repo/msgq/impl_fake.h +++ /dev/null @@ -1,67 +0,0 @@ -#pragma once - -#include -#include -#include -#include -#include - -#include -#include -#include -#include - -#include "msgq/ipc.h" -#include "msgq/event.h" - -template -class FakeSubSocket: public TSubSocket { -private: - Event *recv_called = nullptr; - Event *recv_ready = nullptr; - EventState *state = nullptr; - -public: - FakeSubSocket(): TSubSocket() {} - ~FakeSubSocket() { - delete recv_called; - delete recv_ready; - if (state != nullptr) { - munmap(state, sizeof(EventState)); - } - } - - int connect(Context *context, std::string endpoint, std::string address, bool conflate=false, bool check_endpoint=true) override { - const char* cereal_prefix = std::getenv("CEREAL_FAKE_PREFIX"); - - char* mem; - std::string identifier = cereal_prefix != nullptr ? std::string(cereal_prefix) : ""; - event_state_shm_mmap(endpoint, identifier, &mem, nullptr); - - this->state = (EventState*)mem; - this->recv_called = new Event(state->fds[EventPurpose::RECV_CALLED]); - this->recv_ready = new Event(state->fds[EventPurpose::RECV_READY]); - - return TSubSocket::connect(context, endpoint, address, conflate, check_endpoint); - } - - Message *receive(bool non_blocking=false) override { - if (this->state->enabled) { - this->recv_called->set(); - this->recv_ready->wait(); - this->recv_ready->clear(); - } - - return TSubSocket::receive(non_blocking); - } -}; - -class FakePoller: public Poller { -private: - std::vector sockets; - -public: - void registerSocket(SubSocket *socket) override; - std::vector poll(int timeout) override; - ~FakePoller() {} -}; diff --git a/msgq_repo/msgq/impl_msgq.cc b/msgq_repo/msgq/impl_msgq.cc deleted file mode 100644 index b23991351f9d10..00000000000000 --- a/msgq_repo/msgq/impl_msgq.cc +++ /dev/null @@ -1,207 +0,0 @@ -#include -#include -#include -#include -#include -#include - -#include "msgq/impl_msgq.h" - - -volatile sig_atomic_t msgq_do_exit = 0; - -void sig_handler(int signal) { - assert(signal == SIGINT || signal == SIGTERM); - msgq_do_exit = 1; -} - - -MSGQContext::MSGQContext() { -} - -MSGQContext::~MSGQContext() { -} - -void MSGQMessage::init(size_t sz) { - size = sz; - data = new char[size]; -} - -void MSGQMessage::init(char * d, size_t sz) { - size = sz; - data = new char[size]; - memcpy(data, d, size); -} - -void MSGQMessage::takeOwnership(char * d, size_t sz) { - size = sz; - data = d; -} - -void MSGQMessage::close() { - if (size > 0){ - delete[] data; - } - size = 0; -} - -MSGQMessage::~MSGQMessage() { - this->close(); -} - -int MSGQSubSocket::connect(Context *context, std::string endpoint, std::string address, bool conflate, bool check_endpoint){ - assert(context); - assert(address == "127.0.0.1"); - - q = new msgq_queue_t; - int r = msgq_new_queue(q, endpoint.c_str(), DEFAULT_SEGMENT_SIZE); - if (r != 0){ - return r; - } - - msgq_init_subscriber(q); - - if (conflate){ - q->read_conflate = true; - } - - timeout = -1; - - return 0; -} - - -Message * MSGQSubSocket::receive(bool non_blocking){ - msgq_do_exit = 0; - - void (*prev_handler_sigint)(int); - void (*prev_handler_sigterm)(int); - if (!non_blocking){ - prev_handler_sigint = std::signal(SIGINT, sig_handler); - prev_handler_sigterm = std::signal(SIGTERM, sig_handler); - } - - msgq_msg_t msg; - - MSGQMessage *r = NULL; - - int rc = msgq_msg_recv(&msg, q); - - // Hack to implement blocking read with a poller. Don't use this - while (!non_blocking && rc == 0 && msgq_do_exit == 0){ - msgq_pollitem_t items[1]; - items[0].q = q; - - int t = (timeout != -1) ? timeout : 100; - - int n = msgq_poll(items, 1, t); - rc = msgq_msg_recv(&msg, q); - - // The poll indicated a message was ready, but the receive failed. Try again - if (n == 1 && rc == 0){ - continue; - } - - if (timeout != -1){ - break; - } - } - - - if (!non_blocking){ - std::signal(SIGINT, prev_handler_sigint); - std::signal(SIGTERM, prev_handler_sigterm); - } - - errno = msgq_do_exit ? EINTR : 0; - - if (rc > 0){ - if (msgq_do_exit){ - msgq_msg_close(&msg); // Free unused message on exit - } else { - r = new MSGQMessage; - r->takeOwnership(msg.data, msg.size); - } - } - - return (Message*)r; -} - -void MSGQSubSocket::setTimeout(int t){ - timeout = t; -} - -MSGQSubSocket::~MSGQSubSocket(){ - if (q != NULL){ - msgq_close_queue(q); - delete q; - } -} - -int MSGQPubSocket::connect(Context *context, std::string endpoint, bool check_endpoint){ - assert(context); - - // TODO - //if (check_endpoint && !service_exists(std::string(endpoint))){ - // std::cout << "Warning, " << std::string(endpoint) << " is not in service list." << std::endl; - //} - - q = new msgq_queue_t; - int r = msgq_new_queue(q, endpoint.c_str(), DEFAULT_SEGMENT_SIZE); - if (r != 0){ - return r; - } - - msgq_init_publisher(q); - - return 0; -} - -int MSGQPubSocket::sendMessage(Message *message){ - msgq_msg_t msg; - msg.data = message->getData(); - msg.size = message->getSize(); - - return msgq_msg_send(&msg, q); -} - -int MSGQPubSocket::send(char *data, size_t size){ - msgq_msg_t msg; - msg.data = data; - msg.size = size; - - return msgq_msg_send(&msg, q); -} - -bool MSGQPubSocket::all_readers_updated() { - return msgq_all_readers_updated(q); -} - -MSGQPubSocket::~MSGQPubSocket(){ - if (q != NULL){ - msgq_close_queue(q); - delete q; - } -} - - -void MSGQPoller::registerSocket(SubSocket * socket){ - assert(num_polls + 1 < MAX_POLLERS); - polls[num_polls].q = (msgq_queue_t*)socket->getRawSocket(); - - sockets.push_back(socket); - num_polls++; -} - -std::vector MSGQPoller::poll(int timeout){ - std::vector r; - - msgq_poll(polls, num_polls, timeout); - for (size_t i = 0; i < num_polls; i++){ - if (polls[i].revents){ - r.push_back(sockets[i]); - } - } - - return r; -} diff --git a/msgq_repo/msgq/impl_msgq.h b/msgq_repo/msgq/impl_msgq.h deleted file mode 100644 index 4d9db1850ff939..00000000000000 --- a/msgq_repo/msgq/impl_msgq.h +++ /dev/null @@ -1,67 +0,0 @@ -#pragma once - -#include -#include - -#include "msgq/ipc.h" -#include "msgq/msgq.h" - -#define MAX_POLLERS 128 - -class MSGQContext : public Context { -private: - void * context = NULL; -public: - MSGQContext(); - void * getRawContext() {return context;} - ~MSGQContext(); -}; - -class MSGQMessage : public Message { -private: - char * data; - size_t size; -public: - void init(size_t size); - void init(char *data, size_t size); - void takeOwnership(char *data, size_t size); - size_t getSize(){return size;} - char * getData(){return data;} - void close(); - ~MSGQMessage(); -}; - -class MSGQSubSocket : public SubSocket { -private: - msgq_queue_t * q = NULL; - int timeout; -public: - int connect(Context *context, std::string endpoint, std::string address, bool conflate=false, bool check_endpoint=true); - void setTimeout(int timeout); - void * getRawSocket() {return (void*)q;} - Message *receive(bool non_blocking=false); - ~MSGQSubSocket(); -}; - -class MSGQPubSocket : public PubSocket { -private: - msgq_queue_t * q = NULL; -public: - int connect(Context *context, std::string endpoint, bool check_endpoint=true); - int sendMessage(Message *message); - int send(char *data, size_t size); - bool all_readers_updated(); - ~MSGQPubSocket(); -}; - -class MSGQPoller : public Poller { -private: - std::vector sockets; - msgq_pollitem_t polls[MAX_POLLERS]; - size_t num_polls = 0; - -public: - void registerSocket(SubSocket *socket); - std::vector poll(int timeout); - ~MSGQPoller(){} -}; diff --git a/msgq_repo/msgq/impl_zmq.cc b/msgq_repo/msgq/impl_zmq.cc deleted file mode 100644 index 434888eb8f9c39..00000000000000 --- a/msgq_repo/msgq/impl_zmq.cc +++ /dev/null @@ -1,168 +0,0 @@ -#include -#include -#include -#include -#include -#include - -#include "msgq/impl_zmq.h" - -//FIXME: This is a hack to get the port number from the socket name, might have collisions -static int get_port(std::string endpoint) { - std::hash hasher; - size_t hash_value = hasher(endpoint); - int start_port = 8023; - int max_port = 65535; - int port = start_port + (hash_value % (max_port - start_port)); - return port; -} - -ZMQContext::ZMQContext() { - context = zmq_ctx_new(); -} - -ZMQContext::~ZMQContext() { - zmq_ctx_term(context); -} - -void ZMQMessage::init(size_t sz) { - size = sz; - data = new char[size]; -} - -void ZMQMessage::init(char * d, size_t sz) { - size = sz; - data = new char[size]; - memcpy(data, d, size); -} - -void ZMQMessage::close() { - if (size > 0){ - delete[] data; - } - size = 0; -} - -ZMQMessage::~ZMQMessage() { - this->close(); -} - - -int ZMQSubSocket::connect(Context *context, std::string endpoint, std::string address, bool conflate, bool check_endpoint){ - sock = zmq_socket(context->getRawContext(), ZMQ_SUB); - if (sock == NULL){ - return -1; - } - - zmq_setsockopt(sock, ZMQ_SUBSCRIBE, "", 0); - - if (conflate){ - int arg = 1; - zmq_setsockopt(sock, ZMQ_CONFLATE, &arg, sizeof(int)); - } - - int reconnect_ivl = 500; - zmq_setsockopt(sock, ZMQ_RECONNECT_IVL_MAX, &reconnect_ivl, sizeof(reconnect_ivl)); - - - full_endpoint = "tcp://" + address + ":"; - if (check_endpoint){ - full_endpoint += std::to_string(get_port(endpoint)); - } else { - full_endpoint += endpoint; - } - - return zmq_connect(sock, full_endpoint.c_str()); -} - - -Message * ZMQSubSocket::receive(bool non_blocking){ - zmq_msg_t msg; - assert(zmq_msg_init(&msg) == 0); - - int flags = non_blocking ? ZMQ_DONTWAIT : 0; - int rc = zmq_msg_recv(&msg, sock, flags); - Message *r = NULL; - - if (rc >= 0){ - // Make a copy to ensure the data is aligned - r = new ZMQMessage; - r->init((char*)zmq_msg_data(&msg), zmq_msg_size(&msg)); - } - - zmq_msg_close(&msg); - return r; -} - -void ZMQSubSocket::setTimeout(int timeout){ - zmq_setsockopt(sock, ZMQ_RCVTIMEO, &timeout, sizeof(int)); -} - -ZMQSubSocket::~ZMQSubSocket(){ - zmq_close(sock); -} - -int ZMQPubSocket::connect(Context *context, std::string endpoint, bool check_endpoint){ - sock = zmq_socket(context->getRawContext(), ZMQ_PUB); - if (sock == NULL){ - return -1; - } - - full_endpoint = "tcp://*:"; - if (check_endpoint){ - full_endpoint += std::to_string(get_port(endpoint)); - } else { - full_endpoint += endpoint; - } - - // ZMQ pub sockets cannot be shared between processes, so we need to ensure pid stays the same - pid = getpid(); - - return zmq_bind(sock, full_endpoint.c_str()); -} - -int ZMQPubSocket::sendMessage(Message *message) { - assert(pid == getpid()); - return zmq_send(sock, message->getData(), message->getSize(), ZMQ_DONTWAIT); -} - -int ZMQPubSocket::send(char *data, size_t size) { - assert(pid == getpid()); - return zmq_send(sock, data, size, ZMQ_DONTWAIT); -} - -bool ZMQPubSocket::all_readers_updated() { - assert(false); // TODO not implemented - return false; -} - -ZMQPubSocket::~ZMQPubSocket(){ - zmq_close(sock); -} - - -void ZMQPoller::registerSocket(SubSocket * socket){ - assert(num_polls + 1 < MAX_POLLERS); - polls[num_polls].socket = socket->getRawSocket(); - polls[num_polls].events = ZMQ_POLLIN; - - sockets.push_back(socket); - num_polls++; -} - -std::vector ZMQPoller::poll(int timeout){ - std::vector r; - - int rc = zmq_poll(polls, num_polls, timeout); - if (rc < 0){ - return r; - } - - for (size_t i = 0; i < num_polls; i++){ - if (polls[i].revents){ - r.push_back(sockets[i]); - } - } - - return r; -} diff --git a/msgq_repo/msgq/impl_zmq.h b/msgq_repo/msgq/impl_zmq.h deleted file mode 100644 index 718196e3068ea9..00000000000000 --- a/msgq_repo/msgq/impl_zmq.h +++ /dev/null @@ -1,68 +0,0 @@ -#pragma once - -#include -#include -#include - -#include "msgq/ipc.h" - -#define MAX_POLLERS 128 - -class ZMQContext : public Context { -private: - void * context = NULL; -public: - ZMQContext(); - void * getRawContext() {return context;} - ~ZMQContext(); -}; - -class ZMQMessage : public Message { -private: - char * data; - size_t size; -public: - void init(size_t size); - void init(char *data, size_t size); - size_t getSize(){return size;} - char * getData(){return data;} - void close(); - ~ZMQMessage(); -}; - -class ZMQSubSocket : public SubSocket { -private: - void * sock; - std::string full_endpoint; -public: - int connect(Context *context, std::string endpoint, std::string address, bool conflate=false, bool check_endpoint=true); - void setTimeout(int timeout); - void * getRawSocket() {return sock;} - Message *receive(bool non_blocking=false); - ~ZMQSubSocket(); -}; - -class ZMQPubSocket : public PubSocket { -private: - void * sock; - std::string full_endpoint; - int pid = -1; -public: - int connect(Context *context, std::string endpoint, bool check_endpoint=true); - int sendMessage(Message *message); - int send(char *data, size_t size); - bool all_readers_updated(); - ~ZMQPubSocket(); -}; - -class ZMQPoller : public Poller { -private: - std::vector sockets; - zmq_pollitem_t polls[MAX_POLLERS]; - size_t num_polls = 0; - -public: - void registerSocket(SubSocket *socket); - std::vector poll(int timeout); - ~ZMQPoller(){} -}; diff --git a/msgq_repo/msgq/ipc.cc b/msgq_repo/msgq/ipc.cc deleted file mode 100644 index f620f46fadf13b..00000000000000 --- a/msgq_repo/msgq/ipc.cc +++ /dev/null @@ -1,120 +0,0 @@ -#include -#include - -#include "msgq/ipc.h" -#include "msgq/impl_zmq.h" -#include "msgq/impl_msgq.h" -#include "msgq/impl_fake.h" - -#ifdef __APPLE__ -const bool MUST_USE_ZMQ = true; -#else -const bool MUST_USE_ZMQ = false; -#endif - -bool messaging_use_zmq(){ - if (std::getenv("ZMQ") || MUST_USE_ZMQ) { - if (std::getenv("OPENPILOT_PREFIX")) { - std::cerr << "OPENPILOT_PREFIX not supported with ZMQ backend\n"; - assert(false); - } - return true; - } - return false; -} - -bool messaging_use_fake(){ - char* fake_enabled = std::getenv("CEREAL_FAKE"); - return fake_enabled != NULL; -} - -Context * Context::create(){ - Context * c; - if (messaging_use_zmq()){ - c = new ZMQContext(); - } else { - c = new MSGQContext(); - } - return c; -} - -SubSocket * SubSocket::create(){ - SubSocket * s; - if (messaging_use_fake()) { - if (messaging_use_zmq()) { - s = new FakeSubSocket(); - } else { - s = new FakeSubSocket(); - } - } else { - if (messaging_use_zmq()){ - s = new ZMQSubSocket(); - } else { - s = new MSGQSubSocket(); - } - } - - return s; -} - -SubSocket * SubSocket::create(Context * context, std::string endpoint, std::string address, bool conflate, bool check_endpoint){ - SubSocket *s = SubSocket::create(); - int r = s->connect(context, endpoint, address, conflate, check_endpoint); - - if (r == 0) { - return s; - } else { - std::cerr << "Error, failed to connect SubSocket to " << endpoint << ": " << strerror(errno) << std::endl; - - delete s; - return nullptr; - } -} - -PubSocket * PubSocket::create(){ - PubSocket * s; - if (messaging_use_zmq()){ - s = new ZMQPubSocket(); - } else { - s = new MSGQPubSocket(); - } - - return s; -} - -PubSocket * PubSocket::create(Context * context, std::string endpoint, bool check_endpoint){ - PubSocket *s = PubSocket::create(); - int r = s->connect(context, endpoint, check_endpoint); - - if (r == 0) { - return s; - } else { - std::cerr << "Error, failed to bind PubSocket to " << endpoint << ": " << strerror(errno) << std::endl; - - delete s; - return nullptr; - } -} - -Poller * Poller::create(){ - Poller * p; - if (messaging_use_fake()) { - p = new FakePoller(); - } else { - if (messaging_use_zmq()){ - p = new ZMQPoller(); - } else { - p = new MSGQPoller(); - } - } - return p; -} - -Poller * Poller::create(std::vector sockets){ - Poller * p = Poller::create(); - - for (auto s : sockets){ - p->registerSocket(s); - } - return p; -} diff --git a/msgq_repo/msgq/ipc.h b/msgq_repo/msgq/ipc.h deleted file mode 100644 index 1f0e3e06b5bc79..00000000000000 --- a/msgq_repo/msgq/ipc.h +++ /dev/null @@ -1,68 +0,0 @@ -#pragma once - -#include -#include -#include -#include -#include -#include - - - -#ifdef __APPLE__ -#define CLOCK_BOOTTIME CLOCK_MONOTONIC -#endif - -#define MSG_MULTIPLE_PUBLISHERS 100 - -bool messaging_use_zmq(); - -class Context { -public: - virtual void * getRawContext() = 0; - static Context * create(); - virtual ~Context(){} -}; - -class Message { -public: - virtual void init(size_t size) = 0; - virtual void init(char * data, size_t size) = 0; - virtual void close() = 0; - virtual size_t getSize() = 0; - virtual char * getData() = 0; - virtual ~Message(){} -}; - - -class SubSocket { -public: - virtual int connect(Context *context, std::string endpoint, std::string address, bool conflate=false, bool check_endpoint=true) = 0; - virtual void setTimeout(int timeout) = 0; - virtual Message *receive(bool non_blocking=false) = 0; - virtual void * getRawSocket() = 0; - static SubSocket * create(); - static SubSocket * create(Context * context, std::string endpoint, std::string address="127.0.0.1", bool conflate=false, bool check_endpoint=true); - virtual ~SubSocket(){} -}; - -class PubSocket { -public: - virtual int connect(Context *context, std::string endpoint, bool check_endpoint=true) = 0; - virtual int sendMessage(Message *message) = 0; - virtual int send(char *data, size_t size) = 0; - virtual bool all_readers_updated() = 0; - static PubSocket * create(); - static PubSocket * create(Context * context, std::string endpoint, bool check_endpoint=true); - static PubSocket * create(Context * context, std::string endpoint, int port, bool check_endpoint=true); - virtual ~PubSocket(){} -}; - -class Poller { -public: - virtual void registerSocket(SubSocket *socket) = 0; - virtual std::vector poll(int timeout) = 0; - static Poller * create(); - static Poller * create(std::vector sockets); - virtual ~Poller(){} -}; \ No newline at end of file diff --git a/msgq_repo/msgq/ipc_pyx.cpp b/msgq_repo/msgq/ipc_pyx.cpp new file mode 100644 index 00000000000000..08638b06217f54 --- /dev/null +++ b/msgq_repo/msgq/ipc_pyx.cpp @@ -0,0 +1,17670 @@ +/* Generated by Cython 3.0.8 */ + +/* BEGIN: Cython Metadata +{ + "distutils": { + "depends": [ + "msgq/impl_fake.h", + "msgq/ipc.h" + ], + "language": "c++", + "name": "msgq.ipc_pyx", + "sources": [ + "/data/openpilot/msgq_repo/msgq/ipc_pyx.pyx" + ] + }, + "module_name": "msgq.ipc_pyx" +} +END: Cython Metadata */ + +#ifndef PY_SSIZE_T_CLEAN +#define PY_SSIZE_T_CLEAN +#endif /* PY_SSIZE_T_CLEAN */ +#if defined(CYTHON_LIMITED_API) && 0 + #ifndef Py_LIMITED_API + #if CYTHON_LIMITED_API+0 > 0x03030000 + #define Py_LIMITED_API CYTHON_LIMITED_API + #else + #define Py_LIMITED_API 0x03030000 + #endif + #endif +#endif + +#include "Python.h" +#ifndef Py_PYTHON_H + #error Python headers needed to compile C extensions, please install development version of Python. +#elif PY_VERSION_HEX < 0x02070000 || (0x03000000 <= PY_VERSION_HEX && PY_VERSION_HEX < 0x03030000) + #error Cython requires Python 2.7+ or Python 3.3+. +#else +#if defined(CYTHON_LIMITED_API) && CYTHON_LIMITED_API +#define __PYX_EXTRA_ABI_MODULE_NAME "limited" +#else +#define __PYX_EXTRA_ABI_MODULE_NAME "" +#endif +#define CYTHON_ABI "3_0_8" __PYX_EXTRA_ABI_MODULE_NAME +#define __PYX_ABI_MODULE_NAME "_cython_" CYTHON_ABI +#define __PYX_TYPE_MODULE_PREFIX __PYX_ABI_MODULE_NAME "." +#define CYTHON_HEX_VERSION 0x030008F0 +#define CYTHON_FUTURE_DIVISION 1 +#include +#ifndef offsetof + #define offsetof(type, member) ( (size_t) & ((type*)0) -> member ) +#endif +#if !defined(_WIN32) && !defined(WIN32) && !defined(MS_WINDOWS) + #ifndef __stdcall + #define __stdcall + #endif + #ifndef __cdecl + #define __cdecl + #endif + #ifndef __fastcall + #define __fastcall + #endif +#endif +#ifndef DL_IMPORT + #define DL_IMPORT(t) t +#endif +#ifndef DL_EXPORT + #define DL_EXPORT(t) t +#endif +#define __PYX_COMMA , +#ifndef HAVE_LONG_LONG + #define HAVE_LONG_LONG +#endif +#ifndef PY_LONG_LONG + #define PY_LONG_LONG LONG_LONG +#endif +#ifndef Py_HUGE_VAL + #define Py_HUGE_VAL HUGE_VAL +#endif +#define __PYX_LIMITED_VERSION_HEX PY_VERSION_HEX +#if defined(GRAALVM_PYTHON) + /* For very preliminary testing purposes. Most variables are set the same as PyPy. + The existence of this section does not imply that anything works or is even tested */ + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 1 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #undef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #undef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 1 + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS (PY_MAJOR_VERSION >= 3) + #endif + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(PYPY_VERSION) + #define CYTHON_COMPILING_IN_PYPY 1 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #ifndef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #endif + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #undef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 1 + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS (PY_MAJOR_VERSION >= 3) + #endif + #if PY_VERSION_HEX < 0x03090000 + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #elif !defined(CYTHON_PEP489_MULTI_PHASE_INIT) + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE (PY_VERSION_HEX >= 0x030400a1 && PYPY_VERSION_NUM >= 0x07030C00) + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(CYTHON_LIMITED_API) + #ifdef Py_LIMITED_API + #undef __PYX_LIMITED_VERSION_HEX + #define __PYX_LIMITED_VERSION_HEX Py_LIMITED_API + #endif + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 1 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_CLINE_IN_TRACEBACK + #define CYTHON_CLINE_IN_TRACEBACK 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #undef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 1 + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #ifndef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #endif + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS 1 + #endif + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 1 + #ifndef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #endif + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(Py_GIL_DISABLED) || defined(Py_NOGIL) + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 1 + #ifndef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 1 + #endif + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #ifndef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #ifndef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 1 + #endif + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #ifndef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 1 + #endif + #ifndef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 1 + #endif + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #ifndef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 1 + #endif + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 +#else + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 1 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #ifndef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 1 + #endif + #ifndef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #endif + #ifndef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 1 + #endif + #if PY_MAJOR_VERSION < 3 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #ifndef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 1 + #endif + #ifndef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 1 + #endif + #ifndef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 1 + #endif + #if PY_VERSION_HEX < 0x030300F0 || PY_VERSION_HEX >= 0x030B00A2 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #elif !defined(CYTHON_USE_UNICODE_WRITER) + #define CYTHON_USE_UNICODE_WRITER 1 + #endif + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #ifndef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 1 + #endif + #ifndef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 1 + #endif + #ifndef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 1 + #endif + #ifndef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL (PY_MAJOR_VERSION < 3 || PY_VERSION_HEX >= 0x03060000 && PY_VERSION_HEX < 0x030C00A6) + #endif + #ifndef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL (PY_VERSION_HEX >= 0x030700A1) + #endif + #ifndef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 1 + #endif + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS 1 + #endif + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #elif !defined(CYTHON_PEP489_MULTI_PHASE_INIT) + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #ifndef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #endif + #if PY_VERSION_HEX < 0x030400a1 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #elif !defined(CYTHON_USE_TP_FINALIZE) + #define CYTHON_USE_TP_FINALIZE 1 + #endif + #if PY_VERSION_HEX < 0x030600B1 + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #elif !defined(CYTHON_USE_DICT_VERSIONS) + #define CYTHON_USE_DICT_VERSIONS (PY_VERSION_HEX < 0x030C00A5) + #endif + #if PY_VERSION_HEX < 0x030700A3 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #elif !defined(CYTHON_USE_EXC_INFO_STACK) + #define CYTHON_USE_EXC_INFO_STACK 1 + #endif + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 1 + #endif +#endif +#if !defined(CYTHON_FAST_PYCCALL) +#define CYTHON_FAST_PYCCALL (CYTHON_FAST_PYCALL && PY_VERSION_HEX >= 0x030600B1) +#endif +#if !defined(CYTHON_VECTORCALL) +#define CYTHON_VECTORCALL (CYTHON_FAST_PYCCALL && PY_VERSION_HEX >= 0x030800B1) +#endif +#define CYTHON_BACKPORT_VECTORCALL (CYTHON_METH_FASTCALL && PY_VERSION_HEX < 0x030800B1) +#if CYTHON_USE_PYLONG_INTERNALS + #if PY_MAJOR_VERSION < 3 + #include "longintrepr.h" + #endif + #undef SHIFT + #undef BASE + #undef MASK + #ifdef SIZEOF_VOID_P + enum { __pyx_check_sizeof_voidp = 1 / (int)(SIZEOF_VOID_P == sizeof(void*)) }; + #endif +#endif +#ifndef __has_attribute + #define __has_attribute(x) 0 +#endif +#ifndef __has_cpp_attribute + #define __has_cpp_attribute(x) 0 +#endif +#ifndef CYTHON_RESTRICT + #if defined(__GNUC__) + #define CYTHON_RESTRICT __restrict__ + #elif defined(_MSC_VER) && _MSC_VER >= 1400 + #define CYTHON_RESTRICT __restrict + #elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define CYTHON_RESTRICT restrict + #else + #define CYTHON_RESTRICT + #endif +#endif +#ifndef CYTHON_UNUSED + #if defined(__cplusplus) + /* for clang __has_cpp_attribute(maybe_unused) is true even before C++17 + * but leads to warnings with -pedantic, since it is a C++17 feature */ + #if ((defined(_MSVC_LANG) && _MSVC_LANG >= 201703L) || __cplusplus >= 201703L) + #if __has_cpp_attribute(maybe_unused) + #define CYTHON_UNUSED [[maybe_unused]] + #endif + #endif + #endif +#endif +#ifndef CYTHON_UNUSED +# if defined(__GNUC__) +# if !(defined(__cplusplus)) || (__GNUC__ > 3 || (__GNUC__ == 3 && __GNUC_MINOR__ >= 4)) +# define CYTHON_UNUSED __attribute__ ((__unused__)) +# else +# define CYTHON_UNUSED +# endif +# elif defined(__ICC) || (defined(__INTEL_COMPILER) && !defined(_MSC_VER)) +# define CYTHON_UNUSED __attribute__ ((__unused__)) +# else +# define CYTHON_UNUSED +# endif +#endif +#ifndef CYTHON_UNUSED_VAR +# if defined(__cplusplus) + template void CYTHON_UNUSED_VAR( const T& ) { } +# else +# define CYTHON_UNUSED_VAR(x) (void)(x) +# endif +#endif +#ifndef CYTHON_MAYBE_UNUSED_VAR + #define CYTHON_MAYBE_UNUSED_VAR(x) CYTHON_UNUSED_VAR(x) +#endif +#ifndef CYTHON_NCP_UNUSED +# if CYTHON_COMPILING_IN_CPYTHON +# define CYTHON_NCP_UNUSED +# else +# define CYTHON_NCP_UNUSED CYTHON_UNUSED +# endif +#endif +#ifndef CYTHON_USE_CPP_STD_MOVE + #if defined(__cplusplus) && (\ + __cplusplus >= 201103L || (defined(_MSC_VER) && _MSC_VER >= 1600)) + #define CYTHON_USE_CPP_STD_MOVE 1 + #else + #define CYTHON_USE_CPP_STD_MOVE 0 + #endif +#endif +#define __Pyx_void_to_None(void_result) ((void)(void_result), Py_INCREF(Py_None), Py_None) +#ifdef _MSC_VER + #ifndef _MSC_STDINT_H_ + #if _MSC_VER < 1300 + typedef unsigned char uint8_t; + typedef unsigned short uint16_t; + typedef unsigned int uint32_t; + #else + typedef unsigned __int8 uint8_t; + typedef unsigned __int16 uint16_t; + typedef unsigned __int32 uint32_t; + #endif + #endif + #if _MSC_VER < 1300 + #ifdef _WIN64 + typedef unsigned long long __pyx_uintptr_t; + #else + typedef unsigned int __pyx_uintptr_t; + #endif + #else + #ifdef _WIN64 + typedef unsigned __int64 __pyx_uintptr_t; + #else + typedef unsigned __int32 __pyx_uintptr_t; + #endif + #endif +#else + #include + typedef uintptr_t __pyx_uintptr_t; +#endif +#ifndef CYTHON_FALLTHROUGH + #if defined(__cplusplus) + /* for clang __has_cpp_attribute(fallthrough) is true even before C++17 + * but leads to warnings with -pedantic, since it is a C++17 feature */ + #if ((defined(_MSVC_LANG) && _MSVC_LANG >= 201703L) || __cplusplus >= 201703L) + #if __has_cpp_attribute(fallthrough) + #define CYTHON_FALLTHROUGH [[fallthrough]] + #endif + #endif + #ifndef CYTHON_FALLTHROUGH + #if __has_cpp_attribute(clang::fallthrough) + #define CYTHON_FALLTHROUGH [[clang::fallthrough]] + #elif __has_cpp_attribute(gnu::fallthrough) + #define CYTHON_FALLTHROUGH [[gnu::fallthrough]] + #endif + #endif + #endif + #ifndef CYTHON_FALLTHROUGH + #if __has_attribute(fallthrough) + #define CYTHON_FALLTHROUGH __attribute__((fallthrough)) + #else + #define CYTHON_FALLTHROUGH + #endif + #endif + #if defined(__clang__) && defined(__apple_build_version__) + #if __apple_build_version__ < 7000000 + #undef CYTHON_FALLTHROUGH + #define CYTHON_FALLTHROUGH + #endif + #endif +#endif +#ifdef __cplusplus + template + struct __PYX_IS_UNSIGNED_IMPL {static const bool value = T(0) < T(-1);}; + #define __PYX_IS_UNSIGNED(type) (__PYX_IS_UNSIGNED_IMPL::value) +#else + #define __PYX_IS_UNSIGNED(type) (((type)-1) > 0) +#endif +#if CYTHON_COMPILING_IN_PYPY == 1 + #define __PYX_NEED_TP_PRINT_SLOT (PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x030A0000) +#else + #define __PYX_NEED_TP_PRINT_SLOT (PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000) +#endif +#define __PYX_REINTERPRET_FUNCION(func_pointer, other_pointer) ((func_pointer)(void(*)(void))(other_pointer)) + +#ifndef __cplusplus + #error "Cython files generated with the C++ option must be compiled with a C++ compiler." +#endif +#ifndef CYTHON_INLINE + #if defined(__clang__) + #define CYTHON_INLINE __inline__ __attribute__ ((__unused__)) + #else + #define CYTHON_INLINE inline + #endif +#endif +template +void __Pyx_call_destructor(T& x) { + x.~T(); +} +template +class __Pyx_FakeReference { + public: + __Pyx_FakeReference() : ptr(NULL) { } + __Pyx_FakeReference(const T& ref) : ptr(const_cast(&ref)) { } + T *operator->() { return ptr; } + T *operator&() { return ptr; } + operator T&() { return *ptr; } + template bool operator ==(const U& other) const { return *ptr == other; } + template bool operator !=(const U& other) const { return *ptr != other; } + template bool operator==(const __Pyx_FakeReference& other) const { return *ptr == *other.ptr; } + template bool operator!=(const __Pyx_FakeReference& other) const { return *ptr != *other.ptr; } + private: + T *ptr; +}; + +#define __PYX_BUILD_PY_SSIZE_T "n" +#define CYTHON_FORMAT_SSIZE_T "z" +#if PY_MAJOR_VERSION < 3 + #define __Pyx_BUILTIN_MODULE_NAME "__builtin__" + #define __Pyx_DefaultClassType PyClass_Type + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_New(a+k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#else + #define __Pyx_BUILTIN_MODULE_NAME "builtins" + #define __Pyx_DefaultClassType PyType_Type +#if CYTHON_COMPILING_IN_LIMITED_API + static CYTHON_INLINE PyObject* __Pyx_PyCode_New(int a, int p, int k, int l, int s, int f, + PyObject *code, PyObject *c, PyObject* n, PyObject *v, + PyObject *fv, PyObject *cell, PyObject* fn, + PyObject *name, int fline, PyObject *lnos) { + PyObject *exception_table = NULL; + PyObject *types_module=NULL, *code_type=NULL, *result=NULL; + #if __PYX_LIMITED_VERSION_HEX < 0x030B0000 + PyObject *version_info; + PyObject *py_minor_version = NULL; + #endif + long minor_version = 0; + PyObject *type, *value, *traceback; + PyErr_Fetch(&type, &value, &traceback); + #if __PYX_LIMITED_VERSION_HEX >= 0x030B0000 + minor_version = 11; + #else + if (!(version_info = PySys_GetObject("version_info"))) goto end; + if (!(py_minor_version = PySequence_GetItem(version_info, 1))) goto end; + minor_version = PyLong_AsLong(py_minor_version); + Py_DECREF(py_minor_version); + if (minor_version == -1 && PyErr_Occurred()) goto end; + #endif + if (!(types_module = PyImport_ImportModule("types"))) goto end; + if (!(code_type = PyObject_GetAttrString(types_module, "CodeType"))) goto end; + if (minor_version <= 7) { + (void)p; + result = PyObject_CallFunction(code_type, "iiiiiOOOOOOiOO", a, k, l, s, f, code, + c, n, v, fn, name, fline, lnos, fv, cell); + } else if (minor_version <= 10) { + result = PyObject_CallFunction(code_type, "iiiiiiOOOOOOiOO", a,p, k, l, s, f, code, + c, n, v, fn, name, fline, lnos, fv, cell); + } else { + if (!(exception_table = PyBytes_FromStringAndSize(NULL, 0))) goto end; + result = PyObject_CallFunction(code_type, "iiiiiiOOOOOOOiOO", a,p, k, l, s, f, code, + c, n, v, fn, name, name, fline, lnos, exception_table, fv, cell); + } + end: + Py_XDECREF(code_type); + Py_XDECREF(exception_table); + Py_XDECREF(types_module); + if (type) { + PyErr_Restore(type, value, traceback); + } + return result; + } + #ifndef CO_OPTIMIZED + #define CO_OPTIMIZED 0x0001 + #endif + #ifndef CO_NEWLOCALS + #define CO_NEWLOCALS 0x0002 + #endif + #ifndef CO_VARARGS + #define CO_VARARGS 0x0004 + #endif + #ifndef CO_VARKEYWORDS + #define CO_VARKEYWORDS 0x0008 + #endif + #ifndef CO_ASYNC_GENERATOR + #define CO_ASYNC_GENERATOR 0x0200 + #endif + #ifndef CO_GENERATOR + #define CO_GENERATOR 0x0020 + #endif + #ifndef CO_COROUTINE + #define CO_COROUTINE 0x0080 + #endif +#elif PY_VERSION_HEX >= 0x030B0000 + static CYTHON_INLINE PyCodeObject* __Pyx_PyCode_New(int a, int p, int k, int l, int s, int f, + PyObject *code, PyObject *c, PyObject* n, PyObject *v, + PyObject *fv, PyObject *cell, PyObject* fn, + PyObject *name, int fline, PyObject *lnos) { + PyCodeObject *result; + PyObject *empty_bytes = PyBytes_FromStringAndSize("", 0); + if (!empty_bytes) return NULL; + result = + #if PY_VERSION_HEX >= 0x030C0000 + PyUnstable_Code_NewWithPosOnlyArgs + #else + PyCode_NewWithPosOnlyArgs + #endif + (a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, name, fline, lnos, empty_bytes); + Py_DECREF(empty_bytes); + return result; + } +#elif PY_VERSION_HEX >= 0x030800B2 && !CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_NewWithPosOnlyArgs(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#else + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#endif +#endif +#if PY_VERSION_HEX >= 0x030900A4 || defined(Py_IS_TYPE) + #define __Pyx_IS_TYPE(ob, type) Py_IS_TYPE(ob, type) +#else + #define __Pyx_IS_TYPE(ob, type) (((const PyObject*)ob)->ob_type == (type)) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_Is) + #define __Pyx_Py_Is(x, y) Py_Is(x, y) +#else + #define __Pyx_Py_Is(x, y) ((x) == (y)) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsNone) + #define __Pyx_Py_IsNone(ob) Py_IsNone(ob) +#else + #define __Pyx_Py_IsNone(ob) __Pyx_Py_Is((ob), Py_None) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsTrue) + #define __Pyx_Py_IsTrue(ob) Py_IsTrue(ob) +#else + #define __Pyx_Py_IsTrue(ob) __Pyx_Py_Is((ob), Py_True) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsFalse) + #define __Pyx_Py_IsFalse(ob) Py_IsFalse(ob) +#else + #define __Pyx_Py_IsFalse(ob) __Pyx_Py_Is((ob), Py_False) +#endif +#define __Pyx_NoneAsNull(obj) (__Pyx_Py_IsNone(obj) ? NULL : (obj)) +#if PY_VERSION_HEX >= 0x030900F0 && !CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyObject_GC_IsFinalized(o) PyObject_GC_IsFinalized(o) +#else + #define __Pyx_PyObject_GC_IsFinalized(o) _PyGC_FINALIZED(o) +#endif +#ifndef CO_COROUTINE + #define CO_COROUTINE 0x80 +#endif +#ifndef CO_ASYNC_GENERATOR + #define CO_ASYNC_GENERATOR 0x200 +#endif +#ifndef Py_TPFLAGS_CHECKTYPES + #define Py_TPFLAGS_CHECKTYPES 0 +#endif +#ifndef Py_TPFLAGS_HAVE_INDEX + #define Py_TPFLAGS_HAVE_INDEX 0 +#endif +#ifndef Py_TPFLAGS_HAVE_NEWBUFFER + #define Py_TPFLAGS_HAVE_NEWBUFFER 0 +#endif +#ifndef Py_TPFLAGS_HAVE_FINALIZE + #define Py_TPFLAGS_HAVE_FINALIZE 0 +#endif +#ifndef Py_TPFLAGS_SEQUENCE + #define Py_TPFLAGS_SEQUENCE 0 +#endif +#ifndef Py_TPFLAGS_MAPPING + #define Py_TPFLAGS_MAPPING 0 +#endif +#ifndef METH_STACKLESS + #define METH_STACKLESS 0 +#endif +#if PY_VERSION_HEX <= 0x030700A3 || !defined(METH_FASTCALL) + #ifndef METH_FASTCALL + #define METH_FASTCALL 0x80 + #endif + typedef PyObject *(*__Pyx_PyCFunctionFast) (PyObject *self, PyObject *const *args, Py_ssize_t nargs); + typedef PyObject *(*__Pyx_PyCFunctionFastWithKeywords) (PyObject *self, PyObject *const *args, + Py_ssize_t nargs, PyObject *kwnames); +#else + #define __Pyx_PyCFunctionFast _PyCFunctionFast + #define __Pyx_PyCFunctionFastWithKeywords _PyCFunctionFastWithKeywords +#endif +#if CYTHON_METH_FASTCALL + #define __Pyx_METH_FASTCALL METH_FASTCALL + #define __Pyx_PyCFunction_FastCall __Pyx_PyCFunctionFast + #define __Pyx_PyCFunction_FastCallWithKeywords __Pyx_PyCFunctionFastWithKeywords +#else + #define __Pyx_METH_FASTCALL METH_VARARGS + #define __Pyx_PyCFunction_FastCall PyCFunction + #define __Pyx_PyCFunction_FastCallWithKeywords PyCFunctionWithKeywords +#endif +#if CYTHON_VECTORCALL + #define __pyx_vectorcallfunc vectorcallfunc + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET PY_VECTORCALL_ARGUMENTS_OFFSET + #define __Pyx_PyVectorcall_NARGS(n) PyVectorcall_NARGS((size_t)(n)) +#elif CYTHON_BACKPORT_VECTORCALL + typedef PyObject *(*__pyx_vectorcallfunc)(PyObject *callable, PyObject *const *args, + size_t nargsf, PyObject *kwnames); + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET ((size_t)1 << (8 * sizeof(size_t) - 1)) + #define __Pyx_PyVectorcall_NARGS(n) ((Py_ssize_t)(((size_t)(n)) & ~__Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET)) +#else + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET 0 + #define __Pyx_PyVectorcall_NARGS(n) ((Py_ssize_t)(n)) +#endif +#if PY_MAJOR_VERSION >= 0x030900B1 +#define __Pyx_PyCFunction_CheckExact(func) PyCFunction_CheckExact(func) +#else +#define __Pyx_PyCFunction_CheckExact(func) PyCFunction_Check(func) +#endif +#define __Pyx_CyOrPyCFunction_Check(func) PyCFunction_Check(func) +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_CyOrPyCFunction_GET_FUNCTION(func) (((PyCFunctionObject*)(func))->m_ml->ml_meth) +#elif !CYTHON_COMPILING_IN_LIMITED_API +#define __Pyx_CyOrPyCFunction_GET_FUNCTION(func) PyCFunction_GET_FUNCTION(func) +#endif +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_CyOrPyCFunction_GET_FLAGS(func) (((PyCFunctionObject*)(func))->m_ml->ml_flags) +static CYTHON_INLINE PyObject* __Pyx_CyOrPyCFunction_GET_SELF(PyObject *func) { + return (__Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_STATIC) ? NULL : ((PyCFunctionObject*)func)->m_self; +} +#endif +static CYTHON_INLINE int __Pyx__IsSameCFunction(PyObject *func, void *cfunc) { +#if CYTHON_COMPILING_IN_LIMITED_API + return PyCFunction_Check(func) && PyCFunction_GetFunction(func) == (PyCFunction) cfunc; +#else + return PyCFunction_Check(func) && PyCFunction_GET_FUNCTION(func) == (PyCFunction) cfunc; +#endif +} +#define __Pyx_IsSameCFunction(func, cfunc) __Pyx__IsSameCFunction(func, cfunc) +#if __PYX_LIMITED_VERSION_HEX < 0x030900B1 + #define __Pyx_PyType_FromModuleAndSpec(m, s, b) ((void)m, PyType_FromSpecWithBases(s, b)) + typedef PyObject *(*__Pyx_PyCMethod)(PyObject *, PyTypeObject *, PyObject *const *, size_t, PyObject *); +#else + #define __Pyx_PyType_FromModuleAndSpec(m, s, b) PyType_FromModuleAndSpec(m, s, b) + #define __Pyx_PyCMethod PyCMethod +#endif +#ifndef METH_METHOD + #define METH_METHOD 0x200 +#endif +#if CYTHON_COMPILING_IN_PYPY && !defined(PyObject_Malloc) + #define PyObject_Malloc(s) PyMem_Malloc(s) + #define PyObject_Free(p) PyMem_Free(p) + #define PyObject_Realloc(p) PyMem_Realloc(p) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0) + #define __Pyx_PyFrame_SetLineNumber(frame, lineno) +#else + #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0) + #define __Pyx_PyFrame_SetLineNumber(frame, lineno) (frame)->f_lineno = (lineno) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyThreadState_Current PyThreadState_Get() +#elif !CYTHON_FAST_THREAD_STATE + #define __Pyx_PyThreadState_Current PyThreadState_GET() +#elif PY_VERSION_HEX >= 0x030d00A1 + #define __Pyx_PyThreadState_Current PyThreadState_GetUnchecked() +#elif PY_VERSION_HEX >= 0x03060000 + #define __Pyx_PyThreadState_Current _PyThreadState_UncheckedGet() +#elif PY_VERSION_HEX >= 0x03000000 + #define __Pyx_PyThreadState_Current PyThreadState_GET() +#else + #define __Pyx_PyThreadState_Current _PyThreadState_Current +#endif +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE void *__Pyx_PyModule_GetState(PyObject *op) +{ + void *result; + result = PyModule_GetState(op); + if (!result) + Py_FatalError("Couldn't find the module state"); + return result; +} +#endif +#define __Pyx_PyObject_GetSlot(obj, name, func_ctype) __Pyx_PyType_GetSlot(Py_TYPE(obj), name, func_ctype) +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyType_GetSlot(type, name, func_ctype) ((func_ctype) PyType_GetSlot((type), Py_##name)) +#else + #define __Pyx_PyType_GetSlot(type, name, func_ctype) ((type)->name) +#endif +#if PY_VERSION_HEX < 0x030700A2 && !defined(PyThread_tss_create) && !defined(Py_tss_NEEDS_INIT) +#include "pythread.h" +#define Py_tss_NEEDS_INIT 0 +typedef int Py_tss_t; +static CYTHON_INLINE int PyThread_tss_create(Py_tss_t *key) { + *key = PyThread_create_key(); + return 0; +} +static CYTHON_INLINE Py_tss_t * PyThread_tss_alloc(void) { + Py_tss_t *key = (Py_tss_t *)PyObject_Malloc(sizeof(Py_tss_t)); + *key = Py_tss_NEEDS_INIT; + return key; +} +static CYTHON_INLINE void PyThread_tss_free(Py_tss_t *key) { + PyObject_Free(key); +} +static CYTHON_INLINE int PyThread_tss_is_created(Py_tss_t *key) { + return *key != Py_tss_NEEDS_INIT; +} +static CYTHON_INLINE void PyThread_tss_delete(Py_tss_t *key) { + PyThread_delete_key(*key); + *key = Py_tss_NEEDS_INIT; +} +static CYTHON_INLINE int PyThread_tss_set(Py_tss_t *key, void *value) { + return PyThread_set_key_value(*key, value); +} +static CYTHON_INLINE void * PyThread_tss_get(Py_tss_t *key) { + return PyThread_get_key_value(*key); +} +#endif +#if PY_MAJOR_VERSION < 3 + #if CYTHON_COMPILING_IN_PYPY + #if PYPY_VERSION_NUM < 0x07030600 + #if defined(__cplusplus) && __cplusplus >= 201402L + [[deprecated("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6")]] + #elif defined(__GNUC__) || defined(__clang__) + __attribute__ ((__deprecated__("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6"))) + #elif defined(_MSC_VER) + __declspec(deprecated("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6")) + #endif + static CYTHON_INLINE int PyGILState_Check(void) { + return 0; + } + #else // PYPY_VERSION_NUM < 0x07030600 + #endif // PYPY_VERSION_NUM < 0x07030600 + #else + static CYTHON_INLINE int PyGILState_Check(void) { + PyThreadState * tstate = _PyThreadState_Current; + return tstate && (tstate == PyGILState_GetThisThreadState()); + } + #endif +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030d0000 || defined(_PyDict_NewPresized) +#define __Pyx_PyDict_NewPresized(n) ((n <= 8) ? PyDict_New() : _PyDict_NewPresized(n)) +#else +#define __Pyx_PyDict_NewPresized(n) PyDict_New() +#endif +#if PY_MAJOR_VERSION >= 3 || CYTHON_FUTURE_DIVISION + #define __Pyx_PyNumber_Divide(x,y) PyNumber_TrueDivide(x,y) + #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceTrueDivide(x,y) +#else + #define __Pyx_PyNumber_Divide(x,y) PyNumber_Divide(x,y) + #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceDivide(x,y) +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX > 0x030600B4 && PY_VERSION_HEX < 0x030d0000 && CYTHON_USE_UNICODE_INTERNALS +#define __Pyx_PyDict_GetItemStrWithError(dict, name) _PyDict_GetItem_KnownHash(dict, name, ((PyASCIIObject *) name)->hash) +static CYTHON_INLINE PyObject * __Pyx_PyDict_GetItemStr(PyObject *dict, PyObject *name) { + PyObject *res = __Pyx_PyDict_GetItemStrWithError(dict, name); + if (res == NULL) PyErr_Clear(); + return res; +} +#elif PY_MAJOR_VERSION >= 3 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07020000) +#define __Pyx_PyDict_GetItemStrWithError PyDict_GetItemWithError +#define __Pyx_PyDict_GetItemStr PyDict_GetItem +#else +static CYTHON_INLINE PyObject * __Pyx_PyDict_GetItemStrWithError(PyObject *dict, PyObject *name) { +#if CYTHON_COMPILING_IN_PYPY + return PyDict_GetItem(dict, name); +#else + PyDictEntry *ep; + PyDictObject *mp = (PyDictObject*) dict; + long hash = ((PyStringObject *) name)->ob_shash; + assert(hash != -1); + ep = (mp->ma_lookup)(mp, name, hash); + if (ep == NULL) { + return NULL; + } + return ep->me_value; +#endif +} +#define __Pyx_PyDict_GetItemStr PyDict_GetItem +#endif +#if CYTHON_USE_TYPE_SLOTS + #define __Pyx_PyType_GetFlags(tp) (((PyTypeObject *)tp)->tp_flags) + #define __Pyx_PyType_HasFeature(type, feature) ((__Pyx_PyType_GetFlags(type) & (feature)) != 0) + #define __Pyx_PyObject_GetIterNextFunc(obj) (Py_TYPE(obj)->tp_iternext) +#else + #define __Pyx_PyType_GetFlags(tp) (PyType_GetFlags((PyTypeObject *)tp)) + #define __Pyx_PyType_HasFeature(type, feature) PyType_HasFeature(type, feature) + #define __Pyx_PyObject_GetIterNextFunc(obj) PyIter_Next +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_SetItemOnTypeDict(tp, k, v) PyObject_GenericSetAttr((PyObject*)tp, k, v) +#else + #define __Pyx_SetItemOnTypeDict(tp, k, v) PyDict_SetItem(tp->tp_dict, k, v) +#endif +#if CYTHON_USE_TYPE_SPECS && PY_VERSION_HEX >= 0x03080000 +#define __Pyx_PyHeapTypeObject_GC_Del(obj) {\ + PyTypeObject *type = Py_TYPE((PyObject*)obj);\ + assert(__Pyx_PyType_HasFeature(type, Py_TPFLAGS_HEAPTYPE));\ + PyObject_GC_Del(obj);\ + Py_DECREF(type);\ +} +#else +#define __Pyx_PyHeapTypeObject_GC_Del(obj) PyObject_GC_Del(obj) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define CYTHON_PEP393_ENABLED 1 + #define __Pyx_PyUnicode_READY(op) (0) + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GetLength(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) PyUnicode_ReadChar(u, i) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) ((void)u, 1114111U) + #define __Pyx_PyUnicode_KIND(u) ((void)u, (0)) + #define __Pyx_PyUnicode_DATA(u) ((void*)u) + #define __Pyx_PyUnicode_READ(k, d, i) ((void)k, PyUnicode_ReadChar((PyObject*)(d), i)) + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GetLength(u)) +#elif PY_VERSION_HEX > 0x03030000 && defined(PyUnicode_KIND) + #define CYTHON_PEP393_ENABLED 1 + #if PY_VERSION_HEX >= 0x030C0000 + #define __Pyx_PyUnicode_READY(op) (0) + #else + #define __Pyx_PyUnicode_READY(op) (likely(PyUnicode_IS_READY(op)) ?\ + 0 : _PyUnicode_Ready((PyObject *)(op))) + #endif + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_LENGTH(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) PyUnicode_READ_CHAR(u, i) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) PyUnicode_MAX_CHAR_VALUE(u) + #define __Pyx_PyUnicode_KIND(u) ((int)PyUnicode_KIND(u)) + #define __Pyx_PyUnicode_DATA(u) PyUnicode_DATA(u) + #define __Pyx_PyUnicode_READ(k, d, i) PyUnicode_READ(k, d, i) + #define __Pyx_PyUnicode_WRITE(k, d, i, ch) PyUnicode_WRITE(k, d, i, (Py_UCS4) ch) + #if PY_VERSION_HEX >= 0x030C0000 + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_LENGTH(u)) + #else + #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x03090000 + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : ((PyCompactUnicodeObject *)(u))->wstr_length)) + #else + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : PyUnicode_GET_SIZE(u))) + #endif + #endif +#else + #define CYTHON_PEP393_ENABLED 0 + #define PyUnicode_1BYTE_KIND 1 + #define PyUnicode_2BYTE_KIND 2 + #define PyUnicode_4BYTE_KIND 4 + #define __Pyx_PyUnicode_READY(op) (0) + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_SIZE(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) ((Py_UCS4)(PyUnicode_AS_UNICODE(u)[i])) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) ((sizeof(Py_UNICODE) == 2) ? 65535U : 1114111U) + #define __Pyx_PyUnicode_KIND(u) ((int)sizeof(Py_UNICODE)) + #define __Pyx_PyUnicode_DATA(u) ((void*)PyUnicode_AS_UNICODE(u)) + #define __Pyx_PyUnicode_READ(k, d, i) ((void)(k), (Py_UCS4)(((Py_UNICODE*)d)[i])) + #define __Pyx_PyUnicode_WRITE(k, d, i, ch) (((void)(k)), ((Py_UNICODE*)d)[i] = (Py_UNICODE) ch) + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_SIZE(u)) +#endif +#if CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyUnicode_Concat(a, b) PyNumber_Add(a, b) + #define __Pyx_PyUnicode_ConcatSafe(a, b) PyNumber_Add(a, b) +#else + #define __Pyx_PyUnicode_Concat(a, b) PyUnicode_Concat(a, b) + #define __Pyx_PyUnicode_ConcatSafe(a, b) ((unlikely((a) == Py_None) || unlikely((b) == Py_None)) ?\ + PyNumber_Add(a, b) : __Pyx_PyUnicode_Concat(a, b)) +#endif +#if CYTHON_COMPILING_IN_PYPY + #if !defined(PyUnicode_DecodeUnicodeEscape) + #define PyUnicode_DecodeUnicodeEscape(s, size, errors) PyUnicode_Decode(s, size, "unicode_escape", errors) + #endif + #if !defined(PyUnicode_Contains) || (PY_MAJOR_VERSION == 2 && PYPY_VERSION_NUM < 0x07030500) + #undef PyUnicode_Contains + #define PyUnicode_Contains(u, s) PySequence_Contains(u, s) + #endif + #if !defined(PyByteArray_Check) + #define PyByteArray_Check(obj) PyObject_TypeCheck(obj, &PyByteArray_Type) + #endif + #if !defined(PyObject_Format) + #define PyObject_Format(obj, fmt) PyObject_CallMethod(obj, "__format__", "O", fmt) + #endif +#endif +#define __Pyx_PyString_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyString_Check(b) && !PyString_CheckExact(b)))) ? PyNumber_Remainder(a, b) : __Pyx_PyString_Format(a, b)) +#define __Pyx_PyUnicode_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyUnicode_Check(b) && !PyUnicode_CheckExact(b)))) ? PyNumber_Remainder(a, b) : PyUnicode_Format(a, b)) +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyString_Format(a, b) PyUnicode_Format(a, b) +#else + #define __Pyx_PyString_Format(a, b) PyString_Format(a, b) +#endif +#if PY_MAJOR_VERSION < 3 && !defined(PyObject_ASCII) + #define PyObject_ASCII(o) PyObject_Repr(o) +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyBaseString_Type PyUnicode_Type + #define PyStringObject PyUnicodeObject + #define PyString_Type PyUnicode_Type + #define PyString_Check PyUnicode_Check + #define PyString_CheckExact PyUnicode_CheckExact +#ifndef PyObject_Unicode + #define PyObject_Unicode PyObject_Str +#endif +#endif +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyBaseString_Check(obj) PyUnicode_Check(obj) + #define __Pyx_PyBaseString_CheckExact(obj) PyUnicode_CheckExact(obj) +#else + #define __Pyx_PyBaseString_Check(obj) (PyString_Check(obj) || PyUnicode_Check(obj)) + #define __Pyx_PyBaseString_CheckExact(obj) (PyString_CheckExact(obj) || PyUnicode_CheckExact(obj)) +#endif +#if CYTHON_COMPILING_IN_CPYTHON + #define __Pyx_PySequence_ListKeepNew(obj)\ + (likely(PyList_CheckExact(obj) && Py_REFCNT(obj) == 1) ? __Pyx_NewRef(obj) : PySequence_List(obj)) +#else + #define __Pyx_PySequence_ListKeepNew(obj) PySequence_List(obj) +#endif +#ifndef PySet_CheckExact + #define PySet_CheckExact(obj) __Pyx_IS_TYPE(obj, &PySet_Type) +#endif +#if PY_VERSION_HEX >= 0x030900A4 + #define __Pyx_SET_REFCNT(obj, refcnt) Py_SET_REFCNT(obj, refcnt) + #define __Pyx_SET_SIZE(obj, size) Py_SET_SIZE(obj, size) +#else + #define __Pyx_SET_REFCNT(obj, refcnt) Py_REFCNT(obj) = (refcnt) + #define __Pyx_SET_SIZE(obj, size) Py_SIZE(obj) = (size) +#endif +#if CYTHON_ASSUME_SAFE_MACROS + #define __Pyx_PySequence_ITEM(o, i) PySequence_ITEM(o, i) + #define __Pyx_PySequence_SIZE(seq) Py_SIZE(seq) + #define __Pyx_PyTuple_SET_ITEM(o, i, v) (PyTuple_SET_ITEM(o, i, v), (0)) + #define __Pyx_PyList_SET_ITEM(o, i, v) (PyList_SET_ITEM(o, i, v), (0)) + #define __Pyx_PyTuple_GET_SIZE(o) PyTuple_GET_SIZE(o) + #define __Pyx_PyList_GET_SIZE(o) PyList_GET_SIZE(o) + #define __Pyx_PySet_GET_SIZE(o) PySet_GET_SIZE(o) + #define __Pyx_PyBytes_GET_SIZE(o) PyBytes_GET_SIZE(o) + #define __Pyx_PyByteArray_GET_SIZE(o) PyByteArray_GET_SIZE(o) +#else + #define __Pyx_PySequence_ITEM(o, i) PySequence_GetItem(o, i) + #define __Pyx_PySequence_SIZE(seq) PySequence_Size(seq) + #define __Pyx_PyTuple_SET_ITEM(o, i, v) PyTuple_SetItem(o, i, v) + #define __Pyx_PyList_SET_ITEM(o, i, v) PyList_SetItem(o, i, v) + #define __Pyx_PyTuple_GET_SIZE(o) PyTuple_Size(o) + #define __Pyx_PyList_GET_SIZE(o) PyList_Size(o) + #define __Pyx_PySet_GET_SIZE(o) PySet_Size(o) + #define __Pyx_PyBytes_GET_SIZE(o) PyBytes_Size(o) + #define __Pyx_PyByteArray_GET_SIZE(o) PyByteArray_Size(o) +#endif +#if PY_VERSION_HEX >= 0x030d00A1 + #define __Pyx_PyImport_AddModuleRef(name) PyImport_AddModuleRef(name) +#else + static CYTHON_INLINE PyObject *__Pyx_PyImport_AddModuleRef(const char *name) { + PyObject *module = PyImport_AddModule(name); + Py_XINCREF(module); + return module; + } +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyIntObject PyLongObject + #define PyInt_Type PyLong_Type + #define PyInt_Check(op) PyLong_Check(op) + #define PyInt_CheckExact(op) PyLong_CheckExact(op) + #define __Pyx_Py3Int_Check(op) PyLong_Check(op) + #define __Pyx_Py3Int_CheckExact(op) PyLong_CheckExact(op) + #define PyInt_FromString PyLong_FromString + #define PyInt_FromUnicode PyLong_FromUnicode + #define PyInt_FromLong PyLong_FromLong + #define PyInt_FromSize_t PyLong_FromSize_t + #define PyInt_FromSsize_t PyLong_FromSsize_t + #define PyInt_AsLong PyLong_AsLong + #define PyInt_AS_LONG PyLong_AS_LONG + #define PyInt_AsSsize_t PyLong_AsSsize_t + #define PyInt_AsUnsignedLongMask PyLong_AsUnsignedLongMask + #define PyInt_AsUnsignedLongLongMask PyLong_AsUnsignedLongLongMask + #define PyNumber_Int PyNumber_Long +#else + #define __Pyx_Py3Int_Check(op) (PyLong_Check(op) || PyInt_Check(op)) + #define __Pyx_Py3Int_CheckExact(op) (PyLong_CheckExact(op) || PyInt_CheckExact(op)) +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyBoolObject PyLongObject +#endif +#if PY_MAJOR_VERSION >= 3 && CYTHON_COMPILING_IN_PYPY + #ifndef PyUnicode_InternFromString + #define PyUnicode_InternFromString(s) PyUnicode_FromString(s) + #endif +#endif +#if PY_VERSION_HEX < 0x030200A4 + typedef long Py_hash_t; + #define __Pyx_PyInt_FromHash_t PyInt_FromLong + #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsHash_t +#else + #define __Pyx_PyInt_FromHash_t PyInt_FromSsize_t + #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsSsize_t +#endif +#if CYTHON_USE_ASYNC_SLOTS + #if PY_VERSION_HEX >= 0x030500B1 + #define __Pyx_PyAsyncMethodsStruct PyAsyncMethods + #define __Pyx_PyType_AsAsync(obj) (Py_TYPE(obj)->tp_as_async) + #else + #define __Pyx_PyType_AsAsync(obj) ((__Pyx_PyAsyncMethodsStruct*) (Py_TYPE(obj)->tp_reserved)) + #endif +#else + #define __Pyx_PyType_AsAsync(obj) NULL +#endif +#ifndef __Pyx_PyAsyncMethodsStruct + typedef struct { + unaryfunc am_await; + unaryfunc am_aiter; + unaryfunc am_anext; + } __Pyx_PyAsyncMethodsStruct; +#endif + +#if defined(_WIN32) || defined(WIN32) || defined(MS_WINDOWS) + #if !defined(_USE_MATH_DEFINES) + #define _USE_MATH_DEFINES + #endif +#endif +#include +#ifdef NAN +#define __PYX_NAN() ((float) NAN) +#else +static CYTHON_INLINE float __PYX_NAN() { + float value; + memset(&value, 0xFF, sizeof(value)); + return value; +} +#endif +#if defined(__CYGWIN__) && defined(_LDBL_EQ_DBL) +#define __Pyx_truncl trunc +#else +#define __Pyx_truncl truncl +#endif + +#define __PYX_MARK_ERR_POS(f_index, lineno) \ + { __pyx_filename = __pyx_f[f_index]; (void)__pyx_filename; __pyx_lineno = lineno; (void)__pyx_lineno; __pyx_clineno = __LINE__; (void)__pyx_clineno; } +#define __PYX_ERR(f_index, lineno, Ln_error) \ + { __PYX_MARK_ERR_POS(f_index, lineno) goto Ln_error; } + +#ifdef CYTHON_EXTERN_C + #undef __PYX_EXTERN_C + #define __PYX_EXTERN_C CYTHON_EXTERN_C +#elif defined(__PYX_EXTERN_C) + #ifdef _MSC_VER + #pragma message ("Please do not define the '__PYX_EXTERN_C' macro externally. Use 'CYTHON_EXTERN_C' instead.") + #else + #warning Please do not define the '__PYX_EXTERN_C' macro externally. Use 'CYTHON_EXTERN_C' instead. + #endif +#else + #define __PYX_EXTERN_C extern "C++" +#endif + +#define __PYX_HAVE__msgq__ipc_pyx +#define __PYX_HAVE_API__msgq__ipc_pyx +/* Early includes */ +#include +#include +#include "ios" +#include "new" +#include "stdexcept" +#include "typeinfo" +#include +#include +#include "msgq/impl_fake.h" +#include "msgq/ipc.h" +#ifdef _OPENMP +#include +#endif /* _OPENMP */ + +#if defined(PYREX_WITHOUT_ASSERTIONS) && !defined(CYTHON_WITHOUT_ASSERTIONS) +#define CYTHON_WITHOUT_ASSERTIONS +#endif + +typedef struct {PyObject **p; const char *s; const Py_ssize_t n; const char* encoding; + const char is_unicode; const char is_str; const char intern; } __Pyx_StringTabEntry; + +#define __PYX_DEFAULT_STRING_ENCODING_IS_ASCII 1 +#define __PYX_DEFAULT_STRING_ENCODING_IS_UTF8 0 +#define __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT (PY_MAJOR_VERSION >= 3 && __PYX_DEFAULT_STRING_ENCODING_IS_UTF8) +#define __PYX_DEFAULT_STRING_ENCODING "ascii" +#define __Pyx_PyObject_FromString __Pyx_PyBytes_FromString +#define __Pyx_PyObject_FromStringAndSize __Pyx_PyBytes_FromStringAndSize +#define __Pyx_uchar_cast(c) ((unsigned char)c) +#define __Pyx_long_cast(x) ((long)x) +#define __Pyx_fits_Py_ssize_t(v, type, is_signed) (\ + (sizeof(type) < sizeof(Py_ssize_t)) ||\ + (sizeof(type) > sizeof(Py_ssize_t) &&\ + likely(v < (type)PY_SSIZE_T_MAX ||\ + v == (type)PY_SSIZE_T_MAX) &&\ + (!is_signed || likely(v > (type)PY_SSIZE_T_MIN ||\ + v == (type)PY_SSIZE_T_MIN))) ||\ + (sizeof(type) == sizeof(Py_ssize_t) &&\ + (is_signed || likely(v < (type)PY_SSIZE_T_MAX ||\ + v == (type)PY_SSIZE_T_MAX))) ) +static CYTHON_INLINE int __Pyx_is_valid_index(Py_ssize_t i, Py_ssize_t limit) { + return (size_t) i < (size_t) limit; +} +#if defined (__cplusplus) && __cplusplus >= 201103L + #include + #define __Pyx_sst_abs(value) std::abs(value) +#elif SIZEOF_INT >= SIZEOF_SIZE_T + #define __Pyx_sst_abs(value) abs(value) +#elif SIZEOF_LONG >= SIZEOF_SIZE_T + #define __Pyx_sst_abs(value) labs(value) +#elif defined (_MSC_VER) + #define __Pyx_sst_abs(value) ((Py_ssize_t)_abs64(value)) +#elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define __Pyx_sst_abs(value) llabs(value) +#elif defined (__GNUC__) + #define __Pyx_sst_abs(value) __builtin_llabs(value) +#else + #define __Pyx_sst_abs(value) ((value<0) ? -value : value) +#endif +static CYTHON_INLINE Py_ssize_t __Pyx_ssize_strlen(const char *s); +static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject*); +static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject*, Py_ssize_t* length); +static CYTHON_INLINE PyObject* __Pyx_PyByteArray_FromString(const char*); +#define __Pyx_PyByteArray_FromStringAndSize(s, l) PyByteArray_FromStringAndSize((const char*)s, l) +#define __Pyx_PyBytes_FromString PyBytes_FromString +#define __Pyx_PyBytes_FromStringAndSize PyBytes_FromStringAndSize +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char*); +#if PY_MAJOR_VERSION < 3 + #define __Pyx_PyStr_FromString __Pyx_PyBytes_FromString + #define __Pyx_PyStr_FromStringAndSize __Pyx_PyBytes_FromStringAndSize +#else + #define __Pyx_PyStr_FromString __Pyx_PyUnicode_FromString + #define __Pyx_PyStr_FromStringAndSize __Pyx_PyUnicode_FromStringAndSize +#endif +#define __Pyx_PyBytes_AsWritableString(s) ((char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsWritableSString(s) ((signed char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsWritableUString(s) ((unsigned char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsString(s) ((const char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsSString(s) ((const signed char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsUString(s) ((const unsigned char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyObject_AsWritableString(s) ((char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsWritableSString(s) ((signed char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsWritableUString(s) ((unsigned char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsSString(s) ((const signed char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsUString(s) ((const unsigned char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_FromCString(s) __Pyx_PyObject_FromString((const char*)s) +#define __Pyx_PyBytes_FromCString(s) __Pyx_PyBytes_FromString((const char*)s) +#define __Pyx_PyByteArray_FromCString(s) __Pyx_PyByteArray_FromString((const char*)s) +#define __Pyx_PyStr_FromCString(s) __Pyx_PyStr_FromString((const char*)s) +#define __Pyx_PyUnicode_FromCString(s) __Pyx_PyUnicode_FromString((const char*)s) +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE size_t __Pyx_Py_UNICODE_strlen(const wchar_t *u) +{ + const wchar_t *u_end = u; + while (*u_end++) ; + return (size_t)(u_end - u - 1); +} +#else +static CYTHON_INLINE size_t __Pyx_Py_UNICODE_strlen(const Py_UNICODE *u) +{ + const Py_UNICODE *u_end = u; + while (*u_end++) ; + return (size_t)(u_end - u - 1); +} +#endif +#define __Pyx_PyUnicode_FromOrdinal(o) PyUnicode_FromOrdinal((int)o) +#define __Pyx_PyUnicode_FromUnicode(u) PyUnicode_FromUnicode(u, __Pyx_Py_UNICODE_strlen(u)) +#define __Pyx_PyUnicode_FromUnicodeAndLength PyUnicode_FromUnicode +#define __Pyx_PyUnicode_AsUnicode PyUnicode_AsUnicode +#define __Pyx_NewRef(obj) (Py_INCREF(obj), obj) +#define __Pyx_Owned_Py_None(b) __Pyx_NewRef(Py_None) +static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b); +static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject*); +static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject*); +static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x); +#define __Pyx_PySequence_Tuple(obj)\ + (likely(PyTuple_CheckExact(obj)) ? __Pyx_NewRef(obj) : PySequence_Tuple(obj)) +static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject*); +static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t); +static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject*); +#if CYTHON_ASSUME_SAFE_MACROS +#define __pyx_PyFloat_AsDouble(x) (PyFloat_CheckExact(x) ? PyFloat_AS_DOUBLE(x) : PyFloat_AsDouble(x)) +#else +#define __pyx_PyFloat_AsDouble(x) PyFloat_AsDouble(x) +#endif +#define __pyx_PyFloat_AsFloat(x) ((float) __pyx_PyFloat_AsDouble(x)) +#if PY_MAJOR_VERSION >= 3 +#define __Pyx_PyNumber_Int(x) (PyLong_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Long(x)) +#else +#define __Pyx_PyNumber_Int(x) (PyInt_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Int(x)) +#endif +#if CYTHON_USE_PYLONG_INTERNALS + #if PY_VERSION_HEX >= 0x030C00A7 + #ifndef _PyLong_SIGN_MASK + #define _PyLong_SIGN_MASK 3 + #endif + #ifndef _PyLong_NON_SIZE_BITS + #define _PyLong_NON_SIZE_BITS 3 + #endif + #define __Pyx_PyLong_Sign(x) (((PyLongObject*)x)->long_value.lv_tag & _PyLong_SIGN_MASK) + #define __Pyx_PyLong_IsNeg(x) ((__Pyx_PyLong_Sign(x) & 2) != 0) + #define __Pyx_PyLong_IsNonNeg(x) (!__Pyx_PyLong_IsNeg(x)) + #define __Pyx_PyLong_IsZero(x) (__Pyx_PyLong_Sign(x) & 1) + #define __Pyx_PyLong_IsPos(x) (__Pyx_PyLong_Sign(x) == 0) + #define __Pyx_PyLong_CompactValueUnsigned(x) (__Pyx_PyLong_Digits(x)[0]) + #define __Pyx_PyLong_DigitCount(x) ((Py_ssize_t) (((PyLongObject*)x)->long_value.lv_tag >> _PyLong_NON_SIZE_BITS)) + #define __Pyx_PyLong_SignedDigitCount(x)\ + ((1 - (Py_ssize_t) __Pyx_PyLong_Sign(x)) * __Pyx_PyLong_DigitCount(x)) + #if defined(PyUnstable_Long_IsCompact) && defined(PyUnstable_Long_CompactValue) + #define __Pyx_PyLong_IsCompact(x) PyUnstable_Long_IsCompact((PyLongObject*) x) + #define __Pyx_PyLong_CompactValue(x) PyUnstable_Long_CompactValue((PyLongObject*) x) + #else + #define __Pyx_PyLong_IsCompact(x) (((PyLongObject*)x)->long_value.lv_tag < (2 << _PyLong_NON_SIZE_BITS)) + #define __Pyx_PyLong_CompactValue(x) ((1 - (Py_ssize_t) __Pyx_PyLong_Sign(x)) * (Py_ssize_t) __Pyx_PyLong_Digits(x)[0]) + #endif + typedef Py_ssize_t __Pyx_compact_pylong; + typedef size_t __Pyx_compact_upylong; + #else + #define __Pyx_PyLong_IsNeg(x) (Py_SIZE(x) < 0) + #define __Pyx_PyLong_IsNonNeg(x) (Py_SIZE(x) >= 0) + #define __Pyx_PyLong_IsZero(x) (Py_SIZE(x) == 0) + #define __Pyx_PyLong_IsPos(x) (Py_SIZE(x) > 0) + #define __Pyx_PyLong_CompactValueUnsigned(x) ((Py_SIZE(x) == 0) ? 0 : __Pyx_PyLong_Digits(x)[0]) + #define __Pyx_PyLong_DigitCount(x) __Pyx_sst_abs(Py_SIZE(x)) + #define __Pyx_PyLong_SignedDigitCount(x) Py_SIZE(x) + #define __Pyx_PyLong_IsCompact(x) (Py_SIZE(x) == 0 || Py_SIZE(x) == 1 || Py_SIZE(x) == -1) + #define __Pyx_PyLong_CompactValue(x)\ + ((Py_SIZE(x) == 0) ? (sdigit) 0 : ((Py_SIZE(x) < 0) ? -(sdigit)__Pyx_PyLong_Digits(x)[0] : (sdigit)__Pyx_PyLong_Digits(x)[0])) + typedef sdigit __Pyx_compact_pylong; + typedef digit __Pyx_compact_upylong; + #endif + #if PY_VERSION_HEX >= 0x030C00A5 + #define __Pyx_PyLong_Digits(x) (((PyLongObject*)x)->long_value.ob_digit) + #else + #define __Pyx_PyLong_Digits(x) (((PyLongObject*)x)->ob_digit) + #endif +#endif +#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII +#include +static int __Pyx_sys_getdefaultencoding_not_ascii; +static int __Pyx_init_sys_getdefaultencoding_params(void) { + PyObject* sys; + PyObject* default_encoding = NULL; + PyObject* ascii_chars_u = NULL; + PyObject* ascii_chars_b = NULL; + const char* default_encoding_c; + sys = PyImport_ImportModule("sys"); + if (!sys) goto bad; + default_encoding = PyObject_CallMethod(sys, (char*) "getdefaultencoding", NULL); + Py_DECREF(sys); + if (!default_encoding) goto bad; + default_encoding_c = PyBytes_AsString(default_encoding); + if (!default_encoding_c) goto bad; + if (strcmp(default_encoding_c, "ascii") == 0) { + __Pyx_sys_getdefaultencoding_not_ascii = 0; + } else { + char ascii_chars[128]; + int c; + for (c = 0; c < 128; c++) { + ascii_chars[c] = (char) c; + } + __Pyx_sys_getdefaultencoding_not_ascii = 1; + ascii_chars_u = PyUnicode_DecodeASCII(ascii_chars, 128, NULL); + if (!ascii_chars_u) goto bad; + ascii_chars_b = PyUnicode_AsEncodedString(ascii_chars_u, default_encoding_c, NULL); + if (!ascii_chars_b || !PyBytes_Check(ascii_chars_b) || memcmp(ascii_chars, PyBytes_AS_STRING(ascii_chars_b), 128) != 0) { + PyErr_Format( + PyExc_ValueError, + "This module compiled with c_string_encoding=ascii, but default encoding '%.200s' is not a superset of ascii.", + default_encoding_c); + goto bad; + } + Py_DECREF(ascii_chars_u); + Py_DECREF(ascii_chars_b); + } + Py_DECREF(default_encoding); + return 0; +bad: + Py_XDECREF(default_encoding); + Py_XDECREF(ascii_chars_u); + Py_XDECREF(ascii_chars_b); + return -1; +} +#endif +#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT && PY_MAJOR_VERSION >= 3 +#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_DecodeUTF8(c_str, size, NULL) +#else +#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_Decode(c_str, size, __PYX_DEFAULT_STRING_ENCODING, NULL) +#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT +#include +static char* __PYX_DEFAULT_STRING_ENCODING; +static int __Pyx_init_sys_getdefaultencoding_params(void) { + PyObject* sys; + PyObject* default_encoding = NULL; + char* default_encoding_c; + sys = PyImport_ImportModule("sys"); + if (!sys) goto bad; + default_encoding = PyObject_CallMethod(sys, (char*) (const char*) "getdefaultencoding", NULL); + Py_DECREF(sys); + if (!default_encoding) goto bad; + default_encoding_c = PyBytes_AsString(default_encoding); + if (!default_encoding_c) goto bad; + __PYX_DEFAULT_STRING_ENCODING = (char*) malloc(strlen(default_encoding_c) + 1); + if (!__PYX_DEFAULT_STRING_ENCODING) goto bad; + strcpy(__PYX_DEFAULT_STRING_ENCODING, default_encoding_c); + Py_DECREF(default_encoding); + return 0; +bad: + Py_XDECREF(default_encoding); + return -1; +} +#endif +#endif + + +/* Test for GCC > 2.95 */ +#if defined(__GNUC__) && (__GNUC__ > 2 || (__GNUC__ == 2 && (__GNUC_MINOR__ > 95))) + #define likely(x) __builtin_expect(!!(x), 1) + #define unlikely(x) __builtin_expect(!!(x), 0) +#else /* !__GNUC__ or GCC < 2.95 */ + #define likely(x) (x) + #define unlikely(x) (x) +#endif /* __GNUC__ */ +static CYTHON_INLINE void __Pyx_pretend_to_initialize(void* ptr) { (void)ptr; } + +#if !CYTHON_USE_MODULE_STATE +static PyObject *__pyx_m = NULL; +#endif +static int __pyx_lineno; +static int __pyx_clineno = 0; +static const char * __pyx_cfilenm = __FILE__; +static const char *__pyx_filename; + +/* #### Code section: filename_table ### */ + +static const char *__pyx_f[] = { + "msgq_repo/msgq/ipc_pyx.pyx", + "", +}; +/* #### Code section: utility_code_proto_before_types ### */ +/* ForceInitThreads.proto */ +#ifndef __PYX_FORCE_INIT_THREADS + #define __PYX_FORCE_INIT_THREADS 0 +#endif + +/* NoFastGil.proto */ +#define __Pyx_PyGILState_Ensure PyGILState_Ensure +#define __Pyx_PyGILState_Release PyGILState_Release +#define __Pyx_FastGIL_Remember() +#define __Pyx_FastGIL_Forget() +#define __Pyx_FastGilFuncInit() + +/* #### Code section: numeric_typedefs ### */ +/* #### Code section: complex_type_declarations ### */ +/* #### Code section: type_declarations ### */ + +/*--- Type declarations ---*/ +struct __pyx_obj_4msgq_7ipc_pyx_Event; +struct __pyx_obj_4msgq_7ipc_pyx_SocketEventHandle; +struct __pyx_obj_4msgq_7ipc_pyx_Context; +struct __pyx_obj_4msgq_7ipc_pyx_Poller; +struct __pyx_obj_4msgq_7ipc_pyx_SubSocket; +struct __pyx_obj_4msgq_7ipc_pyx_PubSocket; + +/* "msgq/ipc_pyx.pyx":55 + * + * + * cdef class Event: # <<<<<<<<<<<<<< + * cdef cppEvent event; + * + */ +struct __pyx_obj_4msgq_7ipc_pyx_Event { + PyObject_HEAD + struct __pyx_vtabstruct_4msgq_7ipc_pyx_Event *__pyx_vtab; + Event event; +}; + + +/* "msgq/ipc_pyx.pyx":85 + * + * + * cdef class SocketEventHandle: # <<<<<<<<<<<<<< + * cdef cppSocketEventHandle * handle; + * + */ +struct __pyx_obj_4msgq_7ipc_pyx_SocketEventHandle { + PyObject_HEAD + SocketEventHandle *handle; +}; + + +/* "msgq/ipc_pyx.pyx":117 + * + * + * cdef class Context: # <<<<<<<<<<<<<< + * cdef cppContext * context + * + */ +struct __pyx_obj_4msgq_7ipc_pyx_Context { + PyObject_HEAD + Context *context; +}; + + +/* "msgq/ipc_pyx.pyx":134 + * + * + * cdef class Poller: # <<<<<<<<<<<<<< + * cdef cppPoller * poller + * cdef list sub_sockets + */ +struct __pyx_obj_4msgq_7ipc_pyx_Poller { + PyObject_HEAD + Poller *poller; + PyObject *sub_sockets; +}; + + +/* "msgq/ipc_pyx.pyx":164 + * + * + * cdef class SubSocket: # <<<<<<<<<<<<<< + * cdef cppSubSocket * socket + * cdef bool is_owner + */ +struct __pyx_obj_4msgq_7ipc_pyx_SubSocket { + PyObject_HEAD + struct __pyx_vtabstruct_4msgq_7ipc_pyx_SubSocket *__pyx_vtab; + SubSocket *socket; + bool is_owner; +}; + + +/* "msgq/ipc_pyx.pyx":216 + * + * + * cdef class PubSocket: # <<<<<<<<<<<<<< + * cdef cppPubSocket * socket + * + */ +struct __pyx_obj_4msgq_7ipc_pyx_PubSocket { + PyObject_HEAD + PubSocket *socket; +}; + + + +/* "msgq/ipc_pyx.pyx":55 + * + * + * cdef class Event: # <<<<<<<<<<<<<< + * cdef cppEvent event; + * + */ + +struct __pyx_vtabstruct_4msgq_7ipc_pyx_Event { + PyObject *(*setEvent)(struct __pyx_obj_4msgq_7ipc_pyx_Event *, Event); +}; +static struct __pyx_vtabstruct_4msgq_7ipc_pyx_Event *__pyx_vtabptr_4msgq_7ipc_pyx_Event; + + +/* "msgq/ipc_pyx.pyx":164 + * + * + * cdef class SubSocket: # <<<<<<<<<<<<<< + * cdef cppSubSocket * socket + * cdef bool is_owner + */ + +struct __pyx_vtabstruct_4msgq_7ipc_pyx_SubSocket { + PyObject *(*setPtr)(struct __pyx_obj_4msgq_7ipc_pyx_SubSocket *, SubSocket *); +}; +static struct __pyx_vtabstruct_4msgq_7ipc_pyx_SubSocket *__pyx_vtabptr_4msgq_7ipc_pyx_SubSocket; +/* #### Code section: utility_code_proto ### */ + +/* --- Runtime support code (head) --- */ +/* Refnanny.proto */ +#ifndef CYTHON_REFNANNY + #define CYTHON_REFNANNY 0 +#endif +#if CYTHON_REFNANNY + typedef struct { + void (*INCREF)(void*, PyObject*, Py_ssize_t); + void (*DECREF)(void*, PyObject*, Py_ssize_t); + void (*GOTREF)(void*, PyObject*, Py_ssize_t); + void (*GIVEREF)(void*, PyObject*, Py_ssize_t); + void* (*SetupContext)(const char*, Py_ssize_t, const char*); + void (*FinishContext)(void**); + } __Pyx_RefNannyAPIStruct; + static __Pyx_RefNannyAPIStruct *__Pyx_RefNanny = NULL; + static __Pyx_RefNannyAPIStruct *__Pyx_RefNannyImportAPI(const char *modname); + #define __Pyx_RefNannyDeclarations void *__pyx_refnanny = NULL; +#ifdef WITH_THREAD + #define __Pyx_RefNannySetupContext(name, acquire_gil)\ + if (acquire_gil) {\ + PyGILState_STATE __pyx_gilstate_save = PyGILState_Ensure();\ + __pyx_refnanny = __Pyx_RefNanny->SetupContext((name), (__LINE__), (__FILE__));\ + PyGILState_Release(__pyx_gilstate_save);\ + } else {\ + __pyx_refnanny = __Pyx_RefNanny->SetupContext((name), (__LINE__), (__FILE__));\ + } + #define __Pyx_RefNannyFinishContextNogil() {\ + PyGILState_STATE __pyx_gilstate_save = PyGILState_Ensure();\ + __Pyx_RefNannyFinishContext();\ + PyGILState_Release(__pyx_gilstate_save);\ + } +#else + #define __Pyx_RefNannySetupContext(name, acquire_gil)\ + __pyx_refnanny = __Pyx_RefNanny->SetupContext((name), (__LINE__), (__FILE__)) + #define __Pyx_RefNannyFinishContextNogil() __Pyx_RefNannyFinishContext() +#endif + #define __Pyx_RefNannyFinishContextNogil() {\ + PyGILState_STATE __pyx_gilstate_save = PyGILState_Ensure();\ + __Pyx_RefNannyFinishContext();\ + PyGILState_Release(__pyx_gilstate_save);\ + } + #define __Pyx_RefNannyFinishContext()\ + __Pyx_RefNanny->FinishContext(&__pyx_refnanny) + #define __Pyx_INCREF(r) __Pyx_RefNanny->INCREF(__pyx_refnanny, (PyObject *)(r), (__LINE__)) + #define __Pyx_DECREF(r) __Pyx_RefNanny->DECREF(__pyx_refnanny, (PyObject *)(r), (__LINE__)) + #define __Pyx_GOTREF(r) __Pyx_RefNanny->GOTREF(__pyx_refnanny, (PyObject *)(r), (__LINE__)) + #define __Pyx_GIVEREF(r) __Pyx_RefNanny->GIVEREF(__pyx_refnanny, (PyObject *)(r), (__LINE__)) + #define __Pyx_XINCREF(r) do { if((r) == NULL); else {__Pyx_INCREF(r); }} while(0) + #define __Pyx_XDECREF(r) do { if((r) == NULL); else {__Pyx_DECREF(r); }} while(0) + #define __Pyx_XGOTREF(r) do { if((r) == NULL); else {__Pyx_GOTREF(r); }} while(0) + #define __Pyx_XGIVEREF(r) do { if((r) == NULL); else {__Pyx_GIVEREF(r);}} while(0) +#else + #define __Pyx_RefNannyDeclarations + #define __Pyx_RefNannySetupContext(name, acquire_gil) + #define __Pyx_RefNannyFinishContextNogil() + #define __Pyx_RefNannyFinishContext() + #define __Pyx_INCREF(r) Py_INCREF(r) + #define __Pyx_DECREF(r) Py_DECREF(r) + #define __Pyx_GOTREF(r) + #define __Pyx_GIVEREF(r) + #define __Pyx_XINCREF(r) Py_XINCREF(r) + #define __Pyx_XDECREF(r) Py_XDECREF(r) + #define __Pyx_XGOTREF(r) + #define __Pyx_XGIVEREF(r) +#endif +#define __Pyx_Py_XDECREF_SET(r, v) do {\ + PyObject *tmp = (PyObject *) r;\ + r = v; Py_XDECREF(tmp);\ + } while (0) +#define __Pyx_XDECREF_SET(r, v) do {\ + PyObject *tmp = (PyObject *) r;\ + r = v; __Pyx_XDECREF(tmp);\ + } while (0) +#define __Pyx_DECREF_SET(r, v) do {\ + PyObject *tmp = (PyObject *) r;\ + r = v; __Pyx_DECREF(tmp);\ + } while (0) +#define __Pyx_CLEAR(r) do { PyObject* tmp = ((PyObject*)(r)); r = NULL; __Pyx_DECREF(tmp);} while(0) +#define __Pyx_XCLEAR(r) do { if((r) != NULL) {PyObject* tmp = ((PyObject*)(r)); r = NULL; __Pyx_DECREF(tmp);}} while(0) + +/* PyErrExceptionMatches.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyErr_ExceptionMatches(err) __Pyx_PyErr_ExceptionMatchesInState(__pyx_tstate, err) +static CYTHON_INLINE int __Pyx_PyErr_ExceptionMatchesInState(PyThreadState* tstate, PyObject* err); +#else +#define __Pyx_PyErr_ExceptionMatches(err) PyErr_ExceptionMatches(err) +#endif + +/* PyThreadStateGet.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyThreadState_declare PyThreadState *__pyx_tstate; +#define __Pyx_PyThreadState_assign __pyx_tstate = __Pyx_PyThreadState_Current; +#if PY_VERSION_HEX >= 0x030C00A6 +#define __Pyx_PyErr_Occurred() (__pyx_tstate->current_exception != NULL) +#define __Pyx_PyErr_CurrentExceptionType() (__pyx_tstate->current_exception ? (PyObject*) Py_TYPE(__pyx_tstate->current_exception) : (PyObject*) NULL) +#else +#define __Pyx_PyErr_Occurred() (__pyx_tstate->curexc_type != NULL) +#define __Pyx_PyErr_CurrentExceptionType() (__pyx_tstate->curexc_type) +#endif +#else +#define __Pyx_PyThreadState_declare +#define __Pyx_PyThreadState_assign +#define __Pyx_PyErr_Occurred() (PyErr_Occurred() != NULL) +#define __Pyx_PyErr_CurrentExceptionType() PyErr_Occurred() +#endif + +/* PyErrFetchRestore.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyErr_Clear() __Pyx_ErrRestore(NULL, NULL, NULL) +#define __Pyx_ErrRestoreWithState(type, value, tb) __Pyx_ErrRestoreInState(PyThreadState_GET(), type, value, tb) +#define __Pyx_ErrFetchWithState(type, value, tb) __Pyx_ErrFetchInState(PyThreadState_GET(), type, value, tb) +#define __Pyx_ErrRestore(type, value, tb) __Pyx_ErrRestoreInState(__pyx_tstate, type, value, tb) +#define __Pyx_ErrFetch(type, value, tb) __Pyx_ErrFetchInState(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx_ErrRestoreInState(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb); +static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A6 +#define __Pyx_PyErr_SetNone(exc) (Py_INCREF(exc), __Pyx_ErrRestore((exc), NULL, NULL)) +#else +#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc) +#endif +#else +#define __Pyx_PyErr_Clear() PyErr_Clear() +#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc) +#define __Pyx_ErrRestoreWithState(type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetchWithState(type, value, tb) PyErr_Fetch(type, value, tb) +#define __Pyx_ErrRestoreInState(tstate, type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetchInState(tstate, type, value, tb) PyErr_Fetch(type, value, tb) +#define __Pyx_ErrRestore(type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetch(type, value, tb) PyErr_Fetch(type, value, tb) +#endif + +/* PyObjectGetAttrStr.proto */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStr(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GetAttrStr(o,n) PyObject_GetAttr(o,n) +#endif + +/* PyObjectGetAttrStrNoError.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name); + +/* GetBuiltinName.proto */ +static PyObject *__Pyx_GetBuiltinName(PyObject *name); + +/* TupleAndListFromArray.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyList_FromArray(PyObject *const *src, Py_ssize_t n); +static CYTHON_INLINE PyObject* __Pyx_PyTuple_FromArray(PyObject *const *src, Py_ssize_t n); +#endif + +/* IncludeStringH.proto */ +#include + +/* BytesEquals.proto */ +static CYTHON_INLINE int __Pyx_PyBytes_Equals(PyObject* s1, PyObject* s2, int equals); + +/* UnicodeEquals.proto */ +static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int equals); + +/* fastcall.proto */ +#if CYTHON_AVOID_BORROWED_REFS + #define __Pyx_Arg_VARARGS(args, i) PySequence_GetItem(args, i) +#elif CYTHON_ASSUME_SAFE_MACROS + #define __Pyx_Arg_VARARGS(args, i) PyTuple_GET_ITEM(args, i) +#else + #define __Pyx_Arg_VARARGS(args, i) PyTuple_GetItem(args, i) +#endif +#if CYTHON_AVOID_BORROWED_REFS + #define __Pyx_Arg_NewRef_VARARGS(arg) __Pyx_NewRef(arg) + #define __Pyx_Arg_XDECREF_VARARGS(arg) Py_XDECREF(arg) +#else + #define __Pyx_Arg_NewRef_VARARGS(arg) arg + #define __Pyx_Arg_XDECREF_VARARGS(arg) +#endif +#define __Pyx_NumKwargs_VARARGS(kwds) PyDict_Size(kwds) +#define __Pyx_KwValues_VARARGS(args, nargs) NULL +#define __Pyx_GetKwValue_VARARGS(kw, kwvalues, s) __Pyx_PyDict_GetItemStrWithError(kw, s) +#define __Pyx_KwargsAsDict_VARARGS(kw, kwvalues) PyDict_Copy(kw) +#if CYTHON_METH_FASTCALL + #define __Pyx_Arg_FASTCALL(args, i) args[i] + #define __Pyx_NumKwargs_FASTCALL(kwds) PyTuple_GET_SIZE(kwds) + #define __Pyx_KwValues_FASTCALL(args, nargs) ((args) + (nargs)) + static CYTHON_INLINE PyObject * __Pyx_GetKwValue_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues, PyObject *s); +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 + CYTHON_UNUSED static PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues); + #else + #define __Pyx_KwargsAsDict_FASTCALL(kw, kwvalues) _PyStack_AsDict(kwvalues, kw) + #endif + #define __Pyx_Arg_NewRef_FASTCALL(arg) arg /* no-op, __Pyx_Arg_FASTCALL is direct and this needs + to have the same reference counting */ + #define __Pyx_Arg_XDECREF_FASTCALL(arg) +#else + #define __Pyx_Arg_FASTCALL __Pyx_Arg_VARARGS + #define __Pyx_NumKwargs_FASTCALL __Pyx_NumKwargs_VARARGS + #define __Pyx_KwValues_FASTCALL __Pyx_KwValues_VARARGS + #define __Pyx_GetKwValue_FASTCALL __Pyx_GetKwValue_VARARGS + #define __Pyx_KwargsAsDict_FASTCALL __Pyx_KwargsAsDict_VARARGS + #define __Pyx_Arg_NewRef_FASTCALL(arg) __Pyx_Arg_NewRef_VARARGS(arg) + #define __Pyx_Arg_XDECREF_FASTCALL(arg) __Pyx_Arg_XDECREF_VARARGS(arg) +#endif +#if CYTHON_COMPILING_IN_CPYTHON && CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS +#define __Pyx_ArgsSlice_VARARGS(args, start, stop) __Pyx_PyTuple_FromArray(&__Pyx_Arg_VARARGS(args, start), stop - start) +#define __Pyx_ArgsSlice_FASTCALL(args, start, stop) __Pyx_PyTuple_FromArray(&__Pyx_Arg_FASTCALL(args, start), stop - start) +#else +#define __Pyx_ArgsSlice_VARARGS(args, start, stop) PyTuple_GetSlice(args, start, stop) +#define __Pyx_ArgsSlice_FASTCALL(args, start, stop) PyTuple_GetSlice(args, start, stop) +#endif + +/* RaiseDoubleKeywords.proto */ +static void __Pyx_RaiseDoubleKeywordsError(const char* func_name, PyObject* kw_name); + +/* ParseKeywords.proto */ +static int __Pyx_ParseOptionalKeywords(PyObject *kwds, PyObject *const *kwvalues, + PyObject **argnames[], + PyObject *kwds2, PyObject *values[], Py_ssize_t num_pos_args, + const char* function_name); + +/* RaiseArgTupleInvalid.proto */ +static void __Pyx_RaiseArgtupleInvalid(const char* func_name, int exact, + Py_ssize_t num_min, Py_ssize_t num_max, Py_ssize_t num_found); + +/* PyFunctionFastCall.proto */ +#if CYTHON_FAST_PYCALL +#if !CYTHON_VECTORCALL +#define __Pyx_PyFunction_FastCall(func, args, nargs)\ + __Pyx_PyFunction_FastCallDict((func), (args), (nargs), NULL) +static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs); +#endif +#define __Pyx_BUILD_ASSERT_EXPR(cond)\ + (sizeof(char [1 - 2*!(cond)]) - 1) +#ifndef Py_MEMBER_SIZE +#define Py_MEMBER_SIZE(type, member) sizeof(((type *)0)->member) +#endif +#if !CYTHON_VECTORCALL +#if PY_VERSION_HEX >= 0x03080000 + #include "frameobject.h" +#if PY_VERSION_HEX >= 0x030b00a6 && !CYTHON_COMPILING_IN_LIMITED_API + #ifndef Py_BUILD_CORE + #define Py_BUILD_CORE 1 + #endif + #include "internal/pycore_frame.h" +#endif + #define __Pxy_PyFrame_Initialize_Offsets() + #define __Pyx_PyFrame_GetLocalsplus(frame) ((frame)->f_localsplus) +#else + static size_t __pyx_pyframe_localsplus_offset = 0; + #include "frameobject.h" + #define __Pxy_PyFrame_Initialize_Offsets()\ + ((void)__Pyx_BUILD_ASSERT_EXPR(sizeof(PyFrameObject) == offsetof(PyFrameObject, f_localsplus) + Py_MEMBER_SIZE(PyFrameObject, f_localsplus)),\ + (void)(__pyx_pyframe_localsplus_offset = ((size_t)PyFrame_Type.tp_basicsize) - Py_MEMBER_SIZE(PyFrameObject, f_localsplus))) + #define __Pyx_PyFrame_GetLocalsplus(frame)\ + (assert(__pyx_pyframe_localsplus_offset), (PyObject **)(((char *)(frame)) + __pyx_pyframe_localsplus_offset)) +#endif +#endif +#endif + +/* PyObjectCall.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw); +#else +#define __Pyx_PyObject_Call(func, arg, kw) PyObject_Call(func, arg, kw) +#endif + +/* PyObjectCallMethO.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg); +#endif + +/* PyObjectFastCall.proto */ +#define __Pyx_PyObject_FastCall(func, args, nargs) __Pyx_PyObject_FastCallDict(func, args, (size_t)(nargs), NULL) +static CYTHON_INLINE PyObject* __Pyx_PyObject_FastCallDict(PyObject *func, PyObject **args, size_t nargs, PyObject *kwargs); + +/* PyObjectFormatSimple.proto */ +#if CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + PyObject_Format(s, f)) +#elif PY_MAJOR_VERSION < 3 + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + likely(PyString_CheckExact(s)) ? PyUnicode_FromEncodedObject(s, NULL, "strict") :\ + PyObject_Format(s, f)) +#elif CYTHON_USE_TYPE_SLOTS + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + likely(PyLong_CheckExact(s)) ? PyLong_Type.tp_repr(s) :\ + likely(PyFloat_CheckExact(s)) ? PyFloat_Type.tp_repr(s) :\ + PyObject_Format(s, f)) +#else + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + PyObject_Format(s, f)) +#endif + +/* PyUnicode_Unicode.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_Unicode(PyObject *obj); + +/* decode_c_string_utf16.proto */ +static CYTHON_INLINE PyObject *__Pyx_PyUnicode_DecodeUTF16(const char *s, Py_ssize_t size, const char *errors) { + int byteorder = 0; + return PyUnicode_DecodeUTF16(s, size, errors, &byteorder); +} +static CYTHON_INLINE PyObject *__Pyx_PyUnicode_DecodeUTF16LE(const char *s, Py_ssize_t size, const char *errors) { + int byteorder = -1; + return PyUnicode_DecodeUTF16(s, size, errors, &byteorder); +} +static CYTHON_INLINE PyObject *__Pyx_PyUnicode_DecodeUTF16BE(const char *s, Py_ssize_t size, const char *errors) { + int byteorder = 1; + return PyUnicode_DecodeUTF16(s, size, errors, &byteorder); +} + +/* decode_c_string.proto */ +static CYTHON_INLINE PyObject* __Pyx_decode_c_string( + const char* cstring, Py_ssize_t start, Py_ssize_t stop, + const char* encoding, const char* errors, + PyObject* (*decode_func)(const char *s, Py_ssize_t size, const char *errors)); + +/* JoinPyUnicode.proto */ +static PyObject* __Pyx_PyUnicode_Join(PyObject* value_tuple, Py_ssize_t value_count, Py_ssize_t result_ulength, + Py_UCS4 max_char); + +/* MoveIfSupported.proto */ +#if CYTHON_USE_CPP_STD_MOVE + #include + #define __PYX_STD_MOVE_IF_SUPPORTED(x) std::move(x) +#else + #define __PYX_STD_MOVE_IF_SUPPORTED(x) x +#endif + +/* ArgTypeTest.proto */ +#define __Pyx_ArgTypeTest(obj, type, none_allowed, name, exact)\ + ((likely(__Pyx_IS_TYPE(obj, type) | (none_allowed && (obj == Py_None)))) ? 1 :\ + __Pyx__ArgTypeTest(obj, type, name, exact)) +static int __Pyx__ArgTypeTest(PyObject *obj, PyTypeObject *type, const char *name, int exact); + +/* KeywordStringCheck.proto */ +static int __Pyx_CheckKeywordStrings(PyObject *kw, const char* function_name, int kw_allowed); + +/* RaiseException.proto */ +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause); + +/* PyObjectCallNoArg.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func); + +/* ListAppend.proto */ +#if CYTHON_USE_PYLIST_INTERNALS && CYTHON_ASSUME_SAFE_MACROS +static CYTHON_INLINE int __Pyx_PyList_Append(PyObject* list, PyObject* x) { + PyListObject* L = (PyListObject*) list; + Py_ssize_t len = Py_SIZE(list); + if (likely(L->allocated > len) & likely(len > (L->allocated >> 1))) { + Py_INCREF(x); + #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 + L->ob_item[len] = x; + #else + PyList_SET_ITEM(list, len, x); + #endif + __Pyx_SET_SIZE(list, len + 1); + return 0; + } + return PyList_Append(list, x); +} +#else +#define __Pyx_PyList_Append(L,x) PyList_Append(L,x) +#endif + +/* PyDictVersioning.proto */ +#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS +#define __PYX_DICT_VERSION_INIT ((PY_UINT64_T) -1) +#define __PYX_GET_DICT_VERSION(dict) (((PyDictObject*)(dict))->ma_version_tag) +#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var)\ + (version_var) = __PYX_GET_DICT_VERSION(dict);\ + (cache_var) = (value); +#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) {\ + static PY_UINT64_T __pyx_dict_version = 0;\ + static PyObject *__pyx_dict_cached_value = NULL;\ + if (likely(__PYX_GET_DICT_VERSION(DICT) == __pyx_dict_version)) {\ + (VAR) = __pyx_dict_cached_value;\ + } else {\ + (VAR) = __pyx_dict_cached_value = (LOOKUP);\ + __pyx_dict_version = __PYX_GET_DICT_VERSION(DICT);\ + }\ +} +static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj); +static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj); +static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version); +#else +#define __PYX_GET_DICT_VERSION(dict) (0) +#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var) +#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) (VAR) = (LOOKUP); +#endif + +/* GetModuleGlobalName.proto */ +#if CYTHON_USE_DICT_VERSIONS +#define __Pyx_GetModuleGlobalName(var, name) do {\ + static PY_UINT64_T __pyx_dict_version = 0;\ + static PyObject *__pyx_dict_cached_value = NULL;\ + (var) = (likely(__pyx_dict_version == __PYX_GET_DICT_VERSION(__pyx_d))) ?\ + (likely(__pyx_dict_cached_value) ? __Pyx_NewRef(__pyx_dict_cached_value) : __Pyx_GetBuiltinName(name)) :\ + __Pyx__GetModuleGlobalName(name, &__pyx_dict_version, &__pyx_dict_cached_value);\ +} while(0) +#define __Pyx_GetModuleGlobalNameUncached(var, name) do {\ + PY_UINT64_T __pyx_dict_version;\ + PyObject *__pyx_dict_cached_value;\ + (var) = __Pyx__GetModuleGlobalName(name, &__pyx_dict_version, &__pyx_dict_cached_value);\ +} while(0) +static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value); +#else +#define __Pyx_GetModuleGlobalName(var, name) (var) = __Pyx__GetModuleGlobalName(name) +#define __Pyx_GetModuleGlobalNameUncached(var, name) (var) = __Pyx__GetModuleGlobalName(name) +static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name); +#endif + +/* IncludeStructmemberH.proto */ +#include + +/* FixUpExtensionType.proto */ +#if CYTHON_USE_TYPE_SPECS +static int __Pyx_fix_up_extension_type_from_spec(PyType_Spec *spec, PyTypeObject *type); +#endif + +/* PyObjectCallOneArg.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg); + +/* PyObjectGetMethod.proto */ +static int __Pyx_PyObject_GetMethod(PyObject *obj, PyObject *name, PyObject **method); + +/* PyObjectCallMethod0.proto */ +static PyObject* __Pyx_PyObject_CallMethod0(PyObject* obj, PyObject* method_name); + +/* ValidateBasesTuple.proto */ +#if CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API || CYTHON_USE_TYPE_SPECS +static int __Pyx_validate_bases_tuple(const char *type_name, Py_ssize_t dictoffset, PyObject *bases); +#endif + +/* PyType_Ready.proto */ +CYTHON_UNUSED static int __Pyx_PyType_Ready(PyTypeObject *t); + +/* PyObject_GenericGetAttrNoDict.proto */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GenericGetAttrNoDict PyObject_GenericGetAttr +#endif + +/* PyObject_GenericGetAttr.proto */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GenericGetAttr PyObject_GenericGetAttr +#endif + +/* SetVTable.proto */ +static int __Pyx_SetVtable(PyTypeObject* typeptr , void* vtable); + +/* GetVTable.proto */ +static void* __Pyx_GetVtable(PyTypeObject *type); + +/* MergeVTables.proto */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_MergeVtables(PyTypeObject *type); +#endif + +/* SetupReduce.proto */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_setup_reduce(PyObject* type_obj); +#endif + +/* Import.proto */ +static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level); + +/* ImportDottedModule.proto */ +static PyObject *__Pyx_ImportDottedModule(PyObject *name, PyObject *parts_tuple); +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx_ImportDottedModule_WalkParts(PyObject *module, PyObject *name, PyObject *parts_tuple); +#endif + +/* Py3UpdateBases.proto */ +static PyObject* __Pyx_PEP560_update_bases(PyObject *bases); + +/* CalculateMetaclass.proto */ +static PyObject *__Pyx_CalculateMetaclass(PyTypeObject *metaclass, PyObject *bases); + +/* FetchSharedCythonModule.proto */ +static PyObject *__Pyx_FetchSharedCythonABIModule(void); + +/* FetchCommonType.proto */ +#if !CYTHON_USE_TYPE_SPECS +static PyTypeObject* __Pyx_FetchCommonType(PyTypeObject* type); +#else +static PyTypeObject* __Pyx_FetchCommonTypeFromSpec(PyObject *module, PyType_Spec *spec, PyObject *bases); +#endif + +/* PyMethodNew.proto */ +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject *__Pyx_PyMethod_New(PyObject *func, PyObject *self, PyObject *typ) { + PyObject *typesModule=NULL, *methodType=NULL, *result=NULL; + CYTHON_UNUSED_VAR(typ); + if (!self) + return __Pyx_NewRef(func); + typesModule = PyImport_ImportModule("types"); + if (!typesModule) return NULL; + methodType = PyObject_GetAttrString(typesModule, "MethodType"); + Py_DECREF(typesModule); + if (!methodType) return NULL; + result = PyObject_CallFunctionObjArgs(methodType, func, self, NULL); + Py_DECREF(methodType); + return result; +} +#elif PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx_PyMethod_New(PyObject *func, PyObject *self, PyObject *typ) { + CYTHON_UNUSED_VAR(typ); + if (!self) + return __Pyx_NewRef(func); + return PyMethod_New(func, self); +} +#else + #define __Pyx_PyMethod_New PyMethod_New +#endif + +/* PyVectorcallFastCallDict.proto */ +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE PyObject *__Pyx_PyVectorcall_FastCallDict(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw); +#endif + +/* CythonFunctionShared.proto */ +#define __Pyx_CyFunction_USED +#define __Pyx_CYFUNCTION_STATICMETHOD 0x01 +#define __Pyx_CYFUNCTION_CLASSMETHOD 0x02 +#define __Pyx_CYFUNCTION_CCLASS 0x04 +#define __Pyx_CYFUNCTION_COROUTINE 0x08 +#define __Pyx_CyFunction_GetClosure(f)\ + (((__pyx_CyFunctionObject *) (f))->func_closure) +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_CyFunction_GetClassObj(f)\ + (((__pyx_CyFunctionObject *) (f))->func_classobj) +#else + #define __Pyx_CyFunction_GetClassObj(f)\ + ((PyObject*) ((PyCMethodObject *) (f))->mm_class) +#endif +#define __Pyx_CyFunction_SetClassObj(f, classobj)\ + __Pyx__CyFunction_SetClassObj((__pyx_CyFunctionObject *) (f), (classobj)) +#define __Pyx_CyFunction_Defaults(type, f)\ + ((type *)(((__pyx_CyFunctionObject *) (f))->defaults)) +#define __Pyx_CyFunction_SetDefaultsGetter(f, g)\ + ((__pyx_CyFunctionObject *) (f))->defaults_getter = (g) +typedef struct { +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject_HEAD + PyObject *func; +#elif PY_VERSION_HEX < 0x030900B1 + PyCFunctionObject func; +#else + PyCMethodObject func; +#endif +#if CYTHON_BACKPORT_VECTORCALL + __pyx_vectorcallfunc func_vectorcall; +#endif +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API + PyObject *func_weakreflist; +#endif + PyObject *func_dict; + PyObject *func_name; + PyObject *func_qualname; + PyObject *func_doc; + PyObject *func_globals; + PyObject *func_code; + PyObject *func_closure; +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + PyObject *func_classobj; +#endif + void *defaults; + int defaults_pyobjects; + size_t defaults_size; + int flags; + PyObject *defaults_tuple; + PyObject *defaults_kwdict; + PyObject *(*defaults_getter)(PyObject *); + PyObject *func_annotations; + PyObject *func_is_coroutine; +} __pyx_CyFunctionObject; +#undef __Pyx_CyOrPyCFunction_Check +#define __Pyx_CyFunction_Check(obj) __Pyx_TypeCheck(obj, __pyx_CyFunctionType) +#define __Pyx_CyOrPyCFunction_Check(obj) __Pyx_TypeCheck2(obj, __pyx_CyFunctionType, &PyCFunction_Type) +#define __Pyx_CyFunction_CheckExact(obj) __Pyx_IS_TYPE(obj, __pyx_CyFunctionType) +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc); +#undef __Pyx_IsSameCFunction +#define __Pyx_IsSameCFunction(func, cfunc) __Pyx__IsSameCyOrCFunction(func, cfunc) +static PyObject *__Pyx_CyFunction_Init(__pyx_CyFunctionObject* op, PyMethodDef *ml, + int flags, PyObject* qualname, + PyObject *closure, + PyObject *module, PyObject *globals, + PyObject* code); +static CYTHON_INLINE void __Pyx__CyFunction_SetClassObj(__pyx_CyFunctionObject* f, PyObject* classobj); +static CYTHON_INLINE void *__Pyx_CyFunction_InitDefaults(PyObject *m, + size_t size, + int pyobjects); +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsTuple(PyObject *m, + PyObject *tuple); +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsKwDict(PyObject *m, + PyObject *dict); +static CYTHON_INLINE void __Pyx_CyFunction_SetAnnotationsDict(PyObject *m, + PyObject *dict); +static int __pyx_CyFunction_init(PyObject *module); +#if CYTHON_METH_FASTCALL +static PyObject * __Pyx_CyFunction_Vectorcall_NOARGS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_O(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +#if CYTHON_BACKPORT_VECTORCALL +#define __Pyx_CyFunction_func_vectorcall(f) (((__pyx_CyFunctionObject*)f)->func_vectorcall) +#else +#define __Pyx_CyFunction_func_vectorcall(f) (((PyCFunctionObject*)f)->vectorcall) +#endif +#endif + +/* CythonFunction.proto */ +static PyObject *__Pyx_CyFunction_New(PyMethodDef *ml, + int flags, PyObject* qualname, + PyObject *closure, + PyObject *module, PyObject *globals, + PyObject* code); + +/* SetNameInClass.proto */ +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030500A1 && PY_VERSION_HEX < 0x030d0000 +#define __Pyx_SetNameInClass(ns, name, value)\ + (likely(PyDict_CheckExact(ns)) ? _PyDict_SetItem_KnownHash(ns, name, value, ((PyASCIIObject *) name)->hash) : PyObject_SetItem(ns, name, value)) +#elif CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_SetNameInClass(ns, name, value)\ + (likely(PyDict_CheckExact(ns)) ? PyDict_SetItem(ns, name, value) : PyObject_SetItem(ns, name, value)) +#else +#define __Pyx_SetNameInClass(ns, name, value) PyObject_SetItem(ns, name, value) +#endif + +/* PyObjectCall2Args.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call2Args(PyObject* function, PyObject* arg1, PyObject* arg2); + +/* PyObjectLookupSpecial.proto */ +#if CYTHON_USE_PYTYPE_LOOKUP && CYTHON_USE_TYPE_SLOTS +#define __Pyx_PyObject_LookupSpecialNoError(obj, attr_name) __Pyx__PyObject_LookupSpecial(obj, attr_name, 0) +#define __Pyx_PyObject_LookupSpecial(obj, attr_name) __Pyx__PyObject_LookupSpecial(obj, attr_name, 1) +static CYTHON_INLINE PyObject* __Pyx__PyObject_LookupSpecial(PyObject* obj, PyObject* attr_name, int with_error); +#else +#define __Pyx_PyObject_LookupSpecialNoError(o,n) __Pyx_PyObject_GetAttrStrNoError(o,n) +#define __Pyx_PyObject_LookupSpecial(o,n) __Pyx_PyObject_GetAttrStr(o,n) +#endif + +/* Py3ClassCreate.proto */ +static PyObject *__Pyx_Py3MetaclassPrepare(PyObject *metaclass, PyObject *bases, PyObject *name, PyObject *qualname, + PyObject *mkw, PyObject *modname, PyObject *doc); +static PyObject *__Pyx_Py3ClassCreate(PyObject *metaclass, PyObject *name, PyObject *bases, PyObject *dict, + PyObject *mkw, int calculate_metaclass, int allow_py2_metaclass); + +/* CyFunctionClassCell.proto */ +static int __Pyx_CyFunction_InitClassCell(PyObject *cyfunctions, PyObject *classobj); + +/* CLineInTraceback.proto */ +#ifdef CYTHON_CLINE_IN_TRACEBACK +#define __Pyx_CLineForTraceback(tstate, c_line) (((CYTHON_CLINE_IN_TRACEBACK)) ? c_line : 0) +#else +static int __Pyx_CLineForTraceback(PyThreadState *tstate, int c_line); +#endif + +/* CodeObjectCache.proto */ +#if !CYTHON_COMPILING_IN_LIMITED_API +typedef struct { + PyCodeObject* code_object; + int code_line; +} __Pyx_CodeObjectCacheEntry; +struct __Pyx_CodeObjectCache { + int count; + int max_count; + __Pyx_CodeObjectCacheEntry* entries; +}; +static struct __Pyx_CodeObjectCache __pyx_code_cache = {0,0,NULL}; +static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line); +static PyCodeObject *__pyx_find_code_object(int code_line); +static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object); +#endif + +/* AddTraceback.proto */ +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename); + +/* None.proto */ +#include + +/* GCCDiagnostics.proto */ +#if !defined(__INTEL_COMPILER) && defined(__GNUC__) && (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 6)) +#define __Pyx_HAS_GCC_DIAGNOSTIC +#endif + +/* CppExceptionConversion.proto */ +#ifndef __Pyx_CppExn2PyErr +#include +#include +#include +#include +static void __Pyx_CppExn2PyErr() { + try { + if (PyErr_Occurred()) + ; // let the latest Python exn pass through and ignore the current one + else + throw; + } catch (const std::bad_alloc& exn) { + PyErr_SetString(PyExc_MemoryError, exn.what()); + } catch (const std::bad_cast& exn) { + PyErr_SetString(PyExc_TypeError, exn.what()); + } catch (const std::bad_typeid& exn) { + PyErr_SetString(PyExc_TypeError, exn.what()); + } catch (const std::domain_error& exn) { + PyErr_SetString(PyExc_ValueError, exn.what()); + } catch (const std::invalid_argument& exn) { + PyErr_SetString(PyExc_ValueError, exn.what()); + } catch (const std::ios_base::failure& exn) { + PyErr_SetString(PyExc_IOError, exn.what()); + } catch (const std::out_of_range& exn) { + PyErr_SetString(PyExc_IndexError, exn.what()); + } catch (const std::overflow_error& exn) { + PyErr_SetString(PyExc_OverflowError, exn.what()); + } catch (const std::range_error& exn) { + PyErr_SetString(PyExc_ArithmeticError, exn.what()); + } catch (const std::underflow_error& exn) { + PyErr_SetString(PyExc_ArithmeticError, exn.what()); + } catch (const std::exception& exn) { + PyErr_SetString(PyExc_RuntimeError, exn.what()); + } + catch (...) + { + PyErr_SetString(PyExc_RuntimeError, "Unknown exception"); + } +} +#endif + +/* CIntFromPy.proto */ +static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *); + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value); + +/* CIntFromPy.proto */ +static CYTHON_INLINE size_t __Pyx_PyInt_As_size_t(PyObject *); + +/* FormatTypeName.proto */ +#if CYTHON_COMPILING_IN_LIMITED_API +typedef PyObject *__Pyx_TypeName; +#define __Pyx_FMT_TYPENAME "%U" +static __Pyx_TypeName __Pyx_PyType_GetName(PyTypeObject* tp); +#define __Pyx_DECREF_TypeName(obj) Py_XDECREF(obj) +#else +typedef const char *__Pyx_TypeName; +#define __Pyx_FMT_TYPENAME "%.200s" +#define __Pyx_PyType_GetName(tp) ((tp)->tp_name) +#define __Pyx_DECREF_TypeName(obj) +#endif + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value); + +/* CIntFromPy.proto */ +static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *); + +/* FastTypeChecks.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_TypeCheck(obj, type) __Pyx_IsSubtype(Py_TYPE(obj), (PyTypeObject *)type) +#define __Pyx_TypeCheck2(obj, type1, type2) __Pyx_IsAnySubtype2(Py_TYPE(obj), (PyTypeObject *)type1, (PyTypeObject *)type2) +static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b); +static CYTHON_INLINE int __Pyx_IsAnySubtype2(PyTypeObject *cls, PyTypeObject *a, PyTypeObject *b); +static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches(PyObject *err, PyObject *type); +static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches2(PyObject *err, PyObject *type1, PyObject *type2); +#else +#define __Pyx_TypeCheck(obj, type) PyObject_TypeCheck(obj, (PyTypeObject *)type) +#define __Pyx_TypeCheck2(obj, type1, type2) (PyObject_TypeCheck(obj, (PyTypeObject *)type1) || PyObject_TypeCheck(obj, (PyTypeObject *)type2)) +#define __Pyx_PyErr_GivenExceptionMatches(err, type) PyErr_GivenExceptionMatches(err, type) +#define __Pyx_PyErr_GivenExceptionMatches2(err, type1, type2) (PyErr_GivenExceptionMatches(err, type1) || PyErr_GivenExceptionMatches(err, type2)) +#endif +#define __Pyx_PyErr_ExceptionMatches2(err1, err2) __Pyx_PyErr_GivenExceptionMatches2(__Pyx_PyErr_CurrentExceptionType(), err1, err2) +#define __Pyx_PyException_Check(obj) __Pyx_TypeCheck(obj, PyExc_Exception) + +/* CheckBinaryVersion.proto */ +static unsigned long __Pyx_get_runtime_version(void); +static int __Pyx_check_binary_version(unsigned long ct_version, unsigned long rt_version, int allow_newer); + +/* InitStrings.proto */ +static int __Pyx_InitStrings(__Pyx_StringTabEntry *t); + +/* #### Code section: module_declarations ### */ +static PyObject *__pyx_f_4msgq_7ipc_pyx_5Event_setEvent(struct __pyx_obj_4msgq_7ipc_pyx_Event *__pyx_v_self, Event __pyx_v_event); /* proto*/ +static PyObject *__pyx_f_4msgq_7ipc_pyx_9SubSocket_setPtr(struct __pyx_obj_4msgq_7ipc_pyx_SubSocket *__pyx_v_self, SubSocket *__pyx_v_ptr); /* proto*/ + +/* Module declarations from "libc.string" */ + +/* Module declarations from "libcpp.string" */ + +/* Module declarations from "libcpp.vector" */ + +/* Module declarations from "libcpp" */ + +/* Module declarations from "libc" */ + +/* Module declarations from "libc.errno" */ + +/* Module declarations from "msgq.ipc" */ + +/* Module declarations from "msgq.ipc_pyx" */ +static std::string __pyx_convert_string_from_py_std__in_string(PyObject *); /*proto*/ +static CYTHON_INLINE PyObject *__pyx_convert_PyObject_string_to_py_std__in_string(std::string const &); /*proto*/ +static CYTHON_INLINE PyObject *__pyx_convert_PyUnicode_string_to_py_std__in_string(std::string const &); /*proto*/ +static CYTHON_INLINE PyObject *__pyx_convert_PyStr_string_to_py_std__in_string(std::string const &); /*proto*/ +static CYTHON_INLINE PyObject *__pyx_convert_PyBytes_string_to_py_std__in_string(std::string const &); /*proto*/ +static CYTHON_INLINE PyObject *__pyx_convert_PyByteArray_string_to_py_std__in_string(std::string const &); /*proto*/ +/* #### Code section: typeinfo ### */ +/* #### Code section: before_global_var ### */ +#define __Pyx_MODULE_NAME "msgq.ipc_pyx" +extern int __pyx_module_is_main_msgq__ipc_pyx; +int __pyx_module_is_main_msgq__ipc_pyx = 0; + +/* Implementation of "msgq.ipc_pyx" */ +/* #### Code section: global_var ### */ +static PyObject *__pyx_builtin_super; +static PyObject *__pyx_builtin_TypeError; +static PyObject *__pyx_builtin_print; +/* #### Code section: string_decls ### */ +static const char __pyx_k_[] = ""; +static const char __pyx_k_m[] = "m"; +static const char __pyx_k_r[] = "r"; +static const char __pyx_k_s[] = "s"; +static const char __pyx_k_t[] = "t"; +static const char __pyx_k__2[] = ": "; +static const char __pyx_k__5[] = "*"; +static const char __pyx_k_gc[] = "gc"; +static const char __pyx_k_sz[] = "sz"; +static const char __pyx_k__53[] = "?"; +static const char __pyx_k_doc[] = "__doc__"; +static const char __pyx_k_msg[] = "msg"; +static const char __pyx_k_ptr[] = "ptr"; +static const char __pyx_k_set[] = "set"; +static const char __pyx_k_sys[] = "sys"; +static const char __pyx_k_None[] = "None"; +static const char __pyx_k_data[] = "data"; +static const char __pyx_k_dict[] = "__dict__"; +static const char __pyx_k_exit[] = "exit"; +static const char __pyx_k_init[] = "__init__"; +static const char __pyx_k_main[] = "__main__"; +static const char __pyx_k_name[] = "__name__"; +static const char __pyx_k_peek[] = "peek"; +static const char __pyx_k_poll[] = "poll"; +static const char __pyx_k_self[] = "self"; +static const char __pyx_k_send[] = "send"; +static const char __pyx_k_spec[] = "__spec__"; +static const char __pyx_k_term[] = "term"; +static const char __pyx_k_test[] = "__test__"; +static const char __pyx_k_wait[] = "wait"; +static const char __pyx_k_with[] = "with "; +static const char __pyx_k_Event[] = "Event"; +static const char __pyx_k_clear[] = "clear"; +static const char __pyx_k_event[] = "event"; +static const char __pyx_k_items[] = "items"; +static const char __pyx_k_print[] = "print"; +static const char __pyx_k_super[] = "super"; +static const char __pyx_k_utf_8[] = "utf-8"; +static const char __pyx_k_Poller[] = "Poller"; +static const char __pyx_k_decode[] = "decode"; +static const char __pyx_k_enable[] = "enable"; +static const char __pyx_k_events[] = "events"; +static const char __pyx_k_import[] = "__import__"; +static const char __pyx_k_length[] = "length"; +static const char __pyx_k_module[] = "__module__"; +static const char __pyx_k_prefix[] = "prefix"; +static const char __pyx_k_reduce[] = "__reduce__"; +static const char __pyx_k_result[] = "result"; +static const char __pyx_k_socket[] = "socket"; +static const char __pyx_k_suffix[] = "suffix"; +static const char __pyx_k_Context[] = "Context"; +static const char __pyx_k_address[] = "address"; +static const char __pyx_k_connect[] = "connect"; +static const char __pyx_k_context[] = "context"; +static const char __pyx_k_disable[] = "disable"; +static const char __pyx_k_enabled[] = "enabled"; +static const char __pyx_k_message[] = "message"; +static const char __pyx_k_prepare[] = "__prepare__"; +static const char __pyx_k_receive[] = "receive"; +static const char __pyx_k_sockets[] = "sockets"; +static const char __pyx_k_timeout[] = "timeout"; +static const char __pyx_k_IpcError[] = "IpcError"; +static const char __pyx_k_conflate[] = "conflate"; +static const char __pyx_k_endpoint[] = "endpoint"; +static const char __pyx_k_getstate[] = "__getstate__"; +static const char __pyx_k_override[] = "override"; +static const char __pyx_k_qualname[] = "__qualname__"; +static const char __pyx_k_set_name[] = "__set_name__"; +static const char __pyx_k_setstate[] = "__setstate__"; +static const char __pyx_k_127_0_0_1[] = "127.0.0.1"; +static const char __pyx_k_Event_set[] = "Event.set"; +static const char __pyx_k_PubSocket[] = "PubSocket"; +static const char __pyx_k_SubSocket[] = "SubSocket"; +static const char __pyx_k_TypeError[] = "TypeError"; +static const char __pyx_k_isenabled[] = "isenabled"; +static const char __pyx_k_metaclass[] = "__metaclass__"; +static const char __pyx_k_pyx_state[] = "__pyx_state"; +static const char __pyx_k_reduce_ex[] = "__reduce_ex__"; +static const char __pyx_k_Event_peek[] = "Event.peek"; +static const char __pyx_k_Event_wait[] = "Event.wait"; +static const char __pyx_k_identifier[] = "identifier"; +static const char __pyx_k_pyx_vtable[] = "__pyx_vtable__"; +static const char __pyx_k_setTimeout[] = "setTimeout"; +static const char __pyx_k_Event_clear[] = "Event.clear"; +static const char __pyx_k_Poller_poll[] = "Poller.poll"; +static const char __pyx_k_mro_entries[] = "__mro_entries__"; +static const char __pyx_k_Context_term[] = "Context.term"; +static const char __pyx_k_initializing[] = "_initializing"; +static const char __pyx_k_is_coroutine[] = "_is_coroutine"; +static const char __pyx_k_msgq_ipc_pyx[] = "msgq.ipc_pyx"; +static const char __pyx_k_non_blocking[] = "non_blocking"; +static const char __pyx_k_stringsource[] = ""; +static const char __pyx_k_init_subclass[] = "__init_subclass__"; +static const char __pyx_k_reduce_cython[] = "__reduce_cython__"; +static const char __pyx_k_PubSocket_send[] = "PubSocket.send"; +static const char __pyx_k_registerSocket[] = "registerSocket"; +static const char __pyx_k_IpcError___init[] = "IpcError.__init__"; +static const char __pyx_k_get_fake_prefix[] = "get_fake_prefix"; +static const char __pyx_k_set_fake_prefix[] = "set_fake_prefix"; +static const char __pyx_k_setstate_cython[] = "__setstate_cython__"; +static const char __pyx_k_Messaging_failure[] = "Messaging failure "; +static const char __pyx_k_PubSocket_connect[] = "PubSocket.connect"; +static const char __pyx_k_SocketEventHandle[] = "SocketEventHandle"; +static const char __pyx_k_SubSocket_connect[] = "SubSocket.connect"; +static const char __pyx_k_SubSocket_receive[] = "SubSocket.receive"; +static const char __pyx_k_asyncio_coroutines[] = "asyncio.coroutines"; +static const char __pyx_k_cline_in_traceback[] = "cline_in_traceback"; +static const char __pyx_k_delete_fake_prefix[] = "delete_fake_prefix"; +static const char __pyx_k_toggle_fake_events[] = "toggle_fake_events"; +static const char __pyx_k_wait_for_one_event[] = "wait_for_one_event"; +static const char __pyx_k_all_readers_updated[] = "all_readers_updated"; +static const char __pyx_k_SubSocket_setTimeout[] = "SubSocket.setTimeout"; +static const char __pyx_k_Event___reduce_cython[] = "Event.__reduce_cython__"; +static const char __pyx_k_Poller_registerSocket[] = "Poller.registerSocket"; +static const char __pyx_k_Poller___reduce_cython[] = "Poller.__reduce_cython__"; +static const char __pyx_k_Context___reduce_cython[] = "Context.__reduce_cython__"; +static const char __pyx_k_Event___setstate_cython[] = "Event.__setstate_cython__"; +static const char __pyx_k_MultiplePublishersError[] = "MultiplePublishersError"; +static const char __pyx_k_SIGINT_received_exiting[] = "SIGINT received, exiting"; +static const char __pyx_k_Poller___setstate_cython[] = "Poller.__setstate_cython__"; +static const char __pyx_k_Context___setstate_cython[] = "Context.__setstate_cython__"; +static const char __pyx_k_PubSocket___reduce_cython[] = "PubSocket.__reduce_cython__"; +static const char __pyx_k_SubSocket___reduce_cython[] = "SubSocket.__reduce_cython__"; +static const char __pyx_k_msgq_repo_msgq_ipc_pyx_pyx[] = "msgq_repo/msgq/ipc_pyx.pyx"; +static const char __pyx_k_PubSocket___setstate_cython[] = "PubSocket.__setstate_cython__"; +static const char __pyx_k_SubSocket___setstate_cython[] = "SubSocket.__setstate_cython__"; +static const char __pyx_k_PubSocket_all_readers_updated[] = "PubSocket.all_readers_updated"; +static const char __pyx_k_SocketEventHandle___reduce_cytho[] = "SocketEventHandle.__reduce_cython__"; +static const char __pyx_k_SocketEventHandle___setstate_cyt[] = "SocketEventHandle.__setstate_cython__"; +static const char __pyx_k_no_default___reduce___due_to_non[] = "no default __reduce__ due to non-trivial __cinit__"; +/* #### Code section: decls ### */ +static PyObject *__pyx_pf_4msgq_7ipc_pyx_8IpcError___init__(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self, PyObject *__pyx_v_endpoint); /* proto */ +static PyObject *__pyx_pf_4msgq_7ipc_pyx_toggle_fake_events(CYTHON_UNUSED PyObject *__pyx_self, bool __pyx_v_enabled); /* proto */ +static PyObject *__pyx_pf_4msgq_7ipc_pyx_2set_fake_prefix(CYTHON_UNUSED PyObject *__pyx_self, std::string __pyx_v_prefix); /* proto */ +static PyObject *__pyx_pf_4msgq_7ipc_pyx_4get_fake_prefix(CYTHON_UNUSED PyObject *__pyx_self); /* proto */ +static PyObject *__pyx_pf_4msgq_7ipc_pyx_6delete_fake_prefix(CYTHON_UNUSED PyObject *__pyx_self); /* proto */ +static PyObject *__pyx_pf_4msgq_7ipc_pyx_8wait_for_one_event(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_events, int __pyx_v_timeout); /* proto */ +static int __pyx_pf_4msgq_7ipc_pyx_5Event___cinit__(CYTHON_UNUSED struct __pyx_obj_4msgq_7ipc_pyx_Event *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_4msgq_7ipc_pyx_5Event_2set(struct __pyx_obj_4msgq_7ipc_pyx_Event *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_4msgq_7ipc_pyx_5Event_4clear(struct __pyx_obj_4msgq_7ipc_pyx_Event *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_4msgq_7ipc_pyx_5Event_6wait(struct __pyx_obj_4msgq_7ipc_pyx_Event *__pyx_v_self, int __pyx_v_timeout); /* proto */ +static PyObject *__pyx_pf_4msgq_7ipc_pyx_5Event_8peek(struct __pyx_obj_4msgq_7ipc_pyx_Event *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_4msgq_7ipc_pyx_5Event_2fd___get__(struct __pyx_obj_4msgq_7ipc_pyx_Event *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_4msgq_7ipc_pyx_5Event_3ptr___get__(struct __pyx_obj_4msgq_7ipc_pyx_Event *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_4msgq_7ipc_pyx_5Event_10__reduce_cython__(CYTHON_UNUSED struct __pyx_obj_4msgq_7ipc_pyx_Event *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_4msgq_7ipc_pyx_5Event_12__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_4msgq_7ipc_pyx_Event *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_pf_4msgq_7ipc_pyx_17SocketEventHandle___cinit__(struct __pyx_obj_4msgq_7ipc_pyx_SocketEventHandle *__pyx_v_self, std::string __pyx_v_endpoint, std::string __pyx_v_identifier, bool __pyx_v_override); /* proto */ +static void __pyx_pf_4msgq_7ipc_pyx_17SocketEventHandle_2__dealloc__(struct __pyx_obj_4msgq_7ipc_pyx_SocketEventHandle *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_4msgq_7ipc_pyx_17SocketEventHandle_7enabled___get__(struct __pyx_obj_4msgq_7ipc_pyx_SocketEventHandle *__pyx_v_self); /* proto */ +static int __pyx_pf_4msgq_7ipc_pyx_17SocketEventHandle_7enabled_2__set__(struct __pyx_obj_4msgq_7ipc_pyx_SocketEventHandle *__pyx_v_self, bool __pyx_v_value); /* proto */ +static PyObject *__pyx_pf_4msgq_7ipc_pyx_17SocketEventHandle_17recv_called_event___get__(struct __pyx_obj_4msgq_7ipc_pyx_SocketEventHandle *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_4msgq_7ipc_pyx_17SocketEventHandle_16recv_ready_event___get__(struct __pyx_obj_4msgq_7ipc_pyx_SocketEventHandle *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_4msgq_7ipc_pyx_17SocketEventHandle_4__reduce_cython__(CYTHON_UNUSED struct __pyx_obj_4msgq_7ipc_pyx_SocketEventHandle *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_4msgq_7ipc_pyx_17SocketEventHandle_6__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_4msgq_7ipc_pyx_SocketEventHandle *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_pf_4msgq_7ipc_pyx_7Context___cinit__(struct __pyx_obj_4msgq_7ipc_pyx_Context *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_4msgq_7ipc_pyx_7Context_2term(struct __pyx_obj_4msgq_7ipc_pyx_Context *__pyx_v_self); /* proto */ +static void __pyx_pf_4msgq_7ipc_pyx_7Context_4__dealloc__(CYTHON_UNUSED struct __pyx_obj_4msgq_7ipc_pyx_Context *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_4msgq_7ipc_pyx_7Context_6__reduce_cython__(CYTHON_UNUSED struct __pyx_obj_4msgq_7ipc_pyx_Context *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_4msgq_7ipc_pyx_7Context_8__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_4msgq_7ipc_pyx_Context *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_pf_4msgq_7ipc_pyx_6Poller___cinit__(struct __pyx_obj_4msgq_7ipc_pyx_Poller *__pyx_v_self); /* proto */ +static void __pyx_pf_4msgq_7ipc_pyx_6Poller_2__dealloc__(struct __pyx_obj_4msgq_7ipc_pyx_Poller *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_4msgq_7ipc_pyx_6Poller_4registerSocket(struct __pyx_obj_4msgq_7ipc_pyx_Poller *__pyx_v_self, struct __pyx_obj_4msgq_7ipc_pyx_SubSocket *__pyx_v_socket); /* proto */ +static PyObject *__pyx_pf_4msgq_7ipc_pyx_6Poller_6poll(struct __pyx_obj_4msgq_7ipc_pyx_Poller *__pyx_v_self, PyObject *__pyx_v_timeout); /* proto */ +static PyObject *__pyx_pf_4msgq_7ipc_pyx_6Poller_8__reduce_cython__(CYTHON_UNUSED struct __pyx_obj_4msgq_7ipc_pyx_Poller *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_4msgq_7ipc_pyx_6Poller_10__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_4msgq_7ipc_pyx_Poller *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_pf_4msgq_7ipc_pyx_9SubSocket___cinit__(struct __pyx_obj_4msgq_7ipc_pyx_SubSocket *__pyx_v_self); /* proto */ +static void __pyx_pf_4msgq_7ipc_pyx_9SubSocket_2__dealloc__(struct __pyx_obj_4msgq_7ipc_pyx_SubSocket *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_4msgq_7ipc_pyx_9SubSocket_4connect(struct __pyx_obj_4msgq_7ipc_pyx_SubSocket *__pyx_v_self, struct __pyx_obj_4msgq_7ipc_pyx_Context *__pyx_v_context, std::string __pyx_v_endpoint, std::string __pyx_v_address, bool __pyx_v_conflate); /* proto */ +static PyObject *__pyx_pf_4msgq_7ipc_pyx_9SubSocket_6setTimeout(struct __pyx_obj_4msgq_7ipc_pyx_SubSocket *__pyx_v_self, int __pyx_v_timeout); /* proto */ +static PyObject *__pyx_pf_4msgq_7ipc_pyx_9SubSocket_8receive(struct __pyx_obj_4msgq_7ipc_pyx_SubSocket *__pyx_v_self, bool __pyx_v_non_blocking); /* proto */ +static PyObject *__pyx_pf_4msgq_7ipc_pyx_9SubSocket_10__reduce_cython__(CYTHON_UNUSED struct __pyx_obj_4msgq_7ipc_pyx_SubSocket *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_4msgq_7ipc_pyx_9SubSocket_12__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_4msgq_7ipc_pyx_SubSocket *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_pf_4msgq_7ipc_pyx_9PubSocket___cinit__(struct __pyx_obj_4msgq_7ipc_pyx_PubSocket *__pyx_v_self); /* proto */ +static void __pyx_pf_4msgq_7ipc_pyx_9PubSocket_2__dealloc__(struct __pyx_obj_4msgq_7ipc_pyx_PubSocket *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_4msgq_7ipc_pyx_9PubSocket_4connect(struct __pyx_obj_4msgq_7ipc_pyx_PubSocket *__pyx_v_self, struct __pyx_obj_4msgq_7ipc_pyx_Context *__pyx_v_context, std::string __pyx_v_endpoint); /* proto */ +static PyObject *__pyx_pf_4msgq_7ipc_pyx_9PubSocket_6send(struct __pyx_obj_4msgq_7ipc_pyx_PubSocket *__pyx_v_self, PyObject *__pyx_v_data); /* proto */ +static PyObject *__pyx_pf_4msgq_7ipc_pyx_9PubSocket_8all_readers_updated(struct __pyx_obj_4msgq_7ipc_pyx_PubSocket *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_4msgq_7ipc_pyx_9PubSocket_10__reduce_cython__(CYTHON_UNUSED struct __pyx_obj_4msgq_7ipc_pyx_PubSocket *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_4msgq_7ipc_pyx_9PubSocket_12__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_4msgq_7ipc_pyx_PubSocket *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static PyObject *__pyx_tp_new_4msgq_7ipc_pyx_Event(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_4msgq_7ipc_pyx_SocketEventHandle(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_4msgq_7ipc_pyx_Context(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_4msgq_7ipc_pyx_Poller(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_4msgq_7ipc_pyx_SubSocket(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_4msgq_7ipc_pyx_PubSocket(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +/* #### Code section: late_includes ### */ +/* #### Code section: module_state ### */ +typedef struct { + PyObject *__pyx_d; + PyObject *__pyx_b; + PyObject *__pyx_cython_runtime; + PyObject *__pyx_empty_tuple; + PyObject *__pyx_empty_bytes; + PyObject *__pyx_empty_unicode; + #ifdef __Pyx_CyFunction_USED + PyTypeObject *__pyx_CyFunctionType; + #endif + #ifdef __Pyx_FusedFunction_USED + PyTypeObject *__pyx_FusedFunctionType; + #endif + #ifdef __Pyx_Generator_USED + PyTypeObject *__pyx_GeneratorType; + #endif + #ifdef __Pyx_IterableCoroutine_USED + PyTypeObject *__pyx_IterableCoroutineType; + #endif + #ifdef __Pyx_Coroutine_USED + PyTypeObject *__pyx_CoroutineAwaitType; + #endif + #ifdef __Pyx_Coroutine_USED + PyTypeObject *__pyx_CoroutineType; + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + PyObject *__pyx_type_4msgq_7ipc_pyx_Event; + PyObject *__pyx_type_4msgq_7ipc_pyx_SocketEventHandle; + PyObject *__pyx_type_4msgq_7ipc_pyx_Context; + PyObject *__pyx_type_4msgq_7ipc_pyx_Poller; + PyObject *__pyx_type_4msgq_7ipc_pyx_SubSocket; + PyObject *__pyx_type_4msgq_7ipc_pyx_PubSocket; + #endif + PyTypeObject *__pyx_ptype_4msgq_7ipc_pyx_Event; + PyTypeObject *__pyx_ptype_4msgq_7ipc_pyx_SocketEventHandle; + PyTypeObject *__pyx_ptype_4msgq_7ipc_pyx_Context; + PyTypeObject *__pyx_ptype_4msgq_7ipc_pyx_Poller; + PyTypeObject *__pyx_ptype_4msgq_7ipc_pyx_SubSocket; + PyTypeObject *__pyx_ptype_4msgq_7ipc_pyx_PubSocket; + PyObject *__pyx_kp_b_; + PyObject *__pyx_kp_u_; + PyObject *__pyx_kp_b_127_0_0_1; + PyObject *__pyx_n_s_Context; + PyObject *__pyx_n_s_Context___reduce_cython; + PyObject *__pyx_n_s_Context___setstate_cython; + PyObject *__pyx_n_s_Context_term; + PyObject *__pyx_n_s_Event; + PyObject *__pyx_n_s_Event___reduce_cython; + PyObject *__pyx_n_s_Event___setstate_cython; + PyObject *__pyx_n_s_Event_clear; + PyObject *__pyx_n_s_Event_peek; + PyObject *__pyx_n_s_Event_set; + PyObject *__pyx_n_s_Event_wait; + PyObject *__pyx_n_s_IpcError; + PyObject *__pyx_n_s_IpcError___init; + PyObject *__pyx_kp_u_Messaging_failure; + PyObject *__pyx_n_s_MultiplePublishersError; + PyObject *__pyx_kp_u_None; + PyObject *__pyx_n_s_Poller; + PyObject *__pyx_n_s_Poller___reduce_cython; + PyObject *__pyx_n_s_Poller___setstate_cython; + PyObject *__pyx_n_s_Poller_poll; + PyObject *__pyx_n_s_Poller_registerSocket; + PyObject *__pyx_n_s_PubSocket; + PyObject *__pyx_n_s_PubSocket___reduce_cython; + PyObject *__pyx_n_s_PubSocket___setstate_cython; + PyObject *__pyx_n_s_PubSocket_all_readers_updated; + PyObject *__pyx_n_s_PubSocket_connect; + PyObject *__pyx_n_s_PubSocket_send; + PyObject *__pyx_kp_u_SIGINT_received_exiting; + PyObject *__pyx_n_s_SocketEventHandle; + PyObject *__pyx_n_s_SocketEventHandle___reduce_cytho; + PyObject *__pyx_n_s_SocketEventHandle___setstate_cyt; + PyObject *__pyx_n_s_SubSocket; + PyObject *__pyx_n_s_SubSocket___reduce_cython; + PyObject *__pyx_n_s_SubSocket___setstate_cython; + PyObject *__pyx_n_s_SubSocket_connect; + PyObject *__pyx_n_s_SubSocket_receive; + PyObject *__pyx_n_s_SubSocket_setTimeout; + PyObject *__pyx_n_s_TypeError; + PyObject *__pyx_kp_u__2; + PyObject *__pyx_n_s__5; + PyObject *__pyx_n_s__53; + PyObject *__pyx_n_s_address; + PyObject *__pyx_n_s_all_readers_updated; + PyObject *__pyx_n_s_asyncio_coroutines; + PyObject *__pyx_n_s_clear; + PyObject *__pyx_n_s_cline_in_traceback; + PyObject *__pyx_n_s_conflate; + PyObject *__pyx_n_s_connect; + PyObject *__pyx_n_s_context; + PyObject *__pyx_n_s_data; + PyObject *__pyx_n_s_decode; + PyObject *__pyx_n_s_delete_fake_prefix; + PyObject *__pyx_n_s_dict; + PyObject *__pyx_kp_u_disable; + PyObject *__pyx_n_s_doc; + PyObject *__pyx_kp_u_enable; + PyObject *__pyx_n_s_enabled; + PyObject *__pyx_n_s_endpoint; + PyObject *__pyx_n_s_event; + PyObject *__pyx_n_s_events; + PyObject *__pyx_n_s_exit; + PyObject *__pyx_kp_u_gc; + PyObject *__pyx_n_s_get_fake_prefix; + PyObject *__pyx_n_s_getstate; + PyObject *__pyx_n_s_identifier; + PyObject *__pyx_n_s_import; + PyObject *__pyx_n_s_init; + PyObject *__pyx_n_s_init_subclass; + PyObject *__pyx_n_s_initializing; + PyObject *__pyx_n_s_is_coroutine; + PyObject *__pyx_kp_u_isenabled; + PyObject *__pyx_n_s_items; + PyObject *__pyx_n_s_length; + PyObject *__pyx_n_s_m; + PyObject *__pyx_n_s_main; + PyObject *__pyx_n_s_message; + PyObject *__pyx_n_s_metaclass; + PyObject *__pyx_n_s_module; + PyObject *__pyx_n_s_mro_entries; + PyObject *__pyx_n_s_msg; + PyObject *__pyx_n_s_msgq_ipc_pyx; + PyObject *__pyx_kp_s_msgq_repo_msgq_ipc_pyx_pyx; + PyObject *__pyx_n_s_name; + PyObject *__pyx_kp_s_no_default___reduce___due_to_non; + PyObject *__pyx_n_s_non_blocking; + PyObject *__pyx_n_s_override; + PyObject *__pyx_n_s_peek; + PyObject *__pyx_n_s_poll; + PyObject *__pyx_n_s_prefix; + PyObject *__pyx_n_s_prepare; + PyObject *__pyx_n_s_print; + PyObject *__pyx_n_s_ptr; + PyObject *__pyx_n_s_pyx_state; + PyObject *__pyx_n_s_pyx_vtable; + PyObject *__pyx_n_s_qualname; + PyObject *__pyx_n_s_r; + PyObject *__pyx_n_s_receive; + PyObject *__pyx_n_s_reduce; + PyObject *__pyx_n_s_reduce_cython; + PyObject *__pyx_n_s_reduce_ex; + PyObject *__pyx_n_s_registerSocket; + PyObject *__pyx_n_s_result; + PyObject *__pyx_n_s_s; + PyObject *__pyx_n_s_self; + PyObject *__pyx_n_s_send; + PyObject *__pyx_n_s_set; + PyObject *__pyx_n_s_setTimeout; + PyObject *__pyx_n_s_set_fake_prefix; + PyObject *__pyx_n_s_set_name; + PyObject *__pyx_n_s_setstate; + PyObject *__pyx_n_s_setstate_cython; + PyObject *__pyx_n_s_socket; + PyObject *__pyx_n_s_sockets; + PyObject *__pyx_n_s_spec; + PyObject *__pyx_kp_s_stringsource; + PyObject *__pyx_n_s_suffix; + PyObject *__pyx_n_s_super; + PyObject *__pyx_n_s_sys; + PyObject *__pyx_n_s_sz; + PyObject *__pyx_n_s_t; + PyObject *__pyx_n_s_term; + PyObject *__pyx_n_s_test; + PyObject *__pyx_n_s_timeout; + PyObject *__pyx_n_s_toggle_fake_events; + PyObject *__pyx_kp_u_utf_8; + PyObject *__pyx_n_s_wait; + PyObject *__pyx_n_s_wait_for_one_event; + PyObject *__pyx_kp_u_with; + PyObject *__pyx_int_1; + PyObject *__pyx_int_neg_1; + std::string __pyx_k__3; + PyObject *__pyx_tuple__4; + PyObject *__pyx_tuple__6; + PyObject *__pyx_tuple__8; + PyObject *__pyx_tuple__9; + PyObject *__pyx_tuple__11; + PyObject *__pyx_tuple__15; + PyObject *__pyx_tuple__17; + PyObject *__pyx_tuple__20; + PyObject *__pyx_tuple__22; + PyObject *__pyx_tuple__25; + PyObject *__pyx_tuple__32; + PyObject *__pyx_tuple__34; + PyObject *__pyx_tuple__38; + PyObject *__pyx_tuple__41; + PyObject *__pyx_tuple__43; + PyObject *__pyx_tuple__46; + PyObject *__pyx_tuple__48; + PyObject *__pyx_codeobj__7; + PyObject *__pyx_codeobj__10; + PyObject *__pyx_codeobj__12; + PyObject *__pyx_codeobj__13; + PyObject *__pyx_codeobj__14; + PyObject *__pyx_codeobj__16; + PyObject *__pyx_codeobj__18; + PyObject *__pyx_codeobj__19; + PyObject *__pyx_codeobj__21; + PyObject *__pyx_codeobj__23; + PyObject *__pyx_codeobj__24; + PyObject *__pyx_codeobj__26; + PyObject *__pyx_codeobj__27; + PyObject *__pyx_codeobj__28; + PyObject *__pyx_codeobj__29; + PyObject *__pyx_codeobj__30; + PyObject *__pyx_codeobj__31; + PyObject *__pyx_codeobj__33; + PyObject *__pyx_codeobj__35; + PyObject *__pyx_codeobj__36; + PyObject *__pyx_codeobj__37; + PyObject *__pyx_codeobj__39; + PyObject *__pyx_codeobj__40; + PyObject *__pyx_codeobj__42; + PyObject *__pyx_codeobj__44; + PyObject *__pyx_codeobj__45; + PyObject *__pyx_codeobj__47; + PyObject *__pyx_codeobj__49; + PyObject *__pyx_codeobj__50; + PyObject *__pyx_codeobj__51; + PyObject *__pyx_codeobj__52; +} __pyx_mstate; + +#if CYTHON_USE_MODULE_STATE +#ifdef __cplusplus +namespace { + extern struct PyModuleDef __pyx_moduledef; +} /* anonymous namespace */ +#else +static struct PyModuleDef __pyx_moduledef; +#endif + +#define __pyx_mstate(o) ((__pyx_mstate *)__Pyx_PyModule_GetState(o)) + +#define __pyx_mstate_global (__pyx_mstate(PyState_FindModule(&__pyx_moduledef))) + +#define __pyx_m (PyState_FindModule(&__pyx_moduledef)) +#else +static __pyx_mstate __pyx_mstate_global_static = +#ifdef __cplusplus + {}; +#else + {0}; +#endif +static __pyx_mstate *__pyx_mstate_global = &__pyx_mstate_global_static; +#endif +/* #### Code section: module_state_clear ### */ +#if CYTHON_USE_MODULE_STATE +static int __pyx_m_clear(PyObject *m) { + __pyx_mstate *clear_module_state = __pyx_mstate(m); + if (!clear_module_state) return 0; + Py_CLEAR(clear_module_state->__pyx_d); + Py_CLEAR(clear_module_state->__pyx_b); + Py_CLEAR(clear_module_state->__pyx_cython_runtime); + Py_CLEAR(clear_module_state->__pyx_empty_tuple); + Py_CLEAR(clear_module_state->__pyx_empty_bytes); + Py_CLEAR(clear_module_state->__pyx_empty_unicode); + #ifdef __Pyx_CyFunction_USED + Py_CLEAR(clear_module_state->__pyx_CyFunctionType); + #endif + #ifdef __Pyx_FusedFunction_USED + Py_CLEAR(clear_module_state->__pyx_FusedFunctionType); + #endif + Py_CLEAR(clear_module_state->__pyx_ptype_4msgq_7ipc_pyx_Event); + Py_CLEAR(clear_module_state->__pyx_type_4msgq_7ipc_pyx_Event); + Py_CLEAR(clear_module_state->__pyx_ptype_4msgq_7ipc_pyx_SocketEventHandle); + Py_CLEAR(clear_module_state->__pyx_type_4msgq_7ipc_pyx_SocketEventHandle); + Py_CLEAR(clear_module_state->__pyx_ptype_4msgq_7ipc_pyx_Context); + Py_CLEAR(clear_module_state->__pyx_type_4msgq_7ipc_pyx_Context); + Py_CLEAR(clear_module_state->__pyx_ptype_4msgq_7ipc_pyx_Poller); + Py_CLEAR(clear_module_state->__pyx_type_4msgq_7ipc_pyx_Poller); + Py_CLEAR(clear_module_state->__pyx_ptype_4msgq_7ipc_pyx_SubSocket); + Py_CLEAR(clear_module_state->__pyx_type_4msgq_7ipc_pyx_SubSocket); + Py_CLEAR(clear_module_state->__pyx_ptype_4msgq_7ipc_pyx_PubSocket); + Py_CLEAR(clear_module_state->__pyx_type_4msgq_7ipc_pyx_PubSocket); + Py_CLEAR(clear_module_state->__pyx_kp_b_); + Py_CLEAR(clear_module_state->__pyx_kp_u_); + Py_CLEAR(clear_module_state->__pyx_kp_b_127_0_0_1); + Py_CLEAR(clear_module_state->__pyx_n_s_Context); + Py_CLEAR(clear_module_state->__pyx_n_s_Context___reduce_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_Context___setstate_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_Context_term); + Py_CLEAR(clear_module_state->__pyx_n_s_Event); + Py_CLEAR(clear_module_state->__pyx_n_s_Event___reduce_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_Event___setstate_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_Event_clear); + Py_CLEAR(clear_module_state->__pyx_n_s_Event_peek); + Py_CLEAR(clear_module_state->__pyx_n_s_Event_set); + Py_CLEAR(clear_module_state->__pyx_n_s_Event_wait); + Py_CLEAR(clear_module_state->__pyx_n_s_IpcError); + Py_CLEAR(clear_module_state->__pyx_n_s_IpcError___init); + Py_CLEAR(clear_module_state->__pyx_kp_u_Messaging_failure); + Py_CLEAR(clear_module_state->__pyx_n_s_MultiplePublishersError); + Py_CLEAR(clear_module_state->__pyx_kp_u_None); + Py_CLEAR(clear_module_state->__pyx_n_s_Poller); + Py_CLEAR(clear_module_state->__pyx_n_s_Poller___reduce_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_Poller___setstate_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_Poller_poll); + Py_CLEAR(clear_module_state->__pyx_n_s_Poller_registerSocket); + Py_CLEAR(clear_module_state->__pyx_n_s_PubSocket); + Py_CLEAR(clear_module_state->__pyx_n_s_PubSocket___reduce_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_PubSocket___setstate_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_PubSocket_all_readers_updated); + Py_CLEAR(clear_module_state->__pyx_n_s_PubSocket_connect); + Py_CLEAR(clear_module_state->__pyx_n_s_PubSocket_send); + Py_CLEAR(clear_module_state->__pyx_kp_u_SIGINT_received_exiting); + Py_CLEAR(clear_module_state->__pyx_n_s_SocketEventHandle); + Py_CLEAR(clear_module_state->__pyx_n_s_SocketEventHandle___reduce_cytho); + Py_CLEAR(clear_module_state->__pyx_n_s_SocketEventHandle___setstate_cyt); + Py_CLEAR(clear_module_state->__pyx_n_s_SubSocket); + Py_CLEAR(clear_module_state->__pyx_n_s_SubSocket___reduce_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_SubSocket___setstate_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_SubSocket_connect); + Py_CLEAR(clear_module_state->__pyx_n_s_SubSocket_receive); + Py_CLEAR(clear_module_state->__pyx_n_s_SubSocket_setTimeout); + Py_CLEAR(clear_module_state->__pyx_n_s_TypeError); + Py_CLEAR(clear_module_state->__pyx_kp_u__2); + Py_CLEAR(clear_module_state->__pyx_n_s__5); + Py_CLEAR(clear_module_state->__pyx_n_s__53); + Py_CLEAR(clear_module_state->__pyx_n_s_address); + Py_CLEAR(clear_module_state->__pyx_n_s_all_readers_updated); + Py_CLEAR(clear_module_state->__pyx_n_s_asyncio_coroutines); + Py_CLEAR(clear_module_state->__pyx_n_s_clear); + Py_CLEAR(clear_module_state->__pyx_n_s_cline_in_traceback); + Py_CLEAR(clear_module_state->__pyx_n_s_conflate); + Py_CLEAR(clear_module_state->__pyx_n_s_connect); + Py_CLEAR(clear_module_state->__pyx_n_s_context); + Py_CLEAR(clear_module_state->__pyx_n_s_data); + Py_CLEAR(clear_module_state->__pyx_n_s_decode); + Py_CLEAR(clear_module_state->__pyx_n_s_delete_fake_prefix); + Py_CLEAR(clear_module_state->__pyx_n_s_dict); + Py_CLEAR(clear_module_state->__pyx_kp_u_disable); + Py_CLEAR(clear_module_state->__pyx_n_s_doc); + Py_CLEAR(clear_module_state->__pyx_kp_u_enable); + Py_CLEAR(clear_module_state->__pyx_n_s_enabled); + Py_CLEAR(clear_module_state->__pyx_n_s_endpoint); + Py_CLEAR(clear_module_state->__pyx_n_s_event); + Py_CLEAR(clear_module_state->__pyx_n_s_events); + Py_CLEAR(clear_module_state->__pyx_n_s_exit); + Py_CLEAR(clear_module_state->__pyx_kp_u_gc); + Py_CLEAR(clear_module_state->__pyx_n_s_get_fake_prefix); + Py_CLEAR(clear_module_state->__pyx_n_s_getstate); + Py_CLEAR(clear_module_state->__pyx_n_s_identifier); + Py_CLEAR(clear_module_state->__pyx_n_s_import); + Py_CLEAR(clear_module_state->__pyx_n_s_init); + Py_CLEAR(clear_module_state->__pyx_n_s_init_subclass); + Py_CLEAR(clear_module_state->__pyx_n_s_initializing); + Py_CLEAR(clear_module_state->__pyx_n_s_is_coroutine); + Py_CLEAR(clear_module_state->__pyx_kp_u_isenabled); + Py_CLEAR(clear_module_state->__pyx_n_s_items); + Py_CLEAR(clear_module_state->__pyx_n_s_length); + Py_CLEAR(clear_module_state->__pyx_n_s_m); + Py_CLEAR(clear_module_state->__pyx_n_s_main); + Py_CLEAR(clear_module_state->__pyx_n_s_message); + Py_CLEAR(clear_module_state->__pyx_n_s_metaclass); + Py_CLEAR(clear_module_state->__pyx_n_s_module); + Py_CLEAR(clear_module_state->__pyx_n_s_mro_entries); + Py_CLEAR(clear_module_state->__pyx_n_s_msg); + Py_CLEAR(clear_module_state->__pyx_n_s_msgq_ipc_pyx); + Py_CLEAR(clear_module_state->__pyx_kp_s_msgq_repo_msgq_ipc_pyx_pyx); + Py_CLEAR(clear_module_state->__pyx_n_s_name); + Py_CLEAR(clear_module_state->__pyx_kp_s_no_default___reduce___due_to_non); + Py_CLEAR(clear_module_state->__pyx_n_s_non_blocking); + Py_CLEAR(clear_module_state->__pyx_n_s_override); + Py_CLEAR(clear_module_state->__pyx_n_s_peek); + Py_CLEAR(clear_module_state->__pyx_n_s_poll); + Py_CLEAR(clear_module_state->__pyx_n_s_prefix); + Py_CLEAR(clear_module_state->__pyx_n_s_prepare); + Py_CLEAR(clear_module_state->__pyx_n_s_print); + Py_CLEAR(clear_module_state->__pyx_n_s_ptr); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_state); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_vtable); + Py_CLEAR(clear_module_state->__pyx_n_s_qualname); + Py_CLEAR(clear_module_state->__pyx_n_s_r); + Py_CLEAR(clear_module_state->__pyx_n_s_receive); + Py_CLEAR(clear_module_state->__pyx_n_s_reduce); + Py_CLEAR(clear_module_state->__pyx_n_s_reduce_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_reduce_ex); + Py_CLEAR(clear_module_state->__pyx_n_s_registerSocket); + Py_CLEAR(clear_module_state->__pyx_n_s_result); + Py_CLEAR(clear_module_state->__pyx_n_s_s); + Py_CLEAR(clear_module_state->__pyx_n_s_self); + Py_CLEAR(clear_module_state->__pyx_n_s_send); + Py_CLEAR(clear_module_state->__pyx_n_s_set); + Py_CLEAR(clear_module_state->__pyx_n_s_setTimeout); + Py_CLEAR(clear_module_state->__pyx_n_s_set_fake_prefix); + Py_CLEAR(clear_module_state->__pyx_n_s_set_name); + Py_CLEAR(clear_module_state->__pyx_n_s_setstate); + Py_CLEAR(clear_module_state->__pyx_n_s_setstate_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_socket); + Py_CLEAR(clear_module_state->__pyx_n_s_sockets); + Py_CLEAR(clear_module_state->__pyx_n_s_spec); + Py_CLEAR(clear_module_state->__pyx_kp_s_stringsource); + Py_CLEAR(clear_module_state->__pyx_n_s_suffix); + Py_CLEAR(clear_module_state->__pyx_n_s_super); + Py_CLEAR(clear_module_state->__pyx_n_s_sys); + Py_CLEAR(clear_module_state->__pyx_n_s_sz); + Py_CLEAR(clear_module_state->__pyx_n_s_t); + Py_CLEAR(clear_module_state->__pyx_n_s_term); + Py_CLEAR(clear_module_state->__pyx_n_s_test); + Py_CLEAR(clear_module_state->__pyx_n_s_timeout); + Py_CLEAR(clear_module_state->__pyx_n_s_toggle_fake_events); + Py_CLEAR(clear_module_state->__pyx_kp_u_utf_8); + Py_CLEAR(clear_module_state->__pyx_n_s_wait); + Py_CLEAR(clear_module_state->__pyx_n_s_wait_for_one_event); + Py_CLEAR(clear_module_state->__pyx_kp_u_with); + Py_CLEAR(clear_module_state->__pyx_int_1); + Py_CLEAR(clear_module_state->__pyx_int_neg_1); + Py_CLEAR(clear_module_state->__pyx_tuple__4); + Py_CLEAR(clear_module_state->__pyx_tuple__6); + Py_CLEAR(clear_module_state->__pyx_tuple__8); + Py_CLEAR(clear_module_state->__pyx_tuple__9); + Py_CLEAR(clear_module_state->__pyx_tuple__11); + Py_CLEAR(clear_module_state->__pyx_tuple__15); + Py_CLEAR(clear_module_state->__pyx_tuple__17); + Py_CLEAR(clear_module_state->__pyx_tuple__20); + Py_CLEAR(clear_module_state->__pyx_tuple__22); + Py_CLEAR(clear_module_state->__pyx_tuple__25); + Py_CLEAR(clear_module_state->__pyx_tuple__32); + Py_CLEAR(clear_module_state->__pyx_tuple__34); + Py_CLEAR(clear_module_state->__pyx_tuple__38); + Py_CLEAR(clear_module_state->__pyx_tuple__41); + Py_CLEAR(clear_module_state->__pyx_tuple__43); + Py_CLEAR(clear_module_state->__pyx_tuple__46); + Py_CLEAR(clear_module_state->__pyx_tuple__48); + Py_CLEAR(clear_module_state->__pyx_codeobj__7); + Py_CLEAR(clear_module_state->__pyx_codeobj__10); + Py_CLEAR(clear_module_state->__pyx_codeobj__12); + Py_CLEAR(clear_module_state->__pyx_codeobj__13); + Py_CLEAR(clear_module_state->__pyx_codeobj__14); + Py_CLEAR(clear_module_state->__pyx_codeobj__16); + Py_CLEAR(clear_module_state->__pyx_codeobj__18); + Py_CLEAR(clear_module_state->__pyx_codeobj__19); + Py_CLEAR(clear_module_state->__pyx_codeobj__21); + Py_CLEAR(clear_module_state->__pyx_codeobj__23); + Py_CLEAR(clear_module_state->__pyx_codeobj__24); + Py_CLEAR(clear_module_state->__pyx_codeobj__26); + Py_CLEAR(clear_module_state->__pyx_codeobj__27); + Py_CLEAR(clear_module_state->__pyx_codeobj__28); + Py_CLEAR(clear_module_state->__pyx_codeobj__29); + Py_CLEAR(clear_module_state->__pyx_codeobj__30); + Py_CLEAR(clear_module_state->__pyx_codeobj__31); + Py_CLEAR(clear_module_state->__pyx_codeobj__33); + Py_CLEAR(clear_module_state->__pyx_codeobj__35); + Py_CLEAR(clear_module_state->__pyx_codeobj__36); + Py_CLEAR(clear_module_state->__pyx_codeobj__37); + Py_CLEAR(clear_module_state->__pyx_codeobj__39); + Py_CLEAR(clear_module_state->__pyx_codeobj__40); + Py_CLEAR(clear_module_state->__pyx_codeobj__42); + Py_CLEAR(clear_module_state->__pyx_codeobj__44); + Py_CLEAR(clear_module_state->__pyx_codeobj__45); + Py_CLEAR(clear_module_state->__pyx_codeobj__47); + Py_CLEAR(clear_module_state->__pyx_codeobj__49); + Py_CLEAR(clear_module_state->__pyx_codeobj__50); + Py_CLEAR(clear_module_state->__pyx_codeobj__51); + Py_CLEAR(clear_module_state->__pyx_codeobj__52); + return 0; +} +#endif +/* #### Code section: module_state_traverse ### */ +#if CYTHON_USE_MODULE_STATE +static int __pyx_m_traverse(PyObject *m, visitproc visit, void *arg) { + __pyx_mstate *traverse_module_state = __pyx_mstate(m); + if (!traverse_module_state) return 0; + Py_VISIT(traverse_module_state->__pyx_d); + Py_VISIT(traverse_module_state->__pyx_b); + Py_VISIT(traverse_module_state->__pyx_cython_runtime); + Py_VISIT(traverse_module_state->__pyx_empty_tuple); + Py_VISIT(traverse_module_state->__pyx_empty_bytes); + Py_VISIT(traverse_module_state->__pyx_empty_unicode); + #ifdef __Pyx_CyFunction_USED + Py_VISIT(traverse_module_state->__pyx_CyFunctionType); + #endif + #ifdef __Pyx_FusedFunction_USED + Py_VISIT(traverse_module_state->__pyx_FusedFunctionType); + #endif + Py_VISIT(traverse_module_state->__pyx_ptype_4msgq_7ipc_pyx_Event); + Py_VISIT(traverse_module_state->__pyx_type_4msgq_7ipc_pyx_Event); + Py_VISIT(traverse_module_state->__pyx_ptype_4msgq_7ipc_pyx_SocketEventHandle); + Py_VISIT(traverse_module_state->__pyx_type_4msgq_7ipc_pyx_SocketEventHandle); + Py_VISIT(traverse_module_state->__pyx_ptype_4msgq_7ipc_pyx_Context); + Py_VISIT(traverse_module_state->__pyx_type_4msgq_7ipc_pyx_Context); + Py_VISIT(traverse_module_state->__pyx_ptype_4msgq_7ipc_pyx_Poller); + Py_VISIT(traverse_module_state->__pyx_type_4msgq_7ipc_pyx_Poller); + Py_VISIT(traverse_module_state->__pyx_ptype_4msgq_7ipc_pyx_SubSocket); + Py_VISIT(traverse_module_state->__pyx_type_4msgq_7ipc_pyx_SubSocket); + Py_VISIT(traverse_module_state->__pyx_ptype_4msgq_7ipc_pyx_PubSocket); + Py_VISIT(traverse_module_state->__pyx_type_4msgq_7ipc_pyx_PubSocket); + Py_VISIT(traverse_module_state->__pyx_kp_b_); + Py_VISIT(traverse_module_state->__pyx_kp_u_); + Py_VISIT(traverse_module_state->__pyx_kp_b_127_0_0_1); + Py_VISIT(traverse_module_state->__pyx_n_s_Context); + Py_VISIT(traverse_module_state->__pyx_n_s_Context___reduce_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_Context___setstate_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_Context_term); + Py_VISIT(traverse_module_state->__pyx_n_s_Event); + Py_VISIT(traverse_module_state->__pyx_n_s_Event___reduce_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_Event___setstate_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_Event_clear); + Py_VISIT(traverse_module_state->__pyx_n_s_Event_peek); + Py_VISIT(traverse_module_state->__pyx_n_s_Event_set); + Py_VISIT(traverse_module_state->__pyx_n_s_Event_wait); + Py_VISIT(traverse_module_state->__pyx_n_s_IpcError); + Py_VISIT(traverse_module_state->__pyx_n_s_IpcError___init); + Py_VISIT(traverse_module_state->__pyx_kp_u_Messaging_failure); + Py_VISIT(traverse_module_state->__pyx_n_s_MultiplePublishersError); + Py_VISIT(traverse_module_state->__pyx_kp_u_None); + Py_VISIT(traverse_module_state->__pyx_n_s_Poller); + Py_VISIT(traverse_module_state->__pyx_n_s_Poller___reduce_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_Poller___setstate_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_Poller_poll); + Py_VISIT(traverse_module_state->__pyx_n_s_Poller_registerSocket); + Py_VISIT(traverse_module_state->__pyx_n_s_PubSocket); + Py_VISIT(traverse_module_state->__pyx_n_s_PubSocket___reduce_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_PubSocket___setstate_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_PubSocket_all_readers_updated); + Py_VISIT(traverse_module_state->__pyx_n_s_PubSocket_connect); + Py_VISIT(traverse_module_state->__pyx_n_s_PubSocket_send); + Py_VISIT(traverse_module_state->__pyx_kp_u_SIGINT_received_exiting); + Py_VISIT(traverse_module_state->__pyx_n_s_SocketEventHandle); + Py_VISIT(traverse_module_state->__pyx_n_s_SocketEventHandle___reduce_cytho); + Py_VISIT(traverse_module_state->__pyx_n_s_SocketEventHandle___setstate_cyt); + Py_VISIT(traverse_module_state->__pyx_n_s_SubSocket); + Py_VISIT(traverse_module_state->__pyx_n_s_SubSocket___reduce_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_SubSocket___setstate_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_SubSocket_connect); + Py_VISIT(traverse_module_state->__pyx_n_s_SubSocket_receive); + Py_VISIT(traverse_module_state->__pyx_n_s_SubSocket_setTimeout); + Py_VISIT(traverse_module_state->__pyx_n_s_TypeError); + Py_VISIT(traverse_module_state->__pyx_kp_u__2); + Py_VISIT(traverse_module_state->__pyx_n_s__5); + Py_VISIT(traverse_module_state->__pyx_n_s__53); + Py_VISIT(traverse_module_state->__pyx_n_s_address); + Py_VISIT(traverse_module_state->__pyx_n_s_all_readers_updated); + Py_VISIT(traverse_module_state->__pyx_n_s_asyncio_coroutines); + Py_VISIT(traverse_module_state->__pyx_n_s_clear); + Py_VISIT(traverse_module_state->__pyx_n_s_cline_in_traceback); + Py_VISIT(traverse_module_state->__pyx_n_s_conflate); + Py_VISIT(traverse_module_state->__pyx_n_s_connect); + Py_VISIT(traverse_module_state->__pyx_n_s_context); + Py_VISIT(traverse_module_state->__pyx_n_s_data); + Py_VISIT(traverse_module_state->__pyx_n_s_decode); + Py_VISIT(traverse_module_state->__pyx_n_s_delete_fake_prefix); + Py_VISIT(traverse_module_state->__pyx_n_s_dict); + Py_VISIT(traverse_module_state->__pyx_kp_u_disable); + Py_VISIT(traverse_module_state->__pyx_n_s_doc); + Py_VISIT(traverse_module_state->__pyx_kp_u_enable); + Py_VISIT(traverse_module_state->__pyx_n_s_enabled); + Py_VISIT(traverse_module_state->__pyx_n_s_endpoint); + Py_VISIT(traverse_module_state->__pyx_n_s_event); + Py_VISIT(traverse_module_state->__pyx_n_s_events); + Py_VISIT(traverse_module_state->__pyx_n_s_exit); + Py_VISIT(traverse_module_state->__pyx_kp_u_gc); + Py_VISIT(traverse_module_state->__pyx_n_s_get_fake_prefix); + Py_VISIT(traverse_module_state->__pyx_n_s_getstate); + Py_VISIT(traverse_module_state->__pyx_n_s_identifier); + Py_VISIT(traverse_module_state->__pyx_n_s_import); + Py_VISIT(traverse_module_state->__pyx_n_s_init); + Py_VISIT(traverse_module_state->__pyx_n_s_init_subclass); + Py_VISIT(traverse_module_state->__pyx_n_s_initializing); + Py_VISIT(traverse_module_state->__pyx_n_s_is_coroutine); + Py_VISIT(traverse_module_state->__pyx_kp_u_isenabled); + Py_VISIT(traverse_module_state->__pyx_n_s_items); + Py_VISIT(traverse_module_state->__pyx_n_s_length); + Py_VISIT(traverse_module_state->__pyx_n_s_m); + Py_VISIT(traverse_module_state->__pyx_n_s_main); + Py_VISIT(traverse_module_state->__pyx_n_s_message); + Py_VISIT(traverse_module_state->__pyx_n_s_metaclass); + Py_VISIT(traverse_module_state->__pyx_n_s_module); + Py_VISIT(traverse_module_state->__pyx_n_s_mro_entries); + Py_VISIT(traverse_module_state->__pyx_n_s_msg); + Py_VISIT(traverse_module_state->__pyx_n_s_msgq_ipc_pyx); + Py_VISIT(traverse_module_state->__pyx_kp_s_msgq_repo_msgq_ipc_pyx_pyx); + Py_VISIT(traverse_module_state->__pyx_n_s_name); + Py_VISIT(traverse_module_state->__pyx_kp_s_no_default___reduce___due_to_non); + Py_VISIT(traverse_module_state->__pyx_n_s_non_blocking); + Py_VISIT(traverse_module_state->__pyx_n_s_override); + Py_VISIT(traverse_module_state->__pyx_n_s_peek); + Py_VISIT(traverse_module_state->__pyx_n_s_poll); + Py_VISIT(traverse_module_state->__pyx_n_s_prefix); + Py_VISIT(traverse_module_state->__pyx_n_s_prepare); + Py_VISIT(traverse_module_state->__pyx_n_s_print); + Py_VISIT(traverse_module_state->__pyx_n_s_ptr); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_state); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_vtable); + Py_VISIT(traverse_module_state->__pyx_n_s_qualname); + Py_VISIT(traverse_module_state->__pyx_n_s_r); + Py_VISIT(traverse_module_state->__pyx_n_s_receive); + Py_VISIT(traverse_module_state->__pyx_n_s_reduce); + Py_VISIT(traverse_module_state->__pyx_n_s_reduce_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_reduce_ex); + Py_VISIT(traverse_module_state->__pyx_n_s_registerSocket); + Py_VISIT(traverse_module_state->__pyx_n_s_result); + Py_VISIT(traverse_module_state->__pyx_n_s_s); + Py_VISIT(traverse_module_state->__pyx_n_s_self); + Py_VISIT(traverse_module_state->__pyx_n_s_send); + Py_VISIT(traverse_module_state->__pyx_n_s_set); + Py_VISIT(traverse_module_state->__pyx_n_s_setTimeout); + Py_VISIT(traverse_module_state->__pyx_n_s_set_fake_prefix); + Py_VISIT(traverse_module_state->__pyx_n_s_set_name); + Py_VISIT(traverse_module_state->__pyx_n_s_setstate); + Py_VISIT(traverse_module_state->__pyx_n_s_setstate_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_socket); + Py_VISIT(traverse_module_state->__pyx_n_s_sockets); + Py_VISIT(traverse_module_state->__pyx_n_s_spec); + Py_VISIT(traverse_module_state->__pyx_kp_s_stringsource); + Py_VISIT(traverse_module_state->__pyx_n_s_suffix); + Py_VISIT(traverse_module_state->__pyx_n_s_super); + Py_VISIT(traverse_module_state->__pyx_n_s_sys); + Py_VISIT(traverse_module_state->__pyx_n_s_sz); + Py_VISIT(traverse_module_state->__pyx_n_s_t); + Py_VISIT(traverse_module_state->__pyx_n_s_term); + Py_VISIT(traverse_module_state->__pyx_n_s_test); + Py_VISIT(traverse_module_state->__pyx_n_s_timeout); + Py_VISIT(traverse_module_state->__pyx_n_s_toggle_fake_events); + Py_VISIT(traverse_module_state->__pyx_kp_u_utf_8); + Py_VISIT(traverse_module_state->__pyx_n_s_wait); + Py_VISIT(traverse_module_state->__pyx_n_s_wait_for_one_event); + Py_VISIT(traverse_module_state->__pyx_kp_u_with); + Py_VISIT(traverse_module_state->__pyx_int_1); + Py_VISIT(traverse_module_state->__pyx_int_neg_1); + Py_VISIT(traverse_module_state->__pyx_tuple__4); + Py_VISIT(traverse_module_state->__pyx_tuple__6); + Py_VISIT(traverse_module_state->__pyx_tuple__8); + Py_VISIT(traverse_module_state->__pyx_tuple__9); + Py_VISIT(traverse_module_state->__pyx_tuple__11); + Py_VISIT(traverse_module_state->__pyx_tuple__15); + Py_VISIT(traverse_module_state->__pyx_tuple__17); + Py_VISIT(traverse_module_state->__pyx_tuple__20); + Py_VISIT(traverse_module_state->__pyx_tuple__22); + Py_VISIT(traverse_module_state->__pyx_tuple__25); + Py_VISIT(traverse_module_state->__pyx_tuple__32); + Py_VISIT(traverse_module_state->__pyx_tuple__34); + Py_VISIT(traverse_module_state->__pyx_tuple__38); + Py_VISIT(traverse_module_state->__pyx_tuple__41); + Py_VISIT(traverse_module_state->__pyx_tuple__43); + Py_VISIT(traverse_module_state->__pyx_tuple__46); + Py_VISIT(traverse_module_state->__pyx_tuple__48); + Py_VISIT(traverse_module_state->__pyx_codeobj__7); + Py_VISIT(traverse_module_state->__pyx_codeobj__10); + Py_VISIT(traverse_module_state->__pyx_codeobj__12); + Py_VISIT(traverse_module_state->__pyx_codeobj__13); + Py_VISIT(traverse_module_state->__pyx_codeobj__14); + Py_VISIT(traverse_module_state->__pyx_codeobj__16); + Py_VISIT(traverse_module_state->__pyx_codeobj__18); + Py_VISIT(traverse_module_state->__pyx_codeobj__19); + Py_VISIT(traverse_module_state->__pyx_codeobj__21); + Py_VISIT(traverse_module_state->__pyx_codeobj__23); + Py_VISIT(traverse_module_state->__pyx_codeobj__24); + Py_VISIT(traverse_module_state->__pyx_codeobj__26); + Py_VISIT(traverse_module_state->__pyx_codeobj__27); + Py_VISIT(traverse_module_state->__pyx_codeobj__28); + Py_VISIT(traverse_module_state->__pyx_codeobj__29); + Py_VISIT(traverse_module_state->__pyx_codeobj__30); + Py_VISIT(traverse_module_state->__pyx_codeobj__31); + Py_VISIT(traverse_module_state->__pyx_codeobj__33); + Py_VISIT(traverse_module_state->__pyx_codeobj__35); + Py_VISIT(traverse_module_state->__pyx_codeobj__36); + Py_VISIT(traverse_module_state->__pyx_codeobj__37); + Py_VISIT(traverse_module_state->__pyx_codeobj__39); + Py_VISIT(traverse_module_state->__pyx_codeobj__40); + Py_VISIT(traverse_module_state->__pyx_codeobj__42); + Py_VISIT(traverse_module_state->__pyx_codeobj__44); + Py_VISIT(traverse_module_state->__pyx_codeobj__45); + Py_VISIT(traverse_module_state->__pyx_codeobj__47); + Py_VISIT(traverse_module_state->__pyx_codeobj__49); + Py_VISIT(traverse_module_state->__pyx_codeobj__50); + Py_VISIT(traverse_module_state->__pyx_codeobj__51); + Py_VISIT(traverse_module_state->__pyx_codeobj__52); + return 0; +} +#endif +/* #### Code section: module_state_defines ### */ +#define __pyx_d __pyx_mstate_global->__pyx_d +#define __pyx_b __pyx_mstate_global->__pyx_b +#define __pyx_cython_runtime __pyx_mstate_global->__pyx_cython_runtime +#define __pyx_empty_tuple __pyx_mstate_global->__pyx_empty_tuple +#define __pyx_empty_bytes __pyx_mstate_global->__pyx_empty_bytes +#define __pyx_empty_unicode __pyx_mstate_global->__pyx_empty_unicode +#ifdef __Pyx_CyFunction_USED +#define __pyx_CyFunctionType __pyx_mstate_global->__pyx_CyFunctionType +#endif +#ifdef __Pyx_FusedFunction_USED +#define __pyx_FusedFunctionType __pyx_mstate_global->__pyx_FusedFunctionType +#endif +#ifdef __Pyx_Generator_USED +#define __pyx_GeneratorType __pyx_mstate_global->__pyx_GeneratorType +#endif +#ifdef __Pyx_IterableCoroutine_USED +#define __pyx_IterableCoroutineType __pyx_mstate_global->__pyx_IterableCoroutineType +#endif +#ifdef __Pyx_Coroutine_USED +#define __pyx_CoroutineAwaitType __pyx_mstate_global->__pyx_CoroutineAwaitType +#endif +#ifdef __Pyx_Coroutine_USED +#define __pyx_CoroutineType __pyx_mstate_global->__pyx_CoroutineType +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#define __pyx_type_4msgq_7ipc_pyx_Event __pyx_mstate_global->__pyx_type_4msgq_7ipc_pyx_Event +#define __pyx_type_4msgq_7ipc_pyx_SocketEventHandle __pyx_mstate_global->__pyx_type_4msgq_7ipc_pyx_SocketEventHandle +#define __pyx_type_4msgq_7ipc_pyx_Context __pyx_mstate_global->__pyx_type_4msgq_7ipc_pyx_Context +#define __pyx_type_4msgq_7ipc_pyx_Poller __pyx_mstate_global->__pyx_type_4msgq_7ipc_pyx_Poller +#define __pyx_type_4msgq_7ipc_pyx_SubSocket __pyx_mstate_global->__pyx_type_4msgq_7ipc_pyx_SubSocket +#define __pyx_type_4msgq_7ipc_pyx_PubSocket __pyx_mstate_global->__pyx_type_4msgq_7ipc_pyx_PubSocket +#endif +#define __pyx_ptype_4msgq_7ipc_pyx_Event __pyx_mstate_global->__pyx_ptype_4msgq_7ipc_pyx_Event +#define __pyx_ptype_4msgq_7ipc_pyx_SocketEventHandle __pyx_mstate_global->__pyx_ptype_4msgq_7ipc_pyx_SocketEventHandle +#define __pyx_ptype_4msgq_7ipc_pyx_Context __pyx_mstate_global->__pyx_ptype_4msgq_7ipc_pyx_Context +#define __pyx_ptype_4msgq_7ipc_pyx_Poller __pyx_mstate_global->__pyx_ptype_4msgq_7ipc_pyx_Poller +#define __pyx_ptype_4msgq_7ipc_pyx_SubSocket __pyx_mstate_global->__pyx_ptype_4msgq_7ipc_pyx_SubSocket +#define __pyx_ptype_4msgq_7ipc_pyx_PubSocket __pyx_mstate_global->__pyx_ptype_4msgq_7ipc_pyx_PubSocket +#define __pyx_kp_b_ __pyx_mstate_global->__pyx_kp_b_ +#define __pyx_kp_u_ __pyx_mstate_global->__pyx_kp_u_ +#define __pyx_kp_b_127_0_0_1 __pyx_mstate_global->__pyx_kp_b_127_0_0_1 +#define __pyx_n_s_Context __pyx_mstate_global->__pyx_n_s_Context +#define __pyx_n_s_Context___reduce_cython __pyx_mstate_global->__pyx_n_s_Context___reduce_cython +#define __pyx_n_s_Context___setstate_cython __pyx_mstate_global->__pyx_n_s_Context___setstate_cython +#define __pyx_n_s_Context_term __pyx_mstate_global->__pyx_n_s_Context_term +#define __pyx_n_s_Event __pyx_mstate_global->__pyx_n_s_Event +#define __pyx_n_s_Event___reduce_cython __pyx_mstate_global->__pyx_n_s_Event___reduce_cython +#define __pyx_n_s_Event___setstate_cython __pyx_mstate_global->__pyx_n_s_Event___setstate_cython +#define __pyx_n_s_Event_clear __pyx_mstate_global->__pyx_n_s_Event_clear +#define __pyx_n_s_Event_peek __pyx_mstate_global->__pyx_n_s_Event_peek +#define __pyx_n_s_Event_set __pyx_mstate_global->__pyx_n_s_Event_set +#define __pyx_n_s_Event_wait __pyx_mstate_global->__pyx_n_s_Event_wait +#define __pyx_n_s_IpcError __pyx_mstate_global->__pyx_n_s_IpcError +#define __pyx_n_s_IpcError___init __pyx_mstate_global->__pyx_n_s_IpcError___init +#define __pyx_kp_u_Messaging_failure __pyx_mstate_global->__pyx_kp_u_Messaging_failure +#define __pyx_n_s_MultiplePublishersError __pyx_mstate_global->__pyx_n_s_MultiplePublishersError +#define __pyx_kp_u_None __pyx_mstate_global->__pyx_kp_u_None +#define __pyx_n_s_Poller __pyx_mstate_global->__pyx_n_s_Poller +#define __pyx_n_s_Poller___reduce_cython __pyx_mstate_global->__pyx_n_s_Poller___reduce_cython +#define __pyx_n_s_Poller___setstate_cython __pyx_mstate_global->__pyx_n_s_Poller___setstate_cython +#define __pyx_n_s_Poller_poll __pyx_mstate_global->__pyx_n_s_Poller_poll +#define __pyx_n_s_Poller_registerSocket __pyx_mstate_global->__pyx_n_s_Poller_registerSocket +#define __pyx_n_s_PubSocket __pyx_mstate_global->__pyx_n_s_PubSocket +#define __pyx_n_s_PubSocket___reduce_cython __pyx_mstate_global->__pyx_n_s_PubSocket___reduce_cython +#define __pyx_n_s_PubSocket___setstate_cython __pyx_mstate_global->__pyx_n_s_PubSocket___setstate_cython +#define __pyx_n_s_PubSocket_all_readers_updated __pyx_mstate_global->__pyx_n_s_PubSocket_all_readers_updated +#define __pyx_n_s_PubSocket_connect __pyx_mstate_global->__pyx_n_s_PubSocket_connect +#define __pyx_n_s_PubSocket_send __pyx_mstate_global->__pyx_n_s_PubSocket_send +#define __pyx_kp_u_SIGINT_received_exiting __pyx_mstate_global->__pyx_kp_u_SIGINT_received_exiting +#define __pyx_n_s_SocketEventHandle __pyx_mstate_global->__pyx_n_s_SocketEventHandle +#define __pyx_n_s_SocketEventHandle___reduce_cytho __pyx_mstate_global->__pyx_n_s_SocketEventHandle___reduce_cytho +#define __pyx_n_s_SocketEventHandle___setstate_cyt __pyx_mstate_global->__pyx_n_s_SocketEventHandle___setstate_cyt +#define __pyx_n_s_SubSocket __pyx_mstate_global->__pyx_n_s_SubSocket +#define __pyx_n_s_SubSocket___reduce_cython __pyx_mstate_global->__pyx_n_s_SubSocket___reduce_cython +#define __pyx_n_s_SubSocket___setstate_cython __pyx_mstate_global->__pyx_n_s_SubSocket___setstate_cython +#define __pyx_n_s_SubSocket_connect __pyx_mstate_global->__pyx_n_s_SubSocket_connect +#define __pyx_n_s_SubSocket_receive __pyx_mstate_global->__pyx_n_s_SubSocket_receive +#define __pyx_n_s_SubSocket_setTimeout __pyx_mstate_global->__pyx_n_s_SubSocket_setTimeout +#define __pyx_n_s_TypeError __pyx_mstate_global->__pyx_n_s_TypeError +#define __pyx_kp_u__2 __pyx_mstate_global->__pyx_kp_u__2 +#define __pyx_n_s__5 __pyx_mstate_global->__pyx_n_s__5 +#define __pyx_n_s__53 __pyx_mstate_global->__pyx_n_s__53 +#define __pyx_n_s_address __pyx_mstate_global->__pyx_n_s_address +#define __pyx_n_s_all_readers_updated __pyx_mstate_global->__pyx_n_s_all_readers_updated +#define __pyx_n_s_asyncio_coroutines __pyx_mstate_global->__pyx_n_s_asyncio_coroutines +#define __pyx_n_s_clear __pyx_mstate_global->__pyx_n_s_clear +#define __pyx_n_s_cline_in_traceback __pyx_mstate_global->__pyx_n_s_cline_in_traceback +#define __pyx_n_s_conflate __pyx_mstate_global->__pyx_n_s_conflate +#define __pyx_n_s_connect __pyx_mstate_global->__pyx_n_s_connect +#define __pyx_n_s_context __pyx_mstate_global->__pyx_n_s_context +#define __pyx_n_s_data __pyx_mstate_global->__pyx_n_s_data +#define __pyx_n_s_decode __pyx_mstate_global->__pyx_n_s_decode +#define __pyx_n_s_delete_fake_prefix __pyx_mstate_global->__pyx_n_s_delete_fake_prefix +#define __pyx_n_s_dict __pyx_mstate_global->__pyx_n_s_dict +#define __pyx_kp_u_disable __pyx_mstate_global->__pyx_kp_u_disable +#define __pyx_n_s_doc __pyx_mstate_global->__pyx_n_s_doc +#define __pyx_kp_u_enable __pyx_mstate_global->__pyx_kp_u_enable +#define __pyx_n_s_enabled __pyx_mstate_global->__pyx_n_s_enabled +#define __pyx_n_s_endpoint __pyx_mstate_global->__pyx_n_s_endpoint +#define __pyx_n_s_event __pyx_mstate_global->__pyx_n_s_event +#define __pyx_n_s_events __pyx_mstate_global->__pyx_n_s_events +#define __pyx_n_s_exit __pyx_mstate_global->__pyx_n_s_exit +#define __pyx_kp_u_gc __pyx_mstate_global->__pyx_kp_u_gc +#define __pyx_n_s_get_fake_prefix __pyx_mstate_global->__pyx_n_s_get_fake_prefix +#define __pyx_n_s_getstate __pyx_mstate_global->__pyx_n_s_getstate +#define __pyx_n_s_identifier __pyx_mstate_global->__pyx_n_s_identifier +#define __pyx_n_s_import __pyx_mstate_global->__pyx_n_s_import +#define __pyx_n_s_init __pyx_mstate_global->__pyx_n_s_init +#define __pyx_n_s_init_subclass __pyx_mstate_global->__pyx_n_s_init_subclass +#define __pyx_n_s_initializing __pyx_mstate_global->__pyx_n_s_initializing +#define __pyx_n_s_is_coroutine __pyx_mstate_global->__pyx_n_s_is_coroutine +#define __pyx_kp_u_isenabled __pyx_mstate_global->__pyx_kp_u_isenabled +#define __pyx_n_s_items __pyx_mstate_global->__pyx_n_s_items +#define __pyx_n_s_length __pyx_mstate_global->__pyx_n_s_length +#define __pyx_n_s_m __pyx_mstate_global->__pyx_n_s_m +#define __pyx_n_s_main __pyx_mstate_global->__pyx_n_s_main +#define __pyx_n_s_message __pyx_mstate_global->__pyx_n_s_message +#define __pyx_n_s_metaclass __pyx_mstate_global->__pyx_n_s_metaclass +#define __pyx_n_s_module __pyx_mstate_global->__pyx_n_s_module +#define __pyx_n_s_mro_entries __pyx_mstate_global->__pyx_n_s_mro_entries +#define __pyx_n_s_msg __pyx_mstate_global->__pyx_n_s_msg +#define __pyx_n_s_msgq_ipc_pyx __pyx_mstate_global->__pyx_n_s_msgq_ipc_pyx +#define __pyx_kp_s_msgq_repo_msgq_ipc_pyx_pyx __pyx_mstate_global->__pyx_kp_s_msgq_repo_msgq_ipc_pyx_pyx +#define __pyx_n_s_name __pyx_mstate_global->__pyx_n_s_name +#define __pyx_kp_s_no_default___reduce___due_to_non __pyx_mstate_global->__pyx_kp_s_no_default___reduce___due_to_non +#define __pyx_n_s_non_blocking __pyx_mstate_global->__pyx_n_s_non_blocking +#define __pyx_n_s_override __pyx_mstate_global->__pyx_n_s_override +#define __pyx_n_s_peek __pyx_mstate_global->__pyx_n_s_peek +#define __pyx_n_s_poll __pyx_mstate_global->__pyx_n_s_poll +#define __pyx_n_s_prefix __pyx_mstate_global->__pyx_n_s_prefix +#define __pyx_n_s_prepare __pyx_mstate_global->__pyx_n_s_prepare +#define __pyx_n_s_print __pyx_mstate_global->__pyx_n_s_print +#define __pyx_n_s_ptr __pyx_mstate_global->__pyx_n_s_ptr +#define __pyx_n_s_pyx_state __pyx_mstate_global->__pyx_n_s_pyx_state +#define __pyx_n_s_pyx_vtable __pyx_mstate_global->__pyx_n_s_pyx_vtable +#define __pyx_n_s_qualname __pyx_mstate_global->__pyx_n_s_qualname +#define __pyx_n_s_r __pyx_mstate_global->__pyx_n_s_r +#define __pyx_n_s_receive __pyx_mstate_global->__pyx_n_s_receive +#define __pyx_n_s_reduce __pyx_mstate_global->__pyx_n_s_reduce +#define __pyx_n_s_reduce_cython __pyx_mstate_global->__pyx_n_s_reduce_cython +#define __pyx_n_s_reduce_ex __pyx_mstate_global->__pyx_n_s_reduce_ex +#define __pyx_n_s_registerSocket __pyx_mstate_global->__pyx_n_s_registerSocket +#define __pyx_n_s_result __pyx_mstate_global->__pyx_n_s_result +#define __pyx_n_s_s __pyx_mstate_global->__pyx_n_s_s +#define __pyx_n_s_self __pyx_mstate_global->__pyx_n_s_self +#define __pyx_n_s_send __pyx_mstate_global->__pyx_n_s_send +#define __pyx_n_s_set __pyx_mstate_global->__pyx_n_s_set +#define __pyx_n_s_setTimeout __pyx_mstate_global->__pyx_n_s_setTimeout +#define __pyx_n_s_set_fake_prefix __pyx_mstate_global->__pyx_n_s_set_fake_prefix +#define __pyx_n_s_set_name __pyx_mstate_global->__pyx_n_s_set_name +#define __pyx_n_s_setstate __pyx_mstate_global->__pyx_n_s_setstate +#define __pyx_n_s_setstate_cython __pyx_mstate_global->__pyx_n_s_setstate_cython +#define __pyx_n_s_socket __pyx_mstate_global->__pyx_n_s_socket +#define __pyx_n_s_sockets __pyx_mstate_global->__pyx_n_s_sockets +#define __pyx_n_s_spec __pyx_mstate_global->__pyx_n_s_spec +#define __pyx_kp_s_stringsource __pyx_mstate_global->__pyx_kp_s_stringsource +#define __pyx_n_s_suffix __pyx_mstate_global->__pyx_n_s_suffix +#define __pyx_n_s_super __pyx_mstate_global->__pyx_n_s_super +#define __pyx_n_s_sys __pyx_mstate_global->__pyx_n_s_sys +#define __pyx_n_s_sz __pyx_mstate_global->__pyx_n_s_sz +#define __pyx_n_s_t __pyx_mstate_global->__pyx_n_s_t +#define __pyx_n_s_term __pyx_mstate_global->__pyx_n_s_term +#define __pyx_n_s_test __pyx_mstate_global->__pyx_n_s_test +#define __pyx_n_s_timeout __pyx_mstate_global->__pyx_n_s_timeout +#define __pyx_n_s_toggle_fake_events __pyx_mstate_global->__pyx_n_s_toggle_fake_events +#define __pyx_kp_u_utf_8 __pyx_mstate_global->__pyx_kp_u_utf_8 +#define __pyx_n_s_wait __pyx_mstate_global->__pyx_n_s_wait +#define __pyx_n_s_wait_for_one_event __pyx_mstate_global->__pyx_n_s_wait_for_one_event +#define __pyx_kp_u_with __pyx_mstate_global->__pyx_kp_u_with +#define __pyx_int_1 __pyx_mstate_global->__pyx_int_1 +#define __pyx_int_neg_1 __pyx_mstate_global->__pyx_int_neg_1 +#define __pyx_k__3 __pyx_mstate_global->__pyx_k__3 +#define __pyx_tuple__4 __pyx_mstate_global->__pyx_tuple__4 +#define __pyx_tuple__6 __pyx_mstate_global->__pyx_tuple__6 +#define __pyx_tuple__8 __pyx_mstate_global->__pyx_tuple__8 +#define __pyx_tuple__9 __pyx_mstate_global->__pyx_tuple__9 +#define __pyx_tuple__11 __pyx_mstate_global->__pyx_tuple__11 +#define __pyx_tuple__15 __pyx_mstate_global->__pyx_tuple__15 +#define __pyx_tuple__17 __pyx_mstate_global->__pyx_tuple__17 +#define __pyx_tuple__20 __pyx_mstate_global->__pyx_tuple__20 +#define __pyx_tuple__22 __pyx_mstate_global->__pyx_tuple__22 +#define __pyx_tuple__25 __pyx_mstate_global->__pyx_tuple__25 +#define __pyx_tuple__32 __pyx_mstate_global->__pyx_tuple__32 +#define __pyx_tuple__34 __pyx_mstate_global->__pyx_tuple__34 +#define __pyx_tuple__38 __pyx_mstate_global->__pyx_tuple__38 +#define __pyx_tuple__41 __pyx_mstate_global->__pyx_tuple__41 +#define __pyx_tuple__43 __pyx_mstate_global->__pyx_tuple__43 +#define __pyx_tuple__46 __pyx_mstate_global->__pyx_tuple__46 +#define __pyx_tuple__48 __pyx_mstate_global->__pyx_tuple__48 +#define __pyx_codeobj__7 __pyx_mstate_global->__pyx_codeobj__7 +#define __pyx_codeobj__10 __pyx_mstate_global->__pyx_codeobj__10 +#define __pyx_codeobj__12 __pyx_mstate_global->__pyx_codeobj__12 +#define __pyx_codeobj__13 __pyx_mstate_global->__pyx_codeobj__13 +#define __pyx_codeobj__14 __pyx_mstate_global->__pyx_codeobj__14 +#define __pyx_codeobj__16 __pyx_mstate_global->__pyx_codeobj__16 +#define __pyx_codeobj__18 __pyx_mstate_global->__pyx_codeobj__18 +#define __pyx_codeobj__19 __pyx_mstate_global->__pyx_codeobj__19 +#define __pyx_codeobj__21 __pyx_mstate_global->__pyx_codeobj__21 +#define __pyx_codeobj__23 __pyx_mstate_global->__pyx_codeobj__23 +#define __pyx_codeobj__24 __pyx_mstate_global->__pyx_codeobj__24 +#define __pyx_codeobj__26 __pyx_mstate_global->__pyx_codeobj__26 +#define __pyx_codeobj__27 __pyx_mstate_global->__pyx_codeobj__27 +#define __pyx_codeobj__28 __pyx_mstate_global->__pyx_codeobj__28 +#define __pyx_codeobj__29 __pyx_mstate_global->__pyx_codeobj__29 +#define __pyx_codeobj__30 __pyx_mstate_global->__pyx_codeobj__30 +#define __pyx_codeobj__31 __pyx_mstate_global->__pyx_codeobj__31 +#define __pyx_codeobj__33 __pyx_mstate_global->__pyx_codeobj__33 +#define __pyx_codeobj__35 __pyx_mstate_global->__pyx_codeobj__35 +#define __pyx_codeobj__36 __pyx_mstate_global->__pyx_codeobj__36 +#define __pyx_codeobj__37 __pyx_mstate_global->__pyx_codeobj__37 +#define __pyx_codeobj__39 __pyx_mstate_global->__pyx_codeobj__39 +#define __pyx_codeobj__40 __pyx_mstate_global->__pyx_codeobj__40 +#define __pyx_codeobj__42 __pyx_mstate_global->__pyx_codeobj__42 +#define __pyx_codeobj__44 __pyx_mstate_global->__pyx_codeobj__44 +#define __pyx_codeobj__45 __pyx_mstate_global->__pyx_codeobj__45 +#define __pyx_codeobj__47 __pyx_mstate_global->__pyx_codeobj__47 +#define __pyx_codeobj__49 __pyx_mstate_global->__pyx_codeobj__49 +#define __pyx_codeobj__50 __pyx_mstate_global->__pyx_codeobj__50 +#define __pyx_codeobj__51 __pyx_mstate_global->__pyx_codeobj__51 +#define __pyx_codeobj__52 __pyx_mstate_global->__pyx_codeobj__52 +/* #### Code section: module_code ### */ + +/* "string.from_py":13 + * + * @cname("__pyx_convert_string_from_py_std__in_string") + * cdef string __pyx_convert_string_from_py_std__in_string(object o) except *: # <<<<<<<<<<<<<< + * cdef Py_ssize_t length = 0 + * cdef const char* data = __Pyx_PyObject_AsStringAndSize(o, &length) + */ + +static std::string __pyx_convert_string_from_py_std__in_string(PyObject *__pyx_v_o) { + Py_ssize_t __pyx_v_length; + char const *__pyx_v_data; + std::string __pyx_r; + char const *__pyx_t_1; + std::string __pyx_t_2; + int __pyx_lineno = 0; + const char *__pyx_filename = NULL; + int __pyx_clineno = 0; + + /* "string.from_py":14 + * @cname("__pyx_convert_string_from_py_std__in_string") + * cdef string __pyx_convert_string_from_py_std__in_string(object o) except *: + * cdef Py_ssize_t length = 0 # <<<<<<<<<<<<<< + * cdef const char* data = __Pyx_PyObject_AsStringAndSize(o, &length) + * return string(data, length) + */ + __pyx_v_length = 0; + + /* "string.from_py":15 + * cdef string __pyx_convert_string_from_py_std__in_string(object o) except *: + * cdef Py_ssize_t length = 0 + * cdef const char* data = __Pyx_PyObject_AsStringAndSize(o, &length) # <<<<<<<<<<<<<< + * return string(data, length) + * + */ + __pyx_t_1 = __Pyx_PyObject_AsStringAndSize(__pyx_v_o, (&__pyx_v_length)); if (unlikely(__pyx_t_1 == ((char const *)NULL))) __PYX_ERR(1, 15, __pyx_L1_error) + __pyx_v_data = __pyx_t_1; + + /* "string.from_py":16 + * cdef Py_ssize_t length = 0 + * cdef const char* data = __Pyx_PyObject_AsStringAndSize(o, &length) + * return string(data, length) # <<<<<<<<<<<<<< + * + * + */ + try { + __pyx_t_2 = std::string(__pyx_v_data, __pyx_v_length); + } catch(...) { + __Pyx_CppExn2PyErr(); + __PYX_ERR(1, 16, __pyx_L1_error) + } + __pyx_r = __pyx_t_2; + goto __pyx_L0; + + /* "string.from_py":13 + * + * @cname("__pyx_convert_string_from_py_std__in_string") + * cdef string __pyx_convert_string_from_py_std__in_string(object o) except *: # <<<<<<<<<<<<<< + * cdef 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__Pyx_RaiseArgtupleInvalid("registerSocket", 1, 1, 1, __pyx_nargs); __PYX_ERR(0, 145, __pyx_L3_error) + __pyx_L6_skip:; + goto __pyx_L4_argument_unpacking_done; + __pyx_L3_error:; + { + Py_ssize_t __pyx_temp; + for (__pyx_temp=0; __pyx_temp < (Py_ssize_t)(sizeof(values)/sizeof(values[0])); ++__pyx_temp) { + __Pyx_Arg_XDECREF_FASTCALL(values[__pyx_temp]); + } + } + __Pyx_AddTraceback("msgq.ipc_pyx.Poller.registerSocket", __pyx_clineno, __pyx_lineno, __pyx_filename); + __Pyx_RefNannyFinishContext(); + return NULL; + __pyx_L4_argument_unpacking_done:; + if (unlikely(!__Pyx_ArgTypeTest(((PyObject *)__pyx_v_socket), __pyx_ptype_4msgq_7ipc_pyx_SubSocket, 1, "socket", 0))) __PYX_ERR(0, 145, __pyx_L1_error) + __pyx_r = __pyx_pf_4msgq_7ipc_pyx_6Poller_4registerSocket(((struct __pyx_obj_4msgq_7ipc_pyx_Poller *)__pyx_v_self), __pyx_v_socket); + + /* function exit code */ + goto __pyx_L0; + __pyx_L1_error:; + __pyx_r = NULL; + __pyx_L0:; + { + Py_ssize_t __pyx_temp; + for (__pyx_temp=0; __pyx_temp 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__Pyx_RefNannyFinishContext(); + return __pyx_r; +} +static struct __pyx_vtabstruct_4msgq_7ipc_pyx_Event __pyx_vtable_4msgq_7ipc_pyx_Event; + +static PyObject *__pyx_tp_new_4msgq_7ipc_pyx_Event(PyTypeObject *t, CYTHON_UNUSED PyObject *a, CYTHON_UNUSED PyObject *k) { + struct __pyx_obj_4msgq_7ipc_pyx_Event *p; + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + p = ((struct __pyx_obj_4msgq_7ipc_pyx_Event *)o); + p->__pyx_vtab = __pyx_vtabptr_4msgq_7ipc_pyx_Event; + new((void*)&(p->event)) Event(); + if (unlikely(__pyx_pw_4msgq_7ipc_pyx_5Event_1__cinit__(o, __pyx_empty_tuple, NULL) < 0)) goto bad; + return o; + bad: + Py_DECREF(o); o = 0; + return NULL; +} + +static void __pyx_tp_dealloc_4msgq_7ipc_pyx_Event(PyObject *o) { + struct __pyx_obj_4msgq_7ipc_pyx_Event *p = (struct __pyx_obj_4msgq_7ipc_pyx_Event *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && (!PyType_IS_GC(Py_TYPE(o)) || !__Pyx_PyObject_GC_IsFinalized(o))) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_4msgq_7ipc_pyx_Event) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + __Pyx_call_destructor(p->event); + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} + +static PyObject *__pyx_getprop_4msgq_7ipc_pyx_5Event_fd(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_4msgq_7ipc_pyx_5Event_2fd_1__get__(o); +} + +static PyObject *__pyx_getprop_4msgq_7ipc_pyx_5Event_ptr(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_4msgq_7ipc_pyx_5Event_3ptr_1__get__(o); +} + +static PyMethodDef __pyx_methods_4msgq_7ipc_pyx_Event[] = { + {"set", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_4msgq_7ipc_pyx_5Event_3set, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"clear", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_4msgq_7ipc_pyx_5Event_5clear, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"wait", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_4msgq_7ipc_pyx_5Event_7wait, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"peek", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_4msgq_7ipc_pyx_5Event_9peek, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_4msgq_7ipc_pyx_5Event_11__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_4msgq_7ipc_pyx_5Event_13__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; + +static struct PyGetSetDef __pyx_getsets_4msgq_7ipc_pyx_Event[] = { + {(char *)"fd", __pyx_getprop_4msgq_7ipc_pyx_5Event_fd, 0, (char *)0, 0}, + {(char *)"ptr", __pyx_getprop_4msgq_7ipc_pyx_5Event_ptr, 0, (char *)0, 0}, + {0, 0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type_4msgq_7ipc_pyx_Event_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_4msgq_7ipc_pyx_Event}, + {Py_tp_methods, (void *)__pyx_methods_4msgq_7ipc_pyx_Event}, + {Py_tp_getset, (void *)__pyx_getsets_4msgq_7ipc_pyx_Event}, + {Py_tp_new, (void *)__pyx_tp_new_4msgq_7ipc_pyx_Event}, + {0, 0}, +}; +static PyType_Spec __pyx_type_4msgq_7ipc_pyx_Event_spec = { + "msgq.ipc_pyx.Event", + sizeof(struct __pyx_obj_4msgq_7ipc_pyx_Event), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE, + __pyx_type_4msgq_7ipc_pyx_Event_slots, +}; +#else + +static PyTypeObject __pyx_type_4msgq_7ipc_pyx_Event = { + PyVarObject_HEAD_INIT(0, 0) + "msgq.ipc_pyx.""Event", /*tp_name*/ + sizeof(struct __pyx_obj_4msgq_7ipc_pyx_Event), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_4msgq_7ipc_pyx_Event, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + 0, /*tp_repr*/ + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE, /*tp_flags*/ + 0, /*tp_doc*/ + 0, /*tp_traverse*/ + 0, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_4msgq_7ipc_pyx_Event, /*tp_methods*/ + 0, /*tp_members*/ + __pyx_getsets_4msgq_7ipc_pyx_Event, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_4msgq_7ipc_pyx_Event, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif + +static PyObject *__pyx_tp_new_4msgq_7ipc_pyx_SocketEventHandle(PyTypeObject *t, PyObject *a, PyObject *k) { + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + if (unlikely(__pyx_pw_4msgq_7ipc_pyx_17SocketEventHandle_1__cinit__(o, a, k) < 0)) goto bad; + return o; + bad: + Py_DECREF(o); o = 0; + return NULL; +} + +static void __pyx_tp_dealloc_4msgq_7ipc_pyx_SocketEventHandle(PyObject *o) { + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && (!PyType_IS_GC(Py_TYPE(o)) || !__Pyx_PyObject_GC_IsFinalized(o))) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_4msgq_7ipc_pyx_SocketEventHandle) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_pw_4msgq_7ipc_pyx_17SocketEventHandle_3__dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} + +static PyObject *__pyx_getprop_4msgq_7ipc_pyx_17SocketEventHandle_enabled(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_4msgq_7ipc_pyx_17SocketEventHandle_7enabled_1__get__(o); +} + +static int __pyx_setprop_4msgq_7ipc_pyx_17SocketEventHandle_enabled(PyObject *o, PyObject *v, CYTHON_UNUSED void *x) { + if (v) { + return __pyx_pw_4msgq_7ipc_pyx_17SocketEventHandle_7enabled_3__set__(o, v); + } + else { + PyErr_SetString(PyExc_NotImplementedError, "__del__"); + return -1; + } +} + +static PyObject *__pyx_getprop_4msgq_7ipc_pyx_17SocketEventHandle_recv_called_event(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_4msgq_7ipc_pyx_17SocketEventHandle_17recv_called_event_1__get__(o); +} + +static PyObject *__pyx_getprop_4msgq_7ipc_pyx_17SocketEventHandle_recv_ready_event(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_4msgq_7ipc_pyx_17SocketEventHandle_16recv_ready_event_1__get__(o); +} + +static PyMethodDef __pyx_methods_4msgq_7ipc_pyx_SocketEventHandle[] = { + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_4msgq_7ipc_pyx_17SocketEventHandle_5__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_4msgq_7ipc_pyx_17SocketEventHandle_7__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; + +static struct PyGetSetDef __pyx_getsets_4msgq_7ipc_pyx_SocketEventHandle[] = { + {(char *)"enabled", __pyx_getprop_4msgq_7ipc_pyx_17SocketEventHandle_enabled, __pyx_setprop_4msgq_7ipc_pyx_17SocketEventHandle_enabled, (char *)0, 0}, + {(char *)"recv_called_event", __pyx_getprop_4msgq_7ipc_pyx_17SocketEventHandle_recv_called_event, 0, (char *)0, 0}, + {(char *)"recv_ready_event", __pyx_getprop_4msgq_7ipc_pyx_17SocketEventHandle_recv_ready_event, 0, (char *)0, 0}, + {0, 0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type_4msgq_7ipc_pyx_SocketEventHandle_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_4msgq_7ipc_pyx_SocketEventHandle}, + {Py_tp_methods, (void *)__pyx_methods_4msgq_7ipc_pyx_SocketEventHandle}, + {Py_tp_getset, (void *)__pyx_getsets_4msgq_7ipc_pyx_SocketEventHandle}, + {Py_tp_new, (void *)__pyx_tp_new_4msgq_7ipc_pyx_SocketEventHandle}, + {0, 0}, +}; +static PyType_Spec __pyx_type_4msgq_7ipc_pyx_SocketEventHandle_spec = { + "msgq.ipc_pyx.SocketEventHandle", + sizeof(struct __pyx_obj_4msgq_7ipc_pyx_SocketEventHandle), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE, + __pyx_type_4msgq_7ipc_pyx_SocketEventHandle_slots, +}; +#else + +static PyTypeObject __pyx_type_4msgq_7ipc_pyx_SocketEventHandle = { + PyVarObject_HEAD_INIT(0, 0) + "msgq.ipc_pyx.""SocketEventHandle", /*tp_name*/ + sizeof(struct __pyx_obj_4msgq_7ipc_pyx_SocketEventHandle), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_4msgq_7ipc_pyx_SocketEventHandle, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + 0, /*tp_repr*/ + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE, /*tp_flags*/ + 0, /*tp_doc*/ + 0, /*tp_traverse*/ + 0, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_4msgq_7ipc_pyx_SocketEventHandle, /*tp_methods*/ + 0, /*tp_members*/ + __pyx_getsets_4msgq_7ipc_pyx_SocketEventHandle, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_4msgq_7ipc_pyx_SocketEventHandle, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif + +static PyObject *__pyx_tp_new_4msgq_7ipc_pyx_Context(PyTypeObject *t, CYTHON_UNUSED PyObject *a, CYTHON_UNUSED PyObject *k) { + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + if (unlikely(__pyx_pw_4msgq_7ipc_pyx_7Context_1__cinit__(o, __pyx_empty_tuple, NULL) < 0)) goto bad; + return o; + bad: + Py_DECREF(o); o = 0; + return NULL; +} + +static void __pyx_tp_dealloc_4msgq_7ipc_pyx_Context(PyObject *o) { + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && (!PyType_IS_GC(Py_TYPE(o)) || !__Pyx_PyObject_GC_IsFinalized(o))) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_4msgq_7ipc_pyx_Context) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_pw_4msgq_7ipc_pyx_7Context_5__dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} + +static PyMethodDef __pyx_methods_4msgq_7ipc_pyx_Context[] = { + {"term", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_4msgq_7ipc_pyx_7Context_3term, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_4msgq_7ipc_pyx_7Context_7__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_4msgq_7ipc_pyx_7Context_9__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type_4msgq_7ipc_pyx_Context_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_4msgq_7ipc_pyx_Context}, + {Py_tp_methods, (void *)__pyx_methods_4msgq_7ipc_pyx_Context}, + {Py_tp_new, (void *)__pyx_tp_new_4msgq_7ipc_pyx_Context}, + {0, 0}, +}; +static PyType_Spec __pyx_type_4msgq_7ipc_pyx_Context_spec = { + "msgq.ipc_pyx.Context", + sizeof(struct __pyx_obj_4msgq_7ipc_pyx_Context), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE, + __pyx_type_4msgq_7ipc_pyx_Context_slots, +}; +#else + +static PyTypeObject __pyx_type_4msgq_7ipc_pyx_Context = { + PyVarObject_HEAD_INIT(0, 0) + "msgq.ipc_pyx.""Context", /*tp_name*/ + sizeof(struct __pyx_obj_4msgq_7ipc_pyx_Context), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_4msgq_7ipc_pyx_Context, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + 0, /*tp_repr*/ + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE, /*tp_flags*/ + 0, /*tp_doc*/ + 0, /*tp_traverse*/ + 0, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_4msgq_7ipc_pyx_Context, /*tp_methods*/ + 0, /*tp_members*/ + 0, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_4msgq_7ipc_pyx_Context, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif + +static PyObject *__pyx_tp_new_4msgq_7ipc_pyx_Poller(PyTypeObject *t, CYTHON_UNUSED PyObject *a, CYTHON_UNUSED PyObject *k) { + struct __pyx_obj_4msgq_7ipc_pyx_Poller *p; + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + p = ((struct __pyx_obj_4msgq_7ipc_pyx_Poller *)o); + p->sub_sockets = ((PyObject*)Py_None); Py_INCREF(Py_None); + if (unlikely(__pyx_pw_4msgq_7ipc_pyx_6Poller_1__cinit__(o, __pyx_empty_tuple, NULL) < 0)) goto bad; + return o; + bad: + Py_DECREF(o); o = 0; + return NULL; +} + +static void __pyx_tp_dealloc_4msgq_7ipc_pyx_Poller(PyObject *o) { + struct __pyx_obj_4msgq_7ipc_pyx_Poller *p = (struct __pyx_obj_4msgq_7ipc_pyx_Poller *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && !__Pyx_PyObject_GC_IsFinalized(o)) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_4msgq_7ipc_pyx_Poller) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + PyObject_GC_UnTrack(o); + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_pw_4msgq_7ipc_pyx_6Poller_3__dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + Py_CLEAR(p->sub_sockets); + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} + +static int __pyx_tp_traverse_4msgq_7ipc_pyx_Poller(PyObject *o, visitproc v, void *a) { + int e; + struct __pyx_obj_4msgq_7ipc_pyx_Poller *p = (struct __pyx_obj_4msgq_7ipc_pyx_Poller *)o; + if (p->sub_sockets) { + e = (*v)(p->sub_sockets, a); if (e) return e; + } + return 0; +} + +static int __pyx_tp_clear_4msgq_7ipc_pyx_Poller(PyObject *o) { + PyObject* tmp; + struct __pyx_obj_4msgq_7ipc_pyx_Poller *p = (struct __pyx_obj_4msgq_7ipc_pyx_Poller *)o; + tmp = ((PyObject*)p->sub_sockets); + p->sub_sockets = ((PyObject*)Py_None); Py_INCREF(Py_None); + Py_XDECREF(tmp); + return 0; +} + +static PyMethodDef __pyx_methods_4msgq_7ipc_pyx_Poller[] = { + {"registerSocket", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_4msgq_7ipc_pyx_6Poller_5registerSocket, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"poll", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_4msgq_7ipc_pyx_6Poller_7poll, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_4msgq_7ipc_pyx_6Poller_9__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_4msgq_7ipc_pyx_6Poller_11__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type_4msgq_7ipc_pyx_Poller_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_4msgq_7ipc_pyx_Poller}, + {Py_tp_traverse, (void *)__pyx_tp_traverse_4msgq_7ipc_pyx_Poller}, + {Py_tp_clear, (void *)__pyx_tp_clear_4msgq_7ipc_pyx_Poller}, + {Py_tp_methods, (void *)__pyx_methods_4msgq_7ipc_pyx_Poller}, + {Py_tp_new, (void *)__pyx_tp_new_4msgq_7ipc_pyx_Poller}, + {0, 0}, +}; +static PyType_Spec __pyx_type_4msgq_7ipc_pyx_Poller_spec = { + "msgq.ipc_pyx.Poller", + sizeof(struct __pyx_obj_4msgq_7ipc_pyx_Poller), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, + __pyx_type_4msgq_7ipc_pyx_Poller_slots, +}; +#else + +static PyTypeObject __pyx_type_4msgq_7ipc_pyx_Poller = { + PyVarObject_HEAD_INIT(0, 0) + "msgq.ipc_pyx.""Poller", /*tp_name*/ + sizeof(struct __pyx_obj_4msgq_7ipc_pyx_Poller), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_4msgq_7ipc_pyx_Poller, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + 0, /*tp_repr*/ + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, /*tp_flags*/ + 0, /*tp_doc*/ + __pyx_tp_traverse_4msgq_7ipc_pyx_Poller, /*tp_traverse*/ + __pyx_tp_clear_4msgq_7ipc_pyx_Poller, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_4msgq_7ipc_pyx_Poller, /*tp_methods*/ + 0, /*tp_members*/ + 0, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_4msgq_7ipc_pyx_Poller, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif +static struct __pyx_vtabstruct_4msgq_7ipc_pyx_SubSocket __pyx_vtable_4msgq_7ipc_pyx_SubSocket; + +static PyObject *__pyx_tp_new_4msgq_7ipc_pyx_SubSocket(PyTypeObject *t, CYTHON_UNUSED PyObject *a, CYTHON_UNUSED PyObject *k) { + struct __pyx_obj_4msgq_7ipc_pyx_SubSocket *p; + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + p = ((struct __pyx_obj_4msgq_7ipc_pyx_SubSocket *)o); + p->__pyx_vtab = __pyx_vtabptr_4msgq_7ipc_pyx_SubSocket; + if (unlikely(__pyx_pw_4msgq_7ipc_pyx_9SubSocket_1__cinit__(o, __pyx_empty_tuple, NULL) < 0)) goto bad; + return o; + bad: + Py_DECREF(o); o = 0; + return NULL; +} + +static void __pyx_tp_dealloc_4msgq_7ipc_pyx_SubSocket(PyObject *o) { + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && (!PyType_IS_GC(Py_TYPE(o)) || !__Pyx_PyObject_GC_IsFinalized(o))) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_4msgq_7ipc_pyx_SubSocket) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_pw_4msgq_7ipc_pyx_9SubSocket_3__dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} + +static PyMethodDef __pyx_methods_4msgq_7ipc_pyx_SubSocket[] = { + {"connect", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_4msgq_7ipc_pyx_9SubSocket_5connect, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"setTimeout", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_4msgq_7ipc_pyx_9SubSocket_7setTimeout, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"receive", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_4msgq_7ipc_pyx_9SubSocket_9receive, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_4msgq_7ipc_pyx_9SubSocket_11__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_4msgq_7ipc_pyx_9SubSocket_13__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type_4msgq_7ipc_pyx_SubSocket_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_4msgq_7ipc_pyx_SubSocket}, + {Py_tp_methods, (void *)__pyx_methods_4msgq_7ipc_pyx_SubSocket}, + {Py_tp_new, (void *)__pyx_tp_new_4msgq_7ipc_pyx_SubSocket}, + {0, 0}, +}; +static PyType_Spec __pyx_type_4msgq_7ipc_pyx_SubSocket_spec = { + "msgq.ipc_pyx.SubSocket", + sizeof(struct __pyx_obj_4msgq_7ipc_pyx_SubSocket), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE, + __pyx_type_4msgq_7ipc_pyx_SubSocket_slots, +}; +#else + +static PyTypeObject __pyx_type_4msgq_7ipc_pyx_SubSocket = { + PyVarObject_HEAD_INIT(0, 0) + "msgq.ipc_pyx.""SubSocket", /*tp_name*/ + sizeof(struct __pyx_obj_4msgq_7ipc_pyx_SubSocket), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_4msgq_7ipc_pyx_SubSocket, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + 0, /*tp_repr*/ + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE, /*tp_flags*/ + 0, /*tp_doc*/ + 0, /*tp_traverse*/ + 0, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_4msgq_7ipc_pyx_SubSocket, /*tp_methods*/ + 0, /*tp_members*/ + 0, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_4msgq_7ipc_pyx_SubSocket, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif + +static PyObject *__pyx_tp_new_4msgq_7ipc_pyx_PubSocket(PyTypeObject *t, CYTHON_UNUSED PyObject *a, CYTHON_UNUSED PyObject *k) { + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + if (unlikely(__pyx_pw_4msgq_7ipc_pyx_9PubSocket_1__cinit__(o, __pyx_empty_tuple, NULL) < 0)) goto bad; + return o; + bad: + Py_DECREF(o); o = 0; + return NULL; +} + +static void __pyx_tp_dealloc_4msgq_7ipc_pyx_PubSocket(PyObject *o) { + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && (!PyType_IS_GC(Py_TYPE(o)) || !__Pyx_PyObject_GC_IsFinalized(o))) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_4msgq_7ipc_pyx_PubSocket) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_pw_4msgq_7ipc_pyx_9PubSocket_3__dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} + +static PyMethodDef __pyx_methods_4msgq_7ipc_pyx_PubSocket[] = { + {"connect", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_4msgq_7ipc_pyx_9PubSocket_5connect, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"send", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_4msgq_7ipc_pyx_9PubSocket_7send, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"all_readers_updated", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_4msgq_7ipc_pyx_9PubSocket_9all_readers_updated, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_4msgq_7ipc_pyx_9PubSocket_11__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_4msgq_7ipc_pyx_9PubSocket_13__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type_4msgq_7ipc_pyx_PubSocket_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_4msgq_7ipc_pyx_PubSocket}, + {Py_tp_methods, (void *)__pyx_methods_4msgq_7ipc_pyx_PubSocket}, + {Py_tp_new, (void *)__pyx_tp_new_4msgq_7ipc_pyx_PubSocket}, + {0, 0}, +}; +static PyType_Spec __pyx_type_4msgq_7ipc_pyx_PubSocket_spec = { + "msgq.ipc_pyx.PubSocket", + sizeof(struct __pyx_obj_4msgq_7ipc_pyx_PubSocket), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE, + __pyx_type_4msgq_7ipc_pyx_PubSocket_slots, +}; +#else + +static PyTypeObject __pyx_type_4msgq_7ipc_pyx_PubSocket = { + PyVarObject_HEAD_INIT(0, 0) + "msgq.ipc_pyx.""PubSocket", /*tp_name*/ + sizeof(struct __pyx_obj_4msgq_7ipc_pyx_PubSocket), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_4msgq_7ipc_pyx_PubSocket, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + 0, /*tp_repr*/ + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE, /*tp_flags*/ + 0, /*tp_doc*/ + 0, /*tp_traverse*/ + 0, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, 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+ assert(type == NULL || (value != NULL && type == (PyObject*) Py_TYPE(value))); + if (value) { + #if CYTHON_COMPILING_IN_CPYTHON + if (unlikely(((PyBaseExceptionObject*) value)->traceback != tb)) + #endif + PyException_SetTraceback(value, tb); + } + tmp_value = tstate->current_exception; + tstate->current_exception = value; + Py_XDECREF(tmp_value); + Py_XDECREF(type); + Py_XDECREF(tb); +#else + PyObject *tmp_type, *tmp_value, *tmp_tb; + tmp_type = tstate->curexc_type; + tmp_value = tstate->curexc_value; + tmp_tb = tstate->curexc_traceback; + tstate->curexc_type = type; + tstate->curexc_value = value; + tstate->curexc_traceback = tb; + Py_XDECREF(tmp_type); + Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); +#endif +} +static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { +#if PY_VERSION_HEX >= 0x030C00A6 + PyObject* exc_value; + exc_value = tstate->current_exception; + tstate->current_exception = 0; + *value = exc_value; + *type = NULL; + *tb = NULL; + if (exc_value) { + *type = (PyObject*) Py_TYPE(exc_value); + Py_INCREF(*type); + #if CYTHON_COMPILING_IN_CPYTHON + *tb = ((PyBaseExceptionObject*) exc_value)->traceback; + Py_XINCREF(*tb); + #else + *tb = PyException_GetTraceback(exc_value); + #endif + } +#else + *type = tstate->curexc_type; + *value = tstate->curexc_value; + *tb = tstate->curexc_traceback; + tstate->curexc_type = 0; + tstate->curexc_value = 0; + tstate->curexc_traceback = 0; +#endif +} +#endif + +/* PyObjectGetAttrStr */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStr(PyObject* obj, PyObject* attr_name) { + PyTypeObject* tp = Py_TYPE(obj); + if (likely(tp->tp_getattro)) + return tp->tp_getattro(obj, attr_name); +#if PY_MAJOR_VERSION < 3 + if (likely(tp->tp_getattr)) + return tp->tp_getattr(obj, PyString_AS_STRING(attr_name)); +#endif + return PyObject_GetAttr(obj, attr_name); +} +#endif + +/* PyObjectGetAttrStrNoError */ +#if __PYX_LIMITED_VERSION_HEX < 0x030d00A1 +static void __Pyx_PyObject_GetAttrStr_ClearAttributeError(void) { + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + if (likely(__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) + __Pyx_PyErr_Clear(); +} +#endif +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name) { + PyObject *result; +#if __PYX_LIMITED_VERSION_HEX >= 0x030d00A1 + (void) PyObject_GetOptionalAttr(obj, attr_name, &result); + return result; +#else +#if CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_TYPE_SLOTS && PY_VERSION_HEX >= 0x030700B1 + PyTypeObject* tp = Py_TYPE(obj); + if (likely(tp->tp_getattro == PyObject_GenericGetAttr)) { + return _PyObject_GenericGetAttrWithDict(obj, attr_name, NULL, 1); + } +#endif + result = __Pyx_PyObject_GetAttrStr(obj, attr_name); + if (unlikely(!result)) { + __Pyx_PyObject_GetAttrStr_ClearAttributeError(); + } + return result; +#endif +} + +/* GetBuiltinName */ +static PyObject *__Pyx_GetBuiltinName(PyObject *name) { + PyObject* result = __Pyx_PyObject_GetAttrStrNoError(__pyx_b, name); + if (unlikely(!result) && !PyErr_Occurred()) { + PyErr_Format(PyExc_NameError, +#if PY_MAJOR_VERSION >= 3 + "name '%U' is not defined", name); +#else + "name '%.200s' is not defined", PyString_AS_STRING(name)); +#endif + } + return result; +} + +/* TupleAndListFromArray */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE void __Pyx_copy_object_array(PyObject *const *CYTHON_RESTRICT src, PyObject** CYTHON_RESTRICT dest, Py_ssize_t length) { + PyObject *v; + Py_ssize_t i; + for (i = 0; i < length; i++) { + v = dest[i] = src[i]; + Py_INCREF(v); + } +} +static CYTHON_INLINE PyObject * +__Pyx_PyTuple_FromArray(PyObject *const *src, Py_ssize_t n) +{ + PyObject *res; + if (n <= 0) { + Py_INCREF(__pyx_empty_tuple); + return __pyx_empty_tuple; + } + res = PyTuple_New(n); + if (unlikely(res == NULL)) return NULL; + __Pyx_copy_object_array(src, ((PyTupleObject*)res)->ob_item, n); + return res; +} +static CYTHON_INLINE PyObject * +__Pyx_PyList_FromArray(PyObject *const *src, Py_ssize_t n) +{ + PyObject *res; + if (n <= 0) { + return PyList_New(0); + } + res = PyList_New(n); + if (unlikely(res == NULL)) return NULL; + __Pyx_copy_object_array(src, ((PyListObject*)res)->ob_item, n); + return res; +} +#endif + +/* BytesEquals */ +static CYTHON_INLINE int __Pyx_PyBytes_Equals(PyObject* s1, PyObject* s2, int equals) { +#if CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API + return PyObject_RichCompareBool(s1, s2, equals); +#else + if (s1 == s2) { + return (equals == Py_EQ); + } else if (PyBytes_CheckExact(s1) & PyBytes_CheckExact(s2)) { + const char *ps1, *ps2; + Py_ssize_t length = PyBytes_GET_SIZE(s1); + if (length != PyBytes_GET_SIZE(s2)) + return (equals == Py_NE); + ps1 = PyBytes_AS_STRING(s1); + ps2 = PyBytes_AS_STRING(s2); + if (ps1[0] != ps2[0]) { + return (equals == Py_NE); + } else if (length == 1) { + return (equals == Py_EQ); + } else { + int result; +#if CYTHON_USE_UNICODE_INTERNALS && (PY_VERSION_HEX < 0x030B0000) + Py_hash_t hash1, hash2; + hash1 = ((PyBytesObject*)s1)->ob_shash; + hash2 = ((PyBytesObject*)s2)->ob_shash; + if (hash1 != hash2 && hash1 != -1 && hash2 != -1) { + return (equals == Py_NE); + } +#endif + result = memcmp(ps1, ps2, (size_t)length); + return (equals == Py_EQ) ? (result == 0) : (result != 0); + } + } else if ((s1 == Py_None) & PyBytes_CheckExact(s2)) { + return (equals == Py_NE); + } else if ((s2 == Py_None) & PyBytes_CheckExact(s1)) { + return (equals == Py_NE); + } else { + int result; + PyObject* py_result = PyObject_RichCompare(s1, s2, equals); + if (!py_result) + return -1; + result = __Pyx_PyObject_IsTrue(py_result); + Py_DECREF(py_result); + return result; + } +#endif +} + +/* UnicodeEquals */ +static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int equals) { +#if CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API + return PyObject_RichCompareBool(s1, s2, equals); +#else +#if PY_MAJOR_VERSION < 3 + PyObject* owned_ref = NULL; +#endif + int s1_is_unicode, s2_is_unicode; + if (s1 == s2) { + goto return_eq; + } + s1_is_unicode = PyUnicode_CheckExact(s1); + s2_is_unicode = PyUnicode_CheckExact(s2); +#if PY_MAJOR_VERSION < 3 + if ((s1_is_unicode & (!s2_is_unicode)) && PyString_CheckExact(s2)) { + owned_ref = PyUnicode_FromObject(s2); + if (unlikely(!owned_ref)) + return -1; + s2 = owned_ref; + s2_is_unicode = 1; + } else if ((s2_is_unicode & (!s1_is_unicode)) && PyString_CheckExact(s1)) { + owned_ref = PyUnicode_FromObject(s1); + if (unlikely(!owned_ref)) + return -1; + s1 = owned_ref; + s1_is_unicode = 1; + } else if (((!s2_is_unicode) & (!s1_is_unicode))) { + return __Pyx_PyBytes_Equals(s1, s2, equals); + } +#endif + if (s1_is_unicode & s2_is_unicode) { + Py_ssize_t length; + int kind; + void *data1, *data2; + if (unlikely(__Pyx_PyUnicode_READY(s1) < 0) || unlikely(__Pyx_PyUnicode_READY(s2) < 0)) + return -1; + length = __Pyx_PyUnicode_GET_LENGTH(s1); + if (length != __Pyx_PyUnicode_GET_LENGTH(s2)) { + goto return_ne; + } +#if CYTHON_USE_UNICODE_INTERNALS + { + Py_hash_t hash1, hash2; + #if CYTHON_PEP393_ENABLED + hash1 = ((PyASCIIObject*)s1)->hash; + hash2 = ((PyASCIIObject*)s2)->hash; + #else + hash1 = ((PyUnicodeObject*)s1)->hash; + hash2 = ((PyUnicodeObject*)s2)->hash; + #endif + if (hash1 != hash2 && hash1 != -1 && hash2 != -1) { + goto return_ne; + } + } +#endif + kind = __Pyx_PyUnicode_KIND(s1); + if (kind != __Pyx_PyUnicode_KIND(s2)) { + goto return_ne; + } + data1 = __Pyx_PyUnicode_DATA(s1); + data2 = __Pyx_PyUnicode_DATA(s2); + if (__Pyx_PyUnicode_READ(kind, data1, 0) != __Pyx_PyUnicode_READ(kind, data2, 0)) { + goto return_ne; + } else if (length == 1) { + goto return_eq; + } else { + int result = memcmp(data1, data2, (size_t)(length * kind)); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_EQ) ? (result == 0) : (result != 0); + } + } else if ((s1 == Py_None) & s2_is_unicode) { + goto return_ne; + } else if ((s2 == Py_None) & s1_is_unicode) { + goto return_ne; + } else { + int result; + PyObject* py_result = PyObject_RichCompare(s1, s2, equals); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + if (!py_result) + return -1; + result = __Pyx_PyObject_IsTrue(py_result); + Py_DECREF(py_result); + return result; + } +return_eq: + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_EQ); +return_ne: + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_NE); +#endif +} + +/* fastcall */ +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE PyObject * __Pyx_GetKwValue_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues, PyObject *s) +{ + Py_ssize_t i, n = PyTuple_GET_SIZE(kwnames); + for (i = 0; i < n; i++) + { + if (s == PyTuple_GET_ITEM(kwnames, i)) return kwvalues[i]; + } + for (i = 0; i < n; i++) + { + int eq = __Pyx_PyUnicode_Equals(s, PyTuple_GET_ITEM(kwnames, i), Py_EQ); + if (unlikely(eq != 0)) { + if (unlikely(eq < 0)) return NULL; + return kwvalues[i]; + } + } + return NULL; +} +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 +CYTHON_UNUSED static PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues) { + Py_ssize_t i, nkwargs = PyTuple_GET_SIZE(kwnames); + PyObject *dict; + dict = PyDict_New(); + if (unlikely(!dict)) + return NULL; + for (i=0; i= 3 + "%s() got multiple values for keyword argument '%U'", func_name, kw_name); + #else + "%s() got multiple values for keyword argument '%s'", func_name, + PyString_AsString(kw_name)); + #endif +} + +/* ParseKeywords */ +static int __Pyx_ParseOptionalKeywords( + PyObject *kwds, + PyObject *const *kwvalues, + PyObject **argnames[], + PyObject *kwds2, + PyObject *values[], + Py_ssize_t num_pos_args, + const char* function_name) +{ + PyObject *key = 0, *value = 0; + Py_ssize_t pos = 0; + PyObject*** name; + PyObject*** first_kw_arg = argnames + num_pos_args; + int kwds_is_tuple = CYTHON_METH_FASTCALL && likely(PyTuple_Check(kwds)); + while (1) { + Py_XDECREF(key); key = NULL; + Py_XDECREF(value); value = NULL; + if (kwds_is_tuple) { + Py_ssize_t size; +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(kwds); +#else + size = PyTuple_Size(kwds); + if (size < 0) goto bad; +#endif + if (pos >= size) break; +#if CYTHON_AVOID_BORROWED_REFS + key = __Pyx_PySequence_ITEM(kwds, pos); + if (!key) goto bad; +#elif CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kwds, pos); +#else + key = PyTuple_GetItem(kwds, pos); + if (!key) goto bad; +#endif + value = kwvalues[pos]; + pos++; + } + else + { + if (!PyDict_Next(kwds, &pos, &key, &value)) break; +#if CYTHON_AVOID_BORROWED_REFS + Py_INCREF(key); +#endif + } + name = first_kw_arg; + while (*name && (**name != key)) name++; + if (*name) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + Py_INCREF(value); + Py_DECREF(key); +#endif + key = NULL; + value = NULL; + continue; + } +#if !CYTHON_AVOID_BORROWED_REFS + Py_INCREF(key); +#endif + Py_INCREF(value); + name = first_kw_arg; + #if PY_MAJOR_VERSION < 3 + if (likely(PyString_Check(key))) { + while (*name) { + if ((CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**name) == PyString_GET_SIZE(key)) + && _PyString_Eq(**name, key)) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + value = NULL; +#endif + break; + } + name++; + } + if (*name) continue; + else { + PyObject*** argname = argnames; + while (argname != first_kw_arg) { + if ((**argname == key) || ( + (CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**argname) == PyString_GET_SIZE(key)) + && _PyString_Eq(**argname, key))) { + goto arg_passed_twice; + } + argname++; + } + } + } else + #endif + if (likely(PyUnicode_Check(key))) { + while (*name) { + int cmp = ( + #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 + (__Pyx_PyUnicode_GET_LENGTH(**name) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : + #endif + PyUnicode_Compare(**name, key) + ); + if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; + if (cmp == 0) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + value = NULL; +#endif + break; + } + name++; + } + if (*name) continue; + else { + PyObject*** argname = argnames; + while (argname != first_kw_arg) { + int cmp = (**argname == key) ? 0 : + #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 + (__Pyx_PyUnicode_GET_LENGTH(**argname) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : + #endif + PyUnicode_Compare(**argname, key); + if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; + if (cmp == 0) goto arg_passed_twice; + argname++; + } + } + } else + goto invalid_keyword_type; + if (kwds2) { + if (unlikely(PyDict_SetItem(kwds2, key, value))) goto bad; + } else { + goto invalid_keyword; + } + } + Py_XDECREF(key); + Py_XDECREF(value); + return 0; +arg_passed_twice: + __Pyx_RaiseDoubleKeywordsError(function_name, key); + goto bad; +invalid_keyword_type: + PyErr_Format(PyExc_TypeError, + "%.200s() keywords must be strings", function_name); + goto bad; +invalid_keyword: + #if PY_MAJOR_VERSION < 3 + PyErr_Format(PyExc_TypeError, + "%.200s() got an unexpected keyword argument '%.200s'", + function_name, PyString_AsString(key)); + #else + PyErr_Format(PyExc_TypeError, + "%s() got an unexpected keyword argument '%U'", + function_name, key); + #endif +bad: + Py_XDECREF(key); + Py_XDECREF(value); + return -1; +} + +/* RaiseArgTupleInvalid */ +static void __Pyx_RaiseArgtupleInvalid( + const char* func_name, + int exact, + Py_ssize_t num_min, + Py_ssize_t num_max, + Py_ssize_t num_found) +{ + Py_ssize_t num_expected; + const char *more_or_less; + if (num_found < num_min) { + num_expected = num_min; + more_or_less = "at least"; + } else { + num_expected = num_max; + more_or_less = "at most"; + } + if (exact) { + more_or_less = "exactly"; + } + PyErr_Format(PyExc_TypeError, + "%.200s() takes %.8s %" CYTHON_FORMAT_SSIZE_T "d positional argument%.1s (%" CYTHON_FORMAT_SSIZE_T "d given)", + func_name, more_or_less, num_expected, + (num_expected == 1) ? "" : "s", num_found); +} + +/* PyFunctionFastCall */ +#if CYTHON_FAST_PYCALL && !CYTHON_VECTORCALL +static PyObject* __Pyx_PyFunction_FastCallNoKw(PyCodeObject *co, PyObject **args, Py_ssize_t na, + PyObject *globals) { + PyFrameObject *f; + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject **fastlocals; + Py_ssize_t i; + PyObject *result; + assert(globals != NULL); + /* XXX Perhaps we should create a specialized + PyFrame_New() that doesn't take locals, but does + take builtins without sanity checking them. + */ + assert(tstate != NULL); + f = PyFrame_New(tstate, co, globals, NULL); + if (f == NULL) { + return NULL; + } + fastlocals = __Pyx_PyFrame_GetLocalsplus(f); + for (i = 0; i < na; i++) { + Py_INCREF(*args); + fastlocals[i] = *args++; + } + result = PyEval_EvalFrameEx(f,0); + ++tstate->recursion_depth; + Py_DECREF(f); + --tstate->recursion_depth; + return result; +} +static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs) { + PyCodeObject *co = (PyCodeObject *)PyFunction_GET_CODE(func); + PyObject *globals = PyFunction_GET_GLOBALS(func); + PyObject *argdefs = PyFunction_GET_DEFAULTS(func); + PyObject *closure; +#if PY_MAJOR_VERSION >= 3 + PyObject *kwdefs; +#endif + PyObject *kwtuple, **k; + PyObject **d; + Py_ssize_t nd; + Py_ssize_t nk; + PyObject *result; + assert(kwargs == NULL || PyDict_Check(kwargs)); + nk = kwargs ? PyDict_Size(kwargs) : 0; + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) { + return NULL; + } + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) { + return NULL; + } + #endif + if ( +#if PY_MAJOR_VERSION >= 3 + co->co_kwonlyargcount == 0 && +#endif + likely(kwargs == NULL || nk == 0) && + co->co_flags == (CO_OPTIMIZED | CO_NEWLOCALS | CO_NOFREE)) { + if (argdefs == NULL && co->co_argcount == nargs) { + result = __Pyx_PyFunction_FastCallNoKw(co, args, nargs, globals); + goto done; + } + else if (nargs == 0 && argdefs != NULL + && co->co_argcount == Py_SIZE(argdefs)) { + /* function called with no arguments, but all parameters have + a default value: use default values as arguments .*/ + args = &PyTuple_GET_ITEM(argdefs, 0); + result =__Pyx_PyFunction_FastCallNoKw(co, args, Py_SIZE(argdefs), globals); + goto done; + } + } + if (kwargs != NULL) { + Py_ssize_t pos, i; + kwtuple = PyTuple_New(2 * nk); + if (kwtuple == NULL) { + result = NULL; + goto done; + } + k = &PyTuple_GET_ITEM(kwtuple, 0); + pos = i = 0; + while (PyDict_Next(kwargs, &pos, &k[i], &k[i+1])) { + Py_INCREF(k[i]); + Py_INCREF(k[i+1]); + i += 2; + } + nk = i / 2; + } + else { + kwtuple = NULL; + k = NULL; + } + closure = PyFunction_GET_CLOSURE(func); +#if PY_MAJOR_VERSION >= 3 + kwdefs = PyFunction_GET_KW_DEFAULTS(func); +#endif + if (argdefs != NULL) { + d = &PyTuple_GET_ITEM(argdefs, 0); + nd = Py_SIZE(argdefs); + } + else { + d = NULL; + nd = 0; + } +#if PY_MAJOR_VERSION >= 3 + result = PyEval_EvalCodeEx((PyObject*)co, globals, (PyObject *)NULL, + args, (int)nargs, + k, (int)nk, + d, (int)nd, kwdefs, closure); +#else + result = PyEval_EvalCodeEx(co, globals, (PyObject *)NULL, + args, (int)nargs, + k, (int)nk, + d, (int)nd, closure); +#endif + Py_XDECREF(kwtuple); +done: + Py_LeaveRecursiveCall(); + return result; +} +#endif + +/* PyObjectCall */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw) { + PyObject *result; + ternaryfunc call = Py_TYPE(func)->tp_call; + if (unlikely(!call)) + return PyObject_Call(func, arg, kw); + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) + return NULL; + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) + return NULL; + #endif + result = (*call)(func, arg, kw); + Py_LeaveRecursiveCall(); + if (unlikely(!result) && unlikely(!PyErr_Occurred())) { + PyErr_SetString( + PyExc_SystemError, + "NULL result without error in PyObject_Call"); + } + return result; +} +#endif + +/* PyObjectCallMethO */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg) { + PyObject *self, *result; + PyCFunction cfunc; + cfunc = __Pyx_CyOrPyCFunction_GET_FUNCTION(func); + self = __Pyx_CyOrPyCFunction_GET_SELF(func); + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) + return NULL; + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) + return NULL; + #endif + result = cfunc(self, arg); + Py_LeaveRecursiveCall(); + if (unlikely(!result) && unlikely(!PyErr_Occurred())) { + PyErr_SetString( + PyExc_SystemError, + "NULL result without error in PyObject_Call"); + } + return result; +} +#endif + +/* PyObjectFastCall */ +#if PY_VERSION_HEX < 0x03090000 || CYTHON_COMPILING_IN_LIMITED_API +static PyObject* __Pyx_PyObject_FastCall_fallback(PyObject *func, PyObject **args, size_t nargs, PyObject *kwargs) { + PyObject *argstuple; + PyObject *result = 0; + size_t i; + argstuple = PyTuple_New((Py_ssize_t)nargs); + if (unlikely(!argstuple)) return NULL; + for (i = 0; i < nargs; i++) { + Py_INCREF(args[i]); + if (__Pyx_PyTuple_SET_ITEM(argstuple, (Py_ssize_t)i, args[i]) < 0) goto bad; + } + result = __Pyx_PyObject_Call(func, argstuple, kwargs); + bad: + Py_DECREF(argstuple); + return result; +} +#endif +static CYTHON_INLINE PyObject* __Pyx_PyObject_FastCallDict(PyObject *func, PyObject **args, size_t _nargs, PyObject *kwargs) { + Py_ssize_t nargs = __Pyx_PyVectorcall_NARGS(_nargs); +#if CYTHON_COMPILING_IN_CPYTHON + if (nargs == 0 && kwargs == NULL) { + if (__Pyx_CyOrPyCFunction_Check(func) && likely( __Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_NOARGS)) + return __Pyx_PyObject_CallMethO(func, NULL); + } + else if (nargs == 1 && kwargs == NULL) { + if (__Pyx_CyOrPyCFunction_Check(func) && likely( __Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_O)) + return __Pyx_PyObject_CallMethO(func, args[0]); + } +#endif + #if PY_VERSION_HEX < 0x030800B1 + #if CYTHON_FAST_PYCCALL + if (PyCFunction_Check(func)) { + if (kwargs) { + return _PyCFunction_FastCallDict(func, args, nargs, kwargs); + } else { + return _PyCFunction_FastCallKeywords(func, args, nargs, NULL); + } + } + #if PY_VERSION_HEX >= 0x030700A1 + if (!kwargs && __Pyx_IS_TYPE(func, &PyMethodDescr_Type)) { + return _PyMethodDescr_FastCallKeywords(func, args, nargs, NULL); + } + #endif + #endif + #if CYTHON_FAST_PYCALL + if (PyFunction_Check(func)) { + return __Pyx_PyFunction_FastCallDict(func, args, nargs, kwargs); + } + #endif + #endif + if (kwargs == NULL) { + #if CYTHON_VECTORCALL + #if PY_VERSION_HEX < 0x03090000 + vectorcallfunc f = _PyVectorcall_Function(func); + #else + vectorcallfunc f = PyVectorcall_Function(func); + #endif + if (f) { + return f(func, args, (size_t)nargs, NULL); + } + #elif defined(__Pyx_CyFunction_USED) && CYTHON_BACKPORT_VECTORCALL + if (__Pyx_CyFunction_CheckExact(func)) { + __pyx_vectorcallfunc f = __Pyx_CyFunction_func_vectorcall(func); + if (f) return f(func, args, (size_t)nargs, NULL); + } + #endif + } + if (nargs == 0) { + return __Pyx_PyObject_Call(func, __pyx_empty_tuple, kwargs); + } + #if PY_VERSION_HEX >= 0x03090000 && !CYTHON_COMPILING_IN_LIMITED_API + return PyObject_VectorcallDict(func, args, (size_t)nargs, kwargs); + #else + return __Pyx_PyObject_FastCall_fallback(func, args, (size_t)nargs, kwargs); + #endif +} + +/* PyUnicode_Unicode */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_Unicode(PyObject *obj) { + if (unlikely(obj == Py_None)) + obj = __pyx_kp_u_None; + return __Pyx_NewRef(obj); +} + +/* decode_c_string */ +static CYTHON_INLINE PyObject* __Pyx_decode_c_string( + const char* cstring, Py_ssize_t start, Py_ssize_t stop, + const char* encoding, const char* errors, + PyObject* (*decode_func)(const char *s, Py_ssize_t size, const char *errors)) { + Py_ssize_t length; + if (unlikely((start < 0) | (stop < 0))) { + size_t slen = strlen(cstring); + if (unlikely(slen > (size_t) PY_SSIZE_T_MAX)) { + PyErr_SetString(PyExc_OverflowError, + "c-string too long to convert to Python"); + return NULL; + } + length = (Py_ssize_t) slen; + if (start < 0) { + start += length; + if (start < 0) + start = 0; + } + if (stop < 0) + stop += length; + } + if (unlikely(stop <= start)) + return __Pyx_NewRef(__pyx_empty_unicode); + length = stop - start; + cstring += start; + if (decode_func) { + return decode_func(cstring, length, errors); + } else { + return PyUnicode_Decode(cstring, length, encoding, errors); + } +} + +/* JoinPyUnicode */ +static PyObject* __Pyx_PyUnicode_Join(PyObject* value_tuple, Py_ssize_t value_count, Py_ssize_t result_ulength, + Py_UCS4 max_char) { +#if CYTHON_USE_UNICODE_INTERNALS && CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + PyObject *result_uval; + int result_ukind, kind_shift; + Py_ssize_t i, char_pos; + void *result_udata; + CYTHON_MAYBE_UNUSED_VAR(max_char); +#if CYTHON_PEP393_ENABLED + result_uval = PyUnicode_New(result_ulength, max_char); + if (unlikely(!result_uval)) return NULL; + result_ukind = (max_char <= 255) ? PyUnicode_1BYTE_KIND : (max_char <= 65535) ? PyUnicode_2BYTE_KIND : PyUnicode_4BYTE_KIND; + kind_shift = (result_ukind == PyUnicode_4BYTE_KIND) ? 2 : result_ukind - 1; + result_udata = PyUnicode_DATA(result_uval); +#else + result_uval = PyUnicode_FromUnicode(NULL, result_ulength); + if (unlikely(!result_uval)) return NULL; + result_ukind = sizeof(Py_UNICODE); + kind_shift = (result_ukind == 4) ? 2 : result_ukind - 1; + result_udata = PyUnicode_AS_UNICODE(result_uval); +#endif + assert(kind_shift == 2 || kind_shift == 1 || kind_shift == 0); + char_pos = 0; + for (i=0; i < value_count; i++) { + int ukind; + Py_ssize_t ulength; + void *udata; + PyObject *uval = PyTuple_GET_ITEM(value_tuple, i); + if (unlikely(__Pyx_PyUnicode_READY(uval))) + goto bad; + ulength = __Pyx_PyUnicode_GET_LENGTH(uval); + if (unlikely(!ulength)) + continue; + if (unlikely((PY_SSIZE_T_MAX >> kind_shift) - ulength < char_pos)) + goto overflow; + ukind = __Pyx_PyUnicode_KIND(uval); + udata = __Pyx_PyUnicode_DATA(uval); + if (!CYTHON_PEP393_ENABLED || ukind == result_ukind) { + memcpy((char *)result_udata + (char_pos << kind_shift), udata, (size_t) (ulength << kind_shift)); + } else { + #if PY_VERSION_HEX >= 0x030d0000 + if (unlikely(PyUnicode_CopyCharacters(result_uval, char_pos, uval, 0, ulength) < 0)) goto bad; + #elif CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030300F0 || defined(_PyUnicode_FastCopyCharacters) + _PyUnicode_FastCopyCharacters(result_uval, char_pos, uval, 0, ulength); + #else + Py_ssize_t j; + for (j=0; j < ulength; j++) { + Py_UCS4 uchar = __Pyx_PyUnicode_READ(ukind, udata, j); + __Pyx_PyUnicode_WRITE(result_ukind, result_udata, char_pos+j, uchar); + } + #endif + } + char_pos += ulength; + } + return result_uval; +overflow: + PyErr_SetString(PyExc_OverflowError, "join() result is too long for a Python string"); +bad: + Py_DECREF(result_uval); + return NULL; +#else + CYTHON_UNUSED_VAR(max_char); + CYTHON_UNUSED_VAR(result_ulength); + CYTHON_UNUSED_VAR(value_count); + return PyUnicode_Join(__pyx_empty_unicode, value_tuple); +#endif +} + +/* ArgTypeTest */ +static int __Pyx__ArgTypeTest(PyObject *obj, PyTypeObject *type, const char *name, int exact) +{ + __Pyx_TypeName type_name; + __Pyx_TypeName obj_type_name; + if (unlikely(!type)) { + PyErr_SetString(PyExc_SystemError, "Missing type object"); + return 0; + } + else if (exact) { + #if PY_MAJOR_VERSION == 2 + if ((type == &PyBaseString_Type) && likely(__Pyx_PyBaseString_CheckExact(obj))) return 1; + #endif + } + else { + if (likely(__Pyx_TypeCheck(obj, type))) return 1; + } + type_name = __Pyx_PyType_GetName(type); + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, + "Argument '%.200s' has incorrect type (expected " __Pyx_FMT_TYPENAME + ", got " __Pyx_FMT_TYPENAME ")", name, type_name, obj_type_name); + __Pyx_DECREF_TypeName(type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return 0; +} + +/* KeywordStringCheck */ +static int __Pyx_CheckKeywordStrings( + PyObject *kw, + const char* function_name, + int kw_allowed) +{ + PyObject* key = 0; + Py_ssize_t pos = 0; +#if CYTHON_COMPILING_IN_PYPY + if (!kw_allowed && PyDict_Next(kw, &pos, &key, 0)) + goto invalid_keyword; + return 1; +#else + if (CYTHON_METH_FASTCALL && likely(PyTuple_Check(kw))) { + Py_ssize_t kwsize; +#if CYTHON_ASSUME_SAFE_MACROS + kwsize = PyTuple_GET_SIZE(kw); +#else + kwsize = PyTuple_Size(kw); + if (kwsize < 0) return 0; +#endif + if (unlikely(kwsize == 0)) + return 1; + if (!kw_allowed) { +#if CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kw, 0); +#else + key = PyTuple_GetItem(kw, pos); + if (!key) return 0; +#endif + goto invalid_keyword; + } +#if PY_VERSION_HEX < 0x03090000 + for (pos = 0; pos < kwsize; pos++) { +#if CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kw, pos); +#else + key = PyTuple_GetItem(kw, pos); + if (!key) return 0; +#endif + if (unlikely(!PyUnicode_Check(key))) + goto invalid_keyword_type; + } +#endif + return 1; + } + while (PyDict_Next(kw, &pos, &key, 0)) { + #if PY_MAJOR_VERSION < 3 + if (unlikely(!PyString_Check(key))) + #endif + if (unlikely(!PyUnicode_Check(key))) + goto invalid_keyword_type; + } + if (!kw_allowed && unlikely(key)) + goto invalid_keyword; + return 1; +invalid_keyword_type: + PyErr_Format(PyExc_TypeError, + "%.200s() keywords must be strings", function_name); + return 0; +#endif +invalid_keyword: + #if PY_MAJOR_VERSION < 3 + PyErr_Format(PyExc_TypeError, + "%.200s() got an unexpected keyword argument '%.200s'", + function_name, PyString_AsString(key)); + #else + PyErr_Format(PyExc_TypeError, + "%s() got an unexpected keyword argument '%U'", + function_name, key); + #endif + return 0; +} + +/* RaiseException */ +#if PY_MAJOR_VERSION < 3 +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) { + __Pyx_PyThreadState_declare + CYTHON_UNUSED_VAR(cause); + Py_XINCREF(type); + if (!value || value == Py_None) + value = NULL; + else + Py_INCREF(value); + if (!tb || tb == Py_None) + tb = NULL; + else { + Py_INCREF(tb); + if (!PyTraceBack_Check(tb)) { + PyErr_SetString(PyExc_TypeError, + "raise: arg 3 must be a traceback or None"); + goto raise_error; + } + } + if (PyType_Check(type)) { +#if CYTHON_COMPILING_IN_PYPY + if (!value) { + Py_INCREF(Py_None); + value = Py_None; + } +#endif + PyErr_NormalizeException(&type, &value, &tb); + } else { + if (value) { + PyErr_SetString(PyExc_TypeError, + "instance exception may not have a separate value"); + goto raise_error; + } + value = type; + type = (PyObject*) Py_TYPE(type); + Py_INCREF(type); + if (!PyType_IsSubtype((PyTypeObject *)type, (PyTypeObject *)PyExc_BaseException)) { + PyErr_SetString(PyExc_TypeError, + "raise: exception class must be a subclass of BaseException"); + goto raise_error; + } + } + __Pyx_PyThreadState_assign + __Pyx_ErrRestore(type, value, tb); + return; +raise_error: + Py_XDECREF(value); + Py_XDECREF(type); + Py_XDECREF(tb); + return; +} +#else +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) { + PyObject* owned_instance = NULL; + if (tb == Py_None) { + tb = 0; + } else if (tb && !PyTraceBack_Check(tb)) { + PyErr_SetString(PyExc_TypeError, + "raise: arg 3 must be a traceback or None"); + goto bad; + } + if (value == Py_None) + value = 0; + if (PyExceptionInstance_Check(type)) { + if (value) { + PyErr_SetString(PyExc_TypeError, + "instance exception may not have a separate value"); + goto bad; + } + value = type; + type = (PyObject*) Py_TYPE(value); + } else if (PyExceptionClass_Check(type)) { + PyObject *instance_class = NULL; + if (value && PyExceptionInstance_Check(value)) { + instance_class = (PyObject*) Py_TYPE(value); + if (instance_class != type) { + int is_subclass = PyObject_IsSubclass(instance_class, type); + if (!is_subclass) { + instance_class = NULL; + } else if (unlikely(is_subclass == -1)) { + goto bad; + } else { + type = instance_class; + } + } + } + if (!instance_class) { + PyObject *args; + if (!value) + args = PyTuple_New(0); + else if (PyTuple_Check(value)) { + Py_INCREF(value); + args = value; + } else + args = PyTuple_Pack(1, value); + if (!args) + goto bad; + owned_instance = PyObject_Call(type, args, NULL); + Py_DECREF(args); + if (!owned_instance) + goto bad; + value = owned_instance; + if (!PyExceptionInstance_Check(value)) { + PyErr_Format(PyExc_TypeError, + "calling %R should have returned an instance of " + "BaseException, not %R", + type, Py_TYPE(value)); + goto bad; + } + } + } else { + PyErr_SetString(PyExc_TypeError, + "raise: exception class must be a subclass of BaseException"); + goto bad; + } + if (cause) { + PyObject *fixed_cause; + if (cause == Py_None) { + fixed_cause = NULL; + } else if (PyExceptionClass_Check(cause)) { + fixed_cause = PyObject_CallObject(cause, NULL); + if (fixed_cause == NULL) + goto bad; + } else if (PyExceptionInstance_Check(cause)) { + fixed_cause = cause; + Py_INCREF(fixed_cause); + } else { + PyErr_SetString(PyExc_TypeError, + "exception causes must derive from " + "BaseException"); + goto bad; + } + PyException_SetCause(value, fixed_cause); + } + PyErr_SetObject(type, value); + if (tb) { + #if PY_VERSION_HEX >= 0x030C00A6 + PyException_SetTraceback(value, tb); + #elif CYTHON_FAST_THREAD_STATE + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject* tmp_tb = tstate->curexc_traceback; + if (tb != tmp_tb) { + Py_INCREF(tb); + tstate->curexc_traceback = tb; + Py_XDECREF(tmp_tb); + } +#else + PyObject *tmp_type, *tmp_value, *tmp_tb; + PyErr_Fetch(&tmp_type, &tmp_value, &tmp_tb); + Py_INCREF(tb); + PyErr_Restore(tmp_type, tmp_value, tb); + Py_XDECREF(tmp_tb); +#endif + } +bad: + Py_XDECREF(owned_instance); + return; +} +#endif + +/* PyObjectCallNoArg */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func) { + PyObject *arg[2] = {NULL, NULL}; + return __Pyx_PyObject_FastCall(func, arg + 1, 0 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET); +} + +/* PyDictVersioning */ +#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj) { + PyObject *dict = Py_TYPE(obj)->tp_dict; + return likely(dict) ? __PYX_GET_DICT_VERSION(dict) : 0; +} +static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj) { + PyObject **dictptr = NULL; + Py_ssize_t offset = Py_TYPE(obj)->tp_dictoffset; + if (offset) { +#if CYTHON_COMPILING_IN_CPYTHON + dictptr = (likely(offset > 0)) ? (PyObject **) ((char *)obj + offset) : _PyObject_GetDictPtr(obj); +#else + dictptr = _PyObject_GetDictPtr(obj); +#endif + } + return (dictptr && *dictptr) ? __PYX_GET_DICT_VERSION(*dictptr) : 0; +} +static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version) { + PyObject *dict = Py_TYPE(obj)->tp_dict; + if (unlikely(!dict) || unlikely(tp_dict_version != __PYX_GET_DICT_VERSION(dict))) + return 0; + return obj_dict_version == __Pyx_get_object_dict_version(obj); +} +#endif + +/* GetModuleGlobalName */ +#if CYTHON_USE_DICT_VERSIONS +static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value) +#else +static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name) +#endif +{ + PyObject *result; +#if !CYTHON_AVOID_BORROWED_REFS +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030500A1 && PY_VERSION_HEX < 0x030d0000 + result = _PyDict_GetItem_KnownHash(__pyx_d, name, ((PyASCIIObject *) name)->hash); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } else if (unlikely(PyErr_Occurred())) { + return NULL; + } +#elif CYTHON_COMPILING_IN_LIMITED_API + if (unlikely(!__pyx_m)) { + return NULL; + } + result = PyObject_GetAttr(__pyx_m, name); + if (likely(result)) { + return result; + } +#else + result = PyDict_GetItem(__pyx_d, name); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } +#endif +#else + result = PyObject_GetItem(__pyx_d, name); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } + PyErr_Clear(); +#endif + return __Pyx_GetBuiltinName(name); +} + +/* FixUpExtensionType */ +#if CYTHON_USE_TYPE_SPECS +static int __Pyx_fix_up_extension_type_from_spec(PyType_Spec *spec, PyTypeObject *type) { +#if PY_VERSION_HEX > 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + CYTHON_UNUSED_VAR(spec); + CYTHON_UNUSED_VAR(type); +#else + const PyType_Slot *slot = spec->slots; + while (slot && slot->slot && slot->slot != Py_tp_members) + slot++; + if (slot && slot->slot == Py_tp_members) { + int changed = 0; +#if !(PY_VERSION_HEX <= 0x030900b1 && CYTHON_COMPILING_IN_CPYTHON) + const +#endif + PyMemberDef *memb = (PyMemberDef*) slot->pfunc; + while (memb && memb->name) { + if (memb->name[0] == '_' && memb->name[1] == '_') { +#if PY_VERSION_HEX < 0x030900b1 + if (strcmp(memb->name, "__weaklistoffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); + type->tp_weaklistoffset = memb->offset; + changed = 1; + } + else if (strcmp(memb->name, "__dictoffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); + type->tp_dictoffset = memb->offset; + changed = 1; + } +#if CYTHON_METH_FASTCALL + else if (strcmp(memb->name, "__vectorcalloffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); +#if PY_VERSION_HEX >= 0x030800b4 + type->tp_vectorcall_offset = memb->offset; +#else + type->tp_print = (printfunc) memb->offset; +#endif + changed = 1; + } +#endif +#else + if ((0)); +#endif +#if PY_VERSION_HEX <= 0x030900b1 && CYTHON_COMPILING_IN_CPYTHON + else if (strcmp(memb->name, "__module__") == 0) { + PyObject *descr; + assert(memb->type == T_OBJECT); + assert(memb->flags == 0 || memb->flags == READONLY); + descr = PyDescr_NewMember(type, memb); + if (unlikely(!descr)) + return -1; + if (unlikely(PyDict_SetItem(type->tp_dict, PyDescr_NAME(descr), descr) < 0)) { + Py_DECREF(descr); + return -1; + } + Py_DECREF(descr); + changed = 1; + } +#endif + } + memb++; + } + if (changed) + PyType_Modified(type); + } +#endif + return 0; +} +#endif + +/* PyObjectCallOneArg */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg) { + PyObject *args[2] = {NULL, arg}; + return __Pyx_PyObject_FastCall(func, args+1, 1 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET); +} + +/* PyObjectGetMethod */ +static int __Pyx_PyObject_GetMethod(PyObject *obj, PyObject *name, PyObject **method) { + PyObject *attr; +#if CYTHON_UNPACK_METHODS && CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_PYTYPE_LOOKUP + __Pyx_TypeName type_name; + PyTypeObject *tp = Py_TYPE(obj); + PyObject *descr; + descrgetfunc f = NULL; + PyObject **dictptr, *dict; + int meth_found = 0; + assert (*method == NULL); + if (unlikely(tp->tp_getattro != PyObject_GenericGetAttr)) { + attr = __Pyx_PyObject_GetAttrStr(obj, name); + goto try_unpack; + } + if (unlikely(tp->tp_dict == NULL) && unlikely(PyType_Ready(tp) < 0)) { + return 0; + } + descr = _PyType_Lookup(tp, name); + if (likely(descr != NULL)) { + Py_INCREF(descr); +#if defined(Py_TPFLAGS_METHOD_DESCRIPTOR) && Py_TPFLAGS_METHOD_DESCRIPTOR + if (__Pyx_PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_METHOD_DESCRIPTOR)) +#elif PY_MAJOR_VERSION >= 3 + #ifdef __Pyx_CyFunction_USED + if (likely(PyFunction_Check(descr) || __Pyx_IS_TYPE(descr, &PyMethodDescr_Type) || __Pyx_CyFunction_Check(descr))) + #else + if (likely(PyFunction_Check(descr) || __Pyx_IS_TYPE(descr, &PyMethodDescr_Type))) + #endif +#else + #ifdef __Pyx_CyFunction_USED + if (likely(PyFunction_Check(descr) || __Pyx_CyFunction_Check(descr))) + #else + if (likely(PyFunction_Check(descr))) + #endif +#endif + { + meth_found = 1; + } else { + f = Py_TYPE(descr)->tp_descr_get; + if (f != NULL && PyDescr_IsData(descr)) { + attr = f(descr, obj, (PyObject *)Py_TYPE(obj)); + Py_DECREF(descr); + goto try_unpack; + } + } + } + dictptr = _PyObject_GetDictPtr(obj); + if (dictptr != NULL && (dict = *dictptr) != NULL) { + Py_INCREF(dict); + attr = __Pyx_PyDict_GetItemStr(dict, name); + if (attr != NULL) { + Py_INCREF(attr); + Py_DECREF(dict); + Py_XDECREF(descr); + goto try_unpack; + } + Py_DECREF(dict); + } + if (meth_found) { + *method = descr; + return 1; + } + if (f != NULL) { + attr = f(descr, obj, (PyObject *)Py_TYPE(obj)); + Py_DECREF(descr); + goto try_unpack; + } + if (likely(descr != NULL)) { + *method = descr; + return 0; + } + type_name = __Pyx_PyType_GetName(tp); + PyErr_Format(PyExc_AttributeError, +#if PY_MAJOR_VERSION >= 3 + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%U'", + type_name, name); +#else + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%.400s'", + type_name, PyString_AS_STRING(name)); +#endif + __Pyx_DECREF_TypeName(type_name); + return 0; +#else + attr = __Pyx_PyObject_GetAttrStr(obj, name); + goto try_unpack; +#endif +try_unpack: +#if CYTHON_UNPACK_METHODS + if (likely(attr) && PyMethod_Check(attr) && likely(PyMethod_GET_SELF(attr) == obj)) { + PyObject *function = PyMethod_GET_FUNCTION(attr); + Py_INCREF(function); + Py_DECREF(attr); + *method = function; + return 1; + } +#endif + *method = attr; + return 0; +} + +/* PyObjectCallMethod0 */ +static PyObject* __Pyx_PyObject_CallMethod0(PyObject* obj, PyObject* method_name) { + PyObject *method = NULL, *result = NULL; + int is_method = __Pyx_PyObject_GetMethod(obj, method_name, &method); + if (likely(is_method)) { + result = __Pyx_PyObject_CallOneArg(method, obj); + Py_DECREF(method); + return result; + } + if (unlikely(!method)) goto bad; + result = __Pyx_PyObject_CallNoArg(method); + Py_DECREF(method); +bad: + return result; +} + +/* ValidateBasesTuple */ +#if CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API || CYTHON_USE_TYPE_SPECS +static int __Pyx_validate_bases_tuple(const char *type_name, Py_ssize_t dictoffset, PyObject *bases) { + Py_ssize_t i, n; +#if CYTHON_ASSUME_SAFE_MACROS + n = PyTuple_GET_SIZE(bases); +#else + n = PyTuple_Size(bases); + if (n < 0) return -1; +#endif + for (i = 1; i < n; i++) + { +#if CYTHON_AVOID_BORROWED_REFS + PyObject *b0 = PySequence_GetItem(bases, i); + if (!b0) return -1; +#elif CYTHON_ASSUME_SAFE_MACROS + PyObject *b0 = PyTuple_GET_ITEM(bases, i); +#else + PyObject *b0 = PyTuple_GetItem(bases, i); + if (!b0) return -1; +#endif + PyTypeObject *b; +#if PY_MAJOR_VERSION < 3 + if (PyClass_Check(b0)) + { + PyErr_Format(PyExc_TypeError, "base class '%.200s' is an old-style class", + PyString_AS_STRING(((PyClassObject*)b0)->cl_name)); +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } +#endif + b = (PyTypeObject*) b0; + if (!__Pyx_PyType_HasFeature(b, Py_TPFLAGS_HEAPTYPE)) + { + __Pyx_TypeName b_name = __Pyx_PyType_GetName(b); + PyErr_Format(PyExc_TypeError, + "base class '" __Pyx_FMT_TYPENAME "' is not a heap type", b_name); + __Pyx_DECREF_TypeName(b_name); +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } + if (dictoffset == 0) + { + Py_ssize_t b_dictoffset = 0; +#if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + b_dictoffset = b->tp_dictoffset; +#else + PyObject *py_b_dictoffset = PyObject_GetAttrString((PyObject*)b, "__dictoffset__"); + if (!py_b_dictoffset) goto dictoffset_return; + b_dictoffset = PyLong_AsSsize_t(py_b_dictoffset); + Py_DECREF(py_b_dictoffset); + if (b_dictoffset == -1 && PyErr_Occurred()) goto dictoffset_return; +#endif + if (b_dictoffset) { + { + __Pyx_TypeName b_name = __Pyx_PyType_GetName(b); + PyErr_Format(PyExc_TypeError, + "extension type '%.200s' has no __dict__ slot, " + "but base type '" __Pyx_FMT_TYPENAME "' has: " + "either add 'cdef dict __dict__' to the extension type " + "or add '__slots__ = [...]' to the base type", + type_name, b_name); + __Pyx_DECREF_TypeName(b_name); + } +#if !(CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY) + dictoffset_return: +#endif +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } + } +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + } + return 0; +} +#endif + +/* PyType_Ready */ +static int __Pyx_PyType_Ready(PyTypeObject *t) { +#if CYTHON_USE_TYPE_SPECS || !(CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API) || defined(PYSTON_MAJOR_VERSION) + (void)__Pyx_PyObject_CallMethod0; +#if CYTHON_USE_TYPE_SPECS + (void)__Pyx_validate_bases_tuple; +#endif + return PyType_Ready(t); +#else + int r; + PyObject *bases = __Pyx_PyType_GetSlot(t, tp_bases, PyObject*); + if (bases && unlikely(__Pyx_validate_bases_tuple(t->tp_name, t->tp_dictoffset, bases) == -1)) + return -1; +#if PY_VERSION_HEX >= 0x03050000 && !defined(PYSTON_MAJOR_VERSION) + { + int gc_was_enabled; + #if PY_VERSION_HEX >= 0x030A00b1 + gc_was_enabled = PyGC_Disable(); + (void)__Pyx_PyObject_CallMethod0; + #else + PyObject *ret, *py_status; + PyObject *gc = NULL; + #if PY_VERSION_HEX >= 0x030700a1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM+0 >= 0x07030400) + gc = PyImport_GetModule(__pyx_kp_u_gc); + #endif + if (unlikely(!gc)) gc = PyImport_Import(__pyx_kp_u_gc); + if (unlikely(!gc)) return -1; + py_status = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_isenabled); + if (unlikely(!py_status)) { + Py_DECREF(gc); + return -1; + } + gc_was_enabled = __Pyx_PyObject_IsTrue(py_status); + Py_DECREF(py_status); + if (gc_was_enabled > 0) { + ret = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_disable); + if (unlikely(!ret)) { + Py_DECREF(gc); + return -1; + } + Py_DECREF(ret); + } else if (unlikely(gc_was_enabled == -1)) { + Py_DECREF(gc); + return -1; + } + #endif + t->tp_flags |= Py_TPFLAGS_HEAPTYPE; +#if PY_VERSION_HEX >= 0x030A0000 + t->tp_flags |= Py_TPFLAGS_IMMUTABLETYPE; +#endif +#else + (void)__Pyx_PyObject_CallMethod0; +#endif + r = PyType_Ready(t); +#if PY_VERSION_HEX >= 0x03050000 && !defined(PYSTON_MAJOR_VERSION) + t->tp_flags &= ~Py_TPFLAGS_HEAPTYPE; + #if PY_VERSION_HEX >= 0x030A00b1 + if (gc_was_enabled) + PyGC_Enable(); + #else + if (gc_was_enabled) { + PyObject *tp, *v, *tb; + PyErr_Fetch(&tp, &v, &tb); + ret = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_enable); + if (likely(ret || r == -1)) { + Py_XDECREF(ret); + PyErr_Restore(tp, v, tb); + } else { + Py_XDECREF(tp); + Py_XDECREF(v); + Py_XDECREF(tb); + r = -1; + } + } + Py_DECREF(gc); + #endif + } +#endif + return r; +#endif +} + +/* PyObject_GenericGetAttrNoDict */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject *__Pyx_RaiseGenericGetAttributeError(PyTypeObject *tp, PyObject *attr_name) { + __Pyx_TypeName type_name = __Pyx_PyType_GetName(tp); + PyErr_Format(PyExc_AttributeError, +#if PY_MAJOR_VERSION >= 3 + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%U'", + type_name, attr_name); +#else + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%.400s'", + type_name, PyString_AS_STRING(attr_name)); +#endif + __Pyx_DECREF_TypeName(type_name); + return NULL; +} +static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name) { + PyObject *descr; + PyTypeObject *tp = Py_TYPE(obj); + if (unlikely(!PyString_Check(attr_name))) { + return PyObject_GenericGetAttr(obj, attr_name); + } + assert(!tp->tp_dictoffset); + descr = _PyType_Lookup(tp, attr_name); + if (unlikely(!descr)) { + return __Pyx_RaiseGenericGetAttributeError(tp, attr_name); + } + Py_INCREF(descr); + #if PY_MAJOR_VERSION < 3 + if (likely(PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_HAVE_CLASS))) + #endif + { + descrgetfunc f = Py_TYPE(descr)->tp_descr_get; + if (unlikely(f)) { + PyObject *res = f(descr, obj, (PyObject *)tp); + Py_DECREF(descr); + return res; + } + } + return descr; +} +#endif + +/* PyObject_GenericGetAttr */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name) { + if (unlikely(Py_TYPE(obj)->tp_dictoffset)) { + return PyObject_GenericGetAttr(obj, attr_name); + } + return __Pyx_PyObject_GenericGetAttrNoDict(obj, attr_name); +} +#endif + +/* SetVTable */ +static int __Pyx_SetVtable(PyTypeObject *type, void *vtable) { + PyObject *ob = PyCapsule_New(vtable, 0, 0); + if (unlikely(!ob)) + goto bad; +#if CYTHON_COMPILING_IN_LIMITED_API + if (unlikely(PyObject_SetAttr((PyObject *) type, __pyx_n_s_pyx_vtable, ob) < 0)) +#else + if (unlikely(PyDict_SetItem(type->tp_dict, __pyx_n_s_pyx_vtable, ob) < 0)) +#endif + goto bad; + Py_DECREF(ob); + return 0; +bad: + Py_XDECREF(ob); + return -1; +} + +/* GetVTable */ +static void* __Pyx_GetVtable(PyTypeObject *type) { + void* ptr; +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *ob = PyObject_GetAttr((PyObject *)type, __pyx_n_s_pyx_vtable); +#else + PyObject *ob = PyObject_GetItem(type->tp_dict, __pyx_n_s_pyx_vtable); +#endif + if (!ob) + goto bad; + ptr = PyCapsule_GetPointer(ob, 0); + if (!ptr && !PyErr_Occurred()) + PyErr_SetString(PyExc_RuntimeError, "invalid vtable found for imported type"); + Py_DECREF(ob); + return ptr; +bad: + Py_XDECREF(ob); + return NULL; +} + +/* MergeVTables */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_MergeVtables(PyTypeObject *type) { + int i; + void** base_vtables; + __Pyx_TypeName tp_base_name; + __Pyx_TypeName base_name; + void* unknown = (void*)-1; + PyObject* bases = type->tp_bases; + int base_depth = 0; + { + PyTypeObject* base = type->tp_base; + while (base) { + base_depth += 1; + base = base->tp_base; + } + } + base_vtables = (void**) malloc(sizeof(void*) * (size_t)(base_depth + 1)); + base_vtables[0] = unknown; + for (i = 1; i < PyTuple_GET_SIZE(bases); i++) { + void* base_vtable = __Pyx_GetVtable(((PyTypeObject*)PyTuple_GET_ITEM(bases, i))); + if (base_vtable != NULL) { + int j; + PyTypeObject* base = type->tp_base; + for (j = 0; j < base_depth; j++) { + if (base_vtables[j] == unknown) { + base_vtables[j] = __Pyx_GetVtable(base); + base_vtables[j + 1] = unknown; + } + if (base_vtables[j] == base_vtable) { + break; + } else if (base_vtables[j] == NULL) { + goto bad; + } + base = base->tp_base; + } + } + } + PyErr_Clear(); + free(base_vtables); + return 0; +bad: + tp_base_name = __Pyx_PyType_GetName(type->tp_base); + base_name = __Pyx_PyType_GetName((PyTypeObject*)PyTuple_GET_ITEM(bases, i)); + PyErr_Format(PyExc_TypeError, + "multiple bases have vtable conflict: '" __Pyx_FMT_TYPENAME "' and '" __Pyx_FMT_TYPENAME "'", tp_base_name, base_name); + __Pyx_DECREF_TypeName(tp_base_name); + __Pyx_DECREF_TypeName(base_name); + free(base_vtables); + return -1; +} +#endif + +/* SetupReduce */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_setup_reduce_is_named(PyObject* meth, PyObject* name) { + int ret; + PyObject *name_attr; + name_attr = __Pyx_PyObject_GetAttrStrNoError(meth, __pyx_n_s_name); + if (likely(name_attr)) { + ret = PyObject_RichCompareBool(name_attr, name, Py_EQ); + } else { + ret = -1; + } + if (unlikely(ret < 0)) { + PyErr_Clear(); + ret = 0; + } + Py_XDECREF(name_attr); + return ret; +} +static int __Pyx_setup_reduce(PyObject* type_obj) { + int ret = 0; + PyObject *object_reduce = NULL; + PyObject *object_getstate = NULL; + PyObject *object_reduce_ex = NULL; + PyObject *reduce = NULL; + PyObject *reduce_ex = NULL; + PyObject *reduce_cython = NULL; + PyObject *setstate = NULL; + PyObject *setstate_cython = NULL; + PyObject *getstate = NULL; +#if CYTHON_USE_PYTYPE_LOOKUP + getstate = _PyType_Lookup((PyTypeObject*)type_obj, __pyx_n_s_getstate); +#else + getstate = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_getstate); + if (!getstate && PyErr_Occurred()) { + goto __PYX_BAD; + } +#endif + if (getstate) { +#if CYTHON_USE_PYTYPE_LOOKUP + object_getstate = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_getstate); +#else + object_getstate = __Pyx_PyObject_GetAttrStrNoError((PyObject*)&PyBaseObject_Type, __pyx_n_s_getstate); + if (!object_getstate && PyErr_Occurred()) { + goto __PYX_BAD; + } +#endif + if (object_getstate != getstate) { + goto __PYX_GOOD; + } + } +#if CYTHON_USE_PYTYPE_LOOKUP + object_reduce_ex = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; +#else + object_reduce_ex = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; +#endif + reduce_ex = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce_ex); if (unlikely(!reduce_ex)) goto __PYX_BAD; + if (reduce_ex == object_reduce_ex) { +#if CYTHON_USE_PYTYPE_LOOKUP + object_reduce = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; +#else + object_reduce = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; +#endif + reduce = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce); if (unlikely(!reduce)) goto __PYX_BAD; + if (reduce == object_reduce || __Pyx_setup_reduce_is_named(reduce, __pyx_n_s_reduce_cython)) { + reduce_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_reduce_cython); + if (likely(reduce_cython)) { + ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce, reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + } else if (reduce == object_reduce || PyErr_Occurred()) { + goto __PYX_BAD; + } + setstate = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_setstate); + if (!setstate) PyErr_Clear(); + if (!setstate || __Pyx_setup_reduce_is_named(setstate, __pyx_n_s_setstate_cython)) { + setstate_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_setstate_cython); + if (likely(setstate_cython)) { + ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate, setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + } else if (!setstate || PyErr_Occurred()) { + goto __PYX_BAD; + } + } + PyType_Modified((PyTypeObject*)type_obj); + } + } + goto __PYX_GOOD; +__PYX_BAD: + if (!PyErr_Occurred()) { + __Pyx_TypeName type_obj_name = + __Pyx_PyType_GetName((PyTypeObject*)type_obj); + PyErr_Format(PyExc_RuntimeError, + "Unable to initialize pickling for " __Pyx_FMT_TYPENAME, type_obj_name); + __Pyx_DECREF_TypeName(type_obj_name); + } + ret = -1; +__PYX_GOOD: +#if !CYTHON_USE_PYTYPE_LOOKUP + Py_XDECREF(object_reduce); + Py_XDECREF(object_reduce_ex); + Py_XDECREF(object_getstate); + Py_XDECREF(getstate); +#endif + Py_XDECREF(reduce); + Py_XDECREF(reduce_ex); + Py_XDECREF(reduce_cython); + Py_XDECREF(setstate); + Py_XDECREF(setstate_cython); + return ret; +} +#endif + +/* Import */ +static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level) { + PyObject *module = 0; + PyObject *empty_dict = 0; + PyObject *empty_list = 0; + #if PY_MAJOR_VERSION < 3 + PyObject *py_import; + py_import = __Pyx_PyObject_GetAttrStr(__pyx_b, __pyx_n_s_import); + if (unlikely(!py_import)) + goto bad; + if (!from_list) { + empty_list = PyList_New(0); + if (unlikely(!empty_list)) + goto bad; + from_list = empty_list; + } + #endif + empty_dict = PyDict_New(); + if (unlikely(!empty_dict)) + goto bad; + { + #if PY_MAJOR_VERSION >= 3 + if (level == -1) { + if (strchr(__Pyx_MODULE_NAME, '.') != NULL) { + module = PyImport_ImportModuleLevelObject( + name, __pyx_d, empty_dict, from_list, 1); + if (unlikely(!module)) { + if (unlikely(!PyErr_ExceptionMatches(PyExc_ImportError))) + goto bad; + PyErr_Clear(); + } + } + level = 0; + } + #endif + if (!module) { + #if PY_MAJOR_VERSION < 3 + PyObject *py_level = PyInt_FromLong(level); + if (unlikely(!py_level)) + goto bad; + module = PyObject_CallFunctionObjArgs(py_import, + name, __pyx_d, empty_dict, from_list, py_level, (PyObject *)NULL); + Py_DECREF(py_level); + #else + module = PyImport_ImportModuleLevelObject( + name, __pyx_d, empty_dict, from_list, level); + #endif + } + } +bad: + Py_XDECREF(empty_dict); + Py_XDECREF(empty_list); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(py_import); + #endif + return module; +} + +/* ImportDottedModule */ +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx__ImportDottedModule_Error(PyObject *name, PyObject *parts_tuple, Py_ssize_t count) { + PyObject *partial_name = NULL, *slice = NULL, *sep = NULL; + if (unlikely(PyErr_Occurred())) { + PyErr_Clear(); + } + if (likely(PyTuple_GET_SIZE(parts_tuple) == count)) { + partial_name = name; + } else { + slice = PySequence_GetSlice(parts_tuple, 0, count); + if (unlikely(!slice)) + goto bad; + sep = PyUnicode_FromStringAndSize(".", 1); + if (unlikely(!sep)) + goto bad; + partial_name = PyUnicode_Join(sep, slice); + } + PyErr_Format( +#if PY_MAJOR_VERSION < 3 + PyExc_ImportError, + "No module named '%s'", PyString_AS_STRING(partial_name)); +#else +#if PY_VERSION_HEX >= 0x030600B1 + PyExc_ModuleNotFoundError, +#else + PyExc_ImportError, +#endif + "No module named '%U'", partial_name); +#endif +bad: + Py_XDECREF(sep); + Py_XDECREF(slice); + Py_XDECREF(partial_name); + return NULL; +} +#endif +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx__ImportDottedModule_Lookup(PyObject *name) { + PyObject *imported_module; +#if PY_VERSION_HEX < 0x030700A1 || (CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM < 0x07030400) + PyObject *modules = PyImport_GetModuleDict(); + if (unlikely(!modules)) + return NULL; + imported_module = __Pyx_PyDict_GetItemStr(modules, name); + Py_XINCREF(imported_module); +#else + imported_module = PyImport_GetModule(name); +#endif + return imported_module; +} +#endif +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx_ImportDottedModule_WalkParts(PyObject *module, PyObject *name, PyObject *parts_tuple) { + Py_ssize_t i, nparts; + nparts = PyTuple_GET_SIZE(parts_tuple); + for (i=1; i < nparts && module; i++) { + PyObject *part, *submodule; +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + part = PyTuple_GET_ITEM(parts_tuple, i); +#else + part = PySequence_ITEM(parts_tuple, i); +#endif + submodule = __Pyx_PyObject_GetAttrStrNoError(module, part); +#if !(CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS) + Py_DECREF(part); +#endif + Py_DECREF(module); + module = submodule; + } + if (unlikely(!module)) { + return __Pyx__ImportDottedModule_Error(name, parts_tuple, i); + } + return module; +} +#endif +static PyObject *__Pyx__ImportDottedModule(PyObject *name, PyObject *parts_tuple) { +#if PY_MAJOR_VERSION < 3 + PyObject *module, *from_list, *star = __pyx_n_s__5; + CYTHON_UNUSED_VAR(parts_tuple); + from_list = PyList_New(1); + if (unlikely(!from_list)) + return NULL; + Py_INCREF(star); + PyList_SET_ITEM(from_list, 0, star); + module = __Pyx_Import(name, from_list, 0); + Py_DECREF(from_list); + return module; +#else + PyObject *imported_module; + PyObject *module = __Pyx_Import(name, NULL, 0); + if (!parts_tuple || unlikely(!module)) + return module; + imported_module = __Pyx__ImportDottedModule_Lookup(name); + if (likely(imported_module)) { + Py_DECREF(module); + return imported_module; + } + PyErr_Clear(); + return __Pyx_ImportDottedModule_WalkParts(module, name, parts_tuple); +#endif +} +static PyObject *__Pyx_ImportDottedModule(PyObject *name, PyObject *parts_tuple) { +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030400B1 + PyObject *module = __Pyx__ImportDottedModule_Lookup(name); + if (likely(module)) { + PyObject *spec = __Pyx_PyObject_GetAttrStrNoError(module, __pyx_n_s_spec); + if (likely(spec)) { + PyObject *unsafe = __Pyx_PyObject_GetAttrStrNoError(spec, __pyx_n_s_initializing); + if (likely(!unsafe || !__Pyx_PyObject_IsTrue(unsafe))) { + Py_DECREF(spec); + spec = NULL; + } + Py_XDECREF(unsafe); + } + if (likely(!spec)) { + PyErr_Clear(); + return module; + } + Py_DECREF(spec); + Py_DECREF(module); + } else if (PyErr_Occurred()) { + PyErr_Clear(); + } +#endif + return __Pyx__ImportDottedModule(name, parts_tuple); +} + +/* Py3UpdateBases */ +static PyObject* +__Pyx_PEP560_update_bases(PyObject *bases) +{ + Py_ssize_t i, j, size_bases; + PyObject *base, *meth, *new_base, *result, *new_bases = NULL; + size_bases = PyTuple_GET_SIZE(bases); + for (i = 0; i < size_bases; i++) { + base = PyTuple_GET_ITEM(bases, i); + if (PyType_Check(base)) { + if (new_bases) { + if (PyList_Append(new_bases, base) < 0) { + goto error; + } + } + continue; + } + meth = __Pyx_PyObject_GetAttrStrNoError(base, __pyx_n_s_mro_entries); + if (!meth && PyErr_Occurred()) { + goto error; + } + if (!meth) { + if (new_bases) { + if (PyList_Append(new_bases, base) < 0) { + goto error; + } + } + continue; + } + new_base = __Pyx_PyObject_CallOneArg(meth, bases); + Py_DECREF(meth); + if (!new_base) { + goto error; + } + if (!PyTuple_Check(new_base)) { + PyErr_SetString(PyExc_TypeError, + "__mro_entries__ must return a tuple"); + Py_DECREF(new_base); + goto error; + } + if (!new_bases) { + if (!(new_bases = PyList_New(i))) { + goto error; + } + for (j = 0; j < i; j++) { + base = PyTuple_GET_ITEM(bases, j); + PyList_SET_ITEM(new_bases, j, base); + Py_INCREF(base); + } + } + j = PyList_GET_SIZE(new_bases); + if (PyList_SetSlice(new_bases, j, j, new_base) < 0) { + goto error; + } + Py_DECREF(new_base); + } + if (!new_bases) { + Py_INCREF(bases); + return bases; + } + result = PyList_AsTuple(new_bases); + Py_DECREF(new_bases); + return result; +error: + Py_XDECREF(new_bases); + return NULL; +} + +/* CalculateMetaclass */ +static PyObject *__Pyx_CalculateMetaclass(PyTypeObject *metaclass, PyObject *bases) { + Py_ssize_t i, nbases; +#if CYTHON_ASSUME_SAFE_MACROS + nbases = PyTuple_GET_SIZE(bases); +#else + nbases = PyTuple_Size(bases); + if (nbases < 0) return NULL; +#endif + for (i=0; i < nbases; i++) { + PyTypeObject *tmptype; +#if CYTHON_ASSUME_SAFE_MACROS + PyObject *tmp = PyTuple_GET_ITEM(bases, i); +#else + PyObject *tmp = PyTuple_GetItem(bases, i); + if (!tmp) return NULL; +#endif + tmptype = Py_TYPE(tmp); +#if PY_MAJOR_VERSION < 3 + if (tmptype == &PyClass_Type) + continue; +#endif + if (!metaclass) { + metaclass = tmptype; + continue; + } + if (PyType_IsSubtype(metaclass, tmptype)) + continue; + if (PyType_IsSubtype(tmptype, metaclass)) { + metaclass = tmptype; + continue; + } + PyErr_SetString(PyExc_TypeError, + "metaclass conflict: " + "the metaclass of a derived class " + "must be a (non-strict) subclass " + "of the metaclasses of all its bases"); + return NULL; + } + if (!metaclass) { +#if PY_MAJOR_VERSION < 3 + metaclass = &PyClass_Type; +#else + metaclass = &PyType_Type; +#endif + } + Py_INCREF((PyObject*) metaclass); + return (PyObject*) metaclass; +} + +/* FetchSharedCythonModule */ +static PyObject *__Pyx_FetchSharedCythonABIModule(void) { + return __Pyx_PyImport_AddModuleRef((char*) __PYX_ABI_MODULE_NAME); +} + +/* FetchCommonType */ +static int __Pyx_VerifyCachedType(PyObject *cached_type, + const char *name, + Py_ssize_t basicsize, + Py_ssize_t expected_basicsize) { + if (!PyType_Check(cached_type)) { + PyErr_Format(PyExc_TypeError, + "Shared Cython type %.200s is not a type object", name); + return -1; + } + if (basicsize != expected_basicsize) { + PyErr_Format(PyExc_TypeError, + "Shared Cython type %.200s has the wrong size, try recompiling", + name); + return -1; + } + return 0; +} +#if !CYTHON_USE_TYPE_SPECS +static PyTypeObject* __Pyx_FetchCommonType(PyTypeObject* type) { + PyObject* abi_module; + const char* object_name; + PyTypeObject *cached_type = NULL; + abi_module = __Pyx_FetchSharedCythonABIModule(); + if (!abi_module) return NULL; + object_name = strrchr(type->tp_name, '.'); + object_name = object_name ? object_name+1 : type->tp_name; + cached_type = (PyTypeObject*) PyObject_GetAttrString(abi_module, object_name); + if (cached_type) { + if (__Pyx_VerifyCachedType( + (PyObject *)cached_type, + object_name, + cached_type->tp_basicsize, + type->tp_basicsize) < 0) { + goto bad; + } + goto done; + } + if (!PyErr_ExceptionMatches(PyExc_AttributeError)) goto bad; + PyErr_Clear(); + if (PyType_Ready(type) < 0) goto bad; + if (PyObject_SetAttrString(abi_module, object_name, (PyObject *)type) < 0) + goto bad; + Py_INCREF(type); + cached_type = type; +done: + Py_DECREF(abi_module); + return cached_type; +bad: + Py_XDECREF(cached_type); + cached_type = NULL; + goto done; +} +#else +static PyTypeObject *__Pyx_FetchCommonTypeFromSpec(PyObject *module, PyType_Spec *spec, PyObject *bases) { + PyObject *abi_module, *cached_type = NULL; + const char* object_name = strrchr(spec->name, '.'); + object_name = object_name ? object_name+1 : spec->name; + abi_module = __Pyx_FetchSharedCythonABIModule(); + if (!abi_module) return NULL; + cached_type = PyObject_GetAttrString(abi_module, object_name); + if (cached_type) { + Py_ssize_t basicsize; +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *py_basicsize; + py_basicsize = PyObject_GetAttrString(cached_type, "__basicsize__"); + if (unlikely(!py_basicsize)) goto bad; + basicsize = PyLong_AsSsize_t(py_basicsize); + Py_DECREF(py_basicsize); + py_basicsize = 0; + if (unlikely(basicsize == (Py_ssize_t)-1) && PyErr_Occurred()) goto bad; +#else + basicsize = likely(PyType_Check(cached_type)) ? ((PyTypeObject*) cached_type)->tp_basicsize : -1; +#endif + if (__Pyx_VerifyCachedType( + cached_type, + object_name, + basicsize, + spec->basicsize) < 0) { + goto bad; + } + goto done; + } + if (!PyErr_ExceptionMatches(PyExc_AttributeError)) goto bad; + PyErr_Clear(); + CYTHON_UNUSED_VAR(module); + cached_type = __Pyx_PyType_FromModuleAndSpec(abi_module, spec, bases); + if (unlikely(!cached_type)) goto bad; + if (unlikely(__Pyx_fix_up_extension_type_from_spec(spec, (PyTypeObject *) cached_type) < 0)) goto bad; + if (PyObject_SetAttrString(abi_module, object_name, cached_type) < 0) goto bad; +done: + Py_DECREF(abi_module); + assert(cached_type == NULL || PyType_Check(cached_type)); + return (PyTypeObject *) cached_type; +bad: + Py_XDECREF(cached_type); + cached_type = NULL; + goto done; +} +#endif + +/* PyVectorcallFastCallDict */ +#if CYTHON_METH_FASTCALL +static PyObject *__Pyx_PyVectorcall_FastCallDict_kw(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw) +{ + PyObject *res = NULL; + PyObject *kwnames; + PyObject **newargs; + PyObject **kwvalues; + Py_ssize_t i, pos; + size_t j; + PyObject *key, *value; + unsigned long keys_are_strings; + Py_ssize_t nkw = PyDict_GET_SIZE(kw); + newargs = (PyObject **)PyMem_Malloc((nargs + (size_t)nkw) * sizeof(args[0])); + if (unlikely(newargs == NULL)) { + PyErr_NoMemory(); + return NULL; + } + for (j = 0; j < nargs; j++) newargs[j] = args[j]; + kwnames = PyTuple_New(nkw); + if (unlikely(kwnames == NULL)) { + PyMem_Free(newargs); + return NULL; + } + kwvalues = newargs + nargs; + pos = i = 0; + keys_are_strings = Py_TPFLAGS_UNICODE_SUBCLASS; + while (PyDict_Next(kw, &pos, &key, &value)) { + keys_are_strings &= Py_TYPE(key)->tp_flags; + Py_INCREF(key); + Py_INCREF(value); + PyTuple_SET_ITEM(kwnames, i, key); + kwvalues[i] = value; + i++; + } + if (unlikely(!keys_are_strings)) { + PyErr_SetString(PyExc_TypeError, "keywords must be strings"); + goto cleanup; + } + res = vc(func, newargs, nargs, kwnames); +cleanup: + Py_DECREF(kwnames); + for (i = 0; i < nkw; i++) + Py_DECREF(kwvalues[i]); + PyMem_Free(newargs); + return res; +} +static CYTHON_INLINE PyObject *__Pyx_PyVectorcall_FastCallDict(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw) +{ + if (likely(kw == NULL) || PyDict_GET_SIZE(kw) == 0) { + return vc(func, args, nargs, NULL); + } + return __Pyx_PyVectorcall_FastCallDict_kw(func, vc, args, nargs, kw); +} +#endif + +/* CythonFunctionShared */ +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc) { + if (__Pyx_CyFunction_Check(func)) { + return PyCFunction_GetFunction(((__pyx_CyFunctionObject*)func)->func) == (PyCFunction) cfunc; + } else if (PyCFunction_Check(func)) { + return PyCFunction_GetFunction(func) == (PyCFunction) cfunc; + } + return 0; +} +#else +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc) { + return __Pyx_CyOrPyCFunction_Check(func) && __Pyx_CyOrPyCFunction_GET_FUNCTION(func) == (PyCFunction) cfunc; +} +#endif +static CYTHON_INLINE void __Pyx__CyFunction_SetClassObj(__pyx_CyFunctionObject* f, PyObject* classobj) { +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + __Pyx_Py_XDECREF_SET( + __Pyx_CyFunction_GetClassObj(f), + ((classobj) ? __Pyx_NewRef(classobj) : NULL)); +#else + __Pyx_Py_XDECREF_SET( + ((PyCMethodObject *) (f))->mm_class, + (PyTypeObject*)((classobj) ? __Pyx_NewRef(classobj) : NULL)); +#endif +} +static PyObject * +__Pyx_CyFunction_get_doc(__pyx_CyFunctionObject *op, void *closure) +{ + CYTHON_UNUSED_VAR(closure); + if (unlikely(op->func_doc == NULL)) { +#if CYTHON_COMPILING_IN_LIMITED_API + op->func_doc = PyObject_GetAttrString(op->func, "__doc__"); + if (unlikely(!op->func_doc)) return NULL; +#else + if (((PyCFunctionObject*)op)->m_ml->ml_doc) { +#if PY_MAJOR_VERSION >= 3 + op->func_doc = PyUnicode_FromString(((PyCFunctionObject*)op)->m_ml->ml_doc); +#else + op->func_doc = PyString_FromString(((PyCFunctionObject*)op)->m_ml->ml_doc); +#endif + if (unlikely(op->func_doc == NULL)) + return NULL; + } else { + Py_INCREF(Py_None); + return Py_None; + } +#endif + } + Py_INCREF(op->func_doc); + return op->func_doc; +} +static int +__Pyx_CyFunction_set_doc(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (value == NULL) { + value = Py_None; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_doc, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_name(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(op->func_name == NULL)) { +#if CYTHON_COMPILING_IN_LIMITED_API + op->func_name = PyObject_GetAttrString(op->func, "__name__"); +#elif PY_MAJOR_VERSION >= 3 + op->func_name = PyUnicode_InternFromString(((PyCFunctionObject*)op)->m_ml->ml_name); +#else + op->func_name = PyString_InternFromString(((PyCFunctionObject*)op)->m_ml->ml_name); +#endif + if (unlikely(op->func_name == NULL)) + return NULL; + } + Py_INCREF(op->func_name); + return op->func_name; +} +static int +__Pyx_CyFunction_set_name(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); +#if PY_MAJOR_VERSION >= 3 + if (unlikely(value == NULL || !PyUnicode_Check(value))) +#else + if (unlikely(value == NULL || !PyString_Check(value))) +#endif + { + PyErr_SetString(PyExc_TypeError, + "__name__ must be set to a string object"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_name, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_qualname(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + Py_INCREF(op->func_qualname); + return op->func_qualname; +} +static int +__Pyx_CyFunction_set_qualname(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); +#if PY_MAJOR_VERSION >= 3 + if (unlikely(value == NULL || !PyUnicode_Check(value))) +#else + if (unlikely(value == NULL || !PyString_Check(value))) +#endif + { + PyErr_SetString(PyExc_TypeError, + "__qualname__ must be set to a string object"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_qualname, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_dict(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(op->func_dict == NULL)) { + op->func_dict = PyDict_New(); + if (unlikely(op->func_dict == NULL)) + return NULL; + } + Py_INCREF(op->func_dict); + return op->func_dict; +} +static int +__Pyx_CyFunction_set_dict(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(value == NULL)) { + PyErr_SetString(PyExc_TypeError, + "function's dictionary may not be deleted"); + return -1; + } + if (unlikely(!PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "setting function's dictionary to a non-dict"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_dict, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_globals(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + Py_INCREF(op->func_globals); + return op->func_globals; +} +static PyObject * +__Pyx_CyFunction_get_closure(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(op); + CYTHON_UNUSED_VAR(context); + Py_INCREF(Py_None); + return Py_None; +} +static PyObject * +__Pyx_CyFunction_get_code(__pyx_CyFunctionObject *op, void *context) +{ + PyObject* result = (op->func_code) ? op->func_code : Py_None; + CYTHON_UNUSED_VAR(context); + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_init_defaults(__pyx_CyFunctionObject *op) { + int result = 0; + PyObject *res = op->defaults_getter((PyObject *) op); + if (unlikely(!res)) + return -1; + #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + op->defaults_tuple = PyTuple_GET_ITEM(res, 0); + Py_INCREF(op->defaults_tuple); + op->defaults_kwdict = PyTuple_GET_ITEM(res, 1); + Py_INCREF(op->defaults_kwdict); + #else + op->defaults_tuple = __Pyx_PySequence_ITEM(res, 0); + if (unlikely(!op->defaults_tuple)) result = -1; + else { + op->defaults_kwdict = __Pyx_PySequence_ITEM(res, 1); + if (unlikely(!op->defaults_kwdict)) result = -1; + } + #endif + Py_DECREF(res); + return result; +} +static int +__Pyx_CyFunction_set_defaults(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value) { + value = Py_None; + } else if (unlikely(value != Py_None && !PyTuple_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__defaults__ must be set to a tuple object"); + return -1; + } + PyErr_WarnEx(PyExc_RuntimeWarning, "changes to cyfunction.__defaults__ will not " + "currently affect the values used in function calls", 1); + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->defaults_tuple, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_defaults(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->defaults_tuple; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + if (op->defaults_getter) { + if (unlikely(__Pyx_CyFunction_init_defaults(op) < 0)) return NULL; + result = op->defaults_tuple; + } else { + result = Py_None; + } + } + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_set_kwdefaults(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value) { + value = Py_None; + } else if (unlikely(value != Py_None && !PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__kwdefaults__ must be set to a dict object"); + return -1; + } + PyErr_WarnEx(PyExc_RuntimeWarning, "changes to cyfunction.__kwdefaults__ will not " + "currently affect the values used in function calls", 1); + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->defaults_kwdict, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_kwdefaults(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->defaults_kwdict; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + if (op->defaults_getter) { + if (unlikely(__Pyx_CyFunction_init_defaults(op) < 0)) return NULL; + result = op->defaults_kwdict; + } else { + result = Py_None; + } + } + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_set_annotations(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value || value == Py_None) { + value = NULL; + } else if (unlikely(!PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__annotations__ must be set to a dict object"); + return -1; + } + Py_XINCREF(value); + __Pyx_Py_XDECREF_SET(op->func_annotations, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_annotations(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->func_annotations; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + result = PyDict_New(); + if (unlikely(!result)) return NULL; + op->func_annotations = result; + } + Py_INCREF(result); + return result; +} +static PyObject * +__Pyx_CyFunction_get_is_coroutine(__pyx_CyFunctionObject *op, void *context) { + int is_coroutine; + CYTHON_UNUSED_VAR(context); + if (op->func_is_coroutine) { + return __Pyx_NewRef(op->func_is_coroutine); + } + is_coroutine = op->flags & __Pyx_CYFUNCTION_COROUTINE; +#if PY_VERSION_HEX >= 0x03050000 + if (is_coroutine) { + PyObject *module, *fromlist, *marker = __pyx_n_s_is_coroutine; + fromlist = PyList_New(1); + if (unlikely(!fromlist)) return NULL; + Py_INCREF(marker); +#if CYTHON_ASSUME_SAFE_MACROS + PyList_SET_ITEM(fromlist, 0, marker); +#else + if (unlikely(PyList_SetItem(fromlist, 0, marker) < 0)) { + Py_DECREF(marker); + Py_DECREF(fromlist); + return NULL; + } +#endif + module = PyImport_ImportModuleLevelObject(__pyx_n_s_asyncio_coroutines, NULL, NULL, fromlist, 0); + Py_DECREF(fromlist); + if (unlikely(!module)) goto ignore; + op->func_is_coroutine = __Pyx_PyObject_GetAttrStr(module, marker); + Py_DECREF(module); + if (likely(op->func_is_coroutine)) { + return __Pyx_NewRef(op->func_is_coroutine); + } +ignore: + PyErr_Clear(); + } +#endif + op->func_is_coroutine = __Pyx_PyBool_FromLong(is_coroutine); + return __Pyx_NewRef(op->func_is_coroutine); +} +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject * +__Pyx_CyFunction_get_module(__pyx_CyFunctionObject *op, void *context) { + CYTHON_UNUSED_VAR(context); + return PyObject_GetAttrString(op->func, "__module__"); +} +static int +__Pyx_CyFunction_set_module(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + return PyObject_SetAttrString(op->func, "__module__", value); +} +#endif +static PyGetSetDef __pyx_CyFunction_getsets[] = { + {(char *) "func_doc", (getter)__Pyx_CyFunction_get_doc, (setter)__Pyx_CyFunction_set_doc, 0, 0}, + {(char *) "__doc__", (getter)__Pyx_CyFunction_get_doc, (setter)__Pyx_CyFunction_set_doc, 0, 0}, + {(char *) "func_name", (getter)__Pyx_CyFunction_get_name, (setter)__Pyx_CyFunction_set_name, 0, 0}, + {(char *) "__name__", (getter)__Pyx_CyFunction_get_name, (setter)__Pyx_CyFunction_set_name, 0, 0}, + {(char *) "__qualname__", (getter)__Pyx_CyFunction_get_qualname, (setter)__Pyx_CyFunction_set_qualname, 0, 0}, + {(char *) "func_dict", (getter)__Pyx_CyFunction_get_dict, (setter)__Pyx_CyFunction_set_dict, 0, 0}, + {(char *) "__dict__", (getter)__Pyx_CyFunction_get_dict, (setter)__Pyx_CyFunction_set_dict, 0, 0}, + {(char *) "func_globals", (getter)__Pyx_CyFunction_get_globals, 0, 0, 0}, + {(char *) "__globals__", (getter)__Pyx_CyFunction_get_globals, 0, 0, 0}, + {(char *) "func_closure", (getter)__Pyx_CyFunction_get_closure, 0, 0, 0}, + {(char *) "__closure__", (getter)__Pyx_CyFunction_get_closure, 0, 0, 0}, + {(char *) "func_code", (getter)__Pyx_CyFunction_get_code, 0, 0, 0}, + {(char *) "__code__", (getter)__Pyx_CyFunction_get_code, 0, 0, 0}, + {(char *) "func_defaults", (getter)__Pyx_CyFunction_get_defaults, (setter)__Pyx_CyFunction_set_defaults, 0, 0}, + {(char *) "__defaults__", (getter)__Pyx_CyFunction_get_defaults, (setter)__Pyx_CyFunction_set_defaults, 0, 0}, + {(char *) "__kwdefaults__", (getter)__Pyx_CyFunction_get_kwdefaults, (setter)__Pyx_CyFunction_set_kwdefaults, 0, 0}, + {(char *) "__annotations__", (getter)__Pyx_CyFunction_get_annotations, (setter)__Pyx_CyFunction_set_annotations, 0, 0}, + {(char *) "_is_coroutine", (getter)__Pyx_CyFunction_get_is_coroutine, 0, 0, 0}, +#if CYTHON_COMPILING_IN_LIMITED_API + {"__module__", (getter)__Pyx_CyFunction_get_module, (setter)__Pyx_CyFunction_set_module, 0, 0}, +#endif + {0, 0, 0, 0, 0} +}; +static PyMemberDef __pyx_CyFunction_members[] = { +#if !CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__module__", T_OBJECT, offsetof(PyCFunctionObject, m_module), 0, 0}, +#endif +#if CYTHON_USE_TYPE_SPECS + {(char *) "__dictoffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_dict), READONLY, 0}, +#if CYTHON_METH_FASTCALL +#if CYTHON_BACKPORT_VECTORCALL + {(char *) "__vectorcalloffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_vectorcall), READONLY, 0}, +#else +#if !CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__vectorcalloffset__", T_PYSSIZET, offsetof(PyCFunctionObject, vectorcall), READONLY, 0}, +#endif +#endif +#endif +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__weaklistoffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_weakreflist), READONLY, 0}, +#else + {(char *) "__weaklistoffset__", T_PYSSIZET, offsetof(PyCFunctionObject, m_weakreflist), READONLY, 0}, +#endif +#endif + {0, 0, 0, 0, 0} +}; +static PyObject * +__Pyx_CyFunction_reduce(__pyx_CyFunctionObject *m, PyObject *args) +{ + CYTHON_UNUSED_VAR(args); +#if PY_MAJOR_VERSION >= 3 + Py_INCREF(m->func_qualname); + return m->func_qualname; +#else + return PyString_FromString(((PyCFunctionObject*)m)->m_ml->ml_name); +#endif +} +static PyMethodDef __pyx_CyFunction_methods[] = { + {"__reduce__", (PyCFunction)__Pyx_CyFunction_reduce, METH_VARARGS, 0}, + {0, 0, 0, 0} +}; +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API +#define __Pyx_CyFunction_weakreflist(cyfunc) ((cyfunc)->func_weakreflist) +#else +#define __Pyx_CyFunction_weakreflist(cyfunc) (((PyCFunctionObject*)cyfunc)->m_weakreflist) +#endif +static PyObject *__Pyx_CyFunction_Init(__pyx_CyFunctionObject *op, PyMethodDef *ml, int flags, PyObject* qualname, + PyObject *closure, PyObject *module, PyObject* globals, PyObject* code) { +#if !CYTHON_COMPILING_IN_LIMITED_API + PyCFunctionObject *cf = (PyCFunctionObject*) op; +#endif + if (unlikely(op == NULL)) + return NULL; +#if CYTHON_COMPILING_IN_LIMITED_API + op->func = PyCFunction_NewEx(ml, (PyObject*)op, module); + if (unlikely(!op->func)) return NULL; +#endif + op->flags = flags; + __Pyx_CyFunction_weakreflist(op) = NULL; +#if !CYTHON_COMPILING_IN_LIMITED_API + cf->m_ml = ml; + cf->m_self = (PyObject *) op; +#endif + Py_XINCREF(closure); + op->func_closure = closure; +#if !CYTHON_COMPILING_IN_LIMITED_API + Py_XINCREF(module); + cf->m_module = module; +#endif + op->func_dict = NULL; + op->func_name = NULL; + Py_INCREF(qualname); + op->func_qualname = qualname; + op->func_doc = NULL; +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + op->func_classobj = NULL; +#else + ((PyCMethodObject*)op)->mm_class = NULL; +#endif + op->func_globals = globals; + Py_INCREF(op->func_globals); + Py_XINCREF(code); + op->func_code = code; + op->defaults_pyobjects = 0; + op->defaults_size = 0; + op->defaults = NULL; + op->defaults_tuple = NULL; + op->defaults_kwdict = NULL; + op->defaults_getter = NULL; + op->func_annotations = NULL; + op->func_is_coroutine = NULL; +#if CYTHON_METH_FASTCALL + switch (ml->ml_flags & (METH_VARARGS | METH_FASTCALL | METH_NOARGS | METH_O | METH_KEYWORDS | METH_METHOD)) { + case METH_NOARGS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_NOARGS; + break; + case METH_O: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_O; + break; + case METH_METHOD | METH_FASTCALL | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD; + break; + case METH_FASTCALL | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS; + break; + case METH_VARARGS | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = NULL; + break; + default: + PyErr_SetString(PyExc_SystemError, "Bad call flags for CyFunction"); + Py_DECREF(op); + return NULL; + } +#endif + return (PyObject *) op; +} +static int +__Pyx_CyFunction_clear(__pyx_CyFunctionObject *m) +{ + Py_CLEAR(m->func_closure); +#if CYTHON_COMPILING_IN_LIMITED_API + Py_CLEAR(m->func); +#else + Py_CLEAR(((PyCFunctionObject*)m)->m_module); +#endif + Py_CLEAR(m->func_dict); + Py_CLEAR(m->func_name); + Py_CLEAR(m->func_qualname); + Py_CLEAR(m->func_doc); + Py_CLEAR(m->func_globals); + Py_CLEAR(m->func_code); +#if !CYTHON_COMPILING_IN_LIMITED_API +#if PY_VERSION_HEX < 0x030900B1 + Py_CLEAR(__Pyx_CyFunction_GetClassObj(m)); +#else + { + PyObject *cls = (PyObject*) ((PyCMethodObject *) (m))->mm_class; + ((PyCMethodObject *) (m))->mm_class = NULL; + Py_XDECREF(cls); + } +#endif +#endif + Py_CLEAR(m->defaults_tuple); + Py_CLEAR(m->defaults_kwdict); + Py_CLEAR(m->func_annotations); + Py_CLEAR(m->func_is_coroutine); + if (m->defaults) { + PyObject **pydefaults = __Pyx_CyFunction_Defaults(PyObject *, m); + int i; + for (i = 0; i < m->defaults_pyobjects; i++) + Py_XDECREF(pydefaults[i]); + PyObject_Free(m->defaults); + m->defaults = NULL; + } + return 0; +} +static void __Pyx__CyFunction_dealloc(__pyx_CyFunctionObject *m) +{ + if (__Pyx_CyFunction_weakreflist(m) != NULL) + PyObject_ClearWeakRefs((PyObject *) m); + __Pyx_CyFunction_clear(m); + __Pyx_PyHeapTypeObject_GC_Del(m); +} +static void __Pyx_CyFunction_dealloc(__pyx_CyFunctionObject *m) +{ + PyObject_GC_UnTrack(m); + __Pyx__CyFunction_dealloc(m); +} +static int __Pyx_CyFunction_traverse(__pyx_CyFunctionObject *m, visitproc visit, void *arg) +{ + Py_VISIT(m->func_closure); +#if CYTHON_COMPILING_IN_LIMITED_API + Py_VISIT(m->func); +#else + Py_VISIT(((PyCFunctionObject*)m)->m_module); +#endif + Py_VISIT(m->func_dict); + Py_VISIT(m->func_name); + Py_VISIT(m->func_qualname); + Py_VISIT(m->func_doc); + Py_VISIT(m->func_globals); + Py_VISIT(m->func_code); +#if !CYTHON_COMPILING_IN_LIMITED_API + Py_VISIT(__Pyx_CyFunction_GetClassObj(m)); +#endif + Py_VISIT(m->defaults_tuple); + Py_VISIT(m->defaults_kwdict); + Py_VISIT(m->func_is_coroutine); + if (m->defaults) { + PyObject **pydefaults = __Pyx_CyFunction_Defaults(PyObject *, m); + int i; + for (i = 0; i < m->defaults_pyobjects; i++) + Py_VISIT(pydefaults[i]); + } + return 0; +} +static PyObject* +__Pyx_CyFunction_repr(__pyx_CyFunctionObject *op) +{ +#if PY_MAJOR_VERSION >= 3 + return PyUnicode_FromFormat("", + op->func_qualname, (void *)op); +#else + return PyString_FromFormat("", + PyString_AsString(op->func_qualname), (void *)op); +#endif +} +static PyObject * __Pyx_CyFunction_CallMethod(PyObject *func, PyObject *self, PyObject *arg, PyObject *kw) { +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *f = ((__pyx_CyFunctionObject*)func)->func; + PyObject *py_name = NULL; + PyCFunction meth; + int flags; + meth = PyCFunction_GetFunction(f); + if (unlikely(!meth)) return NULL; + flags = PyCFunction_GetFlags(f); + if (unlikely(flags < 0)) return NULL; +#else + PyCFunctionObject* f = (PyCFunctionObject*)func; + PyCFunction meth = f->m_ml->ml_meth; + int flags = f->m_ml->ml_flags; +#endif + Py_ssize_t size; + switch (flags & (METH_VARARGS | METH_KEYWORDS | METH_NOARGS | METH_O)) { + case METH_VARARGS: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) + return (*meth)(self, arg); + break; + case METH_VARARGS | METH_KEYWORDS: + return (*(PyCFunctionWithKeywords)(void*)meth)(self, arg, kw); + case METH_NOARGS: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) { +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(arg); +#else + size = PyTuple_Size(arg); + if (unlikely(size < 0)) return NULL; +#endif + if (likely(size == 0)) + return (*meth)(self, NULL); +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, + "%.200S() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + py_name, size); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, + "%.200s() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + f->m_ml->ml_name, size); +#endif + return NULL; + } + break; + case METH_O: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) { +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(arg); +#else + size = PyTuple_Size(arg); + if (unlikely(size < 0)) return NULL; +#endif + if (likely(size == 1)) { + PyObject *result, *arg0; + #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + arg0 = PyTuple_GET_ITEM(arg, 0); + #else + arg0 = __Pyx_PySequence_ITEM(arg, 0); if (unlikely(!arg0)) return NULL; + #endif + result = (*meth)(self, arg0); + #if !(CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS) + Py_DECREF(arg0); + #endif + return result; + } +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, + "%.200S() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + py_name, size); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, + "%.200s() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + f->m_ml->ml_name, size); +#endif + return NULL; + } + break; + default: + PyErr_SetString(PyExc_SystemError, "Bad call flags for CyFunction"); + return NULL; + } +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, "%.200S() takes no keyword arguments", + py_name); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, "%.200s() takes no keyword arguments", + f->m_ml->ml_name); +#endif + return NULL; +} +static CYTHON_INLINE PyObject *__Pyx_CyFunction_Call(PyObject *func, PyObject *arg, PyObject *kw) { + PyObject *self, *result; +#if CYTHON_COMPILING_IN_LIMITED_API + self = PyCFunction_GetSelf(((__pyx_CyFunctionObject*)func)->func); + if (unlikely(!self) && PyErr_Occurred()) return NULL; +#else + self = ((PyCFunctionObject*)func)->m_self; +#endif + result = __Pyx_CyFunction_CallMethod(func, self, arg, kw); + return result; +} +static PyObject *__Pyx_CyFunction_CallAsMethod(PyObject *func, PyObject *args, PyObject *kw) { + PyObject *result; + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *) func; +#if CYTHON_METH_FASTCALL + __pyx_vectorcallfunc vc = __Pyx_CyFunction_func_vectorcall(cyfunc); + if (vc) { +#if CYTHON_ASSUME_SAFE_MACROS + return __Pyx_PyVectorcall_FastCallDict(func, vc, &PyTuple_GET_ITEM(args, 0), (size_t)PyTuple_GET_SIZE(args), kw); +#else + (void) &__Pyx_PyVectorcall_FastCallDict; + return PyVectorcall_Call(func, args, kw); +#endif + } +#endif + if ((cyfunc->flags & __Pyx_CYFUNCTION_CCLASS) && !(cyfunc->flags & __Pyx_CYFUNCTION_STATICMETHOD)) { + Py_ssize_t argc; + PyObject *new_args; + PyObject *self; +#if CYTHON_ASSUME_SAFE_MACROS + argc = PyTuple_GET_SIZE(args); +#else + argc = PyTuple_Size(args); + if (unlikely(!argc) < 0) return NULL; +#endif + new_args = PyTuple_GetSlice(args, 1, argc); + if (unlikely(!new_args)) + return NULL; + self = PyTuple_GetItem(args, 0); + if (unlikely(!self)) { + Py_DECREF(new_args); +#if PY_MAJOR_VERSION > 2 + PyErr_Format(PyExc_TypeError, + "unbound method %.200S() needs an argument", + cyfunc->func_qualname); +#else + PyErr_SetString(PyExc_TypeError, + "unbound method needs an argument"); +#endif + return NULL; + } + result = __Pyx_CyFunction_CallMethod(func, self, new_args, kw); + Py_DECREF(new_args); + } else { + result = __Pyx_CyFunction_Call(func, args, kw); + } + return result; +} +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE int __Pyx_CyFunction_Vectorcall_CheckArgs(__pyx_CyFunctionObject *cyfunc, Py_ssize_t nargs, PyObject *kwnames) +{ + int ret = 0; + if ((cyfunc->flags & __Pyx_CYFUNCTION_CCLASS) && !(cyfunc->flags & __Pyx_CYFUNCTION_STATICMETHOD)) { + if (unlikely(nargs < 1)) { + PyErr_Format(PyExc_TypeError, "%.200s() needs an argument", + ((PyCFunctionObject*)cyfunc)->m_ml->ml_name); + return -1; + } + ret = 1; + } + if (unlikely(kwnames) && unlikely(PyTuple_GET_SIZE(kwnames))) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes no keyword arguments", ((PyCFunctionObject*)cyfunc)->m_ml->ml_name); + return -1; + } + return ret; +} +static PyObject * __Pyx_CyFunction_Vectorcall_NOARGS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, kwnames)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + if (unlikely(nargs != 0)) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + def->ml_name, nargs); + return NULL; + } + return def->ml_meth(self, NULL); +} +static PyObject * __Pyx_CyFunction_Vectorcall_O(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, kwnames)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + if (unlikely(nargs != 1)) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + def->ml_name, nargs); + return NULL; + } + return def->ml_meth(self, args[0]); +} +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, NULL)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + return ((_PyCFunctionFastWithKeywords)(void(*)(void))def->ml_meth)(self, args, nargs, kwnames); +} +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; + PyTypeObject *cls = (PyTypeObject *) __Pyx_CyFunction_GetClassObj(cyfunc); +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, NULL)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + return ((__Pyx_PyCMethod)(void(*)(void))def->ml_meth)(self, cls, args, (size_t)nargs, kwnames); +} +#endif +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_CyFunctionType_slots[] = { + {Py_tp_dealloc, (void *)__Pyx_CyFunction_dealloc}, + {Py_tp_repr, (void *)__Pyx_CyFunction_repr}, + {Py_tp_call, (void *)__Pyx_CyFunction_CallAsMethod}, + {Py_tp_traverse, (void *)__Pyx_CyFunction_traverse}, + {Py_tp_clear, (void *)__Pyx_CyFunction_clear}, + {Py_tp_methods, (void *)__pyx_CyFunction_methods}, + {Py_tp_members, (void *)__pyx_CyFunction_members}, + {Py_tp_getset, (void *)__pyx_CyFunction_getsets}, + {Py_tp_descr_get, (void *)__Pyx_PyMethod_New}, + {0, 0}, +}; +static PyType_Spec __pyx_CyFunctionType_spec = { + __PYX_TYPE_MODULE_PREFIX "cython_function_or_method", + sizeof(__pyx_CyFunctionObject), + 0, +#ifdef Py_TPFLAGS_METHOD_DESCRIPTOR + Py_TPFLAGS_METHOD_DESCRIPTOR | +#endif +#if (defined(_Py_TPFLAGS_HAVE_VECTORCALL) && CYTHON_METH_FASTCALL) + _Py_TPFLAGS_HAVE_VECTORCALL | +#endif + Py_TPFLAGS_DEFAULT | Py_TPFLAGS_HAVE_GC | Py_TPFLAGS_BASETYPE, + __pyx_CyFunctionType_slots +}; +#else +static PyTypeObject __pyx_CyFunctionType_type = { + PyVarObject_HEAD_INIT(0, 0) + __PYX_TYPE_MODULE_PREFIX "cython_function_or_method", + sizeof(__pyx_CyFunctionObject), + 0, + (destructor) __Pyx_CyFunction_dealloc, +#if !CYTHON_METH_FASTCALL + 0, +#elif CYTHON_BACKPORT_VECTORCALL + (printfunc)offsetof(__pyx_CyFunctionObject, func_vectorcall), +#else + offsetof(PyCFunctionObject, vectorcall), +#endif + 0, + 0, +#if PY_MAJOR_VERSION < 3 + 0, +#else + 0, +#endif + (reprfunc) __Pyx_CyFunction_repr, + 0, + 0, + 0, + 0, + __Pyx_CyFunction_CallAsMethod, + 0, + 0, + 0, + 0, +#ifdef Py_TPFLAGS_METHOD_DESCRIPTOR + Py_TPFLAGS_METHOD_DESCRIPTOR | +#endif +#if defined(_Py_TPFLAGS_HAVE_VECTORCALL) && CYTHON_METH_FASTCALL + _Py_TPFLAGS_HAVE_VECTORCALL | +#endif + Py_TPFLAGS_DEFAULT | Py_TPFLAGS_HAVE_GC | Py_TPFLAGS_BASETYPE, + 0, + (traverseproc) __Pyx_CyFunction_traverse, + (inquiry) __Pyx_CyFunction_clear, + 0, +#if PY_VERSION_HEX < 0x030500A0 + offsetof(__pyx_CyFunctionObject, func_weakreflist), +#else + offsetof(PyCFunctionObject, m_weakreflist), +#endif + 0, + 0, + __pyx_CyFunction_methods, + __pyx_CyFunction_members, + __pyx_CyFunction_getsets, + 0, + 0, + __Pyx_PyMethod_New, + 0, + offsetof(__pyx_CyFunctionObject, func_dict), + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, +#if PY_VERSION_HEX >= 0x030400a1 + 0, +#endif +#if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, +#endif +#if __PYX_NEED_TP_PRINT_SLOT + 0, +#endif +#if PY_VERSION_HEX >= 0x030C0000 + 0, +#endif +#if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, +#endif +}; +#endif +static int __pyx_CyFunction_init(PyObject *module) { +#if CYTHON_USE_TYPE_SPECS + __pyx_CyFunctionType = __Pyx_FetchCommonTypeFromSpec(module, &__pyx_CyFunctionType_spec, NULL); +#else + CYTHON_UNUSED_VAR(module); + __pyx_CyFunctionType = __Pyx_FetchCommonType(&__pyx_CyFunctionType_type); +#endif + if (unlikely(__pyx_CyFunctionType == NULL)) { + return -1; + } + return 0; +} +static CYTHON_INLINE void *__Pyx_CyFunction_InitDefaults(PyObject *func, size_t size, int pyobjects) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults = PyObject_Malloc(size); + if (unlikely(!m->defaults)) + return PyErr_NoMemory(); + memset(m->defaults, 0, size); + m->defaults_pyobjects = pyobjects; + m->defaults_size = size; + return m->defaults; +} +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsTuple(PyObject *func, PyObject *tuple) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults_tuple = tuple; + Py_INCREF(tuple); +} +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsKwDict(PyObject *func, PyObject *dict) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults_kwdict = dict; + Py_INCREF(dict); +} +static CYTHON_INLINE void __Pyx_CyFunction_SetAnnotationsDict(PyObject *func, PyObject *dict) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->func_annotations = dict; + Py_INCREF(dict); +} + +/* CythonFunction */ +static PyObject *__Pyx_CyFunction_New(PyMethodDef *ml, int flags, PyObject* qualname, + PyObject *closure, PyObject *module, PyObject* globals, PyObject* code) { + PyObject *op = __Pyx_CyFunction_Init( + PyObject_GC_New(__pyx_CyFunctionObject, __pyx_CyFunctionType), + ml, flags, qualname, closure, module, globals, code + ); + if (likely(op)) { + PyObject_GC_Track(op); + } + return op; +} + +/* PyObjectCall2Args */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call2Args(PyObject* function, PyObject* arg1, PyObject* arg2) { + PyObject *args[3] = {NULL, arg1, arg2}; + return __Pyx_PyObject_FastCall(function, args+1, 2 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET); +} + +/* PyObjectLookupSpecial */ +#if CYTHON_USE_PYTYPE_LOOKUP && CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject* __Pyx__PyObject_LookupSpecial(PyObject* obj, PyObject* attr_name, int with_error) { + PyObject *res; + PyTypeObject *tp = Py_TYPE(obj); +#if PY_MAJOR_VERSION < 3 + if (unlikely(PyInstance_Check(obj))) + return with_error ? __Pyx_PyObject_GetAttrStr(obj, attr_name) : __Pyx_PyObject_GetAttrStrNoError(obj, attr_name); +#endif + res = _PyType_Lookup(tp, attr_name); + if (likely(res)) { + descrgetfunc f = Py_TYPE(res)->tp_descr_get; + if (!f) { + Py_INCREF(res); + } else { + res = f(res, obj, (PyObject *)tp); + } + } else if (with_error) { + PyErr_SetObject(PyExc_AttributeError, attr_name); + } + return res; +} +#endif + +/* Py3ClassCreate */ +static PyObject *__Pyx_Py3MetaclassPrepare(PyObject *metaclass, PyObject *bases, PyObject *name, + PyObject *qualname, PyObject *mkw, PyObject *modname, PyObject *doc) { + PyObject *ns; + if (metaclass) { + PyObject *prep = __Pyx_PyObject_GetAttrStrNoError(metaclass, __pyx_n_s_prepare); + if (prep) { + PyObject *pargs[3] = {NULL, name, bases}; + ns = __Pyx_PyObject_FastCallDict(prep, pargs+1, 2 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET, mkw); + Py_DECREF(prep); + } else { + if (unlikely(PyErr_Occurred())) + return NULL; + ns = PyDict_New(); + } + } else { + ns = PyDict_New(); + } + if (unlikely(!ns)) + return NULL; + if (unlikely(PyObject_SetItem(ns, __pyx_n_s_module, modname) < 0)) goto bad; +#if PY_VERSION_HEX >= 0x03030000 + if (unlikely(PyObject_SetItem(ns, __pyx_n_s_qualname, qualname) < 0)) goto bad; +#else + CYTHON_MAYBE_UNUSED_VAR(qualname); +#endif + if (unlikely(doc && PyObject_SetItem(ns, __pyx_n_s_doc, doc) < 0)) goto bad; + return ns; +bad: + Py_DECREF(ns); + return NULL; +} +#if PY_VERSION_HEX < 0x030600A4 && CYTHON_PEP487_INIT_SUBCLASS +static int __Pyx_SetNamesPEP487(PyObject *type_obj) { + PyTypeObject *type = (PyTypeObject*) type_obj; + PyObject *names_to_set, *key, *value, *set_name, *tmp; + Py_ssize_t i = 0; +#if CYTHON_USE_TYPE_SLOTS + names_to_set = PyDict_Copy(type->tp_dict); +#else + { + PyObject *d = PyObject_GetAttr(type_obj, __pyx_n_s_dict); + names_to_set = NULL; + if (likely(d)) { + PyObject *names_to_set = PyDict_New(); + int ret = likely(names_to_set) ? PyDict_Update(names_to_set, d) : -1; + Py_DECREF(d); + if (unlikely(ret < 0)) + Py_CLEAR(names_to_set); + } + } +#endif + if (unlikely(names_to_set == NULL)) + goto bad; + while (PyDict_Next(names_to_set, &i, &key, &value)) { + set_name = __Pyx_PyObject_LookupSpecialNoError(value, __pyx_n_s_set_name); + if (unlikely(set_name != NULL)) { + tmp = __Pyx_PyObject_Call2Args(set_name, type_obj, key); + Py_DECREF(set_name); + if (unlikely(tmp == NULL)) { + __Pyx_TypeName value_type_name = + __Pyx_PyType_GetName(Py_TYPE(value)); + __Pyx_TypeName type_name = __Pyx_PyType_GetName(type); + PyErr_Format(PyExc_RuntimeError, +#if PY_MAJOR_VERSION >= 3 + "Error calling __set_name__ on '" __Pyx_FMT_TYPENAME "' instance %R " "in '" __Pyx_FMT_TYPENAME "'", + value_type_name, key, type_name); +#else + "Error calling __set_name__ on '" __Pyx_FMT_TYPENAME "' instance %.100s in '" __Pyx_FMT_TYPENAME "'", + value_type_name, + PyString_Check(key) ? PyString_AS_STRING(key) : "?", + type_name); +#endif + goto bad; + } else { + Py_DECREF(tmp); + } + } + else if (unlikely(PyErr_Occurred())) { + goto bad; + } + } + Py_DECREF(names_to_set); + return 0; +bad: + Py_XDECREF(names_to_set); + return -1; +} +static PyObject *__Pyx_InitSubclassPEP487(PyObject *type_obj, PyObject *mkw) { +#if CYTHON_USE_TYPE_SLOTS && CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + PyTypeObject *type = (PyTypeObject*) type_obj; + PyObject *mro = type->tp_mro; + Py_ssize_t i, nbases; + if (unlikely(!mro)) goto done; + (void) &__Pyx_GetBuiltinName; + Py_INCREF(mro); + nbases = PyTuple_GET_SIZE(mro); + assert(PyTuple_GET_ITEM(mro, 0) == type_obj); + for (i = 1; i < nbases-1; i++) { + PyObject *base, *dict, *meth; + base = PyTuple_GET_ITEM(mro, i); + dict = ((PyTypeObject *)base)->tp_dict; + meth = __Pyx_PyDict_GetItemStrWithError(dict, __pyx_n_s_init_subclass); + if (unlikely(meth)) { + descrgetfunc f = Py_TYPE(meth)->tp_descr_get; + PyObject *res; + Py_INCREF(meth); + if (likely(f)) { + res = f(meth, NULL, type_obj); + Py_DECREF(meth); + if (unlikely(!res)) goto bad; + meth = res; + } + res = __Pyx_PyObject_FastCallDict(meth, NULL, 0, mkw); + Py_DECREF(meth); + if (unlikely(!res)) goto bad; + Py_DECREF(res); + goto done; + } else if (unlikely(PyErr_Occurred())) { + goto bad; + } + } +done: + Py_XDECREF(mro); + return type_obj; +bad: + Py_XDECREF(mro); + Py_DECREF(type_obj); + return NULL; +#else + PyObject *super_type, *super, *func, *res; +#if CYTHON_COMPILING_IN_PYPY && !defined(PySuper_Type) + super_type = __Pyx_GetBuiltinName(__pyx_n_s_super); +#else + super_type = (PyObject*) &PySuper_Type; + (void) &__Pyx_GetBuiltinName; +#endif + super = likely(super_type) ? __Pyx_PyObject_Call2Args(super_type, type_obj, type_obj) : NULL; +#if CYTHON_COMPILING_IN_PYPY && !defined(PySuper_Type) + Py_XDECREF(super_type); +#endif + if (unlikely(!super)) { + Py_CLEAR(type_obj); + goto done; + } + func = __Pyx_PyObject_GetAttrStrNoError(super, __pyx_n_s_init_subclass); + Py_DECREF(super); + if (likely(!func)) { + if (unlikely(PyErr_Occurred())) + Py_CLEAR(type_obj); + goto done; + } + res = __Pyx_PyObject_FastCallDict(func, NULL, 0, mkw); + Py_DECREF(func); + if (unlikely(!res)) + Py_CLEAR(type_obj); + Py_XDECREF(res); +done: + return type_obj; +#endif +} +#endif +static PyObject *__Pyx_Py3ClassCreate(PyObject *metaclass, PyObject *name, PyObject *bases, + PyObject *dict, PyObject *mkw, + int calculate_metaclass, int allow_py2_metaclass) { + PyObject *result; + PyObject *owned_metaclass = NULL; + PyObject *margs[4] = {NULL, name, bases, dict}; + if (allow_py2_metaclass) { + owned_metaclass = PyObject_GetItem(dict, __pyx_n_s_metaclass); + if (owned_metaclass) { + metaclass = owned_metaclass; + } else if (likely(PyErr_ExceptionMatches(PyExc_KeyError))) { + PyErr_Clear(); + } else { + return NULL; + } + } + if (calculate_metaclass && (!metaclass || PyType_Check(metaclass))) { + metaclass = __Pyx_CalculateMetaclass((PyTypeObject*) metaclass, bases); + Py_XDECREF(owned_metaclass); + if (unlikely(!metaclass)) + return NULL; + owned_metaclass = metaclass; + } + result = __Pyx_PyObject_FastCallDict(metaclass, margs+1, 3 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET, +#if PY_VERSION_HEX < 0x030600A4 + (metaclass == (PyObject*)&PyType_Type) ? NULL : mkw +#else + mkw +#endif + ); + Py_XDECREF(owned_metaclass); +#if PY_VERSION_HEX < 0x030600A4 && CYTHON_PEP487_INIT_SUBCLASS + if (likely(result) && likely(PyType_Check(result))) { + if (unlikely(__Pyx_SetNamesPEP487(result) < 0)) { + Py_CLEAR(result); + } else { + result = __Pyx_InitSubclassPEP487(result, mkw); + } + } +#else + (void) &__Pyx_GetBuiltinName; +#endif + return result; +} + +/* CyFunctionClassCell */ +static int __Pyx_CyFunction_InitClassCell(PyObject *cyfunctions, PyObject *classobj) { + Py_ssize_t i, count = PyList_GET_SIZE(cyfunctions); + for (i = 0; i < count; i++) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + PyList_GET_ITEM(cyfunctions, i); +#else + PySequence_ITEM(cyfunctions, i); + if (unlikely(!m)) + return -1; +#endif + __Pyx_CyFunction_SetClassObj(m, classobj); +#if !(CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS) + Py_DECREF((PyObject*)m); +#endif + } + return 0; +} + +/* CLineInTraceback */ +#ifndef CYTHON_CLINE_IN_TRACEBACK +static int __Pyx_CLineForTraceback(PyThreadState *tstate, int c_line) { + PyObject *use_cline; + PyObject *ptype, *pvalue, *ptraceback; +#if CYTHON_COMPILING_IN_CPYTHON + PyObject **cython_runtime_dict; +#endif + CYTHON_MAYBE_UNUSED_VAR(tstate); + if (unlikely(!__pyx_cython_runtime)) { + return c_line; + } + __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); +#if CYTHON_COMPILING_IN_CPYTHON + cython_runtime_dict = _PyObject_GetDictPtr(__pyx_cython_runtime); + if (likely(cython_runtime_dict)) { + __PYX_PY_DICT_LOOKUP_IF_MODIFIED( + use_cline, *cython_runtime_dict, + __Pyx_PyDict_GetItemStr(*cython_runtime_dict, __pyx_n_s_cline_in_traceback)) + } else +#endif + { + PyObject *use_cline_obj = __Pyx_PyObject_GetAttrStrNoError(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback); + if (use_cline_obj) { + use_cline = PyObject_Not(use_cline_obj) ? Py_False : Py_True; + Py_DECREF(use_cline_obj); + } else { + PyErr_Clear(); + use_cline = NULL; + } + } + if (!use_cline) { + c_line = 0; + (void) PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False); + } + else if (use_cline == Py_False || (use_cline != Py_True && PyObject_Not(use_cline) != 0)) { + c_line = 0; + } + __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); + return c_line; +} +#endif + +/* CodeObjectCache */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line) { + int start = 0, mid = 0, end = count - 1; + if (end >= 0 && code_line > entries[end].code_line) { + return count; + } + while (start < end) { + mid = start + (end - start) / 2; + if (code_line < entries[mid].code_line) { + end = mid; + } else if (code_line > entries[mid].code_line) { + start = mid + 1; + } else { + return mid; + } + } + if (code_line <= entries[mid].code_line) { + return mid; + } else { + return mid + 1; + } +} +static PyCodeObject *__pyx_find_code_object(int code_line) { + PyCodeObject* code_object; + int pos; + if (unlikely(!code_line) || unlikely(!__pyx_code_cache.entries)) { + return NULL; + } + pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); + if (unlikely(pos >= __pyx_code_cache.count) || unlikely(__pyx_code_cache.entries[pos].code_line != code_line)) { + return NULL; + } + code_object = __pyx_code_cache.entries[pos].code_object; + Py_INCREF(code_object); + return code_object; +} +static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object) { + int pos, i; + __Pyx_CodeObjectCacheEntry* entries = __pyx_code_cache.entries; + if (unlikely(!code_line)) { + return; + } + if (unlikely(!entries)) { + entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Malloc(64*sizeof(__Pyx_CodeObjectCacheEntry)); + if (likely(entries)) { + __pyx_code_cache.entries = entries; + __pyx_code_cache.max_count = 64; + __pyx_code_cache.count = 1; + entries[0].code_line = code_line; + entries[0].code_object = code_object; + Py_INCREF(code_object); + } + return; + } + pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); + if ((pos < __pyx_code_cache.count) && unlikely(__pyx_code_cache.entries[pos].code_line == code_line)) { + PyCodeObject* tmp = entries[pos].code_object; + entries[pos].code_object = code_object; + Py_DECREF(tmp); + return; + } + if (__pyx_code_cache.count == __pyx_code_cache.max_count) { + int new_max = __pyx_code_cache.max_count + 64; + entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Realloc( + __pyx_code_cache.entries, ((size_t)new_max) * sizeof(__Pyx_CodeObjectCacheEntry)); + if (unlikely(!entries)) { + return; + } + __pyx_code_cache.entries = entries; + __pyx_code_cache.max_count = new_max; + } + for (i=__pyx_code_cache.count; i>pos; i--) { + entries[i] = entries[i-1]; + } + entries[pos].code_line = code_line; + entries[pos].code_object = code_object; + __pyx_code_cache.count++; + Py_INCREF(code_object); +} +#endif + +/* AddTraceback */ +#include "compile.h" +#include "frameobject.h" +#include "traceback.h" +#if PY_VERSION_HEX >= 0x030b00a6 && !CYTHON_COMPILING_IN_LIMITED_API + #ifndef Py_BUILD_CORE + #define Py_BUILD_CORE 1 + #endif + #include "internal/pycore_frame.h" +#endif +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject *__Pyx_PyCode_Replace_For_AddTraceback(PyObject *code, PyObject *scratch_dict, + PyObject *firstlineno, PyObject *name) { + PyObject *replace = NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "co_firstlineno", firstlineno))) return NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "co_name", name))) return NULL; + replace = PyObject_GetAttrString(code, "replace"); + if (likely(replace)) { + PyObject *result; + result = PyObject_Call(replace, __pyx_empty_tuple, scratch_dict); + Py_DECREF(replace); + return result; + } + PyErr_Clear(); + #if __PYX_LIMITED_VERSION_HEX < 0x030780000 + { + PyObject *compiled = NULL, *result = NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "code", code))) return NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "type", (PyObject*)(&PyType_Type)))) return NULL; + compiled = Py_CompileString( + "out = type(code)(\n" + " code.co_argcount, code.co_kwonlyargcount, code.co_nlocals, code.co_stacksize,\n" + " code.co_flags, code.co_code, code.co_consts, code.co_names,\n" + " code.co_varnames, code.co_filename, co_name, co_firstlineno,\n" + " code.co_lnotab)\n", "", Py_file_input); + if (!compiled) return NULL; + result = PyEval_EvalCode(compiled, scratch_dict, scratch_dict); + Py_DECREF(compiled); + if (!result) PyErr_Print(); + Py_DECREF(result); + result = PyDict_GetItemString(scratch_dict, "out"); + if (result) Py_INCREF(result); + return result; + } + #else + return NULL; + #endif +} +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename) { + PyObject *code_object = NULL, *py_py_line = NULL, *py_funcname = NULL, *dict = NULL; + PyObject *replace = NULL, *getframe = NULL, *frame = NULL; + PyObject *exc_type, *exc_value, *exc_traceback; + int success = 0; + if (c_line) { + (void) __pyx_cfilenm; + (void) __Pyx_CLineForTraceback(__Pyx_PyThreadState_Current, c_line); + } + PyErr_Fetch(&exc_type, &exc_value, &exc_traceback); + code_object = Py_CompileString("_getframe()", filename, Py_eval_input); + if (unlikely(!code_object)) goto bad; + py_py_line = PyLong_FromLong(py_line); + if (unlikely(!py_py_line)) goto bad; + py_funcname = PyUnicode_FromString(funcname); + if (unlikely(!py_funcname)) goto bad; + dict = PyDict_New(); + if (unlikely(!dict)) goto bad; + { + PyObject *old_code_object = code_object; + code_object = __Pyx_PyCode_Replace_For_AddTraceback(code_object, dict, py_py_line, py_funcname); + Py_DECREF(old_code_object); + } + if (unlikely(!code_object)) goto bad; + getframe = PySys_GetObject("_getframe"); + if (unlikely(!getframe)) goto bad; + if (unlikely(PyDict_SetItemString(dict, "_getframe", getframe))) goto bad; + frame = PyEval_EvalCode(code_object, dict, dict); + if (unlikely(!frame) || frame == Py_None) goto bad; + success = 1; + bad: + PyErr_Restore(exc_type, exc_value, exc_traceback); + Py_XDECREF(code_object); + Py_XDECREF(py_py_line); + Py_XDECREF(py_funcname); + Py_XDECREF(dict); + Py_XDECREF(replace); + if (success) { + PyTraceBack_Here( + (struct _frame*)frame); + } + Py_XDECREF(frame); +} +#else +static PyCodeObject* __Pyx_CreateCodeObjectForTraceback( + const char *funcname, int c_line, + int py_line, const char *filename) { + PyCodeObject *py_code = NULL; + PyObject *py_funcname = NULL; + #if PY_MAJOR_VERSION < 3 + PyObject *py_srcfile = NULL; + py_srcfile = PyString_FromString(filename); + if (!py_srcfile) goto bad; + #endif + if (c_line) { + #if PY_MAJOR_VERSION < 3 + py_funcname = PyString_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); + if (!py_funcname) goto bad; + #else + py_funcname = PyUnicode_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); + if (!py_funcname) goto bad; + funcname = PyUnicode_AsUTF8(py_funcname); + if (!funcname) goto bad; + #endif + } + else { + #if PY_MAJOR_VERSION < 3 + py_funcname = PyString_FromString(funcname); + if (!py_funcname) goto bad; + #endif + } + #if PY_MAJOR_VERSION < 3 + py_code = __Pyx_PyCode_New( + 0, + 0, + 0, + 0, + 0, + 0, + __pyx_empty_bytes, /*PyObject *code,*/ + __pyx_empty_tuple, /*PyObject *consts,*/ + __pyx_empty_tuple, /*PyObject *names,*/ + __pyx_empty_tuple, /*PyObject *varnames,*/ + __pyx_empty_tuple, /*PyObject *freevars,*/ + __pyx_empty_tuple, /*PyObject *cellvars,*/ + py_srcfile, /*PyObject *filename,*/ + py_funcname, /*PyObject *name,*/ + py_line, + __pyx_empty_bytes /*PyObject *lnotab*/ + ); + Py_DECREF(py_srcfile); + #else + py_code = PyCode_NewEmpty(filename, funcname, py_line); + #endif + Py_XDECREF(py_funcname); + return py_code; +bad: + Py_XDECREF(py_funcname); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(py_srcfile); + #endif + return NULL; +} +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename) { + PyCodeObject *py_code = 0; + PyFrameObject *py_frame = 0; + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject *ptype, *pvalue, *ptraceback; + if (c_line) { + c_line = __Pyx_CLineForTraceback(tstate, c_line); + } + py_code = __pyx_find_code_object(c_line ? -c_line : py_line); + if (!py_code) { + __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); + py_code = __Pyx_CreateCodeObjectForTraceback( + funcname, c_line, py_line, filename); + if (!py_code) { + /* If the code object creation fails, then we should clear the + fetched exception references and propagate the new exception */ + Py_XDECREF(ptype); + Py_XDECREF(pvalue); + Py_XDECREF(ptraceback); + goto bad; + } + __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); + __pyx_insert_code_object(c_line ? -c_line : py_line, py_code); + } + py_frame = PyFrame_New( + tstate, /*PyThreadState *tstate,*/ + py_code, /*PyCodeObject *code,*/ + __pyx_d, /*PyObject *globals,*/ + 0 /*PyObject *locals*/ + ); + if (!py_frame) goto bad; + __Pyx_PyFrame_SetLineNumber(py_frame, py_line); + PyTraceBack_Here(py_frame); +bad: + Py_XDECREF(py_code); + Py_XDECREF(py_frame); +} +#endif + +/* CIntFromPyVerify */ +#define __PYX_VERIFY_RETURN_INT(target_type, func_type, func_value)\ + __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 0) +#define __PYX_VERIFY_RETURN_INT_EXC(target_type, func_type, func_value)\ + __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 1) +#define __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, exc)\ + {\ + func_type value = func_value;\ + if (sizeof(target_type) < sizeof(func_type)) {\ + if (unlikely(value != (func_type) (target_type) value)) {\ + func_type zero = 0;\ + if (exc && unlikely(value == (func_type)-1 && PyErr_Occurred()))\ + return (target_type) -1;\ + if (is_unsigned && unlikely(value < zero))\ + goto raise_neg_overflow;\ + else\ + goto raise_overflow;\ + }\ + }\ + return (target_type) value;\ + } + +/* CIntFromPy */ +static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(int) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(int, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (int) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(int, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(int) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 2 * PyLong_SHIFT)) { + return (int) (((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(int) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 3 * PyLong_SHIFT)) { + return (int) (((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(int) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 4 * PyLong_SHIFT)) { + return (int) (((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (int) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(int) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(int, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(int) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(int, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(int, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(int) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(int) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + return (int) ((((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(int) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + return (int) ((((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 4 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(int) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 4 * PyLong_SHIFT)) { + return (int) ((((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(int) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(int, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(int) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(int, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + int val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (int) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (int) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (int) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (int) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (int) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(int) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((int) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(int) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((int) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((int) 1) << (sizeof(int) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (int) -1; + } + } else { + int val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (int) -1; + val = __Pyx_PyInt_As_int(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to int"); + return (int) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to int"); + return (int) -1; +} + +/* CIntToPy */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(int) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(int) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(int) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(int) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(int) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; +#if !CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030d0000 + return _PyLong_FromByteArray(bytes, sizeof(int), + little, !is_unsigned); +#else + PyObject *from_bytes, *result = NULL; + PyObject *py_bytes = NULL, *arg_tuple = NULL, *kwds = NULL, *order_str = NULL; + from_bytes = PyObject_GetAttrString((PyObject*)&PyLong_Type, "from_bytes"); + if (!from_bytes) return NULL; + py_bytes = PyBytes_FromStringAndSize((char*)bytes, sizeof(int)); + if (!py_bytes) goto limited_bad; + order_str = PyUnicode_FromString(little ? "little" : "big"); + if (!order_str) goto limited_bad; + arg_tuple = PyTuple_Pack(2, py_bytes, order_str); + if (!arg_tuple) goto limited_bad; + if (!is_unsigned) { + kwds = PyDict_New(); + if (!kwds) goto limited_bad; + if (PyDict_SetItemString(kwds, "signed", __Pyx_NewRef(Py_True))) goto limited_bad; + } + result = PyObject_Call(from_bytes, arg_tuple, kwds); + limited_bad: + Py_XDECREF(kwds); + Py_XDECREF(arg_tuple); + Py_XDECREF(order_str); + Py_XDECREF(py_bytes); + Py_XDECREF(from_bytes); + return result; +#endif + } +} + +/* CIntFromPy */ +static CYTHON_INLINE size_t __Pyx_PyInt_As_size_t(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const size_t neg_one = (size_t) -1, const_zero = (size_t) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(size_t) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(size_t, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (size_t) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(size_t, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(size_t) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(size_t) >= 2 * PyLong_SHIFT)) { + return (size_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(size_t) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(size_t) >= 3 * PyLong_SHIFT)) { + return (size_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(size_t) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(size_t) >= 4 * PyLong_SHIFT)) { + return (size_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (size_t) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(size_t) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(size_t, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(size_t) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(size_t, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(size_t, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(size_t) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(size_t, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(size_t) - 1 > 2 * PyLong_SHIFT)) { + return (size_t) (((size_t)-1)*(((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(size_t) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(size_t) - 1 > 2 * PyLong_SHIFT)) { + return (size_t) ((((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(size_t) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(size_t, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(size_t) - 1 > 3 * PyLong_SHIFT)) { + return (size_t) (((size_t)-1)*(((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(size_t) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(size_t) - 1 > 3 * PyLong_SHIFT)) { + return (size_t) ((((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(size_t) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(size_t, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(size_t) - 1 > 4 * PyLong_SHIFT)) { + return (size_t) (((size_t)-1)*(((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(size_t) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(size_t) - 1 > 4 * PyLong_SHIFT)) { + return (size_t) ((((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(size_t) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(size_t, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(size_t) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(size_t, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + size_t val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (size_t) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (size_t) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (size_t) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (size_t) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (size_t) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(size_t) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((size_t) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(size_t) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((size_t) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((size_t) 1) << (sizeof(size_t) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (size_t) -1; + } + } else { + size_t val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (size_t) -1; + val = __Pyx_PyInt_As_size_t(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to size_t"); + return (size_t) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to size_t"); + return (size_t) -1; +} + +/* FormatTypeName */ +#if CYTHON_COMPILING_IN_LIMITED_API +static __Pyx_TypeName +__Pyx_PyType_GetName(PyTypeObject* tp) +{ + PyObject *name = __Pyx_PyObject_GetAttrStr((PyObject *)tp, + __pyx_n_s_name); + if (unlikely(name == NULL) || unlikely(!PyUnicode_Check(name))) { + PyErr_Clear(); + Py_XDECREF(name); + name = __Pyx_NewRef(__pyx_n_s__53); + } + return name; +} +#endif + +/* CIntToPy */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const long neg_one = (long) -1, const_zero = (long) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(long) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(long) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(long) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; +#if !CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030d0000 + return _PyLong_FromByteArray(bytes, sizeof(long), + little, !is_unsigned); +#else + PyObject *from_bytes, *result = NULL; + PyObject *py_bytes = NULL, *arg_tuple = NULL, *kwds = NULL, *order_str = NULL; + from_bytes = PyObject_GetAttrString((PyObject*)&PyLong_Type, "from_bytes"); + if (!from_bytes) return NULL; + py_bytes = PyBytes_FromStringAndSize((char*)bytes, sizeof(long)); + if (!py_bytes) goto limited_bad; + order_str = PyUnicode_FromString(little ? "little" : "big"); + if (!order_str) goto limited_bad; + arg_tuple = PyTuple_Pack(2, py_bytes, order_str); + if (!arg_tuple) goto limited_bad; + if (!is_unsigned) { + kwds = PyDict_New(); + if (!kwds) goto limited_bad; + if (PyDict_SetItemString(kwds, "signed", __Pyx_NewRef(Py_True))) goto limited_bad; + } + result = PyObject_Call(from_bytes, arg_tuple, kwds); + limited_bad: + Py_XDECREF(kwds); + Py_XDECREF(arg_tuple); + Py_XDECREF(order_str); + Py_XDECREF(py_bytes); + Py_XDECREF(from_bytes); + return result; +#endif + } +} + +/* CIntFromPy */ +static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const long neg_one = (long) -1, const_zero = (long) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(long) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(long, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (long) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(long, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(long) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 2 * PyLong_SHIFT)) { + return (long) (((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(long) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 3 * PyLong_SHIFT)) { + return (long) (((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(long) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 4 * PyLong_SHIFT)) { + return (long) (((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (long) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(long) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(long, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(long) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(long, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(long, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(long) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(long) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + return (long) ((((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(long) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + return (long) ((((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 4 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(long) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 4 * PyLong_SHIFT)) { + return (long) ((((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(long) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(long, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(long) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(long, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + long val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (long) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (long) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (long) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (long) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (long) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(long) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((long) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(long) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((long) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((long) 1) << (sizeof(long) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (long) -1; + } + } else { + long val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (long) -1; + val = __Pyx_PyInt_As_long(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to long"); + return (long) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to long"); + return (long) -1; +} + +/* FastTypeChecks */ +#if CYTHON_COMPILING_IN_CPYTHON +static int __Pyx_InBases(PyTypeObject *a, PyTypeObject *b) { + while (a) { + a = __Pyx_PyType_GetSlot(a, tp_base, PyTypeObject*); + if (a == b) + return 1; + } + return b == &PyBaseObject_Type; +} +static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b) { + PyObject *mro; + if (a == b) return 1; + mro = a->tp_mro; + if (likely(mro)) { + Py_ssize_t i, n; + n = PyTuple_GET_SIZE(mro); + for (i = 0; i < n; i++) { + if (PyTuple_GET_ITEM(mro, i) == (PyObject *)b) + return 1; + } + return 0; + } + return __Pyx_InBases(a, b); +} +static CYTHON_INLINE int __Pyx_IsAnySubtype2(PyTypeObject *cls, PyTypeObject *a, PyTypeObject *b) { + PyObject *mro; + if (cls == a || cls == b) return 1; + mro = cls->tp_mro; + if (likely(mro)) { + Py_ssize_t i, n; + n = PyTuple_GET_SIZE(mro); + for (i = 0; i < n; i++) { + PyObject *base = PyTuple_GET_ITEM(mro, i); + if (base == (PyObject *)a || base == (PyObject *)b) + return 1; + } + return 0; + } + return __Pyx_InBases(cls, a) || __Pyx_InBases(cls, b); +} +#if PY_MAJOR_VERSION == 2 +static int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject* exc_type2) { + PyObject *exception, *value, *tb; + int res; + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + __Pyx_ErrFetch(&exception, &value, &tb); + res = exc_type1 ? PyObject_IsSubclass(err, exc_type1) : 0; + if (unlikely(res == -1)) { + PyErr_WriteUnraisable(err); + res = 0; + } + if (!res) { + res = PyObject_IsSubclass(err, exc_type2); + if (unlikely(res == -1)) { + PyErr_WriteUnraisable(err); + res = 0; + } + } + __Pyx_ErrRestore(exception, value, tb); + return res; +} +#else +static CYTHON_INLINE int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject *exc_type2) { + if (exc_type1) { + return __Pyx_IsAnySubtype2((PyTypeObject*)err, (PyTypeObject*)exc_type1, (PyTypeObject*)exc_type2); + } else { + return __Pyx_IsSubtype((PyTypeObject*)err, (PyTypeObject*)exc_type2); + } +} +#endif +static int __Pyx_PyErr_GivenExceptionMatchesTuple(PyObject *exc_type, PyObject *tuple) { + Py_ssize_t i, n; + assert(PyExceptionClass_Check(exc_type)); + n = PyTuple_GET_SIZE(tuple); +#if PY_MAJOR_VERSION >= 3 + for (i=0; i= 0x030B00A4 + return Py_Version & ~0xFFUL; +#else + const char* rt_version = Py_GetVersion(); + unsigned long version = 0; + unsigned long factor = 0x01000000UL; + unsigned int digit = 0; + int i = 0; + while (factor) { + while ('0' <= rt_version[i] && rt_version[i] <= '9') { + digit = digit * 10 + (unsigned int) (rt_version[i] - '0'); + ++i; + } + version += factor * digit; + if (rt_version[i] != '.') + break; + digit = 0; + factor >>= 8; + ++i; + } + return version; +#endif +} +static int __Pyx_check_binary_version(unsigned long ct_version, unsigned long rt_version, int allow_newer) { + const unsigned long MAJOR_MINOR = 0xFFFF0000UL; + if ((rt_version & MAJOR_MINOR) == (ct_version & MAJOR_MINOR)) + return 0; + if (likely(allow_newer && (rt_version & MAJOR_MINOR) > (ct_version & MAJOR_MINOR))) + return 1; + { + char message[200]; + PyOS_snprintf(message, sizeof(message), + "compile time Python version %d.%d " + "of module '%.100s' " + "%s " + "runtime version %d.%d", + (int) (ct_version >> 24), (int) ((ct_version >> 16) & 0xFF), + __Pyx_MODULE_NAME, + (allow_newer) ? "was newer than" : "does not match", + (int) (rt_version >> 24), (int) ((rt_version >> 16) & 0xFF) + ); + return PyErr_WarnEx(NULL, message, 1); + } +} + +/* InitStrings */ +#if PY_MAJOR_VERSION >= 3 +static int __Pyx_InitString(__Pyx_StringTabEntry t, PyObject **str) { + if (t.is_unicode | t.is_str) { + if (t.intern) { + *str = PyUnicode_InternFromString(t.s); + } else if (t.encoding) { + *str = PyUnicode_Decode(t.s, t.n - 1, t.encoding, NULL); + } else { + *str = PyUnicode_FromStringAndSize(t.s, t.n - 1); + } + } else { + *str = PyBytes_FromStringAndSize(t.s, t.n - 1); + } + if (!*str) + return -1; + if (PyObject_Hash(*str) == -1) + return -1; + return 0; +} +#endif +static int __Pyx_InitStrings(__Pyx_StringTabEntry *t) { + while (t->p) { + #if PY_MAJOR_VERSION >= 3 + __Pyx_InitString(*t, t->p); + #else + if (t->is_unicode) { + *t->p = PyUnicode_DecodeUTF8(t->s, t->n - 1, NULL); + } else if (t->intern) { + *t->p = PyString_InternFromString(t->s); + } else { + *t->p = PyString_FromStringAndSize(t->s, t->n - 1); + } + if (!*t->p) + return -1; + if (PyObject_Hash(*t->p) == -1) + return -1; + #endif + ++t; + } + return 0; +} + +#include +static CYTHON_INLINE Py_ssize_t __Pyx_ssize_strlen(const char *s) { + size_t len = strlen(s); + if (unlikely(len > (size_t) PY_SSIZE_T_MAX)) { + PyErr_SetString(PyExc_OverflowError, "byte string is too long"); + return -1; + } + return (Py_ssize_t) len; +} +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char* c_str) { + Py_ssize_t len = __Pyx_ssize_strlen(c_str); + if (unlikely(len < 0)) return NULL; + return __Pyx_PyUnicode_FromStringAndSize(c_str, len); +} +static CYTHON_INLINE PyObject* __Pyx_PyByteArray_FromString(const char* c_str) { + Py_ssize_t len = __Pyx_ssize_strlen(c_str); + if (unlikely(len < 0)) return NULL; + return PyByteArray_FromStringAndSize(c_str, len); +} +static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject* o) { + Py_ssize_t ignore; + return __Pyx_PyObject_AsStringAndSize(o, &ignore); +} +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT +#if !CYTHON_PEP393_ENABLED +static const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { + char* defenc_c; + PyObject* defenc = _PyUnicode_AsDefaultEncodedString(o, NULL); + if (!defenc) return NULL; + defenc_c = PyBytes_AS_STRING(defenc); +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + { + char* end = defenc_c + PyBytes_GET_SIZE(defenc); + char* c; + for (c = defenc_c; c < end; c++) { + if ((unsigned char) (*c) >= 128) { + PyUnicode_AsASCIIString(o); + return NULL; + } + } + } +#endif + *length = PyBytes_GET_SIZE(defenc); + return defenc_c; +} +#else +static CYTHON_INLINE const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { + if (unlikely(__Pyx_PyUnicode_READY(o) == -1)) return NULL; +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + if (likely(PyUnicode_IS_ASCII(o))) { + *length = PyUnicode_GET_LENGTH(o); + return PyUnicode_AsUTF8(o); + } else { + PyUnicode_AsASCIIString(o); + return NULL; + } +#else + return PyUnicode_AsUTF8AndSize(o, length); +#endif +} +#endif +#endif +static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject* o, Py_ssize_t *length) { +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT + if ( +#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + __Pyx_sys_getdefaultencoding_not_ascii && +#endif + PyUnicode_Check(o)) { + return __Pyx_PyUnicode_AsStringAndSize(o, length); + } else +#endif +#if (!CYTHON_COMPILING_IN_PYPY && !CYTHON_COMPILING_IN_LIMITED_API) || (defined(PyByteArray_AS_STRING) && defined(PyByteArray_GET_SIZE)) + if (PyByteArray_Check(o)) { + *length = PyByteArray_GET_SIZE(o); + return PyByteArray_AS_STRING(o); + } else +#endif + { + char* result; + int r = PyBytes_AsStringAndSize(o, &result, length); + if (unlikely(r < 0)) { + return NULL; + } else { + return result; + } + } +} +static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject* x) { + int is_true = x == Py_True; + if (is_true | (x == Py_False) | (x == Py_None)) return is_true; + else return PyObject_IsTrue(x); +} +static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject* x) { + int retval; + if (unlikely(!x)) return -1; + retval = __Pyx_PyObject_IsTrue(x); + Py_DECREF(x); + return retval; +} +static PyObject* __Pyx_PyNumber_IntOrLongWrongResultType(PyObject* result, const char* type_name) { + __Pyx_TypeName result_type_name = __Pyx_PyType_GetName(Py_TYPE(result)); +#if PY_MAJOR_VERSION >= 3 + if (PyLong_Check(result)) { + if (PyErr_WarnFormat(PyExc_DeprecationWarning, 1, + "__int__ returned non-int (type " __Pyx_FMT_TYPENAME "). " + "The ability to return an instance of a strict subclass of int is deprecated, " + "and may be removed in a future version of Python.", + result_type_name)) { + __Pyx_DECREF_TypeName(result_type_name); + Py_DECREF(result); + return NULL; + } + __Pyx_DECREF_TypeName(result_type_name); + return result; + } +#endif + PyErr_Format(PyExc_TypeError, + "__%.4s__ returned non-%.4s (type " __Pyx_FMT_TYPENAME ")", + type_name, type_name, result_type_name); + __Pyx_DECREF_TypeName(result_type_name); + Py_DECREF(result); + return NULL; +} +static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x) { +#if CYTHON_USE_TYPE_SLOTS + PyNumberMethods *m; +#endif + const char *name = NULL; + PyObject *res = NULL; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x) || PyLong_Check(x))) +#else + if (likely(PyLong_Check(x))) +#endif + return __Pyx_NewRef(x); +#if CYTHON_USE_TYPE_SLOTS + m = Py_TYPE(x)->tp_as_number; + #if PY_MAJOR_VERSION < 3 + if (m && m->nb_int) { + name = "int"; + res = m->nb_int(x); + } + else if (m && m->nb_long) { + name = "long"; + res = m->nb_long(x); + } + #else + if (likely(m && m->nb_int)) { + name = "int"; + res = m->nb_int(x); + } + #endif +#else + if (!PyBytes_CheckExact(x) && !PyUnicode_CheckExact(x)) { + res = PyNumber_Int(x); + } +#endif + if (likely(res)) { +#if PY_MAJOR_VERSION < 3 + if (unlikely(!PyInt_Check(res) && !PyLong_Check(res))) { +#else + if (unlikely(!PyLong_CheckExact(res))) { +#endif + return __Pyx_PyNumber_IntOrLongWrongResultType(res, name); + } + } + else if (!PyErr_Occurred()) { + PyErr_SetString(PyExc_TypeError, + "an integer is required"); + } + return res; +} +static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject* b) { + Py_ssize_t ival; + PyObject *x; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_CheckExact(b))) { + if (sizeof(Py_ssize_t) >= sizeof(long)) + return PyInt_AS_LONG(b); + else + return PyInt_AsSsize_t(b); + } +#endif + if (likely(PyLong_CheckExact(b))) { + #if CYTHON_USE_PYLONG_INTERNALS + if (likely(__Pyx_PyLong_IsCompact(b))) { + return __Pyx_PyLong_CompactValue(b); + } else { + const digit* digits = __Pyx_PyLong_Digits(b); + const Py_ssize_t size = __Pyx_PyLong_SignedDigitCount(b); + switch (size) { + case 2: + if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { + return (Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -2: + if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case 3: + if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { + return (Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -3: + if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case 4: + if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { + return (Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -4: + if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + } + } + #endif + return PyLong_AsSsize_t(b); + } + x = PyNumber_Index(b); + if (!x) return -1; + ival = PyInt_AsSsize_t(x); + Py_DECREF(x); + return ival; +} +static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject* o) { + if (sizeof(Py_hash_t) == sizeof(Py_ssize_t)) { + return (Py_hash_t) __Pyx_PyIndex_AsSsize_t(o); +#if PY_MAJOR_VERSION < 3 + } else if (likely(PyInt_CheckExact(o))) { + return PyInt_AS_LONG(o); +#endif + } else { + Py_ssize_t ival; + PyObject *x; + x = PyNumber_Index(o); + if (!x) return -1; + ival = PyInt_AsLong(x); + Py_DECREF(x); + return ival; + } +} +static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b) { + return b ? __Pyx_NewRef(Py_True) : __Pyx_NewRef(Py_False); +} +static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t ival) { + return PyInt_FromSize_t(ival); +} + + +/* #### Code section: utility_code_pragmas_end ### */ +#ifdef _MSC_VER +#pragma warning( pop ) +#endif + + + +/* #### Code section: end ### */ +#endif /* Py_PYTHON_H */ diff --git a/msgq_repo/msgq/ipc_pyx.so b/msgq_repo/msgq/ipc_pyx.so new file mode 100644 index 00000000000000..ac0ff4f71ce36c Binary files /dev/null and b/msgq_repo/msgq/ipc_pyx.so differ diff --git a/msgq_repo/msgq/logger/logger.h b/msgq_repo/msgq/logger/logger.h deleted file mode 100644 index 03336f8fff52e2..00000000000000 --- a/msgq_repo/msgq/logger/logger.h +++ /dev/null @@ -1,21 +0,0 @@ -#pragma once - -#ifdef SWAGLOG -// cppcheck-suppress preprocessorErrorDirective -#include SWAGLOG -#else - -#define CLOUDLOG_DEBUG 10 -#define CLOUDLOG_INFO 20 -#define CLOUDLOG_WARNING 30 -#define CLOUDLOG_ERROR 40 -#define CLOUDLOG_CRITICAL 50 - -#define cloudlog(lvl, fmt, ...) printf(fmt "\n", ## __VA_ARGS__) - -#define LOGD(fmt, ...) cloudlog(CLOUDLOG_DEBUG, fmt, ## __VA_ARGS__) -#define LOG(fmt, ...) cloudlog(CLOUDLOG_INFO, fmt, ## __VA_ARGS__) -#define LOGW(fmt, ...) cloudlog(CLOUDLOG_WARNING, fmt, ## __VA_ARGS__) -#define LOGE(fmt, ...) cloudlog(CLOUDLOG_ERROR, fmt, ## __VA_ARGS__) - -#endif diff --git a/msgq_repo/msgq/msgq.cc b/msgq_repo/msgq/msgq.cc deleted file mode 100644 index fed2959bd3b734..00000000000000 --- a/msgq_repo/msgq/msgq.cc +++ /dev/null @@ -1,468 +0,0 @@ -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include -#include -#include -#include -#include -#include -#include -#include - -#include - -#include "msgq/msgq.h" - -void sigusr2_handler(int signal) { - assert(signal == SIGUSR2); -} - -uint64_t msgq_get_uid(void){ - std::random_device rd("/dev/urandom"); - std::uniform_int_distribution distribution(0, std::numeric_limits::max()); - - #ifdef __APPLE__ - // TODO: this doesn't work - uint64_t uid = distribution(rd) << 32 | getpid(); - #else - uint64_t uid = distribution(rd) << 32 | syscall(SYS_gettid); - #endif - - return uid; -} - -int msgq_msg_init_size(msgq_msg_t * msg, size_t size){ - msg->size = size; - msg->data = new(std::nothrow) char[size]; - - return (msg->data == NULL) ? -1 : 0; -} - - -int msgq_msg_init_data(msgq_msg_t * msg, char * data, size_t size) { - int r = msgq_msg_init_size(msg, size); - - if (r == 0) - memcpy(msg->data, data, size); - - return r; -} - -int msgq_msg_close(msgq_msg_t * msg){ - if (msg->size > 0) - delete[] msg->data; - - msg->size = 0; - - return 0; -} - -void msgq_reset_reader(msgq_queue_t * q){ - int id = q->reader_id; - q->read_valids[id]->store(true); - q->read_pointers[id]->store(*q->write_pointer); -} - -void msgq_wait_for_subscriber(msgq_queue_t *q){ - while (*q->num_readers == 0){ - // wait for subscriber - } - - return; -} - -int msgq_new_queue(msgq_queue_t * q, const char * path, size_t size){ - assert(size < 0xFFFFFFFF); // Buffer must be smaller than 2^32 bytes - std::signal(SIGUSR2, sigusr2_handler); - - std::string full_path = "/dev/shm/"; - const char* prefix = std::getenv("OPENPILOT_PREFIX"); - if (prefix) { - full_path += std::string(prefix) + "/"; - } - full_path += path; - - auto fd = open(full_path.c_str(), O_RDWR | O_CREAT, 0664); - if (fd < 0) { - std::cout << "Warning, could not open: " << full_path << std::endl; - return -1; - } - - int rc = ftruncate(fd, size + sizeof(msgq_header_t)); - if (rc < 0){ - close(fd); - return -1; - } - char * mem = (char*)mmap(NULL, size + sizeof(msgq_header_t), PROT_READ | PROT_WRITE, MAP_SHARED, fd, 0); - close(fd); - - if (mem == NULL){ - return -1; - } - q->mmap_p = mem; - - msgq_header_t *header = (msgq_header_t *)mem; - - // Setup pointers to header segment - q->num_readers = reinterpret_cast*>(&header->num_readers); - q->write_pointer = reinterpret_cast*>(&header->write_pointer); - q->write_uid = reinterpret_cast*>(&header->write_uid); - - for (size_t i = 0; i < NUM_READERS; i++){ - q->read_pointers[i] = reinterpret_cast*>(&header->read_pointers[i]); - q->read_valids[i] = reinterpret_cast*>(&header->read_valids[i]); - q->read_uids[i] = reinterpret_cast*>(&header->read_uids[i]); - } - - q->data = mem + sizeof(msgq_header_t); - q->size = size; - q->reader_id = -1; - - q->endpoint = path; - q->read_conflate = false; - - return 0; -} - -void msgq_close_queue(msgq_queue_t *q){ - if (q->mmap_p != NULL){ - munmap(q->mmap_p, q->size + sizeof(msgq_header_t)); - } -} - - -void msgq_init_publisher(msgq_queue_t * q) { - //std::cout << "Starting publisher" << std::endl; - uint64_t uid = msgq_get_uid(); - - *q->write_uid = uid; - *q->num_readers = 0; - - for (size_t i = 0; i < NUM_READERS; i++){ - *q->read_valids[i] = false; - *q->read_uids[i] = 0; - } - - q->write_uid_local = uid; -} - -static void thread_signal(uint32_t tid) { - #ifndef SYS_tkill - // TODO: this won't work for multithreaded programs - kill(tid, SIGUSR2); - #else - syscall(SYS_tkill, tid, SIGUSR2); - #endif -} - -void msgq_init_subscriber(msgq_queue_t * q) { - assert(q != NULL); - assert(q->num_readers != NULL); - - uint64_t uid = msgq_get_uid(); - - // Get reader id - while (true){ - uint64_t cur_num_readers = *q->num_readers; - uint64_t new_num_readers = cur_num_readers + 1; - - // No more slots available. Reset all subscribers to kick out inactive ones - if (new_num_readers > NUM_READERS){ - //std::cout << "Warning, evicting all subscribers!" << std::endl; - *q->num_readers = 0; - - for (size_t i = 0; i < NUM_READERS; i++){ - *q->read_valids[i] = false; - - uint64_t old_uid = *q->read_uids[i]; - *q->read_uids[i] = 0; - - // Wake up reader in case they are in a poll - thread_signal(old_uid & 0xFFFFFFFF); - } - - continue; - } - - // Use atomic compare and swap to handle race condition - // where two subscribers start at the same time - if (std::atomic_compare_exchange_strong(q->num_readers, - &cur_num_readers, - new_num_readers)){ - q->reader_id = cur_num_readers; - q->read_uid_local = uid; - - // We start with read_valid = false, - // on the first read the read pointer will be synchronized with the write pointer - *q->read_valids[cur_num_readers] = false; - *q->read_pointers[cur_num_readers] = 0; - *q->read_uids[cur_num_readers] = uid; - break; - } - } - - //std::cout << "New subscriber id: " << q->reader_id << " uid: " << q->read_uid_local << " " << q->endpoint << std::endl; - msgq_reset_reader(q); -} - -int msgq_msg_send(msgq_msg_t * msg, msgq_queue_t *q){ - // Die if we are no longer the active publisher - if (q->write_uid_local != *q->write_uid){ - std::cout << "Killing old publisher: " << q->endpoint << std::endl; - errno = EADDRINUSE; - return -1; - } - - uint64_t total_msg_size = ALIGN(msg->size + sizeof(int64_t)); - - // We need to fit at least three messages in the queue, - // then we can always safely access the last message - assert(3 * total_msg_size <= q->size); - - uint64_t num_readers = *q->num_readers; - - uint32_t write_cycles, write_pointer; - UNPACK64(write_cycles, write_pointer, *q->write_pointer); - - char *p = q->data + write_pointer; // add base offset - - // Check remaining space - // Always leave space for a wraparound tag for the next message, including alignment - int64_t remaining_space = q->size - write_pointer - total_msg_size - sizeof(int64_t); - if (remaining_space <= 0){ - // Write -1 size tag indicating wraparound - *(int64_t*)p = -1; - - // Invalidate all readers that are beyond the write pointer - // TODO: should we handle the case where a new reader shows up while this is running? - for (uint64_t i = 0; i < num_readers; i++){ - uint64_t read_pointer = *q->read_pointers[i]; - uint64_t read_cycles = read_pointer >> 32; - read_pointer &= 0xFFFFFFFF; - - if ((read_pointer > write_pointer) && (read_cycles != write_cycles)) { - *q->read_valids[i] = false; - } - } - - // Update global and local copies of write pointer and write_cycles - write_pointer = 0; - write_cycles = write_cycles + 1; - PACK64(*q->write_pointer, write_cycles, write_pointer); - - // Set actual pointer to the beginning of the data segment - p = q->data; - } - - // Invalidate readers that are in the area that will be written - uint64_t start = write_pointer; - uint64_t end = ALIGN(start + sizeof(int64_t) + msg->size); - - for (uint64_t i = 0; i < num_readers; i++){ - uint32_t read_cycles, read_pointer; - UNPACK64(read_cycles, read_pointer, *q->read_pointers[i]); - - if ((read_pointer >= start) && (read_pointer < end) && (read_cycles != write_cycles)) { - *q->read_valids[i] = false; - } - } - - - // Write size tag - std::atomic *size_p = reinterpret_cast*>(p); - *size_p = msg->size; - - // Copy data - memcpy(p + sizeof(int64_t), msg->data, msg->size); - __sync_synchronize(); - - // Update write pointer - uint32_t new_ptr = ALIGN(write_pointer + msg->size + sizeof(int64_t)); - PACK64(*q->write_pointer, write_cycles, new_ptr); - - // Notify readers - for (uint64_t i = 0; i < num_readers; i++){ - uint64_t reader_uid = *q->read_uids[i]; - thread_signal(reader_uid & 0xFFFFFFFF); - } - - return msg->size; -} - - -int msgq_msg_ready(msgq_queue_t * q){ - start: - int id = q->reader_id; - assert(id >= 0); // Make sure subscriber is initialized - - if (q->read_uid_local != *q->read_uids[id]){ - //std::cout << q->endpoint << ": Reader was evicted, reconnecting" << std::endl; - msgq_init_subscriber(q); - goto start; - } - - // Check valid - if (!*q->read_valids[id]){ - msgq_reset_reader(q); - goto start; - } - - uint32_t read_cycles, read_pointer; - UNPACK64(read_cycles, read_pointer, *q->read_pointers[id]); - UNUSED(read_cycles); - - uint32_t write_cycles, write_pointer; - UNPACK64(write_cycles, write_pointer, *q->write_pointer); - UNUSED(write_cycles); - - // Check if new message is available - return (read_pointer != write_pointer); -} - -int msgq_msg_recv(msgq_msg_t * msg, msgq_queue_t * q){ - start: - int id = q->reader_id; - assert(id >= 0); // Make sure subscriber is initialized - - if (q->read_uid_local != *q->read_uids[id]){ - //std::cout << q->endpoint << ": Reader was evicted, reconnecting" << std::endl; - msgq_init_subscriber(q); - goto start; - } - - // Check valid - if (!*q->read_valids[id]){ - msgq_reset_reader(q); - goto start; - } - - uint32_t read_cycles, read_pointer; - UNPACK64(read_cycles, read_pointer, *q->read_pointers[id]); - - uint32_t write_cycles, write_pointer; - UNPACK64(write_cycles, write_pointer, *q->write_pointer); - UNUSED(write_cycles); - - char * p = q->data + read_pointer; - - // Check if new message is available - if (read_pointer == write_pointer) { - msg->size = 0; - return 0; - } - - // Read potential message size - std::atomic *size_p = reinterpret_cast*>(p); - std::int64_t size = *size_p; - - // Check if the size that was read is valid - if (!*q->read_valids[id]){ - msgq_reset_reader(q); - goto start; - } - - // If size is -1 the buffer was full, and we need to wrap around - if (size == -1){ - read_cycles++; - PACK64(*q->read_pointers[id], read_cycles, 0); - goto start; - } - - // crashing is better than passing garbage data to the consumer - // the size will have weird value if it was overwritten by data accidentally - assert((uint64_t)size < q->size); - assert(size > 0); - - uint32_t new_read_pointer = ALIGN(read_pointer + sizeof(std::int64_t) + size); - - // If conflate is true, check if this is the latest message, else start over - if (q->read_conflate){ - if (new_read_pointer != write_pointer){ - // Update read pointer - PACK64(*q->read_pointers[id], read_cycles, new_read_pointer); - goto start; - } - } - - // Copy message - if (msgq_msg_init_size(msg, size) < 0) - return -1; - - __sync_synchronize(); - memcpy(msg->data, p + sizeof(int64_t), size); - __sync_synchronize(); - - // Update read pointer - PACK64(*q->read_pointers[id], read_cycles, new_read_pointer); - - // Check if the actual data that was copied is valid - if (!*q->read_valids[id]){ - msgq_msg_close(msg); - msgq_reset_reader(q); - goto start; - } - - - return msg->size; -} - - - -int msgq_poll(msgq_pollitem_t * items, size_t nitems, int timeout){ - int num = 0; - - // Check if messages ready - for (size_t i = 0; i < nitems; i++) { - items[i].revents = msgq_msg_ready(items[i].q); - if (items[i].revents) num++; - } - - int ms = (timeout == -1) ? 100 : timeout; - struct timespec ts; - ts.tv_sec = ms / 1000; - ts.tv_nsec = (ms % 1000) * 1000 * 1000; - - - while (num == 0) { - int ret; - - ret = nanosleep(&ts, &ts); - - // Check if messages ready - for (size_t i = 0; i < nitems; i++) { - if (items[i].revents == 0 && msgq_msg_ready(items[i].q)){ - num += 1; - items[i].revents = 1; - } - } - - // exit if we had a timeout and the sleep finished - if (timeout != -1 && ret == 0){ - break; - } - } - - return num; -} - -bool msgq_all_readers_updated(msgq_queue_t *q) { - uint64_t num_readers = *q->num_readers; - for (uint64_t i = 0; i < num_readers; i++) { - if (*q->read_valids[i] && *q->write_pointer != *q->read_pointers[i]) { - return false; - } - } - return num_readers > 0; -} diff --git a/msgq_repo/msgq/msgq.h b/msgq_repo/msgq/msgq.h deleted file mode 100644 index 94e18494423baa..00000000000000 --- a/msgq_repo/msgq/msgq.h +++ /dev/null @@ -1,70 +0,0 @@ -#pragma once - -#include -#include -#include -#include - -#define DEFAULT_SEGMENT_SIZE (10 * 1024 * 1024) -#define NUM_READERS 15 -#define ALIGN(n) ((n + (8 - 1)) & -8) - -#define UNUSED(x) (void)x -#define UNPACK64(higher, lower, input) do {uint64_t tmp = input; higher = tmp >> 32; lower = tmp & 0xFFFFFFFF;} while (0) -#define PACK64(output, higher, lower) output = ((uint64_t)higher << 32) | ((uint64_t)lower & 0xFFFFFFFF) - -struct msgq_header_t { - uint64_t num_readers; - uint64_t write_pointer; - uint64_t write_uid; - uint64_t read_pointers[NUM_READERS]; - uint64_t read_valids[NUM_READERS]; - uint64_t read_uids[NUM_READERS]; -}; - -struct msgq_queue_t { - std::atomic *num_readers; - std::atomic *write_pointer; - std::atomic *write_uid; - std::atomic *read_pointers[NUM_READERS]; - std::atomic *read_valids[NUM_READERS]; - std::atomic *read_uids[NUM_READERS]; - char * mmap_p; - char * data; - size_t size; - int reader_id; - uint64_t read_uid_local; - uint64_t write_uid_local; - - bool read_conflate; - std::string endpoint; -}; - -struct msgq_msg_t { - size_t size; - char * data; -}; - -struct msgq_pollitem_t { - msgq_queue_t *q; - int revents; -}; - -void msgq_wait_for_subscriber(msgq_queue_t *q); -void msgq_reset_reader(msgq_queue_t *q); - -int msgq_msg_init_size(msgq_msg_t *msg, size_t size); -int msgq_msg_init_data(msgq_msg_t *msg, char * data, size_t size); -int msgq_msg_close(msgq_msg_t *msg); - -int msgq_new_queue(msgq_queue_t * q, const char * path, size_t size); -void msgq_close_queue(msgq_queue_t *q); -void msgq_init_publisher(msgq_queue_t * q); -void msgq_init_subscriber(msgq_queue_t * q); - -int msgq_msg_send(msgq_msg_t *msg, msgq_queue_t *q); -int msgq_msg_recv(msgq_msg_t *msg, msgq_queue_t *q); -int msgq_msg_ready(msgq_queue_t * q); -int msgq_poll(msgq_pollitem_t * items, size_t nitems, int timeout); - -bool msgq_all_readers_updated(msgq_queue_t *q); diff --git a/msgq_repo/msgq/msgq_tests.cc b/msgq_repo/msgq/msgq_tests.cc deleted file mode 100644 index 02f17917a58adc..00000000000000 --- a/msgq_repo/msgq/msgq_tests.cc +++ /dev/null @@ -1,424 +0,0 @@ -#include "catch2/catch.hpp" -#include "msgq/msgq.h" - -TEST_CASE("ALIGN") -{ - REQUIRE(ALIGN(0) == 0); - REQUIRE(ALIGN(1) == 8); - REQUIRE(ALIGN(7) == 8); - REQUIRE(ALIGN(8) == 8); - REQUIRE(ALIGN(99999) == 100000); -} - -TEST_CASE("msgq_msg_init_size") -{ - const size_t msg_size = 30; - msgq_msg_t msg; - - msgq_msg_init_size(&msg, msg_size); - REQUIRE(msg.size == msg_size); - - msgq_msg_close(&msg); -} - -TEST_CASE("msgq_msg_init_data") -{ - const size_t msg_size = 30; - char *data = new char[msg_size]; - - for (size_t i = 0; i < msg_size; i++) - { - data[i] = i; - } - - msgq_msg_t msg; - msgq_msg_init_data(&msg, data, msg_size); - - REQUIRE(msg.size == msg_size); - REQUIRE(memcmp(msg.data, data, msg_size) == 0); - - delete[] data; - msgq_msg_close(&msg); -} - -TEST_CASE("msgq_init_subscriber") -{ - remove("/dev/shm/test_queue"); - msgq_queue_t q; - msgq_new_queue(&q, "test_queue", 1024); - REQUIRE(*q.num_readers == 0); - - q.reader_id = 1; - *q.read_valids[0] = false; - *q.read_pointers[0] = ((uint64_t)1 << 32); - - *q.write_pointer = 255; - - msgq_init_subscriber(&q); - REQUIRE(q.read_conflate == false); - REQUIRE(*q.read_valids[0] == true); - REQUIRE((*q.read_pointers[0] >> 32) == 0); - REQUIRE((*q.read_pointers[0] & 0xFFFFFFFF) == 255); -} - -TEST_CASE("msgq_msg_send first message") -{ - remove("/dev/shm/test_queue"); - msgq_queue_t q; - msgq_new_queue(&q, "test_queue", 1024); - msgq_init_publisher(&q); - - REQUIRE(*q.write_pointer == 0); - - size_t msg_size = 128; - - SECTION("Aligned message size") - { - } - SECTION("Unaligned message size") - { - msg_size--; - } - char *data = new char[msg_size]; - - for (size_t i = 0; i < msg_size; i++) - { - data[i] = i; - } - - msgq_msg_t msg; - msgq_msg_init_data(&msg, data, msg_size); - - msgq_msg_send(&msg, &q); - REQUIRE(*(int64_t *)q.data == msg_size); // Check size tag - REQUIRE(*q.write_pointer == 128 + sizeof(int64_t)); - REQUIRE(memcmp(q.data + sizeof(int64_t), data, msg_size) == 0); - - delete[] data; - msgq_msg_close(&msg); -} - -TEST_CASE("msgq_msg_send test wraparound") -{ - remove("/dev/shm/test_queue"); - msgq_queue_t q; - msgq_new_queue(&q, "test_queue", 1024); - msgq_init_publisher(&q); - - REQUIRE((*q.write_pointer & 0xFFFFFFFF) == 0); - REQUIRE((*q.write_pointer >> 32) == 0); - - const size_t msg_size = 120; - msgq_msg_t msg; - msgq_msg_init_size(&msg, msg_size); - - for (int i = 0; i < 8; i++) - { - msgq_msg_send(&msg, &q); - } - // Check 8th message was written at the beginning - REQUIRE((*q.write_pointer & 0xFFFFFFFF) == msg_size + sizeof(int64_t)); - - // Check cycle count - REQUIRE((*q.write_pointer >> 32) == 1); - - // Check wraparound tag - char *tag_location = q.data; - tag_location += 7 * (msg_size + sizeof(int64_t)); - REQUIRE(*(int64_t *)tag_location == -1); - - msgq_msg_close(&msg); -} - -TEST_CASE("msgq_msg_recv test wraparound") -{ - remove("/dev/shm/test_queue"); - msgq_queue_t q_pub, q_sub; - msgq_new_queue(&q_pub, "test_queue", 1024); - msgq_new_queue(&q_sub, "test_queue", 1024); - - msgq_init_publisher(&q_pub); - msgq_init_subscriber(&q_sub); - - REQUIRE((*q_pub.write_pointer >> 32) == 0); - REQUIRE((*q_sub.read_pointers[0] >> 32) == 0); - - const size_t msg_size = 120; - msgq_msg_t msg1; - msgq_msg_init_size(&msg1, msg_size); - - SECTION("Check cycle counter after reset") - { - for (int i = 0; i < 8; i++) - { - msgq_msg_send(&msg1, &q_pub); - } - - msgq_msg_t msg2; - msgq_msg_recv(&msg2, &q_sub); - REQUIRE(msg2.size == 0); // Reader had to reset - msgq_msg_close(&msg2); - } - SECTION("Check cycle counter while keeping up with writer") - { - for (int i = 0; i < 8; i++) - { - msgq_msg_send(&msg1, &q_pub); - - msgq_msg_t msg2; - msgq_msg_recv(&msg2, &q_sub); - REQUIRE(msg2.size > 0); - msgq_msg_close(&msg2); - } - } - - REQUIRE((*q_sub.read_pointers[0] >> 32) == 1); - msgq_msg_close(&msg1); -} - -TEST_CASE("msgq_msg_send test invalidation") -{ - remove("/dev/shm/test_queue"); - msgq_queue_t q_pub, q_sub; - msgq_new_queue(&q_pub, "test_queue", 1024); - msgq_new_queue(&q_sub, "test_queue", 1024); - - msgq_init_publisher(&q_pub); - msgq_init_subscriber(&q_sub); - *q_sub.write_pointer = (uint64_t)1 << 32; - - REQUIRE(*q_sub.read_valids[0] == true); - - SECTION("read pointer in tag") - { - *q_sub.read_pointers[0] = 0; - } - SECTION("read pointer in data section") - { - *q_sub.read_pointers[0] = 64; - } - SECTION("read pointer in wraparound section") - { - *q_pub.write_pointer = ((uint64_t)1 << 32) | 1000; // Writer is one cycle ahead - *q_sub.read_pointers[0] = 1020; - } - - msgq_msg_t msg; - msgq_msg_init_size(&msg, 128); - msgq_msg_send(&msg, &q_pub); - - REQUIRE(*q_sub.read_valids[0] == false); - - msgq_msg_close(&msg); -} - -TEST_CASE("msgq_init_subscriber init 2 subscribers") -{ - remove("/dev/shm/test_queue"); - msgq_queue_t q1, q2; - msgq_new_queue(&q1, "test_queue", 1024); - msgq_new_queue(&q2, "test_queue", 1024); - - *q1.num_readers = 0; - - REQUIRE(*q1.num_readers == 0); - REQUIRE(*q2.num_readers == 0); - - msgq_init_subscriber(&q1); - REQUIRE(*q1.num_readers == 1); - REQUIRE(*q2.num_readers == 1); - REQUIRE(q1.reader_id == 0); - - msgq_init_subscriber(&q2); - REQUIRE(*q1.num_readers == 2); - REQUIRE(*q2.num_readers == 2); - REQUIRE(q2.reader_id == 1); -} - -TEST_CASE("Write 1 msg, read 1 msg", "[integration]") -{ - remove("/dev/shm/test_queue"); - const size_t msg_size = 128; - msgq_queue_t writer, reader; - - msgq_new_queue(&writer, "test_queue", 1024); - msgq_new_queue(&reader, "test_queue", 1024); - - msgq_init_publisher(&writer); - msgq_init_subscriber(&reader); - - // Build 128 byte message - msgq_msg_t outgoing_msg; - msgq_msg_init_size(&outgoing_msg, msg_size); - - for (size_t i = 0; i < msg_size; i++) - { - outgoing_msg.data[i] = i; - } - - REQUIRE(msgq_msg_send(&outgoing_msg, &writer) == msg_size); - - msgq_msg_t incoming_msg1; - REQUIRE(msgq_msg_recv(&incoming_msg1, &reader) == msg_size); - REQUIRE(memcmp(incoming_msg1.data, outgoing_msg.data, msg_size) == 0); - - // Verify that there are no more messages - msgq_msg_t incoming_msg2; - REQUIRE(msgq_msg_recv(&incoming_msg2, &reader) == 0); - - msgq_msg_close(&outgoing_msg); - msgq_msg_close(&incoming_msg1); - msgq_msg_close(&incoming_msg2); -} - -TEST_CASE("Write 2 msg, read 2 msg - conflate = false", "[integration]") -{ - remove("/dev/shm/test_queue"); - const size_t msg_size = 128; - msgq_queue_t writer, reader; - - msgq_new_queue(&writer, "test_queue", 1024); - msgq_new_queue(&reader, "test_queue", 1024); - - msgq_init_publisher(&writer); - msgq_init_subscriber(&reader); - - // Build 128 byte message - msgq_msg_t outgoing_msg; - msgq_msg_init_size(&outgoing_msg, msg_size); - - for (size_t i = 0; i < msg_size; i++) - { - outgoing_msg.data[i] = i; - } - - REQUIRE(msgq_msg_send(&outgoing_msg, &writer) == msg_size); - REQUIRE(msgq_msg_send(&outgoing_msg, &writer) == msg_size); - - msgq_msg_t incoming_msg1; - REQUIRE(msgq_msg_recv(&incoming_msg1, &reader) == msg_size); - REQUIRE(memcmp(incoming_msg1.data, outgoing_msg.data, msg_size) == 0); - - msgq_msg_t incoming_msg2; - REQUIRE(msgq_msg_recv(&incoming_msg2, &reader) == msg_size); - REQUIRE(memcmp(incoming_msg2.data, outgoing_msg.data, msg_size) == 0); - - msgq_msg_close(&outgoing_msg); - msgq_msg_close(&incoming_msg1); - msgq_msg_close(&incoming_msg2); -} - -TEST_CASE("Write 2 msg, read 2 msg - conflate = true", "[integration]") -{ - remove("/dev/shm/test_queue"); - const size_t msg_size = 128; - msgq_queue_t writer, reader; - - msgq_new_queue(&writer, "test_queue", 1024); - msgq_new_queue(&reader, "test_queue", 1024); - - msgq_init_publisher(&writer); - msgq_init_subscriber(&reader); - reader.read_conflate = true; - - // Build 128 byte message - msgq_msg_t outgoing_msg; - msgq_msg_init_size(&outgoing_msg, msg_size); - - for (size_t i = 0; i < msg_size; i++) - { - outgoing_msg.data[i] = i; - } - - REQUIRE(msgq_msg_send(&outgoing_msg, &writer) == msg_size); - REQUIRE(msgq_msg_send(&outgoing_msg, &writer) == msg_size); - - msgq_msg_t incoming_msg1; - REQUIRE(msgq_msg_recv(&incoming_msg1, &reader) == msg_size); - REQUIRE(memcmp(incoming_msg1.data, outgoing_msg.data, msg_size) == 0); - - // Verify that there are no more messages - msgq_msg_t incoming_msg2; - REQUIRE(msgq_msg_recv(&incoming_msg2, &reader) == 0); - - msgq_msg_close(&outgoing_msg); - msgq_msg_close(&incoming_msg1); - msgq_msg_close(&incoming_msg2); -} - -TEST_CASE("1 publisher, 1 slow subscriber", "[integration]") -{ - remove("/dev/shm/test_queue"); - msgq_queue_t writer, reader; - - msgq_new_queue(&writer, "test_queue", 1024); - msgq_new_queue(&reader, "test_queue", 1024); - - msgq_init_publisher(&writer); - msgq_init_subscriber(&reader); - - int n_received = 0; - int n_skipped = 0; - - for (uint64_t i = 0; i < 1e5; i++) - { - msgq_msg_t outgoing_msg; - msgq_msg_init_data(&outgoing_msg, (char *)&i, sizeof(uint64_t)); - msgq_msg_send(&outgoing_msg, &writer); - msgq_msg_close(&outgoing_msg); - - if (i % 10 == 0) - { - msgq_msg_t msg1; - msgq_msg_recv(&msg1, &reader); - - if (msg1.size == 0) - { - n_skipped++; - } - else - { - n_received++; - } - msgq_msg_close(&msg1); - } - } - - // TODO: verify these numbers by hand - REQUIRE(n_received == 8572); - REQUIRE(n_skipped == 1428); -} - -TEST_CASE("1 publisher, 2 subscribers", "[integration]") -{ - remove("/dev/shm/test_queue"); - msgq_queue_t writer, reader1, reader2; - - msgq_new_queue(&writer, "test_queue", 1024); - msgq_new_queue(&reader1, "test_queue", 1024); - msgq_new_queue(&reader2, "test_queue", 1024); - - msgq_init_publisher(&writer); - msgq_init_subscriber(&reader1); - msgq_init_subscriber(&reader2); - - for (uint64_t i = 0; i < 1024 * 3; i++) - { - msgq_msg_t outgoing_msg; - msgq_msg_init_data(&outgoing_msg, (char *)&i, sizeof(uint64_t)); - msgq_msg_send(&outgoing_msg, &writer); - - msgq_msg_t msg1, msg2; - msgq_msg_recv(&msg1, &reader1); - msgq_msg_recv(&msg2, &reader2); - - REQUIRE(msg1.size == sizeof(uint64_t)); - REQUIRE(msg2.size == sizeof(uint64_t)); - REQUIRE(*(uint64_t *)msg1.data == i); - REQUIRE(*(uint64_t *)msg2.data == i); - - msgq_msg_close(&outgoing_msg); - msgq_msg_close(&msg1); - msgq_msg_close(&msg2); - } -} diff --git a/msgq_repo/msgq/test_runner.cc b/msgq_repo/msgq/test_runner.cc deleted file mode 100644 index 62bf7476a18996..00000000000000 --- a/msgq_repo/msgq/test_runner.cc +++ /dev/null @@ -1,2 +0,0 @@ -#define CATCH_CONFIG_MAIN -#include "catch2/catch.hpp" diff --git a/msgq_repo/msgq/tests/__init__.py b/msgq_repo/msgq/tests/__init__.py deleted file mode 100644 index e69de29bb2d1d6..00000000000000 diff --git a/msgq_repo/msgq/tests/test_fake.py b/msgq_repo/msgq/tests/test_fake.py deleted file mode 100644 index b5ed297ab1ba23..00000000000000 --- a/msgq_repo/msgq/tests/test_fake.py +++ /dev/null @@ -1,192 +0,0 @@ -import os -import unittest -import multiprocessing -import platform -import msgq -from parameterized import parameterized_class -from typing import Optional - -WAIT_TIMEOUT = 5 - - -@unittest.skipIf(platform.system() == "Darwin", "Events not supported on macOS") -class TestEvents(unittest.TestCase): - - def test_mutation(self): - handle = msgq.fake_event_handle("carState") - event = handle.recv_called_event - - self.assertFalse(event.peek()) - event.set() - self.assertTrue(event.peek()) - event.clear() - self.assertFalse(event.peek()) - - del event - - def test_wait(self): - handle = msgq.fake_event_handle("carState") - event = handle.recv_called_event - - event.set() - try: - event.wait(WAIT_TIMEOUT) - self.assertTrue(event.peek()) - except RuntimeError: - self.fail("event.wait() timed out") - - def test_wait_multiprocess(self): - handle = msgq.fake_event_handle("carState") - event = handle.recv_called_event - - def set_event_run(): - event.set() - - try: - p = multiprocessing.Process(target=set_event_run) - p.start() - event.wait(WAIT_TIMEOUT) - self.assertTrue(event.peek()) - except RuntimeError: - self.fail("event.wait() timed out") - - p.kill() - - def test_wait_zero_timeout(self): - handle = msgq.fake_event_handle("carState") - event = handle.recv_called_event - - try: - event.wait(0) - self.fail("event.wait() did not time out") - except RuntimeError: - self.assertFalse(event.peek()) - - -@unittest.skipIf(platform.system() == "Darwin", "FakeSockets not supported on macOS") -@unittest.skipIf("ZMQ" in os.environ, "FakeSockets not supported on ZMQ") -@parameterized_class([{"prefix": None}, {"prefix": "test"}]) -class TestFakeSockets(unittest.TestCase): - prefix: Optional[str] = None - - def setUp(self): - msgq.toggle_fake_events(True) - if self.prefix is not None: - msgq.set_fake_prefix(self.prefix) - else: - msgq.delete_fake_prefix() - - def tearDown(self): - msgq.toggle_fake_events(False) - msgq.delete_fake_prefix() - - def test_event_handle_init(self): - handle = msgq.fake_event_handle("controlsState", override=True) - - self.assertFalse(handle.enabled) - self.assertGreaterEqual(handle.recv_called_event.fd, 0) - self.assertGreaterEqual(handle.recv_ready_event.fd, 0) - - def test_non_managed_socket_state(self): - # non managed socket should have zero state - _ = msgq.pub_sock("ubloxGnss") - - handle = msgq.fake_event_handle("ubloxGnss", override=False) - - self.assertFalse(handle.enabled) - self.assertEqual(handle.recv_called_event.fd, 0) - self.assertEqual(handle.recv_ready_event.fd, 0) - - def test_managed_socket_state(self): - # managed socket should not change anything about the state - handle = msgq.fake_event_handle("ubloxGnss") - handle.enabled = True - - expected_enabled = handle.enabled - expected_recv_called_fd = handle.recv_called_event.fd - expected_recv_ready_fd = handle.recv_ready_event.fd - - _ = msgq.pub_sock("ubloxGnss") - - self.assertEqual(handle.enabled, expected_enabled) - self.assertEqual(handle.recv_called_event.fd, expected_recv_called_fd) - self.assertEqual(handle.recv_ready_event.fd, expected_recv_ready_fd) - - def test_sockets_enable_disable(self): - carState_handle = msgq.fake_event_handle("ubloxGnss", enable=True) - recv_called = carState_handle.recv_called_event - recv_ready = carState_handle.recv_ready_event - - pub_sock = msgq.pub_sock("ubloxGnss") - sub_sock = msgq.sub_sock("ubloxGnss") - - try: - carState_handle.enabled = True - recv_ready.set() - pub_sock.send(b"test") - _ = sub_sock.receive() - self.assertTrue(recv_called.peek()) - recv_called.clear() - - carState_handle.enabled = False - recv_ready.set() - pub_sock.send(b"test") - _ = sub_sock.receive() - self.assertFalse(recv_called.peek()) - except RuntimeError: - self.fail("event.wait() timed out") - - def test_synced_pub_sub(self): - def daemon_repub_process_run(): - pub_sock = msgq.pub_sock("ubloxGnss") - sub_sock = msgq.sub_sock("carState") - - frame = -1 - while True: - frame += 1 - msg = sub_sock.receive(non_blocking=True) - if msg is None: - print("none received") - continue - - bts = frame.to_bytes(8, 'little') - pub_sock.send(bts) - - carState_handle = msgq.fake_event_handle("carState", enable=True) - recv_called = carState_handle.recv_called_event - recv_ready = carState_handle.recv_ready_event - - p = multiprocessing.Process(target=daemon_repub_process_run) - p.start() - - pub_sock = msgq.pub_sock("carState") - sub_sock = msgq.sub_sock("ubloxGnss") - - try: - for i in range(10): - recv_called.wait(WAIT_TIMEOUT) - recv_called.clear() - - if i == 0: - sub_sock.receive(non_blocking=True) - - bts = i.to_bytes(8, 'little') - pub_sock.send(bts) - - recv_ready.set() - recv_called.wait(WAIT_TIMEOUT) - - msg = sub_sock.receive(non_blocking=True) - self.assertIsNotNone(msg) - self.assertEqual(len(msg), 8) - - frame = int.from_bytes(msg, 'little') - self.assertEqual(frame, i) - except RuntimeError: - self.fail("event.wait() timed out") - finally: - p.kill() - - -if __name__ == "__main__": - unittest.main() diff --git a/msgq_repo/msgq/tests/test_messaging.py b/msgq_repo/msgq/tests/test_messaging.py deleted file mode 100755 index bbeeb3d848b528..00000000000000 --- a/msgq_repo/msgq/tests/test_messaging.py +++ /dev/null @@ -1,87 +0,0 @@ -#!/usr/bin/env python3 -import os -import random -import threading -import time -import string -import unittest -import msgq - - -def random_sock(): - return ''.join(random.choices(string.ascii_uppercase + string.digits, k=10)) - -def random_bytes(length=1000): - return bytes([random.randrange(0xFF) for _ in range(length)]) - -def zmq_sleep(t=1): - if "ZMQ" in os.environ: - time.sleep(t) - -def zmq_expected_failure(func): - if "ZMQ" in os.environ: - return unittest.expectedFailure(func) - else: - return func - -def delayed_send(delay, sock, dat): - def send_func(): - sock.send(dat) - threading.Timer(delay, send_func).start() - -class TestPubSubSockets(unittest.TestCase): - - def setUp(self): - # ZMQ pub socket takes too long to die - # sleep to prevent multiple publishers error between tests - zmq_sleep() - - def test_pub_sub(self): - sock = random_sock() - pub_sock = msgq.pub_sock(sock) - sub_sock = msgq.sub_sock(sock, conflate=False, timeout=None) - zmq_sleep(3) - - for _ in range(1000): - msg = random_bytes() - pub_sock.send(msg) - recvd = sub_sock.receive() - self.assertEqual(msg, recvd) - - def test_conflate(self): - sock = random_sock() - pub_sock = msgq.pub_sock(sock) - for conflate in [True, False]: - for _ in range(10): - num_msgs = random.randint(3, 10) - sub_sock = msgq.sub_sock(sock, conflate=conflate, timeout=None) - zmq_sleep() - - sent_msgs = [] - for __ in range(num_msgs): - msg = random_bytes() - pub_sock.send(msg) - sent_msgs.append(msg) - time.sleep(0.1) - recvd_msgs = msgq.drain_sock_raw(sub_sock) - if conflate: - self.assertEqual(len(recvd_msgs), 1) - else: - # TODO: compare actual data - self.assertEqual(len(recvd_msgs), len(sent_msgs)) - - def test_receive_timeout(self): - sock = random_sock() - for _ in range(10): - timeout = random.randrange(200) - sub_sock = msgq.sub_sock(sock, timeout=timeout) - zmq_sleep() - - start_time = time.monotonic() - recvd = sub_sock.receive() - self.assertLess(time.monotonic() - start_time, 0.2) - assert recvd is None - - -if __name__ == "__main__": - unittest.main() diff --git a/msgq_repo/msgq/tests/test_poller.py b/msgq_repo/msgq/tests/test_poller.py deleted file mode 100644 index a68ff4fe7d26e7..00000000000000 --- a/msgq_repo/msgq/tests/test_poller.py +++ /dev/null @@ -1,142 +0,0 @@ -import unittest -import time -import msgq -import concurrent.futures - -SERVICE_NAME = 'myService' - -def poller(): - context = msgq.Context() - - p = msgq.Poller() - - sub = msgq.SubSocket() - sub.connect(context, SERVICE_NAME) - p.registerSocket(sub) - - socks = p.poll(10000) - r = [s.receive(non_blocking=True) for s in socks] - - return r - - -class TestPoller(unittest.TestCase): - def test_poll_once(self): - context = msgq.Context() - - pub = msgq.PubSocket() - pub.connect(context, SERVICE_NAME) - - with concurrent.futures.ThreadPoolExecutor() as e: - poll = e.submit(poller) - - time.sleep(0.1) # Slow joiner syndrome - - # Send message - pub.send(b"a") - - # Wait for poll result - result = poll.result() - - del pub - context.term() - - self.assertEqual(result, [b"a"]) - - def test_poll_and_create_many_subscribers(self): - context = msgq.Context() - - pub = msgq.PubSocket() - pub.connect(context, SERVICE_NAME) - - with concurrent.futures.ThreadPoolExecutor() as e: - poll = e.submit(poller) - - time.sleep(0.1) # Slow joiner syndrome - c = msgq.Context() - for _ in range(10): - msgq.SubSocket().connect(c, SERVICE_NAME) - - time.sleep(0.1) - - # Send message - pub.send(b"a") - - # Wait for poll result - result = poll.result() - - del pub - context.term() - - self.assertEqual(result, [b"a"]) - - def test_multiple_publishers_exception(self): - context = msgq.Context() - - with self.assertRaises(msgq.MultiplePublishersError): - pub1 = msgq.PubSocket() - pub1.connect(context, SERVICE_NAME) - - pub2 = msgq.PubSocket() - pub2.connect(context, SERVICE_NAME) - - pub1.send(b"a") - - del pub1 - del pub2 - context.term() - - def test_multiple_messages(self): - context = msgq.Context() - - pub = msgq.PubSocket() - pub.connect(context, SERVICE_NAME) - - sub = msgq.SubSocket() - sub.connect(context, SERVICE_NAME) - - time.sleep(0.1) # Slow joiner - - for i in range(1, 100): - pub.send(b'a'*i) - - msg_seen = False - i = 1 - while True: - r = sub.receive(non_blocking=True) - - if r is not None: - self.assertEqual(b'a'*i, r) - - msg_seen = True - i += 1 - - if r is None and msg_seen: # ZMQ sometimes receives nothing on the first receive - break - - del pub - del sub - context.term() - - def test_conflate(self): - context = msgq.Context() - - pub = msgq.PubSocket() - pub.connect(context, SERVICE_NAME) - - sub = msgq.SubSocket() - sub.connect(context, SERVICE_NAME, conflate=True) - - time.sleep(0.1) # Slow joiner - pub.send(b'a') - pub.send(b'b') - - self.assertEqual(b'b', sub.receive()) - - del pub - del sub - context.term() - - -if __name__ == "__main__": - unittest.main() diff --git a/msgq_repo/msgq/visionipc/test_runner.cc b/msgq_repo/msgq/visionipc/test_runner.cc deleted file mode 100644 index 62bf7476a18996..00000000000000 --- a/msgq_repo/msgq/visionipc/test_runner.cc +++ /dev/null @@ -1,2 +0,0 @@ -#define CATCH_CONFIG_MAIN -#include "catch2/catch.hpp" diff --git a/msgq_repo/msgq/visionipc/tests/__init__.py b/msgq_repo/msgq/visionipc/tests/__init__.py deleted file mode 100644 index e69de29bb2d1d6..00000000000000 diff --git a/msgq_repo/msgq/visionipc/tests/test_visionipc.py b/msgq_repo/msgq/visionipc/tests/test_visionipc.py deleted file mode 100755 index 1c34613ddec1e4..00000000000000 --- a/msgq_repo/msgq/visionipc/tests/test_visionipc.py +++ /dev/null @@ -1,99 +0,0 @@ -#!/usr/bin/env python3 -import os -import time -import random -import unittest -import numpy as np -from msgq.visionipc import VisionIpcServer, VisionIpcClient, VisionStreamType - -def zmq_sleep(t=1): - if "ZMQ" in os.environ: - time.sleep(t) - - -class TestVisionIpc(unittest.TestCase): - - def setup_vipc(self, name, *stream_types, num_buffers=1, rgb=False, width=100, height=100, conflate=False): - self.server = VisionIpcServer(name) - for stream_type in stream_types: - self.server.create_buffers(stream_type, num_buffers, rgb, width, height) - self.server.start_listener() - - if len(stream_types): - self.client = VisionIpcClient(name, stream_types[0], conflate) - self.assertTrue(self.client.connect(True)) - else: - self.client = None - - zmq_sleep() - return self.server, self.client - - def test_connect(self): - self.setup_vipc("camerad", VisionStreamType.VISION_STREAM_ROAD) - self.assertTrue(self.client.is_connected) - - def test_available_streams(self): - for k in range(4): - stream_types = set(random.choices([x.value for x in VisionStreamType], k=k)) - self.setup_vipc("camerad", *stream_types) - available_streams = VisionIpcClient.available_streams("camerad", True) - self.assertEqual(available_streams, stream_types) - - def test_buffers(self): - width, height, num_buffers = 100, 200, 5 - self.setup_vipc("camerad", VisionStreamType.VISION_STREAM_ROAD, num_buffers=num_buffers, width=width, height=height) - self.assertEqual(self.client.width, width) - self.assertEqual(self.client.height, height) - self.assertGreater(self.client.buffer_len, 0) - self.assertEqual(self.client.num_buffers, num_buffers) - - def test_yuv_rgb(self): - _, client_yuv = self.setup_vipc("camerad", VisionStreamType.VISION_STREAM_ROAD, rgb=False) - _, client_rgb = self.setup_vipc("navd", VisionStreamType.VISION_STREAM_MAP, rgb=True) - self.assertTrue(client_rgb.rgb) - self.assertFalse(client_yuv.rgb) - - def test_send_single_buffer(self): - self.setup_vipc("camerad", VisionStreamType.VISION_STREAM_ROAD) - - buf = np.zeros(self.client.buffer_len, dtype=np.uint8) - buf.view('rgb = true; - this->width = init_width; - this->height = init_height; - this->stride = init_stride; -} - -void VisionBuf::init_yuv(size_t init_width, size_t init_height, size_t init_stride, size_t init_uv_offset){ - this->rgb = false; - this->width = init_width; - this->height = init_height; - this->stride = init_stride; - this->uv_offset = init_uv_offset; - - this->y = (uint8_t *)this->addr; - this->uv = this->y + this->uv_offset; -} - - -uint64_t VisionBuf::get_frame_id() { - return *frame_id; -} - -void VisionBuf::set_frame_id(uint64_t id) { - *frame_id = id; -} diff --git a/msgq_repo/msgq/visionipc/visionbuf.h b/msgq_repo/msgq/visionipc/visionbuf.h deleted file mode 100644 index 6b678a00419208..00000000000000 --- a/msgq_repo/msgq/visionipc/visionbuf.h +++ /dev/null @@ -1,66 +0,0 @@ -#pragma once - -#include "msgq/visionipc/visionipc.h" - -#define CL_USE_DEPRECATED_OPENCL_1_2_APIS -#ifdef __APPLE__ -#include -#else -#include -#endif - -#define VISIONBUF_SYNC_FROM_DEVICE 0 -#define VISIONBUF_SYNC_TO_DEVICE 1 - -enum VisionStreamType { - VISION_STREAM_ROAD, - VISION_STREAM_DRIVER, - VISION_STREAM_WIDE_ROAD, - - VISION_STREAM_MAP, - VISION_STREAM_MAX, -}; - -class VisionBuf { - public: - size_t len = 0; - size_t mmap_len = 0; - void * addr = nullptr; - uint64_t *frame_id; - int fd = 0; - - bool rgb = false; - size_t width = 0; - size_t height = 0; - size_t stride = 0; - size_t uv_offset = 0; - - // YUV - uint8_t * y = nullptr; - uint8_t * uv = nullptr; - - // Visionipc - uint64_t server_id = 0; - size_t idx = 0; - VisionStreamType type; - - // OpenCL - cl_mem buf_cl = nullptr; - cl_command_queue copy_q = nullptr; - - // ion - int handle = 0; - - void allocate(size_t len); - void import(); - void init_cl(cl_device_id device_id, cl_context ctx); - void init_rgb(size_t width, size_t height, size_t stride); - void init_yuv(size_t width, size_t height, size_t stride, size_t uv_offset); - int sync(int dir); - int free(); - - void set_frame_id(uint64_t id); - uint64_t get_frame_id(); -}; - -void visionbuf_compute_aligned_width_and_height(int width, int height, int *aligned_w, int *aligned_h); diff --git a/msgq_repo/msgq/visionipc/visionbuf_cl.cc b/msgq_repo/msgq/visionipc/visionbuf_cl.cc deleted file mode 100644 index db7df00dc1b373..00000000000000 --- a/msgq_repo/msgq/visionipc/visionbuf_cl.cc +++ /dev/null @@ -1,94 +0,0 @@ -#include "msgq/visionipc/visionbuf.h" - -#include -#include -#include -#include -#include -#include -#include -#include - -std::atomic offset = 0; - -static void *malloc_with_fd(size_t len, int *fd) { - char full_path[0x100]; - -#ifdef __APPLE__ - snprintf(full_path, sizeof(full_path)-1, "/tmp/visionbuf_%d_%d", getpid(), offset++); -#else - snprintf(full_path, sizeof(full_path)-1, "/dev/shm/visionbuf_%d_%d", getpid(), offset++); -#endif - - *fd = open(full_path, O_RDWR | O_CREAT, 0664); - assert(*fd >= 0); - - unlink(full_path); - - ftruncate(*fd, len); - void *addr = mmap(NULL, len, PROT_READ | PROT_WRITE, MAP_SHARED, *fd, 0); - assert(addr != MAP_FAILED); - - return addr; -} - -void VisionBuf::allocate(size_t length) { - this->len = length; - this->mmap_len = this->len + sizeof(uint64_t); - this->addr = malloc_with_fd(this->mmap_len, &this->fd); - this->frame_id = (uint64_t*)((uint8_t*)this->addr + this->len); -} - -void VisionBuf::init_cl(cl_device_id device_id, cl_context ctx){ - int err; - - this->copy_q = clCreateCommandQueue(ctx, device_id, 0, &err); - assert(err == 0); - - this->buf_cl = clCreateBuffer(ctx, CL_MEM_READ_WRITE | CL_MEM_USE_HOST_PTR, this->len, this->addr, &err); - assert(err == 0); -} - - -void VisionBuf::import(){ - assert(this->fd >= 0); - this->addr = mmap(NULL, this->mmap_len, PROT_READ | PROT_WRITE, MAP_SHARED, this->fd, 0); - assert(this->addr != MAP_FAILED); - - this->frame_id = (uint64_t*)((uint8_t*)this->addr + this->len); -} - - -int VisionBuf::sync(int dir) { - int err = 0; - if (!this->buf_cl) return 0; - - if (dir == VISIONBUF_SYNC_FROM_DEVICE) { - err = clEnqueueReadBuffer(this->copy_q, this->buf_cl, CL_FALSE, 0, this->len, this->addr, 0, NULL, NULL); - } else { - err = clEnqueueWriteBuffer(this->copy_q, this->buf_cl, CL_FALSE, 0, this->len, this->addr, 0, NULL, NULL); - } - - if (err == 0){ - err = clFinish(this->copy_q); - } - - return err; -} - -int VisionBuf::free() { - int err = 0; - if (this->buf_cl){ - err = clReleaseMemObject(this->buf_cl); - if (err != 0) return err; - - err = clReleaseCommandQueue(this->copy_q); - if (err != 0) return err; - } - - err = munmap(this->addr, this->len); - if (err != 0) return err; - - err = close(this->fd); - return err; -} diff --git a/msgq_repo/msgq/visionipc/visionbuf_ion.cc b/msgq_repo/msgq/visionipc/visionbuf_ion.cc deleted file mode 100644 index 13be154914004a..00000000000000 --- a/msgq_repo/msgq/visionipc/visionbuf_ion.cc +++ /dev/null @@ -1,161 +0,0 @@ -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include - -#include "msgq/visionipc/visionbuf.h" - -// keep trying if x gets interrupted by a signal -#define HANDLE_EINTR(x) \ - ({ \ - decltype(x) ret; \ - int try_cnt = 0; \ - do { \ - ret = (x); \ - } while (ret == -1 && errno == EINTR && try_cnt++ < 100); \ - ret; \ - }) - -// just hard-code these for convenience -// size_t device_page_size = 0; -// clGetDeviceInfo(device_id, CL_DEVICE_PAGE_SIZE_QCOM, -// sizeof(device_page_size), &device_page_size, -// NULL); - -// size_t padding_cl = 0; -// clGetDeviceInfo(device_id, CL_DEVICE_EXT_MEM_PADDING_IN_BYTES_QCOM, -// sizeof(padding_cl), &padding_cl, -// NULL); -#define DEVICE_PAGE_SIZE_CL 4096 -#define PADDING_CL 0 - -struct IonFileHandle { - IonFileHandle() { - fd = open("/dev/ion", O_RDWR | O_NONBLOCK); - assert(fd >= 0); - } - ~IonFileHandle() { - close(fd); - } - int fd = -1; -}; - -int ion_fd() { - static IonFileHandle fh; - return fh.fd; -} - -void VisionBuf::allocate(size_t length) { - struct ion_allocation_data ion_alloc = {0}; - ion_alloc.len = length + PADDING_CL + sizeof(uint64_t); - ion_alloc.align = 4096; - ion_alloc.heap_id_mask = 1 << ION_IOMMU_HEAP_ID; - ion_alloc.flags = ION_FLAG_CACHED; - - int err = HANDLE_EINTR(ioctl(ion_fd(), ION_IOC_ALLOC, &ion_alloc)); - assert(err == 0); - - struct ion_fd_data ion_fd_data = {0}; - ion_fd_data.handle = ion_alloc.handle; - err = HANDLE_EINTR(ioctl(ion_fd(), ION_IOC_SHARE, &ion_fd_data)); - assert(err == 0); - - void *mmap_addr = mmap(NULL, ion_alloc.len, - PROT_READ | PROT_WRITE, - MAP_SHARED, ion_fd_data.fd, 0); - assert(mmap_addr != MAP_FAILED); - - memset(mmap_addr, 0, ion_alloc.len); - - this->len = length; - this->mmap_len = ion_alloc.len; - this->addr = mmap_addr; - this->handle = ion_alloc.handle; - this->fd = ion_fd_data.fd; - this->frame_id = (uint64_t*)((uint8_t*)this->addr + this->len + PADDING_CL); -} - -void VisionBuf::import(){ - int err; - assert(this->fd >= 0); - - // Get handle - struct ion_fd_data fd_data = {0}; - fd_data.fd = this->fd; - err = HANDLE_EINTR(ioctl(ion_fd(), ION_IOC_IMPORT, &fd_data)); - assert(err == 0); - - this->handle = fd_data.handle; - this->addr = mmap(NULL, this->mmap_len, PROT_READ | PROT_WRITE, MAP_SHARED, this->fd, 0); - assert(this->addr != MAP_FAILED); - - this->frame_id = (uint64_t*)((uint8_t*)this->addr + this->len + PADDING_CL); -} - -void VisionBuf::init_cl(cl_device_id device_id, cl_context ctx) { - int err; - - assert(((uintptr_t)this->addr % DEVICE_PAGE_SIZE_CL) == 0); - - cl_mem_ion_host_ptr ion_cl = {0}; - ion_cl.ext_host_ptr.allocation_type = CL_MEM_ION_HOST_PTR_QCOM; - ion_cl.ext_host_ptr.host_cache_policy = CL_MEM_HOST_UNCACHED_QCOM; - ion_cl.ion_filedesc = this->fd; - ion_cl.ion_hostptr = this->addr; - - this->buf_cl = clCreateBuffer(ctx, - CL_MEM_USE_HOST_PTR | CL_MEM_EXT_HOST_PTR_QCOM, - this->len, &ion_cl, &err); - assert(err == 0); -} - - -int VisionBuf::sync(int dir) { - struct ion_flush_data flush_data = {0}; - flush_data.handle = this->handle; - flush_data.vaddr = this->addr; - flush_data.offset = 0; - flush_data.length = this->len; - - // ION_IOC_INV_CACHES ~= DMA_FROM_DEVICE - // ION_IOC_CLEAN_CACHES ~= DMA_TO_DEVICE - // ION_IOC_CLEAN_INV_CACHES ~= DMA_BIDIRECTIONAL - - struct ion_custom_data custom_data = {0}; - - assert(dir == VISIONBUF_SYNC_FROM_DEVICE || dir == VISIONBUF_SYNC_TO_DEVICE); - custom_data.cmd = (dir == VISIONBUF_SYNC_FROM_DEVICE) ? - ION_IOC_INV_CACHES : ION_IOC_CLEAN_CACHES; - - custom_data.arg = (unsigned long)&flush_data; - return HANDLE_EINTR(ioctl(ion_fd(), ION_IOC_CUSTOM, &custom_data)); -} - -int VisionBuf::free() { - int err = 0; - - if (this->buf_cl){ - err = clReleaseMemObject(this->buf_cl); - if (err != 0) return err; - } - - err = munmap(this->addr, this->mmap_len); - if (err != 0) return err; - - err = close(this->fd); - if (err != 0) return err; - - struct ion_handle_data handle_data = {.handle = this->handle}; - return HANDLE_EINTR(ioctl(ion_fd(), ION_IOC_FREE, &handle_data)); -} diff --git a/msgq_repo/msgq/visionipc/visionipc.cc b/msgq_repo/msgq/visionipc/visionipc.cc deleted file mode 100644 index 48e13c27d959d7..00000000000000 --- a/msgq_repo/msgq/visionipc/visionipc.cc +++ /dev/null @@ -1,121 +0,0 @@ -#include -#include -#include -#include -#include -#include - -#include -#include -#include - -#ifdef __APPLE__ -#define getsocket() socket(AF_UNIX, SOCK_STREAM, 0) -#else -#define getsocket() socket(AF_UNIX, SOCK_SEQPACKET, 0) -#endif - -#include "msgq/visionipc/visionipc.h" - -int ipc_connect(const char* socket_path) { - int err; - - int sock = getsocket(); - - if (sock < 0) return -1; - struct sockaddr_un addr = { - .sun_family = AF_UNIX, - }; - snprintf(addr.sun_path, sizeof(addr.sun_path), "%s", socket_path); - err = connect(sock, (struct sockaddr*)&addr, sizeof(addr)); - if (err != 0) { - close(sock); - return -1; - } - - return sock; -} - -int ipc_bind(const char* socket_path) { - int err; - - unlink(socket_path); - - int sock = getsocket(); - - struct sockaddr_un addr = { - .sun_family = AF_UNIX, - }; - snprintf(addr.sun_path, sizeof(addr.sun_path), "%s", socket_path); - err = bind(sock, (struct sockaddr *)&addr, sizeof(addr)); - assert(err == 0); - - err = listen(sock, 3); - assert(err == 0); - - return sock; -} - - -int ipc_sendrecv_with_fds(bool send, int fd, void *buf, size_t buf_size, int* fds, int num_fds, - int *out_num_fds) { - char control_buf[CMSG_SPACE(sizeof(int) * num_fds)]; - memset(control_buf, 0, CMSG_SPACE(sizeof(int) * num_fds)); - - struct iovec iov = { - .iov_base = buf, - .iov_len = buf_size, - }; - struct msghdr msg = { - .msg_iov = &iov, - .msg_iovlen = 1, - }; - - if (num_fds > 0) { - assert(fds); - - msg.msg_control = control_buf; - msg.msg_controllen = CMSG_SPACE(sizeof(int) * num_fds); - } - - if (send) { - if (num_fds) { - struct cmsghdr *cmsg = CMSG_FIRSTHDR(&msg); - assert(cmsg); - cmsg->cmsg_level = SOL_SOCKET; - cmsg->cmsg_type = SCM_RIGHTS; - cmsg->cmsg_len = CMSG_LEN(sizeof(int) * num_fds); - memcpy(CMSG_DATA(cmsg), fds, sizeof(int) * num_fds); - } - return sendmsg(fd, &msg, 0); - } else { - int r = recvmsg(fd, &msg, 0); - if (r < 0) return r; - - int recv_fds = 0; - if (msg.msg_controllen > 0) { - struct cmsghdr *cmsg = CMSG_FIRSTHDR(&msg); - assert(cmsg); - assert(cmsg->cmsg_level == SOL_SOCKET && cmsg->cmsg_type == SCM_RIGHTS); - recv_fds = (cmsg->cmsg_len - CMSG_LEN(0)); - assert(recv_fds > 0 && (recv_fds % sizeof(int)) == 0); - recv_fds /= sizeof(int); - - assert(fds && recv_fds <= num_fds); - memcpy(fds, CMSG_DATA(cmsg), sizeof(int) * recv_fds); - } - - if (msg.msg_flags) { - for (int i=0; i -#include - - -int ipc_connect(const char* socket_path); -int ipc_bind(const char* socket_path); -int ipc_sendrecv_with_fds(bool send, int fd, void *buf, size_t buf_size, int* fds, int num_fds, - int *out_num_fds); - -constexpr int VISIONIPC_MAX_FDS = 128; - -struct VisionIpcBufExtra { - uint32_t frame_id; - uint64_t timestamp_sof; - uint64_t timestamp_eof; - bool valid; -}; - -struct VisionIpcPacket { - uint64_t server_id; - size_t idx; - struct VisionIpcBufExtra extra; -}; diff --git a/msgq_repo/msgq/visionipc/visionipc_client.cc b/msgq_repo/msgq/visionipc/visionipc_client.cc deleted file mode 100644 index 9b24da296db9ca..00000000000000 --- a/msgq_repo/msgq/visionipc/visionipc_client.cc +++ /dev/null @@ -1,144 +0,0 @@ -#include -#include -#include -#include - -#include -#include "msgq/visionipc/visionipc.h" -#include "msgq/visionipc/visionipc_client.h" -#include "msgq/visionipc/visionipc_server.h" -#include "logger/logger.h" -#include "logger/logger.h" - -static int connect_to_vipc_server(const std::string &name, bool blocking) { - const std::string ipc_path = get_ipc_path(name); - int socket_fd = ipc_connect(ipc_path.c_str()); - while (socket_fd < 0 && blocking) { - std::cout << "VisionIpcClient connecting" << std::endl; - std::this_thread::sleep_for(std::chrono::milliseconds(100)); - socket_fd = ipc_connect(ipc_path.c_str()); - } - return socket_fd; -} - -VisionIpcClient::VisionIpcClient(std::string name, VisionStreamType type, bool conflate, cl_device_id device_id, cl_context ctx) : name(name), type(type), device_id(device_id), ctx(ctx) { - msg_ctx = Context::create(); - sock = SubSocket::create(msg_ctx, get_endpoint_name(name, type), "127.0.0.1", conflate, false); - - poller = Poller::create(); - poller->registerSocket(sock); -} - -// Connect is not thread safe. Do not use the buffers while calling connect -bool VisionIpcClient::connect(bool blocking){ - connected = false; - - // Cleanup old buffers on reconnect - for (size_t i = 0; i < num_buffers; i++){ - if (buffers[i].free() != 0) { - LOGE("Failed to free buffer %zu", i); - } - } - - num_buffers = 0; - - int socket_fd = connect_to_vipc_server(name, blocking); - if (socket_fd < 0) { - return false; - } - // Send stream type to server to request FDs - int r = ipc_sendrecv_with_fds(true, socket_fd, &type, sizeof(type), nullptr, 0, nullptr); - assert(r == sizeof(type)); - - // Get FDs - int fds[VISIONIPC_MAX_FDS]; - VisionBuf bufs[VISIONIPC_MAX_FDS]; - r = ipc_sendrecv_with_fds(false, socket_fd, &bufs, sizeof(bufs), fds, VISIONIPC_MAX_FDS, &num_buffers); - - assert(num_buffers >= 0); - assert(r == sizeof(VisionBuf) * num_buffers); - - // Import buffers - for (size_t i = 0; i < num_buffers; i++){ - buffers[i] = bufs[i]; - buffers[i].fd = fds[i]; - buffers[i].import(); - if (buffers[i].rgb) { - buffers[i].init_rgb(buffers[i].width, buffers[i].height, buffers[i].stride); - } else { - buffers[i].init_yuv(buffers[i].width, buffers[i].height, buffers[i].stride, buffers[i].uv_offset); - } - - if (device_id) buffers[i].init_cl(device_id, ctx); - } - - close(socket_fd); - connected = true; - return true; -} - -VisionBuf * VisionIpcClient::recv(VisionIpcBufExtra * extra, const int timeout_ms){ - auto p = poller->poll(timeout_ms); - - if (!p.size()){ - return nullptr; - } - - Message * r = sock->receive(true); - if (r == nullptr){ - return nullptr; - } - - // Get buffer - assert(r->getSize() == sizeof(VisionIpcPacket)); - VisionIpcPacket *packet = (VisionIpcPacket*)r->getData(); - - assert(packet->idx < num_buffers); - VisionBuf * buf = &buffers[packet->idx]; - - if (buf->server_id != packet->server_id){ - connected = false; - delete r; - return nullptr; - } - - if (extra) { - *extra = packet->extra; - } - - if (buf->sync(VISIONBUF_SYNC_TO_DEVICE) != 0) { - LOGE("Failed to sync buffer"); - } - - delete r; - return buf; -} - -std::set VisionIpcClient::getAvailableStreams(const std::string &name, bool blocking) { - int socket_fd = connect_to_vipc_server(name, blocking); - if (socket_fd < 0) { - return {}; - } - // Send VISION_STREAM_MAX to server to request available streams - int request = VISION_STREAM_MAX; - int r = ipc_sendrecv_with_fds(true, socket_fd, &request, sizeof(request), nullptr, 0, nullptr); - assert(r == sizeof(request)); - - VisionStreamType available_streams[VISION_STREAM_MAX] = {}; - r = ipc_sendrecv_with_fds(false, socket_fd, &available_streams, sizeof(available_streams), nullptr, 0, nullptr); - assert((r >= 0) && (r % sizeof(VisionStreamType) == 0)); - close(socket_fd); - return std::set(available_streams, available_streams + r / sizeof(VisionStreamType)); -} - -VisionIpcClient::~VisionIpcClient(){ - for (size_t i = 0; i < num_buffers; i++){ - if (buffers[i].free() != 0) { - LOGE("Failed to free buffer %zu", i); - } - } - - delete sock; - delete poller; - delete msg_ctx; -} diff --git a/msgq_repo/msgq/visionipc/visionipc_client.h b/msgq_repo/msgq/visionipc/visionipc_client.h deleted file mode 100644 index e4abdc5de3fe62..00000000000000 --- a/msgq_repo/msgq/visionipc/visionipc_client.h +++ /dev/null @@ -1,31 +0,0 @@ -#pragma once - -#include -#include - -#include "msgq/ipc.h" -#include "msgq/visionipc/visionbuf.h" - - -class VisionIpcClient { -private: - std::string name; - Context * msg_ctx; - SubSocket * sock; - Poller * poller; - - cl_device_id device_id = nullptr; - cl_context ctx = nullptr; - -public: - bool connected = false; - VisionStreamType type; - int num_buffers = 0; - VisionBuf buffers[VISIONIPC_MAX_FDS]; - VisionIpcClient(std::string name, VisionStreamType type, bool conflate, cl_device_id device_id=nullptr, cl_context ctx=nullptr); - ~VisionIpcClient(); - VisionBuf * recv(VisionIpcBufExtra * extra=nullptr, const int timeout_ms=100); - bool connect(bool blocking=true); - bool is_connected() { return connected; } - static std::set getAvailableStreams(const std::string &name, bool blocking = true); -}; diff --git a/msgq_repo/msgq/visionipc/visionipc_pyx.cpp b/msgq_repo/msgq/visionipc/visionipc_pyx.cpp new file mode 100644 index 00000000000000..d4fae573d2751d --- /dev/null +++ b/msgq_repo/msgq/visionipc/visionipc_pyx.cpp @@ -0,0 +1,42217 @@ +/* Generated by Cython 3.0.8 */ + +/* BEGIN: Cython Metadata +{ + "distutils": { + "depends": [ + "msgq/visionipc/visionbuf.h", + "msgq/visionipc/visionipc.h", + "msgq/visionipc/visionipc_client.h", + "msgq/visionipc/visionipc_server.h" + ], + "language": "c++", + "name": "msgq.visionipc.visionipc_pyx", + "sources": [ + "/data/openpilot/msgq_repo/msgq/visionipc/visionipc_pyx.pyx" + ] + }, + "module_name": "msgq.visionipc.visionipc_pyx" +} +END: Cython Metadata */ + +#ifndef PY_SSIZE_T_CLEAN +#define PY_SSIZE_T_CLEAN +#endif /* PY_SSIZE_T_CLEAN */ +#if defined(CYTHON_LIMITED_API) && 0 + #ifndef Py_LIMITED_API + #if CYTHON_LIMITED_API+0 > 0x03030000 + #define Py_LIMITED_API CYTHON_LIMITED_API + #else + #define Py_LIMITED_API 0x03030000 + #endif + #endif +#endif + +#include "Python.h" +#ifndef Py_PYTHON_H + #error Python headers needed to compile C extensions, please install development version of Python. +#elif PY_VERSION_HEX < 0x02070000 || (0x03000000 <= PY_VERSION_HEX && PY_VERSION_HEX < 0x03030000) + #error Cython requires Python 2.7+ or Python 3.3+. +#else +#if defined(CYTHON_LIMITED_API) && CYTHON_LIMITED_API +#define __PYX_EXTRA_ABI_MODULE_NAME "limited" +#else +#define __PYX_EXTRA_ABI_MODULE_NAME "" +#endif +#define CYTHON_ABI "3_0_8" __PYX_EXTRA_ABI_MODULE_NAME +#define __PYX_ABI_MODULE_NAME "_cython_" CYTHON_ABI +#define __PYX_TYPE_MODULE_PREFIX __PYX_ABI_MODULE_NAME "." +#define CYTHON_HEX_VERSION 0x030008F0 +#define CYTHON_FUTURE_DIVISION 1 +#include +#ifndef offsetof + #define offsetof(type, member) ( (size_t) & ((type*)0) -> member ) +#endif +#if !defined(_WIN32) && !defined(WIN32) && !defined(MS_WINDOWS) + #ifndef __stdcall + #define __stdcall + #endif + #ifndef __cdecl + #define __cdecl + #endif + #ifndef __fastcall + #define __fastcall + #endif +#endif +#ifndef DL_IMPORT + #define DL_IMPORT(t) t +#endif +#ifndef DL_EXPORT + #define DL_EXPORT(t) t +#endif +#define __PYX_COMMA , +#ifndef HAVE_LONG_LONG + #define HAVE_LONG_LONG +#endif +#ifndef PY_LONG_LONG + #define PY_LONG_LONG LONG_LONG +#endif +#ifndef Py_HUGE_VAL + #define Py_HUGE_VAL HUGE_VAL +#endif +#define __PYX_LIMITED_VERSION_HEX PY_VERSION_HEX +#if defined(GRAALVM_PYTHON) + /* For very preliminary testing purposes. Most variables are set the same as PyPy. + The existence of this section does not imply that anything works or is even tested */ + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 1 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #undef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #undef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 1 + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS (PY_MAJOR_VERSION >= 3) + #endif + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(PYPY_VERSION) + #define CYTHON_COMPILING_IN_PYPY 1 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #ifndef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #endif + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #undef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 1 + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS (PY_MAJOR_VERSION >= 3) + #endif + #if PY_VERSION_HEX < 0x03090000 + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #elif !defined(CYTHON_PEP489_MULTI_PHASE_INIT) + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE (PY_VERSION_HEX >= 0x030400a1 && PYPY_VERSION_NUM >= 0x07030C00) + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(CYTHON_LIMITED_API) + #ifdef Py_LIMITED_API + #undef __PYX_LIMITED_VERSION_HEX + #define __PYX_LIMITED_VERSION_HEX Py_LIMITED_API + #endif + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 1 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_CLINE_IN_TRACEBACK + #define CYTHON_CLINE_IN_TRACEBACK 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #undef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 1 + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #ifndef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #endif + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS 1 + #endif + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 1 + #ifndef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #endif + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(Py_GIL_DISABLED) || defined(Py_NOGIL) + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 1 + #ifndef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 1 + #endif + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #ifndef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #ifndef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 1 + #endif + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #ifndef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 1 + #endif + #ifndef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 1 + #endif + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #ifndef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 1 + #endif + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 +#else + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 1 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #ifndef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 1 + #endif + #ifndef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #endif + #ifndef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 1 + #endif + #if PY_MAJOR_VERSION < 3 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #ifndef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 1 + #endif + #ifndef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 1 + #endif + #ifndef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 1 + #endif + #if PY_VERSION_HEX < 0x030300F0 || PY_VERSION_HEX >= 0x030B00A2 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #elif !defined(CYTHON_USE_UNICODE_WRITER) + #define CYTHON_USE_UNICODE_WRITER 1 + #endif + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #ifndef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 1 + #endif + #ifndef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 1 + #endif + #ifndef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 1 + #endif + #ifndef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL (PY_MAJOR_VERSION < 3 || PY_VERSION_HEX >= 0x03060000 && PY_VERSION_HEX < 0x030C00A6) + #endif + #ifndef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL (PY_VERSION_HEX >= 0x030700A1) + #endif + #ifndef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 1 + #endif + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS 1 + #endif + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #elif !defined(CYTHON_PEP489_MULTI_PHASE_INIT) + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #ifndef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #endif + #if PY_VERSION_HEX < 0x030400a1 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #elif !defined(CYTHON_USE_TP_FINALIZE) + #define CYTHON_USE_TP_FINALIZE 1 + #endif + #if PY_VERSION_HEX < 0x030600B1 + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #elif !defined(CYTHON_USE_DICT_VERSIONS) + #define CYTHON_USE_DICT_VERSIONS (PY_VERSION_HEX < 0x030C00A5) + #endif + #if PY_VERSION_HEX < 0x030700A3 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #elif !defined(CYTHON_USE_EXC_INFO_STACK) + #define CYTHON_USE_EXC_INFO_STACK 1 + #endif + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 1 + #endif +#endif +#if !defined(CYTHON_FAST_PYCCALL) +#define CYTHON_FAST_PYCCALL (CYTHON_FAST_PYCALL && PY_VERSION_HEX >= 0x030600B1) +#endif +#if !defined(CYTHON_VECTORCALL) +#define CYTHON_VECTORCALL (CYTHON_FAST_PYCCALL && PY_VERSION_HEX >= 0x030800B1) +#endif +#define CYTHON_BACKPORT_VECTORCALL (CYTHON_METH_FASTCALL && PY_VERSION_HEX < 0x030800B1) +#if CYTHON_USE_PYLONG_INTERNALS + #if PY_MAJOR_VERSION < 3 + #include "longintrepr.h" + #endif + #undef SHIFT + #undef BASE + #undef MASK + #ifdef SIZEOF_VOID_P + enum { __pyx_check_sizeof_voidp = 1 / (int)(SIZEOF_VOID_P == sizeof(void*)) }; + #endif +#endif +#ifndef __has_attribute + #define __has_attribute(x) 0 +#endif +#ifndef __has_cpp_attribute + #define __has_cpp_attribute(x) 0 +#endif +#ifndef CYTHON_RESTRICT + #if defined(__GNUC__) + #define CYTHON_RESTRICT __restrict__ + #elif defined(_MSC_VER) && _MSC_VER >= 1400 + #define CYTHON_RESTRICT __restrict + #elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define CYTHON_RESTRICT restrict + #else + #define CYTHON_RESTRICT + #endif +#endif +#ifndef CYTHON_UNUSED + #if defined(__cplusplus) + /* for clang __has_cpp_attribute(maybe_unused) is true even before C++17 + * but leads to warnings with -pedantic, since it is a C++17 feature */ + #if ((defined(_MSVC_LANG) && _MSVC_LANG >= 201703L) || __cplusplus >= 201703L) + #if __has_cpp_attribute(maybe_unused) + #define CYTHON_UNUSED [[maybe_unused]] + #endif + #endif + #endif +#endif +#ifndef CYTHON_UNUSED +# if defined(__GNUC__) +# if !(defined(__cplusplus)) || (__GNUC__ > 3 || (__GNUC__ == 3 && __GNUC_MINOR__ >= 4)) +# define CYTHON_UNUSED __attribute__ ((__unused__)) +# else +# define CYTHON_UNUSED +# endif +# elif defined(__ICC) || (defined(__INTEL_COMPILER) && !defined(_MSC_VER)) +# define CYTHON_UNUSED __attribute__ ((__unused__)) +# else +# define CYTHON_UNUSED +# endif +#endif +#ifndef CYTHON_UNUSED_VAR +# if defined(__cplusplus) + template void CYTHON_UNUSED_VAR( const T& ) { } +# else +# define CYTHON_UNUSED_VAR(x) (void)(x) +# endif +#endif +#ifndef CYTHON_MAYBE_UNUSED_VAR + #define CYTHON_MAYBE_UNUSED_VAR(x) CYTHON_UNUSED_VAR(x) +#endif +#ifndef CYTHON_NCP_UNUSED +# if CYTHON_COMPILING_IN_CPYTHON +# define CYTHON_NCP_UNUSED +# else +# define CYTHON_NCP_UNUSED CYTHON_UNUSED +# endif +#endif +#ifndef CYTHON_USE_CPP_STD_MOVE + #if defined(__cplusplus) && (\ + __cplusplus >= 201103L || (defined(_MSC_VER) && _MSC_VER >= 1600)) + #define CYTHON_USE_CPP_STD_MOVE 1 + #else + #define CYTHON_USE_CPP_STD_MOVE 0 + #endif +#endif +#define __Pyx_void_to_None(void_result) ((void)(void_result), Py_INCREF(Py_None), Py_None) +#ifdef _MSC_VER + #ifndef _MSC_STDINT_H_ + #if _MSC_VER < 1300 + typedef unsigned char uint8_t; + typedef unsigned short uint16_t; + typedef unsigned int uint32_t; + #else + typedef unsigned __int8 uint8_t; + typedef unsigned __int16 uint16_t; + typedef unsigned __int32 uint32_t; + #endif + #endif + #if _MSC_VER < 1300 + #ifdef _WIN64 + typedef unsigned long long __pyx_uintptr_t; + #else + typedef unsigned int __pyx_uintptr_t; + #endif + #else + #ifdef _WIN64 + typedef unsigned __int64 __pyx_uintptr_t; + #else + typedef unsigned __int32 __pyx_uintptr_t; + #endif + #endif +#else + #include + typedef uintptr_t __pyx_uintptr_t; +#endif +#ifndef CYTHON_FALLTHROUGH + #if defined(__cplusplus) + /* for clang __has_cpp_attribute(fallthrough) is true even before C++17 + * but leads to warnings with -pedantic, since it is a C++17 feature */ + #if ((defined(_MSVC_LANG) && _MSVC_LANG >= 201703L) || __cplusplus >= 201703L) + #if __has_cpp_attribute(fallthrough) + #define CYTHON_FALLTHROUGH [[fallthrough]] + #endif + #endif + #ifndef CYTHON_FALLTHROUGH + #if __has_cpp_attribute(clang::fallthrough) + #define CYTHON_FALLTHROUGH [[clang::fallthrough]] + #elif __has_cpp_attribute(gnu::fallthrough) + #define CYTHON_FALLTHROUGH [[gnu::fallthrough]] + #endif + #endif + #endif + #ifndef CYTHON_FALLTHROUGH + #if __has_attribute(fallthrough) + #define CYTHON_FALLTHROUGH __attribute__((fallthrough)) + #else + #define CYTHON_FALLTHROUGH + #endif + #endif + #if defined(__clang__) && defined(__apple_build_version__) + #if __apple_build_version__ < 7000000 + #undef CYTHON_FALLTHROUGH + #define CYTHON_FALLTHROUGH + #endif + #endif +#endif +#ifdef __cplusplus + template + struct __PYX_IS_UNSIGNED_IMPL {static const bool value = T(0) < T(-1);}; + #define __PYX_IS_UNSIGNED(type) (__PYX_IS_UNSIGNED_IMPL::value) +#else + #define __PYX_IS_UNSIGNED(type) (((type)-1) > 0) +#endif +#if CYTHON_COMPILING_IN_PYPY == 1 + #define __PYX_NEED_TP_PRINT_SLOT (PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x030A0000) +#else + #define __PYX_NEED_TP_PRINT_SLOT (PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000) +#endif +#define __PYX_REINTERPRET_FUNCION(func_pointer, other_pointer) ((func_pointer)(void(*)(void))(other_pointer)) + +#ifndef __cplusplus + #error "Cython files generated with the C++ option must be compiled with a C++ compiler." +#endif +#ifndef CYTHON_INLINE + #if defined(__clang__) + #define CYTHON_INLINE __inline__ __attribute__ ((__unused__)) + #else + #define CYTHON_INLINE inline + #endif +#endif +template +void __Pyx_call_destructor(T& x) { + x.~T(); +} +template +class __Pyx_FakeReference { + public: + __Pyx_FakeReference() : ptr(NULL) { } + __Pyx_FakeReference(const T& ref) : ptr(const_cast(&ref)) { } + T *operator->() { return ptr; } + T *operator&() { return ptr; } + operator T&() { return *ptr; } + template bool operator ==(const U& other) const { return *ptr == other; } + template bool operator !=(const U& other) const { return *ptr != other; } + template bool operator==(const __Pyx_FakeReference& other) const { return *ptr == *other.ptr; } + template bool operator!=(const __Pyx_FakeReference& other) const { return *ptr != *other.ptr; } + private: + T *ptr; +}; + +#define __PYX_BUILD_PY_SSIZE_T "n" +#define CYTHON_FORMAT_SSIZE_T "z" +#if PY_MAJOR_VERSION < 3 + #define __Pyx_BUILTIN_MODULE_NAME "__builtin__" + #define __Pyx_DefaultClassType PyClass_Type + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_New(a+k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#else + #define __Pyx_BUILTIN_MODULE_NAME "builtins" + #define __Pyx_DefaultClassType PyType_Type +#if CYTHON_COMPILING_IN_LIMITED_API + static CYTHON_INLINE PyObject* __Pyx_PyCode_New(int a, int p, int k, int l, int s, int f, + PyObject *code, PyObject *c, PyObject* n, PyObject *v, + PyObject *fv, PyObject *cell, PyObject* fn, + PyObject *name, int fline, PyObject *lnos) { + PyObject *exception_table = NULL; + PyObject *types_module=NULL, *code_type=NULL, *result=NULL; + #if __PYX_LIMITED_VERSION_HEX < 0x030B0000 + PyObject *version_info; + PyObject *py_minor_version = NULL; + #endif + long minor_version = 0; + PyObject *type, *value, *traceback; + PyErr_Fetch(&type, &value, &traceback); + #if __PYX_LIMITED_VERSION_HEX >= 0x030B0000 + minor_version = 11; + #else + if (!(version_info = PySys_GetObject("version_info"))) goto end; + if (!(py_minor_version = PySequence_GetItem(version_info, 1))) goto end; + minor_version = PyLong_AsLong(py_minor_version); + Py_DECREF(py_minor_version); + if (minor_version == -1 && PyErr_Occurred()) goto end; + #endif + if (!(types_module = PyImport_ImportModule("types"))) goto end; + if (!(code_type = PyObject_GetAttrString(types_module, "CodeType"))) goto end; + if (minor_version <= 7) { + (void)p; + result = PyObject_CallFunction(code_type, "iiiiiOOOOOOiOO", a, k, l, s, f, code, + c, n, v, fn, name, fline, lnos, fv, cell); + } else if (minor_version <= 10) { + result = PyObject_CallFunction(code_type, "iiiiiiOOOOOOiOO", a,p, k, l, s, f, code, + c, n, v, fn, name, fline, lnos, fv, cell); + } else { + if (!(exception_table = PyBytes_FromStringAndSize(NULL, 0))) goto end; + result = PyObject_CallFunction(code_type, "iiiiiiOOOOOOOiOO", a,p, k, l, s, f, code, + c, n, v, fn, name, name, fline, lnos, exception_table, fv, cell); + } + end: + Py_XDECREF(code_type); + Py_XDECREF(exception_table); + Py_XDECREF(types_module); + if (type) { + PyErr_Restore(type, value, traceback); + } + return result; + } + #ifndef CO_OPTIMIZED + #define CO_OPTIMIZED 0x0001 + #endif + #ifndef CO_NEWLOCALS + #define CO_NEWLOCALS 0x0002 + #endif + #ifndef CO_VARARGS + #define CO_VARARGS 0x0004 + #endif + #ifndef CO_VARKEYWORDS + #define CO_VARKEYWORDS 0x0008 + #endif + #ifndef CO_ASYNC_GENERATOR + #define CO_ASYNC_GENERATOR 0x0200 + #endif + #ifndef CO_GENERATOR + #define CO_GENERATOR 0x0020 + #endif + #ifndef CO_COROUTINE + #define CO_COROUTINE 0x0080 + #endif +#elif PY_VERSION_HEX >= 0x030B0000 + static CYTHON_INLINE PyCodeObject* __Pyx_PyCode_New(int a, int p, int k, int l, int s, int f, + PyObject *code, PyObject *c, PyObject* n, PyObject *v, + PyObject *fv, PyObject *cell, PyObject* fn, + PyObject *name, int fline, PyObject *lnos) { + PyCodeObject *result; + PyObject *empty_bytes = PyBytes_FromStringAndSize("", 0); + if (!empty_bytes) return NULL; + result = + #if PY_VERSION_HEX >= 0x030C0000 + PyUnstable_Code_NewWithPosOnlyArgs + #else + PyCode_NewWithPosOnlyArgs + #endif + (a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, name, fline, lnos, empty_bytes); + Py_DECREF(empty_bytes); + return result; + } +#elif PY_VERSION_HEX >= 0x030800B2 && !CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_NewWithPosOnlyArgs(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#else + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#endif +#endif +#if PY_VERSION_HEX >= 0x030900A4 || defined(Py_IS_TYPE) + #define __Pyx_IS_TYPE(ob, type) Py_IS_TYPE(ob, type) +#else + #define __Pyx_IS_TYPE(ob, type) (((const PyObject*)ob)->ob_type == (type)) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_Is) + #define __Pyx_Py_Is(x, y) Py_Is(x, y) +#else + #define __Pyx_Py_Is(x, y) ((x) == (y)) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsNone) + #define __Pyx_Py_IsNone(ob) Py_IsNone(ob) +#else + #define __Pyx_Py_IsNone(ob) __Pyx_Py_Is((ob), Py_None) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsTrue) + #define __Pyx_Py_IsTrue(ob) Py_IsTrue(ob) +#else + #define __Pyx_Py_IsTrue(ob) __Pyx_Py_Is((ob), Py_True) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsFalse) + #define __Pyx_Py_IsFalse(ob) Py_IsFalse(ob) +#else + #define __Pyx_Py_IsFalse(ob) __Pyx_Py_Is((ob), Py_False) +#endif +#define __Pyx_NoneAsNull(obj) (__Pyx_Py_IsNone(obj) ? NULL : (obj)) +#if PY_VERSION_HEX >= 0x030900F0 && !CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyObject_GC_IsFinalized(o) PyObject_GC_IsFinalized(o) +#else + #define __Pyx_PyObject_GC_IsFinalized(o) _PyGC_FINALIZED(o) +#endif +#ifndef CO_COROUTINE + #define CO_COROUTINE 0x80 +#endif +#ifndef CO_ASYNC_GENERATOR + #define CO_ASYNC_GENERATOR 0x200 +#endif +#ifndef Py_TPFLAGS_CHECKTYPES + #define Py_TPFLAGS_CHECKTYPES 0 +#endif +#ifndef Py_TPFLAGS_HAVE_INDEX + #define Py_TPFLAGS_HAVE_INDEX 0 +#endif +#ifndef Py_TPFLAGS_HAVE_NEWBUFFER + #define Py_TPFLAGS_HAVE_NEWBUFFER 0 +#endif +#ifndef Py_TPFLAGS_HAVE_FINALIZE + #define Py_TPFLAGS_HAVE_FINALIZE 0 +#endif +#ifndef Py_TPFLAGS_SEQUENCE + #define Py_TPFLAGS_SEQUENCE 0 +#endif +#ifndef Py_TPFLAGS_MAPPING + #define Py_TPFLAGS_MAPPING 0 +#endif +#ifndef METH_STACKLESS + #define METH_STACKLESS 0 +#endif +#if PY_VERSION_HEX <= 0x030700A3 || !defined(METH_FASTCALL) + #ifndef METH_FASTCALL + #define METH_FASTCALL 0x80 + #endif + typedef PyObject *(*__Pyx_PyCFunctionFast) (PyObject *self, PyObject *const *args, Py_ssize_t nargs); + typedef PyObject *(*__Pyx_PyCFunctionFastWithKeywords) (PyObject *self, PyObject *const *args, + Py_ssize_t nargs, PyObject *kwnames); +#else + #define __Pyx_PyCFunctionFast _PyCFunctionFast + #define __Pyx_PyCFunctionFastWithKeywords _PyCFunctionFastWithKeywords +#endif +#if CYTHON_METH_FASTCALL + #define __Pyx_METH_FASTCALL METH_FASTCALL + #define __Pyx_PyCFunction_FastCall __Pyx_PyCFunctionFast + #define __Pyx_PyCFunction_FastCallWithKeywords __Pyx_PyCFunctionFastWithKeywords +#else + #define __Pyx_METH_FASTCALL METH_VARARGS + #define __Pyx_PyCFunction_FastCall PyCFunction + #define __Pyx_PyCFunction_FastCallWithKeywords PyCFunctionWithKeywords +#endif +#if CYTHON_VECTORCALL + #define __pyx_vectorcallfunc vectorcallfunc + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET PY_VECTORCALL_ARGUMENTS_OFFSET + #define __Pyx_PyVectorcall_NARGS(n) PyVectorcall_NARGS((size_t)(n)) +#elif CYTHON_BACKPORT_VECTORCALL + typedef PyObject *(*__pyx_vectorcallfunc)(PyObject *callable, PyObject *const *args, + size_t nargsf, PyObject *kwnames); + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET ((size_t)1 << (8 * sizeof(size_t) - 1)) + #define __Pyx_PyVectorcall_NARGS(n) ((Py_ssize_t)(((size_t)(n)) & ~__Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET)) +#else + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET 0 + #define __Pyx_PyVectorcall_NARGS(n) ((Py_ssize_t)(n)) +#endif +#if PY_MAJOR_VERSION >= 0x030900B1 +#define __Pyx_PyCFunction_CheckExact(func) PyCFunction_CheckExact(func) +#else +#define __Pyx_PyCFunction_CheckExact(func) PyCFunction_Check(func) +#endif +#define __Pyx_CyOrPyCFunction_Check(func) PyCFunction_Check(func) +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_CyOrPyCFunction_GET_FUNCTION(func) (((PyCFunctionObject*)(func))->m_ml->ml_meth) +#elif !CYTHON_COMPILING_IN_LIMITED_API +#define __Pyx_CyOrPyCFunction_GET_FUNCTION(func) PyCFunction_GET_FUNCTION(func) +#endif +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_CyOrPyCFunction_GET_FLAGS(func) (((PyCFunctionObject*)(func))->m_ml->ml_flags) +static CYTHON_INLINE PyObject* __Pyx_CyOrPyCFunction_GET_SELF(PyObject *func) { + return (__Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_STATIC) ? NULL : ((PyCFunctionObject*)func)->m_self; +} +#endif +static CYTHON_INLINE int __Pyx__IsSameCFunction(PyObject *func, void *cfunc) { +#if CYTHON_COMPILING_IN_LIMITED_API + return PyCFunction_Check(func) && PyCFunction_GetFunction(func) == (PyCFunction) cfunc; +#else + return PyCFunction_Check(func) && PyCFunction_GET_FUNCTION(func) == (PyCFunction) cfunc; +#endif +} +#define __Pyx_IsSameCFunction(func, cfunc) __Pyx__IsSameCFunction(func, cfunc) +#if __PYX_LIMITED_VERSION_HEX < 0x030900B1 + #define __Pyx_PyType_FromModuleAndSpec(m, s, b) ((void)m, PyType_FromSpecWithBases(s, b)) + typedef PyObject *(*__Pyx_PyCMethod)(PyObject *, PyTypeObject *, PyObject *const *, size_t, PyObject *); +#else + #define __Pyx_PyType_FromModuleAndSpec(m, s, b) PyType_FromModuleAndSpec(m, s, b) + #define __Pyx_PyCMethod PyCMethod +#endif +#ifndef METH_METHOD + #define METH_METHOD 0x200 +#endif +#if CYTHON_COMPILING_IN_PYPY && !defined(PyObject_Malloc) + #define PyObject_Malloc(s) PyMem_Malloc(s) + #define PyObject_Free(p) PyMem_Free(p) + #define PyObject_Realloc(p) PyMem_Realloc(p) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0) + #define __Pyx_PyFrame_SetLineNumber(frame, lineno) +#else + #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0) + #define __Pyx_PyFrame_SetLineNumber(frame, lineno) (frame)->f_lineno = (lineno) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyThreadState_Current PyThreadState_Get() +#elif !CYTHON_FAST_THREAD_STATE + #define __Pyx_PyThreadState_Current PyThreadState_GET() +#elif PY_VERSION_HEX >= 0x030d00A1 + #define __Pyx_PyThreadState_Current PyThreadState_GetUnchecked() +#elif PY_VERSION_HEX >= 0x03060000 + #define __Pyx_PyThreadState_Current _PyThreadState_UncheckedGet() +#elif PY_VERSION_HEX >= 0x03000000 + #define __Pyx_PyThreadState_Current PyThreadState_GET() +#else + #define __Pyx_PyThreadState_Current _PyThreadState_Current +#endif +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE void *__Pyx_PyModule_GetState(PyObject *op) +{ + void *result; + result = PyModule_GetState(op); + if (!result) + Py_FatalError("Couldn't find the module state"); + return result; +} +#endif +#define __Pyx_PyObject_GetSlot(obj, name, func_ctype) __Pyx_PyType_GetSlot(Py_TYPE(obj), name, func_ctype) +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyType_GetSlot(type, name, func_ctype) ((func_ctype) PyType_GetSlot((type), Py_##name)) +#else + #define __Pyx_PyType_GetSlot(type, name, func_ctype) ((type)->name) +#endif +#if PY_VERSION_HEX < 0x030700A2 && !defined(PyThread_tss_create) && !defined(Py_tss_NEEDS_INIT) +#include "pythread.h" +#define Py_tss_NEEDS_INIT 0 +typedef int Py_tss_t; +static CYTHON_INLINE int PyThread_tss_create(Py_tss_t *key) { + *key = PyThread_create_key(); + return 0; +} +static CYTHON_INLINE Py_tss_t * PyThread_tss_alloc(void) { + Py_tss_t *key = (Py_tss_t *)PyObject_Malloc(sizeof(Py_tss_t)); + *key = Py_tss_NEEDS_INIT; + return key; +} +static CYTHON_INLINE void PyThread_tss_free(Py_tss_t *key) { + PyObject_Free(key); +} +static CYTHON_INLINE int PyThread_tss_is_created(Py_tss_t *key) { + return *key != Py_tss_NEEDS_INIT; +} +static CYTHON_INLINE void PyThread_tss_delete(Py_tss_t *key) { + PyThread_delete_key(*key); + *key = Py_tss_NEEDS_INIT; +} +static CYTHON_INLINE int PyThread_tss_set(Py_tss_t *key, void *value) { + return PyThread_set_key_value(*key, value); +} +static CYTHON_INLINE void * PyThread_tss_get(Py_tss_t *key) { + return PyThread_get_key_value(*key); +} +#endif +#if PY_MAJOR_VERSION < 3 + #if CYTHON_COMPILING_IN_PYPY + #if PYPY_VERSION_NUM < 0x07030600 + #if defined(__cplusplus) && __cplusplus >= 201402L + [[deprecated("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6")]] + #elif defined(__GNUC__) || defined(__clang__) + __attribute__ ((__deprecated__("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6"))) + #elif defined(_MSC_VER) + __declspec(deprecated("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6")) + #endif + static CYTHON_INLINE int PyGILState_Check(void) { + return 0; + } + #else // PYPY_VERSION_NUM < 0x07030600 + #endif // PYPY_VERSION_NUM < 0x07030600 + #else + static CYTHON_INLINE int PyGILState_Check(void) { + PyThreadState * tstate = _PyThreadState_Current; + return tstate && (tstate == PyGILState_GetThisThreadState()); + } + #endif +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030d0000 || defined(_PyDict_NewPresized) +#define __Pyx_PyDict_NewPresized(n) ((n <= 8) ? PyDict_New() : _PyDict_NewPresized(n)) +#else +#define __Pyx_PyDict_NewPresized(n) PyDict_New() +#endif +#if PY_MAJOR_VERSION >= 3 || CYTHON_FUTURE_DIVISION + #define __Pyx_PyNumber_Divide(x,y) PyNumber_TrueDivide(x,y) + #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceTrueDivide(x,y) +#else + #define __Pyx_PyNumber_Divide(x,y) PyNumber_Divide(x,y) + #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceDivide(x,y) +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX > 0x030600B4 && PY_VERSION_HEX < 0x030d0000 && CYTHON_USE_UNICODE_INTERNALS +#define __Pyx_PyDict_GetItemStrWithError(dict, name) _PyDict_GetItem_KnownHash(dict, name, ((PyASCIIObject *) name)->hash) +static CYTHON_INLINE PyObject * __Pyx_PyDict_GetItemStr(PyObject *dict, PyObject *name) { + PyObject *res = __Pyx_PyDict_GetItemStrWithError(dict, name); + if (res == NULL) PyErr_Clear(); + return res; +} +#elif PY_MAJOR_VERSION >= 3 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07020000) +#define __Pyx_PyDict_GetItemStrWithError PyDict_GetItemWithError +#define __Pyx_PyDict_GetItemStr PyDict_GetItem +#else +static CYTHON_INLINE PyObject * __Pyx_PyDict_GetItemStrWithError(PyObject *dict, PyObject *name) { +#if CYTHON_COMPILING_IN_PYPY + return PyDict_GetItem(dict, name); +#else + PyDictEntry *ep; + PyDictObject *mp = (PyDictObject*) dict; + long hash = ((PyStringObject *) name)->ob_shash; + assert(hash != -1); + ep = (mp->ma_lookup)(mp, name, hash); + if (ep == NULL) { + return NULL; + } + return ep->me_value; +#endif +} +#define __Pyx_PyDict_GetItemStr PyDict_GetItem +#endif +#if CYTHON_USE_TYPE_SLOTS + #define __Pyx_PyType_GetFlags(tp) (((PyTypeObject *)tp)->tp_flags) + #define __Pyx_PyType_HasFeature(type, feature) ((__Pyx_PyType_GetFlags(type) & (feature)) != 0) + #define __Pyx_PyObject_GetIterNextFunc(obj) (Py_TYPE(obj)->tp_iternext) +#else + #define __Pyx_PyType_GetFlags(tp) (PyType_GetFlags((PyTypeObject *)tp)) + #define __Pyx_PyType_HasFeature(type, feature) PyType_HasFeature(type, feature) + #define __Pyx_PyObject_GetIterNextFunc(obj) PyIter_Next +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_SetItemOnTypeDict(tp, k, v) PyObject_GenericSetAttr((PyObject*)tp, k, v) +#else + #define __Pyx_SetItemOnTypeDict(tp, k, v) PyDict_SetItem(tp->tp_dict, k, v) +#endif +#if CYTHON_USE_TYPE_SPECS && PY_VERSION_HEX >= 0x03080000 +#define __Pyx_PyHeapTypeObject_GC_Del(obj) {\ + PyTypeObject *type = Py_TYPE((PyObject*)obj);\ + assert(__Pyx_PyType_HasFeature(type, Py_TPFLAGS_HEAPTYPE));\ + PyObject_GC_Del(obj);\ + Py_DECREF(type);\ +} +#else +#define __Pyx_PyHeapTypeObject_GC_Del(obj) PyObject_GC_Del(obj) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define CYTHON_PEP393_ENABLED 1 + #define __Pyx_PyUnicode_READY(op) (0) + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GetLength(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) PyUnicode_ReadChar(u, i) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) ((void)u, 1114111U) + #define __Pyx_PyUnicode_KIND(u) ((void)u, (0)) + #define __Pyx_PyUnicode_DATA(u) ((void*)u) + #define __Pyx_PyUnicode_READ(k, d, i) ((void)k, PyUnicode_ReadChar((PyObject*)(d), i)) + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GetLength(u)) +#elif PY_VERSION_HEX > 0x03030000 && defined(PyUnicode_KIND) + #define CYTHON_PEP393_ENABLED 1 + #if PY_VERSION_HEX >= 0x030C0000 + #define __Pyx_PyUnicode_READY(op) (0) + #else + #define __Pyx_PyUnicode_READY(op) (likely(PyUnicode_IS_READY(op)) ?\ + 0 : _PyUnicode_Ready((PyObject *)(op))) + #endif + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_LENGTH(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) PyUnicode_READ_CHAR(u, i) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) PyUnicode_MAX_CHAR_VALUE(u) + #define __Pyx_PyUnicode_KIND(u) ((int)PyUnicode_KIND(u)) + #define __Pyx_PyUnicode_DATA(u) PyUnicode_DATA(u) + #define __Pyx_PyUnicode_READ(k, d, i) PyUnicode_READ(k, d, i) + #define __Pyx_PyUnicode_WRITE(k, d, i, ch) PyUnicode_WRITE(k, d, i, (Py_UCS4) ch) + #if PY_VERSION_HEX >= 0x030C0000 + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_LENGTH(u)) + #else + #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x03090000 + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : ((PyCompactUnicodeObject *)(u))->wstr_length)) + #else + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : PyUnicode_GET_SIZE(u))) + #endif + #endif +#else + #define CYTHON_PEP393_ENABLED 0 + #define PyUnicode_1BYTE_KIND 1 + #define PyUnicode_2BYTE_KIND 2 + #define PyUnicode_4BYTE_KIND 4 + #define __Pyx_PyUnicode_READY(op) (0) + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_SIZE(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) ((Py_UCS4)(PyUnicode_AS_UNICODE(u)[i])) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) ((sizeof(Py_UNICODE) == 2) ? 65535U : 1114111U) + #define __Pyx_PyUnicode_KIND(u) ((int)sizeof(Py_UNICODE)) + #define __Pyx_PyUnicode_DATA(u) ((void*)PyUnicode_AS_UNICODE(u)) + #define __Pyx_PyUnicode_READ(k, d, i) ((void)(k), (Py_UCS4)(((Py_UNICODE*)d)[i])) + #define __Pyx_PyUnicode_WRITE(k, d, i, ch) (((void)(k)), ((Py_UNICODE*)d)[i] = (Py_UNICODE) ch) + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_SIZE(u)) +#endif +#if CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyUnicode_Concat(a, b) PyNumber_Add(a, b) + #define __Pyx_PyUnicode_ConcatSafe(a, b) PyNumber_Add(a, b) +#else + #define __Pyx_PyUnicode_Concat(a, b) PyUnicode_Concat(a, b) + #define __Pyx_PyUnicode_ConcatSafe(a, b) ((unlikely((a) == Py_None) || unlikely((b) == Py_None)) ?\ + PyNumber_Add(a, b) : __Pyx_PyUnicode_Concat(a, b)) +#endif +#if CYTHON_COMPILING_IN_PYPY + #if !defined(PyUnicode_DecodeUnicodeEscape) + #define PyUnicode_DecodeUnicodeEscape(s, size, errors) PyUnicode_Decode(s, size, "unicode_escape", errors) + #endif + #if !defined(PyUnicode_Contains) || (PY_MAJOR_VERSION == 2 && PYPY_VERSION_NUM < 0x07030500) + #undef PyUnicode_Contains + #define PyUnicode_Contains(u, s) PySequence_Contains(u, s) + #endif + #if !defined(PyByteArray_Check) + #define PyByteArray_Check(obj) PyObject_TypeCheck(obj, &PyByteArray_Type) + #endif + #if !defined(PyObject_Format) + #define PyObject_Format(obj, fmt) PyObject_CallMethod(obj, "__format__", "O", fmt) + #endif +#endif +#define __Pyx_PyString_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyString_Check(b) && !PyString_CheckExact(b)))) ? PyNumber_Remainder(a, b) : __Pyx_PyString_Format(a, b)) +#define __Pyx_PyUnicode_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyUnicode_Check(b) && !PyUnicode_CheckExact(b)))) ? PyNumber_Remainder(a, b) : PyUnicode_Format(a, b)) +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyString_Format(a, b) PyUnicode_Format(a, b) +#else + #define __Pyx_PyString_Format(a, b) PyString_Format(a, b) +#endif +#if PY_MAJOR_VERSION < 3 && !defined(PyObject_ASCII) + #define PyObject_ASCII(o) PyObject_Repr(o) +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyBaseString_Type PyUnicode_Type + #define PyStringObject PyUnicodeObject + #define PyString_Type PyUnicode_Type + #define PyString_Check PyUnicode_Check + #define PyString_CheckExact PyUnicode_CheckExact +#ifndef PyObject_Unicode + #define PyObject_Unicode PyObject_Str +#endif +#endif +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyBaseString_Check(obj) PyUnicode_Check(obj) + #define __Pyx_PyBaseString_CheckExact(obj) PyUnicode_CheckExact(obj) +#else + #define __Pyx_PyBaseString_Check(obj) (PyString_Check(obj) || PyUnicode_Check(obj)) + #define __Pyx_PyBaseString_CheckExact(obj) (PyString_CheckExact(obj) || PyUnicode_CheckExact(obj)) +#endif +#if CYTHON_COMPILING_IN_CPYTHON + #define __Pyx_PySequence_ListKeepNew(obj)\ + (likely(PyList_CheckExact(obj) && Py_REFCNT(obj) == 1) ? __Pyx_NewRef(obj) : PySequence_List(obj)) +#else + #define __Pyx_PySequence_ListKeepNew(obj) PySequence_List(obj) +#endif +#ifndef PySet_CheckExact + #define PySet_CheckExact(obj) __Pyx_IS_TYPE(obj, &PySet_Type) +#endif +#if PY_VERSION_HEX >= 0x030900A4 + #define __Pyx_SET_REFCNT(obj, refcnt) Py_SET_REFCNT(obj, refcnt) + #define __Pyx_SET_SIZE(obj, size) Py_SET_SIZE(obj, size) +#else + #define __Pyx_SET_REFCNT(obj, refcnt) Py_REFCNT(obj) = (refcnt) + #define __Pyx_SET_SIZE(obj, size) Py_SIZE(obj) = (size) +#endif +#if CYTHON_ASSUME_SAFE_MACROS + #define __Pyx_PySequence_ITEM(o, i) PySequence_ITEM(o, i) + #define __Pyx_PySequence_SIZE(seq) Py_SIZE(seq) + #define __Pyx_PyTuple_SET_ITEM(o, i, v) (PyTuple_SET_ITEM(o, i, v), (0)) + #define __Pyx_PyList_SET_ITEM(o, i, v) (PyList_SET_ITEM(o, i, v), (0)) + #define __Pyx_PyTuple_GET_SIZE(o) PyTuple_GET_SIZE(o) + #define __Pyx_PyList_GET_SIZE(o) PyList_GET_SIZE(o) + #define __Pyx_PySet_GET_SIZE(o) PySet_GET_SIZE(o) + #define __Pyx_PyBytes_GET_SIZE(o) PyBytes_GET_SIZE(o) + #define __Pyx_PyByteArray_GET_SIZE(o) PyByteArray_GET_SIZE(o) +#else + #define __Pyx_PySequence_ITEM(o, i) PySequence_GetItem(o, i) + #define __Pyx_PySequence_SIZE(seq) PySequence_Size(seq) + #define __Pyx_PyTuple_SET_ITEM(o, i, v) PyTuple_SetItem(o, i, v) + #define __Pyx_PyList_SET_ITEM(o, i, v) PyList_SetItem(o, i, v) + #define __Pyx_PyTuple_GET_SIZE(o) PyTuple_Size(o) + #define __Pyx_PyList_GET_SIZE(o) PyList_Size(o) + #define __Pyx_PySet_GET_SIZE(o) PySet_Size(o) + #define __Pyx_PyBytes_GET_SIZE(o) PyBytes_Size(o) + #define __Pyx_PyByteArray_GET_SIZE(o) PyByteArray_Size(o) +#endif +#if PY_VERSION_HEX >= 0x030d00A1 + #define __Pyx_PyImport_AddModuleRef(name) PyImport_AddModuleRef(name) +#else + static CYTHON_INLINE PyObject *__Pyx_PyImport_AddModuleRef(const char *name) { + PyObject *module = PyImport_AddModule(name); + Py_XINCREF(module); + return module; + } +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyIntObject PyLongObject + #define PyInt_Type PyLong_Type + #define PyInt_Check(op) PyLong_Check(op) + #define PyInt_CheckExact(op) PyLong_CheckExact(op) + #define __Pyx_Py3Int_Check(op) PyLong_Check(op) + #define __Pyx_Py3Int_CheckExact(op) PyLong_CheckExact(op) + #define PyInt_FromString PyLong_FromString + #define PyInt_FromUnicode PyLong_FromUnicode + #define PyInt_FromLong PyLong_FromLong + #define PyInt_FromSize_t PyLong_FromSize_t + #define PyInt_FromSsize_t PyLong_FromSsize_t + #define PyInt_AsLong PyLong_AsLong + #define PyInt_AS_LONG PyLong_AS_LONG + #define PyInt_AsSsize_t PyLong_AsSsize_t + #define PyInt_AsUnsignedLongMask PyLong_AsUnsignedLongMask + #define PyInt_AsUnsignedLongLongMask PyLong_AsUnsignedLongLongMask + #define PyNumber_Int PyNumber_Long +#else + #define __Pyx_Py3Int_Check(op) (PyLong_Check(op) || PyInt_Check(op)) + #define __Pyx_Py3Int_CheckExact(op) (PyLong_CheckExact(op) || PyInt_CheckExact(op)) +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyBoolObject PyLongObject +#endif +#if PY_MAJOR_VERSION >= 3 && CYTHON_COMPILING_IN_PYPY + #ifndef PyUnicode_InternFromString + #define PyUnicode_InternFromString(s) PyUnicode_FromString(s) + #endif +#endif +#if PY_VERSION_HEX < 0x030200A4 + typedef long Py_hash_t; + #define __Pyx_PyInt_FromHash_t PyInt_FromLong + #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsHash_t +#else + #define __Pyx_PyInt_FromHash_t PyInt_FromSsize_t + #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsSsize_t +#endif +#if CYTHON_USE_ASYNC_SLOTS + #if PY_VERSION_HEX >= 0x030500B1 + #define __Pyx_PyAsyncMethodsStruct PyAsyncMethods + #define __Pyx_PyType_AsAsync(obj) (Py_TYPE(obj)->tp_as_async) + #else + #define __Pyx_PyType_AsAsync(obj) ((__Pyx_PyAsyncMethodsStruct*) (Py_TYPE(obj)->tp_reserved)) + #endif +#else + #define __Pyx_PyType_AsAsync(obj) NULL +#endif +#ifndef __Pyx_PyAsyncMethodsStruct + typedef struct { + unaryfunc am_await; + unaryfunc am_aiter; + unaryfunc am_anext; + } __Pyx_PyAsyncMethodsStruct; +#endif + +#if defined(_WIN32) || defined(WIN32) || defined(MS_WINDOWS) + #if !defined(_USE_MATH_DEFINES) + #define _USE_MATH_DEFINES + #endif +#endif +#include +#ifdef NAN +#define __PYX_NAN() ((float) NAN) +#else +static CYTHON_INLINE float __PYX_NAN() { + float value; + memset(&value, 0xFF, sizeof(value)); + return value; +} +#endif +#if defined(__CYGWIN__) && defined(_LDBL_EQ_DBL) +#define __Pyx_truncl trunc +#else +#define __Pyx_truncl truncl +#endif + +#define __PYX_MARK_ERR_POS(f_index, lineno) \ + { __pyx_filename = __pyx_f[f_index]; (void)__pyx_filename; __pyx_lineno = lineno; (void)__pyx_lineno; __pyx_clineno = __LINE__; (void)__pyx_clineno; } +#define __PYX_ERR(f_index, lineno, Ln_error) \ + { __PYX_MARK_ERR_POS(f_index, lineno) goto Ln_error; } + +#ifdef CYTHON_EXTERN_C + #undef __PYX_EXTERN_C + #define __PYX_EXTERN_C CYTHON_EXTERN_C +#elif defined(__PYX_EXTERN_C) + #ifdef _MSC_VER + #pragma message ("Please do not define the '__PYX_EXTERN_C' macro externally. Use 'CYTHON_EXTERN_C' instead.") + #else + #warning Please do not define the '__PYX_EXTERN_C' macro externally. Use 'CYTHON_EXTERN_C' instead. + #endif +#else + #define __PYX_EXTERN_C extern "C++" +#endif + +#define __PYX_HAVE__msgq__visionipc__visionipc_pyx +#define __PYX_HAVE_API__msgq__visionipc__visionipc_pyx +/* Early includes */ +#include +#include +#include "ios" +#include "new" +#include "stdexcept" +#include "typeinfo" +#include +#include + + #if __cplusplus >= 201103L || (defined(_MSC_VER) && _MSC_VER >= 1600) + // move should be defined for these versions of MSVC, but __cplusplus isn't set usefully + #include + + namespace cython_std { + template typename std::remove_reference::type&& move(T& t) noexcept { return std::move(t); } + template typename std::remove_reference::type&& move(T&& t) noexcept { return std::move(t); } + } + + #endif + +#include +#include +#include "msgq/visionipc/visionbuf.h" +#include "msgq/visionipc/visionipc.h" +#include "msgq/visionipc/visionipc_server.h" +#include "msgq/visionipc/visionipc_client.h" +#include + + /* Using NumPy API declarations from "numpy/__init__.cython-30.pxd" */ + +#include "numpy/arrayobject.h" +#include "numpy/ndarrayobject.h" +#include "numpy/ndarraytypes.h" +#include "numpy/arrayscalars.h" +#include "numpy/ufuncobject.h" +#include "pythread.h" +#include +#ifdef _OPENMP +#include +#endif /* _OPENMP */ + +#if defined(PYREX_WITHOUT_ASSERTIONS) && !defined(CYTHON_WITHOUT_ASSERTIONS) +#define CYTHON_WITHOUT_ASSERTIONS +#endif + +typedef struct {PyObject **p; const char *s; const Py_ssize_t n; const char* encoding; + const char is_unicode; const char is_str; const char intern; } __Pyx_StringTabEntry; + +#define __PYX_DEFAULT_STRING_ENCODING_IS_ASCII 1 +#define __PYX_DEFAULT_STRING_ENCODING_IS_UTF8 0 +#define __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT (PY_MAJOR_VERSION >= 3 && __PYX_DEFAULT_STRING_ENCODING_IS_UTF8) +#define __PYX_DEFAULT_STRING_ENCODING "ascii" +#define __Pyx_PyObject_FromString __Pyx_PyBytes_FromString +#define __Pyx_PyObject_FromStringAndSize __Pyx_PyBytes_FromStringAndSize +#define __Pyx_uchar_cast(c) ((unsigned char)c) +#define __Pyx_long_cast(x) ((long)x) +#define __Pyx_fits_Py_ssize_t(v, type, is_signed) (\ + (sizeof(type) < sizeof(Py_ssize_t)) ||\ + (sizeof(type) > sizeof(Py_ssize_t) &&\ + likely(v < (type)PY_SSIZE_T_MAX ||\ + v == (type)PY_SSIZE_T_MAX) &&\ + (!is_signed || likely(v > (type)PY_SSIZE_T_MIN ||\ + v == (type)PY_SSIZE_T_MIN))) ||\ + (sizeof(type) == sizeof(Py_ssize_t) &&\ + (is_signed || likely(v < (type)PY_SSIZE_T_MAX ||\ + v == (type)PY_SSIZE_T_MAX))) ) +static CYTHON_INLINE int __Pyx_is_valid_index(Py_ssize_t i, Py_ssize_t limit) { + return (size_t) i < (size_t) limit; +} +#if defined (__cplusplus) && __cplusplus >= 201103L + #include + #define __Pyx_sst_abs(value) std::abs(value) +#elif SIZEOF_INT >= SIZEOF_SIZE_T + #define __Pyx_sst_abs(value) abs(value) +#elif SIZEOF_LONG >= SIZEOF_SIZE_T + #define __Pyx_sst_abs(value) labs(value) +#elif defined (_MSC_VER) + #define __Pyx_sst_abs(value) ((Py_ssize_t)_abs64(value)) +#elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define __Pyx_sst_abs(value) llabs(value) +#elif defined (__GNUC__) + #define __Pyx_sst_abs(value) __builtin_llabs(value) +#else + #define __Pyx_sst_abs(value) ((value<0) ? -value : value) +#endif +static CYTHON_INLINE Py_ssize_t __Pyx_ssize_strlen(const char *s); +static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject*); +static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject*, Py_ssize_t* length); +static CYTHON_INLINE PyObject* __Pyx_PyByteArray_FromString(const char*); +#define __Pyx_PyByteArray_FromStringAndSize(s, l) PyByteArray_FromStringAndSize((const char*)s, l) +#define __Pyx_PyBytes_FromString PyBytes_FromString +#define __Pyx_PyBytes_FromStringAndSize PyBytes_FromStringAndSize +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char*); +#if PY_MAJOR_VERSION < 3 + #define __Pyx_PyStr_FromString __Pyx_PyBytes_FromString + #define __Pyx_PyStr_FromStringAndSize __Pyx_PyBytes_FromStringAndSize +#else + #define __Pyx_PyStr_FromString __Pyx_PyUnicode_FromString + #define __Pyx_PyStr_FromStringAndSize __Pyx_PyUnicode_FromStringAndSize +#endif +#define __Pyx_PyBytes_AsWritableString(s) ((char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsWritableSString(s) ((signed char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsWritableUString(s) ((unsigned char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsString(s) ((const char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsSString(s) ((const signed char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsUString(s) ((const unsigned char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyObject_AsWritableString(s) ((char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsWritableSString(s) ((signed char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsWritableUString(s) ((unsigned char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsSString(s) ((const signed char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsUString(s) ((const unsigned char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_FromCString(s) __Pyx_PyObject_FromString((const char*)s) +#define __Pyx_PyBytes_FromCString(s) __Pyx_PyBytes_FromString((const char*)s) +#define __Pyx_PyByteArray_FromCString(s) __Pyx_PyByteArray_FromString((const char*)s) +#define __Pyx_PyStr_FromCString(s) __Pyx_PyStr_FromString((const char*)s) +#define __Pyx_PyUnicode_FromCString(s) __Pyx_PyUnicode_FromString((const char*)s) +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE size_t __Pyx_Py_UNICODE_strlen(const wchar_t *u) +{ + const wchar_t *u_end = u; + while (*u_end++) ; + return (size_t)(u_end - u - 1); +} +#else +static CYTHON_INLINE size_t __Pyx_Py_UNICODE_strlen(const Py_UNICODE *u) +{ + const Py_UNICODE *u_end = u; + while (*u_end++) ; + return (size_t)(u_end - u - 1); +} +#endif +#define __Pyx_PyUnicode_FromOrdinal(o) PyUnicode_FromOrdinal((int)o) +#define __Pyx_PyUnicode_FromUnicode(u) PyUnicode_FromUnicode(u, __Pyx_Py_UNICODE_strlen(u)) +#define __Pyx_PyUnicode_FromUnicodeAndLength PyUnicode_FromUnicode +#define __Pyx_PyUnicode_AsUnicode PyUnicode_AsUnicode +#define __Pyx_NewRef(obj) (Py_INCREF(obj), obj) +#define __Pyx_Owned_Py_None(b) __Pyx_NewRef(Py_None) +static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b); +static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject*); +static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject*); +static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x); +#define __Pyx_PySequence_Tuple(obj)\ + (likely(PyTuple_CheckExact(obj)) ? __Pyx_NewRef(obj) : PySequence_Tuple(obj)) +static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject*); +static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t); +static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject*); +#if CYTHON_ASSUME_SAFE_MACROS +#define __pyx_PyFloat_AsDouble(x) (PyFloat_CheckExact(x) ? PyFloat_AS_DOUBLE(x) : PyFloat_AsDouble(x)) +#else +#define __pyx_PyFloat_AsDouble(x) PyFloat_AsDouble(x) +#endif +#define __pyx_PyFloat_AsFloat(x) ((float) __pyx_PyFloat_AsDouble(x)) +#if PY_MAJOR_VERSION >= 3 +#define __Pyx_PyNumber_Int(x) (PyLong_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Long(x)) +#else +#define __Pyx_PyNumber_Int(x) (PyInt_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Int(x)) +#endif +#if CYTHON_USE_PYLONG_INTERNALS + #if PY_VERSION_HEX >= 0x030C00A7 + #ifndef _PyLong_SIGN_MASK + #define _PyLong_SIGN_MASK 3 + #endif + #ifndef _PyLong_NON_SIZE_BITS + #define _PyLong_NON_SIZE_BITS 3 + #endif + #define __Pyx_PyLong_Sign(x) (((PyLongObject*)x)->long_value.lv_tag & _PyLong_SIGN_MASK) + #define __Pyx_PyLong_IsNeg(x) ((__Pyx_PyLong_Sign(x) & 2) != 0) + #define __Pyx_PyLong_IsNonNeg(x) (!__Pyx_PyLong_IsNeg(x)) + #define __Pyx_PyLong_IsZero(x) (__Pyx_PyLong_Sign(x) & 1) + #define __Pyx_PyLong_IsPos(x) (__Pyx_PyLong_Sign(x) == 0) + #define __Pyx_PyLong_CompactValueUnsigned(x) (__Pyx_PyLong_Digits(x)[0]) + #define __Pyx_PyLong_DigitCount(x) ((Py_ssize_t) (((PyLongObject*)x)->long_value.lv_tag >> _PyLong_NON_SIZE_BITS)) + #define __Pyx_PyLong_SignedDigitCount(x)\ + ((1 - (Py_ssize_t) __Pyx_PyLong_Sign(x)) * __Pyx_PyLong_DigitCount(x)) + #if defined(PyUnstable_Long_IsCompact) && defined(PyUnstable_Long_CompactValue) + #define __Pyx_PyLong_IsCompact(x) PyUnstable_Long_IsCompact((PyLongObject*) x) + #define __Pyx_PyLong_CompactValue(x) PyUnstable_Long_CompactValue((PyLongObject*) x) + #else + #define __Pyx_PyLong_IsCompact(x) (((PyLongObject*)x)->long_value.lv_tag < (2 << _PyLong_NON_SIZE_BITS)) + #define __Pyx_PyLong_CompactValue(x) ((1 - (Py_ssize_t) __Pyx_PyLong_Sign(x)) * (Py_ssize_t) __Pyx_PyLong_Digits(x)[0]) + #endif + typedef Py_ssize_t __Pyx_compact_pylong; + typedef size_t __Pyx_compact_upylong; + #else + #define __Pyx_PyLong_IsNeg(x) (Py_SIZE(x) < 0) + #define __Pyx_PyLong_IsNonNeg(x) (Py_SIZE(x) >= 0) + #define __Pyx_PyLong_IsZero(x) (Py_SIZE(x) == 0) + #define __Pyx_PyLong_IsPos(x) (Py_SIZE(x) > 0) + #define __Pyx_PyLong_CompactValueUnsigned(x) ((Py_SIZE(x) == 0) ? 0 : __Pyx_PyLong_Digits(x)[0]) + #define __Pyx_PyLong_DigitCount(x) __Pyx_sst_abs(Py_SIZE(x)) + #define __Pyx_PyLong_SignedDigitCount(x) Py_SIZE(x) + #define __Pyx_PyLong_IsCompact(x) (Py_SIZE(x) == 0 || Py_SIZE(x) == 1 || Py_SIZE(x) == -1) + #define __Pyx_PyLong_CompactValue(x)\ + ((Py_SIZE(x) == 0) ? (sdigit) 0 : ((Py_SIZE(x) < 0) ? -(sdigit)__Pyx_PyLong_Digits(x)[0] : (sdigit)__Pyx_PyLong_Digits(x)[0])) + typedef sdigit __Pyx_compact_pylong; + typedef digit __Pyx_compact_upylong; + #endif + #if PY_VERSION_HEX >= 0x030C00A5 + #define __Pyx_PyLong_Digits(x) (((PyLongObject*)x)->long_value.ob_digit) + #else + #define __Pyx_PyLong_Digits(x) (((PyLongObject*)x)->ob_digit) + #endif +#endif +#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII +#include +static int __Pyx_sys_getdefaultencoding_not_ascii; +static int __Pyx_init_sys_getdefaultencoding_params(void) { + PyObject* sys; + PyObject* default_encoding = NULL; + PyObject* ascii_chars_u = NULL; + PyObject* ascii_chars_b = NULL; + const char* default_encoding_c; + sys = PyImport_ImportModule("sys"); + if (!sys) goto bad; + default_encoding = PyObject_CallMethod(sys, (char*) "getdefaultencoding", NULL); + Py_DECREF(sys); + if (!default_encoding) goto bad; + default_encoding_c = PyBytes_AsString(default_encoding); + if (!default_encoding_c) goto bad; + if (strcmp(default_encoding_c, "ascii") == 0) { + __Pyx_sys_getdefaultencoding_not_ascii = 0; + } else { + char ascii_chars[128]; + int c; + for (c = 0; c < 128; c++) { + ascii_chars[c] = (char) c; + } + __Pyx_sys_getdefaultencoding_not_ascii = 1; + ascii_chars_u = PyUnicode_DecodeASCII(ascii_chars, 128, NULL); + if (!ascii_chars_u) goto bad; + ascii_chars_b = PyUnicode_AsEncodedString(ascii_chars_u, default_encoding_c, NULL); + if (!ascii_chars_b || !PyBytes_Check(ascii_chars_b) || memcmp(ascii_chars, PyBytes_AS_STRING(ascii_chars_b), 128) != 0) { + PyErr_Format( + PyExc_ValueError, + "This module compiled with c_string_encoding=ascii, but default encoding '%.200s' is not a superset of ascii.", + default_encoding_c); + goto bad; + } + Py_DECREF(ascii_chars_u); + Py_DECREF(ascii_chars_b); + } + Py_DECREF(default_encoding); + return 0; +bad: + Py_XDECREF(default_encoding); + Py_XDECREF(ascii_chars_u); + Py_XDECREF(ascii_chars_b); + return -1; +} +#endif +#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT && PY_MAJOR_VERSION >= 3 +#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_DecodeUTF8(c_str, size, NULL) +#else +#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_Decode(c_str, size, __PYX_DEFAULT_STRING_ENCODING, NULL) +#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT +#include +static char* __PYX_DEFAULT_STRING_ENCODING; +static int __Pyx_init_sys_getdefaultencoding_params(void) { + PyObject* sys; + PyObject* default_encoding = NULL; + char* default_encoding_c; + sys = PyImport_ImportModule("sys"); + if (!sys) goto bad; + default_encoding = PyObject_CallMethod(sys, (char*) (const char*) "getdefaultencoding", NULL); + Py_DECREF(sys); + if (!default_encoding) goto bad; + default_encoding_c = PyBytes_AsString(default_encoding); + if (!default_encoding_c) goto bad; + __PYX_DEFAULT_STRING_ENCODING = (char*) malloc(strlen(default_encoding_c) + 1); + if (!__PYX_DEFAULT_STRING_ENCODING) goto bad; + strcpy(__PYX_DEFAULT_STRING_ENCODING, default_encoding_c); + Py_DECREF(default_encoding); + return 0; +bad: + Py_XDECREF(default_encoding); + return -1; +} +#endif +#endif + + +/* Test for GCC > 2.95 */ +#if defined(__GNUC__) && (__GNUC__ > 2 || (__GNUC__ == 2 && (__GNUC_MINOR__ > 95))) + #define likely(x) __builtin_expect(!!(x), 1) + #define unlikely(x) __builtin_expect(!!(x), 0) +#else /* !__GNUC__ or GCC < 2.95 */ + #define likely(x) (x) + #define unlikely(x) (x) +#endif /* __GNUC__ */ +static CYTHON_INLINE void __Pyx_pretend_to_initialize(void* ptr) { (void)ptr; } + +#if !CYTHON_USE_MODULE_STATE +static PyObject *__pyx_m = NULL; +#endif +static int __pyx_lineno; +static int __pyx_clineno = 0; +static const char * __pyx_cfilenm = __FILE__; +static const char *__pyx_filename; + +/* Header.proto */ +#if !defined(CYTHON_CCOMPLEX) + #if defined(__cplusplus) + #define CYTHON_CCOMPLEX 1 + #elif (defined(_Complex_I) && !defined(_MSC_VER)) || ((defined (__STDC_VERSION__) && __STDC_VERSION__ >= 201112L) && !defined(__STDC_NO_COMPLEX__) && !defined(_MSC_VER)) + #define CYTHON_CCOMPLEX 1 + #else + #define CYTHON_CCOMPLEX 0 + #endif +#endif +#if CYTHON_CCOMPLEX + #ifdef __cplusplus + #include + #else + #include + #endif +#endif +#if CYTHON_CCOMPLEX && !defined(__cplusplus) && defined(__sun__) && defined(__GNUC__) + #undef _Complex_I + #define _Complex_I 1.0fj +#endif + +/* #### Code section: filename_table ### */ + +static const char *__pyx_f[] = { + "msgq_repo/msgq/visionipc/visionipc_pyx.pyx", + "", + "__init__.cython-30.pxd", + "msgq_repo/msgq/visionipc/visionipc_pyx.pxd", + "type.pxd", +}; +/* #### Code section: utility_code_proto_before_types ### */ +/* ForceInitThreads.proto */ +#ifndef __PYX_FORCE_INIT_THREADS + #define __PYX_FORCE_INIT_THREADS 0 +#endif + +/* NoFastGil.proto */ +#define __Pyx_PyGILState_Ensure PyGILState_Ensure +#define __Pyx_PyGILState_Release PyGILState_Release +#define __Pyx_FastGIL_Remember() +#define __Pyx_FastGIL_Forget() +#define __Pyx_FastGilFuncInit() + +/* BufferFormatStructs.proto */ +struct __Pyx_StructField_; +#define __PYX_BUF_FLAGS_PACKED_STRUCT (1 << 0) +typedef struct { + const char* name; + struct __Pyx_StructField_* fields; + size_t size; + size_t arraysize[8]; + int ndim; + char typegroup; + char is_unsigned; + int flags; +} __Pyx_TypeInfo; +typedef struct __Pyx_StructField_ { + __Pyx_TypeInfo* type; + const char* name; + size_t offset; +} __Pyx_StructField; +typedef struct { + __Pyx_StructField* field; + size_t parent_offset; +} __Pyx_BufFmt_StackElem; +typedef struct { + __Pyx_StructField root; + __Pyx_BufFmt_StackElem* head; + size_t fmt_offset; + size_t new_count, enc_count; + size_t struct_alignment; + int is_complex; + char enc_type; + char new_packmode; + char enc_packmode; + char is_valid_array; +} __Pyx_BufFmt_Context; + +/* Atomics.proto */ +#include +#ifndef CYTHON_ATOMICS + #define CYTHON_ATOMICS 1 +#endif +#define __PYX_CYTHON_ATOMICS_ENABLED() CYTHON_ATOMICS +#define __pyx_atomic_int_type int +#define __pyx_nonatomic_int_type int +#if CYTHON_ATOMICS && (defined(__STDC_VERSION__) &&\ + (__STDC_VERSION__ >= 201112L) &&\ + !defined(__STDC_NO_ATOMICS__)) + #include +#elif CYTHON_ATOMICS && (defined(__cplusplus) && (\ + (__cplusplus >= 201103L) ||\ + (defined(_MSC_VER) && _MSC_VER >= 1700))) + #include +#endif +#if CYTHON_ATOMICS && (defined(__STDC_VERSION__) &&\ + (__STDC_VERSION__ >= 201112L) &&\ + !defined(__STDC_NO_ATOMICS__) &&\ + ATOMIC_INT_LOCK_FREE == 2) + #undef __pyx_atomic_int_type + #define __pyx_atomic_int_type atomic_int + #define __pyx_atomic_incr_aligned(value) atomic_fetch_add_explicit(value, 1, memory_order_relaxed) + #define __pyx_atomic_decr_aligned(value) atomic_fetch_sub_explicit(value, 1, memory_order_acq_rel) + #if defined(__PYX_DEBUG_ATOMICS) && defined(_MSC_VER) + #pragma message ("Using standard C atomics") + #elif defined(__PYX_DEBUG_ATOMICS) + #warning "Using standard C atomics" + #endif +#elif CYTHON_ATOMICS && (defined(__cplusplus) && (\ + (__cplusplus >= 201103L) ||\ +\ + (defined(_MSC_VER) && _MSC_VER >= 1700)) &&\ + ATOMIC_INT_LOCK_FREE == 2) + #undef __pyx_atomic_int_type + #define __pyx_atomic_int_type std::atomic_int + #define __pyx_atomic_incr_aligned(value) std::atomic_fetch_add_explicit(value, 1, std::memory_order_relaxed) + #define __pyx_atomic_decr_aligned(value) std::atomic_fetch_sub_explicit(value, 1, std::memory_order_acq_rel) + #if defined(__PYX_DEBUG_ATOMICS) && defined(_MSC_VER) + #pragma message ("Using standard C++ atomics") + #elif defined(__PYX_DEBUG_ATOMICS) + #warning "Using standard C++ atomics" + #endif +#elif CYTHON_ATOMICS && (__GNUC__ >= 5 || (__GNUC__ == 4 &&\ + (__GNUC_MINOR__ > 1 ||\ + (__GNUC_MINOR__ == 1 && __GNUC_PATCHLEVEL__ >= 2)))) + #define __pyx_atomic_incr_aligned(value) __sync_fetch_and_add(value, 1) + #define __pyx_atomic_decr_aligned(value) __sync_fetch_and_sub(value, 1) + #ifdef __PYX_DEBUG_ATOMICS + #warning "Using GNU atomics" + #endif +#elif CYTHON_ATOMICS && defined(_MSC_VER) + #include + #undef __pyx_atomic_int_type + #define __pyx_atomic_int_type long + #undef __pyx_nonatomic_int_type + #define __pyx_nonatomic_int_type long + #pragma intrinsic (_InterlockedExchangeAdd) + #define __pyx_atomic_incr_aligned(value) _InterlockedExchangeAdd(value, 1) + #define __pyx_atomic_decr_aligned(value) _InterlockedExchangeAdd(value, -1) + #ifdef __PYX_DEBUG_ATOMICS + #pragma message ("Using MSVC atomics") + #endif +#else + #undef CYTHON_ATOMICS + #define CYTHON_ATOMICS 0 + #ifdef __PYX_DEBUG_ATOMICS + #warning "Not using atomics" + #endif +#endif +#if CYTHON_ATOMICS + #define __pyx_add_acquisition_count(memview)\ + __pyx_atomic_incr_aligned(__pyx_get_slice_count_pointer(memview)) + #define __pyx_sub_acquisition_count(memview)\ + __pyx_atomic_decr_aligned(__pyx_get_slice_count_pointer(memview)) +#else + #define __pyx_add_acquisition_count(memview)\ + __pyx_add_acquisition_count_locked(__pyx_get_slice_count_pointer(memview), memview->lock) + #define __pyx_sub_acquisition_count(memview)\ + __pyx_sub_acquisition_count_locked(__pyx_get_slice_count_pointer(memview), memview->lock) +#endif + +/* MemviewSliceStruct.proto */ +struct __pyx_memoryview_obj; +typedef struct { + struct __pyx_memoryview_obj *memview; + char *data; + Py_ssize_t shape[8]; + Py_ssize_t strides[8]; + Py_ssize_t suboffsets[8]; +} __Pyx_memviewslice; +#define __Pyx_MemoryView_Len(m) (m.shape[0]) + +/* #### Code section: numeric_typedefs ### */ + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":730 + * # in Cython to enable them only on the right systems. + * + * ctypedef npy_int8 int8_t # <<<<<<<<<<<<<< + * ctypedef npy_int16 int16_t + * ctypedef npy_int32 int32_t + */ +typedef npy_int8 __pyx_t_5numpy_int8_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":731 + * + * ctypedef npy_int8 int8_t + * ctypedef npy_int16 int16_t # <<<<<<<<<<<<<< + * ctypedef npy_int32 int32_t + * ctypedef npy_int64 int64_t + */ +typedef npy_int16 __pyx_t_5numpy_int16_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":732 + * ctypedef npy_int8 int8_t + * ctypedef npy_int16 int16_t + * ctypedef npy_int32 int32_t # <<<<<<<<<<<<<< + * ctypedef npy_int64 int64_t + * #ctypedef npy_int96 int96_t + */ +typedef npy_int32 __pyx_t_5numpy_int32_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":733 + * ctypedef npy_int16 int16_t + * ctypedef npy_int32 int32_t + * ctypedef npy_int64 int64_t # <<<<<<<<<<<<<< + * #ctypedef npy_int96 int96_t + * #ctypedef npy_int128 int128_t + */ +typedef npy_int64 __pyx_t_5numpy_int64_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":737 + * #ctypedef npy_int128 int128_t + * + * ctypedef npy_uint8 uint8_t # <<<<<<<<<<<<<< + * ctypedef npy_uint16 uint16_t + * ctypedef npy_uint32 uint32_t + */ +typedef npy_uint8 __pyx_t_5numpy_uint8_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":738 + * + * ctypedef npy_uint8 uint8_t + * ctypedef npy_uint16 uint16_t # <<<<<<<<<<<<<< + * ctypedef npy_uint32 uint32_t + * ctypedef npy_uint64 uint64_t + */ +typedef npy_uint16 __pyx_t_5numpy_uint16_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":739 + * ctypedef npy_uint8 uint8_t + * ctypedef npy_uint16 uint16_t + * ctypedef npy_uint32 uint32_t # <<<<<<<<<<<<<< + * ctypedef npy_uint64 uint64_t + * #ctypedef npy_uint96 uint96_t + */ +typedef npy_uint32 __pyx_t_5numpy_uint32_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":740 + * ctypedef npy_uint16 uint16_t + * ctypedef npy_uint32 uint32_t + * ctypedef npy_uint64 uint64_t # <<<<<<<<<<<<<< + * #ctypedef npy_uint96 uint96_t + * #ctypedef npy_uint128 uint128_t + */ +typedef npy_uint64 __pyx_t_5numpy_uint64_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":744 + * #ctypedef npy_uint128 uint128_t + * + * ctypedef npy_float32 float32_t # <<<<<<<<<<<<<< + * ctypedef npy_float64 float64_t + * #ctypedef npy_float80 float80_t + */ +typedef npy_float32 __pyx_t_5numpy_float32_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":745 + * + * ctypedef npy_float32 float32_t + * ctypedef npy_float64 float64_t # <<<<<<<<<<<<<< + * #ctypedef npy_float80 float80_t + * #ctypedef npy_float128 float128_t + */ +typedef npy_float64 __pyx_t_5numpy_float64_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":754 + * # The int types are mapped a bit surprising -- + * # numpy.int corresponds to 'l' and numpy.long to 'q' + * ctypedef npy_long int_t # <<<<<<<<<<<<<< + * ctypedef npy_longlong longlong_t + * + */ +typedef npy_long __pyx_t_5numpy_int_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":755 + * # numpy.int corresponds to 'l' and numpy.long to 'q' + * ctypedef npy_long int_t + * ctypedef npy_longlong longlong_t # <<<<<<<<<<<<<< + * + * ctypedef npy_ulong uint_t + */ +typedef npy_longlong __pyx_t_5numpy_longlong_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":757 + * ctypedef npy_longlong longlong_t + * + * ctypedef npy_ulong uint_t # <<<<<<<<<<<<<< + * ctypedef npy_ulonglong ulonglong_t + * + */ +typedef npy_ulong __pyx_t_5numpy_uint_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":758 + * + * ctypedef npy_ulong uint_t + * ctypedef npy_ulonglong ulonglong_t # <<<<<<<<<<<<<< + * + * ctypedef npy_intp intp_t + */ +typedef npy_ulonglong __pyx_t_5numpy_ulonglong_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":760 + * ctypedef npy_ulonglong ulonglong_t + * + * ctypedef npy_intp intp_t # <<<<<<<<<<<<<< + * ctypedef npy_uintp uintp_t + * + */ +typedef npy_intp __pyx_t_5numpy_intp_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":761 + * + * ctypedef npy_intp intp_t + * ctypedef npy_uintp uintp_t # <<<<<<<<<<<<<< + * + * ctypedef npy_double float_t + */ +typedef npy_uintp __pyx_t_5numpy_uintp_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":763 + * ctypedef npy_uintp uintp_t + * + * ctypedef npy_double float_t # <<<<<<<<<<<<<< + * ctypedef npy_double double_t + * ctypedef npy_longdouble longdouble_t + */ +typedef npy_double __pyx_t_5numpy_float_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":764 + * + * ctypedef npy_double float_t + * ctypedef npy_double double_t # <<<<<<<<<<<<<< + * ctypedef npy_longdouble longdouble_t + * + */ +typedef npy_double __pyx_t_5numpy_double_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":765 + * ctypedef npy_double float_t + * ctypedef npy_double double_t + * ctypedef npy_longdouble longdouble_t # <<<<<<<<<<<<<< + * + * ctypedef npy_cfloat cfloat_t + */ +typedef npy_longdouble __pyx_t_5numpy_longdouble_t; +/* #### Code section: complex_type_declarations ### */ +/* Declarations.proto */ +#if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) + #ifdef __cplusplus + typedef ::std::complex< float > __pyx_t_float_complex; + #else + typedef float _Complex __pyx_t_float_complex; + #endif +#else + typedef struct { float real, imag; } __pyx_t_float_complex; +#endif +static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float, float); + +/* Declarations.proto */ +#if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) + #ifdef __cplusplus + typedef ::std::complex< double > __pyx_t_double_complex; + #else + typedef double _Complex __pyx_t_double_complex; + #endif +#else + typedef struct { double real, imag; } __pyx_t_double_complex; +#endif +static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double, double); + +/* #### Code section: type_declarations ### */ + +/*--- Type declarations ---*/ +struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_CLContext; +struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionBuf; +struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionIpcServer; +struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient; +struct __pyx_obj___Pyx_EnumMeta; +struct __pyx_array_obj; +struct __pyx_MemviewEnum_obj; +struct __pyx_memoryview_obj; +struct __pyx_memoryviewslice_obj; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":767 + * ctypedef npy_longdouble longdouble_t + * + * ctypedef npy_cfloat cfloat_t # <<<<<<<<<<<<<< + * ctypedef npy_cdouble cdouble_t + * ctypedef npy_clongdouble clongdouble_t + */ +typedef npy_cfloat __pyx_t_5numpy_cfloat_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":768 + * + * ctypedef npy_cfloat cfloat_t + * ctypedef npy_cdouble cdouble_t # <<<<<<<<<<<<<< + * ctypedef npy_clongdouble clongdouble_t + * + */ +typedef npy_cdouble __pyx_t_5numpy_cdouble_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":769 + * ctypedef npy_cfloat cfloat_t + * ctypedef npy_cdouble cdouble_t + * ctypedef npy_clongdouble clongdouble_t # <<<<<<<<<<<<<< + * + * ctypedef npy_cdouble complex_t + */ +typedef npy_clongdouble __pyx_t_5numpy_clongdouble_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":771 + * ctypedef npy_clongdouble clongdouble_t + * + * ctypedef npy_cdouble complex_t # <<<<<<<<<<<<<< + * + * cdef inline object PyArray_MultiIterNew1(a): + */ +typedef npy_cdouble __pyx_t_5numpy_complex_t; + +/* "msgq/visionipc/visionipc_pyx.pyx":24 + * + * + * cpdef enum VisionStreamType: # <<<<<<<<<<<<<< + * VISION_STREAM_ROAD + * VISION_STREAM_DRIVER + */ +enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType { + __pyx_e_4msgq_9visionipc_13visionipc_pyx_VISION_STREAM_ROAD, + __pyx_e_4msgq_9visionipc_13visionipc_pyx_VISION_STREAM_DRIVER, + __pyx_e_4msgq_9visionipc_13visionipc_pyx_VISION_STREAM_WIDE_ROAD, + __pyx_e_4msgq_9visionipc_13visionipc_pyx_VISION_STREAM_MAP +}; + +/* "msgq/visionipc/visionipc_pyx.pxd":7 + * from .visionipc cimport cl_device_id, cl_context + * + * cdef class CLContext: # <<<<<<<<<<<<<< + * cdef cl_device_id device_id + * cdef cl_context context + */ +struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_CLContext { + PyObject_HEAD + cl_device_id device_id; + cl_context context; +}; + + +/* "msgq/visionipc/visionipc_pyx.pxd":11 + * cdef cl_context context + * + * cdef class VisionBuf: # <<<<<<<<<<<<<< + * cdef cppVisionBuf * buf + * + */ +struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionBuf { + PyObject_HEAD + struct __pyx_vtabstruct_4msgq_9visionipc_13visionipc_pyx_VisionBuf *__pyx_vtab; + VisionBuf *buf; +}; + + +/* "msgq/visionipc/visionipc_pyx.pyx":63 + * + * + * cdef class VisionIpcServer: # <<<<<<<<<<<<<< + * cdef cppVisionIpcServer * server + * + */ +struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionIpcServer { + PyObject_HEAD + VisionIpcServer *server; +}; + + +/* "msgq/visionipc/visionipc_pyx.pyx":97 + * + * + * cdef class VisionIpcClient: # <<<<<<<<<<<<<< + * cdef cppVisionIpcClient * client + * cdef VisionIpcBufExtra extra + */ +struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient { + PyObject_HEAD + VisionIpcClient *client; + struct VisionIpcBufExtra extra; +}; + + +/* "EnumBase":16 + * + * @cython.internal + * cdef class __Pyx_EnumMeta(type): # <<<<<<<<<<<<<< + * def __init__(cls, name, parents, dct): + * type.__init__(cls, name, parents, dct) + */ +struct __pyx_obj___Pyx_EnumMeta { + PyHeapTypeObject __pyx_base; +}; + + +/* "View.MemoryView":114 + * @cython.collection_type("sequence") + * @cname("__pyx_array") + * cdef class array: # <<<<<<<<<<<<<< + * + * cdef: + */ +struct __pyx_array_obj { + PyObject_HEAD + struct __pyx_vtabstruct_array *__pyx_vtab; + char *data; + Py_ssize_t len; + char *format; + int ndim; + Py_ssize_t *_shape; + Py_ssize_t *_strides; + Py_ssize_t itemsize; + PyObject *mode; + PyObject *_format; + void (*callback_free_data)(void *); + int free_data; + int dtype_is_object; +}; + + +/* "View.MemoryView":302 + * + * @cname('__pyx_MemviewEnum') + * cdef class Enum(object): # <<<<<<<<<<<<<< + * cdef object name + * def __init__(self, name): + */ +struct __pyx_MemviewEnum_obj { + PyObject_HEAD + PyObject *name; +}; + + +/* "View.MemoryView":337 + * + * @cname('__pyx_memoryview') + * cdef class memoryview: # <<<<<<<<<<<<<< + * + * cdef object obj + */ +struct __pyx_memoryview_obj { + PyObject_HEAD + struct __pyx_vtabstruct_memoryview *__pyx_vtab; + PyObject *obj; + PyObject *_size; + PyObject *_array_interface; + PyThread_type_lock lock; + __pyx_atomic_int_type acquisition_count; + Py_buffer view; + int flags; + int dtype_is_object; + __Pyx_TypeInfo *typeinfo; +}; + + +/* "View.MemoryView":952 + * @cython.collection_type("sequence") + * @cname('__pyx_memoryviewslice') + * cdef class _memoryviewslice(memoryview): # <<<<<<<<<<<<<< + * "Internal class for passing memoryview slices to Python" + * + */ +struct __pyx_memoryviewslice_obj { + struct __pyx_memoryview_obj __pyx_base; + __Pyx_memviewslice from_slice; + PyObject *from_object; + PyObject *(*to_object_func)(char *); + int (*to_dtype_func)(char *, PyObject *); +}; + + + +/* "View.MemoryView":114 + * @cython.collection_type("sequence") + * @cname("__pyx_array") + * cdef class array: # <<<<<<<<<<<<<< + * + * cdef: + */ + +struct __pyx_vtabstruct_array { + PyObject *(*get_memview)(struct __pyx_array_obj *); +}; +static struct __pyx_vtabstruct_array *__pyx_vtabptr_array; + + +/* "msgq/visionipc/visionipc_pyx.pyx":31 + * + * + * cdef class VisionBuf: # <<<<<<<<<<<<<< + * @staticmethod + * cdef create(cppVisionBuf * cbuf): + */ + +struct __pyx_vtabstruct_4msgq_9visionipc_13visionipc_pyx_VisionBuf { + PyObject *(*create)(VisionBuf *); +}; +static struct __pyx_vtabstruct_4msgq_9visionipc_13visionipc_pyx_VisionBuf *__pyx_vtabptr_4msgq_9visionipc_13visionipc_pyx_VisionBuf; + + +/* "View.MemoryView":337 + * + * @cname('__pyx_memoryview') + * cdef class memoryview: # <<<<<<<<<<<<<< + * + * cdef object obj + */ + +struct __pyx_vtabstruct_memoryview { + char *(*get_item_pointer)(struct __pyx_memoryview_obj *, PyObject *); + PyObject *(*is_slice)(struct __pyx_memoryview_obj *, PyObject *); + PyObject *(*setitem_slice_assignment)(struct __pyx_memoryview_obj *, PyObject *, PyObject *); + PyObject *(*setitem_slice_assign_scalar)(struct __pyx_memoryview_obj *, struct __pyx_memoryview_obj *, PyObject *); + PyObject *(*setitem_indexed)(struct __pyx_memoryview_obj *, PyObject *, PyObject *); + PyObject *(*convert_item_to_object)(struct __pyx_memoryview_obj *, char *); + PyObject *(*assign_item_from_object)(struct __pyx_memoryview_obj *, char *, PyObject *); + PyObject *(*_get_base)(struct __pyx_memoryview_obj *); +}; +static struct __pyx_vtabstruct_memoryview *__pyx_vtabptr_memoryview; + + +/* "View.MemoryView":952 + * @cython.collection_type("sequence") + * @cname('__pyx_memoryviewslice') + * cdef class _memoryviewslice(memoryview): # <<<<<<<<<<<<<< + * "Internal class for passing memoryview slices to Python" + * + */ + +struct __pyx_vtabstruct__memoryviewslice { + struct __pyx_vtabstruct_memoryview __pyx_base; +}; +static struct __pyx_vtabstruct__memoryviewslice *__pyx_vtabptr__memoryviewslice; +/* #### Code section: utility_code_proto ### */ + +/* --- Runtime support code (head) --- */ +/* Refnanny.proto */ +#ifndef CYTHON_REFNANNY + #define CYTHON_REFNANNY 0 +#endif +#if CYTHON_REFNANNY + typedef struct { + void (*INCREF)(void*, PyObject*, Py_ssize_t); + void (*DECREF)(void*, PyObject*, Py_ssize_t); + void (*GOTREF)(void*, PyObject*, Py_ssize_t); + void (*GIVEREF)(void*, PyObject*, Py_ssize_t); + void* (*SetupContext)(const char*, Py_ssize_t, const char*); + void (*FinishContext)(void**); + } __Pyx_RefNannyAPIStruct; + static __Pyx_RefNannyAPIStruct *__Pyx_RefNanny = NULL; 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else {__Pyx_INCREF(r); }} while(0) + #define __Pyx_XDECREF(r) do { if((r) == NULL); else {__Pyx_DECREF(r); }} while(0) + #define __Pyx_XGOTREF(r) do { if((r) == NULL); else {__Pyx_GOTREF(r); }} while(0) + #define __Pyx_XGIVEREF(r) do { if((r) == NULL); else {__Pyx_GIVEREF(r);}} while(0) +#else + #define __Pyx_RefNannyDeclarations + #define __Pyx_RefNannySetupContext(name, acquire_gil) + #define __Pyx_RefNannyFinishContextNogil() + #define __Pyx_RefNannyFinishContext() + #define __Pyx_INCREF(r) Py_INCREF(r) + #define __Pyx_DECREF(r) Py_DECREF(r) + #define __Pyx_GOTREF(r) + #define __Pyx_GIVEREF(r) + #define __Pyx_XINCREF(r) Py_XINCREF(r) + #define __Pyx_XDECREF(r) Py_XDECREF(r) + #define __Pyx_XGOTREF(r) + #define __Pyx_XGIVEREF(r) +#endif +#define __Pyx_Py_XDECREF_SET(r, v) do {\ + PyObject *tmp = (PyObject *) r;\ + r = v; Py_XDECREF(tmp);\ + } while (0) +#define __Pyx_XDECREF_SET(r, v) do {\ + PyObject *tmp = (PyObject *) r;\ + r = v; __Pyx_XDECREF(tmp);\ + } while (0) +#define __Pyx_DECREF_SET(r, v) do {\ + PyObject *tmp = (PyObject *) r;\ + r = v; __Pyx_DECREF(tmp);\ + } while (0) +#define __Pyx_CLEAR(r) do { PyObject* tmp = ((PyObject*)(r)); r = NULL; __Pyx_DECREF(tmp);} while(0) +#define __Pyx_XCLEAR(r) do { if((r) != NULL) {PyObject* tmp = ((PyObject*)(r)); r = NULL; __Pyx_DECREF(tmp);}} while(0) + +/* PyErrExceptionMatches.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyErr_ExceptionMatches(err) __Pyx_PyErr_ExceptionMatchesInState(__pyx_tstate, err) +static CYTHON_INLINE int __Pyx_PyErr_ExceptionMatchesInState(PyThreadState* tstate, PyObject* err); +#else +#define __Pyx_PyErr_ExceptionMatches(err) PyErr_ExceptionMatches(err) +#endif + +/* PyThreadStateGet.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyThreadState_declare PyThreadState *__pyx_tstate; +#define __Pyx_PyThreadState_assign __pyx_tstate = __Pyx_PyThreadState_Current; +#if PY_VERSION_HEX >= 0x030C00A6 +#define __Pyx_PyErr_Occurred() (__pyx_tstate->current_exception != NULL) +#define __Pyx_PyErr_CurrentExceptionType() (__pyx_tstate->current_exception ? (PyObject*) Py_TYPE(__pyx_tstate->current_exception) : (PyObject*) NULL) +#else +#define __Pyx_PyErr_Occurred() (__pyx_tstate->curexc_type != NULL) +#define __Pyx_PyErr_CurrentExceptionType() (__pyx_tstate->curexc_type) +#endif +#else +#define __Pyx_PyThreadState_declare +#define __Pyx_PyThreadState_assign +#define __Pyx_PyErr_Occurred() (PyErr_Occurred() != NULL) +#define __Pyx_PyErr_CurrentExceptionType() PyErr_Occurred() +#endif + +/* PyErrFetchRestore.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyErr_Clear() __Pyx_ErrRestore(NULL, NULL, NULL) +#define __Pyx_ErrRestoreWithState(type, value, tb) __Pyx_ErrRestoreInState(PyThreadState_GET(), type, value, tb) +#define __Pyx_ErrFetchWithState(type, value, tb) __Pyx_ErrFetchInState(PyThreadState_GET(), type, value, tb) +#define __Pyx_ErrRestore(type, value, tb) __Pyx_ErrRestoreInState(__pyx_tstate, type, value, tb) +#define __Pyx_ErrFetch(type, value, tb) __Pyx_ErrFetchInState(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx_ErrRestoreInState(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb); +static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A6 +#define __Pyx_PyErr_SetNone(exc) (Py_INCREF(exc), __Pyx_ErrRestore((exc), NULL, NULL)) +#else +#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc) +#endif +#else +#define __Pyx_PyErr_Clear() PyErr_Clear() +#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc) +#define __Pyx_ErrRestoreWithState(type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetchWithState(type, value, tb) PyErr_Fetch(type, value, tb) +#define __Pyx_ErrRestoreInState(tstate, type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetchInState(tstate, type, value, tb) PyErr_Fetch(type, value, tb) +#define __Pyx_ErrRestore(type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetch(type, value, tb) PyErr_Fetch(type, value, tb) +#endif + +/* PyObjectGetAttrStr.proto */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStr(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GetAttrStr(o,n) PyObject_GetAttr(o,n) +#endif + +/* PyObjectGetAttrStrNoError.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name); + +/* GetBuiltinName.proto */ +static PyObject *__Pyx_GetBuiltinName(PyObject *name); + +/* TupleAndListFromArray.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyList_FromArray(PyObject *const *src, Py_ssize_t n); +static CYTHON_INLINE PyObject* __Pyx_PyTuple_FromArray(PyObject *const *src, Py_ssize_t n); +#endif + +/* IncludeStringH.proto */ +#include + +/* BytesEquals.proto */ +static CYTHON_INLINE int __Pyx_PyBytes_Equals(PyObject* s1, PyObject* s2, int equals); + +/* UnicodeEquals.proto */ +static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int equals); + +/* fastcall.proto */ +#if CYTHON_AVOID_BORROWED_REFS + #define __Pyx_Arg_VARARGS(args, i) PySequence_GetItem(args, i) +#elif CYTHON_ASSUME_SAFE_MACROS + #define __Pyx_Arg_VARARGS(args, i) PyTuple_GET_ITEM(args, i) +#else + #define __Pyx_Arg_VARARGS(args, i) PyTuple_GetItem(args, i) +#endif +#if CYTHON_AVOID_BORROWED_REFS + #define __Pyx_Arg_NewRef_VARARGS(arg) __Pyx_NewRef(arg) + #define __Pyx_Arg_XDECREF_VARARGS(arg) Py_XDECREF(arg) +#else + #define __Pyx_Arg_NewRef_VARARGS(arg) arg + #define __Pyx_Arg_XDECREF_VARARGS(arg) +#endif +#define __Pyx_NumKwargs_VARARGS(kwds) PyDict_Size(kwds) +#define __Pyx_KwValues_VARARGS(args, nargs) NULL +#define __Pyx_GetKwValue_VARARGS(kw, kwvalues, s) __Pyx_PyDict_GetItemStrWithError(kw, s) +#define __Pyx_KwargsAsDict_VARARGS(kw, kwvalues) PyDict_Copy(kw) +#if CYTHON_METH_FASTCALL + #define __Pyx_Arg_FASTCALL(args, i) args[i] + #define __Pyx_NumKwargs_FASTCALL(kwds) PyTuple_GET_SIZE(kwds) + #define __Pyx_KwValues_FASTCALL(args, nargs) ((args) + (nargs)) + static CYTHON_INLINE PyObject * __Pyx_GetKwValue_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues, PyObject *s); +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 + CYTHON_UNUSED static PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues); + #else + #define __Pyx_KwargsAsDict_FASTCALL(kw, kwvalues) _PyStack_AsDict(kwvalues, kw) + #endif + #define __Pyx_Arg_NewRef_FASTCALL(arg) arg /* no-op, __Pyx_Arg_FASTCALL is direct and this needs + to have the same reference counting */ + #define __Pyx_Arg_XDECREF_FASTCALL(arg) +#else + #define __Pyx_Arg_FASTCALL __Pyx_Arg_VARARGS + #define __Pyx_NumKwargs_FASTCALL __Pyx_NumKwargs_VARARGS + #define __Pyx_KwValues_FASTCALL __Pyx_KwValues_VARARGS + #define __Pyx_GetKwValue_FASTCALL __Pyx_GetKwValue_VARARGS + #define __Pyx_KwargsAsDict_FASTCALL __Pyx_KwargsAsDict_VARARGS + #define __Pyx_Arg_NewRef_FASTCALL(arg) __Pyx_Arg_NewRef_VARARGS(arg) + #define __Pyx_Arg_XDECREF_FASTCALL(arg) __Pyx_Arg_XDECREF_VARARGS(arg) +#endif +#if CYTHON_COMPILING_IN_CPYTHON && CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS +#define __Pyx_ArgsSlice_VARARGS(args, start, stop) __Pyx_PyTuple_FromArray(&__Pyx_Arg_VARARGS(args, start), stop - start) +#define __Pyx_ArgsSlice_FASTCALL(args, start, stop) __Pyx_PyTuple_FromArray(&__Pyx_Arg_FASTCALL(args, start), stop - start) +#else +#define __Pyx_ArgsSlice_VARARGS(args, start, stop) PyTuple_GetSlice(args, start, stop) +#define __Pyx_ArgsSlice_FASTCALL(args, start, stop) PyTuple_GetSlice(args, start, stop) +#endif + +/* RaiseArgTupleInvalid.proto */ +static void __Pyx_RaiseArgtupleInvalid(const char* func_name, int exact, + Py_ssize_t num_min, Py_ssize_t num_max, Py_ssize_t num_found); + +/* RaiseDoubleKeywords.proto */ +static void __Pyx_RaiseDoubleKeywordsError(const char* func_name, PyObject* kw_name); + +/* ParseKeywords.proto */ +static int __Pyx_ParseOptionalKeywords(PyObject *kwds, PyObject *const *kwvalues, + PyObject **argnames[], + PyObject *kwds2, PyObject *values[], Py_ssize_t num_pos_args, + const char* function_name); + +/* PyFunctionFastCall.proto */ +#if CYTHON_FAST_PYCALL +#if !CYTHON_VECTORCALL +#define __Pyx_PyFunction_FastCall(func, args, nargs)\ + __Pyx_PyFunction_FastCallDict((func), (args), (nargs), NULL) +static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs); +#endif +#define __Pyx_BUILD_ASSERT_EXPR(cond)\ + (sizeof(char [1 - 2*!(cond)]) - 1) +#ifndef Py_MEMBER_SIZE +#define Py_MEMBER_SIZE(type, member) sizeof(((type *)0)->member) +#endif +#if !CYTHON_VECTORCALL +#if PY_VERSION_HEX >= 0x03080000 + #include "frameobject.h" +#if PY_VERSION_HEX >= 0x030b00a6 && !CYTHON_COMPILING_IN_LIMITED_API + #ifndef Py_BUILD_CORE + #define Py_BUILD_CORE 1 + #endif + #include "internal/pycore_frame.h" +#endif + #define __Pxy_PyFrame_Initialize_Offsets() + #define __Pyx_PyFrame_GetLocalsplus(frame) ((frame)->f_localsplus) +#else + static size_t __pyx_pyframe_localsplus_offset = 0; + #include "frameobject.h" + #define __Pxy_PyFrame_Initialize_Offsets()\ + ((void)__Pyx_BUILD_ASSERT_EXPR(sizeof(PyFrameObject) == offsetof(PyFrameObject, f_localsplus) + Py_MEMBER_SIZE(PyFrameObject, f_localsplus)),\ + (void)(__pyx_pyframe_localsplus_offset = ((size_t)PyFrame_Type.tp_basicsize) - Py_MEMBER_SIZE(PyFrameObject, f_localsplus))) + #define __Pyx_PyFrame_GetLocalsplus(frame)\ + (assert(__pyx_pyframe_localsplus_offset), (PyObject **)(((char *)(frame)) + __pyx_pyframe_localsplus_offset)) +#endif +#endif +#endif + +/* PyObjectCall.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw); +#else +#define __Pyx_PyObject_Call(func, arg, kw) PyObject_Call(func, arg, kw) +#endif + +/* PyObjectCallMethO.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg); +#endif + +/* PyObjectFastCall.proto */ +#define __Pyx_PyObject_FastCall(func, args, nargs) __Pyx_PyObject_FastCallDict(func, args, (size_t)(nargs), NULL) +static CYTHON_INLINE PyObject* __Pyx_PyObject_FastCallDict(PyObject *func, PyObject **args, size_t nargs, PyObject *kwargs); + +/* PyObjectSetAttrStr.proto */ +#if CYTHON_USE_TYPE_SLOTS +#define __Pyx_PyObject_DelAttrStr(o,n) __Pyx_PyObject_SetAttrStr(o, n, NULL) +static CYTHON_INLINE int __Pyx_PyObject_SetAttrStr(PyObject* obj, PyObject* attr_name, PyObject* value); +#else +#define __Pyx_PyObject_DelAttrStr(o,n) PyObject_DelAttr(o,n) +#define __Pyx_PyObject_SetAttrStr(o,n,v) PyObject_SetAttr(o,n,v) +#endif + +/* GetItemInt.proto */ +#define __Pyx_GetItemInt(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_Fast(o, (Py_ssize_t)i, is_list, wraparound, boundscheck) :\ + (is_list ? (PyErr_SetString(PyExc_IndexError, "list index out of range"), (PyObject*)NULL) :\ + __Pyx_GetItemInt_Generic(o, to_py_func(i)))) +#define __Pyx_GetItemInt_List(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_List_Fast(o, (Py_ssize_t)i, wraparound, boundscheck) :\ + (PyErr_SetString(PyExc_IndexError, "list index out of range"), (PyObject*)NULL)) +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, + int wraparound, int boundscheck); +#define __Pyx_GetItemInt_Tuple(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_Tuple_Fast(o, (Py_ssize_t)i, wraparound, boundscheck) :\ + (PyErr_SetString(PyExc_IndexError, "tuple index out of range"), (PyObject*)NULL)) +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i, + int wraparound, int boundscheck); +static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j); +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, + int is_list, int wraparound, int boundscheck); + +/* PyObjectCallOneArg.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg); + +/* ObjectGetItem.proto */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject *__Pyx_PyObject_GetItem(PyObject *obj, PyObject *key); +#else +#define __Pyx_PyObject_GetItem(obj, key) PyObject_GetItem(obj, key) +#endif + +/* KeywordStringCheck.proto */ +static int __Pyx_CheckKeywordStrings(PyObject *kw, const char* function_name, int kw_allowed); + +/* GetAttr3.proto */ +static CYTHON_INLINE PyObject *__Pyx_GetAttr3(PyObject *, PyObject *, PyObject *); + +/* PyDictVersioning.proto */ +#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS +#define __PYX_DICT_VERSION_INIT ((PY_UINT64_T) -1) +#define __PYX_GET_DICT_VERSION(dict) (((PyDictObject*)(dict))->ma_version_tag) +#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var)\ + (version_var) = __PYX_GET_DICT_VERSION(dict);\ + (cache_var) = (value); +#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) {\ + static PY_UINT64_T __pyx_dict_version = 0;\ + static PyObject *__pyx_dict_cached_value = NULL;\ + if (likely(__PYX_GET_DICT_VERSION(DICT) == __pyx_dict_version)) {\ + (VAR) = __pyx_dict_cached_value;\ + } else {\ + (VAR) = __pyx_dict_cached_value = (LOOKUP);\ + __pyx_dict_version = __PYX_GET_DICT_VERSION(DICT);\ + }\ +} +static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj); +static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj); +static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version); +#else +#define __PYX_GET_DICT_VERSION(dict) (0) +#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var) +#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) (VAR) = (LOOKUP); +#endif + +/* GetModuleGlobalName.proto */ +#if CYTHON_USE_DICT_VERSIONS +#define __Pyx_GetModuleGlobalName(var, name) do {\ + static PY_UINT64_T __pyx_dict_version = 0;\ + static PyObject *__pyx_dict_cached_value = NULL;\ + (var) = (likely(__pyx_dict_version == __PYX_GET_DICT_VERSION(__pyx_d))) ?\ + (likely(__pyx_dict_cached_value) ? __Pyx_NewRef(__pyx_dict_cached_value) : __Pyx_GetBuiltinName(name)) :\ + __Pyx__GetModuleGlobalName(name, &__pyx_dict_version, &__pyx_dict_cached_value);\ +} while(0) +#define __Pyx_GetModuleGlobalNameUncached(var, name) do {\ + PY_UINT64_T __pyx_dict_version;\ + PyObject *__pyx_dict_cached_value;\ + (var) = __Pyx__GetModuleGlobalName(name, &__pyx_dict_version, &__pyx_dict_cached_value);\ +} while(0) +static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value); +#else +#define __Pyx_GetModuleGlobalName(var, name) (var) = __Pyx__GetModuleGlobalName(name) +#define __Pyx_GetModuleGlobalNameUncached(var, name) (var) = __Pyx__GetModuleGlobalName(name) +static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name); +#endif + +/* RaiseUnexpectedTypeError.proto */ +static int __Pyx_RaiseUnexpectedTypeError(const char *expected, PyObject *obj); + +/* RaiseException.proto */ +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause); + +/* PySequenceContains.proto */ +static CYTHON_INLINE int __Pyx_PySequence_ContainsTF(PyObject* item, PyObject* seq, int eq) { + int result = PySequence_Contains(seq, item); + return unlikely(result < 0) ? result : (result == (eq == Py_EQ)); +} + +/* Import.proto */ +static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level); + +/* ImportFrom.proto */ +static PyObject* __Pyx_ImportFrom(PyObject* module, PyObject* name); + +/* GetAttr.proto */ +static CYTHON_INLINE PyObject *__Pyx_GetAttr(PyObject *, PyObject *); + +/* HasAttr.proto */ +#if __PYX_LIMITED_VERSION_HEX >= 0x030d00A1 +#define __Pyx_HasAttr(o, n) PyObject_HasAttrWithError(o, n) +#else +static CYTHON_INLINE int __Pyx_HasAttr(PyObject *, PyObject *); +#endif + +/* ArgTypeTest.proto */ +#define __Pyx_ArgTypeTest(obj, type, none_allowed, name, exact)\ + ((likely(__Pyx_IS_TYPE(obj, type) | (none_allowed && (obj == Py_None)))) ? 1 :\ + __Pyx__ArgTypeTest(obj, type, name, exact)) +static int __Pyx__ArgTypeTest(PyObject *obj, PyTypeObject *type, const char *name, int exact); + +/* GCCDiagnostics.proto */ +#if !defined(__INTEL_COMPILER) && defined(__GNUC__) && (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 6)) +#define __Pyx_HAS_GCC_DIAGNOSTIC +#endif + +/* BuildPyUnicode.proto */ +static PyObject* __Pyx_PyUnicode_BuildFromAscii(Py_ssize_t ulength, char* chars, int clength, + int prepend_sign, char padding_char); + +/* CIntToPyUnicode.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_int(int value, Py_ssize_t width, char padding_char, char format_char); + +/* CIntToPyUnicode.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_Py_ssize_t(Py_ssize_t value, Py_ssize_t width, char padding_char, char format_char); + +/* JoinPyUnicode.proto */ +static PyObject* __Pyx_PyUnicode_Join(PyObject* value_tuple, Py_ssize_t value_count, Py_ssize_t result_ulength, + Py_UCS4 max_char); + +/* StrEquals.proto */ +#if PY_MAJOR_VERSION >= 3 +#define __Pyx_PyString_Equals __Pyx_PyUnicode_Equals +#else +#define __Pyx_PyString_Equals __Pyx_PyBytes_Equals +#endif + +/* PyObjectFormatSimple.proto */ +#if CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + PyObject_Format(s, f)) +#elif PY_MAJOR_VERSION < 3 + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + likely(PyString_CheckExact(s)) ? PyUnicode_FromEncodedObject(s, NULL, "strict") :\ + PyObject_Format(s, f)) +#elif CYTHON_USE_TYPE_SLOTS + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + likely(PyLong_CheckExact(s)) ? PyLong_Type.tp_repr(s) :\ + likely(PyFloat_CheckExact(s)) ? PyFloat_Type.tp_repr(s) :\ + PyObject_Format(s, f)) +#else + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + PyObject_Format(s, f)) +#endif + +CYTHON_UNUSED static int __pyx_array_getbuffer(PyObject *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /*proto*/ +static PyObject *__pyx_array_get_memview(struct __pyx_array_obj *); /*proto*/ +/* DivInt[Py_ssize_t].proto */ +static CYTHON_INLINE Py_ssize_t __Pyx_div_Py_ssize_t(Py_ssize_t, Py_ssize_t); + +/* UnaryNegOverflows.proto */ +#define __Pyx_UNARY_NEG_WOULD_OVERFLOW(x)\ + (((x) < 0) & ((unsigned long)(x) == 0-(unsigned long)(x))) + +/* AssertionsEnabled.proto */ +#if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX < 0x02070600 && !defined(Py_OptimizeFlag) + #define __Pyx_init_assertions_enabled() (0) + #define __pyx_assertions_enabled() (1) +#elif CYTHON_COMPILING_IN_LIMITED_API || (CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030C0000) + static int __pyx_assertions_enabled_flag; + #define __pyx_assertions_enabled() (__pyx_assertions_enabled_flag) + static int __Pyx_init_assertions_enabled(void) { + PyObject *builtins, *debug, *debug_str; + int flag; + builtins = PyEval_GetBuiltins(); + if (!builtins) goto bad; + debug_str = PyUnicode_FromStringAndSize("__debug__", 9); + if (!debug_str) goto bad; + debug = PyObject_GetItem(builtins, debug_str); + Py_DECREF(debug_str); + if (!debug) goto bad; + flag = PyObject_IsTrue(debug); + Py_DECREF(debug); + if (flag == -1) goto bad; + __pyx_assertions_enabled_flag = flag; + return 0; + bad: + __pyx_assertions_enabled_flag = 1; + return -1; + } +#else + #define __Pyx_init_assertions_enabled() (0) + #define __pyx_assertions_enabled() (!Py_OptimizeFlag) +#endif + +/* RaiseTooManyValuesToUnpack.proto */ +static CYTHON_INLINE void __Pyx_RaiseTooManyValuesError(Py_ssize_t expected); + +/* RaiseNeedMoreValuesToUnpack.proto */ +static CYTHON_INLINE void __Pyx_RaiseNeedMoreValuesError(Py_ssize_t index); + +/* RaiseNoneIterError.proto */ +static CYTHON_INLINE void __Pyx_RaiseNoneNotIterableError(void); + +/* ExtTypeTest.proto */ +static CYTHON_INLINE int __Pyx_TypeTest(PyObject *obj, PyTypeObject *type); + +/* GetTopmostException.proto */ +#if CYTHON_USE_EXC_INFO_STACK && CYTHON_FAST_THREAD_STATE +static _PyErr_StackItem * __Pyx_PyErr_GetTopmostException(PyThreadState *tstate); +#endif + +/* SaveResetException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_ExceptionSave(type, value, tb) __Pyx__ExceptionSave(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionSave(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#define __Pyx_ExceptionReset(type, value, tb) __Pyx__ExceptionReset(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionReset(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb); +#else +#define __Pyx_ExceptionSave(type, value, tb) PyErr_GetExcInfo(type, value, tb) +#define __Pyx_ExceptionReset(type, value, tb) PyErr_SetExcInfo(type, value, tb) +#endif + +/* GetException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_GetException(type, value, tb) __Pyx__GetException(__pyx_tstate, type, value, tb) +static int __Pyx__GetException(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#else +static int __Pyx_GetException(PyObject **type, PyObject **value, PyObject **tb); +#endif + +/* SwapException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_ExceptionSwap(type, value, tb) __Pyx__ExceptionSwap(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionSwap(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#else +static CYTHON_INLINE void __Pyx_ExceptionSwap(PyObject **type, PyObject **value, PyObject **tb); +#endif + +/* ImportDottedModule.proto */ +static PyObject *__Pyx_ImportDottedModule(PyObject *name, PyObject *parts_tuple); +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx_ImportDottedModule_WalkParts(PyObject *module, PyObject *name, PyObject *parts_tuple); +#endif + +/* FastTypeChecks.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_TypeCheck(obj, type) __Pyx_IsSubtype(Py_TYPE(obj), (PyTypeObject *)type) +#define __Pyx_TypeCheck2(obj, type1, type2) __Pyx_IsAnySubtype2(Py_TYPE(obj), (PyTypeObject *)type1, (PyTypeObject *)type2) +static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b); +static CYTHON_INLINE int __Pyx_IsAnySubtype2(PyTypeObject *cls, PyTypeObject *a, PyTypeObject *b); +static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches(PyObject *err, PyObject *type); +static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches2(PyObject *err, PyObject *type1, PyObject *type2); +#else +#define __Pyx_TypeCheck(obj, type) PyObject_TypeCheck(obj, (PyTypeObject *)type) +#define __Pyx_TypeCheck2(obj, type1, type2) (PyObject_TypeCheck(obj, (PyTypeObject *)type1) || PyObject_TypeCheck(obj, (PyTypeObject *)type2)) +#define __Pyx_PyErr_GivenExceptionMatches(err, type) PyErr_GivenExceptionMatches(err, type) +#define __Pyx_PyErr_GivenExceptionMatches2(err, type1, type2) (PyErr_GivenExceptionMatches(err, type1) || PyErr_GivenExceptionMatches(err, type2)) +#endif +#define __Pyx_PyErr_ExceptionMatches2(err1, err2) __Pyx_PyErr_GivenExceptionMatches2(__Pyx_PyErr_CurrentExceptionType(), err1, err2) +#define __Pyx_PyException_Check(obj) __Pyx_TypeCheck(obj, PyExc_Exception) + +CYTHON_UNUSED static int __pyx_memoryview_getbuffer(PyObject *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /*proto*/ +/* ListCompAppend.proto */ +#if CYTHON_USE_PYLIST_INTERNALS && CYTHON_ASSUME_SAFE_MACROS +static CYTHON_INLINE int __Pyx_ListComp_Append(PyObject* list, PyObject* x) { + PyListObject* L = (PyListObject*) list; + Py_ssize_t len = Py_SIZE(list); + if (likely(L->allocated > len)) { + Py_INCREF(x); + #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 + L->ob_item[len] = x; + #else + PyList_SET_ITEM(list, len, x); + #endif + __Pyx_SET_SIZE(list, len + 1); + return 0; + } + return PyList_Append(list, x); +} +#else +#define __Pyx_ListComp_Append(L,x) PyList_Append(L,x) +#endif + +/* PySequenceMultiply.proto */ +#define __Pyx_PySequence_Multiply_Left(mul, seq) __Pyx_PySequence_Multiply(seq, mul) +static CYTHON_INLINE PyObject* __Pyx_PySequence_Multiply(PyObject *seq, Py_ssize_t mul); + +/* SetItemInt.proto */ +#define __Pyx_SetItemInt(o, i, v, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_SetItemInt_Fast(o, (Py_ssize_t)i, v, is_list, wraparound, boundscheck) :\ + (is_list ? (PyErr_SetString(PyExc_IndexError, "list assignment index out of range"), -1) :\ + __Pyx_SetItemInt_Generic(o, to_py_func(i), v))) +static int __Pyx_SetItemInt_Generic(PyObject *o, PyObject *j, PyObject *v); +static CYTHON_INLINE int __Pyx_SetItemInt_Fast(PyObject *o, Py_ssize_t i, PyObject *v, + int is_list, int wraparound, int boundscheck); + +/* RaiseUnboundLocalError.proto */ +static CYTHON_INLINE void __Pyx_RaiseUnboundLocalError(const char *varname); + +/* DivInt[long].proto */ +static CYTHON_INLINE long __Pyx_div_long(long, long); + +/* ListAppend.proto */ +#if CYTHON_USE_PYLIST_INTERNALS && CYTHON_ASSUME_SAFE_MACROS +static CYTHON_INLINE int __Pyx_PyList_Append(PyObject* list, PyObject* x) { + PyListObject* L = (PyListObject*) list; + Py_ssize_t len = Py_SIZE(list); + if (likely(L->allocated > len) & likely(len > (L->allocated >> 1))) { + Py_INCREF(x); + #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 + L->ob_item[len] = x; + #else + PyList_SET_ITEM(list, len, x); + #endif + __Pyx_SET_SIZE(list, len + 1); + return 0; + } + return PyList_Append(list, x); +} +#else +#define __Pyx_PyList_Append(L,x) PyList_Append(L,x) +#endif + +/* PyObjectCall2Args.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call2Args(PyObject* function, PyObject* arg1, PyObject* arg2); + +/* PyObjectGetMethod.proto */ +static int __Pyx_PyObject_GetMethod(PyObject *obj, PyObject *name, PyObject **method); + +/* PyObjectCallMethod1.proto */ +static PyObject* __Pyx_PyObject_CallMethod1(PyObject* obj, PyObject* method_name, PyObject* arg); + +/* StringJoin.proto */ +#if PY_MAJOR_VERSION < 3 +#define __Pyx_PyString_Join __Pyx_PyBytes_Join +#define __Pyx_PyBaseString_Join(s, v) (PyUnicode_CheckExact(s) ? PyUnicode_Join(s, v) : __Pyx_PyBytes_Join(s, v)) +#else +#define __Pyx_PyString_Join PyUnicode_Join +#define __Pyx_PyBaseString_Join PyUnicode_Join +#endif +static CYTHON_INLINE PyObject* __Pyx_PyBytes_Join(PyObject* sep, PyObject* values); + +/* CIntToPyUnicode.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_size_t(size_t value, Py_ssize_t width, char padding_char, char format_char); + +/* MoveIfSupported.proto */ +#if CYTHON_USE_CPP_STD_MOVE + #include + #define __PYX_STD_MOVE_IF_SUPPORTED(x) std::move(x) +#else + #define __PYX_STD_MOVE_IF_SUPPORTED(x) x +#endif + +/* IncludeCppStringH.proto */ +#include + +/* decode_c_string_utf16.proto */ +static CYTHON_INLINE PyObject *__Pyx_PyUnicode_DecodeUTF16(const char *s, Py_ssize_t size, const char *errors) { + int byteorder = 0; + return PyUnicode_DecodeUTF16(s, size, errors, &byteorder); +} +static CYTHON_INLINE PyObject *__Pyx_PyUnicode_DecodeUTF16LE(const char *s, Py_ssize_t size, const char *errors) { + int byteorder = -1; + return PyUnicode_DecodeUTF16(s, size, errors, &byteorder); +} +static CYTHON_INLINE PyObject *__Pyx_PyUnicode_DecodeUTF16BE(const char *s, Py_ssize_t size, const char *errors) { + int byteorder = 1; + return PyUnicode_DecodeUTF16(s, size, errors, &byteorder); +} + +/* decode_c_bytes.proto */ +static CYTHON_INLINE PyObject* __Pyx_decode_c_bytes( + const char* cstring, Py_ssize_t length, Py_ssize_t start, Py_ssize_t stop, + const char* encoding, const char* errors, + PyObject* (*decode_func)(const char *s, Py_ssize_t size, const char *errors)); + +/* decode_cpp_string.proto */ +static CYTHON_INLINE PyObject* __Pyx_decode_cpp_string( + std::string cppstring, Py_ssize_t start, Py_ssize_t stop, + const char* encoding, const char* errors, + PyObject* (*decode_func)(const char *s, Py_ssize_t size, const char *errors)) { + return __Pyx_decode_c_bytes( + cppstring.data(), cppstring.size(), start, stop, encoding, errors, decode_func); +} + +/* PyObjectCallNoArg.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func); + +/* BufferIndexError.proto */ +static void __Pyx_RaiseBufferIndexError(int axis); + +/* PyObject_GenericGetAttrNoDict.proto */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GenericGetAttrNoDict PyObject_GenericGetAttr +#endif + +/* PyObject_GenericGetAttr.proto */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GenericGetAttr PyObject_GenericGetAttr +#endif + +/* IncludeStructmemberH.proto */ +#include + +/* FixUpExtensionType.proto */ +#if CYTHON_USE_TYPE_SPECS +static int __Pyx_fix_up_extension_type_from_spec(PyType_Spec *spec, PyTypeObject *type); +#endif + +/* PyObjectCallMethod0.proto */ +static PyObject* __Pyx_PyObject_CallMethod0(PyObject* obj, PyObject* method_name); + +/* ValidateBasesTuple.proto */ +#if CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API || CYTHON_USE_TYPE_SPECS +static int __Pyx_validate_bases_tuple(const char *type_name, Py_ssize_t dictoffset, PyObject *bases); +#endif + +/* PyType_Ready.proto */ +CYTHON_UNUSED static int __Pyx_PyType_Ready(PyTypeObject *t); + +/* SetVTable.proto */ +static int __Pyx_SetVtable(PyTypeObject* typeptr , void* vtable); + +/* GetVTable.proto */ +static void* __Pyx_GetVtable(PyTypeObject *type); + +/* MergeVTables.proto */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_MergeVtables(PyTypeObject *type); +#endif + +/* SetupReduce.proto */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_setup_reduce(PyObject* type_obj); +#endif + +/* TypeImport.proto */ +#ifndef __PYX_HAVE_RT_ImportType_proto_3_0_8 +#define __PYX_HAVE_RT_ImportType_proto_3_0_8 +#if defined (__STDC_VERSION__) && __STDC_VERSION__ >= 201112L +#include +#endif +#if (defined (__STDC_VERSION__) && __STDC_VERSION__ >= 201112L) || __cplusplus >= 201103L +#define __PYX_GET_STRUCT_ALIGNMENT_3_0_8(s) alignof(s) +#else +#define __PYX_GET_STRUCT_ALIGNMENT_3_0_8(s) sizeof(void*) +#endif +enum __Pyx_ImportType_CheckSize_3_0_8 { + __Pyx_ImportType_CheckSize_Error_3_0_8 = 0, + __Pyx_ImportType_CheckSize_Warn_3_0_8 = 1, + __Pyx_ImportType_CheckSize_Ignore_3_0_8 = 2 +}; +static PyTypeObject *__Pyx_ImportType_3_0_8(PyObject* module, const char *module_name, const char *class_name, size_t size, size_t alignment, enum __Pyx_ImportType_CheckSize_3_0_8 check_size); +#endif + +/* FetchSharedCythonModule.proto */ +static PyObject *__Pyx_FetchSharedCythonABIModule(void); + +/* FetchCommonType.proto */ +#if !CYTHON_USE_TYPE_SPECS +static PyTypeObject* __Pyx_FetchCommonType(PyTypeObject* type); +#else +static PyTypeObject* __Pyx_FetchCommonTypeFromSpec(PyObject *module, PyType_Spec *spec, PyObject *bases); +#endif + +/* PyMethodNew.proto */ +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject *__Pyx_PyMethod_New(PyObject *func, PyObject *self, PyObject *typ) { + PyObject *typesModule=NULL, *methodType=NULL, *result=NULL; + CYTHON_UNUSED_VAR(typ); + if (!self) + return __Pyx_NewRef(func); + typesModule = PyImport_ImportModule("types"); + if (!typesModule) return NULL; + methodType = PyObject_GetAttrString(typesModule, "MethodType"); + Py_DECREF(typesModule); + if (!methodType) return NULL; + result = PyObject_CallFunctionObjArgs(methodType, func, self, NULL); + Py_DECREF(methodType); + return result; +} +#elif PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx_PyMethod_New(PyObject *func, PyObject *self, PyObject *typ) { + CYTHON_UNUSED_VAR(typ); + if (!self) + return __Pyx_NewRef(func); + return PyMethod_New(func, self); +} +#else + #define __Pyx_PyMethod_New PyMethod_New +#endif + +/* PyVectorcallFastCallDict.proto */ +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE PyObject *__Pyx_PyVectorcall_FastCallDict(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw); +#endif + +/* CythonFunctionShared.proto */ +#define __Pyx_CyFunction_USED +#define __Pyx_CYFUNCTION_STATICMETHOD 0x01 +#define __Pyx_CYFUNCTION_CLASSMETHOD 0x02 +#define __Pyx_CYFUNCTION_CCLASS 0x04 +#define __Pyx_CYFUNCTION_COROUTINE 0x08 +#define __Pyx_CyFunction_GetClosure(f)\ + (((__pyx_CyFunctionObject *) (f))->func_closure) +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_CyFunction_GetClassObj(f)\ + (((__pyx_CyFunctionObject *) (f))->func_classobj) +#else + #define __Pyx_CyFunction_GetClassObj(f)\ + ((PyObject*) ((PyCMethodObject *) (f))->mm_class) +#endif +#define __Pyx_CyFunction_SetClassObj(f, classobj)\ + __Pyx__CyFunction_SetClassObj((__pyx_CyFunctionObject *) (f), (classobj)) +#define __Pyx_CyFunction_Defaults(type, f)\ + ((type *)(((__pyx_CyFunctionObject *) (f))->defaults)) +#define __Pyx_CyFunction_SetDefaultsGetter(f, g)\ + ((__pyx_CyFunctionObject *) (f))->defaults_getter = (g) +typedef struct { +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject_HEAD + PyObject *func; +#elif PY_VERSION_HEX < 0x030900B1 + PyCFunctionObject func; +#else + PyCMethodObject func; +#endif +#if CYTHON_BACKPORT_VECTORCALL + __pyx_vectorcallfunc func_vectorcall; +#endif +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API + PyObject *func_weakreflist; +#endif + PyObject *func_dict; + PyObject *func_name; + PyObject *func_qualname; + PyObject *func_doc; + PyObject *func_globals; + PyObject *func_code; + PyObject *func_closure; +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + PyObject *func_classobj; +#endif + void *defaults; + int defaults_pyobjects; + size_t defaults_size; + int flags; + PyObject *defaults_tuple; + PyObject *defaults_kwdict; + PyObject *(*defaults_getter)(PyObject *); + PyObject *func_annotations; + PyObject *func_is_coroutine; +} __pyx_CyFunctionObject; +#undef __Pyx_CyOrPyCFunction_Check +#define __Pyx_CyFunction_Check(obj) __Pyx_TypeCheck(obj, __pyx_CyFunctionType) +#define __Pyx_CyOrPyCFunction_Check(obj) __Pyx_TypeCheck2(obj, __pyx_CyFunctionType, &PyCFunction_Type) +#define __Pyx_CyFunction_CheckExact(obj) __Pyx_IS_TYPE(obj, __pyx_CyFunctionType) +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc); +#undef __Pyx_IsSameCFunction +#define __Pyx_IsSameCFunction(func, cfunc) __Pyx__IsSameCyOrCFunction(func, cfunc) +static PyObject *__Pyx_CyFunction_Init(__pyx_CyFunctionObject* op, PyMethodDef *ml, + int flags, PyObject* qualname, + PyObject *closure, + PyObject *module, PyObject *globals, + PyObject* code); +static CYTHON_INLINE void __Pyx__CyFunction_SetClassObj(__pyx_CyFunctionObject* f, PyObject* classobj); +static CYTHON_INLINE void *__Pyx_CyFunction_InitDefaults(PyObject *m, + size_t size, + int pyobjects); +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsTuple(PyObject *m, + PyObject *tuple); +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsKwDict(PyObject *m, + PyObject *dict); +static CYTHON_INLINE void __Pyx_CyFunction_SetAnnotationsDict(PyObject *m, + PyObject *dict); +static int __pyx_CyFunction_init(PyObject *module); +#if CYTHON_METH_FASTCALL +static PyObject * __Pyx_CyFunction_Vectorcall_NOARGS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_O(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +#if CYTHON_BACKPORT_VECTORCALL +#define __Pyx_CyFunction_func_vectorcall(f) (((__pyx_CyFunctionObject*)f)->func_vectorcall) +#else +#define __Pyx_CyFunction_func_vectorcall(f) (((PyCFunctionObject*)f)->vectorcall) +#endif +#endif + +/* CythonFunction.proto */ +static PyObject *__Pyx_CyFunction_New(PyMethodDef *ml, + int flags, PyObject* qualname, + PyObject *closure, + PyObject *module, PyObject *globals, + PyObject* code); + +/* Py3UpdateBases.proto */ +static PyObject* __Pyx_PEP560_update_bases(PyObject *bases); + +/* SetNameInClass.proto */ +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030500A1 && PY_VERSION_HEX < 0x030d0000 +#define __Pyx_SetNameInClass(ns, name, value)\ + (likely(PyDict_CheckExact(ns)) ? _PyDict_SetItem_KnownHash(ns, name, value, ((PyASCIIObject *) name)->hash) : PyObject_SetItem(ns, name, value)) +#elif CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_SetNameInClass(ns, name, value)\ + (likely(PyDict_CheckExact(ns)) ? PyDict_SetItem(ns, name, value) : PyObject_SetItem(ns, name, value)) +#else +#define __Pyx_SetNameInClass(ns, name, value) PyObject_SetItem(ns, name, value) +#endif + +/* SetNewInClass.proto */ +static int __Pyx_SetNewInClass(PyObject *ns, PyObject *name, PyObject *value); + +/* CalculateMetaclass.proto */ +static PyObject *__Pyx_CalculateMetaclass(PyTypeObject *metaclass, PyObject *bases); + +/* PyObjectLookupSpecial.proto */ +#if CYTHON_USE_PYTYPE_LOOKUP && CYTHON_USE_TYPE_SLOTS +#define __Pyx_PyObject_LookupSpecialNoError(obj, attr_name) __Pyx__PyObject_LookupSpecial(obj, attr_name, 0) +#define __Pyx_PyObject_LookupSpecial(obj, attr_name) __Pyx__PyObject_LookupSpecial(obj, attr_name, 1) +static CYTHON_INLINE PyObject* __Pyx__PyObject_LookupSpecial(PyObject* obj, PyObject* attr_name, int with_error); +#else +#define __Pyx_PyObject_LookupSpecialNoError(o,n) __Pyx_PyObject_GetAttrStrNoError(o,n) +#define __Pyx_PyObject_LookupSpecial(o,n) __Pyx_PyObject_GetAttrStr(o,n) +#endif + +/* Py3ClassCreate.proto */ +static PyObject *__Pyx_Py3MetaclassPrepare(PyObject *metaclass, PyObject *bases, PyObject *name, PyObject *qualname, + PyObject *mkw, PyObject *modname, PyObject *doc); +static PyObject *__Pyx_Py3ClassCreate(PyObject *metaclass, PyObject *name, PyObject *bases, PyObject *dict, + PyObject *mkw, int calculate_metaclass, int allow_py2_metaclass); + +/* Globals.proto */ +static PyObject* __Pyx_Globals(void); + +/* dict_getitem_default.proto */ +static PyObject* __Pyx_PyDict_GetItemDefault(PyObject* d, PyObject* key, PyObject* default_value); + +/* UnpackUnboundCMethod.proto */ +typedef struct { + PyObject *type; + PyObject **method_name; + PyCFunction func; + PyObject *method; + int flag; +} __Pyx_CachedCFunction; + +/* CallUnboundCMethod1.proto */ +static PyObject* __Pyx__CallUnboundCMethod1(__Pyx_CachedCFunction* cfunc, PyObject* self, PyObject* arg); +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_CallUnboundCMethod1(__Pyx_CachedCFunction* cfunc, PyObject* self, PyObject* arg); +#else +#define __Pyx_CallUnboundCMethod1(cfunc, self, arg) __Pyx__CallUnboundCMethod1(cfunc, self, arg) +#endif + +/* CallUnboundCMethod2.proto */ +static PyObject* __Pyx__CallUnboundCMethod2(__Pyx_CachedCFunction* cfunc, PyObject* self, PyObject* arg1, PyObject* arg2); +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030600B1 +static CYTHON_INLINE PyObject *__Pyx_CallUnboundCMethod2(__Pyx_CachedCFunction *cfunc, PyObject *self, PyObject *arg1, PyObject *arg2); +#else +#define __Pyx_CallUnboundCMethod2(cfunc, self, arg1, arg2) __Pyx__CallUnboundCMethod2(cfunc, self, arg1, arg2) +#endif + +/* GetNameInClass.proto */ +#define __Pyx_GetNameInClass(var, nmspace, name) (var) = __Pyx__GetNameInClass(nmspace, name) +static PyObject *__Pyx__GetNameInClass(PyObject *nmspace, PyObject *name); + +/* CLineInTraceback.proto */ +#ifdef CYTHON_CLINE_IN_TRACEBACK +#define __Pyx_CLineForTraceback(tstate, c_line) (((CYTHON_CLINE_IN_TRACEBACK)) ? c_line : 0) +#else +static int __Pyx_CLineForTraceback(PyThreadState *tstate, int c_line); +#endif + +/* CodeObjectCache.proto */ +#if !CYTHON_COMPILING_IN_LIMITED_API +typedef struct { + PyCodeObject* code_object; + int code_line; +} __Pyx_CodeObjectCacheEntry; +struct __Pyx_CodeObjectCache { + int count; + int max_count; + __Pyx_CodeObjectCacheEntry* entries; +}; +static struct __Pyx_CodeObjectCache __pyx_code_cache = {0,0,NULL}; +static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line); +static PyCodeObject *__pyx_find_code_object(int code_line); +static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object); +#endif + +/* AddTraceback.proto */ +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename); + +#if PY_MAJOR_VERSION < 3 + static int __Pyx_GetBuffer(PyObject *obj, Py_buffer *view, int flags); + static void __Pyx_ReleaseBuffer(Py_buffer *view); +#else + #define __Pyx_GetBuffer PyObject_GetBuffer + #define __Pyx_ReleaseBuffer PyBuffer_Release +#endif + + +/* BufferStructDeclare.proto */ +typedef struct { + Py_ssize_t shape, strides, suboffsets; +} __Pyx_Buf_DimInfo; +typedef struct { + size_t refcount; + Py_buffer pybuffer; +} __Pyx_Buffer; +typedef struct { + __Pyx_Buffer *rcbuffer; + char *data; + __Pyx_Buf_DimInfo diminfo[8]; +} __Pyx_LocalBuf_ND; + +/* MemviewSliceIsContig.proto */ +static int __pyx_memviewslice_is_contig(const __Pyx_memviewslice mvs, char order, int ndim); + +/* OverlappingSlices.proto */ +static int __pyx_slices_overlap(__Pyx_memviewslice *slice1, + __Pyx_memviewslice *slice2, + int ndim, size_t itemsize); + +/* None.proto */ +#include + +/* IsLittleEndian.proto */ +static CYTHON_INLINE int __Pyx_Is_Little_Endian(void); + +/* BufferFormatCheck.proto */ +static const char* __Pyx_BufFmt_CheckString(__Pyx_BufFmt_Context* ctx, const char* ts); +static void __Pyx_BufFmt_Init(__Pyx_BufFmt_Context* ctx, + __Pyx_BufFmt_StackElem* stack, + __Pyx_TypeInfo* type); + +/* TypeInfoCompare.proto */ +static int __pyx_typeinfo_cmp(__Pyx_TypeInfo *a, __Pyx_TypeInfo *b); + +/* MemviewSliceValidateAndInit.proto */ +static int __Pyx_ValidateAndInit_memviewslice( + int *axes_specs, + int c_or_f_flag, + int buf_flags, + int ndim, + __Pyx_TypeInfo *dtype, + __Pyx_BufFmt_StackElem stack[], + __Pyx_memviewslice *memviewslice, + PyObject *original_obj); + +/* ObjectToMemviewSlice.proto */ +static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_ds_unsigned_char__const__(PyObject *, int writable_flag); + +/* MemviewDtypeToObject.proto */ +static CYTHON_INLINE PyObject *__pyx_memview_get_nn___pyx_t_5numpy_uint8_t(const char *itemp); +static CYTHON_INLINE int __pyx_memview_set_nn___pyx_t_5numpy_uint8_t(const char *itemp, PyObject *obj); + +/* MemviewDtypeToObject.proto */ +static CYTHON_INLINE PyObject *__pyx_memview_get_unsigned_char__const__(const char *itemp); + +/* RealImag.proto */ +#if CYTHON_CCOMPLEX + #ifdef __cplusplus + #define __Pyx_CREAL(z) ((z).real()) + #define __Pyx_CIMAG(z) ((z).imag()) + #else + #define __Pyx_CREAL(z) (__real__(z)) + #define __Pyx_CIMAG(z) (__imag__(z)) + #endif +#else + #define __Pyx_CREAL(z) ((z).real) + #define __Pyx_CIMAG(z) ((z).imag) +#endif +#if defined(__cplusplus) && CYTHON_CCOMPLEX\ + && (defined(_WIN32) || defined(__clang__) || (defined(__GNUC__) && (__GNUC__ >= 5 || __GNUC__ == 4 && __GNUC_MINOR__ >= 4 )) || __cplusplus >= 201103) + #define __Pyx_SET_CREAL(z,x) ((z).real(x)) + #define __Pyx_SET_CIMAG(z,y) ((z).imag(y)) +#else + #define __Pyx_SET_CREAL(z,x) __Pyx_CREAL(z) = (x) + #define __Pyx_SET_CIMAG(z,y) __Pyx_CIMAG(z) = (y) +#endif + +/* Arithmetic.proto */ +#if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) + #define __Pyx_c_eq_float(a, b) ((a)==(b)) + #define __Pyx_c_sum_float(a, b) ((a)+(b)) + #define __Pyx_c_diff_float(a, b) ((a)-(b)) + #define __Pyx_c_prod_float(a, b) ((a)*(b)) + #define __Pyx_c_quot_float(a, b) ((a)/(b)) + #define __Pyx_c_neg_float(a) (-(a)) + #ifdef __cplusplus + #define __Pyx_c_is_zero_float(z) ((z)==(float)0) + #define __Pyx_c_conj_float(z) (::std::conj(z)) + #if 1 + #define __Pyx_c_abs_float(z) (::std::abs(z)) + #define __Pyx_c_pow_float(a, b) (::std::pow(a, b)) + #endif + #else + #define __Pyx_c_is_zero_float(z) ((z)==0) + #define __Pyx_c_conj_float(z) (conjf(z)) + #if 1 + #define __Pyx_c_abs_float(z) (cabsf(z)) + #define __Pyx_c_pow_float(a, b) (cpowf(a, b)) + #endif + #endif +#else + static CYTHON_INLINE int __Pyx_c_eq_float(__pyx_t_float_complex, __pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_sum_float(__pyx_t_float_complex, __pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_diff_float(__pyx_t_float_complex, __pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_prod_float(__pyx_t_float_complex, __pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_quot_float(__pyx_t_float_complex, __pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_neg_float(__pyx_t_float_complex); + static CYTHON_INLINE int __Pyx_c_is_zero_float(__pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_conj_float(__pyx_t_float_complex); + #if 1 + static CYTHON_INLINE float __Pyx_c_abs_float(__pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_pow_float(__pyx_t_float_complex, __pyx_t_float_complex); + #endif +#endif + +/* Arithmetic.proto */ +#if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) + #define __Pyx_c_eq_double(a, b) ((a)==(b)) + #define __Pyx_c_sum_double(a, b) ((a)+(b)) + #define __Pyx_c_diff_double(a, b) ((a)-(b)) + #define __Pyx_c_prod_double(a, b) ((a)*(b)) + #define __Pyx_c_quot_double(a, b) ((a)/(b)) + #define __Pyx_c_neg_double(a) (-(a)) + #ifdef __cplusplus + #define __Pyx_c_is_zero_double(z) ((z)==(double)0) + #define __Pyx_c_conj_double(z) (::std::conj(z)) + #if 1 + #define __Pyx_c_abs_double(z) (::std::abs(z)) + #define __Pyx_c_pow_double(a, b) (::std::pow(a, b)) + #endif + #else + #define __Pyx_c_is_zero_double(z) ((z)==0) + #define __Pyx_c_conj_double(z) (conj(z)) + #if 1 + #define __Pyx_c_abs_double(z) (cabs(z)) + #define __Pyx_c_pow_double(a, b) (cpow(a, b)) + #endif + #endif +#else + static CYTHON_INLINE int __Pyx_c_eq_double(__pyx_t_double_complex, __pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_sum_double(__pyx_t_double_complex, __pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_diff_double(__pyx_t_double_complex, __pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_prod_double(__pyx_t_double_complex, __pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_quot_double(__pyx_t_double_complex, __pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_neg_double(__pyx_t_double_complex); + static CYTHON_INLINE int __Pyx_c_is_zero_double(__pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_conj_double(__pyx_t_double_complex); + #if 1 + static CYTHON_INLINE double __Pyx_c_abs_double(__pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_pow_double(__pyx_t_double_complex, __pyx_t_double_complex); + #endif +#endif + +/* MemviewSliceCopyTemplate.proto */ +static __Pyx_memviewslice +__pyx_memoryview_copy_new_contig(const __Pyx_memviewslice *from_mvs, + const char *mode, int ndim, + size_t sizeof_dtype, int contig_flag, + int dtype_is_object); + +/* MemviewSliceInit.proto */ +#define __Pyx_BUF_MAX_NDIMS %(BUF_MAX_NDIMS)d +#define __Pyx_MEMVIEW_DIRECT 1 +#define __Pyx_MEMVIEW_PTR 2 +#define __Pyx_MEMVIEW_FULL 4 +#define __Pyx_MEMVIEW_CONTIG 8 +#define __Pyx_MEMVIEW_STRIDED 16 +#define __Pyx_MEMVIEW_FOLLOW 32 +#define __Pyx_IS_C_CONTIG 1 +#define __Pyx_IS_F_CONTIG 2 +static int __Pyx_init_memviewslice( + struct __pyx_memoryview_obj *memview, + int ndim, + __Pyx_memviewslice *memviewslice, + int memview_is_new_reference); +static CYTHON_INLINE int __pyx_add_acquisition_count_locked( + __pyx_atomic_int_type *acquisition_count, PyThread_type_lock lock); +static CYTHON_INLINE int __pyx_sub_acquisition_count_locked( + __pyx_atomic_int_type *acquisition_count, PyThread_type_lock lock); +#define __pyx_get_slice_count_pointer(memview) (&memview->acquisition_count) +#define __PYX_INC_MEMVIEW(slice, have_gil) __Pyx_INC_MEMVIEW(slice, have_gil, __LINE__) +#define __PYX_XCLEAR_MEMVIEW(slice, have_gil) __Pyx_XCLEAR_MEMVIEW(slice, have_gil, __LINE__) +static CYTHON_INLINE void __Pyx_INC_MEMVIEW(__Pyx_memviewslice *, int, int); +static CYTHON_INLINE void __Pyx_XCLEAR_MEMVIEW(__Pyx_memviewslice *, int, int); + +/* TypeInfoToFormat.proto */ +struct __pyx_typeinfo_string { + char string[3]; +}; +static struct __pyx_typeinfo_string __Pyx_TypeInfoToFormat(__Pyx_TypeInfo *type); + +/* CIntFromPy.proto */ +static CYTHON_INLINE enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType __Pyx_PyInt_As_enum____pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType(PyObject *); + +/* CIntFromPy.proto */ +static CYTHON_INLINE size_t __Pyx_PyInt_As_size_t(PyObject *); + +/* CIntFromPy.proto */ +static CYTHON_INLINE uint32_t __Pyx_PyInt_As_uint32_t(PyObject *); + +/* CIntFromPy.proto */ +static CYTHON_INLINE uint64_t __Pyx_PyInt_As_uint64_t(PyObject *); + +/* CIntFromPy.proto */ +static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *); + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_npy_uint8(npy_uint8 value); + +/* CIntFromPy.proto */ +static CYTHON_INLINE npy_uint8 __Pyx_PyInt_As_npy_uint8(PyObject *); + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_unsigned_char(unsigned char value); + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value); + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_uint32_t(uint32_t value); + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_uint64_t(uint64_t value); + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_enum__VisionStreamType(enum VisionStreamType value); + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_enum____pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType value); + +/* CppExceptionConversion.proto */ +#ifndef __Pyx_CppExn2PyErr +#include +#include +#include +#include +static void __Pyx_CppExn2PyErr() { + try { + if (PyErr_Occurred()) + ; // let the latest Python exn pass through and ignore the current one + else + throw; + } catch (const std::bad_alloc& exn) { + PyErr_SetString(PyExc_MemoryError, exn.what()); + } catch (const std::bad_cast& exn) { + PyErr_SetString(PyExc_TypeError, exn.what()); + } catch (const std::bad_typeid& exn) { + PyErr_SetString(PyExc_TypeError, exn.what()); + } catch (const std::domain_error& exn) { + PyErr_SetString(PyExc_ValueError, exn.what()); + } catch (const std::invalid_argument& exn) { + PyErr_SetString(PyExc_ValueError, exn.what()); + } catch (const std::ios_base::failure& exn) { + PyErr_SetString(PyExc_IOError, exn.what()); + } catch (const std::out_of_range& exn) { + PyErr_SetString(PyExc_IndexError, exn.what()); + } catch (const std::overflow_error& exn) { + PyErr_SetString(PyExc_OverflowError, exn.what()); + } catch (const std::range_error& exn) { + PyErr_SetString(PyExc_ArithmeticError, exn.what()); + } catch (const std::underflow_error& exn) { + PyErr_SetString(PyExc_ArithmeticError, exn.what()); + } catch (const std::exception& exn) { + PyErr_SetString(PyExc_RuntimeError, exn.what()); + } + catch (...) + { + PyErr_SetString(PyExc_RuntimeError, "Unknown exception"); + } +} +#endif + +/* CIntFromPy.proto */ +static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *); + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value); + +/* CIntFromPy.proto */ +static CYTHON_INLINE char __Pyx_PyInt_As_char(PyObject *); + +/* FormatTypeName.proto */ +#if CYTHON_COMPILING_IN_LIMITED_API +typedef PyObject *__Pyx_TypeName; +#define __Pyx_FMT_TYPENAME "%U" +static __Pyx_TypeName __Pyx_PyType_GetName(PyTypeObject* tp); +#define __Pyx_DECREF_TypeName(obj) Py_XDECREF(obj) +#else +typedef const char *__Pyx_TypeName; +#define __Pyx_FMT_TYPENAME "%.200s" +#define __Pyx_PyType_GetName(tp) ((tp)->tp_name) +#define __Pyx_DECREF_TypeName(obj) +#endif + +/* CheckBinaryVersion.proto */ +static unsigned long __Pyx_get_runtime_version(void); +static int __Pyx_check_binary_version(unsigned long ct_version, unsigned long rt_version, int allow_newer); + +/* InitStrings.proto */ +static int __Pyx_InitStrings(__Pyx_StringTabEntry *t); + +/* #### Code section: module_declarations ### */ +static PyObject *__pyx_array_get_memview(struct __pyx_array_obj *__pyx_v_self); /* proto*/ +static char *__pyx_memoryview_get_item_pointer(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index); /* proto*/ +static PyObject *__pyx_memoryview_is_slice(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_obj); /* proto*/ +static PyObject *__pyx_memoryview_setitem_slice_assignment(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_dst, PyObject *__pyx_v_src); /* proto*/ +static PyObject *__pyx_memoryview_setitem_slice_assign_scalar(struct __pyx_memoryview_obj *__pyx_v_self, struct __pyx_memoryview_obj *__pyx_v_dst, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryview_setitem_indexed(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryview_convert_item_to_object(struct __pyx_memoryview_obj *__pyx_v_self, char *__pyx_v_itemp); /* proto*/ +static PyObject *__pyx_memoryview_assign_item_from_object(struct __pyx_memoryview_obj *__pyx_v_self, char *__pyx_v_itemp, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryview__get_base(struct __pyx_memoryview_obj *__pyx_v_self); /* proto*/ +static PyObject *__pyx_memoryviewslice_convert_item_to_object(struct __pyx_memoryviewslice_obj *__pyx_v_self, char *__pyx_v_itemp); /* proto*/ +static PyObject *__pyx_memoryviewslice_assign_item_from_object(struct __pyx_memoryviewslice_obj *__pyx_v_self, char *__pyx_v_itemp, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryviewslice__get_base(struct __pyx_memoryviewslice_obj *__pyx_v_self); /* proto*/ +static CYTHON_INLINE PyObject *__pyx_f_5numpy_7ndarray_4base_base(PyArrayObject *__pyx_v_self); /* proto*/ +static CYTHON_INLINE PyArray_Descr *__pyx_f_5numpy_7ndarray_5descr_descr(PyArrayObject *__pyx_v_self); /* proto*/ +static CYTHON_INLINE int __pyx_f_5numpy_7ndarray_4ndim_ndim(PyArrayObject *__pyx_v_self); /* proto*/ +static CYTHON_INLINE npy_intp *__pyx_f_5numpy_7ndarray_5shape_shape(PyArrayObject *__pyx_v_self); /* proto*/ +static CYTHON_INLINE npy_intp *__pyx_f_5numpy_7ndarray_7strides_strides(PyArrayObject *__pyx_v_self); /* proto*/ +static CYTHON_INLINE npy_intp __pyx_f_5numpy_7ndarray_4size_size(PyArrayObject *__pyx_v_self); /* proto*/ +static CYTHON_INLINE char *__pyx_f_5numpy_7ndarray_4data_data(PyArrayObject *__pyx_v_self); /* proto*/ +static PyObject *__pyx_f_4msgq_9visionipc_13visionipc_pyx_9VisionBuf_create(VisionBuf *__pyx_v_cbuf); /* proto*/ + +/* Module declarations from "libc.string" */ + +/* Module declarations from "libcpp.string" */ + +/* Module declarations from "libcpp.vector" */ + +/* Module declarations from "libcpp.utility" */ + +/* Module declarations from "libcpp.set" */ + +/* Module declarations from "libc.stdint" */ + +/* Module declarations from "libcpp" */ + +/* Module declarations from "msgq.visionipc.visionipc" */ + +/* Module declarations from "libc.stdio" */ + +/* Module declarations from "__builtin__" */ + +/* Module declarations from "cpython.type" */ + +/* Module declarations from "cpython" */ + +/* Module declarations from "cpython.object" */ + +/* Module declarations from "cpython.ref" */ + +/* Module declarations from "numpy" */ + +/* Module declarations from "numpy" */ + +/* Module declarations from "cython.view" */ +static struct __pyx_array_obj *__pyx_array_new(PyObject *, Py_ssize_t, char *, char *, char *); /*proto*/ + +/* Module declarations from "msgq.visionipc.visionipc_pyx" */ +static PyObject *__Pyx_OrderedDict = 0; +static PyObject *__Pyx_EnumBase = 0; +static PyObject *__Pyx_FlagBase = 0; +static PyObject *__pyx_collections_abc_Sequence = 0; +static PyObject *generic = 0; +static PyObject *strided = 0; +static PyObject *indirect = 0; +static PyObject *contiguous = 0; +static PyObject *indirect_contiguous = 0; +static int __pyx_memoryview_thread_locks_used; +static PyThread_type_lock __pyx_memoryview_thread_locks[8]; +static PyObject *__Pyx_globals = 0; +static std::string __pyx_convert_string_from_py_std__in_string(PyObject *); /*proto*/ +static CYTHON_INLINE PyObject *__pyx_convert_PyObject_string_to_py_std__in_string(std::string const &); /*proto*/ +static CYTHON_INLINE PyObject *__pyx_convert_PyUnicode_string_to_py_std__in_string(std::string const &); /*proto*/ +static CYTHON_INLINE PyObject *__pyx_convert_PyStr_string_to_py_std__in_string(std::string const &); /*proto*/ +static CYTHON_INLINE PyObject *__pyx_convert_PyBytes_string_to_py_std__in_string(std::string const &); /*proto*/ +static CYTHON_INLINE PyObject *__pyx_convert_PyByteArray_string_to_py_std__in_string(std::string const &); /*proto*/ +static PyObject *__pyx_convert_set_to_py_enum__VisionStreamType(std::set const &); /*proto*/ +static PyObject *__pyx_unpickle___Pyx_EnumMeta__set_state(struct __pyx_obj___Pyx_EnumMeta *, PyObject *); /*proto*/ +static int __pyx_array_allocate_buffer(struct __pyx_array_obj *); /*proto*/ +static struct __pyx_array_obj *__pyx_array_new(PyObject *, Py_ssize_t, char *, char *, char *); /*proto*/ +static PyObject *__pyx_memoryview_new(PyObject *, int, int, __Pyx_TypeInfo *); /*proto*/ +static CYTHON_INLINE int __pyx_memoryview_check(PyObject *); /*proto*/ +static PyObject *_unellipsify(PyObject *, int); /*proto*/ +static int assert_direct_dimensions(Py_ssize_t *, int); /*proto*/ +static struct __pyx_memoryview_obj *__pyx_memview_slice(struct __pyx_memoryview_obj *, PyObject *); /*proto*/ +static int __pyx_memoryview_slice_memviewslice(__Pyx_memviewslice *, Py_ssize_t, Py_ssize_t, Py_ssize_t, int, int, int *, Py_ssize_t, Py_ssize_t, Py_ssize_t, int, int, int, int); /*proto*/ +static char *__pyx_pybuffer_index(Py_buffer *, char *, Py_ssize_t, Py_ssize_t); /*proto*/ +static int __pyx_memslice_transpose(__Pyx_memviewslice *); /*proto*/ +static PyObject *__pyx_memoryview_fromslice(__Pyx_memviewslice, int, PyObject *(*)(char *), int (*)(char *, PyObject *), int); /*proto*/ +static __Pyx_memviewslice *__pyx_memoryview_get_slice_from_memoryview(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/ +static void __pyx_memoryview_slice_copy(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/ +static PyObject *__pyx_memoryview_copy_object(struct __pyx_memoryview_obj *); /*proto*/ +static PyObject *__pyx_memoryview_copy_object_from_slice(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/ +static Py_ssize_t abs_py_ssize_t(Py_ssize_t); /*proto*/ +static char __pyx_get_best_slice_order(__Pyx_memviewslice *, int); /*proto*/ +static void _copy_strided_to_strided(char *, Py_ssize_t *, char *, Py_ssize_t *, Py_ssize_t *, Py_ssize_t *, int, size_t); /*proto*/ +static void copy_strided_to_strided(__Pyx_memviewslice *, __Pyx_memviewslice *, int, size_t); /*proto*/ +static Py_ssize_t __pyx_memoryview_slice_get_size(__Pyx_memviewslice *, int); /*proto*/ +static Py_ssize_t __pyx_fill_contig_strides_array(Py_ssize_t *, Py_ssize_t *, Py_ssize_t, int, char); /*proto*/ +static void *__pyx_memoryview_copy_data_to_temp(__Pyx_memviewslice *, __Pyx_memviewslice *, char, int); /*proto*/ +static int __pyx_memoryview_err_extents(int, Py_ssize_t, Py_ssize_t); /*proto*/ +static int __pyx_memoryview_err_dim(PyObject *, PyObject *, int); /*proto*/ +static int __pyx_memoryview_err(PyObject *, PyObject *); /*proto*/ +static int __pyx_memoryview_err_no_memory(void); /*proto*/ +static int __pyx_memoryview_copy_contents(__Pyx_memviewslice, __Pyx_memviewslice, int, int, int); /*proto*/ +static void __pyx_memoryview_broadcast_leading(__Pyx_memviewslice *, int, int); /*proto*/ +static void __pyx_memoryview_refcount_copying(__Pyx_memviewslice *, int, int, int); /*proto*/ +static void __pyx_memoryview_refcount_objects_in_slice_with_gil(char *, Py_ssize_t *, Py_ssize_t *, int, int); /*proto*/ +static void __pyx_memoryview_refcount_objects_in_slice(char *, Py_ssize_t *, Py_ssize_t *, int, int); /*proto*/ +static void __pyx_memoryview_slice_assign_scalar(__Pyx_memviewslice *, int, size_t, void *, int); /*proto*/ +static void __pyx_memoryview__slice_assign_scalar(char *, Py_ssize_t *, Py_ssize_t *, int, size_t, void *); /*proto*/ +static PyObject *__pyx_unpickle_Enum__set_state(struct __pyx_MemviewEnum_obj *, PyObject *); /*proto*/ +static PyObject *__pyx_format_from_typeinfo(__Pyx_TypeInfo *); /*proto*/ +/* #### Code section: typeinfo ### */ +static __Pyx_TypeInfo __Pyx_TypeInfo_nn___pyx_t_5numpy_uint8_t = { "uint8_t", NULL, sizeof(__pyx_t_5numpy_uint8_t), { 0 }, 0, __PYX_IS_UNSIGNED(__pyx_t_5numpy_uint8_t) ? 'U' : 'I', __PYX_IS_UNSIGNED(__pyx_t_5numpy_uint8_t), 0 }; +static __Pyx_TypeInfo __Pyx_TypeInfo_unsigned_char__const__ = { "const unsigned char", NULL, sizeof(unsigned char const ), { 0 }, 0, __PYX_IS_UNSIGNED(unsigned char const ) ? 'U' : 'I', __PYX_IS_UNSIGNED(unsigned char const ), 0 }; +/* #### Code section: before_global_var ### */ +#define __Pyx_MODULE_NAME "msgq.visionipc.visionipc_pyx" +extern int __pyx_module_is_main_msgq__visionipc__visionipc_pyx; +int __pyx_module_is_main_msgq__visionipc__visionipc_pyx = 0; + +/* Implementation of "msgq.visionipc.visionipc_pyx" */ +/* #### Code section: global_var ### */ +static PyObject *__pyx_builtin_staticmethod; +static PyObject *__pyx_builtin_TypeError; +static PyObject *__pyx_builtin_AssertionError; +static PyObject *__pyx_builtin_ValueError; +static PyObject *__pyx_builtin___import__; +static PyObject *__pyx_builtin_MemoryError; +static PyObject *__pyx_builtin_enumerate; +static PyObject *__pyx_builtin_range; +static PyObject *__pyx_builtin_Ellipsis; +static PyObject *__pyx_builtin_id; +static PyObject *__pyx_builtin_IndexError; +static PyObject *__pyx_builtin_ImportError; +/* #### Code section: string_decls ### */ +static const char __pyx_k_[] = ""; +static const char __pyx_k_O[] = "O"; +static const char __pyx_k_T[] = "T{"; + static const char __pyx_k_c[] = "c"; + static const char __pyx_k_v[] = "v"; + static const char __pyx_k__3[] = "."; + static const char __pyx_k__4[] = ": "; + static const char __pyx_k__5[] = "*"; + static const char __pyx_k__8[] = "'"; + static const char __pyx_k__9[] = ")"; + static const char __pyx_k_gc[] = "gc"; + static const char __pyx_k_id[] = "id"; + static const char __pyx_k_np[] = "np"; + static const char __pyx_k_tp[] = "tp"; + static const char __pyx_k__11[] = "^"; + static const char __pyx_k__12[] = ":"; +static const char __pyx_k__13[] = "}"; +static const char __pyx_k__14[] = "("; +static const char __pyx_k__15[] = ","; +static const char __pyx_k__67[] = "?"; +static const char __pyx_k_abc[] = "abc"; +static const char __pyx_k_and[] = " and "; +static const char __pyx_k_buf[] = "buf"; +static const char __pyx_k_cls[] = "cls"; +static const char __pyx_k_dct[] = "dct"; +static const char __pyx_k_doc[] = "__doc__"; +static const char __pyx_k_get[] = "get"; +static const char __pyx_k_got[] = " (got "; +static const char __pyx_k_new[] = "__new__"; +static const char __pyx_k_obj[] = "obj"; +static const char __pyx_k_res[] = "res"; +static const char __pyx_k_rgb[] = "rgb"; +static const char __pyx_k_s_s[] = "%s.%s"; +static const char __pyx_k_str[] = "__str__"; +static const char __pyx_k_sys[] = "sys"; +static const char __pyx_k_base[] = "base"; +static const char __pyx_k_data[] = "data"; +static const char __pyx_k_dict[] = "__dict__"; +static const char __pyx_k_enum[] = "enum"; +static const char __pyx_k_init[] = "__init__"; +static const char __pyx_k_join[] = "join"; +static const char __pyx_k_main[] = "__main__"; +static const char __pyx_k_mode[] = "mode"; +static const char __pyx_k_name[] = "name"; +static const char __pyx_k_ndim[] = "ndim"; +static const char __pyx_k_pack[] = "pack"; +static const char __pyx_k_recv[] = "recv"; +static const char __pyx_k_repr[] = "__repr__"; +static const char __pyx_k_self[] = "self"; +static const char __pyx_k_send[] = "send"; +static const char __pyx_k_size[] = "size"; +static const char __pyx_k_spec[] = "__spec__"; +static const char __pyx_k_step[] = "step"; +static const char __pyx_k_stop[] = "stop"; +static const char __pyx_k_test[] = "__test__"; +static const char __pyx_k_ASCII[] = "ASCII"; +static const char __pyx_k_block[] = "block"; +static const char __pyx_k_class[] = "__class__"; +static const char __pyx_k_count[] = "count"; +static const char __pyx_k_error[] = "error"; +static const char __pyx_k_extra[] = "extra"; +static const char __pyx_k_flags[] = "flags"; +static const char __pyx_k_index[] = "index"; +static const char __pyx_k_numpy[] = "numpy"; +static const char __pyx_k_range[] = "range"; +static const char __pyx_k_s_s_d[] = "<%s.%s: %d>"; +static const char __pyx_k_shape[] = "shape"; +static const char __pyx_k_start[] = "start"; +static const char __pyx_k_state[] = "state"; +static const char __pyx_k_super[] = "super"; +static const char __pyx_k_value[] = "value"; +static const char __pyx_k_width[] = "width"; +static const char __pyx_k_dict_2[] = "_dict"; +static const char __pyx_k_enable[] = "enable"; +static const char __pyx_k_encode[] = "encode"; +static const char __pyx_k_format[] = "format"; +static const char __pyx_k_height[] = "height"; +static const char __pyx_k_import[] = "__import__"; +static const char __pyx_k_module[] = "__module__"; +static const char __pyx_k_name_2[] = "__name__"; +static const char __pyx_k_pickle[] = "pickle"; +static const char __pyx_k_reduce[] = "__reduce__"; +static const char __pyx_k_stream[] = "stream"; +static const char __pyx_k_stride[] = "stride"; +static const char __pyx_k_struct[] = "struct"; +static const char __pyx_k_unpack[] = "unpack"; +static const char __pyx_k_update[] = "update"; +static const char __pyx_k_values[] = "values"; +static const char __pyx_k_IntEnum[] = "IntEnum"; +static const char __pyx_k_IntFlag[] = "IntFlag"; +static const char __pyx_k_asarray[] = "asarray"; +static const char __pyx_k_connect[] = "connect"; +static const char __pyx_k_context[] = "context"; +static const char __pyx_k_disable[] = "disable"; +static const char __pyx_k_fortran[] = "fortran"; +static const char __pyx_k_members[] = "__members__"; +static const char __pyx_k_memview[] = "memview"; +static const char __pyx_k_parents[] = "parents"; +static const char __pyx_k_prepare[] = "__prepare__"; +static const char __pyx_k_Ellipsis[] = "Ellipsis"; +static const char __pyx_k_EnumBase[] = "EnumBase"; +static const char __pyx_k_EnumType[] = "EnumType"; +static const char __pyx_k_Sequence[] = "Sequence"; +static const char __pyx_k_blocking[] = "blocking"; +static const char __pyx_k_conflate[] = "conflate"; +static const char __pyx_k_frame_id[] = "frame_id"; +static const char __pyx_k_getstate[] = "__getstate__"; +static const char __pyx_k_itemsize[] = "itemsize"; +static const char __pyx_k_module_2[] = "module"; +static const char __pyx_k_pyx_type[] = "__pyx_type"; +static const char __pyx_k_qualname[] = "__qualname__"; +static const char __pyx_k_register[] = "register"; +static const char __pyx_k_set_name[] = "__set_name__"; +static const char __pyx_k_setstate[] = "__setstate__"; +static const char __pyx_k_CLContext[] = "CLContext"; +static const char __pyx_k_TypeError[] = "TypeError"; +static const char __pyx_k_VisionBuf[] = "VisionBuf"; +static const char __pyx_k_enumerate[] = "enumerate"; +static const char __pyx_k_isenabled[] = "isenabled"; +static const char __pyx_k_metaclass[] = "__metaclass__"; +static const char __pyx_k_pyx_state[] = "__pyx_state"; +static const char __pyx_k_reduce_ex[] = "__reduce_ex__"; +static const char __pyx_k_uv_offset[] = "uv_offset"; +static const char __pyx_k_IndexError[] = "IndexError"; +static const char __pyx_k_ValueError[] = "ValueError"; +static const char __pyx_k_pyx_result[] = "__pyx_result"; +static const char __pyx_k_pyx_vtable[] = "__pyx_vtable__"; +static const char __pyx_k_timeout_ms[] = "timeout_ms"; +static const char __pyx_k_ImportError[] = "ImportError"; +static const char __pyx_k_MemoryError[] = "MemoryError"; +static const char __pyx_k_OrderedDict[] = "OrderedDict"; +static const char __pyx_k_PickleError[] = "PickleError"; +static const char __pyx_k_collections[] = "collections"; +static const char __pyx_k_mro_entries[] = "__mro_entries__"; +static const char __pyx_k_num_buffers[] = "num_buffers"; +static const char __pyx_k_Pyx_EnumBase[] = "__Pyx_EnumBase"; +static const char __pyx_k_Pyx_FlagBase[] = "__Pyx_FlagBase"; +static const char __pyx_k_initializing[] = "_initializing"; +static const char __pyx_k_is_connected[] = "is_connected"; +static const char __pyx_k_is_coroutine[] = "_is_coroutine"; +static const char __pyx_k_member_names[] = "_member_names_"; +static const char __pyx_k_pyx_checksum[] = "__pyx_checksum"; +static const char __pyx_k_staticmethod[] = "staticmethod"; +static const char __pyx_k_stringsource[] = ""; +static const char __pyx_k_use_setstate[] = "use_setstate"; +static const char __pyx_k_version_info[] = "version_info"; +static const char __pyx_k_class_getitem[] = "__class_getitem__"; +static const char __pyx_k_init_subclass[] = "__init_subclass__"; +static const char __pyx_k_reduce_cython[] = "__reduce_cython__"; +static const char __pyx_k_timestamp_eof[] = "timestamp_eof"; +static const char __pyx_k_timestamp_sof[] = "timestamp_sof"; +static const char __pyx_k_AssertionError[] = "AssertionError"; +static const char __pyx_k_create_buffers[] = "create_buffers"; +static const char __pyx_k_start_listener[] = "start_listener"; +static const char __pyx_k_View_MemoryView[] = "View.MemoryView"; +static const char __pyx_k_VisionIpcClient[] = "VisionIpcClient"; +static const char __pyx_k_VisionIpcServer[] = "VisionIpcServer"; +static const char __pyx_k_allocate_buffer[] = "allocate_buffer"; +static const char __pyx_k_collections_abc[] = "collections.abc"; +static const char __pyx_k_dtype_is_object[] = "dtype_is_object"; +static const char __pyx_k_pyx_PickleError[] = "__pyx_PickleError"; +static const char __pyx_k_setstate_cython[] = "__setstate_cython__"; +static const char __pyx_k_VisionStreamType[] = "VisionStreamType"; +static const char __pyx_k_VISION_STREAM_MAP[] = "VISION_STREAM_MAP"; +static const char __pyx_k_available_streams[] = "available_streams"; +static const char __pyx_k_get_endpoint_name[] = "get_endpoint_name"; +static const char __pyx_k_pyx_unpickle_Enum[] = "__pyx_unpickle_Enum"; +static const char __pyx_k_Pyx_EnumBase___new[] = "__Pyx_EnumBase.__new__"; +static const char __pyx_k_Pyx_EnumBase___str[] = "__Pyx_EnumBase.__str__"; +static const char __pyx_k_Pyx_FlagBase___new[] = "__Pyx_FlagBase.__new__"; +static const char __pyx_k_Pyx_FlagBase___str[] = "__Pyx_FlagBase.__str__"; +static const char __pyx_k_VISION_STREAM_ROAD[] = "VISION_STREAM_ROAD"; +static const char __pyx_k_asyncio_coroutines[] = "asyncio.coroutines"; +static const char __pyx_k_cline_in_traceback[] = "cline_in_traceback"; +static const char __pyx_k_strided_and_direct[] = ""; +static const char __pyx_k_Pyx_EnumBase___repr[] = "__Pyx_EnumBase.__repr__"; +static const char __pyx_k_Pyx_FlagBase___repr[] = "__Pyx_FlagBase.__repr__"; +static const char __pyx_k_Unknown_enum_value_s[] = "Unknown enum value: '%s'"; +static const char __pyx_k_VISION_STREAM_DRIVER[] = "VISION_STREAM_DRIVER"; +static const char __pyx_k_VisionIpcClient_recv[] = "VisionIpcClient.recv"; +static const char __pyx_k_VisionIpcServer_send[] = "VisionIpcServer.send"; +static const char __pyx_k_strided_and_indirect[] = ""; +static const char __pyx_k_Invalid_shape_in_axis[] = "Invalid shape in axis "; +static const char __pyx_k_contiguous_and_direct[] = ""; +static const char __pyx_k_Cannot_index_with_type[] = "Cannot index with type '"; +static const char __pyx_k_MemoryView_of_r_object[] = ""; +static const char __pyx_k_MemoryView_of_r_at_0x_x[] = ""; +static const char __pyx_k_VISION_STREAM_WIDE_ROAD[] = "VISION_STREAM_WIDE_ROAD"; +static const char __pyx_k_VisionIpcClient_connect[] = "VisionIpcClient.connect"; +static const char __pyx_k_contiguous_and_indirect[] = ""; +static const char __pyx_k_Dimension_d_is_not_direct[] = "Dimension %d is not direct"; +static const char __pyx_k_VisionBuf___reduce_cython[] = "VisionBuf.__reduce_cython__"; +static const char __pyx_k_create_buffers_with_sizes[] = "create_buffers_with_sizes"; +static const char __pyx_k_Index_out_of_bounds_axis_d[] = "Index out of bounds (axis %d)"; +static const char __pyx_k_Step_may_not_be_zero_axis_d[] = "Step may not be zero (axis %d)"; +static const char __pyx_k_VisionBuf___setstate_cython[] = "VisionBuf.__setstate_cython__"; +static const char __pyx_k_itemsize_0_for_cython_array[] = "itemsize <= 0 for cython.array"; +static const char __pyx_k_pyx_unpickle___Pyx_EnumMeta[] = "__pyx_unpickle___Pyx_EnumMeta"; +static const char __pyx_k_Pyx_EnumMeta___reduce_cython[] = "__Pyx_EnumMeta.__reduce_cython__"; +static const char __pyx_k_VisionIpcClient_is_connected[] = "VisionIpcClient.is_connected"; +static const char __pyx_k_msgq_visionipc_visionipc_pyx[] = "msgq.visionipc.visionipc_pyx"; +static const char __pyx_k_unable_to_allocate_array_data[] = "unable to allocate array data."; +static const char __pyx_k_Pyx_EnumMeta___setstate_cython[] = "__Pyx_EnumMeta.__setstate_cython__"; +static const char __pyx_k_VisionIpcServer_create_buffers[] = "VisionIpcServer.create_buffers"; +static const char __pyx_k_VisionIpcServer_start_listener[] = "VisionIpcServer.start_listener"; +static const char __pyx_k_strided_and_direct_or_indirect[] = ""; +static const char __pyx_k_VisionIpcClient___reduce_cython[] = "VisionIpcClient.__reduce_cython__"; +static const char __pyx_k_VisionIpcServer___reduce_cython[] = "VisionIpcServer.__reduce_cython__"; +static const char __pyx_k_numpy_core_multiarray_failed_to[] = "numpy.core.multiarray failed to import"; +static const char __pyx_k_self_buf_cannot_be_converted_to[] = "self.buf cannot be converted to a Python object for pickling"; +static const char __pyx_k_self_server_cannot_be_converted[] = "self.server cannot be converted to a Python object for pickling"; +static const char __pyx_k_All_dimensions_preceding_dimensi[] = "All dimensions preceding dimension %d must be indexed and not sliced"; +static const char __pyx_k_Buffer_view_does_not_expose_stri[] = "Buffer view does not expose strides"; +static const char __pyx_k_Can_only_create_a_buffer_that_is[] = "Can only create a buffer that is contiguous in memory."; +static const char __pyx_k_Cannot_assign_to_read_only_memor[] = "Cannot assign to read-only memoryview"; +static const char __pyx_k_Cannot_create_writable_memory_vi[] = "Cannot create writable memory view from read-only memoryview"; +static const char __pyx_k_Cannot_transpose_memoryview_with[] = "Cannot transpose memoryview with indirect dimensions"; +static const char __pyx_k_Empty_shape_tuple_for_cython_arr[] = "Empty shape tuple for cython.array"; +static const char __pyx_k_Incompatible_checksums_0x_x_vs_0[] = "Incompatible checksums (0x%x vs (0xe3b0c44, 0xda39a3e, 0xd41d8cd) = ())"; +static const char __pyx_k_Indirect_dimensions_not_supporte[] = "Indirect dimensions not supported"; +static const char __pyx_k_Invalid_mode_expected_c_or_fortr[] = "Invalid mode, expected 'c' or 'fortran', got "; +static const char __pyx_k_Out_of_bounds_on_buffer_access_a[] = "Out of bounds on buffer access (axis "; +static const char __pyx_k_Unable_to_convert_item_to_object[] = "Unable to convert item to object"; +static const char __pyx_k_VisionIpcClient___setstate_cytho[] = "VisionIpcClient.__setstate_cython__"; +static const char __pyx_k_VisionIpcClient_available_stream[] = "VisionIpcClient.available_streams"; +static const char __pyx_k_VisionIpcServer___setstate_cytho[] = "VisionIpcServer.__setstate_cython__"; +static const char __pyx_k_VisionIpcServer_create_buffers_w[] = "VisionIpcServer.create_buffers_with_sizes"; +static const char __pyx_k_got_differing_extents_in_dimensi[] = "got differing extents in dimension "; +static const char __pyx_k_msgq_repo_msgq_visionipc_visioni[] = "msgq_repo/msgq/visionipc/visionipc_pyx.pyx"; +static const char __pyx_k_no_default___reduce___due_to_non[] = "no default __reduce__ due to non-trivial __cinit__"; +static const char __pyx_k_numpy_core_umath_failed_to_impor[] = "numpy.core.umath failed to import"; +static const char __pyx_k_unable_to_allocate_shape_and_str[] = "unable to allocate shape and strides."; +static const char __pyx_k_Incompatible_checksums_0x_x_vs_0_2[] = "Incompatible checksums (0x%x vs (0x82a3537, 0x6ae9995, 0xb068931) = (name))"; +/* #### Code section: decls ### */ +static int __pyx_pf_8EnumBase_14__Pyx_EnumMeta___init__(struct __pyx_obj___Pyx_EnumMeta *__pyx_v_cls, PyObject *__pyx_v_name, PyObject *__pyx_v_parents, PyObject *__pyx_v_dct); /* proto */ +static PyObject *__pyx_pf_8EnumBase_14__Pyx_EnumMeta_2__iter__(struct __pyx_obj___Pyx_EnumMeta *__pyx_v_cls); /* proto */ +static PyObject *__pyx_pf_8EnumBase_14__Pyx_EnumMeta_4__getitem__(struct __pyx_obj___Pyx_EnumMeta *__pyx_v_cls, PyObject *__pyx_v_name); /* proto */ +static PyObject *__pyx_pf_8EnumBase_14__Pyx_EnumMeta_6__reduce_cython__(struct __pyx_obj___Pyx_EnumMeta *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_8EnumBase_14__Pyx_EnumMeta_8__setstate_cython__(struct __pyx_obj___Pyx_EnumMeta *__pyx_v_self, PyObject *__pyx_v___pyx_state); /* proto */ +static PyObject *__pyx_pf_8EnumBase_14__Pyx_EnumBase___new__(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_cls, PyObject *__pyx_v_value, PyObject *__pyx_v_name); /* proto */ +static PyObject *__pyx_pf_8EnumBase_14__Pyx_EnumBase_2__repr__(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_8EnumBase_14__Pyx_EnumBase_4__str__(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_8EnumBase_14__Pyx_FlagBase___new__(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_cls, PyObject *__pyx_v_value, PyObject *__pyx_v_name); /* proto */ +static PyObject *__pyx_pf_8EnumBase_14__Pyx_FlagBase_2__repr__(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_8EnumBase_14__Pyx_FlagBase_4__str__(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_8EnumBase___pyx_unpickle___Pyx_EnumMeta(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v___pyx_type, long __pyx_v___pyx_checksum, PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array___cinit__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_shape, Py_ssize_t __pyx_v_itemsize, PyObject *__pyx_v_format, PyObject *__pyx_v_mode, int __pyx_v_allocate_buffer); /* proto */ +static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array_2__getbuffer__(struct __pyx_array_obj *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /* proto */ +static void __pyx_array___pyx_pf_15View_dot_MemoryView_5array_4__dealloc__(struct __pyx_array_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_5array_7memview___get__(struct __pyx_array_obj *__pyx_v_self); /* proto */ +static Py_ssize_t __pyx_array___pyx_pf_15View_dot_MemoryView_5array_6__len__(struct __pyx_array_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_array___pyx_pf_15View_dot_MemoryView_5array_8__getattr__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_attr); /* proto */ +static PyObject *__pyx_array___pyx_pf_15View_dot_MemoryView_5array_10__getitem__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_item); /* proto */ +static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array_12__setitem__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_item, PyObject *__pyx_v_value); /* proto */ +static PyObject *__pyx_pf___pyx_array___reduce_cython__(CYTHON_UNUSED struct __pyx_array_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_array_2__setstate_cython__(CYTHON_UNUSED struct __pyx_array_obj *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_MemviewEnum___pyx_pf_15View_dot_MemoryView_4Enum___init__(struct __pyx_MemviewEnum_obj *__pyx_v_self, PyObject *__pyx_v_name); /* proto */ +static PyObject *__pyx_MemviewEnum___pyx_pf_15View_dot_MemoryView_4Enum_2__repr__(struct __pyx_MemviewEnum_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_MemviewEnum___reduce_cython__(struct __pyx_MemviewEnum_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_MemviewEnum_2__setstate_cython__(struct __pyx_MemviewEnum_obj *__pyx_v_self, PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview___cinit__(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_obj, int __pyx_v_flags, int __pyx_v_dtype_is_object); /* proto */ +static void __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_2__dealloc__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_4__getitem__(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index); /* proto */ +static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_6__setitem__(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index, PyObject *__pyx_v_value); /* proto */ +static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_8__getbuffer__(struct __pyx_memoryview_obj *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_1T___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_4base___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_5shape___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_7strides___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_10suboffsets___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_4ndim___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_8itemsize___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_6nbytes___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_4size___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static Py_ssize_t __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_10__len__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_12__repr__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_14__str__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_16is_c_contig(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_18is_f_contig(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_20copy(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_22copy_fortran(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryview___reduce_cython__(CYTHON_UNUSED struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryview_2__setstate_cython__(CYTHON_UNUSED struct __pyx_memoryview_obj *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static void __pyx_memoryviewslice___pyx_pf_15View_dot_MemoryView_16_memoryviewslice___dealloc__(struct __pyx_memoryviewslice_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryviewslice___reduce_cython__(CYTHON_UNUSED struct __pyx_memoryviewslice_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryviewslice_2__setstate_cython__(CYTHON_UNUSED struct __pyx_memoryviewslice_obj *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView___pyx_unpickle_Enum(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v___pyx_type, long __pyx_v___pyx_checksum, PyObject *__pyx_v___pyx_state); /* proto */ +static PyObject *__pyx_pf_4msgq_9visionipc_13visionipc_pyx_get_endpoint_name(CYTHON_UNUSED PyObject *__pyx_self, std::string __pyx_v_name, enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType __pyx_v_stream); /* proto */ +static PyObject *__pyx_pf_4msgq_9visionipc_13visionipc_pyx_9VisionBuf_4data___get__(struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionBuf *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_4msgq_9visionipc_13visionipc_pyx_9VisionBuf_5width___get__(struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionBuf *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_4msgq_9visionipc_13visionipc_pyx_9VisionBuf_6height___get__(struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionBuf *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_4msgq_9visionipc_13visionipc_pyx_9VisionBuf_6stride___get__(struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionBuf *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_4msgq_9visionipc_13visionipc_pyx_9VisionBuf_9uv_offset___get__(struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionBuf *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_4msgq_9visionipc_13visionipc_pyx_9VisionBuf_3rgb___get__(struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionBuf *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_4msgq_9visionipc_13visionipc_pyx_9VisionBuf___reduce_cython__(CYTHON_UNUSED struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionBuf *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_4msgq_9visionipc_13visionipc_pyx_9VisionBuf_2__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionBuf *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_pf_4msgq_9visionipc_13visionipc_pyx_15VisionIpcServer___init__(struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionIpcServer *__pyx_v_self, std::string __pyx_v_name); /* proto */ +static PyObject *__pyx_pf_4msgq_9visionipc_13visionipc_pyx_15VisionIpcServer_2create_buffers(struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionIpcServer *__pyx_v_self, enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType __pyx_v_tp, size_t __pyx_v_num_buffers, bool __pyx_v_rgb, size_t __pyx_v_width, size_t __pyx_v_height); /* proto */ +static PyObject *__pyx_pf_4msgq_9visionipc_13visionipc_pyx_15VisionIpcServer_4create_buffers_with_sizes(struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionIpcServer *__pyx_v_self, enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType __pyx_v_tp, size_t __pyx_v_num_buffers, bool __pyx_v_rgb, size_t __pyx_v_width, size_t __pyx_v_height, size_t __pyx_v_size, size_t __pyx_v_stride, size_t __pyx_v_uv_offset); /* proto */ +static PyObject *__pyx_pf_4msgq_9visionipc_13visionipc_pyx_15VisionIpcServer_6send(struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionIpcServer *__pyx_v_self, enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType __pyx_v_tp, __Pyx_memviewslice __pyx_v_data, uint32_t __pyx_v_frame_id, uint64_t __pyx_v_timestamp_sof, uint64_t __pyx_v_timestamp_eof); /* proto */ +static PyObject *__pyx_pf_4msgq_9visionipc_13visionipc_pyx_15VisionIpcServer_8start_listener(struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionIpcServer *__pyx_v_self); /* proto */ +static void __pyx_pf_4msgq_9visionipc_13visionipc_pyx_15VisionIpcServer_10__dealloc__(struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionIpcServer *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_4msgq_9visionipc_13visionipc_pyx_15VisionIpcServer_12__reduce_cython__(CYTHON_UNUSED struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionIpcServer *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_4msgq_9visionipc_13visionipc_pyx_15VisionIpcServer_14__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionIpcServer *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_pf_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient___cinit__(struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient *__pyx_v_self, std::string __pyx_v_name, enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType __pyx_v_stream, bool __pyx_v_conflate, struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_CLContext *__pyx_v_context); /* proto */ +static void __pyx_pf_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_2__dealloc__(struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_5width___get__(struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_6height___get__(struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_6stride___get__(struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_9uv_offset___get__(struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_3rgb___get__(struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_10buffer_len___get__(struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_11num_buffers___get__(struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_8frame_id___get__(struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_13timestamp_sof___get__(struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_13timestamp_eof___get__(struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_5valid___get__(struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_4recv(struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient *__pyx_v_self, int __pyx_v_timeout_ms); /* proto */ +static PyObject *__pyx_pf_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_6connect(struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient *__pyx_v_self, bool __pyx_v_blocking); /* proto */ +static PyObject *__pyx_pf_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_8is_connected(struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_10available_streams(std::string __pyx_v_name, bool __pyx_v_block); /* proto */ +static PyObject *__pyx_pf_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_12__reduce_cython__(CYTHON_UNUSED struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_14__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static PyObject *__pyx_tp_new_4msgq_9visionipc_13visionipc_pyx_CLContext(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_4msgq_9visionipc_13visionipc_pyx_VisionBuf(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_4msgq_9visionipc_13visionipc_pyx_VisionIpcServer(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_array(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_Enum(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_memoryview(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new__memoryviewslice(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static __Pyx_CachedCFunction __pyx_umethod_PyDict_Type_get = {0, 0, 0, 0, 0}; +/* #### Code section: late_includes ### */ +/* #### Code section: module_state ### */ +typedef struct { + PyObject *__pyx_d; + PyObject *__pyx_b; + PyObject *__pyx_cython_runtime; + PyObject *__pyx_empty_tuple; + PyObject *__pyx_empty_bytes; + PyObject *__pyx_empty_unicode; + #ifdef __Pyx_CyFunction_USED + PyTypeObject *__pyx_CyFunctionType; + #endif + #ifdef __Pyx_FusedFunction_USED + PyTypeObject *__pyx_FusedFunctionType; + #endif + #ifdef __Pyx_Generator_USED + PyTypeObject *__pyx_GeneratorType; + #endif + #ifdef __Pyx_IterableCoroutine_USED + PyTypeObject *__pyx_IterableCoroutineType; + #endif + #ifdef __Pyx_Coroutine_USED + PyTypeObject *__pyx_CoroutineAwaitType; + #endif + #ifdef __Pyx_Coroutine_USED + PyTypeObject *__pyx_CoroutineType; + #endif + #if 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PyObject *__pyx_tuple__36; + PyObject *__pyx_tuple__37; + PyObject *__pyx_tuple__38; + PyObject *__pyx_tuple__39; + PyObject *__pyx_tuple__40; + PyObject *__pyx_tuple__41; + PyObject *__pyx_tuple__43; + PyObject *__pyx_tuple__47; + PyObject *__pyx_tuple__49; + PyObject *__pyx_tuple__51; + PyObject *__pyx_tuple__53; + PyObject *__pyx_tuple__57; + PyObject *__pyx_tuple__59; + PyObject *__pyx_tuple__60; + PyObject *__pyx_tuple__63; + PyObject *__pyx_codeobj__19; + PyObject *__pyx_codeobj__21; + PyObject *__pyx_codeobj__23; + PyObject *__pyx_codeobj__26; + PyObject *__pyx_codeobj__27; + PyObject *__pyx_codeobj__28; + PyObject *__pyx_codeobj__29; + PyObject *__pyx_codeobj__30; + PyObject *__pyx_codeobj__32; + PyObject *__pyx_codeobj__42; + PyObject *__pyx_codeobj__44; + PyObject *__pyx_codeobj__45; + PyObject *__pyx_codeobj__46; + PyObject *__pyx_codeobj__48; + PyObject *__pyx_codeobj__50; + PyObject *__pyx_codeobj__52; + PyObject *__pyx_codeobj__54; + PyObject *__pyx_codeobj__55; + PyObject *__pyx_codeobj__56; + PyObject *__pyx_codeobj__58; + PyObject *__pyx_codeobj__61; + PyObject *__pyx_codeobj__62; + PyObject *__pyx_codeobj__64; + PyObject *__pyx_codeobj__65; + PyObject *__pyx_codeobj__66; +} __pyx_mstate; + +#if CYTHON_USE_MODULE_STATE +#ifdef __cplusplus +namespace { + extern struct PyModuleDef __pyx_moduledef; +} /* anonymous namespace */ +#else +static struct PyModuleDef __pyx_moduledef; +#endif + +#define __pyx_mstate(o) ((__pyx_mstate *)__Pyx_PyModule_GetState(o)) + +#define __pyx_mstate_global (__pyx_mstate(PyState_FindModule(&__pyx_moduledef))) + +#define __pyx_m (PyState_FindModule(&__pyx_moduledef)) +#else +static __pyx_mstate __pyx_mstate_global_static = +#ifdef __cplusplus + {}; +#else + {0}; +#endif +static __pyx_mstate *__pyx_mstate_global = &__pyx_mstate_global_static; +#endif +/* #### Code section: module_state_clear ### */ +#if CYTHON_USE_MODULE_STATE +static int __pyx_m_clear(PyObject *m) { + __pyx_mstate *clear_module_state = 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Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_integer); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_signedinteger); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_unsignedinteger); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_inexact); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_floating); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_complexfloating); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_flexible); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_character); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_ufunc); + Py_CLEAR(clear_module_state->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_CLContext); + Py_CLEAR(clear_module_state->__pyx_type_4msgq_9visionipc_13visionipc_pyx_CLContext); + Py_CLEAR(clear_module_state->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionBuf); + Py_CLEAR(clear_module_state->__pyx_type_4msgq_9visionipc_13visionipc_pyx_VisionBuf); + Py_CLEAR(clear_module_state->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionIpcServer); + Py_CLEAR(clear_module_state->__pyx_type_4msgq_9visionipc_13visionipc_pyx_VisionIpcServer); + Py_CLEAR(clear_module_state->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient); + Py_CLEAR(clear_module_state->__pyx_type_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient); + Py_CLEAR(clear_module_state->__pyx_ptype___Pyx_EnumMeta); + Py_CLEAR(clear_module_state->__Pyx_EnumMeta); + Py_CLEAR(clear_module_state->__pyx_array_type); + Py_CLEAR(clear_module_state->__pyx_type___pyx_array); + Py_CLEAR(clear_module_state->__pyx_MemviewEnum_type); + Py_CLEAR(clear_module_state->__pyx_type___pyx_MemviewEnum); + Py_CLEAR(clear_module_state->__pyx_memoryview_type); + Py_CLEAR(clear_module_state->__pyx_type___pyx_memoryview); + Py_CLEAR(clear_module_state->__pyx_memoryviewslice_type); + Py_CLEAR(clear_module_state->__pyx_type___pyx_memoryviewslice); + Py_CLEAR(clear_module_state->__pyx_kp_b_); + Py_CLEAR(clear_module_state->__pyx_kp_s_); + Py_CLEAR(clear_module_state->__pyx_n_s_ASCII); + Py_CLEAR(clear_module_state->__pyx_kp_s_All_dimensions_preceding_dimensi); + Py_CLEAR(clear_module_state->__pyx_n_s_AssertionError); + Py_CLEAR(clear_module_state->__pyx_kp_s_Buffer_view_does_not_expose_stri); + Py_CLEAR(clear_module_state->__pyx_n_s_CLContext); + Py_CLEAR(clear_module_state->__pyx_kp_s_Can_only_create_a_buffer_that_is); + Py_CLEAR(clear_module_state->__pyx_kp_s_Cannot_assign_to_read_only_memor); + Py_CLEAR(clear_module_state->__pyx_kp_s_Cannot_create_writable_memory_vi); + Py_CLEAR(clear_module_state->__pyx_kp_u_Cannot_index_with_type); + Py_CLEAR(clear_module_state->__pyx_kp_s_Cannot_transpose_memoryview_with); + Py_CLEAR(clear_module_state->__pyx_kp_s_Dimension_d_is_not_direct); + Py_CLEAR(clear_module_state->__pyx_n_s_Ellipsis); + Py_CLEAR(clear_module_state->__pyx_kp_s_Empty_shape_tuple_for_cython_arr); + Py_CLEAR(clear_module_state->__pyx_n_s_EnumBase); + Py_CLEAR(clear_module_state->__pyx_n_s_EnumType); + Py_CLEAR(clear_module_state->__pyx_n_s_ImportError); + Py_CLEAR(clear_module_state->__pyx_kp_s_Incompatible_checksums_0x_x_vs_0); + Py_CLEAR(clear_module_state->__pyx_kp_s_Incompatible_checksums_0x_x_vs_0_2); + Py_CLEAR(clear_module_state->__pyx_n_s_IndexError); + Py_CLEAR(clear_module_state->__pyx_kp_s_Index_out_of_bounds_axis_d); + Py_CLEAR(clear_module_state->__pyx_kp_s_Indirect_dimensions_not_supporte); + Py_CLEAR(clear_module_state->__pyx_n_s_IntEnum); + Py_CLEAR(clear_module_state->__pyx_n_s_IntFlag); + Py_CLEAR(clear_module_state->__pyx_kp_u_Invalid_mode_expected_c_or_fortr); + Py_CLEAR(clear_module_state->__pyx_kp_u_Invalid_shape_in_axis); + Py_CLEAR(clear_module_state->__pyx_n_s_MemoryError); + Py_CLEAR(clear_module_state->__pyx_kp_s_MemoryView_of_r_at_0x_x); + Py_CLEAR(clear_module_state->__pyx_kp_s_MemoryView_of_r_object); + Py_CLEAR(clear_module_state->__pyx_n_b_O); + Py_CLEAR(clear_module_state->__pyx_n_s_OrderedDict); + Py_CLEAR(clear_module_state->__pyx_kp_u_Out_of_bounds_on_buffer_access_a); + Py_CLEAR(clear_module_state->__pyx_n_s_PickleError); + Py_CLEAR(clear_module_state->__pyx_n_s_Pyx_EnumBase); + Py_CLEAR(clear_module_state->__pyx_n_s_Pyx_EnumBase___new); + Py_CLEAR(clear_module_state->__pyx_n_s_Pyx_EnumBase___repr); + Py_CLEAR(clear_module_state->__pyx_n_s_Pyx_EnumBase___str); + Py_CLEAR(clear_module_state->__pyx_n_s_Pyx_EnumMeta___reduce_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_Pyx_EnumMeta___setstate_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_Pyx_FlagBase); + Py_CLEAR(clear_module_state->__pyx_n_s_Pyx_FlagBase___new); + Py_CLEAR(clear_module_state->__pyx_n_s_Pyx_FlagBase___repr); + Py_CLEAR(clear_module_state->__pyx_n_s_Pyx_FlagBase___str); + Py_CLEAR(clear_module_state->__pyx_n_s_Sequence); + Py_CLEAR(clear_module_state->__pyx_kp_s_Step_may_not_be_zero_axis_d); + Py_CLEAR(clear_module_state->__pyx_kp_b_T); + Py_CLEAR(clear_module_state->__pyx_n_s_TypeError); + Py_CLEAR(clear_module_state->__pyx_kp_s_Unable_to_convert_item_to_object); + Py_CLEAR(clear_module_state->__pyx_kp_s_Unknown_enum_value_s); + Py_CLEAR(clear_module_state->__pyx_n_s_VISION_STREAM_DRIVER); + Py_CLEAR(clear_module_state->__pyx_n_s_VISION_STREAM_MAP); + Py_CLEAR(clear_module_state->__pyx_n_s_VISION_STREAM_ROAD); + Py_CLEAR(clear_module_state->__pyx_n_s_VISION_STREAM_WIDE_ROAD); + Py_CLEAR(clear_module_state->__pyx_n_s_ValueError); + Py_CLEAR(clear_module_state->__pyx_n_s_View_MemoryView); + Py_CLEAR(clear_module_state->__pyx_n_s_VisionBuf); + Py_CLEAR(clear_module_state->__pyx_n_s_VisionBuf___reduce_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_VisionBuf___setstate_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_VisionIpcClient); + Py_CLEAR(clear_module_state->__pyx_n_s_VisionIpcClient___reduce_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_VisionIpcClient___setstate_cytho); + Py_CLEAR(clear_module_state->__pyx_n_s_VisionIpcClient_available_stream); + Py_CLEAR(clear_module_state->__pyx_n_s_VisionIpcClient_connect); + Py_CLEAR(clear_module_state->__pyx_n_s_VisionIpcClient_is_connected); + Py_CLEAR(clear_module_state->__pyx_n_s_VisionIpcClient_recv); + Py_CLEAR(clear_module_state->__pyx_n_s_VisionIpcServer); + Py_CLEAR(clear_module_state->__pyx_n_s_VisionIpcServer___reduce_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_VisionIpcServer___setstate_cytho); + Py_CLEAR(clear_module_state->__pyx_n_s_VisionIpcServer_create_buffers); + Py_CLEAR(clear_module_state->__pyx_n_s_VisionIpcServer_create_buffers_w); + Py_CLEAR(clear_module_state->__pyx_n_s_VisionIpcServer_send); + Py_CLEAR(clear_module_state->__pyx_n_s_VisionIpcServer_start_listener); + Py_CLEAR(clear_module_state->__pyx_n_s_VisionStreamType); + Py_CLEAR(clear_module_state->__pyx_kp_b__11); + Py_CLEAR(clear_module_state->__pyx_kp_b__12); + Py_CLEAR(clear_module_state->__pyx_kp_b__13); + Py_CLEAR(clear_module_state->__pyx_kp_u__14); + Py_CLEAR(clear_module_state->__pyx_kp_u__15); + Py_CLEAR(clear_module_state->__pyx_kp_u__3); + Py_CLEAR(clear_module_state->__pyx_kp_u__4); + Py_CLEAR(clear_module_state->__pyx_n_s__5); + Py_CLEAR(clear_module_state->__pyx_n_s__67); + Py_CLEAR(clear_module_state->__pyx_kp_u__8); + Py_CLEAR(clear_module_state->__pyx_kp_u__9); + Py_CLEAR(clear_module_state->__pyx_n_s_abc); + Py_CLEAR(clear_module_state->__pyx_n_s_allocate_buffer); + Py_CLEAR(clear_module_state->__pyx_kp_u_and); + Py_CLEAR(clear_module_state->__pyx_n_s_asarray); + Py_CLEAR(clear_module_state->__pyx_n_s_asyncio_coroutines); + Py_CLEAR(clear_module_state->__pyx_n_s_available_streams); + Py_CLEAR(clear_module_state->__pyx_n_s_base); + Py_CLEAR(clear_module_state->__pyx_n_s_block); + Py_CLEAR(clear_module_state->__pyx_n_s_blocking); + Py_CLEAR(clear_module_state->__pyx_n_s_buf); + Py_CLEAR(clear_module_state->__pyx_n_s_c); + Py_CLEAR(clear_module_state->__pyx_n_u_c); + Py_CLEAR(clear_module_state->__pyx_n_s_class); + Py_CLEAR(clear_module_state->__pyx_n_s_class_getitem); + Py_CLEAR(clear_module_state->__pyx_n_s_cline_in_traceback); + Py_CLEAR(clear_module_state->__pyx_n_s_cls); + Py_CLEAR(clear_module_state->__pyx_n_s_collections); + Py_CLEAR(clear_module_state->__pyx_kp_s_collections_abc); + Py_CLEAR(clear_module_state->__pyx_n_s_conflate); + Py_CLEAR(clear_module_state->__pyx_n_s_connect); + Py_CLEAR(clear_module_state->__pyx_n_s_context); + Py_CLEAR(clear_module_state->__pyx_kp_s_contiguous_and_direct); + Py_CLEAR(clear_module_state->__pyx_kp_s_contiguous_and_indirect); + Py_CLEAR(clear_module_state->__pyx_n_s_count); + Py_CLEAR(clear_module_state->__pyx_n_s_create_buffers); + Py_CLEAR(clear_module_state->__pyx_n_s_create_buffers_with_sizes); + Py_CLEAR(clear_module_state->__pyx_n_s_data); + Py_CLEAR(clear_module_state->__pyx_n_s_dct); + Py_CLEAR(clear_module_state->__pyx_n_s_dict); + Py_CLEAR(clear_module_state->__pyx_n_s_dict_2); + Py_CLEAR(clear_module_state->__pyx_kp_u_disable); + Py_CLEAR(clear_module_state->__pyx_n_s_doc); + Py_CLEAR(clear_module_state->__pyx_n_s_dtype_is_object); + Py_CLEAR(clear_module_state->__pyx_kp_u_enable); + Py_CLEAR(clear_module_state->__pyx_n_s_encode); + Py_CLEAR(clear_module_state->__pyx_n_s_enum); + Py_CLEAR(clear_module_state->__pyx_n_s_enumerate); + Py_CLEAR(clear_module_state->__pyx_n_s_error); + Py_CLEAR(clear_module_state->__pyx_n_s_extra); + Py_CLEAR(clear_module_state->__pyx_n_s_flags); + Py_CLEAR(clear_module_state->__pyx_n_s_format); + Py_CLEAR(clear_module_state->__pyx_n_s_fortran); + Py_CLEAR(clear_module_state->__pyx_n_u_fortran); + Py_CLEAR(clear_module_state->__pyx_n_s_frame_id); + Py_CLEAR(clear_module_state->__pyx_kp_u_gc); + Py_CLEAR(clear_module_state->__pyx_n_s_get); + Py_CLEAR(clear_module_state->__pyx_n_s_get_endpoint_name); + Py_CLEAR(clear_module_state->__pyx_n_s_getstate); + Py_CLEAR(clear_module_state->__pyx_kp_u_got); + Py_CLEAR(clear_module_state->__pyx_kp_u_got_differing_extents_in_dimensi); + Py_CLEAR(clear_module_state->__pyx_n_s_height); + Py_CLEAR(clear_module_state->__pyx_n_s_id); + Py_CLEAR(clear_module_state->__pyx_n_s_import); + Py_CLEAR(clear_module_state->__pyx_n_s_index); + Py_CLEAR(clear_module_state->__pyx_n_s_init); + Py_CLEAR(clear_module_state->__pyx_n_s_init_subclass); + Py_CLEAR(clear_module_state->__pyx_n_s_initializing); + Py_CLEAR(clear_module_state->__pyx_n_s_is_connected); + Py_CLEAR(clear_module_state->__pyx_n_s_is_coroutine); + Py_CLEAR(clear_module_state->__pyx_kp_u_isenabled); + Py_CLEAR(clear_module_state->__pyx_n_s_itemsize); + Py_CLEAR(clear_module_state->__pyx_kp_s_itemsize_0_for_cython_array); + Py_CLEAR(clear_module_state->__pyx_n_s_join); + Py_CLEAR(clear_module_state->__pyx_n_s_main); + Py_CLEAR(clear_module_state->__pyx_n_s_member_names); + Py_CLEAR(clear_module_state->__pyx_n_s_members); + Py_CLEAR(clear_module_state->__pyx_n_s_memview); + Py_CLEAR(clear_module_state->__pyx_n_s_metaclass); + Py_CLEAR(clear_module_state->__pyx_n_s_mode); + Py_CLEAR(clear_module_state->__pyx_n_s_module); + Py_CLEAR(clear_module_state->__pyx_n_s_module_2); + Py_CLEAR(clear_module_state->__pyx_n_s_mro_entries); + Py_CLEAR(clear_module_state->__pyx_kp_s_msgq_repo_msgq_visionipc_visioni); + Py_CLEAR(clear_module_state->__pyx_kp_s_msgq_visionipc_visionipc_pyx); + Py_CLEAR(clear_module_state->__pyx_n_s_name); + Py_CLEAR(clear_module_state->__pyx_n_s_name_2); + Py_CLEAR(clear_module_state->__pyx_n_s_ndim); + Py_CLEAR(clear_module_state->__pyx_n_s_new); + Py_CLEAR(clear_module_state->__pyx_kp_s_no_default___reduce___due_to_non); + Py_CLEAR(clear_module_state->__pyx_n_s_np); + Py_CLEAR(clear_module_state->__pyx_n_s_num_buffers); + Py_CLEAR(clear_module_state->__pyx_n_s_numpy); + Py_CLEAR(clear_module_state->__pyx_kp_u_numpy_core_multiarray_failed_to); + Py_CLEAR(clear_module_state->__pyx_kp_u_numpy_core_umath_failed_to_impor); + Py_CLEAR(clear_module_state->__pyx_n_s_obj); + Py_CLEAR(clear_module_state->__pyx_n_s_pack); + Py_CLEAR(clear_module_state->__pyx_n_s_parents); + Py_CLEAR(clear_module_state->__pyx_n_s_pickle); + Py_CLEAR(clear_module_state->__pyx_n_s_prepare); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_PickleError); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_checksum); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_result); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_state); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_type); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_unpickle_Enum); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_unpickle___Pyx_EnumMeta); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_vtable); + Py_CLEAR(clear_module_state->__pyx_n_s_qualname); + Py_CLEAR(clear_module_state->__pyx_n_s_range); + Py_CLEAR(clear_module_state->__pyx_n_s_recv); + Py_CLEAR(clear_module_state->__pyx_n_s_reduce); + Py_CLEAR(clear_module_state->__pyx_n_s_reduce_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_reduce_ex); + Py_CLEAR(clear_module_state->__pyx_n_s_register); + Py_CLEAR(clear_module_state->__pyx_n_s_repr); + Py_CLEAR(clear_module_state->__pyx_n_s_res); + Py_CLEAR(clear_module_state->__pyx_n_s_rgb); + Py_CLEAR(clear_module_state->__pyx_kp_s_s_s); + Py_CLEAR(clear_module_state->__pyx_kp_s_s_s_d); + Py_CLEAR(clear_module_state->__pyx_n_s_self); + Py_CLEAR(clear_module_state->__pyx_kp_s_self_buf_cannot_be_converted_to); + Py_CLEAR(clear_module_state->__pyx_kp_s_self_server_cannot_be_converted); + Py_CLEAR(clear_module_state->__pyx_n_s_send); + Py_CLEAR(clear_module_state->__pyx_n_s_set_name); + Py_CLEAR(clear_module_state->__pyx_n_s_setstate); + Py_CLEAR(clear_module_state->__pyx_n_s_setstate_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_shape); + Py_CLEAR(clear_module_state->__pyx_n_s_size); + Py_CLEAR(clear_module_state->__pyx_n_s_spec); + Py_CLEAR(clear_module_state->__pyx_n_s_start); + Py_CLEAR(clear_module_state->__pyx_n_s_start_listener); + Py_CLEAR(clear_module_state->__pyx_n_s_state); + Py_CLEAR(clear_module_state->__pyx_n_s_staticmethod); + Py_CLEAR(clear_module_state->__pyx_n_s_step); + Py_CLEAR(clear_module_state->__pyx_n_s_stop); + Py_CLEAR(clear_module_state->__pyx_n_s_str); + Py_CLEAR(clear_module_state->__pyx_n_s_stream); + Py_CLEAR(clear_module_state->__pyx_n_s_stride); + Py_CLEAR(clear_module_state->__pyx_kp_s_strided_and_direct); + Py_CLEAR(clear_module_state->__pyx_kp_s_strided_and_direct_or_indirect); + Py_CLEAR(clear_module_state->__pyx_kp_s_strided_and_indirect); + Py_CLEAR(clear_module_state->__pyx_kp_s_stringsource); + Py_CLEAR(clear_module_state->__pyx_n_s_struct); + Py_CLEAR(clear_module_state->__pyx_n_s_super); + Py_CLEAR(clear_module_state->__pyx_n_s_sys); + Py_CLEAR(clear_module_state->__pyx_n_s_test); + Py_CLEAR(clear_module_state->__pyx_n_s_timeout_ms); + Py_CLEAR(clear_module_state->__pyx_n_s_timestamp_eof); + Py_CLEAR(clear_module_state->__pyx_n_s_timestamp_sof); + Py_CLEAR(clear_module_state->__pyx_n_s_tp); + Py_CLEAR(clear_module_state->__pyx_kp_s_unable_to_allocate_array_data); + Py_CLEAR(clear_module_state->__pyx_kp_s_unable_to_allocate_shape_and_str); + Py_CLEAR(clear_module_state->__pyx_n_s_unpack); + Py_CLEAR(clear_module_state->__pyx_n_s_update); + Py_CLEAR(clear_module_state->__pyx_n_s_use_setstate); + Py_CLEAR(clear_module_state->__pyx_n_s_uv_offset); + Py_CLEAR(clear_module_state->__pyx_n_s_v); + Py_CLEAR(clear_module_state->__pyx_n_s_value); + Py_CLEAR(clear_module_state->__pyx_n_s_values); + Py_CLEAR(clear_module_state->__pyx_n_s_version_info); + Py_CLEAR(clear_module_state->__pyx_n_s_width); + Py_CLEAR(clear_module_state->__pyx_int_0); + Py_CLEAR(clear_module_state->__pyx_int_1); + Py_CLEAR(clear_module_state->__pyx_int_3); + Py_CLEAR(clear_module_state->__pyx_int_100); + Py_CLEAR(clear_module_state->__pyx_int_112105877); + Py_CLEAR(clear_module_state->__pyx_int_136983863); + Py_CLEAR(clear_module_state->__pyx_int_184977713); + Py_CLEAR(clear_module_state->__pyx_int_222419149); + Py_CLEAR(clear_module_state->__pyx_int_228825662); + Py_CLEAR(clear_module_state->__pyx_int_238750788); + Py_CLEAR(clear_module_state->__pyx_int_neg_1); + Py_CLEAR(clear_module_state->__pyx_slice__7); + Py_CLEAR(clear_module_state->__pyx_tuple__2); + Py_CLEAR(clear_module_state->__pyx_tuple__6); + Py_CLEAR(clear_module_state->__pyx_tuple__10); + Py_CLEAR(clear_module_state->__pyx_tuple__16); + Py_CLEAR(clear_module_state->__pyx_tuple__17); + Py_CLEAR(clear_module_state->__pyx_tuple__18); + Py_CLEAR(clear_module_state->__pyx_tuple__20); + Py_CLEAR(clear_module_state->__pyx_tuple__22); + Py_CLEAR(clear_module_state->__pyx_tuple__24); + Py_CLEAR(clear_module_state->__pyx_tuple__25); + Py_CLEAR(clear_module_state->__pyx_tuple__31); + Py_CLEAR(clear_module_state->__pyx_tuple__33); + Py_CLEAR(clear_module_state->__pyx_tuple__34); + Py_CLEAR(clear_module_state->__pyx_tuple__35); + Py_CLEAR(clear_module_state->__pyx_tuple__36); + Py_CLEAR(clear_module_state->__pyx_tuple__37); + Py_CLEAR(clear_module_state->__pyx_tuple__38); + Py_CLEAR(clear_module_state->__pyx_tuple__39); + Py_CLEAR(clear_module_state->__pyx_tuple__40); + Py_CLEAR(clear_module_state->__pyx_tuple__41); + Py_CLEAR(clear_module_state->__pyx_tuple__43); + Py_CLEAR(clear_module_state->__pyx_tuple__47); + Py_CLEAR(clear_module_state->__pyx_tuple__49); + Py_CLEAR(clear_module_state->__pyx_tuple__51); + Py_CLEAR(clear_module_state->__pyx_tuple__53); + Py_CLEAR(clear_module_state->__pyx_tuple__57); + Py_CLEAR(clear_module_state->__pyx_tuple__59); + Py_CLEAR(clear_module_state->__pyx_tuple__60); + Py_CLEAR(clear_module_state->__pyx_tuple__63); + Py_CLEAR(clear_module_state->__pyx_codeobj__19); + Py_CLEAR(clear_module_state->__pyx_codeobj__21); + Py_CLEAR(clear_module_state->__pyx_codeobj__23); + Py_CLEAR(clear_module_state->__pyx_codeobj__26); + Py_CLEAR(clear_module_state->__pyx_codeobj__27); + Py_CLEAR(clear_module_state->__pyx_codeobj__28); + Py_CLEAR(clear_module_state->__pyx_codeobj__29); + Py_CLEAR(clear_module_state->__pyx_codeobj__30); + Py_CLEAR(clear_module_state->__pyx_codeobj__32); + Py_CLEAR(clear_module_state->__pyx_codeobj__42); + Py_CLEAR(clear_module_state->__pyx_codeobj__44); + Py_CLEAR(clear_module_state->__pyx_codeobj__45); + Py_CLEAR(clear_module_state->__pyx_codeobj__46); + Py_CLEAR(clear_module_state->__pyx_codeobj__48); + Py_CLEAR(clear_module_state->__pyx_codeobj__50); + Py_CLEAR(clear_module_state->__pyx_codeobj__52); + Py_CLEAR(clear_module_state->__pyx_codeobj__54); + Py_CLEAR(clear_module_state->__pyx_codeobj__55); + Py_CLEAR(clear_module_state->__pyx_codeobj__56); + Py_CLEAR(clear_module_state->__pyx_codeobj__58); + Py_CLEAR(clear_module_state->__pyx_codeobj__61); + Py_CLEAR(clear_module_state->__pyx_codeobj__62); + Py_CLEAR(clear_module_state->__pyx_codeobj__64); + Py_CLEAR(clear_module_state->__pyx_codeobj__65); + Py_CLEAR(clear_module_state->__pyx_codeobj__66); + return 0; +} +#endif +/* #### Code section: module_state_traverse ### */ +#if CYTHON_USE_MODULE_STATE +static int __pyx_m_traverse(PyObject *m, visitproc visit, void *arg) { + __pyx_mstate *traverse_module_state = __pyx_mstate(m); + if (!traverse_module_state) return 0; + Py_VISIT(traverse_module_state->__pyx_d); + Py_VISIT(traverse_module_state->__pyx_b); + Py_VISIT(traverse_module_state->__pyx_cython_runtime); + Py_VISIT(traverse_module_state->__pyx_empty_tuple); + Py_VISIT(traverse_module_state->__pyx_empty_bytes); + Py_VISIT(traverse_module_state->__pyx_empty_unicode); + #ifdef __Pyx_CyFunction_USED + Py_VISIT(traverse_module_state->__pyx_CyFunctionType); + #endif + #ifdef __Pyx_FusedFunction_USED + Py_VISIT(traverse_module_state->__pyx_FusedFunctionType); + #endif + Py_VISIT(traverse_module_state->__pyx_ptype_7cpython_4type_type); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_dtype); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_flatiter); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_broadcast); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_ndarray); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_generic); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_number); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_integer); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_signedinteger); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_unsignedinteger); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_inexact); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_floating); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_complexfloating); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_flexible); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_character); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_ufunc); + Py_VISIT(traverse_module_state->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_CLContext); + Py_VISIT(traverse_module_state->__pyx_type_4msgq_9visionipc_13visionipc_pyx_CLContext); + Py_VISIT(traverse_module_state->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionBuf); + Py_VISIT(traverse_module_state->__pyx_type_4msgq_9visionipc_13visionipc_pyx_VisionBuf); + Py_VISIT(traverse_module_state->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionIpcServer); + Py_VISIT(traverse_module_state->__pyx_type_4msgq_9visionipc_13visionipc_pyx_VisionIpcServer); + Py_VISIT(traverse_module_state->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient); + Py_VISIT(traverse_module_state->__pyx_type_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient); + Py_VISIT(traverse_module_state->__pyx_ptype___Pyx_EnumMeta); + Py_VISIT(traverse_module_state->__Pyx_EnumMeta); + Py_VISIT(traverse_module_state->__pyx_array_type); + Py_VISIT(traverse_module_state->__pyx_type___pyx_array); + Py_VISIT(traverse_module_state->__pyx_MemviewEnum_type); + Py_VISIT(traverse_module_state->__pyx_type___pyx_MemviewEnum); + Py_VISIT(traverse_module_state->__pyx_memoryview_type); + Py_VISIT(traverse_module_state->__pyx_type___pyx_memoryview); + Py_VISIT(traverse_module_state->__pyx_memoryviewslice_type); + Py_VISIT(traverse_module_state->__pyx_type___pyx_memoryviewslice); + Py_VISIT(traverse_module_state->__pyx_kp_b_); + Py_VISIT(traverse_module_state->__pyx_kp_s_); + Py_VISIT(traverse_module_state->__pyx_n_s_ASCII); + Py_VISIT(traverse_module_state->__pyx_kp_s_All_dimensions_preceding_dimensi); + Py_VISIT(traverse_module_state->__pyx_n_s_AssertionError); + Py_VISIT(traverse_module_state->__pyx_kp_s_Buffer_view_does_not_expose_stri); + Py_VISIT(traverse_module_state->__pyx_n_s_CLContext); + Py_VISIT(traverse_module_state->__pyx_kp_s_Can_only_create_a_buffer_that_is); + Py_VISIT(traverse_module_state->__pyx_kp_s_Cannot_assign_to_read_only_memor); + Py_VISIT(traverse_module_state->__pyx_kp_s_Cannot_create_writable_memory_vi); + Py_VISIT(traverse_module_state->__pyx_kp_u_Cannot_index_with_type); + Py_VISIT(traverse_module_state->__pyx_kp_s_Cannot_transpose_memoryview_with); + Py_VISIT(traverse_module_state->__pyx_kp_s_Dimension_d_is_not_direct); + Py_VISIT(traverse_module_state->__pyx_n_s_Ellipsis); + Py_VISIT(traverse_module_state->__pyx_kp_s_Empty_shape_tuple_for_cython_arr); + Py_VISIT(traverse_module_state->__pyx_n_s_EnumBase); + Py_VISIT(traverse_module_state->__pyx_n_s_EnumType); + Py_VISIT(traverse_module_state->__pyx_n_s_ImportError); + Py_VISIT(traverse_module_state->__pyx_kp_s_Incompatible_checksums_0x_x_vs_0); + Py_VISIT(traverse_module_state->__pyx_kp_s_Incompatible_checksums_0x_x_vs_0_2); + Py_VISIT(traverse_module_state->__pyx_n_s_IndexError); + Py_VISIT(traverse_module_state->__pyx_kp_s_Index_out_of_bounds_axis_d); + Py_VISIT(traverse_module_state->__pyx_kp_s_Indirect_dimensions_not_supporte); + Py_VISIT(traverse_module_state->__pyx_n_s_IntEnum); + Py_VISIT(traverse_module_state->__pyx_n_s_IntFlag); + Py_VISIT(traverse_module_state->__pyx_kp_u_Invalid_mode_expected_c_or_fortr); + Py_VISIT(traverse_module_state->__pyx_kp_u_Invalid_shape_in_axis); + Py_VISIT(traverse_module_state->__pyx_n_s_MemoryError); + Py_VISIT(traverse_module_state->__pyx_kp_s_MemoryView_of_r_at_0x_x); + Py_VISIT(traverse_module_state->__pyx_kp_s_MemoryView_of_r_object); + Py_VISIT(traverse_module_state->__pyx_n_b_O); + Py_VISIT(traverse_module_state->__pyx_n_s_OrderedDict); + Py_VISIT(traverse_module_state->__pyx_kp_u_Out_of_bounds_on_buffer_access_a); + Py_VISIT(traverse_module_state->__pyx_n_s_PickleError); + Py_VISIT(traverse_module_state->__pyx_n_s_Pyx_EnumBase); + Py_VISIT(traverse_module_state->__pyx_n_s_Pyx_EnumBase___new); + Py_VISIT(traverse_module_state->__pyx_n_s_Pyx_EnumBase___repr); + Py_VISIT(traverse_module_state->__pyx_n_s_Pyx_EnumBase___str); + Py_VISIT(traverse_module_state->__pyx_n_s_Pyx_EnumMeta___reduce_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_Pyx_EnumMeta___setstate_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_Pyx_FlagBase); + Py_VISIT(traverse_module_state->__pyx_n_s_Pyx_FlagBase___new); + Py_VISIT(traverse_module_state->__pyx_n_s_Pyx_FlagBase___repr); + Py_VISIT(traverse_module_state->__pyx_n_s_Pyx_FlagBase___str); + Py_VISIT(traverse_module_state->__pyx_n_s_Sequence); + Py_VISIT(traverse_module_state->__pyx_kp_s_Step_may_not_be_zero_axis_d); + Py_VISIT(traverse_module_state->__pyx_kp_b_T); + Py_VISIT(traverse_module_state->__pyx_n_s_TypeError); + Py_VISIT(traverse_module_state->__pyx_kp_s_Unable_to_convert_item_to_object); + Py_VISIT(traverse_module_state->__pyx_kp_s_Unknown_enum_value_s); + Py_VISIT(traverse_module_state->__pyx_n_s_VISION_STREAM_DRIVER); + Py_VISIT(traverse_module_state->__pyx_n_s_VISION_STREAM_MAP); + Py_VISIT(traverse_module_state->__pyx_n_s_VISION_STREAM_ROAD); + Py_VISIT(traverse_module_state->__pyx_n_s_VISION_STREAM_WIDE_ROAD); + Py_VISIT(traverse_module_state->__pyx_n_s_ValueError); + Py_VISIT(traverse_module_state->__pyx_n_s_View_MemoryView); + 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Py_VISIT(traverse_module_state->__pyx_n_s_VisionIpcServer_create_buffers); + Py_VISIT(traverse_module_state->__pyx_n_s_VisionIpcServer_create_buffers_w); + Py_VISIT(traverse_module_state->__pyx_n_s_VisionIpcServer_send); + Py_VISIT(traverse_module_state->__pyx_n_s_VisionIpcServer_start_listener); + Py_VISIT(traverse_module_state->__pyx_n_s_VisionStreamType); + Py_VISIT(traverse_module_state->__pyx_kp_b__11); + Py_VISIT(traverse_module_state->__pyx_kp_b__12); + Py_VISIT(traverse_module_state->__pyx_kp_b__13); + Py_VISIT(traverse_module_state->__pyx_kp_u__14); + Py_VISIT(traverse_module_state->__pyx_kp_u__15); + Py_VISIT(traverse_module_state->__pyx_kp_u__3); + Py_VISIT(traverse_module_state->__pyx_kp_u__4); + Py_VISIT(traverse_module_state->__pyx_n_s__5); + Py_VISIT(traverse_module_state->__pyx_n_s__67); + Py_VISIT(traverse_module_state->__pyx_kp_u__8); + Py_VISIT(traverse_module_state->__pyx_kp_u__9); + Py_VISIT(traverse_module_state->__pyx_n_s_abc); + 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Py_VISIT(traverse_module_state->__pyx_codeobj__58); + Py_VISIT(traverse_module_state->__pyx_codeobj__61); + Py_VISIT(traverse_module_state->__pyx_codeobj__62); + Py_VISIT(traverse_module_state->__pyx_codeobj__64); + Py_VISIT(traverse_module_state->__pyx_codeobj__65); + Py_VISIT(traverse_module_state->__pyx_codeobj__66); + return 0; +} +#endif +/* #### Code section: module_state_defines ### */ +#define __pyx_d __pyx_mstate_global->__pyx_d +#define __pyx_b __pyx_mstate_global->__pyx_b +#define __pyx_cython_runtime __pyx_mstate_global->__pyx_cython_runtime +#define __pyx_empty_tuple __pyx_mstate_global->__pyx_empty_tuple +#define __pyx_empty_bytes __pyx_mstate_global->__pyx_empty_bytes +#define __pyx_empty_unicode __pyx_mstate_global->__pyx_empty_unicode +#ifdef __Pyx_CyFunction_USED +#define __pyx_CyFunctionType __pyx_mstate_global->__pyx_CyFunctionType +#endif +#ifdef __Pyx_FusedFunction_USED +#define __pyx_FusedFunctionType __pyx_mstate_global->__pyx_FusedFunctionType +#endif +#ifdef __Pyx_Generator_USED +#define __pyx_GeneratorType __pyx_mstate_global->__pyx_GeneratorType +#endif +#ifdef __Pyx_IterableCoroutine_USED +#define __pyx_IterableCoroutineType __pyx_mstate_global->__pyx_IterableCoroutineType +#endif +#ifdef __Pyx_Coroutine_USED +#define __pyx_CoroutineAwaitType __pyx_mstate_global->__pyx_CoroutineAwaitType +#endif +#ifdef __Pyx_Coroutine_USED +#define __pyx_CoroutineType __pyx_mstate_global->__pyx_CoroutineType +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#define __pyx_ptype_7cpython_4type_type __pyx_mstate_global->__pyx_ptype_7cpython_4type_type +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#define __pyx_ptype_5numpy_dtype __pyx_mstate_global->__pyx_ptype_5numpy_dtype +#define __pyx_ptype_5numpy_flatiter __pyx_mstate_global->__pyx_ptype_5numpy_flatiter +#define __pyx_ptype_5numpy_broadcast __pyx_mstate_global->__pyx_ptype_5numpy_broadcast +#define __pyx_ptype_5numpy_ndarray __pyx_mstate_global->__pyx_ptype_5numpy_ndarray +#define __pyx_ptype_5numpy_generic __pyx_mstate_global->__pyx_ptype_5numpy_generic +#define __pyx_ptype_5numpy_number __pyx_mstate_global->__pyx_ptype_5numpy_number +#define __pyx_ptype_5numpy_integer __pyx_mstate_global->__pyx_ptype_5numpy_integer +#define __pyx_ptype_5numpy_signedinteger __pyx_mstate_global->__pyx_ptype_5numpy_signedinteger +#define __pyx_ptype_5numpy_unsignedinteger __pyx_mstate_global->__pyx_ptype_5numpy_unsignedinteger +#define __pyx_ptype_5numpy_inexact __pyx_mstate_global->__pyx_ptype_5numpy_inexact +#define __pyx_ptype_5numpy_floating __pyx_mstate_global->__pyx_ptype_5numpy_floating +#define __pyx_ptype_5numpy_complexfloating __pyx_mstate_global->__pyx_ptype_5numpy_complexfloating +#define __pyx_ptype_5numpy_flexible __pyx_mstate_global->__pyx_ptype_5numpy_flexible +#define __pyx_ptype_5numpy_character __pyx_mstate_global->__pyx_ptype_5numpy_character +#define __pyx_ptype_5numpy_ufunc __pyx_mstate_global->__pyx_ptype_5numpy_ufunc +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#define __pyx_type_4msgq_9visionipc_13visionipc_pyx_CLContext __pyx_mstate_global->__pyx_type_4msgq_9visionipc_13visionipc_pyx_CLContext +#define __pyx_type_4msgq_9visionipc_13visionipc_pyx_VisionBuf __pyx_mstate_global->__pyx_type_4msgq_9visionipc_13visionipc_pyx_VisionBuf +#define __pyx_type_4msgq_9visionipc_13visionipc_pyx_VisionIpcServer __pyx_mstate_global->__pyx_type_4msgq_9visionipc_13visionipc_pyx_VisionIpcServer +#define __pyx_type_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient __pyx_mstate_global->__pyx_type_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient +#define __Pyx_EnumMeta __pyx_mstate_global->__Pyx_EnumMeta +#define __pyx_type___pyx_array __pyx_mstate_global->__pyx_type___pyx_array +#define __pyx_type___pyx_MemviewEnum __pyx_mstate_global->__pyx_type___pyx_MemviewEnum +#define __pyx_type___pyx_memoryview __pyx_mstate_global->__pyx_type___pyx_memoryview +#define __pyx_type___pyx_memoryviewslice __pyx_mstate_global->__pyx_type___pyx_memoryviewslice +#endif +#define __pyx_ptype_4msgq_9visionipc_13visionipc_pyx_CLContext __pyx_mstate_global->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_CLContext +#define __pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionBuf __pyx_mstate_global->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionBuf +#define __pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionIpcServer __pyx_mstate_global->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionIpcServer +#define __pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient __pyx_mstate_global->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient +#define __pyx_ptype___Pyx_EnumMeta __pyx_mstate_global->__pyx_ptype___Pyx_EnumMeta +#define __pyx_array_type __pyx_mstate_global->__pyx_array_type +#define __pyx_MemviewEnum_type __pyx_mstate_global->__pyx_MemviewEnum_type +#define __pyx_memoryview_type __pyx_mstate_global->__pyx_memoryview_type +#define __pyx_memoryviewslice_type __pyx_mstate_global->__pyx_memoryviewslice_type +#define __pyx_kp_b_ __pyx_mstate_global->__pyx_kp_b_ +#define __pyx_kp_s_ __pyx_mstate_global->__pyx_kp_s_ +#define __pyx_n_s_ASCII __pyx_mstate_global->__pyx_n_s_ASCII +#define __pyx_kp_s_All_dimensions_preceding_dimensi __pyx_mstate_global->__pyx_kp_s_All_dimensions_preceding_dimensi +#define __pyx_n_s_AssertionError __pyx_mstate_global->__pyx_n_s_AssertionError +#define __pyx_kp_s_Buffer_view_does_not_expose_stri __pyx_mstate_global->__pyx_kp_s_Buffer_view_does_not_expose_stri +#define __pyx_n_s_CLContext __pyx_mstate_global->__pyx_n_s_CLContext +#define __pyx_kp_s_Can_only_create_a_buffer_that_is __pyx_mstate_global->__pyx_kp_s_Can_only_create_a_buffer_that_is +#define __pyx_kp_s_Cannot_assign_to_read_only_memor __pyx_mstate_global->__pyx_kp_s_Cannot_assign_to_read_only_memor +#define __pyx_kp_s_Cannot_create_writable_memory_vi __pyx_mstate_global->__pyx_kp_s_Cannot_create_writable_memory_vi +#define __pyx_kp_u_Cannot_index_with_type __pyx_mstate_global->__pyx_kp_u_Cannot_index_with_type +#define __pyx_kp_s_Cannot_transpose_memoryview_with __pyx_mstate_global->__pyx_kp_s_Cannot_transpose_memoryview_with +#define __pyx_kp_s_Dimension_d_is_not_direct __pyx_mstate_global->__pyx_kp_s_Dimension_d_is_not_direct +#define __pyx_n_s_Ellipsis __pyx_mstate_global->__pyx_n_s_Ellipsis +#define __pyx_kp_s_Empty_shape_tuple_for_cython_arr __pyx_mstate_global->__pyx_kp_s_Empty_shape_tuple_for_cython_arr +#define __pyx_n_s_EnumBase __pyx_mstate_global->__pyx_n_s_EnumBase +#define __pyx_n_s_EnumType __pyx_mstate_global->__pyx_n_s_EnumType +#define __pyx_n_s_ImportError __pyx_mstate_global->__pyx_n_s_ImportError +#define __pyx_kp_s_Incompatible_checksums_0x_x_vs_0 __pyx_mstate_global->__pyx_kp_s_Incompatible_checksums_0x_x_vs_0 +#define __pyx_kp_s_Incompatible_checksums_0x_x_vs_0_2 __pyx_mstate_global->__pyx_kp_s_Incompatible_checksums_0x_x_vs_0_2 +#define __pyx_n_s_IndexError __pyx_mstate_global->__pyx_n_s_IndexError +#define __pyx_kp_s_Index_out_of_bounds_axis_d __pyx_mstate_global->__pyx_kp_s_Index_out_of_bounds_axis_d +#define __pyx_kp_s_Indirect_dimensions_not_supporte __pyx_mstate_global->__pyx_kp_s_Indirect_dimensions_not_supporte +#define __pyx_n_s_IntEnum __pyx_mstate_global->__pyx_n_s_IntEnum +#define __pyx_n_s_IntFlag __pyx_mstate_global->__pyx_n_s_IntFlag +#define __pyx_kp_u_Invalid_mode_expected_c_or_fortr __pyx_mstate_global->__pyx_kp_u_Invalid_mode_expected_c_or_fortr +#define __pyx_kp_u_Invalid_shape_in_axis __pyx_mstate_global->__pyx_kp_u_Invalid_shape_in_axis +#define __pyx_n_s_MemoryError __pyx_mstate_global->__pyx_n_s_MemoryError +#define __pyx_kp_s_MemoryView_of_r_at_0x_x __pyx_mstate_global->__pyx_kp_s_MemoryView_of_r_at_0x_x +#define __pyx_kp_s_MemoryView_of_r_object __pyx_mstate_global->__pyx_kp_s_MemoryView_of_r_object +#define __pyx_n_b_O __pyx_mstate_global->__pyx_n_b_O +#define __pyx_n_s_OrderedDict __pyx_mstate_global->__pyx_n_s_OrderedDict +#define __pyx_kp_u_Out_of_bounds_on_buffer_access_a __pyx_mstate_global->__pyx_kp_u_Out_of_bounds_on_buffer_access_a +#define __pyx_n_s_PickleError __pyx_mstate_global->__pyx_n_s_PickleError +#define __pyx_n_s_Pyx_EnumBase __pyx_mstate_global->__pyx_n_s_Pyx_EnumBase +#define __pyx_n_s_Pyx_EnumBase___new __pyx_mstate_global->__pyx_n_s_Pyx_EnumBase___new +#define __pyx_n_s_Pyx_EnumBase___repr __pyx_mstate_global->__pyx_n_s_Pyx_EnumBase___repr +#define __pyx_n_s_Pyx_EnumBase___str __pyx_mstate_global->__pyx_n_s_Pyx_EnumBase___str +#define __pyx_n_s_Pyx_EnumMeta___reduce_cython __pyx_mstate_global->__pyx_n_s_Pyx_EnumMeta___reduce_cython +#define __pyx_n_s_Pyx_EnumMeta___setstate_cython __pyx_mstate_global->__pyx_n_s_Pyx_EnumMeta___setstate_cython +#define __pyx_n_s_Pyx_FlagBase __pyx_mstate_global->__pyx_n_s_Pyx_FlagBase +#define __pyx_n_s_Pyx_FlagBase___new __pyx_mstate_global->__pyx_n_s_Pyx_FlagBase___new +#define __pyx_n_s_Pyx_FlagBase___repr __pyx_mstate_global->__pyx_n_s_Pyx_FlagBase___repr +#define __pyx_n_s_Pyx_FlagBase___str __pyx_mstate_global->__pyx_n_s_Pyx_FlagBase___str +#define __pyx_n_s_Sequence __pyx_mstate_global->__pyx_n_s_Sequence +#define __pyx_kp_s_Step_may_not_be_zero_axis_d __pyx_mstate_global->__pyx_kp_s_Step_may_not_be_zero_axis_d +#define __pyx_kp_b_T __pyx_mstate_global->__pyx_kp_b_T +#define __pyx_n_s_TypeError __pyx_mstate_global->__pyx_n_s_TypeError +#define __pyx_kp_s_Unable_to_convert_item_to_object __pyx_mstate_global->__pyx_kp_s_Unable_to_convert_item_to_object +#define __pyx_kp_s_Unknown_enum_value_s __pyx_mstate_global->__pyx_kp_s_Unknown_enum_value_s +#define __pyx_n_s_VISION_STREAM_DRIVER __pyx_mstate_global->__pyx_n_s_VISION_STREAM_DRIVER +#define __pyx_n_s_VISION_STREAM_MAP __pyx_mstate_global->__pyx_n_s_VISION_STREAM_MAP +#define __pyx_n_s_VISION_STREAM_ROAD __pyx_mstate_global->__pyx_n_s_VISION_STREAM_ROAD +#define __pyx_n_s_VISION_STREAM_WIDE_ROAD __pyx_mstate_global->__pyx_n_s_VISION_STREAM_WIDE_ROAD +#define __pyx_n_s_ValueError __pyx_mstate_global->__pyx_n_s_ValueError +#define __pyx_n_s_View_MemoryView __pyx_mstate_global->__pyx_n_s_View_MemoryView +#define __pyx_n_s_VisionBuf __pyx_mstate_global->__pyx_n_s_VisionBuf +#define __pyx_n_s_VisionBuf___reduce_cython __pyx_mstate_global->__pyx_n_s_VisionBuf___reduce_cython +#define __pyx_n_s_VisionBuf___setstate_cython __pyx_mstate_global->__pyx_n_s_VisionBuf___setstate_cython +#define __pyx_n_s_VisionIpcClient __pyx_mstate_global->__pyx_n_s_VisionIpcClient +#define __pyx_n_s_VisionIpcClient___reduce_cython __pyx_mstate_global->__pyx_n_s_VisionIpcClient___reduce_cython +#define __pyx_n_s_VisionIpcClient___setstate_cytho __pyx_mstate_global->__pyx_n_s_VisionIpcClient___setstate_cytho +#define __pyx_n_s_VisionIpcClient_available_stream __pyx_mstate_global->__pyx_n_s_VisionIpcClient_available_stream +#define __pyx_n_s_VisionIpcClient_connect __pyx_mstate_global->__pyx_n_s_VisionIpcClient_connect +#define __pyx_n_s_VisionIpcClient_is_connected __pyx_mstate_global->__pyx_n_s_VisionIpcClient_is_connected +#define __pyx_n_s_VisionIpcClient_recv __pyx_mstate_global->__pyx_n_s_VisionIpcClient_recv +#define __pyx_n_s_VisionIpcServer __pyx_mstate_global->__pyx_n_s_VisionIpcServer +#define __pyx_n_s_VisionIpcServer___reduce_cython __pyx_mstate_global->__pyx_n_s_VisionIpcServer___reduce_cython +#define __pyx_n_s_VisionIpcServer___setstate_cytho __pyx_mstate_global->__pyx_n_s_VisionIpcServer___setstate_cytho +#define __pyx_n_s_VisionIpcServer_create_buffers __pyx_mstate_global->__pyx_n_s_VisionIpcServer_create_buffers +#define __pyx_n_s_VisionIpcServer_create_buffers_w __pyx_mstate_global->__pyx_n_s_VisionIpcServer_create_buffers_w +#define __pyx_n_s_VisionIpcServer_send __pyx_mstate_global->__pyx_n_s_VisionIpcServer_send +#define __pyx_n_s_VisionIpcServer_start_listener __pyx_mstate_global->__pyx_n_s_VisionIpcServer_start_listener +#define __pyx_n_s_VisionStreamType __pyx_mstate_global->__pyx_n_s_VisionStreamType +#define __pyx_kp_b__11 __pyx_mstate_global->__pyx_kp_b__11 +#define __pyx_kp_b__12 __pyx_mstate_global->__pyx_kp_b__12 +#define __pyx_kp_b__13 __pyx_mstate_global->__pyx_kp_b__13 +#define __pyx_kp_u__14 __pyx_mstate_global->__pyx_kp_u__14 +#define __pyx_kp_u__15 __pyx_mstate_global->__pyx_kp_u__15 +#define __pyx_kp_u__3 __pyx_mstate_global->__pyx_kp_u__3 +#define __pyx_kp_u__4 __pyx_mstate_global->__pyx_kp_u__4 +#define __pyx_n_s__5 __pyx_mstate_global->__pyx_n_s__5 +#define __pyx_n_s__67 __pyx_mstate_global->__pyx_n_s__67 +#define __pyx_kp_u__8 __pyx_mstate_global->__pyx_kp_u__8 +#define __pyx_kp_u__9 __pyx_mstate_global->__pyx_kp_u__9 +#define __pyx_n_s_abc __pyx_mstate_global->__pyx_n_s_abc +#define __pyx_n_s_allocate_buffer __pyx_mstate_global->__pyx_n_s_allocate_buffer +#define __pyx_kp_u_and __pyx_mstate_global->__pyx_kp_u_and +#define __pyx_n_s_asarray __pyx_mstate_global->__pyx_n_s_asarray +#define __pyx_n_s_asyncio_coroutines __pyx_mstate_global->__pyx_n_s_asyncio_coroutines +#define __pyx_n_s_available_streams __pyx_mstate_global->__pyx_n_s_available_streams +#define __pyx_n_s_base __pyx_mstate_global->__pyx_n_s_base +#define __pyx_n_s_block __pyx_mstate_global->__pyx_n_s_block +#define __pyx_n_s_blocking __pyx_mstate_global->__pyx_n_s_blocking +#define __pyx_n_s_buf __pyx_mstate_global->__pyx_n_s_buf +#define __pyx_n_s_c __pyx_mstate_global->__pyx_n_s_c +#define __pyx_n_u_c __pyx_mstate_global->__pyx_n_u_c +#define __pyx_n_s_class __pyx_mstate_global->__pyx_n_s_class +#define __pyx_n_s_class_getitem __pyx_mstate_global->__pyx_n_s_class_getitem +#define __pyx_n_s_cline_in_traceback __pyx_mstate_global->__pyx_n_s_cline_in_traceback +#define __pyx_n_s_cls __pyx_mstate_global->__pyx_n_s_cls +#define __pyx_n_s_collections __pyx_mstate_global->__pyx_n_s_collections +#define __pyx_kp_s_collections_abc __pyx_mstate_global->__pyx_kp_s_collections_abc +#define __pyx_n_s_conflate __pyx_mstate_global->__pyx_n_s_conflate +#define __pyx_n_s_connect __pyx_mstate_global->__pyx_n_s_connect +#define __pyx_n_s_context __pyx_mstate_global->__pyx_n_s_context +#define __pyx_kp_s_contiguous_and_direct __pyx_mstate_global->__pyx_kp_s_contiguous_and_direct +#define __pyx_kp_s_contiguous_and_indirect __pyx_mstate_global->__pyx_kp_s_contiguous_and_indirect +#define __pyx_n_s_count __pyx_mstate_global->__pyx_n_s_count +#define __pyx_n_s_create_buffers __pyx_mstate_global->__pyx_n_s_create_buffers +#define __pyx_n_s_create_buffers_with_sizes __pyx_mstate_global->__pyx_n_s_create_buffers_with_sizes +#define __pyx_n_s_data __pyx_mstate_global->__pyx_n_s_data +#define __pyx_n_s_dct __pyx_mstate_global->__pyx_n_s_dct +#define __pyx_n_s_dict __pyx_mstate_global->__pyx_n_s_dict +#define __pyx_n_s_dict_2 __pyx_mstate_global->__pyx_n_s_dict_2 +#define __pyx_kp_u_disable __pyx_mstate_global->__pyx_kp_u_disable +#define __pyx_n_s_doc __pyx_mstate_global->__pyx_n_s_doc +#define __pyx_n_s_dtype_is_object __pyx_mstate_global->__pyx_n_s_dtype_is_object +#define __pyx_kp_u_enable __pyx_mstate_global->__pyx_kp_u_enable +#define __pyx_n_s_encode __pyx_mstate_global->__pyx_n_s_encode +#define __pyx_n_s_enum __pyx_mstate_global->__pyx_n_s_enum +#define __pyx_n_s_enumerate __pyx_mstate_global->__pyx_n_s_enumerate +#define __pyx_n_s_error __pyx_mstate_global->__pyx_n_s_error +#define __pyx_n_s_extra __pyx_mstate_global->__pyx_n_s_extra +#define __pyx_n_s_flags __pyx_mstate_global->__pyx_n_s_flags +#define __pyx_n_s_format __pyx_mstate_global->__pyx_n_s_format +#define __pyx_n_s_fortran __pyx_mstate_global->__pyx_n_s_fortran +#define __pyx_n_u_fortran __pyx_mstate_global->__pyx_n_u_fortran +#define __pyx_n_s_frame_id __pyx_mstate_global->__pyx_n_s_frame_id +#define __pyx_kp_u_gc __pyx_mstate_global->__pyx_kp_u_gc +#define __pyx_n_s_get __pyx_mstate_global->__pyx_n_s_get +#define __pyx_n_s_get_endpoint_name __pyx_mstate_global->__pyx_n_s_get_endpoint_name +#define __pyx_n_s_getstate __pyx_mstate_global->__pyx_n_s_getstate +#define __pyx_kp_u_got __pyx_mstate_global->__pyx_kp_u_got +#define __pyx_kp_u_got_differing_extents_in_dimensi __pyx_mstate_global->__pyx_kp_u_got_differing_extents_in_dimensi +#define __pyx_n_s_height __pyx_mstate_global->__pyx_n_s_height +#define __pyx_n_s_id __pyx_mstate_global->__pyx_n_s_id +#define __pyx_n_s_import __pyx_mstate_global->__pyx_n_s_import +#define __pyx_n_s_index __pyx_mstate_global->__pyx_n_s_index +#define __pyx_n_s_init __pyx_mstate_global->__pyx_n_s_init +#define __pyx_n_s_init_subclass __pyx_mstate_global->__pyx_n_s_init_subclass +#define __pyx_n_s_initializing __pyx_mstate_global->__pyx_n_s_initializing +#define __pyx_n_s_is_connected __pyx_mstate_global->__pyx_n_s_is_connected +#define __pyx_n_s_is_coroutine __pyx_mstate_global->__pyx_n_s_is_coroutine +#define __pyx_kp_u_isenabled __pyx_mstate_global->__pyx_kp_u_isenabled +#define __pyx_n_s_itemsize __pyx_mstate_global->__pyx_n_s_itemsize +#define __pyx_kp_s_itemsize_0_for_cython_array __pyx_mstate_global->__pyx_kp_s_itemsize_0_for_cython_array +#define __pyx_n_s_join __pyx_mstate_global->__pyx_n_s_join +#define __pyx_n_s_main __pyx_mstate_global->__pyx_n_s_main +#define __pyx_n_s_member_names __pyx_mstate_global->__pyx_n_s_member_names +#define __pyx_n_s_members __pyx_mstate_global->__pyx_n_s_members +#define __pyx_n_s_memview __pyx_mstate_global->__pyx_n_s_memview +#define __pyx_n_s_metaclass __pyx_mstate_global->__pyx_n_s_metaclass +#define __pyx_n_s_mode __pyx_mstate_global->__pyx_n_s_mode +#define __pyx_n_s_module __pyx_mstate_global->__pyx_n_s_module +#define __pyx_n_s_module_2 __pyx_mstate_global->__pyx_n_s_module_2 +#define __pyx_n_s_mro_entries __pyx_mstate_global->__pyx_n_s_mro_entries +#define __pyx_kp_s_msgq_repo_msgq_visionipc_visioni __pyx_mstate_global->__pyx_kp_s_msgq_repo_msgq_visionipc_visioni +#define __pyx_kp_s_msgq_visionipc_visionipc_pyx __pyx_mstate_global->__pyx_kp_s_msgq_visionipc_visionipc_pyx +#define __pyx_n_s_name __pyx_mstate_global->__pyx_n_s_name +#define __pyx_n_s_name_2 __pyx_mstate_global->__pyx_n_s_name_2 +#define __pyx_n_s_ndim __pyx_mstate_global->__pyx_n_s_ndim +#define __pyx_n_s_new __pyx_mstate_global->__pyx_n_s_new +#define __pyx_kp_s_no_default___reduce___due_to_non __pyx_mstate_global->__pyx_kp_s_no_default___reduce___due_to_non +#define __pyx_n_s_np __pyx_mstate_global->__pyx_n_s_np +#define __pyx_n_s_num_buffers __pyx_mstate_global->__pyx_n_s_num_buffers +#define __pyx_n_s_numpy __pyx_mstate_global->__pyx_n_s_numpy +#define __pyx_kp_u_numpy_core_multiarray_failed_to __pyx_mstate_global->__pyx_kp_u_numpy_core_multiarray_failed_to +#define __pyx_kp_u_numpy_core_umath_failed_to_impor __pyx_mstate_global->__pyx_kp_u_numpy_core_umath_failed_to_impor +#define __pyx_n_s_obj __pyx_mstate_global->__pyx_n_s_obj +#define __pyx_n_s_pack __pyx_mstate_global->__pyx_n_s_pack +#define __pyx_n_s_parents __pyx_mstate_global->__pyx_n_s_parents +#define __pyx_n_s_pickle __pyx_mstate_global->__pyx_n_s_pickle +#define __pyx_n_s_prepare __pyx_mstate_global->__pyx_n_s_prepare +#define __pyx_n_s_pyx_PickleError __pyx_mstate_global->__pyx_n_s_pyx_PickleError +#define __pyx_n_s_pyx_checksum __pyx_mstate_global->__pyx_n_s_pyx_checksum +#define __pyx_n_s_pyx_result __pyx_mstate_global->__pyx_n_s_pyx_result +#define __pyx_n_s_pyx_state __pyx_mstate_global->__pyx_n_s_pyx_state +#define __pyx_n_s_pyx_type __pyx_mstate_global->__pyx_n_s_pyx_type +#define __pyx_n_s_pyx_unpickle_Enum __pyx_mstate_global->__pyx_n_s_pyx_unpickle_Enum +#define __pyx_n_s_pyx_unpickle___Pyx_EnumMeta __pyx_mstate_global->__pyx_n_s_pyx_unpickle___Pyx_EnumMeta +#define __pyx_n_s_pyx_vtable __pyx_mstate_global->__pyx_n_s_pyx_vtable +#define __pyx_n_s_qualname __pyx_mstate_global->__pyx_n_s_qualname +#define __pyx_n_s_range __pyx_mstate_global->__pyx_n_s_range +#define __pyx_n_s_recv __pyx_mstate_global->__pyx_n_s_recv +#define __pyx_n_s_reduce __pyx_mstate_global->__pyx_n_s_reduce +#define __pyx_n_s_reduce_cython __pyx_mstate_global->__pyx_n_s_reduce_cython +#define __pyx_n_s_reduce_ex __pyx_mstate_global->__pyx_n_s_reduce_ex +#define __pyx_n_s_register __pyx_mstate_global->__pyx_n_s_register +#define __pyx_n_s_repr __pyx_mstate_global->__pyx_n_s_repr +#define __pyx_n_s_res __pyx_mstate_global->__pyx_n_s_res +#define __pyx_n_s_rgb __pyx_mstate_global->__pyx_n_s_rgb +#define __pyx_kp_s_s_s __pyx_mstate_global->__pyx_kp_s_s_s +#define __pyx_kp_s_s_s_d __pyx_mstate_global->__pyx_kp_s_s_s_d +#define __pyx_n_s_self __pyx_mstate_global->__pyx_n_s_self +#define __pyx_kp_s_self_buf_cannot_be_converted_to __pyx_mstate_global->__pyx_kp_s_self_buf_cannot_be_converted_to +#define __pyx_kp_s_self_server_cannot_be_converted __pyx_mstate_global->__pyx_kp_s_self_server_cannot_be_converted +#define __pyx_n_s_send __pyx_mstate_global->__pyx_n_s_send +#define __pyx_n_s_set_name __pyx_mstate_global->__pyx_n_s_set_name +#define __pyx_n_s_setstate __pyx_mstate_global->__pyx_n_s_setstate +#define __pyx_n_s_setstate_cython __pyx_mstate_global->__pyx_n_s_setstate_cython +#define __pyx_n_s_shape __pyx_mstate_global->__pyx_n_s_shape +#define __pyx_n_s_size __pyx_mstate_global->__pyx_n_s_size +#define __pyx_n_s_spec __pyx_mstate_global->__pyx_n_s_spec +#define __pyx_n_s_start __pyx_mstate_global->__pyx_n_s_start +#define __pyx_n_s_start_listener __pyx_mstate_global->__pyx_n_s_start_listener +#define __pyx_n_s_state __pyx_mstate_global->__pyx_n_s_state +#define __pyx_n_s_staticmethod __pyx_mstate_global->__pyx_n_s_staticmethod +#define __pyx_n_s_step __pyx_mstate_global->__pyx_n_s_step +#define __pyx_n_s_stop __pyx_mstate_global->__pyx_n_s_stop +#define __pyx_n_s_str __pyx_mstate_global->__pyx_n_s_str +#define __pyx_n_s_stream __pyx_mstate_global->__pyx_n_s_stream +#define __pyx_n_s_stride __pyx_mstate_global->__pyx_n_s_stride +#define __pyx_kp_s_strided_and_direct __pyx_mstate_global->__pyx_kp_s_strided_and_direct +#define __pyx_kp_s_strided_and_direct_or_indirect __pyx_mstate_global->__pyx_kp_s_strided_and_direct_or_indirect +#define __pyx_kp_s_strided_and_indirect __pyx_mstate_global->__pyx_kp_s_strided_and_indirect +#define __pyx_kp_s_stringsource __pyx_mstate_global->__pyx_kp_s_stringsource +#define __pyx_n_s_struct __pyx_mstate_global->__pyx_n_s_struct +#define __pyx_n_s_super __pyx_mstate_global->__pyx_n_s_super +#define __pyx_n_s_sys __pyx_mstate_global->__pyx_n_s_sys +#define __pyx_n_s_test __pyx_mstate_global->__pyx_n_s_test +#define __pyx_n_s_timeout_ms __pyx_mstate_global->__pyx_n_s_timeout_ms +#define __pyx_n_s_timestamp_eof __pyx_mstate_global->__pyx_n_s_timestamp_eof +#define __pyx_n_s_timestamp_sof __pyx_mstate_global->__pyx_n_s_timestamp_sof +#define __pyx_n_s_tp __pyx_mstate_global->__pyx_n_s_tp +#define __pyx_kp_s_unable_to_allocate_array_data __pyx_mstate_global->__pyx_kp_s_unable_to_allocate_array_data +#define __pyx_kp_s_unable_to_allocate_shape_and_str __pyx_mstate_global->__pyx_kp_s_unable_to_allocate_shape_and_str +#define __pyx_n_s_unpack __pyx_mstate_global->__pyx_n_s_unpack +#define __pyx_n_s_update __pyx_mstate_global->__pyx_n_s_update +#define __pyx_n_s_use_setstate __pyx_mstate_global->__pyx_n_s_use_setstate +#define __pyx_n_s_uv_offset __pyx_mstate_global->__pyx_n_s_uv_offset +#define __pyx_n_s_v __pyx_mstate_global->__pyx_n_s_v +#define __pyx_n_s_value __pyx_mstate_global->__pyx_n_s_value +#define __pyx_n_s_values __pyx_mstate_global->__pyx_n_s_values +#define __pyx_n_s_version_info __pyx_mstate_global->__pyx_n_s_version_info +#define __pyx_n_s_width __pyx_mstate_global->__pyx_n_s_width +#define __pyx_int_0 __pyx_mstate_global->__pyx_int_0 +#define __pyx_int_1 __pyx_mstate_global->__pyx_int_1 +#define __pyx_int_3 __pyx_mstate_global->__pyx_int_3 +#define __pyx_int_100 __pyx_mstate_global->__pyx_int_100 +#define __pyx_int_112105877 __pyx_mstate_global->__pyx_int_112105877 +#define __pyx_int_136983863 __pyx_mstate_global->__pyx_int_136983863 +#define __pyx_int_184977713 __pyx_mstate_global->__pyx_int_184977713 +#define __pyx_int_222419149 __pyx_mstate_global->__pyx_int_222419149 +#define __pyx_int_228825662 __pyx_mstate_global->__pyx_int_228825662 +#define __pyx_int_238750788 __pyx_mstate_global->__pyx_int_238750788 +#define __pyx_int_neg_1 __pyx_mstate_global->__pyx_int_neg_1 +#define __pyx_slice__7 __pyx_mstate_global->__pyx_slice__7 +#define __pyx_tuple__2 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__pyx_mstate_global->__pyx_tuple__38 +#define __pyx_tuple__39 __pyx_mstate_global->__pyx_tuple__39 +#define __pyx_tuple__40 __pyx_mstate_global->__pyx_tuple__40 +#define __pyx_tuple__41 __pyx_mstate_global->__pyx_tuple__41 +#define __pyx_tuple__43 __pyx_mstate_global->__pyx_tuple__43 +#define __pyx_tuple__47 __pyx_mstate_global->__pyx_tuple__47 +#define __pyx_tuple__49 __pyx_mstate_global->__pyx_tuple__49 +#define __pyx_tuple__51 __pyx_mstate_global->__pyx_tuple__51 +#define __pyx_tuple__53 __pyx_mstate_global->__pyx_tuple__53 +#define __pyx_tuple__57 __pyx_mstate_global->__pyx_tuple__57 +#define __pyx_tuple__59 __pyx_mstate_global->__pyx_tuple__59 +#define __pyx_tuple__60 __pyx_mstate_global->__pyx_tuple__60 +#define __pyx_tuple__63 __pyx_mstate_global->__pyx_tuple__63 +#define __pyx_codeobj__19 __pyx_mstate_global->__pyx_codeobj__19 +#define __pyx_codeobj__21 __pyx_mstate_global->__pyx_codeobj__21 +#define __pyx_codeobj__23 __pyx_mstate_global->__pyx_codeobj__23 +#define 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(__pyx_v_start >= __pyx_v_shape); + if (__pyx_t_2) { + + /* "View.MemoryView":836 + * start = 0 + * elif start >= shape: + * if negative_step: # <<<<<<<<<<<<<< + * start = shape - 1 + * else: + */ + if (__pyx_v_negative_step) { + + /* "View.MemoryView":837 + * elif start >= shape: + * if negative_step: + * start = shape - 1 # <<<<<<<<<<<<<< + * else: + * start = shape + */ + __pyx_v_start = (__pyx_v_shape - 1); + + /* "View.MemoryView":836 + * start = 0 + * elif start >= shape: + * if negative_step: # <<<<<<<<<<<<<< + * start = shape - 1 + * else: + */ + goto __pyx_L11; + } + + /* "View.MemoryView":839 + * start = shape - 1 + * else: + * start = shape # <<<<<<<<<<<<<< + * else: + * if negative_step: + */ + /*else*/ { + __pyx_v_start = __pyx_v_shape; + } + __pyx_L11:; + + /* "View.MemoryView":835 + * if start < 0: + * start = 0 + * elif start >= shape: # <<<<<<<<<<<<<< + * if negative_step: + * start = shape - 1 + */ + } + __pyx_L9:; + + /* "View.MemoryView":830 + * + * + * if 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return __pyx_r; +} + +/* "View.MemoryView":1137 + * + * @cython.cdivision(True) + * cdef void _copy_strided_to_strided(char *src_data, Py_ssize_t *src_strides, # <<<<<<<<<<<<<< + * char *dst_data, Py_ssize_t *dst_strides, + * Py_ssize_t *src_shape, Py_ssize_t *dst_shape, + */ + +static void _copy_strided_to_strided(char *__pyx_v_src_data, Py_ssize_t *__pyx_v_src_strides, char *__pyx_v_dst_data, Py_ssize_t *__pyx_v_dst_strides, Py_ssize_t *__pyx_v_src_shape, Py_ssize_t *__pyx_v_dst_shape, int __pyx_v_ndim, size_t __pyx_v_itemsize) { + CYTHON_UNUSED Py_ssize_t __pyx_v_i; + CYTHON_UNUSED Py_ssize_t __pyx_v_src_extent; + Py_ssize_t __pyx_v_dst_extent; + Py_ssize_t __pyx_v_src_stride; + Py_ssize_t __pyx_v_dst_stride; + int __pyx_t_1; + int __pyx_t_2; + Py_ssize_t __pyx_t_3; + Py_ssize_t __pyx_t_4; + Py_ssize_t __pyx_t_5; + + /* "View.MemoryView":1144 + * + * cdef Py_ssize_t i + * cdef Py_ssize_t src_extent = src_shape[0] # <<<<<<<<<<<<<< + * cdef Py_ssize_t dst_extent = dst_shape[0] + * cdef Py_ssize_t src_stride = src_strides[0] + */ + __pyx_v_src_extent = (__pyx_v_src_shape[0]); + + /* "View.MemoryView":1145 + * cdef Py_ssize_t i + * cdef Py_ssize_t src_extent = src_shape[0] + * cdef Py_ssize_t dst_extent = dst_shape[0] # <<<<<<<<<<<<<< + * cdef Py_ssize_t src_stride = src_strides[0] + * cdef Py_ssize_t dst_stride = dst_strides[0] + */ + __pyx_v_dst_extent = (__pyx_v_dst_shape[0]); + + /* "View.MemoryView":1146 + * cdef Py_ssize_t src_extent = src_shape[0] + * cdef Py_ssize_t dst_extent = dst_shape[0] + * cdef Py_ssize_t src_stride = src_strides[0] # <<<<<<<<<<<<<< + * cdef Py_ssize_t dst_stride = dst_strides[0] + * + */ + __pyx_v_src_stride = (__pyx_v_src_strides[0]); + + /* "View.MemoryView":1147 + * cdef Py_ssize_t dst_extent = dst_shape[0] + * cdef Py_ssize_t src_stride = src_strides[0] + * cdef Py_ssize_t dst_stride = dst_strides[0] # <<<<<<<<<<<<<< + * + * if ndim == 1: + */ + __pyx_v_dst_stride = (__pyx_v_dst_strides[0]); + + /* "View.MemoryView":1149 + * cdef Py_ssize_t dst_stride = dst_strides[0] + * + * if ndim == 1: # <<<<<<<<<<<<<< + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): + */ + __pyx_t_1 = (__pyx_v_ndim == 1); + if (__pyx_t_1) { + + /* "View.MemoryView":1150 + * + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and # <<<<<<<<<<<<<< + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) + */ + __pyx_t_2 = (__pyx_v_src_stride > 0); + if (__pyx_t_2) { + } else { + __pyx_t_1 = __pyx_t_2; + goto __pyx_L5_bool_binop_done; + } + __pyx_t_2 = (__pyx_v_dst_stride > 0); + if (__pyx_t_2) { + } else { + __pyx_t_1 = __pyx_t_2; + goto __pyx_L5_bool_binop_done; + } + + /* "View.MemoryView":1151 + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): # <<<<<<<<<<<<<< + * memcpy(dst_data, src_data, itemsize * dst_extent) + * else: + */ + __pyx_t_2 = (((size_t)__pyx_v_src_stride) == __pyx_v_itemsize); + if (__pyx_t_2) { + __pyx_t_2 = (__pyx_v_itemsize == ((size_t)__pyx_v_dst_stride)); + } + __pyx_t_1 = __pyx_t_2; + __pyx_L5_bool_binop_done:; + + /* "View.MemoryView":1150 + * + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and # <<<<<<<<<<<<<< + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) + */ + if (__pyx_t_1) { + + /* "View.MemoryView":1152 + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) # <<<<<<<<<<<<<< + * else: + * for i in range(dst_extent): + */ + (void)(memcpy(__pyx_v_dst_data, __pyx_v_src_data, (__pyx_v_itemsize * __pyx_v_dst_extent))); + + /* "View.MemoryView":1150 + * + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and # <<<<<<<<<<<<<< + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) + */ + goto __pyx_L4; + } + + /* "View.MemoryView":1154 + * memcpy(dst_data, src_data, itemsize * dst_extent) + * else: + * for i in range(dst_extent): # <<<<<<<<<<<<<< + * memcpy(dst_data, src_data, itemsize) + * src_data += src_stride + */ + /*else*/ { + __pyx_t_3 = __pyx_v_dst_extent; + __pyx_t_4 = __pyx_t_3; + for (__pyx_t_5 = 0; __pyx_t_5 < __pyx_t_4; __pyx_t_5+=1) { + __pyx_v_i = __pyx_t_5; + + /* "View.MemoryView":1155 + * else: + * for i in range(dst_extent): + * memcpy(dst_data, src_data, itemsize) # <<<<<<<<<<<<<< + * src_data += src_stride + * dst_data += dst_stride + */ + (void)(memcpy(__pyx_v_dst_data, __pyx_v_src_data, __pyx_v_itemsize)); + + /* "View.MemoryView":1156 + * for i in range(dst_extent): + * memcpy(dst_data, src_data, itemsize) + * src_data += src_stride # <<<<<<<<<<<<<< + * dst_data += dst_stride + * else: + */ + __pyx_v_src_data = (__pyx_v_src_data + __pyx_v_src_stride); + + /* "View.MemoryView":1157 + * memcpy(dst_data, src_data, itemsize) + * src_data += src_stride + * dst_data += dst_stride # <<<<<<<<<<<<<< + * else: + * for i in range(dst_extent): + */ + __pyx_v_dst_data = (__pyx_v_dst_data + __pyx_v_dst_stride); + } + } + __pyx_L4:; + + /* "View.MemoryView":1149 + * cdef Py_ssize_t dst_stride = dst_strides[0] + * + * if ndim == 1: # <<<<<<<<<<<<<< + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): + */ + goto __pyx_L3; + } + + /* "View.MemoryView":1159 + * dst_data += dst_stride + * else: + * for i in range(dst_extent): # <<<<<<<<<<<<<< + * _copy_strided_to_strided(src_data, src_strides + 1, + * dst_data, dst_strides + 1, + */ + /*else*/ { + __pyx_t_3 = __pyx_v_dst_extent; + __pyx_t_4 = __pyx_t_3; + for (__pyx_t_5 = 0; __pyx_t_5 < __pyx_t_4; __pyx_t_5+=1) { + __pyx_v_i = __pyx_t_5; + + /* "View.MemoryView":1160 + * else: + * for i in range(dst_extent): + * _copy_strided_to_strided(src_data, src_strides + 1, # <<<<<<<<<<<<<< + * dst_data, dst_strides + 1, + * src_shape + 1, dst_shape + 1, + */ + _copy_strided_to_strided(__pyx_v_src_data, (__pyx_v_src_strides + 1), __pyx_v_dst_data, (__pyx_v_dst_strides + 1), (__pyx_v_src_shape + 1), (__pyx_v_dst_shape + 1), (__pyx_v_ndim - 1), __pyx_v_itemsize); + + /* "View.MemoryView":1164 + * src_shape + 1, dst_shape + 1, + * ndim - 1, itemsize) + * src_data += src_stride # <<<<<<<<<<<<<< + * dst_data += dst_stride + * + */ + __pyx_v_src_data = (__pyx_v_src_data + __pyx_v_src_stride); + + /* "View.MemoryView":1165 + * ndim - 1, itemsize) + * src_data += src_stride + * dst_data += dst_stride # <<<<<<<<<<<<<< + * + * cdef void copy_strided_to_strided(__Pyx_memviewslice *src, + */ + __pyx_v_dst_data = (__pyx_v_dst_data + __pyx_v_dst_stride); + } + } + __pyx_L3:; + + /* "View.MemoryView":1137 + * + * @cython.cdivision(True) + * cdef void _copy_strided_to_strided(char *src_data, Py_ssize_t *src_strides, # <<<<<<<<<<<<<< + * char *dst_data, Py_ssize_t *dst_strides, + * Py_ssize_t *src_shape, Py_ssize_t *dst_shape, + */ + + /* function exit code */ +} + +/* "View.MemoryView":1167 + * dst_data += dst_stride + * + * cdef void copy_strided_to_strided(__Pyx_memviewslice *src, # <<<<<<<<<<<<<< + * __Pyx_memviewslice *dst, + * int ndim, size_t itemsize) noexcept nogil: + */ + +static void copy_strided_to_strided(__Pyx_memviewslice *__pyx_v_src, __Pyx_memviewslice *__pyx_v_dst, int __pyx_v_ndim, size_t __pyx_v_itemsize) { + + /* "View.MemoryView":1170 + * __Pyx_memviewslice *dst, + * int ndim, size_t itemsize) noexcept nogil: + * _copy_strided_to_strided(src.data, src.strides, dst.data, dst.strides, # <<<<<<<<<<<<<< + * src.shape, dst.shape, ndim, itemsize) + * + */ + _copy_strided_to_strided(__pyx_v_src->data, __pyx_v_src->strides, __pyx_v_dst->data, __pyx_v_dst->strides, __pyx_v_src->shape, __pyx_v_dst->shape, __pyx_v_ndim, __pyx_v_itemsize); + + /* "View.MemoryView":1167 + * dst_data += dst_stride + * + * cdef void copy_strided_to_strided(__Pyx_memviewslice *src, # <<<<<<<<<<<<<< + * __Pyx_memviewslice *dst, + * int ndim, size_t itemsize) noexcept nogil: + */ + + /* function exit code */ +} + +/* "View.MemoryView":1174 + * + * @cname('__pyx_memoryview_slice_get_size') + * cdef Py_ssize_t slice_get_size(__Pyx_memviewslice *src, int ndim) noexcept nogil: # <<<<<<<<<<<<<< + * "Return the size of the memory occupied by the slice in number of bytes" + * cdef Py_ssize_t shape, size = src.memview.view.itemsize + */ + +static Py_ssize_t __pyx_memoryview_slice_get_size(__Pyx_memviewslice *__pyx_v_src, int __pyx_v_ndim) { + Py_ssize_t __pyx_v_shape; + Py_ssize_t __pyx_v_size; + Py_ssize_t __pyx_r; + Py_ssize_t __pyx_t_1; + Py_ssize_t *__pyx_t_2; + Py_ssize_t *__pyx_t_3; + Py_ssize_t *__pyx_t_4; + + /* "View.MemoryView":1176 + * cdef Py_ssize_t slice_get_size(__Pyx_memviewslice *src, int ndim) noexcept nogil: + * "Return the size of the memory occupied by the slice in number of bytes" + * cdef Py_ssize_t shape, size = src.memview.view.itemsize # <<<<<<<<<<<<<< + * + * for shape in src.shape[:ndim]: + */ + __pyx_t_1 = __pyx_v_src->memview->view.itemsize; + __pyx_v_size = __pyx_t_1; + + /* "View.MemoryView":1178 + * cdef Py_ssize_t shape, size = src.memview.view.itemsize + * + * for shape in src.shape[:ndim]: # <<<<<<<<<<<<<< + * size *= shape + * + */ + __pyx_t_3 = (__pyx_v_src->shape + __pyx_v_ndim); + for (__pyx_t_4 = __pyx_v_src->shape; __pyx_t_4 < __pyx_t_3; __pyx_t_4++) { + __pyx_t_2 = __pyx_t_4; + __pyx_v_shape = (__pyx_t_2[0]); + + /* "View.MemoryView":1179 + * + * for shape in src.shape[:ndim]: + * size *= shape # <<<<<<<<<<<<<< + * + * return size + */ + __pyx_v_size = (__pyx_v_size * __pyx_v_shape); + } + + /* "View.MemoryView":1181 + * size *= shape + * + * return size # <<<<<<<<<<<<<< + * + * @cname('__pyx_fill_contig_strides_array') + */ + __pyx_r = __pyx_v_size; + goto __pyx_L0; + + /* "View.MemoryView":1174 + * + * @cname('__pyx_memoryview_slice_get_size') + * cdef Py_ssize_t slice_get_size(__Pyx_memviewslice *src, int ndim) noexcept nogil: # <<<<<<<<<<<<<< + * "Return the size of the memory occupied by the slice in number of bytes" + * cdef Py_ssize_t shape, size = src.memview.view.itemsize + */ + + /* function exit code */ + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":1184 + * + * @cname('__pyx_fill_contig_strides_array') + * cdef Py_ssize_t fill_contig_strides_array( # <<<<<<<<<<<<<< + * Py_ssize_t *shape, Py_ssize_t *strides, Py_ssize_t stride, + * int ndim, char order) noexcept nogil: + */ + +static Py_ssize_t __pyx_fill_contig_strides_array(Py_ssize_t *__pyx_v_shape, Py_ssize_t *__pyx_v_strides, Py_ssize_t __pyx_v_stride, int __pyx_v_ndim, char __pyx_v_order) { + int __pyx_v_idx; + Py_ssize_t __pyx_r; + int __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + int __pyx_t_4; + + /* "View.MemoryView":1193 + * cdef int idx + * + * if order == 'F': # <<<<<<<<<<<<<< + * for idx in range(ndim): + * strides[idx] = stride + */ + __pyx_t_1 = (__pyx_v_order == 'F'); + if (__pyx_t_1) { + + /* "View.MemoryView":1194 + * + * if order == 'F': + * for idx in range(ndim): # <<<<<<<<<<<<<< + * strides[idx] = stride + * stride *= shape[idx] + */ + __pyx_t_2 = __pyx_v_ndim; + __pyx_t_3 = __pyx_t_2; + for (__pyx_t_4 = 0; __pyx_t_4 < __pyx_t_3; __pyx_t_4+=1) { + __pyx_v_idx = __pyx_t_4; + + /* "View.MemoryView":1195 + * if order == 'F': + * for idx in range(ndim): + * strides[idx] = stride # <<<<<<<<<<<<<< + * stride *= shape[idx] + * else: + */ + (__pyx_v_strides[__pyx_v_idx]) = __pyx_v_stride; + + /* "View.MemoryView":1196 + * for idx in range(ndim): + * strides[idx] = stride + * stride *= shape[idx] # <<<<<<<<<<<<<< + * else: + * for idx in range(ndim - 1, -1, -1): + */ + __pyx_v_stride = (__pyx_v_stride * (__pyx_v_shape[__pyx_v_idx])); + } + + /* "View.MemoryView":1193 + * cdef int idx + * + * if order == 'F': # <<<<<<<<<<<<<< + * for idx in range(ndim): + * strides[idx] = stride + */ + goto __pyx_L3; + } + + /* "View.MemoryView":1198 + * stride *= shape[idx] + * else: + * for idx in range(ndim - 1, -1, -1): # <<<<<<<<<<<<<< + * strides[idx] = stride + * stride *= shape[idx] + */ + /*else*/ { + for (__pyx_t_2 = (__pyx_v_ndim - 1); __pyx_t_2 > -1; __pyx_t_2-=1) { + __pyx_v_idx = __pyx_t_2; + + /* "View.MemoryView":1199 + * else: + * for idx in range(ndim - 1, -1, -1): + * strides[idx] = stride # <<<<<<<<<<<<<< + * stride *= shape[idx] + * + */ + (__pyx_v_strides[__pyx_v_idx]) = __pyx_v_stride; + + /* "View.MemoryView":1200 + * for idx in range(ndim - 1, -1, -1): + * strides[idx] = stride + * stride *= shape[idx] # <<<<<<<<<<<<<< + * + * return stride + */ + __pyx_v_stride = (__pyx_v_stride * (__pyx_v_shape[__pyx_v_idx])); + } + } + __pyx_L3:; + + /* "View.MemoryView":1202 + * stride *= shape[idx] + * + * return stride # <<<<<<<<<<<<<< + * + * @cname('__pyx_memoryview_copy_data_to_temp') + */ + __pyx_r = __pyx_v_stride; + goto __pyx_L0; + + /* "View.MemoryView":1184 + * + * @cname('__pyx_fill_contig_strides_array') + * cdef Py_ssize_t fill_contig_strides_array( # <<<<<<<<<<<<<< + * Py_ssize_t *shape, Py_ssize_t *strides, Py_ssize_t stride, + * int ndim, char order) noexcept nogil: + */ + + /* function exit code */ + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":1205 + * + * @cname('__pyx_memoryview_copy_data_to_temp') + * cdef void *copy_data_to_temp(__Pyx_memviewslice *src, # <<<<<<<<<<<<<< + * __Pyx_memviewslice *tmpslice, + * char order, + */ + +static void *__pyx_memoryview_copy_data_to_temp(__Pyx_memviewslice *__pyx_v_src, __Pyx_memviewslice *__pyx_v_tmpslice, char __pyx_v_order, int __pyx_v_ndim) { + int __pyx_v_i; + void *__pyx_v_result; + size_t __pyx_v_itemsize; + size_t __pyx_v_size; + void *__pyx_r; + Py_ssize_t __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + struct __pyx_memoryview_obj *__pyx_t_4; + int __pyx_t_5; + int __pyx_t_6; + int __pyx_lineno = 0; + const char *__pyx_filename = NULL; + int __pyx_clineno = 0; + #ifdef WITH_THREAD + PyGILState_STATE __pyx_gilstate_save; + #endif + + /* "View.MemoryView":1216 + * cdef void *result + * + * cdef size_t itemsize = src.memview.view.itemsize # <<<<<<<<<<<<<< + * cdef size_t size = slice_get_size(src, ndim) + * + */ + __pyx_t_1 = __pyx_v_src->memview->view.itemsize; + __pyx_v_itemsize = __pyx_t_1; + + /* "View.MemoryView":1217 + * + * cdef size_t itemsize = src.memview.view.itemsize + * cdef size_t size = slice_get_size(src, ndim) # <<<<<<<<<<<<<< + * + * result = malloc(size) + */ + __pyx_v_size = __pyx_memoryview_slice_get_size(__pyx_v_src, __pyx_v_ndim); + + /* "View.MemoryView":1219 + * cdef size_t size = slice_get_size(src, ndim) + * + * result = malloc(size) # <<<<<<<<<<<<<< + * if not result: + * _err_no_memory() + */ + __pyx_v_result = malloc(__pyx_v_size); + + /* "View.MemoryView":1220 + * + * result = malloc(size) + * if not result: # <<<<<<<<<<<<<< + * _err_no_memory() + * + */ + __pyx_t_2 = (!(__pyx_v_result != 0)); + if (__pyx_t_2) { + + /* "View.MemoryView":1221 + * result = malloc(size) + * if not result: + * _err_no_memory() # <<<<<<<<<<<<<< + * + * + */ + __pyx_t_3 = __pyx_memoryview_err_no_memory(); if (unlikely(__pyx_t_3 == ((int)-1))) __PYX_ERR(1, 1221, __pyx_L1_error) + + /* "View.MemoryView":1220 + * + * result = malloc(size) + * if not result: # <<<<<<<<<<<<<< + * _err_no_memory() + * + */ + } + + /* "View.MemoryView":1224 + * + * + * tmpslice.data = result # <<<<<<<<<<<<<< + * tmpslice.memview = src.memview + * for i in range(ndim): + */ + __pyx_v_tmpslice->data = ((char *)__pyx_v_result); + + /* "View.MemoryView":1225 + * + * tmpslice.data = result + * tmpslice.memview = src.memview # <<<<<<<<<<<<<< + * for i in range(ndim): + * tmpslice.shape[i] = src.shape[i] + */ + __pyx_t_4 = __pyx_v_src->memview; + __pyx_v_tmpslice->memview = __pyx_t_4; + + /* "View.MemoryView":1226 + * tmpslice.data = result + * tmpslice.memview = src.memview + * for i in range(ndim): # <<<<<<<<<<<<<< + * tmpslice.shape[i] = src.shape[i] + * tmpslice.suboffsets[i] = -1 + */ + __pyx_t_3 = __pyx_v_ndim; + __pyx_t_5 = __pyx_t_3; + for (__pyx_t_6 = 0; __pyx_t_6 < __pyx_t_5; __pyx_t_6+=1) { + __pyx_v_i = __pyx_t_6; + + /* "View.MemoryView":1227 + * tmpslice.memview = src.memview + * for i in range(ndim): + * tmpslice.shape[i] = src.shape[i] # <<<<<<<<<<<<<< + * tmpslice.suboffsets[i] = -1 + * + */ + (__pyx_v_tmpslice->shape[__pyx_v_i]) = (__pyx_v_src->shape[__pyx_v_i]); + + /* "View.MemoryView":1228 + * for i in range(ndim): + * tmpslice.shape[i] = src.shape[i] + * tmpslice.suboffsets[i] = -1 # <<<<<<<<<<<<<< + * + * fill_contig_strides_array(&tmpslice.shape[0], &tmpslice.strides[0], itemsize, ndim, order) + */ + (__pyx_v_tmpslice->suboffsets[__pyx_v_i]) = -1L; + } + + /* "View.MemoryView":1230 + * tmpslice.suboffsets[i] = -1 + * + * fill_contig_strides_array(&tmpslice.shape[0], &tmpslice.strides[0], itemsize, ndim, order) # <<<<<<<<<<<<<< + * + * + */ + (void)(__pyx_fill_contig_strides_array((&(__pyx_v_tmpslice->shape[0])), (&(__pyx_v_tmpslice->strides[0])), __pyx_v_itemsize, __pyx_v_ndim, __pyx_v_order)); + + /* "View.MemoryView":1233 + * + * + * for i in range(ndim): # <<<<<<<<<<<<<< + * if tmpslice.shape[i] == 1: + * tmpslice.strides[i] = 0 + */ + __pyx_t_3 = __pyx_v_ndim; + __pyx_t_5 = __pyx_t_3; + for (__pyx_t_6 = 0; __pyx_t_6 < __pyx_t_5; __pyx_t_6+=1) { + __pyx_v_i = __pyx_t_6; + + /* "View.MemoryView":1234 + * + * for i in range(ndim): + * if tmpslice.shape[i] == 1: # <<<<<<<<<<<<<< + * tmpslice.strides[i] = 0 + * + */ + __pyx_t_2 = ((__pyx_v_tmpslice->shape[__pyx_v_i]) == 1); + if (__pyx_t_2) { + + /* "View.MemoryView":1235 + * for i in range(ndim): + * if tmpslice.shape[i] == 1: + * tmpslice.strides[i] = 0 # <<<<<<<<<<<<<< + * + * if slice_is_contig(src[0], order, ndim): + */ + (__pyx_v_tmpslice->strides[__pyx_v_i]) = 0; + + /* "View.MemoryView":1234 + * + * for i in range(ndim): + * if tmpslice.shape[i] == 1: # <<<<<<<<<<<<<< + * tmpslice.strides[i] = 0 + * + */ + } + } + + /* "View.MemoryView":1237 + * tmpslice.strides[i] = 0 + * + * if slice_is_contig(src[0], order, ndim): # <<<<<<<<<<<<<< + * memcpy(result, src.data, size) + * else: + */ + __pyx_t_2 = 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(__pyx_t_2) { + __pyx_t_5 = __pyx_t_3; + } else { + __pyx_t_5 = __pyx_t_4; + } + __pyx_v_ndim = __pyx_t_5; + + /* "View.MemoryView":1288 + * cdef int ndim = max(src_ndim, dst_ndim) + * + * for i in range(ndim): # <<<<<<<<<<<<<< + * if src.shape[i] != dst.shape[i]: + * if src.shape[i] == 1: + */ + __pyx_t_5 = __pyx_v_ndim; + __pyx_t_3 = __pyx_t_5; + for (__pyx_t_4 = 0; __pyx_t_4 < __pyx_t_3; __pyx_t_4+=1) { + __pyx_v_i = __pyx_t_4; + + /* "View.MemoryView":1289 + * + * for i in range(ndim): + * if src.shape[i] != dst.shape[i]: # <<<<<<<<<<<<<< + * if src.shape[i] == 1: + * broadcasting = True + */ + __pyx_t_2 = ((__pyx_v_src.shape[__pyx_v_i]) != (__pyx_v_dst.shape[__pyx_v_i])); + if (__pyx_t_2) { + + /* "View.MemoryView":1290 + * for i in range(ndim): + * if src.shape[i] != dst.shape[i]: + * if src.shape[i] == 1: # <<<<<<<<<<<<<< + * broadcasting = True + * src.strides[i] = 0 + */ + __pyx_t_2 = ((__pyx_v_src.shape[__pyx_v_i]) == 1); + if (__pyx_t_2) { + + /* "View.MemoryView":1291 + * if src.shape[i] != dst.shape[i]: + * if src.shape[i] == 1: + * broadcasting = True # <<<<<<<<<<<<<< + * src.strides[i] = 0 + * else: + */ + __pyx_v_broadcasting = 1; + + /* "View.MemoryView":1292 + * if src.shape[i] == 1: + * broadcasting = True + * src.strides[i] = 0 # <<<<<<<<<<<<<< + * else: + * _err_extents(i, dst.shape[i], src.shape[i]) + */ + (__pyx_v_src.strides[__pyx_v_i]) = 0; + + /* "View.MemoryView":1290 + * for i in range(ndim): + * if src.shape[i] != dst.shape[i]: + * if src.shape[i] == 1: # <<<<<<<<<<<<<< + * broadcasting = True + * src.strides[i] = 0 + */ + goto __pyx_L7; + } + + /* "View.MemoryView":1294 + * src.strides[i] = 0 + * else: + * _err_extents(i, dst.shape[i], src.shape[i]) # <<<<<<<<<<<<<< + * + * if src.suboffsets[i] >= 0: + */ + /*else*/ { + __pyx_t_6 = __pyx_memoryview_err_extents(__pyx_v_i, (__pyx_v_dst.shape[__pyx_v_i]), (__pyx_v_src.shape[__pyx_v_i])); if (unlikely(__pyx_t_6 == ((int)-1))) __PYX_ERR(1, 1294, __pyx_L1_error) + } + __pyx_L7:; + + /* "View.MemoryView":1289 + * + * for i in range(ndim): + * if src.shape[i] != dst.shape[i]: # <<<<<<<<<<<<<< + * if src.shape[i] == 1: + * broadcasting = True + */ + } + + /* "View.MemoryView":1296 + * _err_extents(i, dst.shape[i], src.shape[i]) + * + * if src.suboffsets[i] >= 0: # <<<<<<<<<<<<<< + * _err_dim(PyExc_ValueError, "Dimension %d is not direct", i) + * + */ + __pyx_t_2 = ((__pyx_v_src.suboffsets[__pyx_v_i]) >= 0); + if (__pyx_t_2) { + + /* "View.MemoryView":1297 + * + * if src.suboffsets[i] >= 0: + * _err_dim(PyExc_ValueError, "Dimension %d is not direct", i) # <<<<<<<<<<<<<< + * + * if slices_overlap(&src, &dst, ndim, itemsize): + */ + __pyx_t_6 = __pyx_memoryview_err_dim(PyExc_ValueError, __pyx_kp_s_Dimension_d_is_not_direct, __pyx_v_i); if (unlikely(__pyx_t_6 == ((int)-1))) __PYX_ERR(1, 1297, __pyx_L1_error) + + /* "View.MemoryView":1296 + * _err_extents(i, dst.shape[i], src.shape[i]) + * + * if src.suboffsets[i] >= 0: # <<<<<<<<<<<<<< + * _err_dim(PyExc_ValueError, "Dimension %d is not direct", i) + * + */ + } + } + + /* "View.MemoryView":1299 + * _err_dim(PyExc_ValueError, "Dimension %d is not direct", i) + * + * if slices_overlap(&src, &dst, ndim, itemsize): # <<<<<<<<<<<<<< + * + * if not slice_is_contig(src, order, ndim): + */ + __pyx_t_2 = __pyx_slices_overlap((&__pyx_v_src), (&__pyx_v_dst), __pyx_v_ndim, __pyx_v_itemsize); + if (__pyx_t_2) { + + /* "View.MemoryView":1301 + * if slices_overlap(&src, &dst, ndim, itemsize): + * + * if not slice_is_contig(src, order, ndim): # <<<<<<<<<<<<<< + * order = get_best_order(&dst, ndim) + * + */ + __pyx_t_2 = (!__pyx_memviewslice_is_contig(__pyx_v_src, __pyx_v_order, __pyx_v_ndim)); + if (__pyx_t_2) { + + /* "View.MemoryView":1302 + * + * if not slice_is_contig(src, order, ndim): + * order = get_best_order(&dst, ndim) # <<<<<<<<<<<<<< + * + * tmpdata = copy_data_to_temp(&src, &tmp, order, ndim) + */ + __pyx_v_order = __pyx_get_best_slice_order((&__pyx_v_dst), __pyx_v_ndim); + + /* "View.MemoryView":1301 + * if slices_overlap(&src, &dst, ndim, itemsize): + * + * if not slice_is_contig(src, order, ndim): # <<<<<<<<<<<<<< + * order = get_best_order(&dst, ndim) + * + */ + } + + /* "View.MemoryView":1304 + * order = get_best_order(&dst, ndim) + * + * tmpdata = copy_data_to_temp(&src, &tmp, order, ndim) # <<<<<<<<<<<<<< + * src = tmp + * + */ + __pyx_t_7 = __pyx_memoryview_copy_data_to_temp((&__pyx_v_src), (&__pyx_v_tmp), __pyx_v_order, __pyx_v_ndim); if (unlikely(__pyx_t_7 == ((void *)NULL))) __PYX_ERR(1, 1304, __pyx_L1_error) + __pyx_v_tmpdata = __pyx_t_7; + + /* "View.MemoryView":1305 + * + * tmpdata = copy_data_to_temp(&src, &tmp, order, ndim) + * src = tmp # <<<<<<<<<<<<<< + * + * if not broadcasting: + */ + __pyx_v_src = __pyx_v_tmp; + + /* "View.MemoryView":1299 + * _err_dim(PyExc_ValueError, "Dimension %d is not direct", i) + * + * if slices_overlap(&src, &dst, ndim, itemsize): # <<<<<<<<<<<<<< + * + * if not slice_is_contig(src, order, ndim): + */ + } + + /* "View.MemoryView":1307 + * src = tmp + * + * if not broadcasting: # <<<<<<<<<<<<<< + * + * + */ + __pyx_t_2 = (!__pyx_v_broadcasting); + if (__pyx_t_2) { + + /* "View.MemoryView":1310 + * + * + * if slice_is_contig(src, 'C', ndim): # <<<<<<<<<<<<<< + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): + */ + __pyx_t_2 = __pyx_memviewslice_is_contig(__pyx_v_src, 'C', __pyx_v_ndim); + if (__pyx_t_2) { + + /* "View.MemoryView":1311 + * + * if slice_is_contig(src, 'C', ndim): + * direct_copy = slice_is_contig(dst, 'C', ndim) # <<<<<<<<<<<<<< + * elif slice_is_contig(src, 'F', ndim): + * direct_copy = slice_is_contig(dst, 'F', ndim) + */ + __pyx_v_direct_copy = __pyx_memviewslice_is_contig(__pyx_v_dst, 'C', __pyx_v_ndim); + + /* "View.MemoryView":1310 + * + * + * if slice_is_contig(src, 'C', ndim): # <<<<<<<<<<<<<< + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): + */ + goto __pyx_L12; + } + + /* "View.MemoryView":1312 + * if slice_is_contig(src, 'C', ndim): + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): # <<<<<<<<<<<<<< + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + */ + __pyx_t_2 = __pyx_memviewslice_is_contig(__pyx_v_src, 'F', __pyx_v_ndim); + if (__pyx_t_2) { + + /* "View.MemoryView":1313 + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): + * direct_copy = slice_is_contig(dst, 'F', ndim) # <<<<<<<<<<<<<< + * + * if direct_copy: + */ + __pyx_v_direct_copy = __pyx_memviewslice_is_contig(__pyx_v_dst, 'F', __pyx_v_ndim); + + /* "View.MemoryView":1312 + * if slice_is_contig(src, 'C', ndim): + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): # <<<<<<<<<<<<<< + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + */ + } + __pyx_L12:; + + /* "View.MemoryView":1315 + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + * if direct_copy: # <<<<<<<<<<<<<< + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + */ + if (__pyx_v_direct_copy) { + + /* "View.MemoryView":1317 + * if direct_copy: + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) # <<<<<<<<<<<<<< + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 0); + + /* "View.MemoryView":1318 + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) # <<<<<<<<<<<<<< + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * free(tmpdata) + */ + (void)(memcpy(__pyx_v_dst.data, __pyx_v_src.data, __pyx_memoryview_slice_get_size((&__pyx_v_src), __pyx_v_ndim))); + + /* "View.MemoryView":1319 + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) # <<<<<<<<<<<<<< + * free(tmpdata) + * return 0 + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 1); + + /* "View.MemoryView":1320 + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * free(tmpdata) # <<<<<<<<<<<<<< + * return 0 + * + */ + free(__pyx_v_tmpdata); + + /* "View.MemoryView":1321 + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * free(tmpdata) + * return 0 # <<<<<<<<<<<<<< + * + * if order == 'F' == get_best_order(&dst, ndim): + */ + __pyx_r = 0; + goto __pyx_L0; + + /* "View.MemoryView":1315 + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + * if direct_copy: # <<<<<<<<<<<<<< + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + */ + } + + /* "View.MemoryView":1307 + * src = tmp + * + * if not broadcasting: # <<<<<<<<<<<<<< + * + * + */ + } + + /* "View.MemoryView":1323 + * return 0 + * + * if order == 'F' == get_best_order(&dst, ndim): # <<<<<<<<<<<<<< + * + * + */ + __pyx_t_2 = (__pyx_v_order == 'F'); + if (__pyx_t_2) { + __pyx_t_2 = ('F' == __pyx_get_best_slice_order((&__pyx_v_dst), __pyx_v_ndim)); + } + if (__pyx_t_2) { + + /* "View.MemoryView":1326 + * + * + * transpose_memslice(&src) # <<<<<<<<<<<<<< + * transpose_memslice(&dst) + * + */ + __pyx_t_5 = __pyx_memslice_transpose((&__pyx_v_src)); if (unlikely(__pyx_t_5 == ((int)-1))) __PYX_ERR(1, 1326, __pyx_L1_error) + + /* "View.MemoryView":1327 + * + * transpose_memslice(&src) + * transpose_memslice(&dst) # <<<<<<<<<<<<<< + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + */ + __pyx_t_5 = __pyx_memslice_transpose((&__pyx_v_dst)); if (unlikely(__pyx_t_5 == ((int)-1))) __PYX_ERR(1, 1327, __pyx_L1_error) + + /* "View.MemoryView":1323 + * return 0 + * + * if order == 'F' == get_best_order(&dst, ndim): # <<<<<<<<<<<<<< + * + * + */ + } + + /* "View.MemoryView":1329 + * transpose_memslice(&dst) + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) # <<<<<<<<<<<<<< + * copy_strided_to_strided(&src, &dst, ndim, itemsize) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 0); + + /* "View.MemoryView":1330 + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + * copy_strided_to_strided(&src, &dst, ndim, itemsize) # <<<<<<<<<<<<<< + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * + */ + copy_strided_to_strided((&__pyx_v_src), (&__pyx_v_dst), __pyx_v_ndim, __pyx_v_itemsize); + + /* "View.MemoryView":1331 + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + * copy_strided_to_strided(&src, &dst, ndim, itemsize) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) # <<<<<<<<<<<<<< + * + * free(tmpdata) + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 1); + + /* "View.MemoryView":1333 + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * + * free(tmpdata) # <<<<<<<<<<<<<< + * return 0 + * + */ + free(__pyx_v_tmpdata); + + /* "View.MemoryView":1334 + * + * free(tmpdata) + * return 0 # <<<<<<<<<<<<<< + * + * @cname('__pyx_memoryview_broadcast_leading') + */ + __pyx_r = 0; + goto __pyx_L0; + + /* "View.MemoryView":1265 + * + * @cname('__pyx_memoryview_copy_contents') + * cdef int memoryview_copy_contents(__Pyx_memviewslice src, # <<<<<<<<<<<<<< + * __Pyx_memviewslice dst, + * int src_ndim, int dst_ndim, + */ + + /* function exit code */ + __pyx_L1_error:; + #ifdef WITH_THREAD + __pyx_gilstate_save = __Pyx_PyGILState_Ensure(); + #endif + __Pyx_AddTraceback("View.MemoryView.memoryview_copy_contents", __pyx_clineno, __pyx_lineno, __pyx_filename); + __pyx_r = -1; + #ifdef WITH_THREAD + __Pyx_PyGILState_Release(__pyx_gilstate_save); + #endif + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":1337 + * + * @cname('__pyx_memoryview_broadcast_leading') + * cdef void broadcast_leading(__Pyx_memviewslice *mslice, # <<<<<<<<<<<<<< + * int ndim, + * int ndim_other) noexcept nogil: + */ + +static void __pyx_memoryview_broadcast_leading(__Pyx_memviewslice *__pyx_v_mslice, int __pyx_v_ndim, int __pyx_v_ndim_other) { + int __pyx_v_i; + int __pyx_v_offset; + int __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + + /* "View.MemoryView":1341 + * int ndim_other) noexcept nogil: + * cdef int i + * cdef int offset = ndim_other - ndim # <<<<<<<<<<<<<< + * + * for i in range(ndim - 1, -1, -1): + */ + __pyx_v_offset = (__pyx_v_ndim_other - __pyx_v_ndim); + + /* "View.MemoryView":1343 + * cdef int offset = ndim_other - ndim + * + * for i in range(ndim - 1, -1, -1): # <<<<<<<<<<<<<< + * mslice.shape[i + offset] = mslice.shape[i] + * mslice.strides[i + offset] = mslice.strides[i] + */ + for (__pyx_t_1 = (__pyx_v_ndim - 1); __pyx_t_1 > -1; __pyx_t_1-=1) { + __pyx_v_i = __pyx_t_1; + + /* "View.MemoryView":1344 + * + * for i in range(ndim - 1, -1, -1): + * mslice.shape[i + offset] = mslice.shape[i] # <<<<<<<<<<<<<< + * mslice.strides[i + offset] = mslice.strides[i] + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] + */ + (__pyx_v_mslice->shape[(__pyx_v_i + __pyx_v_offset)]) = (__pyx_v_mslice->shape[__pyx_v_i]); + + /* "View.MemoryView":1345 + * for i in range(ndim - 1, -1, -1): + * mslice.shape[i + offset] = mslice.shape[i] + * mslice.strides[i + offset] = mslice.strides[i] # <<<<<<<<<<<<<< + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] + * + */ + (__pyx_v_mslice->strides[(__pyx_v_i + __pyx_v_offset)]) = (__pyx_v_mslice->strides[__pyx_v_i]); + + /* "View.MemoryView":1346 + * mslice.shape[i + offset] = mslice.shape[i] + * mslice.strides[i + offset] = mslice.strides[i] + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] # <<<<<<<<<<<<<< + * + * for i in range(offset): + */ + (__pyx_v_mslice->suboffsets[(__pyx_v_i + __pyx_v_offset)]) = (__pyx_v_mslice->suboffsets[__pyx_v_i]); + } + + /* "View.MemoryView":1348 + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] + * + * for i in range(offset): # <<<<<<<<<<<<<< + * mslice.shape[i] = 1 + * mslice.strides[i] = mslice.strides[0] + */ + __pyx_t_1 = __pyx_v_offset; + __pyx_t_2 = __pyx_t_1; + for (__pyx_t_3 = 0; __pyx_t_3 < __pyx_t_2; __pyx_t_3+=1) { + __pyx_v_i = __pyx_t_3; + + /* "View.MemoryView":1349 + * + * for i in range(offset): + * mslice.shape[i] = 1 # <<<<<<<<<<<<<< + * mslice.strides[i] = mslice.strides[0] + * mslice.suboffsets[i] = -1 + */ + (__pyx_v_mslice->shape[__pyx_v_i]) = 1; + + /* "View.MemoryView":1350 + * for i in range(offset): + * mslice.shape[i] = 1 + * mslice.strides[i] = mslice.strides[0] # <<<<<<<<<<<<<< + * mslice.suboffsets[i] = -1 + * + */ + (__pyx_v_mslice->strides[__pyx_v_i]) = (__pyx_v_mslice->strides[0]); + + /* "View.MemoryView":1351 + * mslice.shape[i] = 1 + * mslice.strides[i] = mslice.strides[0] + * mslice.suboffsets[i] = -1 # <<<<<<<<<<<<<< + * + * + */ + (__pyx_v_mslice->suboffsets[__pyx_v_i]) = -1L; + } + + /* "View.MemoryView":1337 + * + * @cname('__pyx_memoryview_broadcast_leading') + * cdef void broadcast_leading(__Pyx_memviewslice *mslice, # <<<<<<<<<<<<<< + * int ndim, + * int ndim_other) noexcept nogil: + */ + + /* function exit code */ +} + +/* "View.MemoryView":1359 + * + * @cname('__pyx_memoryview_refcount_copying') + * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object, int ndim, bint inc) noexcept nogil: # <<<<<<<<<<<<<< + * + * if dtype_is_object: + */ + +static void __pyx_memoryview_refcount_copying(__Pyx_memviewslice *__pyx_v_dst, int __pyx_v_dtype_is_object, int __pyx_v_ndim, int __pyx_v_inc) { + + /* "View.MemoryView":1361 + * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object, int ndim, bint inc) noexcept nogil: + * + * if dtype_is_object: # <<<<<<<<<<<<<< + * refcount_objects_in_slice_with_gil(dst.data, dst.shape, dst.strides, ndim, inc) + * + */ + if (__pyx_v_dtype_is_object) { + + /* "View.MemoryView":1362 + * + * if dtype_is_object: + * refcount_objects_in_slice_with_gil(dst.data, dst.shape, dst.strides, ndim, inc) # <<<<<<<<<<<<<< + * + * @cname('__pyx_memoryview_refcount_objects_in_slice_with_gil') + */ + __pyx_memoryview_refcount_objects_in_slice_with_gil(__pyx_v_dst->data, __pyx_v_dst->shape, __pyx_v_dst->strides, __pyx_v_ndim, __pyx_v_inc); + + /* "View.MemoryView":1361 + * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object, int ndim, bint inc) noexcept nogil: + * + * if dtype_is_object: # <<<<<<<<<<<<<< + * refcount_objects_in_slice_with_gil(dst.data, dst.shape, dst.strides, ndim, inc) + * + */ + } + + /* "View.MemoryView":1359 + * + * @cname('__pyx_memoryview_refcount_copying') + * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object, int ndim, bint inc) noexcept nogil: # <<<<<<<<<<<<<< + * + * if dtype_is_object: + */ + + /* function exit code */ +} + +/* "View.MemoryView":1365 + * + * @cname('__pyx_memoryview_refcount_objects_in_slice_with_gil') + * cdef void refcount_objects_in_slice_with_gil(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, + * bint inc) noexcept with gil: + */ + +static void __pyx_memoryview_refcount_objects_in_slice_with_gil(char *__pyx_v_data, Py_ssize_t *__pyx_v_shape, Py_ssize_t *__pyx_v_strides, int __pyx_v_ndim, int __pyx_v_inc) { + #ifdef WITH_THREAD + PyGILState_STATE __pyx_gilstate_save = __Pyx_PyGILState_Ensure(); + #endif + + /* "View.MemoryView":1368 + * Py_ssize_t *strides, int ndim, + * bint inc) noexcept with gil: + * refcount_objects_in_slice(data, shape, strides, ndim, inc) # <<<<<<<<<<<<<< + * + * @cname('__pyx_memoryview_refcount_objects_in_slice') + */ + __pyx_memoryview_refcount_objects_in_slice(__pyx_v_data, __pyx_v_shape, __pyx_v_strides, __pyx_v_ndim, __pyx_v_inc); + + /* "View.MemoryView":1365 + * + * @cname('__pyx_memoryview_refcount_objects_in_slice_with_gil') + * cdef void 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__pyx_memoryview_refcount_copying(__pyx_v_dst, __pyx_v_dtype_is_object, __pyx_v_ndim, 1); + + /* "View.MemoryView":1391 + * + * @cname('__pyx_memoryview_slice_assign_scalar') + * cdef void slice_assign_scalar(__Pyx_memviewslice *dst, int ndim, # <<<<<<<<<<<<<< + * size_t itemsize, void *item, + * bint dtype_is_object) noexcept nogil: + */ + + /* function exit code */ +} + +/* "View.MemoryView":1400 + * + * @cname('__pyx_memoryview__slice_assign_scalar') + * cdef void _slice_assign_scalar(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, + * size_t itemsize, void *item) noexcept nogil: + */ + +static void __pyx_memoryview__slice_assign_scalar(char *__pyx_v_data, Py_ssize_t *__pyx_v_shape, Py_ssize_t *__pyx_v_strides, int __pyx_v_ndim, size_t __pyx_v_itemsize, void *__pyx_v_item) { + CYTHON_UNUSED Py_ssize_t __pyx_v_i; + Py_ssize_t __pyx_v_stride; + Py_ssize_t __pyx_v_extent; + int __pyx_t_1; + Py_ssize_t __pyx_t_2; + Py_ssize_t __pyx_t_3; + Py_ssize_t 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__Pyx_RaiseArgtupleInvalid("create_buffers_with_sizes", 1, 8, 8, 7); __PYX_ERR(0, 72, __pyx_L3_error) + } + } + if (unlikely(kw_args > 0)) { + const Py_ssize_t kwd_pos_args = __pyx_nargs; + if (unlikely(__Pyx_ParseOptionalKeywords(__pyx_kwds, __pyx_kwvalues, __pyx_pyargnames, 0, values + 0, kwd_pos_args, "create_buffers_with_sizes") < 0)) __PYX_ERR(0, 72, __pyx_L3_error) + } + } else if (unlikely(__pyx_nargs != 8)) { + goto __pyx_L5_argtuple_error; + } else { + values[0] = __Pyx_Arg_FASTCALL(__pyx_args, 0); + values[1] = __Pyx_Arg_FASTCALL(__pyx_args, 1); + values[2] = __Pyx_Arg_FASTCALL(__pyx_args, 2); + values[3] = __Pyx_Arg_FASTCALL(__pyx_args, 3); + values[4] = __Pyx_Arg_FASTCALL(__pyx_args, 4); + values[5] = __Pyx_Arg_FASTCALL(__pyx_args, 5); + values[6] = __Pyx_Arg_FASTCALL(__pyx_args, 6); + values[7] = __Pyx_Arg_FASTCALL(__pyx_args, 7); + } + __pyx_v_tp = ((enum 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CYTHON_FALLTHROUGH; + case 1: values[0] = __Pyx_Arg_FASTCALL(__pyx_args, 0); + CYTHON_FALLTHROUGH; + case 0: break; + default: goto __pyx_L5_argtuple_error; + } + kw_args = __Pyx_NumKwargs_FASTCALL(__pyx_kwds); + switch (__pyx_nargs) { + case 0: + if (likely((values[0] = __Pyx_GetKwValue_FASTCALL(__pyx_kwds, __pyx_kwvalues, __pyx_n_s_tp)) != 0)) { + (void)__Pyx_Arg_NewRef_FASTCALL(values[0]); + kw_args--; + } + else if (unlikely(PyErr_Occurred())) __PYX_ERR(0, 75, __pyx_L3_error) + else goto __pyx_L5_argtuple_error; + CYTHON_FALLTHROUGH; + case 1: + if (likely((values[1] = __Pyx_GetKwValue_FASTCALL(__pyx_kwds, __pyx_kwvalues, __pyx_n_s_data)) != 0)) { + (void)__Pyx_Arg_NewRef_FASTCALL(values[1]); + kw_args--; + } + else if (unlikely(PyErr_Occurred())) __PYX_ERR(0, 75, __pyx_L3_error) + else { + __Pyx_RaiseArgtupleInvalid("send", 0, 2, 5, 1); __PYX_ERR(0, 75, __pyx_L3_error) + } + CYTHON_FALLTHROUGH; + case 2: + if (kw_args > 0) { + PyObject* value = 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*__pyx_pf_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_14__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state) { + PyObject *__pyx_r = NULL; + __Pyx_RefNannyDeclarations + int __pyx_lineno = 0; + const char *__pyx_filename = NULL; + int __pyx_clineno = 0; + __Pyx_RefNannySetupContext("__setstate_cython__", 1); + + /* "(tree fragment)":4 + * raise TypeError, "no default __reduce__ due to non-trivial __cinit__" + * def __setstate_cython__(self, __pyx_state): + * raise TypeError, "no default __reduce__ due to non-trivial __cinit__" # <<<<<<<<<<<<<< + */ + __Pyx_Raise(__pyx_builtin_TypeError, __pyx_kp_s_no_default___reduce___due_to_non, 0, 0); + __PYX_ERR(1, 4, __pyx_L1_error) + + /* "(tree fragment)":3 + * def __reduce_cython__(self): + * raise TypeError, "no default __reduce__ due to non-trivial __cinit__" + * def __setstate_cython__(self, __pyx_state): # <<<<<<<<<<<<<< + * raise TypeError, "no default __reduce__ due to non-trivial __cinit__" + */ + + /* function exit code */ + __pyx_L1_error:; + __Pyx_AddTraceback("msgq.visionipc.visionipc_pyx.VisionIpcClient.__setstate_cython__", __pyx_clineno, __pyx_lineno, __pyx_filename); + __pyx_r = NULL; + __Pyx_XGIVEREF(__pyx_r); + __Pyx_RefNannyFinishContext(); + return __pyx_r; +} + +static PyObject *__pyx_tp_new_4msgq_9visionipc_13visionipc_pyx_CLContext(PyTypeObject *t, CYTHON_UNUSED PyObject *a, CYTHON_UNUSED PyObject *k) { + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + return o; +} + +static void __pyx_tp_dealloc_4msgq_9visionipc_13visionipc_pyx_CLContext(PyObject *o) { + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && (!PyType_IS_GC(Py_TYPE(o)) || !__Pyx_PyObject_GC_IsFinalized(o))) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_4msgq_9visionipc_13visionipc_pyx_CLContext) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type_4msgq_9visionipc_13visionipc_pyx_CLContext_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_4msgq_9visionipc_13visionipc_pyx_CLContext}, + {Py_tp_new, (void *)__pyx_tp_new_4msgq_9visionipc_13visionipc_pyx_CLContext}, + {0, 0}, +}; +static PyType_Spec __pyx_type_4msgq_9visionipc_13visionipc_pyx_CLContext_spec = { + "msgq.visionipc.visionipc_pyx.CLContext", + sizeof(struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_CLContext), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_FINALIZE, + __pyx_type_4msgq_9visionipc_13visionipc_pyx_CLContext_slots, +}; +#else + +static PyTypeObject __pyx_type_4msgq_9visionipc_13visionipc_pyx_CLContext = { + PyVarObject_HEAD_INIT(0, 0) + "msgq.visionipc.visionipc_pyx.""CLContext", /*tp_name*/ + sizeof(struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_CLContext), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_4msgq_9visionipc_13visionipc_pyx_CLContext, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + 0, /*tp_repr*/ + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_FINALIZE, /*tp_flags*/ + 0, /*tp_doc*/ + 0, /*tp_traverse*/ + 0, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + 0, /*tp_methods*/ + 0, /*tp_members*/ + 0, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_4msgq_9visionipc_13visionipc_pyx_CLContext, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif +static struct __pyx_vtabstruct_4msgq_9visionipc_13visionipc_pyx_VisionBuf __pyx_vtable_4msgq_9visionipc_13visionipc_pyx_VisionBuf; + +static PyObject *__pyx_tp_new_4msgq_9visionipc_13visionipc_pyx_VisionBuf(PyTypeObject *t, CYTHON_UNUSED PyObject *a, CYTHON_UNUSED PyObject *k) { + struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionBuf *p; + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + p = ((struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionBuf *)o); + p->__pyx_vtab = __pyx_vtabptr_4msgq_9visionipc_13visionipc_pyx_VisionBuf; + return o; +} + +static void __pyx_tp_dealloc_4msgq_9visionipc_13visionipc_pyx_VisionBuf(PyObject *o) { + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && (!PyType_IS_GC(Py_TYPE(o)) || !__Pyx_PyObject_GC_IsFinalized(o))) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_4msgq_9visionipc_13visionipc_pyx_VisionBuf) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} + +static PyObject *__pyx_getprop_4msgq_9visionipc_13visionipc_pyx_9VisionBuf_data(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_4msgq_9visionipc_13visionipc_pyx_9VisionBuf_4data_1__get__(o); +} + +static PyObject *__pyx_getprop_4msgq_9visionipc_13visionipc_pyx_9VisionBuf_width(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_4msgq_9visionipc_13visionipc_pyx_9VisionBuf_5width_1__get__(o); +} + +static PyObject *__pyx_getprop_4msgq_9visionipc_13visionipc_pyx_9VisionBuf_height(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_4msgq_9visionipc_13visionipc_pyx_9VisionBuf_6height_1__get__(o); +} + +static PyObject *__pyx_getprop_4msgq_9visionipc_13visionipc_pyx_9VisionBuf_stride(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_4msgq_9visionipc_13visionipc_pyx_9VisionBuf_6stride_1__get__(o); +} + +static PyObject *__pyx_getprop_4msgq_9visionipc_13visionipc_pyx_9VisionBuf_uv_offset(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_4msgq_9visionipc_13visionipc_pyx_9VisionBuf_9uv_offset_1__get__(o); +} + +static PyObject *__pyx_getprop_4msgq_9visionipc_13visionipc_pyx_9VisionBuf_rgb(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_4msgq_9visionipc_13visionipc_pyx_9VisionBuf_3rgb_1__get__(o); +} + +static PyMethodDef __pyx_methods_4msgq_9visionipc_13visionipc_pyx_VisionBuf[] = { + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_4msgq_9visionipc_13visionipc_pyx_9VisionBuf_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_4msgq_9visionipc_13visionipc_pyx_9VisionBuf_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; + +static struct PyGetSetDef __pyx_getsets_4msgq_9visionipc_13visionipc_pyx_VisionBuf[] = { + {(char *)"data", __pyx_getprop_4msgq_9visionipc_13visionipc_pyx_9VisionBuf_data, 0, (char *)0, 0}, + {(char *)"width", __pyx_getprop_4msgq_9visionipc_13visionipc_pyx_9VisionBuf_width, 0, (char *)0, 0}, + {(char *)"height", __pyx_getprop_4msgq_9visionipc_13visionipc_pyx_9VisionBuf_height, 0, (char *)0, 0}, + {(char *)"stride", __pyx_getprop_4msgq_9visionipc_13visionipc_pyx_9VisionBuf_stride, 0, (char *)0, 0}, + {(char *)"uv_offset", __pyx_getprop_4msgq_9visionipc_13visionipc_pyx_9VisionBuf_uv_offset, 0, (char *)0, 0}, + {(char *)"rgb", __pyx_getprop_4msgq_9visionipc_13visionipc_pyx_9VisionBuf_rgb, 0, (char *)0, 0}, + {0, 0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type_4msgq_9visionipc_13visionipc_pyx_VisionBuf_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_4msgq_9visionipc_13visionipc_pyx_VisionBuf}, + {Py_tp_methods, (void *)__pyx_methods_4msgq_9visionipc_13visionipc_pyx_VisionBuf}, + {Py_tp_getset, (void *)__pyx_getsets_4msgq_9visionipc_13visionipc_pyx_VisionBuf}, + {Py_tp_new, (void *)__pyx_tp_new_4msgq_9visionipc_13visionipc_pyx_VisionBuf}, + {0, 0}, +}; +static PyType_Spec __pyx_type_4msgq_9visionipc_13visionipc_pyx_VisionBuf_spec = { + "msgq.visionipc.visionipc_pyx.VisionBuf", + sizeof(struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionBuf), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE, + __pyx_type_4msgq_9visionipc_13visionipc_pyx_VisionBuf_slots, +}; +#else + +static PyTypeObject __pyx_type_4msgq_9visionipc_13visionipc_pyx_VisionBuf = { + PyVarObject_HEAD_INIT(0, 0) + "msgq.visionipc.visionipc_pyx.""VisionBuf", /*tp_name*/ + sizeof(struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionBuf), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_4msgq_9visionipc_13visionipc_pyx_VisionBuf, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + 0, /*tp_repr*/ + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE, /*tp_flags*/ + 0, /*tp_doc*/ + 0, /*tp_traverse*/ + 0, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_4msgq_9visionipc_13visionipc_pyx_VisionBuf, /*tp_methods*/ + 0, /*tp_members*/ + __pyx_getsets_4msgq_9visionipc_13visionipc_pyx_VisionBuf, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_4msgq_9visionipc_13visionipc_pyx_VisionBuf, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif + +static PyObject *__pyx_tp_new_4msgq_9visionipc_13visionipc_pyx_VisionIpcServer(PyTypeObject *t, CYTHON_UNUSED PyObject *a, CYTHON_UNUSED PyObject *k) { + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + return o; +} + +static void __pyx_tp_dealloc_4msgq_9visionipc_13visionipc_pyx_VisionIpcServer(PyObject *o) { + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && (!PyType_IS_GC(Py_TYPE(o)) || !__Pyx_PyObject_GC_IsFinalized(o))) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_4msgq_9visionipc_13visionipc_pyx_VisionIpcServer) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_pw_4msgq_9visionipc_13visionipc_pyx_15VisionIpcServer_11__dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} + +static PyMethodDef __pyx_methods_4msgq_9visionipc_13visionipc_pyx_VisionIpcServer[] = { + {"create_buffers", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_4msgq_9visionipc_13visionipc_pyx_15VisionIpcServer_3create_buffers, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"create_buffers_with_sizes", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_4msgq_9visionipc_13visionipc_pyx_15VisionIpcServer_5create_buffers_with_sizes, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"send", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_4msgq_9visionipc_13visionipc_pyx_15VisionIpcServer_7send, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"start_listener", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_4msgq_9visionipc_13visionipc_pyx_15VisionIpcServer_9start_listener, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_4msgq_9visionipc_13visionipc_pyx_15VisionIpcServer_13__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_4msgq_9visionipc_13visionipc_pyx_15VisionIpcServer_15__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type_4msgq_9visionipc_13visionipc_pyx_VisionIpcServer_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_4msgq_9visionipc_13visionipc_pyx_VisionIpcServer}, + {Py_tp_methods, (void *)__pyx_methods_4msgq_9visionipc_13visionipc_pyx_VisionIpcServer}, + {Py_tp_init, (void *)__pyx_pw_4msgq_9visionipc_13visionipc_pyx_15VisionIpcServer_1__init__}, + {Py_tp_new, (void *)__pyx_tp_new_4msgq_9visionipc_13visionipc_pyx_VisionIpcServer}, + {0, 0}, +}; +static PyType_Spec __pyx_type_4msgq_9visionipc_13visionipc_pyx_VisionIpcServer_spec = { + "msgq.visionipc.visionipc_pyx.VisionIpcServer", + sizeof(struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionIpcServer), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE, + __pyx_type_4msgq_9visionipc_13visionipc_pyx_VisionIpcServer_slots, +}; +#else + +static PyTypeObject __pyx_type_4msgq_9visionipc_13visionipc_pyx_VisionIpcServer = { + PyVarObject_HEAD_INIT(0, 0) + "msgq.visionipc.visionipc_pyx.""VisionIpcServer", /*tp_name*/ + sizeof(struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionIpcServer), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_4msgq_9visionipc_13visionipc_pyx_VisionIpcServer, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + 0, /*tp_repr*/ + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE, /*tp_flags*/ + 0, /*tp_doc*/ + 0, /*tp_traverse*/ + 0, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_4msgq_9visionipc_13visionipc_pyx_VisionIpcServer, /*tp_methods*/ + 0, /*tp_members*/ + 0, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + __pyx_pw_4msgq_9visionipc_13visionipc_pyx_15VisionIpcServer_1__init__, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_4msgq_9visionipc_13visionipc_pyx_VisionIpcServer, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif + +static PyObject *__pyx_tp_new_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient(PyTypeObject *t, PyObject *a, PyObject *k) { + struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient *p; + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + p = ((struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient *)o); + new((void*)&(p->extra)) struct VisionIpcBufExtra(); + if (unlikely(__pyx_pw_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_1__cinit__(o, a, k) < 0)) goto bad; + return o; + bad: + Py_DECREF(o); o = 0; + return NULL; +} + +static void __pyx_tp_dealloc_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient(PyObject *o) { + struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient *p = (struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && (!PyType_IS_GC(Py_TYPE(o)) || !__Pyx_PyObject_GC_IsFinalized(o))) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_pw_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_3__dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + __Pyx_call_destructor(p->extra); + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} + +static PyObject *__pyx_getprop_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_width(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_5width_1__get__(o); +} + +static PyObject *__pyx_getprop_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_height(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_6height_1__get__(o); +} + +static PyObject *__pyx_getprop_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_stride(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_6stride_1__get__(o); +} + +static PyObject *__pyx_getprop_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_uv_offset(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_9uv_offset_1__get__(o); +} + +static PyObject *__pyx_getprop_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_rgb(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_3rgb_1__get__(o); +} + +static PyObject *__pyx_getprop_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_buffer_len(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_10buffer_len_1__get__(o); +} + +static PyObject *__pyx_getprop_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_num_buffers(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_11num_buffers_1__get__(o); +} + +static PyObject *__pyx_getprop_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_frame_id(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_8frame_id_1__get__(o); +} + +static PyObject *__pyx_getprop_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_timestamp_sof(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_13timestamp_sof_1__get__(o); +} + +static PyObject *__pyx_getprop_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_timestamp_eof(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_13timestamp_eof_1__get__(o); +} + +static PyObject *__pyx_getprop_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_valid(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_5valid_1__get__(o); +} + +static PyMethodDef __pyx_methods_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient[] = { + {"recv", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_5recv, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"connect", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_7connect, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"is_connected", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_9is_connected, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"available_streams", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_11available_streams, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_13__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_15__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; + +static struct PyGetSetDef __pyx_getsets_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient[] = { + {(char *)"width", __pyx_getprop_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_width, 0, (char *)0, 0}, + {(char *)"height", __pyx_getprop_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_height, 0, (char *)0, 0}, + {(char *)"stride", __pyx_getprop_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_stride, 0, (char *)0, 0}, + {(char *)"uv_offset", __pyx_getprop_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_uv_offset, 0, (char *)0, 0}, + {(char *)"rgb", __pyx_getprop_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_rgb, 0, (char *)0, 0}, + {(char *)"buffer_len", __pyx_getprop_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_buffer_len, 0, (char *)0, 0}, + {(char *)"num_buffers", __pyx_getprop_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_num_buffers, 0, (char *)0, 0}, + {(char *)"frame_id", __pyx_getprop_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_frame_id, 0, (char *)0, 0}, + {(char *)"timestamp_sof", __pyx_getprop_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_timestamp_sof, 0, (char *)0, 0}, + {(char *)"timestamp_eof", __pyx_getprop_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_timestamp_eof, 0, (char *)0, 0}, + {(char *)"valid", __pyx_getprop_4msgq_9visionipc_13visionipc_pyx_15VisionIpcClient_valid, 0, (char *)0, 0}, + {0, 0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient}, + {Py_tp_methods, (void *)__pyx_methods_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient}, + {Py_tp_getset, (void *)__pyx_getsets_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient}, + {Py_tp_new, (void *)__pyx_tp_new_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient}, + {0, 0}, +}; +static PyType_Spec __pyx_type_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient_spec = { + "msgq.visionipc.visionipc_pyx.VisionIpcClient", + sizeof(struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE, + __pyx_type_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient_slots, +}; +#else + +static PyTypeObject __pyx_type_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient = { + PyVarObject_HEAD_INIT(0, 0) + "msgq.visionipc.visionipc_pyx.""VisionIpcClient", /*tp_name*/ + sizeof(struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + 0, /*tp_repr*/ + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE, /*tp_flags*/ + 0, /*tp_doc*/ + 0, /*tp_traverse*/ + 0, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient, /*tp_methods*/ + 0, /*tp_members*/ + __pyx_getsets_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_4msgq_9visionipc_13visionipc_pyx_VisionIpcClient, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif + +static int __pyx_tp_traverse___Pyx_EnumMeta(PyObject *o, visitproc v, void *a) { + int e; + if (!(&PyType_Type)->tp_traverse); else { e = (&PyType_Type)->tp_traverse(o,v,a); if (e) return e; } + return 0; +} + +static int __pyx_tp_clear___Pyx_EnumMeta(PyObject *o) { + if (!(&PyType_Type)->tp_clear); else (&PyType_Type)->tp_clear(o); + return 0; +} +static PyObject *__pyx_sq_item___Pyx_EnumMeta(PyObject *o, Py_ssize_t i) { + PyObject *r; + PyObject *x = PyInt_FromSsize_t(i); if(!x) return 0; + r = Py_TYPE(o)->tp_as_mapping->mp_subscript(o, x); + Py_DECREF(x); + return r; +} + +static PyMethodDef __pyx_methods___Pyx_EnumMeta[] = { + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_8EnumBase_14__Pyx_EnumMeta_7__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_8EnumBase_14__Pyx_EnumMeta_9__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __Pyx_EnumMeta_slots[] = { + {Py_sq_item, (void *)__pyx_sq_item___Pyx_EnumMeta}, + {Py_mp_subscript, (void *)__pyx_pw_8EnumBase_14__Pyx_EnumMeta_5__getitem__}, + {Py_tp_traverse, (void *)__pyx_tp_traverse___Pyx_EnumMeta}, + {Py_tp_clear, (void *)__pyx_tp_clear___Pyx_EnumMeta}, + {Py_tp_iter, (void *)__pyx_pw_8EnumBase_14__Pyx_EnumMeta_3__iter__}, + {Py_tp_methods, (void *)__pyx_methods___Pyx_EnumMeta}, + {Py_tp_init, (void *)__pyx_pw_8EnumBase_14__Pyx_EnumMeta_1__init__}, + {0, 0}, +}; +static PyType_Spec __Pyx_EnumMeta_spec = { + "msgq.visionipc.visionipc_pyx.__Pyx_EnumMeta", + sizeof(struct __pyx_obj___Pyx_EnumMeta), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC|Py_TPFLAGS_HAVE_FINALIZE, + __Pyx_EnumMeta_slots, +}; +#else + +static PySequenceMethods __pyx_tp_as_sequence___Pyx_EnumMeta = { + 0, /*sq_length*/ + 0, /*sq_concat*/ + 0, /*sq_repeat*/ + __pyx_sq_item___Pyx_EnumMeta, /*sq_item*/ + 0, /*sq_slice*/ + 0, /*sq_ass_item*/ + 0, /*sq_ass_slice*/ + 0, /*sq_contains*/ + 0, /*sq_inplace_concat*/ + 0, /*sq_inplace_repeat*/ +}; + +static PyMappingMethods __pyx_tp_as_mapping___Pyx_EnumMeta = { + 0, /*mp_length*/ + __pyx_pw_8EnumBase_14__Pyx_EnumMeta_5__getitem__, /*mp_subscript*/ + 0, /*mp_ass_subscript*/ +}; + +static PyTypeObject __Pyx_EnumMeta = { + PyVarObject_HEAD_INIT(0, 0) + "msgq.visionipc.visionipc_pyx.""__Pyx_EnumMeta", /*tp_name*/ + sizeof(struct __pyx_obj___Pyx_EnumMeta), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + 0, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + 0, /*tp_repr*/ + 0, /*tp_as_number*/ + &__pyx_tp_as_sequence___Pyx_EnumMeta, /*tp_as_sequence*/ + &__pyx_tp_as_mapping___Pyx_EnumMeta, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC|Py_TPFLAGS_HAVE_FINALIZE, /*tp_flags*/ + 0, /*tp_doc*/ + __pyx_tp_traverse___Pyx_EnumMeta, /*tp_traverse*/ + __pyx_tp_clear___Pyx_EnumMeta, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + __pyx_pw_8EnumBase_14__Pyx_EnumMeta_3__iter__, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods___Pyx_EnumMeta, /*tp_methods*/ + 0, /*tp_members*/ + 0, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + __pyx_pw_8EnumBase_14__Pyx_EnumMeta_1__init__, /*tp_init*/ + 0, /*tp_alloc*/ + 0, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif +static struct __pyx_vtabstruct_array __pyx_vtable_array; + +static PyObject *__pyx_tp_new_array(PyTypeObject *t, PyObject *a, PyObject *k) { + struct __pyx_array_obj *p; + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + p = ((struct __pyx_array_obj *)o); + p->__pyx_vtab = __pyx_vtabptr_array; + p->mode = ((PyObject*)Py_None); Py_INCREF(Py_None); + p->_format = ((PyObject*)Py_None); Py_INCREF(Py_None); + if (unlikely(__pyx_array___cinit__(o, a, k) < 0)) goto bad; + return o; + bad: + Py_DECREF(o); o = 0; + return NULL; +} + +static void __pyx_tp_dealloc_array(PyObject *o) { + struct __pyx_array_obj *p = (struct __pyx_array_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && (!PyType_IS_GC(Py_TYPE(o)) || !__Pyx_PyObject_GC_IsFinalized(o))) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_array) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_array___dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + Py_CLEAR(p->mode); + Py_CLEAR(p->_format); + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} +static PyObject *__pyx_sq_item_array(PyObject *o, Py_ssize_t i) { + PyObject *r; + PyObject *x = PyInt_FromSsize_t(i); if(!x) return 0; + r = Py_TYPE(o)->tp_as_mapping->mp_subscript(o, x); + Py_DECREF(x); + return r; +} + +static int __pyx_mp_ass_subscript_array(PyObject *o, PyObject *i, PyObject *v) { + if (v) { + return __pyx_array___setitem__(o, i, v); + } + else { + __Pyx_TypeName o_type_name; + o_type_name = __Pyx_PyType_GetName(Py_TYPE(o)); + PyErr_Format(PyExc_NotImplementedError, + "Subscript deletion not supported by " __Pyx_FMT_TYPENAME, o_type_name); + __Pyx_DECREF_TypeName(o_type_name); + return -1; + } +} + +static PyObject *__pyx_tp_getattro_array(PyObject *o, PyObject *n) { + PyObject *v = __Pyx_PyObject_GenericGetAttr(o, n); + if (!v && PyErr_ExceptionMatches(PyExc_AttributeError)) { + PyErr_Clear(); + v = __pyx_array___getattr__(o, n); + } + return v; +} + +static PyObject *__pyx_getprop___pyx_array_memview(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_5array_7memview_1__get__(o); +} + +static PyMethodDef __pyx_methods_array[] = { + {"__getattr__", (PyCFunction)__pyx_array___getattr__, METH_O|METH_COEXIST, 0}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_array_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_array_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; + +static struct PyGetSetDef __pyx_getsets_array[] = { + {(char *)"memview", __pyx_getprop___pyx_array_memview, 0, (char *)0, 0}, + {0, 0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +#if !CYTHON_COMPILING_IN_LIMITED_API + +static PyBufferProcs __pyx_tp_as_buffer_array = { + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getreadbuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getwritebuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getsegcount*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getcharbuffer*/ + #endif + __pyx_array_getbuffer, /*bf_getbuffer*/ + 0, /*bf_releasebuffer*/ +}; +#endif +static PyType_Slot __pyx_type___pyx_array_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_array}, + {Py_sq_length, (void *)__pyx_array___len__}, + {Py_sq_item, (void *)__pyx_sq_item_array}, + {Py_mp_length, (void *)__pyx_array___len__}, + {Py_mp_subscript, (void *)__pyx_array___getitem__}, + {Py_mp_ass_subscript, (void *)__pyx_mp_ass_subscript_array}, + {Py_tp_getattro, (void *)__pyx_tp_getattro_array}, + #if defined(Py_bf_getbuffer) + {Py_bf_getbuffer, (void *)__pyx_array_getbuffer}, + #endif + {Py_tp_methods, (void *)__pyx_methods_array}, + {Py_tp_getset, (void *)__pyx_getsets_array}, + {Py_tp_new, (void *)__pyx_tp_new_array}, + {0, 0}, +}; +static PyType_Spec __pyx_type___pyx_array_spec = { + "msgq.visionipc.visionipc_pyx.array", + sizeof(struct __pyx_array_obj), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_SEQUENCE, + __pyx_type___pyx_array_slots, +}; +#else + +static PySequenceMethods __pyx_tp_as_sequence_array = { + __pyx_array___len__, /*sq_length*/ + 0, /*sq_concat*/ + 0, /*sq_repeat*/ + __pyx_sq_item_array, /*sq_item*/ + 0, /*sq_slice*/ + 0, /*sq_ass_item*/ + 0, /*sq_ass_slice*/ + 0, /*sq_contains*/ + 0, /*sq_inplace_concat*/ + 0, /*sq_inplace_repeat*/ +}; + +static PyMappingMethods __pyx_tp_as_mapping_array = { + __pyx_array___len__, /*mp_length*/ + __pyx_array___getitem__, /*mp_subscript*/ + __pyx_mp_ass_subscript_array, /*mp_ass_subscript*/ +}; + +static PyBufferProcs __pyx_tp_as_buffer_array = { + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getreadbuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getwritebuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getsegcount*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getcharbuffer*/ + #endif + __pyx_array_getbuffer, /*bf_getbuffer*/ + 0, /*bf_releasebuffer*/ +}; + +static PyTypeObject __pyx_type___pyx_array = { + PyVarObject_HEAD_INIT(0, 0) + "msgq.visionipc.visionipc_pyx.""array", /*tp_name*/ + sizeof(struct __pyx_array_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_array, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + 0, /*tp_repr*/ + 0, /*tp_as_number*/ + &__pyx_tp_as_sequence_array, /*tp_as_sequence*/ + &__pyx_tp_as_mapping_array, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + __pyx_tp_getattro_array, /*tp_getattro*/ + 0, /*tp_setattro*/ + &__pyx_tp_as_buffer_array, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_SEQUENCE, /*tp_flags*/ + 0, /*tp_doc*/ + 0, /*tp_traverse*/ + 0, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_array, /*tp_methods*/ + 0, /*tp_members*/ + __pyx_getsets_array, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_array, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif + +static PyObject *__pyx_tp_new_Enum(PyTypeObject *t, CYTHON_UNUSED PyObject *a, CYTHON_UNUSED PyObject *k) { + struct __pyx_MemviewEnum_obj *p; + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + p = ((struct __pyx_MemviewEnum_obj *)o); + p->name = Py_None; Py_INCREF(Py_None); + return o; +} + +static void __pyx_tp_dealloc_Enum(PyObject *o) { + struct __pyx_MemviewEnum_obj *p = (struct __pyx_MemviewEnum_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && !__Pyx_PyObject_GC_IsFinalized(o)) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_Enum) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + PyObject_GC_UnTrack(o); + Py_CLEAR(p->name); + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} + +static int __pyx_tp_traverse_Enum(PyObject *o, visitproc v, void *a) { + int e; + struct __pyx_MemviewEnum_obj *p = (struct __pyx_MemviewEnum_obj *)o; + if (p->name) { + e = (*v)(p->name, a); if (e) return e; + } + return 0; +} + +static int __pyx_tp_clear_Enum(PyObject *o) { + PyObject* tmp; + struct __pyx_MemviewEnum_obj *p = (struct __pyx_MemviewEnum_obj *)o; + tmp = ((PyObject*)p->name); + p->name = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + return 0; +} + +static PyObject *__pyx_specialmethod___pyx_MemviewEnum___repr__(PyObject *self, CYTHON_UNUSED PyObject *arg) { + return __pyx_MemviewEnum___repr__(self); +} + +static PyMethodDef __pyx_methods_Enum[] = { + {"__repr__", (PyCFunction)__pyx_specialmethod___pyx_MemviewEnum___repr__, METH_NOARGS|METH_COEXIST, 0}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_MemviewEnum_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_MemviewEnum_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type___pyx_MemviewEnum_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_Enum}, + {Py_tp_repr, (void *)__pyx_MemviewEnum___repr__}, + {Py_tp_traverse, (void *)__pyx_tp_traverse_Enum}, + {Py_tp_clear, (void *)__pyx_tp_clear_Enum}, + {Py_tp_methods, (void *)__pyx_methods_Enum}, + {Py_tp_init, (void *)__pyx_MemviewEnum___init__}, + {Py_tp_new, (void *)__pyx_tp_new_Enum}, + {0, 0}, +}; +static PyType_Spec __pyx_type___pyx_MemviewEnum_spec = { + "msgq.visionipc.visionipc_pyx.Enum", + sizeof(struct __pyx_MemviewEnum_obj), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, + __pyx_type___pyx_MemviewEnum_slots, +}; +#else + +static PyTypeObject __pyx_type___pyx_MemviewEnum = { + PyVarObject_HEAD_INIT(0, 0) + "msgq.visionipc.visionipc_pyx.""Enum", /*tp_name*/ + sizeof(struct __pyx_MemviewEnum_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_Enum, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + __pyx_MemviewEnum___repr__, /*tp_repr*/ + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, /*tp_flags*/ + 0, /*tp_doc*/ + __pyx_tp_traverse_Enum, /*tp_traverse*/ + __pyx_tp_clear_Enum, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_Enum, /*tp_methods*/ + 0, /*tp_members*/ + 0, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + __pyx_MemviewEnum___init__, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_Enum, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif +static struct __pyx_vtabstruct_memoryview __pyx_vtable_memoryview; + +static PyObject *__pyx_tp_new_memoryview(PyTypeObject *t, PyObject *a, PyObject *k) { + struct __pyx_memoryview_obj *p; + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + p = ((struct __pyx_memoryview_obj *)o); + p->__pyx_vtab = __pyx_vtabptr_memoryview; + p->obj = Py_None; Py_INCREF(Py_None); + p->_size = Py_None; Py_INCREF(Py_None); + p->_array_interface = Py_None; Py_INCREF(Py_None); + p->view.obj = NULL; + if (unlikely(__pyx_memoryview___cinit__(o, a, k) < 0)) goto bad; + return o; + bad: + Py_DECREF(o); o = 0; + return NULL; +} + +static void __pyx_tp_dealloc_memoryview(PyObject *o) { + struct __pyx_memoryview_obj *p = (struct __pyx_memoryview_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && !__Pyx_PyObject_GC_IsFinalized(o)) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_memoryview) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + PyObject_GC_UnTrack(o); + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_memoryview___dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + Py_CLEAR(p->obj); + Py_CLEAR(p->_size); + Py_CLEAR(p->_array_interface); + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} + +static int __pyx_tp_traverse_memoryview(PyObject *o, visitproc v, void *a) { + int e; + struct __pyx_memoryview_obj *p = (struct __pyx_memoryview_obj *)o; + if (p->obj) { + e = (*v)(p->obj, a); if (e) return e; + } + if (p->_size) { + e = (*v)(p->_size, a); if (e) return e; + } + if (p->_array_interface) { + e = (*v)(p->_array_interface, a); if (e) return e; + } + if (p->view.obj) { + e = (*v)(p->view.obj, a); if (e) return e; + } + return 0; +} + +static int __pyx_tp_clear_memoryview(PyObject *o) { + PyObject* tmp; + struct __pyx_memoryview_obj *p = (struct __pyx_memoryview_obj *)o; + tmp = ((PyObject*)p->obj); + p->obj = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + tmp = ((PyObject*)p->_size); + p->_size = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + tmp = ((PyObject*)p->_array_interface); + p->_array_interface = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + Py_CLEAR(p->view.obj); + return 0; +} +static PyObject *__pyx_sq_item_memoryview(PyObject *o, Py_ssize_t i) { + PyObject *r; + PyObject *x = PyInt_FromSsize_t(i); if(!x) return 0; + r = Py_TYPE(o)->tp_as_mapping->mp_subscript(o, x); + Py_DECREF(x); + return r; +} + +static int __pyx_mp_ass_subscript_memoryview(PyObject *o, PyObject *i, PyObject *v) { + if (v) { + return __pyx_memoryview___setitem__(o, i, v); + } + else { + __Pyx_TypeName o_type_name; + o_type_name = __Pyx_PyType_GetName(Py_TYPE(o)); + PyErr_Format(PyExc_NotImplementedError, + "Subscript deletion not supported by " __Pyx_FMT_TYPENAME, o_type_name); + __Pyx_DECREF_TypeName(o_type_name); + return -1; + } +} + +static PyObject *__pyx_getprop___pyx_memoryview_T(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_1T_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_base(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_4base_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_shape(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_5shape_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_strides(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_7strides_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_suboffsets(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_10suboffsets_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_ndim(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_4ndim_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_itemsize(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_8itemsize_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_nbytes(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_6nbytes_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_size(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_4size_1__get__(o); +} + +static PyObject *__pyx_specialmethod___pyx_memoryview___repr__(PyObject *self, CYTHON_UNUSED PyObject *arg) { + return __pyx_memoryview___repr__(self); +} + +static PyMethodDef __pyx_methods_memoryview[] = { + {"__repr__", (PyCFunction)__pyx_specialmethod___pyx_memoryview___repr__, METH_NOARGS|METH_COEXIST, 0}, + {"is_c_contig", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_memoryview_is_c_contig, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"is_f_contig", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_memoryview_is_f_contig, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"copy", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_memoryview_copy, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"copy_fortran", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_memoryview_copy_fortran, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_memoryview_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_memoryview_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; + +static struct PyGetSetDef __pyx_getsets_memoryview[] = { + {(char *)"T", __pyx_getprop___pyx_memoryview_T, 0, (char *)0, 0}, + {(char *)"base", __pyx_getprop___pyx_memoryview_base, 0, (char *)0, 0}, + {(char *)"shape", __pyx_getprop___pyx_memoryview_shape, 0, (char *)0, 0}, + {(char *)"strides", __pyx_getprop___pyx_memoryview_strides, 0, (char *)0, 0}, + {(char *)"suboffsets", __pyx_getprop___pyx_memoryview_suboffsets, 0, (char *)0, 0}, + {(char *)"ndim", __pyx_getprop___pyx_memoryview_ndim, 0, (char *)0, 0}, + {(char *)"itemsize", __pyx_getprop___pyx_memoryview_itemsize, 0, (char *)0, 0}, + {(char *)"nbytes", __pyx_getprop___pyx_memoryview_nbytes, 0, (char *)0, 0}, + {(char *)"size", __pyx_getprop___pyx_memoryview_size, 0, (char *)0, 0}, + {0, 0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +#if !CYTHON_COMPILING_IN_LIMITED_API + +static PyBufferProcs __pyx_tp_as_buffer_memoryview = { + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getreadbuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getwritebuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getsegcount*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getcharbuffer*/ + #endif + __pyx_memoryview_getbuffer, /*bf_getbuffer*/ + 0, /*bf_releasebuffer*/ +}; +#endif +static PyType_Slot __pyx_type___pyx_memoryview_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_memoryview}, + {Py_tp_repr, (void *)__pyx_memoryview___repr__}, + {Py_sq_length, (void *)__pyx_memoryview___len__}, + {Py_sq_item, (void *)__pyx_sq_item_memoryview}, + {Py_mp_length, (void *)__pyx_memoryview___len__}, + {Py_mp_subscript, (void *)__pyx_memoryview___getitem__}, + {Py_mp_ass_subscript, (void *)__pyx_mp_ass_subscript_memoryview}, + {Py_tp_str, (void *)__pyx_memoryview___str__}, + #if defined(Py_bf_getbuffer) + {Py_bf_getbuffer, (void *)__pyx_memoryview_getbuffer}, + #endif + {Py_tp_traverse, (void *)__pyx_tp_traverse_memoryview}, + {Py_tp_clear, (void *)__pyx_tp_clear_memoryview}, + {Py_tp_methods, (void *)__pyx_methods_memoryview}, + {Py_tp_getset, (void *)__pyx_getsets_memoryview}, + {Py_tp_new, (void *)__pyx_tp_new_memoryview}, + {0, 0}, +}; +static PyType_Spec __pyx_type___pyx_memoryview_spec = { + "msgq.visionipc.visionipc_pyx.memoryview", + sizeof(struct __pyx_memoryview_obj), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, + __pyx_type___pyx_memoryview_slots, +}; +#else + +static PySequenceMethods __pyx_tp_as_sequence_memoryview = { + __pyx_memoryview___len__, /*sq_length*/ + 0, /*sq_concat*/ + 0, /*sq_repeat*/ + __pyx_sq_item_memoryview, /*sq_item*/ + 0, /*sq_slice*/ + 0, /*sq_ass_item*/ + 0, /*sq_ass_slice*/ + 0, /*sq_contains*/ + 0, /*sq_inplace_concat*/ + 0, /*sq_inplace_repeat*/ +}; + +static PyMappingMethods __pyx_tp_as_mapping_memoryview = { + __pyx_memoryview___len__, /*mp_length*/ + __pyx_memoryview___getitem__, /*mp_subscript*/ + __pyx_mp_ass_subscript_memoryview, /*mp_ass_subscript*/ +}; + +static PyBufferProcs __pyx_tp_as_buffer_memoryview = { + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getreadbuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getwritebuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getsegcount*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getcharbuffer*/ + #endif + __pyx_memoryview_getbuffer, /*bf_getbuffer*/ + 0, /*bf_releasebuffer*/ +}; + +static PyTypeObject __pyx_type___pyx_memoryview = { + PyVarObject_HEAD_INIT(0, 0) + "msgq.visionipc.visionipc_pyx.""memoryview", /*tp_name*/ + sizeof(struct __pyx_memoryview_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_memoryview, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + __pyx_memoryview___repr__, /*tp_repr*/ + 0, /*tp_as_number*/ + &__pyx_tp_as_sequence_memoryview, /*tp_as_sequence*/ + &__pyx_tp_as_mapping_memoryview, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + __pyx_memoryview___str__, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + &__pyx_tp_as_buffer_memoryview, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, /*tp_flags*/ + 0, /*tp_doc*/ + __pyx_tp_traverse_memoryview, /*tp_traverse*/ + __pyx_tp_clear_memoryview, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_memoryview, /*tp_methods*/ + 0, /*tp_members*/ + __pyx_getsets_memoryview, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_memoryview, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif +static struct __pyx_vtabstruct__memoryviewslice __pyx_vtable__memoryviewslice; + +static PyObject *__pyx_tp_new__memoryviewslice(PyTypeObject *t, PyObject *a, PyObject *k) { + struct __pyx_memoryviewslice_obj *p; + PyObject *o = __pyx_tp_new_memoryview(t, a, k); + if (unlikely(!o)) return 0; + p = ((struct __pyx_memoryviewslice_obj *)o); + p->__pyx_base.__pyx_vtab = (struct __pyx_vtabstruct_memoryview*)__pyx_vtabptr__memoryviewslice; + new((void*)&(p->from_slice)) __Pyx_memviewslice(); + p->from_object = Py_None; Py_INCREF(Py_None); + p->from_slice.memview = NULL; + return o; +} + +static void __pyx_tp_dealloc__memoryviewslice(PyObject *o) { + struct __pyx_memoryviewslice_obj *p = (struct __pyx_memoryviewslice_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && !__Pyx_PyObject_GC_IsFinalized(o)) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc__memoryviewslice) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + PyObject_GC_UnTrack(o); + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_memoryviewslice___dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + __Pyx_call_destructor(p->from_slice); + Py_CLEAR(p->from_object); + PyObject_GC_Track(o); + __pyx_tp_dealloc_memoryview(o); +} + +static int __pyx_tp_traverse__memoryviewslice(PyObject *o, visitproc v, void *a) { + int e; + struct __pyx_memoryviewslice_obj *p = (struct __pyx_memoryviewslice_obj *)o; + e = __pyx_tp_traverse_memoryview(o, v, a); if (e) return e; + if (p->from_object) { + e = (*v)(p->from_object, a); if (e) return e; + } + return 0; +} + +static int __pyx_tp_clear__memoryviewslice(PyObject *o) { + PyObject* tmp; + struct __pyx_memoryviewslice_obj *p = (struct __pyx_memoryviewslice_obj *)o; + __pyx_tp_clear_memoryview(o); + tmp = ((PyObject*)p->from_object); + p->from_object = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + __PYX_XCLEAR_MEMVIEW(&p->from_slice, 1); + return 0; +} + +static PyMethodDef __pyx_methods__memoryviewslice[] = { + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_memoryviewslice_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_memoryviewslice_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type___pyx_memoryviewslice_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc__memoryviewslice}, + {Py_tp_doc, (void *)PyDoc_STR("Internal class for passing memoryview slices to Python")}, + {Py_tp_traverse, (void *)__pyx_tp_traverse__memoryviewslice}, + {Py_tp_clear, (void *)__pyx_tp_clear__memoryviewslice}, + {Py_tp_methods, (void *)__pyx_methods__memoryviewslice}, + {Py_tp_new, (void *)__pyx_tp_new__memoryviewslice}, + {0, 0}, +}; +static PyType_Spec __pyx_type___pyx_memoryviewslice_spec = { + "msgq.visionipc.visionipc_pyx._memoryviewslice", + sizeof(struct __pyx_memoryviewslice_obj), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC|Py_TPFLAGS_SEQUENCE, + __pyx_type___pyx_memoryviewslice_slots, +}; +#else + +static PyTypeObject __pyx_type___pyx_memoryviewslice = { + PyVarObject_HEAD_INIT(0, 0) + "msgq.visionipc.visionipc_pyx.""_memoryviewslice", /*tp_name*/ + sizeof(struct __pyx_memoryviewslice_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc__memoryviewslice, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + #if CYTHON_COMPILING_IN_PYPY || 0 + __pyx_memoryview___repr__, /*tp_repr*/ + #else + 0, /*tp_repr*/ + #endif + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + #if CYTHON_COMPILING_IN_PYPY || 0 + __pyx_memoryview___str__, /*tp_str*/ + #else + 0, /*tp_str*/ + #endif + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC|Py_TPFLAGS_SEQUENCE, /*tp_flags*/ + PyDoc_STR("Internal class for passing memoryview slices to Python"), /*tp_doc*/ + __pyx_tp_traverse__memoryviewslice, /*tp_traverse*/ + __pyx_tp_clear__memoryviewslice, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods__memoryviewslice, /*tp_methods*/ + 0, /*tp_members*/ + 0, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new__memoryviewslice, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif + +static PyMethodDef __pyx_methods[] = { + {0, 0, 0, 0} +}; +#ifndef CYTHON_SMALL_CODE +#if defined(__clang__) + #define CYTHON_SMALL_CODE +#elif defined(__GNUC__) && (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 3)) + #define CYTHON_SMALL_CODE __attribute__((cold)) +#else + #define CYTHON_SMALL_CODE +#endif +#endif +/* #### Code section: pystring_table ### */ + +static int __Pyx_CreateStringTabAndInitStrings(void) { + __Pyx_StringTabEntry __pyx_string_tab[] = { + {&__pyx_kp_b_, __pyx_k_, sizeof(__pyx_k_), 0, 0, 0, 0}, + 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+ Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); +#endif +} +static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { +#if PY_VERSION_HEX >= 0x030C00A6 + PyObject* exc_value; + exc_value = tstate->current_exception; + tstate->current_exception = 0; + *value = exc_value; + *type = NULL; + *tb = NULL; + if (exc_value) { + *type = (PyObject*) Py_TYPE(exc_value); + Py_INCREF(*type); + #if CYTHON_COMPILING_IN_CPYTHON + *tb = ((PyBaseExceptionObject*) exc_value)->traceback; + Py_XINCREF(*tb); + #else + *tb = PyException_GetTraceback(exc_value); + #endif + } +#else + *type = tstate->curexc_type; + *value = tstate->curexc_value; + *tb = tstate->curexc_traceback; + tstate->curexc_type = 0; + tstate->curexc_value = 0; + tstate->curexc_traceback = 0; +#endif +} +#endif + +/* PyObjectGetAttrStr */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStr(PyObject* obj, PyObject* attr_name) { + PyTypeObject* tp = Py_TYPE(obj); + if (likely(tp->tp_getattro)) + return tp->tp_getattro(obj, attr_name); +#if PY_MAJOR_VERSION < 3 + if (likely(tp->tp_getattr)) + return tp->tp_getattr(obj, PyString_AS_STRING(attr_name)); +#endif + return PyObject_GetAttr(obj, attr_name); +} +#endif + +/* PyObjectGetAttrStrNoError */ +#if __PYX_LIMITED_VERSION_HEX < 0x030d00A1 +static void __Pyx_PyObject_GetAttrStr_ClearAttributeError(void) { + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + if (likely(__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) + __Pyx_PyErr_Clear(); +} +#endif +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name) { + PyObject *result; +#if __PYX_LIMITED_VERSION_HEX >= 0x030d00A1 + (void) PyObject_GetOptionalAttr(obj, attr_name, &result); + return result; +#else +#if CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_TYPE_SLOTS && PY_VERSION_HEX >= 0x030700B1 + PyTypeObject* tp = Py_TYPE(obj); + if (likely(tp->tp_getattro == PyObject_GenericGetAttr)) { + return _PyObject_GenericGetAttrWithDict(obj, attr_name, NULL, 1); + } +#endif + result = __Pyx_PyObject_GetAttrStr(obj, attr_name); + if (unlikely(!result)) { + __Pyx_PyObject_GetAttrStr_ClearAttributeError(); + } + return result; +#endif +} + +/* GetBuiltinName */ +static PyObject *__Pyx_GetBuiltinName(PyObject *name) { + PyObject* result = __Pyx_PyObject_GetAttrStrNoError(__pyx_b, name); + if (unlikely(!result) && !PyErr_Occurred()) { + PyErr_Format(PyExc_NameError, +#if PY_MAJOR_VERSION >= 3 + "name '%U' is not defined", name); +#else + "name '%.200s' is not defined", PyString_AS_STRING(name)); +#endif + } + return result; +} + +/* TupleAndListFromArray */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE void __Pyx_copy_object_array(PyObject *const *CYTHON_RESTRICT src, PyObject** CYTHON_RESTRICT dest, Py_ssize_t length) { + PyObject *v; + Py_ssize_t i; + for (i = 0; i < length; i++) { + v = dest[i] = src[i]; + Py_INCREF(v); + } +} +static CYTHON_INLINE PyObject * +__Pyx_PyTuple_FromArray(PyObject *const *src, Py_ssize_t n) +{ + PyObject *res; + if (n <= 0) { + Py_INCREF(__pyx_empty_tuple); + return __pyx_empty_tuple; + } + res = PyTuple_New(n); + if (unlikely(res == NULL)) return NULL; + __Pyx_copy_object_array(src, ((PyTupleObject*)res)->ob_item, n); + return res; +} +static CYTHON_INLINE PyObject * +__Pyx_PyList_FromArray(PyObject *const *src, Py_ssize_t n) +{ + PyObject *res; + if (n <= 0) { + return PyList_New(0); + } + res = PyList_New(n); + if (unlikely(res == NULL)) return NULL; + __Pyx_copy_object_array(src, ((PyListObject*)res)->ob_item, n); + return res; +} +#endif + +/* BytesEquals */ +static CYTHON_INLINE int __Pyx_PyBytes_Equals(PyObject* s1, PyObject* s2, int equals) { +#if CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API + return PyObject_RichCompareBool(s1, s2, equals); +#else + if (s1 == s2) { + return (equals == Py_EQ); + } else if (PyBytes_CheckExact(s1) & PyBytes_CheckExact(s2)) { + const char *ps1, *ps2; + Py_ssize_t length = PyBytes_GET_SIZE(s1); + if (length != PyBytes_GET_SIZE(s2)) + return (equals == Py_NE); + ps1 = PyBytes_AS_STRING(s1); + ps2 = PyBytes_AS_STRING(s2); + if (ps1[0] != ps2[0]) { + return (equals == Py_NE); + } else if (length == 1) { + return (equals == Py_EQ); + } else { + int result; +#if CYTHON_USE_UNICODE_INTERNALS && (PY_VERSION_HEX < 0x030B0000) + Py_hash_t hash1, hash2; + hash1 = ((PyBytesObject*)s1)->ob_shash; + hash2 = ((PyBytesObject*)s2)->ob_shash; + if (hash1 != hash2 && hash1 != -1 && hash2 != -1) { + return (equals == Py_NE); + } +#endif + result = memcmp(ps1, ps2, (size_t)length); + return (equals == Py_EQ) ? (result == 0) : (result != 0); + } + } else if ((s1 == Py_None) & PyBytes_CheckExact(s2)) { + return (equals == Py_NE); + } else if ((s2 == Py_None) & PyBytes_CheckExact(s1)) { + return (equals == Py_NE); + } else { + int result; + PyObject* py_result = PyObject_RichCompare(s1, s2, equals); + if (!py_result) + return -1; + result = __Pyx_PyObject_IsTrue(py_result); + Py_DECREF(py_result); + return result; + } +#endif +} + +/* UnicodeEquals */ +static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int equals) { +#if CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API + return PyObject_RichCompareBool(s1, s2, equals); +#else +#if PY_MAJOR_VERSION < 3 + PyObject* owned_ref = NULL; +#endif + int s1_is_unicode, s2_is_unicode; + if (s1 == s2) { + goto return_eq; + } + s1_is_unicode = PyUnicode_CheckExact(s1); + s2_is_unicode = PyUnicode_CheckExact(s2); +#if PY_MAJOR_VERSION < 3 + if ((s1_is_unicode & (!s2_is_unicode)) && PyString_CheckExact(s2)) { + owned_ref = PyUnicode_FromObject(s2); + if (unlikely(!owned_ref)) + return -1; + s2 = owned_ref; + s2_is_unicode = 1; + } else if ((s2_is_unicode & (!s1_is_unicode)) && PyString_CheckExact(s1)) { + owned_ref = PyUnicode_FromObject(s1); + if (unlikely(!owned_ref)) + return -1; + s1 = owned_ref; + s1_is_unicode = 1; + } else if (((!s2_is_unicode) & (!s1_is_unicode))) { + return __Pyx_PyBytes_Equals(s1, s2, equals); + } +#endif + if (s1_is_unicode & s2_is_unicode) { + Py_ssize_t length; + int kind; + void *data1, *data2; + if (unlikely(__Pyx_PyUnicode_READY(s1) < 0) || unlikely(__Pyx_PyUnicode_READY(s2) < 0)) + return -1; + length = __Pyx_PyUnicode_GET_LENGTH(s1); + if (length != __Pyx_PyUnicode_GET_LENGTH(s2)) { + goto return_ne; + } +#if CYTHON_USE_UNICODE_INTERNALS + { + Py_hash_t hash1, hash2; + #if CYTHON_PEP393_ENABLED + hash1 = ((PyASCIIObject*)s1)->hash; + hash2 = ((PyASCIIObject*)s2)->hash; + #else + hash1 = ((PyUnicodeObject*)s1)->hash; + hash2 = ((PyUnicodeObject*)s2)->hash; + #endif + if (hash1 != hash2 && hash1 != -1 && hash2 != -1) { + goto return_ne; + } + } +#endif + kind = __Pyx_PyUnicode_KIND(s1); + if (kind != __Pyx_PyUnicode_KIND(s2)) { + goto return_ne; + } + data1 = __Pyx_PyUnicode_DATA(s1); + data2 = __Pyx_PyUnicode_DATA(s2); + if (__Pyx_PyUnicode_READ(kind, data1, 0) != __Pyx_PyUnicode_READ(kind, data2, 0)) { + goto return_ne; + } else if (length == 1) { + goto return_eq; + } else { + int result = memcmp(data1, data2, (size_t)(length * kind)); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_EQ) ? (result == 0) : (result != 0); + } + } else if ((s1 == Py_None) & s2_is_unicode) { + goto return_ne; + } else if ((s2 == Py_None) & s1_is_unicode) { + goto return_ne; + } else { + int result; + PyObject* py_result = PyObject_RichCompare(s1, s2, equals); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + if (!py_result) + return -1; + result = __Pyx_PyObject_IsTrue(py_result); + Py_DECREF(py_result); + return result; + } +return_eq: + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_EQ); +return_ne: + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_NE); +#endif +} + +/* fastcall */ +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE PyObject * __Pyx_GetKwValue_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues, PyObject *s) +{ + Py_ssize_t i, n = PyTuple_GET_SIZE(kwnames); + for (i = 0; i < n; i++) + { + if (s == PyTuple_GET_ITEM(kwnames, i)) return kwvalues[i]; + } + for (i = 0; i < n; i++) + { + int eq = __Pyx_PyUnicode_Equals(s, PyTuple_GET_ITEM(kwnames, i), Py_EQ); + if (unlikely(eq != 0)) { + if (unlikely(eq < 0)) return NULL; + return kwvalues[i]; + } + } + return NULL; +} +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 +CYTHON_UNUSED static PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues) { + Py_ssize_t i, nkwargs = PyTuple_GET_SIZE(kwnames); + PyObject *dict; + dict = PyDict_New(); + if (unlikely(!dict)) + return NULL; + for (i=0; i= 3 + "%s() got multiple values for keyword argument '%U'", func_name, kw_name); + #else + "%s() got multiple values for keyword argument '%s'", func_name, + PyString_AsString(kw_name)); + #endif +} + +/* ParseKeywords */ +static int __Pyx_ParseOptionalKeywords( + PyObject *kwds, + PyObject *const *kwvalues, + PyObject **argnames[], + PyObject *kwds2, + PyObject *values[], + Py_ssize_t num_pos_args, + const char* function_name) +{ + PyObject *key = 0, *value = 0; + Py_ssize_t pos = 0; + PyObject*** name; + PyObject*** first_kw_arg = argnames + num_pos_args; + int kwds_is_tuple = CYTHON_METH_FASTCALL && likely(PyTuple_Check(kwds)); + while (1) { + Py_XDECREF(key); key = NULL; + Py_XDECREF(value); value = NULL; + if (kwds_is_tuple) { + Py_ssize_t size; +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(kwds); +#else + size = PyTuple_Size(kwds); + if (size < 0) goto bad; +#endif + if (pos >= size) break; +#if CYTHON_AVOID_BORROWED_REFS + key = __Pyx_PySequence_ITEM(kwds, pos); + if (!key) goto bad; +#elif CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kwds, pos); +#else + key = PyTuple_GetItem(kwds, pos); + if (!key) goto bad; +#endif + value = kwvalues[pos]; + pos++; + } + else + { + if (!PyDict_Next(kwds, &pos, &key, &value)) break; +#if CYTHON_AVOID_BORROWED_REFS + Py_INCREF(key); +#endif + } + name = first_kw_arg; + while (*name && (**name != key)) name++; + if (*name) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + Py_INCREF(value); + Py_DECREF(key); +#endif + key = NULL; + value = NULL; + continue; + } +#if !CYTHON_AVOID_BORROWED_REFS + Py_INCREF(key); +#endif + Py_INCREF(value); + name = first_kw_arg; + #if PY_MAJOR_VERSION < 3 + if (likely(PyString_Check(key))) { + while (*name) { + if ((CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**name) == PyString_GET_SIZE(key)) + && _PyString_Eq(**name, key)) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + value = NULL; +#endif + break; + } + name++; + } + if (*name) continue; + else { + PyObject*** argname = argnames; + while (argname != first_kw_arg) { + if ((**argname == key) || ( + (CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**argname) == PyString_GET_SIZE(key)) + && _PyString_Eq(**argname, key))) { + goto arg_passed_twice; + } + argname++; + } + } + } else + #endif + if (likely(PyUnicode_Check(key))) { + while (*name) { + int cmp = ( + #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 + (__Pyx_PyUnicode_GET_LENGTH(**name) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : + #endif + PyUnicode_Compare(**name, key) + ); + if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; + if (cmp == 0) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + value = NULL; +#endif + break; + } + name++; + } + if (*name) continue; + else { + PyObject*** argname = argnames; + while (argname != first_kw_arg) { + int cmp = (**argname == key) ? 0 : + #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 + (__Pyx_PyUnicode_GET_LENGTH(**argname) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : + #endif + PyUnicode_Compare(**argname, key); + if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; + if (cmp == 0) goto arg_passed_twice; + argname++; + } + } + } else + goto invalid_keyword_type; + if (kwds2) { + if (unlikely(PyDict_SetItem(kwds2, key, value))) goto bad; + } else { + goto invalid_keyword; + } + } + Py_XDECREF(key); + Py_XDECREF(value); + return 0; +arg_passed_twice: + __Pyx_RaiseDoubleKeywordsError(function_name, key); + goto bad; +invalid_keyword_type: + PyErr_Format(PyExc_TypeError, + "%.200s() keywords must be strings", function_name); + goto bad; +invalid_keyword: + #if PY_MAJOR_VERSION < 3 + PyErr_Format(PyExc_TypeError, + "%.200s() got an unexpected keyword argument '%.200s'", + function_name, PyString_AsString(key)); + #else + PyErr_Format(PyExc_TypeError, + "%s() got an unexpected keyword argument '%U'", + function_name, key); + #endif +bad: + Py_XDECREF(key); + Py_XDECREF(value); + return -1; +} + +/* PyFunctionFastCall */ +#if CYTHON_FAST_PYCALL && !CYTHON_VECTORCALL +static PyObject* __Pyx_PyFunction_FastCallNoKw(PyCodeObject *co, PyObject **args, Py_ssize_t na, + PyObject *globals) { + PyFrameObject *f; + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject **fastlocals; + Py_ssize_t i; + PyObject *result; + assert(globals != NULL); + /* XXX Perhaps we should create a specialized + PyFrame_New() that doesn't take locals, but does + take builtins without sanity checking them. + */ + assert(tstate != NULL); + f = PyFrame_New(tstate, co, globals, NULL); + if (f == NULL) { + return NULL; + } + fastlocals = __Pyx_PyFrame_GetLocalsplus(f); + for (i = 0; i < na; i++) { + Py_INCREF(*args); + fastlocals[i] = *args++; + } + result = PyEval_EvalFrameEx(f,0); + ++tstate->recursion_depth; + Py_DECREF(f); + --tstate->recursion_depth; + return result; +} +static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs) { + PyCodeObject *co = (PyCodeObject *)PyFunction_GET_CODE(func); + PyObject *globals = PyFunction_GET_GLOBALS(func); + PyObject *argdefs = PyFunction_GET_DEFAULTS(func); + PyObject *closure; +#if PY_MAJOR_VERSION >= 3 + PyObject *kwdefs; +#endif + PyObject *kwtuple, **k; + PyObject **d; + Py_ssize_t nd; + Py_ssize_t nk; + PyObject *result; + assert(kwargs == NULL || PyDict_Check(kwargs)); + nk = kwargs ? PyDict_Size(kwargs) : 0; + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) { + return NULL; + } + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) { + return NULL; + } + #endif + if ( +#if PY_MAJOR_VERSION >= 3 + co->co_kwonlyargcount == 0 && +#endif + likely(kwargs == NULL || nk == 0) && + co->co_flags == (CO_OPTIMIZED | CO_NEWLOCALS | CO_NOFREE)) { + if (argdefs == NULL && co->co_argcount == nargs) { + result = __Pyx_PyFunction_FastCallNoKw(co, args, nargs, globals); + goto done; + } + else if (nargs == 0 && argdefs != NULL + && co->co_argcount == Py_SIZE(argdefs)) { + /* function called with no arguments, but all parameters have + a default value: use default values as arguments .*/ + args = &PyTuple_GET_ITEM(argdefs, 0); + result =__Pyx_PyFunction_FastCallNoKw(co, args, Py_SIZE(argdefs), globals); + goto done; + } + } + if (kwargs != NULL) { + Py_ssize_t pos, i; + kwtuple = PyTuple_New(2 * nk); + if (kwtuple == NULL) { + result = NULL; + goto done; + } + k = &PyTuple_GET_ITEM(kwtuple, 0); + pos = i = 0; + while (PyDict_Next(kwargs, &pos, &k[i], &k[i+1])) { + Py_INCREF(k[i]); + Py_INCREF(k[i+1]); + i += 2; + } + nk = i / 2; + } + else { + kwtuple = NULL; + k = NULL; + } + closure = PyFunction_GET_CLOSURE(func); +#if PY_MAJOR_VERSION >= 3 + kwdefs = PyFunction_GET_KW_DEFAULTS(func); +#endif + if (argdefs != NULL) { + d = &PyTuple_GET_ITEM(argdefs, 0); + nd = Py_SIZE(argdefs); + } + else { + d = NULL; + nd = 0; + } +#if PY_MAJOR_VERSION >= 3 + result = PyEval_EvalCodeEx((PyObject*)co, globals, (PyObject *)NULL, + args, (int)nargs, + k, (int)nk, + d, (int)nd, kwdefs, closure); +#else + result = PyEval_EvalCodeEx(co, globals, (PyObject *)NULL, + args, (int)nargs, + k, (int)nk, + d, (int)nd, closure); +#endif + Py_XDECREF(kwtuple); +done: + Py_LeaveRecursiveCall(); + return result; +} +#endif + +/* PyObjectCall */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw) { + PyObject *result; + ternaryfunc call = Py_TYPE(func)->tp_call; + if (unlikely(!call)) + return PyObject_Call(func, arg, kw); + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) + return NULL; + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) + return NULL; + #endif + result = (*call)(func, arg, kw); + Py_LeaveRecursiveCall(); + if (unlikely(!result) && unlikely(!PyErr_Occurred())) { + PyErr_SetString( + PyExc_SystemError, + "NULL result without error in PyObject_Call"); + } + return result; +} +#endif + +/* PyObjectCallMethO */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg) { + PyObject *self, *result; + PyCFunction cfunc; + cfunc = __Pyx_CyOrPyCFunction_GET_FUNCTION(func); + self = __Pyx_CyOrPyCFunction_GET_SELF(func); + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) + return NULL; + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) + return NULL; + #endif + result = cfunc(self, arg); + Py_LeaveRecursiveCall(); + if (unlikely(!result) && unlikely(!PyErr_Occurred())) { + PyErr_SetString( + PyExc_SystemError, + "NULL result without error in PyObject_Call"); + } + return result; +} +#endif + +/* PyObjectFastCall */ +#if PY_VERSION_HEX < 0x03090000 || CYTHON_COMPILING_IN_LIMITED_API +static PyObject* __Pyx_PyObject_FastCall_fallback(PyObject *func, PyObject **args, size_t nargs, PyObject *kwargs) { + PyObject *argstuple; + PyObject *result = 0; + size_t i; + argstuple = PyTuple_New((Py_ssize_t)nargs); + if (unlikely(!argstuple)) return NULL; + for (i = 0; i < nargs; i++) { + Py_INCREF(args[i]); + if (__Pyx_PyTuple_SET_ITEM(argstuple, (Py_ssize_t)i, args[i]) < 0) goto bad; + } + result = __Pyx_PyObject_Call(func, argstuple, kwargs); + bad: + Py_DECREF(argstuple); + return result; +} +#endif +static CYTHON_INLINE PyObject* __Pyx_PyObject_FastCallDict(PyObject *func, PyObject **args, size_t _nargs, PyObject *kwargs) { + Py_ssize_t nargs = __Pyx_PyVectorcall_NARGS(_nargs); +#if CYTHON_COMPILING_IN_CPYTHON + if (nargs == 0 && kwargs == NULL) { + if (__Pyx_CyOrPyCFunction_Check(func) && likely( __Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_NOARGS)) + return __Pyx_PyObject_CallMethO(func, NULL); + } + else if (nargs == 1 && kwargs == NULL) { + if (__Pyx_CyOrPyCFunction_Check(func) && likely( __Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_O)) + return __Pyx_PyObject_CallMethO(func, args[0]); + } +#endif + #if PY_VERSION_HEX < 0x030800B1 + #if CYTHON_FAST_PYCCALL + if (PyCFunction_Check(func)) { + if (kwargs) { + return _PyCFunction_FastCallDict(func, args, nargs, kwargs); + } else { + return _PyCFunction_FastCallKeywords(func, args, nargs, NULL); + } + } + #if PY_VERSION_HEX >= 0x030700A1 + if (!kwargs && __Pyx_IS_TYPE(func, &PyMethodDescr_Type)) { + return _PyMethodDescr_FastCallKeywords(func, args, nargs, NULL); + } + #endif + #endif + #if CYTHON_FAST_PYCALL + if (PyFunction_Check(func)) { + return __Pyx_PyFunction_FastCallDict(func, args, nargs, kwargs); + } + #endif + #endif + if (kwargs == NULL) { + #if CYTHON_VECTORCALL + #if PY_VERSION_HEX < 0x03090000 + vectorcallfunc f = _PyVectorcall_Function(func); + #else + vectorcallfunc f = PyVectorcall_Function(func); + #endif + if (f) { + return f(func, args, (size_t)nargs, NULL); + } + #elif defined(__Pyx_CyFunction_USED) && CYTHON_BACKPORT_VECTORCALL + if (__Pyx_CyFunction_CheckExact(func)) { + __pyx_vectorcallfunc f = __Pyx_CyFunction_func_vectorcall(func); + if (f) return f(func, args, (size_t)nargs, NULL); + } + #endif + } + if (nargs == 0) { + return __Pyx_PyObject_Call(func, __pyx_empty_tuple, kwargs); + } + #if PY_VERSION_HEX >= 0x03090000 && !CYTHON_COMPILING_IN_LIMITED_API + return PyObject_VectorcallDict(func, args, (size_t)nargs, kwargs); + #else + return __Pyx_PyObject_FastCall_fallback(func, args, (size_t)nargs, kwargs); + #endif +} + +/* PyObjectSetAttrStr */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE int __Pyx_PyObject_SetAttrStr(PyObject* obj, PyObject* attr_name, PyObject* value) { + PyTypeObject* tp = Py_TYPE(obj); + if (likely(tp->tp_setattro)) + return tp->tp_setattro(obj, attr_name, value); +#if PY_MAJOR_VERSION < 3 + if (likely(tp->tp_setattr)) + return tp->tp_setattr(obj, PyString_AS_STRING(attr_name), value); +#endif + return PyObject_SetAttr(obj, attr_name, value); +} +#endif + +/* GetItemInt */ +static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j) { + PyObject *r; + if (unlikely(!j)) return NULL; + r = PyObject_GetItem(o, j); + Py_DECREF(j); + return r; +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + Py_ssize_t wrapped_i = i; + if (wraparound & unlikely(i < 0)) { + wrapped_i += PyList_GET_SIZE(o); + } + if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyList_GET_SIZE(o)))) { + PyObject *r = PyList_GET_ITEM(o, wrapped_i); + Py_INCREF(r); + return r; + } + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +#else + return PySequence_GetItem(o, i); +#endif +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + Py_ssize_t wrapped_i = i; + if (wraparound & unlikely(i < 0)) { + wrapped_i += PyTuple_GET_SIZE(o); + } + if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyTuple_GET_SIZE(o)))) { + PyObject *r = PyTuple_GET_ITEM(o, wrapped_i); + Py_INCREF(r); + return r; + } + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +#else + return PySequence_GetItem(o, i); +#endif +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, int is_list, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS && CYTHON_USE_TYPE_SLOTS + if (is_list || PyList_CheckExact(o)) { + Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyList_GET_SIZE(o); + if ((!boundscheck) || (likely(__Pyx_is_valid_index(n, PyList_GET_SIZE(o))))) { + PyObject *r = PyList_GET_ITEM(o, n); + Py_INCREF(r); + return r; + } + } + else if (PyTuple_CheckExact(o)) { + Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyTuple_GET_SIZE(o); + if ((!boundscheck) || likely(__Pyx_is_valid_index(n, PyTuple_GET_SIZE(o)))) { + PyObject *r = PyTuple_GET_ITEM(o, n); + Py_INCREF(r); + return r; + } + } else { + PyMappingMethods *mm = Py_TYPE(o)->tp_as_mapping; + PySequenceMethods *sm = Py_TYPE(o)->tp_as_sequence; + if (mm && mm->mp_subscript) { + PyObject *r, *key = PyInt_FromSsize_t(i); + if (unlikely(!key)) return NULL; + r = mm->mp_subscript(o, key); + Py_DECREF(key); + return r; + } + if (likely(sm && sm->sq_item)) { + if (wraparound && unlikely(i < 0) && likely(sm->sq_length)) { + Py_ssize_t l = sm->sq_length(o); + if (likely(l >= 0)) { + i += l; + } else { + if (!PyErr_ExceptionMatches(PyExc_OverflowError)) + return NULL; + PyErr_Clear(); + } + } + return sm->sq_item(o, i); + } + } +#else + if (is_list || !PyMapping_Check(o)) { + return PySequence_GetItem(o, i); + } +#endif + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +} + +/* PyObjectCallOneArg */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg) { + PyObject *args[2] = {NULL, arg}; + return __Pyx_PyObject_FastCall(func, args+1, 1 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET); +} + +/* ObjectGetItem */ +#if CYTHON_USE_TYPE_SLOTS +static PyObject *__Pyx_PyObject_GetIndex(PyObject *obj, PyObject *index) { + PyObject *runerr = NULL; + Py_ssize_t key_value; + key_value = __Pyx_PyIndex_AsSsize_t(index); + if (likely(key_value != -1 || !(runerr = PyErr_Occurred()))) { + return __Pyx_GetItemInt_Fast(obj, key_value, 0, 1, 1); + } + if (PyErr_GivenExceptionMatches(runerr, PyExc_OverflowError)) { + __Pyx_TypeName index_type_name = __Pyx_PyType_GetName(Py_TYPE(index)); + PyErr_Clear(); + PyErr_Format(PyExc_IndexError, + "cannot fit '" __Pyx_FMT_TYPENAME "' into an index-sized integer", index_type_name); + __Pyx_DECREF_TypeName(index_type_name); + } + return NULL; +} +static PyObject *__Pyx_PyObject_GetItem_Slow(PyObject *obj, PyObject *key) { + __Pyx_TypeName obj_type_name; + if (likely(PyType_Check(obj))) { + PyObject *meth = __Pyx_PyObject_GetAttrStrNoError(obj, __pyx_n_s_class_getitem); + if (!meth) { + PyErr_Clear(); + } else { + PyObject *result = __Pyx_PyObject_CallOneArg(meth, key); + Py_DECREF(meth); + return result; + } + } + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, + "'" __Pyx_FMT_TYPENAME "' object is not subscriptable", obj_type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return NULL; +} +static PyObject *__Pyx_PyObject_GetItem(PyObject *obj, PyObject *key) { + PyTypeObject *tp = Py_TYPE(obj); + PyMappingMethods *mm = tp->tp_as_mapping; + PySequenceMethods *sm = tp->tp_as_sequence; + if (likely(mm && mm->mp_subscript)) { + return mm->mp_subscript(obj, key); + } + if (likely(sm && sm->sq_item)) { + return __Pyx_PyObject_GetIndex(obj, key); + } + return __Pyx_PyObject_GetItem_Slow(obj, key); +} +#endif + +/* KeywordStringCheck */ +static int __Pyx_CheckKeywordStrings( + PyObject *kw, + const char* function_name, + int kw_allowed) +{ + PyObject* key = 0; + Py_ssize_t pos = 0; +#if CYTHON_COMPILING_IN_PYPY + if (!kw_allowed && PyDict_Next(kw, &pos, &key, 0)) + goto invalid_keyword; + return 1; +#else + if (CYTHON_METH_FASTCALL && likely(PyTuple_Check(kw))) { + Py_ssize_t kwsize; +#if CYTHON_ASSUME_SAFE_MACROS + kwsize = PyTuple_GET_SIZE(kw); +#else + kwsize = PyTuple_Size(kw); + if (kwsize < 0) return 0; +#endif + if (unlikely(kwsize == 0)) + return 1; + if (!kw_allowed) { +#if CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kw, 0); +#else + key = PyTuple_GetItem(kw, pos); + if (!key) return 0; +#endif + goto invalid_keyword; + } +#if PY_VERSION_HEX < 0x03090000 + for (pos = 0; pos < kwsize; pos++) { +#if CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kw, pos); +#else + key = PyTuple_GetItem(kw, pos); + if (!key) return 0; +#endif + if (unlikely(!PyUnicode_Check(key))) + goto invalid_keyword_type; + } +#endif + return 1; + } + while (PyDict_Next(kw, &pos, &key, 0)) { + #if PY_MAJOR_VERSION < 3 + if (unlikely(!PyString_Check(key))) + #endif + if (unlikely(!PyUnicode_Check(key))) + goto invalid_keyword_type; + } + if (!kw_allowed && unlikely(key)) + goto invalid_keyword; + return 1; +invalid_keyword_type: + PyErr_Format(PyExc_TypeError, + "%.200s() keywords must be strings", function_name); + return 0; +#endif +invalid_keyword: + #if PY_MAJOR_VERSION < 3 + PyErr_Format(PyExc_TypeError, + "%.200s() got an unexpected keyword argument '%.200s'", + function_name, PyString_AsString(key)); + #else + PyErr_Format(PyExc_TypeError, + "%s() got an unexpected keyword argument '%U'", + function_name, key); + #endif + return 0; +} + +/* GetAttr3 */ +#if __PYX_LIMITED_VERSION_HEX < 0x030d00A1 +static PyObject *__Pyx_GetAttr3Default(PyObject *d) { + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + if (unlikely(!__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) + return NULL; + __Pyx_PyErr_Clear(); + Py_INCREF(d); + return d; +} +#endif +static CYTHON_INLINE PyObject *__Pyx_GetAttr3(PyObject *o, PyObject *n, PyObject *d) { + PyObject *r; +#if __PYX_LIMITED_VERSION_HEX >= 0x030d00A1 + int res = PyObject_GetOptionalAttr(o, n, &r); + return (res != 0) ? r : __Pyx_NewRef(d); +#else + #if CYTHON_USE_TYPE_SLOTS + if (likely(PyString_Check(n))) { + r = __Pyx_PyObject_GetAttrStrNoError(o, n); + if (unlikely(!r) && likely(!PyErr_Occurred())) { + r = __Pyx_NewRef(d); + } + return r; + } + #endif + r = PyObject_GetAttr(o, n); + return (likely(r)) ? r : __Pyx_GetAttr3Default(d); +#endif +} + +/* PyDictVersioning */ +#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj) { + PyObject *dict = Py_TYPE(obj)->tp_dict; + return likely(dict) ? __PYX_GET_DICT_VERSION(dict) : 0; +} +static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj) { + PyObject **dictptr = NULL; + Py_ssize_t offset = Py_TYPE(obj)->tp_dictoffset; + if (offset) { +#if CYTHON_COMPILING_IN_CPYTHON + dictptr = (likely(offset > 0)) ? (PyObject **) ((char *)obj + offset) : _PyObject_GetDictPtr(obj); +#else + dictptr = _PyObject_GetDictPtr(obj); +#endif + } + return (dictptr && *dictptr) ? __PYX_GET_DICT_VERSION(*dictptr) : 0; +} +static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version) { + PyObject *dict = Py_TYPE(obj)->tp_dict; + if (unlikely(!dict) || unlikely(tp_dict_version != __PYX_GET_DICT_VERSION(dict))) + return 0; + return obj_dict_version == __Pyx_get_object_dict_version(obj); +} +#endif + +/* GetModuleGlobalName */ +#if CYTHON_USE_DICT_VERSIONS +static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value) +#else +static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name) +#endif +{ + PyObject *result; +#if !CYTHON_AVOID_BORROWED_REFS +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030500A1 && PY_VERSION_HEX < 0x030d0000 + result = _PyDict_GetItem_KnownHash(__pyx_d, name, ((PyASCIIObject *) name)->hash); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } else if (unlikely(PyErr_Occurred())) { + return NULL; + } +#elif CYTHON_COMPILING_IN_LIMITED_API + if (unlikely(!__pyx_m)) { + return NULL; + } + result = PyObject_GetAttr(__pyx_m, name); + if (likely(result)) { + return result; + } +#else + result = PyDict_GetItem(__pyx_d, name); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } +#endif +#else + result = PyObject_GetItem(__pyx_d, name); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } + PyErr_Clear(); +#endif + return __Pyx_GetBuiltinName(name); +} + +/* RaiseUnexpectedTypeError */ +static int +__Pyx_RaiseUnexpectedTypeError(const char *expected, PyObject *obj) +{ + __Pyx_TypeName obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, "Expected %s, got " __Pyx_FMT_TYPENAME, + expected, obj_type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return 0; +} + +/* RaiseException */ +#if PY_MAJOR_VERSION < 3 +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) { + __Pyx_PyThreadState_declare + CYTHON_UNUSED_VAR(cause); + Py_XINCREF(type); + if (!value || value == Py_None) + value = NULL; + else + Py_INCREF(value); + if (!tb || tb == Py_None) + tb = NULL; + else { + Py_INCREF(tb); + if (!PyTraceBack_Check(tb)) { + PyErr_SetString(PyExc_TypeError, + "raise: arg 3 must be a traceback or None"); + goto raise_error; + } + } + if (PyType_Check(type)) { +#if CYTHON_COMPILING_IN_PYPY + if (!value) { + Py_INCREF(Py_None); + value = Py_None; + } +#endif + PyErr_NormalizeException(&type, &value, &tb); + } else { + if (value) { + PyErr_SetString(PyExc_TypeError, + "instance exception may not have a separate value"); + goto raise_error; + } + value = type; + type = (PyObject*) Py_TYPE(type); + Py_INCREF(type); + if (!PyType_IsSubtype((PyTypeObject *)type, (PyTypeObject *)PyExc_BaseException)) { + PyErr_SetString(PyExc_TypeError, + "raise: exception class must be a subclass of BaseException"); + goto raise_error; + } + } + __Pyx_PyThreadState_assign + __Pyx_ErrRestore(type, value, tb); + return; +raise_error: + Py_XDECREF(value); + Py_XDECREF(type); + Py_XDECREF(tb); + return; +} +#else +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) { + PyObject* owned_instance = NULL; + if (tb == Py_None) { + tb = 0; + } else if (tb && !PyTraceBack_Check(tb)) { + PyErr_SetString(PyExc_TypeError, + "raise: arg 3 must be a traceback or None"); + goto bad; + } + if (value == Py_None) + value = 0; + if (PyExceptionInstance_Check(type)) { + if (value) { + PyErr_SetString(PyExc_TypeError, + "instance exception may not have a separate value"); + goto bad; + } + value = type; + type = (PyObject*) Py_TYPE(value); + } else if (PyExceptionClass_Check(type)) { + PyObject *instance_class = NULL; + if (value && PyExceptionInstance_Check(value)) { + instance_class = (PyObject*) Py_TYPE(value); + if (instance_class != type) { + int is_subclass = PyObject_IsSubclass(instance_class, type); + if (!is_subclass) { + instance_class = NULL; + } else if (unlikely(is_subclass == -1)) { + goto bad; + } else { + type = instance_class; + } + } + } + if (!instance_class) { + PyObject *args; + if (!value) + args = PyTuple_New(0); + else if (PyTuple_Check(value)) { + Py_INCREF(value); + args = value; + } else + args = PyTuple_Pack(1, value); + if (!args) + goto bad; + owned_instance = PyObject_Call(type, args, NULL); + Py_DECREF(args); + if (!owned_instance) + goto bad; + value = owned_instance; + if (!PyExceptionInstance_Check(value)) { + PyErr_Format(PyExc_TypeError, + "calling %R should have returned an instance of " + "BaseException, not %R", + type, Py_TYPE(value)); + goto bad; + } + } + } else { + PyErr_SetString(PyExc_TypeError, + "raise: exception class must be a subclass of BaseException"); + goto bad; + } + if (cause) { + PyObject *fixed_cause; + if (cause == Py_None) { + fixed_cause = NULL; + } else if (PyExceptionClass_Check(cause)) { + fixed_cause = PyObject_CallObject(cause, NULL); + if (fixed_cause == NULL) + goto bad; + } else if (PyExceptionInstance_Check(cause)) { + fixed_cause = cause; + Py_INCREF(fixed_cause); + } else { + PyErr_SetString(PyExc_TypeError, + "exception causes must derive from " + "BaseException"); + goto bad; + } + PyException_SetCause(value, fixed_cause); + } + PyErr_SetObject(type, value); + if (tb) { + #if PY_VERSION_HEX >= 0x030C00A6 + PyException_SetTraceback(value, tb); + #elif CYTHON_FAST_THREAD_STATE + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject* tmp_tb = tstate->curexc_traceback; + if (tb != tmp_tb) { + Py_INCREF(tb); + tstate->curexc_traceback = tb; + Py_XDECREF(tmp_tb); + } +#else + PyObject *tmp_type, *tmp_value, *tmp_tb; + PyErr_Fetch(&tmp_type, &tmp_value, &tmp_tb); + Py_INCREF(tb); + PyErr_Restore(tmp_type, tmp_value, tb); + Py_XDECREF(tmp_tb); +#endif + } +bad: + Py_XDECREF(owned_instance); + return; +} +#endif + +/* Import */ +static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level) { + PyObject *module = 0; + PyObject *empty_dict = 0; + PyObject *empty_list = 0; + #if PY_MAJOR_VERSION < 3 + PyObject *py_import; + py_import = __Pyx_PyObject_GetAttrStr(__pyx_b, __pyx_n_s_import); + if (unlikely(!py_import)) + goto bad; + if (!from_list) { + empty_list = PyList_New(0); + if (unlikely(!empty_list)) + goto bad; + from_list = empty_list; + } + #endif + empty_dict = PyDict_New(); + if (unlikely(!empty_dict)) + goto bad; + { + #if PY_MAJOR_VERSION >= 3 + if (level == -1) { + if (strchr(__Pyx_MODULE_NAME, '.') != NULL) { + module = PyImport_ImportModuleLevelObject( + name, __pyx_d, empty_dict, from_list, 1); + if (unlikely(!module)) { + if (unlikely(!PyErr_ExceptionMatches(PyExc_ImportError))) + goto bad; + PyErr_Clear(); + } + } + level = 0; + } + #endif + if (!module) { + #if PY_MAJOR_VERSION < 3 + PyObject *py_level = PyInt_FromLong(level); + if (unlikely(!py_level)) + goto bad; + module = PyObject_CallFunctionObjArgs(py_import, + name, __pyx_d, empty_dict, from_list, py_level, (PyObject *)NULL); + Py_DECREF(py_level); + #else + module = PyImport_ImportModuleLevelObject( + name, __pyx_d, empty_dict, from_list, level); + #endif + } + } +bad: + Py_XDECREF(empty_dict); + Py_XDECREF(empty_list); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(py_import); + #endif + return module; +} + +/* ImportFrom */ +static PyObject* __Pyx_ImportFrom(PyObject* module, PyObject* name) { + PyObject* value = __Pyx_PyObject_GetAttrStr(module, name); + if (unlikely(!value) && PyErr_ExceptionMatches(PyExc_AttributeError)) { + const char* module_name_str = 0; + PyObject* module_name = 0; + PyObject* module_dot = 0; + PyObject* full_name = 0; + PyErr_Clear(); + module_name_str = PyModule_GetName(module); + if (unlikely(!module_name_str)) { goto modbad; } + module_name = PyUnicode_FromString(module_name_str); + if (unlikely(!module_name)) { goto modbad; } + module_dot = PyUnicode_Concat(module_name, __pyx_kp_u__3); + if (unlikely(!module_dot)) { goto modbad; } + full_name = PyUnicode_Concat(module_dot, name); + if (unlikely(!full_name)) { goto modbad; } + #if PY_VERSION_HEX < 0x030700A1 || (CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM < 0x07030400) + { + PyObject *modules = PyImport_GetModuleDict(); + if (unlikely(!modules)) + goto modbad; + value = PyObject_GetItem(modules, full_name); + } + #else + value = PyImport_GetModule(full_name); + #endif + modbad: + Py_XDECREF(full_name); + Py_XDECREF(module_dot); + Py_XDECREF(module_name); + } + if (unlikely(!value)) { + PyErr_Format(PyExc_ImportError, + #if PY_MAJOR_VERSION < 3 + "cannot import name %.230s", PyString_AS_STRING(name)); + #else + "cannot import name %S", name); + #endif + } + return value; +} + +/* GetAttr */ +static CYTHON_INLINE PyObject *__Pyx_GetAttr(PyObject *o, PyObject *n) { +#if CYTHON_USE_TYPE_SLOTS +#if PY_MAJOR_VERSION >= 3 + if (likely(PyUnicode_Check(n))) +#else + if (likely(PyString_Check(n))) +#endif + return __Pyx_PyObject_GetAttrStr(o, n); +#endif + return PyObject_GetAttr(o, n); +} + +/* HasAttr */ +#if __PYX_LIMITED_VERSION_HEX < 0x030d00A1 +static CYTHON_INLINE int __Pyx_HasAttr(PyObject *o, PyObject *n) { + PyObject *r; + if (unlikely(!__Pyx_PyBaseString_Check(n))) { + PyErr_SetString(PyExc_TypeError, + "hasattr(): attribute name must be string"); + return -1; + } + r = __Pyx_GetAttr(o, n); + if (!r) { + PyErr_Clear(); + return 0; + } else { + Py_DECREF(r); + return 1; + } +} +#endif + +/* ArgTypeTest */ +static int __Pyx__ArgTypeTest(PyObject *obj, PyTypeObject *type, const char *name, int exact) +{ + __Pyx_TypeName type_name; + __Pyx_TypeName obj_type_name; + if (unlikely(!type)) { + PyErr_SetString(PyExc_SystemError, "Missing type object"); + return 0; + } + else if (exact) { + #if PY_MAJOR_VERSION == 2 + if ((type == &PyBaseString_Type) && likely(__Pyx_PyBaseString_CheckExact(obj))) return 1; + #endif + } + else { + if (likely(__Pyx_TypeCheck(obj, type))) return 1; + } + type_name = __Pyx_PyType_GetName(type); + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, + "Argument '%.200s' has incorrect type (expected " __Pyx_FMT_TYPENAME + ", got " __Pyx_FMT_TYPENAME ")", name, type_name, obj_type_name); + __Pyx_DECREF_TypeName(type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return 0; +} + +/* CIntToDigits */ +static const char DIGIT_PAIRS_10[2*10*10+1] = { + "00010203040506070809" + "10111213141516171819" + "20212223242526272829" + "30313233343536373839" + "40414243444546474849" + "50515253545556575859" + "60616263646566676869" + "70717273747576777879" + "80818283848586878889" + "90919293949596979899" +}; +static const char DIGIT_PAIRS_8[2*8*8+1] = { + "0001020304050607" + "1011121314151617" + "2021222324252627" + "3031323334353637" + "4041424344454647" + "5051525354555657" + "6061626364656667" + "7071727374757677" +}; +static const char DIGITS_HEX[2*16+1] = { + "0123456789abcdef" + "0123456789ABCDEF" +}; + +/* BuildPyUnicode */ +static PyObject* __Pyx_PyUnicode_BuildFromAscii(Py_ssize_t ulength, char* chars, int clength, + int prepend_sign, char padding_char) { + PyObject *uval; + Py_ssize_t uoffset = ulength - clength; +#if CYTHON_USE_UNICODE_INTERNALS + Py_ssize_t i; +#if CYTHON_PEP393_ENABLED + void *udata; + uval = PyUnicode_New(ulength, 127); + if (unlikely(!uval)) return NULL; + udata = PyUnicode_DATA(uval); +#else + Py_UNICODE *udata; + uval = PyUnicode_FromUnicode(NULL, ulength); + if (unlikely(!uval)) return NULL; + udata = PyUnicode_AS_UNICODE(uval); +#endif + if (uoffset > 0) { + i = 0; + if (prepend_sign) { + __Pyx_PyUnicode_WRITE(PyUnicode_1BYTE_KIND, udata, 0, '-'); + i++; + } + for (; i < uoffset; i++) { + __Pyx_PyUnicode_WRITE(PyUnicode_1BYTE_KIND, udata, i, padding_char); + } + } + for (i=0; i < clength; i++) { + __Pyx_PyUnicode_WRITE(PyUnicode_1BYTE_KIND, udata, uoffset+i, chars[i]); + } +#else + { + PyObject *sign = NULL, *padding = NULL; + uval = NULL; + if (uoffset > 0) { + prepend_sign = !!prepend_sign; + if (uoffset > prepend_sign) { + padding = PyUnicode_FromOrdinal(padding_char); + if (likely(padding) && uoffset > prepend_sign + 1) { + PyObject *tmp; + PyObject *repeat = PyInt_FromSsize_t(uoffset - prepend_sign); + if (unlikely(!repeat)) goto done_or_error; + tmp = PyNumber_Multiply(padding, repeat); + Py_DECREF(repeat); + Py_DECREF(padding); + padding = tmp; + } + if (unlikely(!padding)) goto done_or_error; + } + if (prepend_sign) { + sign = PyUnicode_FromOrdinal('-'); + if (unlikely(!sign)) goto done_or_error; + } + } + uval = PyUnicode_DecodeASCII(chars, clength, NULL); + if (likely(uval) && padding) { + PyObject *tmp = PyNumber_Add(padding, uval); + Py_DECREF(uval); + uval = tmp; + } + if (likely(uval) && sign) { + PyObject *tmp = PyNumber_Add(sign, uval); + Py_DECREF(uval); + uval = tmp; + } +done_or_error: + Py_XDECREF(padding); + Py_XDECREF(sign); + } +#endif + return uval; +} + +/* CIntToPyUnicode */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_int(int value, Py_ssize_t width, char padding_char, char format_char) { + char digits[sizeof(int)*3+2]; + char *dpos, *end = digits + sizeof(int)*3+2; + const char *hex_digits = DIGITS_HEX; + Py_ssize_t length, ulength; + int prepend_sign, last_one_off; + int remaining; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (format_char == 'X') { + hex_digits += 16; + format_char = 'x'; + } + remaining = value; + last_one_off = 0; + dpos = end; + do { + int digit_pos; + switch (format_char) { + case 'o': + digit_pos = abs((int)(remaining % (8*8))); + remaining = (int) (remaining / (8*8)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_8 + digit_pos * 2, 2); + last_one_off = (digit_pos < 8); + break; + case 'd': + digit_pos = abs((int)(remaining % (10*10))); + remaining = (int) (remaining / (10*10)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_10 + digit_pos * 2, 2); + last_one_off = (digit_pos < 10); + break; + case 'x': + *(--dpos) = hex_digits[abs((int)(remaining % 16))]; + remaining = (int) (remaining / 16); + break; + default: + assert(0); + break; + } + } while (unlikely(remaining != 0)); + assert(!last_one_off || *dpos == '0'); + dpos += last_one_off; + length = end - dpos; + ulength = length; + prepend_sign = 0; + if (!is_unsigned && value <= neg_one) { + if (padding_char == ' ' || width <= length + 1) { + *(--dpos) = '-'; + ++length; + } else { + prepend_sign = 1; + } + ++ulength; + } + if (width > ulength) { + ulength = width; + } + if (ulength == 1) { + return PyUnicode_FromOrdinal(*dpos); + } + return __Pyx_PyUnicode_BuildFromAscii(ulength, dpos, (int) length, prepend_sign, padding_char); +} + +/* CIntToPyUnicode */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_Py_ssize_t(Py_ssize_t value, Py_ssize_t width, char padding_char, char format_char) { + char digits[sizeof(Py_ssize_t)*3+2]; + char *dpos, *end = digits + sizeof(Py_ssize_t)*3+2; + const char *hex_digits = DIGITS_HEX; + Py_ssize_t length, ulength; + int prepend_sign, last_one_off; + Py_ssize_t remaining; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const Py_ssize_t neg_one = (Py_ssize_t) -1, const_zero = (Py_ssize_t) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (format_char == 'X') { + hex_digits += 16; + format_char = 'x'; + } + remaining = value; + last_one_off = 0; + dpos = end; + do { + int digit_pos; + switch (format_char) { + case 'o': + digit_pos = abs((int)(remaining % (8*8))); + remaining = (Py_ssize_t) (remaining / (8*8)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_8 + digit_pos * 2, 2); + last_one_off = (digit_pos < 8); + break; + case 'd': + digit_pos = abs((int)(remaining % (10*10))); + remaining = (Py_ssize_t) (remaining / (10*10)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_10 + digit_pos * 2, 2); + last_one_off = (digit_pos < 10); + break; + case 'x': + *(--dpos) = hex_digits[abs((int)(remaining % 16))]; + remaining = (Py_ssize_t) (remaining / 16); + break; + default: + assert(0); + break; + } + } while (unlikely(remaining != 0)); + assert(!last_one_off || *dpos == '0'); + dpos += last_one_off; + length = end - dpos; + ulength = length; + prepend_sign = 0; + if (!is_unsigned && value <= neg_one) { + if (padding_char == ' ' || width <= length + 1) { + *(--dpos) = '-'; + ++length; + } else { + prepend_sign = 1; + } + ++ulength; + } + if (width > ulength) { + ulength = width; + } + if (ulength == 1) { + return PyUnicode_FromOrdinal(*dpos); + } + return __Pyx_PyUnicode_BuildFromAscii(ulength, dpos, (int) length, prepend_sign, padding_char); +} + +/* JoinPyUnicode */ +static PyObject* __Pyx_PyUnicode_Join(PyObject* value_tuple, Py_ssize_t value_count, Py_ssize_t result_ulength, + Py_UCS4 max_char) { +#if CYTHON_USE_UNICODE_INTERNALS && CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + PyObject *result_uval; + int result_ukind, kind_shift; + Py_ssize_t i, char_pos; + void *result_udata; + CYTHON_MAYBE_UNUSED_VAR(max_char); +#if CYTHON_PEP393_ENABLED + result_uval = PyUnicode_New(result_ulength, max_char); + if (unlikely(!result_uval)) return NULL; + result_ukind = (max_char <= 255) ? PyUnicode_1BYTE_KIND : (max_char <= 65535) ? PyUnicode_2BYTE_KIND : PyUnicode_4BYTE_KIND; + kind_shift = (result_ukind == PyUnicode_4BYTE_KIND) ? 2 : result_ukind - 1; + result_udata = PyUnicode_DATA(result_uval); +#else + result_uval = PyUnicode_FromUnicode(NULL, result_ulength); + if (unlikely(!result_uval)) return NULL; + result_ukind = sizeof(Py_UNICODE); + kind_shift = (result_ukind == 4) ? 2 : result_ukind - 1; + result_udata = PyUnicode_AS_UNICODE(result_uval); +#endif + assert(kind_shift == 2 || kind_shift == 1 || kind_shift == 0); + char_pos = 0; + for (i=0; i < value_count; i++) { + int ukind; + Py_ssize_t ulength; + void *udata; + PyObject *uval = PyTuple_GET_ITEM(value_tuple, i); + if (unlikely(__Pyx_PyUnicode_READY(uval))) + goto bad; + ulength = __Pyx_PyUnicode_GET_LENGTH(uval); + if (unlikely(!ulength)) + continue; + if (unlikely((PY_SSIZE_T_MAX >> kind_shift) - ulength < char_pos)) + goto overflow; + ukind = __Pyx_PyUnicode_KIND(uval); + udata = __Pyx_PyUnicode_DATA(uval); + if (!CYTHON_PEP393_ENABLED || ukind == result_ukind) { + memcpy((char *)result_udata + (char_pos << kind_shift), udata, (size_t) (ulength << kind_shift)); + } else { + #if PY_VERSION_HEX >= 0x030d0000 + if (unlikely(PyUnicode_CopyCharacters(result_uval, char_pos, uval, 0, ulength) < 0)) goto bad; + #elif CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030300F0 || defined(_PyUnicode_FastCopyCharacters) + _PyUnicode_FastCopyCharacters(result_uval, char_pos, uval, 0, ulength); + #else + Py_ssize_t j; + for (j=0; j < ulength; j++) { + Py_UCS4 uchar = __Pyx_PyUnicode_READ(ukind, udata, j); + __Pyx_PyUnicode_WRITE(result_ukind, result_udata, char_pos+j, uchar); + } + #endif + } + char_pos += ulength; + } + return result_uval; +overflow: + PyErr_SetString(PyExc_OverflowError, "join() result is too long for a Python string"); +bad: + Py_DECREF(result_uval); + return NULL; +#else + CYTHON_UNUSED_VAR(max_char); + CYTHON_UNUSED_VAR(result_ulength); + CYTHON_UNUSED_VAR(value_count); + return PyUnicode_Join(__pyx_empty_unicode, value_tuple); +#endif +} + +/* DivInt[Py_ssize_t] */ +static CYTHON_INLINE Py_ssize_t __Pyx_div_Py_ssize_t(Py_ssize_t a, Py_ssize_t b) { + Py_ssize_t q = a / b; + Py_ssize_t r = a - q*b; + q -= ((r != 0) & ((r ^ b) < 0)); + return q; +} + +/* RaiseTooManyValuesToUnpack */ +static CYTHON_INLINE void __Pyx_RaiseTooManyValuesError(Py_ssize_t expected) { + PyErr_Format(PyExc_ValueError, + "too many values to unpack (expected %" CYTHON_FORMAT_SSIZE_T "d)", expected); +} + +/* RaiseNeedMoreValuesToUnpack */ +static CYTHON_INLINE void __Pyx_RaiseNeedMoreValuesError(Py_ssize_t index) { + PyErr_Format(PyExc_ValueError, + "need more than %" CYTHON_FORMAT_SSIZE_T "d value%.1s to unpack", + index, (index == 1) ? "" : "s"); +} + +/* RaiseNoneIterError */ +static CYTHON_INLINE void __Pyx_RaiseNoneNotIterableError(void) { + PyErr_SetString(PyExc_TypeError, "'NoneType' object is not iterable"); +} + +/* ExtTypeTest */ +static CYTHON_INLINE int __Pyx_TypeTest(PyObject *obj, PyTypeObject *type) { + __Pyx_TypeName obj_type_name; + __Pyx_TypeName type_name; + if (unlikely(!type)) { + PyErr_SetString(PyExc_SystemError, "Missing type object"); + return 0; + } + if (likely(__Pyx_TypeCheck(obj, type))) + return 1; + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + type_name = __Pyx_PyType_GetName(type); + PyErr_Format(PyExc_TypeError, + "Cannot convert " __Pyx_FMT_TYPENAME " to " __Pyx_FMT_TYPENAME, + obj_type_name, type_name); + __Pyx_DECREF_TypeName(obj_type_name); + __Pyx_DECREF_TypeName(type_name); + return 0; +} + +/* GetTopmostException */ +#if CYTHON_USE_EXC_INFO_STACK && CYTHON_FAST_THREAD_STATE +static _PyErr_StackItem * +__Pyx_PyErr_GetTopmostException(PyThreadState *tstate) +{ + _PyErr_StackItem *exc_info = tstate->exc_info; + while ((exc_info->exc_value == NULL || exc_info->exc_value == Py_None) && + exc_info->previous_item != NULL) + { + exc_info = exc_info->previous_item; + } + return exc_info; +} +#endif + +/* SaveResetException */ +#if CYTHON_FAST_THREAD_STATE +static CYTHON_INLINE void __Pyx__ExceptionSave(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { + #if CYTHON_USE_EXC_INFO_STACK && PY_VERSION_HEX >= 0x030B00a4 + _PyErr_StackItem *exc_info = __Pyx_PyErr_GetTopmostException(tstate); + PyObject *exc_value = exc_info->exc_value; + if (exc_value == NULL || exc_value == Py_None) { + *value = NULL; + *type = NULL; + *tb = NULL; + } else { + *value = exc_value; + Py_INCREF(*value); + *type = (PyObject*) Py_TYPE(exc_value); + Py_INCREF(*type); + *tb = PyException_GetTraceback(exc_value); + } + #elif CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = __Pyx_PyErr_GetTopmostException(tstate); + *type = exc_info->exc_type; + *value = exc_info->exc_value; + *tb = exc_info->exc_traceback; + Py_XINCREF(*type); + Py_XINCREF(*value); + Py_XINCREF(*tb); + #else + *type = tstate->exc_type; + *value = tstate->exc_value; + *tb = tstate->exc_traceback; + Py_XINCREF(*type); + Py_XINCREF(*value); + Py_XINCREF(*tb); + #endif +} +static CYTHON_INLINE void __Pyx__ExceptionReset(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb) { + #if CYTHON_USE_EXC_INFO_STACK && PY_VERSION_HEX >= 0x030B00a4 + _PyErr_StackItem *exc_info = tstate->exc_info; + PyObject *tmp_value = exc_info->exc_value; + exc_info->exc_value = value; + Py_XDECREF(tmp_value); + Py_XDECREF(type); + Py_XDECREF(tb); + #else + PyObject *tmp_type, *tmp_value, *tmp_tb; + #if CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = tstate->exc_info; + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = type; + exc_info->exc_value = value; + exc_info->exc_traceback = tb; + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = type; + tstate->exc_value = value; + tstate->exc_traceback = tb; + #endif + Py_XDECREF(tmp_type); + Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); + #endif +} +#endif + +/* GetException */ +#if CYTHON_FAST_THREAD_STATE +static int __Pyx__GetException(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) +#else +static int __Pyx_GetException(PyObject **type, PyObject **value, PyObject **tb) +#endif +{ + PyObject *local_type = NULL, *local_value, *local_tb = NULL; +#if CYTHON_FAST_THREAD_STATE + PyObject *tmp_type, *tmp_value, *tmp_tb; + #if PY_VERSION_HEX >= 0x030C00A6 + local_value = tstate->current_exception; + tstate->current_exception = 0; + if (likely(local_value)) { + local_type = (PyObject*) Py_TYPE(local_value); + Py_INCREF(local_type); + local_tb = PyException_GetTraceback(local_value); + } + #else + local_type = tstate->curexc_type; + local_value = tstate->curexc_value; + local_tb = tstate->curexc_traceback; + tstate->curexc_type = 0; + tstate->curexc_value = 0; + tstate->curexc_traceback = 0; + #endif +#else + PyErr_Fetch(&local_type, &local_value, &local_tb); +#endif + PyErr_NormalizeException(&local_type, &local_value, &local_tb); +#if CYTHON_FAST_THREAD_STATE && PY_VERSION_HEX >= 0x030C00A6 + if (unlikely(tstate->current_exception)) +#elif CYTHON_FAST_THREAD_STATE + if (unlikely(tstate->curexc_type)) +#else + if (unlikely(PyErr_Occurred())) +#endif + goto bad; + #if PY_MAJOR_VERSION >= 3 + if (local_tb) { + if (unlikely(PyException_SetTraceback(local_value, local_tb) < 0)) + goto bad; + } + #endif + Py_XINCREF(local_tb); + Py_XINCREF(local_type); + Py_XINCREF(local_value); + *type = local_type; + *value = local_value; + *tb = local_tb; +#if CYTHON_FAST_THREAD_STATE + #if CYTHON_USE_EXC_INFO_STACK + { + _PyErr_StackItem *exc_info = tstate->exc_info; + #if PY_VERSION_HEX >= 0x030B00a4 + tmp_value = exc_info->exc_value; + exc_info->exc_value = local_value; + tmp_type = NULL; + tmp_tb = NULL; + Py_XDECREF(local_type); + Py_XDECREF(local_tb); + #else + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = local_type; + exc_info->exc_value = local_value; + exc_info->exc_traceback = local_tb; + #endif + } + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = local_type; + tstate->exc_value = local_value; + tstate->exc_traceback = local_tb; + #endif + Py_XDECREF(tmp_type); + Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); +#else + PyErr_SetExcInfo(local_type, local_value, local_tb); +#endif + return 0; +bad: + *type = 0; + *value = 0; + *tb = 0; + Py_XDECREF(local_type); + Py_XDECREF(local_value); + Py_XDECREF(local_tb); + return -1; +} + +/* SwapException */ +#if CYTHON_FAST_THREAD_STATE +static CYTHON_INLINE void __Pyx__ExceptionSwap(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { + PyObject *tmp_type, *tmp_value, *tmp_tb; + #if CYTHON_USE_EXC_INFO_STACK && PY_VERSION_HEX >= 0x030B00a4 + _PyErr_StackItem *exc_info = tstate->exc_info; + tmp_value = exc_info->exc_value; + exc_info->exc_value = *value; + if (tmp_value == NULL || tmp_value == Py_None) { + Py_XDECREF(tmp_value); + tmp_value = NULL; + tmp_type = NULL; + tmp_tb = NULL; + } else { + tmp_type = (PyObject*) Py_TYPE(tmp_value); + Py_INCREF(tmp_type); + #if CYTHON_COMPILING_IN_CPYTHON + tmp_tb = ((PyBaseExceptionObject*) tmp_value)->traceback; + Py_XINCREF(tmp_tb); + #else + tmp_tb = PyException_GetTraceback(tmp_value); + #endif + } + #elif CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = tstate->exc_info; + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = *type; + exc_info->exc_value = *value; + exc_info->exc_traceback = *tb; + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = *type; + tstate->exc_value = *value; + tstate->exc_traceback = *tb; + #endif + *type = tmp_type; + *value = tmp_value; + *tb = tmp_tb; +} +#else +static CYTHON_INLINE void __Pyx_ExceptionSwap(PyObject **type, PyObject **value, PyObject **tb) { + PyObject *tmp_type, *tmp_value, *tmp_tb; + PyErr_GetExcInfo(&tmp_type, &tmp_value, &tmp_tb); + PyErr_SetExcInfo(*type, *value, *tb); + *type = tmp_type; + *value = tmp_value; + *tb = tmp_tb; +} +#endif + +/* ImportDottedModule */ +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx__ImportDottedModule_Error(PyObject *name, PyObject *parts_tuple, Py_ssize_t count) { + PyObject *partial_name = NULL, *slice = NULL, *sep = NULL; + if (unlikely(PyErr_Occurred())) { + PyErr_Clear(); + } + if (likely(PyTuple_GET_SIZE(parts_tuple) == count)) { + partial_name = name; + } else { + slice = PySequence_GetSlice(parts_tuple, 0, count); + if (unlikely(!slice)) + goto bad; + sep = PyUnicode_FromStringAndSize(".", 1); + if (unlikely(!sep)) + goto bad; + partial_name = PyUnicode_Join(sep, slice); + } + PyErr_Format( +#if PY_MAJOR_VERSION < 3 + PyExc_ImportError, + "No module named '%s'", PyString_AS_STRING(partial_name)); +#else +#if PY_VERSION_HEX >= 0x030600B1 + PyExc_ModuleNotFoundError, +#else + PyExc_ImportError, +#endif + "No module named '%U'", partial_name); +#endif +bad: + Py_XDECREF(sep); + Py_XDECREF(slice); + Py_XDECREF(partial_name); + return NULL; +} +#endif +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx__ImportDottedModule_Lookup(PyObject *name) { + PyObject *imported_module; +#if PY_VERSION_HEX < 0x030700A1 || (CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM < 0x07030400) + PyObject *modules = PyImport_GetModuleDict(); + if (unlikely(!modules)) + return NULL; + imported_module = __Pyx_PyDict_GetItemStr(modules, name); + Py_XINCREF(imported_module); +#else + imported_module = PyImport_GetModule(name); +#endif + return imported_module; +} +#endif +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx_ImportDottedModule_WalkParts(PyObject *module, PyObject *name, PyObject *parts_tuple) { + Py_ssize_t i, nparts; + nparts = PyTuple_GET_SIZE(parts_tuple); + for (i=1; i < nparts && module; i++) { + PyObject *part, *submodule; +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + part = PyTuple_GET_ITEM(parts_tuple, i); +#else + part = PySequence_ITEM(parts_tuple, i); +#endif + submodule = __Pyx_PyObject_GetAttrStrNoError(module, part); +#if !(CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS) + Py_DECREF(part); +#endif + Py_DECREF(module); + module = submodule; + } + if (unlikely(!module)) { + return __Pyx__ImportDottedModule_Error(name, parts_tuple, i); + } + return module; +} +#endif +static PyObject *__Pyx__ImportDottedModule(PyObject *name, PyObject *parts_tuple) { +#if PY_MAJOR_VERSION < 3 + PyObject *module, *from_list, *star = __pyx_n_s__5; + CYTHON_UNUSED_VAR(parts_tuple); + from_list = PyList_New(1); + if (unlikely(!from_list)) + return NULL; + Py_INCREF(star); + PyList_SET_ITEM(from_list, 0, star); + module = __Pyx_Import(name, from_list, 0); + Py_DECREF(from_list); + return module; +#else + PyObject *imported_module; + PyObject *module = __Pyx_Import(name, NULL, 0); + if (!parts_tuple || unlikely(!module)) + return module; + imported_module = __Pyx__ImportDottedModule_Lookup(name); + if (likely(imported_module)) { + Py_DECREF(module); + return imported_module; + } + PyErr_Clear(); + return __Pyx_ImportDottedModule_WalkParts(module, name, parts_tuple); +#endif +} +static PyObject *__Pyx_ImportDottedModule(PyObject *name, PyObject *parts_tuple) { +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030400B1 + PyObject *module = __Pyx__ImportDottedModule_Lookup(name); + if (likely(module)) { + PyObject *spec = __Pyx_PyObject_GetAttrStrNoError(module, __pyx_n_s_spec); + if (likely(spec)) { + PyObject *unsafe = __Pyx_PyObject_GetAttrStrNoError(spec, __pyx_n_s_initializing); + if (likely(!unsafe || !__Pyx_PyObject_IsTrue(unsafe))) { + Py_DECREF(spec); + spec = NULL; + } + Py_XDECREF(unsafe); + } + if (likely(!spec)) { + PyErr_Clear(); + return module; + } + Py_DECREF(spec); + Py_DECREF(module); + } else if (PyErr_Occurred()) { + PyErr_Clear(); + } +#endif + return __Pyx__ImportDottedModule(name, parts_tuple); +} + +/* FastTypeChecks */ +#if CYTHON_COMPILING_IN_CPYTHON +static int __Pyx_InBases(PyTypeObject *a, PyTypeObject *b) { + while (a) { + a = __Pyx_PyType_GetSlot(a, tp_base, PyTypeObject*); + if (a == b) + return 1; + } + return b == &PyBaseObject_Type; +} +static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b) { + PyObject *mro; + if (a == b) return 1; + mro = a->tp_mro; + if (likely(mro)) { + Py_ssize_t i, n; + n = PyTuple_GET_SIZE(mro); + for (i = 0; i < n; i++) { + if (PyTuple_GET_ITEM(mro, i) == (PyObject *)b) + return 1; + } + return 0; + } + return __Pyx_InBases(a, b); +} +static CYTHON_INLINE int __Pyx_IsAnySubtype2(PyTypeObject *cls, PyTypeObject *a, PyTypeObject *b) { + PyObject *mro; + if (cls == a || cls == b) return 1; + mro = cls->tp_mro; + if (likely(mro)) { + Py_ssize_t i, n; + n = PyTuple_GET_SIZE(mro); + for (i = 0; i < n; i++) { + PyObject *base = PyTuple_GET_ITEM(mro, i); + if (base == (PyObject *)a || base == (PyObject *)b) + return 1; + } + return 0; + } + return __Pyx_InBases(cls, a) || __Pyx_InBases(cls, b); +} +#if PY_MAJOR_VERSION == 2 +static int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject* exc_type2) { + PyObject *exception, *value, *tb; + int res; + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + __Pyx_ErrFetch(&exception, &value, &tb); + res = exc_type1 ? PyObject_IsSubclass(err, exc_type1) : 0; + if (unlikely(res == -1)) { + PyErr_WriteUnraisable(err); + res = 0; + } + if (!res) { + res = PyObject_IsSubclass(err, exc_type2); + if (unlikely(res == -1)) { + PyErr_WriteUnraisable(err); + res = 0; + } + } + __Pyx_ErrRestore(exception, value, tb); + return res; +} +#else +static CYTHON_INLINE int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject *exc_type2) { + if (exc_type1) { + return __Pyx_IsAnySubtype2((PyTypeObject*)err, (PyTypeObject*)exc_type1, (PyTypeObject*)exc_type2); + } else { + return __Pyx_IsSubtype((PyTypeObject*)err, (PyTypeObject*)exc_type2); + } +} +#endif +static int __Pyx_PyErr_GivenExceptionMatchesTuple(PyObject *exc_type, PyObject *tuple) { + Py_ssize_t i, n; + assert(PyExceptionClass_Check(exc_type)); + n = PyTuple_GET_SIZE(tuple); +#if PY_MAJOR_VERSION >= 3 + for (i=0; itp_as_sequence && type->tp_as_sequence->sq_repeat)) { + return type->tp_as_sequence->sq_repeat(seq, mul); + } else +#endif + { + return __Pyx_PySequence_Multiply_Generic(seq, mul); + } +} + +/* SetItemInt */ +static int __Pyx_SetItemInt_Generic(PyObject *o, PyObject *j, PyObject *v) { + int r; + if (unlikely(!j)) return -1; + r = PyObject_SetItem(o, j, v); + Py_DECREF(j); + return r; +} +static CYTHON_INLINE int __Pyx_SetItemInt_Fast(PyObject *o, Py_ssize_t i, PyObject *v, int is_list, + CYTHON_NCP_UNUSED int wraparound, CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS && CYTHON_USE_TYPE_SLOTS + if (is_list || PyList_CheckExact(o)) { + Py_ssize_t n = (!wraparound) ? i : ((likely(i >= 0)) ? i : i + PyList_GET_SIZE(o)); + if ((!boundscheck) || likely(__Pyx_is_valid_index(n, PyList_GET_SIZE(o)))) { + PyObject* old = PyList_GET_ITEM(o, n); + Py_INCREF(v); + PyList_SET_ITEM(o, n, v); + Py_DECREF(old); + return 1; + } + } else { + PyMappingMethods *mm = Py_TYPE(o)->tp_as_mapping; + PySequenceMethods *sm = Py_TYPE(o)->tp_as_sequence; + if (mm && mm->mp_ass_subscript) { + int r; + PyObject *key = PyInt_FromSsize_t(i); + if (unlikely(!key)) return -1; + r = mm->mp_ass_subscript(o, key, v); + Py_DECREF(key); + return r; + } + if (likely(sm && sm->sq_ass_item)) { + if (wraparound && unlikely(i < 0) && likely(sm->sq_length)) { + Py_ssize_t l = sm->sq_length(o); + if (likely(l >= 0)) { + i += l; + } else { + if (!PyErr_ExceptionMatches(PyExc_OverflowError)) + return -1; + PyErr_Clear(); + } + } + return sm->sq_ass_item(o, i, v); + } + } +#else + if (is_list || !PyMapping_Check(o)) + { + return PySequence_SetItem(o, i, v); + } +#endif + return __Pyx_SetItemInt_Generic(o, PyInt_FromSsize_t(i), v); +} + +/* RaiseUnboundLocalError */ +static CYTHON_INLINE void __Pyx_RaiseUnboundLocalError(const char *varname) { + PyErr_Format(PyExc_UnboundLocalError, "local variable '%s' referenced before assignment", varname); +} + +/* DivInt[long] */ +static CYTHON_INLINE long __Pyx_div_long(long a, long b) { + long q = a / b; + long r = a - q*b; + q -= ((r != 0) & ((r ^ b) < 0)); + return q; +} + +/* PyObjectCall2Args */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call2Args(PyObject* function, PyObject* arg1, PyObject* arg2) { + PyObject *args[3] = {NULL, arg1, arg2}; + return __Pyx_PyObject_FastCall(function, args+1, 2 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET); +} + +/* PyObjectGetMethod */ +static int __Pyx_PyObject_GetMethod(PyObject *obj, PyObject *name, PyObject **method) { + PyObject *attr; +#if CYTHON_UNPACK_METHODS && CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_PYTYPE_LOOKUP + __Pyx_TypeName type_name; + PyTypeObject *tp = Py_TYPE(obj); + PyObject *descr; + descrgetfunc f = NULL; + PyObject **dictptr, *dict; + int meth_found = 0; + assert (*method == NULL); + if (unlikely(tp->tp_getattro != PyObject_GenericGetAttr)) { + attr = __Pyx_PyObject_GetAttrStr(obj, name); + goto try_unpack; + } + if (unlikely(tp->tp_dict == NULL) && unlikely(PyType_Ready(tp) < 0)) { + return 0; + } + descr = _PyType_Lookup(tp, name); + if (likely(descr != NULL)) { + Py_INCREF(descr); +#if defined(Py_TPFLAGS_METHOD_DESCRIPTOR) && Py_TPFLAGS_METHOD_DESCRIPTOR + if (__Pyx_PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_METHOD_DESCRIPTOR)) +#elif PY_MAJOR_VERSION >= 3 + #ifdef __Pyx_CyFunction_USED + if (likely(PyFunction_Check(descr) || __Pyx_IS_TYPE(descr, &PyMethodDescr_Type) || __Pyx_CyFunction_Check(descr))) + #else + if (likely(PyFunction_Check(descr) || __Pyx_IS_TYPE(descr, &PyMethodDescr_Type))) + #endif +#else + #ifdef __Pyx_CyFunction_USED + if (likely(PyFunction_Check(descr) || __Pyx_CyFunction_Check(descr))) + #else + if (likely(PyFunction_Check(descr))) + #endif +#endif + { + meth_found = 1; + } else { + f = Py_TYPE(descr)->tp_descr_get; + if (f != NULL && PyDescr_IsData(descr)) { + attr = f(descr, obj, (PyObject *)Py_TYPE(obj)); + Py_DECREF(descr); + goto try_unpack; + } + } + } + dictptr = _PyObject_GetDictPtr(obj); + if (dictptr != NULL && (dict = *dictptr) != NULL) { + Py_INCREF(dict); + attr = __Pyx_PyDict_GetItemStr(dict, name); + if (attr != NULL) { + Py_INCREF(attr); + Py_DECREF(dict); + Py_XDECREF(descr); + goto try_unpack; + } + Py_DECREF(dict); + } + if (meth_found) { + *method = descr; + return 1; + } + if (f != NULL) { + attr = f(descr, obj, (PyObject *)Py_TYPE(obj)); + Py_DECREF(descr); + goto try_unpack; + } + if (likely(descr != NULL)) { + *method = descr; + return 0; + } + type_name = __Pyx_PyType_GetName(tp); + PyErr_Format(PyExc_AttributeError, +#if PY_MAJOR_VERSION >= 3 + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%U'", + type_name, name); +#else + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%.400s'", + type_name, PyString_AS_STRING(name)); +#endif + __Pyx_DECREF_TypeName(type_name); + return 0; +#else + attr = __Pyx_PyObject_GetAttrStr(obj, name); + goto try_unpack; +#endif +try_unpack: +#if CYTHON_UNPACK_METHODS + if (likely(attr) && PyMethod_Check(attr) && likely(PyMethod_GET_SELF(attr) == obj)) { + PyObject *function = PyMethod_GET_FUNCTION(attr); + Py_INCREF(function); + Py_DECREF(attr); + *method = function; + return 1; + } +#endif + *method = attr; + return 0; +} + +/* PyObjectCallMethod1 */ +#if !(CYTHON_VECTORCALL && __PYX_LIMITED_VERSION_HEX >= 0x030C00A2) +static PyObject* __Pyx__PyObject_CallMethod1(PyObject* method, PyObject* arg) { + PyObject *result = __Pyx_PyObject_CallOneArg(method, arg); + Py_DECREF(method); + return result; +} +#endif +static PyObject* __Pyx_PyObject_CallMethod1(PyObject* obj, PyObject* method_name, PyObject* arg) { +#if CYTHON_VECTORCALL && __PYX_LIMITED_VERSION_HEX >= 0x030C00A2 + PyObject *args[2] = {obj, arg}; + (void) __Pyx_PyObject_GetMethod; + (void) __Pyx_PyObject_CallOneArg; + (void) __Pyx_PyObject_Call2Args; + return PyObject_VectorcallMethod(method_name, args, 2 | PY_VECTORCALL_ARGUMENTS_OFFSET, NULL); +#else + PyObject *method = NULL, *result; + int is_method = __Pyx_PyObject_GetMethod(obj, method_name, &method); + if (likely(is_method)) { + result = __Pyx_PyObject_Call2Args(method, obj, arg); + Py_DECREF(method); + return result; + } + if (unlikely(!method)) return NULL; + return __Pyx__PyObject_CallMethod1(method, arg); +#endif +} + +/* StringJoin */ +static CYTHON_INLINE PyObject* __Pyx_PyBytes_Join(PyObject* sep, PyObject* values) { + (void) __Pyx_PyObject_CallMethod1; +#if CYTHON_COMPILING_IN_CPYTHON && PY_MAJOR_VERSION < 3 + return _PyString_Join(sep, values); +#elif CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030d0000 + return _PyBytes_Join(sep, values); +#else + return __Pyx_PyObject_CallMethod1(sep, __pyx_n_s_join, values); +#endif +} + +/* CIntToPyUnicode */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_size_t(size_t value, Py_ssize_t width, char padding_char, char format_char) { + char digits[sizeof(size_t)*3+2]; + char *dpos, *end = digits + sizeof(size_t)*3+2; + const char *hex_digits = DIGITS_HEX; + Py_ssize_t length, ulength; + int prepend_sign, last_one_off; + size_t remaining; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const size_t neg_one = (size_t) -1, const_zero = (size_t) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (format_char == 'X') { + hex_digits += 16; + format_char = 'x'; + } + remaining = value; + last_one_off = 0; + dpos = end; + do { + int digit_pos; + switch (format_char) { + case 'o': + digit_pos = abs((int)(remaining % (8*8))); + remaining = (size_t) (remaining / (8*8)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_8 + digit_pos * 2, 2); + last_one_off = (digit_pos < 8); + break; + case 'd': + digit_pos = abs((int)(remaining % (10*10))); + remaining = (size_t) (remaining / (10*10)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_10 + digit_pos * 2, 2); + last_one_off = (digit_pos < 10); + break; + case 'x': + *(--dpos) = hex_digits[abs((int)(remaining % 16))]; + remaining = (size_t) (remaining / 16); + break; + default: + assert(0); + break; + } + } while (unlikely(remaining != 0)); + assert(!last_one_off || *dpos == '0'); + dpos += last_one_off; + length = end - dpos; + ulength = length; + prepend_sign = 0; + if (!is_unsigned && value <= neg_one) { + if (padding_char == ' ' || width <= length + 1) { + *(--dpos) = '-'; + ++length; + } else { + prepend_sign = 1; + } + ++ulength; + } + if (width > ulength) { + ulength = width; + } + if (ulength == 1) { + return PyUnicode_FromOrdinal(*dpos); + } + return __Pyx_PyUnicode_BuildFromAscii(ulength, dpos, (int) length, prepend_sign, padding_char); +} + +/* decode_c_bytes */ +static CYTHON_INLINE PyObject* __Pyx_decode_c_bytes( + const char* cstring, Py_ssize_t length, Py_ssize_t start, Py_ssize_t stop, + const char* encoding, const char* errors, + PyObject* (*decode_func)(const char *s, Py_ssize_t size, const char *errors)) { + if (unlikely((start < 0) | (stop < 0))) { + if (start < 0) { + start += length; + if (start < 0) + start = 0; + } + if (stop < 0) + stop += length; + } + if (stop > length) + stop = length; + if (unlikely(stop <= start)) + return __Pyx_NewRef(__pyx_empty_unicode); + length = stop - start; + cstring += start; + if (decode_func) { + return decode_func(cstring, length, errors); + } else { + return PyUnicode_Decode(cstring, length, encoding, errors); + } +} + +/* PyObjectCallNoArg */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func) { + PyObject *arg[2] = {NULL, NULL}; + return __Pyx_PyObject_FastCall(func, arg + 1, 0 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET); +} + +/* BufferIndexError */ +static void __Pyx_RaiseBufferIndexError(int axis) { + PyErr_Format(PyExc_IndexError, + "Out of bounds on buffer access (axis %d)", axis); +} + +/* PyObject_GenericGetAttrNoDict */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject *__Pyx_RaiseGenericGetAttributeError(PyTypeObject *tp, PyObject *attr_name) { + __Pyx_TypeName type_name = __Pyx_PyType_GetName(tp); + PyErr_Format(PyExc_AttributeError, +#if PY_MAJOR_VERSION >= 3 + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%U'", + type_name, attr_name); +#else + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%.400s'", + type_name, PyString_AS_STRING(attr_name)); +#endif + __Pyx_DECREF_TypeName(type_name); + return NULL; +} +static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name) { + PyObject *descr; + PyTypeObject *tp = Py_TYPE(obj); + if (unlikely(!PyString_Check(attr_name))) { + return PyObject_GenericGetAttr(obj, attr_name); + } + assert(!tp->tp_dictoffset); + descr = _PyType_Lookup(tp, attr_name); + if (unlikely(!descr)) { + return __Pyx_RaiseGenericGetAttributeError(tp, attr_name); + } + Py_INCREF(descr); + #if PY_MAJOR_VERSION < 3 + if (likely(PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_HAVE_CLASS))) + #endif + { + descrgetfunc f = Py_TYPE(descr)->tp_descr_get; + if (unlikely(f)) { + PyObject *res = f(descr, obj, (PyObject *)tp); + Py_DECREF(descr); + return res; + } + } + return descr; +} +#endif + +/* PyObject_GenericGetAttr */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name) { + if (unlikely(Py_TYPE(obj)->tp_dictoffset)) { + return PyObject_GenericGetAttr(obj, attr_name); + } + return __Pyx_PyObject_GenericGetAttrNoDict(obj, attr_name); +} +#endif + +/* FixUpExtensionType */ +#if CYTHON_USE_TYPE_SPECS +static int __Pyx_fix_up_extension_type_from_spec(PyType_Spec *spec, PyTypeObject *type) { +#if PY_VERSION_HEX > 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + CYTHON_UNUSED_VAR(spec); + CYTHON_UNUSED_VAR(type); +#else + const PyType_Slot *slot = spec->slots; + while (slot && slot->slot && slot->slot != Py_tp_members) + slot++; + if (slot && slot->slot == Py_tp_members) { + int changed = 0; +#if !(PY_VERSION_HEX <= 0x030900b1 && CYTHON_COMPILING_IN_CPYTHON) + const +#endif + PyMemberDef *memb = (PyMemberDef*) slot->pfunc; + while (memb && memb->name) { + if (memb->name[0] == '_' && memb->name[1] == '_') { +#if PY_VERSION_HEX < 0x030900b1 + if (strcmp(memb->name, "__weaklistoffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); + type->tp_weaklistoffset = memb->offset; + changed = 1; + } + else if (strcmp(memb->name, "__dictoffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); + type->tp_dictoffset = memb->offset; + changed = 1; + } +#if CYTHON_METH_FASTCALL + else if (strcmp(memb->name, "__vectorcalloffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); +#if PY_VERSION_HEX >= 0x030800b4 + type->tp_vectorcall_offset = memb->offset; +#else + type->tp_print = (printfunc) memb->offset; +#endif + changed = 1; + } +#endif +#else + if ((0)); +#endif +#if PY_VERSION_HEX <= 0x030900b1 && CYTHON_COMPILING_IN_CPYTHON + else if (strcmp(memb->name, "__module__") == 0) { + PyObject *descr; + assert(memb->type == T_OBJECT); + assert(memb->flags == 0 || memb->flags == READONLY); + descr = PyDescr_NewMember(type, memb); + if (unlikely(!descr)) + return -1; + if (unlikely(PyDict_SetItem(type->tp_dict, PyDescr_NAME(descr), descr) < 0)) { + Py_DECREF(descr); + return -1; + } + Py_DECREF(descr); + changed = 1; + } +#endif + } + memb++; + } + if (changed) + PyType_Modified(type); + } +#endif + return 0; +} +#endif + +/* PyObjectCallMethod0 */ +static PyObject* __Pyx_PyObject_CallMethod0(PyObject* obj, PyObject* method_name) { + PyObject *method = NULL, *result = NULL; + int is_method = __Pyx_PyObject_GetMethod(obj, method_name, &method); + if (likely(is_method)) { + result = __Pyx_PyObject_CallOneArg(method, obj); + Py_DECREF(method); + return result; + } + if (unlikely(!method)) goto bad; + result = __Pyx_PyObject_CallNoArg(method); + Py_DECREF(method); +bad: + return result; +} + +/* ValidateBasesTuple */ +#if CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API || CYTHON_USE_TYPE_SPECS +static int __Pyx_validate_bases_tuple(const char *type_name, Py_ssize_t dictoffset, PyObject *bases) { + Py_ssize_t i, n; +#if CYTHON_ASSUME_SAFE_MACROS + n = PyTuple_GET_SIZE(bases); +#else + n = PyTuple_Size(bases); + if (n < 0) return -1; +#endif + for (i = 1; i < n; i++) + { +#if CYTHON_AVOID_BORROWED_REFS + PyObject *b0 = PySequence_GetItem(bases, i); + if (!b0) return -1; +#elif CYTHON_ASSUME_SAFE_MACROS + PyObject *b0 = PyTuple_GET_ITEM(bases, i); +#else + PyObject *b0 = PyTuple_GetItem(bases, i); + if (!b0) return -1; +#endif + PyTypeObject *b; +#if PY_MAJOR_VERSION < 3 + if (PyClass_Check(b0)) + { + PyErr_Format(PyExc_TypeError, "base class '%.200s' is an old-style class", + PyString_AS_STRING(((PyClassObject*)b0)->cl_name)); +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } +#endif + b = (PyTypeObject*) b0; + if (!__Pyx_PyType_HasFeature(b, Py_TPFLAGS_HEAPTYPE)) + { + __Pyx_TypeName b_name = __Pyx_PyType_GetName(b); + PyErr_Format(PyExc_TypeError, + "base class '" __Pyx_FMT_TYPENAME "' is not a heap type", b_name); + __Pyx_DECREF_TypeName(b_name); +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } + if (dictoffset == 0) + { + Py_ssize_t b_dictoffset = 0; +#if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + b_dictoffset = b->tp_dictoffset; +#else + PyObject *py_b_dictoffset = PyObject_GetAttrString((PyObject*)b, "__dictoffset__"); + if (!py_b_dictoffset) goto dictoffset_return; + b_dictoffset = PyLong_AsSsize_t(py_b_dictoffset); + Py_DECREF(py_b_dictoffset); + if (b_dictoffset == -1 && PyErr_Occurred()) goto dictoffset_return; +#endif + if (b_dictoffset) { + { + __Pyx_TypeName b_name = __Pyx_PyType_GetName(b); + PyErr_Format(PyExc_TypeError, + "extension type '%.200s' has no __dict__ slot, " + "but base type '" __Pyx_FMT_TYPENAME "' has: " + "either add 'cdef dict __dict__' to the extension type " + "or add '__slots__ = [...]' to the base type", + type_name, b_name); + __Pyx_DECREF_TypeName(b_name); + } +#if !(CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY) + dictoffset_return: +#endif +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } + } +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + } + return 0; +} +#endif + +/* PyType_Ready */ +static int __Pyx_PyType_Ready(PyTypeObject *t) { +#if CYTHON_USE_TYPE_SPECS || !(CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API) || defined(PYSTON_MAJOR_VERSION) + (void)__Pyx_PyObject_CallMethod0; +#if CYTHON_USE_TYPE_SPECS + (void)__Pyx_validate_bases_tuple; +#endif + return PyType_Ready(t); +#else + int r; + PyObject *bases = __Pyx_PyType_GetSlot(t, tp_bases, PyObject*); + if (bases && unlikely(__Pyx_validate_bases_tuple(t->tp_name, t->tp_dictoffset, bases) == -1)) + return -1; +#if PY_VERSION_HEX >= 0x03050000 && !defined(PYSTON_MAJOR_VERSION) + { + int gc_was_enabled; + #if PY_VERSION_HEX >= 0x030A00b1 + gc_was_enabled = PyGC_Disable(); + (void)__Pyx_PyObject_CallMethod0; + #else + PyObject *ret, *py_status; + PyObject *gc = NULL; + #if PY_VERSION_HEX >= 0x030700a1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM+0 >= 0x07030400) + gc = PyImport_GetModule(__pyx_kp_u_gc); + #endif + if (unlikely(!gc)) gc = PyImport_Import(__pyx_kp_u_gc); + if (unlikely(!gc)) return -1; + py_status = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_isenabled); + if (unlikely(!py_status)) { + Py_DECREF(gc); + return -1; + } + gc_was_enabled = __Pyx_PyObject_IsTrue(py_status); + Py_DECREF(py_status); + if (gc_was_enabled > 0) { + ret = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_disable); + if (unlikely(!ret)) { + Py_DECREF(gc); + return -1; + } + Py_DECREF(ret); + } else if (unlikely(gc_was_enabled == -1)) { + Py_DECREF(gc); + return -1; + } + #endif + t->tp_flags |= Py_TPFLAGS_HEAPTYPE; +#if PY_VERSION_HEX >= 0x030A0000 + t->tp_flags |= Py_TPFLAGS_IMMUTABLETYPE; +#endif +#else + (void)__Pyx_PyObject_CallMethod0; +#endif + r = PyType_Ready(t); +#if PY_VERSION_HEX >= 0x03050000 && !defined(PYSTON_MAJOR_VERSION) + t->tp_flags &= ~Py_TPFLAGS_HEAPTYPE; + #if PY_VERSION_HEX >= 0x030A00b1 + if (gc_was_enabled) + PyGC_Enable(); + #else + if (gc_was_enabled) { + PyObject *tp, *v, *tb; + PyErr_Fetch(&tp, &v, &tb); + ret = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_enable); + if (likely(ret || r == -1)) { + Py_XDECREF(ret); + PyErr_Restore(tp, v, tb); + } else { + Py_XDECREF(tp); + Py_XDECREF(v); + Py_XDECREF(tb); + r = -1; + } + } + Py_DECREF(gc); + #endif + } +#endif + return r; +#endif +} + +/* SetVTable */ +static int __Pyx_SetVtable(PyTypeObject *type, void *vtable) { + PyObject *ob = PyCapsule_New(vtable, 0, 0); + if (unlikely(!ob)) + goto bad; +#if CYTHON_COMPILING_IN_LIMITED_API + if (unlikely(PyObject_SetAttr((PyObject *) type, __pyx_n_s_pyx_vtable, ob) < 0)) +#else + if (unlikely(PyDict_SetItem(type->tp_dict, __pyx_n_s_pyx_vtable, ob) < 0)) +#endif + goto bad; + Py_DECREF(ob); + return 0; +bad: + Py_XDECREF(ob); + return -1; +} + +/* GetVTable */ +static void* __Pyx_GetVtable(PyTypeObject *type) { + void* ptr; +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *ob = PyObject_GetAttr((PyObject *)type, __pyx_n_s_pyx_vtable); +#else + PyObject *ob = PyObject_GetItem(type->tp_dict, __pyx_n_s_pyx_vtable); +#endif + if (!ob) + goto bad; + ptr = PyCapsule_GetPointer(ob, 0); + if (!ptr && !PyErr_Occurred()) + PyErr_SetString(PyExc_RuntimeError, "invalid vtable found for imported type"); + Py_DECREF(ob); + return ptr; +bad: + Py_XDECREF(ob); + return NULL; +} + +/* MergeVTables */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_MergeVtables(PyTypeObject *type) { + int i; + void** base_vtables; + __Pyx_TypeName tp_base_name; + __Pyx_TypeName base_name; + void* unknown = (void*)-1; + PyObject* bases = type->tp_bases; + int base_depth = 0; + { + PyTypeObject* base = type->tp_base; + while (base) { + base_depth += 1; + base = base->tp_base; + } + } + base_vtables = (void**) malloc(sizeof(void*) * (size_t)(base_depth + 1)); + base_vtables[0] = unknown; + for (i = 1; i < PyTuple_GET_SIZE(bases); i++) { + void* base_vtable = __Pyx_GetVtable(((PyTypeObject*)PyTuple_GET_ITEM(bases, i))); + if (base_vtable != NULL) { + int j; + PyTypeObject* base = type->tp_base; + for (j = 0; j < base_depth; j++) { + if (base_vtables[j] == unknown) { + base_vtables[j] = __Pyx_GetVtable(base); + base_vtables[j + 1] = unknown; + } + if (base_vtables[j] == base_vtable) { + break; + } else if (base_vtables[j] == NULL) { + goto bad; + } + base = base->tp_base; + } + } + } + PyErr_Clear(); + free(base_vtables); + return 0; +bad: + tp_base_name = __Pyx_PyType_GetName(type->tp_base); + base_name = __Pyx_PyType_GetName((PyTypeObject*)PyTuple_GET_ITEM(bases, i)); + PyErr_Format(PyExc_TypeError, + "multiple bases have vtable conflict: '" __Pyx_FMT_TYPENAME "' and '" __Pyx_FMT_TYPENAME "'", tp_base_name, base_name); + __Pyx_DECREF_TypeName(tp_base_name); + __Pyx_DECREF_TypeName(base_name); + free(base_vtables); + return -1; +} +#endif + +/* SetupReduce */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_setup_reduce_is_named(PyObject* meth, PyObject* name) { + int ret; + PyObject *name_attr; + name_attr = __Pyx_PyObject_GetAttrStrNoError(meth, __pyx_n_s_name_2); + if (likely(name_attr)) { + ret = PyObject_RichCompareBool(name_attr, name, Py_EQ); + } else { + ret = -1; + } + if (unlikely(ret < 0)) { + PyErr_Clear(); + ret = 0; + } + Py_XDECREF(name_attr); + return ret; +} +static int __Pyx_setup_reduce(PyObject* type_obj) { + int ret = 0; + PyObject *object_reduce = NULL; + PyObject *object_getstate = NULL; + PyObject *object_reduce_ex = NULL; + PyObject *reduce = NULL; + PyObject *reduce_ex = NULL; + PyObject *reduce_cython = NULL; + PyObject *setstate = NULL; + PyObject *setstate_cython = NULL; + PyObject *getstate = NULL; +#if CYTHON_USE_PYTYPE_LOOKUP + getstate = _PyType_Lookup((PyTypeObject*)type_obj, __pyx_n_s_getstate); +#else + getstate = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_getstate); + if (!getstate && PyErr_Occurred()) { + goto __PYX_BAD; + } +#endif + if (getstate) { +#if CYTHON_USE_PYTYPE_LOOKUP + object_getstate = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_getstate); +#else + object_getstate = __Pyx_PyObject_GetAttrStrNoError((PyObject*)&PyBaseObject_Type, __pyx_n_s_getstate); + if (!object_getstate && PyErr_Occurred()) { + goto __PYX_BAD; + } +#endif + if (object_getstate != getstate) { + goto __PYX_GOOD; + } + } +#if CYTHON_USE_PYTYPE_LOOKUP + object_reduce_ex = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; +#else + object_reduce_ex = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; +#endif + reduce_ex = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce_ex); if (unlikely(!reduce_ex)) goto __PYX_BAD; + if (reduce_ex == object_reduce_ex) { +#if CYTHON_USE_PYTYPE_LOOKUP + object_reduce = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; +#else + object_reduce = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; +#endif + reduce = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce); if (unlikely(!reduce)) goto __PYX_BAD; + if (reduce == object_reduce || __Pyx_setup_reduce_is_named(reduce, __pyx_n_s_reduce_cython)) { + reduce_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_reduce_cython); + if (likely(reduce_cython)) { + ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce, reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + } else if (reduce == object_reduce || PyErr_Occurred()) { + goto __PYX_BAD; + } + setstate = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_setstate); + if (!setstate) PyErr_Clear(); + if (!setstate || __Pyx_setup_reduce_is_named(setstate, __pyx_n_s_setstate_cython)) { + setstate_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_setstate_cython); + if (likely(setstate_cython)) { + ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate, setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + } else if (!setstate || PyErr_Occurred()) { + goto __PYX_BAD; + } + } + PyType_Modified((PyTypeObject*)type_obj); + } + } + goto __PYX_GOOD; +__PYX_BAD: + if (!PyErr_Occurred()) { + __Pyx_TypeName type_obj_name = + __Pyx_PyType_GetName((PyTypeObject*)type_obj); + PyErr_Format(PyExc_RuntimeError, + "Unable to initialize pickling for " __Pyx_FMT_TYPENAME, type_obj_name); + __Pyx_DECREF_TypeName(type_obj_name); + } + ret = -1; +__PYX_GOOD: +#if !CYTHON_USE_PYTYPE_LOOKUP + Py_XDECREF(object_reduce); + Py_XDECREF(object_reduce_ex); + Py_XDECREF(object_getstate); + Py_XDECREF(getstate); +#endif + Py_XDECREF(reduce); + Py_XDECREF(reduce_ex); + Py_XDECREF(reduce_cython); + Py_XDECREF(setstate); + Py_XDECREF(setstate_cython); + return ret; +} +#endif + +/* TypeImport */ +#ifndef __PYX_HAVE_RT_ImportType_3_0_8 +#define __PYX_HAVE_RT_ImportType_3_0_8 +static PyTypeObject *__Pyx_ImportType_3_0_8(PyObject *module, const char *module_name, const char *class_name, + size_t size, size_t alignment, enum __Pyx_ImportType_CheckSize_3_0_8 check_size) +{ + PyObject *result = 0; + char warning[200]; + Py_ssize_t basicsize; + Py_ssize_t itemsize; +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *py_basicsize; + PyObject *py_itemsize; +#endif + result = PyObject_GetAttrString(module, class_name); + if (!result) + goto bad; + if (!PyType_Check(result)) { + PyErr_Format(PyExc_TypeError, + "%.200s.%.200s is not a type object", + module_name, class_name); + goto bad; + } +#if !CYTHON_COMPILING_IN_LIMITED_API + basicsize = ((PyTypeObject *)result)->tp_basicsize; + itemsize = ((PyTypeObject *)result)->tp_itemsize; +#else + py_basicsize = PyObject_GetAttrString(result, "__basicsize__"); + if (!py_basicsize) + goto bad; + basicsize = PyLong_AsSsize_t(py_basicsize); + Py_DECREF(py_basicsize); + py_basicsize = 0; + if (basicsize == (Py_ssize_t)-1 && PyErr_Occurred()) + goto bad; + py_itemsize = PyObject_GetAttrString(result, "__itemsize__"); + if (!py_itemsize) + goto bad; + itemsize = PyLong_AsSsize_t(py_itemsize); + Py_DECREF(py_itemsize); + py_itemsize = 0; + if (itemsize == (Py_ssize_t)-1 && PyErr_Occurred()) + goto bad; +#endif + if (itemsize) { + if (size % alignment) { + alignment = size % alignment; + } + if (itemsize < (Py_ssize_t)alignment) + itemsize = (Py_ssize_t)alignment; + } + if ((size_t)(basicsize + itemsize) < size) { + PyErr_Format(PyExc_ValueError, + "%.200s.%.200s size changed, may indicate binary incompatibility. " + "Expected %zd from C header, got %zd from PyObject", + module_name, class_name, size, basicsize+itemsize); + goto bad; + } + if (check_size == __Pyx_ImportType_CheckSize_Error_3_0_8 && + ((size_t)basicsize > size || (size_t)(basicsize + itemsize) < size)) { + PyErr_Format(PyExc_ValueError, + "%.200s.%.200s size changed, may indicate binary incompatibility. " + "Expected %zd from C header, got %zd-%zd from PyObject", + module_name, class_name, size, basicsize, basicsize+itemsize); + goto bad; + } + else if (check_size == __Pyx_ImportType_CheckSize_Warn_3_0_8 && (size_t)basicsize > size) { + PyOS_snprintf(warning, sizeof(warning), + "%s.%s size changed, may indicate binary incompatibility. " + "Expected %zd from C header, got %zd from PyObject", + module_name, class_name, size, basicsize); + if (PyErr_WarnEx(NULL, warning, 0) < 0) goto bad; + } + return (PyTypeObject *)result; +bad: + Py_XDECREF(result); + return NULL; +} +#endif + +/* FetchSharedCythonModule */ +static PyObject *__Pyx_FetchSharedCythonABIModule(void) { + return __Pyx_PyImport_AddModuleRef((char*) __PYX_ABI_MODULE_NAME); +} + +/* FetchCommonType */ +static int __Pyx_VerifyCachedType(PyObject *cached_type, + const char *name, + Py_ssize_t basicsize, + Py_ssize_t expected_basicsize) { + if (!PyType_Check(cached_type)) { + PyErr_Format(PyExc_TypeError, + "Shared Cython type %.200s is not a type object", name); + return -1; + } + if (basicsize != expected_basicsize) { + PyErr_Format(PyExc_TypeError, + "Shared Cython type %.200s has the wrong size, try recompiling", + name); + return -1; + } + return 0; +} +#if !CYTHON_USE_TYPE_SPECS +static PyTypeObject* __Pyx_FetchCommonType(PyTypeObject* type) { + PyObject* abi_module; + const char* object_name; + PyTypeObject *cached_type = NULL; + abi_module = __Pyx_FetchSharedCythonABIModule(); + if (!abi_module) return NULL; + object_name = strrchr(type->tp_name, '.'); + object_name = object_name ? object_name+1 : type->tp_name; + cached_type = (PyTypeObject*) PyObject_GetAttrString(abi_module, object_name); + if (cached_type) { + if (__Pyx_VerifyCachedType( + (PyObject *)cached_type, + object_name, + cached_type->tp_basicsize, + type->tp_basicsize) < 0) { + goto bad; + } + goto done; + } + if (!PyErr_ExceptionMatches(PyExc_AttributeError)) goto bad; + PyErr_Clear(); + if (PyType_Ready(type) < 0) goto bad; + if (PyObject_SetAttrString(abi_module, object_name, (PyObject *)type) < 0) + goto bad; + Py_INCREF(type); + cached_type = type; +done: + Py_DECREF(abi_module); + return cached_type; +bad: + Py_XDECREF(cached_type); + cached_type = NULL; + goto done; +} +#else +static PyTypeObject *__Pyx_FetchCommonTypeFromSpec(PyObject *module, PyType_Spec *spec, PyObject *bases) { + PyObject *abi_module, *cached_type = NULL; + const char* object_name = strrchr(spec->name, '.'); + object_name = object_name ? object_name+1 : spec->name; + abi_module = __Pyx_FetchSharedCythonABIModule(); + if (!abi_module) return NULL; + cached_type = PyObject_GetAttrString(abi_module, object_name); + if (cached_type) { + Py_ssize_t basicsize; +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *py_basicsize; + py_basicsize = PyObject_GetAttrString(cached_type, "__basicsize__"); + if (unlikely(!py_basicsize)) goto bad; + basicsize = PyLong_AsSsize_t(py_basicsize); + Py_DECREF(py_basicsize); + py_basicsize = 0; + if (unlikely(basicsize == (Py_ssize_t)-1) && PyErr_Occurred()) goto bad; +#else + basicsize = likely(PyType_Check(cached_type)) ? ((PyTypeObject*) cached_type)->tp_basicsize : -1; +#endif + if (__Pyx_VerifyCachedType( + cached_type, + object_name, + basicsize, + spec->basicsize) < 0) { + goto bad; + } + goto done; + } + if (!PyErr_ExceptionMatches(PyExc_AttributeError)) goto bad; + PyErr_Clear(); + CYTHON_UNUSED_VAR(module); + cached_type = __Pyx_PyType_FromModuleAndSpec(abi_module, spec, bases); + if (unlikely(!cached_type)) goto bad; + if (unlikely(__Pyx_fix_up_extension_type_from_spec(spec, (PyTypeObject *) cached_type) < 0)) goto bad; + if (PyObject_SetAttrString(abi_module, object_name, cached_type) < 0) goto bad; +done: + Py_DECREF(abi_module); + assert(cached_type == NULL || PyType_Check(cached_type)); + return (PyTypeObject *) cached_type; +bad: + Py_XDECREF(cached_type); + cached_type = NULL; + goto done; +} +#endif + +/* PyVectorcallFastCallDict */ +#if CYTHON_METH_FASTCALL +static PyObject *__Pyx_PyVectorcall_FastCallDict_kw(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw) +{ + PyObject *res = NULL; + PyObject *kwnames; + PyObject **newargs; + PyObject **kwvalues; + Py_ssize_t i, pos; + size_t j; + PyObject *key, *value; + unsigned long keys_are_strings; + Py_ssize_t nkw = PyDict_GET_SIZE(kw); + newargs = (PyObject **)PyMem_Malloc((nargs + (size_t)nkw) * sizeof(args[0])); + if (unlikely(newargs == NULL)) { + PyErr_NoMemory(); + return NULL; + } + for (j = 0; j < nargs; j++) newargs[j] = args[j]; + kwnames = PyTuple_New(nkw); + if (unlikely(kwnames == NULL)) { + PyMem_Free(newargs); + return NULL; + } + kwvalues = newargs + nargs; + pos = i = 0; + keys_are_strings = Py_TPFLAGS_UNICODE_SUBCLASS; + while (PyDict_Next(kw, &pos, &key, &value)) { + keys_are_strings &= Py_TYPE(key)->tp_flags; + Py_INCREF(key); + Py_INCREF(value); + PyTuple_SET_ITEM(kwnames, i, key); + kwvalues[i] = value; + i++; + } + if (unlikely(!keys_are_strings)) { + PyErr_SetString(PyExc_TypeError, "keywords must be strings"); + goto cleanup; + } + res = vc(func, newargs, nargs, kwnames); +cleanup: + Py_DECREF(kwnames); + for (i = 0; i < nkw; i++) + Py_DECREF(kwvalues[i]); + PyMem_Free(newargs); + return res; +} +static CYTHON_INLINE PyObject *__Pyx_PyVectorcall_FastCallDict(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw) +{ + if (likely(kw == NULL) || PyDict_GET_SIZE(kw) == 0) { + return vc(func, args, nargs, NULL); + } + return __Pyx_PyVectorcall_FastCallDict_kw(func, vc, args, nargs, kw); +} +#endif + +/* CythonFunctionShared */ +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc) { + if (__Pyx_CyFunction_Check(func)) { + return PyCFunction_GetFunction(((__pyx_CyFunctionObject*)func)->func) == (PyCFunction) cfunc; + } else if (PyCFunction_Check(func)) { + return PyCFunction_GetFunction(func) == (PyCFunction) cfunc; + } + return 0; +} +#else +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc) { + return __Pyx_CyOrPyCFunction_Check(func) && __Pyx_CyOrPyCFunction_GET_FUNCTION(func) == (PyCFunction) cfunc; +} +#endif +static CYTHON_INLINE void __Pyx__CyFunction_SetClassObj(__pyx_CyFunctionObject* f, PyObject* classobj) { +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + __Pyx_Py_XDECREF_SET( + __Pyx_CyFunction_GetClassObj(f), + ((classobj) ? __Pyx_NewRef(classobj) : NULL)); +#else + __Pyx_Py_XDECREF_SET( + ((PyCMethodObject *) (f))->mm_class, + (PyTypeObject*)((classobj) ? __Pyx_NewRef(classobj) : NULL)); +#endif +} +static PyObject * +__Pyx_CyFunction_get_doc(__pyx_CyFunctionObject *op, void *closure) +{ + CYTHON_UNUSED_VAR(closure); + if (unlikely(op->func_doc == NULL)) { +#if CYTHON_COMPILING_IN_LIMITED_API + op->func_doc = PyObject_GetAttrString(op->func, "__doc__"); + if (unlikely(!op->func_doc)) return NULL; +#else + if (((PyCFunctionObject*)op)->m_ml->ml_doc) { +#if PY_MAJOR_VERSION >= 3 + op->func_doc = PyUnicode_FromString(((PyCFunctionObject*)op)->m_ml->ml_doc); +#else + op->func_doc = PyString_FromString(((PyCFunctionObject*)op)->m_ml->ml_doc); +#endif + if (unlikely(op->func_doc == NULL)) + return NULL; + } else { + Py_INCREF(Py_None); + return Py_None; + } +#endif + } + Py_INCREF(op->func_doc); + return op->func_doc; +} +static int +__Pyx_CyFunction_set_doc(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (value == NULL) { + value = Py_None; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_doc, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_name(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(op->func_name == NULL)) { +#if CYTHON_COMPILING_IN_LIMITED_API + op->func_name = PyObject_GetAttrString(op->func, "__name__"); +#elif PY_MAJOR_VERSION >= 3 + op->func_name = PyUnicode_InternFromString(((PyCFunctionObject*)op)->m_ml->ml_name); +#else + op->func_name = PyString_InternFromString(((PyCFunctionObject*)op)->m_ml->ml_name); +#endif + if (unlikely(op->func_name == NULL)) + return NULL; + } + Py_INCREF(op->func_name); + return op->func_name; +} +static int +__Pyx_CyFunction_set_name(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); +#if PY_MAJOR_VERSION >= 3 + if (unlikely(value == NULL || !PyUnicode_Check(value))) +#else + if (unlikely(value == NULL || !PyString_Check(value))) +#endif + { + PyErr_SetString(PyExc_TypeError, + "__name__ must be set to a string object"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_name, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_qualname(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + Py_INCREF(op->func_qualname); + return op->func_qualname; +} +static int +__Pyx_CyFunction_set_qualname(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); +#if PY_MAJOR_VERSION >= 3 + if (unlikely(value == NULL || !PyUnicode_Check(value))) +#else + if (unlikely(value == NULL || !PyString_Check(value))) +#endif + { + PyErr_SetString(PyExc_TypeError, + "__qualname__ must be set to a string object"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_qualname, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_dict(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(op->func_dict == NULL)) { + op->func_dict = PyDict_New(); + if (unlikely(op->func_dict == NULL)) + return NULL; + } + Py_INCREF(op->func_dict); + return op->func_dict; +} +static int +__Pyx_CyFunction_set_dict(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(value == NULL)) { + PyErr_SetString(PyExc_TypeError, + "function's dictionary may not be deleted"); + return -1; + } + if (unlikely(!PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "setting function's dictionary to a non-dict"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_dict, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_globals(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + Py_INCREF(op->func_globals); + return op->func_globals; +} +static PyObject * +__Pyx_CyFunction_get_closure(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(op); + CYTHON_UNUSED_VAR(context); + Py_INCREF(Py_None); + return Py_None; +} +static PyObject * +__Pyx_CyFunction_get_code(__pyx_CyFunctionObject *op, void *context) +{ + PyObject* result = (op->func_code) ? op->func_code : Py_None; + CYTHON_UNUSED_VAR(context); + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_init_defaults(__pyx_CyFunctionObject *op) { + int result = 0; + PyObject *res = op->defaults_getter((PyObject *) op); + if (unlikely(!res)) + return -1; + #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + op->defaults_tuple = PyTuple_GET_ITEM(res, 0); + Py_INCREF(op->defaults_tuple); + op->defaults_kwdict = PyTuple_GET_ITEM(res, 1); + Py_INCREF(op->defaults_kwdict); + #else + op->defaults_tuple = __Pyx_PySequence_ITEM(res, 0); + if (unlikely(!op->defaults_tuple)) result = -1; + else { + op->defaults_kwdict = __Pyx_PySequence_ITEM(res, 1); + if (unlikely(!op->defaults_kwdict)) result = -1; + } + #endif + Py_DECREF(res); + return result; +} +static int +__Pyx_CyFunction_set_defaults(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value) { + value = Py_None; + } else if (unlikely(value != Py_None && !PyTuple_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__defaults__ must be set to a tuple object"); + return -1; + } + PyErr_WarnEx(PyExc_RuntimeWarning, "changes to cyfunction.__defaults__ will not " + "currently affect the values used in function calls", 1); + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->defaults_tuple, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_defaults(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->defaults_tuple; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + if (op->defaults_getter) { + if (unlikely(__Pyx_CyFunction_init_defaults(op) < 0)) return NULL; + result = op->defaults_tuple; + } else { + result = Py_None; + } + } + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_set_kwdefaults(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value) { + value = Py_None; + } else if (unlikely(value != Py_None && !PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__kwdefaults__ must be set to a dict object"); + return -1; + } + PyErr_WarnEx(PyExc_RuntimeWarning, "changes to cyfunction.__kwdefaults__ will not " + "currently affect the values used in function calls", 1); + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->defaults_kwdict, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_kwdefaults(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->defaults_kwdict; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + if (op->defaults_getter) { + if (unlikely(__Pyx_CyFunction_init_defaults(op) < 0)) return NULL; + result = op->defaults_kwdict; + } else { + result = Py_None; + } + } + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_set_annotations(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value || value == Py_None) { + value = NULL; + } else if (unlikely(!PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__annotations__ must be set to a dict object"); + return -1; + } + Py_XINCREF(value); + __Pyx_Py_XDECREF_SET(op->func_annotations, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_annotations(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->func_annotations; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + result = PyDict_New(); + if (unlikely(!result)) return NULL; + op->func_annotations = result; + } + Py_INCREF(result); + return result; +} +static PyObject * +__Pyx_CyFunction_get_is_coroutine(__pyx_CyFunctionObject *op, void *context) { + int is_coroutine; + CYTHON_UNUSED_VAR(context); + if (op->func_is_coroutine) { + return __Pyx_NewRef(op->func_is_coroutine); + } + is_coroutine = op->flags & __Pyx_CYFUNCTION_COROUTINE; +#if PY_VERSION_HEX >= 0x03050000 + if (is_coroutine) { + PyObject *module, *fromlist, *marker = __pyx_n_s_is_coroutine; + fromlist = PyList_New(1); + if (unlikely(!fromlist)) return NULL; + Py_INCREF(marker); +#if CYTHON_ASSUME_SAFE_MACROS + PyList_SET_ITEM(fromlist, 0, marker); +#else + if (unlikely(PyList_SetItem(fromlist, 0, marker) < 0)) { + Py_DECREF(marker); + Py_DECREF(fromlist); + return NULL; + } +#endif + module = PyImport_ImportModuleLevelObject(__pyx_n_s_asyncio_coroutines, NULL, NULL, fromlist, 0); + Py_DECREF(fromlist); + if (unlikely(!module)) goto ignore; + op->func_is_coroutine = __Pyx_PyObject_GetAttrStr(module, marker); + Py_DECREF(module); + if (likely(op->func_is_coroutine)) { + return __Pyx_NewRef(op->func_is_coroutine); + } +ignore: + PyErr_Clear(); + } +#endif + op->func_is_coroutine = __Pyx_PyBool_FromLong(is_coroutine); + return __Pyx_NewRef(op->func_is_coroutine); +} +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject * +__Pyx_CyFunction_get_module(__pyx_CyFunctionObject *op, void *context) { + CYTHON_UNUSED_VAR(context); + return PyObject_GetAttrString(op->func, "__module__"); +} +static int +__Pyx_CyFunction_set_module(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + return PyObject_SetAttrString(op->func, "__module__", value); +} +#endif +static PyGetSetDef __pyx_CyFunction_getsets[] = { + {(char *) "func_doc", (getter)__Pyx_CyFunction_get_doc, (setter)__Pyx_CyFunction_set_doc, 0, 0}, + {(char *) "__doc__", (getter)__Pyx_CyFunction_get_doc, (setter)__Pyx_CyFunction_set_doc, 0, 0}, + {(char *) "func_name", (getter)__Pyx_CyFunction_get_name, (setter)__Pyx_CyFunction_set_name, 0, 0}, + {(char *) "__name__", (getter)__Pyx_CyFunction_get_name, (setter)__Pyx_CyFunction_set_name, 0, 0}, + {(char *) "__qualname__", (getter)__Pyx_CyFunction_get_qualname, (setter)__Pyx_CyFunction_set_qualname, 0, 0}, + {(char *) "func_dict", (getter)__Pyx_CyFunction_get_dict, (setter)__Pyx_CyFunction_set_dict, 0, 0}, + {(char *) "__dict__", (getter)__Pyx_CyFunction_get_dict, (setter)__Pyx_CyFunction_set_dict, 0, 0}, + {(char *) "func_globals", (getter)__Pyx_CyFunction_get_globals, 0, 0, 0}, + {(char *) "__globals__", (getter)__Pyx_CyFunction_get_globals, 0, 0, 0}, + {(char *) "func_closure", (getter)__Pyx_CyFunction_get_closure, 0, 0, 0}, + {(char *) "__closure__", (getter)__Pyx_CyFunction_get_closure, 0, 0, 0}, + {(char *) "func_code", (getter)__Pyx_CyFunction_get_code, 0, 0, 0}, + {(char *) "__code__", (getter)__Pyx_CyFunction_get_code, 0, 0, 0}, + {(char *) "func_defaults", (getter)__Pyx_CyFunction_get_defaults, (setter)__Pyx_CyFunction_set_defaults, 0, 0}, + {(char *) "__defaults__", (getter)__Pyx_CyFunction_get_defaults, (setter)__Pyx_CyFunction_set_defaults, 0, 0}, + {(char *) "__kwdefaults__", (getter)__Pyx_CyFunction_get_kwdefaults, (setter)__Pyx_CyFunction_set_kwdefaults, 0, 0}, + {(char *) "__annotations__", (getter)__Pyx_CyFunction_get_annotations, (setter)__Pyx_CyFunction_set_annotations, 0, 0}, + {(char *) "_is_coroutine", (getter)__Pyx_CyFunction_get_is_coroutine, 0, 0, 0}, +#if CYTHON_COMPILING_IN_LIMITED_API + {"__module__", (getter)__Pyx_CyFunction_get_module, (setter)__Pyx_CyFunction_set_module, 0, 0}, +#endif + {0, 0, 0, 0, 0} +}; +static PyMemberDef __pyx_CyFunction_members[] = { +#if !CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__module__", T_OBJECT, offsetof(PyCFunctionObject, m_module), 0, 0}, +#endif +#if CYTHON_USE_TYPE_SPECS + {(char *) "__dictoffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_dict), READONLY, 0}, +#if CYTHON_METH_FASTCALL +#if CYTHON_BACKPORT_VECTORCALL + {(char *) "__vectorcalloffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_vectorcall), READONLY, 0}, +#else +#if !CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__vectorcalloffset__", T_PYSSIZET, offsetof(PyCFunctionObject, vectorcall), READONLY, 0}, +#endif +#endif +#endif +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__weaklistoffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_weakreflist), READONLY, 0}, +#else + {(char *) "__weaklistoffset__", T_PYSSIZET, offsetof(PyCFunctionObject, m_weakreflist), READONLY, 0}, +#endif +#endif + {0, 0, 0, 0, 0} +}; +static PyObject * +__Pyx_CyFunction_reduce(__pyx_CyFunctionObject *m, PyObject *args) +{ + CYTHON_UNUSED_VAR(args); +#if PY_MAJOR_VERSION >= 3 + Py_INCREF(m->func_qualname); + return m->func_qualname; +#else + return PyString_FromString(((PyCFunctionObject*)m)->m_ml->ml_name); +#endif +} +static PyMethodDef __pyx_CyFunction_methods[] = { + {"__reduce__", (PyCFunction)__Pyx_CyFunction_reduce, METH_VARARGS, 0}, + {0, 0, 0, 0} +}; +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API +#define __Pyx_CyFunction_weakreflist(cyfunc) ((cyfunc)->func_weakreflist) +#else +#define __Pyx_CyFunction_weakreflist(cyfunc) (((PyCFunctionObject*)cyfunc)->m_weakreflist) +#endif +static PyObject *__Pyx_CyFunction_Init(__pyx_CyFunctionObject *op, PyMethodDef *ml, int flags, PyObject* qualname, + PyObject *closure, PyObject *module, PyObject* globals, PyObject* code) { +#if !CYTHON_COMPILING_IN_LIMITED_API + PyCFunctionObject *cf = (PyCFunctionObject*) op; +#endif + if (unlikely(op == NULL)) + return NULL; +#if CYTHON_COMPILING_IN_LIMITED_API + op->func = PyCFunction_NewEx(ml, (PyObject*)op, module); + if (unlikely(!op->func)) return NULL; +#endif + op->flags = flags; + __Pyx_CyFunction_weakreflist(op) = NULL; +#if !CYTHON_COMPILING_IN_LIMITED_API + cf->m_ml = ml; + cf->m_self = (PyObject *) op; +#endif + Py_XINCREF(closure); + op->func_closure = closure; +#if !CYTHON_COMPILING_IN_LIMITED_API + Py_XINCREF(module); + cf->m_module = module; +#endif + op->func_dict = NULL; + op->func_name = NULL; + Py_INCREF(qualname); + op->func_qualname = qualname; + op->func_doc = NULL; +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + op->func_classobj = NULL; +#else + ((PyCMethodObject*)op)->mm_class = NULL; +#endif + op->func_globals = globals; + Py_INCREF(op->func_globals); + Py_XINCREF(code); + op->func_code = code; + op->defaults_pyobjects = 0; + op->defaults_size = 0; + op->defaults = NULL; + op->defaults_tuple = NULL; + op->defaults_kwdict = NULL; + op->defaults_getter = NULL; + op->func_annotations = NULL; + op->func_is_coroutine = NULL; +#if CYTHON_METH_FASTCALL + switch (ml->ml_flags & (METH_VARARGS | METH_FASTCALL | METH_NOARGS | METH_O | METH_KEYWORDS | METH_METHOD)) { + case METH_NOARGS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_NOARGS; + break; + case METH_O: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_O; + break; + case METH_METHOD | METH_FASTCALL | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD; + break; + case METH_FASTCALL | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS; + break; + case METH_VARARGS | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = NULL; + break; + default: + PyErr_SetString(PyExc_SystemError, "Bad call flags for CyFunction"); + Py_DECREF(op); + return NULL; + } +#endif + return (PyObject *) op; +} +static int +__Pyx_CyFunction_clear(__pyx_CyFunctionObject *m) +{ + Py_CLEAR(m->func_closure); +#if CYTHON_COMPILING_IN_LIMITED_API + Py_CLEAR(m->func); +#else + Py_CLEAR(((PyCFunctionObject*)m)->m_module); +#endif + Py_CLEAR(m->func_dict); + Py_CLEAR(m->func_name); + Py_CLEAR(m->func_qualname); + Py_CLEAR(m->func_doc); + Py_CLEAR(m->func_globals); + Py_CLEAR(m->func_code); +#if !CYTHON_COMPILING_IN_LIMITED_API +#if PY_VERSION_HEX < 0x030900B1 + Py_CLEAR(__Pyx_CyFunction_GetClassObj(m)); +#else + { + PyObject *cls = (PyObject*) ((PyCMethodObject *) (m))->mm_class; + ((PyCMethodObject *) (m))->mm_class = NULL; + Py_XDECREF(cls); + } +#endif +#endif + Py_CLEAR(m->defaults_tuple); + Py_CLEAR(m->defaults_kwdict); + Py_CLEAR(m->func_annotations); + Py_CLEAR(m->func_is_coroutine); + if (m->defaults) { + PyObject **pydefaults = __Pyx_CyFunction_Defaults(PyObject *, m); + int i; + for (i = 0; i < m->defaults_pyobjects; i++) + Py_XDECREF(pydefaults[i]); + PyObject_Free(m->defaults); + m->defaults = NULL; + } + return 0; +} +static void __Pyx__CyFunction_dealloc(__pyx_CyFunctionObject *m) +{ + if (__Pyx_CyFunction_weakreflist(m) != NULL) + PyObject_ClearWeakRefs((PyObject *) m); + __Pyx_CyFunction_clear(m); + __Pyx_PyHeapTypeObject_GC_Del(m); +} +static void __Pyx_CyFunction_dealloc(__pyx_CyFunctionObject *m) +{ + PyObject_GC_UnTrack(m); + __Pyx__CyFunction_dealloc(m); +} +static int __Pyx_CyFunction_traverse(__pyx_CyFunctionObject *m, visitproc visit, void *arg) +{ + Py_VISIT(m->func_closure); +#if CYTHON_COMPILING_IN_LIMITED_API + Py_VISIT(m->func); +#else + Py_VISIT(((PyCFunctionObject*)m)->m_module); +#endif + Py_VISIT(m->func_dict); + Py_VISIT(m->func_name); + Py_VISIT(m->func_qualname); + Py_VISIT(m->func_doc); + Py_VISIT(m->func_globals); + Py_VISIT(m->func_code); +#if !CYTHON_COMPILING_IN_LIMITED_API + Py_VISIT(__Pyx_CyFunction_GetClassObj(m)); +#endif + Py_VISIT(m->defaults_tuple); + Py_VISIT(m->defaults_kwdict); + Py_VISIT(m->func_is_coroutine); + if (m->defaults) { + PyObject **pydefaults = __Pyx_CyFunction_Defaults(PyObject *, m); + int i; + for (i = 0; i < m->defaults_pyobjects; i++) + Py_VISIT(pydefaults[i]); + } + return 0; +} +static PyObject* +__Pyx_CyFunction_repr(__pyx_CyFunctionObject *op) +{ +#if PY_MAJOR_VERSION >= 3 + return PyUnicode_FromFormat("", + op->func_qualname, (void *)op); +#else + return PyString_FromFormat("", + PyString_AsString(op->func_qualname), (void *)op); +#endif +} +static PyObject * __Pyx_CyFunction_CallMethod(PyObject *func, PyObject *self, PyObject *arg, PyObject *kw) { +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *f = ((__pyx_CyFunctionObject*)func)->func; + PyObject *py_name = NULL; + PyCFunction meth; + int flags; + meth = PyCFunction_GetFunction(f); + if (unlikely(!meth)) return NULL; + flags = PyCFunction_GetFlags(f); + if (unlikely(flags < 0)) return NULL; +#else + PyCFunctionObject* f = (PyCFunctionObject*)func; + PyCFunction meth = f->m_ml->ml_meth; + int flags = f->m_ml->ml_flags; +#endif + Py_ssize_t size; + switch (flags & (METH_VARARGS | METH_KEYWORDS | METH_NOARGS | METH_O)) { + case METH_VARARGS: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) + return (*meth)(self, arg); + break; + case METH_VARARGS | METH_KEYWORDS: + return (*(PyCFunctionWithKeywords)(void*)meth)(self, arg, kw); + case METH_NOARGS: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) { +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(arg); +#else + size = PyTuple_Size(arg); + if (unlikely(size < 0)) return NULL; +#endif + if (likely(size == 0)) + return (*meth)(self, NULL); +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, + "%.200S() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + py_name, size); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, + "%.200s() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + f->m_ml->ml_name, size); +#endif + return NULL; + } + break; + case METH_O: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) { +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(arg); +#else + size = PyTuple_Size(arg); + if (unlikely(size < 0)) return NULL; +#endif + if (likely(size == 1)) { + PyObject *result, *arg0; + #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + arg0 = PyTuple_GET_ITEM(arg, 0); + #else + arg0 = __Pyx_PySequence_ITEM(arg, 0); if (unlikely(!arg0)) return NULL; + #endif + result = (*meth)(self, arg0); + #if !(CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS) + Py_DECREF(arg0); + #endif + return result; + } +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, + "%.200S() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + py_name, size); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, + "%.200s() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + f->m_ml->ml_name, size); +#endif + return NULL; + } + break; + default: + PyErr_SetString(PyExc_SystemError, "Bad call flags for CyFunction"); + return NULL; + } +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, "%.200S() takes no keyword arguments", + py_name); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, "%.200s() takes no keyword arguments", + f->m_ml->ml_name); +#endif + return NULL; +} +static CYTHON_INLINE PyObject *__Pyx_CyFunction_Call(PyObject *func, PyObject *arg, PyObject *kw) { + PyObject *self, *result; +#if CYTHON_COMPILING_IN_LIMITED_API + self = PyCFunction_GetSelf(((__pyx_CyFunctionObject*)func)->func); + if (unlikely(!self) && PyErr_Occurred()) return NULL; +#else + self = ((PyCFunctionObject*)func)->m_self; +#endif + result = __Pyx_CyFunction_CallMethod(func, self, arg, kw); + return result; +} +static PyObject *__Pyx_CyFunction_CallAsMethod(PyObject *func, PyObject *args, PyObject *kw) { + PyObject *result; + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *) func; +#if CYTHON_METH_FASTCALL + __pyx_vectorcallfunc vc = __Pyx_CyFunction_func_vectorcall(cyfunc); + if (vc) { +#if CYTHON_ASSUME_SAFE_MACROS + return __Pyx_PyVectorcall_FastCallDict(func, vc, &PyTuple_GET_ITEM(args, 0), (size_t)PyTuple_GET_SIZE(args), kw); +#else + (void) &__Pyx_PyVectorcall_FastCallDict; + return PyVectorcall_Call(func, args, kw); +#endif + } +#endif + if ((cyfunc->flags & __Pyx_CYFUNCTION_CCLASS) && !(cyfunc->flags & __Pyx_CYFUNCTION_STATICMETHOD)) { + Py_ssize_t argc; + PyObject *new_args; + PyObject *self; +#if CYTHON_ASSUME_SAFE_MACROS + argc = PyTuple_GET_SIZE(args); +#else + argc = PyTuple_Size(args); + if (unlikely(!argc) < 0) return NULL; +#endif + new_args = PyTuple_GetSlice(args, 1, argc); + if (unlikely(!new_args)) + return NULL; + self = PyTuple_GetItem(args, 0); + if (unlikely(!self)) { + Py_DECREF(new_args); +#if PY_MAJOR_VERSION > 2 + PyErr_Format(PyExc_TypeError, + "unbound method %.200S() needs an argument", + cyfunc->func_qualname); +#else + PyErr_SetString(PyExc_TypeError, + "unbound method needs an argument"); +#endif + return NULL; + } + result = __Pyx_CyFunction_CallMethod(func, self, new_args, kw); + Py_DECREF(new_args); + } else { + result = __Pyx_CyFunction_Call(func, args, kw); + } + return result; +} +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE int __Pyx_CyFunction_Vectorcall_CheckArgs(__pyx_CyFunctionObject *cyfunc, Py_ssize_t nargs, PyObject *kwnames) +{ + int ret = 0; + if ((cyfunc->flags & __Pyx_CYFUNCTION_CCLASS) && !(cyfunc->flags & __Pyx_CYFUNCTION_STATICMETHOD)) { + if (unlikely(nargs < 1)) { + PyErr_Format(PyExc_TypeError, "%.200s() needs an argument", + ((PyCFunctionObject*)cyfunc)->m_ml->ml_name); + return -1; + } + ret = 1; + } + if (unlikely(kwnames) && unlikely(PyTuple_GET_SIZE(kwnames))) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes no keyword arguments", ((PyCFunctionObject*)cyfunc)->m_ml->ml_name); + return -1; + } + return ret; +} +static PyObject * __Pyx_CyFunction_Vectorcall_NOARGS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, kwnames)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + if (unlikely(nargs != 0)) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + def->ml_name, nargs); + return NULL; + } + return def->ml_meth(self, NULL); +} +static PyObject * __Pyx_CyFunction_Vectorcall_O(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, kwnames)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + if (unlikely(nargs != 1)) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + def->ml_name, nargs); + return NULL; + } + return def->ml_meth(self, args[0]); +} +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, NULL)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + return ((_PyCFunctionFastWithKeywords)(void(*)(void))def->ml_meth)(self, args, nargs, kwnames); +} +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; + PyTypeObject *cls = (PyTypeObject *) __Pyx_CyFunction_GetClassObj(cyfunc); +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, NULL)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + return ((__Pyx_PyCMethod)(void(*)(void))def->ml_meth)(self, cls, args, (size_t)nargs, kwnames); +} +#endif +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_CyFunctionType_slots[] = { + {Py_tp_dealloc, (void *)__Pyx_CyFunction_dealloc}, + {Py_tp_repr, (void *)__Pyx_CyFunction_repr}, + {Py_tp_call, (void *)__Pyx_CyFunction_CallAsMethod}, + {Py_tp_traverse, (void *)__Pyx_CyFunction_traverse}, + {Py_tp_clear, (void *)__Pyx_CyFunction_clear}, + {Py_tp_methods, (void *)__pyx_CyFunction_methods}, + {Py_tp_members, (void *)__pyx_CyFunction_members}, + {Py_tp_getset, (void *)__pyx_CyFunction_getsets}, + {Py_tp_descr_get, (void *)__Pyx_PyMethod_New}, + {0, 0}, +}; +static PyType_Spec __pyx_CyFunctionType_spec = { + __PYX_TYPE_MODULE_PREFIX "cython_function_or_method", + sizeof(__pyx_CyFunctionObject), + 0, +#ifdef Py_TPFLAGS_METHOD_DESCRIPTOR + Py_TPFLAGS_METHOD_DESCRIPTOR | +#endif +#if (defined(_Py_TPFLAGS_HAVE_VECTORCALL) && CYTHON_METH_FASTCALL) + _Py_TPFLAGS_HAVE_VECTORCALL | +#endif + Py_TPFLAGS_DEFAULT | Py_TPFLAGS_HAVE_GC | Py_TPFLAGS_BASETYPE, + __pyx_CyFunctionType_slots +}; +#else +static PyTypeObject __pyx_CyFunctionType_type = { + PyVarObject_HEAD_INIT(0, 0) + __PYX_TYPE_MODULE_PREFIX "cython_function_or_method", + sizeof(__pyx_CyFunctionObject), + 0, + (destructor) __Pyx_CyFunction_dealloc, +#if !CYTHON_METH_FASTCALL + 0, +#elif CYTHON_BACKPORT_VECTORCALL + (printfunc)offsetof(__pyx_CyFunctionObject, func_vectorcall), +#else + offsetof(PyCFunctionObject, vectorcall), +#endif + 0, + 0, +#if PY_MAJOR_VERSION < 3 + 0, +#else + 0, +#endif + (reprfunc) __Pyx_CyFunction_repr, + 0, + 0, + 0, + 0, + __Pyx_CyFunction_CallAsMethod, + 0, + 0, + 0, + 0, +#ifdef Py_TPFLAGS_METHOD_DESCRIPTOR + Py_TPFLAGS_METHOD_DESCRIPTOR | +#endif +#if defined(_Py_TPFLAGS_HAVE_VECTORCALL) && CYTHON_METH_FASTCALL + _Py_TPFLAGS_HAVE_VECTORCALL | +#endif + Py_TPFLAGS_DEFAULT | Py_TPFLAGS_HAVE_GC | Py_TPFLAGS_BASETYPE, + 0, + (traverseproc) __Pyx_CyFunction_traverse, + (inquiry) __Pyx_CyFunction_clear, + 0, +#if PY_VERSION_HEX < 0x030500A0 + offsetof(__pyx_CyFunctionObject, func_weakreflist), +#else + offsetof(PyCFunctionObject, m_weakreflist), +#endif + 0, + 0, + __pyx_CyFunction_methods, + __pyx_CyFunction_members, + __pyx_CyFunction_getsets, + 0, + 0, + __Pyx_PyMethod_New, + 0, + offsetof(__pyx_CyFunctionObject, func_dict), + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, +#if PY_VERSION_HEX >= 0x030400a1 + 0, +#endif +#if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, +#endif +#if __PYX_NEED_TP_PRINT_SLOT + 0, +#endif +#if PY_VERSION_HEX >= 0x030C0000 + 0, +#endif +#if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, +#endif +}; +#endif +static int __pyx_CyFunction_init(PyObject *module) { +#if CYTHON_USE_TYPE_SPECS + __pyx_CyFunctionType = __Pyx_FetchCommonTypeFromSpec(module, &__pyx_CyFunctionType_spec, NULL); +#else + CYTHON_UNUSED_VAR(module); + __pyx_CyFunctionType = __Pyx_FetchCommonType(&__pyx_CyFunctionType_type); +#endif + if (unlikely(__pyx_CyFunctionType == NULL)) { + return -1; + } + return 0; +} +static CYTHON_INLINE void *__Pyx_CyFunction_InitDefaults(PyObject *func, size_t size, int pyobjects) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults = PyObject_Malloc(size); + if (unlikely(!m->defaults)) + return PyErr_NoMemory(); + memset(m->defaults, 0, size); + m->defaults_pyobjects = pyobjects; + m->defaults_size = size; + return m->defaults; +} +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsTuple(PyObject *func, PyObject *tuple) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults_tuple = tuple; + Py_INCREF(tuple); +} +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsKwDict(PyObject *func, PyObject *dict) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults_kwdict = dict; + Py_INCREF(dict); +} +static CYTHON_INLINE void __Pyx_CyFunction_SetAnnotationsDict(PyObject *func, PyObject *dict) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->func_annotations = dict; + Py_INCREF(dict); +} + +/* CythonFunction */ +static PyObject *__Pyx_CyFunction_New(PyMethodDef *ml, int flags, PyObject* qualname, + PyObject *closure, PyObject *module, PyObject* globals, PyObject* code) { + PyObject *op = __Pyx_CyFunction_Init( + PyObject_GC_New(__pyx_CyFunctionObject, __pyx_CyFunctionType), + ml, flags, qualname, closure, module, globals, code + ); + if (likely(op)) { + PyObject_GC_Track(op); + } + return op; +} + +/* Py3UpdateBases */ +static PyObject* +__Pyx_PEP560_update_bases(PyObject *bases) +{ + Py_ssize_t i, j, size_bases; + PyObject *base, *meth, *new_base, *result, *new_bases = NULL; + size_bases = PyTuple_GET_SIZE(bases); + for (i = 0; i < size_bases; i++) { + base = PyTuple_GET_ITEM(bases, i); + if (PyType_Check(base)) { + if (new_bases) { + if (PyList_Append(new_bases, base) < 0) { + goto error; + } + } + continue; + } + meth = __Pyx_PyObject_GetAttrStrNoError(base, __pyx_n_s_mro_entries); + if (!meth && PyErr_Occurred()) { + goto error; + } + if (!meth) { + if (new_bases) { + if (PyList_Append(new_bases, base) < 0) { + goto error; + } + } + continue; + } + new_base = __Pyx_PyObject_CallOneArg(meth, bases); + Py_DECREF(meth); + if (!new_base) { + goto error; + } + if (!PyTuple_Check(new_base)) { + PyErr_SetString(PyExc_TypeError, + "__mro_entries__ must return a tuple"); + Py_DECREF(new_base); + goto error; + } + if (!new_bases) { + if (!(new_bases = PyList_New(i))) { + goto error; + } + for (j = 0; j < i; j++) { + base = PyTuple_GET_ITEM(bases, j); + PyList_SET_ITEM(new_bases, j, base); + Py_INCREF(base); + } + } + j = PyList_GET_SIZE(new_bases); + if (PyList_SetSlice(new_bases, j, j, new_base) < 0) { + goto error; + } + Py_DECREF(new_base); + } + if (!new_bases) { + Py_INCREF(bases); + return bases; + } + result = PyList_AsTuple(new_bases); + Py_DECREF(new_bases); + return result; +error: + Py_XDECREF(new_bases); + return NULL; +} + +/* SetNewInClass */ +static int __Pyx_SetNewInClass(PyObject *ns, PyObject *name, PyObject *value) { +#ifdef __Pyx_CyFunction_USED + int ret; + if (__Pyx_CyFunction_Check(value)) { + PyObject *staticnew = PyStaticMethod_New(value); + if (unlikely(!staticnew)) return -1; + ret = __Pyx_SetNameInClass(ns, name, staticnew); + Py_DECREF(staticnew); + return ret; + } +#endif + return __Pyx_SetNameInClass(ns, name, value); +} + +/* CalculateMetaclass */ +static PyObject *__Pyx_CalculateMetaclass(PyTypeObject *metaclass, PyObject *bases) { + Py_ssize_t i, nbases; +#if CYTHON_ASSUME_SAFE_MACROS + nbases = PyTuple_GET_SIZE(bases); +#else + nbases = PyTuple_Size(bases); + if (nbases < 0) return NULL; +#endif + for (i=0; i < nbases; i++) { + PyTypeObject *tmptype; +#if CYTHON_ASSUME_SAFE_MACROS + PyObject *tmp = PyTuple_GET_ITEM(bases, i); +#else + PyObject *tmp = PyTuple_GetItem(bases, i); + if (!tmp) return NULL; +#endif + tmptype = Py_TYPE(tmp); +#if PY_MAJOR_VERSION < 3 + if (tmptype == &PyClass_Type) + continue; +#endif + if (!metaclass) { + metaclass = tmptype; + continue; + } + if (PyType_IsSubtype(metaclass, tmptype)) + continue; + if (PyType_IsSubtype(tmptype, metaclass)) { + metaclass = tmptype; + continue; + } + PyErr_SetString(PyExc_TypeError, + "metaclass conflict: " + "the metaclass of a derived class " + "must be a (non-strict) subclass " + "of the metaclasses of all its bases"); + return NULL; + } + if (!metaclass) { +#if PY_MAJOR_VERSION < 3 + metaclass = &PyClass_Type; +#else + metaclass = &PyType_Type; +#endif + } + Py_INCREF((PyObject*) metaclass); + return (PyObject*) metaclass; +} + +/* PyObjectLookupSpecial */ +#if CYTHON_USE_PYTYPE_LOOKUP && CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject* __Pyx__PyObject_LookupSpecial(PyObject* obj, PyObject* attr_name, int with_error) { + PyObject *res; + PyTypeObject *tp = Py_TYPE(obj); +#if PY_MAJOR_VERSION < 3 + if (unlikely(PyInstance_Check(obj))) + return with_error ? __Pyx_PyObject_GetAttrStr(obj, attr_name) : __Pyx_PyObject_GetAttrStrNoError(obj, attr_name); +#endif + res = _PyType_Lookup(tp, attr_name); + if (likely(res)) { + descrgetfunc f = Py_TYPE(res)->tp_descr_get; + if (!f) { + Py_INCREF(res); + } else { + res = f(res, obj, (PyObject *)tp); + } + } else if (with_error) { + PyErr_SetObject(PyExc_AttributeError, attr_name); + } + return res; +} +#endif + +/* Py3ClassCreate */ +static PyObject *__Pyx_Py3MetaclassPrepare(PyObject *metaclass, PyObject *bases, PyObject *name, + PyObject *qualname, PyObject *mkw, PyObject *modname, PyObject *doc) { + PyObject *ns; + if (metaclass) { + PyObject *prep = __Pyx_PyObject_GetAttrStrNoError(metaclass, __pyx_n_s_prepare); + if (prep) { + PyObject *pargs[3] = {NULL, name, bases}; + ns = __Pyx_PyObject_FastCallDict(prep, pargs+1, 2 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET, mkw); + Py_DECREF(prep); + } else { + if (unlikely(PyErr_Occurred())) + return NULL; + ns = PyDict_New(); + } + } else { + ns = PyDict_New(); + } + if (unlikely(!ns)) + return NULL; + if (unlikely(PyObject_SetItem(ns, __pyx_n_s_module, modname) < 0)) goto bad; +#if PY_VERSION_HEX >= 0x03030000 + if (unlikely(PyObject_SetItem(ns, __pyx_n_s_qualname, qualname) < 0)) goto bad; +#else + CYTHON_MAYBE_UNUSED_VAR(qualname); +#endif + if (unlikely(doc && PyObject_SetItem(ns, __pyx_n_s_doc, doc) < 0)) goto bad; + return ns; +bad: + Py_DECREF(ns); + return NULL; +} +#if PY_VERSION_HEX < 0x030600A4 && CYTHON_PEP487_INIT_SUBCLASS +static int __Pyx_SetNamesPEP487(PyObject *type_obj) { + PyTypeObject *type = (PyTypeObject*) type_obj; + PyObject *names_to_set, *key, *value, *set_name, *tmp; + Py_ssize_t i = 0; +#if CYTHON_USE_TYPE_SLOTS + names_to_set = PyDict_Copy(type->tp_dict); +#else + { + PyObject *d = PyObject_GetAttr(type_obj, __pyx_n_s_dict); + names_to_set = NULL; + if (likely(d)) { + PyObject *names_to_set = PyDict_New(); + int ret = likely(names_to_set) ? PyDict_Update(names_to_set, d) : -1; + Py_DECREF(d); + if (unlikely(ret < 0)) + Py_CLEAR(names_to_set); + } + } +#endif + if (unlikely(names_to_set == NULL)) + goto bad; + while (PyDict_Next(names_to_set, &i, &key, &value)) { + set_name = __Pyx_PyObject_LookupSpecialNoError(value, __pyx_n_s_set_name); + if (unlikely(set_name != NULL)) { + tmp = __Pyx_PyObject_Call2Args(set_name, type_obj, key); + Py_DECREF(set_name); + if (unlikely(tmp == NULL)) { + __Pyx_TypeName value_type_name = + __Pyx_PyType_GetName(Py_TYPE(value)); + __Pyx_TypeName type_name = __Pyx_PyType_GetName(type); + PyErr_Format(PyExc_RuntimeError, +#if PY_MAJOR_VERSION >= 3 + "Error calling __set_name__ on '" __Pyx_FMT_TYPENAME "' instance %R " "in '" __Pyx_FMT_TYPENAME "'", + value_type_name, key, type_name); +#else + "Error calling __set_name__ on '" __Pyx_FMT_TYPENAME "' instance %.100s in '" __Pyx_FMT_TYPENAME "'", + value_type_name, + PyString_Check(key) ? PyString_AS_STRING(key) : "?", + type_name); +#endif + goto bad; + } else { + Py_DECREF(tmp); + } + } + else if (unlikely(PyErr_Occurred())) { + goto bad; + } + } + Py_DECREF(names_to_set); + return 0; +bad: + Py_XDECREF(names_to_set); + return -1; +} +static PyObject *__Pyx_InitSubclassPEP487(PyObject *type_obj, PyObject *mkw) { +#if CYTHON_USE_TYPE_SLOTS && CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + PyTypeObject *type = (PyTypeObject*) type_obj; + PyObject *mro = type->tp_mro; + Py_ssize_t i, nbases; + if (unlikely(!mro)) goto done; + (void) &__Pyx_GetBuiltinName; + Py_INCREF(mro); + nbases = PyTuple_GET_SIZE(mro); + assert(PyTuple_GET_ITEM(mro, 0) == type_obj); + for (i = 1; i < nbases-1; i++) { + PyObject *base, *dict, *meth; + base = PyTuple_GET_ITEM(mro, i); + dict = ((PyTypeObject *)base)->tp_dict; + meth = __Pyx_PyDict_GetItemStrWithError(dict, __pyx_n_s_init_subclass); + if (unlikely(meth)) { + descrgetfunc f = Py_TYPE(meth)->tp_descr_get; + PyObject *res; + Py_INCREF(meth); + if (likely(f)) { + res = f(meth, NULL, type_obj); + Py_DECREF(meth); + if (unlikely(!res)) goto bad; + meth = res; + } + res = __Pyx_PyObject_FastCallDict(meth, NULL, 0, mkw); + Py_DECREF(meth); + if (unlikely(!res)) goto bad; + Py_DECREF(res); + goto done; + } else if (unlikely(PyErr_Occurred())) { + goto bad; + } + } +done: + Py_XDECREF(mro); + return type_obj; +bad: + Py_XDECREF(mro); + Py_DECREF(type_obj); + return NULL; +#else + PyObject *super_type, *super, *func, *res; +#if CYTHON_COMPILING_IN_PYPY && !defined(PySuper_Type) + super_type = __Pyx_GetBuiltinName(__pyx_n_s_super); +#else + super_type = (PyObject*) &PySuper_Type; + (void) &__Pyx_GetBuiltinName; +#endif + super = likely(super_type) ? __Pyx_PyObject_Call2Args(super_type, type_obj, type_obj) : NULL; +#if CYTHON_COMPILING_IN_PYPY && !defined(PySuper_Type) + Py_XDECREF(super_type); +#endif + if (unlikely(!super)) { + Py_CLEAR(type_obj); + goto done; + } + func = __Pyx_PyObject_GetAttrStrNoError(super, __pyx_n_s_init_subclass); + Py_DECREF(super); + if (likely(!func)) { + if (unlikely(PyErr_Occurred())) + Py_CLEAR(type_obj); + goto done; + } + res = __Pyx_PyObject_FastCallDict(func, NULL, 0, mkw); + Py_DECREF(func); + if (unlikely(!res)) + Py_CLEAR(type_obj); + Py_XDECREF(res); +done: + return type_obj; +#endif +} +#endif +static PyObject *__Pyx_Py3ClassCreate(PyObject *metaclass, PyObject *name, PyObject *bases, + PyObject *dict, PyObject *mkw, + int calculate_metaclass, int allow_py2_metaclass) { + PyObject *result; + PyObject *owned_metaclass = NULL; + PyObject *margs[4] = {NULL, name, bases, dict}; + if (allow_py2_metaclass) { + owned_metaclass = PyObject_GetItem(dict, __pyx_n_s_metaclass); + if (owned_metaclass) { + metaclass = owned_metaclass; + } else if (likely(PyErr_ExceptionMatches(PyExc_KeyError))) { + PyErr_Clear(); + } else { + return NULL; + } + } + if (calculate_metaclass && (!metaclass || PyType_Check(metaclass))) { + metaclass = __Pyx_CalculateMetaclass((PyTypeObject*) metaclass, bases); + Py_XDECREF(owned_metaclass); + if (unlikely(!metaclass)) + return NULL; + owned_metaclass = metaclass; + } + result = __Pyx_PyObject_FastCallDict(metaclass, margs+1, 3 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET, +#if PY_VERSION_HEX < 0x030600A4 + (metaclass == (PyObject*)&PyType_Type) ? NULL : mkw +#else + mkw +#endif + ); + Py_XDECREF(owned_metaclass); +#if PY_VERSION_HEX < 0x030600A4 && CYTHON_PEP487_INIT_SUBCLASS + if (likely(result) && likely(PyType_Check(result))) { + if (unlikely(__Pyx_SetNamesPEP487(result) < 0)) { + Py_CLEAR(result); + } else { + result = __Pyx_InitSubclassPEP487(result, mkw); + } + } +#else + (void) &__Pyx_GetBuiltinName; +#endif + return result; +} + +/* Globals */ +static PyObject* __Pyx_Globals(void) { + return __Pyx_NewRef(__pyx_d); +} + +/* UnpackUnboundCMethod */ +static PyObject *__Pyx_SelflessCall(PyObject *method, PyObject *args, PyObject *kwargs) { + PyObject *result; + PyObject *selfless_args = PyTuple_GetSlice(args, 1, PyTuple_Size(args)); + if (unlikely(!selfless_args)) return NULL; + result = PyObject_Call(method, selfless_args, kwargs); + Py_DECREF(selfless_args); + return result; +} +static PyMethodDef __Pyx_UnboundCMethod_Def = { + "CythonUnboundCMethod", + __PYX_REINTERPRET_FUNCION(PyCFunction, __Pyx_SelflessCall), + METH_VARARGS | METH_KEYWORDS, + NULL +}; +static int __Pyx_TryUnpackUnboundCMethod(__Pyx_CachedCFunction* target) { + PyObject *method; + method = __Pyx_PyObject_GetAttrStr(target->type, *target->method_name); + if (unlikely(!method)) + return -1; + target->method = method; +#if CYTHON_COMPILING_IN_CPYTHON + #if PY_MAJOR_VERSION >= 3 + if (likely(__Pyx_TypeCheck(method, &PyMethodDescr_Type))) + #else + if (likely(!__Pyx_CyOrPyCFunction_Check(method))) + #endif + { + PyMethodDescrObject *descr = (PyMethodDescrObject*) method; + target->func = descr->d_method->ml_meth; + target->flag = descr->d_method->ml_flags & ~(METH_CLASS | METH_STATIC | METH_COEXIST | METH_STACKLESS); + } else +#endif +#if CYTHON_COMPILING_IN_PYPY +#else + if (PyCFunction_Check(method)) +#endif + { + PyObject *self; + int self_found; +#if CYTHON_COMPILING_IN_LIMITED_API || CYTHON_COMPILING_IN_PYPY + self = PyObject_GetAttrString(method, "__self__"); + if (!self) { + PyErr_Clear(); + } +#else + self = PyCFunction_GET_SELF(method); +#endif + self_found = (self && self != Py_None); +#if CYTHON_COMPILING_IN_LIMITED_API || CYTHON_COMPILING_IN_PYPY + Py_XDECREF(self); +#endif + if (self_found) { + PyObject *unbound_method = PyCFunction_New(&__Pyx_UnboundCMethod_Def, method); + if (unlikely(!unbound_method)) return -1; + Py_DECREF(method); + target->method = unbound_method; + } + } + return 0; +} + +/* CallUnboundCMethod1 */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_CallUnboundCMethod1(__Pyx_CachedCFunction* cfunc, PyObject* self, PyObject* arg) { + if (likely(cfunc->func)) { + int flag = cfunc->flag; + if (flag == METH_O) { + return (*(cfunc->func))(self, arg); + } else if ((PY_VERSION_HEX >= 0x030600B1) && flag == METH_FASTCALL) { + #if PY_VERSION_HEX >= 0x030700A0 + return (*(__Pyx_PyCFunctionFast)(void*)(PyCFunction)cfunc->func)(self, &arg, 1); + #else + return (*(__Pyx_PyCFunctionFastWithKeywords)(void*)(PyCFunction)cfunc->func)(self, &arg, 1, NULL); + #endif + } else if ((PY_VERSION_HEX >= 0x030700A0) && flag == (METH_FASTCALL | METH_KEYWORDS)) { + return (*(__Pyx_PyCFunctionFastWithKeywords)(void*)(PyCFunction)cfunc->func)(self, &arg, 1, NULL); + } + } + return __Pyx__CallUnboundCMethod1(cfunc, self, arg); +} +#endif +static PyObject* __Pyx__CallUnboundCMethod1(__Pyx_CachedCFunction* cfunc, PyObject* self, PyObject* arg){ + PyObject *args, *result = NULL; + if (unlikely(!cfunc->func && !cfunc->method) && unlikely(__Pyx_TryUnpackUnboundCMethod(cfunc) < 0)) return NULL; +#if CYTHON_COMPILING_IN_CPYTHON + if (cfunc->func && (cfunc->flag & METH_VARARGS)) { + args = PyTuple_New(1); + if (unlikely(!args)) goto bad; + Py_INCREF(arg); + PyTuple_SET_ITEM(args, 0, arg); + if (cfunc->flag & METH_KEYWORDS) + result = (*(PyCFunctionWithKeywords)(void*)(PyCFunction)cfunc->func)(self, args, NULL); + else + result = (*cfunc->func)(self, args); + } else { + args = PyTuple_New(2); + if (unlikely(!args)) goto bad; + Py_INCREF(self); + PyTuple_SET_ITEM(args, 0, self); + Py_INCREF(arg); + PyTuple_SET_ITEM(args, 1, arg); + result = __Pyx_PyObject_Call(cfunc->method, args, NULL); + } +#else + args = PyTuple_Pack(2, self, arg); + if (unlikely(!args)) goto bad; + result = __Pyx_PyObject_Call(cfunc->method, args, NULL); +#endif +bad: + Py_XDECREF(args); + return result; +} + +/* CallUnboundCMethod2 */ +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030600B1 +static CYTHON_INLINE PyObject *__Pyx_CallUnboundCMethod2(__Pyx_CachedCFunction *cfunc, PyObject *self, PyObject *arg1, PyObject *arg2) { + if (likely(cfunc->func)) { + PyObject *args[2] = {arg1, arg2}; + if (cfunc->flag == METH_FASTCALL) { + #if PY_VERSION_HEX >= 0x030700A0 + return (*(__Pyx_PyCFunctionFast)(void*)(PyCFunction)cfunc->func)(self, args, 2); + #else + return (*(__Pyx_PyCFunctionFastWithKeywords)(void*)(PyCFunction)cfunc->func)(self, args, 2, NULL); + #endif + } + #if PY_VERSION_HEX >= 0x030700A0 + if (cfunc->flag == (METH_FASTCALL | METH_KEYWORDS)) + return (*(__Pyx_PyCFunctionFastWithKeywords)(void*)(PyCFunction)cfunc->func)(self, args, 2, NULL); + #endif + } + return __Pyx__CallUnboundCMethod2(cfunc, self, arg1, arg2); +} +#endif +static PyObject* __Pyx__CallUnboundCMethod2(__Pyx_CachedCFunction* cfunc, PyObject* self, PyObject* arg1, PyObject* arg2){ + PyObject *args, *result = NULL; + if (unlikely(!cfunc->func && !cfunc->method) && unlikely(__Pyx_TryUnpackUnboundCMethod(cfunc) < 0)) return NULL; +#if CYTHON_COMPILING_IN_CPYTHON + if (cfunc->func && (cfunc->flag & METH_VARARGS)) { + args = PyTuple_New(2); + if (unlikely(!args)) goto bad; + Py_INCREF(arg1); + PyTuple_SET_ITEM(args, 0, arg1); + Py_INCREF(arg2); + PyTuple_SET_ITEM(args, 1, arg2); + if (cfunc->flag & METH_KEYWORDS) + result = (*(PyCFunctionWithKeywords)(void*)(PyCFunction)cfunc->func)(self, args, NULL); + else + result = (*cfunc->func)(self, args); + } else { + args = PyTuple_New(3); + if (unlikely(!args)) goto bad; + Py_INCREF(self); + PyTuple_SET_ITEM(args, 0, self); + Py_INCREF(arg1); + PyTuple_SET_ITEM(args, 1, arg1); + Py_INCREF(arg2); + PyTuple_SET_ITEM(args, 2, arg2); + result = __Pyx_PyObject_Call(cfunc->method, args, NULL); + } +#else + args = PyTuple_Pack(3, self, arg1, arg2); + if (unlikely(!args)) goto bad; + result = __Pyx_PyObject_Call(cfunc->method, args, NULL); +#endif +bad: + Py_XDECREF(args); + return result; +} + +/* dict_getitem_default */ +static PyObject* __Pyx_PyDict_GetItemDefault(PyObject* d, PyObject* key, PyObject* default_value) { + PyObject* value; +#if PY_MAJOR_VERSION >= 3 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07020000) + value = PyDict_GetItemWithError(d, key); + if (unlikely(!value)) { + if (unlikely(PyErr_Occurred())) + return NULL; + value = default_value; + } + Py_INCREF(value); + if ((1)); +#else + if (PyString_CheckExact(key) || PyUnicode_CheckExact(key) || PyInt_CheckExact(key)) { + value = PyDict_GetItem(d, key); + if (unlikely(!value)) { + value = default_value; + } + Py_INCREF(value); + } +#endif + else { + if (default_value == Py_None) + value = __Pyx_CallUnboundCMethod1(&__pyx_umethod_PyDict_Type_get, d, key); + else + value = __Pyx_CallUnboundCMethod2(&__pyx_umethod_PyDict_Type_get, d, key, default_value); + } + return value; +} + +/* GetNameInClass */ +static PyObject *__Pyx__GetNameInClass(PyObject *nmspace, PyObject *name) { + PyObject *result; + PyObject *dict; + assert(PyType_Check(nmspace)); +#if CYTHON_USE_TYPE_SLOTS + dict = ((PyTypeObject*)nmspace)->tp_dict; + Py_XINCREF(dict); +#else + dict = PyObject_GetAttr(nmspace, __pyx_n_s_dict); +#endif + if (likely(dict)) { + result = PyObject_GetItem(dict, name); + Py_DECREF(dict); + if (result) { + return result; + } + } + PyErr_Clear(); + __Pyx_GetModuleGlobalNameUncached(result, name); + return result; +} + +/* CLineInTraceback */ +#ifndef CYTHON_CLINE_IN_TRACEBACK +static int __Pyx_CLineForTraceback(PyThreadState *tstate, int c_line) { + PyObject *use_cline; + PyObject *ptype, *pvalue, *ptraceback; +#if CYTHON_COMPILING_IN_CPYTHON + PyObject **cython_runtime_dict; +#endif + CYTHON_MAYBE_UNUSED_VAR(tstate); + if (unlikely(!__pyx_cython_runtime)) { + return c_line; + } + __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); +#if CYTHON_COMPILING_IN_CPYTHON + cython_runtime_dict = _PyObject_GetDictPtr(__pyx_cython_runtime); + if (likely(cython_runtime_dict)) { + __PYX_PY_DICT_LOOKUP_IF_MODIFIED( + use_cline, *cython_runtime_dict, + __Pyx_PyDict_GetItemStr(*cython_runtime_dict, __pyx_n_s_cline_in_traceback)) + } else +#endif + { + PyObject *use_cline_obj = __Pyx_PyObject_GetAttrStrNoError(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback); + if (use_cline_obj) { + use_cline = PyObject_Not(use_cline_obj) ? Py_False : Py_True; + Py_DECREF(use_cline_obj); + } else { + PyErr_Clear(); + use_cline = NULL; + } + } + if (!use_cline) { + c_line = 0; + (void) PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False); + } + else if (use_cline == Py_False || (use_cline != Py_True && PyObject_Not(use_cline) != 0)) { + c_line = 0; + } + __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); + return c_line; +} +#endif + +/* CodeObjectCache */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line) { + int start = 0, mid = 0, end = count - 1; + if (end >= 0 && code_line > entries[end].code_line) { + return count; + } + while (start < end) { + mid = start + (end - start) / 2; + if (code_line < entries[mid].code_line) { + end = mid; + } else if (code_line > entries[mid].code_line) { + start = mid + 1; + } else { + return mid; + } + } + if (code_line <= entries[mid].code_line) { + return mid; + } else { + return mid + 1; + } +} +static PyCodeObject *__pyx_find_code_object(int code_line) { + PyCodeObject* code_object; + int pos; + if (unlikely(!code_line) || unlikely(!__pyx_code_cache.entries)) { + return NULL; + } + pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); + if (unlikely(pos >= __pyx_code_cache.count) || unlikely(__pyx_code_cache.entries[pos].code_line != code_line)) { + return NULL; + } + code_object = __pyx_code_cache.entries[pos].code_object; + Py_INCREF(code_object); + return code_object; +} +static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object) { + int pos, i; + __Pyx_CodeObjectCacheEntry* entries = __pyx_code_cache.entries; + if (unlikely(!code_line)) { + return; + } + if (unlikely(!entries)) { + entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Malloc(64*sizeof(__Pyx_CodeObjectCacheEntry)); + if (likely(entries)) { + __pyx_code_cache.entries = entries; + __pyx_code_cache.max_count = 64; + __pyx_code_cache.count = 1; + entries[0].code_line = code_line; + entries[0].code_object = code_object; + Py_INCREF(code_object); + } + return; + } + pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); + if ((pos < __pyx_code_cache.count) && unlikely(__pyx_code_cache.entries[pos].code_line == code_line)) { + PyCodeObject* tmp = entries[pos].code_object; + entries[pos].code_object = code_object; + Py_DECREF(tmp); + return; + } + if (__pyx_code_cache.count == __pyx_code_cache.max_count) { + int new_max = __pyx_code_cache.max_count + 64; + entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Realloc( + __pyx_code_cache.entries, ((size_t)new_max) * sizeof(__Pyx_CodeObjectCacheEntry)); + if (unlikely(!entries)) { + return; + } + __pyx_code_cache.entries = entries; + __pyx_code_cache.max_count = new_max; + } + for (i=__pyx_code_cache.count; i>pos; i--) { + entries[i] = entries[i-1]; + } + entries[pos].code_line = code_line; + entries[pos].code_object = code_object; + __pyx_code_cache.count++; + Py_INCREF(code_object); +} +#endif + +/* AddTraceback */ +#include "compile.h" +#include "frameobject.h" +#include "traceback.h" +#if PY_VERSION_HEX >= 0x030b00a6 && !CYTHON_COMPILING_IN_LIMITED_API + #ifndef Py_BUILD_CORE + #define Py_BUILD_CORE 1 + #endif + #include "internal/pycore_frame.h" +#endif +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject *__Pyx_PyCode_Replace_For_AddTraceback(PyObject *code, PyObject *scratch_dict, + PyObject *firstlineno, PyObject *name) { + PyObject *replace = NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "co_firstlineno", firstlineno))) return NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "co_name", name))) return NULL; + replace = PyObject_GetAttrString(code, "replace"); + if (likely(replace)) { + PyObject *result; + result = PyObject_Call(replace, __pyx_empty_tuple, scratch_dict); + Py_DECREF(replace); + return result; + } + PyErr_Clear(); + #if __PYX_LIMITED_VERSION_HEX < 0x030780000 + { + PyObject *compiled = NULL, *result = NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "code", code))) return NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "type", (PyObject*)(&PyType_Type)))) return NULL; + compiled = Py_CompileString( + "out = type(code)(\n" + " code.co_argcount, code.co_kwonlyargcount, code.co_nlocals, code.co_stacksize,\n" + " code.co_flags, code.co_code, code.co_consts, code.co_names,\n" + " code.co_varnames, code.co_filename, co_name, co_firstlineno,\n" + " code.co_lnotab)\n", "", Py_file_input); + if (!compiled) return NULL; + result = PyEval_EvalCode(compiled, scratch_dict, scratch_dict); + Py_DECREF(compiled); + if (!result) PyErr_Print(); + Py_DECREF(result); + result = PyDict_GetItemString(scratch_dict, "out"); + if (result) Py_INCREF(result); + return result; + } + #else + return NULL; + #endif +} +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename) { + PyObject *code_object = NULL, *py_py_line = NULL, *py_funcname = NULL, *dict = NULL; + PyObject *replace = NULL, *getframe = NULL, *frame = NULL; + PyObject *exc_type, *exc_value, *exc_traceback; + int success = 0; + if (c_line) { + (void) __pyx_cfilenm; + (void) __Pyx_CLineForTraceback(__Pyx_PyThreadState_Current, c_line); + } + PyErr_Fetch(&exc_type, &exc_value, &exc_traceback); + code_object = Py_CompileString("_getframe()", filename, Py_eval_input); + if (unlikely(!code_object)) goto bad; + py_py_line = PyLong_FromLong(py_line); + if (unlikely(!py_py_line)) goto bad; + py_funcname = PyUnicode_FromString(funcname); + if (unlikely(!py_funcname)) goto bad; + dict = PyDict_New(); + if (unlikely(!dict)) goto bad; + { + PyObject *old_code_object = code_object; + code_object = __Pyx_PyCode_Replace_For_AddTraceback(code_object, dict, py_py_line, py_funcname); + Py_DECREF(old_code_object); + } + if (unlikely(!code_object)) goto bad; + getframe = PySys_GetObject("_getframe"); + if (unlikely(!getframe)) goto bad; + if (unlikely(PyDict_SetItemString(dict, "_getframe", getframe))) goto bad; + frame = PyEval_EvalCode(code_object, dict, dict); + if (unlikely(!frame) || frame == Py_None) goto bad; + success = 1; + bad: + PyErr_Restore(exc_type, exc_value, exc_traceback); + Py_XDECREF(code_object); + Py_XDECREF(py_py_line); + Py_XDECREF(py_funcname); + Py_XDECREF(dict); + Py_XDECREF(replace); + if (success) { + PyTraceBack_Here( + (struct _frame*)frame); + } + Py_XDECREF(frame); +} +#else +static PyCodeObject* __Pyx_CreateCodeObjectForTraceback( + const char *funcname, int c_line, + int py_line, const char *filename) { + PyCodeObject *py_code = NULL; + PyObject *py_funcname = NULL; + #if PY_MAJOR_VERSION < 3 + PyObject *py_srcfile = NULL; + py_srcfile = PyString_FromString(filename); + if (!py_srcfile) goto bad; + #endif + if (c_line) { + #if PY_MAJOR_VERSION < 3 + py_funcname = PyString_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); + if (!py_funcname) goto bad; + #else + py_funcname = PyUnicode_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); + if (!py_funcname) goto bad; + funcname = PyUnicode_AsUTF8(py_funcname); + if (!funcname) goto bad; + #endif + } + else { + #if PY_MAJOR_VERSION < 3 + py_funcname = PyString_FromString(funcname); + if (!py_funcname) goto bad; + #endif + } + #if PY_MAJOR_VERSION < 3 + py_code = __Pyx_PyCode_New( + 0, + 0, + 0, + 0, + 0, + 0, + __pyx_empty_bytes, /*PyObject *code,*/ + __pyx_empty_tuple, /*PyObject *consts,*/ + __pyx_empty_tuple, /*PyObject *names,*/ + __pyx_empty_tuple, /*PyObject *varnames,*/ + __pyx_empty_tuple, /*PyObject *freevars,*/ + __pyx_empty_tuple, /*PyObject *cellvars,*/ + py_srcfile, /*PyObject *filename,*/ + py_funcname, /*PyObject *name,*/ + py_line, + __pyx_empty_bytes /*PyObject *lnotab*/ + ); + Py_DECREF(py_srcfile); + #else + py_code = PyCode_NewEmpty(filename, funcname, py_line); + #endif + Py_XDECREF(py_funcname); + return py_code; +bad: + Py_XDECREF(py_funcname); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(py_srcfile); + #endif + return NULL; +} +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename) { + PyCodeObject *py_code = 0; + PyFrameObject *py_frame = 0; + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject *ptype, *pvalue, *ptraceback; + if (c_line) { + c_line = __Pyx_CLineForTraceback(tstate, c_line); + } + py_code = __pyx_find_code_object(c_line ? -c_line : py_line); + if (!py_code) { + __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); + py_code = __Pyx_CreateCodeObjectForTraceback( + funcname, c_line, py_line, filename); + if (!py_code) { + /* If the code object creation fails, then we should clear the + fetched exception references and propagate the new exception */ + Py_XDECREF(ptype); + Py_XDECREF(pvalue); + Py_XDECREF(ptraceback); + goto bad; + } + __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); + __pyx_insert_code_object(c_line ? -c_line : py_line, py_code); + } + py_frame = PyFrame_New( + tstate, /*PyThreadState *tstate,*/ + py_code, /*PyCodeObject *code,*/ + __pyx_d, /*PyObject *globals,*/ + 0 /*PyObject *locals*/ + ); + if (!py_frame) goto bad; + __Pyx_PyFrame_SetLineNumber(py_frame, py_line); + PyTraceBack_Here(py_frame); +bad: + Py_XDECREF(py_code); + Py_XDECREF(py_frame); +} +#endif + +#if PY_MAJOR_VERSION < 3 +static int __Pyx_GetBuffer(PyObject *obj, Py_buffer *view, int flags) { + __Pyx_TypeName obj_type_name; + if (PyObject_CheckBuffer(obj)) return PyObject_GetBuffer(obj, view, flags); + if (__Pyx_TypeCheck(obj, __pyx_array_type)) return __pyx_array_getbuffer(obj, view, flags); + if (__Pyx_TypeCheck(obj, __pyx_memoryview_type)) return __pyx_memoryview_getbuffer(obj, view, flags); + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, + "'" __Pyx_FMT_TYPENAME "' does not have the buffer interface", + obj_type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return -1; +} +static void __Pyx_ReleaseBuffer(Py_buffer *view) { + PyObject *obj = view->obj; + if (!obj) return; + if (PyObject_CheckBuffer(obj)) { + PyBuffer_Release(view); + return; + } + if ((0)) {} + view->obj = NULL; + Py_DECREF(obj); +} +#endif + + +/* MemviewSliceIsContig */ +static int +__pyx_memviewslice_is_contig(const __Pyx_memviewslice mvs, char order, int ndim) +{ + int i, index, step, start; + Py_ssize_t itemsize = mvs.memview->view.itemsize; + if (order == 'F') { + step = 1; + start = 0; + } else { + step = -1; + start = ndim - 1; + } + for (i = 0; i < ndim; i++) { + index = start + step * i; + if (mvs.suboffsets[index] >= 0 || mvs.strides[index] != itemsize) + return 0; + itemsize *= mvs.shape[index]; + } + return 1; +} + +/* OverlappingSlices */ +static void +__pyx_get_array_memory_extents(__Pyx_memviewslice *slice, + void **out_start, void **out_end, + int ndim, size_t itemsize) +{ + char *start, *end; + int i; + start = end = slice->data; + for (i = 0; i < ndim; i++) { + Py_ssize_t stride = slice->strides[i]; + Py_ssize_t extent = slice->shape[i]; + if (extent == 0) { + *out_start = *out_end = start; + return; + } else { + if (stride > 0) + end += stride * (extent - 1); + else + start += stride * (extent - 1); + } + } + *out_start = start; + *out_end = end + itemsize; +} +static int +__pyx_slices_overlap(__Pyx_memviewslice *slice1, + __Pyx_memviewslice *slice2, + int ndim, size_t itemsize) +{ + void *start1, *end1, *start2, *end2; + __pyx_get_array_memory_extents(slice1, &start1, &end1, ndim, itemsize); + __pyx_get_array_memory_extents(slice2, &start2, &end2, ndim, itemsize); + return (start1 < end2) && (start2 < end1); +} + +/* CIntFromPyVerify */ +#define __PYX_VERIFY_RETURN_INT(target_type, func_type, func_value)\ + __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 0) +#define __PYX_VERIFY_RETURN_INT_EXC(target_type, func_type, func_value)\ + __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 1) +#define __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, exc)\ + {\ + func_type value = func_value;\ + if (sizeof(target_type) < sizeof(func_type)) {\ + if (unlikely(value != (func_type) (target_type) value)) {\ + func_type zero = 0;\ + if (exc && unlikely(value == (func_type)-1 && PyErr_Occurred()))\ + return (target_type) -1;\ + if (is_unsigned && unlikely(value < zero))\ + goto raise_neg_overflow;\ + else\ + goto raise_overflow;\ + }\ + }\ + return (target_type) value;\ + } + +/* IsLittleEndian */ +static CYTHON_INLINE int __Pyx_Is_Little_Endian(void) +{ + union { + uint32_t u32; + uint8_t u8[4]; + } S; + S.u32 = 0x01020304; + return S.u8[0] == 4; +} + +/* BufferFormatCheck */ +static void __Pyx_BufFmt_Init(__Pyx_BufFmt_Context* ctx, + __Pyx_BufFmt_StackElem* stack, + __Pyx_TypeInfo* type) { + stack[0].field = &ctx->root; + stack[0].parent_offset = 0; + ctx->root.type = type; + ctx->root.name = "buffer dtype"; + ctx->root.offset = 0; + ctx->head = stack; + ctx->head->field = &ctx->root; + ctx->fmt_offset = 0; + ctx->head->parent_offset = 0; + ctx->new_packmode = '@'; + ctx->enc_packmode = '@'; + ctx->new_count = 1; + ctx->enc_count = 0; + ctx->enc_type = 0; + ctx->is_complex = 0; + ctx->is_valid_array = 0; + ctx->struct_alignment = 0; + while (type->typegroup == 'S') { + ++ctx->head; + ctx->head->field = type->fields; + ctx->head->parent_offset = 0; + type = type->fields->type; + } +} +static int __Pyx_BufFmt_ParseNumber(const char** ts) { + int count; + const char* t = *ts; + if (*t < '0' || *t > '9') { + return -1; + } else { + count = *t++ - '0'; + while (*t >= '0' && *t <= '9') { + count *= 10; + count += *t++ - '0'; + } + } + *ts = t; + return count; +} +static int __Pyx_BufFmt_ExpectNumber(const char **ts) { + int number = __Pyx_BufFmt_ParseNumber(ts); + if (number == -1) + PyErr_Format(PyExc_ValueError,\ + "Does not understand character buffer dtype format string ('%c')", **ts); + return number; +} +static void __Pyx_BufFmt_RaiseUnexpectedChar(char ch) { + PyErr_Format(PyExc_ValueError, + "Unexpected format string character: '%c'", ch); +} +static const char* __Pyx_BufFmt_DescribeTypeChar(char ch, int is_complex) { + switch (ch) { + case '?': return "'bool'"; + case 'c': return "'char'"; + case 'b': return "'signed char'"; + case 'B': return "'unsigned char'"; + case 'h': return "'short'"; + case 'H': return "'unsigned short'"; + case 'i': return "'int'"; + case 'I': return "'unsigned int'"; + case 'l': return "'long'"; + case 'L': return "'unsigned long'"; + case 'q': return "'long long'"; + case 'Q': return "'unsigned long long'"; + case 'f': return (is_complex ? "'complex float'" : "'float'"); + case 'd': return (is_complex ? "'complex double'" : "'double'"); + case 'g': return (is_complex ? "'complex long double'" : "'long double'"); + case 'T': return "a struct"; + case 'O': return "Python object"; + case 'P': return "a pointer"; + case 's': case 'p': return "a string"; + case 0: return "end"; + default: return "unparsable format string"; + } +} +static size_t __Pyx_BufFmt_TypeCharToStandardSize(char ch, int is_complex) { + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return 2; + case 'i': case 'I': case 'l': case 'L': return 4; + case 'q': case 'Q': return 8; + case 'f': return (is_complex ? 8 : 4); + case 'd': return (is_complex ? 16 : 8); + case 'g': { + PyErr_SetString(PyExc_ValueError, "Python does not define a standard format string size for long double ('g').."); + return 0; + } + case 'O': case 'P': return sizeof(void*); + default: + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } +} +static size_t __Pyx_BufFmt_TypeCharToNativeSize(char ch, int is_complex) { + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return sizeof(short); + case 'i': case 'I': return sizeof(int); + case 'l': case 'L': return sizeof(long); + #ifdef HAVE_LONG_LONG + case 'q': case 'Q': return sizeof(PY_LONG_LONG); + #endif + case 'f': return sizeof(float) * (is_complex ? 2 : 1); + case 'd': return sizeof(double) * (is_complex ? 2 : 1); + case 'g': return sizeof(long double) * (is_complex ? 2 : 1); + case 'O': case 'P': return sizeof(void*); + default: { + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } + } +} +typedef struct { char c; short x; } __Pyx_st_short; +typedef struct { char c; int x; } __Pyx_st_int; +typedef struct { char c; long x; } __Pyx_st_long; +typedef struct { char c; float x; } __Pyx_st_float; +typedef struct { char c; double x; } __Pyx_st_double; +typedef struct { char c; long double x; } __Pyx_st_longdouble; +typedef struct { char c; void *x; } __Pyx_st_void_p; +#ifdef HAVE_LONG_LONG +typedef struct { char c; PY_LONG_LONG x; } __Pyx_st_longlong; +#endif +static size_t __Pyx_BufFmt_TypeCharToAlignment(char ch, int is_complex) { + CYTHON_UNUSED_VAR(is_complex); + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return sizeof(__Pyx_st_short) - sizeof(short); + case 'i': case 'I': return sizeof(__Pyx_st_int) - sizeof(int); + case 'l': case 'L': return sizeof(__Pyx_st_long) - sizeof(long); +#ifdef HAVE_LONG_LONG + case 'q': case 'Q': return sizeof(__Pyx_st_longlong) - sizeof(PY_LONG_LONG); +#endif + case 'f': return sizeof(__Pyx_st_float) - sizeof(float); + case 'd': return sizeof(__Pyx_st_double) - sizeof(double); + case 'g': return sizeof(__Pyx_st_longdouble) - sizeof(long double); + case 'P': case 'O': return sizeof(__Pyx_st_void_p) - sizeof(void*); + default: + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } +} +/* These are for computing the padding at the end of the struct to align + on the first member of the struct. This will probably the same as above, + but we don't have any guarantees. + */ +typedef struct { short x; char c; } __Pyx_pad_short; +typedef struct { int x; char c; } __Pyx_pad_int; +typedef struct { long x; char c; } __Pyx_pad_long; +typedef struct { float x; char c; } __Pyx_pad_float; +typedef struct { double x; char c; } __Pyx_pad_double; +typedef struct { long double x; char c; } __Pyx_pad_longdouble; +typedef struct { void *x; char c; } __Pyx_pad_void_p; +#ifdef HAVE_LONG_LONG +typedef struct { PY_LONG_LONG x; char c; } __Pyx_pad_longlong; +#endif +static size_t __Pyx_BufFmt_TypeCharToPadding(char ch, int is_complex) { + CYTHON_UNUSED_VAR(is_complex); + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return sizeof(__Pyx_pad_short) - sizeof(short); + case 'i': case 'I': return sizeof(__Pyx_pad_int) - sizeof(int); + case 'l': case 'L': return sizeof(__Pyx_pad_long) - sizeof(long); +#ifdef HAVE_LONG_LONG + case 'q': case 'Q': return sizeof(__Pyx_pad_longlong) - sizeof(PY_LONG_LONG); +#endif + case 'f': return sizeof(__Pyx_pad_float) - sizeof(float); + case 'd': return sizeof(__Pyx_pad_double) - sizeof(double); + case 'g': return sizeof(__Pyx_pad_longdouble) - sizeof(long double); + case 'P': case 'O': return sizeof(__Pyx_pad_void_p) - sizeof(void*); + default: + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } +} +static char __Pyx_BufFmt_TypeCharToGroup(char ch, int is_complex) { + switch (ch) { + case 'c': + return 'H'; + case 'b': case 'h': case 'i': + case 'l': case 'q': case 's': case 'p': + return 'I'; + case '?': case 'B': case 'H': case 'I': case 'L': case 'Q': + return 'U'; + case 'f': case 'd': case 'g': + return (is_complex ? 'C' : 'R'); + case 'O': + return 'O'; + case 'P': + return 'P'; + default: { + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } + } +} +static void __Pyx_BufFmt_RaiseExpected(__Pyx_BufFmt_Context* ctx) { + if (ctx->head == NULL || ctx->head->field == &ctx->root) { + const char* expected; + const char* quote; + if (ctx->head == NULL) { + expected = "end"; + quote = ""; + } else { + expected = ctx->head->field->type->name; + quote = "'"; + } + PyErr_Format(PyExc_ValueError, + "Buffer dtype mismatch, expected %s%s%s but got %s", + quote, expected, quote, + __Pyx_BufFmt_DescribeTypeChar(ctx->enc_type, ctx->is_complex)); + } else { + __Pyx_StructField* field = ctx->head->field; + __Pyx_StructField* parent = (ctx->head - 1)->field; + PyErr_Format(PyExc_ValueError, + "Buffer dtype mismatch, expected '%s' but got %s in '%s.%s'", + field->type->name, __Pyx_BufFmt_DescribeTypeChar(ctx->enc_type, ctx->is_complex), + parent->type->name, field->name); + } +} +static int __Pyx_BufFmt_ProcessTypeChunk(__Pyx_BufFmt_Context* ctx) { + char group; + size_t size, offset, arraysize = 1; + if (ctx->enc_type == 0) return 0; + if (ctx->head->field->type->arraysize[0]) { + int i, ndim = 0; + if (ctx->enc_type == 's' || ctx->enc_type == 'p') { + ctx->is_valid_array = ctx->head->field->type->ndim == 1; + ndim = 1; + if (ctx->enc_count != ctx->head->field->type->arraysize[0]) { + PyErr_Format(PyExc_ValueError, + "Expected a dimension of size %zu, got %zu", + ctx->head->field->type->arraysize[0], ctx->enc_count); + return -1; + } + } + if (!ctx->is_valid_array) { + PyErr_Format(PyExc_ValueError, "Expected %d dimensions, got %d", + ctx->head->field->type->ndim, ndim); + return -1; + } + for (i = 0; i < ctx->head->field->type->ndim; i++) { + arraysize *= ctx->head->field->type->arraysize[i]; + } + ctx->is_valid_array = 0; + ctx->enc_count = 1; + } + group = __Pyx_BufFmt_TypeCharToGroup(ctx->enc_type, ctx->is_complex); + do { + __Pyx_StructField* field = ctx->head->field; + __Pyx_TypeInfo* type = field->type; + if (ctx->enc_packmode == '@' || ctx->enc_packmode == '^') { + size = __Pyx_BufFmt_TypeCharToNativeSize(ctx->enc_type, ctx->is_complex); + } else { + size = __Pyx_BufFmt_TypeCharToStandardSize(ctx->enc_type, ctx->is_complex); + } + if (ctx->enc_packmode == '@') { + size_t align_at = __Pyx_BufFmt_TypeCharToAlignment(ctx->enc_type, ctx->is_complex); + size_t align_mod_offset; + if (align_at == 0) return -1; + align_mod_offset = ctx->fmt_offset % align_at; + if (align_mod_offset > 0) ctx->fmt_offset += align_at - align_mod_offset; + if (ctx->struct_alignment == 0) + ctx->struct_alignment = __Pyx_BufFmt_TypeCharToPadding(ctx->enc_type, + ctx->is_complex); + } + if (type->size != size || type->typegroup != group) { + if (type->typegroup == 'C' && type->fields != NULL) { + size_t parent_offset = ctx->head->parent_offset + field->offset; + ++ctx->head; + ctx->head->field = type->fields; + ctx->head->parent_offset = parent_offset; + continue; + } + if ((type->typegroup == 'H' || group == 'H') && type->size == size) { + } else { + __Pyx_BufFmt_RaiseExpected(ctx); + return -1; + } + } + offset = ctx->head->parent_offset + field->offset; + if (ctx->fmt_offset != offset) { + PyErr_Format(PyExc_ValueError, + "Buffer dtype mismatch; next field is at offset %" CYTHON_FORMAT_SSIZE_T "d but %" CYTHON_FORMAT_SSIZE_T "d expected", + (Py_ssize_t)ctx->fmt_offset, (Py_ssize_t)offset); + return -1; + } + ctx->fmt_offset += size; + if (arraysize) + ctx->fmt_offset += (arraysize - 1) * size; + --ctx->enc_count; + while (1) { + if (field == &ctx->root) { + ctx->head = NULL; + if (ctx->enc_count != 0) { + __Pyx_BufFmt_RaiseExpected(ctx); + return -1; + } + break; + } + ctx->head->field = ++field; + if (field->type == NULL) { + --ctx->head; + field = ctx->head->field; + continue; + } else if (field->type->typegroup == 'S') { + size_t parent_offset = ctx->head->parent_offset + field->offset; + if (field->type->fields->type == NULL) continue; + field = field->type->fields; + ++ctx->head; + ctx->head->field = field; + ctx->head->parent_offset = parent_offset; + break; + } else { + break; + } + } + } while (ctx->enc_count); + ctx->enc_type = 0; + ctx->is_complex = 0; + return 0; +} +static int +__pyx_buffmt_parse_array(__Pyx_BufFmt_Context* ctx, const char** tsp) +{ + const char *ts = *tsp; + int i = 0, number, ndim; + ++ts; + if (ctx->new_count != 1) { + PyErr_SetString(PyExc_ValueError, + "Cannot handle repeated arrays in format string"); + return -1; + } + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return -1; + ndim = ctx->head->field->type->ndim; + while (*ts && *ts != ')') { + switch (*ts) { + case ' ': case '\f': case '\r': case '\n': case '\t': case '\v': continue; + default: break; + } + number = __Pyx_BufFmt_ExpectNumber(&ts); + if (number == -1) return -1; + if (i < ndim && (size_t) number != ctx->head->field->type->arraysize[i]) { + PyErr_Format(PyExc_ValueError, + "Expected a dimension of size %zu, got %d", + ctx->head->field->type->arraysize[i], number); + return -1; + } + if (*ts != ',' && *ts != ')') { + PyErr_Format(PyExc_ValueError, + "Expected a comma in format string, got '%c'", *ts); + return -1; + } + if (*ts == ',') ts++; + i++; + } + if (i != ndim) { + PyErr_Format(PyExc_ValueError, "Expected %d dimension(s), got %d", + ctx->head->field->type->ndim, i); + return -1; + } + if (!*ts) { + PyErr_SetString(PyExc_ValueError, + "Unexpected end of format string, expected ')'"); + return -1; + } + ctx->is_valid_array = 1; + ctx->new_count = 1; + *tsp = ++ts; + return 0; +} +static const char* __Pyx_BufFmt_CheckString(__Pyx_BufFmt_Context* ctx, const char* ts) { + int got_Z = 0; + while (1) { + switch(*ts) { + case 0: + if (ctx->enc_type != 0 && ctx->head == NULL) { + __Pyx_BufFmt_RaiseExpected(ctx); + return NULL; + } + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + if (ctx->head != NULL) { + __Pyx_BufFmt_RaiseExpected(ctx); + return NULL; + } + return ts; + case ' ': + case '\r': + case '\n': + ++ts; + break; + case '<': + if (!__Pyx_Is_Little_Endian()) { + PyErr_SetString(PyExc_ValueError, "Little-endian buffer not supported on big-endian compiler"); + return NULL; + } + ctx->new_packmode = '='; + ++ts; + break; + case '>': + case '!': + if (__Pyx_Is_Little_Endian()) { + PyErr_SetString(PyExc_ValueError, "Big-endian buffer not supported on little-endian compiler"); + return NULL; + } + ctx->new_packmode = '='; + ++ts; + break; + case '=': + case '@': + case '^': + ctx->new_packmode = *ts++; + break; + case 'T': + { + const char* ts_after_sub; + size_t i, struct_count = ctx->new_count; + size_t struct_alignment = ctx->struct_alignment; + ctx->new_count = 1; + ++ts; + if (*ts != '{') { + PyErr_SetString(PyExc_ValueError, "Buffer acquisition: Expected '{' after 'T'"); + return NULL; + } + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->enc_type = 0; + ctx->enc_count = 0; + ctx->struct_alignment = 0; + ++ts; + ts_after_sub = ts; + for (i = 0; i != struct_count; ++i) { + ts_after_sub = __Pyx_BufFmt_CheckString(ctx, ts); + if (!ts_after_sub) return NULL; + } + ts = ts_after_sub; + if (struct_alignment) ctx->struct_alignment = struct_alignment; + } + break; + case '}': + { + size_t alignment = ctx->struct_alignment; + ++ts; + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->enc_type = 0; + if (alignment && ctx->fmt_offset % alignment) { + ctx->fmt_offset += alignment - (ctx->fmt_offset % alignment); + } + } + return ts; + case 'x': + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->fmt_offset += ctx->new_count; + ctx->new_count = 1; + ctx->enc_count = 0; + ctx->enc_type = 0; + ctx->enc_packmode = ctx->new_packmode; + ++ts; + break; + case 'Z': + got_Z = 1; + ++ts; + if (*ts != 'f' && *ts != 'd' && *ts != 'g') { + __Pyx_BufFmt_RaiseUnexpectedChar('Z'); + return NULL; + } + CYTHON_FALLTHROUGH; + case '?': case 'c': case 'b': case 'B': case 'h': case 'H': case 'i': case 'I': + case 'l': case 'L': case 'q': case 'Q': + case 'f': case 'd': case 'g': + case 'O': case 'p': + if ((ctx->enc_type == *ts) && (got_Z == ctx->is_complex) && + (ctx->enc_packmode == ctx->new_packmode) && (!ctx->is_valid_array)) { + ctx->enc_count += ctx->new_count; + ctx->new_count = 1; + got_Z = 0; + ++ts; + break; + } + CYTHON_FALLTHROUGH; + case 's': + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->enc_count = ctx->new_count; + ctx->enc_packmode = ctx->new_packmode; + ctx->enc_type = *ts; + ctx->is_complex = got_Z; + ++ts; + ctx->new_count = 1; + got_Z = 0; + break; + case ':': + ++ts; + while(*ts != ':') ++ts; + ++ts; + break; + case '(': + if (__pyx_buffmt_parse_array(ctx, &ts) < 0) return NULL; + break; + default: + { + int number = __Pyx_BufFmt_ExpectNumber(&ts); + if (number == -1) return NULL; + ctx->new_count = (size_t)number; + } + } + } +} + +/* TypeInfoCompare */ + static int +__pyx_typeinfo_cmp(__Pyx_TypeInfo *a, __Pyx_TypeInfo *b) +{ + int i; + if (!a || !b) + return 0; + if (a == b) + return 1; + if (a->size != b->size || a->typegroup != b->typegroup || + a->is_unsigned != b->is_unsigned || a->ndim != b->ndim) { + if (a->typegroup == 'H' || b->typegroup == 'H') { + return a->size == b->size; + } else { + return 0; + } + } + if (a->ndim) { + for (i = 0; i < a->ndim; i++) + if (a->arraysize[i] != b->arraysize[i]) + return 0; + } + if (a->typegroup == 'S') { + if (a->flags != b->flags) + return 0; + if (a->fields || b->fields) { + if (!(a->fields && b->fields)) + return 0; + for (i = 0; a->fields[i].type && b->fields[i].type; i++) { + __Pyx_StructField *field_a = a->fields + i; + __Pyx_StructField *field_b = b->fields + i; + if (field_a->offset != field_b->offset || + !__pyx_typeinfo_cmp(field_a->type, field_b->type)) + return 0; + } + return !a->fields[i].type && !b->fields[i].type; + } + } + return 1; +} + +/* MemviewSliceValidateAndInit */ + static int +__pyx_check_strides(Py_buffer *buf, int dim, int ndim, int spec) +{ + if (buf->shape[dim] <= 1) + return 1; + if (buf->strides) { + if (spec & __Pyx_MEMVIEW_CONTIG) { + if (spec & (__Pyx_MEMVIEW_PTR|__Pyx_MEMVIEW_FULL)) { + if (unlikely(buf->strides[dim] != sizeof(void *))) { + PyErr_Format(PyExc_ValueError, + "Buffer is not indirectly contiguous " + "in dimension %d.", dim); + goto fail; + } + } else if (unlikely(buf->strides[dim] != buf->itemsize)) { + PyErr_SetString(PyExc_ValueError, + "Buffer and memoryview are not contiguous " + "in the same dimension."); + goto fail; + } + } + if (spec & __Pyx_MEMVIEW_FOLLOW) { + Py_ssize_t stride = buf->strides[dim]; + if (stride < 0) + stride = -stride; + if (unlikely(stride < buf->itemsize)) { + PyErr_SetString(PyExc_ValueError, + "Buffer and memoryview are not contiguous " + "in the same dimension."); + goto fail; + } + } + } else { + if (unlikely(spec & __Pyx_MEMVIEW_CONTIG && dim != ndim - 1)) { + PyErr_Format(PyExc_ValueError, + "C-contiguous buffer is not contiguous in " + "dimension %d", dim); + goto fail; + } else if (unlikely(spec & (__Pyx_MEMVIEW_PTR))) { + PyErr_Format(PyExc_ValueError, + "C-contiguous buffer is not indirect in " + "dimension %d", dim); + goto fail; + } else if (unlikely(buf->suboffsets)) { + PyErr_SetString(PyExc_ValueError, + "Buffer exposes suboffsets but no strides"); + goto fail; + } + } + return 1; +fail: + return 0; +} +static int +__pyx_check_suboffsets(Py_buffer *buf, int dim, int ndim, int spec) +{ + CYTHON_UNUSED_VAR(ndim); + if (spec & __Pyx_MEMVIEW_DIRECT) { + if (unlikely(buf->suboffsets && buf->suboffsets[dim] >= 0)) { + PyErr_Format(PyExc_ValueError, + "Buffer not compatible with direct access " + "in dimension %d.", dim); + goto fail; + } + } + if (spec & __Pyx_MEMVIEW_PTR) { + if (unlikely(!buf->suboffsets || (buf->suboffsets[dim] < 0))) { + PyErr_Format(PyExc_ValueError, + "Buffer is not indirectly accessible " + "in dimension %d.", dim); + goto fail; + } + } + return 1; +fail: + return 0; +} +static int +__pyx_verify_contig(Py_buffer *buf, int ndim, int c_or_f_flag) +{ + int i; + if (c_or_f_flag & __Pyx_IS_F_CONTIG) { + Py_ssize_t stride = 1; + for (i = 0; i < ndim; i++) { + if (unlikely(stride * buf->itemsize != buf->strides[i] && buf->shape[i] > 1)) { + PyErr_SetString(PyExc_ValueError, + "Buffer not fortran contiguous."); + goto fail; + } + stride = stride * buf->shape[i]; + } + } else if (c_or_f_flag & __Pyx_IS_C_CONTIG) { + Py_ssize_t stride = 1; + for (i = ndim - 1; i >- 1; i--) { + if (unlikely(stride * buf->itemsize != buf->strides[i] && buf->shape[i] > 1)) { + PyErr_SetString(PyExc_ValueError, + "Buffer not C contiguous."); + goto fail; + } + stride = stride * buf->shape[i]; + } + } + return 1; +fail: + return 0; +} +static int __Pyx_ValidateAndInit_memviewslice( + int *axes_specs, + int c_or_f_flag, + int buf_flags, + int ndim, + __Pyx_TypeInfo *dtype, + __Pyx_BufFmt_StackElem stack[], + __Pyx_memviewslice *memviewslice, + PyObject *original_obj) +{ + struct __pyx_memoryview_obj *memview, *new_memview; + __Pyx_RefNannyDeclarations + Py_buffer *buf; + int i, spec = 0, retval = -1; + __Pyx_BufFmt_Context ctx; + int from_memoryview = __pyx_memoryview_check(original_obj); + __Pyx_RefNannySetupContext("ValidateAndInit_memviewslice", 0); + if (from_memoryview && __pyx_typeinfo_cmp(dtype, ((struct __pyx_memoryview_obj *) + original_obj)->typeinfo)) { + memview = (struct __pyx_memoryview_obj *) original_obj; + new_memview = NULL; + } else { + memview = (struct __pyx_memoryview_obj *) __pyx_memoryview_new( + original_obj, buf_flags, 0, dtype); + new_memview = memview; + if (unlikely(!memview)) + goto fail; + } + buf = &memview->view; + if (unlikely(buf->ndim != ndim)) { + PyErr_Format(PyExc_ValueError, + "Buffer has wrong number of dimensions (expected %d, got %d)", + ndim, buf->ndim); + goto fail; + } + if (new_memview) { + __Pyx_BufFmt_Init(&ctx, stack, dtype); + if (unlikely(!__Pyx_BufFmt_CheckString(&ctx, buf->format))) goto fail; + } + if (unlikely((unsigned) buf->itemsize != dtype->size)) { + PyErr_Format(PyExc_ValueError, + "Item size of buffer (%" CYTHON_FORMAT_SSIZE_T "u byte%s) " + "does not match size of '%s' (%" CYTHON_FORMAT_SSIZE_T "u byte%s)", + buf->itemsize, + (buf->itemsize > 1) ? "s" : "", + dtype->name, + dtype->size, + (dtype->size > 1) ? "s" : ""); + goto fail; + } + if (buf->len > 0) { + for (i = 0; i < ndim; i++) { + spec = axes_specs[i]; + if (unlikely(!__pyx_check_strides(buf, i, ndim, spec))) + goto fail; + if (unlikely(!__pyx_check_suboffsets(buf, i, ndim, spec))) + goto fail; + } + if (unlikely(buf->strides && !__pyx_verify_contig(buf, ndim, c_or_f_flag))) + goto fail; + } + if (unlikely(__Pyx_init_memviewslice(memview, ndim, memviewslice, + new_memview != NULL) == -1)) { + goto fail; + } + retval = 0; + goto no_fail; +fail: + Py_XDECREF(new_memview); + retval = -1; +no_fail: + __Pyx_RefNannyFinishContext(); + return retval; +} + +/* ObjectToMemviewSlice */ + static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_ds_unsigned_char__const__(PyObject *obj, int writable_flag) { + __Pyx_memviewslice result = { 0, 0, { 0 }, { 0 }, { 0 } }; + __Pyx_BufFmt_StackElem stack[1]; + int axes_specs[] = { (__Pyx_MEMVIEW_DIRECT | __Pyx_MEMVIEW_STRIDED) }; + int retcode; + if (obj == Py_None) { + result.memview = (struct __pyx_memoryview_obj *) Py_None; + return result; + } + retcode = __Pyx_ValidateAndInit_memviewslice(axes_specs, 0, + PyBUF_RECORDS_RO | writable_flag, 1, + &__Pyx_TypeInfo_unsigned_char__const__, stack, + &result, obj); + if (unlikely(retcode == -1)) + goto __pyx_fail; + return result; +__pyx_fail: + result.memview = NULL; + result.data = NULL; + return result; +} + +/* MemviewDtypeToObject */ + static CYTHON_INLINE PyObject *__pyx_memview_get_nn___pyx_t_5numpy_uint8_t(const char *itemp) { + return (PyObject *) __Pyx_PyInt_From_npy_uint8(*(__pyx_t_5numpy_uint8_t *) itemp); +} +static CYTHON_INLINE int __pyx_memview_set_nn___pyx_t_5numpy_uint8_t(const char *itemp, PyObject *obj) { + __pyx_t_5numpy_uint8_t value = __Pyx_PyInt_As_npy_uint8(obj); + if (unlikely((value == ((npy_uint8)-1)) && PyErr_Occurred())) + return 0; + *(__pyx_t_5numpy_uint8_t *) itemp = value; + return 1; +} + +/* MemviewDtypeToObject */ + static CYTHON_INLINE PyObject *__pyx_memview_get_unsigned_char__const__(const char *itemp) { + return (PyObject *) __Pyx_PyInt_From_unsigned_char(*(unsigned char const *) itemp); +} + +/* Declarations */ + #if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) + #ifdef __cplusplus + static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float x, float y) { + return ::std::complex< float >(x, y); + } + #else + static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float x, float y) { + return x + y*(__pyx_t_float_complex)_Complex_I; + } + #endif +#else + static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float x, float y) { + __pyx_t_float_complex z; + z.real = x; + z.imag = y; + return z; + } +#endif + +/* Arithmetic */ + #if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) +#else + static CYTHON_INLINE int __Pyx_c_eq_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + return (a.real == b.real) && (a.imag == b.imag); + } + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_sum_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + __pyx_t_float_complex z; + z.real = a.real + b.real; + z.imag = a.imag + b.imag; + return z; + } + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_diff_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + __pyx_t_float_complex z; + z.real = a.real - b.real; + z.imag = a.imag - b.imag; + return z; + } + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_prod_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + __pyx_t_float_complex z; + z.real = a.real * b.real - a.imag * b.imag; + z.imag = a.real * b.imag + a.imag * b.real; + return z; + } + #if 1 + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_quot_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + if (b.imag == 0) { + return __pyx_t_float_complex_from_parts(a.real / b.real, a.imag / b.real); + } else if (fabsf(b.real) >= fabsf(b.imag)) { + if (b.real == 0 && b.imag == 0) { + return __pyx_t_float_complex_from_parts(a.real / b.real, a.imag / b.imag); + } else { + float r = b.imag / b.real; + float s = (float)(1.0) / (b.real + b.imag * r); + return __pyx_t_float_complex_from_parts( + (a.real + a.imag * r) * s, (a.imag - a.real * r) * s); + } + } else { + float r = b.real / b.imag; + float s = (float)(1.0) / (b.imag + b.real * r); + return __pyx_t_float_complex_from_parts( + (a.real * r + a.imag) * s, (a.imag * r - a.real) * s); + } + } + #else + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_quot_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + if (b.imag == 0) { + return __pyx_t_float_complex_from_parts(a.real / b.real, a.imag / b.real); + } else { + float denom = b.real * b.real + b.imag * b.imag; + return __pyx_t_float_complex_from_parts( + (a.real * b.real + a.imag * b.imag) / denom, + (a.imag * b.real - a.real * b.imag) / denom); + } + } + #endif + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_neg_float(__pyx_t_float_complex a) { + __pyx_t_float_complex z; + z.real = -a.real; + z.imag = -a.imag; + return z; + } + static CYTHON_INLINE int __Pyx_c_is_zero_float(__pyx_t_float_complex a) { + return (a.real == 0) && (a.imag == 0); + } + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_conj_float(__pyx_t_float_complex a) { + __pyx_t_float_complex z; + z.real = a.real; + z.imag = -a.imag; + return z; + } + #if 1 + static CYTHON_INLINE float __Pyx_c_abs_float(__pyx_t_float_complex z) { + #if !defined(HAVE_HYPOT) || defined(_MSC_VER) + return sqrtf(z.real*z.real + z.imag*z.imag); + #else + return hypotf(z.real, z.imag); + #endif + } + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_pow_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + __pyx_t_float_complex z; + float r, lnr, theta, z_r, z_theta; + if (b.imag == 0 && b.real == (int)b.real) { + if (b.real < 0) { + float denom = a.real * a.real + a.imag * a.imag; + a.real = a.real / denom; + a.imag = -a.imag / denom; + b.real = -b.real; + } + switch ((int)b.real) { + case 0: + z.real = 1; + z.imag = 0; + return z; + case 1: + return a; + case 2: + return __Pyx_c_prod_float(a, a); + case 3: + z = __Pyx_c_prod_float(a, a); + return __Pyx_c_prod_float(z, a); + case 4: + z = __Pyx_c_prod_float(a, a); + return __Pyx_c_prod_float(z, z); + } + } + if (a.imag == 0) { + if (a.real == 0) { + return a; + } else if ((b.imag == 0) && (a.real >= 0)) { + z.real = powf(a.real, b.real); + z.imag = 0; + return z; + } else if (a.real > 0) { + r = a.real; + theta = 0; + } else { + r = -a.real; + theta = atan2f(0.0, -1.0); + } + } else { + r = __Pyx_c_abs_float(a); + theta = atan2f(a.imag, a.real); + } + lnr = logf(r); + z_r = expf(lnr * b.real - theta * b.imag); + z_theta = theta * b.real + lnr * b.imag; + z.real = z_r * cosf(z_theta); + z.imag = z_r * sinf(z_theta); + return z; + } + #endif +#endif + +/* Declarations */ + #if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) + #ifdef __cplusplus + static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double x, double y) { + return ::std::complex< double >(x, y); + } + #else + static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double x, double y) { + return x + y*(__pyx_t_double_complex)_Complex_I; + } + #endif +#else + static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double x, double y) { + __pyx_t_double_complex z; + z.real = x; + z.imag = y; + return z; + } +#endif + +/* Arithmetic */ + #if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) +#else + static CYTHON_INLINE int __Pyx_c_eq_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + return (a.real == b.real) && (a.imag == b.imag); + } + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_sum_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + __pyx_t_double_complex z; + z.real = a.real + b.real; + z.imag = a.imag + b.imag; + return z; + } + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_diff_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + __pyx_t_double_complex z; + z.real = a.real - b.real; + z.imag = a.imag - b.imag; + return z; + } + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_prod_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + __pyx_t_double_complex z; + z.real = a.real * b.real - a.imag * b.imag; + z.imag = a.real * b.imag + a.imag * b.real; + return z; + } + #if 1 + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_quot_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + if (b.imag == 0) { + return __pyx_t_double_complex_from_parts(a.real / b.real, a.imag / b.real); + } else if (fabs(b.real) >= fabs(b.imag)) { + if (b.real == 0 && b.imag == 0) { + return __pyx_t_double_complex_from_parts(a.real / b.real, a.imag / b.imag); + } else { + double r = b.imag / b.real; + double s = (double)(1.0) / (b.real + b.imag * r); + return __pyx_t_double_complex_from_parts( + (a.real + a.imag * r) * s, (a.imag - a.real * r) * s); + } + } else { + double r = b.real / b.imag; + double s = (double)(1.0) / (b.imag + b.real * r); + return __pyx_t_double_complex_from_parts( + (a.real * r + a.imag) * s, (a.imag * r - a.real) * s); + } + } + #else + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_quot_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + if (b.imag == 0) { + return __pyx_t_double_complex_from_parts(a.real / b.real, a.imag / b.real); + } else { + double denom = b.real * b.real + b.imag * b.imag; + return __pyx_t_double_complex_from_parts( + (a.real * b.real + a.imag * b.imag) / denom, + (a.imag * b.real - a.real * b.imag) / denom); + } + } + #endif + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_neg_double(__pyx_t_double_complex a) { + __pyx_t_double_complex z; + z.real = -a.real; + z.imag = -a.imag; + return z; + } + static CYTHON_INLINE int __Pyx_c_is_zero_double(__pyx_t_double_complex a) { + return (a.real == 0) && (a.imag == 0); + } + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_conj_double(__pyx_t_double_complex a) { + __pyx_t_double_complex z; + z.real = a.real; + z.imag = -a.imag; + return z; + } + #if 1 + static CYTHON_INLINE double __Pyx_c_abs_double(__pyx_t_double_complex z) { + #if !defined(HAVE_HYPOT) || defined(_MSC_VER) + return sqrt(z.real*z.real + z.imag*z.imag); + #else + return hypot(z.real, z.imag); + #endif + } + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_pow_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + __pyx_t_double_complex z; + double r, lnr, theta, z_r, z_theta; + if (b.imag == 0 && b.real == (int)b.real) { + if (b.real < 0) { + double denom = a.real * a.real + a.imag * a.imag; + a.real = a.real / denom; + a.imag = -a.imag / denom; + b.real = -b.real; + } + switch ((int)b.real) { + case 0: + z.real = 1; + z.imag = 0; + return z; + case 1: + return a; + case 2: + return __Pyx_c_prod_double(a, a); + case 3: + z = __Pyx_c_prod_double(a, a); + return __Pyx_c_prod_double(z, a); + case 4: + z = __Pyx_c_prod_double(a, a); + return __Pyx_c_prod_double(z, z); + } + } + if (a.imag == 0) { + if (a.real == 0) { + return a; + } else if ((b.imag == 0) && (a.real >= 0)) { + z.real = pow(a.real, b.real); + z.imag = 0; + return z; + } else if (a.real > 0) { + r = a.real; + theta = 0; + } else { + r = -a.real; + theta = atan2(0.0, -1.0); + } + } else { + r = __Pyx_c_abs_double(a); + theta = atan2(a.imag, a.real); + } + lnr = log(r); + z_r = exp(lnr * b.real - theta * b.imag); + z_theta = theta * b.real + lnr * b.imag; + z.real = z_r * cos(z_theta); + z.imag = z_r * sin(z_theta); + return z; + } + #endif +#endif + +/* MemviewSliceCopyTemplate */ + static __Pyx_memviewslice +__pyx_memoryview_copy_new_contig(const __Pyx_memviewslice *from_mvs, + const char *mode, int ndim, + size_t sizeof_dtype, int contig_flag, + int dtype_is_object) +{ + __Pyx_RefNannyDeclarations + int i; + __Pyx_memviewslice new_mvs = { 0, 0, { 0 }, { 0 }, { 0 } }; + struct __pyx_memoryview_obj *from_memview = from_mvs->memview; + Py_buffer *buf = &from_memview->view; + PyObject *shape_tuple = NULL; + PyObject *temp_int = NULL; + struct __pyx_array_obj *array_obj = NULL; + struct __pyx_memoryview_obj *memview_obj = NULL; + __Pyx_RefNannySetupContext("__pyx_memoryview_copy_new_contig", 0); + for (i = 0; i < ndim; i++) { + if (unlikely(from_mvs->suboffsets[i] >= 0)) { + PyErr_Format(PyExc_ValueError, "Cannot copy memoryview slice with " + "indirect dimensions (axis %d)", i); + goto fail; + } + } + shape_tuple = PyTuple_New(ndim); + if (unlikely(!shape_tuple)) { + goto fail; + } + __Pyx_GOTREF(shape_tuple); + for(i = 0; i < ndim; i++) { + temp_int = PyInt_FromSsize_t(from_mvs->shape[i]); + if(unlikely(!temp_int)) { + goto fail; + } else { + PyTuple_SET_ITEM(shape_tuple, i, temp_int); + temp_int = NULL; + } + } + array_obj = __pyx_array_new(shape_tuple, sizeof_dtype, buf->format, (char *) mode, NULL); + if (unlikely(!array_obj)) { + goto fail; + } + __Pyx_GOTREF(array_obj); + memview_obj = (struct __pyx_memoryview_obj *) __pyx_memoryview_new( + (PyObject *) array_obj, contig_flag, + dtype_is_object, + from_mvs->memview->typeinfo); + if (unlikely(!memview_obj)) + goto fail; + if (unlikely(__Pyx_init_memviewslice(memview_obj, ndim, &new_mvs, 1) < 0)) + goto fail; + if (unlikely(__pyx_memoryview_copy_contents(*from_mvs, new_mvs, ndim, ndim, + dtype_is_object) < 0)) + goto fail; + goto no_fail; +fail: + __Pyx_XDECREF(new_mvs.memview); + new_mvs.memview = NULL; + new_mvs.data = NULL; +no_fail: + __Pyx_XDECREF(shape_tuple); + __Pyx_XDECREF(temp_int); + __Pyx_XDECREF(array_obj); + __Pyx_RefNannyFinishContext(); + return new_mvs; +} + +/* MemviewSliceInit */ + static int +__Pyx_init_memviewslice(struct __pyx_memoryview_obj *memview, + int ndim, + __Pyx_memviewslice *memviewslice, + int memview_is_new_reference) +{ + __Pyx_RefNannyDeclarations + int i, retval=-1; + Py_buffer *buf = &memview->view; + __Pyx_RefNannySetupContext("init_memviewslice", 0); + if (unlikely(memviewslice->memview || memviewslice->data)) { + PyErr_SetString(PyExc_ValueError, + "memviewslice is already initialized!"); + goto fail; + } + if (buf->strides) { + for (i = 0; i < ndim; i++) { + memviewslice->strides[i] = buf->strides[i]; + } + } else { + Py_ssize_t stride = buf->itemsize; + for (i = ndim - 1; i >= 0; i--) { + memviewslice->strides[i] = stride; + stride *= buf->shape[i]; + } + } + for (i = 0; i < ndim; i++) { + memviewslice->shape[i] = buf->shape[i]; + if (buf->suboffsets) { + memviewslice->suboffsets[i] = buf->suboffsets[i]; + } else { + memviewslice->suboffsets[i] = -1; + } + } + memviewslice->memview = memview; + memviewslice->data = (char *)buf->buf; + if (__pyx_add_acquisition_count(memview) == 0 && !memview_is_new_reference) { + Py_INCREF(memview); + } + retval = 0; + goto no_fail; +fail: + memviewslice->memview = 0; + memviewslice->data = 0; + retval = -1; +no_fail: + __Pyx_RefNannyFinishContext(); + return retval; +} +#ifndef Py_NO_RETURN +#define Py_NO_RETURN +#endif +static void __pyx_fatalerror(const char *fmt, ...) Py_NO_RETURN { + va_list vargs; + char msg[200]; +#if PY_VERSION_HEX >= 0x030A0000 || defined(HAVE_STDARG_PROTOTYPES) + va_start(vargs, fmt); +#else + va_start(vargs); +#endif + vsnprintf(msg, 200, fmt, vargs); + va_end(vargs); + Py_FatalError(msg); +} +static CYTHON_INLINE int +__pyx_add_acquisition_count_locked(__pyx_atomic_int_type *acquisition_count, + PyThread_type_lock lock) +{ + int result; + PyThread_acquire_lock(lock, 1); + result = (*acquisition_count)++; + PyThread_release_lock(lock); + return result; +} +static CYTHON_INLINE int +__pyx_sub_acquisition_count_locked(__pyx_atomic_int_type *acquisition_count, + PyThread_type_lock lock) +{ + int result; + PyThread_acquire_lock(lock, 1); + result = (*acquisition_count)--; + PyThread_release_lock(lock); + return result; +} +static CYTHON_INLINE void +__Pyx_INC_MEMVIEW(__Pyx_memviewslice *memslice, int have_gil, int lineno) +{ + __pyx_nonatomic_int_type old_acquisition_count; + struct __pyx_memoryview_obj *memview = memslice->memview; + if (unlikely(!memview || (PyObject *) memview == Py_None)) { + return; + } + old_acquisition_count = __pyx_add_acquisition_count(memview); + if (unlikely(old_acquisition_count <= 0)) { + if (likely(old_acquisition_count == 0)) { + if (have_gil) { + Py_INCREF((PyObject *) memview); + } else { + PyGILState_STATE _gilstate = PyGILState_Ensure(); + Py_INCREF((PyObject *) memview); + PyGILState_Release(_gilstate); + } + } else { + __pyx_fatalerror("Acquisition count is %d (line %d)", + old_acquisition_count+1, lineno); + } + } +} +static CYTHON_INLINE void __Pyx_XCLEAR_MEMVIEW(__Pyx_memviewslice *memslice, + int have_gil, int lineno) { + __pyx_nonatomic_int_type old_acquisition_count; + struct __pyx_memoryview_obj *memview = memslice->memview; + if (unlikely(!memview || (PyObject *) memview == Py_None)) { + memslice->memview = NULL; + return; + } + old_acquisition_count = __pyx_sub_acquisition_count(memview); + memslice->data = NULL; + if (likely(old_acquisition_count > 1)) { + memslice->memview = NULL; + } else if (likely(old_acquisition_count == 1)) { + if (have_gil) { + Py_CLEAR(memslice->memview); + } else { + PyGILState_STATE _gilstate = PyGILState_Ensure(); + Py_CLEAR(memslice->memview); + PyGILState_Release(_gilstate); + } + } else { + __pyx_fatalerror("Acquisition count is %d (line %d)", + old_acquisition_count-1, lineno); + } +} + +/* TypeInfoToFormat */ + static struct __pyx_typeinfo_string __Pyx_TypeInfoToFormat(__Pyx_TypeInfo *type) { + struct __pyx_typeinfo_string result = { {0} }; + char *buf = (char *) result.string; + size_t size = type->size; + switch (type->typegroup) { + case 'H': + *buf = 'c'; + break; + case 'I': + case 'U': + if (size == 1) + *buf = (type->is_unsigned) ? 'B' : 'b'; + else if (size == 2) + *buf = (type->is_unsigned) ? 'H' : 'h'; + else if (size == 4) + *buf = (type->is_unsigned) ? 'I' : 'i'; + else if (size == 8) + *buf = (type->is_unsigned) ? 'Q' : 'q'; + break; + case 'P': + *buf = 'P'; + break; + case 'C': + { + __Pyx_TypeInfo complex_type = *type; + complex_type.typegroup = 'R'; + complex_type.size /= 2; + *buf++ = 'Z'; + *buf = __Pyx_TypeInfoToFormat(&complex_type).string[0]; + break; + } + case 'R': + if (size == 4) + *buf = 'f'; + else if (size == 8) + *buf = 'd'; + else + *buf = 'g'; + break; + } + return result; +} + +/* CIntFromPy */ + static CYTHON_INLINE enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType __Pyx_PyInt_As_enum____pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType neg_one = (enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType) -1, const_zero = (enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType) >= 2 * PyLong_SHIFT)) { + return (enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType) (((((enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType)digits[1]) << PyLong_SHIFT) | (enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType) >= 3 * PyLong_SHIFT)) { + return (enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType) (((((((enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType)digits[2]) << PyLong_SHIFT) | (enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType)digits[1]) << PyLong_SHIFT) | (enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType) >= 4 * PyLong_SHIFT)) { + return (enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType) (((((((((enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType)digits[3]) << PyLong_SHIFT) | (enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType)digits[2]) << PyLong_SHIFT) | (enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType)digits[1]) << PyLong_SHIFT) | (enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType) - 1 > 2 * PyLong_SHIFT)) { + return (enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType) (((enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType)-1)*(((((enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType)digits[1]) << PyLong_SHIFT) | (enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType) - 1 > 2 * PyLong_SHIFT)) { + return (enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType) ((((((enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType)digits[1]) << PyLong_SHIFT) | (enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType) - 1 > 3 * PyLong_SHIFT)) { + return (enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType) (((enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType)-1)*(((((((enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType)digits[2]) << PyLong_SHIFT) | (enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType)digits[1]) << PyLong_SHIFT) | (enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType) - 1 > 3 * PyLong_SHIFT)) { + return (enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType) ((((((((enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType)digits[2]) << PyLong_SHIFT) | (enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType)digits[1]) << PyLong_SHIFT) | (enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType) - 1 > 4 * PyLong_SHIFT)) { + return (enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType) (((enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType)-1)*(((((((((enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType)digits[3]) << PyLong_SHIFT) | (enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType)digits[2]) << PyLong_SHIFT) | (enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType)digits[1]) << PyLong_SHIFT) | (enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType) - 1 > 4 * PyLong_SHIFT)) { + return (enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType) ((((((((((enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType)digits[3]) << PyLong_SHIFT) | (enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType)digits[2]) << PyLong_SHIFT) | (enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType)digits[1]) << PyLong_SHIFT) | (enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + PyErr_SetString(PyExc_RuntimeError, + "_PyLong_AsByteArray() not available, cannot convert large enums"); + return (enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType) -1; + } else { + enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType) -1; + val = __Pyx_PyInt_As_enum____pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType"); + return (enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType"); + return (enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType) -1; +} + +/* CIntFromPy */ + static CYTHON_INLINE size_t __Pyx_PyInt_As_size_t(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const size_t neg_one = (size_t) -1, const_zero = (size_t) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(size_t) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(size_t, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (size_t) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(size_t, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(size_t) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(size_t) >= 2 * PyLong_SHIFT)) { + return (size_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(size_t) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(size_t) >= 3 * PyLong_SHIFT)) { + return (size_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(size_t) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(size_t) >= 4 * PyLong_SHIFT)) { + return (size_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (size_t) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(size_t) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(size_t, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(size_t) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(size_t, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(size_t, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(size_t) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(size_t, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(size_t) - 1 > 2 * PyLong_SHIFT)) { + return (size_t) (((size_t)-1)*(((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(size_t) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(size_t) - 1 > 2 * PyLong_SHIFT)) { + return (size_t) ((((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(size_t) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(size_t, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(size_t) - 1 > 3 * PyLong_SHIFT)) { + return (size_t) (((size_t)-1)*(((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(size_t) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(size_t) - 1 > 3 * PyLong_SHIFT)) { + return (size_t) ((((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(size_t) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(size_t, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(size_t) - 1 > 4 * PyLong_SHIFT)) { + return (size_t) (((size_t)-1)*(((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(size_t) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(size_t) - 1 > 4 * PyLong_SHIFT)) { + return (size_t) ((((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(size_t) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(size_t, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(size_t) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(size_t, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + size_t val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (size_t) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (size_t) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (size_t) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (size_t) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (size_t) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(size_t) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((size_t) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(size_t) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((size_t) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((size_t) 1) << (sizeof(size_t) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (size_t) -1; + } + } else { + size_t val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (size_t) -1; + val = __Pyx_PyInt_As_size_t(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to size_t"); + return (size_t) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to size_t"); + return (size_t) -1; +} + +/* CIntFromPy */ + static CYTHON_INLINE uint32_t __Pyx_PyInt_As_uint32_t(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const uint32_t neg_one = (uint32_t) -1, const_zero = (uint32_t) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(uint32_t) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(uint32_t, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (uint32_t) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(uint32_t, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(uint32_t) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(uint32_t, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(uint32_t) >= 2 * PyLong_SHIFT)) { + return (uint32_t) (((((uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(uint32_t) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(uint32_t, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(uint32_t) >= 3 * PyLong_SHIFT)) { + return (uint32_t) (((((((uint32_t)digits[2]) << PyLong_SHIFT) | (uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(uint32_t) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(uint32_t, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(uint32_t) >= 4 * PyLong_SHIFT)) { + return (uint32_t) (((((((((uint32_t)digits[3]) << PyLong_SHIFT) | (uint32_t)digits[2]) << PyLong_SHIFT) | (uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (uint32_t) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(uint32_t) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(uint32_t, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(uint32_t) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(uint32_t, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(uint32_t, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(uint32_t) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(uint32_t, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(uint32_t) - 1 > 2 * PyLong_SHIFT)) { + return (uint32_t) (((uint32_t)-1)*(((((uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(uint32_t) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(uint32_t, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(uint32_t) - 1 > 2 * PyLong_SHIFT)) { + return (uint32_t) ((((((uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(uint32_t) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(uint32_t, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(uint32_t) - 1 > 3 * PyLong_SHIFT)) { + return (uint32_t) (((uint32_t)-1)*(((((((uint32_t)digits[2]) << PyLong_SHIFT) | (uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(uint32_t) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(uint32_t, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(uint32_t) - 1 > 3 * PyLong_SHIFT)) { + return (uint32_t) ((((((((uint32_t)digits[2]) << PyLong_SHIFT) | (uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(uint32_t) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(uint32_t, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(uint32_t) - 1 > 4 * PyLong_SHIFT)) { + return (uint32_t) (((uint32_t)-1)*(((((((((uint32_t)digits[3]) << PyLong_SHIFT) | (uint32_t)digits[2]) << PyLong_SHIFT) | (uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(uint32_t) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(uint32_t, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(uint32_t) - 1 > 4 * PyLong_SHIFT)) { + return (uint32_t) ((((((((((uint32_t)digits[3]) << PyLong_SHIFT) | (uint32_t)digits[2]) << PyLong_SHIFT) | (uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(uint32_t) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(uint32_t, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(uint32_t) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(uint32_t, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + uint32_t val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (uint32_t) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (uint32_t) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (uint32_t) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (uint32_t) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (uint32_t) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(uint32_t) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((uint32_t) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(uint32_t) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((uint32_t) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((uint32_t) 1) << (sizeof(uint32_t) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (uint32_t) -1; + } + } else { + uint32_t val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (uint32_t) -1; + val = __Pyx_PyInt_As_uint32_t(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to uint32_t"); + return (uint32_t) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to uint32_t"); + return (uint32_t) -1; +} + +/* CIntFromPy */ + static CYTHON_INLINE uint64_t __Pyx_PyInt_As_uint64_t(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const uint64_t neg_one = (uint64_t) -1, const_zero = (uint64_t) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(uint64_t) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(uint64_t, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (uint64_t) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(uint64_t, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(uint64_t) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(uint64_t, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(uint64_t) >= 2 * PyLong_SHIFT)) { + return (uint64_t) (((((uint64_t)digits[1]) << PyLong_SHIFT) | (uint64_t)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(uint64_t) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(uint64_t, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(uint64_t) >= 3 * PyLong_SHIFT)) { + return (uint64_t) (((((((uint64_t)digits[2]) << PyLong_SHIFT) | (uint64_t)digits[1]) << PyLong_SHIFT) | (uint64_t)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(uint64_t) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(uint64_t, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(uint64_t) >= 4 * PyLong_SHIFT)) { + return (uint64_t) (((((((((uint64_t)digits[3]) << PyLong_SHIFT) | (uint64_t)digits[2]) << PyLong_SHIFT) | (uint64_t)digits[1]) << PyLong_SHIFT) | (uint64_t)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (uint64_t) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(uint64_t) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(uint64_t, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(uint64_t) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(uint64_t, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(uint64_t, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(uint64_t) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(uint64_t, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(uint64_t) - 1 > 2 * PyLong_SHIFT)) { + return (uint64_t) (((uint64_t)-1)*(((((uint64_t)digits[1]) << PyLong_SHIFT) | (uint64_t)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(uint64_t) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(uint64_t, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(uint64_t) - 1 > 2 * PyLong_SHIFT)) { + return (uint64_t) ((((((uint64_t)digits[1]) << PyLong_SHIFT) | (uint64_t)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(uint64_t) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(uint64_t, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(uint64_t) - 1 > 3 * PyLong_SHIFT)) { + return (uint64_t) (((uint64_t)-1)*(((((((uint64_t)digits[2]) << PyLong_SHIFT) | (uint64_t)digits[1]) << PyLong_SHIFT) | (uint64_t)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(uint64_t) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(uint64_t, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(uint64_t) - 1 > 3 * PyLong_SHIFT)) { + return (uint64_t) ((((((((uint64_t)digits[2]) << PyLong_SHIFT) | (uint64_t)digits[1]) << PyLong_SHIFT) | (uint64_t)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(uint64_t) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(uint64_t, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(uint64_t) - 1 > 4 * PyLong_SHIFT)) { + return (uint64_t) (((uint64_t)-1)*(((((((((uint64_t)digits[3]) << PyLong_SHIFT) | (uint64_t)digits[2]) << PyLong_SHIFT) | (uint64_t)digits[1]) << PyLong_SHIFT) | (uint64_t)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(uint64_t) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(uint64_t, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(uint64_t) - 1 > 4 * PyLong_SHIFT)) { + return (uint64_t) ((((((((((uint64_t)digits[3]) << PyLong_SHIFT) | (uint64_t)digits[2]) << PyLong_SHIFT) | (uint64_t)digits[1]) << PyLong_SHIFT) | (uint64_t)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(uint64_t) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(uint64_t, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(uint64_t) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(uint64_t, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + uint64_t val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (uint64_t) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (uint64_t) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (uint64_t) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (uint64_t) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (uint64_t) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(uint64_t) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((uint64_t) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(uint64_t) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((uint64_t) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((uint64_t) 1) << (sizeof(uint64_t) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (uint64_t) -1; + } + } else { + uint64_t val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (uint64_t) -1; + val = __Pyx_PyInt_As_uint64_t(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to uint64_t"); + return (uint64_t) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to uint64_t"); + return (uint64_t) -1; +} + +/* CIntFromPy */ + static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(int) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(int, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (int) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(int, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(int) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 2 * PyLong_SHIFT)) { + return (int) (((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(int) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 3 * PyLong_SHIFT)) { + return (int) (((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(int) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 4 * PyLong_SHIFT)) { + return (int) (((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (int) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(int) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(int, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(int) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(int, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(int, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(int) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(int) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + return (int) ((((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(int) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + return (int) ((((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 4 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(int) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 4 * PyLong_SHIFT)) { + return (int) ((((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(int) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(int, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(int) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(int, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + int val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (int) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (int) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (int) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (int) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (int) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(int) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((int) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(int) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((int) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((int) 1) << (sizeof(int) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (int) -1; + } + } else { + int val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (int) -1; + val = __Pyx_PyInt_As_int(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to int"); + return (int) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to int"); + return (int) -1; +} + +/* CIntToPy */ + static CYTHON_INLINE PyObject* __Pyx_PyInt_From_npy_uint8(npy_uint8 value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const npy_uint8 neg_one = (npy_uint8) -1, const_zero = (npy_uint8) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(npy_uint8) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(npy_uint8) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(npy_uint8) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(npy_uint8) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(npy_uint8) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; +#if !CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030d0000 + return _PyLong_FromByteArray(bytes, sizeof(npy_uint8), + little, !is_unsigned); +#else + PyObject *from_bytes, *result = NULL; + PyObject *py_bytes = NULL, *arg_tuple = NULL, *kwds = NULL, *order_str = NULL; + from_bytes = PyObject_GetAttrString((PyObject*)&PyLong_Type, "from_bytes"); + if (!from_bytes) return NULL; + py_bytes = PyBytes_FromStringAndSize((char*)bytes, sizeof(npy_uint8)); + if (!py_bytes) goto limited_bad; + order_str = PyUnicode_FromString(little ? "little" : "big"); + if (!order_str) goto limited_bad; + arg_tuple = PyTuple_Pack(2, py_bytes, order_str); + if (!arg_tuple) goto limited_bad; + if (!is_unsigned) { + kwds = PyDict_New(); + if (!kwds) goto limited_bad; + if (PyDict_SetItemString(kwds, "signed", __Pyx_NewRef(Py_True))) goto limited_bad; + } + result = PyObject_Call(from_bytes, arg_tuple, kwds); + limited_bad: + Py_XDECREF(kwds); + Py_XDECREF(arg_tuple); + Py_XDECREF(order_str); + Py_XDECREF(py_bytes); + Py_XDECREF(from_bytes); + return result; +#endif + } +} + +/* CIntFromPy */ + static CYTHON_INLINE npy_uint8 __Pyx_PyInt_As_npy_uint8(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const npy_uint8 neg_one = (npy_uint8) -1, const_zero = (npy_uint8) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(npy_uint8) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(npy_uint8, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (npy_uint8) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(npy_uint8, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(npy_uint8) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(npy_uint8, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(npy_uint8) >= 2 * PyLong_SHIFT)) { + return (npy_uint8) (((((npy_uint8)digits[1]) << PyLong_SHIFT) | (npy_uint8)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(npy_uint8) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(npy_uint8, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(npy_uint8) >= 3 * PyLong_SHIFT)) { + return (npy_uint8) (((((((npy_uint8)digits[2]) << PyLong_SHIFT) | (npy_uint8)digits[1]) << PyLong_SHIFT) | (npy_uint8)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(npy_uint8) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(npy_uint8, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(npy_uint8) >= 4 * PyLong_SHIFT)) { + return (npy_uint8) (((((((((npy_uint8)digits[3]) << PyLong_SHIFT) | (npy_uint8)digits[2]) << PyLong_SHIFT) | (npy_uint8)digits[1]) << PyLong_SHIFT) | (npy_uint8)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (npy_uint8) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(npy_uint8) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(npy_uint8, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(npy_uint8) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(npy_uint8, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(npy_uint8, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(npy_uint8) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(npy_uint8, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(npy_uint8) - 1 > 2 * PyLong_SHIFT)) { + return (npy_uint8) (((npy_uint8)-1)*(((((npy_uint8)digits[1]) << PyLong_SHIFT) | (npy_uint8)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(npy_uint8) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(npy_uint8, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(npy_uint8) - 1 > 2 * PyLong_SHIFT)) { + return (npy_uint8) ((((((npy_uint8)digits[1]) << PyLong_SHIFT) | (npy_uint8)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(npy_uint8) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(npy_uint8, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(npy_uint8) - 1 > 3 * PyLong_SHIFT)) { + return (npy_uint8) (((npy_uint8)-1)*(((((((npy_uint8)digits[2]) << PyLong_SHIFT) | (npy_uint8)digits[1]) << PyLong_SHIFT) | (npy_uint8)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(npy_uint8) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(npy_uint8, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(npy_uint8) - 1 > 3 * PyLong_SHIFT)) { + return (npy_uint8) ((((((((npy_uint8)digits[2]) << PyLong_SHIFT) | (npy_uint8)digits[1]) << PyLong_SHIFT) | (npy_uint8)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(npy_uint8) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(npy_uint8, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(npy_uint8) - 1 > 4 * PyLong_SHIFT)) { + return (npy_uint8) (((npy_uint8)-1)*(((((((((npy_uint8)digits[3]) << PyLong_SHIFT) | (npy_uint8)digits[2]) << PyLong_SHIFT) | (npy_uint8)digits[1]) << PyLong_SHIFT) | (npy_uint8)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(npy_uint8) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(npy_uint8, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(npy_uint8) - 1 > 4 * PyLong_SHIFT)) { + return (npy_uint8) ((((((((((npy_uint8)digits[3]) << PyLong_SHIFT) | (npy_uint8)digits[2]) << PyLong_SHIFT) | (npy_uint8)digits[1]) << PyLong_SHIFT) | (npy_uint8)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(npy_uint8) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(npy_uint8, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(npy_uint8) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(npy_uint8, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + npy_uint8 val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (npy_uint8) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (npy_uint8) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (npy_uint8) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (npy_uint8) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (npy_uint8) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(npy_uint8) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((npy_uint8) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(npy_uint8) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((npy_uint8) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((npy_uint8) 1) << (sizeof(npy_uint8) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (npy_uint8) -1; + } + } else { + npy_uint8 val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (npy_uint8) -1; + val = __Pyx_PyInt_As_npy_uint8(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to npy_uint8"); + return (npy_uint8) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to npy_uint8"); + return (npy_uint8) -1; +} + +/* CIntToPy */ + static CYTHON_INLINE PyObject* __Pyx_PyInt_From_unsigned_char(unsigned char value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const unsigned char neg_one = (unsigned char) -1, const_zero = (unsigned char) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(unsigned char) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(unsigned char) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(unsigned char) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(unsigned char) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(unsigned char) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; +#if !CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030d0000 + return _PyLong_FromByteArray(bytes, sizeof(unsigned char), + little, !is_unsigned); +#else + PyObject *from_bytes, *result = NULL; + PyObject *py_bytes = NULL, *arg_tuple = NULL, *kwds = NULL, *order_str = NULL; + from_bytes = PyObject_GetAttrString((PyObject*)&PyLong_Type, "from_bytes"); + if (!from_bytes) return NULL; + py_bytes = PyBytes_FromStringAndSize((char*)bytes, sizeof(unsigned char)); + if (!py_bytes) goto limited_bad; + order_str = PyUnicode_FromString(little ? "little" : "big"); + if (!order_str) goto limited_bad; + arg_tuple = PyTuple_Pack(2, py_bytes, order_str); + if (!arg_tuple) goto limited_bad; + if (!is_unsigned) { + kwds = PyDict_New(); + if (!kwds) goto limited_bad; + if (PyDict_SetItemString(kwds, "signed", __Pyx_NewRef(Py_True))) goto limited_bad; + } + result = PyObject_Call(from_bytes, arg_tuple, kwds); + limited_bad: + Py_XDECREF(kwds); + Py_XDECREF(arg_tuple); + Py_XDECREF(order_str); + Py_XDECREF(py_bytes); + Py_XDECREF(from_bytes); + return result; +#endif + } +} + +/* CIntToPy */ + static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(int) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(int) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(int) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(int) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(int) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; +#if !CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030d0000 + return _PyLong_FromByteArray(bytes, sizeof(int), + little, !is_unsigned); +#else + PyObject *from_bytes, *result = NULL; + PyObject *py_bytes = NULL, *arg_tuple = NULL, *kwds = NULL, *order_str = NULL; + from_bytes = PyObject_GetAttrString((PyObject*)&PyLong_Type, "from_bytes"); + if (!from_bytes) return NULL; + py_bytes = PyBytes_FromStringAndSize((char*)bytes, sizeof(int)); + if (!py_bytes) goto limited_bad; + order_str = PyUnicode_FromString(little ? "little" : "big"); + if (!order_str) goto limited_bad; + arg_tuple = PyTuple_Pack(2, py_bytes, order_str); + if (!arg_tuple) goto limited_bad; + if (!is_unsigned) { + kwds = PyDict_New(); + if (!kwds) goto limited_bad; + if (PyDict_SetItemString(kwds, "signed", __Pyx_NewRef(Py_True))) goto limited_bad; + } + result = PyObject_Call(from_bytes, arg_tuple, kwds); + limited_bad: + Py_XDECREF(kwds); + Py_XDECREF(arg_tuple); + Py_XDECREF(order_str); + Py_XDECREF(py_bytes); + Py_XDECREF(from_bytes); + return result; +#endif + } +} + +/* CIntToPy */ + static CYTHON_INLINE PyObject* __Pyx_PyInt_From_uint32_t(uint32_t value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const uint32_t neg_one = (uint32_t) -1, const_zero = (uint32_t) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(uint32_t) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(uint32_t) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(uint32_t) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(uint32_t) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(uint32_t) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; +#if !CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030d0000 + return _PyLong_FromByteArray(bytes, sizeof(uint32_t), + little, !is_unsigned); +#else + PyObject *from_bytes, *result = NULL; + PyObject *py_bytes = NULL, *arg_tuple = NULL, *kwds = NULL, *order_str = NULL; + from_bytes = PyObject_GetAttrString((PyObject*)&PyLong_Type, "from_bytes"); + if (!from_bytes) return NULL; + py_bytes = PyBytes_FromStringAndSize((char*)bytes, sizeof(uint32_t)); + if (!py_bytes) goto limited_bad; + order_str = PyUnicode_FromString(little ? "little" : "big"); + if (!order_str) goto limited_bad; + arg_tuple = PyTuple_Pack(2, py_bytes, order_str); + if (!arg_tuple) goto limited_bad; + if (!is_unsigned) { + kwds = PyDict_New(); + if (!kwds) goto limited_bad; + if (PyDict_SetItemString(kwds, "signed", __Pyx_NewRef(Py_True))) goto limited_bad; + } + result = PyObject_Call(from_bytes, arg_tuple, kwds); + limited_bad: + Py_XDECREF(kwds); + Py_XDECREF(arg_tuple); + Py_XDECREF(order_str); + Py_XDECREF(py_bytes); + Py_XDECREF(from_bytes); + return result; +#endif + } +} + +/* CIntToPy */ + static CYTHON_INLINE PyObject* __Pyx_PyInt_From_uint64_t(uint64_t value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const uint64_t neg_one = (uint64_t) -1, const_zero = (uint64_t) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(uint64_t) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(uint64_t) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(uint64_t) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(uint64_t) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(uint64_t) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; +#if !CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030d0000 + return _PyLong_FromByteArray(bytes, sizeof(uint64_t), + little, !is_unsigned); +#else + PyObject *from_bytes, *result = NULL; + PyObject *py_bytes = NULL, *arg_tuple = NULL, *kwds = NULL, *order_str = NULL; + from_bytes = PyObject_GetAttrString((PyObject*)&PyLong_Type, "from_bytes"); + if (!from_bytes) return NULL; + py_bytes = PyBytes_FromStringAndSize((char*)bytes, sizeof(uint64_t)); + if (!py_bytes) goto limited_bad; + order_str = PyUnicode_FromString(little ? "little" : "big"); + if (!order_str) goto limited_bad; + arg_tuple = PyTuple_Pack(2, py_bytes, order_str); + if (!arg_tuple) goto limited_bad; + if (!is_unsigned) { + kwds = PyDict_New(); + if (!kwds) goto limited_bad; + if (PyDict_SetItemString(kwds, "signed", __Pyx_NewRef(Py_True))) goto limited_bad; + } + result = PyObject_Call(from_bytes, arg_tuple, kwds); + limited_bad: + Py_XDECREF(kwds); + Py_XDECREF(arg_tuple); + Py_XDECREF(order_str); + Py_XDECREF(py_bytes); + Py_XDECREF(from_bytes); + return result; +#endif + } +} + +/* CIntToPy */ + static CYTHON_INLINE PyObject* __Pyx_PyInt_From_enum__VisionStreamType(enum VisionStreamType value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const enum VisionStreamType neg_one = (enum VisionStreamType) -1, const_zero = (enum VisionStreamType) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(enum VisionStreamType) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(enum VisionStreamType) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(enum VisionStreamType) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(enum VisionStreamType) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(enum VisionStreamType) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; +#if !CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030d0000 + return _PyLong_FromByteArray(bytes, sizeof(enum VisionStreamType), + little, !is_unsigned); +#else + PyObject *from_bytes, *result = NULL; + PyObject *py_bytes = NULL, *arg_tuple = NULL, *kwds = NULL, *order_str = NULL; + from_bytes = PyObject_GetAttrString((PyObject*)&PyLong_Type, "from_bytes"); + if (!from_bytes) return NULL; + py_bytes = PyBytes_FromStringAndSize((char*)bytes, sizeof(enum VisionStreamType)); + if (!py_bytes) goto limited_bad; + order_str = PyUnicode_FromString(little ? "little" : "big"); + if (!order_str) goto limited_bad; + arg_tuple = PyTuple_Pack(2, py_bytes, order_str); + if (!arg_tuple) goto limited_bad; + if (!is_unsigned) { + kwds = PyDict_New(); + if (!kwds) goto limited_bad; + if (PyDict_SetItemString(kwds, "signed", __Pyx_NewRef(Py_True))) goto limited_bad; + } + result = PyObject_Call(from_bytes, arg_tuple, kwds); + limited_bad: + Py_XDECREF(kwds); + Py_XDECREF(arg_tuple); + Py_XDECREF(order_str); + Py_XDECREF(py_bytes); + Py_XDECREF(from_bytes); + return result; +#endif + } +} + +/* CIntToPy */ + static CYTHON_INLINE PyObject* __Pyx_PyInt_From_enum____pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType neg_one = (enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType) -1, const_zero = (enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; +#if !CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030d0000 + return _PyLong_FromByteArray(bytes, sizeof(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType), + little, !is_unsigned); +#else + PyObject *from_bytes, *result = NULL; + PyObject *py_bytes = NULL, *arg_tuple = NULL, *kwds = NULL, *order_str = NULL; + from_bytes = PyObject_GetAttrString((PyObject*)&PyLong_Type, "from_bytes"); + if (!from_bytes) return NULL; + py_bytes = PyBytes_FromStringAndSize((char*)bytes, sizeof(enum __pyx_t_4msgq_9visionipc_13visionipc_pyx_VisionStreamType)); + if (!py_bytes) goto limited_bad; + order_str = PyUnicode_FromString(little ? "little" : "big"); + if (!order_str) goto limited_bad; + arg_tuple = PyTuple_Pack(2, py_bytes, order_str); + if (!arg_tuple) goto limited_bad; + if (!is_unsigned) { + kwds = PyDict_New(); + if (!kwds) goto limited_bad; + if (PyDict_SetItemString(kwds, "signed", __Pyx_NewRef(Py_True))) goto limited_bad; + } + result = PyObject_Call(from_bytes, arg_tuple, kwds); + limited_bad: + Py_XDECREF(kwds); + Py_XDECREF(arg_tuple); + Py_XDECREF(order_str); + Py_XDECREF(py_bytes); + Py_XDECREF(from_bytes); + return result; +#endif + } +} + +/* CIntFromPy */ + static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const long neg_one = (long) -1, const_zero = (long) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(long) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(long, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (long) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(long, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(long) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 2 * PyLong_SHIFT)) { + return (long) (((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(long) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 3 * PyLong_SHIFT)) { + return (long) (((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(long) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 4 * PyLong_SHIFT)) { + return (long) (((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (long) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(long) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(long, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(long) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(long, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(long, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(long) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(long) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + return (long) ((((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(long) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + return (long) ((((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 4 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(long) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 4 * PyLong_SHIFT)) { + return (long) ((((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(long) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(long, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(long) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(long, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + long val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (long) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (long) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (long) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (long) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (long) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(long) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((long) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(long) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((long) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((long) 1) << (sizeof(long) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (long) -1; + } + } else { + long val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (long) -1; + val = __Pyx_PyInt_As_long(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to long"); + return (long) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to long"); + return (long) -1; +} + +/* CIntToPy */ + static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const long neg_one = (long) -1, const_zero = (long) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(long) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(long) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(long) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; +#if !CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030d0000 + return _PyLong_FromByteArray(bytes, sizeof(long), + little, !is_unsigned); +#else + PyObject *from_bytes, *result = NULL; + PyObject *py_bytes = NULL, *arg_tuple = NULL, *kwds = NULL, *order_str = NULL; + from_bytes = PyObject_GetAttrString((PyObject*)&PyLong_Type, "from_bytes"); + if (!from_bytes) return NULL; + py_bytes = PyBytes_FromStringAndSize((char*)bytes, sizeof(long)); + if (!py_bytes) goto limited_bad; + order_str = PyUnicode_FromString(little ? "little" : "big"); + if (!order_str) goto limited_bad; + arg_tuple = PyTuple_Pack(2, py_bytes, order_str); + if (!arg_tuple) goto limited_bad; + if (!is_unsigned) { + kwds = PyDict_New(); + if (!kwds) goto limited_bad; + if (PyDict_SetItemString(kwds, "signed", __Pyx_NewRef(Py_True))) goto limited_bad; + } + result = PyObject_Call(from_bytes, arg_tuple, kwds); + limited_bad: + Py_XDECREF(kwds); + Py_XDECREF(arg_tuple); + Py_XDECREF(order_str); + Py_XDECREF(py_bytes); + Py_XDECREF(from_bytes); + return result; +#endif + } +} + +/* CIntFromPy */ + static CYTHON_INLINE char __Pyx_PyInt_As_char(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const char neg_one = (char) -1, const_zero = (char) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(char) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(char, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (char) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(char, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(char) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) >= 2 * PyLong_SHIFT)) { + return (char) (((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(char) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) >= 3 * PyLong_SHIFT)) { + return (char) (((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(char) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) >= 4 * PyLong_SHIFT)) { + return (char) (((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (char) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(char) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(char, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(char) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(char, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(char, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(char) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 2 * PyLong_SHIFT)) { + return (char) (((char)-1)*(((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(char) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 2 * PyLong_SHIFT)) { + return (char) ((((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(char) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 3 * PyLong_SHIFT)) { + return (char) (((char)-1)*(((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(char) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 3 * PyLong_SHIFT)) { + return (char) ((((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(char) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 4 * PyLong_SHIFT)) { + return (char) (((char)-1)*(((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(char) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 4 * PyLong_SHIFT)) { + return (char) ((((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(char) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(char, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(char) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(char, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + char val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (char) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (char) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (char) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (char) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (char) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(char) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((char) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(char) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((char) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((char) 1) << (sizeof(char) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (char) -1; + } + } else { + char val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (char) -1; + val = __Pyx_PyInt_As_char(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to char"); + return (char) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to char"); + return (char) -1; +} + +/* FormatTypeName */ + #if CYTHON_COMPILING_IN_LIMITED_API +static __Pyx_TypeName +__Pyx_PyType_GetName(PyTypeObject* tp) +{ + PyObject *name = __Pyx_PyObject_GetAttrStr((PyObject *)tp, + __pyx_n_s_name_2); + if (unlikely(name == NULL) || unlikely(!PyUnicode_Check(name))) { + PyErr_Clear(); + Py_XDECREF(name); + name = __Pyx_NewRef(__pyx_n_s__67); + } + return name; +} +#endif + +/* CheckBinaryVersion */ + static unsigned long __Pyx_get_runtime_version(void) { +#if __PYX_LIMITED_VERSION_HEX >= 0x030B00A4 + return Py_Version & ~0xFFUL; +#else + const char* rt_version = Py_GetVersion(); + unsigned long version = 0; + unsigned long factor = 0x01000000UL; + unsigned int digit = 0; + int i = 0; + while (factor) { + while ('0' <= rt_version[i] && rt_version[i] <= '9') { + digit = digit * 10 + (unsigned int) (rt_version[i] - '0'); + ++i; + } + version += factor * digit; + if (rt_version[i] != '.') + break; + digit = 0; + factor >>= 8; + ++i; + } + return version; +#endif +} +static int __Pyx_check_binary_version(unsigned long ct_version, unsigned long rt_version, int allow_newer) { + const unsigned long MAJOR_MINOR = 0xFFFF0000UL; + if ((rt_version & MAJOR_MINOR) == (ct_version & MAJOR_MINOR)) + return 0; + if (likely(allow_newer && (rt_version & MAJOR_MINOR) > (ct_version & MAJOR_MINOR))) + return 1; + { + char message[200]; + PyOS_snprintf(message, sizeof(message), + "compile time Python version %d.%d " + "of module '%.100s' " + "%s " + "runtime version %d.%d", + (int) (ct_version >> 24), (int) ((ct_version >> 16) & 0xFF), + __Pyx_MODULE_NAME, + (allow_newer) ? "was newer than" : "does not match", + (int) (rt_version >> 24), (int) ((rt_version >> 16) & 0xFF) + ); + return PyErr_WarnEx(NULL, message, 1); + } +} + +/* InitStrings */ + #if PY_MAJOR_VERSION >= 3 +static int __Pyx_InitString(__Pyx_StringTabEntry t, PyObject **str) { + if (t.is_unicode | t.is_str) { + if (t.intern) { + *str = PyUnicode_InternFromString(t.s); + } else if (t.encoding) { + *str = PyUnicode_Decode(t.s, t.n - 1, t.encoding, NULL); + } else { + *str = PyUnicode_FromStringAndSize(t.s, t.n - 1); + } + } else { + *str = PyBytes_FromStringAndSize(t.s, t.n - 1); + } + if (!*str) + return -1; + if (PyObject_Hash(*str) == -1) + return -1; + return 0; +} +#endif +static int __Pyx_InitStrings(__Pyx_StringTabEntry *t) { + while (t->p) { + #if PY_MAJOR_VERSION >= 3 + __Pyx_InitString(*t, t->p); + #else + if (t->is_unicode) { + *t->p = PyUnicode_DecodeUTF8(t->s, t->n - 1, NULL); + } else if (t->intern) { + *t->p = PyString_InternFromString(t->s); + } else { + *t->p = PyString_FromStringAndSize(t->s, t->n - 1); + } + if (!*t->p) + return -1; + if (PyObject_Hash(*t->p) == -1) + return -1; + #endif + ++t; + } + return 0; +} + +#include +static CYTHON_INLINE Py_ssize_t __Pyx_ssize_strlen(const char *s) { + size_t len = strlen(s); + if (unlikely(len > (size_t) PY_SSIZE_T_MAX)) { + PyErr_SetString(PyExc_OverflowError, "byte string is too long"); + return -1; + } + return (Py_ssize_t) len; +} +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char* c_str) { + Py_ssize_t len = __Pyx_ssize_strlen(c_str); + if (unlikely(len < 0)) return NULL; + return __Pyx_PyUnicode_FromStringAndSize(c_str, len); +} +static CYTHON_INLINE PyObject* __Pyx_PyByteArray_FromString(const char* c_str) { + Py_ssize_t len = __Pyx_ssize_strlen(c_str); + if (unlikely(len < 0)) return NULL; + return PyByteArray_FromStringAndSize(c_str, len); +} +static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject* o) { + Py_ssize_t ignore; + return __Pyx_PyObject_AsStringAndSize(o, &ignore); +} +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT +#if !CYTHON_PEP393_ENABLED +static const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { + char* defenc_c; + PyObject* defenc = _PyUnicode_AsDefaultEncodedString(o, NULL); + if (!defenc) return NULL; + defenc_c = PyBytes_AS_STRING(defenc); +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + { + char* end = defenc_c + PyBytes_GET_SIZE(defenc); + char* c; + for (c = defenc_c; c < end; c++) { + if ((unsigned char) (*c) >= 128) { + PyUnicode_AsASCIIString(o); + return NULL; + } + } + } +#endif + *length = PyBytes_GET_SIZE(defenc); + return defenc_c; +} +#else +static CYTHON_INLINE const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { + if (unlikely(__Pyx_PyUnicode_READY(o) == -1)) return NULL; +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + if (likely(PyUnicode_IS_ASCII(o))) { + *length = PyUnicode_GET_LENGTH(o); + return PyUnicode_AsUTF8(o); + } else { + PyUnicode_AsASCIIString(o); + return NULL; + } +#else + return PyUnicode_AsUTF8AndSize(o, length); +#endif +} +#endif +#endif +static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject* o, Py_ssize_t *length) { +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT + if ( +#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + __Pyx_sys_getdefaultencoding_not_ascii && +#endif + PyUnicode_Check(o)) { + return __Pyx_PyUnicode_AsStringAndSize(o, length); + } else +#endif +#if (!CYTHON_COMPILING_IN_PYPY && !CYTHON_COMPILING_IN_LIMITED_API) || (defined(PyByteArray_AS_STRING) && defined(PyByteArray_GET_SIZE)) + if (PyByteArray_Check(o)) { + *length = PyByteArray_GET_SIZE(o); + return PyByteArray_AS_STRING(o); + } else +#endif + { + char* result; + int r = PyBytes_AsStringAndSize(o, &result, length); + if (unlikely(r < 0)) { + return NULL; + } else { + return result; + } + } +} +static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject* x) { + int is_true = x == Py_True; + if (is_true | (x == Py_False) | (x == Py_None)) return is_true; + else return PyObject_IsTrue(x); +} +static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject* x) { + int retval; + if (unlikely(!x)) return -1; + retval = __Pyx_PyObject_IsTrue(x); + Py_DECREF(x); + return retval; +} +static PyObject* __Pyx_PyNumber_IntOrLongWrongResultType(PyObject* result, const char* type_name) { + __Pyx_TypeName result_type_name = __Pyx_PyType_GetName(Py_TYPE(result)); +#if PY_MAJOR_VERSION >= 3 + if (PyLong_Check(result)) { + if (PyErr_WarnFormat(PyExc_DeprecationWarning, 1, + "__int__ returned non-int (type " __Pyx_FMT_TYPENAME "). " + "The ability to return an instance of a strict subclass of int is deprecated, " + "and may be removed in a future version of Python.", + result_type_name)) { + __Pyx_DECREF_TypeName(result_type_name); + Py_DECREF(result); + return NULL; + } + __Pyx_DECREF_TypeName(result_type_name); + return result; + } +#endif + PyErr_Format(PyExc_TypeError, + "__%.4s__ returned non-%.4s (type " __Pyx_FMT_TYPENAME ")", + type_name, type_name, result_type_name); + __Pyx_DECREF_TypeName(result_type_name); + Py_DECREF(result); + return NULL; +} +static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x) { +#if CYTHON_USE_TYPE_SLOTS + PyNumberMethods *m; +#endif + const char *name = NULL; + PyObject *res = NULL; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x) || PyLong_Check(x))) +#else + if (likely(PyLong_Check(x))) +#endif + return __Pyx_NewRef(x); +#if CYTHON_USE_TYPE_SLOTS + m = Py_TYPE(x)->tp_as_number; + #if PY_MAJOR_VERSION < 3 + if (m && m->nb_int) { + name = "int"; + res = m->nb_int(x); + } + else if (m && m->nb_long) { + name = "long"; + res = m->nb_long(x); + } + #else + if (likely(m && m->nb_int)) { + name = "int"; + res = m->nb_int(x); + } + #endif +#else + if (!PyBytes_CheckExact(x) && !PyUnicode_CheckExact(x)) { + res = PyNumber_Int(x); + } +#endif + if (likely(res)) { +#if PY_MAJOR_VERSION < 3 + if (unlikely(!PyInt_Check(res) && !PyLong_Check(res))) { +#else + if (unlikely(!PyLong_CheckExact(res))) { +#endif + return __Pyx_PyNumber_IntOrLongWrongResultType(res, name); + } + } + else if (!PyErr_Occurred()) { + PyErr_SetString(PyExc_TypeError, + "an integer is required"); + } + return res; +} +static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject* b) { + Py_ssize_t ival; + PyObject *x; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_CheckExact(b))) { + if (sizeof(Py_ssize_t) >= sizeof(long)) + return PyInt_AS_LONG(b); + else + return PyInt_AsSsize_t(b); + } +#endif + if (likely(PyLong_CheckExact(b))) { + #if CYTHON_USE_PYLONG_INTERNALS + if (likely(__Pyx_PyLong_IsCompact(b))) { + return __Pyx_PyLong_CompactValue(b); + } else { + const digit* digits = __Pyx_PyLong_Digits(b); + const Py_ssize_t size = __Pyx_PyLong_SignedDigitCount(b); + switch (size) { + case 2: + if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { + return (Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -2: + if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case 3: + if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { + return (Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -3: + if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case 4: + if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { + return (Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -4: + if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + } + } + #endif + return PyLong_AsSsize_t(b); + } + x = PyNumber_Index(b); + if (!x) return -1; + ival = PyInt_AsSsize_t(x); + Py_DECREF(x); + return ival; +} +static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject* o) { + if (sizeof(Py_hash_t) == sizeof(Py_ssize_t)) { + return (Py_hash_t) __Pyx_PyIndex_AsSsize_t(o); +#if PY_MAJOR_VERSION < 3 + } else if (likely(PyInt_CheckExact(o))) { + return PyInt_AS_LONG(o); +#endif + } else { + Py_ssize_t ival; + PyObject *x; + x = PyNumber_Index(o); + if (!x) return -1; + ival = PyInt_AsLong(x); + Py_DECREF(x); + return ival; + } +} +static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b) { + return b ? __Pyx_NewRef(Py_True) : __Pyx_NewRef(Py_False); +} +static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t ival) { + return PyInt_FromSize_t(ival); +} + + +/* #### Code section: utility_code_pragmas_end ### */ +#ifdef _MSC_VER +#pragma warning( pop ) +#endif + + + +/* #### Code section: end ### */ +#endif /* Py_PYTHON_H */ diff --git a/msgq_repo/msgq/visionipc/visionipc_pyx.so b/msgq_repo/msgq/visionipc/visionipc_pyx.so new file mode 100644 index 00000000000000..4509d694846c52 Binary files /dev/null and b/msgq_repo/msgq/visionipc/visionipc_pyx.so differ diff --git a/msgq_repo/msgq/visionipc/visionipc_server.cc b/msgq_repo/msgq/visionipc/visionipc_server.cc deleted file mode 100644 index 611d10b2060955..00000000000000 --- a/msgq_repo/msgq/visionipc/visionipc_server.cc +++ /dev/null @@ -1,214 +0,0 @@ -#include -#include -#include -#include -#include - -#include -#include -#include - -#include "msgq/ipc.h" -#include "msgq/visionipc/visionipc.h" -#include "msgq/visionipc/visionipc_server.h" -#include "logger/logger.h" - -std::string get_endpoint_name(std::string name, VisionStreamType type){ - if (messaging_use_zmq()){ - assert(name == "camerad" || name == "navd"); - return std::to_string(9000 + static_cast(type)); - } else { - return "visionipc_" + name + "_" + std::to_string(type); - } -} - -std::string get_ipc_path(const std::string& name) { - std::string path = "/tmp/"; - if (char* prefix = std::getenv("OPENPILOT_PREFIX")) { - path += std::string(prefix) + "_"; - } - return path + "visionipc_" + name; -} - -VisionIpcServer::VisionIpcServer(std::string name, cl_device_id device_id, cl_context ctx) : name(name), device_id(device_id), ctx(ctx) { - msg_ctx = Context::create(); - - std::random_device rd("/dev/urandom"); - std::uniform_int_distribution distribution(0, std::numeric_limits::max()); - server_id = distribution(rd); -} - -void VisionIpcServer::create_buffers(VisionStreamType type, size_t num_buffers, bool rgb, size_t width, size_t height){ - // TODO: assert that this type is not created yet - assert(num_buffers < VISIONIPC_MAX_FDS); - int aligned_w = 0, aligned_h = 0; - - size_t size = 0; - size_t stride = 0; - size_t uv_offset = 0; - - if (rgb) { - visionbuf_compute_aligned_width_and_height(width, height, &aligned_w, &aligned_h); - size = (size_t)aligned_w * (size_t)aligned_h * 3; - stride = aligned_w * 3; - } else { - size = width * height * 3 / 2; - stride = width; - uv_offset = width * height; - } - - create_buffers_with_sizes(type, num_buffers, rgb, width, height, size, stride, uv_offset); -} - -void VisionIpcServer::create_buffers_with_sizes(VisionStreamType type, size_t num_buffers, bool rgb, size_t width, size_t height, size_t size, size_t stride, size_t uv_offset) { - // Create map + alloc requested buffers - for (size_t i = 0; i < num_buffers; i++){ - VisionBuf* buf = new VisionBuf(); - buf->allocate(size); - buf->idx = i; - buf->type = type; - - if (device_id) buf->init_cl(device_id, ctx); - - rgb ? buf->init_rgb(width, height, stride) : buf->init_yuv(width, height, stride, uv_offset); - - buffers[type].push_back(buf); - } - - cur_idx[type] = 0; - - // Create msgq publisher for each of the `name` + type combos - // TODO: compute port number directly if using zmq - sockets[type] = PubSocket::create(msg_ctx, get_endpoint_name(name, type), false); -} - - -void VisionIpcServer::start_listener(){ - listener_thread = std::thread(&VisionIpcServer::listener, this); -} - - -void VisionIpcServer::listener(){ - std::cout << "Starting listener for: " << name << std::endl; - - const std::string ipc_path = get_ipc_path(name); - int sock = ipc_bind(ipc_path.c_str()); - assert(sock >= 0); - - while (!should_exit){ - // Wait for incoming connection - struct pollfd polls[1] = {{0}}; - polls[0].fd = sock; - polls[0].events = POLLIN; - - int ret = poll(polls, 1, 100); - if (ret < 0) { - if (errno == EINTR || errno == EAGAIN) continue; - std::cout << "poll failed, stopping listener" << std::endl; - break; - } - - if (should_exit) break; - if (!polls[0].revents) { - continue; - } - - // Handle incoming request - int fd = accept(sock, NULL, NULL); - assert(fd >= 0); - - VisionStreamType type = VisionStreamType::VISION_STREAM_MAX; - int r = ipc_sendrecv_with_fds(false, fd, &type, sizeof(type), nullptr, 0, nullptr); - assert(r == sizeof(type)); - - // send available stream types - if (type == VisionStreamType::VISION_STREAM_MAX) { - std::vector available_stream_types; - for (auto& [stream_type, _] : buffers) { - available_stream_types.push_back(stream_type); - } - r = ipc_sendrecv_with_fds(true, fd, available_stream_types.data(), available_stream_types.size() * sizeof(VisionStreamType), nullptr, 0, nullptr); - assert(r == available_stream_types.size() * sizeof(VisionStreamType)); - close(fd); - continue; - } - - if (buffers.count(type) <= 0) { - std::cout << "got request for invalid buffer type: " << type << std::endl; - close(fd); - continue; - } - - int fds[VISIONIPC_MAX_FDS]; - int num_fds = buffers[type].size(); - VisionBuf bufs[VISIONIPC_MAX_FDS]; - - for (int i = 0; i < num_fds; i++){ - fds[i] = buffers[type][i]->fd; - bufs[i] = *buffers[type][i]; - - // Remove some private openCL/ion metadata - bufs[i].buf_cl = 0; - bufs[i].copy_q = 0; - bufs[i].handle = 0; - - bufs[i].server_id = server_id; - } - - r = ipc_sendrecv_with_fds(true, fd, &bufs, sizeof(VisionBuf) * num_fds, fds, num_fds, nullptr); - - close(fd); - } - - std::cout << "Stopping listener for: " << name << std::endl; - close(sock); - unlink(ipc_path.c_str()); -} - - - -VisionBuf * VisionIpcServer::get_buffer(VisionStreamType type){ - // Do we want to keep track if the buffer has been sent out yet and warn user? - assert(buffers.count(type)); - auto b = buffers[type]; - return b[cur_idx[type]++ % b.size()]; -} - -void VisionIpcServer::send(VisionBuf * buf, VisionIpcBufExtra * extra, bool sync){ - if (sync) { - if (buf->sync(VISIONBUF_SYNC_FROM_DEVICE) != 0) { - LOGE("Failed to sync buffer"); - } - } - assert(buffers.count(buf->type)); - assert(buf->idx < buffers[buf->type].size()); - - // Send over correct msgq socket - VisionIpcPacket packet = {0}; - packet.server_id = server_id; - packet.idx = buf->idx; - packet.extra = *extra; - - sockets[buf->type]->send((char*)&packet, sizeof(packet)); -} - -VisionIpcServer::~VisionIpcServer(){ - should_exit = true; - listener_thread.join(); - - // VisionBuf cleanup - for (auto const& [type, buf] : buffers) { - for (VisionBuf* b : buf){ - if (b->free() != 0) { - LOGE("Failed to free buffer"); - } - delete b; - } - } - - // Messaging cleanup - for (auto const& [type, sock] : sockets) { - delete sock; - } - delete msg_ctx; -} diff --git a/msgq_repo/msgq/visionipc/visionipc_server.h b/msgq_repo/msgq/visionipc/visionipc_server.h deleted file mode 100644 index feacc4d10d3309..00000000000000 --- a/msgq_repo/msgq/visionipc/visionipc_server.h +++ /dev/null @@ -1,42 +0,0 @@ -#pragma once -#include -#include -#include -#include -#include - -#include "msgq/ipc.h" -#include "msgq/visionipc/visionbuf.h" - -std::string get_endpoint_name(std::string name, VisionStreamType type); -std::string get_ipc_path(const std::string &name); - -class VisionIpcServer { - private: - cl_device_id device_id = nullptr; - cl_context ctx = nullptr; - uint64_t server_id; - - std::atomic should_exit = false; - std::string name; - std::thread listener_thread; - - std::map > cur_idx; - std::map > buffers; - - Context * msg_ctx; - std::map sockets; - - void listener(void); - - public: - VisionIpcServer(std::string name, cl_device_id device_id=nullptr, cl_context ctx=nullptr); - ~VisionIpcServer(); - - VisionBuf * get_buffer(VisionStreamType type); - - void create_buffers(VisionStreamType type, size_t num_buffers, bool rgb, size_t width, size_t height); - void create_buffers_with_sizes(VisionStreamType type, size_t num_buffers, bool rgb, size_t width, size_t height, size_t size, size_t stride, size_t uv_offset); - void send(VisionBuf * buf, VisionIpcBufExtra * extra, bool sync=true); - void start_listener(); -}; diff --git a/msgq_repo/msgq/visionipc/visionipc_tests.cc b/msgq_repo/msgq/visionipc/visionipc_tests.cc deleted file mode 100644 index 8c4e7fa3fcced5..00000000000000 --- a/msgq_repo/msgq/visionipc/visionipc_tests.cc +++ /dev/null @@ -1,150 +0,0 @@ -#include -#include - -#include "catch2/catch.hpp" - -#include "msgq/visionipc/visionipc_server.h" -#include "msgq/visionipc/visionipc_client.h" - - -static void zmq_sleep(int milliseconds=1000){ - if (messaging_use_zmq()){ - std::this_thread::sleep_for(std::chrono::milliseconds(milliseconds)); - } -} - -TEST_CASE("Connecting"){ - VisionIpcServer server("camerad"); - server.create_buffers(VISION_STREAM_ROAD, 1, false, 100, 100); - server.start_listener(); - - VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_ROAD, false); - REQUIRE(client.connect()); - - REQUIRE(client.connected); -} - -TEST_CASE("getAvailableStreams"){ - VisionIpcServer server("camerad"); - server.create_buffers(VISION_STREAM_ROAD, 1, false, 100, 100); - server.create_buffers(VISION_STREAM_WIDE_ROAD, 1, false, 100, 100); - server.start_listener(); - auto available_streams = VisionIpcClient::getAvailableStreams("camerad"); - REQUIRE(available_streams.size() == 2); - REQUIRE(available_streams.count(VISION_STREAM_ROAD) == 1); - REQUIRE(available_streams.count(VISION_STREAM_WIDE_ROAD) == 1); -} - -TEST_CASE("Check buffers"){ - size_t width = 100, height = 200, num_buffers = 5; - VisionIpcServer server("camerad"); - server.create_buffers(VISION_STREAM_ROAD, num_buffers, false, width, height); - server.start_listener(); - - VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_ROAD, false); - REQUIRE(client.connect()); - - REQUIRE(client.buffers[0].width == width); - REQUIRE(client.buffers[0].height == height); - REQUIRE(client.buffers[0].len); - REQUIRE(client.num_buffers == num_buffers); -} - -TEST_CASE("Check yuv/rgb"){ - VisionIpcServer server("camerad"); - server.create_buffers(VISION_STREAM_ROAD, 1, false, 100, 100); - server.create_buffers(VISION_STREAM_MAP, 1, true, 100, 100); - server.start_listener(); - - VisionIpcClient client_yuv = VisionIpcClient("camerad", VISION_STREAM_ROAD, false); - VisionIpcClient client_rgb = VisionIpcClient("camerad", VISION_STREAM_MAP, false); - client_yuv.connect(); - client_rgb.connect(); - - REQUIRE(client_rgb.buffers[0].rgb == true); - REQUIRE(client_yuv.buffers[0].rgb == false); -} - -TEST_CASE("Send single buffer"){ - VisionIpcServer server("camerad"); - server.create_buffers(VISION_STREAM_ROAD, 1, true, 100, 100); - server.start_listener(); - - VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_ROAD, false); - REQUIRE(client.connect()); - zmq_sleep(); - - VisionBuf * buf = server.get_buffer(VISION_STREAM_ROAD); - REQUIRE(buf != nullptr); - - *((uint64_t*)buf->addr) = 1234; - - VisionIpcBufExtra extra = {0}; - extra.frame_id = 1337; - buf->set_frame_id(extra.frame_id); - - server.send(buf, &extra); - - VisionIpcBufExtra extra_recv = {0}; - VisionBuf * recv_buf = client.recv(&extra_recv); - REQUIRE(recv_buf != nullptr); - REQUIRE(*(uint64_t*)recv_buf->addr == 1234); - REQUIRE(extra_recv.frame_id == extra.frame_id); - REQUIRE(recv_buf->get_frame_id() == extra.frame_id); -} - - -TEST_CASE("Test no conflate"){ - VisionIpcServer server("camerad"); - server.create_buffers(VISION_STREAM_ROAD, 1, true, 100, 100); - server.start_listener(); - - VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_ROAD, false); - REQUIRE(client.connect()); - zmq_sleep(); - - VisionBuf * buf = server.get_buffer(VISION_STREAM_ROAD); - REQUIRE(buf != nullptr); - - VisionIpcBufExtra extra = {0}; - extra.frame_id = 1; - server.send(buf, &extra); - extra.frame_id = 2; - server.send(buf, &extra); - - VisionIpcBufExtra extra_recv = {0}; - VisionBuf * recv_buf = client.recv(&extra_recv); - REQUIRE(recv_buf != nullptr); - REQUIRE(extra_recv.frame_id == 1); - - recv_buf = client.recv(&extra_recv); - REQUIRE(recv_buf != nullptr); - REQUIRE(extra_recv.frame_id == 2); -} - -TEST_CASE("Test conflate"){ - VisionIpcServer server("camerad"); - server.create_buffers(VISION_STREAM_ROAD, 1, true, 100, 100); - server.start_listener(); - - VisionIpcClient client = VisionIpcClient("camerad", VISION_STREAM_ROAD, true); - REQUIRE(client.connect()); - zmq_sleep(); - - VisionBuf * buf = server.get_buffer(VISION_STREAM_ROAD); - REQUIRE(buf != nullptr); - - VisionIpcBufExtra extra = {0}; - extra.frame_id = 1; - server.send(buf, &extra); - extra.frame_id = 2; - server.send(buf, &extra); - - VisionIpcBufExtra extra_recv = {0}; - VisionBuf * recv_buf = client.recv(&extra_recv); - REQUIRE(recv_buf != nullptr); - REQUIRE(extra_recv.frame_id == 2); - - recv_buf = client.recv(&extra_recv); - REQUIRE(recv_buf == nullptr); -} diff --git a/msgq_repo/pyproject.toml b/msgq_repo/pyproject.toml deleted file mode 100644 index 73928614eb7b34..00000000000000 --- a/msgq_repo/pyproject.toml +++ /dev/null @@ -1,21 +0,0 @@ -# https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml -[tool.ruff] -lint.select = ["E", "F", "W", "PIE", "C4", "ISC", "RUF100", "A"] -lint.ignore = ["W292", "E741", "E402", "C408", "ISC003"] -lint.flake8-implicit-str-concat.allow-multiline=false - -line-length = 160 -target-version="py311" - -[mypy.tool] -# third-party packages -ignore_missing_imports=true - -# helpful warnings -warn_redundant_casts=true -warn_unreachable=true -warn_unused_ignores=true - -# restrict dynamic typing -warn_return_any=true -check_untyped_defs=true diff --git a/opendbc/.github/workflows/repo.yml b/opendbc/.github/workflows/repo.yml deleted file mode 100644 index 37ca09c923e1b5..00000000000000 --- a/opendbc/.github/workflows/repo.yml +++ /dev/null @@ -1,28 +0,0 @@ -name: repo - -on: - schedule: - - cron: "0 15 1 * *" - workflow_dispatch: - -jobs: - pre-commit-autoupdate: - name: pre-commit autoupdate - runs-on: ubuntu-latest - container: - image: ghcr.io/commaai/opendbc:latest - steps: - - uses: actions/checkout@v4 - - name: pre-commit autoupdate - run: | - git config --global --add safe.directory '*' - pre-commit autoupdate - - name: Create Pull Request - uses: peter-evans/create-pull-request@5b4a9f6a9e2af26e5f02351490b90d01eb8ec1e5 - with: - token: ${{ secrets.ACTIONS_CREATE_PR_PAT }} - commit-message: Update pre-commit hook versions - title: 'pre-commit: autoupdate hooks' - branch: pre-commit-updates - base: master - delete-branch: true diff --git a/opendbc/.github/workflows/tests.yml b/opendbc/.github/workflows/tests.yml deleted file mode 100644 index aaebd78243de81..00000000000000 --- a/opendbc/.github/workflows/tests.yml +++ /dev/null @@ -1,54 +0,0 @@ -name: tests - -on: [push, pull_request] - -env: - RUN: docker run -v $GITHUB_WORKSPACE:/project/opendbc -w /project/opendbc -e PYTHONWARNINGS="error,default::DeprecationWarning" --shm-size 1G --rm opendbc /bin/bash -c - BUILD: docker buildx build --pull --load --cache-to type=inline --cache-from type=registry,ref=ghcr.io/commaai/opendbc:latest -t opendbc -f Dockerfile . - PYTHONWARNINGS: error - -jobs: - unit-tests: - name: unit tests - runs-on: ubuntu-latest - #strategy: - # fail-fast: false - # matrix: - # run: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14] - steps: - - uses: actions/checkout@v4 - - name: Build Docker image - run: eval "$BUILD" - - name: Build opendbc - run: ${{ env.RUN }} "cd ../ && scons -j$(nproc) --minimal" - - name: Unit tests - run: ${{ env.RUN }} "pytest" - - static-analysis: - name: static analysis - runs-on: ubuntu-latest - steps: - - uses: actions/checkout@v4 - - name: Build Docker image - run: eval "$BUILD" - - name: Build opendbc - run: ${{ env.RUN }} "cd ../ && scons -j$(nproc) --minimal" - - name: pre-commit - # TODO: a package pre-commit installs has a warning, remove the unset once that's fixed - run: ${{ env.RUN }} "unset PYTHONWARNINGS && pre-commit run --all" - - name: Generator test - run: ${{ env.RUN }} "generator/test_generator.py" - - docker-push: - name: docker push - runs-on: ubuntu-latest - if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/opendbc' - steps: - - uses: actions/checkout@v4 - - name: Build Docker image - run: eval "$BUILD" - - name: Push to dockerhub - run: | - docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }} - docker tag opendbc ghcr.io/commaai/opendbc:latest - docker push ghcr.io/commaai/opendbc:latest diff --git a/opendbc/.pre-commit-config.yaml b/opendbc/.pre-commit-config.yaml deleted file mode 100644 index 8b541af667272a..00000000000000 --- a/opendbc/.pre-commit-config.yaml +++ /dev/null @@ -1,61 +0,0 @@ -repos: -- repo: https://github.com/pre-commit/pre-commit-hooks - rev: v4.5.0 - hooks: - - id: check-ast - - id: check-yaml - - id: check-merge-conflict - - id: check-symlinks - - id: check-executables-have-shebangs - - id: check-shebang-scripts-are-executable -- repo: https://github.com/codespell-project/codespell - rev: v2.2.6 - hooks: - - id: codespell - exclude: '\.dbc$' - args: - - --check-hidden - - --builtins clear,rare,informal,usage,code,names,en-GB_to_en-US -- repo: https://github.com/pre-commit/mirrors-mypy - rev: v1.9.0 - hooks: - - id: mypy -- repo: https://github.com/astral-sh/ruff-pre-commit - rev: v0.3.2 - hooks: - - id: ruff -- repo: https://github.com/MarcoGorelli/cython-lint - rev: v0.16.0 - hooks: - - id: cython-lint - - id: double-quote-cython-strings -- repo: https://github.com/cpplint/cpplint - rev: 1.6.1 - hooks: - - id: cpplint - args: - - --quiet - - --counting=detailed - - --linelength=240 - - --filter=-build,-legal,-readability,-runtime,-whitespace,+build/include_subdir,+build/forward_decl,+build/include_what_you_use,+build/deprecated,+whitespace/comma,+whitespace/line_length,+whitespace/empty_if_body,+whitespace/empty_loop_body,+whitespace/empty_conditional_body,+whitespace/forcolon,+whitespace/parens,+whitespace/semicolon,+whitespace/tab,+readability/braces -- repo: local - hooks: - - id: cppcheck - name: cppcheck - entry: cppcheck - language: system - types: [c++] - args: - - --error-exitcode=1 - - --language=c++ - - --inline-suppr - - --force - - --quiet - - -j4 -- repo: local - hooks: - - id: generator - name: dbc generator - entry: generator/test_generator.py - language: script - pass_filenames: false diff --git a/opendbc/Dockerfile b/opendbc/Dockerfile deleted file mode 100644 index df3cb56b8dc908..00000000000000 --- a/opendbc/Dockerfile +++ /dev/null @@ -1,54 +0,0 @@ -FROM ubuntu:24.04 - -ENV DEBIAN_FRONTEND=noninteractive -RUN apt-get update && apt-get install -y --no-install-recommends \ - autoconf \ - build-essential \ - ca-certificates \ - capnproto \ - clang \ - cppcheck \ - curl \ - git \ - libtool \ - make \ - libbz2-dev \ - libffi-dev \ - libcapnp-dev \ - liblzma-dev \ - libncurses5-dev \ - libncursesw5-dev \ - libreadline-dev \ - libssl-dev \ - libsqlite3-dev \ - libzmq3-dev \ - llvm \ - ocl-icd-opencl-dev \ - opencl-headers \ - tk-dev \ - python3-pip \ - python3-dev \ - python3-openssl \ - python-is-python3 \ - xz-utils \ - zlib1g-dev \ - cmake \ - && rm -rf /var/lib/apt/lists/* - -COPY requirements.txt /tmp/ -RUN pip3 install --break-system-packages --no-cache-dir -r /tmp/requirements.txt -RUN pip3 install --break-system-packages --no-cache-dir pre-commit==2.15.0 pylint==2.17.4 - -ENV PYTHONPATH=/project - -RUN git config --global --add safe.directory '*' - -WORKDIR /project -RUN git clone https://github.com/commaai/cereal.git /project/cereal && \ - cd /project/cereal && \ - git checkout 861144c136c91f70dcbc652c2ffe99f57440ad47 && \ - rm -rf .git && \ - scons -j$(nproc) --minimal - -COPY SConstruct . -COPY ./site_scons /project/site_scons diff --git a/opendbc/ESR.dbc b/opendbc/ESR.dbc deleted file mode 100644 index 8544a0c80d3708..00000000000000 --- a/opendbc/ESR.dbc +++ /dev/null @@ -1,1080 +0,0 @@ -VERSION "" - - -NS_ : - NS_DESC_ - CM_ - BA_DEF_ - BA_ - VAL_ - CAT_DEF_ - CAT_ - FILTER - BA_DEF_DEF_ - EV_DATA_ - ENVVAR_DATA_ - SGTYPE_ - SGTYPE_VAL_ - BA_DEF_SGTYPE_ - BA_SGTYPE_ - SIG_TYPE_REF_ - VAL_TABLE_ - SIG_GROUP_ - SIG_VALTYPE_ - SIGTYPE_VALTYPE_ - BO_TX_BU_ - BA_DEF_REL_ - BA_REL_ - BA_DEF_DEF_REL_ - BU_SG_REL_ - BU_EV_REL_ - BU_BO_REL_ - SG_MUL_VAL_ - -BS_: - -BU_: Gateway ESR -VAL_TABLE_ ForwardReverse 1 "Reverse" 0 "Forward" ; -VAL_TABLE_ LeftRight 1 "Right Clockwise" 0 "Left CounterClockwise" ; -VAL_TABLE_ ValidInvalid 1 "Valid" 0 "Invalid" ; -VAL_TABLE_ TrueFalse 1 "True" 0 "False" ; - - -BO_ 1343 Target64: 8 Vector__XXX - SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX - SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX - SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX - SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX - SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX - 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SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX - SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX - SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX - SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX - SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX - -BO_ 1336 Target57: 8 Vector__XXX - SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX - SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX - SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX - SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX - 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SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX - SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX - -BO_ 1334 Target55: 8 Vector__XXX - SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX - SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX - SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX - SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX - SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX - SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX - SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX - -BO_ 1333 Target54: 8 Vector__XXX - SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX - SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX - SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX - SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX - SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX - SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX - SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX - -BO_ 1332 Target53: 8 Vector__XXX - SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX - SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX - SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX - SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX - SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX - SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX - SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX - -BO_ 1331 Target52: 8 Vector__XXX - SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX - SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX - SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX - SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX - SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX - SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX - SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX - -BO_ 1330 Target51: 8 Vector__XXX - SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX - SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX - SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX - SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX - SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX - SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX - SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX - -BO_ 1329 Target50: 8 Vector__XXX - SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX - SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX - SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX - SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX - SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX - SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX - SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX - -BO_ 1328 Target49: 8 Vector__XXX - SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX - SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX - SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX - SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX - SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX - SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX - SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX - -BO_ 1327 Target48: 8 Vector__XXX - SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX - SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX - SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX - SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX - SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX - SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX - SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX - -BO_ 1326 Target47: 8 Vector__XXX - SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX - SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX - SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX - SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX - SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX - SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX - SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX - -BO_ 1325 Target46: 8 Vector__XXX - SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX - SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX - SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX - SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX - SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX - SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX - SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX - -BO_ 1324 Target45: 8 Vector__XXX - SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX - SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX - SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX - SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX - SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX - SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX - SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX - -BO_ 1323 Target44: 8 Vector__XXX - SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX - SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX - SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX - SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX - SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX - SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX - SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX - -BO_ 1322 Target43: 8 Vector__XXX - SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX - SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX - SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX - SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX - SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX - SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX - SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX - -BO_ 1321 Target42: 8 Vector__XXX - SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX - SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX - SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX - SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX - SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX - SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX - SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX - -BO_ 1320 Target41: 8 Vector__XXX - SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX - SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX - SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX - SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX - SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX - SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX - SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX - -BO_ 1319 Target40: 8 Vector__XXX - SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX - SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX - SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX - SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX - SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX - SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX - SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX - -BO_ 1318 Target39: 8 Vector__XXX - SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX - SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX - SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX - SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX - SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX - SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX - SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX - -BO_ 1317 Target38: 8 Vector__XXX - SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX - SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX - SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX - SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX - SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX - SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX - SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX - -BO_ 1316 Target37: 8 Vector__XXX - SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX - SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX - SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX - SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX - SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX - SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX - SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX - -BO_ 1315 Target36: 8 Vector__XXX - SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX - SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX - SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX - SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX - SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX - SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX - SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX - -BO_ 1314 Target35: 8 Vector__XXX - SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX - SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX - SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX - SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX - SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX - SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX - SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX - -BO_ 1313 Target34: 8 Vector__XXX - SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX - SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX - SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX - SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX - SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX - SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX - SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX - -BO_ 1312 Target33: 8 Vector__XXX - SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX - SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX - SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX - SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX - SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX - SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX - SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX - -BO_ 1311 Target32: 8 Vector__XXX - SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX - SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX - SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX - SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX - SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX - SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX - SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX - -BO_ 1310 Target31: 8 Vector__XXX - SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX - SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX - SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX - SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX - SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX - SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX - SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX - -BO_ 1309 Target30: 8 Vector__XXX - SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX - SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX - SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX - SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX - SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX - SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX - SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX - -BO_ 1308 Target29: 8 Vector__XXX - SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX - SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX - SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX - SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX - SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX - SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX - SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX - -BO_ 1307 Target28: 8 Vector__XXX - SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX - SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX - SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX - SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX - SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX - SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX - SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX - -BO_ 1306 Target27: 8 Vector__XXX - SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX - SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX - SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX - SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX - SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX - SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX - SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX - -BO_ 1305 Target26: 8 Vector__XXX - SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX - SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX - SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX - SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX - SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX - SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX - SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX - -BO_ 1304 Target25: 8 Vector__XXX - SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX - SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX - SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX - SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX - SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX - SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX - SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX - -BO_ 1303 Target24: 8 Vector__XXX - SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX - SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX - SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX - SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX - SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX - SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX - SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX - -BO_ 1302 Target23: 8 Vector__XXX - SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX - SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX - SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX - SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX - SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX - SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX - SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX - -BO_ 1301 Target22: 8 Vector__XXX - SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX - SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX - SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX - SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX - SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX - SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX - SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX - -BO_ 1300 Target21: 8 Vector__XXX - SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX - SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX - SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX - SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX - SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX - SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX - SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX - -BO_ 1299 Target20: 8 Vector__XXX - SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX - SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX - SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX - SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX - SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX - SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX - SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX - -BO_ 1298 Target19: 8 Vector__XXX - SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX - SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX - SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX - SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX - SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX - SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX - SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX - -BO_ 1297 Target18: 8 Vector__XXX - SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX - SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX - SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX - SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX - SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX - SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX - SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX - -BO_ 1296 Target17: 8 Vector__XXX - SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX - SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX - SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX - SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX - SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX - SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX - SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX - -BO_ 1295 Target16: 8 Vector__XXX - SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX - SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX - SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX - SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX - SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX - SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX - SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX - -BO_ 1294 Target15: 8 Vector__XXX - SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX - SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX - SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX - SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX - SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX - SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX - SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX - -BO_ 1293 Target14: 8 Vector__XXX - SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX - SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX - SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX - SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX - SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX - SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX - SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX - -BO_ 1292 Target13: 8 Vector__XXX - SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX - SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX - SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX - SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX - SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX - SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX - SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX - -BO_ 1291 Target12: 8 Vector__XXX - SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX - SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX - SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX - SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX - SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX - SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX - SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX - -BO_ 1290 Target11: 8 Vector__XXX - SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX - SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX - SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX - SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX - SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX - SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX - SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX - -BO_ 1289 Target10: 8 Vector__XXX - SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX - SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX - SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX - SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX - SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX - SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX - SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX - -BO_ 1288 Target9: 8 Vector__XXX - SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX - SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX - SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX - SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX - SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX - SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX - SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX - -BO_ 1287 Target8: 8 Vector__XXX - SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX - SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX - SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX - SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX - SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX - SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX - SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX - -BO_ 1285 Target6: 8 Vector__XXX - SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX - SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX - SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX - SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX - SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX - SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX - SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX - -BO_ 1286 Target7: 8 Vector__XXX - SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX - SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX - SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX - SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX - SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX - SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX - SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX - -BO_ 1284 Target5: 8 Vector__XXX - SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX - SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX - SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX - SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX - SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX - SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX - SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX - -BO_ 1283 Target4: 8 Vector__XXX - SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX - SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX - SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX - SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX - SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX - SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX - SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX - -BO_ 1282 Target3: 8 Vector__XXX - SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX - SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX - SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX - SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX - SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX - SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX - SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX - -BO_ 1281 Target2: 8 Vector__XXX - SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX - SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX - SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX - SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX - SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX - SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX - SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX - -BO_ 1524 VehicleData3: 8 Gateway - SG_ CAN_RX_YAW_RATE_BIAS_SHIFT : 15|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_RX_WHEELBASE : 55|8@0+ (2,200) [200|710] "cm" Vector__XXX - SG_ CAN_RX_STEERING_GEAR_RATIO : 63|8@0+ (0.125,0) [0|31.875] "" Vector__XXX - SG_ CAN_RX_OVERSTEER_UNDERSTEER : 7|8@0- (1,0) [-128|127] "%" Vector__XXX - SG_ CAN_RX_FUNNEL_OFFSET_RIGHT : 31|8@0- (0.1,0) [-12.8|12.7] "m" Vector__XXX - SG_ CAN_RX_FUNNEL_OFFSET_LEFT : 23|8@0- (0.1,0) [-12.8|12.7] "m" Vector__XXX - SG_ CAN_RX_DISTANCE_REAR_AXLE : 47|8@0+ (2,200) [200|710] "cm" Vector__XXX - SG_ CAN_RX_CW_BLOCKAGE_TRESHOLD : 39|8@0+ (0.0078125,0) [0|1.9921875] "" Vector__XXX - SG_ CAN_RX_BEAMWIDTH_VERT : 14|7@0+ (0.0625,0) [0|7.9375] "deg" Vector__XXX - -BO_ 1523 FactoryAlignment: 8 Gateway - -BO_ 1522 Vehicle_Data2: 8 Gateway - SG_ CAN_RX_WHEEL_SLIP : 41|2@0+ (1,0) [0|3] "" Vector__XXX - SG_ CAN_RX_SERV_ALIGN_UPDATES_NEED : 55|8@0+ (1,0) [0|255] "" Vector__XXX - SG_ CAN_RX_SERV_ALIGN_TYPE : 47|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_RX_RADAR_HEIGHT : 38|7@0+ (1,0) [0|127] "cm" Vector__XXX - SG_ CAN_RX_RADAR_FOV_MR : 30|7@0+ (1,0) [0|127] "deg" Vector__XXX - SG_ CAN_RX_RADAR_FOV_LR : 19|5@0+ (1,0) [0|31] "deg" Vector__XXX - SG_ CAN_RX_LONG_ACCEL_VALIDITY : 7|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_RX_LONG_ACCEL : 12|9@0- (0.03125,0) [-8|7.96875] "m/s^2" Vector__XXX - SG_ CAN_RX_LAT_ACCEL_VALIDITY : 6|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_RX_LAT_ACCEL : 5|9@0- (0.03125,0) [-8|7.96875] "m/s^2" Vector__XXX - SG_ CAN_RX_AUTO_ALIGN_DISABLE : 39|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_RX_AUTO_ALIGN_CONVERGED : 42|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_RX_ANGLE_MOUNTING_OFFSET : 63|8@0- (0.0625,0) [-8|7.9375] "deg" Vector__XXX - SG_ CAN_RX_AALIGN_AVG_CTR_TOTAL : 45|3@0+ (250,250) [250|2000] "" Vector__XXX - -BO_ 1512 CIPV_Targets_Etc: 8 ESR - -BO_ 1511 ESR_History_Fault: 8 ESR - -BO_ 1510 ESR_Active_Fault: 8 ESR - -BO_ 1508 AD_Data: 8 ESR - -BO_ 1489 SensorValidation2: 8 ESR - SG_ CAN_TX_VALID_MR_SN : 7|8@0+ (1,0) [0|255] "" Vector__XXX - SG_ CAN_TX_VALID_MR_RANGE_RATE : 31|16@0- (0.0078125,0) [-256|255.9921875] "m/s" Vector__XXX - SG_ CAN_TX_VALID_MR_RANGE : 15|16@0+ (0.0078125,0) [0|511.9921875] "m" Vector__XXX - SG_ CAN_TX_VALID_MR_POWER : 63|8@0- (1,0) [-128|127] "db" Vector__XXX - SG_ CAN_TX_VALID_MR_ANGLE : 40|16@1- (0.0625,0) [-2048|2047.9375] "deg" Vector__XXX - -BO_ 1488 SensorValidation: 8 ESR - SG_ CAN_TX_VALID_LR_SN : 7|8@0+ (1,0) [0|255] "" Vector__XXX - SG_ CAN_TX_VALID_LR_RANGE_RATE : 31|16@0- (0.0078125,0) [-256|255.9921875] "m/s" Vector__XXX - SG_ CAN_TX_VALID_LR_RANGE : 15|16@0+ (0.0078125,0) [0|511.9921875] "m" Vector__XXX - SG_ CAN_TX_VALID_LR_POWER : 63|8@0- (1,0) [-128|127] "db" Vector__XXX - SG_ CAN_TX_VALID_LR_ANGLE : 47|16@0- (0.0625,0) [-2048|2047.9375] "deg" Vector__XXX - -BO_ 1344 Track_Sensor: 1 ESR - SG_ CAN_TX_TRACK_ROLLING_COUNT_2 : 4|1@0+ (1,0) [0|1] "" Vector__XXX - -BO_ 1280 Target1: 8 ESR - SG_ CAN_TX_TRACK_WIDTH : 37|4@0+ (0.5,0) [0|7.5] "" Vector__XXX - SG_ CAN_TX_TRACK_STATUS : 15|3@0+ (1,0) [0|7] "" Vector__XXX - SG_ CAN_TX_TRACK_ROLLING_COUNT : 38|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_RATE : 53|14@0- (0.01,0) [-81.92|81.91] "m/s" Vector__XXX - SG_ CAN_TX_TRACK_RANGE_ACCEL : 33|10@0- (0.05,0) [-25.6|25.55] "m/s^2" Vector__XXX - SG_ CAN_TX_TRACK_RANGE : 18|11@0+ (0.1,0) [0|204.7] "m" Vector__XXX - SG_ CAN_TX_TRACK_ONCOMING : 0|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_MED_RANGE_MODE : 55|2@0+ (1,0) [0|3] "" Vector__XXX - SG_ CAN_TX_TRACK_LAT_RATE : 7|6@0- (0.25,0) [-8|7.75] "" Vector__XXX - SG_ CAN_TX_TRACK_GROUPING_CHANGED : 1|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_BRIDGE_OBJECT : 39|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_TRACK_ANGLE : 12|10@0- (0.1,0) [-51.2|51.1] "" Vector__XXX - -BO_ 1265 SensorInput: 8 Gateway - SG_ CAN_RX_USE_ANGLE_MISALIGNMENT : 23|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ CAN_RX_SCAN_INDEX_ACK : 7|16@0+ (1,0) [0|65535] "" Vector__XXX - SG_ CAN_RX_LATERAL_MOUNTING_OFFSET : 47|8@0- (0.01563,0) [-2.00064|1.98501] "m" Vector__XXX - SG_ CAN_RX_WIPER_STATUS : 57|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_RX_VOLVO_SHORT_TRACK_ROC : 31|4@0- (500,0) [-4000|3500] "m" Vector__XXX - SG_ CAN_RX_VEHICLE_SPEED_VALIDITY : 61|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_RX_TURN_SIGNAL_STATUS : 63|2@0+ (1,0) [0|3] "" Vector__XXX - SG_ CAN_RX_RAW_DATA_ENABLE : 56|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_RX_RADAR_CMD_RADIATE : 55|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_RX_MR_ONLY_TRANSMIT : 25|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ CAN_RX_MMR_UPSIDE_DOWN : 60|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_RX_MAXIMUM_TRACKS : 53|6@0+ (1,0) [0|63] "" Vector__XXX - SG_ CAN_RX_LR_ONLY_TRANSMIT : 24|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ CAN_RX_HIGH_YAW_ANGLE : 21|6@0- (1,0) [-32|31] "deg" Vector__XXX - SG_ CAN_RX_GROUPING_MODE : 59|2@0+ (1,0) [0|3] "" Vector__XXX - SG_ CAN_RX_CLEAR_FAULTS : 22|1@0- (1,0) [0|0] "" Vector__XXX - SG_ CAN_RX_BLOCKAGE_DISABLE : 54|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_RX_ANGLE_MISALIGNMENT : 39|8@0- (0.0625,0) [-8|7.9375] "deg" Vector__XXX - -BO_ 1264 Vehicle_Data: 8 Gateway - SG_ CAN_RX_YAW_RATE_VALIDITY : 31|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ CAN_RX_YAW_RATE : 11|12@0- (0.0625,0) [-128|127.9375] "deg/s" Vector__XXX - SG_ CAN_RX_VEHICLE_SPEED_DIRECTION : 12|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_RX_VEHICLE_SPEED : 7|11@0+ (0.0625,0) [0|127.9375] "m/s" Vector__XXX - SG_ CAN_RX_RADIUS_CURVATURE : 29|14@0- (1,0) [-8192|8191] "m" Vector__XXX - SG_ CAN_RX_STEERING_VALIDITY : 47|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_RX_STEERING_ANGLE_SIGN : 46|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_RX_STEERING_ANGLE_RATE_SIGN : 30|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_RX_STEERING_ANGLE_RATE : 50|11@0+ (1,0) [0|2047] "deg/s" Vector__XXX - SG_ CAN_RX_STEERING_ANGLE : 45|11@0+ (1,0) [0|2047] "deg" Vector__XXX - -BO_ 1251 ESR_Output_InPath: 8 ESR - SG_ CAN_TX_PATH_ID_ACC_MOVE : 15|8@0+ (1,0) [0|255] "" Vector__XXX - SG_ CAN_TX_TRUCK_TARGET_DET : 7|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_SIDELOBE_BLOCKATE : 5|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_ROLLING_COUNT_3 : 1|2@0+ (1,0) [0|3] "" Vector__XXX - SG_ CAN_TX_PATH_ID_FCW_STAT : 47|8@0+ (1,0) [0|255] "" Vector__XXX - SG_ CAN_TX_PATH_ID_FCW_MOVE : 39|8@0+ (1,0) [0|255] "" Vector__XXX - SG_ CAN_TX_PATH_ID_CMBB_STAT : 31|8@0+ (1,0) [0|255] "" Vector__XXX - SG_ CAN_TX_PATH_ID_CMBB_MOVE : 23|8@0+ (1,0) [0|255] "" Vector__XXX - SG_ CAN_TX_PATH_ID_ACC_STAT : 63|8@0+ (1,0) [0|255] "" Vector__XXX - SG_ CAN_TX_PARTIAL_BLOCKAGE : 4|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_LR_ONLY_GRATING_LOBE_DET : 6|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_LMR_LR_MODE : 3|2@0+ (1,0) [0|3] "" Vector__XXX - SG_ CAN_TX_AUTO_ALIGN_ANGLE : 55|8@0- (0.0625,0) [-8|7.9375] "" Vector__XXX - -BO_ 1250 ESR_SW: 8 ESR - SG_ CAN_TX_SW_VERSION_PLD : 63|8@0+ (1,0) [0|255] "" Vector__XXX - SG_ CAN_TX_SW_VERSION_HOST : 15|24@0+ (1,0) [0|16777215] "" Vector__XXX - SG_ CAN_TX_SERIAL_NUM : 39|24@0+ (1,0) [0|16777215] "" Vector__XXX - SG_ CAN_TX_INTERFACE_VERSION : 7|4@0+ (1,0) [0|15] "" Vector__XXX - SG_ CAN_TX_HW_VERSION : 3|4@0+ (1,0) [0|15] "" Vector__XXX - -BO_ 1249 ESR_Status2: 8 ESR - SG_ CAN_TX_YAW_RATE_BIAS : 47|8@0- (0.125,0) [-16|15.875] "" Vector__XXX - SG_ CAN_TX_XCVR_OPERATIONAL : 12|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_VEH_SPD_COMP_FACTOR : 39|6@0- (0.00195,1) [0.9376|1.06045] "" Vector__XXX - SG_ CAN_TX_TEMPERATURE : 31|8@0- (1,0) [-128|127] "degC" Vector__XXX - SG_ CAN_TX_SW_VERSION_DSP : 55|16@0+ (1,0) [0|65535] "" Vector__XXX - SG_ CAN_TX_STEERING_ANGLE_ACK : 10|11@0+ (1,0) [0|2047] "deg" Vector__XXX - SG_ CAN_TX_ROLLING_COUNT_2 : 1|2@0+ (1,0) [0|3] "" Vector__XXX - SG_ CAN_TX_RAW_DATA_MODE : 11|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_RANGE_PERF_ERROR : 14|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_OVERHEAT_ERROR : 15|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_MAXIMUM_TRACKS_ACK : 7|6@0+ (1,1) [1|64] "" Vector__XXX - SG_ CAN_TX_INTERNAL_ERROR : 13|1@0+ (1,0) [0|1] "" Vector__XXX - SG_ CAN_TX_GROUPING_MODE : 33|2@0+ (1,0) [0|3] "" Vector__XXX - -BO_ 1248 ESR_Status: 8 ESR - SG_ CAN_TX_COMM_ERROR : 14|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ CAN_TX_RADIUS_CURVATURE_CALC : 13|14@0- (1,0) [-8192|8191] "" Vector__XXX - SG_ CAN_TX_YAW_RATE_CALC : 47|12@0- (0.0625,0) [-128|127.9375] "deg/s" Vector__XXX - SG_ CAN_TX_VEHICLE_SPEED_CALC : 50|11@0+ (0.0625,0) [0|127.9375] "m/s" Vector__XXX - SG_ CAN_TX_DSP_TIMESTAMP : 5|7@0+ (2,0) [0|254] "ms" Vector__XXX - SG_ CAN_TX_SCAN_INDEX : 31|16@0+ (1,0) [0|65535] "" Vector__XXX - SG_ CAN_TX_ROLLING_COUNT_1 : 6|2@1+ (1,0) [0|3] "" Vector__XXX - - - -BA_DEF_ "BusType" STRING ; -BA_DEF_DEF_ "BusType" "CAN"; -VAL_ 1264 CAN_RX_YAW_RATE_VALIDITY 1 "Valid" 0 "Invalid" ; -VAL_ 1264 CAN_RX_VEHICLE_SPEED_DIRECTION 1 "Reverse" 0 "Forward" ; -VAL_ 1264 CAN_RX_STEERING_VALIDITY 1 "True" 0 "False" ; -VAL_ 1264 CAN_RX_STEERING_ANGLE_SIGN 1 "Right Clockwise" 0 "Left CounterClockwise" ; -VAL_ 1264 CAN_RX_STEERING_ANGLE_RATE_SIGN 1 "Right Clockwise" 0 "Left CounterClockwise" ; - diff --git a/opendbc/LICENSE b/opendbc/LICENSE deleted file mode 100644 index f1fd199c632b14..00000000000000 --- a/opendbc/LICENSE +++ /dev/null @@ -1,7 +0,0 @@ -Copyright (c) 2020, Comma.ai, Inc. - -Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: - -The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. - -THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. diff --git a/opendbc/README.md b/opendbc/README.md deleted file mode 100644 index 20e31a903447b5..00000000000000 --- a/opendbc/README.md +++ /dev/null @@ -1,49 +0,0 @@ -## DBC file basics - -A DBC file encodes, in a humanly readable way, the information needed to understand a vehicle's CAN bus traffic. A vehicle might have multiple CAN buses and every CAN bus is represented by its own dbc file. -Wondering what's the DBC file format? [Here](http://www.socialledge.com/sjsu/index.php?title=DBC_Format) and [Here](https://github.com/stefanhoelzl/CANpy/blob/master/docs/DBC_Specification.md) a couple of good overviews. - -## How to start reverse engineering cars - -[opendbc](https://github.com/commaai/opendbc) is integrated with [cabana](https://github.com/commaai/openpilot/tree/master/tools/cabana). - -Use [panda](https://github.com/commaai/panda) to connect your car to a computer. - -## How to use reverse engineered DBC -To create custom CAN simulations or send reverse engineered signals back to the car you can use [CANdevStudio](https://github.com/GENIVI/CANdevStudio) project. - -## DBC file preprocessor - -DBC files for different models of the same brand have a lot of overlap. Therefore, we wrote a preprocessor to create DBC files from a brand DBC file and a model specific DBC file. The source DBC files can be found in the generator folder. After changing one of the files run the generator.py script to regenerate the output files. These output files will be placed in the root of the opendbc repository and are suffixed by _generated. - -## Good practices for contributing to opendbc - -- Comments: the best way to store comments is to add them directly to the DBC files. For example: - ``` - CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping"; - ``` - is a comment that refers to signal `LONG_ACCEL` in message `490`. Using comments is highly recommended, especially for doubts and uncertainties. [cabana](https://community.comma.ai/cabana/) can easily display/add/edit comments to signals and messages. - -- Units: when applicable, it's recommended to convert signals into physical units, by using a proper signal factor. Using a SI unit is preferred, unless a non-SI unit rounds the signal factor much better. -For example: - ``` - SG_ VEHICLE_SPEED : 7|15@0+ (0.00278,0) [0|70] "m/s" PCM - ``` - is better than: - ``` - SG_ VEHICLE_SPEED : 7|15@0+ (0.00620,0) [0|115] "mph" PCM - ``` - However, the cleanest option is really: - ``` - SG_ VEHICLE_SPEED : 7|15@0+ (0.01,0) [0|250] "kph" PCM - ``` - -- Signal size: always use the smallest amount of bits possible. For example, let's say I'm reverse engineering the gas pedal position and I've determined that it's in a 3 bytes message. For 0% pedal position I read a message value of `0x00 0x00 0x00`, while for 100% of pedal position I read `0x64 0x00 0x00`: clearly, the gas pedal position is within the first byte of the message and I might be tempted to define the signal `GAS_POS` as: - ``` - SG_ GAS_POS : 7|8@0+ (1,0) [0|100] "%" PCM - ``` - However, I can't be sure that the very first bit of the message is referred to the pedal position: I haven't seen it changing! Therefore, a safer way of defining the signal is: - ``` - SG_ GAS_POS : 6|7@0+ (1,0) [0|100] "%" PCM - ``` - which leaves the first bit unallocated. This prevents from very erroneous reading of the gas pedal position, in case the first bit is indeed used for something else. diff --git a/opendbc/bmw_e9x_e8x.dbc b/opendbc/bmw_e9x_e8x.dbc deleted file mode 100644 index 7ec95c0b19f9dc..00000000000000 --- a/opendbc/bmw_e9x_e8x.dbc +++ /dev/null @@ -1,913 +0,0 @@ -VERSION "" - - -NS_ : - NS_DESC_ - CM_ - BA_DEF_ - BA_ - VAL_ - CAT_DEF_ - CAT_ - FILTER - BA_DEF_DEF_ - EV_DATA_ - ENVVAR_DATA_ - SGTYPE_ - SGTYPE_VAL_ - BA_DEF_SGTYPE_ - BA_SGTYPE_ - SIG_TYPE_REF_ - VAL_TABLE_ - SIG_GROUP_ - SIG_VALTYPE_ - SIGTYPE_VALTYPE_ - BO_TX_BU_ - BA_DEF_REL_ - BA_REL_ - BA_DEF_DEF_REL_ - BU_SG_REL_ - BU_EV_REL_ - BU_BO_REL_ - SG_MUL_VAL_ - -BS_: - -BU_: EON XXX RDC SZL VGSG JBBF RFK FLA RAD1 CAS CID AHM HKL HUD EKP DWA DSC SM_BF GWS VDM DDE1 ACI CCC DSC SM_FA CTM LDM RSE MRSZ VDA EDCK ZBE EGS ACC_Sensor Kombi IHKA ARS ACSM FZD PGS NVC AFS DME FRMFA EMF FKA VSW EPS PDC DKG EHC Diagnosetool_PT_CAN Diagnosetool_K_CAN_System Vector__XXX - - -BO_ 170 AccPedal: 8 DME - SG_ KickDownPressed : 53|1@0+ (1,0) [0|3] "" XXX - SG_ CruisePedalActive : 54|1@0+ (1,0) [0|1] "" XXX - SG_ CruisePedalInactive : 55|1@0+ (1,0) [0|1] "" XXX - SG_ ThrottlelPressed : 50|1@0+ (1,0) [0|1] "" XXX - SG_ AcceleratorPedalPressed : 52|1@0+ (1,0) [0|7] "" XXX - SG_ AcceleratorPedalPercentage : 16|16@1+ (0.04,0) [0|100] "" XXX - SG_ Counter_170 : 8|4@1+ (1,0) [0|15] "" XXX - SG_ EngineSpeed : 32|16@1+ (0.25,0) [0|8000] "rpm" XXX - SG_ Checksum_170 : 0|8@1- (1,0) [0|65535] "" XXX - -BO_ 404 CruiseControl: 4 SZL - SG_ plus1mph_request : 16|1@0+ (1,0) [0|1] "" XXX - SG_ minus1mph_request : 18|1@0+ (1,0) [0|1] "" XXX - SG_ Cancel_request_up_stalk : 23|1@0+ (1,0) [0|1] "" XXX - SG_ Cancel_request_up_or_down_stalk : 20|1@0+ (1,0) [0|1] "" XXX - SG_ Resume_request : 22|1@0+ (1,0) [0|1] "" XXX - SG_ setMe_0xFC : 31|8@0+ (1,0) [0|255] "" XXX - SG_ plus5mph_request : 17|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ minus5mph_request : 19|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ requests_0xF : 15|4@0+ (1,0) [0|15] "" XXX - SG_ Counter_404 : 11|4@0+ (1,0) [0|15] "" XXX - SG_ Checksum_404 : 7|8@0+ (1,0) [0|15] "" XXX - -BO_ 512 CruiseControlStatus: 8 DME - SG_ CruiseControlInactiveFlag : 12|1@0+ (1,0) [0|1] "" XXX - SG_ CruiseCoontrolActiveFlag : 13|1@0+ (1,0) [0|1] "" XXX - SG_ CruiseControlSetpointSpeed : 7|8@0+ (0.25,0) [0|255] "mph" XXX - -BO_ 168 EngineAndBrake: 8 DME - SG_ Checksum_EngineAndBrake : 0|8@1+ (1,0) [0|0] "" XXX - SG_ BrakePressed : 61|1@0+ (1,0) [0|1] "" XXX - SG_ Brake_active2 : 62|1@0+ (1,0) [0|1] "" XXX - SG_ ST_RCPT_ENG_DSC : 52|2@1+ (1,0) [0|0] "" XXX - SG_ ST_RCPT_ENG_ARS : 50|2@1+ (1,0) [0|0] "" XXX - SG_ ST_RCPT_ENG_ACC : 48|2@1+ (1,0) [0|0] "" XXX - SG_ ST_RCPT_ENG_EGS : 54|2@1+ (1,0) [0|0] "" XXX - SG_ ST_DMEA_SWO : 44|2@1+ (1,0) [0|0] "" XXX - SG_ EngineTorque : 12|12@1- (0.03125,0) [-1024|1023] "" XXX - SG_ ALIV_TORQ_1_DME : 8|4@1+ (1,0) [0|15] "" XXX - SG_ EngineTorqueWoInterv : 24|16@1- (0.03125,0) [-1024|1023.96875] "" XXX - -BO_ 470 SteeringButtons: 2 SZL - SG_ Volume_DOWN : 2|1@0+ (1,0) [0|1] "" XXX - SG_ Volume_UP : 3|1@0+ (1,0) [0|1] "" XXX - SG_ VoiceControl : 8|1@0+ (1,0) [0|1] "" XXX - SG_ Telephone : 0|1@0+ (1,0) [0|1] "" XXX - SG_ Next_up : 5|1@0+ (1,0) [0|1] "" XXX - SG_ Previous_down : 4|1@0+ (1,0) [0|1] "" XXX - -BO_ 403 DynamicCruiseControlStatus: 8 DSC - SG_ Counter_403 : 7|8@0+ (1,0) [0|255] "" XXX - SG_ CruiseActive : 43|1@0+ (1,0) [0|1] "" XXX - SG_ CruiseSpeedChangeRequest : 48|1@0+ (1,0) [0|1] "" XXX - SG_ CruiseControlSetpointSpeed : 15|8@0+ (1,-2) [0|255] "kph/mph" XXX - -BO_ 201 SteeringWheelAngle_DSC: 8 SZL - SG_ Counter_201 : 20|4@1+ (1,0) [0|15] "" DSC - SG_ SteeringPositionComplementLow : 24|11@1- (1,0) [0|1] "" DSC - SG_ SteeringPosition : 0|16@1- (0.0428316886,0) [-600|600] "deg" DSC - -BO_ 206 WheelSpeeds: 8 DSC - SG_ Wheel_FL : 0|16@1- (0.0625,0) [0|255] "kph" XXX - SG_ Wheel_FR : 16|16@1- (0.0625,0) [0|255] "kph" XXX - SG_ Wheel_RL : 32|16@1- (0.0625,0) [0|255] "kph" XXX - SG_ Wheel_RR : 48|16@1- (0.0625,0) [0|255] "kph" XXX - -BO_ 884 WheelToleranceAdjustment: 8 DSC - -BO_ 678 WiperSwitch: 8 SZL - SG_ AutoWipersOn : 0|1@1+ (1,0) [0|3] "" XXX - -BO_ 304 TerminalStatus: 8 CAS - SG_ AccOn : 23|1@1+ (1,0) [0|255] "" XXX - SG_ IgnitionOff : 22|1@1+ (1,0) [0|3] "" XXX - SG_ Counter_304 : 32|4@1+ (1,0) [0|15] "" XXX - SG_ Checksum_304 : 36|4@1+ (1,0) [0|255] "" XXX - -BO_ 169 Torque2: 8 DME - SG_ TORQ_AVL_SPAR_POS : 52|12@1- (0.5,0) [-1023.5|1023.5] "Nm" XXX - SG_ TORQ_AVL_SPAR_NEG : 40|12@1- (0.5,0) [-1023.5|1023.5] "Nm" XXX - SG_ TORQ_AVL_MAX : 28|12@1- (0.5,0) [-1023.5|1023.5] "Nm" XXX - SG_ TORQ_AVL_MIN : 16|12@1- (0.5,0) [-1023.5|1023.5] "Nm" XXX - SG_ ST_INFS : 14|2@1+ (1,0) [0|0] "" XXX - SG_ ST_SW_LEV_RPM : 12|2@1+ (1,0) [0|0] "" XXX - SG_ ALIV_TORQ_2_DME : 8|4@1+ (1,0) [0|0] "" XXX - SG_ CHKSM_TORQ_2_DME : 0|8@1+ (1,0) [0|0] "" Vector__XXX - -BO_ 184 TorqueTransmisionRequest: 8 LDM - SG_ Checksum_184 : 0|8@1+ (1,0) [0|15] "" XXX - SG_ Counter_184 : 8|4@1+ (1,0) [0|15] "" XXX - -BO_ 196 SteeringWheelAngle: 7 DSC - SG_ SteeringSpeed : 24|16@1- (0.0428316886,0) [0|255] "degree/s" XXX - SG_ SteeringPosition : 0|16@1- (0.0428316886,0) [-600|600] "degree" XXX - -BO_ 180 WheelTorqueDriveTrain1: 8 DME - -BO_ 182 DynamicCruiseControlTorqueDemand: 8 DSC - SG_ TORQ_TAR_DSC : 12|12@1- (0.5,0) [0|1000] "" XXX - SG_ Counter_182 : 8|4@1+ (1,0) [0|14] "" XXX - SG_ Checksum_182 : 0|8@1+ (1,0) [0|15] "" XXX - -BO_ 186 TransmissionData: 8 EGS - SG_ Counter_186 : 48|4@1+ (1,0) [0|14] "" XXX - SG_ Shifting : 4|1@1+ (1,0) [0|15] "" XXX - SG_ OutputShaftSpeed : 24|16@1- (0.125,0) [0|255] "rpm" XXX - SG_ GearRatio : 8|8@1+ (0.05,0) [0|255] "" XXX - SG_ GearTar : 0|4@1+ (1,-4) [0|255] "" XXX - SG_ Checksum_186 : 40|8@1+ (1,0) [0|15] "" XXX - -BO_ 191 RequestedWheelTorqueDriveTrain: 8 LDM - SG_ Checksum_191 : 0|8@1+ (1,0) [0|19] "" XXX - SG_ Counter_191 : 8|4@1- (1,0) [0|255] "" XXX - SG_ TorqueReq : 16|12@1- (0.5,350) [-1024|1023.96875] "" XXX - -BO_ 414 StatusDSC_KCAN: 8 DSC - SG_ BrakePressure : 48|8@1- (1,0) [0|255] "" XXX - SG_ BrakeStates : 40|8@1+ (1,0) [0|255] "" XXX - SG_ Checksum_414 : 56|8@1+ (1,0) [0|15] "" XXX - SG_ Counter_414 : 20|4@1+ (1,0) [0|15] "" XXX - SG_ DTC_on : 12|1@1+ (1,0) [0|3] "" XXX - SG_ DSC_full_off : 8|4@1+ (1,0) [0|15] "" XXX - -BO_ 416 Speed: 8 DSC - SG_ AccX : 28|12@1- (1,0) [0|15] "" XXX - SG_ YawRate : 40|12@1- (1,0) [0|255] "" XXX - SG_ VehicleSpeed : 0|12@1- (0.103,0) [0|255] "kph" XXX - SG_ MovingReverse : 13|1@1+ (1,0) [0|3] "" XXX - SG_ AccY : 16|12@1- (1,0) [0|255] "" XXX - SG_ Counter_416 : 52|4@1+ (1,0) [0|14] "" XXX - SG_ Checksum_416 : 56|8@1+ (1,0) [0|15] "" XXX - SG_ MovingForward : 12|1@1+ (1,0) [0|15] "" XXX - -BO_ 418 TransimissionData2: 8 EGS - SG_ ManualMode : 50|1@0+ (1,0) [0|255] "" XXX - SG_ Counter_418 : 28|4@1+ (1,0) [0|14] "" XXX - SG_ Checksum_418 : 56|8@1+ (1,0) [0|15] "" XXX - -BO_ 690 WheelPressure_KCAN: 8 DSC - -BO_ 691 AccelerationData: 8 DSC - -BO_ 402 GearSelectorSwitch_1: 4 XXX - SG_ Counter_402 : 24|4@1+ (1,0) [0|14] "" XXX - -BO_ 408 GearSelectorSwitch: 8 GWS - SG_ ParkButtonSecond : 26|2@1+ (1,0) [0|3] "" XXX - SG_ SideButton : 28|2@1+ (1,0) [0|3] "" XXX - SG_ SportButtonPressed : 34|2@1+ (1,0) [0|255] "" XXX - SG_ M3_button : 36|2@1+ (1,0) [0|3] "" XXX - SG_ SideButtonXOR11 : 30|2@1+ (1,0) [0|3] "" XXX - SG_ param1XOR11 : 22|2@1+ (1,0) [0|3] "" XXX - SG_ m3ShifterPositionXOR1111 : 8|4@1+ (1,0) [0|15] "" XXX - SG_ always11 : 38|2@1+ (1,0) [0|3] "" XXX - SG_ m3ShifterPosition : 4|4@1+ (1,0) [0|15] "" XXX - SG_ param1 : 20|2@1+ (1,0) [0|3] "" XXX - SG_ param5 : 32|2@1+ (1,0) [0|3] "" XXX - SG_ Counter_408 : 0|4@1+ (1,0) [0|14] "" XXX - SG_ ParkButtonFirst : 24|2@1+ (1,0) [0|3] "" XXX - SG_ ShifterPositionXOR1111 : 16|4@1+ (1,0) [0|15] "" XXX - SG_ ShifterPosition : 12|4@1+ (1,0) [0|0] "" Vector__XXX - -BO_ 422 DistanceRoute: 8 DSC - -BO_ 436 InstrumentClusterStatus_KOMBI: 8 CCC - SG_ HandbrakeActive : 41|1@1+ (1,0) [0|3] "" XXX - -BO_ 464 EngineData: 8 DME - SG_ RPM_IDLG_TAR : 56|8@1+ (5,0) [0|1270] "1/min" XXX - SG_ CTR_SLCK : 48|2@1+ (1,0) [0|0] "" XXX - SG_ IJV_FU : 32|16@1+ (1,-48) [0|0] "C" XXX - SG_ AIP_ENG : 24|8@1+ (2,598) [600|1106] "hPa" XXX - SG_ ST_SW_WAUP : 22|2@1+ (1,0) [0|0] "" XXX - SG_ ST_ENG_RUN : 20|2@1+ (1,0) [0|0] "" XXX - SG_ Counter_464 : 16|4@1+ (1,0) [0|14] "" XXX - SG_ TEMP_EOI : 8|8@1+ (1,-48) [0|0] "C" XXX - SG_ TEMP_ENG : 0|8@1+ (1,-48) [0|0] "C" XXX - -BO_ 945 TransmissionData3: 8 DKG - SG_ Checksum_946 : 0|8@1+ (1,0) [0|19] "" XXX - SG_ Counter_945 : 8|4@1+ (1,0) [0|14] "" XXX - -BO_ 200 SteeringWheelAngle_slow: 6 SZL - SG_ SteeringPosition : 0|16@1- (0.0428316886,0) [-600|600] "degree" XXX - SG_ SteeringSpeed : 24|16@1- (0.0428316886,0) [-65535|65535] "degree/s" XXX - SG_ Counter_200 : 20|4@1+ (1,0) [0|15] "" XXX - -BO_ 466 TransmissionDataDisplay: 8 EGS - SG_ ShiftLeverMode : 32|2@1+ (1,0) [0|3] "" XXX - SG_ GearAct : 12|4@1+ (1,-4) [0|15] "" XXX - SG_ Counter_466 : 28|4@1+ (1,0) [0|14] "" XXX - SG_ ShiftLeverPosition : 0|4@1+ (1,0) [0|8] "" XXX - SG_ xFF : 40|8@1+ (1,0) [0|255] "" XXX - SG_ ShiftLeverPositionXOR : 4|4@1+ (1,0) [0|0] "" Vector__XXX - SG_ SportButtonState : 26|1@1+ (1,0) [0|1] "" XXX - -BO_ 437 HeatFlow_LoadTorqueClimate: 8 IHKA - -BO_ 1152 NetworkManagment1: 8 XXX - -BO_ 1170 NetworkManagment2: 8 XXX - -BO_ 1175 NetworkManagment3: 8 XXX - -BO_ 1176 NetworkManagment4: 8 XXX - -BO_ 1193 NetworkManagment5: 8 XXX - -BO_ 1246 GWS_ShiftLeverHeartbeat: 8 XXX - SG_ IgnOff : 12|1@0+ (1,0) [0|3] "" XXX - -BO_ 438 HeatFlowEngine: 8 DME - -BO_ 784 AmbientTemperature_RelativeTime: 8 Kombi - -BO_ 821 ElectricFuelPumpStatus: 8 EKP - -BO_ 1007 EngineOBD_data: 8 DME - -BO_ 1432 ServicesDKG: 8 XXX - -BO_ 309 CrashDisconnectControl: 8 ACSM - -BO_ 502 TurnSignals: 2 FRMFA - SG_ TurnSignalIdle : 9|1@0+ (1,0) [0|1] "" XXX - SG_ TurnSignalActive : 8|1@0+ (1,0) [0|1] "" XXX - SG_ RightTurn : 5|1@0+ (1,0) [0|1] "" XXX - SG_ LeftTurn : 4|1@1+ (1,0) [0|1] "" XXX - SG_ HoldActivated : 0|1@1+ (1,0) [0|1] "" XXX - -BO_ 514 Dimming: 8 FRMFA - -BO_ 538 LampStatus: 8 FRMFA - -BO_ 550 RainSensorWiperSpeed: 8 FZD - -BO_ 578 ClimateFrontStatus: 8 IHKA - -BO_ 704 LCD_lighting: 8 Kombi - -BO_ 758 LightControl: 8 FRMFA - -BO_ 760 Time_Date: 8 Kombi - -BO_ 762 OccupancySeatBeltContact: 8 ACSM - SG_ NEW_SIGNAL_1 : 8|8@1+ (1,0) [0|255] "" XXX - SG_ NEW_SIGNAL_2 : 0|8@1+ (1,0) [0|15] "" XXX - -BO_ 764 TrunkStatus: 8 CAS - -BO_ 797 TirePressureStatus: 8 DSC - -BO_ 816 Range_Mileage: 8 Kombi - -BO_ 823 StatusFuelControl: 8 DME - -BO_ 897 EngineOilLevel: 8 DME - -BO_ 940 RunOnTimeTerminal30: 8 JBBF - -BO_ 947 PowerManagmentConsumptionControl: 8 DME - -BO_ 948 PowerBatteryVoltage: 8 DME - SG_ BatteryVoltage : 7|24@0+ (0.001,0) [0|65535] "" XXX - -BO_ 958 PowerRunningTime: 8 CAS - -BO_ 1408 ServicesKGM: 8 XXX - -BO_ 1426 ServicesDME: 8 XXX - -BO_ 1449 ServicesDSC: 8 XXX - -BO_ 1504 ServicesKOMBI: 8 XXX - -BO_ 1522 ServicesKBM: 8 XXX - -BO_ 209 Accelerometer1: 8 XXX - SG_ Counter_209 : 52|4@1+ (1,0) [0|255] "" XXX - SG_ Unknown : 16|16@1- (1,0) [0|65535] "" XXX - SG_ YawRate : 0|16@1- (1,0) [0|7] "" XXX - SG_ PitchRate : 32|16@1- (1,0) [0|65535] "" XXX - SG_ CRC8_209 : 56|8@1+ (1,0) [0|255] "" XXX - -BO_ 172 WheelTorqueDrivetrain2: 8 DME - -BO_ 128 SYNC: 5 XXX - SG_ State2 : 24|4@1+ (1,0) [0|15] "" XXX - SG_ State1 : 16|8@1+ (1,0) [0|255] "" XXX - SG_ Counter_128 : 28|4@1+ (1,0) [0|15] "" XXX - -BO_ 320 Unknown140: 2 XXX - SG_ State : 7|8@0+ (1,0) [0|255] "" XXX - -BO_ 212 Unknown_d4: 8 XXX - SG_ State1 : 40|8@1+ (1,0) [0|255] "" XXX - SG_ Counter_212 : 52|4@1+ (1,0) [0|255] "" XXX - SG_ Checksum_212 : 56|8@1+ (1,0) [0|255] "" XXX - -BO_ 205 Accelerometer2: 8 XXX - SG_ Counter_205 : 52|4@1+ (1,0) [0|255] "" XXX - SG_ LateralAcceleration : 32|16@1- (1,0) [0|255] "" XXX - SG_ YawRate : 0|16@1- (1,0) [0|255] "" XXX - SG_ CRC8_205 : 16|16@1- (1,0) [0|65535] "" XXX - -BO_ 790 OperationPushButtonDTC: 2 JBBF - SG_ setMe_0x3FFF : 2|14@1+ (1,0) [0|63] "" DSC - SG_ DTC_pressed : 0|1@1+ (1,0) [0|3] "" DSC - -BO_ 1577 Unknown_629: 8 XXX - -BO_ 133 Synchronization_SC_VDA: 8 DSC - -BO_ 173 Delay_request_ACC: 8 LDM - -BO_ 177 Torque_request_steering: 8 DSC - -BO_ 181 Torque_request_EGS: 8 EGS - SG_ Checksum_Torque_request_EGS : 0|8@1+ (1,0) [0|0] "" XXX - SG_ Gearbox_temperature : 56|8@1+ (1,0) [0|0] "C" XXX - -BO_ 183 Torque_request_ACC: 8 LDM - -BO_ 187 Target_torque_request: 8 DSC - -BO_ 188 Status_target_torque_conversion: 8 VGSG - -BO_ 190 Alive_Counter: 8 ARS - -BO_ 192 Alive_Central_Gateway: 8 JBBF - -BO_ 193 Alive_counter_telephone: 8 CCC - -BO_ 213 Request_wheel_torque_brake: 8 DSC - -BO_ 215 Alive_Counter_Security: 8 ACSM - -BO_ 216 CLU1_VDA: 8 VDA - -BO_ 225 Wheel_torque_brake: 8 DSC - -BO_ 226 Status_central_locking_BFT: 8 JBBF - -BO_ 227 CLU2_VDA: 8 VDA - -BO_ 230 Status_central_locking_BFTH: 8 JBBF - -BO_ 234 Status_central_locking_FAT: 8 JBBF - -BO_ 238 Central_locking_status_FATH: 8 JBBF - -BO_ 242 Status_central_locking_HK: 8 JBBF - -BO_ 244 CLU3_VDA: 8 VDA - -BO_ 247 lateral_dynamics_ARS_VDM: 8 ARS - -BO_ 249 Vertical_dynamics_VDM_ARS: 8 VDM - -BO_ 250 Control_window_lifter_FAT: 8 FRMFA - -BO_ 251 Control_window_lifter_BFT: 8 JBBF - -BO_ 252 Control_window_lifter_FATH: 8 JBBF - -BO_ 253 Control_window_lifter_BFTH: 8 JBBF - -BO_ 254 Voltage_level_sensors: 8 VDM - -BO_ 280 Exchange_AFS_DSC: 8 AFS - -BO_ 286 Control_interventions_DSC_AFS: 8 DSC - -BO_ 288 Status_partial_setpoints_AFS_DSC_2: 8 AFS - -BO_ 298 Sensor_data_ROSE: 8 ASCM - -BO_ 300 input_data_ROSE: 8 DSC - -BO_ 336 Request_1_ACC: 8 LDM - -BO_ 339 Request_2_ACC: 8 LDM - -BO_ 345 Object_data_ACC: 8 ACC_Sensor - -BO_ 348 Status_ACC: 8 ACC_Sensor - -BO_ 351 Requirement_angle_FFP: 8 LDM - -BO_ 357 CLU_Status_VDA: 8 VDA - -BO_ 370 Acknowledgment_request_Kombination: 8 CCC - -BO_ 373 Display_motor_data: 8 DME - -BO_ 400 display_ACC: 8 LDM - -BO_ 405 Operation_push_button_MSA: 8 IHKA - -BO_ 419 Raw_data_longitudinal_acceleration: 8 DSC - -BO_ 423 actuation_request_EMF: 8 DSC - -BO_ 426 Effect_ErgoCommander: 8 CCC - -BO_ 428 Status_ARS_module: 8 ARS - -BO_ 440 Operation_ErgoCommander: 8 ZBE - -BO_ 450 Distance_message_PDC: 8 PDC - -BO_ 451 Distance_message_2_PDC: 8 PDC - -BO_ 454 Acoustic_message_PDC: 8 PDC - -BO_ 472 Operation_air_conditioning_air_distribution_FA: 8 CCC - -BO_ 473 Operation_pushbutton_MDrive: 8 SZL - -BO_ 474 Climate_control_remote_control: 8 CAS - -BO_ 476 Operation_stratification_seat_heating: 8 CCC - -BO_ 478 Air_conditioning_controls_rear: 8 CCC - -BO_ 480 Operation_air_conditioning_air_distribution_BF: 8 CCC - -BO_ 482 Operation_air_conditioning_front: 8 CCC - -BO_ 483 Operation_pushbutton_interior_lighting: 8 FZD - -BO_ 487 Operation_seat_heating_seat_climate_FA: 8 IHKA - -BO_ 488 Operation_seat_heating_seat_climate_BF: 8 IHKA - -BO_ 490 Steering_column_adjustment_control: 8 IHKA - -BO_ 491 Operation_active_seat_FA: 8 IHKA - -BO_ 492 Operation_active_seat_BF: 8 IHKA - -BO_ 494 Steering_column_switch_operation: 8 FRMFA - -BO_ 499 Operation_seat_memory_FA: 8 XXX - -BO_ 504 Operation_SHD_MDS: 8 FZD - -BO_ 507 Status_EPS: 8 EPS - -BO_ 508 Status_AFS: 8 AFS - -BO_ 509 Status_request_EMF_KCAN: 8 EMF - -BO_ 510 Crash: 8 ACSM - -BO_ 513 Status_EMF_KCAN: 8 EMF - -BO_ 517 Acoustic_request_Kombi: 8 Kombi - -BO_ 518 Control_Display_Shiftlights: 8 DME - -BO_ 523 Memory_adjustment: 8 SM_FA - -BO_ 524 Steering_column_control: 8 SM_FA - -BO_ 525 Position_steering_column: 8 IHKA - -BO_ 528 Operation_HUD: 8 CCC - -BO_ 529 Status_HUD: 8 HUD - -BO_ 530 Height_levels_air_spring: 8 EHC - -BO_ 540 Operation_NightVision: 8 CCC - -BO_ 542 Status_NightVision: 8 NVC - -BO_ 548 Operation_push_button_NSW: 8 FRMFA - -BO_ 552 Operation_special_function: 8 CCC - -BO_ 554 Status_BFS: 8 JBBF - -BO_ 556 Operation_push_button_NSL: 8 FRMFA - -BO_ 558 Status_BFSH: 8 XXX - -BO_ 562 Status_FAS: 8 JBBF - -BO_ 566 Status_FASH: 8 XXX - -BO_ 570 Status_radio_key: 8 CAS - -BO_ 571 Status_climate_front_extended: 8 IHKA - -BO_ 573 Request_display_climate: 8 IHKA - -BO_ 574 Status_Klima_Fond: 8 FKA - -BO_ 582 Status_air_conditioning_front_control_unit: 8 IHKA - -BO_ 584 Status_rear_view_camera: 8 RFK - -BO_ 585 Control_rear_view_camera: 8 CCC - -BO_ 586 Status_PDC: 8 PDC - -BO_ 587 Status_door_sensors: 8 FRMFA - -BO_ 594 Wiper_status: 8 JBBF - -BO_ 598 Challenge_Passive_Access: 8 CAS - -BO_ 600 Status_Transmission_Passive_Access: 8 PGS - -BO_ 604 Operation_of_climate_additional_programs: 8 CCC - -BO_ 621 Operation_blinds_MK: 8 IHKA - -BO_ 622 Control_FH_SHD_central_comfort: 8 CAS - -BO_ 635 Status_Shiftlights: 8 Kombi - -BO_ 637 Status_convertible_top_manual_convertible: 8 CAS - -BO_ 638 Status_convertible_top_convertible: 8 CTM - -BO_ 639 Status_central_locking_convertible_top: 8 JBBF - -BO_ 642 Control_security_vehicle_2: 8 XXX - -BO_ 644 Control_remote_start_safety_vehicle: 8 CAS - -BO_ 646 Electrochromic_control: 8 FZD - -BO_ 652 Pushbutton_vertical_dynamics: 8 GWS - -BO_ 653 Operation_pushbutton_sport: 8 GWS - -BO_ 656 Control_response_hydrogen_vehicle: 8 XXX - -BO_ 658 Control_high_beam_assistant: 8 FLA - -BO_ 670 Central_locking_control_for_security_vehicle: 8 XXX - -BO_ 671 Remote_control_FondCommander: 8 CAS - -BO_ 672 Central_locking_control: 8 CAS - -BO_ 674 Operation_of_climate_stand_functions: 8 CCC - -BO_ 676 Operation_personalization: 8 Kombi - -BO_ 692 DWA_Alarm: 8 DWA - -BO_ 694 Control_horn_DWA: 8 DWA - -BO_ 696 Operation_onboard_computer: 8 CCC - -BO_ 697 Operation_RSE: 8 CCC - -BO_ 698 Stopwatch: 8 Kombi - -BO_ 701 Request_switching_display: 8 CCC - -BO_ 702 Switch_status_display: 8 VSW - -BO_ 703 Water_valve_control: 8 IHKA - -BO_ 706 Temperatur_Ist_Fond: 8 FKA - -BO_ 711 Display_Kombination_extended: 8 DME - -BO_ 714 Outside_temperature: 8 Kombi - -BO_ 716 Control_monitor_rear: 8 RSE - -BO_ 718 Control_monitor: 8 CCC - -BO_ 719 Status_of_auxiliary_water_pump: 8 JBBF - -BO_ 720 Status_Sensor_AUC: 8 JBBF - -BO_ 721 Status_fitting_window_V: 8 FZD - -BO_ 722 Status_pressure_refrigeration_circuit: 8 JBBF - -BO_ 723 Status_stratification_rear: 8 JBBF - -BO_ 725 Status_heating_rear_window: 8 JBBF - -BO_ 726 Status_valve_air_conditioning_compressor: 8 JBBF - -BO_ 730 Status_tailgate_lift: 8 HKL - -BO_ 734 Switch_control_display: 8 VSW - -BO_ 738 Status_setting_video_night_vision: 8 NVC - -BO_ 739 Status_setting_video_rear_view_camera: 8 RFK - -BO_ 740 Status_trailer: 8 AHM - -BO_ 742 Status_of_air_distribution_FA: 8 IHKA - -BO_ 746 Status_air_distribution_BF: 8 IHKA - -BO_ 750 Status_climate_additional_programs: 8 IHKA - -BO_ 752 Status_air_condition_functions: 8 IHKA - -BO_ 753 Status_driver_detection: 8 MRSZ - -BO_ 755 Display_switching_instruction: 8 DME - -BO_ 756 Air_conditioning_control_SH_ZH_auxiliary_water_pump: 8 IHKA - -BO_ 759 Units: 8 Kombi - -BO_ 768 Status_RSE: 8 RSE - -BO_ 772 Status_Gang: 8 EGS - -BO_ 773 Operation_button_convertible_top: 8 IHKA - -BO_ 774 Vehicle_tilt: 8 FRMFA - -BO_ 775 Operation_button_flap_convertible_top: 8 IHKA - -BO_ 776 Status_MSA: 8 DME - -BO_ 785 Refill_quantity: 8 Kombi - -BO_ 786 Service_Call_Teleservice: 8 Kombi - -BO_ 787 Status_Service_Call_Teleservice: 8 CCC - -BO_ 788 Status_driving_light: 8 FZD - -BO_ 789 Vehicle_mode: 8 JBBF - -BO_ 791 Operation_button_parking_aids: 8 IHKA - -BO_ 792 Status_antennas_Passive_Access: 8 PGS - -BO_ 793 Operation_push_button_RDC: 8 JBBF - -BO_ 794 Operation_button_HDC: 8 IHKA - -BO_ 795 Operation_of_tailgate_interior_button: 8 IHKA - -BO_ 796 Status_tire_pressure: 8 RDC - -BO_ 801 Operation_button_camera_BF: 8 IHKA - -BO_ 802 Damper_current: 8 EDCK - -BO_ 806 Status_damper_program: 8 VDM - -BO_ 808 Relativzeit: 8 Kombi - -BO_ 813 Display_HDC: 8 DSC - -BO_ 814 Status_climate_internal_control_info: 8 IHKA - -BO_ 817 Programming_of_step_cruise_control: 8 CCC - -BO_ 818 Driver_display_speed_range: 8 DME - -BO_ 822 Display_check_control_message_role: 8 Kombi - -BO_ 824 Control_display_check_control_message: 8 Kombi - -BO_ 825 Status_display_climate: 8 CCC - -BO_ 826 Status_Monitor_Front: 8 CID - -BO_ 828 Status_Monitor_Fond_1: 8 CID - -BO_ 830 Status_Monitor_Fond_2: 8 CID - -BO_ 841 Raw_data_level_tank: 8 JBBF - -BO_ 843 Seat_back_lock_status_FA: 8 SM_FA - -BO_ 845 Status_seat_back_lock_BF: 8 SM_BF - -BO_ 847 Status_contact_handbrake: 8 JBBF - SG_ Handbrake_push : 0|2@1+ (1,0) [0|3] "" XXX - -BO_ 858 Appointment_Condition_Based_Service: 8 CCC - -BO_ 860 Status_onboard_computer: 8 Kombi - -BO_ 862 Onboard_computer_data_trip_data: 8 Kombi - -BO_ 864 Data_onboard_computer_start_of_journey: 8 Kombi - -BO_ 866 Data_onboard_computer_average_values: 8 Kombi - -BO_ 868 Data_onboard_computer_arrival: 8 Kombi - -BO_ 869 Status_terminal_request: 8 CAS - -BO_ 870 Display_Kombination_external_display: 8 Kombi - -BO_ 871 Control_display_of_demand_oriented_service: 8 Kombi - -BO_ 877 Setting_the_driving_dynamics_switch: 8 JBBF - -BO_ 886 Status_wear_lamella: 8 VGSG - -BO_ 893 Status_DKG: 8 DKG - -BO_ 894 Temperatur_Bremse: 8 DSC - -BO_ 895 Range_of_diesel_exhaust_gas_additive: 8 DDE1 - -BO_ 896 chassis_number: 8 CAS - -BO_ 898 Electronic_engine_oil_dipstick_M: 8 DME - -BO_ 899 Motor_data_2: 8 DME - -BO_ 904 Vehicle_type: 8 CAS - -BO_ 907 Status_battery: 8 DME - -BO_ 910 Start_speed: 8 DME - -BO_ 914 Status_System_AFS: 8 AFS - -BO_ 916 RDA_request_data_storage: 8 Kombi - -BO_ 917 Coding_power_management: 8 CAS - -BO_ 920 Operation_chassis: 8 CCC - -BO_ 921 Status_MDrive: 6 DME - -BO_ 926 Operation_time_date: 8 CCC - -BO_ 928 Vehicle_state: 8 JBBF - -BO_ 931 Request_Remote_Services: 8 CCC - -BO_ 937 Status_motor_control_CKM: 8 DME - -BO_ 939 Status_Shiftlights_CKM: 8 Kombi - -BO_ 944 Status_gear_reverse: 8 FRMFA - -BO_ 949 Status_water_valve: 8 JBBF - -BO_ 950 Position_window_lifter_FAT: 8 FRMFA - -BO_ 951 Position_window_lifter_FATH: 8 JBBF - -BO_ 952 Position_window_regulator_BFT: 8 FRMFA - -BO_ 953 Position_window_regulator_BFTH: 8 JBBF - -BO_ 954 Position_SHD: 8 FZD - -BO_ 956 Position_window_lifter_security_vehicle: 8 XXX - -BO_ 957 Status_consumer_shutdown: 8 FRMFA - -BO_ 959 Position_window_rear_window: 8 CTM - -BO_ 960 Configuration_FAS: 8 SM_FA - -BO_ 961 Configuration_BFS: 8 SM_BF - -BO_ 964 Status_EDCK_CKM: 8 JBBF - -BO_ 967 Access_radio: 8 RAD1 - -BO_ 968 Operation_push_button_radio: 8 RAD1 - -BO_ 974 Radio_audio_control_interface_display: 8 ACI - -BO_ 975 Acknowledgment_access_radio_audio_control_interface: 8 ACI - -BO_ 979 Status_solar_sensor: 8 FZD - -BO_ 980 Configuration_of_central_locking_CKM: 8 Kombi - -BO_ 981 Status_central_locking_CKM: 8 CAS - -BO_ 982 Configuration_DWA_CKM: 8 Kombi - -BO_ 983 Status_DWA_CKM: 8 FZD - -BO_ 984 Configuration_RLS_CKM: 8 Kombi - -BO_ 985 Status_RLS_CKM: 8 FZD - -BO_ 986 Configuration_of_memory_positions_CKM: 8 Kombi - -BO_ 987 Status_memory_positions_CKM: 8 SM_FA - -BO_ 988 Configuration_light_CKM: 8 Kombi - -BO_ 989 Status_light_CKM: 8 FRMFA - -BO_ 990 Configuration_Climate_CKM: 8 CCC - -BO_ 991 Status_Klima_CKM: 8 IHKA - -BO_ 994 Configuration_of_tailgate_CKM: 8 CCC - -BO_ 995 Status_tailgate_CKM: 8 HKL - -BO_ 996 Configuration_rear_view_camera_CKM: 8 CCC - - - - -CM_ SG_ 170 ThrottlelPressed "Active when accelerator pedal pressed or cruise control: drives"; -CM_ SG_ 170 AcceleratorPedalPressed "Active only when driver actually presses the pedal"; -CM_ SG_ 170 AcceleratorPedalPercentage "ToDo Factor to be adjusted"; -CM_ SG_ 404 plus1mph_request "Appears when +1mph/kph stalk is depressed"; -CM_ SG_ 404 minus1mph_request "Appears when -1mph/kph stalk is depressed"; -CM_ SG_ 404 Cancel_request_up_stalk "Appears when cancel stalk (up) is depressed"; -CM_ SG_ 404 Cancel_request_up_or_down_stalk "Appears when cancel stalk (up or down) is depressed"; -CM_ SG_ 404 Resume_request "It appears when resume stalk button is depressed"; -CM_ SG_ 404 Counter_404 "Message is sent at higher rate when cruise stalk is pressed"; - -CM_ SG_ 168 BrakePressed "Brake when driver presses the brake or hill hold"; -CM_ SG_ 168 EngineTorque "Engine torque without inertia - combustion torque"; -CM_ SG_ 168 EngineTorqueWoInterv "Engine torque without inertia and without shift intervention"; -CM_ SG_ 168 ALIV_TORQ_1_DME "Counter TORQ_1"; - -CM_ SG_ 169 ALIV_TORQ_2_DME "Counter TORQ_2"; - -CM_ SG_ 182 TORQ_TAR_DSC "torque target DSC"; - -CM_ SG_ 403 CruiseControlSetpointSpeed "Speed target - unit depends on locale"; -CM_ SG_ 186 GearTar "Values corresponds to forward gears. TBD Add enums for park, reverse"; -CM_ SG_ 466 GearAct "TransmissionDataDisplay"; -CM_ SG_ 414 DSC_full_off "0x4 enabling, 0xA enabled. TBD"; - -CM_ SG_ 416 YawRate "Lateral Acceleration"; - -CM_ SG_ 408 ParkButtonSecond "Redundant buton. 0x1 = pressed;"; -CM_ SG_ 408 SideButton "0x1 = pressed;"; -CM_ SG_ 408 SportButtonPressed "0x1 = pressed;"; -CM_ SG_ 408 M3_button "M3 POWER (?)"; -CM_ SG_ 408 SideButtonXOR11 "Complement value"; -CM_ SG_ 408 param1 "can not be 0x03. Always 0 in 135i."; -CM_ SG_ 408 param5 "Always 0 in 135i."; -CM_ SG_ 408 ParkButtonFirst "0x1 = pressed"; -CM_ SG_ 408 ShifterPosition "0001 = N|R, 0010 = R, 0011 = N|D, 0100 = D, 0101 = -1, 0110 = +1, 0111 = ManualMode, 1000 = inBetween,"; - -CM_ SG_ 466 ShiftLeverMode "On the dashboard, there are displayed: D1...D7 in Normal. S1...S6 in Sport. M1..M7 in Manual"; - -CM_ SG_ 502 TurnSignalIdle "Turn signal off"; -CM_ SG_ 502 TurnSignalActive "Turn signal on or transitioning"; -CM_ SG_ 502 RightTurn "Indicates right blinker or when steering returning right clears left blinker"; -CM_ SG_ 502 LeftTurn "Indicates left blinker or when steering returning left clears right blinker"; -CM_ SG_ 502 HoldActivated "Spikes down if blinker cleared with timeout or turn. Stays off if blinker cleared with stalk"; - -CM_ SG_ 790 setMe_0x3FFF "All ones"; -CM_ SG_ 790 DTC_pressed "Traction control off. Message transmitted when pressed. Few presses may be required followed by off."; - -VAL_ 408 ShifterPosition 1 "D" 2 "S" 3 "N" 4 "R" 5 "P" ; - -VAL_ 464 ST_SW_WAUP 3 "signal invalid" 2 "EGS forced switching active" 1 "engine warm" 0 "warming up" ; -VAL_ 464 ST_ENG_RUN 3 "signal invalid" 2 "engine running" 1 "engine starting" 0 "engine off" ; -VAL_ 464 CTR_SLCK 3 "signal invalid" 2 "requirement Shiftlock" 1 "no requirement Shiftlock" 0 "not allowed" ; - -VAL_ 466 ShiftLeverMode 0 "Normal" 1 "Sport" 2 "Manual" ; -VAL_ 466 ShiftLeverPosition 0 "Off" 1 "P" 2 "R" 4 "N" 8 "D" ; diff --git a/opendbc/cadillac_ct6_chassis.dbc b/opendbc/cadillac_ct6_chassis.dbc deleted file mode 100644 index 9de969d762f9a2..00000000000000 --- a/opendbc/cadillac_ct6_chassis.dbc +++ /dev/null @@ -1,95 +0,0 @@ -VERSION "" - - -NS_ : - NS_DESC_ - CM_ - BA_DEF_ - BA_ - VAL_ - CAT_DEF_ - CAT_ - FILTER - BA_DEF_DEF_ - EV_DATA_ - ENVVAR_DATA_ - SGTYPE_ - SGTYPE_VAL_ - BA_DEF_SGTYPE_ - BA_SGTYPE_ - SIG_TYPE_REF_ - VAL_TABLE_ - SIG_GROUP_ - SIG_VALTYPE_ - SIGTYPE_VALTYPE_ - BO_TX_BU_ - BA_DEF_REL_ - BA_REL_ - BA_DEF_DEF_REL_ - BU_SG_REL_ - BU_EV_REL_ - BU_BO_REL_ - SG_MUL_VAL_ - -BS_: - -BU_: K182_PACM K43_PSCM K17_EBCM NEO K124_ASCM - - - -BO_ 823 PACMParkAssitCmd: 7 NEO - SG_ RollingCounter : 35|2@0+ (1,0) [0|0] "" NEO - SG_ SteeringWheelChecksum : 47|16@0+ (1,0) [0|0] "" NEO - SG_ SteeringWheelCmd : 23|16@0+ (1,0) [0|0] "" NEO - -BO_ 560 EBCMRegen: 6 K17_EBCM - SG_ Regen : 1|10@0+ (1,0) [0|0] "" NEO - -BO_ 338 ASCMLKASteeringCmd: 6 NEO - SG_ LKASteeringCmdActive : 7|1@0+ (1,0) [0|0] "" NEO - SG_ LKASteeringCmd : 5|14@0- (1,0) [0|0] "" NEO - SG_ RollingCounter : 23|2@0+ (1,0) [0|0] "" NEO - SG_ SetMe1 : 21|1@0+ (1,0) [0|0] "" NEO - SG_ LKASVehicleSpeed : 20|13@0+ (0.22,0) [0|0] "kph" NEO - SG_ LKASMode : 36|2@0+ (1,0) [0|0] "" NEO - SG_ LKASteeringCmdChecksum : 33|10@0+ (1,0) [0|0] "" NEO - -BO_ 340 ASCMBLKASteeringCmd: 6 NEO - SG_ LKASteeringCmdActive : 7|1@0+ (1,0) [0|0] "" NEO - SG_ LKASteeringCmd : 5|14@0- (1,0) [0|0] "" NEO - SG_ RollingCounter : 23|2@0+ (1,0) [0|0] "" NEO - SG_ SetMe1 : 21|1@0+ (1,0) [0|0] "" NEO - SG_ LKASVehicleSpeed : 20|13@0+ (0.22,0) [0|0] "kph" NEO - SG_ LKASteeringCmdActive2 : 35|1@0+ (1,0) [0|0] "" NEO - SG_ LKASteeringCmdChecksum : 33|10@0+ (1,0) [0|0] "" NEO - -BO_ 368 EBCMFrictionBrakeStatus: 8 K17_EBCM - SG_ FrictionBrakePressure : 23|16@0+ (1,0) [0|0] "" NEO - -BO_ 789 EBCMFrictionBrakeCmd: 5 K17_EBCM - SG_ RollingCounter : 37|6@0+ (1,0) [0|0] "" NEO - SG_ FrictionBrakeMode : 7|4@0+ (1,0) [0|0] "" NEO - SG_ FrictionBrakeChecksum : 23|16@0+ (1,0) [0|0] "" NEO - SG_ FrictionBrakeCmd : 3|12@0- (1,0) [0|0] "" NEO - -BO_TX_BU_ 823 : K43_PSCM,NEO; -BO_TX_BU_ 789 : NEO,K17_EBCM; - - -CM_ BU_ K182_PACM "Parking Assist Control Module"; -CM_ BU_ K43_PSCM "Power Steering Control Module"; -CM_ BU_ K17_EBCM "Electronic Brake Control Module"; -CM_ BU_ NEO "Comma NEO"; -CM_ BU_ K124_ASCM "Active Safety Control Module"; -BA_DEF_ "UseGMParameterIDs" INT 0 0; -BA_DEF_ "ProtocolType" STRING ; -BA_DEF_ "BusType" STRING ; -BA_DEF_DEF_ "UseGMParameterIDs" 1; -BA_DEF_DEF_ "ProtocolType" "GMLAN"; -BA_DEF_DEF_ "BusType" ""; -BA_ "UseGMParameterIDs" 0; -BA_ "BusType" "CAN"; -BA_ "ProtocolType" "GMLAN"; - -VAL_ 338 LKASteeringCmdActive 1 "Active" 0 "Inactive" ; -VAL_ 338 LKASMode 2 "supercruise" 1 "lkas" 0 "Inactive" ; diff --git a/opendbc/cadillac_ct6_object.dbc b/opendbc/cadillac_ct6_object.dbc deleted file mode 100644 index 3f7cf64cdc131d..00000000000000 --- a/opendbc/cadillac_ct6_object.dbc +++ /dev/null @@ -1,3470 +0,0 @@ -VERSION "" - - -NS_ : - NS_DESC_ - CM_ - BA_DEF_ - BA_ - VAL_ - CAT_DEF_ - CAT_ - FILTER - BA_DEF_DEF_ - EV_DATA_ - ENVVAR_DATA_ - SGTYPE_ - SGTYPE_VAL_ - BA_DEF_SGTYPE_ - BA_SGTYPE_ - SIG_TYPE_REF_ - VAL_TABLE_ - SIG_GROUP_ - SIG_VALTYPE_ - SIGTYPE_VALTYPE_ - BO_TX_BU_ - BA_DEF_REL_ - BA_REL_ - BA_DEF_DEF_REL_ - BU_SG_REL_ - BU_EV_REL_ - BU_BO_REL_ - SG_MUL_VAL_ - -BS_: - -BU_: RRSRR_FO LRSRR_FO CIPM_FO _DOFIMU2_FO _DOFIMU1_FO DMS_FO AMM_FO EOCM2B_IMX6_FO EOCM2B_K2_FO EOCM2B_K1_FO EOCM2A_IMX6_FO EOCM2A_K2_FO EOCM2A_K1_FO NVS_FO Dummy_FO TestTool_FO LRR_FO RFSRR_FO LFSRR_FO RSRR_FO VIS_FO EOCM_F_FO VIS2_FO -VAL_TABLE_ vt_BooleanValues 1 "true" 0 "false" ; -VAL_TABLE_ FrntVsnInPthVehBrkNwSt 10 "Active" 5 "Inactive" ; -VAL_TABLE_ FrntVsnClostPedBrkNwSt 10 "Active" 5 "Inactive" ; -VAL_TABLE_ DrvrMonSysEngSt 7 "Unused and Reserved 1" 6 "Recovering" 5 "Tracking" 4 "Searching" 3 "Video test port only" 2 "Idle" 1 "Invalid state" 0 "Does not exist or DME" ; -VAL_TABLE_ DrvrMonEngUnrecvrFltCod 7 "Unused and Reserved 3" 6 "Unused and Reserved 2" 5 "Unused and Reserved 1" 4 "Vehicle power supply Errors" 3 "Problem with LED illuminators" 2 "Vehicle input signals Errors" 1 "Problem with imager" 0 "Ok" ; -VAL_TABLE_ DrvrMonEngRecvrFltCod 3 "Engine is unable to find a face" 2 "Input Images too dark" 1 "Input images too bright" 0 "Ok" ; -VAL_TABLE_ DrvrMntrSysVTP 1 "Video test port active" 0 "Video test port inactive" ; -VAL_TABLE_ DrvrAttnStatCnfdc 3 "High" 2 "Medium" 1 "Low" 0 "Lowest" ; -VAL_TABLE_ DrvrAttnStat 7 "Invalid" 6 "Driver is exhibiting sleep" 5 "Driver is exhibiting microsleep" 4 "Attention is Center Console" 3 "Attention is Drivers Lap" 2 "Attention is Off Road" 1 "Attention is On Road" 0 "Unknown" ; -VAL_TABLE_ PPSMd 7 "GNSS and RTX and DR and MM" 6 "DR ONLY" 5 "GNSS and RTX and DR" 4 "GNSS and SBAS and DR" 3 "GNSS and DR" 2 "GNSS and RTX" 1 "GNSS and SBAS" 0 "GNSS Standalone" ; -VAL_TABLE_ AdvDrvAstMpPrfShrtAcur 3 "Accuracy Is Unknown" 2 "Lowest Accuracy" 1 "Medium Accuracy" 0 "Highest Accuracy" ; -VAL_TABLE_ AdvDrAstMpStbRtOfWay 3 "Not Applicable" 2 "Unknown" 1 "Sub Path Has Right Of Way Over Path" 0 "Path Has Right Of Way Over Sub Path" ; -VAL_TABLE_ AdvDrAstMpStbPrtCalRut 3 "Not Applicable" 2 "Unknown" 1 "Path From This Point On Is Part Of Calculated Route" 0 "Path From This Point On Is Not Part Of Calculated Route" ; -VAL_TABLE_ AdvDrAstMpStbMsgTyp 7 "Unused and Reserved 2" 6 "Metadata" 5 "Profile Long" 4 "Profile Short" 3 "Stub" 2 "Segment" 1 "Position" 0 "Unused and Reserved 1" ; -VAL_TABLE_ AdvDrAstMpStbFmOfWay 15 "Not Applicable" 14 "Pedestrian Zone" 13 "Entrance To Or Exit To Service" 12 "Entrance To Or Exit Of A Car Park" 11 "Service Road Or Frontage Road" 10 "Slip Road per Ramp" 9 "Slip Road per Ramp On A Freeway Or Controlled Access Road" 8 "Parallel Road" 7 "Unused and Reserved 2" 6 "Unused and Reserved 1" 5 "Traffic Square per Special Traffic Figure" 4 "Roundabout Circle" 3 "Single Carriageway" 2 "Multiple Carriageway Or Multiply Digitized Road" 1 "Freeway Or Controlled Access Road That Is Not A Slip Road Or Ramp" 0 "Unknown" ; -VAL_TABLE_ AdvDrAstMpStbCmplxInsct 3 "Not Applicable" 2 "Unknown" 1 "Stub Is Part Of Complex Intersection" 0 "Stub Is Not Part Of Complex Intersection" ; -VAL_TABLE_ AdvDrAstMpSegTunl 3 "Not Applicable" 2 "Unknown" 1 "Segment Is Part Of Tunnel" 0 "Segment Is Not A Part Of Tunnel" ; -VAL_TABLE_ AdvDrAstMpSegPrtCalRut 3 "Not Applicable" 2 "Unknown" 1 "Segment Is Part Of Calculated Route" 0 "Segment Is Not Part Of Calculated Route" ; -VAL_TABLE_ AdvDrAstMpSegMsgTyp 7 "Unused and Reserved 2" 6 "Metadata" 5 "Profile Long" 4 "Profile Short" 3 "Stub" 2 "Segment" 1 "Position" 0 "Unused and Reserved 1" ; -VAL_TABLE_ AdvDrAstMpSegFrmOfWay 15 "Not Applicable" 14 "Pedestrian Zone" 13 "Entrance To Or Exit To Service" 12 "Entrance To Or Exit Of A Car Park" 11 "Service Road Or Frontage Road" 10 "Slip Road per Ramp" 9 "Slip Road per Ramp On A Freeway Or Controlled Access Road" 8 "Parallel Road" 7 "Unused and Reserved 2" 6 "Unused and Reserved 1" 5 "Traffic Square per Special Traffic Figure" 4 "Roundabout Circle" 3 "Single Carriageway" 2 "Multiple Carriageway Or Multiply Digitized Road" 1 "Freeway Or Controlled Access Road That Is Not A Slip Road or Ramp" 0 "Unknown" ; -VAL_TABLE_ AdvDrAstMpSegEffSdLmtTp 7 "Not Applicable" 6 "Explicit Snow" 5 "Explicit Rain" 4 "Explicit Time Of Day" 3 "Explicit By Day" 2 "Explicit By Night" 1 "Explicit On Traffic Sign" 0 "Implicit" ; -VAL_TABLE_ AdvDrAstMpSegDivdRd 3 "Not Applicable" 2 "Unknown" 1 "Segment Is Part Of Divided Road" 0 "Segment Is Not Part Of Divided Road" ; -VAL_TABLE_ AdvDrAstMpSegCmplxInsct 3 "Not Applicable" 2 "Unknown" 1 "Segment Is Part Of Complex Intersection" 0 "Segment Is Not Part Of Complex Intersection" ; -VAL_TABLE_ AdvDrAstMpSegBrdg 3 "Not Applicable" 2 "Unknown" 1 "Segment Is Part Of Bridge" 0 "Segment Not Part Of Bridge" ; -VAL_TABLE_ AdvDrAstMpSegBldUpAra 3 "Not Applicable" 2 "Unknown" 1 "Segment Is Part Of Built Up Area" 0 "Segment Is Not Part Of Built Up Area" ; -VAL_TABLE_ AdvDrAstMpMtdtSpdUnt 1 "Miles Per Hour" 0 "Kilometers Per Hour" ; -VAL_TABLE_ AdvDrAstMpMtdtDrvSd 1 "Driving Side Right" 0 "Driving Side Left" ; -VAL_TABLE_ WSMR_WiFiAssnReq 3 "Unexpected Undefined Connection Behavior" 2 "Wi Fi association failed with available credentials" 1 "Failed to receive Wi Fi credentials after 255 attempts" 0 "SSID and Passphrase Request" ; -VAL_TABLE_ StrgColCommsFlt 2 "Disabled Communications DTC" 1 "No Communications Fault" 0 "Communications Fault" ; -VAL_TABLE_ CPMAPINFO4 1 "Hardware Or Software Error" 0 "No Hardware Or Software Error" ; -VAL_TABLE_ AdvDrvAstMpPrfShrt2Acur 3 "Accuracy Is Unknown" 2 "Lowest Accuracy" 1 "Medium Accuracy" 0 "Highest Accuracy" ; -VAL_TABLE_ InterLghtStat 1 "Interior Lights On" 0 "Interior Light Off" ; -VAL_TABLE_ VehLnStatConf 2 "High Confidence" 1 "Low Confidence" 0 "No Confidence" 3 "Very High Confidence" ; -VAL_TABLE_ VehLnStat 3 "Lane Change To Right" 2 "Lane Change To Left" 1 "Staying in Lane" 0 "Unknown" ; -VAL_TABLE_ HrznPrvdRstRq 1 "Reset Not Required" 0 "Reset Required" ; -VAL_TABLE_ ExptNxtTrnstnDirConf 3 "Very High Confidence" 2 "High Confidence" 1 "Low Confidence" 0 "No Confidence" ; -VAL_TABLE_ ExptNxtTrnstnDir 7 "Reserved4" 6 "Reserved3" 5 "Reserved2" 4 "Reserved1" 3 "Traversing Middle Transition" 2 "Traversing Next Transition Right" 1 "Traversing Next Transition Left" 0 "Unknown" ; -VAL_TABLE_ ADASISMsgTypRetrans 7 "GM System Specific" 6 "Meta Data" 5 "Profile Long" 4 "Profile Short" 3 "Stub" 2 "Segment" 1 "Position" 0 "Checksum" ; -VAL_TABLE_ NVSysStat 7 "Needs Headlights" 6 "Temporarily Unavailable" 5 "Not Dark" 4 "Needs Service" 3 "Active" 2 "Inactive" 1 "Initializing" 0 "Unknown" ; -VAL_TABLE_ NVSysPedWrnIndReq 3 "Unused & Reserved" 2 "Pedestrian Alert" 1 "Pedestrian Detected" 0 "None" ; -VAL_TABLE_ NVSysPedDetCstReq 2 "On" 1 "Off" 0 "No Value" ; -VAL_TABLE_ NVSysPedDetCsCrStVal 2 "On" 1 "Off" 0 "No Value" ; -VAL_TABLE_ FwVsnCinCoutPotT9Rev 2 "Right" 1 "Left" 0 "None" ; -VAL_TABLE_ FwVsnCinCoutPotT8Rev 2 "Right" 1 "Left" 0 "None" ; -VAL_TABLE_ FwVsnCinCoutPotT7Rev 2 "Right" 1 "Left" 0 "None" ; -VAL_TABLE_ FwVsnCinCoutPotT6Rev 2 "Right" 1 "Left" 0 "None" ; -VAL_TABLE_ FwVsnCinCoutPotT5Rev 2 "Right" 1 "Left" 0 "None" ; -VAL_TABLE_ FwVsnCinCoutPotT4Rev 2 "Right" 1 "Left" 0 "None" ; -VAL_TABLE_ FwVsnCinCoutPotT3Rev 2 "Right" 1 "Left" 0 "None" ; -VAL_TABLE_ FwVsnCinCoutPotT2Rev 2 "Right" 1 "Left" 0 "None" ; -VAL_TABLE_ FwVsnCinCoutPotT1Rev 2 "Right" 1 "Left" 0 "None" ; -VAL_TABLE_ FwVsnCinCoutPotT12Rev 2 "Right" 1 "Left" 0 "None" ; -VAL_TABLE_ FwVsnCinCoutPotT11Rev 2 "Right" 1 "Left" 0 "None" ; -VAL_TABLE_ FwVsnCinCoutPotT10Rev 2 "Right" 1 "Left" 0 "None" ; -VAL_TABLE_ GFHBObjDirTrk8 1 "Ahead Traffic" 0 "Incoming Traffic" ; -VAL_TABLE_ GFHBObjDirTrk7 1 "Ahead Traffic" 0 "Incoming Traffic" ; -VAL_TABLE_ GFHBObjDirTrk6 1 "Ahead Traffic" 0 "Incoming Traffic" ; -VAL_TABLE_ GFHBObjDirTrk5 1 "Ahead Traffic" 0 "Incoming Traffic" ; -VAL_TABLE_ GFHBObjDirTrk4 1 "Ahead Traffic" 0 "Incoming Traffic" ; -VAL_TABLE_ GFHBObjDirTrk3 1 "Ahead Traffic" 0 "Incoming Traffic" ; -VAL_TABLE_ GFHBObjDirTrk2 1 "Ahead Traffic" 0 "Incoming Traffic" ; -VAL_TABLE_ GFHBObjDirTrk1 1 "Ahead Traffic" 0 "Incoming Traffic" ; -VAL_TABLE_ GFHBFwVsnRelLaneTrk8 3 "Left Lane" 2 "Right Lane" 1 "Host Lane" 0 "Unknown" ; -VAL_TABLE_ GFHBFwVsnRelLaneTrk7 3 "Left Lane" 2 "Right Lane" 1 "Host Lane" 0 "Unknown" ; -VAL_TABLE_ GFHBFwVsnRelLaneTrk6 3 "Left Lane" 2 "Right Lane" 1 "Host Lane" 0 "Unknown" ; -VAL_TABLE_ GFHBFwVsnRelLaneTrk5 3 "Left Lane" 2 "Right Lane" 1 "Host Lane" 0 "Unknown" ; -VAL_TABLE_ GFHBFwVsnRelLaneTrk4 3 "Left Lane" 2 "Right Lane" 1 "Host Lane" 0 "Unknown" ; -VAL_TABLE_ GFHBFwVsnRelLaneTrk3 3 "Left Lane" 2 "Right Lane" 1 "Host Lane" 0 "Unknown" ; -VAL_TABLE_ GFHBFwVsnRelLaneTrk2 3 "Left Lane" 2 "Right Lane" 1 "Host Lane" 0 "Unknown" ; -VAL_TABLE_ GFHBFwVsnRelLaneTrk1 3 "Left Lane" 2 "Right Lane" 1 "Host Lane" 0 "Unknown" ; -VAL_TABLE_ GFHBFwVsnMesStatTrk8 3 "Measured this cycle" 2 "Latent track not detected this cycle" 1 "New Object" 0 "No Object" ; -VAL_TABLE_ GFHBFwVsnMesStatTrk7 3 "Measured this cycle" 2 "Latent track not detected this cycle" 1 "New Object" 0 "No Object" ; -VAL_TABLE_ GFHBFwVsnMesStatTrk6 3 "Measured this cycle" 2 "Latent track not detected this cycle" 1 "New Object" 0 "No Object" ; -VAL_TABLE_ GFHBFwVsnMesStatTrk5 3 "Measured this cycle" 2 "Latent track not detected this cycle" 1 "New Object" 0 "No Object" ; -VAL_TABLE_ GFHBFwVsnMesStatTrk4 3 "Measured this cycle" 2 "Latent track not detected this cycle" 1 "New Object" 0 "No Object" ; -VAL_TABLE_ GFHBFwVsnMesStatTrk3 3 "Measured this cycle" 2 "Latent track not detected this cycle" 1 "New Object" 0 "No Object" ; -VAL_TABLE_ GFHBFwVsnMesStatTrk2 3 "Measured this cycle" 2 "Latent track not detected this cycle" 1 "New Object" 0 "No Object" ; -VAL_TABLE_ GFHBFwVsnMesStatTrk1 3 "Measured this cycle" 2 "Latent track not detected this cycle" 1 "New Object" 0 "No Object" ; -VAL_TABLE_ GFHBFwVsnCnfdncTrk8 3 "Confident" 2 "Speculative" 1 "Highly Speculative" 0 "Invalid" ; -VAL_TABLE_ GFHBFwVsnCnfdncTrk7 3 "Confident" 2 "Speculative" 1 "Highly Speculative" 0 "Invalid" ; -VAL_TABLE_ GFHBFwVsnCnfdncTrk6 3 "Confident" 2 "Speculative" 1 "Highly Speculative" 0 "Invalid" ; -VAL_TABLE_ GFHBFwVsnCnfdncTrk5 3 "Confident" 2 "Speculative" 1 "Highly Speculative" 0 "Invalid" ; -VAL_TABLE_ GFHBFwVsnCnfdncTrk4 3 "Confident" 2 "Speculative" 1 "Highly Speculative" 0 "Invalid" ; -VAL_TABLE_ GFHBFwVsnCnfdncTrk3 3 "Confident" 2 "Speculative" 1 "Highly Speculative" 0 "Invalid" ; -VAL_TABLE_ GFHBFwVsnCnfdncTrk2 3 "Confident" 2 "Speculative" 1 "Highly Speculative" 0 "Invalid" ; -VAL_TABLE_ GFHBFwVsnCnfdncTrk1 0 "Invalid" 3 "Confident" 2 "Speculative" 1 "Highly Speculative" ; -VAL_TABLE_ GFHBFVsnObjTypTrkRev8 12 "Cluster Object" 11 "Child Close to Danger Zone" 10 "Pedestrian Moving Out of Danger Zone" 9 "Pedestrian Moving Into Danger Zone" 8 "Pedestrian Standing Outside Danger Zone" 7 "No Object Present" 6 "Fixed Roadside Object" 5 "Fixed Overhead Object" 4 "Pedestrian" 3 "Motorcycle/ Bicycle" 2 "Large Vehicle (Semi)" 1 "4 Wheel Vehicle (Car)" 0 "Unknown" ; -VAL_TABLE_ GFHBFVsnObjTypTrkRev7 12 "Cluster Object" 11 "Child Close to Danger Zone" 10 "Pedestrian Moving Out of Danger Zone" 9 "Pedestrian Moving Into Danger Zone" 8 "Pedestrian Standing Outside Danger Zone" 7 "No Object Present" 6 "Fixed Roadside Object" 5 "Fixed Overhead Object" 4 "Pedestrian" 3 "Motorcycle/ Bicycle" 2 "Large Vehicle (Semi)" 1 "4 Wheel Vehicle (Car)" 0 "Unknown" ; -VAL_TABLE_ GFHBFVsnObjTypTrkRev6 12 "Cluster Object" 11 "Child Close to Danger Zone" 10 "Pedestrian Moving Out of Danger Zone" 9 "Pedestrian Moving Into Danger Zone" 8 "Pedestrian Standing Outside Danger Zone" 7 "No Object Present" 6 "Fixed Roadside Object" 5 "Fixed Overhead Object" 4 "Pedestrian" 3 "Motorcycle/ Bicycle" 2 "Large Vehicle (Semi)" 1 "4 Wheel Vehicle (Car)" 0 "Unknown" ; -VAL_TABLE_ GFHBFVsnObjTypTrkRev5 12 "Cluster Object" 11 "Child Close to Danger Zone" 10 "Pedestrian Moving Out of Danger Zone" 9 "Pedestrian Moving Into Danger Zone" 8 "Pedestrian Standing Outside Danger Zone" 7 "No Object Present" 6 "Fixed Roadside Object" 5 "Fixed Overhead Object" 4 "Pedestrian" 3 "Motorcycle/ Bicycle" 2 "Large Vehicle (Semi)" 1 "4 Wheel Vehicle (Car)" 0 "Unknown" ; -VAL_TABLE_ GFHBFVsnObjTypTrkRev4 12 "Cluster Object" 11 "Child Close to Danger Zone" 10 "Pedestrian Moving Out of Danger Zone" 9 "Pedestrian Moving Into Danger Zone" 8 "Pedestrian Standing Outside Danger Zone" 7 "No Object Present" 6 "Fixed Roadside Object" 5 "Fixed Overhead Object" 4 "Pedestrian" 3 "Motorcycle/ Bicycle" 2 "Large Vehicle (Semi)" 1 "4 Wheel Vehicle (Car)" 0 "Unknown" ; -VAL_TABLE_ GFHBFVsnObjTypTrkRev3 12 "Cluster Object" 11 "Child Close to Danger Zone" 10 "Pedestrian Moving Out of Danger Zone" 9 "Pedestrian Moving Into Danger Zone" 8 "Pedestrian Standing Outside Danger Zone" 7 "No Object Present" 6 "Fixed Roadside Object" 5 "Fixed Overhead Object" 4 "Pedestrian" 3 "Motorcycle/ Bicycle" 2 "Large Vehicle (Semi)" 1 "4 Wheel Vehicle (Car)" 0 "Unknown" ; -VAL_TABLE_ GFHBFVsnObjTypTrkRev2 12 "Cluster Object" 11 "Child Close to Danger Zone" 10 "Pedestrian Moving Out of Danger Zone" 9 "Pedestrian Moving Into Danger Zone" 8 "Pedestrian Standing Outside Danger Zone" 7 "No Object Present" 6 "Fixed Roadside Object" 5 "Fixed Overhead Object" 4 "Pedestrian" 3 "Motorcycle/ Bicycle" 2 "Large Vehicle (Semi)" 1 "4 Wheel Vehicle (Car)" 0 "Unknown" ; -VAL_TABLE_ GFHBFVsnObjTypTrkRev1 12 "Cluster Object" 11 "Child Close to Danger Zone" 10 "Pedestrian Moving Out of Danger Zone" 9 "Pedestrian Moving Into Danger Zone" 8 "Pedestrian Standing Outside Danger Zone" 7 "No Object Present" 6 "Fixed Roadside Object" 5 "Fixed Overhead Object" 4 "Pedestrian" 3 "Motorcycle/ Bicycle" 2 "Large Vehicle (Semi)" 1 "4 Wheel Vehicle (Car" 0 "Unknown" ; -VAL_TABLE_ CRL_Cnfdnc 7 "Reserved4" 6 "Reserved3" 5 "Reserved2" 4 "Reserved1" 3 "Best" 2 "Marking Present" 1 "Weak Marking" 0 "No Lane" ; -VAL_TABLE_ CLL_Cnfdnc 7 "Reserved4" 6 "Reserved3" 5 "Reserved2" 4 "Reserved1" 3 "Best" 2 "Marking Present" 1 "Weak Marking" 0 "No Lane" ; -VAL_TABLE_ VBBrkCtrlSt 4 "Release Control" 3 "Hold Vehicle" 2 "Apply Brake" 1 "Decrease Torque" 0 "No Action" ; -VAL_TABLE_ ObstacleType 6 "NO_OBJECT" 5 "OBJ_GUARDRAIL" 4 "OBJ_TUNNEL " 3 "OBJ_TRAFFIC_SIGN" 2 "OBJ_VEHICLE" 1 "OBJ_BRIDGE " 0 "OBJ_UNKNOWN" ; -VAL_TABLE_ VpathMode 2 "Mid Hi Speed" 1 "Low Speed" 0 "Disabled" ; -VAL_TABLE_ LaneChngStatus 2 "Lane Change Right" 1 "Lane Change Left" 0 "Idle" ; -VAL_TABLE_ TravelDirection 3 "Other (excessive side slip)" 2 "reverse / stopped in rvrs gear" 1 "Forward / stopped in frwd gear" 0 "Unknown" ; -VAL_TABLE_ TrueOrFalse 1 "true" 0 "false" ; -VAL_TABLE_ ModeCommand 5 "Sensing with Reduced Power" 4 "Undefined" 3 "Radio Silent" 2 "Sensing" 1 "Not Sensing" 0 "Undefined" ; -VAL_TABLE_ LaneSnsLLnPosValid 1 "Invalid" 0 "Valid" ; -VAL_TABLE_ LnSnsRLnPosValid 1 "Invalid" 0 "Valid" ; -VAL_TABLE_ Elevation 3 "Low " 2 "mid (reserved)" 1 "high " 0 "Unknown" ; -VAL_TABLE_ ModeCommandFdbk 5 "Sensing with reduced power" 4 "Undefined" 3 "Radio Silent" 2 "Sensing" 1 "Not Sensing" 0 "Undefined" ; -VAL_TABLE_ relativeLane 3 "Left Lane" 2 "Right Lane" 1 "Host Lane" 0 "Unknown" ; -VAL_TABLE_ RoadTypeInfo 5 "Constiction Zone Exit" 4 "Construction Zone Entry" 3 "Highway" 2 "Secondary Road" 1 "City" 0 "Unknown" ; -VAL_TABLE_ ObjectLossInfo 2 "elevation conditions" 1 "tight curve" 0 "not lost" ; -VAL_TABLE_ MeasurementStatus 3 "Measured this cycle" 2 "Latent track not detctd this cyc" 1 "New Object" 0 "No Object" ; -VAL_TABLE_ ObjectType 7 "no object present" 6 "fixed roadside object" 5 "fixed overhead object" 4 "pedestrian" 3 "motocycle / bicycle" 2 "Large vehicle (semi)" 1 "4 Wheel Vehicle (car, small trk)" 0 "Unknown" ; -VAL_TABLE_ Confidence 3 "confident" 2 "speculative" 1 "highly speculative" 0 "invalid" ; -VAL_TABLE_ DynamicProp 4 "Moving in opposite direction" 3 "Moving in same direction as host" 2 "Has moved but currently stopped" 1 "Has never moved" 0 "Unknown" ; -VAL_TABLE_ DrvWndPosSt 6 "Fully Opened" 5 "Open More Than C" 4 "Position C" 3 "Position B" 2 "Position A" 1 "Open Less Than A" 0 "Fully Closed" ; -VAL_TABLE_ VehMovSta 4 "Invalid" 3 "Reverse" 2 "Forward" 1 "Neutral" 0 "Parked" ; -VAL_TABLE_ OtsdAmbtLtLvlStat 2 "Day" 1 "Night" 0 "Unknown" ; -VAL_TABLE_ RtTrnLmpAtv 2 "On with telltale" 1 "On without telltale" 0 "Off" ; -VAL_TABLE_ LftTrnLmpAtv 2 "On with telltale" 1 "On without telltale" 0 "Off" ; -VAL_TABLE_ HdlmpBmSelectStat 2 "High Beams" 1 "Low Beams" 0 "Unknown" ; -VAL_TABLE_ DTCI_DTCFaultType 3 "Type C" 2 "Type B" 1 "Type A" 0 "Not Supported" ; -VAL_TABLE_ TrnsShftLvrPos 13 "Forward Range J" 12 "Forward Range I" 15 "Lever Position Unknown" 11 "Forward Range H" 10 "Forward Range G" 9 "Forward Range F" 8 "Forward Range E" 7 "Forward Range D" 6 "Forward Range C" 5 "Forward Range B" 4 "Forward Range A" 3 "Neutral Range" 2 "Reverse Range" 1 "Park Range" 0 "Between Ranges" ; -VAL_TABLE_ SysPwrMd 3 "Crank Request" 2 "Run" 1 "Accessory" 0 "Off" ; -VAL_TABLE_ ValidityStates 1 "Invalid" 0 "Valid" ; - - -BO_ 1548 ADAS_Profile_Short2_FO: 8 AMM_FO - SG_ AdvDrvAstMpPrfShrt2Val1 : 1|10@0+ (1,0) [0|1023] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ AdvDrvAstMpPrfShrt2Val0 : 33|10@0+ (1,0) [0|1023] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ AdvDrvAstMpPrfShrt2Updt : 39|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ AdvDrvAstMpPrfShrt2RTrns : 3|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ AdvDrvAstMpPrfShrt2Typ : 38|5@0+ (1,0) [0|31] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ AdvDrvAstMpPrfShrt2PthIdx : 23|6@0+ (1,0) [0|63] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ AdvDrvAstMpPrfShrt2Ofst : 52|13@0+ (1,0) [0|8191] "m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ AdvDrvAstMpPrfShrt2MsgTp : 55|3@0+ (1,0) [0|7] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ AdvDrvAstMpPrfShrt2Dist1 : 17|10@0+ (1,0) [0|1023] "m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ AdvDrvAstMpPrfShrt2CycCnt : 7|2@0+ (1,0) [0|3] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ AdvDrvAstMpPrfShrt2CtlPt : 2|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ AdvDrvAstMpPrfShrt2Acur : 5|2@0+ (1,0) [0|3] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - -BO_ 1547 ADAS_Profile_Long2_FO: 8 AMM_FO - SG_ AdvDrAstMpProfLng2Val : 39|32@0+ (1,0) [0|4294967295] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ AdvDrAstMpPrfLng2Updt : 7|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ AdvDrAstMpPrfLng2RTrns : 6|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ AdvDrAstMpPrfLng2PrfTyp : 4|5@0+ (1,0) [0|31] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ AdvDrAstMpPrfLng2PthIdx : 13|6@0+ (1,0) [0|63] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ AdvDrAstMpPrfLng2Ofst : 20|13@0+ (1,0) [0|8191] "m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ AdvDrAstMpPrfLng2MgTyp : 23|3@0+ (1,0) [0|7] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ AdvDrAstMpPrfLng2CycCt : 15|2@0+ (1,0) [0|3] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ AdvDrAstMpPrfLng2CtrlPt : 5|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - -BO_ 1630 USDT_Resp_From_EOCM2B_K2_FO: 8 EOCM2B_K2_FO - SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO - -BO_ 1374 UUDT_Resp_From_EOCM2B_K2_FO: 8 EOCM2B_K2_FO - SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO - -BO_ 606 USDT_Req_to_EOCM2B_K2_FO: 8 TestTool_FO - SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" EOCM2B_K2_FO - -BO_ 328 Vehicle_Info_FO: 5 EOCM2A_K1_FO - SG_ StrWhAngGrd : 27|12@0- (1,0) [-2048|2047] "deg/sec" DMS_FO - SG_ TrnsShftLvrPos : 31|4@0+ (1,0) [0|15] "" DMS_FO - SG_ StrWhAng_148 : 15|16@0- (0.0625,0) [-2048|2047.9375] "deg" DMS_FO - SG_ TrnsShftLvrPosV : 3|1@0+ (1,0) [0|1] "" DMS_FO - SG_ StrWhAngV_148 : 4|1@0+ (1,0) [0|1] "" DMS_FO - SG_ StrWhAngMsk_148 : 5|1@0+ (1,0) [0|1] "" DMS_FO - SG_ StrWhAngGrdV : 6|1@0+ (1,0) [0|1] "" DMS_FO - SG_ StrWhAngGrdMsk : 7|1@0+ (1,0) [0|1] "" DMS_FO - -BO_ 1930 DTC_Triggered_78A_FO: 7 LRSRR_FO - SG_ DTCI_CodeSupported_78A : 40|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_CurrentStatus_78A : 41|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_DTCFailType_78A : 39|8@0+ (1,0) [0|255] "" TestTool_FO - SG_ DTCI_DTCFaultType_78A : 55|8@0+ (1,0) [0|255] "" TestTool_FO - SG_ DTCI_DTCNumber_78A : 23|16@0+ (1,0) [0|65535] "" TestTool_FO - SG_ DTCI_DTCSource_78A : 15|8@0+ (1,0) [0|255] "" TestTool_FO - SG_ DTCI_DTCTriggered_78A : 0|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_HistStat_78A : 44|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_TstFldCdClrdStat_78A : 43|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_TstFldPwrUpSt_78A : 46|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_TstNPsdCdClrdSt_78A : 42|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_TstNPsdPwrUpSt_78A : 45|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCIUnused1_78A : 7|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCIUnused2_78A : 6|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCIUnused3_78A : 5|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCIUnused4_78A : 4|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCIUnused5_78A : 3|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCIUnused6_78A : 2|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCIUnused7_78A : 1|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_WrnIndRqdSt_78A : 47|1@0+ (1,0) [0|1] "" TestTool_FO - -BO_ 1624 USDT_Resp_From_LRSRR: 8 LRSRR_FO - SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO - -BO_ 1368 UUDT_Resp_From_LRSRR: 8 LRSRR_FO - SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO - -BO_ 600 USDT_Req_to_LRSRR: 8 TestTool_FO - SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" LRSRR_FO - -BO_ 613 PPS_QualMetrics_FO: 8 EOCM2A_K1_FO - SG_ PPSPstnDilPrcs : 47|10@0+ (0.1,0) [0|102.3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO - SG_ PPSMd : 53|3@0+ (1,0) [0|7] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO - SG_ PPS3DAbsPosErrEstmt : 9|10@0+ (0.1,0) [0|102.3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO - SG_ PPSAbsHdngErrEstmt : 0|7@0+ (0.5,0) [0|63.5] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO - SG_ PPSAbsVelErrEstmt : 30|5@0+ (1,0) [0|31] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO - SG_ PPSPosQltyMtrcsChksm : 50|11@0+ (1,0) [0|2047] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO - SG_ PPS2DAbsPosErrEstmt : 25|10@0+ (0.1,0) [0|102.3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO - SG_ PPSPosQltyMtcBrstID : 2|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO - SG_ PPS2DAbsPosErrEstmtV : 5|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO - SG_ PPS3DAbsPosErrEstmtV : 4|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO - SG_ PPSAbsHdngErrEstmtV : 3|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO - SG_ PPSAbsVelErrEstmtV : 31|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO - SG_ PPSMdV : 7|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO - SG_ PPSPstnDilPrcsV : 6|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO - -BO_ 612 PPS_Time_FO: 8 EOCM2A_K1_FO - SG_ PPSTmdayV : 2|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO - SG_ PPSCldrDayV : 0|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO - SG_ PPSCldrDay : 8|9@0+ (1,0) [0|511] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO - SG_ PPSTmBrstID : 52|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO - SG_ PPSTmday : 31|27@0+ (1,0) [0|134217727] "ms" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO - SG_ PPSTmChksm : 50|11@0+ (1,0) [0|2047] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO - SG_ PPSCldrYrV : 1|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO - SG_ PPSCldrYr : 15|7@0+ (1,2014) [2014|2141] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO - -BO_ 611 PPS_SigAcqTime_FO: 6 EOCM2A_K1_FO - SG_ PPSSigAqTmBrstID : 38|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO - SG_ PPSSigAcqTmV : 39|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO - SG_ PPSSigAcqTm : 7|32@0+ (1,0) [0|4294967295] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO - SG_ PPSSigAqTmChksm : 34|11@0+ (1,0) [0|2047] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO - -BO_ 610 PPS_PosLong_FO: 6 EOCM2A_K1_FO - SG_ PPSLongBrstID : 39|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO - SG_ PPSLong : 6|31@0- (1,0) [-1073741824|1073741823] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO - SG_ PPSLongV : 7|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO - SG_ PPSLongChksm : 34|11@0+ (1,0) [0|2047] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO - -BO_ 609 PPS_PosLat_FO: 6 EOCM2A_K1_FO - SG_ PPSLatV : 7|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO - SG_ PPSLatChksm : 34|11@0+ (1,0) [0|2047] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO - SG_ PPSLatBrstID : 36|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO - SG_ PPSLat : 5|30@0- (1,0) [-536870912|536870911] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO - -BO_ 1160 PassPhrase_3_AMM_FO: 8 EOCM2A_K1_FO - SG_ WiFiPssPhrsDgts17to24_Mp : 7|64@0+ (1,0) [0|0] "" EOCM2B_K1_FO,AMM_FO - -BO_ 1159 PassPhrase_2_AMM_FO: 8 EOCM2A_K1_FO - SG_ WiFiPssPhrsDgts9to16_Mp : 7|64@0+ (1,0) [0|0] "" EOCM2B_K1_FO,AMM_FO - -BO_ 1158 PassPhrase_1_AMM_FO: 8 EOCM2A_K1_FO - SG_ WiFiPssPhrsDgts1to8_Mp : 7|64@0+ (1,0) [0|0] "" EOCM2B_K1_FO,AMM_FO - -BO_ 1546 ADAS_Protection_FO: 4 AMM_FO - SG_ AdvDrAstMpPrfLng2Avbl : 11|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ AdvDrAstMpPosAvbl : 15|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ AdvDrvAstMpHwFlt : 7|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ AdvDrAstMpMtdtAvbl : 8|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ AdvDrAstMpProtChksm : 23|16@0+ (1,0) [0|65535] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ AdvDrAstMpProtRTrns : 0|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ AdvDrAstMpProtCycCtMsg : 2|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ AdvDrAstMpStbAvbl : 9|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ AdvDrAstMpSegAvbl : 10|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ AdvDrAstMpPrfShrtAvbl : 14|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ AdvDrAstMpPrfShrt2Avbl : 13|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ AdvDrAstMpPrfLngAvbl : 12|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ AdvDrvAstMpInpSigFld : 6|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - -BO_ 1545 ADAS_Metadata_FO: 8 AMM_FO - SG_ AdvDrAstMpMtdtVerYrQtr : 60|2@0+ (1,1) [1|4] "Qtr" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ AdvDrAstMpMtdtVerYr : 53|6@0+ (1,2000) [2000|2063] "Year" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ AdvDrAstMpMtdtSpdUnt : 39|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ AdvDrAstMpMtdtPrvdr : 7|3@0+ (1,0) [0|7] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ AdvDrAstMpMtdtMsgTyp : 58|3@0+ (1,0) [0|7] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ AdvDrAstMpMtdtMnrPrtVr : 23|4@0+ (1,0) [0|15] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ AdvDrAstMpMtdtCycCnt : 18|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ AdvDrAstMpMtdtRgnCd : 38|15@0+ (1,0) [0|32767] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ AdvDrAstMpMtdtHwVer : 16|9@0+ (1,0) [0|511] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ AdvDrAstMpMtdtMnrPrtSbVr : 4|3@0+ (1,0) [0|7] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ AdvDrAstMpMtdtMjrPrtVr : 55|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ AdvDrAstMpMtdtDrvSd : 19|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ AdvDrAstMpMtdtCntryCd : 1|10@0+ (1,0) [0|1023] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - -BO_ 1543 ADAS_Profile_Long_FO: 8 AMM_FO - SG_ AdvDrAstMpPrfLngUpdt : 7|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ AdvDrAstMpPrfLngRTrns : 6|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ AdvDrAstMpPrfLngCtlPt : 5|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ AdvDrAstMpPrfLngTyp : 4|5@0+ (1,0) [0|31] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ AdvDrAstMpPrfLngCycCt : 15|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ AdvDrAstMpPrfLngPthIdx : 13|6@0+ (1,0) [0|63] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ AdvDrAstMpPrfLngMsgTp : 23|3@0+ (1,0) [0|7] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ AdvDrAstMpPrfLngOfst : 20|13@0+ (1,0) [0|8191] "m" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ AdvDrAstMpPrfLngVal : 39|32@0+ (1,0) [0|4294967295] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - -BO_ 1544 ADAS_Profile_Short_FO: 8 AMM_FO - SG_ AdvDrvAstMpPrfShrtVal1 : 1|10@0+ (1,0) [0|1023] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ AdvDrvAstMpPrfShrtVal0 : 33|10@0+ (1,0) [0|1023] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ AdvDrvAstMpPrfShrtDist1 : 17|10@0+ (1,0) [0|1023] "m" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ AdvDrvAstMpPrfShrtCycCnt : 7|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ AdvDrvAstMpPrfShrtAcur : 5|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ AdvDrvAstMpPrfShrtCtlPt : 2|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ AdvDrvAstMpPrfShrtRetr : 3|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ AdvDrvAstMpPrfShrtTyp : 38|5@0+ (1,0) [0|31] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ AdvDrvAstMpPrfShrtUpdt : 39|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ AdvDrvAstMpPrfShrtPthIdx : 23|6@0+ (1,0) [0|63] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ AdvDrvAstMpPrfShrtMsgTp : 55|3@0+ (1,0) [0|7] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ AdvDrvAstMpPrfShrtOfst : 52|13@0+ (1,0) [0|8191] "m" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - -BO_ 1542 ADAS_Stub_FO: 8 AMM_FO - SG_ AdvDrAstMpStbSubPthIdx : 63|6@0+ (1,0) [0|63] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ AdvDrAstMpStbUpdt : 55|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ AdvDrAstMpStbPrtCalRut : 57|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ AdvDrAstMpStbNmLnDrvDir : 54|3@0+ (1,0) [0|7] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ AdvDrAstMpStbCycCnt : 51|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ AdvDrAstMpStbCmplxInsct : 49|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ AdvDrAstMpStbTrnAngl : 47|8@0+ (1.417,0) [0|361.335] "deg" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ AdvDrAstMpStbRtOfWay : 38|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ AdvDrAstMpStbRelProb : 36|5@0+ (3.333,0) [0|103.323] "%" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ AdvDrAstMpStbRetr : 39|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ AdvDrAstMpStbNmLnOppDir : 31|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ AdvDrAstMpStbPathIdx : 29|6@0+ (1,0) [0|63] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ AdvDrAstMpStbLstStbOfst : 23|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ AdvDrAstMpStbMsgTyp : 22|3@0+ (1,0) [0|7] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ AdvDrAstMpStbFmOfWay : 19|4@0+ (1,0) [0|15] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ AdvDrAstMpStbFuncRdCls : 7|3@0+ (1,0) [0|7] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ AdvDrAstMpStbOfst : 4|13@0+ (1,0) [0|8191] "m" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - -BO_ 1541 ADAS_Segment_FO: 8 AMM_FO - SG_ AdvDrAstMpSegRelProb : 12|5@0+ (3.333,0) [0|103.323] "%" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ AdvDrAstMpSegUpdt : 0|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ AdvDrAstMpSegTunl : 25|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ AdvDrAstMpSegCycCnt : 39|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ AdvDrAstMpSegCmplxInsct : 37|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ AdvDrAstMpSegBldUpAra : 43|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ AdvDrAstMpSegBrdg : 41|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ AdvDrAstMpSegRTrns : 1|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ AdvDrAstMpSegDivdRd : 31|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ AdvDrAstMpSegPthIdx : 7|6@0+ (1,0) [0|63] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ AdvDrAstMpSegPrtCalRut : 27|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ AdvDrAstMpSegNmLnOppDir : 29|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ AdvDrAstMpSegNmLnDrvDir : 55|3@0+ (1,0) [0|7] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ AdvDrAstMpSegMsgTyp : 46|3@0+ (1,0) [0|7] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ AdvDrAstMpSegFunRdCls : 23|3@0+ (1,0) [0|7] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ AdvDrAstMpSegFrmOfWay : 35|4@0+ (1,0) [0|15] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ AdvDrAstMpSegEffSpdLmt : 20|5@0+ (1,0) [0|31] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ AdvDrAstMpSegEffSdLmtTp : 15|3@0+ (1,0) [0|7] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ AdvDrAstMpSegOffset : 52|13@0+ (1,0) [0|8191] "m" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - -BO_ 608 PPS_ElevHdSpd_FO: 8 EOCM2A_K1_FO - SG_ PPSVel : 31|8@0+ (1,0) [0|255] "km / h" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO - SG_ PPSVelV : 3|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO - SG_ PPSElvHedngSpdBrstID : 5|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO - SG_ PPSElvHdengSpdChksm : 50|11@0+ (1,0) [0|2047] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO - SG_ PPSHedngV : 6|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO - SG_ PPSHedng : 2|19@0+ (0.001,0) [0|524.287] "deg" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO - SG_ PPSElvtnV : 7|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO - SG_ PPSElvtn : 39|21@0+ (1,-100000) [-100000|1997151] "cm" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,AMM_FO - -BO_ 1168 WiFi_Station_AMM_FO: 5 AMM_FO - SG_ WSMR_WiFiStnMpMACAddr : 15|32@0+ (1,0) [0|4294967295] "" EOCM2B_K1_FO,EOCM2A_K1_FO - SG_ WSMR_WiFiAssnReq : 1|2@0+ (1,0) [0|3] "" EOCM2B_K1_FO,EOCM2A_K1_FO - -BO_ 1161 WiFi_AP_Data_AMM_FO: 2 EOCM2A_K1_FO - SG_ WAPDM_SecurityType : 15|4@0+ (1,0) [0|15] "" EOCM2B_K1_FO,AMM_FO - SG_ WAPDM_WiFiEnStat : 0|1@0+ (1,0) [0|1] "" EOCM2B_K1_FO,AMM_FO - SG_ WAPDM_EncrptnType : 11|4@0+ (1,0) [0|15] "" EOCM2B_K1_FO,AMM_FO - -BO_ 1157 SSID_AMM_3_FO: 8 EOCM2A_K1_FO - SG_ WiFiSSIDDgts17to24_Mp : 7|64@0+ (1,0) [0|0] "" EOCM2B_K1_FO,AMM_FO - -BO_ 326 DMS_Eye_AOI_Info_FO: 6 DMS_FO - SG_ DrvrMontSysInit : 1|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ DrvrMontSysAvlbl : 3|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ DrvrMontMdlDatFlshProgrs : 2|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ DrvrMonEngRecvrFltCodARC : 36|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ DrvrAttnStatChksm : 34|11@0+ (1,0) [0|2047] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ DrvrAttnStat : 39|3@0+ (1,0) [0|7] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ DrvrAttnStatPrd : 22|15@0+ (0.025,0) [0|819.175] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ DrvrMonEngRecvrFltCodV : 23|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ DrvrMonEngUnrecvrFltCod : 10|3@0+ (1,0) [0|7] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ DrvrMonEngUnrecvrFltCodV : 11|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ DrvrAttnStatCnfdc : 13|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ DrvrMonEngRecvrFltCod : 15|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ DrvrAttnStatV : 0|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - -BO_ 324 DMS_RawMeasurement_Info2_FO: 8 DMS_FO - SG_ DrvrMonFrmNum : 47|8@0+ (1,0) [0|255] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ DrvrMntrSysVTP : 29|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ DrvrMonSysEngStV : 2|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ DrvrMonSysEngSt : 28|3@0+ (1,0) [0|7] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ DrvrMonFrmNumV : 3|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ DrvrHeadRotAngZV : 4|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ DrvrHeadRotAngYV : 5|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ DrvrHeadRotAngXV : 6|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ DrvrHeadRotAngARC : 52|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ DrvrMonLatV : 7|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ DrvrMonLat : 50|11@0+ (0.001,0) [0|2.047] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ DrvHeadRotAngZ : 25|10@0- (0.00625,0) [-3.2|3.19375] "rad" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ DrvHeadRotAngY : 23|10@0- (0.00625,0) [-3.2|3.19375] "rad" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ DrvrHeadRotAngX : 1|10@0- (0.00625,0) [-3.2|3.19375] "rad" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - -BO_ 322 DMS_RawMeasurement_Info1_FO: 8 DMS_FO - SG_ DrvrEyeClosrRt : 47|8@0+ (0.005,0) [0|1.275] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ DrvrEyeClosrLft : 39|8@0+ (0.005,0) [0|1.275] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ DrvHeadPosZV : 3|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ DrvHeadPosYV : 4|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ DrvHeadPosXV : 5|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ DrvrEyeClosrRtV : 6|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ DrvrEyeClosrLftV : 7|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ DrvrEyeClosrARC : 52|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ DrvHeadPosZ : 50|11@0- (0.005,0) [-5.12|5.115] "m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ DrvHeadPosY : 18|11@0- (0.005,0) [-5.12|5.115] "m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ DrvHeadPosX : 2|11@0- (0.005,0) [-5.12|5.115] "m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - -BO_ 320 Inertial2_Rates_FO: 8 _DOFIMU2_FO - SG_ MstrTgrSyncInrtl2Rte : 55|5@0+ (1,0) [0|31] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ Inertial2YawRteV : 5|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ Inertial2YawRte : 36|13@0- (0.024,0) [-98.304|98.28] "deg/s" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ Inertial2RollRteV : 6|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ Inertial2RollRte : 20|13@0- (0.024,0) [-98.304|98.28] "deg/s" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ Inertial2RteChksum : 50|11@0+ (1,0) [0|2047] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ Inertial2PitchRteV : 7|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ Inertial2PitchRte : 4|13@0- (0.024,0) [-98.304|98.28] "deg/s" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - -BO_ 308 Inertial1_Rates_FO: 8 _DOFIMU1_FO - SG_ MstrTrgrSyncInrtl1Rte : 55|5@0+ (1,0) [0|31] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ Inertial1YawRteV : 5|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ Inertial1YawRte : 36|13@0- (0.024,0) [-98.304|98.28] "deg/s" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ Inertial1RollRteV : 6|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ Inertial1RollRte : 20|13@0- (0.024,0) [-98.304|98.28] "deg/s" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ Inertial1RteChksum : 50|11@0+ (1,0) [0|2047] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ Inertial1PitchRteV : 7|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ Inertial1PitchRte : 4|13@0- (0.024,0) [-98.304|98.28] "deg/s" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - -BO_ 312 Inertial2_Accel2_FO: 8 _DOFIMU2_FO - SG_ MstrTrigSyncInrtl22 : 55|5@0+ (1,0) [0|31] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ InrtlSns2AccFrm2Chksm : 50|11@0+ (1,0) [0|2047] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ InrtlSnsr2YawAccV : 5|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ InrtlSnsr2YawAcc : 36|13@0- (0.024,0) [-98.304|98.28] "deg/s^2" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ InrtlSnsr2RollAccV : 6|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ InrtlSnsr2RollAcc : 20|13@0- (0.024,0) [-98.304|98.28] "deg/s^2" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ InrtlSnsr2PtchAccV : 7|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ InrtlSnsr2PtchAcc : 4|13@0- (0.024,0) [-98.304|98.28] "deg/s^2" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - -BO_ 306 Inertial1_Accel2_FO: 8 _DOFIMU1_FO - SG_ MstrTrigSyncInrtl12 : 55|5@0+ (1,0) [0|31] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ InrtlSnsr1AccelFrm2Chksm : 50|11@0+ (1,0) [0|2047] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ InrtlSnsr1YawAccV : 5|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ InrtlSnsr1YawAcc : 36|13@0- (0.024,0) [-98.304|98.28] "deg/s^2" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ InrtlSnsr1RollAccV : 6|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ InrtlSnsr1RollAcc : 20|13@0- (0.024,0) [-98.304|98.28] "deg/s^2" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ InrtlSnsr1PtchAccV : 7|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ InrtlSnsr1PtchAcc : 4|13@0- (0.024,0) [-98.304|98.28] "deg/s^2" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - -BO_ 310 Inertial2_Accel1_FO: 8 _DOFIMU2_FO - SG_ MstrTrigSyncInrtl21 : 7|5@0+ (1,0) [0|31] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ Inertial2VertAccV : 34|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ Inertial2VertAcc : 33|10@0- (0.0625,0) [-32|31.9375] "m/s^2" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ Inertial2LonAccV : 2|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ Inertial2LonAcc : 1|10@0- (0.0625,0) [-32|31.9375] "m/s^2" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ Inertial2LatAccV : 18|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ Inertial2LatAcc : 17|10@0- (0.0625,0) [-32|31.9375] "m/s^2" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ IntlSnsr2AcelFm1Chksm : 50|11@0+ (1,0) [0|2047] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - -BO_ 304 Inertial1_Accel1_FO: 8 _DOFIMU1_FO - SG_ MstrTrigSyncInrtl11 : 7|5@0+ (1,0) [0|31] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ InrtlSnsr1VertAccV : 34|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ InrtlSnsr1VertAcc : 33|10@0- (0.0625,0) [-32|31.9375] "m/s^2" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ InrtlSnsr1LonAccV : 2|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ InrtlSnsr1LonAcc : 1|10@0- (0.0625,0) [-32|31.9375] "m/s^2" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ InrtlSnsr1LatAccV : 18|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ InrtlSnsr1LatAcc : 17|10@0- (0.0625,0) [-32|31.9375] "m/s^2" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ IntlSnsr1AcelFm1Chksm : 50|11@0+ (1,0) [0|2047] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - -BO_ 356 Map_Pos_Correction_FO: 4 EOCM2A_K1_FO - SG_ LongErrPstn : 7|8@0- (0.5,0) [-64|63.5] "m" AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ LatErrPstn : 15|8@0- (0.5,0) [-64|63.5] "m" AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ PstnErrChcksm : 18|11@0+ (1,0) [0|2047] "" AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ PstnErrARC : 20|2@0+ (1,0) [0|3] "" AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - -BO_ 354 Map_Retrans_Request_FO: 1 EOCM2A_K1_FO - SG_ HrznPrvdRstRq : 2|1@0+ (1,0) [0|1] "" AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ ADASISRwDtMplxdCycCnt : 7|2@0+ (1,0) [0|3] "" AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ ADASISMsgTypRetrans : 5|3@0+ (1,0) [0|7] "" AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - -BO_ 352 Map_Path_Correction_FO: 6 EOCM2A_K1_FO - SG_ ExptNxtTrnstnDir : 37|3@0+ (1,0) [0|7] "" AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ MstProbLnV : 15|1@0+ (1,0) [0|1] "" AMM_FO - SG_ MstProbLn : 14|5@0+ (1,0) [0|31] "" AMM_FO - SG_ PathCrtnChcksm : 34|11@0+ (1,0) [0|2047] "" AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ PathCrtnARC : 4|2@0+ (1,0) [0|3] "" AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ EgoLnCurvV : 2|1@0+ (1,0) [0|1] "" AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ EgoLnCurv : 23|16@0- (9.53E-007,0) [-0.031227904|0.031226951] "1/m^2" AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ VehLnStatV : 1|1@0+ (1,0) [0|1] "" AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ VehLnStatConf : 6|2@0+ (1,0) [0|3] "" AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ VehLnStat : 9|2@0+ (1,0) [0|3] "" AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ ExptNxtTransDirV : 0|1@0+ (1,0) [0|1] "" AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ ExptNxtTrnstnDirConf : 39|2@0+ (1,0) [0|3] "" AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - -BO_ 264 Inertial_Trigger_FO: 1 EOCM2A_K1_FO - SG_ InrtlSnsrMstrTrgrSync : 7|5@0+ (1,0) [0|31] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,_DOFIMU2_FO,_DOFIMU1_FO - -BO_ 1156 SSID_AMM_2_FO: 8 EOCM2A_K1_FO - SG_ WiFiSSIDDgts9to16_Mp : 7|64@0+ (1,0) [0|0] "" EOCM2B_K1_FO,AMM_FO - -BO_ 1155 SSID_AMM_1_FO: 8 EOCM2A_K1_FO - SG_ WiFiSSIDDgts1to8_Mp : 7|64@0+ (1,0) [0|0] "" EOCM2B_K1_FO,AMM_FO - -BO_ 1927 DTC_Triggered_787_FO: 7 DMS_FO - SG_ DTCI_CodeSupported_787 : 40|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_CurrentStatus_787 : 41|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_DTCFailType_787 : 39|8@0+ (1,0) [0|255] "" TestTool_FO - SG_ DTCI_DTCFaultType_787 : 55|8@0+ (1,0) [0|255] "" TestTool_FO - SG_ DTCI_DTCNumber_787 : 23|16@0+ (1,0) [0|65535] "" TestTool_FO - SG_ DTCI_DTCSource_787 : 15|8@0+ (1,0) [0|255] "" TestTool_FO - SG_ DTCI_DTCTriggered_787 : 0|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_HistStat_787 : 44|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_TstFldCdClrdStat_787 : 43|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_TstFldPwrUpSt_787 : 46|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_TstNPsdCdClrdSt_787 : 42|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_TstNPsdPwrUpSt_787 : 45|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCIUnused1_787 : 7|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCIUnused2_787 : 6|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCIUnused3_787 : 5|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCIUnused4_787 : 4|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCIUnused5_787 : 3|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCIUnused6_787 : 2|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCIUnused7_787 : 1|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_WrnIndRqdSt_787 : 47|1@0+ (1,0) [0|1] "" TestTool_FO - -BO_ 1926 DTC_Triggered_786_FO: 7 AMM_FO - SG_ DTCI_CodeSupported_786 : 40|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_CurrentStatus_786 : 41|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_DTCFailType_786 : 39|8@0+ (1,0) [0|255] "" TestTool_FO - SG_ DTCI_DTCFaultType_786 : 55|8@0+ (1,0) [0|255] "" TestTool_FO - SG_ DTCI_DTCNumber_786 : 23|16@0+ (1,0) [0|65535] "" TestTool_FO - SG_ DTCI_DTCSource_786 : 15|8@0+ (1,0) [0|255] "" TestTool_FO - SG_ DTCI_DTCTriggered_786 : 0|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_HistStat_786 : 44|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_TstFldCdClrdStat_786 : 43|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_TstFldPwrUpSt_786 : 46|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_TstNPsdCdClrdSt_786 : 42|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_TstNPsdPwrUpSt_786 : 45|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCIUnused1_786 : 7|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCIUnused2_786 : 6|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCIUnused3_786 : 5|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCIUnused4_786 : 4|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCIUnused5_786 : 3|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCIUnused6_786 : 2|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCIUnused7_786 : 1|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_WrnIndRqdSt_786 : 47|1@0+ (1,0) [0|1] "" TestTool_FO - -BO_ 1928 DTC_Triggered_788_FO: 7 _DOFIMU1_FO - SG_ DTCI_CodeSupported_788 : 40|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_CurrentStatus_788 : 41|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_DTCFailType_788 : 39|8@0+ (1,0) [0|255] "" TestTool_FO - SG_ DTCI_DTCFaultType_788 : 55|8@0+ (1,0) [0|255] "" TestTool_FO - SG_ DTCI_DTCNumber_788 : 23|16@0+ (1,0) [0|65535] "" TestTool_FO - SG_ DTCI_DTCSource_788 : 15|8@0+ (1,0) [0|255] "" TestTool_FO - SG_ DTCI_DTCTriggered_788 : 0|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_HistStat_788 : 44|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_TstFldCdClrdStat_788 : 42|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_TstFldPwrUpSt_788 : 46|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_TstNPsdCdClrdSt_788 : 43|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_TstNPsdPwrUpSt_788 : 45|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCIUnused1_788 : 7|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCIUnused2_788 : 6|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCIUnused3_788 : 5|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCIUnused4_788 : 4|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCIUnused5_788 : 3|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCIUnused6_788 : 2|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCIUnused7_788 : 1|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_WrnIndRqdSt_788 : 47|1@0+ (1,0) [0|1] "" TestTool_FO - -BO_ 1929 DTC_Triggered_789_FO: 7 _DOFIMU2_FO - SG_ DTCI_CodeSupported_789 : 40|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_CurrentStatus_789 : 41|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_DTCFailType_789 : 39|8@0+ (1,0) [0|255] "" TestTool_FO - SG_ DTCI_DTCFaultType_789 : 55|8@0+ (1,0) [0|255] "" TestTool_FO - SG_ DTCI_DTCNumber_789 : 23|16@0+ (1,0) [0|65535] "" TestTool_FO - SG_ DTCI_DTCSource_789 : 15|8@0+ (1,0) [0|255] "" TestTool_FO - SG_ DTCI_DTCTriggered_789 : 0|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_HistStat_789 : 44|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_TstFldCdClrdStat_789 : 43|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_TstFldPwrUpSt_789 : 46|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_TstNPsdCdClrdSt_789 : 42|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_TstNPsdPwrUpSt_789 : 45|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCIUnused1_789 : 7|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCIUnused2_789 : 6|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCIUnused3_789 : 5|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCIUnused4_789 : 4|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCIUnused5_789 : 3|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCIUnused6_789 : 2|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCIUnused7_789 : 1|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_WrnIndRqdSt_789 : 47|1@0+ (1,0) [0|1] "" TestTool_FO - -BO_ 1352 UUDT_Resp_From_6DOFIMU2_FO: 8 _DOFIMU2_FO - SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO - -BO_ 588 USDT_Req_to_EOCM2B_K1_FO: 8 TestTool_FO - SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" EOCM2B_K1_FO - -BO_ 1356 UUDT_Resp_From_EOCM2B_K1_FO: 8 EOCM2B_K1_FO - SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO - -BO_ 1612 USDT_Resp_From_EOCM2B_K1_FO: 8 EOCM2B_K1_FO - SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO - -BO_ 1616 USDT_Resp_From_EOCM2A_IMX6_FO: 8 EOCM2A_IMX6_FO - SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO - -BO_ 1360 UUDT_Resp_From_EOCM2A_IMX6_FO: 8 EOCM2A_IMX6_FO - SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO - -BO_ 592 USDT_Req_to_EOCM2A_IMX6_FO: 8 TestTool_FO - SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" EOCM2A_IMX6_FO - -BO_ 1610 USDT_Resp_From_EOCM2A_K1_FO: 8 EOCM2A_K1_FO - SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO - -BO_ 1354 UUDT_Resp_From_EOCM2A_K1_FO: 8 EOCM2A_K1_FO - SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO - -BO_ 586 USDT_Req_to_EOCM2A_K1_FO: 8 TestTool_FO - SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" EOCM2A_K1_FO - -BO_ 1925 DTC_Triggered_785_FO: 7 NVS_FO - SG_ DTCI_CodeSupported_785 : 40|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_CurrentStatus_785 : 41|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_DTCFailType_785 : 39|8@0+ (1,0) [0|255] "" TestTool_FO - SG_ DTCI_DTCFaultType_785 : 55|8@0+ (1,0) [0|255] "" TestTool_FO - SG_ DTCI_DTCNumber_785 : 23|16@0+ (1,0) [0|65535] "" TestTool_FO - SG_ DTCI_DTCSource_785 : 15|8@0+ (1,0) [0|255] "" TestTool_FO - SG_ DTCI_DTCTriggered_785 : 0|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_HistStat_785 : 44|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_TstFldCdClrdStat_785 : 43|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_TstFldPwrUpSt_785 : 46|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_TstNPsdCdClrdSt_785 : 42|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_TstNPsdPwrUpSt_785 : 45|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCIUnused1_785 : 7|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCIUnused2_785 : 6|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCIUnused3_785 : 5|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCIUnused4_785 : 4|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCIUnused5_785 : 3|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCIUnused6_785 : 2|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCIUnused7_785 : 1|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_WrnIndRqdSt_785 : 47|1@0+ (1,0) [0|1] "" TestTool_FO - -BO_ 1859 VIN_Digits_10_to_17_FO: 8 EOCM_F_FO - SG_ VehIdNmDig10_17 : 7|64@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,NVS_FO - -BO_ 1857 VIN_Digits_2_to_9_FO: 8 EOCM_F_FO - SG_ VehIdNmDig2_9 : 7|64@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,NVS_FO - -BO_ 771 Outside_Air_Temperature_FO: 2 EOCM_F_FO - SG_ OtsAirTmpCrValV : 0|1@0+ (1,0) [0|1] "" NVS_FO - SG_ OtsAirTmpCrVal : 15|8@0+ (0.5,-40) [-40|87.5] "deg C" NVS_FO - -BO_ 777 Night_Vision_System_Ped_FO: 1 NVS_FO - SG_ NVSysStat : 3|3@0+ (1,0) [0|7] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO - SG_ NVSysPedWrnIndReq : 7|2@0+ (1,0) [0|3] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO - SG_ NVSysPedDetCsCrStVal : 5|2@0+ (1,0) [0|3] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO - SG_ NVSysPedDetCstStAvl : 0|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO - -BO_ 607 USDT_Req_to_NVS_FO: 8 TestTool_FO - SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" NVS_FO - -BO_ 1631 USDT_Resp_From_NVS_FO: 8 NVS_FO - SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO - -BO_ 1375 UUDT_Resp_From_NVS_FO: 8 NVS_FO - SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO - -BO_ 1540 ADAS_Position_FO: 8 AMM_FO - SG_ AdvDrAstMpLatOffst : 40|9@0+ (1,-256) [-256|255] "m" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ AdvDrAstMpPstnIndx : 63|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ AdvDrAstMpPstnCnf : 61|3@0+ (1,0) [0|7] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ AdvDrAstMpPsnIdxCrLn : 58|3@0+ (1,0) [0|7] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ AdvDrAstMpPstnPthIndx : 46|6@0+ (1,0) [0|63] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ AdvDrAstMpPstnProb : 31|5@0+ (3.333,0) [0|103.323] "%" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ AdvDrAstMpPstnCycCnt : 26|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ AdvDrAstMpPstnAge : 24|9@0+ (5,0) [0|2555] "ms" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ AdvDrAstMpPstnRelHd : 23|8@0+ (1.417,0) [0|361.335] "deg" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ AdvDrAstMpPstnMsgTyp : 7|3@0+ (1,0) [0|7] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - SG_ AdvDrAstMpPstnOfst : 4|13@0+ (1,0) [0|8191] "m" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO - -BO_ 1608 USDT_Resp_From_6DOFIMU2_FO: 8 _DOFIMU2_FO - SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO - -BO_ 871 LGT_ObjectDetect_Info_8_FO: 8 VIS2_FO - SG_ GFHBFwVsnWidthTrk8 : 62|7@0+ (0.1,0) [0|12.7] "deg" EOCM_F_FO - SG_ GFHBFwVsnVertPosTrk8 : 53|6@0+ (0.25,-3) [-3|12.75] "deg" EOCM_F_FO - SG_ GFHBFwVsnRelLaneTrk8 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ GFHBFwVsnAzmthRtTrk8 : 34|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO - SG_ GFHBFwVsnCnfdncTrk8 : 36|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ GFHBFwVsnRngTrkRev8 : 16|12@0+ (0.2,0) [0|819] "m" EOCM_F_FO - SG_ GFHBFwVsnAzmthTrkRev8 : 10|10@0- (0.05,0) [-25.6|25.55] "deg" EOCM_F_FO - SG_ GFHBFVsnObjTypTrkRev8 : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO - SG_ GFHBObjDirTrk8 : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ GFHBFwVsnMesStatTrk8 : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ GFHBFwVsnObjIDTrk8 : 7|6@0+ (1,0) [0|63] "" EOCM_F_FO - -BO_ 870 LGT_ObjectDetect_Info_7_FO: 8 VIS2_FO - SG_ GFHBFwVsnWidthTrk7 : 62|7@0+ (0.1,0) [0|12.7] "deg" EOCM_F_FO - SG_ GFHBFwVsnVertPosTrk7 : 53|6@0+ (0.25,-3) [-3|12.75] "deg" EOCM_F_FO - SG_ GFHBFwVsnRelLaneTrk7 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ GFHBFwVsnAzmthRtTrk7 : 34|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO - SG_ GFHBFwVsnCnfdncTrk7 : 36|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ GFHBFwVsnRngTrkRev7 : 16|12@0+ (0.2,0) [0|819] "m" EOCM_F_FO - SG_ GFHBFwVsnAzmthTrkRev7 : 10|10@0- (0.05,0) [-25.6|25.55] "deg" EOCM_F_FO - SG_ GFHBFVsnObjTypTrkRev7 : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO - SG_ GFHBObjDirTrk7 : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ GFHBFwVsnMesStatTrk7 : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ GFHBFwVsnObjIDTrk7 : 7|6@0+ (1,0) [0|63] "" EOCM_F_FO - -BO_ 869 LGT_ObjectDetect_Info_6_FO: 8 VIS2_FO - SG_ GFHBFwVsnWidthTrk6 : 62|7@0+ (0.1,0) [0|12.7] "deg" EOCM_F_FO - SG_ GFHBFwVsnVertPosTrk6 : 53|6@0+ (0.25,-3) [-3|12.75] "deg" EOCM_F_FO - SG_ GFHBFwVsnRelLaneTrk6 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ GFHBFwVsnAzmthRtTrk6 : 34|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO - SG_ GFHBFwVsnCnfdncTrk6 : 36|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ GFHBFwVsnRngTrkRev6 : 16|12@0+ (0.2,0) [0|819] "m" EOCM_F_FO - SG_ GFHBFwVsnAzmthTrkRev6 : 10|10@0- (0.05,0) [-25.6|25.55] "deg" EOCM_F_FO - SG_ GFHBFVsnObjTypTrkRev6 : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO - SG_ GFHBObjDirTrk6 : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ GFHBFwVsnMesStatTrk6 : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ GFHBFwVsnObjIDTrk6 : 7|6@0+ (1,0) [0|63] "" EOCM_F_FO - -BO_ 868 LGT_ObjectDetect_Info_5_FO: 8 VIS2_FO - SG_ GFHBFwVsnWidthTrk5 : 62|7@0+ (0.1,0) [0|12.7] "deg" EOCM_F_FO - SG_ GFHBFwVsnVertPosTrk5 : 53|6@0+ (0.25,-3) [-3|12.75] "deg" EOCM_F_FO - SG_ GFHBFwVsnRelLaneTrk5 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ GFHBFwVsnAzmthRtTrk5 : 34|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO - SG_ GFHBFwVsnCnfdncTrk5 : 36|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ GFHBFwVsnRngTrkRev5 : 16|12@0+ (0.2,0) [0|819] "m" EOCM_F_FO - SG_ GFHBFwVsnAzmthTrkRev5 : 10|10@0- (0.05,0) [-25.6|25.55] "deg" EOCM_F_FO - SG_ GFHBFVsnObjTypTrkRev5 : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO - SG_ GFHBObjDirTrk5 : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ GFHBFwVsnMesStatTrk5 : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ GFHBFwVsnObjIDTrk5 : 7|6@0+ (1,0) [0|63] "" EOCM_F_FO - -BO_ 867 LGT_ObjectDetect_Info_4_FO: 8 VIS2_FO - SG_ GFHBFwVsnWidthTrk4 : 62|7@0+ (0.1,0) [0|12.7] "deg" EOCM_F_FO - SG_ GFHBFwVsnVertPosTrk4 : 53|6@0+ (0.25,-3) [-3|12.75] "deg" EOCM_F_FO - SG_ GFHBFwVsnRelLaneTrk4 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ GFHBFwVsnAzmthRtTrk4 : 34|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO - SG_ GFHBFwVsnCnfdncTrk4 : 36|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ GFHBFwVsnRngTrkRev4 : 16|12@0+ (0.2,0) [0|819] "m" EOCM_F_FO - SG_ GFHBFwVsnAzmthTrkRev4 : 10|10@0- (0.05,0) [-25.6|25.55] "deg" EOCM_F_FO - SG_ GFHBFVsnObjTypTrkRev4 : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO - SG_ GFHBObjDirTrk4 : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ GFHBFwVsnMesStatTrk4 : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ GFHBFwVsnObjIDTrk4 : 7|6@0+ (1,0) [0|63] "" EOCM_F_FO - -BO_ 866 LGT_ObjectDetect_Info_3_FO: 8 VIS2_FO - SG_ GFHBFwVsnWidthTrk3 : 62|7@0+ (0.1,0) [0|12.7] "deg" EOCM_F_FO - SG_ GFHBFwVsnVertPosTrk3 : 53|6@0+ (0.25,-3) [-3|12.75] "deg" EOCM_F_FO - SG_ GFHBFwVsnRelLaneTrk3 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ GFHBFwVsnAzmthRtTrk3 : 34|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO - SG_ GFHBFwVsnCnfdncTrk3 : 36|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ GFHBFwVsnRngTrkRev3 : 16|12@0+ (0.2,0) [0|819] "m" EOCM_F_FO - SG_ GFHBFwVsnAzmthTrkRev3 : 10|10@0- (0.05,0) [-25.6|25.55] "deg" EOCM_F_FO - SG_ GFHBFVsnObjTypTrkRev3 : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO - SG_ GFHBObjDirTrk3 : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ GFHBFwVsnMesStatTrk3 : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ GFHBFwVsnObjIDTrk3 : 7|6@0+ (1,0) [0|63] "" EOCM_F_FO - -BO_ 865 LGT_ObjectDetect_Info_2_FO: 8 VIS2_FO - SG_ GFHBFwVsnWidthTrk2 : 62|7@0+ (0.1,0) [0|12.7] "deg" EOCM_F_FO - SG_ GFHBFwVsnVertPosTrk2 : 53|6@0+ (0.25,-3) [-3|12.75] "deg" EOCM_F_FO - SG_ GFHBFwVsnRelLaneTrk2 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ GFHBFwVsnAzmthRtTrk2 : 34|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO - SG_ GFHBFwVsnCnfdncTrk2 : 36|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ GFHBFwVsnRngTrkRev2 : 16|12@0+ (0.2,0) [0|819] "m" EOCM_F_FO - SG_ GFHBFwVsnAzmthTrkRev2 : 10|10@0- (0.05,0) [-25.6|25.55] "deg" EOCM_F_FO - SG_ GFHBFVsnObjTypTrkRev2 : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO - SG_ GFHBFwVsnMesStatTrk2 : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ GFHBObjDirTrk2 : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ GFHBFwVsnObjIDTrk2 : 7|6@0+ (1,0) [0|63] "" EOCM_F_FO - -BO_ 864 LGT_ObjectDetect_Info_1_FO: 8 VIS2_FO - SG_ GFHBFwVsnWidthTrk1 : 62|7@0+ (0.1,0) [0|12.7] "deg" EOCM_F_FO - SG_ GFHBFwVsnVertPosTrk1 : 53|6@0+ (0.25,-3) [-3|12.75] "deg" EOCM_F_FO - SG_ GFHBFwVsnRelLaneTrk1 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ GFHBFwVsnAzmthRtTrk1 : 34|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO - SG_ GFHBFwVsnCnfdncTrk1 : 36|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ GFHBFwVsnRngTrkRev1 : 16|12@0+ (0.2,0) [0|819] "m" EOCM_F_FO - SG_ GFHBFwVsnAzmthTrkRev1 : 10|10@0- (0.05,0) [-25.6|25.55] "deg" EOCM_F_FO - SG_ GFHBFVsnObjTypTrkRev1 : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO - SG_ GFHBObjDirTrk1 : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ GFHBFwVsnMesStatTrk1 : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ GFHBFwVsnObjIDTrk1 : 7|6@0+ (1,0) [0|63] "" EOCM_F_FO - -BO_ 1915 DTC_Triggered_77B_FO: 7 VIS_FO - SG_ DTCI_DTCFaultType_77B : 55|8@0+ (1,0) [0|255] "" TestTool_FO - SG_ DTCI_CodeSupported_77B : 40|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_CurrentStatus_77B : 41|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_TstNPsdCdClrdSt_77B : 42|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_TstFldCdClrdStat_77B : 43|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_HistStat_77B : 44|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_TstNPsdPwrUpSt_77B : 45|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_TstFldPwrUpSt_77B : 46|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_WrnIndRqdSt_77B : 47|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_DTCFailType_77B : 39|8@0+ (1,0) [0|255] "" TestTool_FO - SG_ DTCI_DTCNumber_77B : 23|16@0+ (1,0) [0|65535] "" TestTool_FO - SG_ DTCI_DTCSource_77B : 15|8@0+ (1,0) [0|255] "" TestTool_FO - SG_ DTCI_DTCTriggered_77B : 0|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCIUnused7_77B : 1|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCIUnused6_77B : 2|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCIUnused5_77B : 3|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCIUnused4_77B : 4|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCIUnused3_77B : 5|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCIUnused2_77B : 6|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCIUnused1_77B : 7|1@0+ (1,0) [0|1] "" TestTool_FO - -BO_ 1923 DTC_Triggered_783_FO: 7 RSRR_FO - SG_ DTCI_WrnIndRqdSt_783 : 47|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_TstNPsdPwrUpSt_783 : 45|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_TstNPsdCdClrdSt_783 : 42|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_TstFldPwrUpSt_783 : 46|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_TstFldCdClrdStat_783 : 43|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_HistStat_783 : 44|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_DTCTriggered_783 : 0|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_DTCSource_783 : 15|8@0+ (1,0) [0|255] "" TestTool_FO - SG_ DTCI_DTCNumber_783 : 23|16@0+ (1,0) [0|65535] "" TestTool_FO - SG_ DTCI_DTCFaultType_783 : 55|8@0+ (1,0) [0|255] "" TestTool_FO - SG_ DTCI_DTCFailType_783 : 39|8@0+ (1,0) [0|255] "" TestTool_FO - SG_ DTCI_CurrentStatus_783 : 41|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_CodeSupported_783 : 40|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCIUnused7_783 : 1|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCIUnused6_783 : 2|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCIUnused5_783 : 3|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCIUnused4_783 : 4|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCIUnused3_783 : 5|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCIUnused2_783 : 6|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCIUnused1_783 : 7|1@0+ (1,0) [0|1] "" TestTool_FO - -BO_ 1924 DTC_Triggered_784_FO: 7 RRSRR_FO - SG_ DTCI_HistStat_784 : 44|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_TstFldCdClrdStat_784 : 43|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_TstFldPwrUpSt_784 : 46|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_TstNPsdCdClrdSt_784 : 42|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_TstNPsdPwrUpSt_784 : 45|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCIUnused1_784 : 7|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCIUnused2_784 : 6|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCIUnused3_784 : 5|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCIUnused4_784 : 4|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCIUnused5_784 : 3|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCIUnused6_784 : 2|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCIUnused7_784 : 1|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_WrnIndRqdSt_784 : 47|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_CodeSupported_784 : 40|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_CurrentStatus_784 : 41|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_DTCFailType_784 : 39|8@0+ (1,0) [0|255] "" TestTool_FO - SG_ DTCI_DTCFaultType_784 : 55|8@0+ (1,0) [0|255] "" TestTool_FO - SG_ DTCI_DTCNumber_784 : 23|16@0+ (1,0) [0|65535] "" TestTool_FO - SG_ DTCI_DTCSource_784 : 15|8@0+ (1,0) [0|255] "" TestTool_FO - SG_ DTCI_DTCTriggered_784 : 0|1@0+ (1,0) [0|1] "" TestTool_FO - -BO_ 1922 DTC_Triggered_782_FO: 7 RFSRR_FO - SG_ DTCI_WrnIndRqdSt_782 : 47|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCIUnused7_782 : 1|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCIUnused6_782 : 2|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCIUnused5_782 : 3|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCIUnused4_782 : 4|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCIUnused3_782 : 5|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCIUnused2_782 : 6|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCIUnused1_782 : 7|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_TstNPsdPwrUpSt_782 : 45|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_TstNPsdCdClrdSt_782 : 42|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_TstFldPwrUpSt_782 : 46|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_TstFldCdClrdStat_782 : 43|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_HistStat_782 : 44|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_DTCTriggered_782 : 0|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_DTCSource_782 : 15|8@0+ (1,0) [0|255] "" TestTool_FO - SG_ DTCI_DTCNumber_782 : 23|16@0+ (1,0) [0|65535] "" TestTool_FO - SG_ DTCI_DTCFaultType_782 : 55|8@0+ (1,0) [0|255] "" TestTool_FO - SG_ DTCI_DTCFailType_782 : 39|8@0+ (1,0) [0|255] "" TestTool_FO - SG_ DTCI_CurrentStatus_782 : 41|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_CodeSupported_782 : 40|1@0+ (1,0) [0|1] "" TestTool_FO - -BO_ 1920 DTC_Triggered_780_FO: 7 LRR_FO - SG_ DTCI_CurrentStatus_780 : 41|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_WrnIndRqdSt_780 : 47|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCIUnused7_780 : 1|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCIUnused6_780 : 2|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCIUnused5_780 : 3|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCIUnused4_780 : 4|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCIUnused3_780 : 5|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCIUnused2_780 : 6|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCIUnused1_780 : 7|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_TstNPsdPwrUpSt_780 : 45|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_TstNPsdCdClrdSt_780 : 42|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_TstFldPwrUpSt_780 : 46|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_TstFldCdClrdStat_780 : 43|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_HistStat_780 : 44|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_DTCTriggered_780 : 0|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_DTCSource_780 : 15|8@0+ (1,0) [0|255] "" TestTool_FO - SG_ DTCI_DTCNumber_780 : 23|16@0+ (1,0) [0|65535] "" TestTool_FO - SG_ DTCI_DTCFaultType_780 : 55|8@0+ (1,0) [0|255] "" TestTool_FO - SG_ DTCI_DTCFailType_780 : 39|8@0+ (1,0) [0|255] "" TestTool_FO - SG_ DTCI_CodeSupported_780 : 40|1@0+ (1,0) [0|1] "" TestTool_FO - -BO_ 1921 DTC_Triggered_781_FO: 7 LFSRR_FO - SG_ DTCI_CurrentStatus_781 : 41|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_WrnIndRqdSt_781 : 47|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCIUnused7_781 : 1|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCIUnused6_781 : 2|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCIUnused5_781 : 3|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCIUnused4_781 : 4|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCIUnused3_781 : 5|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCIUnused2_781 : 6|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCIUnused1_781 : 7|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_TstNPsdPwrUpSt_781 : 45|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_TstNPsdCdClrdSt_781 : 42|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_TstFldPwrUpSt_781 : 46|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_TstFldCdClrdStat_781 : 43|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_HistStat_781 : 44|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_DTCTriggered_781 : 0|1@0+ (1,0) [0|1] "" TestTool_FO - SG_ DTCI_DTCSource_781 : 15|8@0+ (1,0) [0|255] "" TestTool_FO - SG_ DTCI_DTCNumber_781 : 23|16@0+ (1,0) [0|65535] "" TestTool_FO - SG_ DTCI_DTCFaultType_781 : 55|8@0+ (1,0) [0|255] "" TestTool_FO - SG_ DTCI_DTCFailType_781 : 39|8@0+ (1,0) [0|255] "" TestTool_FO - SG_ DTCI_CodeSupported_781 : 40|1@0+ (1,0) [0|1] "" TestTool_FO - -BO_ 1034 Curvature_Right_Line_FO: 7 VIS2_FO - SG_ CRL_Cnfdnc : 50|3@0+ (1,0) [0|7] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM_F_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ CRL_ViewRng : 33|15@0+ (0.0039064,0) [0|128.0010088] "m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM_F_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ CRL_CoefdA : 17|16@0- (3.6622E-009,0) [-0.0001200029696|0.0001199993074] "1/m^2" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM_F_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ CRL_CoefA : 1|16@0- (6.1036E-007,0) [-0.02000027648|0.01999966612] "1/m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM_F_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - -BO_ 1033 Curvature_Left_Line_FO: 7 VIS2_FO - SG_ CLL_Cnfdnc : 50|3@0+ (1,0) [0|7] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM_F_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ CLL_ViewRng : 33|15@0+ (0.0039064,0) [0|128.0010088] "m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM_F_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ CLL_CoefdA : 17|16@0- (3.6622E-009,0) [-0.0001200029696|0.0001199993074] "1/m^2" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM_F_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ CLL_CoefA : 1|16@0- (6.1036E-007,0) [-0.02000027648|0.01999966612] "1/m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM_F_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - -BO_ 1365 UUDT_Resp_From_VIS2_FO: 8 VIS2_FO - SG_ DgnInf_OBJ555 : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO - -BO_ 1621 USDT_Resp_From_VIS2_FO: 8 VIS2_FO - SG_ DgnInf_OBJ655 : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO - -BO_ 1094 F_Vision_Obj_Track_12: 8 VIS2_FO - SG_ FwdVsnObjTypTr12Rev : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO - SG_ FwdVsnAzmthTrk12Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg" EOCM_F_FO - SG_ FwdVsnRngTrk12Rev : 16|12@0+ (0.1,0) [0|409.5] "m" EOCM_F_FO - SG_ FVisionWidthTrk12 : 61|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO - SG_ FVisionMeasStatTrk12 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FwdVsnVertPosTrk12 : 53|6@0+ (0.25,-2) [-2|13.75] "deg" EOCM_F_FO - SG_ FVisionRelLaneTrk12 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FVisionAzRateTrk12 : 34|11@0- (0.125,0) [-128|127.875] "deg/sec" EOCM_F_FO - SG_ FVisionConfTrk12 : 36|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ ObjDirTrk12 : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ FVisBurstIDTrk12 : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FVisionObjectIDTrk12 : 7|6@0+ (1,0) [0|63] "" EOCM_F_FO - -BO_ 1093 F_Vision_Obj_Track_11: 8 VIS2_FO - SG_ FwdVsnObjTypTr11Rev : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO - SG_ FwdVsnAzmthTrk11Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg" EOCM_F_FO - SG_ FwdVsnRngTrk11Rev : 16|12@0+ (0.1,0) [0|409.5] "m" EOCM_F_FO - SG_ FVisionWidthTrk11 : 61|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO - SG_ FVisionMeasStatTrk11 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FwdVsnVertPosTrk11 : 53|6@0+ (0.25,-2) [-2|13.75] "deg" EOCM_F_FO - SG_ FVisionRelLaneTrk11 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FVisionAzRateTrk11 : 34|11@0- (0.125,0) [-128|127.875] "deg/sec" EOCM_F_FO - SG_ FVisionConfTrk11 : 36|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ ObjDirTrk11 : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ FVisBurstIDTrk11 : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FVisionObjectIDTrk11 : 7|6@0+ (1,0) [0|63] "" EOCM_F_FO - -BO_ 1100 F_Vision_Obj_Track_12_B: 8 VIS2_FO - SG_ FwVsnCinCoutPotT12Rev : 5|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FwdVsnObjAgeTrk12 : 62|7@0+ (1,0) [0|127] "" EOCM_F_FO - SG_ FwdVsnLongVlctyTrk12 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec" EOCM_F_FO - SG_ FwdVsnLatOfstTrk12 : 36|10@0- (0.125,0) [-64|63.875] "m" EOCM_F_FO - SG_ FwdVsnBrkLtStatTrk12 : 38|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FwdVsnTrnSigStatTr12 : 25|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ FwdVsnObjSclChgTrk12 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec" EOCM_F_FO - SG_ FrtVsnBrstIDAddInfo12 : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO - -BO_ 1099 F_Vision_Obj_Track_11_B: 8 VIS2_FO - SG_ FwVsnCinCoutPotT11Rev : 5|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FwdVsnObjAgeTrk11 : 62|7@0+ (1,0) [0|127] "" EOCM_F_FO - SG_ FwdVsnLongVlctyTrk11 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec" EOCM_F_FO - SG_ FwdVsnLatOfstTrk11 : 36|10@0- (0.125,0) [-64|63.875] "m" EOCM_F_FO - SG_ FwdVsnBrkLtStatTrk11 : 38|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FwdVsnTrnSigStatTr11 : 25|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ FwdVsnObjSclChgTrk11 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec" EOCM_F_FO - SG_ FrtVsnBrstIDAddInfo11 : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO - -BO_ 1098 F_Vision_Obj_Track_10_B: 8 VIS2_FO - SG_ FwVsnCinCoutPotT10Rev : 5|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FwdVsnObjAgeTrk10 : 62|7@0+ (1,0) [0|127] "" EOCM_F_FO - SG_ FwdVsnLongVlctyTrk10 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec" EOCM_F_FO - SG_ FwdVsnLatOfstTrk10 : 36|10@0- (0.125,0) [-64|63.875] "m" EOCM_F_FO - SG_ FwdVsnBrkLtStatTrk10 : 38|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FwdVsnTrnSigStatTr10 : 25|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ FwdVsnObjSclChgTrk10 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec" EOCM_F_FO - SG_ FrtVsnBrstIDAddInfo10 : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO - -BO_ 1097 F_Vision_Obj_Track_9_B: 8 VIS2_FO - SG_ FwVsnCinCoutPotT9Rev : 5|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FwdVsnObjAgeTrk9 : 62|7@0+ (1,0) [0|127] "" EOCM_F_FO - SG_ FwdVsnLongVlctyTrk9 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec" EOCM_F_FO - SG_ FwdVsnLatOfstTrk9 : 36|10@0- (0.125,0) [-64|63.875] "m" EOCM_F_FO - SG_ FwdVsnBrkLtStatTrk9 : 38|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FwdVsnTrnSigStatTr9 : 25|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ FwdVsnObjSclChgTrk9 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec" EOCM_F_FO - SG_ FrtVsnBrstIDAddInfo9 : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO - -BO_ 1096 F_Vision_Obj_Track_8_B: 8 VIS2_FO - SG_ FwVsnCinCoutPotT8Rev : 5|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FwdVsnObjAgeTrk8 : 62|7@0+ (1,0) [0|127] "" EOCM_F_FO - SG_ FwdVsnLongVlctyTrk8 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec" EOCM_F_FO - SG_ FwdVsnLatOfstTrk8 : 36|10@0- (0.125,0) [-64|63.875] "m" EOCM_F_FO - SG_ FwdVsnBrkLtStatTrk8 : 38|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FwdVsnTrnSigStatTr8 : 25|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ FwdVsnObjSclChgTrk8 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec" EOCM_F_FO - SG_ FrtVsnBrstIDAddInfo8 : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO - -BO_ 1095 F_Vision_Obj_Track_7_B: 8 VIS2_FO - SG_ FwVsnCinCoutPotT7Rev : 5|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FwdVsnObjAgeTrk7 : 62|7@0+ (1,0) [0|127] "" EOCM_F_FO - SG_ FwdVsnLongVlctyTrk7 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec" EOCM_F_FO - SG_ FwdVsnLatOfstTrk7 : 36|10@0- (0.125,0) [-64|63.875] "m" EOCM_F_FO - SG_ FwdVsnBrkLtStatTrk7 : 38|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FwdVsnTrnSigStatTr7 : 25|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ FwdVsnObjSclChgTrk7 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec" EOCM_F_FO - SG_ FrtVsnBrstIDAddInfo7 : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO - -BO_ 863 F_Vision_GFHB_Data_FO: 8 VIS2_FO - SG_ RgDtLgtSrcHrtAngl : 49|10@0- (0.04,0) [-20.48|20.44] "deg" EOCM_F_FO - SG_ RgDtLgtSrcHrtAngVcty : 55|6@0- (1,0) [-32|31] "deg/sec" EOCM_F_FO - SG_ LfDtLgtSrcHrtAngl : 33|10@0- (0.04,0) [-20.48|20.44] "deg" EOCM_F_FO - SG_ LfDtLgtSrcHrtAnVcty : 39|6@0- (1,0) [-32|31] "deg/sec" EOCM_F_FO - SG_ AdvWthrStat : 25|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ DtctdLghtSrcDstnc : 22|7@0+ (10,0) [0|1270] "m" EOCM_F_FO - SG_ DtctdLghtSrcVrtclAngl : 1|10@0- (0.04,0) [-20.48|20.44] "deg" EOCM_F_FO - SG_ IntLghtRngAct : 2|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ DtctdLghtSrcDstncV : 3|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ TwnDtctnSts : 5|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ DtctdLghtSrcDrvngDrctn : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO - -BO_ 862 LGT_ControlHighBeamGlare_FO: 2 VIS2_FO - SG_ FwdCamSysOpStat : 10|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ EnvIllum : 2|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ RdTyp : 5|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ AutoHgBmSts : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO - -BO_ 1068 F_Vision_Obj_Track_6_B: 8 VIS2_FO - SG_ FwVsnCinCoutPotT6Rev : 5|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FwdVsnObjAgeTrk6 : 62|7@0+ (1,0) [0|127] "" EOCM_F_FO - SG_ FwdVsnLongVlctyTrk6 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec" EOCM_F_FO - SG_ FwdVsnLatOfstTrk6 : 36|10@0- (0.125,0) [-64|63.875] "m" EOCM_F_FO - SG_ FwdVsnBrkLtStatTrk6 : 38|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FwdVsnTrnSigStatTr6 : 25|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ FwdVsnObjSclChgTrk6 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec" EOCM_F_FO - SG_ FrtVsnBrstIDAddInfo6 : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO - -BO_ 1067 F_Vision_Obj_Track_5_B: 8 VIS2_FO - SG_ FwVsnCinCoutPotT5Rev : 5|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FwdVsnObjAgeTrk5 : 62|7@0+ (1,0) [0|127] "" EOCM_F_FO - SG_ FwdVsnLongVlctyTrk5 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec" EOCM_F_FO - SG_ FwdVsnLatOfstTrk5 : 36|10@0- (0.125,0) [-64|63.875] "m" EOCM_F_FO - SG_ FwdVsnBrkLtStatTrk5 : 38|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FwdVsnTrnSigStatTr5 : 25|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ FwdVsnObjSclChgTrk5 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec" EOCM_F_FO - SG_ FrtVsnBrstIDAddInfo5 : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO - -BO_ 1066 F_Vision_Obj_Track_4_B: 8 VIS2_FO - SG_ FwVsnCinCoutPotT4Rev : 5|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FwdVsnObjAgeTrk4 : 62|7@0+ (1,0) [0|127] "" EOCM_F_FO - SG_ FwdVsnLongVlctyTrk4 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec" EOCM_F_FO - SG_ FwdVsnLatOfstTrk4 : 36|10@0- (0.125,0) [-64|63.875] "m" EOCM_F_FO - SG_ FwdVsnBrkLtStatTrk4 : 38|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FwdVsnTrnSigStatTr4 : 25|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ FwdVsnObjSclChgTrk4 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec" EOCM_F_FO - SG_ FrtVsnBrstIDAddInfo4 : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO - -BO_ 1065 F_Vision_Obj_Track_3_B: 8 VIS2_FO - SG_ FwVsnCinCoutPotT3Rev : 5|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FwdVsnObjAgeTrk3 : 62|7@0+ (1,0) [0|127] "" EOCM_F_FO - SG_ FwdVsnLongVlctyTrk3 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec" EOCM_F_FO - SG_ FwdVsnLatOfstTrk3 : 36|10@0- (0.125,0) [-64|63.875] "m" EOCM_F_FO - SG_ FwdVsnBrkLtStatTrk3 : 38|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FwdVsnTrnSigStatTr3 : 25|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ FwdVsnObjSclChgTrk3 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec" EOCM_F_FO - SG_ FrtVsnBrstIDAddInfo3 : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO - -BO_ 1064 F_Vision_Obj_Track_2_B: 8 VIS2_FO - SG_ FwVsnCinCoutPotT2Rev : 5|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FwdVsnObjAgeTrk2 : 62|7@0+ (1,0) [0|127] "" EOCM_F_FO - SG_ FwdVsnLongVlctyTrk2 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec" EOCM_F_FO - SG_ FwdVsnLatOfstTrk2 : 36|10@0- (0.125,0) [-64|63.875] "m" EOCM_F_FO - SG_ FwdVsnBrkLtStatTrk2 : 38|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FwdVsnTrnSigStatTr2 : 25|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ FwdVsnObjSclChgTrk2 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec" EOCM_F_FO - SG_ FrtVsnBrstIDAddInfo2 : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO - -BO_ 1063 F_Vision_Obj_Track_1_B: 8 VIS2_FO - SG_ FwVsnCinCoutPotT1Rev : 5|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FwdVsnObjSclChgTrk1 : 15|16@0- (0.0002,0) [-6.5536|6.5534] "pix/sec" EOCM_F_FO - SG_ FwdVsnObjAgeTrk1 : 62|7@0+ (1,0) [0|127] "" EOCM_F_FO - SG_ FwdVsnLongVlctyTrk1 : 42|12@0- (0.0625,0) [-128|127.9375] "m/sec" EOCM_F_FO - SG_ FwdVsnLatOfstTrk1 : 36|10@0- (0.125,0) [-64|63.875] "m" EOCM_F_FO - SG_ FwdVsnBrkLtStatTrk1 : 38|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FwdVsnTrnSigStatTr1 : 25|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ FrtVsnBrstIDAddInfo1 : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO - -BO_ 1151 Long_Range_Radar_add_Info_5_FO: 8 LRR_FO - SG_ FrtRdrRdEdgLtLatRdEdgDst : 63|8@0- (0.1,0) [-12.8|12.7] "m/m" EOCM_F_FO - SG_ FrtRdrRdEdgLtCrvtPrvDst : 5|4@0+ (10,0) [0|150] "" EOCM_F_FO - SG_ FrtRdrRdEdgLtTanHdgAng : 15|8@0- (0.002,0) [-0.256|0.254] "m/m" EOCM_F_FO - SG_ FrtRdrRdEdgLtCrvtV : 48|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ FrtRdrRdEdgLtCrvtGradV : 0|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ FrtRdrRdEdgLtCrvtGrad : 39|16@0- (5.96E-008,0) [-0.0019529728|0.0019529132] "1/(m*sec)" EOCM_F_FO - SG_ FrtRdrRdEdgLtCrvtConf : 55|7@0+ (0.7874016,0) [0|100.0000032] "%" EOCM_F_FO - SG_ FrtRdrRdEdgLtCrvt : 23|16@0- (9.53E-007,0) [-0.031227904|0.031226951] "1/m" EOCM_F_FO - SG_ FrtRdrRdEdgLtTanHdgAngV : 1|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ FLRRAddInfo5BurstID : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO - -BO_ 1150 Long_Range_Radar_add_Info_4_FO: 8 LRR_FO - SG_ FrtRdrRdEdgRtLatRdEdgDst : 63|8@0- (0.1,0) [-12.8|12.7] "m/m" EOCM_F_FO - SG_ FrtRdrRdEdgRtCrvtPrvDst : 5|4@0+ (10,0) [0|150] "" EOCM_F_FO - SG_ FrtRdrRdEdgRtTanHdgAngV : 1|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ FrtRdrRdEdgRtTanHdgAng : 15|8@0- (0.002,0) [-0.256|0.254] "m/m" EOCM_F_FO - SG_ FrtRdrRdEdgRtCrvtV : 48|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ FrtRdrRdEdgRtCrvtGradV : 0|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ FrtRdrRdEdgRtCrvtGrad : 39|16@0- (5.96E-008,0) [-0.0019529728|0.0019529132] "1/(m*sec)" EOCM_F_FO - SG_ FrtRdrRdEdgRtCrvtConf : 55|7@0+ (0.7874016,0) [0|100.0000032] "%" EOCM_F_FO - SG_ FrtRdrRdEdgRtCrvt : 23|16@0- (9.53E-007,0) [-0.031227904|0.031226951] "1/m" EOCM_F_FO - SG_ FLRRAddInfo4BurstID : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO - -BO_ 1088 F_Vision_Obj_Header_2: 8 VIS2_FO - SG_ FrntVsnInPthVehBrkNwSt : 35|4@0+ (1,0) [0|15] "" EOCM_F_FO - SG_ FrntVsnClostPedBrkNwSt : 39|4@0+ (1,0) [0|15] "" EOCM_F_FO - SG_ FrntVsnClostPedObjID : 29|6@0+ (1,0) [0|63] "" EOCM_F_FO - SG_ FrntVsnClostPedAlrtNwFlg : 30|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ FrntVsnClostPedNotftnFlg : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ FrntVsnInPthVehAlrtNwFlg : 2|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ FrtVsnVldTgtNum2 : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO - SG_ FrtVsnTmStmp2V : 31|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ FrtVsnTmStmp2 : 10|11@0+ (1,0) [0|2047] "" EOCM_F_FO - SG_ FrtVsnRollCnt2 : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FrtVsnBrstChksum2 : 55|16@0+ (1,0) [0|65535] "" EOCM_F_FO - -BO_ 854 F_Vision_Environment_7: 3 VIS2_FO - SG_ FwdVsnCnstrctAreaDst : 13|4@0+ (10,0) [0|150] "m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO - SG_ FwdVsnCnstrctZnDet : 15|2@0+ (1,0) [0|3] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO - SG_ FwdVsnEgoVehLnPos : 17|2@0+ (1,0) [0|3] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO - SG_ FwdVsnRdTypDet : 9|2@0+ (1,0) [0|3] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO - SG_ FwdVsnTunnlDetd : 23|2@0+ (1,0) [0|3] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO - SG_ FwdVsnTunnlDst : 21|4@0+ (10,0) [0|150] "m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO - SG_ LnSnsBrstID5 : 1|2@0+ (1,0) [0|3] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO - -BO_ 853 F_Vision_Environment_6: 8 VIS2_FO - SG_ LnMrkg4LnSnsLnHdngTngtV : 7|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO - SG_ LnMrkg4LnSnsLnHdngTngt : 23|8@0- (0.002,0) [-0.256|0.254] "m/m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO - SG_ LnMrkg4LnSnsLnDstV : 56|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO - SG_ LnMrkg4LnSnsLnDst : 15|8@0- (0.1,0) [-12.8|12.7] "m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO - SG_ LnMrkg4LnSnsLnCrvtV : 6|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO - SG_ LnMrkg4LnSnsLnCrvtGradV : 5|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO - SG_ LnMrkg4LnSnsLnCrvtGrad : 47|16@0- (5.96E-008,0) [-0.0019529728|0.0019529132] "1/(m*sec)" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO - SG_ LnMrkg4LnSnsLnCrvt : 31|16@0- (9.53E-007,0) [-0.031227904|0.031226951] "1/m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO - SG_ LnMrkg4LnQltyConfLvl : 63|7@0+ (0.7874016,0) [0|100.0000032] "%" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO - SG_ LnMrkg4LnMrkrTyp : 4|3@0+ (1,0) [0|7] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO - SG_ LnSnsBrstID4 : 1|2@0+ (1,0) [0|3] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO - -BO_ 852 F_Vision_Environment_5: 8 VIS2_FO - SG_ LnMrkg3LnSnsLnHdngTngtV : 7|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO - SG_ LnMrkg3LnSnsLnHdngTngt : 23|8@0- (0.002,0) [-0.256|0.254] "m/m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO - SG_ LnMrkg3LnSnsLnDstV : 56|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO - SG_ LnMrkg3LnSnsLnDst : 15|8@0- (0.1,0) [-12.8|12.7] "m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO - SG_ LnMrkg3LnSnsLnCrvtV : 6|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO - SG_ LnMrkg3LnSnsLnCrvtGradV : 5|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO - SG_ LnMrkg3LnSnsLnCrvtGrad : 47|16@0- (5.96E-008,0) [-0.0019529728|0.0019529132] "1/(m*sec)" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO - SG_ LnMrkg3LnSnsLnCrvt : 31|16@0- (9.53E-007,0) [-0.031227904|0.031226951] "1/m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO - SG_ LnMrkg3LnQltyConfLvl : 63|7@0+ (0.7874016,0) [0|100.0000032] "%" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO - SG_ LnMrkg3LnMrkrTyp : 4|3@0+ (1,0) [0|7] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO - SG_ LnSnsBrstID3 : 1|2@0+ (1,0) [0|3] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO - -BO_ 602 USDT_Req_to_RRSRR: 8 TestTool_FO - SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" RRSRR_FO - -BO_ 1626 USDT_Resp_From_RRSRR: 8 RRSRR_FO - SG_ DgnInf_OBJ65A : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO - -BO_ 1370 UUDT_Resp_From_RRSRR: 8 RRSRR_FO - SG_ DgnInf_OBJ55A : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO - -BO_ 1536 RR_SRR_Trace_data: 8 RRSRR_FO - SG_ RRSRRYear : 7|8@0+ (1,0) [0|0] "" EOCM_F_FO - SG_ RRSRRSerialNmbr : 39|32@0+ (1,0) [0|0] "" EOCM_F_FO - SG_ RRSRRJulianDate : 15|24@0+ (1,0) [0|0] "" EOCM_F_FO - -BO_ 1210 RR_SRR_Object_Track10: 8 RRSRR_FO - SG_ RRSrrTrkRawAzimuth10 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO - SG_ RRSrrTrkRRate10 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO - SG_ RRSrrTrkRange10 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO - SG_ RRSrrTrkObsRange10 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO - SG_ RRSrrTrkObjID10 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO - SG_ RRSrrTrkObjElevation10 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ RRSrrTrkMeasStatus10 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ RRSrrTrkDynamProp10 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ RRSrrTrkAzimuth10 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO - SG_ RRSrrBurstID10 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO - -BO_ 1209 RR_SRR_Object_Track9: 8 RRSRR_FO - SG_ RRSrrTrkRawAzimuth9 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO - SG_ RRSrrTrkRRate9 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO - SG_ RRSrrTrkRange9 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO - SG_ RRSrrTrkObsRange9 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO - SG_ RRSrrTrkObjID9 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO - SG_ RRSrrTrkObjElevation9 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ RRSrrTrkMeasStatus9 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ RRSrrTrkDynamProp9 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ RRSrrTrkAzimuth9 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO - SG_ RRSrrBurstID9 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO - -BO_ 1208 RR_SRR_Object_Track8: 8 RRSRR_FO - SG_ RRSrrTrkRawAzimuth8 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO - SG_ RRSrrTrkRRate8 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO - SG_ RRSrrTrkRange8 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO - SG_ RRSrrTrkObsRange8 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO - SG_ RRSrrTrkObjID8 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO - SG_ RRSrrTrkObjElevation8 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ RRSrrTrkMeasStatus8 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ RRSrrTrkDynamProp8 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ RRSrrTrkAzimuth8 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO - SG_ RRSrrBurstID8 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO - -BO_ 1207 RR_SRR_Object_Track7: 8 RRSRR_FO - SG_ RRSrrTrkRawAzimuth7 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO - SG_ RRSrrTrkRRate7 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO - SG_ RRSrrTrkRange7 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO - SG_ RRSrrTrkObsRange7 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO - SG_ RRSrrTrkObjID7 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO - SG_ RRSrrTrkObjElevation7 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ RRSrrTrkMeasStatus7 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ RRSrrTrkDynamProp7 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ RRSrrTrkAzimuth7 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO - SG_ RRSrrBurstID7 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO - -BO_ 1206 RR_SRR_Object_Track6: 8 RRSRR_FO - SG_ RRSrrTrkRawAzimuth6 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO - SG_ RRSrrTrkRRate6 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO - SG_ RRSrrTrkRange6 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO - SG_ RRSrrTrkObsRange6 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO - SG_ RRSrrTrkObjID6 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO - SG_ RRSrrTrkObjElevation6 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ RRSrrTrkMeasStatus6 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ RRSrrTrkDynamProp6 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ RRSrrTrkAzimuth6 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO - SG_ RRSrrBurstID6 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO - -BO_ 1205 RR_SRR_Object_Track5: 8 RRSRR_FO - SG_ RRSrrTrkRawAzimuth5 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO - SG_ RRSrrTrkRRate5 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO - SG_ RRSrrTrkRange5 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO - SG_ RRSrrTrkObsRange5 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO - SG_ RRSrrTrkObjID5 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO - SG_ RRSrrTrkObjElevation5 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ RRSrrTrkMeasStatus5 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ RRSrrTrkDynamProp5 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ RRSrrTrkAzimuth5 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO - SG_ RRSrrBurstID5 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO - -BO_ 262 LHT_AutoHighBeamAssistStatus_FO: 5 EOCM_F_FO - SG_ NtVsnSysEnbld : 6|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,NVS_FO - SG_ VehMovState : 5|3@0+ (1,0) [0|7] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,NVS_FO - SG_ NVSysPedDetCstReq : 2|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,NVS_FO - SG_ StrWhAngV : 8|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,NVS_FO,VIS_FO - SG_ StrWhAngMsk : 9|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS_FO - SG_ StrWhAng : 23|16@0- (0.0625,0) [-2048|2047.9375] "deg" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,NVS_FO,VIS_FO - SG_ RtTrnLmpAtv : 13|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS_FO - SG_ MpDataAvlbl : 0|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS_FO - SG_ LftTrnLmpAtv : 11|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS_FO - SG_ HdlmpBmSelectStat : 33|2@0+ (1,0) [0|3] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS_FO - SG_ BldUpArDet : 14|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS_FO - SG_ FrFogLmpsAct : 15|1@0+ (1,0) [0|1] "" EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,NVS_FO,VIS_FO - -BO_ 309 LHT_CameraObjConfirmation_FO: 1 VIS_FO - SG_ HiBmRecmnd : 1|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ CtLghtDet : 0|1@0+ (1,0) [0|1] "" EOCM_F_FO - -BO_ 2034 CCP_Data_Transmission_Object_FO: 8 VIS2_FO - SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO - -BO_ 2032 CCP_Command_Receive_Object_FO: 8 TestTool_FO - SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" VIS2_FO - -BO_ 1362 F_Vis_Obj_Conf_CPS_1B: 8 EOCM_F_FO - SG_ FObjConfCPSTrkObjectIDB : 7|6@0+ (1,0) [0|63] "" VIS_FO - SG_ CPSVisConfLonPos1 : 20|12@0- (0.125,0) [-256|255.875] "m" VIS_FO - SG_ CPSVisConfLatPos1 : 15|10@0- (0.125,0) [-64|63.875] "m" VIS_FO - SG_ CPSVisConfChecksum : 50|11@0+ (1,0) [0|2047] "" VIS_FO - SG_ FObjConfCPSTrkRangeRate : 45|11@0- (0.125,0) [-128|127.875] "m/s" VIS_FO - SG_ CPSConfTimeStamp : 24|11@0+ (1,0) [0|2047] "ms" VIS_FO - SG_ CPSConfTimeStampV : 21|1@0+ (1,0) [0|1] "" VIS_FO - SG_ FObjConfCPSRollingTrkCnt : 1|2@0+ (1,0) [0|3] "" VIS_FO - -BO_ 1413 TOS_ACC_IDS: 5 EOCM_F_FO - SG_ TOS_ACC_IDSRollCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO - SG_ TOS_ACC_IDSFuncState : 5|2@0+ (1,0) [0|3] "" Dummy_FO - SG_ TOS_ACC_ID1 : 3|6@0+ (1,0) [0|63] "" Dummy_FO - SG_ TOS_ACC_ID2 : 13|6@0+ (1,0) [0|63] "" Dummy_FO - SG_ TOS_ACC_ID3 : 23|6@0+ (1,0) [0|63] "" Dummy_FO - SG_ TOS_ACC_ID4 : 17|6@0+ (1,0) [0|63] "" Dummy_FO - SG_ TOS_ACC_ID5 : 27|6@0+ (1,0) [0|63] "" Dummy_FO - SG_ TOS_ACC_ID6 : 37|6@0+ (1,0) [0|63] "" Dummy_FO - -BO_ 1412 F_ACC_Target: 8 EOCM_F_FO - SG_ FACCTOSRollCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO - SG_ FACCTOSFuncState : 5|2@0+ (1,0) [0|3] "" Dummy_FO - SG_ FACCTOSLongPos : 3|12@0- (0.125,0) [-256|255.875] "m" Dummy_FO - SG_ FACCTOSLatPos : 23|11@0- (0.125,0) [-128|127.875] "m" Dummy_FO - SG_ FACCTOSMeasStat : 28|2@0+ (1,0) [0|3] "" Dummy_FO - SG_ FACCTOSLongVel : 26|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO - SG_ FACCTOSTrgtDecelFlg : 47|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FACCTOSDynProp : 46|3@0+ (1,0) [0|7] "" Dummy_FO - SG_ FACCTOSLatVel : 42|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO - SG_ FACCTOSRelLane : 63|2@0+ (1,0) [0|3] "" Dummy_FO - SG_ FACCTOSHiThrtID : 61|6@0+ (1,0) [0|63] "" Dummy_FO - -BO_ 1409 F_CPS_TOS_B: 8 EOCM_F_FO - SG_ CPSTOSObjType : 7|3@0+ (1,0) [0|7] "" Dummy_FO - SG_ CPSTOSHiThrtPriNo : 60|5@0+ (1,0) [0|31] "" Dummy_FO - SG_ CPSTOSRelLongAcc : 53|9@0- (0.125,0) [-32|31.875] "m/s^2" Dummy_FO - SG_ CPSTOSConfAsmt : 21|12@0+ (1,0) [0|4095] "" Dummy_FO - SG_ CPSTOSNumCycTrkd : 4|3@0+ (1,0) [0|7] "" Dummy_FO - SG_ CPSTOSTimeToColl : 1|12@0+ (0.025,0) [0|102.375] "s" Dummy_FO - SG_ CPSTOSClosestInPthVehRng : 47|10@0+ (0.25,0) [0|255.75] "m" Dummy_FO - SG_ CPSTOSClosestInPthObID : 37|6@0+ (1,0) [0|63] "m" Dummy_FO - SG_ CPSTOSMeasStat : 39|2@0+ (1,0) [0|3] "" Dummy_FO - SG_ CPSTOSFuncState : 25|2@0+ (1,0) [0|3] "" Dummy_FO - -BO_ 1408 F_CPS_TOS_A: 8 EOCM_F_FO - SG_ CPSTOSLongPos : 7|12@0- (0.125,0) [-256|255.875] "m" Dummy_FO - SG_ CPSTOSLatPos : 11|11@0- (0.125,0) [-128|127.875] "m" Dummy_FO - SG_ CPSTOSLongVel : 16|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO - SG_ CPSTOSDynProp : 37|3@0+ (1,0) [0|7] "" Dummy_FO - SG_ CPSTOSLatVel : 34|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO - SG_ CPSTOSARelLane : 63|2@0+ (1,0) [0|3] "" Dummy_FO - SG_ CPSTOSHiThrtID : 61|6@0+ (1,0) [0|63] "" Dummy_FO - SG_ CPSTOSHighestThreatObAsmt : 55|8@0+ (1,0) [0|255] "" Dummy_FO - -BO_ 1344 FLPEstimate: 8 EOCM_F_FO - SG_ FLPRollCount : 7|2@0+ (1,0) [0|3] "" Dummy_FO - SG_ NewLaneIndex : 5|2@0+ (1,0) [0|3] "" Dummy_FO - SG_ VehPathInOK : 3|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ LaneSnsInOK : 2|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ MapInOK : 1|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FWDObjFusInOK : 0|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ LngthFrstSeg : 15|4@0+ (10,0) [0|150] "m" Dummy_FO - SG_ LngthScndSeg : 11|4@0+ (10,0) [0|150] "m" Dummy_FO - SG_ CurvFrstSeg : 23|13@0- (5E-005,0) [-0.2048|0.20475] "1/m" Dummy_FO - SG_ CurvScndSeg : 26|3@0- (0.001,0) [-0.004|0.003] "1/m" Dummy_FO - SG_ OffstLaneCntr : 39|8@0- (0.05,0) [-6.4|6.35] "m" Dummy_FO - SG_ TngntLaneHead : 47|8@0- (0.002,0) [-0.256|0.254] "m/m" Dummy_FO - SG_ LaneWidth : 55|8@0+ (0.05,0) [0|12.75] "m" Dummy_FO - SG_ FLPDataTimeStampV : 63|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FLPDataTimeStamp : 62|7@0+ (16,0) [0|2032] "ms" Dummy_FO - -BO_ 770 F_Fwd_Collision_Alert: 8 EOCM_F_FO - SG_ Vpath_Accel : 51|11@0- (0.125,0) [-128|127.875] "m/s^2" NVS_FO,Dummy_FO - SG_ FCA_Ra : 7|12@0- (0.125,0) [-256|255.875] "m" Dummy_FO - SG_ FCA_Range : 11|12@0- (0.125,0) [-256|255.875] "m" Dummy_FO - SG_ FCA_AlertLevel : 44|2@0+ (1,0) [0|3] "" Dummy_FO - SG_ FCA_Alert_Sup : 31|16@0+ (1,0) [0|65535] "" Dummy_FO - SG_ FCAStatus : 46|2@0+ (1,0) [0|3] "" Dummy_FO - SG_ FCA_VehAhead : 47|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FCA_CPS_Alert : 42|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FCAChime : 41|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FCADiagOK : 40|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ NBSMS_Alert : 55|1@0+ (1,0) [0|1] "" Dummy_FO - -BO_ 1601 USDT_Resp_From_VIS: 8 VIS_FO - SG_ DgnInf_OBJ641 : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO - -BO_ 1606 USDT_Resp_From_RFSRR: 8 RFSRR_FO - SG_ DgnInf_OBJ646 : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO - -BO_ 1603 USDT_Resp_From_LFSRR: 8 LFSRR_FO - SG_ DgnInf_OBJ643 : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO - -BO_ 1602 USDT_Resp_From_LRR: 8 LRR_FO - SG_ DgnInf_OBJ642 : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO - -BO_ 1625 USDT_Resp_From_RSRR: 8 RSRR_FO - SG_ DgnInf_OBJ644 : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO - -BO_ 1611 USDT_Resp_From_FEOCM_FO: 8 EOCM_F_FO - SG_ DgnInf_OBJ64B : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO - -BO_ 768 F_Smgr_Vehicle_Motion: 8 EOCM_F_FO - SG_ SmgrMotRollAngle : 44|10@0- (0.1,0) [-51.2|51.1] "deg" CIPM_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS_FO - SG_ SmgrMotRollAngleV : 0|1@0+ (1,0) [0|1] "" CIPM_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS_FO - SG_ SmgrMotChecksum : 50|11@0+ (1,0) [0|2047] "" CIPM_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS_FO - SG_ SmgrMotPitchAngle : 39|11@0- (0.1,0) [-102.4|102.3] "deg" CIPM_FO,NVS_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS_FO - SG_ SmgrMotPitchAngleV : 1|1@0+ (1,0) [0|1] "" CIPM_FO,NVS_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS_FO - SG_ SmgrMotLongSpeedV : 2|1@0+ (1,0) [0|1] " " CIPM_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS_FO - SG_ SmgrMotLongSpeed : 18|11@0- (0.1,0) [-102.4|102.3] "m/s" CIPM_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS_FO - SG_ SmgrMotYawRate : 14|12@0- (0.05,0) [-102.4|102.35] "deg/s" CIPM_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS_FO - SG_ SmgrMotYawRateV : 15|1@0+ (1,0) [0|1] "" CIPM_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS_FO - SG_ SmgrMotRollingCnt : 4|2@0+ (1,0) [0|3] "" CIPM_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS_FO - -BO_ 1350 UUDT_Resp_From_RFSRR: 8 RFSRR_FO - SG_ DgnInf_OBJ546 : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO - -BO_ 1369 UUDT_Resp_From_RSRR: 8 RSRR_FO - SG_ DgnInf_OBJ544 : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO - -BO_ 1347 UUDT_Resp_From_LFSRR: 8 LFSRR_FO - SG_ DgnInf_OBJ543 : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO - -BO_ 1346 UUDT_Resp_From_LRR: 8 LRR_FO - SG_ DgnInf_OBJ542 : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO - -BO_ 1345 UUDT_Resp_From_VIS: 8 VIS_FO - SG_ DgnInf_OBJ541 : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO - -BO_ 579 USDT_Req_to_LFSRR: 8 TestTool_FO - SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" LFSRR_FO - -BO_ 577 USDT_Req_to_VIS: 8 TestTool_FO - SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" VIS_FO - -BO_ 578 USDT_Req_to_LRR: 8 TestTool_FO - SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" LRR_FO - -BO_ 582 USDT_Req_to_RFSRR: 8 TestTool_FO - SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" RFSRR_FO - -BO_ 601 USDT_Req_to_RSRR: 8 TestTool_FO - SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" RSRR_FO - -BO_ 1355 UUDT_Resp_From_FEOCM_FO: 8 EOCM_F_FO - SG_ DgnInf_OBJ54B : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO - -BO_ 587 USDT_Req_to_FEOCM_obj: 8 TestTool_FO - SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" EOCM2A_K2_FO,EOCM_F_FO - -BO_ 784 Body_Info_FOB: 6 EOCM_F_FO - SG_ StrgColUpDwnPos : 39|8@0+ (1,0) [0|255] "" DMS_FO - SG_ CPMAPINFO4 : 47|1@0+ (1,0) [0|1] "" DMS_FO - SG_ StrgColInOutPos : 31|8@0+ (1,0) [0|255] "" DMS_FO - SG_ StrgColCommsFlt : 19|2@0+ (1,0) [0|3] "" DMS_FO - SG_ DrDoorOpenSwActV : 16|1@0+ (1,0) [0|1] "" DMS_FO - SG_ DrDoorOpenSwAct : 17|1@0+ (1,0) [0|1] "" DMS_FO - SG_ DrvWndPosStat : 22|3@0+ (1,0) [0|7] "" CIPM_FO,DMS_FO,VIS2_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ InterLghtStat : 23|1@0+ (1,0) [0|1] "" CIPM_FO,DMS_FO,VIS2_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ DrvrHndsOnWhlZn3 : 13|1@0+ (1,0) [0|1] "" CIPM_FO,AMM_FO,DMS_FO,VIS2_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ DrvrHndsOnWhlZn2 : 14|1@0+ (1,0) [0|1] "" CIPM_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,DMS_FO,VIS2_FO - SG_ DrvrHndsOnWhlZn1 : 15|1@0+ (1,0) [0|1] "" CIPM_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,DMS_FO,VIS2_FO - SG_ WSWshSwAtv : 11|1@0+ (1,0) [0|1] "" CIPM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,DMS_FO,AMM_FO,VIS_FO,VIS2_FO - SG_ SysPwrMdV : 8|1@0+ (1,0) [0|1] "" NVS_FO,RRSRR_FO,VIS_FO,RSRR_FO,RFSRR_FO,LRR_FO,LFSRR_FO,LRSRR_FO,CIPM_FO,_DOFIMU2_FO,_DOFIMU1_FO,DMS_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,VIS2_FO - SG_ SysPwrMd : 10|2@0+ (1,0) [0|3] "" NVS_FO,RRSRR_FO,VIS_FO,RSRR_FO,RFSRR_FO,LRR_FO,LFSRR_FO,LRSRR_FO,CIPM_FO,_DOFIMU2_FO,_DOFIMU1_FO,DMS_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,VIS2_FO - SG_ WSWprAct : 2|1@0+ (1,0) [0|1] "" CIPM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,DMS_FO,AMM_FO,NVS_FO,VIS_FO,VIS2_FO - SG_ RtLwBmFld : 4|1@0+ (1,0) [0|1] "" CIPM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,DMS_FO,AMM_FO,NVS_FO,VIS_FO,VIS2_FO - SG_ OtsdAmbtLtLvlStatV : 5|1@0+ (1,0) [0|1] "" CIPM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,DMS_FO,AMM_FO,NVS_FO,VIS_FO,VIS2_FO - SG_ OtsdAmbtLtLvlStat : 7|2@0+ (1,0) [0|3] "" CIPM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,DMS_FO,AMM_FO,NVS_FO,VIS_FO,VIS2_FO - SG_ LowBmAct : 1|1@0+ (1,0) [0|1] "" CIPM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,DMS_FO,AMM_FO,NVS_FO,VIS_FO,VIS2_FO - SG_ LftLwBmFld : 3|1@0+ (1,0) [0|1] "" CIPM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,DMS_FO,AMM_FO,NVS_FO,VIS_FO,VIS2_FO - SG_ HighBmAct : 0|1@0+ (1,0) [0|1] "" CIPM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,DMS_FO,AMM_FO,NVS_FO,VIS_FO,VIS2_FO - SG_ TrStLgMdAtv : 12|1@0+ (1,0) [0|1] "" CIPM_FO,NVS_FO,RRSRR_FO,LRSRR_FO,_DOFIMU2_FO,_DOFIMU1_FO,DMS_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,LRR_FO,RFSRR_FO,LFSRR_FO,RSRR_FO,VIS_FO,VIS2_FO - -BO_ 1539 RF_SRR_Trace_Data: 8 RFSRR_FO - SG_ RFSRRYear : 7|8@0+ (1,0) [0|0] "" EOCM_F_FO - SG_ RFSRRSerialNmbr : 39|32@0+ (1,0) [0|0] "" EOCM_F_FO - SG_ RFSRRJulianDate : 15|24@0+ (1,0) [0|0] "" EOCM_F_FO - -BO_ 776 F_Vehicle_Path_Data_2: 7 EOCM_F_FO - SG_ Vpath_Data2ModeInfo : 44|2@0+ (1,0) [0|3] "" CIPM_FO,DMS_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS2_FO,RRSRR_FO,VIS_FO,RSRR_FO,RFSRR_FO,LRR_FO,LFSRR_FO - SG_ Vpath2_Checksum : 42|11@0+ (1,0) [0|2047] "" CIPM_FO,DMS_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS2_FO,RRSRR_FO,VIS_FO,RFSRR_FO,LFSRR_FO,RSRR_FO,LRR_FO - SG_ Vpath_Data2RollCnt : 46|2@0+ (1,0) [0|3] "" CIPM_FO,DMS_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS2_FO,RRSRR_FO,VIS_FO,RSRR_FO,RFSRR_FO,LRR_FO,LFSRR_FO - SG_ Vpath_Data2YawRateV : 2|1@0+ (1,0) [0|1] "" CIPM_FO,DMS_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS2_FO,NVS_FO,RRSRR_FO,VIS_FO,RSRR_FO,RFSRR_FO,LRR_FO,LFSRR_FO - SG_ Vpath_Data2LongVelV : 1|1@0+ (1,0) [0|1] "" CIPM_FO,DMS_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS2_FO,RRSRR_FO,NVS_FO,VIS_FO,RSRR_FO,RFSRR_FO,LRR_FO,LFSRR_FO - SG_ Vpath_Data2LatVelV : 47|1@0+ (1,0) [0|1] "" CIPM_FO,DMS_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS2_FO,RRSRR_FO,VIS_FO,RSRR_FO,RFSRR_FO,LRR_FO,LFSRR_FO - SG_ Vpath_Data2TravlDirctn : 4|2@0+ (1,0) [0|3] "" CIPM_FO,DMS_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS2_FO,RRSRR_FO,VIS_FO,RSRR_FO,RFSRR_FO,LRR_FO,LFSRR_FO - SG_ Vpath_Data2LongVel : 15|12@0- (0.0625,0) [-128|127.9375] "m/s" CIPM_FO,DMS_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS2_FO,RRSRR_FO,NVS_FO,VIS_FO,RSRR_FO,RFSRR_FO,LRR_FO,LFSRR_FO - SG_ Vpath_Data2YawRate : 19|12@0- (0.0625,0) [-128|127.9375] "deg/s" CIPM_FO,DMS_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS2_FO,NVS_FO,RRSRR_FO,VIS_FO,RSRR_FO,RFSRR_FO,LRR_FO,LFSRR_FO - SG_ Vpath_Data2LatVel : 39|8@0- (0.05,0) [-6.4|6.35] "m/s" CIPM_FO,DMS_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS2_FO,RRSRR_FO,VIS_FO,RSRR_FO,RFSRR_FO,LRR_FO,LFSRR_FO - -BO_ 161 F_Master_Time_Sync: 7 EOCM_F_FO - SG_ FTimeSyncMstrChksm : 35|12@0+ (1,0) [0|4095] "" AMM_FO,CIPM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS2_FO,RRSRR_FO,VIS_FO,RSRR_FO,RFSRR_FO,LRR_FO,LFSRR_FO - SG_ FTimeSyncMstrClock : 7|32@0+ (1,0) [0|4294967295] "ms" CIPM_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS2_FO,RRSRR_FO,VIS_FO,RSRR_FO,RFSRR_FO,LRR_FO,LFSRR_FO - SG_ SensorModeCmdLRR : 39|3@0+ (1,0) [0|7] "" CIPM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS2_FO,RRSRR_FO,VIS_FO,RSRR_FO,RFSRR_FO,LRR_FO,LFSRR_FO - SG_ SensorModeCmdSRR : 50|3@0+ (1,0) [0|7] "" CIPM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS2_FO,RRSRR_FO,VIS_FO,RSRR_FO,RFSRR_FO,LRR_FO,LFSRR_FO - SG_ SensorModeCmdFCamera : 53|3@0+ (1,0) [0|7] "" CIPM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS2_FO,RRSRR_FO,VIS_FO,RSRR_FO,RFSRR_FO,LRR_FO,LFSRR_FO - SG_ FTimeSyncMstrClockV : 36|1@0+ (1,0) [0|1] "" CIPM_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS2_FO,RRSRR_FO,VIS_FO,RSRR_FO,LRR_FO,RFSRR_FO,LFSRR_FO - -BO_ 774 F_Vehicle_Path_Estimate: 8 EOCM_F_FO - SG_ Vpath_RollingCount : 7|2@0+ (1,0) [0|3] "" CIPM_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS2_FO,RRSRR_FO,VIS_FO,RSRR_FO,RFSRR_FO,LRR_FO,LFSRR_FO - SG_ Vpath_TrnCtrLngOfstV : 1|1@0+ (1,0) [0|1] "" CIPM_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS2_FO,RRSRR_FO,LRR_FO,VIS_FO,RSRR_FO,RFSRR_FO,LFSRR_FO - SG_ Vpath_Checksum : 50|11@0+ (1,0) [0|2047] "" CIPM_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS2_FO,RRSRR_FO,VIS_FO,RSRR_FO,RFSRR_FO,LRR_FO,LFSRR_FO - SG_ Vpath_TrnCtrLngOfst : 15|8@0- (0.1,0) [-12.8|12.7] "m" CIPM_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS2_FO,RRSRR_FO,LRR_FO,VIS_FO,RSRR_FO,RFSRR_FO,LFSRR_FO - SG_ Vpath_TrnCtrLatOfst : 21|14@0- (1,0) [-8192|8191] "m" CIPM_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS2_FO,RRSRR_FO,LRR_FO,VIS_FO,RSRR_FO,RFSRR_FO,LFSRR_FO - SG_ Vpath_Curvature : 39|16@0- (1E-005,0) [-0.32768|0.32767] "1/m" CIPM_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS2_FO,RRSRR_FO,VIS_FO,RSRR_FO,RFSRR_FO,LRR_FO,LFSRR_FO - SG_ Vpath_CurvatureV : 0|1@0+ (1,0) [0|1] "" CIPM_FO,AMM_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,VIS2_FO,RRSRR_FO,VIS_FO,LRR_FO,RSRR_FO,RFSRR_FO,LFSRR_FO - -BO_ 848 F_Vision_Environment: 8 VIS_FO - SG_ FwdVsnEnvIllum : 37|3@0+ (1,0) [0|7] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO - SG_ LnSnsTngtOfHdngLnRtV : 1|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO - SG_ LnSnsTngtOfHdngLnRt : 31|8@0- (0.002,0) [-0.256|0.254] "m/m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO - SG_ LnSnsLnChngStatus : 39|2@0+ (1,0) [0|3] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO - SG_ LnSnsBurstChecksum : 55|16@0+ (1,0) [0|65535] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO - SG_ LaneSenseRollingCount : 7|2@0+ (1,0) [0|3] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO - SG_ LaneSenseSystemOK : 4|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO - SG_ LaneSnsLLnPosValid : 2|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO - SG_ LnSenseDistToLLnEdge : 14|7@0+ (0.05,0) [0|6.35] "m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO - SG_ LnSnsRLnPosValid : 0|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO - SG_ LnSnsDistToRLnEdge : 22|7@0+ (0.05,0) [0|6.35] "m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO - SG_ LaneSenseTimeStampV : 5|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO - SG_ LaneSenseTimeStamp : 34|11@0+ (1,0) [0|2047] "ms" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO - SG_ LaneSenseSystemOKV : 3|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO - -BO_ 849 F_Vision_Environment_2: 8 VIS_FO - SG_ LnSnsLatVRelToRgtMrkg : 23|8@0- (0.02,0) [-2.56|2.54] "m/s" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM_F_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO - SG_ LnSnsRtLnMrkgTypChgDst : 61|4@0+ (10,0) [0|150] "m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO - SG_ LnSnsCrvtGrdntRtV : 63|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO - SG_ LnSnsLnMrkgWdthRt : 62|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO - SG_ LnSnsRtAnchrLn : 57|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO - SG_ LnSnsLtAnchrLn : 56|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO - SG_ LnSnsLnCrvtrRghtV : 0|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO - SG_ LnSnsLnCrvtrRght : 47|16@0- (9.53E-007,0) [-0.031227904|0.031226951] "1/m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO - SG_ LnSnsCrvtGrdntRt : 31|16@0- (5.96E-008,0) [-0.0019529728|0.0019529132] "1/rad/s" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO - SG_ LnSnsBurstID : 2|2@0+ (1,0) [0|3] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO - SG_ LnSnsLatVRelToLftMrkg : 15|8@0- (0.02,0) [-2.56|2.54] "m/s" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO - -BO_ 1184 R_SRR_Object_Header: 8 RSRR_FO - SG_ RSRRNumValidTargets : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO - SG_ RSrrRollingCnt : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ RSRRModeCmdFdbk : 4|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ RSrrTimeStampV : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ RSrrTimeStamp : 10|11@0+ (1,0) [0|2047] "ms" EOCM_F_FO - SG_ RSrrBurstChecksum : 55|16@0+ (1,0) [0|65535] "" EOCM_F_FO - SG_ RSRRSnstvFltPrsntInt : 24|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ RSRRPlntAlgnInProc : 37|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ RSRRMsalgnYawRt : 47|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ RSRRMsalgnYawLt : 46|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ RSRRMsalgnRllRt : 35|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ RSRRMsalgnRllLt : 34|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ RSRRMsalgnPtchUp : 32|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ RSRRMsalgnPtchDn : 33|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ RSRRInitDiagCmplt : 40|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ RSRRHWFltPrsntInt : 25|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ RSRRExtIntrfrnc : 36|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ RSRRDiagSpare : 30|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ RSRRCANSgnlSpvFld : 29|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ RSRRCANRxErr : 28|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ RSRRCANIDAddrsUnsbl : 27|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ RSRRAntTngFltPrsnt : 26|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ RSRRAmbTmpOutRngLw : 42|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ RSRRAmbTmpOutRngHi : 41|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ RSRRAlgnFltPrsnt : 39|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ RSRRVltgOutRngLo : 44|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ RSRRVltgOutRngHi : 43|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ RSRRSvcAlgnInPrcs : 38|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ RSRRSnsrBlckd : 45|1@0+ (1,0) [0|1] "" EOCM_F_FO - -BO_ 1185 R_SRR_Object_Track1: 8 RSRR_FO - SG_ RSrrBurstID1 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ RSrrTrkRange1 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO - SG_ RSrrTrkRRate1 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO - SG_ RSrrTrkAzimuth1 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO - SG_ RSrrTrkObjID1 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO - SG_ RSrrTrkObjElevation1 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ RSrrTrkDynamProp1 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ RSrrTrkMeasStatus1 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ RSrrTrkObsRange1 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO - SG_ RSrrTrkRawAzimuth1 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO - -BO_ 1186 R_SRR_Object_Track2: 8 RSRR_FO - SG_ RSrrBurstID2 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ RSrrTrkRange2 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO - SG_ RSrrTrkRRate2 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO - SG_ RSrrTrkAzimuth2 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO - SG_ RSrrTrkObjID2 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO - SG_ RSrrTrkObjElevation2 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ RSrrTrkDynamProp2 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ RSrrTrkMeasStatus2 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ RSrrTrkObsRange2 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO - SG_ RSrrTrkRawAzimuth2 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO - -BO_ 1187 R_SRR_Object_Track3: 8 RSRR_FO - SG_ RSrrBurstID3 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ RSrrTrkRange3 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO - SG_ RSrrTrkRRate3 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO - SG_ RSrrTrkAzimuth3 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO - SG_ RSrrTrkObjID3 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO - SG_ RSrrTrkObjElevation3 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ RSrrTrkDynamProp3 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ RSrrTrkMeasStatus3 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ RSrrTrkObsRange3 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO - SG_ RSrrTrkRawAzimuth3 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO - -BO_ 1188 R_SRR_Object_Track4: 8 RSRR_FO - SG_ RSrrBurstID4 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ RSrrTrkRange4 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO - SG_ RSrrTrkRRate4 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO - SG_ RSrrTrkAzimuth4 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO - SG_ RSrrTrkObjID4 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO - SG_ RSrrTrkObjElevation4 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ RSrrTrkDynamProp4 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ RSrrTrkMeasStatus4 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ RSrrTrkObsRange4 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO - SG_ RSrrTrkRawAzimuth4 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO - -BO_ 1189 R_SRR_Object_Track5: 8 RSRR_FO - SG_ RSrrBurstID5 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ RSrrTrkRange5 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO - SG_ RSrrTrkRRate5 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO - SG_ RSrrTrkAzimuth5 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO - SG_ RSrrTrkObjID5 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO - SG_ RSrrTrkObjElevation5 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ RSrrTrkDynamProp5 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ RSrrTrkMeasStatus5 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ RSrrTrkObsRange5 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO - SG_ RSrrTrkRawAzimuth5 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO - -BO_ 1190 R_SRR_Object_Track6: 8 RSRR_FO - SG_ RSrrBurstID6 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ RSrrTrkRange6 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO - SG_ RSrrTrkRRate6 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO - SG_ RSrrTrkAzimuth6 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO - SG_ RSrrTrkObjID6 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO - SG_ RSrrTrkObjElevation6 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ RSrrTrkDynamProp6 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ RSrrTrkMeasStatus6 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ RSrrTrkObsRange6 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO - SG_ RSrrTrkRawAzimuth6 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO - -BO_ 1191 R_SRR_Object_Track7: 8 RSRR_FO - SG_ RSrrBurstID7 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ RSrrTrkRange7 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO - SG_ RSrrTrkRRate7 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO - SG_ RSrrTrkAzimuth7 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO - SG_ RSrrTrkObjID7 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO - SG_ RSrrTrkObjElevation7 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ RSrrTrkDynamProp7 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ RSrrTrkMeasStatus7 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ RSrrTrkObsRange7 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO - SG_ RSrrTrkRawAzimuth7 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO - -BO_ 1192 R_SRR_Object_Track8: 8 RSRR_FO - SG_ RSrrBurstID8 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ RSrrTrkRange8 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO - SG_ RSrrTrkRRate8 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO - SG_ RSrrTrkAzimuth8 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO - SG_ RSrrTrkObjID8 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO - SG_ RSrrTrkObjElevation8 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ RSrrTrkDynamProp8 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ RSrrTrkMeasStatus8 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ RSrrTrkObsRange8 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO - SG_ RSrrTrkRawAzimuth8 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO - -BO_ 1193 R_SRR_Object_Track9: 8 RSRR_FO - SG_ RSrrBurstID9 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ RSrrTrkRange9 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO - SG_ RSrrTrkRRate9 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO - SG_ RSrrTrkAzimuth9 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO - SG_ RSrrTrkObjID9 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO - SG_ RSrrTrkObjElevation9 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ RSrrTrkDynamProp9 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ RSrrTrkMeasStatus9 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ RSrrTrkObsRange9 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO - SG_ RSrrTrkRawAzimuth9 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO - -BO_ 1194 R_SRR_Object_Track10: 8 RSRR_FO - SG_ RSrrBurstID10 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ RSrrTrkRange10 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO - SG_ RSrrTrkRRate10 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO - SG_ RSrrTrkAzimuth10 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO - SG_ RSrrTrkObjID10 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO - SG_ RSrrTrkObjElevation10 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ RSrrTrkDynamProp10 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ RSrrTrkMeasStatus10 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ RSrrTrkObsRange10 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO - SG_ RSrrTrkRawAzimuth10 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO - -BO_ 1410 RVB_TVR_Debug: 6 EOCM_F_FO - SG_ VBBrkRqActv : 7|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ PATOSTTC : 37|12@0+ (0.025,0) [0|102.375] "s" Dummy_FO - SG_ BWTOSObjID : 27|6@0+ (1,0) [0|63] "" Dummy_FO - SG_ BWTOSLonPstn : 23|12@0- (0.125,0) [-256|255.875] "m" Dummy_FO - SG_ VBSwInd : 10|2@0+ (1,0) [0|3] "" Dummy_FO - SG_ VBBrkCtrlSt : 15|3@0+ (1,0) [0|7] "" Dummy_FO - SG_ BrkPlsRqst : 6|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ VBOpSt : 12|2@0+ (1,0) [0|3] "" Dummy_FO - SG_ VBAccelOvrrd : 0|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ VBUnavail : 1|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ VBFld : 2|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ VBDisbld : 3|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ VBEnbl : 4|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ VBBrkPrfReq : 5|1@0+ (1,0) [0|1] "" Dummy_FO - -BO_ 1216 LF_SRR_Object_Header: 8 LFSRR_FO - SG_ LFSRRNumValidTargets : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO - SG_ LFSrrRollingCnt : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ LFSRRModeCmdFdbk : 4|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ LFSrrTimeStampV : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ LFSrrTimeStamp : 10|11@0+ (1,0) [0|2047] "ms" EOCM_F_FO - SG_ LFSrrBurstChecksum : 55|16@0+ (1,0) [0|65535] "" EOCM_F_FO - SG_ LFSRRVltgOutRngLo : 44|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ LFSRRVltgOutRngHi : 43|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ LFSRRSvcAlgnInPrcs : 38|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ LFSRRSnsrBlckd : 45|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ LFSRRSnstvFltPrsntInt : 24|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ LFSRRPlntAlgnInProc : 37|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ LFSRRMsalgnYawRt : 47|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ LFSRRMsalgnYawLt : 46|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ LFSRRMsalgnRllRt : 35|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ LFSRRMsalgnRllLt : 34|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ LFSRRMsalgnPtchUp : 32|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ LFSRRMsalgnPtchDn : 33|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ LFSRRInitDiagCmplt : 40|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ LFSRRHWFltPrsntInt : 25|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ LFSRRExtIntrfrnc : 36|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ LFSRRDiagSpare : 30|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ LFSRRCANSgnlSpvFld : 29|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ LFSRRCANRxErr : 28|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ LFSRRCANIDAddrsUnsbl : 27|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ LFSRRAntTngFltPrsnt : 26|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ LFSRRAmbTmpOutRngLw : 42|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ LFSRRAmbTmpOutRngHi : 41|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ LFSRRAlgnFltPrsnt : 39|1@0+ (1,0) [0|1] "" EOCM_F_FO - -BO_ 1217 LF_SRR_Object_Track1: 8 LFSRR_FO - SG_ LFSrrBurstID1 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ LFSrrTrkRange1 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO - SG_ LFSrrTrkRRate1 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO - SG_ LFSrrTrkAzimuth1 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO - SG_ LFSrrTrkObjID1 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO - SG_ LFSrrTrkObjElevation1 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ LFSrrTrkDynamProp1 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ LFSrrTrkMeasStatus1 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ LFSrrTrkObsRange1 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO - SG_ LFSrrTrkRawAzimuth1 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO - -BO_ 1218 LF_SRR_Object_Track2: 8 LFSRR_FO - SG_ LFSrrBurstID2 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ LFSrrTrkRange2 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO - SG_ LFSrrTrkRRate2 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO - SG_ LFSrrTrkAzimuth2 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO - SG_ LFSrrTrkObjID2 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO - SG_ LFSrrTrkObjElevation2 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ LFSrrTrkDynamProp2 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ LFSrrTrkMeasStatus2 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ LFSrrTrkObsRange2 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO - SG_ LFSrrTrkRawAzimuth2 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO - -BO_ 1219 LF_SRR_Object_Track3: 8 LFSRR_FO - SG_ LFSrrBurstID3 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ LFSrrTrkRange3 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO - SG_ LFSrrTrkRRate3 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO - SG_ LFSrrTrkAzimuth3 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO - SG_ LFSrrTrkObjID3 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO - SG_ LFSrrTrkObjElevation3 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ LFSrrTrkDynamProp3 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ LFSrrTrkMeasStatus3 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ LFSrrTrkObsRange3 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO - SG_ LFSrrTrkRawAzimuth3 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO - -BO_ 1220 LF_SRR_Object_Track4: 8 LFSRR_FO - SG_ LFSrrBurstID4 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ LFSrrTrkRange4 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO - SG_ LFSrrTrkRRate4 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO - SG_ LFSrrTrkObsRange4 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO - SG_ LFSrrTrkAzimuth4 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO - SG_ LFSrrTrkObjID4 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO - SG_ LFSrrTrkObjElevation4 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ LFSrrTrkDynamProp4 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ LFSrrTrkMeasStatus4 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ LFSrrTrkRawAzimuth4 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO - -BO_ 1221 LF_SRR_Object_Track5: 8 LFSRR_FO - SG_ LFSrrTrkObsRange5 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO - SG_ LFSrrBurstID5 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ LFSrrTrkRange5 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO - SG_ LFSrrTrkRRate5 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO - SG_ LFSrrTrkAzimuth5 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO - SG_ LFSrrTrkObjID5 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO - SG_ LFSrrTrkObjElevation5 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ LFSrrTrkDynamProp5 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ LFSrrTrkMeasStatus5 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ LFSrrTrkRawAzimuth5 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO - -BO_ 1222 LF_SRR_Object_Track6: 8 LFSRR_FO - SG_ LFSrrTrkObsRange6 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO - SG_ LFSrrBurstID6 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ LFSrrTrkRange6 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO - SG_ LFSrrTrkRRate6 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO - SG_ LFSrrTrkAzimuth6 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO - SG_ LFSrrTrkObjID6 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO - SG_ LFSrrTrkObjElevation6 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ LFSrrTrkDynamProp6 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ LFSrrTrkMeasStatus6 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ LFSrrTrkRawAzimuth6 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO - -BO_ 1223 LF_SRR_Object_Track7: 8 LFSRR_FO - SG_ LFSrrTrkObsRange7 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO - SG_ LFSrrBurstID7 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ LFSrrTrkRange7 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO - SG_ LFSrrTrkRRate7 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO - SG_ LFSrrTrkAzimuth7 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO - SG_ LFSrrTrkObjID7 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO - SG_ LFSrrTrkObjElevation7 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ LFSrrTrkDynamProp7 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ LFSrrTrkMeasStatus7 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ LFSrrTrkRawAzimuth7 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO - -BO_ 1224 LF_SRR_Object_Track8: 8 LFSRR_FO - SG_ LFSrrTrkObsRange8 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO - SG_ LFSrrBurstID8 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ LFSrrTrkRange8 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO - SG_ LFSrrTrkRRate8 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO - SG_ LFSrrTrkAzimuth8 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO - SG_ LFSrrTrkObjID8 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO - SG_ LFSrrTrkObjElevation8 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ LFSrrTrkDynamProp8 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ LFSrrTrkMeasStatus8 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ LFSrrTrkRawAzimuth8 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO - -BO_ 1225 LF_SRR_Object_Track9: 8 LFSRR_FO - SG_ LFSrrTrkObsRange9 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO - SG_ LFSrrBurstID9 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ LFSrrTrkRange9 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO - SG_ LFSrrTrkRRate9 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO - SG_ LFSrrTrkAzimuth9 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO - SG_ LFSrrTrkObjID9 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO - SG_ LFSrrTrkObjElevation9 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ LFSrrTrkDynamProp9 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ LFSrrTrkMeasStatus9 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ LFSrrTrkRawAzimuth9 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO - -BO_ 1226 LF_SRR_Object_Track10: 8 LFSRR_FO - SG_ LFSrrTrkObsRange10 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO - SG_ LFSrrBurstID10 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ LFSrrTrkRange10 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO - SG_ LFSrrTrkRRate10 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO - SG_ LFSrrTrkAzimuth10 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO - SG_ LFSrrTrkObjID10 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO - SG_ LFSrrTrkObjElevation10 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ LFSrrTrkDynamProp10 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ LFSrrTrkMeasStatus10 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ LFSrrTrkRawAzimuth10 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO - -BO_ 1232 RF_SRR_Object_Header: 8 RFSRR_FO - SG_ RFSRRVltgOutRngLo : 44|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ RFSRRVltgOutRngHi : 43|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ RFSRRSvcAlgnInPrcs : 38|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ RFSRRSnsrBlckd : 45|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ RFSRRSnstvFltPrsntInt : 24|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ RFSRRPlntAlgnInProc : 37|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ RFSRRMsalgnYawRt : 47|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ RFSRRMsalgnYawLt : 46|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ RFSRRMsalgnRllRt : 35|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ RFSRRMsalgnRllLt : 34|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ RFSRRMsalgnPtchUp : 32|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ RFSRRMsalgnPtchDn : 33|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ RFSRRInitDiagCmplt : 40|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ RFSRRHWFltPrsntInt : 25|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ RFSRRExtIntrfrnc : 36|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ RFSRRDiagSpare : 30|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ RFSRRCANSgnlSpvFld : 29|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ RFSRRCANRxErr : 28|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ RFSRRCANIDAddrsUnsbl : 27|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ RFSRRAntTngFltPrsnt : 26|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ RFSRRAmbTmpOutRngLw : 42|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ RFSRRAmbTmpOutRngHi : 41|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ RFSRRAlgnFltPrsnt : 39|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ RFSRRNumValidTargets : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO - SG_ RFSrrRollingCnt : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ RFSRRModeCmdFdbk : 4|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ RFSrrTimeStamp : 10|11@0+ (1,0) [0|2047] "ms" EOCM_F_FO - SG_ RFSrrBurstChecksum : 55|16@0+ (1,0) [0|65535] "" EOCM_F_FO - SG_ RFSrrTimeStampV : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO - -BO_ 1233 RF_SRR_Object_Track1: 8 RFSRR_FO - SG_ RFSrrTrkObsRange1 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO - SG_ RFSrrTrkRawAzimuth1 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO - SG_ RFSrrBurstID1 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ RFSrrTrkRange1 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO - SG_ RFSrrTrkRRate1 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO - SG_ RFSrrTrkAzimuth1 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO - SG_ RFSrrTrkObjID1 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO - SG_ RFSrrTrkObjElevation1 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ RFSrrTrkDynamProp1 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ RFSrrTrkMeasStatus1 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO - -BO_ 1234 RF_SRR_Object_Track2: 8 RFSRR_FO - SG_ RFSrrTrkObsRange2 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO - SG_ RFSrrTrkRawAzimuth2 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO - SG_ RFSrrBurstID2 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ RFSrrTrkRange2 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO - SG_ RFSrrTrkRRate2 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO - SG_ RFSrrTrkAzimuth2 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO - SG_ RFSrrTrkObjID2 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO - SG_ RFSrrTrkObjElevation2 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ RFSrrTrkDynamProp2 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ RFSrrTrkMeasStatus2 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO - -BO_ 1235 RF_SRR_Object_Track3: 8 RFSRR_FO - SG_ RFSrrTrkObsRange3 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO - SG_ RFSrrTrkRawAzimuth3 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO - SG_ RFSrrBurstID3 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ RFSrrTrkRange3 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO - SG_ RFSrrTrkRRate3 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO - SG_ RFSrrTrkAzimuth3 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO - SG_ RFSrrTrkObjID3 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO - SG_ RFSrrTrkObjElevation3 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ RFSrrTrkDynamProp3 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ RFSrrTrkMeasStatus3 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO - -BO_ 1236 RF_SRR_Object_Track4: 8 RFSRR_FO - SG_ RFSrrTrkObsRange4 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO - SG_ RFSrrTrkRawAzimuth4 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO - SG_ RFSrrBurstID4 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ RFSrrTrkRange4 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO - SG_ RFSrrTrkRRate4 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO - SG_ RFSrrTrkAzimuth4 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO - SG_ RFSrrTrkObjID4 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO - SG_ RFSrrTrkObjElevation4 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ RFSrrTrkDynamProp4 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ RFSrrTrkMeasStatus4 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO - -BO_ 1237 RF_SRR_Object_Track5: 8 RFSRR_FO - SG_ RFSrrTrkObsRange5 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO - SG_ RFSrrTrkRawAzimuth5 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO - SG_ RFSrrBurstID5 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ RFSrrTrkRange5 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO - SG_ RFSrrTrkRRate5 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO - SG_ RFSrrTrkAzimuth5 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO - SG_ RFSrrTrkObjID5 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO - SG_ RFSrrTrkObjElevation5 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ RFSrrTrkDynamProp5 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ RFSrrTrkMeasStatus5 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO - -BO_ 1238 RF_SRR_Object_Track6: 8 RFSRR_FO - SG_ RFSrrTrkObsRange6 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO - SG_ RFSrrTrkRawAzimuth6 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO - SG_ RFSrrBurstID6 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ RFSrrTrkRange6 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO - SG_ RFSrrTrkRRate6 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO - SG_ RFSrrTrkAzimuth6 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO - SG_ RFSrrTrkObjID6 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO - SG_ RFSrrTrkObjElevation6 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ RFSrrTrkDynamProp6 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ RFSrrTrkMeasStatus6 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO - -BO_ 1239 RF_SRR_Object_Track7: 8 RFSRR_FO - SG_ RFSrrTrkObsRange7 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO - SG_ RFSrrTrkRawAzimuth7 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO - SG_ RFSrrBurstID7 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ RFSrrTrkRange7 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO - SG_ RFSrrTrkRRate7 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO - SG_ RFSrrTrkAzimuth7 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO - SG_ RFSrrTrkObjID7 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO - SG_ RFSrrTrkObjElevation7 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ RFSrrTrkDynamProp7 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ RFSrrTrkMeasStatus7 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO - -BO_ 1240 RF_SRR_Object_Track8: 8 RFSRR_FO - SG_ RFSrrTrkObsRange8 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO - SG_ RFSrrTrkRawAzimuth8 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO - SG_ RFSrrBurstID8 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ RFSrrTrkRange8 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO - SG_ RFSrrTrkRRate8 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO - SG_ RFSrrTrkAzimuth8 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO - SG_ RFSrrTrkObjID8 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO - SG_ RFSrrTrkObjElevation8 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ RFSrrTrkDynamProp8 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ RFSrrTrkMeasStatus8 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO - -BO_ 1241 RF_SRR_Object_Track9: 8 RFSRR_FO - SG_ RFSrrTrkObsRange9 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO - SG_ RFSrrTrkRawAzimuth9 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO - SG_ RFSrrBurstID9 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ RFSrrTrkRange9 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO - SG_ RFSrrTrkRRate9 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO - SG_ RFSrrTrkAzimuth9 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO - SG_ RFSrrTrkObjID9 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO - SG_ RFSrrTrkObjElevation9 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ RFSrrTrkDynamProp9 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ RFSrrTrkMeasStatus9 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO - -BO_ 1242 RF_SRR_Object_Track10: 8 RFSRR_FO - SG_ RFSrrTrkObsRange10 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO - SG_ RFSrrTrkRawAzimuth10 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO - SG_ RFSrrBurstID10 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ RFSrrTrkRange10 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO - SG_ RFSrrTrkRRate10 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO - SG_ RFSrrTrkAzimuth10 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO - SG_ RFSrrTrkObjID10 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO - SG_ RFSrrTrkObjElevation10 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ RFSrrTrkDynamProp10 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ RFSrrTrkMeasStatus10 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO - -BO_ 1056 F_Vision_Obj_Header: 6 VIS_FO - SG_ FVsnSnsrBlckd : 24|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ ClstInPathVehObjID : 30|6@0+ (1,0) [0|63] "" EOCM_F_FO - SG_ FrtVsnFld : 6|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ FrtVsnIniDiagSuccCmpt : 5|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ FrtVsnSrvAlgnInPrcs : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ FrtVsnUnvlbl : 7|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ FVisionRollingCnt : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FVISModeCmdFdbk : 4|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ FVisionNumValidTrgts : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO - SG_ FVisionTimeStampV : 31|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ FVisionTimeStamp : 10|11@0+ (1,0) [0|2047] "ms" EOCM_F_FO - SG_ VISBurstChecksum : 39|16@0+ (1,0) [0|65535] "" EOCM_F_FO - -BO_ 1057 F_Vision_Obj_Track_1: 8 VIS_FO - SG_ FwdVsnRngTrk1Rev : 16|12@0+ (0.1,0) [0|409.5] "m" EOCM_F_FO - SG_ FwdVsnAzmthTrk1Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg" EOCM_F_FO - SG_ FwdVsnObjTypTr1Rev : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO - SG_ FwdVsnVertPosTrk1 : 53|6@0+ (0.25,-2) [-2|13.75] "deg" EOCM_F_FO - SG_ FVisBurstIDTrk1 : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FVisionObjectIDTrk1 : 7|6@0+ (1,0) [0|63] "" EOCM_F_FO - SG_ FVisionConfTrk1 : 36|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FVisionAzRateTrk1 : 34|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO - SG_ FVisionRelLaneTrk1 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FVisionMeasStatTrk1 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FVisionWidthTrk1 : 61|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO - SG_ ObjDirTrk1 : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO - -BO_ 1058 F_Vision_Obj_Track_2: 8 VIS_FO - SG_ FwdVsnVertPosTrk2 : 53|6@0+ (0.25,-2) [-2|13.75] "deg" EOCM_F_FO - SG_ FwdVsnRngTrk2Rev : 16|12@0+ (0.1,0) [0|409.5] "m" EOCM_F_FO - SG_ FwdVsnAzmthTrk2Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg" EOCM_F_FO - SG_ ObjDirTrk2 : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ FwdVsnObjTypTr2Rev : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO - SG_ FVisBurstIDTrk2 : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FVisionObjectIDTrk2 : 7|6@0+ (1,0) [0|63] "" EOCM_F_FO - SG_ FVisionConfTrk2 : 36|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FVisionAzRateTrk2 : 34|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO - SG_ FVisionRelLaneTrk2 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FVisionMeasStatTrk2 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FVisionWidthTrk2 : 61|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO - -BO_ 1059 F_Vision_Obj_Track_3: 8 VIS_FO - SG_ FwdVsnVertPosTrk3 : 53|6@0+ (0.25,-2) [-2|13.75] "deg" EOCM_F_FO - SG_ FwdVsnRngTrk3Rev : 16|12@0+ (0.1,0) [0|409.5] "m" EOCM_F_FO - SG_ FwdVsnAzmthTrk3Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg" EOCM_F_FO - SG_ FwdVsnObjTypTr3Rev : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO - SG_ ObjDirTrk3 : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ FVisBurstIDTrk3 : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FVisionObjectIDTrk3 : 7|6@0+ (1,0) [0|63] "" EOCM_F_FO - SG_ FVisionConfTrk3 : 36|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FVisionAzRateTrk3 : 34|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO - SG_ FVisionRelLaneTrk3 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FVisionMeasStatTrk3 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FVisionWidthTrk3 : 61|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO - -BO_ 1060 F_Vision_Obj_Track_4: 8 VIS_FO - SG_ FwdVsnVertPosTrk4 : 53|6@0+ (0.25,-2) [-2|13.75] "deg" EOCM_F_FO - SG_ FVisionMeasStatTrk4 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FVisionWidthTrk4 : 61|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO - SG_ FwdVsnRngTrk4Rev : 16|12@0+ (0.1,0) [0|409.5] "m" EOCM_F_FO - SG_ FwdVsnAzmthTrk4Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg" EOCM_F_FO - SG_ FwdVsnObjTypTr4Rev : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO - SG_ FVisBurstIDTrk4 : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FVisionObjectIDTrk4 : 7|6@0+ (1,0) [0|63] "" EOCM_F_FO - SG_ ObjDirTrk4 : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ FVisionConfTrk4 : 36|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FVisionAzRateTrk4 : 34|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO - SG_ FVisionRelLaneTrk4 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO - -BO_ 1061 F_Vision_Obj_Track_5: 8 VIS_FO - SG_ FwdVsnVertPosTrk5 : 53|6@0+ (0.25,-2) [-2|13.75] "deg" EOCM_F_FO - SG_ FwdVsnRngTrk5Rev : 16|12@0+ (0.1,0) [0|409.5] "m" EOCM_F_FO - SG_ FwdVsnAzmthTrk5Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg" EOCM_F_FO - SG_ FwdVsnObjTypTr5Rev : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO - SG_ ObjDirTrk5 : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ FVisBurstIDTrk5 : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FVisionObjectIDTrk5 : 7|6@0+ (1,0) [0|63] "" EOCM_F_FO - SG_ FVisionConfTrk5 : 36|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FVisionAzRateTrk5 : 34|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO - SG_ FVisionRelLaneTrk5 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FVisionMeasStatTrk5 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FVisionWidthTrk5 : 61|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO - -BO_ 1062 F_Vision_Obj_Track_6: 8 VIS_FO - SG_ FwdVsnVertPosTrk6 : 53|6@0+ (0.25,-2) [-2|13.75] "deg" EOCM_F_FO - SG_ FwdVsnRngTrk6Rev : 16|12@0+ (0.1,0) [0|409.5] "m" EOCM_F_FO - SG_ FwdVsnAzmthTrk6Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg" EOCM_F_FO - SG_ FwdVsnObjTypTr6Rev : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO - SG_ ObjDirTrk6 : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ FVisBurstIDTrk6 : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FVisionObjectIDTrk6 : 7|6@0+ (1,0) [0|63] "" EOCM_F_FO - SG_ FVisionConfTrk6 : 36|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FVisionAzRateTrk6 : 34|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO - SG_ FVisionRelLaneTrk6 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FVisionMeasStatTrk6 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FVisionWidthTrk6 : 61|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO - -BO_ 1538 LF_SRR_Trace_Data: 8 LFSRR_FO - SG_ LFSRRYear : 7|8@0+ (1,0) [0|0] "" EOCM_F_FO - SG_ LFSRRSerialNmbr : 39|32@0+ (1,0) [0|0] "" EOCM_F_FO - SG_ LFSRRJulianDate : 15|24@0+ (1,0) [0|0] "" EOCM_F_FO - -BO_ 1537 R_SRR_Trace_data: 8 RSRR_FO - SG_ RSRRYear : 7|8@0+ (1,0) [0|0] "" EOCM_F_FO - SG_ RSRRSerialNmbr : 39|32@0+ (1,0) [0|0] "" EOCM_F_FO - SG_ RSRRJulianDate : 15|24@0+ (1,0) [0|0] "" EOCM_F_FO - -BO_ 1089 F_Vision_Obj_Track_7: 8 VIS2_FO - SG_ FVisBurstIDTrk7 : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FVisionObjectIDTrk7 : 7|6@0+ (1,0) [0|63] "" EOCM_F_FO - SG_ FVisionConfTrk7 : 36|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FVisionAzRateTrk7 : 34|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO - SG_ FVisionRelLaneTrk7 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FVisionMeasStatTrk7 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FVisionWidthTrk7 : 61|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO - SG_ FwdVsnRngTrk7Rev : 16|12@0+ (0.1,0) [0|409.5] "m" EOCM_F_FO - SG_ FwdVsnObjTypTr7Rev : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO - SG_ FwdVsnAzmthTrk7Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg" EOCM_F_FO - SG_ FwdVsnVertPosTrk7 : 53|6@0+ (0.25,-2) [-2|13.75] "deg" EOCM_F_FO - SG_ ObjDirTrk7 : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO - -BO_ 1090 F_Vision_Obj_Track_8: 8 VIS2_FO - SG_ FVisBurstIDTrk8 : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FVisionObjectIDTrk8 : 7|6@0+ (1,0) [0|63] "" EOCM_F_FO - SG_ FwdVsnAzmthTrk8Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg" EOCM_F_FO - SG_ FwdVsnVertPosTrk8 : 53|6@0+ (0.25,-2) [-2|13.75] "deg" EOCM_F_FO - SG_ FwdVsnRngTrk8Rev : 16|12@0+ (0.1,0) [0|409.5] "m" EOCM_F_FO - SG_ FwdVsnObjTypTr8Rev : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO - SG_ ObjDirTrk8 : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ FVisionConfTrk8 : 36|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FVisionAzRateTrk8 : 34|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO - SG_ FVisionRelLaneTrk8 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FVisionMeasStatTrk8 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FVisionWidthTrk8 : 61|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO - -BO_ 1091 F_Vision_Obj_Track_9: 8 VIS2_FO - SG_ FwdVsnVertPosTrk9 : 53|6@0+ (0.25,-2) [-2|13.75] "deg" EOCM_F_FO - SG_ FwdVsnRngTrk9Rev : 16|12@0+ (0.1,0) [0|409.5] "m" EOCM_F_FO - SG_ FwdVsnAzmthTrk9Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg" EOCM_F_FO - SG_ FwdVsnObjTypTr9Rev : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO - SG_ ObjDirTrk9 : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ FVisBurstIDTrk9 : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FVisionObjectIDTrk9 : 7|6@0+ (1,0) [0|63] "" EOCM_F_FO - SG_ FVisionConfTrk9 : 36|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FVisionAzRateTrk9 : 34|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO - SG_ FVisionRelLaneTrk9 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FVisionMeasStatTrk9 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FVisionWidthTrk9 : 61|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO - -BO_ 1092 F_Vision_Obj_Track_10: 8 VIS2_FO - SG_ FwdVsnRngTrk10Rev : 16|12@0+ (0.1,0) [0|409.5] "m" EOCM_F_FO - SG_ FwdVsnAzmthTrk10Rev : 10|10@0- (0.1,0) [-51.2|51.1] "deg" EOCM_F_FO - SG_ FwdVsnObjTypTr10Rev : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO - SG_ FwdVsnVertPosTrk10 : 53|6@0+ (0.25,-2) [-2|13.75] "deg" EOCM_F_FO - SG_ ObjDirTrk10 : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ FVisBurstIDTrk10 : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FVisionObjectIDTrk10 : 7|6@0+ (1,0) [0|63] "" EOCM_F_FO - SG_ FVisionConfTrk10 : 36|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FVisionAzRateTrk10 : 34|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO - SG_ FVisionRelLaneTrk10 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FVisionMeasStatTrk10 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FVisionWidthTrk10 : 61|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO - -BO_ 1120 F_LRR_Obj_Header: 8 LRR_FO - SG_ FLRRRollingCount : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FLRRModeCmdFdbk : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ FLRRNumValidTargets : 20|5@0+ (1,0) [0|31] "" EOCM_F_FO - SG_ FLRRTimeStampV : 31|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ FLRRTimeStamp : 2|11@0+ (1,0) [0|2047] "ms" EOCM_F_FO - SG_ FLRRRoadTypeInfo : 5|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ FLRRBurstChecksum : 55|16@0+ (1,0) [0|65535] "" EOCM_F_FO - SG_ FLRRDiagSpare : 30|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ FLRRVltgOutRngLo : 44|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ FLRRVltgOutRngHi : 43|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ FLRRSvcAlgnInPrcs : 38|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ FLRRSnsrBlckd : 45|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ FLRRSnstvFltPrsntInt : 24|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ FLRRPlntAlgnInProc : 37|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ FLRRMsalgnYawRt : 47|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ FLRRMsalgnYawLt : 46|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ FLRRLonVelPlsblityFlt : 35|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ FLRRYawRtPlsblityFlt : 34|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ FLRRMsalgnPtchUp : 32|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ FLRRMsalgnPtchDn : 33|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ FLRRInitDiagCmplt : 40|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ FLRRHWFltPrsntInt : 25|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ FLRRExtIntrfrnc : 36|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ FLRRCANSgnlSpvFld : 29|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ FLRRCANRxErr : 28|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ FLRRTunlDtctd : 27|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ FLRRAmbTmpOutRngLw : 42|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ FLRRAmbTmpOutRngHi : 41|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ FLRRAntTngFltPrsnt : 26|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ FLRRAlgnFltPrsnt : 39|1@0+ (1,0) [0|1] "" EOCM_F_FO - -BO_ 1121 F_LRR_Obj_Track_1: 8 LRR_FO - SG_ FLRRTrk1BurstID : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FLRRTrk1Range : 5|11@0+ (0.125,0) [0|255.875] "m" EOCM_F_FO - SG_ FLRRTrk1RangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO - SG_ FLRRTrk1RangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" EOCM_F_FO - SG_ FLRRTrk1DynProp : 38|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ FLRRTrk1Azimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" EOCM_F_FO - SG_ FLRRTrk1Width : 55|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO - SG_ FLRRTrk1MeasStatus : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FLRRTrk1ObjectID : 61|6@0+ (1,0) [0|63] "" EOCM_F_FO - SG_ FLRRTrk1Conf : 49|2@0+ (1,0) [0|3] "" EOCM_F_FO - -BO_ 1122 F_LRR_Obj_Track_2: 8 LRR_FO - SG_ FLRRTrk2BurstID : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FLRRTrk2Range : 5|11@0+ (0.125,0) [0|255.875] "m" EOCM_F_FO - SG_ FLRRTrk2RangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO - SG_ FLRRTrk2RangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" EOCM_F_FO - SG_ FLRRTrk2DynProp : 38|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ FLRRTrk2Azimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" EOCM_F_FO - SG_ FLRRTrk2Width : 55|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO - SG_ FLRRTrk2MeasStatus : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FLRRTrk2ObjectID : 61|6@0+ (1,0) [0|63] "" EOCM_F_FO - SG_ FLRRTrk2Conf : 49|2@0+ (1,0) [0|3] "" EOCM_F_FO - -BO_ 1123 F_LRR_Obj_Track_3: 8 LRR_FO - SG_ FLRRTrk3BurstID : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FLRRTrk3Range : 5|11@0+ (0.125,0) [0|255.875] "m" EOCM_F_FO - SG_ FLRRTrk3RangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO - SG_ FLRRTrk3RangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" EOCM_F_FO - SG_ FLRRTrk3DynProp : 38|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ FLRRTrk3Azimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" EOCM_F_FO - SG_ FLRRTrk3Width : 55|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO - SG_ FLRRTrk3MeasStatus : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FLRRTrk3ObjectID : 61|6@0+ (1,0) [0|63] "" EOCM_F_FO - SG_ FLRRTrk3Conf : 49|2@0+ (1,0) [0|3] "" EOCM_F_FO - -BO_ 1124 F_LRR_Obj_Track_4: 8 LRR_FO - SG_ FLRRTrk4BurstID : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FLRRTrk4Range : 5|11@0+ (0.125,0) [0|255.875] "m" EOCM_F_FO - SG_ FLRRTrk4RangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO - SG_ FLRRTrk4RangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" EOCM_F_FO - SG_ FLRRTrk4DynProp : 38|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ FLRRTrk4Azimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" EOCM_F_FO - SG_ FLRRTrk4Width : 55|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO - SG_ FLRRTrk4MeasStatus : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FLRRTrk4ObjectID : 61|6@0+ (1,0) [0|63] "" EOCM_F_FO - SG_ FLRRTrk4Conf : 49|2@0+ (1,0) [0|3] "" EOCM_F_FO - -BO_ 1125 F_LRR_Obj_Track_5: 8 LRR_FO - SG_ FLRRTrk5BurstID : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FLRRTrk5Range : 5|11@0+ (0.125,0) [0|255.875] "m" EOCM_F_FO - SG_ FLRRTrk5RangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO - SG_ FLRRTrk5RangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" EOCM_F_FO - SG_ FLRRTrk5DynProp : 38|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ FLRRTrk5Azimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" EOCM_F_FO - SG_ FLRRTrk5Width : 55|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO - SG_ FLRRTrk5MeasStatus : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FLRRTrk5ObjectID : 61|6@0+ (1,0) [0|63] "" EOCM_F_FO - SG_ FLRRTrk5Conf : 49|2@0+ (1,0) [0|3] "" EOCM_F_FO - -BO_ 1126 F_LRR_Obj_Track_6: 8 LRR_FO - SG_ FLRRTrk6BurstID : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FLRRTrk6Range : 5|11@0+ (0.125,0) [0|255.875] "m" EOCM_F_FO - SG_ FLRRTrk6RangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO - SG_ FLRRTrk6Conf : 49|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FLRRTrk6RangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" EOCM_F_FO - SG_ FLRRTrk6DynProp : 38|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ FLRRTrk6Azimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" EOCM_F_FO - SG_ FLRRTrk6Width : 55|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO - SG_ FLRRTrk6MeasStatus : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FLRRTrk6ObjectID : 61|6@0+ (1,0) [0|63] "" EOCM_F_FO - -BO_ 1127 F_LRR_Obj_Track_7: 8 LRR_FO - SG_ FLRRTrk7Conf : 49|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FLRRTrk7BurstID : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FLRRTrk7Range : 5|11@0+ (0.125,0) [0|255.875] "m" EOCM_F_FO - SG_ FLRRTrk7RangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO - SG_ FLRRTrk7RangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" EOCM_F_FO - SG_ FLRRTrk7DynProp : 38|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ FLRRTrk7Azimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" EOCM_F_FO - SG_ FLRRTrk7Width : 55|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO - SG_ FLRRTrk7MeasStatus : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FLRRTrk7ObjectID : 61|6@0+ (1,0) [0|63] "" EOCM_F_FO - -BO_ 1128 F_LRR_Obj_Track_8: 8 LRR_FO - SG_ FLRRTrk8Conf : 49|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FLRRTrk8BurstID : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FLRRTrk8Range : 5|11@0+ (0.125,0) [0|255.875] "m" EOCM_F_FO - SG_ FLRRTrk8RangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO - SG_ FLRRTrk8RangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" EOCM_F_FO - SG_ FLRRTrk8DynProp : 38|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ FLRRTrk8Azimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" EOCM_F_FO - SG_ FLRRTrk8Width : 55|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO - SG_ FLRRTrk8MeasStatus : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FLRRTrk8ObjectID : 61|6@0+ (1,0) [0|63] "" EOCM_F_FO - -BO_ 1129 F_LRR_Obj_Track_9: 8 LRR_FO - SG_ FLRRTrk9Conf : 49|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FLRRTrk9BurstID : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FLRRTrk9Range : 5|11@0+ (0.125,0) [0|255.875] "m" EOCM_F_FO - SG_ FLRRTrk9RangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO - SG_ FLRRTrk9RangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" EOCM_F_FO - SG_ FLRRTrk9DynProp : 38|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ FLRRTrk9Azimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" EOCM_F_FO - SG_ FLRRTrk9Width : 55|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO - SG_ FLRRTrk9MeasStatus : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FLRRTrk9ObjectID : 61|6@0+ (1,0) [0|63] "" EOCM_F_FO - -BO_ 1130 F_LRR_Obj_Track_10: 8 LRR_FO - SG_ FLRRTrk10Conf : 49|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FLRRTrk10BurstID : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FLRRTrk10Range : 5|11@0+ (0.125,0) [0|255.875] "m" EOCM_F_FO - SG_ FLRRTrk10RangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO - SG_ FLRRTrk10RangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" EOCM_F_FO - SG_ FLRRTrk10DynProp : 38|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ FLRRTrk10Azimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" EOCM_F_FO - SG_ FLRRTrk10Width : 55|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO - SG_ FLRRTrk10MeasStatus : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FLRRTrk10ObjectID : 61|6@0+ (1,0) [0|63] "" EOCM_F_FO - -BO_ 1131 F_LRR_Obj_Track_11: 8 LRR_FO - SG_ FLRRTrk11Conf : 49|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FLRRTrk11BurstID : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FLRRTrk11Range : 5|11@0+ (0.125,0) [0|255.875] "m" EOCM_F_FO - SG_ FLRRTrk11RangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO - SG_ FLRRTrk11RangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" EOCM_F_FO - SG_ FLRRTrk11DynProp : 38|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ FLRRTrk11Azimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" EOCM_F_FO - SG_ FLRRTrk11Width : 55|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO - SG_ FLRRTrk11MeasStatus : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FLRRTrk11ObjectID : 61|6@0+ (1,0) [0|63] "" EOCM_F_FO - -BO_ 1132 F_LRR_Obj_Track_12: 8 LRR_FO - SG_ FLRRTrk12Conf : 49|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FLRRTrk12BurstID : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FLRRTrk12Range : 5|11@0+ (0.125,0) [0|255.875] "m" EOCM_F_FO - SG_ FLRRTrk12RangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO - SG_ FLRRTrk12RangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" EOCM_F_FO - SG_ FLRRTrk12DynProp : 38|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ FLRRTrk12Azimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" EOCM_F_FO - SG_ FLRRTrk12Width : 55|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO - SG_ FLRRTrk12MeasStatus : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FLRRTrk12ObjectID : 61|6@0+ (1,0) [0|63] "" EOCM_F_FO - -BO_ 1133 F_LRR_Obj_Track_13: 8 LRR_FO - SG_ FLRRTrk13Conf : 49|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FLRRTrk13BurstID : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FLRRTrk13Range : 5|11@0+ (0.125,0) [0|255.875] "m" EOCM_F_FO - SG_ FLRRTrk13RangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO - SG_ FLRRTrk13RangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" EOCM_F_FO - SG_ FLRRTrk13DynProp : 38|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ FLRRTrk13Azimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" EOCM_F_FO - SG_ FLRRTrk13Width : 55|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO - SG_ FLRRTrk13MeasStatus : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FLRRTrk13ObjectID : 61|6@0+ (1,0) [0|63] "" EOCM_F_FO - -BO_ 1134 F_LRR_Obj_Track_14: 8 LRR_FO - SG_ FLRRTrk14Conf : 49|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FLRRTrk14BurstID : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FLRRTrk14Range : 5|11@0+ (0.125,0) [0|255.875] "m" EOCM_F_FO - SG_ FLRRTrk14RangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO - SG_ FLRRTrk14RangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" EOCM_F_FO - SG_ FLRRTrk14DynProp : 38|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ FLRRTrk14Azimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" EOCM_F_FO - SG_ FLRRTrk14Width : 55|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO - SG_ FLRRTrk14MeasStatus : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FLRRTrk14ObjectID : 61|6@0+ (1,0) [0|63] "" EOCM_F_FO - -BO_ 1135 F_LRR_Obj_Track_15: 8 LRR_FO - SG_ FLRRTrk15Width : 55|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO - SG_ FLRRTrk15MeasStatus : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FLRRTrk15Conf : 49|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FLRRTrk15ObjectID : 61|6@0+ (1,0) [0|63] "" EOCM_F_FO - SG_ FLRRTrk15BurstID : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FLRRTrk15Range : 5|11@0+ (0.125,0) [0|255.875] "m" EOCM_F_FO - SG_ FLRRTrk15RangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO - SG_ FLRRTrk15RangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" EOCM_F_FO - SG_ FLRRTrk15DynProp : 38|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ FLRRTrk15Azimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" EOCM_F_FO - -BO_ 1136 F_LRR_Obj_Track_16: 8 LRR_FO - SG_ FLRRTrk16Conf : 49|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FLRRTrk16BurstID : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FLRRTrk16Range : 5|11@0+ (0.125,0) [0|255.875] "m" EOCM_F_FO - SG_ FLRRTrk16RangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO - SG_ FLRRTrk16RangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" EOCM_F_FO - SG_ FLRRTrk16DynProp : 38|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ FLRRTrk16Azimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" EOCM_F_FO - SG_ FLRRTrk16Width : 55|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO - SG_ FLRRTrk16MeasStatus : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FLRRTrk16ObjectID : 61|6@0+ (1,0) [0|63] "" EOCM_F_FO - -BO_ 1137 F_LRR_Obj_Track_17: 8 LRR_FO - SG_ FLRRTrk17Conf : 49|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FLRRTrk17BurstID : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FLRRTrk17Range : 5|11@0+ (0.125,0) [0|255.875] "m" EOCM_F_FO - SG_ FLRRTrk17RangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO - SG_ FLRRTrk17RangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" EOCM_F_FO - SG_ FLRRTrk17DynProp : 38|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ FLRRTrk17Azimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" EOCM_F_FO - SG_ FLRRTrk17Width : 55|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO - SG_ FLRRTrk17MeasStatus : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FLRRTrk17ObjectID : 61|6@0+ (1,0) [0|63] "" EOCM_F_FO - -BO_ 1138 F_LRR_Obj_Track_18: 8 LRR_FO - SG_ FLRRTrk18Conf : 49|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FLRRTrk18BurstID : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FLRRTrk18Range : 5|11@0+ (0.125,0) [0|255.875] "m" EOCM_F_FO - SG_ FLRRTrk18RangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO - SG_ FLRRTrk18RangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" EOCM_F_FO - SG_ FLRRTrk18DynProp : 38|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ FLRRTrk18Azimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" EOCM_F_FO - SG_ FLRRTrk18Width : 55|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO - SG_ FLRRTrk18MeasStatus : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FLRRTrk18ObjectID : 61|6@0+ (1,0) [0|63] "" EOCM_F_FO - -BO_ 1139 F_LRR_Obj_Track_19: 8 LRR_FO - SG_ FLRRTrk19Conf : 49|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FLRRTrk19BurstID : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FLRRTrk19Range : 5|11@0+ (0.125,0) [0|255.875] "m" EOCM_F_FO - SG_ FLRRTrk19RangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO - SG_ FLRRTrk19RangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" EOCM_F_FO - SG_ FLRRTrk19DynProp : 38|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ FLRRTrk19Azimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" EOCM_F_FO - SG_ FLRRTrk19Width : 55|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO - SG_ FLRRTrk19MeasStatus : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FLRRTrk19ObjectID : 61|6@0+ (1,0) [0|63] "" EOCM_F_FO - -BO_ 1140 F_LRR_Obj_Track_20: 8 LRR_FO - SG_ FLRRTrk20Conf : 49|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FLRRTrk20BurstID : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FLRRTrk20Range : 5|11@0+ (0.125,0) [0|255.875] "m" EOCM_F_FO - SG_ FLRRTrk20RangeRate : 10|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO - SG_ FLRRTrk20RangeAccel : 31|9@0- (0.125,0) [-32|31.875] "m/s^2" EOCM_F_FO - SG_ FLRRTrk20DynProp : 38|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ FLRRTrk20Azimuth : 35|12@0- (0.125,0) [-256|255.875] "deg" EOCM_F_FO - SG_ FLRRTrk20Width : 55|6@0+ (0.25,0) [0|15.75] "m" EOCM_F_FO - SG_ FLRRTrk20MeasStatus : 7|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FLRRTrk20ObjectID : 61|6@0+ (1,0) [0|63] "" EOCM_F_FO - -BO_ 1141 Long_Range_Radar_add_Info_1: 8 LRR_FO - SG_ FLRRAddInfo1BurstID : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ Cut_In_Out_Pot_Objtrk1 : 15|6@0+ (0.02,0) [0|1.26] "" EOCM_F_FO - SG_ ObjLossInfoObjTrk1 : 9|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ Cut_In_Out_Pot_Objtrk2 : 23|6@0+ (0.02,0) [0|1.26] "" EOCM_F_FO - SG_ ObjLossInfoObjTrk2 : 17|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ Cut_In_Out_Pot_Objtrk3 : 31|6@0+ (0.02,0) [0|1.26] "" EOCM_F_FO - SG_ ObjLossInfoObjTrk3 : 25|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ Cut_In_Out_Pot_Objtrk4 : 39|6@0+ (0.02,0) [0|1.26] "" EOCM_F_FO - SG_ ObjLossInfoObjTrk4 : 33|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ Cut_In_Out_Pot_Objtrk5 : 47|6@0+ (0.02,0) [0|1.26] "" EOCM_F_FO - SG_ ObjLossInfoObjTrk5 : 41|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ Cut_In_Out_Pot_Objtrk6 : 55|6@0+ (0.02,0) [0|1.26] "" EOCM_F_FO - SG_ ObjLossInfoObjTrk6 : 49|2@0+ (1,0) [0|3] "" EOCM_F_FO - -BO_ 1321 F_Fwd_Fus_Obj_TrackB_9: 7 EOCM_F_FO - SG_ FwdFusTrkBAnlgRlLn9 : 46|8@0- (0.1,0) [-12.8|12.7] "" Dummy_FO - SG_ FwdFusTrkB9RollingCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO - SG_ FwdFusTrkB9Width : 5|6@0+ (0.25,0) [0|15.75] "m" Dummy_FO - SG_ FwdFusTrkB9MsgIndex : 15|4@0+ (1,0) [0|15] "" Dummy_FO - SG_ FwdFusTrkB9DynProp : 11|3@0+ (1,0) [0|7] "" Dummy_FO - SG_ FwdFusTrkB9RelLnAccl : 8|9@0- (0.125,0) [-32|31.875] "m/s^2" Dummy_FO - SG_ FwdFusTrkB9RelLane : 31|2@0+ (1,0) [0|3] "" Dummy_FO - SG_ FwdFusTrkB9Height : 54|6@0+ (0.25,0) [0|15.75] "m" Dummy_FO - SG_ FFusTrkB9ObjSrcLFSrr : 29|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FFusTrkB9ObjSrcLCSrr : 28|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FFusTrkB9ObjSrcRCSrr : 27|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FFusTrkB9ObjSrcRFSrr : 26|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FFusTrkB9ObjSrcVIs : 25|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FwdFusTrkB9ObjSrcLrr : 24|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FwdFusTrkB9NmCycTrkd : 39|3@0+ (1,0) [0|7] "" Dummy_FO - SG_ FwdFusTrkB9LatPosDev : 36|3@0+ (1,0) [0|7] "" Dummy_FO - SG_ FwdFusTrkB9LngPosDev : 33|3@0+ (1,0) [0|7] "" Dummy_FO - -BO_ 1320 F_Fwd_Fus_Obj_TrackB_8: 7 EOCM_F_FO - SG_ FwdFusTrkBAnlgRlLn8 : 46|8@0- (0.1,0) [-12.8|12.7] "" Dummy_FO - SG_ FwdFusTrkB8RollingCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO - SG_ FwdFusTrkB8Width : 5|6@0+ (0.25,0) [0|15.75] "m" Dummy_FO - SG_ FwdFusTrkB8MsgIndex : 15|4@0+ (1,0) [0|15] "" Dummy_FO - SG_ FwdFusTrkB8DynProp : 11|3@0+ (1,0) [0|7] "" Dummy_FO - SG_ FwdFusTrkB8RelLnAccl : 8|9@0- (0.125,0) [-32|31.875] "m/s^2" Dummy_FO - SG_ FwdFusTrkB8RelLane : 31|2@0+ (1,0) [0|3] "" Dummy_FO - SG_ FwdFusTrkB8Height : 54|6@0+ (0.25,0) [0|15.75] "m" Dummy_FO - SG_ FFusTrkB8ObjSrcLFSrr : 29|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FFusTrkB8ObjSrcLCSrr : 28|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FFusTrkB8ObjSrcRCSrr : 27|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FFusTrkB8ObjSrcRFSrr : 26|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FFusTrkB8ObjSrcVIs : 25|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FwdFusTrkB8ObjSrcLrr : 24|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FwdFusTrkB8NmCycTrkd : 39|3@0+ (1,0) [0|7] "" Dummy_FO - SG_ FwdFusTrkB8LatPosDev : 36|3@0+ (1,0) [0|7] "" Dummy_FO - SG_ FwdFusTrkB8LngPosDev : 33|3@0+ (1,0) [0|7] "" Dummy_FO - -BO_ 1319 F_Fwd_Fus_Obj_TrackB_7: 7 EOCM_F_FO - SG_ FwdFusTrkBAnlgRlLn7 : 46|8@0- (0.1,0) [-12.8|12.7] "" Dummy_FO - SG_ FwdFusTrkB7RollingCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO - SG_ FwdFusTrkB7Width : 5|6@0+ (0.25,0) [0|15.75] "m" Dummy_FO - SG_ FwdFusTrkB7MsgIndex : 15|4@0+ (1,0) [0|15] "" Dummy_FO - SG_ FwdFusTrkB7DynProp : 11|3@0+ (1,0) [0|7] "" Dummy_FO - SG_ FwdFusTrkB7RelLnAccl : 8|9@0- (0.125,0) [-32|31.875] "m/s^2" Dummy_FO - SG_ FwdFusTrkB7RelLane : 31|2@0+ (1,0) [0|3] "" Dummy_FO - SG_ FwdFusTrkB7Height : 54|6@0+ (0.25,0) [0|15.75] "m" Dummy_FO - SG_ FFusTrkB7ObjSrcLFSrr : 29|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FFusTrkB7ObjSrcLCSrr : 28|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FFusTrkB7ObjSrcRCSrr : 27|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FFusTrkB7ObjSrcRFSrr : 26|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FFusTrkB7ObjSrcVIs : 25|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FwdFusTrkB7ObjSrcLrr : 24|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FwdFusTrkB7NmCycTrkd : 39|3@0+ (1,0) [0|7] "" Dummy_FO - SG_ FwdFusTrkB7LatPosDev : 36|3@0+ (1,0) [0|7] "" Dummy_FO - SG_ FwdFusTrkB7LngPosDev : 33|3@0+ (1,0) [0|7] "" Dummy_FO - -BO_ 1318 F_Fwd_Fus_Obj_TrackB_6: 7 EOCM_F_FO - SG_ FwdFusTrkBAnlgRlLn6 : 46|8@0- (0.1,0) [-12.8|12.7] "" Dummy_FO - SG_ FwdFusTrkB6RollingCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO - SG_ FwdFusTrkB6Width : 5|6@0+ (0.25,0) [0|15.75] "m" Dummy_FO - SG_ FwdFusTrkB6MsgIndex : 15|4@0+ (1,0) [0|15] "" Dummy_FO - SG_ FwdFusTrkB6DynProp : 11|3@0+ (1,0) [0|7] "" Dummy_FO - SG_ FwdFusTrkB6RelLnAccl : 8|9@0- (0.125,0) [-32|31.875] "m/s^2" Dummy_FO - SG_ FwdFusTrkB6RelLane : 31|2@0+ (1,0) [0|3] "" Dummy_FO - SG_ FwdFusTrkB6Height : 54|6@0+ (0.25,0) [0|15.75] "m" Dummy_FO - SG_ FFusTrkB6ObjSrcLFSrr : 29|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FFusTrkB6ObjSrcLCSrr : 28|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FFusTrkB6ObjSrcRCSrr : 27|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FFusTrkB6ObjSrcRFSrr : 26|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FFusTrkB6ObjSrcVIs : 25|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FwdFusTrkB6ObjSrcLrr : 24|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FwdFusTrkB6NmCycTrkd : 39|3@0+ (1,0) [0|7] "" Dummy_FO - SG_ FwdFusTrkB6LatPosDev : 36|3@0+ (1,0) [0|7] "" Dummy_FO - SG_ FwdFusTrkB6LngPosDev : 33|3@0+ (1,0) [0|7] "" Dummy_FO - -BO_ 1317 F_Fwd_Fus_Obj_TrackB_5: 7 EOCM_F_FO - SG_ FwdFusTrkBAnlgRlLn5 : 46|8@0- (0.1,0) [-12.8|12.7] "" Dummy_FO - SG_ FwdFusTrkB5RollingCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO - SG_ FwdFusTrkB5Width : 5|6@0+ (0.25,0) [0|15.75] "m" Dummy_FO - SG_ FwdFusTrkB5MsgIndex : 15|4@0+ (1,0) [0|15] "" Dummy_FO - SG_ FwdFusTrkB5DynProp : 11|3@0+ (1,0) [0|7] "" Dummy_FO - SG_ FwdFusTrkB5RelLnAccl : 8|9@0- (0.125,0) [-32|31.875] "m/s^2" Dummy_FO - SG_ FwdFusTrkB5RelLane : 31|2@0+ (1,0) [0|3] "" Dummy_FO - SG_ FwdFusTrkB5Height : 54|6@0+ (0.25,0) [0|15.75] "m" Dummy_FO - SG_ FFusTrkB5ObjSrcLFSrr : 29|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FFusTrkB5ObjSrcLCSrr : 28|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FFusTrkB5ObjSrcRCSrr : 27|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FFusTrkB5ObjSrcRFSrr : 26|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FFusTrkB5ObjSrcVIs : 25|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FwdFusTrkB5ObjSrcLrr : 24|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FwdFusTrkB5NmCycTrkd : 39|3@0+ (1,0) [0|7] "" Dummy_FO - SG_ FwdFusTrkB5LatPosDev : 36|3@0+ (1,0) [0|7] "" Dummy_FO - SG_ FwdFusTrkB5LngPosDev : 33|3@0+ (1,0) [0|7] "" Dummy_FO - -BO_ 1316 F_Fwd_Fus_Obj_TrackB_4: 7 EOCM_F_FO - SG_ FwdFusTrkBAnlgRlLn4 : 46|8@0- (0.1,0) [-12.8|12.7] "" Dummy_FO - SG_ FwdFusTrkB4RollingCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO - SG_ FwdFusTrkB4Width : 5|6@0+ (0.25,0) [0|15.75] "m" Dummy_FO - SG_ FwdFusTrkB4MsgIndex : 15|4@0+ (1,0) [0|15] "" Dummy_FO - SG_ FwdFusTrkB4DynProp : 11|3@0+ (1,0) [0|7] "" Dummy_FO - SG_ FwdFusTrkB4RelLnAccl : 8|9@0- (0.125,0) [-32|31.875] "m/s^2" Dummy_FO - SG_ FwdFusTrkB4RelLane : 31|2@0+ (1,0) [0|3] "" Dummy_FO - SG_ FwdFusTrkB4Height : 54|6@0+ (0.25,0) [0|15.75] "m" Dummy_FO - SG_ FFusTrkB4ObjSrcLFSrr : 29|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FFusTrkB4ObjSrcLCSrr : 28|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FFusTrkB4ObjSrcRCSrr : 27|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FFusTrkB4ObjSrcRFSrr : 26|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FFusTrkB4ObjSrcVIs : 25|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FwdFusTrkB4ObjSrcLrr : 24|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FwdFusTrkB4NmCycTrkd : 39|3@0+ (1,0) [0|7] "" Dummy_FO - SG_ FwdFusTrkB4LatPosDev : 36|3@0+ (1,0) [0|7] "" Dummy_FO - SG_ FwdFusTrkB4LngPosDev : 33|3@0+ (1,0) [0|7] "" Dummy_FO - -BO_ 1315 F_Fwd_Fus_Obj_TrackB_3: 7 EOCM_F_FO - SG_ FwdFusTrkBAnlgRlLn3 : 46|8@0- (0.1,0) [-12.8|12.7] "" Dummy_FO - SG_ FwdFusTrkB3RollingCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO - SG_ FwdFusTrkB3Width : 5|6@0+ (0.25,0) [0|15.75] "m" Dummy_FO - SG_ FwdFusTrkB3MsgIndex : 15|4@0+ (1,0) [0|15] "" Dummy_FO - SG_ FwdFusTrkB3DynProp : 11|3@0+ (1,0) [0|7] "" Dummy_FO - SG_ FwdFusTrkB3RelLnAccl : 8|9@0- (0.125,0) [-32|31.875] "m/s^2" Dummy_FO - SG_ FwdFusTrkB3RelLane : 31|2@0+ (1,0) [0|3] "" Dummy_FO - SG_ FwdFusTrkB3Height : 54|6@0+ (0.25,0) [0|15.75] "m" Dummy_FO - SG_ FFusTrkB3ObjSrcLFSrr : 29|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FFusTrkB3ObjSrcLCSrr : 28|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FFusTrkB3ObjSrcRCSrr : 27|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FFusTrkB3ObjSrcRFSrr : 26|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FFusTrkB3ObjSrcVIs : 25|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FwdFusTrkB3ObjSrcLrr : 24|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FwdFusTrkB3NmCycTrkd : 39|3@0+ (1,0) [0|7] "" Dummy_FO - SG_ FwdFusTrkB3LatPosDev : 36|3@0+ (1,0) [0|7] "" Dummy_FO - SG_ FwdFusTrkB3LngPosDev : 33|3@0+ (1,0) [0|7] "" Dummy_FO - -BO_ 1314 F_Fwd_Fus_Obj_TrackB_2: 7 EOCM_F_FO - SG_ FwdFusTrkBAnlgRlLn2 : 46|8@0- (0.1,0) [-12.8|12.7] "" Dummy_FO - SG_ FwdFusTrkB2RollingCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO - SG_ FwdFusTrkB2Width : 5|6@0+ (0.25,0) [0|15.75] "m" Dummy_FO - SG_ FwdFusTrkB2MsgIndex : 15|4@0+ (1,0) [0|15] "" Dummy_FO - SG_ FwdFusTrkB2DynProp : 11|3@0+ (1,0) [0|7] "" Dummy_FO - SG_ FwdFusTrkB2RelLnAccl : 8|9@0- (0.125,0) [-32|31.875] "m/s^2" Dummy_FO - SG_ FwdFusTrkB2RelLane : 31|2@0+ (1,0) [0|3] "" Dummy_FO - SG_ FwdFusTrkB2Height : 54|6@0+ (0.25,0) [0|15.75] "m" Dummy_FO - SG_ FFusTrkB2ObjSrcLFSrr : 29|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FFusTrkB2ObjSrcLCSrr : 28|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FFusTrkB2ObjSrcRCSrr : 27|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FFusTrkB2ObjSrcRFSrr : 26|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FFusTrkB2ObjSrcVIs : 25|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FwdFusTrkB2ObjSrcLrr : 24|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FwdFusTrkB2NmCycTrkd : 39|3@0+ (1,0) [0|7] "" Dummy_FO - SG_ FwdFusTrkB2LatPosDev : 36|3@0+ (1,0) [0|7] "" Dummy_FO - SG_ FwdFusTrkB2LngPosDev : 33|3@0+ (1,0) [0|7] "" Dummy_FO - -BO_ 1327 F_Fwd_Fus_Obj_TrackB_15: 7 EOCM_F_FO - SG_ FwdFusTrkBAnlgRlLn15 : 46|8@0- (0.1,0) [-12.8|12.7] "" Dummy_FO - SG_ FwdFusTrkB15RollingCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO - SG_ FwdFusTrkB15Width : 5|6@0+ (0.25,0) [0|15.75] "m" Dummy_FO - SG_ FwdFusTrkB15MsgIndex : 15|4@0+ (1,0) [0|15] "" Dummy_FO - SG_ FwdFusTrkB15DynProp : 11|3@0+ (1,0) [0|7] "" Dummy_FO - SG_ FwdFusTrkB15RelLnAccl : 8|9@0- (0.125,0) [-32|31.875] "m/s^2" Dummy_FO - SG_ FwdFusTrkB15RelLane : 31|2@0+ (1,0) [0|3] "" Dummy_FO - SG_ FwdFusTrkB15Height : 54|6@0+ (0.25,0) [0|15.75] "m" Dummy_FO - SG_ FFusTrkB15ObjSrcLFSrr : 29|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FFusTrkB15ObjSrcLCSrr : 28|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FFusTrkB15ObjSrcRCSrr : 27|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FFusTrkB15ObjSrcRFSrr : 26|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FFusTkB15ObjSrcVIs : 25|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FwdFusTrkB15ObjSrcLrr : 24|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FwdFusTrkB15NmCycTrkd : 39|3@0+ (1,0) [0|7] "" Dummy_FO - SG_ FwdFusTrkB15LatPosDev : 36|3@0+ (1,0) [0|7] "" Dummy_FO - SG_ FwdFusTrkB15LngPosDev : 33|3@0+ (1,0) [0|7] "" Dummy_FO - -BO_ 1326 F_Fwd_Fus_Obj_TrackB_14: 7 EOCM_F_FO - SG_ FwdFusTrkBAnlgRlLn14 : 46|8@0- (0.1,0) [-12.8|12.7] "" Dummy_FO - SG_ FwdFusTrkB14RollingCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO - SG_ FwdFusTrkB14Width : 5|6@0+ (0.25,0) [0|15.75] "m" Dummy_FO - SG_ FwdFusTrkB14MsgIndex : 15|4@0+ (1,0) [0|15] "" Dummy_FO - SG_ FwdFusTrkB14DynProp : 11|3@0+ (1,0) [0|7] "" Dummy_FO - SG_ FwdFusTrkB14RelLnAccl : 8|9@0- (0.125,0) [-32|31.875] "m/s^2" Dummy_FO - SG_ FwdFusTrkB14RelLane : 31|2@0+ (1,0) [0|3] "" Dummy_FO - SG_ FwdFusTrkB14Height : 54|6@0+ (0.25,0) [0|15.75] "m" Dummy_FO - SG_ FFusTrkB14ObjSrcLFSrr : 29|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FFusTrkB14ObjSrcLCSrr : 28|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FFusTrkB14ObjSrcRCSrr : 27|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FFusTrkB14ObjSrcRFSrr : 26|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FFusTrkB14ObjSrcVIs : 25|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FwdFusTrkB14ObjSrcLrr : 24|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FwdFusTrkB14NmCycTrkd : 39|3@0+ (1,0) [0|7] "" Dummy_FO - SG_ FwdFusTrkB14LatPosDev : 36|3@0+ (1,0) [0|7] "" Dummy_FO - SG_ FwdFusTrkB14LngPosDev : 33|3@0+ (1,0) [0|7] "" Dummy_FO - -BO_ 1325 F_Fwd_Fus_Obj_TrackB_13: 7 EOCM_F_FO - SG_ FwdFusTrkBAnlgRlLn13 : 46|8@0- (0.1,0) [-12.8|12.7] "" Dummy_FO - SG_ FwdFusTrkB13RollingCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO - SG_ FwdFusTrkB13Width : 5|6@0+ (0.25,0) [0|15.75] "m" Dummy_FO - SG_ FwdFusTrkB13MsgIndex : 15|4@0+ (1,0) [0|15] "" Dummy_FO - SG_ FwdFusTrkB13DynProp : 11|3@0+ (1,0) [0|7] "" Dummy_FO - SG_ FwdFusTrkB13RelLnAccl : 8|9@0- (0.125,0) [-32|31.875] "m/s^2" Dummy_FO - SG_ FwdFusTrkB13RelLane : 31|2@0+ (1,0) [0|3] "" Dummy_FO - SG_ FwdFusTrkB13Height : 54|6@0+ (0.25,0) [0|15.75] "m" Dummy_FO - SG_ FFusTrkB13ObjSrcLFSrr : 29|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FFusTrkB13ObjSrcLCSrr : 28|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FFusTrkB13ObjSrcRCSrr : 27|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FFusTrkB13ObjSrcRFSrr : 26|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FFusTrkB13ObjSrcVIs : 25|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FwdFusTrkB13ObjSrcLrr : 24|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FwdFusTrkB13NmCycTrkd : 39|3@0+ (1,0) [0|7] "" Dummy_FO - SG_ FwdFusTrkB13LatPosDev : 36|3@0+ (1,0) [0|7] "" Dummy_FO - SG_ FwdFusTrkB13LngPosDev : 33|3@0+ (1,0) [0|7] "" Dummy_FO - -BO_ 1324 F_Fwd_Fus_Obj_TrackB_12: 7 EOCM_F_FO - SG_ FwdFusTrkBAnlgRlLn12 : 46|8@0- (0.1,0) [-12.8|12.7] "" Dummy_FO - SG_ FwdFusTrkB12RollingCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO - SG_ FwdFusTrkB12Width : 5|6@0+ (0.25,0) [0|15.75] "m" Dummy_FO - SG_ FwdFusTrkB12MsgIndex : 15|4@0+ (1,0) [0|15] "" Dummy_FO - SG_ FwdFusTrkB12DynProp : 11|3@0+ (1,0) [0|7] "" Dummy_FO - SG_ FwdFusTrkB12RelLnAccl : 8|9@0- (0.125,0) [-32|31.875] "m/s^2" Dummy_FO - SG_ FwdFusTrkB12RelLane : 31|2@0+ (1,0) [0|3] "" Dummy_FO - SG_ FwdFusTrkB12Height : 54|6@0+ (0.25,0) [0|15.75] "m" Dummy_FO - SG_ FFusTrkB12ObjSrcLFSrr : 29|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FFusTrkB12ObjSrcLCSrr : 28|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FFusTrkB12ObjSrcRCSrr : 27|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FFusTrkB12ObjSrcRFSrr : 26|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FFusTrkB12ObjSrcVIs : 25|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FwdFusTrkB12ObjSrcLrr : 24|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FwdFusTrkB12NmCycTrkd : 39|3@0+ (1,0) [0|7] "" Dummy_FO - SG_ FwdFusTrkB12LatPosDev : 36|3@0+ (1,0) [0|7] "" Dummy_FO - SG_ FwdFusTrkB12LngPosDev : 33|3@0+ (1,0) [0|7] "" Dummy_FO - -BO_ 1323 F_Fwd_Fus_Obj_TrackB_11: 7 EOCM_F_FO - SG_ FwdFusTrkB11DynProp : 11|3@0+ (1,0) [0|7] "" Dummy_FO - SG_ FwdFusTrkB11RelLnAccl : 8|9@0- (0.125,0) [-32|31.875] "m/s^2" Dummy_FO - SG_ FwdFusTrkB11RelLane : 31|2@0+ (1,0) [0|3] "" Dummy_FO - SG_ FwdFusTrkB11Height : 54|6@0+ (0.25,0) [0|15.75] "m" Dummy_FO - SG_ FFusTrkB11ObjSrcLFSrr : 29|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FFusTrkB11ObjSrcLCSrr : 28|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FFusTrkB11ObjSrcRCSrr : 27|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FFusTrkB11ObjSrcRFSrr : 26|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FFusTrkB11ObjSrcVIs : 25|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FwdFusTrkB11ObjSrcLrr : 24|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FwdFusTrkB11NmCycTrkd : 39|3@0+ (1,0) [0|7] "" Dummy_FO - SG_ FwdFusTrkB11LatPosDev : 36|3@0+ (1,0) [0|7] "" Dummy_FO - SG_ FwdFusTrkB11LngPosDev : 33|3@0+ (1,0) [0|7] "" Dummy_FO - SG_ FwdFusTrkBAnlgRlLn11 : 46|8@0- (0.1,0) [-12.8|12.7] "" Dummy_FO - SG_ FwdFusTrkB11RollingCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO - SG_ FwdFusTrkB11Width : 5|6@0+ (0.25,0) [0|15.75] "m" Dummy_FO - SG_ FwdFusTrkB11MsgIndex : 15|4@0+ (1,0) [0|15] "" Dummy_FO - -BO_ 1322 F_Fwd_Fus_Obj_TrackB_10: 7 EOCM_F_FO - SG_ FwdFusTrkBAnlgRlLn10 : 46|8@0- (0.1,0) [-12.8|12.7] "" Dummy_FO - SG_ FwdFusTrkB10RollingCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO - SG_ FwdFusTrkB10Width : 5|6@0+ (0.25,0) [0|15.75] "m" Dummy_FO - SG_ FwdFusTrkB10MsgIndex : 15|4@0+ (1,0) [0|15] "" Dummy_FO - SG_ FwdFusTrkB10DynProp : 11|3@0+ (1,0) [0|7] "" Dummy_FO - SG_ FwdFusTrkB10RelLnAccl : 8|9@0- (0.125,0) [-32|31.875] "m/s^2" Dummy_FO - SG_ FwdFusTrkB10RelLane : 31|2@0+ (1,0) [0|3] "" Dummy_FO - SG_ FwdFusTrkB10Height : 54|6@0+ (0.25,0) [0|15.75] "m" Dummy_FO - SG_ FFusTrkB10ObjSrcLFSrr : 29|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FFusTrkB10ObjSrcLCSrr : 28|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FFusTrkB10ObjSrcRCSrr : 27|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FFusTrkB10ObjSrcRFSrr : 26|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FFusTrkB10ObjSrcVIs : 25|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FwdFusTrkB10ObjSrcLrr : 24|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FwdFusTrkB10NmCycTrkd : 39|3@0+ (1,0) [0|7] "" Dummy_FO - SG_ FwdFusTrkB10LatPosDev : 36|3@0+ (1,0) [0|7] "" Dummy_FO - SG_ FwdFusTrkB10LngPosDev : 33|3@0+ (1,0) [0|7] "" Dummy_FO - -BO_ 1313 F_Fwd_Fus_Obj_TrackB_1: 7 EOCM_F_FO - SG_ FwdFusTrkBAnlgRlLn1 : 46|8@0- (0.1,0) [-12.8|12.7] "" Dummy_FO - SG_ FwdFusTrkB1RollingCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO - SG_ FwdFusTrkB1Width : 5|6@0+ (0.25,0) [0|15.75] "m" Dummy_FO - SG_ FwdFusTrkB1MsgIndex : 15|4@0+ (1,0) [0|15] "" Dummy_FO - SG_ FwdFusTrkB1DynProp : 11|3@0+ (1,0) [0|7] "" Dummy_FO - SG_ FwdFusTrkB1RelLnAccl : 8|9@0- (0.125,0) [-32|31.875] "m/s^2" Dummy_FO - SG_ FwdFusTrkB1RelLane : 31|2@0+ (1,0) [0|3] "" Dummy_FO - SG_ FwdFusTrkB1Height : 54|6@0+ (0.25,0) [0|15.75] "m" Dummy_FO - SG_ FFusTrkB1ObjSrcLFSrr : 29|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FFusTrkB1ObjSrcLCSrr : 28|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FFusTrkB1ObjSrcRCSrr : 27|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FFusTrkB1ObjSrcRFSrr : 26|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FFusTrkB1ObjSrcVIs : 25|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FwdFusTrkB1ObjSrcLrr : 24|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FwdFusTrkB1NmCycTrkd : 39|3@0+ (1,0) [0|7] "" Dummy_FO - SG_ FwdFusTrkB1LatPosDev : 36|3@0+ (1,0) [0|7] "" Dummy_FO - SG_ FwdFusTrkB1LngPosDev : 33|3@0+ (1,0) [0|7] "" Dummy_FO - -BO_ 1305 F_Fwd_Fus_Obj_TrackA_9: 8 EOCM_F_FO - SG_ FwdFusTrkA9RollingCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO - SG_ FwdFusTrkA9ObjectID : 5|6@0+ (1,0) [0|63] "" Dummy_FO - SG_ FwdFusTrkA9MsgIndex : 15|4@0+ (1,0) [0|15] "" Dummy_FO - SG_ FwdFusTrkA9LongPos : 11|12@0- (0.125,0) [-256|255.875] "m" Dummy_FO - SG_ FwdFusTrkA9RelLongVel : 31|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO - SG_ FwdFusTrkA9Confidence : 36|2@0+ (1,0) [0|3] "" Dummy_FO - SG_ FwdFusTrkA9LatPos : 34|11@0- (0.125,0) [-128|127.875] "m" Dummy_FO - SG_ FwdFusTrkA9RelLatVel : 55|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO - SG_ FwdFusTrkA9MeasStatus : 60|2@0+ (1,0) [0|3] "" Dummy_FO - SG_ FwdFusTrkA9ObjType : 58|3@0+ (1,0) [0|7] "" Dummy_FO - -BO_ 1304 F_Fwd_Fus_Obj_TrackA_8: 8 EOCM_F_FO - SG_ FwdFusTrkA8RollingCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO - SG_ FwdFusTrkA8ObjectID : 5|6@0+ (1,0) [0|63] "" Dummy_FO - SG_ FwdFusTrkA8MsgIndex : 15|4@0+ (1,0) [0|15] "" Dummy_FO - SG_ FwdFusTrkA8LongPos : 11|12@0- (0.125,0) [-256|255.875] "m" Dummy_FO - SG_ FwdFusTrkA8RelLongVel : 31|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO - SG_ FwdFusTrkA8Confidence : 36|2@0+ (1,0) [0|3] "" Dummy_FO - SG_ FwdFusTrkA8LatPos : 34|11@0- (0.125,0) [-128|127.875] "m" Dummy_FO - SG_ FwdFusTrkA8RelLatVel : 55|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO - SG_ FwdFusTrkA8MeasStatus : 60|2@0+ (1,0) [0|3] "" Dummy_FO - SG_ FwdFusTrkA8ObjType : 58|3@0+ (1,0) [0|7] "" Dummy_FO - -BO_ 1303 F_Fwd_Fus_Obj_TrackA_7: 8 EOCM_F_FO - SG_ FwdFusTrkA7RollingCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO - SG_ FwdFusTrkA7ObjectID : 5|6@0+ (1,0) [0|63] "" Dummy_FO - SG_ FwdFusTrkA7MsgIndex : 15|4@0+ (1,0) [0|15] "" Dummy_FO - SG_ FwdFusTrkA7LongPos : 11|12@0- (0.125,0) [-256|255.875] "m" Dummy_FO - SG_ FwdFusTrkA7RelLongVel : 31|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO - SG_ FwdFusTrkA7Confidence : 36|2@0+ (1,0) [0|3] "" Dummy_FO - SG_ FwdFusTrkA7LatPos : 34|11@0- (0.125,0) [-128|127.875] "m" Dummy_FO - SG_ FwdFusTrkA7RelLatVel : 55|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO - SG_ FwdFusTrkA7MeasStatus : 60|2@0+ (1,0) [0|3] "" Dummy_FO - SG_ FwdFusTrkA7ObjType : 58|3@0+ (1,0) [0|7] "" Dummy_FO - -BO_ 1302 F_Fwd_Fus_Obj_TrackA_6: 8 EOCM_F_FO - SG_ FwdFusTrkA6RollingCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO - SG_ FwdFusTrkA6ObjectID : 5|6@0+ (1,0) [0|63] "" Dummy_FO - SG_ FwdFusTrkA6MsgIndex : 15|4@0+ (1,0) [0|15] "" Dummy_FO - SG_ FwdFusTrkA6LongPos : 11|12@0- (0.125,0) [-256|255.875] "m" Dummy_FO - SG_ FwdFusTrkA6RelLongVel : 31|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO - SG_ FwdFusTrkA6Confidence : 36|2@0+ (1,0) [0|3] "" Dummy_FO - SG_ FwdFusTrkA6LatPos : 34|11@0- (0.125,0) [-128|127.875] "m" Dummy_FO - SG_ FwdFusTrkA6RelLatVel : 55|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO - SG_ FwdFusTrkA6MeasStatus : 60|2@0+ (1,0) [0|3] "" Dummy_FO - SG_ FwdFusTrkA6ObjType : 58|3@0+ (1,0) [0|7] "" Dummy_FO - -BO_ 1301 F_Fwd_Fus_Obj_TrackA_5: 8 EOCM_F_FO - SG_ FwdFusTrkA5RollingCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO - SG_ FwdFusTrkA5ObjectID : 5|6@0+ (1,0) [0|63] "" Dummy_FO - SG_ FwdFusTrkA5MsgIndex : 15|4@0+ (1,0) [0|15] "" Dummy_FO - SG_ FwdFusTrkA5LongPos : 11|12@0- (0.125,0) [-256|255.875] "m" Dummy_FO - SG_ FwdFusTrkA5RelLongVel : 31|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO - SG_ FwdFusTrkA5Confidence : 36|2@0+ (1,0) [0|3] "" Dummy_FO - SG_ FwdFusTrkA5LatPos : 34|11@0- (0.125,0) [-128|127.875] "m" Dummy_FO - SG_ FwdFusTrkA5RelLatVel : 55|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO - SG_ FwdFusTrkA5MeasStatus : 60|2@0+ (1,0) [0|3] "" Dummy_FO - SG_ FwdFusTrkA5ObjType : 58|3@0+ (1,0) [0|7] "" Dummy_FO - -BO_ 1300 F_Fwd_Fus_Obj_TrackA_4: 8 EOCM_F_FO - SG_ FwdFusTrkA4RollingCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO - SG_ FwdFusTrkA4ObjectID : 5|6@0+ (1,0) [0|63] "" Dummy_FO - SG_ FwdFusTrkA4MsgIndex : 15|4@0+ (1,0) [0|15] "" Dummy_FO - SG_ FwdFusTrkA4LongPos : 11|12@0- (0.125,0) [-256|255.875] "m" Dummy_FO - SG_ FwdFusTrkA4RelLongVel : 31|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO - SG_ FwdFusTrkA4Confidence : 36|2@0+ (1,0) [0|3] "" Dummy_FO - SG_ FwdFusTrkA4LatPos : 34|11@0- (0.125,0) [-128|127.875] "m" Dummy_FO - SG_ FwdFusTrkA4RelLatVel : 55|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO - SG_ FwdFusTrkA4MeasStatus : 60|2@0+ (1,0) [0|3] "" Dummy_FO - SG_ FwdFusTrkA4ObjType : 58|3@0+ (1,0) [0|7] "" Dummy_FO - -BO_ 1299 F_Fwd_Fus_Obj_TrackA_3: 8 EOCM_F_FO - SG_ FwdFusTrkA3RollingCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO - SG_ FwdFusTrkA3ObjectID : 5|6@0+ (1,0) [0|63] "" Dummy_FO - SG_ FwdFusTrkA3MsgIndex : 15|4@0+ (1,0) [0|15] "" Dummy_FO - SG_ FwdFusTrkA3LongPos : 11|12@0- (0.125,0) [-256|255.875] "m" Dummy_FO - SG_ FwdFusTrkA3RelLongVel : 31|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO - SG_ FwdFusTrkA3Confidence : 36|2@0+ (1,0) [0|3] "" Dummy_FO - SG_ FwdFusTrkA3LatPos : 34|11@0- (0.125,0) [-128|127.875] "m" Dummy_FO - SG_ FwdFusTrkA3RelLatVel : 55|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO - SG_ FwdFusTrkA3MeasStatus : 60|2@0+ (1,0) [0|3] "" Dummy_FO - SG_ FwdFusTrkA3ObjType : 58|3@0+ (1,0) [0|7] "" Dummy_FO - -BO_ 1298 F_Fwd_Fus_Obj_TrackA_2: 8 EOCM_F_FO - SG_ FwdFusTrkA2RollingCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO - SG_ FwdFusTrkA2ObjectID : 5|6@0+ (1,0) [0|63] "" Dummy_FO - SG_ FwdFusTrkA2MsgIndex : 15|4@0+ (1,0) [0|15] "" Dummy_FO - SG_ FwdFusTrkA2LongPos : 11|12@0- (0.125,0) [-256|255.875] "m" Dummy_FO - SG_ FwdFusTrkA2RelLongVel : 31|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO - SG_ FwdFusTrkA2Confidence : 36|2@0+ (1,0) [0|3] "" Dummy_FO - SG_ FwdFusTrkA2LatPos : 34|11@0- (0.125,0) [-128|127.875] "m" Dummy_FO - SG_ FwdFusTrkA2RelLatVel : 55|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO - SG_ FwdFusTrkA2MeasStatus : 60|2@0+ (1,0) [0|3] "" Dummy_FO - SG_ FwdFusTrkA2ObjType : 58|3@0+ (1,0) [0|7] "" Dummy_FO - -BO_ 1311 F_Fwd_Fus_Obj_TrackA_15: 8 EOCM_F_FO - SG_ FwdFusTrkA15RollingCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO - SG_ FwdFusTrkA15ObjectID : 5|6@0+ (1,0) [0|63] "" Dummy_FO - SG_ FwdFusTrkA15MsgIndex : 15|4@0+ (1,0) [0|15] "" Dummy_FO - SG_ FwdFusTrkA15LongPos : 11|12@0- (0.125,0) [-256|255.875] "m" Dummy_FO - SG_ FwdFusTrkA15RelLongVel : 31|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO - SG_ FwdFusTrkA15Confidence : 36|2@0+ (1,0) [0|3] "" Dummy_FO - SG_ FwdFusTrkA15LatPos : 34|11@0- (0.125,0) [-128|127.875] "m" Dummy_FO - SG_ FwdFusTrkA15RelLatVel : 55|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO - SG_ FwdFusTrkA15MeasStatus : 60|2@0+ (1,0) [0|3] "" Dummy_FO - SG_ FwdFusTrkA15ObjType : 58|3@0+ (1,0) [0|7] "" Dummy_FO - -BO_ 1310 F_Fwd_Fus_Obj_TrackA_14: 8 EOCM_F_FO - SG_ FwdFusTrkA14RollingCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO - SG_ FwdFusTrkA14ObjectID : 5|6@0+ (1,0) [0|63] "" Dummy_FO - SG_ FwdFusTrkA14MsgIndex : 15|4@0+ (1,0) [0|15] "" Dummy_FO - SG_ FwdFusTrkA14LongPos : 11|12@0- (0.125,0) [-256|255.875] "m" Dummy_FO - SG_ FwdFusTrkA14RelLongVel : 31|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO - SG_ FwdFusTrkA14Confidence : 36|2@0+ (1,0) [0|3] "" Dummy_FO - SG_ FwdFusTrkA14LatPos : 34|11@0- (0.125,0) [-128|127.875] "m" Dummy_FO - SG_ FwdFusTrkA14RelLatVel : 55|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO - SG_ FwdFusTrkA14MeasStatus : 60|2@0+ (1,0) [0|3] "" Dummy_FO - SG_ FwdFusTrkA14ObjType : 58|3@0+ (1,0) [0|7] "" Dummy_FO - -BO_ 1309 F_Fwd_Fus_Obj_TrackA_13: 8 EOCM_F_FO - SG_ FwdFusTrkA13RollingCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO - SG_ FwdFusTrkA13ObjectID : 5|6@0+ (1,0) [0|63] "" Dummy_FO - SG_ FwdFusTrkA13MsgIndex : 15|4@0+ (1,0) [0|15] "" Dummy_FO - SG_ FwdFusTrkA13LongPos : 11|12@0- (0.125,0) [-256|255.875] "m" Dummy_FO - SG_ FwdFusTrkA13RelLongVel : 31|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO - SG_ FwdFusTrkA13Confidence : 36|2@0+ (1,0) [0|3] "" Dummy_FO - SG_ FwdFusTrkA13LatPos : 34|11@0- (0.125,0) [-128|127.875] "m" Dummy_FO - SG_ FwdFusTrkA13RelLatVel : 55|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO - SG_ FwdFusTrkA13MeasStatus : 60|2@0+ (1,0) [0|3] "" Dummy_FO - SG_ FwdFusTrkA13ObjType : 58|3@0+ (1,0) [0|7] "" Dummy_FO - -BO_ 1308 F_Fwd_Fus_Obj_TrackA_12: 8 EOCM_F_FO - SG_ FwdFusTrkA12RollingCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO - SG_ FwdFusTrkA12ObjectID : 5|6@0+ (1,0) [0|63] "" Dummy_FO - SG_ FwdFusTrkA12MsgIndex : 15|4@0+ (1,0) [0|15] "" Dummy_FO - SG_ FwdFusTrkA12LongPos : 11|12@0- (0.125,0) [-256|255.875] "m" Dummy_FO - SG_ FwdFusTrkA12RelLongVel : 31|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO - SG_ FwdFusTrkA12Confidence : 36|2@0+ (1,0) [0|3] "" Dummy_FO - SG_ FwdFusTrkA12LatPos : 34|11@0- (0.125,0) [-128|127.875] "m" Dummy_FO - SG_ FwdFusTrkA12RelLatVel : 55|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO - SG_ FwdFusTrkA12MeasStatus : 60|2@0+ (1,0) [0|3] "" Dummy_FO - SG_ FwdFusTrkA12ObjType : 58|3@0+ (1,0) [0|7] "" Dummy_FO - -BO_ 1307 F_Fwd_Fus_Obj_TrackA_11: 8 EOCM_F_FO - SG_ FwdFusTrkA11ObjectID : 5|6@0+ (1,0) [0|63] "" Dummy_FO - SG_ FwdFusTrkA11MsgIndex : 15|4@0+ (1,0) [0|15] "" Dummy_FO - SG_ FwdFusTrkA11LongPos : 11|12@0- (0.125,0) [-256|255.875] "m" Dummy_FO - SG_ FwdFusTrkA11RelLongVel : 31|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO - SG_ FwdFusTrkA11Confidence : 36|2@0+ (1,0) [0|3] "" Dummy_FO - SG_ FwdFusTrkA11LatPos : 34|11@0- (0.125,0) [-128|127.875] "m" Dummy_FO - SG_ FwdFusTrkA11RelLatVel : 55|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO - SG_ FwdFusTrkA11MeasStatus : 60|2@0+ (1,0) [0|3] "" Dummy_FO - SG_ FwdFusTrkA11ObjType : 58|3@0+ (1,0) [0|7] "" Dummy_FO - SG_ FwdFusTrkA11RollingCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO - -BO_ 1306 F_Fwd_Fus_Obj_TrackA_10: 8 EOCM_F_FO - SG_ FwdFusTrkA10RollingCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO - SG_ FwdFusTrkA10ObjectID : 5|6@0+ (1,0) [0|63] "" Dummy_FO - SG_ FwdFusTrkA10MsgIndex : 15|4@0+ (1,0) [0|15] "" Dummy_FO - SG_ FwdFusTrkA10LongPos : 11|12@0- (0.125,0) [-256|255.875] "m" Dummy_FO - SG_ FwdFusTrkA10RelLongVel : 31|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO - SG_ FwdFusTrkA10Confidence : 36|2@0+ (1,0) [0|3] "" Dummy_FO - SG_ FwdFusTrkA10LatPos : 34|11@0- (0.125,0) [-128|127.875] "m" Dummy_FO - SG_ FwdFusTrkA10RelLatVel : 55|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO - SG_ FwdFusTrkA10MeasStatus : 60|2@0+ (1,0) [0|3] "" Dummy_FO - SG_ FwdFusTrkA10ObjType : 58|3@0+ (1,0) [0|7] "" Dummy_FO - -BO_ 1297 F_Fwd_Fus_Obj_TrackA_1: 8 EOCM_F_FO - SG_ FwdFusTrkA1RollingCnt : 7|2@0+ (1,0) [0|3] "" Dummy_FO - SG_ FwdFusTrkA1ObjectID : 5|6@0+ (1,0) [0|63] "" Dummy_FO - SG_ FwdFusTrkA1MsgIndex : 15|4@0+ (1,0) [0|15] "" Dummy_FO - SG_ FwdFusTrkA1LongPos : 11|12@0- (0.125,0) [-256|255.875] "m" Dummy_FO - SG_ FwdFusTrkA1RelLongVel : 31|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO - SG_ FwdFusTrkA1Confidence : 36|2@0+ (1,0) [0|3] "" Dummy_FO - SG_ FwdFusTrkA1LatPos : 34|11@0- (0.125,0) [-128|127.875] "m" Dummy_FO - SG_ FwdFusTrkA1RelLatVel : 55|11@0- (0.125,0) [-128|127.875] "m/s" Dummy_FO - SG_ FwdFusTrkA1MeasStatus : 60|2@0+ (1,0) [0|3] "" Dummy_FO - SG_ FwdFusTrkA1ObjType : 58|3@0+ (1,0) [0|7] "" Dummy_FO - -BO_ 1296 F_Fwd_Fus_Obj_Header: 7 EOCM_F_FO - SG_ F_FusHeadRollingCount : 7|2@0+ (1,0) [0|3] "" Dummy_FO - SG_ F_FusHeadFuncState : 5|2@0+ (1,0) [0|3] "" Dummy_FO - SG_ F_FusHedNmValTargts : 3|4@0+ (1,0) [0|15] "" Dummy_FO - SG_ F_FusHead_LrrOK : 15|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ F_FusHead_LFSRROK : 14|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ F_FusHead_VIsOK : 13|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ F_FusHead_MapDataOK : 12|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ F_FusHeadTimStmpV : 11|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ F_FusHeadTimStmp : 10|11@0+ (1,0) [0|2047] "ms" Dummy_FO - SG_ F_FusHead_LCSRROK : 31|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ F_FusHead_RCSRROK : 30|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ F_FusHead_RFSRROK : 29|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ F_FusHed_ObjClstrCurv : 28|13@0- (5E-005,0) [-0.2048|0.20475] "1/m" Dummy_FO - SG_ F_FusHdObjClstTanHdng : 47|8@0- (0.002,0) [-0.256|0.254] "m/m" Dummy_FO - SG_ RoadTypeInfo : 55|3@0+ (1,0) [0|7] "" Dummy_FO - -BO_ 257 USDT_Req_to_All_FO_ECUs: 8 TestTool_FO - SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" LRSRR_FO,_DOFIMU2_FO,_DOFIMU1_FO,DMS_FO,AMM_FO,EOCM2A_K2_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM2A_IMX6_FO,EOCM2A_K1_FO,NVS_FO,CIPM_FO,VIS2_FO,RRSRR_FO,VIS_FO,RFSRR_FO,LRR_FO,LFSRR_FO,RSRR_FO,EOCM_F_FO - -BO_ 584 USDT_Req_to_6DOFIMU2_FO: 8 TestTool_FO - SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" _DOFIMU2_FO - -BO_ 1348 UUDT_Resp_From_6DOFIMU1_FO: 8 _DOFIMU1_FO - SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO - -BO_ 1604 USDT_Resp_From_6DOFIMU1_FO: 8 _DOFIMU1_FO - SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO - -BO_ 580 USDT_Req_to_6DOFIMU1_FO: 8 TestTool_FO - SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" _DOFIMU1_FO - -BO_ 1349 UUDT_Resp_From_DMS_FO: 8 DMS_FO - SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO - -BO_ 1605 USDT_Resp_From_DMS_FO: 8 DMS_FO - SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO - -BO_ 581 USDT_Req_to_DMS_FO: 8 TestTool_FO - SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" DMS_FO - -BO_ 1372 UUDT_Resp_From_AMM_FO: 8 AMM_FO - SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO - -BO_ 1628 USDT_Resp_From_AMM_FO: 8 AMM_FO - SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO - -BO_ 604 USDT_Req_to_AMM_FO: 8 TestTool_FO - SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" AMM_FO - -BO_ 1622 USDT_Resp_From_EOCM2B_IMX6_FO: 8 EOCM2B_IMX6_FO - SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO - -BO_ 1366 UUDT_Resp_From_EOCM2B_IMX6_FO: 8 EOCM2B_IMX6_FO - SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" TestTool_FO - -BO_ 598 USDT_Req_to_EOCM2B_IMX6_FO: 8 TestTool_FO - SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" EOCM2B_IMX6_FO - -BO_ 590 USDT_Req_to_Free_4E_FO: 8 TestTool_FO - SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" Vector__XXX - -BO_ 1338 VPDR_Debug: 8 EOCM_F_FO - SG_ FrtRWARateDiagFA : 43|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FrtRWABiasDiagFA : 42|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ HWAFrtVal : 41|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ HWADotValFrt : 40|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ S2VehAxRangeFA : 39|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ S2VehAxRateFA : 38|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ S2VehAxBiasFA : 37|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ VehAxCompFA : 36|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ S1VehAxVal : 35|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ S2VehAxVal : 34|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FrtRWACorrFA : 33|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FrtRWARangeDiagFA : 32|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ S2VehAyBiasFA : 31|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ VehAyCompFA : 30|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ S1VehAyVal : 29|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ S2VehAyVal : 28|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ VehAxCorrFA : 27|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ S1VehAxRangeFA : 26|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ S1VehAxRateFA : 25|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ S1VehAxBiasFA : 24|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ S1VehWzVal : 23|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ S2VehWzVal : 22|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ VehAyCorrDiagFA : 21|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ S1VehAyRangeFA : 20|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ S1VehAyRateFA : 19|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ S1VehAyBiasFA : 18|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ S2VehAyRangeFA : 17|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ S2VehAyRateFA : 16|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ VehWzCorrDiagFA : 15|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ S1VehWzRangeFA : 14|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ S1VehWzRateFA : 13|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ S1VehWzBiasFA : 12|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ S2VehWzRangeFA : 11|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ S2VehWzRateFA : 10|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ S2VehWzBiasFA : 9|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ VehWzCompFA : 8|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ WhlVxLFCorrDiagFA : 7|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ WhlVxRFCorrDiagFA : 6|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ WhlVxLRCorrDiagFA : 5|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ WhlVxRRCorrDiagFA : 4|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ WhlLFVal : 3|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ WhlRFVal : 2|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ WhlLRVal : 1|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ WhlRRVal : 0|1@0+ (1,0) [0|1] "" Dummy_FO - -BO_ 1328 Diag_Debug1: 8 EOCM_F_FO - SG_ AlrtWrnIndReqFP : 1|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ AlrtWrnIndReqFA : 0|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ ILRSRRSnsr_FP : 24|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ ILRSRRSnsr_FA : 23|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ ILRSRRFrehns_FA : 22|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ VehPathEstCrvCSFP : 21|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ VehPathEstCrvCSFA : 20|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ VehPathWzEstCSFP : 19|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ VehPathWzEstCSFA : 18|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ VehPathVyEstCSFP : 17|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ VehPathVyEstCSFA : 16|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ VehPathVxEstCSFP : 15|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ VehPathVxEstCSFA : 14|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ TCPHiThrtTTCCSFP : 13|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ TCPHiThrtTTCCSFA : 12|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ TCPHiThrtLyCSFP : 11|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ TCPHiThrtLyCSFA : 10|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ TCPHiThLxVxAxCSFP : 9|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ TCPHiThLxVxAxCSFA : 8|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ CurSetValDiagFP : 7|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ CurSetValDiagFA : 6|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ CrsAltDvrSlTpDiagFP : 5|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ CrsAltDvrSlTpDiagFA : 4|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FCAStatDiagFP : 3|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FCAStatDiagFA : 2|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ RVBBrkCtrlStFP : 62|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ RVBBrkCtrlStFA : 61|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ RVBOpStFP : 60|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ RVBOpStFA : 59|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ RVBBrkCtrlAccFP : 58|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ RVBBrkCtrlAccFA : 57|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ RVBAxlTrqRqFP : 56|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ RVBAxlTrqRqFA : 55|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ TVRUPATTCFP : 54|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ TVRUPATTCFA : 53|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ TVRHiThrtObjIDFP : 52|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ TVRHiThrtObjIDFA : 51|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ TVRHiThrtTTCFP : 50|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ TVRHiThrtTTCFA : 49|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ TVRHiThrtLxFP : 48|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ TVRHiThrtLxFA : 47|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ TVRHiThrtLyFP : 46|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ TVRHiThrtLyFA : 45|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ ROFFuncStFP : 44|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ ROFFuncStFA : 43|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ ROFObjIDFP : 42|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ ROFObjIDFA : 41|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ ROFLatPstnVelRatFP : 40|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ ROFLatPstnVelRatFA : 39|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ ROFLonPstnVelFP : 38|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ ROFLonPstnVelFA : 37|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ ROFRltvLatVelDiagFP : 36|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ ROFRltvLatVelDiagFA : 35|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ ROFRltvLatPstnDiagFP : 34|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ ROFRltvLatPstnDiagFA : 33|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ ROFNrRltvLonPstnFP : 32|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ ROFNrRltvLonPstnFA : 31|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ ROFLonPstnVelRatFP : 30|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ ROFLonPstnVelRatFA : 29|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ ROFConfDiagFP : 28|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ ROFConfDiagFA : 27|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ ROFRltvLnDiagFP : 26|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ ROFRltvLnDiagFA : 25|1@0+ (1,0) [0|1] "" Dummy_FO - -BO_ 1335 Diag_Debug3: 8 EOCM_F_FO - SG_ BrkSysCmdAxDiagFPQ : 63|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ BrkSysCmdAxDiagFAQ : 62|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ AxleTorqReqDiagFPQ : 61|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ AxleTorqReqDiagFAQ : 60|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ AutoBrkTypeDiagFPQ : 59|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ AutoBrkTypeDiagFAQ : 58|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ TCPHiThrtTTCFPQ : 57|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ TCPHiThrtTTCFAQ : 56|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ TCPHiThrtTmpMemFPQ : 55|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ TCPHiThrtTmpMemFAQ : 54|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ TCPHiThrtLxVxAxFPQ : 53|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ TCPHiThrtLxVxAxFAQ : 52|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ TCPHiThrtVyFPQ : 51|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ TCPHiThrtVyFAQ : 50|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ TCPHiThrtLyFPQ : 49|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ TCPHiThrtLyFAQ : 48|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ TCPHiThrtConPriFPQ : 47|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ TCPHiThrtConPriFAQ : 46|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ TCPHiThrtCJLFPQ : 45|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ TCPHiThrtCJLFAQ : 44|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ TCPDynPropDiagFPQ : 43|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ TCPDynPropDiagFAQ : 42|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FOFRdTypInfoFPQ : 41|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FOFRdTypInfoFAQ : 40|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FOFRltvLnDiagFPQ : 39|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FOFRltvLnDiagFAQ : 38|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FOFNumCycDiagFPQ : 37|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FOFNumCycDiagFAQ : 36|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FOFNumFusCyclsFPQ : 35|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FOFNumFusCyclsFAQ : 34|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FOFNrRltvLonPstnFPQ : 33|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FOFNrRltvLonPstnFAQ : 32|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FOFLonVelAccRatFPQ : 31|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FOFLonVelAccRatFAQ : 30|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FOFLonPstnVelRatFPQ : 29|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FOFLonPstnVelRatFAQ : 28|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FOFLonPosVelAccFPQ : 27|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FOFLonPosVelAccFAQ : 26|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FOFLatVelDiagFPQ : 25|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FOFLatVelDiagFAQ : 24|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FOFLatPstnDiagFPQ : 23|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FOFLatPstnDiagFAQ : 22|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FOFConfDiagFPQ : 21|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FOFConfDiagFAQ : 20|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ ILFOvrlpRtlChk_FAQ : 19|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ IRFOvrlpRtlChk_FAQ : 18|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ LRROvrlpRtlChk_FAQ : 17|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ VISOvrlpRtlChk_FAQ : 16|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ VISAlign_FAQ : 15|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ VISSnsr_FAQ : 14|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ VISSnsr_FPQ : 13|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ VISFrshns_FAQ : 12|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ LRRAlign_FAQ : 11|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ LRRFrshns_FAQ : 10|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ LRRSnsr_FAQ : 9|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ LRRSnsr_FPQ : 8|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ IRFSRRAlign_FAQ : 7|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ IRFSRRFrehns_FAQ : 6|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ IRFSRRSnsr_FAQ : 5|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ IRFSRRSnsr_FPQ : 4|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ ILFSRRSnsr_FPQ : 3|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ ILFSRRSnsr_FAQ : 2|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ ILFSRRFrshns_FAQ : 1|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ ILFSRRAlign_FAQ : 0|1@0+ (1,0) [0|1] "" Dummy_FO - -BO_ 1331 Diag_Debug2: 8 EOCM_F_FO - SG_ TCPHiThrtTmpMemFP : 63|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ TCPHiThrtTmpMemFA : 62|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ TCPHiThrtConPriFP : 61|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ TCPHiThrtConPriFA : 60|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ TCPHiThrtCJLFP : 59|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ TCPHiThrtTTCFP : 58|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ TCPHiThrtTTCFA : 57|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ TCPHiThrtVyFP : 56|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ TCPHiThrtVyFA : 55|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ TCPHiThrtLyFP : 54|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ TCPHiThrtLyFA : 53|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ TCPHiThrtLxVxAxFP : 52|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ TCPHiThrtLxVxAxFA : 51|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FOFRdTypInfoFP : 50|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FOFRdTypInfoFA : 49|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ AutoBrkTypeDiagFA : 48|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ BrkSysCmdAxDiagFP : 47|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ BrkSysCmdAxDiagFA : 46|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ AxleTorqReqDiagFP : 45|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ AxleTorqReqDiagFA : 44|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ TCPDynPropDiagFP : 43|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ TCPDynPropDiagFA : 42|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ TCPHiThrtCJLFA : 41|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FOFNumFusCyclsFP : 40|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ AutoBrkTypeDiagFP : 39|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FOFNumFusCyclsFA : 38|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FOFLatVelDiagFP : 37|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FOFLatVelDiagFA : 36|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FOFLatPstnDiagFP : 35|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FOFLatPstnDiagFA : 34|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FOFNumCycDiagFP : 33|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FOFNumCycDiagFA : 32|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FOFRltvLnDiagFP : 31|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FOFRltvLnDiagFA : 30|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FOFConfDiagFP : 29|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FOFConfDiagFA : 28|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FOFLonVelAccRatFP : 27|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FOFLonVelAccRatFA : 26|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FOFLonPstnVelRatFP : 25|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FOFLonPstnVelRatFA : 24|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FOFNrRltvLonPstnFP : 23|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FOFNrRltvLonPstnFA : 22|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FOFLonPosVelAccFP : 21|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ FOFLonPosVelAccFA : 20|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ VISOvrlpRtlChk_FA : 19|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ LRROvrlpRtlChk_FA : 18|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ IRFOvrlpRtlChk_FA : 17|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ ILFOvrlpRtlChk_FA : 16|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ VISAlign_FA : 15|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ VISFrshns_FA : 14|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ VISSnsr_FP : 13|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ VISSnsr_FA : 12|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ LRRAlign_FA : 11|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ LRRFrshns_FA : 10|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ LRRSnsr_FP : 9|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ LRRSnsr_FA : 8|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ IRFSRRAlign_FA : 7|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ IRFSRRFrehns_FA : 6|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ IRFSRRSnsr_FP : 5|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ IRFSRRSnsr_FA : 4|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ ILFSRRAlign_FA : 3|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ ILFSRRFrshns_FA : 2|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ ILFSRRSnsr_FP : 1|1@0+ (1,0) [0|1] "" Dummy_FO - SG_ ILFSRRSnsr_FA : 0|1@0+ (1,0) [0|1] "" Dummy_FO - -BO_ 1787 AL_Test_Tool_Rsp_RFSRR: 8 RFSRR_FO - SG_ RFSRREngRspDta : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" Dummy_FO - -BO_ 1788 AL_Test_Tool_Rsp_LFSRR: 8 LFSRR_FO - SG_ LFSRREngRspDta : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" Dummy_FO - -BO_ 1790 AL_Test_Tool_Req_RFSRR: 8 Dummy_FO - SG_ RFSRREngCmdDta : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" RFSRR_FO - -BO_ 1791 AL_Test_Tool_Req_LFSRR: 8 Dummy_FO - SG_ LFSRREngCmdDta : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" LFSRR_FO - -BO_ 1786 AL_Test_Tool_Rsp_RSRR: 8 RSRR_FO - SG_ RSRREngRspDta : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" Dummy_FO - -BO_ 1789 AL_Test_Tool_Req_RSRR: 8 Dummy_FO - SG_ RSRREngCmdDta : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" RSRR_FO - -BO_ 1149 F_LRR_Azmth_Rate_Info_4: 8 LRR_FO - SG_ FLRRTrk20AzmthRate : 50|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO - SG_ FLRRTrk19AzmthRate : 45|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO - SG_ FLRRTrk18AzmthRate : 24|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO - SG_ FLRRTrk17AzmthRate : 19|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO - SG_ FLRRTrk16AzmthRate : 14|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO - SG_ FLRRAzRtInf4BurstID : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO - -BO_ 1148 F_LRR_Azmth_Rate_Info_3: 8 LRR_FO - SG_ FLRRTrk15AzmthRate : 50|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO - SG_ FLRRTrk14AzmthRate : 45|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO - SG_ FLRRTrk13AzmthRate : 24|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO - SG_ FLRRTrk12AzmthRate : 19|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO - SG_ FLRRTrk11AzmthRate : 14|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO - SG_ FLRRAzRtInf3BurstID : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO - -BO_ 1147 F_LRR_Azmth_Rate_Info_2: 8 LRR_FO - SG_ FLRRTrk9AzmthRate : 45|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO - SG_ FLRRTrk8AzmthRate : 24|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO - SG_ FLRRTrk7AzmthRate : 19|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO - SG_ FLRRTrk6AzmthRate : 14|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO - SG_ FLRRTrk10AzmthRate : 50|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO - SG_ FLRRAzRtInf2BurstID : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO - -BO_ 1146 F_LRR_Azmth_Rate_Info_1: 8 LRR_FO - SG_ FLRRTrk5AzmthRate : 50|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO - SG_ FLRRTrk4AzmthRate : 45|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO - SG_ FLRRTrk3AzmthRate : 24|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO - SG_ FLRRTrk2AzmthRate : 19|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO - SG_ FLRRTrk1AzmthRate : 14|11@0- (0.125,0) [-128|127.875] "deg/s" EOCM_F_FO - SG_ FLRRAzRtInf1BurstID : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO - -BO_ 1143 Long_Range_Radar_add_Info_3: 8 LRR_FO - SG_ FLRRAddInfo3BurstID : 57|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FLRRTrk13ObstType : 60|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ FLRRTrk20ObstTypeConf : 52|5@0+ (0.0323,0) [0|1.0013] "" EOCM_F_FO - SG_ FLRRTrk20ObstType : 55|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ FLRRTrk19ObstTypeConf : 44|5@0+ (0.0323,0) [0|1.0013] "" EOCM_F_FO - SG_ FLRRTrk19ObstType : 47|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ FLRRTrk18ObstTypeConf : 36|5@0+ (0.0323,0) [0|1.0013] "" EOCM_F_FO - SG_ FLRRTrk18ObstType : 39|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ FLRRTrk17ObstTypeConf : 28|5@0+ (0.0323,0) [0|1.0013] "" EOCM_F_FO - SG_ FLRRTrk17ObstType : 31|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ FLRRTrk16ObstTypeConf : 20|5@0+ (0.0323,0) [0|1.0013] "" EOCM_F_FO - SG_ FLRRTrk16ObstType : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ FLRRTrk15ObstTypeConf : 12|5@0+ (0.0323,0) [0|1.0013] "" EOCM_F_FO - SG_ FLRRTrk15ObstType : 15|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ FLRRTrk14ObstTypeConf : 4|5@0+ (0.0323,0) [0|1.0013] "" EOCM_F_FO - SG_ FLRRTrk14ObstType : 7|3@0+ (1,0) [0|7] "" EOCM_F_FO - -BO_ 1142 Long_Range_Radar_add_Info_2: 8 LRR_FO - SG_ FLRRAddInfo2BurstID : 62|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ FLRRTrk13ObstTypeConf : 60|5@0+ (0.0323,0) [0|1.0013] "" EOCM_F_FO - SG_ FLRRTrk12ObstTypeConf : 52|5@0+ (0.0323,0) [0|1.0013] "" EOCM_F_FO - SG_ FLRRTrk12ObstType : 55|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ FLRRTrk11ObstTypeConf : 44|5@0+ (0.0323,0) [0|1.0013] "" EOCM_F_FO - SG_ FLRRTrk11ObstType : 47|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ FLRRTrk10ObstTypeConf : 36|5@0+ (0.0323,0) [0|1.0013] "" EOCM_F_FO - SG_ FLRRTrk10ObstType : 39|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ FLRRTrk9ObstTypeConf : 28|5@0+ (0.0323,0) [0|1.0013] "" EOCM_F_FO - SG_ FLRRTrk9ObstType : 31|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ FLRRTrk8ObstTypeConf : 20|5@0+ (0.0323,0) [0|1.0013] "" EOCM_F_FO - SG_ FLRRTrk8ObstType : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ FLRRTrk7ObstTypeConf : 12|5@0+ (0.0323,0) [0|1.0013] "" EOCM_F_FO - SG_ FLRRTrk7ObstType : 15|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ FLRRTrk1ObstTypeConf : 4|5@0+ (0.0323,0) [0|1.0013] "" EOCM_F_FO - SG_ FLRRTrk1ObstType : 7|3@0+ (1,0) [0|7] "" EOCM_F_FO - -BO_ 851 F_Vision_Environment_4: 8 VIS_FO - SG_ LnMrkg3LnPrvwDst : 45|4@0+ (10,0) [0|150] "m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO - SG_ LnSnsTtlNmLnMrkgDetRt : 4|3@0+ (1,0) [0|7] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO - SG_ LnSnsRtLinCrsTm : 25|5@0+ (0.1,0) [0|3.1] "s" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO - SG_ LnSnsNumPrlLnsDetRt : 33|3@0+ (1,0) [0|7] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO - SG_ LnSnsNumPrlLnsDetLt : 36|3@0+ (1,0) [0|7] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO - SG_ LnSnsCrvtGrdntLftV : 31|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO - SG_ LnSnsLtLinCrsTm : 30|5@0+ (0.1,0) [0|3.1] "s" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO - SG_ LnMrkg4LnPrvwDst : 50|4@0+ (10,0) [0|150] "m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO - SG_ LnMrkg4LnMrkgTypChgDst : 61|4@0+ (10,0) [0|150] "m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO - SG_ LnMrkg3LnMrkgTypChgDst : 40|4@0+ (10,0) [0|150] "m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO - SG_ LnMrkg4LnMrkgWdth : 62|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO - SG_ LnMrkg4LnMarkrElvtd : 51|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO - SG_ LnMrkg4AnchrLnLin : 57|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO - SG_ LnMrkg3LnMrkgWdth : 41|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO - SG_ LnMrkg3LnMarkrElvtd : 46|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO - SG_ LnMrkg3AnchrLnLin : 52|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO - SG_ LnSnsBurstID2 : 1|2@0+ (1,0) [0|3] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO - SG_ LnSnsCrvtGrdntLft : 15|16@0- (5.96E-008,0) [-0.0019529728|0.0019529132] "1/rad/s" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO - -BO_ 597 USDT_Req_to_VIS2_FO: 8 TestTool_FO - SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" CIPM_FO,VIS2_FO - -BO_ 1204 RR_SRR_Object_Track4: 8 RRSRR_FO - SG_ RRSrrTrkRawAzimuth4 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO - SG_ RRSrrTrkRRate4 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO - SG_ RRSrrTrkRange4 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO - SG_ RRSrrTrkObsRange4 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO - SG_ RRSrrTrkObjID4 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO - SG_ RRSrrTrkObjElevation4 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ RRSrrTrkMeasStatus4 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ RRSrrTrkDynamProp4 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ RRSrrTrkAzimuth4 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO - SG_ RRSrrBurstID4 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO - -BO_ 1203 RR_SRR_Object_Track3: 8 RRSRR_FO - SG_ RRSrrTrkRawAzimuth3 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO - SG_ RRSrrTrkRRate3 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO - SG_ RRSrrTrkRange3 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO - SG_ RRSrrTrkObsRange3 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO - SG_ RRSrrTrkObjID3 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO - SG_ RRSrrTrkObjElevation3 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ RRSrrTrkMeasStatus3 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ RRSrrTrkDynamProp3 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ RRSrrTrkAzimuth3 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO - SG_ RRSrrBurstID3 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO - -BO_ 1202 RR_SRR_Object_Track2: 8 RRSRR_FO - SG_ RRSrrBurstID2 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ RRSrrTrkRawAzimuth2 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO - SG_ RRSrrTrkRRate2 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO - SG_ RRSrrTrkRange2 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO - SG_ RRSrrTrkObsRange2 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO - SG_ RRSrrTrkObjID2 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO - SG_ RRSrrTrkObjElevation2 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ RRSrrTrkMeasStatus2 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ RRSrrTrkDynamProp2 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ RRSrrTrkAzimuth2 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO - -BO_ 1201 RR_SRR_Object_Track1: 8 RRSRR_FO - SG_ RRSrrBurstID1 : 63|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ RRSrrTrkRawAzimuth1 : 61|6@0- (1,0) [-32|31] "deg" EOCM_F_FO - SG_ RRSrrTrkRRate1 : 18|11@0- (0.125,0) [-128|127.875] "m/s" EOCM_F_FO - SG_ RRSrrTrkRange1 : 2|11@0+ (0.02,0) [0|40.94] "m" EOCM_F_FO - SG_ RRSrrTrkObsRange1 : 53|6@0- (0.02,0) [-0.64|0.62] "m" EOCM_F_FO - SG_ RRSrrTrkObjID1 : 39|5@0+ (1,0) [0|31] "" EOCM_F_FO - SG_ RRSrrTrkObjElevation1 : 20|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ RRSrrTrkMeasStatus1 : 55|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ RRSrrTrkDynamProp1 : 23|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ RRSrrTrkAzimuth1 : 34|11@0- (0.125,0) [-128|127.875] "deg" EOCM_F_FO - -BO_ 1200 RR_SRR_Object_Header: 8 RRSRR_FO - SG_ RRSrrTimeStampV : 15|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ RRSrrTimeStamp : 10|11@0+ (1,0) [0|2047] "" EOCM_F_FO - SG_ RRSrrRollingCnt : 1|2@0+ (1,0) [0|3] "" EOCM_F_FO - SG_ RRSRRNumValidTargets : 14|4@0+ (1,0) [0|15] "" EOCM_F_FO - SG_ RRSRRModeCmdFdbk : 4|3@0+ (1,0) [0|7] "" EOCM_F_FO - SG_ RRSRRVltgOutRngLo : 44|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ RRSRRVltgOutRngHi : 43|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ RRSRRSvcAlgnInPrcs : 38|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ RRSRRSnsrBlckd : 45|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ RRSRRSnstvFltPrsntInt : 24|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ RRSRRPlntAlgnInProc : 37|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ RRSRRMsalgnYawRt : 47|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ RRSRRMsalgnYawLt : 46|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ RRSRRMsalgnRllRt : 35|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ RRSRRMsalgnRllLt : 34|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ RRSRRMsalgnPtchUp : 32|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ RRSRRMsalgnPtchDn : 33|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ RRSRRInitDiagCmplt : 40|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ RRSRRHWFltPrsntInt : 25|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ RRSRRExtIntrfrnc : 36|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ RRSRRDiagSpare : 30|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ RRSRRCANSgnlSpvFld : 29|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ RRSRRCANRxErr : 28|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ RRSRRCANIDAddrsUnsbl : 27|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ RRSRRAntTngFltPrsnt : 26|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ RRSRRAmbTmpOutRngLw : 42|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ RRSRRAmbTmpOutRngHi : 41|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ RRSRRAlgnFltPrsnt : 39|1@0+ (1,0) [0|1] "" EOCM_F_FO - SG_ RRSrrBurstChecksum : 55|16@0+ (1,0) [0|65535] "" EOCM_F_FO - -BO_ 850 F_Vision_Environment_3: 8 VIS_FO - SG_ LnSnsTtlNmLnMrkgDetLt : 58|3@0+ (1,0) [0|7] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO - SG_ LnSnsLtLnMrkgWdth : 63|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO - SG_ LnSnsLtLnMrkgTypChgDst : 62|4@0+ (10,0) [0|150] "m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO - SG_ LnSnsTngtOfHdngLnLftV : 23|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO - SG_ LnSnsTngtOfHdngLnLft : 31|8@0- (0.002,0) [-0.256|0.254] "m/m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO - SG_ LnSnsLnCrvtrLftV : 15|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO - SG_ LnSnsLnCrvtrLft : 39|16@0- (9.53E-007,0) [-0.031227904|0.031226951] "1/m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO - SG_ LnMrkrTypRght : 50|3@0+ (1,0) [0|7] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO - SG_ LnMrkrTypLft : 53|3@0+ (1,0) [0|7] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO - SG_ LnMrkrElvtdRght : 54|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO - SG_ LnMrkrElvtdLft : 55|1@0+ (1,0) [0|1] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO - SG_ LnSnsBurstID1 : 7|2@0+ (1,0) [0|3] "" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO - SG_ LnQltyCnfdncLvlRght : 22|7@0+ (0.7874016,0) [0|100.0000032] "%" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO - SG_ LnQltyCnfdncLvlLft : 14|7@0+ (0.7874016,0) [0|100.0000032] "%" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO - SG_ LnPrvwDstncRght : 2|3@0+ (10,0) [0|70] "m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO - SG_ LnPrvwDstncLft : 5|3@0+ (10,0) [0|70] "m" EOCM2A_IMX6_FO,EOCM2A_K2_FO,EOCM2A_K1_FO,EOCM2B_IMX6_FO,EOCM2B_K2_FO,EOCM2B_K1_FO,EOCM_F_FO - -BO_ 1414 RVB_TVR_Debug2_FO: 7 EOCM_F_FO - SG_ VBBrkCntlAccel : 45|12@0- (0.01,0) [-20.48|20.47] "m/s^2" Dummy_FO - SG_ VBTOSObjID : 35|6@0+ (1,0) [0|63] "" Dummy_FO - SG_ VBTOSTTC : 31|12@0+ (0.025,0) [0|102.375] "s" Dummy_FO - SG_ VBTOSLatPstn : 11|11@0- (0.125,0) [-128|127.875] "m" Dummy_FO - SG_ VBTOSLonPstn : 7|12@0- (0.125,0) [-256|255.875] "m" Dummy_FO - diff --git a/opendbc/cadillac_ct6_powertrain.dbc b/opendbc/cadillac_ct6_powertrain.dbc deleted file mode 100644 index 2d0bb1217424a6..00000000000000 --- a/opendbc/cadillac_ct6_powertrain.dbc +++ /dev/null @@ -1,248 +0,0 @@ -VERSION "" - - -NS_ : - NS_DESC_ - CM_ - BA_DEF_ - BA_ - VAL_ - CAT_DEF_ - CAT_ - FILTER - BA_DEF_DEF_ - EV_DATA_ - ENVVAR_DATA_ - SGTYPE_ - SGTYPE_VAL_ - BA_DEF_SGTYPE_ - BA_SGTYPE_ - SIG_TYPE_REF_ - VAL_TABLE_ - SIG_GROUP_ - SIG_VALTYPE_ - SIGTYPE_VALTYPE_ - BO_TX_BU_ - BA_DEF_REL_ - BA_REL_ - BA_DEF_DEF_REL_ - BU_SG_REL_ - BU_EV_REL_ - BU_BO_REL_ - SG_MUL_VAL_ - -BS_: - -BU_: K16_BECM K73_TCIC K9_BCM K43_PSCM K17_EBCM K20_ECM K114B_HPCM NEO K124_ASCM -VAL_TABLE_ TurnSignals 2 "Right Turn" 1 "Left Turn" 0 "None" ; -VAL_TABLE_ ACCLeadCar 1 "Present" 0 "Not Present" ; -VAL_TABLE_ ACCCmdActive 1 "Active" 0 "Inactive" ; -VAL_TABLE_ BrakePedalPressed 1 "Pressed" 0 "Depressed" ; -VAL_TABLE_ DistanceButton 1 "Active" 0 "Inactive" ; -VAL_TABLE_ LKAButton 1 "Active" 0 "Inactive" ; -VAL_TABLE_ ACCButtons 6 "Cancel" 5 "Main" 3 "Set" 2 "Resume" 1 "None" ; -VAL_TABLE_ PRNDL 3 "Reverse" 2 "Drive" 1 "Neutral" 0 "Park" ; -VAL_TABLE_ DoorStatus 1 "Opened" 0 "Closed" ; -VAL_TABLE_ SeatBeltStatus 1 "Latched" 0 "Unlatched" ; -VAL_TABLE_ LKASteeringCmdActive 1 "Active" 0 "Inactive" ; -VAL_TABLE_ ACCGapLevel 3 "Far" 2 "Med" 1 "Near" 0 "Inactive" ; -VAL_TABLE_ GasRegenCmdActiveInv 1 "Inactive" 0 "Active" ; -VAL_TABLE_ GasRegenCmdActive 1 "Active" 0 "Inactive" ; -VAL_TABLE_ LKATorqueDeliveredStatus 3 "Failed" 2 "Temp. Limited" 1 "Active" 0 "Inactive" ; -VAL_TABLE_ HandsOffSWDetectionStatus 1 "Hands On" 0 "Hands Off" ; -VAL_TABLE_ HandsOffSWDetectionMode 2 "Failed" 1 "Enabled" 0 "Disabled" ; - - -BO_ 717 ASCM_2CD: 5 K124_ASCM - -BO_ 869 ASCM_365: 4 K124_ASCM - -BO_ 1034 ASCM_40A: 7 K124_ASCM - -BO_ 1296 ASCM_510: 4 K124_ASCM - -BO_ 1930 ASCM_78A: 7 K124_ASCM - -BO_ 190 ECMAcceleratorPos: 6 K20_ECM - SG_ BrakePedalPos : 15|8@0+ (1,0) [0|0] "sticky" NEO - SG_ GasPedalAndAcc : 23|8@0+ (1,0) [0|0] "" NEO - -BO_ 201 ECMEngineStatus: 8 K20_ECM - SG_ EngineTPS : 39|8@0+ (0.392156863,0) [0|100.000000065] "%" NEO - SG_ EngineRPM : 15|16@0+ (0.25,0) [0|0] "RPM" NEO - -BO_ 209 EBCMBrakePedalSensors: 7 K17_EBCM - SG_ Counter1 : 7|2@0+ (1,0) [0|3] "" XXX - SG_ Counter2 : 23|2@0+ (1,0) [0|3] "" XXX - SG_ BrakePedalPosition1 : 5|14@0+ (1,0) [0|16383] "" XXX - SG_ BrakePedalPosition2 : 21|14@0- (-1,0) [0|16383] "" XXX - SG_ BrakeNormalized1 : 39|8@0+ (1,0) [0|255] "" XXX - SG_ BrakeNormalized2 : 47|8@0- (-1,0) [0|255] "" XXX - -BO_ 241 EBCMBrakePedalPosition: 6 K17_EBCM - SG_ BrakePedalPosition : 15|8@0+ (1,0) [0|255] "" NEO - -BO_ 298 BCMDoorBeltStatus: 8 K9_BCM - SG_ RearLeftDoor : 8|1@0+ (1,0) [0|0] "" NEO - SG_ FrontLeftDoor : 9|1@0+ (1,0) [0|0] "" NEO - SG_ FrontRightDoor : 10|1@0+ (1,0) [0|0] "" NEO - SG_ RearRightDoor : 23|1@0+ (1,0) [0|0] "" NEO - SG_ LeftSeatBelt : 12|1@0+ (1,0) [0|0] "" NEO - SG_ RightSeatBelt : 53|1@0+ (1,0) [0|0] "" NEO - -BO_ 309 ECMPRDNL: 8 K20_ECM - SG_ PRNDL : 2|3@0+ (1,0) [0|0] "" NEO - -BO_ 320 BCMTurnSignals: 3 K9_BCM - SG_ TurnSignals : 19|2@0+ (1,0) [0|0] "" NEO - -BO_ 336 ASCMLKASStatus: 1 NEO - SG_ Available : 7|1@0+ (1,0) [0|0] "" NEO - -BO_ 338 ASCMLKASteeringCmd: 6 NEO - SG_ LKASteeringCmdActive : 7|1@0+ (1,0) [0|0] "" NEO - SG_ LKASteeringCmd : 5|14@0- (1,0) [0|0] "" NEO - SG_ RollingCounter : 23|2@0+ (1,0) [0|0] "" NEO - SG_ SetMe1 : 21|1@0+ (1,0) [0|0] "" NEO - SG_ LKASVehicleSpeed : 20|13@0+ (0.22,0) [0|0] "kph" NEO - SG_ LKASMode : 36|2@0+ (1,0) [0|0] "" NEO - SG_ LKASteeringCmdChecksum : 33|10@0+ (1,0) [0|0] "" NEO - -BO_ 340 ASCMBLKASteeringCmd: 6 NEO - SG_ LKASteeringCmdActive : 7|1@0+ (1,0) [0|0] "" NEO - SG_ LKASteeringCmd : 5|14@0- (1,0) [0|0] "" NEO - SG_ RollingCounter : 23|2@0+ (1,0) [0|0] "" NEO - SG_ SetMe1 : 21|1@0+ (1,0) [0|0] "" NEO - SG_ LKASVehicleSpeed : 20|13@0+ (0.22,0) [0|0] "kph" NEO - SG_ LKASMode : 36|2@0+ (1,0) [0|0] "" NEO - SG_ LKASteeringCmdChecksum : 33|10@0+ (1,0) [0|0] "" NEO - -BO_ 381 MSG_17D: 8 K20_ECM - SG_ MSG17D_AccPower : 35|12@0- (1,0) [0|0] "" NEO - -BO_ 356 PSCMStatus: 8 K43_PSCM - SG_ LKATorqueDeliveredStatus : 7|3@0+ (1,0) [0|7] "" NEO - SG_ LKADriverAppldTrq : 2|11@0- (0.01,0) [-10.24|10.23] "Nm" NEO - SG_ LKATBDTorque : 21|14@0- (-0.005,0) [-10.24|10.23] "Nm" NEO - SG_ RollingCounter : 39|2@0+ (1,0) [0|0] "" NEO - SG_ LKATotalTorqueDelivered : 37|14@0- (0.01,0) [-10.24|10.23] "Nm" NEO - -BO_ 417 AcceleratorPedal: 7 XXX - SG_ AcceleratorPedal : 55|8@0+ (1,0) [0|0] "" NEO - -BO_ 451 GasAndAcc: 8 XXX - SG_ GasPedalAndAcc2 : 55|8@0+ (1,0) [0|0] "" NEO - -BO_ 452 AcceleratorPedal2: 8 XXX - SG_ AcceleratorPedal2 : 47|8@0+ (1,0) [0|0] "" NEO - -BO_ 481 ASCMSteeringButton: 7 K124_ASCM - SG_ DistanceButton : 22|1@0+ (1,0) [0|0] "" NEO - SG_ LKAButton : 23|1@0+ (1,0) [0|0] "" NEO - SG_ ACCButtons : 46|3@0+ (1,0) [0|0] "" NEO - -BO_ 485 PSCMSteeringAngle: 8 K43_PSCM - SG_ SteeringWheelAngle : 15|16@0- (0.0625,0) [-2047|2047] "deg" NEO - SG_ SteeringWheelRate : 27|12@0- (1,0) [-2047|2047] "deg/s" NEO - -BO_ 489 EBCMVehicleDynamic: 8 K17_EBCM - SG_ YawRate : 51|12@0- (0.0625,0) [-2047|2047] "grad/s" NEO - SG_ LateralAcceleration : 3|12@0- (0.0161,0) [-2047|2047] "m/s2" NEO - SG_ BrakePedalPressed : 6|1@0+ (1,0) [0|0] "" NEO - -BO_ 711 BECMBatteryVoltageCurrent: 6 K17_EBCM - SG_ HVBatteryVoltage : 31|12@0+ (0.125,0) [0|511.875] "V" NEO - SG_ HVBatteryCurrent : 12|13@0- (0.15,0) [-614.4|614.25] "A" NEO - -BO_ 715 ASCMGasRegenCmd: 8 K124_ASCM - SG_ GasRegenAlwaysOne : 9|1@0+ (1,1) [1|1] "" NEO - SG_ GasRegenAlwaysThree : 15|2@0+ (1,1) [1|1] "" NEO - SG_ GasRegenChecksum : 47|24@0+ (1,0) [0|0] "" NEO - SG_ GasRegenCmdActiveInv : 32|1@0+ (1,0) [0|0] "" NEO - SG_ GasRegenFullStopActive : 13|1@0+ (1,0) [0|0] "" NEO - SG_ GasRegenCmdActive : 0|1@0+ (1,0) [0|0] "" NEO - SG_ RollingCounter : 7|2@0+ (1,0) [0|0] "" NEO - SG_ RollingCounter2 : 36|4@0+ (1,0) [0|0] "" NEO - SG_ GasRegenAlwaysOne2 : 23|1@0+ (1,0) [0|1] "" NEO - SG_ GasRegenCmd : 22|15@0+ (1,0) [0|0] "" NEO - -BO_ 810 TCICOnStarGPSPosition: 8 K73_TCIC - SG_ GPSLongitude : 39|32@0+ (1,-2147483648) [0|0] "milliarcsecond" NEO - SG_ GPSLatitude : 7|32@0+ (1,0) [0|0] "milliarcsecond" NEO - -BO_ 840 EBCMWheelSpdFront: 4 K17_EBCM - SG_ FLWheelSpd : 7|16@0+ (0.0311,0) [0|255] "km/h" NEO - SG_ FRWheelSpd : 23|16@0+ (0.0311,0) [0|255] "km/h" NEO - -BO_ 842 EBCMWheelSpdRear: 4 K17_EBCM - SG_ RLWheelSpd : 7|16@0+ (0.0311,0) [0|255] "km/h" NEO - SG_ RRWheelSpd : 23|16@0+ (0.0311,0) [0|255] "km/h" NEO - -BO_ 880 ASCMActiveCruiseControlStatus: 6 K124_ASCM - SG_ ACCLeadCar : 44|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ ACCAlwaysOne2 : 32|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ ACCAlwaysOne : 0|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ ACCSpeedSetpoint : 19|12@0+ (0.0625,0) [0|255.9375] "km/h" NEO - SG_ ACCGapLevel : 21|2@0+ (1,0) [0|0] "" NEO - SG_ ACCResumeButton : 1|1@0+ (1,0) [0|0] "" NEO - SG_ ACCCmdActive : 23|1@0+ (1,0) [0|0] "" NEO - -BO_ 1001 ECMVehicleSpeed: 8 K20_ECM - SG_ VehicleSpeed : 7|16@0+ (0.01,0) [0|0] "mph" NEO - -BO_ 1033 ASCMKeepAlive: 7 NEO - SG_ ASCMKeepAliveAllZero : 7|56@0+ (1,0) [0|0] "" NEO - -BO_ 1217 ECMEngineCoolantTemp: 8 K20_ECM - SG_ EngineCoolantTemp : 23|8@0+ (1,-40) [0|0] "C" NEO - -BO_ 1249 VIN_Part2: 8 K20_ECM - SG_ VINPart2 : 7|64@0+ (1,0) [0|0] "" NEO - -BO_ 1300 VIN_Part1: 8 K20_ECM - SG_ VINPart1 : 7|64@0+ (1,0) [0|0] "" NEO - -BO_ 1912 PSCM_778: 8 K43_PSCM - -BO_TX_BU_ 338 : K124_ASCM,NEO; -BO_TX_BU_ 880 : NEO,K124_ASCM; -BO_TX_BU_ 1033 : K124_ASCM,NEO; -BO_TX_BU_ 715 : NEO,K124_ASCM; - - -CM_ BU_ K16_BECM "Battery Energy Control Module"; -CM_ BU_ K73_TCIC "Telematics Communication Control Module"; -CM_ BU_ K9_BCM "Body Control Module"; -CM_ BU_ K43_PSCM "Power Steering Control Module"; -CM_ BU_ K17_EBCM "Electronic Brake Control Module"; -CM_ BU_ K20_ECM "Engine Control Module"; -CM_ BU_ K114B_HPCM "Hybrid Powertrain Control Module"; -CM_ BU_ NEO "Comma NEO"; -CM_ BU_ K124_ASCM "Active Safety Control Module"; -CM_ SG_ 381 MSG17D_AccPower "Need to investigate"; -CM_ SG_ 190 GasPedalAndAcc "ACC baseline is 62"; -CM_ SG_ 451 GasPedalAndAcc2 "ACC baseline is 62"; -CM_ SG_ 715 RollingCounter2 "Values cycle between 0, 7, 10, 13"; -BA_DEF_ "UseGMParameterIDs" INT 0 0; -BA_DEF_ "ProtocolType" STRING ; -BA_DEF_ "BusType" STRING ; -BA_DEF_DEF_ "UseGMParameterIDs" 1; -BA_DEF_DEF_ "ProtocolType" "GMLAN"; -BA_DEF_DEF_ "BusType" ""; -BA_ "BusType" "CAN"; -BA_ "ProtocolType" "GMLAN"; -BA_ "UseGMParameterIDs" 0; -VAL_ 481 DistanceButton 1 "Active" 0 "Inactive" ; -VAL_ 481 LKAButton 1 "Active" 0 "Inactive" ; -VAL_ 481 ACCButtons 6 "Cancel" 5 "Main" 3 "Set" 2 "Resume" 1 "None" ; -VAL_ 309 PRNDL 3 "Reverse" 2 "Drive" 1 "Neutral" 0 "Park" ; -VAL_ 338 LKASteeringCmdActive 1 "Active" 0 "Inactive" ; -VAL_ 338 LKASMode 2 "supercruise" 1 "lkas" 0 "Inactive" ; -VAL_ 880 ACCLeadCar 1 "Present" 0 "Not Present" ; -VAL_ 880 ACCGapLevel 3 "Far" 2 "Med" 1 "Near" 0 "Inactive" ; -VAL_ 880 ACCResumeButton 1 "Pressed" 0 "Depressed" ; -VAL_ 880 ACCCmdActive 1 "Active" 0 "Inactive" ; -VAL_ 356 LKATorqueDeliveredStatus 7 "Override Fault" 6 "LKAS Fault but Responsive" 5 "TBD but Responsive" 4 "TBD but Responsive" 3 "Fault" 1 "Active" 0 "Inactive" ; -VAL_ 489 BrakePedalPressed 1 "Pressed" 0 "Depressed" ; -VAL_ 715 GasRegenCmdActiveInv 1 "Inactive" 0 "Active" ; -VAL_ 715 GasRegenCmdActive 1 "Active" 0 "Inactive" ; diff --git a/opendbc/can/common.cc b/opendbc/can/common.cc deleted file mode 100644 index bb7b2ee56d6985..00000000000000 --- a/opendbc/can/common.cc +++ /dev/null @@ -1,250 +0,0 @@ -#include "opendbc/can/common.h" - - -unsigned int honda_checksum(uint32_t address, const Signal &sig, const std::vector &d) { - int s = 0; - bool extended = address > 0x7FF; - while (address) { s += (address & 0xF); address >>= 4; } - for (int i = 0; i < d.size(); i++) { - uint8_t x = d[i]; - if (i == d.size()-1) x >>= 4; // remove checksum - s += (x & 0xF) + (x >> 4); - } - s = 8-s; - if (extended) s += 3; // extended can - - return s & 0xF; -} - -unsigned int toyota_checksum(uint32_t address, const Signal &sig, const std::vector &d) { - unsigned int s = d.size(); - while (address) { s += address & 0xFF; address >>= 8; } - for (int i = 0; i < d.size() - 1; i++) { s += d[i]; } - - return s & 0xFF; -} - -unsigned int subaru_checksum(uint32_t address, const Signal &sig, const std::vector &d) { - unsigned int s = 0; - while (address) { s += address & 0xFF; address >>= 8; } - - // skip checksum in first byte - for (int i = 1; i < d.size(); i++) { s += d[i]; } - - return s & 0xFF; -} - -unsigned int chrysler_checksum(uint32_t address, const Signal &sig, const std::vector &d) { - // jeep chrysler canbus checksum from http://illmatics.com/Remote%20Car%20Hacking.pdf - uint8_t checksum = 0xFF; - for (int j = 0; j < (d.size() - 1); j++) { - uint8_t shift = 0x80; - uint8_t curr = d[j]; - for (int i = 0; i < 8; i++) { - uint8_t bit_sum = curr & shift; - uint8_t temp_chk = checksum & 0x80U; - if (bit_sum != 0U) { - bit_sum = 0x1C; - if (temp_chk != 0U) { - bit_sum = 1; - } - checksum = checksum << 1; - temp_chk = checksum | 1U; - bit_sum ^= temp_chk; - } else { - if (temp_chk != 0U) { - bit_sum = 0x1D; - } - checksum = checksum << 1; - bit_sum ^= checksum; - } - checksum = bit_sum; - shift = shift >> 1; - } - } - return ~checksum & 0xFF; -} - -// Static lookup table for fast computation of CRCs -uint8_t crc8_lut_8h2f[256]; // CRC8 poly 0x2F, aka 8H2F/AUTOSAR -uint16_t crc16_lut_xmodem[256]; // CRC16 poly 0x1021, aka XMODEM - -void gen_crc_lookup_table_8(uint8_t poly, uint8_t crc_lut[]) { - uint8_t crc; - int i, j; - - for (i = 0; i < 256; i++) { - crc = i; - for (j = 0; j < 8; j++) { - if ((crc & 0x80) != 0) - crc = (uint8_t)((crc << 1) ^ poly); - else - crc <<= 1; - } - crc_lut[i] = crc; - } -} - -void gen_crc_lookup_table_16(uint16_t poly, uint16_t crc_lut[]) { - uint16_t crc; - int i, j; - - for (i = 0; i < 256; i++) { - crc = i << 8; - for (j = 0; j < 8; j++) { - if ((crc & 0x8000) != 0) { - crc = (uint16_t)((crc << 1) ^ poly); - } else { - crc <<= 1; - } - } - crc_lut[i] = crc; - } -} - -// Initializes CRC lookup tables at module initialization -struct CrcInitializer { - CrcInitializer() { - gen_crc_lookup_table_8(0x2F, crc8_lut_8h2f); // CRC-8 8H2F/AUTOSAR for Volkswagen - gen_crc_lookup_table_16(0x1021, crc16_lut_xmodem); // CRC-16 XMODEM for HKG CAN FD - } -}; - -static CrcInitializer crcInitializer; - -unsigned int volkswagen_mqb_checksum(uint32_t address, const Signal &sig, const std::vector &d) { - // Volkswagen uses standard CRC8 8H2F/AUTOSAR, but they compute it with - // a magic variable padding byte tacked onto the end of the payload. - // https://www.autosar.org/fileadmin/user_upload/standards/classic/4-3/AUTOSAR_SWS_CRCLibrary.pdf - - uint8_t crc = 0xFF; // Standard init value for CRC8 8H2F/AUTOSAR - - // CRC the payload first, skipping over the first byte where the CRC lives. - for (int i = 1; i < d.size(); i++) { - crc ^= d[i]; - crc = crc8_lut_8h2f[crc]; - } - - // Look up and apply the magic final CRC padding byte, which permutes by CAN - // address, and additionally (for SOME addresses) by the message counter. - uint8_t counter = d[1] & 0x0F; - switch (address) { - case 0x86: // LWI_01 Steering Angle - crc ^= (uint8_t[]){0x86, 0x86, 0x86, 0x86, 0x86, 0x86, 0x86, 0x86, 0x86, 0x86, 0x86, 0x86, 0x86, 0x86, 0x86, 0x86}[counter]; - break; - case 0x9F: // LH_EPS_03 Electric Power Steering - crc ^= (uint8_t[]){0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5}[counter]; - break; - case 0xAD: // Getriebe_11 Automatic Gearbox - crc ^= (uint8_t[]){0x3F, 0x69, 0x39, 0xDC, 0x94, 0xF9, 0x14, 0x64, 0xD8, 0x6A, 0x34, 0xCE, 0xA2, 0x55, 0xB5, 0x2C}[counter]; - break; - case 0xFD: // ESP_21 Electronic Stability Program - crc ^= (uint8_t[]){0xB4, 0xEF, 0xF8, 0x49, 0x1E, 0xE5, 0xC2, 0xC0, 0x97, 0x19, 0x3C, 0xC9, 0xF1, 0x98, 0xD6, 0x61}[counter]; - break; - case 0x106: // ESP_05 Electronic Stability Program - crc ^= (uint8_t[]){0x07, 0x07, 0x07, 0x07, 0x07, 0x07, 0x07, 0x07, 0x07, 0x07, 0x07, 0x07, 0x07, 0x07, 0x07, 0x07}[counter]; - break; - case 0x117: // ACC_10 Automatic Cruise Control - crc ^= (uint8_t[]){0x16, 0x16, 0x16, 0x16, 0x16, 0x16, 0x16, 0x16, 0x16, 0x16, 0x16, 0x16, 0x16, 0x16, 0x16, 0x16}[counter]; - break; - case 0x120: // TSK_06 Drivetrain Coordinator - crc ^= (uint8_t[]){0xC4, 0xE2, 0x4F, 0xE4, 0xF8, 0x2F, 0x56, 0x81, 0x9F, 0xE5, 0x83, 0x44, 0x05, 0x3F, 0x97, 0xDF}[counter]; - break; - case 0x121: // Motor_20 Driver Throttle Inputs - crc ^= (uint8_t[]){0xE9, 0x65, 0xAE, 0x6B, 0x7B, 0x35, 0xE5, 0x5F, 0x4E, 0xC7, 0x86, 0xA2, 0xBB, 0xDD, 0xEB, 0xB4}[counter]; - break; - case 0x122: // ACC_06 Automatic Cruise Control - crc ^= (uint8_t[]){0x37, 0x7D, 0xF3, 0xA9, 0x18, 0x46, 0x6D, 0x4D, 0x3D, 0x71, 0x92, 0x9C, 0xE5, 0x32, 0x10, 0xB9}[counter]; - break; - case 0x126: // HCA_01 Heading Control Assist - crc ^= (uint8_t[]){0xDA, 0xDA, 0xDA, 0xDA, 0xDA, 0xDA, 0xDA, 0xDA, 0xDA, 0xDA, 0xDA, 0xDA, 0xDA, 0xDA, 0xDA, 0xDA}[counter]; - break; - case 0x12B: // GRA_ACC_01 Steering wheel controls for ACC - crc ^= (uint8_t[]){0x6A, 0x38, 0xB4, 0x27, 0x22, 0xEF, 0xE1, 0xBB, 0xF8, 0x80, 0x84, 0x49, 0xC7, 0x9E, 0x1E, 0x2B}[counter]; - break; - case 0x12E: // ACC_07 Automatic Cruise Control - crc ^= (uint8_t[]){0xF8, 0xE5, 0x97, 0xC9, 0xD6, 0x07, 0x47, 0x21, 0x66, 0xDD, 0xCF, 0x6F, 0xA1, 0x94, 0x74, 0x63}[counter]; - break; - case 0x187: // EV_Gearshift "Gear" selection data for EVs with no gearbox - crc ^= (uint8_t[]){0x7F, 0xED, 0x17, 0xC2, 0x7C, 0xEB, 0x44, 0x21, 0x01, 0xFA, 0xDB, 0x15, 0x4A, 0x6B, 0x23, 0x05}[counter]; - break; - case 0x30C: // ACC_02 Automatic Cruise Control - crc ^= (uint8_t[]){0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F}[counter]; - break; - case 0x30F: // SWA_01 Lane Change Assist (SpurWechselAssistent) - crc ^= (uint8_t[]){0x0C, 0x0C, 0x0C, 0x0C, 0x0C, 0x0C, 0x0C, 0x0C, 0x0C, 0x0C, 0x0C, 0x0C, 0x0C, 0x0C, 0x0C, 0x0C}[counter]; - break; - case 0x324: // ACC_04 Automatic Cruise Control - crc ^= (uint8_t[]){0x27, 0x27, 0x27, 0x27, 0x27, 0x27, 0x27, 0x27, 0x27, 0x27, 0x27, 0x27, 0x27, 0x27, 0x27, 0x27}[counter]; - break; - case 0x3C0: // Klemmen_Status_01 ignition and starting status - crc ^= (uint8_t[]){0xC3, 0xC3, 0xC3, 0xC3, 0xC3, 0xC3, 0xC3, 0xC3, 0xC3, 0xC3, 0xC3, 0xC3, 0xC3, 0xC3, 0xC3, 0xC3}[counter]; - break; - case 0x65D: // ESP_20 Electronic Stability Program - crc ^= (uint8_t[]){0xAC, 0xB3, 0xAB, 0xEB, 0x7A, 0xE1, 0x3B, 0xF7, 0x73, 0xBA, 0x7C, 0x9E, 0x06, 0x5F, 0x02, 0xD9}[counter]; - break; - default: // As-yet undefined CAN message, CRC check expected to fail - printf("Attempt to CRC check undefined Volkswagen message 0x%02X\n", address); - crc ^= (uint8_t[]){0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}[counter]; - break; - } - crc = crc8_lut_8h2f[crc]; - - return crc ^ 0xFF; // Return after standard final XOR for CRC8 8H2F/AUTOSAR -} - -unsigned int xor_checksum(uint32_t address, const Signal &sig, const std::vector &d) { - uint8_t checksum = 0; - int checksum_byte = sig.start_bit / 8; - - // Simple XOR over the payload, except for the byte where the checksum lives. - for (int i = 0; i < d.size(); i++) { - if (i != checksum_byte) { - checksum ^= d[i]; - } - } - - return checksum; -} - -unsigned int pedal_checksum(uint32_t address, const Signal &sig, const std::vector &d) { - uint8_t crc = 0xFF; - uint8_t poly = 0xD5; // standard crc8 - - // skip checksum byte - for (int i = d.size()-2; i >= 0; i--) { - crc ^= d[i]; - for (int j = 0; j < 8; j++) { - if ((crc & 0x80) != 0) { - crc = (uint8_t)((crc << 1) ^ poly); - } else { - crc <<= 1; - } - } - } - return crc; -} - -unsigned int hkg_can_fd_checksum(uint32_t address, const Signal &sig, const std::vector &d) { - uint16_t crc = 0; - - for (int i = 2; i < d.size(); i++) { - crc = (crc << 8) ^ crc16_lut_xmodem[(crc >> 8) ^ d[i]]; - } - - // Add address to crc - crc = (crc << 8) ^ crc16_lut_xmodem[(crc >> 8) ^ ((address >> 0) & 0xFF)]; - crc = (crc << 8) ^ crc16_lut_xmodem[(crc >> 8) ^ ((address >> 8) & 0xFF)]; - - if (d.size() == 8) { - crc ^= 0x5f29; - } else if (d.size() == 16) { - crc ^= 0x041d; - } else if (d.size() == 24) { - crc ^= 0x819d; - } else if (d.size() == 32) { - crc ^= 0x9f5b; - } - - return crc; -} diff --git a/opendbc/can/common.h b/opendbc/can/common.h deleted file mode 100644 index 46b3159b9f7acf..00000000000000 --- a/opendbc/can/common.h +++ /dev/null @@ -1,100 +0,0 @@ -#pragma once - -#include -#include -#include -#include -#include - -#include -#include - -#ifndef DYNAMIC_CAPNP -#include "cereal/gen/cpp/log.capnp.h" -#endif - -#include "opendbc/can/logger.h" -#include "opendbc/can/common_dbc.h" - -#define INFO printf -#define WARN printf -#define DEBUG(...) -//#define DEBUG printf - -#define MAX_BAD_COUNTER 5 -#define CAN_INVALID_CNT 5 - -// Car specific functions -unsigned int honda_checksum(uint32_t address, const Signal &sig, const std::vector &d); -unsigned int toyota_checksum(uint32_t address, const Signal &sig, const std::vector &d); -unsigned int subaru_checksum(uint32_t address, const Signal &sig, const std::vector &d); -unsigned int chrysler_checksum(uint32_t address, const Signal &sig, const std::vector &d); -unsigned int volkswagen_mqb_checksum(uint32_t address, const Signal &sig, const std::vector &d); -unsigned int xor_checksum(uint32_t address, const Signal &sig, const std::vector &d); -unsigned int hkg_can_fd_checksum(uint32_t address, const Signal &sig, const std::vector &d); -unsigned int pedal_checksum(uint32_t address, const Signal &sig, const std::vector &d); - -class MessageState { -public: - std::string name; - uint32_t address; - unsigned int size; - - std::vector parse_sigs; - std::vector vals; - std::vector> all_vals; - - uint64_t last_seen_nanos; - uint64_t check_threshold; - - uint8_t counter; - uint8_t counter_fail; - - bool ignore_checksum = false; - bool ignore_counter = false; - - bool parse(uint64_t nanos, const std::vector &dat); - bool update_counter_generic(int64_t v, int cnt_size); -}; - -class CANParser { -private: - const int bus; - kj::Array aligned_buf; - - const DBC *dbc = NULL; - std::unordered_map message_states; - -public: - bool can_valid = false; - bool bus_timeout = false; - uint64_t first_nanos = 0; - uint64_t last_nanos = 0; - uint64_t last_nonempty_nanos = 0; - uint64_t bus_timeout_threshold = 0; - uint64_t can_invalid_cnt = CAN_INVALID_CNT; - - CANParser(int abus, const std::string& dbc_name, - const std::vector> &messages); - CANParser(int abus, const std::string& dbc_name, bool ignore_checksum, bool ignore_counter); - #ifndef DYNAMIC_CAPNP - void update_string(const std::string &data, bool sendcan); - void update_strings(const std::vector &data, std::vector &vals, bool sendcan); - void UpdateCans(uint64_t nanos, const capnp::List::Reader& cans); - #endif - void UpdateCans(uint64_t nanos, const capnp::DynamicStruct::Reader& cans); - void UpdateValid(uint64_t nanos); - void query_latest(std::vector &vals, uint64_t last_ts = 0); -}; - -class CANPacker { -private: - const DBC *dbc = NULL; - std::map, Signal> signal_lookup; - std::map counters; - -public: - CANPacker(const std::string& dbc_name); - std::vector pack(uint32_t address, const std::vector &values); - const Msg* lookup_message(uint32_t address); -}; diff --git a/opendbc/can/common_dbc.h b/opendbc/can/common_dbc.h deleted file mode 100644 index 19507ecd4e510c..00000000000000 --- a/opendbc/can/common_dbc.h +++ /dev/null @@ -1,79 +0,0 @@ -#pragma once - -#include -#include -#include -#include - -struct SignalPackValue { - std::string name; - double value; -}; - -struct SignalValue { - uint32_t address; - uint64_t ts_nanos; - std::string name; - double value; // latest value - std::vector all_values; // all values from this cycle -}; - -enum SignalType { - DEFAULT, - COUNTER, - HONDA_CHECKSUM, - TOYOTA_CHECKSUM, - PEDAL_CHECKSUM, - VOLKSWAGEN_MQB_CHECKSUM, - XOR_CHECKSUM, - SUBARU_CHECKSUM, - CHRYSLER_CHECKSUM, - HKG_CAN_FD_CHECKSUM, -}; - -struct Signal { - std::string name; - int start_bit, msb, lsb, size; - bool is_signed; - double factor, offset; - bool is_little_endian; - SignalType type; - unsigned int (*calc_checksum)(uint32_t address, const Signal &sig, const std::vector &d); -}; - -struct Msg { - std::string name; - uint32_t address; - unsigned int size; - std::vector sigs; -}; - -struct Val { - std::string name; - uint32_t address; - std::string def_val; - std::vector sigs; -}; - -struct DBC { - std::string name; - std::vector msgs; - std::vector vals; - std::unordered_map addr_to_msg; - std::unordered_map name_to_msg; -}; - -typedef struct ChecksumState { - int checksum_size; - int counter_size; - int checksum_start_bit; - int counter_start_bit; - bool little_endian; - SignalType checksum_type; - unsigned int (*calc_checksum)(uint32_t address, const Signal &sig, const std::vector &d); -} ChecksumState; - -DBC* dbc_parse(const std::string& dbc_path); -DBC* dbc_parse_from_stream(const std::string &dbc_name, std::istream &stream, ChecksumState *checksum = nullptr, bool allow_duplicate_msg_name=false); -const DBC* dbc_lookup(const std::string& dbc_name); -std::vector get_dbc_names(); diff --git a/opendbc/can/dbc.cc b/opendbc/can/dbc.cc deleted file mode 100644 index 44454b15f82625..00000000000000 --- a/opendbc/can/dbc.cc +++ /dev/null @@ -1,260 +0,0 @@ -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include "opendbc/can/common.h" -#include "opendbc/can/common_dbc.h" - -std::regex bo_regexp(R"(^BO_ (\w+) (\w+) *: (\w+) (\w+))"); -std::regex sg_regexp(R"(^SG_ (\w+) : (\d+)\|(\d+)@(\d+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*))"); -std::regex sgm_regexp(R"(^SG_ (\w+) (\w+) *: (\d+)\|(\d+)@(\d+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*))"); -std::regex val_regexp(R"(VAL_ (\w+) (\w+) (\s*[-+]?[0-9]+\s+\".+?\"[^;]*))"); -std::regex val_split_regexp{R"([\"]+)"}; // split on " - -#define DBC_ASSERT(condition, message) \ - do { \ - if (!(condition)) { \ - std::stringstream is; \ - is << "[" << dbc_name << ":" << line_num << "] " << message; \ - throw std::runtime_error(is.str()); \ - } \ - } while (false) - -inline bool startswith(const std::string& str, const char* prefix) { - return str.find(prefix, 0) == 0; -} - -inline bool startswith(const std::string& str, std::initializer_list prefix_list) { - for (auto prefix : prefix_list) { - if (startswith(str, prefix)) return true; - } - return false; -} - -inline bool endswith(const std::string& str, const char* suffix) { - return str.find(suffix, 0) == (str.length() - strlen(suffix)); -} - -inline std::string& trim(std::string& s, const char* t = " \t\n\r\f\v") { - s.erase(s.find_last_not_of(t) + 1); - return s.erase(0, s.find_first_not_of(t)); -} - -ChecksumState* get_checksum(const std::string& dbc_name) { - ChecksumState* s = nullptr; - if (startswith(dbc_name, {"honda_", "acura_"})) { - s = new ChecksumState({4, 2, 3, 5, false, HONDA_CHECKSUM, &honda_checksum}); - } else if (startswith(dbc_name, {"toyota_", "lexus_"})) { - s = new ChecksumState({8, -1, 7, -1, false, TOYOTA_CHECKSUM, &toyota_checksum}); - } else if (startswith(dbc_name, "hyundai_canfd")) { - s = new ChecksumState({16, -1, 0, -1, true, HKG_CAN_FD_CHECKSUM, &hkg_can_fd_checksum}); - } else if (startswith(dbc_name, "vw_mqb_2010")) { - s = new ChecksumState({8, 4, 0, 0, true, VOLKSWAGEN_MQB_CHECKSUM, &volkswagen_mqb_checksum}); - } else if (startswith(dbc_name, "vw_golf_mk4")) { - s = new ChecksumState({8, 4, 0, -1, true, XOR_CHECKSUM, &xor_checksum}); - } else if (startswith(dbc_name, "subaru_global_")) { - s = new ChecksumState({8, -1, 0, -1, true, SUBARU_CHECKSUM, &subaru_checksum}); - } else if (startswith(dbc_name, "chrysler_")) { - s = new ChecksumState({8, -1, 7, -1, false, CHRYSLER_CHECKSUM, &chrysler_checksum}); - } else if (startswith(dbc_name, "comma_body")) { - s = new ChecksumState({8, 4, 7, 3, false, PEDAL_CHECKSUM, &pedal_checksum}); - } - return s; -} - -void set_signal_type(Signal& s, ChecksumState* chk, const std::string& dbc_name, int line_num) { - s.calc_checksum = nullptr; - if (chk) { - if (s.name == "CHECKSUM") { - DBC_ASSERT(chk->checksum_size == -1 || s.size == chk->checksum_size, "CHECKSUM is not " << chk->checksum_size << " bits long"); - DBC_ASSERT(chk->checksum_start_bit == -1 || (s.start_bit % 8) == chk->checksum_start_bit, " CHECKSUM starts at wrong bit"); - DBC_ASSERT(s.is_little_endian == chk->little_endian, "CHECKSUM has wrong endianness"); - DBC_ASSERT(chk->calc_checksum != nullptr, "CHECKSUM calculate function not supplied"); - s.type = chk->checksum_type; - s.calc_checksum = chk->calc_checksum; - } else if (s.name == "COUNTER") { - DBC_ASSERT(chk->counter_size == -1 || s.size == chk->counter_size, "COUNTER is not " << chk->counter_size << " bits long"); - DBC_ASSERT(chk->counter_start_bit == -1 || (s.start_bit % 8) == chk->counter_start_bit, "COUNTER starts at wrong bit"); - DBC_ASSERT(chk->little_endian == s.is_little_endian, "COUNTER has wrong endianness"); - s.type = COUNTER; - } - } - - // TODO: CAN packer/parser shouldn't know anything about interceptors or pedals - if (s.name == "CHECKSUM_PEDAL") { - DBC_ASSERT(s.size == 8, "INTERCEPTOR CHECKSUM is not 8 bits long"); - s.type = PEDAL_CHECKSUM; - } else if (s.name == "COUNTER_PEDAL") { - DBC_ASSERT(s.size == 4, "INTERCEPTOR COUNTER is not 4 bits long"); - s.type = COUNTER; - } -} - -DBC* dbc_parse_from_stream(const std::string &dbc_name, std::istream &stream, ChecksumState *checksum, bool allow_duplicate_msg_name) { - uint32_t address = 0; - std::set address_set; - std::set msg_name_set; - std::map> signal_name_sets; - std::map> signals; - DBC* dbc = new DBC; - dbc->name = dbc_name; - std::setlocale(LC_NUMERIC, "C"); - - // used to find big endian LSB from MSB and size - std::vector be_bits; - for (int i = 0; i < 64; i++) { - for (int j = 7; j >= 0; j--) { - be_bits.push_back(j + i * 8); - } - } - - std::string line; - int line_num = 0; - std::smatch match; - // TODO: see if we can speed up the regex statements in this loop, SG_ is specifically the slowest - while (std::getline(stream, line)) { - line = trim(line); - line_num += 1; - if (startswith(line, "BO_ ")) { - // new group - bool ret = std::regex_match(line, match, bo_regexp); - DBC_ASSERT(ret, "bad BO: " << line); - - Msg& msg = dbc->msgs.emplace_back(); - address = msg.address = std::stoul(match[1].str()); // could be hex - msg.name = match[2].str(); - msg.size = std::stoul(match[3].str()); - - // check for duplicates - DBC_ASSERT(address_set.find(address) == address_set.end(), "Duplicate message address: " << address << " (" << msg.name << ")"); - address_set.insert(address); - - if (!allow_duplicate_msg_name) { - DBC_ASSERT(msg_name_set.find(msg.name) == msg_name_set.end(), "Duplicate message name: " << msg.name); - msg_name_set.insert(msg.name); - } - } else if (startswith(line, "SG_ ")) { - // new signal - int offset = 0; - if (!std::regex_search(line, match, sg_regexp)) { - bool ret = std::regex_search(line, match, sgm_regexp); - DBC_ASSERT(ret, "bad SG: " << line); - offset = 1; - } - Signal& sig = signals[address].emplace_back(); - sig.name = match[1].str(); - sig.start_bit = std::stoi(match[offset + 2].str()); - sig.size = std::stoi(match[offset + 3].str()); - sig.is_little_endian = std::stoi(match[offset + 4].str()) == 1; - sig.is_signed = match[offset + 5].str() == "-"; - sig.factor = std::stod(match[offset + 6].str()); - sig.offset = std::stod(match[offset + 7].str()); - set_signal_type(sig, checksum, dbc_name, line_num); - if (sig.is_little_endian) { - sig.lsb = sig.start_bit; - sig.msb = sig.start_bit + sig.size - 1; - } else { - auto it = find(be_bits.begin(), be_bits.end(), sig.start_bit); - sig.lsb = be_bits[(it - be_bits.begin()) + sig.size - 1]; - sig.msb = sig.start_bit; - } - DBC_ASSERT(sig.lsb < (64 * 8) && sig.msb < (64 * 8), "Signal out of bounds: " << line); - - // Check for duplicate signal names - DBC_ASSERT(signal_name_sets[address].find(sig.name) == signal_name_sets[address].end(), "Duplicate signal name: " << sig.name); - signal_name_sets[address].insert(sig.name); - } else if (startswith(line, "VAL_ ")) { - // new signal value/definition - bool ret = std::regex_search(line, match, val_regexp); - DBC_ASSERT(ret, "bad VAL: " << line); - - auto& val = dbc->vals.emplace_back(); - val.address = std::stoul(match[1].str()); // could be hex - val.name = match[2].str(); - - auto defvals = match[3].str(); - std::sregex_token_iterator it{defvals.begin(), defvals.end(), val_split_regexp, -1}; - // convert strings to UPPER_CASE_WITH_UNDERSCORES - std::vector words{it, {}}; - for (auto& w : words) { - w = trim(w); - std::transform(w.begin(), w.end(), w.begin(), ::toupper); - std::replace(w.begin(), w.end(), ' ', '_'); - } - // join string - std::stringstream s; - std::copy(words.begin(), words.end(), std::ostream_iterator(s, " ")); - val.def_val = s.str(); - val.def_val = trim(val.def_val); - } - } - - for (auto& m : dbc->msgs) { - m.sigs = signals[m.address]; - dbc->addr_to_msg[m.address] = &m; - dbc->name_to_msg[m.name] = &m; - } - for (auto& v : dbc->vals) { - v.sigs = signals[v.address]; - } - return dbc; -} - -DBC* dbc_parse(const std::string& dbc_path) { - std::ifstream infile(dbc_path); - if (!infile) return nullptr; - - const std::string dbc_name = std::filesystem::path(dbc_path).filename(); - - std::unique_ptr checksum(get_checksum(dbc_name)); - return dbc_parse_from_stream(dbc_name, infile, checksum.get()); -} - -const std::string get_dbc_root_path() { - char *basedir = std::getenv("BASEDIR"); - if (basedir != NULL) { - return std::string(basedir) + "/opendbc"; - } else { - return DBC_FILE_PATH; - } -} - -const DBC* dbc_lookup(const std::string& dbc_name) { - static std::mutex lock; - static std::map dbcs; - - std::string dbc_file_path = dbc_name; - if (!std::filesystem::exists(dbc_file_path)) { - dbc_file_path = get_dbc_root_path() + "/" + dbc_name + ".dbc"; - } - - std::unique_lock lk(lock); - auto it = dbcs.find(dbc_name); - if (it == dbcs.end()) { - it = dbcs.insert(it, {dbc_name, dbc_parse(dbc_file_path)}); - } - return it->second; -} - -std::vector get_dbc_names() { - static const std::string& dbc_file_path = get_dbc_root_path(); - std::vector dbcs; - for (std::filesystem::directory_iterator i(dbc_file_path), end; i != end; i++) { - if (!is_directory(i->path())) { - std::string filename = i->path().filename(); - if (!startswith(filename, "_") && endswith(filename, ".dbc")) { - dbcs.push_back(filename.substr(0, filename.length() - 4)); - } - } - } - return dbcs; -} diff --git a/opendbc/can/libdbc.so b/opendbc/can/libdbc.so new file mode 100644 index 00000000000000..17f6ca6cb2052b Binary files /dev/null and b/opendbc/can/libdbc.so differ diff --git a/opendbc/can/logger.h b/opendbc/can/logger.h deleted file mode 100644 index bab70c489433c0..00000000000000 --- a/opendbc/can/logger.h +++ /dev/null @@ -1,27 +0,0 @@ -#pragma once - -#ifdef SWAGLOG -// cppcheck-suppress preprocessorErrorDirective -#include SWAGLOG -#else - -#define CLOUDLOG_DEBUG 10 -#define CLOUDLOG_INFO 20 -#define CLOUDLOG_WARNING 30 -#define CLOUDLOG_ERROR 40 -#define CLOUDLOG_CRITICAL 50 - -#define cloudlog(lvl, fmt, ...) printf(fmt "\n", ## __VA_ARGS__) -#define cloudlog_rl(burst, millis, lvl, fmt, ...) printf(fmt "\n", ##__VA_ARGS__) - -#define LOGD(fmt, ...) cloudlog(CLOUDLOG_DEBUG, fmt, ## __VA_ARGS__) -#define LOG(fmt, ...) cloudlog(CLOUDLOG_INFO, fmt, ## __VA_ARGS__) -#define LOGW(fmt, ...) cloudlog(CLOUDLOG_WARNING, fmt, ## __VA_ARGS__) -#define LOGE(fmt, ...) cloudlog(CLOUDLOG_ERROR, fmt, ## __VA_ARGS__) - -#define LOGD_100(fmt, ...) cloudlog_rl(2, 100, CLOUDLOG_DEBUG, fmt, ## __VA_ARGS__) -#define LOG_100(fmt, ...) cloudlog_rl(2, 100, CLOUDLOG_INFO, fmt, ## __VA_ARGS__) -#define LOGW_100(fmt, ...) cloudlog_rl(2, 100, CLOUDLOG_WARNING, fmt, ## __VA_ARGS__) -#define LOGE_100(fmt, ...) cloudlog_rl(2, 100, CLOUDLOG_ERROR, fmt, ## __VA_ARGS__) - -#endif diff --git a/opendbc/can/packer.cc b/opendbc/can/packer.cc deleted file mode 100644 index 15f49cf6b678fe..00000000000000 --- a/opendbc/can/packer.cc +++ /dev/null @@ -1,102 +0,0 @@ -#include -#include -#include -#include -#include -#include - -#include "opendbc/can/common.h" - - -void set_value(std::vector &msg, const Signal &sig, int64_t ival) { - int i = sig.lsb / 8; - int bits = sig.size; - if (sig.size < 64) { - ival &= ((1ULL << sig.size) - 1); - } - - while (i >= 0 && i < msg.size() && bits > 0) { - int shift = (int)(sig.lsb / 8) == i ? sig.lsb % 8 : 0; - int size = std::min(bits, 8 - shift); - - msg[i] &= ~(((1ULL << size) - 1) << shift); - msg[i] |= (ival & ((1ULL << size) - 1)) << shift; - - bits -= size; - ival >>= size; - i = sig.is_little_endian ? i+1 : i-1; - } -} - -CANPacker::CANPacker(const std::string& dbc_name) { - dbc = dbc_lookup(dbc_name); - assert(dbc); - - for (const auto& msg : dbc->msgs) { - for (const auto& sig : msg.sigs) { - signal_lookup[std::make_pair(msg.address, sig.name)] = sig; - } - } -} - -std::vector CANPacker::pack(uint32_t address, const std::vector &signals) { - auto msg_it = dbc->addr_to_msg.find(address); - if (msg_it == dbc->addr_to_msg.end()) { - LOGE("undefined address %d", address); - return {}; - } - - std::vector ret(msg_it->second->size, 0); - - // set all values for all given signal/value pairs - bool counter_set = false; - for (const auto& sigval : signals) { - auto sig_it = signal_lookup.find(std::make_pair(address, sigval.name)); - if (sig_it == signal_lookup.end()) { - // TODO: do something more here. invalid flag like CANParser? - LOGE("undefined signal %s - %d\n", sigval.name.c_str(), address); - continue; - } - const auto &sig = sig_it->second; - - int64_t ival = (int64_t)(round((sigval.value - sig.offset) / sig.factor)); - if (ival < 0) { - ival = (1ULL << sig.size) + ival; - } - set_value(ret, sig, ival); - - if (sigval.name == "COUNTER") { - counters[address] = sigval.value; - counter_set = true; - } - } - - // set message counter - auto sig_it_counter = signal_lookup.find(std::make_pair(address, "COUNTER")); - if (!counter_set && sig_it_counter != signal_lookup.end()) { - const auto& sig = sig_it_counter->second; - - if (counters.find(address) == counters.end()) { - counters[address] = 0; - } - set_value(ret, sig, counters[address]); - counters[address] = (counters[address] + 1) % (1 << sig.size); - } - - // set message checksum - auto sig_it_checksum = signal_lookup.find(std::make_pair(address, "CHECKSUM")); - if (sig_it_checksum != signal_lookup.end()) { - const auto &sig = sig_it_checksum->second; - if (sig.calc_checksum != nullptr) { - unsigned int checksum = sig.calc_checksum(address, sig, ret); - set_value(ret, sig, checksum); - } - } - - return ret; -} - -// This function has a definition in common.h and is used in PlotJuggler -const Msg* CANPacker::lookup_message(uint32_t address) { - return dbc->addr_to_msg.at(address); -} diff --git a/opendbc/can/packer_pyx.cpp b/opendbc/can/packer_pyx.cpp new file mode 100644 index 00000000000000..9db7f81f3f2cbb --- /dev/null +++ b/opendbc/can/packer_pyx.cpp @@ -0,0 +1,9612 @@ +/* Generated by Cython 3.0.8 */ + +/* BEGIN: Cython Metadata +{ + "distutils": { + "depends": [ + "opendbc/can/common.h", + "opendbc/can/common_dbc.h" + ], + "include_dirs": [ + "opendbc/can" + ], + "language": "c++", + "name": "opendbc.can.packer_pyx", + "sources": [ + "/data/openpilot/opendbc/can/packer_pyx.pyx" + ] + }, + "module_name": "opendbc.can.packer_pyx" +} +END: Cython Metadata */ + +#ifndef PY_SSIZE_T_CLEAN +#define PY_SSIZE_T_CLEAN +#endif /* PY_SSIZE_T_CLEAN */ +#if defined(CYTHON_LIMITED_API) && 0 + #ifndef Py_LIMITED_API + #if CYTHON_LIMITED_API+0 > 0x03030000 + #define Py_LIMITED_API CYTHON_LIMITED_API + #else + #define Py_LIMITED_API 0x03030000 + #endif + #endif +#endif + +#include "Python.h" +#ifndef Py_PYTHON_H + #error Python headers needed to compile C extensions, please install development version of Python. +#elif PY_VERSION_HEX < 0x02070000 || (0x03000000 <= PY_VERSION_HEX && PY_VERSION_HEX < 0x03030000) + #error Cython requires Python 2.7+ or Python 3.3+. +#else +#if defined(CYTHON_LIMITED_API) && CYTHON_LIMITED_API +#define __PYX_EXTRA_ABI_MODULE_NAME "limited" +#else +#define __PYX_EXTRA_ABI_MODULE_NAME "" +#endif +#define CYTHON_ABI "3_0_8" __PYX_EXTRA_ABI_MODULE_NAME +#define __PYX_ABI_MODULE_NAME "_cython_" CYTHON_ABI +#define __PYX_TYPE_MODULE_PREFIX __PYX_ABI_MODULE_NAME "." +#define CYTHON_HEX_VERSION 0x030008F0 +#define CYTHON_FUTURE_DIVISION 1 +#include +#ifndef offsetof + #define offsetof(type, member) ( (size_t) & ((type*)0) -> member ) +#endif +#if !defined(_WIN32) && !defined(WIN32) && !defined(MS_WINDOWS) + #ifndef __stdcall + #define __stdcall + #endif + #ifndef __cdecl + #define __cdecl + #endif + #ifndef __fastcall + #define __fastcall + #endif +#endif +#ifndef DL_IMPORT + #define DL_IMPORT(t) t +#endif +#ifndef DL_EXPORT + #define DL_EXPORT(t) t +#endif +#define __PYX_COMMA , +#ifndef HAVE_LONG_LONG + #define HAVE_LONG_LONG +#endif +#ifndef PY_LONG_LONG + #define PY_LONG_LONG LONG_LONG +#endif +#ifndef Py_HUGE_VAL + #define Py_HUGE_VAL HUGE_VAL +#endif +#define __PYX_LIMITED_VERSION_HEX PY_VERSION_HEX +#if defined(GRAALVM_PYTHON) + /* For very preliminary testing purposes. Most variables are set the same as PyPy. + The existence of this section does not imply that anything works or is even tested */ + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 1 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #undef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #undef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 1 + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS (PY_MAJOR_VERSION >= 3) + #endif + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(PYPY_VERSION) + #define CYTHON_COMPILING_IN_PYPY 1 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #ifndef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #endif + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #undef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 1 + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS (PY_MAJOR_VERSION >= 3) + #endif + #if PY_VERSION_HEX < 0x03090000 + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #elif !defined(CYTHON_PEP489_MULTI_PHASE_INIT) + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE (PY_VERSION_HEX >= 0x030400a1 && PYPY_VERSION_NUM >= 0x07030C00) + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(CYTHON_LIMITED_API) + #ifdef Py_LIMITED_API + #undef __PYX_LIMITED_VERSION_HEX + #define __PYX_LIMITED_VERSION_HEX Py_LIMITED_API + #endif + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 1 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_CLINE_IN_TRACEBACK + #define CYTHON_CLINE_IN_TRACEBACK 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #undef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 1 + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #ifndef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #endif + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS 1 + #endif + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 1 + #ifndef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #endif + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(Py_GIL_DISABLED) || defined(Py_NOGIL) + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 1 + #ifndef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 1 + #endif + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #ifndef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #ifndef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 1 + #endif + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #ifndef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 1 + #endif + #ifndef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 1 + #endif + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #ifndef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 1 + #endif + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 +#else + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 1 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #ifndef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 1 + #endif + #ifndef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #endif + #ifndef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 1 + #endif + #if PY_MAJOR_VERSION < 3 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #ifndef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 1 + #endif + #ifndef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 1 + #endif + #ifndef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 1 + #endif + #if PY_VERSION_HEX < 0x030300F0 || PY_VERSION_HEX >= 0x030B00A2 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #elif !defined(CYTHON_USE_UNICODE_WRITER) + #define CYTHON_USE_UNICODE_WRITER 1 + #endif + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #ifndef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 1 + #endif + #ifndef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 1 + #endif + #ifndef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 1 + #endif + #ifndef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL (PY_MAJOR_VERSION < 3 || PY_VERSION_HEX >= 0x03060000 && PY_VERSION_HEX < 0x030C00A6) + #endif + #ifndef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL (PY_VERSION_HEX >= 0x030700A1) + #endif + #ifndef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 1 + #endif + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS 1 + #endif + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #elif !defined(CYTHON_PEP489_MULTI_PHASE_INIT) + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #ifndef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #endif + #if PY_VERSION_HEX < 0x030400a1 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #elif !defined(CYTHON_USE_TP_FINALIZE) + #define CYTHON_USE_TP_FINALIZE 1 + #endif + #if PY_VERSION_HEX < 0x030600B1 + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #elif !defined(CYTHON_USE_DICT_VERSIONS) + #define CYTHON_USE_DICT_VERSIONS (PY_VERSION_HEX < 0x030C00A5) + #endif + #if PY_VERSION_HEX < 0x030700A3 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #elif !defined(CYTHON_USE_EXC_INFO_STACK) + #define CYTHON_USE_EXC_INFO_STACK 1 + #endif + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 1 + #endif +#endif +#if !defined(CYTHON_FAST_PYCCALL) +#define CYTHON_FAST_PYCCALL (CYTHON_FAST_PYCALL && PY_VERSION_HEX >= 0x030600B1) +#endif +#if !defined(CYTHON_VECTORCALL) +#define CYTHON_VECTORCALL (CYTHON_FAST_PYCCALL && PY_VERSION_HEX >= 0x030800B1) +#endif +#define CYTHON_BACKPORT_VECTORCALL (CYTHON_METH_FASTCALL && PY_VERSION_HEX < 0x030800B1) +#if CYTHON_USE_PYLONG_INTERNALS + #if PY_MAJOR_VERSION < 3 + #include "longintrepr.h" + #endif + #undef SHIFT + #undef BASE + #undef MASK + #ifdef SIZEOF_VOID_P + enum { __pyx_check_sizeof_voidp = 1 / (int)(SIZEOF_VOID_P == sizeof(void*)) }; + #endif +#endif +#ifndef __has_attribute + #define __has_attribute(x) 0 +#endif +#ifndef __has_cpp_attribute + #define __has_cpp_attribute(x) 0 +#endif +#ifndef CYTHON_RESTRICT + #if defined(__GNUC__) + #define CYTHON_RESTRICT __restrict__ + #elif defined(_MSC_VER) && _MSC_VER >= 1400 + #define CYTHON_RESTRICT __restrict + #elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define CYTHON_RESTRICT restrict + #else + #define CYTHON_RESTRICT + #endif +#endif +#ifndef CYTHON_UNUSED + #if defined(__cplusplus) + /* for clang __has_cpp_attribute(maybe_unused) is true even before C++17 + * but leads to warnings with -pedantic, since it is a C++17 feature */ + #if ((defined(_MSVC_LANG) && _MSVC_LANG >= 201703L) || __cplusplus >= 201703L) + #if __has_cpp_attribute(maybe_unused) + #define CYTHON_UNUSED [[maybe_unused]] + #endif + #endif + #endif +#endif +#ifndef CYTHON_UNUSED +# if defined(__GNUC__) +# if !(defined(__cplusplus)) || (__GNUC__ > 3 || (__GNUC__ == 3 && __GNUC_MINOR__ >= 4)) +# define CYTHON_UNUSED __attribute__ ((__unused__)) +# else +# define CYTHON_UNUSED +# endif +# elif defined(__ICC) || (defined(__INTEL_COMPILER) && !defined(_MSC_VER)) +# define CYTHON_UNUSED __attribute__ ((__unused__)) +# else +# define CYTHON_UNUSED +# endif +#endif +#ifndef CYTHON_UNUSED_VAR +# if defined(__cplusplus) + template void CYTHON_UNUSED_VAR( const T& ) { } +# else +# define CYTHON_UNUSED_VAR(x) (void)(x) +# endif +#endif +#ifndef CYTHON_MAYBE_UNUSED_VAR + #define CYTHON_MAYBE_UNUSED_VAR(x) CYTHON_UNUSED_VAR(x) +#endif +#ifndef CYTHON_NCP_UNUSED +# if CYTHON_COMPILING_IN_CPYTHON +# define CYTHON_NCP_UNUSED +# else +# define CYTHON_NCP_UNUSED CYTHON_UNUSED +# endif +#endif +#ifndef CYTHON_USE_CPP_STD_MOVE + #if defined(__cplusplus) && (\ + __cplusplus >= 201103L || (defined(_MSC_VER) && _MSC_VER >= 1600)) + #define CYTHON_USE_CPP_STD_MOVE 1 + #else + #define CYTHON_USE_CPP_STD_MOVE 0 + #endif +#endif +#define __Pyx_void_to_None(void_result) ((void)(void_result), Py_INCREF(Py_None), Py_None) +#ifdef _MSC_VER + #ifndef _MSC_STDINT_H_ + #if _MSC_VER < 1300 + typedef unsigned char uint8_t; + typedef unsigned short uint16_t; + typedef unsigned int uint32_t; + #else + typedef unsigned __int8 uint8_t; + typedef unsigned __int16 uint16_t; + typedef unsigned __int32 uint32_t; + #endif + #endif + #if _MSC_VER < 1300 + #ifdef _WIN64 + typedef unsigned long long __pyx_uintptr_t; + #else + typedef unsigned int __pyx_uintptr_t; + #endif + #else + #ifdef _WIN64 + typedef unsigned __int64 __pyx_uintptr_t; + #else + typedef unsigned __int32 __pyx_uintptr_t; + #endif + #endif +#else + #include + typedef uintptr_t __pyx_uintptr_t; +#endif +#ifndef CYTHON_FALLTHROUGH + #if defined(__cplusplus) + /* for clang __has_cpp_attribute(fallthrough) is true even before C++17 + * but leads to warnings with -pedantic, since it is a C++17 feature */ + #if ((defined(_MSVC_LANG) && _MSVC_LANG >= 201703L) || __cplusplus >= 201703L) + #if __has_cpp_attribute(fallthrough) + #define CYTHON_FALLTHROUGH [[fallthrough]] + #endif + #endif + #ifndef CYTHON_FALLTHROUGH + #if __has_cpp_attribute(clang::fallthrough) + #define CYTHON_FALLTHROUGH [[clang::fallthrough]] + #elif __has_cpp_attribute(gnu::fallthrough) + #define CYTHON_FALLTHROUGH [[gnu::fallthrough]] + #endif + #endif + #endif + #ifndef CYTHON_FALLTHROUGH + #if __has_attribute(fallthrough) + #define CYTHON_FALLTHROUGH __attribute__((fallthrough)) + #else + #define CYTHON_FALLTHROUGH + #endif + #endif + #if defined(__clang__) && defined(__apple_build_version__) + #if __apple_build_version__ < 7000000 + #undef CYTHON_FALLTHROUGH + #define CYTHON_FALLTHROUGH + #endif + #endif +#endif +#ifdef __cplusplus + template + struct __PYX_IS_UNSIGNED_IMPL {static const bool value = T(0) < T(-1);}; + #define __PYX_IS_UNSIGNED(type) (__PYX_IS_UNSIGNED_IMPL::value) +#else + #define __PYX_IS_UNSIGNED(type) (((type)-1) > 0) +#endif +#if CYTHON_COMPILING_IN_PYPY == 1 + #define __PYX_NEED_TP_PRINT_SLOT (PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x030A0000) +#else + #define __PYX_NEED_TP_PRINT_SLOT (PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000) +#endif +#define __PYX_REINTERPRET_FUNCION(func_pointer, other_pointer) ((func_pointer)(void(*)(void))(other_pointer)) + +#ifndef __cplusplus + #error "Cython files generated with the C++ option must be compiled with a C++ compiler." +#endif +#ifndef CYTHON_INLINE + #if defined(__clang__) + #define CYTHON_INLINE __inline__ __attribute__ ((__unused__)) + #else + #define CYTHON_INLINE inline + #endif +#endif +template +void __Pyx_call_destructor(T& x) { + x.~T(); +} +template +class __Pyx_FakeReference { + public: + __Pyx_FakeReference() : ptr(NULL) { } + __Pyx_FakeReference(const T& ref) : ptr(const_cast(&ref)) { } + T *operator->() { return ptr; } + T *operator&() { return ptr; } + operator T&() { return *ptr; } + template bool operator ==(const U& other) const { return *ptr == other; } + template bool operator !=(const U& other) const { return *ptr != other; } + template bool operator==(const __Pyx_FakeReference& other) const { return *ptr == *other.ptr; } + template bool operator!=(const __Pyx_FakeReference& other) const { return *ptr != *other.ptr; } + private: + T *ptr; +}; + +#define __PYX_BUILD_PY_SSIZE_T "n" +#define CYTHON_FORMAT_SSIZE_T "z" +#if PY_MAJOR_VERSION < 3 + #define __Pyx_BUILTIN_MODULE_NAME "__builtin__" + #define __Pyx_DefaultClassType PyClass_Type + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_New(a+k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#else + #define __Pyx_BUILTIN_MODULE_NAME "builtins" + #define __Pyx_DefaultClassType PyType_Type +#if CYTHON_COMPILING_IN_LIMITED_API + static CYTHON_INLINE PyObject* __Pyx_PyCode_New(int a, int p, int k, int l, int s, int f, + PyObject *code, PyObject *c, PyObject* n, PyObject *v, + PyObject *fv, PyObject *cell, PyObject* fn, + PyObject *name, int fline, PyObject *lnos) { + PyObject *exception_table = NULL; + PyObject *types_module=NULL, *code_type=NULL, *result=NULL; + #if __PYX_LIMITED_VERSION_HEX < 0x030B0000 + PyObject *version_info; + PyObject *py_minor_version = NULL; + #endif + long minor_version = 0; + PyObject *type, *value, *traceback; + PyErr_Fetch(&type, &value, &traceback); + #if __PYX_LIMITED_VERSION_HEX >= 0x030B0000 + minor_version = 11; + #else + if (!(version_info = PySys_GetObject("version_info"))) goto end; + if (!(py_minor_version = PySequence_GetItem(version_info, 1))) goto end; + minor_version = PyLong_AsLong(py_minor_version); + Py_DECREF(py_minor_version); + if (minor_version == -1 && PyErr_Occurred()) goto end; + #endif + if (!(types_module = PyImport_ImportModule("types"))) goto end; + if (!(code_type = PyObject_GetAttrString(types_module, "CodeType"))) goto end; + if (minor_version <= 7) { + (void)p; + result = PyObject_CallFunction(code_type, "iiiiiOOOOOOiOO", a, k, l, s, f, code, + c, n, v, fn, name, fline, lnos, fv, cell); + } else if (minor_version <= 10) { + result = PyObject_CallFunction(code_type, "iiiiiiOOOOOOiOO", a,p, k, l, s, f, code, + c, n, v, fn, name, fline, lnos, fv, cell); + } else { + if (!(exception_table = PyBytes_FromStringAndSize(NULL, 0))) goto end; + result = PyObject_CallFunction(code_type, "iiiiiiOOOOOOOiOO", a,p, k, l, s, f, code, + c, n, v, fn, name, name, fline, lnos, exception_table, fv, cell); + } + end: + Py_XDECREF(code_type); + Py_XDECREF(exception_table); + Py_XDECREF(types_module); + if (type) { + PyErr_Restore(type, value, traceback); + } + return result; + } + #ifndef CO_OPTIMIZED + #define CO_OPTIMIZED 0x0001 + #endif + #ifndef CO_NEWLOCALS + #define CO_NEWLOCALS 0x0002 + #endif + #ifndef CO_VARARGS + #define CO_VARARGS 0x0004 + #endif + #ifndef CO_VARKEYWORDS + #define CO_VARKEYWORDS 0x0008 + #endif + #ifndef CO_ASYNC_GENERATOR + #define CO_ASYNC_GENERATOR 0x0200 + #endif + #ifndef CO_GENERATOR + #define CO_GENERATOR 0x0020 + #endif + #ifndef CO_COROUTINE + #define CO_COROUTINE 0x0080 + #endif +#elif PY_VERSION_HEX >= 0x030B0000 + static CYTHON_INLINE PyCodeObject* __Pyx_PyCode_New(int a, int p, int k, int l, int s, int f, + PyObject *code, PyObject *c, PyObject* n, PyObject *v, + PyObject *fv, PyObject *cell, PyObject* fn, + PyObject *name, int fline, PyObject *lnos) { + PyCodeObject *result; + PyObject *empty_bytes = PyBytes_FromStringAndSize("", 0); + if (!empty_bytes) return NULL; + result = + #if PY_VERSION_HEX >= 0x030C0000 + PyUnstable_Code_NewWithPosOnlyArgs + #else + PyCode_NewWithPosOnlyArgs + #endif + (a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, name, fline, lnos, empty_bytes); + Py_DECREF(empty_bytes); + return result; + } +#elif PY_VERSION_HEX >= 0x030800B2 && !CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_NewWithPosOnlyArgs(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#else + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#endif +#endif +#if PY_VERSION_HEX >= 0x030900A4 || defined(Py_IS_TYPE) + #define __Pyx_IS_TYPE(ob, type) Py_IS_TYPE(ob, type) +#else + #define __Pyx_IS_TYPE(ob, type) (((const PyObject*)ob)->ob_type == (type)) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_Is) + #define __Pyx_Py_Is(x, y) Py_Is(x, y) +#else + #define __Pyx_Py_Is(x, y) ((x) == (y)) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsNone) + #define __Pyx_Py_IsNone(ob) Py_IsNone(ob) +#else + #define __Pyx_Py_IsNone(ob) __Pyx_Py_Is((ob), Py_None) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsTrue) + #define __Pyx_Py_IsTrue(ob) Py_IsTrue(ob) +#else + #define __Pyx_Py_IsTrue(ob) __Pyx_Py_Is((ob), Py_True) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsFalse) + #define __Pyx_Py_IsFalse(ob) Py_IsFalse(ob) +#else + #define __Pyx_Py_IsFalse(ob) __Pyx_Py_Is((ob), Py_False) +#endif +#define __Pyx_NoneAsNull(obj) (__Pyx_Py_IsNone(obj) ? NULL : (obj)) +#if PY_VERSION_HEX >= 0x030900F0 && !CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyObject_GC_IsFinalized(o) PyObject_GC_IsFinalized(o) +#else + #define __Pyx_PyObject_GC_IsFinalized(o) _PyGC_FINALIZED(o) +#endif +#ifndef CO_COROUTINE + #define CO_COROUTINE 0x80 +#endif +#ifndef CO_ASYNC_GENERATOR + #define CO_ASYNC_GENERATOR 0x200 +#endif +#ifndef Py_TPFLAGS_CHECKTYPES + #define Py_TPFLAGS_CHECKTYPES 0 +#endif +#ifndef Py_TPFLAGS_HAVE_INDEX + #define Py_TPFLAGS_HAVE_INDEX 0 +#endif +#ifndef Py_TPFLAGS_HAVE_NEWBUFFER + #define Py_TPFLAGS_HAVE_NEWBUFFER 0 +#endif +#ifndef Py_TPFLAGS_HAVE_FINALIZE + #define Py_TPFLAGS_HAVE_FINALIZE 0 +#endif +#ifndef Py_TPFLAGS_SEQUENCE + #define Py_TPFLAGS_SEQUENCE 0 +#endif +#ifndef Py_TPFLAGS_MAPPING + #define Py_TPFLAGS_MAPPING 0 +#endif +#ifndef METH_STACKLESS + #define METH_STACKLESS 0 +#endif +#if PY_VERSION_HEX <= 0x030700A3 || !defined(METH_FASTCALL) + #ifndef METH_FASTCALL + #define METH_FASTCALL 0x80 + #endif + typedef PyObject *(*__Pyx_PyCFunctionFast) (PyObject *self, PyObject *const *args, Py_ssize_t nargs); + typedef PyObject *(*__Pyx_PyCFunctionFastWithKeywords) (PyObject *self, PyObject *const *args, + Py_ssize_t nargs, PyObject *kwnames); +#else + #define __Pyx_PyCFunctionFast _PyCFunctionFast + #define __Pyx_PyCFunctionFastWithKeywords _PyCFunctionFastWithKeywords +#endif +#if CYTHON_METH_FASTCALL + #define __Pyx_METH_FASTCALL METH_FASTCALL + #define __Pyx_PyCFunction_FastCall __Pyx_PyCFunctionFast + #define __Pyx_PyCFunction_FastCallWithKeywords __Pyx_PyCFunctionFastWithKeywords +#else + #define __Pyx_METH_FASTCALL METH_VARARGS + #define __Pyx_PyCFunction_FastCall PyCFunction + #define __Pyx_PyCFunction_FastCallWithKeywords PyCFunctionWithKeywords +#endif +#if CYTHON_VECTORCALL + #define __pyx_vectorcallfunc vectorcallfunc + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET PY_VECTORCALL_ARGUMENTS_OFFSET + #define __Pyx_PyVectorcall_NARGS(n) PyVectorcall_NARGS((size_t)(n)) +#elif CYTHON_BACKPORT_VECTORCALL + typedef PyObject *(*__pyx_vectorcallfunc)(PyObject *callable, PyObject *const *args, + size_t nargsf, PyObject *kwnames); + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET ((size_t)1 << (8 * sizeof(size_t) - 1)) + #define __Pyx_PyVectorcall_NARGS(n) ((Py_ssize_t)(((size_t)(n)) & ~__Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET)) +#else + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET 0 + #define __Pyx_PyVectorcall_NARGS(n) ((Py_ssize_t)(n)) +#endif +#if PY_MAJOR_VERSION >= 0x030900B1 +#define __Pyx_PyCFunction_CheckExact(func) PyCFunction_CheckExact(func) +#else +#define __Pyx_PyCFunction_CheckExact(func) PyCFunction_Check(func) +#endif +#define __Pyx_CyOrPyCFunction_Check(func) PyCFunction_Check(func) +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_CyOrPyCFunction_GET_FUNCTION(func) (((PyCFunctionObject*)(func))->m_ml->ml_meth) +#elif !CYTHON_COMPILING_IN_LIMITED_API +#define __Pyx_CyOrPyCFunction_GET_FUNCTION(func) PyCFunction_GET_FUNCTION(func) +#endif +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_CyOrPyCFunction_GET_FLAGS(func) (((PyCFunctionObject*)(func))->m_ml->ml_flags) +static CYTHON_INLINE PyObject* __Pyx_CyOrPyCFunction_GET_SELF(PyObject *func) { + return (__Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_STATIC) ? NULL : ((PyCFunctionObject*)func)->m_self; +} +#endif +static CYTHON_INLINE int __Pyx__IsSameCFunction(PyObject *func, void *cfunc) { +#if CYTHON_COMPILING_IN_LIMITED_API + return PyCFunction_Check(func) && PyCFunction_GetFunction(func) == (PyCFunction) cfunc; +#else + return PyCFunction_Check(func) && PyCFunction_GET_FUNCTION(func) == (PyCFunction) cfunc; +#endif +} +#define __Pyx_IsSameCFunction(func, cfunc) __Pyx__IsSameCFunction(func, cfunc) +#if __PYX_LIMITED_VERSION_HEX < 0x030900B1 + #define __Pyx_PyType_FromModuleAndSpec(m, s, b) ((void)m, PyType_FromSpecWithBases(s, b)) + typedef PyObject *(*__Pyx_PyCMethod)(PyObject *, PyTypeObject *, PyObject *const *, size_t, PyObject *); +#else + #define __Pyx_PyType_FromModuleAndSpec(m, s, b) PyType_FromModuleAndSpec(m, s, b) + #define __Pyx_PyCMethod PyCMethod +#endif +#ifndef METH_METHOD + #define METH_METHOD 0x200 +#endif +#if CYTHON_COMPILING_IN_PYPY && !defined(PyObject_Malloc) + #define PyObject_Malloc(s) PyMem_Malloc(s) + #define PyObject_Free(p) PyMem_Free(p) + #define PyObject_Realloc(p) PyMem_Realloc(p) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0) + #define __Pyx_PyFrame_SetLineNumber(frame, lineno) +#else + #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0) + #define __Pyx_PyFrame_SetLineNumber(frame, lineno) (frame)->f_lineno = (lineno) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyThreadState_Current PyThreadState_Get() +#elif !CYTHON_FAST_THREAD_STATE + #define __Pyx_PyThreadState_Current PyThreadState_GET() +#elif PY_VERSION_HEX >= 0x030d00A1 + #define __Pyx_PyThreadState_Current PyThreadState_GetUnchecked() +#elif PY_VERSION_HEX >= 0x03060000 + #define __Pyx_PyThreadState_Current _PyThreadState_UncheckedGet() +#elif PY_VERSION_HEX >= 0x03000000 + #define __Pyx_PyThreadState_Current PyThreadState_GET() +#else + #define __Pyx_PyThreadState_Current _PyThreadState_Current +#endif +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE void *__Pyx_PyModule_GetState(PyObject *op) +{ + void *result; + result = PyModule_GetState(op); + if (!result) + Py_FatalError("Couldn't find the module state"); + return result; +} +#endif +#define __Pyx_PyObject_GetSlot(obj, name, func_ctype) __Pyx_PyType_GetSlot(Py_TYPE(obj), name, func_ctype) +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyType_GetSlot(type, name, func_ctype) ((func_ctype) PyType_GetSlot((type), Py_##name)) +#else + #define __Pyx_PyType_GetSlot(type, name, func_ctype) ((type)->name) +#endif +#if PY_VERSION_HEX < 0x030700A2 && !defined(PyThread_tss_create) && !defined(Py_tss_NEEDS_INIT) +#include "pythread.h" +#define Py_tss_NEEDS_INIT 0 +typedef int Py_tss_t; +static CYTHON_INLINE int PyThread_tss_create(Py_tss_t *key) { + *key = PyThread_create_key(); + return 0; +} +static CYTHON_INLINE Py_tss_t * PyThread_tss_alloc(void) { + Py_tss_t *key = (Py_tss_t *)PyObject_Malloc(sizeof(Py_tss_t)); + *key = Py_tss_NEEDS_INIT; + return key; +} +static CYTHON_INLINE void PyThread_tss_free(Py_tss_t *key) { + PyObject_Free(key); +} +static CYTHON_INLINE int PyThread_tss_is_created(Py_tss_t *key) { + return *key != Py_tss_NEEDS_INIT; +} +static CYTHON_INLINE void PyThread_tss_delete(Py_tss_t *key) { + PyThread_delete_key(*key); + *key = Py_tss_NEEDS_INIT; +} +static CYTHON_INLINE int PyThread_tss_set(Py_tss_t *key, void *value) { + return PyThread_set_key_value(*key, value); +} +static CYTHON_INLINE void * PyThread_tss_get(Py_tss_t *key) { + return PyThread_get_key_value(*key); +} +#endif +#if PY_MAJOR_VERSION < 3 + #if CYTHON_COMPILING_IN_PYPY + #if PYPY_VERSION_NUM < 0x07030600 + #if defined(__cplusplus) && __cplusplus >= 201402L + [[deprecated("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6")]] + #elif defined(__GNUC__) || defined(__clang__) + __attribute__ ((__deprecated__("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6"))) + #elif defined(_MSC_VER) + __declspec(deprecated("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6")) + #endif + static CYTHON_INLINE int PyGILState_Check(void) { + return 0; + } + #else // PYPY_VERSION_NUM < 0x07030600 + #endif // PYPY_VERSION_NUM < 0x07030600 + #else + static CYTHON_INLINE int PyGILState_Check(void) { + PyThreadState * tstate = _PyThreadState_Current; + return tstate && (tstate == PyGILState_GetThisThreadState()); + } + #endif +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030d0000 || defined(_PyDict_NewPresized) +#define __Pyx_PyDict_NewPresized(n) ((n <= 8) ? PyDict_New() : _PyDict_NewPresized(n)) +#else +#define __Pyx_PyDict_NewPresized(n) PyDict_New() +#endif +#if PY_MAJOR_VERSION >= 3 || CYTHON_FUTURE_DIVISION + #define __Pyx_PyNumber_Divide(x,y) PyNumber_TrueDivide(x,y) + #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceTrueDivide(x,y) +#else + #define __Pyx_PyNumber_Divide(x,y) PyNumber_Divide(x,y) + #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceDivide(x,y) +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX > 0x030600B4 && PY_VERSION_HEX < 0x030d0000 && CYTHON_USE_UNICODE_INTERNALS +#define __Pyx_PyDict_GetItemStrWithError(dict, name) _PyDict_GetItem_KnownHash(dict, name, ((PyASCIIObject *) name)->hash) +static CYTHON_INLINE PyObject * __Pyx_PyDict_GetItemStr(PyObject *dict, PyObject *name) { + PyObject *res = __Pyx_PyDict_GetItemStrWithError(dict, name); + if (res == NULL) PyErr_Clear(); + return res; +} +#elif PY_MAJOR_VERSION >= 3 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07020000) +#define __Pyx_PyDict_GetItemStrWithError PyDict_GetItemWithError +#define __Pyx_PyDict_GetItemStr PyDict_GetItem +#else +static CYTHON_INLINE PyObject * __Pyx_PyDict_GetItemStrWithError(PyObject *dict, PyObject *name) { +#if CYTHON_COMPILING_IN_PYPY + return PyDict_GetItem(dict, name); +#else + PyDictEntry *ep; + PyDictObject *mp = (PyDictObject*) dict; + long hash = ((PyStringObject *) name)->ob_shash; + assert(hash != -1); + ep = (mp->ma_lookup)(mp, name, hash); + if (ep == NULL) { + return NULL; + } + return ep->me_value; +#endif +} +#define __Pyx_PyDict_GetItemStr PyDict_GetItem +#endif +#if CYTHON_USE_TYPE_SLOTS + #define __Pyx_PyType_GetFlags(tp) (((PyTypeObject *)tp)->tp_flags) + #define __Pyx_PyType_HasFeature(type, feature) ((__Pyx_PyType_GetFlags(type) & (feature)) != 0) + #define __Pyx_PyObject_GetIterNextFunc(obj) (Py_TYPE(obj)->tp_iternext) +#else + #define __Pyx_PyType_GetFlags(tp) (PyType_GetFlags((PyTypeObject *)tp)) + #define __Pyx_PyType_HasFeature(type, feature) PyType_HasFeature(type, feature) + #define __Pyx_PyObject_GetIterNextFunc(obj) PyIter_Next +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_SetItemOnTypeDict(tp, k, v) PyObject_GenericSetAttr((PyObject*)tp, k, v) +#else + #define __Pyx_SetItemOnTypeDict(tp, k, v) PyDict_SetItem(tp->tp_dict, k, v) +#endif +#if CYTHON_USE_TYPE_SPECS && PY_VERSION_HEX >= 0x03080000 +#define __Pyx_PyHeapTypeObject_GC_Del(obj) {\ + PyTypeObject *type = Py_TYPE((PyObject*)obj);\ + assert(__Pyx_PyType_HasFeature(type, Py_TPFLAGS_HEAPTYPE));\ + PyObject_GC_Del(obj);\ + Py_DECREF(type);\ +} +#else +#define __Pyx_PyHeapTypeObject_GC_Del(obj) PyObject_GC_Del(obj) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define CYTHON_PEP393_ENABLED 1 + #define __Pyx_PyUnicode_READY(op) (0) + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GetLength(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) PyUnicode_ReadChar(u, i) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) ((void)u, 1114111U) + #define __Pyx_PyUnicode_KIND(u) ((void)u, (0)) + #define __Pyx_PyUnicode_DATA(u) ((void*)u) + #define __Pyx_PyUnicode_READ(k, d, i) ((void)k, PyUnicode_ReadChar((PyObject*)(d), i)) + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GetLength(u)) +#elif PY_VERSION_HEX > 0x03030000 && defined(PyUnicode_KIND) + #define CYTHON_PEP393_ENABLED 1 + #if PY_VERSION_HEX >= 0x030C0000 + #define __Pyx_PyUnicode_READY(op) (0) + #else + #define __Pyx_PyUnicode_READY(op) (likely(PyUnicode_IS_READY(op)) ?\ + 0 : _PyUnicode_Ready((PyObject *)(op))) + #endif + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_LENGTH(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) PyUnicode_READ_CHAR(u, i) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) PyUnicode_MAX_CHAR_VALUE(u) + #define __Pyx_PyUnicode_KIND(u) ((int)PyUnicode_KIND(u)) + #define __Pyx_PyUnicode_DATA(u) PyUnicode_DATA(u) + #define __Pyx_PyUnicode_READ(k, d, i) PyUnicode_READ(k, d, i) + #define __Pyx_PyUnicode_WRITE(k, d, i, ch) PyUnicode_WRITE(k, d, i, (Py_UCS4) ch) + #if PY_VERSION_HEX >= 0x030C0000 + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_LENGTH(u)) + #else + #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x03090000 + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : ((PyCompactUnicodeObject *)(u))->wstr_length)) + #else + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : PyUnicode_GET_SIZE(u))) + #endif + #endif +#else + #define CYTHON_PEP393_ENABLED 0 + #define PyUnicode_1BYTE_KIND 1 + #define PyUnicode_2BYTE_KIND 2 + #define PyUnicode_4BYTE_KIND 4 + #define __Pyx_PyUnicode_READY(op) (0) + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_SIZE(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) ((Py_UCS4)(PyUnicode_AS_UNICODE(u)[i])) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) ((sizeof(Py_UNICODE) == 2) ? 65535U : 1114111U) + #define __Pyx_PyUnicode_KIND(u) ((int)sizeof(Py_UNICODE)) + #define __Pyx_PyUnicode_DATA(u) ((void*)PyUnicode_AS_UNICODE(u)) + #define __Pyx_PyUnicode_READ(k, d, i) ((void)(k), (Py_UCS4)(((Py_UNICODE*)d)[i])) + #define __Pyx_PyUnicode_WRITE(k, d, i, ch) (((void)(k)), ((Py_UNICODE*)d)[i] = (Py_UNICODE) ch) + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_SIZE(u)) +#endif +#if CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyUnicode_Concat(a, b) PyNumber_Add(a, b) + #define __Pyx_PyUnicode_ConcatSafe(a, b) PyNumber_Add(a, b) +#else + #define __Pyx_PyUnicode_Concat(a, b) PyUnicode_Concat(a, b) + #define __Pyx_PyUnicode_ConcatSafe(a, b) ((unlikely((a) == Py_None) || unlikely((b) == Py_None)) ?\ + PyNumber_Add(a, b) : __Pyx_PyUnicode_Concat(a, b)) +#endif +#if CYTHON_COMPILING_IN_PYPY + #if !defined(PyUnicode_DecodeUnicodeEscape) + #define PyUnicode_DecodeUnicodeEscape(s, size, errors) PyUnicode_Decode(s, size, "unicode_escape", errors) + #endif + #if !defined(PyUnicode_Contains) || (PY_MAJOR_VERSION == 2 && PYPY_VERSION_NUM < 0x07030500) + #undef PyUnicode_Contains + #define PyUnicode_Contains(u, s) PySequence_Contains(u, s) + #endif + #if !defined(PyByteArray_Check) + #define PyByteArray_Check(obj) PyObject_TypeCheck(obj, &PyByteArray_Type) + #endif + #if !defined(PyObject_Format) + #define PyObject_Format(obj, fmt) PyObject_CallMethod(obj, "__format__", "O", fmt) + #endif +#endif +#define __Pyx_PyString_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyString_Check(b) && !PyString_CheckExact(b)))) ? PyNumber_Remainder(a, b) : __Pyx_PyString_Format(a, b)) +#define __Pyx_PyUnicode_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyUnicode_Check(b) && !PyUnicode_CheckExact(b)))) ? PyNumber_Remainder(a, b) : PyUnicode_Format(a, b)) +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyString_Format(a, b) PyUnicode_Format(a, b) +#else + #define __Pyx_PyString_Format(a, b) PyString_Format(a, b) +#endif +#if PY_MAJOR_VERSION < 3 && !defined(PyObject_ASCII) + #define PyObject_ASCII(o) PyObject_Repr(o) +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyBaseString_Type PyUnicode_Type + #define PyStringObject PyUnicodeObject + #define PyString_Type PyUnicode_Type + #define PyString_Check PyUnicode_Check + #define PyString_CheckExact PyUnicode_CheckExact +#ifndef PyObject_Unicode + #define PyObject_Unicode PyObject_Str +#endif +#endif +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyBaseString_Check(obj) PyUnicode_Check(obj) + #define __Pyx_PyBaseString_CheckExact(obj) PyUnicode_CheckExact(obj) +#else + #define __Pyx_PyBaseString_Check(obj) (PyString_Check(obj) || PyUnicode_Check(obj)) + #define __Pyx_PyBaseString_CheckExact(obj) (PyString_CheckExact(obj) || PyUnicode_CheckExact(obj)) +#endif +#if CYTHON_COMPILING_IN_CPYTHON + #define __Pyx_PySequence_ListKeepNew(obj)\ + (likely(PyList_CheckExact(obj) && Py_REFCNT(obj) == 1) ? __Pyx_NewRef(obj) : PySequence_List(obj)) +#else + #define __Pyx_PySequence_ListKeepNew(obj) PySequence_List(obj) +#endif +#ifndef PySet_CheckExact + #define PySet_CheckExact(obj) __Pyx_IS_TYPE(obj, &PySet_Type) +#endif +#if PY_VERSION_HEX >= 0x030900A4 + #define __Pyx_SET_REFCNT(obj, refcnt) Py_SET_REFCNT(obj, refcnt) + #define __Pyx_SET_SIZE(obj, size) Py_SET_SIZE(obj, size) +#else + #define __Pyx_SET_REFCNT(obj, refcnt) Py_REFCNT(obj) = (refcnt) + #define __Pyx_SET_SIZE(obj, size) Py_SIZE(obj) = (size) +#endif +#if CYTHON_ASSUME_SAFE_MACROS + #define __Pyx_PySequence_ITEM(o, i) PySequence_ITEM(o, i) + #define __Pyx_PySequence_SIZE(seq) Py_SIZE(seq) + #define __Pyx_PyTuple_SET_ITEM(o, i, v) (PyTuple_SET_ITEM(o, i, v), (0)) + #define __Pyx_PyList_SET_ITEM(o, i, v) (PyList_SET_ITEM(o, i, v), (0)) + #define __Pyx_PyTuple_GET_SIZE(o) PyTuple_GET_SIZE(o) + #define __Pyx_PyList_GET_SIZE(o) PyList_GET_SIZE(o) + #define __Pyx_PySet_GET_SIZE(o) PySet_GET_SIZE(o) + #define __Pyx_PyBytes_GET_SIZE(o) PyBytes_GET_SIZE(o) + #define __Pyx_PyByteArray_GET_SIZE(o) PyByteArray_GET_SIZE(o) +#else + #define __Pyx_PySequence_ITEM(o, i) PySequence_GetItem(o, i) + #define __Pyx_PySequence_SIZE(seq) PySequence_Size(seq) + #define __Pyx_PyTuple_SET_ITEM(o, i, v) PyTuple_SetItem(o, i, v) + #define __Pyx_PyList_SET_ITEM(o, i, v) PyList_SetItem(o, i, v) + #define __Pyx_PyTuple_GET_SIZE(o) PyTuple_Size(o) + #define __Pyx_PyList_GET_SIZE(o) PyList_Size(o) + #define __Pyx_PySet_GET_SIZE(o) PySet_Size(o) + #define __Pyx_PyBytes_GET_SIZE(o) PyBytes_Size(o) + #define __Pyx_PyByteArray_GET_SIZE(o) PyByteArray_Size(o) +#endif +#if PY_VERSION_HEX >= 0x030d00A1 + #define __Pyx_PyImport_AddModuleRef(name) PyImport_AddModuleRef(name) +#else + static CYTHON_INLINE PyObject *__Pyx_PyImport_AddModuleRef(const char *name) { + PyObject *module = PyImport_AddModule(name); + Py_XINCREF(module); + return module; + } +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyIntObject PyLongObject + #define PyInt_Type PyLong_Type + #define PyInt_Check(op) PyLong_Check(op) + #define PyInt_CheckExact(op) PyLong_CheckExact(op) + #define __Pyx_Py3Int_Check(op) PyLong_Check(op) + #define __Pyx_Py3Int_CheckExact(op) PyLong_CheckExact(op) + #define PyInt_FromString PyLong_FromString + #define PyInt_FromUnicode PyLong_FromUnicode + #define PyInt_FromLong PyLong_FromLong + #define PyInt_FromSize_t PyLong_FromSize_t + #define PyInt_FromSsize_t PyLong_FromSsize_t + #define PyInt_AsLong PyLong_AsLong + #define PyInt_AS_LONG PyLong_AS_LONG + #define PyInt_AsSsize_t PyLong_AsSsize_t + #define PyInt_AsUnsignedLongMask PyLong_AsUnsignedLongMask + #define PyInt_AsUnsignedLongLongMask PyLong_AsUnsignedLongLongMask + #define PyNumber_Int PyNumber_Long +#else + #define __Pyx_Py3Int_Check(op) (PyLong_Check(op) || PyInt_Check(op)) + #define __Pyx_Py3Int_CheckExact(op) (PyLong_CheckExact(op) || PyInt_CheckExact(op)) +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyBoolObject PyLongObject +#endif +#if PY_MAJOR_VERSION >= 3 && CYTHON_COMPILING_IN_PYPY + #ifndef PyUnicode_InternFromString + #define PyUnicode_InternFromString(s) PyUnicode_FromString(s) + #endif +#endif +#if PY_VERSION_HEX < 0x030200A4 + typedef long Py_hash_t; + #define __Pyx_PyInt_FromHash_t PyInt_FromLong + #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsHash_t +#else + #define __Pyx_PyInt_FromHash_t PyInt_FromSsize_t + #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsSsize_t +#endif +#if CYTHON_USE_ASYNC_SLOTS + #if PY_VERSION_HEX >= 0x030500B1 + #define __Pyx_PyAsyncMethodsStruct PyAsyncMethods + #define __Pyx_PyType_AsAsync(obj) (Py_TYPE(obj)->tp_as_async) + #else + #define __Pyx_PyType_AsAsync(obj) ((__Pyx_PyAsyncMethodsStruct*) (Py_TYPE(obj)->tp_reserved)) + #endif +#else + #define __Pyx_PyType_AsAsync(obj) NULL +#endif +#ifndef __Pyx_PyAsyncMethodsStruct + typedef struct { + unaryfunc am_await; + unaryfunc am_aiter; + unaryfunc am_anext; + } __Pyx_PyAsyncMethodsStruct; +#endif + +#if defined(_WIN32) || defined(WIN32) || defined(MS_WINDOWS) + #if !defined(_USE_MATH_DEFINES) + #define _USE_MATH_DEFINES + #endif +#endif +#include +#ifdef NAN +#define __PYX_NAN() ((float) NAN) +#else +static CYTHON_INLINE float __PYX_NAN() { + float value; + memset(&value, 0xFF, sizeof(value)); + return value; +} +#endif +#if defined(__CYGWIN__) && defined(_LDBL_EQ_DBL) +#define __Pyx_truncl trunc +#else +#define __Pyx_truncl truncl +#endif + +#define __PYX_MARK_ERR_POS(f_index, lineno) \ + { __pyx_filename = __pyx_f[f_index]; (void)__pyx_filename; __pyx_lineno = lineno; (void)__pyx_lineno; __pyx_clineno = __LINE__; (void)__pyx_clineno; } +#define __PYX_ERR(f_index, lineno, Ln_error) \ + { __PYX_MARK_ERR_POS(f_index, lineno) goto Ln_error; } + +#ifdef CYTHON_EXTERN_C + #undef __PYX_EXTERN_C + #define __PYX_EXTERN_C CYTHON_EXTERN_C +#elif defined(__PYX_EXTERN_C) + #ifdef _MSC_VER + #pragma message ("Please do not define the '__PYX_EXTERN_C' macro externally. Use 'CYTHON_EXTERN_C' instead.") + #else + #warning Please do not define the '__PYX_EXTERN_C' macro externally. Use 'CYTHON_EXTERN_C' instead. + #endif +#else + #define __PYX_EXTERN_C extern "C++" +#endif + +#define __PYX_HAVE__opendbc__can__packer_pyx +#define __PYX_HAVE_API__opendbc__can__packer_pyx +/* Early includes */ +#include +#include "ios" +#include "new" +#include "stdexcept" +#include "typeinfo" +#include +#include + + #if __cplusplus >= 201103L || (defined(_MSC_VER) && _MSC_VER >= 1600) + // move should be defined for these versions of MSVC, but __cplusplus isn't set usefully + #include + + namespace cython_std { + template typename std::remove_reference::type&& move(T& t) noexcept { return std::move(t); } + template typename std::remove_reference::type&& move(T&& t) noexcept { return std::move(t); } + } + + #endif + +#include +#include +#include +#include "common_dbc.h" +#include "common.h" +#ifdef _OPENMP +#include +#endif /* _OPENMP */ + +#if defined(PYREX_WITHOUT_ASSERTIONS) && !defined(CYTHON_WITHOUT_ASSERTIONS) +#define CYTHON_WITHOUT_ASSERTIONS +#endif + +typedef struct {PyObject **p; const char *s; const Py_ssize_t n; const char* encoding; + const char is_unicode; const char is_str; const char intern; } __Pyx_StringTabEntry; + +#define __PYX_DEFAULT_STRING_ENCODING_IS_ASCII 1 +#define __PYX_DEFAULT_STRING_ENCODING_IS_UTF8 0 +#define __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT (PY_MAJOR_VERSION >= 3 && __PYX_DEFAULT_STRING_ENCODING_IS_UTF8) +#define __PYX_DEFAULT_STRING_ENCODING "ascii" +#define __Pyx_PyObject_FromString __Pyx_PyBytes_FromString +#define __Pyx_PyObject_FromStringAndSize __Pyx_PyBytes_FromStringAndSize +#define __Pyx_uchar_cast(c) ((unsigned char)c) +#define __Pyx_long_cast(x) ((long)x) +#define __Pyx_fits_Py_ssize_t(v, type, is_signed) (\ + (sizeof(type) < sizeof(Py_ssize_t)) ||\ + (sizeof(type) > sizeof(Py_ssize_t) &&\ + likely(v < (type)PY_SSIZE_T_MAX ||\ + v == (type)PY_SSIZE_T_MAX) &&\ + (!is_signed || likely(v > (type)PY_SSIZE_T_MIN ||\ + v == (type)PY_SSIZE_T_MIN))) ||\ + (sizeof(type) == sizeof(Py_ssize_t) &&\ + (is_signed || likely(v < (type)PY_SSIZE_T_MAX ||\ + v == (type)PY_SSIZE_T_MAX))) ) +static CYTHON_INLINE int __Pyx_is_valid_index(Py_ssize_t i, Py_ssize_t limit) { + return (size_t) i < (size_t) limit; +} +#if defined (__cplusplus) && __cplusplus >= 201103L + #include + #define __Pyx_sst_abs(value) std::abs(value) +#elif SIZEOF_INT >= SIZEOF_SIZE_T + #define __Pyx_sst_abs(value) abs(value) +#elif SIZEOF_LONG >= SIZEOF_SIZE_T + #define __Pyx_sst_abs(value) labs(value) +#elif defined (_MSC_VER) + #define __Pyx_sst_abs(value) ((Py_ssize_t)_abs64(value)) +#elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define __Pyx_sst_abs(value) llabs(value) +#elif defined (__GNUC__) + #define __Pyx_sst_abs(value) __builtin_llabs(value) +#else + #define __Pyx_sst_abs(value) ((value<0) ? -value : value) +#endif +static CYTHON_INLINE Py_ssize_t __Pyx_ssize_strlen(const char *s); +static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject*); +static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject*, Py_ssize_t* length); +static CYTHON_INLINE PyObject* __Pyx_PyByteArray_FromString(const char*); +#define __Pyx_PyByteArray_FromStringAndSize(s, l) PyByteArray_FromStringAndSize((const char*)s, l) +#define __Pyx_PyBytes_FromString PyBytes_FromString +#define __Pyx_PyBytes_FromStringAndSize PyBytes_FromStringAndSize +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char*); +#if PY_MAJOR_VERSION < 3 + #define __Pyx_PyStr_FromString __Pyx_PyBytes_FromString + #define __Pyx_PyStr_FromStringAndSize __Pyx_PyBytes_FromStringAndSize +#else + #define __Pyx_PyStr_FromString __Pyx_PyUnicode_FromString + #define __Pyx_PyStr_FromStringAndSize __Pyx_PyUnicode_FromStringAndSize +#endif +#define __Pyx_PyBytes_AsWritableString(s) ((char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsWritableSString(s) ((signed char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsWritableUString(s) ((unsigned char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsString(s) ((const char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsSString(s) ((const signed char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsUString(s) ((const unsigned char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyObject_AsWritableString(s) ((char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsWritableSString(s) ((signed char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsWritableUString(s) ((unsigned char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsSString(s) ((const signed char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsUString(s) ((const unsigned char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_FromCString(s) __Pyx_PyObject_FromString((const char*)s) +#define __Pyx_PyBytes_FromCString(s) __Pyx_PyBytes_FromString((const char*)s) +#define __Pyx_PyByteArray_FromCString(s) __Pyx_PyByteArray_FromString((const char*)s) +#define __Pyx_PyStr_FromCString(s) __Pyx_PyStr_FromString((const char*)s) +#define __Pyx_PyUnicode_FromCString(s) __Pyx_PyUnicode_FromString((const char*)s) +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE size_t __Pyx_Py_UNICODE_strlen(const wchar_t *u) +{ + const wchar_t *u_end = u; + while (*u_end++) ; + return (size_t)(u_end - u - 1); +} +#else +static CYTHON_INLINE size_t __Pyx_Py_UNICODE_strlen(const Py_UNICODE *u) +{ + const Py_UNICODE *u_end = u; + while (*u_end++) ; + return (size_t)(u_end - u - 1); +} +#endif +#define __Pyx_PyUnicode_FromOrdinal(o) PyUnicode_FromOrdinal((int)o) +#define __Pyx_PyUnicode_FromUnicode(u) PyUnicode_FromUnicode(u, __Pyx_Py_UNICODE_strlen(u)) +#define __Pyx_PyUnicode_FromUnicodeAndLength PyUnicode_FromUnicode +#define __Pyx_PyUnicode_AsUnicode PyUnicode_AsUnicode +#define __Pyx_NewRef(obj) (Py_INCREF(obj), obj) +#define __Pyx_Owned_Py_None(b) __Pyx_NewRef(Py_None) +static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b); +static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject*); +static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject*); +static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x); +#define __Pyx_PySequence_Tuple(obj)\ + (likely(PyTuple_CheckExact(obj)) ? __Pyx_NewRef(obj) : PySequence_Tuple(obj)) +static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject*); +static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t); +static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject*); +#if CYTHON_ASSUME_SAFE_MACROS +#define __pyx_PyFloat_AsDouble(x) (PyFloat_CheckExact(x) ? PyFloat_AS_DOUBLE(x) : PyFloat_AsDouble(x)) +#else +#define __pyx_PyFloat_AsDouble(x) PyFloat_AsDouble(x) +#endif +#define __pyx_PyFloat_AsFloat(x) ((float) __pyx_PyFloat_AsDouble(x)) +#if PY_MAJOR_VERSION >= 3 +#define __Pyx_PyNumber_Int(x) (PyLong_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Long(x)) +#else +#define __Pyx_PyNumber_Int(x) (PyInt_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Int(x)) +#endif +#if CYTHON_USE_PYLONG_INTERNALS + #if PY_VERSION_HEX >= 0x030C00A7 + #ifndef _PyLong_SIGN_MASK + #define _PyLong_SIGN_MASK 3 + #endif + #ifndef _PyLong_NON_SIZE_BITS + #define _PyLong_NON_SIZE_BITS 3 + #endif + #define __Pyx_PyLong_Sign(x) (((PyLongObject*)x)->long_value.lv_tag & _PyLong_SIGN_MASK) + #define __Pyx_PyLong_IsNeg(x) ((__Pyx_PyLong_Sign(x) & 2) != 0) + #define __Pyx_PyLong_IsNonNeg(x) (!__Pyx_PyLong_IsNeg(x)) + #define __Pyx_PyLong_IsZero(x) (__Pyx_PyLong_Sign(x) & 1) + #define __Pyx_PyLong_IsPos(x) (__Pyx_PyLong_Sign(x) == 0) + #define __Pyx_PyLong_CompactValueUnsigned(x) (__Pyx_PyLong_Digits(x)[0]) + #define __Pyx_PyLong_DigitCount(x) ((Py_ssize_t) (((PyLongObject*)x)->long_value.lv_tag >> _PyLong_NON_SIZE_BITS)) + #define __Pyx_PyLong_SignedDigitCount(x)\ + ((1 - (Py_ssize_t) __Pyx_PyLong_Sign(x)) * __Pyx_PyLong_DigitCount(x)) + #if defined(PyUnstable_Long_IsCompact) && defined(PyUnstable_Long_CompactValue) + #define __Pyx_PyLong_IsCompact(x) PyUnstable_Long_IsCompact((PyLongObject*) x) + #define __Pyx_PyLong_CompactValue(x) PyUnstable_Long_CompactValue((PyLongObject*) x) + #else + #define __Pyx_PyLong_IsCompact(x) (((PyLongObject*)x)->long_value.lv_tag < (2 << _PyLong_NON_SIZE_BITS)) + #define __Pyx_PyLong_CompactValue(x) ((1 - (Py_ssize_t) __Pyx_PyLong_Sign(x)) * (Py_ssize_t) __Pyx_PyLong_Digits(x)[0]) + #endif + typedef Py_ssize_t __Pyx_compact_pylong; + typedef size_t __Pyx_compact_upylong; + #else + #define __Pyx_PyLong_IsNeg(x) (Py_SIZE(x) < 0) + #define __Pyx_PyLong_IsNonNeg(x) (Py_SIZE(x) >= 0) + #define __Pyx_PyLong_IsZero(x) (Py_SIZE(x) == 0) + #define __Pyx_PyLong_IsPos(x) (Py_SIZE(x) > 0) + #define __Pyx_PyLong_CompactValueUnsigned(x) ((Py_SIZE(x) == 0) ? 0 : __Pyx_PyLong_Digits(x)[0]) + #define __Pyx_PyLong_DigitCount(x) __Pyx_sst_abs(Py_SIZE(x)) + #define __Pyx_PyLong_SignedDigitCount(x) Py_SIZE(x) + #define __Pyx_PyLong_IsCompact(x) (Py_SIZE(x) == 0 || Py_SIZE(x) == 1 || Py_SIZE(x) == -1) + #define __Pyx_PyLong_CompactValue(x)\ + ((Py_SIZE(x) == 0) ? (sdigit) 0 : ((Py_SIZE(x) < 0) ? -(sdigit)__Pyx_PyLong_Digits(x)[0] : (sdigit)__Pyx_PyLong_Digits(x)[0])) + typedef sdigit __Pyx_compact_pylong; + typedef digit __Pyx_compact_upylong; + #endif + #if PY_VERSION_HEX >= 0x030C00A5 + #define __Pyx_PyLong_Digits(x) (((PyLongObject*)x)->long_value.ob_digit) + #else + #define __Pyx_PyLong_Digits(x) (((PyLongObject*)x)->ob_digit) + #endif +#endif +#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII +#include +static int __Pyx_sys_getdefaultencoding_not_ascii; +static int __Pyx_init_sys_getdefaultencoding_params(void) { + PyObject* sys; + PyObject* default_encoding = NULL; + PyObject* ascii_chars_u = NULL; + PyObject* ascii_chars_b = NULL; + const char* default_encoding_c; + sys = PyImport_ImportModule("sys"); + if (!sys) goto bad; + default_encoding = PyObject_CallMethod(sys, (char*) "getdefaultencoding", NULL); + Py_DECREF(sys); + if (!default_encoding) goto bad; + default_encoding_c = PyBytes_AsString(default_encoding); + if (!default_encoding_c) goto bad; + if (strcmp(default_encoding_c, "ascii") == 0) { + __Pyx_sys_getdefaultencoding_not_ascii = 0; + } else { + char ascii_chars[128]; + int c; + for (c = 0; c < 128; c++) { + ascii_chars[c] = (char) c; + } + __Pyx_sys_getdefaultencoding_not_ascii = 1; + ascii_chars_u = PyUnicode_DecodeASCII(ascii_chars, 128, NULL); + if (!ascii_chars_u) goto bad; + ascii_chars_b = PyUnicode_AsEncodedString(ascii_chars_u, default_encoding_c, NULL); + if (!ascii_chars_b || !PyBytes_Check(ascii_chars_b) || memcmp(ascii_chars, PyBytes_AS_STRING(ascii_chars_b), 128) != 0) { + PyErr_Format( + PyExc_ValueError, + "This module compiled with c_string_encoding=ascii, but default encoding '%.200s' is not a superset of ascii.", + default_encoding_c); + goto bad; + } + Py_DECREF(ascii_chars_u); + Py_DECREF(ascii_chars_b); + } + Py_DECREF(default_encoding); + return 0; +bad: + Py_XDECREF(default_encoding); + Py_XDECREF(ascii_chars_u); + Py_XDECREF(ascii_chars_b); + return -1; +} +#endif +#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT && PY_MAJOR_VERSION >= 3 +#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_DecodeUTF8(c_str, size, NULL) +#else +#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_Decode(c_str, size, __PYX_DEFAULT_STRING_ENCODING, NULL) +#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT +#include +static char* __PYX_DEFAULT_STRING_ENCODING; +static int __Pyx_init_sys_getdefaultencoding_params(void) { + PyObject* sys; + PyObject* default_encoding = NULL; + char* default_encoding_c; + sys = PyImport_ImportModule("sys"); + if (!sys) goto bad; + default_encoding = PyObject_CallMethod(sys, (char*) (const char*) "getdefaultencoding", NULL); + Py_DECREF(sys); + if (!default_encoding) goto bad; + default_encoding_c = PyBytes_AsString(default_encoding); + if (!default_encoding_c) goto bad; + __PYX_DEFAULT_STRING_ENCODING = (char*) malloc(strlen(default_encoding_c) + 1); + if (!__PYX_DEFAULT_STRING_ENCODING) goto bad; + strcpy(__PYX_DEFAULT_STRING_ENCODING, default_encoding_c); + Py_DECREF(default_encoding); + return 0; +bad: + Py_XDECREF(default_encoding); + return -1; +} +#endif +#endif + + +/* Test for GCC > 2.95 */ +#if defined(__GNUC__) && (__GNUC__ > 2 || (__GNUC__ == 2 && (__GNUC_MINOR__ > 95))) + #define likely(x) __builtin_expect(!!(x), 1) + #define unlikely(x) __builtin_expect(!!(x), 0) +#else /* !__GNUC__ or GCC < 2.95 */ + #define likely(x) (x) + #define unlikely(x) (x) +#endif /* __GNUC__ */ +static CYTHON_INLINE void __Pyx_pretend_to_initialize(void* ptr) { (void)ptr; } + +#if !CYTHON_USE_MODULE_STATE +static PyObject *__pyx_m = NULL; +#endif +static int __pyx_lineno; +static int __pyx_clineno = 0; +static const char * __pyx_cfilenm = __FILE__; +static const char *__pyx_filename; + +/* #### Code section: filename_table ### */ + +static const char *__pyx_f[] = { + "opendbc/can/packer_pyx.pyx", + "", +}; +/* #### Code section: utility_code_proto_before_types ### */ +/* ForceInitThreads.proto */ +#ifndef __PYX_FORCE_INIT_THREADS + #define __PYX_FORCE_INIT_THREADS 0 +#endif + +/* #### Code section: numeric_typedefs ### */ +/* #### Code section: complex_type_declarations ### */ +/* #### Code section: type_declarations ### */ + +/*--- Type declarations ---*/ +struct __pyx_obj_7opendbc_3can_10packer_pyx_CANPacker; + +/* "common.pxd":12 + * + * + * ctypedef unsigned int (*calc_checksum_type)(uint32_t, const Signal&, const vector[uint8_t] &) # <<<<<<<<<<<<<< + * + * cdef extern from "common_dbc.h": + */ +typedef unsigned int (*__pyx_t_7opendbc_3can_6common_calc_checksum_type)(uint32_t, struct Signal const &, std::vector const &); + +/* "opendbc/can/packer_pyx.pyx":11 + * + * + * cdef class CANPacker: # <<<<<<<<<<<<<< + * cdef: + * cpp_CANPacker *packer + */ +struct __pyx_obj_7opendbc_3can_10packer_pyx_CANPacker { + PyObject_HEAD + struct __pyx_vtabstruct_7opendbc_3can_10packer_pyx_CANPacker *__pyx_vtab; + CANPacker *packer; + struct DBC const *dbc; +}; + + + +struct __pyx_vtabstruct_7opendbc_3can_10packer_pyx_CANPacker { + std::vector (*pack)(struct __pyx_obj_7opendbc_3can_10packer_pyx_CANPacker *, PyObject *, PyObject *); + PyObject *(*make_can_msg)(struct __pyx_obj_7opendbc_3can_10packer_pyx_CANPacker *, PyObject *, PyObject *, PyObject *, int __pyx_skip_dispatch); +}; +static struct __pyx_vtabstruct_7opendbc_3can_10packer_pyx_CANPacker *__pyx_vtabptr_7opendbc_3can_10packer_pyx_CANPacker; +/* #### Code section: utility_code_proto ### */ + +/* --- Runtime support code (head) --- */ +/* Refnanny.proto */ +#ifndef CYTHON_REFNANNY + #define CYTHON_REFNANNY 0 +#endif +#if CYTHON_REFNANNY + typedef struct { + void (*INCREF)(void*, PyObject*, Py_ssize_t); + void (*DECREF)(void*, PyObject*, Py_ssize_t); + void (*GOTREF)(void*, PyObject*, Py_ssize_t); + void (*GIVEREF)(void*, PyObject*, Py_ssize_t); + void* (*SetupContext)(const char*, Py_ssize_t, const char*); + void (*FinishContext)(void**); + } __Pyx_RefNannyAPIStruct; + static __Pyx_RefNannyAPIStruct *__Pyx_RefNanny = NULL; + static __Pyx_RefNannyAPIStruct *__Pyx_RefNannyImportAPI(const char *modname); + #define __Pyx_RefNannyDeclarations void *__pyx_refnanny = NULL; +#ifdef WITH_THREAD + #define __Pyx_RefNannySetupContext(name, acquire_gil)\ + if (acquire_gil) {\ + PyGILState_STATE __pyx_gilstate_save = PyGILState_Ensure();\ + __pyx_refnanny = __Pyx_RefNanny->SetupContext((name), (__LINE__), (__FILE__));\ + PyGILState_Release(__pyx_gilstate_save);\ + } else {\ + __pyx_refnanny = __Pyx_RefNanny->SetupContext((name), (__LINE__), (__FILE__));\ + } + #define __Pyx_RefNannyFinishContextNogil() {\ + PyGILState_STATE __pyx_gilstate_save = PyGILState_Ensure();\ + __Pyx_RefNannyFinishContext();\ + PyGILState_Release(__pyx_gilstate_save);\ + } +#else + #define __Pyx_RefNannySetupContext(name, acquire_gil)\ + __pyx_refnanny = __Pyx_RefNanny->SetupContext((name), (__LINE__), (__FILE__)) + #define __Pyx_RefNannyFinishContextNogil() __Pyx_RefNannyFinishContext() +#endif + #define __Pyx_RefNannyFinishContextNogil() {\ + PyGILState_STATE __pyx_gilstate_save = PyGILState_Ensure();\ + __Pyx_RefNannyFinishContext();\ + PyGILState_Release(__pyx_gilstate_save);\ + } + #define __Pyx_RefNannyFinishContext()\ + __Pyx_RefNanny->FinishContext(&__pyx_refnanny) + #define __Pyx_INCREF(r) __Pyx_RefNanny->INCREF(__pyx_refnanny, (PyObject *)(r), (__LINE__)) + #define __Pyx_DECREF(r) __Pyx_RefNanny->DECREF(__pyx_refnanny, (PyObject *)(r), (__LINE__)) + #define __Pyx_GOTREF(r) __Pyx_RefNanny->GOTREF(__pyx_refnanny, (PyObject *)(r), (__LINE__)) + #define __Pyx_GIVEREF(r) __Pyx_RefNanny->GIVEREF(__pyx_refnanny, (PyObject *)(r), (__LINE__)) + #define __Pyx_XINCREF(r) do { if((r) == NULL); else {__Pyx_INCREF(r); }} while(0) + #define __Pyx_XDECREF(r) do { if((r) == NULL); else {__Pyx_DECREF(r); }} while(0) + #define __Pyx_XGOTREF(r) do { if((r) == NULL); else {__Pyx_GOTREF(r); }} while(0) + #define __Pyx_XGIVEREF(r) do { if((r) == NULL); else {__Pyx_GIVEREF(r);}} while(0) +#else + #define __Pyx_RefNannyDeclarations + #define __Pyx_RefNannySetupContext(name, acquire_gil) + #define __Pyx_RefNannyFinishContextNogil() + #define __Pyx_RefNannyFinishContext() + #define __Pyx_INCREF(r) Py_INCREF(r) + #define __Pyx_DECREF(r) Py_DECREF(r) + #define __Pyx_GOTREF(r) + #define __Pyx_GIVEREF(r) + #define __Pyx_XINCREF(r) Py_XINCREF(r) + #define __Pyx_XDECREF(r) Py_XDECREF(r) + #define __Pyx_XGOTREF(r) + #define __Pyx_XGIVEREF(r) +#endif +#define __Pyx_Py_XDECREF_SET(r, v) do {\ + PyObject *tmp = (PyObject *) r;\ + r = v; Py_XDECREF(tmp);\ + } while (0) +#define __Pyx_XDECREF_SET(r, v) do {\ + PyObject *tmp = (PyObject *) r;\ + r = v; __Pyx_XDECREF(tmp);\ + } while (0) +#define __Pyx_DECREF_SET(r, v) do {\ + PyObject *tmp = (PyObject *) r;\ + r = v; __Pyx_DECREF(tmp);\ + } while (0) +#define __Pyx_CLEAR(r) do { PyObject* tmp = ((PyObject*)(r)); r = NULL; __Pyx_DECREF(tmp);} while(0) +#define __Pyx_XCLEAR(r) do { if((r) != NULL) {PyObject* tmp = ((PyObject*)(r)); r = NULL; __Pyx_DECREF(tmp);}} while(0) + +/* PyErrExceptionMatches.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyErr_ExceptionMatches(err) __Pyx_PyErr_ExceptionMatchesInState(__pyx_tstate, err) +static CYTHON_INLINE int __Pyx_PyErr_ExceptionMatchesInState(PyThreadState* tstate, PyObject* err); +#else +#define __Pyx_PyErr_ExceptionMatches(err) PyErr_ExceptionMatches(err) +#endif + +/* PyThreadStateGet.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyThreadState_declare PyThreadState *__pyx_tstate; +#define __Pyx_PyThreadState_assign __pyx_tstate = __Pyx_PyThreadState_Current; +#if PY_VERSION_HEX >= 0x030C00A6 +#define __Pyx_PyErr_Occurred() (__pyx_tstate->current_exception != NULL) +#define __Pyx_PyErr_CurrentExceptionType() (__pyx_tstate->current_exception ? (PyObject*) Py_TYPE(__pyx_tstate->current_exception) : (PyObject*) NULL) +#else +#define __Pyx_PyErr_Occurred() (__pyx_tstate->curexc_type != NULL) +#define __Pyx_PyErr_CurrentExceptionType() (__pyx_tstate->curexc_type) +#endif +#else +#define __Pyx_PyThreadState_declare +#define __Pyx_PyThreadState_assign +#define __Pyx_PyErr_Occurred() (PyErr_Occurred() != NULL) +#define __Pyx_PyErr_CurrentExceptionType() PyErr_Occurred() +#endif + +/* PyErrFetchRestore.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyErr_Clear() __Pyx_ErrRestore(NULL, NULL, NULL) +#define __Pyx_ErrRestoreWithState(type, value, tb) __Pyx_ErrRestoreInState(PyThreadState_GET(), type, value, tb) +#define __Pyx_ErrFetchWithState(type, value, tb) __Pyx_ErrFetchInState(PyThreadState_GET(), type, value, tb) +#define __Pyx_ErrRestore(type, value, tb) __Pyx_ErrRestoreInState(__pyx_tstate, type, value, tb) +#define __Pyx_ErrFetch(type, value, tb) __Pyx_ErrFetchInState(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx_ErrRestoreInState(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb); +static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A6 +#define __Pyx_PyErr_SetNone(exc) (Py_INCREF(exc), __Pyx_ErrRestore((exc), NULL, NULL)) +#else +#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc) +#endif +#else +#define __Pyx_PyErr_Clear() PyErr_Clear() +#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc) +#define __Pyx_ErrRestoreWithState(type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetchWithState(type, value, tb) PyErr_Fetch(type, value, tb) +#define __Pyx_ErrRestoreInState(tstate, type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetchInState(tstate, type, value, tb) PyErr_Fetch(type, value, tb) +#define __Pyx_ErrRestore(type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetch(type, value, tb) PyErr_Fetch(type, value, tb) +#endif + +/* PyObjectGetAttrStr.proto */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStr(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GetAttrStr(o,n) PyObject_GetAttr(o,n) +#endif + +/* PyObjectGetAttrStrNoError.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name); + +/* GetBuiltinName.proto */ +static PyObject *__Pyx_GetBuiltinName(PyObject *name); + +/* TupleAndListFromArray.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyList_FromArray(PyObject *const *src, Py_ssize_t n); +static CYTHON_INLINE PyObject* __Pyx_PyTuple_FromArray(PyObject *const *src, Py_ssize_t n); +#endif + +/* IncludeStringH.proto */ +#include + +/* BytesEquals.proto */ +static CYTHON_INLINE int __Pyx_PyBytes_Equals(PyObject* s1, PyObject* s2, int equals); + +/* UnicodeEquals.proto */ +static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int equals); + +/* fastcall.proto */ +#if CYTHON_AVOID_BORROWED_REFS + #define __Pyx_Arg_VARARGS(args, i) PySequence_GetItem(args, i) +#elif CYTHON_ASSUME_SAFE_MACROS + #define __Pyx_Arg_VARARGS(args, i) PyTuple_GET_ITEM(args, i) +#else + #define __Pyx_Arg_VARARGS(args, i) PyTuple_GetItem(args, i) +#endif +#if CYTHON_AVOID_BORROWED_REFS + #define __Pyx_Arg_NewRef_VARARGS(arg) __Pyx_NewRef(arg) + #define __Pyx_Arg_XDECREF_VARARGS(arg) Py_XDECREF(arg) +#else + #define __Pyx_Arg_NewRef_VARARGS(arg) arg + #define __Pyx_Arg_XDECREF_VARARGS(arg) +#endif +#define __Pyx_NumKwargs_VARARGS(kwds) PyDict_Size(kwds) +#define __Pyx_KwValues_VARARGS(args, nargs) NULL +#define __Pyx_GetKwValue_VARARGS(kw, kwvalues, s) __Pyx_PyDict_GetItemStrWithError(kw, s) +#define __Pyx_KwargsAsDict_VARARGS(kw, kwvalues) PyDict_Copy(kw) +#if CYTHON_METH_FASTCALL + #define __Pyx_Arg_FASTCALL(args, i) args[i] + #define __Pyx_NumKwargs_FASTCALL(kwds) PyTuple_GET_SIZE(kwds) + #define __Pyx_KwValues_FASTCALL(args, nargs) ((args) + (nargs)) + static CYTHON_INLINE PyObject * __Pyx_GetKwValue_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues, PyObject *s); +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 + CYTHON_UNUSED static PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues); + #else + #define __Pyx_KwargsAsDict_FASTCALL(kw, kwvalues) _PyStack_AsDict(kwvalues, kw) + #endif + #define __Pyx_Arg_NewRef_FASTCALL(arg) arg /* no-op, __Pyx_Arg_FASTCALL is direct and this needs + to have the same reference counting */ + #define __Pyx_Arg_XDECREF_FASTCALL(arg) +#else + #define __Pyx_Arg_FASTCALL __Pyx_Arg_VARARGS + #define __Pyx_NumKwargs_FASTCALL __Pyx_NumKwargs_VARARGS + #define __Pyx_KwValues_FASTCALL __Pyx_KwValues_VARARGS + #define __Pyx_GetKwValue_FASTCALL __Pyx_GetKwValue_VARARGS + #define __Pyx_KwargsAsDict_FASTCALL __Pyx_KwargsAsDict_VARARGS + #define __Pyx_Arg_NewRef_FASTCALL(arg) __Pyx_Arg_NewRef_VARARGS(arg) + #define __Pyx_Arg_XDECREF_FASTCALL(arg) __Pyx_Arg_XDECREF_VARARGS(arg) +#endif +#if CYTHON_COMPILING_IN_CPYTHON && CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS +#define __Pyx_ArgsSlice_VARARGS(args, start, stop) __Pyx_PyTuple_FromArray(&__Pyx_Arg_VARARGS(args, start), stop - start) +#define __Pyx_ArgsSlice_FASTCALL(args, start, stop) __Pyx_PyTuple_FromArray(&__Pyx_Arg_FASTCALL(args, start), stop - start) +#else +#define __Pyx_ArgsSlice_VARARGS(args, start, stop) PyTuple_GetSlice(args, start, stop) +#define __Pyx_ArgsSlice_FASTCALL(args, start, stop) PyTuple_GetSlice(args, start, stop) +#endif + +/* RaiseDoubleKeywords.proto */ +static void __Pyx_RaiseDoubleKeywordsError(const char* func_name, PyObject* kw_name); + +/* ParseKeywords.proto */ +static int __Pyx_ParseOptionalKeywords(PyObject *kwds, PyObject *const *kwvalues, + PyObject **argnames[], + PyObject *kwds2, PyObject *values[], Py_ssize_t num_pos_args, + const char* function_name); + +/* RaiseArgTupleInvalid.proto */ +static void __Pyx_RaiseArgtupleInvalid(const char* func_name, int exact, + Py_ssize_t num_min, Py_ssize_t num_max, Py_ssize_t num_found); + +/* MoveIfSupported.proto */ +#if CYTHON_USE_CPP_STD_MOVE + #include + #define __PYX_STD_MOVE_IF_SUPPORTED(x) std::move(x) +#else + #define __PYX_STD_MOVE_IF_SUPPORTED(x) x +#endif + +/* PyObjectFormatSimple.proto */ +#if CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + PyObject_Format(s, f)) +#elif PY_MAJOR_VERSION < 3 + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + likely(PyString_CheckExact(s)) ? PyUnicode_FromEncodedObject(s, NULL, "strict") :\ + PyObject_Format(s, f)) +#elif CYTHON_USE_TYPE_SLOTS + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + likely(PyLong_CheckExact(s)) ? PyLong_Type.tp_repr(s) :\ + likely(PyFloat_CheckExact(s)) ? PyFloat_Type.tp_repr(s) :\ + PyObject_Format(s, f)) +#else + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + PyObject_Format(s, f)) +#endif + +/* PyFunctionFastCall.proto */ +#if CYTHON_FAST_PYCALL +#if !CYTHON_VECTORCALL +#define __Pyx_PyFunction_FastCall(func, args, nargs)\ + __Pyx_PyFunction_FastCallDict((func), (args), (nargs), NULL) +static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs); +#endif +#define __Pyx_BUILD_ASSERT_EXPR(cond)\ + (sizeof(char [1 - 2*!(cond)]) - 1) +#ifndef Py_MEMBER_SIZE +#define Py_MEMBER_SIZE(type, member) sizeof(((type *)0)->member) +#endif +#if !CYTHON_VECTORCALL +#if PY_VERSION_HEX >= 0x03080000 + #include "frameobject.h" +#if PY_VERSION_HEX >= 0x030b00a6 && !CYTHON_COMPILING_IN_LIMITED_API + #ifndef Py_BUILD_CORE + #define Py_BUILD_CORE 1 + #endif + #include "internal/pycore_frame.h" +#endif + #define __Pxy_PyFrame_Initialize_Offsets() + #define __Pyx_PyFrame_GetLocalsplus(frame) ((frame)->f_localsplus) +#else + static size_t __pyx_pyframe_localsplus_offset = 0; + #include "frameobject.h" + #define __Pxy_PyFrame_Initialize_Offsets()\ + ((void)__Pyx_BUILD_ASSERT_EXPR(sizeof(PyFrameObject) == offsetof(PyFrameObject, f_localsplus) + Py_MEMBER_SIZE(PyFrameObject, f_localsplus)),\ + (void)(__pyx_pyframe_localsplus_offset = ((size_t)PyFrame_Type.tp_basicsize) - Py_MEMBER_SIZE(PyFrameObject, f_localsplus))) + #define __Pyx_PyFrame_GetLocalsplus(frame)\ + (assert(__pyx_pyframe_localsplus_offset), (PyObject **)(((char *)(frame)) + __pyx_pyframe_localsplus_offset)) +#endif +#endif +#endif + +/* PyObjectCall.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw); +#else +#define __Pyx_PyObject_Call(func, arg, kw) PyObject_Call(func, arg, kw) +#endif + +/* PyObjectCallMethO.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg); +#endif + +/* PyObjectFastCall.proto */ +#define __Pyx_PyObject_FastCall(func, args, nargs) __Pyx_PyObject_FastCallDict(func, args, (size_t)(nargs), NULL) +static CYTHON_INLINE PyObject* __Pyx_PyObject_FastCallDict(PyObject *func, PyObject **args, size_t nargs, PyObject *kwargs); + +/* PyObjectCallOneArg.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg); + +/* RaiseException.proto */ +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause); + +/* IterFinish.proto */ +static CYTHON_INLINE int __Pyx_IterFinish(void); + +/* PyObjectCallNoArg.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func); + +/* PyObjectGetMethod.proto */ +static int __Pyx_PyObject_GetMethod(PyObject *obj, PyObject *name, PyObject **method); + +/* PyObjectCallMethod0.proto */ +static PyObject* __Pyx_PyObject_CallMethod0(PyObject* obj, PyObject* method_name); + +/* RaiseNeedMoreValuesToUnpack.proto */ +static CYTHON_INLINE void __Pyx_RaiseNeedMoreValuesError(Py_ssize_t index); + +/* RaiseTooManyValuesToUnpack.proto */ +static CYTHON_INLINE void __Pyx_RaiseTooManyValuesError(Py_ssize_t expected); + +/* UnpackItemEndCheck.proto */ +static int __Pyx_IternextUnpackEndCheck(PyObject *retval, Py_ssize_t expected); + +/* RaiseNoneIterError.proto */ +static CYTHON_INLINE void __Pyx_RaiseNoneNotIterableError(void); + +/* UnpackTupleError.proto */ +static void __Pyx_UnpackTupleError(PyObject *, Py_ssize_t index); + +/* UnpackTuple2.proto */ +#define __Pyx_unpack_tuple2(tuple, value1, value2, is_tuple, has_known_size, decref_tuple)\ + (likely(is_tuple || PyTuple_Check(tuple)) ?\ + (likely(has_known_size || PyTuple_GET_SIZE(tuple) == 2) ?\ + __Pyx_unpack_tuple2_exact(tuple, value1, value2, decref_tuple) :\ + (__Pyx_UnpackTupleError(tuple, 2), -1)) :\ + __Pyx_unpack_tuple2_generic(tuple, value1, value2, has_known_size, decref_tuple)) +static CYTHON_INLINE int __Pyx_unpack_tuple2_exact( + PyObject* tuple, PyObject** value1, PyObject** value2, int decref_tuple); +static int __Pyx_unpack_tuple2_generic( + PyObject* tuple, PyObject** value1, PyObject** value2, int has_known_size, int decref_tuple); + +/* dict_iter.proto */ +static CYTHON_INLINE PyObject* __Pyx_dict_iterator(PyObject* dict, int is_dict, PyObject* method_name, + Py_ssize_t* p_orig_length, int* p_is_dict); +static CYTHON_INLINE int __Pyx_dict_iter_next(PyObject* dict_or_iter, Py_ssize_t orig_length, Py_ssize_t* ppos, + PyObject** pkey, PyObject** pvalue, PyObject** pitem, int is_dict); + +/* PyDictVersioning.proto */ +#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS +#define __PYX_DICT_VERSION_INIT ((PY_UINT64_T) -1) +#define __PYX_GET_DICT_VERSION(dict) (((PyDictObject*)(dict))->ma_version_tag) +#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var)\ + (version_var) = __PYX_GET_DICT_VERSION(dict);\ + (cache_var) = (value); +#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) {\ + static PY_UINT64_T __pyx_dict_version = 0;\ + static PyObject *__pyx_dict_cached_value = NULL;\ + if (likely(__PYX_GET_DICT_VERSION(DICT) == __pyx_dict_version)) {\ + (VAR) = __pyx_dict_cached_value;\ + } else {\ + (VAR) = __pyx_dict_cached_value = (LOOKUP);\ + __pyx_dict_version = __PYX_GET_DICT_VERSION(DICT);\ + }\ +} +static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj); +static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj); +static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version); +#else +#define __PYX_GET_DICT_VERSION(dict) (0) +#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var) +#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) (VAR) = (LOOKUP); +#endif + +/* GetTopmostException.proto */ +#if CYTHON_USE_EXC_INFO_STACK && CYTHON_FAST_THREAD_STATE +static _PyErr_StackItem * __Pyx_PyErr_GetTopmostException(PyThreadState *tstate); +#endif + +/* SaveResetException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_ExceptionSave(type, value, tb) __Pyx__ExceptionSave(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionSave(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#define __Pyx_ExceptionReset(type, value, tb) __Pyx__ExceptionReset(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionReset(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb); +#else +#define __Pyx_ExceptionSave(type, value, tb) PyErr_GetExcInfo(type, value, tb) +#define __Pyx_ExceptionReset(type, value, tb) PyErr_SetExcInfo(type, value, tb) +#endif + +/* KeywordStringCheck.proto */ +static int __Pyx_CheckKeywordStrings(PyObject *kw, const char* function_name, int kw_allowed); + +/* IncludeStructmemberH.proto */ +#include + +/* FixUpExtensionType.proto */ +#if CYTHON_USE_TYPE_SPECS +static int __Pyx_fix_up_extension_type_from_spec(PyType_Spec *spec, PyTypeObject *type); +#endif + +/* ValidateBasesTuple.proto */ +#if CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API || CYTHON_USE_TYPE_SPECS +static int __Pyx_validate_bases_tuple(const char *type_name, Py_ssize_t dictoffset, PyObject *bases); +#endif + +/* PyType_Ready.proto */ +CYTHON_UNUSED static int __Pyx_PyType_Ready(PyTypeObject *t); + +/* PyObject_GenericGetAttrNoDict.proto */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GenericGetAttrNoDict PyObject_GenericGetAttr +#endif + +/* PyObject_GenericGetAttr.proto */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GenericGetAttr PyObject_GenericGetAttr +#endif + +/* SetVTable.proto */ +static int __Pyx_SetVtable(PyTypeObject* typeptr , void* vtable); + +/* GetVTable.proto */ +static void* __Pyx_GetVtable(PyTypeObject *type); + +/* MergeVTables.proto */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_MergeVtables(PyTypeObject *type); +#endif + +/* SetupReduce.proto */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_setup_reduce(PyObject* type_obj); +#endif + +/* FetchSharedCythonModule.proto */ +static PyObject *__Pyx_FetchSharedCythonABIModule(void); + +/* FetchCommonType.proto */ +#if !CYTHON_USE_TYPE_SPECS +static PyTypeObject* __Pyx_FetchCommonType(PyTypeObject* type); +#else +static PyTypeObject* __Pyx_FetchCommonTypeFromSpec(PyObject *module, PyType_Spec *spec, PyObject *bases); +#endif + +/* PyMethodNew.proto */ +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject *__Pyx_PyMethod_New(PyObject *func, PyObject *self, PyObject *typ) { + PyObject *typesModule=NULL, *methodType=NULL, *result=NULL; + CYTHON_UNUSED_VAR(typ); + if (!self) + return __Pyx_NewRef(func); + typesModule = PyImport_ImportModule("types"); + if (!typesModule) return NULL; + methodType = PyObject_GetAttrString(typesModule, "MethodType"); + Py_DECREF(typesModule); + if (!methodType) return NULL; + result = PyObject_CallFunctionObjArgs(methodType, func, self, NULL); + Py_DECREF(methodType); + return result; +} +#elif PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx_PyMethod_New(PyObject *func, PyObject *self, PyObject *typ) { + CYTHON_UNUSED_VAR(typ); + if (!self) + return __Pyx_NewRef(func); + return PyMethod_New(func, self); +} +#else + #define __Pyx_PyMethod_New PyMethod_New +#endif + +/* PyVectorcallFastCallDict.proto */ +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE PyObject *__Pyx_PyVectorcall_FastCallDict(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw); +#endif + +/* CythonFunctionShared.proto */ +#define __Pyx_CyFunction_USED +#define __Pyx_CYFUNCTION_STATICMETHOD 0x01 +#define __Pyx_CYFUNCTION_CLASSMETHOD 0x02 +#define __Pyx_CYFUNCTION_CCLASS 0x04 +#define __Pyx_CYFUNCTION_COROUTINE 0x08 +#define __Pyx_CyFunction_GetClosure(f)\ + (((__pyx_CyFunctionObject *) (f))->func_closure) +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_CyFunction_GetClassObj(f)\ + (((__pyx_CyFunctionObject *) (f))->func_classobj) +#else + #define __Pyx_CyFunction_GetClassObj(f)\ + ((PyObject*) ((PyCMethodObject *) (f))->mm_class) +#endif +#define __Pyx_CyFunction_SetClassObj(f, classobj)\ + __Pyx__CyFunction_SetClassObj((__pyx_CyFunctionObject *) (f), (classobj)) +#define __Pyx_CyFunction_Defaults(type, f)\ + ((type *)(((__pyx_CyFunctionObject *) (f))->defaults)) +#define __Pyx_CyFunction_SetDefaultsGetter(f, g)\ + ((__pyx_CyFunctionObject *) (f))->defaults_getter = (g) +typedef struct { +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject_HEAD + PyObject *func; +#elif PY_VERSION_HEX < 0x030900B1 + PyCFunctionObject func; +#else + PyCMethodObject func; +#endif +#if CYTHON_BACKPORT_VECTORCALL + __pyx_vectorcallfunc func_vectorcall; +#endif +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API + PyObject *func_weakreflist; +#endif + PyObject *func_dict; + PyObject *func_name; + PyObject *func_qualname; + PyObject *func_doc; + PyObject *func_globals; + PyObject *func_code; + PyObject *func_closure; +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + PyObject *func_classobj; +#endif + void *defaults; + int defaults_pyobjects; + size_t defaults_size; + int flags; + PyObject *defaults_tuple; + PyObject *defaults_kwdict; + PyObject *(*defaults_getter)(PyObject *); + PyObject *func_annotations; + PyObject *func_is_coroutine; +} __pyx_CyFunctionObject; +#undef __Pyx_CyOrPyCFunction_Check +#define __Pyx_CyFunction_Check(obj) __Pyx_TypeCheck(obj, __pyx_CyFunctionType) +#define __Pyx_CyOrPyCFunction_Check(obj) __Pyx_TypeCheck2(obj, __pyx_CyFunctionType, &PyCFunction_Type) +#define __Pyx_CyFunction_CheckExact(obj) __Pyx_IS_TYPE(obj, __pyx_CyFunctionType) +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc); +#undef __Pyx_IsSameCFunction +#define __Pyx_IsSameCFunction(func, cfunc) __Pyx__IsSameCyOrCFunction(func, cfunc) +static PyObject *__Pyx_CyFunction_Init(__pyx_CyFunctionObject* op, PyMethodDef *ml, + int flags, PyObject* qualname, + PyObject *closure, + PyObject *module, PyObject *globals, + PyObject* code); +static CYTHON_INLINE void __Pyx__CyFunction_SetClassObj(__pyx_CyFunctionObject* f, PyObject* classobj); +static CYTHON_INLINE void *__Pyx_CyFunction_InitDefaults(PyObject *m, + size_t size, + int pyobjects); +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsTuple(PyObject *m, + PyObject *tuple); +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsKwDict(PyObject *m, + PyObject *dict); +static CYTHON_INLINE void __Pyx_CyFunction_SetAnnotationsDict(PyObject *m, + PyObject *dict); +static int __pyx_CyFunction_init(PyObject *module); +#if CYTHON_METH_FASTCALL +static PyObject * __Pyx_CyFunction_Vectorcall_NOARGS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_O(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +#if CYTHON_BACKPORT_VECTORCALL +#define __Pyx_CyFunction_func_vectorcall(f) (((__pyx_CyFunctionObject*)f)->func_vectorcall) +#else +#define __Pyx_CyFunction_func_vectorcall(f) (((PyCFunctionObject*)f)->vectorcall) +#endif +#endif + +/* CythonFunction.proto */ +static PyObject *__Pyx_CyFunction_New(PyMethodDef *ml, + int flags, PyObject* qualname, + PyObject *closure, + PyObject *module, PyObject *globals, + PyObject* code); + +/* CLineInTraceback.proto */ +#ifdef CYTHON_CLINE_IN_TRACEBACK +#define __Pyx_CLineForTraceback(tstate, c_line) (((CYTHON_CLINE_IN_TRACEBACK)) ? c_line : 0) +#else +static int __Pyx_CLineForTraceback(PyThreadState *tstate, int c_line); +#endif + +/* CodeObjectCache.proto */ +#if !CYTHON_COMPILING_IN_LIMITED_API +typedef struct { + PyCodeObject* code_object; + int code_line; +} __Pyx_CodeObjectCacheEntry; +struct __Pyx_CodeObjectCache { + int count; + int max_count; + __Pyx_CodeObjectCacheEntry* entries; +}; +static struct __Pyx_CodeObjectCache __pyx_code_cache = {0,0,NULL}; +static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line); +static PyCodeObject *__pyx_find_code_object(int code_line); +static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object); +#endif + +/* AddTraceback.proto */ +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename); + +/* CppExceptionConversion.proto */ +#ifndef __Pyx_CppExn2PyErr +#include +#include +#include +#include +static void __Pyx_CppExn2PyErr() { + try { + if (PyErr_Occurred()) + ; // let the latest Python exn pass through and ignore the current one + else + throw; + } catch (const std::bad_alloc& exn) { + PyErr_SetString(PyExc_MemoryError, exn.what()); + } catch (const std::bad_cast& exn) { + PyErr_SetString(PyExc_TypeError, exn.what()); + } catch (const std::bad_typeid& exn) { + PyErr_SetString(PyExc_TypeError, exn.what()); + } catch (const std::domain_error& exn) { + PyErr_SetString(PyExc_ValueError, exn.what()); + } catch (const std::invalid_argument& exn) { + PyErr_SetString(PyExc_ValueError, exn.what()); + } catch (const std::ios_base::failure& exn) { + PyErr_SetString(PyExc_IOError, exn.what()); + } catch (const std::out_of_range& exn) { + PyErr_SetString(PyExc_IndexError, exn.what()); + } catch (const std::overflow_error& exn) { + PyErr_SetString(PyExc_OverflowError, exn.what()); + } catch (const std::range_error& exn) { + PyErr_SetString(PyExc_ArithmeticError, exn.what()); + } catch (const std::underflow_error& exn) { + PyErr_SetString(PyExc_ArithmeticError, exn.what()); + } catch (const std::exception& exn) { + PyErr_SetString(PyExc_RuntimeError, exn.what()); + } + catch (...) + { + PyErr_SetString(PyExc_RuntimeError, "Unknown exception"); + } +} +#endif + +/* GCCDiagnostics.proto */ +#if !defined(__INTEL_COMPILER) && defined(__GNUC__) && (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 6)) +#define __Pyx_HAS_GCC_DIAGNOSTIC +#endif + +/* CIntFromPy.proto */ +static CYTHON_INLINE uint32_t __Pyx_PyInt_As_uint32_t(PyObject *); + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_uint32_t(uint32_t value); + +/* FormatTypeName.proto */ +#if CYTHON_COMPILING_IN_LIMITED_API +typedef PyObject *__Pyx_TypeName; +#define __Pyx_FMT_TYPENAME "%U" +static __Pyx_TypeName __Pyx_PyType_GetName(PyTypeObject* tp); +#define __Pyx_DECREF_TypeName(obj) Py_XDECREF(obj) +#else +typedef const char *__Pyx_TypeName; +#define __Pyx_FMT_TYPENAME "%.200s" +#define __Pyx_PyType_GetName(tp) ((tp)->tp_name) +#define __Pyx_DECREF_TypeName(obj) +#endif + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value); + +/* CIntFromPy.proto */ +static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *); + +/* CIntFromPy.proto */ +static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *); + +/* FastTypeChecks.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_TypeCheck(obj, type) __Pyx_IsSubtype(Py_TYPE(obj), (PyTypeObject *)type) +#define __Pyx_TypeCheck2(obj, type1, type2) __Pyx_IsAnySubtype2(Py_TYPE(obj), (PyTypeObject *)type1, (PyTypeObject *)type2) +static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b); +static CYTHON_INLINE int __Pyx_IsAnySubtype2(PyTypeObject *cls, PyTypeObject *a, PyTypeObject *b); +static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches(PyObject *err, PyObject *type); +static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches2(PyObject *err, PyObject *type1, PyObject *type2); +#else +#define __Pyx_TypeCheck(obj, type) PyObject_TypeCheck(obj, (PyTypeObject *)type) +#define __Pyx_TypeCheck2(obj, type1, type2) (PyObject_TypeCheck(obj, (PyTypeObject *)type1) || PyObject_TypeCheck(obj, (PyTypeObject *)type2)) +#define __Pyx_PyErr_GivenExceptionMatches(err, type) PyErr_GivenExceptionMatches(err, type) +#define __Pyx_PyErr_GivenExceptionMatches2(err, type1, type2) (PyErr_GivenExceptionMatches(err, type1) || PyErr_GivenExceptionMatches(err, type2)) +#endif +#define __Pyx_PyErr_ExceptionMatches2(err1, err2) __Pyx_PyErr_GivenExceptionMatches2(__Pyx_PyErr_CurrentExceptionType(), err1, err2) +#define __Pyx_PyException_Check(obj) __Pyx_TypeCheck(obj, PyExc_Exception) + +/* CheckBinaryVersion.proto */ +static unsigned long __Pyx_get_runtime_version(void); +static int __Pyx_check_binary_version(unsigned long ct_version, unsigned long rt_version, int allow_newer); + +/* InitStrings.proto */ +static int __Pyx_InitStrings(__Pyx_StringTabEntry *t); + +/* #### Code section: module_declarations ### */ +static std::vector __pyx_f_7opendbc_3can_10packer_pyx_9CANPacker_pack(struct __pyx_obj_7opendbc_3can_10packer_pyx_CANPacker *__pyx_v_self, PyObject *__pyx_v_addr, PyObject *__pyx_v_values); /* proto*/ +static PyObject *__pyx_f_7opendbc_3can_10packer_pyx_9CANPacker_make_can_msg(struct __pyx_obj_7opendbc_3can_10packer_pyx_CANPacker *__pyx_v_self, PyObject *__pyx_v_name_or_addr, PyObject *__pyx_v_bus, PyObject *__pyx_v_values, int __pyx_skip_dispatch); /* proto*/ + +/* Module declarations from "libc.stdint" */ + +/* Module declarations from "libcpp.vector" */ + +/* Module declarations from "libcpp" */ + +/* Module declarations from "libcpp.utility" */ + +/* Module declarations from "libcpp.pair" */ + +/* Module declarations from "libc.string" */ + +/* Module declarations from "libcpp.string" */ + +/* Module declarations from "libcpp.unordered_map" */ + +/* Module declarations from "opendbc.can.common" */ + +/* Module declarations from "opendbc.can.packer_pyx" */ +static std::string __pyx_convert_string_from_py_std__in_string(PyObject *); /*proto*/ +/* #### Code section: typeinfo ### */ +/* #### Code section: before_global_var ### */ +#define __Pyx_MODULE_NAME "opendbc.can.packer_pyx" +extern int __pyx_module_is_main_opendbc__can__packer_pyx; +int __pyx_module_is_main_opendbc__can__packer_pyx = 0; + +/* Implementation of "opendbc.can.packer_pyx" */ +/* #### Code section: global_var ### */ +static PyObject *__pyx_builtin_RuntimeError; +static PyObject *__pyx_builtin_IndexError; +static PyObject *__pyx_builtin_TypeError; +/* #### Code section: string_decls ### */ +static const char __pyx_k__7[] = "?"; +static const char __pyx_k_gc[] = "gc"; +static const char __pyx_k_bus[] = "bus"; +static const char __pyx_k_main[] = "__main__"; +static const char __pyx_k_name[] = "__name__"; +static const char __pyx_k_self[] = "self"; +static const char __pyx_k_test[] = "__test__"; +static const char __pyx_k_utf8[] = "utf8"; +static const char __pyx_k_enable[] = "enable"; +static const char __pyx_k_encode[] = "encode"; +static const char __pyx_k_reduce[] = "__reduce__"; +static const char __pyx_k_values[] = "values"; +static const char __pyx_k_disable[] = "disable"; +static const char __pyx_k_dbc_name[] = "dbc_name"; +static const char __pyx_k_getstate[] = "__getstate__"; +static const char __pyx_k_setstate[] = "__setstate__"; +static const char __pyx_k_CANPacker[] = "CANPacker"; +static const char __pyx_k_TypeError[] = "TypeError"; +static const char __pyx_k_isenabled[] = "isenabled"; +static const char __pyx_k_iteritems[] = "iteritems"; +static const char __pyx_k_pyx_state[] = "__pyx_state"; +static const char __pyx_k_reduce_ex[] = "__reduce_ex__"; +static const char __pyx_k_IndexError[] = "IndexError"; +static const char __pyx_k_pyx_vtable[] = "__pyx_vtable__"; +static const char __pyx_k_Can_t_lookup[] = "Can't lookup "; +static const char __pyx_k_RuntimeError[] = "RuntimeError"; +static const char __pyx_k_is_coroutine[] = "_is_coroutine"; +static const char __pyx_k_make_can_msg[] = "make_can_msg"; +static const char __pyx_k_name_or_addr[] = "name_or_addr"; +static const char __pyx_k_stringsource[] = ""; +static const char __pyx_k_reduce_cython[] = "__reduce_cython__"; +static const char __pyx_k_setstate_cython[] = "__setstate_cython__"; +static const char __pyx_k_asyncio_coroutines[] = "asyncio.coroutines"; +static const char __pyx_k_cline_in_traceback[] = "cline_in_traceback"; +static const char __pyx_k_CANPacker_make_can_msg[] = "CANPacker.make_can_msg"; +static const char __pyx_k_opendbc_can_packer_pyx[] = "opendbc.can.packer_pyx"; +static const char __pyx_k_CANPacker___reduce_cython[] = "CANPacker.__reduce_cython__"; +static const char __pyx_k_opendbc_can_packer_pyx_pyx[] = "opendbc/can/packer_pyx.pyx"; +static const char __pyx_k_CANPacker___setstate_cython[] = "CANPacker.__setstate_cython__"; +static const char __pyx_k_self_dbc_self_packer_cannot_be_c[] = "self.dbc,self.packer cannot be converted to a Python object for pickling"; +/* #### Code section: decls ### */ +static int __pyx_pf_7opendbc_3can_10packer_pyx_9CANPacker___init__(struct __pyx_obj_7opendbc_3can_10packer_pyx_CANPacker *__pyx_v_self, PyObject *__pyx_v_dbc_name); /* proto */ +static void __pyx_pf_7opendbc_3can_10packer_pyx_9CANPacker_2__dealloc__(struct __pyx_obj_7opendbc_3can_10packer_pyx_CANPacker *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_7opendbc_3can_10packer_pyx_9CANPacker_4make_can_msg(struct __pyx_obj_7opendbc_3can_10packer_pyx_CANPacker *__pyx_v_self, PyObject *__pyx_v_name_or_addr, PyObject *__pyx_v_bus, PyObject *__pyx_v_values); /* proto */ +static PyObject *__pyx_pf_7opendbc_3can_10packer_pyx_9CANPacker_6__reduce_cython__(CYTHON_UNUSED struct __pyx_obj_7opendbc_3can_10packer_pyx_CANPacker *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_7opendbc_3can_10packer_pyx_9CANPacker_8__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_7opendbc_3can_10packer_pyx_CANPacker *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static PyObject *__pyx_tp_new_7opendbc_3can_10packer_pyx_CANPacker(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +/* #### Code section: late_includes ### */ +/* #### Code section: module_state ### */ +typedef struct { + PyObject *__pyx_d; + PyObject *__pyx_b; + PyObject *__pyx_cython_runtime; + PyObject *__pyx_empty_tuple; + PyObject *__pyx_empty_bytes; + PyObject *__pyx_empty_unicode; + #ifdef __Pyx_CyFunction_USED + PyTypeObject *__pyx_CyFunctionType; + #endif + #ifdef __Pyx_FusedFunction_USED + PyTypeObject *__pyx_FusedFunctionType; + #endif + #ifdef __Pyx_Generator_USED + PyTypeObject *__pyx_GeneratorType; + #endif + #ifdef __Pyx_IterableCoroutine_USED + PyTypeObject *__pyx_IterableCoroutineType; + #endif + #ifdef __Pyx_Coroutine_USED + PyTypeObject *__pyx_CoroutineAwaitType; + #endif + #ifdef __Pyx_Coroutine_USED + PyTypeObject *__pyx_CoroutineType; + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + PyObject *__pyx_type_7opendbc_3can_10packer_pyx_CANPacker; + #endif + PyTypeObject *__pyx_ptype_7opendbc_3can_10packer_pyx_CANPacker; + PyObject *__pyx_n_s_CANPacker; + PyObject *__pyx_n_s_CANPacker___reduce_cython; + PyObject *__pyx_n_s_CANPacker___setstate_cython; + PyObject *__pyx_n_s_CANPacker_make_can_msg; + PyObject *__pyx_kp_u_Can_t_lookup; + PyObject *__pyx_n_s_IndexError; + PyObject *__pyx_n_s_RuntimeError; + PyObject *__pyx_n_s_TypeError; + PyObject *__pyx_n_s__7; + PyObject *__pyx_n_s_asyncio_coroutines; + PyObject *__pyx_n_s_bus; + PyObject *__pyx_n_s_cline_in_traceback; + PyObject *__pyx_n_s_dbc_name; + PyObject *__pyx_kp_u_disable; + PyObject *__pyx_kp_u_enable; + PyObject *__pyx_n_s_encode; + PyObject *__pyx_kp_u_gc; + PyObject *__pyx_n_s_getstate; + PyObject *__pyx_n_s_is_coroutine; + PyObject *__pyx_kp_u_isenabled; + PyObject *__pyx_n_s_iteritems; + PyObject *__pyx_n_s_main; + PyObject *__pyx_n_s_make_can_msg; + PyObject *__pyx_n_s_name; + PyObject *__pyx_n_s_name_or_addr; + PyObject *__pyx_n_s_opendbc_can_packer_pyx; + PyObject *__pyx_kp_s_opendbc_can_packer_pyx_pyx; + PyObject *__pyx_n_s_pyx_state; + PyObject *__pyx_n_s_pyx_vtable; + PyObject *__pyx_n_s_reduce; + PyObject *__pyx_n_s_reduce_cython; + PyObject *__pyx_n_s_reduce_ex; + PyObject *__pyx_n_s_self; + PyObject *__pyx_kp_s_self_dbc_self_packer_cannot_be_c; + PyObject *__pyx_n_s_setstate; + PyObject *__pyx_n_s_setstate_cython; + PyObject *__pyx_kp_s_stringsource; + PyObject *__pyx_n_s_test; + PyObject *__pyx_n_u_utf8; + PyObject *__pyx_n_s_values; + PyObject *__pyx_int_0; + PyObject *__pyx_tuple_; + PyObject *__pyx_tuple__3; + PyObject *__pyx_tuple__5; + PyObject *__pyx_codeobj__2; + PyObject *__pyx_codeobj__4; + PyObject *__pyx_codeobj__6; +} __pyx_mstate; + +#if CYTHON_USE_MODULE_STATE +#ifdef __cplusplus +namespace { + extern struct PyModuleDef __pyx_moduledef; +} /* anonymous namespace */ +#else +static struct PyModuleDef __pyx_moduledef; +#endif + +#define __pyx_mstate(o) ((__pyx_mstate *)__Pyx_PyModule_GetState(o)) + +#define __pyx_mstate_global (__pyx_mstate(PyState_FindModule(&__pyx_moduledef))) + +#define __pyx_m (PyState_FindModule(&__pyx_moduledef)) +#else +static __pyx_mstate __pyx_mstate_global_static = +#ifdef __cplusplus + {}; +#else + {0}; +#endif +static __pyx_mstate *__pyx_mstate_global = &__pyx_mstate_global_static; +#endif +/* #### Code section: module_state_clear ### */ +#if CYTHON_USE_MODULE_STATE +static int __pyx_m_clear(PyObject *m) { + __pyx_mstate *clear_module_state = __pyx_mstate(m); + if (!clear_module_state) return 0; + Py_CLEAR(clear_module_state->__pyx_d); + Py_CLEAR(clear_module_state->__pyx_b); + Py_CLEAR(clear_module_state->__pyx_cython_runtime); + Py_CLEAR(clear_module_state->__pyx_empty_tuple); + Py_CLEAR(clear_module_state->__pyx_empty_bytes); + Py_CLEAR(clear_module_state->__pyx_empty_unicode); + #ifdef __Pyx_CyFunction_USED + Py_CLEAR(clear_module_state->__pyx_CyFunctionType); + #endif + #ifdef __Pyx_FusedFunction_USED + Py_CLEAR(clear_module_state->__pyx_FusedFunctionType); + #endif + Py_CLEAR(clear_module_state->__pyx_ptype_7opendbc_3can_10packer_pyx_CANPacker); + Py_CLEAR(clear_module_state->__pyx_type_7opendbc_3can_10packer_pyx_CANPacker); + Py_CLEAR(clear_module_state->__pyx_n_s_CANPacker); + Py_CLEAR(clear_module_state->__pyx_n_s_CANPacker___reduce_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_CANPacker___setstate_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_CANPacker_make_can_msg); + Py_CLEAR(clear_module_state->__pyx_kp_u_Can_t_lookup); + Py_CLEAR(clear_module_state->__pyx_n_s_IndexError); + Py_CLEAR(clear_module_state->__pyx_n_s_RuntimeError); + Py_CLEAR(clear_module_state->__pyx_n_s_TypeError); + Py_CLEAR(clear_module_state->__pyx_n_s__7); + Py_CLEAR(clear_module_state->__pyx_n_s_asyncio_coroutines); + Py_CLEAR(clear_module_state->__pyx_n_s_bus); + Py_CLEAR(clear_module_state->__pyx_n_s_cline_in_traceback); + Py_CLEAR(clear_module_state->__pyx_n_s_dbc_name); + Py_CLEAR(clear_module_state->__pyx_kp_u_disable); + Py_CLEAR(clear_module_state->__pyx_kp_u_enable); + Py_CLEAR(clear_module_state->__pyx_n_s_encode); + Py_CLEAR(clear_module_state->__pyx_kp_u_gc); + Py_CLEAR(clear_module_state->__pyx_n_s_getstate); + Py_CLEAR(clear_module_state->__pyx_n_s_is_coroutine); + Py_CLEAR(clear_module_state->__pyx_kp_u_isenabled); + Py_CLEAR(clear_module_state->__pyx_n_s_iteritems); + Py_CLEAR(clear_module_state->__pyx_n_s_main); + Py_CLEAR(clear_module_state->__pyx_n_s_make_can_msg); + Py_CLEAR(clear_module_state->__pyx_n_s_name); + Py_CLEAR(clear_module_state->__pyx_n_s_name_or_addr); + Py_CLEAR(clear_module_state->__pyx_n_s_opendbc_can_packer_pyx); + Py_CLEAR(clear_module_state->__pyx_kp_s_opendbc_can_packer_pyx_pyx); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_state); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_vtable); + Py_CLEAR(clear_module_state->__pyx_n_s_reduce); + Py_CLEAR(clear_module_state->__pyx_n_s_reduce_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_reduce_ex); + Py_CLEAR(clear_module_state->__pyx_n_s_self); + Py_CLEAR(clear_module_state->__pyx_kp_s_self_dbc_self_packer_cannot_be_c); + Py_CLEAR(clear_module_state->__pyx_n_s_setstate); + Py_CLEAR(clear_module_state->__pyx_n_s_setstate_cython); + Py_CLEAR(clear_module_state->__pyx_kp_s_stringsource); + Py_CLEAR(clear_module_state->__pyx_n_s_test); + Py_CLEAR(clear_module_state->__pyx_n_u_utf8); + Py_CLEAR(clear_module_state->__pyx_n_s_values); + Py_CLEAR(clear_module_state->__pyx_int_0); + Py_CLEAR(clear_module_state->__pyx_tuple_); + Py_CLEAR(clear_module_state->__pyx_tuple__3); + Py_CLEAR(clear_module_state->__pyx_tuple__5); + Py_CLEAR(clear_module_state->__pyx_codeobj__2); + Py_CLEAR(clear_module_state->__pyx_codeobj__4); + Py_CLEAR(clear_module_state->__pyx_codeobj__6); + return 0; +} +#endif +/* #### Code section: module_state_traverse ### */ +#if CYTHON_USE_MODULE_STATE +static int __pyx_m_traverse(PyObject *m, visitproc visit, void *arg) { + __pyx_mstate *traverse_module_state = __pyx_mstate(m); + if (!traverse_module_state) return 0; + Py_VISIT(traverse_module_state->__pyx_d); + Py_VISIT(traverse_module_state->__pyx_b); + Py_VISIT(traverse_module_state->__pyx_cython_runtime); + Py_VISIT(traverse_module_state->__pyx_empty_tuple); + Py_VISIT(traverse_module_state->__pyx_empty_bytes); + Py_VISIT(traverse_module_state->__pyx_empty_unicode); + #ifdef __Pyx_CyFunction_USED + Py_VISIT(traverse_module_state->__pyx_CyFunctionType); + #endif + #ifdef __Pyx_FusedFunction_USED + Py_VISIT(traverse_module_state->__pyx_FusedFunctionType); + #endif + Py_VISIT(traverse_module_state->__pyx_ptype_7opendbc_3can_10packer_pyx_CANPacker); + Py_VISIT(traverse_module_state->__pyx_type_7opendbc_3can_10packer_pyx_CANPacker); + Py_VISIT(traverse_module_state->__pyx_n_s_CANPacker); + Py_VISIT(traverse_module_state->__pyx_n_s_CANPacker___reduce_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_CANPacker___setstate_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_CANPacker_make_can_msg); + Py_VISIT(traverse_module_state->__pyx_kp_u_Can_t_lookup); + Py_VISIT(traverse_module_state->__pyx_n_s_IndexError); + Py_VISIT(traverse_module_state->__pyx_n_s_RuntimeError); + Py_VISIT(traverse_module_state->__pyx_n_s_TypeError); + Py_VISIT(traverse_module_state->__pyx_n_s__7); + Py_VISIT(traverse_module_state->__pyx_n_s_asyncio_coroutines); + Py_VISIT(traverse_module_state->__pyx_n_s_bus); + Py_VISIT(traverse_module_state->__pyx_n_s_cline_in_traceback); + Py_VISIT(traverse_module_state->__pyx_n_s_dbc_name); + Py_VISIT(traverse_module_state->__pyx_kp_u_disable); + Py_VISIT(traverse_module_state->__pyx_kp_u_enable); + Py_VISIT(traverse_module_state->__pyx_n_s_encode); + Py_VISIT(traverse_module_state->__pyx_kp_u_gc); + Py_VISIT(traverse_module_state->__pyx_n_s_getstate); + Py_VISIT(traverse_module_state->__pyx_n_s_is_coroutine); + Py_VISIT(traverse_module_state->__pyx_kp_u_isenabled); + Py_VISIT(traverse_module_state->__pyx_n_s_iteritems); + Py_VISIT(traverse_module_state->__pyx_n_s_main); + Py_VISIT(traverse_module_state->__pyx_n_s_make_can_msg); + Py_VISIT(traverse_module_state->__pyx_n_s_name); + Py_VISIT(traverse_module_state->__pyx_n_s_name_or_addr); + Py_VISIT(traverse_module_state->__pyx_n_s_opendbc_can_packer_pyx); + Py_VISIT(traverse_module_state->__pyx_kp_s_opendbc_can_packer_pyx_pyx); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_state); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_vtable); + Py_VISIT(traverse_module_state->__pyx_n_s_reduce); + Py_VISIT(traverse_module_state->__pyx_n_s_reduce_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_reduce_ex); + Py_VISIT(traverse_module_state->__pyx_n_s_self); + Py_VISIT(traverse_module_state->__pyx_kp_s_self_dbc_self_packer_cannot_be_c); + Py_VISIT(traverse_module_state->__pyx_n_s_setstate); + Py_VISIT(traverse_module_state->__pyx_n_s_setstate_cython); + Py_VISIT(traverse_module_state->__pyx_kp_s_stringsource); + Py_VISIT(traverse_module_state->__pyx_n_s_test); + Py_VISIT(traverse_module_state->__pyx_n_u_utf8); + Py_VISIT(traverse_module_state->__pyx_n_s_values); + Py_VISIT(traverse_module_state->__pyx_int_0); + Py_VISIT(traverse_module_state->__pyx_tuple_); + Py_VISIT(traverse_module_state->__pyx_tuple__3); + Py_VISIT(traverse_module_state->__pyx_tuple__5); + Py_VISIT(traverse_module_state->__pyx_codeobj__2); + Py_VISIT(traverse_module_state->__pyx_codeobj__4); + Py_VISIT(traverse_module_state->__pyx_codeobj__6); + return 0; +} +#endif +/* #### Code section: module_state_defines ### */ +#define __pyx_d __pyx_mstate_global->__pyx_d +#define __pyx_b __pyx_mstate_global->__pyx_b +#define __pyx_cython_runtime __pyx_mstate_global->__pyx_cython_runtime +#define __pyx_empty_tuple __pyx_mstate_global->__pyx_empty_tuple +#define __pyx_empty_bytes __pyx_mstate_global->__pyx_empty_bytes +#define __pyx_empty_unicode __pyx_mstate_global->__pyx_empty_unicode +#ifdef __Pyx_CyFunction_USED +#define __pyx_CyFunctionType __pyx_mstate_global->__pyx_CyFunctionType +#endif +#ifdef __Pyx_FusedFunction_USED +#define __pyx_FusedFunctionType __pyx_mstate_global->__pyx_FusedFunctionType +#endif +#ifdef __Pyx_Generator_USED +#define __pyx_GeneratorType __pyx_mstate_global->__pyx_GeneratorType +#endif +#ifdef __Pyx_IterableCoroutine_USED +#define __pyx_IterableCoroutineType __pyx_mstate_global->__pyx_IterableCoroutineType +#endif +#ifdef __Pyx_Coroutine_USED +#define __pyx_CoroutineAwaitType __pyx_mstate_global->__pyx_CoroutineAwaitType +#endif +#ifdef __Pyx_Coroutine_USED +#define __pyx_CoroutineType __pyx_mstate_global->__pyx_CoroutineType +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#define __pyx_type_7opendbc_3can_10packer_pyx_CANPacker __pyx_mstate_global->__pyx_type_7opendbc_3can_10packer_pyx_CANPacker +#endif +#define __pyx_ptype_7opendbc_3can_10packer_pyx_CANPacker __pyx_mstate_global->__pyx_ptype_7opendbc_3can_10packer_pyx_CANPacker +#define __pyx_n_s_CANPacker __pyx_mstate_global->__pyx_n_s_CANPacker +#define __pyx_n_s_CANPacker___reduce_cython __pyx_mstate_global->__pyx_n_s_CANPacker___reduce_cython +#define __pyx_n_s_CANPacker___setstate_cython __pyx_mstate_global->__pyx_n_s_CANPacker___setstate_cython +#define __pyx_n_s_CANPacker_make_can_msg __pyx_mstate_global->__pyx_n_s_CANPacker_make_can_msg +#define __pyx_kp_u_Can_t_lookup __pyx_mstate_global->__pyx_kp_u_Can_t_lookup +#define __pyx_n_s_IndexError __pyx_mstate_global->__pyx_n_s_IndexError +#define __pyx_n_s_RuntimeError __pyx_mstate_global->__pyx_n_s_RuntimeError +#define __pyx_n_s_TypeError __pyx_mstate_global->__pyx_n_s_TypeError +#define __pyx_n_s__7 __pyx_mstate_global->__pyx_n_s__7 +#define __pyx_n_s_asyncio_coroutines __pyx_mstate_global->__pyx_n_s_asyncio_coroutines +#define __pyx_n_s_bus __pyx_mstate_global->__pyx_n_s_bus +#define __pyx_n_s_cline_in_traceback __pyx_mstate_global->__pyx_n_s_cline_in_traceback +#define __pyx_n_s_dbc_name __pyx_mstate_global->__pyx_n_s_dbc_name +#define __pyx_kp_u_disable __pyx_mstate_global->__pyx_kp_u_disable +#define __pyx_kp_u_enable __pyx_mstate_global->__pyx_kp_u_enable +#define __pyx_n_s_encode __pyx_mstate_global->__pyx_n_s_encode +#define __pyx_kp_u_gc __pyx_mstate_global->__pyx_kp_u_gc +#define __pyx_n_s_getstate __pyx_mstate_global->__pyx_n_s_getstate +#define __pyx_n_s_is_coroutine __pyx_mstate_global->__pyx_n_s_is_coroutine +#define __pyx_kp_u_isenabled __pyx_mstate_global->__pyx_kp_u_isenabled +#define __pyx_n_s_iteritems __pyx_mstate_global->__pyx_n_s_iteritems +#define __pyx_n_s_main __pyx_mstate_global->__pyx_n_s_main +#define __pyx_n_s_make_can_msg __pyx_mstate_global->__pyx_n_s_make_can_msg +#define __pyx_n_s_name __pyx_mstate_global->__pyx_n_s_name +#define __pyx_n_s_name_or_addr __pyx_mstate_global->__pyx_n_s_name_or_addr +#define __pyx_n_s_opendbc_can_packer_pyx __pyx_mstate_global->__pyx_n_s_opendbc_can_packer_pyx +#define __pyx_kp_s_opendbc_can_packer_pyx_pyx __pyx_mstate_global->__pyx_kp_s_opendbc_can_packer_pyx_pyx +#define __pyx_n_s_pyx_state __pyx_mstate_global->__pyx_n_s_pyx_state +#define __pyx_n_s_pyx_vtable __pyx_mstate_global->__pyx_n_s_pyx_vtable +#define __pyx_n_s_reduce __pyx_mstate_global->__pyx_n_s_reduce +#define __pyx_n_s_reduce_cython __pyx_mstate_global->__pyx_n_s_reduce_cython +#define __pyx_n_s_reduce_ex __pyx_mstate_global->__pyx_n_s_reduce_ex +#define __pyx_n_s_self __pyx_mstate_global->__pyx_n_s_self +#define __pyx_kp_s_self_dbc_self_packer_cannot_be_c __pyx_mstate_global->__pyx_kp_s_self_dbc_self_packer_cannot_be_c +#define __pyx_n_s_setstate __pyx_mstate_global->__pyx_n_s_setstate +#define __pyx_n_s_setstate_cython __pyx_mstate_global->__pyx_n_s_setstate_cython +#define __pyx_kp_s_stringsource __pyx_mstate_global->__pyx_kp_s_stringsource +#define __pyx_n_s_test __pyx_mstate_global->__pyx_n_s_test +#define __pyx_n_u_utf8 __pyx_mstate_global->__pyx_n_u_utf8 +#define __pyx_n_s_values __pyx_mstate_global->__pyx_n_s_values +#define __pyx_int_0 __pyx_mstate_global->__pyx_int_0 +#define __pyx_tuple_ __pyx_mstate_global->__pyx_tuple_ +#define __pyx_tuple__3 __pyx_mstate_global->__pyx_tuple__3 +#define __pyx_tuple__5 __pyx_mstate_global->__pyx_tuple__5 +#define __pyx_codeobj__2 __pyx_mstate_global->__pyx_codeobj__2 +#define __pyx_codeobj__4 __pyx_mstate_global->__pyx_codeobj__4 +#define __pyx_codeobj__6 __pyx_mstate_global->__pyx_codeobj__6 +/* #### Code section: module_code ### */ + +/* "string.from_py":13 + * + * @cname("__pyx_convert_string_from_py_std__in_string") + * cdef string __pyx_convert_string_from_py_std__in_string(object o) except *: # <<<<<<<<<<<<<< + * cdef Py_ssize_t length = 0 + * cdef const char* data = __Pyx_PyObject_AsStringAndSize(o, &length) + */ + +static std::string __pyx_convert_string_from_py_std__in_string(PyObject *__pyx_v_o) { + Py_ssize_t __pyx_v_length; + char const *__pyx_v_data; + std::string __pyx_r; + char const *__pyx_t_1; + std::string __pyx_t_2; + int __pyx_lineno = 0; + const char *__pyx_filename = NULL; + int __pyx_clineno = 0; + 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__pyx_t_2 = std::string(__pyx_v_data, __pyx_v_length); + } catch(...) { + __Pyx_CppExn2PyErr(); + __PYX_ERR(1, 16, __pyx_L1_error) + } + __pyx_r = __pyx_t_2; + goto __pyx_L0; + + /* "string.from_py":13 + * + * @cname("__pyx_convert_string_from_py_std__in_string") + * cdef string __pyx_convert_string_from_py_std__in_string(object o) except *: # <<<<<<<<<<<<<< + * cdef Py_ssize_t length = 0 + * cdef const char* data = __Pyx_PyObject_AsStringAndSize(o, &length) + */ + + /* function exit code */ + __pyx_L1_error:; + __Pyx_AddTraceback("string.from_py.__pyx_convert_string_from_py_std__in_string", __pyx_clineno, __pyx_lineno, __pyx_filename); + __Pyx_pretend_to_initialize(&__pyx_r); + __pyx_L0:; + return __pyx_r; +} + +/* "opendbc/can/packer_pyx.pyx":16 + * const DBC *dbc + * + * def __init__(self, dbc_name): # <<<<<<<<<<<<<< + * self.dbc = dbc_lookup(dbc_name) + * if not self.dbc: + */ + +/* Python wrapper */ +static int __pyx_pw_7opendbc_3can_10packer_pyx_9CANPacker_1__init__(PyObject 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__pyx_vtabptr_7opendbc_3can_10packer_pyx_CANPacker = &__pyx_vtable_7opendbc_3can_10packer_pyx_CANPacker; + __pyx_vtable_7opendbc_3can_10packer_pyx_CANPacker.pack = (std::vector (*)(struct __pyx_obj_7opendbc_3can_10packer_pyx_CANPacker *, PyObject *, PyObject *))__pyx_f_7opendbc_3can_10packer_pyx_9CANPacker_pack; + __pyx_vtable_7opendbc_3can_10packer_pyx_CANPacker.make_can_msg = (PyObject *(*)(struct __pyx_obj_7opendbc_3can_10packer_pyx_CANPacker *, PyObject *, PyObject *, PyObject *, int __pyx_skip_dispatch))__pyx_f_7opendbc_3can_10packer_pyx_9CANPacker_make_can_msg; + #if CYTHON_USE_TYPE_SPECS + __pyx_ptype_7opendbc_3can_10packer_pyx_CANPacker = (PyTypeObject *) __Pyx_PyType_FromModuleAndSpec(__pyx_m, &__pyx_type_7opendbc_3can_10packer_pyx_CANPacker_spec, NULL); if (unlikely(!__pyx_ptype_7opendbc_3can_10packer_pyx_CANPacker)) __PYX_ERR(0, 11, __pyx_L1_error) + if (__Pyx_fix_up_extension_type_from_spec(&__pyx_type_7opendbc_3can_10packer_pyx_CANPacker_spec, 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__pyx_vtabptr_7opendbc_3can_10packer_pyx_CANPacker) < 0) __PYX_ERR(0, 11, __pyx_L1_error) + #if !CYTHON_COMPILING_IN_LIMITED_API + if (__Pyx_MergeVtables(__pyx_ptype_7opendbc_3can_10packer_pyx_CANPacker) < 0) __PYX_ERR(0, 11, __pyx_L1_error) + #endif + if (PyObject_SetAttr(__pyx_m, __pyx_n_s_CANPacker, (PyObject *) __pyx_ptype_7opendbc_3can_10packer_pyx_CANPacker) < 0) __PYX_ERR(0, 11, __pyx_L1_error) + #if !CYTHON_COMPILING_IN_LIMITED_API + if (__Pyx_setup_reduce((PyObject *) __pyx_ptype_7opendbc_3can_10packer_pyx_CANPacker) < 0) __PYX_ERR(0, 11, __pyx_L1_error) + #endif + __Pyx_RefNannyFinishContext(); + return 0; + __pyx_L1_error:; + __Pyx_RefNannyFinishContext(); + return -1; +} + +static int __Pyx_modinit_type_import_code(void) { + __Pyx_RefNannyDeclarations + __Pyx_RefNannySetupContext("__Pyx_modinit_type_import_code", 0); + /*--- Type import code ---*/ + __Pyx_RefNannyFinishContext(); + return 0; +} + +static int __Pyx_modinit_variable_import_code(void) { + __Pyx_RefNannyDeclarations + __Pyx_RefNannySetupContext("__Pyx_modinit_variable_import_code", 0); + /*--- Variable import code ---*/ + __Pyx_RefNannyFinishContext(); + return 0; +} + +static int __Pyx_modinit_function_import_code(void) { + __Pyx_RefNannyDeclarations + __Pyx_RefNannySetupContext("__Pyx_modinit_function_import_code", 0); + /*--- Function import code ---*/ + __Pyx_RefNannyFinishContext(); + return 0; +} + + +#if PY_MAJOR_VERSION >= 3 +#if CYTHON_PEP489_MULTI_PHASE_INIT +static PyObject* __pyx_pymod_create(PyObject *spec, PyModuleDef *def); /*proto*/ +static int __pyx_pymod_exec_packer_pyx(PyObject* module); /*proto*/ +static PyModuleDef_Slot __pyx_moduledef_slots[] = { + {Py_mod_create, (void*)__pyx_pymod_create}, + {Py_mod_exec, (void*)__pyx_pymod_exec_packer_pyx}, + {0, NULL} +}; +#endif + +#ifdef __cplusplus +namespace { + struct PyModuleDef __pyx_moduledef = + #else + static struct PyModuleDef __pyx_moduledef = + #endif + { + PyModuleDef_HEAD_INIT, + "packer_pyx", + 0, /* m_doc */ + #if CYTHON_PEP489_MULTI_PHASE_INIT + 0, /* m_size */ + #elif CYTHON_USE_MODULE_STATE + sizeof(__pyx_mstate), /* m_size */ + #else + -1, /* m_size */ + #endif + __pyx_methods /* m_methods */, + #if CYTHON_PEP489_MULTI_PHASE_INIT + __pyx_moduledef_slots, /* m_slots */ + #else + NULL, /* m_reload */ + #endif + #if CYTHON_USE_MODULE_STATE + __pyx_m_traverse, /* m_traverse */ + __pyx_m_clear, /* m_clear */ + NULL /* m_free */ + #else + NULL, /* m_traverse */ + NULL, /* m_clear */ + NULL /* m_free */ + #endif + }; + #ifdef __cplusplus +} /* anonymous namespace */ +#endif +#endif + +#ifndef CYTHON_NO_PYINIT_EXPORT +#define __Pyx_PyMODINIT_FUNC PyMODINIT_FUNC +#elif PY_MAJOR_VERSION < 3 +#ifdef __cplusplus +#define __Pyx_PyMODINIT_FUNC extern "C" void +#else +#define __Pyx_PyMODINIT_FUNC void +#endif +#else +#ifdef __cplusplus +#define __Pyx_PyMODINIT_FUNC extern "C" PyObject * +#else +#define __Pyx_PyMODINIT_FUNC PyObject * +#endif +#endif + + +#if PY_MAJOR_VERSION < 3 +__Pyx_PyMODINIT_FUNC initpacker_pyx(void) CYTHON_SMALL_CODE; /*proto*/ +__Pyx_PyMODINIT_FUNC initpacker_pyx(void) +#else +__Pyx_PyMODINIT_FUNC PyInit_packer_pyx(void) CYTHON_SMALL_CODE; /*proto*/ +__Pyx_PyMODINIT_FUNC PyInit_packer_pyx(void) +#if CYTHON_PEP489_MULTI_PHASE_INIT +{ + return PyModuleDef_Init(&__pyx_moduledef); +} +static CYTHON_SMALL_CODE int __Pyx_check_single_interpreter(void) { + #if PY_VERSION_HEX >= 0x030700A1 + static PY_INT64_T main_interpreter_id = -1; + PY_INT64_T current_id = PyInterpreterState_GetID(PyThreadState_Get()->interp); + if (main_interpreter_id == -1) { + main_interpreter_id = current_id; + return (unlikely(current_id == -1)) ? -1 : 0; + } else if (unlikely(main_interpreter_id != current_id)) + #else + static PyInterpreterState *main_interpreter = NULL; + PyInterpreterState *current_interpreter = PyThreadState_Get()->interp; + if (!main_interpreter) { + main_interpreter = current_interpreter; + } else if (unlikely(main_interpreter != current_interpreter)) + #endif + { + PyErr_SetString( + PyExc_ImportError, + "Interpreter change detected - this module can only be loaded into one interpreter per process."); + return -1; + } + return 0; +} +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_SMALL_CODE int __Pyx_copy_spec_to_module(PyObject *spec, PyObject *module, const char* from_name, const char* to_name, int allow_none) +#else +static CYTHON_SMALL_CODE int __Pyx_copy_spec_to_module(PyObject *spec, PyObject *moddict, const char* from_name, const char* to_name, int allow_none) +#endif +{ + PyObject *value = PyObject_GetAttrString(spec, from_name); + int result = 0; + if (likely(value)) { + if (allow_none || value != Py_None) { +#if CYTHON_COMPILING_IN_LIMITED_API + result = PyModule_AddObject(module, to_name, value); +#else + result = PyDict_SetItemString(moddict, to_name, value); +#endif + } + Py_DECREF(value); + } else if (PyErr_ExceptionMatches(PyExc_AttributeError)) { + PyErr_Clear(); + } else { + result = -1; + 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+ if (n <= 0) { + Py_INCREF(__pyx_empty_tuple); + return __pyx_empty_tuple; + } + res = PyTuple_New(n); + if (unlikely(res == NULL)) return NULL; + __Pyx_copy_object_array(src, ((PyTupleObject*)res)->ob_item, n); + return res; +} +static CYTHON_INLINE PyObject * +__Pyx_PyList_FromArray(PyObject *const *src, Py_ssize_t n) +{ + PyObject *res; + if (n <= 0) { + return PyList_New(0); + } + res = PyList_New(n); + if (unlikely(res == NULL)) return NULL; + __Pyx_copy_object_array(src, ((PyListObject*)res)->ob_item, n); + return res; +} +#endif + +/* BytesEquals */ +static CYTHON_INLINE int __Pyx_PyBytes_Equals(PyObject* s1, PyObject* s2, int equals) { +#if CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API + return PyObject_RichCompareBool(s1, s2, equals); +#else + if (s1 == s2) { + return (equals == Py_EQ); + } else if (PyBytes_CheckExact(s1) & PyBytes_CheckExact(s2)) { + const char *ps1, *ps2; + Py_ssize_t length = PyBytes_GET_SIZE(s1); + if (length != PyBytes_GET_SIZE(s2)) + return (equals == Py_NE); + ps1 = PyBytes_AS_STRING(s1); + ps2 = PyBytes_AS_STRING(s2); + if (ps1[0] != ps2[0]) { + return (equals == Py_NE); + } else if (length == 1) { + return (equals == Py_EQ); + } else { + int result; +#if CYTHON_USE_UNICODE_INTERNALS && (PY_VERSION_HEX < 0x030B0000) + Py_hash_t hash1, hash2; + hash1 = ((PyBytesObject*)s1)->ob_shash; + hash2 = ((PyBytesObject*)s2)->ob_shash; + if (hash1 != hash2 && hash1 != -1 && hash2 != -1) { + return (equals == Py_NE); + } +#endif + result = memcmp(ps1, ps2, (size_t)length); + return (equals == Py_EQ) ? (result == 0) : (result != 0); + } + } else if ((s1 == Py_None) & PyBytes_CheckExact(s2)) { + return (equals == Py_NE); + } else if ((s2 == Py_None) & PyBytes_CheckExact(s1)) { + return (equals == Py_NE); + } else { + int result; + PyObject* py_result = PyObject_RichCompare(s1, s2, equals); + if (!py_result) + return -1; + result = __Pyx_PyObject_IsTrue(py_result); + Py_DECREF(py_result); + return result; + } +#endif +} + +/* UnicodeEquals */ +static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int equals) { +#if CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API + return PyObject_RichCompareBool(s1, s2, equals); +#else +#if PY_MAJOR_VERSION < 3 + PyObject* owned_ref = NULL; +#endif + int s1_is_unicode, s2_is_unicode; + if (s1 == s2) { + goto return_eq; + } + s1_is_unicode = PyUnicode_CheckExact(s1); + s2_is_unicode = PyUnicode_CheckExact(s2); +#if PY_MAJOR_VERSION < 3 + if ((s1_is_unicode & (!s2_is_unicode)) && PyString_CheckExact(s2)) { + owned_ref = PyUnicode_FromObject(s2); + if (unlikely(!owned_ref)) + return -1; + s2 = owned_ref; + s2_is_unicode = 1; + } else if ((s2_is_unicode & (!s1_is_unicode)) && PyString_CheckExact(s1)) { + owned_ref = PyUnicode_FromObject(s1); + if (unlikely(!owned_ref)) + return -1; + s1 = owned_ref; + s1_is_unicode = 1; + } else if (((!s2_is_unicode) & (!s1_is_unicode))) { + return __Pyx_PyBytes_Equals(s1, s2, equals); + } +#endif + if (s1_is_unicode & s2_is_unicode) { + Py_ssize_t length; + int kind; + void *data1, *data2; + if (unlikely(__Pyx_PyUnicode_READY(s1) < 0) || unlikely(__Pyx_PyUnicode_READY(s2) < 0)) + return -1; + length = __Pyx_PyUnicode_GET_LENGTH(s1); + if (length != __Pyx_PyUnicode_GET_LENGTH(s2)) { + goto return_ne; + } +#if CYTHON_USE_UNICODE_INTERNALS + { + Py_hash_t hash1, hash2; + #if CYTHON_PEP393_ENABLED + hash1 = ((PyASCIIObject*)s1)->hash; + hash2 = ((PyASCIIObject*)s2)->hash; + #else + hash1 = ((PyUnicodeObject*)s1)->hash; + hash2 = ((PyUnicodeObject*)s2)->hash; + #endif + if (hash1 != hash2 && hash1 != -1 && hash2 != -1) { + goto return_ne; + } + } +#endif + kind = __Pyx_PyUnicode_KIND(s1); + if (kind != __Pyx_PyUnicode_KIND(s2)) { + goto return_ne; + } + data1 = __Pyx_PyUnicode_DATA(s1); + data2 = __Pyx_PyUnicode_DATA(s2); + if (__Pyx_PyUnicode_READ(kind, data1, 0) != __Pyx_PyUnicode_READ(kind, data2, 0)) { + goto return_ne; + } else if (length == 1) { + goto return_eq; + } else { + int result = memcmp(data1, data2, (size_t)(length * kind)); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_EQ) ? (result == 0) : (result != 0); + } + } else if ((s1 == Py_None) & s2_is_unicode) { + goto return_ne; + } else if ((s2 == Py_None) & s1_is_unicode) { + goto return_ne; + } else { + int result; + PyObject* py_result = PyObject_RichCompare(s1, s2, equals); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + if (!py_result) + return -1; + result = __Pyx_PyObject_IsTrue(py_result); + Py_DECREF(py_result); + return result; + } +return_eq: + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_EQ); +return_ne: + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_NE); +#endif +} + +/* fastcall */ +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE PyObject * __Pyx_GetKwValue_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues, PyObject *s) +{ + Py_ssize_t i, n = PyTuple_GET_SIZE(kwnames); + for (i = 0; i < n; i++) + { + if (s == PyTuple_GET_ITEM(kwnames, i)) return kwvalues[i]; + } + for (i = 0; i < n; i++) + { + int eq = __Pyx_PyUnicode_Equals(s, PyTuple_GET_ITEM(kwnames, i), Py_EQ); + if (unlikely(eq != 0)) { + if (unlikely(eq < 0)) return NULL; + return kwvalues[i]; + } + } + return NULL; +} +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 +CYTHON_UNUSED static PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues) { + Py_ssize_t i, nkwargs = PyTuple_GET_SIZE(kwnames); + PyObject *dict; + dict = PyDict_New(); + if (unlikely(!dict)) + return NULL; + for (i=0; i= 3 + "%s() got multiple values for keyword argument '%U'", func_name, kw_name); + #else + "%s() got multiple values for keyword argument '%s'", func_name, + PyString_AsString(kw_name)); + #endif +} + +/* ParseKeywords */ +static int __Pyx_ParseOptionalKeywords( + PyObject *kwds, + PyObject *const *kwvalues, + PyObject **argnames[], + PyObject *kwds2, + PyObject *values[], + Py_ssize_t num_pos_args, + const char* function_name) +{ + PyObject *key = 0, *value = 0; + Py_ssize_t pos = 0; + PyObject*** name; + PyObject*** first_kw_arg = argnames + num_pos_args; + int kwds_is_tuple = CYTHON_METH_FASTCALL && likely(PyTuple_Check(kwds)); + while (1) { + Py_XDECREF(key); key = NULL; + Py_XDECREF(value); value = NULL; + if (kwds_is_tuple) { + Py_ssize_t size; +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(kwds); +#else + size = PyTuple_Size(kwds); + if (size < 0) goto bad; +#endif + if (pos >= size) break; +#if CYTHON_AVOID_BORROWED_REFS + key = __Pyx_PySequence_ITEM(kwds, pos); + if (!key) goto bad; +#elif CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kwds, pos); +#else + key = PyTuple_GetItem(kwds, pos); + if (!key) goto bad; +#endif + value = kwvalues[pos]; + pos++; + } + else + { + if (!PyDict_Next(kwds, &pos, &key, &value)) break; +#if CYTHON_AVOID_BORROWED_REFS + Py_INCREF(key); +#endif + } + name = first_kw_arg; + while (*name && (**name != key)) name++; + if (*name) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + Py_INCREF(value); + Py_DECREF(key); +#endif + key = NULL; + value = NULL; + continue; + } +#if !CYTHON_AVOID_BORROWED_REFS + Py_INCREF(key); +#endif + Py_INCREF(value); + name = first_kw_arg; + #if PY_MAJOR_VERSION < 3 + if (likely(PyString_Check(key))) { + while (*name) { + if ((CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**name) == PyString_GET_SIZE(key)) + && _PyString_Eq(**name, key)) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + value = NULL; +#endif + break; + } + name++; + } + if (*name) continue; + else { + PyObject*** argname = argnames; + while (argname != first_kw_arg) { + if ((**argname == key) || ( + (CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**argname) == PyString_GET_SIZE(key)) + && _PyString_Eq(**argname, key))) { + goto arg_passed_twice; + } + argname++; + } + } + } else + #endif + if (likely(PyUnicode_Check(key))) { + while (*name) { + int cmp = ( + #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 + (__Pyx_PyUnicode_GET_LENGTH(**name) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : + #endif + PyUnicode_Compare(**name, key) + ); + if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; + if (cmp == 0) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + value = NULL; +#endif + break; + } + name++; + } + if (*name) continue; + else { + PyObject*** argname = argnames; + while (argname != first_kw_arg) { + int cmp = (**argname == key) ? 0 : + #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 + (__Pyx_PyUnicode_GET_LENGTH(**argname) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : + #endif + PyUnicode_Compare(**argname, key); + if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; + if (cmp == 0) goto arg_passed_twice; + argname++; + } + } + } else + goto invalid_keyword_type; + if (kwds2) { + if (unlikely(PyDict_SetItem(kwds2, key, value))) goto bad; + } else { + goto invalid_keyword; + } + } + Py_XDECREF(key); + Py_XDECREF(value); + return 0; +arg_passed_twice: + __Pyx_RaiseDoubleKeywordsError(function_name, key); + goto bad; +invalid_keyword_type: + PyErr_Format(PyExc_TypeError, + "%.200s() keywords must be strings", function_name); + goto bad; +invalid_keyword: + #if PY_MAJOR_VERSION < 3 + PyErr_Format(PyExc_TypeError, + "%.200s() got an unexpected keyword argument '%.200s'", + function_name, PyString_AsString(key)); + #else + PyErr_Format(PyExc_TypeError, + "%s() got an unexpected keyword argument '%U'", + function_name, key); + #endif +bad: + Py_XDECREF(key); + Py_XDECREF(value); + return -1; +} + +/* RaiseArgTupleInvalid */ +static void __Pyx_RaiseArgtupleInvalid( + const char* func_name, + int exact, + Py_ssize_t num_min, + Py_ssize_t num_max, + Py_ssize_t num_found) +{ + Py_ssize_t num_expected; + const char *more_or_less; + if (num_found < num_min) { + num_expected = num_min; + more_or_less = "at least"; + } else { + num_expected = num_max; + more_or_less = "at most"; + } + if (exact) { + more_or_less = "exactly"; + } + PyErr_Format(PyExc_TypeError, + "%.200s() takes %.8s %" CYTHON_FORMAT_SSIZE_T "d positional argument%.1s (%" CYTHON_FORMAT_SSIZE_T "d given)", + func_name, more_or_less, num_expected, + (num_expected == 1) ? "" : "s", num_found); +} + +/* PyFunctionFastCall */ +#if CYTHON_FAST_PYCALL && !CYTHON_VECTORCALL +static PyObject* __Pyx_PyFunction_FastCallNoKw(PyCodeObject *co, PyObject **args, Py_ssize_t na, + PyObject *globals) { + PyFrameObject *f; + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject **fastlocals; + Py_ssize_t i; + PyObject *result; + assert(globals != NULL); + /* XXX Perhaps we should create a specialized + PyFrame_New() that doesn't take locals, but does + take builtins without sanity checking them. + */ + assert(tstate != NULL); + f = PyFrame_New(tstate, co, globals, NULL); + if (f == NULL) { + return NULL; + } + fastlocals = __Pyx_PyFrame_GetLocalsplus(f); + for (i = 0; i < na; i++) { + Py_INCREF(*args); + fastlocals[i] = *args++; + } + result = PyEval_EvalFrameEx(f,0); + ++tstate->recursion_depth; + Py_DECREF(f); + --tstate->recursion_depth; + return result; +} +static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs) { + PyCodeObject *co = (PyCodeObject *)PyFunction_GET_CODE(func); + PyObject *globals = PyFunction_GET_GLOBALS(func); + PyObject *argdefs = PyFunction_GET_DEFAULTS(func); + PyObject *closure; +#if PY_MAJOR_VERSION >= 3 + PyObject *kwdefs; +#endif + PyObject *kwtuple, **k; + PyObject **d; + Py_ssize_t nd; + Py_ssize_t nk; + PyObject *result; + assert(kwargs == NULL || PyDict_Check(kwargs)); + nk = kwargs ? PyDict_Size(kwargs) : 0; + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) { + return NULL; + } + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) { + return NULL; + } + #endif + if ( +#if PY_MAJOR_VERSION >= 3 + co->co_kwonlyargcount == 0 && +#endif + likely(kwargs == NULL || nk == 0) && + co->co_flags == (CO_OPTIMIZED | CO_NEWLOCALS | CO_NOFREE)) { + if (argdefs == NULL && co->co_argcount == nargs) { + result = __Pyx_PyFunction_FastCallNoKw(co, args, nargs, globals); + goto done; + } + else if (nargs == 0 && argdefs != NULL + && co->co_argcount == Py_SIZE(argdefs)) { + /* function called with no arguments, but all parameters have + a default value: use default values as arguments .*/ + args = &PyTuple_GET_ITEM(argdefs, 0); + result =__Pyx_PyFunction_FastCallNoKw(co, args, Py_SIZE(argdefs), globals); + goto done; + } + } + if (kwargs != NULL) { + Py_ssize_t pos, i; + kwtuple = PyTuple_New(2 * nk); + if (kwtuple == NULL) { + result = NULL; + goto done; + } + k = &PyTuple_GET_ITEM(kwtuple, 0); + pos = i = 0; + while (PyDict_Next(kwargs, &pos, &k[i], &k[i+1])) { + Py_INCREF(k[i]); + Py_INCREF(k[i+1]); + i += 2; + } + nk = i / 2; + } + else { + kwtuple = NULL; + k = NULL; + } + closure = PyFunction_GET_CLOSURE(func); +#if PY_MAJOR_VERSION >= 3 + kwdefs = PyFunction_GET_KW_DEFAULTS(func); +#endif + if (argdefs != NULL) { + d = &PyTuple_GET_ITEM(argdefs, 0); + nd = Py_SIZE(argdefs); + } + else { + d = NULL; + nd = 0; + } +#if PY_MAJOR_VERSION >= 3 + result = PyEval_EvalCodeEx((PyObject*)co, globals, (PyObject *)NULL, + args, (int)nargs, + k, (int)nk, + d, (int)nd, kwdefs, closure); +#else + result = PyEval_EvalCodeEx(co, globals, (PyObject *)NULL, + args, (int)nargs, + k, (int)nk, + d, (int)nd, closure); +#endif + Py_XDECREF(kwtuple); +done: + Py_LeaveRecursiveCall(); + return result; +} +#endif + +/* PyObjectCall */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw) { + PyObject *result; + ternaryfunc call = Py_TYPE(func)->tp_call; + if (unlikely(!call)) + return PyObject_Call(func, arg, kw); + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) + return NULL; + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) + return NULL; + #endif + result = (*call)(func, arg, kw); + Py_LeaveRecursiveCall(); + if (unlikely(!result) && unlikely(!PyErr_Occurred())) { + PyErr_SetString( + PyExc_SystemError, + "NULL result without error in PyObject_Call"); + } + return result; +} +#endif + +/* PyObjectCallMethO */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg) { + PyObject *self, *result; + PyCFunction cfunc; + cfunc = __Pyx_CyOrPyCFunction_GET_FUNCTION(func); + self = __Pyx_CyOrPyCFunction_GET_SELF(func); + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) + return NULL; + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) + return NULL; + #endif + result = cfunc(self, arg); + Py_LeaveRecursiveCall(); + if (unlikely(!result) && unlikely(!PyErr_Occurred())) { + PyErr_SetString( + PyExc_SystemError, + "NULL result without error in PyObject_Call"); + } + return result; +} +#endif + +/* PyObjectFastCall */ +#if PY_VERSION_HEX < 0x03090000 || CYTHON_COMPILING_IN_LIMITED_API +static PyObject* __Pyx_PyObject_FastCall_fallback(PyObject *func, PyObject **args, size_t nargs, PyObject *kwargs) { + PyObject *argstuple; + PyObject *result = 0; + size_t i; + argstuple = PyTuple_New((Py_ssize_t)nargs); + if (unlikely(!argstuple)) return NULL; + for (i = 0; i < nargs; i++) { + Py_INCREF(args[i]); + if (__Pyx_PyTuple_SET_ITEM(argstuple, (Py_ssize_t)i, args[i]) < 0) goto bad; + } + result = __Pyx_PyObject_Call(func, argstuple, kwargs); + bad: + Py_DECREF(argstuple); + return result; +} +#endif +static CYTHON_INLINE PyObject* __Pyx_PyObject_FastCallDict(PyObject *func, PyObject **args, size_t _nargs, PyObject *kwargs) { + Py_ssize_t nargs = __Pyx_PyVectorcall_NARGS(_nargs); +#if CYTHON_COMPILING_IN_CPYTHON + if (nargs == 0 && kwargs == NULL) { + if (__Pyx_CyOrPyCFunction_Check(func) && likely( __Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_NOARGS)) + return __Pyx_PyObject_CallMethO(func, NULL); + } + else if (nargs == 1 && kwargs == NULL) { + if (__Pyx_CyOrPyCFunction_Check(func) && likely( __Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_O)) + return __Pyx_PyObject_CallMethO(func, args[0]); + } +#endif + #if PY_VERSION_HEX < 0x030800B1 + #if CYTHON_FAST_PYCCALL + if (PyCFunction_Check(func)) { + if (kwargs) { + return _PyCFunction_FastCallDict(func, args, nargs, kwargs); + } else { + return _PyCFunction_FastCallKeywords(func, args, nargs, NULL); + } + } + #if PY_VERSION_HEX >= 0x030700A1 + if (!kwargs && __Pyx_IS_TYPE(func, &PyMethodDescr_Type)) { + return _PyMethodDescr_FastCallKeywords(func, args, nargs, NULL); + } + #endif + #endif + #if CYTHON_FAST_PYCALL + if (PyFunction_Check(func)) { + return __Pyx_PyFunction_FastCallDict(func, args, nargs, kwargs); + } + #endif + #endif + if (kwargs == NULL) { + #if CYTHON_VECTORCALL + #if PY_VERSION_HEX < 0x03090000 + vectorcallfunc f = _PyVectorcall_Function(func); + #else + vectorcallfunc f = PyVectorcall_Function(func); + #endif + if (f) { + return f(func, args, (size_t)nargs, NULL); + } + #elif defined(__Pyx_CyFunction_USED) && CYTHON_BACKPORT_VECTORCALL + if (__Pyx_CyFunction_CheckExact(func)) { + __pyx_vectorcallfunc f = __Pyx_CyFunction_func_vectorcall(func); + if (f) return f(func, args, (size_t)nargs, NULL); + } + #endif + } + if (nargs == 0) { + return __Pyx_PyObject_Call(func, __pyx_empty_tuple, kwargs); + } + #if PY_VERSION_HEX >= 0x03090000 && !CYTHON_COMPILING_IN_LIMITED_API + return PyObject_VectorcallDict(func, args, (size_t)nargs, kwargs); + #else + return __Pyx_PyObject_FastCall_fallback(func, args, (size_t)nargs, kwargs); + #endif +} + +/* PyObjectCallOneArg */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg) { + PyObject *args[2] = {NULL, arg}; + return __Pyx_PyObject_FastCall(func, args+1, 1 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET); +} + +/* RaiseException */ +#if PY_MAJOR_VERSION < 3 +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) { + __Pyx_PyThreadState_declare + CYTHON_UNUSED_VAR(cause); + Py_XINCREF(type); + if (!value || value == Py_None) + value = NULL; + else + Py_INCREF(value); + if (!tb || tb == Py_None) + tb = NULL; + else { + Py_INCREF(tb); + if (!PyTraceBack_Check(tb)) { + PyErr_SetString(PyExc_TypeError, + "raise: arg 3 must be a traceback or None"); + goto raise_error; + } + } + if (PyType_Check(type)) { +#if CYTHON_COMPILING_IN_PYPY + if (!value) { + Py_INCREF(Py_None); + value = Py_None; + } +#endif + PyErr_NormalizeException(&type, &value, &tb); + } else { + if (value) { + PyErr_SetString(PyExc_TypeError, + "instance exception may not have a separate value"); + goto raise_error; + } + value = type; + type = (PyObject*) Py_TYPE(type); + Py_INCREF(type); + if (!PyType_IsSubtype((PyTypeObject *)type, (PyTypeObject *)PyExc_BaseException)) { + PyErr_SetString(PyExc_TypeError, + "raise: exception class must be a subclass of BaseException"); + goto raise_error; + } + } + __Pyx_PyThreadState_assign + __Pyx_ErrRestore(type, value, tb); + return; +raise_error: + Py_XDECREF(value); + Py_XDECREF(type); + Py_XDECREF(tb); + return; +} +#else +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) { + PyObject* owned_instance = NULL; + if (tb == Py_None) { + tb = 0; + } else if (tb && !PyTraceBack_Check(tb)) { + PyErr_SetString(PyExc_TypeError, + "raise: arg 3 must be a traceback or None"); + goto bad; + } + if (value == Py_None) + value = 0; + if (PyExceptionInstance_Check(type)) { + if (value) { + PyErr_SetString(PyExc_TypeError, + "instance exception may not have a separate value"); + goto bad; + } + value = type; + type = (PyObject*) Py_TYPE(value); + } else if (PyExceptionClass_Check(type)) { + PyObject *instance_class = NULL; + if (value && PyExceptionInstance_Check(value)) { + instance_class = (PyObject*) Py_TYPE(value); + if (instance_class != type) { + int is_subclass = PyObject_IsSubclass(instance_class, type); + if (!is_subclass) { + instance_class = NULL; + } else if (unlikely(is_subclass == -1)) { + goto bad; + } else { + type = instance_class; + } + } + } + if (!instance_class) { + PyObject *args; + if (!value) + args = PyTuple_New(0); + else if (PyTuple_Check(value)) { + Py_INCREF(value); + args = value; + } else + args = PyTuple_Pack(1, value); + if (!args) + goto bad; + owned_instance = PyObject_Call(type, args, NULL); + Py_DECREF(args); + if (!owned_instance) + goto bad; + value = owned_instance; + if (!PyExceptionInstance_Check(value)) { + PyErr_Format(PyExc_TypeError, + "calling %R should have returned an instance of " + "BaseException, not %R", + type, Py_TYPE(value)); + goto bad; + } + } + } else { + PyErr_SetString(PyExc_TypeError, + "raise: exception class must be a subclass of BaseException"); + goto bad; + } + if (cause) { + PyObject *fixed_cause; + if (cause == Py_None) { + fixed_cause = NULL; + } else if (PyExceptionClass_Check(cause)) { + fixed_cause = PyObject_CallObject(cause, NULL); + if (fixed_cause == NULL) + goto bad; + } else if (PyExceptionInstance_Check(cause)) { + fixed_cause = cause; + Py_INCREF(fixed_cause); + } else { + PyErr_SetString(PyExc_TypeError, + "exception causes must derive from " + "BaseException"); + goto bad; + } + PyException_SetCause(value, fixed_cause); + } + PyErr_SetObject(type, value); + if (tb) { + #if PY_VERSION_HEX >= 0x030C00A6 + PyException_SetTraceback(value, tb); + #elif CYTHON_FAST_THREAD_STATE + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject* tmp_tb = tstate->curexc_traceback; + if (tb != tmp_tb) { + Py_INCREF(tb); + tstate->curexc_traceback = tb; + Py_XDECREF(tmp_tb); + } +#else + PyObject *tmp_type, *tmp_value, *tmp_tb; + PyErr_Fetch(&tmp_type, &tmp_value, &tmp_tb); + Py_INCREF(tb); + PyErr_Restore(tmp_type, tmp_value, tb); + Py_XDECREF(tmp_tb); +#endif + } +bad: + Py_XDECREF(owned_instance); + return; +} +#endif + +/* IterFinish */ +static CYTHON_INLINE int __Pyx_IterFinish(void) { + PyObject* exc_type; + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + exc_type = __Pyx_PyErr_CurrentExceptionType(); + if (unlikely(exc_type)) { + if (unlikely(!__Pyx_PyErr_GivenExceptionMatches(exc_type, PyExc_StopIteration))) + return -1; + __Pyx_PyErr_Clear(); + return 0; + } + return 0; +} + +/* PyObjectCallNoArg */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func) { + PyObject *arg[2] = {NULL, NULL}; + return __Pyx_PyObject_FastCall(func, arg + 1, 0 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET); +} + +/* PyObjectGetMethod */ +static int __Pyx_PyObject_GetMethod(PyObject *obj, PyObject *name, PyObject **method) { + PyObject *attr; +#if CYTHON_UNPACK_METHODS && CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_PYTYPE_LOOKUP + __Pyx_TypeName type_name; + PyTypeObject *tp = Py_TYPE(obj); + PyObject *descr; + descrgetfunc f = NULL; + PyObject **dictptr, *dict; + int meth_found = 0; + assert (*method == NULL); + if (unlikely(tp->tp_getattro != PyObject_GenericGetAttr)) { + attr = __Pyx_PyObject_GetAttrStr(obj, name); + goto try_unpack; + } + if (unlikely(tp->tp_dict == NULL) && unlikely(PyType_Ready(tp) < 0)) { + return 0; + } + descr = _PyType_Lookup(tp, name); + if (likely(descr != NULL)) { + Py_INCREF(descr); +#if defined(Py_TPFLAGS_METHOD_DESCRIPTOR) && Py_TPFLAGS_METHOD_DESCRIPTOR + if (__Pyx_PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_METHOD_DESCRIPTOR)) +#elif PY_MAJOR_VERSION >= 3 + #ifdef __Pyx_CyFunction_USED + if (likely(PyFunction_Check(descr) || __Pyx_IS_TYPE(descr, &PyMethodDescr_Type) || __Pyx_CyFunction_Check(descr))) + #else + if (likely(PyFunction_Check(descr) || __Pyx_IS_TYPE(descr, &PyMethodDescr_Type))) + #endif +#else + #ifdef __Pyx_CyFunction_USED + if (likely(PyFunction_Check(descr) || __Pyx_CyFunction_Check(descr))) + #else + if (likely(PyFunction_Check(descr))) + #endif +#endif + { + meth_found = 1; + } else { + f = Py_TYPE(descr)->tp_descr_get; + if (f != NULL && PyDescr_IsData(descr)) { + attr = f(descr, obj, (PyObject *)Py_TYPE(obj)); + Py_DECREF(descr); + goto try_unpack; + } + } + } + dictptr = _PyObject_GetDictPtr(obj); + if (dictptr != NULL && (dict = *dictptr) != NULL) { + Py_INCREF(dict); + attr = __Pyx_PyDict_GetItemStr(dict, name); + if (attr != NULL) { + Py_INCREF(attr); + Py_DECREF(dict); + Py_XDECREF(descr); + goto try_unpack; + } + Py_DECREF(dict); + } + if (meth_found) { + *method = descr; + return 1; + } + if (f != NULL) { + attr = f(descr, obj, (PyObject *)Py_TYPE(obj)); + Py_DECREF(descr); + goto try_unpack; + } + if (likely(descr != NULL)) { + *method = descr; + return 0; + } + type_name = __Pyx_PyType_GetName(tp); + PyErr_Format(PyExc_AttributeError, +#if PY_MAJOR_VERSION >= 3 + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%U'", + type_name, name); +#else + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%.400s'", + type_name, PyString_AS_STRING(name)); +#endif + __Pyx_DECREF_TypeName(type_name); + return 0; +#else + attr = __Pyx_PyObject_GetAttrStr(obj, name); + goto try_unpack; +#endif +try_unpack: +#if CYTHON_UNPACK_METHODS + if (likely(attr) && PyMethod_Check(attr) && likely(PyMethod_GET_SELF(attr) == obj)) { + PyObject *function = PyMethod_GET_FUNCTION(attr); + Py_INCREF(function); + Py_DECREF(attr); + *method = function; + return 1; + } +#endif + *method = attr; + return 0; +} + +/* PyObjectCallMethod0 */ +static PyObject* __Pyx_PyObject_CallMethod0(PyObject* obj, PyObject* method_name) { + PyObject *method = NULL, *result = NULL; + int is_method = __Pyx_PyObject_GetMethod(obj, method_name, &method); + if (likely(is_method)) { + result = __Pyx_PyObject_CallOneArg(method, obj); + Py_DECREF(method); + return result; + } + if (unlikely(!method)) goto bad; + result = __Pyx_PyObject_CallNoArg(method); + Py_DECREF(method); +bad: + return result; +} + +/* RaiseNeedMoreValuesToUnpack */ +static CYTHON_INLINE void __Pyx_RaiseNeedMoreValuesError(Py_ssize_t index) { + PyErr_Format(PyExc_ValueError, + "need more than %" CYTHON_FORMAT_SSIZE_T "d value%.1s to unpack", + index, (index == 1) ? "" : "s"); +} + +/* RaiseTooManyValuesToUnpack */ +static CYTHON_INLINE void __Pyx_RaiseTooManyValuesError(Py_ssize_t expected) { + PyErr_Format(PyExc_ValueError, + "too many values to unpack (expected %" CYTHON_FORMAT_SSIZE_T "d)", expected); +} + +/* UnpackItemEndCheck */ +static int __Pyx_IternextUnpackEndCheck(PyObject *retval, Py_ssize_t expected) { + if (unlikely(retval)) { + Py_DECREF(retval); + __Pyx_RaiseTooManyValuesError(expected); + return -1; + } + return __Pyx_IterFinish(); +} + +/* RaiseNoneIterError */ +static CYTHON_INLINE void __Pyx_RaiseNoneNotIterableError(void) { + PyErr_SetString(PyExc_TypeError, "'NoneType' object is not iterable"); +} + +/* UnpackTupleError */ +static void __Pyx_UnpackTupleError(PyObject *t, Py_ssize_t index) { + if (t == Py_None) { + __Pyx_RaiseNoneNotIterableError(); + } else if (PyTuple_GET_SIZE(t) < index) { + __Pyx_RaiseNeedMoreValuesError(PyTuple_GET_SIZE(t)); + } else { + __Pyx_RaiseTooManyValuesError(index); + } +} + +/* UnpackTuple2 */ +static CYTHON_INLINE int __Pyx_unpack_tuple2_exact( + PyObject* tuple, PyObject** pvalue1, PyObject** pvalue2, int decref_tuple) { + PyObject *value1 = NULL, *value2 = NULL; +#if CYTHON_COMPILING_IN_PYPY + value1 = PySequence_ITEM(tuple, 0); if (unlikely(!value1)) goto bad; + value2 = PySequence_ITEM(tuple, 1); if (unlikely(!value2)) goto bad; +#else + value1 = PyTuple_GET_ITEM(tuple, 0); Py_INCREF(value1); + value2 = PyTuple_GET_ITEM(tuple, 1); Py_INCREF(value2); +#endif + if (decref_tuple) { + Py_DECREF(tuple); + } + *pvalue1 = value1; + *pvalue2 = value2; + return 0; +#if CYTHON_COMPILING_IN_PYPY +bad: + Py_XDECREF(value1); + Py_XDECREF(value2); + if (decref_tuple) { Py_XDECREF(tuple); } + return -1; +#endif +} +static int __Pyx_unpack_tuple2_generic(PyObject* tuple, PyObject** pvalue1, PyObject** pvalue2, + int has_known_size, int decref_tuple) { + Py_ssize_t index; + PyObject *value1 = NULL, *value2 = NULL, *iter = NULL; + iternextfunc iternext; + iter = PyObject_GetIter(tuple); + if (unlikely(!iter)) goto bad; + if (decref_tuple) { Py_DECREF(tuple); tuple = NULL; } + iternext = __Pyx_PyObject_GetIterNextFunc(iter); + value1 = iternext(iter); if (unlikely(!value1)) { index = 0; goto unpacking_failed; } + value2 = iternext(iter); if (unlikely(!value2)) { index = 1; goto unpacking_failed; } + if (!has_known_size && unlikely(__Pyx_IternextUnpackEndCheck(iternext(iter), 2))) goto bad; + Py_DECREF(iter); + *pvalue1 = value1; + *pvalue2 = value2; + return 0; +unpacking_failed: + if (!has_known_size && __Pyx_IterFinish() == 0) + __Pyx_RaiseNeedMoreValuesError(index); +bad: + Py_XDECREF(iter); + Py_XDECREF(value1); + Py_XDECREF(value2); + if (decref_tuple) { Py_XDECREF(tuple); } + return -1; +} + +/* dict_iter */ +#if CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 +#include +#endif +static CYTHON_INLINE PyObject* __Pyx_dict_iterator(PyObject* iterable, int is_dict, PyObject* method_name, + Py_ssize_t* p_orig_length, int* p_source_is_dict) { + is_dict = is_dict || likely(PyDict_CheckExact(iterable)); + *p_source_is_dict = is_dict; + if (is_dict) { +#if !CYTHON_COMPILING_IN_PYPY + *p_orig_length = PyDict_Size(iterable); + Py_INCREF(iterable); + return iterable; +#elif PY_MAJOR_VERSION >= 3 + static PyObject *py_items = NULL, *py_keys = NULL, *py_values = NULL; + PyObject **pp = NULL; + if (method_name) { + const char *name = PyUnicode_AsUTF8(method_name); + if (strcmp(name, "iteritems") == 0) pp = &py_items; + else if (strcmp(name, "iterkeys") == 0) pp = &py_keys; + else if (strcmp(name, "itervalues") == 0) pp = &py_values; + if (pp) { + if (!*pp) { + *pp = PyUnicode_FromString(name + 4); + if (!*pp) + return NULL; + } + method_name = *pp; + } + } +#endif + } + *p_orig_length = 0; + if (method_name) { + PyObject* iter; + iterable = __Pyx_PyObject_CallMethod0(iterable, method_name); + if (!iterable) + return NULL; +#if !CYTHON_COMPILING_IN_PYPY + if (PyTuple_CheckExact(iterable) || PyList_CheckExact(iterable)) + return iterable; +#endif + iter = PyObject_GetIter(iterable); + Py_DECREF(iterable); + return iter; + } + return PyObject_GetIter(iterable); +} +static CYTHON_INLINE int __Pyx_dict_iter_next( + PyObject* iter_obj, CYTHON_NCP_UNUSED Py_ssize_t orig_length, CYTHON_NCP_UNUSED Py_ssize_t* ppos, + PyObject** pkey, PyObject** pvalue, PyObject** pitem, int source_is_dict) { + PyObject* next_item; +#if !CYTHON_COMPILING_IN_PYPY + if (source_is_dict) { + PyObject *key, *value; + if (unlikely(orig_length != PyDict_Size(iter_obj))) { + PyErr_SetString(PyExc_RuntimeError, "dictionary changed size during iteration"); + return -1; + } + if (unlikely(!PyDict_Next(iter_obj, ppos, &key, &value))) { + return 0; + } + if (pitem) { + PyObject* tuple = PyTuple_New(2); + if (unlikely(!tuple)) { + return -1; + } + Py_INCREF(key); + Py_INCREF(value); + PyTuple_SET_ITEM(tuple, 0, key); + PyTuple_SET_ITEM(tuple, 1, value); + *pitem = tuple; + } else { + if (pkey) { + Py_INCREF(key); + *pkey = key; + } + if (pvalue) { + Py_INCREF(value); + *pvalue = value; + } + } + return 1; + } else if (PyTuple_CheckExact(iter_obj)) { + Py_ssize_t pos = *ppos; + if (unlikely(pos >= PyTuple_GET_SIZE(iter_obj))) return 0; + *ppos = pos + 1; + next_item = PyTuple_GET_ITEM(iter_obj, pos); + Py_INCREF(next_item); + } else if (PyList_CheckExact(iter_obj)) { + Py_ssize_t pos = *ppos; + if (unlikely(pos >= PyList_GET_SIZE(iter_obj))) return 0; + *ppos = pos + 1; + next_item = PyList_GET_ITEM(iter_obj, pos); + Py_INCREF(next_item); + } else +#endif + { + next_item = PyIter_Next(iter_obj); + if (unlikely(!next_item)) { + return __Pyx_IterFinish(); + } + } + if (pitem) { + *pitem = next_item; + } else if (pkey && pvalue) { + if (__Pyx_unpack_tuple2(next_item, pkey, pvalue, source_is_dict, source_is_dict, 1)) + return -1; + } else if (pkey) { + *pkey = next_item; + } else { + *pvalue = next_item; + } + return 1; +} + +/* PyDictVersioning */ +#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj) { + PyObject *dict = Py_TYPE(obj)->tp_dict; + return likely(dict) ? __PYX_GET_DICT_VERSION(dict) : 0; +} +static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj) { + PyObject **dictptr = NULL; + Py_ssize_t offset = Py_TYPE(obj)->tp_dictoffset; + if (offset) { +#if CYTHON_COMPILING_IN_CPYTHON + dictptr = (likely(offset > 0)) ? (PyObject **) ((char *)obj + offset) : _PyObject_GetDictPtr(obj); +#else + dictptr = _PyObject_GetDictPtr(obj); +#endif + } + return (dictptr && *dictptr) ? __PYX_GET_DICT_VERSION(*dictptr) : 0; +} +static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version) { + PyObject *dict = Py_TYPE(obj)->tp_dict; + if (unlikely(!dict) || unlikely(tp_dict_version != __PYX_GET_DICT_VERSION(dict))) + return 0; + return obj_dict_version == __Pyx_get_object_dict_version(obj); +} +#endif + +/* GetTopmostException */ +#if CYTHON_USE_EXC_INFO_STACK && CYTHON_FAST_THREAD_STATE +static _PyErr_StackItem * +__Pyx_PyErr_GetTopmostException(PyThreadState *tstate) +{ + _PyErr_StackItem *exc_info = tstate->exc_info; + while ((exc_info->exc_value == NULL || exc_info->exc_value == Py_None) && + exc_info->previous_item != NULL) + { + exc_info = exc_info->previous_item; + } + return exc_info; +} +#endif + +/* SaveResetException */ +#if CYTHON_FAST_THREAD_STATE +static CYTHON_INLINE void __Pyx__ExceptionSave(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { + #if CYTHON_USE_EXC_INFO_STACK && PY_VERSION_HEX >= 0x030B00a4 + _PyErr_StackItem *exc_info = __Pyx_PyErr_GetTopmostException(tstate); + PyObject *exc_value = exc_info->exc_value; + if (exc_value == NULL || exc_value == Py_None) { + *value = NULL; + *type = NULL; + *tb = NULL; + } else { + *value = exc_value; + Py_INCREF(*value); + *type = (PyObject*) Py_TYPE(exc_value); + Py_INCREF(*type); + *tb = PyException_GetTraceback(exc_value); + } + #elif CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = __Pyx_PyErr_GetTopmostException(tstate); + *type = exc_info->exc_type; + *value = exc_info->exc_value; + *tb = exc_info->exc_traceback; + Py_XINCREF(*type); + Py_XINCREF(*value); + Py_XINCREF(*tb); + #else + *type = tstate->exc_type; + *value = tstate->exc_value; + *tb = tstate->exc_traceback; + Py_XINCREF(*type); + Py_XINCREF(*value); + Py_XINCREF(*tb); + #endif +} +static CYTHON_INLINE void __Pyx__ExceptionReset(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb) { + #if CYTHON_USE_EXC_INFO_STACK && PY_VERSION_HEX >= 0x030B00a4 + _PyErr_StackItem *exc_info = tstate->exc_info; + PyObject *tmp_value = exc_info->exc_value; + exc_info->exc_value = value; + Py_XDECREF(tmp_value); + Py_XDECREF(type); + Py_XDECREF(tb); + #else + PyObject *tmp_type, *tmp_value, *tmp_tb; + #if CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = tstate->exc_info; + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = type; + exc_info->exc_value = value; + exc_info->exc_traceback = tb; + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = type; + tstate->exc_value = value; + tstate->exc_traceback = tb; + #endif + Py_XDECREF(tmp_type); + Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); + #endif +} +#endif + +/* KeywordStringCheck */ +static int __Pyx_CheckKeywordStrings( + PyObject *kw, + const char* function_name, + int kw_allowed) +{ + PyObject* key = 0; + Py_ssize_t pos = 0; +#if CYTHON_COMPILING_IN_PYPY + if (!kw_allowed && PyDict_Next(kw, &pos, &key, 0)) + goto invalid_keyword; + return 1; +#else + if (CYTHON_METH_FASTCALL && likely(PyTuple_Check(kw))) { + Py_ssize_t kwsize; +#if CYTHON_ASSUME_SAFE_MACROS + kwsize = PyTuple_GET_SIZE(kw); +#else + kwsize = PyTuple_Size(kw); + if (kwsize < 0) return 0; +#endif + if (unlikely(kwsize == 0)) + return 1; + if (!kw_allowed) { +#if CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kw, 0); +#else + key = PyTuple_GetItem(kw, pos); + if (!key) return 0; +#endif + goto invalid_keyword; + } +#if PY_VERSION_HEX < 0x03090000 + for (pos = 0; pos < kwsize; pos++) { +#if CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kw, pos); +#else + key = PyTuple_GetItem(kw, pos); + if (!key) return 0; +#endif + if (unlikely(!PyUnicode_Check(key))) + goto invalid_keyword_type; + } +#endif + return 1; + } + while (PyDict_Next(kw, &pos, &key, 0)) { + #if PY_MAJOR_VERSION < 3 + if (unlikely(!PyString_Check(key))) + #endif + if (unlikely(!PyUnicode_Check(key))) + goto invalid_keyword_type; + } + if (!kw_allowed && unlikely(key)) + goto invalid_keyword; + return 1; +invalid_keyword_type: + PyErr_Format(PyExc_TypeError, + "%.200s() keywords must be strings", function_name); + return 0; +#endif +invalid_keyword: + #if PY_MAJOR_VERSION < 3 + PyErr_Format(PyExc_TypeError, + "%.200s() got an unexpected keyword argument '%.200s'", + function_name, PyString_AsString(key)); + #else + PyErr_Format(PyExc_TypeError, + "%s() got an unexpected keyword argument '%U'", + function_name, key); + #endif + return 0; +} + +/* FixUpExtensionType */ +#if CYTHON_USE_TYPE_SPECS +static int __Pyx_fix_up_extension_type_from_spec(PyType_Spec *spec, PyTypeObject *type) { +#if PY_VERSION_HEX > 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + CYTHON_UNUSED_VAR(spec); + CYTHON_UNUSED_VAR(type); +#else + const PyType_Slot *slot = spec->slots; + while (slot && slot->slot && slot->slot != Py_tp_members) + slot++; + if (slot && slot->slot == Py_tp_members) { + int changed = 0; +#if !(PY_VERSION_HEX <= 0x030900b1 && CYTHON_COMPILING_IN_CPYTHON) + const +#endif + PyMemberDef *memb = (PyMemberDef*) slot->pfunc; + while (memb && memb->name) { + if (memb->name[0] == '_' && memb->name[1] == '_') { +#if PY_VERSION_HEX < 0x030900b1 + if (strcmp(memb->name, "__weaklistoffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); + type->tp_weaklistoffset = memb->offset; + changed = 1; + } + else if (strcmp(memb->name, "__dictoffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); + type->tp_dictoffset = memb->offset; + changed = 1; + } +#if CYTHON_METH_FASTCALL + else if (strcmp(memb->name, "__vectorcalloffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); +#if PY_VERSION_HEX >= 0x030800b4 + type->tp_vectorcall_offset = memb->offset; +#else + type->tp_print = (printfunc) memb->offset; +#endif + changed = 1; + } +#endif +#else + if ((0)); +#endif +#if PY_VERSION_HEX <= 0x030900b1 && CYTHON_COMPILING_IN_CPYTHON + else if (strcmp(memb->name, "__module__") == 0) { + PyObject *descr; + assert(memb->type == T_OBJECT); + assert(memb->flags == 0 || memb->flags == READONLY); + descr = PyDescr_NewMember(type, memb); + if (unlikely(!descr)) + return -1; + if (unlikely(PyDict_SetItem(type->tp_dict, PyDescr_NAME(descr), descr) < 0)) { + Py_DECREF(descr); + return -1; + } + Py_DECREF(descr); + changed = 1; + } +#endif + } + memb++; + } + if (changed) + PyType_Modified(type); + } +#endif + return 0; +} +#endif + +/* ValidateBasesTuple */ +#if CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API || CYTHON_USE_TYPE_SPECS +static int __Pyx_validate_bases_tuple(const char *type_name, Py_ssize_t dictoffset, PyObject *bases) { + Py_ssize_t i, n; +#if CYTHON_ASSUME_SAFE_MACROS + n = PyTuple_GET_SIZE(bases); +#else + n = PyTuple_Size(bases); + if (n < 0) return -1; +#endif + for (i = 1; i < n; i++) + { +#if CYTHON_AVOID_BORROWED_REFS + PyObject *b0 = PySequence_GetItem(bases, i); + if (!b0) return -1; +#elif CYTHON_ASSUME_SAFE_MACROS + PyObject *b0 = PyTuple_GET_ITEM(bases, i); +#else + PyObject *b0 = PyTuple_GetItem(bases, i); + if (!b0) return -1; +#endif + PyTypeObject *b; +#if PY_MAJOR_VERSION < 3 + if (PyClass_Check(b0)) + { + PyErr_Format(PyExc_TypeError, "base class '%.200s' is an old-style class", + PyString_AS_STRING(((PyClassObject*)b0)->cl_name)); +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } +#endif + b = (PyTypeObject*) b0; + if (!__Pyx_PyType_HasFeature(b, Py_TPFLAGS_HEAPTYPE)) + { + __Pyx_TypeName b_name = __Pyx_PyType_GetName(b); + PyErr_Format(PyExc_TypeError, + "base class '" __Pyx_FMT_TYPENAME "' is not a heap type", b_name); + __Pyx_DECREF_TypeName(b_name); +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } + if (dictoffset == 0) + { + Py_ssize_t b_dictoffset = 0; +#if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + b_dictoffset = b->tp_dictoffset; +#else + PyObject *py_b_dictoffset = PyObject_GetAttrString((PyObject*)b, "__dictoffset__"); + if (!py_b_dictoffset) goto dictoffset_return; + b_dictoffset = PyLong_AsSsize_t(py_b_dictoffset); + Py_DECREF(py_b_dictoffset); + if (b_dictoffset == -1 && PyErr_Occurred()) goto dictoffset_return; +#endif + if (b_dictoffset) { + { + __Pyx_TypeName b_name = __Pyx_PyType_GetName(b); + PyErr_Format(PyExc_TypeError, + "extension type '%.200s' has no __dict__ slot, " + "but base type '" __Pyx_FMT_TYPENAME "' has: " + "either add 'cdef dict __dict__' to the extension type " + "or add '__slots__ = [...]' to the base type", + type_name, b_name); + __Pyx_DECREF_TypeName(b_name); + } +#if !(CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY) + dictoffset_return: +#endif +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } + } +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + } + return 0; +} +#endif + +/* PyType_Ready */ +static int __Pyx_PyType_Ready(PyTypeObject *t) { +#if CYTHON_USE_TYPE_SPECS || !(CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API) || defined(PYSTON_MAJOR_VERSION) + (void)__Pyx_PyObject_CallMethod0; +#if CYTHON_USE_TYPE_SPECS + (void)__Pyx_validate_bases_tuple; +#endif + return PyType_Ready(t); +#else + int r; + PyObject *bases = __Pyx_PyType_GetSlot(t, tp_bases, PyObject*); + if (bases && unlikely(__Pyx_validate_bases_tuple(t->tp_name, t->tp_dictoffset, bases) == -1)) + return -1; +#if PY_VERSION_HEX >= 0x03050000 && !defined(PYSTON_MAJOR_VERSION) + { + int gc_was_enabled; + #if PY_VERSION_HEX >= 0x030A00b1 + gc_was_enabled = PyGC_Disable(); + (void)__Pyx_PyObject_CallMethod0; + #else + PyObject *ret, *py_status; + PyObject *gc = NULL; + #if PY_VERSION_HEX >= 0x030700a1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM+0 >= 0x07030400) + gc = PyImport_GetModule(__pyx_kp_u_gc); + #endif + if (unlikely(!gc)) gc = PyImport_Import(__pyx_kp_u_gc); + if (unlikely(!gc)) return -1; + py_status = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_isenabled); + if (unlikely(!py_status)) { + Py_DECREF(gc); + return -1; + } + gc_was_enabled = __Pyx_PyObject_IsTrue(py_status); + Py_DECREF(py_status); + if (gc_was_enabled > 0) { + ret = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_disable); + if (unlikely(!ret)) { + Py_DECREF(gc); + return -1; + } + Py_DECREF(ret); + } else if (unlikely(gc_was_enabled == -1)) { + Py_DECREF(gc); + return -1; + } + #endif + t->tp_flags |= Py_TPFLAGS_HEAPTYPE; +#if PY_VERSION_HEX >= 0x030A0000 + t->tp_flags |= Py_TPFLAGS_IMMUTABLETYPE; +#endif +#else + (void)__Pyx_PyObject_CallMethod0; +#endif + r = PyType_Ready(t); +#if PY_VERSION_HEX >= 0x03050000 && !defined(PYSTON_MAJOR_VERSION) + t->tp_flags &= ~Py_TPFLAGS_HEAPTYPE; + #if PY_VERSION_HEX >= 0x030A00b1 + if (gc_was_enabled) + PyGC_Enable(); + #else + if (gc_was_enabled) { + PyObject *tp, *v, *tb; + PyErr_Fetch(&tp, &v, &tb); + ret = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_enable); + if (likely(ret || r == -1)) { + Py_XDECREF(ret); + PyErr_Restore(tp, v, tb); + } else { + Py_XDECREF(tp); + Py_XDECREF(v); + Py_XDECREF(tb); + r = -1; + } + } + Py_DECREF(gc); + #endif + } +#endif + return r; +#endif +} + +/* PyObject_GenericGetAttrNoDict */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject *__Pyx_RaiseGenericGetAttributeError(PyTypeObject *tp, PyObject *attr_name) { + __Pyx_TypeName type_name = __Pyx_PyType_GetName(tp); + PyErr_Format(PyExc_AttributeError, +#if PY_MAJOR_VERSION >= 3 + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%U'", + type_name, attr_name); +#else + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%.400s'", + type_name, PyString_AS_STRING(attr_name)); +#endif + __Pyx_DECREF_TypeName(type_name); + return NULL; +} +static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name) { + PyObject *descr; + PyTypeObject *tp = Py_TYPE(obj); + if (unlikely(!PyString_Check(attr_name))) { + return PyObject_GenericGetAttr(obj, attr_name); + } + assert(!tp->tp_dictoffset); + descr = _PyType_Lookup(tp, attr_name); + if (unlikely(!descr)) { + return __Pyx_RaiseGenericGetAttributeError(tp, attr_name); + } + Py_INCREF(descr); + #if PY_MAJOR_VERSION < 3 + if (likely(PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_HAVE_CLASS))) + #endif + { + descrgetfunc f = Py_TYPE(descr)->tp_descr_get; + if (unlikely(f)) { + PyObject *res = f(descr, obj, (PyObject *)tp); + Py_DECREF(descr); + return res; + } + } + return descr; +} +#endif + +/* PyObject_GenericGetAttr */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name) { + if (unlikely(Py_TYPE(obj)->tp_dictoffset)) { + return PyObject_GenericGetAttr(obj, attr_name); + } + return __Pyx_PyObject_GenericGetAttrNoDict(obj, attr_name); +} +#endif + +/* SetVTable */ +static int __Pyx_SetVtable(PyTypeObject *type, void *vtable) { + PyObject *ob = PyCapsule_New(vtable, 0, 0); + if (unlikely(!ob)) + goto bad; +#if CYTHON_COMPILING_IN_LIMITED_API + if (unlikely(PyObject_SetAttr((PyObject *) type, __pyx_n_s_pyx_vtable, ob) < 0)) +#else + if (unlikely(PyDict_SetItem(type->tp_dict, __pyx_n_s_pyx_vtable, ob) < 0)) +#endif + goto bad; + Py_DECREF(ob); + return 0; +bad: + Py_XDECREF(ob); + return -1; +} + +/* GetVTable */ +static void* __Pyx_GetVtable(PyTypeObject *type) { + void* ptr; +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *ob = PyObject_GetAttr((PyObject *)type, __pyx_n_s_pyx_vtable); +#else + PyObject *ob = PyObject_GetItem(type->tp_dict, __pyx_n_s_pyx_vtable); +#endif + if (!ob) + goto bad; + ptr = PyCapsule_GetPointer(ob, 0); + if (!ptr && !PyErr_Occurred()) + PyErr_SetString(PyExc_RuntimeError, "invalid vtable found for imported type"); + Py_DECREF(ob); + return ptr; +bad: + Py_XDECREF(ob); + return NULL; +} + +/* MergeVTables */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_MergeVtables(PyTypeObject *type) { + int i; + void** base_vtables; + __Pyx_TypeName tp_base_name; + __Pyx_TypeName base_name; + void* unknown = (void*)-1; + PyObject* bases = type->tp_bases; + int base_depth = 0; + { + PyTypeObject* base = type->tp_base; + while (base) { + base_depth += 1; + base = base->tp_base; + } + } + base_vtables = (void**) malloc(sizeof(void*) * (size_t)(base_depth + 1)); + base_vtables[0] = unknown; + for (i = 1; i < PyTuple_GET_SIZE(bases); i++) { + void* base_vtable = __Pyx_GetVtable(((PyTypeObject*)PyTuple_GET_ITEM(bases, i))); + if (base_vtable != NULL) { + int j; + PyTypeObject* base = type->tp_base; + for (j = 0; j < base_depth; j++) { + if (base_vtables[j] == unknown) { + base_vtables[j] = __Pyx_GetVtable(base); + base_vtables[j + 1] = unknown; + } + if (base_vtables[j] == base_vtable) { + break; + } else if (base_vtables[j] == NULL) { + goto bad; + } + base = base->tp_base; + } + } + } + PyErr_Clear(); + free(base_vtables); + return 0; +bad: + tp_base_name = __Pyx_PyType_GetName(type->tp_base); + base_name = __Pyx_PyType_GetName((PyTypeObject*)PyTuple_GET_ITEM(bases, i)); + PyErr_Format(PyExc_TypeError, + "multiple bases have vtable conflict: '" __Pyx_FMT_TYPENAME "' and '" __Pyx_FMT_TYPENAME "'", tp_base_name, base_name); + __Pyx_DECREF_TypeName(tp_base_name); + __Pyx_DECREF_TypeName(base_name); + free(base_vtables); + return -1; +} +#endif + +/* SetupReduce */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_setup_reduce_is_named(PyObject* meth, PyObject* name) { + int ret; + PyObject *name_attr; + name_attr = __Pyx_PyObject_GetAttrStrNoError(meth, __pyx_n_s_name); + if (likely(name_attr)) { + ret = PyObject_RichCompareBool(name_attr, name, Py_EQ); + } else { + ret = -1; + } + if (unlikely(ret < 0)) { + PyErr_Clear(); + ret = 0; + } + Py_XDECREF(name_attr); + return ret; +} +static int __Pyx_setup_reduce(PyObject* type_obj) { + int ret = 0; + PyObject *object_reduce = NULL; + PyObject *object_getstate = NULL; + PyObject *object_reduce_ex = NULL; + PyObject *reduce = NULL; + PyObject *reduce_ex = NULL; + PyObject *reduce_cython = NULL; + PyObject *setstate = NULL; + PyObject *setstate_cython = NULL; + PyObject *getstate = NULL; +#if CYTHON_USE_PYTYPE_LOOKUP + getstate = _PyType_Lookup((PyTypeObject*)type_obj, __pyx_n_s_getstate); +#else + getstate = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_getstate); + if (!getstate && PyErr_Occurred()) { + goto __PYX_BAD; + } +#endif + if (getstate) { +#if CYTHON_USE_PYTYPE_LOOKUP + object_getstate = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_getstate); +#else + object_getstate = __Pyx_PyObject_GetAttrStrNoError((PyObject*)&PyBaseObject_Type, __pyx_n_s_getstate); + if (!object_getstate && PyErr_Occurred()) { + goto __PYX_BAD; + } +#endif + if (object_getstate != getstate) { + goto __PYX_GOOD; + } + } +#if CYTHON_USE_PYTYPE_LOOKUP + object_reduce_ex = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; +#else + object_reduce_ex = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; +#endif + reduce_ex = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce_ex); if (unlikely(!reduce_ex)) goto __PYX_BAD; + if (reduce_ex == object_reduce_ex) { +#if CYTHON_USE_PYTYPE_LOOKUP + object_reduce = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; +#else + object_reduce = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; +#endif + reduce = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce); if (unlikely(!reduce)) goto __PYX_BAD; + if (reduce == object_reduce || __Pyx_setup_reduce_is_named(reduce, __pyx_n_s_reduce_cython)) { + reduce_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_reduce_cython); + if (likely(reduce_cython)) { + ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce, reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + } else if (reduce == object_reduce || PyErr_Occurred()) { + goto __PYX_BAD; + } + setstate = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_setstate); + if (!setstate) PyErr_Clear(); + if (!setstate || __Pyx_setup_reduce_is_named(setstate, __pyx_n_s_setstate_cython)) { + setstate_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_setstate_cython); + if (likely(setstate_cython)) { + ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate, setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + } else if (!setstate || PyErr_Occurred()) { + goto __PYX_BAD; + } + } + PyType_Modified((PyTypeObject*)type_obj); + } + } + goto __PYX_GOOD; +__PYX_BAD: + if (!PyErr_Occurred()) { + __Pyx_TypeName type_obj_name = + __Pyx_PyType_GetName((PyTypeObject*)type_obj); + PyErr_Format(PyExc_RuntimeError, + "Unable to initialize pickling for " __Pyx_FMT_TYPENAME, type_obj_name); + __Pyx_DECREF_TypeName(type_obj_name); + } + ret = -1; +__PYX_GOOD: +#if !CYTHON_USE_PYTYPE_LOOKUP + Py_XDECREF(object_reduce); + Py_XDECREF(object_reduce_ex); + Py_XDECREF(object_getstate); + Py_XDECREF(getstate); +#endif + Py_XDECREF(reduce); + Py_XDECREF(reduce_ex); + Py_XDECREF(reduce_cython); + Py_XDECREF(setstate); + Py_XDECREF(setstate_cython); + return ret; +} +#endif + +/* FetchSharedCythonModule */ +static PyObject *__Pyx_FetchSharedCythonABIModule(void) { + return __Pyx_PyImport_AddModuleRef((char*) __PYX_ABI_MODULE_NAME); +} + +/* FetchCommonType */ +static int __Pyx_VerifyCachedType(PyObject *cached_type, + const char *name, + Py_ssize_t basicsize, + Py_ssize_t expected_basicsize) { + if (!PyType_Check(cached_type)) { + PyErr_Format(PyExc_TypeError, + "Shared Cython type %.200s is not a type object", name); + return -1; + } + if (basicsize != expected_basicsize) { + PyErr_Format(PyExc_TypeError, + "Shared Cython type %.200s has the wrong size, try recompiling", + name); + return -1; + } + return 0; +} +#if !CYTHON_USE_TYPE_SPECS +static PyTypeObject* __Pyx_FetchCommonType(PyTypeObject* type) { + PyObject* abi_module; + const char* object_name; + PyTypeObject *cached_type = NULL; + abi_module = __Pyx_FetchSharedCythonABIModule(); + if (!abi_module) return NULL; + object_name = strrchr(type->tp_name, '.'); + object_name = object_name ? object_name+1 : type->tp_name; + cached_type = (PyTypeObject*) PyObject_GetAttrString(abi_module, object_name); + if (cached_type) { + if (__Pyx_VerifyCachedType( + (PyObject *)cached_type, + object_name, + cached_type->tp_basicsize, + type->tp_basicsize) < 0) { + goto bad; + } + goto done; + } + if (!PyErr_ExceptionMatches(PyExc_AttributeError)) goto bad; + PyErr_Clear(); + if (PyType_Ready(type) < 0) goto bad; + if (PyObject_SetAttrString(abi_module, object_name, (PyObject *)type) < 0) + goto bad; + Py_INCREF(type); + cached_type = type; +done: + Py_DECREF(abi_module); + return cached_type; +bad: + Py_XDECREF(cached_type); + cached_type = NULL; + goto done; +} +#else +static PyTypeObject *__Pyx_FetchCommonTypeFromSpec(PyObject *module, PyType_Spec *spec, PyObject *bases) { + PyObject *abi_module, *cached_type = NULL; + const char* object_name = strrchr(spec->name, '.'); + object_name = object_name ? object_name+1 : spec->name; + abi_module = __Pyx_FetchSharedCythonABIModule(); + if (!abi_module) return NULL; + cached_type = PyObject_GetAttrString(abi_module, object_name); + if (cached_type) { + Py_ssize_t basicsize; +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *py_basicsize; + py_basicsize = PyObject_GetAttrString(cached_type, "__basicsize__"); + if (unlikely(!py_basicsize)) goto bad; + basicsize = PyLong_AsSsize_t(py_basicsize); + Py_DECREF(py_basicsize); + py_basicsize = 0; + if (unlikely(basicsize == (Py_ssize_t)-1) && PyErr_Occurred()) goto bad; +#else + basicsize = likely(PyType_Check(cached_type)) ? ((PyTypeObject*) cached_type)->tp_basicsize : -1; +#endif + if (__Pyx_VerifyCachedType( + cached_type, + object_name, + basicsize, + spec->basicsize) < 0) { + goto bad; + } + goto done; + } + if (!PyErr_ExceptionMatches(PyExc_AttributeError)) goto bad; + PyErr_Clear(); + CYTHON_UNUSED_VAR(module); + cached_type = __Pyx_PyType_FromModuleAndSpec(abi_module, spec, bases); + if (unlikely(!cached_type)) goto bad; + if (unlikely(__Pyx_fix_up_extension_type_from_spec(spec, (PyTypeObject *) cached_type) < 0)) goto bad; + if (PyObject_SetAttrString(abi_module, object_name, cached_type) < 0) goto bad; +done: + Py_DECREF(abi_module); + assert(cached_type == NULL || PyType_Check(cached_type)); + return (PyTypeObject *) cached_type; +bad: + Py_XDECREF(cached_type); + cached_type = NULL; + goto done; +} +#endif + +/* PyVectorcallFastCallDict */ +#if CYTHON_METH_FASTCALL +static PyObject *__Pyx_PyVectorcall_FastCallDict_kw(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw) +{ + PyObject *res = NULL; + PyObject *kwnames; + PyObject **newargs; + PyObject **kwvalues; + Py_ssize_t i, pos; + size_t j; + PyObject *key, *value; + unsigned long keys_are_strings; + Py_ssize_t nkw = PyDict_GET_SIZE(kw); + newargs = (PyObject **)PyMem_Malloc((nargs + (size_t)nkw) * sizeof(args[0])); + if (unlikely(newargs == NULL)) { + PyErr_NoMemory(); + return NULL; + } + for (j = 0; j < nargs; j++) newargs[j] = args[j]; + kwnames = PyTuple_New(nkw); + if (unlikely(kwnames == NULL)) { + PyMem_Free(newargs); + return NULL; + } + kwvalues = newargs + nargs; + pos = i = 0; + keys_are_strings = Py_TPFLAGS_UNICODE_SUBCLASS; + while (PyDict_Next(kw, &pos, &key, &value)) { + keys_are_strings &= Py_TYPE(key)->tp_flags; + Py_INCREF(key); + Py_INCREF(value); + PyTuple_SET_ITEM(kwnames, i, key); + kwvalues[i] = value; + i++; + } + if (unlikely(!keys_are_strings)) { + PyErr_SetString(PyExc_TypeError, "keywords must be strings"); + goto cleanup; + } + res = vc(func, newargs, nargs, kwnames); +cleanup: + Py_DECREF(kwnames); + for (i = 0; i < nkw; i++) + Py_DECREF(kwvalues[i]); + PyMem_Free(newargs); + return res; +} +static CYTHON_INLINE PyObject *__Pyx_PyVectorcall_FastCallDict(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw) +{ + if (likely(kw == NULL) || PyDict_GET_SIZE(kw) == 0) { + return vc(func, args, nargs, NULL); + } + return __Pyx_PyVectorcall_FastCallDict_kw(func, vc, args, nargs, kw); +} +#endif + +/* CythonFunctionShared */ +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc) { + if (__Pyx_CyFunction_Check(func)) { + return PyCFunction_GetFunction(((__pyx_CyFunctionObject*)func)->func) == (PyCFunction) cfunc; + } else if (PyCFunction_Check(func)) { + return PyCFunction_GetFunction(func) == (PyCFunction) cfunc; + } + return 0; +} +#else +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc) { + return __Pyx_CyOrPyCFunction_Check(func) && __Pyx_CyOrPyCFunction_GET_FUNCTION(func) == (PyCFunction) cfunc; +} +#endif +static CYTHON_INLINE void __Pyx__CyFunction_SetClassObj(__pyx_CyFunctionObject* f, PyObject* classobj) { +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + __Pyx_Py_XDECREF_SET( + __Pyx_CyFunction_GetClassObj(f), + ((classobj) ? __Pyx_NewRef(classobj) : NULL)); +#else + __Pyx_Py_XDECREF_SET( + ((PyCMethodObject *) (f))->mm_class, + (PyTypeObject*)((classobj) ? __Pyx_NewRef(classobj) : NULL)); +#endif +} +static PyObject * +__Pyx_CyFunction_get_doc(__pyx_CyFunctionObject *op, void *closure) +{ + CYTHON_UNUSED_VAR(closure); + if (unlikely(op->func_doc == NULL)) { +#if CYTHON_COMPILING_IN_LIMITED_API + op->func_doc = PyObject_GetAttrString(op->func, "__doc__"); + if (unlikely(!op->func_doc)) return NULL; +#else + if (((PyCFunctionObject*)op)->m_ml->ml_doc) { +#if PY_MAJOR_VERSION >= 3 + op->func_doc = PyUnicode_FromString(((PyCFunctionObject*)op)->m_ml->ml_doc); +#else + op->func_doc = PyString_FromString(((PyCFunctionObject*)op)->m_ml->ml_doc); +#endif + if (unlikely(op->func_doc == NULL)) + return NULL; + } else { + Py_INCREF(Py_None); + return Py_None; + } +#endif + } + Py_INCREF(op->func_doc); + return op->func_doc; +} +static int +__Pyx_CyFunction_set_doc(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (value == NULL) { + value = Py_None; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_doc, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_name(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(op->func_name == NULL)) { +#if CYTHON_COMPILING_IN_LIMITED_API + op->func_name = PyObject_GetAttrString(op->func, "__name__"); +#elif PY_MAJOR_VERSION >= 3 + op->func_name = PyUnicode_InternFromString(((PyCFunctionObject*)op)->m_ml->ml_name); +#else + op->func_name = PyString_InternFromString(((PyCFunctionObject*)op)->m_ml->ml_name); +#endif + if (unlikely(op->func_name == NULL)) + return NULL; + } + Py_INCREF(op->func_name); + return op->func_name; +} +static int +__Pyx_CyFunction_set_name(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); +#if PY_MAJOR_VERSION >= 3 + if (unlikely(value == NULL || !PyUnicode_Check(value))) +#else + if (unlikely(value == NULL || !PyString_Check(value))) +#endif + { + PyErr_SetString(PyExc_TypeError, + "__name__ must be set to a string object"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_name, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_qualname(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + Py_INCREF(op->func_qualname); + return op->func_qualname; +} +static int +__Pyx_CyFunction_set_qualname(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); +#if PY_MAJOR_VERSION >= 3 + if (unlikely(value == NULL || !PyUnicode_Check(value))) +#else + if (unlikely(value == NULL || !PyString_Check(value))) +#endif + { + PyErr_SetString(PyExc_TypeError, + "__qualname__ must be set to a string object"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_qualname, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_dict(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(op->func_dict == NULL)) { + op->func_dict = PyDict_New(); + if (unlikely(op->func_dict == NULL)) + return NULL; + } + Py_INCREF(op->func_dict); + return op->func_dict; +} +static int +__Pyx_CyFunction_set_dict(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(value == NULL)) { + PyErr_SetString(PyExc_TypeError, + "function's dictionary may not be deleted"); + return -1; + } + if (unlikely(!PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "setting function's dictionary to a non-dict"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_dict, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_globals(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + Py_INCREF(op->func_globals); + return op->func_globals; +} +static PyObject * +__Pyx_CyFunction_get_closure(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(op); + CYTHON_UNUSED_VAR(context); + Py_INCREF(Py_None); + return Py_None; +} +static PyObject * +__Pyx_CyFunction_get_code(__pyx_CyFunctionObject *op, void *context) +{ + PyObject* result = (op->func_code) ? op->func_code : Py_None; + CYTHON_UNUSED_VAR(context); + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_init_defaults(__pyx_CyFunctionObject *op) { + int result = 0; + PyObject *res = op->defaults_getter((PyObject *) op); + if (unlikely(!res)) + return -1; + #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + op->defaults_tuple = PyTuple_GET_ITEM(res, 0); + Py_INCREF(op->defaults_tuple); + op->defaults_kwdict = PyTuple_GET_ITEM(res, 1); + Py_INCREF(op->defaults_kwdict); + #else + op->defaults_tuple = __Pyx_PySequence_ITEM(res, 0); + if (unlikely(!op->defaults_tuple)) result = -1; + else { + op->defaults_kwdict = __Pyx_PySequence_ITEM(res, 1); + if (unlikely(!op->defaults_kwdict)) result = -1; + } + #endif + Py_DECREF(res); + return result; +} +static int +__Pyx_CyFunction_set_defaults(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value) { + value = Py_None; + } else if (unlikely(value != Py_None && !PyTuple_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__defaults__ must be set to a tuple object"); + return -1; + } + PyErr_WarnEx(PyExc_RuntimeWarning, "changes to cyfunction.__defaults__ will not " + "currently affect the values used in function calls", 1); + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->defaults_tuple, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_defaults(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->defaults_tuple; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + if (op->defaults_getter) { + if (unlikely(__Pyx_CyFunction_init_defaults(op) < 0)) return NULL; + result = op->defaults_tuple; + } else { + result = Py_None; + } + } + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_set_kwdefaults(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value) { + value = Py_None; + } else if (unlikely(value != Py_None && !PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__kwdefaults__ must be set to a dict object"); + return -1; + } + PyErr_WarnEx(PyExc_RuntimeWarning, "changes to cyfunction.__kwdefaults__ will not " + "currently affect the values used in function calls", 1); + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->defaults_kwdict, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_kwdefaults(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->defaults_kwdict; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + if (op->defaults_getter) { + if (unlikely(__Pyx_CyFunction_init_defaults(op) < 0)) return NULL; + result = op->defaults_kwdict; + } else { + result = Py_None; + } + } + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_set_annotations(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value || value == Py_None) { + value = NULL; + } else if (unlikely(!PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__annotations__ must be set to a dict object"); + return -1; + } + Py_XINCREF(value); + __Pyx_Py_XDECREF_SET(op->func_annotations, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_annotations(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->func_annotations; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + result = PyDict_New(); + if (unlikely(!result)) return NULL; + op->func_annotations = result; + } + Py_INCREF(result); + return result; +} +static PyObject * +__Pyx_CyFunction_get_is_coroutine(__pyx_CyFunctionObject *op, void *context) { + int is_coroutine; + CYTHON_UNUSED_VAR(context); + if (op->func_is_coroutine) { + return __Pyx_NewRef(op->func_is_coroutine); + } + is_coroutine = op->flags & __Pyx_CYFUNCTION_COROUTINE; +#if PY_VERSION_HEX >= 0x03050000 + if (is_coroutine) { + PyObject *module, *fromlist, *marker = __pyx_n_s_is_coroutine; + fromlist = PyList_New(1); + if (unlikely(!fromlist)) return NULL; + Py_INCREF(marker); +#if CYTHON_ASSUME_SAFE_MACROS + PyList_SET_ITEM(fromlist, 0, marker); +#else + if (unlikely(PyList_SetItem(fromlist, 0, marker) < 0)) { + Py_DECREF(marker); + Py_DECREF(fromlist); + return NULL; + } +#endif + module = PyImport_ImportModuleLevelObject(__pyx_n_s_asyncio_coroutines, NULL, NULL, fromlist, 0); + Py_DECREF(fromlist); + if (unlikely(!module)) goto ignore; + op->func_is_coroutine = __Pyx_PyObject_GetAttrStr(module, marker); + Py_DECREF(module); + if (likely(op->func_is_coroutine)) { + return __Pyx_NewRef(op->func_is_coroutine); + } +ignore: + PyErr_Clear(); + } +#endif + op->func_is_coroutine = __Pyx_PyBool_FromLong(is_coroutine); + return __Pyx_NewRef(op->func_is_coroutine); +} +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject * +__Pyx_CyFunction_get_module(__pyx_CyFunctionObject *op, void *context) { + CYTHON_UNUSED_VAR(context); + return PyObject_GetAttrString(op->func, "__module__"); +} +static int +__Pyx_CyFunction_set_module(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + return PyObject_SetAttrString(op->func, "__module__", value); +} +#endif +static PyGetSetDef __pyx_CyFunction_getsets[] = { + {(char *) "func_doc", (getter)__Pyx_CyFunction_get_doc, (setter)__Pyx_CyFunction_set_doc, 0, 0}, + {(char *) "__doc__", (getter)__Pyx_CyFunction_get_doc, (setter)__Pyx_CyFunction_set_doc, 0, 0}, + {(char *) "func_name", (getter)__Pyx_CyFunction_get_name, (setter)__Pyx_CyFunction_set_name, 0, 0}, + {(char *) "__name__", (getter)__Pyx_CyFunction_get_name, (setter)__Pyx_CyFunction_set_name, 0, 0}, + {(char *) "__qualname__", (getter)__Pyx_CyFunction_get_qualname, (setter)__Pyx_CyFunction_set_qualname, 0, 0}, + {(char *) "func_dict", (getter)__Pyx_CyFunction_get_dict, (setter)__Pyx_CyFunction_set_dict, 0, 0}, + {(char *) "__dict__", (getter)__Pyx_CyFunction_get_dict, (setter)__Pyx_CyFunction_set_dict, 0, 0}, + {(char *) "func_globals", (getter)__Pyx_CyFunction_get_globals, 0, 0, 0}, + {(char *) "__globals__", (getter)__Pyx_CyFunction_get_globals, 0, 0, 0}, + {(char *) "func_closure", (getter)__Pyx_CyFunction_get_closure, 0, 0, 0}, + {(char *) "__closure__", (getter)__Pyx_CyFunction_get_closure, 0, 0, 0}, + {(char *) "func_code", (getter)__Pyx_CyFunction_get_code, 0, 0, 0}, + {(char *) "__code__", (getter)__Pyx_CyFunction_get_code, 0, 0, 0}, + {(char *) "func_defaults", (getter)__Pyx_CyFunction_get_defaults, (setter)__Pyx_CyFunction_set_defaults, 0, 0}, + {(char *) "__defaults__", (getter)__Pyx_CyFunction_get_defaults, (setter)__Pyx_CyFunction_set_defaults, 0, 0}, + {(char *) "__kwdefaults__", (getter)__Pyx_CyFunction_get_kwdefaults, (setter)__Pyx_CyFunction_set_kwdefaults, 0, 0}, + {(char *) "__annotations__", (getter)__Pyx_CyFunction_get_annotations, (setter)__Pyx_CyFunction_set_annotations, 0, 0}, + {(char *) "_is_coroutine", (getter)__Pyx_CyFunction_get_is_coroutine, 0, 0, 0}, +#if CYTHON_COMPILING_IN_LIMITED_API + {"__module__", (getter)__Pyx_CyFunction_get_module, (setter)__Pyx_CyFunction_set_module, 0, 0}, +#endif + {0, 0, 0, 0, 0} +}; +static PyMemberDef __pyx_CyFunction_members[] = { +#if !CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__module__", T_OBJECT, offsetof(PyCFunctionObject, m_module), 0, 0}, +#endif +#if CYTHON_USE_TYPE_SPECS + {(char *) "__dictoffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_dict), READONLY, 0}, +#if CYTHON_METH_FASTCALL +#if CYTHON_BACKPORT_VECTORCALL + {(char *) "__vectorcalloffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_vectorcall), READONLY, 0}, +#else +#if !CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__vectorcalloffset__", T_PYSSIZET, offsetof(PyCFunctionObject, vectorcall), READONLY, 0}, +#endif +#endif +#endif +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__weaklistoffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_weakreflist), READONLY, 0}, +#else + {(char *) "__weaklistoffset__", T_PYSSIZET, offsetof(PyCFunctionObject, m_weakreflist), READONLY, 0}, +#endif +#endif + {0, 0, 0, 0, 0} +}; +static PyObject * +__Pyx_CyFunction_reduce(__pyx_CyFunctionObject *m, PyObject *args) +{ + CYTHON_UNUSED_VAR(args); +#if PY_MAJOR_VERSION >= 3 + Py_INCREF(m->func_qualname); + return m->func_qualname; +#else + return PyString_FromString(((PyCFunctionObject*)m)->m_ml->ml_name); +#endif +} +static PyMethodDef __pyx_CyFunction_methods[] = { + {"__reduce__", (PyCFunction)__Pyx_CyFunction_reduce, METH_VARARGS, 0}, + {0, 0, 0, 0} +}; +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API +#define __Pyx_CyFunction_weakreflist(cyfunc) ((cyfunc)->func_weakreflist) +#else +#define __Pyx_CyFunction_weakreflist(cyfunc) (((PyCFunctionObject*)cyfunc)->m_weakreflist) +#endif +static PyObject *__Pyx_CyFunction_Init(__pyx_CyFunctionObject *op, PyMethodDef *ml, int flags, PyObject* qualname, + PyObject *closure, PyObject *module, PyObject* globals, PyObject* code) { +#if !CYTHON_COMPILING_IN_LIMITED_API + PyCFunctionObject *cf = (PyCFunctionObject*) op; +#endif + if (unlikely(op == NULL)) + return NULL; +#if CYTHON_COMPILING_IN_LIMITED_API + op->func = PyCFunction_NewEx(ml, (PyObject*)op, module); + if (unlikely(!op->func)) return NULL; +#endif + op->flags = flags; + __Pyx_CyFunction_weakreflist(op) = NULL; +#if !CYTHON_COMPILING_IN_LIMITED_API + cf->m_ml = ml; + cf->m_self = (PyObject *) op; +#endif + Py_XINCREF(closure); + op->func_closure = closure; +#if !CYTHON_COMPILING_IN_LIMITED_API + Py_XINCREF(module); + cf->m_module = module; +#endif + op->func_dict = NULL; + op->func_name = NULL; + Py_INCREF(qualname); + op->func_qualname = qualname; + op->func_doc = NULL; +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + op->func_classobj = NULL; +#else + ((PyCMethodObject*)op)->mm_class = NULL; +#endif + op->func_globals = globals; + Py_INCREF(op->func_globals); + Py_XINCREF(code); + op->func_code = code; + op->defaults_pyobjects = 0; + op->defaults_size = 0; + op->defaults = NULL; + op->defaults_tuple = NULL; + op->defaults_kwdict = NULL; + op->defaults_getter = NULL; + op->func_annotations = NULL; + op->func_is_coroutine = NULL; +#if CYTHON_METH_FASTCALL + switch (ml->ml_flags & (METH_VARARGS | METH_FASTCALL | METH_NOARGS | METH_O | METH_KEYWORDS | METH_METHOD)) { + case METH_NOARGS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_NOARGS; + break; + case METH_O: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_O; + break; + case METH_METHOD | METH_FASTCALL | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD; + break; + case METH_FASTCALL | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS; + break; + case METH_VARARGS | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = NULL; + break; + default: + PyErr_SetString(PyExc_SystemError, "Bad call flags for CyFunction"); + Py_DECREF(op); + return NULL; + } +#endif + return (PyObject *) op; +} +static int +__Pyx_CyFunction_clear(__pyx_CyFunctionObject *m) +{ + Py_CLEAR(m->func_closure); +#if CYTHON_COMPILING_IN_LIMITED_API + Py_CLEAR(m->func); +#else + Py_CLEAR(((PyCFunctionObject*)m)->m_module); +#endif + Py_CLEAR(m->func_dict); + Py_CLEAR(m->func_name); + Py_CLEAR(m->func_qualname); + Py_CLEAR(m->func_doc); + Py_CLEAR(m->func_globals); + Py_CLEAR(m->func_code); +#if !CYTHON_COMPILING_IN_LIMITED_API +#if PY_VERSION_HEX < 0x030900B1 + Py_CLEAR(__Pyx_CyFunction_GetClassObj(m)); +#else + { + PyObject *cls = (PyObject*) ((PyCMethodObject *) (m))->mm_class; + ((PyCMethodObject *) (m))->mm_class = NULL; + Py_XDECREF(cls); + } +#endif +#endif + Py_CLEAR(m->defaults_tuple); + Py_CLEAR(m->defaults_kwdict); + Py_CLEAR(m->func_annotations); + Py_CLEAR(m->func_is_coroutine); + if (m->defaults) { + PyObject **pydefaults = __Pyx_CyFunction_Defaults(PyObject *, m); + int i; + for (i = 0; i < m->defaults_pyobjects; i++) + Py_XDECREF(pydefaults[i]); + PyObject_Free(m->defaults); + m->defaults = NULL; + } + return 0; +} +static void __Pyx__CyFunction_dealloc(__pyx_CyFunctionObject *m) +{ + if (__Pyx_CyFunction_weakreflist(m) != NULL) + PyObject_ClearWeakRefs((PyObject *) m); + __Pyx_CyFunction_clear(m); + __Pyx_PyHeapTypeObject_GC_Del(m); +} +static void __Pyx_CyFunction_dealloc(__pyx_CyFunctionObject *m) +{ + PyObject_GC_UnTrack(m); + __Pyx__CyFunction_dealloc(m); +} +static int __Pyx_CyFunction_traverse(__pyx_CyFunctionObject *m, visitproc visit, void *arg) +{ + Py_VISIT(m->func_closure); +#if CYTHON_COMPILING_IN_LIMITED_API + Py_VISIT(m->func); +#else + Py_VISIT(((PyCFunctionObject*)m)->m_module); +#endif + Py_VISIT(m->func_dict); + Py_VISIT(m->func_name); + Py_VISIT(m->func_qualname); + Py_VISIT(m->func_doc); + Py_VISIT(m->func_globals); + Py_VISIT(m->func_code); +#if !CYTHON_COMPILING_IN_LIMITED_API + Py_VISIT(__Pyx_CyFunction_GetClassObj(m)); +#endif + Py_VISIT(m->defaults_tuple); + Py_VISIT(m->defaults_kwdict); + Py_VISIT(m->func_is_coroutine); + if (m->defaults) { + PyObject **pydefaults = __Pyx_CyFunction_Defaults(PyObject *, m); + int i; + for (i = 0; i < m->defaults_pyobjects; i++) + Py_VISIT(pydefaults[i]); + } + return 0; +} +static PyObject* +__Pyx_CyFunction_repr(__pyx_CyFunctionObject *op) +{ +#if PY_MAJOR_VERSION >= 3 + return PyUnicode_FromFormat("", + op->func_qualname, (void *)op); +#else + return PyString_FromFormat("", + PyString_AsString(op->func_qualname), (void *)op); +#endif +} +static PyObject * __Pyx_CyFunction_CallMethod(PyObject *func, PyObject *self, PyObject *arg, PyObject *kw) { +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *f = ((__pyx_CyFunctionObject*)func)->func; + PyObject *py_name = NULL; + PyCFunction meth; + int flags; + meth = PyCFunction_GetFunction(f); + if (unlikely(!meth)) return NULL; + flags = PyCFunction_GetFlags(f); + if (unlikely(flags < 0)) return NULL; +#else + PyCFunctionObject* f = (PyCFunctionObject*)func; + PyCFunction meth = f->m_ml->ml_meth; + int flags = f->m_ml->ml_flags; +#endif + Py_ssize_t size; + switch (flags & (METH_VARARGS | METH_KEYWORDS | METH_NOARGS | METH_O)) { + case METH_VARARGS: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) + return (*meth)(self, arg); + break; + case METH_VARARGS | METH_KEYWORDS: + return (*(PyCFunctionWithKeywords)(void*)meth)(self, arg, kw); + case METH_NOARGS: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) { +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(arg); +#else + size = PyTuple_Size(arg); + if (unlikely(size < 0)) return NULL; +#endif + if (likely(size == 0)) + return (*meth)(self, NULL); +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, + "%.200S() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + py_name, size); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, + "%.200s() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + f->m_ml->ml_name, size); +#endif + return NULL; + } + break; + case METH_O: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) { +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(arg); +#else + size = PyTuple_Size(arg); + if (unlikely(size < 0)) return NULL; +#endif + if (likely(size == 1)) { + PyObject *result, *arg0; + #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + arg0 = PyTuple_GET_ITEM(arg, 0); + #else + arg0 = __Pyx_PySequence_ITEM(arg, 0); if (unlikely(!arg0)) return NULL; + #endif + result = (*meth)(self, arg0); + #if !(CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS) + Py_DECREF(arg0); + #endif + return result; + } +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, + "%.200S() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + py_name, size); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, + "%.200s() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + f->m_ml->ml_name, size); +#endif + return NULL; + } + break; + default: + PyErr_SetString(PyExc_SystemError, "Bad call flags for CyFunction"); + return NULL; + } +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, "%.200S() takes no keyword arguments", + py_name); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, "%.200s() takes no keyword arguments", + f->m_ml->ml_name); +#endif + return NULL; +} +static CYTHON_INLINE PyObject *__Pyx_CyFunction_Call(PyObject *func, PyObject *arg, PyObject *kw) { + PyObject *self, *result; +#if CYTHON_COMPILING_IN_LIMITED_API + self = PyCFunction_GetSelf(((__pyx_CyFunctionObject*)func)->func); + if (unlikely(!self) && PyErr_Occurred()) return NULL; +#else + self = ((PyCFunctionObject*)func)->m_self; +#endif + result = __Pyx_CyFunction_CallMethod(func, self, arg, kw); + return result; +} +static PyObject *__Pyx_CyFunction_CallAsMethod(PyObject *func, PyObject *args, PyObject *kw) { + PyObject *result; + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *) func; +#if CYTHON_METH_FASTCALL + __pyx_vectorcallfunc vc = __Pyx_CyFunction_func_vectorcall(cyfunc); + if (vc) { +#if CYTHON_ASSUME_SAFE_MACROS + return __Pyx_PyVectorcall_FastCallDict(func, vc, &PyTuple_GET_ITEM(args, 0), (size_t)PyTuple_GET_SIZE(args), kw); +#else + (void) &__Pyx_PyVectorcall_FastCallDict; + return PyVectorcall_Call(func, args, kw); +#endif + } +#endif + if ((cyfunc->flags & __Pyx_CYFUNCTION_CCLASS) && !(cyfunc->flags & __Pyx_CYFUNCTION_STATICMETHOD)) { + Py_ssize_t argc; + PyObject *new_args; + PyObject *self; +#if CYTHON_ASSUME_SAFE_MACROS + argc = PyTuple_GET_SIZE(args); +#else + argc = PyTuple_Size(args); + if (unlikely(!argc) < 0) return NULL; +#endif + new_args = PyTuple_GetSlice(args, 1, argc); + if (unlikely(!new_args)) + return NULL; + self = PyTuple_GetItem(args, 0); + if (unlikely(!self)) { + Py_DECREF(new_args); +#if PY_MAJOR_VERSION > 2 + PyErr_Format(PyExc_TypeError, + "unbound method %.200S() needs an argument", + cyfunc->func_qualname); +#else + PyErr_SetString(PyExc_TypeError, + "unbound method needs an argument"); +#endif + return NULL; + } + result = __Pyx_CyFunction_CallMethod(func, self, new_args, kw); + Py_DECREF(new_args); + } else { + result = __Pyx_CyFunction_Call(func, args, kw); + } + return result; +} +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE int __Pyx_CyFunction_Vectorcall_CheckArgs(__pyx_CyFunctionObject *cyfunc, Py_ssize_t nargs, PyObject *kwnames) +{ + int ret = 0; + if ((cyfunc->flags & __Pyx_CYFUNCTION_CCLASS) && !(cyfunc->flags & __Pyx_CYFUNCTION_STATICMETHOD)) { + if (unlikely(nargs < 1)) { + PyErr_Format(PyExc_TypeError, "%.200s() needs an argument", + ((PyCFunctionObject*)cyfunc)->m_ml->ml_name); + return -1; + } + ret = 1; + } + if (unlikely(kwnames) && unlikely(PyTuple_GET_SIZE(kwnames))) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes no keyword arguments", ((PyCFunctionObject*)cyfunc)->m_ml->ml_name); + return -1; + } + return ret; +} +static PyObject * __Pyx_CyFunction_Vectorcall_NOARGS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, kwnames)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + if (unlikely(nargs != 0)) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + def->ml_name, nargs); + return NULL; + } + return def->ml_meth(self, NULL); +} +static PyObject * __Pyx_CyFunction_Vectorcall_O(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, kwnames)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + if (unlikely(nargs != 1)) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + def->ml_name, nargs); + return NULL; + } + return def->ml_meth(self, args[0]); +} +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, NULL)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + return ((_PyCFunctionFastWithKeywords)(void(*)(void))def->ml_meth)(self, args, nargs, kwnames); +} +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; + PyTypeObject *cls = (PyTypeObject *) __Pyx_CyFunction_GetClassObj(cyfunc); +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, NULL)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + return ((__Pyx_PyCMethod)(void(*)(void))def->ml_meth)(self, cls, args, (size_t)nargs, kwnames); +} +#endif +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_CyFunctionType_slots[] = { + {Py_tp_dealloc, (void *)__Pyx_CyFunction_dealloc}, + {Py_tp_repr, (void *)__Pyx_CyFunction_repr}, + {Py_tp_call, (void *)__Pyx_CyFunction_CallAsMethod}, + {Py_tp_traverse, (void *)__Pyx_CyFunction_traverse}, + {Py_tp_clear, (void *)__Pyx_CyFunction_clear}, + {Py_tp_methods, (void *)__pyx_CyFunction_methods}, + {Py_tp_members, (void *)__pyx_CyFunction_members}, + {Py_tp_getset, (void *)__pyx_CyFunction_getsets}, + {Py_tp_descr_get, (void *)__Pyx_PyMethod_New}, + {0, 0}, +}; +static PyType_Spec __pyx_CyFunctionType_spec = { + __PYX_TYPE_MODULE_PREFIX "cython_function_or_method", + sizeof(__pyx_CyFunctionObject), + 0, +#ifdef Py_TPFLAGS_METHOD_DESCRIPTOR + Py_TPFLAGS_METHOD_DESCRIPTOR | +#endif +#if (defined(_Py_TPFLAGS_HAVE_VECTORCALL) && CYTHON_METH_FASTCALL) + _Py_TPFLAGS_HAVE_VECTORCALL | +#endif + Py_TPFLAGS_DEFAULT | Py_TPFLAGS_HAVE_GC | Py_TPFLAGS_BASETYPE, + __pyx_CyFunctionType_slots +}; +#else +static PyTypeObject __pyx_CyFunctionType_type = { + PyVarObject_HEAD_INIT(0, 0) + __PYX_TYPE_MODULE_PREFIX "cython_function_or_method", + sizeof(__pyx_CyFunctionObject), + 0, + (destructor) __Pyx_CyFunction_dealloc, +#if !CYTHON_METH_FASTCALL + 0, +#elif CYTHON_BACKPORT_VECTORCALL + (printfunc)offsetof(__pyx_CyFunctionObject, func_vectorcall), +#else + offsetof(PyCFunctionObject, vectorcall), +#endif + 0, + 0, +#if PY_MAJOR_VERSION < 3 + 0, +#else + 0, +#endif + (reprfunc) __Pyx_CyFunction_repr, + 0, + 0, + 0, + 0, + __Pyx_CyFunction_CallAsMethod, + 0, + 0, + 0, + 0, +#ifdef Py_TPFLAGS_METHOD_DESCRIPTOR + Py_TPFLAGS_METHOD_DESCRIPTOR | +#endif +#if defined(_Py_TPFLAGS_HAVE_VECTORCALL) && CYTHON_METH_FASTCALL + _Py_TPFLAGS_HAVE_VECTORCALL | +#endif + Py_TPFLAGS_DEFAULT | Py_TPFLAGS_HAVE_GC | Py_TPFLAGS_BASETYPE, + 0, + (traverseproc) __Pyx_CyFunction_traverse, + (inquiry) __Pyx_CyFunction_clear, + 0, +#if PY_VERSION_HEX < 0x030500A0 + offsetof(__pyx_CyFunctionObject, func_weakreflist), +#else + offsetof(PyCFunctionObject, m_weakreflist), +#endif + 0, + 0, + __pyx_CyFunction_methods, + __pyx_CyFunction_members, + __pyx_CyFunction_getsets, + 0, + 0, + __Pyx_PyMethod_New, + 0, + offsetof(__pyx_CyFunctionObject, func_dict), + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, +#if PY_VERSION_HEX >= 0x030400a1 + 0, +#endif +#if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, +#endif +#if __PYX_NEED_TP_PRINT_SLOT + 0, +#endif +#if PY_VERSION_HEX >= 0x030C0000 + 0, +#endif +#if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, +#endif +}; +#endif +static int __pyx_CyFunction_init(PyObject *module) { +#if CYTHON_USE_TYPE_SPECS + __pyx_CyFunctionType = __Pyx_FetchCommonTypeFromSpec(module, &__pyx_CyFunctionType_spec, NULL); +#else + CYTHON_UNUSED_VAR(module); + __pyx_CyFunctionType = __Pyx_FetchCommonType(&__pyx_CyFunctionType_type); +#endif + if (unlikely(__pyx_CyFunctionType == NULL)) { + return -1; + } + return 0; +} +static CYTHON_INLINE void *__Pyx_CyFunction_InitDefaults(PyObject *func, size_t size, int pyobjects) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults = PyObject_Malloc(size); + if (unlikely(!m->defaults)) + return PyErr_NoMemory(); + memset(m->defaults, 0, size); + m->defaults_pyobjects = pyobjects; + m->defaults_size = size; + return m->defaults; +} +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsTuple(PyObject *func, PyObject *tuple) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults_tuple = tuple; + Py_INCREF(tuple); +} +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsKwDict(PyObject *func, PyObject *dict) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults_kwdict = dict; + Py_INCREF(dict); +} +static CYTHON_INLINE void __Pyx_CyFunction_SetAnnotationsDict(PyObject *func, PyObject *dict) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->func_annotations = dict; + Py_INCREF(dict); +} + +/* CythonFunction */ +static PyObject *__Pyx_CyFunction_New(PyMethodDef *ml, int flags, PyObject* qualname, + PyObject *closure, PyObject *module, PyObject* globals, PyObject* code) { + PyObject *op = __Pyx_CyFunction_Init( + PyObject_GC_New(__pyx_CyFunctionObject, __pyx_CyFunctionType), + ml, flags, qualname, closure, module, globals, code + ); + if (likely(op)) { + PyObject_GC_Track(op); + } + return op; +} + +/* CLineInTraceback */ +#ifndef CYTHON_CLINE_IN_TRACEBACK +static int __Pyx_CLineForTraceback(PyThreadState *tstate, int c_line) { + PyObject *use_cline; + PyObject *ptype, *pvalue, *ptraceback; +#if CYTHON_COMPILING_IN_CPYTHON + PyObject **cython_runtime_dict; +#endif + CYTHON_MAYBE_UNUSED_VAR(tstate); + if (unlikely(!__pyx_cython_runtime)) { + return c_line; + } + __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); +#if CYTHON_COMPILING_IN_CPYTHON + cython_runtime_dict = _PyObject_GetDictPtr(__pyx_cython_runtime); + if (likely(cython_runtime_dict)) { + __PYX_PY_DICT_LOOKUP_IF_MODIFIED( + use_cline, *cython_runtime_dict, + __Pyx_PyDict_GetItemStr(*cython_runtime_dict, __pyx_n_s_cline_in_traceback)) + } else +#endif + { + PyObject *use_cline_obj = __Pyx_PyObject_GetAttrStrNoError(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback); + if (use_cline_obj) { + use_cline = PyObject_Not(use_cline_obj) ? Py_False : Py_True; + Py_DECREF(use_cline_obj); + } else { + PyErr_Clear(); + use_cline = NULL; + } + } + if (!use_cline) { + c_line = 0; + (void) PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False); + } + else if (use_cline == Py_False || (use_cline != Py_True && PyObject_Not(use_cline) != 0)) { + c_line = 0; + } + __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); + return c_line; +} +#endif + +/* CodeObjectCache */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line) { + int start = 0, mid = 0, end = count - 1; + if (end >= 0 && code_line > entries[end].code_line) { + return count; + } + while (start < end) { + mid = start + (end - start) / 2; + if (code_line < entries[mid].code_line) { + end = mid; + } else if (code_line > entries[mid].code_line) { + start = mid + 1; + } else { + return mid; + } + } + if (code_line <= entries[mid].code_line) { + return mid; + } else { + return mid + 1; + } +} +static PyCodeObject *__pyx_find_code_object(int code_line) { + PyCodeObject* code_object; + int pos; + if (unlikely(!code_line) || unlikely(!__pyx_code_cache.entries)) { + return NULL; + } + pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); + if (unlikely(pos >= __pyx_code_cache.count) || unlikely(__pyx_code_cache.entries[pos].code_line != code_line)) { + return NULL; + } + code_object = __pyx_code_cache.entries[pos].code_object; + Py_INCREF(code_object); + return code_object; +} +static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object) { + int pos, i; + __Pyx_CodeObjectCacheEntry* entries = __pyx_code_cache.entries; + if (unlikely(!code_line)) { + return; + } + if (unlikely(!entries)) { + entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Malloc(64*sizeof(__Pyx_CodeObjectCacheEntry)); + if (likely(entries)) { + __pyx_code_cache.entries = entries; + __pyx_code_cache.max_count = 64; + __pyx_code_cache.count = 1; + entries[0].code_line = code_line; + entries[0].code_object = code_object; + Py_INCREF(code_object); + } + return; + } + pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); + if ((pos < __pyx_code_cache.count) && unlikely(__pyx_code_cache.entries[pos].code_line == code_line)) { + PyCodeObject* tmp = entries[pos].code_object; + entries[pos].code_object = code_object; + Py_DECREF(tmp); + return; + } + if (__pyx_code_cache.count == __pyx_code_cache.max_count) { + int new_max = __pyx_code_cache.max_count + 64; + entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Realloc( + __pyx_code_cache.entries, ((size_t)new_max) * sizeof(__Pyx_CodeObjectCacheEntry)); + if (unlikely(!entries)) { + return; + } + __pyx_code_cache.entries = entries; + __pyx_code_cache.max_count = new_max; + } + for (i=__pyx_code_cache.count; i>pos; i--) { + entries[i] = entries[i-1]; + } + entries[pos].code_line = code_line; + entries[pos].code_object = code_object; + __pyx_code_cache.count++; + Py_INCREF(code_object); +} +#endif + +/* AddTraceback */ +#include "compile.h" +#include "frameobject.h" +#include "traceback.h" +#if PY_VERSION_HEX >= 0x030b00a6 && !CYTHON_COMPILING_IN_LIMITED_API + #ifndef Py_BUILD_CORE + #define Py_BUILD_CORE 1 + #endif + #include "internal/pycore_frame.h" +#endif +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject *__Pyx_PyCode_Replace_For_AddTraceback(PyObject *code, PyObject *scratch_dict, + PyObject *firstlineno, PyObject *name) { + PyObject *replace = NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "co_firstlineno", firstlineno))) return NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "co_name", name))) return NULL; + replace = PyObject_GetAttrString(code, "replace"); + if (likely(replace)) { + PyObject *result; + result = PyObject_Call(replace, __pyx_empty_tuple, scratch_dict); + Py_DECREF(replace); + return result; + } + PyErr_Clear(); + #if __PYX_LIMITED_VERSION_HEX < 0x030780000 + { + PyObject *compiled = NULL, *result = NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "code", code))) return NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "type", (PyObject*)(&PyType_Type)))) return NULL; + compiled = Py_CompileString( + "out = type(code)(\n" + " code.co_argcount, code.co_kwonlyargcount, code.co_nlocals, code.co_stacksize,\n" + " code.co_flags, code.co_code, code.co_consts, code.co_names,\n" + " code.co_varnames, code.co_filename, co_name, co_firstlineno,\n" + " code.co_lnotab)\n", "", Py_file_input); + if (!compiled) return NULL; + result = PyEval_EvalCode(compiled, scratch_dict, scratch_dict); + Py_DECREF(compiled); + if (!result) PyErr_Print(); + Py_DECREF(result); + result = PyDict_GetItemString(scratch_dict, "out"); + if (result) Py_INCREF(result); + return result; + } + #else + return NULL; + #endif +} +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename) { + PyObject *code_object = NULL, *py_py_line = NULL, *py_funcname = NULL, *dict = NULL; + PyObject *replace = NULL, *getframe = NULL, *frame = NULL; + PyObject *exc_type, *exc_value, *exc_traceback; + int success = 0; + if (c_line) { + (void) __pyx_cfilenm; + (void) __Pyx_CLineForTraceback(__Pyx_PyThreadState_Current, c_line); + } + PyErr_Fetch(&exc_type, &exc_value, &exc_traceback); + code_object = Py_CompileString("_getframe()", filename, Py_eval_input); + if (unlikely(!code_object)) goto bad; + py_py_line = PyLong_FromLong(py_line); + if (unlikely(!py_py_line)) goto bad; + py_funcname = PyUnicode_FromString(funcname); + if (unlikely(!py_funcname)) goto bad; + dict = PyDict_New(); + if (unlikely(!dict)) goto bad; + { + PyObject *old_code_object = code_object; + code_object = __Pyx_PyCode_Replace_For_AddTraceback(code_object, dict, py_py_line, py_funcname); + Py_DECREF(old_code_object); + } + if (unlikely(!code_object)) goto bad; + getframe = PySys_GetObject("_getframe"); + if (unlikely(!getframe)) goto bad; + if (unlikely(PyDict_SetItemString(dict, "_getframe", getframe))) goto bad; + frame = PyEval_EvalCode(code_object, dict, dict); + if (unlikely(!frame) || frame == Py_None) goto bad; + success = 1; + bad: + PyErr_Restore(exc_type, exc_value, exc_traceback); + Py_XDECREF(code_object); + Py_XDECREF(py_py_line); + Py_XDECREF(py_funcname); + Py_XDECREF(dict); + Py_XDECREF(replace); + if (success) { + PyTraceBack_Here( + (struct _frame*)frame); + } + Py_XDECREF(frame); +} +#else +static PyCodeObject* __Pyx_CreateCodeObjectForTraceback( + const char *funcname, int c_line, + int py_line, const char *filename) { + PyCodeObject *py_code = NULL; + PyObject *py_funcname = NULL; + #if PY_MAJOR_VERSION < 3 + PyObject *py_srcfile = NULL; + py_srcfile = PyString_FromString(filename); + if (!py_srcfile) goto bad; + #endif + if (c_line) { + #if PY_MAJOR_VERSION < 3 + py_funcname = PyString_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); + if (!py_funcname) goto bad; + #else + py_funcname = PyUnicode_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); + if (!py_funcname) goto bad; + funcname = PyUnicode_AsUTF8(py_funcname); + if (!funcname) goto bad; + #endif + } + else { + #if PY_MAJOR_VERSION < 3 + py_funcname = PyString_FromString(funcname); + if (!py_funcname) goto bad; + #endif + } + #if PY_MAJOR_VERSION < 3 + py_code = __Pyx_PyCode_New( + 0, + 0, + 0, + 0, + 0, + 0, + __pyx_empty_bytes, /*PyObject *code,*/ + __pyx_empty_tuple, /*PyObject *consts,*/ + __pyx_empty_tuple, /*PyObject *names,*/ + __pyx_empty_tuple, /*PyObject *varnames,*/ + __pyx_empty_tuple, /*PyObject *freevars,*/ + __pyx_empty_tuple, /*PyObject *cellvars,*/ + py_srcfile, /*PyObject *filename,*/ + py_funcname, /*PyObject *name,*/ + py_line, + __pyx_empty_bytes /*PyObject *lnotab*/ + ); + Py_DECREF(py_srcfile); + #else + py_code = PyCode_NewEmpty(filename, funcname, py_line); + #endif + Py_XDECREF(py_funcname); + return py_code; +bad: + Py_XDECREF(py_funcname); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(py_srcfile); + #endif + return NULL; +} +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename) { + PyCodeObject *py_code = 0; + PyFrameObject *py_frame = 0; + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject *ptype, *pvalue, *ptraceback; + if (c_line) { + c_line = __Pyx_CLineForTraceback(tstate, c_line); + } + py_code = __pyx_find_code_object(c_line ? -c_line : py_line); + if (!py_code) { + __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); + py_code = __Pyx_CreateCodeObjectForTraceback( + funcname, c_line, py_line, filename); + if (!py_code) { + /* If the code object creation fails, then we should clear the + fetched exception references and propagate the new exception */ + Py_XDECREF(ptype); + Py_XDECREF(pvalue); + Py_XDECREF(ptraceback); + goto bad; + } + __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); + __pyx_insert_code_object(c_line ? -c_line : py_line, py_code); + } + py_frame = PyFrame_New( + tstate, /*PyThreadState *tstate,*/ + py_code, /*PyCodeObject *code,*/ + __pyx_d, /*PyObject *globals,*/ + 0 /*PyObject *locals*/ + ); + if (!py_frame) goto bad; + __Pyx_PyFrame_SetLineNumber(py_frame, py_line); + PyTraceBack_Here(py_frame); +bad: + Py_XDECREF(py_code); + Py_XDECREF(py_frame); +} +#endif + +/* CIntFromPyVerify */ +#define __PYX_VERIFY_RETURN_INT(target_type, func_type, func_value)\ + __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 0) +#define __PYX_VERIFY_RETURN_INT_EXC(target_type, func_type, func_value)\ + __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 1) +#define __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, exc)\ + {\ + func_type value = func_value;\ + if (sizeof(target_type) < sizeof(func_type)) {\ + if (unlikely(value != (func_type) (target_type) value)) {\ + func_type zero = 0;\ + if (exc && unlikely(value == (func_type)-1 && PyErr_Occurred()))\ + return (target_type) -1;\ + if (is_unsigned && unlikely(value < zero))\ + goto raise_neg_overflow;\ + else\ + goto raise_overflow;\ + }\ + }\ + return (target_type) value;\ + } + +/* CIntFromPy */ +static CYTHON_INLINE uint32_t __Pyx_PyInt_As_uint32_t(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const uint32_t neg_one = (uint32_t) -1, const_zero = (uint32_t) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(uint32_t) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(uint32_t, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (uint32_t) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(uint32_t, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(uint32_t) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(uint32_t, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(uint32_t) >= 2 * PyLong_SHIFT)) { + return (uint32_t) (((((uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(uint32_t) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(uint32_t, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(uint32_t) >= 3 * PyLong_SHIFT)) { + return (uint32_t) (((((((uint32_t)digits[2]) << PyLong_SHIFT) | (uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(uint32_t) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(uint32_t, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(uint32_t) >= 4 * PyLong_SHIFT)) { + return (uint32_t) (((((((((uint32_t)digits[3]) << PyLong_SHIFT) | (uint32_t)digits[2]) << PyLong_SHIFT) | (uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (uint32_t) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(uint32_t) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(uint32_t, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(uint32_t) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(uint32_t, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(uint32_t, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(uint32_t) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(uint32_t, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(uint32_t) - 1 > 2 * PyLong_SHIFT)) { + return (uint32_t) (((uint32_t)-1)*(((((uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(uint32_t) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(uint32_t, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(uint32_t) - 1 > 2 * PyLong_SHIFT)) { + return (uint32_t) ((((((uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(uint32_t) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(uint32_t, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(uint32_t) - 1 > 3 * PyLong_SHIFT)) { + return (uint32_t) (((uint32_t)-1)*(((((((uint32_t)digits[2]) << PyLong_SHIFT) | (uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(uint32_t) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(uint32_t, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(uint32_t) - 1 > 3 * PyLong_SHIFT)) { + return (uint32_t) ((((((((uint32_t)digits[2]) << PyLong_SHIFT) | (uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(uint32_t) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(uint32_t, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(uint32_t) - 1 > 4 * PyLong_SHIFT)) { + return (uint32_t) (((uint32_t)-1)*(((((((((uint32_t)digits[3]) << PyLong_SHIFT) | (uint32_t)digits[2]) << PyLong_SHIFT) | (uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(uint32_t) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(uint32_t, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(uint32_t) - 1 > 4 * PyLong_SHIFT)) { + return (uint32_t) ((((((((((uint32_t)digits[3]) << PyLong_SHIFT) | (uint32_t)digits[2]) << PyLong_SHIFT) | (uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(uint32_t) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(uint32_t, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(uint32_t) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(uint32_t, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + uint32_t val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (uint32_t) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (uint32_t) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (uint32_t) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (uint32_t) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (uint32_t) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(uint32_t) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((uint32_t) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(uint32_t) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((uint32_t) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((uint32_t) 1) << (sizeof(uint32_t) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (uint32_t) -1; + } + } else { + uint32_t val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (uint32_t) -1; + val = __Pyx_PyInt_As_uint32_t(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to uint32_t"); + return (uint32_t) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to uint32_t"); + return (uint32_t) -1; +} + +/* CIntToPy */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_uint32_t(uint32_t value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const uint32_t neg_one = (uint32_t) -1, const_zero = (uint32_t) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(uint32_t) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(uint32_t) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(uint32_t) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(uint32_t) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(uint32_t) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; +#if !CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030d0000 + return _PyLong_FromByteArray(bytes, sizeof(uint32_t), + little, !is_unsigned); +#else + PyObject *from_bytes, *result = NULL; + PyObject *py_bytes = NULL, *arg_tuple = NULL, *kwds = NULL, *order_str = NULL; + from_bytes = PyObject_GetAttrString((PyObject*)&PyLong_Type, "from_bytes"); + if (!from_bytes) return NULL; + py_bytes = PyBytes_FromStringAndSize((char*)bytes, sizeof(uint32_t)); + if (!py_bytes) goto limited_bad; + order_str = PyUnicode_FromString(little ? "little" : "big"); + if (!order_str) goto limited_bad; + arg_tuple = PyTuple_Pack(2, py_bytes, order_str); + if (!arg_tuple) goto limited_bad; + if (!is_unsigned) { + kwds = PyDict_New(); + if (!kwds) goto limited_bad; + if (PyDict_SetItemString(kwds, "signed", __Pyx_NewRef(Py_True))) goto limited_bad; + } + result = PyObject_Call(from_bytes, arg_tuple, kwds); + limited_bad: + Py_XDECREF(kwds); + Py_XDECREF(arg_tuple); + Py_XDECREF(order_str); + Py_XDECREF(py_bytes); + Py_XDECREF(from_bytes); + return result; +#endif + } +} + +/* FormatTypeName */ +#if CYTHON_COMPILING_IN_LIMITED_API +static __Pyx_TypeName +__Pyx_PyType_GetName(PyTypeObject* tp) +{ + PyObject *name = __Pyx_PyObject_GetAttrStr((PyObject *)tp, + __pyx_n_s_name); + if (unlikely(name == NULL) || unlikely(!PyUnicode_Check(name))) { + PyErr_Clear(); + Py_XDECREF(name); + name = __Pyx_NewRef(__pyx_n_s__7); + } + return name; +} +#endif + +/* CIntToPy */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const long neg_one = (long) -1, const_zero = (long) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(long) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(long) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(long) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; +#if !CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030d0000 + return _PyLong_FromByteArray(bytes, sizeof(long), + little, !is_unsigned); +#else + PyObject *from_bytes, *result = NULL; + PyObject *py_bytes = NULL, *arg_tuple = NULL, *kwds = NULL, *order_str = NULL; + from_bytes = PyObject_GetAttrString((PyObject*)&PyLong_Type, "from_bytes"); + if (!from_bytes) return NULL; + py_bytes = PyBytes_FromStringAndSize((char*)bytes, sizeof(long)); + if (!py_bytes) goto limited_bad; + order_str = PyUnicode_FromString(little ? "little" : "big"); + if (!order_str) goto limited_bad; + arg_tuple = PyTuple_Pack(2, py_bytes, order_str); + if (!arg_tuple) goto limited_bad; + if (!is_unsigned) { + kwds = PyDict_New(); + if (!kwds) goto limited_bad; + if (PyDict_SetItemString(kwds, "signed", __Pyx_NewRef(Py_True))) goto limited_bad; + } + result = PyObject_Call(from_bytes, arg_tuple, kwds); + limited_bad: + Py_XDECREF(kwds); + Py_XDECREF(arg_tuple); + Py_XDECREF(order_str); + Py_XDECREF(py_bytes); + Py_XDECREF(from_bytes); + return result; +#endif + } +} + +/* CIntFromPy */ +static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const long neg_one = (long) -1, const_zero = (long) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(long) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(long, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (long) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(long, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(long) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 2 * PyLong_SHIFT)) { + return (long) (((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(long) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 3 * PyLong_SHIFT)) { + return (long) (((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(long) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 4 * PyLong_SHIFT)) { + return (long) (((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (long) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(long) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(long, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(long) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(long, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(long, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(long) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(long) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + return (long) ((((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(long) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + return (long) ((((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 4 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(long) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 4 * PyLong_SHIFT)) { + return (long) ((((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(long) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(long, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(long) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(long, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + long val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (long) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (long) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (long) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (long) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (long) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(long) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((long) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(long) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((long) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((long) 1) << (sizeof(long) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (long) -1; + } + } else { + long val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (long) -1; + val = __Pyx_PyInt_As_long(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to long"); + return (long) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to long"); + return (long) -1; +} + +/* CIntFromPy */ +static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(int) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(int, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (int) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(int, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(int) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 2 * PyLong_SHIFT)) { + return (int) (((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(int) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 3 * PyLong_SHIFT)) { + return (int) (((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(int) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 4 * PyLong_SHIFT)) { + return (int) (((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (int) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(int) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(int, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(int) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(int, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(int, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(int) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(int) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + return (int) ((((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(int) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + return (int) ((((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 4 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(int) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 4 * PyLong_SHIFT)) { + return (int) ((((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(int) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(int, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(int) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(int, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + int val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (int) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (int) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (int) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (int) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (int) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(int) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((int) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(int) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((int) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((int) 1) << (sizeof(int) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (int) -1; + } + } else { + int val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (int) -1; + val = __Pyx_PyInt_As_int(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to int"); + return (int) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to int"); + return (int) -1; +} + +/* FastTypeChecks */ +#if CYTHON_COMPILING_IN_CPYTHON +static int __Pyx_InBases(PyTypeObject *a, PyTypeObject *b) { + while (a) { + a = __Pyx_PyType_GetSlot(a, tp_base, PyTypeObject*); + if (a == b) + return 1; + } + return b == &PyBaseObject_Type; +} +static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b) { + PyObject *mro; + if (a == b) return 1; + mro = a->tp_mro; + if (likely(mro)) { + Py_ssize_t i, n; + n = PyTuple_GET_SIZE(mro); + for (i = 0; i < n; i++) { + if (PyTuple_GET_ITEM(mro, i) == (PyObject *)b) + return 1; + } + return 0; + } + return __Pyx_InBases(a, b); +} +static CYTHON_INLINE int __Pyx_IsAnySubtype2(PyTypeObject *cls, PyTypeObject *a, PyTypeObject *b) { + PyObject *mro; + if (cls == a || cls == b) return 1; + mro = cls->tp_mro; + if (likely(mro)) { + Py_ssize_t i, n; + n = PyTuple_GET_SIZE(mro); + for (i = 0; i < n; i++) { + PyObject *base = PyTuple_GET_ITEM(mro, i); + if (base == (PyObject *)a || base == (PyObject *)b) + return 1; + } + return 0; + } + return __Pyx_InBases(cls, a) || __Pyx_InBases(cls, b); +} +#if PY_MAJOR_VERSION == 2 +static int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject* exc_type2) { + PyObject *exception, *value, *tb; + int res; + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + __Pyx_ErrFetch(&exception, &value, &tb); + res = exc_type1 ? PyObject_IsSubclass(err, exc_type1) : 0; + if (unlikely(res == -1)) { + PyErr_WriteUnraisable(err); + res = 0; + } + if (!res) { + res = PyObject_IsSubclass(err, exc_type2); + if (unlikely(res == -1)) { + PyErr_WriteUnraisable(err); + res = 0; + } + } + __Pyx_ErrRestore(exception, value, tb); + return res; +} +#else +static CYTHON_INLINE int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject *exc_type2) { + if (exc_type1) { + return __Pyx_IsAnySubtype2((PyTypeObject*)err, (PyTypeObject*)exc_type1, (PyTypeObject*)exc_type2); + } else { + return __Pyx_IsSubtype((PyTypeObject*)err, (PyTypeObject*)exc_type2); + } +} +#endif +static int __Pyx_PyErr_GivenExceptionMatchesTuple(PyObject *exc_type, PyObject *tuple) { + Py_ssize_t i, n; + assert(PyExceptionClass_Check(exc_type)); + n = PyTuple_GET_SIZE(tuple); +#if PY_MAJOR_VERSION >= 3 + for (i=0; i= 0x030B00A4 + return Py_Version & ~0xFFUL; +#else + const char* rt_version = Py_GetVersion(); + unsigned long version = 0; + unsigned long factor = 0x01000000UL; + unsigned int digit = 0; + int i = 0; + while (factor) { + while ('0' <= rt_version[i] && rt_version[i] <= '9') { + digit = digit * 10 + (unsigned int) (rt_version[i] - '0'); + ++i; + } + version += factor * digit; + if (rt_version[i] != '.') + break; + digit = 0; + factor >>= 8; + ++i; + } + return version; +#endif +} +static int __Pyx_check_binary_version(unsigned long ct_version, unsigned long rt_version, int allow_newer) { + const unsigned long MAJOR_MINOR = 0xFFFF0000UL; + if ((rt_version & MAJOR_MINOR) == (ct_version & MAJOR_MINOR)) + return 0; + if (likely(allow_newer && (rt_version & MAJOR_MINOR) > (ct_version & MAJOR_MINOR))) + return 1; + { + char message[200]; + PyOS_snprintf(message, sizeof(message), + "compile time Python version %d.%d " + "of module '%.100s' " + "%s " + "runtime version %d.%d", + (int) (ct_version >> 24), (int) ((ct_version >> 16) & 0xFF), + __Pyx_MODULE_NAME, + (allow_newer) ? "was newer than" : "does not match", + (int) (rt_version >> 24), (int) ((rt_version >> 16) & 0xFF) + ); + return PyErr_WarnEx(NULL, message, 1); + } +} + +/* InitStrings */ +#if PY_MAJOR_VERSION >= 3 +static int __Pyx_InitString(__Pyx_StringTabEntry t, PyObject **str) { + if (t.is_unicode | t.is_str) { + if (t.intern) { + *str = PyUnicode_InternFromString(t.s); + } else if (t.encoding) { + *str = PyUnicode_Decode(t.s, t.n - 1, t.encoding, NULL); + } else { + *str = PyUnicode_FromStringAndSize(t.s, t.n - 1); + } + } else { + *str = PyBytes_FromStringAndSize(t.s, t.n - 1); + } + if (!*str) + return -1; + if (PyObject_Hash(*str) == -1) + return -1; + return 0; +} +#endif +static int __Pyx_InitStrings(__Pyx_StringTabEntry *t) { + while (t->p) { + #if PY_MAJOR_VERSION >= 3 + __Pyx_InitString(*t, t->p); + #else + if (t->is_unicode) { + *t->p = PyUnicode_DecodeUTF8(t->s, t->n - 1, NULL); + } else if (t->intern) { + *t->p = PyString_InternFromString(t->s); + } else { + *t->p = PyString_FromStringAndSize(t->s, t->n - 1); + } + if (!*t->p) + return -1; + if (PyObject_Hash(*t->p) == -1) + return -1; + #endif + ++t; + } + return 0; +} + +#include +static CYTHON_INLINE Py_ssize_t __Pyx_ssize_strlen(const char *s) { + size_t len = strlen(s); + if (unlikely(len > (size_t) PY_SSIZE_T_MAX)) { + PyErr_SetString(PyExc_OverflowError, "byte string is too long"); + return -1; + } + return (Py_ssize_t) len; +} +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char* c_str) { + Py_ssize_t len = __Pyx_ssize_strlen(c_str); + if (unlikely(len < 0)) return NULL; + return __Pyx_PyUnicode_FromStringAndSize(c_str, len); +} +static CYTHON_INLINE PyObject* __Pyx_PyByteArray_FromString(const char* c_str) { + Py_ssize_t len = __Pyx_ssize_strlen(c_str); + if (unlikely(len < 0)) return NULL; + return PyByteArray_FromStringAndSize(c_str, len); +} +static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject* o) { + Py_ssize_t ignore; + return __Pyx_PyObject_AsStringAndSize(o, &ignore); +} +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT +#if !CYTHON_PEP393_ENABLED +static const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { + char* defenc_c; + PyObject* defenc = _PyUnicode_AsDefaultEncodedString(o, NULL); + if (!defenc) return NULL; + defenc_c = PyBytes_AS_STRING(defenc); +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + { + char* end = defenc_c + PyBytes_GET_SIZE(defenc); + char* c; + for (c = defenc_c; c < end; c++) { + if ((unsigned char) (*c) >= 128) { + PyUnicode_AsASCIIString(o); + return NULL; + } + } + } +#endif + *length = PyBytes_GET_SIZE(defenc); + return defenc_c; +} +#else +static CYTHON_INLINE const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { + if (unlikely(__Pyx_PyUnicode_READY(o) == -1)) return NULL; +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + if (likely(PyUnicode_IS_ASCII(o))) { + *length = PyUnicode_GET_LENGTH(o); + return PyUnicode_AsUTF8(o); + } else { + PyUnicode_AsASCIIString(o); + return NULL; + } +#else + return PyUnicode_AsUTF8AndSize(o, length); +#endif +} +#endif +#endif +static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject* o, Py_ssize_t *length) { +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT + if ( +#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + __Pyx_sys_getdefaultencoding_not_ascii && +#endif + PyUnicode_Check(o)) { + return __Pyx_PyUnicode_AsStringAndSize(o, length); + } else +#endif +#if (!CYTHON_COMPILING_IN_PYPY && !CYTHON_COMPILING_IN_LIMITED_API) || (defined(PyByteArray_AS_STRING) && defined(PyByteArray_GET_SIZE)) + if (PyByteArray_Check(o)) { + *length = PyByteArray_GET_SIZE(o); + return PyByteArray_AS_STRING(o); + } else +#endif + { + char* result; + int r = PyBytes_AsStringAndSize(o, &result, length); + if (unlikely(r < 0)) { + return NULL; + } else { + return result; + } + } +} +static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject* x) { + int is_true = x == Py_True; + if (is_true | (x == Py_False) | (x == Py_None)) return is_true; + else return PyObject_IsTrue(x); +} +static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject* x) { + int retval; + if (unlikely(!x)) return -1; + retval = __Pyx_PyObject_IsTrue(x); + Py_DECREF(x); + return retval; +} +static PyObject* __Pyx_PyNumber_IntOrLongWrongResultType(PyObject* result, const char* type_name) { + __Pyx_TypeName result_type_name = __Pyx_PyType_GetName(Py_TYPE(result)); +#if PY_MAJOR_VERSION >= 3 + if (PyLong_Check(result)) { + if (PyErr_WarnFormat(PyExc_DeprecationWarning, 1, + "__int__ returned non-int (type " __Pyx_FMT_TYPENAME "). " + "The ability to return an instance of a strict subclass of int is deprecated, " + "and may be removed in a future version of Python.", + result_type_name)) { + __Pyx_DECREF_TypeName(result_type_name); + Py_DECREF(result); + return NULL; + } + __Pyx_DECREF_TypeName(result_type_name); + return result; + } +#endif + PyErr_Format(PyExc_TypeError, + "__%.4s__ returned non-%.4s (type " __Pyx_FMT_TYPENAME ")", + type_name, type_name, result_type_name); + __Pyx_DECREF_TypeName(result_type_name); + Py_DECREF(result); + return NULL; +} +static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x) { +#if CYTHON_USE_TYPE_SLOTS + PyNumberMethods *m; +#endif + const char *name = NULL; + PyObject *res = NULL; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x) || PyLong_Check(x))) +#else + if (likely(PyLong_Check(x))) +#endif + return __Pyx_NewRef(x); +#if CYTHON_USE_TYPE_SLOTS + m = Py_TYPE(x)->tp_as_number; + #if PY_MAJOR_VERSION < 3 + if (m && m->nb_int) { + name = "int"; + res = m->nb_int(x); + } + else if (m && m->nb_long) { + name = "long"; + res = m->nb_long(x); + } + #else + if (likely(m && m->nb_int)) { + name = "int"; + res = m->nb_int(x); + } + #endif +#else + if (!PyBytes_CheckExact(x) && !PyUnicode_CheckExact(x)) { + res = PyNumber_Int(x); + } +#endif + if (likely(res)) { +#if PY_MAJOR_VERSION < 3 + if (unlikely(!PyInt_Check(res) && !PyLong_Check(res))) { +#else + if (unlikely(!PyLong_CheckExact(res))) { +#endif + return __Pyx_PyNumber_IntOrLongWrongResultType(res, name); + } + } + else if (!PyErr_Occurred()) { + PyErr_SetString(PyExc_TypeError, + "an integer is required"); + } + return res; +} +static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject* b) { + Py_ssize_t ival; + PyObject *x; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_CheckExact(b))) { + if (sizeof(Py_ssize_t) >= sizeof(long)) + return PyInt_AS_LONG(b); + else + return PyInt_AsSsize_t(b); + } +#endif + if (likely(PyLong_CheckExact(b))) { + #if CYTHON_USE_PYLONG_INTERNALS + if (likely(__Pyx_PyLong_IsCompact(b))) { + return __Pyx_PyLong_CompactValue(b); + } else { + const digit* digits = __Pyx_PyLong_Digits(b); + const Py_ssize_t size = __Pyx_PyLong_SignedDigitCount(b); + switch (size) { + case 2: + if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { + return (Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -2: + if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case 3: + if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { + return (Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -3: + if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case 4: + if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { + return (Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -4: + if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + } + } + #endif + return PyLong_AsSsize_t(b); + } + x = PyNumber_Index(b); + if (!x) return -1; + ival = PyInt_AsSsize_t(x); + Py_DECREF(x); + return ival; +} +static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject* o) { + if (sizeof(Py_hash_t) == sizeof(Py_ssize_t)) { + return (Py_hash_t) __Pyx_PyIndex_AsSsize_t(o); +#if PY_MAJOR_VERSION < 3 + } else if (likely(PyInt_CheckExact(o))) { + return PyInt_AS_LONG(o); +#endif + } else { + Py_ssize_t ival; + PyObject *x; + x = PyNumber_Index(o); + if (!x) return -1; + ival = PyInt_AsLong(x); + Py_DECREF(x); + return ival; + } +} +static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b) { + return b ? __Pyx_NewRef(Py_True) : __Pyx_NewRef(Py_False); +} +static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t ival) { + return PyInt_FromSize_t(ival); +} + + +/* #### Code section: utility_code_pragmas_end ### */ +#ifdef _MSC_VER +#pragma warning( pop ) +#endif + + + +/* #### Code section: end ### */ +#endif /* Py_PYTHON_H */ diff --git a/opendbc/can/packer_pyx.so b/opendbc/can/packer_pyx.so new file mode 100644 index 00000000000000..0bc5928902a725 Binary files /dev/null and b/opendbc/can/packer_pyx.so differ diff --git a/opendbc/can/parser.cc b/opendbc/can/parser.cc deleted file mode 100644 index d36ec75badc2bd..00000000000000 --- a/opendbc/can/parser.cc +++ /dev/null @@ -1,315 +0,0 @@ -#include -#include -#include -#include -#include -#include - -#include -#include -#include -#include - -#include "opendbc/can/common.h" - -int64_t get_raw_value(const std::vector &msg, const Signal &sig) { - int64_t ret = 0; - - int i = sig.msb / 8; - int bits = sig.size; - while (i >= 0 && i < msg.size() && bits > 0) { - int lsb = (int)(sig.lsb / 8) == i ? sig.lsb : i*8; - int msb = (int)(sig.msb / 8) == i ? sig.msb : (i+1)*8 - 1; - int size = msb - lsb + 1; - - uint64_t d = (msg[i] >> (lsb - (i*8))) & ((1ULL << size) - 1); - ret |= d << (bits - size); - - bits -= size; - i = sig.is_little_endian ? i-1 : i+1; - } - return ret; -} - - -bool MessageState::parse(uint64_t nanos, const std::vector &dat) { - std::vector tmp_vals(parse_sigs.size()); - bool checksum_failed = false; - bool counter_failed = false; - - for (int i = 0; i < parse_sigs.size(); i++) { - const auto &sig = parse_sigs[i]; - - int64_t tmp = get_raw_value(dat, sig); - if (sig.is_signed) { - tmp -= ((tmp >> (sig.size-1)) & 0x1) ? (1ULL << sig.size) : 0; - } - - //DEBUG("parse 0x%X %s -> %ld\n", address, sig.name, tmp); - - if (!ignore_checksum) { - if (sig.calc_checksum != nullptr && sig.calc_checksum(address, sig, dat) != tmp) { - checksum_failed = true; - } - } - - if (!ignore_counter) { - if (sig.type == SignalType::COUNTER && !update_counter_generic(tmp, sig.size)) { - counter_failed = true; - } - } - - tmp_vals[i] = tmp * sig.factor + sig.offset; - } - - // only update values if both checksum and counter are valid - if (checksum_failed || counter_failed) { - LOGE_100("0x%X message checks failed, checksum failed %d, counter failed %d", address, checksum_failed, counter_failed); - return false; - } - - for (int i = 0; i < parse_sigs.size(); i++) { - vals[i] = tmp_vals[i]; - all_vals[i].push_back(vals[i]); - } - last_seen_nanos = nanos; - - return true; -} - - -bool MessageState::update_counter_generic(int64_t v, int cnt_size) { - if (((counter + 1) & ((1 << cnt_size) -1)) != v) { - counter_fail = std::min(counter_fail + 1, MAX_BAD_COUNTER); - if (counter_fail > 1) { - INFO("0x%X COUNTER FAIL #%d -- %d -> %d\n", address, counter_fail, counter, (int)v); - } - } else if (counter_fail > 0) { - counter_fail--; - } - counter = v; - return counter_fail < MAX_BAD_COUNTER; -} - - -CANParser::CANParser(int abus, const std::string& dbc_name, const std::vector> &messages) - : bus(abus), aligned_buf(kj::heapArray(1024)) { - dbc = dbc_lookup(dbc_name); - assert(dbc); - - bus_timeout_threshold = std::numeric_limits::max(); - - for (const auto& [address, frequency] : messages) { - // disallow duplicate message checks - if (message_states.find(address) != message_states.end()) { - std::stringstream is; - is << "Duplicate Message Check: " << address; - throw std::runtime_error(is.str()); - } - - MessageState &state = message_states[address]; - state.address = address; - // state.check_frequency = op.check_frequency, - - // msg is not valid if a message isn't received for 10 consecutive steps - if (frequency > 0) { - state.check_threshold = (1000000000ULL / frequency) * 10; - - // bus timeout threshold should be 10x the fastest msg - bus_timeout_threshold = std::min(bus_timeout_threshold, state.check_threshold); - } - - const Msg *msg = dbc->addr_to_msg.at(address); - state.name = msg->name; - state.size = msg->size; - assert(state.size <= 64); // max signal size is 64 bytes - - // track all signals for this message - state.parse_sigs = msg->sigs; - state.vals.resize(msg->sigs.size()); - state.all_vals.resize(msg->sigs.size()); - } -} - -CANParser::CANParser(int abus, const std::string& dbc_name, bool ignore_checksum, bool ignore_counter) - : bus(abus) { - // Add all messages and signals - - dbc = dbc_lookup(dbc_name); - assert(dbc); - - for (const auto& msg : dbc->msgs) { - MessageState state = { - .name = msg.name, - .address = msg.address, - .size = msg.size, - .ignore_checksum = ignore_checksum, - .ignore_counter = ignore_counter, - }; - - for (const auto& sig : msg.sigs) { - state.parse_sigs.push_back(sig); - state.vals.push_back(0); - state.all_vals.push_back({}); - } - - message_states[state.address] = state; - } -} - -#ifndef DYNAMIC_CAPNP -void CANParser::update_string(const std::string &data, bool sendcan) { - // format for board, make copy due to alignment issues. - const size_t buf_size = (data.length() / sizeof(capnp::word)) + 1; - if (aligned_buf.size() < buf_size) { - aligned_buf = kj::heapArray(buf_size); - } - memcpy(aligned_buf.begin(), data.data(), data.length()); - - // extract the messages - capnp::FlatArrayMessageReader cmsg(aligned_buf.slice(0, buf_size)); - cereal::Event::Reader event = cmsg.getRoot(); - - if (first_nanos == 0) { - first_nanos = event.getLogMonoTime(); - } - last_nanos = event.getLogMonoTime(); - - auto cans = sendcan ? event.getSendcan() : event.getCan(); - UpdateCans(last_nanos, cans); - - UpdateValid(last_nanos); -} - -void CANParser::update_strings(const std::vector &data, std::vector &vals, bool sendcan) { - uint64_t current_nanos = 0; - for (const auto &d : data) { - update_string(d, sendcan); - if (current_nanos == 0) { - current_nanos = last_nanos; - } - } - query_latest(vals, current_nanos); -} - -void CANParser::UpdateCans(uint64_t nanos, const capnp::List::Reader& cans) { - //DEBUG("got %d messages\n", cans.size()); - - bool bus_empty = true; - - // parse the messages - for (const auto cmsg : cans) { - if (cmsg.getSrc() != bus) { - // DEBUG("skip %d: wrong bus\n", cmsg.getAddress()); - continue; - } - bus_empty = false; - - auto state_it = message_states.find(cmsg.getAddress()); - if (state_it == message_states.end()) { - // DEBUG("skip %d: not specified\n", cmsg.getAddress()); - continue; - } - - auto dat = cmsg.getDat(); - - if (dat.size() > 64) { - DEBUG("got message longer than 64 bytes: 0x%X %zu\n", cmsg.getAddress(), dat.size()); - continue; - } - - // TODO: this actually triggers for some cars. fix and enable this - //if (dat.size() != state_it->second.size) { - // DEBUG("got message with unexpected length: expected %d, got %zu for %d", state_it->second.size, dat.size(), cmsg.getAddress()); - // continue; - //} - - // TODO: can remove when we ignore unexpected can msg lengths - // make sure the data_size is not less than state_it->second.size - size_t data_size = std::max(dat.size(), state_it->second.size); - std::vector data(data_size, 0); - memcpy(data.data(), dat.begin(), dat.size()); - state_it->second.parse(nanos, data); - } - - // update bus timeout - if (!bus_empty) { - last_nonempty_nanos = nanos; - } - bus_timeout = (nanos - last_nonempty_nanos) > bus_timeout_threshold; -} -#endif - -void CANParser::UpdateCans(uint64_t nanos, const capnp::DynamicStruct::Reader& cmsg) { - // assume message struct is `cereal::CanData` and parse - assert(cmsg.has("address") && cmsg.has("src") && cmsg.has("dat") && cmsg.has("busTime")); - - if (cmsg.get("src").as() != bus) { - DEBUG("skip %d: wrong bus\n", cmsg.get("address").as()); - return; - } - - auto state_it = message_states.find(cmsg.get("address").as()); - if (state_it == message_states.end()) { - DEBUG("skip %d: not specified\n", cmsg.get("address").as()); - return; - } - - auto dat = cmsg.get("dat").as(); - if (dat.size() > 64) return; // shouldn't ever happen - std::vector data(dat.size(), 0); - memcpy(data.data(), dat.begin(), dat.size()); - state_it->second.parse(nanos, data); -} - -void CANParser::UpdateValid(uint64_t nanos) { - const bool show_missing = (last_nanos - first_nanos) > 8e9; - - bool _valid = true; - bool _counters_valid = true; - for (const auto& kv : message_states) { - const auto& state = kv.second; - - if (state.counter_fail >= MAX_BAD_COUNTER) { - _counters_valid = false; - } - - const bool missing = state.last_seen_nanos == 0; - const bool timed_out = (nanos - state.last_seen_nanos) > state.check_threshold; - if (state.check_threshold > 0 && (missing || timed_out)) { - if (show_missing && !bus_timeout) { - if (missing) { - LOGE_100("0x%X '%s' NOT SEEN", state.address, state.name.c_str()); - } else if (timed_out) { - LOGE_100("0x%X '%s' TIMED OUT", state.address, state.name.c_str()); - } - } - _valid = false; - } - } - can_invalid_cnt = _valid ? 0 : (can_invalid_cnt + 1); - can_valid = (can_invalid_cnt < CAN_INVALID_CNT) && _counters_valid; -} - -void CANParser::query_latest(std::vector &vals, uint64_t last_ts) { - if (last_ts == 0) { - last_ts = last_nanos; - } - for (auto& kv : message_states) { - auto& state = kv.second; - if (last_ts != 0 && state.last_seen_nanos < last_ts) { - continue; - } - - for (int i = 0; i < state.parse_sigs.size(); i++) { - const Signal &sig = state.parse_sigs[i]; - SignalValue &v = vals.emplace_back(); - v.address = state.address; - v.ts_nanos = state.last_seen_nanos; - v.name = sig.name; - v.value = state.vals[i]; - v.all_values = state.all_vals[i]; - state.all_vals[i].clear(); - } - } -} diff --git a/opendbc/can/parser_pyx.cpp b/opendbc/can/parser_pyx.cpp new file mode 100644 index 00000000000000..5e371e03da762c --- /dev/null +++ b/opendbc/can/parser_pyx.cpp @@ -0,0 +1,13517 @@ +/* Generated by Cython 3.0.8 */ + +/* BEGIN: Cython Metadata +{ + "distutils": { + "depends": [ + "opendbc/can/common.h", + "opendbc/can/common_dbc.h" + ], + "include_dirs": [ + "opendbc/can" + ], + "language": "c++", + "name": "opendbc.can.parser_pyx", + "sources": [ + "/data/openpilot/opendbc/can/parser_pyx.pyx" + ] + }, + "module_name": "opendbc.can.parser_pyx" +} +END: Cython Metadata */ + +#ifndef PY_SSIZE_T_CLEAN +#define PY_SSIZE_T_CLEAN +#endif /* PY_SSIZE_T_CLEAN */ +#if defined(CYTHON_LIMITED_API) && 0 + #ifndef Py_LIMITED_API + #if CYTHON_LIMITED_API+0 > 0x03030000 + #define Py_LIMITED_API CYTHON_LIMITED_API + #else + #define Py_LIMITED_API 0x03030000 + #endif + #endif +#endif + +#include "Python.h" +#ifndef Py_PYTHON_H + #error Python headers needed to compile C extensions, please install development version of Python. +#elif PY_VERSION_HEX < 0x02070000 || (0x03000000 <= PY_VERSION_HEX && PY_VERSION_HEX < 0x03030000) + #error Cython requires Python 2.7+ or Python 3.3+. +#else +#if defined(CYTHON_LIMITED_API) && CYTHON_LIMITED_API +#define __PYX_EXTRA_ABI_MODULE_NAME "limited" +#else +#define __PYX_EXTRA_ABI_MODULE_NAME "" +#endif +#define CYTHON_ABI "3_0_8" __PYX_EXTRA_ABI_MODULE_NAME +#define __PYX_ABI_MODULE_NAME "_cython_" CYTHON_ABI +#define __PYX_TYPE_MODULE_PREFIX __PYX_ABI_MODULE_NAME "." +#define CYTHON_HEX_VERSION 0x030008F0 +#define CYTHON_FUTURE_DIVISION 1 +#include +#ifndef offsetof + #define offsetof(type, member) ( (size_t) & ((type*)0) -> member ) +#endif +#if !defined(_WIN32) && !defined(WIN32) && !defined(MS_WINDOWS) + #ifndef __stdcall + #define __stdcall + #endif + #ifndef __cdecl + #define __cdecl + #endif + #ifndef __fastcall + #define __fastcall + #endif +#endif +#ifndef DL_IMPORT + #define DL_IMPORT(t) t +#endif +#ifndef DL_EXPORT + #define DL_EXPORT(t) t +#endif +#define __PYX_COMMA , +#ifndef HAVE_LONG_LONG + #define HAVE_LONG_LONG +#endif +#ifndef PY_LONG_LONG + #define PY_LONG_LONG LONG_LONG +#endif +#ifndef Py_HUGE_VAL + #define Py_HUGE_VAL HUGE_VAL +#endif +#define __PYX_LIMITED_VERSION_HEX PY_VERSION_HEX +#if defined(GRAALVM_PYTHON) + /* For very preliminary testing purposes. Most variables are set the same as PyPy. + The existence of this section does not imply that anything works or is even tested */ + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 1 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #undef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #undef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 1 + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS (PY_MAJOR_VERSION >= 3) + #endif + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(PYPY_VERSION) + #define CYTHON_COMPILING_IN_PYPY 1 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #ifndef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #endif + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #undef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 1 + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS (PY_MAJOR_VERSION >= 3) + #endif + #if PY_VERSION_HEX < 0x03090000 + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #elif !defined(CYTHON_PEP489_MULTI_PHASE_INIT) + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE (PY_VERSION_HEX >= 0x030400a1 && PYPY_VERSION_NUM >= 0x07030C00) + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(CYTHON_LIMITED_API) + #ifdef Py_LIMITED_API + #undef __PYX_LIMITED_VERSION_HEX + #define __PYX_LIMITED_VERSION_HEX Py_LIMITED_API + #endif + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 1 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_CLINE_IN_TRACEBACK + #define CYTHON_CLINE_IN_TRACEBACK 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #undef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 1 + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #ifndef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #endif + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS 1 + #endif + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 1 + #ifndef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #endif + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(Py_GIL_DISABLED) || defined(Py_NOGIL) + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 1 + #ifndef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 1 + #endif + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #ifndef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #ifndef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 1 + #endif + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #ifndef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 1 + #endif + #ifndef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 1 + #endif + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #ifndef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 1 + #endif + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 +#else + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 1 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #ifndef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 1 + #endif + #ifndef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #endif + #ifndef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 1 + #endif + #if PY_MAJOR_VERSION < 3 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #ifndef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 1 + #endif + #ifndef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 1 + #endif + #ifndef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 1 + #endif + #if PY_VERSION_HEX < 0x030300F0 || PY_VERSION_HEX >= 0x030B00A2 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #elif !defined(CYTHON_USE_UNICODE_WRITER) + #define CYTHON_USE_UNICODE_WRITER 1 + #endif + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #ifndef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 1 + #endif + #ifndef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 1 + #endif + #ifndef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 1 + #endif + #ifndef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL (PY_MAJOR_VERSION < 3 || PY_VERSION_HEX >= 0x03060000 && PY_VERSION_HEX < 0x030C00A6) + #endif + #ifndef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL (PY_VERSION_HEX >= 0x030700A1) + #endif + #ifndef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 1 + #endif + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS 1 + #endif + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #elif !defined(CYTHON_PEP489_MULTI_PHASE_INIT) + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #ifndef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #endif + #if PY_VERSION_HEX < 0x030400a1 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #elif !defined(CYTHON_USE_TP_FINALIZE) + #define CYTHON_USE_TP_FINALIZE 1 + #endif + #if PY_VERSION_HEX < 0x030600B1 + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #elif !defined(CYTHON_USE_DICT_VERSIONS) + #define CYTHON_USE_DICT_VERSIONS (PY_VERSION_HEX < 0x030C00A5) + #endif + #if PY_VERSION_HEX < 0x030700A3 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #elif !defined(CYTHON_USE_EXC_INFO_STACK) + #define CYTHON_USE_EXC_INFO_STACK 1 + #endif + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 1 + #endif +#endif +#if !defined(CYTHON_FAST_PYCCALL) +#define CYTHON_FAST_PYCCALL (CYTHON_FAST_PYCALL && PY_VERSION_HEX >= 0x030600B1) +#endif +#if !defined(CYTHON_VECTORCALL) +#define CYTHON_VECTORCALL (CYTHON_FAST_PYCCALL && PY_VERSION_HEX >= 0x030800B1) +#endif +#define CYTHON_BACKPORT_VECTORCALL (CYTHON_METH_FASTCALL && PY_VERSION_HEX < 0x030800B1) +#if CYTHON_USE_PYLONG_INTERNALS + #if PY_MAJOR_VERSION < 3 + #include "longintrepr.h" + #endif + #undef SHIFT + #undef BASE + #undef MASK + #ifdef SIZEOF_VOID_P + enum { __pyx_check_sizeof_voidp = 1 / (int)(SIZEOF_VOID_P == sizeof(void*)) }; + #endif +#endif +#ifndef __has_attribute + #define __has_attribute(x) 0 +#endif +#ifndef __has_cpp_attribute + #define __has_cpp_attribute(x) 0 +#endif +#ifndef CYTHON_RESTRICT + #if defined(__GNUC__) + #define CYTHON_RESTRICT __restrict__ + #elif defined(_MSC_VER) && _MSC_VER >= 1400 + #define CYTHON_RESTRICT __restrict + #elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define CYTHON_RESTRICT restrict + #else + #define CYTHON_RESTRICT + #endif +#endif +#ifndef CYTHON_UNUSED + #if defined(__cplusplus) + /* for clang __has_cpp_attribute(maybe_unused) is true even before C++17 + * but leads to warnings with -pedantic, since it is a C++17 feature */ + #if ((defined(_MSVC_LANG) && _MSVC_LANG >= 201703L) || __cplusplus >= 201703L) + #if __has_cpp_attribute(maybe_unused) + #define CYTHON_UNUSED [[maybe_unused]] + #endif + #endif + #endif +#endif +#ifndef CYTHON_UNUSED +# if defined(__GNUC__) +# if !(defined(__cplusplus)) || (__GNUC__ > 3 || (__GNUC__ == 3 && __GNUC_MINOR__ >= 4)) +# define CYTHON_UNUSED __attribute__ ((__unused__)) +# else +# define CYTHON_UNUSED +# endif +# elif defined(__ICC) || (defined(__INTEL_COMPILER) && !defined(_MSC_VER)) +# define CYTHON_UNUSED __attribute__ ((__unused__)) +# else +# define CYTHON_UNUSED +# endif +#endif +#ifndef CYTHON_UNUSED_VAR +# if defined(__cplusplus) + template void CYTHON_UNUSED_VAR( const T& ) { } +# else +# define CYTHON_UNUSED_VAR(x) (void)(x) +# endif +#endif +#ifndef CYTHON_MAYBE_UNUSED_VAR + #define CYTHON_MAYBE_UNUSED_VAR(x) CYTHON_UNUSED_VAR(x) +#endif +#ifndef CYTHON_NCP_UNUSED +# if CYTHON_COMPILING_IN_CPYTHON +# define CYTHON_NCP_UNUSED +# else +# define CYTHON_NCP_UNUSED CYTHON_UNUSED +# endif +#endif +#ifndef CYTHON_USE_CPP_STD_MOVE + #if defined(__cplusplus) && (\ + __cplusplus >= 201103L || (defined(_MSC_VER) && _MSC_VER >= 1600)) + #define CYTHON_USE_CPP_STD_MOVE 1 + #else + #define CYTHON_USE_CPP_STD_MOVE 0 + #endif +#endif +#define __Pyx_void_to_None(void_result) ((void)(void_result), Py_INCREF(Py_None), Py_None) +#ifdef _MSC_VER + #ifndef _MSC_STDINT_H_ + #if _MSC_VER < 1300 + typedef unsigned char uint8_t; + typedef unsigned short uint16_t; + typedef unsigned int uint32_t; + #else + typedef unsigned __int8 uint8_t; + typedef unsigned __int16 uint16_t; + typedef unsigned __int32 uint32_t; + #endif + #endif + #if _MSC_VER < 1300 + #ifdef _WIN64 + typedef unsigned long long __pyx_uintptr_t; + #else + typedef unsigned int __pyx_uintptr_t; + #endif + #else + #ifdef _WIN64 + typedef unsigned __int64 __pyx_uintptr_t; + #else + typedef unsigned __int32 __pyx_uintptr_t; + #endif + #endif +#else + #include + typedef uintptr_t __pyx_uintptr_t; +#endif +#ifndef CYTHON_FALLTHROUGH + #if defined(__cplusplus) + /* for clang __has_cpp_attribute(fallthrough) is true even before C++17 + * but leads to warnings with -pedantic, since it is a C++17 feature */ + #if ((defined(_MSVC_LANG) && _MSVC_LANG >= 201703L) || __cplusplus >= 201703L) + #if __has_cpp_attribute(fallthrough) + #define CYTHON_FALLTHROUGH [[fallthrough]] + #endif + #endif + #ifndef CYTHON_FALLTHROUGH + #if __has_cpp_attribute(clang::fallthrough) + #define CYTHON_FALLTHROUGH [[clang::fallthrough]] + #elif __has_cpp_attribute(gnu::fallthrough) + #define CYTHON_FALLTHROUGH [[gnu::fallthrough]] + #endif + #endif + #endif + #ifndef CYTHON_FALLTHROUGH + #if __has_attribute(fallthrough) + #define CYTHON_FALLTHROUGH __attribute__((fallthrough)) + #else + #define CYTHON_FALLTHROUGH + #endif + #endif + #if defined(__clang__) && defined(__apple_build_version__) + #if __apple_build_version__ < 7000000 + #undef CYTHON_FALLTHROUGH + #define CYTHON_FALLTHROUGH + #endif + #endif +#endif +#ifdef __cplusplus + template + struct __PYX_IS_UNSIGNED_IMPL {static const bool value = T(0) < T(-1);}; + #define __PYX_IS_UNSIGNED(type) (__PYX_IS_UNSIGNED_IMPL::value) +#else + #define __PYX_IS_UNSIGNED(type) (((type)-1) > 0) +#endif +#if CYTHON_COMPILING_IN_PYPY == 1 + #define __PYX_NEED_TP_PRINT_SLOT (PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x030A0000) +#else + #define __PYX_NEED_TP_PRINT_SLOT (PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000) +#endif +#define __PYX_REINTERPRET_FUNCION(func_pointer, other_pointer) ((func_pointer)(void(*)(void))(other_pointer)) + +#ifndef __cplusplus + #error "Cython files generated with the C++ option must be compiled with a C++ compiler." +#endif +#ifndef CYTHON_INLINE + #if defined(__clang__) + #define CYTHON_INLINE __inline__ __attribute__ ((__unused__)) + #else + #define CYTHON_INLINE inline + #endif +#endif +template +void __Pyx_call_destructor(T& x) { + x.~T(); +} +template +class __Pyx_FakeReference { + public: + __Pyx_FakeReference() : ptr(NULL) { } + __Pyx_FakeReference(const T& ref) : ptr(const_cast(&ref)) { } + T *operator->() { return ptr; } + T *operator&() { return ptr; } + operator T&() { return *ptr; } + template bool operator ==(const U& other) const { return *ptr == other; } + template bool operator !=(const U& other) const { return *ptr != other; } + template bool operator==(const __Pyx_FakeReference& other) const { return *ptr == *other.ptr; } + template bool operator!=(const __Pyx_FakeReference& other) const { return *ptr != *other.ptr; } + private: + T *ptr; +}; + +#define __PYX_BUILD_PY_SSIZE_T "n" +#define CYTHON_FORMAT_SSIZE_T "z" +#if PY_MAJOR_VERSION < 3 + #define __Pyx_BUILTIN_MODULE_NAME "__builtin__" + #define __Pyx_DefaultClassType PyClass_Type + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_New(a+k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#else + #define __Pyx_BUILTIN_MODULE_NAME "builtins" + #define __Pyx_DefaultClassType PyType_Type +#if CYTHON_COMPILING_IN_LIMITED_API + static CYTHON_INLINE PyObject* __Pyx_PyCode_New(int a, int p, int k, int l, int s, int f, + PyObject *code, PyObject *c, PyObject* n, PyObject *v, + PyObject *fv, PyObject *cell, PyObject* fn, + PyObject *name, int fline, PyObject *lnos) { + PyObject *exception_table = NULL; + PyObject *types_module=NULL, *code_type=NULL, *result=NULL; + #if __PYX_LIMITED_VERSION_HEX < 0x030B0000 + PyObject *version_info; + PyObject *py_minor_version = NULL; + #endif + long minor_version = 0; + PyObject *type, *value, *traceback; + PyErr_Fetch(&type, &value, &traceback); + #if __PYX_LIMITED_VERSION_HEX >= 0x030B0000 + minor_version = 11; + #else + if (!(version_info = PySys_GetObject("version_info"))) goto end; + if (!(py_minor_version = PySequence_GetItem(version_info, 1))) goto end; + minor_version = PyLong_AsLong(py_minor_version); + Py_DECREF(py_minor_version); + if (minor_version == -1 && PyErr_Occurred()) goto end; + #endif + if (!(types_module = PyImport_ImportModule("types"))) goto end; + if (!(code_type = PyObject_GetAttrString(types_module, "CodeType"))) goto end; + if (minor_version <= 7) { + (void)p; + result = PyObject_CallFunction(code_type, "iiiiiOOOOOOiOO", a, k, l, s, f, code, + c, n, v, fn, name, fline, lnos, fv, cell); + } else if (minor_version <= 10) { + result = PyObject_CallFunction(code_type, "iiiiiiOOOOOOiOO", a,p, k, l, s, f, code, + c, n, v, fn, name, fline, lnos, fv, cell); + } else { + if (!(exception_table = PyBytes_FromStringAndSize(NULL, 0))) goto end; + result = PyObject_CallFunction(code_type, "iiiiiiOOOOOOOiOO", a,p, k, l, s, f, code, + c, n, v, fn, name, name, fline, lnos, exception_table, fv, cell); + } + end: + Py_XDECREF(code_type); + Py_XDECREF(exception_table); + Py_XDECREF(types_module); + if (type) { + PyErr_Restore(type, value, traceback); + } + return result; + } + #ifndef CO_OPTIMIZED + #define CO_OPTIMIZED 0x0001 + #endif + #ifndef CO_NEWLOCALS + #define CO_NEWLOCALS 0x0002 + #endif + #ifndef CO_VARARGS + #define CO_VARARGS 0x0004 + #endif + #ifndef CO_VARKEYWORDS + #define CO_VARKEYWORDS 0x0008 + #endif + #ifndef CO_ASYNC_GENERATOR + #define CO_ASYNC_GENERATOR 0x0200 + #endif + #ifndef CO_GENERATOR + #define CO_GENERATOR 0x0020 + #endif + #ifndef CO_COROUTINE + #define CO_COROUTINE 0x0080 + #endif +#elif PY_VERSION_HEX >= 0x030B0000 + static CYTHON_INLINE PyCodeObject* __Pyx_PyCode_New(int a, int p, int k, int l, int s, int f, + PyObject *code, PyObject *c, PyObject* n, PyObject *v, + PyObject *fv, PyObject *cell, PyObject* fn, + PyObject *name, int fline, PyObject *lnos) { + PyCodeObject *result; + PyObject *empty_bytes = PyBytes_FromStringAndSize("", 0); + if (!empty_bytes) return NULL; + result = + #if PY_VERSION_HEX >= 0x030C0000 + PyUnstable_Code_NewWithPosOnlyArgs + #else + PyCode_NewWithPosOnlyArgs + #endif + (a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, name, fline, lnos, empty_bytes); + Py_DECREF(empty_bytes); + return result; + } +#elif PY_VERSION_HEX >= 0x030800B2 && !CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_NewWithPosOnlyArgs(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#else + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#endif +#endif +#if PY_VERSION_HEX >= 0x030900A4 || defined(Py_IS_TYPE) + #define __Pyx_IS_TYPE(ob, type) Py_IS_TYPE(ob, type) +#else + #define __Pyx_IS_TYPE(ob, type) (((const PyObject*)ob)->ob_type == (type)) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_Is) + #define __Pyx_Py_Is(x, y) Py_Is(x, y) +#else + #define __Pyx_Py_Is(x, y) ((x) == (y)) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsNone) + #define __Pyx_Py_IsNone(ob) Py_IsNone(ob) +#else + #define __Pyx_Py_IsNone(ob) __Pyx_Py_Is((ob), Py_None) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsTrue) + #define __Pyx_Py_IsTrue(ob) Py_IsTrue(ob) +#else + #define __Pyx_Py_IsTrue(ob) __Pyx_Py_Is((ob), Py_True) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsFalse) + #define __Pyx_Py_IsFalse(ob) Py_IsFalse(ob) +#else + #define __Pyx_Py_IsFalse(ob) __Pyx_Py_Is((ob), Py_False) +#endif +#define __Pyx_NoneAsNull(obj) (__Pyx_Py_IsNone(obj) ? NULL : (obj)) +#if PY_VERSION_HEX >= 0x030900F0 && !CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyObject_GC_IsFinalized(o) PyObject_GC_IsFinalized(o) +#else + #define __Pyx_PyObject_GC_IsFinalized(o) _PyGC_FINALIZED(o) +#endif +#ifndef CO_COROUTINE + #define CO_COROUTINE 0x80 +#endif +#ifndef CO_ASYNC_GENERATOR + #define CO_ASYNC_GENERATOR 0x200 +#endif +#ifndef Py_TPFLAGS_CHECKTYPES + #define Py_TPFLAGS_CHECKTYPES 0 +#endif +#ifndef Py_TPFLAGS_HAVE_INDEX + #define Py_TPFLAGS_HAVE_INDEX 0 +#endif +#ifndef Py_TPFLAGS_HAVE_NEWBUFFER + #define Py_TPFLAGS_HAVE_NEWBUFFER 0 +#endif +#ifndef Py_TPFLAGS_HAVE_FINALIZE + #define Py_TPFLAGS_HAVE_FINALIZE 0 +#endif +#ifndef Py_TPFLAGS_SEQUENCE + #define Py_TPFLAGS_SEQUENCE 0 +#endif +#ifndef Py_TPFLAGS_MAPPING + #define Py_TPFLAGS_MAPPING 0 +#endif +#ifndef METH_STACKLESS + #define METH_STACKLESS 0 +#endif +#if PY_VERSION_HEX <= 0x030700A3 || !defined(METH_FASTCALL) + #ifndef METH_FASTCALL + #define METH_FASTCALL 0x80 + #endif + typedef PyObject *(*__Pyx_PyCFunctionFast) (PyObject *self, PyObject *const *args, Py_ssize_t nargs); + typedef PyObject *(*__Pyx_PyCFunctionFastWithKeywords) (PyObject *self, PyObject *const *args, + Py_ssize_t nargs, PyObject *kwnames); +#else + #define __Pyx_PyCFunctionFast _PyCFunctionFast + #define __Pyx_PyCFunctionFastWithKeywords _PyCFunctionFastWithKeywords +#endif +#if CYTHON_METH_FASTCALL + #define __Pyx_METH_FASTCALL METH_FASTCALL + #define __Pyx_PyCFunction_FastCall __Pyx_PyCFunctionFast + #define __Pyx_PyCFunction_FastCallWithKeywords __Pyx_PyCFunctionFastWithKeywords +#else + #define __Pyx_METH_FASTCALL METH_VARARGS + #define __Pyx_PyCFunction_FastCall PyCFunction + #define __Pyx_PyCFunction_FastCallWithKeywords PyCFunctionWithKeywords +#endif +#if CYTHON_VECTORCALL + #define __pyx_vectorcallfunc vectorcallfunc + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET PY_VECTORCALL_ARGUMENTS_OFFSET + #define __Pyx_PyVectorcall_NARGS(n) PyVectorcall_NARGS((size_t)(n)) +#elif CYTHON_BACKPORT_VECTORCALL + typedef PyObject *(*__pyx_vectorcallfunc)(PyObject *callable, PyObject *const *args, + size_t nargsf, PyObject *kwnames); + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET ((size_t)1 << (8 * sizeof(size_t) - 1)) + #define __Pyx_PyVectorcall_NARGS(n) ((Py_ssize_t)(((size_t)(n)) & ~__Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET)) +#else + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET 0 + #define __Pyx_PyVectorcall_NARGS(n) ((Py_ssize_t)(n)) +#endif +#if PY_MAJOR_VERSION >= 0x030900B1 +#define __Pyx_PyCFunction_CheckExact(func) PyCFunction_CheckExact(func) +#else +#define __Pyx_PyCFunction_CheckExact(func) PyCFunction_Check(func) +#endif +#define __Pyx_CyOrPyCFunction_Check(func) PyCFunction_Check(func) +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_CyOrPyCFunction_GET_FUNCTION(func) (((PyCFunctionObject*)(func))->m_ml->ml_meth) +#elif !CYTHON_COMPILING_IN_LIMITED_API +#define __Pyx_CyOrPyCFunction_GET_FUNCTION(func) PyCFunction_GET_FUNCTION(func) +#endif +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_CyOrPyCFunction_GET_FLAGS(func) (((PyCFunctionObject*)(func))->m_ml->ml_flags) +static CYTHON_INLINE PyObject* __Pyx_CyOrPyCFunction_GET_SELF(PyObject *func) { + return (__Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_STATIC) ? NULL : ((PyCFunctionObject*)func)->m_self; +} +#endif +static CYTHON_INLINE int __Pyx__IsSameCFunction(PyObject *func, void *cfunc) { +#if CYTHON_COMPILING_IN_LIMITED_API + return PyCFunction_Check(func) && PyCFunction_GetFunction(func) == (PyCFunction) cfunc; +#else + return PyCFunction_Check(func) && PyCFunction_GET_FUNCTION(func) == (PyCFunction) cfunc; +#endif +} +#define __Pyx_IsSameCFunction(func, cfunc) __Pyx__IsSameCFunction(func, cfunc) +#if __PYX_LIMITED_VERSION_HEX < 0x030900B1 + #define __Pyx_PyType_FromModuleAndSpec(m, s, b) ((void)m, PyType_FromSpecWithBases(s, b)) + typedef PyObject *(*__Pyx_PyCMethod)(PyObject *, PyTypeObject *, PyObject *const *, size_t, PyObject *); +#else + #define __Pyx_PyType_FromModuleAndSpec(m, s, b) PyType_FromModuleAndSpec(m, s, b) + #define __Pyx_PyCMethod PyCMethod +#endif +#ifndef METH_METHOD + #define METH_METHOD 0x200 +#endif +#if CYTHON_COMPILING_IN_PYPY && !defined(PyObject_Malloc) + #define PyObject_Malloc(s) PyMem_Malloc(s) + #define PyObject_Free(p) PyMem_Free(p) + #define PyObject_Realloc(p) PyMem_Realloc(p) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0) + #define __Pyx_PyFrame_SetLineNumber(frame, lineno) +#else + #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0) + #define __Pyx_PyFrame_SetLineNumber(frame, lineno) (frame)->f_lineno = (lineno) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyThreadState_Current PyThreadState_Get() +#elif !CYTHON_FAST_THREAD_STATE + #define __Pyx_PyThreadState_Current PyThreadState_GET() +#elif PY_VERSION_HEX >= 0x030d00A1 + #define __Pyx_PyThreadState_Current PyThreadState_GetUnchecked() +#elif PY_VERSION_HEX >= 0x03060000 + #define __Pyx_PyThreadState_Current _PyThreadState_UncheckedGet() +#elif PY_VERSION_HEX >= 0x03000000 + #define __Pyx_PyThreadState_Current PyThreadState_GET() +#else + #define __Pyx_PyThreadState_Current _PyThreadState_Current +#endif +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE void *__Pyx_PyModule_GetState(PyObject *op) +{ + void *result; + result = PyModule_GetState(op); + if (!result) + Py_FatalError("Couldn't find the module state"); + return result; +} +#endif +#define __Pyx_PyObject_GetSlot(obj, name, func_ctype) __Pyx_PyType_GetSlot(Py_TYPE(obj), name, func_ctype) +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyType_GetSlot(type, name, func_ctype) ((func_ctype) PyType_GetSlot((type), Py_##name)) +#else + #define __Pyx_PyType_GetSlot(type, name, func_ctype) ((type)->name) +#endif +#if PY_VERSION_HEX < 0x030700A2 && !defined(PyThread_tss_create) && !defined(Py_tss_NEEDS_INIT) +#include "pythread.h" +#define Py_tss_NEEDS_INIT 0 +typedef int Py_tss_t; +static CYTHON_INLINE int PyThread_tss_create(Py_tss_t *key) { + *key = PyThread_create_key(); + return 0; +} +static CYTHON_INLINE Py_tss_t * PyThread_tss_alloc(void) { + Py_tss_t *key = (Py_tss_t *)PyObject_Malloc(sizeof(Py_tss_t)); + *key = Py_tss_NEEDS_INIT; + return key; +} +static CYTHON_INLINE void PyThread_tss_free(Py_tss_t *key) { + PyObject_Free(key); +} +static CYTHON_INLINE int PyThread_tss_is_created(Py_tss_t *key) { + return *key != Py_tss_NEEDS_INIT; +} +static CYTHON_INLINE void PyThread_tss_delete(Py_tss_t *key) { + PyThread_delete_key(*key); + *key = Py_tss_NEEDS_INIT; +} +static CYTHON_INLINE int PyThread_tss_set(Py_tss_t *key, void *value) { + return PyThread_set_key_value(*key, value); +} +static CYTHON_INLINE void * PyThread_tss_get(Py_tss_t *key) { + return PyThread_get_key_value(*key); +} +#endif +#if PY_MAJOR_VERSION < 3 + #if CYTHON_COMPILING_IN_PYPY + #if PYPY_VERSION_NUM < 0x07030600 + #if defined(__cplusplus) && __cplusplus >= 201402L + [[deprecated("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6")]] + #elif defined(__GNUC__) || defined(__clang__) + __attribute__ ((__deprecated__("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6"))) + #elif defined(_MSC_VER) + __declspec(deprecated("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6")) + #endif + static CYTHON_INLINE int PyGILState_Check(void) { + return 0; + } + #else // PYPY_VERSION_NUM < 0x07030600 + #endif // PYPY_VERSION_NUM < 0x07030600 + #else + static CYTHON_INLINE int PyGILState_Check(void) { + PyThreadState * tstate = _PyThreadState_Current; + return tstate && (tstate == PyGILState_GetThisThreadState()); + } + #endif +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030d0000 || defined(_PyDict_NewPresized) +#define __Pyx_PyDict_NewPresized(n) ((n <= 8) ? PyDict_New() : _PyDict_NewPresized(n)) +#else +#define __Pyx_PyDict_NewPresized(n) PyDict_New() +#endif +#if PY_MAJOR_VERSION >= 3 || CYTHON_FUTURE_DIVISION + #define __Pyx_PyNumber_Divide(x,y) PyNumber_TrueDivide(x,y) + #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceTrueDivide(x,y) +#else + #define __Pyx_PyNumber_Divide(x,y) PyNumber_Divide(x,y) + #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceDivide(x,y) +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX > 0x030600B4 && PY_VERSION_HEX < 0x030d0000 && CYTHON_USE_UNICODE_INTERNALS +#define __Pyx_PyDict_GetItemStrWithError(dict, name) _PyDict_GetItem_KnownHash(dict, name, ((PyASCIIObject *) name)->hash) +static CYTHON_INLINE PyObject * __Pyx_PyDict_GetItemStr(PyObject *dict, PyObject *name) { + PyObject *res = __Pyx_PyDict_GetItemStrWithError(dict, name); + if (res == NULL) PyErr_Clear(); + return res; +} +#elif PY_MAJOR_VERSION >= 3 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07020000) +#define __Pyx_PyDict_GetItemStrWithError PyDict_GetItemWithError +#define __Pyx_PyDict_GetItemStr PyDict_GetItem +#else +static CYTHON_INLINE PyObject * __Pyx_PyDict_GetItemStrWithError(PyObject *dict, PyObject *name) { +#if CYTHON_COMPILING_IN_PYPY + return PyDict_GetItem(dict, name); +#else + PyDictEntry *ep; + PyDictObject *mp = (PyDictObject*) dict; + long hash = ((PyStringObject *) name)->ob_shash; + assert(hash != -1); + ep = (mp->ma_lookup)(mp, name, hash); + if (ep == NULL) { + return NULL; + } + return ep->me_value; +#endif +} +#define __Pyx_PyDict_GetItemStr PyDict_GetItem +#endif +#if CYTHON_USE_TYPE_SLOTS + #define __Pyx_PyType_GetFlags(tp) (((PyTypeObject *)tp)->tp_flags) + #define __Pyx_PyType_HasFeature(type, feature) ((__Pyx_PyType_GetFlags(type) & (feature)) != 0) + #define __Pyx_PyObject_GetIterNextFunc(obj) (Py_TYPE(obj)->tp_iternext) +#else + #define __Pyx_PyType_GetFlags(tp) (PyType_GetFlags((PyTypeObject *)tp)) + #define __Pyx_PyType_HasFeature(type, feature) PyType_HasFeature(type, feature) + #define __Pyx_PyObject_GetIterNextFunc(obj) PyIter_Next +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_SetItemOnTypeDict(tp, k, v) PyObject_GenericSetAttr((PyObject*)tp, k, v) +#else + #define __Pyx_SetItemOnTypeDict(tp, k, v) PyDict_SetItem(tp->tp_dict, k, v) +#endif +#if CYTHON_USE_TYPE_SPECS && PY_VERSION_HEX >= 0x03080000 +#define __Pyx_PyHeapTypeObject_GC_Del(obj) {\ + PyTypeObject *type = Py_TYPE((PyObject*)obj);\ + assert(__Pyx_PyType_HasFeature(type, Py_TPFLAGS_HEAPTYPE));\ + PyObject_GC_Del(obj);\ + Py_DECREF(type);\ +} +#else +#define __Pyx_PyHeapTypeObject_GC_Del(obj) PyObject_GC_Del(obj) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define CYTHON_PEP393_ENABLED 1 + #define __Pyx_PyUnicode_READY(op) (0) + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GetLength(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) PyUnicode_ReadChar(u, i) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) ((void)u, 1114111U) + #define __Pyx_PyUnicode_KIND(u) ((void)u, (0)) + #define __Pyx_PyUnicode_DATA(u) ((void*)u) + #define __Pyx_PyUnicode_READ(k, d, i) ((void)k, PyUnicode_ReadChar((PyObject*)(d), i)) + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GetLength(u)) +#elif PY_VERSION_HEX > 0x03030000 && defined(PyUnicode_KIND) + #define CYTHON_PEP393_ENABLED 1 + #if PY_VERSION_HEX >= 0x030C0000 + #define __Pyx_PyUnicode_READY(op) (0) + #else + #define __Pyx_PyUnicode_READY(op) (likely(PyUnicode_IS_READY(op)) ?\ + 0 : _PyUnicode_Ready((PyObject *)(op))) + #endif + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_LENGTH(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) PyUnicode_READ_CHAR(u, i) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) PyUnicode_MAX_CHAR_VALUE(u) + #define __Pyx_PyUnicode_KIND(u) ((int)PyUnicode_KIND(u)) + #define __Pyx_PyUnicode_DATA(u) PyUnicode_DATA(u) + #define __Pyx_PyUnicode_READ(k, d, i) PyUnicode_READ(k, d, i) + #define __Pyx_PyUnicode_WRITE(k, d, i, ch) PyUnicode_WRITE(k, d, i, (Py_UCS4) ch) + #if PY_VERSION_HEX >= 0x030C0000 + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_LENGTH(u)) + #else + #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x03090000 + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : ((PyCompactUnicodeObject *)(u))->wstr_length)) + #else + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : PyUnicode_GET_SIZE(u))) + #endif + #endif +#else + #define CYTHON_PEP393_ENABLED 0 + #define PyUnicode_1BYTE_KIND 1 + #define PyUnicode_2BYTE_KIND 2 + #define PyUnicode_4BYTE_KIND 4 + #define __Pyx_PyUnicode_READY(op) (0) + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_SIZE(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) ((Py_UCS4)(PyUnicode_AS_UNICODE(u)[i])) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) ((sizeof(Py_UNICODE) == 2) ? 65535U : 1114111U) + #define __Pyx_PyUnicode_KIND(u) ((int)sizeof(Py_UNICODE)) + #define __Pyx_PyUnicode_DATA(u) ((void*)PyUnicode_AS_UNICODE(u)) + #define __Pyx_PyUnicode_READ(k, d, i) ((void)(k), (Py_UCS4)(((Py_UNICODE*)d)[i])) + #define __Pyx_PyUnicode_WRITE(k, d, i, ch) (((void)(k)), ((Py_UNICODE*)d)[i] = (Py_UNICODE) ch) + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_SIZE(u)) +#endif +#if CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyUnicode_Concat(a, b) PyNumber_Add(a, b) + #define __Pyx_PyUnicode_ConcatSafe(a, b) PyNumber_Add(a, b) +#else + #define __Pyx_PyUnicode_Concat(a, b) PyUnicode_Concat(a, b) + #define __Pyx_PyUnicode_ConcatSafe(a, b) ((unlikely((a) == Py_None) || unlikely((b) == Py_None)) ?\ + PyNumber_Add(a, b) : __Pyx_PyUnicode_Concat(a, b)) +#endif +#if CYTHON_COMPILING_IN_PYPY + #if !defined(PyUnicode_DecodeUnicodeEscape) + #define PyUnicode_DecodeUnicodeEscape(s, size, errors) PyUnicode_Decode(s, size, "unicode_escape", errors) + #endif + #if !defined(PyUnicode_Contains) || (PY_MAJOR_VERSION == 2 && PYPY_VERSION_NUM < 0x07030500) + #undef PyUnicode_Contains + #define PyUnicode_Contains(u, s) PySequence_Contains(u, s) + #endif + #if !defined(PyByteArray_Check) + #define PyByteArray_Check(obj) PyObject_TypeCheck(obj, &PyByteArray_Type) + #endif + #if !defined(PyObject_Format) + #define PyObject_Format(obj, fmt) PyObject_CallMethod(obj, "__format__", "O", fmt) + #endif +#endif +#define __Pyx_PyString_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyString_Check(b) && !PyString_CheckExact(b)))) ? PyNumber_Remainder(a, b) : __Pyx_PyString_Format(a, b)) +#define __Pyx_PyUnicode_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyUnicode_Check(b) && !PyUnicode_CheckExact(b)))) ? PyNumber_Remainder(a, b) : PyUnicode_Format(a, b)) +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyString_Format(a, b) PyUnicode_Format(a, b) +#else + #define __Pyx_PyString_Format(a, b) PyString_Format(a, b) +#endif +#if PY_MAJOR_VERSION < 3 && !defined(PyObject_ASCII) + #define PyObject_ASCII(o) PyObject_Repr(o) +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyBaseString_Type PyUnicode_Type + #define PyStringObject PyUnicodeObject + #define PyString_Type PyUnicode_Type + #define PyString_Check PyUnicode_Check + #define PyString_CheckExact PyUnicode_CheckExact +#ifndef PyObject_Unicode + #define PyObject_Unicode PyObject_Str +#endif +#endif +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyBaseString_Check(obj) PyUnicode_Check(obj) + #define __Pyx_PyBaseString_CheckExact(obj) PyUnicode_CheckExact(obj) +#else + #define __Pyx_PyBaseString_Check(obj) (PyString_Check(obj) || PyUnicode_Check(obj)) + #define __Pyx_PyBaseString_CheckExact(obj) (PyString_CheckExact(obj) || PyUnicode_CheckExact(obj)) +#endif +#if CYTHON_COMPILING_IN_CPYTHON + #define __Pyx_PySequence_ListKeepNew(obj)\ + (likely(PyList_CheckExact(obj) && Py_REFCNT(obj) == 1) ? __Pyx_NewRef(obj) : PySequence_List(obj)) +#else + #define __Pyx_PySequence_ListKeepNew(obj) PySequence_List(obj) +#endif +#ifndef PySet_CheckExact + #define PySet_CheckExact(obj) __Pyx_IS_TYPE(obj, &PySet_Type) +#endif +#if PY_VERSION_HEX >= 0x030900A4 + #define __Pyx_SET_REFCNT(obj, refcnt) Py_SET_REFCNT(obj, refcnt) + #define __Pyx_SET_SIZE(obj, size) Py_SET_SIZE(obj, size) +#else + #define __Pyx_SET_REFCNT(obj, refcnt) Py_REFCNT(obj) = (refcnt) + #define __Pyx_SET_SIZE(obj, size) Py_SIZE(obj) = (size) +#endif +#if CYTHON_ASSUME_SAFE_MACROS + #define __Pyx_PySequence_ITEM(o, i) PySequence_ITEM(o, i) + #define __Pyx_PySequence_SIZE(seq) Py_SIZE(seq) + #define __Pyx_PyTuple_SET_ITEM(o, i, v) (PyTuple_SET_ITEM(o, i, v), (0)) + #define __Pyx_PyList_SET_ITEM(o, i, v) (PyList_SET_ITEM(o, i, v), (0)) + #define __Pyx_PyTuple_GET_SIZE(o) PyTuple_GET_SIZE(o) + #define __Pyx_PyList_GET_SIZE(o) PyList_GET_SIZE(o) + #define __Pyx_PySet_GET_SIZE(o) PySet_GET_SIZE(o) + #define __Pyx_PyBytes_GET_SIZE(o) PyBytes_GET_SIZE(o) + #define __Pyx_PyByteArray_GET_SIZE(o) PyByteArray_GET_SIZE(o) +#else + #define __Pyx_PySequence_ITEM(o, i) PySequence_GetItem(o, i) + #define __Pyx_PySequence_SIZE(seq) PySequence_Size(seq) + #define __Pyx_PyTuple_SET_ITEM(o, i, v) PyTuple_SetItem(o, i, v) + #define __Pyx_PyList_SET_ITEM(o, i, v) PyList_SetItem(o, i, v) + #define __Pyx_PyTuple_GET_SIZE(o) PyTuple_Size(o) + #define __Pyx_PyList_GET_SIZE(o) PyList_Size(o) + #define __Pyx_PySet_GET_SIZE(o) PySet_Size(o) + #define __Pyx_PyBytes_GET_SIZE(o) PyBytes_Size(o) + #define __Pyx_PyByteArray_GET_SIZE(o) PyByteArray_Size(o) +#endif +#if PY_VERSION_HEX >= 0x030d00A1 + #define __Pyx_PyImport_AddModuleRef(name) PyImport_AddModuleRef(name) +#else + static CYTHON_INLINE PyObject *__Pyx_PyImport_AddModuleRef(const char *name) { + PyObject *module = PyImport_AddModule(name); + Py_XINCREF(module); + return module; + } +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyIntObject PyLongObject + #define PyInt_Type PyLong_Type + #define PyInt_Check(op) PyLong_Check(op) + #define PyInt_CheckExact(op) PyLong_CheckExact(op) + #define __Pyx_Py3Int_Check(op) PyLong_Check(op) + #define __Pyx_Py3Int_CheckExact(op) PyLong_CheckExact(op) + #define PyInt_FromString PyLong_FromString + #define PyInt_FromUnicode PyLong_FromUnicode + #define PyInt_FromLong PyLong_FromLong + #define PyInt_FromSize_t PyLong_FromSize_t + #define PyInt_FromSsize_t PyLong_FromSsize_t + #define PyInt_AsLong PyLong_AsLong + #define PyInt_AS_LONG PyLong_AS_LONG + #define PyInt_AsSsize_t PyLong_AsSsize_t + #define PyInt_AsUnsignedLongMask PyLong_AsUnsignedLongMask + #define PyInt_AsUnsignedLongLongMask PyLong_AsUnsignedLongLongMask + #define PyNumber_Int PyNumber_Long +#else + #define __Pyx_Py3Int_Check(op) (PyLong_Check(op) || PyInt_Check(op)) + #define __Pyx_Py3Int_CheckExact(op) (PyLong_CheckExact(op) || PyInt_CheckExact(op)) +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyBoolObject PyLongObject +#endif +#if PY_MAJOR_VERSION >= 3 && CYTHON_COMPILING_IN_PYPY + #ifndef PyUnicode_InternFromString + #define PyUnicode_InternFromString(s) PyUnicode_FromString(s) + #endif +#endif +#if PY_VERSION_HEX < 0x030200A4 + typedef long Py_hash_t; + #define __Pyx_PyInt_FromHash_t PyInt_FromLong + #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsHash_t +#else + #define __Pyx_PyInt_FromHash_t PyInt_FromSsize_t + #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsSsize_t +#endif +#if CYTHON_USE_ASYNC_SLOTS + #if PY_VERSION_HEX >= 0x030500B1 + #define __Pyx_PyAsyncMethodsStruct PyAsyncMethods + #define __Pyx_PyType_AsAsync(obj) (Py_TYPE(obj)->tp_as_async) + #else + #define __Pyx_PyType_AsAsync(obj) ((__Pyx_PyAsyncMethodsStruct*) (Py_TYPE(obj)->tp_reserved)) + #endif +#else + #define __Pyx_PyType_AsAsync(obj) NULL +#endif +#ifndef __Pyx_PyAsyncMethodsStruct + typedef struct { + unaryfunc am_await; + unaryfunc am_aiter; + unaryfunc am_anext; + } __Pyx_PyAsyncMethodsStruct; +#endif + +#if defined(_WIN32) || defined(WIN32) || defined(MS_WINDOWS) + #if !defined(_USE_MATH_DEFINES) + #define _USE_MATH_DEFINES + #endif +#endif +#include +#ifdef NAN +#define __PYX_NAN() ((float) NAN) +#else +static CYTHON_INLINE float __PYX_NAN() { + float value; + memset(&value, 0xFF, sizeof(value)); + return value; +} +#endif +#if defined(__CYGWIN__) && defined(_LDBL_EQ_DBL) +#define __Pyx_truncl trunc +#else +#define __Pyx_truncl truncl +#endif + +#define __PYX_MARK_ERR_POS(f_index, lineno) \ + { __pyx_filename = __pyx_f[f_index]; (void)__pyx_filename; __pyx_lineno = lineno; (void)__pyx_lineno; __pyx_clineno = __LINE__; (void)__pyx_clineno; } +#define __PYX_ERR(f_index, lineno, Ln_error) \ + { __PYX_MARK_ERR_POS(f_index, lineno) goto Ln_error; } + +#ifdef CYTHON_EXTERN_C + #undef __PYX_EXTERN_C + #define __PYX_EXTERN_C CYTHON_EXTERN_C +#elif defined(__PYX_EXTERN_C) + #ifdef _MSC_VER + #pragma message ("Please do not define the '__PYX_EXTERN_C' macro externally. Use 'CYTHON_EXTERN_C' instead.") + #else + #warning Please do not define the '__PYX_EXTERN_C' macro externally. Use 'CYTHON_EXTERN_C' instead. + #endif +#else + #define __PYX_EXTERN_C extern "C++" +#endif + +#define __PYX_HAVE__opendbc__can__parser_pyx +#define __PYX_HAVE_API__opendbc__can__parser_pyx +/* Early includes */ +#include "ios" +#include "new" +#include "stdexcept" +#include "typeinfo" +#include + + #if __cplusplus >= 201103L || (defined(_MSC_VER) && _MSC_VER >= 1600) + // move should be defined for these versions of MSVC, but __cplusplus isn't set usefully + #include + + namespace cython_std { + template typename std::remove_reference::type&& move(T& t) noexcept { return std::move(t); } + template typename std::remove_reference::type&& move(T&& t) noexcept { return std::move(t); } + } + + #endif + +#include +#include +#include +#include +#include +#include "common_dbc.h" +#include "common.h" +#ifdef _OPENMP +#include +#endif /* _OPENMP */ + +#if defined(PYREX_WITHOUT_ASSERTIONS) && !defined(CYTHON_WITHOUT_ASSERTIONS) +#define CYTHON_WITHOUT_ASSERTIONS +#endif + +typedef struct {PyObject **p; const char *s; const Py_ssize_t n; const char* encoding; + const char is_unicode; const char is_str; const char intern; } __Pyx_StringTabEntry; + +#define __PYX_DEFAULT_STRING_ENCODING_IS_ASCII 1 +#define __PYX_DEFAULT_STRING_ENCODING_IS_UTF8 0 +#define __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT (PY_MAJOR_VERSION >= 3 && __PYX_DEFAULT_STRING_ENCODING_IS_UTF8) +#define __PYX_DEFAULT_STRING_ENCODING "ascii" +#define __Pyx_PyObject_FromString __Pyx_PyBytes_FromString +#define __Pyx_PyObject_FromStringAndSize __Pyx_PyBytes_FromStringAndSize +#define __Pyx_uchar_cast(c) ((unsigned char)c) +#define __Pyx_long_cast(x) ((long)x) +#define __Pyx_fits_Py_ssize_t(v, type, is_signed) (\ + (sizeof(type) < sizeof(Py_ssize_t)) ||\ + (sizeof(type) > sizeof(Py_ssize_t) &&\ + likely(v < (type)PY_SSIZE_T_MAX ||\ + v == (type)PY_SSIZE_T_MAX) &&\ + (!is_signed || likely(v > (type)PY_SSIZE_T_MIN ||\ + v == (type)PY_SSIZE_T_MIN))) ||\ + (sizeof(type) == sizeof(Py_ssize_t) &&\ + (is_signed || likely(v < (type)PY_SSIZE_T_MAX ||\ + v == (type)PY_SSIZE_T_MAX))) ) +static CYTHON_INLINE int __Pyx_is_valid_index(Py_ssize_t i, Py_ssize_t limit) { + return (size_t) i < (size_t) limit; +} +#if defined (__cplusplus) && __cplusplus >= 201103L + #include + #define __Pyx_sst_abs(value) std::abs(value) +#elif SIZEOF_INT >= SIZEOF_SIZE_T + #define __Pyx_sst_abs(value) abs(value) +#elif SIZEOF_LONG >= SIZEOF_SIZE_T + #define __Pyx_sst_abs(value) labs(value) +#elif defined (_MSC_VER) + #define __Pyx_sst_abs(value) ((Py_ssize_t)_abs64(value)) +#elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define __Pyx_sst_abs(value) llabs(value) +#elif defined (__GNUC__) + #define __Pyx_sst_abs(value) __builtin_llabs(value) +#else + #define __Pyx_sst_abs(value) ((value<0) ? -value : value) +#endif +static CYTHON_INLINE Py_ssize_t __Pyx_ssize_strlen(const char *s); +static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject*); +static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject*, Py_ssize_t* length); +static CYTHON_INLINE PyObject* __Pyx_PyByteArray_FromString(const char*); +#define __Pyx_PyByteArray_FromStringAndSize(s, l) PyByteArray_FromStringAndSize((const char*)s, l) +#define __Pyx_PyBytes_FromString PyBytes_FromString +#define __Pyx_PyBytes_FromStringAndSize PyBytes_FromStringAndSize +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char*); +#if PY_MAJOR_VERSION < 3 + #define __Pyx_PyStr_FromString __Pyx_PyBytes_FromString + #define __Pyx_PyStr_FromStringAndSize __Pyx_PyBytes_FromStringAndSize +#else + #define __Pyx_PyStr_FromString __Pyx_PyUnicode_FromString + #define __Pyx_PyStr_FromStringAndSize __Pyx_PyUnicode_FromStringAndSize +#endif +#define __Pyx_PyBytes_AsWritableString(s) ((char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsWritableSString(s) ((signed char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsWritableUString(s) ((unsigned char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsString(s) ((const char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsSString(s) ((const signed char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsUString(s) ((const unsigned char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyObject_AsWritableString(s) ((char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsWritableSString(s) ((signed char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsWritableUString(s) ((unsigned char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsSString(s) ((const signed char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsUString(s) ((const unsigned char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_FromCString(s) __Pyx_PyObject_FromString((const char*)s) +#define __Pyx_PyBytes_FromCString(s) __Pyx_PyBytes_FromString((const char*)s) +#define __Pyx_PyByteArray_FromCString(s) __Pyx_PyByteArray_FromString((const char*)s) +#define __Pyx_PyStr_FromCString(s) __Pyx_PyStr_FromString((const char*)s) +#define __Pyx_PyUnicode_FromCString(s) __Pyx_PyUnicode_FromString((const char*)s) +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE size_t __Pyx_Py_UNICODE_strlen(const wchar_t *u) +{ + const wchar_t *u_end = u; + while (*u_end++) ; + return (size_t)(u_end - u - 1); +} +#else +static CYTHON_INLINE size_t __Pyx_Py_UNICODE_strlen(const Py_UNICODE *u) +{ + const Py_UNICODE *u_end = u; + while (*u_end++) ; + return (size_t)(u_end - u - 1); +} +#endif +#define __Pyx_PyUnicode_FromOrdinal(o) PyUnicode_FromOrdinal((int)o) +#define __Pyx_PyUnicode_FromUnicode(u) PyUnicode_FromUnicode(u, __Pyx_Py_UNICODE_strlen(u)) +#define __Pyx_PyUnicode_FromUnicodeAndLength PyUnicode_FromUnicode +#define __Pyx_PyUnicode_AsUnicode PyUnicode_AsUnicode +#define __Pyx_NewRef(obj) (Py_INCREF(obj), obj) +#define __Pyx_Owned_Py_None(b) __Pyx_NewRef(Py_None) +static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b); +static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject*); +static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject*); +static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x); +#define __Pyx_PySequence_Tuple(obj)\ + (likely(PyTuple_CheckExact(obj)) ? __Pyx_NewRef(obj) : PySequence_Tuple(obj)) +static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject*); +static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t); +static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject*); +#if CYTHON_ASSUME_SAFE_MACROS +#define __pyx_PyFloat_AsDouble(x) (PyFloat_CheckExact(x) ? PyFloat_AS_DOUBLE(x) : PyFloat_AsDouble(x)) +#else +#define __pyx_PyFloat_AsDouble(x) PyFloat_AsDouble(x) +#endif +#define __pyx_PyFloat_AsFloat(x) ((float) __pyx_PyFloat_AsDouble(x)) +#if PY_MAJOR_VERSION >= 3 +#define __Pyx_PyNumber_Int(x) (PyLong_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Long(x)) +#else +#define __Pyx_PyNumber_Int(x) (PyInt_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Int(x)) +#endif +#if CYTHON_USE_PYLONG_INTERNALS + #if PY_VERSION_HEX >= 0x030C00A7 + #ifndef _PyLong_SIGN_MASK + #define _PyLong_SIGN_MASK 3 + #endif + #ifndef _PyLong_NON_SIZE_BITS + #define _PyLong_NON_SIZE_BITS 3 + #endif + #define __Pyx_PyLong_Sign(x) (((PyLongObject*)x)->long_value.lv_tag & _PyLong_SIGN_MASK) + #define __Pyx_PyLong_IsNeg(x) ((__Pyx_PyLong_Sign(x) & 2) != 0) + #define __Pyx_PyLong_IsNonNeg(x) (!__Pyx_PyLong_IsNeg(x)) + #define __Pyx_PyLong_IsZero(x) (__Pyx_PyLong_Sign(x) & 1) + #define __Pyx_PyLong_IsPos(x) (__Pyx_PyLong_Sign(x) == 0) + #define __Pyx_PyLong_CompactValueUnsigned(x) (__Pyx_PyLong_Digits(x)[0]) + #define __Pyx_PyLong_DigitCount(x) ((Py_ssize_t) (((PyLongObject*)x)->long_value.lv_tag >> _PyLong_NON_SIZE_BITS)) + #define __Pyx_PyLong_SignedDigitCount(x)\ + ((1 - (Py_ssize_t) __Pyx_PyLong_Sign(x)) * __Pyx_PyLong_DigitCount(x)) + #if defined(PyUnstable_Long_IsCompact) && defined(PyUnstable_Long_CompactValue) + #define __Pyx_PyLong_IsCompact(x) PyUnstable_Long_IsCompact((PyLongObject*) x) + #define __Pyx_PyLong_CompactValue(x) PyUnstable_Long_CompactValue((PyLongObject*) x) + #else + #define __Pyx_PyLong_IsCompact(x) (((PyLongObject*)x)->long_value.lv_tag < (2 << _PyLong_NON_SIZE_BITS)) + #define __Pyx_PyLong_CompactValue(x) ((1 - (Py_ssize_t) __Pyx_PyLong_Sign(x)) * (Py_ssize_t) __Pyx_PyLong_Digits(x)[0]) + #endif + typedef Py_ssize_t __Pyx_compact_pylong; + typedef size_t __Pyx_compact_upylong; + #else + #define __Pyx_PyLong_IsNeg(x) (Py_SIZE(x) < 0) + #define __Pyx_PyLong_IsNonNeg(x) (Py_SIZE(x) >= 0) + #define __Pyx_PyLong_IsZero(x) (Py_SIZE(x) == 0) + #define __Pyx_PyLong_IsPos(x) (Py_SIZE(x) > 0) + #define __Pyx_PyLong_CompactValueUnsigned(x) ((Py_SIZE(x) == 0) ? 0 : __Pyx_PyLong_Digits(x)[0]) + #define __Pyx_PyLong_DigitCount(x) __Pyx_sst_abs(Py_SIZE(x)) + #define __Pyx_PyLong_SignedDigitCount(x) Py_SIZE(x) + #define __Pyx_PyLong_IsCompact(x) (Py_SIZE(x) == 0 || Py_SIZE(x) == 1 || Py_SIZE(x) == -1) + #define __Pyx_PyLong_CompactValue(x)\ + ((Py_SIZE(x) == 0) ? (sdigit) 0 : ((Py_SIZE(x) < 0) ? -(sdigit)__Pyx_PyLong_Digits(x)[0] : (sdigit)__Pyx_PyLong_Digits(x)[0])) + typedef sdigit __Pyx_compact_pylong; + typedef digit __Pyx_compact_upylong; + #endif + #if PY_VERSION_HEX >= 0x030C00A5 + #define __Pyx_PyLong_Digits(x) (((PyLongObject*)x)->long_value.ob_digit) + #else + #define __Pyx_PyLong_Digits(x) (((PyLongObject*)x)->ob_digit) + #endif +#endif +#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII +#include +static int __Pyx_sys_getdefaultencoding_not_ascii; +static int __Pyx_init_sys_getdefaultencoding_params(void) { + PyObject* sys; + PyObject* default_encoding = NULL; + PyObject* ascii_chars_u = NULL; + PyObject* ascii_chars_b = NULL; + const char* default_encoding_c; + sys = PyImport_ImportModule("sys"); + if (!sys) goto bad; + default_encoding = PyObject_CallMethod(sys, (char*) "getdefaultencoding", NULL); + Py_DECREF(sys); + if (!default_encoding) goto bad; + default_encoding_c = PyBytes_AsString(default_encoding); + if (!default_encoding_c) goto bad; + if (strcmp(default_encoding_c, "ascii") == 0) { + __Pyx_sys_getdefaultencoding_not_ascii = 0; + } else { + char ascii_chars[128]; + int c; + for (c = 0; c < 128; c++) { + ascii_chars[c] = (char) c; + } + __Pyx_sys_getdefaultencoding_not_ascii = 1; + ascii_chars_u = PyUnicode_DecodeASCII(ascii_chars, 128, NULL); + if (!ascii_chars_u) goto bad; + ascii_chars_b = PyUnicode_AsEncodedString(ascii_chars_u, default_encoding_c, NULL); + if (!ascii_chars_b || !PyBytes_Check(ascii_chars_b) || memcmp(ascii_chars, PyBytes_AS_STRING(ascii_chars_b), 128) != 0) { + PyErr_Format( + PyExc_ValueError, + "This module compiled with c_string_encoding=ascii, but default encoding '%.200s' is not a superset of ascii.", + default_encoding_c); + goto bad; + } + Py_DECREF(ascii_chars_u); + Py_DECREF(ascii_chars_b); + } + Py_DECREF(default_encoding); + return 0; +bad: + Py_XDECREF(default_encoding); + Py_XDECREF(ascii_chars_u); + Py_XDECREF(ascii_chars_b); + return -1; +} +#endif +#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT && PY_MAJOR_VERSION >= 3 +#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_DecodeUTF8(c_str, size, NULL) +#else +#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_Decode(c_str, size, __PYX_DEFAULT_STRING_ENCODING, NULL) +#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT +#include +static char* __PYX_DEFAULT_STRING_ENCODING; +static int __Pyx_init_sys_getdefaultencoding_params(void) { + PyObject* sys; + PyObject* default_encoding = NULL; + char* default_encoding_c; + sys = PyImport_ImportModule("sys"); + if (!sys) goto bad; + default_encoding = PyObject_CallMethod(sys, (char*) (const char*) "getdefaultencoding", NULL); + Py_DECREF(sys); + if (!default_encoding) goto bad; + default_encoding_c = PyBytes_AsString(default_encoding); + if (!default_encoding_c) goto bad; + __PYX_DEFAULT_STRING_ENCODING = (char*) malloc(strlen(default_encoding_c) + 1); + if (!__PYX_DEFAULT_STRING_ENCODING) goto bad; + strcpy(__PYX_DEFAULT_STRING_ENCODING, default_encoding_c); + Py_DECREF(default_encoding); + return 0; +bad: + Py_XDECREF(default_encoding); + return -1; +} +#endif +#endif + + +/* Test for GCC > 2.95 */ +#if defined(__GNUC__) && (__GNUC__ > 2 || (__GNUC__ == 2 && (__GNUC_MINOR__ > 95))) + #define likely(x) __builtin_expect(!!(x), 1) + #define unlikely(x) __builtin_expect(!!(x), 0) +#else /* !__GNUC__ or GCC < 2.95 */ + #define likely(x) (x) + #define unlikely(x) (x) +#endif /* __GNUC__ */ +static CYTHON_INLINE void __Pyx_pretend_to_initialize(void* ptr) { (void)ptr; } + +#if !CYTHON_USE_MODULE_STATE +static PyObject *__pyx_m = NULL; +#endif +static int __pyx_lineno; +static int __pyx_clineno = 0; +static const char * __pyx_cfilenm = __FILE__; +static const char *__pyx_filename; + +/* #### Code section: filename_table ### */ + +static const char *__pyx_f[] = { + "opendbc/can/parser_pyx.pyx", + "", +}; +/* #### Code section: utility_code_proto_before_types ### */ +/* ForceInitThreads.proto */ +#ifndef __PYX_FORCE_INIT_THREADS + #define __PYX_FORCE_INIT_THREADS 0 +#endif + +/* #### Code section: numeric_typedefs ### */ +/* #### Code section: complex_type_declarations ### */ +/* #### Code section: type_declarations ### */ + +/*--- Type declarations ---*/ +struct __pyx_obj_7opendbc_3can_10parser_pyx_CANParser; +struct __pyx_obj_7opendbc_3can_10parser_pyx_CANDefine; + +/* "common.pxd":12 + * + * + * ctypedef unsigned int (*calc_checksum_type)(uint32_t, const Signal&, const vector[uint8_t] &) # <<<<<<<<<<<<<< + * + * cdef extern from "common_dbc.h": + */ +typedef unsigned int (*__pyx_t_7opendbc_3can_6common_calc_checksum_type)(uint32_t, struct Signal const &, std::vector const &); + +/* "opendbc/can/parser_pyx.pyx":17 + * + * + * cdef class CANParser: # <<<<<<<<<<<<<< + * cdef: + * cpp_CANParser *can + */ +struct __pyx_obj_7opendbc_3can_10parser_pyx_CANParser { + PyObject_HEAD + CANParser *can; + struct DBC const *dbc; + std::vector can_values; + std::vector addresses; + PyObject *vl; + PyObject *vl_all; + PyObject *ts_nanos; + std::string dbc_name; +}; + + +/* "opendbc/can/parser_pyx.pyx":111 + * + * + * cdef class CANDefine(): # <<<<<<<<<<<<<< + * cdef: + * const DBC *dbc + */ +struct __pyx_obj_7opendbc_3can_10parser_pyx_CANDefine { + PyObject_HEAD + struct DBC const *dbc; + PyObject *dv; + std::string dbc_name; +}; + +/* #### Code section: utility_code_proto ### */ + +/* --- Runtime support code (head) --- */ +/* Refnanny.proto */ +#ifndef CYTHON_REFNANNY + #define CYTHON_REFNANNY 0 +#endif +#if CYTHON_REFNANNY + typedef struct { + void (*INCREF)(void*, PyObject*, Py_ssize_t); + void (*DECREF)(void*, PyObject*, Py_ssize_t); + void (*GOTREF)(void*, PyObject*, Py_ssize_t); + void (*GIVEREF)(void*, PyObject*, Py_ssize_t); + void* (*SetupContext)(const char*, Py_ssize_t, const char*); + void (*FinishContext)(void**); + } __Pyx_RefNannyAPIStruct; + static __Pyx_RefNannyAPIStruct *__Pyx_RefNanny = NULL; + static __Pyx_RefNannyAPIStruct *__Pyx_RefNannyImportAPI(const char *modname); + #define __Pyx_RefNannyDeclarations void *__pyx_refnanny = NULL; +#ifdef WITH_THREAD + #define __Pyx_RefNannySetupContext(name, acquire_gil)\ + if (acquire_gil) {\ + PyGILState_STATE __pyx_gilstate_save = PyGILState_Ensure();\ + __pyx_refnanny = __Pyx_RefNanny->SetupContext((name), (__LINE__), (__FILE__));\ + PyGILState_Release(__pyx_gilstate_save);\ + } else {\ + __pyx_refnanny = __Pyx_RefNanny->SetupContext((name), (__LINE__), (__FILE__));\ + } + #define __Pyx_RefNannyFinishContextNogil() {\ + PyGILState_STATE __pyx_gilstate_save = PyGILState_Ensure();\ + __Pyx_RefNannyFinishContext();\ + PyGILState_Release(__pyx_gilstate_save);\ + } +#else + #define __Pyx_RefNannySetupContext(name, acquire_gil)\ + __pyx_refnanny = __Pyx_RefNanny->SetupContext((name), (__LINE__), (__FILE__)) + #define __Pyx_RefNannyFinishContextNogil() __Pyx_RefNannyFinishContext() +#endif + #define __Pyx_RefNannyFinishContextNogil() {\ + PyGILState_STATE __pyx_gilstate_save = PyGILState_Ensure();\ + __Pyx_RefNannyFinishContext();\ + PyGILState_Release(__pyx_gilstate_save);\ + } + #define __Pyx_RefNannyFinishContext()\ + __Pyx_RefNanny->FinishContext(&__pyx_refnanny) + #define __Pyx_INCREF(r) __Pyx_RefNanny->INCREF(__pyx_refnanny, (PyObject *)(r), (__LINE__)) + #define __Pyx_DECREF(r) __Pyx_RefNanny->DECREF(__pyx_refnanny, (PyObject *)(r), (__LINE__)) + #define __Pyx_GOTREF(r) __Pyx_RefNanny->GOTREF(__pyx_refnanny, (PyObject *)(r), (__LINE__)) + #define __Pyx_GIVEREF(r) __Pyx_RefNanny->GIVEREF(__pyx_refnanny, (PyObject *)(r), (__LINE__)) + #define __Pyx_XINCREF(r) do { if((r) == NULL); else {__Pyx_INCREF(r); }} while(0) + #define __Pyx_XDECREF(r) do { if((r) == NULL); else {__Pyx_DECREF(r); }} while(0) + #define __Pyx_XGOTREF(r) do { if((r) == NULL); else {__Pyx_GOTREF(r); }} while(0) + #define __Pyx_XGIVEREF(r) do { if((r) == NULL); else {__Pyx_GIVEREF(r);}} while(0) +#else + #define __Pyx_RefNannyDeclarations + #define __Pyx_RefNannySetupContext(name, acquire_gil) + #define __Pyx_RefNannyFinishContextNogil() + #define __Pyx_RefNannyFinishContext() + #define __Pyx_INCREF(r) Py_INCREF(r) + #define __Pyx_DECREF(r) Py_DECREF(r) + #define __Pyx_GOTREF(r) + #define __Pyx_GIVEREF(r) + #define __Pyx_XINCREF(r) Py_XINCREF(r) + #define __Pyx_XDECREF(r) Py_XDECREF(r) + #define __Pyx_XGOTREF(r) + #define __Pyx_XGIVEREF(r) +#endif +#define __Pyx_Py_XDECREF_SET(r, v) do {\ + PyObject *tmp = (PyObject *) r;\ + r = v; Py_XDECREF(tmp);\ + } while (0) +#define __Pyx_XDECREF_SET(r, v) do {\ + PyObject *tmp = (PyObject *) r;\ + r = v; __Pyx_XDECREF(tmp);\ + } while (0) +#define __Pyx_DECREF_SET(r, v) do {\ + PyObject *tmp = (PyObject *) r;\ + r = v; __Pyx_DECREF(tmp);\ + } while (0) +#define __Pyx_CLEAR(r) do { PyObject* tmp = ((PyObject*)(r)); r = NULL; __Pyx_DECREF(tmp);} while(0) +#define __Pyx_XCLEAR(r) do { if((r) != NULL) {PyObject* tmp = ((PyObject*)(r)); r = NULL; __Pyx_DECREF(tmp);}} while(0) + +/* PyErrExceptionMatches.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyErr_ExceptionMatches(err) __Pyx_PyErr_ExceptionMatchesInState(__pyx_tstate, err) +static CYTHON_INLINE int __Pyx_PyErr_ExceptionMatchesInState(PyThreadState* tstate, PyObject* err); +#else +#define __Pyx_PyErr_ExceptionMatches(err) PyErr_ExceptionMatches(err) +#endif + +/* PyThreadStateGet.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyThreadState_declare PyThreadState *__pyx_tstate; +#define __Pyx_PyThreadState_assign __pyx_tstate = __Pyx_PyThreadState_Current; +#if PY_VERSION_HEX >= 0x030C00A6 +#define __Pyx_PyErr_Occurred() (__pyx_tstate->current_exception != NULL) +#define __Pyx_PyErr_CurrentExceptionType() (__pyx_tstate->current_exception ? (PyObject*) Py_TYPE(__pyx_tstate->current_exception) : (PyObject*) NULL) +#else +#define __Pyx_PyErr_Occurred() (__pyx_tstate->curexc_type != NULL) +#define __Pyx_PyErr_CurrentExceptionType() (__pyx_tstate->curexc_type) +#endif +#else +#define __Pyx_PyThreadState_declare +#define __Pyx_PyThreadState_assign +#define __Pyx_PyErr_Occurred() (PyErr_Occurred() != NULL) +#define __Pyx_PyErr_CurrentExceptionType() PyErr_Occurred() +#endif + +/* PyErrFetchRestore.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyErr_Clear() __Pyx_ErrRestore(NULL, NULL, NULL) +#define __Pyx_ErrRestoreWithState(type, value, tb) __Pyx_ErrRestoreInState(PyThreadState_GET(), type, value, tb) +#define __Pyx_ErrFetchWithState(type, value, tb) __Pyx_ErrFetchInState(PyThreadState_GET(), type, value, tb) +#define __Pyx_ErrRestore(type, value, tb) __Pyx_ErrRestoreInState(__pyx_tstate, type, value, tb) +#define __Pyx_ErrFetch(type, value, tb) __Pyx_ErrFetchInState(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx_ErrRestoreInState(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb); +static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A6 +#define __Pyx_PyErr_SetNone(exc) (Py_INCREF(exc), __Pyx_ErrRestore((exc), NULL, NULL)) +#else +#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc) +#endif +#else +#define __Pyx_PyErr_Clear() PyErr_Clear() +#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc) +#define __Pyx_ErrRestoreWithState(type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetchWithState(type, value, tb) PyErr_Fetch(type, value, tb) +#define __Pyx_ErrRestoreInState(tstate, type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetchInState(tstate, type, value, tb) PyErr_Fetch(type, value, tb) +#define __Pyx_ErrRestore(type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetch(type, value, tb) PyErr_Fetch(type, value, tb) +#endif + +/* PyObjectGetAttrStr.proto */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStr(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GetAttrStr(o,n) PyObject_GetAttr(o,n) +#endif + +/* PyObjectGetAttrStrNoError.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name); + +/* GetBuiltinName.proto */ +static PyObject *__Pyx_GetBuiltinName(PyObject *name); + +/* RaiseTooManyValuesToUnpack.proto */ +static CYTHON_INLINE void __Pyx_RaiseTooManyValuesError(Py_ssize_t expected); + +/* RaiseNeedMoreValuesToUnpack.proto */ +static CYTHON_INLINE void __Pyx_RaiseNeedMoreValuesError(Py_ssize_t index); + +/* IterFinish.proto */ +static CYTHON_INLINE int __Pyx_IterFinish(void); + +/* UnpackItemEndCheck.proto */ +static int __Pyx_IternextUnpackEndCheck(PyObject *retval, Py_ssize_t expected); + +/* TupleAndListFromArray.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyList_FromArray(PyObject *const *src, Py_ssize_t n); +static CYTHON_INLINE PyObject* __Pyx_PyTuple_FromArray(PyObject *const *src, Py_ssize_t n); +#endif + +/* IncludeStringH.proto */ +#include + +/* BytesEquals.proto */ +static CYTHON_INLINE int __Pyx_PyBytes_Equals(PyObject* s1, PyObject* s2, int equals); + +/* UnicodeEquals.proto */ +static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int equals); + +/* fastcall.proto */ +#if CYTHON_AVOID_BORROWED_REFS + #define __Pyx_Arg_VARARGS(args, i) PySequence_GetItem(args, i) +#elif CYTHON_ASSUME_SAFE_MACROS + #define __Pyx_Arg_VARARGS(args, i) PyTuple_GET_ITEM(args, i) +#else + #define __Pyx_Arg_VARARGS(args, i) PyTuple_GetItem(args, i) +#endif +#if CYTHON_AVOID_BORROWED_REFS + #define __Pyx_Arg_NewRef_VARARGS(arg) __Pyx_NewRef(arg) + #define __Pyx_Arg_XDECREF_VARARGS(arg) Py_XDECREF(arg) +#else + #define __Pyx_Arg_NewRef_VARARGS(arg) arg + #define __Pyx_Arg_XDECREF_VARARGS(arg) +#endif +#define __Pyx_NumKwargs_VARARGS(kwds) PyDict_Size(kwds) +#define __Pyx_KwValues_VARARGS(args, nargs) NULL +#define __Pyx_GetKwValue_VARARGS(kw, kwvalues, s) __Pyx_PyDict_GetItemStrWithError(kw, s) +#define __Pyx_KwargsAsDict_VARARGS(kw, kwvalues) PyDict_Copy(kw) +#if CYTHON_METH_FASTCALL + #define __Pyx_Arg_FASTCALL(args, i) args[i] + #define __Pyx_NumKwargs_FASTCALL(kwds) PyTuple_GET_SIZE(kwds) + #define __Pyx_KwValues_FASTCALL(args, nargs) ((args) + (nargs)) + static CYTHON_INLINE PyObject * __Pyx_GetKwValue_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues, PyObject *s); +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 + CYTHON_UNUSED static PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues); + #else + #define __Pyx_KwargsAsDict_FASTCALL(kw, kwvalues) _PyStack_AsDict(kwvalues, kw) + #endif + #define __Pyx_Arg_NewRef_FASTCALL(arg) arg /* no-op, __Pyx_Arg_FASTCALL is direct and this needs + to have the same reference counting */ + #define __Pyx_Arg_XDECREF_FASTCALL(arg) +#else + #define __Pyx_Arg_FASTCALL __Pyx_Arg_VARARGS + #define __Pyx_NumKwargs_FASTCALL __Pyx_NumKwargs_VARARGS + #define __Pyx_KwValues_FASTCALL __Pyx_KwValues_VARARGS + #define __Pyx_GetKwValue_FASTCALL __Pyx_GetKwValue_VARARGS + #define __Pyx_KwargsAsDict_FASTCALL __Pyx_KwargsAsDict_VARARGS + #define __Pyx_Arg_NewRef_FASTCALL(arg) __Pyx_Arg_NewRef_VARARGS(arg) + #define __Pyx_Arg_XDECREF_FASTCALL(arg) __Pyx_Arg_XDECREF_VARARGS(arg) +#endif +#if CYTHON_COMPILING_IN_CPYTHON && CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS +#define __Pyx_ArgsSlice_VARARGS(args, start, stop) __Pyx_PyTuple_FromArray(&__Pyx_Arg_VARARGS(args, start), stop - start) +#define __Pyx_ArgsSlice_FASTCALL(args, start, stop) __Pyx_PyTuple_FromArray(&__Pyx_Arg_FASTCALL(args, start), stop - start) +#else +#define __Pyx_ArgsSlice_VARARGS(args, start, stop) PyTuple_GetSlice(args, start, stop) +#define __Pyx_ArgsSlice_FASTCALL(args, start, stop) PyTuple_GetSlice(args, start, stop) +#endif + +/* RaiseArgTupleInvalid.proto */ +static void __Pyx_RaiseArgtupleInvalid(const char* func_name, int exact, + Py_ssize_t num_min, Py_ssize_t num_max, Py_ssize_t num_found); + +/* RaiseDoubleKeywords.proto */ +static void __Pyx_RaiseDoubleKeywordsError(const char* func_name, PyObject* kw_name); + +/* ParseKeywords.proto */ +static int __Pyx_ParseOptionalKeywords(PyObject *kwds, PyObject *const *kwvalues, + PyObject **argnames[], + PyObject *kwds2, PyObject *values[], Py_ssize_t num_pos_args, + const char* function_name); + +/* MoveIfSupported.proto */ +#if CYTHON_USE_CPP_STD_MOVE + #include + #define __PYX_STD_MOVE_IF_SUPPORTED(x) std::move(x) +#else + #define __PYX_STD_MOVE_IF_SUPPORTED(x) x +#endif + +/* PyObjectFormatSimple.proto */ +#if CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + PyObject_Format(s, f)) +#elif PY_MAJOR_VERSION < 3 + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + likely(PyString_CheckExact(s)) ? PyUnicode_FromEncodedObject(s, NULL, "strict") :\ + PyObject_Format(s, f)) +#elif CYTHON_USE_TYPE_SLOTS + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + likely(PyLong_CheckExact(s)) ? PyLong_Type.tp_repr(s) :\ + likely(PyFloat_CheckExact(s)) ? PyFloat_Type.tp_repr(s) :\ + PyObject_Format(s, f)) +#else + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + PyObject_Format(s, f)) +#endif + +/* PyFunctionFastCall.proto */ +#if CYTHON_FAST_PYCALL +#if !CYTHON_VECTORCALL +#define __Pyx_PyFunction_FastCall(func, args, nargs)\ + __Pyx_PyFunction_FastCallDict((func), (args), (nargs), NULL) +static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs); +#endif +#define __Pyx_BUILD_ASSERT_EXPR(cond)\ + (sizeof(char [1 - 2*!(cond)]) - 1) +#ifndef Py_MEMBER_SIZE +#define Py_MEMBER_SIZE(type, member) sizeof(((type *)0)->member) +#endif +#if !CYTHON_VECTORCALL +#if PY_VERSION_HEX >= 0x03080000 + #include "frameobject.h" +#if PY_VERSION_HEX >= 0x030b00a6 && !CYTHON_COMPILING_IN_LIMITED_API + #ifndef Py_BUILD_CORE + #define Py_BUILD_CORE 1 + #endif + #include "internal/pycore_frame.h" +#endif + #define __Pxy_PyFrame_Initialize_Offsets() + #define __Pyx_PyFrame_GetLocalsplus(frame) ((frame)->f_localsplus) +#else + static size_t __pyx_pyframe_localsplus_offset = 0; + #include "frameobject.h" + #define __Pxy_PyFrame_Initialize_Offsets()\ + ((void)__Pyx_BUILD_ASSERT_EXPR(sizeof(PyFrameObject) == offsetof(PyFrameObject, f_localsplus) + Py_MEMBER_SIZE(PyFrameObject, f_localsplus)),\ + (void)(__pyx_pyframe_localsplus_offset = ((size_t)PyFrame_Type.tp_basicsize) - Py_MEMBER_SIZE(PyFrameObject, f_localsplus))) + #define __Pyx_PyFrame_GetLocalsplus(frame)\ + (assert(__pyx_pyframe_localsplus_offset), (PyObject **)(((char *)(frame)) + __pyx_pyframe_localsplus_offset)) +#endif +#endif +#endif + +/* PyObjectCall.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw); +#else +#define __Pyx_PyObject_Call(func, arg, kw) PyObject_Call(func, arg, kw) +#endif + +/* PyObjectCallMethO.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg); +#endif + +/* PyObjectFastCall.proto */ +#define __Pyx_PyObject_FastCall(func, args, nargs) __Pyx_PyObject_FastCallDict(func, args, (size_t)(nargs), NULL) +static CYTHON_INLINE PyObject* __Pyx_PyObject_FastCallDict(PyObject *func, PyObject **args, size_t nargs, PyObject *kwargs); + +/* PyObjectCallOneArg.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg); + +/* RaiseException.proto */ +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause); + +/* GetItemInt.proto */ +#define __Pyx_GetItemInt(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_Fast(o, (Py_ssize_t)i, is_list, wraparound, boundscheck) :\ + (is_list ? (PyErr_SetString(PyExc_IndexError, "list index out of range"), (PyObject*)NULL) :\ + __Pyx_GetItemInt_Generic(o, to_py_func(i)))) +#define __Pyx_GetItemInt_List(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_List_Fast(o, (Py_ssize_t)i, wraparound, boundscheck) :\ + (PyErr_SetString(PyExc_IndexError, "list index out of range"), (PyObject*)NULL)) +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, + int wraparound, int boundscheck); +#define __Pyx_GetItemInt_Tuple(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_Tuple_Fast(o, (Py_ssize_t)i, wraparound, boundscheck) :\ + (PyErr_SetString(PyExc_IndexError, "tuple index out of range"), (PyObject*)NULL)) +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i, + int wraparound, int boundscheck); +static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j); +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, + int is_list, int wraparound, int boundscheck); + +/* PyDictVersioning.proto */ +#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS +#define __PYX_DICT_VERSION_INIT ((PY_UINT64_T) -1) +#define __PYX_GET_DICT_VERSION(dict) (((PyDictObject*)(dict))->ma_version_tag) +#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var)\ + (version_var) = __PYX_GET_DICT_VERSION(dict);\ + (cache_var) = (value); +#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) {\ + static PY_UINT64_T __pyx_dict_version = 0;\ + static PyObject *__pyx_dict_cached_value = NULL;\ + if (likely(__PYX_GET_DICT_VERSION(DICT) == __pyx_dict_version)) {\ + (VAR) = __pyx_dict_cached_value;\ + } else {\ + (VAR) = __pyx_dict_cached_value = (LOOKUP);\ + __pyx_dict_version = __PYX_GET_DICT_VERSION(DICT);\ + }\ +} +static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj); +static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj); +static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version); +#else +#define __PYX_GET_DICT_VERSION(dict) (0) +#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var) +#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) (VAR) = (LOOKUP); +#endif + +/* GetModuleGlobalName.proto */ +#if CYTHON_USE_DICT_VERSIONS +#define __Pyx_GetModuleGlobalName(var, name) do {\ + static PY_UINT64_T __pyx_dict_version = 0;\ + static PyObject *__pyx_dict_cached_value = NULL;\ + (var) = (likely(__pyx_dict_version == __PYX_GET_DICT_VERSION(__pyx_d))) ?\ + (likely(__pyx_dict_cached_value) ? __Pyx_NewRef(__pyx_dict_cached_value) : __Pyx_GetBuiltinName(name)) :\ + __Pyx__GetModuleGlobalName(name, &__pyx_dict_version, &__pyx_dict_cached_value);\ +} while(0) +#define __Pyx_GetModuleGlobalNameUncached(var, name) do {\ + PY_UINT64_T __pyx_dict_version;\ + PyObject *__pyx_dict_cached_value;\ + (var) = __Pyx__GetModuleGlobalName(name, &__pyx_dict_version, &__pyx_dict_cached_value);\ +} while(0) +static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value); +#else +#define __Pyx_GetModuleGlobalName(var, name) (var) = __Pyx__GetModuleGlobalName(name) +#define __Pyx_GetModuleGlobalNameUncached(var, name) (var) = __Pyx__GetModuleGlobalName(name) +static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name); +#endif + +/* GetTopmostException.proto */ +#if CYTHON_USE_EXC_INFO_STACK && CYTHON_FAST_THREAD_STATE +static _PyErr_StackItem * __Pyx_PyErr_GetTopmostException(PyThreadState *tstate); +#endif + +/* SaveResetException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_ExceptionSave(type, value, tb) __Pyx__ExceptionSave(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionSave(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#define __Pyx_ExceptionReset(type, value, tb) __Pyx__ExceptionReset(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionReset(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb); +#else +#define __Pyx_ExceptionSave(type, value, tb) PyErr_GetExcInfo(type, value, tb) +#define __Pyx_ExceptionReset(type, value, tb) PyErr_SetExcInfo(type, value, tb) +#endif + +/* GetException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_GetException(type, value, tb) __Pyx__GetException(__pyx_tstate, type, value, tb) +static int __Pyx__GetException(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#else +static int __Pyx_GetException(PyObject **type, PyObject **value, PyObject **tb); +#endif + +/* JoinPyUnicode.proto */ +static PyObject* __Pyx_PyUnicode_Join(PyObject* value_tuple, Py_ssize_t value_count, Py_ssize_t result_ulength, + Py_UCS4 max_char); + +/* IncludeCppStringH.proto */ +#include + +/* decode_c_string_utf16.proto */ +static CYTHON_INLINE PyObject *__Pyx_PyUnicode_DecodeUTF16(const char *s, Py_ssize_t size, const char *errors) { + int byteorder = 0; + return PyUnicode_DecodeUTF16(s, size, errors, &byteorder); +} +static CYTHON_INLINE PyObject *__Pyx_PyUnicode_DecodeUTF16LE(const char *s, Py_ssize_t size, const char *errors) { + int byteorder = -1; + return PyUnicode_DecodeUTF16(s, size, errors, &byteorder); +} +static CYTHON_INLINE PyObject *__Pyx_PyUnicode_DecodeUTF16BE(const char *s, Py_ssize_t size, const char *errors) { + int byteorder = 1; + return PyUnicode_DecodeUTF16(s, size, errors, &byteorder); +} + +/* decode_c_bytes.proto */ +static CYTHON_INLINE PyObject* __Pyx_decode_c_bytes( + const char* cstring, Py_ssize_t length, Py_ssize_t start, Py_ssize_t stop, + const char* encoding, const char* errors, + PyObject* (*decode_func)(const char *s, Py_ssize_t size, const char *errors)); + +/* decode_cpp_string.proto */ +static CYTHON_INLINE PyObject* __Pyx_decode_cpp_string( + std::string cppstring, Py_ssize_t start, Py_ssize_t stop, + const char* encoding, const char* errors, + PyObject* (*decode_func)(const char *s, Py_ssize_t size, const char *errors)) { + return __Pyx_decode_c_bytes( + cppstring.data(), cppstring.size(), start, stop, encoding, errors, decode_func); +} + +/* DictGetItem.proto */ +#if PY_MAJOR_VERSION >= 3 && !CYTHON_COMPILING_IN_PYPY +static PyObject *__Pyx_PyDict_GetItem(PyObject *d, PyObject* key); +#define __Pyx_PyObject_Dict_GetItem(obj, name)\ + (likely(PyDict_CheckExact(obj)) ?\ + __Pyx_PyDict_GetItem(obj, name) : PyObject_GetItem(obj, name)) +#else +#define __Pyx_PyDict_GetItem(d, key) PyObject_GetItem(d, key) +#define __Pyx_PyObject_Dict_GetItem(obj, name) PyObject_GetItem(obj, name) +#endif + +/* KeywordStringCheck.proto */ +static int __Pyx_CheckKeywordStrings(PyObject *kw, const char* function_name, int kw_allowed); + +/* ObjectGetItem.proto */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject *__Pyx_PyObject_GetItem(PyObject *obj, PyObject *key); +#else +#define __Pyx_PyObject_GetItem(obj, key) PyObject_GetItem(obj, key) +#endif + +/* ListCompAppend.proto */ +#if CYTHON_USE_PYLIST_INTERNALS && CYTHON_ASSUME_SAFE_MACROS +static CYTHON_INLINE int __Pyx_ListComp_Append(PyObject* list, PyObject* x) { + PyListObject* L = (PyListObject*) list; + Py_ssize_t len = Py_SIZE(list); + if (likely(L->allocated > len)) { + Py_INCREF(x); + #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 + L->ob_item[len] = x; + #else + PyList_SET_ITEM(list, len, x); + #endif + __Pyx_SET_SIZE(list, len + 1); + return 0; + } + return PyList_Append(list, x); +} +#else +#define __Pyx_ListComp_Append(L,x) PyList_Append(L,x) +#endif + +/* RaiseUnexpectedTypeError.proto */ +static int __Pyx_RaiseUnexpectedTypeError(const char *expected, PyObject *obj); + +/* IncludeStructmemberH.proto */ +#include + +/* FixUpExtensionType.proto */ +#if CYTHON_USE_TYPE_SPECS +static int __Pyx_fix_up_extension_type_from_spec(PyType_Spec *spec, PyTypeObject *type); +#endif + +/* PyObjectCallNoArg.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func); + +/* PyObjectGetMethod.proto */ +static int __Pyx_PyObject_GetMethod(PyObject *obj, PyObject *name, PyObject **method); + +/* PyObjectCallMethod0.proto */ +static PyObject* __Pyx_PyObject_CallMethod0(PyObject* obj, PyObject* method_name); + +/* ValidateBasesTuple.proto */ +#if CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API || CYTHON_USE_TYPE_SPECS +static int __Pyx_validate_bases_tuple(const char *type_name, Py_ssize_t dictoffset, PyObject *bases); +#endif + +/* PyType_Ready.proto */ +CYTHON_UNUSED static int __Pyx_PyType_Ready(PyTypeObject *t); + +/* PyObject_GenericGetAttrNoDict.proto */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GenericGetAttrNoDict PyObject_GenericGetAttr +#endif + +/* PyObject_GenericGetAttr.proto */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GenericGetAttr PyObject_GenericGetAttr +#endif + +/* SetupReduce.proto */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_setup_reduce(PyObject* type_obj); +#endif + +/* Import.proto */ +static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level); + +/* ImportDottedModule.proto */ +static PyObject *__Pyx_ImportDottedModule(PyObject *name, PyObject *parts_tuple); +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx_ImportDottedModule_WalkParts(PyObject *module, PyObject *name, PyObject *parts_tuple); +#endif + +/* ImportFrom.proto */ +static PyObject* __Pyx_ImportFrom(PyObject* module, PyObject* name); + +/* FetchSharedCythonModule.proto */ +static PyObject *__Pyx_FetchSharedCythonABIModule(void); + +/* FetchCommonType.proto */ +#if !CYTHON_USE_TYPE_SPECS +static PyTypeObject* __Pyx_FetchCommonType(PyTypeObject* type); +#else +static PyTypeObject* __Pyx_FetchCommonTypeFromSpec(PyObject *module, PyType_Spec *spec, PyObject *bases); +#endif + +/* PyMethodNew.proto */ +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject *__Pyx_PyMethod_New(PyObject *func, PyObject *self, PyObject *typ) { + PyObject *typesModule=NULL, *methodType=NULL, *result=NULL; + CYTHON_UNUSED_VAR(typ); + if (!self) + return __Pyx_NewRef(func); + typesModule = PyImport_ImportModule("types"); + if (!typesModule) return NULL; + methodType = PyObject_GetAttrString(typesModule, "MethodType"); + Py_DECREF(typesModule); + if (!methodType) return NULL; + result = PyObject_CallFunctionObjArgs(methodType, func, self, NULL); + Py_DECREF(methodType); + return result; +} +#elif PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx_PyMethod_New(PyObject *func, PyObject *self, PyObject *typ) { + CYTHON_UNUSED_VAR(typ); + if (!self) + return __Pyx_NewRef(func); + return PyMethod_New(func, self); +} +#else + #define __Pyx_PyMethod_New PyMethod_New +#endif + +/* PyVectorcallFastCallDict.proto */ +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE PyObject *__Pyx_PyVectorcall_FastCallDict(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw); +#endif + +/* CythonFunctionShared.proto */ +#define __Pyx_CyFunction_USED +#define __Pyx_CYFUNCTION_STATICMETHOD 0x01 +#define __Pyx_CYFUNCTION_CLASSMETHOD 0x02 +#define __Pyx_CYFUNCTION_CCLASS 0x04 +#define __Pyx_CYFUNCTION_COROUTINE 0x08 +#define __Pyx_CyFunction_GetClosure(f)\ + (((__pyx_CyFunctionObject *) (f))->func_closure) +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_CyFunction_GetClassObj(f)\ + (((__pyx_CyFunctionObject *) (f))->func_classobj) +#else + #define __Pyx_CyFunction_GetClassObj(f)\ + ((PyObject*) ((PyCMethodObject *) (f))->mm_class) +#endif +#define __Pyx_CyFunction_SetClassObj(f, classobj)\ + __Pyx__CyFunction_SetClassObj((__pyx_CyFunctionObject *) (f), (classobj)) +#define __Pyx_CyFunction_Defaults(type, f)\ + ((type *)(((__pyx_CyFunctionObject *) (f))->defaults)) +#define __Pyx_CyFunction_SetDefaultsGetter(f, g)\ + ((__pyx_CyFunctionObject *) (f))->defaults_getter = (g) +typedef struct { +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject_HEAD + PyObject *func; +#elif PY_VERSION_HEX < 0x030900B1 + PyCFunctionObject func; +#else + PyCMethodObject func; +#endif +#if CYTHON_BACKPORT_VECTORCALL + __pyx_vectorcallfunc func_vectorcall; +#endif +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API + PyObject *func_weakreflist; +#endif + PyObject *func_dict; + PyObject *func_name; + PyObject *func_qualname; + PyObject *func_doc; + PyObject *func_globals; + PyObject *func_code; + PyObject *func_closure; +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + PyObject *func_classobj; +#endif + void *defaults; + int defaults_pyobjects; + size_t defaults_size; + int flags; + PyObject *defaults_tuple; + PyObject *defaults_kwdict; + PyObject *(*defaults_getter)(PyObject *); + PyObject *func_annotations; + PyObject *func_is_coroutine; +} __pyx_CyFunctionObject; +#undef __Pyx_CyOrPyCFunction_Check +#define __Pyx_CyFunction_Check(obj) __Pyx_TypeCheck(obj, __pyx_CyFunctionType) +#define __Pyx_CyOrPyCFunction_Check(obj) __Pyx_TypeCheck2(obj, __pyx_CyFunctionType, &PyCFunction_Type) +#define __Pyx_CyFunction_CheckExact(obj) __Pyx_IS_TYPE(obj, __pyx_CyFunctionType) +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc); +#undef __Pyx_IsSameCFunction +#define __Pyx_IsSameCFunction(func, cfunc) __Pyx__IsSameCyOrCFunction(func, cfunc) +static PyObject *__Pyx_CyFunction_Init(__pyx_CyFunctionObject* op, PyMethodDef *ml, + int flags, PyObject* qualname, + PyObject *closure, + PyObject *module, PyObject *globals, + PyObject* code); +static CYTHON_INLINE void __Pyx__CyFunction_SetClassObj(__pyx_CyFunctionObject* f, PyObject* classobj); +static CYTHON_INLINE void *__Pyx_CyFunction_InitDefaults(PyObject *m, + size_t size, + int pyobjects); +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsTuple(PyObject *m, + PyObject *tuple); +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsKwDict(PyObject *m, + PyObject *dict); +static CYTHON_INLINE void __Pyx_CyFunction_SetAnnotationsDict(PyObject *m, + PyObject *dict); +static int __pyx_CyFunction_init(PyObject *module); +#if CYTHON_METH_FASTCALL +static PyObject * __Pyx_CyFunction_Vectorcall_NOARGS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_O(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +#if CYTHON_BACKPORT_VECTORCALL +#define __Pyx_CyFunction_func_vectorcall(f) (((__pyx_CyFunctionObject*)f)->func_vectorcall) +#else +#define __Pyx_CyFunction_func_vectorcall(f) (((PyCFunctionObject*)f)->vectorcall) +#endif +#endif + +/* CythonFunction.proto */ +static PyObject *__Pyx_CyFunction_New(PyMethodDef *ml, + int flags, PyObject* qualname, + PyObject *closure, + PyObject *module, PyObject *globals, + PyObject* code); + +/* CLineInTraceback.proto */ +#ifdef CYTHON_CLINE_IN_TRACEBACK +#define __Pyx_CLineForTraceback(tstate, c_line) (((CYTHON_CLINE_IN_TRACEBACK)) ? c_line : 0) +#else +static int __Pyx_CLineForTraceback(PyThreadState *tstate, int c_line); +#endif + +/* CodeObjectCache.proto */ +#if !CYTHON_COMPILING_IN_LIMITED_API +typedef struct { + PyCodeObject* code_object; + int code_line; +} __Pyx_CodeObjectCacheEntry; +struct __Pyx_CodeObjectCache { + int count; + int max_count; + __Pyx_CodeObjectCacheEntry* entries; +}; +static struct __Pyx_CodeObjectCache __pyx_code_cache = {0,0,NULL}; +static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line); +static PyCodeObject *__pyx_find_code_object(int code_line); +static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object); +#endif + +/* AddTraceback.proto */ +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename); + +/* None.proto */ +#include + +/* CppExceptionConversion.proto */ +#ifndef __Pyx_CppExn2PyErr +#include +#include +#include +#include +static void __Pyx_CppExn2PyErr() { + try { + if (PyErr_Occurred()) + ; // let the latest Python exn pass through and ignore the current one + else + throw; + } catch (const std::bad_alloc& exn) { + PyErr_SetString(PyExc_MemoryError, exn.what()); + } catch (const std::bad_cast& exn) { + PyErr_SetString(PyExc_TypeError, exn.what()); + } catch (const std::bad_typeid& exn) { + PyErr_SetString(PyExc_TypeError, exn.what()); + } catch (const std::domain_error& exn) { + PyErr_SetString(PyExc_ValueError, exn.what()); + } catch (const std::invalid_argument& exn) { + PyErr_SetString(PyExc_ValueError, exn.what()); + } catch (const std::ios_base::failure& exn) { + PyErr_SetString(PyExc_IOError, exn.what()); + } catch (const std::out_of_range& exn) { + PyErr_SetString(PyExc_IndexError, exn.what()); + } catch (const std::overflow_error& exn) { + PyErr_SetString(PyExc_OverflowError, exn.what()); + } catch (const std::range_error& exn) { + PyErr_SetString(PyExc_ArithmeticError, exn.what()); + } catch (const std::underflow_error& exn) { + PyErr_SetString(PyExc_ArithmeticError, exn.what()); + } catch (const std::exception& exn) { + PyErr_SetString(PyExc_RuntimeError, exn.what()); + } + catch (...) + { + PyErr_SetString(PyExc_RuntimeError, "Unknown exception"); + } +} +#endif + +/* GCCDiagnostics.proto */ +#if !defined(__INTEL_COMPILER) && defined(__GNUC__) && (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 6)) +#define __Pyx_HAS_GCC_DIAGNOSTIC +#endif + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value); + +/* CIntFromPy.proto */ +static CYTHON_INLINE uint32_t __Pyx_PyInt_As_uint32_t(PyObject *); + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_uint32_t(uint32_t value); + +/* CIntFromPy.proto */ +static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *); + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_uint64_t(uint64_t value); + +/* CIntFromPy.proto */ +static CYTHON_INLINE size_t __Pyx_PyInt_As_size_t(PyObject *); + +/* FormatTypeName.proto */ +#if CYTHON_COMPILING_IN_LIMITED_API +typedef PyObject *__Pyx_TypeName; +#define __Pyx_FMT_TYPENAME "%U" +static __Pyx_TypeName __Pyx_PyType_GetName(PyTypeObject* tp); +#define __Pyx_DECREF_TypeName(obj) Py_XDECREF(obj) +#else +typedef const char *__Pyx_TypeName; +#define __Pyx_FMT_TYPENAME "%.200s" +#define __Pyx_PyType_GetName(tp) ((tp)->tp_name) +#define __Pyx_DECREF_TypeName(obj) +#endif + +/* CIntFromPy.proto */ +static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *); + +/* FastTypeChecks.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_TypeCheck(obj, type) __Pyx_IsSubtype(Py_TYPE(obj), (PyTypeObject *)type) +#define __Pyx_TypeCheck2(obj, type1, type2) __Pyx_IsAnySubtype2(Py_TYPE(obj), (PyTypeObject *)type1, (PyTypeObject *)type2) +static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b); +static CYTHON_INLINE int __Pyx_IsAnySubtype2(PyTypeObject *cls, PyTypeObject *a, PyTypeObject *b); +static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches(PyObject *err, PyObject *type); +static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches2(PyObject *err, PyObject *type1, PyObject *type2); +#else +#define __Pyx_TypeCheck(obj, type) PyObject_TypeCheck(obj, (PyTypeObject *)type) +#define __Pyx_TypeCheck2(obj, type1, type2) (PyObject_TypeCheck(obj, (PyTypeObject *)type1) || PyObject_TypeCheck(obj, (PyTypeObject *)type2)) +#define __Pyx_PyErr_GivenExceptionMatches(err, type) PyErr_GivenExceptionMatches(err, type) +#define __Pyx_PyErr_GivenExceptionMatches2(err, type1, type2) (PyErr_GivenExceptionMatches(err, type1) || PyErr_GivenExceptionMatches(err, type2)) +#endif +#define __Pyx_PyErr_ExceptionMatches2(err1, err2) __Pyx_PyErr_GivenExceptionMatches2(__Pyx_PyErr_CurrentExceptionType(), err1, err2) +#define __Pyx_PyException_Check(obj) __Pyx_TypeCheck(obj, PyExc_Exception) + +/* CheckBinaryVersion.proto */ +static unsigned long __Pyx_get_runtime_version(void); +static int __Pyx_check_binary_version(unsigned long ct_version, unsigned long rt_version, int allow_newer); + +/* InitStrings.proto */ +static int __Pyx_InitStrings(__Pyx_StringTabEntry *t); + +/* #### Code section: module_declarations ### */ + +/* Module declarations from "libcpp.utility" */ + +/* Module declarations from "libcpp.pair" */ + +/* Module declarations from "libc.string" */ + +/* Module declarations from "libcpp.string" */ + +/* Module declarations from "libcpp.vector" */ + +/* Module declarations from "libc.stdint" */ + +/* Module declarations from "libcpp" */ + +/* Module declarations from "libcpp.unordered_map" */ + +/* Module declarations from "opendbc.can.common" */ + +/* Module declarations from "opendbc.can.parser_pyx" */ +static std::string __pyx_convert_string_from_py_std__in_string(PyObject *); /*proto*/ +static CYTHON_INLINE PyObject *__pyx_convert_PyObject_string_to_py_std__in_string(std::string const &); /*proto*/ +static CYTHON_INLINE PyObject *__pyx_convert_PyUnicode_string_to_py_std__in_string(std::string const &); /*proto*/ +static CYTHON_INLINE PyObject *__pyx_convert_PyStr_string_to_py_std__in_string(std::string const &); /*proto*/ +static CYTHON_INLINE PyObject *__pyx_convert_PyBytes_string_to_py_std__in_string(std::string const &); /*proto*/ +static CYTHON_INLINE PyObject *__pyx_convert_PyByteArray_string_to_py_std__in_string(std::string const &); /*proto*/ +static std::pair __pyx_convert_pair_from_py_uint32_t__and_int(PyObject *); /*proto*/ +static std::vector __pyx_convert_vector_from_py_std_3a__3a_string(PyObject *); /*proto*/ +static PyObject *__pyx_convert_vector_to_py_double(std::vector const &); /*proto*/ +/* #### Code section: typeinfo ### */ +/* #### Code section: before_global_var ### */ +#define __Pyx_MODULE_NAME "opendbc.can.parser_pyx" +extern int __pyx_module_is_main_opendbc__can__parser_pyx; +int __pyx_module_is_main_opendbc__can__parser_pyx = 0; + +/* Implementation of "opendbc.can.parser_pyx" */ +/* #### Code section: global_var ### */ +static PyObject *__pyx_builtin_RuntimeError; +static PyObject *__pyx_builtin_range; +static PyObject *__pyx_builtin_IndexError; +static PyObject *__pyx_builtin_TypeError; +static PyObject *__pyx_builtin_KeyError; +static PyObject *__pyx_builtin_zip; +static PyObject *__pyx_builtin_MemoryError; +/* #### Code section: string_decls ### */ +static const char __pyx_k_[] = "'"; +static const char __pyx_k__4[] = "*"; +static const char __pyx_k__5[] = "."; +static const char __pyx_k_cv[] = "cv"; +static const char __pyx_k_gc[] = "gc"; +static const char __pyx_k_it[] = "it"; +static const char __pyx_k_vl[] = "vl"; +static const char __pyx_k__15[] = "?"; +static const char __pyx_k_bus[] = "bus"; +static const char __pyx_k_zip[] = "zip"; +static const char __pyx_k_main[] = "__main__"; +static const char __pyx_k_name[] = "__name__"; +static const char __pyx_k_self[] = "self"; +static const char __pyx_k_spec[] = "__spec__"; +static const char __pyx_k_test[] = "__test__"; +static const char __pyx_k_clear[] = "clear"; +static const char __pyx_k_range[] = "range"; +static const char __pyx_k_split[] = "split"; +static const char __pyx_k_Number[] = "Number"; +static const char __pyx_k_enable[] = "enable"; +static const char __pyx_k_import[] = "__import__"; +static const char __pyx_k_in_DBC[] = " in DBC "; +static const char __pyx_k_reduce[] = "__reduce__"; +static const char __pyx_k_vl_all[] = "vl_all"; +static const char __pyx_k_address[] = "address"; +static const char __pyx_k_cv_name[] = "cv_name"; +static const char __pyx_k_disable[] = "disable"; +static const char __pyx_k_numbers[] = "numbers"; +static const char __pyx_k_sendcan[] = "sendcan"; +static const char __pyx_k_strings[] = "strings"; +static const char __pyx_k_KeyError[] = "KeyError"; +static const char __pyx_k_dbc_name[] = "dbc_name"; +static const char __pyx_k_getstate[] = "__getstate__"; +static const char __pyx_k_messages[] = "messages"; +static const char __pyx_k_new_vals[] = "new_vals"; +static const char __pyx_k_setstate[] = "__setstate__"; +static const char __pyx_k_ts_nanos[] = "ts_nanos"; +static const char __pyx_k_CANDefine[] = "CANDefine"; +static const char __pyx_k_CANParser[] = "CANParser"; +static const char __pyx_k_TypeError[] = "TypeError"; +static const char __pyx_k_isenabled[] = "isenabled"; +static const char __pyx_k_pyx_state[] = "__pyx_state"; +static const char __pyx_k_reduce_ex[] = "__reduce_ex__"; +static const char __pyx_k_IndexError[] = "IndexError"; +static const char __pyx_k_MemoryError[] = "MemoryError"; +static const char __pyx_k_collections[] = "collections"; +static const char __pyx_k_cur_address[] = "cur_address"; +static const char __pyx_k_defaultdict[] = "defaultdict"; +static const char __pyx_k_RuntimeError[] = "RuntimeError"; +static const char __pyx_k_initializing[] = "_initializing"; +static const char __pyx_k_is_coroutine[] = "_is_coroutine"; +static const char __pyx_k_stringsource[] = ""; +static const char __pyx_k_class_getitem[] = "__class_getitem__"; +static const char __pyx_k_reduce_cython[] = "__reduce_cython__"; +static const char __pyx_k_updated_addrs[] = "updated_addrs"; +static const char __pyx_k_Can_t_find_DBC[] = "Can't find DBC: "; +static const char __pyx_k_update_strings[] = "update_strings"; +static const char __pyx_k_setstate_cython[] = "__setstate_cython__"; +static const char __pyx_k_Can_t_find_DBC_2[] = "Can't find DBC: '"; +static const char __pyx_k_asyncio_coroutines[] = "asyncio.coroutines"; +static const char __pyx_k_cline_in_traceback[] = "cline_in_traceback"; +static const char __pyx_k_could_not_find_message[] = "could not find message "; +static const char __pyx_k_opendbc_can_parser_pyx[] = "opendbc.can.parser_pyx"; +static const char __pyx_k_CANParser_update_strings[] = "CANParser.update_strings"; +static const char __pyx_k_CANDefine___reduce_cython[] = "CANDefine.__reduce_cython__"; +static const char __pyx_k_CANParser___reduce_cython[] = "CANParser.__reduce_cython__"; +static const char __pyx_k_opendbc_can_parser_pyx_pyx[] = "opendbc/can/parser_pyx.pyx"; +static const char __pyx_k_CANDefine___setstate_cython[] = "CANDefine.__setstate_cython__"; +static const char __pyx_k_CANParser___setstate_cython[] = "CANParser.__setstate_cython__"; +static const char __pyx_k_self_dbc_cannot_be_converted_to[] = "self.dbc cannot be converted to a Python object for pickling"; +static const char __pyx_k_self_can_self_dbc_cannot_be_conv[] = "self.can,self.dbc cannot be converted to a Python object for pickling"; +/* #### Code section: decls ### */ +static int __pyx_pf_7opendbc_3can_10parser_pyx_9CANParser___init__(struct __pyx_obj_7opendbc_3can_10parser_pyx_CANParser *__pyx_v_self, PyObject *__pyx_v_dbc_name, PyObject *__pyx_v_messages, PyObject *__pyx_v_bus); /* proto */ +static void __pyx_pf_7opendbc_3can_10parser_pyx_9CANParser_2__dealloc__(struct __pyx_obj_7opendbc_3can_10parser_pyx_CANParser *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_7opendbc_3can_10parser_pyx_9CANParser_4update_strings(struct __pyx_obj_7opendbc_3can_10parser_pyx_CANParser *__pyx_v_self, PyObject *__pyx_v_strings, PyObject *__pyx_v_sendcan); /* proto */ +static PyObject *__pyx_pf_7opendbc_3can_10parser_pyx_9CANParser_9can_valid___get__(struct __pyx_obj_7opendbc_3can_10parser_pyx_CANParser *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_7opendbc_3can_10parser_pyx_9CANParser_11bus_timeout___get__(struct __pyx_obj_7opendbc_3can_10parser_pyx_CANParser *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_7opendbc_3can_10parser_pyx_9CANParser_2vl___get__(struct __pyx_obj_7opendbc_3can_10parser_pyx_CANParser *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_7opendbc_3can_10parser_pyx_9CANParser_6vl_all___get__(struct __pyx_obj_7opendbc_3can_10parser_pyx_CANParser *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_7opendbc_3can_10parser_pyx_9CANParser_8ts_nanos___get__(struct __pyx_obj_7opendbc_3can_10parser_pyx_CANParser *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_7opendbc_3can_10parser_pyx_9CANParser_8dbc_name___get__(struct __pyx_obj_7opendbc_3can_10parser_pyx_CANParser *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_7opendbc_3can_10parser_pyx_9CANParser_6__reduce_cython__(CYTHON_UNUSED struct __pyx_obj_7opendbc_3can_10parser_pyx_CANParser *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_7opendbc_3can_10parser_pyx_9CANParser_8__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_7opendbc_3can_10parser_pyx_CANParser *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_pf_7opendbc_3can_10parser_pyx_9CANDefine___init__(struct __pyx_obj_7opendbc_3can_10parser_pyx_CANDefine *__pyx_v_self, PyObject *__pyx_v_dbc_name); /* proto */ +static PyObject *__pyx_pf_7opendbc_3can_10parser_pyx_9CANDefine_2dv___get__(struct __pyx_obj_7opendbc_3can_10parser_pyx_CANDefine *__pyx_v_self); /* proto */ +static int __pyx_pf_7opendbc_3can_10parser_pyx_9CANDefine_2dv_2__set__(struct __pyx_obj_7opendbc_3can_10parser_pyx_CANDefine *__pyx_v_self, PyObject *__pyx_v_value); /* proto */ +static int __pyx_pf_7opendbc_3can_10parser_pyx_9CANDefine_2dv_4__del__(struct __pyx_obj_7opendbc_3can_10parser_pyx_CANDefine *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_7opendbc_3can_10parser_pyx_9CANDefine_8dbc_name___get__(struct __pyx_obj_7opendbc_3can_10parser_pyx_CANDefine *__pyx_v_self); /* proto */ +static int __pyx_pf_7opendbc_3can_10parser_pyx_9CANDefine_8dbc_name_2__set__(struct __pyx_obj_7opendbc_3can_10parser_pyx_CANDefine *__pyx_v_self, PyObject *__pyx_v_value); /* proto */ +static PyObject *__pyx_pf_7opendbc_3can_10parser_pyx_9CANDefine_2__reduce_cython__(CYTHON_UNUSED struct __pyx_obj_7opendbc_3can_10parser_pyx_CANDefine *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_7opendbc_3can_10parser_pyx_9CANDefine_4__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_7opendbc_3can_10parser_pyx_CANDefine *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static PyObject *__pyx_tp_new_7opendbc_3can_10parser_pyx_CANParser(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_7opendbc_3can_10parser_pyx_CANDefine(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +/* #### Code section: late_includes ### */ +/* #### Code section: module_state ### */ +typedef struct { + PyObject *__pyx_d; + PyObject *__pyx_b; + PyObject *__pyx_cython_runtime; + PyObject *__pyx_empty_tuple; + PyObject *__pyx_empty_bytes; + PyObject *__pyx_empty_unicode; + #ifdef __Pyx_CyFunction_USED + PyTypeObject *__pyx_CyFunctionType; + #endif + #ifdef __Pyx_FusedFunction_USED + PyTypeObject *__pyx_FusedFunctionType; + #endif + #ifdef __Pyx_Generator_USED + PyTypeObject *__pyx_GeneratorType; + #endif + #ifdef __Pyx_IterableCoroutine_USED + PyTypeObject *__pyx_IterableCoroutineType; + #endif + #ifdef __Pyx_Coroutine_USED + PyTypeObject *__pyx_CoroutineAwaitType; + #endif + #ifdef __Pyx_Coroutine_USED + PyTypeObject *__pyx_CoroutineType; + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + PyObject *__pyx_type_7opendbc_3can_10parser_pyx_CANParser; + PyObject *__pyx_type_7opendbc_3can_10parser_pyx_CANDefine; + #endif + PyTypeObject *__pyx_ptype_7opendbc_3can_10parser_pyx_CANParser; + PyTypeObject *__pyx_ptype_7opendbc_3can_10parser_pyx_CANDefine; + PyObject *__pyx_kp_u_; + PyObject *__pyx_n_s_CANDefine; + PyObject *__pyx_n_s_CANDefine___reduce_cython; + PyObject *__pyx_n_s_CANDefine___setstate_cython; + PyObject *__pyx_n_s_CANParser; + PyObject *__pyx_n_s_CANParser___reduce_cython; + PyObject *__pyx_n_s_CANParser___setstate_cython; + PyObject *__pyx_n_s_CANParser_update_strings; + PyObject *__pyx_kp_u_Can_t_find_DBC; + PyObject *__pyx_kp_u_Can_t_find_DBC_2; + PyObject *__pyx_n_s_IndexError; + PyObject *__pyx_n_s_KeyError; + PyObject *__pyx_n_s_MemoryError; + PyObject *__pyx_n_s_Number; + PyObject *__pyx_n_s_RuntimeError; + PyObject *__pyx_n_s_TypeError; + PyObject *__pyx_n_s__15; + PyObject *__pyx_n_s__4; + PyObject *__pyx_kp_u__5; + PyObject *__pyx_n_s_address; + PyObject *__pyx_n_s_asyncio_coroutines; + PyObject *__pyx_n_s_bus; + PyObject *__pyx_n_s_class_getitem; + PyObject *__pyx_n_s_clear; + PyObject *__pyx_n_s_cline_in_traceback; + PyObject *__pyx_n_s_collections; + PyObject *__pyx_kp_u_could_not_find_message; + PyObject *__pyx_n_s_cur_address; + PyObject *__pyx_n_s_cv; + PyObject *__pyx_n_s_cv_name; + PyObject *__pyx_n_s_dbc_name; + PyObject *__pyx_n_s_defaultdict; + PyObject *__pyx_kp_u_disable; + PyObject *__pyx_kp_u_enable; + PyObject *__pyx_kp_u_gc; + PyObject *__pyx_n_s_getstate; + PyObject *__pyx_n_s_import; + PyObject *__pyx_kp_u_in_DBC; + PyObject *__pyx_n_s_initializing; + PyObject *__pyx_n_s_is_coroutine; + PyObject *__pyx_kp_u_isenabled; + PyObject *__pyx_n_s_it; + PyObject *__pyx_n_s_main; + PyObject *__pyx_n_s_messages; + PyObject *__pyx_n_s_name; + PyObject *__pyx_n_s_new_vals; + PyObject 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PyObject *__pyx_tuple__6; + PyObject *__pyx_tuple__8; + PyObject *__pyx_tuple__9; + PyObject *__pyx_tuple__11; + PyObject *__pyx_codeobj__7; + PyObject *__pyx_codeobj__10; + PyObject *__pyx_codeobj__12; + PyObject *__pyx_codeobj__13; + PyObject *__pyx_codeobj__14; +} __pyx_mstate; + +#if CYTHON_USE_MODULE_STATE +#ifdef __cplusplus +namespace { + extern struct PyModuleDef __pyx_moduledef; +} /* anonymous namespace */ +#else +static struct PyModuleDef __pyx_moduledef; +#endif + +#define __pyx_mstate(o) ((__pyx_mstate *)__Pyx_PyModule_GetState(o)) + +#define __pyx_mstate_global (__pyx_mstate(PyState_FindModule(&__pyx_moduledef))) + +#define __pyx_m (PyState_FindModule(&__pyx_moduledef)) +#else +static __pyx_mstate __pyx_mstate_global_static = +#ifdef __cplusplus + {}; +#else + {0}; +#endif +static __pyx_mstate *__pyx_mstate_global = &__pyx_mstate_global_static; +#endif +/* #### Code section: module_state_clear ### */ +#if CYTHON_USE_MODULE_STATE +static int __pyx_m_clear(PyObject *m) { + 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Py_CLEAR(clear_module_state->__pyx_n_s_address); + Py_CLEAR(clear_module_state->__pyx_n_s_asyncio_coroutines); + Py_CLEAR(clear_module_state->__pyx_n_s_bus); + Py_CLEAR(clear_module_state->__pyx_n_s_class_getitem); + Py_CLEAR(clear_module_state->__pyx_n_s_clear); + Py_CLEAR(clear_module_state->__pyx_n_s_cline_in_traceback); + Py_CLEAR(clear_module_state->__pyx_n_s_collections); + Py_CLEAR(clear_module_state->__pyx_kp_u_could_not_find_message); + Py_CLEAR(clear_module_state->__pyx_n_s_cur_address); + Py_CLEAR(clear_module_state->__pyx_n_s_cv); + Py_CLEAR(clear_module_state->__pyx_n_s_cv_name); + Py_CLEAR(clear_module_state->__pyx_n_s_dbc_name); + Py_CLEAR(clear_module_state->__pyx_n_s_defaultdict); + Py_CLEAR(clear_module_state->__pyx_kp_u_disable); + Py_CLEAR(clear_module_state->__pyx_kp_u_enable); + Py_CLEAR(clear_module_state->__pyx_kp_u_gc); + Py_CLEAR(clear_module_state->__pyx_n_s_getstate); + Py_CLEAR(clear_module_state->__pyx_n_s_import); + Py_CLEAR(clear_module_state->__pyx_kp_u_in_DBC); + Py_CLEAR(clear_module_state->__pyx_n_s_initializing); + Py_CLEAR(clear_module_state->__pyx_n_s_is_coroutine); + Py_CLEAR(clear_module_state->__pyx_kp_u_isenabled); + Py_CLEAR(clear_module_state->__pyx_n_s_it); + Py_CLEAR(clear_module_state->__pyx_n_s_main); + Py_CLEAR(clear_module_state->__pyx_n_s_messages); + Py_CLEAR(clear_module_state->__pyx_n_s_name); + Py_CLEAR(clear_module_state->__pyx_n_s_new_vals); + Py_CLEAR(clear_module_state->__pyx_n_s_numbers); + Py_CLEAR(clear_module_state->__pyx_n_s_opendbc_can_parser_pyx); + Py_CLEAR(clear_module_state->__pyx_kp_s_opendbc_can_parser_pyx_pyx); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_state); + Py_CLEAR(clear_module_state->__pyx_n_s_range); + Py_CLEAR(clear_module_state->__pyx_n_s_reduce); + Py_CLEAR(clear_module_state->__pyx_n_s_reduce_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_reduce_ex); + Py_CLEAR(clear_module_state->__pyx_n_s_self); + Py_CLEAR(clear_module_state->__pyx_kp_s_self_can_self_dbc_cannot_be_conv); + Py_CLEAR(clear_module_state->__pyx_kp_s_self_dbc_cannot_be_converted_to); + Py_CLEAR(clear_module_state->__pyx_n_s_sendcan); + Py_CLEAR(clear_module_state->__pyx_n_s_setstate); + Py_CLEAR(clear_module_state->__pyx_n_s_setstate_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_spec); + Py_CLEAR(clear_module_state->__pyx_n_s_split); + Py_CLEAR(clear_module_state->__pyx_n_s_strings); + Py_CLEAR(clear_module_state->__pyx_kp_s_stringsource); + Py_CLEAR(clear_module_state->__pyx_n_s_test); + Py_CLEAR(clear_module_state->__pyx_n_s_ts_nanos); + Py_CLEAR(clear_module_state->__pyx_n_s_update_strings); + Py_CLEAR(clear_module_state->__pyx_n_s_updated_addrs); + Py_CLEAR(clear_module_state->__pyx_n_s_vl); + Py_CLEAR(clear_module_state->__pyx_n_s_vl_all); + Py_CLEAR(clear_module_state->__pyx_n_s_zip); + Py_CLEAR(clear_module_state->__pyx_int_0); + Py_CLEAR(clear_module_state->__pyx_int_1); + Py_CLEAR(clear_module_state->__pyx_int_2); + Py_CLEAR(clear_module_state->__pyx_slice__2); + Py_CLEAR(clear_module_state->__pyx_slice__3); + Py_CLEAR(clear_module_state->__pyx_tuple__6); + Py_CLEAR(clear_module_state->__pyx_tuple__8); + Py_CLEAR(clear_module_state->__pyx_tuple__9); + Py_CLEAR(clear_module_state->__pyx_tuple__11); + Py_CLEAR(clear_module_state->__pyx_codeobj__7); + Py_CLEAR(clear_module_state->__pyx_codeobj__10); + Py_CLEAR(clear_module_state->__pyx_codeobj__12); + Py_CLEAR(clear_module_state->__pyx_codeobj__13); + Py_CLEAR(clear_module_state->__pyx_codeobj__14); + return 0; +} +#endif +/* #### Code section: module_state_traverse ### */ +#if CYTHON_USE_MODULE_STATE +static int __pyx_m_traverse(PyObject *m, visitproc visit, void *arg) { + __pyx_mstate *traverse_module_state = __pyx_mstate(m); + if (!traverse_module_state) return 0; + Py_VISIT(traverse_module_state->__pyx_d); + Py_VISIT(traverse_module_state->__pyx_b); + Py_VISIT(traverse_module_state->__pyx_cython_runtime); + Py_VISIT(traverse_module_state->__pyx_empty_tuple); + Py_VISIT(traverse_module_state->__pyx_empty_bytes); + Py_VISIT(traverse_module_state->__pyx_empty_unicode); + #ifdef __Pyx_CyFunction_USED + Py_VISIT(traverse_module_state->__pyx_CyFunctionType); + #endif + #ifdef __Pyx_FusedFunction_USED + Py_VISIT(traverse_module_state->__pyx_FusedFunctionType); + #endif + Py_VISIT(traverse_module_state->__pyx_ptype_7opendbc_3can_10parser_pyx_CANParser); + Py_VISIT(traverse_module_state->__pyx_type_7opendbc_3can_10parser_pyx_CANParser); + Py_VISIT(traverse_module_state->__pyx_ptype_7opendbc_3can_10parser_pyx_CANDefine); + Py_VISIT(traverse_module_state->__pyx_type_7opendbc_3can_10parser_pyx_CANDefine); + Py_VISIT(traverse_module_state->__pyx_kp_u_); + Py_VISIT(traverse_module_state->__pyx_n_s_CANDefine); + Py_VISIT(traverse_module_state->__pyx_n_s_CANDefine___reduce_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_CANDefine___setstate_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_CANParser); + Py_VISIT(traverse_module_state->__pyx_n_s_CANParser___reduce_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_CANParser___setstate_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_CANParser_update_strings); + Py_VISIT(traverse_module_state->__pyx_kp_u_Can_t_find_DBC); + Py_VISIT(traverse_module_state->__pyx_kp_u_Can_t_find_DBC_2); + Py_VISIT(traverse_module_state->__pyx_n_s_IndexError); + Py_VISIT(traverse_module_state->__pyx_n_s_KeyError); + Py_VISIT(traverse_module_state->__pyx_n_s_MemoryError); + Py_VISIT(traverse_module_state->__pyx_n_s_Number); + Py_VISIT(traverse_module_state->__pyx_n_s_RuntimeError); + Py_VISIT(traverse_module_state->__pyx_n_s_TypeError); + Py_VISIT(traverse_module_state->__pyx_n_s__15); + Py_VISIT(traverse_module_state->__pyx_n_s__4); + Py_VISIT(traverse_module_state->__pyx_kp_u__5); + Py_VISIT(traverse_module_state->__pyx_n_s_address); + Py_VISIT(traverse_module_state->__pyx_n_s_asyncio_coroutines); + Py_VISIT(traverse_module_state->__pyx_n_s_bus); + Py_VISIT(traverse_module_state->__pyx_n_s_class_getitem); + Py_VISIT(traverse_module_state->__pyx_n_s_clear); + Py_VISIT(traverse_module_state->__pyx_n_s_cline_in_traceback); + Py_VISIT(traverse_module_state->__pyx_n_s_collections); + Py_VISIT(traverse_module_state->__pyx_kp_u_could_not_find_message); + Py_VISIT(traverse_module_state->__pyx_n_s_cur_address); + Py_VISIT(traverse_module_state->__pyx_n_s_cv); + Py_VISIT(traverse_module_state->__pyx_n_s_cv_name); + Py_VISIT(traverse_module_state->__pyx_n_s_dbc_name); + Py_VISIT(traverse_module_state->__pyx_n_s_defaultdict); + Py_VISIT(traverse_module_state->__pyx_kp_u_disable); + Py_VISIT(traverse_module_state->__pyx_kp_u_enable); + Py_VISIT(traverse_module_state->__pyx_kp_u_gc); + Py_VISIT(traverse_module_state->__pyx_n_s_getstate); + Py_VISIT(traverse_module_state->__pyx_n_s_import); + Py_VISIT(traverse_module_state->__pyx_kp_u_in_DBC); + Py_VISIT(traverse_module_state->__pyx_n_s_initializing); + Py_VISIT(traverse_module_state->__pyx_n_s_is_coroutine); + Py_VISIT(traverse_module_state->__pyx_kp_u_isenabled); + Py_VISIT(traverse_module_state->__pyx_n_s_it); + Py_VISIT(traverse_module_state->__pyx_n_s_main); + Py_VISIT(traverse_module_state->__pyx_n_s_messages); + Py_VISIT(traverse_module_state->__pyx_n_s_name); + Py_VISIT(traverse_module_state->__pyx_n_s_new_vals); + Py_VISIT(traverse_module_state->__pyx_n_s_numbers); + Py_VISIT(traverse_module_state->__pyx_n_s_opendbc_can_parser_pyx); + Py_VISIT(traverse_module_state->__pyx_kp_s_opendbc_can_parser_pyx_pyx); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_state); + Py_VISIT(traverse_module_state->__pyx_n_s_range); + Py_VISIT(traverse_module_state->__pyx_n_s_reduce); + Py_VISIT(traverse_module_state->__pyx_n_s_reduce_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_reduce_ex); + Py_VISIT(traverse_module_state->__pyx_n_s_self); + Py_VISIT(traverse_module_state->__pyx_kp_s_self_can_self_dbc_cannot_be_conv); + Py_VISIT(traverse_module_state->__pyx_kp_s_self_dbc_cannot_be_converted_to); + Py_VISIT(traverse_module_state->__pyx_n_s_sendcan); + Py_VISIT(traverse_module_state->__pyx_n_s_setstate); + Py_VISIT(traverse_module_state->__pyx_n_s_setstate_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_spec); + Py_VISIT(traverse_module_state->__pyx_n_s_split); + Py_VISIT(traverse_module_state->__pyx_n_s_strings); + Py_VISIT(traverse_module_state->__pyx_kp_s_stringsource); + Py_VISIT(traverse_module_state->__pyx_n_s_test); + Py_VISIT(traverse_module_state->__pyx_n_s_ts_nanos); + Py_VISIT(traverse_module_state->__pyx_n_s_update_strings); + Py_VISIT(traverse_module_state->__pyx_n_s_updated_addrs); + Py_VISIT(traverse_module_state->__pyx_n_s_vl); + Py_VISIT(traverse_module_state->__pyx_n_s_vl_all); + Py_VISIT(traverse_module_state->__pyx_n_s_zip); + Py_VISIT(traverse_module_state->__pyx_int_0); + Py_VISIT(traverse_module_state->__pyx_int_1); + Py_VISIT(traverse_module_state->__pyx_int_2); + Py_VISIT(traverse_module_state->__pyx_slice__2); + Py_VISIT(traverse_module_state->__pyx_slice__3); + Py_VISIT(traverse_module_state->__pyx_tuple__6); + Py_VISIT(traverse_module_state->__pyx_tuple__8); + Py_VISIT(traverse_module_state->__pyx_tuple__9); + Py_VISIT(traverse_module_state->__pyx_tuple__11); + Py_VISIT(traverse_module_state->__pyx_codeobj__7); + Py_VISIT(traverse_module_state->__pyx_codeobj__10); + Py_VISIT(traverse_module_state->__pyx_codeobj__12); + Py_VISIT(traverse_module_state->__pyx_codeobj__13); + Py_VISIT(traverse_module_state->__pyx_codeobj__14); + return 0; +} +#endif +/* #### Code section: module_state_defines ### */ +#define __pyx_d __pyx_mstate_global->__pyx_d +#define __pyx_b __pyx_mstate_global->__pyx_b +#define __pyx_cython_runtime __pyx_mstate_global->__pyx_cython_runtime +#define __pyx_empty_tuple __pyx_mstate_global->__pyx_empty_tuple +#define __pyx_empty_bytes __pyx_mstate_global->__pyx_empty_bytes +#define __pyx_empty_unicode __pyx_mstate_global->__pyx_empty_unicode +#ifdef __Pyx_CyFunction_USED +#define __pyx_CyFunctionType __pyx_mstate_global->__pyx_CyFunctionType +#endif +#ifdef __Pyx_FusedFunction_USED +#define __pyx_FusedFunctionType __pyx_mstate_global->__pyx_FusedFunctionType +#endif +#ifdef __Pyx_Generator_USED +#define __pyx_GeneratorType __pyx_mstate_global->__pyx_GeneratorType +#endif +#ifdef __Pyx_IterableCoroutine_USED +#define __pyx_IterableCoroutineType __pyx_mstate_global->__pyx_IterableCoroutineType +#endif +#ifdef __Pyx_Coroutine_USED +#define __pyx_CoroutineAwaitType __pyx_mstate_global->__pyx_CoroutineAwaitType +#endif +#ifdef __Pyx_Coroutine_USED +#define __pyx_CoroutineType __pyx_mstate_global->__pyx_CoroutineType +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#define __pyx_type_7opendbc_3can_10parser_pyx_CANParser __pyx_mstate_global->__pyx_type_7opendbc_3can_10parser_pyx_CANParser +#define __pyx_type_7opendbc_3can_10parser_pyx_CANDefine __pyx_mstate_global->__pyx_type_7opendbc_3can_10parser_pyx_CANDefine +#endif +#define __pyx_ptype_7opendbc_3can_10parser_pyx_CANParser __pyx_mstate_global->__pyx_ptype_7opendbc_3can_10parser_pyx_CANParser +#define __pyx_ptype_7opendbc_3can_10parser_pyx_CANDefine __pyx_mstate_global->__pyx_ptype_7opendbc_3can_10parser_pyx_CANDefine +#define __pyx_kp_u_ __pyx_mstate_global->__pyx_kp_u_ +#define __pyx_n_s_CANDefine __pyx_mstate_global->__pyx_n_s_CANDefine +#define __pyx_n_s_CANDefine___reduce_cython __pyx_mstate_global->__pyx_n_s_CANDefine___reduce_cython +#define __pyx_n_s_CANDefine___setstate_cython __pyx_mstate_global->__pyx_n_s_CANDefine___setstate_cython +#define __pyx_n_s_CANParser __pyx_mstate_global->__pyx_n_s_CANParser +#define __pyx_n_s_CANParser___reduce_cython __pyx_mstate_global->__pyx_n_s_CANParser___reduce_cython +#define __pyx_n_s_CANParser___setstate_cython __pyx_mstate_global->__pyx_n_s_CANParser___setstate_cython +#define __pyx_n_s_CANParser_update_strings __pyx_mstate_global->__pyx_n_s_CANParser_update_strings +#define __pyx_kp_u_Can_t_find_DBC __pyx_mstate_global->__pyx_kp_u_Can_t_find_DBC +#define __pyx_kp_u_Can_t_find_DBC_2 __pyx_mstate_global->__pyx_kp_u_Can_t_find_DBC_2 +#define __pyx_n_s_IndexError __pyx_mstate_global->__pyx_n_s_IndexError +#define __pyx_n_s_KeyError __pyx_mstate_global->__pyx_n_s_KeyError +#define __pyx_n_s_MemoryError __pyx_mstate_global->__pyx_n_s_MemoryError +#define __pyx_n_s_Number __pyx_mstate_global->__pyx_n_s_Number +#define __pyx_n_s_RuntimeError __pyx_mstate_global->__pyx_n_s_RuntimeError +#define __pyx_n_s_TypeError __pyx_mstate_global->__pyx_n_s_TypeError +#define __pyx_n_s__15 __pyx_mstate_global->__pyx_n_s__15 +#define __pyx_n_s__4 __pyx_mstate_global->__pyx_n_s__4 +#define __pyx_kp_u__5 __pyx_mstate_global->__pyx_kp_u__5 +#define __pyx_n_s_address __pyx_mstate_global->__pyx_n_s_address +#define __pyx_n_s_asyncio_coroutines __pyx_mstate_global->__pyx_n_s_asyncio_coroutines +#define __pyx_n_s_bus __pyx_mstate_global->__pyx_n_s_bus +#define __pyx_n_s_class_getitem __pyx_mstate_global->__pyx_n_s_class_getitem +#define __pyx_n_s_clear __pyx_mstate_global->__pyx_n_s_clear +#define __pyx_n_s_cline_in_traceback __pyx_mstate_global->__pyx_n_s_cline_in_traceback +#define __pyx_n_s_collections __pyx_mstate_global->__pyx_n_s_collections +#define __pyx_kp_u_could_not_find_message __pyx_mstate_global->__pyx_kp_u_could_not_find_message +#define __pyx_n_s_cur_address __pyx_mstate_global->__pyx_n_s_cur_address +#define __pyx_n_s_cv __pyx_mstate_global->__pyx_n_s_cv +#define __pyx_n_s_cv_name __pyx_mstate_global->__pyx_n_s_cv_name +#define __pyx_n_s_dbc_name __pyx_mstate_global->__pyx_n_s_dbc_name +#define __pyx_n_s_defaultdict __pyx_mstate_global->__pyx_n_s_defaultdict +#define __pyx_kp_u_disable __pyx_mstate_global->__pyx_kp_u_disable +#define __pyx_kp_u_enable __pyx_mstate_global->__pyx_kp_u_enable +#define __pyx_kp_u_gc __pyx_mstate_global->__pyx_kp_u_gc +#define __pyx_n_s_getstate __pyx_mstate_global->__pyx_n_s_getstate +#define __pyx_n_s_import __pyx_mstate_global->__pyx_n_s_import +#define __pyx_kp_u_in_DBC __pyx_mstate_global->__pyx_kp_u_in_DBC +#define __pyx_n_s_initializing __pyx_mstate_global->__pyx_n_s_initializing +#define __pyx_n_s_is_coroutine __pyx_mstate_global->__pyx_n_s_is_coroutine +#define __pyx_kp_u_isenabled __pyx_mstate_global->__pyx_kp_u_isenabled +#define __pyx_n_s_it __pyx_mstate_global->__pyx_n_s_it +#define __pyx_n_s_main __pyx_mstate_global->__pyx_n_s_main +#define __pyx_n_s_messages __pyx_mstate_global->__pyx_n_s_messages +#define __pyx_n_s_name __pyx_mstate_global->__pyx_n_s_name +#define __pyx_n_s_new_vals __pyx_mstate_global->__pyx_n_s_new_vals +#define __pyx_n_s_numbers __pyx_mstate_global->__pyx_n_s_numbers +#define __pyx_n_s_opendbc_can_parser_pyx __pyx_mstate_global->__pyx_n_s_opendbc_can_parser_pyx +#define __pyx_kp_s_opendbc_can_parser_pyx_pyx __pyx_mstate_global->__pyx_kp_s_opendbc_can_parser_pyx_pyx +#define __pyx_n_s_pyx_state __pyx_mstate_global->__pyx_n_s_pyx_state +#define __pyx_n_s_range __pyx_mstate_global->__pyx_n_s_range +#define __pyx_n_s_reduce __pyx_mstate_global->__pyx_n_s_reduce +#define __pyx_n_s_reduce_cython __pyx_mstate_global->__pyx_n_s_reduce_cython +#define __pyx_n_s_reduce_ex __pyx_mstate_global->__pyx_n_s_reduce_ex +#define __pyx_n_s_self __pyx_mstate_global->__pyx_n_s_self +#define __pyx_kp_s_self_can_self_dbc_cannot_be_conv __pyx_mstate_global->__pyx_kp_s_self_can_self_dbc_cannot_be_conv +#define __pyx_kp_s_self_dbc_cannot_be_converted_to __pyx_mstate_global->__pyx_kp_s_self_dbc_cannot_be_converted_to +#define __pyx_n_s_sendcan __pyx_mstate_global->__pyx_n_s_sendcan +#define __pyx_n_s_setstate __pyx_mstate_global->__pyx_n_s_setstate +#define __pyx_n_s_setstate_cython __pyx_mstate_global->__pyx_n_s_setstate_cython +#define __pyx_n_s_spec __pyx_mstate_global->__pyx_n_s_spec +#define __pyx_n_s_split __pyx_mstate_global->__pyx_n_s_split +#define __pyx_n_s_strings __pyx_mstate_global->__pyx_n_s_strings +#define __pyx_kp_s_stringsource __pyx_mstate_global->__pyx_kp_s_stringsource +#define __pyx_n_s_test __pyx_mstate_global->__pyx_n_s_test +#define __pyx_n_s_ts_nanos __pyx_mstate_global->__pyx_n_s_ts_nanos +#define __pyx_n_s_update_strings __pyx_mstate_global->__pyx_n_s_update_strings +#define __pyx_n_s_updated_addrs __pyx_mstate_global->__pyx_n_s_updated_addrs +#define __pyx_n_s_vl __pyx_mstate_global->__pyx_n_s_vl +#define __pyx_n_s_vl_all __pyx_mstate_global->__pyx_n_s_vl_all +#define __pyx_n_s_zip __pyx_mstate_global->__pyx_n_s_zip +#define __pyx_int_0 __pyx_mstate_global->__pyx_int_0 +#define __pyx_int_1 __pyx_mstate_global->__pyx_int_1 +#define __pyx_int_2 __pyx_mstate_global->__pyx_int_2 +#define __pyx_slice__2 __pyx_mstate_global->__pyx_slice__2 +#define __pyx_slice__3 __pyx_mstate_global->__pyx_slice__3 +#define __pyx_tuple__6 __pyx_mstate_global->__pyx_tuple__6 +#define __pyx_tuple__8 __pyx_mstate_global->__pyx_tuple__8 +#define __pyx_tuple__9 __pyx_mstate_global->__pyx_tuple__9 +#define __pyx_tuple__11 __pyx_mstate_global->__pyx_tuple__11 +#define __pyx_codeobj__7 __pyx_mstate_global->__pyx_codeobj__7 +#define __pyx_codeobj__10 __pyx_mstate_global->__pyx_codeobj__10 +#define __pyx_codeobj__12 __pyx_mstate_global->__pyx_codeobj__12 +#define __pyx_codeobj__13 __pyx_mstate_global->__pyx_codeobj__13 +#define __pyx_codeobj__14 __pyx_mstate_global->__pyx_codeobj__14 +/* #### Code section: module_code ### */ + +/* "string.from_py":13 + * + * 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o) except *: + * cdef Py_ssize_t length = 0 + * cdef const char* data = __Pyx_PyObject_AsStringAndSize(o, &length) # <<<<<<<<<<<<<< + * return string(data, length) + * + */ + __pyx_t_1 = __Pyx_PyObject_AsStringAndSize(__pyx_v_o, (&__pyx_v_length)); if (unlikely(__pyx_t_1 == ((char const *)NULL))) __PYX_ERR(1, 15, __pyx_L1_error) + __pyx_v_data = __pyx_t_1; + + /* "string.from_py":16 + * cdef Py_ssize_t length = 0 + * cdef const char* data = __Pyx_PyObject_AsStringAndSize(o, &length) + * return string(data, length) # <<<<<<<<<<<<<< + * + * + */ + try { + __pyx_t_2 = std::string(__pyx_v_data, __pyx_v_length); + } catch(...) { + __Pyx_CppExn2PyErr(); + __PYX_ERR(1, 16, __pyx_L1_error) + } + __pyx_r = __pyx_t_2; + goto __pyx_L0; + + /* "string.from_py":13 + * + * @cname("__pyx_convert_string_from_py_std__in_string") + * cdef string __pyx_convert_string_from_py_std__in_string(object o) except *: # <<<<<<<<<<<<<< + * cdef Py_ssize_t length = 0 + * cdef const char* data = 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PyTuple_Size(__pyx_args); if (unlikely(__pyx_nargs < 0)) return NULL; + #endif + #endif + __pyx_kwvalues = __Pyx_KwValues_FASTCALL(__pyx_args, __pyx_nargs); + { + PyObject **__pyx_pyargnames[] = {&__pyx_n_s_pyx_state,0}; + if (__pyx_kwds) { + Py_ssize_t kw_args; + switch (__pyx_nargs) { + case 1: values[0] = __Pyx_Arg_FASTCALL(__pyx_args, 0); + CYTHON_FALLTHROUGH; + case 0: break; + default: goto __pyx_L5_argtuple_error; + } + kw_args = __Pyx_NumKwargs_FASTCALL(__pyx_kwds); + switch (__pyx_nargs) { + case 0: + if (likely((values[0] = __Pyx_GetKwValue_FASTCALL(__pyx_kwds, __pyx_kwvalues, __pyx_n_s_pyx_state)) != 0)) { + (void)__Pyx_Arg_NewRef_FASTCALL(values[0]); + kw_args--; + } + else if (unlikely(PyErr_Occurred())) __PYX_ERR(1, 3, __pyx_L3_error) + else goto __pyx_L5_argtuple_error; + } + if (unlikely(kw_args > 0)) { + const Py_ssize_t kwd_pos_args = __pyx_nargs; + if (unlikely(__Pyx_ParseOptionalKeywords(__pyx_kwds, __pyx_kwvalues, __pyx_pyargnames, 0, values + 0, kwd_pos_args, 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__pyx_obj_7opendbc_3can_10parser_pyx_CANDefine *)__pyx_v_self), __pyx_v___pyx_state); + + /* function exit code */ + { + Py_ssize_t __pyx_temp; + for (__pyx_temp=0; __pyx_temp < (Py_ssize_t)(sizeof(values)/sizeof(values[0])); ++__pyx_temp) { + __Pyx_Arg_XDECREF_FASTCALL(values[__pyx_temp]); + } + } + __Pyx_RefNannyFinishContext(); + return __pyx_r; +} + +static PyObject *__pyx_pf_7opendbc_3can_10parser_pyx_9CANDefine_4__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_7opendbc_3can_10parser_pyx_CANDefine *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state) { + PyObject *__pyx_r = NULL; + __Pyx_RefNannyDeclarations + int __pyx_lineno = 0; + const char *__pyx_filename = NULL; + int __pyx_clineno = 0; + __Pyx_RefNannySetupContext("__setstate_cython__", 1); + + /* "(tree fragment)":4 + * raise TypeError, "self.dbc cannot be converted to a Python object for pickling" + * def __setstate_cython__(self, __pyx_state): + * raise TypeError, "self.dbc cannot be converted to a Python object for pickling" # <<<<<<<<<<<<<< + */ + __Pyx_Raise(__pyx_builtin_TypeError, __pyx_kp_s_self_dbc_cannot_be_converted_to, 0, 0); + __PYX_ERR(1, 4, __pyx_L1_error) + + /* "(tree fragment)":3 + * def __reduce_cython__(self): + * raise TypeError, "self.dbc cannot be converted to a Python object for pickling" + * def __setstate_cython__(self, __pyx_state): # <<<<<<<<<<<<<< + * raise TypeError, "self.dbc cannot be converted to a Python object for pickling" + */ + + /* function exit code */ + __pyx_L1_error:; + __Pyx_AddTraceback("opendbc.can.parser_pyx.CANDefine.__setstate_cython__", __pyx_clineno, __pyx_lineno, __pyx_filename); + __pyx_r = NULL; + __Pyx_XGIVEREF(__pyx_r); + __Pyx_RefNannyFinishContext(); + return __pyx_r; +} + +static PyObject *__pyx_tp_new_7opendbc_3can_10parser_pyx_CANParser(PyTypeObject *t, CYTHON_UNUSED PyObject *a, CYTHON_UNUSED PyObject *k) { + struct __pyx_obj_7opendbc_3can_10parser_pyx_CANParser *p; + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + p = ((struct __pyx_obj_7opendbc_3can_10parser_pyx_CANParser *)o); + new((void*)&(p->can_values)) std::vector (); + new((void*)&(p->addresses)) std::vector (); + new((void*)&(p->dbc_name)) std::string(); + p->vl = ((PyObject*)Py_None); Py_INCREF(Py_None); + p->vl_all = ((PyObject*)Py_None); Py_INCREF(Py_None); + p->ts_nanos = ((PyObject*)Py_None); Py_INCREF(Py_None); + return o; +} + +static void __pyx_tp_dealloc_7opendbc_3can_10parser_pyx_CANParser(PyObject *o) { + struct __pyx_obj_7opendbc_3can_10parser_pyx_CANParser *p = (struct __pyx_obj_7opendbc_3can_10parser_pyx_CANParser *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && !__Pyx_PyObject_GC_IsFinalized(o)) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_7opendbc_3can_10parser_pyx_CANParser) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + PyObject_GC_UnTrack(o); + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_pw_7opendbc_3can_10parser_pyx_9CANParser_3__dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + __Pyx_call_destructor(p->can_values); + __Pyx_call_destructor(p->addresses); + __Pyx_call_destructor(p->dbc_name); + Py_CLEAR(p->vl); + Py_CLEAR(p->vl_all); + Py_CLEAR(p->ts_nanos); + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} + +static int __pyx_tp_traverse_7opendbc_3can_10parser_pyx_CANParser(PyObject *o, visitproc v, void *a) { + int e; + struct __pyx_obj_7opendbc_3can_10parser_pyx_CANParser *p = (struct __pyx_obj_7opendbc_3can_10parser_pyx_CANParser *)o; + if (p->vl) { + e = (*v)(p->vl, a); if (e) return e; + } + if (p->vl_all) { + e = (*v)(p->vl_all, a); if (e) return e; + } + if (p->ts_nanos) { + e = (*v)(p->ts_nanos, a); if (e) return e; + } + return 0; +} + +static int __pyx_tp_clear_7opendbc_3can_10parser_pyx_CANParser(PyObject *o) { + PyObject* tmp; + struct __pyx_obj_7opendbc_3can_10parser_pyx_CANParser *p = (struct __pyx_obj_7opendbc_3can_10parser_pyx_CANParser *)o; + tmp = ((PyObject*)p->vl); + p->vl = ((PyObject*)Py_None); Py_INCREF(Py_None); + Py_XDECREF(tmp); + tmp = ((PyObject*)p->vl_all); + p->vl_all = ((PyObject*)Py_None); Py_INCREF(Py_None); + Py_XDECREF(tmp); + tmp = ((PyObject*)p->ts_nanos); + p->ts_nanos = ((PyObject*)Py_None); Py_INCREF(Py_None); + Py_XDECREF(tmp); + return 0; +} + +static PyObject *__pyx_getprop_7opendbc_3can_10parser_pyx_9CANParser_can_valid(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_7opendbc_3can_10parser_pyx_9CANParser_9can_valid_1__get__(o); +} + +static PyObject *__pyx_getprop_7opendbc_3can_10parser_pyx_9CANParser_bus_timeout(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_7opendbc_3can_10parser_pyx_9CANParser_11bus_timeout_1__get__(o); +} + +static PyObject *__pyx_getprop_7opendbc_3can_10parser_pyx_9CANParser_vl(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_7opendbc_3can_10parser_pyx_9CANParser_2vl_1__get__(o); +} + +static PyObject *__pyx_getprop_7opendbc_3can_10parser_pyx_9CANParser_vl_all(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_7opendbc_3can_10parser_pyx_9CANParser_6vl_all_1__get__(o); +} + +static PyObject *__pyx_getprop_7opendbc_3can_10parser_pyx_9CANParser_ts_nanos(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_7opendbc_3can_10parser_pyx_9CANParser_8ts_nanos_1__get__(o); +} + +static PyObject *__pyx_getprop_7opendbc_3can_10parser_pyx_9CANParser_dbc_name(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_7opendbc_3can_10parser_pyx_9CANParser_8dbc_name_1__get__(o); +} + +static PyMethodDef __pyx_methods_7opendbc_3can_10parser_pyx_CANParser[] = { + {"update_strings", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_7opendbc_3can_10parser_pyx_9CANParser_5update_strings, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_7opendbc_3can_10parser_pyx_9CANParser_7__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_7opendbc_3can_10parser_pyx_9CANParser_9__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; + +static struct PyGetSetDef __pyx_getsets_7opendbc_3can_10parser_pyx_CANParser[] = { + {(char *)"can_valid", __pyx_getprop_7opendbc_3can_10parser_pyx_9CANParser_can_valid, 0, (char *)0, 0}, + {(char *)"bus_timeout", __pyx_getprop_7opendbc_3can_10parser_pyx_9CANParser_bus_timeout, 0, (char *)0, 0}, + {(char *)"vl", __pyx_getprop_7opendbc_3can_10parser_pyx_9CANParser_vl, 0, (char *)0, 0}, + {(char *)"vl_all", __pyx_getprop_7opendbc_3can_10parser_pyx_9CANParser_vl_all, 0, (char *)0, 0}, + {(char *)"ts_nanos", __pyx_getprop_7opendbc_3can_10parser_pyx_9CANParser_ts_nanos, 0, (char *)0, 0}, + {(char *)"dbc_name", __pyx_getprop_7opendbc_3can_10parser_pyx_9CANParser_dbc_name, 0, (char *)0, 0}, + {0, 0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type_7opendbc_3can_10parser_pyx_CANParser_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_7opendbc_3can_10parser_pyx_CANParser}, + {Py_tp_traverse, (void *)__pyx_tp_traverse_7opendbc_3can_10parser_pyx_CANParser}, + {Py_tp_clear, (void *)__pyx_tp_clear_7opendbc_3can_10parser_pyx_CANParser}, + {Py_tp_methods, (void *)__pyx_methods_7opendbc_3can_10parser_pyx_CANParser}, + {Py_tp_getset, (void *)__pyx_getsets_7opendbc_3can_10parser_pyx_CANParser}, + {Py_tp_init, (void *)__pyx_pw_7opendbc_3can_10parser_pyx_9CANParser_1__init__}, + {Py_tp_new, (void *)__pyx_tp_new_7opendbc_3can_10parser_pyx_CANParser}, + {0, 0}, +}; +static PyType_Spec __pyx_type_7opendbc_3can_10parser_pyx_CANParser_spec = { + "opendbc.can.parser_pyx.CANParser", + sizeof(struct __pyx_obj_7opendbc_3can_10parser_pyx_CANParser), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, + __pyx_type_7opendbc_3can_10parser_pyx_CANParser_slots, +}; +#else + +static PyTypeObject __pyx_type_7opendbc_3can_10parser_pyx_CANParser = { + PyVarObject_HEAD_INIT(0, 0) + "opendbc.can.parser_pyx.""CANParser", /*tp_name*/ + sizeof(struct __pyx_obj_7opendbc_3can_10parser_pyx_CANParser), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_7opendbc_3can_10parser_pyx_CANParser, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + 0, /*tp_repr*/ + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, /*tp_flags*/ + 0, /*tp_doc*/ + __pyx_tp_traverse_7opendbc_3can_10parser_pyx_CANParser, /*tp_traverse*/ + __pyx_tp_clear_7opendbc_3can_10parser_pyx_CANParser, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_7opendbc_3can_10parser_pyx_CANParser, /*tp_methods*/ + 0, /*tp_members*/ + __pyx_getsets_7opendbc_3can_10parser_pyx_CANParser, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + __pyx_pw_7opendbc_3can_10parser_pyx_9CANParser_1__init__, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_7opendbc_3can_10parser_pyx_CANParser, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif + +static PyObject *__pyx_tp_new_7opendbc_3can_10parser_pyx_CANDefine(PyTypeObject *t, CYTHON_UNUSED PyObject *a, CYTHON_UNUSED PyObject *k) { + struct __pyx_obj_7opendbc_3can_10parser_pyx_CANDefine *p; + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + p = ((struct __pyx_obj_7opendbc_3can_10parser_pyx_CANDefine *)o); + new((void*)&(p->dbc_name)) std::string(); + p->dv = ((PyObject*)Py_None); Py_INCREF(Py_None); + return o; +} + +static void __pyx_tp_dealloc_7opendbc_3can_10parser_pyx_CANDefine(PyObject *o) { + struct __pyx_obj_7opendbc_3can_10parser_pyx_CANDefine *p = (struct __pyx_obj_7opendbc_3can_10parser_pyx_CANDefine *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && !__Pyx_PyObject_GC_IsFinalized(o)) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_7opendbc_3can_10parser_pyx_CANDefine) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + PyObject_GC_UnTrack(o); + __Pyx_call_destructor(p->dbc_name); + Py_CLEAR(p->dv); + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} + +static int __pyx_tp_traverse_7opendbc_3can_10parser_pyx_CANDefine(PyObject *o, visitproc v, void *a) { + int e; + struct __pyx_obj_7opendbc_3can_10parser_pyx_CANDefine *p = (struct __pyx_obj_7opendbc_3can_10parser_pyx_CANDefine *)o; + if (p->dv) { + e = (*v)(p->dv, a); if (e) return e; + } + return 0; +} + +static int __pyx_tp_clear_7opendbc_3can_10parser_pyx_CANDefine(PyObject *o) { + PyObject* tmp; + struct __pyx_obj_7opendbc_3can_10parser_pyx_CANDefine *p = (struct __pyx_obj_7opendbc_3can_10parser_pyx_CANDefine *)o; + tmp = ((PyObject*)p->dv); + p->dv = ((PyObject*)Py_None); Py_INCREF(Py_None); + Py_XDECREF(tmp); + return 0; +} + +static PyObject *__pyx_getprop_7opendbc_3can_10parser_pyx_9CANDefine_dv(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_7opendbc_3can_10parser_pyx_9CANDefine_2dv_1__get__(o); +} + +static int __pyx_setprop_7opendbc_3can_10parser_pyx_9CANDefine_dv(PyObject *o, PyObject *v, CYTHON_UNUSED void *x) { + if (v) { + return __pyx_pw_7opendbc_3can_10parser_pyx_9CANDefine_2dv_3__set__(o, v); + } + else { + return __pyx_pw_7opendbc_3can_10parser_pyx_9CANDefine_2dv_5__del__(o); + } +} + +static PyObject *__pyx_getprop_7opendbc_3can_10parser_pyx_9CANDefine_dbc_name(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_7opendbc_3can_10parser_pyx_9CANDefine_8dbc_name_1__get__(o); +} + +static int __pyx_setprop_7opendbc_3can_10parser_pyx_9CANDefine_dbc_name(PyObject *o, PyObject *v, CYTHON_UNUSED void *x) { + if (v) { + return __pyx_pw_7opendbc_3can_10parser_pyx_9CANDefine_8dbc_name_3__set__(o, v); + } + else { + PyErr_SetString(PyExc_NotImplementedError, "__del__"); + return -1; + } +} + +static PyMethodDef __pyx_methods_7opendbc_3can_10parser_pyx_CANDefine[] = { + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_7opendbc_3can_10parser_pyx_9CANDefine_3__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_7opendbc_3can_10parser_pyx_9CANDefine_5__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; + +static struct PyGetSetDef __pyx_getsets_7opendbc_3can_10parser_pyx_CANDefine[] = { + {(char *)"dv", __pyx_getprop_7opendbc_3can_10parser_pyx_9CANDefine_dv, __pyx_setprop_7opendbc_3can_10parser_pyx_9CANDefine_dv, (char *)0, 0}, + {(char *)"dbc_name", __pyx_getprop_7opendbc_3can_10parser_pyx_9CANDefine_dbc_name, __pyx_setprop_7opendbc_3can_10parser_pyx_9CANDefine_dbc_name, (char *)0, 0}, + {0, 0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type_7opendbc_3can_10parser_pyx_CANDefine_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_7opendbc_3can_10parser_pyx_CANDefine}, + {Py_tp_traverse, (void *)__pyx_tp_traverse_7opendbc_3can_10parser_pyx_CANDefine}, + {Py_tp_clear, (void *)__pyx_tp_clear_7opendbc_3can_10parser_pyx_CANDefine}, + {Py_tp_methods, (void *)__pyx_methods_7opendbc_3can_10parser_pyx_CANDefine}, + {Py_tp_getset, (void *)__pyx_getsets_7opendbc_3can_10parser_pyx_CANDefine}, + {Py_tp_init, (void *)__pyx_pw_7opendbc_3can_10parser_pyx_9CANDefine_1__init__}, + {Py_tp_new, (void *)__pyx_tp_new_7opendbc_3can_10parser_pyx_CANDefine}, + {0, 0}, +}; +static PyType_Spec __pyx_type_7opendbc_3can_10parser_pyx_CANDefine_spec = { + "opendbc.can.parser_pyx.CANDefine", + sizeof(struct __pyx_obj_7opendbc_3can_10parser_pyx_CANDefine), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, + __pyx_type_7opendbc_3can_10parser_pyx_CANDefine_slots, +}; +#else + +static PyTypeObject __pyx_type_7opendbc_3can_10parser_pyx_CANDefine = { + PyVarObject_HEAD_INIT(0, 0) + "opendbc.can.parser_pyx.""CANDefine", /*tp_name*/ + sizeof(struct __pyx_obj_7opendbc_3can_10parser_pyx_CANDefine), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_7opendbc_3can_10parser_pyx_CANDefine, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + 0, /*tp_repr*/ + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, /*tp_flags*/ + 0, /*tp_doc*/ + __pyx_tp_traverse_7opendbc_3can_10parser_pyx_CANDefine, /*tp_traverse*/ + __pyx_tp_clear_7opendbc_3can_10parser_pyx_CANDefine, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_7opendbc_3can_10parser_pyx_CANDefine, /*tp_methods*/ + 0, /*tp_members*/ + __pyx_getsets_7opendbc_3can_10parser_pyx_CANDefine, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + __pyx_pw_7opendbc_3can_10parser_pyx_9CANDefine_1__init__, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_7opendbc_3can_10parser_pyx_CANDefine, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif + +static PyMethodDef __pyx_methods[] = { + {0, 0, 0, 0} +}; +#ifndef CYTHON_SMALL_CODE +#if defined(__clang__) + #define CYTHON_SMALL_CODE +#elif defined(__GNUC__) && (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 3)) + #define CYTHON_SMALL_CODE __attribute__((cold)) +#else + #define CYTHON_SMALL_CODE +#endif +#endif +/* #### Code section: pystring_table ### */ + +static int __Pyx_CreateStringTabAndInitStrings(void) { + __Pyx_StringTabEntry __pyx_string_tab[] = { + {&__pyx_kp_u_, __pyx_k_, sizeof(__pyx_k_), 0, 1, 0, 0}, + {&__pyx_n_s_CANDefine, __pyx_k_CANDefine, sizeof(__pyx_k_CANDefine), 0, 0, 1, 1}, + {&__pyx_n_s_CANDefine___reduce_cython, __pyx_k_CANDefine___reduce_cython, sizeof(__pyx_k_CANDefine___reduce_cython), 0, 0, 1, 1}, + {&__pyx_n_s_CANDefine___setstate_cython, __pyx_k_CANDefine___setstate_cython, sizeof(__pyx_k_CANDefine___setstate_cython), 0, 0, 1, 1}, + {&__pyx_n_s_CANParser, __pyx_k_CANParser, sizeof(__pyx_k_CANParser), 0, 0, 1, 1}, + {&__pyx_n_s_CANParser___reduce_cython, __pyx_k_CANParser___reduce_cython, sizeof(__pyx_k_CANParser___reduce_cython), 0, 0, 1, 1}, + {&__pyx_n_s_CANParser___setstate_cython, __pyx_k_CANParser___setstate_cython, sizeof(__pyx_k_CANParser___setstate_cython), 0, 0, 1, 1}, + {&__pyx_n_s_CANParser_update_strings, __pyx_k_CANParser_update_strings, sizeof(__pyx_k_CANParser_update_strings), 0, 0, 1, 1}, + {&__pyx_kp_u_Can_t_find_DBC, __pyx_k_Can_t_find_DBC, sizeof(__pyx_k_Can_t_find_DBC), 0, 1, 0, 0}, + {&__pyx_kp_u_Can_t_find_DBC_2, __pyx_k_Can_t_find_DBC_2, sizeof(__pyx_k_Can_t_find_DBC_2), 0, 1, 0, 0}, + {&__pyx_n_s_IndexError, __pyx_k_IndexError, sizeof(__pyx_k_IndexError), 0, 0, 1, 1}, + {&__pyx_n_s_KeyError, __pyx_k_KeyError, sizeof(__pyx_k_KeyError), 0, 0, 1, 1}, + {&__pyx_n_s_MemoryError, __pyx_k_MemoryError, sizeof(__pyx_k_MemoryError), 0, 0, 1, 1}, + {&__pyx_n_s_Number, __pyx_k_Number, sizeof(__pyx_k_Number), 0, 0, 1, 1}, + {&__pyx_n_s_RuntimeError, __pyx_k_RuntimeError, sizeof(__pyx_k_RuntimeError), 0, 0, 1, 1}, + {&__pyx_n_s_TypeError, __pyx_k_TypeError, 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{&__pyx_n_s_cur_address, __pyx_k_cur_address, sizeof(__pyx_k_cur_address), 0, 0, 1, 1}, + {&__pyx_n_s_cv, __pyx_k_cv, sizeof(__pyx_k_cv), 0, 0, 1, 1}, + {&__pyx_n_s_cv_name, __pyx_k_cv_name, sizeof(__pyx_k_cv_name), 0, 0, 1, 1}, + {&__pyx_n_s_dbc_name, __pyx_k_dbc_name, sizeof(__pyx_k_dbc_name), 0, 0, 1, 1}, + {&__pyx_n_s_defaultdict, __pyx_k_defaultdict, sizeof(__pyx_k_defaultdict), 0, 0, 1, 1}, + {&__pyx_kp_u_disable, __pyx_k_disable, sizeof(__pyx_k_disable), 0, 1, 0, 0}, + {&__pyx_kp_u_enable, __pyx_k_enable, sizeof(__pyx_k_enable), 0, 1, 0, 0}, + {&__pyx_kp_u_gc, __pyx_k_gc, sizeof(__pyx_k_gc), 0, 1, 0, 0}, + {&__pyx_n_s_getstate, __pyx_k_getstate, sizeof(__pyx_k_getstate), 0, 0, 1, 1}, + {&__pyx_n_s_import, __pyx_k_import, sizeof(__pyx_k_import), 0, 0, 1, 1}, + {&__pyx_kp_u_in_DBC, __pyx_k_in_DBC, sizeof(__pyx_k_in_DBC), 0, 1, 0, 0}, + {&__pyx_n_s_initializing, __pyx_k_initializing, sizeof(__pyx_k_initializing), 0, 0, 1, 1}, + {&__pyx_n_s_is_coroutine, __pyx_k_is_coroutine, 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+} +#endif + +/* PyErrFetchRestore */ +#if CYTHON_FAST_THREAD_STATE +static CYTHON_INLINE void __Pyx_ErrRestoreInState(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb) { +#if PY_VERSION_HEX >= 0x030C00A6 + PyObject *tmp_value; + assert(type == NULL || (value != NULL && type == (PyObject*) Py_TYPE(value))); + if (value) { + #if CYTHON_COMPILING_IN_CPYTHON + if (unlikely(((PyBaseExceptionObject*) value)->traceback != tb)) + #endif + PyException_SetTraceback(value, tb); + } + tmp_value = tstate->current_exception; + tstate->current_exception = value; + Py_XDECREF(tmp_value); + Py_XDECREF(type); + Py_XDECREF(tb); +#else + PyObject *tmp_type, *tmp_value, *tmp_tb; + tmp_type = tstate->curexc_type; + tmp_value = tstate->curexc_value; + tmp_tb = tstate->curexc_traceback; + tstate->curexc_type = type; + tstate->curexc_value = value; + tstate->curexc_traceback = tb; + Py_XDECREF(tmp_type); + Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); +#endif +} +static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { +#if PY_VERSION_HEX >= 0x030C00A6 + PyObject* exc_value; + exc_value = tstate->current_exception; + tstate->current_exception = 0; + *value = exc_value; + *type = NULL; + *tb = NULL; + if (exc_value) { + *type = (PyObject*) Py_TYPE(exc_value); + Py_INCREF(*type); + #if CYTHON_COMPILING_IN_CPYTHON + *tb = ((PyBaseExceptionObject*) exc_value)->traceback; + Py_XINCREF(*tb); + #else + *tb = PyException_GetTraceback(exc_value); + #endif + } +#else + *type = tstate->curexc_type; + *value = tstate->curexc_value; + *tb = tstate->curexc_traceback; + tstate->curexc_type = 0; + tstate->curexc_value = 0; + tstate->curexc_traceback = 0; +#endif +} +#endif + +/* PyObjectGetAttrStr */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStr(PyObject* obj, PyObject* attr_name) { + PyTypeObject* tp = Py_TYPE(obj); + if (likely(tp->tp_getattro)) + return tp->tp_getattro(obj, attr_name); +#if PY_MAJOR_VERSION < 3 + if (likely(tp->tp_getattr)) + return tp->tp_getattr(obj, PyString_AS_STRING(attr_name)); +#endif + return PyObject_GetAttr(obj, attr_name); +} +#endif + +/* PyObjectGetAttrStrNoError */ +#if __PYX_LIMITED_VERSION_HEX < 0x030d00A1 +static void __Pyx_PyObject_GetAttrStr_ClearAttributeError(void) { + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + if (likely(__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) + __Pyx_PyErr_Clear(); +} +#endif +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name) { + PyObject *result; +#if __PYX_LIMITED_VERSION_HEX >= 0x030d00A1 + (void) PyObject_GetOptionalAttr(obj, attr_name, &result); + return result; +#else +#if CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_TYPE_SLOTS && PY_VERSION_HEX >= 0x030700B1 + PyTypeObject* tp = Py_TYPE(obj); + if (likely(tp->tp_getattro == PyObject_GenericGetAttr)) { + return _PyObject_GenericGetAttrWithDict(obj, attr_name, NULL, 1); + } +#endif + result = __Pyx_PyObject_GetAttrStr(obj, attr_name); + if (unlikely(!result)) { + __Pyx_PyObject_GetAttrStr_ClearAttributeError(); + } + return result; +#endif +} + +/* GetBuiltinName */ +static PyObject *__Pyx_GetBuiltinName(PyObject *name) { + PyObject* result = __Pyx_PyObject_GetAttrStrNoError(__pyx_b, name); + if (unlikely(!result) && !PyErr_Occurred()) { + PyErr_Format(PyExc_NameError, +#if PY_MAJOR_VERSION >= 3 + "name '%U' is not defined", name); +#else + "name '%.200s' is not defined", PyString_AS_STRING(name)); +#endif + } + return result; +} + +/* RaiseTooManyValuesToUnpack */ +static CYTHON_INLINE void __Pyx_RaiseTooManyValuesError(Py_ssize_t expected) { + PyErr_Format(PyExc_ValueError, + "too many values to unpack (expected %" CYTHON_FORMAT_SSIZE_T "d)", expected); +} + +/* RaiseNeedMoreValuesToUnpack */ +static CYTHON_INLINE void __Pyx_RaiseNeedMoreValuesError(Py_ssize_t index) { + PyErr_Format(PyExc_ValueError, + "need more than %" CYTHON_FORMAT_SSIZE_T "d value%.1s to unpack", + index, (index == 1) ? "" : "s"); +} + +/* IterFinish */ +static CYTHON_INLINE int __Pyx_IterFinish(void) { + PyObject* exc_type; + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + exc_type = __Pyx_PyErr_CurrentExceptionType(); + if (unlikely(exc_type)) { + if (unlikely(!__Pyx_PyErr_GivenExceptionMatches(exc_type, PyExc_StopIteration))) + return -1; + __Pyx_PyErr_Clear(); + return 0; + } + return 0; +} + +/* UnpackItemEndCheck */ +static int __Pyx_IternextUnpackEndCheck(PyObject *retval, Py_ssize_t expected) { + if (unlikely(retval)) { + Py_DECREF(retval); + __Pyx_RaiseTooManyValuesError(expected); + return -1; + } + return __Pyx_IterFinish(); +} + +/* TupleAndListFromArray */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE void __Pyx_copy_object_array(PyObject *const *CYTHON_RESTRICT src, PyObject** CYTHON_RESTRICT dest, Py_ssize_t length) { + PyObject *v; + Py_ssize_t i; + for (i = 0; i < length; i++) { + v = dest[i] = src[i]; + Py_INCREF(v); + } +} +static CYTHON_INLINE PyObject * +__Pyx_PyTuple_FromArray(PyObject *const *src, Py_ssize_t n) +{ + PyObject *res; + if (n <= 0) { + Py_INCREF(__pyx_empty_tuple); + return __pyx_empty_tuple; + } + res = PyTuple_New(n); + if (unlikely(res == NULL)) return NULL; + __Pyx_copy_object_array(src, ((PyTupleObject*)res)->ob_item, n); + return res; +} +static CYTHON_INLINE PyObject * +__Pyx_PyList_FromArray(PyObject *const *src, Py_ssize_t n) +{ + PyObject *res; + if (n <= 0) { + return PyList_New(0); + } + res = PyList_New(n); + if (unlikely(res == NULL)) return NULL; + __Pyx_copy_object_array(src, ((PyListObject*)res)->ob_item, n); + return res; +} +#endif + +/* BytesEquals */ +static CYTHON_INLINE int __Pyx_PyBytes_Equals(PyObject* s1, PyObject* s2, int equals) { +#if CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API + return PyObject_RichCompareBool(s1, s2, equals); +#else + if (s1 == s2) { + return (equals == Py_EQ); + } else if (PyBytes_CheckExact(s1) & PyBytes_CheckExact(s2)) { + const char *ps1, *ps2; + Py_ssize_t length = PyBytes_GET_SIZE(s1); + if (length != PyBytes_GET_SIZE(s2)) + return (equals == Py_NE); + ps1 = PyBytes_AS_STRING(s1); + ps2 = PyBytes_AS_STRING(s2); + if (ps1[0] != ps2[0]) { + return (equals == Py_NE); + } else if (length == 1) { + return (equals == Py_EQ); + } else { + int result; +#if CYTHON_USE_UNICODE_INTERNALS && (PY_VERSION_HEX < 0x030B0000) + Py_hash_t hash1, hash2; + hash1 = ((PyBytesObject*)s1)->ob_shash; + hash2 = ((PyBytesObject*)s2)->ob_shash; + if (hash1 != hash2 && hash1 != -1 && hash2 != -1) { + return (equals == Py_NE); + } +#endif + result = memcmp(ps1, ps2, (size_t)length); + return (equals == Py_EQ) ? (result == 0) : (result != 0); + } + } else if ((s1 == Py_None) & PyBytes_CheckExact(s2)) { + return (equals == Py_NE); + } else if ((s2 == Py_None) & PyBytes_CheckExact(s1)) { + return (equals == Py_NE); + } else { + int result; + PyObject* py_result = PyObject_RichCompare(s1, s2, equals); + if (!py_result) + return -1; + result = __Pyx_PyObject_IsTrue(py_result); + Py_DECREF(py_result); + return result; + } +#endif +} + +/* UnicodeEquals */ +static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int equals) { +#if CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API + return PyObject_RichCompareBool(s1, s2, equals); +#else +#if PY_MAJOR_VERSION < 3 + PyObject* owned_ref = NULL; +#endif + int s1_is_unicode, s2_is_unicode; + if (s1 == s2) { + goto return_eq; + } + s1_is_unicode = PyUnicode_CheckExact(s1); + s2_is_unicode = PyUnicode_CheckExact(s2); +#if PY_MAJOR_VERSION < 3 + if ((s1_is_unicode & (!s2_is_unicode)) && PyString_CheckExact(s2)) { + owned_ref = PyUnicode_FromObject(s2); + if (unlikely(!owned_ref)) + return -1; + s2 = owned_ref; + s2_is_unicode = 1; + } else if ((s2_is_unicode & (!s1_is_unicode)) && PyString_CheckExact(s1)) { + owned_ref = PyUnicode_FromObject(s1); + if (unlikely(!owned_ref)) + return -1; + s1 = owned_ref; + s1_is_unicode = 1; + } else if (((!s2_is_unicode) & (!s1_is_unicode))) { + return __Pyx_PyBytes_Equals(s1, s2, equals); + } +#endif + if (s1_is_unicode & s2_is_unicode) { + Py_ssize_t length; + int kind; + void *data1, *data2; + if (unlikely(__Pyx_PyUnicode_READY(s1) < 0) || unlikely(__Pyx_PyUnicode_READY(s2) < 0)) + return -1; + length = __Pyx_PyUnicode_GET_LENGTH(s1); + if (length != __Pyx_PyUnicode_GET_LENGTH(s2)) { + goto return_ne; + } +#if CYTHON_USE_UNICODE_INTERNALS + { + Py_hash_t hash1, hash2; + #if CYTHON_PEP393_ENABLED + hash1 = ((PyASCIIObject*)s1)->hash; + hash2 = ((PyASCIIObject*)s2)->hash; + #else + hash1 = ((PyUnicodeObject*)s1)->hash; + hash2 = ((PyUnicodeObject*)s2)->hash; + #endif + if (hash1 != hash2 && hash1 != -1 && hash2 != -1) { + goto return_ne; + } + } +#endif + kind = __Pyx_PyUnicode_KIND(s1); + if (kind != __Pyx_PyUnicode_KIND(s2)) { + goto return_ne; + } + data1 = __Pyx_PyUnicode_DATA(s1); + data2 = __Pyx_PyUnicode_DATA(s2); + if (__Pyx_PyUnicode_READ(kind, data1, 0) != __Pyx_PyUnicode_READ(kind, data2, 0)) { + goto return_ne; + } else if (length == 1) { + goto return_eq; + } else { + int result = memcmp(data1, data2, (size_t)(length * kind)); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_EQ) ? (result == 0) : (result != 0); + } + } else if ((s1 == Py_None) & s2_is_unicode) { + goto return_ne; + } else if ((s2 == Py_None) & s1_is_unicode) { + goto return_ne; + } else { + int result; + PyObject* py_result = PyObject_RichCompare(s1, s2, equals); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + if (!py_result) + return -1; + result = __Pyx_PyObject_IsTrue(py_result); + Py_DECREF(py_result); + return result; + } +return_eq: + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_EQ); +return_ne: + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_NE); +#endif +} + +/* fastcall */ +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE PyObject * __Pyx_GetKwValue_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues, PyObject *s) +{ + Py_ssize_t i, n = PyTuple_GET_SIZE(kwnames); + for (i = 0; i < n; i++) + { + if (s == PyTuple_GET_ITEM(kwnames, i)) return kwvalues[i]; + } + for (i = 0; i < n; i++) + { + int eq = __Pyx_PyUnicode_Equals(s, PyTuple_GET_ITEM(kwnames, i), Py_EQ); + if (unlikely(eq != 0)) { + if (unlikely(eq < 0)) return NULL; + return kwvalues[i]; + } + } + return NULL; +} +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 +CYTHON_UNUSED static PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues) { + Py_ssize_t i, nkwargs = PyTuple_GET_SIZE(kwnames); + PyObject *dict; + dict = PyDict_New(); + if (unlikely(!dict)) + return NULL; + for (i=0; i= 3 + "%s() got multiple values for keyword argument '%U'", func_name, kw_name); + #else + "%s() got multiple values for keyword argument '%s'", func_name, + PyString_AsString(kw_name)); + #endif +} + +/* ParseKeywords */ +static int __Pyx_ParseOptionalKeywords( + PyObject *kwds, + PyObject *const *kwvalues, + PyObject **argnames[], + PyObject *kwds2, + PyObject *values[], + Py_ssize_t num_pos_args, + const char* function_name) +{ + PyObject *key = 0, *value = 0; + Py_ssize_t pos = 0; + PyObject*** name; + PyObject*** first_kw_arg = argnames + num_pos_args; + int kwds_is_tuple = CYTHON_METH_FASTCALL && likely(PyTuple_Check(kwds)); + while (1) { + Py_XDECREF(key); key = NULL; + Py_XDECREF(value); value = NULL; + if (kwds_is_tuple) { + Py_ssize_t size; +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(kwds); +#else + size = PyTuple_Size(kwds); + if (size < 0) goto bad; +#endif + if (pos >= size) break; +#if CYTHON_AVOID_BORROWED_REFS + key = __Pyx_PySequence_ITEM(kwds, pos); + if (!key) goto bad; +#elif CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kwds, pos); +#else + key = PyTuple_GetItem(kwds, pos); + if (!key) goto bad; +#endif + value = kwvalues[pos]; + pos++; + } + else + { + if (!PyDict_Next(kwds, &pos, &key, &value)) break; +#if CYTHON_AVOID_BORROWED_REFS + Py_INCREF(key); +#endif + } + name = first_kw_arg; + while (*name && (**name != key)) name++; + if (*name) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + Py_INCREF(value); + Py_DECREF(key); +#endif + key = NULL; + value = NULL; + continue; + } +#if !CYTHON_AVOID_BORROWED_REFS + Py_INCREF(key); +#endif + Py_INCREF(value); + name = first_kw_arg; + #if PY_MAJOR_VERSION < 3 + if (likely(PyString_Check(key))) { + while (*name) { + if ((CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**name) == PyString_GET_SIZE(key)) + && _PyString_Eq(**name, key)) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + value = NULL; +#endif + break; + } + name++; + } + if (*name) continue; + else { + PyObject*** argname = argnames; + while (argname != first_kw_arg) { + if ((**argname == key) || ( + (CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**argname) == PyString_GET_SIZE(key)) + && _PyString_Eq(**argname, key))) { + goto arg_passed_twice; + } + argname++; + } + } + } else + #endif + if (likely(PyUnicode_Check(key))) { + while (*name) { + int cmp = ( + #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 + (__Pyx_PyUnicode_GET_LENGTH(**name) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : + #endif + PyUnicode_Compare(**name, key) + ); + if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; + if (cmp == 0) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + value = NULL; +#endif + break; + } + name++; + } + if (*name) continue; + else { + PyObject*** argname = argnames; + while (argname != first_kw_arg) { + int cmp = (**argname == key) ? 0 : + #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 + (__Pyx_PyUnicode_GET_LENGTH(**argname) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : + #endif + PyUnicode_Compare(**argname, key); + if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; + if (cmp == 0) goto arg_passed_twice; + argname++; + } + } + } else + goto invalid_keyword_type; + if (kwds2) { + if (unlikely(PyDict_SetItem(kwds2, key, value))) goto bad; + } else { + goto invalid_keyword; + } + } + Py_XDECREF(key); + Py_XDECREF(value); + return 0; +arg_passed_twice: + __Pyx_RaiseDoubleKeywordsError(function_name, key); + goto bad; +invalid_keyword_type: + PyErr_Format(PyExc_TypeError, + "%.200s() keywords must be strings", function_name); + goto bad; +invalid_keyword: + #if PY_MAJOR_VERSION < 3 + PyErr_Format(PyExc_TypeError, + "%.200s() got an unexpected keyword argument '%.200s'", + function_name, PyString_AsString(key)); + #else + PyErr_Format(PyExc_TypeError, + "%s() got an unexpected keyword argument '%U'", + function_name, key); + #endif +bad: + Py_XDECREF(key); + Py_XDECREF(value); + return -1; +} + +/* PyFunctionFastCall */ +#if CYTHON_FAST_PYCALL && !CYTHON_VECTORCALL +static PyObject* __Pyx_PyFunction_FastCallNoKw(PyCodeObject *co, PyObject **args, Py_ssize_t na, + PyObject *globals) { + PyFrameObject *f; + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject **fastlocals; + Py_ssize_t i; + PyObject *result; + assert(globals != NULL); + /* XXX Perhaps we should create a specialized + PyFrame_New() that doesn't take locals, but does + take builtins without sanity checking them. + */ + assert(tstate != NULL); + f = PyFrame_New(tstate, co, globals, NULL); + if (f == NULL) { + return NULL; + } + fastlocals = __Pyx_PyFrame_GetLocalsplus(f); + for (i = 0; i < na; i++) { + Py_INCREF(*args); + fastlocals[i] = *args++; + } + result = PyEval_EvalFrameEx(f,0); + ++tstate->recursion_depth; + Py_DECREF(f); + --tstate->recursion_depth; + return result; +} +static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs) { + PyCodeObject *co = (PyCodeObject *)PyFunction_GET_CODE(func); + PyObject *globals = PyFunction_GET_GLOBALS(func); + PyObject *argdefs = PyFunction_GET_DEFAULTS(func); + PyObject *closure; +#if PY_MAJOR_VERSION >= 3 + PyObject *kwdefs; +#endif + PyObject *kwtuple, **k; + PyObject **d; + Py_ssize_t nd; + Py_ssize_t nk; + PyObject *result; + assert(kwargs == NULL || PyDict_Check(kwargs)); + nk = kwargs ? PyDict_Size(kwargs) : 0; + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) { + return NULL; + } + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) { + return NULL; + } + #endif + if ( +#if PY_MAJOR_VERSION >= 3 + co->co_kwonlyargcount == 0 && +#endif + likely(kwargs == NULL || nk == 0) && + co->co_flags == (CO_OPTIMIZED | CO_NEWLOCALS | CO_NOFREE)) { + if (argdefs == NULL && co->co_argcount == nargs) { + result = __Pyx_PyFunction_FastCallNoKw(co, args, nargs, globals); + goto done; + } + else if (nargs == 0 && argdefs != NULL + && co->co_argcount == Py_SIZE(argdefs)) { + /* function called with no arguments, but all parameters have + a default value: use default values as arguments .*/ + args = &PyTuple_GET_ITEM(argdefs, 0); + result =__Pyx_PyFunction_FastCallNoKw(co, args, Py_SIZE(argdefs), globals); + goto done; + } + } + if (kwargs != NULL) { + Py_ssize_t pos, i; + kwtuple = PyTuple_New(2 * nk); + if (kwtuple == NULL) { + result = NULL; + goto done; + } + k = &PyTuple_GET_ITEM(kwtuple, 0); + pos = i = 0; + while (PyDict_Next(kwargs, &pos, &k[i], &k[i+1])) { + Py_INCREF(k[i]); + Py_INCREF(k[i+1]); + i += 2; + } + nk = i / 2; + } + else { + kwtuple = NULL; + k = NULL; + } + closure = PyFunction_GET_CLOSURE(func); +#if PY_MAJOR_VERSION >= 3 + kwdefs = PyFunction_GET_KW_DEFAULTS(func); +#endif + if (argdefs != NULL) { + d = &PyTuple_GET_ITEM(argdefs, 0); + nd = Py_SIZE(argdefs); + } + else { + d = NULL; + nd = 0; + } +#if PY_MAJOR_VERSION >= 3 + result = PyEval_EvalCodeEx((PyObject*)co, globals, (PyObject *)NULL, + args, (int)nargs, + k, (int)nk, + d, (int)nd, kwdefs, closure); +#else + result = PyEval_EvalCodeEx(co, globals, (PyObject *)NULL, + args, (int)nargs, + k, (int)nk, + d, (int)nd, closure); +#endif + Py_XDECREF(kwtuple); +done: + Py_LeaveRecursiveCall(); + return result; +} +#endif + +/* PyObjectCall */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw) { + PyObject *result; + ternaryfunc call = Py_TYPE(func)->tp_call; + if (unlikely(!call)) + return PyObject_Call(func, arg, kw); + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) + return NULL; + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) + return NULL; + #endif + result = (*call)(func, arg, kw); + Py_LeaveRecursiveCall(); + if (unlikely(!result) && unlikely(!PyErr_Occurred())) { + PyErr_SetString( + PyExc_SystemError, + "NULL result without error in PyObject_Call"); + } + return result; +} +#endif + +/* PyObjectCallMethO */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg) { + PyObject *self, *result; + PyCFunction cfunc; + cfunc = __Pyx_CyOrPyCFunction_GET_FUNCTION(func); + self = __Pyx_CyOrPyCFunction_GET_SELF(func); + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) + return NULL; + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) + return NULL; + #endif + result = cfunc(self, arg); + Py_LeaveRecursiveCall(); + if (unlikely(!result) && unlikely(!PyErr_Occurred())) { + PyErr_SetString( + PyExc_SystemError, + "NULL result without error in PyObject_Call"); + } + return result; +} +#endif + +/* PyObjectFastCall */ +#if PY_VERSION_HEX < 0x03090000 || CYTHON_COMPILING_IN_LIMITED_API +static PyObject* __Pyx_PyObject_FastCall_fallback(PyObject *func, PyObject **args, size_t nargs, PyObject *kwargs) { + PyObject *argstuple; + PyObject *result = 0; + size_t i; + argstuple = PyTuple_New((Py_ssize_t)nargs); + if (unlikely(!argstuple)) return NULL; + for (i = 0; i < nargs; i++) { + Py_INCREF(args[i]); + if (__Pyx_PyTuple_SET_ITEM(argstuple, (Py_ssize_t)i, args[i]) < 0) goto bad; + } + result = __Pyx_PyObject_Call(func, argstuple, kwargs); + bad: + Py_DECREF(argstuple); + return result; +} +#endif +static CYTHON_INLINE PyObject* __Pyx_PyObject_FastCallDict(PyObject *func, PyObject **args, size_t _nargs, PyObject *kwargs) { + Py_ssize_t nargs = __Pyx_PyVectorcall_NARGS(_nargs); +#if CYTHON_COMPILING_IN_CPYTHON + if (nargs == 0 && kwargs == NULL) { + if (__Pyx_CyOrPyCFunction_Check(func) && likely( __Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_NOARGS)) + return __Pyx_PyObject_CallMethO(func, NULL); + } + else if (nargs == 1 && kwargs == NULL) { + if (__Pyx_CyOrPyCFunction_Check(func) && likely( __Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_O)) + return __Pyx_PyObject_CallMethO(func, args[0]); + } +#endif + #if PY_VERSION_HEX < 0x030800B1 + #if CYTHON_FAST_PYCCALL + if (PyCFunction_Check(func)) { + if (kwargs) { + return _PyCFunction_FastCallDict(func, args, nargs, kwargs); + } else { + return _PyCFunction_FastCallKeywords(func, args, nargs, NULL); + } + } + #if PY_VERSION_HEX >= 0x030700A1 + if (!kwargs && __Pyx_IS_TYPE(func, &PyMethodDescr_Type)) { + return _PyMethodDescr_FastCallKeywords(func, args, nargs, NULL); + } + #endif + #endif + #if CYTHON_FAST_PYCALL + if (PyFunction_Check(func)) { + return __Pyx_PyFunction_FastCallDict(func, args, nargs, kwargs); + } + #endif + #endif + if (kwargs == NULL) { + #if CYTHON_VECTORCALL + #if PY_VERSION_HEX < 0x03090000 + vectorcallfunc f = _PyVectorcall_Function(func); + #else + vectorcallfunc f = PyVectorcall_Function(func); + #endif + if (f) { + return f(func, args, (size_t)nargs, NULL); + } + #elif defined(__Pyx_CyFunction_USED) && CYTHON_BACKPORT_VECTORCALL + if (__Pyx_CyFunction_CheckExact(func)) { + __pyx_vectorcallfunc f = __Pyx_CyFunction_func_vectorcall(func); + if (f) return f(func, args, (size_t)nargs, NULL); + } + #endif + } + if (nargs == 0) { + return __Pyx_PyObject_Call(func, __pyx_empty_tuple, kwargs); + } + #if PY_VERSION_HEX >= 0x03090000 && !CYTHON_COMPILING_IN_LIMITED_API + return PyObject_VectorcallDict(func, args, (size_t)nargs, kwargs); + #else + return __Pyx_PyObject_FastCall_fallback(func, args, (size_t)nargs, kwargs); + #endif +} + +/* PyObjectCallOneArg */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg) { + PyObject *args[2] = {NULL, arg}; + return __Pyx_PyObject_FastCall(func, args+1, 1 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET); +} + +/* RaiseException */ +#if PY_MAJOR_VERSION < 3 +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) { + __Pyx_PyThreadState_declare + CYTHON_UNUSED_VAR(cause); + Py_XINCREF(type); + if (!value || value == Py_None) + value = NULL; + else + Py_INCREF(value); + if (!tb || tb == Py_None) + tb = NULL; + else { + Py_INCREF(tb); + if (!PyTraceBack_Check(tb)) { + PyErr_SetString(PyExc_TypeError, + "raise: arg 3 must be a traceback or None"); + goto raise_error; + } + } + if (PyType_Check(type)) { +#if CYTHON_COMPILING_IN_PYPY + if (!value) { + Py_INCREF(Py_None); + value = Py_None; + } +#endif + PyErr_NormalizeException(&type, &value, &tb); + } else { + if (value) { + PyErr_SetString(PyExc_TypeError, + "instance exception may not have a separate value"); + goto raise_error; + } + value = type; + type = (PyObject*) Py_TYPE(type); + Py_INCREF(type); + if (!PyType_IsSubtype((PyTypeObject *)type, (PyTypeObject *)PyExc_BaseException)) { + PyErr_SetString(PyExc_TypeError, + "raise: exception class must be a subclass of BaseException"); + goto raise_error; + } + } + __Pyx_PyThreadState_assign + __Pyx_ErrRestore(type, value, tb); + return; +raise_error: + Py_XDECREF(value); + Py_XDECREF(type); + Py_XDECREF(tb); + return; +} +#else +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) { + PyObject* owned_instance = NULL; + if (tb == Py_None) { + tb = 0; + } else if (tb && !PyTraceBack_Check(tb)) { + PyErr_SetString(PyExc_TypeError, + "raise: arg 3 must be a traceback or None"); + goto bad; + } + if (value == Py_None) + value = 0; + if (PyExceptionInstance_Check(type)) { + if (value) { + PyErr_SetString(PyExc_TypeError, + "instance exception may not have a separate value"); + goto bad; + } + value = type; + type = (PyObject*) Py_TYPE(value); + } else if (PyExceptionClass_Check(type)) { + PyObject *instance_class = NULL; + if (value && PyExceptionInstance_Check(value)) { + instance_class = (PyObject*) Py_TYPE(value); + if (instance_class != type) { + int is_subclass = PyObject_IsSubclass(instance_class, type); + if (!is_subclass) { + instance_class = NULL; + } else if (unlikely(is_subclass == -1)) { + goto bad; + } else { + type = instance_class; + } + } + } + if (!instance_class) { + PyObject *args; + if (!value) + args = PyTuple_New(0); + else if (PyTuple_Check(value)) { + Py_INCREF(value); + args = value; + } else + args = PyTuple_Pack(1, value); + if (!args) + goto bad; + owned_instance = PyObject_Call(type, args, NULL); + Py_DECREF(args); + if (!owned_instance) + goto bad; + value = owned_instance; + if (!PyExceptionInstance_Check(value)) { + PyErr_Format(PyExc_TypeError, + "calling %R should have returned an instance of " + "BaseException, not %R", + type, Py_TYPE(value)); + goto bad; + } + } + } else { + PyErr_SetString(PyExc_TypeError, + "raise: exception class must be a subclass of BaseException"); + goto bad; + } + if (cause) { + PyObject *fixed_cause; + if (cause == Py_None) { + fixed_cause = NULL; + } else if (PyExceptionClass_Check(cause)) { + fixed_cause = PyObject_CallObject(cause, NULL); + if (fixed_cause == NULL) + goto bad; + } else if (PyExceptionInstance_Check(cause)) { + fixed_cause = cause; + Py_INCREF(fixed_cause); + } else { + PyErr_SetString(PyExc_TypeError, + "exception causes must derive from " + "BaseException"); + goto bad; + } + PyException_SetCause(value, fixed_cause); + } + PyErr_SetObject(type, value); + if (tb) { + #if PY_VERSION_HEX >= 0x030C00A6 + PyException_SetTraceback(value, tb); + #elif CYTHON_FAST_THREAD_STATE + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject* tmp_tb = tstate->curexc_traceback; + if (tb != tmp_tb) { + Py_INCREF(tb); + tstate->curexc_traceback = tb; + Py_XDECREF(tmp_tb); + } +#else + PyObject *tmp_type, *tmp_value, *tmp_tb; + PyErr_Fetch(&tmp_type, &tmp_value, &tmp_tb); + Py_INCREF(tb); + PyErr_Restore(tmp_type, tmp_value, tb); + Py_XDECREF(tmp_tb); +#endif + } +bad: + Py_XDECREF(owned_instance); + return; +} +#endif + +/* GetItemInt */ +static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j) { + PyObject *r; + if (unlikely(!j)) return NULL; + r = PyObject_GetItem(o, j); + Py_DECREF(j); + return r; +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + Py_ssize_t wrapped_i = i; + if (wraparound & unlikely(i < 0)) { + wrapped_i += PyList_GET_SIZE(o); + } + if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyList_GET_SIZE(o)))) { + PyObject *r = PyList_GET_ITEM(o, wrapped_i); + Py_INCREF(r); + return r; + } + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +#else + return PySequence_GetItem(o, i); +#endif +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + Py_ssize_t wrapped_i = i; + if (wraparound & unlikely(i < 0)) { + wrapped_i += PyTuple_GET_SIZE(o); + } + if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyTuple_GET_SIZE(o)))) { + PyObject *r = PyTuple_GET_ITEM(o, wrapped_i); + Py_INCREF(r); + return r; + } + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +#else + return PySequence_GetItem(o, i); +#endif +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, int is_list, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS && CYTHON_USE_TYPE_SLOTS + if (is_list || PyList_CheckExact(o)) { + Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyList_GET_SIZE(o); + if ((!boundscheck) || (likely(__Pyx_is_valid_index(n, PyList_GET_SIZE(o))))) { + PyObject *r = PyList_GET_ITEM(o, n); + Py_INCREF(r); + return r; + } + } + else if (PyTuple_CheckExact(o)) { + Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyTuple_GET_SIZE(o); + if ((!boundscheck) || likely(__Pyx_is_valid_index(n, PyTuple_GET_SIZE(o)))) { + PyObject *r = PyTuple_GET_ITEM(o, n); + Py_INCREF(r); + return r; + } + } else { + PyMappingMethods *mm = Py_TYPE(o)->tp_as_mapping; + PySequenceMethods *sm = Py_TYPE(o)->tp_as_sequence; + if (mm && mm->mp_subscript) { + PyObject *r, *key = PyInt_FromSsize_t(i); + if (unlikely(!key)) return NULL; + r = mm->mp_subscript(o, key); + Py_DECREF(key); + return r; + } + if (likely(sm && sm->sq_item)) { + if (wraparound && unlikely(i < 0) && likely(sm->sq_length)) { + Py_ssize_t l = sm->sq_length(o); + if (likely(l >= 0)) { + i += l; + } else { + if (!PyErr_ExceptionMatches(PyExc_OverflowError)) + return NULL; + PyErr_Clear(); + } + } + return sm->sq_item(o, i); + } + } +#else + if (is_list || !PyMapping_Check(o)) { + return PySequence_GetItem(o, i); + } +#endif + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +} + +/* PyDictVersioning */ +#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj) { + PyObject *dict = Py_TYPE(obj)->tp_dict; + return likely(dict) ? __PYX_GET_DICT_VERSION(dict) : 0; +} +static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj) { + PyObject **dictptr = NULL; + Py_ssize_t offset = Py_TYPE(obj)->tp_dictoffset; + if (offset) { +#if CYTHON_COMPILING_IN_CPYTHON + dictptr = (likely(offset > 0)) ? (PyObject **) ((char *)obj + offset) : _PyObject_GetDictPtr(obj); +#else + dictptr = _PyObject_GetDictPtr(obj); +#endif + } + return (dictptr && *dictptr) ? __PYX_GET_DICT_VERSION(*dictptr) : 0; +} +static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version) { + PyObject *dict = Py_TYPE(obj)->tp_dict; + if (unlikely(!dict) || unlikely(tp_dict_version != __PYX_GET_DICT_VERSION(dict))) + return 0; + return obj_dict_version == __Pyx_get_object_dict_version(obj); +} +#endif + +/* GetModuleGlobalName */ +#if CYTHON_USE_DICT_VERSIONS +static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value) +#else +static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name) +#endif +{ + PyObject *result; +#if !CYTHON_AVOID_BORROWED_REFS +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030500A1 && PY_VERSION_HEX < 0x030d0000 + result = _PyDict_GetItem_KnownHash(__pyx_d, name, ((PyASCIIObject *) name)->hash); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } else if (unlikely(PyErr_Occurred())) { + return NULL; + } +#elif CYTHON_COMPILING_IN_LIMITED_API + if (unlikely(!__pyx_m)) { + return NULL; + } + result = PyObject_GetAttr(__pyx_m, name); + if (likely(result)) { + return result; + } +#else + result = PyDict_GetItem(__pyx_d, name); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } +#endif +#else + result = PyObject_GetItem(__pyx_d, name); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } + PyErr_Clear(); +#endif + return __Pyx_GetBuiltinName(name); +} + +/* GetTopmostException */ +#if CYTHON_USE_EXC_INFO_STACK && CYTHON_FAST_THREAD_STATE +static _PyErr_StackItem * +__Pyx_PyErr_GetTopmostException(PyThreadState *tstate) +{ + _PyErr_StackItem *exc_info = tstate->exc_info; + while ((exc_info->exc_value == NULL || exc_info->exc_value == Py_None) && + exc_info->previous_item != NULL) + { + exc_info = exc_info->previous_item; + } + return exc_info; +} +#endif + +/* SaveResetException */ +#if CYTHON_FAST_THREAD_STATE +static CYTHON_INLINE void __Pyx__ExceptionSave(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { + #if CYTHON_USE_EXC_INFO_STACK && PY_VERSION_HEX >= 0x030B00a4 + _PyErr_StackItem *exc_info = __Pyx_PyErr_GetTopmostException(tstate); + PyObject *exc_value = exc_info->exc_value; + if (exc_value == NULL || exc_value == Py_None) { + *value = NULL; + *type = NULL; + *tb = NULL; + } else { + *value = exc_value; + Py_INCREF(*value); + *type = (PyObject*) Py_TYPE(exc_value); + Py_INCREF(*type); + *tb = PyException_GetTraceback(exc_value); + } + #elif CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = __Pyx_PyErr_GetTopmostException(tstate); + *type = exc_info->exc_type; + *value = exc_info->exc_value; + *tb = exc_info->exc_traceback; + Py_XINCREF(*type); + Py_XINCREF(*value); + Py_XINCREF(*tb); + #else + *type = tstate->exc_type; + *value = tstate->exc_value; + *tb = tstate->exc_traceback; + Py_XINCREF(*type); + Py_XINCREF(*value); + Py_XINCREF(*tb); + #endif +} +static CYTHON_INLINE void __Pyx__ExceptionReset(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb) { + #if CYTHON_USE_EXC_INFO_STACK && PY_VERSION_HEX >= 0x030B00a4 + _PyErr_StackItem *exc_info = tstate->exc_info; + PyObject *tmp_value = exc_info->exc_value; + exc_info->exc_value = value; + Py_XDECREF(tmp_value); + Py_XDECREF(type); + Py_XDECREF(tb); + #else + PyObject *tmp_type, *tmp_value, *tmp_tb; + #if CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = tstate->exc_info; + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = type; + exc_info->exc_value = value; + exc_info->exc_traceback = tb; + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = type; + tstate->exc_value = value; + tstate->exc_traceback = tb; + #endif + Py_XDECREF(tmp_type); + Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); + #endif +} +#endif + +/* GetException */ +#if CYTHON_FAST_THREAD_STATE +static int __Pyx__GetException(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) +#else +static int __Pyx_GetException(PyObject **type, PyObject **value, PyObject **tb) +#endif +{ + PyObject *local_type = NULL, *local_value, *local_tb = NULL; +#if CYTHON_FAST_THREAD_STATE + PyObject *tmp_type, *tmp_value, *tmp_tb; + #if PY_VERSION_HEX >= 0x030C00A6 + local_value = tstate->current_exception; + tstate->current_exception = 0; + if (likely(local_value)) { + local_type = (PyObject*) Py_TYPE(local_value); + Py_INCREF(local_type); + local_tb = PyException_GetTraceback(local_value); + } + #else + local_type = tstate->curexc_type; + local_value = tstate->curexc_value; + local_tb = tstate->curexc_traceback; + tstate->curexc_type = 0; + tstate->curexc_value = 0; + tstate->curexc_traceback = 0; + #endif +#else + PyErr_Fetch(&local_type, &local_value, &local_tb); +#endif + PyErr_NormalizeException(&local_type, &local_value, &local_tb); +#if CYTHON_FAST_THREAD_STATE && PY_VERSION_HEX >= 0x030C00A6 + if (unlikely(tstate->current_exception)) +#elif CYTHON_FAST_THREAD_STATE + if (unlikely(tstate->curexc_type)) +#else + if (unlikely(PyErr_Occurred())) +#endif + goto bad; + #if PY_MAJOR_VERSION >= 3 + if (local_tb) { + if (unlikely(PyException_SetTraceback(local_value, local_tb) < 0)) + goto bad; + } + #endif + Py_XINCREF(local_tb); + Py_XINCREF(local_type); + Py_XINCREF(local_value); + *type = local_type; + *value = local_value; + *tb = local_tb; +#if CYTHON_FAST_THREAD_STATE + #if CYTHON_USE_EXC_INFO_STACK + { + _PyErr_StackItem *exc_info = tstate->exc_info; + #if PY_VERSION_HEX >= 0x030B00a4 + tmp_value = exc_info->exc_value; + exc_info->exc_value = local_value; + tmp_type = NULL; + tmp_tb = NULL; + Py_XDECREF(local_type); + Py_XDECREF(local_tb); + #else + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = local_type; + exc_info->exc_value = local_value; + exc_info->exc_traceback = local_tb; + #endif + } + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = local_type; + tstate->exc_value = local_value; + tstate->exc_traceback = local_tb; + #endif + Py_XDECREF(tmp_type); + Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); +#else + PyErr_SetExcInfo(local_type, local_value, local_tb); +#endif + return 0; +bad: + *type = 0; + *value = 0; + *tb = 0; + Py_XDECREF(local_type); + Py_XDECREF(local_value); + Py_XDECREF(local_tb); + return -1; +} + +/* JoinPyUnicode */ +static PyObject* __Pyx_PyUnicode_Join(PyObject* value_tuple, Py_ssize_t value_count, Py_ssize_t result_ulength, + Py_UCS4 max_char) { +#if CYTHON_USE_UNICODE_INTERNALS && CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + PyObject *result_uval; + int result_ukind, kind_shift; + Py_ssize_t i, char_pos; + void *result_udata; + CYTHON_MAYBE_UNUSED_VAR(max_char); +#if CYTHON_PEP393_ENABLED + result_uval = PyUnicode_New(result_ulength, max_char); + if (unlikely(!result_uval)) return NULL; + result_ukind = (max_char <= 255) ? PyUnicode_1BYTE_KIND : (max_char <= 65535) ? PyUnicode_2BYTE_KIND : PyUnicode_4BYTE_KIND; + kind_shift = (result_ukind == PyUnicode_4BYTE_KIND) ? 2 : result_ukind - 1; + result_udata = PyUnicode_DATA(result_uval); +#else + result_uval = PyUnicode_FromUnicode(NULL, result_ulength); + if (unlikely(!result_uval)) return NULL; + result_ukind = sizeof(Py_UNICODE); + kind_shift = (result_ukind == 4) ? 2 : result_ukind - 1; + result_udata = PyUnicode_AS_UNICODE(result_uval); +#endif + assert(kind_shift == 2 || kind_shift == 1 || kind_shift == 0); + char_pos = 0; + for (i=0; i < value_count; i++) { + int ukind; + Py_ssize_t ulength; + void *udata; + PyObject *uval = PyTuple_GET_ITEM(value_tuple, i); + if (unlikely(__Pyx_PyUnicode_READY(uval))) + goto bad; + ulength = __Pyx_PyUnicode_GET_LENGTH(uval); + if (unlikely(!ulength)) + continue; + if (unlikely((PY_SSIZE_T_MAX >> kind_shift) - ulength < char_pos)) + goto overflow; + ukind = __Pyx_PyUnicode_KIND(uval); + udata = __Pyx_PyUnicode_DATA(uval); + if (!CYTHON_PEP393_ENABLED || ukind == result_ukind) { + memcpy((char *)result_udata + (char_pos << kind_shift), udata, (size_t) (ulength << kind_shift)); + } else { + #if PY_VERSION_HEX >= 0x030d0000 + if (unlikely(PyUnicode_CopyCharacters(result_uval, char_pos, uval, 0, ulength) < 0)) goto bad; + #elif CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030300F0 || defined(_PyUnicode_FastCopyCharacters) + _PyUnicode_FastCopyCharacters(result_uval, char_pos, uval, 0, ulength); + #else + Py_ssize_t j; + for (j=0; j < ulength; j++) { + Py_UCS4 uchar = __Pyx_PyUnicode_READ(ukind, udata, j); + __Pyx_PyUnicode_WRITE(result_ukind, result_udata, char_pos+j, uchar); + } + #endif + } + char_pos += ulength; + } + return result_uval; +overflow: + PyErr_SetString(PyExc_OverflowError, "join() result is too long for a Python string"); +bad: + Py_DECREF(result_uval); + return NULL; +#else + CYTHON_UNUSED_VAR(max_char); + CYTHON_UNUSED_VAR(result_ulength); + CYTHON_UNUSED_VAR(value_count); + return PyUnicode_Join(__pyx_empty_unicode, value_tuple); +#endif +} + +/* decode_c_bytes */ +static CYTHON_INLINE PyObject* __Pyx_decode_c_bytes( + const char* cstring, Py_ssize_t length, Py_ssize_t start, Py_ssize_t stop, + const char* encoding, const char* errors, + PyObject* (*decode_func)(const char *s, Py_ssize_t size, const char *errors)) { + if (unlikely((start < 0) | (stop < 0))) { + if (start < 0) { + start += length; + if (start < 0) + start = 0; + } + if (stop < 0) + stop += length; + } + if (stop > length) + stop = length; + if (unlikely(stop <= start)) + return __Pyx_NewRef(__pyx_empty_unicode); + length = stop - start; + cstring += start; + if (decode_func) { + return decode_func(cstring, length, errors); + } else { + return PyUnicode_Decode(cstring, length, encoding, errors); + } +} + +/* DictGetItem */ +#if PY_MAJOR_VERSION >= 3 && !CYTHON_COMPILING_IN_PYPY +static PyObject *__Pyx_PyDict_GetItem(PyObject *d, PyObject* key) { + PyObject *value; + value = PyDict_GetItemWithError(d, key); + if (unlikely(!value)) { + if (!PyErr_Occurred()) { + if (unlikely(PyTuple_Check(key))) { + PyObject* args = PyTuple_Pack(1, key); + if (likely(args)) { + PyErr_SetObject(PyExc_KeyError, args); + Py_DECREF(args); + } + } else { + PyErr_SetObject(PyExc_KeyError, key); + } + } + return NULL; + } + Py_INCREF(value); + return value; +} +#endif + +/* KeywordStringCheck */ +static int __Pyx_CheckKeywordStrings( + PyObject *kw, + const char* function_name, + int kw_allowed) +{ + PyObject* key = 0; + Py_ssize_t pos = 0; +#if CYTHON_COMPILING_IN_PYPY + if (!kw_allowed && PyDict_Next(kw, &pos, &key, 0)) + goto invalid_keyword; + return 1; +#else + if (CYTHON_METH_FASTCALL && likely(PyTuple_Check(kw))) { + Py_ssize_t kwsize; +#if CYTHON_ASSUME_SAFE_MACROS + kwsize = PyTuple_GET_SIZE(kw); +#else + kwsize = PyTuple_Size(kw); + if (kwsize < 0) return 0; +#endif + if (unlikely(kwsize == 0)) + return 1; + if (!kw_allowed) { +#if CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kw, 0); +#else + key = PyTuple_GetItem(kw, pos); + if (!key) return 0; +#endif + goto invalid_keyword; + } +#if PY_VERSION_HEX < 0x03090000 + for (pos = 0; pos < kwsize; pos++) { +#if CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kw, pos); +#else + key = PyTuple_GetItem(kw, pos); + if (!key) return 0; +#endif + if (unlikely(!PyUnicode_Check(key))) + goto invalid_keyword_type; + } +#endif + return 1; + } + while (PyDict_Next(kw, &pos, &key, 0)) { + #if PY_MAJOR_VERSION < 3 + if (unlikely(!PyString_Check(key))) + #endif + if (unlikely(!PyUnicode_Check(key))) + goto invalid_keyword_type; + } + if (!kw_allowed && unlikely(key)) + goto invalid_keyword; + return 1; +invalid_keyword_type: + PyErr_Format(PyExc_TypeError, + "%.200s() keywords must be strings", function_name); + return 0; +#endif +invalid_keyword: + #if PY_MAJOR_VERSION < 3 + PyErr_Format(PyExc_TypeError, + "%.200s() got an unexpected keyword argument '%.200s'", + function_name, PyString_AsString(key)); + #else + PyErr_Format(PyExc_TypeError, + "%s() got an unexpected keyword argument '%U'", + function_name, key); + #endif + return 0; +} + +/* ObjectGetItem */ +#if CYTHON_USE_TYPE_SLOTS +static PyObject *__Pyx_PyObject_GetIndex(PyObject *obj, PyObject *index) { + PyObject *runerr = NULL; + Py_ssize_t key_value; + key_value = __Pyx_PyIndex_AsSsize_t(index); + if (likely(key_value != -1 || !(runerr = PyErr_Occurred()))) { + return __Pyx_GetItemInt_Fast(obj, key_value, 0, 1, 1); + } + if (PyErr_GivenExceptionMatches(runerr, PyExc_OverflowError)) { + __Pyx_TypeName index_type_name = __Pyx_PyType_GetName(Py_TYPE(index)); + PyErr_Clear(); + PyErr_Format(PyExc_IndexError, + "cannot fit '" __Pyx_FMT_TYPENAME "' into an index-sized integer", index_type_name); + __Pyx_DECREF_TypeName(index_type_name); + } + return NULL; +} +static PyObject *__Pyx_PyObject_GetItem_Slow(PyObject *obj, PyObject *key) { + __Pyx_TypeName obj_type_name; + if (likely(PyType_Check(obj))) { + PyObject *meth = __Pyx_PyObject_GetAttrStrNoError(obj, __pyx_n_s_class_getitem); + if (!meth) { + PyErr_Clear(); + } else { + PyObject *result = __Pyx_PyObject_CallOneArg(meth, key); + Py_DECREF(meth); + return result; + } + } + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, + "'" __Pyx_FMT_TYPENAME "' object is not subscriptable", obj_type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return NULL; +} +static PyObject *__Pyx_PyObject_GetItem(PyObject *obj, PyObject *key) { + PyTypeObject *tp = Py_TYPE(obj); + PyMappingMethods *mm = tp->tp_as_mapping; + PySequenceMethods *sm = tp->tp_as_sequence; + if (likely(mm && mm->mp_subscript)) { + return mm->mp_subscript(obj, key); + } + if (likely(sm && sm->sq_item)) { + return __Pyx_PyObject_GetIndex(obj, key); + } + return __Pyx_PyObject_GetItem_Slow(obj, key); +} +#endif + +/* RaiseUnexpectedTypeError */ +static int +__Pyx_RaiseUnexpectedTypeError(const char *expected, PyObject *obj) +{ + __Pyx_TypeName obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, "Expected %s, got " __Pyx_FMT_TYPENAME, + expected, obj_type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return 0; +} + +/* FixUpExtensionType */ +#if CYTHON_USE_TYPE_SPECS +static int __Pyx_fix_up_extension_type_from_spec(PyType_Spec *spec, PyTypeObject *type) { +#if PY_VERSION_HEX > 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + CYTHON_UNUSED_VAR(spec); + CYTHON_UNUSED_VAR(type); +#else + const PyType_Slot *slot = spec->slots; + while (slot && slot->slot && slot->slot != Py_tp_members) + slot++; + if (slot && slot->slot == Py_tp_members) { + int changed = 0; +#if !(PY_VERSION_HEX <= 0x030900b1 && CYTHON_COMPILING_IN_CPYTHON) + const +#endif + PyMemberDef *memb = (PyMemberDef*) slot->pfunc; + while (memb && memb->name) { + if (memb->name[0] == '_' && memb->name[1] == '_') { +#if PY_VERSION_HEX < 0x030900b1 + if (strcmp(memb->name, "__weaklistoffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); + type->tp_weaklistoffset = memb->offset; + changed = 1; + } + else if (strcmp(memb->name, "__dictoffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); + type->tp_dictoffset = memb->offset; + changed = 1; + } +#if CYTHON_METH_FASTCALL + else if (strcmp(memb->name, "__vectorcalloffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); +#if PY_VERSION_HEX >= 0x030800b4 + type->tp_vectorcall_offset = memb->offset; +#else + type->tp_print = (printfunc) memb->offset; +#endif + changed = 1; + } +#endif +#else + if ((0)); +#endif +#if PY_VERSION_HEX <= 0x030900b1 && CYTHON_COMPILING_IN_CPYTHON + else if (strcmp(memb->name, "__module__") == 0) { + PyObject *descr; + assert(memb->type == T_OBJECT); + assert(memb->flags == 0 || memb->flags == READONLY); + descr = PyDescr_NewMember(type, memb); + if (unlikely(!descr)) + return -1; + if (unlikely(PyDict_SetItem(type->tp_dict, PyDescr_NAME(descr), descr) < 0)) { + Py_DECREF(descr); + return -1; + } + Py_DECREF(descr); + changed = 1; + } +#endif + } + memb++; + } + if (changed) + PyType_Modified(type); + } +#endif + return 0; +} +#endif + +/* PyObjectCallNoArg */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func) { + PyObject *arg[2] = {NULL, NULL}; + return __Pyx_PyObject_FastCall(func, arg + 1, 0 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET); +} + +/* PyObjectGetMethod */ +static int __Pyx_PyObject_GetMethod(PyObject *obj, PyObject *name, PyObject **method) { + PyObject *attr; +#if CYTHON_UNPACK_METHODS && CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_PYTYPE_LOOKUP + __Pyx_TypeName type_name; + PyTypeObject *tp = Py_TYPE(obj); + PyObject *descr; + descrgetfunc f = NULL; + PyObject **dictptr, *dict; + int meth_found = 0; + assert (*method == NULL); + if (unlikely(tp->tp_getattro != PyObject_GenericGetAttr)) { + attr = __Pyx_PyObject_GetAttrStr(obj, name); + goto try_unpack; + } + if (unlikely(tp->tp_dict == NULL) && unlikely(PyType_Ready(tp) < 0)) { + return 0; + } + descr = _PyType_Lookup(tp, name); + if (likely(descr != NULL)) { + Py_INCREF(descr); +#if defined(Py_TPFLAGS_METHOD_DESCRIPTOR) && Py_TPFLAGS_METHOD_DESCRIPTOR + if (__Pyx_PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_METHOD_DESCRIPTOR)) +#elif PY_MAJOR_VERSION >= 3 + #ifdef __Pyx_CyFunction_USED + if (likely(PyFunction_Check(descr) || __Pyx_IS_TYPE(descr, &PyMethodDescr_Type) || __Pyx_CyFunction_Check(descr))) + #else + if (likely(PyFunction_Check(descr) || __Pyx_IS_TYPE(descr, &PyMethodDescr_Type))) + #endif +#else + #ifdef __Pyx_CyFunction_USED + if (likely(PyFunction_Check(descr) || __Pyx_CyFunction_Check(descr))) + #else + if (likely(PyFunction_Check(descr))) + #endif +#endif + { + meth_found = 1; + } else { + f = Py_TYPE(descr)->tp_descr_get; + if (f != NULL && PyDescr_IsData(descr)) { + attr = f(descr, obj, (PyObject *)Py_TYPE(obj)); + Py_DECREF(descr); + goto try_unpack; + } + } + } + dictptr = _PyObject_GetDictPtr(obj); + if (dictptr != NULL && (dict = *dictptr) != NULL) { + Py_INCREF(dict); + attr = __Pyx_PyDict_GetItemStr(dict, name); + if (attr != NULL) { + Py_INCREF(attr); + Py_DECREF(dict); + Py_XDECREF(descr); + goto try_unpack; + } + Py_DECREF(dict); + } + if (meth_found) { + *method = descr; + return 1; + } + if (f != NULL) { + attr = f(descr, obj, (PyObject *)Py_TYPE(obj)); + Py_DECREF(descr); + goto try_unpack; + } + if (likely(descr != NULL)) { + *method = descr; + return 0; + } + type_name = __Pyx_PyType_GetName(tp); + PyErr_Format(PyExc_AttributeError, +#if PY_MAJOR_VERSION >= 3 + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%U'", + type_name, name); +#else + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%.400s'", + type_name, PyString_AS_STRING(name)); +#endif + __Pyx_DECREF_TypeName(type_name); + return 0; +#else + attr = __Pyx_PyObject_GetAttrStr(obj, name); + goto try_unpack; +#endif +try_unpack: +#if CYTHON_UNPACK_METHODS + if (likely(attr) && PyMethod_Check(attr) && likely(PyMethod_GET_SELF(attr) == obj)) { + PyObject *function = PyMethod_GET_FUNCTION(attr); + Py_INCREF(function); + Py_DECREF(attr); + *method = function; + return 1; + } +#endif + *method = attr; + return 0; +} + +/* PyObjectCallMethod0 */ +static PyObject* __Pyx_PyObject_CallMethod0(PyObject* obj, PyObject* method_name) { + PyObject *method = NULL, *result = NULL; + int is_method = __Pyx_PyObject_GetMethod(obj, method_name, &method); + if (likely(is_method)) { + result = __Pyx_PyObject_CallOneArg(method, obj); + Py_DECREF(method); + return result; + } + if (unlikely(!method)) goto bad; + result = __Pyx_PyObject_CallNoArg(method); + Py_DECREF(method); +bad: + return result; +} + +/* ValidateBasesTuple */ +#if CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API || CYTHON_USE_TYPE_SPECS +static int __Pyx_validate_bases_tuple(const char *type_name, Py_ssize_t dictoffset, PyObject *bases) { + Py_ssize_t i, n; +#if CYTHON_ASSUME_SAFE_MACROS + n = PyTuple_GET_SIZE(bases); +#else + n = PyTuple_Size(bases); + if (n < 0) return -1; +#endif + for (i = 1; i < n; i++) + { +#if CYTHON_AVOID_BORROWED_REFS + PyObject *b0 = PySequence_GetItem(bases, i); + if (!b0) return -1; +#elif CYTHON_ASSUME_SAFE_MACROS + PyObject *b0 = PyTuple_GET_ITEM(bases, i); +#else + PyObject *b0 = PyTuple_GetItem(bases, i); + if (!b0) return -1; +#endif + PyTypeObject *b; +#if PY_MAJOR_VERSION < 3 + if (PyClass_Check(b0)) + { + PyErr_Format(PyExc_TypeError, "base class '%.200s' is an old-style class", + PyString_AS_STRING(((PyClassObject*)b0)->cl_name)); +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } +#endif + b = (PyTypeObject*) b0; + if (!__Pyx_PyType_HasFeature(b, Py_TPFLAGS_HEAPTYPE)) + { + __Pyx_TypeName b_name = __Pyx_PyType_GetName(b); + PyErr_Format(PyExc_TypeError, + "base class '" __Pyx_FMT_TYPENAME "' is not a heap type", b_name); + __Pyx_DECREF_TypeName(b_name); +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } + if (dictoffset == 0) + { + Py_ssize_t b_dictoffset = 0; +#if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + b_dictoffset = b->tp_dictoffset; +#else + PyObject *py_b_dictoffset = PyObject_GetAttrString((PyObject*)b, "__dictoffset__"); + if (!py_b_dictoffset) goto dictoffset_return; + b_dictoffset = PyLong_AsSsize_t(py_b_dictoffset); + Py_DECREF(py_b_dictoffset); + if (b_dictoffset == -1 && PyErr_Occurred()) goto dictoffset_return; +#endif + if (b_dictoffset) { + { + __Pyx_TypeName b_name = __Pyx_PyType_GetName(b); + PyErr_Format(PyExc_TypeError, + "extension type '%.200s' has no __dict__ slot, " + "but base type '" __Pyx_FMT_TYPENAME "' has: " + "either add 'cdef dict __dict__' to the extension type " + "or add '__slots__ = [...]' to the base type", + type_name, b_name); + __Pyx_DECREF_TypeName(b_name); + } +#if !(CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY) + dictoffset_return: +#endif +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } + } +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + } + return 0; +} +#endif + +/* PyType_Ready */ +static int __Pyx_PyType_Ready(PyTypeObject *t) { +#if CYTHON_USE_TYPE_SPECS || !(CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API) || defined(PYSTON_MAJOR_VERSION) + (void)__Pyx_PyObject_CallMethod0; +#if CYTHON_USE_TYPE_SPECS + (void)__Pyx_validate_bases_tuple; +#endif + return PyType_Ready(t); +#else + int r; + PyObject *bases = __Pyx_PyType_GetSlot(t, tp_bases, PyObject*); + if (bases && unlikely(__Pyx_validate_bases_tuple(t->tp_name, t->tp_dictoffset, bases) == -1)) + return -1; +#if PY_VERSION_HEX >= 0x03050000 && !defined(PYSTON_MAJOR_VERSION) + { + int gc_was_enabled; + #if PY_VERSION_HEX >= 0x030A00b1 + gc_was_enabled = PyGC_Disable(); + (void)__Pyx_PyObject_CallMethod0; + #else + PyObject *ret, *py_status; + PyObject *gc = NULL; + #if PY_VERSION_HEX >= 0x030700a1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM+0 >= 0x07030400) + gc = PyImport_GetModule(__pyx_kp_u_gc); + #endif + if (unlikely(!gc)) gc = PyImport_Import(__pyx_kp_u_gc); + if (unlikely(!gc)) return -1; + py_status = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_isenabled); + if (unlikely(!py_status)) { + Py_DECREF(gc); + return -1; + } + gc_was_enabled = __Pyx_PyObject_IsTrue(py_status); + Py_DECREF(py_status); + if (gc_was_enabled > 0) { + ret = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_disable); + if (unlikely(!ret)) { + Py_DECREF(gc); + return -1; + } + Py_DECREF(ret); + } else if (unlikely(gc_was_enabled == -1)) { + Py_DECREF(gc); + return -1; + } + #endif + t->tp_flags |= Py_TPFLAGS_HEAPTYPE; +#if PY_VERSION_HEX >= 0x030A0000 + t->tp_flags |= Py_TPFLAGS_IMMUTABLETYPE; +#endif +#else + (void)__Pyx_PyObject_CallMethod0; +#endif + r = PyType_Ready(t); +#if PY_VERSION_HEX >= 0x03050000 && !defined(PYSTON_MAJOR_VERSION) + t->tp_flags &= ~Py_TPFLAGS_HEAPTYPE; + #if PY_VERSION_HEX >= 0x030A00b1 + if (gc_was_enabled) + PyGC_Enable(); + #else + if (gc_was_enabled) { + PyObject *tp, *v, *tb; + PyErr_Fetch(&tp, &v, &tb); + ret = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_enable); + if (likely(ret || r == -1)) { + Py_XDECREF(ret); + PyErr_Restore(tp, v, tb); + } else { + Py_XDECREF(tp); + Py_XDECREF(v); + Py_XDECREF(tb); + r = -1; + } + } + Py_DECREF(gc); + #endif + } +#endif + return r; +#endif +} + +/* PyObject_GenericGetAttrNoDict */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject *__Pyx_RaiseGenericGetAttributeError(PyTypeObject *tp, PyObject *attr_name) { + __Pyx_TypeName type_name = __Pyx_PyType_GetName(tp); + PyErr_Format(PyExc_AttributeError, +#if PY_MAJOR_VERSION >= 3 + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%U'", + type_name, attr_name); +#else + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%.400s'", + type_name, PyString_AS_STRING(attr_name)); +#endif + __Pyx_DECREF_TypeName(type_name); + return NULL; +} +static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name) { + PyObject *descr; + PyTypeObject *tp = Py_TYPE(obj); + if (unlikely(!PyString_Check(attr_name))) { + return PyObject_GenericGetAttr(obj, attr_name); + } + assert(!tp->tp_dictoffset); + descr = _PyType_Lookup(tp, attr_name); + if (unlikely(!descr)) { + return __Pyx_RaiseGenericGetAttributeError(tp, attr_name); + } + Py_INCREF(descr); + #if PY_MAJOR_VERSION < 3 + if (likely(PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_HAVE_CLASS))) + #endif + { + descrgetfunc f = Py_TYPE(descr)->tp_descr_get; + if (unlikely(f)) { + PyObject *res = f(descr, obj, (PyObject *)tp); + Py_DECREF(descr); + return res; + } + } + return descr; +} +#endif + +/* PyObject_GenericGetAttr */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name) { + if (unlikely(Py_TYPE(obj)->tp_dictoffset)) { + return PyObject_GenericGetAttr(obj, attr_name); + } + return __Pyx_PyObject_GenericGetAttrNoDict(obj, attr_name); +} +#endif + +/* SetupReduce */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_setup_reduce_is_named(PyObject* meth, PyObject* name) { + int ret; + PyObject *name_attr; + name_attr = __Pyx_PyObject_GetAttrStrNoError(meth, __pyx_n_s_name); + if (likely(name_attr)) { + ret = PyObject_RichCompareBool(name_attr, name, Py_EQ); + } else { + ret = -1; + } + if (unlikely(ret < 0)) { + PyErr_Clear(); + ret = 0; + } + Py_XDECREF(name_attr); + return ret; +} +static int __Pyx_setup_reduce(PyObject* type_obj) { + int ret = 0; + PyObject *object_reduce = NULL; + PyObject *object_getstate = NULL; + PyObject *object_reduce_ex = NULL; + PyObject *reduce = NULL; + PyObject *reduce_ex = NULL; + PyObject *reduce_cython = NULL; + PyObject *setstate = NULL; + PyObject *setstate_cython = NULL; + PyObject *getstate = NULL; +#if CYTHON_USE_PYTYPE_LOOKUP + getstate = _PyType_Lookup((PyTypeObject*)type_obj, __pyx_n_s_getstate); +#else + getstate = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_getstate); + if (!getstate && PyErr_Occurred()) { + goto __PYX_BAD; + } +#endif + if (getstate) { +#if CYTHON_USE_PYTYPE_LOOKUP + object_getstate = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_getstate); +#else + object_getstate = __Pyx_PyObject_GetAttrStrNoError((PyObject*)&PyBaseObject_Type, __pyx_n_s_getstate); + if (!object_getstate && PyErr_Occurred()) { + goto __PYX_BAD; + } +#endif + if (object_getstate != getstate) { + goto __PYX_GOOD; + } + } +#if CYTHON_USE_PYTYPE_LOOKUP + object_reduce_ex = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; +#else + object_reduce_ex = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; +#endif + reduce_ex = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce_ex); if (unlikely(!reduce_ex)) goto __PYX_BAD; + if (reduce_ex == object_reduce_ex) { +#if CYTHON_USE_PYTYPE_LOOKUP + object_reduce = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; +#else + object_reduce = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; +#endif + reduce = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce); if (unlikely(!reduce)) goto __PYX_BAD; + if (reduce == object_reduce || __Pyx_setup_reduce_is_named(reduce, __pyx_n_s_reduce_cython)) { + reduce_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_reduce_cython); + if (likely(reduce_cython)) { + ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce, reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + } else if (reduce == object_reduce || PyErr_Occurred()) { + goto __PYX_BAD; + } + setstate = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_setstate); + if (!setstate) PyErr_Clear(); + if (!setstate || __Pyx_setup_reduce_is_named(setstate, __pyx_n_s_setstate_cython)) { + setstate_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_setstate_cython); + if (likely(setstate_cython)) { + ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate, setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + } else if (!setstate || PyErr_Occurred()) { + goto __PYX_BAD; + } + } + PyType_Modified((PyTypeObject*)type_obj); + } + } + goto __PYX_GOOD; +__PYX_BAD: + if (!PyErr_Occurred()) { + __Pyx_TypeName type_obj_name = + __Pyx_PyType_GetName((PyTypeObject*)type_obj); + PyErr_Format(PyExc_RuntimeError, + "Unable to initialize pickling for " __Pyx_FMT_TYPENAME, type_obj_name); + __Pyx_DECREF_TypeName(type_obj_name); + } + ret = -1; +__PYX_GOOD: +#if !CYTHON_USE_PYTYPE_LOOKUP + Py_XDECREF(object_reduce); + Py_XDECREF(object_reduce_ex); + Py_XDECREF(object_getstate); + Py_XDECREF(getstate); +#endif + Py_XDECREF(reduce); + Py_XDECREF(reduce_ex); + Py_XDECREF(reduce_cython); + Py_XDECREF(setstate); + Py_XDECREF(setstate_cython); + return ret; +} +#endif + +/* Import */ +static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level) { + PyObject *module = 0; + PyObject *empty_dict = 0; + PyObject *empty_list = 0; + #if PY_MAJOR_VERSION < 3 + PyObject *py_import; + py_import = __Pyx_PyObject_GetAttrStr(__pyx_b, __pyx_n_s_import); + if (unlikely(!py_import)) + goto bad; + if (!from_list) { + empty_list = PyList_New(0); + if (unlikely(!empty_list)) + goto bad; + from_list = empty_list; + } + #endif + empty_dict = PyDict_New(); + if (unlikely(!empty_dict)) + goto bad; + { + #if PY_MAJOR_VERSION >= 3 + if (level == -1) { + if (strchr(__Pyx_MODULE_NAME, '.') != NULL) { + module = PyImport_ImportModuleLevelObject( + name, __pyx_d, empty_dict, from_list, 1); + if (unlikely(!module)) { + if (unlikely(!PyErr_ExceptionMatches(PyExc_ImportError))) + goto bad; + PyErr_Clear(); + } + } + level = 0; + } + #endif + if (!module) { + #if PY_MAJOR_VERSION < 3 + PyObject *py_level = PyInt_FromLong(level); + if (unlikely(!py_level)) + goto bad; + module = PyObject_CallFunctionObjArgs(py_import, + name, __pyx_d, empty_dict, from_list, py_level, (PyObject *)NULL); + Py_DECREF(py_level); + #else + module = PyImport_ImportModuleLevelObject( + name, __pyx_d, empty_dict, from_list, level); + #endif + } + } +bad: + Py_XDECREF(empty_dict); + Py_XDECREF(empty_list); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(py_import); + #endif + return module; +} + +/* ImportDottedModule */ +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx__ImportDottedModule_Error(PyObject *name, PyObject *parts_tuple, Py_ssize_t count) { + PyObject *partial_name = NULL, *slice = NULL, *sep = NULL; + if (unlikely(PyErr_Occurred())) { + PyErr_Clear(); + } + if (likely(PyTuple_GET_SIZE(parts_tuple) == count)) { + partial_name = name; + } else { + slice = PySequence_GetSlice(parts_tuple, 0, count); + if (unlikely(!slice)) + goto bad; + sep = PyUnicode_FromStringAndSize(".", 1); + if (unlikely(!sep)) + goto bad; + partial_name = PyUnicode_Join(sep, slice); + } + PyErr_Format( +#if PY_MAJOR_VERSION < 3 + PyExc_ImportError, + "No module named '%s'", PyString_AS_STRING(partial_name)); +#else +#if PY_VERSION_HEX >= 0x030600B1 + PyExc_ModuleNotFoundError, +#else + PyExc_ImportError, +#endif + "No module named '%U'", partial_name); +#endif +bad: + Py_XDECREF(sep); + Py_XDECREF(slice); + Py_XDECREF(partial_name); + return NULL; +} +#endif +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx__ImportDottedModule_Lookup(PyObject *name) { + PyObject *imported_module; +#if PY_VERSION_HEX < 0x030700A1 || (CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM < 0x07030400) + PyObject *modules = PyImport_GetModuleDict(); + if (unlikely(!modules)) + return NULL; + imported_module = __Pyx_PyDict_GetItemStr(modules, name); + Py_XINCREF(imported_module); +#else + imported_module = PyImport_GetModule(name); +#endif + return imported_module; +} +#endif +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx_ImportDottedModule_WalkParts(PyObject *module, PyObject *name, PyObject *parts_tuple) { + Py_ssize_t i, nparts; + nparts = PyTuple_GET_SIZE(parts_tuple); + for (i=1; i < nparts && module; i++) { + PyObject *part, *submodule; +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + part = PyTuple_GET_ITEM(parts_tuple, i); +#else + part = PySequence_ITEM(parts_tuple, i); +#endif + submodule = __Pyx_PyObject_GetAttrStrNoError(module, part); +#if !(CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS) + Py_DECREF(part); +#endif + Py_DECREF(module); + module = submodule; + } + if (unlikely(!module)) { + return __Pyx__ImportDottedModule_Error(name, parts_tuple, i); + } + return module; +} +#endif +static PyObject *__Pyx__ImportDottedModule(PyObject *name, PyObject *parts_tuple) { +#if PY_MAJOR_VERSION < 3 + PyObject *module, *from_list, *star = __pyx_n_s__4; + CYTHON_UNUSED_VAR(parts_tuple); + from_list = PyList_New(1); + if (unlikely(!from_list)) + return NULL; + Py_INCREF(star); + PyList_SET_ITEM(from_list, 0, star); + module = __Pyx_Import(name, from_list, 0); + Py_DECREF(from_list); + return module; +#else + PyObject *imported_module; + PyObject *module = __Pyx_Import(name, NULL, 0); + if (!parts_tuple || unlikely(!module)) + return module; + imported_module = __Pyx__ImportDottedModule_Lookup(name); + if (likely(imported_module)) { + Py_DECREF(module); + return imported_module; + } + PyErr_Clear(); + return __Pyx_ImportDottedModule_WalkParts(module, name, parts_tuple); +#endif +} +static PyObject *__Pyx_ImportDottedModule(PyObject *name, PyObject *parts_tuple) { +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030400B1 + PyObject *module = __Pyx__ImportDottedModule_Lookup(name); + if (likely(module)) { + PyObject *spec = __Pyx_PyObject_GetAttrStrNoError(module, __pyx_n_s_spec); + if (likely(spec)) { + PyObject *unsafe = __Pyx_PyObject_GetAttrStrNoError(spec, __pyx_n_s_initializing); + if (likely(!unsafe || !__Pyx_PyObject_IsTrue(unsafe))) { + Py_DECREF(spec); + spec = NULL; + } + Py_XDECREF(unsafe); + } + if (likely(!spec)) { + PyErr_Clear(); + return module; + } + Py_DECREF(spec); + Py_DECREF(module); + } else if (PyErr_Occurred()) { + PyErr_Clear(); + } +#endif + return __Pyx__ImportDottedModule(name, parts_tuple); +} + +/* ImportFrom */ +static PyObject* __Pyx_ImportFrom(PyObject* module, PyObject* name) { + PyObject* value = __Pyx_PyObject_GetAttrStr(module, name); + if (unlikely(!value) && PyErr_ExceptionMatches(PyExc_AttributeError)) { + const char* module_name_str = 0; + PyObject* module_name = 0; + PyObject* module_dot = 0; + PyObject* full_name = 0; + PyErr_Clear(); + module_name_str = PyModule_GetName(module); + if (unlikely(!module_name_str)) { goto modbad; } + module_name = PyUnicode_FromString(module_name_str); + if (unlikely(!module_name)) { goto modbad; } + module_dot = PyUnicode_Concat(module_name, __pyx_kp_u__5); + if (unlikely(!module_dot)) { goto modbad; } + full_name = PyUnicode_Concat(module_dot, name); + if (unlikely(!full_name)) { goto modbad; } + #if PY_VERSION_HEX < 0x030700A1 || (CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM < 0x07030400) + { + PyObject *modules = PyImport_GetModuleDict(); + if (unlikely(!modules)) + goto modbad; + value = PyObject_GetItem(modules, full_name); + } + #else + value = PyImport_GetModule(full_name); + #endif + modbad: + Py_XDECREF(full_name); + Py_XDECREF(module_dot); + Py_XDECREF(module_name); + } + if (unlikely(!value)) { + PyErr_Format(PyExc_ImportError, + #if PY_MAJOR_VERSION < 3 + "cannot import name %.230s", PyString_AS_STRING(name)); + #else + "cannot import name %S", name); + #endif + } + return value; +} + +/* FetchSharedCythonModule */ +static PyObject *__Pyx_FetchSharedCythonABIModule(void) { + return __Pyx_PyImport_AddModuleRef((char*) __PYX_ABI_MODULE_NAME); +} + +/* FetchCommonType */ +static int __Pyx_VerifyCachedType(PyObject *cached_type, + const char *name, + Py_ssize_t basicsize, + Py_ssize_t expected_basicsize) { + if (!PyType_Check(cached_type)) { + PyErr_Format(PyExc_TypeError, + "Shared Cython type %.200s is not a type object", name); + return -1; + } + if (basicsize != expected_basicsize) { + PyErr_Format(PyExc_TypeError, + "Shared Cython type %.200s has the wrong size, try recompiling", + name); + return -1; + } + return 0; +} +#if !CYTHON_USE_TYPE_SPECS +static PyTypeObject* __Pyx_FetchCommonType(PyTypeObject* type) { + PyObject* abi_module; + const char* object_name; + PyTypeObject *cached_type = NULL; + abi_module = __Pyx_FetchSharedCythonABIModule(); + if (!abi_module) return NULL; + object_name = strrchr(type->tp_name, '.'); + object_name = object_name ? object_name+1 : type->tp_name; + cached_type = (PyTypeObject*) PyObject_GetAttrString(abi_module, object_name); + if (cached_type) { + if (__Pyx_VerifyCachedType( + (PyObject *)cached_type, + object_name, + cached_type->tp_basicsize, + type->tp_basicsize) < 0) { + goto bad; + } + goto done; + } + if (!PyErr_ExceptionMatches(PyExc_AttributeError)) goto bad; + PyErr_Clear(); + if (PyType_Ready(type) < 0) goto bad; + if (PyObject_SetAttrString(abi_module, object_name, (PyObject *)type) < 0) + goto bad; + Py_INCREF(type); + cached_type = type; +done: + Py_DECREF(abi_module); + return cached_type; +bad: + Py_XDECREF(cached_type); + cached_type = NULL; + goto done; +} +#else +static PyTypeObject *__Pyx_FetchCommonTypeFromSpec(PyObject *module, PyType_Spec *spec, PyObject *bases) { + PyObject *abi_module, *cached_type = NULL; + const char* object_name = strrchr(spec->name, '.'); + object_name = object_name ? object_name+1 : spec->name; + abi_module = __Pyx_FetchSharedCythonABIModule(); + if (!abi_module) return NULL; + cached_type = PyObject_GetAttrString(abi_module, object_name); + if (cached_type) { + Py_ssize_t basicsize; +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *py_basicsize; + py_basicsize = PyObject_GetAttrString(cached_type, "__basicsize__"); + if (unlikely(!py_basicsize)) goto bad; + basicsize = PyLong_AsSsize_t(py_basicsize); + Py_DECREF(py_basicsize); + py_basicsize = 0; + if (unlikely(basicsize == (Py_ssize_t)-1) && PyErr_Occurred()) goto bad; +#else + basicsize = likely(PyType_Check(cached_type)) ? ((PyTypeObject*) cached_type)->tp_basicsize : -1; +#endif + if (__Pyx_VerifyCachedType( + cached_type, + object_name, + basicsize, + spec->basicsize) < 0) { + goto bad; + } + goto done; + } + if (!PyErr_ExceptionMatches(PyExc_AttributeError)) goto bad; + PyErr_Clear(); + CYTHON_UNUSED_VAR(module); + cached_type = __Pyx_PyType_FromModuleAndSpec(abi_module, spec, bases); + if (unlikely(!cached_type)) goto bad; + if (unlikely(__Pyx_fix_up_extension_type_from_spec(spec, (PyTypeObject *) cached_type) < 0)) goto bad; + if (PyObject_SetAttrString(abi_module, object_name, cached_type) < 0) goto bad; +done: + Py_DECREF(abi_module); + assert(cached_type == NULL || PyType_Check(cached_type)); + return (PyTypeObject *) cached_type; +bad: + Py_XDECREF(cached_type); + cached_type = NULL; + goto done; +} +#endif + +/* PyVectorcallFastCallDict */ +#if CYTHON_METH_FASTCALL +static PyObject *__Pyx_PyVectorcall_FastCallDict_kw(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw) +{ + PyObject *res = NULL; + PyObject *kwnames; + PyObject **newargs; + PyObject **kwvalues; + Py_ssize_t i, pos; + size_t j; + PyObject *key, *value; + unsigned long keys_are_strings; + Py_ssize_t nkw = PyDict_GET_SIZE(kw); + newargs = (PyObject **)PyMem_Malloc((nargs + (size_t)nkw) * sizeof(args[0])); + if (unlikely(newargs == NULL)) { + PyErr_NoMemory(); + return NULL; + } + for (j = 0; j < nargs; j++) newargs[j] = args[j]; + kwnames = PyTuple_New(nkw); + if (unlikely(kwnames == NULL)) { + PyMem_Free(newargs); + return NULL; + } + kwvalues = newargs + nargs; + pos = i = 0; + keys_are_strings = Py_TPFLAGS_UNICODE_SUBCLASS; + while (PyDict_Next(kw, &pos, &key, &value)) { + keys_are_strings &= Py_TYPE(key)->tp_flags; + Py_INCREF(key); + Py_INCREF(value); + PyTuple_SET_ITEM(kwnames, i, key); + kwvalues[i] = value; + i++; + } + if (unlikely(!keys_are_strings)) { + PyErr_SetString(PyExc_TypeError, "keywords must be strings"); + goto cleanup; + } + res = vc(func, newargs, nargs, kwnames); +cleanup: + Py_DECREF(kwnames); + for (i = 0; i < nkw; i++) + Py_DECREF(kwvalues[i]); + PyMem_Free(newargs); + return res; +} +static CYTHON_INLINE PyObject *__Pyx_PyVectorcall_FastCallDict(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw) +{ + if (likely(kw == NULL) || PyDict_GET_SIZE(kw) == 0) { + return vc(func, args, nargs, NULL); + } + return __Pyx_PyVectorcall_FastCallDict_kw(func, vc, args, nargs, kw); +} +#endif + +/* CythonFunctionShared */ +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc) { + if (__Pyx_CyFunction_Check(func)) { + return PyCFunction_GetFunction(((__pyx_CyFunctionObject*)func)->func) == (PyCFunction) cfunc; + } else if (PyCFunction_Check(func)) { + return PyCFunction_GetFunction(func) == (PyCFunction) cfunc; + } + return 0; +} +#else +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc) { + return __Pyx_CyOrPyCFunction_Check(func) && __Pyx_CyOrPyCFunction_GET_FUNCTION(func) == (PyCFunction) cfunc; +} +#endif +static CYTHON_INLINE void __Pyx__CyFunction_SetClassObj(__pyx_CyFunctionObject* f, PyObject* classobj) { +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + __Pyx_Py_XDECREF_SET( + __Pyx_CyFunction_GetClassObj(f), + ((classobj) ? __Pyx_NewRef(classobj) : NULL)); +#else + __Pyx_Py_XDECREF_SET( + ((PyCMethodObject *) (f))->mm_class, + (PyTypeObject*)((classobj) ? __Pyx_NewRef(classobj) : NULL)); +#endif +} +static PyObject * +__Pyx_CyFunction_get_doc(__pyx_CyFunctionObject *op, void *closure) +{ + CYTHON_UNUSED_VAR(closure); + if (unlikely(op->func_doc == NULL)) { +#if CYTHON_COMPILING_IN_LIMITED_API + op->func_doc = PyObject_GetAttrString(op->func, "__doc__"); + if (unlikely(!op->func_doc)) return NULL; +#else + if (((PyCFunctionObject*)op)->m_ml->ml_doc) { +#if PY_MAJOR_VERSION >= 3 + op->func_doc = PyUnicode_FromString(((PyCFunctionObject*)op)->m_ml->ml_doc); +#else + op->func_doc = PyString_FromString(((PyCFunctionObject*)op)->m_ml->ml_doc); +#endif + if (unlikely(op->func_doc == NULL)) + return NULL; + } else { + Py_INCREF(Py_None); + return Py_None; + } +#endif + } + Py_INCREF(op->func_doc); + return op->func_doc; +} +static int +__Pyx_CyFunction_set_doc(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (value == NULL) { + value = Py_None; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_doc, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_name(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(op->func_name == NULL)) { +#if CYTHON_COMPILING_IN_LIMITED_API + op->func_name = PyObject_GetAttrString(op->func, "__name__"); +#elif PY_MAJOR_VERSION >= 3 + op->func_name = PyUnicode_InternFromString(((PyCFunctionObject*)op)->m_ml->ml_name); +#else + op->func_name = PyString_InternFromString(((PyCFunctionObject*)op)->m_ml->ml_name); +#endif + if (unlikely(op->func_name == NULL)) + return NULL; + } + Py_INCREF(op->func_name); + return op->func_name; +} +static int +__Pyx_CyFunction_set_name(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); +#if PY_MAJOR_VERSION >= 3 + if (unlikely(value == NULL || !PyUnicode_Check(value))) +#else + if (unlikely(value == NULL || !PyString_Check(value))) +#endif + { + PyErr_SetString(PyExc_TypeError, + "__name__ must be set to a string object"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_name, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_qualname(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + Py_INCREF(op->func_qualname); + return op->func_qualname; +} +static int +__Pyx_CyFunction_set_qualname(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); +#if PY_MAJOR_VERSION >= 3 + if (unlikely(value == NULL || !PyUnicode_Check(value))) +#else + if (unlikely(value == NULL || !PyString_Check(value))) +#endif + { + PyErr_SetString(PyExc_TypeError, + "__qualname__ must be set to a string object"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_qualname, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_dict(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(op->func_dict == NULL)) { + op->func_dict = PyDict_New(); + if (unlikely(op->func_dict == NULL)) + return NULL; + } + Py_INCREF(op->func_dict); + return op->func_dict; +} +static int +__Pyx_CyFunction_set_dict(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(value == NULL)) { + PyErr_SetString(PyExc_TypeError, + "function's dictionary may not be deleted"); + return -1; + } + if (unlikely(!PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "setting function's dictionary to a non-dict"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_dict, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_globals(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + Py_INCREF(op->func_globals); + return op->func_globals; +} +static PyObject * +__Pyx_CyFunction_get_closure(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(op); + CYTHON_UNUSED_VAR(context); + Py_INCREF(Py_None); + return Py_None; +} +static PyObject * +__Pyx_CyFunction_get_code(__pyx_CyFunctionObject *op, void *context) +{ + PyObject* result = (op->func_code) ? op->func_code : Py_None; + CYTHON_UNUSED_VAR(context); + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_init_defaults(__pyx_CyFunctionObject *op) { + int result = 0; + PyObject *res = op->defaults_getter((PyObject *) op); + if (unlikely(!res)) + return -1; + #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + op->defaults_tuple = PyTuple_GET_ITEM(res, 0); + Py_INCREF(op->defaults_tuple); + op->defaults_kwdict = PyTuple_GET_ITEM(res, 1); + Py_INCREF(op->defaults_kwdict); + #else + op->defaults_tuple = __Pyx_PySequence_ITEM(res, 0); + if (unlikely(!op->defaults_tuple)) result = -1; + else { + op->defaults_kwdict = __Pyx_PySequence_ITEM(res, 1); + if (unlikely(!op->defaults_kwdict)) result = -1; + } + #endif + Py_DECREF(res); + return result; +} +static int +__Pyx_CyFunction_set_defaults(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value) { + value = Py_None; + } else if (unlikely(value != Py_None && !PyTuple_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__defaults__ must be set to a tuple object"); + return -1; + } + PyErr_WarnEx(PyExc_RuntimeWarning, "changes to cyfunction.__defaults__ will not " + "currently affect the values used in function calls", 1); + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->defaults_tuple, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_defaults(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->defaults_tuple; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + if (op->defaults_getter) { + if (unlikely(__Pyx_CyFunction_init_defaults(op) < 0)) return NULL; + result = op->defaults_tuple; + } else { + result = Py_None; + } + } + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_set_kwdefaults(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value) { + value = Py_None; + } else if (unlikely(value != Py_None && !PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__kwdefaults__ must be set to a dict object"); + return -1; + } + PyErr_WarnEx(PyExc_RuntimeWarning, "changes to cyfunction.__kwdefaults__ will not " + "currently affect the values used in function calls", 1); + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->defaults_kwdict, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_kwdefaults(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->defaults_kwdict; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + if (op->defaults_getter) { + if (unlikely(__Pyx_CyFunction_init_defaults(op) < 0)) return NULL; + result = op->defaults_kwdict; + } else { + result = Py_None; + } + } + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_set_annotations(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value || value == Py_None) { + value = NULL; + } else if (unlikely(!PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__annotations__ must be set to a dict object"); + return -1; + } + Py_XINCREF(value); + __Pyx_Py_XDECREF_SET(op->func_annotations, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_annotations(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->func_annotations; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + result = PyDict_New(); + if (unlikely(!result)) return NULL; + op->func_annotations = result; + } + Py_INCREF(result); + return result; +} +static PyObject * +__Pyx_CyFunction_get_is_coroutine(__pyx_CyFunctionObject *op, void *context) { + int is_coroutine; + CYTHON_UNUSED_VAR(context); + if (op->func_is_coroutine) { + return __Pyx_NewRef(op->func_is_coroutine); + } + is_coroutine = op->flags & __Pyx_CYFUNCTION_COROUTINE; +#if PY_VERSION_HEX >= 0x03050000 + if (is_coroutine) { + PyObject *module, *fromlist, *marker = __pyx_n_s_is_coroutine; + fromlist = PyList_New(1); + if (unlikely(!fromlist)) return NULL; + Py_INCREF(marker); +#if CYTHON_ASSUME_SAFE_MACROS + PyList_SET_ITEM(fromlist, 0, marker); +#else + if (unlikely(PyList_SetItem(fromlist, 0, marker) < 0)) { + Py_DECREF(marker); + Py_DECREF(fromlist); + return NULL; + } +#endif + module = PyImport_ImportModuleLevelObject(__pyx_n_s_asyncio_coroutines, NULL, NULL, fromlist, 0); + Py_DECREF(fromlist); + if (unlikely(!module)) goto ignore; + op->func_is_coroutine = __Pyx_PyObject_GetAttrStr(module, marker); + Py_DECREF(module); + if (likely(op->func_is_coroutine)) { + return __Pyx_NewRef(op->func_is_coroutine); + } +ignore: + PyErr_Clear(); + } +#endif + op->func_is_coroutine = __Pyx_PyBool_FromLong(is_coroutine); + return __Pyx_NewRef(op->func_is_coroutine); +} +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject * +__Pyx_CyFunction_get_module(__pyx_CyFunctionObject *op, void *context) { + CYTHON_UNUSED_VAR(context); + return PyObject_GetAttrString(op->func, "__module__"); +} +static int +__Pyx_CyFunction_set_module(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + return PyObject_SetAttrString(op->func, "__module__", value); +} +#endif +static PyGetSetDef __pyx_CyFunction_getsets[] = { + {(char *) "func_doc", (getter)__Pyx_CyFunction_get_doc, (setter)__Pyx_CyFunction_set_doc, 0, 0}, + {(char *) "__doc__", (getter)__Pyx_CyFunction_get_doc, (setter)__Pyx_CyFunction_set_doc, 0, 0}, + {(char *) "func_name", (getter)__Pyx_CyFunction_get_name, (setter)__Pyx_CyFunction_set_name, 0, 0}, + {(char *) "__name__", (getter)__Pyx_CyFunction_get_name, (setter)__Pyx_CyFunction_set_name, 0, 0}, + {(char *) "__qualname__", (getter)__Pyx_CyFunction_get_qualname, (setter)__Pyx_CyFunction_set_qualname, 0, 0}, + {(char *) "func_dict", (getter)__Pyx_CyFunction_get_dict, (setter)__Pyx_CyFunction_set_dict, 0, 0}, + {(char *) "__dict__", (getter)__Pyx_CyFunction_get_dict, (setter)__Pyx_CyFunction_set_dict, 0, 0}, + {(char *) "func_globals", (getter)__Pyx_CyFunction_get_globals, 0, 0, 0}, + {(char *) "__globals__", (getter)__Pyx_CyFunction_get_globals, 0, 0, 0}, + {(char *) "func_closure", (getter)__Pyx_CyFunction_get_closure, 0, 0, 0}, + {(char *) "__closure__", (getter)__Pyx_CyFunction_get_closure, 0, 0, 0}, + {(char *) "func_code", (getter)__Pyx_CyFunction_get_code, 0, 0, 0}, + {(char *) "__code__", (getter)__Pyx_CyFunction_get_code, 0, 0, 0}, + {(char *) "func_defaults", (getter)__Pyx_CyFunction_get_defaults, (setter)__Pyx_CyFunction_set_defaults, 0, 0}, + {(char *) "__defaults__", (getter)__Pyx_CyFunction_get_defaults, (setter)__Pyx_CyFunction_set_defaults, 0, 0}, + {(char *) "__kwdefaults__", (getter)__Pyx_CyFunction_get_kwdefaults, (setter)__Pyx_CyFunction_set_kwdefaults, 0, 0}, + {(char *) "__annotations__", (getter)__Pyx_CyFunction_get_annotations, (setter)__Pyx_CyFunction_set_annotations, 0, 0}, + {(char *) "_is_coroutine", (getter)__Pyx_CyFunction_get_is_coroutine, 0, 0, 0}, +#if CYTHON_COMPILING_IN_LIMITED_API + {"__module__", (getter)__Pyx_CyFunction_get_module, (setter)__Pyx_CyFunction_set_module, 0, 0}, +#endif + {0, 0, 0, 0, 0} +}; +static PyMemberDef __pyx_CyFunction_members[] = { +#if !CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__module__", T_OBJECT, offsetof(PyCFunctionObject, m_module), 0, 0}, +#endif +#if CYTHON_USE_TYPE_SPECS + {(char *) "__dictoffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_dict), READONLY, 0}, +#if CYTHON_METH_FASTCALL +#if CYTHON_BACKPORT_VECTORCALL + {(char *) "__vectorcalloffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_vectorcall), READONLY, 0}, +#else +#if !CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__vectorcalloffset__", T_PYSSIZET, offsetof(PyCFunctionObject, vectorcall), READONLY, 0}, +#endif +#endif +#endif +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__weaklistoffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_weakreflist), READONLY, 0}, +#else + {(char *) "__weaklistoffset__", T_PYSSIZET, offsetof(PyCFunctionObject, m_weakreflist), READONLY, 0}, +#endif +#endif + {0, 0, 0, 0, 0} +}; +static PyObject * +__Pyx_CyFunction_reduce(__pyx_CyFunctionObject *m, PyObject *args) +{ + CYTHON_UNUSED_VAR(args); +#if PY_MAJOR_VERSION >= 3 + Py_INCREF(m->func_qualname); + return m->func_qualname; +#else + return PyString_FromString(((PyCFunctionObject*)m)->m_ml->ml_name); +#endif +} +static PyMethodDef __pyx_CyFunction_methods[] = { + {"__reduce__", (PyCFunction)__Pyx_CyFunction_reduce, METH_VARARGS, 0}, + {0, 0, 0, 0} +}; +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API +#define __Pyx_CyFunction_weakreflist(cyfunc) ((cyfunc)->func_weakreflist) +#else +#define __Pyx_CyFunction_weakreflist(cyfunc) (((PyCFunctionObject*)cyfunc)->m_weakreflist) +#endif +static PyObject *__Pyx_CyFunction_Init(__pyx_CyFunctionObject *op, PyMethodDef *ml, int flags, PyObject* qualname, + PyObject *closure, PyObject *module, PyObject* globals, PyObject* code) { +#if !CYTHON_COMPILING_IN_LIMITED_API + PyCFunctionObject *cf = (PyCFunctionObject*) op; +#endif + if (unlikely(op == NULL)) + return NULL; +#if CYTHON_COMPILING_IN_LIMITED_API + op->func = PyCFunction_NewEx(ml, (PyObject*)op, module); + if (unlikely(!op->func)) return NULL; +#endif + op->flags = flags; + __Pyx_CyFunction_weakreflist(op) = NULL; +#if !CYTHON_COMPILING_IN_LIMITED_API + cf->m_ml = ml; + cf->m_self = (PyObject *) op; +#endif + Py_XINCREF(closure); + op->func_closure = closure; +#if !CYTHON_COMPILING_IN_LIMITED_API + Py_XINCREF(module); + cf->m_module = module; +#endif + op->func_dict = NULL; + op->func_name = NULL; + Py_INCREF(qualname); + op->func_qualname = qualname; + op->func_doc = NULL; +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + op->func_classobj = NULL; +#else + ((PyCMethodObject*)op)->mm_class = NULL; +#endif + op->func_globals = globals; + Py_INCREF(op->func_globals); + Py_XINCREF(code); + op->func_code = code; + op->defaults_pyobjects = 0; + op->defaults_size = 0; + op->defaults = NULL; + op->defaults_tuple = NULL; + op->defaults_kwdict = NULL; + op->defaults_getter = NULL; + op->func_annotations = NULL; + op->func_is_coroutine = NULL; +#if CYTHON_METH_FASTCALL + switch (ml->ml_flags & (METH_VARARGS | METH_FASTCALL | METH_NOARGS | METH_O | METH_KEYWORDS | METH_METHOD)) { + case METH_NOARGS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_NOARGS; + break; + case METH_O: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_O; + break; + case METH_METHOD | METH_FASTCALL | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD; + break; + case METH_FASTCALL | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS; + break; + case METH_VARARGS | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = NULL; + break; + default: + PyErr_SetString(PyExc_SystemError, "Bad call flags for CyFunction"); + Py_DECREF(op); + return NULL; + } +#endif + return (PyObject *) op; +} +static int +__Pyx_CyFunction_clear(__pyx_CyFunctionObject *m) +{ + Py_CLEAR(m->func_closure); +#if CYTHON_COMPILING_IN_LIMITED_API + Py_CLEAR(m->func); +#else + Py_CLEAR(((PyCFunctionObject*)m)->m_module); +#endif + Py_CLEAR(m->func_dict); + Py_CLEAR(m->func_name); + Py_CLEAR(m->func_qualname); + Py_CLEAR(m->func_doc); + Py_CLEAR(m->func_globals); + Py_CLEAR(m->func_code); +#if !CYTHON_COMPILING_IN_LIMITED_API +#if PY_VERSION_HEX < 0x030900B1 + Py_CLEAR(__Pyx_CyFunction_GetClassObj(m)); +#else + { + PyObject *cls = (PyObject*) ((PyCMethodObject *) (m))->mm_class; + ((PyCMethodObject *) (m))->mm_class = NULL; + Py_XDECREF(cls); + } +#endif +#endif + Py_CLEAR(m->defaults_tuple); + Py_CLEAR(m->defaults_kwdict); + Py_CLEAR(m->func_annotations); + Py_CLEAR(m->func_is_coroutine); + if (m->defaults) { + PyObject **pydefaults = __Pyx_CyFunction_Defaults(PyObject *, m); + int i; + for (i = 0; i < m->defaults_pyobjects; i++) + Py_XDECREF(pydefaults[i]); + PyObject_Free(m->defaults); + m->defaults = NULL; + } + return 0; +} +static void __Pyx__CyFunction_dealloc(__pyx_CyFunctionObject *m) +{ + if (__Pyx_CyFunction_weakreflist(m) != NULL) + PyObject_ClearWeakRefs((PyObject *) m); + __Pyx_CyFunction_clear(m); + __Pyx_PyHeapTypeObject_GC_Del(m); +} +static void __Pyx_CyFunction_dealloc(__pyx_CyFunctionObject *m) +{ + PyObject_GC_UnTrack(m); + __Pyx__CyFunction_dealloc(m); +} +static int __Pyx_CyFunction_traverse(__pyx_CyFunctionObject *m, visitproc visit, void *arg) +{ + Py_VISIT(m->func_closure); +#if CYTHON_COMPILING_IN_LIMITED_API + Py_VISIT(m->func); +#else + Py_VISIT(((PyCFunctionObject*)m)->m_module); +#endif + Py_VISIT(m->func_dict); + Py_VISIT(m->func_name); + Py_VISIT(m->func_qualname); + Py_VISIT(m->func_doc); + Py_VISIT(m->func_globals); + Py_VISIT(m->func_code); +#if !CYTHON_COMPILING_IN_LIMITED_API + Py_VISIT(__Pyx_CyFunction_GetClassObj(m)); +#endif + Py_VISIT(m->defaults_tuple); + Py_VISIT(m->defaults_kwdict); + Py_VISIT(m->func_is_coroutine); + if (m->defaults) { + PyObject **pydefaults = __Pyx_CyFunction_Defaults(PyObject *, m); + int i; + for (i = 0; i < m->defaults_pyobjects; i++) + Py_VISIT(pydefaults[i]); + } + return 0; +} +static PyObject* +__Pyx_CyFunction_repr(__pyx_CyFunctionObject *op) +{ +#if PY_MAJOR_VERSION >= 3 + return PyUnicode_FromFormat("", + op->func_qualname, (void *)op); +#else + return PyString_FromFormat("", + PyString_AsString(op->func_qualname), (void *)op); +#endif +} +static PyObject * __Pyx_CyFunction_CallMethod(PyObject *func, PyObject *self, PyObject *arg, PyObject *kw) { +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *f = ((__pyx_CyFunctionObject*)func)->func; + PyObject *py_name = NULL; + PyCFunction meth; + int flags; + meth = PyCFunction_GetFunction(f); + if (unlikely(!meth)) return NULL; + flags = PyCFunction_GetFlags(f); + if (unlikely(flags < 0)) return NULL; +#else + PyCFunctionObject* f = (PyCFunctionObject*)func; + PyCFunction meth = f->m_ml->ml_meth; + int flags = f->m_ml->ml_flags; +#endif + Py_ssize_t size; + switch (flags & (METH_VARARGS | METH_KEYWORDS | METH_NOARGS | METH_O)) { + case METH_VARARGS: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) + return (*meth)(self, arg); + break; + case METH_VARARGS | METH_KEYWORDS: + return (*(PyCFunctionWithKeywords)(void*)meth)(self, arg, kw); + case METH_NOARGS: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) { +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(arg); +#else + size = PyTuple_Size(arg); + if (unlikely(size < 0)) return NULL; +#endif + if (likely(size == 0)) + return (*meth)(self, NULL); +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, + "%.200S() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + py_name, size); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, + "%.200s() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + f->m_ml->ml_name, size); +#endif + return NULL; + } + break; + case METH_O: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) { +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(arg); +#else + size = PyTuple_Size(arg); + if (unlikely(size < 0)) return NULL; +#endif + if (likely(size == 1)) { + PyObject *result, *arg0; + #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + arg0 = PyTuple_GET_ITEM(arg, 0); + #else + arg0 = __Pyx_PySequence_ITEM(arg, 0); if (unlikely(!arg0)) return NULL; + #endif + result = (*meth)(self, arg0); + #if !(CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS) + Py_DECREF(arg0); + #endif + return result; + } +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, + "%.200S() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + py_name, size); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, + "%.200s() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + f->m_ml->ml_name, size); +#endif + return NULL; + } + break; + default: + PyErr_SetString(PyExc_SystemError, "Bad call flags for CyFunction"); + return NULL; + } +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, "%.200S() takes no keyword arguments", + py_name); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, "%.200s() takes no keyword arguments", + f->m_ml->ml_name); +#endif + return NULL; +} +static CYTHON_INLINE PyObject *__Pyx_CyFunction_Call(PyObject *func, PyObject *arg, PyObject *kw) { + PyObject *self, *result; +#if CYTHON_COMPILING_IN_LIMITED_API + self = PyCFunction_GetSelf(((__pyx_CyFunctionObject*)func)->func); + if (unlikely(!self) && PyErr_Occurred()) return NULL; +#else + self = ((PyCFunctionObject*)func)->m_self; +#endif + result = __Pyx_CyFunction_CallMethod(func, self, arg, kw); + return result; +} +static PyObject *__Pyx_CyFunction_CallAsMethod(PyObject *func, PyObject *args, PyObject *kw) { + PyObject *result; + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *) func; +#if CYTHON_METH_FASTCALL + __pyx_vectorcallfunc vc = __Pyx_CyFunction_func_vectorcall(cyfunc); + if (vc) { +#if CYTHON_ASSUME_SAFE_MACROS + return __Pyx_PyVectorcall_FastCallDict(func, vc, &PyTuple_GET_ITEM(args, 0), (size_t)PyTuple_GET_SIZE(args), kw); +#else + (void) &__Pyx_PyVectorcall_FastCallDict; + return PyVectorcall_Call(func, args, kw); +#endif + } +#endif + if ((cyfunc->flags & __Pyx_CYFUNCTION_CCLASS) && !(cyfunc->flags & __Pyx_CYFUNCTION_STATICMETHOD)) { + Py_ssize_t argc; + PyObject *new_args; + PyObject *self; +#if CYTHON_ASSUME_SAFE_MACROS + argc = PyTuple_GET_SIZE(args); +#else + argc = PyTuple_Size(args); + if (unlikely(!argc) < 0) return NULL; +#endif + new_args = PyTuple_GetSlice(args, 1, argc); + if (unlikely(!new_args)) + return NULL; + self = PyTuple_GetItem(args, 0); + if (unlikely(!self)) { + Py_DECREF(new_args); +#if PY_MAJOR_VERSION > 2 + PyErr_Format(PyExc_TypeError, + "unbound method %.200S() needs an argument", + cyfunc->func_qualname); +#else + PyErr_SetString(PyExc_TypeError, + "unbound method needs an argument"); +#endif + return NULL; + } + result = __Pyx_CyFunction_CallMethod(func, self, new_args, kw); + Py_DECREF(new_args); + } else { + result = __Pyx_CyFunction_Call(func, args, kw); + } + return result; +} +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE int __Pyx_CyFunction_Vectorcall_CheckArgs(__pyx_CyFunctionObject *cyfunc, Py_ssize_t nargs, PyObject *kwnames) +{ + int ret = 0; + if ((cyfunc->flags & __Pyx_CYFUNCTION_CCLASS) && !(cyfunc->flags & __Pyx_CYFUNCTION_STATICMETHOD)) { + if (unlikely(nargs < 1)) { + PyErr_Format(PyExc_TypeError, "%.200s() needs an argument", + ((PyCFunctionObject*)cyfunc)->m_ml->ml_name); + return -1; + } + ret = 1; + } + if (unlikely(kwnames) && unlikely(PyTuple_GET_SIZE(kwnames))) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes no keyword arguments", ((PyCFunctionObject*)cyfunc)->m_ml->ml_name); + return -1; + } + return ret; +} +static PyObject * __Pyx_CyFunction_Vectorcall_NOARGS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, kwnames)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + if (unlikely(nargs != 0)) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + def->ml_name, nargs); + return NULL; + } + return def->ml_meth(self, NULL); +} +static PyObject * __Pyx_CyFunction_Vectorcall_O(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, kwnames)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + if (unlikely(nargs != 1)) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + def->ml_name, nargs); + return NULL; + } + return def->ml_meth(self, args[0]); +} +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, NULL)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + return ((_PyCFunctionFastWithKeywords)(void(*)(void))def->ml_meth)(self, args, nargs, kwnames); +} +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; + PyTypeObject *cls = (PyTypeObject *) __Pyx_CyFunction_GetClassObj(cyfunc); +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, NULL)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + return ((__Pyx_PyCMethod)(void(*)(void))def->ml_meth)(self, cls, args, (size_t)nargs, kwnames); +} +#endif +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_CyFunctionType_slots[] = { + {Py_tp_dealloc, (void *)__Pyx_CyFunction_dealloc}, + {Py_tp_repr, (void *)__Pyx_CyFunction_repr}, + {Py_tp_call, (void *)__Pyx_CyFunction_CallAsMethod}, + {Py_tp_traverse, (void *)__Pyx_CyFunction_traverse}, + {Py_tp_clear, (void *)__Pyx_CyFunction_clear}, + {Py_tp_methods, (void *)__pyx_CyFunction_methods}, + {Py_tp_members, (void *)__pyx_CyFunction_members}, + {Py_tp_getset, (void *)__pyx_CyFunction_getsets}, + {Py_tp_descr_get, (void *)__Pyx_PyMethod_New}, + {0, 0}, +}; +static PyType_Spec __pyx_CyFunctionType_spec = { + __PYX_TYPE_MODULE_PREFIX "cython_function_or_method", + sizeof(__pyx_CyFunctionObject), + 0, +#ifdef Py_TPFLAGS_METHOD_DESCRIPTOR + Py_TPFLAGS_METHOD_DESCRIPTOR | +#endif +#if (defined(_Py_TPFLAGS_HAVE_VECTORCALL) && CYTHON_METH_FASTCALL) + _Py_TPFLAGS_HAVE_VECTORCALL | +#endif + Py_TPFLAGS_DEFAULT | Py_TPFLAGS_HAVE_GC | Py_TPFLAGS_BASETYPE, + __pyx_CyFunctionType_slots +}; +#else +static PyTypeObject __pyx_CyFunctionType_type = { + PyVarObject_HEAD_INIT(0, 0) + __PYX_TYPE_MODULE_PREFIX "cython_function_or_method", + sizeof(__pyx_CyFunctionObject), + 0, + (destructor) __Pyx_CyFunction_dealloc, +#if !CYTHON_METH_FASTCALL + 0, +#elif CYTHON_BACKPORT_VECTORCALL + (printfunc)offsetof(__pyx_CyFunctionObject, func_vectorcall), +#else + offsetof(PyCFunctionObject, vectorcall), +#endif + 0, + 0, +#if PY_MAJOR_VERSION < 3 + 0, +#else + 0, +#endif + (reprfunc) __Pyx_CyFunction_repr, + 0, + 0, + 0, + 0, + __Pyx_CyFunction_CallAsMethod, + 0, + 0, + 0, + 0, +#ifdef Py_TPFLAGS_METHOD_DESCRIPTOR + Py_TPFLAGS_METHOD_DESCRIPTOR | +#endif +#if defined(_Py_TPFLAGS_HAVE_VECTORCALL) && CYTHON_METH_FASTCALL + _Py_TPFLAGS_HAVE_VECTORCALL | +#endif + Py_TPFLAGS_DEFAULT | Py_TPFLAGS_HAVE_GC | Py_TPFLAGS_BASETYPE, + 0, + (traverseproc) __Pyx_CyFunction_traverse, + (inquiry) __Pyx_CyFunction_clear, + 0, +#if PY_VERSION_HEX < 0x030500A0 + offsetof(__pyx_CyFunctionObject, func_weakreflist), +#else + offsetof(PyCFunctionObject, m_weakreflist), +#endif + 0, + 0, + __pyx_CyFunction_methods, + __pyx_CyFunction_members, + __pyx_CyFunction_getsets, + 0, + 0, + __Pyx_PyMethod_New, + 0, + offsetof(__pyx_CyFunctionObject, func_dict), + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, +#if PY_VERSION_HEX >= 0x030400a1 + 0, +#endif +#if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, +#endif +#if __PYX_NEED_TP_PRINT_SLOT + 0, +#endif +#if PY_VERSION_HEX >= 0x030C0000 + 0, +#endif +#if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, +#endif +}; +#endif +static int __pyx_CyFunction_init(PyObject *module) { +#if CYTHON_USE_TYPE_SPECS + __pyx_CyFunctionType = __Pyx_FetchCommonTypeFromSpec(module, &__pyx_CyFunctionType_spec, NULL); +#else + CYTHON_UNUSED_VAR(module); + __pyx_CyFunctionType = __Pyx_FetchCommonType(&__pyx_CyFunctionType_type); +#endif + if (unlikely(__pyx_CyFunctionType == NULL)) { + return -1; + } + return 0; +} +static CYTHON_INLINE void *__Pyx_CyFunction_InitDefaults(PyObject *func, size_t size, int pyobjects) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults = PyObject_Malloc(size); + if (unlikely(!m->defaults)) + return PyErr_NoMemory(); + memset(m->defaults, 0, size); + m->defaults_pyobjects = pyobjects; + m->defaults_size = size; + return m->defaults; +} +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsTuple(PyObject *func, PyObject *tuple) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults_tuple = tuple; + Py_INCREF(tuple); +} +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsKwDict(PyObject *func, PyObject *dict) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults_kwdict = dict; + Py_INCREF(dict); +} +static CYTHON_INLINE void __Pyx_CyFunction_SetAnnotationsDict(PyObject *func, PyObject *dict) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->func_annotations = dict; + Py_INCREF(dict); +} + +/* CythonFunction */ +static PyObject *__Pyx_CyFunction_New(PyMethodDef *ml, int flags, PyObject* qualname, + PyObject *closure, PyObject *module, PyObject* globals, PyObject* code) { + PyObject *op = __Pyx_CyFunction_Init( + PyObject_GC_New(__pyx_CyFunctionObject, __pyx_CyFunctionType), + ml, flags, qualname, closure, module, globals, code + ); + if (likely(op)) { + PyObject_GC_Track(op); + } + return op; +} + +/* CLineInTraceback */ +#ifndef CYTHON_CLINE_IN_TRACEBACK +static int __Pyx_CLineForTraceback(PyThreadState *tstate, int c_line) { + PyObject *use_cline; + PyObject *ptype, *pvalue, *ptraceback; +#if CYTHON_COMPILING_IN_CPYTHON + PyObject **cython_runtime_dict; +#endif + CYTHON_MAYBE_UNUSED_VAR(tstate); + if (unlikely(!__pyx_cython_runtime)) { + return c_line; + } + __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); +#if CYTHON_COMPILING_IN_CPYTHON + cython_runtime_dict = _PyObject_GetDictPtr(__pyx_cython_runtime); + if (likely(cython_runtime_dict)) { + __PYX_PY_DICT_LOOKUP_IF_MODIFIED( + use_cline, *cython_runtime_dict, + __Pyx_PyDict_GetItemStr(*cython_runtime_dict, __pyx_n_s_cline_in_traceback)) + } else +#endif + { + PyObject *use_cline_obj = __Pyx_PyObject_GetAttrStrNoError(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback); + if (use_cline_obj) { + use_cline = PyObject_Not(use_cline_obj) ? Py_False : Py_True; + Py_DECREF(use_cline_obj); + } else { + PyErr_Clear(); + use_cline = NULL; + } + } + if (!use_cline) { + c_line = 0; + (void) PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False); + } + else if (use_cline == Py_False || (use_cline != Py_True && PyObject_Not(use_cline) != 0)) { + c_line = 0; + } + __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); + return c_line; +} +#endif + +/* CodeObjectCache */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line) { + int start = 0, mid = 0, end = count - 1; + if (end >= 0 && code_line > entries[end].code_line) { + return count; + } + while (start < end) { + mid = start + (end - start) / 2; + if (code_line < entries[mid].code_line) { + end = mid; + } else if (code_line > entries[mid].code_line) { + start = mid + 1; + } else { + return mid; + } + } + if (code_line <= entries[mid].code_line) { + return mid; + } else { + return mid + 1; + } +} +static PyCodeObject *__pyx_find_code_object(int code_line) { + PyCodeObject* code_object; + int pos; + if (unlikely(!code_line) || unlikely(!__pyx_code_cache.entries)) { + return NULL; + } + pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); + if (unlikely(pos >= __pyx_code_cache.count) || unlikely(__pyx_code_cache.entries[pos].code_line != code_line)) { + return NULL; + } + code_object = __pyx_code_cache.entries[pos].code_object; + Py_INCREF(code_object); + return code_object; +} +static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object) { + int pos, i; + __Pyx_CodeObjectCacheEntry* entries = __pyx_code_cache.entries; + if (unlikely(!code_line)) { + return; + } + if (unlikely(!entries)) { + entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Malloc(64*sizeof(__Pyx_CodeObjectCacheEntry)); + if (likely(entries)) { + __pyx_code_cache.entries = entries; + __pyx_code_cache.max_count = 64; + __pyx_code_cache.count = 1; + entries[0].code_line = code_line; + entries[0].code_object = code_object; + Py_INCREF(code_object); + } + return; + } + pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); + if ((pos < __pyx_code_cache.count) && unlikely(__pyx_code_cache.entries[pos].code_line == code_line)) { + PyCodeObject* tmp = entries[pos].code_object; + entries[pos].code_object = code_object; + Py_DECREF(tmp); + return; + } + if (__pyx_code_cache.count == __pyx_code_cache.max_count) { + int new_max = __pyx_code_cache.max_count + 64; + entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Realloc( + __pyx_code_cache.entries, ((size_t)new_max) * sizeof(__Pyx_CodeObjectCacheEntry)); + if (unlikely(!entries)) { + return; + } + __pyx_code_cache.entries = entries; + __pyx_code_cache.max_count = new_max; + } + for (i=__pyx_code_cache.count; i>pos; i--) { + entries[i] = entries[i-1]; + } + entries[pos].code_line = code_line; + entries[pos].code_object = code_object; + __pyx_code_cache.count++; + Py_INCREF(code_object); +} +#endif + +/* AddTraceback */ +#include "compile.h" +#include "frameobject.h" +#include "traceback.h" +#if PY_VERSION_HEX >= 0x030b00a6 && !CYTHON_COMPILING_IN_LIMITED_API + #ifndef Py_BUILD_CORE + #define Py_BUILD_CORE 1 + #endif + #include "internal/pycore_frame.h" +#endif +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject *__Pyx_PyCode_Replace_For_AddTraceback(PyObject *code, PyObject *scratch_dict, + PyObject *firstlineno, PyObject *name) { + PyObject *replace = NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "co_firstlineno", firstlineno))) return NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "co_name", name))) return NULL; + replace = PyObject_GetAttrString(code, "replace"); + if (likely(replace)) { + PyObject *result; + result = PyObject_Call(replace, __pyx_empty_tuple, scratch_dict); + Py_DECREF(replace); + return result; + } + PyErr_Clear(); + #if __PYX_LIMITED_VERSION_HEX < 0x030780000 + { + PyObject *compiled = NULL, *result = NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "code", code))) return NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "type", (PyObject*)(&PyType_Type)))) return NULL; + compiled = Py_CompileString( + "out = type(code)(\n" + " code.co_argcount, code.co_kwonlyargcount, code.co_nlocals, code.co_stacksize,\n" + " code.co_flags, code.co_code, code.co_consts, code.co_names,\n" + " code.co_varnames, code.co_filename, co_name, co_firstlineno,\n" + " code.co_lnotab)\n", "", Py_file_input); + if (!compiled) return NULL; + result = PyEval_EvalCode(compiled, scratch_dict, scratch_dict); + Py_DECREF(compiled); + if (!result) PyErr_Print(); + Py_DECREF(result); + result = PyDict_GetItemString(scratch_dict, "out"); + if (result) Py_INCREF(result); + return result; + } + #else + return NULL; + #endif +} +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename) { + PyObject *code_object = NULL, *py_py_line = NULL, *py_funcname = NULL, *dict = NULL; + PyObject *replace = NULL, *getframe = NULL, *frame = NULL; + PyObject *exc_type, *exc_value, *exc_traceback; + int success = 0; + if (c_line) { + (void) __pyx_cfilenm; + (void) __Pyx_CLineForTraceback(__Pyx_PyThreadState_Current, c_line); + } + PyErr_Fetch(&exc_type, &exc_value, &exc_traceback); + code_object = Py_CompileString("_getframe()", filename, Py_eval_input); + if (unlikely(!code_object)) goto bad; + py_py_line = PyLong_FromLong(py_line); + if (unlikely(!py_py_line)) goto bad; + py_funcname = PyUnicode_FromString(funcname); + if (unlikely(!py_funcname)) goto bad; + dict = PyDict_New(); + if (unlikely(!dict)) goto bad; + { + PyObject *old_code_object = code_object; + code_object = __Pyx_PyCode_Replace_For_AddTraceback(code_object, dict, py_py_line, py_funcname); + Py_DECREF(old_code_object); + } + if (unlikely(!code_object)) goto bad; + getframe = PySys_GetObject("_getframe"); + if (unlikely(!getframe)) goto bad; + if (unlikely(PyDict_SetItemString(dict, "_getframe", getframe))) goto bad; + frame = PyEval_EvalCode(code_object, dict, dict); + if (unlikely(!frame) || frame == Py_None) goto bad; + success = 1; + bad: + PyErr_Restore(exc_type, exc_value, exc_traceback); + Py_XDECREF(code_object); + Py_XDECREF(py_py_line); + Py_XDECREF(py_funcname); + Py_XDECREF(dict); + Py_XDECREF(replace); + if (success) { + PyTraceBack_Here( + (struct _frame*)frame); + } + Py_XDECREF(frame); +} +#else +static PyCodeObject* __Pyx_CreateCodeObjectForTraceback( + const char *funcname, int c_line, + int py_line, const char *filename) { + PyCodeObject *py_code = NULL; + PyObject *py_funcname = NULL; + #if PY_MAJOR_VERSION < 3 + PyObject *py_srcfile = NULL; + py_srcfile = PyString_FromString(filename); + if (!py_srcfile) goto bad; + #endif + if (c_line) { + #if PY_MAJOR_VERSION < 3 + py_funcname = PyString_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); + if (!py_funcname) goto bad; + #else + py_funcname = PyUnicode_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); + if (!py_funcname) goto bad; + funcname = PyUnicode_AsUTF8(py_funcname); + if (!funcname) goto bad; + #endif + } + else { + #if PY_MAJOR_VERSION < 3 + py_funcname = PyString_FromString(funcname); + if (!py_funcname) goto bad; + #endif + } + #if PY_MAJOR_VERSION < 3 + py_code = __Pyx_PyCode_New( + 0, + 0, + 0, + 0, + 0, + 0, + __pyx_empty_bytes, /*PyObject *code,*/ + __pyx_empty_tuple, /*PyObject *consts,*/ + __pyx_empty_tuple, /*PyObject *names,*/ + __pyx_empty_tuple, /*PyObject *varnames,*/ + __pyx_empty_tuple, /*PyObject *freevars,*/ + __pyx_empty_tuple, /*PyObject *cellvars,*/ + py_srcfile, /*PyObject *filename,*/ + py_funcname, /*PyObject *name,*/ + py_line, + __pyx_empty_bytes /*PyObject *lnotab*/ + ); + Py_DECREF(py_srcfile); + #else + py_code = PyCode_NewEmpty(filename, funcname, py_line); + #endif + Py_XDECREF(py_funcname); + return py_code; +bad: + Py_XDECREF(py_funcname); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(py_srcfile); + #endif + return NULL; +} +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename) { + PyCodeObject *py_code = 0; + PyFrameObject *py_frame = 0; + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject *ptype, *pvalue, *ptraceback; + if (c_line) { + c_line = __Pyx_CLineForTraceback(tstate, c_line); + } + py_code = __pyx_find_code_object(c_line ? -c_line : py_line); + if (!py_code) { + __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); + py_code = __Pyx_CreateCodeObjectForTraceback( + funcname, c_line, py_line, filename); + if (!py_code) { + /* If the code object creation fails, then we should clear the + fetched exception references and propagate the new exception */ + Py_XDECREF(ptype); + Py_XDECREF(pvalue); + Py_XDECREF(ptraceback); + goto bad; + } + __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); + __pyx_insert_code_object(c_line ? -c_line : py_line, py_code); + } + py_frame = PyFrame_New( + tstate, /*PyThreadState *tstate,*/ + py_code, /*PyCodeObject *code,*/ + __pyx_d, /*PyObject *globals,*/ + 0 /*PyObject *locals*/ + ); + if (!py_frame) goto bad; + __Pyx_PyFrame_SetLineNumber(py_frame, py_line); + PyTraceBack_Here(py_frame); +bad: + Py_XDECREF(py_code); + Py_XDECREF(py_frame); +} +#endif + +/* CIntFromPyVerify */ +#define __PYX_VERIFY_RETURN_INT(target_type, func_type, func_value)\ + __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 0) +#define __PYX_VERIFY_RETURN_INT_EXC(target_type, func_type, func_value)\ + __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 1) +#define __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, exc)\ + {\ + func_type value = func_value;\ + if (sizeof(target_type) < sizeof(func_type)) {\ + if (unlikely(value != (func_type) (target_type) value)) {\ + func_type zero = 0;\ + if (exc && unlikely(value == (func_type)-1 && PyErr_Occurred()))\ + return (target_type) -1;\ + if (is_unsigned && unlikely(value < zero))\ + goto raise_neg_overflow;\ + else\ + goto raise_overflow;\ + }\ + }\ + return (target_type) value;\ + } + +/* CIntToPy */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const long neg_one = (long) -1, const_zero = (long) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(long) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(long) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(long) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; +#if !CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030d0000 + return _PyLong_FromByteArray(bytes, sizeof(long), + little, !is_unsigned); +#else + PyObject *from_bytes, *result = NULL; + PyObject *py_bytes = NULL, *arg_tuple = NULL, *kwds = NULL, *order_str = NULL; + from_bytes = PyObject_GetAttrString((PyObject*)&PyLong_Type, "from_bytes"); + if (!from_bytes) return NULL; + py_bytes = PyBytes_FromStringAndSize((char*)bytes, sizeof(long)); + if (!py_bytes) goto limited_bad; + order_str = PyUnicode_FromString(little ? "little" : "big"); + if (!order_str) goto limited_bad; + arg_tuple = PyTuple_Pack(2, py_bytes, order_str); + if (!arg_tuple) goto limited_bad; + if (!is_unsigned) { + kwds = PyDict_New(); + if (!kwds) goto limited_bad; + if (PyDict_SetItemString(kwds, "signed", __Pyx_NewRef(Py_True))) goto limited_bad; + } + result = PyObject_Call(from_bytes, arg_tuple, kwds); + limited_bad: + Py_XDECREF(kwds); + Py_XDECREF(arg_tuple); + Py_XDECREF(order_str); + Py_XDECREF(py_bytes); + Py_XDECREF(from_bytes); + return result; +#endif + } +} + +/* CIntFromPy */ +static CYTHON_INLINE uint32_t __Pyx_PyInt_As_uint32_t(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const uint32_t neg_one = (uint32_t) -1, const_zero = (uint32_t) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(uint32_t) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(uint32_t, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (uint32_t) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(uint32_t, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(uint32_t) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(uint32_t, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(uint32_t) >= 2 * PyLong_SHIFT)) { + return (uint32_t) (((((uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(uint32_t) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(uint32_t, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(uint32_t) >= 3 * PyLong_SHIFT)) { + return (uint32_t) (((((((uint32_t)digits[2]) << PyLong_SHIFT) | (uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(uint32_t) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(uint32_t, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(uint32_t) >= 4 * PyLong_SHIFT)) { + return (uint32_t) (((((((((uint32_t)digits[3]) << PyLong_SHIFT) | (uint32_t)digits[2]) << PyLong_SHIFT) | (uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (uint32_t) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(uint32_t) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(uint32_t, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(uint32_t) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(uint32_t, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(uint32_t, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(uint32_t) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(uint32_t, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(uint32_t) - 1 > 2 * PyLong_SHIFT)) { + return (uint32_t) (((uint32_t)-1)*(((((uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(uint32_t) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(uint32_t, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(uint32_t) - 1 > 2 * PyLong_SHIFT)) { + return (uint32_t) ((((((uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(uint32_t) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(uint32_t, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(uint32_t) - 1 > 3 * PyLong_SHIFT)) { + return (uint32_t) (((uint32_t)-1)*(((((((uint32_t)digits[2]) << PyLong_SHIFT) | (uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(uint32_t) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(uint32_t, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(uint32_t) - 1 > 3 * PyLong_SHIFT)) { + return (uint32_t) ((((((((uint32_t)digits[2]) << PyLong_SHIFT) | (uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(uint32_t) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(uint32_t, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(uint32_t) - 1 > 4 * PyLong_SHIFT)) { + return (uint32_t) (((uint32_t)-1)*(((((((((uint32_t)digits[3]) << PyLong_SHIFT) | (uint32_t)digits[2]) << PyLong_SHIFT) | (uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(uint32_t) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(uint32_t, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(uint32_t) - 1 > 4 * PyLong_SHIFT)) { + return (uint32_t) ((((((((((uint32_t)digits[3]) << PyLong_SHIFT) | (uint32_t)digits[2]) << PyLong_SHIFT) | (uint32_t)digits[1]) << PyLong_SHIFT) | (uint32_t)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(uint32_t) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(uint32_t, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(uint32_t) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(uint32_t, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + uint32_t val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (uint32_t) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (uint32_t) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (uint32_t) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (uint32_t) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (uint32_t) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(uint32_t) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((uint32_t) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(uint32_t) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((uint32_t) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((uint32_t) 1) << (sizeof(uint32_t) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (uint32_t) -1; + } + } else { + uint32_t val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (uint32_t) -1; + val = __Pyx_PyInt_As_uint32_t(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to uint32_t"); + return (uint32_t) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to uint32_t"); + return (uint32_t) -1; +} + +/* CIntToPy */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_uint32_t(uint32_t value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const uint32_t neg_one = (uint32_t) -1, const_zero = (uint32_t) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(uint32_t) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(uint32_t) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(uint32_t) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(uint32_t) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(uint32_t) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; +#if !CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030d0000 + return _PyLong_FromByteArray(bytes, sizeof(uint32_t), + little, !is_unsigned); +#else + PyObject *from_bytes, *result = NULL; + PyObject *py_bytes = NULL, *arg_tuple = NULL, *kwds = NULL, *order_str = NULL; + from_bytes = PyObject_GetAttrString((PyObject*)&PyLong_Type, "from_bytes"); + if (!from_bytes) return NULL; + py_bytes = PyBytes_FromStringAndSize((char*)bytes, sizeof(uint32_t)); + if (!py_bytes) goto limited_bad; + order_str = PyUnicode_FromString(little ? "little" : "big"); + if (!order_str) goto limited_bad; + arg_tuple = PyTuple_Pack(2, py_bytes, order_str); + if (!arg_tuple) goto limited_bad; + if (!is_unsigned) { + kwds = PyDict_New(); + if (!kwds) goto limited_bad; + if (PyDict_SetItemString(kwds, "signed", __Pyx_NewRef(Py_True))) goto limited_bad; + } + result = PyObject_Call(from_bytes, arg_tuple, kwds); + limited_bad: + Py_XDECREF(kwds); + Py_XDECREF(arg_tuple); + Py_XDECREF(order_str); + Py_XDECREF(py_bytes); + Py_XDECREF(from_bytes); + return result; +#endif + } +} + +/* CIntFromPy */ +static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(int) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(int, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (int) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(int, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(int) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 2 * PyLong_SHIFT)) { + return (int) (((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(int) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 3 * PyLong_SHIFT)) { + return (int) (((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(int) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 4 * PyLong_SHIFT)) { + return (int) (((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (int) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(int) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(int, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(int) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(int, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(int, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(int) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(int) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + return (int) ((((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(int) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + return (int) ((((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 4 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(int) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 4 * PyLong_SHIFT)) { + return (int) ((((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(int) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(int, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(int) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(int, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + int val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (int) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (int) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (int) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (int) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (int) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(int) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((int) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(int) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((int) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((int) 1) << (sizeof(int) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (int) -1; + } + } else { + int val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (int) -1; + val = __Pyx_PyInt_As_int(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to int"); + return (int) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to int"); + return (int) -1; +} + +/* CIntToPy */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_uint64_t(uint64_t value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const uint64_t neg_one = (uint64_t) -1, const_zero = (uint64_t) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(uint64_t) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(uint64_t) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(uint64_t) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(uint64_t) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(uint64_t) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; +#if !CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030d0000 + return _PyLong_FromByteArray(bytes, sizeof(uint64_t), + little, !is_unsigned); +#else + PyObject *from_bytes, *result = NULL; + PyObject *py_bytes = NULL, *arg_tuple = NULL, *kwds = NULL, *order_str = NULL; + from_bytes = PyObject_GetAttrString((PyObject*)&PyLong_Type, "from_bytes"); + if (!from_bytes) return NULL; + py_bytes = PyBytes_FromStringAndSize((char*)bytes, sizeof(uint64_t)); + if (!py_bytes) goto limited_bad; + order_str = PyUnicode_FromString(little ? "little" : "big"); + if (!order_str) goto limited_bad; + arg_tuple = PyTuple_Pack(2, py_bytes, order_str); + if (!arg_tuple) goto limited_bad; + if (!is_unsigned) { + kwds = PyDict_New(); + if (!kwds) goto limited_bad; + if (PyDict_SetItemString(kwds, "signed", __Pyx_NewRef(Py_True))) goto limited_bad; + } + result = PyObject_Call(from_bytes, arg_tuple, kwds); + limited_bad: + Py_XDECREF(kwds); + Py_XDECREF(arg_tuple); + Py_XDECREF(order_str); + Py_XDECREF(py_bytes); + Py_XDECREF(from_bytes); + return result; +#endif + } +} + +/* CIntFromPy */ +static CYTHON_INLINE size_t __Pyx_PyInt_As_size_t(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const size_t neg_one = (size_t) -1, const_zero = (size_t) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(size_t) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(size_t, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (size_t) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(size_t, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(size_t) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(size_t) >= 2 * PyLong_SHIFT)) { + return (size_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(size_t) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(size_t) >= 3 * PyLong_SHIFT)) { + return (size_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(size_t) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(size_t) >= 4 * PyLong_SHIFT)) { + return (size_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (size_t) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(size_t) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(size_t, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(size_t) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(size_t, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(size_t, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(size_t) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(size_t, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(size_t) - 1 > 2 * PyLong_SHIFT)) { + return (size_t) (((size_t)-1)*(((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(size_t) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(size_t) - 1 > 2 * PyLong_SHIFT)) { + return (size_t) ((((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(size_t) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(size_t, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(size_t) - 1 > 3 * PyLong_SHIFT)) { + return (size_t) (((size_t)-1)*(((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(size_t) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(size_t) - 1 > 3 * PyLong_SHIFT)) { + return (size_t) ((((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(size_t) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(size_t, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(size_t) - 1 > 4 * PyLong_SHIFT)) { + return (size_t) (((size_t)-1)*(((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(size_t) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(size_t) - 1 > 4 * PyLong_SHIFT)) { + return (size_t) ((((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(size_t) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(size_t, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(size_t) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(size_t, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + size_t val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (size_t) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (size_t) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (size_t) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (size_t) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (size_t) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(size_t) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((size_t) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(size_t) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((size_t) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((size_t) 1) << (sizeof(size_t) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (size_t) -1; + } + } else { + size_t val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (size_t) -1; + val = __Pyx_PyInt_As_size_t(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to size_t"); + return (size_t) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to size_t"); + return (size_t) -1; +} + +/* FormatTypeName */ +#if CYTHON_COMPILING_IN_LIMITED_API +static __Pyx_TypeName +__Pyx_PyType_GetName(PyTypeObject* tp) +{ + PyObject *name = __Pyx_PyObject_GetAttrStr((PyObject *)tp, + __pyx_n_s_name); + if (unlikely(name == NULL) || unlikely(!PyUnicode_Check(name))) { + PyErr_Clear(); + Py_XDECREF(name); + name = __Pyx_NewRef(__pyx_n_s__15); + } + return name; +} +#endif + +/* CIntFromPy */ +static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const long neg_one = (long) -1, const_zero = (long) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(long) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(long, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (long) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(long, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(long) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 2 * PyLong_SHIFT)) { + return (long) (((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(long) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 3 * PyLong_SHIFT)) { + return (long) (((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(long) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 4 * PyLong_SHIFT)) { + return (long) (((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (long) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(long) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(long, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(long) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(long, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(long, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(long) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(long) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + return (long) ((((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(long) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + return (long) ((((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 4 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(long) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 4 * PyLong_SHIFT)) { + return (long) ((((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(long) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(long, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(long) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(long, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + long val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (long) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (long) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (long) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (long) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (long) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(long) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((long) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(long) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((long) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((long) 1) << (sizeof(long) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (long) -1; + } + } else { + long val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (long) -1; + val = __Pyx_PyInt_As_long(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to long"); + return (long) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to long"); + return (long) -1; +} + +/* FastTypeChecks */ +#if CYTHON_COMPILING_IN_CPYTHON +static int __Pyx_InBases(PyTypeObject *a, PyTypeObject *b) { + while (a) { + a = __Pyx_PyType_GetSlot(a, tp_base, PyTypeObject*); + if (a == b) + return 1; + } + return b == &PyBaseObject_Type; +} +static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b) { + PyObject *mro; + if (a == b) return 1; + mro = a->tp_mro; + if (likely(mro)) { + Py_ssize_t i, n; + n = PyTuple_GET_SIZE(mro); + for (i = 0; i < n; i++) { + if (PyTuple_GET_ITEM(mro, i) == (PyObject *)b) + return 1; + } + return 0; + } + return __Pyx_InBases(a, b); +} +static CYTHON_INLINE int __Pyx_IsAnySubtype2(PyTypeObject *cls, PyTypeObject *a, PyTypeObject *b) { + PyObject *mro; + if (cls == a || cls == b) return 1; + mro = cls->tp_mro; + if (likely(mro)) { + Py_ssize_t i, n; + n = PyTuple_GET_SIZE(mro); + for (i = 0; i < n; i++) { + PyObject *base = PyTuple_GET_ITEM(mro, i); + if (base == (PyObject *)a || base == (PyObject *)b) + return 1; + } + return 0; + } + return __Pyx_InBases(cls, a) || __Pyx_InBases(cls, b); +} +#if PY_MAJOR_VERSION == 2 +static int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject* exc_type2) { + PyObject *exception, *value, *tb; + int res; + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + __Pyx_ErrFetch(&exception, &value, &tb); + res = exc_type1 ? PyObject_IsSubclass(err, exc_type1) : 0; + if (unlikely(res == -1)) { + PyErr_WriteUnraisable(err); + res = 0; + } + if (!res) { + res = PyObject_IsSubclass(err, exc_type2); + if (unlikely(res == -1)) { + PyErr_WriteUnraisable(err); + res = 0; + } + } + __Pyx_ErrRestore(exception, value, tb); + return res; +} +#else +static CYTHON_INLINE int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject *exc_type2) { + if (exc_type1) { + return __Pyx_IsAnySubtype2((PyTypeObject*)err, (PyTypeObject*)exc_type1, (PyTypeObject*)exc_type2); + } else { + return __Pyx_IsSubtype((PyTypeObject*)err, (PyTypeObject*)exc_type2); + } +} +#endif +static int __Pyx_PyErr_GivenExceptionMatchesTuple(PyObject *exc_type, PyObject *tuple) { + Py_ssize_t i, n; + assert(PyExceptionClass_Check(exc_type)); + n = PyTuple_GET_SIZE(tuple); +#if PY_MAJOR_VERSION >= 3 + for (i=0; i= 0x030B00A4 + return Py_Version & ~0xFFUL; +#else + const char* rt_version = Py_GetVersion(); + unsigned long version = 0; + unsigned long factor = 0x01000000UL; + unsigned int digit = 0; + int i = 0; + while (factor) { + while ('0' <= rt_version[i] && rt_version[i] <= '9') { + digit = digit * 10 + (unsigned int) (rt_version[i] - '0'); + ++i; + } + version += factor * digit; + if (rt_version[i] != '.') + break; + digit = 0; + factor >>= 8; + ++i; + } + return version; +#endif +} +static int __Pyx_check_binary_version(unsigned long ct_version, unsigned long rt_version, int allow_newer) { + const unsigned long MAJOR_MINOR = 0xFFFF0000UL; + if ((rt_version & MAJOR_MINOR) == (ct_version & MAJOR_MINOR)) + return 0; + if (likely(allow_newer && (rt_version & MAJOR_MINOR) > (ct_version & MAJOR_MINOR))) + return 1; + { + char message[200]; + PyOS_snprintf(message, sizeof(message), + "compile time Python version %d.%d " + "of module '%.100s' " + "%s " + "runtime version %d.%d", + (int) (ct_version >> 24), (int) ((ct_version >> 16) & 0xFF), + __Pyx_MODULE_NAME, + (allow_newer) ? "was newer than" : "does not match", + (int) (rt_version >> 24), (int) ((rt_version >> 16) & 0xFF) + ); + return PyErr_WarnEx(NULL, message, 1); + } +} + +/* InitStrings */ +#if PY_MAJOR_VERSION >= 3 +static int __Pyx_InitString(__Pyx_StringTabEntry t, PyObject **str) { + if (t.is_unicode | t.is_str) { + if (t.intern) { + *str = PyUnicode_InternFromString(t.s); + } else if (t.encoding) { + *str = PyUnicode_Decode(t.s, t.n - 1, t.encoding, NULL); + } else { + *str = PyUnicode_FromStringAndSize(t.s, t.n - 1); + } + } else { + *str = PyBytes_FromStringAndSize(t.s, t.n - 1); + } + if (!*str) + return -1; + if (PyObject_Hash(*str) == -1) + return -1; + return 0; +} +#endif +static int __Pyx_InitStrings(__Pyx_StringTabEntry *t) { + while (t->p) { + #if PY_MAJOR_VERSION >= 3 + __Pyx_InitString(*t, t->p); + #else + if (t->is_unicode) { + *t->p = PyUnicode_DecodeUTF8(t->s, t->n - 1, NULL); + } else if (t->intern) { + *t->p = PyString_InternFromString(t->s); + } else { + *t->p = PyString_FromStringAndSize(t->s, t->n - 1); + } + if (!*t->p) + return -1; + if (PyObject_Hash(*t->p) == -1) + return -1; + #endif + ++t; + } + return 0; +} + +#include +static CYTHON_INLINE Py_ssize_t __Pyx_ssize_strlen(const char *s) { + size_t len = strlen(s); + if (unlikely(len > (size_t) PY_SSIZE_T_MAX)) { + PyErr_SetString(PyExc_OverflowError, "byte string is too long"); + return -1; + } + return (Py_ssize_t) len; +} +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char* c_str) { + Py_ssize_t len = __Pyx_ssize_strlen(c_str); + if (unlikely(len < 0)) return NULL; + return __Pyx_PyUnicode_FromStringAndSize(c_str, len); +} +static CYTHON_INLINE PyObject* __Pyx_PyByteArray_FromString(const char* c_str) { + Py_ssize_t len = __Pyx_ssize_strlen(c_str); + if (unlikely(len < 0)) return NULL; + return PyByteArray_FromStringAndSize(c_str, len); +} +static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject* o) { + Py_ssize_t ignore; + return __Pyx_PyObject_AsStringAndSize(o, &ignore); +} +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT +#if !CYTHON_PEP393_ENABLED +static const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { + char* defenc_c; + PyObject* defenc = _PyUnicode_AsDefaultEncodedString(o, NULL); + if (!defenc) return NULL; + defenc_c = PyBytes_AS_STRING(defenc); +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + { + char* end = defenc_c + PyBytes_GET_SIZE(defenc); + char* c; + for (c = defenc_c; c < end; c++) { + if ((unsigned char) (*c) >= 128) { + PyUnicode_AsASCIIString(o); + return NULL; + } + } + } +#endif + *length = PyBytes_GET_SIZE(defenc); + return defenc_c; +} +#else +static CYTHON_INLINE const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { + if (unlikely(__Pyx_PyUnicode_READY(o) == -1)) return NULL; +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + if (likely(PyUnicode_IS_ASCII(o))) { + *length = PyUnicode_GET_LENGTH(o); + return PyUnicode_AsUTF8(o); + } else { + PyUnicode_AsASCIIString(o); + return NULL; + } +#else + return PyUnicode_AsUTF8AndSize(o, length); +#endif +} +#endif +#endif +static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject* o, Py_ssize_t *length) { +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT + if ( +#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + __Pyx_sys_getdefaultencoding_not_ascii && +#endif + PyUnicode_Check(o)) { + return __Pyx_PyUnicode_AsStringAndSize(o, length); + } else +#endif +#if (!CYTHON_COMPILING_IN_PYPY && !CYTHON_COMPILING_IN_LIMITED_API) || (defined(PyByteArray_AS_STRING) && defined(PyByteArray_GET_SIZE)) + if (PyByteArray_Check(o)) { + *length = PyByteArray_GET_SIZE(o); + return PyByteArray_AS_STRING(o); + } else +#endif + { + char* result; + int r = PyBytes_AsStringAndSize(o, &result, length); + if (unlikely(r < 0)) { + return NULL; + } else { + return result; + } + } +} +static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject* x) { + int is_true = x == Py_True; + if (is_true | (x == Py_False) | (x == Py_None)) return is_true; + else return PyObject_IsTrue(x); +} +static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject* x) { + int retval; + if (unlikely(!x)) return -1; + retval = __Pyx_PyObject_IsTrue(x); + Py_DECREF(x); + return retval; +} +static PyObject* __Pyx_PyNumber_IntOrLongWrongResultType(PyObject* result, const char* type_name) { + __Pyx_TypeName result_type_name = __Pyx_PyType_GetName(Py_TYPE(result)); +#if PY_MAJOR_VERSION >= 3 + if (PyLong_Check(result)) { + if (PyErr_WarnFormat(PyExc_DeprecationWarning, 1, + "__int__ returned non-int (type " __Pyx_FMT_TYPENAME "). " + "The ability to return an instance of a strict subclass of int is deprecated, " + "and may be removed in a future version of Python.", + result_type_name)) { + __Pyx_DECREF_TypeName(result_type_name); + Py_DECREF(result); + return NULL; + } + __Pyx_DECREF_TypeName(result_type_name); + return result; + } +#endif + PyErr_Format(PyExc_TypeError, + "__%.4s__ returned non-%.4s (type " __Pyx_FMT_TYPENAME ")", + type_name, type_name, result_type_name); + __Pyx_DECREF_TypeName(result_type_name); + Py_DECREF(result); + return NULL; +} +static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x) { +#if CYTHON_USE_TYPE_SLOTS + PyNumberMethods *m; +#endif + const char *name = NULL; + PyObject *res = NULL; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x) || PyLong_Check(x))) +#else + if (likely(PyLong_Check(x))) +#endif + return __Pyx_NewRef(x); +#if CYTHON_USE_TYPE_SLOTS + m = Py_TYPE(x)->tp_as_number; + #if PY_MAJOR_VERSION < 3 + if (m && m->nb_int) { + name = "int"; + res = m->nb_int(x); + } + else if (m && m->nb_long) { + name = "long"; + res = m->nb_long(x); + } + #else + if (likely(m && m->nb_int)) { + name = "int"; + res = m->nb_int(x); + } + #endif +#else + if (!PyBytes_CheckExact(x) && !PyUnicode_CheckExact(x)) { + res = PyNumber_Int(x); + } +#endif + if (likely(res)) { +#if PY_MAJOR_VERSION < 3 + if (unlikely(!PyInt_Check(res) && !PyLong_Check(res))) { +#else + if (unlikely(!PyLong_CheckExact(res))) { +#endif + return __Pyx_PyNumber_IntOrLongWrongResultType(res, name); + } + } + else if (!PyErr_Occurred()) { + PyErr_SetString(PyExc_TypeError, + "an integer is required"); + } + return res; +} +static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject* b) { + Py_ssize_t ival; + PyObject *x; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_CheckExact(b))) { + if (sizeof(Py_ssize_t) >= sizeof(long)) + return PyInt_AS_LONG(b); + else + return PyInt_AsSsize_t(b); + } +#endif + if (likely(PyLong_CheckExact(b))) { + #if CYTHON_USE_PYLONG_INTERNALS + if (likely(__Pyx_PyLong_IsCompact(b))) { + return __Pyx_PyLong_CompactValue(b); + } else { + const digit* digits = __Pyx_PyLong_Digits(b); + const Py_ssize_t size = __Pyx_PyLong_SignedDigitCount(b); + switch (size) { + case 2: + if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { + return (Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -2: + if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case 3: + if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { + return (Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -3: + if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case 4: + if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { + return (Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -4: + if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + } + } + #endif + return PyLong_AsSsize_t(b); + } + x = PyNumber_Index(b); + if (!x) return -1; + ival = PyInt_AsSsize_t(x); + Py_DECREF(x); + return ival; +} +static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject* o) { + if (sizeof(Py_hash_t) == sizeof(Py_ssize_t)) { + return (Py_hash_t) __Pyx_PyIndex_AsSsize_t(o); +#if PY_MAJOR_VERSION < 3 + } else if (likely(PyInt_CheckExact(o))) { + return PyInt_AS_LONG(o); +#endif + } else { + Py_ssize_t ival; + PyObject *x; + x = PyNumber_Index(o); + if (!x) return -1; + ival = PyInt_AsLong(x); + Py_DECREF(x); + return ival; + } +} +static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b) { + return b ? __Pyx_NewRef(Py_True) : __Pyx_NewRef(Py_False); +} +static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t ival) { + return PyInt_FromSize_t(ival); +} + + +/* #### Code section: utility_code_pragmas_end ### */ +#ifdef _MSC_VER +#pragma warning( pop ) +#endif + + + +/* #### Code section: end ### */ +#endif /* Py_PYTHON_H */ diff --git a/opendbc/can/parser_pyx.so b/opendbc/can/parser_pyx.so new file mode 100644 index 00000000000000..8b55855c26f9c5 Binary files /dev/null and b/opendbc/can/parser_pyx.so differ diff --git a/opendbc/can/tests/.gitignore b/opendbc/can/tests/.gitignore deleted file mode 100644 index 192fb0945ec5b3..00000000000000 --- a/opendbc/can/tests/.gitignore +++ /dev/null @@ -1 +0,0 @@ -*.bz2 diff --git a/opendbc/can/tests/__init__.py b/opendbc/can/tests/__init__.py deleted file mode 100644 index 3bf02fdae0e89d..00000000000000 --- a/opendbc/can/tests/__init__.py +++ /dev/null @@ -1,8 +0,0 @@ -import glob -import os - -from opendbc import DBC_PATH - -ALL_DBCS = [os.path.basename(dbc).split('.')[0] for dbc in - glob.glob(f"{DBC_PATH}/*.dbc")] -TEST_DBC = os.path.abspath(os.path.join(os.path.dirname(__file__), "test.dbc")) diff --git a/opendbc/can/tests/test.dbc b/opendbc/can/tests/test.dbc deleted file mode 100644 index 05104fb0685ee8..00000000000000 --- a/opendbc/can/tests/test.dbc +++ /dev/null @@ -1,27 +0,0 @@ -CM_ "This DBC is used for the CAN parser and packer tests."; - -BO_ 228 STEERING_CONTROL: 5 EON - SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS - SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS - SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS - SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS - SG_ STEER_DOWN_TO_ZERO : 38|1@0+ (1,0) [0|1] "" EPS - SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS - SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS - -BO_ 316 Brake_Status: 8 XXX - SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX - SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX - SG_ Signal1 : 12|46@1+ (1,0) [0|1] "" XXX - SG_ ES_Brake : 58|1@1+ (1,0) [0|1] "" XXX - SG_ Signal2 : 59|3@1+ (1,0) [0|1] "" XXX - SG_ Brake : 62|1@1+ (1,0) [0|1] "" XXX - SG_ Signal3 : 63|1@1+ (1,0) [0|1] "" XXX - -BO_ 245 CAN_FD_MESSAGE: 32 XXX - SG_ COUNTER : 7|8@0+ (1,0) [0|1] "" XXX - SG_ SIGNED : 22|16@0- (1,0) [0|1] "" XXX - SG_ 64_BIT_LE : 159|64@1+ (1,0) [0|1] "" XXX - SG_ 64_BIT_BE : 80|64@0+ (1,0) [0|1] "" XXX - -VAL_ 80 NON_EXISTENT_ADDR 0 "test"; diff --git a/opendbc/can/tests/test_checksums.py b/opendbc/can/tests/test_checksums.py deleted file mode 100755 index 93ddbe00747d4c..00000000000000 --- a/opendbc/can/tests/test_checksums.py +++ /dev/null @@ -1,42 +0,0 @@ -#!/usr/bin/env python3 -import unittest - -from opendbc.can.parser import CANParser -from opendbc.can.packer import CANPacker -from opendbc.can.tests.test_packer_parser import can_list_to_can_capnp - - -class TestCanChecksums(unittest.TestCase): - - def test_honda_checksum(self): - """Test checksums for Honda standard and extended CAN ids""" - dbc_file = "honda_accord_2018_can_generated" - msgs = [("LKAS_HUD", 0), ("LKAS_HUD_A", 0)] - parser = CANParser(dbc_file, msgs, 0) - packer = CANPacker(dbc_file) - - values = { - 'SET_ME_X41': 0x41, - 'STEERING_REQUIRED': 1, - 'SOLID_LANES': 1, - 'BEEP': 0, - } - - # known correct checksums according to the above values - checksum_std = [11, 10, 9, 8] - checksum_ext = [4, 3, 2, 1] - - for std, ext in zip(checksum_std, checksum_ext): - msgs = [ - packer.make_can_msg("LKAS_HUD", 0, values), - packer.make_can_msg("LKAS_HUD_A", 0, values), - ] - can_strings = [can_list_to_can_capnp(msgs), ] - parser.update_strings(can_strings) - - self.assertEqual(parser.vl['LKAS_HUD']['CHECKSUM'], std) - self.assertEqual(parser.vl['LKAS_HUD_A']['CHECKSUM'], ext) - - -if __name__ == "__main__": - unittest.main() diff --git a/opendbc/can/tests/test_dbc_exceptions.py b/opendbc/can/tests/test_dbc_exceptions.py deleted file mode 100755 index 1f13f539273dff..00000000000000 --- a/opendbc/can/tests/test_dbc_exceptions.py +++ /dev/null @@ -1,36 +0,0 @@ -#!/usr/bin/env python3 - -import unittest - -from opendbc.can.parser import CANParser, CANDefine -from opendbc.can.packer import CANPacker -from opendbc.can.tests import TEST_DBC - - -class TestCanParserPackerExceptions(unittest.TestCase): - def test_civic_exceptions(self): - dbc_file = "honda_civic_touring_2016_can_generated" - dbc_invalid = dbc_file + "abcdef" - msgs = [("STEERING_CONTROL", 50)] - with self.assertRaises(RuntimeError): - CANParser(dbc_invalid, msgs, 0) - with self.assertRaises(RuntimeError): - CANPacker(dbc_invalid) - with self.assertRaises(RuntimeError): - CANDefine(dbc_invalid) - with self.assertRaises(KeyError): - CANDefine(TEST_DBC) - - parser = CANParser(dbc_file, msgs, 0) - with self.assertRaises(RuntimeError): - parser.update_strings([b'']) - - # Everything is supposed to work below - CANParser(dbc_file, msgs, 0) - CANParser(dbc_file, [], 0) - CANPacker(dbc_file) - CANDefine(dbc_file) - - -if __name__ == "__main__": - unittest.main() diff --git a/opendbc/can/tests/test_dbc_parser.py b/opendbc/can/tests/test_dbc_parser.py deleted file mode 100755 index 5da41d49b7f284..00000000000000 --- a/opendbc/can/tests/test_dbc_parser.py +++ /dev/null @@ -1,28 +0,0 @@ -#!/usr/bin/env python3 -import unittest - -from opendbc.can.parser import CANParser -from opendbc.can.tests import ALL_DBCS - - -class TestDBCParser(unittest.TestCase): - def test_enough_dbcs(self): - # sanity check that we're running on the real DBCs - self.assertGreater(len(ALL_DBCS), 20) - - def test_parse_all_dbcs(self): - """ - Dynamic DBC parser checks: - - Checksum and counter length, start bit, endianness - - Duplicate message addresses and names - - Signal out of bounds - - All BO_, SG_, VAL_ lines for syntax errors - """ - - for dbc in ALL_DBCS: - with self.subTest(dbc=dbc): - CANParser(dbc, [], 0) - - -if __name__ == "__main__": - unittest.main() diff --git a/opendbc/can/tests/test_define.py b/opendbc/can/tests/test_define.py deleted file mode 100755 index 6387ef9cb0aff3..00000000000000 --- a/opendbc/can/tests/test_define.py +++ /dev/null @@ -1,35 +0,0 @@ -#!/usr/bin/env python3 -import unittest - -from opendbc.can.can_define import CANDefine -from opendbc.can.tests import ALL_DBCS - - -class TestCADNDefine(unittest.TestCase): - def test_civic(self): - - dbc_file = "honda_civic_touring_2016_can_generated" - defs = CANDefine(dbc_file) - - self.assertDictEqual(defs.dv[399], defs.dv['STEER_STATUS']) - self.assertDictEqual(defs.dv[399], - {'STEER_STATUS': - {7: 'PERMANENT_FAULT', - 6: 'TMP_FAULT', - 5: 'FAULT_1', - 4: 'NO_TORQUE_ALERT_2', - 3: 'LOW_SPEED_LOCKOUT', - 2: 'NO_TORQUE_ALERT_1', - 0: 'NORMAL'} - } - ) - - def test_all_dbcs(self): - # Asserts no exceptions on all DBCs - for dbc in ALL_DBCS: - with self.subTest(dbc=dbc): - CANDefine(dbc) - - -if __name__ == "__main__": - unittest.main() diff --git a/opendbc/can/tests/test_packer_parser.py b/opendbc/can/tests/test_packer_parser.py deleted file mode 100755 index c313805c47308b..00000000000000 --- a/opendbc/can/tests/test_packer_parser.py +++ /dev/null @@ -1,399 +0,0 @@ -#!/usr/bin/env python3 -import unittest -import random - -import cereal.messaging as messaging -from opendbc.can.parser import CANParser -from opendbc.can.packer import CANPacker -from opendbc.can.tests import TEST_DBC - -MAX_BAD_COUNTER = 5 - - -# Python implementation so we don't have to depend on boardd -def can_list_to_can_capnp(can_msgs, msgtype='can', logMonoTime=None): - dat = messaging.new_message(msgtype, len(can_msgs)) - - if logMonoTime is not None: - dat.logMonoTime = logMonoTime - - for i, can_msg in enumerate(can_msgs): - if msgtype == 'sendcan': - cc = dat.sendcan[i] - else: - cc = dat.can[i] - - cc.address = can_msg[0] - cc.busTime = can_msg[1] - cc.dat = bytes(can_msg[2]) - cc.src = can_msg[3] - - return dat.to_bytes() - - -class TestCanParserPacker(unittest.TestCase): - def test_packer(self): - packer = CANPacker(TEST_DBC) - - for b in range(6): - for i in range(256): - values = {"COUNTER": i} - addr, _, dat, bus = packer.make_can_msg("CAN_FD_MESSAGE", b, values) - self.assertEqual(addr, 245) - self.assertEqual(bus, b) - self.assertEqual(dat[0], i) - - def test_packer_counter(self): - msgs = [("CAN_FD_MESSAGE", 0), ] - packer = CANPacker(TEST_DBC) - parser = CANParser(TEST_DBC, msgs, 0) - - # packer should increment the counter - for i in range(1000): - msg = packer.make_can_msg("CAN_FD_MESSAGE", 0, {}) - dat = can_list_to_can_capnp([msg, ]) - parser.update_strings([dat]) - self.assertEqual(parser.vl["CAN_FD_MESSAGE"]["COUNTER"], i % 256) - - # setting COUNTER should override - for _ in range(100): - cnt = random.randint(0, 255) - msg = packer.make_can_msg("CAN_FD_MESSAGE", 0, { - "COUNTER": cnt, - "SIGNED": 0 - }) - dat = can_list_to_can_capnp([msg, ]) - parser.update_strings([dat]) - self.assertEqual(parser.vl["CAN_FD_MESSAGE"]["COUNTER"], cnt) - - # then, should resume counting from the override value - cnt = parser.vl["CAN_FD_MESSAGE"]["COUNTER"] - for i in range(100): - msg = packer.make_can_msg("CAN_FD_MESSAGE", 0, {}) - dat = can_list_to_can_capnp([msg, ]) - parser.update_strings([dat]) - self.assertEqual(parser.vl["CAN_FD_MESSAGE"]["COUNTER"], (cnt + i) % 256) - - def test_parser_can_valid(self): - msgs = [("CAN_FD_MESSAGE", 10), ] - packer = CANPacker(TEST_DBC) - parser = CANParser(TEST_DBC, msgs, 0) - - # shouldn't be valid initially - self.assertFalse(parser.can_valid) - - # not valid until the message is seen - for _ in range(100): - dat = can_list_to_can_capnp([]) - parser.update_strings([dat]) - self.assertFalse(parser.can_valid) - - # valid once seen - for i in range(1, 100): - t = int(0.01 * i * 1e9) - msg = packer.make_can_msg("CAN_FD_MESSAGE", 0, {}) - dat = can_list_to_can_capnp([msg, ], logMonoTime=t) - parser.update_strings([dat]) - self.assertTrue(parser.can_valid) - - def test_parser_counter_can_valid(self): - """ - Tests number of allowed bad counters + ensures CAN stays invalid - while receiving invalid messages + that we can recover - """ - msgs = [ - ("STEERING_CONTROL", 0), - ] - packer = CANPacker("honda_civic_touring_2016_can_generated") - parser = CANParser("honda_civic_touring_2016_can_generated", msgs, 0) - - msg = packer.make_can_msg("STEERING_CONTROL", 0, {"COUNTER": 0}) - bts = can_list_to_can_capnp([msg]) - - # bad static counter, invalid once it's seen MAX_BAD_COUNTER messages - for idx in range(0x1000): - parser.update_strings([bts]) - self.assertEqual((idx + 1) < MAX_BAD_COUNTER, parser.can_valid) - - # one to recover - msg = packer.make_can_msg("STEERING_CONTROL", 0, {"COUNTER": 1}) - bts = can_list_to_can_capnp([msg]) - parser.update_strings([bts]) - self.assertTrue(parser.can_valid) - - def test_parser_no_partial_update(self): - """ - Ensure that the CANParser doesn't partially update messages with invalid signals (COUNTER/CHECKSUM). - Previously, the signal update loop would only break once it got to one of these invalid signals, - after already updating most/all of the signals. - """ - msgs = [ - ("STEERING_CONTROL", 0), - ] - packer = CANPacker("honda_civic_touring_2016_can_generated") - parser = CANParser("honda_civic_touring_2016_can_generated", msgs, 0) - - def rx_steering_msg(values, bad_checksum=False): - msg = packer.make_can_msg("STEERING_CONTROL", 0, values) - if bad_checksum: - # add 1 to checksum - msg[2] = bytearray(msg[2]) - msg[2][4] = (msg[2][4] & 0xF0) | ((msg[2][4] & 0x0F) + 1) - - bts = can_list_to_can_capnp([msg]) - parser.update_strings([bts]) - - rx_steering_msg({"STEER_TORQUE": 100}, bad_checksum=False) - self.assertEqual(parser.vl["STEERING_CONTROL"]["STEER_TORQUE"], 100) - self.assertEqual(parser.vl_all["STEERING_CONTROL"]["STEER_TORQUE"], [100]) - - for _ in range(5): - rx_steering_msg({"STEER_TORQUE": 200}, bad_checksum=True) - self.assertEqual(parser.vl["STEERING_CONTROL"]["STEER_TORQUE"], 100) - self.assertEqual(parser.vl_all["STEERING_CONTROL"]["STEER_TORQUE"], []) - - # Even if CANParser doesn't update instantaneous vl, make sure it didn't add invalid values to vl_all - rx_steering_msg({"STEER_TORQUE": 300}, bad_checksum=False) - self.assertEqual(parser.vl["STEERING_CONTROL"]["STEER_TORQUE"], 300) - self.assertEqual(parser.vl_all["STEERING_CONTROL"]["STEER_TORQUE"], [300]) - - def test_packer_parser(self): - msgs = [ - ("Brake_Status", 0), - ("CAN_FD_MESSAGE", 0), - ("STEERING_CONTROL", 0), - ] - packer = CANPacker(TEST_DBC) - parser = CANParser(TEST_DBC, msgs, 0) - - for steer in range(-256, 255): - for active in (1, 0): - values = { - "STEERING_CONTROL": { - "STEER_TORQUE": steer, - "STEER_TORQUE_REQUEST": active, - }, - "Brake_Status": { - "Signal1": 61042322657536.0, - }, - "CAN_FD_MESSAGE": { - "SIGNED": steer, - "64_BIT_LE": random.randint(0, 100), - "64_BIT_BE": random.randint(0, 100), - }, - } - - msgs = [packer.make_can_msg(k, 0, v) for k, v in values.items()] - bts = can_list_to_can_capnp(msgs) - parser.update_strings([bts]) - - for k, v in values.items(): - for key, val in v.items(): - self.assertAlmostEqual(parser.vl[k][key], val) - - # also check address - for sig in ("STEER_TORQUE", "STEER_TORQUE_REQUEST", "COUNTER", "CHECKSUM"): - self.assertEqual(parser.vl["STEERING_CONTROL"][sig], parser.vl[228][sig]) - - def test_scale_offset(self): - """Test that both scale and offset are correctly preserved""" - dbc_file = "honda_civic_touring_2016_can_generated" - msgs = [("VSA_STATUS", 50)] - parser = CANParser(dbc_file, msgs, 0) - packer = CANPacker(dbc_file) - - for brake in range(100): - values = {"USER_BRAKE": brake} - msgs = packer.make_can_msg("VSA_STATUS", 0, values) - bts = can_list_to_can_capnp([msgs]) - - parser.update_strings([bts]) - - self.assertAlmostEqual(parser.vl["VSA_STATUS"]["USER_BRAKE"], brake) - - def test_subaru(self): - # Subaru is little endian - - dbc_file = "subaru_global_2017_generated" - - msgs = [("ES_LKAS", 50)] - - parser = CANParser(dbc_file, msgs, 0) - packer = CANPacker(dbc_file) - - idx = 0 - for steer in range(-256, 255): - for active in [1, 0]: - values = { - "LKAS_Output": steer, - "LKAS_Request": active, - "SET_1": 1 - } - - msgs = packer.make_can_msg("ES_LKAS", 0, values) - bts = can_list_to_can_capnp([msgs]) - parser.update_strings([bts]) - - self.assertAlmostEqual(parser.vl["ES_LKAS"]["LKAS_Output"], steer) - self.assertAlmostEqual(parser.vl["ES_LKAS"]["LKAS_Request"], active) - self.assertAlmostEqual(parser.vl["ES_LKAS"]["SET_1"], 1) - self.assertAlmostEqual(parser.vl["ES_LKAS"]["COUNTER"], idx % 16) - idx += 1 - - def test_bus_timeout(self): - """Test CAN bus timeout detection""" - dbc_file = "honda_civic_touring_2016_can_generated" - - freq = 100 - msgs = [("VSA_STATUS", freq), ("STEER_MOTOR_TORQUE", freq/2)] - - parser = CANParser(dbc_file, msgs, 0) - packer = CANPacker(dbc_file) - - i = 0 - def send_msg(blank=False): - nonlocal i - i += 1 - t = i*((1 / freq) * 1e9) - - if blank: - msgs = [] - else: - msgs = [packer.make_can_msg("VSA_STATUS", 0, {}), ] - - can = can_list_to_can_capnp(msgs, logMonoTime=t) - parser.update_strings([can, ]) - - # all good, no timeout - for _ in range(1000): - send_msg() - self.assertFalse(parser.bus_timeout, str(_)) - - # timeout after 10 blank msgs - for n in range(200): - send_msg(blank=True) - self.assertEqual(n >= 10, parser.bus_timeout) - - # no timeout immediately after seen again - send_msg() - self.assertFalse(parser.bus_timeout) - - def test_updated(self): - """Test updated value dict""" - dbc_file = "honda_civic_touring_2016_can_generated" - msgs = [("VSA_STATUS", 50)] - parser = CANParser(dbc_file, msgs, 0) - packer = CANPacker(dbc_file) - - # Make sure nothing is updated - self.assertEqual(len(parser.vl_all["VSA_STATUS"]["USER_BRAKE"]), 0) - - idx = 0 - for _ in range(10): - # Ensure CANParser holds the values of any duplicate messages over multiple frames - user_brake_vals = [random.randrange(100) for _ in range(random.randrange(5, 10))] - half_idx = len(user_brake_vals) // 2 - can_msgs = [[], []] - for frame, brake_vals in enumerate((user_brake_vals[:half_idx], user_brake_vals[half_idx:])): - for user_brake in brake_vals: - values = {"USER_BRAKE": user_brake} - can_msgs[frame].append(packer.make_can_msg("VSA_STATUS", 0, values)) - idx += 1 - - can_strings = [can_list_to_can_capnp(msgs) for msgs in can_msgs] - parser.update_strings(can_strings) - vl_all = parser.vl_all["VSA_STATUS"]["USER_BRAKE"] - - self.assertEqual(vl_all, user_brake_vals) - if len(user_brake_vals): - self.assertEqual(vl_all[-1], parser.vl["VSA_STATUS"]["USER_BRAKE"]) - - def test_timestamp_nanos(self): - """Test message timestamp dict""" - dbc_file = "honda_civic_touring_2016_can_generated" - - msgs = [ - ("VSA_STATUS", 50), - ("POWERTRAIN_DATA", 100), - ] - - parser = CANParser(dbc_file, msgs, 0) - packer = CANPacker(dbc_file) - - # Check the default timestamp is zero - for msg in ("VSA_STATUS", "POWERTRAIN_DATA"): - ts_nanos = parser.ts_nanos[msg].values() - self.assertEqual(set(ts_nanos), {0}) - - # Check: - # - timestamp is only updated for correct messages - # - timestamp is correct for multiple runs - # - timestamp is from the latest message if updating multiple strings - for _ in range(10): - can_strings = [] - log_mono_time = 0 - for i in range(10): - log_mono_time = int(0.01 * i * 1e+9) - can_msg = packer.make_can_msg("VSA_STATUS", 0, {}) - can_strings.append(can_list_to_can_capnp([can_msg], logMonoTime=log_mono_time)) - parser.update_strings(can_strings) - - ts_nanos = parser.ts_nanos["VSA_STATUS"].values() - self.assertEqual(set(ts_nanos), {log_mono_time}) - ts_nanos = parser.ts_nanos["POWERTRAIN_DATA"].values() - self.assertEqual(set(ts_nanos), {0}) - - def test_nonexistent_messages(self): - # Ensure we don't allow messages not in the DBC - existing_messages = ("STEERING_CONTROL", 228, "CAN_FD_MESSAGE", 245) - - for msg in existing_messages: - CANParser(TEST_DBC, [(msg, 0)]) - with self.assertRaises(RuntimeError): - new_msg = msg + "1" if isinstance(msg, str) else msg + 1 - CANParser(TEST_DBC, [(new_msg, 0)]) - - def test_track_all_signals(self): - parser = CANParser("toyota_nodsu_pt_generated", [("ACC_CONTROL", 0)]) - self.assertEqual(parser.vl["ACC_CONTROL"], { - "ACCEL_CMD": 0, - "ALLOW_LONG_PRESS": 0, - "ACC_MALFUNCTION": 0, - "RADAR_DIRTY": 0, - "DISTANCE": 0, - "MINI_CAR": 0, - "ACC_TYPE": 0, - "CANCEL_REQ": 0, - "ACC_CUT_IN": 0, - "LEAD_VEHICLE_STOPPED": 0, - "PERMIT_BRAKING": 0, - "RELEASE_STANDSTILL": 0, - "ITS_CONNECT_LEAD": 0, - "ACCEL_CMD_ALT": 0, - "CHECKSUM": 0, - }) - - def test_disallow_duplicate_messages(self): - CANParser("toyota_nodsu_pt_generated", [("ACC_CONTROL", 5)]) - - with self.assertRaises(RuntimeError): - CANParser("toyota_nodsu_pt_generated", [("ACC_CONTROL", 5), ("ACC_CONTROL", 10)]) - - with self.assertRaises(RuntimeError): - CANParser("toyota_nodsu_pt_generated", [("ACC_CONTROL", 10), ("ACC_CONTROL", 10)]) - - def test_allow_undefined_msgs(self): - # TODO: we should throw an exception for these, but we need good - # discovery tests in openpilot first - packer = CANPacker("toyota_nodsu_pt_generated") - - self.assertEqual(packer.make_can_msg("ACC_CONTROL", 0, {"UNKNOWN_SIGNAL": 0}), - [835, 0, b'\x00\x00\x00\x00\x00\x00\x00N', 0]) - self.assertEqual(packer.make_can_msg("UNKNOWN_MESSAGE", 0, {"UNKNOWN_SIGNAL": 0}), - [0, 0, b'', 0]) - self.assertEqual(packer.make_can_msg(0, 0, {"UNKNOWN_SIGNAL": 0}), - [0, 0, b'', 0]) - - -if __name__ == "__main__": - unittest.main() diff --git a/opendbc/can/tests/test_parser_performance.py b/opendbc/can/tests/test_parser_performance.py deleted file mode 100755 index 2010fa4bf78e88..00000000000000 --- a/opendbc/can/tests/test_parser_performance.py +++ /dev/null @@ -1,55 +0,0 @@ -#!/usr/bin/env python3 -import time -import unittest - -from opendbc.can.parser import CANParser -from opendbc.can.packer import CANPacker -from opendbc.can.tests.test_packer_parser import can_list_to_can_capnp - - -@unittest.skip("TODO: varies too much between machines") -class TestParser(unittest.TestCase): - def _benchmark(self, checks, thresholds, n): - parser = CANParser('toyota_new_mc_pt_generated', checks, 0) - packer = CANPacker('toyota_new_mc_pt_generated') - - can_msgs = [] - for i in range(50000): - values = {"ACC_CONTROL": {"ACC_TYPE": 1, "ALLOW_LONG_PRESS": 3}} - msgs = [packer.make_can_msg(k, 0, v) for k, v in values.items()] - bts = can_list_to_can_capnp(msgs, logMonoTime=int(0.01 * i * 1e9)) - can_msgs.append(bts) - - ets = [] - for _ in range(25): - if n > 1: - strings = [] - for i in range(0, len(can_msgs), n): - strings.append(can_msgs[i:i + n]) - t1 = time.process_time_ns() - for m in strings: - parser.update_strings(m) - t2 = time.process_time_ns() - else: - t1 = time.process_time_ns() - for m in can_msgs: - parser.update_strings([m]) - t2 = time.process_time_ns() - - ets.append(t2 - t1) - - et = sum(ets) / len(ets) - avg_nanos = et / len(can_msgs) - print('%s: [%d] %.1fms to parse %s, avg: %dns' % (self._testMethodName, n, et/1e6, len(can_msgs), avg_nanos)) - - minn, maxx = thresholds - self.assertLess(avg_nanos, maxx) - self.assertGreater(avg_nanos, minn, "Performance seems to have improved, update test thresholds.") - - def test_performance_all_signals(self): - self._benchmark([('ACC_CONTROL', 10)], (10000, 19000), 1) - self._benchmark([('ACC_CONTROL', 10)], (1300, 5000), 10) - - -if __name__ == "__main__": - unittest.main() diff --git a/opendbc/chrysler_cusw.dbc b/opendbc/chrysler_cusw.dbc deleted file mode 100644 index 880f6e7255c453..00000000000000 --- a/opendbc/chrysler_cusw.dbc +++ /dev/null @@ -1,192 +0,0 @@ -VERSION "" - - -NS_ : - NS_DESC_ - CM_ - BA_DEF_ - BA_ - VAL_ - CAT_DEF_ - CAT_ - FILTER - BA_DEF_DEF_ - EV_DATA_ - ENVVAR_DATA_ - SGTYPE_ - SGTYPE_VAL_ - BA_DEF_SGTYPE_ - BA_SGTYPE_ - SIG_TYPE_REF_ - VAL_TABLE_ - SIG_GROUP_ - SIG_VALTYPE_ - SIGTYPE_VALTYPE_ - BO_TX_BU_ - BA_DEF_REL_ - BA_REL_ - BA_DEF_DEF_REL_ - BU_SG_REL_ - BU_EV_REL_ - BU_BO_REL_ - SG_MUL_VAL_ - -BS_: - -BU_: XXX - - -BO_ 492 EPS_STATUS: 8 XXX - SG_ TORQUE_DRIVER : 3|12@0+ (1,-1024) [0|2048] "Nm" XXX - SG_ LKAS_STATE : 16|1@0+ (1,0) [0|1] "" XXX - SG_ LKAS_FAULT : 17|1@0+ (1,0) [0|1] "" XXX - SG_ LKAS_HIGH_TORQUE : 19|1@0+ (1,0) [0|1] "" XXX - SG_ TORQUE_MOTOR : 27|12@0+ (1,-2048) [0|1] "" XXX - SG_ LAT_TORQUE_REQUEST : 47|12@0+ (1,-2048) [0|4095] "" XXX - SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX - SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX - -BO_ 1250 DOORS: 8 XXX - SG_ DOOR_OPEN_FL : 10|1@0+ (1,0) [0|1] "" XXX - SG_ DOOR_OPEN_FR : 11|1@0+ (1,0) [0|1] "" XXX - SG_ DOOR_OPEN_RL : 12|1@0+ (1,0) [0|1] "" XXX - SG_ DOOR_OPEN_RR : 13|1@0+ (1,0) [0|1] "" XXX - SG_ TRUNK : 14|1@0+ (1,0) [0|1] "" XXX - -BO_ 1262 GEAR: 8 XXX - SG_ PRNDL : 11|4@0+ (1,0) [0|15] "" XXX - -BO_ 875 SEATBELT_STATUS: 8 XXX - SG_ SEATBELT_DRIVER_UNLATCHED : 16|1@0+ (1,0) [0|1] "" XXX - -BO_ 1264 STEERING_LEVERS: 7 XXX - SG_ TURN_SIGNALS : 3|4@0+ (1,0) [0|15] "" XXX - SG_ HIGH_BEAM_FLASH : 15|1@0+ (1,0) [0|1] "" XXX - -BO_ 480 TRACTION_BUTTON: 8 XXX - SG_ TRACTION_OFF : 3|1@0+ (1,0) [0|1] "" XXX - -BO_ 740 WHEEL_SPEEDS_REAR: 8 XXX - SG_ WHEEL_SPEED_RL : 5|13@0+ (0.0087,0) [0|1] "" XXX - SG_ WHEEL_SPEED_RR : 20|13@0+ (0.0087,0) [0|1] "" XXX - SG_ COUNTER : 51|4@0+ (1,0) [0|1] "" XXX - SG_ CHECKSUM : 63|8@0+ (1,0) [0|1] "" XXX - -BO_ 520 EPS_STATUS_2: 7 XXX - SG_ NEW_SIGNAL_1 : 3|12@0+ (1,-2048) [0|1] "" XXX - SG_ NEW_SIGNAL_2 : 19|12@0+ (1,-2048) [0|1] "" XXX - SG_ NEW_SIGNAL_3 : 39|12@0+ (1,0) [0|1] "" XXX - SG_ COUNTER : 43|4@0+ (1,0) [0|1] "" XXX - SG_ CHECKSUM : 55|8@0+ (1,0) [0|1] "" XXX - -BO_ 494 STEERING: 6 XXX - SG_ STEER_ANGLE : 5|14@0+ (0.1,-720) [0|1] "deg" XXX - SG_ STEERING_RATE : 19|12@0+ (1,-2000) [0|1] "" XXX - SG_ COUNTER : 35|4@0+ (1,0) [0|15] "" XXX - SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX - -BO_ 738 BRAKE_2: 8 XXX - SG_ BRAKE_TORQUE : 7|12@0+ (1,0) [0|15] "" XXX - SG_ BRAKE_LIGHTS : 8|1@0+ (1,0) [0|1] "" XXX - SG_ BRAKE_HUMAN : 9|1@0+ (1,0) [0|1] "" XXX - SG_ COUNTER : 51|4@0+ (1,0) [0|1] "" XXX - SG_ CHECKSUM : 63|8@0+ (1,0) [0|1] "" XXX - -BO_ 742 WHEEL_SPEEDS_FRONT: 8 XXX - SG_ WHEEL_SPEED_FL : 5|13@0+ (0.0087,0) [0|1] "" XXX - SG_ WHEEL_SPEED_FR : 20|13@0+ (0.0087,0) [0|1] "" XXX - SG_ COUNTER : 51|4@0+ (1,0) [0|1] "" XXX - SG_ CHECKSUM : 63|8@0+ (1,0) [0|1] "" XXX - -BO_ 502 LKAS_COMMAND: 4 XXX - SG_ STEERING_TORQUE : 7|11@0+ (1,-1024) [0|4087] "" XXX - SG_ LKAS_CONTROL_BIT : 12|1@0+ (1,0) [0|1] "" XXX - SG_ COUNTER : 19|4@0+ (1,0) [0|1] "" XXX - SG_ CHECKSUM : 31|8@0+ (1,0) [0|1] "" XXX - -BO_ 1498 LKAS_1: 2 XXX - -BO_ 1500 DAS_6: 4 XXX - SG_ LKAS_ICON_COLOR : 1|2@0+ (1,0) [0|1] "" XXX - SG_ SET_ME_0XAC : 15|8@0+ (1,0) [0|255] "" XXX - SG_ LKAS_LANE_LINES : 19|4@0+ (1,0) [0|15] "" XXX - -BO_ 1508 LKAS_HEARTBIT: 8 XXX - SG_ LKAS_STATUS_OK : 28|1@0+ (1,0) [0|1] "" XXX - -BO_ 762 CRUISE_BUTTONS: 3 XXX - SG_ ACC_Cancel : 0|1@0+ (1,0) [0|1] "" XXX - SG_ ACC_Distance_Dec : 1|1@0+ (1,0) [0|1] "" XXX - SG_ ACC_Accel : 2|1@0+ (1,0) [0|1] "" XXX - SG_ ACC_Decel : 3|1@0+ (1,0) [0|1] "" XXX - SG_ ACC_Resume : 4|1@0+ (1,0) [0|1] "" XXX - SG_ Cruise_OnOff : 6|1@0+ (1,0) [0|1] "" XXX - SG_ ACC_OnOff : 7|1@0+ (1,0) [0|1] "" XXX - SG_ ACC_Distance_Inc : 8|1@0+ (1,0) [0|1] "" XXX - SG_ COUNTER : 15|4@0+ (1,0) [0|1] "" XXX - SG_ CHECKSUM : 23|8@0+ (1,0) [0|1] "" XXX - -BO_ 484 BRAKE_1: 8 XXX - SG_ BRAKE_PSI : 7|12@0+ (1,0) [0|1] "" XXX - SG_ VEHICLE_SPEED : 35|12@0+ (0.0174,0) [0|4095] "m/s" XXX - SG_ COUNTER : 51|4@0+ (1,0) [0|1] "" XXX - SG_ CHECKSUM : 63|8@0+ (1,0) [0|1] "" XXX - -BO_ 500 GEARBOX_1: 7 XXX - SG_ DESIRED_GEAR : 35|4@0+ (1,0) [0|1] "" XXX - SG_ ACTUAL_GEAR : 39|4@0+ (1,0) [0|1] "" XXX - SG_ COUNTER : 43|4@0+ (1,0) [0|1] "" XXX - SG_ CHECKSUM : 55|8@0+ (1,0) [0|1] "" XXX - -BO_ 510 ACCEL_GAS: 5 XXX - SG_ ACC_ACTIVE : 2|1@0+ (1,0) [0|1] "" XXX - SG_ GAS_HUMAN : 15|8@0+ (1,0) [0|1] "" XXX - SG_ COUNTER : 27|4@0+ (1,0) [0|1] "" XXX - SG_ GAS_ACC : 28|1@0+ (1,0) [0|1] "" XXX - SG_ CHECKSUM : 39|8@0+ (1,0) [0|1] "" XXX - -BO_ 490 DASHBOARD: 4 XXX - SG_ ACC_SPEED_CONFIG_KPH : 7|8@0+ (0.1625,0) [0|1] "m/s" XXX - -BO_ 1006 ACC_HUD: 7 XXX - SG_ ACC_STATE : 7|3@0+ (1,0) [0|15] "" XXX - SG_ ACC_SET_SPEED_KMH : 14|8@0+ (1,0) [0|255] "km/h" XXX - SG_ DISTANCE_SETTING : 33|2@0+ (1,0) [0|3] "" XXX - SG_ DISTANCE_TO_LEAD : 47|8@0+ (1,0) [0|255] "" XXX - -BO_ 748 ACC_CONTROL: 8 XXX - SG_ ACC_MAIN_ON : 6|1@0+ (1,0) [0|1] "" XXX - SG_ ACC_ACTIVE : 7|1@0+ (1,0) [0|1] "" XXX - SG_ BRAKE_VALUE : 13|10@0+ (1,0) [0|1023] "" XXX - SG_ GAS_VALID : 15|1@0+ (1,0) [0|1] "" XXX - SG_ GAS_VALUE : 28|10@0+ (1,0) [0|1023] "" XXX - SG_ BRAKE_VALID : 30|1@0+ (1,0) [0|1] "" XXX - SG_ UNKNOWN_1 : 33|1@0+ (1,0) [0|1] "" XXX - SG_ UNKNOWN_2 : 46|4@0+ (1,0) [0|15] "" XXX - SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX - SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX - -BO_ 496 CLUSTER_1: 8 XXX - SG_ TACHOMETER : 3|12@0+ (1.024,0) [0|3] "" XXX - SG_ SPEEDOMETER : 19|12@0+ (0.01065,0) [0|1] "m/s" XXX - SG_ COUNTER : 51|4@0+ (1,0) [0|1] "" XXX - SG_ CHECKSUM : 63|8@0+ (1,0) [0|1] "" XXX - - -CM_ SG_ 1250 TRUNK "1 = open, 0 = closed"; -CM_ SG_ 1250 DOOR_OPEN_FL "1 = open, 0 = closed"; -CM_ SG_ 1250 DOOR_OPEN_FR "1 = open, 0 = closed"; -CM_ SG_ 1250 DOOR_OPEN_RL "1 = open, 0 = closed"; -CM_ SG_ 1250 DOOR_OPEN_RR "1 = open, 0 = closed"; -CM_ SG_ 1262 PRNDL "1 = park, 2 = reverse, 3 = neutral, 4 = drive, 5 = sport (snicker... sport)"; -CM_ SG_ 875 SEATBELT_DRIVER_UNLATCHED "1 = unlatched, 0 = safety first"; -CM_ SG_ 1264 TURN_SIGNALS "0 = off, 1 = left blinker, 2 = right blinker"; -CM_ SG_ 480 TRACTION_OFF "0 = TCS on, 1 = TCS off (light on dash ON)"; -CM_ SG_ 1500 LKAS_LANE_LINES "0x01 transparent lines, 0x02 left white, 0x03 right white, 0x04 left yellow with car on top, 0x05 left yellow with car on top, 0x06 both white, 0x07 left yellow, 0x08 left yellow right white, 0x09 right yellow, 0x0a right yellow left white, 0x0b left yellow with car on top right white, 0x0c right yellow with car on top left white, (0x00, 0x0d, 0x0e, 0x0f) null"; -CM_ SG_ 1492 LEAD_CAR "lead car present = 4, no car = 2 "; -CM_ SG_ 498 ACC_STATUS_2 "1 no ACC, 3 icpno "; -CM_ SG_ 498 ACC_STATUS_1 "0x00 = acc off, 0x03 = acc on, green, 0x02 acc on, white"; -CM_ SG_ 1006 ACC_STATE "0 = ACC off, 6 = ACC active (white), 8 = ACC engaged (green)"; -CM_ SG_ 502 LKAS_STATE "2 = active (green), 1 = error"; -CM_ SG_ 1006 ACC_SET_SPEED_KMH "min set appears to be 68 km/h, errors below 59 km/h "; -VAL_ 1262 PRNDL 1 "P" 2 "R" 3 "N" 4 "D" 5 "S"; diff --git a/opendbc/ford_cgea1_2_bodycan_2011.dbc b/opendbc/ford_cgea1_2_bodycan_2011.dbc deleted file mode 100644 index 49fcae19c2e4f8..00000000000000 --- a/opendbc/ford_cgea1_2_bodycan_2011.dbc +++ /dev/null @@ -1,1070 +0,0 @@ -VERSION "" - - -NS_ : - NS_DESC_ - CM_ - BA_DEF_ - BA_ - VAL_ - CAT_DEF_ - CAT_ - FILTER - BA_DEF_DEF_ - EV_DATA_ - ENVVAR_DATA_ - SGTYPE_ - SGTYPE_VAL_ - BA_DEF_SGTYPE_ - BA_SGTYPE_ - SIG_TYPE_REF_ - VAL_TABLE_ - SIG_GROUP_ - SIG_VALTYPE_ - SIGTYPE_VALTYPE_ - BO_TX_BU_ - BA_DEF_REL_ - BA_REL_ - BA_DEF_DEF_REL_ - BU_SG_REL_ - BU_EV_REL_ - BU_BO_REL_ - SG_MUL_VAL_ - -BS_: - -BU_: XXX - - -BO_ 58 BCM_m_FrP01: 8 XXX - SG_ ChildLockCmd : 13|1@0+ (1,0) [0|0] "" XXX - SG_ ChildLockCmd_UB : 12|1@0+ (1,0) [0|0] "" XXX - SG_ CLockCmd : 31|8@0+ (1,0) [0|0] "" XXX - SG_ CLockCmd_UB : 14|1@0+ (1,0) [0|0] "" XXX - SG_ DDShortDrop : 3|2@0+ (1,0) [0|0] "" XXX - SG_ DDShortDrop_UB : 4|1@0+ (1,0) [0|0] "" XXX - SG_ DirectionIndication : 11|2@0+ (1,0) [0|0] "" XXX - SG_ DirectionIndication_UB : 0|1@0+ (1,0) [0|0] "" XXX - SG_ EpsDrvInfo_D_Dsply : 36|4@0+ (1,0) [0|0] "" XXX - SG_ EpsDrvInfo_D_Dsply_UB : 39|1@0+ (1,0) [0|0] "" XXX - SG_ GearRvrseActv_D_Actl : 38|2@0+ (1,0) [0|0] "" XXX - SG_ GearRvrseActv_D_Actl_UB : 15|1@0+ (1,0) [0|0] "" XXX - SG_ VehVActlEng_D_Qf_3A : 9|2@0+ (1,0) [0|0] "" XXX - SG_ Veh_V_ActlEng_UB_3A : 1|1@0+ (1,0) [0|0] "" XXX - SG_ Veh_V_ActlEng_3A : 55|16@0+ (0.01,0) [0|0] "kph" XXX - SG_ Veh_V_DsplyCcSet : 23|8@0+ (1,0) [0|0] "" XXX - SG_ Veh_V_RqCcSet : 32|9@0+ (0.5,0) [0|0] "kph" XXX - SG_ WasherFluidLevelLow : 5|1@0+ (1,0) [0|0] "" XXX - -BO_ 64 BCM_m_FrP02: 8 XXX - SG_ FuelCutoffReq : 7|4@0+ (1,0) [0|0] "" XXX - SG_ FuelCutoffReq_UB : 8|1@0+ (1,0) [0|0] "" XXX - SG_ KVRFRSettings : 54|15@0+ (1,0) [0|0] "" XXX - SG_ KVRFRSettings_UB : 10|1@0+ (1,0) [0|0] "" XXX - SG_ PsngrFrntDetct_D_Actl : 23|2@0+ (1,0) [0|0] "" XXX - SG_ PsngrFrntDetct_D_Actl_UB : 3|1@0+ (1,0) [0|0] "" XXX - SG_ RILReq : 21|2@0+ (1,0) [0|0] "" XXX - SG_ RILReq_UB : 55|1@0+ (1,0) [0|0] "" XXX - SG_ SecondRowBuckleDriver : 31|2@0+ (1,0) [0|0] "" XXX - SG_ SecondRowBuckleDriver_UB : 0|1@0+ (1,0) [0|0] "" XXX - SG_ SecondRowBuckleMid : 29|2@0+ (1,0) [0|0] "" XXX - SG_ SecondRowBuckleMid_UB : 15|1@0+ (1,0) [0|0] "" XXX - SG_ SecondRowBucklePsngr : 27|2@0+ (1,0) [0|0] "" XXX - SG_ SecondRowBucklePsngr_UB : 14|1@0+ (1,0) [0|0] "" XXX - SG_ ThirdRowBuckleDriver : 25|2@0+ (1,0) [0|0] "" XXX - SG_ ThirdRowBuckleDriver_UB : 13|1@0+ (1,0) [0|0] "" XXX - SG_ ThirdRowBucklePsngr : 37|2@0+ (1,0) [0|0] "" XXX - SG_ ThirdRowBucklePsngr_UB : 11|1@0+ (1,0) [0|0] "" XXX - SG_ WheelRotationCnt : 47|8@0+ (1,0) [0|0] "" XXX - SG_ WheelRotationCnt_UB : 9|1@0+ (1,0) [0|0] "" XXX - SG_ WheelRotationCntQF : 35|2@0+ (1,0) [0|0] "" XXX - SG_ WhlDirRr_D_Actl_UB_40 : 2|1@0+ (1,0) [0|0] "" XXX - SG_ WhlDirRr_D_Actl_40 : 39|2@0+ (1,0) [0|0] "" XXX - SG_ WhlDirRl_D_Actl_UB_40 : 1|1@0+ (1,0) [0|0] "" XXX - SG_ WhlDirRl_D_Actl_40 : 33|2@0+ (1,0) [0|0] "" XXX - -BO_ 131 MS_Steering_Data: 8 XXX - SG_ SteColumn_Status_UB : 28|1@0+ (1,0) [0|0] "" XXX - SG_ SteColumn_Status : 31|3@0+ (1,0) [0|0] "" XXX - SG_ SteCol_Manual_Override_UB : 26|1@0+ (1,0) [0|0] "" XXX - SG_ SteCol_Manual_Override : 27|1@0+ (1,0) [0|0] "" XXX - SG_ SteWhlCtl_Send_UB : 20|1@0+ (1,0) [0|0] "" XXX - SG_ SteWhlCtl_Send : 6|1@0+ (1,0) [0|0] "" XXX - SG_ SteWhlCtl_Phone_UB : 17|1@0+ (1,0) [0|0] "" XXX - SG_ SteWhlCtl_Phone : 3|1@0+ (1,0) [0|0] "" XXX - SG_ SteWhlCtl_OK_UB : 16|1@0+ (1,0) [0|0] "" XXX - SG_ SteWhlCtl_OK : 2|1@0+ (1,0) [0|0] "" XXX - SG_ SteWhlCtl_Volume_Up_UB : 23|1@0+ (1,0) [0|0] "" XXX - SG_ SteWhlCtl_Volume_Down_UB : 22|1@0+ (1,0) [0|0] "" XXX - SG_ SteWhlCtl_Voice_PTT_UB : 21|1@0+ (1,0) [0|0] "" XXX - SG_ SteWhlCtl_Seek_Right_UB : 19|1@0+ (1,0) [0|0] "" XXX - SG_ SteWhlCtl_Seek_Left_UB : 18|1@0+ (1,0) [0|0] "" XXX - SG_ SteWhlCtl_Mode_UB : 11|1@0+ (1,0) [0|0] "" XXX - SG_ SteWhlCtl_Mode : 13|1@0+ (1,0) [0|0] "" XXX - SG_ SteWhlCtl_Media_UB : 9|1@0+ (1,0) [0|0] "" XXX - SG_ SteWhlCtl_Volume_Up : 15|1@0+ (1,0) [0|0] "" XXX - SG_ SteWhlCtl_Volume_Down : 14|1@0+ (1,0) [0|0] "" XXX - SG_ SteWhlCtl_Voice_PTT : 7|1@0+ (1,0) [0|0] "" XXX - SG_ SteWhlCtl_Seek_Right : 5|1@0+ (1,0) [0|0] "" XXX - SG_ SteWhlCtl_Seek_Left : 4|1@0+ (1,0) [0|0] "" XXX - SG_ SteWhlCtl_Media : 1|1@0+ (1,0) [0|0] "" XXX - SG_ VehYaw_W_Actl : 55|16@0+ (0.0002,-6.5) [0|0] "rad/s" XXX - SG_ SteWhlCtl_End_UB : 8|1@0+ (1,0) [0|0] "" XXX - SG_ SteWhlCtl_End : 0|1@0+ (1,0) [0|0] "" XXX - SG_ VehYaw_W_Actl_UB : 40|1@0+ (1,0) [0|0] "" XXX - SG_ SteWhlCtl_Mute_UB : 10|1@0+ (1,0) [0|0] "" XXX - SG_ SteWhlCtl_Mute : 12|1@0+ (1,0) [0|0] "" XXX - -BO_ 257 Driver_Seat_Information: 8 XXX - SG_ Reverse_Mirror_Stat : 3|2@0+ (1,0) [0|0] "" XXX - SG_ Memory_Feedback_Rqst : 5|1@0+ (1,0) [0|0] "" XXX - SG_ Easy_Entry_Exit_Stat : 7|2@0+ (1,0) [0|0] "" XXX - -BO_ 260 Driver_Seat_Information_2: 8 XXX - SG_ Memory_Cmd : 15|4@0+ (1,0) [0|0] "" XXX - SG_ Easy_Entry_Rqst : 4|2@0+ (1,0) [0|0] "" XXX - SG_ DrvSeat_Stat : 7|3@0+ (1,0) [0|0] "" XXX - SG_ Cancel_Auto_Movement : 1|1@0+ (1,0) [0|0] "" XXX - -BO_ 269 IdleShutdown_Legacy: 8 XXX - SG_ IDLE_ENGINE_SHUTDOWN : 23|2@0+ (1,0) [0|0] "" XXX - -BO_ 272 Keyfob_Pad_Stat: 8 XXX - SG_ L_Pwr_Sliding_Dr_Rqst : 28|1@0+ (1,0) [0|0] "" XXX - SG_ Power_Decklid_Rqst : 31|1@0+ (1,0) [0|0] "" XXX - SG_ R_Pwr_Sliding_Dr_Rqst : 29|1@0+ (1,0) [0|0] "" XXX - SG_ Keyfob_Pad_Msg_Count : 23|8@0+ (1,0) [0|0] "Counts" XXX - SG_ Keyfob_Pad_Id_Number : 15|8@0+ (1,0) [0|0] "" XXX - SG_ Keyfob_Pad_Button_Pressed : 7|8@0+ (1,0) [0|0] "" XXX - SG_ Power_Liftgate_Rqst : 30|1@0+ (1,0) [0|0] "" XXX - SG_ Keycode_Status : 27|20@0+ (1,0) [0|0] "" XXX - -BO_ 275 Power_Liftgate_Mode_StatM: 8 XXX - SG_ Power_Liftgate_Mode_Stat : 7|2@0+ (1,0) [0|0] "" XXX - SG_ DrTgateChime_D_Rq : 5|2@0+ (1,0) [0|0] "" XXX - -BO_ 276 Running_Board_CmdM: 8 XXX - SG_ Running_Board_Cmd : 7|2@0+ (1,0) [0|0] "" XXX - -BO_ 277 Running_Board_StatM: 8 XXX - SG_ Running_Board_Stat : 7|2@0+ (1,0) [0|0] "" XXX - -BO_ 288 ClmtCtrlSeat_SetCmdlegacy1: 8 XXX - SG_ ClmtCtrlSeat_SetCmd_Dvr : 7|8@0+ (1,0) [0|0] "" XXX - -BO_ 289 ClmtCtrlSeat_SetStat_DvrM: 8 XXX - SG_ ClmtCtrlSeat_SetStat_Dvr : 7|8@0+ (1,0) [0|0] "" XXX - -BO_ 290 ClmtCtrlSeat_SetCmdlegacy2: 8 XXX - SG_ ClmtCtrlSeat_SetCmd_Psgr : 7|8@0+ (1,0) [0|0] "" XXX - -BO_ 291 ClmtCtrlSeat_SetStat_PsgrM: 8 XXX - SG_ ClmtCtrlSeat_SetStat_Psgr : 7|8@0+ (1,0) [0|0] "" XXX - -BO_ 292 ClmtCtrlSeatSet_Cmd_v2_MS: 8 XXX - SG_ ClmtCtrlSeat_SetCmd_Psgr : 15|8@0+ (1,0) [0|0] "" XXX - SG_ ClmtCtrlSeat_SetCmd_Dvr : 7|8@0+ (1,0) [0|0] "" XXX - -BO_ 293 ClmtCtrlSeatSet_Stat_v2: 8 XXX - SG_ ClmtCtrlSeat_SetStat_Psgr : 15|8@0+ (1,0) [0|0] "" XXX - SG_ ClmtCtrlSeat_SetStat_Dvr : 7|8@0+ (1,0) [0|0] "" XXX - -BO_ 304 Mirror_Manual_Override_M: 8 XXX - SG_ Mirror_Manual_Override : 7|1@0+ (1,0) [0|0] "Binary" XXX - -BO_ 305 Memory_Sw_StatM: 8 XXX - SG_ Memory_Sw_Message_Count : 15|8@0+ (1,0) [0|0] "Counts" XXX - SG_ Memory_Set_Sw_Stat : 7|1@0+ (1,0) [0|0] "Binary" XXX - SG_ Memory_Set_Cancel : 3|1@0+ (1,0) [0|0] "Binary" XXX - SG_ Memory_3_Sw_Stat : 4|1@0+ (1,0) [0|0] "Binary" XXX - SG_ Memory_2_Sw_Stat : 5|1@0+ (1,0) [0|0] "Binary" XXX - SG_ Memory_1_Sw_Stat : 6|1@0+ (1,0) [0|0] "Binary" XXX - -BO_ 306 Driver_Lock_Sw_StatM: 8 XXX - SG_ Driver_Door_Key_Unlock : 12|1@0+ (1,0) [0|0] "" XXX - SG_ Driver_Door_Key_Lock : 13|1@0+ (1,0) [0|0] "" XXX - SG_ Driver_Lock_Sw_Message_Cnt : 7|8@0+ (1,0) [0|0] "Counts" XXX - SG_ Driver_Lock_Sw_Stat : 15|2@0+ (1,0) [0|0] "" XXX - -BO_ 309 Memory_Cancel_Cmd_M: 8 XXX - SG_ Memory_Cancel_Cmd : 7|1@0+ (1,0) [0|0] "Binary" XXX - -BO_ 310 Driver_Door_Lock_CmdM: 8 XXX - SG_ Driver_Door_Lock_Msg_Cnt : 7|8@0+ (1,0) [0|0] "Counts" XXX - SG_ Driver_Door_Lock_Cmd : 15|4@0+ (1,0) [0|0] "" XXX - -BO_ 311 Pass_Mirror_Sw_StatM: 8 XXX - SG_ Pass_Mirror_Sw_UD_Stat : 7|2@0+ (1,0) [0|0] "" XXX - SG_ Pass_Mirror_Sw_LR_Stat : 5|2@0+ (1,0) [0|0] "" XXX - -BO_ 313 RPwrSlideDr_Unlock_RqstM: 8 XXX - SG_ RPwrSlideDr_Unlock_Rqst : 7|1@0+ (1,0) [0|0] "" XXX - -BO_ 320 LPwrSlideDr_Unlock_RqstM: 8 XXX - SG_ LPwrSlideDr_Unlock_Rqst : 7|1@0+ (1,0) [0|0] "" XXX - -BO_ 321 Passive_Entry_Ctrl_Data: 8 XXX - SG_ PE_Control_Data_1 : 23|8@0+ (1,0) [0|0] "" XXX - SG_ PE_Control_Cmd : 7|3@0+ (1,0) [0|0] "" XXX - SG_ PK_SearchResults_Prog : 63|4@0+ (1,0) [0|0] "" XXX - SG_ PK_SearchResults_MyKey : 4|4@0+ (1,0) [0|0] "" XXX - SG_ PK_SearchResults_Found : 59|4@0+ (1,0) [0|0] "" XXX - SG_ PK_Search_EvNum : 15|8@0+ (1,0) [0|0] "Counts" XXX - SG_ PE_Control_Data_5 : 55|8@0+ (1,0) [0|0] "" XXX - SG_ PE_Control_Data_4 : 47|8@0+ (1,0) [0|0] "" XXX - SG_ PE_Control_Data_3 : 39|8@0+ (1,0) [0|0] "" XXX - SG_ PE_Control_Data_2 : 31|8@0+ (1,0) [0|0] "" XXX - -BO_ 322 Passive_Entry_Target_Data: 8 XXX - SG_ PE_Target_Data_5 : 47|8@0+ (1,0) [0|0] "" XXX - SG_ PE_Target_Cmd : 7|2@0+ (1,0) [0|0] "" XXX - SG_ PE_Target_Status : 5|1@0+ (1,0) [0|0] "" XXX - SG_ PE_Target_Data_1 : 15|8@0+ (1,0) [0|0] "" XXX - SG_ PE_Search_Rqst : 4|2@0+ (1,0) [0|0] "" XXX - SG_ PE_Target_Data_4 : 39|8@0+ (1,0) [0|0] "" XXX - SG_ PE_Target_Data_3 : 31|8@0+ (1,0) [0|0] "" XXX - SG_ PE_Target_Data_2 : 23|8@0+ (1,0) [0|0] "" XXX - -BO_ 577 BCM_m_FrP28: 8 XXX - SG_ WheelRotToothCntFrL : 15|8@0+ (1,0) [0|0] "" XXX - SG_ WheelRotToothCntFrL_UB : 42|1@0+ (1,0) [0|0] "" XXX - SG_ WheelRotToothCntFrR : 23|8@0+ (1,0) [0|0] "" XXX - SG_ WheelRotToothCntFrR_UB : 41|1@0+ (1,0) [0|0] "" XXX - SG_ WheelRotToothCntReL : 31|8@0+ (1,0) [0|0] "" XXX - SG_ WheelRotToothCntReL_UB : 40|1@0+ (1,0) [0|0] "" XXX - SG_ WheelRotToothCntReR : 39|8@0+ (1,0) [0|0] "" XXX - SG_ WheelRotToothCntReR_UB : 43|1@0+ (1,0) [0|0] "" XXX - -BO_ 736 FCIM_Button_Press: 8 XXX - SG_ FCIM_Target_ID : 13|4@0+ (1,0) [0|0] "" XXX - SG_ FCIM_Button_Type : 7|8@0+ (1,0) [0|0] "" XXX - SG_ FCIM_Button_State : 15|2@0+ (1,0) [0|0] "" XXX - -BO_ 806 Compressor_Req: 8 XXX - SG_ HvacEvap_Te_Rq : 33|10@0+ (0.125,-50.0) [0|0] "Degrees C" XXX - SG_ HvacEvap_Te_Actl : 17|10@0+ (0.125,-50.0) [0|0] "Degrees C" XXX - SG_ HvacAirCond_B_Rq : 7|1@0+ (1,0) [0|0] "" XXX - SG_ HvacEvap_Te_Offst : 1|10@0+ (0.125,-50.0) [0|0] "Degrees C" XXX - -BO_ 842 MassageSeat_Data1: 8 XXX - SG_ SeatLmbrUpDrv_Pc_Actl : 38|7@0+ (1,0) [0|0] "%" XXX - SG_ SeatLmbrMidDrv_Pc_Actl : 30|7@0+ (1,0) [0|0] "%" XXX - SG_ SeatLmbrLoDrv_Pc_Actl : 22|7@0+ (1,0) [0|0] "%" XXX - SG_ SeatBlUpDrv_Pc_Actl : 14|7@0+ (1,0) [0|0] "%" XXX - SG_ SeatBlLoDrv_Pc_Actl : 6|7@0+ (1,0) [0|0] "%" XXX - -BO_ 843 MassageSeat_Data2: 8 XXX - SG_ SeatLmbrUpPsgr_Pc_Actl : 38|7@0+ (1,0) [0|0] "%" XXX - SG_ SeatLmbrMidPsgr_Pc_Actl : 30|7@0+ (1,0) [0|0] "%" XXX - SG_ SeatLmbrLoPsgr_Pc_Actl : 22|7@0+ (1,0) [0|0] "%" XXX - SG_ SeatBlUpPsgr_Pc_Actl : 14|7@0+ (1,0) [0|0] "%" XXX - SG_ SeatBlLoPsgr_Pc_Actl : 6|7@0+ (1,0) [0|0] "%" XXX - -BO_ 844 MassageSeat_Stat1: 8 XXX - SG_ StmsLmbrDrv_D_Stat : 17|2@0+ (1,0) [0|0] "" XXX - SG_ StmsCshnDrv_D_Stat : 19|2@0+ (1,0) [0|0] "" XXX - SG_ SeatSwtchDrv_B_Stat : 31|1@0+ (1,0) [0|0] "" XXX - SG_ SeatFnDrv_D_Stat : 23|3@0+ (1,0) [0|0] "" XXX - SG_ SeatAirAmb_P_Actl : 7|16@0+ (0.01,0) [0|0] "KiloPascal" XXX - SG_ SeatPDrv_B_Stat : 20|1@0+ (1,0) [0|0] "" XXX - -BO_ 845 MassageSeat_Stat2: 8 XXX - SG_ StmsLmbrPsgr_D_Stat : 15|2@0+ (1,0) [0|0] "" XXX - SG_ StmsCshnPsgr_D_Stat : 13|2@0+ (1,0) [0|0] "" XXX - SG_ SeatSwtchPsgr_B_Stat : 11|1@0+ (1,0) [0|0] "" XXX - SG_ SeatPPsgr_B_Stat : 7|1@0+ (1,0) [0|0] "" XXX - SG_ SeatFnPsgr_D_Stat : 6|3@0+ (1,0) [0|0] "" XXX - SG_ PsgrMemFeedback_Rsp : 3|4@0+ (1,0) [0|0] "" XXX - -BO_ 846 MassageSeat_Req_MS: 8 XXX - SG_ SeatFnPsgr_D_Rq : 15|3@0+ (1,0) [0|0] "" XXX - SG_ SeatFnDrv_D_Rq : 12|3@0+ (1,0) [0|0] "" XXX - SG_ SeatFnDfaltPsgr_B_Rq : 9|1@0+ (1,0) [0|0] "" XXX - SG_ SeatFnDfaltDrv_B_Rq : 8|1@0+ (1,0) [0|0] "" XXX - SG_ SeatFnChngPsgr_D_Rq : 7|2@0+ (1,0) [0|0] "" XXX - SG_ SeatFnChngDrv_D_Rq : 5|2@0+ (1,0) [0|0] "" XXX - SG_ PsgrMemory_Rq : 3|4@0+ (1,0) [0|0] "" XXX - -BO_ 849 MassageSeat_Data3: 8 XXX - SG_ SeatCshnDrvRR_Pc_Actl : 30|7@0+ (1,0) [0|0] "%" XXX - SG_ SeatCshnDrvRL_Pc_Actl : 22|7@0+ (1,0) [0|0] "%" XXX - SG_ SeatCshnDrvFR_Pc_Actl : 14|7@0+ (1,0) [0|0] "%" XXX - SG_ SeatCshnDrvFL_Pc_Actl : 6|7@0+ (1,0) [0|0] "%" XXX - -BO_ 850 MassageSeat_Data4: 8 XXX - SG_ SeatCshnPsgrRR_Pc_Actl : 30|7@0+ (1,0) [0|0] "%" XXX - SG_ SeatCshnPsgrRL_Pc_Actl : 22|7@0+ (1,0) [0|0] "%" XXX - SG_ SeatCshnPsgrFR_Pc_Actl : 14|7@0+ (1,0) [0|0] "%" XXX - SG_ SeatCshnPsgrFL_Pc_Actl : 6|7@0+ (1,0) [0|0] "%" XXX - -BO_ 853 EFP_CC_Status_MS: 8 XXX - SG_ Save_My_Temp : 59|1@0+ (1,0) [0|0] "" XXX - SG_ Front_Left_Temp_Setpt : 31|8@0+ (1,0) [0|0] "Mixed" XXX - SG_ RrDefrost_HtdMirrorReq : 60|1@0+ (1,0) [0|0] "" XXX - SG_ Rear_Control_Status : 16|1@0+ (1,0) [0|0] "" XXX - SG_ MultipleButtonPressReq : 63|3@0+ (1,0) [0|0] "" XXX - SG_ Rear_System_Mode_Req : 19|3@0+ (1,0) [0|0] "" XXX - SG_ Recirc_Request : 23|2@0+ (1,0) [0|0] "" XXX - SG_ Front_Rt_Temp_Setpt : 39|8@0+ (1,0) [0|0] "Mixed" XXX - SG_ AC_Request : 21|2@0+ (1,0) [0|0] "" XXX - SG_ Windshield_ModeRequest : 15|4@0+ (8.33,0) [0|0] "%" XXX - SG_ Panel_Mode_Request : 7|4@0+ (8.33,0) [0|0] "%" XXX - SG_ Overriding_ModeReq : 10|3@0+ (1,0) [0|0] "" XXX - SG_ Floor_Mode_Request : 3|4@0+ (8.33,0) [0|0] "%" XXX - SG_ Rear_Right_Temp_Setpt : 55|8@0+ (1,0) [0|0] "Mixed" XXX - SG_ Forced_Recirc_Req : 11|1@0+ (1,0) [0|0] "" XXX - SG_ Rear_Left_Temp_Setpt : 47|8@0+ (1,0) [0|0] "Mixed" XXX - -BO_ 854 EFP_CC_Seat_Req_Stat_MS: 8 XXX - SG_ Front_Rear_Blower_Req : 31|6@0+ (1,0) [0|0] "Detents" XXX - SG_ Pass_Rr_Cond_Seat_Req : 21|2@0+ (1,0) [0|0] "" XXX - SG_ Pass_Rr_Cond_Seat_Lvl : 8|3@0+ (1,0) [0|0] "" XXX - SG_ Pass_Fr_Cond_Seat_Req : 13|2@0+ (1,0) [0|0] "" XXX - SG_ Pass_Fr_Cond_Seat_Lvl : 11|3@0+ (1,0) [0|0] "" XXX - SG_ Drvr_Rr_Cond_Seat_Req : 15|2@0+ (1,0) [0|0] "" XXX - SG_ Drvr_Rr_Cond_Seat_Lvl : 2|3@0+ (1,0) [0|0] "" XXX - SG_ Drvr_Fr_Cond_Seat_Req : 7|2@0+ (1,0) [0|0] "" XXX - SG_ Drvr_Fr_Cond_Seat_Lvl : 5|3@0+ (1,0) [0|0] "" XXX - -BO_ 855 RCCM_CC_Status: 8 XXX - SG_ RrBlwrCondStLdShedStat : 25|2@0+ (1,0) [0|0] "" XXX - SG_ FrBlwrCondStLdShedStat : 20|2@0+ (1,0) [0|0] "" XXX - SG_ RCCM_Rr_Rt_TempSetpt : 63|8@0+ (1,0) [0|0] "Mixed" XXX - SG_ RCCM_Rr_Left_TempSetpt : 55|8@0+ (1,0) [0|0] "Mixed" XXX - SG_ RCCM_Fr_Rt_TempSetpt : 47|8@0+ (1,0) [0|0] "Mixed" XXX - SG_ RCCM_Fr_Left_TempSetpt : 39|8@0+ (1,0) [0|0] "Mixed" XXX - SG_ RCCM_Fr_Rr_Blower_Req : 31|6@0+ (1,0) [0|0] "Detents" XXX - SG_ Panel_Mode_State : 7|4@0+ (8.33,0) [0|0] "%" XXX - SG_ RrDefHtdMirrLdShedStat : 18|2@0+ (1,0) [0|0] "" XXX - SG_ Windshield_Mode_State : 15|4@0+ (8.33,0) [0|0] "%" XXX - SG_ Recirc_Door_State : 11|2@0+ (1,0) [0|0] "" XXX - SG_ Rear_System_Mode_State : 23|3@0+ (1,0) [0|0] "" XXX - SG_ Default_Defrost_State : 9|1@0+ (1,0) [0|0] "" XXX - SG_ Auto_AC_Indicator_Temp : 16|1@0+ (1,0) [0|0] "" XXX - SG_ Floor_Mode_State : 3|4@0+ (8.33,0) [0|0] "%" XXX - SG_ RrDefrost_HtdMirrState : 8|1@0+ (1,0) [0|0] "" XXX - -BO_ 856 RCCM_CC_Seat_Status: 8 XXX - SG_ Active_My_Temp : 2|1@0+ (1,0) [0|0] "" XXX - SG_ CC_HtdStrWhl_Req : 24|1@0+ (1,0) [0|0] "" XXX - SG_ RCCM_PR_Cond_Seat_Lvl : 31|3@0+ (1,0) [0|0] "" XXX - SG_ RCCM_PR_Cond_Seat_Req : 28|2@0+ (1,0) [0|0] "" XXX - SG_ RCCM_PF_Cond_Seat_Req : 20|2@0+ (1,0) [0|0] "" XXX - SG_ RCCM_PF_Cond_Seat_Lvl : 23|3@0+ (1,0) [0|0] "" XXX - SG_ RCCM_DR_Cond_Seat_Req : 12|2@0+ (1,0) [0|0] "" XXX - SG_ RCCM_DR_Cond_Seat_Lvl : 15|3@0+ (1,0) [0|0] "" XXX - SG_ RCCM_DF_Cond_Seat_Req : 4|2@0+ (1,0) [0|0] "" XXX - SG_ RCCM_DF_Cond_Seat_Lvl : 7|3@0+ (1,0) [0|0] "" XXX - SG_ PassRrCondStLdShedStat : 26|2@0+ (1,0) [0|0] "" XXX - SG_ PassFrCondStLdShedStat : 18|2@0+ (1,0) [0|0] "" XXX - SG_ DrvRrCondStLdShedStat : 10|2@0+ (1,0) [0|0] "" XXX - SG_ DrvFrCondStLdShedStat : 1|2@0+ (1,0) [0|0] "" XXX - -BO_ 857 RCCM_CC_MBP_Press_Stat: 8 XXX - SG_ Report_Active : 33|2@0+ (1,0) [0|0] "" XXX - SG_ Pass_Temp_Units : 35|1@0+ (1,0) [0|0] "" XXX - SG_ Front_Fan_Bars_Disply : 39|3@0+ (1,0) [0|0] "" XXX - SG_ Drvr_Temp_Units : 36|1@0+ (1,0) [0|0] "" XXX - SG_ MultBtnPushDsplyPass10 : 23|8@0+ (1,0) [0|0] "" XXX - SG_ MultBtnPushDsplyPass1 : 31|8@0+ (1,0) [0|0] "" XXX - SG_ MultBtnPushDsplyDrvr10 : 7|8@0+ (1,0) [0|0] "" XXX - SG_ MultBtnPushDsplyDrvr1 : 15|8@0+ (1,0) [0|0] "" XXX - -BO_ 859 MFD_CC_Status_MS: 8 XXX - SG_ Rear_Mode_Bttn_Status : 38|1@0+ (1,0) [0|0] "" XXX - -BO_ 860 EFP_CC_Info_Status_MS: 8 XXX - SG_ Rear_Panel_Btn_State : 41|1@0+ (1,0) [0|0] "" XXX - SG_ Rear_Floor_Btn_State : 40|1@0+ (1,0) [0|0] "" XXX - SG_ HtdStrWhl_SftBtt_Stt : 39|2@0+ (1,0) [0|0] "" XXX - SG_ AC_Sft_Button_State : 23|2@0+ (1,0) [0|0] "" XXX - SG_ DrvRrCondSeatSftBttnSt : 47|3@0+ (1,0) [0|0] "" XXX - SG_ DrvFrCondSeatSftBtnStt : 37|3@0+ (1,0) [0|0] "" XXX - SG_ CC_RecircSBtn_St : 27|2@0+ (1,0) [0|0] "" XXX - SG_ CC_RrDefrSBtn_St : 24|1@0+ (1,0) [0|0] "" XXX - SG_ PasRrCondSeatSftBttnSt : 44|3@0+ (1,0) [0|0] "" XXX - SG_ PasFrCondSeatSftBtnStt : 34|3@0+ (1,0) [0|0] "" XXX - SG_ MyTemp_Soft_Bttn_State : 25|1@0+ (1,0) [0|0] "" XXX - SG_ CC_MaxACSBtn_St : 28|1@0+ (1,0) [0|0] "" XXX - SG_ RearPowerButtonState : 16|1@0+ (1,0) [0|0] "" XXX - SG_ RearCoolBarsDisplayed : 11|3@0+ (1,0) [0|0] "Bars_On" XXX - SG_ Rear_Sft_Control_Stat : 7|2@0+ (1,0) [0|0] "" XXX - SG_ CC_RrNeutralBarDsp_St : 8|1@0+ (1,0) [0|0] "" XXX - SG_ CC_RrHeatBarsDsp_St : 31|3@0+ (1,0) [0|0] "Bars_On" XXX - SG_ Rear_Fan_Bars_Displayed : 19|3@0+ (1,0) [0|0] "" XXX - SG_ CC_RrCtrlBtn_St : 20|1@0+ (1,0) [0|0] "" XXX - SG_ Rear_Auto_Button_State : 21|1@0+ (1,0) [0|0] "" XXX - SG_ CC_FrPowerSBtn_St : 14|1@0+ (1,0) [0|0] "" XXX - SG_ CC_FrDefrostSBtn_St : 15|1@0+ (1,0) [0|0] "" XXX - SG_ Front_AUTO_Soft_Btn_Stt : 13|1@0+ (1,0) [0|0] "" XXX - SG_ Front_AUTO_MODE_State : 1|1@0+ (1,0) [0|0] "" XXX - SG_ Front_AUTO_FAN_State : 0|1@0+ (1,0) [0|0] "" XXX - SG_ Dual_Button_State : 12|1@0+ (1,0) [0|0] "" XXX - SG_ CC_BarPnlSBtn_St : 5|1@0+ (1,0) [0|0] "" XXX - SG_ CC_BarPnFlrSBtn_St : 4|1@0+ (1,0) [0|0] "" XXX - SG_ CC_BarFlrWsSBtn_St : 2|1@0+ (1,0) [0|0] "" XXX - SG_ CC_BarDrvFlrSBtn_St : 3|1@0+ (1,0) [0|0] "" XXX - -BO_ 861 HSWheel_CC_Info_Stat: 8 XXX - SG_ HtdStrWhl_SftBtt_State : 57|2@0+ (1,0) [0|0] "" XXX - -BO_ 862 Climate_Control_Data_2: 8 XXX - SG_ HvacRec_Pc_Est : 31|7@0+ (1,0) [0|0] "%" XXX - SG_ HvacEngIdleInc_B_Rq : 24|1@0+ (1,0) [0|0] "" XXX - SG_ HvacAir_Flw_Est : 13|9@0+ (0.5,0) [0|0] "liter/second" XXX - SG_ AmbTempImpr : 7|10@0+ (0.25,-128.0) [0|0] "degreesC" XXX - -BO_ 900 Vehicle_Access_RqstM: 8 XXX - SG_ PE_AssocConfirm_D_Actl : 63|3@0+ (1,0) [0|0] "" XXX - SG_ DrTgateOpen_D_RqRfa : 51|2@0+ (1,0) [0|0] "" XXX - SG_ PE_Decklid_Inhibit_Rqst : 53|2@0+ (1,0) [0|0] "" XXX - SG_ PK_Program : 45|2@0+ (1,0) [0|0] "" XXX - SG_ PE_Packet_Cnt : 31|8@0+ (1,0) [0|0] "Counts" XXX - SG_ PE_Control_Status : 33|2@0+ (1,0) [0|0] "" XXX - SG_ PE_Control_Code : 7|8@0+ (1,0) [0|0] "" XXX - SG_ PE_Perimeter_Lighting_Stat : 15|2@0+ (1,0) [0|0] "" XXX - SG_ PE_RKE_Flash_Rqst : 34|1@0+ (1,0) [0|0] "" XXX - SG_ PE_Lock_EvNum : 23|8@0+ (1,0) [0|0] "Counts" XXX - SG_ PE_Lock_Requestor : 39|5@0+ (1,0) [0|0] "" XXX - SG_ PE_Lock_Sub_Id : 11|4@0+ (1,0) [0|0] "" XXX - SG_ PE_Lock_Status : 13|2@0+ (1,0) [0|0] "" XXX - SG_ PE_DrvCfg_Horn_Rqst : 47|2@0+ (1,0) [0|0] "" XXX - SG_ PEBackupSlot_Stats : 55|2@0+ (1,0) [0|0] "" XXX - SG_ PE_Fob_Number : 43|4@0+ (1,0) [0|0] "Number" XXX - SG_ PE_Keypad_LiftGlass_Rqst : 49|1@0+ (1,0) [0|0] "" XXX - -BO_ 901 Vehicle_Lock_Status: 8 XXX - SG_ CntrStkKeycodeActl : 55|16@0+ (1,0) [0|0] "" XXX - SG_ CntrStk_D_RqAssoc_UB : 40|1@0+ (1,0) [0|0] "" XXX - SG_ CntrStk_D_RqAssoc : 43|3@0+ (1,0) [0|0] "" XXX - SG_ KeyTypeChngMykey_D_Rq : 45|2@0+ (1,0) [0|0] "" XXX - SG_ Veh_Lock_Sub_Id : 21|4@0+ (1,0) [0|0] "" XXX - SG_ Veh_Lock_Status : 17|2@0+ (1,0) [0|0] "" XXX - SG_ Veh_Lock_Requestor : 39|5@0+ (1,0) [0|0] "" XXX - SG_ Veh_Lock_EvNum : 31|8@0+ (1,0) [0|0] "Counts" XXX - SG_ Trim_Switch_Status_Count : 15|8@0+ (1,0) [0|0] "Counts" XXX - SG_ Trim_Switch_Status : 23|2@0+ (1,0) [0|0] "" XXX - SG_ DF_KeyCyl_Switch_Stat_Cnt : 7|8@0+ (1,0) [0|0] "Counts" XXX - SG_ DF_KeyCyl_Switch_Stat : 34|2@0+ (1,0) [0|0] "" XXX - SG_ Perimeter_Alarm_Status : 47|2@0+ (1,0) [0|0] "" XXX - SG_ KeyTypeChngMykey_D_Rq_UB : 32|1@0+ (1,0) [0|0] "" XXX - -BO_ 902 Remote_Start: 8 XXX - SG_ Remote_Start_Req : 7|2@0+ (1,0) [0|0] "" XXX - -BO_ 903 CC_FCIM_Update: 8 XXX - SG_ Rr_Temp_M_H_Heat_Ind : 30|1@0+ (1,0) [0|0] "" XXX - SG_ Rr_Fan_7_Indicator : 45|1@0+ (1,0) [0|0] "" XXX - SG_ Rr_Fan_6_Indicator : 46|1@0+ (1,0) [0|0] "" XXX - SG_ Rr_Fan_5_Indicator : 47|1@0+ (1,0) [0|0] "" XXX - SG_ Rr_Fan_4_Indicator : 32|1@0+ (1,0) [0|0] "" XXX - SG_ Rr_Fan_3_Indicator : 33|1@0+ (1,0) [0|0] "" XXX - SG_ Rr_Fan_2_Indicator : 34|1@0+ (1,0) [0|0] "" XXX - SG_ Rr_Fan_Low_Indicator : 35|1@0+ (1,0) [0|0] "" XXX - SG_ AC_Indicator : 36|1@0+ (1,0) [0|0] "" XXX - SG_ Floor_Mode_Indicator : 37|1@0+ (1,0) [0|0] "" XXX - SG_ Panel_Mode_Indicator : 38|1@0+ (1,0) [0|0] "" XXX - SG_ Windshield_Mode_Indicator : 39|1@0+ (1,0) [0|0] "" XXX - SG_ Rr_Temp_High_Cool_Ind : 24|1@0+ (1,0) [0|0] "" XXX - SG_ Rr_Temp_M_H_Cool_Ind : 25|1@0+ (1,0) [0|0] "" XXX - SG_ Rr_Temp_M_L_Cool_Ind : 26|1@0+ (1,0) [0|0] "" XXX - SG_ Rr_Temp_Low_Cool_Ind : 27|1@0+ (1,0) [0|0] "" XXX - SG_ Rr_Temp_Center_Ind_On : 28|1@0+ (1,0) [0|0] "" XXX - SG_ Rr_Temp_High_Heat_Ind : 29|1@0+ (1,0) [0|0] "" XXX - SG_ Rr_Temp_M_L_Heat_Ind : 31|1@0+ (1,0) [0|0] "" XXX - SG_ Rr_Temp_Low_Heat_Ind : 16|1@0+ (1,0) [0|0] "" XXX - SG_ Rear_Control_Indicator : 17|1@0+ (1,0) [0|0] "" XXX - SG_ Auto_Indicator_Rear : 18|1@0+ (1,0) [0|0] "" XXX - SG_ Power_Indicator_Rear : 19|1@0+ (1,0) [0|0] "" XXX - SG_ Rt_Side_U_R_Seat_Cool_Ind : 20|1@0+ (1,0) [0|0] "" XXX - SG_ Rt_Side_M_Seat_Cool_Ind : 21|1@0+ (1,0) [0|0] "" XXX - SG_ Rt_Side_L_L_Seat_Cool_Ind : 22|1@0+ (1,0) [0|0] "" XXX - SG_ Rt_Side_U_R_Seat_Heat_Ind : 23|1@0+ (1,0) [0|0] "" XXX - SG_ Rt_Side_M_Seat_Heat_Ind : 8|1@0+ (1,0) [0|0] "" XXX - SG_ Rt_Side_L_L_Seat_Heat_Ind : 9|1@0+ (1,0) [0|0] "" XXX - SG_ Lft_Side_U_R_Seat_Cool_Ind : 10|1@0+ (1,0) [0|0] "" XXX - SG_ Lft_Side_M_Seat_Cool_Ind : 11|1@0+ (1,0) [0|0] "" XXX - SG_ Lft_Side_L_L_Seat_Cool_Ind : 12|1@0+ (1,0) [0|0] "" XXX - SG_ Lft_Side_U_R_Seat_Heat_Ind : 13|1@0+ (1,0) [0|0] "" XXX - SG_ Lft_Side_M_Seat_Heat_Ind : 14|1@0+ (1,0) [0|0] "" XXX - SG_ Lft_Side_L_L_Seat_Heat_Ind : 15|1@0+ (1,0) [0|0] "" XXX - SG_ Single_Mode_Indicator : 0|1@0+ (1,0) [0|0] "" XXX - SG_ Auto_Indicator : 1|1@0+ (1,0) [0|0] "" XXX - SG_ Recirc_Indicator : 2|1@0+ (1,0) [0|0] "" XXX - SG_ Max_AC_Econ_Indicator : 3|1@0+ (1,0) [0|0] "" XXX - SG_ Rear_DefHtd_Mirr_Indicator : 4|1@0+ (1,0) [0|0] "" XXX - SG_ Defrost_Indicator : 5|1@0+ (1,0) [0|0] "" XXX - SG_ Rt_Temp_Dual_Indicator : 6|1@0+ (1,0) [0|0] "" XXX - SG_ Power_Indicator_Front : 7|1@0+ (1,0) [0|0] "" XXX - -BO_ 904 CC_NavChassis_Info_Status: 8 XXX - SG_ Rear_Defrost_Soft_Bttn_Stt : 52|1@0+ (1,0) [0|0] "" XXX - SG_ Recirc_Soft_Button_State : 54|2@0+ (1,0) [0|0] "" XXX - SG_ Max_AC_Soft_Button_State : 55|1@0+ (1,0) [0|0] "" XXX - SG_ Front_AUTO_Soft_Btn_Stt : 24|1@0+ (1,0) [0|0] "" XXX - SG_ Front_Power_Soft_Btn_State : 25|1@0+ (1,0) [0|0] "" XXX - SG_ Front_Defrost_Soft_Btn_Stt : 26|1@0+ (1,0) [0|0] "" XXX - SG_ Rear_Power_Button_State : 33|1@0+ (1,0) [0|0] "" XXX - SG_ Front_AUTO_FAN_Indicator : 27|1@0+ (1,0) [0|0] "" XXX - SG_ Front_AUTO_MODE_Indicator : 28|1@0+ (1,0) [0|0] "" XXX - SG_ CC_Bar_Rear_Set_Temp_Display : 17|1@0+ (1,0) [0|0] "" XXX - SG_ CC_Bar_Rear_Set_Temp_Units : 19|2@0+ (1,0) [0|0] "" XXX - SG_ Rear_Heat_Bars_Displayed : 42|3@0+ (1,0) [0|0] "Bars_On" XXX - SG_ CC_Bar_Rear_Set_Temp_Dig3 : 21|2@0+ (1,0) [0|0] "" XXX - SG_ CC_Bar_Rear_Set_Temp_Dig2 : 15|8@0+ (1,0) [0|0] "ASCII" XXX - SG_ CC_Bar_Rear_Set_Temp_Dig1 : 7|8@0+ (1,0) [0|0] "ASCII" XXX - SG_ Rear_Neutral_Bar_Displayed : 43|1@0+ (1,0) [0|0] "" XXX - SG_ Rear_Fan_Bars_Displayed : 46|3@0+ (1,0) [0|0] "" XXX - SG_ Rear_Control_Button_State : 47|1@0+ (1,0) [0|0] "" XXX - SG_ Rear_Auto_Button_State : 32|1@0+ (1,0) [0|0] "" XXX - SG_ AC_Sft_Button_State : 35|2@0+ (1,0) [0|0] "" XXX - SG_ Rear_Cool_Bars_Displayed : 38|3@0+ (1,0) [0|0] "Bars_On" XXX - SG_ Dual_Button_State : 39|1@0+ (1,0) [0|0] "" XXX - SG_ CC_Bar_Sft_Btn_FlrWs_State : 29|1@0+ (1,0) [0|0] "" XXX - SG_ CC_Bar_Sft_Btn_Floor_State : 30|1@0+ (1,0) [0|0] "" XXX - SG_ CC_Bar_Sft_Btn_PnFlr_State : 31|1@0+ (1,0) [0|0] "" XXX - SG_ CC_Bar_Sft_Btn_Pnl_State : 16|1@0+ (1,0) [0|0] "" XXX - SG_ Rear_Sft_Control_Status : 23|2@0+ (1,0) [0|0] "" XXX - -BO_ 920 FCIM_CC_Status: 8 XXX - SG_ Manual_Temp_Knob_Pos : 8|9@0+ (1,0) [0|0] "Degrees CW" XXX - SG_ Manual_Blower_Knob_Pos : 24|9@0+ (1,0) [0|0] "Degrees CW" XXX - SG_ Rear_Blower_IncreaseButton : 40|1@0+ (1,0) [0|0] "" XXX - SG_ Rear_Blower_DecreaseButton : 55|1@0+ (1,0) [0|0] "" XXX - SG_ Rear_Temp_Decrease_Button : 41|1@0+ (1,0) [0|0] "" XXX - SG_ Rear_Temp_Increase_Button : 42|1@0+ (1,0) [0|0] "" XXX - SG_ Rear_Control_Button : 43|1@0+ (1,0) [0|0] "" XXX - SG_ Auto_Button_Rear : 44|1@0+ (1,0) [0|0] "" XXX - SG_ Power_Button_Rear : 45|1@0+ (1,0) [0|0] "" XXX - SG_ Rt_Side_Heated_Seat_Btn : 47|1@0+ (1,0) [0|0] "" XXX - SG_ Rt_Side_Cooled_Seat_Btn : 46|1@0+ (1,0) [0|0] "" XXX - SG_ Lft_Side_Cooled_Seat_Btn : 9|1@0+ (1,0) [0|0] "" XXX - SG_ Lft_Side_Heated_Seat_Btn : 10|1@0+ (1,0) [0|0] "" XXX - SG_ Blower_Decrease_Button : 25|1@0+ (1,0) [0|0] "" XXX - SG_ Blower_Increase_Button : 26|1@0+ (1,0) [0|0] "" XXX - SG_ Floor_Defrost_Mode_Button : 27|1@0+ (1,0) [0|0] "" XXX - SG_ Floor_Mode_Button : 28|1@0+ (1,0) [0|0] "" XXX - SG_ Panel_Floor_Mode_Button : 29|1@0+ (1,0) [0|0] "" XXX - SG_ Panel_Mode_Button : 30|1@0+ (1,0) [0|0] "" XXX - SG_ Mode_Change_Button : 31|1@0+ (1,0) [0|0] "" XXX - SG_ Rt_Side_Temp_Increase : 12|1@0+ (1,0) [0|0] "" XXX - SG_ Rt_Side_Temp_Decrease : 11|1@0+ (1,0) [0|0] "" XXX - SG_ Lft_Side_Temp_Decrease : 13|1@0+ (1,0) [0|0] "" XXX - SG_ Lft_Side_Temp_Increase : 14|1@0+ (1,0) [0|0] "" XXX - SG_ Auto_Button_Front : 15|1@0+ (1,0) [0|0] "" XXX - SG_ Recirc_Button : 0|1@0+ (1,0) [0|0] "" XXX - SG_ Max_AC_Econ_Button : 1|1@0+ (1,0) [0|0] "" XXX - SG_ AC_Button : 2|1@0+ (1,0) [0|0] "" XXX - SG_ Rr_Def_Htd_Mirr_Button : 3|1@0+ (1,0) [0|0] "" XXX - SG_ Front_Defrost_Button : 4|1@0+ (1,0) [0|0] "" XXX - SG_ Rt_Side_Temp_Dual_Button : 5|1@0+ (1,0) [0|0] "" XXX - SG_ Power_Button_Front : 6|1@0+ (1,0) [0|0] "" XXX - SG_ Climate_Button : 7|1@0+ (1,0) [0|0] "" XXX - SG_ CcdMde_D_Rq : 54|2@0+ (1,0) [0|0] "" XXX - -BO_ 921 Nav_CC_Status: 8 XXX - SG_ Front_System_Button_Status : 7|5@0+ (1,0) [0|0] "" XXX - SG_ Rear_Temp_Button_Status : 23|2@0+ (1,0) [0|0] "" XXX - SG_ Rear_Man_Temp_Bar_Status : 11|4@0+ (1,0) [0|0] "" XXX - SG_ Rear_Fan_Button_Status : 13|2@0+ (1,0) [0|0] "" XXX - SG_ Rear_Man_ATC_Button_Status : 15|2@0+ (1,0) [0|0] "" XXX - SG_ Rear_Blower_Bar_Status : 2|3@0+ (1,0) [0|0] "# of Bars" XXX - -BO_ 922 VoiceRec_CC_Request: 8 XXX - SG_ Recirculate_On : 10|1@0+ (1,0) [0|0] "" XXX - SG_ Recirculate_Off : 9|1@0+ (1,0) [0|0] "" XXX - SG_ Rear_Defrost_On : 12|1@0+ (1,0) [0|0] "" XXX - SG_ Rear_Defrost_Off : 11|1@0+ (1,0) [0|0] "" XXX - SG_ Max_AC_On : 0|1@0+ (1,0) [0|0] "" XXX - SG_ Max_AC_Off : 15|1@0+ (1,0) [0|0] "" XXX - SG_ Front_Defrost_On : 14|1@0+ (1,0) [0|0] "" XXX - SG_ Front_Defrost_Off : 13|1@0+ (1,0) [0|0] "" XXX - SG_ Front_Blower_Increment : 8|1@0+ (1,0) [0|0] "" XXX - SG_ Front_Blower_Decrement : 23|1@0+ (1,0) [0|0] "" XXX - SG_ Dual_Zone_Off : 5|1@0+ (1,0) [0|0] "" XXX - SG_ Driver_Temp_Increment : 22|1@0+ (1,0) [0|0] "" XXX - SG_ Driver_Temp_Decrement : 21|1@0+ (1,0) [0|0] "" XXX - SG_ Climate_On : 4|1@0+ (1,0) [0|0] "" XXX - SG_ Climate_Off : 3|1@0+ (1,0) [0|0] "" XXX - SG_ Automatic_Mode : 6|1@0+ (1,0) [0|0] "" XXX - SG_ AC_On : 2|1@0+ (1,0) [0|0] "" XXX - SG_ AC_Off : 1|1@0+ (1,0) [0|0] "" XXX - SG_ Voice_Blower_Limit : 7|1@0+ (1,0) [0|0] "" XXX - SG_ Driver_Set_Temp : 31|8@0+ (0.5,0) [0|0] "Degrees" XXX - -BO_ 928 Ignition_Switch_PositionM: 8 XXX - SG_ AirAmb_Te_ActlFilt_UB : 14|1@0+ (1,0) [0|0] "" XXX - SG_ AirAmb_Te_ActlFilt : 49|10@0+ (0.25,-128.0) [0|0] "deg C" XXX - SG_ OdometerMasterValue_UB : 15|1@0+ (1,0) [0|0] "" XXX - SG_ OdometerMasterValue : 31|24@0+ (1,0) [0|0] "km" XXX - SG_ Remote_Start_Status : 13|2@0+ (1,0) [0|0] "" XXX - SG_ Key_In_Ignition_Stat : 3|2@0+ (1,0) [0|0] "" XXX - SG_ Ignition_Switch_Stable : 1|2@0+ (1,0) [0|0] "" XXX - SG_ Ignition_Status : 7|4@0+ (1,0) [0|0] "" XXX - SG_ BOO_Switch_Status : 9|2@0+ (1,0) [0|0] "" XXX - SG_ Remote_Device_Feedback : 23|3@0+ (1,0) [0|0] "" XXX - -BO_ 934 Side_Detect_L_StatusM: 8 XXX - SG_ Cross_Traffic_L_SnState : 23|2@0+ (1,0) [0|0] "" XXX - SG_ SideDetect_L_SysOpState : 3|2@0+ (1,0) [0|0] "" XXX - SG_ SideDetect_L_SnsrState : 1|2@0+ (1,0) [0|0] "" XXX - SG_ Side_Detect_L_Illum : 15|8@0+ (1,0) [0|0] "%" XXX - SG_ Side_Detect_L_Detect : 7|2@0+ (1,0) [0|0] "" XXX - SG_ Cross_Traffic_L_Op_State : 21|2@0+ (1,0) [0|0] "" XXX - SG_ Cross_Traffic_L_Alert : 19|2@0+ (1,0) [0|0] "" XXX - SG_ Side_Detect_L_Alert : 5|2@0+ (1,0) [0|0] "" XXX - -BO_ 935 Side_Detect_R_StatusM: 8 XXX - SG_ Cross_Traffic_R_Alert : 23|2@0+ (1,0) [0|0] "" XXX - SG_ Cross_Traffic_R_SnState : 19|2@0+ (1,0) [0|0] "" XXX - SG_ Cross_Traffic_R_Op_State : 21|2@0+ (1,0) [0|0] "" XXX - SG_ Side_Detect_R_Detect : 7|2@0+ (1,0) [0|0] "" XXX - SG_ Side_Detect_R_Illum : 15|8@0+ (1,0) [0|0] "%" XXX - SG_ SideDetect_R_SnsrState : 1|2@0+ (1,0) [0|0] "" XXX - SG_ SideDetect_R_SysOpState : 3|2@0+ (1,0) [0|0] "" XXX - SG_ Side_Detect_R_Alert : 5|2@0+ (1,0) [0|0] "" XXX - -BO_ 944 Body_Information_6_MS: 8 XXX - SG_ DRV_SELECT_STAT : 3|4@0+ (1,0) [0|0] "" XXX - SG_ reserve_2bits : 7|2@0+ (1,0) [0|0] "" XXX - SG_ reserve_2 : 5|1@0+ (1,0) [0|0] "" XXX - SG_ reserve_3 : 4|1@0+ (1,0) [0|0] "" XXX - -BO_ 945 Ajar_Stat: 8 XXX - SG_ Decklid_Ajar_Status : 3|1@0+ (1,0) [0|0] "" XXX - SG_ Hood_Ajar_Status : 0|1@0+ (1,0) [0|0] "" XXX - SG_ LG_Glass_Ajar_Status : 2|1@0+ (1,0) [0|0] "" XXX - SG_ DF_Door_Ajar_Status : 7|1@0+ (1,0) [0|0] "" XXX - SG_ PF_Door_Ajar_Status : 6|1@0+ (1,0) [0|0] "" XXX - SG_ DR_Door_Ajar_Status : 5|1@0+ (1,0) [0|0] "" XXX - SG_ PR_Door_Ajar_Status : 4|1@0+ (1,0) [0|0] "" XXX - SG_ LG_Door_Ajar_Status : 1|1@0+ (1,0) [0|0] "" XXX - -BO_ 946 Body_Information_5_MS: 8 XXX - SG_ CoolantFanStepAct_UB : 8|1@0+ (1,0) [0|0] "" XXX - SG_ AirCondRec_B_Rq_UB : 38|1@0+ (1,0) [0|0] "" XXX - SG_ AirCondRec_B_Rq : 39|1@0+ (1,0) [0|0] "" XXX - SG_ AirCondEvdc_D_Stats_UB : 34|1@0+ (1,0) [0|0] "" XXX - SG_ AirCondEvdc_D_Stats : 37|3@0+ (1,0) [0|0] "" XXX - SG_ AirCondClutch_B_Stats_UB : 19|1@0+ (1,0) [0|0] "" XXX - SG_ AirCondClutch_B_Stats : 20|1@0+ (1,0) [0|0] "" XXX - SG_ CoolantFanStepAct : 47|5@0+ (1,0) [0|0] "Steps" XXX - SG_ AirCondFluidHi_P_Actl_UB : 18|1@0+ (1,0) [0|0] "" XXX - SG_ AirCondFluidHi_P_Actl : 31|8@0+ (0.125,0) [0|0] "bar" XXX - SG_ SECONDARY_HEATER_STAT_UB : 63|1@0+ (1,0) [0|0] "" XXX - SG_ CURRENT_DRAW_UB : 62|1@0+ (1,0) [0|0] "" XXX - SG_ SECONDARY_HEATER_STAT : 40|1@0+ (1,0) [0|0] "" XXX - SG_ CURRENT_DRAW : 55|8@0+ (0.5,0) [0|0] "Amps" XXX - -BO_ 947 BodyInformation_3_MS: 8 XXX - SG_ CamraDefog_B_Req_UB : 58|1@0+ (1,0) [0|0] "" XXX - SG_ TrStats_D_Actl_UB : 48|1@0+ (1,0) [0|0] "" XXX - SG_ RearFog_Lamp_Dbnce_UB : 49|1@0+ (1,0) [0|0] "" XXX - SG_ TrStats_D_Actl : 13|2@0+ (1,0) [0|0] "" XXX - SG_ CamraDefog_B_Req : 40|1@0+ (1,0) [0|0] "" XXX - SG_ RearFog_Lamp_Dbnce : 0|1@0+ (1,0) [0|0] "" XXX - SG_ CarMode : 53|4@0+ (1,0) [0|0] "" XXX - SG_ Day_Night_Status : 15|2@0+ (1,0) [0|0] "" XXX - SG_ Parklamp_Status : 3|2@0+ (1,0) [0|0] "" XXX - SG_ Dimming_Lvl : 31|8@0+ (1,0) [0|0] "" XXX - SG_ Litval : 23|8@0+ (1,0) [0|0] "" XXX - SG_ Mfs_Turn_Stalk_SW_Status : 11|2@0+ (1,0) [0|0] "" XXX - SG_ PwMdeExten_D_Actl : 63|5@0+ (1,0) [0|0] "" XXX - SG_ STR_WHL_ANGLE : 39|15@0+ (0.1,-1000.0) [0|0] "Degrees" XXX - SG_ Turn_Seq_Cmd_Right : 7|2@0+ (1,0) [0|0] "" XXX - SG_ Turn_Seq_Cmd_Left : 5|2@0+ (1,0) [0|0] "" XXX - SG_ Smart_Wiper_Motor_Stat_UB : 8|1@0+ (1,0) [0|0] "" XXX - SG_ Smart_Wiper_Motor_Stat : 55|2@0+ (1,0) [0|0] "" XXX - SG_ Mfs_Turn_Stalk_SW_Status_UB : 9|1@0+ (1,0) [0|0] "" XXX - SG_ reserve : 1|1@0+ (1,0) [0|0] "" XXX - -BO_ 950 RKE_Packet: 8 XXX - SG_ RemoteKey_Packet_TIC : 7|32@0+ (1,0) [0|0] "" XXX - SG_ RemoteKey_Packet_RollB : 55|8@0+ (1,0) [0|0] "" XXX - SG_ RemoteKey_Packet_RollA : 47|8@0+ (1,0) [0|0] "" XXX - SG_ RemoteKey_Packet_Ctrl : 39|8@0+ (1,0) [0|0] "" XXX - SG_ RemoteKey_Packet_CkSum : 63|8@0+ (1,0) [0|0] "" XXX - -BO_ 951 TPM_Frame: 8 XXX - SG_ TirePress_Frame_Temp : 47|8@0+ (1,0) [0|0] "" XXX - SG_ TirePress_Frame_Status : 55|8@0+ (1,0) [0|0] "" XXX - SG_ TirePress_Frame_Press : 39|8@0+ (1,0) [0|0] "" XXX - SG_ TirePress_Frame_ID : 7|32@0+ (1,0) [0|0] "" XXX - SG_ TirePress_Frame_CkSum : 63|8@0+ (1,0) [0|0] "" XXX - -BO_ 952 RKE_TPM_Info: 8 XXX - SG_ TirePress_HitRate_Ctrl : 15|1@0+ (1,0) [0|0] "" XXX - SG_ RemoteKey_HitRate_Ctrl : 14|1@0+ (1,0) [0|0] "" XXX - SG_ RemoteKey_Antenna_Ctrl : 7|2@0+ (1,0) [0|0] "" XXX - SG_ TirePress_Filter_Ctrl : 5|2@0+ (1,0) [0|0] "" XXX - SG_ RemoteKey_Filter_Ctrl : 3|2@0+ (1,0) [0|0] "" XXX - SG_ Modulation_Ctrl : 1|2@0+ (1,0) [0|0] "" XXX - -BO_ 953 RKE_Info: 8 XXX - SG_ RemoteKey_Info_TIC : 7|32@0+ (1,0) [0|0] "" XXX - SG_ RemoteKey_Info_RollB : 55|8@0+ (1,0) [0|0] "" XXX - SG_ RemoteKey_Info_RollA : 47|8@0+ (1,0) [0|0] "" XXX - SG_ RemoteKey_Info_Ctrl : 39|8@0+ (1,0) [0|0] "" XXX - SG_ RemoteKey_Info_CkSum : 63|8@0+ (1,0) [0|0] "" XXX - -BO_ 954 Tire_Pressure_Info: 8 XXX - SG_ TirePress_Info_MaxInd : 47|8@0+ (1,0) [0|0] "" XXX - SG_ TirePress_Info_Index : 39|8@0+ (1,0) [0|0] "" XXX - SG_ TirePress_Info_ID : 7|32@0+ (1,0) [0|0] "" XXX - -BO_ 956 Body_Information_7_MS: 8 XXX - SG_ GearLvrPos_D_Actl_UB : 21|1@0+ (1,0) [0|0] "" XXX - SG_ PrplWhlTot_Tq_Actl : 31|16@0+ (4.0,-131072.0) [0|0] "Nm" XXX - SG_ GearLvrPos_D_Actl : 7|4@0+ (1,0) [0|0] "" XXX - SG_ ApedPos_Pc_ActlArb : 15|10@0+ (0.1,0) [0|0] "%" XXX - SG_ PrplWhlTot_Tq_Actl_UB : 17|1@0+ (1,0) [0|0] "" XXX - SG_ EngOff_T_Actl : 47|16@0+ (1,0) [0|0] "seconds" XXX - SG_ ApedPos_Pc_ActlArb_UB : 20|1@0+ (1,0) [0|0] "" XXX - -BO_ 958 Rear_FoglampStat: 8 XXX - SG_ RearFog_Lamp_Ind : 7|1@0+ (1,0) [0|0] "" XXX - -BO_ 963 BCM_to_MS_Body: 8 XXX - SG_ LF_Low_Beam_CKT_CAN : 2|1@0+ (1,0) [0|0] "" XXX - SG_ IKT_Program_Status : 51|2@0+ (1,0) [0|0] "" XXX - SG_ Veh_Spd_Slow_Puddle_Status : 41|2@0+ (1,0) [0|0] "" XXX - SG_ Illuminated_Exit_Status : 43|2@0+ (1,0) [0|0] "" XXX - SG_ Illuminated_Entry_Status : 45|2@0+ (1,0) [0|0] "" XXX - SG_ Door_Courtesy_Light_Status : 47|2@0+ (1,0) [0|0] "" XXX - SG_ Courtesy_Demand_BSave_Stat : 33|2@0+ (1,0) [0|0] "" XXX - SG_ Alarm_Lights_Courtesy_Stat : 35|2@0+ (1,0) [0|0] "" XXX - SG_ Courtesy_Delay_Status : 37|2@0+ (1,0) [0|0] "" XXX - SG_ Courtesy_Mode_Status : 39|2@0+ (1,0) [0|0] "" XXX - SG_ Front_Fog_Light_SW_Status : 22|2@0+ (1,0) [0|0] "" XXX - SG_ Brake_Lamp_On_Status : 23|1@0+ (1,0) [0|0] "" XXX - SG_ ParkLamps_CKT_CAN : 8|1@0+ (1,0) [0|0] "" XXX - SG_ RF_Low_Beam_CKT_CAN : 13|1@0+ (1,0) [0|0] "" XXX - SG_ Brk_Fluid_Lvl_Low : 15|2@0+ (1,0) [0|0] "" XXX - SG_ Park_Brake_Status : 4|1@0+ (1,0) [0|0] "" XXX - SG_ High_Beam_Indicator_Rqst : 1|1@0+ (1,0) [0|0] "" XXX - SG_ Headlamp_On_Wrning_Cmd : 6|1@0+ (1,0) [0|0] "" XXX - SG_ Key_In_Ignition_Warn_Cmd : 5|1@0+ (1,0) [0|0] "" XXX - SG_ Park_Brake_Chime_Rqst : 3|1@0+ (1,0) [0|0] "" XXX - SG_ Daytime_Running_Lamps : 0|1@0+ (1,0) [0|0] "" XXX - SG_ AutoHighBeam_Cmd : 18|2@0+ (1,0) [0|0] "" XXX - SG_ Perimeter_Alarm_Chime_Rqst : 20|2@0+ (1,0) [0|0] "" XXX - SG_ OCSSensrDataUpperLim_UB : 11|1@0+ (1,0) [0|0] "" XXX - SG_ OCSSensrDataLowerLim_UB : 12|1@0+ (1,0) [0|0] "" XXX - SG_ OCSSensrDataUpperLim : 63|8@0+ (1,0) [0|0] "" XXX - SG_ OCSSensrDataLowerLim : 31|8@0+ (1,0) [0|0] "" XXX - SG_ AutoHighBeam_Cmd_UB : 16|1@0+ (1,0) [0|0] "" XXX - SG_ PrkBrkActv_B_Actl : 7|1@0+ (1,0) [0|0] "" XXX - SG_ Headlamp_Switch_Stat : 49|2@0+ (1,0) [0|0] "" XXX - SG_ Perimeter_Alarm_Inclin_Cmd : 53|2@0+ (1,0) [0|0] "" XXX - SG_ Perimeter_Alarm_Intrus_Cmd : 55|2@0+ (1,0) [0|0] "" XXX - -BO_ 964 BodyInformation_2_MS: 8 XXX - SG_ LockInhibit : 41|1@0+ (1,0) [0|0] "" XXX - SG_ MetricActvTe_B_Actl_UB : 12|1@0+ (1,0) [0|0] "" XXX - SG_ MetricActvTe_B_Actl : 14|1@0+ (1,0) [0|0] "" XXX - SG_ Power_Liftgate_Mode_Cmd : 42|1@0+ (1,0) [0|0] "" XXX - SG_ AirAmb_Te_Actl : 55|10@0+ (0.25,-128.0) [0|0] "degC" XXX - SG_ EngClntTe_D_Qf : 47|2@0+ (1,0) [0|0] "" XXX - SG_ Cross_Traffic_Cmd : 26|2@0+ (1,0) [0|0] "" XXX - SG_ Side_Detect_Cmd : 28|2@0+ (1,0) [0|0] "" XXX - SG_ SAPPStatusCoding : 39|8@0+ (1,0) [0|0] "" XXX - SG_ Delay_Accy : 31|1@0+ (1,0) [0|0] "" XXX - SG_ Volume_Cutback : 7|1@0+ (1,0) [0|0] "" XXX - SG_ MetricActv_B_Actl : 0|1@0+ (1,0) [0|0] "" XXX - SG_ DrStatTgate_B_Actl : 1|1@0+ (1,0) [0|0] "" XXX - SG_ DrStatRr_B_Actl : 2|1@0+ (1,0) [0|0] "" XXX - SG_ DrStatRl_B_Actl : 3|1@0+ (1,0) [0|0] "" XXX - SG_ DrStatPsngr_B_Actl : 4|1@0+ (1,0) [0|0] "" XXX - SG_ DrStatInnrTgate_B_Actl : 5|1@0+ (1,0) [0|0] "" XXX - SG_ DrStatHood_B_Actl : 6|1@0+ (1,0) [0|0] "" XXX - SG_ DrStatDrv_B_Actl : 10|1@0+ (1,0) [0|0] "" XXX - SG_ EngClnt_Te_Actl : 23|8@0+ (1,-60.0) [0|0] "degC" XXX - SG_ AirAmbTe_D_Qf_UB : 59|1@0+ (1,0) [0|0] "" XXX - SG_ Volume_Cutback_UB : 58|1@0+ (1,0) [0|0] "" XXX - SG_ Side_Detect_Cmd_UB : 57|1@0+ (1,0) [0|0] "" XXX - SG_ SAPPStatusCoding_UB : 56|1@0+ (1,0) [0|0] "" XXX - SG_ Power_Liftgate_Mode_Cmd_UB : 15|1@0+ (1,0) [0|0] "" XXX - SG_ MetricActv_B_Actl_UB : 13|1@0+ (1,0) [0|0] "" XXX - SG_ Cross_Traffic_Cmd_UB : 11|1@0+ (1,0) [0|0] "" XXX - SG_ AirAmbTe_D_Qf : 61|2@0+ (1,0) [0|0] "" XXX - SG_ AirAmb_Te_Actl_UB : 40|1@0+ (1,0) [0|0] "" XXX - SG_ EngClnt_Te_Actl_UB : 24|1@0+ (1,0) [0|0] "" XXX - -BO_ 966 Delay_AccyM_for_P473: 8 XXX - SG_ Delay_Accy : 7|1@0+ (1,0) [0|0] "" XXX - -BO_ 967 CMPS_FDM_Info_StatusMS: 8 XXX - SG_ Segment_MSD_UB : 37|1@0+ (1,0) [0|0] "" XXX - SG_ Segment_LSD_UB : 36|1@0+ (1,0) [0|0] "" XXX - SG_ Compass_Display_UB : 35|1@0+ (1,0) [0|0] "" XXX - SG_ Segment_LSD : 15|8@0+ (1,0) [0|0] "" XXX - SG_ Segment_MSD : 7|8@0+ (1,0) [0|0] "" XXX - SG_ Cal_Icon : 21|1@0+ (1,0) [0|0] "" XXX - SG_ Zone_Icon : 22|1@0+ (1,0) [0|0] "" XXX - SG_ Compass_Display : 23|1@0+ (1,0) [0|0] "" XXX - SG_ Zone_Icon_UB : 34|1@0+ (1,0) [0|0] "" XXX - SG_ Cal_Icon_UB : 33|1@0+ (1,0) [0|0] "" XXX - -BO_ 968 EATC_FDM_Info_Status: 8 XXX - SG_ Outside_Rear_Temp_Digit3 : 47|4@0+ (1,0) [0|0] "BCD" XXX - SG_ Outside_Rear_Temp_Digit2 : 35|4@0+ (1,0) [0|0] "BCD" XXX - SG_ Outside_Rear_Temp_Digit1 : 39|4@0+ (1,0) [0|0] "BCD" XXX - SG_ EATC_Out_Rear_Units : 58|2@0+ (1,0) [0|0] "" XXX - SG_ Outside_Rear_Temp_Digit4 : 55|2@0+ (1,0) [0|0] "" XXX - SG_ EATC_RHS_Units : 60|2@0+ (1,0) [0|0] "" XXX - SG_ EATC_Fan_Speed : 51|3@0+ (1,0) [0|0] "" XXX - SG_ EATC_Outside_Rear_Display : 62|2@0+ (1,0) [0|0] "" XXX - SG_ RHS_Temp_Display_Digit2 : 31|8@0+ (1,0) [0|0] "ASCII" XXX - SG_ RHS_Temp_Display_Digit3 : 41|2@0+ (1,0) [0|0] "" XXX - SG_ RHS_Temp_Display_Digit1 : 23|8@0+ (1,0) [0|0] "ASCII" XXX - SG_ EATC_RHS_Display : 63|1@0+ (1,0) [0|0] "" XXX - SG_ LHS_Temp_Display_Digit3 : 43|2@0+ (1,0) [0|0] "" XXX - SG_ LHS_Temp_Display_Digit2 : 15|8@0+ (1,0) [0|0] "ASCII" XXX - SG_ LHS_Temp_Display_Digit1 : 7|8@0+ (1,0) [0|0] "ASCII" XXX - SG_ EATC_LHS_Display : 48|1@0+ (1,0) [0|0] "" XXX - SG_ EATC_LHS_Units : 53|2@0+ (1,0) [0|0] "" XXX - -BO_ 969 Aux_Body_Ctrl_Mod_Status: 8 XXX - SG_ Perimeter_Alrm_Intrus_Stat : 7|2@0+ (1,0) [0|0] "" XXX - SG_ Turn_Outage_Stat_Rt_Rear : 15|2@0+ (1,0) [0|0] "" XXX - SG_ Turn_Outage_Stat_Left_Rear : 1|2@0+ (1,0) [0|0] "" XXX - SG_ Perimeter_Alrm_Inclin_Stat : 5|2@0+ (1,0) [0|0] "" XXX - -BO_ 976 Veh_Characteristic_Set_2: 8 XXX - SG_ VehMykey_Vl_LimRq_UB : 8|1@0+ (1,0) [0|0] "" XXX - SG_ CamraFrntStat_D_Stat : 21|2@0+ (1,0) [0|0] "" XXX - SG_ CamraZoomMan_D_Actl : 12|3@0+ (1,0) [0|0] "" XXX - SG_ CamZoomActiveState : 17|2@0+ (1,0) [0|0] "" XXX - SG_ CamraOvrlStat_D_Actl : 19|2@0+ (1,0) [0|0] "" XXX - SG_ CamraOvrlDyn_D_Actl : 39|2@0+ (1,0) [0|0] "" XXX - SG_ CamPDCGuidStat : 31|2@0+ (1,0) [0|0] "" XXX - SG_ VehMykey_Vl_LimRq : 14|1@0+ (1,0) [0|0] "" XXX - SG_ IgnKeyType_D_Actl : 4|4@0+ (1,0) [0|0] "" XXX - SG_ New_Module_Attn_Event : 0|1@0+ (1,0) [0|0] "" XXX - SG_ Beltminder_Warn_Stats : 9|1@0+ (1,0) [0|0] "" XXX - SG_ Attn_Info_Audio : 7|3@0+ (1,0) [0|0] "" XXX - -BO_ 977 ClmtCtrlSeat_SetCmd_LRPM: 8 XXX - SG_ ClmtCtrlSeat_SetCmd_LRP : 7|8@0+ (1,0) [0|0] "" XXX - -BO_ 978 ClmtCtrlSeat_SetStat_LRPM: 8 XXX - SG_ ClmtCtrlSeat_SetStat_LRP : 7|8@0+ (1,0) [0|0] "" XXX - -BO_ 979 ClmtCtrlSeat_SetCmd_RRPM: 8 XXX - SG_ ClmtCtrlSeat_SetCmd_RRP : 7|8@0+ (1,0) [0|0] "" XXX - -BO_ 980 ClmtCtrlSeat_SetStat_RRPM: 8 XXX - SG_ ClmtCtrlSeat_SetStat_RRP : 7|8@0+ (1,0) [0|0] "" XXX - -BO_ 981 Rear_HVAC_Control_Status: 8 XXX - SG_ Temp_Knob_Position : 23|9@0+ (1,0) [0|0] "Degrees CW" XXX - SG_ Rear_Lock_Ind_State : 13|1@0+ (1,0) [0|0] "" XXX - SG_ Blower_Knob_Position : 7|9@0+ (1,0) [0|0] "Degrees CW" XXX - SG_ AUTO_Ind_State : 12|1@0+ (1,0) [0|0] "" XXX - SG_ Panel_Mode_Ind_State : 11|1@0+ (1,0) [0|0] "" XXX - SG_ Panel_Floor_Md_Ind_State : 10|2@0+ (1,0) [0|0] "" XXX - SG_ Floor_Mode_Ind_State : 8|1@0+ (1,0) [0|0] "" XXX - SG_ Power_Status : 14|1@0+ (1,0) [0|0] "" XXX - -BO_ 982 Rear_HVAC_Control_Update: 8 XXX - SG_ Power_State_Commanded : 7|2@0+ (1,0) [0|0] "" XXX - SG_ Rear_Lock_Indicator : 15|1@0+ (1,0) [0|0] "" XXX - SG_ Panel_Floor_Mode_Indicator : 4|2@0+ (1,0) [0|0] "" XXX - SG_ R_Floor_Mode_Indicator : 2|1@0+ (1,0) [0|0] "" XXX - SG_ AUTO_Mode_Indicator : 1|2@0+ (1,0) [0|0] "" XXX - SG_ F_Panel_Mode_Indicator : 13|1@0+ (1,0) [0|0] "" XXX - SG_ R_Panel_Mode_Indicator : 12|2@0+ (1,0) [0|0] "" XXX - -BO_ 986 Personality_APIM_Data3_MS: 8 XXX - SG_ LightAmbIntSwtchInc_B : 22|1@0+ (1,0) [0|0] "" XXX - SG_ LightAmbIntSwtchDec_B : 21|1@0+ (1,0) [0|0] "" XXX - SG_ LightAmbIntsty_No_Rq : 15|8@0+ (1,0) [0|0] "% Intensity" XXX - SG_ LightAmbColor_No_Rq : 7|8@0+ (1,0) [0|0] "Color Index" XXX - SG_ LightAmbClrSwtchInc_B : 20|1@0+ (1,0) [0|0] "" XXX - SG_ LightAmbClrSwtchDec_B : 23|1@0+ (1,0) [0|0] "" XXX - -BO_ 987 RHVAC_Data: 8 XXX - SG_ CamraDefog_B_Actl : 7|1@0+ (1,0) [0|0] "" XXX - -BO_ 992 Personality_Data_MS: 8 XXX - SG_ PersSetupRestr_D_Actl : 45|2@0+ (1,0) [0|0] "" XXX - SG_ PersSetupAccessCtrl : 43|1@0+ (1,0) [0|0] "SES" XXX - SG_ PersSetup_No_Actl : 55|16@0+ (1,0) [0|0] "Number" XXX - SG_ MsgCntrPersIndex_D_Rq_UB : 47|1@0+ (1,0) [0|0] "" XXX - SG_ MsgCntrFeatNoRq_UB : 46|1@0+ (1,0) [0|0] "" XXX - SG_ MsgCntrFeatConfigRq_UB : 33|1@0+ (1,0) [0|0] "" XXX - SG_ MsgCntrDsplyOp_D_Rq_UB : 32|1@0+ (1,0) [0|0] "" XXX - SG_ MsgCntrPersIndex_D_Rq : 39|3@0+ (1,0) [0|0] "" XXX - SG_ MsgCntrFeatConfigRq : 23|16@0+ (1,0) [0|0] "" XXX - SG_ MsgCntrFeatNoRq : 7|16@0+ (1,0) [0|0] "Number" XXX - SG_ MsgCntrDsplyOp_D_Rq : 36|3@0+ (1,0) [0|0] "" XXX - -BO_ 993 Personality_DSM_Data: 8 XXX - SG_ PersIndexDsm_D_Actl : 47|3@0+ (1,0) [0|0] "" XXX - SG_ FeatNoDsmActl : 31|16@0+ (1,0) [0|0] "Number" XXX - SG_ FeatConfigDsmActl : 15|16@0+ (1,0) [0|0] "" XXX - SG_ PersStore_D_Actl : 7|2@0+ (1,0) [0|0] "" XXX - SG_ MemSwtch_D_RqRecall : 5|3@0+ (1,0) [0|0] "" XXX - SG_ MemSwtch_D_RqAssoc : 2|3@0+ (1,0) [0|0] "" XXX - -BO_ 994 Personality_Data_MS_2: 8 XXX - SG_ RecallEvent_No_Cnt : 63|8@0+ (1,0) [0|0] "Counts" XXX - SG_ PersNo_D_Actl : 55|3@0+ (1,0) [0|0] "" XXX - SG_ PersNoPos_D_Actl : 44|3@0+ (1,0) [0|0] "" XXX - SG_ PersStore_D_Rq_UB : 41|1@0+ (1,0) [0|0] "" XXX - SG_ CtrStkPersIndex_D_Actl_UB : 40|1@0+ (1,0) [0|0] "" XXX - SG_ CtrStkFeatNoActl_UB : 52|1@0+ (1,0) [0|0] "" XXX - SG_ CtrStkFeatConfigActl_UB : 33|1@0+ (1,0) [0|0] "" XXX - SG_ CtrStkDsplyOp_D_Rq_UB : 32|1@0+ (1,0) [0|0] "" XXX - SG_ CtrStkPersIndex_D_Actl : 39|3@0+ (1,0) [0|0] "" XXX - SG_ CtrStkFeatNoActl : 23|16@0+ (1,0) [0|0] "" XXX - SG_ PersStore_D_Rq : 36|3@0+ (1,0) [0|0] "" XXX - SG_ CtrStkFeatConfigActl : 7|16@0+ (1,0) [0|0] "" XXX - SG_ CtrStkDsplyOp_D_Rq : 47|3@0+ (1,0) [0|0] "" XXX - -BO_ 996 Personality_HCMB_Data: 8 XXX - SG_ PersIndexHcmb_D_Actl : 39|3@0+ (1,0) [0|0] "" XXX - SG_ FeatNoHcmbActl : 23|16@0+ (1,0) [0|0] "Number" XXX - SG_ FeatConfigHcmbActl : 7|16@0+ (1,0) [0|0] "" XXX - -BO_ 999 Personality_HVAC_Data: 8 XXX - SG_ LightAmbIntsty_No_Actl : 55|8@0+ (1,0) [0|0] "% Intensity" XXX - SG_ LightAmbColor_No_Actl : 47|8@0+ (1,0) [0|0] "Color Index" XXX - SG_ PersIndexHvac_D_Actl : 39|3@0+ (1,0) [0|0] "" XXX - SG_ FeatNoHvacActl : 23|16@0+ (1,0) [0|0] "Number" XXX - SG_ FeatConfigHvacActl : 7|16@0+ (1,0) [0|0] "" XXX - -BO_ 1000 ACM_Status_Message: 8 XXX - SG_ Multimedia_System : 26|1@0+ (1,0) [0|0] "" XXX - -BO_ 1001 Personality_RFA_Data: 8 XXX - SG_ PersIndexRfa_D_Actl : 39|3@0+ (1,0) [0|0] "" XXX - SG_ FeatNoRfaActl : 23|16@0+ (1,0) [0|0] "Number" XXX - SG_ FeatConfigRfaActl : 7|16@0+ (1,0) [0|0] "" XXX - -BO_ 1005 Personality_RHVAC_Data: 8 XXX - SG_ PersIndexRhvac_D_Actl : 39|3@0+ (1,0) [0|0] "" XXX - SG_ FeatNoRhvacActl : 23|16@0+ (1,0) [0|0] "Number" XXX - SG_ FeatConfigRhvacActl : 7|16@0+ (1,0) [0|0] "" XXX - -BO_ 1006 Nav_HMI_Status: 8 XXX - SG_ Nav_Unit_Setting : 14|1@0+ (1,0) [0|0] "" XXX - SG_ Fuel_Econ_AFE_Reset_Req : 15|1@0+ (1,0) [0|0] "" XXX - SG_ DistanceBarSetting : 23|1@0+ (1,0) [0|0] "" XXX - SG_ CamraZoomMan_D_Rq : 22|3@0+ (1,0) [0|0] "" XXX - SG_ CamraOvrlStat_D_Rq : 19|1@0+ (1,0) [0|0] "" XXX - SG_ CamraOvrlDyn_D_Rq : 18|1@0+ (1,0) [0|0] "" XXX - SG_ CamAutoTowbarZoom : 17|1@0+ (1,0) [0|0] "" XXX - -BO_ 1023 Reserve_3FF_MKX_Audio: 8 XXX - SG_ reserve : 7|1@0+ (1,0) [0|0] "" XXX - -BO_ 1034 GGCC_Config_Mgmt_ID_1: 8 XXX - SG_ VehicleGGCCData : 7|64@0+ (1,0) [0|0] "mixed" XXX - -BO_ 1050 Climate_Control_Data: 8 XXX - SG_ SecondaryHeater_Rqst : 31|1@0+ (1,0) [0|0] "" XXX - SG_ Passenger_Sunload_Raw : 15|8@0+ (5.0,0) [0|0] "W/m^2" XXX - SG_ Driver_Sunload_Raw : 7|8@0+ (5.0,0) [0|0] "W/m^2" XXX - SG_ HvacEvap_Te_Rq : 43|10@0+ (0.125,-50.0) [0|0] "Degrees C" XXX - SG_ HvacRemoteStrt_N_Rq : 47|4@0+ (100.0,450.0) [0|0] "RPM" XXX - SG_ Remote_Start_QuietMode : 28|1@0+ (1,0) [0|0] "" XXX - SG_ InCarTempQF : 30|2@0+ (1,0) [0|0] "" XXX - SG_ HvacAirCond_B_Rq : 27|1@0+ (1,0) [0|0] "" XXX - SG_ InCarTemp : 39|8@0+ (0.5,-57.0) [0|0] "degreesC" XXX - SG_ Outside_Air_Temp_Stat : 23|8@0+ (0.5,-40.0) [0|0] "Degrees C" XXX - SG_ HvacEvap_Te_Actl : 49|10@0+ (0.125,-50.0) [0|0] "Degrees C" XXX - -BO_ 1059 Engine_Data_MS: 8 XXX - SG_ Res_UreaLvlLo_B_Dsply_UB : 35|1@0+ (1,0) [0|0] "" XXX - SG_ Res_UreaLvlLo_B_Dsply : 36|1@0+ (1,0) [0|0] "" XXX - SG_ Fuel_Level_State : 47|2@0+ (1,0) [0|0] "" XXX - SG_ AwdOffRoadMode_D_Stats_UB : 55|1@0+ (1,0) [0|0] "" XXX - SG_ AwdRnge_D_Actl_UB : 42|1@0+ (1,0) [0|0] "" XXX - SG_ RearDiffLckLamp_D_Rq_UB : 32|1@0+ (1,0) [0|0] "" XXX - SG_ AwdOffRoadMode_D_Stats : 41|2@0+ (1,0) [0|0] "" XXX - SG_ AwdRnge_D_Actl : 45|3@0+ (1,0) [0|0] "" XXX - SG_ RearDiffLckLamp_D_Rq : 34|2@0+ (1,0) [0|0] "" XXX - SG_ VEH_SPD : 7|16@0+ (0.01,-100.0) [0|0] "KPH" XXX - SG_ ENG_SPD : 23|16@0+ (0.25,0) [0|0] "RPM" XXX - SG_ Fuel_Level_State_UB : 37|1@0+ (1,0) [0|0] "" XXX - -BO_ 1061 Engine_Data_2_MS: 8 XXX - SG_ RstrnImpactEvntStatus_UB : 56|1@0+ (1,0) [0|0] "" XXX - SG_ EngAirIn_Te_Actl_UB : 60|1@0+ (1,0) [0|0] "" XXX - SG_ EngAirIn_Te_Actl : 55|10@0+ (0.25,-128.0) [0|0] "degC" XXX - SG_ ACCompressorDisp_UB : 61|1@0+ (1,0) [0|0] "" XXX - SG_ ACCompressorDisp : 46|7@0+ (1,0) [0|0] "%" XXX - SG_ RstrnImpactEvntStatus : 59|3@0+ (1,0) [0|0] "" XXX - SG_ EngAout_N_Actl_UB : 47|1@0+ (1,0) [0|0] "" XXX - SG_ EngAout_N_Actl : 28|13@0+ (2.0,0) [0|0] "rpm" XXX - SG_ VehVActlEng_D_Qf : 31|2@0+ (1,0) [0|0] "" XXX - SG_ Veh_V_ActlEng_UB : 29|1@0+ (1,0) [0|0] "" XXX - SG_ Veh_V_ActlEng : 15|16@0+ (0.01,0) [0|0] "kph" XXX - SG_ PwPck_D_Stat_UB : 3|1@0+ (1,0) [0|0] "" XXX - SG_ PwPck_D_Stat : 7|4@0+ (1,0) [0|0] "" XXX - -BO_ 1062 ACM_NAV_WHEEL_INFO: 8 XXX - SG_ WhlRotatRr_No_Cnt_UB : 63|1@0+ (1,0) [0|0] "" XXX - SG_ WhlRotatRl_No_Cnt_UB : 40|1@0+ (1,0) [0|0] "" XXX - SG_ WhlRotatFr_No_Cnt_UB : 41|1@0+ (1,0) [0|0] "" XXX - SG_ WhlRotatFl_No_Cnt_UB : 42|1@0+ (1,0) [0|0] "" XXX - SG_ WhlDirRr_D_Actl_UB : 44|1@0+ (1,0) [0|0] "" XXX - SG_ WhlDirRl_D_Actl_UB : 45|1@0+ (1,0) [0|0] "" XXX - SG_ WhlDirFr_D_Actl_UB : 46|1@0+ (1,0) [0|0] "" XXX - SG_ WhlDirFl_D_Actl_UB : 47|1@0+ (1,0) [0|0] "" XXX - SG_ WHEEL_ROLLING_TIMESTAMP_UB : 62|1@0+ (1,0) [0|0] "" XXX - SG_ ACM_NAV_WHEEL_INFO_RESET : 43|1@0+ (1,0) [0|0] "" XXX - SG_ WhlRotatRr_No_Cnt : 39|8@0+ (1,0) [0|0] "" XXX - SG_ WhlRotatRl_No_Cnt : 31|8@0+ (1,0) [0|0] "" XXX - SG_ WhlRotatFr_No_Cnt : 23|8@0+ (1,0) [0|0] "" XXX - SG_ WhlRotatFl_No_Cnt : 15|8@0+ (1,0) [0|0] "" XXX - SG_ WhlDirRr_D_Actl : 1|2@0+ (1,0) [0|0] "" XXX - SG_ WhlDirRl_D_Actl : 3|2@0+ (1,0) [0|0] "" XXX - SG_ WhlDirFr_D_Actl : 5|2@0+ (1,0) [0|0] "" XXX - SG_ WhlDirFl_D_Actl : 7|2@0+ (1,0) [0|0] "" XXX - SG_ WHEEL_ROLLING_TIMESTAMP : 55|8@0+ (1,0) [0|0] "" XXX - -BO_ 1068 Battery_Mgmt_2_MS: 8 XXX - SG_ Shed_T_Eng_Off_B : 12|1@0+ (1,0) [0|0] "" XXX - SG_ Shed_Level_Req : 15|3@0+ (1,0) [0|0] "" XXX - SG_ Shed_Feature_Group_ID : 7|5@0+ (1,0) [0|0] "" XXX - SG_ Shed_Drain_Eng_Off_B : 2|1@0+ (1,0) [0|0] "" XXX - SG_ Batt_Lo_SoC_B : 1|1@0+ (1,0) [0|0] "" XXX - SG_ Batt_Crit_SoC_B : 0|1@0+ (1,0) [0|0] "" XXX - -BO_ 1125 GPS_Data_Nav_1: 8 XXX - SG_ GpsHsphLattSth_D_Actl : 25|2@0+ (1,0) [0|0] "" XXX - SG_ GpsHsphLongEast_D_Actl : 9|2@0+ (1,0) [0|0] "" XXX - SG_ GPS_Longitude_Minutes : 46|6@0+ (1,0) [0|0] "Minutes" XXX - SG_ GPS_Longitude_Min_dec : 55|14@0+ (0.0001,0) [0|0] "Minutes" XXX - SG_ GPS_Longitude_Degrees : 39|9@0+ (1,-179.0) [0|0] "Degrees" XXX - SG_ GPS_Latitude_Minutes : 15|6@0+ (1,0) [0|0] "Minutes" XXX - SG_ GPS_Latitude_Min_dec : 23|14@0+ (0.0001,0) [0|0] "Minutes" XXX - SG_ GPS_Latitude_Degrees : 7|8@0+ (1,-89.0) [0|0] "Degrees" XXX - -BO_ 1126 GPS_Data_Nav_2: 8 XXX - SG_ Gps_B_Falt : 2|1@0+ (1,0) [0|0] "" XXX - SG_ GpsUtcYr_No_Actl : 55|5@0+ (1,1.0) [0|0] "Year" XXX - SG_ GpsUtcMnth_No_Actl : 47|4@0+ (1,1.0) [0|0] "Month" XXX - SG_ GpsUtcDay_No_Actl : 37|5@0+ (1,1.0) [0|0] "Day" XXX - SG_ GPS_UTC_seconds : 23|6@0+ (1,0) [0|0] "seconds" XXX - SG_ GPS_UTC_minutes : 15|6@0+ (1,0) [0|0] "Minutes" XXX - SG_ GPS_UTC_hours : 7|5@0+ (1,0) [0|0] "Hours" XXX - SG_ GPS_Pdop : 31|5@0+ (0.2,0) [0|0] "" XXX - SG_ GPS_Compass_direction : 26|4@0+ (1,0) [0|0] "" XXX - SG_ GPS_Actual_vs_Infer_pos : 38|1@0+ (1,0) [0|0] "" XXX - -BO_ 1127 GPS_Data_Nav_3: 8 XXX - SG_ GPS_Vdop : 63|5@0+ (0.2,0) [0|0] "" XXX - SG_ GPS_Speed : 47|8@0+ (1,0) [0|0] "MPH" XXX - SG_ GPS_Sat_num_in_view : 7|5@0+ (1,0) [0|0] "" XXX - SG_ GPS_MSL_altitude : 15|12@0+ (10.0,-20460.0) [0|0] "feet" XXX - SG_ GPS_Heading : 31|16@0+ (0.01,0) [0|0] "Degrees" XXX - SG_ GPS_Hdop : 55|5@0+ (0.2,0) [0|0] "" XXX - SG_ GPS_dimension : 2|3@0+ (1,0) [0|0] "" XXX - -BO_ 1144 GPS_Data_Nav_4: 8 XXX - SG_ VehPos_L_Est : 39|32@0+ (0.01,0) [0|0] "meter" XXX - SG_ VehHead_W_Actl : 23|16@0+ (0.01,-327.68) [0|0] "degrees/second" XXX - SG_ VehHead_An_Est : 7|16@0+ (0.01,0) [0|0] "degrees" XXX diff --git a/opendbc/ford_cgea1_2_ptcan_2011.dbc b/opendbc/ford_cgea1_2_ptcan_2011.dbc deleted file mode 100644 index 128721cbbf7628..00000000000000 --- a/opendbc/ford_cgea1_2_ptcan_2011.dbc +++ /dev/null @@ -1,1487 +0,0 @@ -VERSION "" - - -NS_ : - NS_DESC_ - CM_ - BA_DEF_ - BA_ - VAL_ - CAT_DEF_ - CAT_ - FILTER - BA_DEF_DEF_ - EV_DATA_ - ENVVAR_DATA_ - SGTYPE_ - SGTYPE_VAL_ - BA_DEF_SGTYPE_ - BA_SGTYPE_ - SIG_TYPE_REF_ - VAL_TABLE_ - SIG_GROUP_ - SIG_VALTYPE_ - SIGTYPE_VALTYPE_ - BO_TX_BU_ - BA_DEF_REL_ - BA_REL_ - BA_DEF_DEF_REL_ - BU_SG_REL_ - BU_EV_REL_ - BU_BO_REL_ - SG_MUL_VAL_ - -BS_: - -BU_: XXX - - -BO_ 65 Global_PATS_Control_Info: 8 XXX - SG_ immoControlData_T1 : 15|40@0+ (1,0) [0|0] "" XXX - SG_ immoControlCmd_T1 : 7|3@0+ (1,0) [0|0] "" XXX - -BO_ 66 Global_PATS_Control_Info2: 8 XXX - SG_ immoControlData_T2 : 15|40@0+ (1,0) [0|0] "" XXX - SG_ immoControlCmd_T2 : 7|3@0+ (1,0) [0|0] "" XXX - -BO_ 71 Global_PATS_Target_Info: 8 XXX - SG_ immoTarget1Status : 7|3@0+ (1,0) [0|0] "" XXX - SG_ immoTarget1Data : 15|40@0+ (1,0) [0|0] "" XXX - SG_ immoTarget1Cmd : 4|3@0+ (1,0) [0|0] "" XXX - -BO_ 72 Global_PATS_Target_Info_2: 8 XXX - SG_ immoTarget2Status : 7|3@0+ (1,0) [0|0] "" XXX - SG_ immoTarget2Data : 15|40@0+ (1,0) [0|0] "" XXX - SG_ immoTarget2Cmd : 4|3@0+ (1,0) [0|0] "" XXX - -BO_ 73 Global_PATS_SubTarget_FoE: 8 XXX - SG_ immoSubTarget1Data_T1 : 15|40@0+ (1,0) [0|0] "" XXX - SG_ immoSubTarget1Cmd_T1 : 7|3@0+ (1,0) [0|0] "" XXX - -BO_ 74 VehEmergencyData1: 8 XXX - SG_ VedsPasSideBag_D_Ltchd : 60|3@0+ (1,0) [0|0] "" XXX - SG_ VedsPasCrtnBag_D_Ltchd : 55|3@0+ (1,0) [0|0] "" XXX - SG_ VedsPasBelt_D_Ltchd : 52|3@0+ (1,0) [0|0] "" XXX - SG_ VedsPasBag_D_Ltchd : 47|3@0+ (1,0) [0|0] "" XXX - SG_ VedsMultiEvnt_D_Ltchd : 44|3@0+ (1,0) [0|0] "" XXX - SG_ VedsMaxDeltaV_D_Ltchd : 39|8@0+ (1,0) [0|0] "" XXX - SG_ VedsKneeBag_D_Ltchd : 63|3@0+ (1,0) [0|0] "" XXX - SG_ VedsEvntType_D_Ltchd : 31|3@0+ (1,0) [0|0] "" XXX - SG_ VedsEvntRoll_D_Ltchd : 28|3@0+ (1,0) [0|0] "" XXX - SG_ VedsDrvSideBag_D_Ltchd : 23|3@0+ (1,0) [0|0] "" XXX - SG_ VedsDrvCrtnBag_D_Ltchd : 20|3@0+ (1,0) [0|0] "" XXX - SG_ VedsDrvBelt_D_Ltchd : 15|3@0+ (1,0) [0|0] "" XXX - SG_ VedsDrvBag_D_Ltchd : 12|3@0+ (1,0) [0|0] "" XXX - SG_ eCallNotification : 2|2@0+ (1,0) [0|0] "" XXX - -BO_ 75 VehEmergencyData2: 8 XXX - SG_ VedsRw3rBckl_D_Ltchd : 39|3@0+ (1,0) [0|0] "" XXX - SG_ VedsRw3mBckl_D_Ltchd : 31|3@0+ (1,0) [0|0] "" XXX - SG_ VedsRw3lBckl_D_Ltchd : 28|3@0+ (1,0) [0|0] "" XXX - SG_ VedsRw2rBckl_D_Ltchd : 23|3@0+ (1,0) [0|0] "" XXX - SG_ VedsRw2mBckl_D_Ltchd : 20|3@0+ (1,0) [0|0] "" XXX - SG_ VedsRw2lBckl_D_Ltchd : 15|3@0+ (1,0) [0|0] "" XXX - SG_ VedsRw1PasChld_D_Ltchd : 12|3@0+ (1,0) [0|0] "" XXX - SG_ VedsRw1PasBckl_D_Ltchd : 7|3@0+ (1,0) [0|0] "" XXX - SG_ VedsRw1DrvBckl_D_Ltchd : 4|3@0+ (1,0) [0|0] "" XXX - SG_ VedsRw2rRib_D_Ltchd : 47|3@0+ (1,0) [0|0] "" XXX - SG_ VedsRw2lRib_D_Ltchd : 36|3@0+ (1,0) [0|0] "" XXX - -BO_ 116 BrakeSnData_2_CG1: 8 XXX - SG_ VehDynamicsSOS : 55|1@0+ (1,0) [0|0] "" XXX - SG_ AwdLck_Tq_RqMx : 27|12@0+ (1,0) [0|0] "Nm" XXX - SG_ AwdLck_Tq_RqMn : 23|12@0+ (1,0) [0|0] "Nm" XXX - SG_ SteWhlComp_An_Est : 7|15@0+ (0.1,-1600.0) [0|0] "deg" XXX - SG_ StopLamp_B_RqBrk : 8|1@0+ (1,0) [0|0] "" XXX - SG_ BrkTerrMdeChng_D_Rdy : 45|3@0+ (1,0) [0|0] "" XXX - SG_ BrkTerrMde_D_Actl : 42|3@0+ (1,0) [0|0] "" XXX - SG_ SteWhlCompAnEst_D_Qf : 47|2@0+ (1,0) [0|0] "" XXX - -BO_ 117 BrakeSnData_3_CG1: 8 XXX - SG_ HsaStat_D_Dsply : 35|3@0+ (1,0) [0|0] "" XXX - SG_ HsaTrnAout_Tq_Rq : 55|16@0+ (4.0,-131072.0) [0|0] "Nm" XXX - SG_ HsaStat_D_Actl : 38|3@0+ (1,0) [0|0] "" XXX - SG_ HsaRoad_Grad_Est : 32|9@0+ (0.5,-127.0) [0|0] "%" XXX - SG_ VehYawComp_W_Actl : 7|12@0+ (0.03663,-75.0) [0|0] "deg/s" XXX - SG_ VehYaw_W_Rq : 11|12@0+ (0.03663,-75.0) [0|0] "deg/s" XXX - SG_ VehSideSlip_An_Est : 31|9@0+ (0.002,-0.5) [0|0] "rad" XXX - -BO_ 124 BrakeSnData_4_CG1: 8 XXX - SG_ EngRun_D_ReqBrk : 10|2@0+ (1,0) [0|0] "" XXX - SG_ BrkTotTqRqArb_No_Cs : 23|8@0+ (1,0) [0|0] "" XXX - SG_ BrkTotTqRqArb_No_Cnt : 31|4@0+ (1,0) [0|0] "" XXX - SG_ BrkTot_Tq_RqArb : 7|13@0+ (4.0,0) [0|0] "Nm" XXX - SG_ BrkTot_Tq_Actl : 39|13@0+ (4.0,0) [0|0] "Nm" XXX - SG_ VehOverGnd_V_Est : 55|16@0+ (0.01,0) [0|0] "kph" XXX - -BO_ 129 Steering_Wheel_Data2: 8 XXX - SG_ SteWhlCtl_RSide_OK : 9|1@0+ (1,0) [0|0] "" XXX - SG_ SteWhlCtl_RSide_CursorUp : 8|1@0+ (1,0) [0|0] "" XXX - SG_ SteWhlCtl_RSide_CursorRt : 7|1@0+ (1,0) [0|0] "" XXX - SG_ SteWhlCtl_RSide_CursorLeft : 6|1@0+ (1,0) [0|0] "" XXX - SG_ SteWhlCtl_RSide_CursorDown : 5|1@0+ (1,0) [0|0] "" XXX - SG_ SteWhlCtl_LSide_OK : 4|1@0+ (1,0) [0|0] "" XXX - SG_ SteWhlCtl_LSide_CursorUp : 3|1@0+ (1,0) [0|0] "" XXX - SG_ SteWhlCtl_LSide_CursorRt : 2|1@0+ (1,0) [0|0] "" XXX - SG_ SteWhlCtl_LSide_CursorLeft : 1|1@0+ (1,0) [0|0] "" XXX - SG_ SteWhlCtl_LSide_CursorDown : 0|1@0+ (1,0) [0|0] "" XXX - -BO_ 130 EPAS_INFO: 8 XXX - SG_ SteMdule_U_Meas : 39|8@0+ (0.05,6.0) [0|0] "Volts" XXX - SG_ SteMdule_I_Est : 21|12@0+ (0.05,-64.0) [0|0] "Amps" XXX - SG_ EPAS_FAILURE : 9|2@0+ (1,0) [0|0] "" XXX - SG_ SteeringColumnTorque : 7|8@0+ (0.0625,-8.0) [0|0] "Nm" XXX - SG_ SAPPAngleControlStat6 : 15|1@0+ (1,0) [0|0] "" XXX - SG_ SAPPAngleControlStat5 : 14|1@0+ (1,0) [0|0] "" XXX - SG_ SAPPAngleControlStat4 : 13|1@0+ (1,0) [0|0] "" XXX - SG_ SAPPAngleControlStat3 : 12|1@0+ (1,0) [0|0] "" XXX - SG_ SAPPAngleControlStat2 : 11|1@0+ (1,0) [0|0] "" XXX - SG_ SAPPAngleControlStat1 : 23|2@0+ (1,0) [0|0] "" XXX - -BO_ 131 Steering_Data: 8 XXX - SG_ SteWhlCtl_Mute : 38|1@0+ (1,0) [0|0] "" XXX - SG_ SteWhlCtl_Mode : 24|1@0+ (1,0) [0|0] "" XXX - SG_ SteWhlCtl_OK : 23|1@0+ (1,0) [0|0] "" XXX - SG_ SteWhlCtl_Phone : 22|1@0+ (1,0) [0|0] "" XXX - SG_ SteWhlCtl_End : 21|1@0+ (1,0) [0|0] "" XXX - SG_ SteWhlCtl_Send : 20|1@0+ (1,0) [0|0] "" XXX - SG_ SteWhlCtl_Voice_PTT : 19|1@0+ (1,0) [0|0] "" XXX - SG_ SteWhlCtl_Seek_Left : 10|1@0+ (1,0) [0|0] "" XXX - SG_ SteWhlCtl_Seek_Right : 9|1@0+ (1,0) [0|0] "" XXX - SG_ SteWhlCtl_Media : 8|1@0+ (1,0) [0|0] "" XXX - SG_ SteWhlCtl_Volume_Down : 6|1@0+ (1,0) [0|0] "" XXX - SG_ SteWhlCtl_Volume_Up : 7|1@0+ (1,0) [0|0] "" XXX - SG_ Smart_Wiper_Motor_Stat : 15|2@0+ (1,0) [0|0] "" XXX - SG_ Mfs_Turn_Stalk_SW_Status : 1|2@0+ (1,0) [0|0] "" XXX - SG_ HighBeam_FlashToPassSw : 3|2@0+ (1,0) [0|0] "" XXX - SG_ SteColumn_Status : 13|3@0+ (1,0) [0|0] "" XXX - SG_ SteCol_Manual_Override : 4|1@0+ (1,0) [0|0] "" XXX - SG_ CcButtnStat_D_Actl : 34|11@0+ (1,0) [0|0] "" XXX - SG_ HeatedWash_Mode_Stat : 55|3@0+ (1,0) [0|0] "" XXX - SG_ LaSwtchPos_D_Stat : 18|2@0+ (1,0) [0|0] "" XXX - -BO_ 132 Steering_Wheel_Data_CG1: 8 XXX - SG_ SteWhlRelInit_An_Sns : 7|15@0+ (0.1,-1600.0) [0|0] "deg" XXX - SG_ SteWhlRelCalib_An_Sns : 23|15@0+ (0.1,-1600.0) [0|0] "deg" XXX - SG_ SteWhlRelInit2_An_Sns : 55|16@0+ (0.1,-3200.0) [0|0] "deg" XXX - SG_ SteWhlAn_No_Cs : 39|8@0+ (1,0) [0|0] "" XXX - SG_ SteWhlAn_No_Cnt : 47|4@0+ (1,0) [0|0] "Counts" XXX - -BO_ 145 Yaw_Data: 8 XXX - SG_ VehYaw_W_Actl : 39|16@0+ (0.0002,-6.5) [0|0] "rad/s" XXX - SG_ VehRol_W_Actl : 23|16@0+ (0.0002,-6.5) [0|0] "rad/s" XXX - SG_ VehPtch_W_Actl : 7|16@0+ (0.0002,-6.5) [0|0] "rad/s" XXX - -BO_ 146 Accel_Data: 8 XXX - SG_ VehVertAActl_D_Qf : 38|2@0+ (1,0) [0|0] "" XXX - SG_ VehLongAActl_D_Qf : 22|2@0+ (1,0) [0|0] "" XXX - SG_ VehLatAActl_D_Qf : 6|2@0+ (1,0) [0|0] "" XXX - SG_ VehVert_A_Actl : 36|13@0+ (0.01,-40.0) [0|0] "m/s^2" XXX - SG_ VehLong_A_Actl : 20|13@0+ (0.01,-40.0) [0|0] "m/s^2" XXX - SG_ VehLat_A_Actl : 4|13@0+ (0.01,-40.0) [0|0] "m/s^2" XXX - -BO_ 258 Cluster_Legacy: 8 XXX - SG_ Veh_V_CompLimMx : 27|12@0+ (0.1,0) [0|0] "km/h" XXX - SG_ DISPLAY_SPEED_SCALING : 20|4@0+ (0.5,100.0) [0|0] "%" XXX - SG_ DISPLAY_SPEED_OFFSET : 23|3@0+ (0.5,0) [0|0] "kph" XXX - SG_ Reverse_Mirror_Cmd : 10|1@0+ (1,0) [0|0] "" XXX - SG_ Autolamp_Delay_Cmd : 7|8@0+ (1,0) [0|0] "Seconds" XXX - SG_ Running_Board_Cmd : 13|2@0+ (1,0) [0|0] "" XXX - SG_ Power_Liftgate_Mode_Cmd : 11|1@0+ (1,0) [0|0] "" XXX - -BO_ 259 Body_MsgCntr_Stat_CG1: 8 XXX - SG_ PE_PEPS_System_Stat : 47|8@0+ (1,0) [0|0] "" XXX - SG_ Keycode_Status : 11|20@0+ (1,0) [0|0] "" XXX - SG_ Autolamp_Delay_Stat : 7|8@0+ (1,0) [0|0] "Seconds" XXX - SG_ HvacEvap_Te_Rq_UB : 61|1@0+ (1,0) [0|0] "" XXX - SG_ HvacEvap_Te_Rq : 55|10@0+ (0.125,-50.0) [0|0] "Degrees C" XXX - SG_ Remote_Start_QuietMode_UB : 33|1@0+ (1,0) [0|0] "" XXX - SG_ Remote_Start_QuietMode : 32|1@0+ (1,0) [0|0] "" XXX - -BO_ 264 Side_Detect_CmdM: 8 XXX - SG_ Cross_Traffic_Cmd : 5|2@0+ (1,0) [0|0] "" XXX - SG_ Side_Detect_Cmd : 7|2@0+ (1,0) [0|0] "" XXX - -BO_ 266 ParkAid_Audible_Warn_CmdM: 8 XXX - SG_ AutoPark_Cancel_Request : 15|2@0+ (1,0) [0|0] "" XXX - SG_ ParkAid_Audible_Warn_Cmd : 7|2@0+ (1,0) [0|0] "" XXX - SG_ ParkAid_Aud_Frt_Warn_Cmd : 5|2@0+ (1,0) [0|0] "" XXX - -BO_ 267 ParkAid_Audible_Warn_Stat: 8 XXX - SG_ RpaChime_D_Rq : 31|4@0+ (1,0) [0|0] "" XXX - SG_ FpaChime_D_Rq : 12|4@0+ (1,0) [0|0] "" XXX - SG_ SAPPStatusCoding : 23|8@0+ (1,0) [0|0] "" XXX - SG_ Volume_Cutback : 1|1@0+ (1,0) [0|0] "" XXX - SG_ ParkAid_Fault_Condition : 15|3@0+ (1,0) [0|0] "" XXX - SG_ ParkAid_Audible_Warn_Stat : 7|2@0+ (1,0) [0|0] "" XXX - SG_ ParkAid_Aud_Frt_Trgt_Warn : 3|2@0+ (1,0) [0|0] "" XXX - SG_ ParkAid_Aud_Frt_Warn_Stat : 5|2@0+ (1,0) [0|0] "" XXX - -BO_ 292 ClmtCtrlSeatSet_Cmd_v2: 8 XXX - SG_ ClmtCtrlSeat_SetCmd_Dvr : 7|8@0+ (1,0) [0|0] "" XXX - SG_ ClmtCtrlSeat_SetCmd_Psgr : 15|8@0+ (1,0) [0|0] "" XXX - -BO_ 293 ClmtCtrlSeatSetStat_v2_HS: 8 XXX - SG_ ClmtCtrlSeat_SetStat_Psgr : 15|8@0+ (1,0) [0|0] "" XXX - SG_ ClmtCtrlSeat_SetStat_Dvr : 7|8@0+ (1,0) [0|0] "" XXX - -BO_ 336 TransData_1_CG1: 8 XXX - SG_ TrnAinIdl_N_RqMn : 34|11@0+ (2.0,0) [0|0] "rpm" XXX - SG_ TrnAin_N_RqMxPrtct : 23|10@0+ (25.0,0) [0|0] "rpm" XXX - SG_ TrnAin_Tq_RqFstMx : 29|11@0+ (1,-500.0) [0|0] "Nm" XXX - SG_ TrnAin_Tq_RqSlwMxPrs : 7|11@0+ (1,-500.0) [0|0] "Nm" XXX - -BO_ 337 EngineData_1_CG1: 8 XXX - SG_ TrnEngBrk_B_Allw : 24|1@0+ (1,0) [0|0] "" XXX - SG_ TrnAout_W_ActlUnfilt : 23|15@0+ (0.1,0) [0|0] "rad/s" XXX - SG_ TrnIpcDsplyGear_D_Actl : 7|4@0+ (1,0) [0|0] "" XXX - SG_ TrnIpcDsplyMde_D_Stat : 13|2@0+ (1,0) [0|0] "" XXX - SG_ TrnIpcDsplyMde_D_Actl : 39|3@0+ (1,0) [0|0] "" XXX - SG_ TrnIpcDsplyGear_D_Stat : 9|2@0+ (1,0) [0|0] "" XXX - SG_ TurboBoostPressure : 55|16@0+ (0.01,0) [0|0] "bar" XXX - -BO_ 338 TransData_2_CG1: 8 XXX - SG_ GearPos_D_Actl : 55|4@0+ (1,0) [0|0] "" XXX - SG_ TrnAout2_Tq_Actl : 39|16@0+ (4.0,-131072.0) [0|0] "Nm" XXX - SG_ TrnTotTq_Rt_Actl : 23|16@0+ (0.001,0) [0|0] "" XXX - SG_ TrnGbox_Rt_Pred : 7|16@0+ (0.001,0) [0|0] "" XXX - -BO_ 339 EngineData_2_CG1: 8 XXX - SG_ TrnAin_Tq_MxSpcPdlEngN : 55|11@0+ (1,-500.0) [0|0] "Nm" XXX - SG_ TrnAin_Tq_MnSpcEngN : 31|11@0+ (1,-500.0) [0|0] "Nm" XXX - SG_ EngPtoEngag_B_Actl : 60|1@0+ (1,0) [0|0] "" XXX - SG_ TrnAin_N_SpcEcho : 4|13@0+ (2.0,0) [0|0] "rpm" XXX - -BO_ 340 EngineData_3_CG1: 8 XXX - SG_ AirAmb_Te_ActlFilt : 33|10@0+ (0.25,-128.0) [0|0] "deg C" XXX - SG_ EngAout_N_RqMxPrtct : 12|13@0+ (2.0,0) [0|0] "rpm" XXX - SG_ TqmTerrMdeChng_D_Rdy : 39|3@0+ (1,0) [0|0] "" XXX - SG_ EngAoutIdl_N_RqVsc : 7|11@0+ (2.0,0) [0|0] "rpm" XXX - SG_ TqmTerrMde_D_Actl : 36|3@0+ (1,0) [0|0] "" XXX - SG_ PrplWhlTotVrt_Tq_RqArb : 55|16@0+ (4.0,-131072.0) [0|0] "Nm" XXX - -BO_ 341 EngineData_11_CG1: 8 XXX - SG_ DieslPrtc_D_RqDsply : 42|3@0+ (1,0) [0|0] "" XXX - SG_ EngPullUpPullDown_D_Rq : 20|4@0+ (1,0) [0|0] "" XXX - SG_ TrnAin_Tq_RqDrv : 15|11@0+ (1,-500.0) [0|0] "Nm" XXX - SG_ DieslPrtcRgen_D_Actl : 4|2@0+ (1,0) [0|0] "" XXX - SG_ DieslPrtcRgen_D_Rq : 7|3@0+ (1,0) [0|0] "" XXX - SG_ EngAout_Aa_Actl : 39|10@0+ (0.05,-25.6) [0|0] "rpm/ms" XXX - SG_ EngIgnIndTq_Rt_MnEc : 31|8@0+ (0.005,0) [0|0] "" XXX - SG_ EngFuelCutFull_B_Allw : 45|1@0+ (1,0) [0|0] "" XXX - SG_ EngStrtStopDis_B_Rq : 0|1@0+ (1,0) [0|0] "" XXX - SG_ PrplTqSys_D_Stat : 2|2@0+ (1,0) [0|0] "" XXX - SG_ EngAoutTqDtrb_B_Actl : 16|1@0+ (1,0) [0|0] "" XXX - SG_ EngTurboMde_D_Actl : 44|2@0+ (1,0) [0|0] "" XXX - SG_ EngTeColdPrtct_D_Stats : 54|2@0+ (1,0) [0|0] "" XXX - SG_ EXHAUST_OVERTEMP_PROTECT : 63|1@0+ (1,0) [0|0] "" XXX - SG_ EngExhOvrTe_B_RqDsply : 55|1@0+ (1,0) [0|0] "" XXX - -BO_ 342 Engine_Data_6: 8 XXX - SG_ EngOvrhtMitgActv_D_Ind : 36|2@0+ (1,0) [0|0] "" XXX - SG_ Res_UreaLvlLo_B_Dsply : 34|1@0+ (1,0) [0|0] "" XXX - SG_ EngClntTe_D_Qf : 33|2@0+ (1,0) [0|0] "" XXX - SG_ EngAcsyArcPmp_Tq_Actl : 63|8@0+ (0.5,0) [0|0] "Nm" XXX - SG_ EngOilLvlDsply_D_Rq : 43|4@0+ (1,0) [0|0] "" XXX - SG_ EngCtlAlive_No_Cnt : 47|4@0+ (1,0) [0|0] "" XXX - SG_ EngCtl_No_Cs : 55|8@0+ (1,0) [0|0] "" XXX - SG_ EngOil_Te_Actl : 15|8@0+ (1,-60.0) [0|0] "degC" XXX - SG_ EngClnt_Te_Actl : 7|8@0+ (1,-60.0) [0|0] "degC" XXX - -BO_ 343 EngineData_13_CG1: 8 XXX - SG_ EngStrtFail_B_Actl : 40|1@0+ (1,0) [0|0] "" XXX - SG_ EngStrt_B_Complt : 24|1@0+ (1,0) [0|0] "" XXX - SG_ EngStrtSpin_B_Rdy : 58|1@0+ (1,0) [0|0] "" XXX - SG_ EngWarmUp_B_Complt : 41|1@0+ (1,0) [0|0] "" XXX - SG_ EngAoutTqCtl_B_Falt : 8|1@0+ (1,0) [0|0] "" XXX - SG_ EngAoutActl_No_Cs : 23|8@0+ (1,0) [0|0] "" XXX - SG_ EngAoutActl_No_Cnt : 45|4@0+ (1,0) [0|0] "" XXX - SG_ VehVLim_V_RqArb : 39|9@0+ (0.5,0) [0|0] "kph" XXX - -BO_ 344 EngineData_14: 8 XXX - SG_ ApedPosScal_Pc_Actl : 9|10@0+ (0.1,0) [0|0] "%" XXX - SG_ ApedPosPcActl_No_Cs : 39|8@0+ (1,0) [0|0] "" XXX - SG_ ApedPosPcActl_No_Cnt : 13|4@0+ (1,0) [0|0] "" XXX - -BO_ 345 Engine_Data_7_CG1: 8 XXX - SG_ EngDecelFuelCut_B_Allw : 25|1@0+ (1,0) [0|0] "" XXX - SG_ FuelFlw_Vl_Dsply : 55|10@0+ (25.0,0) [0|0] "Micro_Liter" XXX - SG_ FuelFillInlet_B_Dsply : 32|1@0+ (1,0) [0|0] "" XXX - SG_ EngSrvcRqd_B_Rq : 24|1@0+ (1,0) [0|0] "" XXX - SG_ OdoCount : 47|8@0+ (0.2,0) [0|0] "Meters" XXX - SG_ EngOilLife_Pc_Actl : 39|7@0+ (1,0) [0|0] "%" XXX - SG_ AirAmbTe_D_Qf : 28|2@0+ (1,0) [0|0] "" XXX - SG_ EngTqSlwDly_T_Est : 23|11@0+ (1,0) [0|0] "ms" XXX - SG_ TrnKickDown_B_RqDrv : 26|1@0+ (1,0) [0|0] "" XXX - SG_ AirAmb_Te_Actl : 1|10@0+ (0.25,-128.0) [0|0] "degC" XXX - SG_ AirAmb_P_Actl : 7|6@0+ (10.0,500.0) [0|0] "mbar" XXX - SG_ FuelFilterLamp_B_Dsply : 56|1@0+ (1,0) [0|0] "" XXX - SG_ AirCondRec_B_Rq : 61|1@0+ (1,0) [0|0] "" XXX - SG_ AirCondEvdc_D_Stats : 60|3@0+ (1,0) [0|0] "" XXX - SG_ AirCondClutch_B_Stats : 57|1@0+ (1,0) [0|0] "" XXX - -BO_ 346 EngineData_4_CG1: 8 XXX - SG_ TrnAin_Tq_Rq : 12|11@0+ (1,-500.0) [0|0] "Nm" XXX - SG_ TrnAin_Tq_RqWoMdfy : 55|11@0+ (1,-500.0) [0|0] "Nm" XXX - SG_ TrnAin_Tq_ActlWoMdfy : 36|11@0+ (1,-500.0) [0|0] "Nm" XXX - SG_ TrnAin_Tq_Actl : 7|11@0+ (1,-500.0) [0|0] "Nm" XXX - SG_ TrnAinCtlN_B_Allw : 41|1@0+ (1,0) [0|0] "" XXX - SG_ TrnAinTq_D_Qf : 17|2@0+ (1,0) [0|0] "" XXX - -BO_ 348 EngineData_16_CG1: 8 XXX - SG_ EngOilLvlWarn_D_Rq1 : 50|3@0+ (1,0) [0|0] "" XXX - SG_ EngExhBrkOnLamp_B_Rq : 51|1@0+ (1,0) [0|0] "" XXX - SG_ EngExhBrkAutoLamp_B_Rq : 8|1@0+ (1,0) [0|0] "" XXX - SG_ EngAout_N_MxAllw : 36|13@0+ (2.0,0) [0|0] "rpm" XXX - SG_ EngAoutIdl_N_MnAllw : 31|11@0+ (1,0) [0|0] "rpm" XXX - SG_ EngAoutIdlRqEc_No_Cs : 23|8@0+ (1,0) [0|0] "" XXX - SG_ EngAoutIdlRqEc_No_Cnt : 12|4@0+ (1,0) [0|0] "" XXX - SG_ EngAoutIdl_N_RqEc : 7|11@0+ (2.0,0) [0|0] "rpm" XXX - SG_ EngExhBrkMde_D_Actl : 55|4@0+ (1,0) [0|0] "" XXX - -BO_ 349 EngineData_17_CG1: 8 XXX - SG_ EngResv_Tq_Actl : 52|11@0+ (1,-500.0) [0|0] "Nm" XXX - SG_ EngAout_Tq_ActlSlw : 47|11@0+ (1,-500.0) [0|0] "Nm" XXX - SG_ EngExhCat_Te_Est : 13|10@0+ (2.0,-60.0) [0|0] "degC" XXX - SG_ EngCylCutIndTq_Rt_Actl : 39|8@0+ (0.005,0) [0|0] "Nm" XXX - SG_ Eng_Aa_CalcEvntCyc : 7|10@0+ (0.05,-25.6) [0|0] "rpm/ms" XXX - SG_ Eng_Aa_CalcEvntCbust : 19|10@0+ (0.05,-25.6) [0|0] "rpm/ms" XXX - SG_ WaterInFuel : 25|1@0+ (1,0) [0|0] "" XXX - SG_ GlowIndication : 24|1@0+ (1,0) [0|0] "" XXX - -BO_ 350 EngineData_18_CG1: 8 XXX - SG_ EngAoutTqActl_D_Qf : 17|2@0+ (1,0) [0|0] "" XXX - SG_ EngAout_Tq_MnSpcNRtrd : 36|11@0+ (1,-500.0) [0|0] "Nm" XXX - SG_ EngAout_Tq_Actl : 31|11@0+ (1,-500.0) [0|0] "Nm" XXX - SG_ EngAoutLss_Tq_EstSpcN : 12|11@0+ (1,-500.0) [0|0] "Nm" XXX - SG_ EngAout_Tq_MnSpcN : 7|11@0+ (1,-500.0) [0|0] "Nm" XXX - -BO_ 351 EngineData_19: 8 XXX - SG_ VehPreDelvr_V_LimMx : 15|16@0+ (0.01,0) [0|0] "kph" XXX - SG_ BattLo_U_MeasEngMdule : 7|8@0+ (0.1,0) [0|0] "V" XXX - SG_ EngStall_B_Actl : 47|1@0+ (1,0) [0|0] "" XXX - SG_ EngDashPotActv_B_Actl : 46|1@0+ (1,0) [0|0] "" XXX - SG_ EngAout_Tq_MnAllw : 42|11@0+ (1,-500.0) [0|0] "Nm" XXX - -BO_ 352 TransData_3_CG1: 8 XXX - SG_ TrnAinCtlN_N_RqMx : 7|13@0+ (2.0,0) [0|0] "rpm" XXX - SG_ TrnAin_Tq_RqSlwMxShif : 42|11@0+ (1,-500.0) [0|0] "Nm" XXX - SG_ TrnAinCtlN_B_RqEnbl : 10|1@0+ (1,0) [0|0] "" XXX - SG_ TrnGboxIn_N_Actl : 23|13@0+ (2.0,0) [0|0] "rpm" XXX - -BO_ 353 Engine_Data_8: 8 XXX - SG_ TrnAinTqDtrb_B_Actl : 5|1@0+ (1,0) [0|0] "" XXX - SG_ TrnAin_Tq_MnSpcEngN : 34|11@0+ (1,-500.0) [0|0] "Nm" XXX - SG_ EngAout_N_RqMnPrtct : 20|13@0+ (2.0,0) [0|0] "rpm" XXX - SG_ EngAout_N_MnAllw : 4|13@0+ (2.0,0) [0|0] "rpm" XXX - -BO_ 354 CGEA_Urea_Strategy_CG1: 8 XXX - SG_ UreaQltySys_D_RqDsply : 27|3@0+ (1,0) [0|0] "" XXX - SG_ UreaLvlTxt_D_RqDsply : 31|4@0+ (1,0) [0|0] "" XXX - SG_ VehUreaImmo_No_DsplyMx : 12|3@0+ (1,0) [0|0] "Counts" XXX - SG_ VehUreaWarn_V_DsplyMx : 23|7@0+ (1,0) [0|0] "km/h" XXX - SG_ VehUreaRnge_L_DsplyMx : 7|11@0+ (1,0) [0|0] "km" XXX - -BO_ 355 EngineData_10: 8 XXX - SG_ WhlRearDual_D_Stat : 57|2@0+ (1,0) [0|0] "" XXX - SG_ EngPtoMde_D_Actl : 60|3@0+ (1,0) [0|0] "" XXX - SG_ ManRgenVeh_V_MinAllw : 55|7@0+ (1,0) [0|0] "kilometer/hour" XXX - SG_ ManRgenTxt_D_RqDsply : 63|3@0+ (1,0) [0|0] "" XXX - SG_ ManRgenSoot_Pc_RqDsply : 39|7@0+ (1,0) [0|0] "%" XXX - SG_ ManRgenInhbt_T_RqDsply : 23|16@0+ (1,0) [0|0] "Minutes" XXX - SG_ ManRgenInhbt_Pc_Soot : 47|7@0+ (1,0) [0|0] "%" XXX - SG_ ManRgenInhbt_L_RqDsply : 7|16@0+ (1,0) [0|0] "kilometer" XXX - -BO_ 357 EngBrakeData: 8 XXX - SG_ CmbbDeny_B_ActlPrpl : 3|1@0+ (1,0) [0|0] "" XXX - SG_ BpedDrvAppl_No_Cs : 39|8@0+ (1,0) [0|0] "" XXX - SG_ BpedDrvAppl_No_Cnt : 27|4@0+ (1,0) [0|0] "" XXX - SG_ BpedDrvAppl_D_Actl : 31|2@0+ (1,0) [0|0] "" XXX - SG_ CmbbEngTqMn_B_Actl : 7|1@0+ (1,0) [0|0] "" XXX - SG_ Veh_V_DsplyCcSet : 23|8@0+ (1,0) [0|0] "" XXX - SG_ AccEngStat_D_Actl : 2|3@0+ (1,0) [0|0] "" XXX - SG_ CcMde_D_Actl : 13|3@0+ (1,0) [0|0] "" XXX - SG_ TrnAinTqDtrb_B_Actl : 6|1@0+ (1,0) [0|0] "" XXX - SG_ CcStat_D_Actl : 10|3@0+ (1,0) [0|0] "" XXX - SG_ CcOvrrdActv_B_Actl : 15|1@0+ (1,0) [0|0] "" XXX - SG_ PwPck_D_Stat : 59|4@0+ (1,0) [0|0] "" XXX - -BO_ 389 ACCDATA_CG1: 8 XXX - SG_ AccPrpl_A_Pred : 14|10@0+ (0.01,-5.0) [0|0] "m/s^2" XXX - SG_ AccBrkPrkEl_B_Rq : 41|1@0+ (1,0) [0|0] "" XXX - SG_ Cmbb_B_Enbl : 56|1@0+ (1,0) [0|0] "" XXX - SG_ CmbbOvrrd_B_RqDrv : 57|1@0+ (1,0) [0|0] "" XXX - SG_ CmbbDeny_B_Actl : 40|1@0+ (1,0) [0|0] "" XXX - SG_ AccVeh_V_Trg : 7|9@0+ (0.5,0) [0|0] "kph" XXX - SG_ CmbbEngTqMn_B_Rq : 58|1@0+ (1,0) [0|0] "" XXX - SG_ AccPrpl_A_Rq : 55|10@0+ (0.01,-5.0) [0|0] "m/s^2" XXX - SG_ AccDeny_B_Rq : 59|1@0+ (1,0) [0|0] "" XXX - SG_ AccCancl_B_Rq : 42|1@0+ (1,0) [0|0] "" XXX - SG_ AccBrkTot_A_Rq : 39|13@0+ (0.0039,-20.0) [0|0] "m/s^2" XXX - SG_ AccBrkPrchg_B_Rq : 60|1@0+ (1,0) [0|0] "" XXX - SG_ AccBrkDecel_B_Rq : 61|1@0+ (1,0) [0|0] "" XXX - -BO_ 392 HeadUpDisplayStat: 8 XXX - SG_ Hud_B_Falt : 5|1@0+ (1,0) [0|0] "" XXX - SG_ HudActv_B_Actl : 7|1@0+ (1,0) [0|0] "" XXX - SG_ Hud_B_Avail : 6|1@0+ (1,0) [0|0] "" XXX - -BO_ 393 ACCDATA_2_CG1: 8 XXX - SG_ ACC_AUTOBRAKE_CANCEL : 56|1@0+ (1,0) [0|0] "" XXX - SG_ ACC_RESUME_ACTIVE : 57|1@0+ (1,0) [0|0] "" XXX - SG_ FcwAudioWarn_B_Rq : 58|1@0+ (1,0) [0|0] "" XXX - SG_ CadsAudioMute_D_Rq : 61|2@0+ (1,0) [0|0] "" XXX - SG_ AccWarn_D_Dsply : 63|2@0+ (1,0) [0|0] "" XXX - SG_ HudDsplyIntns_No_Actl : 55|8@0+ (0.5,0) [0|0] "%" XXX - SG_ FcwVisblWarn_B_Rq : 40|1@0+ (1,0) [0|0] "" XXX - SG_ HudBlk3_B_Rq : 41|1@0+ (1,0) [0|0] "" XXX - SG_ HudBlk2_B_Rq : 43|1@0+ (1,0) [0|0] "" XXX - SG_ HudBlk1_B_Rq : 42|1@0+ (1,0) [0|0] "" XXX - SG_ HudFlashRate_D_Actl : 45|2@0+ (1,0) [0|0] "" XXX - SG_ CmbbBrkDecel_No_Cs : 39|8@0+ (1,0) [0|0] "" XXX - SG_ CmbbBrkDecel_A_Rq : 23|13@0+ (0.0039,-20.0) [0|0] "m/s^2" XXX - SG_ CmbbBrkPrchg_D_Rq : 47|2@0+ (1,0) [0|0] "" XXX - SG_ CmbbBrkDecel_B_Rq : 26|1@0+ (1,0) [0|0] "" XXX - SG_ CmbbBaSens_D_Rq : 25|2@0+ (1,0) [0|0] "" XXX - SG_ AccPrpl_V_Rq : 7|16@0+ (0.01,0) [0|0] "kph" XXX - -BO_ 394 ACCDATA_3: 8 XXX - SG_ CadsMntr_No_Chk : 55|8@0+ (1,0) [0|0] "" XXX - SG_ FcwDeny_B_Dsply : 10|1@0+ (1,0) [0|0] "" XXX - SG_ FdaWarn_B_Rq : 21|1@0+ (1,0) [0|0] "" XXX - SG_ FcwMemStat_B_Actl : 30|1@0+ (1,0) [0|0] "" XXX - SG_ AccTGap_B_Dsply : 35|1@0+ (1,0) [0|0] "" XXX - SG_ AccMsgTxt_D_Rq : 39|4@0+ (1,0) [0|0] "" XXX - SG_ CadsAlignIncplt_B_Actl : 29|1@0+ (1,0) [0|0] "" XXX - SG_ AccLowVMde_B_Dsply : 16|1@0+ (1,0) [0|0] "" XXX - SG_ AccFllwMde_B_Dsply : 17|1@0+ (1,0) [0|0] "" XXX - SG_ CadsRadrBlck_B_Actl : 22|1@0+ (1,0) [0|0] "" XXX - SG_ FdaStat_D_Dsply : 3|3@0+ (1,0) [0|0] "" XXX - SG_ FdaDeny_B_Dsply : 4|1@0+ (1,0) [0|0] "" XXX - SG_ AccTrgDist_D_Dsply : 28|4@0+ (1,0) [0|0] "" XXX - SG_ CadsChime_B_Rq : 24|1@0+ (1,0) [0|0] "" XXX - SG_ CmbbPostEvnt_B_Dsply : 15|1@0+ (1,0) [0|0] "" XXX - SG_ FcwCmbbSrvcRqd_B_Rq : 12|1@0+ (1,0) [0|0] "" XXX - SG_ AccStopMde_B_Dsply : 0|1@0+ (1,0) [0|0] "" XXX - SG_ CadsCamraBlck_B_Actl : 23|1@0+ (1,0) [0|0] "" XXX - SG_ FcwMemSens_D_Actl : 20|2@0+ (1,0) [0|0] "" XXX - SG_ FcwMemDfaltOn_B_Actl : 18|1@0+ (1,0) [0|0] "" XXX - SG_ AccSrvcRqd_B_Rq : 14|1@0+ (1,0) [0|0] "" XXX - SG_ FcwMsgTxt_D_Rq : 7|3@0+ (1,0) [0|0] "" XXX - SG_ FcwMemAudioOn_B_Actl : 9|1@0+ (1,0) [0|0] "" XXX - SG_ AccTGap_D_Dsply : 34|3@0+ (1,0) [0|0] "" XXX - SG_ AccMemEnbl_B_RqDrv : 42|1@0+ (1,0) [0|0] "" XXX - SG_ FdaMem_B_Stat : 41|1@0+ (1,0) [0|0] "" XXX - -BO_ 512 TorqueDataEngFlags: 8 XXX - SG_ BrkOnOffSwtch_D_Actl : 54|2@0+ (1,0) [0|0] "" XXX - SG_ PrplTqMnSat_B_Actl : 55|1@0+ (1,0) [0|0] "" XXX - SG_ PrplWhlTot_Tq_Rq : 39|16@0+ (4.0,-131072.0) [0|0] "Nm" XXX - SG_ PrplWhlTot_Tq_LimMn : 23|16@0+ (4.0,-131072.0) [0|0] "Nm" XXX - SG_ PrplWhlTot_Tq_Actl : 7|16@0+ (4.0,-131072.0) [0|0] "Nm" XXX - SG_ ACCompressorDisp : 63|7@0+ (1,0) [0|0] "%" XXX - -BO_ 513 EngVehicleSpThrottle_CG1: 8 XXX - SG_ ApedPos_PcRate_ActlArb : 63|8@0+ (0.04,-5.0) [0|0] "%/ms" XXX - SG_ Veh_V_RqCcSet : 45|9@0+ (0.5,0) [0|0] "kph" XXX - SG_ VehVActlEng_D_Qf : 9|2@0+ (1,0) [0|0] "" XXX - SG_ reserve : 10|1@0+ (1,0) [0|0] "" XXX - SG_ EngAout_N_Actl : 7|13@0+ (2.0,0) [0|0] "rpm" XXX - SG_ Veh_V_ActlEng : 23|16@0+ (0.01,0) [0|0] "kph" XXX - SG_ ApedPos_Pc_ActlArb : 39|10@0+ (0.1,0) [0|0] "%" XXX - SG_ ApedPosPcActl_D_Qf : 52|2@0+ (1,0) [0|0] "" XXX - SG_ Autostart_B_Stat : 50|1@0+ (1,0) [0|0] "" XXX - -BO_ 529 DesiredTorqBrk_CG1: 8 XXX - SG_ CmbbBrkDis_B_Actl : 56|1@0+ (1,0) [0|0] "" XXX - SG_ CMbbDeny_B_ActlBrk : 60|1@0+ (1,0) [0|0] "" XXX - SG_ RgenTqLimActv_B_Actl : 32|1@0+ (1,0) [0|0] "" XXX - SG_ CcDis_B_Cmd : 53|1@0+ (1,0) [0|0] "" XXX - SG_ TrlrBrk_Pc_Rq : 39|7@0+ (1,0) [0|0] "%" XXX - SG_ RearDiffLck_Tq_RqMx : 23|12@0+ (1,0) [0|0] "Nm" XXX - SG_ VehLongOvrGnd_A_Est : 47|10@0+ (0.035,-17.9) [0|0] "m/s^2" XXX - SG_ StabCtlBrkActv_B_Actl : 27|1@0+ (1,0) [0|0] "" XXX - SG_ CmbbBrkPrchg_B_Actl : 59|1@0+ (1,0) [0|0] "" XXX - SG_ CmbbBrkDecel_B_Actl : 58|1@0+ (1,0) [0|0] "" XXX - SG_ CmbbBaSensInc_B_Actl : 57|1@0+ (1,0) [0|0] "" XXX - SG_ AccBrkWarm_B_Actl : 63|1@0+ (1,0) [0|0] "" XXX - SG_ AccBrkTotTqMn_B_Actl : 62|1@0+ (1,0) [0|0] "" XXX - SG_ AccBrkPrchgActv_B_Actl : 61|1@0+ (1,0) [0|0] "" XXX - SG_ AccBrkDis_B_Actl : 50|1@0+ (1,0) [0|0] "" XXX - SG_ AccBrkDeny_B_Actl : 49|1@0+ (1,0) [0|0] "" XXX - SG_ AccBrkActv_B_Actl : 48|1@0+ (1,0) [0|0] "" XXX - SG_ PrplDrgCtlActv_B_Actl : 52|1@0+ (1,0) [0|0] "" XXX - SG_ PrplWhlTot_Tq_RqMx : 7|16@0+ (4.0,-131072.0) [0|0] "Nm" XXX - SG_ AbsActv_B_Actl : 51|1@0+ (1,0) [0|0] "" XXX - -BO_ 533 WheelSpeed_CG1: 8 XXX - SG_ WhlRr_W_Meas : 55|15@0+ (0.01,0) [0|0] "rad/s" XXX - SG_ WhlRl_W_Meas : 39|15@0+ (0.01,0) [0|0] "rad/s" XXX - SG_ WhlFr_W_Meas : 23|15@0+ (0.01,0) [0|0] "rad/s" XXX - SG_ WhlFl_W_Meas : 7|15@0+ (0.01,0) [0|0] "rad/s" XXX - -BO_ 534 WheelData: 8 XXX - SG_ WhlRotatRr_No_Cnt : 23|8@0+ (1,0) [0|0] "" XXX - SG_ WhlDirRr_D_Actl : 33|2@0+ (1,0) [0|0] "" XXX - SG_ WhlDirRl_D_Actl : 39|2@0+ (1,0) [0|0] "" XXX - SG_ WhlDirFr_D_Actl : 37|2@0+ (1,0) [0|0] "" XXX - SG_ WhlDirFl_D_Actl : 35|2@0+ (1,0) [0|0] "" XXX - SG_ WhlRotatRl_No_Cnt : 31|8@0+ (1,0) [0|0] "" XXX - SG_ WhlRotatFr_No_Cnt : 7|8@0+ (1,0) [0|0] "" XXX - SG_ WhlRotatFl_No_Cnt : 15|8@0+ (1,0) [0|0] "" XXX - SG_ WHEEL_ROLLING_TIMESTAMP : 47|8@0+ (1,0) [0|0] "" XXX - -BO_ 557 InfoCAN_22D: 8 XXX - SG_ Multimedia_System : 7|1@0+ (1,0) [0|0] "" XXX - -BO_ 560 TransGearData: 8 XXX - SG_ TrnIpcDsplyRng_D_Actl : 14|3@0+ (1,0) [0|0] "" XXX - SG_ TrnGbox_Rt_Actl : 47|16@0+ (0.001,0) [0|0] "" XXX - SG_ TrnShifMde_D_RqDrv : 3|3@0+ (1,0) [0|0] "" XXX - SG_ TrnSrvcRqd_B_Rq : 63|1@0+ (1,0) [0|0] "" XXX - SG_ GearPos_D_Trg : 7|4@0+ (1,0) [0|0] "" XXX - SG_ TrnCnvtClu_D_Actl : 11|2@0+ (1,0) [0|0] "" XXX - SG_ TrnShifActv_B_Actl : 0|1@0+ (1,0) [0|0] "" XXX - SG_ RtmTerrMdeChng_D_Rdy : 58|3@0+ (1,0) [0|0] "" XXX - SG_ RtmTerrMde_D_Actl : 61|3@0+ (1,0) [0|0] "" XXX - SG_ GearRvrseActv_B_Actl : 62|1@0+ (1,0) [0|0] "" XXX - SG_ GearLvrPos_D_Actl : 23|4@0+ (1,0) [0|0] "" XXX - SG_ GboxOil_Te_Actl : 31|8@0+ (1,-60.0) [0|0] "degC" XXX - -BO_ 561 TransGearData_2: 8 XXX - SG_ MtrGen1Aout_Tq_Rq : 53|14@0+ (0.1,-800.0) [0|0] "Nm" XXX - SG_ MtrGen1AoutTqRq_No_Cs : 7|8@0+ (1,0) [0|0] "" XXX - SG_ MtrGen1AoutTqRq_No_Cnt : 15|4@0+ (1,0) [0|0] "" XXX - SG_ CoolFanTrn_D_Rq : 31|5@0+ (1,0) [0|0] "" XXX - SG_ TrnMsgTxt_D_Rq : 39|4@0+ (1,0) [0|0] "" XXX - SG_ TrnMil_D_Rq : 26|2@0+ (1,0) [0|0] "" XXX - SG_ EngExhBrkTq_Pc_Rq : 23|7@0+ (1,0) [0|0] "%" XXX - -BO_ 562 TransGearData_3_CG1: 8 XXX - SG_ TrnPto_D_Rdy : 12|2@0+ (1,0) [0|0] "" XXX - SG_ TipInMgrInhbt_B_RqTrn : 41|1@0+ (1,0) [0|0] "" XXX - SG_ TrnAinIdl_Tq_Actl : 39|11@0+ (1,-500.0) [0|0] "Nm" XXX - SG_ TrnAinLss_Tq_Est : 7|11@0+ (1,-500.0) [0|0] "Nm" XXX - SG_ TrnAin_Tq_RqSlwMn : 23|11@0+ (1,-500.0) [0|0] "Nm" XXX - SG_ GearEngag_D_Actl : 10|3@0+ (1,0) [0|0] "" XXX - SG_ TrnAinTqDtrb_B_Rq : 40|1@0+ (1,0) [0|0] "" XXX - SG_ TrnTotLss_Tq_Actl : 55|8@0+ (0.5,0) [0|0] "Nm" XXX - -BO_ 563 TransGearData_4_CG1: 8 XXX - SG_ TrnAinCtlN_N_RqMn : 20|13@0+ (2.0,0) [0|0] "rpm" XXX - SG_ TrnAinTqMn_No_Cs : 63|8@0+ (1,0) [0|0] "" XXX - SG_ TrnAinTqMn_No_Cnt : 11|4@0+ (1,0) [0|0] "" XXX - SG_ TrnAinRq_Pc_SpcPdl : 7|10@0+ (0.1,0) [0|0] "%" XXX - SG_ TrnAin_Tq_RqFstMn : 42|11@0+ (1,-500.0) [0|0] "Nm" XXX - SG_ TrnAin_N_SpcEng : 39|13@0+ (2.0,0) [0|0] "rpm" XXX - -BO_ 570 Suspension_Stat: 8 XXX - SG_ CcdMsgTxt_D_RqDsply : 7|4@0+ (1,0) [0|0] "" XXX - SG_ SuspRear_L_Prev : 48|9@0+ (0.782779,-200.0) [0|0] "millimeter" XXX - SG_ SuspRear_L_Actl : 32|9@0+ (0.782779,-200.0) [0|0] "millimeter" XXX - SG_ SuspFrnt_L_Prev : 16|9@0+ (0.782779,-200.0) [0|0] "millimeter" XXX - SG_ SuspFrnt_L_Actl : 0|9@0+ (0.782779,-200.0) [0|0] "millimeter" XXX - -BO_ 571 ColumnLockData: 8 XXX - SG_ SteWhlLckMsgTxt_D_Rq : 7|2@0+ (1,0) [0|0] "" XXX - -BO_ 576 Body_Information_4_CG1: 8 XXX - SG_ HvacRec_Pc_Est_UB : 51|1@0+ (1,0) [0|0] "" XXX - SG_ HvacRec_Pc_Est : 38|7@0+ (1,0) [0|0] "%" XXX - SG_ HvacEngIdleInc_B_Rq_UB : 49|1@0+ (1,0) [0|0] "" XXX - SG_ HvacEngIdleInc_B_Rq : 53|1@0+ (1,0) [0|0] "" XXX - SG_ HvacAir_Flw_Est_UB : 52|1@0+ (1,0) [0|0] "" XXX - SG_ HvacAir_Flw_Est : 31|9@0+ (0.5,0) [0|0] "liter/second" XXX - SG_ AmbTempImpr_UB : 50|1@0+ (1,0) [0|0] "" XXX - SG_ AmbTempImpr : 47|10@0+ (0.25,-128.0) [0|0] "degreesC" XXX - SG_ DriverCrankingReq : 16|1@0+ (1,0) [0|0] "" XXX - SG_ Fcw_B_DenyMntr : 23|1@0+ (1,0) [0|0] "" XXX - SG_ EngOff_T_Actl : 7|16@0+ (1,0) [0|0] "seconds" XXX - SG_ CmbbMntr_B_Err : 22|1@0+ (1,0) [0|0] "" XXX - SG_ CmbbDeny_B_RqMntr : 21|1@0+ (1,0) [0|0] "" XXX - SG_ AccMntr_B_Err : 20|1@0+ (1,0) [0|0] "" XXX - SG_ AccDeny_B_RqMntr : 19|1@0+ (1,0) [0|0] "" XXX - -BO_ 592 EONV_Status: 8 XXX - SG_ EONV_FAULT : 59|1@0+ (1,0) [0|0] "" XXX - SG_ EONV_KAL_IC_RQST : 53|1@0+ (1,0) [0|0] "" XXX - SG_ EONV_T_STATUS : 61|2@0+ (1,0) [0|0] "" XXX - SG_ EONV_VREF_FLT : 62|1@0+ (1,0) [0|0] "" XXX - SG_ EONV_VBATT_FLT : 63|1@0+ (1,0) [0|0] "" XXX - SG_ EONV_CANISTER_VENT_FLT : 54|1@0+ (1,0) [0|0] "" XXX - SG_ EONV_CVS_CLOSED : 55|1@0+ (1,0) [0|0] "" XXX - SG_ EONV_BATT_VOLT : 23|16@0+ (0.0009765625,0) [0|0] "volts" XXX - SG_ EONV_TANK_FLT : 48|1@0+ (1,0) [0|0] "" XXX - SG_ EONV_TANK_PRESS : 7|16@0+ (0.001953125,-64.0) [0|0] "inches H2O" XXX - -BO_ 597 EONV_Control: 8 XXX - SG_ EONV_POS_DET_THRESHOLD : 23|16@0+ (0.001953125,-64.0) [0|0] "inches H2O" XXX - SG_ EONV_STAY_ALIVE : 15|1@0+ (1,0) [0|0] "" XXX - SG_ EONV_CVS_MODE : 7|3@0+ (1,0) [0|0] "" XXX - SG_ EONV_NEG_DET_THRESHOLD : 39|16@0+ (0.001953125,-64.0) [0|0] "inches H2O" XXX - SG_ EONV_MIL_ON : 14|1@0+ (1,0) [0|0] "" XXX - SG_ EonvMsgTxOff_B_Rq : 4|1@0+ (1,0) [0|0] "" XXX - -BO_ 608 Information4x4_CG1: 8 XXX - SG_ AwdRngeShifActv_B_Actl : 0|1@0+ (1,0) [0|0] "" XXX - SG_ TrnAout_Tq_RqMx : 47|13@0+ (1,-1250.0) [0|0] "Nm" XXX - SG_ AwdRngeFalt_D_Stat : 4|2@0+ (1,0) [0|0] "" XXX - SG_ AwdLck_Tq_Actl : 15|12@0+ (1,0) [0|0] "Nm" XXX - SG_ AwdRnge_D_Actl : 7|3@0+ (1,0) [0|0] "" XXX - SG_ AwdTerrMdeChng_D_Rdy : 50|3@0+ (1,0) [0|0] "" XXX - SG_ AwdTerrMde_D_Actl : 58|3@0+ (1,0) [0|0] "" XXX - SG_ AwdOffRoadMode_D_Stats : 25|2@0+ (1,0) [0|0] "" XXX - SG_ AwdStat_D_RqDsply : 63|5@0+ (1,0) [0|0] "" XXX - SG_ AwdLoLamp_D_RqDsply : 35|2@0+ (1,0) [0|0] "" XXX - SG_ AwdHiLamp_D_RqDsply : 19|2@0+ (1,0) [0|0] "" XXX - SG_ AwdAutoLamp_D_RqDsply : 17|2@0+ (1,0) [0|0] "" XXX - SG_ AwdLckLamp_D_RqDsply : 27|2@0+ (1,0) [0|0] "" XXX - SG_ AwdLck_D_Stat : 31|4@0+ (1,0) [0|0] "" XXX - SG_ Awd2wdLamp_D_RqDsply : 2|2@0+ (1,0) [0|0] "" XXX - -BO_ 609 AWD_4x4_Data: 8 XXX - SG_ AwdLck_Tq_Rq : 27|12@0+ (1,0) [0|0] "Nm" XXX - SG_ AwdSrvcRqd_B_Rq : 44|1@0+ (1,0) [0|0] "" XXX - -BO_ 613 PassengerSeatOCSInfo: 8 XXX - SG_ VehicleMYCalibrationId : 39|8@0+ (1,0) [0|0] "" XXX - SG_ VehicleCalibrationId : 31|8@0+ (1,0) [0|0] "" XXX - SG_ OCSSensrDataUpperLim : 15|8@0+ (1,0) [0|0] "" XXX - SG_ OCSSensrDataLowerLim : 23|8@0+ (1,0) [0|0] "" XXX - SG_ OCSLevel2Error : 0|1@0+ (1,0) [0|0] "" XXX - SG_ ObjectEntrapped : 2|1@0+ (1,0) [0|0] "" XXX - SG_ OCSLevel1Error : 7|1@0+ (1,0) [0|0] "" XXX - -BO_ 736 FCIM_Button_Press_HS: 8 XXX - SG_ FCIM_Target_ID : 13|4@0+ (1,0) [0|0] "" XXX - SG_ FCIM_Button_Type : 7|8@0+ (1,0) [0|0] "" XXX - SG_ FCIM_Button_State : 15|2@0+ (1,0) [0|0] "" XXX - SG_ FCIM_Target_ID_UB : 23|1@0+ (1,0) [0|0] "" XXX - SG_ FCIM_Button_Type_UB : 9|1@0+ (1,0) [0|0] "" XXX - SG_ FCIM_Button_State_UB : 8|1@0+ (1,0) [0|0] "" XXX - -BO_ 806 Compressor_Req_HS: 8 XXX - SG_ HvacEvap_Te_Rq : 33|10@0+ (0.125,-50.0) [0|0] "Degrees C" XXX - SG_ HvacEvap_Te_Actl : 17|10@0+ (0.125,-50.0) [0|0] "Degrees C" XXX - SG_ HvacAirCond_B_Rq : 7|1@0+ (1,0) [0|0] "" XXX - SG_ HvacEvap_Te_Offst : 1|10@0+ (0.125,-50.0) [0|0] "Degrees C" XXX - -BO_ 832 RCMStatusMessage: 8 XXX - SG_ eCallNotification : 2|2@0+ (1,0) [0|0] "" XXX - SG_ CrashNotification : 5|1@0+ (1,0) [0|0] "" XXX - SG_ ThirdRowBucklePsngr : 57|2@0+ (1,0) [0|0] "" XXX - SG_ ThirdRowBuckleMid : 59|2@0+ (1,0) [0|0] "" XXX - SG_ ThirdRowBuckleDriver : 61|2@0+ (1,0) [0|0] "" XXX - SG_ SecondRowBucklePsngr : 63|2@0+ (1,0) [0|0] "" XXX - SG_ SecondRowBuckleMid : 49|2@0+ (1,0) [0|0] "" XXX - SG_ SecondRowBuckleDriver : 51|2@0+ (1,0) [0|0] "" XXX - SG_ FirstRowBuckleDriver : 55|2@0+ (1,0) [0|0] "" XXX - SG_ RstrnTotalEvntCnt : 43|4@0+ (1,0) [0|0] "" XXX - SG_ RstrnCurrentEvntCnt : 39|8@0+ (1,0) [0|0] "" XXX - SG_ RILReq : 15|2@0+ (1,0) [0|0] "" XXX - SG_ FuelCutoffReq : 13|4@0+ (1,0) [0|0] "" XXX - SG_ SeatbeltIndicatorReq : 9|1@0+ (1,0) [0|0] "" XXX - SG_ SeatbeltChimeReq : 8|1@0+ (1,0) [0|0] "" XXX - SG_ BeltMinderProgConfReq : 21|2@0+ (1,0) [0|0] "" XXX - SG_ BeltMinderLevelReq : 19|4@0+ (1,0) [0|0] "" XXX - SG_ FirstRowBucklePsngr : 53|2@0+ (1,0) [0|0] "" XXX - SG_ InfoLampReq : 29|1@0+ (1,0) [0|0] "" XXX - SG_ GenRedLampReq : 28|1@0+ (1,0) [0|0] "" XXX - SG_ RstrnTextMsgReq : 27|2@0+ (1,0) [0|0] "" XXX - SG_ OCSSerialNumRcvd : 3|1@0+ (1,0) [0|0] "" XXX - SG_ RstrnStatDeployEnbld : 6|1@0+ (1,0) [0|0] "" XXX - SG_ RstrnImpactEvntStatus : 46|3@0+ (1,0) [0|0] "" XXX - SG_ PassRstrnInd_Req : 25|2@0+ (1,0) [0|0] "" XXX - SG_ RstrnStatTrigEvnt : 7|1@0+ (1,0) [0|0] "" XXX - SG_ PsngrFrntDetct_D_Actl : 31|2@0+ (1,0) [0|0] "" XXX - SG_ Beltminder_Warn_Stats : 22|1@0+ (1,0) [0|0] "" XXX - SG_ EDRTriggerEvntSync : 47|1@0+ (1,0) [0|0] "" XXX - -BO_ 842 MassageSeat_Data1_HS: 8 XXX - SG_ SeatLmbrUpDrv_Pc_Actl : 38|7@0+ (1,0) [0|0] "%" XXX - SG_ SeatLmbrMidDrv_Pc_Actl : 30|7@0+ (1,0) [0|0] "%" XXX - SG_ SeatLmbrLoDrv_Pc_Actl : 22|7@0+ (1,0) [0|0] "%" XXX - SG_ SeatBlUpDrv_Pc_Actl : 14|7@0+ (1,0) [0|0] "%" XXX - SG_ SeatBlLoDrv_Pc_Actl : 6|7@0+ (1,0) [0|0] "%" XXX - -BO_ 843 MassageSeat_Data2_HS: 8 XXX - SG_ SeatLmbrUpPsgr_Pc_Actl : 38|7@0+ (1,0) [0|0] "%" XXX - SG_ SeatLmbrMidPsgr_Pc_Actl : 30|7@0+ (1,0) [0|0] "%" XXX - SG_ SeatLmbrLoPsgr_Pc_Actl : 22|7@0+ (1,0) [0|0] "%" XXX - SG_ SeatBlUpPsgr_Pc_Actl : 14|7@0+ (1,0) [0|0] "%" XXX - SG_ SeatBlLoPsgr_Pc_Actl : 6|7@0+ (1,0) [0|0] "%" XXX - -BO_ 844 MassageSeat_Stat1_HS: 8 XXX - SG_ StmsLmbrDrv_D_Stat : 17|2@0+ (1,0) [0|0] "" XXX - SG_ StmsCshnDrv_D_Stat : 19|2@0+ (1,0) [0|0] "" XXX - SG_ SeatSwtchDrv_B_Stat : 31|1@0+ (1,0) [0|0] "" XXX - SG_ SeatFnDrv_D_Stat : 23|3@0+ (1,0) [0|0] "" XXX - SG_ SeatAirAmb_P_Actl : 7|16@0+ (0.01,0) [0|0] "KiloPascal" XXX - SG_ SeatPDrv_B_Stat : 20|1@0+ (1,0) [0|0] "" XXX - -BO_ 845 MassageSeat_Stat2_HS: 8 XXX - SG_ StmsLmbrPsgr_D_Stat : 15|2@0+ (1,0) [0|0] "" XXX - SG_ StmsCshnPsgr_D_Stat : 13|2@0+ (1,0) [0|0] "" XXX - SG_ SeatSwtchPsgr_B_Stat : 11|1@0+ (1,0) [0|0] "" XXX - SG_ SeatPPsgr_B_Stat : 7|1@0+ (1,0) [0|0] "" XXX - SG_ SeatFnPsgr_D_Stat : 6|3@0+ (1,0) [0|0] "" XXX - SG_ PsgrMemFeedback_Rsp : 3|4@0+ (1,0) [0|0] "" XXX - -BO_ 846 MassageSeat_Req: 8 XXX - SG_ SeatFnPsgr_D_Rq : 15|3@0+ (1,0) [0|0] "" XXX - SG_ SeatFnDrv_D_Rq : 12|3@0+ (1,0) [0|0] "" XXX - SG_ SeatFnDfaltPsgr_B_Rq : 9|1@0+ (1,0) [0|0] "" XXX - SG_ SeatFnDfaltDrv_B_Rq : 8|1@0+ (1,0) [0|0] "" XXX - SG_ SeatFnChngPsgr_D_Rq : 7|2@0+ (1,0) [0|0] "" XXX - SG_ SeatFnChngDrv_D_Rq : 5|2@0+ (1,0) [0|0] "" XXX - SG_ PsgrMemory_Rq : 3|4@0+ (1,0) [0|0] "" XXX - -BO_ 848 RestraintsData: 8 XXX - SG_ PassRstrnInd_Stat_UB : 9|1@0+ (1,0) [0|0] "" XXX - SG_ SeatBltWrnChmeStat : 1|1@0+ (1,0) [0|0] "" XXX - SG_ Seatbelt_IndctrStat : 4|3@0+ (1,0) [0|0] "" XXX - SG_ RILStat : 7|2@0+ (1,0) [0|0] "" XXX - SG_ PassRstrnInd_Stat : 15|4@0+ (1,0) [0|0] "" XXX - -BO_ 849 MassageSeat_Data3_HS: 8 XXX - SG_ SeatCshnDrvRR_Pc_Actl : 30|7@0+ (1,0) [0|0] "%" XXX - SG_ SeatCshnDrvRL_Pc_Actl : 22|7@0+ (1,0) [0|0] "%" XXX - SG_ SeatCshnDrvFR_Pc_Actl : 14|7@0+ (1,0) [0|0] "%" XXX - SG_ SeatCshnDrvFL_Pc_Actl : 6|7@0+ (1,0) [0|0] "%" XXX - -BO_ 850 MassageSeat_Data4_HS: 8 XXX - SG_ SeatCshnPsgrRR_Pc_Actl : 30|7@0+ (1,0) [0|0] "%" XXX - SG_ SeatCshnPsgrRL_Pc_Actl : 22|7@0+ (1,0) [0|0] "%" XXX - SG_ SeatCshnPsgrFR_Pc_Actl : 14|7@0+ (1,0) [0|0] "%" XXX - SG_ SeatCshnPsgrFL_Pc_Actl : 6|7@0+ (1,0) [0|0] "%" XXX - -BO_ 853 EFP_CC_Status: 8 XXX - SG_ Save_My_Temp : 59|1@0+ (1,0) [0|0] "" XXX - SG_ Front_Left_Temp_Setpt : 31|8@0+ (1,0) [0|0] "Mixed" XXX - SG_ RrDefrost_HtdMirrorReq : 60|1@0+ (1,0) [0|0] "" XXX - SG_ Rear_Control_Status : 16|1@0+ (1,0) [0|0] "" XXX - SG_ MultipleButtonPressReq : 63|3@0+ (1,0) [0|0] "" XXX - SG_ Rear_System_Mode_Req : 19|3@0+ (1,0) [0|0] "" XXX - SG_ Rear_Left_Temp_Setpt : 47|8@0+ (1,0) [0|0] "Mixed" XXX - SG_ Recirc_Request : 23|2@0+ (1,0) [0|0] "" XXX - SG_ Front_Rt_Temp_Setpt : 39|8@0+ (1,0) [0|0] "Mixed" XXX - SG_ AC_Request : 21|2@0+ (1,0) [0|0] "" XXX - SG_ Windshield_ModeRequest : 15|4@0+ (8.33,0) [0|0] "%" XXX - SG_ Panel_Mode_Request : 7|4@0+ (8.33,0) [0|0] "%" XXX - SG_ Overriding_ModeReq : 10|3@0+ (1,0) [0|0] "" XXX - SG_ Forced_Recirc_Req : 11|1@0+ (1,0) [0|0] "" XXX - SG_ Floor_Mode_Request : 3|4@0+ (8.33,0) [0|0] "%" XXX - SG_ Rear_Right_Temp_Setpt : 55|8@0+ (1,0) [0|0] "Mixed" XXX - -BO_ 854 EFP_CC_Seat_Req_Stat: 8 XXX - SG_ Front_Rear_Blower_Req : 31|6@0+ (1,0) [0|0] "Detents" XXX - SG_ Pass_Rr_Cond_Seat_Req : 21|2@0+ (1,0) [0|0] "" XXX - SG_ Pass_Rr_Cond_Seat_Lvl : 8|3@0+ (1,0) [0|0] "" XXX - SG_ Pass_Fr_Cond_Seat_Req : 13|2@0+ (1,0) [0|0] "" XXX - SG_ Pass_Fr_Cond_Seat_Lvl : 11|3@0+ (1,0) [0|0] "" XXX - SG_ Drvr_Rr_Cond_Seat_Req : 15|2@0+ (1,0) [0|0] "" XXX - SG_ Drvr_Rr_Cond_Seat_Lvl : 2|3@0+ (1,0) [0|0] "" XXX - SG_ Drvr_Fr_Cond_Seat_Req : 7|2@0+ (1,0) [0|0] "" XXX - SG_ Drvr_Fr_Cond_Seat_Lvl : 5|3@0+ (1,0) [0|0] "" XXX - -BO_ 855 RCCM_CC_Status_HS: 8 XXX - SG_ RrBlwrCondStLdShedStat : 25|2@0+ (1,0) [0|0] "" XXX - SG_ FrBlwrCondStLdShedStat : 20|2@0+ (1,0) [0|0] "" XXX - SG_ RCCM_Rr_Rt_TempSetpt : 63|8@0+ (1,0) [0|0] "Mixed" XXX - SG_ RCCM_Rr_Left_TempSetpt : 55|8@0+ (1,0) [0|0] "Mixed" XXX - SG_ RCCM_Fr_Rt_TempSetpt : 47|8@0+ (1,0) [0|0] "Mixed" XXX - SG_ RCCM_Fr_Rr_Blower_Req : 31|6@0+ (1,0) [0|0] "Detents" XXX - SG_ Panel_Mode_State : 7|4@0+ (8.33,0) [0|0] "%" XXX - SG_ RrDefHtdMirrLdShedStat : 18|2@0+ (1,0) [0|0] "" XXX - SG_ Windshield_Mode_State : 15|4@0+ (8.33,0) [0|0] "%" XXX - SG_ Recirc_Door_State : 11|2@0+ (1,0) [0|0] "" XXX - SG_ Rear_System_Mode_State : 23|3@0+ (1,0) [0|0] "" XXX - SG_ Default_Defrost_State : 9|1@0+ (1,0) [0|0] "" XXX - SG_ Auto_AC_Indicator_Temp : 16|1@0+ (1,0) [0|0] "" XXX - SG_ Floor_Mode_State : 3|4@0+ (8.33,0) [0|0] "%" XXX - SG_ RCCM_Fr_Left_TempSetpt : 39|8@0+ (1,0) [0|0] "Mixed" XXX - SG_ RrDefrost_HtdMirrState : 8|1@0+ (1,0) [0|0] "" XXX - -BO_ 856 RCCM_CC_Seat_Status_HS: 8 XXX - SG_ Active_My_Temp : 2|1@0+ (1,0) [0|0] "" XXX - SG_ CC_HtdStrWhl_Req : 24|1@0+ (1,0) [0|0] "" XXX - SG_ RCCM_PR_Cond_Seat_Lvl : 31|3@0+ (1,0) [0|0] "" XXX - SG_ RCCM_PR_Cond_Seat_Req : 28|2@0+ (1,0) [0|0] "" XXX - SG_ RCCM_PF_Cond_Seat_Req : 20|2@0+ (1,0) [0|0] "" XXX - SG_ RCCM_PF_Cond_Seat_Lvl : 23|3@0+ (1,0) [0|0] "" XXX - SG_ RCCM_DR_Cond_Seat_Req : 12|2@0+ (1,0) [0|0] "" XXX - SG_ RCCM_DR_Cond_Seat_Lvl : 15|3@0+ (1,0) [0|0] "" XXX - SG_ RCCM_DF_Cond_Seat_Req : 4|2@0+ (1,0) [0|0] "" XXX - SG_ RCCM_DF_Cond_Seat_Lvl : 7|3@0+ (1,0) [0|0] "" XXX - SG_ PassRrCondStLdShedStat : 26|2@0+ (1,0) [0|0] "" XXX - SG_ PassFrCondStLdShedStat : 18|2@0+ (1,0) [0|0] "" XXX - SG_ DrvRrCondStLdShedStat : 10|2@0+ (1,0) [0|0] "" XXX - SG_ DrvFrCondStLdShedStat : 1|2@0+ (1,0) [0|0] "" XXX - -BO_ 857 RCCM_CC_MBP_Press_Stat_HS: 8 XXX - SG_ MultBtnPushDsplyPass10 : 23|8@0+ (1,0) [0|0] "" XXX - SG_ MultBtnPushDsplyPass1 : 31|8@0+ (1,0) [0|0] "" XXX - SG_ Report_Active : 33|2@0+ (1,0) [0|0] "" XXX - SG_ Pass_Temp_Units : 35|1@0+ (1,0) [0|0] "" XXX - SG_ Front_Fan_Bars_Disply : 39|3@0+ (1,0) [0|0] "" XXX - SG_ Drvr_Temp_Units : 36|1@0+ (1,0) [0|0] "" XXX - SG_ MultBtnPushDsplyDrvr10 : 7|8@0+ (1,0) [0|0] "" XXX - SG_ MultBtnPushDsplyDrvr1 : 15|8@0+ (1,0) [0|0] "" XXX - -BO_ 859 MFD_CC_Status_HS: 8 XXX - SG_ Rear_Mode_Bttn_Status : 38|1@0+ (1,0) [0|0] "" XXX - SG_ ConditionSt_ButtonStat : 20|5@0+ (1,0) [0|0] "" XXX - SG_ Driver_Set_Temp : 31|8@0+ (0.5,0) [0|0] "Degrees" XXX - SG_ Frt_System_Button_Stat : 7|5@0+ (1,0) [0|0] "" XXX - SG_ Rear_Blower_Bar_Status : 2|3@0+ (1,0) [0|0] "# of Bars" XXX - SG_ Rear_Fan_Button_Status : 13|2@0+ (1,0) [0|0] "" XXX - SG_ Rear_Man_Temp_Bar_Stat : 11|4@0+ (1,0) [0|0] "" XXX - SG_ Rear_Temp_Button_Status : 23|2@0+ (1,0) [0|0] "" XXX - SG_ Voice_Blower_Limit : 21|1@0+ (1,0) [0|0] "" XXX - -BO_ 860 EFP_CC_Info_Status: 8 XXX - SG_ Rear_Panel_Btn_State : 41|1@0+ (1,0) [0|0] "" XXX - SG_ Rear_Floor_Btn_State : 40|1@0+ (1,0) [0|0] "" XXX - SG_ HtdStrWhl_SftBtt_Stt : 39|2@0+ (1,0) [0|0] "" XXX - SG_ AC_Sft_Button_State : 23|2@0+ (1,0) [0|0] "" XXX - SG_ DrvRrCondSeatSftBttnSt : 47|3@0+ (1,0) [0|0] "" XXX - SG_ DrvFrCondSeatSftBtnStt : 37|3@0+ (1,0) [0|0] "" XXX - SG_ CC_RecircSBtn_St : 27|2@0+ (1,0) [0|0] "" XXX - SG_ CC_RrDefrSBtn_St : 24|1@0+ (1,0) [0|0] "" XXX - SG_ PasRrCondSeatSftBttnSt : 44|3@0+ (1,0) [0|0] "" XXX - SG_ PasFrCondSeatSftBtnStt : 34|3@0+ (1,0) [0|0] "" XXX - SG_ MyTemp_Soft_Bttn_State : 25|1@0+ (1,0) [0|0] "" XXX - SG_ CC_MaxACSBtn_St : 28|1@0+ (1,0) [0|0] "" XXX - SG_ RearPowerButtonState : 16|1@0+ (1,0) [0|0] "" XXX - SG_ RearCoolBarsDisplayed : 11|3@0+ (1,0) [0|0] "Bars_On" XXX - SG_ Rear_Sft_Control_Stat : 7|2@0+ (1,0) [0|0] "" XXX - SG_ CC_RrNeutralBarDsp_St : 8|1@0+ (1,0) [0|0] "" XXX - SG_ CC_RrHeatBarsDsp_St : 31|3@0+ (1,0) [0|0] "Bars_On" XXX - SG_ Rear_Fan_Bars_Displayed : 19|3@0+ (1,0) [0|0] "" XXX - SG_ CC_RrCtrlBtn_St : 20|1@0+ (1,0) [0|0] "" XXX - SG_ Rear_Auto_Button_State : 21|1@0+ (1,0) [0|0] "" XXX - SG_ CC_FrPowerSBtn_St : 14|1@0+ (1,0) [0|0] "" XXX - SG_ CC_FrDefrostSBtn_St : 15|1@0+ (1,0) [0|0] "" XXX - SG_ Front_AUTO_Soft_Btn_Stt : 13|1@0+ (1,0) [0|0] "" XXX - SG_ Front_AUTO_MODE_State : 1|1@0+ (1,0) [0|0] "" XXX - SG_ Front_AUTO_FAN_State : 0|1@0+ (1,0) [0|0] "" XXX - SG_ Dual_Button_State : 12|1@0+ (1,0) [0|0] "" XXX - SG_ CC_BarPnlSBtn_St : 5|1@0+ (1,0) [0|0] "" XXX - SG_ CC_BarPnFlrSBtn_St : 4|1@0+ (1,0) [0|0] "" XXX - SG_ CC_BarFlrWsSBtn_St : 2|1@0+ (1,0) [0|0] "" XXX - SG_ CC_BarDrvFlrSBtn_St : 3|1@0+ (1,0) [0|0] "" XXX - -BO_ 890 Active_Noise: 8 XXX - SG_ ANC_Chime_Supported : 4|2@0+ (1,0) [0|0] "" XXX - SG_ ActvNseAudio_D_Stat : 7|2@0+ (1,0) [0|0] "" XXX - SG_ ActvNse_B_Actv : 5|1@0+ (1,0) [0|0] "" XXX - -BO_ 891 Active_Noise_Data: 8 XXX - SG_ CabnSndAmb_Db_Actl : 7|8@0+ (1,30.0) [0|0] "decibel" XXX - -BO_ 906 Body_Information_1: 8 XXX - SG_ CcdMde_D_Rq_UB : 0|1@0+ (1,0) [0|0] "" XXX - SG_ CcdMde_D_Rq : 7|2@0+ (1,0) [0|0] "" XXX - SG_ CarMode : 5|4@0+ (1,0) [0|0] "" XXX - SG_ SecondaryHeater_Rqst : 55|1@0+ (1,0) [0|0] "" XXX - SG_ Passenger_Sunload_Raw : 47|8@0+ (5.0,0) [0|0] "W/m^2" XXX - SG_ Driver_Sunload_Raw : 39|8@0+ (5.0,0) [0|0] "W/m^2" XXX - SG_ HvacEvap_Te_Actl_UB : 1|1@0+ (1,0) [0|0] "" XXX - SG_ HvacEvap_Te_Actl : 17|10@0+ (0.125,-50.0) [0|0] "Degrees C" XXX - SG_ SecondaryHeater_Rqst_UB : 18|1@0+ (1,0) [0|0] "" XXX - SG_ Outside_Air_Temp_Stat_UB : 23|1@0+ (1,0) [0|0] "" XXX - SG_ Outside_Air_Temp_Stat : 15|8@0+ (0.5,-40.0) [0|0] "Degrees C" XXX - SG_ Veh_Lock_Status : 54|2@0+ (1,0) [0|0] "" XXX - SG_ Veh_Lock_Requestor : 52|5@0+ (1,0) [0|0] "" XXX - SG_ Veh_Lock_EvNum : 63|8@0+ (1,0) [0|0] "Counts" XXX - SG_ immoIndicatorCmd : 22|4@0+ (1,0) [0|0] "" XXX - -BO_ 909 Body_Information_6: 8 XXX - SG_ PEBackupSlot_Stats_UB : 43|1@0+ (1,0) [0|0] "" XXX - SG_ PEBackupSlot_Stats : 25|2@0+ (1,0) [0|0] "" XXX - SG_ KeyMykeyTot_No_Cnt : 47|4@0+ (1,0) [0|0] "Counts" XXX - SG_ SideDetect_R_SysOpState_UB : 26|1@0+ (1,0) [0|0] "" XXX - SG_ SideDetect_R_SysOpState : 28|2@0+ (1,0) [0|0] "" XXX - SG_ SideDetect_R_SnsrState_UB : 29|1@0+ (1,0) [0|0] "" XXX - SG_ SideDetect_R_SnsrState : 31|2@0+ (1,0) [0|0] "" XXX - SG_ SideDetect_L_SysOpState_UB : 16|1@0+ (1,0) [0|0] "" XXX - SG_ SideDetect_L_SysOpState : 18|2@0+ (1,0) [0|0] "" XXX - SG_ SideDetect_L_SnsrState_UB : 19|1@0+ (1,0) [0|0] "" XXX - SG_ SideDetect_L_SnsrState : 21|2@0+ (1,0) [0|0] "" XXX - SG_ Cross_Traffic_R_SnState_UB : 8|1@0+ (1,0) [0|0] "" XXX - SG_ Cross_Traffic_R_SnState : 23|2@0+ (1,0) [0|0] "" XXX - SG_ Cross_Traffic_R_Op_State_UB : 9|1@0+ (1,0) [0|0] "" XXX - SG_ Cross_Traffic_R_Op_State : 11|2@0+ (1,0) [0|0] "" XXX - SG_ Cross_Traffic_R_Alert_UB : 12|1@0+ (1,0) [0|0] "" XXX - SG_ Cross_Traffic_R_Alert : 14|2@0+ (1,0) [0|0] "" XXX - SG_ Cross_Traffic_L_SnState_UB : 15|1@0+ (1,0) [0|0] "" XXX - SG_ Cross_Traffic_L_SnState : 1|2@0+ (1,0) [0|0] "" XXX - SG_ Cross_Traffic_L_Op_State_UB : 2|1@0+ (1,0) [0|0] "" XXX - SG_ Cross_Traffic_L_Op_State : 4|2@0+ (1,0) [0|0] "" XXX - SG_ Cross_Traffic_L_Alert_UB : 5|1@0+ (1,0) [0|0] "" XXX - SG_ Cross_Traffic_L_Alert : 7|2@0+ (1,0) [0|0] "" XXX - SG_ IgnKeyType_D_Actl : 39|4@0+ (1,0) [0|0] "" XXX - SG_ KeyAdmnTot_No_Cnt : 35|4@0+ (1,0) [0|0] "Counts" XXX - -BO_ 936 ParkAid_Data: 8 XXX - SG_ SAPPErrorCoding : 23|8@0+ (1,0) [0|0] "" XXX - SG_ ExtSteeringAngleReq : 7|15@0+ (0.1,-1000.0) [0|0] "Degrees" XXX - SG_ EPASExtAngleStatReq : 8|1@0+ (1,0) [0|0] "" XXX - -BO_ 937 ParkAid_Range_to_Target: 8 XXX - SG_ RangeToClosestObstacle : 55|12@0+ (1,0) [0|0] "cm" XXX - SG_ RangeRearCornerRtSn : 35|12@0+ (1,0) [0|0] "cm" XXX - SG_ RangeRearCornerLeftSn : 31|12@0+ (1,0) [0|0] "cm" XXX - SG_ RangeRearCenterRtSn : 11|12@0+ (1,0) [0|0] "cm" XXX - SG_ RangeRearCenterLeftSn : 7|12@0+ (1,0) [0|0] "cm" XXX - -BO_ 939 ParkAid_Data_CG1: 8 XXX - SG_ EPASExtAngleStatReq : 7|1@0+ (1,0) [0|0] "" XXX - SG_ ExtSteeringAngleReq : 6|15@0+ (0.1,-1000.0) [0|0] "Degrees" XXX - SG_ SAPPErrorCoding : 23|8@0+ (1,0) [0|0] "" XXX - SG_ RangeToClosestObstacle : 27|12@0+ (1,0) [0|0] "cm" XXX - -BO_ 942 BodyInformation_2: 8 XXX - SG_ Easy_Entry_Exit_Stat : 14|2@0+ (1,0) [0|0] "" XXX - SG_ Memory_Feedback_Rqst : 15|1@0+ (1,0) [0|0] "" XXX - SG_ Delay_Accy : 41|1@0+ (1,0) [0|0] "" XXX - SG_ Fuel_Econ_AFE_Reset_Req_UB : 43|1@0+ (1,0) [0|0] "" XXX - SG_ Multimedia_System : 42|1@0+ (1,0) [0|0] "" XXX - SG_ DrStatDrv_B_Actl : 7|1@0+ (1,0) [0|0] "" XXX - SG_ DrStatHood_B_Actl : 6|1@0+ (1,0) [0|0] "" XXX - SG_ DrStatInnrTgate_B_Actl : 5|1@0+ (1,0) [0|0] "" XXX - SG_ DrStatPsngr_B_Actl : 4|1@0+ (1,0) [0|0] "" XXX - SG_ DrStatRl_B_Actl : 3|1@0+ (1,0) [0|0] "" XXX - SG_ DrStatRr_B_Actl : 2|1@0+ (1,0) [0|0] "" XXX - SG_ DrStatTgate_B_Actl : 1|1@0+ (1,0) [0|0] "" XXX - SG_ Fuel_Econ_AFE_Reset_Req : 0|1@0+ (1,0) [0|0] "" XXX - SG_ Nav_Unit_Setting : 11|1@0+ (1,0) [0|0] "" XXX - SG_ Cancel_Auto_Movement : 9|1@0+ (1,0) [0|0] "" XXX - SG_ Cancel_Auto_Movement_UB : 8|1@0+ (1,0) [0|0] "" XXX - SG_ DrvSeat_Stat : 34|3@0+ (1,0) [0|0] "" XXX - SG_ DrvSeat_Stat_UB : 10|1@0+ (1,0) [0|0] "" XXX - SG_ Easy_Entry_Rqst : 47|2@0+ (1,0) [0|0] "" XXX - SG_ Easy_Entry_Rqst_UB : 12|1@0+ (1,0) [0|0] "" XXX - SG_ Multimedia_System_UB : 40|1@0+ (1,0) [0|0] "" XXX - SG_ Memory_Cmd : 39|4@0+ (1,0) [0|0] "" XXX - SG_ Memory_Cmd_UB : 35|1@0+ (1,0) [0|0] "" XXX - SG_ Memory_Feedback_Rqst_UB : 45|1@0+ (1,0) [0|0] "" XXX - SG_ Decklid_Ajar_Status : 44|1@0+ (1,0) [0|0] "" XXX - -BO_ 947 BodyInformation_3: 8 XXX - SG_ RearFog_Lamp_Ind_UB : 49|1@0+ (1,0) [0|0] "" XXX - SG_ RearFog_Lamp_Ind : 50|1@0+ (1,0) [0|0] "" XXX - SG_ PwMdeExten_D_Actl : 63|5@0+ (1,0) [0|0] "" XXX - SG_ Turn_Ind_Cmd_Right : 8|1@0+ (1,0) [0|0] "" XXX - SG_ Turn_Ind_Cmd_Left : 9|1@0+ (1,0) [0|0] "" XXX - SG_ Ignition_Switch_Stable : 1|2@0+ (1,0) [0|0] "" XXX - SG_ Parklamp_Status : 3|2@0+ (1,0) [0|0] "" XXX - SG_ Litval : 47|8@0+ (1,0) [0|0] "" XXX - SG_ Key_In_Ignition_Stat : 11|2@0+ (1,0) [0|0] "" XXX - SG_ Ignition_Status : 7|4@0+ (1,0) [0|0] "" XXX - SG_ Dimming_Lvl : 31|8@0+ (1,0) [0|0] "" XXX - SG_ Day_Night_Status : 15|2@0+ (1,0) [0|0] "" XXX - SG_ Remote_Start_Status : 13|2@0+ (1,0) [0|0] "" XXX - SG_ DRV_SELECT_STAT : 19|4@0+ (1,0) [0|0] "" XXX - SG_ PrkBrkActv_B_Actl : 55|1@0+ (1,0) [0|0] "" XXX - SG_ HtdStrWhl_SftBtt_State_UB : 51|1@0+ (1,0) [0|0] "" XXX - SG_ HtdStrWhl_SftBtt_State : 53|2@0+ (1,0) [0|0] "" XXX - SG_ HvacRemoteStrt_N_Rq_UB : 56|1@0+ (1,0) [0|0] "" XXX - SG_ HvacRemoteStrt_N_Rq : 23|4@0+ (100.0,450.0) [0|0] "RPM" XXX - SG_ HvacAirCond_B_Rq_UB : 57|1@0+ (1,0) [0|0] "" XXX - SG_ Remote_Start_Warn_Req : 54|1@0+ (1,0) [0|0] "" XXX - SG_ HvacAirCond_B_Rq : 58|1@0+ (1,0) [0|0] "" XXX - -BO_ 948 Tire_Pressure_Status: 8 XXX - SG_ Tire_Press_ILR_Stat2 : 27|4@0+ (1,0) [0|0] "" XXX - SG_ Tire_Press_IRR_Stat2 : 31|4@0+ (1,0) [0|0] "" XXX - SG_ Tire_Press_LR_OLR_Stat2 : 19|4@0+ (1,0) [0|0] "" XXX - SG_ Tire_Press_RR_ORR_Stat2 : 23|4@0+ (1,0) [0|0] "" XXX - SG_ Tire_Press_RF_Stat2 : 11|4@0+ (1,0) [0|0] "" XXX - SG_ Tire_Press_LF_Stat2 : 15|4@0+ (1,0) [0|0] "" XXX - SG_ Tire_Press_System_Stat2 : 7|4@0+ (1,0) [0|0] "" XXX - SG_ Tire_Press_Telltale : 3|2@0+ (1,0) [0|0] "" XXX - -BO_ 949 Tire_Pressure_Data: 8 XXX - SG_ Tire_Press_RR_ORR_Data : 23|8@0+ (1,0) [0|0] "Psi" XXX - SG_ Tire_Press_RF_Data : 15|8@0+ (1,0) [0|0] "Psi" XXX - SG_ Tire_Press_LR_OLR_Data : 31|8@0+ (1,0) [0|0] "Psi" XXX - SG_ Tire_Press_IRR_Data : 39|8@0+ (1,0) [0|0] "Psi" XXX - SG_ Tire_Press_ILR_Data : 47|8@0+ (1,0) [0|0] "Psi" XXX - SG_ Tire_Press_LF_Data : 7|8@0+ (1,0) [0|0] "Psi" XXX - -BO_ 955 Smart_Headlamp_Stat: 8 XXX - SG_ Headlamp_Switch_Stat : 7|2@0+ (1,0) [0|0] "" XXX - SG_ Fog_Lamp_Dbnce : 5|2@0+ (1,0) [0|0] "" XXX - SG_ Digital_Dimmer_Sw_Stat : 3|3@0+ (1,0) [0|0] "" XXX - -BO_ 957 Rear_FogLamp: 8 XXX - SG_ RearFog_Lamp_Dbnce : 7|1@0+ (1,0) [0|0] "" XXX - -BO_ 963 BCM_to_HS_Body: 8 XXX - SG_ DrTgateChime_D_Rq_UB : 9|1@0+ (1,0) [0|0] "" XXX - SG_ DrTgateChime_D_Rq : 17|2@0+ (1,0) [0|0] "" XXX - SG_ CamraDefog_B_Actl : 4|1@0+ (1,0) [0|0] "" XXX - SG_ Reverse_Mirror_Stat : 61|2@0+ (1,0) [0|0] "" XXX - SG_ Power_Liftgate_Mode_Stat : 63|2@0+ (1,0) [0|0] "" XXX - SG_ IKT_Program_Status : 51|2@0+ (1,0) [0|0] "" XXX - SG_ Veh_Spd_Slow_Puddle_Status : 41|2@0+ (1,0) [0|0] "" XXX - SG_ Illuminated_Exit_Status : 43|2@0+ (1,0) [0|0] "" XXX - SG_ Illuminated_Entry_Status : 45|2@0+ (1,0) [0|0] "" XXX - SG_ Door_Courtesy_Light_Status : 47|2@0+ (1,0) [0|0] "" XXX - SG_ Courtesy_Demand_BSave_Stat : 33|2@0+ (1,0) [0|0] "" XXX - SG_ Alarm_Lights_Courtesy_Stat : 35|2@0+ (1,0) [0|0] "" XXX - SG_ Courtesy_Delay_Status : 37|2@0+ (1,0) [0|0] "" XXX - SG_ Courtesy_Mode_Status : 39|2@0+ (1,0) [0|0] "" XXX - SG_ Front_Fog_Light_SW_Status : 22|2@0+ (1,0) [0|0] "" XXX - SG_ Brake_Lamp_On_Status : 23|1@0+ (1,0) [0|0] "" XXX - SG_ LowBeam_CKT_CAN : 11|1@0+ (1,0) [0|0] "" XXX - SG_ ParkLamps_CKT_CAN : 8|1@0+ (1,0) [0|0] "" XXX - SG_ RF_Low_Beam_CKT_CAN : 13|1@0+ (1,0) [0|0] "" XXX - SG_ Brk_Fluid_Lvl_Low : 15|2@0+ (1,0) [0|0] "" XXX - SG_ LF_Low_Beam_CKT_CAN : 12|1@0+ (1,0) [0|0] "" XXX - SG_ High_Beam_Indicator_Rqst : 1|1@0+ (1,0) [0|0] "" XXX - SG_ Brake_Warn_Indicator_Rqst : 2|1@0+ (1,0) [0|0] "" XXX - SG_ Headlamp_On_Wrning_Cmd : 6|1@0+ (1,0) [0|0] "" XXX - SG_ Key_In_Ignition_Warn_Cmd : 5|1@0+ (1,0) [0|0] "" XXX - SG_ Fog_Lamps_Rly_Ckt_CAN : 10|1@0+ (1,0) [0|0] "" XXX - SG_ Power_Liftgate_Mode_Stat_UB : 18|1@0+ (1,0) [0|0] "" XXX - SG_ Reverse_Mirror_Stat_UB : 7|1@0+ (1,0) [0|0] "" XXX - SG_ Park_Brake_Chime_Rqst : 3|1@0+ (1,0) [0|0] "" XXX - SG_ Daytime_Running_Lamps : 0|1@0+ (1,0) [0|0] "" XXX - SG_ Running_Board_Stat_UB : 56|1@0+ (1,0) [0|0] "" XXX - SG_ Running_Board_Stat : 58|2@0+ (1,0) [0|0] "" XXX - SG_ Perimeter_Alarm_Chime_Rqst : 20|2@0+ (1,0) [0|0] "" XXX - -BO_ 967 CMPS_FDM_Info_Status: 8 XXX - SG_ CamraFrntStat_D_Stat : 41|2@0+ (1,0) [0|0] "" XXX - SG_ Zone_Icon_UB : 34|1@0+ (1,0) [0|0] "" XXX - SG_ GPS_Compass_direction : 47|4@0+ (1,0) [0|0] "" XXX - SG_ Segment_MSD_UB : 37|1@0+ (1,0) [0|0] "" XXX - SG_ Segment_LSD_UB : 36|1@0+ (1,0) [0|0] "" XXX - SG_ ExcessiveMagnetism : 32|1@0+ (1,0) [0|0] "" XXX - SG_ Compass_Display_UB : 35|1@0+ (1,0) [0|0] "" XXX - SG_ Segment_LSD : 15|8@0+ (1,0) [0|0] "" XXX - SG_ Segment_MSD : 7|8@0+ (1,0) [0|0] "" XXX - SG_ Cal_Icon : 21|1@0+ (1,0) [0|0] "" XXX - SG_ Zone_Icon : 22|1@0+ (1,0) [0|0] "" XXX - SG_ Compass_Display : 23|1@0+ (1,0) [0|0] "" XXX - SG_ Cal_Icon_UB : 33|1@0+ (1,0) [0|0] "" XXX - SG_ RearCameraDelayStat : 39|2@0+ (1,0) [0|0] "" XXX - SG_ CamraOvrlTow_D_Actl : 25|2@0+ (1,0) [0|0] "SE" XXX - SG_ CamZoomActiveState : 29|2@0+ (1,0) [0|0] "" XXX - SG_ CamraZoomMan_D_Actl : 18|3@0+ (1,0) [0|0] "" XXX - SG_ CamraOvrlStat_D_Actl : 27|2@0+ (1,0) [0|0] "" XXX - SG_ CamraOvrlDyn_D_Actl : 20|2@0+ (1,0) [0|0] "" XXX - SG_ CamPDCGuidStat : 31|2@0+ (1,0) [0|0] "" XXX - -BO_ 970 Lane_Assist_Data1: 8 XXX - SG_ LkaActvStats_D_Req : 7|3@0+ (1,0) [0|0] "" XXX - SG_ LdwActvStats_D_Req : 4|3@0+ (1,0) [0|0] "" XXX - SG_ LdwActvIntns_D_Req : 1|2@0+ (1,0) [0|0] "" XXX - -BO_ 971 Lane_Assist_Data2: 8 XXX - SG_ LaRefAng_No_Req : 19|12@0+ (0.05,-102.4) [0|0] "mrad" XXX - SG_ LaRampType_B_Req : 4|1@0+ (1,0) [0|0] "" XXX - SG_ LaCurvature_No_Calc : 3|12@0+ (5e-06,-0.01) [0|0] "1/m" XXX - -BO_ 972 Lane_Assist_Data3: 8 XXX - SG_ LaHandsOff_B_Actl : 7|1@0+ (1,0) [0|0] "" XXX - SG_ LaActDeny_B_Actl : 6|1@0+ (1,0) [0|0] "" XXX - SG_ LaActAvail_D_Actl : 5|2@0+ (1,0) [0|0] "" XXX - -BO_ 984 IPMA_Data: 8 XXX - SG_ LaSwtch_D_RqDrv : 45|1@0+ (1,0) [0|0] "" XXX - SG_ DasWarn_D_Dsply : 44|2@0+ (1,0) [0|0] "" XXX - SG_ DasStats_D_Dsply : 47|2@0+ (1,0) [0|0] "" XXX - SG_ DasAlrtLvl_D_Dsply : 55|3@0+ (1,0) [0|0] "" XXX - SG_ CamraStats_D_Dsply : 35|2@0+ (1,0) [0|0] "" XXX - SG_ CamraDefog_B_Req : 36|1@0+ (1,0) [0|0] "" XXX - SG_ LaSwtchStat_No_Actl : 63|1@0+ (1,0) [0|0] "" XXX - SG_ LaHandsOff_D_Dsply : 42|2@0+ (1,0) [0|0] "" XXX - SG_ LaDenyStats_B_Dsply : 40|1@0+ (1,0) [0|0] "" XXX - SG_ LaActvStats_D_Dsply : 52|5@0+ (1,0) [0|0] "" XXX - SG_ AhbcHiBeam_D_Rq : 33|2@0+ (1,0) [0|0] "" XXX - SG_ PersIndexIpma_D_Actl : 39|3@0+ (1,0) [0|0] "" XXX - SG_ FeatNoIpmaActl : 23|16@0+ (1,0) [0|0] "Number" XXX - SG_ FeatConfigIpmaActl : 7|16@0+ (1,0) [0|0] "" XXX - -BO_ 986 Personality_APIM_Data3: 8 XXX - SG_ LightAmbIntSwtchInc_B : 22|1@0+ (1,0) [0|0] "" XXX - SG_ LightAmbIntSwtchDec_B : 21|1@0+ (1,0) [0|0] "" XXX - SG_ LightAmbIntsty_No_Rq : 15|8@0+ (1,0) [0|0] "% Intensity" XXX - SG_ LightAmbColor_No_Rq : 7|8@0+ (1,0) [0|0] "Color Index" XXX - SG_ LightAmbClrSwtchInc_B : 20|1@0+ (1,0) [0|0] "" XXX - SG_ LightAmbClrSwtchDec_B : 23|1@0+ (1,0) [0|0] "" XXX - -BO_ 991 Personality_VDM_Data: 8 XXX - SG_ PersIndexVdm_D_Actl : 39|3@0+ (1,0) [0|0] "" XXX - SG_ FeatNoVdmActl : 23|16@0+ (1,0) [0|0] "Number" XXX - SG_ FeatConfigVdmActl : 7|16@0+ (1,0) [0|0] "" XXX - -BO_ 992 Personality_IPC_Data: 8 XXX - SG_ MsgCntrPersIndex_D_Rq : 39|3@0+ (1,0) [0|0] "" XXX - SG_ MsgCntrFeatConfigRq : 23|16@0+ (1,0) [0|0] "" XXX - SG_ MsgCntrFeatNoRq : 7|16@0+ (1,0) [0|0] "Number" XXX - SG_ MsgCntrDsplyOp_D_Rq : 36|3@0+ (1,0) [0|0] "" XXX - -BO_ 993 Personality_Data_HS: 8 XXX - SG_ PersSetupRestr_D_Actl : 21|2@0+ (1,0) [0|0] "" XXX - SG_ PersSetupAccessCtrl : 19|1@0+ (1,0) [0|0] "SES" XXX - SG_ PersSetup_No_Actl : 31|16@0+ (1,0) [0|0] "Number" XXX - SG_ PersConflict_D_Actl : 22|1@0+ (1,0) [0|0] "" XXX - SG_ AssocConfirm_D_Actl : 15|3@0+ (1,0) [0|0] "" XXX - SG_ RecallEvent_No_Cnt : 7|8@0+ (1,0) [0|0] "Counts" XXX - SG_ PersNo_D_Actl : 10|3@0+ (1,0) [0|0] "" XXX - SG_ PersStore_D_Actl_UB : 23|1@0+ (1,0) [0|0] "" XXX - SG_ PersStore_D_Actl : 12|2@0+ (1,0) [0|0] "" XXX - -BO_ 994 Personality_APIM_Data: 8 XXX - SG_ CamraOvrlTow_D_Rq : 42|1@0+ (1,0) [0|0] "" XXX - SG_ Pers4OptIn_B_Stats : 43|1@0+ (1,0) [0|0] "" XXX - SG_ Pers3OptIn_B_Stats : 33|1@0+ (1,0) [0|0] "" XXX - SG_ Pers2OptIn_B_Stats : 32|1@0+ (1,0) [0|0] "" XXX - SG_ Pers1OptIn_B_Stats : 44|1@0+ (1,0) [0|0] "" XXX - SG_ CtrStkPersIndex_D_Actl : 39|3@0+ (1,0) [0|0] "" XXX - SG_ CtrStkFeatNoActl : 23|16@0+ (1,0) [0|0] "" XXX - SG_ PersStore_D_Rq : 36|3@0+ (1,0) [0|0] "" XXX - SG_ CtrStkFeatConfigActl : 7|16@0+ (1,0) [0|0] "" XXX - SG_ CtrStkDsplyOp_D_Rq : 47|3@0+ (1,0) [0|0] "" XXX - -BO_ 995 Personality_BCM_Data: 8 XXX - SG_ PersIndexBcm_D_Actl : 39|3@0+ (1,0) [0|0] "" XXX - SG_ FeatNoBcm_No_Actl : 23|16@0+ (1,0) [0|0] "Number" XXX - SG_ FeatConfigBcmActl : 7|16@0+ (1,0) [0|0] "" XXX - -BO_ 996 Personality_HCMB_Data_HS: 8 XXX - SG_ PersIndexHcmb_D_Actl_UB : 34|1@0+ (1,0) [0|0] "" XXX - SG_ PersIndexHcmb_D_Actl : 39|3@0+ (1,0) [0|0] "" XXX - SG_ FeatNoHcmbActl_UB : 35|1@0+ (1,0) [0|0] "" XXX - SG_ FeatNoHcmbActl : 23|16@0+ (1,0) [0|0] "Number" XXX - SG_ FeatConfigHcmbActl_UB : 36|1@0+ (1,0) [0|0] "" XXX - SG_ FeatConfigHcmbActl : 7|16@0+ (1,0) [0|0] "" XXX - -BO_ 997 Personality_CCM_Data: 8 XXX - SG_ PersIndexCcm_D_Actl : 39|3@0+ (1,0) [0|0] "" XXX - SG_ FeatNoCcmActl : 23|16@0+ (1,0) [0|0] "Number" XXX - SG_ FeatConfigCcmActl : 7|16@0+ (1,0) [0|0] "" XXX - -BO_ 998 Personality_SCCM_Data: 8 XXX - SG_ PersIndexSccm_D_Actl : 39|3@0+ (1,0) [0|0] "" XXX - SG_ FeatNoSccmActl : 23|16@0+ (1,0) [0|0] "Number" XXX - SG_ FeatConfigSccmActl : 7|16@0+ (1,0) [0|0] "" XXX - -BO_ 999 Personality_HVAC_Data_HS: 8 XXX - SG_ LightAmbIntsty_No_Actl_UB : 33|1@0+ (1,0) [0|0] "" XXX - SG_ LightAmbIntsty_No_Actl : 55|8@0+ (1,0) [0|0] "% Intensity" XXX - SG_ LightAmbColor_No_Actl_UB : 32|1@0+ (1,0) [0|0] "" XXX - SG_ LightAmbColor_No_Actl : 47|8@0+ (1,0) [0|0] "Color Index" XXX - SG_ PersIndexHvac_D_Actl_UB : 34|1@0+ (1,0) [0|0] "" XXX - SG_ FeatNoHvacActl_UB : 35|1@0+ (1,0) [0|0] "" XXX - SG_ FeatConfigHvacActl_UB : 36|1@0+ (1,0) [0|0] "" XXX - SG_ PersIndexHvac_D_Actl : 39|3@0+ (1,0) [0|0] "" XXX - SG_ FeatNoHvacActl : 23|16@0+ (1,0) [0|0] "Number" XXX - SG_ FeatConfigHvacActl : 7|16@0+ (1,0) [0|0] "" XXX - -BO_ 1001 Personality_RFA_Data_HS: 8 XXX - SG_ PersIndexRfa_D_Actl_UB : 34|1@0+ (1,0) [0|0] "" XXX - SG_ FeatNoRfaActl_UB : 35|1@0+ (1,0) [0|0] "" XXX - SG_ FeatConfigRfaActl_UB : 36|1@0+ (1,0) [0|0] "" XXX - SG_ PersIndexRfa_D_Actl : 39|3@0+ (1,0) [0|0] "" XXX - SG_ FeatNoRfaActl : 23|16@0+ (1,0) [0|0] "Number" XXX - SG_ FeatConfigRfaActl : 7|16@0+ (1,0) [0|0] "" XXX - -BO_ 1002 Personality_APIM_Data2: 8 XXX - SG_ PersIndexApim_D_Actl : 63|3@0+ (1,0) [0|0] "" XXX - SG_ FeatNoApimActl : 39|16@0+ (1,0) [0|0] "Number" XXX - SG_ FeatConfigApimActl : 23|16@0+ (1,0) [0|0] "Number" XXX - SG_ CntrStkKeycodeActl : 7|16@0+ (1,0) [0|0] "" XXX - SG_ CntrStk_D_RqRecall : 52|3@0+ (1,0) [0|0] "" XXX - SG_ CntrStk_D_RqAssoc : 55|3@0+ (1,0) [0|0] "" XXX - -BO_ 1003 Personality_IPC_Data_2: 8 XXX - SG_ PersIndexIpc_D_Actl : 34|3@0+ (1,0) [0|0] "" XXX - SG_ FeatNoIpcActl : 23|16@0+ (1,0) [0|0] "Number" XXX - SG_ FeatConfigIpcActl : 7|16@0+ (1,0) [0|0] "" XXX - -BO_ 1004 Personality_DSM_Data_HS: 8 XXX - SG_ PersIndexDsm_D_Actl_UB : 34|1@0+ (1,0) [0|0] "" XXX - SG_ PersIndexDsm_D_Actl : 39|3@0+ (1,0) [0|0] "" XXX - SG_ FeatNoDsmActl_UB : 35|1@0+ (1,0) [0|0] "" XXX - SG_ FeatNoDsmActl : 23|16@0+ (1,0) [0|0] "Number" XXX - SG_ FeatConfigDsmActl_UB : 36|1@0+ (1,0) [0|0] "" XXX - SG_ FeatConfigDsmActl : 7|16@0+ (1,0) [0|0] "" XXX - -BO_ 1005 Personality_RHVAC_Data_HS: 8 XXX - SG_ PersIndexRhvac_D_Actl_UB : 34|1@0+ (1,0) [0|0] "" XXX - SG_ FeatNoRhvacActl_UB : 33|1@0+ (1,0) [0|0] "" XXX - SG_ FeatConfigRhvacActl_UB : 32|1@0+ (1,0) [0|0] "" XXX - SG_ PersIndexRhvac_D_Actl : 39|3@0+ (1,0) [0|0] "" XXX - SG_ FeatNoRhvacActl : 23|16@0+ (1,0) [0|0] "Number" XXX - SG_ FeatConfigRhvacActl : 7|16@0+ (1,0) [0|0] "" XXX - -BO_ 1031 Diesel_Data_Legacy_1: 8 XXX - SG_ W2S_COMMAND : 7|1@0+ (1,0) [0|0] "" XXX - SG_ TURBO_BOOST : 1|10@0+ (0.1,-30.0) [0|0] "PSI" XXX - SG_ IDLE_ENGINE_SHUTDOWN : 42|2@0+ (1,0) [0|0] "" XXX - -BO_ 1034 GGCC_Config_Mgmt_ID_1: 8 XXX - SG_ VehicleGGCCData : 7|64@0+ (1,0) [0|0] "mixed" XXX - -BO_ 1036 Desired_Torq_BrkSys_Stat: 8 XXX - SG_ BRK_TC_TEMPORARILY_UNAVAIL : 47|1@0+ (1,0) [0|0] "" XXX - SG_ TRLR_SWAY_EVNT_IN_PROGRESS : 22|1@0+ (1,0) [0|0] "" XXX - -BO_ 1043 ADAPTIVE_HEADLAMP_STAT: 8 XXX - SG_ ADAPTIVE_HEADLAMP_FAILURE : 7|1@0+ (1,0) [0|0] "" XXX - -BO_ 1044 AccelerationData: 8 XXX - SG_ VehVertComp_A_Actl : 1|10@0+ (0.01,-0.4) [0|0] "m/s^2" XXX - SG_ VehRolComp_W_Actl : 19|12@0+ (0.0002,-0.82) [0|0] "rad/s" XXX - SG_ VehYawNonLin_W_Rq : 51|12@0+ (0.03663,-75.0) [0|0] "deg/s" XXX - SG_ VehYawLin_W_Rq : 35|12@0+ (0.03663,-75.0) [0|0] "deg/s" XXX - -BO_ 1045 BrakeSysFeatures: 8 XXX - SG_ TCMode : 34|1@0+ (1,0) [0|0] "" XXX - SG_ DrvSlipCtlLamp_D_Rq : 63|2@0+ (1,0) [0|0] "" XXX - SG_ RSCMode : 48|1@0+ (1,0) [0|0] "" XXX - SG_ EBAMode : 40|1@0+ (1,0) [0|0] "" XXX - SG_ DrvAntiLckLamp_D_Rq : 17|2@0+ (1,0) [0|0] "" XXX - SG_ ChimeBrk_B_Rq : 38|1@0+ (1,0) [0|0] "" XXX - SG_ BrkLamp_B_Rq : 39|1@0+ (1,0) [0|0] "" XXX - SG_ VehVActlBrk_No_Cs : 31|8@0+ (1,0) [0|0] "" XXX - SG_ VehVActlBrk_No_Cnt : 23|4@0+ (1,0) [0|0] "" XXX - SG_ Veh_V_ActlBrk : 7|16@0+ (0.01,0) [0|0] "kph" XXX - SG_ DrvSlipCtlMde_D_Ind : 33|2@0+ (1,0) [0|0] "" XXX - SG_ VehRol_An_Dsply : 55|7@0+ (1,-64.0) [0|0] "Degrees" XXX - SG_ VehPtch_An_Dsply : 47|7@0+ (1,-64.0) [0|0] "Degrees" XXX - SG_ VehVActlBrk_D_Qf : 19|2@0+ (1,0) [0|0] "" XXX - SG_ HILL_DESC_MC : 37|3@0+ (1,0) [0|0] "" XXX - -BO_ 1046 BrakeSysFeatures_2: 8 XXX - SG_ BpedMove_No_Cs : 23|8@0+ (1,0) [0|0] "" XXX - SG_ BpedMove_No_Cnt : 3|4@0+ (1,0) [0|0] "" XXX - SG_ BpedMove_D_Actl : 7|2@0+ (1,0) [0|0] "" XXX - SG_ AbsMduleAlive_No_Cnt : 39|4@0+ (1,0) [0|0] "" XXX - SG_ Abs_No_Cs : 31|8@0+ (1,0) [0|0] "" XXX - SG_ BrkAsst_B_Actl : 33|1@0+ (1,0) [0|0] "" XXX - SG_ StabCtlBrk_B_Avail : 4|1@0+ (1,0) [0|0] "" XXX - SG_ DrvHdcWarnInfo_D_Rq : 35|2@0+ (1,0) [0|0] "" XXX - SG_ DrvHdcMsg_D_Rq : 10|3@0+ (1,0) [0|0] "" XXX - SG_ DrvHdcLampInfo_D_Rq : 12|2@0+ (1,0) [0|0] "" XXX - SG_ Abs_B_Falt : 5|1@0+ (1,0) [0|0] "" XXX - SG_ VehLongComp_A_Actl : 49|10@0+ (0.035,-17.9) [0|0] "m/s^2" XXX - SG_ TRAILER_SWAY_CONFIG_STAT : 32|1@0+ (1,0) [0|0] "" XXX - SG_ VehLatComp_A_Actl : 47|10@0+ (0.035,-17.9) [0|0] "m/s^2" XXX - -BO_ 1047 TractionCtrlStatus_CG1: 8 XXX - SG_ EngEotcCtlMde_B_Ind : 3|1@0+ (1,0) [0|0] "" XXX - SG_ YawStabilityIndex : 48|9@0+ (1,-256.0) [0|0] "%" XXX - SG_ TCS_ENG_FAILD : 0|1@0+ (1,0) [0|0] "" XXX - SG_ TCS_ENG_ONLY_PRESENT : 1|1@0+ (1,0) [0|0] "" XXX - SG_ TCS_BRK_FAILD : 2|1@0+ (1,0) [0|0] "" XXX - SG_ PrplWhlTqRqMn_No_Cnt : 47|4@0+ (1,0) [0|0] "" XXX - SG_ PrplWhlTot_Tq_RqMn : 23|16@0+ (4.0,-131072.0) [0|0] "Nm" XXX - SG_ EngEotcCtlLamp_D_Rq : 9|2@0+ (1,0) [0|0] "" XXX - SG_ PrplWhlTqRqMn_No_Cs : 39|8@0+ (1,0) [0|0] "" XXX - SG_ HdcMde_D_Actl : 12|3@0+ (1,0) [0|0] "" XXX - SG_ VehicleDir_D_Est : 5|2@0+ (1,0) [0|0] "" XXX - SG_ TracCtlPtActv_B_Actl : 6|1@0+ (1,0) [0|0] "" XXX - -BO_ 1056 PowertrainData_1_CG1: 8 XXX - SG_ FUEL_ALCOHOL_PERCNT : 63|8@0+ (0.3937008,0) [0|0] "%" XXX - SG_ TrnTotTq_Rt_Est : 39|16@0+ (0.001,0) [0|0] "" XXX - SG_ TrnTotLss_Tq_Est : 31|8@0+ (0.5,0) [0|0] "Nm" XXX - SG_ ECMMILRequest : 9|2@0+ (1,0) [0|0] "" XXX - SG_ AirCondFluidHi_P_Actl : 55|8@0+ (0.125,0) [0|0] "bar" XXX - SG_ OilPressureWarning : 18|1@0+ (1,0) [0|0] "" XXX - SG_ CluPdlPos_Pc_Meas : 7|10@0+ (0.1,0) [0|0] "%" XXX - SG_ VehVLimStat_D_Actl : 12|3@0+ (1,0) [0|0] "" XXX - SG_ VehVLimActv_B_Actl : 13|1@0+ (1,0) [0|0] "" XXX - SG_ CluPdlPosPcMeas_D_Qf : 17|2@0+ (1,0) [0|0] "" XXX - SG_ CoolantFanStepAct : 23|5@0+ (1,0) [0|0] "Steps" XXX - -BO_ 1058 PowertrainData_2_CG1: 8 XXX - SG_ EngIdlShutDown_D_Stat : 19|2@0+ (1,0) [0|0] "" XXX - SG_ EngAout2_Tq_Actl : 55|11@0+ (1,-500.0) [0|0] "Nm" XXX - SG_ EngMsgTxt_D_Rq : 21|2@0+ (1,0) [0|0] "" XXX - SG_ EngClnt_Te_ActlDiag : 39|8@0+ (1,-40.0) [0|0] "degC" XXX - SG_ ThrPos_Pc_CalcDiag : 7|8@0+ (0.392157,0) [0|0] "%" XXX - SG_ EngLoad_Pc_CalcDiag : 47|8@0+ (0.392157,0) [0|0] "%" XXX - SG_ EngAirIn_Te_Actl : 15|10@0+ (0.25,-128.0) [0|0] "degC" XXX - SG_ ApedPos_Pc_ActlDiag : 31|8@0+ (0.392157,0) [0|0] "%" XXX - -BO_ 1064 StrgWheel_PolicePkg: 8 XXX - SG_ PoliceAux4Lamp_B_Rq : 4|1@0+ (1,0) [0|0] "" XXX - SG_ PoliceAux3Lamp_B_Rq : 5|1@0+ (1,0) [0|0] "" XXX - SG_ PoliceAux2Lamp_B_Rq : 6|1@0+ (1,0) [0|0] "" XXX - SG_ PoliceAux1Lamp_B_Rq : 7|1@0+ (1,0) [0|0] "" XXX - -BO_ 1067 Battery_Mgmt_1: 8 XXX - SG_ AlternatorExcDutyCycle : 31|5@0+ (3.22581,0) [0|0] "%" XXX - SG_ EngineEffStatus : 39|2@0+ (1,0) [0|0] "" XXX - SG_ AvailableCurrentAtIdle : 23|8@0+ (1,0) [0|0] "Amps" XXX - SG_ AvailableCurrent : 15|8@0+ (1,0) [0|0] "Amps" XXX - SG_ ActualCurrent : 7|8@0+ (1,0) [0|0] "Amps" XXX - SG_ NoAlternatorResponse : 26|1@0+ (1,0) [0|0] "" XXX - SG_ AlternatorTempFault : 25|1@0+ (1,0) [0|0] "" XXX - SG_ AlternatorMechFault : 24|1@0+ (1,0) [0|0] "" XXX - SG_ AlternatorElFault : 37|1@0+ (1,0) [0|0] "" XXX - -BO_ 1068 Battery_Mgmt_2: 8 XXX - SG_ ChargeMode : 39|3@0+ (1,0) [0|0] "" XXX - SG_ ChargeVoltageReq : 7|6@0+ (0.1,10.6) [0|0] "Volts" XXX - SG_ ChargeVoltageReqMax : 23|6@0+ (0.1,10.6) [0|0] "Volts" XXX - SG_ FrontBatteryTemp : 47|8@0+ (1,-60.0) [0|0] "DegC" XXX - SG_ IBoost_Msg : 52|4@0+ (1,0) [0|0] "" XXX - SG_ IdleSpeedIncrease_El : 8|1@0+ (1,0) [0|0] "" XXX - SG_ MaxLashStep : 11|3@0+ (0.1,0) [0|0] "Volts" XXX - SG_ PowerSystemStatus : 15|4@0+ (1,0) [0|0] "" XXX - SG_ Shed_T_Eng_Off_B : 17|1@0+ (1,0) [0|0] "" XXX - SG_ Shed_Level_Req : 55|3@0+ (1,0) [0|0] "" XXX - SG_ Shed_Feature_Group_ID : 36|5@0+ (1,0) [0|0] "" XXX - SG_ Shed_Drain_Eng_Off_B : 16|1@0+ (1,0) [0|0] "" XXX - SG_ Batt_Lo_SoC_B : 25|1@0+ (1,0) [0|0] "" XXX - SG_ VoltageRampRateUpMax : 31|6@0+ (0.1,0) [0|0] "Volts/sec" XXX - SG_ Batt_Crit_SoC_B : 24|1@0+ (1,0) [0|0] "" XXX - -BO_ 1069 Battery_Mgmt_3: 8 XXX - SG_ BSFault : 23|1@0+ (1,0) [0|0] "" XXX - SG_ BSBattSOC : 30|7@0+ (1,0) [0|0] "%" XXX - SG_ BSBattQDeltaRideAh : 38|15@0+ (0.0078125,-100.0) [0|0] "Ah" XXX - SG_ BSBattQCapAh : 22|7@0+ (1,0) [0|0] "Ah" XXX - SG_ BSBattCurrent : 5|14@0+ (0.0625,-512.0) [0|0] "Amps" XXX - SG_ BattULoState_D_Qlty : 7|2@0+ (1,0) [0|0] "" XXX - -BO_ 1072 Cluster_Information: 8 XXX - SG_ ManRgen_D_Rq : 5|2@0+ (1,0) [0|0] "" XXX - SG_ Easy_Entry_Exit_Cmd : 49|1@0+ (1,0) [0|0] "" XXX - SG_ KeyTypeChngMykey_D_Rq : 53|2@0+ (1,0) [0|0] "" XXX - SG_ DrvSlipCtlMde_B_Rq : 19|1@0+ (1,0) [0|0] "" XXX - SG_ MetricActv_B_Actl : 6|1@0+ (1,0) [0|0] "" XXX - SG_ LdwDfaltOn_B_Actl : 0|1@0+ (1,0) [0|0] "" XXX - SG_ Fda_B_Stat : 9|1@0+ (1,0) [0|0] "" XXX - SG_ ePRNDL_MODE : 8|1@0+ (1,0) [0|0] "" XXX - SG_ AccDeny_B_RqIpc : 7|1@0+ (1,0) [0|0] "" XXX - SG_ MetricActvTe_B_Actl : 23|1@0+ (1,0) [0|0] "" XXX - SG_ EngOilLife_B_RqReset : 18|1@0+ (1,0) [0|0] "" XXX - SG_ OdometerMasterValue : 31|24@0+ (1,0) [0|0] "km" XXX - SG_ New_Module_Attn_Event : 56|1@0+ (1,0) [0|0] "" XXX - SG_ TRAILER_SWAY_CONFIG_CMD : 60|1@0+ (1,0) [0|0] "" XXX - SG_ ParkDetect_Stat : 62|1@0+ (1,0) [0|0] "" XXX - SG_ Attn_Info_Audio : 59|3@0+ (1,0) [0|0] "" XXX - SG_ TrlrBrkMde_D_Rq : 61|1@0+ (1,0) [0|0] "" XXX - SG_ TRAILER_BRAKE_CONFIG : 48|1@0+ (1,0) [0|0] "" XXX - SG_ VehMykey_Vl_LimRq : 63|1@0+ (1,0) [0|0] "" XXX - SG_ VehMykey_V_LimRqMx : 51|1@0+ (1,0) [0|0] "" XXX - SG_ EmgcyCallAsstMykey_Rq : 50|1@0+ (1,0) [0|0] "" XXX - SG_ DrvSlipCtlMde_D_Rq : 17|2@0+ (1,0) [0|0] "" XXX - SG_ AccEnbl_B_RqDrv : 20|1@0+ (1,0) [0|0] "" XXX - SG_ AutoHighBeam_Cmd : 55|2@0+ (1,0) [0|0] "" XXX - -BO_ 1075 Cluster_Information_3_CG1: 8 XXX - SG_ CamraFrntStat_D_Rq : 58|1@0+ (1,0) [0|0] "" XXX - SG_ DieslFuelBio_B_ActlDrv : 56|1@0+ (1,0) [0|0] "" XXX - SG_ RearCameraDelayCmd : 59|1@0+ (1,0) [0|0] "" XXX - SG_ UreaWarnReset : 60|1@0+ (1,0) [0|0] "" XXX - SG_ DistanceBarSetting : 49|1@0+ (1,0) [0|0] "" XXX - SG_ CamraZoomMan_D_Rq : 63|3@0+ (1,0) [0|0] "" XXX - SG_ CamraOvrlStat_D_Rq : 48|1@0+ (1,0) [0|0] "" XXX - SG_ CamraOvrlDyn_D_Rq : 25|1@0+ (1,0) [0|0] "" XXX - SG_ CamAutoTowbarZoom : 24|1@0+ (1,0) [0|0] "" XXX - SG_ FuelSecndActv_B_Actl : 39|1@0+ (1,0) [0|0] "" XXX - SG_ HILL_DESC_SW : 38|1@0+ (1,0) [0|0] "" XXX - SG_ FuelLvlPssvSide_No_Raw : 19|10@0+ (1,0) [0|0] "" XXX - SG_ SPDJBCompassCMDDecalibrate : 50|1@0+ (1,0) [0|0] "" XXX - SG_ SPDJBCompassCMDChangeZone : 51|1@0+ (1,0) [0|0] "" XXX - SG_ SPDJBCompassCmdDesiredZone : 55|4@0+ (1,0) [0|0] "" XXX - SG_ FUEL_SENSOR_NUM : 35|1@0+ (1,0) [0|0] "" XXX - SG_ W2S_LAMP_OK : 37|1@0+ (1,0) [0|0] "" XXX - SG_ Beltminder_Warn_Stats_IPC : 32|1@0+ (1,0) [0|0] "" XXX - SG_ FuelLvlActvSide_No_Raw : 13|10@0+ (1,0) [0|0] "" XXX - SG_ FuelLvl_Pc_Dsply : 7|10@0+ (0.108696,-5.22) [0|0] "%" XXX - SG_ FUEL_LVL_PER_MEAN : 47|8@0+ (0.434783,-5.22) [0|0] "% Indication" XXX - SG_ Fuel_Level_State : 34|2@0+ (1,0) [0|0] "" XXX - SG_ H2O_IN_FUEL_LAMP_OK_OBD : 36|1@0+ (1,0) [0|0] "" XXX - -BO_ 1093 TrailerBrakeInfo: 8 XXX - SG_ TrlrLampCnnct_B_Actl : 22|1@0+ (1,0) [0|0] "" XXX - SG_ TrlrBrkActCnnct_B_Actl : 16|1@0+ (1,0) [0|0] "" XXX - SG_ StopLamp_B_RqTrlrBrk : 7|1@0+ (1,0) [0|0] "" XXX - SG_ TrlrBrkOut_No_Dsply : 3|4@0+ (1,0) [0|0] "" XXX - SG_ TrlrBrkGain_No_Actl : 21|5@0+ (0.5,0) [0|0] "" XXX - SG_ TrlrBrkDsply_B_Rq : 6|1@0+ (1,0) [0|0] "" XXX - SG_ TrlrBrkDcnnt_B_Actl : 5|1@0+ (1,0) [0|0] "" XXX - SG_ TrlrBrkCtl_B_Falt : 4|1@0+ (1,0) [0|0] "" XXX - SG_ TrlrBrkActCirct_B_Falt : 39|1@0+ (1,0) [0|0] "" XXX - SG_ TrlrBrkMde_D_Actl : 23|1@0+ (1,0) [0|0] "" XXX - -BO_ 1104 SHCM_Status: 8 XXX - SG_ CURRENT_DRAW : 15|8@0+ (0.5,0) [0|0] "Amps" XXX - SG_ SECONDARY_HEATER_STAT : 7|1@0+ (1,0) [0|0] "" XXX - -BO_ 1107 PassengerOCSSerialNum: 8 XXX - SG_ OCSSerialNoByte8 : 63|8@0+ (1,0) [0|0] "" XXX - SG_ OCSSerialNoByte7 : 55|8@0+ (1,0) [0|0] "" XXX - SG_ OCSSerialNoByte6 : 47|8@0+ (1,0) [0|0] "" XXX - SG_ OCSSerialNoByte5 : 39|8@0+ (1,0) [0|0] "" XXX - SG_ OCSSerialNoByte4 : 31|8@0+ (1,0) [0|0] "" XXX - SG_ OCSSerialNoByte3 : 23|8@0+ (1,0) [0|0] "" XXX - SG_ OCSSerialNoByte2 : 15|8@0+ (1,0) [0|0] "" XXX - SG_ OCSSerialNoByte1 : 7|8@0+ (1,0) [0|0] "" XXX - -BO_ 1108 RCMSerialNumber: 8 XXX - SG_ RCMSerialNoByte8 : 63|8@0+ (1,0) [0|0] "" XXX - SG_ RCMSerialNoByte7 : 55|8@0+ (1,0) [0|0] "" XXX - SG_ RCMSerialNoByte6 : 47|8@0+ (1,0) [0|0] "" XXX - SG_ RCMSerialNoByte5 : 39|8@0+ (1,0) [0|0] "" XXX - SG_ RCMSerialNoByte4 : 31|8@0+ (1,0) [0|0] "" XXX - SG_ RCMSerialNoByte3 : 23|8@0+ (1,0) [0|0] "" XXX - SG_ RCMSerialNoByte2 : 15|8@0+ (1,0) [0|0] "" XXX - SG_ RCMSerialNoByte1 : 7|8@0+ (1,0) [0|0] "" XXX - -BO_ 1109 eCall_Info: 8 XXX - SG_ eCallConfirmation : 7|3@0+ (1,0) [0|0] "" XXX - -BO_ 1125 GPS_Data_Nav_1_HS: 8 XXX - SG_ GpsHsphLattSth_D_Actl : 25|2@0+ (1,0) [0|0] "" XXX - SG_ GpsHsphLongEast_D_Actl : 9|2@0+ (1,0) [0|0] "" XXX - SG_ GPS_Longitude_Minutes : 46|6@0+ (1,0) [0|0] "Minutes" XXX - SG_ GPS_Longitude_Min_dec : 55|14@0+ (0.0001,0) [0|0] "Minutes" XXX - SG_ GPS_Longitude_Degrees : 39|9@0+ (1,-179.0) [0|0] "Degrees" XXX - SG_ GPS_Latitude_Minutes : 15|6@0+ (1,0) [0|0] "Minutes" XXX - SG_ GPS_Latitude_Min_dec : 23|14@0+ (0.0001,0) [0|0] "Minutes" XXX - SG_ GPS_Latitude_Degrees : 7|8@0+ (1,-89.0) [0|0] "Degrees" XXX - -BO_ 1126 GPS_Data_Nav_2_HS: 8 XXX - SG_ Gps_B_Falt : 2|1@0+ (1,0) [0|0] "" XXX - SG_ GpsUtcYr_No_Actl : 55|5@0+ (1,1.0) [0|0] "Year" XXX - SG_ GpsUtcMnth_No_Actl : 47|4@0+ (1,1.0) [0|0] "Month" XXX - SG_ GpsUtcDay_No_Actl : 37|5@0+ (1,1.0) [0|0] "Day" XXX - SG_ GPS_UTC_seconds : 23|6@0+ (1,0) [0|0] "seconds" XXX - SG_ GPS_UTC_minutes : 15|6@0+ (1,0) [0|0] "Minutes" XXX - SG_ GPS_UTC_hours : 7|5@0+ (1,0) [0|0] "Hours" XXX - SG_ GPS_Pdop : 31|5@0+ (0.2,0) [0|0] "" XXX - SG_ GPS_Compass_direction : 26|4@0+ (1,0) [0|0] "" XXX - SG_ GPS_Actual_vs_Infer_pos : 38|1@0+ (1,0) [0|0] "" XXX - -BO_ 1127 GPS_Data_Nav_3_HS: 8 XXX - SG_ GPS_Vdop : 63|5@0+ (0.2,0) [0|0] "" XXX - SG_ GPS_Speed : 47|8@0+ (1,0) [0|0] "MPH" XXX - SG_ GPS_Sat_num_in_view : 7|5@0+ (1,0) [0|0] "" XXX - SG_ GPS_MSL_altitude : 15|12@0+ (10.0,-20460.0) [0|0] "feet" XXX - SG_ GPS_Heading : 31|16@0+ (0.01,0) [0|0] "Degrees" XXX - SG_ GPS_Hdop : 55|5@0+ (0.2,0) [0|0] "" XXX - SG_ GPS_dimension : 2|3@0+ (1,0) [0|0] "" XXX - -BO_ 1152 All_Terrain_Data: 8 XXX - SG_ HdcSwitchPos_B_Actl : 0|1@0+ (1,0) [0|0] "" XXX - SG_ TerrStat_D_RqDsply : 7|4@0+ (1,0) [0|0] "" XXX - SG_ TerrMde_D_RqDrv : 3|3@0+ (1,0) [0|0] "" XXX - -BO_ 1186 Information_4x4_2_CG1: 8 XXX - SG_ RearDiffFalt_D_Stat : 23|2@0+ (1,0) [0|0] "" XXX - SG_ RearDiffLck_Tq_Actl : 7|12@0+ (1,0) [0|0] "Nm" XXX - SG_ RearDiffLckMsg_D_Rq : 20|3@0+ (1,0) [0|0] "" XXX - SG_ AwdSrvcRqd_B_Rq : 21|1@0+ (1,0) [0|0] "" XXX - SG_ RearDiffLckLamp_D_Rq : 11|2@0+ (1,0) [0|0] "" XXX diff --git a/opendbc/ford_fusion_2018_pt.dbc b/opendbc/ford_fusion_2018_pt.dbc deleted file mode 100644 index c4b706d0647039..00000000000000 --- a/opendbc/ford_fusion_2018_pt.dbc +++ /dev/null @@ -1,139 +0,0 @@ -VERSION "" - - -NS_ : - NS_DESC_ - CM_ - BA_DEF_ - BA_ - VAL_ - CAT_DEF_ - CAT_ - FILTER - BA_DEF_DEF_ - EV_DATA_ - ENVVAR_DATA_ - SGTYPE_ - SGTYPE_VAL_ - BA_DEF_SGTYPE_ - BA_SGTYPE_ - SIG_TYPE_REF_ - VAL_TABLE_ - SIG_GROUP_ - SIG_VALTYPE_ - SIGTYPE_VALTYPE_ - BO_TX_BU_ - BA_DEF_REL_ - BA_REL_ - BA_DEF_DEF_REL_ - BU_SG_REL_ - BU_EV_REL_ - BU_BO_REL_ - SG_MUL_VAL_ - -BS_: - -BU_: XXX - -BO_ 130 EPAS_INFO: 8 XXX - SG_ SteMdule_U_Meas : 39|8@0+ (0.05,6.0) [0|0] "Volts" XXX - SG_ SteMdule_I_Est : 21|12@0+ (0.05,-64.0) [0|0] "Amps" XXX - SG_ EPAS_FAILURE : 9|2@0+ (1,0) [0|0] "" XXX - SG_ SteeringColumnTorque : 7|8@0+ (0.0625,-8.0) [0|0] "Nm" XXX - SG_ SAPPAngleControlStat6 : 15|1@0+ (1,0) [0|0] "" XXX - SG_ SAPPAngleControlStat5 : 14|1@0+ (1,0) [0|0] "" XXX - SG_ SAPPAngleControlStat4 : 13|1@0+ (1,0) [0|0] "" XXX - SG_ SAPPAngleControlStat3 : 12|1@0+ (1,0) [0|0] "" XXX - SG_ SAPPAngleControlStat2 : 11|1@0+ (1,0) [0|0] "" XXX - SG_ SAPPAngleControlStat1 : 23|2@0+ (1,0) [0|0] "" XXX - -BO_ 118 Steering_Wheel_Data_CG1: 8 XXX - SG_ SteWhlRelInit_An_Sns : 6|15@0+ (0.1,-1600.0) [0|0] "deg" XXX - SG_ SteWhlRelCalib_An_Sns : 23|15@0+ (0.1,-1600.0) [0|0] "deg" XXX - SG_ SteWhlRelInit2_An_Sns : 55|16@0+ (0.1,-3200.0) [0|0] "deg" XXX - SG_ SteWhlAn_No_Cs : 39|8@0+ (1,0) [0|0] "" XXX - SG_ SteWhlAn_No_Cnt : 47|4@0+ (1,0) [0|0] "Counts" XXX - -BO_ 131 Steering_Buttons: 8 XXX - SG_ Right_Turn_Light : 5|1@0+ (1,0) [0|0] "" XXX - SG_ Left_Turn_Light : 4|1@0+ (1,0) [0|0] "" XXX - SG_ Dist_Decr : 12|1@0+ (1,0) [0|0] "" XXX - SG_ Dist_Incr : 11|1@0+ (1,0) [0|0] "" XXX - SG_ Cancel : 8|1@0+ (1,0) [0|0] "" XXX - SG_ Resume : 29|1@0+ (1,0) [0|0] "" XXX - SG_ Set : 28|1@0+ (1,0) [0|0] "" XXX - SG_ Main : 38|1@0+ (1,0) [0|0] "" XXX - -BO_ 145 Yaw_Data: 8 XXX - SG_ VehYaw_W_Actl : 39|16@0+ (0.0002,-6.5) [0|0] "rad/s" XXX - SG_ VehRol_W_Actl : 23|16@0+ (0.0002,-6.5) [0|0] "rad/s" XXX - SG_ VehPtch_W_Actl : 7|16@0+ (0.0002,-6.5) [0|0] "rad/s" XXX - -BO_ 146 Accel_Data: 8 XXX - SG_ VehVertAActl_D_Qf : 38|2@0+ (1,0) [0|0] "" XXX - SG_ VehLongAActl_D_Qf : 22|2@0+ (1,0) [0|0] "" XXX - SG_ VehLatAActl_D_Qf : 6|2@0+ (1,0) [0|0] "" XXX - SG_ VehVert_A_Actl : 36|13@0+ (0.01,-40.0) [0|0] "m/s^2" XXX - SG_ VehLong_A_Actl : 20|13@0+ (0.01,-40.0) [0|0] "m/s^2" XXX - SG_ VehLat_A_Actl : 4|13@0+ (0.01,-40.0) [0|0] "m/s^2" XXX - -BO_ 357 Cruise_Status: 8 XXX - SG_ Brake_Drv_Appl : 5|1@0+ (1,0) [0|0] "" XXX - SG_ Cruise_State : 11|4@0+ (1,0) [0|0] "" XXX - SG_ Set_Speed : 23|8@0+ (1,0) [0|0] "" XXX - -BO_ 516 EngineData_14: 8 XXX - SG_ ApedPosScal_Pc_Actl : 1|10@0+ (0.1,0) [0|0] "%" XXX - -BO_ 535 WheelSpeed_CG1: 8 XXX - SG_ WhlRr_W_Meas : 55|14@0+ (0.04,0) [0|0] "rad/s" XXX - SG_ WhlRl_W_Meas : 39|14@0+ (0.04,0) [0|0] "rad/s" XXX - SG_ WhlFr_W_Meas : 23|14@0+ (0.04,0) [0|0] "rad/s" XXX - SG_ WhlFl_W_Meas : 7|14@0+ (0.04,0) [0|0] "rad/s" XXX - -BO_ 534 WheelData: 8 XXX - SG_ WhlRotatRr_No_Cnt : 23|8@0+ (1,0) [0|0] "" XXX - SG_ WhlDirRr_D_Actl : 33|2@0+ (1,0) [0|0] "" XXX - SG_ WhlDirRl_D_Actl : 39|2@0+ (1,0) [0|0] "" XXX - SG_ WhlDirFr_D_Actl : 37|2@0+ (1,0) [0|0] "" XXX - SG_ WhlDirFl_D_Actl : 35|2@0+ (1,0) [0|0] "" XXX - SG_ WhlRotatRl_No_Cnt : 31|8@0+ (1,0) [0|0] "" XXX - SG_ WhlRotatFr_No_Cnt : 7|8@0+ (1,0) [0|0] "" XXX - SG_ WhlRotatFl_No_Cnt : 15|8@0+ (1,0) [0|0] "" XXX - SG_ WHEEL_ROLLING_TIMESTAMP : 47|8@0+ (1,0) [0|0] "" XXX - -BO_ 947 Doors: 8 XXX - SG_ Door_FL_Open : 61|1@0+ (1,0) [0|0] "" XXX - SG_ Door_FR_Open : 60|1@0+ (1,0) [0|0] "" XXX - SG_ Door_RL_Open : 48|1@0+ (1,0) [0|0] "" XXX - SG_ Door_RR_Open : 49|1@0+ (1,0) [0|0] "" XXX - -BO_ 963 BCM_to_HS_Body: 8 XXX - SG_ Brake_Lights : 8|1@0+ (1,0) [0|0] "" XXX - -BO_ 970 Lane_Keep_Assist_Control: 8 XXX - SG_ Lkas_Action : 7|4@0+ (1,0) [0|15] "" XXX - SG_ Lkas_Alert : 3|4@0+ (1,0) [0|15] "" XXX - SG_ Lane_Curvature : 15|12@0+ (5e-06,-0.01) [0|0] "1/m" XXX - SG_ Steer_Angle_Req : 19|12@0+ (0.04297,-88.00445) [0|0] "deg" XXX - -BO_ 972 Lane_Keep_Assist_Status: 8 XXX - SG_ LaHandsOff_B_Actl : 7|1@0+ (1,0) [0|0] "" XXX - SG_ LaActDeny_B_Actl : 6|1@0+ (1,0) [0|0] "" XXX - SG_ LaActAvail_D_Actl : 5|2@0+ (1,0) [0|0] "" XXX - -BO_ 984 Lane_Keep_Assist_Ui: 8 XXX - SG_ Set_Me_X80 : 39|8@0+ (1,0) [0|255] "" XXX - SG_ Set_Me_X45 : 47|8@0+ (1,0) [0|255] "" XXX - SG_ Lines_Hud : 55|4@0+ (1,0) [0|15] "" XXX - SG_ Hands_Warning_W_Chime : 50|1@0+ (1,0) [0|1] "" XXX - SG_ Hands_Warning : 49|1@0+ (1,0) [0|1] "" XXX - SG_ Set_Me_X30 : 63|8@0+ (1,0) [0|255] "" XXX - -CM_ SG_ 970 Lkas_Action "only vals 4, 5, 8, 9 seem to work. 4 and 5 are a bit smoother" ; - -VAL_ 357 Cruise_State 4 "active" 3 "standby" 0 "off" ; -VAL_ 970 Lkas_Action 15 "off" 9 "abrupt" 8 "abrupt2" 5 "smooth" 4 "smooth2" ; -VAL_ 970 Lkas_Alert 15 "no_alert" 3 "high_intensity" 2 "mid_intensity" 1 "low_intensity" ; -VAL_ 972 LaActAvail_D_Actl 3 "available" 2 "tbd" 1 "not_available" 0 "fault" ; -VAL_ 984 Lines_Hud 15 "none" 11 "grey_yellow" 8 "green_red" 7 "yellow_grey" 6 "grey_grey" 4 "red_green" 3 "green_green" ; diff --git a/opendbc/generator/chrysler/.gitignore b/opendbc/generator/chrysler/.gitignore deleted file mode 100644 index 46fc4e0d88c4b6..00000000000000 --- a/opendbc/generator/chrysler/.gitignore +++ /dev/null @@ -1 +0,0 @@ -_*generated.dbc diff --git a/opendbc/generator/chrysler/_stellantis_common.dbc b/opendbc/generator/chrysler/_stellantis_common.dbc deleted file mode 100644 index df913561de2fad..00000000000000 --- a/opendbc/generator/chrysler/_stellantis_common.dbc +++ /dev/null @@ -1,185 +0,0 @@ -BO_ 258 STEERING: 8 XXX - SG_ STEERING_ANGLE : 5|14@0+ (0.5,-2048) [-2048|2047] "deg" XXX - SG_ STEERING_RATE : 21|14@0+ (0.5,-2048) [-2048|2047] "deg/s" XXX - SG_ STEERING_ANGLE_HP : 48|4@1+ (0.1,-0.4) [-0.4|0.4] "deg" XXX - SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX - SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX - -BO_ 264 ECM_1: 8 XXX - SG_ ENGINE_RPM : 7|16@0+ (1,0) [0|65535] "" XXX - SG_ ENGINE_TORQUE : 20|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX - SG_ EXPECTED_ENGINE_TORQUE : 36|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX - SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX - SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX - -BO_ 280 ECM_TRQ: 8 XXX - SG_ ENGINE_TORQ_MAX : 4|13@0+ (.25,-500) [-500|1547.5] "NM" XXX - SG_ ENGINE_TORQ_MIN : 20|13@0+ (.25,-500) [-500|1547.5] "NM" XXX - -BO_ 284 ESP_8: 8 XXX - SG_ BRK_PRESSURE : 3|12@0+ (1,0) [0|1] "" XXX - SG_ Vehicle_Stopped : 7|1@0+ (1,0) [0|1] "" XXX - SG_ BRAKE_PEDAL : 19|12@0+ (1,0) [0|1] "" XXX - SG_ Vehicle_Speed : 39|16@0+ (0.0078125,0) [0|511.984375] "km/h" XXX - SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX - SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX - -BO_ 288 ECM_2: 7 XXX - SG_ ACC_TORQUE_REQ_ENABLE : 5|1@1+ (1,0) [0|0] "" XXX - SG_ ESC_TORQUE_REQ_ENABLE : 6|1@1+ (1,0) [0|0] "" XXX - SG_ TCM_TORQUE_REQ_ENABLE : 7|1@1+ (1,0) [0|0] "" XXX - SG_ Accelerator_Position : 16|8@1+ (0.4,0) [0|100] "%" XXX - SG_ CRUISE_OVERRIDE : 31|1@1+ (1,0) [0|0] "" XXX - SG_ COUNTER : 47|4@0+ (1,0) [0|15] "" XXX - SG_ CHECKSUM : 55|8@0+ (1,0) [0|0] "" XXX - -BO_ 320 ESP_1: 8 XXX - SG_ Brake_State : 0|2@1+ (1,0) [0|0] "" XXX - SG_ Brake_Pedal_State : 2|2@1+ (1,0) [0|0] "" XXX - SG_ ACC_Engaged : 15|1@0+ (1,0) [0|1] "" XXX - SG_ ACC_Enabled : 23|1@0+ (1,0) [0|1] "" XXX - SG_ Vehicle_Speed : 33|10@0+ (0.5,0) [0|511] "km/h" XXX - SG_ ACC_OFF_REQ : 39|2@0+ (1,0) [0|0] "" XXX - SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX - SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX - SG_ BRAKE_PRESSED_ACC : 6|1@0+ (1,0) [0|3] "" XXX - -BO_ 268 ESP_2: 8 ESC - SG_ ESC_TORQUE_REQ : 4|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX - SG_ ACC_TORQUE_REQ_ENABLE : 5|1@1+ (1,0) [0|0] "" XXX - SG_ ESC_TORQUE_REQ_MAX : 6|1@1+ (1,0) [0|0] "" XXX - SG_ ESC_TORQUE_REQ_MIN : 7|1@1+ (1,0) [0|0] "" XXX - SG_ ACC_TORQUE_REQ : 20|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX - SG_ TCS_ACTIVE : 21|1@1+ (1,0) [0|0] "" XXX - SG_ ACC_TORQUE_REQ_MAX : 22|1@1+ (1,0) [0|0] "" XXX - SG_ ACC_BRK_PREP : 40|1@1+ (1,0) [0|0] "" XXX - SG_ DISABLE_FUEL_SHUTOFF : 47|1@1+ (1,0) [0|0] "" XXX - SG_ DAS_REQ_ACTIVE : 48|3@1+ (1,0) [0|0] "" XXX - SG_ COLLISION_BRK_PREP : 51|1@1+ (1,0) [0|0] "" XXX - SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX - SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX - -BO_ 344 ESP_6: 8 XXX - SG_ WHEEL_SPEED_FL : 5|14@0+ (0.5,0) [0|8191] "rpm" XXX - SG_ WHEEL_SPEED_FR : 21|14@0+ (0.5,0) [0|8191] "rpm" XXX - SG_ WHEEL_SPEED_RL : 37|14@0+ (0.5,0) [0|8191] "rpm" XXX - SG_ WHEEL_SPEED_RR : 53|14@0+ (0.5,0) [0|8191] "rpm" XXX - -BO_ 368 Transmission_Status: 8 XXX - SG_ Gear_State : 2|3@1+ (1,0) [0|15] "" XXX - SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX - SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX - -BO_ 464 ORC_1: 8 XXX - SG_ SEATBELT_DRIVER_UNLATCHED : 13|1@0+ (1,0) [0|1] "" XXX - -BO_ 500 DAS_3: 8 XXX - SG_ ENGINE_TORQUE_REQUEST : 4|13@0+ (0.25,-500) [-500|1547.5] "Nm" XXX - SG_ ENGINE_TORQUE_REQUEST_MAX : 7|1@0+ (1,0) [0|1] "" XXX - SG_ ACC_STANDSTILL : 5|1@0+ (1,0) [0|1] "" XXX - SG_ ACC_GO : 6|1@1+ (1,0) [0|0] "" XXX - SG_ ACC_DECEL : 19|12@0+ (0.004885,-16) [-16|4] "m/s2" XXX - SG_ ACC_AVAILABLE : 20|1@0+ (1,0) [0|1] "" XXX - SG_ ACC_ACTIVE : 21|1@0+ (1,0) [0|1] "" XXX - SG_ DISABLE_FUEL_SHUTOFF : 23|1@1+ (1,0) [0|0] "" XXX - SG_ GR_MAX_REQ : 32|4@1+ (1,0) [0|0] "" XXX - SG_ ACC_DECEL_REQ : 36|3@1+ (1,0) [0|0] "" XXX - SG_ ACC_FAULTED : 46|2@1+ (1,0) [0|0] "" XXX - SG_ COLLISION_BRK_PREP : 48|1@1+ (1,0) [0|0] "" XXX - SG_ ACC_BRK_PREP : 49|1@1+ (1,0) [0|0] "" XXX - SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX - SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX - -BO_ 501 DAS_4: 8 XXX - SG_ ACC_SET_SPEED_KPH : 15|8@0+ (1,0) [0|3] "km/h" XXX - SG_ ACC_SET_SPEED_MPH : 23|8@0+ (1,0) [0|3] "mph" XXX - SG_ ACC_DISTANCE_CONFIG_1 : 1|2@0+ (1,0) [0|3] "" XXX - SG_ ACC_DISTANCE_CONFIG_2 : 41|2@0+ (1,0) [0|3] "" XXX - SG_ SPEED_DIGITAL : 63|8@0+ (1,0) [0|255] "mph" XXX - SG_ ACC_STATE : 38|3@0+ (1,0) [0|7] "" XXX - SG_ FCW_OFF : 25|2@0+ (1,0) [0|3] "" XXX - SG_ FCW_ERROR : 27|2@0+ (1,0) [0|3] "" XXX - SG_ FCW_BRAKE_ENABLED : 29|1@0+ (1,0) [0|1] "" XXX - SG_ FCW_BRAKE_DISABLED : 47|1@0+ (1,0) [0|1] "" XXX - SG_ ACC_FAULTED : 50|1@0+ (1,0) [0|1] "" XXX - -BO_ 544 EPS_2: 8 XXX - SG_ LKAS_STATE : 23|4@0+ (1,0) [0|15] "" XXX - SG_ COLUMN_TORQUE : 2|11@0+ (1,-1024) [-1024|1023] "" XXX - SG_ TORQUE_OVERLAY_STATUS : 6|4@0+ (1,0) [0|15] "" XXX - SG_ EPS_TORQUE_MOTOR_RAW : 19|12@0+ (1,-2048) [-2048|2047] "" XXX - SG_ EPS_TORQUE_MOTOR : 34|11@0+ (1,-1024) [-1024|1023] "" XXX - SG_ LKAS_TEMPORARY_FAULT : 38|1@0+ (1,0) [0|1] "" XXX - SG_ AUTO_PARK_HAS_CONTROL_2 : 51|1@0+ (1,0) [0|1] "" XXX - SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX - SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX - -BO_ 559 ECM_5: 8 XXX - SG_ Accelerator_Position : 0|8@1+ (0.4,0) [0|100] "%" XXX - SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX - SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX - -BO_ 571 CRUISE_BUTTONS: 3 XXX - SG_ ACC_Cancel : 0|1@1+ (1,0) [0|0] "" XXX - SG_ ACC_Distance_Dec : 1|1@1+ (1,0) [0|0] "" XXX - SG_ ACC_Accel : 2|1@1+ (1,0) [0|0] "" XXX - SG_ ACC_Decel : 3|1@1+ (1,0) [0|0] "" XXX - SG_ ACC_Resume : 4|1@0+ (1,0) [0|1] "" XXX - SG_ Cruise_OnOff : 6|1@1+ (1,0) [0|0] "" XXX - SG_ ACC_OnOff : 7|1@1+ (1,0) [0|0] "" XXX - SG_ ACC_Distance_Inc : 8|1@1+ (1,0) [0|0] "" XXX - SG_ COUNTER : 15|4@0+ (1,0) [0|15] "" XXX - SG_ CHECKSUM : 23|8@0+ (1,0) [0|255] "" XXX - -BO_ 625 DAS_5: 8 XXX - SG_ FCW_STATE : 2|1@1+ (1,0) [0|0] "" XXX - SG_ FCW_DISTANCE : 3|2@1+ (1,0) [0|0] "" XXX - SG_ ACCFCW_MESSAGE : 12|4@1+ (1,0) [0|0] "" XXX - SG_ SET_SPEED_KPH : 24|8@1+ (1,0) [0|250] "km/h" XXX - SG_ WHEEL_TORQUE_REQUEST : 38|15@0+ (1,-7767) [-7767|24999] "Nm" XXX - SG_ WHEEL_TORQUE_REQUEST_ACTIVE : 39|1@1+ (1,0) [0|0] "" XXX - SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX - SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX - -BO_ 669 EPB_1: 3 XXX - SG_ PARKING_BRAKE_STATUS : 11|3@0+ (1,0) [0|7] "" XXX - SG_ COUNTER : 15|4@0+ (1,0) [0|15] "" XXX - SG_ CHECKSUM : 23|8@0+ (1,0) [0|255] "" XXX - -BO_ 678 DAS_6: 8 XXX - SG_ LKAS_ICON_COLOR : 1|2@0+ (1,0) [0|3] "" XXX - SG_ LKAS_LANE_LINES : 19|4@0+ (1,0) [0|1] "" XXX - SG_ LKAS_ALERTS : 27|4@0+ (1,0) [0|1] "" XXX - SG_ CAR_MODEL : 15|8@0+ (1,0) [0|255] "" XXX - SG_ AUTO_HIGH_BEAM_ON : 47|1@1+ (1,0) [0|0] "" XXX - SG_ LKAS_DISABLED : 56|1@1+ (1,0) [0|0] "" XXX - -BO_ 720 BSM_1: 6 XXX - SG_ RIGHT_STATUS : 5|1@0+ (1,0) [0|1] "" XXX - SG_ LEFT_STATUS : 2|1@0+ (1,0) [0|1] "" XXX - -BO_ 792 STEERING_LEVERS: 8 XXX - SG_ TURN_SIGNALS : 0|2@1+ (1,0) [0|3] "" XXX - SG_ HIGH_BEAM_PRESSED : 2|1@0+ (1,0) [0|3] "" XXX - -BO_ 820 BCM_1: 8 XXX - SG_ DOOR_OPEN_FL : 17|1@0+ (1,0) [0|1] "" XXX - SG_ DOOR_OPEN_FR : 18|1@0+ (1,0) [0|1] "" XXX - SG_ DOOR_OPEN_RL : 19|1@0+ (1,0) [0|1] "" XXX - SG_ DOOR_OPEN_RR : 20|1@0+ (1,0) [0|1] "" XXX - SG_ DOOR_OPEN_TRUNK : 22|1@0+ (1,0) [0|1] "" XXX - SG_ PARKING_BRAKE_SWITCH : 23|1@0+ (1,0) [0|1] "" XXX - SG_ TURN_LIGHT_LEFT : 31|1@0+ (1,0) [0|1] "" XXX - SG_ TURN_LIGHT_RIGHT : 30|1@0+ (1,0) [0|1] "" XXX - SG_ HIGH_BEAM_DISPLAY : 58|1@0+ (1,0) [0|1] "" XXX - -VAL_ 320 ACC_OFF_REQ 2 "PERMANENT" 1 "TEMPORARY" 0 "NONE" -VAL_ 368 Gear_State 4 "D" 2 "N" 1 "R" 0 "P" ; -VAL_ 669 PARKING_BRAKE_STATUS 3 "RELEASING" 2 "APPLYING" 1 "APPLIED" 0 "OFF" ; - -CM_ SG_ 258 STEERING_ANGLE_HP "Steering angle high precision"; -CM_ SG_ 264 ENGINE_TORQUE "Effective engine torque"; -CM_ SG_ 264 EXPECTED_ENGINE_TORQUE "Expected Engine Torque based on target engine speed"; -CM_ SG_ 678 LKAS_ICON_COLOR "3 is yellow, 2 is green, 1 is white, 0 is null"; -CM_ SG_ 678 LKAS_LANE_LINES "0x01 transparent lines, 0x02 left white, 0x03 right white, 0x04 left yellow with car on top, 0x05 left yellow with car on top, 0x06 both white, 0x07 left yellow, 0x08 left yellow right white, 0x09 right yellow, 0x0a right yellow left white, 0x0b left yellow with car on top right white, 0x0c right yellow with car on top left white, (0x00, 0x0d, 0x0e, 0x0f) null"; -CM_ SG_ 678 LKAS_ALERTS "(0x01, 0x02) lane sense off, (0x03, 0x04, 0x06) place hands on steering wheel, 0x07 lane departure detected + place hands on steering wheel, (0x08, 0x09) lane sense unavailable + clean front windshield, 0x0b lane sense and auto high beam unavailable + clean front windshield, 0x0c lane sense unavailable + service required, (0x00, 0x05, 0x0a, 0x0d, 0x0e, 0x0f) null"; diff --git a/opendbc/generator/chrysler/_stellantis_common_ram.py b/opendbc/generator/chrysler/_stellantis_common_ram.py deleted file mode 100644 index fa408f1315f34f..00000000000000 --- a/opendbc/generator/chrysler/_stellantis_common_ram.py +++ /dev/null @@ -1,54 +0,0 @@ -#!/usr/bin/env python3 -import os - -chrysler_to_ram = { - "_stellantis_common_ram_dt_generated.dbc": { - 258: 35, - 264: 37, - 268: 113, - 280: 181, - 284: 121, - 288: 123, - 320: 131, - 344: 139, - 368: 147, - 464: 464, - 500: 153, - 501: 232, - 544: 49, - 571: 177, - 559: 157, - 625: 163, - 669: 213, - 678: 250, - 720: 720, - 792: 792, - 820: 657, - }, - "_stellantis_common_ram_hd_generated.dbc": { - 571: 570, - 678: 629, - }, -} - -if __name__ == "__main__": - src = '_stellantis_common.dbc' - chrysler_path = os.path.dirname(os.path.realpath(__file__)) - - for out, addr_lookup in chrysler_to_ram.items(): - with open(os.path.join(chrysler_path, src), encoding='utf-8') as in_f, open(os.path.join(chrysler_path, out), 'w', encoding='utf-8') as out_f: - out_f.write(f'CM_ "Generated from {src}"\n\n') - - wrote_addrs = set() - for line in in_f.readlines(): - if line.startswith(('BO_', 'VAL_')): - sl = line.split(' ') - addr = int(sl[1]) - wrote_addrs.add(addr) - - sl[1] = str(addr_lookup.get(addr, addr)) - line = ' '.join(sl) - out_f.write(line) - - missing_addrs = set(addr_lookup.keys()) - wrote_addrs - assert len(missing_addrs) == 0, f"Missing addrs from {src}: {missing_addrs}" diff --git a/opendbc/generator/chrysler/chrysler_pacifica_2017_hybrid.dbc b/opendbc/generator/chrysler/chrysler_pacifica_2017_hybrid.dbc deleted file mode 100644 index 3f4b373843d1b8..00000000000000 --- a/opendbc/generator/chrysler/chrysler_pacifica_2017_hybrid.dbc +++ /dev/null @@ -1,172 +0,0 @@ -CM_ "IMPORT _stellantis_common.dbc"; - -BO_ 514 SPEED_1: 8 XXX - SG_ SPEED_LEFT : 7|12@0+ (0.071028,0) [0|65535] "m/s" XXX - SG_ SPEED_RIGHT : 23|12@0+ (0.071028,0) [0|1023] "m/s" XXX - -BO_ 653 BRAKE_MODULE: 2 XXX - SG_ BRAKE_PRESSURE : 15|8@0+ (1,0) [0|255] "" XXX - SG_ BRAKE_PRESSED : 4|1@0+ (1,0) [0|4] "" XXX - -BO_ 746 GEAR: 5 XXX - SG_ PRNDL : 2|3@0+ (1,0) [0|7] "" XXX - SG_ GEAR_CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX - SG_ COUNTER : 31|4@0+ (1,0) [0|15] "" XXX - -BO_ 736 TRIP: 8 XXX - SG_ COUNTER : 7|16@0+ (1,0) [0|65535] "Meters" XXX - SG_ COUNTER_2 : 23|16@0+ (1,0) [0|65535] "Meters" XXX - -BO_ 658 LKAS_COMMAND: 6 XXX - SG_ COUNTER : 39|4@0+ (1,0) [0|15] "" XXX - SG_ CHECKSUM : 47|8@0+ (1,0) [0|255] "" XXX - SG_ STEERING_TORQUE : 2|11@0+ (1,-1024) [0|1] "" XXX - SG_ LKAS_CONTROL_BIT : 4|1@0+ (1,0) [0|1] "" XXX - -BO_ 705 AUTO_PARK_BUTTON: 8 XXX - SG_ AUTO_PARK_TOGGLE_2 : 8|1@0+ (1,0) [0|1] "" XXX - SG_ AUTO_PARK_TOGGLE_1 : 11|1@0+ (1,0) [0|1] "" XXX - SG_ INCREASING_UNKNOWN : 38|7@0+ (1,0) [0|15] "" XXX - -BO_ 719 AUTO_PARK_SIGNALS_1: 8 XXX - SG_ AUTO_PARK_UNKNOWN_1 : 7|16@0+ (1,0) [0|31] "" XXX - -BO_ 671 AUTO_PARK_REQUEST: 8 XXX - SG_ AUTO_PARK_CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX - SG_ AUTO_PARK_STATUS : 7|5@0+ (1,0) [0|15] "" XXX - SG_ AUTO_PARK_COUNTER : 55|4@0+ (1,0) [0|15] "" XXX - SG_ AUTO_PARK_MODE : 22|2@0+ (1,0) [0|3] "" XXX - SG_ AUTO_PARK_CMD : 2|11@0+ (1,-1024) [0|1] "NM" XXX - -BO_ 784 AUTO_PARK_LESS_INTERESTING: 8 XXX - SG_ INCREASING_UNKNOWN : 55|8@0+ (1,0) [0|7] "" XXX - SG_ AUTO_PARK_PERPENDICULAR_2 : 61|1@0+ (1,0) [0|255] "" XXX - -BO_ 826 AUTO_PARK_SIGNALS_3: 8 XXX - SG_ AUTO_PARK_HAS_CONTROL_3 : 1|1@0+ (1,0) [0|1] "" XXX - SG_ HUMAN_HAS_CONTROL : 2|1@0+ (1,0) [0|1] "" XXX - SG_ AUTO_PARK_GEAR_1 : 27|4@0+ (1,0) [0|255] "" XXX - SG_ AUTO_PARK_GEAR_2 : 35|4@0+ (1,0) [0|15] "" XXX - SG_ AUTO_PARK_GEAR_3 : 51|4@0+ (1,0) [0|15] "" XXX - -BO_ 332 STEERING_2: 8 XXX - SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX - SG_ ENERGY_RELATED : 39|16@0+ (1,0) [0|65535] "" XXX - SG_ STEER_ANGLE_2 : 7|13@0+ (0.3187251,-1307.888) [-360|360] "deg" XXX - -BO_ 331 BRAKE_3: 8 XXX - SG_ BRAKE_RELATED_3 : 7|16@0+ (1,0) [0|65535] "" XXX - SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX - SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX - -BO_ 608 PARKSENSE_SIGNAL: 8 XXX - SG_ PARKSENSE_DISABLED : 34|1@0+ (1,0) [0|1] "" XXX - SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX - SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX - SG_ IN_REVERSE : 10|1@0+ (1,0) [0|255] "" XXX - SG_ AUTO_PARK_HAS_CONTROL_1 : 16|1@0+ (1,0) [0|255] "" XXX - SG_ HUMAN_HAS_CONTROL : 17|1@0+ (1,0) [0|3] "" XXX - -BO_ 729 LKAS_HEARTBIT: 5 XXX - SG_ LKAS_STATUS_OK : 31|16@0+ (1,0) [0|65535] "" XXX - -BO_ 257 ACCEL_RELATED_101: 5 XXX - SG_ ENERGY_OR_RPM : 31|8@0+ (1,0) [0|255] "" XXX - -BO_ 825 AUDIBLE_BEEP_339: 2 XXX - SG_ BEEP_339 : 7|16@0+ (1,0) [0|65535] "" XXX - -BO_ 168 ACCEL_RELATED_a8: 8 XXX - SG_ ACCEL_RELATED : 23|16@0+ (1,0) [0|65535] "" XXX - SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX - SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX - -BO_ 270 ACCEL_RELATED_10e: 8 XXX - SG_ ACCEL_OR_RPM : 7|16@0+ (1,0) [0|255] "" XXX - SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX - SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX - SG_ ELECTRIC_MOTOR : 23|16@0+ (1,0) [0|65535] "" XXX - -BO_ 291 ENERGY_RELATED_123: 8 XXX - SG_ ENERGY_GAIN_LOSS : 18|11@0- (1,0) [0|255] "" XXX - SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX - SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX - SG_ ENERGY_SMOOTHER_CURVE : 35|12@0+ (1,0) [0|2047] "" XXX - -BO_ 294 ENERGY_RELATED_126: 8 XXX - SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX - SG_ UNKNOWN_126_1 : 3|12@0+ (1,0) [0|4095] "" XXX - SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX - SG_ UNKNOWN_126_2 : 35|12@0+ (1,0) [0|4095] "" XXX - SG_ ENERGY_GAIN_LOSS_NOISY : 19|12@0+ (1,0) [0|2047] "" XXX - -BO_ 308 ACCEL_GAS_134: 8 XXX - SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX - SG_ ACCEL_134 : 46|7@0+ (1,0) [0|127] "" XXX - -BO_ 532 ENERGY_RELATED_214: 8 XXX - SG_ NOISY_SLOWLY_DECREASING : 16|9@0+ (1,0) [0|255] "" XXX - SG_ ENERGY_RELATED : 0|9@0+ (1,0) [0|255] "" XXX - -BO_ 655 CHARGING_MAYBE_28F: 8 XXX - SG_ CHARGING : 1|2@0+ (1,0) [0|3] "" XXX - -BO_ 660 BRAKE_RELATED_294: 8 XXX - SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX - SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX - SG_ BRAKE_PERHAPS_294 : 31|8@0+ (1,0) [0|255] "" XXX - -BO_ 764 ACCEL_RELATED_2FC: 8 XXX - SG_ ACCEL_2FC : 13|6@0+ (1,0) [0|255] "" XXX - -BO_ 816 TRACTION_BUTTON: 8 XXX - SG_ TRACTION_OFF : 19|1@0+ (1,0) [0|3] "" XXX - SG_ TOGGLE_PARKSENSE : 52|1@0+ (1,0) [0|3] "" XXX - -BO_ 878 ACCEL_RELATED_36E: 8 XXX - SG_ ACCEL_OR_RPM_2 : 15|8@0+ (1,0) [0|255] "" XXX - SG_ ACCEL_OR_RPM_1 : 7|8@0+ (1,0) [0|255] "" XXX - -BO_ 324 SPEED_2: 8 XXX - SG_ SPEED_2 : 31|16@0+ (0.01,0) [0|255] "m/s" XXX - -BO_ 832 UNKNOWN_340: 8 XXX - SG_ SPEED_DIGITAL : 63|8@0+ (1,0) [0|255] "mph" XXX - -CM_ SG_ 653 BRAKE_PRESSURE "max seems to be 148"; -CM_ SG_ 746 PRNDL "5=L, 4=D, 3=N, 2=R, 1=P"; -CM_ SG_ 320 BRAKE_PRESSED_2 "Value is 5 when brake is pressed by human, 1 when ACC brake"; -CM_ SG_ 320 BRAKE_PRESSED_ACC "set when ACC brakes"; -CM_ SG_ 792 TURN_SIGNALS "1=Left, 2=Right"; -CM_ SG_ 264 ACCEL_PEDAL "not in ACC so seems to be actual pedal. Use for gasPressed"; -CM_ SG_ 544 LKAS_STATE "2 when autopark has control, 8 when is actuatable by lkas, 4 when there is a fault"; -CM_ SG_ 658 LKAS_STEERING_TORQUE "Most sent by stock system is 1024+-230. + is left. typically changes by 2 or 3 each 0.01s"; -CM_ SG_ 678 LKAS_ICON_COLOR "3 is yellow, 2 is green, 1 is white, 0 is null"; -CM_ SG_ 678 LKAS_LANE_LINES "0x01 transparent lines, 0x02 left white, 0x03 right white, 0x04 left yellow with car on top, 0x05 left yellow with car on top, 0x06 both white, 0x07 left yellow, 0x08 left yellow right white, 0x09 right yellow, 0x0a right yellow left white, 0x0b left yellow with car on top right white, 0x0c right yellow with car on top left white, (0x00, 0x0d, 0x0e, 0x0f) null"; -CM_ SG_ 678 LKAS_ALERTS "(0x01, 0x02) lane sense off, (0x03, 0x04, 0x06) place hands on steering wheel, 0x07 lane departure detected + place hands on steering wheel, (0x08, 0x09) lane sense unavailable + clean front windshield, 0x0b lane sense and auto high beam unavailable + clean front windshield, 0x0c lane sense unavailable + service required, (0x00, 0x05, 0x0a, 0x0d, 0x0e, 0x0f) null"; -CM_ SG_ 705 AUTO_PARK_TOGGLE_1 "set briefly when turning on or off self-parking"; -CM_ SG_ 671 AUTO_PARK_CMD "Request Appears to be in NM"; -CM_ SG_ 671 AUTO_PARK_STATUS "1 = IDLE / NO REQUEST 9 = START REQUEST 10 = REQUEST MODE 11 = REQUEST MODE"; -CM_ SG_ 826 AUTO_PARK_GEAR_1 "Reverse=0, Forward=f"; -CM_ SG_ 826 AUTO_PARK_GEAR_2 "Reverse=0, Forward=f"; -CM_ SG_ 826 AUTO_PARK_GEAR_3 "Reverse=0, Forward=f"; -CM_ SG_ 332 STEER_ANGLE_2 "slightly lags the other steer_angle signal. also more noisy."; -CM_ SG_ 608 PARKSENSE_DISABLED "set if parksense is disabled"; -CM_ SG_ 729 LKAS_STATUS_OK "Set to 0x0820 when LKAS system is plugged in."; -CM_ SG_ 825 BEEP_339 "sent every 0.5s. 0050 is no beep. To beep send 4355 or 4155. Used by ParkSense warning."; -CM_ SG_ 270 ELECTRIC_MOTOR "0x7fff indicates electric motor not in use"; -CM_ SG_ 291 ENERGY_GAIN_LOSS "unsure what this actually is"; -CM_ SG_ 291 ENERGY_SMOOTHER_CURVE "unsure what it is, but smoother"; -CM_ SG_ 308 ACCEL_134 "only set when human presses accel pedal"; -CM_ SG_ 532 NOISY_SLOWLY_DECREASING "perhaps battery but do not know"; -CM_ SG_ 816 TRACTION_OFF "set when traction off button is enabled"; -CM_ SG_ 816 TOGGLE_PARKSENSE "sending 3000071ec0ff9000 enables or disables parksense"; -CM_ SG_ 324 SPEED_2 "signal is approx half other speeds"; -CM_ SG_ 501 ACC_SPEED_CONFIG_KPH "speed configured for ACC"; -CM_ SG_ 501 ACC_SPEED_CONFIG_MPH "speed configured for ACC"; -CM_ SG_ 501 CRUISE_STATE "may just be an icon, but seems to indicate different cruise modes: ACC and Non-ACC and engaged state for both."; -CM_ SG_ 625 SPEED "zero on non-acc drives"; - -VAL_ 501 CRUISE_STATE 0 "Off" 1 "CC On" 2 "CC Engaged" 3 "ACC On" 4 "ACC Engaged"; -VAL_ 746 PRNDL 5 "L" 4 "D" 3 "N" 2 "R" 1 "P"; -VAL_ 792 TURN_SIGNALS 2 "Right" 1 "Left"; diff --git a/opendbc/generator/chrysler/chrysler_ram_dt.dbc b/opendbc/generator/chrysler/chrysler_ram_dt.dbc deleted file mode 100644 index c9be635e107806..00000000000000 --- a/opendbc/generator/chrysler/chrysler_ram_dt.dbc +++ /dev/null @@ -1,57 +0,0 @@ -CM_ "IMPORT _stellantis_common_ram_dt_generated.dbc"; - -BO_ 53 PCM_2: 8 XXX - SG_ ENG_TORQUE_REQ : 3|12@0+ (1,0) [0|7] "" XXX - SG_ ENG_TORQUE_OUT : 19|12@0+ (1,0) [0|1] "" XXX - SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX - SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX - -BO_ 133 TCM_1: 8 XXX - SG_ SHIFT_PENDING : 2|1@0+ (1,0) [0|1] "" XXX - SG_ ACTUAL_GEAR : 11|4@0+ (1,0) [0|15] "" XXX - SG_ DESIRED_GEAR : 15|4@0+ (1,0) [0|1] "" XXX - SG_ TC_LOCKED : 17|1@1+ (1,0) [0|0] "" XXX - SG_ OUTPUT_SPEED : 31|16@0+ (1,0) [0|65534] "rpm" XXX - SG_ INPUT_SPEED : 47|16@0+ (1,0) [0|65534] "rpm" XXX - SG_ OUTPUT_SPEED_SIGN : 57|2@0+ (1,0) [0|3] "" XXX - SG_ COUNTER : 61|4@0+ (1,0) [0|15] "" XXX - -BO_ 135 ABS_2: 8 XXX - SG_ COUNTER : 55|4@0+ (1,0) [0|1] "" XXX - SG_ CHECKSUM : 63|8@0+ (1,0) [0|1] "" XXX - SG_ DRIVER_BRAKE : 15|8@0+ (1,0) [0|1] "" XXX - -BO_ 137 ESP_4: 8 XXX - SG_ Yaw_Rate : 7|16@0+ (0.01,-327.68) [-327.68|327.66] "deg/s" XXX - SG_ Acceleration : 32|8@1+ (0.08,-10.24) [-10.24|10.08] "m/s2" XXX - -BO_ 164 EPS_3: 8 XXX - SG_ DASM_FAULT : 34|1@0+ (1,0) [0|1] "" XXX - SG_ Activation_Status : 48|3@1+ (1,0) [0|1] "" XXX - SG_ Driver_Override : 35|1@0+ (1,0) [0|1] "" XXX - SG_ Hands_on_Wheel : 51|1@0+ (1,0) [0|1] "" XXX - SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX - SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX - -BO_ 166 LKAS_COMMAND: 8 XXX - SG_ STEERING_TORQUE : 10|11@0+ (1,-1024) [0|1] "" XXX - SG_ LKAS_CONTROL_BIT : 24|3@1+ (1,0) [0|1] "" XXX - SG_ DASM_FAULT : 51|1@0+ (1,0) [0|1] "" XXX - SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX - SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX - -BO_ 221 Center_Stack_1: 8 XXX - SG_ LKAS_Button : 53|1@1+ (1,0) [0|0] "" XXX - SG_ Traction_Button : 54|1@0+ (1,0) [0|1] "" XXX - -BO_ 650 Center_Stack_2: 8 XXX - SG_ LKAS_Button : 57|1@1+ (1,0) [0|0] "" XXX - - -CM_ SG_ 133 ACTUAL_GEAR "0xd = P, 0x1-8 = D (actual gear), 0xb = R or N?? TODO find R vs N"; -CM_ SG_ 153 ACC_Engaged "SENT BY FORWARD CAMERA 1 = ACTIVE, 3 = ENGAGED, 0 = DISENGAGED/OFF"; -CM_ SG_ 166 LKAS_CONTROL_BIT "0=IDLE, 1=HAS 2=LKAS 3=ABSD, 4=TJA, 7=SNA"; -CM_ SG_ 250 Auto_High_Beam "1 = HIGH BEAMS OK 0 = HIGH BEAMS OFF "; -CM_ SG_ 250 LKAS_LANE_LINES "9 = LEFT CAUTION, 11 = VERY LEFT CAUTION 10 = RIGHT CAUTION, 14 = VERY RIGHT, 4 = NO LINES DETECTED, 3 = LINES DETECTED, SYSTEM ACTIVE"; -CM_ SG_ 464 Driver_Seatbelt_Status "1 unbuckled 0 buckled"; -CM_ SG_ 792 High_Beam_Lever_Status "1 is high beam, 0 reg"; diff --git a/opendbc/generator/chrysler/chrysler_ram_hd.dbc b/opendbc/generator/chrysler/chrysler_ram_hd.dbc deleted file mode 100644 index 373c041667cf98..00000000000000 --- a/opendbc/generator/chrysler/chrysler_ram_hd.dbc +++ /dev/null @@ -1,17 +0,0 @@ -CM_ "IMPORT _stellantis_common_ram_hd_generated.dbc"; - -BO_ 545 EPS_3: 8 XXX - SG_ DASM_FAULT : 34|1@0+ (1,0) [0|1] "" XXX - SG_ Activation_Status : 48|3@1+ (1,0) [0|1] "" XXX - SG_ Driver_Override : 35|1@0+ (1,0) [0|1] "" XXX - SG_ Hands_on_Wheel : 51|1@0+ (1,0) [0|1] "" XXX - SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX - SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX - -BO_ 630 LKAS_COMMAND: 8 XXX - SG_ STEERING_TORQUE : 10|11@0+ (1,-1024) [0|1] "" XXX - SG_ LKAS_CONTROL_BIT : 24|3@1+ (1,0) [0|1] "" XXX - SG_ DASM_FAULT : 51|1@0+ (1,0) [0|1] "" XXX - SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX - SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX - diff --git a/opendbc/generator/generator.py b/opendbc/generator/generator.py deleted file mode 100644 index 214c8fb1a5afe0..00000000000000 --- a/opendbc/generator/generator.py +++ /dev/null @@ -1,64 +0,0 @@ -#!/usr/bin/env python3 -import os -import re -import glob -import subprocess - -generator_path = os.path.dirname(os.path.realpath(__file__)) -opendbc_root = os.path.join(generator_path, '../') -include_pattern = re.compile(r'CM_ "IMPORT (.*?)";\n') -generated_suffix = '_generated.dbc' - - -def read_dbc(src_dir: str, filename: str) -> str: - with open(os.path.join(src_dir, filename), encoding='utf-8') as file_in: - return file_in.read() - - -def create_dbc(src_dir: str, filename: str, output_path: str): - dbc_file_in = read_dbc(src_dir, filename) - - includes = include_pattern.findall(dbc_file_in) - - output_filename = filename.replace('.dbc', generated_suffix) - output_file_location = os.path.join(output_path, output_filename) - - with open(output_file_location, 'w', encoding='utf-8') as dbc_file_out: - dbc_file_out.write('CM_ "AUTOGENERATED FILE, DO NOT EDIT";\n') - - for include_filename in includes: - include_file_header = '\n\nCM_ "Imported file %s starts here";\n' % include_filename - dbc_file_out.write(include_file_header) - - include_file = read_dbc(src_dir, include_filename) - dbc_file_out.write(include_file) - - dbc_file_out.write('\nCM_ "%s starts here";\n' % filename) - - core_dbc = include_pattern.sub('', dbc_file_in) - dbc_file_out.write(core_dbc) - - -def create_all(output_path: str): - # clear out old DBCs - for f in glob.glob(f"{output_path}/*{generated_suffix}"): - os.remove(f) - - # run python generator scripts first - for f in glob.glob(f"{generator_path}/*/*.py"): - subprocess.check_call(f) - - for src_dir, _, filenames in os.walk(generator_path): - if src_dir == generator_path: - continue - - #print(src_dir) - for filename in filenames: - if filename.startswith('_') or not filename.endswith('.dbc'): - continue - - #print(filename) - create_dbc(src_dir, filename, output_path) - -if __name__ == "__main__": - create_all(opendbc_root) diff --git a/opendbc/generator/gm/_community.dbc b/opendbc/generator/gm/_community.dbc deleted file mode 100644 index d8855b3594e69b..00000000000000 --- a/opendbc/generator/gm/_community.dbc +++ /dev/null @@ -1,15 +0,0 @@ -BO_ 512 GAS_COMMAND: 6 NEO - SG_ GAS_COMMAND : 7|16@0+ (0.125677,-75.909) [0|1] "" INTERCEPTOR - SG_ GAS_COMMAND2 : 23|16@0+ (0.251976,-76.601) [0|1] "" INTERCEPTOR - SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR - SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR - SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR - -BO_ 513 GAS_SENSOR: 6 INTERCEPTOR - SG_ INTERCEPTOR_GAS : 7|16@0+ (0.125677,-75.909) [0|1] "" NEO - SG_ INTERCEPTOR_GAS2 : 23|16@0+ (0.251976,-76.601) [0|1] "" NEO - SG_ STATE : 39|4@0+ (1,0) [0|15] "" NEO - SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" NEO - SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" NEO - -VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ; diff --git a/opendbc/generator/gm/gm_global_a_powertrain.dbc b/opendbc/generator/gm/gm_global_a_powertrain.dbc deleted file mode 100644 index e4315be99f7d3e..00000000000000 --- a/opendbc/generator/gm/gm_global_a_powertrain.dbc +++ /dev/null @@ -1,355 +0,0 @@ -CM_ "IMPORT _community.dbc"; - -VERSION "" - - -NS_ : - NS_DESC_ - CM_ - BA_DEF_ - BA_ - VAL_ - CAT_DEF_ - CAT_ - FILTER - BA_DEF_DEF_ - EV_DATA_ - ENVVAR_DATA_ - SGTYPE_ - SGTYPE_VAL_ - BA_DEF_SGTYPE_ - BA_SGTYPE_ - SIG_TYPE_REF_ - VAL_TABLE_ - SIG_GROUP_ - SIG_VALTYPE_ - SIGTYPE_VALTYPE_ - BO_TX_BU_ - BA_DEF_REL_ - BA_REL_ - BA_DEF_DEF_REL_ - BU_SG_REL_ - BU_EV_REL_ - BU_BO_REL_ - SG_MUL_VAL_ - -BS_: - -BU_: K16_BECM K73_TCIC K9_BCM K43_PSCM K17_EBCM K20_ECM K114B_HPCM NEO K124_ASCM EPB -VAL_TABLE_ TurnSignals 2 "Right Turn" 1 "Left Turn" 0 "None" ; -VAL_TABLE_ Intellibeam 1 "Active" 0 "Inactive" ; -VAL_TABLE_ HighBeamsActive 1 "Active" 0 "Inactive" ; -VAL_TABLE_ HighBeamsTemporary 1 "Active" 0 "Inactive" ; -VAL_TABLE_ ACCLeadCar 1 "Present" 0 "Not Present" ; -VAL_TABLE_ ACCCmdActive 1 "Active" 0 "Inactive" ; -VAL_TABLE_ BrakePedalPressed 1 "Pressed" 0 "Depressed" ; -VAL_TABLE_ DistanceButton 1 "Active" 0 "Inactive" ; -VAL_TABLE_ LKAButton 1 "Active" 0 "Inactive" ; -VAL_TABLE_ ACCButtons 6 "Cancel" 5 "Main" 3 "Set" 2 "Resume" 1 "None" ; -VAL_TABLE_ DriveModeButton 1 "Active" 0 "Inactive" ; -VAL_TABLE_ PRNDL 3 "Reverse" 2 "Drive" 1 "Neutral" 0 "Park" ; -VAL_TABLE_ ESPButton 1 "Active" 0 "Inactive" ; -VAL_TABLE_ DoorStatus 1 "Opened" 0 "Closed" ; -VAL_TABLE_ SeatBeltStatus 1 "Latched" 0 "Unlatched" ; -VAL_TABLE_ LKASteeringCmdActive 1 "Active" 0 "Inactive" ; -VAL_TABLE_ ACCGapLevel 3 "Far" 2 "Med" 1 "Near" 0 "Inactive" ; -VAL_TABLE_ GasRegenCmdActiveInv 1 "Inactive" 0 "Active" ; -VAL_TABLE_ GasRegenCmdActive 1 "Active" 0 "Inactive" ; -VAL_TABLE_ LKATorqueDeliveredStatus 3 "Failed" 2 "Temp. Limited" 1 "Active" 0 "Inactive" ; -VAL_TABLE_ HandsOffSWDetectionStatus 1 "Hands On" 0 "Hands Off" ; -VAL_TABLE_ HandsOffSWDetectionMode 2 "Failed" 1 "Enabled" 0 "Disabled" ; - - -BO_ 189 EBCMRegenPaddle: 7 K17_EBCM - SG_ RegenPaddle : 7|4@0+ (1,0) [0|0] "" NEO - -BO_ 190 ECMAcceleratorPos: 6 K20_ECM - SG_ BrakePedalPos : 15|8@0+ (1,0) [0|0] "sticky" NEO - SG_ GasPedalAndAcc : 23|8@0+ (1,0) [0|0] "" NEO - -BO_ 201 ECMEngineStatus: 8 K20_ECM - SG_ EngineTPS : 39|8@0+ (0.392156863,0) [0|100.000000065] "%" NEO - SG_ EngineRPM : 15|16@0+ (0.25,0) [0|0] "RPM" NEO - SG_ CruiseMainOn : 29|1@0+ (1,0) [0|1] "" NEO - SG_ BrakePressed : 40|1@0+ (1,0) [0|1] "" NEO - SG_ Standstill : 2|1@0+ (1,0) [0|1] "" NEO - SG_ CruiseActive : 31|2@0+ (1,0) [0|3] "" NEO - -BO_ 209 EBCMBrakePedalSensors: 7 K17_EBCM - SG_ Counter1 : 7|2@0+ (1,0) [0|3] "" XXX - SG_ Counter2 : 23|2@0+ (1,0) [0|3] "" XXX - SG_ BrakePedalPosition1 : 5|14@0+ (1,0) [0|16383] "" XXX - SG_ BrakePedalPosition2 : 21|14@0- (-1,0) [0|16383] "" XXX - SG_ BrakeNormalized1 : 39|8@0+ (1,0) [0|255] "" XXX - SG_ BrakeNormalized2 : 47|8@0- (-1,0) [0|255] "" XXX - -BO_ 241 EBCMBrakePedalPosition: 6 K17_EBCM - SG_ BrakePressed : 1|1@0+ (1,0) [0|1] "" XXX - SG_ BrakePedalPosition : 15|8@0+ (1,0) [0|255] "" NEO - -BO_ 298 BCMDoorBeltStatus: 8 K9_BCM - SG_ RearLeftDoor : 8|1@0+ (1,0) [0|0] "" NEO - SG_ FrontLeftDoor : 9|1@0+ (1,0) [0|0] "" NEO - SG_ FrontRightDoor : 10|1@0+ (1,0) [0|0] "" NEO - SG_ RearRightDoor : 23|1@0+ (1,0) [0|0] "" NEO - SG_ LeftSeatBelt : 12|1@0+ (1,0) [0|0] "" NEO - SG_ RightSeatBelt : 53|1@0+ (1,0) [0|0] "" NEO - -BO_ 309 ECMPRDNL: 8 K20_ECM - SG_ PRNDL : 2|3@0+ (1,0) [0|0] "" NEO - SG_ ESPButton : 4|1@0+ (1,0) [0|1] "" XXX - -BO_ 320 BCMTurnSignals: 3 K9_BCM - SG_ TurnSignals : 19|2@0+ (1,0) [0|0] "" NEO - SG_ Intellibeam : 13|1@0+ (1,0) [0|1] "" XXX - SG_ HighBeamsActive : 7|1@0+ (1,0) [0|1] "" XXX - SG_ HighBeamsTemporary : 5|1@0+ (1,0) [0|1] "" XXX - -BO_ 322 BCMBlindSpotMonitor: 7 K9_BCM - SG_ LeftBSM : 6|1@0+ (1,0) [0|1] "" XXX - SG_ RightBSM : 7|1@0+ (1,0) [0|1] "" XXX - -BO_ 328 PSCM_148: 1 K43_PSCM - -BO_ 381 ESPStatus: 6 K20_ECM - SG_ TractionControlOn : 5|1@0+ (1,0) [0|0] "" NEO - SG_ MSG17D_AccPower : 35|12@0- (1,0) [0|0] "" NEO - -BO_ 384 ASCMLKASteeringCmd: 4 NEO - SG_ RollingCounter : 5|2@0+ (1,0) [0|0] "" NEO - SG_ LKASteeringCmdChecksum : 19|12@0+ (1,0) [0|0] "" NEO - SG_ LKASteeringCmdActive : 3|1@0+ (1,0) [0|0] "" NEO - SG_ LKASteeringCmd : 2|11@0- (1,0) [0|0] "" NEO - -BO_ 388 PSCMStatus: 8 K43_PSCM - SG_ HandsOffSWDetectionMode : 20|2@0+ (1,0) [0|3] "" NEO - SG_ HandsOffSWlDetectionStatus : 21|1@0+ (1,0) [0|1] "" NEO - SG_ LKATorqueDeliveredStatus : 5|3@0+ (1,0) [0|7] "" NEO - SG_ LKADriverAppldTrq : 50|11@0- (0.01,0) [-10.24|10.23] "Nm" NEO - SG_ LKATorqueDelivered : 18|11@0- (0.01,0) [0|1] "" NEO - SG_ LKATotalTorqueDelivered : 2|11@0- (0.01,0) [-10.24|10.23] "Nm" NEO - SG_ RollingCounter : 38|4@0+ (1,0) [0|15] "" XXX - SG_ PSCMStatusChecksum : 33|10@0+ (1,0) [0|1023] "" XXX - -BO_ 417 AcceleratorPedal: 7 XXX - SG_ AcceleratorPedal : 55|8@0+ (1,0) [0|0] "" NEO - -BO_ 451 GasAndAcc: 8 XXX - SG_ GasPedalAndAcc2 : 55|8@0+ (1,0) [0|0] "" NEO - -BO_ 452 AcceleratorPedal2: 8 XXX - SG_ CruiseState : 15|3@0+ (1,0) [0|7] "" NEO - SG_ AcceleratorPedal2 : 47|8@0+ (1,0) [0|0] "" NEO - -BO_ 481 ASCMSteeringButton: 7 K124_ASCM - SG_ DistanceButton : 22|1@0+ (1,0) [0|0] "" NEO - SG_ LKAButton : 23|1@0+ (1,0) [0|0] "" NEO - SG_ ACCAlwaysOne : 24|1@0+ (1,0) [0|1] "" XXX - SG_ ACCButtons : 46|3@0+ (1,0) [0|0] "" NEO - SG_ DriveModeButton : 39|1@0+ (1,0) [0|1] "" XXX - SG_ RollingCounter : 33|2@0+ (1,0) [0|3] "" NEO - SG_ SteeringButtonChecksum : 43|12@0+ (1,0) [0|255] "" NEO - -BO_ 485 PSCMSteeringAngle: 8 K43_PSCM - SG_ SteeringWheelAngle : 15|16@0- (0.0625,0) [-2047|2047] "deg" NEO - SG_ SteeringWheelRate : 27|12@0- (1,0) [-2047|2047] "deg/s" NEO - -BO_ 489 EBCMVehicleDynamic: 8 K17_EBCM - SG_ BrakePedalPressed : 6|1@0+ (1,0) [0|0] "" NEO - SG_ LateralAcceleration : 3|10@0- (0.161,0) [-2047|2047] "m/s2" NEO - SG_ YawRate : 35|12@0- (0.625,0) [0|1] "" NEO - SG_ YawRate2 : 51|12@0- (0.0625,0) [-2047|2047] "grad/s" NEO - -BO_ 352 BCMImmobilizer: 5 K9_BCM - SG_ ImmobilizerInfo : 7|32@0+ (1,0) [0|4294967295] "" XXX - -BO_ 497 BCMGeneralPlatformStatus: 8 K9_BCM - SG_ SystemPowerMode : 1|2@0+ (1,0) [0|3] "" XXX - SG_ SystemBackUpPowerMode : 5|2@0+ (1,0) [0|3] "" XXX - SG_ ParkBrakeSwActive : 36|1@0+ (1,0) [0|3] "" XXX - -BO_ 500 SportMode: 6 XXX - SG_ SportMode : 15|1@0+ (1,0) [0|1] "" XXX - -BO_ 501 ECMPRDNL2: 8 K20_ECM - SG_ TransmissionState : 48|4@1+ (1,0) [0|7] "" NEO - SG_ PRNDL2 : 27|4@0+ (1,0) [0|255] "" NEO - SG_ ManualMode : 41|1@0+ (1,0) [0|1] "" NEO - -BO_ 532 BRAKE_RELATED: 6 XXX - SG_ UserBrakePressure : 0|9@0+ (1,0) [0|511] "" XXX - -BO_ 560 EPBStatus: 8 EPB - SG_ EPBClosed : 12|1@0+ (1,0) [0|1] "" NEO - -BO_ 562 EBCMFrictionBrakeStatus: 8 K17_EBCM - SG_ FrictionBrakeUnavailable : 46|1@0+ (1,0) [0|1] "" XXX - -BO_ 608 SPEED_RELATED: 8 XXX - SG_ RollingCounter : 5|2@0+ (1,0) [0|0] "" XXX - SG_ ClusterSpeed : 31|8@0+ (1,0) [0|0] "" XXX - -BO_ 711 BECMBatteryVoltageCurrent: 6 K17_EBCM - SG_ HVBatteryVoltage : 31|12@0+ (0.125,0) [0|511.875] "V" NEO - SG_ HVBatteryCurrent : 12|13@0- (0.15,0) [-614.4|614.25] "A" NEO - -BO_ 715 ASCMGasRegenCmd: 8 K124_ASCM - SG_ GasRegenAlwaysOne2 : 9|1@0+ (1,0) [0|1] "" NEO - SG_ GasRegenAlwaysOne : 14|1@0+ (1,0) [0|1] "" NEO - SG_ GasRegenChecksum : 47|24@0+ (1,0) [0|0] "" NEO - SG_ GasRegenCmdActiveInv : 32|1@0+ (1,0) [0|0] "" NEO - SG_ GasRegenFullStopActive : 13|1@0+ (1,0) [0|0] "" NEO - SG_ GasRegenCmdActive : 0|1@0+ (1,0) [0|0] "" NEO - SG_ RollingCounter : 7|2@0+ (1,0) [0|0] "" NEO - SG_ GasRegenAlwaysOne3 : 23|1@0+ (1,0) [0|1] "" NEO - SG_ GasRegenCmd : 22|12@0+ (1,0) [0|0] "" NEO - -BO_ 717 ASCM_2CD: 5 K124_ASCM - -BO_ 761 BRAKE_RELATED_2: 7 XXX - SG_ UserBrakePressure2 : 47|9@0+ (1,0) [0|511] "" XXX - -BO_ 789 EBCMFrictionBrakeCmd: 5 K124_ASCM - SG_ RollingCounter : 33|2@0+ (1,0) [0|0] "" NEO - SG_ FrictionBrakeMode : 7|4@0+ (1,0) [0|0] "" NEO - SG_ FrictionBrakeChecksum : 23|16@0+ (1,0) [0|0] "" NEO - SG_ FrictionBrakeCmd : 3|12@0- (1,0) [0|0] "" NEO - -BO_ 800 AEBCmd: 6 K124_ASCM - SG_ RollingCounter : 5|2@0+ (1,0) [0|3] "" NEO - SG_ AEBChecksum : 27|20@0+ (1,0) [0|0] "" NEO - SG_ AEBCmdActive : 3|1@1+ (1,0) [0|1] "" NEO - SG_ AEBCmd : 2|11@0+ (1,0) [0|0] "" NEO - SG_ AEBCmd2 : 23|8@0+ (1,0) [0|0] "" NEO - -BO_ 810 TCICOnStarGPSPosition: 8 K73_TCIC - SG_ GPSLongitude : 39|32@0+ (1,-2147483648) [0|0] "milliarcsecond" NEO - SG_ GPSLatitude : 7|32@0+ (1,0) [0|0] "milliarcsecond" NEO - -BO_ 840 EBCMWheelSpdFront: 5 K17_EBCM - SG_ FLWheelSpd : 7|16@0+ (0.0311,0) [0|255] "km/h" NEO - SG_ FRWheelSpd : 23|16@0+ (0.0311,0) [0|255] "km/h" NEO - -BO_ 842 EBCMWheelSpdRear: 5 K17_EBCM - SG_ RLWheelSpd : 7|16@0+ (0.0311,0) [0|255] "km/h" NEO - SG_ RRWheelSpd : 23|16@0+ (0.0311,0) [0|255] "km/h" NEO - SG_ RRWheelDir : 34|3@0+ (1,0) [0|7] "" NEO - SG_ RLWheelDir : 37|3@0+ (1,0) [0|7] "" NEO - -BO_ 869 ASCM_365: 4 K124_ASCM - -BO_ 880 ASCMActiveCruiseControlStatus: 6 K124_ASCM - SG_ ACCCruiseState : 8|3@1+ (1,0) [0|7] "" XXX - SG_ ACCLeadCar : 44|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ ACCAlwaysOne2 : 32|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ ACCAlwaysOne : 0|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ ACCSpeedSetpoint : 19|12@0+ (0.0625,0) [0|255.9375] "km/h" NEO - SG_ ACCGapLevel : 21|2@0+ (1,0) [0|0] "" NEO - SG_ ACCResumeButton : 1|1@0+ (1,0) [0|0] "" NEO - SG_ ACCCmdActive : 23|1@0+ (1,0) [0|0] "" NEO - SG_ FCWAlert : 41|2@0+ (1,0) [0|3] "" XXX - -BO_ 967 EVDriveMode: 4 XXX - SG_ SinglePedalModeActive : 7|1@0+ (1,0) [0|1] "" XXX - SG_ SinglePedalModeRisingEdge : 21|1@0+ (1,0) [0|1] "" XXX - SG_ SinglePedalModeFallingEdge : 22|1@0+ (1,0) [0|1] "" XXX - -BO_ 977 ECMCruiseControl: 8 K20_ECM - SG_ CruiseActive : 39|1@0+ (1,0) [0|3] "" NEO - SG_ CruiseSetSpeed : 19|12@0+ (0.0625,0) [0|0] "km/h" NEO - -BO_ 1001 ECMVehicleSpeed: 8 K20_ECM - SG_ VehicleSpeed : 7|16@0+ (0.01,0) [0|0] "mph" NEO - SG_ VehicleSpeedLeft : 39|16@0+ (0.01,0) [0|0] "mph" NEO - -BO_ 1033 ASCMKeepAlive: 7 NEO - SG_ ASCMKeepAliveAllZero : 7|56@0+ (1,0) [0|0] "" NEO - -BO_ 1034 ASCM_40A: 7 K124_ASCM - -BO_ 1217 ECMEngineCoolantTemp: 8 K20_ECM - SG_ EngineCoolantTemp : 23|8@0+ (1,-40) [0|0] "C" NEO - -BO_ 1249 VIN_Part2: 8 K20_ECM - SG_ VINPart2 : 7|64@0+ (1,0) [0|0] "" NEO - -BO_ 1296 ASCM_510: 4 K124_ASCM - -BO_ 1300 VIN_Part1: 8 K20_ECM - SG_ VINPart1 : 7|64@0+ (1,0) [0|0] "" NEO - -BO_ 1912 PSCM_778: 8 K43_PSCM - -BO_ 1930 ASCM_78A: 7 K124_ASCM - -BO_TX_BU_ 384 : K124_ASCM,NEO; -BO_TX_BU_ 880 : NEO,K124_ASCM; -BO_TX_BU_ 1033 : K124_ASCM,NEO; -BO_TX_BU_ 715 : NEO,K124_ASCM; -BO_TX_BU_ 789 : NEO,K124_ASCM; -BO_TX_BU_ 800 : NEO,K124_ASCM; - - -CM_ BU_ K16_BECM "Battery Energy Control Module"; -CM_ BU_ K73_TCIC "Telematics Communication Control Module"; -CM_ BU_ K9_BCM "Body Control Module"; -CM_ BU_ K43_PSCM "Power Steering Control Module"; -CM_ BU_ K17_EBCM "Electronic Brake Control Module"; -CM_ BU_ K20_ECM "Engine Control Module"; -CM_ BU_ K114B_HPCM "Hybrid Powertrain Control Module"; -CM_ BU_ NEO "Comma NEO"; -CM_ BU_ K124_ASCM "Active Safety Control Module"; -CM_ SG_ 381 MSG17D_AccPower "Need to investigate"; -CM_ BO_ 190 "Length varies from 6 to 8 bytes by car"; -CM_ SG_ 190 GasPedalAndAcc "ACC baseline is 62"; -CM_ SG_ 322 LeftBSM "For some cars, this can only be when the blinker is also active"; -CM_ SG_ 322 RightBSM "For some cars, this can only be when the blinker is also active"; -CM_ SG_ 352 ImmobilizerInfo "Non-zero when ignition or accessory mode"; -CM_ SG_ 451 GasPedalAndAcc2 "ACC baseline is 62"; -CM_ SG_ 481 ACCAlwaysOne "Usually 1 if the car is equipped with ACC"; -CM_ SG_ 562 FrictionBrakeUnavailable "1 when ACC brake control is unavailable. Stays high if brake command messages are blocked for a period of time"; -CM_ SG_ 497 SystemPowerMode "Describes ignition"; -CM_ SG_ 497 SystemBackUpPowerMode "Describes ignition + preconditioning mode, noisy"; -CM_ SG_ 501 PRNDL2 "When ManualMode is Active, Value is 13=L1 12=L2 11=L3 ... 4=L10"; -CM_ SG_ 532 UserBrakePressure "can be lower than other brake position signals when the brakes are pre-filled from ACC braking and the user presses on the brakes. user-only pressure?"; -CM_ SG_ 608 ClusterSpeed "Cluster speed signal seems to match dash on newer cars, but is a lower rate and can be noisier."; -CM_ SG_ 761 UserBrakePressure2 "Similar to BRAKE_RELATED->UserBrakePressure"; -CM_ SG_ 1001 VehicleSpeed "Spinouts show here on 2wd. Speed derived from right front wheel (drive tire)"; -BA_DEF_ "UseGMParameterIDs" INT 0 0; -BA_DEF_ "ProtocolType" STRING ; -BA_DEF_ "BusType" STRING ; -BA_DEF_DEF_ "UseGMParameterIDs" 1; -BA_DEF_DEF_ "ProtocolType" "GMLAN"; -BA_DEF_DEF_ "BusType" ""; -BA_ "BusType" "CAN"; -BA_ "ProtocolType" "GMLAN"; -BA_ "UseGMParameterIDs" 0; -VAL_ 497 SystemPowerMode 3 "Crank Request" 2 "Run" 1 "Accessory" 0 "Off"; -VAL_ 497 SystemBackUpPowerMode 3 "Crank Request" 2 "Run" 1 "Accessory" 0 "Off"; -VAL_ 481 DistanceButton 1 "Active" 0 "Inactive" ; -VAL_ 481 LKAButton 1 "Active" 0 "Inactive" ; -VAL_ 481 ACCButtons 6 "Cancel" 5 "Main" 3 "Set" 2 "Resume" 1 "None" ; -VAL_ 481 DriveModeButton 1 "Active" 0 "Inactive" ; -VAL_ 452 CruiseState 4 "Standstill" 3 "Faulted" 1 "Active" 0 "Off" ; -VAL_ 309 PRNDL 3 "R" 2 "D" 1 "N" 0 "P" ; -VAL_ 309 ESPButton 1 "Active" 0 "Inactive" ; -VAL_ 384 LKASteeringCmdActive 1 "Active" 0 "Inactive" ; -VAL_ 842 RRWheelDir 0 "Stationary" 1 "Forward" 2 "Reverse" 3 "Unsupported" 4 "Fault"; -VAL_ 842 RLWheelDir 0 "Stationary" 1 "Forward" 2 "Reverse" 3 "Unsupported" 4 "Fault"; -VAL_ 880 ACCCruiseState 2 "Adaptive" 3 "Adaptive" 4 "Non-adaptive" 5 "Non-adaptive" ; -VAL_ 880 ACCLeadCar 1 "Present" 0 "Not Present" ; -VAL_ 880 ACCGapLevel 3 "Far" 2 "Med" 1 "Near" 0 "Inactive" ; -VAL_ 880 ACCResumeButton 1 "Pressed" 0 "Depressed" ; -VAL_ 880 ACCCmdActive 1 "Active" 0 "Inactive" ; -VAL_ 388 HandsOffSWDetectionMode 2 "Failed" 1 "Enabled" 0 "Disabled" ; -VAL_ 388 HandsOffSWlDetectionStatus 1 "Hands On" 0 "Hands Off" ; -VAL_ 388 LKATorqueDeliveredStatus 3 "Failed" 2 "Temp. Limited" 1 "Active" 0 "Inactive" ; -VAL_ 489 BrakePedalPressed 1 "Pressed" 0 "Depressed" ; -VAL_ 715 GasRegenCmdActiveInv 1 "Inactive" 0 "Active" ; -VAL_ 715 GasRegenCmdActive 1 "Active" 0 "Inactive" ; -VAL_ 320 Intellibeam 1 "Active" 0 "Inactive" ; -VAL_ 320 HighBeamsActive 1 "Active" 0 "Inactive" ; -VAL_ 320 HighBeamsTemporary 1 "Active" 0 "Inactive" ; -VAL_ 501 PRNDL2 6 "L" 4 "D" 3 "N" 2 "R" 1 "P" 0 "Shifting"; -VAL_ 501 TransmissionState 11 "Shifting" 10 "Reverse" 9 "Forward" 8 "Disengaged"; -VAL_ 501 ManualMode 1 "Active" 0 "Inactive" diff --git a/opendbc/generator/honda/_bosch_2018.dbc b/opendbc/generator/honda/_bosch_2018.dbc deleted file mode 100644 index bf981781d0f378..00000000000000 --- a/opendbc/generator/honda/_bosch_2018.dbc +++ /dev/null @@ -1,228 +0,0 @@ -BO_ 148 KINEMATICS: 8 XXX - SG_ LAT_ACCEL : 7|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON - SG_ LONG_ACCEL : 25|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON - -BO_ 228 STEERING_CONTROL: 5 EON - SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS - SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS - SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS - SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS - SG_ STEER_DOWN_TO_ZERO : 38|1@0+ (1,0) [0|1] "" EPS - SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS - SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS - -BO_ 229 BOSCH_SUPPLEMENTAL_1: 8 XXX - SG_ SET_ME_X04 : 0|8@1+ (1,0) [0|255] "" XXX - SG_ SET_ME_X00 : 8|8@1+ (1,0) [0|255] "" XXX - SG_ SET_ME_X80 : 16|8@1+ (1,0) [0|255] "" XXX - SG_ SET_ME_X10 : 24|8@1+ (1,0) [0|255] "" XXX - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX - -BO_ 232 BRAKE_HOLD: 7 XXX - SG_ XMISSION_SPEED : 7|14@0- (1,0) [1|0] "" XXX - SG_ COMPUTER_BRAKE : 39|16@0+ (1,0) [0|0] "" XXX - SG_ COMPUTER_BRAKE_REQUEST : 29|1@0+ (1,0) [0|0] "" XXX - SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" XXX - SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" XXX - -BO_ 399 STEER_STATUS: 7 EPS - SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON - SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON - SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON - SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON - SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON - SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON - -BO_ 450 EPB_STATUS: 8 EPB - SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" EON - SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] "" EON - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX - -BO_ 545 XXX_16: 6 SCM - SG_ ECON_ON : 23|1@0+ (1,0) [0|1] "" XXX - SG_ DRIVE_MODE : 37|2@0+ (1,0) [0|3] "" XXX - SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" BDY - SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" BDY - -BO_ 576 LEFT_LANE_LINE_1: 8 CAM - SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX - SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX - SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX - SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX - SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX - SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX - SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX - -BO_ 577 LEFT_LANE_LINE_2: 8 CAM - SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX - SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX - SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX - SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX - SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX - SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX - SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX - SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX - -BO_ 579 RIGHT_LANE_LINE_1: 8 CAM - SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX - SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX - SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX - SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX - SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX - SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX - SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX - -BO_ 580 RIGHT_LANE_LINE_2: 8 CAM - SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX - SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX - SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX - SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX - SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX - SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX - SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX - SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX - -BO_ 582 ADJACENT_LEFT_LANE_LINE_1: 8 CAM - SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX - SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX - SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX - SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX - SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX - SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX - SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX - -BO_ 583 ADJACENT_LEFT_LANE_LINE_2: 8 CAM - SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX - SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX - SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX - SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX - SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX - SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX - SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX - SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX - -BO_ 585 ADJACENT_RIGHT_LANE_LINE_1: 8 CAM - SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX - SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX - SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX - SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX - SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX - SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX - SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX - -BO_ 586 ADJACENT_RIGHT_LANE_LINE_2: 8 CAM - SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX - SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX - SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX - SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX - SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX - SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX - SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX - SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX - -BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA - SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON - SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON - SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON - SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON - SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" XXX - SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON - SG_ LONG_COUNTER : 55|8@0+ (1,0) [0|255] "" XXX - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX - -BO_ 662 SCM_BUTTONS: 4 SCM - SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON - SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" EON - SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON - -BO_ 806 SCM_FEEDBACK: 8 SCM - SG_ DRIVERS_DOOR_OPEN : 17|1@0+ (1,0) [0|1] "" XXX - SG_ MAIN_ON : 28|1@0+ (1,0) [0|1] "" EON - SG_ RIGHT_BLINKER : 27|1@0+ (1,0) [0|1] "" EON - SG_ LEFT_BLINKER : 26|1@0+ (1,0) [0|1] "" EON - SG_ CMBS_STATES : 22|2@0+ (1,0) [0|3] "" EON - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX - -BO_ 862 CAMERA_MESSAGES: 8 CAM - SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY - SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX - SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX - SG_ ZEROS_BOH_2 : 51|4@0+ (1,0) [0|15] "" XXX - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX - -BO_ 927 RADAR_HUD: 8 RADAR - SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY - SG_ CMBS_OFF : 12|1@0+ (1,0) [0|1] "" BDY - SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|1] "" XXX - SG_ SET_TO_1 : 13|1@0+ (1,0) [0|1] "" BDY - SG_ ZEROS_BOH2 : 11|4@0+ (1,0) [0|1] "" XXX - SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|1] "" XXX - SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|1] "" BDY - SG_ SET_TO_0 : 22|1@0+ (1,0) [0|1] "" XXX - SG_ HUD_LEAD : 40|1@0+ (1,0) [0|1] "" XXX - SG_ SET_TO_64 : 31|8@0+ (1,0) [0|255] "" XXX - SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|255] "" XXX - SG_ ZEROS_BOH3 : 47|7@0+ (1,0) [0|127] "" XXX - SG_ ZEROS_BOH4 : 55|8@0+ (1,0) [0|255] "" XXX - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX - -BO_ 13274 LKAS_HUD_A: 5 ADAS - SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY - SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY - SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY - SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY - SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY - SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY - SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY - SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY - SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY - SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY - SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY - SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY - SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY - SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY - SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY - SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY - SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY - SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY - SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY - -BO_ 13275 LKAS_HUD_B: 8 ADAS - SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY - SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY - SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY - SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY - SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY - SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY - SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY - SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY - SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY - SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY - SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY - SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY - SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY - SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY - SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY - SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY - SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" BDY - -CM_ SG_ 450 EPB_STATE "3: On, 2: Disengaging, 1: Engaging, 0: Off"; -CM_ SG_ 576 LINE_DISTANCE_VISIBLE "Length of line visible, undecoded"; -CM_ SG_ 577 LINE_FAR_EDGE_POSITION "Appears to be a measure of line thickness, indicates location of the portion of the line furthest from the car, undecoded"; -CM_ SG_ 577 LINE_PARAMETER "Unclear if this is low quality line curvature rate or if this is something else, but it is correlated with line curvature, undecoded"; -CM_ SG_ 577 LINE_DASHED "1 = line is dashed"; -CM_ SG_ 577 LINE_SOLID "1 = line is solid"; - -VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal"; diff --git a/opendbc/generator/honda/_bosch_adas_2018.dbc b/opendbc/generator/honda/_bosch_adas_2018.dbc deleted file mode 100644 index dc8def55cb1d07..00000000000000 --- a/opendbc/generator/honda/_bosch_adas_2018.dbc +++ /dev/null @@ -1,54 +0,0 @@ -BO_ 479 ACC_CONTROL: 8 EON - SG_ SET_TO_0 : 20|5@0+ (1,0) [0|1] "" XXX - SG_ CONTROL_ON : 23|3@0+ (1,0) [0|5] "" XXX - SG_ GAS_COMMAND : 7|16@0- (1,0) [0|0] "" XXX - SG_ ACCEL_COMMAND : 31|11@0- (0.01,0) [0|0] "m/s2" XXX - SG_ BRAKE_LIGHTS : 62|1@0+ (1,0) [0|1] "" XXX - SG_ BRAKE_REQUEST : 34|1@0+ (1,0) [0|1] "" XXX - SG_ STANDSTILL : 35|1@0+ (1,0) [0|1] "" XXX - SG_ STANDSTILL_RELEASE : 36|1@0+ (1,0) [0|1] "" XXX - SG_ AEB_STATUS : 33|1@0+ (1,0) [0|1] "" XXX - SG_ AEB_BRAKING : 47|1@0+ (1,0) [0|1] "" XXX - SG_ AEB_PREPARE : 43|1@0+ (1,0) [0|1] "" XXX - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX - -BO_ 495 ACC_CONTROL_ON: 8 XXX - SG_ SET_TO_75 : 31|8@0+ (1,0) [0|255] "" XXX - SG_ SET_TO_30 : 39|8@0+ (1,0) [0|255] "" XXX - SG_ ZEROS_BOH : 23|8@0+ (1,0) [0|255] "" XXX - SG_ ZEROS_BOH2 : 47|16@0+ (1,0) [0|255] "" XXX - SG_ SET_TO_FF : 15|8@0+ (1,0) [0|255] "" XXX - SG_ SET_TO_3 : 6|7@0+ (1,0) [0|4095] "" XXX - SG_ CONTROL_ON : 7|1@0+ (1,0) [0|1] "" XXX - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX - -BO_ 829 LKAS_HUD: 5 ADAS - SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY - SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY - SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY - SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY - SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY - SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY - SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY - SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY - SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY - SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY - SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY - SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY - SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY - SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY - SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY - SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY - SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY - SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY - SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY - -CM_ SG_ 479 CONTROL_ON "Set to 5 when car is being controlled"; -CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event"; -CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event"; -CM_ SG_ 479 AEB_PREPARE "set 1s before AEB"; -CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc..."; - -VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep"; diff --git a/opendbc/generator/honda/_community.dbc b/opendbc/generator/honda/_community.dbc deleted file mode 100644 index 8be69203ef8634..00000000000000 --- a/opendbc/generator/honda/_community.dbc +++ /dev/null @@ -1,15 +0,0 @@ -BO_ 512 GAS_COMMAND: 6 EON - SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR - SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR - SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR - SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR - SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR - -BO_ 513 GAS_SENSOR: 6 INTERCEPTOR - SG_ INTERCEPTOR_GAS : 7|16@0+ (1,0) [0|1] "" EON - SG_ INTERCEPTOR_GAS2 : 23|16@0+ (1,0) [0|1] "" EON - SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON - SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON - SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON - -VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ; diff --git a/opendbc/generator/honda/_honda_common.dbc b/opendbc/generator/honda/_honda_common.dbc deleted file mode 100644 index d9feb98dc8ac9a..00000000000000 --- a/opendbc/generator/honda/_honda_common.dbc +++ /dev/null @@ -1,163 +0,0 @@ -BO_ 304 GAS_PEDAL_2: 8 PCM - SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON - SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON - SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON - -BO_ 316 GAS_PEDAL: 8 PCM - SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON - -BO_ 344 ENGINE_DATA: 8 PCM - SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON - SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON - SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON - SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON - -BO_ 380 POWERTRAIN_DATA: 8 PCM - SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON - SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON - SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON - SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "" EON - SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "" EON - SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "" EON - SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "" EON - SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON - SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "" EON - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON - -BO_ 420 VSA_STATUS: 8 VSA - SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON - SG_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" EON - SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON - SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX - SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON - SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON - -BO_ 427 STEER_MOTOR_TORQUE: 3 EPS - SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON - SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON - SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON - SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON - -BO_ 464 WHEEL_SPEEDS: 8 VSA - SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON - SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON - SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON - SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON - -BO_ 490 VEHICLE_DYNAMICS: 8 VSA - SG_ LAT_ACCEL : 7|16@0- (0.0015,0) [-20|20] "m/s2" EON - SG_ LONG_ACCEL : 23|16@0- (0.0015,0) [-20|20] "m/s2" EON - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON - -BO_ 773 SEATBELT_STATUS: 7 BDY - SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON - SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON - SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON - SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON - SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON - SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON - SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON - SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON - -BO_ 777 CAR_SPEED: 8 PCM - SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX - SG_ CAR_SPEED : 7|16@0+ (0.01,0) [0|65535] "kph" XXX - SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (0.01,0) [0|65535] "kph" XXX - SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "mph" XXX - SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX - SG_ IMPERIAL_UNIT : 63|1@0+ (1,0) [0|1] "" XXX - -BO_ 780 ACC_HUD: 8 ADAS - SG_ PCM_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" BDY - SG_ PCM_GAS : 23|8@0+ (1,0) [0|127] "" BDY - SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "kph" BDY - SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY - SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY - SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY - SG_ FCM_OFF : 35|1@0+ (1,0) [0|1] "" BDY - SG_ FCM_OFF_2 : 36|1@0+ (1,0) [0|1] "" BDY - SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY - SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY - SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY - SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY - SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY - SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY - SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY - SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY - SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY - SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY - SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY - SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" BDY - SG_ CHIME : 51|3@0+ (1,0) [0|1] "" BDY - SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY - SG_ ICONS : 63|2@0+ (1,0) [0|1] "" BDY - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY - SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY - -BO_ 804 CRUISE: 8 PCM - SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" EON - SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" EON - SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON - SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" EON - SG_ BOH2 : 47|8@0- (1,0) [0|255] "" EON - SG_ BOH3 : 55|8@0+ (1,0) [0|255] "" EON - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON - -BO_ 884 STALK_STATUS: 8 XXX - SG_ DASHBOARD_ALERT : 39|8@0+ (1,0) [0|255] "" EON - SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON - SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON - SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON - SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON - SG_ WIPER_SWITCH : 53|2@0+ (1,0) [0|3] "" XXX - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON - -BO_ 891 STALK_STATUS_2: 8 XXX - SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON - SG_ LOW_BEAMS : 35|1@0+ (1,0) [0|1] "" XXX - SG_ HIGH_BEAMS : 34|1@0+ (1,0) [0|1] "" XXX - SG_ PARK_LIGHTS : 36|1@0+ (1,0) [0|1] "" XXX - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON - -BO_ 1029 DOORS_STATUS: 8 BDY - SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON - SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON - SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON - SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON - SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON - -CM_ SG_ 304 "Seems to be platform-agnostic"; -CM_ SG_ 316 "Should exist on Nidec"; -CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged"; -CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping"; -CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light"; -CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light"; -CM_ SG_ 780 CRUISE_SPEED "255 = no speed"; -CM_ SG_ 780 PCM_SPEED "Used by Nidec"; -CM_ SG_ 780 PCM_GAS "Used by Nidec"; -CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed"; - -VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped"; -VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car"; -VAL_ 884 DASHBOARD_ALERT 0 "none" 51 "acc_problem" 55 "cmbs_problem" 75 "key_not_detected" 79 "fasten_seatbelt" 111 "lkas_problem" 131 "brake_system_problem" 132 "brake_hold_problem" 139 "tbd" 161 "door_open"; -VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off"; diff --git a/opendbc/generator/honda/_nidec_common.dbc b/opendbc/generator/honda/_nidec_common.dbc deleted file mode 100644 index 142508911dd65f..00000000000000 --- a/opendbc/generator/honda/_nidec_common.dbc +++ /dev/null @@ -1,93 +0,0 @@ -BO_ 145 KINEMATICS: 8 XXX - SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON - -BO_ 148 KINEMATICS_ALT: 8 XXX - SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON - SG_ LONG_ACCEL : 24|9@0- (-0.02,0) [-20|20] "m/s2" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON - -BO_ 432 STANDSTILL: 7 VSA - SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON - SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON - SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON - SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON - SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON - -BO_ 487 BRAKE_PRESSURE: 4 VSA - SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" EON - SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] "" EON - SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON - SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON - -BO_ 506 BRAKE_COMMAND: 8 ADAS - SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [0|1] "" EBCM - SG_ BRAKE_PUMP_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM - SG_ BRAKE_PUMP_REQUEST_ALT : 11|1@0+ (1,0) [0|1] "" EBCM - SG_ SET_ME_X00 : 23|3@0+ (1,0) [0|1] "" EBCM - SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM - SG_ SET_ME_X00_2 : 19|1@0+ (1,0) [0|1] "" EBCM - SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM - SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM - SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM - SG_ SET_ME_1 : 31|1@0+ (1,0) [0|1] "" EBCM - SG_ AEB_REQ_1 : 29|1@0+ (1,0) [0|1] "" XXX - SG_ AEB_REQ_2 : 26|3@0+ (1,0) [0|7] "" XXX - SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM - SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM - SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM - SG_ SET_ME_X00_3 : 44|1@0+ (1,0) [0|1] "" EBCM - SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM - SG_ AEB_STATUS : 41|2@0+ (1,0) [0|3] "" XXX - SG_ COMPUTER_BRAKE_ALT : 55|10@0+ (1,0) [0|0] "" EBCM - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM - -BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA - SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON - SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON - SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON - SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON - SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" EON - SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON - -BO_ 829 LKAS_HUD: 5 ADAS - SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY - SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY - SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY - SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY - SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY - SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY - SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY - SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY - SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY - SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY - SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY - SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY - SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY - SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY - SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY - SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY - SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY - SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY - SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY - -BO_ 892 CRUISE_PARAMS: 8 PCM - SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON - -CM_ SG_ 506 AEB_REQ_1 "set for duration of suspected AEB event"; -CM_ SG_ 506 COMPUTER_BRAKE_ALT "Used by dual-can Nidec"; -CM_ SG_ 506 BRAKE_PUMP_REQUEST_ALT "Used by dual-can Nidec"; -CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc..."; - -VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw"; -VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime"; -VAL_ 506 AEB_STATUS 3 "aeb_prepare" 2 "aeb_ready" 1 "aeb_braking" 0 "no_aeb"; -VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep"; diff --git a/opendbc/generator/honda/_steering_sensors_a.dbc b/opendbc/generator/honda/_steering_sensors_a.dbc deleted file mode 100644 index 52805d6227d2f8..00000000000000 --- a/opendbc/generator/honda/_steering_sensors_a.dbc +++ /dev/null @@ -1,9 +0,0 @@ -BO_ 330 STEERING_SENSORS: 8 EPS - SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON - SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON - SG_ STEER_SENSOR_STATUS_1 : 34|1@0+ (1,0) [0|1] "" EON - SG_ STEER_SENSOR_STATUS_2 : 33|1@0+ (1,0) [0|1] "" EON - SG_ STEER_SENSOR_STATUS_3 : 32|1@0+ (1,0) [0|1] "" EON - SG_ STEER_WHEEL_ANGLE : 47|16@0- (-0.1,0) [-500|500] "deg" EON - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON diff --git a/opendbc/generator/honda/_steering_sensors_b.dbc b/opendbc/generator/honda/_steering_sensors_b.dbc deleted file mode 100644 index 35e9b27520ebc6..00000000000000 --- a/opendbc/generator/honda/_steering_sensors_b.dbc +++ /dev/null @@ -1,5 +0,0 @@ -BO_ 342 STEERING_SENSORS: 6 EPS - SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON - SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON - SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" EON diff --git a/opendbc/generator/honda/acura_ilx_2016_can.dbc b/opendbc/generator/honda/acura_ilx_2016_can.dbc deleted file mode 100644 index 11e1d9ecf336ab..00000000000000 --- a/opendbc/generator/honda/acura_ilx_2016_can.dbc +++ /dev/null @@ -1,51 +0,0 @@ -CM_ "IMPORT _community.dbc"; -CM_ "IMPORT _honda_common.dbc"; -CM_ "IMPORT _nidec_common.dbc"; -CM_ "IMPORT _steering_sensors_b.dbc"; - -BO_ 228 STEERING_CONTROL: 5 ADAS - SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS - SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS - SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|0] "" EPS - SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS - SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] "" EPS - -BO_ 399 STEER_STATUS: 7 EPS - SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON - SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON - SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON - SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON - SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON - SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON - -BO_ 419 GEARBOX: 8 PCM - SG_ GEAR : 7|8@0+ (1,0) [0|256] "" EON - SG_ GEAR_SHIFTER : 35|4@0+ (1,0) [0|15] "" EON - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON - -BO_ 422 SCM_BUTTONS: 8 SCM - SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON - SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON - SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" EON - SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" EON - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON - -BO_ 660 SCM_FEEDBACK: 8 SCM - SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" EON - SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON - SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON - -CM_ SG_ 419 GEAR "10 = reverse, 11 = transition"; -CM_ SG_ 780 CRUISE_SPEED "255 = no speed"; - -VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ; -VAL_ 419 GEAR_SHIFTER 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ; -VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ; -VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ; -VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ; -VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime" ; -VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw" ; -VAL_ 780 HUD_LEAD 3 "no_car" 2 "solid_car" 1 "dashed_car" 0 "no_car" ; diff --git a/opendbc/generator/honda/acura_rdx_2018_can.dbc b/opendbc/generator/honda/acura_rdx_2018_can.dbc deleted file mode 100644 index e83429e5921646..00000000000000 --- a/opendbc/generator/honda/acura_rdx_2018_can.dbc +++ /dev/null @@ -1,47 +0,0 @@ -CM_ "IMPORT _community.dbc"; -CM_ "IMPORT _honda_common.dbc"; -CM_ "IMPORT _nidec_common.dbc"; -CM_ "IMPORT _steering_sensors_b.dbc"; - -BO_ 392 GEARBOX: 6 XXX - SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" XXX - SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" XXX - SG_ GEAR_SHIFTER : 27|4@0+ (1,0) [0|15] "" EON - SG_ GEAR : 36|5@0+ (1,0) [0|31] "" EON - -BO_ 399 STEER_STATUS: 6 EPS - SG_ STEER_TORQUE_SENSOR : 7|12@0- (-1,0) [-2047.5|2047.5] "tbd" EON - SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON - SG_ STEER_STATUS : 35|4@0+ (1,0) [0|15] "" EON - SG_ STEER_CONTROL_ACTIVE : 36|1@0+ (1,0) [0|1] "" EON - SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" EON - -BO_ 404 STEERING_CONTROL: 4 EON - SG_ STEER_TORQUE : 7|12@0- (1,0) [-768|768] "" EPS - SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS - SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS - SG_ COUNTER : 29|2@0+ (1,0) [0|15] "" EPS - SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EPS - -BO_ 422 SCM_BUTTONS: 8 SCM - SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON - SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON - SG_ PARKING_BRAKE_LIGHT : 2|1@0+ (1,0) [0|1] "" EON - SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" EON - SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" EON - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON - -BO_ 660 SCM_FEEDBACK: 8 SCM - SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" EON - SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON - SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON - -CM_ SG_ 422 PARKING_BRAKE_LIGHT "Believe this is just the dash light for the parking break"; -VAL_ 392 GEAR_SHIFTER 0 "S" 1 "P" 2 "R" 4 "N" 8 "D" ; -VAL_ 392 GEAR 26 "S" 4 "D" 3 "N" 2 "R" 1 "P" ; -VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ; -VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ; diff --git a/opendbc/generator/honda/acura_rdx_2020_can.dbc b/opendbc/generator/honda/acura_rdx_2020_can.dbc deleted file mode 100644 index 38a312c31165ed..00000000000000 --- a/opendbc/generator/honda/acura_rdx_2020_can.dbc +++ /dev/null @@ -1,32 +0,0 @@ -CM_ "IMPORT _honda_common.dbc"; -CM_ "IMPORT _bosch_2018.dbc"; -CM_ "IMPORT _bosch_adas_2018.dbc"; -CM_ "IMPORT _steering_sensors_b.dbc"; - -BO_ 419 GEARBOX: 8 PCM - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON - SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" EON - SG_ GEAR : 7|8@0+ (1,0) [0|255] "" EON - -BO_ 432 STANDSTILL: 7 VSA - SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON - SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON - SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON - -BO_ 446 BRAKE_MODULE: 3 VSA - SG_ BRAKE_PRESSED : 4|1@0+ (1,0) [0|1] "" XXX - SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" XXX - SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" XXX - -BO_ 1302 ODOMETER: 8 XXX - SG_ ODOMETER : 7|24@0+ (1,0) [0|16777215] "km" EON - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON - -VAL_ 419 GEAR_SHIFTER 32 "D" 8 "R" 4 "P" ; -VAL_ 545 ECON_ON_2 0 "off" 3 "on" ; -VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ; -VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ; -VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ; diff --git a/opendbc/generator/honda/honda_accord_2018_can.dbc b/opendbc/generator/honda/honda_accord_2018_can.dbc deleted file mode 100644 index e9f2fb41aaae79..00000000000000 --- a/opendbc/generator/honda/honda_accord_2018_can.dbc +++ /dev/null @@ -1,55 +0,0 @@ -CM_ "IMPORT _honda_common.dbc"; -CM_ "IMPORT _bosch_2018.dbc"; -CM_ "IMPORT _bosch_adas_2018.dbc"; -CM_ "IMPORT _steering_sensors_a.dbc"; - -BO_ 401 GEARBOX_15T: 8 PCM - SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON - SG_ BOH : 45|6@0+ (1,0) [0|63] "" XXX - SG_ GEAR2 : 31|8@0+ (1,0) [0|1] "" XXX - SG_ GEAR : 39|8@0+ (1,0) [0|255] "" XXX - SG_ ZEROS_BOH : 47|2@0+ (1,0) [0|3] "" XXX - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON - -BO_ 419 GEARBOX: 8 XXX - SG_ GEAR_SHIFTER : 24|8@1+ (1,0) [0|255] "" XXX - SG_ GEAR : 32|8@1+ (1,0) [0|255] "" XXX - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX - -BO_ 432 STANDSTILL: 7 VSA - SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON - SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON - SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON - SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON - -BO_ 446 BRAKE_MODULE: 3 VSA - SG_ BRAKE_PRESSED : 4|1@0+ (1,0) [0|1] "" XXX - SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" XXX - SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" XXX - -BO_ 506 LEGACY_BRAKE_COMMAND: 8 ADAS - SG_ CHIME : 40|8@1+ (1,0) [0|255] "" XXX - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX - -BO_ 892 CRUISE_PARAMS: 8 PCM - SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON - SG_ COUNTER : 61|2@0+ (1,0) [0|15] "" EON - -BO_ 1302 ODOMETER: 8 XXX - SG_ ODOMETER : 7|24@0+ (1,0) [0|16777215] "km" EON - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON - -VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P"; -VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P"; -VAL_ 419 GEAR_SHIFTER 2 "S" 32 "D" 16 "N" 8 "R" 4 "P"; -VAL_ 419 GEAR 26 "S" 20 "D" 19 "N" 18 "R" 17 "P"; -VAL_ 545 ECON_ON_2 0 "off" 3 "on"; -VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none"; -VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none"; -VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released"; diff --git a/opendbc/generator/honda/honda_civic_ex_2022_can.dbc b/opendbc/generator/honda/honda_civic_ex_2022_can.dbc deleted file mode 100644 index 8ca13746eaceac..00000000000000 --- a/opendbc/generator/honda/honda_civic_ex_2022_can.dbc +++ /dev/null @@ -1,96 +0,0 @@ -CM_ "IMPORT _community.dbc"; -CM_ "IMPORT _honda_common.dbc"; -CM_ "IMPORT _bosch_2018.dbc"; -CM_ "IMPORT _steering_sensors_a.dbc"; - -BO_ 401 GEARBOX: 8 PCM - SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON - SG_ BOH : 45|6@0+ (1,0) [0|63] "" XXX - SG_ GEAR2 : 31|8@0+ (1,0) [0|1] "" XXX - SG_ GEAR : 39|8@0+ (1,0) [0|255] "" XXX - SG_ ZEROS_BOH : 47|2@0+ (1,0) [0|3] "" XXX - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON - -BO_ 419 GEARBOX_ALT: 8 PCM - SG_ GEAR : 7|8@0+ (1,0) [0|255] "" EON - SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" EON - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON - -BO_ 432 STANDSTILL: 7 VSA - SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON - SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON - SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON - SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON - -BO_ 446 BRAKE_MODULE: 3 VSA - SG_ BRAKE_PRESSED : 4|1@0+ (1,0) [0|1] "" XXX - SG_ CRUISE_FAULT : 22|1@0+ (1,0) [0|1] "" XXX - SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" XXX - SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" XXX - -BO_ 456 ACC_CONTROL: 8 XXX - SG_ ACCEL_COMMAND : 7|12@0- (0.01,0) [0|0] "m/s^2" XXX - SG_ IDLESTOP_ALLOW : 8|1@0+ (1,0) [0|1] "" XXX - SG_ STANDSTILL : 9|1@0+ (1,0) [0|1] "" XXX - SG_ CONTROL_ON : 10|1@0+ (1,0) [0|1] "" XXX - SG_ BOH : 23|1@0+ (1,0) [0|1] "" XXX - SG_ AEB_STATUS : 33|1@1+ (1,0) [0|7] "" XXX - SG_ AEB_BRAKING : 47|1@0+ (1,0) [0|1] "" XXX - SG_ AEB_PREPARE : 43|1@0+ (1,0) [0|1] "" XXX - SG_ FCW_1 : 24|1@1+ (1,0) [0|3] "" XXX - SG_ FCW_2 : 54|1@0+ (1,0) [0|3] "" XXX - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX - -BO_ 467 CRUISE_FAULT_STATUS: 8 XXX - SG_ CRUISE_FAULT : 3|1@0+ (1,0) [0|1] "" XXX - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX - -BO_ 829 LKAS_HUD: 8 ADAS - SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY - SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY - SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY - SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY - SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY - SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY - SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY - SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY - SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY - SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY - SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY - SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY - SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY - SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY - SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY - SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY - SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY - SG_ LANE_LINES : 36|2@0+ (1,0) [0|3] "" BDY - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" BDY - -BO_ 882 CRUISE_PARAMS: 8 PCM - SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON - SG_ COUNTER : 61|2@0+ (1,0) [0|15] "" EON - -BO_ 254913108 LKAS_HUD_2: 8 ADAS - SG_ COUNTER_2 : 7|2@0+ (1,0) [0|3] "" XXX - SG_ SET_ME_X01 : 5|1@0+ (1,0) [0|1] "" XXX - SG_ LKAS_BOH_1 : 15|6@0+ (1,0) [0|63] "" XXX - SG_ LEFT_LANE : 23|2@0+ (1,0) [0|3] "" XXX - SG_ RIGHT_LANE : 21|2@0+ (1,0) [0|3] "" XXX - SG_ LKAS_BOH_2 : 30|5@0+ (1,0) [0|31] "" XXX - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX - -CM_ 446 "If exists, describes cruise faults and what the PCM uses for brake press detection."; -CM_ SG_ 456 IDLESTOP_ALLOW "allows car to turn off engine at a standstill"; -CM_ SG_ 456 STANDSTILL "set to 1 when camera requests -4.0 m/s^2"; - -VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P"; -VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P"; -VAL_ 419 GEAR_SHIFTER 32 "D" 16 "N" 8 "R" 4 "P" 0 "B" ; diff --git a/opendbc/generator/honda/honda_civic_hatchback_ex_2017_can.dbc b/opendbc/generator/honda/honda_civic_hatchback_ex_2017_can.dbc deleted file mode 100644 index dc14d2968a3f69..00000000000000 --- a/opendbc/generator/honda/honda_civic_hatchback_ex_2017_can.dbc +++ /dev/null @@ -1,37 +0,0 @@ -CM_ "IMPORT _honda_common.dbc"; -CM_ "IMPORT _bosch_2018.dbc"; -CM_ "IMPORT _bosch_adas_2018.dbc"; -CM_ "IMPORT _steering_sensors_a.dbc"; - -BO_ 401 GEARBOX: 8 PCM - SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON - SG_ BOH : 45|6@0+ (1,0) [0|63] "" XXX - SG_ GEAR2 : 31|8@0+ (1,0) [0|1] "" XXX - SG_ GEAR : 39|8@0+ (1,0) [0|255] "" XXX - SG_ ZEROS_BOH : 47|2@0+ (1,0) [0|3] "" XXX - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON - -BO_ 432 STANDSTILL: 7 VSA - SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON - SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON - SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON - SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON - -BO_ 506 LEGACY_BRAKE_COMMAND: 8 ADAS - SG_ CHIME : 40|8@1+ (1,0) [0|255] "" XXX - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX - -BO_ 892 CRUISE_PARAMS: 8 PCM - SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON - SG_ COUNTER : 61|2@0+ (1,0) [0|15] "" EON - -VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ; -VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ; -VAL_ 545 ECON_ON_2 0 "off" 3 "on" ; -VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ; -VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ; -VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ; diff --git a/opendbc/generator/honda/honda_civic_touring_2016_can.dbc b/opendbc/generator/honda/honda_civic_touring_2016_can.dbc deleted file mode 100644 index 9346f5f881409e..00000000000000 --- a/opendbc/generator/honda/honda_civic_touring_2016_can.dbc +++ /dev/null @@ -1,96 +0,0 @@ -CM_ "IMPORT _community.dbc"; -CM_ "IMPORT _honda_common.dbc"; -CM_ "IMPORT _nidec_common.dbc"; -CM_ "IMPORT _steering_sensors_a.dbc"; - -BO_ 228 STEERING_CONTROL: 5 ADAS - SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS - SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS - SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS - SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS - SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS - SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS - -BO_ 399 STEER_STATUS: 7 EPS - SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON - SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON - SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON - SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON - SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON - SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON - -BO_ 401 GEARBOX: 8 PCM - SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON - SG_ GEAR : 43|4@0+ (1,0) [0|15] "" EON - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON - -BO_ 450 EPB_STATUS: 8 EPB - SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" EON - SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] "" EON - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON - -BO_ 493 HUD_SETTING: 5 XXX - SG_ IMPERIAL_UNIT : 5|1@0+ (1,0) [0|1] "" EON - -BO_ 545 ECON_STATUS: 6 XXX - SG_ ECON_ON_2 : 37|2@0+ (1,0) [0|3] "" EON - SG_ ECON_ON : 23|1@0+ (1,0) [0|1] "" EON - SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON - SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON - -BO_ 662 SCM_BUTTONS: 4 SCM - SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON - SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EON - SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON - -BO_ 806 SCM_FEEDBACK: 8 SCM - SG_ CMBS_BUTTON : 22|2@0+ (1,0) [0|3] "" EON - SG_ MAIN_ON : 28|1@0+ (1,0) [0|1] "" EON - SG_ RIGHT_BLINKER : 27|1@0+ (1,0) [0|1] "" EON - SG_ LEFT_BLINKER : 26|1@0+ (1,0) [0|1] "" EON - SG_ REVERSE_LIGHT : 18|1@0+ (1,0) [0|1] "" EON - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON - -BO_ 862 HIGHBEAM_CONTROL: 8 ADAS - SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY - SG_ ZEROS_BOH_2 : 48|4@1+ (1,0) [0|15] "" XXX - SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX - SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX - -BO_ 927 RADAR_HUD: 8 ADAS - SG_ ZEROS_BOH : 7|17@0+ (1,0) [0|127] "" BDY - SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|15] "" BDY - SG_ ZEROS_BOH2 : 31|8@0+ (1,0) [0|127] "" BDY - SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|15] "" BDY - SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|15] "" BDY - SG_ LEAD_SPEED : 39|9@0+ (1,0) [0|127] "" BDY - SG_ LEAD_STATE : 46|3@0+ (1,0) [0|127] "" BDY - SG_ LEAD_DISTANCE : 43|5@0+ (1,0) [0|31] "" BDY - SG_ ZEROS_BOH3 : 54|7@0+ (1,0) [0|127] "" BDY - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY - SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY - -BO_ 1302 ODOMETER: 8 XXX - SG_ ODOMETER : 7|24@0+ (1,0) [0|16777215] "km" EON - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON - -CM_ SG_ 401 GEAR "10 = reverse, 11 = transition"; -CM_ SG_ 806 REVERSE_LIGHT "Might be reverse gear selected and not the lights"; - -VAL_ 399 STEER_STATUS 7 "permanent_fault" 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ; -VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ; -VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ; -VAL_ 450 EPB_STATE 3 "engaged" 2 "disengaging" 1 "engaging" 0 "disengaged" ; -VAL_ 545 ECON_ON_2 0 "off" 3 "on" ; -VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ; -VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ; -VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ; -VAL_ 927 ACC_ALERTS 29 "esp_active_acc_canceled" 10 "b_pedal_applied" 9 "speed_too_low" 8 "speed_too_high" 7 "p_brake_applied" 6 "gear_no_d" 5 "seatbelt" 4 "too_steep_downhill" 3 "too_steep_uphill" 2 "too_close" 1 "no_vehicle_ahead" ; diff --git a/opendbc/generator/honda/honda_clarity_hybrid_2018_can.dbc b/opendbc/generator/honda/honda_clarity_hybrid_2018_can.dbc deleted file mode 100644 index 2d1ec35f204c79..00000000000000 --- a/opendbc/generator/honda/honda_clarity_hybrid_2018_can.dbc +++ /dev/null @@ -1,114 +0,0 @@ -CM_ "IMPORT _community.dbc"; -CM_ "IMPORT _honda_common.dbc"; -CM_ "IMPORT _nidec_common.dbc"; -CM_ "IMPORT _steering_sensors_a.dbc"; - -BO_ 228 STEERING_CONTROL: 5 ADAS - SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS - SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS - SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS - SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS - SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS - SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS - -BO_ 388 BRAKE_ERROR: 8 XXX - SG_ BRAKE_ERROR_1 : 32|1@0+ (1,0) [0|1] "" EON - SG_ BRAKE_ERROR_2 : 34|1@0+ (1,0) [0|1] "" EON - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON - -BO_ 399 STEER_STATUS: 7 EPS - SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON - SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON - SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON - SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON - SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON - SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON - -BO_ 419 GEARBOX: 8 PCM - SG_ GEAR : 7|8@0+ (1,0) [0|256] "" EON - SG_ GEAR_SHIFTER : 35|4@0+ (1,0) [0|15] "" EON - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON - -BO_ 450 EPB_STATUS: 8 EPB - SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" EON - SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] "" EON - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON - -BO_ 545 ECON_STATUS: 6 XXX - SG_ ECON_ON_2 : 37|2@0+ (1,0) [0|3] "" EON - SG_ ECON_ON : 23|1@0+ (1,0) [0|1] "" EON - SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON - SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON - -BO_ 662 SCM_BUTTONS: 4 SCM - SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON - SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EON - SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON - -BO_ 768 VEHICLE_STATE: 8 ADAS - SG_ SET_ME_XF9 : 7|8@0+ (1,0) [0|255] "" Vector__XXX - SG_ VEHICLE_SPEED : 15|8@0+ (1,0) [0|255] "kph" Vector__XXX - SG_ SET_ME_X8A : 23|8@0+ (1,0) [0|255] "" XXX - SG_ SET_ME_XD0 : 31|8@0+ (1,0) [0|255] "" XXX - SG_ SALTED_WITH_IDX : 39|8@0+ (1,0) [0|255] "" XXX - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX - -BO_ 769 VEHICLE_STATE2: 8 ADAS - SG_ SET_ME_X5D : 23|8@0+ (1,0) [0|255] "" XXX - SG_ SET_ME_X02 : 31|8@0+ (1,0) [0|255] "" XXX - SG_ SET_ME_X5F : 39|8@0+ (1,0) [0|255] "" XXX - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX - -BO_ 806 SCM_FEEDBACK: 8 SCM - SG_ CMBS_BUTTON : 22|2@0+ (1,0) [0|3] "" EON - SG_ MAIN_ON : 28|1@0+ (1,0) [0|1] "" EON - SG_ RIGHT_BLINKER : 27|1@0+ (1,0) [0|1] "" EON - SG_ LEFT_BLINKER : 26|1@0+ (1,0) [0|1] "" EON - SG_ REVERSE_LIGHT : 18|1@0+ (1,0) [0|1] "" EON - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON - -BO_ 862 HIGHBEAM_CONTROL: 8 ADAS - SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY - SG_ ZEROS_BOH_2 : 48|4@1+ (1,0) [0|15] "" XXX - SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX - SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX - -BO_ 927 RADAR_HUD: 8 ADAS - SG_ ZEROS_BOH : 7|17@0+ (1,0) [0|127] "" BDY - SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|15] "" BDY - SG_ ZEROS_BOH2 : 31|8@0+ (1,0) [0|127] "" BDY - SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|15] "" BDY - SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|15] "" BDY - SG_ LEAD_SPEED : 39|9@0+ (1,0) [0|127] "" BDY - SG_ LEAD_STATE : 46|3@0+ (1,0) [0|127] "" BDY - SG_ LEAD_DISTANCE : 43|5@0+ (1,0) [0|31] "" BDY - SG_ ZEROS_BOH3 : 54|7@0+ (1,0) [0|127] "" BDY - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" BDY - -BO_ 1302 XXX_27: 8 XXX - SG_ ODOMETER : 7|24@0+ (1,0) [0|16777215] "km" EON - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON - -CM_ SG_ 419 GEAR "10 = reverse, 11 = transition"; -CM_ SG_ 806 REVERSE_LIGHT "Might be reverse gear selected and not the lights"; - -VAL_ 399 STEER_STATUS 5 "tmp_fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ; -VAL_ 419 GEAR_SHIFTER 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ; -VAL_ 450 EPB_STATE 3 "engaged" 2 "disengaging" 1 "engaging" 0 "disengaged" ; -VAL_ 545 ECON_ON_2 0 "off" 3 "on" ; -VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ; -VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ; -VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ; -VAL_ 927 ACC_ALERTS 29 "esp_active_acc_canceled" 10 "b_pedal_applied" 9 "speed_too_low" 8 "speed_too_high" 7 "p_brake_applied" 6 "gear_no_d" 5 "seatbelt" 4 "too_steep_downhill" 3 "too_steep_uphill" 2 "too_close" 1 "no_vehicle_ahead" ; diff --git a/opendbc/generator/honda/honda_crv_ex_2017_body.dbc b/opendbc/generator/honda/honda_crv_ex_2017_body.dbc deleted file mode 100644 index 363b595817b64e..00000000000000 --- a/opendbc/generator/honda/honda_crv_ex_2017_body.dbc +++ /dev/null @@ -1,10 +0,0 @@ -BO_ 318291879 BSM_STATUS_RIGHT: 8 XXX - SG_ BSM_ALERT : 4|1@0+ (1,0) [0|1] "" XXX - SG_ BSM_MODE : 6|2@0+ (1,0) [0|3] "" XXX - -BO_ 318291615 BSM_STATUS_LEFT: 8 XXX - SG_ BSM_ALERT : 4|1@0+ (1,0) [0|1] "" XXX - SG_ BSM_MODE : 6|2@0+ (1,0) [0|3] "" XXX - -VAL_ 318291879 BSM_MODE 2 "blind_spot" 1 "cross_traffic" 0 "off"; -VAL_ 318291615 BSM_MODE 2 "blind_spot" 1 "cross_traffic" 0 "off"; diff --git a/opendbc/generator/honda/honda_crv_ex_2017_can.dbc b/opendbc/generator/honda/honda_crv_ex_2017_can.dbc deleted file mode 100644 index fe2ae8f940d793..00000000000000 --- a/opendbc/generator/honda/honda_crv_ex_2017_can.dbc +++ /dev/null @@ -1,40 +0,0 @@ -CM_ "IMPORT _honda_common.dbc"; -CM_ "IMPORT _bosch_2018.dbc"; -CM_ "IMPORT _bosch_adas_2018.dbc"; -CM_ "IMPORT _steering_sensors_a.dbc"; - -BO_ 401 GEARBOX: 8 PCM - SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON - SG_ BOH : 45|6@0+ (1,0) [0|63] "" XXX - SG_ GEAR2 : 31|8@0+ (1,0) [0|1] "" XXX - SG_ GEAR : 39|8@0+ (1,0) [0|255] "" XXX - SG_ ZEROS_BOH : 47|2@0+ (1,0) [0|3] "" XXX - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON - -BO_ 432 STANDSTILL: 7 VSA - SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON - SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON - SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON - SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON - -BO_ 446 BRAKE_MODULE: 3 VSA - SG_ BRAKE_PRESSED : 4|1@0+ (1,0) [0|1] "" XXX - SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" XXX - SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" XXX - -BO_ 1302 ODOMETER: 8 XXX - SG_ ODOMETER : 7|24@0+ (1,0) [0|16777215] "km" EON - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON - -CM_ SG_ 479 RELATED_TO_GAS "bits 7, 3, and 1 set to 1 when gas not applied"; -CM_ SG_ 479 GAS_BRAKE "Signed value, negative when braking and positive when applying gas"; - -VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ; -VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ; -VAL_ 545 ECON_ON_2 0 "off" 3 "on" ; -VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ; -VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ; -VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ; diff --git a/opendbc/generator/honda/honda_crv_executive_2016_can.dbc b/opendbc/generator/honda/honda_crv_executive_2016_can.dbc deleted file mode 100644 index 291795b9ee66a8..00000000000000 --- a/opendbc/generator/honda/honda_crv_executive_2016_can.dbc +++ /dev/null @@ -1,52 +0,0 @@ -CM_ "IMPORT _community.dbc"; -CM_ "IMPORT _honda_common.dbc"; -CM_ "IMPORT _nidec_common.dbc"; - -BO_ 342 STEERING_SENSORS: 6 EPS - SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON - SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" EON - SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" EON - -BO_ 399 STEER_STATUS: 6 EPS - SG_ STEER_TORQUE_SENSOR : 7|12@0- (-1,0) [-2047.5|2047.5] "tbd" EON - SG_ STEER_TORQUE_MOTOR : 23|16@0- (-1,0) [-31000|31000] "tbd" EON - SG_ STEER_CONTROL_ACTIVE : 36|1@0+ (1,0) [0|1] "" EON - SG_ STEER_STATUS : 35|4@0+ (1,0) [0|15] "" EON - SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" EON - -BO_ 419 GEARBOX: 8 PCM - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON - SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" EON - SG_ GEAR : 7|8@0+ (1,0) [0|255] "" EON - -BO_ 404 STEERING_CONTROL: 4 EON - SG_ STEER_TORQUE : 7|12@0- (1,0) [-768|768] "" EPS - SG_ SET_ME_X00 : 11|4@0+ (1,0) [0|15] "" EPS - SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS - SG_ SET_ME_X00_2 : 22|7@0+ (1,0) [0|127] "" EPS - SG_ COUNTER : 29|2@0+ (1,0) [0|15] "" EPS - SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EPS - -BO_ 422 SCM_BUTTONS: 8 SCM - SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON - SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON - SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" EON - SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" EON - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON - -BO_ 660 SCM_FEEDBACK: 8 SCM - SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" EON - SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON - SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON - -VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ; -VAL_ 419 GEAR_SHIFTER 32 "D" 8 "R" 4 "P" ; -VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ; -VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ; -VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ; diff --git a/opendbc/generator/honda/honda_crv_touring_2016_can.dbc b/opendbc/generator/honda/honda_crv_touring_2016_can.dbc deleted file mode 100644 index 9e33720b268fc5..00000000000000 --- a/opendbc/generator/honda/honda_crv_touring_2016_can.dbc +++ /dev/null @@ -1,50 +0,0 @@ -CM_ "IMPORT _community.dbc"; -CM_ "IMPORT _honda_common.dbc"; -CM_ "IMPORT _nidec_common.dbc"; -CM_ "IMPORT _steering_sensors_b.dbc"; - -BO_ 399 STEER_STATUS: 6 EPS - SG_ STEER_TORQUE_SENSOR : 7|12@0- (-1,0) [-2047.5|2047.5] "tbd" EON - SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON - SG_ STEER_CONTROL_ACTIVE : 36|1@0+ (1,0) [0|1] "" EON - SG_ STEER_STATUS : 35|4@0+ (1,0) [0|15] "" EON - SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" EON - -BO_ 401 GEARBOX: 8 PCM - SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON - SG_ GEAR : 35|4@0+ (1,0) [0|15] "" EON - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON - -BO_ 404 STEERING_CONTROL: 4 EON - SG_ STEER_TORQUE : 7|12@0- (1,0) [-768|768] "" EPS - SG_ SET_ME_X00 : 11|4@0+ (1,0) [0|15] "" EPS - SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS - SG_ SET_ME_X00_2 : 22|7@0+ (1,0) [0|127] "" EPS - SG_ COUNTER : 29|2@0+ (1,0) [0|15] "" EPS - SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EPS - -BO_ 422 SCM_BUTTONS: 8 SCM - SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON - SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON - SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" EON - SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" EON - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON - -BO_ 660 SCM_FEEDBACK: 8 SCM - SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" EON - SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON - SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON - -CM_ SG_ 401 GEAR "10 = reverse, 11 = transition"; - -VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ; -VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ; -VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ; -VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ; -VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ; -VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ; diff --git a/opendbc/generator/honda/honda_fit_ex_2018_can.dbc b/opendbc/generator/honda/honda_fit_ex_2018_can.dbc deleted file mode 100644 index bb54f258500755..00000000000000 --- a/opendbc/generator/honda/honda_fit_ex_2018_can.dbc +++ /dev/null @@ -1,60 +0,0 @@ -CM_ "IMPORT _community.dbc"; -CM_ "IMPORT _honda_common.dbc"; -CM_ "IMPORT _nidec_common.dbc"; -CM_ "IMPORT _steering_sensors_b.dbc"; - -BO_ 228 STEERING_CONTROL: 5 ADAS - SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS - SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS - SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS - SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS - SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS - SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS - -BO_ 399 STEER_STATUS: 7 EPS - SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON - SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON - SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON - SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON - SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON - SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON - -BO_ 401 GEARBOX: 8 PCM - SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON - SG_ GEAR : 43|4@0+ (1,0) [0|15] "" EON - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON - -BO_ 422 SCM_BUTTONS: 8 SCM - SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON - SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON - SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" EON - SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" EON - SG_ DRIVERS_DOOR_OPEN : 63|1@0+ (1,0) [0|1] "" EON - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON - -BO_ 660 SCM_FEEDBACK: 8 SCM - SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" EON - SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON - SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON - -BO_ 862 HIGHBEAM_CONTROL: 8 ADAS - SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY - SG_ ZEROS_BOH_2 : 48|4@1+ (1,0) [0|15] "" XXX - SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX - SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX - -CM_ SG_ 401 GEAR "10 = reverse, 11 = transition"; - -VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ; -VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ; -VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ; -VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ; -VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ; -VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ; diff --git a/opendbc/generator/honda/honda_fit_hybrid_2018_can.dbc b/opendbc/generator/honda/honda_fit_hybrid_2018_can.dbc deleted file mode 100644 index c6d4fdde56ec88..00000000000000 --- a/opendbc/generator/honda/honda_fit_hybrid_2018_can.dbc +++ /dev/null @@ -1,81 +0,0 @@ -CM_ "IMPORT _community.dbc"; -CM_ "IMPORT _honda_common.dbc"; -CM_ "IMPORT _nidec_common.dbc"; - -BO_ 228 STEERING_CONTROL: 5 ADAS - SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS - SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS - SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS - SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS - SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS - SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS - -BO_ 342 STEERING_SENSORS: 6 EPS - SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON - SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" EON - SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON - -BO_ 399 STEER_STATUS: 7 EPS - SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON - SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON - SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON - SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON - SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON - SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON - -BO_ 419 GEARBOX: 8 PCM - SG_ GEAR : 7|8@0+ (1,0) [0|256] "" EON - SG_ GEAR_SHIFTER : 35|4@0+ (1,0) [0|15] "" EON - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON - -BO_ 422 SCM_BUTTONS: 8 SCM - SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON - SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON - SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" EON - SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" EON - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON - -BO_ 545 ECON_STATUS: 5 XXX - SG_ ECON_ON : 23|1@0+ (1,0) [0|1] "" EON - SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] "" EON - SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EON - -BO_ 660 SCM_FEEDBACK: 8 SCM - SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" EON - SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON - SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON - -BO_ 862 HIGHBEAM_CONTROL: 8 ADAS - SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY - SG_ ZEROS_BOH_2 : 48|4@1+ (1,0) [0|15] "" XXX - SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX - SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX - -BO_ 927 RADAR_HUD: 8 ADAS - SG_ ZEROS_BOH : 7|17@0+ (1,0) [0|127] "" BDY - SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|15] "" BDY - SG_ ZEROS_BOH2 : 31|8@0+ (1,0) [0|127] "" BDY - SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|15] "" BDY - SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|15] "" BDY - SG_ LEAD_SPEED : 39|9@0+ (1,0) [0|127] "" BDY - SG_ LEAD_STATE : 46|3@0+ (1,0) [0|127] "" BDY - SG_ LEAD_DISTANCE : 43|5@0+ (1,0) [0|31] "" BDY - SG_ ZEROS_BOH3 : 54|7@0+ (1,0) [0|127] "" BDY - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" BDY - -CM_ SG_ 419 GEAR "10 = reverse, 11 = transition"; - -VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ; -VAL_ 419 GEAR_SHIFTER 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ; -VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ; -VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ; -VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ; diff --git a/opendbc/generator/honda/honda_insight_ex_2019_can.dbc b/opendbc/generator/honda/honda_insight_ex_2019_can.dbc deleted file mode 100644 index 79c6dc16178822..00000000000000 --- a/opendbc/generator/honda/honda_insight_ex_2019_can.dbc +++ /dev/null @@ -1,19 +0,0 @@ -CM_ "IMPORT _honda_common.dbc"; -CM_ "IMPORT _bosch_2018.dbc"; -CM_ "IMPORT _bosch_adas_2018.dbc"; -CM_ "IMPORT _steering_sensors_a.dbc"; - -BO_ 419 GEARBOX: 8 PCM - SG_ GEAR : 7|8@0+ (1,0) [0|255] "" EON - SG_ GEAR_SHIFTER : 29|6@0+ (1,0) [0|63] "" EON - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON - -BO_ 432 STANDSTILL: 7 VSA - SG_ BRAKE_ERROR_1 : 13|1@0+ (1,0) [0|1] "" EON - SG_ BRAKE_ERROR_2 : 12|1@0+ (1,0) [0|1] "" EON - SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON - -VAL_ 419 GEAR 10 "R" 1 "D" 0 "P"; -VAL_ 419 GEAR_SHIFTER 32 "D" 16 "N" 8 "R" 4 "P"; diff --git a/opendbc/generator/honda/honda_odyssey_exl_2018.dbc b/opendbc/generator/honda/honda_odyssey_exl_2018.dbc deleted file mode 100644 index 2b42d3e76353b7..00000000000000 --- a/opendbc/generator/honda/honda_odyssey_exl_2018.dbc +++ /dev/null @@ -1,87 +0,0 @@ -CM_ "IMPORT _community.dbc"; -CM_ "IMPORT _honda_common.dbc"; -CM_ "IMPORT _nidec_common.dbc"; -CM_ "IMPORT _steering_sensors_b.dbc"; - -BO_ 228 STEERING_CONTROL: 5 ADAS - SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS - SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS - SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|0] "" EPS - SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS - SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] "" EPS - -BO_ 399 STEER_STATUS: 7 EPS - SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON - SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON - SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON - SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON - SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON - SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON - -BO_ 419 GEARBOX: 8 PCM - SG_ GEAR : 7|8@0+ (1,0) [0|256] "" EON - SG_ GEAR_SHIFTER : 35|4@0+ (1,0) [0|15] "" EON - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON - -BO_ 450 EPB_STATUS: 8 XXX - SG_ EPB_BRAKE_AND_PULL : 6|1@0+ (1,0) [0|1] "" XXX - SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" XXX - SG_ EPB_STATE : 29|2@0+ (1,0) [0|1] "" XXX - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX - -BO_ 662 SCM_BUTTONS: 4 SCM - SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON - SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EON - SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON - -BO_ 806 SCM_FEEDBACK: 8 SCM - SG_ CMBS_BUTTON : 22|2@0+ (1,0) [0|3] "" EON - SG_ MAIN_ON : 28|1@0+ (1,0) [0|1] "" EON - SG_ RIGHT_BLINKER : 27|1@0+ (1,0) [0|1] "" EON - SG_ LEFT_BLINKER : 26|1@0+ (1,0) [0|1] "" EON - SG_ REVERSE_LIGHT : 18|1@0+ (1,0) [0|1] "" EON - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON - -BO_ 862 HIGHBEAM_CONTROL: 8 ADAS - SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY - SG_ ZEROS_BOH_2 : 48|4@1+ (1,0) [0|15] "" XXX - SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX - SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX - -BO_ 927 RADAR_HUD: 8 ADAS - SG_ ZEROS_BOH : 7|17@0+ (1,0) [0|127] "" BDY - SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|15] "" BDY - SG_ ZEROS_BOH2 : 31|8@0+ (1,0) [0|127] "" BDY - SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|15] "" BDY - SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|15] "" BDY - SG_ LEAD_SPEED : 39|9@0+ (1,0) [0|127] "" BDY - SG_ LEAD_STATE : 46|3@0+ (1,0) [0|127] "" BDY - SG_ LEAD_DISTANCE : 43|5@0+ (1,0) [0|31] "" BDY - SG_ ZEROS_BOH3 : 54|7@0+ (1,0) [0|127] "" BDY - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY - SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY - -BO_ 1302 ODOMETER: 8 XXX - SG_ ODOMETER : 7|24@0+ (1,0) [0|16777215] "km" EON - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON - -CM_ SG_ 419 GEAR "10 = reverse, 11 = transition"; -CM_ SG_ 780 CRUISE_SPEED "255 = no speed"; -CM_ SG_ 806 REVERSE_LIGHT "Might be reverse gear selected and not the lights"; - -VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ; -VAL_ 419 GEAR_SHIFTER 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ; -VAL_ 450 EPB_STATE 3 "engaged" 2 "disengaging" 1 "engaging" 0 "disengaged" ; -VAL_ 662 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ; -VAL_ 662 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ; -VAL_ 780 HUD_LEAD 3 "no_car" 2 "solid_car" 1 "dashed_car" 0 "no_car" ; -VAL_ 927 ACC_ALERTS 29 "esp_active_acc_canceled" 10 "b_pedal_applied" 9 "speed_too_low" 8 "speed_too_high" 7 "p_brake_applied" 6 "gear_no_d" 5 "seatbelt" 4 "too_steep_downhill" 3 "too_steep_uphill" 2 "too_close" 1 "no_vehicle_ahead" ; -VAL_ 806 CMBS_BUTTON 3 "pressed" 0 "released" ; diff --git a/opendbc/generator/honda/honda_odyssey_extreme_edition_2018_china_can.dbc b/opendbc/generator/honda/honda_odyssey_extreme_edition_2018_china_can.dbc deleted file mode 100644 index fc3c152f1b1c9a..00000000000000 --- a/opendbc/generator/honda/honda_odyssey_extreme_edition_2018_china_can.dbc +++ /dev/null @@ -1,75 +0,0 @@ -CM_ "IMPORT _community.dbc"; -CM_ "IMPORT _honda_common.dbc"; -CM_ "IMPORT _nidec_common.dbc"; - -BO_ 342 STEERING_SENSORS: 6 EPS - SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" EON - SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" EON - SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON - -BO_ 399 STEER_STATUS: 7 EPS - SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-2985|2985] "tbd" EON - SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON - SG_ STEER_STATUS : 43|4@0+ (1,0) [0|15] "" EON - SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON - SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON - SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON - SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON - -BO_ 401 GEARBOX: 8 PCM - SG_ GEAR_SHIFTER : 5|6@0+ (1,0) [0|63] "" EON - SG_ GEAR : 35|4@0+ (1,0) [0|15] "" EON - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON - -BO_ 404 STEERING_CONTROL: 4 EON - SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS - SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS - SG_ COUNTER : 29|2@0+ (1,0) [0|15] "" EPS - SG_ CHECKSUM : 27|4@0+ (1,0) [0|3] "" EPS - SG_ STEER_TORQUE : 7|16@0- (-1,0) [-32767|32767] "" EPS - -BO_ 422 SCM_BUTTONS: 8 SCM - SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON - SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON - SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" EON - SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" EON - SG_ DRIVERS_DOOR_OPEN : 63|1@0+ (1,0) [0|1] "" XXX - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON - -BO_ 450 EPB_STATUS: 8 XXX - SG_ EPB_BRAKE_AND_PULL : 6|1@0+ (1,0) [0|1] "" XXX - SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" XXX - SG_ EPB_STATE : 29|2@0+ (1,0) [0|1] "" XXX - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX - -BO_ 660 SCM_FEEDBACK: 8 SCM - SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" EON - SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON - SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON - -BO_ 862 HIGHBEAM_CONTROL: 8 ADAS - SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY - SG_ ZEROS_BOH_2 : 48|4@1+ (1,0) [0|15] "" XXX - SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX - SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX - -BO_ 1302 ODOMETER: 8 XXX - SG_ ODOMETER : 7|24@0+ (1,0) [0|16777215] "km" EON - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON - -CM_ SG_ 401 GEAR "10 = reverse, 11 = transition"; -VAL_ 399 STEER_STATUS 5 "fault" 4 "no_torque_alert_2" 2 "no_torque_alert_1" 0 "normal" ; -VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P" ; -VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ; -VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ; -VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ; -VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ; diff --git a/opendbc/generator/honda/honda_pilot_2023_can.dbc b/opendbc/generator/honda/honda_pilot_2023_can.dbc deleted file mode 100644 index df84d623fbf1cb..00000000000000 --- a/opendbc/generator/honda/honda_pilot_2023_can.dbc +++ /dev/null @@ -1,86 +0,0 @@ -CM_ "IMPORT _honda_common.dbc"; -CM_ "IMPORT _bosch_2018.dbc"; -CM_ "IMPORT _steering_sensors_a.dbc"; - -BO_ 419 GEARBOX: 8 XXX - SG_ GEAR_SHIFTER : 24|8@1+ (1,0) [0|255] "" XXX - SG_ GEAR : 32|8@1+ (1,0) [0|255] "" XXX - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX - -BO_ 432 STANDSTILL: 7 VSA - SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON - SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON - SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON - SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON - -BO_ 446 BRAKE_MODULE: 3 VSA - SG_ BRAKE_PRESSED : 4|1@0+ (1,0) [0|1] "" XXX - SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" XXX - SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" XXX - -BO_ 479 ACC_CONTROL: 8 EON - SG_ SET_TO_0 : 20|5@0+ (1,0) [0|1] "" XXX - SG_ CONTROL_ON : 23|3@0+ (1,0) [0|5] "" XXX - SG_ GAS_COMMAND : 7|16@0- (1,0) [0|0] "" XXX - SG_ ACCEL_COMMAND : 31|11@0- (0.01,0) [0|0] "m/s2" XXX - SG_ BRAKE_LIGHTS : 62|1@0+ (1,0) [0|1] "" XXX - SG_ BRAKE_REQUEST : 34|1@0+ (1,0) [0|1] "" XXX - SG_ STANDSTILL : 35|1@0+ (1,0) [0|1] "" XXX - SG_ STANDSTILL_RELEASE : 36|1@0+ (1,0) [0|1] "" XXX - SG_ AEB_STATUS : 33|1@0+ (1,0) [0|1] "" XXX - SG_ AEB_BRAKING : 47|1@0+ (1,0) [0|1] "" XXX - SG_ AEB_PREPARE : 43|1@0+ (1,0) [0|1] "" XXX - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX - -BO_ 495 ACC_CONTROL_ON: 8 XXX - SG_ SET_TO_75 : 31|8@0+ (1,0) [0|255] "" XXX - SG_ SET_TO_30 : 39|8@0+ (1,0) [0|255] "" XXX - SG_ ZEROS_BOH : 23|8@0+ (1,0) [0|255] "" XXX - SG_ ZEROS_BOH2 : 47|16@0+ (1,0) [0|255] "" XXX - SG_ SET_TO_FF : 15|8@0+ (1,0) [0|255] "" XXX - SG_ SET_TO_3 : 6|7@0+ (1,0) [0|4095] "" XXX - SG_ CONTROL_ON : 7|1@0+ (1,0) [0|1] "" XXX - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX - -BO_ 829 LKAS_HUD: 8 XXX - SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" XXX - SG_ BOH : 6|7@0+ (1,0) [0|127] "" XXX - SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" XXX - SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" XXX - SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" XXX - SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" XXX - SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" XXX - SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" XXX - SG_ DTC : 13|1@0+ (1,0) [0|1] "" XXX - SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" XXX - SG_ BEEP : 17|2@0+ (1,0) [0|1] "" XXX - SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" XXX - SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" XXX - SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" XXX - SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" XXX - SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" XXX - SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" XXX - SG_ LANE_LINES : 36|2@0+ (1,0) [0|3] "" XXX - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX - -BO_ 1302 ODOMETER: 8 XXX - SG_ ODOMETER : 7|24@0+ (1,0) [0|16777215] "km" EON - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON - -CM_ SG_ 479 CONTROL_ON "Set to 5 when car is being controlled"; -CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event"; -CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event"; -CM_ SG_ 479 AEB_PREPARE "set 1s before AEB"; -CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnings etc..."; -CM_ SG_ 829 LANE_LINES "related to lane lines on cluster, left/right white/green"; - -VAL_ 419 GEAR_SHIFTER 2 "S" 32 "D" 16 "N" 8 "R" 4 "P"; -VAL_ 419 GEAR 26 "S" 20 "D" 19 "N" 18 "R" 17 "P"; -VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep"; -VAL_ 829 LANE_LINES 7 "both_lines_green" 6 "both_lines_white" 2 "left_line_white" 0 "no_lines"; diff --git a/opendbc/generator/hyundai/.gitignore b/opendbc/generator/hyundai/.gitignore deleted file mode 100644 index 81f73f3551c3b3..00000000000000 --- a/opendbc/generator/hyundai/.gitignore +++ /dev/null @@ -1,2 +0,0 @@ -hyundai_kia_mando_front_radar.dbc -hyundai_kia_mando_corner_radar.dbc diff --git a/opendbc/generator/hyundai/hyundai_kia_mando_corner_radar.py b/opendbc/generator/hyundai/hyundai_kia_mando_corner_radar.py deleted file mode 100644 index aad417e32ac518..00000000000000 --- a/opendbc/generator/hyundai/hyundai_kia_mando_corner_radar.py +++ /dev/null @@ -1,170 +0,0 @@ -#!/usr/bin/env python3 -from collections import namedtuple -import os - -if __name__ == "__main__": - dbc_name = os.path.basename(__file__).replace(".py", ".dbc") - hyundai_path = os.path.dirname(os.path.realpath(__file__)) - with open(os.path.join(hyundai_path, dbc_name), "w", encoding='utf-8') as f: - f.write(""" -VERSION "" - - -NS_ : - NS_DESC_ - CM_ - BA_DEF_ - BA_ - VAL_ - CAT_DEF_ - CAT_ - FILTER - BA_DEF_DEF_ - EV_DATA_ - ENVVAR_DATA_ - SGTYPE_ - SGTYPE_VAL_ - BA_DEF_SGTYPE_ - BA_SGTYPE_ - SIG_TYPE_REF_ - VAL_TABLE_ - SIG_GROUP_ - SIG_VALTYPE_ - SIGTYPE_VALTYPE_ - BO_TX_BU_ - BA_DEF_REL_ - BA_REL_ - BA_DEF_DEF_REL_ - BU_SG_REL_ - BU_EV_REL_ - BU_BO_REL_ - SG_MUL_VAL_ - -BS_: - -BU_: XXX -""") - - for a in [0x100, 0x200]: - f.write(f""" -BO_ {a} RADAR_POINTS_METADATA_0x{a:x}: 64 RADAR - SG_ SIGNAL_1 : 0|32@1+ (1,0) [0|255] "" XXX - SG_ SIGNAL_2 : 32|32@1+ (1,0) [0|65535] "" XXX - SG_ SIGNAL_3 : 64|4@1+ (1,0) [0|15] "" XXX - SG_ SIGNAL_4 : 68|4@1+ (1,0) [0|15] "" XXX - SG_ RADAR_POINT_COUNT : 72|8@1+ (1,0) [0|255] "" XXX - SG_ SIGNAL_6 : 80|7@1+ (0.015625,0) [0|3] "" XXX - SG_ SIGNAL_7 : 87|1@1+ (1,0) [0|1] "" XXX - SG_ SIGNAL_8 : 88|3@1+ (1,0) [0|7] "" XXX - SG_ SIGNAL_9 : 91|5@1+ (0.0625,0) [0|31] "" XXX - SG_ SIGNAL_10 : 96|8@1+ (1,0) [0|255] "" XXX - SG_ SIGNAL_11 : 104|7@1+ (0.015625,0) [0|127] "" XXX - SG_ SIGNAL_12 : 111|2@1+ (1,0) [0|65535] "" XXX - SG_ SIGNAL_13 : 113|7@1+ (0.015625,0) [0|127] "" XXX - SG_ SIGNAL_14 : 120|7@1+ (0.015625,0) [0|127] "" XXX - SG_ SIGNAL_15 : 127|3@1+ (1,0) [0|3] "" XXX - SG_ SIGNAL_16 : 130|2@1+ (1,0) [0|3] "" XXX - SG_ SIGNAL_17 : 133|2@0+ (1,0) [0|3] "" XXX - SG_ SIGNAL_18 : 134|1@0+ (1,0) [0|3] "" XXX - SG_ SIGNAL_19 : 135|3@1+ (1,0) [0|3] "" XXX - SG_ SIGNAL_20 : 138|8@1+ (1,0) [0|63] "" XXX - SG_ SIGNAL_21 : 146|2@1+ (1,0) [0|3] "" XXX - SG_ SIGNAL_22 : 148|1@1+ (1,0) [0|3] "" XXX - SG_ SIGNAL_23 : 149|4@1+ (1,0) [0|7] "" XXX - SG_ SIGNAL_24 : 153|1@1+ (1,0) [0|3] "" XXX - SG_ SIGNAL_25 : 154|2@1+ (1,0) [0|3] "" XXX - SG_ SIGNAL_26 : 157|2@0+ (1,0) [0|3] "" XXX - SG_ SIGNAL_27 : 158|7@1+ (0.125,0) [0|3] "" XXX - SG_ SIGNAL_28 : 165|7@1+ (0.015625,0) [0|31] "" XXX - SG_ SIGNAL_29 : 172|7@1+ (0.125,0) [0|3] "" XXX - SG_ SIGNAL_30 : 179|7@1+ (0.015625,0) [0|1] "" XXX - SG_ SIGNAL_31 : 186|4@1+ (1,0) [0|7] "" XXX - SG_ SIGNAL_32 : 190|14@1+ (0.015625,0) [0|15] "" XXX - SG_ SIGNAL_33 : 204|11@1+ (0.03125,0) [0|8191] "" XXX - SG_ SIGNAL_34 : 215|2@1+ (1,0) [0|3] "" XXX - SG_ SIGNAL_35 : 217|7@1+ (1,0) [0|127] "" XXX - SG_ SIGNAL_36 : 224|6@1+ (1,0) [0|63] "" XXX - SG_ SIGNAL_37 : 230|6@1+ (0.2,0) [0|31] "" XXX - SG_ SIGNAL_38 : 236|6@1+ (0.2,0) [0|7] "" XXX - SG_ SIGNAL_39 : 242|8@1+ (1,-90) [0|255] "" XXX - SG_ SIGNAL_40 : 250|6@1+ (1,0) [0|63] "" XXX - SG_ SIGNAL_41 : 256|8@1+ (0.25,0) [0|255] "" XXX - SG_ SIGNAL_42 : 264|3@1+ (1,0) [0|3] "" XXX - SG_ SIGNAL_43 : 267|12@1+ (0.01,0) [0|31] "" XXX - SG_ SIGNAL_44 : 279|32@1+ (1,0) [0|63] "" XXX - SG_ SIGNAL_45 : 311|1@1+ (1,0) [0|1] "" XXX - SG_ SIGNAL_46 : 312|2@1+ (1,0) [0|3] "" XXX - SG_ SIGNAL_47 : 314|32@1+ (1,0) [0|255] "" XXX - SG_ SIGNAL_48 : 346|6@1+ (1,0) [0|63] "" XXX - SG_ SIGNAL_49 : 352|7@1+ (0.25,0) [0|127] "" XXX - SG_ SIGNAL_50 : 359|6@1+ (0.03125,0) [0|31] "" XXX - SG_ SIGNAL_51 : 365|10@1+ (0.125,0) [0|3] "" XXX - SG_ SIGNAL_52 : 375|10@1+ (0.125,0) [0|63] "" XXX - SG_ SIGNAL_53 : 385|7@1+ (1,0) [0|127] "" XXX - SG_ SIGNAL_54 : 392|7@1+ (1,0) [0|127] "" XXX - SG_ SIGNAL_55 : 399|8@1+ (0.00390625,0) [0|31] "" XXX - SG_ SIGNAL_56 : 407|10@1+ (0.125,0) [0|63] "" XXX - SG_ SIGNAL_57 : 417|1@1+ (1,0) [0|3] "" XXX - SG_ SIGNAL_58 : 418|1@1+ (1,0) [0|3] "" XXX -""") - - # radar points are sent at 20 Hz in groups of 1 to 13 messages - # each message has 5 radar points for a total of 65 points max - # each radar point is 101 bits so the alignment is not consistent - RadarPointSignal = namedtuple("RadarPointSignal", ["name", "start", "length", "scale", "offset"]) - radar_point_signals = ( - RadarPointSignal("DISTANCE", 7, 14, 1/64, 0), - RadarPointSignal("", 21, 2, 1, 0), - RadarPointSignal("", 23, 8, 1/512, -127/512), - RadarPointSignal("REL_VELOCITY", 31, 13, 1/32, -66), - RadarPointSignal("", 44, 2, 1, 0), - RadarPointSignal("", 46, 2, 1, 0), - RadarPointSignal("AZIMUTH", 48, 12, 1/512, -2047/512), - RadarPointSignal("", 60, 2, 1, 0), - RadarPointSignal("", 62, 1, 1, 0), - RadarPointSignal("", 63, 7, 1, 0), - RadarPointSignal("", 70, 1, 1, 0), - RadarPointSignal("", 71, 6, 1, 0), - RadarPointSignal("", 77, 2, 1, 0), - RadarPointSignal("", 79, 8, 1/512, -127/512), - RadarPointSignal("", 87, 1, 1, 0), - RadarPointSignal("", 88, 2, 1, 0), - RadarPointSignal("", 90, 3, 1, 0), - # last 15 bits are controlled by LAYOUT_ID (seems to always zero, so below is layout 0) - RadarPointSignal("", 93, 6, 1, 0), - RadarPointSignal("", 99, 8, 1, 0), - RadarPointSignal("", 107, 1, 1, 0), - ) - radar_point_bit_count = sum([s.length for s in radar_point_signals]) - - for a in [0x101, 0x201]: - f.write(f""" -BO_ {a} RADAR_POINTS_0x{a:x}: 64 RADAR - SG_ MESSAGE_ID : 0|5@1+ (1,0) [0|31] "" XXX - SG_ LAYOUT_ID : 5|2@1+ (1,0) [0|3] "" XXX -""") - bit_idx = radar_point_signals[0].start - for i in range(5): - signal_idx = 1 - for sig in radar_point_signals: - if sig.name: - sig_name = f"POINT_{i+1}_{sig.name}" - else: - sig_name = f"POINT_{i+1}_SIGNAL_{signal_idx}" - signal_idx += 1 - - sig_start_idx = i * radar_point_bit_count + sig.start - assert bit_idx == sig_start_idx, f"signal overlap or gap!!! {bit_idx} != {sig_start_idx}" - min_val = round(sig.offset, 10) - max_val = round((2**sig.length - 1) * sig.scale + sig.offset, 10) - - f.write(f" SG_ {sig_name} : {sig_start_idx}|{sig.length}@1+ ({sig.scale},{sig.offset}) [{min_val}|{max_val}] \"\" XXX\n") - bit_idx += sig.length - - # checksum is across a group of 0x100/200 and 0x101/201 messages (no checksums inside the other messages) - # ccitt_crc16 = mkCrcFun(0x11021, initCrc=0xffff, xorOut=0x0000, rev=False) - for a in [0x104, 0x204]: - f.write(f""" -BO_ {a} RADAR_POINTS_CHECKSUM_0x{a:x}: 3 RADAR - SG_ CRC16 : 0|16@1+ (1,0) [0|65535] "" XXX -""") diff --git a/opendbc/generator/hyundai/hyundai_kia_mando_front_radar.py b/opendbc/generator/hyundai/hyundai_kia_mando_front_radar.py deleted file mode 100644 index ee8dde64d472a6..00000000000000 --- a/opendbc/generator/hyundai/hyundai_kia_mando_front_radar.py +++ /dev/null @@ -1,61 +0,0 @@ -#!/usr/bin/env python3 -import os - -if __name__ == "__main__": - dbc_name = os.path.basename(__file__).replace(".py", ".dbc") - hyundai_path = os.path.dirname(os.path.realpath(__file__)) - with open(os.path.join(hyundai_path, dbc_name), "w", encoding='utf-8') as f: - f.write(""" -VERSION "" - - -NS_ : - NS_DESC_ - CM_ - BA_DEF_ - BA_ - VAL_ - CAT_DEF_ - CAT_ - FILTER - BA_DEF_DEF_ - EV_DATA_ - ENVVAR_DATA_ - SGTYPE_ - SGTYPE_VAL_ - BA_DEF_SGTYPE_ - BA_SGTYPE_ - SIG_TYPE_REF_ - VAL_TABLE_ - SIG_GROUP_ - SIG_VALTYPE_ - SIGTYPE_VALTYPE_ - BO_TX_BU_ - BA_DEF_REL_ - BA_REL_ - BA_DEF_DEF_REL_ - BU_SG_REL_ - BU_EV_REL_ - BU_BO_REL_ - SG_MUL_VAL_ - -BS_: - -BU_: XXX - """) - - # note: 0x501/0x502 seem to be special in 0x5XX range - for a in range(0x500, 0x500 + 32): - f.write(f""" -BO_ {a} RADAR_TRACK_{a:x}: 8 RADAR - SG_ UNKNOWN_1 : 7|8@0- (1,0) [-128|127] "" XXX - SG_ AZIMUTH : 12|10@0- (0.2,0) [-102.4|102.2] "" XXX - SG_ STATE : 15|3@0+ (1,0) [0|7] "" XXX - SG_ LONG_DIST : 18|11@0+ (0.1,0) [0|204.7] "" XXX - SG_ REL_ACCEL : 33|10@0- (0.02,0) [-10.24|10.22] "" XXX - SG_ ZEROS : 37|4@0+ (1,0) [0|255] "" XXX - SG_ COUNTER : 38|1@0+ (1,0) [0|1] "" XXX - SG_ STATE_3 : 39|1@0+ (1,0) [0|1] "" XXX - SG_ REL_SPEED : 53|14@0- (0.01,0) [-81.92|81.92] "" XXX - SG_ STATE_2 : 55|2@0+ (1,0) [0|3] "" XXX - """) diff --git a/opendbc/generator/nissan/_nissan_common.dbc b/opendbc/generator/nissan/_nissan_common.dbc deleted file mode 100644 index 6300ea94258aa0..00000000000000 --- a/opendbc/generator/nissan/_nissan_common.dbc +++ /dev/null @@ -1,113 +0,0 @@ -BO_ 2 STEER_ANGLE_SENSOR: 5 XXX - SG_ STEER_ANGLE_RATE : 16|8@1+ (1,0) [0|255] "" XXX - SG_ SET_ME_X07 : 24|8@1+ (1,0) [0|255] "" XXX - SG_ STEER_ANGLE : 0|16@1- (-0.1,0) [0|65535] "" XXX - SG_ COUNTER : 32|4@1+ (1,0) [0|15] "" XXX - -BO_ 361 LKAS: 8 XXX - SG_ MAX_TORQUE : 39|8@0+ (0.01,0) [0|255] "Nm" XXX - SG_ SET_0x80 : 47|8@0+ (1,0) [0|255] "" XXX - SG_ LKA_ACTIVE : 52|1@0+ (1,0) [0|15] "" XXX - SG_ SET_0x80_2 : 31|8@0+ (1,0) [0|255] "" XXX - SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX - SG_ DESIRED_ANGLE : 7|18@0+ (-0.01,1310) [-1311.43|1310] "" XXX - SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX - -BO_ 389 STEER_TORQUE_SENSOR: 8 XXX - SG_ LKAS_ACTIVE : 37|1@0+ (1,0) [0|3] "" XXX - SG_ STEER_TORQUE_LKAS : 47|8@0+ (1,0) [0|255] "" XXX - SG_ STEER_ANGLE : 23|18@0+ (-0.01,1310) [0|262143] "" XXX - SG_ STEER_TORQUE_DRIVER : 7|12@0+ (-0.01,20.47) [0|4095] "Nm" XXX - SG_ COUNTER : 51|4@0+ (1,0) [0|15] "" XXX - SG_ CHECKSUM : 63|8@0+ (1,0) [0|127] "" XXX - -BO_ 645 WHEEL_SPEEDS_REAR: 8 XXX - SG_ WHEEL_SPEED_RR : 7|16@0+ (0.005,0) [0|65535] "KPH" XXX - SG_ WHEEL_SPEED_RL : 23|16@0+ (0.005,0) [0|65535] "KPH" XXX - -BO_ 689 PROPILOT_HUD: 8 XXX - SG_ LARGE_WARNING_FLASHING : 9|1@0+ (1,0) [0|1] "" XXX - SG_ SIDE_RADAR_ERROR_FLASHING1 : 10|1@0+ (1,0) [0|1] "" XXX - SG_ SIDE_RADAR_ERROR_FLASHING2 : 11|1@0+ (1,0) [0|1] "" XXX - SG_ RIGHT_LANE_YELLOW_FLASH : 12|1@0+ (1,0) [0|1] "" XXX - SG_ LEFT_LANE_YELLOW_FLASH : 13|1@0+ (1,0) [0|1] "" XXX - SG_ LEAD_CAR : 14|1@0+ (1,0) [0|1] "" XXX - SG_ LEAD_CAR_ERROR : 15|1@0+ (1,0) [0|1] "" XXX - SG_ FRONT_RADAR_ERROR : 16|1@0+ (1,0) [0|1] "" XXX - SG_ FRONT_RADAR_ERROR_FLASHING : 17|1@0+ (1,0) [0|1] "" XXX - SG_ RIGHT_LANE_GREEN : 24|1@0+ (1,0) [0|1] "" XXX - SG_ LEFT_LANE_GREEN : 25|1@0+ (1,0) [0|1] "" XXX - SG_ SIDE_RADAR_ERROR_FLASHING3 : 27|1@0+ (1,0) [0|1] "" XXX - SG_ LKAS_ERROR_FLASHING : 29|1@0+ (1,0) [0|1] "" XXX - SG_ SAFETY_SHIELD_ACTIVE : 44|1@0+ (1,0) [0|1] "" XXX - SG_ LARGE_STEERING_WHEEL_ICON : 61|2@0+ (1,0) [0|3] "" XXX - SG_ RIGHT_LANE_GREEN_FLASH : 62|1@0+ (1,0) [0|1] "" XXX - SG_ LEFT_LANE_GREEN_FLASH : 63|1@0+ (1,0) [0|1] "" XXX - SG_ FOLLOW_DISTANCE : 3|2@0+ (1,0) [0|3] "" XXX - SG_ AUDIBLE_TONE : 47|3@0+ (1,0) [0|8] "" XXX - SG_ SPEED_SET_ICON : 7|2@0+ (1,0) [0|3] "" XXX - SG_ SMALL_STEERING_WHEEL_ICON : 42|3@0+ (1,0) [0|7] "" XXX - SG_ SET_SPEED : 39|8@0+ (1,0) [0|255] "" XXX - SG_ unknown02 : 1|2@0+ (1,0) [0|3] "" XXX - SG_ unknown05 : 5|2@0+ (1,0) [0|3] "" XXX - SG_ unknown08 : 8|7@0+ (1,0) [0|63] "" XXX - SG_ unknown26 : 26|1@0+ (1,0) [0|1] "" XXX - SG_ unknown28 : 28|1@0+ (1,0) [0|1] "" XXX - SG_ unknown31 : 31|2@0+ (1,0) [0|3] "" XXX - SG_ unknown43 : 43|1@0+ (1,0) [0|1] "" XXX - SG_ unknown55 : 55|8@0+ (1,0) [0|63] "" XXX - SG_ unknown59 : 59|4@0+ (1,0) [0|15] "" XXX - -BO_ 783 CRUISE_STATE: 3 XXX - SG_ CRUISE_ENABLED : 3|1@0+ (1,0) [0|1] "" XXX - -BO_ 1228 PROPILOT_HUD_INFO_MSG: 8 XXX - SG_ NA_HIGH_ACCEL_TEMP : 0|1@0+ (1,0) [0|1] "" XXX - SG_ SIDE_RADAR_NA_HIGH_CABIN_TEMP : 8|1@0+ (1,0) [0|1] "" XXX - SG_ SIDE_RADAR_MALFUNCTION : 11|1@0+ (1,0) [0|1] "" XXX - SG_ LKAS_MALFUNCTION : 12|1@0+ (1,0) [0|1] "" XXX - SG_ FRONT_RADAR_MALFUNCTION : 13|1@0+ (1,0) [0|1] "" XXX - SG_ SIDE_RADAR_NA_CLEAN_REAR_CAMERA : 14|1@0+ (1,0) [0|1] "" XXX - SG_ NA_POOR_ROAD_CONDITIONS : 16|1@0+ (1,0) [0|1] "" XXX - SG_ CURRENTLY_UNAVAILABLE : 17|1@0+ (1,0) [0|1] "" XXX - SG_ SAFETY_SHIELD_OFF : 18|1@0+ (1,0) [0|1] "" XXX - SG_ FRONT_COLLISION_NA_FRONT_RADAR_OBSTRUCTION : 20|1@0+ (1,0) [0|1] "" XXX - SG_ PEDAL_MISSAPPLICATION_SYSTEM_ACTIVATED : 24|1@0+ (1,0) [0|1] "" XXX - SG_ SIDE_IMPACT_NA_RADAR_OBSTRUCTION : 25|1@0+ (1,0) [0|1] "" XXX - SG_ WARNING_DO_NOT_ENTER : 33|1@0+ (1,0) [0|1] "" XXX - SG_ SIDE_IMPACT_SYSTEM_OFF : 34|1@0+ (1,0) [0|1] "" XXX - SG_ SIDE_IMPACT_MALFUNCTION : 35|1@0+ (1,0) [0|1] "" XXX - SG_ FRONT_COLLISION_MALFUNCTION : 36|1@0+ (1,0) [0|1] "" XXX - SG_ SIDE_RADAR_MALFUNCTION2 : 37|1@0+ (1,0) [0|1] "" XXX - SG_ LKAS_MALFUNCTION2 : 38|1@0+ (1,0) [0|1] "" XXX - SG_ FRONT_RADAR_MALFUNCTION2 : 39|1@0+ (1,0) [0|1] "" XXX - SG_ PROPILOT_NA_MSGS : 42|3@0+ (1,0) [0|7] "" XXX - SG_ BOTTOM_MSG : 45|3@0+ (1,0) [0|7] "" XXX - SG_ HANDS_ON_WHEEL_WARNING : 47|1@0+ (1,0) [0|1] "" XXX - SG_ WARNING_STEP_ON_BRAKE_NOW : 51|1@0+ (1,0) [0|1] "" XXX - SG_ PROPILOT_NA_FRONT_CAMERA_OBSTRUCTED : 52|1@0+ (1,0) [0|1] "" XXX - SG_ PROPILOT_NA_HIGH_CABIN_TEMP : 53|1@0+ (1,0) [0|1] "" XXX - SG_ WARNING_PROPILOT_MALFUNCTION : 54|1@0+ (1,0) [0|3] "" XXX - SG_ ACC_UNAVAILABLE_HIGH_CABIN_TEMP : 62|1@0+ (1,0) [0|1] "" XXX - SG_ ACC_NA_FRONT_CAMERA_IMPARED : 63|1@0+ (1,0) [0|1] "" XXX - SG_ unknown07 : 7|7@0+ (1,0) [0|127] "" XXX - SG_ unknown10 : 10|2@0+ (1,0) [0|3] "" XXX - SG_ unknown15 : 15|1@0+ (1,0) [0|1] "" XXX - SG_ unknown23 : 23|3@0+ (1,0) [0|7] "" XXX - SG_ unknown19 : 19|1@0+ (1,0) [0|1] "" XXX - SG_ unknown31 : 31|6@0+ (1,0) [0|63] "" XXX - SG_ unknown32 : 32|1@0+ (1,0) [0|1] "" XXX - SG_ unknown46 : 46|1@0+ (1,0) [0|1] "" XXX - SG_ unknown50 : 50|3@0+ (1,0) [0|7] "" XXX - SG_ unknown55 : 55|1@0+ (1,0) [0|1] "" XXX - SG_ unknown61 : 61|6@0+ (1,0) [0|63] "" XXX - -BO_ 1227 LKAS_SETTINGS: 8 XXX - SG_ LKAS_ENABLED : 51|1@0+ (1,0) [0|1] "" XXX - -VAL_ 1228 PROPILOT_NA_MSGS 0 "NO_MSG" 1 "NA_FRONT_CAMERA_IMPARED" 2 "STEERING_ASSIST_ON_STANDBY" 3 "NA_PARKING_ASSIST_ENABLED" 4 "STEER_ASSIST_CURRENTLY_NA" 5 "NA_BAD_WEATHER" 6 "NA_PARK_BRAKE_ON" 7 "NA_SEATBELT_NOT_FASTENED" ; -VAL_ 1228 BOTTOM_MSG 0 "OK_STEER_ASSIST_SETTINGS" 1 "NO_MSG" 2 "PRESS_SET_TO_SET_SPEED" 3 "PRESS_RES_SET_TO_CHANGE_SPEED" 4 "PRESS_RES_TO_RESTART" 5 "NO_MSG" 6 "CRUISE_NOT_AVAIL" 7 "NO_MSG" ; -VAL_ 689 FOLLOW_DISTANCE 0 "NO_FOLLOW_DISTANCE" 1 "FOLLOW_DISTANCE_1" 2 "FOLLOW_DISTANCE_2" 3 "FOLLOW_DISANCE_3" ; -VAL_ 689 AUDIBLE_TONE 0 "NO_TONE" 1 "CONT" 2 "FAST_BEEP_CONT" 3 "TRIPLE_FAST_BEEP_CONT" 4 "SLOW_BEEP_CONT" 5 "QUAD_SLOW_BEEP_CONT" 6 "SINGLE_BEEP_ONCE" 7 "DOUBLE_BEEP_ONCE" ; -VAL_ 689 SMALL_STEERING_WHEEL_ICON 0 "NO_ICON" 1 "GRAY_ICON" 2 "GRAY_ICON_FLASHING" 3 "GREEN_ICON" 4 "GREEN_ICON_FLASHING" 5 "RED_ICON" 6 "RED_ICON_FLASHING" 7 "YELLOW_ICON" ; -VAL_ 689 LARGE_STEERING_WHEEL_ICON 0 "NO_STEERINGWHEEL" 1 "GRAY_STEERINGWHEEL" 2 "GREEN_STEERINGWHEEL" 3 "GREEN_STEERINGWHEEL_FLASHING" ; diff --git a/opendbc/generator/nissan/nissan_leaf_2018.dbc b/opendbc/generator/nissan/nissan_leaf_2018.dbc deleted file mode 100644 index 3376c3784c431d..00000000000000 --- a/opendbc/generator/nissan/nissan_leaf_2018.dbc +++ /dev/null @@ -1,62 +0,0 @@ -CM_ "IMPORT _nissan_common.dbc"; - -BO_ 42 SEATBELT: 8 XXX - SG_ SEATBELT_DRIVER_LATCHED : 27|1@1+ (1,0) [0|3] "" XXX - SG_ SEATBELT_DRIVER_UNLATCHED : 26|1@0+ (1,0) [0|1] "" XXX - SG_ unknown2 : 31|4@0+ (1,0) [0|15] "" XXX - SG_ unknown3 : 24|2@1+ (1,0) [0|3] "" XXX - SG_ unknown1 : 7|24@0+ (1,0) [0|16777215] "" XXX - SG_ unknown4 : 39|16@0+ (1,0) [0|65535] "" XXX - -BO_ 460 BRAKE_PEDAL: 8 XXX - SG_ BRAKE_PEDAL : 7|8@0+ (1,0) [0|256] "" XXX - -BO_ 569 CRUISE_THROTTLE: 8 XXX - SG_ GAS_PEDAL_INVERTED : 15|8@0+ (1,0) [0|255] "" XXX - SG_ GAS_PEDAL : 7|8@0+ (1,0) [0|255] "" XXX - SG_ CRUISE_AVAILABLE : 17|1@0+ (1,0) [0|1] "" XXX - SG_ unsure1 : 23|6@0+ (1,0) [0|63] "" XXX - SG_ unsure2 : 16|1@0+ (1,0) [0|1] "" XXX - SG_ unsure3 : 31|2@0+ (1,0) [0|3] "" XXX - SG_ NO_BUTTON_PRESSED : 29|1@0+ (1,0) [0|1] "" XXX - SG_ RES_BUTTON : 28|1@0+ (1,0) [0|1] "" XXX - SG_ SET_BUTTON : 27|1@0+ (1,0) [0|1] "" XXX - SG_ FOLLOW_DISTANCE_BUTTON : 26|1@0+ (1,0) [0|1] "" XXX - SG_ CANCEL_BUTTON : 25|1@0+ (1,0) [0|1] "" XXX - SG_ PROPILOT_BUTTON : 24|1@0+ (1,0) [0|1] "" XXX - SG_ USER_BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX - SG_ COUNTER : 32|2@1+ (1,0) [0|3] "" XXX - SG_ unsure5 : 47|8@0+ (1,0) [0|255] "" XXX - SG_ unsure6 : 55|8@0+ (1,0) [0|255] "" XXX - SG_ unsure7 : 63|8@0+ (1,0) [0|255] "" XXX - -BO_ 640 CANCEL_MSG: 8 XXX - SG_ CANCEL_SEATBELT : 1|1@0+ (1,0) [0|1] "" XXX - SG_ NEW_SIGNAL_1 : 7|6@0+ (1,0) [0|63] "" XXX - SG_ NEW_SIGNAL_2 : 0|1@0+ (1,0) [0|1] "" XXX - SG_ NEW_SIGNAL_3 : 15|56@0+ (1,0) [0|72057594037927940] "" XXX - -BO_ 644 WHEEL_SPEEDS_FRONT: 8 XXX - SG_ WHEEL_SPEED_FR : 7|16@0+ (0.005,0) [0|65535] "KPH" XXX - SG_ WHEEL_SPEED_FL : 23|16@0+ (0.005,0) [0|65535] "KPH" XXX - -BO_ 852 ESP: 8 XXX - SG_ ESP_DISABLED : 38|1@0+ (1,0) [0|1] "" XXX - -BO_ 853 HUD_SETTINGS: 8 XXX - SG_ SPEED_MPH : 37|1@0+ (1,0) [0|1] "" XXX - -BO_ 856 LIGHTS: 8 XXX - SG_ LEFT_BLINKER : 17|1@0+ (1,0) [0|1] "" XXX - SG_ RIGHT_BLINKER : 18|1@0+ (1,0) [0|1] "" XXX - -BO_ 1057 GEARBOX: 3 XXX - SG_ GEAR_SHIFTER : 5|3@0+ (1,0) [0|255] "" XXX - -BO_ 1549 DOORS_LIGHTS: 8 XXX - SG_ DOOR_OPEN_FL : 3|1@0+ (1,0) [0|1] "" XXX - SG_ DOOR_OPEN_FR : 4|1@0+ (1,0) [0|1] "" XXX - SG_ DOOR_OPEN_RL : 5|1@0+ (1,0) [0|1] "" XXX - SG_ DOOR_OPEN_RR : 6|1@0+ (1,0) [0|1] "" XXX - -VAL_ 1057 GEAR_SHIFTER 7 "B" 4 "D" 3 "N" 2 "R" 1 "P" ; diff --git a/opendbc/generator/nissan/nissan_x_trail_2017.dbc b/opendbc/generator/nissan/nissan_x_trail_2017.dbc deleted file mode 100644 index 46e6f9c99a0349..00000000000000 --- a/opendbc/generator/nissan/nissan_x_trail_2017.dbc +++ /dev/null @@ -1,69 +0,0 @@ -CM_ "IMPORT _nissan_common.dbc"; - -BO_ 348 GAS_PEDAL: 8 XXX - SG_ GAS_PEDAL_RAW : 26|11@0+ (1,0) [0|2047] "" XXX - SG_ GAS_PEDAL : 47|10@0+ (1,0) [0|1023] "" XXX - -BO_ 438 PRO_PILOT: 8 XXX - SG_ COUNTER : 55|4@0+ (1,0) [0|255] "" XXX - SG_ SET_ME_X03 : 33|2@0+ (1,0) [0|15] "" XXX - SG_ CRUISE_ACTIVATED : 38|1@0+ (1,0) [0|3] "" XXX - SG_ CRUISE_ON : 36|1@0+ (1,0) [0|255] "" XXX - SG_ STEER_STATUS : 51|1@0+ (1,0) [0|3] "" XXX - -BO_ 523 CRUISE_THROTTLE: 6 XXX - SG_ PROPILOT_BUTTON : 8|1@0+ (1,0) [0|1] "" XXX - SG_ CANCEL_BUTTON : 9|1@0+ (1,0) [0|1] "" XXX - SG_ GAS_PEDAL_INVERTED : 37|10@0+ (1,0) [0|1023] "" XXX - SG_ SET_BUTTON : 11|1@0+ (1,0) [0|1] "" XXX - SG_ RES_BUTTON : 12|1@0+ (1,0) [0|1] "" XXX - SG_ FOLLOW_DISTANCE_BUTTON : 10|1@0+ (1,0) [0|1] "" XXX - SG_ NO_BUTTON_PRESSED : 13|1@0+ (1,0) [0|1] "" XXX - SG_ GAS_PEDAL : 31|10@0+ (1,0) [0|255] "" XXX - SG_ USER_BRAKE_PRESSED : 21|1@0+ (1,0) [0|1] "" XXX - SG_ USER_BRAKE_PRESSED_INVERTED : 22|1@0+ (1,0) [0|3] "" XXX - SG_ NEW_SIGNAL_2 : 23|1@0+ (1,0) [0|1] "" XXX - SG_ GAS_PRESSED_INVERTED : 20|1@0+ (1,0) [0|255] "" XXX - SG_ COUNTER : 17|2@0+ (1,0) [0|3] "" XXX - SG_ unsure1 : 7|10@0+ (1,0) [0|1023] "" XXX - SG_ unsure2 : 43|4@0+ (1,0) [0|1] "" XXX - SG_ unsure3 : 19|2@0+ (1,0) [0|3] "" XXX - -BO_ 665 ESP: 8 XXX - SG_ ESP_DISABLED : 24|1@0+ (1,0) [0|1] "" XXX - -BO_ 666 WHEEL_SPEEDS_FRONT: 8 XXX - SG_ WHEEL_SPEED_FR : 7|16@0+ (0.005,0) [0|65535] "KPH" XXX - SG_ WHEEL_SPEED_FL : 23|16@0+ (0.005,0) [0|65535] "KPH" XXX - -BO_ 768 STEER_TORQUE_SENSOR2: 2 XXX - SG_ STEERING_TORQUE : 6|7@0+ (1,0) [0|127] "" XXX - SG_ STEERING_PRESSED : 15|1@0+ (-1,1) [0|7] "" XXX - -BO_ 1055 GEARBOX: 2 XXX - SG_ SPORTS_MODE : 13|1@0+ (1,0) [0|1] "" XXX - SG_ GEAR_SHIFTER : 5|3@0+ (1,0) [0|255] "" XXX - -BO_ 1107 LIGHTS: 8 XXX - SG_ RIGHT_BLINKER : 12|1@0+ (1,0) [0|1] "" XXX - SG_ LEFT_BLINKER : 11|1@0+ (1,0) [0|1] "" XXX - SG_ HEADLIGHTS : 5|1@0+ (1,0) [0|1] "" XXX - -BO_ 1108 DOORS_LIGHTS: 8 XXX - SG_ DOOR_CLOSED_RR : 40|1@0+ (1,0) [0|1] "" XXX - SG_ DOOR_OPEN_RR : 41|1@0+ (1,0) [0|1] "" XXX - SG_ DOOR_CLOSED_RL : 42|1@0+ (1,0) [0|1] "" XXX - SG_ DOOR_OPEN_RL : 43|1@0+ (1,0) [0|1] "" XXX - SG_ DOOR_CLOSED_FL : 44|1@0+ (1,0) [0|1] "" XXX - SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX - SG_ DOOR_CLOSED_FR : 46|1@0+ (1,0) [0|3] "" XXX - SG_ DOOR_OPEN_FR : 47|1@0+ (1,0) [0|3] "" XXX - SG_ BOOT_OPEN : 55|1@0+ (1,0) [0|1] "" XXX - SG_ BRAKE_LIGHT : 54|1@0+ (1,0) [0|1] "" XXX - SG_ USER_BRAKE_PRESSED : 23|1@0+ (1,0) [0|1] "" XXX - -BO_ 1273 HUD: 7 XXX - SG_ SEATBELT_DRIVER_LATCHED : 25|1@0+ (1,0) [0|1] "" XXX - SG_ SPEED_MPH : 5|1@0+ (1,0) [0|1] "" XXX - -VAL_ 1055 GEAR_SHIFTER 6 "L" 4 "D" 3 "N" 2 "R" 1 "P" ; diff --git a/opendbc/generator/subaru/_subaru_global.dbc b/opendbc/generator/subaru/_subaru_global.dbc deleted file mode 100644 index 69c836193854a1..00000000000000 --- a/opendbc/generator/subaru/_subaru_global.dbc +++ /dev/null @@ -1,302 +0,0 @@ -VERSION "" - - -NS_ : - NS_DESC_ - CM_ - BA_DEF_ - BA_ - VAL_ - CAT_DEF_ - CAT_ - FILTER - BA_DEF_DEF_ - EV_DATA_ - ENVVAR_DATA_ - SGTYPE_ - SGTYPE_VAL_ - BA_DEF_SGTYPE_ - BA_SGTYPE_ - SIG_TYPE_REF_ - VAL_TABLE_ - SIG_GROUP_ - SIG_VALTYPE_ - SIGTYPE_VALTYPE_ - BO_TX_BU_ - BA_DEF_REL_ - BA_REL_ - BA_DEF_DEF_REL_ - BU_SG_REL_ - BU_EV_REL_ - BU_BO_REL_ - SG_MUL_VAL_ - -BS_: - -BU_: XXX X - - -BO_ 2 Steering: 8 XXX - SG_ Steering_Angle : 7|16@0- (0.1,0) [0|65535] "" XXX - SG_ COUNTER : 25|3@1+ (1,0) [0|7] "" XXX - SG_ CHECKSUM : 32|8@1+ (1,0) [0|255] "" XXX - -BO_ 64 Throttle: 8 XXX - SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX - SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX - SG_ Signal1 : 12|4@1+ (1,0) [0|15] "" XXX - SG_ Engine_RPM : 16|12@1+ (1,0) [0|4095] "" XXX - SG_ Signal2 : 28|4@1+ (1,0) [0|15] "" XXX - SG_ Throttle_Pedal : 32|8@1+ (1,0) [0|255] "" XXX - SG_ Throttle_Cruise : 40|8@1+ (1,0) [0|255] "" XXX - SG_ Throttle_Combo : 48|8@1+ (1,0) [0|255] "" XXX - SG_ Signal3 : 56|4@1+ (1,0) [0|15] "" XXX - SG_ Off_Accel : 60|4@1+ (1,0) [0|15] "" XXX - -BO_ 316 Brake_Status: 8 XXX - SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX - SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX - SG_ Signal1 : 12|46@1+ (1,0) [0|1] "" XXX - SG_ ES_Brake : 58|1@1+ (1,0) [0|1] "" XXX - SG_ Signal2 : 59|3@1+ (1,0) [0|1] "" XXX - SG_ Brake : 62|1@1+ (1,0) [0|1] "" XXX - SG_ Signal3 : 63|1@1+ (1,0) [0|1] "" XXX - -BO_ 326 Cruise_Buttons: 8 XXX - SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX - SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX - SG_ Signal1 : 12|30@1+ (1,0) [0|1073741823] "" XXX - SG_ Main : 42|1@1+ (1,0) [0|1] "" XXX - SG_ Set : 43|1@1+ (1,0) [0|1] "" XXX - SG_ Resume : 44|1@1+ (1,0) [0|1] "" XXX - SG_ Signal2 : 45|19@1+ (1,0) [0|524287] "" XXX - -BO_ 315 G_Sensor: 8 XXX - SG_ Lateral : 48|8@1- (-0.1,0) [0|255] "m/s2" XXX - SG_ Longitudinal : 56|8@1- (-0.1,0) [0|255] "m/s2" XXX - -BO_ 314 Wheel_Speeds: 8 XXX - SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX - SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX - SG_ FR : 12|13@1+ (0.057,0) [0|255] "kph" XXX - SG_ RR : 25|13@1+ (0.057,0) [0|255] "kph" XXX - SG_ FL : 51|13@1+ (0.057,0) [0|255] "kph" XXX - SG_ RL : 38|13@1+ (0.057,0) [0|255] "kph" XXX - -BO_ 280 Steering_Torque_2: 8 XXX - SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX - SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX - SG_ Steer_Torque_Output : 13|11@1- (-10,0) [0|255] "" XXX - SG_ Signal1 : 24|8@1+ (1,0) [0|511] "" XXX - SG_ Steer_Torque_Sensor : 45|11@1- (-1,0) [0|255] "" XXX - SG_ Steering_Active : 61|1@0+ (1,0) [0|1] "" XXX - SG_ Steering_Disabled : 63|1@1+ (1,0) [0|1] "" XXX - -BO_ 281 Steering_Torque: 8 XXX - SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX - SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX - SG_ Steer_Error_1 : 12|1@0+ (1,0) [0|1] "" XXX - SG_ Steer_Torque_Sensor : 16|11@1- (-1,0) [-1000|1000] "" XXX - SG_ Steer_Error_2 : 28|1@1+ (1,0) [0|1] "" XXX - SG_ Steer_Warning : 29|1@1+ (1,0) [0|1] "" XXX - SG_ Steering_Angle : 32|16@1- (-0.0217,0) [-600|600] "" X - SG_ Steer_Torque_Output : 48|11@1- (-10,0) [-1000|1000] "" XXX - -BO_ 282 Steering_2: 8 XXX - SG_ CHECKSUM : 0|8@1+ (1,0) [0|1] "" XXX - SG_ COUNTER : 8|4@1+ (1,0) [0|1] "" XXX - SG_ Steering_Angle : 24|17@1- (-0.01,0) [0|1] "" XXX - -BO_ 312 Brake_Pressure_L_R: 8 XXX - SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX - SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX - SG_ Brake_1 : 48|8@1+ (1,0) [0|255] "" XXX - SG_ Brake_2 : 56|8@1+ (1,0) [0|255] "" XXX - -BO_ 313 Brake_Pedal: 8 XXX - SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX - SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX - SG_ Signal1 : 12|4@1+ (1,0) [0|15] "" XXX - SG_ Speed : 16|12@1+ (0.05625,0) [0|255] "kph" XXX - SG_ Signal2 : 28|6@1+ (1,0) [0|63] "" XXX - SG_ Brake_Lights : 34|1@1+ (1,0) [0|1] "" XXX - SG_ Signal3 : 35|1@1+ (1,0) [0|1] "" XXX - SG_ Brake_Pedal : 36|12@1+ (1,0) [0|4095] "" XXX - SG_ Signal4 : 48|16@1+ (1,0) [0|65535] "" XXX - -BO_ 372 Engine_Stop_Start: 8 XXX - SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX - SG_ Counter : 8|4@1+ (1,0) [0|15] "" XXX - SG_ STOP_START_STATE : 39|2@0+ (1,0) [0|3] "" XXX - -BO_ 290 ES_LKAS: 8 XXX - SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX - SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX - SG_ SET_1 : 12|1@0+ (1,0) [0|1] "" XXX - SG_ LKAS_Output : 16|13@1- (-1,0) [-8191|8191] "" XXX - SG_ LKAS_Request : 29|1@0+ (1,0) [0|1] "" XXX - -BO_ 292 ES_LKAS_ANGLE: 8 XXX - SG_ CHECKSUM : 0|8@1+ (1,0) [0|1] "" XXX - SG_ COUNTER : 8|4@1+ (1,0) [0|1] "" XXX - SG_ LKAS_Request : 12|1@1+ (1,0) [0|1] "" XXX - SG_ LKAS_Output : 40|17@1- (-0.01,0) [0|1] "deg" XXX - SG_ SET_3 : 60|2@1+ (1,0) [0|1] "" XXX - -BO_ 544 ES_Brake: 8 XXX - SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX - SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX - SG_ Signal1 : 12|4@1+ (1,0) [0|15] "" XXX - SG_ Brake_Pressure : 16|16@1+ (1,0) [0|65535] "" XXX - SG_ AEB_Status : 32|4@1+ (1,0) [0|15] "" XXX - SG_ Cruise_Brake_Lights : 36|1@1+ (1,0) [0|1] "" XXX - SG_ Cruise_Brake_Fault : 37|1@1+ (1,0) [0|1] "" XXX - SG_ Cruise_Brake_Active : 38|1@1+ (1,0) [0|1] "" XXX - SG_ Cruise_Activated : 39|1@1+ (1,0) [0|1] "" XXX - SG_ Signal3 : 40|24@1+ (1,0) [0|16777215] "" XXX - -BO_ 577 Cruise_Status: 8 XXX - SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX - SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX - SG_ Cruise_Set_Speed : 51|12@0+ (1,0) [0|120] "" XXX - SG_ Cruise_On : 54|1@1+ (1,0) [0|1] "" XXX - SG_ Cruise_Activated : 55|1@1+ (1,0) [0|1] "" XXX - -BO_ 552 BSD_RCTA: 8 XXX - SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX - SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX - SG_ R_ADJACENT : 48|1@1+ (1,0) [0|1] "" XXX - SG_ L_ADJACENT : 49|1@1+ (1,0) [0|1] "" XXX - SG_ R_APPROACHING : 58|1@1+ (1,0) [0|1] "" XXX - SG_ L_APPROACHING : 59|1@1+ (1,0) [0|1] "" XXX - -BO_ 912 Dashlights: 8 XXX - SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX - SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX - SG_ UNITS : 24|1@1+ (1,0) [0|1] "" XXX - SG_ ICY_ROAD : 32|2@1+ (1,0) [0|3] "" XXX - SG_ SEATBELT_FL : 48|1@1+ (1,0) [0|1] "" XXX - SG_ LEFT_BLINKER : 50|1@1+ (1,0) [0|1] "" XXX - SG_ RIGHT_BLINKER : 51|1@1+ (1,0) [0|1] "" XXX - SG_ STOP_START : 54|1@0+ (1,0) [0|1] "" XXX - -BO_ 940 BodyInfo: 8 XXX - SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX - SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX - SG_ DOOR_OPEN_FL : 32|1@1+ (1,0) [0|1] "" XXX - SG_ DOOR_OPEN_FR : 33|1@1+ (1,0) [0|1] "" XXX - SG_ DOOR_OPEN_RL : 34|1@1+ (1,0) [0|1] "" XXX - SG_ DOOR_OPEN_RR : 35|1@1+ (1,0) [0|1] "" XXX - SG_ DOOR_OPEN_TRUNK : 36|1@0+ (1,0) [0|1] "" XXX - SG_ BRAKE : 54|1@1+ (1,0) [0|1] "" XXX - SG_ DASH_BTN_LIGHTS : 56|1@0+ (1,0) [0|1] "" XXX - SG_ LOWBEAM : 57|1@1+ (1,0) [0|1] "" XXX - SG_ HIGHBEAM : 58|1@1+ (1,0) [0|1] "" XXX - SG_ FOG_LIGHTS : 60|1@1+ (1,0) [0|1] "" XXX - SG_ WIPERS : 62|1@0+ (1,0) [0|1] "" XXX - -BO_ 801 ES_DashStatus: 8 XXX - SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX - SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX - SG_ PCB_Off : 12|1@1+ (1,0) [0|1] "" XXX - SG_ LDW_Off : 13|1@1+ (1,0) [0|1] "" XXX - SG_ Signal1 : 14|2@1+ (1,0) [0|3] "" XXX - SG_ Cruise_State_Msg : 16|4@1+ (1,0) [0|15] "" XXX - SG_ LKAS_State_Msg : 20|3@1+ (1,0) [0|7] "" XXX - SG_ Signal2 : 23|1@1+ (1,0) [0|1] "" XXX - SG_ Cruise_Soft_Disable : 24|1@1+ (1,0) [0|1] "" XXX - SG_ Cruise_Status_Msg : 25|2@1+ (1,0) [0|3] "" XXX - SG_ Signal3 : 27|1@1+ (1,0) [0|1] "" XXX - SG_ Cruise_Distance : 28|3@1+ (1,0) [0|7] "" XXX - SG_ Signal4 : 31|1@1+ (1,0) [0|1] "" XXX - SG_ Conventional_Cruise : 32|1@1+ (1,0) [0|1] "" XXX - SG_ Signal5 : 33|2@1+ (1,0) [0|3] "" XXX - SG_ Cruise_Disengaged : 35|1@1+ (1,0) [0|1] "" XXX - SG_ Cruise_Activated : 36|1@1+ (1,0) [0|1] "" XXX - SG_ Signal6 : 37|3@1+ (1,0) [0|1] "" XXX - SG_ Cruise_Set_Speed : 40|8@1+ (1,0) [0|255] "" XXX - SG_ Cruise_Fault : 48|1@1+ (1,0) [0|1] "" XXX - SG_ Cruise_On : 49|1@1+ (1,0) [0|1] "" XXX - SG_ Display_Own_Car : 50|1@1+ (1,0) [0|1] "" XXX - SG_ Brake_Lights : 51|1@1+ (1,0) [0|1] "" XXX - SG_ Car_Follow : 52|1@1+ (1,0) [0|1] "" XXX - SG_ Signal7 : 53|3@1+ (1,0) [0|1] "" XXX - SG_ Far_Distance : 56|4@1+ (5,0) [0|75] "m" XXX - SG_ Cruise_State : 60|4@1+ (1,0) [0|15] "" XXX - -BO_ 802 ES_LKAS_State: 8 XXX - SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX - SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX - SG_ LKAS_Alert_Msg : 12|3@1+ (1,0) [0|7] "" XXX - SG_ Signal1 : 15|2@1+ (1,0) [0|3] "" XXX - SG_ LKAS_ACTIVE : 17|1@1+ (1,0) [0|1] "" XXX - SG_ LKAS_Dash_State : 18|2@1+ (1,0) [0|2] "" XXX - SG_ Signal2 : 20|3@1+ (1,0) [0|7] "" XXX - SG_ Backward_Speed_Limit_Menu : 23|1@1+ (1,0) [0|1] "" XXX - SG_ LKAS_Left_Line_Enable : 24|1@1+ (1,0) [0|1] "" XXX - SG_ LKAS_Left_Line_Light_Blink : 25|1@1+ (1,0) [0|1] "" XXX - SG_ LKAS_Right_Line_Enable : 26|1@1+ (1,0) [0|1] "" XXX - SG_ LKAS_Right_Line_Light_Blink : 27|1@1+ (1,0) [0|1] "" XXX - SG_ LKAS_Left_Line_Visible : 28|2@1+ (1,0) [0|3] "" XXX - SG_ LKAS_Right_Line_Visible : 30|2@1+ (1,0) [0|3] "" XXX - SG_ LKAS_Alert : 32|5@1+ (1,0) [0|31] "" XXX - SG_ Signal3 : 37|27@1+ (1,0) [0|1] "" XXX - -BO_ 803 ES_Infotainment: 8 XXX - SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX - SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX - SG_ LKAS_Blue_Lines : 15|4@0+ (1,0) [0|15] "" XXX - SG_ Signal1 : 19|4@0+ (1,0) [0|15] "" XXX - SG_ LKAS_State_Infotainment : 22|3@0+ (1,0) [0|7] "" XXX - SG_ Signal2 : 24|1@0+ (1,0) [0|1] "" XXX - -BO_ 722 AC_State: 8 XXX - SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX - SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX - SG_ AC_Mode : 37|3@1+ (1,0) [0|1] "" XXX - SG_ AC_ON : 24|2@1+ (1,0) [0|1] "" XXX - -BO_ 1677 Dash_State: 8 XXX - SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX - SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX - SG_ Units : 29|3@1+ (1,0) [0|7] "" XXX - -BO_ 554 ES_HighBeamAssist: 8 XXX - SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX - SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX - SG_ HBA_Available : 13|1@0+ (1,0) [0|1] "" XXX - -BO_ 805 ES_STATIC_1: 8 XXX - SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX - SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX - SG_ SET_3 : 23|2@0+ (1,0) [0|3] "" XXX - -BO_ 289 ES_STATIC_2: 8 XXX - SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX - SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX - SG_ SET_3 : 15|2@1+ (1,0) [0|3] "" XXX - SG_ Cruise_Fault : 18|1@0+ (1,0) [0|1] "" XXX - -CM_ SG_ 64 Throttle_Combo "Throttle Cruise + Pedal"; -CM_ SG_ 313 Brake_Lights "Driver or Cruise Brake on"; -CM_ SG_ 544 Cruise_Brake_Lights "1 = switch on brake lights"; -CM_ SG_ 544 Brake_Pressure "Winds down after cruise disabled. Also can be non-zero when likely preparing for AEB"; -CM_ SG_ 544 Signal3 "Usually goes to 2 if AEB_Status is 4"; -CM_ SG_ 544 AEB_Status "Occasionally is 4 instead of 8 while Brake_Pressure is non-zero, unsure why"; -CM_ SG_ 801 PCB_Off "Pre-Collision Braking off"; -CM_ SG_ 801 Brake_Lights "Driver or Cruise brake on"; -CM_ SG_ 801 Cruise_State "0 = Normal, 1 = Hold+User Brake, 2 = Ready, 3 = Hold"; -CM_ SG_ 801 Far_Distance "1=0-5m, 2=5-10m, 3=10-15m, 4=15-20m, 5=20-25m, 6=25-30m, 7=30-35m, 8=35-40m, 9=40-45m, 10=45-50m, 11=50-55m, 12=55-60m, 13=60-65m, 14=65-70m, 15=75m+"; -CM_ SG_ 801 LKAS_State_Msg "1 = LKAS_Off_Sharp_Curve, 2 = Keep_Hands_On_Steering_wheel_disabled, 3 = LKAS_Off, 4 = LKAS_Off_Too_Slow, 5 = LKAS_Off_Too_Fast"; -CM_ SG_ 801 Cruise_State_Msg "1 = Cruise_Off_Steep_Slope, 2 = Cruise_lvl1_eco, 3 = Cruise_lvl2_comfort, 4 = Cruise_off_empty_reason, 5 = Cruise_off, 6 = Cruise_Unable_to_set, 7 = Cruise_Unable_to_set_brakes_applied, 8 = Eyesight_not_ready, 9 = Cruise_lvl3_standard, 10 = Cruise_lvl4_dynamic, 11 = Cruise_Unable_to_set_steep_slope"; -CM_ SG_ 801 Cruise_Soft_Disable "Eyesight soft disable (eg direct sunlight)"; -CM_ SG_ 801 Cruise_Status_Msg "1 = Disabled_Bad_Visibility, 2 = Disabled_Check_Manual"; -CM_ SG_ 802 LKAS_ACTIVE "Turns on the full LKAS dash display"; -CM_ SG_ 802 LKAS_Alert_Msg "1 = Keep_Hands_On_Wheel, 6 = Pre_Collision_Braking, 7 = Keep_Hands_On_Wheel_Off"; -CM_ SG_ 802 LKAS_Alert "1 = FCW_Cont_Beep, 2 = FCW_Repeated_Beep, 3 = Throttle_Management_Activated_Warning, 4 = Throttle_Management_Activated_Alert, 5 = Pre_Collision_Activated_Alert, 8 = Traffic_Light_Ahead, 9 = Apply_Brake_to_Hold Position, 11 = LDW_Right, 12 = LDW_Left, 13 = Stay_Alert, 14 = Lead_Vehicle_Start_Alert, 18 = Keep_Hands_On_Steering_Alert, 24 = Audio_Beep, 25 = Audio_Lead_Car_Change, 26 = Audio_ACC_Disengaged, 27 = Audio_LKAS_disabled, 28 = Audio_Ding_Ding, 30 = Audio_Repeated_Beep"; -CM_ SG_ 802 LKAS_Left_Line_Visible "0 = Off, 1 = White, 2 = Green, 3 = Orange"; -CM_ SG_ 802 LKAS_Dash_State "0 = Off, 1 = Ready, 2 = Active"; -CM_ SG_ 802 LKAS_Right_Line_Visible "0 = Off, 1 = White, 2 = Green, 3 = Orange"; -CM_ SG_ 912 UNITS "0 = Metric, 1 = Imperial"; -CM_ SG_ 912 ICY_ROAD "1 = DASHLIGHT ON, 2 = WARNING, 3 = OFF"; -VAL_ 544 AEB_Status 12 "AEB related" 8 "AEB actuation" 4 "AEB related" 0 "No AEB actuation"; diff --git a/opendbc/generator/subaru/_subaru_preglobal_2015.dbc b/opendbc/generator/subaru/_subaru_preglobal_2015.dbc deleted file mode 100644 index 2cc56e1d40bf4c..00000000000000 --- a/opendbc/generator/subaru/_subaru_preglobal_2015.dbc +++ /dev/null @@ -1,245 +0,0 @@ -VERSION "" - - -NS_ : - NS_DESC_ - CM_ - BA_DEF_ - BA_ - VAL_ - CAT_DEF_ - CAT_ - FILTER - BA_DEF_DEF_ - EV_DATA_ - ENVVAR_DATA_ - SGTYPE_ - SGTYPE_VAL_ - BA_DEF_SGTYPE_ - BA_SGTYPE_ - SIG_TYPE_REF_ - VAL_TABLE_ - SIG_GROUP_ - SIG_VALTYPE_ - SIGTYPE_VALTYPE_ - BO_TX_BU_ - BA_DEF_REL_ - BA_REL_ - BA_DEF_DEF_REL_ - BU_SG_REL_ - BU_EV_REL_ - BU_BO_REL_ - SG_MUL_VAL_ - -BS_: - -BU_: XXX X - - -BO_ 2 Steering: 8 XXX - SG_ Steering_Angle : 7|16@0- (0.1,0) [-500|500] "degree" XXX - SG_ COUNTER : 27|3@0+ (1,0) [0|7] "" XXX - SG_ Checksum : 39|8@0+ (1,0) [0|255] "" XXX - -BO_ 208 G_Sensor: 8 XXX - SG_ Steering_Angle : 0|16@1- (-0.1,0) [-500|500] "" XXX - SG_ Lateral : 16|16@1- (-0.0035,1) [-255|255] "" XXX - SG_ Longitudinal : 48|16@1- (-0.00035,0) [-255|255] "" XXX - -BO_ 209 Brake_Pedal: 8 XXX - SG_ Speed : 0|16@1+ (0.05625,0) [0|255] "KPH" XXX - SG_ Brake_Pedal : 16|8@1+ (1,0) [0|255] "" XXX - -BO_ 210 Brake_2: 8 XXX - SG_ Brake_Light : 35|1@1+ (1,0) [0|1] "" XXX - SG_ Brake_Related : 36|1@1+ (1,0) [0|1] "" XXX - SG_ Right_Brake : 48|8@1+ (1,0) [0|255] "" XXX - SG_ Left_Brake : 56|8@1+ (1,0) [0|255] "" XXX - -BO_ 211 Brake_Type: 8 XXX - SG_ Brake_Light : 21|1@1+ (1,0) [0|1] "" XXX - SG_ Speed_Counter : 32|8@1+ (1,0) [0|255] "" XXX - SG_ Brake_Cruise_On : 42|1@1+ (1,0) [0|1] "" XXX - SG_ Brake_Pedal_On : 46|1@1+ (1,0) [0|1] "" XXX - SG_ COUNTER : 48|8@1+ (1,0) [0|255] "" XXX - -BO_ 212 Wheel_Speeds: 8 XXX - SG_ FL : 0|16@1+ (0.0592,0) [0|255] "KPH" XXX - SG_ FR : 16|16@1+ (0.0592,0) [0|255] "KPH" XXX - SG_ RL : 32|16@1+ (0.0592,0) [0|255] "KPH" XXX - SG_ RR : 48|16@1+ (0.0592,0) [0|255] "KPH" XXX - -BO_ 320 Throttle: 8 XXX - SG_ Throttle_Pedal : 0|8@1+ (0.392157,0) [0|255] "" XXX - SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX - SG_ Signal1 : 12|2@1+ (1,0) [0|7] "" XXX - SG_ Not_Full_Throttle : 14|1@1+ (1,0) [0|1] "" XXX - SG_ Signal2 : 15|1@1+ (1,0) [0|1] "" XXX - SG_ Engine_RPM : 16|14@1+ (1,0) [0|32767] "" XXX - SG_ Off_Throttle : 30|1@1+ (1,0) [0|1] "" XXX - SG_ Signal3 : 31|1@1+ (1,0) [0|1] "" XXX - SG_ Throttle_Cruise : 32|8@1+ (1,0) [0|255] "" XXX - SG_ Throttle_Combo : 40|8@1+ (1,0) [0|255] "" XXX - SG_ Throttle_Body : 48|8@1+ (1,0) [0|255] "" XXX - SG_ Off_Throttle_2 : 56|1@1+ (1,0) [0|1] "" XXX - SG_ Signal4 : 57|7@1+ (1,0) [0|127] "" XXX - -BO_ 321 Engine: 8 XXX - SG_ Engine_Torque : 0|15@1+ (1,0) [0|255] "" XXX - SG_ Engine_Stop : 15|1@1+ (1,0) [0|1] "" XXX - SG_ Wheel_Torque : 16|12@1+ (1,0) [0|4095] "" XXX - SG_ Engine_RPM : 32|12@1+ (1,0) [0|8191] "" XXX - -BO_ 324 CruiseControl: 8 XXX - SG_ OnOffButton : 2|1@1+ (1,0) [0|1] "" XXX - SG_ SET_BUTTON : 3|1@1+ (1,0) [0|1] "" XXX - SG_ RES_BUTTON : 4|1@1+ (1,0) [0|1] "" XXX - SG_ Button : 13|1@1+ (1,0) [0|1] "" XXX - SG_ Cruise_On : 48|1@1+ (1,0) [0|1] "" XXX - SG_ Cruise_Activated : 49|1@1+ (1,0) [0|1] "" XXX - SG_ Brake_Pedal_On : 51|1@1+ (1,0) [0|1] "" XXX - -BO_ 328 Transmission: 8 XXX - SG_ Manual_Gear : 4|4@1+ (1,0) [0|15] "" XXX - SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX - SG_ Transmission_Engine : 16|15@1+ (1,0) [0|65535] "" XXX - SG_ Gear : 48|4@1+ (1,0) [0|15] "" XXX - SG_ Gear_2 : 52|4@1+ (1,0) [0|15] "" XXX - SG_ Paddle_Shift : 60|2@1+ (1,0) [0|3] "" XXX - -BO_ 329 CVT_Ratio: 8 XXX - -BO_ 336 Brake_Pressure: 8 XXX - SG_ Brake_Pressure_Right : 0|8@1+ (1,0) [0|255] "" XXX - SG_ Brake_Pressure_Left : 8|8@1+ (1,0) [0|255] "" XXX - -BO_ 338 Stalk: 8 XXX - SG_ COUNTER : 12|4@1+ (1,0) [0|15] "" XXX - SG_ Brake_Light : 52|1@1+ (1,0) [0|1] "" XXX - SG_ Runlights : 58|1@1+ (1,0) [0|1] "" XXX - SG_ Headlights : 59|1@1+ (1,0) [0|1] "" XXX - SG_ Highbeam : 60|1@1+ (1,0) [0|1] "" XXX - SG_ Wiper : 62|1@1+ (1,0) [0|1] "" XXX - -BO_ 352 ES_Brake: 8 XXX - SG_ Brake_Pressure : 0|16@1+ (1,0) [0|255] "" XXX - SG_ Cruise_Brake_Lights : 20|1@1+ (1,0) [0|1] "" XXX - SG_ Cruise_Fault : 21|1@1+ (1,0) [0|1] "" XXX - SG_ Cruise_Brake_Active : 22|1@1+ (1,0) [0|1] "" XXX - SG_ Cruise_Activated : 23|1@1+ (1,0) [0|1] "" XXX - SG_ SET_1 : 45|1@0+ (1,0) [0|1] "" XXX - SG_ COUNTER : 48|3@1+ (1,0) [0|7] "" XXX - SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX - -BO_ 353 ES_Distance: 8 XXX - SG_ Cruise_Throttle : 0|12@1+ (1,0) [0|4095] "" XXX - SG_ Signal1 : 12|4@1+ (1,0) [0|15] "" XXX - SG_ Car_Follow : 16|1@1+ (1,0) [0|1] "" XXX - SG_ Signal2 : 17|3@1+ (1,0) [0|7] "" XXX - SG_ Cruise_Brake_Active : 20|1@1+ (1,0) [0|1] "" XXX - SG_ Distance_Swap : 21|1@1+ (1,0) [0|1] "" XXX - SG_ Standstill : 22|1@1+ (1,0) [0|1] "" XXX - SG_ Signal3 : 23|1@1+ (1,0) [0|1] "" XXX - SG_ Close_Distance : 24|8@1+ (0.019607,0) [0|5] "m" XXX - SG_ Signal4 : 32|9@1+ (1,0) [0|255] "" XXX - SG_ Standstill_2 : 41|1@1+ (1,0) [0|1] "" XXX - SG_ Cruise_Fault : 42|1@1+ (1,0) [0|1] "" XXX - SG_ Signal5 : 43|1@1+ (1,0) [0|1] "" XXX - SG_ COUNTER : 44|3@1+ (1,0) [0|7] "" XXX - SG_ Signal6 : 47|1@1+ (1,0) [0|1] "" XXX - SG_ Cruise_Button : 48|3@1+ (1,0) [0|7] "" XXX - SG_ Signal7 : 51|5@1+ (1,0) [0|31] "" XXX - SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX - -BO_ 354 ES_Status: 8 XXX - SG_ Brake : 8|1@1+ (1,0) [0|1] "" XXX - SG_ Cruise_Activated : 9|1@1+ (1,0) [0|1] "" XXX - SG_ Cruise_RPM : 16|16@1+ (1,0) [0|65535] "" XXX - SG_ Checksum : 32|8@1+ (1,0) [0|255] "" XXX - SG_ COUNTER : 48|3@1+ (1,0) [0|7] "" XXX - -BO_ 356 ES_LKAS: 8 XXX - SG_ COUNTER : 0|3@1+ (1,0) [0|7] "" XXX - SG_ LKAS_Command : 8|13@1- (-1,0) [-4096|4096] "" XXX - SG_ LKAS_Active : 24|1@1+ (1,0) [0|1] "" XXX - SG_ Checksum : 56|8@1+ (1,0) [0|255] "" XXX - -BO_ 359 ES_LDW: 8 XXX - SG_ All_depart_2015 : 0|1@1+ (1,0) [0|1] "" XXX - SG_ Right_Line_2017 : 24|1@1+ (1,0) [0|1] "" XXX - SG_ Left_Line_2017 : 25|1@1+ (1,0) [0|1] "" XXX - SG_ Sig1All_Depart : 28|1@1+ (1,0) [0|1] "" XXX - SG_ Sig2All_Depart : 31|1@1+ (1,0) [0|1] "" XXX - SG_ LKAS_Inactive_2017 : 36|1@1+ (1,0) [0|1] "" XXX - SG_ LKAS_Active : 37|1@1+ (1,0) [0|1] "" XXX - SG_ Sig1Right_Depart : 48|1@1+ (1,0) [0|1] "" XXX - SG_ Sig1Right_Depart_Front : 49|1@1+ (1,0) [0|1] "" XXX - SG_ Sig2Right_Depart : 50|1@1+ (1,0) [0|1] "" XXX - SG_ Left_Depart_Front : 51|1@1+ (1,0) [0|1] "" XXX - SG_ Sig3All_Depart : 52|1@1+ (1,0) [0|1] "" XXX - -BO_ 604 BSD_RCTA: 8 XXX - SG_ COUNTER : 0|3@1+ (1,0) [0|7] "" XXX - SG_ State : 5|1@1+ (1,0) [0|1] "" XXX - SG_ R_ADJACENT : 32|1@1+ (1,0) [0|1] "" XXX - SG_ L_ADJACENT : 33|1@1+ (1,0) [0|1] "" XXX - SG_ R_APPROACHING : 42|1@1+ (1,0) [0|1] "" XXX - SG_ L_APPROACHING : 43|1@1+ (1,0) [0|1] "" XXX - SG_ R_RCTA : 46|1@1+ (1,0) [0|1] "" XXX - SG_ L_RCTA : 47|1@1+ (1,0) [0|1] "" XXX - -BO_ 642 Dashlights: 8 XXX - SG_ COUNTER : 12|4@1+ (1,0) [0|15] "" XXX - SG_ SEATBELT_FL : 40|1@1+ (1,0) [0|1] "" XXX - SG_ LEFT_BLINKER : 44|1@1+ (1,0) [0|1] "" XXX - SG_ RIGHT_BLINKER : 45|1@1+ (1,0) [0|1] "" XXX - -BO_ 880 Steering_Torque_2: 8 XXX - SG_ Steering_Voltage_Flat : 0|8@1+ (1,0) [0|255] "" XXX - SG_ Steer_Torque_Sensor : 29|11@1- (-1,0) [-1000|1000] "" XXX - SG_ COUNTER : 40|4@1+ (1,0) [0|15] "" XXX - -BO_ 884 BodyInfo: 8 XXX - SG_ DOOR_OPEN_FR : 24|1@1+ (1,0) [0|1] "" XXX - SG_ DOOR_OPEN_FL : 25|1@1+ (1,0) [0|1] "" XXX - SG_ DOOR_OPEN_RL : 26|1@1+ (1,0) [0|1] "" XXX - SG_ DOOR_OPEN_RR : 27|1@1+ (1,0) [0|1] "" XXX - SG_ DOOR_OPEN_Hatch : 28|1@1+ (1,0) [0|1] "" XXX - -BO_ 864 Engine_Temp: 8 XXX - SG_ Oil_Temp : 16|8@1+ (1,-40) [0|255] "" XXX - SG_ Coolant_Temp : 24|8@1+ (1,-40) [0|255] "" XXX - SG_ Cruise_Activated : 45|1@1+ (1,0) [0|1] "" XXX - SG_ Saved_Speed : 56|8@1+ (1,0) [0|255] "" XXX - -BO_ 866 Fuel: 8 XXX - -BO_ 977 Dash_State2: 8 XXX - SG_ UNITS : 15|1@1+ (1,0) [0|1] "" XXX - -BO_ 1745 Dash_State: 8 XXX - SG_ Units : 15|1@1+ (1,0) [0|1] "" XXX - -CM_ SG_ 320 Off_Throttle_2 "Less sensitive"; -CM_ SG_ 320 Throttle_Body "Throttle related"; -CM_ SG_ 328 Gear "15 = P, 14 = R, 0 = N, 1-6=gear"; -CM_ SG_ 328 Gear_2 "15 = P, 14 = R, 0 = N, 1-6=gear"; -CM_ SG_ 353 Cruise_Button "1 = main, 2 = set shallow, 3 = set deep, 4 = resume shallow, 5 resume deep"; -CM_ SG_ 354 RPM "20hz version of Transmission_Engine under Transmission"; -CM_ SG_ 359 Sig1Right_Depart "right depart, hill steep and seatbelt disengage"; -CM_ SG_ 359 LKAS_Inactive_2017 "1 when not steering, 0 when lkas steering"; -CM_ SG_ 359 Sig1Right_Depart_Front "object in front, right depart, hill steep and seatbelt disengage alert "; -CM_ SG_ 359 Left_Depart_Front "warning after acceleration into car in front and left depart"; -CM_ SG_ 359 Sig1All_Depart "Left and right depart"; -CM_ SG_ 359 Sig2All_Depart "Left and right depart"; -CM_ SG_ 359 All_depart_2015 "always 1 on 2017"; -CM_ SG_ 604 R_APPROACHING "Faster car approaching in far right lane"; -CM_ SG_ 604 L_APPROACHING "Faster car approaching in far left lane"; -CM_ SG_ 604 R_RCTA "Rear cross traffic alert, only when in R gear"; -CM_ SG_ 604 L_RCTA "Rear cross traffic alert, only when in R gear"; -CM_ SG_ 642 COUNTER "Affected by signals"; -CM_ SG_ 642 SEATBELT_FL "Driver seatbelt"; -CM_ SG_ 880 Steering_Voltage_Flat "receives later than 371"; -CM_ SG_ 977 UNITS "0 = Metric, 1 = Imperial"; - -VAL_ 328 Gear 0 "N" 1 "D" 2 "D" 3 "D" 4 "D" 5 "D" 6 "D" 14 "R" 15 "P"; diff --git a/opendbc/generator/subaru/subaru_forester_2017.dbc b/opendbc/generator/subaru/subaru_forester_2017.dbc deleted file mode 100644 index 6d5d46bc9ab57e..00000000000000 --- a/opendbc/generator/subaru/subaru_forester_2017.dbc +++ /dev/null @@ -1,18 +0,0 @@ -CM_ "IMPORT _subaru_preglobal_2015.dbc"; - -BO_ 355 ES_DashStatus: 8 XXX - SG_ Not_Ready_Startup : 4|2@1+ (1,0) [0|3] "" XXX - SG_ Cruise_On : 16|1@1+ (1,0) [0|1] "" XXX - SG_ Cruise_Activated : 17|1@0+ (1,0) [0|1] "" XXX - SG_ Cruise_Set_Speed : 24|8@1+ (1,0) [0|255] "" XXX - SG_ COUNTER : 40|3@1+ (1,0) [0|7] "" XXX - SG_ Brake : 43|1@1+ (1,0) [0|1] "" XXX - SG_ Car_Follow : 54|1@1+ (1,0) [0|1] "" XXX - SG_ Far_Distance : 56|4@1+ (5,0) [0|75] "m" XXX - -BO_ 881 Steering_Torque: 8 XXX - SG_ Steering_Motor_Flat : 0|10@1+ (32,0) [0|1000] "" XXX - SG_ Steer_Torque_Output : 16|11@1- (-32,0) [-1000|1000] "" XXX - SG_ Steer_Error_1 : 27|1@1+ (1,0) [0|1] "" XXX - SG_ Steer_Torque_Sensor : 29|11@1- (-1,0) [-1000|1000] "" XXX - SG_ Steering_Angle : 40|16@1- (-0.033,0) [-600|600] "" XXX diff --git a/opendbc/generator/subaru/subaru_global_2017.dbc b/opendbc/generator/subaru/subaru_global_2017.dbc deleted file mode 100644 index 83a36ff8f732ac..00000000000000 --- a/opendbc/generator/subaru/subaru_global_2017.dbc +++ /dev/null @@ -1,65 +0,0 @@ -CM_ "IMPORT _subaru_global.dbc"; - -BO_ 72 Transmission: 8 XXX - SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX - SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX - SG_ Gear : 24|8@1+ (1,0) [0|255] "" XXX - SG_ RPM : 40|15@1+ (1,0) [0|65535] "" XXX - -BO_ 73 CVT: 8 XXX - SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX - SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX - SG_ CVT_Gear : 24|8@1+ (1,0) [0|255] "" XXX - -BO_ 545 ES_Distance: 8 XXX - SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX - SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX - SG_ Signal1 : 12|3@1+ (1,0) [0|7] "" XXX - SG_ Cruise_Fault : 15|1@1+ (1,0) [0|1] "" XXX - SG_ Cruise_Throttle : 16|13@1+ (1,0) [0|4095] "" XXX - SG_ Signal2 : 29|3@1+ (1,0) [0|15] "" XXX - SG_ Car_Follow : 32|1@1+ (1,0) [0|1] "" XXX - SG_ Low_Speed_Follow : 33|1@1+ (1,0) [0|1] "" XXX - SG_ Cruise_Soft_Disable : 34|1@1+ (1,0) [0|1] "" XXX - SG_ Signal7 : 35|1@1+ (1,0) [0|1] "" XXX - SG_ Cruise_Brake_Active : 36|1@1+ (1,0) [0|1] "" XXX - SG_ Distance_Swap : 37|1@1+ (1,0) [0|1] "" XXX - SG_ Cruise_EPB : 38|1@1+ (1,0) [0|1] "" XXX - SG_ Signal4 : 39|1@0+ (1,0) [0|1] "" XXX - SG_ Close_Distance : 40|8@1+ (0.019607,0) [0|5] "m" XXX - SG_ Signal5 : 48|8@1+ (1,0) [0|1] "" XXX - SG_ Cruise_Cancel : 56|1@1+ (1,0) [0|1] "" XXX - SG_ Cruise_Set : 57|1@1+ (1,0) [0|1] "" XXX - SG_ Cruise_Resume : 58|1@1+ (1,0) [0|1] "" XXX - SG_ Signal6 : 59|5@1+ (1,0) [0|1] "" XXX - -BO_ 546 ES_Status: 8 XXX - SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX - SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX - SG_ Signal1 : 12|3@1+ (1,0) [0|1] "" XXX - SG_ Cruise_Fault : 15|1@1+ (1,0) [0|1] "" XXX - SG_ Cruise_RPM : 16|13@1+ (1,0) [0|4095] "" XXX - SG_ Cruise_Activated : 29|1@0+ (1,0) [0|1] "" XXX - SG_ Brake_Lights : 30|1@1+ (1,0) [0|1] "" XXX - SG_ Cruise_Hold : 31|1@1+ (1,0) [0|1] "" XXX - SG_ Signal3 : 32|32@1+ (1,0) [0|1] "" XXX - -BO_ 576 CruiseControl: 8 XXX - SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX - SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX - SG_ Signal1 : 12|28@1+ (1,0) [0|268435455] "" XXX - SG_ Cruise_On : 40|1@1+ (1,0) [0|1] "" XXX - SG_ Cruise_Activated : 41|1@1+ (1,0) [0|1] "" XXX - SG_ Signal2 : 42|22@1+ (1,0) [0|4194303] "" XXX - -CM_ SG_ 545 Cruise_Throttle "RPM-like output signal"; -CM_ SG_ 545 Cruise_EPB "1 = Electric Parking Brake set"; -CM_ SG_ 545 Distance_Swap "Switch from Close to Far distance"; -CM_ SG_ 545 Cruise_Soft_Disable "Eyesight Temporary disable, sets CruiseControl Activated = 0"; -CM_ SG_ 546 Cruise_RPM "ES RPM output for ECM and TCM"; -CM_ SG_ 546 Signal3 "0 when cruise_activated = 1"; -CM_ SG_ 803 Signal1 "Seems to be static, set only on some cars"; -CM_ SG_ 803 Signal2 "Seems to be static, set only on some cars"; -VAL_ 803 LKAS_Blue_Lines 0 "no modifier" 2 "changes lines to blue"; -VAL_ 803 LKAS_State_Infotainment 0 "none" 2 "Obstacle Detected" 3 "Keep Hands On Wheel" 4 "Keep Hands On Wheel Off"; -VAL_ 72 Gear 2 "N" 3 "R" 4 "P" 121 "D" 137 "1" 145 "2" 153 "3" 161 "4" 169 "5" 177 "6"; diff --git a/opendbc/generator/subaru/subaru_global_2020_hybrid.dbc b/opendbc/generator/subaru/subaru_global_2020_hybrid.dbc deleted file mode 100644 index a4dbe9c37df8f6..00000000000000 --- a/opendbc/generator/subaru/subaru_global_2020_hybrid.dbc +++ /dev/null @@ -1,18 +0,0 @@ -CM_ "IMPORT _subaru_global.dbc"; - -BO_ 39 Cruise_Status_2: 8 XXX - SG_ Cruise_Activated : 37|1@0+ (1,0) [0|1] "" XXX - -BO_ 295 Transmission: 8 XXX - SG_ Gear : 44|4@1+ (1,0) [0|15] "" XXX - -BO_ 360 Throttle_Hybrid: 8 XXX - SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] "" XXX - SG_ COUNTER : 8|4@1+ (1,0) [0|15] "" XXX - SG_ Throttle_Pedal : 32|8@1+ (1,0) [0|255] "" XXX - -BO_ 550 Brake_Hybrid: 8 XXX - SG_ Brake_Pedal : 24|8@1+ (1,0) [0|1] "" XXX - SG_ Brake : 37|1@1+ (1,0) [0|1] "" XXX - -VAL_ 295 Gear 0 "P" 1 "R" 3 "D"; diff --git a/opendbc/generator/subaru/subaru_outback_2015.dbc b/opendbc/generator/subaru/subaru_outback_2015.dbc deleted file mode 100644 index cc1fa16d19e76d..00000000000000 --- a/opendbc/generator/subaru/subaru_outback_2015.dbc +++ /dev/null @@ -1,30 +0,0 @@ -CM_ "IMPORT _subaru_preglobal_2015.dbc"; - -BO_ 358 ES_DashStatus: 8 XXX - SG_ Not_Ready_Startup : 0|3@1+ (1,0) [0|7] "" XXX - SG_ Seatbelt_Disengage : 12|2@1+ (1,0) [0|3] "" XXX - SG_ Disengage_Alert : 14|2@1+ (1,0) [0|3] "" XXX - SG_ Cruise_On : 16|1@1+ (1,0) [0|1] "" XXX - SG_ Cruise_Activated : 17|1@1+ (1,0) [0|1] "" XXX - SG_ Signal1 : 18|1@1+ (1,0) [0|1] "" XXX - SG_ WHEELS_MOVING_2015 : 19|1@1+ (1,0) [0|1] "" XXX - SG_ Driver_Input : 20|1@1+ (1,0) [0|1] "" XXX - SG_ Cruise_Distance : 21|3@1+ (1,0) [0|7] "" XXX - SG_ Cruise_Set_Speed : 24|8@1+ (1,0) [0|255] "" XXX - SG_ Cruise_Fault : 32|1@1+ (1,0) [0|1] "" XXX - SG_ Cruise_On_2 : 34|1@1+ (1,0) [0|1] "" XXX - SG_ COUNTER : 37|3@1+ (1,0) [0|7] "" XXX - SG_ Steep_Hill_Disengage : 44|1@1+ (1,0) [0|3] "" XXX - SG_ Car_Follow : 46|1@1+ (1,0) [0|1] "" XXX - SG_ Far_Distance : 48|4@1+ (5,0) [0|75] "m" XXX - -BO_ 881 Steering_Torque: 8 XXX - SG_ Steering_Motor_Flat : 0|10@1+ (32,0) [0|1000] "" XXX - SG_ Steer_Torque_Output : 16|11@1- (-32,0) [-1000|1000] "" XXX - SG_ Steer_Error_1 : 27|1@1+ (1,0) [0|1] "" XXX - SG_ Steer_Torque_Sensor : 29|11@1- (1,0) [-1000|1000] "" XXX - SG_ Steering_Angle : 40|16@1- (-0.033,0) [-600|600] "" XXX - -CM_ SG_ 358 Disengage_Alert "seatbelt and steep hill disengage"; -CM_ SG_ 358 Cruise_Fault "No engagement until restart"; -CM_ SG_ 358 Car_Follow "lead car detected"; diff --git a/opendbc/generator/subaru/subaru_outback_2019.dbc b/opendbc/generator/subaru/subaru_outback_2019.dbc deleted file mode 100644 index d886954cfe7771..00000000000000 --- a/opendbc/generator/subaru/subaru_outback_2019.dbc +++ /dev/null @@ -1,30 +0,0 @@ -CM_ "IMPORT _subaru_preglobal_2015.dbc"; - -BO_ 358 ES_DashStatus: 8 XXX - SG_ Not_Ready_Startup : 0|3@1+ (1,0) [0|7] "" XXX - SG_ Seatbelt_Disengage : 12|2@1+ (1,0) [0|3] "" XXX - SG_ Disengage_Alert : 14|2@1+ (1,0) [0|3] "" XXX - SG_ Cruise_On : 16|1@1+ (1,0) [0|1] "" XXX - SG_ Cruise_Activated : 17|1@1+ (1,0) [0|1] "" XXX - SG_ Signal1 : 18|1@1+ (1,0) [0|1] "" XXX - SG_ WHEELS_MOVING_2015 : 19|1@1+ (1,0) [0|1] "" XXX - SG_ Driver_Input : 20|1@1+ (1,0) [0|1] "" XXX - SG_ Cruise_Distance : 21|3@1+ (1,0) [0|7] "" XXX - SG_ Cruise_Set_Speed : 24|8@1+ (1,0) [0|255] "" XXX - SG_ Cruise_Fault : 32|1@1+ (1,0) [0|1] "" XXX - SG_ Cruise_On_2 : 34|1@1+ (1,0) [0|1] "" XXX - SG_ COUNTER : 37|3@1+ (1,0) [0|7] "" XXX - SG_ Steep_Hill_Disengage : 44|1@1+ (1,0) [0|3] "" XXX - SG_ Car_Follow : 46|1@1+ (1,0) [0|1] "" XXX - SG_ Far_Distance : 48|4@1+ (5,0) [0|75] "m" XXX - -BO_ 881 Steering_Torque: 8 XXX - SG_ Steering_Motor_Flat : 0|10@1+ (32,0) [0|1000] "" XXX - SG_ Steer_Torque_Output : 16|11@1- (-32,0) [-1000|1000] "" XXX - SG_ Steer_Error_1 : 27|1@1+ (1,0) [0|1] "" XXX - SG_ Steer_Torque_Sensor : 29|11@1- (-1,0) [-1000|1000] "" XXX - SG_ Steering_Angle : 40|16@1- (-0.033,0) [-600|600] "" XXX - -CM_ SG_ 358 Disengage_Alert "seatbelt and steep hill disengage"; -CM_ SG_ 358 Cruise_Fault "No engagement until restart"; -CM_ SG_ 358 Car_Follow "lead car detected"; diff --git a/opendbc/generator/tesla/.gitignore b/opendbc/generator/tesla/.gitignore deleted file mode 100644 index 554aeeaf242e7a..00000000000000 --- a/opendbc/generator/tesla/.gitignore +++ /dev/null @@ -1 +0,0 @@ -*.dbc \ No newline at end of file diff --git a/opendbc/generator/tesla/radar_common.py b/opendbc/generator/tesla/radar_common.py deleted file mode 100644 index 737c203b026dad..00000000000000 --- a/opendbc/generator/tesla/radar_common.py +++ /dev/null @@ -1,38 +0,0 @@ -#!/usr/bin/env python3 - -def get_radar_point_definition(base_id, base_name): - return f""" -BO_ {base_id} {base_name}_A: 8 Radar - SG_ LongDist : 0|12@1+ (0.0625,0) [0|255.9] "meters" Autopilot - SG_ LongSpeed : 12|12@1+ (0.0625,-128) [-128|128] "meters/sec" Autopilot - SG_ LatDist : 24|11@1+ (0.125,-128) [-128|128] "meters" Autopilot - SG_ ProbExist : 35|5@1+ (3.125,0) [0|96.875] "%" Autopilot - SG_ LongAccel : 40|10@1+ (0.03125,-16) [-16|16] "meters/sec/sec" Autopilot - SG_ ProbObstacle : 50|5@1+ (3.125,0) [0|96.875] "%" Autopilot - SG_ Valid : 55|1@1+ (1,0) [0|1] "" Autopilot - SG_ ProbNonObstacle : 56|5@1+ (3.125,0) [0|96.875] "%" Autopilot - SG_ Meas : 61|1@1+ (1,0) [0|1] "" Autopilot - SG_ Tracked : 62|1@1+ (1,0) [0|1] "" Autopilot - SG_ Index : 63|1@1+ (1,0) [0|1] "" Autopilot - -BO_ {base_id+1} {base_name}_B: 8 Radar - SG_ LatSpeed : 0|10@1+ (0.125,-64) [-64|64] "meters/sec" Autopilot - SG_ Length : 10|6@1+ (0.125,0) [0|7.875] "m" Autopilot - SG_ dZ : 16|6@1+ (0.25,-5) [-5|10.75] "m" Autopilot - SG_ MovingState : 22|2@1+ (1,0) [0|3] "" Autopilot - SG_ dxSigma : 24|6@1+ (1,0) [0|63] "" Autopilot - SG_ vxSigma : 30|6@1+ (1,0) [0|63] "" Autopilot - SG_ axSigma : 36|6@1+ (1,0) [0|63] "" Autopilot - SG_ dySigma : 42|6@1+ (1,0) [0|63] "" Autopilot - SG_ ProbClass : 48|5@1+ (3.125,0) [0|96.875] "%" Autopilot - SG_ Class : 53|3@1+ (1,0) [0|7] "" Autopilot - SG_ dxRearEndLoss : 56|6@1+ (1,0) [0|63] "" Autopilot - SG_ NotUsed : 62|1@1+ (1,0) [0|1] "" Autopilot - SG_ Index2 : 63|1@1+ (1,0) [0|1] "" Autopilot -""" - -def get_val_definition(base_id): - return f""" -VAL_ {base_id+1} MovingState 3 "RADAR_MOVESTATE_STANDING" 2 "RADAR_MOVESTATE_STOPPED" 1 "RADAR_MOVESTATE_MOVING" 0 "RADAR_MOVESTATE_INDETERMINATE" ; -VAL_ {base_id+1} Class 4 "RADAR_CLASS_CONSTRUCTION_ELEMENT" 3 "RADAR_CLASS_MOVING_PEDESTRIAN" 2 "RADAR_CLASS_MOVING_TWO_WHEEL_VEHICLE" 1 \ -"RADAR_CLASS_MOVING_FOUR_WHEEL_VEHICLE" 0 "RADAR_CLASS_UNKNOWN" ;""" \ No newline at end of file diff --git a/opendbc/generator/tesla/tesla_radar_bosch.py b/opendbc/generator/tesla/tesla_radar_bosch.py deleted file mode 100644 index b7fa1ab4dc3c63..00000000000000 --- a/opendbc/generator/tesla/tesla_radar_bosch.py +++ /dev/null @@ -1,282 +0,0 @@ -#!/usr/bin/env python3 - -import os -from opendbc.generator.tesla.radar_common import get_radar_point_definition, get_val_definition - -if __name__ == "__main__": - dbc_name = os.path.basename(__file__).replace(".py", ".dbc") - tesla_path = os.path.dirname(os.path.realpath(__file__)) - with open(os.path.join(tesla_path, dbc_name), "w", encoding='utf-8') as f: - f.write(""" -VERSION "" - -NS_ : - NS_DESC_ - CM_ - BA_DEF_ - BA_ - VAL_ - CAT_DEF_ - CAT_ - FILTER - BA_DEF_DEF_ - EV_DATA_ - ENVVAR_DATA_ - SGTYPE_ - SGTYPE_VAL_ - BA_DEF_SGTYPE_ - BA_SGTYPE_ - SIG_TYPE_REF_ - VAL_TABLE_ - SIG_GROUP_ - SIG_VALTYPE_ - SIGTYPE_VALTYPE_ - BO_TX_BU_ - BA_DEF_REL_ - BA_REL_ - BA_DEF_DEF_REL_ - BU_SG_REL_ - BU_EV_REL_ - BU_BO_REL_ - SG_MUL_VAL_ - -BS_: - -BU_: Autopilot Radar Diag - - -BO_ 769 TeslaRadarSguInfo: 8 Radar - SG_ RADC_VerticalMisalignment : 0|8@1+ (1,0) [0|255] "" Autopilot - SG_ RADC_SCUTemperature : 8|8@1+ (1,-128) [-128|127] "" Autopilot - SG_ RADC_VMA_Plaus : 16|8@1+ (1,0) [0|255] "" Autopilot - SG_ RADC_SGU_ITC : 24|8@1+ (1,0) [0|255] "" Autopilot - SG_ RADC_HorizontMisalignment : 32|12@1+ (1,0) [0|4096] "" Autopilot - SG_ RADC_SensorDirty : 44|1@1+ (1,0) [0|1] "" Autopilot - SG_ RADC_HWFail : 45|1@1+ (1,0) [0|1] "" Autopilot - SG_ RADC_SGUFail : 46|1@1+ (1,0) [0|1] "" Autopilot - SG_ RADC_SGUInfoConsistBit : 47|1@1+ (1,0) [0|1] "" Autopilot - -BO_ 770 TeslaRadarTguInfo: 8 Radar - SG_ RADC_ACCTargObj1_sguIndex : 0|6@1+ (1,0) [0|63] "" Autopilot - SG_ RADC_ACCTargObj2_sguIndex : 6|6@1+ (1,0) [0|63] "" Autopilot - SG_ RADC_ACCTargObj3_sguIndex : 12|6@1+ (1,0) [0|63] "" Autopilot - SG_ RADC_ACCTargObj4_sguIndex : 18|6@1+ (1,0) [0|63] "" Autopilot - SG_ RADC_ACCTargObj5_sguIndex : 24|6@1+ (1,0) [0|63] "" Autopilot - SG_ unused30 : 30|1@1+ (1,0) [0|1] "" Autopilot - SG_ RADC_TGUInfoConsistBit : 31|1@1+ (1,0) [0|1] "" Autopilot - SG_ RADC_ACCTargObj1_dBPower : 32|16@1+ (1,0) [0|65535] "" Autopilot - SG_ RADC_ACCTargObj5_dBPower : 48|16@1+ (1,0) [0|65535] "" Autopilot - -BO_ 1281 TeslaRadarAlertMatrix: 8 Radar - SG_ RADC_a001_ecuInternalPerf : 0|1@1+ (1,0) [0|1] "" Autopilot - SG_ RADC_a002_flashPerformance : 1|1@1+ (1,0) [0|1] "" Autopilot - SG_ RADC_a003_vBatHigh : 2|1@1+ (1,0) [0|1] "" Autopilot - SG_ RADC_a004_adjustmentNotDone : 3|1@1+ (1,0) [0|1] "" Autopilot - SG_ RADC_a005_adjustmentReq : 4|1@1+ (1,0) [0|1] "" Autopilot - SG_ RADC_a006_adjustmentNotOk : 5|1@1+ (1,0) [0|1] "" Autopilot - SG_ RADC_a007_sensorBlinded : 6|1@1+ (1,0) [0|1] "" Autopilot - SG_ RADC_a008_plantModeActive : 7|1@1+ (1,0) [0|1] "" Autopilot - SG_ RADC_a009_configMismatch : 8|1@1+ (1,0) [0|1] "" Autopilot - SG_ RADC_a010_canBusOff : 9|1@1+ (1,0) [0|1] "" Autopilot - SG_ RADC_a011_bdyMIA : 10|1@1+ (1,0) [0|1] "" Autopilot - SG_ RADC_a012_espMIA : 11|1@1+ (1,0) [0|1] "" Autopilot - SG_ RADC_a013_gtwMIA : 12|1@1+ (1,0) [0|1] "" Autopilot - SG_ RADC_a014_sccmMIA : 13|1@1+ (1,0) [0|1] "" Autopilot - SG_ RADC_a015_adasMIA : 14|1@1+ (1,0) [0|1] "" Autopilot - SG_ RADC_a016_bdyInvalidCount : 15|1@1+ (1,0) [0|1] "" Autopilot - SG_ RADC_a017_adasInvalidCount : 16|1@1+ (1,0) [0|1] "" Autopilot - SG_ RADC_a018_espInvalidCount : 17|1@1+ (1,0) [0|1] "" Autopilot - SG_ RADC_a019_sccmInvalidCount : 18|1@1+ (1,0) [0|1] "" Autopilot - SG_ RADC_a020_bdyInvalidChkSm : 19|1@1+ (1,0) [0|1] "" Autopilot - SG_ RADC_a021_espInvalidChkSm : 20|1@1+ (1,0) [0|1] "" Autopilot - SG_ RADC_a022_sccmInvalidChkSm : 21|1@1+ (1,0) [0|1] "" Autopilot - SG_ RADC_a023_sccmInvalidChkSm : 22|1@1+ (1,0) [0|1] "" Autopilot - SG_ RADC_a024_absValidity : 23|1@1+ (1,0) [0|1] "" Autopilot - SG_ RADC_a025_ambTValidity : 24|1@1+ (1,0) [0|1] "" Autopilot - SG_ RADC_a026_brakeValidity : 25|1@1+ (1,0) [0|1] "" Autopilot - SG_ RADC_a027_CntryCdValidity : 26|1@1+ (1,0) [0|1] "" Autopilot - SG_ RADC_a028_espValidity : 27|1@1+ (1,0) [0|1] "" Autopilot - SG_ RADC_a029_longAccOffValidity : 28|1@1+ (1,0) [0|1] "" Autopilot - SG_ RADC_a030_longAccValidity : 29|1@1+ (1,0) [0|1] "" Autopilot - SG_ RADC_a031_odoValidity : 30|1@1+ (1,0) [0|1] "" Autopilot - SG_ RADC_a032_gearValidity : 31|1@1+ (1,0) [0|1] "" Autopilot - SG_ RADC_a033_steerAngValidity : 32|1@1+ (1,0) [0|1] "" Autopilot - SG_ RADC_a034_steerAngSpdValidity : 33|1@1+ (1,0) [0|1] "" Autopilot - SG_ RADC_a035_indctrValidity : 34|1@1+ (1,0) [0|1] "" Autopilot - SG_ RADC_a036_vehStandStillValidity : 35|1@1+ (1,0) [0|1] "" Autopilot - SG_ RADC_a037_vinValidity : 36|1@1+ (1,0) [0|1] "" Autopilot - SG_ RADC_a038_whlRotValidity : 37|1@1+ (1,0) [0|1] "" Autopilot - SG_ RADC_a039_whlSpdValidity : 38|1@1+ (1,0) [0|1] "" Autopilot - SG_ RADC_a040_whlStandStillValidity : 39|1@1+ (1,0) [0|1] "" Autopilot - SG_ RADC_a041_wiperValidity : 40|1@1+ (1,0) [0|1] "" Autopilot - SG_ RADC_a042_xwdValidity : 41|1@1+ (1,0) [0|1] "" Autopilot - SG_ RADC_a043_yawOffValidity : 42|1@1+ (1,0) [0|1] "" Autopilot - SG_ RADC_a044_yawValidity : 43|1@1+ (1,0) [0|1] "" Autopilot - SG_ RADC_a045_bsdSanity : 44|1@1+ (1,0) [0|1] "" Autopilot - SG_ RADC_a046_rctaSanity : 45|1@1+ (1,0) [0|1] "" Autopilot - SG_ RADC_a047_lcwSanity : 46|1@1+ (1,0) [0|1] "" Autopilot - SG_ RADC_a048_steerAngOffSanity : 47|1@1+ (1,0) [0|1] "" Autopilot - SG_ RADC_a049_tireSizeSanity : 48|1@1+ (1,0) [0|1] "" Autopilot - SG_ RADC_a050_velocitySanity : 49|1@1+ (1,0) [0|1] "" Autopilot - SG_ RADC_a051_yawSanity : 50|1@1+ (1,0) [0|1] "" Autopilot - SG_ RADC_a052_radomeHtrInop : 51|1@1+ (1,0) [0|1] "" Autopilot - SG_ RADC_a053_espmodValidity : 52|1@1+ (1,0) [0|1] "" Autopilot - SG_ RADC_a054_gtwmodValidity : 53|1@1+ (1,0) [0|1] "" Autopilot - SG_ RADC_a055_stwmodValidity : 54|1@1+ (1,0) [0|1] "" Autopilot - SG_ RADC_a056_bcmodValidity : 55|1@1+ (1,0) [0|1] "" Autopilot - SG_ RADC_a057_dimodValidity : 56|1@1+ (1,0) [0|1] "" Autopilot - SG_ RADC_a058_opmodValidity : 57|1@1+ (1,0) [0|1] "" Autopilot - SG_ RADC_a059_drmiInvalidChkSm : 58|1@1+ (1,0) [0|1] "" Autopilot - SG_ RADC_a060_drmiInvalidCount : 59|1@1+ (1,0) [0|1] "" Autopilot - SG_ RADC_a061_radPositionMismatch : 60|1@1+ (1,0) [0|1] "" Autopilot - SG_ RADC_a062_strRackMismatch : 61|1@1+ (1,0) [0|1] "" Autopilot - SG_ unused62 : 62|2@1+ (1,0) [0|3] "" Autopilot -""") - - M_RANGE = range(0x310, 0x36D + 1, 3) - for i, base_id in enumerate(M_RANGE): - f.write(get_radar_point_definition(base_id, f"RadarPoint{i}")) - - L_RANGE = range(0x371, 0x37D + 1, 3) - for i, base_id in enumerate(L_RANGE): - f.write(get_radar_point_definition(base_id, f"ProcessedRadarPoint{i+1}")) - - f.write(""" -BO_ 697 VIN_VIP_405HS: 8 Autopilot - SG_ VIN_MuxID M : 0|8@1+ (1,0) [0|0] "" Radar - SG_ VIN_Part1 m16 : 47|24@0+ (1,0) [0|16777215] "" Radar - SG_ VIN_Part2 m17 : 15|56@0+ (1,0) [0|7.2057594038E+16] "" Radar - SG_ VIN_Part3 m18 : 15|56@0+ (1,0) [0|7.2057594038E+16] "" Radar - -BO_ 681 Msg2A9_GTW_carConfig: 8 Autopilot - SG_ Msg2A9_Always0x02 : 48|8@1+ (1,0) [0|0] "" Radar - SG_ Msg2A9_Always0x10 : 56|8@1+ (1,0) [0|0] "" Radar - SG_ Msg2A9_Always0x16 : 8|8@1+ (1,0) [0|0] "" Radar - SG_ Msg2A9_Always0x41 : 24|8@1+ (1,0) [0|0] "" Radar - SG_ Msg2A9_Value1_0x02 : 0|3@1+ (1,0) [0|0] "" Radar - SG_ Msg2A9_FourWheelDrive : 3|2@1+ (1,0) [0|0] "" Radar - SG_ Msg2A9_Value2_0x02 : 5|3@1+ (1,0) [0|0] "" Radar - SG_ Msg2A9_Always0x43 : 16|8@1+ (1,0) [0|0] "" Radar - -BO_ 409 Msg199_STW_ANGLHP_STAT: 8 Autopilot - SG_ Msg199Always0x04 : 32|8@1+ (1,0) [0|0] "" Radar - SG_ Msg199Always0x20 : 16|8@1+ (1,0) [0|0] "" Radar - SG_ Msg199Always0x2F : 0|8@1+ (1,0) [0|0] "" Radar - SG_ Msg199Always0x67 : 8|8@1+ (1,0) [0|0] "" Radar - SG_ Msg199Always0xFF : 40|8@1+ (1,0) [0|0] "" Radar - SG_ Msg199Checksum : 56|8@1+ (1,0) [0|0] "" Radar - SG_ Msg199Counter : 52|4@1+ (1,0) [0|0] "" Radar - -BO_ 361 Msg169_ESP_wheelSpeeds: 8 Autopilot - SG_ ESP_wheelSpeedFrL_HS : 0|13@1+ (0.04,0) [0|327.64] "km/h" Radar - SG_ ESP_wheelSpeedFrR_HS : 13|13@1+ (0.04,0) [0|327.64] "km/h" Radar - SG_ ESP_wheelSpeedReL_HS : 26|13@1+ (0.04,0) [0|327.64] "km/h" Radar - SG_ ESP_wheelSpeedReR_HS : 39|13@1+ (0.04,0) [0|327.64] "km/h" Radar - SG_ Msg169Checksum : 56|8@1+ (1,0) [0|0] "" Radar - SG_ Msg169Counter : 52|4@1+ (1,0) [0|0] "" Radar - -BO_ 345 Msg159_ESP_C: 8 Autopilot - SG_ Msg159Always0x3A : 16|8@1+ (1,0) [0|0] "" Radar - SG_ Msg159Always0xA5 : 0|8@1+ (1,0) [0|0] "" Radar - SG_ Msg159Always0xCF : 32|8@1+ (1,0) [0|0] "" Radar - SG_ Msg159Always0xF4 : 8|8@1+ (1,0) [0|0] "" Radar - SG_ Msg159Counter : 44|4@1+ (1,0) [0|0] "" Radar - SG_ Msg159Checksum : 24|8@1+ (1,0) [0|0] "" Radar - -BO_ 329 Msg149_ESP_145h: 8 Autopilot - SG_ Msg149Always0x02 : 16|8@1+ (1,0) [0|0] "" Radar - SG_ Msg149Always0x04 : 40|8@1+ (1,0) [0|0] "" Radar - SG_ Msg149Always0x26 : 8|8@1+ (1,0) [0|0] "" Radar - SG_ Msg149Always0x6A : 24|8@1+ (1,0) [0|0] "" Radar - SG_ Msg149Always0xAA : 32|8@1+ (1,0) [0|0] "" Radar - SG_ Msg149Always0xF : 48|4@1+ (1,0) [0|0] "" Radar - SG_ Msg149Checksum : 56|8@1+ (1,0) [0|0] "" Radar - SG_ Msg149Counter : 52|4@1+ (1,0) [0|0] "" Radar - -BO_ 297 Msg129_ESP_115h: 6 Autopilot - SG_ Msg129Always0x20 : 24|8@1+ (1,0) [0|0] "" Radar - SG_ Msg129Checksum : 40|8@1+ (1,0) [0|0] "" Radar - SG_ Msg129Counter : 36|4@1+ (1,0) [0|0] "" Radar - -BO_ 281 Msg119_DI_torque2: 6 Autopilot - SG_ Msg119Always0x11 : 24|8@1+ (1,0) [0|0] "" Radar - SG_ Msg119Always0x1F : 8|8@1+ (1,0) [0|0] "" Radar - SG_ Msg119Always0x8 : 36|4@1+ (1,0) [0|0] "" Radar - SG_ Msg119Always0xF4 : 16|8@1+ (1,0) [0|0] "" Radar - SG_ Msg119Always0xFF : 0|8@1+ (1,0) [0|0] "" Radar - SG_ Msg119Checksum : 40|8@1+ (1,0) [0|0] "" Radar - SG_ Msg119Counter : 32|4@1+ (1,0) [0|0] "" Radar - -BO_ 265 Msg109_DI_torque1: 8 Autopilot - SG_ Msg109Always0x80 : 24|8@1+ (1,0) [0|0] "" Radar - SG_ Msg109Checksum : 56|8@1+ (1,0) [0|0] "" Radar - SG_ Msg109Counter : 13|3@1+ (1,0) [0|0] "" Radar - -BO_ 521 Msg209_GTW_odo: 8 Autopilot - SG_ Msg209Always0x61 : 8|8@1+ (1,0) [0|0] "" Radar - SG_ Msg209Always0x94 : 16|8@1+ (1,0) [0|0] "" Radar - SG_ Msg209Always0x52 : 24|8@1+ (1,0) [0|0] "" Radar - SG_ Msg209Always0x13 : 32|8@1+ (1,0) [0|0] "" Radar - SG_ Msg209Always0x03 : 40|8@1+ (1,0) [0|0] "" Radar - SG_ Msg209Always0x80 : 48|8@1+ (1,0) [0|0] "" Radar - -BO_ 537 Msg219_STW_ACTN_RQ: 8 Autopilot - SG_ Msg219Counter : 52|4@1+ (1,0) [0|15] "" Radar - SG_ Msg219CRC : 56|8@1+ (1,0) [0|0] "" Radar - -BO_ 425 Msg1A9_DI_espControl: 5 Autopilot - SG_ Msg1A9Always0x0C : 16|8@1+ (1,0) [0|0] "" Radar - SG_ Msg1A9Counter : 28|4@1+ (1,0) [0|0] "" Radar - SG_ Msg1A9Checksum : 32|8@1+ (1,0) [0|0] "" Radar - -BO_ 729 Msg2D9_BC_status : 8 Autopilot - SG_ Msg2D9Always0x80 : 0|8@1+ (1,0) [0|0] "" Radar - SG_ Msg2D9Always0x40 : 8|8@1+ (1,0) [0|0] "" Radar - SG_ Msg2D9Always0x83 : 16|8@1+ (1,0) [0|0] "" Radar - -BO_ 1601 UDS_radarRequest: 8 Diag - SG_ UDS_radarRequestData : 7|64@0+ (1,0) [0|0] "" Radar - -BO_ 1617 Radar_udsResponse: 8 Radar - SG_ Radar_udsResponseData : 7|64@0+ (1,0) [0|0] "" Diag - -CM_ BO_ 697 "Start with MuxID 0x12, then 0x11 and finally 0x10 (VIN is then transmitted in the reverse order)"; -CM_ BO_ 681 "Message sent every 1000 ms. All fixed bytes, no checksum, the byte for RWD or AWD needs to match VIN config"; -CM_ BO_ 409 "Message sent every 10ms. Checksum : use all first 7 bytes with the SAE J1850 CRC algo"; -CM_ BO_ 361 "Message sent every 10ms. Checksum : Sum of all first 7 bytes + 0x76"; -CM_ BO_ 345 "Message sent every 20ms. Checksum : Sum of all first bytes + 0xc; place checksum in 4th octet"; -CM_ BO_ 329 "Message sent every 20ms. Checksum : Sum of all first 7 bytes + 0x46"; -CM_ BO_ 297 "Message sent every 20ms. Checksum : Sum of all first 5 bytes + 0x16"; -CM_ BO_ 281 "Message sent every 10ms. Checksum : Sum of all first 5 bytes + 0x17"; -CM_ BO_ 265 "Message sent every 10ms. Checksum : Sum of all first 7 bytes + 0x7"; -CM_ BO_ 521 "Message sent every 100ms. All fixed bytes, no checksum."; -CM_ BO_ 537 "Message sent every 100ms. Checksum : use all first 7 bytes with the SAE J1850 CRC algo"; -CM_ BO_ 425 "Message sent every 20ms. Checksum : Sum of all first 4 bytes + 0x38"; -CM_ BO_ 729 "Message sent every 1000ms. All fixed bytes, no checksum."; - -BA_DEF_ "BusType" STRING ; -BA_DEF_ BO_ "GenMsgCycleTime" INT 0 0; -BA_DEF_ SG_ "FieldType" STRING ; - -BA_DEF_DEF_ "BusType" "CAN"; -BA_DEF_DEF_ "FieldType" ""; -BA_DEF_DEF_ "GenMsgCycleTime" 0; - -BA_ "GenMsgCycleTime" BO_ 697 250; -BA_ "GenMsgCycleTime" BO_ 681 1000; -BA_ "GenMsgCycleTime" BO_ 409 10; -BA_ "GenMsgCycleTime" BO_ 361 10; -BA_ "GenMsgCycleTime" BO_ 345 20; -BA_ "GenMsgCycleTime" BO_ 329 20; -BA_ "GenMsgCycleTime" BO_ 297 20; -BA_ "GenMsgCycleTime" BO_ 281 10; -BA_ "GenMsgCycleTime" BO_ 265 10; -BA_ "GenMsgCycleTime" BO_ 521 100; -BA_ "GenMsgCycleTime" BO_ 537 100; -BA_ "GenMsgCycleTime" BO_ 425 20; -BA_ "GenMsgCycleTime" BO_ 729 1000; - -VAL_ 681 Msg2A9_FourWheelDrive 3 "SNA" 2 "UNUSED" 1 "4WD" 0 "2WD" ;""") - - for base_id in list(M_RANGE) + list(L_RANGE): - f.write(get_val_definition(base_id)) diff --git a/opendbc/generator/tesla/tesla_radar_continental.py b/opendbc/generator/tesla/tesla_radar_continental.py deleted file mode 100644 index c785c7ec252d6e..00000000000000 --- a/opendbc/generator/tesla/tesla_radar_continental.py +++ /dev/null @@ -1,77 +0,0 @@ -#!/usr/bin/env python3 - -import os -from opendbc.generator.tesla.radar_common import get_radar_point_definition, get_val_definition - -if __name__ == "__main__": - dbc_name = os.path.basename(__file__).replace(".py", ".dbc") - tesla_path = os.path.dirname(os.path.realpath(__file__)) - with open(os.path.join(tesla_path, dbc_name), "w", encoding='utf-8') as f: - f.write(""" -VERSION "" - -NS_ : - NS_DESC_ - CM_ - BA_DEF_ - BA_ - VAL_ - CAT_DEF_ - CAT_ - FILTER - BA_DEF_DEF_ - EV_DATA_ - ENVVAR_DATA_ - SGTYPE_ - SGTYPE_VAL_ - BA_DEF_SGTYPE_ - BA_SGTYPE_ - SIG_TYPE_REF_ - VAL_TABLE_ - SIG_GROUP_ - SIG_VALTYPE_ - SIGTYPE_VALTYPE_ - BO_TX_BU_ - BA_DEF_REL_ - BA_REL_ - BA_DEF_DEF_REL_ - BU_SG_REL_ - BU_EV_REL_ - BU_BO_REL_ - SG_MUL_VAL_ - -BS_: - -BU_: Autopilot Radar Diag - -BO_ 1025 RadarStatus: 8 Radar - SG_ carparkDetected : 29|1@1+ (1,0) [0|1] "" Autopilot - SG_ decreaseBlockage : 25|1@1+ (1,0) [0|1] "" Autopilot - SG_ horizontMisalignment : 8|12@1+ (0.00012207,-0.25) [-0.25|0.249878] "rad" Autopilot - SG_ increaseBlockage : 24|1@1+ (1,0) [0|1] "" Autopilot - SG_ lowPowerMode : 20|2@1+ (1,0) [0|3] "" Autopilot - SG_ powerOnSelfTest : 22|1@1+ (1,0) [0|1] "" Autopilot - SG_ sensorBlocked : 26|1@1+ (1,0) [0|1] "" Autopilot - SG_ sensorInfoConsistBit : 30|1@1+ (1,0) [0|1] "" Autopilot - SG_ sensorReplace : 31|1@1+ (1,0) [0|1] "" Autopilot - SG_ shortTermUnavailable : 23|1@1+ (1,0) [0|1] "" Autopilot - SG_ tunnelDetected : 28|1@1+ (1,0) [0|1] "" Autopilot - SG_ vehDynamicsError : 27|1@1+ (1,0) [0|1] "" Autopilot - SG_ verticalMisalignment : 0|8@1+ (0.00195313,-0.25) [-0.25|0.248047] "rad" Autopilot - -BO_ 1617 Radar_udsResponse: 8 Radar - SG_ Radar_udsResponseData : 7|64@0+ (1,0) [0|1.84467e+19] "" Diag - -BO_ 1601 UDS_radcRequest: 8 Diag - SG_ UDS_radcRequestData : 7|64@0+ (1,0) [0|1.84467e+19] "" Radar -""") - - POINT_RANGE = range(0x410, 0x45E + 1, 2) - for i, base_id in enumerate(POINT_RANGE): - f.write(get_radar_point_definition(base_id, f"RadarPoint{i}")) - - f.write(""" -VAL_ 1025 lowPowerMode 1 "COMMANDED_LOW_POWER" 0 "DEFAULT_LOW_POWER" 2 "NORMAL_POWER" 3 "SNA";""") - - for base_id in list(POINT_RANGE): - f.write(get_val_definition(base_id)) diff --git a/opendbc/generator/test_generator.py b/opendbc/generator/test_generator.py deleted file mode 100644 index 145bb272439dad..00000000000000 --- a/opendbc/generator/test_generator.py +++ /dev/null @@ -1,22 +0,0 @@ -#!/usr/bin/env python3 -import os -import filecmp -import tempfile -from opendbc.generator.generator import create_all, opendbc_root - - -def test_generator(): - with tempfile.TemporaryDirectory() as d: - create_all(d) - - ignore = [f for f in os.listdir(opendbc_root) if not f.endswith('_generated.dbc')] - comp = filecmp.dircmp(opendbc_root, d, ignore=ignore) - - err = "Generated DBC mismatch\n\n" - err += f"Different files: {comp.diff_files}\n\n" - err += "Run opendbc/generator/generator.py to regenerate DBC files." - assert len(comp.diff_files) == 0, err - - -if __name__ == "__main__": - test_generator() diff --git a/opendbc/generator/toyota/_community.dbc b/opendbc/generator/toyota/_community.dbc deleted file mode 100644 index 58bcfd3be46f17..00000000000000 --- a/opendbc/generator/toyota/_community.dbc +++ /dev/null @@ -1,41 +0,0 @@ -BO_ 359 STEERING_IPAS_COMMA: 8 IPAS - SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX - SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX - SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX - SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX - SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX - SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX - SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX - SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX - -CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant"; - -BO_ 512 GAS_COMMAND: 6 EON - SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR - SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR - SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR - SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR - SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR - -BO_ 513 GAS_SENSOR: 6 INTERCEPTOR - SG_ INTERCEPTOR_GAS : 7|16@0+ (1,0) [0|1] "" EON - SG_ INTERCEPTOR_GAS2 : 23|16@0+ (1,0) [0|1] "" EON - SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON - SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON - SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON - -VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ; - -BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX - SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX - -CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss"; - -BO_ 767 SDSU: 8 XXX - SG_ FD_BUTTON : 7|1@0+ (1,0) [0|1] "" XXX - SG_ STATE : 23|4@0+ (1,0) [0|15] "" XXX - -CM_ "BO_ SDSU: The sDSU is a modified DSU for use in TSS-P Toyotas. Learn more: https://github.com/RetroPilot/ocelot/tree/main/firmware/smart_dsu"; -CM_ SG_ 767 FD_BUTTON "The follow distance button signal as forwarded by the sdsu"; - -VAL_ 767 STATE 7 "STATE_AEB_CTRL" 6 "FAULT_INVALID" 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ; diff --git a/opendbc/generator/toyota/_toyota_2017.dbc b/opendbc/generator/toyota/_toyota_2017.dbc deleted file mode 100644 index a8ff91077147c0..00000000000000 --- a/opendbc/generator/toyota/_toyota_2017.dbc +++ /dev/null @@ -1,599 +0,0 @@ -VERSION "" - - -NS_ : - NS_DESC_ - CM_ - BA_DEF_ - BA_ - VAL_ - CAT_DEF_ - CAT_ - FILTER - BA_DEF_DEF_ - EV_DATA_ - ENVVAR_DATA_ - SGTYPE_ - SGTYPE_VAL_ - BA_DEF_SGTYPE_ - BA_SGTYPE_ - SIG_TYPE_REF_ - VAL_TABLE_ - SIG_GROUP_ - SIG_VALTYPE_ - SIGTYPE_VALTYPE_ - BO_TX_BU_ - BA_DEF_REL_ - BA_REL_ - BA_DEF_DEF_REL_ - BU_SG_REL_ - BU_EV_REL_ - BU_BO_REL_ - SG_MUL_VAL_ - -BS_: - -BU_: XXX DSU HCU EPS IPAS CGW BGM - -BO_ 36 KINEMATICS: 8 XXX - SG_ ACCEL_Y : 33|10@0+ (0.03589,-18.375) [0|65535] "m/s^2" XXX - SG_ YAW_RATE : 1|10@0+ (0.244,-125) [0|65535] "deg/s" XXX - SG_ ACCEL_X : 17|10@0+ (0.03589,-18.375) [0|65535] "m/s^2" XXX - -BO_ 37 STEER_ANGLE_SENSOR: 8 XXX - SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX - SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX - SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX - -BO_ 119 ENG2F41: 6 CGW - SG_ FDRV : 7|16@0- (2,0) [0|0] "N" Vector__XXX - SG_ FDRVREAL : 23|13@0- (10,0) [0|0] "N" Vector__XXX - SG_ XAECT : 39|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ XFDRVCOL : 38|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ FDRVSELP : 34|3@0+ (1,0) [0|0] "" Vector__XXX - SG_ ENG2F41S : 47|8@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 120 ENG2F42: 4 CGW - SG_ FAVLMCHH : 7|16@0- (2,0) [0|0] "N" Vector__XX228X - SG_ CCRNG : 23|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ FDRVTYPD : 22|3@0+ (1,0) [0|0] "" Vector__XXX - SG_ GEARHD : 18|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ ENG2F42S : 31|8@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 166 BRAKE: 8 XXX - SG_ BRAKE_AMOUNT : 7|8@0+ (1,0) [0|255] "" XXX - SG_ BRAKE_FORCE : 23|8@0+ (40,0) [0|10200] "N" XXX - -BO_ 170 WHEEL_SPEEDS: 8 XXX - SG_ WHEEL_SPEED_FR : 7|16@0+ (0.01,-67.67) [0|250] "km/h" XXX - SG_ WHEEL_SPEED_FL : 23|16@0+ (0.01,-67.67) [0|250] "km/h" XXX - SG_ WHEEL_SPEED_RR : 39|16@0+ (0.01,-67.67) [0|250] "km/h" XXX - SG_ WHEEL_SPEED_RL : 55|16@0+ (0.01,-67.67) [0|250] "km/h" XXX - -BO_ 180 SPEED: 8 XXX - SG_ ENCODER : 39|8@0+ (1,0) [0|255] "" XXX - SG_ SPEED : 47|16@0+ (0.01,0) [0|250] "km/h" XXX - SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX - -BO_ 295 GEAR_PACKET_HYBRID: 8 XXX - SG_ FDRVREAL : 26|11@0- (25,0) [-25600|25575] "N" XXX - SG_ UNKNOWN : 55|8@0+ (1,0) [0|255] "" XXX - SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX - SG_ GEAR : 47|4@0+ (1,0) [0|15] "" XXX - -BO_ 353 DSU_SPEED: 7 XXX - SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "km/h" XXX - -BO_ 452 ENGINE_RPM: 8 CGW - SG_ RPM : 7|16@0- (0.78125,0) [0|0] "rpm" SCS - SG_ ENGINE_RUNNING : 27|1@0+ (1,0) [0|1] "" XXX - -BO_ 466 PCM_CRUISE: 8 XXX - SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX - SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX - SG_ ACC_BRAKING : 12|1@0+ (1,0) [0|1] "" XXX - SG_ ACCEL_NET : 23|16@0- (0.0009765625,0) [-20|20] "m/s^2" XXX - SG_ NEUTRAL_FORCE : 39|16@0- (2,0) [-65536|65534] "N" XXX - SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX - SG_ CANCEL_REQ : 49|1@1+ (1,0) [0|1] "" XXX - SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX - -BO_ 467 PCM_CRUISE_2: 8 XXX - SG_ BRAKE_PRESSED : 3|1@0+ (1,0) [0|1] "" XXX - SG_ PCM_FOLLOW_DISTANCE : 12|2@0+ (1,0) [0|3] "" XXX - SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "" XXX - SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX - SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "km/h" XXX - SG_ ACC_FAULTED : 47|1@0+ (1,0) [0|1] "" XXX - SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX - -BO_ 552 VSC1S29: 4 CGW - SG_ ICBACT : 7|1@0+ (1,0) [0|0] "" DS1 - SG_ DVS0PCS : 6|15@0- (0.001,0) [0|0] "m/s^2" DS1 - SG_ SM228 : 31|8@0+ (1,0) [0|0] "" DS1 - -BO_ 560 BRAKE_2: 7 XXX - SG_ BRAKE_PRESSED : 26|1@0+ (1,0) [0|1] "" XXX - -BO_ 581 GAS_PEDAL_HYBRID: 8 XXX - SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX - -BO_ 608 STEER_TORQUE_SENSOR: 8 XXX - SG_ STEER_TORQUE_EPS : 47|16@0- (1,0) [-32768|32767] "" XXX - SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX - SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX - SG_ STEER_ANGLE_INITIALIZING : 3|1@0+ (1,0) [0|1] "" XXX - SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX - SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX - -BO_ 614 STEERING_IPAS: 8 IPAS - SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX - SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX - SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX - SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX - SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX - SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX - SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX - SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX - -BO_ 643 PRE_COLLISION: 7 DSU - SG_ _COUNTER : 7|8@0+ (1,0) [0|255] "" XXX - SG_ SET_ME_X00 : 15|8@0+ (1,0) [0|255] "" XXX - SG_ FORCE : 23|16@0- (2,0) [0|255] "N" XXX - SG_ SET_ME_X002 : 33|8@0+ (1,0) [0|3] "" XXX - SG_ BRAKE_STATUS : 39|3@0+ (1,0) [0|255] "" XXX - SG_ STATE : 36|3@0+ (1,0) [0|255] "" XXX - SG_ SET_ME_X003 : 40|1@0+ (1,0) [0|1] "" XXX - SG_ PRECOLLISION_ACTIVE : 41|1@0+ (1,0) [0|255] "" XXX - SG_ CHECKSUM : 55|8@0+ (1,0) [0|255] "" XXX - -BO_ 705 GAS_PEDAL: 8 XXX - SG_ GAS_RELEASED : 3|1@0+ (1,0) [0|1] "" XXX - SG_ GAS_PEDAL : 55|8@0+ (0.005,0) [0|1] "" XXX - -BO_ 740 STEERING_LKA: 5 XXX - SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX - SG_ STEER_REQUEST : 0|1@0+ (1,0) [0|1] "" XXX - SG_ COUNTER : 6|6@0+ (1,0) [0|63] "" XXX - SG_ SET_ME_1 : 7|1@0+ (1,0) [0|1] "" XXX - SG_ STEER_TORQUE_CMD : 15|16@0- (1,0) [0|65535] "" XXX - SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX - -BO_ 742 LEAD_INFO: 8 DSU - SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" HCU - SG_ LEAD_REL_SPEED : 23|12@0- (0.025,0) [-100|100] "m/s" HCU - SG_ LEAD_LONG_DIST : 7|13@0+ (0.05,0) [0|300] "m" HCU - -BO_ 800 VSC1S07: 8 CGW - SG_ FBKRLY : 6|1@0+ (1,0) [0|0] "" DS1 - SG_ FVSCM : 4|1@0+ (1,0) [0|0] "" DS1 - SG_ FVSCSFT : 3|1@0+ (1,0) [0|0] "" DS1 - SG_ FABS : 2|1@0+ (1,0) [0|0] "" DS1,FCM - SG_ TSVSC : 1|1@0+ (1,0) [0|0] "" DS1 - SG_ FVSCL : 0|1@0+ (1,0) [0|0] "" DS1 - SG_ RQCSTBKB : 15|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ PSBSTBY : 14|1@0+ (1,0) [0|0] "" DS1 - SG_ P2BRXMK : 13|1@0+ (1,0) [0|0] "" DS1 - SG_ MCC : 11|1@0+ (1,0) [0|0] "" DS1 - SG_ RQBKB : 10|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ BRSTOP : 9|1@0+ (1,0) [0|0] "" DS1,FCM - SG_ BRKON : 8|1@0+ (1,0) [0|0] "" DS1,FCM - SG_ ASLP : 23|8@0- (1,0) [0|0] "deg" DS1 - SG_ BRTYPACC : 31|2@0+ (1,0) [0|0] "" DS1 - SG_ BRKABT3 : 26|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ BRKABT2 : 25|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ BRKABT1 : 24|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ GVC : 39|8@0- (0.04,0) [0|0] "m/s^2" DS1 - SG_ XGVCINV : 43|1@0+ (1,0) [0|0] "" DS1 - SG_ S07CNT : 52|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ PCSBRSTA : 50|2@0+ (1,0) [0|0] "" DS1 - SG_ VSC07SUM : 63|8@0+ (1,0) [0|0] "" DS1,FCM - -BO_ 835 ACC_CONTROL: 8 DSU - SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s^2" HCU - SG_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX - SG_ ACC_MALFUNCTION : 18|1@0+ (1,0) [0|0] "" XXX - SG_ RADAR_DIRTY : 19|1@0+ (1,0) [0|1] "" XXX - SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX - SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX - SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU - SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU - SG_ ACC_CUT_IN : 25|1@0+ (1,0) [0|1] "" XXX - SG_ LEAD_VEHICLE_STOPPED : 29|1@0+ (1,0) [0|0] "" DSU - SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU - SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU - SG_ ITS_CONNECT_LEAD : 39|8@0+ (1,0) [0|1] "" Vector__XXX - SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX - SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX - -BO_ 836 PRE_COLLISION_2: 8 DSU - SG_ DSS1GDRV : 7|10@0- (0.1,0) [0|0] "m/s^2" Vector__XXX - SG_ PCSALM : 17|1@0+ (1,0) [0|0] "" FCM - SG_ IBTRGR : 27|1@0+ (1,0) [0|0] "" FCM - SG_ PBATRGR : 30|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ PREFILL : 33|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ AVSTRGR : 36|1@0+ (1,0) [0|0] "" SCS - SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" XXX - -BO_ 865 CLUTCH: 8 XXX - SG_ ACC_FAULTED : 32|1@0+ (1,0) [0|1] "" XXX - SG_ GAS_PEDAL_ALT : 23|8@0+ (0.005,0) [0|1] "" XXX - SG_ CLUTCH_RELEASED : 38|1@0+ (1,0) [0|1] "" XXX - SG_ ACCEL_NET : 48|16@1+ (0.0002,-6.5536) [-6.5536|6.5534] "" XXX - -BO_ 869 DSU_CRUISE : 7 DSU - SG_ RES_BTN : 3|1@0+ (1,0) [0|0] "" XXX - SG_ SET_BTN : 2|1@0+ (1,0) [0|0] "" XXX - SG_ CANCEL_BTN : 1|1@0+ (1,0) [0|0] "" XXX - SG_ MAIN_ON : 0|1@0+ (1,0) [0|0] "" XXX - SG_ SET_SPEED : 15|8@0+ (1,0) [0|0] "km/h" XXX - SG_ CRUISE_REQUEST : 31|8@0+ (100,-12800) [0|0] "N" XXX - SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|0] "m" XXX - -BO_ 921 PCM_CRUISE_SM: 8 XXX - SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX - SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX - SG_ DISTANCE_LINES : 14|2@0+ (1,0) [0|3] "" XXX - SG_ TEMP_ACC_FAULTED : 15|1@0+ (1,0) [0|1] "" XXX - SG_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX - -BO_ 951 ESP_CONTROL: 8 ESP - SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX - SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX - SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX - SG_ BRAKE_HOLD_ENABLED : 33|1@1+ (1,0) [0|1] "" XXX - SG_ BRAKE_HOLD_ACTIVE : 36|1@0+ (1,0) [0|1] "" XXX - -BO_ 956 GEAR_PACKET: 8 XXX - SG_ SPORT_ON : 2|1@0+ (1,0) [0|1] "" XXX - SG_ GEAR : 13|6@0+ (1,0) [0|63] "" XXX - SG_ SPORT_GEAR_ON : 33|1@0+ (1,0) [0|1] "" XXX - SG_ SPORT_GEAR : 38|3@0+ (1,0) [0|7] "" XXX - SG_ ECON_ON : 40|1@0+ (1,0) [0|1] "" XXX - SG_ B_GEAR_ENGAGED : 41|1@0+ (1,0) [0|1] "" XXX - SG_ DRIVE_ENGAGED : 47|1@0+ (1,0) [0|1] "" XXX - -BO_ 1005 REVERSE_CAMERA_STATE: 2 BGM - SG_ REVERSE_CAMERA_GUIDELINES : 9|2@0+ (1,0) [1|3] "" XXX - -BO_ 1009 PCM_CRUISE_ALT: 8 XXX - SG_ PCM_FOLLOW_DISTANCE : 4|2@1+ (1,0) [0|3] "" XXX - SG_ MAIN_ON : 13|1@0+ (1,0) [0|3] "" XXX - SG_ CRUISE_STATE : 10|1@0+ (1,0) [0|1] "" XXX - SG_ UI_SET_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX - -BO_ 1020 SOLAR_SENSOR: 8 XXX - SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX - -BO_ 1041 PCS_HUD: 8 DSU - SG_ PCS_INDICATOR : 7|2@0+ (1,0) [0|3] "" XXX - SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX - SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX - SG_ PCS_DUST : 34|1@0+ (1,0) [0|0] "" XXX - SG_ PCS_TEMP : 35|1@0+ (1,0) [0|0] "" XXX - SG_ PCS_DUST2 : 41|1@0+ (1,0) [0|0] "" XXX - SG_ PCS_TEMP2 : 42|1@0+ (1,0) [0|0] "" XXX - SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX - SG_ PCS_OFF : 40|1@0+ (1,0) [0|0] "" XXX - SG_ FRD_ADJ : 53|3@0+ (1,0) [0|0] "" XXX - SG_ PCS_SENSITIVITY : 55|8@0+ (1,0) [0|1] "" XXX - -BO_ 1042 LKAS_HUD: 8 DSU - SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX - SG_ RIGHT_LINE : 3|2@0+ (1,0) [0|3] "" XXX - SG_ LEFT_LINE : 5|2@0+ (1,0) [0|3] "" XXX - SG_ LKAS_STATUS : 7|2@0+ (1,0) [0|3] "" XXX - SG_ LDA_ALERT : 9|2@0+ (1,0) [0|3] "" XXX - SG_ LDW_EXIST : 10|1@0+ (1,0) [0|1] "" XXX - SG_ TWO_BEEPS : 12|1@0+ (1,0) [0|1] "" XXX - SG_ ADJUSTING_CAMERA : 13|1@0+ (1,0) [0|1] "" XXX - SG_ LDA_UNAVAILABLE_QUIET : 14|1@0+ (1,0) [0|1] "" XXX - SG_ LDA_MALFUNCTION : 15|1@0+ (1,0) [0|1] "" XXX - SG_ LDA_UNAVAILABLE : 16|1@0+ (1,0) [0|1] "" XXX - SG_ LDA_SENSITIVITY : 18|2@0+ (1,0) [0|3] "" XXX - SG_ LDA_SA_TOGGLE : 20|2@0+ (1,0) [0|3] "" XXX - SG_ LDA_MESSAGES : 23|3@0+ (1,0) [0|1] "" XXX - SG_ LDA_ON_MESSAGE : 31|2@0+ (1,0) [0|3] "" XXX - SG_ REPEATED_BEEPS : 32|1@0+ (1,0) [0|1] "" XXX - SG_ LANE_SWAY_TOGGLE : 43|1@0+ (1,0) [0|1] "" XXX - SG_ LANE_SWAY_SENSITIVITY : 45|2@0+ (1,0) [0|3] "" XXX - SG_ TAKE_CONTROL : 46|1@0+ (1,0) [0|1] "" XXX - SG_ LDA_FRONT_CAMERA_BLOCKED : 47|1@0+ (1,0) [0|1] "" XXX - SG_ LANE_SWAY_BUZZER : 50|2@0+ (1,0) [0|0] "" XXX - SG_ LANE_SWAY_FLD : 53|3@0+ (1,0) [0|7] "" XXX - SG_ LANE_SWAY_WARNING : 55|2@0+ (1,0) [0|3] "" XXX - SG_ SET_ME_X01 : 42|1@0+ (1,0) [0|1] "" XXX - SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX - -BO_ 1043 TIME : 8 CGW - SG_ YEAR : 7|8@0+ (1,0) [0|0] "year" XXX - SG_ MONTH : 15|8@0+ (1,0) [0|0] "month" XXX - SG_ DAY : 23|8@0+ (1,0) [0|0] "day" XXX - SG_ HOUR : 31|8@0+ (1,0) [0|0] "hour" XXX - SG_ MINUTE : 39|8@0+ (1,0) [0|0] "minute" XXX - SG_ GMT_DIFF : 55|1@0+ (1,0) [0|0] "" XXX - SG_ GMTDIFF_HOURS : 54|4@0+ (1,0) [0|0] "hours" XXX - SG_ GMTDIFF_MINUTES : 50|6@0+ (1,0) [0|0] "minutes" XXX - SG_ SUMMER : 60|1@0+ (1,0) [0|0] "" XXX - -BO_ 1044 AUTO_HIGH_BEAM: 8 FCM - SG_ AHB_DUTY : 47|8@0+ (0.5,0) [0|0] "%" Vector__XXX - SG_ F_AHB : 55|4@0+ (1,0) [0|0] "" Vector__XXX - SG_ C_AHB : 51|4@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 1056 VSC1S08: 8 CGW - SG_ YR1Z : 7|16@0- (1,0) [0|0] "rad/s" DS1,FCM,MAV - SG_ YR2Z : 23|16@0- (1,0) [0|0] "rad/s" DS1,FCM,MAV - SG_ GL1Z : 39|8@0- (0.0359,0) [0|0] "m/s^2" DS1,FCM,KSS,MAV,SCS - SG_ GL2Z : 47|8@0- (0.0359,0) [0|0] "m/s^2" DS1,FCM,KSS,MAV,SCS - SG_ YRGSDIR : 55|1@0+ (1,0) [0|0] "" DS1,FCM,KSS,SCS - SG_ GLZS : 51|1@0+ (1,0) [0|0] "" DS1,FCM,KSS,MAV,SCS - SG_ YRZF : 50|1@0+ (1,0) [0|0] "" DS1,FCM,MAV - SG_ YRZS : 49|1@0+ (1,0) [0|0] "" DS1,FCM,MAV - SG_ YRZKS : 48|1@0+ (1,0) [0|0] "" DS1,FCM,MAV - SG_ VSC08SUM : 63|8@0+ (1,0) [0|0] "" DS1,FCM,MAV - -BO_ 1083 AUTOPARK_STATUS: 8 IPAS - SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX - -BO_ 1161 RSA1: 8 FCM - SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX - SG_ TSGNGRY1 : 12|3@0+ (1,0) [0|0] "" XXX - SG_ TSGNHLT1 : 9|2@0+ (1,0) [0|0] "" XXX - SG_ SPDVAL1 : 23|8@0+ (1,0) [0|0] "km/h" XXX - SG_ SPLSGN1 : 31|4@0+ (1,0) [0|0] "" XXX - SG_ SPLSGN2 : 27|4@0+ (1,0) [0|0] "" XXX - SG_ TSGN2 : 39|8@0+ (1,0) [0|0] "" XXX - SG_ TSGNGRY2 : 44|3@0+ (1,0) [0|0] "" XXX - SG_ TSGNHLT2 : 41|2@0+ (1,0) [0|0] "" XXX - SG_ SPDVAL2 : 55|8@0+ (1,0) [0|0] "" XXX - SG_ BZRRQ_P : 63|2@0+ (1,0) [0|0] "" XXX - SG_ BZRRQ_A : 61|2@0+ (1,0) [0|0] "" XXX - SG_ SYNCID1 : 59|4@0+ (1,0) [0|0] "" XXX - -BO_ 1162 RSA2: 8 FCM - SG_ TSGN3 : 7|8@0+ (1,0) [0|0] "" XXX - SG_ TSGNGRY3 : 12|3@0+ (1,0) [0|0] "" XXX - SG_ TSGNHLT3 : 9|2@0+ (1,0) [0|0] "" XXX - SG_ SPLSGN3 : 31|4@0+ (1,0) [0|0] "" XXX - SG_ SPLSGN4 : 27|4@0+ (1,0) [0|0] "" XXX - SG_ TSGN4 : 39|8@0+ (1,0) [0|0] "" XXX - SG_ TSGNGRY4 : 44|3@0+ (1,0) [0|0] "" XXX - SG_ TSGNHLT4 : 41|2@0+ (1,0) [0|0] "" XXX - SG_ DPSGNREQ : 54|1@0+ (1,0) [0|0] "" XXX - SG_ SGNNUMP : 53|3@0+ (1,0) [0|0] "" XXX - SG_ SGNNUMA : 50|3@0+ (1,0) [0|0] "" XXX - SG_ SPDUNT : 63|2@0+ (1,0) [0|0] "" XXX - SG_ TSRWMSG : 61|2@0+ (1,0) [0|0] "" XXX - SG_ SYNCID2 : 59|4@0+ (1,0) [0|0] "" XXX - -BO_ 1163 RSA3: 8 FCM - SG_ TSREQPD : 7|1@0+ (1,0) [0|0] "" XXX - SG_ TSRMSW : 6|1@0+ (1,0) [0|0] "" XXX - SG_ OTSGNNTM : 5|2@0+ (1,0) [0|0] "" XXX - SG_ NTLVLSPD : 3|2@0+ (1,0) [0|0] "" XXX - SG_ OVSPNTM : 1|2@0+ (1,0) [0|0] "" XXX - SG_ OVSPVALL : 11|4@0+ (1,-5) [0|0] "" XXX - SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX - SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX - SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX - -BO_ 1408 VIN_PART_1: 8 CGW - SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" XXX - SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" XXX - SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" XXX - SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" XXX - SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" XXX - SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" XXX - SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" XXX - SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" XXX - -BO_ 1409 VIN_PART_2: 8 CGW - SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" XXX - SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" XXX - SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" XXX - SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" XXX - SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" XXX - SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" XXX - SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" XXX - SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" XXX - -BO_ 1410 VIN_PART_3: 8 CGW - SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" XXX - -BO_ 1552 BODY_CONTROL_STATE_2: 8 XXX - SG_ UI_SPEED : 23|8@0+ (1,0) [0|255] "" XXX - SG_ METER_SLIDER_BRIGHTNESS_PCT : 30|7@0+ (1,0) [12|100] "%" XXX - SG_ METER_SLIDER_LOW_BRIGHTNESS : 37|1@0+ (1,0) [0|1] "" XXX - SG_ METER_SLIDER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX - SG_ UNITS : 63|3@0+ (1,0) [1|4] "" XXX - -BO_ 1553 UI_SETTING: 8 XXX - SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX - SG_ ODOMETER : 39|32@0+ (1,0) [0|1048575] "" XXX - -BO_ 1556 BLINKERS_STATE: 8 XXX - SG_ BLINKER_BUTTON_PRESSED : 15|1@0+ (1,0) [0|1] "" XXX - SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX - SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX - -BO_ 1568 BODY_CONTROL_STATE: 8 XXX - SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX - SG_ PARKING_BRAKE : 60|1@0+ (1,0) [0|1] "" XXX - SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX - SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX - SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX - SG_ DOOR_OPEN_RR : 43|1@0+ (1,0) [0|1] "" XXX - SG_ DOOR_OPEN_FR : 44|1@0+ (1,0) [0|1] "" XXX - -BO_ 1570 LIGHT_STALK: 8 SCM - SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX - SG_ FRONT_FOG : 27|1@0+ (1,0) [0|1] "" XXX - SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX - SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX - SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX - SG_ DAYTIME_RUNNING_LIGHT : 31|1@0+ (1,0) [0|1] "" XXX - -BO_ 1571 CERTIFICATION_ECU: 8 CGW - SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX - SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX - SG_ KEYFOB_UNLOCKING_FEEDBACK_LIGHT : 62|1@0+ (1,0) [0|0] "" XXX - -BO_ 1592 DOOR_LOCKS: 8 XXX - SG_ LOCK_STATUS_CHANGED : 15|1@0+ (1,0) [0|1] "" XXX - SG_ LOCK_STATUS : 20|1@0+ (1,0) [0|1] "" XXX - SG_ LOCKED_VIA_KEYFOB : 23|1@0+ (1,0) [0|1] "" XXX - -BO_ 1779 ADAS_TOGGLE_STATE: 8 XXX - SG_ OK_BUTTON_PRESSED : 15|1@0+ (1,0) [0|1] "" BCM - SG_ SWS_TOGGLE_CMD : 24|1@0+ (1,0) [0|1] "" XXX - SG_ SWS_SENSITIVITY_CMD : 26|2@0+ (1,0) [0|3] "" XXX - SG_ LKAS_ON_CMD : 28|1@0+ (1,0) [0|1] "" XXX - SG_ LKAS_OFF_CMD : 29|1@0+ (1,0) [0|1] "" XXX - SG_ LDA_SENSITIVITY_HI_CMD : 30|1@0+ (1,0) [0|1] "" XXX - SG_ LDA_SENSITIVITY_STD_CMD : 31|1@0+ (1,0) [0|1] "" XXX - SG_ IPAS_TOGGLE : 34|1@0+ (1,0) [0|1] "" XXX - SG_ BSM_TOGGLE_CMD : 37|1@0+ (1,0) [0|1] "" XXX - SG_ IPAS_SONAR_TOGGLE : 38|1@0+ (1,0) [0|1] "" XXX - SG_ PCS_TOGGLE_CMD : 40|1@0+ (1,0) [0|1] "" XXX - SG_ PCS_SENSITIVITY_CMD : 41|1@0+ (1,0) [0|1] "" XXX - -CM_ SG_ 36 YAW_RATE "verify"; -CM_ SG_ 36 ACCEL_X "x-axis accel"; -CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set"; -CM_ SG_ 37 STEER_RATE "factor is tbd"; -CM_ SG_ 119 FDRVREAL "ICE only: force applied by wheels from the engine. includes creeping force, regen, and engine braking"; -CM_ SG_ 166 BRAKE_FORCE "hybrid only: force applied by friction brakes from user or ACC command"; -CM_ SG_ 295 FDRVREAL "hybrid only: force applied by wheels from the engine and/or electric motors. includes creeping force, regen, and engine braking"; -CM_ SG_ 466 NEUTRAL_FORCE "force in newtons the engine/electric motors are applying without any acceleration commands or user input"; -CM_ SG_ 466 ACC_BRAKING "whether brakes are being actuated from ACC command"; -CM_ SG_ 466 ACCEL_NET "net negative acceleration (braking) applied by the system if on flat ground"; -CM_ SG_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10"; -CM_ SG_ 467 ACC_FAULTED "1 when ACC is faulted and the PCM disallows engagement"; -CM_ SG_ 467 SET_SPEED "43 km/h are shown as 28 mph, so conversion isn't perfect"; -CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph"; -CM_ SG_ 560 BRAKE_PRESSED "another brake pressed?"; -CM_ SG_ 581 GAS_PEDAL "it seems slightly filtered"; -CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque"; -CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value"; -CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active"; -CM_ SG_ 643 _COUNTER "only used on cars that use this msg for cruise control"; -CM_ SG_ 643 BRAKE_STATUS "only used on cars that use this msg for cruise control"; -CM_ SG_ 643 PRECOLLISION_ACTIVE "set 0.5s before any braking"; -CM_ SG_ 800 SLOPE_ANGLE "potentially used by the PCM to compensate for road pitch"; -CM_ SG_ 800 ACCEL "filtered ego acceleration"; -CM_ SG_ 835 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok"; -CM_ SG_ 835 RADAR_DIRTY "Display Clean Radar Sensor message on HUD"; -CM_ SG_ 835 ACC_MALFUNCTION "display ACC fault on dash if set to 1"; -CM_ SG_ 835 ACC_CUT_IN "Display blinking yellow lead if set to 1"; -CM_ SG_ 835 DISTANCE "Cycle through ACC following distance from long, mid, short when set to 1"; -CM_ SG_ 835 ITS_CONNECT_LEAD "Displayed when lead car is capable of ITS Connect"; -CM_ SG_ 835 LEAD_VEHICLE_STOPPED "Set to 1 when lead is stopped, likely only used in older TSS-P vehicles"; -CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars"; -CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG."; -CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file."; -CM_ SG_ 865 GAS_PEDAL_ALT "copy of main GAS_PEDAL. Both use 8 bits. Might indicate that this message is for pedals."; -CM_ SG_ 865 CLUTCH_RELEASED "boolean of clutch for 6MT."; -CM_ SG_ 865 ACCEL_NET "net positive acceleration (gas) applied by the system if on flat ground, may not include creeping force"; -CM_ SG_ 865 ACC_FAULTED "1 when ACC is faulted and the PCM disallows engagement. Also describes a lockout when the ACC_CONTROL->ACC_MALFUNCTION bit is set."; -CM_ SG_ 921 UI_SET_SPEED "set speed shown in the vehicle's UI with the vehicle's unit"; -CM_ SG_ 921 TEMP_ACC_FAULTED "1 when the UI is displaying or playing fault-related alerts or sounds. Also 1 when pressing main on."; -CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel"; -CM_ SG_ 956 GEAR "on 6MT, only R shows."; -CM_ SG_ 1009 UI_SET_SPEED "units seem to be whatever the car is set to"; -CM_ SG_ 1041 PCS_INDICATOR "Pre-Collision System Indicator"; -CM_ SG_ 1041 PCS_SENSITIVITY "Pre-Collision System Sensitivity"; -CM_ SG_ 1041 PCS_DUST "alert: Front Camera Low Visibility Unavailable See Owner's Manual"; -CM_ SG_ 1041 PCS_DUST2 "alert: Pre-Collision System Radar Sensor Blocked Unavailable Clean Radar Sensor"; -CM_ SG_ 1041 PCS_TEMP "alert: Front Camera Out of Temperature Range Unavailable Wait until Normal Temperature"; -CM_ SG_ 1041 PCS_TEMP2 "alert: Pre-Collision System Out of Temperature Range Unavailable See Owner's Manual"; -CM_ SG_ 1041 FRD_ADJ "alert: ERROR ADJUSTING FRONT RADAR BEAM"; -CM_ SG_ 1042 LDA_SA_TOGGLE "LDA Steering Assist Toggle"; -CM_ SG_ 1042 LDW_EXIST "Unclear what this is, it's usually set to 0"; -CM_ SG_ 1042 LDA_SENSITIVITY "LDA Sensitivity"; -CM_ SG_ 1042 LDA_ON_MESSAGE "Display LDA Turned ON message"; -CM_ SG_ 1042 REPEATED_BEEPS "LDA audible warning"; -CM_ SG_ 1042 LDA_UNAVAILABLE_QUIET "LDA toggles and sensitivity settings are greyed out if set to 1"; -CM_ SG_ 1042 LDA_MESSAGES "Various LDA Messages"; -CM_ SG_ 1042 LDA_FRONT_CAMERA_BLOCKED "originally LDAFCVB, LDA related settings are greyed out if set to 1"; -CM_ SG_ 1042 TAKE_CONTROL "Please Control Steering Wheel warning"; -CM_ SG_ 1042 LANE_SWAY_TOGGLE "Lane Sway Warning System SWS Switch"; -CM_ SG_ 1042 LANE_SWAY_WARNING "Lane Sway Warning System Triggered"; -CM_ SG_ 1042 LANE_SWAY_FLD "Unknown signal for Lane Sway Warning System, set to 7 on stock system when SWS is enabled, 0 when SWS is disabled"; -CM_ SG_ 1042 LANE_SWAY_BUZZER "Similar to TWO_BEEPS"; -CM_ SG_ 1042 SET_ME_X01 "empty bit on leaked dbc, always set to 1 during normal operations"; -CM_ SG_ 1042 SET_ME_X02 "empty bit on leaked dbc, always set to 2 during normal operations"; -CM_ SG_ 1083 STATE "when the dashboard button is pressed, the value changes from zero to non-zero"; -CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit."; -CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz"; -CM_ SG_ 1161 SPDVAL2 "conditional speed value 70"; -CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0"; -CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz"; -CM_ SG_ 1163 TSREQPD "always 1"; -CM_ SG_ 1163 TSRMSW "always 1"; -CM_ SG_ 1163 OTSGNNTM "always 3"; -CM_ SG_ 1163 NTLVLSPD "always 3"; -CM_ SG_ 1163 OVSPNTM "always 3"; -CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds"; -CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds"; -CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds"; -CM_ SG_ 1163 TSRSPU "always 1"; -CM_ SG_ 1552 UI_SPEED "Does not appear to match dash"; -CM_ SG_ 1552 METER_SLIDER_BRIGHTNESS_PCT "Combination display brightness setting, scales from 12 per cent to 100 per cent, reflects combination meter settings only, not linked with headlight state"; -CM_ SG_ 1552 METER_SLIDER_LOW_BRIGHTNESS "Combination display low brightness mode, also controls footwell lighting"; -CM_ SG_ 1552 METER_SLIDER_DIMMED "Combination display slider not at max, reflects combination meter settings only, not linked with headlight state"; -CM_ SG_ 1553 ODOMETER "Unit is dependent upon units signal"; -CM_ SG_ 1592 LOCK_STATUS_CHANGED "1 on rising edge of lock/unlocking"; -CM_ SG_ 1592 LOCK_STATUS "The next 3 bits always seem to follow this signal."; -CM_ SG_ 1592 LOCKED_VIA_KEYFOB "1 for as long as car is locked with key fob or door handle touch"; - -VAL_ 295 GEAR 0 "P" 1 "R" 2 "N" 3 "D" 4 "B"; -VAL_ 466 CRUISE_STATE 11 "timer_3sec" 10 "adaptive click down" 9 "adaptive click up" 8 "adaptive engaged" 7 "standstill" 6 "non-adaptive click up" 5 "non-adaptive click down" 4 "non-adaptive hold down" 3 "non-adaptive hold up" 2 "non-adaptive being engaged" 1 "non-adaptive engaged" 0 "off"; -VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok"; -VAL_ 467 PCM_FOLLOW_DISTANCE 1 "far" 2 "medium" 3 "close"; -VAL_ 614 STATE 3 "enabled" 1 "disabled"; -VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left"; -VAL_ 643 STATE 0 "normal" 1 "adaptive_cruise_control" 3 "emergency_braking"; -VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok"; -VAL_ 835 ACC_MALFUNCTION 1 "faulted" 0 "ok"; -VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear"; -VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press"; -VAL_ 865 CLUTCH_RELEASED 0 "clutch pressed any amount" 1 "clutch released" -VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted"; -VAL_ 921 DISTANCE_LINES 0 "not displayed" 1 "close" 2 "medium" 3 "far"; -VAL_ 956 SPORT_ON 0 "off" 1 "on"; -VAL_ 956 GEAR 0 "D" 1 "S" 8 "N" 16 "R" 32 "P"; -VAL_ 956 SPORT_GEAR_ON 0 "off" 1 "on"; -VAL_ 956 SPORT_GEAR 1 "S1" 2 "S2" 3 "S3" 4 "S4" 5 "S5" 6 "S6"; -VAL_ 956 ECON_ON 0 "off" 1 "on"; -VAL_ 956 B_GEAR_ENGAGED 0 "off" 1 "on"; -VAL_ 956 DRIVE_ENGAGED 0 "off" 1 "on"; -VAL_ 1005 REVERSE_CAMERA_GUIDELINES 3 "No guidelines" 2 "Static guidelines" 1 "Active guidelines"; -VAL_ 1009 PCM_FOLLOW_DISTANCE 1 "far" 2 "medium" 3 "close"; -VAL_ 1041 PCS_INDICATOR 2 "PCS Faulted" 1 "PCS Turned Off By User" 0 "PCS Enabled"; -VAL_ 1041 PCS_SENSITIVITY 64 "high sensitivity" 128 "mid sensitivity" 192 "low sensitivity" 0 "off"; -VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none"; -VAL_ 1042 BARRIERS 3 "left" 2 "right" 1 "both" 0 "none"; -VAL_ 1042 RIGHT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none"; -VAL_ 1042 LKAS_STATUS 1 "on" 0 "off"; -VAL_ 1042 LEFT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none"; -VAL_ 1042 LDA_ON_MESSAGE 2 "Lane Departure Alert Turned ON, Steering Assist Inactive" 1 "Lane Departure Alert Turned ON, Steering Assist Active" 0 "clear"; -VAL_ 1042 LDA_SA_TOGGLE 2 "steering assist off" 1 "steering assist on"; -VAL_ 1042 LDA_SENSITIVITY 2 "standard" 1 "high" 0 "undefined"; -VAL_ 1042 LDA_MESSAGES 4 "lda unavailable at this speed" 1 "lda unavailable below approx 50km/h" 0 "ok"; -VAL_ 1042 LDA_FRONT_CAMERA_BLOCKED 1 "lda unavailable" 0 "ok"; -VAL_ 1042 TAKE_CONTROL 1 "take control" 0 "ok"; -VAL_ 1042 LANE_SWAY_WARNING 3 "ok" 2 "orange please take a break" 1 "prompt would you like to take a break" 0 "ok"; -VAL_ 1042 LANE_SWAY_BUZZER 3 "ok" 2 "beep twice" 1 "beep twice" 0 "ok"; -VAL_ 1161 TSGN1 1 "speed sign" 0 "none"; -VAL_ 1161 TSGN2 1 "speed sign" 0 "none"; -VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none"; -VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 81 "no right turn" 97 "stop" 105 "yield" 113 "stop" 114 "yield us" 129 "no entry" 138 "no entry tss2" 145 "do not enter"; -VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none"; -VAL_ 1552 METER_SLIDER_LOW_BRIGHTNESS 1 "Low brightness mode, footwell lights off" 0 "Normal mode, footwell lights on"; -VAL_ 1552 METER_SLIDER_DIMMED 1 "Dimmed" 0 "Not Dimmed"; -VAL_ 1552 UNITS 1 "km (km/L)" 2 "km (L/100km)" 3 "miles (MPG US)" 4 "miles (MPG Imperial)"; -VAL_ 1553 UNITS 1 "km" 2 "miles"; -VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left"; -VAL_ 1556 BLINKER_BUTTON_PRESSED 1 "button pressed" 0 "not pressed"; -VAL_ 1592 LOCK_STATUS 0 "locked" 1 "unlocked"; diff --git a/opendbc/generator/toyota/toyota_new_mc_pt.dbc b/opendbc/generator/toyota/toyota_new_mc_pt.dbc deleted file mode 100644 index be824cc043ffe7..00000000000000 --- a/opendbc/generator/toyota/toyota_new_mc_pt.dbc +++ /dev/null @@ -1,22 +0,0 @@ -CM_ "IMPORT _community.dbc"; -CM_ "IMPORT _toyota_2017.dbc"; - -BO_ 548 BRAKE_MODULE: 8 XXX - SG_ BRAKE_PRESSURE : 43|12@0+ (1,0) [0|4047] "" XXX - SG_ BRAKE_PRESSED : 5|1@0+ (1,0) [0|1] "" XXX - -BO_ 610 EPS_STATUS: 5 EPS - SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX - SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX - SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX - SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX - -BO_ 1178 BRAKE_RELATED: 8 XXX - SG_ BRAKE_PRESSED : 48|1@0+ (1,0) [0|1] "" XXX - -CM_ SG_ 548 BRAKE_PRESSURE "seems prop to pedal force"; -CM_ SG_ 548 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8"; -CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others"; - -VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled"; -VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby"; diff --git a/opendbc/generator/toyota/toyota_nodsu_pt.dbc b/opendbc/generator/toyota/toyota_nodsu_pt.dbc deleted file mode 100644 index f35f5571a3b746..00000000000000 --- a/opendbc/generator/toyota/toyota_nodsu_pt.dbc +++ /dev/null @@ -1,78 +0,0 @@ -CM_ "IMPORT _community.dbc"; -CM_ "IMPORT _toyota_2017.dbc"; - -BO_ 401 STEERING_LTA: 8 XXX - SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX - SG_ SETME_X3 : 29|2@0+ (1,0) [0|3] "" XXX - SG_ PERCENTAGE : 39|8@0+ (1,0) [0|255] "" XXX - SG_ TORQUE_WIND_DOWN : 47|8@0+ (1,0) [0|255] "" XXX - SG_ ANGLE : 55|8@0- (0.5,0) [0|255] "" XXX - SG_ STEER_ANGLE_CMD : 15|16@0- (0.0573,0) [-540|540] "" XXX - SG_ STEER_REQUEST_2 : 25|1@0+ (1,0) [0|1] "" XXX - SG_ LKA_ACTIVE : 26|1@0+ (1,0) [0|1] "" XXX - SG_ CLEAR_HOLD_STEERING_ALERT : 30|1@0+ (1,0) [0|1] "" XXX - SG_ COUNTER : 6|6@0+ (1,0) [0|255] "" XXX - SG_ STEER_REQUEST : 0|1@0+ (1,0) [0|1] "" XXX - SG_ SETME_X1 : 7|1@0+ (1,0) [0|1] "" XXX - -BO_ 550 BRAKE_MODULE: 8 XXX - SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX - SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX - SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX - -BO_ 610 EPS_STATUS: 8 EPS - SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX - SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX - SG_ LTA_STATE : 15|5@0+ (1,0) [0|31] "" XXX - SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX - SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX - -BO_ 881 LTA_RELATED: 8 FCM - SG_ GAS_PEDAL : 15|8@0+ (0.005,0) [0|1] "" XXX - SG_ STEER_ANGLE : 23|16@0- (0.0573,0) [-500|500] "" XXX - SG_ TURN_SIGNALS : 35|2@0+ (1,0) [0|3] "" XXX - SG_ UNKNOWN_2 : 58|1@0+ (1,0) [0|1] "" XXX - SG_ LDA_SA_TOGGLE : 59|1@0+ (1,0) [0|1] "" XXX - SG_ LTA_STEER_REQUEST : 60|1@0+ (1,0) [0|1] "" XXX - SG_ UNKNOWN : 61|1@0+ (1,0) [0|1] "" XXX - SG_ STEERING_PRESSED : 63|1@0+ (1,0) [0|1] "" XXX - -BO_ 1014 BSM: 8 XXX - SG_ L_ADJACENT : 0|1@0+ (1,0) [0|1] "" XXX - SG_ L_APPROACHING : 8|1@0+ (1,0) [0|1] "" XXX - SG_ R_ADJACENT : 1|1@0+ (1,0) [0|1] "" XXX - SG_ R_APPROACHING : 10|1@0+ (1,0) [0|1] "" XXX - SG_ ADJACENT_ENABLED : 7|1@0+ (1,0) [0|1] "" XXX - SG_ APPROACHING_ENABLED : 15|1@0+ (1,0) [0|1] "" XXX - -CM_ SG_ 401 PERCENTAGE "driver override percentage (0-100), very close to steeringPressed in OP"; -CM_ SG_ 401 TORQUE_WIND_DOWN "used to wind down torque on user override"; -CM_ SG_ 401 ANGLE "angle of car relative to lane center on LTA camera"; -CM_ SG_ 401 STEER_ANGLE_CMD "desired angle, OEM steers up to 95 degrees, no angle limit but torque will bottom out"; -CM_ SG_ 401 CLEAR_HOLD_STEERING_ALERT "set to 1 when user clears LKAS_HUD->LDA_ALERT ('Hold Steering') by applying torque to steering wheel"; -CM_ SG_ 401 STEER_REQUEST "enable bit for steering, 1 to steer, 0 to not"; -CM_ SG_ 401 STEER_REQUEST_2 "enable bit for steering, 1 to steer, 0 to not"; -CM_ SG_ 401 LKA_ACTIVE "1 when using LTA for LKA"; -CM_ SG_ 401 SETME_X1 "usually 1, seen at 0 on some South American Corollas indicating lack of stock Lane Tracing Assist"; -CM_ SG_ 401 SETME_X3 "almost completely correlates with Toyota Safety Sense version, but may instead describe max torque when using LTA. if TSS 2.5 or 2022 RAV4, this is always 1. if TSS 2.0 this is always 3 (or 0 on Alphard, Highlander, NX)"; -CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force"; -CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8"; -CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others"; -CM_ SG_ 881 GAS_PEDAL "not set on all cars, only seen on TSS 2.5 Camry Hybrid so far"; -CM_ SG_ 881 STEER_ANGLE "matches STEER_TORQUE_SENSOR->STEER_ANGLE"; -CM_ SG_ 881 TURN_SIGNALS "flipped on some cars"; -CM_ SG_ 881 LDA_SA_TOGGLE "not applicable for all cars"; -CM_ SG_ 881 LTA_STEER_REQUEST "only applicable for TSS 2.5: matches STEERING_LTA->STEER_REQUEST"; -CM_ SG_ 881 UNKNOWN "related to steering wheel angle"; -CM_ SG_ 881 STEERING_PRESSED "only applicable for TSS 2.5: low sensitivity steering wheel pressed by driver signal"; -CM_ SG_ 1014 L_ADJACENT "vehicle adjacent left side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED"; -CM_ SG_ 1014 L_APPROACHING "vehicle approaching from left side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED"; -CM_ SG_ 1014 R_ADJACENT "vehicle adjacent right side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED"; -CM_ SG_ 1014 R_APPROACHING "vehicle approaching from right side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED"; -CM_ SG_ 1014 ADJACENT_ENABLED "when BSM is enabled in settings, this is on along with APPROACHING_ENABLED. this controls bsm alert visibility"; -CM_ SG_ 1014 APPROACHING_ENABLED "when BSM is enabled in settings, this is on along with ADJACENT_ENABLED. this controls bsm alert visibility"; - -VAL_ 401 SETME_X3 3 "TSS 2.0" 1 "TSS 2.5 or 2022 RAV4" 0 "TSS 2.0 on Alphard, Highlander, NX"; -VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled"; -VAL_ 610 LKA_STATE 25 "temporary_fault" 17 "permanent_fault" 11 "lka_missing_unavailable2" 9 "temporary_fault2" 5 "active" 3 "lka_missing_unavailable" 1 "standby"; -VAL_ 610 LTA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 3 "lta_missing_unavailable" 1 "standby"; diff --git a/opendbc/generator/toyota/toyota_tnga_k_pt.dbc b/opendbc/generator/toyota/toyota_tnga_k_pt.dbc deleted file mode 100644 index faf5b0a942354e..00000000000000 --- a/opendbc/generator/toyota/toyota_tnga_k_pt.dbc +++ /dev/null @@ -1,20 +0,0 @@ -CM_ "IMPORT _community.dbc"; -CM_ "IMPORT _toyota_2017.dbc"; - -BO_ 550 BRAKE_MODULE: 8 XXX - SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX - SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX - SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX - -BO_ 610 EPS_STATUS: 5 EPS - SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX - SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX - SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX - SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX - -CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force"; -CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8"; -CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others"; - -VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled"; -VAL_ 610 LKA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 1 "standby"; diff --git a/opendbc/gm_global_a_high_voltage_management.dbc b/opendbc/gm_global_a_high_voltage_management.dbc deleted file mode 100644 index 60729e56921e6f..00000000000000 --- a/opendbc/gm_global_a_high_voltage_management.dbc +++ /dev/null @@ -1,196 +0,0 @@ -VERSION "" - - -NS_ : - NS_DESC_ - CM_ - BA_DEF_ - BA_ - VAL_ - CAT_DEF_ - CAT_ - FILTER - BA_DEF_DEF_ - EV_DATA_ - ENVVAR_DATA_ - SGTYPE_ - SGTYPE_VAL_ - BA_DEF_SGTYPE_ - BA_SGTYPE_ - SIG_TYPE_REF_ - VAL_TABLE_ - SIG_GROUP_ - SIG_VALTYPE_ - SIGTYPE_VALTYPE_ - BO_TX_BU_ - BA_DEF_REL_ - BA_REL_ - BA_DEF_DEF_REL_ - BU_SG_REL_ - BU_EV_REL_ - BU_BO_REL_ - SG_MUL_VAL_ - -BS_: -BU_: K16_BECM K114B_HPCM T18_BatteryCharger -BO_ 512 Battery_Module_1: 8 K16_BECM - SG_ Voltage_1_0_A m0 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Voltage_1_0_B m0 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Voltage_1_0_C m0 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Voltage_1_1_A m1 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Voltage_1_1_B m1 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Voltage_1_1_C m1 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Voltage_1_2_A m2 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Voltage_1_2_B m2 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Voltage_1_2_C m2 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Voltage_1_3_A m3 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Voltage_1_3_B m3 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Voltage_1_3_C m3 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Voltage_1_4_A m4 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Voltage_1_4_B m4 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Voltage_1_4_C m4 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Voltage_1_5_A m5 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Voltage_1_5_B m5 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Voltage_1_5_C m5 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Voltage_1_6_A m6 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Voltage_1_6_B m6 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Voltage_1_6_C m6 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Voltage_1_7_A m7 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Voltage_1_7_B m7 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Voltage_1_7_C m7 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Cell_Bank_Number_1 M : 55|3@0+ (1,0) [0|0] "" K16_BECM - -BO_ 514 Battery_Module_2: 8 K16_BECM - SG_ Voltage_2_0_A m0 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Voltage_2_0_B m0 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Voltage_2_0_C m0 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Voltage_2_1_A m1 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Voltage_2_1_B m1 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Voltage_2_1_C m1 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Voltage_2_2_A m2 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Voltage_2_2_B m2 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Voltage_2_2_C m2 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Voltage_2_3_A m3 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Voltage_2_3_B m3 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Voltage_2_3_C m3 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Voltage_2_4_A m4 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Voltage_2_4_B m4 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Voltage_2_4_C m4 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Voltage_2_5_A m5 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Voltage_2_5_B m5 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Voltage_2_5_C m5 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Voltage_2_6_A m6 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Voltage_2_6_B m6 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Voltage_2_6_C m6 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Voltage_2_7_A m7 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Voltage_2_7_B m7 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Voltage_2_7_C m7 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Cell_Bank_Number_2 M : 55|3@0+ (1,0) [0|0] "" K16_BECM - -BO_ 516 Battery_Module_3: 8 K16_BECM - SG_ Voltage_3_0_A m0 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Voltage_3_0_B m0 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Voltage_3_0_C m0 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Voltage_3_1_A m1 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Voltage_3_1_B m1 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Voltage_3_1_C m1 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Voltage_3_2_A m2 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Voltage_3_2_B m2 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Voltage_3_2_C m2 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Voltage_3_3_A m3 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Voltage_3_3_B m3 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Voltage_3_3_C m3 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Voltage_3_4_A m4 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Voltage_3_4_B m4 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Voltage_3_4_C m4 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Voltage_3_5_A m5 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Voltage_3_5_B m5 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Voltage_3_5_C m5 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Voltage_3_6_A m6 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Voltage_3_6_B m6 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Voltage_3_6_C m6 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Voltage_3_7_A m7 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Voltage_3_7_B m7 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Voltage_3_7_C m7 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Cell_Bank_Number_3 M : 55|3@0+ (1,0) [0|0] "" K16_BECM - -BO_ 518 Battery_Module_4: 8 K16_BECM - SG_ Voltage_4_0_A m0 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Voltage_4_0_B m0 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Voltage_4_0_C m0 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Voltage_4_1_A m1 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Voltage_4_1_B m1 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Voltage_4_1_C m1 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Voltage_4_2_A m2 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Voltage_4_2_B m2 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Voltage_4_2_C m2 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Voltage_4_3_A m3 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Voltage_4_3_B m3 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Voltage_4_3_C m3 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Voltage_4_4_A m4 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Voltage_4_4_B m4 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Voltage_4_4_C m4 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Voltage_4_5_A m5 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Voltage_4_5_B m5 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Voltage_4_5_C m5 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Voltage_4_6_A m6 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Voltage_4_6_B m6 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Voltage_4_6_C m6 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Voltage_4_7_A m7 : 4|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Voltage_4_7_B m7 : 20|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Voltage_4_7_C m7 : 39|12@0+ (0.00125,0) [0|0] "V" K16_BECM - SG_ Cell_Bank_Number_4 M : 55|3@0+ (1,0) [0|0] "" K16_BECM - -BO_ 528 Pack_Stats: 8 K16_BECM - SG_ Pack_Voltage : 7|12@0+ (0.125,0) [0|0] "V" K16_BECM - SG_ Pack_Current : 23|8@0- (0.1,-0.1) [0|0] "A" K16_BECM - -BO_ 530 Charger_stats: 6 T18_BatteryCharger - SG_ Charger_HV_Current : 7|13@0+ (0.05,0) [0|0] "A" K16_BECM - SG_ HV_Voltage : 10|10@0+ (0.5,0) [0|0] "V" K16_BECM - SG_ LV_Current : 16|8@0+ (0.2,0) [0|0] "A" K16_BECM - SG_ LV_Voltage : 24|8@0+ (0.1,0) [0|0] "V" K16_BECM - -BO_ 770 Battery_temp: 8 K16_BECM - SG_ Temp_A m0 : 8|8@1+ (0.5,-40) [0|0] "C" K16_BECM - SG_ Temp_B m0 : 16|8@1+ (0.5,-40) [0|0] "C" K16_BECM - SG_ Temp_C m0 : 24|8@1+ (0.5,-40) [0|0] "C" K16_BECM - SG_ Temp_D m0 : 32|8@1+ (0.5,-40) [0|0] "C" K16_BECM - SG_ Temp_E m0 : 40|8@1+ (0.5,-40) [0|0] "C" K16_BECM - SG_ Temp_F m0 : 48|8@1+ (0.5,-40) [0|0] "C" K16_BECM - SG_ Temp_G m1 : 8|8@1+ (0.5,-40) [0|0] "C" K16_BECM - SG_ Temp_H m1 : 16|8@1+ (0.5,-40) [0|0] "C" K16_BECM - SG_ Temp_I m1 : 24|8@1+ (0.5,-40) [0|0] "C" K16_BECM - SG_ Switch M : 2|1@1+ (1,0) [0|0] "" K16_BECM - -BO_ 782 Charger_Command: 1 T18_BatteryCharger - SG_ Command : 0|8@1+ (1,0) [0|0] "" Vector__XXX - -BO_ 772 Charger_parameters: 4 T18_BatteryCharger - SG_ Unknown : 0|8@1+ (1,0) [0|0] "" Vector__XXX - SG_ Current : 8|8@1+ (0.05,0) [0|0] "A" Vector__XXX - SG_ Voltage : 23|16@0+ (0.5,0) [0|0] "V" Vector__XXX - -BO_ 1120 Coolant_Temp: 4 K16_BECM - SG_ Inlet_Coolant_Temp : 1|10@0+ (0.125,-40) [0|0] "" Vector__XXX - SG_ Outlet_Coolant_Temp : 17|10@0+ (0.125,-40) [0|0] "" Vector__XXX - -BO_ 778 AC_Stats: 7 T18_BatteryCharger - SG_ Mains_Voltage : 10|2@0+ (1,0) [0|0] "V" Vector__XXX - SG_ Total_Charge : 19|8@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 776 Charger_status: 5 T18_BatteryCharger - SG_ Status : 20|3@1+ (1,0) [0|0] "" Vector__XXX - -BA_DEF_ BO_ "GenMsgBackgroundColor" STRING ; -BA_DEF_ BO_ "GenMsgForegroundColor" STRING ; -BA_DEF_ BO_ "isj1939dbc" INT 0 0; -BA_DEF_DEF_ "GenMsgBackgroundColor" "#ffffff"; -BA_DEF_DEF_ "GenMsgForegroundColor" "#000000"; -BA_DEF_DEF_ "isj1939dbc" 0; -CM_ BU_ K16_BECM "Battery Energy Control Module"; -CM_ BU_ K114B_HPCM "Hybrid Powertrain Control Module"; -CM_ BU_ T18_BatteryCharger "Battery Charger"; -VAL_ 782 Command 1 "12V_Only" 2 "HV_Only" 3 "12V_and_HV"; -VAL_ 778 Mains_Voltage 0 "Unplugged" 1 "110V" 3 "220V"; -VAL_ 776 Status 0 "Off" 5 "LV_Only" 7 "HV_and_LV" 3 "HV_Only"; diff --git a/opendbc/gm_global_a_lowspeed.dbc b/opendbc/gm_global_a_lowspeed.dbc deleted file mode 100644 index 524eeed8be5c43..00000000000000 --- a/opendbc/gm_global_a_lowspeed.dbc +++ /dev/null @@ -1,118 +0,0 @@ -VERSION "" - - -NS_ : - NS_DESC_ - CM_ - BA_DEF_ - BA_ - VAL_ - CAT_DEF_ - CAT_ - FILTER - BA_DEF_DEF_ - EV_DATA_ - ENVVAR_DATA_ - SGTYPE_ - SGTYPE_VAL_ - BA_DEF_SGTYPE_ - BA_SGTYPE_ - SIG_TYPE_REF_ - VAL_TABLE_ - SIG_GROUP_ - SIG_VALTYPE_ - SIGTYPE_VALTYPE_ - BO_TX_BU_ - BA_DEF_REL_ - BA_REL_ - BA_DEF_DEF_REL_ - BU_SG_REL_ - BU_EV_REL_ - BU_BO_REL_ - SG_MUL_VAL_ - -BS_: - -BU_: GMLAN NEO -VAL_TABLE_ GearShifter 3 "Park" 0 "Drive/Low" ; -VAL_TABLE_ DriverDoorStatus 1 "Opened" 0 "Closed" ; -VAL_TABLE_ LKAGapButton 2 "???" 1 "??" 0 "None" ; -VAL_TABLE_ CruiseButtons 6 "Cancel" 5 "Main" 3 "Set" 2 "Resume" 1 "None" ; -VAL_TABLE_ CruiseControlActive 1 "Active" 0 "Inactive" ; -VAL_TABLE_ BlinkerStatus 1 "Active" 0 "Inactive" ; - - -BO_ 274923520 DriverDoorStatus: 1 GMLAN - SG_ DriverDoorOpened : 0|1@0+ (1,0) [0|0] "" NEO - -BO_ 272629760 Chime: 5 NEO - SG_ ChimeType : 7|8@0+ (1,0) [0|0] "" GMLAN - SG_ ChimeRepeat : 23|8@0+ (1,0) [0|0] "" GMLAN - SG_ ChimeDuration : 15|8@0+ (1,0) [0|0] "" GMLAN - SG_ ChimeByte5 : 39|8@0+ (1,0) [0|0] "" GMLAN - SG_ ChimeByte4 : 31|8@0+ (1,0) [0|0] "" GMLAN - -BO_ 270581760 BlinkerStatus: 5 GMLAN - SG_ RightBlinker : 6|1@0+ (1,0) [0|0] "" NEO - SG_ LeftBlinker : 7|1@0+ (1,0) [0|0] "" NEO - SG_ BlinkerLight : 25|1@0+ (1,0) [0|0] "" NEO - -BO_ 270794752 SteeringWheelAngle: 8 GMLAN - SG_ SteeringWheelAngle : 39|16@0- (0.0625,0) [-540|540] "deg" NEO - -BO_ 271368192 GearShifter: 8 GMLAN - SG_ GearShifter : 17|2@0+ (1,0) [0|3] "" NEO - -BO_ 271360000 GasPedalRegenCruise: 8 GMLAN - SG_ CruiseControlActive : 56|1@0+ (1,0) [0|0] "" GMLAN - SG_ MaxRegen : 12|1@0+ (1,0) [0|1] "" GMLAN,NEO - SG_ GasPedal : 47|8@0+ (1,0) [0|254] "" GMLAN,NEO - SG_ GearShifter2NotUsed : 55|8@0+ (1,0) [0|255] "" GMLAN,NEO - -BO_ 270860288 BrakePedal: 2 GMLAN - SG_ BrakeLevel : 2|2@0+ (1,0) [0|3] "" NEO - SG_ BrakeSensor : 15|8@0+ (1,0) [0|255] "" NEO - -BO_ 275480576 WheelSpeed: 8 GMLAN - SG_ WheelSpeedFL : 7|16@0+ (0.01,0) [0|70] "yd/s" NEO - SG_ WheelSpeedFR : 39|16@0+ (0.01,0) [0|70] "yd/s" NEO - SG_ WheelSpeedRL : 23|16@0+ (0.01,0) [0|70] "yd/s" NEO - SG_ WheelSpeedRR : 55|16@0+ (0.01,0) [0|70] "yd/s" NEO - -BO_ 270598144 VehicleSpeed: 8 GMLAN - SG_ VehicleSpeed1 : 7|16@0+ (0.01,0) [0|100] "mph" NEO - SG_ VehicleSpeed2 : 39|16@0+ (0.01,0) [0|100] "mph" NEO - -BO_ 276135936 CruiseButtons: 3 GMLAN - SG_ CruiseButtons : 3|3@0+ (1,0) [0|12] "" NEO - -BO_ 276127744 CruiseButtons2: 1 GMLAN - SG_ LKAGapButton : 1|2@0+ (1,0) [0|2] "" NEO - -BO_ 275955897 LeftRadar: 2 GMLAN - SG_ BSM_Indicator_Light : 4|1@0+ (1,0) [0|1] "" XXX - -BO_ 275980379 RightRadar: 2 GMLAN - SG_ BSM_Indicator_Light : 0|1@0+ (1,0) [0|1] "" XXX - - - -BA_DEF_ "UseGMParameterIDs" INT 0 0; -BA_DEF_ "ProtocolType" STRING ; -BA_DEF_ "BusType" STRING ; -BA_DEF_DEF_ "UseGMParameterIDs" 1; -BA_DEF_DEF_ "ProtocolType" "GMLAN"; -BA_DEF_DEF_ "BusType" ""; -BA_ "BusType" "CAN"; -BA_ "ProtocolType" "GMLAN"; -VAL_ 274923520 DriverDoorOpened 1 "Opened" 0 "Closed" ; -VAL_ 270581760 RightBlinker 1 "Active" 0 "Inactive" ; -VAL_ 270581760 LeftBlinker 1 "Active" 0 "Inactive" ; -VAL_ 270581760 BlinkerLight 1 "Active" 0 "Inactive" ; -VAL_ 271368192 GearShifter 3 "Park" 0 "Drive/Low" ; -VAL_ 271360000 CruiseControlActive 1 "Active" 0 "Inactive" ; -VAL_ 276135936 CruiseButtons 6 "Cancel" 5 "Main" 3 "Set" 2 "Resume" 1 "None" ; -VAL_ 276127744 LKAGapButton 2 "???" 1 "??" 0 "None" ; -VAL_ 275955897 BSM_Indicator_Light 0 "Disabled" 1 "Enabled"; -VAL_ 275980379 BSM_Indicator_Right 0 "Disabled" 1 "Enabled"; - diff --git a/opendbc/gm_global_a_lowspeed_1818125.dbc b/opendbc/gm_global_a_lowspeed_1818125.dbc deleted file mode 100644 index 3f5b15e6f29edf..00000000000000 --- a/opendbc/gm_global_a_lowspeed_1818125.dbc +++ /dev/null @@ -1,3993 +0,0 @@ -VERSION "" - - -NS_ : - NS_DESC_ - CM_ - BA_DEF_ - BA_ - VAL_ - CAT_DEF_ - CAT_ - FILTER - BA_DEF_DEF_ - EV_DATA_ - ENVVAR_DATA_ - SGTYPE_ - SGTYPE_VAL_ - BA_DEF_SGTYPE_ - BA_SGTYPE_ - SIG_TYPE_REF_ - VAL_TABLE_ - SIG_GROUP_ - SIG_VALTYPE_ - SIGTYPE_VALTYPE_ - BO_TX_BU_ - BA_DEF_REL_ - BA_REL_ - BA_DEF_DEF_REL_ - BU_SG_REL_ - BU_EV_REL_ - BU_BO_REL_ - SG_MUL_VAL_ - -BS_: - -BU_: XXX - - -BO_ 2152177664 OTA_Electric_Pwr_Readiness_LS: 1 XXX - SG_ RmtRflshElecPwrRdness : 7|8@0+ (0.025,0) [0|6.375] "AmpHour" XXX - -BO_ 2152013824 Smart_High_Beam_Cust_LS: 1 XXX - SG_ SmrtHgBmAstCstSetAvail : 4|1@0+ (1,0) [0|1] "" XXX - SG_ SmrtHgBmAstCstCurrSetVal : 7|3@0+ (1,0) [0|7] "" XXX - -BO_ 2159255552 ODI_CenterStack_2_BCM_LS: 8 XXX - SG_ ODI_CntrStck2BCM : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" XXX - -BO_ 2159247360 ODI_BCM_2_CenterStack_LS: 8 XXX - SG_ ODI_BCM2CntrStck : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" XXX - -BO_ 2152046592 Remote_Climate_Control_Req_LS: 5 XXX - SG_ RmClmCtrlHMIActIndReq : 0|1@0+ (1,0) [0|1] "" XXX - SG_ RmClmCtrlRcrcSetReq : 3|3@0+ (1,0) [0|7] "" XXX - SG_ RmClmCtrlACSetReq : 10|3@0+ (1,0) [0|7] "" XXX - SG_ RmClmCtrlFrntFanStReq : 15|5@0+ (1,0) [0|31] "" XXX - SG_ RmClmCtrlFLAirDtStReq : 19|4@0+ (1,0) [0|15] "" XXX - SG_ RmClmCtrlClmModSetReq : 23|4@0+ (1,0) [0|15] "" XXX - SG_ RmClmCtrlLtSTempStReq : 29|6@0+ (1,0) [0|63] "" XXX - SG_ RmClmCtrlRrDfgSetReq : 31|2@0+ (1,0) [0|3] "" XXX - SG_ RmClmCtrlRtSTempStReq : 37|6@0+ (1,0) [0|63] "" XXX - SG_ RmClmCtrlSyncSetReq : 39|2@0+ (1,0) [0|3] "" XXX - -BO_ 2152030208 Tuner_Frequency_Request_LS: 8 XXX - SG_ TnrFrqBndReq : 3|4@0+ (1,0) [0|15] "" XXX - SG_ TnrFrqChnlReq : 15|56@0+ (1,0) [0|1] "" XXX - -BO_ 2150531072 Regen_Power_Ind_LS: 4 XXX - SG_ RegPwrLmtdDspPrcnt : 0|9@0- (0.392157,0) [-100.392192|100.000035] "%" XXX - SG_ RegPwrLmtdDspPrcntVs : 1|1@0+ (1,0) [0|1] "" XXX - SG_ RegPwrLmtdIO : 2|1@0+ (1,0) [0|1] "" XXX - -BO_ 2151833600 Heated_Wndshild_CstmrIhbt_Req_LS: 1 XXX - SG_ HtdFrntWSCustRqIhbt : 5|1@0+ (1,0) [0|1] "" XXX - SG_ HtdFrntWSDispReq : 7|2@0+ (1,0) [0|3] "" XXX - -BO_ 2151817216 Heated_Wndshild_Cstmr_Req_LS: 1 XXX - SG_ HtdFrntWSCustRq : 7|1@0+ (1,0) [0|1] "" XXX - -BO_ 2151849984 Seat_Level_Setting_Request_LS: 2 XXX - SG_ AutoThrmlStPasLvlStRq : 2|3@0+ (1,0) [0|7] "" XXX - SG_ AutoThrmlStDrvLvStRq : 5|3@0+ (1,0) [0|7] "" XXX - SG_ AutoThrmlStPassMdStRq : 7|2@0+ (1,0) [0|3] "" XXX - SG_ AutoThrmlStDrvMdStRq : 15|2@0+ (1,0) [0|3] "" XXX - -BO_ 2153897984 ARB_OpMode_Customization_LS: 1 XXX - SG_ RunBrdExtdFtrAvail : 3|1@0+ (1,0) [0|1] "" XXX - SG_ RunBrdOpMdCstCurrStVal : 6|3@0+ (1,0) [0|7] "" XXX - SG_ RunBrdOpMdCstStAvail : 7|1@0+ (1,0) [0|1] "" XXX - -BO_ 2151702528 Lane_Keeping_Assist_LS: 2 XXX - SG_ LnKpngAstRecfblIndRq : 2|3@0+ (1,0) [0|7] "" XXX - SG_ LnMrkngIndLft : 4|2@0+ (1,0) [0|3] "" XXX - SG_ LnKepAsstStIndLft : 7|3@0+ (1,0) [0|7] "" XXX - SG_ LnMrkngIndRgt : 12|2@0+ (1,0) [0|3] "" XXX - SG_ LnKepAsstStIndRgt : 15|3@0+ (1,0) [0|7] "" XXX - -BO_ 2156986368 PassPhrase_3_AMM_LS: 8 XXX - SG_ WiFiPssPhrsDgts17to24_Mp : 7|64@0+ (1,0) [0|0] "" XXX - -BO_ 2156978176 PassPhrase_2_AMM_LS: 8 XXX - SG_ WiFiPssPhrsDgts9to16_Mp : 7|64@0+ (1,0) [0|0] "" XXX - -BO_ 2156969984 PassPhrase_1_AMM_LS: 8 XXX - SG_ WiFiPssPhrsDgts1to8_Mp : 7|64@0+ (1,0) [0|0] "" XXX - -BO_ 2150236160 Unlock_Key_Store_Crypt_2_LS: 8 XXX - SG_ UlckKyStrCrptoDt2Group : 4|61@0+ (1,0) [0|0] "" XXX - SG_ UlckKyStrCrptoDt2 : 3|60@0+ (1,0) [0|1.15292150460685E+018] "" XXX - SG_ UlckKyStrCrptoDt2M : 4|1@0+ (1,0) [0|1] "" XXX - -BO_ 2150170624 Unlock_Key_Store_Crypt_1_LS: 8 XXX - SG_ UlckKyStrCrptoDt1Group : 4|61@0+ (1,0) [0|0] "" XXX - SG_ UlckKyStrCrptoDt1 : 3|60@0+ (1,0) [0|1.15292150460685E+018] "" XXX - SG_ UlckKyStrCrptoDt1M : 4|1@0+ (1,0) [0|1] "" XXX - -BO_ 2155126784 Drvr_Seat_Rearward_Movmnt_LS: 1 XXX - SG_ DrvrSetRrwrdMvmnt : 7|3@0+ (1,0) [0|7] "" XXX - -BO_ 2154725376 Auxiliary_Heater_LS: 1 XXX - SG_ AuxHtrAtv378 : 6|1@0+ (1,0) [0|1] "" XXX - SG_ AuxHtrRq : 7|1@0+ (1,0) [0|1] "" XXX - -BO_ 2157051904 WiFi_Station_AMM_LS: 5 XXX - SG_ WiFiStatnMpReq : 1|34@0+ (1,0) [0|0] "" XXX - SG_ WSMR_WiFiAssnReq : 1|2@0+ (1,0) [0|3] "" XXX - SG_ WSMR_WiFiStnMpMACAddr : 15|32@0+ (1,0) [0|4294967295] "" XXX - -BO_ 2156994560 WiFi_AP_Data_AMM_LS: 2 XXX - SG_ WiFiAccsPntData_Mp : 0|9@0+ (1,0) [0|0] "" XXX - SG_ WAPDM_WiFiEnStat : 0|1@0+ (1,0) [0|1] "" XXX - SG_ WAPDM_EncrptnType : 11|4@0+ (1,0) [0|15] "" XXX - SG_ WAPDM_SecurityType : 15|4@0+ (1,0) [0|15] "" XXX - -BO_ 2158133248 Hill_Top_Customization_LS: 6 XXX - SG_ HTRCsStAvail : 0|1@0+ (1,0) [0|1] "" XXX - SG_ HTRCsAvail : 7|7@0+ (1,0) [0|0] "" XXX - SG_ HTRCA_Res3Avail : 1|1@0+ (1,0) [0|1] "" XXX - SG_ HTRCA_Res2Avail : 2|1@0+ (1,0) [0|1] "" XXX - SG_ HTRCA_Res1Avail : 3|1@0+ (1,0) [0|1] "" XXX - SG_ HTRCA_OnAwAvail : 4|1@0+ (1,0) [0|1] "" XXX - SG_ HTRCA_OnHmAvail : 5|1@0+ (1,0) [0|1] "" XXX - SG_ HTRCA_OnAvail : 6|1@0+ (1,0) [0|1] "" XXX - SG_ HTRCA_OffAvail : 7|1@0+ (1,0) [0|1] "" XXX - SG_ HTRCsCrStVal : 10|3@0+ (1,0) [0|7] "" XXX - SG_ HVDpltnMdMxCnfdcRgExt : 21|14@0+ (0.1,0) [0|1638.3] "km" XXX - SG_ HVDpltnMdMiCnfdcRgExt : 37|14@0+ (0.1,0) [0|1638.3] "km" XXX - -BO_ 2154651648 Telematics_Audio_Control_LS: 1 XXX - SG_ TeleAudCtl : 7|8@0+ (1,0) [0|0] "" XXX - SG_ TAC_AudConctOutcm : 3|4@0+ (1,0) [0|15] "" XXX - SG_ TAC_AudChConctStat : 7|4@0+ (1,0) [0|15] "" XXX - -BO_ 2154635264 Telematics_Audio_Request_LS: 1 XXX - SG_ TeleAudReq : 7|8@0+ (1,0) [0|0] "" XXX - SG_ TAR_AudSrcStat : 3|4@0+ (1,0) [0|15] "" XXX - SG_ TAR_AudConctReq : 7|4@0+ (1,0) [0|15] "" XXX - -BO_ 2152529920 LVM_Audio_Video_Command_LS: 2 XXX - SG_ LowVolModAudVidCmd : 5|14@0+ (1,0) [0|0] "" XXX - SG_ LVMAVC_StreoAudRsp : 0|2@0+ (1,0) [0|3] "" XXX - SG_ LVMAVC_PrmtAudRsp : 2|2@0+ (1,0) [0|3] "" XXX - SG_ LVMAVC_RemtEnbl : 5|3@0+ (1,0) [0|7] "" XXX - SG_ LVMAVC_SpchRcgnAval : 9|2@0+ (1,0) [0|3] "" XXX - SG_ LVMAVC_RemSpchRcgnActn : 11|2@0+ (1,0) [0|3] "" XXX - SG_ LVMAVC_RemSpchRcgnID : 14|3@0+ (1,0) [0|7] "" XXX - -BO_ 2152513536 LVM_Audio_Video_Req_LS: 2 XXX - SG_ LowVolModAudVidReq : 0|9@0+ (1,0) [0|0] "" XXX - SG_ LVMAVR_DispReq : 0|3@0+ (1,0) [0|7] "" XXX - SG_ LVMAVR_SpchRcgnAct : 9|2@0+ (1,0) [0|3] "" XXX - SG_ LVMAVR_PrmtAudReq : 11|2@0+ (1,0) [0|3] "" XXX - SG_ LVMAVR_StreoAudReq : 13|2@0+ (1,0) [0|3] "" XXX - -BO_ 2154889216 Cluster_HMI_Animation_Req_LS: 1 XXX - SG_ ClstrHMIAnmReq : 7|3@0+ (1,0) [0|7] "" XXX - -BO_ 2154872832 Infotainment_Activation_Req_LS: 1 XXX - SG_ RmRflshUpdtAvail : 6|1@0+ (1,0) [0|1] "" XXX - SG_ InfoActvnReq : 7|1@0+ (1,0) [0|1] "" XXX - -BO_ 2156961792 SSID_AMM_3_LS: 8 XXX - SG_ WiFiSSIDDgts17to24_Mp : 7|64@0+ (1,0) [0|0] "" XXX - -BO_ 2154569728 Infotainment_System_State_LS: 1 XXX - SG_ InfotnmntSysSt : 7|5@0+ (1,0) [0|31] "" XXX - -BO_ 2151931904 Custom_Launch_Ctrl_LS: 8 XXX - SG_ LnchCtrlMdStat : 2|3@0+ (1,0) [0|7] "" XXX - SG_ LnchCtrlWhlSlpStat : 7|5@0+ (1,0) [0|31] "" XXX - SG_ PTExPrtclFltWrng3IO : 8|1@0+ (1,0) [0|1] "" XXX - SG_ AWDRecmndIO : 9|1@0+ (1,0) [0|1] "" XXX - SG_ LnchCtrlEngRPMStat : 15|6@0+ (1,0) [0|63] "" XXX - SG_ ACCSysSltdMd : 17|2@0+ (1,0) [0|3] "" XXX - SG_ VehSpdCntlSystmType : 20|3@0+ (1,0) [0|7] "" XXX - SG_ PTExPartFltManRegStat : 23|3@0+ (1,0) [0|7] "" XXX - SG_ TCSTempDsblReqIO : 24|1@0+ (1,0) [0|1] "" XXX - SG_ VehStbCmptvMdCstAvl : 25|1@0+ (1,0) [0|1] "" XXX - SG_ VehStbEnmntCstAvl : 26|1@0+ (1,0) [0|1] "" XXX - SG_ TCSysCstAvl : 27|1@0+ (1,0) [0|1] "" XXX - SG_ VehStbCmptvMdCurSt : 28|1@0+ (1,0) [0|1] "" XXX - SG_ ElctShfPriLtdPerfMdIO : 29|1@0+ (1,0) [0|1] "" XXX - SG_ RegVltCtlEngyRcvryAct : 30|1@0+ (1,0) [0|1] "" XXX - SG_ ACCSysSltdMdDispIO : 31|1@0+ (1,0) [0|1] "" XXX - SG_ LnchCtrlTmrVal : 35|4@0+ (1,0) [0|15] "" XXX - SG_ VehStbEnhmntCurSt : 36|1@0+ (1,0) [0|1] "" XXX - SG_ TCSysCurSt : 37|1@0+ (1,0) [0|1] "" XXX - SG_ TracAndStbScrnCnfg : 39|2@0+ (1,0) [0|3] "" XXX - SG_ BiFuelRflGaslinIndReq : 42|3@0+ (1,0) [0|7] "" XXX - SG_ AutoShtdwnIO : 43|1@0+ (1,0) [0|1] "" XXX - SG_ LnchCtrlBrkPresVal : 47|4@0+ (10,0) [0|150] "%" XXX - SG_ AutoShtdwnTmr : 55|8@0+ (1,0) [0|255] "min" XXX - SG_ FuelMdTrnstnIndReq : 63|4@0+ (1,0) [0|15] "" XXX - -BO_ 2150244352 HMI_EngyConsmpHistGrph_1_LS: 8 XXX - SG_ EngyCnsHsGrphDspDtVal : 7|55@0+ (1,0) [0|0] "" XXX - SG_ ECHGDDV_Col1 : 2|5@0+ (1,0) [0|31] "" XXX - SG_ ECHGDDV_EngyConsAvg : 7|5@0+ (1,0) [0|31] "" XXX - SG_ ECHGDDV_Col3 : 8|5@0+ (1,0) [0|31] "" XXX - SG_ ECHGDDV_Col2 : 13|5@0+ (1,0) [0|31] "" XXX - SG_ ECHGDDV_Col4 : 19|5@0+ (1,0) [0|31] "" XXX - SG_ ECHGDDV_Col6 : 25|5@0+ (1,0) [0|31] "" XXX - SG_ ECHGDDV_Col5 : 30|5@0+ (1,0) [0|31] "" XXX - SG_ ECHGDDV_Col7 : 36|5@0+ (1,0) [0|31] "" XXX - SG_ ECHGDDV_Col9 : 42|5@0+ (1,0) [0|31] "" XXX - SG_ ECHGDDV_Col8 : 47|5@0+ (1,0) [0|31] "" XXX - SG_ ECHGDDV_Col10 : 53|5@0+ (1,0) [0|31] "" XXX - -BO_ 2156953600 SSID_AMM_2_LS: 8 XXX - SG_ WiFiSSIDDgts9to16_Mp : 7|64@0+ (1,0) [0|0] "" XXX - -BO_ 2151686144 SD_Card_LS: 2 XXX - SG_ SDCrdFullIO : 0|1@0+ (1,0) [0|1] "" XXX - SG_ SDCrdErrIO : 1|1@0+ (1,0) [0|1] "" XXX - SG_ NoSDCrdPrIO : 2|1@0+ (1,0) [0|1] "" XXX - -BO_ 2155028480 Lane_Change_Threat_LS: 2 XXX - SG_ RgtLnChgThrt : 0|1@0+ (1,0) [0|1] "" XXX - SG_ RtLnChngThrtAprchSpd : 15|8@0- (1,0) [-128|127] "km/h" XXX - -BO_ 2151915520 HMI_Display_LS: 8 XXX - SG_ AHDisbldDrOpnIO : 0|1@0+ (1,0) [0|1] "" XXX - SG_ AHDisbldStbltIO : 1|1@0+ (1,0) [0|1] "" XXX - SG_ AHAppBrkPedlIO : 2|1@0+ (1,0) [0|1] "" XXX - SG_ AHServcIO : 3|1@0+ (1,0) [0|1] "" XXX - SG_ ShfToPrkBfExtngIO : 4|1@0+ (1,0) [0|1] "" XXX - SG_ AHEnbld : 5|1@0+ (1,0) [0|1] "" XXX - SG_ AHAct : 6|1@0+ (1,0) [0|1] "" XXX - SG_ ESPDrvrIlkShfAtdIO : 7|1@0+ (1,0) [0|1] "" XXX - SG_ ESPTransMalfIO : 9|1@0+ (1,0) [0|1] "" XXX - SG_ ESPRngInvldReqIO : 10|1@0+ (1,0) [0|1] "" XXX - SG_ ESPPrkInvldReqIO : 11|1@0+ (1,0) [0|1] "" XXX - SG_ ESPHldShfLvrToEngRgIO : 12|1@0+ (1,0) [0|1] "" XXX - SG_ ESPDrvrPrkIlkSftAtdIO : 13|1@0+ (1,0) [0|1] "" XXX - SG_ EngIntkArBstPrExtRngGroup : 14|15@0+ (1,0) [0|0] "" XXX - SG_ EngIntkArBstPrExtRng : 8|9@0+ (1,-110) [-110|401] "kPa" XXX - SG_ EngIntkArBstPrExtRngV : 14|1@0+ (1,0) [0|1] "" XXX - SG_ ElcTransRngSlctVDA : 15|1@0+ (1,0) [0|1] "" XXX - SG_ ElecShfRngDispRCExtd : 27|4@0+ (1,0) [0|15] "" XXX - SG_ ElecShfRngDisp : 31|4@0+ (1,0) [0|15] "" XXX - SG_ DrvEffInd : 39|8@0- (0.78125,0) [-100|99.21875] "%" XXX - SG_ ESPShfToDrvTryAgnIO : 43|1@0+ (1,0) [0|1] "" XXX - SG_ ESPTrnVehOffFrPrkIO : 44|1@0+ (1,0) [0|1] "" XXX - SG_ ESPTrnsCtlrMalfIO : 45|1@0+ (1,0) [0|1] "" XXX - SG_ ElcShfPriTwoGrsSlInRq : 47|2@0+ (1,0) [0|3] "" XXX - -BO_ 2152153088 Right_Rear_Seat_Display_Stats_LS: 6 XXX - SG_ RRStCtlDispStat : 3|44@0+ (1,0) [0|0] "" XXX - SG_ RRSCDS_MassgTyp : 1|4@0+ (1,0) [0|15] "" XXX - SG_ RRSCDS_Massg : 3|2@0+ (1,0) [0|3] "" XXX - SG_ RRSCDS_HdrstFwdRrwd : 8|2@0+ (1,0) [0|3] "" XXX - SG_ RRSCDS_HdrstUpDn : 10|2@0+ (1,0) [0|3] "" XXX - SG_ RRSCDS_MassgIntsty : 13|3@0+ (1,0) [0|7] "" XXX - SG_ RRSCDS_HdrstTltFwdRr : 17|2@0+ (1,0) [0|3] "" XXX - SG_ RRSCDS_HdrstWngInOt : 19|2@0+ (1,0) [0|3] "" XXX - SG_ RRSCDS_HdrstFdRrUDn : 22|3@0+ (1,0) [0|7] "" XXX - SG_ RRSCDS_LmbrUDnFdRr : 25|3@0+ (1,0) [0|7] "" XXX - SG_ RRSCDS_LmbrFwdRr : 27|2@0+ (1,0) [0|3] "" XXX - SG_ RRSCDS_LmbrUpDwn : 29|2@0+ (1,0) [0|3] "" XXX - SG_ RRSCDS_UprShldrFdRr : 31|2@0+ (1,0) [0|3] "" XXX - SG_ RRSCDS_BkCshBlstInOt : 34|3@0+ (1,0) [0|7] "" XXX - SG_ RRSCDS_CshBlstrInOut : 36|2@0+ (1,0) [0|3] "" XXX - SG_ RRSCDS_BkBlstrInOut : 38|2@0+ (1,0) [0|3] "" XXX - SG_ RRSCDS_UnsdRsrvd : 42|3@0+ (1,0) [0|7] "" XXX - SG_ RRSCDS_DispReq : 43|1@0+ (1,0) [0|1] "" XXX - SG_ RRSCDS_DispSz : 45|2@0+ (1,0) [0|3] "" XXX - SG_ RRSCDS_CshLgAdjFdRr : 47|2@0+ (1,0) [0|3] "" XXX - -BO_ 2152136704 Right_Rear_Seat_Massage_LS: 8 XXX - SG_ RRStMassgPrty : 7|64@0+ (1,0) [0|0] "" XXX - SG_ RRSMP_Type2 : 3|4@0+ (1,0) [0|15] "" XXX - SG_ RRSMP_Type1 : 7|4@0+ (1,0) [0|15] "" XXX - SG_ RRSMP_Type4 : 11|4@0+ (1,0) [0|15] "" XXX - SG_ RRSMP_Type3 : 15|4@0+ (1,0) [0|15] "" XXX - SG_ RRSMP_Type6 : 19|4@0+ (1,0) [0|15] "" XXX - SG_ RRSMP_Type5 : 23|4@0+ (1,0) [0|15] "" XXX - SG_ RRSMP_Type8 : 27|4@0+ (1,0) [0|15] "" XXX - SG_ RRSMP_Type7 : 31|4@0+ (1,0) [0|15] "" XXX - SG_ RRSMP_Type10 : 35|4@0+ (1,0) [0|15] "" XXX - SG_ RRSMP_Type9 : 39|4@0+ (1,0) [0|15] "" XXX - SG_ RRSMP_Type12 : 43|4@0+ (1,0) [0|15] "" XXX - SG_ RRSMP_Type11 : 47|4@0+ (1,0) [0|15] "" XXX - SG_ RRSMP_Type14 : 51|4@0+ (1,0) [0|15] "" XXX - SG_ RRSMP_Type13 : 55|4@0+ (1,0) [0|15] "" XXX - SG_ RRSMP_UnsdRsrvd : 56|1@0+ (1,0) [0|1] "" XXX - SG_ RRSMP_MaxDispVal : 59|3@0+ (1,0) [0|7] "" XXX - SG_ RRSMP_Type15 : 63|4@0+ (1,0) [0|15] "" XXX - -BO_ 2152120320 Right_Rear_Seat_Actuator_LS: 8 XXX - SG_ RRStActPrty : 7|64@0+ (1,0) [0|0] "" XXX - SG_ RRSAP_HdrstUpDn : 3|4@0+ (1,0) [0|15] "" XXX - SG_ RRSAP_Massg : 7|4@0+ (1,0) [0|15] "" XXX - SG_ RRSAP_HdrstUpDnFdRr : 11|4@0+ (1,0) [0|15] "" XXX - SG_ RRSAP_HdrstFwdRrwd : 15|4@0+ (1,0) [0|15] "" XXX - SG_ RRSAP_HdrstTltFwdRr : 19|4@0+ (1,0) [0|15] "" XXX - SG_ RRSAP_HdrstWngsInOut : 23|4@0+ (1,0) [0|15] "" XXX - SG_ RRSAP_LmbrUpDwn : 27|4@0+ (1,0) [0|15] "" XXX - SG_ RRSAP_UprShldrFwdRr : 31|4@0+ (1,0) [0|15] "" XXX - SG_ RRSAP_LmbrUpDnFdRr : 35|4@0+ (1,0) [0|15] "" XXX - SG_ RRSAP_LmbrFwdRr : 39|4@0+ (1,0) [0|15] "" XXX - SG_ RRSAP_CshBlstrInOut : 43|4@0+ (1,0) [0|15] "" XXX - SG_ RRSAP_BkBlstrInOut : 47|4@0+ (1,0) [0|15] "" XXX - SG_ RRSAP_CshLgthAdjFdRr : 51|4@0+ (1,0) [0|15] "" XXX - SG_ RRSAP_BkCshBlstrInOut : 55|4@0+ (1,0) [0|15] "" XXX - SG_ RRSAP_UnsdRsrvd : 59|4@0+ (1,0) [0|15] "" XXX - SG_ RRSAP_DispSz : 63|4@0+ (1,0) [0|15] "" XXX - -BO_ 2152103936 Left_Rear_Seat_Display_Status_LS: 6 XXX - SG_ LRStCtlDispStat : 3|44@0+ (1,0) [0|0] "" XXX - SG_ LRSCDS_MassgTyp : 1|4@0+ (1,0) [0|15] "" XXX - SG_ LRSCDS_Massg : 3|2@0+ (1,0) [0|3] "" XXX - SG_ LRSCDS_HdrstFwdRrwd : 8|2@0+ (1,0) [0|3] "" XXX - SG_ LRSCDS_HdrstUpDn : 10|2@0+ (1,0) [0|3] "" XXX - SG_ LRSCDS_MassgIntsty : 13|3@0+ (1,0) [0|7] "" XXX - SG_ LRSCDS_HdrstTltFwdRr : 17|2@0+ (1,0) [0|3] "" XXX - SG_ LRSCDS_HdrstWngInOt : 19|2@0+ (1,0) [0|3] "" XXX - SG_ LRSCDS_HdrstFdRrUDn : 22|3@0+ (1,0) [0|7] "" XXX - SG_ LRSCDS_LmbrUDnFdRr : 25|3@0+ (1,0) [0|7] "" XXX - SG_ LRSCDS_LmbrFwdRr : 27|2@0+ (1,0) [0|3] "" XXX - SG_ LRSCDS_LmbrUpDwn : 29|2@0+ (1,0) [0|3] "" XXX - SG_ LRSCDS_UprShldrFdRr : 31|2@0+ (1,0) [0|3] "" XXX - SG_ LRSCDS_BkCshBlstInOt : 34|3@0+ (1,0) [0|7] "" XXX - SG_ LRSCDS_CshBlstrInOut : 36|2@0+ (1,0) [0|3] "" XXX - SG_ LRSCDS_BkBlstrInOut : 38|2@0+ (1,0) [0|3] "" XXX - SG_ LRSCDS_UnsdRsrvd : 42|3@0+ (1,0) [0|7] "" XXX - SG_ LRSCDS_DispReq : 43|1@0+ (1,0) [0|1] "" XXX - SG_ LRSCDS_DispSz : 45|2@0+ (1,0) [0|3] "" XXX - SG_ LRSCDS_CshLgAdjFdRr : 47|2@0+ (1,0) [0|3] "" XXX - -BO_ 2152087552 Left_Rear_Seat_Massage_LS: 8 XXX - SG_ LRStMassgPrty : 7|64@0+ (1,0) [0|0] "" XXX - SG_ LRSMP_Type2 : 3|4@0+ (1,0) [0|15] "" XXX - SG_ LRSMP_Type1 : 7|4@0+ (1,0) [0|15] "" XXX - SG_ LRSMP_Type4 : 11|4@0+ (1,0) [0|15] "" XXX - SG_ LRSMP_Type3 : 15|4@0+ (1,0) [0|15] "" XXX - SG_ LRSMP_Type6 : 19|4@0+ (1,0) [0|15] "" XXX - SG_ LRSMP_Type5 : 23|4@0+ (1,0) [0|15] "" XXX - SG_ LRSMP_Type8 : 27|4@0+ (1,0) [0|15] "" XXX - SG_ LRSMP_Type7 : 31|4@0+ (1,0) [0|15] "" XXX - SG_ LRSMP_Type10 : 35|4@0+ (1,0) [0|15] "" XXX - SG_ LRSMP_Type9 : 39|4@0+ (1,0) [0|15] "" XXX - SG_ LRSMP_Type12 : 43|4@0+ (1,0) [0|15] "" XXX - SG_ LRSMP_Type11 : 47|4@0+ (1,0) [0|15] "" XXX - SG_ LRSMP_Type14 : 51|4@0+ (1,0) [0|15] "" XXX - SG_ LRSMP_Type13 : 55|4@0+ (1,0) [0|15] "" XXX - SG_ LRSMP_UnsdRsrvd : 56|1@0+ (1,0) [0|1] "" XXX - SG_ LRSMP_MaxDispVal : 59|3@0+ (1,0) [0|7] "" XXX - SG_ LRSMP_Type15 : 63|4@0+ (1,0) [0|15] "" XXX - -BO_ 2152071168 Left_Rear_Seat_Actuator_LS: 8 XXX - SG_ LRStActPrty : 7|64@0+ (1,0) [0|0] "" XXX - SG_ LRSAP_HdrstUpDn : 3|4@0+ (1,0) [0|15] "" XXX - SG_ LRSAP_Massg : 7|4@0+ (1,0) [0|15] "" XXX - SG_ LRSAP_HdrstUpDnFdRr : 11|4@0+ (1,0) [0|15] "" XXX - SG_ LRSAP_HdrstFwdRrwd : 15|4@0+ (1,0) [0|15] "" XXX - SG_ LRSAP_HdrstTltFwdRr : 19|4@0+ (1,0) [0|15] "" XXX - SG_ LRSAP_HdrstWngsInOut : 23|4@0+ (1,0) [0|15] "" XXX - SG_ LRSAP_LmbrUpDwn : 27|4@0+ (1,0) [0|15] "" XXX - SG_ LRSAP_UprShldrFwdRr : 31|4@0+ (1,0) [0|15] "" XXX - SG_ LRSAP_LmbrUpDnFdRr : 35|4@0+ (1,0) [0|15] "" XXX - SG_ LRSAP_LmbrFwdRr : 39|4@0+ (1,0) [0|15] "" XXX - SG_ LRSAP_CshBlstrInOut : 43|4@0+ (1,0) [0|15] "" XXX - SG_ LRSAP_BkBlstrInOut : 47|4@0+ (1,0) [0|15] "" XXX - SG_ LRSAP_CshLgthAdjFdRr : 51|4@0+ (1,0) [0|15] "" XXX - SG_ LRSAP_BkCshBlstrInOut : 55|4@0+ (1,0) [0|15] "" XXX - SG_ LRSAP_UnsdRsrvd : 59|4@0+ (1,0) [0|15] "" XXX - SG_ LRSAP_DispSz : 63|4@0+ (1,0) [0|15] "" XXX - -BO_ 2153947136 Remote_Reflash_Stat_LS: 1 XXX - SG_ RmtRflshMdAct : 7|1@0+ (1,0) [0|1] "" XXX - -BO_ 2152628224 OnBoard_Tester_Response_LS: 2 XXX - SG_ OBTCResp : 2|11@0+ (1,0) [0|0] "" XXX - SG_ OBTCR_Stat : 2|3@0+ (1,0) [0|7] "" XXX - SG_ OBTCR_ReqstrID : 15|8@0+ (1,0) [0|255] "" XXX - SG_ OBTCMstrStat : 5|3@0+ (1,0) [0|7] "" XXX - -BO_ 2152112128 Performanc_Mode_Vis_Scrn_Stat_LS: 5 XXX - SG_ PerfMdVislztnScrnStat : 0|33@0+ (1,0) [0|0] "" XXX - SG_ PMVSS_Snd : 0|3@0+ (1,0) [0|7] "" XXX - SG_ PMVSS_Trans : 10|3@0+ (1,0) [0|7] "" XXX - SG_ PMVSS_Eng : 13|3@0+ (1,0) [0|7] "" XXX - SG_ PMVSS_Drvln : 17|3@0+ (1,0) [0|7] "" XXX - SG_ PMVSS_Susp : 20|3@0+ (1,0) [0|7] "" XXX - SG_ PMVSS_Strng : 23|3@0+ (1,0) [0|7] "" XXX - SG_ PMVSS_PsngrSeat : 24|3@0+ (1,0) [0|7] "" XXX - SG_ PMVSS_DrvrSeat : 27|3@0+ (1,0) [0|7] "" XXX - SG_ PMVSS_AdptCrsCnt : 30|3@0+ (1,0) [0|7] "" XXX - SG_ PMVSS_Disps : 34|3@0+ (1,0) [0|7] "" XXX - SG_ PMVSS_Exhst : 37|3@0+ (1,0) [0|7] "" XXX - SG_ PerfMdMainMenuType : 3|3@0+ (1,0) [0|7] "" XXX - -BO_ 2152775680 Front_360_Camera_On_LS: 3 XXX - SG_ DispFrt360CamOn : 0|1@0+ (1,0) [0|1] "" XXX - SG_ RrPedDetCstStAvl : 1|1@0+ (1,0) [0|1] "" XXX - SG_ RrPedDetCstStVal : 4|3@0+ (1,0) [0|7] "" XXX - SG_ RrPdDetHptcStVbRqSeqN : 6|2@0+ (1,0) [0|3] "" XXX - SG_ TrgdVidRecFetrPrsnt : 7|1@0+ (1,0) [0|1] "" XXX - SG_ RrPdDetHptcStVbRq : 13|6@0+ (1,0) [0|63] "Pulse" XXX - SG_ DispTrgdVidOn : 14|1@0+ (1,0) [0|1] "" XXX - SG_ a_360DegVidFetrPrsnt : 15|1@0+ (1,0) [0|1] "" XXX - SG_ DispSmrtTwVidOn : 16|1@0+ (1,0) [0|1] "" XXX - SG_ RrPedDetCstAvail : 23|7@0+ (1,0) [0|0] "" XXX - SG_ RPDCA_Resrv3Avail : 17|1@0+ (1,0) [0|1] "" XXX - SG_ RPDCA_Resrv2Avail : 18|1@0+ (1,0) [0|1] "" XXX - SG_ RPDCA_Resrv1Avail : 19|1@0+ (1,0) [0|1] "" XXX - SG_ RPDCA_AlrtBrkAvail : 20|1@0+ (1,0) [0|1] "" XXX - SG_ RPDCA_AlrtAvail : 21|1@0+ (1,0) [0|1] "" XXX - SG_ RPDCA_OnAvail : 22|1@0+ (1,0) [0|1] "" XXX - SG_ RPDCA_OfAvail : 23|1@0+ (1,0) [0|1] "" XXX - -BO_ 2153857024 Teen_Driver_Event_Report_2_LS: 8 XXX - SG_ TnDrvRptCrdAvlDspDat : 6|13@0+ (1,0) [0|0] "" XXX - SG_ TDRCADD_FCHdwyAlrt : 0|1@0+ (1,0) [0|1] "" XXX - SG_ TDRCADD_ABSAtvEvt : 1|1@0+ (1,0) [0|1] "" XXX - SG_ TDRCADD_StCtrlEvnts : 2|1@0+ (1,0) [0|1] "" XXX - SG_ TDRCADD_TrCtrlEvnts : 3|1@0+ (1,0) [0|1] "" XXX - SG_ TDRCADD_OvSpdEvnt : 4|1@0+ (1,0) [0|1] "" XXX - SG_ TDRCADD_DistDrvn : 5|1@0+ (1,0) [0|1] "" XXX - SG_ TDRCADD_MaxSpd : 6|1@0+ (1,0) [0|1] "" XXX - SG_ TDRCADD_LDWEvnts : 10|1@0+ (1,0) [0|1] "" XXX - SG_ TDRCADD_WOTEvnts : 11|1@0+ (1,0) [0|1] "" XXX - SG_ TDRCADD_DrwDrvAlrt : 12|1@0+ (1,0) [0|1] "" XXX - SG_ TDRCADD_FCMBrEvts : 13|1@0+ (1,0) [0|1] "" XXX - SG_ TDRCADD_RCMBrEvts : 14|1@0+ (1,0) [0|1] "" XXX - SG_ TDRCADD_FCImntAlrts : 15|1@0+ (1,0) [0|1] "" XXX - SG_ TeenDrvWOTEvntsRpt : 9|10@0+ (1,0) [0|1023] "counts" XXX - SG_ TnDrvABSAtvEvntsRpt : 31|10@0+ (1,0) [0|1023] "counts" XXX - SG_ TnDrvStblCtrlEvntsRpt : 37|10@0+ (1,0) [0|1023] "counts" XXX - SG_ TnDrvDrowDrvAlrtsRpt : 43|10@0+ (1,0) [0|1023] "counts" XXX - SG_ TnDrvTrCtrlEvntsRpt : 49|10@0+ (1,0) [0|1023] "counts" XXX - -BO_ 2153865216 Teen_Driver_Customization_Req_LS: 4 XXX - SG_ TeenDrvReq : 3|4@0+ (1,0) [0|15] "" XXX - SG_ TDOvSpdWrnCstStReq : 12|5@0+ (1,0) [0|0] "" XXX - SG_ TDOWCSR_DecSwAct : 8|1@0+ (1,0) [0|1] "" XXX - SG_ TDOWCSR_IncSwAct : 9|1@0+ (1,0) [0|1] "" XXX - SG_ TDOWCSR_StatReq : 12|3@0+ (1,0) [0|7] "" XXX - SG_ TnDrvSpdLmtCstStReq : 15|3@0+ (1,0) [0|7] "" XXX - SG_ TeenDrvPinCd : 23|16@0+ (1,0) [0|39321] "" XXX - -BO_ 2153840640 Teen_Driver_Event_Report_1_LS: 8 XXX - SG_ TDFwdClnHdwyAlrtsRpt : 5|10@0+ (1,0) [0|1023] "counts" XXX - SG_ TnDrvDRLOffUnbIO : 6|1@0+ (1,0) [0|1] "" XXX - SG_ TnDrvALCOffUnbIO : 7|1@0+ (1,0) [0|1] "" XXX - SG_ TDFwdClnImntAlrtsRpt : 11|10@0+ (1,0) [0|1023] "counts" XXX - SG_ TDFwdClnMtgnBrEvRpt : 17|10@0+ (1,0) [0|1023] "counts" XXX - SG_ TDRevClnMtgnBrEvRpt : 39|10@0+ (1,0) [0|1023] "counts" XXX - SG_ TeenDrvMaxSpdRpt : 45|12@0+ (0.0625,0) [0|255.9375] "km/h" XXX - SG_ TeenDrvLDWEvntsRpt : 49|10@0+ (1,0) [0|1023] "counts" XXX - -BO_ 2153824256 Teen_Driver_Control_Info_LS: 8 XXX - SG_ TnDrvSpdLmtCstCrStVl : 2|11@0+ (1,0) [0|0] "" XXX - SG_ TDSLCCSV_SpLmtStat : 2|3@0+ (1,0) [0|7] "" XXX - SG_ TDSLCCSV_SpLmDisVl : 15|8@0+ (2,0) [0|510] "km/h" XXX - SG_ TnDrvSpdLmtCstStAvl : 3|1@0+ (1,0) [0|1] "" XXX - SG_ TnDrvOvrSpdIO : 4|1@0+ (1,0) [0|1] "" XXX - SG_ TnDrvGapAdjUnbIO : 5|1@0+ (1,0) [0|1] "" XXX - SG_ TeenDrvPINStrd : 6|1@0+ (1,0) [0|1] "" XXX - SG_ TeenDrvFtrAvl : 7|1@0+ (1,0) [0|1] "" XXX - SG_ TDOvSpdWrnCstCrStVl : 22|15@0+ (1,0) [0|0] "" XXX - SG_ TDOWCCSV_CrStVl : 19|12@0+ (0.0625,0) [0|255.9375] "km/h" XXX - SG_ TDOWCCSV_CrStat : 22|3@0+ (1,0) [0|7] "" XXX - SG_ TDOvSpdWrnCstStAvl : 23|1@0+ (1,0) [0|1] "" XXX - SG_ TnDrvOvSpdEvntsRpt : 33|10@0+ (1,0) [0|1023] "counts" XXX - SG_ TeenDrvRsp : 37|4@0+ (1,0) [0|15] "" XXX - SG_ TeenDrvAct : 38|1@0+ (1,0) [0|1] "" XXX - SG_ TeenDrvAccelLimIO : 39|1@0+ (1,0) [0|1] "" XXX - SG_ TeenDrvDistDrvnRpt : 55|16@0+ (1,0) [0|65535] "km" XXX - -BO_ 2155151360 Psngr_Seat_Massage_Priority_LS: 8 XXX - SG_ PsngrStMassgPrty : 7|64@0+ (1,0) [0|0] "" XXX - SG_ PSMP_Type2 : 3|4@0+ (1,0) [0|15] "" XXX - SG_ PSMP_Type1 : 7|4@0+ (1,0) [0|15] "" XXX - SG_ PSMP_Type4 : 11|4@0+ (1,0) [0|15] "" XXX - SG_ PSMP_Type3 : 15|4@0+ (1,0) [0|15] "" XXX - SG_ PSMP_Type6 : 19|4@0+ (1,0) [0|15] "" XXX - SG_ PSMP_Type5 : 23|4@0+ (1,0) [0|15] "" XXX - SG_ PSMP_Type8 : 27|4@0+ (1,0) [0|15] "" XXX - SG_ PSMP_Type7 : 31|4@0+ (1,0) [0|15] "" XXX - SG_ PSMP_Type10 : 35|4@0+ (1,0) [0|15] "" XXX - SG_ PSMP_Type9 : 39|4@0+ (1,0) [0|15] "" XXX - SG_ PSMP_Type12 : 43|4@0+ (1,0) [0|15] "" XXX - SG_ PSMP_Type11 : 47|4@0+ (1,0) [0|15] "" XXX - SG_ PSMP_Type14 : 51|4@0+ (1,0) [0|15] "" XXX - SG_ PSMP_Type13 : 55|4@0+ (1,0) [0|15] "" XXX - SG_ PSMP_UnsdRsrvd : 56|1@0+ (1,0) [0|1] "" XXX - SG_ PSMP_MaxDispVal : 59|3@0+ (1,0) [0|7] "" XXX - SG_ PSMP_Type15 : 63|4@0+ (1,0) [0|15] "" XXX - -BO_ 2155134976 Psngr_Seat_Control_Disp_Stat_LS: 6 XXX - SG_ PsngrStCtlDispStat : 3|44@0+ (1,0) [0|0] "" XXX - SG_ PSCDS_MassgTyp : 1|4@0+ (1,0) [0|15] "" XXX - SG_ PSCDS_Massg : 3|2@0+ (1,0) [0|3] "" XXX - SG_ PSCDS_HdrstFwdRrwd : 8|2@0+ (1,0) [0|3] "" XXX - SG_ PSCDS_HdrstUpDn : 10|2@0+ (1,0) [0|3] "" XXX - SG_ PSCDS_MassgIntsty : 13|3@0+ (1,0) [0|7] "" XXX - SG_ PSCDS_HdrstTltFwdRr : 17|2@0+ (1,0) [0|3] "" XXX - SG_ PSCDS_HdrstWngInOt : 19|2@0+ (1,0) [0|3] "" XXX - SG_ PSCDS_HdrstUDnFdRr : 22|3@0+ (1,0) [0|7] "" XXX - SG_ PSCDS_LmbrUDnFdRr : 25|3@0+ (1,0) [0|7] "" XXX - SG_ PSCDS_LmbrFwdRr : 27|2@0+ (1,0) [0|3] "" XXX - SG_ PSCDS_LmbrUpDwn : 29|2@0+ (1,0) [0|3] "" XXX - SG_ PSCDS_UprShldrFdRr : 31|2@0+ (1,0) [0|3] "" XXX - SG_ PSCDS_BkCshBlstInOt : 34|3@0+ (1,0) [0|7] "" XXX - SG_ PSCDS_CshBlstrInOut : 36|2@0+ (1,0) [0|3] "" XXX - SG_ PSCDS_BkBlstrInOut : 38|2@0+ (1,0) [0|3] "" XXX - SG_ PSCDS_UnsdRsrvd : 42|3@0+ (1,0) [0|7] "" XXX - SG_ PSCDS_DispReq : 43|1@0+ (1,0) [0|1] "" XXX - SG_ PSCDS_DispSz : 45|2@0+ (1,0) [0|3] "" XXX - SG_ PSCDS_CshLgAdjFdRr : 47|2@0+ (1,0) [0|3] "" XXX - SG_ PsngrSetRrwdMvmnt : 6|3@0+ (1,0) [0|7] "" XXX - -BO_ 2155118592 Psngr_Seat_Actuator_Priority_LS: 8 XXX - SG_ PsngrStActPrty : 7|64@0+ (1,0) [0|0] "" XXX - SG_ PSAP_HdrstUpDn : 3|4@0+ (1,0) [0|15] "" XXX - SG_ PSAP_Massg : 7|4@0+ (1,0) [0|15] "" XXX - SG_ PSAP_HdrstUpDnFdRr : 11|4@0+ (1,0) [0|15] "" XXX - SG_ PSAP_HdrstFwdRrwd : 15|4@0+ (1,0) [0|15] "" XXX - SG_ PSAP_HdrstTltFwdRr : 19|4@0+ (1,0) [0|15] "" XXX - SG_ PSAP_HdrstWngsInOut : 23|4@0+ (1,0) [0|15] "" XXX - SG_ PSAP_LmbrUpDwn : 27|4@0+ (1,0) [0|15] "" XXX - SG_ PSAP_UprShldrFwdRr : 31|4@0+ (1,0) [0|15] "" XXX - SG_ PSAP_LmbrUpDnFdRr : 35|4@0+ (1,0) [0|15] "" XXX - SG_ PSAP_LmbrFwdRr : 39|4@0+ (1,0) [0|15] "" XXX - SG_ PSAP_CshBlstrInOut : 43|4@0+ (1,0) [0|15] "" XXX - SG_ PSAP_BkBlstrInOut : 47|4@0+ (1,0) [0|15] "" XXX - SG_ PSAP_CshLgthAdjFdRr : 51|4@0+ (1,0) [0|15] "" XXX - SG_ PSAP_BkCshBlstrInOut : 55|4@0+ (1,0) [0|15] "" XXX - SG_ PSAP_UnsdRsrvd : 59|4@0+ (1,0) [0|15] "" XXX - SG_ PSAP_DispSz : 63|4@0+ (1,0) [0|15] "" XXX - -BO_ 2155102208 Driver_Seat_Massage_Priority_LS: 8 XXX - SG_ DrvStMassgPrty : 7|64@0+ (1,0) [0|0] "" XXX - SG_ DSMP_Type2 : 3|4@0+ (1,0) [0|15] "" XXX - SG_ DSMP_Type1 : 7|4@0+ (1,0) [0|15] "" XXX - SG_ DSMP_Type4 : 11|4@0+ (1,0) [0|15] "" XXX - SG_ DSMP_Type3 : 15|4@0+ (1,0) [0|15] "" XXX - SG_ DSMP_Type6 : 19|4@0+ (1,0) [0|15] "" XXX - SG_ DSMP_Type5 : 23|4@0+ (1,0) [0|15] "" XXX - SG_ DSMP_Type8 : 27|4@0+ (1,0) [0|15] "" XXX - SG_ DSMP_Type7 : 31|4@0+ (1,0) [0|15] "" XXX - SG_ DSMP_Type10 : 35|4@0+ (1,0) [0|15] "" XXX - SG_ DSMP_Type9 : 39|4@0+ (1,0) [0|15] "" XXX - SG_ DSMP_Type12 : 43|4@0+ (1,0) [0|15] "" XXX - SG_ DSMP_Type11 : 47|4@0+ (1,0) [0|15] "" XXX - SG_ DSMP_Type14 : 51|4@0+ (1,0) [0|15] "" XXX - SG_ DSMP_Type13 : 55|4@0+ (1,0) [0|15] "" XXX - SG_ DSMP_UnsdRsrvd : 56|1@0+ (1,0) [0|1] "" XXX - SG_ DSMP_MaxDispVal : 59|3@0+ (1,0) [0|7] "" XXX - SG_ DSMP_Type15 : 63|4@0+ (1,0) [0|15] "" XXX - -BO_ 2155085824 Driver_Seat_Control_Disp_Stat_LS: 8 XXX - SG_ DrvStCtlDispStat : 3|44@0+ (1,0) [0|0] "" XXX - SG_ DSCDS_MassgTyp : 1|4@0+ (1,0) [0|15] "" XXX - SG_ DSCDS_Massg : 3|2@0+ (1,0) [0|3] "" XXX - SG_ DSCDS_HdrstFwdRrwd : 8|2@0+ (1,0) [0|3] "" XXX - SG_ DSCDS_HdrstUpDn : 10|2@0+ (1,0) [0|3] "" XXX - SG_ DSCDS_MassgIntsty : 13|3@0+ (1,0) [0|7] "" XXX - SG_ DSCDS_HdrstTltFwdRr : 17|2@0+ (1,0) [0|3] "" XXX - SG_ DSCDS_HdrstWngInOt : 19|2@0+ (1,0) [0|3] "" XXX - SG_ DSCDS_HdrstUDnFdRr : 22|3@0+ (1,0) [0|7] "" XXX - SG_ DSCDS_LmbrUDnFdRr : 25|3@0+ (1,0) [0|7] "" XXX - SG_ DSCDS_LmbrFwdRr : 27|2@0+ (1,0) [0|3] "" XXX - SG_ DSCDS_LmbrUpDwn : 29|2@0+ (1,0) [0|3] "" XXX - SG_ DSCDS_UprShldrFdRr : 31|2@0+ (1,0) [0|3] "" XXX - SG_ DSCDS_BkCshBlstInOt : 34|3@0+ (1,0) [0|7] "" XXX - SG_ DSCDS_CshBlstrInOut : 36|2@0+ (1,0) [0|3] "" XXX - SG_ DSCDS_BkBlstrInOut : 38|2@0+ (1,0) [0|3] "" XXX - SG_ DSCDS_UnsdRsrvd : 42|3@0+ (1,0) [0|7] "" XXX - SG_ DSCDS_DispReq : 43|1@0+ (1,0) [0|1] "" XXX - SG_ DSCDS_DispSz : 45|2@0+ (1,0) [0|3] "" XXX - SG_ DSCDS_CshLgAdjFdRr : 47|2@0+ (1,0) [0|3] "" XXX - SG_ CPMAPINFO4 : 5|1@0+ (1,0) [0|1] "" XXX - SG_ StrgColCommsFlt : 7|2@0+ (1,0) [0|3] "" XXX - SG_ StrgColInOutPos : 55|8@0+ (1,0) [0|255] "" XXX - SG_ StrgColUpDwnPos : 63|8@0+ (1,0) [0|255] "" XXX - -BO_ 2155069440 Driver_Seat_Actuator_Priority_LS: 8 XXX - SG_ DrvStActPrty : 7|64@0+ (1,0) [0|0] "" XXX - SG_ DSAP_HdrstUpDn : 3|4@0+ (1,0) [0|15] "" XXX - SG_ DSAP_Massg : 7|4@0+ (1,0) [0|15] "" XXX - SG_ DSAP_HdrstUpDnFdRr : 11|4@0+ (1,0) [0|15] "" XXX - SG_ DSAP_HdrstFwdRrwd : 15|4@0+ (1,0) [0|15] "" XXX - SG_ DSAP_HdrstTltFwdRr : 19|4@0+ (1,0) [0|15] "" XXX - SG_ DSAP_HdrstWngsInOut : 23|4@0+ (1,0) [0|15] "" XXX - SG_ DSAP_LmbrUpDwn : 27|4@0+ (1,0) [0|15] "" XXX - SG_ DSAP_UprShldrFwdRr : 31|4@0+ (1,0) [0|15] "" XXX - SG_ DSAP_LmbrUpDnFdRr : 35|4@0+ (1,0) [0|15] "" XXX - SG_ DSAP_LmbrFwdRr : 39|4@0+ (1,0) [0|15] "" XXX - SG_ DSAP_CshBlstrInOut : 43|4@0+ (1,0) [0|15] "" XXX - SG_ DSAP_BkBlstrInOut : 47|4@0+ (1,0) [0|15] "" XXX - SG_ DSAP_CshLgthAdjFdRr : 51|4@0+ (1,0) [0|15] "" XXX - SG_ DSAP_BkCshBlstrInOut : 55|4@0+ (1,0) [0|15] "" XXX - SG_ DSAP_UnsdRsrvd : 59|4@0+ (1,0) [0|15] "" XXX - SG_ DSAP_DispSz : 63|4@0+ (1,0) [0|15] "" XXX - -BO_ 2156937216 PassPhrase_Digits_17_to_24_LS: 8 XXX - SG_ WiFiPssPhrsDgts17to24 : 7|64@0+ (1,0) [0|0] "" XXX - -BO_ 2156929024 PassPhrase_Digits_9_to_16_LS: 8 XXX - SG_ WiFiPssPhrsDgts9to16 : 7|64@0+ (1,0) [0|0] "" XXX - -BO_ 2156920832 PassPhrase_Digits_1_to_8_LS: 8 XXX - SG_ WiFiPssPhrsDgts1to8 : 7|64@0+ (1,0) [0|0] "" XXX - -BO_ 2156871680 SSID_Digits_17_to_24_LS: 8 XXX - SG_ WiFiSSIDDgts17to24 : 7|64@0+ (1,0) [0|0] "" XXX - -BO_ 2156863488 SSID_Digits_9_to_16_LS: 8 XXX - SG_ WiFiSSIDDgts9to16 : 7|64@0+ (1,0) [0|0] "" XXX - -BO_ 2156855296 SSID_Digits_1_to_8_LS: 8 XXX - SG_ WiFiSSIDDgts1to8 : 7|64@0+ (1,0) [0|0] "" XXX - -BO_ 2152480768 Perfr_Data_Recorder_Lap_Info_LS: 6 XXX - SG_ PerfDatRecBstLpInfo : 2|19@0+ (1,0) [0|0] "" XXX - SG_ PDRBLI_BstLpTmMins : 2|6@0+ (1,0) [0|63] "min" XXX - SG_ PDRBLI_BstLpTmSecs : 12|6@0+ (1,0) [0|63] "sec" XXX - SG_ PDRBLI_BstLpTm100s : 22|7@0+ (0.01,0) [0|1.27] "sec" XXX - SG_ PerfDatRecLstLpInfo : 26|19@0+ (1,0) [0|0] "" XXX - SG_ PDRLLI_LstLpTmMins : 26|6@0+ (1,0) [0|63] "min" XXX - SG_ PDRLLI_LstLpTmSecs : 36|6@0+ (1,0) [0|63] "sec" XXX - SG_ PDRLLI_LstLpTm100s : 46|7@0+ (0.01,0) [0|1.27] "sec" XXX - -BO_ 2152497152 Perf_Data_Recroder_RT_Info_LS: 4 XXX - SG_ PerfDatRecRltmInfo : 1|26@0+ (1,0) [0|0] "" XXX - SG_ PDRRI_CrLpTmMins : 1|6@0+ (1,0) [0|63] "min" XXX - SG_ PDRRI_CrLpTmSecs : 11|6@0+ (1,0) [0|63] "" XXX - SG_ PDRRI_LpDiffTmSecs : 17|6@0+ (1,0) [0|63] "sec" XXX - SG_ PDRRI_CrLpTm10sSec : 21|4@0+ (0.1,0) [0|1.5] "sec" XXX - SG_ PDRRI_LpDiffTm10s : 27|4@0+ (0.1,0) [0|1.5] "sec" XXX - -BO_ 2153791488 ARB_State_LS: 1 XXX - SG_ ArtcldRngBrdSt : 2|3@0+ (1,0) [0|7] "" XXX - -BO_ 2149883904 BluetoothTetheringPairingRsp_LS: 7 XXX - SG_ BTTethrngPrngRsp : 4|53@0+ (1,0) [0|0] "" XXX - SG_ BTPR_RspInfoAvail : 0|1@0+ (1,0) [0|1] "" XXX - SG_ BTPR_RspStat : 4|4@0+ (1,0) [0|15] "" XXX - SG_ BTPR_RspVal : 15|48@0+ (1,0) [0|281474976710655] "" XXX - -BO_ 2150252544 HMI_EngyConsmpHistGrph_LS: 8 XXX - SG_ EngyConsmpHistGrph : 7|64@0+ (1,0) [0|0] "" XXX - SG_ ECHG_EngyCnsmdAvg : 4|5@0+ (1,0) [0|31] "" XXX - SG_ ECHG_MeasUnit : 7|3@0+ (1,0) [0|7] "" XXX - SG_ ECHG_Column02 : 10|5@0+ (1,0) [0|31] "" XXX - SG_ ECHG_Column01 : 15|5@0+ (1,0) [0|31] "" XXX - SG_ ECHG_Column04 : 16|5@0+ (1,0) [0|31] "" XXX - SG_ ECHG_Column03 : 21|5@0+ (1,0) [0|31] "" XXX - SG_ ECHG_Column05 : 27|5@0+ (1,0) [0|31] "" XXX - SG_ ECHG_Column07 : 33|5@0+ (1,0) [0|31] "" XXX - SG_ ECHG_Column06 : 38|5@0+ (1,0) [0|31] "" XXX - SG_ ECHG_Column08 : 44|5@0+ (1,0) [0|31] "" XXX - SG_ ECHG_Column10 : 50|5@0+ (1,0) [0|31] "" XXX - SG_ ECHG_Column09 : 55|5@0+ (1,0) [0|31] "" XXX - SG_ ECHG_YAxisMaxVal : 58|3@0+ (1,0) [0|7] "" XXX - SG_ ECHG_XAxisTkMrkIntvl : 61|3@0+ (1,0) [0|7] "" XXX - -BO_ 2150391808 HMI_Hourmeter_Data_LS: 6 XXX - SG_ EngIdlAtvTm : 7|24@0+ (1,0) [0|16777215] "min" XXX - SG_ EngRunAtvTm : 31|24@0+ (1,0) [0|16777215] "min" XXX - -BO_ 2155913216 Diesel_Information_2_LS: 7 XXX - SG_ DslExhFldRmngDstHRsGroup : 7|16@0+ (1,0) [0|0] "" XXX - SG_ DslExhFldRmngDstHRs : 6|15@0+ (2,0) [0|65534] "km" XXX - SG_ DslExhFldRmngDstHRsV : 7|1@0+ (1,0) [0|1] "" XXX - SG_ DslExhFluidLvlPrcntGroup : 16|9@0+ (1,0) [0|0] "" XXX - SG_ DslExhFluidLvlPrcntV : 16|1@0+ (1,0) [0|1] "" XXX - SG_ DslExhFluidLvlPrcnt : 31|8@0+ (0.392157,0) [0|100.000035] "%" XXX - SG_ DslEmnsOBDMrkt : 18|2@0+ (1,0) [0|3] "" XXX - SG_ PedFrndlyAlrtCsCrStVal : 21|3@0+ (1,0) [0|7] "" XXX - SG_ PedFrndlyAlrtCsSetAvl : 22|1@0+ (1,0) [0|1] "" XXX - SG_ PedFrndlyAlrtStat : 39|24@0+ (1,0) [0|0] "" XXX - SG_ PFAS_PFACrsOvrSpd : 34|8@0+ (1,0) [0|255] "km/h" XXX - SG_ PFAS_PFARevSnd : 36|2@0+ (1,0) [0|3] "" XXX - SG_ PFAS_PFAFwdSnd : 38|2@0+ (1,0) [0|3] "" XXX - SG_ PFAS_PFASndGenEn : 39|1@0+ (1,0) [0|1] "" XXX - SG_ PFAS_PFASndVolCtrl : 42|8@0+ (0.392157,0) [0|100.000035] "%" XXX - SG_ PFAS_SrvPedAlrtIO : 48|1@0+ (1,0) [0|1] "" XXX - SG_ PFAS_PFASysStat : 50|2@0+ (1,0) [0|3] "" XXX - -BO_ 2034 CCP_Data_Transmission_Object_LS: 8 XXX - SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" XXX - -BO_ 2032 CCP_Command_Receive_Object_LS: 8 XXX - SG_ DgnInf : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" XXX - -BO_ 2152095744 HSGMLAN_Customization_Setings_LS: 5 XXX - SG_ DrvlnPerfMdCustAvl : 5|6@0+ (1,0) [0|0] "" XXX - SG_ DPMCA_DrvlPrfMd6Avl : 0|1@0+ (1,0) [0|1] "" XXX - SG_ DPMCA_DrvlPrfMd5Avl : 1|1@0+ (1,0) [0|1] "" XXX - SG_ DPMCA_DrvlPrfMd4Avl : 2|1@0+ (1,0) [0|1] "" XXX - SG_ DPMCA_DrvlPrfMd3Avl : 3|1@0+ (1,0) [0|1] "" XXX - SG_ DPMCA_DrvlPrfMd2Avl : 4|1@0+ (1,0) [0|1] "" XXX - SG_ DPMCA_DrvlPrfMd1Avl : 5|1@0+ (1,0) [0|1] "" XXX - SG_ DispPerfCustMdAvl : 13|6@0+ (1,0) [0|0] "" XXX - SG_ DPMCA_DispPrfMd6Avl : 8|1@0+ (1,0) [0|1] "" XXX - SG_ DPMCA_DispPrfMd5Avl : 9|1@0+ (1,0) [0|1] "" XXX - SG_ DPMCA_DispPrfMd4Avl : 10|1@0+ (1,0) [0|1] "" XXX - SG_ DPMCA_DispPrfMd3Avl : 11|1@0+ (1,0) [0|1] "" XXX - SG_ DPMCA_DispPrfMd2Avl : 12|1@0+ (1,0) [0|1] "" XXX - SG_ DPMCA_DispPrfMd1Avl : 13|1@0+ (1,0) [0|1] "" XXX - SG_ SndPerfMdCustAvl : 21|6@0+ (1,0) [0|0] "" XXX - SG_ SPMCA_SndPrfMd6Avl : 16|1@0+ (1,0) [0|1] "" XXX - SG_ SPMCA_SndPrfMd5Avl : 17|1@0+ (1,0) [0|1] "" XXX - SG_ SPMCA_SndPrfMd4Avl : 18|1@0+ (1,0) [0|1] "" XXX - SG_ SPMCA_SndPrfMd3Avl : 19|1@0+ (1,0) [0|1] "" XXX - SG_ SPMCA_SndPrfMd2Avl : 20|1@0+ (1,0) [0|1] "" XXX - SG_ SPMCA_SndPrfMd1Avl : 21|1@0+ (1,0) [0|1] "" XXX - SG_ StrPerfMdCustAvl : 29|6@0+ (1,0) [0|0] "" XXX - SG_ SPMCA_StrPrfMd6Avl : 24|1@0+ (1,0) [0|1] "" XXX - SG_ SPMCA_StrPrfMd5Avl : 25|1@0+ (1,0) [0|1] "" XXX - SG_ SPMCA_StrPrfMd4Avl : 26|1@0+ (1,0) [0|1] "" XXX - SG_ SPMCA_StrPrfMd3Avl : 27|1@0+ (1,0) [0|1] "" XXX - SG_ SPMCA_StrPrfMd2Avl : 28|1@0+ (1,0) [0|1] "" XXX - SG_ SPMCA_StrPrfMd1Avl : 29|1@0+ (1,0) [0|1] "" XXX - SG_ SusPerfMdCustAvl : 37|6@0+ (1,0) [0|0] "" XXX - SG_ SPMCA_SusPrfMd6Avl : 32|1@0+ (1,0) [0|1] "" XXX - SG_ SPMCA_SusPrfMd5Avl : 33|1@0+ (1,0) [0|1] "" XXX - SG_ SPMCA_SusPrfMd4Avl : 34|1@0+ (1,0) [0|1] "" XXX - SG_ SPMCA_SusPrfMd3Avl : 35|1@0+ (1,0) [0|1] "" XXX - SG_ SPMCA_SusPrfMd2Avl : 36|1@0+ (1,0) [0|1] "" XXX - SG_ SPMCA_SusPrfMd1Avl : 37|1@0+ (1,0) [0|1] "" XXX - -BO_ 2156945408 SSID_AMM_1_LS: 8 XXX - SG_ WiFiSSIDDgts1to8_Mp : 7|64@0+ (1,0) [0|0] "" XXX - -BO_ 2152611840 OnBoard_Tester_Request_LS: 2 XXX - SG_ OBTCReq : 4|5@0+ (1,0) [0|0] "" XXX - SG_ OBTCR_Prty : 3|4@0+ (1,0) [0|15] "" XXX - SG_ OBTCR_Actv : 4|1@0+ (1,0) [0|1] "" XXX - SG_ OBTCReqstrStat : 7|3@0+ (1,0) [0|7] "" XXX - SG_ OBTCReqstrID : 15|8@0+ (1,0) [0|255] "" XXX - -BO_ 2153308160 Hyb_Redundant_Batt_Data2_LS: 4 XXX - SG_ RdHVltBatPckCrntGroup : 6|15@0+ (1,0) [0|0] "" XXX - SG_ RdHVltBatPckCrnt : 4|13@0- (0.15,0) [-614.4|614.25] "A" XXX - SG_ RdHVltBatPckCrntV : 5|1@0+ (1,0) [0|1] "" XXX - SG_ RdHVltBatPckCrntM : 6|1@0+ (1,0) [0|1] "" XXX - SG_ RdHVltBatPckVltGroup : 21|14@0+ (1,0) [0|0] "" XXX - SG_ RdHVltBatPckVlt : 19|12@0+ (0.125,0) [0|511.875] "V" XXX - SG_ RdHVltBatPckVltV : 20|1@0+ (1,0) [0|1] "" XXX - SG_ RdHVltBatPckVltM : 21|1@0+ (1,0) [0|1] "" XXX - -BO_ 2155970560 HVAC_PowerManager_Status_LS: 1 XXX - SG_ ClmCntLdShdLvlRq : 3|4@0+ (1,0) [0|15] "" XXX - SG_ ClmCntBatSaverIO : 5|1@0+ (1,0) [0|1] "" XXX - -BO_ 2151178240 Lighting_Customization_Rqst_1_LS: 4 XXX - SG_ LtRtHnTrGPSCstStRq : 2|3@0+ (1,0) [0|7] "" XXX - SG_ LtRtHnTrCstStReq : 5|3@0+ (1,0) [0|7] "" XXX - SG_ AutHgBmAsSnCsStRq : 10|3@0+ (1,0) [0|7] "" XXX - SG_ AutHgBmAstCstStRq : 13|3@0+ (1,0) [0|7] "" XXX - SG_ AdpHgBmAsSnCsStRq : 18|3@0+ (1,0) [0|7] "" XXX - SG_ AdpHgBmAstCstStRq : 21|3@0+ (1,0) [0|7] "" XXX - SG_ AFLGPSCstStReq : 26|3@0+ (1,0) [0|7] "" XXX - SG_ AFLCstStReq : 29|3@0+ (1,0) [0|7] "" XXX - -BO_ 2154790912 Lighting_Customization_Info_2_LS: 2 XXX - SG_ AutHgBmAsCsCrStVal : 2|3@0+ (1,0) [0|7] "" XXX - SG_ AutHgBmAsSnCsCrStVa : 5|3@0+ (1,0) [0|7] "" XXX - SG_ AutHgBmAsCsStAvl : 6|1@0+ (1,0) [0|1] "" XXX - SG_ AutHgBmAsSnCsStAvl : 7|1@0+ (1,0) [0|1] "" XXX - SG_ AdpHgBmAsCsCrStVal : 10|3@0+ (1,0) [0|7] "" XXX - SG_ AdpHgBmAsSnCsCrStVal : 13|3@0+ (1,0) [0|7] "" XXX - SG_ AdpHgBmAsCsStAvl : 14|1@0+ (1,0) [0|1] "" XXX - SG_ AdpHgBmAsSnCsStAvl : 15|1@0+ (1,0) [0|1] "" XXX - -BO_ 2151292928 V2V_Customization_Menu_LS: 5 XXX - SG_ TrfRdsdInfCsStAvail : 0|1@0+ (1,0) [0|1] "" XXX - SG_ CntdVehBrkAltCsStAvl : 1|1@0+ (1,0) [0|1] "" XXX - SG_ IntrStopAlrtCsSetAvl : 2|1@0+ (1,0) [0|1] "" XXX - SG_ IntrStAlrtCsCrSetVal : 5|3@0+ (1,0) [0|7] "" XXX - SG_ TrfRdsdInfCsCrStVal : 10|3@0+ (1,0) [0|7] "" XXX - SG_ CntdVehBrAltCsCrStVal : 13|3@0+ (1,0) [0|7] "" XXX - SG_ IntrStAlrtCsAvail : 22|7@0+ (1,0) [0|0] "" XXX - SG_ ISACA_Resrv4Avail : 16|1@0+ (1,0) [0|1] "" XXX - SG_ ISACA_Resrv3Avail : 17|1@0+ (1,0) [0|1] "" XXX - SG_ ISACA_Resrv2Avail : 18|1@0+ (1,0) [0|1] "" XXX - SG_ ISACA_Resrv1Avail : 19|1@0+ (1,0) [0|1] "" XXX - SG_ ISACA_AlrtBrkAvail : 20|1@0+ (1,0) [0|1] "" XXX - SG_ ISACA_AlrtAvail : 21|1@0+ (1,0) [0|1] "" XXX - SG_ ISACA_OfAvail : 22|1@0+ (1,0) [0|1] "" XXX - SG_ CntdVehBrkAlrtCsAvail : 30|7@0+ (1,0) [0|0] "" XXX - SG_ CVBACA_Resrv5Avail : 24|1@0+ (1,0) [0|1] "" XXX - SG_ CVBACA_Resrv4Avail : 25|1@0+ (1,0) [0|1] "" XXX - SG_ CVBACA_Resrv3Avail : 26|1@0+ (1,0) [0|1] "" XXX - SG_ CVBACA_Resrv2Avail : 27|1@0+ (1,0) [0|1] "" XXX - SG_ CVBACA_Resrv1Avail : 28|1@0+ (1,0) [0|1] "" XXX - SG_ CVBACA_OnAvail : 29|1@0+ (1,0) [0|1] "" XXX - SG_ CVBACA_OfAvail : 30|1@0+ (1,0) [0|1] "" XXX - SG_ TrfRdsdInfCsAvail : 38|7@0+ (1,0) [0|0] "" XXX - SG_ TRICA_Resrv5Avail : 32|1@0+ (1,0) [0|1] "" XXX - SG_ TRICA_Resrv4Avail : 33|1@0+ (1,0) [0|1] "" XXX - SG_ TRICA_Resrv3Avail : 34|1@0+ (1,0) [0|1] "" XXX - SG_ TRICA_Resrv2Avail : 35|1@0+ (1,0) [0|1] "" XXX - SG_ TRICA_Resrv1Avail : 36|1@0+ (1,0) [0|1] "" XXX - SG_ TRICA_OnAvail : 37|1@0+ (1,0) [0|1] "" XXX - SG_ TRICA_OfAvail : 38|1@0+ (1,0) [0|1] "" XXX - -BO_ 2151464960 V2V_Warnings_LS: 5 XXX - SG_ V2VWrngIndReq : 4|5@0+ (1,0) [0|31] "" XXX - SG_ V2VWrngDirctn : 7|3@0+ (1,0) [0|7] "" XXX - SG_ V2VWrngDistRemng : 9|10@0+ (1,0) [0|1023] "" XXX - SG_ V2VTrfLghtInfo : 28|13@0+ (1,0) [0|0] "" XXX - SG_ V2VTLI_TrfLghtTmPhsSw : 28|6@0+ (1,0) [0|63] "" XXX - SG_ V2VTLI_TrfLghtMntngDirctn : 32|1@0+ (1,0) [0|1] "" XXX - SG_ V2VTLI_TrfLghtValDirctn : 34|2@0+ (1,0) [0|3] "" XXX - SG_ V2VTLI_TrfLghtPhsArivl : 36|2@0+ (1,0) [0|3] "" XXX - SG_ V2VTLI_TrfLghtActlPhs : 38|2@0+ (1,0) [0|3] "" XXX - SG_ V2VSrvIndReq : 30|2@0+ (1,0) [0|3] "" XXX - -BO_ 2151448576 V2V_Seat_Vib_Request_LS: 3 XXX - SG_ V2VSysHptcStVibReq : 5|6@0+ (1,0) [0|63] "" XXX - SG_ V2VSysHptStVibRqSN : 7|2@0+ (1,0) [0|3] "" XXX - SG_ V2VSyLftHptStVbRq : 13|6@0+ (1,0) [0|63] "" XXX - SG_ V2VSyLftHptStVbRqSN : 15|2@0+ (1,0) [0|3] "" XXX - SG_ V2VSyRghtHptStVbRq : 21|6@0+ (1,0) [0|63] "" XXX - SG_ V2VSyRghtHptStVbRqSN : 23|2@0+ (1,0) [0|3] "" XXX - -BO_ 2153930752 Lane_Centering_Convenience_LS: 3 XXX - SG_ LCWrnIndReq : 4|5@0+ (1,0) [0|31] "" XXX - SG_ LCCDrvrAwrnsIO : 5|1@0+ (1,0) [0|1] "" XXX - SG_ LnCntrVhlStpd : 6|1@0+ (1,0) [0|1] "" XXX - SG_ LnCntrNonRspDrvrCnd : 7|1@0+ (1,0) [0|1] "" XXX - SG_ LCConvMsgIndreq : 12|5@0+ (1,0) [0|31] "" XXX - SG_ LCCIndReq : 15|3@0+ (1,0) [0|7] "" XXX - SG_ LnCntrEsclnStat : 17|2@0+ (1,0) [0|3] "" XXX - SG_ LnCntrSpchPrmtReq : 19|2@0+ (1,0) [0|3] "" XXX - SG_ LnCntrngCtlIcnLoctn : 23|4@0- (1,0) [-8|7] "" XXX - -BO_ 2153889792 Lane_Centering_Arrow_LS: 5 XXX - SG_ LCArrwBlk1Act : 0|1@0+ (1,0) [0|1] "" XXX - SG_ LCArrwBlk2Act : 1|1@0+ (1,0) [0|1] "" XXX - SG_ LCArrwBlk3Act : 2|1@0+ (1,0) [0|1] "" XXX - SG_ LCArrwBlk4Act : 3|1@0+ (1,0) [0|1] "" XXX - SG_ LCArrwBlk5Act : 4|1@0+ (1,0) [0|1] "" XXX - SG_ LCArrwBlk2Offst : 15|8@0- (1,0) [-128|127] "" XXX - SG_ LCArrwBlk3Offst : 23|8@0- (1,0) [-128|127] "" XXX - SG_ LCArrwBlk4Offst : 31|8@0- (1,0) [-128|127] "" XXX - SG_ LCArrwBlk5Offst : 39|8@0- (1,0) [-128|127] "" XXX - -BO_ 2153914368 Energy_Usage_LS: 7 XXX - SG_ EngyUsgScrScal : 7|56@0+ (1,0) [0|0] "" XXX - SG_ EUSS_OTEgUgScrMxScVal : 0|7@0- (0.1,0) [-5|5] "" XXX - SG_ EUSS_OTEgUgScrMnScVal : 7|7@0- (0.1,0) [-5|5] "" XXX - SG_ EUSS_ITEgUgScrMnScVal : 9|7@0- (0.1,0) [-5|5] "" XXX - SG_ EUSS_ITEgUgScrMxScVal : 18|7@0- (0.1,0) [-5|5] "" XXX - SG_ EUSS_TcEgUgScrMnScVal : 27|7@0- (0.1,0) [-5|5] "" XXX - SG_ EUSS_TcEgUgScrMxScVal : 36|7@0- (0.1,0) [-5|5] "" XXX - SG_ EUSS_TrEgUgScrMnScVal : 45|7@0- (0.1,0) [-5|5] "" XXX - SG_ EUSS_TrEgUgScrMxScVal : 54|7@0- (0.1,0) [-5|5] "" XXX - -BO_ 2151882752 PTO_Customization_Request_LS: 3 XXX - SG_ PTOTpStpSpdCsStReq : 2|3@0+ (1,0) [0|7] "" XXX - SG_ PTOEngRnTmrCsStRq : 11|4@0+ (1,0) [0|15] "" XXX - SG_ PTOStdbySpdCsStReq : 14|3@0+ (1,0) [0|7] "" XXX - SG_ PTOSet1SpdCsStReq : 19|4@0+ (1,0) [0|15] "" XXX - SG_ PTOSet2SpdCsStReq : 23|4@0+ (1,0) [0|15] "" XXX - -BO_ 2151899136 PTO_Status_LS: 5 XXX - SG_ PTORelBrkPedIO : 0|1@0+ (1,0) [0|1] "" XXX - SG_ PTORelAccPedIO : 1|1@0+ (1,0) [0|1] "" XXX - SG_ PTORedEngSpdIO : 2|1@0+ (1,0) [0|1] "" XXX - SG_ PTOPrsRelCltPedIO : 3|1@0+ (1,0) [0|1] "" XXX - SG_ PTOPrsRelBrkPedIO : 4|1@0+ (1,0) [0|1] "" XXX - SG_ PTOEngmntStatInd : 6|2@0+ (1,0) [0|3] "" XXX - SG_ PTODisengCrsCntlIO : 7|1@0+ (1,0) [0|1] "" XXX - SG_ PTOSet1SpdCsStAvl : 8|1@0+ (1,0) [0|1] "" XXX - SG_ PTOSet2SpdCsStAvl : 9|1@0+ (1,0) [0|1] "" XXX - SG_ PTOTpStpSpdCsStAvl : 10|1@0+ (1,0) [0|1] "" XXX - SG_ PTOEngRnTmrCsStAvl : 11|1@0+ (1,0) [0|1] "" XXX - SG_ PTOStdbySpdCsStAvl : 12|1@0+ (1,0) [0|1] "" XXX - SG_ PTOTransInGearIO : 13|1@0+ (1,0) [0|1] "" XXX - SG_ PTOSetPrkBrkIO : 14|1@0+ (1,0) [0|1] "" XXX - SG_ PTORelCltPedIO : 15|1@0+ (1,0) [0|1] "" XXX - SG_ PTOStdbSpdCsCrStVal : 18|3@0+ (1,0) [0|7] "" XXX - SG_ PTOGroup : 20|2@0+ (1,0) [0|0] "" XXX - SG_ PTOVDA : 19|1@0+ (1,0) [0|1] "" XXX - SG_ PTOVDM : 20|1@0+ (1,0) [0|1] "" XXX - SG_ PTOManTransInGrIO : 21|1@0+ (1,0) [0|1] "" XXX - SG_ PTOAccelUpnBrkRelIO : 22|1@0+ (1,0) [0|1] "" XXX - SG_ PTOEngUpnBrkRelIO : 23|1@0+ (1,0) [0|1] "" XXX - SG_ PTOTpStSpdCsCrStVal : 26|3@0+ (1,0) [0|7] "" XXX - SG_ PTOEnRnTmCsCrStVal : 30|4@0+ (1,0) [0|15] "" XXX - SG_ PTOServIndOn : 31|1@0+ (1,0) [0|1] "" XXX - SG_ PTOSet1SpdCsCrStVal : 35|4@0+ (1,0) [0|15] "" XXX - SG_ PTOSet2SpdCsCrStVal : 39|4@0+ (1,0) [0|15] "" XXX - -BO_ 2150580224 HMI_UtlChrgIntrfr_Indication_LS: 5 XXX - SG_ CstmrNonUsblSOCGroup : 1|10@0+ (1,0) [0|0] "" XXX - SG_ CstmrNonUsblSOCV : 1|1@0+ (1,0) [0|1] "" XXX - SG_ CstmrNonUsblSOC : 15|8@0+ (0.392157,0) [0|100.000035] "%" XXX - SG_ CstNonUsbSOCDspLvl : 23|8@0+ (0.392157,0) [0|100.000035] "%" XXX - SG_ PrpDspTtlPwrLvlPct : 24|9@0- (0.392157,0) [-100.392192|100.000035] "%" XXX - -BO_ 2151735296 Rear_Cross_Traffic_Alert_Ind_LS: 1 XXX - SG_ RrCrsTrfcAlrtOffIO : 0|1@0+ (1,0) [0|1] "" XXX - SG_ LnChgAlrtOffIndOn : 1|1@0+ (1,0) [0|1] "" XXX - SG_ RtRrCrsTrfcAlrtEnbld : 2|1@0+ (1,0) [0|1] "" XXX - SG_ RtSBZAlrtEnbld : 3|1@0+ (1,0) [0|1] "" XXX - SG_ RtLnChgAlrtEnbld : 4|1@0+ (1,0) [0|1] "" XXX - SG_ RtSdDetSysTmpDsbld : 5|1@0+ (1,0) [0|1] "" XXX - SG_ RtSdDetSysServDsbld : 6|1@0+ (1,0) [0|1] "" XXX - -BO_ 2151792640 Rear_Cross_Traffic_Alert_Rght_LS: 5 XXX - SG_ RrCTfcRHptcStRqSqN : 1|2@0+ (1,0) [0|3] "" XXX - SG_ RrCTfcRHptcStReq : 7|6@0+ (1,0) [0|63] "" XXX - SG_ RrCrsTrfAltRgtIndCtrl : 34|3@0+ (1,0) [0|0] "" XXX - SG_ RCTARIC_IndReq : 33|2@0+ (1,0) [0|3] "" XXX - SG_ RCTARIC_Indctr1Act : 34|1@0+ (1,0) [0|1] "" XXX - -BO_ 2149826560 FCA_VisionBased_Info_2_LS: 4 XXX - SG_ FCAGpStng : 2|3@0+ (1,0) [0|7] "" XXX - SG_ FCAHdwyStngIO : 3|1@0+ (1,0) [0|1] "" XXX - SG_ FCACrusCtrlCnclReqd : 4|1@0+ (1,0) [0|1] "" XXX - SG_ FCABrkPrflReq : 5|1@0+ (1,0) [0|1] "" XXX - SG_ FwdClnAlrtOffIO11E : 6|1@0+ (1,0) [0|1] "" XXX - SG_ FwdClnAlrtPr11E : 7|1@0+ (1,0) [0|1] "" XXX - SG_ SpdLmtVsnFsdSpdGroup : 15|15@0+ (1,0) [0|0] "" XXX - SG_ SpdLmtVsnFsdSpd : 15|8@0+ (1,0) [0|255] "" XXX - SG_ SpdLmtVsnFsdSpdM : 17|1@0+ (1,0) [0|1] "" XXX - SG_ FwdObjAlrtInd11E : 16|9@0+ (1,0) [0|0] "" XXX - SG_ FOAI_AlrtChmIhbRq11E : 16|1@0+ (1,0) [0|1] "" XXX - SG_ FOAI_VehAhdIndRq11E : 27|4@0+ (1,0) [0|15] "" XXX - SG_ FOAI_AlrtWrnIndRq11E : 31|4@0+ (1,0) [0|15] "" XXX - SG_ SpdLmtVnFsSpdNwDet : 18|1@0+ (1,0) [0|1] "" XXX - SG_ SpdLmtVsnFsdSpdUnt : 19|1@0+ (1,0) [0|1] "" XXX - -BO_ 2149957632 Park_Assist_ESSprocess_Info_LS: 1 XXX - SG_ ClsnMtgtnInhbtd : 0|1@0+ (1,0) [0|1] "" XXX - SG_ PrkAstInhbtReq : 1|1@0+ (1,0) [0|1] "" XXX - SG_ PrkAstRrObjSnsngRqAct : 2|1@0+ (1,0) [0|1] "" XXX - SG_ PrkAstOprtrDsrdStat : 4|2@0+ (1,0) [0|3] "" XXX - -BO_ 2149941248 Park_Assist_ESSbased_Info_LS: 5 XXX - SG_ PrkAstRrExtdDstUnfltd : 3|12@0+ (0.01,0) [0|40.95] "m" XXX - SG_ PrkAstRrSysStatUnfltd : 5|2@0+ (1,0) [0|3] "" XXX - SG_ PrkAstFntnSnsDstrbdIO : 16|1@0+ (1,0) [0|1] "" XXX - SG_ PrkAstFntnSnrsBlkd : 17|1@0+ (1,0) [0|1] "" XXX - SG_ PrkAstFntnFld : 18|1@0+ (1,0) [0|1] "" XXX - SG_ PrkAstFntnDsbldIO : 19|1@0+ (1,0) [0|1] "" XXX - SG_ PrkAstFntnClnPrkAstIO : 20|1@0+ (1,0) [0|1] "" XXX - SG_ ClsnMtgtnInhbtReqtd : 21|1@0+ (1,0) [0|1] "" XXX - SG_ PrkAstRrObjSnsngAct : 22|1@0+ (1,0) [0|1] "" XXX - SG_ PARrRgn3ObjStatUnfltd : 27|4@0+ (1,0) [0|15] "" XXX - SG_ PARrRgn4ObjStatUnfltd : 31|4@0+ (1,0) [0|15] "" XXX - SG_ PARrRgn1ObjStatUnfltd : 35|4@0+ (1,0) [0|15] "" XXX - SG_ PARrRgn2ObjStatUnfltd : 39|4@0+ (1,0) [0|15] "" XXX - -BO_ 2156314624 High_Volt_Time_Based_Chrg_LS: 8 XXX - SG_ TODCNxtPlnndDprtrTm : 5|14@0+ (1,0) [0|0] "" XXX - SG_ TODCNPDT_Hr : 2|5@0+ (1,0) [0|31] "Hour" XXX - SG_ TODCNPDT_DyOfWk : 5|3@0+ (1,0) [0|7] "" XXX - SG_ TODCNPDT_Min : 13|6@0+ (1,0) [0|63] "Minute" XXX - SG_ OffBrdCSFltDtctd : 6|1@0+ (1,0) [0|1] "" XXX - SG_ OBVhCsACChgRqBnVs : 7|1@0+ (1,0) [0|1] "" XXX - SG_ HVChgSyChgLvlPrfDt : 16|25@0+ (1,0) [0|0] "" XXX - SG_ HVCSCLPD_UsrIntTyp : 16|2@0+ (1,0) [0|3] "" XXX - SG_ HVCSCLPD_NrmChrgC : 27|5@0+ (1,0) [0|31] "A" XXX - SG_ HVCSCLPD_ChgLvlPfS : 30|3@0+ (1,0) [0|7] "" XXX - SG_ HVCSCLPD_RdCrntLv2 : 33|5@0+ (1,0) [0|31] "A" XXX - SG_ HVCSCLPD_RdCrntLv1 : 38|5@0+ (1,0) [0|31] "A" XXX - SG_ HVCSCLPD_RdCrntLv3 : 44|5@0+ (1,0) [0|31] "A" XXX - SG_ HVChrgAbrtRsn : 19|3@0+ (1,0) [0|7] "" XXX - SG_ TODCOpMd : 22|3@0+ (1,0) [0|7] "" XXX - SG_ HVChrgSysSplyFltIO : 23|1@0+ (1,0) [0|1] "" XXX - SG_ TODCDspMnPgTmpOr : 52|5@0+ (1,0) [0|0] "" XXX - SG_ TODCDMPTO_TpOvR : 51|4@0+ (1,0) [0|15] "" XXX - SG_ TODCDMPTO_CmPgR : 52|1@0+ (1,0) [0|1] "" XXX - SG_ HVChrgSysStNot : 55|3@0+ (1,0) [0|7] "" XXX - SG_ HVBatBlkSOC : 63|8@0+ (0.392157,0) [0|100.000035] "%" XXX - -BO_ 2150449152 Engine_Information_5_LS: 4 XXX - SG_ SrvcFlSysPrkInOpnArIO : 0|1@0+ (1,0) [0|1] "" XXX - SG_ TnDrvTrCtrlOffUnbIO : 1|1@0+ (1,0) [0|1] "" XXX - SG_ TnDrvStblCtrlOffUnbIO : 2|1@0+ (1,0) [0|1] "" XXX - SG_ InActFuelMdFuelLvlIO : 3|1@0+ (1,0) [0|1] "" XXX - SG_ FuelSysNEmsRltMalfAct : 4|1@0+ (1,0) [0|1] "" XXX - SG_ EngInltSpcfcHmdtyGroup : 7|16@0+ (1,0) [0|0] "" XXX - SG_ EngInltSpcfcHmdtyM : 6|1@0+ (1,0) [0|1] "" XXX - SG_ EngInltSpcfcHmdtyV : 7|1@0+ (1,0) [0|1] "" XXX - SG_ EngInltSpcfcHmdty : 15|8@0+ (0.0196078,0) [0|4.999989] "% water" XXX - SG_ AutoStpInhbtRsnInd : 23|8@0+ (1,0) [0|0] "" XXX - SG_ ASIRI_Indication08 : 16|1@0+ (1,0) [0|1] "" XXX - SG_ ASIRI_Indication07 : 17|1@0+ (1,0) [0|1] "" XXX - SG_ ASIRI_Indication06 : 18|1@0+ (1,0) [0|1] "" XXX - SG_ ASIRI_Indication05 : 19|1@0+ (1,0) [0|1] "" XXX - SG_ ASIRI_Indication04 : 20|1@0+ (1,0) [0|1] "" XXX - SG_ ASIRI_Indication03 : 21|1@0+ (1,0) [0|1] "" XXX - SG_ ASIRI_Indication02 : 22|1@0+ (1,0) [0|1] "" XXX - SG_ ASIRI_Indication01 : 23|1@0+ (1,0) [0|1] "" XXX - SG_ SpdLmtrSttngTypAct : 25|2@0+ (1,0) [0|3] "" XXX - SG_ ManTransIndReq : 28|3@0+ (1,0) [0|7] "" XXX - SG_ ESPDrvrExtIO : 29|1@0+ (1,0) [0|1] "" XXX - SG_ ESPDrvrDrStIndtrmntIO : 30|1@0+ (1,0) [0|1] "" XXX - SG_ ESPAutoPrkIO : 31|1@0+ (1,0) [0|1] "" XXX - -BO_ 2149810176 FCA_VisionBased_Info_1_LS: 1 XXX - SG_ FCAHptcStVbnRqSeqN : 1|2@0+ (1,0) [0|3] "" XXX - SG_ FCAHptcStVbnReq : 7|6@0+ (1,0) [0|63] "" XXX - -BO_ 2149793792 FCA_VisionBased_Info_LS: 6 XXX - SG_ FwdClnAlrtCustCrntSetngVal : 3|3@0+ (1,0) [0|7] "" XXX - SG_ FCACustStngAvlbl : 6|1@0+ (1,0) [0|1] "" XXX - SG_ VhlAhdDstIndReq : 26|19@0+ (1,0) [0|0] "" XXX - SG_ VADIR_IndLvl : 26|4@0+ (1,0) [0|15] "" XXX - SG_ VADIR_FlwTme : 38|7@0+ (0.1,0) [0|12.7] "s" XXX - SG_ VADIR_FlwDst : 47|8@0+ (1,0) [0|255] "m" XXX - -BO_ 2150080512 Aux_Coolant_Heater_Status_LS: 8 XXX - SG_ EngAstHtDfrdHtMdAct : 0|1@0+ (1,0) [0|1] "" XXX - SG_ LBCCsCrStVal : 2|2@0+ (1,0) [0|3] "" XXX - SG_ AuxClntHtrVlvStat : 5|3@0+ (1,0) [0|7] "" XXX - SG_ LBCChrgLvlPrfExpIO : 6|1@0+ (1,0) [0|1] "" XXX - SG_ LBCCsStAvl : 7|1@0+ (1,0) [0|1] "" XXX - SG_ LBCCstmrDaRstResp : 12|5@0+ (1,0) [0|0] "" XXX - SG_ LBCCDRR_PosNumbr : 10|3@0+ (1,0) [0|7] "" XXX - SG_ LBCCDRR_ClrStrdPosResp : 12|2@0+ (1,0) [0|3] "" XXX - SG_ LBCPosStgStat : 20|5@0+ (1,0) [0|0] "" XXX - SG_ LBCPSS_PosUpdtLct : 18|3@0+ (1,0) [0|7] "" XXX - SG_ LBCPSS_PosUpdtStat : 20|2@0+ (1,0) [0|3] "" XXX - SG_ LBCVehLctStat : 27|4@0+ (1,0) [0|0] "" XXX - SG_ LBCVLS_VehGPSLct : 26|3@0+ (1,0) [0|7] "" XXX - SG_ LBCVLS_VehGPSLctV : 27|1@0+ (1,0) [0|1] "" XXX - SG_ LBCCstmrFdbk : 31|4@0+ (1,0) [0|0] "" XXX - SG_ LBCCF_Lct4PosStrdIO : 28|1@0+ (1,0) [0|1] "" XXX - SG_ LBCCF_Lct3PosStrdIO : 29|1@0+ (1,0) [0|1] "" XXX - SG_ LBCCF_Lct2PosStrdIO : 30|1@0+ (1,0) [0|1] "" XXX - SG_ LBCCF_Lct1PosStrdIO : 31|1@0+ (1,0) [0|1] "" XXX - SG_ ChrgCyclElecEngyEcnEq : 35|12@0+ (0.1,0) [0|409.5] "km/l" XXX - SG_ ChrgCyclOvrlEngyEcnEq : 51|12@0+ (0.1,0) [0|409.5] "km/l" XXX - -BO_ 2153873408 Heated_Steering_Whl_Rqsted_LS: 1 XXX - SG_ MnlHtdStWhlRqstd : 7|1@0+ (1,0) [0|1] "" XXX - -BO_ 2152128512 Performance_Mode_Cust_Setings_LS: 4 XXX - SG_ ACCPerfMdCustAvl : 5|6@0+ (1,0) [0|0] "" XXX - SG_ ACCPMCA_ACCPrfMd6Avl : 0|1@0+ (1,0) [0|1] "" XXX - SG_ ACCPMCA_ACCPrfMd5Avl : 1|1@0+ (1,0) [0|1] "" XXX - SG_ ACCPMCA_ACCPrfMd4Avl : 2|1@0+ (1,0) [0|1] "" XXX - SG_ ACCPMCA_ACCPrfMd3Avl : 3|1@0+ (1,0) [0|1] "" XXX - SG_ ACCPMCA_ACCPrfMd2Avl : 4|1@0+ (1,0) [0|1] "" XXX - SG_ ACCPMCA_ACCPrfMd1Avl : 5|1@0+ (1,0) [0|1] "" XXX - SG_ DrvrStPerfMdCustAvl : 13|6@0+ (1,0) [0|0] "" XXX - SG_ DSPMCA_DrvrStPrfMd6Avl : 8|1@0+ (1,0) [0|1] "" XXX - SG_ DSPMCA_DrvrStPrfMd5Avl : 9|1@0+ (1,0) [0|1] "" XXX - SG_ DSPMCA_DrvrStPrfMd4Avl : 10|1@0+ (1,0) [0|1] "" XXX - SG_ DSPMCA_DrvrStPrfMd3Avl : 11|1@0+ (1,0) [0|1] "" XXX - SG_ DSPMCA_DrvrStPrfMd2Avl : 12|1@0+ (1,0) [0|1] "" XXX - SG_ DSPMCA_DrvrStPrfMd1Avl : 13|1@0+ (1,0) [0|1] "" XXX - SG_ PsngStPerfMdCustAvl : 21|6@0+ (1,0) [0|0] "" XXX - SG_ PSPMCA_PsngStPrfMd6Avl : 16|1@0+ (1,0) [0|1] "" XXX - SG_ PSPMCA_PsngStPrfMd5Avl : 17|1@0+ (1,0) [0|1] "" XXX - SG_ PSPMCA_PsngStPrfMd4Avl : 18|1@0+ (1,0) [0|1] "" XXX - SG_ PSPMCA_PsngStPrfMd3Avl : 19|1@0+ (1,0) [0|1] "" XXX - SG_ PSPMCA_PsngStPrfMd2Avl : 20|1@0+ (1,0) [0|1] "" XXX - SG_ PSPMCA_PsngStPrfMd1Avl : 21|1@0+ (1,0) [0|1] "" XXX - SG_ DrvStyPerfMdCustAvl : 30|7@0+ (1,0) [0|0] "" XXX - SG_ DSPMCA_DrvStyPrfMd7Avl : 24|1@0+ (1,0) [0|1] "" XXX - SG_ DSPMCA_DrvStyPrfMd6Avl : 25|1@0+ (1,0) [0|1] "" XXX - SG_ DSPMCA_DrvStyPrfMd5Avl : 26|1@0+ (1,0) [0|1] "" XXX - SG_ DSPMCA_DrvStyPrfMd4Avl : 27|1@0+ (1,0) [0|1] "" XXX - SG_ DSPMCA_DrvStyPrfMd3Avl : 28|1@0+ (1,0) [0|1] "" XXX - SG_ DSPMCA_DrvStyPrfMd2Avl : 29|1@0+ (1,0) [0|1] "" XXX - SG_ DSPMCA_DrvStyPrfMd1Avl : 30|1@0+ (1,0) [0|1] "" XXX - -BO_ 2151997440 Driver_Drowsiness_Dtctn_Stat_LS: 5 XXX - SG_ DrvDrowSysIndRq : 2|3@0+ (1,0) [0|7] "" XXX - SG_ DrvDrwDetCsCrStVal : 5|3@0+ (1,0) [0|7] "" XXX - SG_ DrvDrowDetCstStAvl : 6|1@0+ (1,0) [0|1] "" XXX - SG_ DrvDrsnHptcStRqSeqN : 9|2@0+ (1,0) [0|3] "" XXX - SG_ DrDrwSysHptcStVbnRq : 15|6@0+ (1,0) [0|63] "" XXX - -BO_ 2156331008 High_Voltage_EnergyMgmt_Ctrl_LS: 7 XXX - SG_ LwRngLVLdShdRq : 1|2@0+ (1,0) [0|3] "" XXX - SG_ HVDpltnMdMxCnfdcRg : 11|12@0+ (0.1,0) [0|409.5] "km" XXX - SG_ HVDpltnMdMiCnfdcRg : 27|12@0+ (0.1,0) [0|409.5] "km" XXX - SG_ HVDpltnMdMxGugRg : 43|12@0+ (0.1,0) [0|409.5] "km" XXX - -BO_ 2151776256 Rear_Cross_Traffic_Alert_Left_LS: 5 XXX - SG_ RrCTfcLHptcStRqSeqN : 1|2@0+ (1,0) [0|3] "" XXX - SG_ RrCTfcLHptcStReq : 7|6@0+ (1,0) [0|63] "" XXX - SG_ RrCrsTrfAltLftIndCtrl : 34|3@0+ (1,0) [0|0] "" XXX - SG_ RCTALIC_IndReq : 33|2@0+ (1,0) [0|3] "" XXX - SG_ RCTALIC_Indctr1Act : 34|1@0+ (1,0) [0|1] "" XXX - -BO_ 2154774528 Lighting_Customization_Info_1_LS: 1 XXX - SG_ LtRtHnTrCstStVal : 2|3@0+ (1,0) [0|7] "" XXX - SG_ LtRtHnTrGPCsCrStVal : 5|3@0+ (1,0) [0|7] "" XXX - SG_ LtRtHnTrCstStAvail : 6|1@0+ (1,0) [0|1] "" XXX - SG_ LtRtHnTrGPSCsStAvl : 7|1@0+ (1,0) [0|1] "" XXX - -BO_ 2150375424 Eng_Maintenance_Mode_Strt_Req_LS: 3 XXX - SG_ MntnceMdStEngRq : 0|1@0+ (1,0) [0|1] "" XXX - SG_ EngAstHtCstStRq : 3|3@0+ (1,0) [0|7] "" XXX - SG_ EngAstHtPlgInCstStRq : 6|3@0+ (1,0) [0|7] "" XXX - SG_ DsplTrnsShftLvrLckRqd : 7|1@0+ (1,0) [0|1] "" XXX - SG_ EngyCnsHistGrphRstRq : 8|1@0+ (1,0) [0|1] "" XXX - SG_ USBProgInPrgrs : 9|1@0+ (1,0) [0|1] "" XXX - SG_ LBCPosMdfcReq : 12|3@0+ (1,0) [0|7] "" XXX - SG_ LBCCsStReq : 14|2@0+ (1,0) [0|3] "" XXX - SG_ LBCCstmrDaRstReq : 20|5@0+ (1,0) [0|0] "" XXX - SG_ LBCCDRR_PosNum : 18|3@0+ (1,0) [0|7] "" XXX - SG_ LBCCDRR_ClrStrdPosReq : 20|2@0+ (1,0) [0|3] "" XXX - -BO_ 2150383616 Engine_Maintenance_Mode_Req_LS: 8 XXX - SG_ MntnceMdDsplyRq : 3|4@0+ (1,0) [0|15] "" XXX - SG_ EngMntnceMdAct : 4|1@0+ (1,0) [0|1] "" XXX - SG_ EngMntncePrcntCpl : 15|8@0+ (0.392157,0) [0|100.000035] "%" XXX - SG_ EngPrpDspPwrLvlPct : 23|8@0+ (0.392157,0) [0|100.000035] "%" XXX - SG_ EstElecPrpCap : 31|8@0+ (0.392157,0) [0|100.000035] "%" XXX - SG_ PrpCapDspOpPs : 39|8@0+ (0.392157,0) [0|100.000035] "%" XXX - SG_ PrpDspTtlPwr : 45|13@0+ (0.5,-326.6) [-326.6|3768.9] "kW" XXX - SG_ BatPrpDspPwrLvlPct : 48|9@0- (0.392157,0) [-100.392192|100.000035] "%" XXX - -BO_ 2151981056 Drive_Cycle_Efficiency_LS: 8 XXX - SG_ DstTrvldDt : 7|51@0+ (1,0) [0|0] "" XXX - SG_ DTD_BattPrpDstTrvld : 7|17@0+ (0.015625,0) [0|2047.984375] "km" XXX - SG_ DTD_FuelPrpDstTrvld : 22|17@0+ (0.015625,0) [0|2047.984375] "km" XXX - SG_ DTD_DrvCyclDstTrvld : 37|17@0+ (0.015625,0) [0|2047.984375] "km" XXX - SG_ DrvCyclBatPropRat : 50|11@0+ (0.048852,0) [0|100.000044] "%" XXX - -BO_ 2151964672 Drive_Cycle_Energy_Efficiency_LS: 8 XXX - SG_ DrvCyclBatCondEnrgEfncy : 7|8@0+ (0.392157,0) [0|100.000035] "%" XXX - SG_ DrvCyclCbnCondEnrgEfncy : 23|8@0+ (0.392157,0) [0|100.000035] "%" XXX - SG_ DrvCyclDrvStEnrgEfncy : 31|8@0+ (0.392157,0) [0|100.000035] "%" XXX - SG_ DrvCyclTtlEnrgEfncy : 39|8@0+ (0.392157,0) [0|100.000035] "%" XXX - SG_ DrvCyclFuelEnmy : 47|12@0+ (0.1,0) [0|409.5] "km/liters" XXX - SG_ DrvCyclFuelUsd : 51|12@0+ (0.125,0) [0|511.875] "liters" XXX - -BO_ 2156298240 High_Volt_Batt_Time_Pwr_Chrg_LS: 8 XXX - SG_ HVBatCmpltTmHghPwrChrg : 7|14@0+ (1,0) [0|0] "" XXX - SG_ HVBCTHPC_HrOfDy : 4|5@0+ (1,0) [0|31] "Hour" XXX - SG_ HVBCTHPC_DyOfWk : 7|3@0+ (1,0) [0|7] "" XXX - SG_ HVBCTHPC_MntOfHr : 15|6@0+ (1,0) [0|63] "Minute" XXX - SG_ HVBatCmpltTmLwPwrChrg : 9|14@0+ (1,0) [0|0] "" XXX - SG_ HVBCTLPC_DyOfWk : 9|3@0+ (1,0) [0|7] "" XXX - SG_ HVBCTLPC_MntOfHr : 17|6@0+ (1,0) [0|63] "Minute" XXX - SG_ HVBCTLPC_HrOfDy : 22|5@0+ (1,0) [0|31] "Hour" XXX - SG_ HVBatStrTmHghPwrChrg : 27|14@0+ (1,0) [0|0] "" XXX - SG_ HVBSTHPC_HrOfDy : 24|5@0+ (1,0) [0|31] "Hour" XXX - SG_ HVBSTHPC_DyOfWk : 27|3@0+ (1,0) [0|7] "" XXX - SG_ HVBSTHPC_MntOfHr : 35|6@0+ (1,0) [0|63] "Minute" XXX - SG_ HVBatStrTmLwPwrChrg : 45|14@0+ (1,0) [0|0] "" XXX - SG_ HVBSTLPC_HrOfDy : 42|5@0+ (1,0) [0|31] "Hour" XXX - SG_ HVBSTLPC_DyOfWk : 45|3@0+ (1,0) [0|7] "" XXX - SG_ HVBSTLPC_MntOfHr : 53|6@0+ (1,0) [0|63] "Minute" XXX - SG_ HVChrgSysDpTmExdSt : 58|3@0+ (1,0) [0|0] "" XXX - SG_ HVCSDTES_NPDTIO : 56|1@0+ (1,0) [0|1] "" XXX - SG_ HVCSDTES_HiPwrCIO : 57|1@0+ (1,0) [0|1] "" XXX - SG_ HVCSDTES_LoPwrCIO : 58|1@0+ (1,0) [0|1] "" XXX - SG_ HTRActvIndOn : 59|1@0+ (1,0) [0|1] "" XXX - SG_ InsfcntTmTFlChrgIO : 60|1@0+ (1,0) [0|1] "" XXX - SG_ InvldHMIEtrIO : 61|1@0+ (1,0) [0|1] "" XXX - SG_ HVBatChrgCrdAlrtReq : 63|2@0+ (1,0) [0|3] "" XXX - -BO_ 2149924864 Drv_Pref_Mode_Switch_Status_LS: 8 XXX - SG_ DrvSelMd1Stat : 0|1@0+ (1,0) [0|1] "" XXX - SG_ DrvSelMd1ReqDnd : 1|1@0+ (1,0) [0|1] "" XXX - SG_ DrvSelMd2Stat : 2|1@0+ (1,0) [0|1] "" XXX - SG_ DrvSelMd2ReqDnd : 3|1@0+ (1,0) [0|1] "" XXX - SG_ DrvSelMd3Stat : 4|1@0+ (1,0) [0|1] "" XXX - SG_ DrvSelMd3ReqDnd : 5|1@0+ (1,0) [0|1] "" XXX - SG_ HilRlbkCtrlActIO : 6|1@0+ (1,0) [0|1] "" XXX - SG_ FwdClnMtgnBrkReqAct : 7|1@0+ (1,0) [0|1] "" XXX - SG_ DrvSelMdSelnStat : 8|17@0+ (1,0) [0|0] "" XXX - SG_ DSMSS_DrvSelMd1Un : 8|1@0+ (1,0) [0|1] "" XXX - SG_ DSMSS_DrvSelMd1Pn : 16|1@0+ (1,0) [0|1] "" XXX - SG_ DSMSS_DrvSelMd8Un : 17|1@0+ (1,0) [0|1] "" XXX - SG_ DSMSS_DrvSelMd7Un : 18|1@0+ (1,0) [0|1] "" XXX - SG_ DSMSS_DrvSelMd6Un : 19|1@0+ (1,0) [0|1] "" XXX - SG_ DSMSS_DrvSelMd5Un : 20|1@0+ (1,0) [0|1] "" XXX - SG_ DSMSS_DrvSelMd4Un : 21|1@0+ (1,0) [0|1] "" XXX - SG_ DSMSS_DrvSelMd3Un : 22|1@0+ (1,0) [0|1] "" XXX - SG_ DSMSS_DrvSelMd2Un : 23|1@0+ (1,0) [0|1] "" XXX - SG_ DSMSS_DrvSelMd0Pn : 24|1@0+ (1,0) [0|1] "" XXX - SG_ DSMSS_DrvSelMd8Pn : 25|1@0+ (1,0) [0|1] "" XXX - SG_ DSMSS_DrvSelMd7Pn : 26|1@0+ (1,0) [0|1] "" XXX - SG_ DSMSS_DrvSelMd6Pn : 27|1@0+ (1,0) [0|1] "" XXX - SG_ DSMSS_DrvSelMd5Pn : 28|1@0+ (1,0) [0|1] "" XXX - SG_ DSMSS_DrvSelMd4Pn : 29|1@0+ (1,0) [0|1] "" XXX - SG_ DSMSS_DrvSelMd3Pn : 30|1@0+ (1,0) [0|1] "" XXX - SG_ DSMSS_DrvSelMd2Pn : 31|1@0+ (1,0) [0|1] "" XXX - SG_ DrvSelMd4Stat : 9|1@0+ (1,0) [0|1] "" XXX - SG_ DrvSelMd4ReqDnd : 10|1@0+ (1,0) [0|1] "" XXX - SG_ DrvSelMd5Stat : 11|1@0+ (1,0) [0|1] "" XXX - SG_ DrvSelMd5ReqDnd : 12|1@0+ (1,0) [0|1] "" XXX - SG_ DrvSelMd6Stat : 13|1@0+ (1,0) [0|1] "" XXX - SG_ DrvSelMd6ReqDnd : 14|1@0+ (1,0) [0|1] "" XXX - SG_ PTOMobModTrnsInGrIO : 15|1@0+ (1,0) [0|1] "" XXX - SG_ ECODrvAsstDsplyStat : 34|11@0+ (1,0) [0|0] "" XXX - SG_ EDADS_ShftIndStat : 33|2@0+ (1,0) [0|3] "" XXX - SG_ EDADS_EcoDrvShftIO : 34|1@0+ (1,0) [0|1] "" XXX - SG_ EDADS_RcmndtFwdGr : 43|4@0+ (1,0) [0|15] "" XXX - SG_ EDADS_CrntFwdMsdG : 47|4@0+ (1,0) [0|15] "" XXX - SG_ DrvSelMd7Stat : 35|1@0+ (1,0) [0|1] "" XXX - SG_ DrvSelMd7ReqDnd : 36|1@0+ (1,0) [0|1] "" XXX - SG_ DrvSelMd8Stat : 37|1@0+ (1,0) [0|1] "" XXX - SG_ DrvSelMd8ReqDnd : 38|1@0+ (1,0) [0|1] "" XXX - SG_ FstIdlMdAct : 39|1@0+ (1,0) [0|1] "" XXX - SG_ DsplyPerfMdRq : 50|3@0+ (1,0) [0|7] "" XXX - SG_ TireLFLowTracIO : 51|1@0+ (1,0) [0|1] "" XXX - SG_ TireLRLowTracIO : 52|1@0+ (1,0) [0|1] "" XXX - SG_ TireRFLowTracIO : 53|1@0+ (1,0) [0|1] "" XXX - SG_ TireRRLowTracIO : 54|1@0+ (1,0) [0|1] "" XXX - SG_ a_12VBatSysUnstab : 55|1@0+ (1,0) [0|1] "" XXX - SG_ ColPrepSysCustAvail : 62|7@0+ (1,0) [0|0] "" XXX - SG_ CPSCA_Resrv3Avail : 56|1@0+ (1,0) [0|1] "" XXX - SG_ CPSCA_Resrv2Avail : 57|1@0+ (1,0) [0|1] "" XXX - SG_ CPSCA_Resrv1Avail : 58|1@0+ (1,0) [0|1] "" XXX - SG_ CPSCA_AlrtBrkStrAvail : 59|1@0+ (1,0) [0|1] "" XXX - SG_ CPSCA_AlrtBrkAvail : 60|1@0+ (1,0) [0|1] "" XXX - SG_ CPSCA_AlrtAvail : 61|1@0+ (1,0) [0|1] "" XXX - SG_ CPSCA_OffAvail : 62|1@0+ (1,0) [0|1] "" XXX - -BO_ 2152054784 HMI_Disp_Hyb_Animation_Status_LS: 1 XXX - SG_ AnmStrtReq : 2|3@0+ (1,0) [0|7] "" XXX - SG_ IntPnlClstrAnmtStat : 5|3@0+ (1,0) [0|7] "" XXX - SG_ FuelEconMetDispUnts : 6|1@0+ (1,0) [0|1] "" XXX - -BO_ 2150301696 HMI_Animation_Initiator_LS: 1 XXX - SG_ WlcAnmReq : 0|1@0+ (1,0) [0|1] "" XXX - -BO_ 2150563840 HMI_AnimationHybridRadio_LS: 3 XXX - SG_ RadAnmtStat : 2|3@0+ (1,0) [0|7] "" XXX - SG_ RadAudQueStat : 5|3@0+ (1,0) [0|7] "" XXX - SG_ DrStStatDispAct : 6|1@0+ (1,0) [0|1] "" XXX - SG_ PsStStatDispAct : 7|1@0+ (1,0) [0|1] "" XXX - -BO_ 2154758144 Auxiliary_Heater_Active_LS: 1 XXX - SG_ ChldLckOtSwAct : 1|1@0+ (1,0) [0|1] "" XXX - -BO_ 2154577920 Amp_Sink_Stat_LS: 2 XXX - SG_ AmpSnkStat : 4|13@0+ (1,0) [0|0] "" XXX - SG_ ASS_SurndAvail : 0|1@0+ (1,0) [0|1] "" XXX - SG_ ASS_DSPAvail : 1|1@0+ (1,0) [0|1] "" XXX - SG_ ASS_VehNoisCmpnAvail : 2|1@0+ (1,0) [0|1] "" XXX - SG_ ASS_PhLckdLpLckd : 3|1@0+ (1,0) [0|1] "" XXX - SG_ ASS_MtxSnkMutStat : 4|1@0+ (1,0) [0|1] "" XXX - SG_ ASS_DSPMd7Prsnt : 8|1@0+ (1,0) [0|1] "" XXX - SG_ ASS_DSPMd6Prsnt : 9|1@0+ (1,0) [0|1] "" XXX - SG_ ASS_DSPMd5Prsnt : 10|1@0+ (1,0) [0|1] "" XXX - SG_ ASS_DSPMd4Prsnt : 11|1@0+ (1,0) [0|1] "" XXX - SG_ ASS_DSPMd3Prsnt : 12|1@0+ (1,0) [0|1] "" XXX - SG_ ASS_DSPMd2Prsnt : 13|1@0+ (1,0) [0|1] "" XXX - SG_ ASS_DSPMd1Prsnt : 14|1@0+ (1,0) [0|1] "" XXX - SG_ ASS_DSPMd0Prsnt : 15|1@0+ (1,0) [0|1] "" XXX - -BO_ 2154594304 Amp_Settings_Tone_Ctrl_LS: 5 XXX - SG_ AmpSetTonCtrl : 1|34@0+ (1,0) [0|0] "" XXX - SG_ ASTC_ChimSnkLvl : 1|8@0+ (0.5,-127.5) [-127.5|0] "dB" XXX - SG_ ASTC_ChimSnkSpkrPos : 9|4@0+ (1,0) [0|15] "" XXX - SG_ ASTC_SurndLvl : 21|6@0- (1,0) [-32|31] "" XXX - SG_ ASTC_MtxSnkMutRmpTm : 25|8@0+ (5,0) [0|1275] "ms" XXX - SG_ ASTC_MtxSnkMut : 26|1@0+ (1,0) [0|1] "" XXX - SG_ ASTC_DSPMd : 30|4@0+ (1,0) [0|15] "" XXX - SG_ ASTC_VehNoisCmpnAct : 31|1@0+ (1,0) [0|1] "" XXX - SG_ ASTC_GblAudSnkMut : 32|1@0+ (1,0) [0|1] "" XXX - SG_ ASTC_AmpLwPwrSt : 33|1@0+ (1,0) [0|1] "" XXX - SG_ InfotnBkltngConfigSt : 3|2@0+ (1,0) [0|3] "" XXX - -BO_ 2154586112 Amp_Settings_Sink_Lvl_Ctrl_LS: 8 XXX - SG_ AmpSetSnkLvlCtrl : 7|64@0+ (1,0) [0|0] "" XXX - SG_ ASSLC_MtxSnkLvl : 7|8@0+ (0.5,-127.5) [-127.5|0] "dB" XXX - SG_ ASSLC_MxPrmtSnkLvl : 15|8@0+ (0.5,-127.5) [-127.5|0] "dB" XXX - SG_ ASSLC_AudFdbkSnkLvl : 23|8@0+ (0.5,-127.5) [-127.5|0] "dB" XXX - SG_ ASSLC_FvSnkLvl : 31|8@0+ (0.5,-127.5) [-127.5|0] "dB" XXX - SG_ ASSLC_MtxSnkFd : 33|6@0- (1,0) [-32|31] "" XXX - SG_ ASSLC_MtxSnkBal : 39|6@0- (1,0) [-32|31] "" XXX - SG_ ASSLC_MtxSnkBass : 43|6@0- (1,0) [-32|31] "" XXX - SG_ ASSLC_MtxSnkMdrng : 53|6@0- (1,0) [-32|31] "" XXX - SG_ ASSLC_AutoLdnsCmpnAct : 56|1@0+ (1,0) [0|1] "" XXX - SG_ ASSLC_VcSrcActOnMtx : 57|1@0+ (1,0) [0|1] "" XXX - SG_ ASSLC_MtxSnkTrbl : 63|6@0- (1,0) [-32|31] "" XXX - -BO_ 2152857600 ACC_TrafficJam_RouteSpd_Stat_LS: 3 XXX - SG_ ACCRteSpdDrvIntvReq : 1|2@0+ (1,0) [0|3] "" XXX - SG_ ACCTrfcJamAstActStat : 10|3@0+ (1,0) [0|7] "" XXX - SG_ ACCRteSpdAdaptStat : 12|2@0+ (1,0) [0|3] "" XXX - SG_ ACCGrnMdStat : 14|2@0+ (1,0) [0|3] "" XXX - SG_ ACCTrfcJamAstRmnTm : 23|8@0+ (1,0) [0|255] "sec" XXX - -BO_ 2158149632 High_Volt_Bat_Time_Bsd_Rsp_1_LS: 7 XXX - SG_ HVBatTmBsSsnChRsp : 0|14@0+ (1,0) [0|0] "" XXX - SG_ HVBTBSCR_SsnStat : 0|2@0+ (1,0) [0|3] "" XXX - SG_ HVBTBSCR_SsnMthStat : 11|4@0+ (1,0) [0|15] "" XXX - SG_ HVBTBSCR_SsnSlctStat : 14|3@0+ (1,0) [0|7] "" XXX - SG_ HVBTBSCR_SsnDyStat : 23|5@0+ (1,0) [0|31] "day" XXX - SG_ HVBatTmBsChrgStRsp : 3|3@0+ (1,0) [0|7] "" XXX - SG_ HVBatCrgDspStat : 6|3@0+ (1,0) [0|7] "" XXX - SG_ HVBatTmBsChrgRtRsp : 17|10@0+ (1,0) [0|0] "" XXX - SG_ HVBTBCRS_ChRtEnblStat : 17|2@0+ (1,0) [0|3] "" XXX - SG_ HVBTBCRS_ChRtSlctStat : 27|4@0+ (1,0) [0|15] "" XXX - SG_ HVBTBCRS_ChRtDStat : 31|4@0+ (1,0) [0|15] "" XXX - SG_ EngyCnsHsGrphCnfgDt : 36|13@0+ (1,0) [0|0] "" XXX - SG_ ECHGCD_YAxMaxVal : 32|6@0+ (4,0) [0|252] "" XXX - SG_ ECHGCD_MeasUt : 36|4@0+ (1,0) [0|15] "" XXX - SG_ ECHGCD_XAxTkMrkInterv : 42|3@0+ (1,0) [0|7] "" XXX - SG_ EgyCnsHstGphInsEgyCns : 55|5@0+ (1,0) [0|31] "" XXX - -BO_ 2158116864 High_Volt_Bat_Time_Bsd_Rsp_LS: 8 XXX - SG_ OBHVBCMinsRmng : 5|6@0+ (1,0) [0|63] "" XXX - SG_ OBHVBCCompTmDispFrmt : 7|2@0+ (1,0) [0|3] "" XXX - SG_ HVBatTmBsDelChrgRsp : 12|21@0+ (1,0) [0|0] "" XXX - SG_ HVBTBDCRS_DlChHRsp : 12|5@0+ (1,0) [0|31] "hr" XXX - SG_ HVBTBDCRS_DlChSlctStat : 19|4@0+ (1,0) [0|15] "" XXX - SG_ HVBTBDCRS_DlChDStat : 23|4@0+ (1,0) [0|15] "" XXX - SG_ HVBTBDCRS_DlChMHRsp : 29|6@0+ (1,0) [0|63] "min" XXX - SG_ HVBTBDCRS_DlChSsnStat : 31|2@0+ (1,0) [0|3] "" XXX - SG_ HVBatTmBsRtChrgRsp : 34|27@0+ (1,0) [0|0] "" XXX - SG_ HVBTBRCR_RtChMHRsp : 32|6@0+ (1,0) [0|63] "min" XXX - SG_ HVBTBRCR_RtChSsnStat : 34|2@0+ (1,0) [0|3] "" XXX - SG_ HVBTBRCR_RtChSlctStat : 42|3@0+ (1,0) [0|7] "" XXX - SG_ HVBTBRCR_RtChDStat : 50|4@0+ (1,0) [0|15] "" XXX - SG_ HVBTBRCR_RtChHRsp : 55|5@0+ (1,0) [0|31] "hr" XXX - SG_ HVBTBRCR_RtCHSlctTblRwStat : 58|3@0+ (1,0) [0|7] "rows" XXX - SG_ HVBTBRCR_RtChSlRtStat : 62|4@0+ (1,0) [0|15] "" XXX - -BO_ 2156281856 High_Volt_Bat_Time_Bsd_Req_1_LS: 7 XXX - SG_ HVBatTmBsSsnChStReq : 0|14@0+ (1,0) [0|0] "" XXX - SG_ HVBTBSCSR_SsnStReq : 0|2@0+ (1,0) [0|3] "" XXX - SG_ HVBTBSCSR_SsnMthStReq : 11|4@0+ (1,0) [0|15] "" XXX - SG_ HVBTBSCSR_SsnSlStReq : 14|3@0+ (1,0) [0|7] "" XXX - SG_ HVBTBSCSR_SsnDayStReq : 23|5@0+ (1,0) [0|31] "day" XXX - SG_ HVBatTmBsChrgMdReq : 3|3@0+ (1,0) [0|7] "" XXX - SG_ HVChgSyChgLvlPrfSt : 6|3@0+ (1,0) [0|7] "" XXX - SG_ StTODChrgTmpOvrd : 7|1@0+ (1,0) [0|1] "" XXX - SG_ HVBatTmBsChrgRtStReq : 17|10@0+ (1,0) [0|0] "" XXX - SG_ HVBTBCRSR_ChRtEnblStReq : 17|2@0+ (1,0) [0|3] "" XXX - SG_ HVBTBCRSR_ChRtSlStReq : 27|4@0+ (1,0) [0|15] "" XXX - SG_ HVBTBCRSR_ChRtDStReq : 31|4@0+ (1,0) [0|15] "" XXX - SG_ TmpOvdNxtPlnDptTmRq : 32|17@0+ (1,0) [0|0] "" XXX - SG_ TONPDTR_StTmpOvrAtv : 32|2@0+ (1,0) [0|3] "" XXX - SG_ TONPDTR_HrOfDy : 42|5@0+ (1,0) [0|31] "Hour" XXX - SG_ TONPDTR_DyOfWk : 46|4@0+ (1,0) [0|15] "" XXX - SG_ TONPDTR_MntOfHr : 53|6@0+ (1,0) [0|63] "Minute" XXX - SG_ RtBsChrgCmplnTmPrfReq : 34|2@0+ (1,0) [0|3] "" XXX - SG_ HTRCsStReq : 37|3@0+ (1,0) [0|7] "" XXX - -BO_ 2156265472 High_Volt_Bat_Time_Bsd_Req_LS: 8 XXX - SG_ ChgCdTfAlCzStRq : 2|3@0+ (1,0) [0|7] "" XXX - SG_ ChgPwLsAlCzStRq : 5|3@0+ (1,0) [0|7] "" XXX - SG_ PrtyChrgRq : 7|2@0+ (1,0) [0|3] "" XXX - SG_ HVBatTmBsDlChStReq : 12|21@0+ (1,0) [0|0] "" XXX - SG_ HVBTBDCSRQ_DlChHStReq : 12|5@0+ (1,0) [0|31] "hr" XXX - SG_ HVBTBDCSRQ_DlChSlStReq : 19|4@0+ (1,0) [0|15] "" XXX - SG_ HVBTBDCSRQ_DlChDStReq : 23|4@0+ (1,0) [0|15] "" XXX - SG_ HVBTBDCSRQ_DlChMHStReq : 29|6@0+ (1,0) [0|63] "min" XXX - SG_ HVBTBDCSRQ_DlChSsnStReq : 31|2@0+ (1,0) [0|3] "" XXX - SG_ ChgSysAudInCsStReq : 15|3@0+ (1,0) [0|7] "" XXX - SG_ HVBatTmBsRtChrgStReq : 34|27@0+ (1,0) [0|0] "" XXX - SG_ HVBTBRCSR_RtChDStReq : 34|4@0+ (1,0) [0|15] "" XXX - SG_ HVBTBRCSR_RtChSlStReq : 42|3@0+ (1,0) [0|7] "" XXX - SG_ HVBTBRCSR_RtChSlRtStReq : 46|4@0+ (1,0) [0|15] "" XXX - SG_ HVBTBRCSR_RtChMHStReq : 48|6@0+ (1,0) [0|63] "min" XXX - SG_ HVBTBRCSR_RtChSsnStReq : 50|2@0+ (1,0) [0|3] "" XXX - SG_ HVBTBRCSR_RtChHStReq : 55|5@0+ (1,0) [0|31] "hr" XXX - SG_ HVBTBRCSR_RtChSlTbRwReq : 58|3@0+ (1,0) [0|7] "rows" XXX - SG_ OffBrdHVCVehCsChRq : 35|1@0+ (1,0) [0|1] "" XXX - SG_ EngyUsgScrnMeasUtStat : 39|4@0+ (1,0) [0|15] "" XXX - -BO_ 2150113280 Energy_Storage_System_LS: 8 XXX - SG_ EngyStgSysActCoolEnb : 0|1@0+ (1,0) [0|1] "" XXX - SG_ DrvCycElEnrgUsd : 21|14@0+ (0.36,0) [0|5897.88] "MJ" XXX - SG_ DrvCyclElecEngyEcon : 32|9@0+ (0.1,0) [0|51.1] "" XXX - SG_ HVChrgInhbRsn : 36|4@0+ (1,0) [0|15] "" XXX - SG_ DrvCyclTrpDstTrvld : 54|15@0+ (0.1,0) [0|3276.7] "km" XXX - -BO_ 2150055936 Climate_Control_Status_LS: 5 XXX - SG_ ClmtCtrlUpprPwrLmt : 7|8@0+ (0.1,0) [0|25.5] "kW" XXX - SG_ ClmtCtrlLwrPwrLmt : 15|8@0+ (0.1,0) [0|25.5] "kW" XXX - SG_ ClimCtrlHVDvcShtdwnCmd : 16|1@0+ (1,0) [0|1] "" XXX - SG_ ClmCntCmpPwrUsdClc : 39|8@0+ (0.04,0) [0|10.2] "kW" XXX - -BO_ 2150039552 Thrml_Ref_Compressor_Status_LS: 5 XXX - SG_ ThrmlRefCompStat : 3|4@0+ (1,0) [0|15] "" XXX - SG_ EvpCorOtltAirTmpCalcdGroup : 4|13@0+ (1,0) [0|0] "" XXX - SG_ EvpCorOtltAirTmpCalcdV : 4|1@0+ (1,0) [0|1] "" XXX - SG_ EvpCorOtltAirTmpCalcd : 15|8@0+ (0.5,-40) [-40|87.5] "deg C" XXX - SG_ ThrmlRefCompSpdGroup : 22|15@0+ (1,0) [0|0] "" XXX - SG_ ThrmlRefCompSpd : 21|14@0+ (1,0) [0|16383] "rpm" XXX - SG_ ThrmlRefCompSpdV : 22|1@0+ (1,0) [0|1] "" XXX - SG_ ThrmlRfCmpOvTmpFltPr : 23|1@0+ (1,0) [0|1] "" XXX - -BO_ 2154856448 Humidity_Sensor_Status_LS: 5 XXX - SG_ HmdtySnsrGlssTemp : 1|10@0+ (0.146628,-50) [-50|100.000444] "deg C" XXX - SG_ HmdtySnsrTemp : 17|10@0+ (0.146628,-50) [-50|100.000444] "deg C" XXX - SG_ HmdtySnsrRltvHmdty : 39|8@0+ (0.392157,0) [0|100.000035] "%" XXX - -BO_ 2151342080 Park_Assistant_Right_Status_LS: 2 XXX - SG_ PARtRgn1ObjStat : 3|4@0+ (1,0) [0|15] "" XXX - SG_ PrkAstRtSysStat : 5|2@0+ (1,0) [0|3] "" XXX - SG_ PARtRgn3ObjStat : 11|4@0+ (1,0) [0|15] "" XXX - SG_ PARtRgn2ObjStat : 15|4@0+ (1,0) [0|15] "" XXX - -BO_ 2151325696 Park_Assistant_Left_Status_LS: 2 XXX - SG_ PALtRgn1ObjStat : 3|4@0+ (1,0) [0|15] "" XXX - SG_ PrkAstLtSysStat : 5|2@0+ (1,0) [0|3] "" XXX - SG_ PALtRgn3ObjStat : 11|4@0+ (1,0) [0|15] "" XXX - SG_ PALtRgn2ObjStat : 15|4@0+ (1,0) [0|15] "" XXX - -BO_ 2151809024 Drv_Cycl_Elec_Enrgy_Consumd_LS: 8 XXX - SG_ DrvCycElecEngySt5 : 5|14@0+ (0.36,0) [0|5897.88] "MJ" XXX - SG_ DrvCycElecEngyCnsmd : 23|32@0+ (1,0) [0|0] "" XXX - SG_ DCEEC_EngyPct1 : 23|8@0+ (0.392157,0) [0|100.000035] "%" XXX - SG_ DCEEC_EngyPct2 : 31|8@0+ (0.392157,0) [0|100.000035] "%" XXX - SG_ DCEEC_EngyPct3 : 39|8@0+ (0.392157,0) [0|100.000035] "%" XXX - SG_ DCEEC_EngyPct4 : 47|8@0+ (0.392157,0) [0|100.000035] "%" XXX - SG_ ElecEngyEconAvg : 48|9@0+ (0.1,0) [0|51.1] "" XXX - -BO_ 2151858176 Drv_Cycl_Elec_Enrgy_States_LS: 8 XXX - SG_ DrvCycElecEngySt1 : 5|14@0+ (0.36,0) [0|5897.88] "MJ" XXX - SG_ DrvCycElecEngySt2 : 21|14@0+ (0.36,0) [0|5897.88] "MJ" XXX - SG_ DrvCycElecEngySt3 : 37|14@0+ (0.36,0) [0|5897.88] "MJ" XXX - SG_ DrvCycElecEngySt4 : 53|14@0+ (0.36,0) [0|5897.88] "MJ" XXX - -BO_ 2150547456 HMI_Hybrid_Vehicle_Status_LS: 8 XXX - SG_ HVDpltnMdRng : 0|16@0+ (0.015625,0) [0|1023.984375] "km" XXX - SG_ VehChrgMdSt : 3|3@0+ (1,0) [0|7] "" XXX - SG_ GrnAudQueReq : 4|1@0+ (1,0) [0|1] "" XXX - SG_ SvcHybChrgSysIO : 5|1@0+ (1,0) [0|1] "" XXX - SG_ HVBatChrgCrdConnIO : 6|1@0+ (1,0) [0|1] "" XXX - SG_ CntrsOpnUndrTmpIO : 7|1@0+ (1,0) [0|1] "" XXX - SG_ OffBrdHVCVehCplrLkd : 16|1@0+ (1,0) [0|1] "" XXX - SG_ HVBatLimDTmpInd : 25|2@0+ (1,0) [0|3] "" XXX - SG_ OffBrdHVCVehPwrDrtd : 26|1@0+ (1,0) [0|1] "" XXX - SG_ HVChrgrSysStat : 29|3@0+ (1,0) [0|7] "" XXX - SG_ HVChrgrCplrStat : 31|2@0+ (1,0) [0|3] "" XXX - SG_ ChgrSysAdblIndReq : 33|2@0+ (1,0) [0|3] "" XXX - SG_ HVBatOutOfEnrgyInd : 36|3@0+ (1,0) [0|7] "" XXX - SG_ OffBrdHVBlkChrgCmp : 37|1@0+ (1,0) [0|1] "" XXX - SG_ ElecPrplsnMtrOvrSpdIO : 38|1@0+ (1,0) [0|1] "" XXX - SG_ HVBatCntctrsOpnIO : 39|1@0+ (1,0) [0|1] "" XXX - SG_ HVDpltnMdCnfdcTrndg : 47|8@0- (0.787402,0) [-100.787456|100.000054] "%" XXX - SG_ OffBrdHVBlkChgCpltTm : 53|14@0+ (1,0) [0|0] "" XXX - SG_ OBHVBCCT_HrofDay : 50|5@0+ (1,0) [0|31] "" XXX - SG_ OBHVBCCT_DayofWk : 53|3@0+ (1,0) [0|7] "" XXX - SG_ OBHVBCCT_MinofHr : 61|6@0+ (1,0) [0|63] "" XXX - SG_ OffBrdHVCVehPwrLvl : 55|2@0+ (1,0) [0|3] "" XXX - -BO_ 2151489536 CSV_EOCM_R_Indications_LS: 1 XXX - SG_ RVBShtToPrkBfExtngVehIO : 0|1@0+ (1,0) [0|1] "" XXX - SG_ RVBAutoBrkRlsIO : 1|1@0+ (1,0) [0|1] "" XXX - SG_ NVSysStat : 4|3@0+ (1,0) [0|7] "" XXX - -BO_ 2149761024 Chassis_Information_2_LS: 6 XXX - SG_ PerfTrcCrnExStngVal : 4|5@0+ (1,0) [0|31] "" XXX - SG_ ActVehAccelGroup : 5|22@0+ (1,0) [0|0] "" XXX - SG_ ActVehAccelV : 5|1@0+ (1,0) [0|1] "" XXX - SG_ ActVehAccel : 11|12@0- (0.01,0) [-20.48|20.47] "m/s^2" XXX - SG_ TrlrStabAstActIO : 6|1@0+ (1,0) [0|1] "" XXX - SG_ ElvtdIdlCstStAvl : 7|1@0+ (1,0) [0|1] "" XXX - SG_ ElvtdIdlCstCrStVal : 13|2@0+ (1,0) [0|3] "" XXX - SG_ TrnsCltchThrmlProtIndR : 27|20@0+ (1,0) [0|0] "" XXX - SG_ TCTPIR_DrvNotfn : 27|4@0+ (1,0) [0|15] "" XXX - SG_ TCTPIR_TnsEsClTmpD : 39|8@0+ (0.392157,0) [0|100.000035] "%" XXX - SG_ TCTPIR_TnsEsClCDwT : 47|8@0+ (0.392157,0) [0|100.000035] "%" XXX - SG_ PsngStPerfMdCsCrStVal : 30|3@0+ (1,0) [0|7] "" XXX - SG_ PsngStPerfMdCsStAvl : 31|1@0+ (1,0) [0|1] "" XXX - -BO_ 2155012096 SBZA_Right_Status_LS: 1 XXX - SG_ SODTmpUnavlbleIO : 0|1@0+ (1,0) [0|1] "" XXX - SG_ SODSnsClnRqdIO : 1|1@0+ (1,0) [0|1] "" XXX - SG_ SODRtIndCntl : 6|5@0+ (1,0) [0|0] "" XXX - SG_ SODRIC_Ind3 : 2|1@0+ (1,0) [0|1] "" XXX - SG_ SODRIC_Ind2 : 3|1@0+ (1,0) [0|1] "" XXX - SG_ SODRIC_Ind1 : 4|1@0+ (1,0) [0|1] "" XXX - SG_ SODRIC_IndReq : 6|2@0+ (1,0) [0|3] "" XXX - SG_ SrvSODSysIO : 7|1@0+ (1,0) [0|1] "" XXX - -BO_ 2150514688 Power_Slidining_Door_Status_LS: 1 XXX - SG_ SldngDrRgtStat : 2|3@0+ (1,0) [0|7] "" XXX - SG_ SldngDrLftStat : 5|3@0+ (1,0) [0|7] "" XXX - SG_ PwrSldngDrUnavlblIO : 6|1@0+ (1,0) [0|1] "" XXX - SG_ SdClsrObstclDtctdStat : 7|1@0+ (1,0) [0|1] "" XXX - -BO_ 2158067712 Video_Master_Info_2_LS: 5 XXX - SG_ TchScnDsplUsrActnExt : 1|34@0+ (1,0) [0|0] "" XXX - SG_ TSDUAE_RotBtnPsh : 0|1@0+ (1,0) [0|1] "" XXX - SG_ TSDUAE_ScrnPrsdRq : 1|1@0+ (1,0) [0|1] "" XXX - SG_ TSDUAE_GrphStrkInfRq : 15|8@0+ (1,0) [0|255] "" XXX - SG_ TSDUAE_XCoOdntRq : 23|8@0+ (1,0) [0|255] "" XXX - SG_ TSDUAE_YCoOdntRq : 31|8@0+ (1,0) [0|255] "" XXX - SG_ TSDUAE_RotEnc : 39|8@0- (1,0) [-128|127] "Detentions" XXX - -BO_ 2158051328 Video_Master_Info_1_LS: 5 XXX - SG_ RemRcvrSrcInpCmd : 3|4@0+ (1,0) [0|15] "" XXX - SG_ VidMstrDsplyMd : 5|2@0+ (1,0) [0|3] "" XXX - SG_ VidSrcUICntrlStat : 6|1@0+ (1,0) [0|1] "" XXX - SG_ RmtRcvrTunCmnd : 12|5@0+ (1,0) [0|31] "" XXX - SG_ VidMstrArbCmd : 15|3@0+ (1,0) [0|7] "" XXX - SG_ RmtRcvrTunVal : 23|16@0- (1,0) [-32768|32767] "" XXX - SG_ VidMstrSrcType : 36|5@0+ (1,0) [0|31] "" XXX - SG_ TVDspCmd : 39|3@0+ (1,0) [0|7] "" XXX - -BO_ 2158034944 TV_Tuner_Info_LS: 6 XXX - SG_ VidSrcCompFormatER : 3|4@0+ (1,0) [0|15] "" XXX - SG_ CurntTVStnServc : 6|3@0+ (1,0) [0|7] "" XXX - SG_ CurntTVStnQual : 7|1@0+ (1,0) [0|1] "" XXX - SG_ RmtRcvrCmndStat : 10|3@0+ (1,0) [0|7] "" XXX - SG_ RmtRecvtDataTyp : 13|3@0+ (1,0) [0|7] "" XXX - SG_ RmtRcvrTunStat : 14|1@0+ (1,0) [0|1] "" XXX - SG_ TVTunerPres : 15|1@0+ (1,0) [0|1] "" XXX - SG_ RmtRcvrPrgrmServID : 23|16@0+ (1,0) [0|65535] "" XXX - SG_ VidSrcStatCode : 35|4@0+ (1,0) [0|15] "" XXX - SG_ RemRcvrSrcInpStat : 39|4@0+ (1,0) [0|15] "" XXX - SG_ VidSrcType : 44|5@0+ (1,0) [0|31] "" XXX - -BO_ 2158018560 TV_Station_Name_LS: 8 XXX - SG_ TVStatNmeChar1_8 : 7|64@0+ (1,0) [0|0] "" XXX - -BO_ 2156838912 WiFi_Station_LS: 7 XXX - SG_ WiFiStationResp : 3|52@0+ (1,0) [0|0] "" XXX - SG_ WSR_WiFiAssnStat : 3|4@0+ (1,0) [0|15] "" XXX - SG_ WSR_WiFiStnMACAddr : 15|48@0+ (1,0) [0|281474976710655] "" XXX - -BO_ 2156822528 WiFi_AP_Data_LS: 2 XXX - SG_ WiFiAccsPntData : 0|9@0+ (1,0) [0|0] "" XXX - SG_ WAPD_IHUWiFiEnStat : 0|1@0+ (1,0) [0|1] "" XXX - SG_ WAPD_EncrptnType : 11|4@0+ (1,0) [0|15] "" XXX - SG_ WAPD_SecurityType : 15|4@0+ (1,0) [0|15] "" XXX - -BO_ 2151948288 Driver_Drow_Det_Cst_Rqst_LS: 1 XXX - SG_ DrvDrowDetCstStRq : 2|3@0+ (1,0) [0|7] "" XXX - SG_ RunBrdOpMdCstStReq : 7|3@0+ (1,0) [0|7] "" XXX - -BO_ 2158002176 XM_Radio_Service_LS: 1 XXX - SG_ CurntStnServc : 2|3@0+ (1,0) [0|7] "" XXX - SG_ SrvcPrvdr : 5|3@0+ (1,0) [0|7] "" XXX - -BO_ 2149728256 Charging_Sys_Trans_Shift_Lock_LS: 5 XXX - SG_ ChrgSysTrnsShftLckRq : 0|1@0+ (1,0) [0|1] "" XXX - SG_ ChrgPrtDrStat : 2|2@0+ (1,0) [0|3] "" XXX - SG_ PrtyChrgActIO : 3|1@0+ (1,0) [0|1] "" XXX - SG_ PrtyChrgAct : 4|1@0+ (1,0) [0|1] "" XXX - SG_ HghVltgPropState : 7|3@0+ (1,0) [0|7] "" XXX - SG_ ChgCdTfAlCzCrStVal : 10|3@0+ (1,0) [0|7] "" XXX - SG_ ChgCdTfAlCzStAvbl : 11|1@0+ (1,0) [0|1] "" XXX - SG_ ChgPwLsAlCzCrStVal : 14|3@0+ (1,0) [0|7] "" XXX - SG_ ChgPwLsAlCzStAvbl : 15|1@0+ (1,0) [0|1] "" XXX - SG_ ChgSyAudInCsCrStVa : 18|3@0+ (1,0) [0|7] "" XXX - SG_ ChgSysAudInCsStAvl : 19|1@0+ (1,0) [0|1] "" XXX - SG_ HVChrgPwrLvl : 22|3@0+ (1,0) [0|7] "" XXX - SG_ EngAstHtCsCrStVal : 26|3@0+ (1,0) [0|7] "" XXX - SG_ EngAstHtCsStAvl : 27|1@0+ (1,0) [0|1] "" XXX - SG_ EngAstHtPlgInCsCrStVl : 30|3@0+ (1,0) [0|7] "" XXX - SG_ EngAstHtPlgInCsStAvl : 31|1@0+ (1,0) [0|1] "" XXX - SG_ PrtyChrgStPnt : 38|7@0+ (1,0) [0|127] "" XXX - -BO_ 2150023168 Hybrid_Information_LS: 5 XXX - SG_ HybChrgMdStat : 1|2@0+ (1,0) [0|3] "" XXX - SG_ HVInvRatVltGroup : 2|19@0+ (1,0) [0|0] "" XXX - SG_ HVInvRatVltV : 2|1@0+ (1,0) [0|1] "" XXX - SG_ HVInvRatVlt : 8|9@0+ (1,0) [0|511] "volts" XXX - SG_ OffBrdVehImmbNot : 5|3@0+ (1,0) [0|7] "" XXX - SG_ ElecPrplsnMtrTach : 28|13@0+ (1,0) [0|8191] "rpm" XXX - -BO_ 2153988096 Power_Elec_Info_LS: 7 XXX - SG_ PwrElecCoolLpTempGroup : 1|10@0+ (1,0) [0|0] "" XXX - SG_ PwrElecCoolLpTempV : 0|1@0+ (1,0) [0|1] "" XXX - SG_ PwrElecCoolLpTempM : 1|1@0+ (1,0) [0|1] "" XXX - SG_ PwrElecCoolLpTemp : 15|8@0+ (1,-40) [-40|215] "deg C" XXX - SG_ EngyUsgScr : 20|37@0+ (1,0) [0|0] "" XXX - SG_ EUS_TcEngyUsgScrAvVal : 20|7@0- (0.1,0) [-5|5] "" XXX - SG_ EUS_TrEngyUsgScrAvVal : 29|7@0- (0.1,0) [-5|5] "" XXX - SG_ EUS_OTEngyUsgScrAvVal : 38|7@0- (0.1,0) [-5|5] "" XXX - SG_ EUS_TtEngyUsgScrAvVal : 40|9@0- (0.1,0) [-20|20] "" XXX - SG_ EUS_ITEngyUsgScrAvVal : 47|7@0- (0.1,0) [-5|5] "" XXX - -BO_ 2155945984 Jump_Start_Req_LS: 1 XXX - SG_ JmpStrtReq : 0|1@0+ (1,0) [0|1] "" XXX - SG_ TCSysCurStReq : 2|2@0+ (1,0) [0|3] "" XXX - SG_ VehStbEnhmntCurStRq : 4|2@0+ (1,0) [0|3] "" XXX - SG_ VehStbCmptvMdCurStRq : 6|2@0+ (1,0) [0|3] "" XXX - -BO_ 2155585536 MSB_Customization_Setting_Req_LS: 1 XXX - SG_ StBltTgtCSRq : 2|3@0+ (1,0) [0|7] "" XXX - -BO_ 2155569152 CPS_Customization_Setting_Req_LS: 3 XXX - SG_ ColPrSysCustReq : 2|3@0+ (1,0) [0|7] "" XXX - SG_ ExtHlStrAssCsStRq : 5|3@0+ (1,0) [0|7] "" XXX - SG_ IntDimSeldClrTypStReq : 12|5@0+ (1,0) [0|31] "" XXX - SG_ HLOCCstSetReq : 15|3@0+ (1,0) [0|7] "" XXX - SG_ IntDimSeldAnmTypStReq : 19|4@0+ (1,0) [0|15] "" XXX - SG_ SmPhRmFunCstStReq : 22|3@0+ (1,0) [0|7] "" XXX - -BO_ 2155233280 VICM_Info_LS: 8 XXX - SG_ VehRefuelSt : 2|3@0+ (1,0) [0|7] "" XXX - SG_ FlDrOpenIndOn : 3|1@0+ (1,0) [0|1] "" XXX - SG_ UtlChrgPopUpAct : 4|1@0+ (1,0) [0|1] "" XXX - SG_ UtlChrgIntrfrIO : 5|1@0+ (1,0) [0|1] "" XXX - SG_ ShftPrkIO_3B2 : 6|1@0+ (1,0) [0|1] "" XXX - SG_ NtrlCstdwnCrtMdActvIO : 7|1@0+ (1,0) [0|1] "" XXX - SG_ RtBsChrgCmplnTmPrfRsp : 9|2@0+ (1,0) [0|3] "" XXX - SG_ EngRnngDutoVehSpdIO : 10|1@0+ (1,0) [0|1] "" XXX - SG_ NtrlGrWrngIO : 11|1@0+ (1,0) [0|1] "" XXX - SG_ LftmFuelEcon : 19|12@0+ (0.1,0) [0|409.5] "kilometers/liter" XXX - SG_ LiftimeFuelEcnEquiv : 35|12@0+ (0.1,0) [0|409.5] "km/l" XXX - SG_ ChrgCyclFuelEcn : 51|12@0+ (0.1,0) [0|409.5] "km/l" XXX - -BO_ 2152169472 Coolant_Heater_Status_LS: 3 XXX - SG_ ClntHtrSt : 1|2@0+ (1,0) [0|3] "" XXX - SG_ ClntHtrPCBOvTmpFlt : 2|1@0+ (1,0) [0|1] "" XXX - SG_ ClntHtrHtSnkOvTmpFlt : 3|1@0+ (1,0) [0|1] "" XXX - SG_ ClntHtrElecPwrGroup : 4|13@0+ (1,0) [0|0] "" XXX - SG_ ClntHtrElecPwrV : 4|1@0+ (1,0) [0|1] "" XXX - SG_ ClntHtrElecPwr : 15|8@0+ (0.04,0) [0|10.2] "kW" XXX - SG_ ClntHtrFlt : 7|3@0+ (1,0) [0|7] "" XXX - SG_ ClntHtrInltClntTmp : 23|8@0+ (1,-40) [-40|215] "deg C" XXX - -BO_ 2152759296 SITM_Front_Sensor_IO_LS: 1 XXX - SG_ FrtCmrBlckdIO : 0|1@0+ (1,0) [0|1] "" XXX - SG_ FrtEOCMMdlFldIO : 1|1@0+ (1,0) [0|1] "" XXX - SG_ FrtCmrFldIO : 2|1@0+ (1,0) [0|1] "" XXX - SG_ FrtRdrFldIO : 3|1@0+ (1,0) [0|1] "" XXX - SG_ PedWrnIndReq : 5|2@0+ (1,0) [0|3] "" XXX - -BO_ 2152742912 SITM_Rear_Sensor_IO_LS: 1 XXX - SG_ RrEOCMMdlFldIO : 0|1@0+ (1,0) [0|1] "" XXX - SG_ RrRdrBlckdIO : 1|1@0+ (1,0) [0|1] "" XXX - SG_ RrRdrFldIO : 2|1@0+ (1,0) [0|1] "" XXX - SG_ ShrtRngRdrOffIO : 3|1@0+ (1,0) [0|1] "" XXX - -BO_ 2150891520 Go_Notifier_Req_LS: 5 XXX - SG_ DgtlMapSpdCat : 2|3@0+ (1,0) [0|7] "" XXX - SG_ FwdClnAlrtCustStngReq : 5|3@0+ (1,0) [0|7] "" XXX - SG_ GNCustStngReq : 7|2@0+ (1,0) [0|3] "" XXX - SG_ DgtlMapDrvngSd : 8|1@0+ (1,0) [0|1] "" XXX - SG_ DgtlMapPsgRstrctn : 11|3@0+ (1,0) [0|7] "" XXX - SG_ RrStRmndrCstSetReq : 14|3@0+ (1,0) [0|7] "" XXX - SG_ DgtlMapEffSpdLmt : 20|5@0+ (1,0) [0|31] "" XXX - SG_ DgtlMapEffSpdLmtTyp : 23|3@0+ (1,0) [0|7] "" XXX - SG_ DgtlMapVerYr : 29|6@0+ (1,0) [0|63] "" XXX - SG_ DgtlMapVerQtr : 31|2@0+ (1,0) [0|3] "" XXX - SG_ DgtlMapCndlSpdLmt : 36|5@0+ (1,0) [0|31] "" XXX - SG_ DgtlMapCndlSpdLmtTyp : 39|3@0+ (1,0) [0|7] "" XXX - -BO_ 2151751680 Haptic_Seat_Status_LS: 3 XXX - SG_ CrshAlrtDrvrSlctdType : 0|1@0+ (1,0) [0|1] "" XXX - SG_ CrshAlrtStPrsnt : 1|1@0+ (1,0) [0|1] "" XXX - SG_ HptcStVbnStat : 3|2@0+ (1,0) [0|3] "" XXX - SG_ HptcStFldIO : 4|1@0+ (1,0) [0|1] "" XXX - -BO_ 2155536384 Rear_Virtual_Bmper_Indication_LS: 1 XXX - SG_ RVBDsbldIO : 0|1@0+ (1,0) [0|1] "" XXX - SG_ RVBEnbldIO : 1|1@0+ (1,0) [0|1] "" XXX - SG_ RVBFldIO : 2|1@0+ (1,0) [0|1] "" XXX - SG_ RVBUnblIO : 3|1@0+ (1,0) [0|1] "" XXX - SG_ TnDrvRIMOffUnbIO : 4|1@0+ (1,0) [0|1] "" XXX - SG_ RevClnMtgnBrkReqAct : 5|1@0+ (1,0) [0|1] "" XXX - -BO_ 2151481344 CSV_FSRACC_Indications_LS: 1 XXX - SG_ AutoBrkRlsIO : 0|1@0+ (1,0) [0|1] "" XXX - SG_ ShtToPrkBfExtngVehIO : 1|1@0+ (1,0) [0|1] "" XXX - SG_ HdUpDsplyUnblIO : 2|1@0+ (1,0) [0|1] "" XXX - SG_ FSRACCFrstRsmPrssIO : 3|1@0+ (1,0) [0|1] "" XXX - SG_ FrtRdrBlckdIO : 4|1@0+ (1,0) [0|1] "" XXX - -BO_ 2151432192 ACC_Drv_Seat_Vib_Req_IO_LS: 1 XXX - SG_ ACCHptcStVbnRqSeqN : 1|2@0+ (1,0) [0|3] "" XXX - SG_ ACCHptcStVbnReq : 7|6@0+ (1,0) [0|63] "" XXX - -BO_ 2151415808 Ln_Dep_Wrn_Drv_Seat_Vib_Req_LS: 5 XXX - SG_ LDWLftHptcStRqSN : 1|2@0+ (1,0) [0|3] "" XXX - SG_ LDWLftHptcStRq : 7|6@0+ (1,0) [0|63] "" XXX - SG_ LDWRghtHptcStRqSN : 9|2@0+ (1,0) [0|3] "" XXX - SG_ LDWRghtHptcStRq : 15|6@0+ (1,0) [0|63] "" XXX - SG_ LftLnChgThrtHptStRqSN : 17|2@0+ (1,0) [0|3] "" XXX - SG_ LftLnChgThrtHptStRq : 23|6@0+ (1,0) [0|63] "Pulse" XXX - SG_ RgtLnChgThrtHptStRqSN : 25|2@0+ (1,0) [0|3] "" XXX - SG_ RgtLnChgThrtHptStRq : 31|6@0+ (1,0) [0|63] "Pulse" XXX - SG_ FrPedDetCsStAvl : 32|1@0+ (1,0) [0|1] "" XXX - SG_ FrPedDetCsCrStVal : 35|3@0+ (1,0) [0|7] "" XXX - -BO_ 2151350272 Frnt_Prk_Ast_Drv_Seat_Vib_Req_LS: 3 XXX - SG_ FPAHptcStVbnRqSeqN : 1|2@0+ (1,0) [0|3] "" XXX - SG_ FPAHptcStVbnReq : 7|6@0+ (1,0) [0|63] "" XXX - SG_ APAIconDispRq : 10|3@0+ (1,0) [0|7] "" XXX - SG_ APAIconFilPctRq : 22|7@0+ (1,0) [0|127] "" XXX - -BO_ 2151333888 Rear_Prk_Ast_Drv_Seat_Vib_Req_LS: 1 XXX - SG_ RPAHptcStVbRqSeqN : 1|2@0+ (1,0) [0|3] "" XXX - SG_ RPAHptcStVbnReq : 7|6@0+ (1,0) [0|63] "" XXX - -BO_ 2151522304 Reset_FuelLife_Request_LS: 1 XXX - SG_ FuelFltLfRstRqd : 0|1@0+ (1,0) [0|1] "" XXX - SG_ ElEngyEconAvgRstRq : 1|1@0+ (1,0) [0|1] "" XXX - SG_ TCSTmpDsblReqConf : 3|2@0+ (1,0) [0|3] "" XXX - SG_ LnchCtrlRelLnLockReqd : 4|1@0+ (1,0) [0|1] "" XXX - -BO_ 2150629376 CV_System_Failure_LS: 1 XXX - SG_ CVSysFlrIO : 0|1@0+ (1,0) [0|1] "" XXX - -BO_ 2155929600 Diesel_Information_LS: 8 XXX - SG_ DslExFldTpWrngIndRq : 3|4@0+ (1,0) [0|15] "" XXX - SG_ DslExhFldDiagWrnIdRq : 6|3@0+ (1,0) [0|7] "" XXX - SG_ DslExhFldQlyWrngIReq : 11|4@0+ (1,0) [0|15] "" XXX - SG_ DslExhFldWrngIdRqER : 15|4@0+ (1,0) [0|15] "" XXX - SG_ DslExhFluidDistTIndcmt : 22|15@0+ (2,0) [0|65534] "km" XXX - SG_ DslExNxEmWrngIndRq : 35|4@0+ (1,0) [0|15] "" XXX - SG_ DslExFldCnWrngIndRq : 39|4@0+ (1,0) [0|15] "" XXX - SG_ DslExFldWrngVSpdLmt : 47|24@0+ (1,0) [0|0] "" XXX - SG_ DEFWVSL_S1SpdLmt : 47|8@0+ (1,0) [0|255] "km / h" XXX - SG_ DEFWVSL_S2SpdLmt : 55|8@0+ (1,0) [0|255] "km / h" XXX - SG_ DEFWVSL_S3SpdLmt : 63|8@0+ (1,0) [0|255] "km / h" XXX - -BO_ 2154741760 RSA_Status_LS: 1 XXX - SG_ RSAPrsnt : 0|1@0+ (1,0) [0|1] "" XXX - -BO_ 2154807296 Lighting_Customization_Info_3_LS: 4 XXX - SG_ AFLGPSCstCrStVal : 2|3@0+ (1,0) [0|7] "" XXX - SG_ AFLCstCrStVal : 5|3@0+ (1,0) [0|7] "" XXX - SG_ AFLGPSCstStAvl : 6|1@0+ (1,0) [0|1] "" XXX - SG_ AFLCstStAvl : 7|1@0+ (1,0) [0|1] "" XXX - SG_ AFLGPSMnu2CstStAvl : 8|1@0+ (1,0) [0|1] "" XXX - SG_ AFLMnu2CstStAvl : 9|1@0+ (1,0) [0|1] "" XXX - SG_ AFLMnu3CstStAvl : 10|1@0+ (1,0) [0|1] "" XXX - SG_ EngAutoStpNotProb : 11|1@0+ (1,0) [0|1] "" XXX - SG_ ESCMHiEleclLdReqAct : 12|1@0+ (1,0) [0|1] "" XXX - SG_ EngAutoStrtStpInfo : 17|10@0+ (1,0) [0|0] "" XXX - SG_ EASSI_StrtStpSt : 17|2@0+ (1,0) [0|3] "" XXX - SG_ EASSI_UnsdRsrvd2 : 24|1@0+ (1,0) [0|1] "" XXX - SG_ EASSI_TorqDetdIndet : 25|1@0+ (1,0) [0|1] "" XXX - SG_ EASSI_StlDetd : 26|1@0+ (1,0) [0|1] "" XXX - SG_ EASSI_TrqDetd : 27|1@0+ (1,0) [0|1] "" XXX - SG_ EASSI_FuelReqOn : 28|1@0+ (1,0) [0|1] "" XXX - SG_ EASSI_StrtTyp : 31|3@0+ (1,0) [0|7] "" XXX - -BO_ 2151079936 PDIM_Status_LS: 1 XXX - SG_ PDIMPrsnt : 0|1@0+ (1,0) [0|1] "" XXX - -BO_ 2155364352 Hybrid_Information_SuperSlow_LS: 5 XXX - SG_ SvcHybridSysIO : 0|1@0+ (1,0) [0|1] "" XXX - SG_ JmpStrtStat : 3|3@0+ (1,0) [0|7] "" XXX - SG_ HybMdDisp : 7|4@0+ (1,0) [0|15] "" XXX - SG_ CstmrUsblSOCGroup : 15|15@0+ (1,0) [0|0] "" XXX - SG_ CstmrUsblSOC : 15|8@0+ (0.39216,0) [0|100.0008] "%" XXX - SG_ CstmrUsblSOCV : 17|1@0+ (1,0) [0|1] "" XXX - SG_ BattCntrlPrcssrVDA : 16|1@0+ (1,0) [0|1] "" XXX - SG_ InstDrvEff : 31|8@0- (0.78125,0) [-100|99.21875] "%" XXX - SG_ ClntCrcFlwRtEst : 39|8@0+ (0.392157,0) [0|100.000035] "%" XXX - -BO_ 2154979328 Front_Seat_Heat_Cool_Req_LS: 1 XXX - SG_ FrntStVoltBstModReq : 0|1@0+ (1,0) [0|1] "" XXX - -BO_ 2155282432 RearSeat_HeatVent_Cool_LS: 1 XXX - SG_ RrStVoltBstModReq : 0|1@0+ (1,0) [0|1] "" XXX - -BO_ 2151505920 VehInfoTripComputer_LS: 7 XXX - SG_ SpdCurvAdvSysEnbld : 0|1@0+ (1,0) [0|1] "" XXX - SG_ TrlrBrkDsplyAct : 1|1@0+ (1,0) [0|1] "" XXX - SG_ ACCSettingType : 3|2@0+ (1,0) [0|3] "" XXX - SG_ AutoMdSpdLmtCnfrmd : 4|1@0+ (1,0) [0|1] "" XXX - SG_ PTExPrtclFltManRgnRqd : 5|1@0+ (1,0) [0|1] "" XXX - SG_ Trp2OdomtrGroup : 6|55@0+ (1,0) [0|0] "" XXX - SG_ Trp2OdomtrV : 6|1@0+ (1,0) [0|1] "" XXX - SG_ Trp2Odomtr : 38|23@0+ (0.015625,0) [0|131071.984375] "km" XXX - SG_ Trp1OdomtrGroup : 7|32@0+ (1,0) [0|0] "" XXX - SG_ Trp1OdomtrV : 7|1@0+ (1,0) [0|1] "" XXX - SG_ Trp1Odomtr : 14|23@0+ (0.015625,0) [0|131071.984375] "km" XXX - -BO_ 2155896832 Alternative_Fuel_Information_LS: 5 XXX - SG_ FuelMdStat : 2|3@0+ (1,0) [0|7] "" XXX - SG_ AltFuelMdReqDndIO : 3|1@0+ (1,0) [0|1] "" XXX - SG_ FlLvlTank2PctGroup : 4|13@0+ (1,0) [0|0] "" XXX - SG_ FlLvlTank2PctV : 4|1@0+ (1,0) [0|1] "" XXX - SG_ FlLvlTank2Pct : 15|8@0+ (0.392157,0) [0|100.000035] "%" XXX - SG_ AltFuelAccWrnngAct : 5|1@0+ (1,0) [0|1] "" XXX - SG_ AltFuelLvlLo : 6|1@0+ (1,0) [0|1] "" XXX - SG_ AltFuelPHeatAct : 7|1@0+ (1,0) [0|1] "" XXX - SG_ FuelTotCapTnk2 : 19|12@0+ (0.125,0) [0|511.875] "liters" XXX - SG_ FuelAlchlCompAdptnPrg : 20|1@0+ (1,0) [0|1] "" XXX - SG_ FuelAlcoholCompGroup : 21|22@0+ (1,0) [0|0] "" XXX - SG_ FuelAlcoholCompV : 21|1@0+ (1,0) [0|1] "" XXX - SG_ FuelAlcoholComp : 39|8@0+ (0.392157,0) [0|100.000035] "%" XXX - -BO_ 2155552768 Exterior_Lock_Switch_Req_LS: 1 XXX - SG_ PsvEntCmftWndRq : 1|2@0+ (1,0) [0|3] "" XXX - -BO_ 2154496000 Rear_Closure_Soft_Top_Info_LS: 1 XXX - SG_ CmpSftTopMotBfrOpTrnkIO : 0|1@0+ (1,0) [0|1] "" XXX - SG_ TargaTopStateGroup : 2|2@0+ (1,0) [0|0] "" XXX - SG_ TargaTopState : 1|1@0+ (1,0) [0|1] "" XXX - SG_ TargaTopStateV : 2|1@0+ (1,0) [0|1] "" XXX - -BO_ 2155208704 Power_Conv_Top_Info_LS: 3 XXX - SG_ SftTpAbvWrngSpdIndOn : 0|1@0+ (1,0) [0|1] "" XXX - SG_ SftTpFlrIO : 1|1@0+ (1,0) [0|1] "" XXX - SG_ SftTpLtcIO : 2|1@0+ (1,0) [0|1] "" XXX - SG_ SftTpMnlLtchIndOn : 3|1@0+ (1,0) [0|1] "" XXX - SG_ SftTpMchnOvhtIO : 4|1@0+ (1,0) [0|1] "" XXX - SG_ SftTpRmCrgCrrIO : 5|1@0+ (1,0) [0|1] "" XXX - SG_ SftTpStrIO : 6|1@0+ (1,0) [0|1] "" XXX - SG_ SftTpTmpLwIO : 7|1@0+ (1,0) [0|1] "" XXX - SG_ SftTpTneuCvrIO : 8|1@0+ (1,0) [0|1] "" XXX - SG_ SftTpVehOvSpdIndOn : 9|1@0+ (1,0) [0|1] "" XXX - SG_ SftTpVltLwIO : 10|1@0+ (1,0) [0|1] "" XXX - SG_ CkSoftTpIO : 11|1@0+ (1,0) [0|1] "" XXX - SG_ ClsTrnkLidIO : 12|1@0+ (1,0) [0|1] "" XXX - SG_ FTUpdWndPsLmtEnbld : 13|1@0+ (1,0) [0|1] "" XXX - SG_ VltSwAtvIndOn : 14|1@0+ (1,0) [0|1] "" XXX - SG_ SftTpTrnLmpsRqd : 15|1@0+ (1,0) [0|1] "" XXX - SG_ FldngTpSt : 18|3@0+ (1,0) [0|7] "" XXX - SG_ FldngTpWndCmftRq : 20|2@0+ (1,0) [0|3] "" XXX - SG_ SftTpPlsDnSrtdIndOn : 21|1@0+ (1,0) [0|1] "" XXX - SG_ SftTpPlsDnWrngIndOn : 22|1@0+ (1,0) [0|1] "" XXX - -BO_ 2153390080 Manual_Liftgate_Control_LS: 1 XXX - SG_ RrClosOpenSwAct_2D1Group : 3|3@0+ (1,0) [0|0] "" XXX - SG_ RrClosOpenSwAct_2D1 : 1|1@0+ (1,0) [0|1] "" XXX - SG_ RrClosOpenSwAct_2D1V : 3|1@0+ (1,0) [0|1] "" XXX - -BO_ 2155175936 CruiseControlGapSwitch_LS: 1 XXX - SG_ AdptCrsGapSwAct : 1|2@0+ (1,0) [0|3] "" XXX - SG_ AdptCrsLKALDWSwAct : 2|1@0+ (1,0) [0|1] "" XXX - -BO_ 2156806144 Cellular_Network_Date_and_Time: 6 XXX - SG_ CldrDayCmpstdVal : 4|5@0+ (1,0) [0|31] "days" XXX - SG_ HrsCmpstdValGroup : 5|30@0+ (1,0) [0|0] "" XXX - SG_ HrsCmpstdValV : 5|1@0+ (1,0) [0|1] "" XXX - SG_ HrsCmpstdVal : 28|5@0+ (1,0) [0|31] "h" XXX - SG_ MinsCmpstdValGroup : 6|39@0+ (1,0) [0|0] "" XXX - SG_ MinsCmpstdValV : 6|1@0+ (1,0) [0|1] "" XXX - SG_ MinsCmpstdVal : 37|6@0+ (1,0) [0|63] "min" XXX - SG_ SecCmpstdValGroup : 7|48@0+ (1,0) [0|0] "" XXX - SG_ SecCmpstdValV : 7|1@0+ (1,0) [0|1] "" XXX - SG_ SecCmpstdVal : 45|6@0+ (1,0) [0|63] "secs" XXX - SG_ CldrMthCmpstdVal : 11|4@0+ (1,0) [0|15] "" XXX - SG_ CellNtwrkDtTmAvl : 12|1@0+ (1,0) [0|1] "" XXX - SG_ CldrYrCmpstdVal : 23|8@0+ (1,2000) [2000|2255] "year" XXX - -BO_ 2154078208 Window_Position_Status_LS: 2 XXX - SG_ DrvWndPosStat : 2|3@0+ (1,0) [0|7] "" XXX - SG_ LRWndPosStat : 5|3@0+ (1,0) [0|7] "" XXX - SG_ PsWndPosStat : 10|3@0+ (1,0) [0|7] "" XXX - SG_ RRWndPosStat : 13|3@0+ (1,0) [0|7] "" XXX - -BO_ 2159058944 ODIEvent_IPC_LS: 3 XXX - SG_ ODIEvntPkt_IPC : 5|22@0+ (1,0) [0|0] "" XXX - SG_ ODIEI_EvID : 5|6@0+ (1,0) [0|63] "" XXX - SG_ ODIEI_FUCID : 15|8@0+ (1,0) [0|255] "" XXX - SG_ ODIEI_MultiFrRetCh : 23|8@0+ (1,0) [0|255] "" XXX - -BO_ 2159042560 ODI_DynData_IPC_LS: 8 XXX - SG_ ODIDynData_IPC : 14|55@0+ (1,0) [0|0] "" XXX - SG_ ODDI_InvldData : 8|1@0+ (1,0) [0|1] "" XXX - SG_ ODDI_DataType : 14|6@0+ (1,0) [0|63] "" XXX - SG_ ODDI_FUCID : 23|8@0+ (1,0) [0|255] "" XXX - SG_ ODDI_DataId : 31|8@0+ (1,0) [0|255] "" XXX - SG_ ODDI_DataVal : 39|32@0+ (1,0) [0|4294967295] "" XXX - -BO_ 2150006784 System_Power_Mode_Pushbutton_LS: 1 XXX - SG_ SysPwrMdPshbtnActGroup : 1|2@0+ (1,0) [0|0] "" XXX - SG_ SysPwrMdPshbtnAct : 0|1@0+ (1,0) [0|1] "" XXX - SG_ SysPwrMdPshbtnActV : 1|1@0+ (1,0) [0|1] "" XXX - SG_ PEPSRunCrnkRlyDctd : 2|1@0+ (1,0) [0|1] "" XXX - -BO_ 2155216896 Road_Type_Information_LS: 6 XXX - SG_ MpDataAvlbl : 0|1@0+ (1,0) [0|1] "" XXX - SG_ BldUpArDet : 1|1@0+ (1,0) [0|1] "" XXX - SG_ SprtLnRd : 2|1@0+ (1,0) [0|1] "" XXX - SG_ CntrldAccRd : 3|1@0+ (1,0) [0|1] "" XXX - SG_ CurvAdvInd : 5|2@0+ (1,0) [0|3] "" XXX - SG_ SpdLmtPstdSpdGroup : 6|23@0+ (1,0) [0|0] "" XXX - SG_ SpdLmtPstdSpdM : 6|1@0+ (1,0) [0|1] "" XXX - SG_ SpdLmtPstdSpd : 23|8@0+ (1,0) [0|255] "" XXX - SG_ DgtlMapPstdSpdLimAsrd : 7|1@0+ (1,0) [0|1] "" XXX - SG_ FncRdClass : 10|3@0+ (1,0) [0|7] "" XXX - SG_ RdSpdCatType : 12|2@0+ (1,0) [0|3] "" XXX - SG_ LnCat : 14|2@0+ (1,0) [0|3] "" XXX - SG_ SpdLmtUnits : 15|1@0+ (1,0) [0|1] "" XXX - SG_ SpdLmtRecmndSpd : 31|8@0+ (1,0) [0|255] "" XXX - SG_ IntlStdAlph2CddCntryCd : 33|10@0+ (1,0) [0|0] "" XXX - SG_ ISA2CCC_FrstCdChr : 33|5@0+ (1,0) [0|31] "" XXX - SG_ ISA2CCC_ScndCdChr : 44|5@0+ (1,0) [0|31] "" XXX - -BO_ 2156216320 TTY_Status_LS: 1 XXX - SG_ TxtTelephoneDevPr : 0|1@0+ (1,0) [0|1] "" XXX - -BO_ 2158813184 ODIIndication_IPC_LS: 8 XXX - SG_ ODIInd_IPC : 7|64@0+ (1,0) [0|0] "" XXX - SG_ ODIIIPC_FUCID : 7|8@0+ (1,0) [0|255] "" XXX - SG_ ODIIIPC_ODIInd8 : 8|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIIPC_ODIInd7 : 9|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIIPC_ODIInd6 : 10|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIIPC_ODIInd5 : 11|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIIPC_ODIInd4 : 12|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIIPC_ODIInd3 : 13|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIIPC_ODIInd2 : 14|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIIPC_ODIInd1 : 15|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIIPC_ODIInd16 : 16|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIIPC_ODIInd15 : 17|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIIPC_ODIInd14 : 18|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIIPC_ODIInd13 : 19|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIIPC_ODIInd12 : 20|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIIPC_ODIInd11 : 21|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIIPC_ODIInd10 : 22|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIIPC_ODIInd9 : 23|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIIPC_ODIInd24 : 24|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIIPC_ODIInd23 : 25|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIIPC_ODIInd22 : 26|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIIPC_ODIInd21 : 27|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIIPC_ODIInd20 : 28|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIIPC_ODIInd19 : 29|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIIPC_ODIInd18 : 30|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIIPC_ODIInd17 : 31|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIIPC_ODIInd32 : 32|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIIPC_ODIInd31 : 33|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIIPC_ODIInd30 : 34|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIIPC_ODIInd29 : 35|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIIPC_ODIInd28 : 36|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIIPC_ODIInd27 : 37|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIIPC_ODIInd26 : 38|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIIPC_ODIInd25 : 39|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIIPC_ODIInd40 : 40|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIIPC_ODIInd39 : 41|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIIPC_ODIInd38 : 42|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIIPC_ODIInd37 : 43|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIIPC_ODIInd36 : 44|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIIPC_ODIInd35 : 45|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIIPC_ODIInd34 : 46|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIIPC_ODIInd33 : 47|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIIPC_ODIInd48 : 48|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIIPC_ODIInd47 : 49|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIIPC_ODIInd46 : 50|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIIPC_ODIInd45 : 51|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIIPC_ODIInd44 : 52|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIIPC_ODIInd43 : 53|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIIPC_ODIInd42 : 54|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIIPC_ODIInd41 : 55|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIIPC_ODIInd56 : 56|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIIPC_ODIInd55 : 57|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIIPC_ODIInd54 : 58|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIIPC_ODIInd53 : 59|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIIPC_ODIInd52 : 60|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIIPC_ODIInd51 : 61|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIIPC_ODIInd50 : 62|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIIPC_ODIInd49 : 63|1@0+ (1,0) [0|1] "" XXX - -BO_ 2150277120 GPS_Geographical_Position_LS: 8 XXX - SG_ PsngSysLatGroup : 6|31@0+ (1,0) [0|0] "" XXX - SG_ PsngSysLat : 5|30@0- (1,0) [-536870912|536870911] "mas" XXX - SG_ PsngSysLatV : 6|1@0+ (1,0) [0|1] "" XXX - SG_ PsngSysLongGroup : 39|32@0+ (1,0) [0|0] "" XXX - SG_ PsngSysLong : 38|31@0- (1,0) [-1073741824|1073741823] "mas" XXX - SG_ PsngSysLongV : 39|1@0+ (1,0) [0|1] "" XXX - -BO_ 2150285312 GPS_Elevation_and_Heading_LS: 8 XXX - SG_ PsngSysHdingGroup : 3|37@0+ (1,0) [0|0] "" XXX - SG_ PsngSysHding : 3|12@0+ (0.1,0) [0|409.5] "deg" XXX - SG_ PsngSysHdingV : 47|1@0+ (1,0) [0|1] "" XXX - SG_ PsngSysDilPrcsGroup : 4|29@0+ (1,0) [0|0] "" XXX - SG_ PsngSysDilPrcsV : 4|1@0+ (1,0) [0|1] "" XXX - SG_ PsngSysDilPrcs : 17|10@0+ (0.1,0) [0|102.3] "" XXX - SG_ PsngSysCalcSpdGroup : 39|10@0+ (1,0) [0|0] "" XXX - SG_ PsngSysCalcSpd : 39|8@0+ (1,0) [0|255] "km / h" XXX - SG_ PsngSysCalcSpdV : 46|1@0+ (1,0) [0|1] "" XXX - SG_ PsngSysElvtnGroup : 45|22@0+ (1,0) [0|0] "" XXX - SG_ PsngSysElvtn : 44|21@0+ (1,-100000) [-100000|1997151] "cm" XXX - SG_ PsngSysElvtnV : 45|1@0+ (1,0) [0|1] "" XXX - -BO_ 2151890944 Telematics_Indication_Request_LS: 4 XXX - SG_ TlmtcsIndCntrlReq : 15|24@0+ (1,0) [0|0] "" XXX - SG_ TICR_Ind1Cnt : 11|4@0+ (1,0) [0|15] "" XXX - SG_ TICR_Ind1 : 13|2@0+ (1,0) [0|3] "" XXX - SG_ TICR_Ind1Req : 15|2@0+ (1,0) [0|3] "" XXX - SG_ TICR_Ind1FlshRtOff : 23|8@0+ (10,0) [0|2550] "ms" XXX - SG_ TICR_Ind1FlshRtOn : 31|8@0+ (10,0) [0|2550] "ms" XXX - -BO_ 2151251968 Telematics_Indication_Control_LS: 4 XXX - SG_ TlmtcsIndCntrlStat : 12|21@0+ (1,0) [0|0] "" XXX - SG_ TICS_Ind1V : 8|1@0+ (1,0) [0|1] "" XXX - SG_ TICS_Ind1 : 10|2@0+ (1,0) [0|3] "" XXX - SG_ TICS_Ind1Stat : 12|2@0+ (1,0) [0|3] "" XXX - SG_ TICS_Ind1FlshRtOffSt : 23|8@0+ (10,0) [0|2550] "ms" XXX - SG_ TICS_Ind1FlshRtOnSt : 31|8@0+ (10,0) [0|2550] "ms" XXX - -BO_ 2155495424 Remote_Start_Seat_Request_LS: 1 XXX - SG_ RmStrCldStEnReq : 0|1@0+ (1,0) [0|1] "" XXX - SG_ RmStrHtdStEnRq : 1|1@0+ (1,0) [0|1] "" XXX - -BO_ 2149990400 HS_Indications_Fast_LS: 8 XXX - SG_ ABSIO : 0|1@0+ (1,0) [0|1] "" XXX - SG_ StpOnBrkToRelPBIndOn : 1|1@0+ (1,0) [0|1] "" XXX - SG_ TrlrBrkngVDA : 2|1@0+ (1,0) [0|1] "" XXX - SG_ DrvThrtlOvrdIO : 3|1@0+ (1,0) [0|1] "" XXX - SG_ TreInfMonSysRstPrfmd : 4|1@0+ (1,0) [0|1] "" XXX - SG_ ACCHdwayStngIO : 5|1@0+ (1,0) [0|1] "" XXX - SG_ ACCDrvrSeltdSpdIO : 6|1@0+ (1,0) [0|1] "" XXX - SG_ TrlrWiringFltIO : 7|1@0+ (1,0) [0|1] "" XXX - SG_ AdvHlmpsVDA : 9|1@0+ (1,0) [0|1] "" XXX - SG_ SADmpVDA : 10|1@0+ (1,0) [0|1] "" XXX - SG_ ScndryAxleVDA : 11|1@0+ (1,0) [0|1] "" XXX - SG_ SrvTrlrBrkngSysIO : 12|1@0+ (1,0) [0|1] "" XXX - SG_ TrlrBrkngGainSetIO : 13|1@0+ (1,0) [0|1] "" XXX - SG_ TrlrCnctdIO : 14|1@0+ (1,0) [0|1] "" XXX - SG_ ChkTrlrIO : 15|1@0+ (1,0) [0|1] "" XXX - SG_ TrlrBrkngFrcOtpt : 23|8@0+ (0.392157,0) [0|100.000035] "%" XXX - SG_ TrlrBrkngGainSet : 31|8@0+ (0.392157,0) [0|100.000035] "%" XXX - SG_ TrlrHtchSwAtv_ITBC : 32|1@0+ (1,0) [0|1] "" XXX - SG_ TransNtrlCntrlMdStat : 34|2@0+ (1,0) [0|3] "" XXX - SG_ MotStBltFldIO : 35|1@0+ (1,0) [0|1] "" XXX - SG_ MotStBltUnblIO : 36|1@0+ (1,0) [0|1] "" XXX - SG_ TrnsfrCsRngShfSpdLmt : 47|8@0+ (1,0) [0|255] "km / h" XXX - SG_ InstFuelConsmpRate : 51|12@0+ (0.025,0) [0|102.375] "liters/hr" XXX - SG_ SecAxlOperMod : 55|4@0+ (1,0) [0|15] "" XXX - -BO_ 2155380736 HS_Indications_SuperSlow_LS: 6 XXX - SG_ VehOvrLdIndOn : 0|1@0+ (1,0) [0|1] "" XXX - SG_ SrvLevSysIO : 1|1@0+ (1,0) [0|1] "" XXX - SG_ HdLtLvlFlrIO : 2|1@0+ (1,0) [0|1] "" XXX - SG_ RrLevVDA : 3|1@0+ (1,0) [0|1] "" XXX - SG_ AirCndOffIO : 4|1@0+ (1,0) [0|1] "" XXX - SG_ EngOilHotIO : 5|1@0+ (1,0) [0|1] "" XXX - SG_ PTExPrtclFltrWrnIO : 6|1@0+ (1,0) [0|1] "" XXX - SG_ DslGlwPlgIO : 7|1@0+ (1,0) [0|1] "" XXX - SG_ EngHotFuelEnrchmntIO : 8|1@0+ (1,0) [0|1] "" XXX - SG_ EngOilChngIO : 9|1@0+ (1,0) [0|1] "" XXX - SG_ EngOilLvlLwIO : 10|1@0+ (1,0) [0|1] "" XXX - SG_ EngOilPrsLwIO : 11|1@0+ (1,0) [0|1] "" XXX - SG_ EngWtrInFlIO : 12|1@0+ (1,0) [0|1] "" XXX - SG_ RdcdPwrIO : 13|1@0+ (1,0) [0|1] "" XXX - SG_ CkFlFilrCapIO : 14|1@0+ (1,0) [0|1] "" XXX - SG_ EngHt_StpEngIO : 15|1@0+ (1,0) [0|1] "" XXX - SG_ StrAsstRdcdLvl2IO : 16|1@0+ (1,0) [0|1] "" XXX - SG_ PwrStrIO : 17|1@0+ (1,0) [0|1] "" XXX - SG_ PTExPrtclFltrWrn2IO : 18|1@0+ (1,0) [0|1] "" XXX - SG_ AdvFrntLghtSysIndRq : 21|3@0+ (1,0) [0|7] "" XXX - SG_ StrngAsstRdcdIO : 22|1@0+ (1,0) [0|1] "" XXX - SG_ StrAsstRdcdLvl3IO : 23|1@0+ (1,0) [0|1] "" XXX - SG_ PwrPckAirInTempFlt : 31|8@0+ (1,-40) [-40|215] "deg C" XXX - SG_ PwrPkFnSpd : 39|8@0+ (0.392157,0) [0|100.000035] "%" XXX - SG_ ARSFlrIO : 40|1@0+ (1,0) [0|1] "" XXX - -BO_ 2150498304 Analog_Values_Slow_LS: 8 XXX - SG_ EngCltTmpGroup : 0|57@0+ (1,0) [0|0] "" XXX - SG_ EngCltTmpV : 0|1@0+ (1,0) [0|1] "" XXX - SG_ EngCltTmp : 63|8@0+ (1,-40) [-40|215] "deg C" XXX - SG_ EngIntAirTmpGroup : 1|50@0+ (1,0) [0|0] "" XXX - SG_ EngIntAirTmpV : 1|1@0+ (1,0) [0|1] "" XXX - SG_ EngIntAirTmp : 55|8@0+ (1,-40) [-40|215] "deg C" XXX - SG_ EngOilTmpGroup : 2|43@0+ (1,0) [0|0] "" XXX - SG_ EngOilTmpV : 2|1@0+ (1,0) [0|1] "" XXX - SG_ EngOilTmp : 47|8@0+ (1,-40) [-40|215] "deg C" XXX - SG_ OAT_PT_EstGroup : 4|37@0+ (1,0) [0|0] "" XXX - SG_ OAT_PT_EstV : 3|1@0+ (1,0) [0|1] "" XXX - SG_ OAT_PT_EstM : 4|1@0+ (1,0) [0|1] "" XXX - SG_ OAT_PT_Est : 39|8@0+ (0.5,-40) [-40|87.5] "deg C" XXX - SG_ TrnOilTmpGroup : 5|30@0+ (1,0) [0|0] "" XXX - SG_ TrnOilTmpV : 5|1@0+ (1,0) [0|1] "" XXX - SG_ TrnOilTmp : 31|8@0+ (1,-40) [-40|215] "deg C" XXX - SG_ BarPrsAbsGroup : 6|23@0+ (1,0) [0|0] "" XXX - SG_ BarPrsAbsV : 6|1@0+ (1,0) [0|1] "" XXX - SG_ BarPrsAbs : 23|8@0+ (0.5,0) [0|127.5] "kPa" XXX - SG_ EngOilPrsGroup : 7|16@0+ (1,0) [0|0] "" XXX - SG_ EngOilPrsV : 7|1@0+ (1,0) [0|1] "" XXX - SG_ EngOilPrs : 15|8@0+ (4,0) [0|1020] "kPa" XXX - -BO_ 2151047168 HUD_Status_LS: 1 XXX - SG_ HUDActv : 0|1@0+ (1,0) [0|1] "" XXX - SG_ HdUpDspAnmtStat : 3|3@0+ (1,0) [0|7] "" XXX - -BO_ 2155331584 Wheel_Pulses_LS: 4 XXX - SG_ WhlPlsPerRevDrvn : 6|7@0+ (1,0) [0|127] "" XXX - SG_ WhlPlsPerRevNonDrvn : 14|7@0+ (1,0) [0|127] "" XXX - SG_ WhlRotStatTmstmpRes : 18|11@0+ (0.002,0) [0|4.094] "uSec" XXX - -BO_ 2154225664 Door_Handle_Switch_Status_LS: 1 XXX - SG_ DrvDrHndleSwAtv : 0|1@0+ (1,0) [0|1] "" XXX - SG_ PasDrHndleSwAtv : 1|1@0+ (1,0) [0|1] "" XXX - SG_ RCHndleSwAtv : 2|1@0+ (1,0) [0|1] "" XXX - SG_ RRDrHndleSwAtv : 3|1@0+ (1,0) [0|1] "" XXX - SG_ RLDrHndleSwAtv : 4|1@0+ (1,0) [0|1] "" XXX - -BO_ 2149900288 Telematics_Contol_LS: 3 XXX - SG_ EnhSrvRClsRlsRq : 1|1@0+ (1,0) [0|1] "" XXX - SG_ EnhSrvVisAlRq : 3|2@0+ (1,0) [0|3] "" XXX - SG_ EnhSrvAudAlRq : 5|2@0+ (1,0) [0|3] "" XXX - SG_ EnhSrvRmStrtRq : 7|2@0+ (1,0) [0|3] "" XXX - SG_ EnhSrvLckRq : 10|3@0+ (1,0) [0|7] "" XXX - SG_ BTTethrngPrngReq : 14|4@0+ (1,0) [0|15] "" XXX - SG_ EnhSvVehTopSpdLim : 23|8@0+ (2,0) [0|510] "km / h" XXX - -BO_ 2159001600 ODIEnumDynamicData_IPC_LS: 8 XXX - SG_ ODIEnmDynData_IPC : 5|62@0+ (1,0) [0|0] "" XXX - SG_ ODIEDDIPC_Data2Value : 2|3@0+ (1,0) [0|7] "" XXX - SG_ ODIEDDIPC_Data1Value : 5|3@0+ (1,0) [0|7] "" XXX - SG_ ODIEDDIPC_Data5Value : 9|3@0+ (1,0) [0|7] "" XXX - SG_ ODIEDDIPC_Data4Value : 12|3@0+ (1,0) [0|7] "" XXX - SG_ ODIEDDIPC_Data3Value : 15|3@0+ (1,0) [0|7] "" XXX - SG_ ODIEDDIPC_Data8Value : 16|3@0+ (1,0) [0|7] "" XXX - SG_ ODIEDDIPC_Data7Value : 19|3@0+ (1,0) [0|7] "" XXX - SG_ ODIEDDIPC_Data6Value : 22|3@0+ (1,0) [0|7] "" XXX - SG_ ODIEDDIPC_Data10Value : 26|3@0+ (1,0) [0|7] "" XXX - SG_ ODIEDDIPC_Data9Value : 29|3@0+ (1,0) [0|7] "" XXX - SG_ ODIEDDIPC_Data13Value : 33|3@0+ (1,0) [0|7] "" XXX - SG_ ODIEDDIPC_Data12Value : 36|3@0+ (1,0) [0|7] "" XXX - SG_ ODIEDDIPC_Data11Value : 39|3@0+ (1,0) [0|7] "" XXX - SG_ ODIEDDIPC_Data16Value : 40|3@0+ (1,0) [0|7] "" XXX - SG_ ODIEDDIPC_Data15Value : 43|3@0+ (1,0) [0|7] "" XXX - SG_ ODIEDDIPC_Data14Value : 46|3@0+ (1,0) [0|7] "" XXX - SG_ ODIEDDIPC_Data18Value : 50|3@0+ (1,0) [0|7] "" XXX - SG_ ODIEDDIPC_Data17Value : 53|3@0+ (1,0) [0|7] "" XXX - SG_ ODIEDDIPC_FUCID : 63|8@0+ (1,0) [0|255] "" XXX - -BO_ 2158993408 ODIEnumDynamicData_CntrStack_LS: 8 XXX - SG_ ODIEnmDynData_CenterStack : 5|62@0+ (1,0) [0|0] "" XXX - SG_ ODIEDDCS_Data2Value : 2|3@0+ (1,0) [0|7] "" XXX - SG_ ODIEDDCS_Data1Value : 5|3@0+ (1,0) [0|7] "" XXX - SG_ ODIEDDCS_Data5Value : 9|3@0+ (1,0) [0|7] "" XXX - SG_ ODIEDDCS_Data4Value : 12|3@0+ (1,0) [0|7] "" XXX - SG_ ODIEDDCS_Data3Value : 15|3@0+ (1,0) [0|7] "" XXX - SG_ ODIEDDCS_Data8Value : 16|3@0+ (1,0) [0|7] "" XXX - SG_ ODIEDDCS_Data7Value : 19|3@0+ (1,0) [0|7] "" XXX - SG_ ODIEDDCS_Data6Value : 22|3@0+ (1,0) [0|7] "" XXX - SG_ ODIEDDCS_Data10Value : 26|3@0+ (1,0) [0|7] "" XXX - SG_ ODIEDDCS_Data9Value : 29|3@0+ (1,0) [0|7] "" XXX - SG_ ODIEDDCS_Data13Value : 33|3@0+ (1,0) [0|7] "" XXX - SG_ ODIEDDCS_Data12Value : 36|3@0+ (1,0) [0|7] "" XXX - SG_ ODIEDDCS_Data11Value : 39|3@0+ (1,0) [0|7] "" XXX - SG_ ODIEDDCS_Data16Value : 40|3@0+ (1,0) [0|7] "" XXX - SG_ ODIEDDCS_Data15Value : 43|3@0+ (1,0) [0|7] "" XXX - SG_ ODIEDDCS_Data14Value : 46|3@0+ (1,0) [0|7] "" XXX - SG_ ODIEDDCS_Data18Value : 50|3@0+ (1,0) [0|7] "" XXX - SG_ ODIEDDCS_Data17Value : 53|3@0+ (1,0) [0|7] "" XXX - SG_ ODIEDDCS_FUCID : 63|8@0+ (1,0) [0|255] "" XXX - -BO_ 2154708992 Audio_Master_Source_Status_LS: 2 XXX - SG_ AudSrcStat2 : 3|12@0+ (1,0) [0|0] "" XXX - SG_ ASS2AudSrcType : 3|5@0+ (1,0) [0|31] "" XXX - SG_ ASS2AudSrcStatCode : 11|4@0+ (1,0) [0|15] "" XXX - SG_ ASS2AudSrcChType : 14|3@0+ (1,0) [0|7] "" XXX - -BO_ 2158985216 ODIDynDataMultiReq_OTIM_LS: 8 XXX - SG_ ODIDynDataMltRq_OTIM : 5|62@0+ (1,0) [0|0] "" XXX - SG_ ODDMO_DataID2Vld : 0|1@0+ (1,0) [0|1] "" XXX - SG_ ODDMO_DataID3Vld : 1|1@0+ (1,0) [0|1] "" XXX - SG_ ODDMO_DataID4Vld : 2|1@0+ (1,0) [0|1] "" XXX - SG_ ODDMO_DataID5Vld : 3|1@0+ (1,0) [0|1] "" XXX - SG_ ODDMO_ReqType : 5|2@0+ (1,0) [0|3] "" XXX - SG_ ODDMO_FUCID : 15|8@0+ (1,0) [0|255] "" XXX - SG_ ODDMO_DispMID : 23|8@0+ (1,0) [0|255] "" XXX - SG_ ODDMO_DataID1 : 31|8@0+ (1,0) [0|255] "" XXX - SG_ ODDMO_DataID2 : 39|8@0+ (1,0) [0|255] "" XXX - SG_ ODDMO_DataID3 : 47|8@0+ (1,0) [0|255] "" XXX - SG_ ODDMO_DataID4 : 55|8@0+ (1,0) [0|255] "" XXX - SG_ ODDMO_DataID5 : 63|8@0+ (1,0) [0|255] "" XXX - -BO_ 2154471424 Rear_Closure_Ajar_Switch_Status: 1 XXX - SG_ RrClosAjarSwAct : 0|1@0+ (1,0) [0|1] "" XXX - SG_ RrClsrSnwLdIO : 1|1@0+ (1,0) [0|1] "" XXX - -BO_ 2159149056 ODI_TEL_2_CenterStack_LS: 8 XXX - SG_ ODI_TEL2CntrStck : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" XXX - -BO_ 2159116288 ODI_TEL_2_AuxIP_LS: 8 XXX - SG_ ODI_TEL2AxIP : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" XXX - -BO_ 2158796800 ODIIndication_LS: 8 XXX - SG_ ODIInd : 7|64@0+ (1,0) [0|0] "" XXX - SG_ ODII_FUCID : 7|8@0+ (1,0) [0|255] "" XXX - SG_ ODII_ODIInd8 : 8|1@0+ (1,0) [0|1] "" XXX - SG_ ODII_ODIInd7 : 9|1@0+ (1,0) [0|1] "" XXX - SG_ ODII_ODIInd6 : 10|1@0+ (1,0) [0|1] "" XXX - SG_ ODII_ODIInd5 : 11|1@0+ (1,0) [0|1] "" XXX - SG_ ODII_ODIInd4 : 12|1@0+ (1,0) [0|1] "" XXX - SG_ ODII_ODIInd3 : 13|1@0+ (1,0) [0|1] "" XXX - SG_ ODII_ODIInd2 : 14|1@0+ (1,0) [0|1] "" XXX - SG_ ODII_ODIInd1 : 15|1@0+ (1,0) [0|1] "" XXX - SG_ ODII_ODIInd16 : 16|1@0+ (1,0) [0|1] "" XXX - SG_ ODII_ODIInd15 : 17|1@0+ (1,0) [0|1] "" XXX - SG_ ODII_ODIInd14 : 18|1@0+ (1,0) [0|1] "" XXX - SG_ ODII_ODIInd13 : 19|1@0+ (1,0) [0|1] "" XXX - SG_ ODII_ODIInd12 : 20|1@0+ (1,0) [0|1] "" XXX - SG_ ODII_ODIInd11 : 21|1@0+ (1,0) [0|1] "" XXX - SG_ ODII_ODIInd10 : 22|1@0+ (1,0) [0|1] "" XXX - SG_ ODII_ODIInd9 : 23|1@0+ (1,0) [0|1] "" XXX - SG_ ODII_ODIInd24 : 24|1@0+ (1,0) [0|1] "" XXX - SG_ ODII_ODIInd23 : 25|1@0+ (1,0) [0|1] "" XXX - SG_ ODII_ODIInd22 : 26|1@0+ (1,0) [0|1] "" XXX - SG_ ODII_ODIInd21 : 27|1@0+ (1,0) [0|1] "" XXX - SG_ ODII_ODIInd20 : 28|1@0+ (1,0) [0|1] "" XXX - SG_ ODII_ODIInd19 : 29|1@0+ (1,0) [0|1] "" XXX - SG_ ODII_ODIInd18 : 30|1@0+ (1,0) [0|1] "" XXX - SG_ ODII_ODIInd17 : 31|1@0+ (1,0) [0|1] "" XXX - SG_ ODII_ODIInd32 : 32|1@0+ (1,0) [0|1] "" XXX - SG_ ODII_ODIInd31 : 33|1@0+ (1,0) [0|1] "" XXX - SG_ ODII_ODIInd30 : 34|1@0+ (1,0) [0|1] "" XXX - SG_ ODII_ODIInd29 : 35|1@0+ (1,0) [0|1] "" XXX - SG_ ODII_ODIInd28 : 36|1@0+ (1,0) [0|1] "" XXX - SG_ ODII_ODIInd27 : 37|1@0+ (1,0) [0|1] "" XXX - SG_ ODII_ODIInd26 : 38|1@0+ (1,0) [0|1] "" XXX - SG_ ODII_ODIInd25 : 39|1@0+ (1,0) [0|1] "" XXX - SG_ ODII_ODIInd40 : 40|1@0+ (1,0) [0|1] "" XXX - SG_ ODII_ODIInd39 : 41|1@0+ (1,0) [0|1] "" XXX - SG_ ODII_ODIInd38 : 42|1@0+ (1,0) [0|1] "" XXX - SG_ ODII_ODIInd37 : 43|1@0+ (1,0) [0|1] "" XXX - SG_ ODII_ODIInd36 : 44|1@0+ (1,0) [0|1] "" XXX - SG_ ODII_ODIInd35 : 45|1@0+ (1,0) [0|1] "" XXX - SG_ ODII_ODIInd34 : 46|1@0+ (1,0) [0|1] "" XXX - SG_ ODII_ODIInd33 : 47|1@0+ (1,0) [0|1] "" XXX - SG_ ODII_ODIInd48 : 48|1@0+ (1,0) [0|1] "" XXX - SG_ ODII_ODIInd47 : 49|1@0+ (1,0) [0|1] "" XXX - SG_ ODII_ODIInd46 : 50|1@0+ (1,0) [0|1] "" XXX - SG_ ODII_ODIInd45 : 51|1@0+ (1,0) [0|1] "" XXX - SG_ ODII_ODIInd44 : 52|1@0+ (1,0) [0|1] "" XXX - SG_ ODII_ODIInd43 : 53|1@0+ (1,0) [0|1] "" XXX - SG_ ODII_ODIInd42 : 54|1@0+ (1,0) [0|1] "" XXX - SG_ ODII_ODIInd41 : 55|1@0+ (1,0) [0|1] "" XXX - SG_ ODII_ODIInd56 : 56|1@0+ (1,0) [0|1] "" XXX - SG_ ODII_ODIInd55 : 57|1@0+ (1,0) [0|1] "" XXX - SG_ ODII_ODIInd54 : 58|1@0+ (1,0) [0|1] "" XXX - SG_ ODII_ODIInd53 : 59|1@0+ (1,0) [0|1] "" XXX - SG_ ODII_ODIInd52 : 60|1@0+ (1,0) [0|1] "" XXX - SG_ ODII_ODIInd51 : 61|1@0+ (1,0) [0|1] "" XXX - SG_ ODII_ODIInd50 : 62|1@0+ (1,0) [0|1] "" XXX - SG_ ODII_ODIInd49 : 63|1@0+ (1,0) [0|1] "" XXX - -BO_ 2158755840 ODIEvent_LS: 4 XXX - SG_ ODIEvntPkt : 13|22@0+ (1,0) [0|0] "" XXX - SG_ ODIE_EvID : 13|6@0+ (1,0) [0|63] "" XXX - SG_ ODIE_FUCID : 23|8@0+ (1,0) [0|255] "" XXX - SG_ ODIE_MultiFrRetCh : 31|8@0+ (1,0) [0|255] "" XXX - -BO_ 2159157248 ODI_CenterStack_2_TEL_LS: 8 XXX - SG_ ODI_CntrStck2TEL : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" XXX - -BO_ 2153955328 Infrastructure_Timer_Status_LS: 5 XXX - SG_ EngOffTmExtRngGroup : 0|33@0+ (1,0) [0|0] "" XXX - SG_ EngOffTmExtRngV : 0|1@0+ (1,0) [0|1] "" XXX - SG_ EngOffTmExtRng : 39|8@0+ (4,0) [0|1020] "min" XXX - SG_ ElpsdTimeCntRstOcc : 1|1@0+ (1,0) [0|1] "" XXX - SG_ ElpsdTimeCnt : 15|24@0+ (1,0) [0|16777215] "min" XXX - -BO_ 2151063552 Infotainment_Operation_LS: 7 XXX - SG_ InftnOprAlwd : 0|1@0+ (1,0) [0|1] "" XXX - SG_ ValetMdAct : 1|1@0+ (1,0) [0|1] "" XXX - SG_ Frnt360CamSwAct : 2|1@0+ (1,0) [0|1] "" XXX - SG_ CamVideoICSDispAct : 3|1@0+ (1,0) [0|1] "" XXX - SG_ LRStStatDispAct : 4|1@0+ (1,0) [0|1] "" XXX - SG_ RRStStatDispAct : 5|1@0+ (1,0) [0|1] "" XXX - SG_ TrgdVidRecSwAct : 6|1@0+ (1,0) [0|1] "" XXX - SG_ RrPedDetCstStReq : 10|3@0+ (1,0) [0|7] "" XXX - SG_ IntrStopAlrtCsSetReq : 13|3@0+ (1,0) [0|7] "" XXX - SG_ ICSTchStat : 17|34@0+ (1,0) [0|0] "" XXX - SG_ ICSTS_TchPrxmty : 17|2@0+ (1,0) [0|3] "" XXX - SG_ ICSTS_X1TchCrdnt : 31|16@0+ (0.001526,0) [0|100] "" XXX - SG_ ICSTS_Y1TchCrdnt : 47|16@0+ (0.001526,0) [0|100] "" XXX - SG_ TrfRdsdInfCsStReq : 20|3@0+ (1,0) [0|7] "" XXX - SG_ CntdVehBrAltCsStReq : 23|3@0+ (1,0) [0|7] "" XXX - -BO_ 2157985792 Fob_Programming_Request_LS: 1 XXX - SG_ FobProgEvntRqd : 0|1@0+ (1,0) [0|1] "" XXX - -BO_ 2151284736 Park_Assistant_General_Status: 1 XXX - SG_ PrkAsstClnPrkAstIO : 0|1@0+ (1,0) [0|1] "" XXX - SG_ PrkAsstDisablIO : 1|1@0+ (1,0) [0|1] "" XXX - SG_ PrkAstFld : 2|1@0+ (1,0) [0|1] "" XXX - SG_ PrkAstSnrsBlk : 3|1@0+ (1,0) [0|1] "" XXX - SG_ PrkAstSnsDistrbdIO : 4|1@0+ (1,0) [0|1] "" XXX - SG_ TnDrvPrkAstOffUnbIO : 5|1@0+ (1,0) [0|1] "" XXX - SG_ PrkAstOprtrDsrdStat_1D0 : 7|2@0+ (1,0) [0|3] "" XXX - -BO_ 2159099904 ODI_DAB_2_AuxIP_LS: 8 XXX - SG_ ODI_DAB2AxIP : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" XXX - -BO_ 2159067136 ODI_DAB_2_IPC_LS: 8 XXX - SG_ ODI_DAB2IPC : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" XXX - -BO_ 2159206400 ODI_AuxIP_2_IPC_LS: 8 XXX - SG_ ODI_AxIP2IPC : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" XXX - -BO_ 2159198208 ODI_IPC_2_AuxIP_LS: 8 XXX - SG_ ODI_IPC2AxIP : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" XXX - -BO_ 2159190016 ODI_AuxIP_2_CenterStack_LS: 8 XXX - SG_ ODI_AxIP2CntrStck : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" XXX - -BO_ 2159181824 ODI_CenterStack_2_AuxIP_LS: 8 XXX - SG_ ODI_CntrStck2AxIP : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" XXX - -BO_ 2159173632 ODI_IPC_2_CenterStack_LS: 8 XXX - SG_ ODI_IPC2CntrStck : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" XXX - -BO_ 2159165440 ODI_CenterStack_2_IPC_LS: 8 XXX - SG_ ODI_CntrStck2IPC : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" XXX - -BO_ 2159108096 ODI_AuxIP_2_DAB_LS: 8 XXX - SG_ ODI_AxIP2DAB : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" XXX - -BO_ 2159075328 ODI_IPC_2_DAB_LS: 8 XXX - SG_ ODI_IPC2DAB : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" XXX - -BO_ 2151718912 Chime_Active: 1 XXX - SG_ ChmAct : 0|1@0+ (1,0) [0|1] "" XXX - SG_ ChmVolSt : 2|2@0+ (1,0) [0|3] "" XXX - -BO_ 2155479040 Customization_Setting_Request_LS: 5 XXX - SG_ DrvlnCustStngReq : 2|3@0+ (1,0) [0|7] "" XXX - SG_ RstrCustFctrDef : 3|1@0+ (1,0) [0|1] "" XXX - SG_ PedFrndlyAlrtCsStReq : 6|3@0+ (1,0) [0|7] "" XXX - SG_ SusCustStngReq : 10|3@0+ (1,0) [0|7] "" XXX - SG_ StrCustStngReq : 13|3@0+ (1,0) [0|7] "" XXX - SG_ ElvtdIdlCstStReq : 15|2@0+ (1,0) [0|3] "" XXX - SG_ SndPerfMdCsStRq : 18|3@0+ (1,0) [0|7] "" XXX - SG_ DispPerfMdCsStRq : 21|3@0+ (1,0) [0|7] "" XXX - SG_ ACCPerfMdCsStReq : 26|3@0+ (1,0) [0|7] "" XXX - SG_ DrvrStPerfMdCsStReq : 29|3@0+ (1,0) [0|7] "" XXX - SG_ PsngStPerfMdCsStReq : 34|3@0+ (1,0) [0|7] "" XXX - SG_ DrvStyPerfMdCsStReq : 37|3@0+ (1,0) [0|7] "" XXX - -BO_ 2151383040 Reset_TP_request_LS: 1 XXX - SG_ TreInfMonSysRstReq : 0|1@0+ (1,0) [0|1] "" XXX - -BO_ 2155421696 Passive_Entry_Challenge_LS: 5 XXX - SG_ PsvEntChlng : 7|32@0+ (1,0) [0|4294967295] "passwrd" XXX - SG_ ServKylsStSysIO : 32|1@0+ (1,0) [0|1] "" XXX - SG_ PsvEntApprchDtcd : 33|1@0+ (1,0) [0|1] "" XXX - SG_ PsvEntAprchDrctn : 36|3@0+ (1,0) [0|7] "" XXX - SG_ PsvEntApprchCnfgReq : 39|3@0+ (1,0) [0|7] "" XXX - -BO_ 2155413504 Drv_Dr_Key_Cyl_Status_LS: 3 XXX - SG_ DrvrDrKeyCylUlkSwActGroup : 1|2@0+ (1,0) [0|0] "" XXX - SG_ DrvrDrKeyCylUlkSwAct : 0|1@0+ (1,0) [0|1] "" XXX - SG_ DrvrDrKeyCylUlkSwActV : 1|1@0+ (1,0) [0|1] "" XXX - SG_ PsvLckngReqd : 2|1@0+ (1,0) [0|1] "" XXX - SG_ PsvApprchVehId : 15|16@0+ (1,0) [0|65535] "" XXX - -BO_ 2159026176 ODIDynamicData_LS: 8 XXX - SG_ ODIDynData : 14|55@0+ (1,0) [0|0] "" XXX - SG_ ODD_InvldData : 8|1@0+ (1,0) [0|1] "" XXX - SG_ ODD_DataType : 14|6@0+ (1,0) [0|63] "" XXX - SG_ ODD_FUCID : 23|8@0+ (1,0) [0|255] "" XXX - SG_ ODD_DataId : 31|8@0+ (1,0) [0|255] "" XXX - SG_ ODD_DataVal : 39|32@0+ (1,0) [0|4294967295] "" XXX - -BO_ 2158936064 ODIEnumDynamicData_LS: 8 XXX - SG_ ODIEnmDynData : 5|62@0+ (1,0) [0|0] "" XXX - SG_ ODIEDD_Data2Value : 2|3@0+ (1,0) [0|7] "" XXX - SG_ ODIEDD_Data1Value : 5|3@0+ (1,0) [0|7] "" XXX - SG_ ODIEDD_Data5Value : 9|3@0+ (1,0) [0|7] "" XXX - SG_ ODIEDD_Data4Value : 12|3@0+ (1,0) [0|7] "" XXX - SG_ ODIEDD_Data3Value : 15|3@0+ (1,0) [0|7] "" XXX - SG_ ODIEDD_Data8Value : 16|3@0+ (1,0) [0|7] "" XXX - SG_ ODIEDD_Data7Value : 19|3@0+ (1,0) [0|7] "" XXX - SG_ ODIEDD_Data6Value : 22|3@0+ (1,0) [0|7] "" XXX - SG_ ODIEDD_Data10Value : 26|3@0+ (1,0) [0|7] "" XXX - SG_ ODIEDD_Data9Value : 29|3@0+ (1,0) [0|7] "" XXX - SG_ ODIEDD_Data13Value : 33|3@0+ (1,0) [0|7] "" XXX - SG_ ODIEDD_Data12Value : 36|3@0+ (1,0) [0|7] "" XXX - SG_ ODIEDD_Data11Value : 39|3@0+ (1,0) [0|7] "" XXX - SG_ ODIEDD_Data16Value : 40|3@0+ (1,0) [0|7] "" XXX - SG_ ODIEDD_Data15Value : 43|3@0+ (1,0) [0|7] "" XXX - SG_ ODIEDD_Data14Value : 46|3@0+ (1,0) [0|7] "" XXX - SG_ ODIEDD_Data18Value : 50|3@0+ (1,0) [0|7] "" XXX - SG_ ODIEDD_Data17Value : 53|3@0+ (1,0) [0|7] "" XXX - SG_ ODIEDD_FUCID : 63|8@0+ (1,0) [0|255] "" XXX - -BO_ 2158845952 ODIAction_CntrStack_LS: 8 XXX - SG_ ODIActn_CntrStck : 5|62@0+ (1,0) [0|0] "" XXX - SG_ ODIAC_DaTy : 5|6@0+ (1,0) [0|63] "" XXX - SG_ ODIAC_FUCID : 15|8@0+ (1,0) [0|255] "" XXX - SG_ ODIAC_ActnID : 23|8@0+ (1,0) [0|255] "" XXX - SG_ ODIAC_DspMID : 31|8@0+ (1,0) [0|255] "" XXX - SG_ ODIAC_ActnVal : 39|32@0+ (1,0) [0|4294967295] "" XXX - -BO_ 2158886912 ODIDynDataListRequest_IPC_LS: 8 XXX - SG_ ODIDynDataLstRq_IPC : 7|64@0+ (1,0) [0|0] "" XXX - SG_ ODDLI_FUCID : 7|8@0+ (1,0) [0|255] "" XXX - SG_ ODDLI_DataId : 15|8@0+ (1,0) [0|255] "" XXX - SG_ ODDLI_DspMID : 23|8@0+ (1,0) [0|255] "" XXX - SG_ ODDLI_ReqDir : 24|1@0+ (1,0) [0|1] "" XXX - SG_ ODDLI_NmEntries : 31|7@0+ (1,0) [0|127] "" XXX - SG_ ODDLI_Idx : 39|16@0+ (1,0) [0|65535] "" XXX - SG_ ODDLI_SubIdReqM : 51|12@0+ (1,0) [0|4095] "" XXX - SG_ ODDLI_WrpArnd : 52|1@0+ (1,0) [0|1] "" XXX - SG_ ODDLI_BckgndFlag : 53|1@0+ (1,0) [0|1] "" XXX - SG_ ODDLI_ReqType : 55|2@0+ (1,0) [0|3] "" XXX - -BO_ 2151366656 Man_Prk_Brk_LS: 1 XXX - SG_ RrAxlLckIO : 0|1@0+ (1,0) [0|1] "" XXX - SG_ FrntAxlLckIO : 1|1@0+ (1,0) [0|1] "" XXX - SG_ PrkBrkSwAtv : 2|1@0+ (1,0) [0|1] "" XXX - SG_ AxlLcksServIO : 3|1@0+ (1,0) [0|1] "" XXX - SG_ AxlLckUnavailIndReq : 6|3@0+ (1,0) [0|7] "" XXX - SG_ AxlLcksVDA : 7|1@0+ (1,0) [0|1] "" XXX - -BO_ 2149842944 Vehicle_Stability_LS: 8 XXX - SG_ IMUProtLonAccGroup : 2|11@0+ (1,0) [0|0] "" XXX - SG_ IMUProtLonAcc : 1|10@0- (0.03,0) [-15.36|15.33] "m/s^2" XXX - SG_ IMUProtLonAccV : 2|1@0+ (1,0) [0|1] "" XXX - SG_ TCSysAtv : 3|1@0+ (1,0) [0|1] "" XXX - SG_ BrkSysAutBrkFld : 4|1@0+ (1,0) [0|1] "" XXX - SG_ VSEAct : 5|1@0+ (1,0) [0|1] "" XXX - SG_ StrWhAngGroup : 6|47@0+ (1,0) [0|0] "" XXX - SG_ StrWhAngV : 6|1@0+ (1,0) [0|1] "" XXX - SG_ StrWhAng : 39|16@0- (0.0625,0) [-2048|2047.9375] "deg" XXX - SG_ StWhAnVDA : 7|1@0+ (1,0) [0|1] "" XXX - SG_ VehStabEnhmntStat : 18|3@0+ (1,0) [0|7] "" XXX - SG_ VehStabEnhmntMd : 21|3@0+ (1,0) [0|7] "" XXX - SG_ StrWhlAngSenCalStat : 23|2@0+ (1,0) [0|3] "" XXX - SG_ TCSysOpMd : 26|3@0+ (1,0) [0|7] "" XXX - SG_ TCSysOpStat : 29|3@0+ (1,0) [0|7] "" XXX - SG_ VSELatAccGroup : 52|13@0+ (1,0) [0|0] "" XXX - SG_ VSELatAcc : 51|12@0- (0.015625,0) [-32|31.984375] "m/s^2" XXX - SG_ VSELatAccV : 52|1@0+ (1,0) [0|1] "" XXX - SG_ AdptDrvrSeatStng : 55|3@0+ (1,0) [0|7] "" XXX - -BO_ 2159132672 ODIAction_RearSeat_LS: 8 XXX - SG_ ODIActn_RSD : 5|62@0+ (1,0) [0|0] "" XXX - SG_ ODIAR_DaTy : 5|6@0+ (1,0) [0|63] "" XXX - SG_ ODIAR_FUCID : 15|8@0+ (1,0) [0|255] "" XXX - SG_ ODIAR_ActnID : 23|8@0+ (1,0) [0|255] "" XXX - SG_ ODIAR_DspMID : 31|8@0+ (1,0) [0|255] "" XXX - SG_ ODIAR_ActnVal : 39|32@0+ (1,0) [0|4294967295] "" XXX - -BO_ 2158968832 ODI_RearSeat_2_Centerstack_LS: 8 XXX - SG_ ODI_RSD2CntrStck : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" XXX - -BO_ 2158960640 ODIIndication_Centerstack_LS: 8 XXX - SG_ ODIInd_CntrStck : 7|64@0+ (1,0) [0|0] "" XXX - SG_ ODIIC_FUCID : 7|8@0+ (1,0) [0|255] "" XXX - SG_ ODIIC_ODIInd8 : 8|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIC_ODIInd7 : 9|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIC_ODIInd6 : 10|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIC_ODIInd5 : 11|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIC_ODIInd4 : 12|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIC_ODIInd3 : 13|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIC_ODIInd2 : 14|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIC_ODIInd1 : 15|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIC_ODIInd16 : 16|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIC_ODIInd15 : 17|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIC_ODIInd14 : 18|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIC_ODIInd13 : 19|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIC_ODIInd12 : 20|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIC_ODIInd11 : 21|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIC_ODIInd10 : 22|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIC_ODIInd9 : 23|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIC_ODIInd24 : 24|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIC_ODIInd23 : 25|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIC_ODIInd22 : 26|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIC_ODIInd21 : 27|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIC_ODIInd20 : 28|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIC_ODIInd19 : 29|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIC_ODIInd18 : 30|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIC_ODIInd17 : 31|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIC_ODIInd32 : 32|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIC_ODIInd31 : 33|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIC_ODIInd30 : 34|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIC_ODIInd29 : 35|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIC_ODIInd28 : 36|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIC_ODIInd27 : 37|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIC_ODIInd26 : 38|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIC_ODIInd25 : 39|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIC_ODIInd40 : 40|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIC_ODIInd39 : 41|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIC_ODIInd38 : 42|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIC_ODIInd37 : 43|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIC_ODIInd36 : 44|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIC_ODIInd35 : 45|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIC_ODIInd34 : 46|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIC_ODIInd33 : 47|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIC_ODIInd48 : 48|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIC_ODIInd47 : 49|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIC_ODIInd46 : 50|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIC_ODIInd45 : 51|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIC_ODIInd44 : 52|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIC_ODIInd43 : 53|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIC_ODIInd42 : 54|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIC_ODIInd41 : 55|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIC_ODIInd56 : 56|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIC_ODIInd55 : 57|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIC_ODIInd54 : 58|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIC_ODIInd53 : 59|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIC_ODIInd52 : 60|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIC_ODIInd51 : 61|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIC_ODIInd50 : 62|1@0+ (1,0) [0|1] "" XXX - SG_ ODIIC_ODIInd49 : 63|1@0+ (1,0) [0|1] "" XXX - -BO_ 2158977024 ODIEvent_Centerstack_LS: 4 XXX - SG_ ODIEvntPkt_CntrStck : 13|22@0+ (1,0) [0|0] "" XXX - SG_ ODIEC_EvID : 13|6@0+ (1,0) [0|63] "" XXX - SG_ ODIEC_FUCID : 23|8@0+ (1,0) [0|255] "" XXX - SG_ ODIEC_MultiFrRetCh : 31|8@0+ (1,0) [0|255] "" XXX - -BO_ 2158952448 ODIDynDataMultiReq_RearSeat_LS: 8 XXX - SG_ ODIDynDataMltRq_RSD : 5|62@0+ (1,0) [0|0] "" XXX - SG_ ODDMR_DataID2Vld : 0|1@0+ (1,0) [0|1] "" XXX - SG_ ODDMR_DataID3Vld : 1|1@0+ (1,0) [0|1] "" XXX - SG_ ODDMR_DataID4Vld : 2|1@0+ (1,0) [0|1] "" XXX - SG_ ODDMR_DataID5Vld : 3|1@0+ (1,0) [0|1] "" XXX - SG_ ODDMR_ReqType : 5|2@0+ (1,0) [0|3] "" XXX - SG_ ODDMR_FUCID : 15|8@0+ (1,0) [0|255] "" XXX - SG_ ODDMR_DispMID : 23|8@0+ (1,0) [0|255] "" XXX - SG_ ODDMR_DataID1 : 31|8@0+ (1,0) [0|255] "" XXX - SG_ ODDMR_DataID2 : 39|8@0+ (1,0) [0|255] "" XXX - SG_ ODDMR_DataID3 : 47|8@0+ (1,0) [0|255] "" XXX - SG_ ODDMR_DataID4 : 55|8@0+ (1,0) [0|255] "" XXX - SG_ ODDMR_DataID5 : 63|8@0+ (1,0) [0|255] "" XXX - -BO_ 2158944256 ODIDynDataListReq_RearSeat_LS: 8 XXX - SG_ ODIDynDataLstRq_RSD : 7|64@0+ (1,0) [0|0] "" XXX - SG_ ODDLR_FUCID : 7|8@0+ (1,0) [0|255] "" XXX - SG_ ODDLR_DataId : 15|8@0+ (1,0) [0|255] "" XXX - SG_ ODDLR_DspMID : 23|8@0+ (1,0) [0|255] "" XXX - SG_ ODDLR_ReqDir : 24|1@0+ (1,0) [0|1] "" XXX - SG_ ODDLR_NmEntries : 31|7@0+ (1,0) [0|127] "" XXX - SG_ ODDLR_Idx : 39|16@0+ (1,0) [0|65535] "" XXX - SG_ ODDLR_SubIdReqM : 51|12@0+ (1,0) [0|4095] "" XXX - SG_ ODDLR_WrpArnd : 52|1@0+ (1,0) [0|1] "" XXX - SG_ ODDLR_BckgndFlag : 53|1@0+ (1,0) [0|1] "" XXX - SG_ ODDLR_ReqType : 55|2@0+ (1,0) [0|3] "" XXX - -BO_ 2158927872 ODI_DynData_CenterStack_LS: 8 XXX - SG_ ODIDynData_CntrStck : 14|55@0+ (1,0) [0|0] "" XXX - SG_ ODDC_InvldData : 8|1@0+ (1,0) [0|1] "" XXX - SG_ ODDC_DataType : 14|6@0+ (1,0) [0|63] "" XXX - SG_ ODDC_FUCID : 23|8@0+ (1,0) [0|255] "" XXX - SG_ ODDC_DataId : 31|8@0+ (1,0) [0|255] "" XXX - SG_ ODDC_DataVal : 39|32@0+ (1,0) [0|4294967295] "" XXX - -BO_ 2158895104 ODI_CenterStack_2_RearSeat_LS: 8 XXX - SG_ ODI_CntrStck2RSD : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" XXX - -BO_ 2152038400 Infomatics_Response_Payload_LS: 8 XXX - SG_ InfMdRspPld : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" XXX - -BO_ 2152022016 Infomatics_Metadata_Response_LS: 7 XXX - SG_ InfMdRspCmplt : 7|16@0+ (1,0) [0|65535] "" XXX - SG_ InfMdRspInf : 23|16@0+ (1,0) [0|65535] "" XXX - SG_ InfMdStRsp : 35|4@0+ (1,0) [0|15] "" XXX - SG_ AudSelctdSrcReq : 44|5@0+ (1,0) [0|31] "" XXX - SG_ AudSysVolSetCtrl : 55|8@0+ (1,0) [0|0] "" XXX - SG_ ASVSC_ReqEnbld : 48|1@0+ (1,0) [0|1] "" XXX - SG_ ASVSC_VolReq : 55|7@0+ (0.787402,0) [0|100.000054] "" XXX - -BO_ 2152005632 Infomatics_Request_Payload_LS: 8 XXX - SG_ InfMdRqstPld : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" XXX - -BO_ 2151989248 Infomatics_Metadata_Request_LS: 5 XXX - SG_ InfMdRqstCmplt : 7|16@0+ (1,0) [0|65535] "" XXX - SG_ InfMdRqstInt : 23|16@0+ (1,0) [0|65535] "" XXX - SG_ InfMdStReq : 35|4@0+ (1,0) [0|15] "" XXX - -BO_ 2151972864 Fuel_Level_Status_LS: 4 XXX - SG_ FuelLvlLwIO : 0|1@0+ (1,0) [0|1] "" XXX - SG_ LnchCtrlMdReq : 2|2@0+ (1,0) [0|3] "" XXX - SG_ LnchCtrlWhlSlpReq : 7|5@0+ (1,0) [0|31] "" XXX - SG_ VehFuelRngCalcGroup : 9|18@0+ (1,0) [0|0] "" XXX - SG_ VehFuelRngCalc : 8|17@0+ (0.015625,0) [0|2047.984375] "km" XXX - SG_ VehFuelRngCalcV : 9|1@0+ (1,0) [0|1] "" XXX - SG_ LnchCtrlEngRPMReq : 15|6@0+ (1,0) [0|63] "" XXX - -BO_ 2154528768 Wheel_Grnd_Velocity_LS: 8 XXX - SG_ WhlGrndVlctyLftDrvnGroup : 6|15@0+ (1,0) [0|0] "" XXX - SG_ WhlGrndVlctyLftDrvn : 5|14@0+ (0.03125,0) [0|511.96875] "km / h" XXX - SG_ WhlGrndVlctyLftDrvnV : 6|1@0+ (1,0) [0|1] "" XXX - SG_ WhlGrndVlctyLftNnDrvnGroup : 22|15@0+ (1,0) [0|0] "" XXX - SG_ WhlGrndVlctyLftNnDrvn : 21|14@0+ (0.03125,0) [0|511.96875] "km / h" XXX - SG_ WhlGrndVlctyLftNnDrvnV : 22|1@0+ (1,0) [0|1] "" XXX - SG_ WhlGrndVlctyRtDrvnGroup : 38|15@0+ (1,0) [0|0] "" XXX - SG_ WhlGrndVlctyRtDrvn : 37|14@0+ (0.03125,0) [0|511.96875] "km / h" XXX - SG_ WhlGrndVlctyRtDrvnV : 38|1@0+ (1,0) [0|1] "" XXX - SG_ WhlGrndVlctyRtNnDrvnGroup : 54|15@0+ (1,0) [0|0] "" XXX - SG_ WhlGrndVlctyRtNnDrvn : 53|14@0+ (0.03125,0) [0|511.96875] "km / h" XXX - SG_ WhlGrndVlctyRtNnDrvnV : 54|1@0+ (1,0) [0|1] "" XXX - -BO_ 2150916096 Park_Heater_Info_LS: 4 XXX - SG_ PrkHtrAtv : 0|1@0+ (1,0) [0|1] "" XXX - SG_ ClntCircPmpAct : 1|1@0+ (1,0) [0|1] "" XXX - SG_ PrkHtrCoolntTempGroup : 2|11@0+ (1,0) [0|0] "" XXX - SG_ PrkHtrCoolntTempV : 2|1@0+ (1,0) [0|1] "" XXX - SG_ PrkHtrCoolntTemp : 15|8@0+ (1,-40) [-40|215] "deg C" XXX - SG_ PrkHtrFlCsmdRlCntRsOc : 3|1@0+ (1,0) [0|1] "" XXX - SG_ PrkHtrFlCnsmdRolCntGroup : 4|29@0+ (1,0) [0|0] "" XXX - SG_ PrkHtrFlCnsmdRolCntV : 4|1@0+ (1,0) [0|1] "" XXX - SG_ PrkHtrFlCnsmdRolCnt : 23|16@0+ (3.05176E-006,0) [0|0.1999970916] "liters" XXX - SG_ PrkHtrPrhtAch : 5|1@0+ (1,0) [0|1] "" XXX - -BO_ 2150367232 Immobilizer_Identifier_LS: 5 XXX - SG_ ImoId : 7|16@0+ (1,0) [0|65535] "" XXX - SG_ LrnEnvId : 23|16@0+ (1,0) [0|65535] "" XXX - SG_ LrnEnvIdSt : 32|1@0+ (1,0) [0|1] "" XXX - SG_ ImoIdSt : 33|1@0+ (1,0) [0|1] "" XXX - -BO_ 2150621184 Keyless_Start_Auth_LS: 1 XXX - SG_ KylsStrAuthRslt : 7|8@0+ (1,0) [0|0] "" XXX - SG_ KSARUID8 : 0|1@0+ (1,0) [0|1] "" XXX - SG_ KSARUID7 : 1|1@0+ (1,0) [0|1] "" XXX - SG_ KSARUID6 : 2|1@0+ (1,0) [0|1] "" XXX - SG_ KSARUID5 : 3|1@0+ (1,0) [0|1] "" XXX - SG_ KSARUID4 : 4|1@0+ (1,0) [0|1] "" XXX - SG_ KSARUID3 : 5|1@0+ (1,0) [0|1] "" XXX - SG_ KSARUID2 : 6|1@0+ (1,0) [0|1] "" XXX - SG_ KSARUID1 : 7|1@0+ (1,0) [0|1] "" XXX - -BO_ 2151309312 Inflatable_Restraints_Key_Id_LS: 2 XXX - SG_ InflRestId : 7|16@0+ (1,0) [0|39321] "" XXX - -BO_ 2154061824 Window_Normalized_Indication_LS: 1 XXX - SG_ PsWndNtNrmIndOn : 0|1@0+ (1,0) [0|1] "" XXX - SG_ DrWndNtNrmIndOn : 1|1@0+ (1,0) [0|1] "" XXX - SG_ RLWndNtNrmIndOn : 2|1@0+ (1,0) [0|1] "" XXX - SG_ RRWndNtNrmIndOn : 3|1@0+ (1,0) [0|1] "" XXX - SG_ RmtWndMvmntAtv : 4|1@0+ (1,0) [0|1] "" XXX - SG_ WndOprAlwd : 5|1@0+ (1,0) [0|1] "" XXX - SG_ RrDrUnlckIO : 6|1@0+ (1,0) [0|1] "" XXX - -BO_ 2154512384 Rear_Closure_Rel_Sw_Sta_LS: 1 XXX - SG_ RrClosRelSwActGroup : 1|2@0+ (1,0) [0|0] "" XXX - SG_ RrClosRelSwAct : 0|1@0+ (1,0) [0|1] "" XXX - SG_ RrClosRelSwActV : 1|1@0+ (1,0) [0|1] "" XXX - -BO_ 2155347968 HS_Indications_Slow_LS: 8 XXX - SG_ ActVbnCtrlMlfIO : 0|1@0+ (1,0) [0|1] "" XXX - SG_ PedtrnProtSysDpl : 1|1@0+ (1,0) [0|1] "" XXX - SG_ TirePrsLowIO : 2|1@0+ (1,0) [0|1] "" XXX - SG_ ACCUnavlbleDTWthrIO : 3|1@0+ (1,0) [0|1] "" XXX - SG_ EngOilStrvtnIO : 5|1@0+ (1,0) [0|1] "" XXX - SG_ SecAxlNonEmMalfIO : 6|1@0+ (1,0) [0|1] "" XXX - SG_ BrkFldLvlLwGroup : 7|4@0+ (1,0) [0|0] "" XXX - SG_ BrkFldLvlLwV : 4|1@0+ (1,0) [0|1] "" XXX - SG_ BrkFldLvlLw : 7|1@0+ (1,0) [0|1] "" XXX - SG_ ACCSnsClnRqdIO : 8|1@0+ (1,0) [0|1] "" XXX - SG_ ACCTmpUnavlbleIO : 9|1@0+ (1,0) [0|1] "" XXX - SG_ EngRecmndUpshftIO : 10|1@0+ (1,0) [0|1] "" XXX - SG_ ServAdpCrsCtrlIndOn : 11|1@0+ (1,0) [0|1] "" XXX - SG_ SrvSuspSysIO : 12|1@0+ (1,0) [0|1] "" XXX - SG_ BrkPadWrnIO : 13|1@0+ (1,0) [0|1] "" XXX - SG_ BrkSysMalFuncIndOn : 15|1@0+ (1,0) [0|1] "" XXX - SG_ EngEmsRelMalfIndReq : 18|3@0+ (1,0) [0|7] "" XXX - SG_ RrAxlMalfIO : 19|1@0+ (1,0) [0|1] "" XXX - SG_ DrShftCntrlReqDndIO : 20|1@0+ (1,0) [0|1] "" XXX - SG_ CompOvrhtIndOn : 21|1@0+ (1,0) [0|1] "" XXX - SG_ TrnsSkpShftIO : 22|1@0+ (1,0) [0|1] "" XXX - SG_ RrAxlTmpInhIO : 23|1@0+ (1,0) [0|1] "" XXX - SG_ SecAxlTmpInhIO : 24|1@0+ (1,0) [0|1] "" XXX - SG_ CPSAlrtOnlIO : 25|1@0+ (1,0) [0|1] "" XXX - SG_ EPBSysStatIndReq : 27|2@0+ (1,0) [0|3] "" XXX - SG_ EPBSysWrnIndReq : 29|2@0+ (1,0) [0|3] "" XXX - SG_ CPSFldIO : 30|1@0+ (1,0) [0|1] "" XXX - SG_ CPSOffIO : 31|1@0+ (1,0) [0|1] "" XXX - SG_ CPSUnblIO : 32|1@0+ (1,0) [0|1] "" XXX - SG_ SrvPedtrnProtSysIO : 33|1@0+ (1,0) [0|1] "" XXX - SG_ PedtrnProtSysDisbld : 34|1@0+ (1,0) [0|1] "" XXX - SG_ PedtrnProtVDA : 35|1@0+ (1,0) [0|1] "" XXX - SG_ AppCltchAutSrtIO : 36|1@0+ (1,0) [0|1] "" XXX - SG_ StBltTgtSetAvl : 37|1@0+ (1,0) [0|1] "" XXX - SG_ FourWhlDrvIndReq : 42|3@0+ (1,0) [0|7] "" XXX - SG_ EngRecDwnshftIO : 43|1@0+ (1,0) [0|1] "" XXX - SG_ StBltTgtCrtSetVal : 46|3@0+ (1,0) [0|7] "" XXX - SG_ HillDesCtrlRedVehSpIO : 47|1@0+ (1,0) [0|1] "" XXX - SG_ VehRollAngleGroup : 55|8@0+ (1,0) [0|0] "" XXX - SG_ VehRollAngle : 54|7@0+ (0.703125,-45) [-45|44.296875] "deg" XXX - SG_ VehRollAngleV : 55|1@0+ (1,0) [0|1] "" XXX - SG_ ACCPerfMdCsCrStVal : 58|3@0+ (1,0) [0|7] "" XXX - SG_ ACCPerfMdCsStAvl : 59|1@0+ (1,0) [0|1] "" XXX - SG_ DrvrStPerfMdCsCrStVal : 62|3@0+ (1,0) [0|7] "" XXX - SG_ DrvrStPerfMdCsStAvl : 63|1@0+ (1,0) [0|1] "" XXX - -BO_ 2149777408 Non_Drvn_Whl_Rot_Status_LS: 8 XXX - SG_ WhlRotStatLftNDrvn : 7|32@0+ (1,0) [0|0] "" XXX - SG_ WRSLNDWhlDistPCntr : 1|10@0+ (1,0) [0|1023] "counts" XXX - SG_ WRSLNDWhlDistVal : 2|1@0+ (1,0) [0|1] "" XXX - SG_ WRSLNDWhlRotStRst : 3|1@0+ (1,0) [0|1] "" XXX - SG_ WRSLNDSeqNum : 5|2@0+ (1,0) [0|3] "counts" XXX - SG_ WRSLNDWhlDisTpRC : 7|2@0+ (1,0) [0|3] "counts" XXX - SG_ WRSLNDWhlDistTstm : 23|16@0+ (1,0) [0|65535] "counts" XXX - SG_ WhlRotStatRghtNDrvn : 39|32@0+ (1,0) [0|0] "" XXX - SG_ WRSRNDWhlDistPCntr : 33|10@0+ (1,0) [0|1023] "counts" XXX - SG_ WRSRNDWhlDistVal : 34|1@0+ (1,0) [0|1] "" XXX - SG_ WRSRNDWhlRotStRst : 35|1@0+ (1,0) [0|1] "" XXX - SG_ WRSRNDSeqNum : 37|2@0+ (1,0) [0|3] "counts" XXX - SG_ WRSRNDWhlDisTpRC : 39|2@0+ (1,0) [0|3] "counts" XXX - SG_ WRSRNDWhlDistTstm : 55|16@0+ (1,0) [0|65535] "counts" XXX - -BO_ 2149769216 Driven_Whl_Rotational_Stat_LS: 8 XXX - SG_ WhlRotatStatLftDrvn : 7|32@0+ (1,0) [0|0] "" XXX - SG_ WRSLDWhlDistPlsCntr : 1|10@0+ (1,0) [0|1023] "counts" XXX - SG_ WRSLDWhlDistVal : 2|1@0+ (1,0) [0|1] "" XXX - SG_ WRSLDWhlRotStatRst : 3|1@0+ (1,0) [0|1] "" XXX - SG_ WRSLDSeqNum : 5|2@0+ (1,0) [0|3] "counts" XXX - SG_ WRSLDWhlDisTpRC : 7|2@0+ (1,0) [0|3] "counts" XXX - SG_ WRSLDWhlDistTmstm : 23|16@0+ (1,0) [0|65535] "counts" XXX - SG_ WhlRotatStatRtDrvn : 39|32@0+ (1,0) [0|0] "" XXX - SG_ WRSRDWhlDistPlsCntr : 33|10@0+ (1,0) [0|1023] "counts" XXX - SG_ WRSRDWhlDistVal : 34|1@0+ (1,0) [0|1] "" XXX - SG_ WRSRDWhlRotStatRst : 35|1@0+ (1,0) [0|1] "" XXX - SG_ WRSRDSeqNum : 37|2@0+ (1,0) [0|3] "counts" XXX - SG_ WRSRDWhlDisTpRC : 39|2@0+ (1,0) [0|3] "counts" XXX - SG_ WRSRDWhlDistTmstm : 55|16@0+ (1,0) [0|65535] "counts" XXX - -BO_ 2156789760 Time_of_Day_LS: 6 XXX - SG_ CldrYr : 7|8@0+ (1,2000) [2000|2255] "year" XXX - SG_ CldrMth : 11|4@0+ (1,0) [0|15] "" XXX - SG_ FrPedDetCsStReq : 14|3@0+ (1,0) [0|7] "" XXX - SG_ CldrDay : 20|5@0+ (1,0) [0|31] "days" XXX - SG_ SmrtHgBmAstCstSetReq : 23|3@0+ (1,0) [0|7] "" XXX - SG_ TmofDay : 24|17@0+ (1,0) [0|0] "" XXX - SG_ TOD_HrofDay : 24|5@0+ (1,0) [0|31] "hr" XXX - SG_ TOD_MinofHr : 35|6@0+ (1,0) [0|63] "min" XXX - SG_ TOD_SecofMin : 45|6@0+ (1,0) [0|63] "s" XXX - SG_ TimeDispFormat : 25|1@0+ (1,0) [0|1] "" XXX - -BO_ 2155020288 Language_Selection_LS: 1 XXX - SG_ LngSelExt : 5|6@0+ (1,0) [0|63] "" XXX - SG_ ChVolRq2 : 7|2@0+ (1,0) [0|3] "" XXX - -BO_ 2150432768 Engine_Information_4_LS: 8 XXX - SG_ TransOilTempSensPres : 0|1@0+ (1,0) [0|1] "" XXX - SG_ GenFldDutCycGroup : 1|42@0+ (1,0) [0|0] "" XXX - SG_ GenFldDutCycV : 1|1@0+ (1,0) [0|1] "" XXX - SG_ GenFldDutCyc : 47|8@0+ (0.392157,0) [0|100.000035] "%" XXX - SG_ FuelFltLifRstPerf : 2|1@0+ (1,0) [0|1] "" XXX - SG_ TrnEmsMlfAtv : 3|1@0+ (1,0) [0|1] "" XXX - SG_ GrdBrkgAct : 4|1@0+ (1,0) [0|1] "" XXX - SG_ TrnsNEmsRltMalfActv : 5|1@0+ (1,0) [0|1] "" XXX - SG_ EngShtdwnPndgIO : 6|1@0+ (1,0) [0|1] "" XXX - SG_ EngManfldAirTempCrtdGroup : 7|16@0+ (1,0) [0|0] "" XXX - SG_ EngManfldAirTempCrtdV : 7|1@0+ (1,0) [0|1] "" XXX - SG_ EngManfldAirTempCrtd : 15|8@0+ (1,-40) [-40|215] "deg C" XXX - SG_ FuelTotCap : 19|12@0+ (0.125,0) [0|511.875] "liters" XXX - SG_ TrnsThrmlMngmntStat : 21|2@0+ (1,0) [0|3] "" XXX - SG_ PTHiElecLdReqd : 22|1@0+ (1,0) [0|1] "" XXX - SG_ EngOilRmnLf : 39|8@0+ (0.392157,0) [0|100.000035] "%" XXX - SG_ FuelFltRmnLf : 63|8@0+ (0.392157,0) [0|100.000035] "%" XXX - -BO_ 2155298816 Tire_Pressure_Sensor_Prog_Req_LS: 1 XXX - SG_ TrPrsSnsProgEvntRqd : 0|1@0+ (1,0) [0|1] "" XXX - SG_ TrPrsMntrTrLdRstRqstd : 2|2@0+ (1,0) [0|3] "" XXX - -BO_ 2158878720 ODIDynDataListReq_CntrStack_LS: 8 XXX - SG_ ODIDynDataLstRq_CntrStck : 7|64@0+ (1,0) [0|0] "" XXX - SG_ ODDLC_FUCID : 7|8@0+ (1,0) [0|255] "" XXX - SG_ ODDLC_DataId : 15|8@0+ (1,0) [0|255] "" XXX - SG_ ODDLC_DspMID : 23|8@0+ (1,0) [0|255] "" XXX - SG_ ODDLC_ReqDir : 24|1@0+ (1,0) [0|1] "" XXX - SG_ ODDLC_NmEntries : 31|7@0+ (1,0) [0|127] "" XXX - SG_ ODDLC_Idx : 39|16@0+ (1,0) [0|65535] "" XXX - SG_ ODDLC_SubIdReqM : 51|12@0+ (1,0) [0|4095] "" XXX - SG_ ODDLC_WrpArnd : 52|1@0+ (1,0) [0|1] "" XXX - SG_ ODDLC_BckgndFlag : 53|1@0+ (1,0) [0|1] "" XXX - SG_ ODDLC_ReqType : 55|2@0+ (1,0) [0|3] "" XXX - -BO_ 2158870528 ODIDynDataListRequest_AuxIP_LS: 8 XXX - SG_ ODIDynDataLstRq_AxIP : 7|64@0+ (1,0) [0|0] "" XXX - SG_ ODDLA_FUCID : 7|8@0+ (1,0) [0|255] "" XXX - SG_ ODDLA_DataId : 15|8@0+ (1,0) [0|255] "" XXX - SG_ ODDLA_DspMID : 23|8@0+ (1,0) [0|255] "" XXX - SG_ ODDLA_ReqDir : 24|1@0+ (1,0) [0|1] "" XXX - SG_ ODDLA_NmEntries : 31|7@0+ (1,0) [0|127] "" XXX - SG_ ODDLA_Idx : 39|16@0+ (1,0) [0|65535] "" XXX - SG_ ODDLA_SubIdReqM : 51|12@0+ (1,0) [0|4095] "" XXX - SG_ ODDLA_WrpArnd : 52|1@0+ (1,0) [0|1] "" XXX - SG_ ODDLA_BckgndFlag : 53|1@0+ (1,0) [0|1] "" XXX - SG_ ODDLA_ReqType : 55|2@0+ (1,0) [0|3] "" XXX - -BO_ 2154692608 Audio_Source_Status_LS: 2 XXX - SG_ AudSrcStat : 3|12@0+ (1,0) [0|0] "" XXX - SG_ ASSAudSrcType : 3|5@0+ (1,0) [0|31] "" XXX - SG_ ASSAudSrcStatCode : 11|4@0+ (1,0) [0|15] "" XXX - SG_ ASSAudSrcChType : 14|3@0+ (1,0) [0|7] "" XXX - SG_ LgclAVChnl : 7|4@0+ (1,0) [0|15] "" XXX - -BO_ 2154627072 Audio_Master_Arbitration_Command: 2 XXX - SG_ AudMstrArbCom : 3|4@0+ (1,0) [0|15] "" XXX - SG_ LgclAVChnl_368 : 7|4@0+ (1,0) [0|15] "" XXX - SG_ AudMstrSrcTyp : 12|5@0+ (1,0) [0|31] "" XXX - SG_ AudMstrChnnlTyp : 15|3@0+ (1,0) [0|7] "" XXX - -BO_ 2151112704 Occupant_Sensning_Status_LS: 2 XXX - SG_ FrntPassClass : 2|3@0+ (1,0) [0|7] "" XXX - SG_ FrPsSeatOccSnsOpMd : 5|3@0+ (1,0) [0|7] "N/A" XXX - SG_ FrPasSeatResCtrlOccStGroup : 7|14@0+ (1,0) [0|0] "" XXX - SG_ FrPasSeatResCtrlOccSt : 7|2@0+ (1,0) [0|3] "" XXX - SG_ FrPasSeatResCtrlOccStV : 10|1@0+ (1,0) [0|1] "" XXX - SG_ FrPsSeatOccFltSt : 9|2@0+ (1,0) [0|3] "N/A" XXX - SG_ FrPasSeatbltRemOccSt : 11|1@0+ (1,0) [0|1] "" XXX - -BO_ 2153938944 Remote_Reflash_Req_LS: 1 XXX - SG_ RmtRflshMdReqtd : 7|1@0+ (1,0) [0|1] "" XXX - -BO_ 2159239168 ODI_TEL_2_OTIM_LS: 8 XXX - SG_ ODI_TEL2OTIM : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" XXX - -BO_ 2159230976 ODI_OTIM_2_TEL_LS: 8 XXX - SG_ ODI_OTIM2TEL : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" XXX - -BO_ 2159222784 ODI_PDIM_2_CenterStack_LS: 8 XXX - SG_ ODI_PDIM2CntrStck : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" XXX - -BO_ 2159214592 ODI_CenterStack_2_PDIM_LS: 8 XXX - SG_ ODI_CntrStck2PDIM : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" XXX - -BO_ 2158862336 ODIAction_OTIM_LS: 8 XXX - SG_ ODIActn_OTIM : 5|62@0+ (1,0) [0|0] "" XXX - SG_ ODIAOT_DaTy : 5|6@0+ (1,0) [0|63] "" XXX - SG_ ODIAOT_FUCID : 15|8@0+ (1,0) [0|255] "" XXX - SG_ ODIAOT_ActnID : 23|8@0+ (1,0) [0|255] "" XXX - SG_ ODIAOT_DspMID : 31|8@0+ (1,0) [0|255] "" XXX - SG_ ODIAOT_ActnVal : 39|32@0+ (1,0) [0|4294967295] "" XXX - -BO_ 2150662144 Environment_Id_Resp_3_LS: 3 XXX - SG_ EnvIdRsp3 : 7|16@0+ (1,0) [0|65535] "" XXX - SG_ EnvIdRspSt3 : 17|2@0+ (1,0) [0|3] "" XXX - -BO_ 2150653952 Environment_Id_Resp_2_LS: 3 XXX - SG_ EnvIdRsp2 : 7|16@0+ (1,0) [0|65535] "" XXX - SG_ EnvIdRspSt2 : 17|2@0+ (1,0) [0|3] "" XXX - -BO_ 2150850560 Seatbelt_Information_LS: 1 XXX - SG_ DrSbltAtcGroup : 1|2@0+ (1,0) [0|0] "" XXX - SG_ DrSbltAtc : 0|1@0+ (1,0) [0|1] "" XXX - SG_ DrSbltAtcV : 1|1@0+ (1,0) [0|1] "" XXX - SG_ PsSbltAtcGroup : 3|2@0+ (1,0) [0|0] "" XXX - SG_ PsSbltAtc : 2|1@0+ (1,0) [0|1] "" XXX - SG_ PsSbltAtcV : 3|1@0+ (1,0) [0|1] "" XXX - -BO_ 2154659840 Column_Lock_Status_2: 2 XXX - SG_ UnlckRtryRotIndOn : 2|1@0+ (1,0) [0|1] "" XXX - SG_ UnlockRtryPshIndOn : 3|1@0+ (1,0) [0|1] "" XXX - SG_ StrgClmnLckVisNot : 4|1@0+ (1,0) [0|1] "" XXX - SG_ ClmnLckStatGroup : 5|6@0+ (1,0) [0|0] "" XXX - SG_ ClmnLckStat : 1|2@0+ (1,0) [0|3] "" XXX - SG_ ClmnLckStatV : 5|1@0+ (1,0) [0|1] "" XXX - SG_ ClmSysFlrIndOn : 7|1@0+ (1,0) [0|1] "" XXX - SG_ StrngClmnLckTT : 9|2@0+ (1,0) [0|3] "" XXX - -BO_ 2154938368 Fob_Programming_Mode_Status_LS: 1 XXX - SG_ FobProgMdStat : 1|2@0+ (1,0) [0|3] "" XXX - -BO_ 2155266048 Rear_Seat_Heat_Cool_Switches_LS: 1 XXX - SG_ RLHCSeatSw1Act : 0|1@0+ (1,0) [0|1] "" XXX - SG_ RLHCSeatSw2Act : 1|1@0+ (1,0) [0|1] "" XXX - SG_ RLHCSeatSw3Act : 2|1@0+ (1,0) [0|1] "" XXX - SG_ RRHCSeatSw1Act : 3|1@0+ (1,0) [0|1] "" XXX - SG_ RRHCSeatSw2Act : 4|1@0+ (1,0) [0|1] "" XXX - SG_ RRHCSeatSw3Act : 5|1@0+ (1,0) [0|1] "" XXX - -BO_ 2155249664 Rear_Seat_Heat_Cool_Control_LS: 4 XXX - SG_ RLHCSModeIndCtrl : 4|5@0+ (1,0) [0|0] "" XXX - SG_ RLHCSMInd3 : 0|1@0+ (1,0) [0|1] "" XXX - SG_ RLHCSMInd2 : 1|1@0+ (1,0) [0|1] "" XXX - SG_ RLHCSMInd1 : 2|1@0+ (1,0) [0|1] "" XXX - SG_ RLHCSMIndReq : 4|2@0+ (1,0) [0|3] "" XXX - SG_ RRHCSModeIndCtrl : 12|5@0+ (1,0) [0|0] "" XXX - SG_ RRHCSMInd3 : 8|1@0+ (1,0) [0|1] "" XXX - SG_ RRHCSMInd2 : 9|1@0+ (1,0) [0|1] "" XXX - SG_ RRHCSMInd1 : 10|1@0+ (1,0) [0|1] "" XXX - SG_ RRHCSMIndReq : 12|2@0+ (1,0) [0|3] "" XXX - SG_ RLHCSeatLevIndCtrl : 22|7@0+ (1,0) [0|0] "" XXX - SG_ RLHCSLSeatLev5 : 16|1@0+ (1,0) [0|1] "" XXX - SG_ RLHCSLSeatLev4 : 17|1@0+ (1,0) [0|1] "" XXX - SG_ RLHCSLSeatLev3 : 18|1@0+ (1,0) [0|1] "" XXX - SG_ RLHCSLSeatLev2 : 19|1@0+ (1,0) [0|1] "" XXX - SG_ RLHCSLSeatLev1 : 20|1@0+ (1,0) [0|1] "" XXX - SG_ RLHCSLIndReq : 22|2@0+ (1,0) [0|3] "" XXX - SG_ RRHCSeatLevIndCtrl : 30|7@0+ (1,0) [0|0] "" XXX - SG_ RRHCSLSeatLev5 : 24|1@0+ (1,0) [0|1] "" XXX - SG_ RRHCSLSeatLev4 : 25|1@0+ (1,0) [0|1] "" XXX - SG_ RRHCSLSeatLev3 : 26|1@0+ (1,0) [0|1] "" XXX - SG_ RRHCSLSeatLev2 : 27|1@0+ (1,0) [0|1] "" XXX - SG_ RRHCSLSeatLev1 : 28|1@0+ (1,0) [0|1] "" XXX - SG_ RRHCSLIndReq : 30|2@0+ (1,0) [0|3] "" XXX - -BO_ 2155184128 CruiseControl_LS: 3 XXX - SG_ CrsCntAtv : 0|1@0+ (1,0) [0|1] "" XXX - SG_ CrsSpdLmtrSwStat : 4|4@0+ (1,0) [0|15] "" XXX - SG_ TrnsShftLvrLckStat : 5|1@0+ (1,0) [0|1] "" XXX - SG_ RrStRmndrIO : 6|1@0+ (1,0) [0|1] "" XXX - SG_ RrStRmndrCstSetAvail : 7|1@0+ (1,0) [0|1] "" XXX - SG_ CrsCntrlSwStat : 15|8@0+ (1,0) [0|0] "" XXX - SG_ CrsCntrlSwStSwDataIntgty : 9|2@0+ (1,0) [0|3] "" XXX - SG_ CrsCntrlSwStSpDcSwAct : 10|1@0+ (1,0) [0|1] "" XXX - SG_ CrsCntrlSwStSpdInSwAct : 11|1@0+ (1,0) [0|1] "" XXX - SG_ CrsCntrlSwStSetSwAct : 12|1@0+ (1,0) [0|1] "" XXX - SG_ CrsCntrlSwStResSwAct : 13|1@0+ (1,0) [0|1] "" XXX - SG_ CrsCntrlSwStOnSwAct : 14|1@0+ (1,0) [0|1] "" XXX - SG_ CrsCntrlSwStCanSwAct : 15|1@0+ (1,0) [0|1] "" XXX - SG_ SmPhRmFunCstCurStVal : 18|3@0+ (1,0) [0|7] "" XXX - SG_ SmPhRmFunCstStAval : 19|1@0+ (1,0) [0|1] "" XXX - SG_ IdlRecmndToClEngIO : 20|1@0+ (1,0) [0|1] "" XXX - SG_ RrStRmndrCstCurrSetVal : 23|3@0+ (1,0) [0|7] "" XXX - -BO_ 2155167744 Power_Mode_Info_LS: 3 XXX - SG_ ShftPrkIO : 0|1@0+ (1,0) [0|1] "" XXX - SG_ ShftToNtrlIO : 1|1@0+ (1,0) [0|1] "" XXX - SG_ Ky_IdDevPr : 2|1@0+ (1,0) [0|1] "" XXX - SG_ SecPwrMdPshBtnAtv : 3|1@0+ (1,0) [0|1] "" XXX - SG_ TransModActIO : 4|1@0+ (1,0) [0|1] "" XXX - SG_ TransModInactIO : 5|1@0+ (1,0) [0|1] "" XXX - SG_ KylsStrtUseTxPckIO : 6|1@0+ (1,0) [0|1] "" XXX - SG_ TrStLgMdAtv : 7|1@0+ (1,0) [0|1] "" XXX - SG_ VehMovState : 10|3@0+ (1,0) [0|7] "" XXX - SG_ AutoShtdwnDsblIO : 11|1@0+ (1,0) [0|1] "" XXX - SG_ AppPrkBrkIO : 12|1@0+ (1,0) [0|1] "" XXX - SG_ NRmtDtdPsCluRstIO : 13|1@0+ (1,0) [0|1] "" XXX - SG_ ApplyBrkPdlIO : 14|1@0+ (1,0) [0|1] "" XXX - SG_ ApplyCltPdlIO : 15|1@0+ (1,0) [0|1] "" XXX - SG_ NoReDetInOn : 16|1@0+ (1,0) [0|1] "" XXX - SG_ NRmtDtdPsBrkRstIO : 17|1@0+ (1,0) [0|1] "" XXX - SG_ PrsBtnAgnTTrnEngOffIO : 18|1@0+ (1,0) [0|1] "" XXX - SG_ TSLgMdPwrCtOWAtv : 19|1@0+ (1,0) [0|1] "" XXX - SG_ NRmtDtctdRstrtAllwd : 20|1@0+ (1,0) [0|1] "" XXX - SG_ PrsStrtAgnIO : 21|1@0+ (1,0) [0|1] "" XXX - SG_ PrsCltchPrsStrtAgnIO : 22|1@0+ (1,0) [0|1] "" XXX - -BO_ 2154921984 Fob_Status_LS: 2 XXX - SG_ RFAFnc : 1|10@0+ (1,0) [0|0] "" XXX - SG_ RFRmtCntFobNm : 1|3@0+ (1,0) [0|7] "" XXX - SG_ RFRmtCntFobBatLw : 8|1@0+ (1,0) [0|1] "" XXX - SG_ RFRmtCntrlFobFnc : 14|6@0+ (1,0) [0|63] "" XXX - SG_ FobPogLimRchdIndOn : 2|1@0+ (1,0) [0|1] "" XXX - -BO_ 2151317504 Park_Assistant_Rear_Status: 4 XXX - SG_ PrkAsstRrExtdDist : 3|12@0+ (0.01,0) [0|40.95] "m" XXX - SG_ PrkAstRrSysStat : 5|2@0+ (1,0) [0|3] "" XXX - SG_ PARrRgn1ObjStat : 19|4@0+ (1,0) [0|15] "" XXX - SG_ PARrRgn2ObjStat : 23|4@0+ (1,0) [0|15] "" XXX - SG_ PARrRgn3ObjStat : 27|4@0+ (1,0) [0|15] "" XXX - SG_ PARrRgn4ObjStat : 31|4@0+ (1,0) [0|15] "" XXX - -BO_ 2151301120 Park_Assistant_Front_Status: 4 XXX - SG_ PrkAsstFrtExtdDist : 3|12@0+ (0.01,0) [0|40.95] "m" XXX - SG_ PrkAstFrSysStat : 5|2@0+ (1,0) [0|3] "" XXX - SG_ PrkAstAdvSysAct : 6|1@0+ (1,0) [0|1] "" XXX - SG_ PrkAsstRrOffIO : 7|1@0+ (1,0) [0|1] "" XXX - SG_ PAFrtRgn1ObjStat : 19|4@0+ (1,0) [0|15] "" XXX - SG_ PAFrtRgn2ObjStat : 23|4@0+ (1,0) [0|15] "" XXX - SG_ PAFrtRgn3ObjStat : 27|4@0+ (1,0) [0|15] "" XXX - SG_ PAFrtRgn4ObjStat : 31|4@0+ (1,0) [0|15] "" XXX - -BO_ 2159083520 ODI_TEL_2_IPC_LS: 8 XXX - SG_ ODI_TEL2IPC : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" XXX - -BO_ 2153922560 Climate_Control_Voltage_LS: 3 XXX - SG_ ClimCtrlVoltBstModReq : 0|1@0+ (1,0) [0|1] "" XXX - SG_ ClmtCtrlHtrEngRunRq : 1|1@0+ (1,0) [0|1] "" XXX - SG_ HtrVlvRqstdPstn : 3|2@0+ (1,0) [0|3] "" XXX - SG_ ClntHtrElecPwrRatGroup : 4|13@0+ (1,0) [0|0] "" XXX - SG_ ClntHtrElecPwrRatV : 4|1@0+ (1,0) [0|1] "" XXX - SG_ ClntHtrElecPwrRat : 15|8@0+ (0.04,0) [0|10.2] "kW" XXX - SG_ ClmCtrHiVltPwrRqtd : 23|8@0+ (0.1,0) [0|25.5] "kW" XXX - -BO_ 2153807872 Door_Open_Switch_Status_LS: 1 XXX - SG_ DrDoorOpenSwActGroup : 1|2@0+ (1,0) [0|0] "" XXX - SG_ DrDoorOpenSwAct : 0|1@0+ (1,0) [0|1] "" XXX - SG_ DrDoorOpenSwActV : 1|1@0+ (1,0) [0|1] "" XXX - SG_ PsDoorOpenSwActGroup : 3|2@0+ (1,0) [0|0] "" XXX - SG_ PsDoorOpenSwAct : 2|1@0+ (1,0) [0|1] "" XXX - SG_ PsDoorOpenSwActV : 3|1@0+ (1,0) [0|1] "" XXX - SG_ ClmSysAuxFlrIndOn : 4|1@0+ (1,0) [0|1] "" XXX - SG_ PsvStrtStrngClmnLckTT : 6|2@0+ (1,0) [0|3] "" XXX - -BO_ 2150703104 Audio_Amplifier_Status: 1 XXX - SG_ AudSysDigSigProcPres : 0|1@0+ (1,0) [0|1] "" XXX - SG_ AudSysSurSndSysPres : 1|1@0+ (1,0) [0|1] "" XXX - SG_ AudSysVNoisCompPres : 2|1@0+ (1,0) [0|1] "" XXX - -BO_ 2151399424 Wash_Level_LS: 1 XXX - SG_ WshFldLw : 0|1@0+ (1,0) [0|1] "" XXX - -BO_ 2151956480 Driver_Workload_LS: 2 XXX - SG_ DrvWrkldLvl : 3|4@0+ (1,0) [0|15] "" XXX - SG_ ClstrHMIAnmSt : 6|3@0+ (1,0) [0|7] "" XXX - SG_ ClstrHMIRdy : 7|1@0+ (1,0) [0|1] "" XXX - SG_ StrWhlThbwhlCnts : 13|6@0- (1,0) [-32|31] "counts" XXX - -BO_ 2151940096 Alarm_2_Request_LS: 7 XXX - SG_ Alrm2ExtRngReq : 1|26@0+ (1,0) [0|0] "" XXX - SG_ A2ERRAlrmReq : 1|2@0+ (1,0) [0|3] "" XXX - SG_ A2ERRAlrmTime : 15|24@0+ (1,0) [0|16777215] "min" XXX - SG_ EstBulkIntAirTmpGroup : 2|35@0+ (1,0) [0|0] "" XXX - SG_ EstBulkIntAirTmpV : 2|1@0+ (1,0) [0|1] "" XXX - SG_ EstBulkIntAirTmp : 39|8@0+ (0.5,-40) [-40|87.5] "deg C" XXX - SG_ EstIntRfSrfcTmpGroup : 3|44@0+ (1,0) [0|0] "" XXX - SG_ EstIntRfSrfcTmpV : 3|1@0+ (1,0) [0|1] "" XXX - SG_ EstIntRfSrfcTmp : 47|8@0+ (0.5,-40) [-40|87.5] "deg C" XXX - SG_ EstIntHorzDshSrfTmpGroup : 4|53@0+ (1,0) [0|0] "" XXX - SG_ EstIntHorzDshSrfTmpM : 4|1@0+ (1,0) [0|1] "" XXX - SG_ EstIntHorzDshSrfTmp : 55|8@0+ (1,-40) [-40|215] "deg C" XXX - -BO_ 2151923712 Alarm_1_Request_LS: 5 XXX - SG_ Alrm1ExtRngReq : 1|26@0+ (1,0) [0|0] "" XXX - SG_ A1ERRAlrmReq : 1|2@0+ (1,0) [0|3] "" XXX - SG_ A1ERRAlrmTime : 15|24@0+ (1,0) [0|16777215] "min" XXX - SG_ HLOCCstCurrSetVal : 6|3@0+ (1,0) [0|7] "" XXX - SG_ HLOCCstSetAvail : 7|1@0+ (1,0) [0|1] "" XXX - SG_ HLOCCstAvail : 39|7@0+ (1,0) [0|0] "" XXX - SG_ HLOCCA_Res4Avail : 33|1@0+ (1,0) [0|1] "" XXX - SG_ HLOCCA_Res3Avail : 34|1@0+ (1,0) [0|1] "" XXX - SG_ HLOCCA_Res2Avail : 35|1@0+ (1,0) [0|1] "" XXX - SG_ HLOCCA_Res1Avail : 36|1@0+ (1,0) [0|1] "" XXX - SG_ HLOCCA_OnOpnOnlyAvail : 37|1@0+ (1,0) [0|1] "" XXX - SG_ HLOCCA_OnAvail : 38|1@0+ (1,0) [0|1] "" XXX - SG_ HLOCCA_OffAvail : 39|1@0+ (1,0) [0|1] "" XXX - -BO_ 2150645760 Environment_Id_Resp_1_LS: 3 XXX - SG_ EnvIdRsp1 : 7|16@0+ (1,0) [0|65535] "" XXX - SG_ EnvIdRspSt1 : 17|2@0+ (1,0) [0|3] "" XXX - -BO_ 2152464384 Lane_Departure_Warning_LS: 3 XXX - SG_ LaneDepWrnDisbldIO : 0|1@0+ (1,0) [0|1] "" XXX - SG_ LnKpAstDisbldIO : 1|1@0+ (1,0) [0|1] "" XXX - SG_ SrvcLaneDepWrnSysIO : 2|1@0+ (1,0) [0|1] "" XXX - SG_ SrvcLnKpAstSysIO : 3|1@0+ (1,0) [0|1] "" XXX - SG_ HndsOffStrWhlDtIO : 4|1@0+ (1,0) [0|1] "" XXX - SG_ TnDrvLDWOffUnbIO : 5|1@0+ (1,0) [0|1] "" XXX - SG_ LftLnDepWrnSt : 7|2@0+ (1,0) [0|3] "" XXX - SG_ LaneDepWrnIndCntrl : 13|6@0+ (1,0) [0|0] "" XXX - SG_ LDWIC_LnDepWAWLn : 9|2@0+ (1,0) [0|3] "" XXX - SG_ LDWIC_Ind2 : 10|1@0+ (1,0) [0|1] "" XXX - SG_ LDWIC_Ind1 : 11|1@0+ (1,0) [0|1] "" XXX - SG_ LDWIC_IndReq : 13|2@0+ (1,0) [0|3] "" XXX - SG_ RtLnDepWrnSt : 15|2@0+ (1,0) [0|3] "" XXX - SG_ LnKpAstIndCntrl : 21|6@0+ (1,0) [0|0] "" XXX - SG_ LKAIC_AdbWngLn : 17|2@0+ (1,0) [0|3] "" XXX - SG_ LKAIC_Ind2 : 18|1@0+ (1,0) [0|1] "" XXX - SG_ LKAIC_Ind1 : 19|1@0+ (1,0) [0|1] "" XXX - SG_ LKAIC_IndReq : 21|2@0+ (1,0) [0|3] "" XXX - -BO_ 2154971136 Front_Seat_Heat_Cool_Switches_LS: 1 XXX - SG_ DrvHCSeatSw1Act : 0|1@0+ (1,0) [0|1] "" XXX - SG_ DrvHCSeatSw2Act : 1|1@0+ (1,0) [0|1] "" XXX - SG_ DrvHCSeatSw3Act : 2|1@0+ (1,0) [0|1] "" XXX - SG_ PassHCSeatSw1Act : 3|1@0+ (1,0) [0|1] "" XXX - SG_ PassHCSeatSw2Act : 4|1@0+ (1,0) [0|1] "" XXX - SG_ PassHCSeatSw3Act : 5|1@0+ (1,0) [0|1] "" XXX - -BO_ 2154962944 Front_Seat_Heat_Cool_Control_LS: 4 XXX - SG_ DrvHCSModeIndCtrl : 4|5@0+ (1,0) [0|0] "" XXX - SG_ DrvHCSMInd3 : 0|1@0+ (1,0) [0|1] "" XXX - SG_ DrvHCSMInd2 : 1|1@0+ (1,0) [0|1] "" XXX - SG_ DrvHCSMInd1 : 2|1@0+ (1,0) [0|1] "" XXX - SG_ DrvHCSMIndReq : 4|2@0+ (1,0) [0|3] "" XXX - SG_ PassHCSModeIndCtrl : 12|5@0+ (1,0) [0|0] "" XXX - SG_ PassHCSMInd3 : 8|1@0+ (1,0) [0|1] "" XXX - SG_ PassHCSMInd2 : 9|1@0+ (1,0) [0|1] "" XXX - SG_ PassHCSMInd1 : 10|1@0+ (1,0) [0|1] "" XXX - SG_ PassHCSMIndReq : 12|2@0+ (1,0) [0|3] "" XXX - SG_ DrvHCSLevIndCtrl : 22|7@0+ (1,0) [0|0] "" XXX - SG_ DrvHCSLSeatLev5 : 16|1@0+ (1,0) [0|1] "" XXX - SG_ DrvHCSLSeatLev4 : 17|1@0+ (1,0) [0|1] "" XXX - SG_ DrvHCSLSeatLev3 : 18|1@0+ (1,0) [0|1] "" XXX - SG_ DrvHCSLSeatLev2 : 19|1@0+ (1,0) [0|1] "" XXX - SG_ DrvHCSLSeatLev1 : 20|1@0+ (1,0) [0|1] "" XXX - SG_ DrvHCSLIndReq : 22|2@0+ (1,0) [0|3] "" XXX - SG_ PassHCSeatLevIndCtrl : 30|7@0+ (1,0) [0|0] "" XXX - SG_ PassHCSLSeatLev5 : 24|1@0+ (1,0) [0|1] "" XXX - SG_ PassHCSLSeatLev4 : 25|1@0+ (1,0) [0|1] "" XXX - SG_ PassHCSLSeatLev3 : 26|1@0+ (1,0) [0|1] "" XXX - SG_ PassHCSLSeatLev2 : 27|1@0+ (1,0) [0|1] "" XXX - SG_ PassHCSLSeatLev1 : 28|1@0+ (1,0) [0|1] "" XXX - SG_ PassHCSLIndReq : 30|2@0+ (1,0) [0|3] "" XXX - -BO_ 2156232704 Alarm_Clock_Status_LS: 4 XXX - SG_ AlrmClkStat : 7|32@0+ (1,0) [0|0] "" XXX - SG_ ACSAlarm3 : 1|2@0+ (1,0) [0|3] "" XXX - SG_ ACSAlarm2 : 3|2@0+ (1,0) [0|3] "" XXX - SG_ ACSAlarm1 : 5|2@0+ (1,0) [0|3] "" XXX - SG_ ACSAlarm0 : 7|2@0+ (1,0) [0|3] "" XXX - SG_ ACSAlarm7 : 9|2@0+ (1,0) [0|3] "" XXX - SG_ ACSAlarm6 : 11|2@0+ (1,0) [0|3] "" XXX - SG_ ACSAlarm5 : 13|2@0+ (1,0) [0|3] "" XXX - SG_ ACSAlarm4 : 15|2@0+ (1,0) [0|3] "" XXX - SG_ ACSAlarm11 : 17|2@0+ (1,0) [0|3] "" XXX - SG_ ACSAlarm10 : 19|2@0+ (1,0) [0|3] "" XXX - SG_ ACSAlarm9 : 21|2@0+ (1,0) [0|3] "" XXX - SG_ ACSAlarm8 : 23|2@0+ (1,0) [0|3] "" XXX - SG_ ACSAlarm15 : 25|2@0+ (1,0) [0|3] "" XXX - SG_ ACSAlarm14 : 27|2@0+ (1,0) [0|3] "" XXX - SG_ ACSAlarm13 : 29|2@0+ (1,0) [0|3] "" XXX - SG_ ACSAlarm12 : 31|2@0+ (1,0) [0|3] "" XXX - -BO_ 2154987520 Hood_Status_LS: 1 XXX - SG_ HdStGroup : 2|3@0+ (1,0) [0|0] "" XXX - SG_ HdSt : 1|2@0+ (1,0) [0|3] "" XXX - SG_ HdStV : 2|1@0+ (1,0) [0|1] "" XXX - SG_ WrlsChrgSysChrgStat : 5|3@0+ (1,0) [0|7] "" XXX - -BO_ 2154840064 Compass_Status_LS: 4 XXX - SG_ CmpsOctHdingDataSrc : 0|1@0+ (1,0) [0|1] "" XXX - SG_ CmpsModFltPrs : 1|1@0+ (1,0) [0|1] "" XXX - SG_ CmpsModManCalInPrc : 2|1@0+ (1,0) [0|1] "" XXX - SG_ CmpsZnNvrSet : 3|1@0+ (1,0) [0|1] "" XXX - SG_ CmpsDecZone : 11|4@0+ (1,0) [0|15] "" XXX - SG_ CmpsOctHding : 14|3@0+ (1,0) [0|7] "" XXX - SG_ CmpsSatrtd : 15|1@0+ (1,0) [0|1] "" XXX - SG_ CmpsCrHding : 23|16@0+ (0.0054932,0) [0|359.996862] "deg" XXX - -BO_ 2154676224 Compass_Request_LS: 1 XXX - SG_ CmpsDecZonCmndVal : 3|4@0+ (1,0) [0|15] "" XXX - SG_ CmpsDecZonSetReq : 4|1@0+ (1,0) [0|1] "" XXX - SG_ CmpsModManCalReq : 5|1@0+ (1,0) [0|1] "" XXX - SG_ CmpsModSlfTstReq : 6|1@0+ (1,0) [0|1] "" XXX - -BO_ 2154643456 Auxiliary_Heater_Status_LS: 3 XXX - SG_ AuxHtrAtv : 0|1@0+ (1,0) [0|1] "" XXX - SG_ HtrCoreInltClntTmpCalcGroup : 4|21@0+ (1,0) [0|0] "" XXX - SG_ HtrCoreInltClntTmpCalcV : 4|1@0+ (1,0) [0|1] "" XXX - SG_ HtrCoreInltClntTmpCalc : 23|8@0+ (1,-40) [-40|215] "deg C" XXX - SG_ CCClntCrcFlwRtReq : 15|8@0+ (0.392157,0) [0|100.000035] "%" XXX - -BO_ 2154905600 Driver_Identifier_LS: 1 XXX - SG_ DrId : 2|3@0+ (1,0) [0|7] "" XXX - SG_ DrvSeatPrsMemID : 5|3@0+ (1,0) [0|7] "" XXX - -BO_ 2154954752 High_Volt_Climate_Pwr_Status_LS: 5 XXX - SG_ ClmtHtPwrRqd : 0|1@0+ (1,0) [0|1] "" XXX - SG_ HtdStWhlCmd : 2|2@0+ (1,0) [0|3] "" XXX - SG_ HtdStWhlInd : 4|2@0+ (1,0) [0|3] "" XXX - SG_ HtdStWhlCtrlSrc : 5|1@0+ (1,0) [0|1] "" XXX - SG_ ClntHtrElecPwrReq : 15|8@0+ (0.04,0) [0|10.2] "kW" XXX - SG_ EstACCompPwrRchCbnCmf : 23|8@0+ (0.04,0) [0|10.2] "kw" XXX - SG_ EstACCompPwrMtnCbnCmf : 31|8@0+ (0.04,0) [0|10.2] "kW" XXX - -BO_ 2153381888 Control_Power_Liftgate_LS: 4 XXX - SG_ FnshRrClsrMtnBfrDrvIO : 0|1@0+ (1,0) [0|1] "" XXX - SG_ RrClsrObstclDtctd : 1|1@0+ (1,0) [0|1] "" XXX - SG_ RrClsrInMtn : 3|1@0+ (1,0) [0|1] "" XXX - SG_ RrClosOpenSwActGroup : 4|3@0+ (1,0) [0|0] "" XXX - SG_ RrClosOpenSwAct : 2|1@0+ (1,0) [0|1] "" XXX - SG_ RrClosOpenSwActV : 4|1@0+ (1,0) [0|1] "" XXX - SG_ RrWprInhbRq : 5|1@0+ (1,0) [0|1] "" XXX - SG_ GrgPrgMdCmpl : 6|1@0+ (1,0) [0|1] "" XXX - SG_ PwrLftgtInclAngGroup : 7|16@0+ (1,0) [0|0] "" XXX - SG_ PwrLftgtInclAngV : 7|1@0+ (1,0) [0|1] "" XXX - SG_ PwrLftgtInclAng : 15|8@0+ (1,0) [0|255] "" XXX - SG_ VehIncAngEst : 23|8@0+ (1,0) [0|255] "deg" XXX - SG_ PwrLftgtMotStat : 26|3@0+ (1,0) [0|7] "" XXX - SG_ VltActRrAccUnavlIO : 27|1@0+ (1,0) [0|1] "" XXX - -BO_ 2149752832 Chassis_Information_LS: 8 XXX - SG_ VehHghtStatGroup : 0|9@0+ (1,0) [0|0] "" XXX - SG_ VehHghtStatV : 0|1@0+ (1,0) [0|1] "" XXX - SG_ VehHghtStat : 11|4@0+ (1,0) [0|15] "" XXX - SG_ IntBrkAssPreFilReq : 1|1@0+ (1,0) [0|1] "N/A" XXX - SG_ BksOvht : 2|1@0+ (1,0) [0|1] "" XXX - SG_ HalfSysFail : 3|1@0+ (1,0) [0|1] "" XXX - SG_ BrkSysRedBrkTlltlReq : 4|1@0+ (1,0) [0|1] "" XXX - SG_ ABSAtv : 5|1@0+ (1,0) [0|1] "" XXX - SG_ DrvlnCustStngAvlbl : 6|1@0+ (1,0) [0|1] "" XXX - SG_ StrCustStngAvlbl : 7|1@0+ (1,0) [0|1] "" XXX - SG_ PrkBrkVDA : 12|1@0+ (1,0) [0|1] "" XXX - SG_ PowStVDA : 13|1@0+ (1,0) [0|1] "" XXX - SG_ RrDrCntVDA : 14|1@0+ (1,0) [0|1] "" XXX - SG_ BrkSysVDA : 15|1@0+ (1,0) [0|1] "" XXX - SG_ SprTireSt : 18|3@0+ (1,0) [0|7] "" XXX - SG_ EPBSysAudWarnReq : 20|2@0+ (1,0) [0|3] "" XXX - SG_ EPBSysDspMsgReq : 23|3@0+ (1,0) [0|7] "" XXX - SG_ DrvlnCustCurrStngVal : 26|3@0+ (1,0) [0|7] "" XXX - SG_ StrCustCurrStngVal : 29|3@0+ (1,0) [0|7] "" XXX - SG_ SusCustStngAvlbl : 30|1@0+ (1,0) [0|1] "" XXX - SG_ EBDFailed : 31|1@0+ (1,0) [0|1] "" XXX - SG_ SusCustCurrStngVal : 34|3@0+ (1,0) [0|7] "" XXX - SG_ HillDscntCntlSysStat : 37|3@0+ (1,0) [0|7] "" XXX - SG_ ElecPrkBrkStat : 39|2@0+ (1,0) [0|3] "" XXX - SG_ HlStrAssActIO : 41|1@0+ (1,0) [0|1] "" XXX - SG_ ColPrSysStngAvl : 42|1@0+ (1,0) [0|1] "" XXX - SG_ GNCustSetngAvlbl : 44|1@0+ (1,0) [0|1] "" XXX - SG_ GNCustCrntStngVal : 47|3@0+ (1,0) [0|7] "" XXX - SG_ CPSInfotmntMtReq : 49|2@0+ (1,0) [0|3] "" XXX - SG_ ColPrSysCrntStng : 52|3@0+ (1,0) [0|7] "" XXX - SG_ SndEnhcmtPerfMdRq : 55|3@0+ (1,0) [0|7] "" XXX - SG_ DispPerfMdCsCrStVal : 58|3@0+ (1,0) [0|7] "" XXX - SG_ DispPerfMdCsStAvl : 59|1@0+ (1,0) [0|1] "" XXX - SG_ SndPerfMdCsCrStVal : 62|3@0+ (1,0) [0|7] "" XXX - SG_ SndPerfMdCsStAvl : 63|1@0+ (1,0) [0|1] "" XXX - -BO_ 2151514112 Reset_OilLife_Request_LS: 1 XXX - SG_ EngOilLfRstRq : 0|1@0+ (1,0) [0|1] "" XXX - -BO_ 2158903296 ODIDynDataMultiRequest_AuxIP_LS: 8 XXX - SG_ ODIDynDataMltRq_AuxIP : 5|62@0+ (1,0) [0|0] "" XXX - SG_ ODDMA_DataID2Vld : 0|1@0+ (1,0) [0|1] "" XXX - SG_ ODDMA_DataID3Vld : 1|1@0+ (1,0) [0|1] "" XXX - SG_ ODDMA_DataID4Vld : 2|1@0+ (1,0) [0|1] "" XXX - SG_ ODDMA_DataID5Vld : 3|1@0+ (1,0) [0|1] "" XXX - SG_ ODDMA_ReqType : 5|2@0+ (1,0) [0|3] "" XXX - SG_ ODDMA_FUCID : 15|8@0+ (1,0) [0|255] "" XXX - SG_ ODDMA_DispMID : 23|8@0+ (1,0) [0|255] "" XXX - SG_ ODDMA_DataID1 : 31|8@0+ (1,0) [0|255] "" XXX - SG_ ODDMA_DataID2 : 39|8@0+ (1,0) [0|255] "" XXX - SG_ ODDMA_DataID3 : 47|8@0+ (1,0) [0|255] "" XXX - SG_ ODDMA_DataID4 : 55|8@0+ (1,0) [0|255] "" XXX - SG_ ODDMA_DataID5 : 63|8@0+ (1,0) [0|255] "" XXX - -BO_ 2158911488 ODIDynDataMultiReq_CntrStack_LS: 8 XXX - SG_ ODIDynDataMltRq_CntrStck : 5|62@0+ (1,0) [0|0] "" XXX - SG_ ODDMC_DataID2Vld : 0|1@0+ (1,0) [0|1] "" XXX - SG_ ODDMC_DataID3Vld : 1|1@0+ (1,0) [0|1] "" XXX - SG_ ODDMC_DataID4Vld : 2|1@0+ (1,0) [0|1] "" XXX - SG_ ODDMC_DataID5Vld : 3|1@0+ (1,0) [0|1] "" XXX - SG_ ODDMC_ReqType : 5|2@0+ (1,0) [0|3] "" XXX - SG_ ODDMC_FUCID : 15|8@0+ (1,0) [0|255] "" XXX - SG_ ODDMC_DispMID : 23|8@0+ (1,0) [0|255] "" XXX - SG_ ODDMC_DataID1 : 31|8@0+ (1,0) [0|255] "" XXX - SG_ ODDMC_DataID2 : 39|8@0+ (1,0) [0|255] "" XXX - SG_ ODDMC_DataID3 : 47|8@0+ (1,0) [0|255] "" XXX - SG_ ODDMC_DataID4 : 55|8@0+ (1,0) [0|255] "" XXX - SG_ ODDMC_DataID5 : 63|8@0+ (1,0) [0|255] "" XXX - -BO_ 2158919680 ODIDynDataMultiRequest_IPC_LS: 8 XXX - SG_ ODIDynDataMltRq_IPC : 5|62@0+ (1,0) [0|0] "" XXX - SG_ ODDMI_DataID2Vld : 0|1@0+ (1,0) [0|1] "" XXX - SG_ ODDMI_DataID3Vld : 1|1@0+ (1,0) [0|1] "" XXX - SG_ ODDMI_DataID4Vld : 2|1@0+ (1,0) [0|1] "" XXX - SG_ ODDMI_DataID5Vld : 3|1@0+ (1,0) [0|1] "" XXX - SG_ ODDMI_ReqType : 5|2@0+ (1,0) [0|3] "" XXX - SG_ ODDMI_FUCID : 15|8@0+ (1,0) [0|255] "" XXX - SG_ ODDMI_DispMID : 23|8@0+ (1,0) [0|255] "" XXX - SG_ ODDMI_DataID1 : 31|8@0+ (1,0) [0|255] "" XXX - SG_ ODDMI_DataID2 : 39|8@0+ (1,0) [0|255] "" XXX - SG_ ODDMI_DataID3 : 47|8@0+ (1,0) [0|255] "" XXX - SG_ ODDMI_DataID4 : 55|8@0+ (1,0) [0|255] "" XXX - SG_ ODDMI_DataID5 : 63|8@0+ (1,0) [0|255] "" XXX - -BO_ 2151825408 Outside_Air_Temperature_LS: 3 XXX - SG_ OtsAirTmpCrValGroup : 0|9@0+ (1,0) [0|0] "" XXX - SG_ OtsAirTmpCrValV : 0|1@0+ (1,0) [0|1] "" XXX - SG_ OtsAirTmpCrVal : 15|8@0+ (0.5,-40) [-40|87.5] "deg C" XXX - SG_ OtsAirTmpGroup : 1|18@0+ (1,0) [0|0] "" XXX - SG_ OtsAirTmpV : 1|1@0+ (1,0) [0|1] "" XXX - SG_ OtsAirTmp : 23|8@0+ (0.5,-40) [-40|87.5] "deg C" XXX - SG_ OtsAirTmpCrValMsk : 2|1@0+ (1,0) [0|1] "" XXX - -BO_ 2151153664 Rear_Window_Defog_Status_LS: 1 XXX - SG_ RrWndDfgOn : 0|1@0+ (1,0) [0|1] "" XXX - -BO_ 2151170048 Trailer_Status_LS: 2 XXX - SG_ TrlrHtchSwAtv : 0|1@0+ (1,0) [0|1] "" XXX - SG_ TrlrBrkLtFld : 1|1@0+ (1,0) [0|1] "" XXX - SG_ TrlrFgLtFld : 2|1@0+ (1,0) [0|1] "" XXX - SG_ TrlrRvsLtFld : 3|1@0+ (1,0) [0|1] "" XXX - SG_ TrlrTlLtFld : 4|1@0+ (1,0) [0|1] "" XXX - SG_ TrlrFgLtPrs : 5|1@0+ (1,0) [0|1] "" XXX - SG_ TrlrRtTrInLtFld : 6|1@0+ (1,0) [0|1] "" XXX - SG_ TrlLfTrInLtFld : 7|1@0+ (1,0) [0|1] "" XXX - SG_ LftSecTrnIndFld : 8|1@0+ (1,0) [0|1] "" XXX - SG_ RtSecTrnIndFld : 9|1@0+ (1,0) [0|1] "" XXX - SG_ DisRrPrmryLmps : 10|1@0+ (1,0) [0|1] "" XXX - SG_ RLftPrkLmpFld : 11|1@0+ (1,0) [0|1] "" XXX - SG_ RRPrkLmpFld : 12|1@0+ (1,0) [0|1] "" XXX - SG_ RrEndCrrStat : 13|1@0+ (1,0) [0|1] "" XXX - -BO_ 2151841792 Wipe_Wash_Status_LS: 1 XXX - SG_ TurnWprIntIO : 0|1@0+ (1,0) [0|1] "" XXX - SG_ RnSnsActIO : 1|1@0+ (1,0) [0|1] "" XXX - SG_ RnSnsOffIO : 2|1@0+ (1,0) [0|1] "" XXX - SG_ WSWprAct : 3|1@0+ (1,0) [0|1] "" XXX - SG_ HtdFrntWSSt : 4|1@0+ (1,0) [0|1] "" XXX - -BO_ 2154995712 Air_Conditioning_Comp_Type_LS: 1 XXX - SG_ HVHtrOvrTmpIndOn : 3|1@0+ (1,0) [0|1] "" XXX - SG_ HVHtrFldIO : 4|1@0+ (1,0) [0|1] "" XXX - -BO_ 2154094592 Adjustable_Pedal_Motion_Inh_LS: 8 XXX - SG_ AdjPdlMotInhbtd : 0|1@0+ (1,0) [0|1] "" XXX - SG_ IntDimSeldAnmTypStVal : 4|4@0+ (1,0) [0|15] "" XXX - SG_ IntDimSeldClrTypStVal : 12|5@0+ (1,0) [0|31] "" XXX - SG_ IntDimAnmTypAvl : 22|15@0+ (1,0) [0|0] "" XXX - SG_ IDATA_AnmTyp6Avl : 16|1@0+ (1,0) [0|1] "" XXX - SG_ IDATA_AnmTyp5Avl : 17|1@0+ (1,0) [0|1] "" XXX - SG_ IDATA_AnmTyp4Avl : 18|1@0+ (1,0) [0|1] "" XXX - SG_ IDATA_AnmTyp3Avl : 19|1@0+ (1,0) [0|1] "" XXX - SG_ IDATA_AnmTyp2Avl : 20|1@0+ (1,0) [0|1] "" XXX - SG_ IDATA_AnmTyp1Avl : 21|1@0+ (1,0) [0|1] "" XXX - SG_ IDATA_OffAvl : 22|1@0+ (1,0) [0|1] "" XXX - SG_ IDATA_AnmTyp14Avl : 24|1@0+ (1,0) [0|1] "" XXX - SG_ IDATA_AnmTyp13Avl : 25|1@0+ (1,0) [0|1] "" XXX - SG_ IDATA_AnmTyp12Avl : 26|1@0+ (1,0) [0|1] "" XXX - SG_ IDATA_AnmTyp11Avl : 27|1@0+ (1,0) [0|1] "" XXX - SG_ IDATA_AnmTyp10Avl : 28|1@0+ (1,0) [0|1] "" XXX - SG_ IDATA_AnmTyp9Avl : 29|1@0+ (1,0) [0|1] "" XXX - SG_ IDATA_AnmTyp8Avl : 30|1@0+ (1,0) [0|1] "" XXX - SG_ IDATA_AnmTyp7Avl : 31|1@0+ (1,0) [0|1] "" XXX - SG_ IntDimClrTypAvl : 38|31@0+ (1,0) [0|0] "" XXX - SG_ IDCTA_ClrTyp6Avl : 32|1@0+ (1,0) [0|1] "" XXX - SG_ IDCTA_ClrTyp5Avl : 33|1@0+ (1,0) [0|1] "" XXX - SG_ IDCTA_ClrTyp4Avl : 34|1@0+ (1,0) [0|1] "" XXX - SG_ IDCTA_ClrTyp3Avl : 35|1@0+ (1,0) [0|1] "" XXX - SG_ IDCTA_ClrTyp2Avl : 36|1@0+ (1,0) [0|1] "" XXX - SG_ IDCTA_ClrTyp1Avl : 37|1@0+ (1,0) [0|1] "" XXX - SG_ IDCTA_OffAvl : 38|1@0+ (1,0) [0|1] "" XXX - SG_ IDCTA_ClrTyp14Avl : 40|1@0+ (1,0) [0|1] "" XXX - SG_ IDCTA_ClrTyp13Avl : 41|1@0+ (1,0) [0|1] "" XXX - SG_ IDCTA_ClrTyp12Avl : 42|1@0+ (1,0) [0|1] "" XXX - SG_ IDCTA_ClrTyp11Avl : 43|1@0+ (1,0) [0|1] "" XXX - SG_ IDCTA_ClrTyp10Avl : 44|1@0+ (1,0) [0|1] "" XXX - SG_ IDCTA_ClrTyp9Avl : 45|1@0+ (1,0) [0|1] "" XXX - SG_ IDCTA_ClrTyp8Avl : 46|1@0+ (1,0) [0|1] "" XXX - SG_ IDCTA_ClrTyp7Avl : 47|1@0+ (1,0) [0|1] "" XXX - SG_ IDCTA_ClrTyp22Avl : 48|1@0+ (1,0) [0|1] "" XXX - SG_ IDCTA_ClrTyp21Avl : 49|1@0+ (1,0) [0|1] "" XXX - SG_ IDCTA_ClrTyp20Avl : 50|1@0+ (1,0) [0|1] "" XXX - SG_ IDCTA_ClrTyp19Avl : 51|1@0+ (1,0) [0|1] "" XXX - SG_ IDCTA_ClrTyp18Avl : 52|1@0+ (1,0) [0|1] "" XXX - SG_ IDCTA_ClrTyp17Avl : 53|1@0+ (1,0) [0|1] "" XXX - SG_ IDCTA_ClrTyp16Avl : 54|1@0+ (1,0) [0|1] "" XXX - SG_ IDCTA_ClrTyp15Avl : 55|1@0+ (1,0) [0|1] "" XXX - SG_ IDCTA_ClrTyp30Avl : 56|1@0+ (1,0) [0|1] "" XXX - SG_ IDCTA_ClrTyp29Avl : 57|1@0+ (1,0) [0|1] "" XXX - SG_ IDCTA_ClrTyp28Avl : 58|1@0+ (1,0) [0|1] "" XXX - SG_ IDCTA_ClrTyp27Avl : 59|1@0+ (1,0) [0|1] "" XXX - SG_ IDCTA_ClrTyp26Avl : 60|1@0+ (1,0) [0|1] "" XXX - SG_ IDCTA_ClrTyp25Avl : 61|1@0+ (1,0) [0|1] "" XXX - SG_ IDCTA_ClrTyp24Avl : 62|1@0+ (1,0) [0|1] "" XXX - SG_ IDCTA_ClrTyp23Avl : 63|1@0+ (1,0) [0|1] "" XXX - -BO_ 2149711872 ACC_YawRate_Information_LS: 8 XXX - SG_ ACCDrvrSeltdSpd : 3|12@0+ (0.0625,0) [0|255.9375] "km / h" XXX - SG_ AdapCrsCntVDA : 4|1@0+ (1,0) [0|1] "" XXX - SG_ ACCAct370 : 6|1@0+ (1,0) [0|1] "" XXX - SG_ CrsCntlDrSelSpdAct : 7|1@0+ (1,0) [0|1] "" XXX - SG_ CrsSpdLmtrDrvSelSpd : 19|12@0+ (0.0625,0) [0|255.9375] "km / h" XXX - SG_ ACCHdwyStg : 22|3@0+ (1,0) [0|7] "" XXX - SG_ FwdClnAlrtPr : 23|1@0+ (1,0) [0|1] "" XXX - SG_ VehDynYawRateGroup : 36|13@0+ (1,0) [0|0] "" XXX - SG_ VehDynYawRate : 35|12@0- (0.0625,0) [-128|127.9375] "deg/sec" XXX - SG_ VehDynYawRateV : 36|1@0+ (1,0) [0|1] "" XXX - SG_ SpdLmtrSpdWrngEnbld : 37|1@0+ (1,0) [0|1] "" XXX - SG_ SpdLmtrSpdWrngAct : 38|1@0+ (1,0) [0|1] "" XXX - SG_ FwdClnAlrtOffIO : 39|1@0+ (1,0) [0|1] "" XXX - SG_ FwdObjAlrtInd : 48|9@0+ (1,0) [0|0] "" XXX - SG_ FOAI_AlrtChmIhbRq : 48|1@0+ (1,0) [0|1] "" XXX - SG_ FOAI_AlrtWrnIndRq : 59|4@0+ (1,0) [0|15] "" XXX - SG_ FOAI_VehAhdIndRq : 63|4@0+ (1,0) [0|15] "" XXX - SG_ AutoMdSpdLmtStat : 50|2@0+ (1,0) [0|3] "" XXX - SG_ ACCAutoSetSpdStat : 52|2@0+ (1,0) [0|3] "" XXX - SG_ SetSpdLmtRchd : 54|2@0+ (1,0) [0|3] "" XXX - -BO_ 2153979904 BulbOutage_LS: 2 XXX - SG_ CHMSLFld : 0|1@0+ (1,0) [0|1] "" XXX - SG_ FLTrnIndLtFld : 1|1@0+ (1,0) [0|1] "" XXX - SG_ FRTrnIndLtFld : 2|1@0+ (1,0) [0|1] "" XXX - SG_ LftBrkLtFld : 3|1@0+ (1,0) [0|1] "" XXX - SG_ LftLwBmFld : 4|1@0+ (1,0) [0|1] "" XXX - SG_ LftPrkLtFld : 5|1@0+ (1,0) [0|1] "" XXX - SG_ LicPltLtFld : 6|1@0+ (1,0) [0|1] "" XXX - SG_ RLTrnIndLtFld : 7|1@0+ (1,0) [0|1] "" XXX - SG_ RRTrnIndLtFld : 8|1@0+ (1,0) [0|1] "" XXX - SG_ RtBrkLtFld : 9|1@0+ (1,0) [0|1] "" XXX - SG_ RtLwBmFld : 10|1@0+ (1,0) [0|1] "" XXX - SG_ RtPrkLtFld : 11|1@0+ (1,0) [0|1] "" XXX - SG_ RFgLtFld : 12|1@0+ (1,0) [0|1] "" XXX - SG_ RvsLtFld : 13|1@0+ (1,0) [0|1] "" XXX - SG_ LftDytmRunLmpFld : 14|1@0+ (1,0) [0|1] "" XXX - SG_ RtDytmRunLmpFld : 15|1@0+ (1,0) [0|1] "" XXX - -BO_ 2150154240 Passive_Entry_Reply_LS: 8 XXX - SG_ PsvEntVehIdExt : 7|32@0+ (1,0) [0|4294967295] "" XXX - SG_ PsvEntChlngRply : 39|32@0+ (1,0) [0|4294967295] "passwrd" XXX - -BO_ 2155003904 Side_Blind_Zone_Alert_Status: 2 XXX - SG_ SBZASysClnIndOn : 0|1@0+ (1,0) [0|1] "" XXX - SG_ SBZASysOffIndOn : 1|1@0+ (1,0) [0|1] "" XXX - SG_ SBZASysSrvIndOn : 2|1@0+ (1,0) [0|1] "" XXX - SG_ SBZATmpUnvIndOn : 3|1@0+ (1,0) [0|1] "" XXX - SG_ LftLnChgThrt : 4|1@0+ (1,0) [0|1] "" XXX - SG_ LfLnChngThrtAprchSpd : 15|8@0- (1,0) [-128|127] "km/h" XXX - -BO_ 2150817792 Airbag_Impact_Data_5: 3 XXX - SG_ ImpMaxLateralDeltaVel : 7|8@0- (1,0) [-128|127] "" XXX - SG_ ImpMaxLongDeltaVel : 15|8@0- (1,0) [-128|127] "" XXX - SG_ ImpTimeToMaxDeltaVel : 23|8@0+ (10,0) [0|2550] "ms" XXX - -BO_ 2150227968 Phone_Speech_Rec_Status_LS: 1 XXX - SG_ PhnSpRcgnApSt : 1|2@0+ (1,0) [0|3] "" XXX - -BO_ 2162982912 VIN_Digits_10_to_17: 8 XXX - SG_ VehIdNmDig10_17 : 7|64@0+ (1,0) [0|1] "" XXX - -BO_ 2162966528 VIN_Digits_2_to_9: 8 XXX - SG_ VehIdNmDig2_9 : 7|64@0+ (1,0) [0|1] "" XXX - -BO_ 2151497728 Tire_Pressure_Sensors_LS: 6 XXX - SG_ TireLFPrsGroup : 0|17@0+ (1,0) [0|0] "" XXX - SG_ TireLFPrsV : 0|1@0+ (1,0) [0|1] "" XXX - SG_ TireLFPrs : 23|8@0+ (4,0) [0|1020] "kPaG" XXX - SG_ TireRFPrsGroup : 1|34@0+ (1,0) [0|0] "" XXX - SG_ TireRFPrsV : 1|1@0+ (1,0) [0|1] "" XXX - SG_ TireRFPrs : 39|8@0+ (4,0) [0|1020] "kPaG" XXX - SG_ TireLFPrsStat : 4|3@0+ (1,0) [0|7] "" XXX - SG_ TireRFPrsStat : 7|3@0+ (1,0) [0|7] "" XXX - SG_ TireLRPrsGroup : 8|17@0+ (1,0) [0|0] "" XXX - SG_ TireLRPrsV : 8|1@0+ (1,0) [0|1] "" XXX - SG_ TireLRPrs : 31|8@0+ (4,0) [0|1020] "kPaG" XXX - SG_ TireRRPrsGroup : 9|34@0+ (1,0) [0|0] "" XXX - SG_ TireRRPrsV : 9|1@0+ (1,0) [0|1] "" XXX - SG_ TireRRPrs : 47|8@0+ (4,0) [0|1020] "kPaG" XXX - SG_ TireLRPrsStat : 12|3@0+ (1,0) [0|7] "" XXX - SG_ TireRRPrsStat : 15|3@0+ (1,0) [0|7] "" XXX - -BO_ 2151219200 Remote_Start_Status: 1 XXX - SG_ RemStrtSt : 0|1@0+ (1,0) [0|1] "" XXX - SG_ RmVehStrRq : 1|1@0+ (1,0) [0|1] "" XXX - -BO_ 2153775104 DTC_Triggered: 7 XXX - SG_ DTCInfo : 7|56@0+ (1,0) [0|0] "" XXX - SG_ DTCI_DTCTriggered : 0|1@0+ (1,0) [0|1] "" XXX - SG_ DTCIUnused1 : 1|1@0+ (1,0) [0|1] "" XXX - SG_ DTCIUnused2 : 2|1@0+ (1,0) [0|1] "" XXX - SG_ DTCIUnused3 : 3|1@0+ (1,0) [0|1] "" XXX - SG_ DTCIUnused4 : 4|1@0+ (1,0) [0|1] "" XXX - SG_ DTCIUnused5 : 5|1@0+ (1,0) [0|1] "" XXX - SG_ DTCIUnused6 : 6|1@0+ (1,0) [0|1] "" XXX - SG_ DTCIUnused7 : 7|1@0+ (1,0) [0|1] "" XXX - SG_ DTCI_DTCSource : 15|8@0+ (1,0) [0|255] "" XXX - SG_ DTCI_DTCNumber : 23|16@0+ (1,0) [0|65535] "" XXX - SG_ DTCI_DTCFailType : 39|8@0+ (1,0) [0|255] "" XXX - SG_ DTCI_CodeSupported : 40|1@0+ (1,0) [0|1] "" XXX - SG_ DTCI_CurrentStatus : 41|1@0+ (1,0) [0|1] "" XXX - SG_ DTCI_TstNPsdCdClrdSt : 42|1@0+ (1,0) [0|1] "" XXX - SG_ DTCI_TstFldCdClrdStat : 43|1@0+ (1,0) [0|1] "" XXX - SG_ DTCI_HistStat : 44|1@0+ (1,0) [0|1] "" XXX - SG_ DTCI_TstNPsdPwrUpSt : 45|1@0+ (1,0) [0|1] "" XXX - SG_ DTCI_TstFldPwrUpSt : 46|1@0+ (1,0) [0|1] "" XXX - SG_ DTCI_WrnIndRqdSt : 47|1@0+ (1,0) [0|1] "" XXX - SG_ DTCI_DTCFaultType : 55|8@0+ (1,0) [0|255] "" XXX - -BO_ 2151235584 Vehicle_Theft_Notification_Stat: 5 XXX - SG_ DrIdDevLrnd : 0|1@0+ (1,0) [0|1] "" XXX - SG_ VehSecSysFldIO : 1|1@0+ (1,0) [0|1] "" XXX - SG_ VTDTmprDetected : 2|1@0+ (1,0) [0|1] "" XXX - SG_ EhnSrvEngImmStat : 3|1@0+ (1,0) [0|1] "" XXX - SG_ IllDrIdDevDtctd : 4|1@0+ (1,0) [0|1] "" XXX - SG_ AlcKyIIncmIndOn : 5|1@0+ (1,0) [0|1] "" XXX - SG_ VehSecStrgColLckPwdGroup : 6|31@0+ (1,0) [0|0] "" XXX - SG_ VehSecStrgColLckPwdV : 6|1@0+ (1,0) [0|1] "" XXX - SG_ VehSecStrgColLckPwd : 23|16@0+ (1,0) [0|65535] "" XXX - SG_ VehSecAuthnSesComp : 7|1@0+ (1,0) [0|1] "" XXX - SG_ VhSecNImmoIndRq : 9|2@0+ (1,0) [0|3] "" XXX - SG_ StrgColLckCmd : 11|2@0+ (1,0) [0|3] "" XXX - SG_ NmofPrgKFbExtd : 15|4@0+ (1,0) [0|15] "" XXX - SG_ VehStatStAtv : 32|1@0+ (1,0) [0|1] "" XXX - SG_ EhnSrvImmbComRst : 33|1@0+ (1,0) [0|1] "" XXX - SG_ ClmSysBkupFlrIndOn : 34|1@0+ (1,0) [0|1] "" XXX - -BO_ 2150809600 Airbag_Impact_Data_4: 8 XXX - SG_ ImpDltVlcSamp12 : 7|16@0+ (1,0) [0|0] "" XXX - SG_ IDVS12_Axis1 : 7|8@0- (1,0) [-128|127] "counts" XXX - SG_ IDVS12_Axis2 : 15|8@0- (1,0) [-128|127] "counts" XXX - SG_ ImpDltVlcSamp13 : 23|16@0+ (1,0) [0|0] "" XXX - SG_ IDVS13_Axis1 : 23|8@0- (1,0) [-128|127] "counts" XXX - SG_ IDVS13_Axis2 : 31|8@0- (1,0) [-128|127] "counts" XXX - SG_ ImpDltVlcSamp14 : 39|16@0+ (1,0) [0|0] "" XXX - SG_ IDVS14_Axis1 : 39|8@0- (1,0) [-128|127] "counts" XXX - SG_ IDVS14_Axis2 : 47|8@0- (1,0) [-128|127] "counts" XXX - SG_ ImpDltVlcSamp15 : 55|16@0+ (1,0) [0|0] "" XXX - SG_ IDVS15_Axis1 : 55|8@0- (1,0) [-128|127] "counts" XXX - SG_ IDVS15_Axis2 : 63|8@0- (1,0) [-128|127] "counts" XXX - -BO_ 2150793216 Airbag_Impact_Data_2: 8 XXX - SG_ ImpDltVlcSamp4 : 7|16@0+ (1,0) [0|0] "" XXX - SG_ IDVS4_Axis1 : 7|8@0- (1,0) [-128|127] "counts" XXX - SG_ IDVS4_Axis2 : 15|8@0- (1,0) [-128|127] "counts" XXX - SG_ ImpDltVlcSamp5 : 23|16@0+ (1,0) [0|0] "" XXX - SG_ IDVS5_Axis1 : 23|8@0- (1,0) [-128|127] "counts" XXX - SG_ IDVS5_Axis2 : 31|8@0- (1,0) [-128|127] "counts" XXX - SG_ ImpDltVlcSamp6 : 39|16@0+ (1,0) [0|0] "" XXX - SG_ IDVS6_Axis1 : 39|8@0- (1,0) [-128|127] "counts" XXX - SG_ IDVS6_Axis2 : 47|8@0- (1,0) [-128|127] "counts" XXX - SG_ ImpDltVlcSamp7 : 55|16@0+ (1,0) [0|0] "" XXX - SG_ IDVS7_Axis1 : 55|8@0- (1,0) [-128|127] "counts" XXX - SG_ IDVS7_Axis2 : 63|8@0- (1,0) [-128|127] "counts" XXX - -BO_ 2150801408 Airbag_Impact_Data_3: 8 XXX - SG_ ImpDltVlcSamp8 : 7|16@0+ (1,0) [0|0] "" XXX - SG_ IDVS8_Axis1 : 7|8@0- (1,0) [-128|127] "counts" XXX - SG_ IDVS8_Axis2 : 15|8@0- (1,0) [-128|127] "counts" XXX - SG_ ImpDltVlcSamp9 : 23|16@0+ (1,0) [0|0] "" XXX - SG_ IDVS9_Axis1 : 23|8@0- (1,0) [-128|127] "counts" XXX - SG_ IDVS9_Axis2 : 31|8@0- (1,0) [-128|127] "counts" XXX - SG_ ImpDltVlcSamp10 : 39|16@0+ (1,0) [0|0] "" XXX - SG_ IDVS10_Axis1 : 39|8@0- (1,0) [-128|127] "counts" XXX - SG_ IDVS10_Axis2 : 47|8@0- (1,0) [-128|127] "counts" XXX - SG_ ImpDltVlcSamp11 : 55|16@0+ (1,0) [0|0] "" XXX - SG_ IDVS11_Axis1 : 55|8@0- (1,0) [-128|127] "counts" XXX - SG_ IDVS11_Axis2 : 63|8@0- (1,0) [-128|127] "counts" XXX - -BO_ 2150785024 Airbag_Impact_Data_1: 8 XXX - SG_ ImpDltVlcScal : 7|8@0+ (0.00245,0.706) [0.706|1.33075] "kph/cnt" XXX - SG_ AirbgAccelOrien : 10|3@0+ (45,0) [0|315] "deg" XXX - SG_ ImpDltVlcSamp1 : 23|16@0+ (1,0) [0|0] "" XXX - SG_ IDVS1_Axis1 : 23|8@0- (1,0) [-128|127] "counts" XXX - SG_ IDVS1_Axis2 : 31|8@0- (1,0) [-128|127] "counts" XXX - SG_ ImpDltVlcSamp2 : 39|16@0+ (1,0) [0|0] "" XXX - SG_ IDVS2_Axis1 : 39|8@0- (1,0) [-128|127] "counts" XXX - SG_ IDVS2_Axis2 : 47|8@0- (1,0) [-128|127] "counts" XXX - SG_ ImpDltVlcSamp3 : 55|16@0+ (1,0) [0|0] "" XXX - SG_ IDVS3_Axis1 : 55|8@0- (1,0) [-128|127] "counts" XXX - SG_ IDVS3_Axis2 : 63|8@0- (1,0) [-128|127] "counts" XXX - -BO_ 2151202816 Rear_Window_Defog_Inhibit: 5 XXX - SG_ RrWndDfgInhRq : 0|1@0+ (1,0) [0|1] "" XXX - SG_ RrWndDfgSwAtv : 1|1@0+ (1,0) [0|1] "" XXX - SG_ ILSSCommErr : 2|1@0+ (1,0) [0|1] "" XXX - SG_ IPSnsrRwSolrIntFltd : 3|1@0+ (1,0) [0|1] "" XXX - SG_ IPSnsrSolrAnglFltd : 4|1@0+ (1,0) [0|1] "" XXX - SG_ IPSnsrTpCvrTempFltd : 5|1@0+ (1,0) [0|1] "" XXX - SG_ AuxHtrAlwd : 6|1@0+ (1,0) [0|1] "" XXX - SG_ IPSnsrRwSolrInt : 15|8@0+ (3,0) [0|765] "W/m2" XXX - SG_ IPSnsrSolrAzmthAngl : 23|8@0+ (2,-180) [-180|330] "deg" XXX - SG_ IPSnsrSolrElvtnAngl : 31|8@0+ (1,0) [0|255] "deg" XXX - SG_ IPSnsrTpCvrTemp : 39|8@0+ (0.5,-40) [-40|87.5] "deg C" XXX - -BO_ 2150825984 Airbag_Indications: 6 XXX - SG_ FsnDrvStbltIC : 7|8@0+ (1,0) [0|0] "" XXX - SG_ FDSIC_IndPer : 3|4@0+ (1,0) [0|15] "" XXX - SG_ FDSIC_IndDC : 6|3@0+ (12.5,12.5) [12.5|100] "%" XXX - SG_ FDSIC_IO : 7|1@0+ (1,0) [0|1] "" XXX - SG_ FsnPsngStbltIC : 15|8@0+ (1,0) [0|0] "" XXX - SG_ FPSIC_IndPer : 11|4@0+ (1,0) [0|15] "" XXX - SG_ FPSIC_IndDtCyc : 14|3@0+ (12.5,12.5) [12.5|100] "%" XXX - SG_ FPSIC_IO : 15|1@0+ (1,0) [0|1] "" XXX - SG_ AirbgIC : 23|8@0+ (1,0) [0|0] "" XXX - SG_ AirbgICIndPer : 19|4@0+ (1,0) [0|15] "" XXX - SG_ AirbgICDutCyc : 22|3@0+ (12.5,12.5) [12.5|100] "%" XXX - SG_ AirbgICIO : 23|1@0+ (1,0) [0|1] "" XXX - SG_ FstnSndRwLtPsStbtInR : 25|2@0+ (1,0) [0|3] "" XXX - SG_ FstnSndRwCtPsStbtInR : 27|2@0+ (1,0) [0|3] "" XXX - SG_ FstnSndRwRtPsStbtInR : 29|2@0+ (1,0) [0|3] "" XXX - SG_ FsnDrStbAuxIR : 31|2@0+ (1,0) [0|3] "" XXX - SG_ FsnPsStbAuxIR : 34|3@0+ (1,0) [0|7] "" XXX - SG_ AirbgFldIO : 35|1@0+ (1,0) [0|1] "" XXX - SG_ SndRwStbltRdIndMd : 37|2@0+ (1,0) [0|3] "" XXX - SG_ FstnThrdRwCtPsStbtInR : 39|2@0+ (1,0) [0|3] "" XXX - SG_ FstnThrdRwRtPsStbtInR : 41|2@0+ (1,0) [0|3] "" XXX - SG_ FstnThrdRwLtPsStbtInR : 43|2@0+ (1,0) [0|3] "" XXX - SG_ SrvIntdPdstProtSysIO : 44|1@0+ (1,0) [0|1] "" XXX - SG_ PdstIntdProtSysDsbld : 45|1@0+ (1,0) [0|1] "" XXX - SG_ PdstIntdProtSysDplyd : 46|1@0+ (1,0) [0|1] "" XXX - -BO_ 2151759872 Door_Lock_Command: 4 XXX - SG_ CntrlLckRqwExtActFun : 9|18@0+ (1,0) [0|0] "" XXX - SG_ CLRAF_Unl_Lk : 9|3@0+ (1,0) [0|7] "" XXX - SG_ CLRAF_FuelD : 16|1@0+ (1,0) [0|1] "" XXX - SG_ CLRAF_RrCls : 17|1@0+ (1,0) [0|1] "" XXX - SG_ CLRAF_Hd : 18|1@0+ (1,0) [0|1] "" XXX - SG_ CLRAF_RLD : 19|1@0+ (1,0) [0|1] "" XXX - SG_ CLRAF_RRD : 20|1@0+ (1,0) [0|1] "" XXX - SG_ CLRAF_PD : 21|1@0+ (1,0) [0|1] "" XXX - SG_ CLRAF_DD : 22|1@0+ (1,0) [0|1] "" XXX - SG_ CLRAF_ActFunc : 28|5@0+ (1,0) [0|31] "" XXX - SG_ CLRAF_UnandRsv3 : 29|1@0+ (1,0) [0|1] "" XXX - SG_ CLRAF_UnandRsv2 : 30|1@0+ (1,0) [0|1] "" XXX - SG_ CLRAF_UnandRsv1 : 31|1@0+ (1,0) [0|1] "" XXX - SG_ RrClsRelRq : 10|1@0+ (1,0) [0|1] "" XXX - -BO_ 2149974016 Content_Theft_Sensor_Status: 3 XXX - SG_ SrvAlrmSysIO : 0|1@0+ (1,0) [0|1] "" XXX - SG_ IntrSnsDisbld : 1|1@0+ (1,0) [0|1] "" XXX - SG_ AlrmTrgDrvDr : 3|1@0+ (1,0) [0|1] "" XXX - SG_ AlrmTrgPsngDr : 4|1@0+ (1,0) [0|1] "" XXX - SG_ AlrmTrgRrRtDr : 5|1@0+ (1,0) [0|1] "" XXX - SG_ AlrmTrgRrLftDr : 6|1@0+ (1,0) [0|1] "" XXX - SG_ AlrmTrigTonn : 7|1@0+ (1,0) [0|1] "" XXX - SG_ AlrmTrgTrnk : 8|1@0+ (1,0) [0|1] "" XXX - SG_ AlrmTrgTltSns : 9|1@0+ (1,0) [0|1] "" XXX - SG_ AlrmTrgIntMvmntSns : 10|1@0+ (1,0) [0|1] "" XXX - SG_ AlrmTrggrdBattRcnctd : 11|1@0+ (1,0) [0|1] "" XXX - SG_ AlrmTrgGlsBrkSns : 12|1@0+ (1,0) [0|1] "" XXX - SG_ AlrmTrgNonOffPM : 13|1@0+ (1,0) [0|1] "" XXX - SG_ AlrmTrigMidClsr : 14|1@0+ (1,0) [0|1] "" XXX - SG_ AlrmTrgdIO : 15|1@0+ (1,0) [0|1] "" XXX - SG_ AlrmStat : 18|3@0+ (1,0) [0|7] "" XXX - SG_ AlrmTrgHd : 21|1@0+ (1,0) [0|1] "" XXX - -BO_ 2151907328 Steering_Wheel_Control_Switches: 1 XXX - SG_ StrgWhlUnit1SwStat : 3|4@0+ (1,0) [0|15] "" XXX - SG_ StrgWhlUnit2SwStat : 7|4@0+ (1,0) [0|15] "" XXX - -BO_ 2150219776 Voice_Recognition_Status: 1 XXX - SG_ PhnSpRcgnRq : 1|2@0+ (1,0) [0|3] "" XXX - SG_ VcRecVcFdbckSt : 3|2@0+ (1,0) [0|3] "" XXX - -BO_ 2152685568 Radiomarks_Response: 8 XXX - SG_ RadBrdcstSrc : 3|4@0+ (1,0) [0|15] "" XXX - SG_ RadConInfReqSrc : 7|4@0+ (1,0) [0|15] "" XXX - SG_ RadConInfCmd : 11|4@0+ (1,0) [0|15] "" XXX - SG_ RadConInfID : 31|40@0+ (1,0) [0|1099511627775] "" XXX - -BO_ 2151874560 Vehicle_Theft_Notify_Reset_Req: 8 XXX - SG_ EhnSrvEngImmbCom : 0|57@0+ (1,0) [0|0] "" XXX - SG_ ESEIC_EngImmbRq : 0|1@0+ (1,0) [0|1] "" XXX - SG_ ESEIC_EngImRqPsw : 15|56@0+ (1,0) [0|1] "" XXX - SG_ RstVTDTmprDtctd : 1|1@0+ (1,0) [0|1] "" XXX - SG_ RstIllDrIdDevDtctd : 2|1@0+ (1,0) [0|1] "" XXX - SG_ RstDrIdDevLrnd : 3|1@0+ (1,0) [0|1] "" XXX - -BO_ 2150268928 GPS_Date_and_Time_LS: 6 XXX - SG_ CldrYr_154 : 7|8@0+ (1,2000) [2000|2255] "year" XXX - SG_ CldrMth_154 : 11|4@0+ (1,0) [0|15] "" XXX - SG_ CldrDay_154 : 20|5@0+ (1,0) [0|31] "days" XXX - SG_ HrsGroup : 29|6@0+ (1,0) [0|0] "" XXX - SG_ Hrs : 28|5@0+ (1,0) [0|31] "h" XXX - SG_ HrsV : 29|1@0+ (1,0) [0|1] "" XXX - SG_ MinsGroup : 38|7@0+ (1,0) [0|0] "" XXX - SG_ Mins : 37|6@0+ (1,0) [0|63] "min" XXX - SG_ MinsV : 38|1@0+ (1,0) [0|1] "" XXX - SG_ SecGroup : 46|7@0+ (1,0) [0|0] "" XXX - SG_ Sec : 45|6@0+ (1,0) [0|63] "s" XXX - SG_ SecV : 46|1@0+ (1,0) [0|1] "" XXX - -BO_ 2150137856 RFA_Status_LS: 3 XXX - SG_ FobPrevLrndIndOn : 0|1@0+ (1,0) [0|1] "" XXX - SG_ Ky_IdDevNotPrIO : 1|1@0+ (1,0) [0|1] "" XXX - SG_ FbProgCustActRqd : 2|1@0+ (1,0) [0|1] "" XXX - SG_ KeyInWrnIO : 3|1@0+ (1,0) [0|1] "" XXX - SG_ VehSecAtoLrnAtv : 4|1@0+ (1,0) [0|1] "" XXX - SG_ Ky_IdDevPrgmAuthReq : 5|1@0+ (1,0) [0|1] "" XXX - SG_ LMTTCPrsnOffStat : 6|1@0+ (1,0) [0|1] "" XXX - SG_ VehSecAtoLrnDlyTmr : 12|5@0+ (1,0) [0|31] "min" XXX - SG_ FldTpMotReq : 15|3@0+ (1,0) [0|7] "" XXX - SG_ RemCtrlFobNumForProgER : 19|4@0+ (1,0) [0|15] "" XXX - -BO_ 2151677952 Chime_Command: 5 XXX - SG_ SndChrs : 3|28@0+ (1,0) [0|0] "" XXX - SG_ SC_SndTne : 3|4@0+ (1,0) [0|15] "" XXX - SG_ SC_SndCdnPrd : 15|8@0+ (10,0) [0|2550] "ms" XXX - SG_ SC_NmofRp : 23|8@0+ (1,0) [0|255] "reps" XXX - SG_ SC_SndDutCyc : 31|8@0+ (0.392157,0) [0|100.000035] "%" XXX - SG_ SndLoc : 7|4@0+ (1,0) [0|0] "" XXX - SG_ SndLocRtRr : 4|1@0+ (1,0) [0|1] "" XXX - SG_ SndLocLftRr : 5|1@0+ (1,0) [0|1] "" XXX - SG_ SndLocPasFr : 6|1@0+ (1,0) [0|1] "" XXX - SG_ SndLocDrFr : 7|1@0+ (1,0) [0|1] "" XXX - SG_ SndPriority : 39|8@0+ (1,0) [0|255] "" XXX - -BO_ 2150776832 Airbag_Status: 6 XXX - SG_ ShfUlkBrToShftIndCtrl : 0|1@0+ (1,0) [0|1] "" XXX - SG_ ShftLkdBuStbltIndCtrl : 1|1@0+ (1,0) [0|1] "" XXX - SG_ SbItlkTrnsShftLvLkRd : 2|1@0+ (1,0) [0|1] "" XXX - SG_ MmryRclImpctDisRq : 3|1@0+ (1,0) [0|1] "" XXX - SG_ EvntEnbld : 4|1@0+ (1,0) [0|1] "" XXX - SG_ SftyMuteRd : 5|1@0+ (1,0) [0|1] "" XXX - SG_ HybVehHiVltInvDisRqd : 6|1@0+ (1,0) [0|1] "" XXX - SG_ HybImpSnsDsbld : 7|1@0+ (1,0) [0|1] "" XXX - SG_ SIREvntSychCntr : 23|16@0+ (1,0) [0|65535] "" XXX - SG_ FrPsngrStOccSnsngPriDat : 39|16@0+ (1,0) [0|39321] "" XXX - -BO_ 2150760448 Airbag_Impact_Data: 8 XXX - SG_ SIRDpl : 1|1@0+ (1,0) [0|1] "" XXX - SG_ NotPsSeatStat : 5|2@0+ (1,0) [0|3] "" XXX - SG_ NotDrvSeatStat : 7|2@0+ (1,0) [0|3] "" XXX - SG_ NotSecRowRtSeaOccStat : 9|2@0+ (1,0) [0|3] "" XXX - SG_ NotSndRwMdlSeatStat : 11|2@0+ (1,0) [0|3] "" XXX - SG_ NotSndRwRtSeatStat : 13|2@0+ (1,0) [0|3] "" XXX - SG_ NotSndRwLtSeatStat : 15|2@0+ (1,0) [0|3] "" XXX - SG_ NotEventStat : 17|2@0+ (1,0) [0|3] "" XXX - SG_ NotSecRowLeSeaOccStat : 25|2@0+ (1,0) [0|3] "" XXX - SG_ NotSecRowCtSeaOccStat : 27|2@0+ (1,0) [0|3] "" XXX - SG_ NotiFrntPasSeatOccSta : 34|3@0+ (1,0) [0|7] "" XXX - SG_ NoEvDeLoSt : 46|7@0+ (1,0) [0|0] "" XXX - SG_ NEDLSSdCrtnArbgDpld : 40|1@0+ (1,0) [0|1] "" XXX - SG_ NEDLSRtSdArbgDld : 41|1@0+ (1,0) [0|1] "" XXX - SG_ NEDLSLtSdArbgDld : 42|1@0+ (1,0) [0|1] "" XXX - SG_ NEDLSPaFrSt2De : 43|1@0+ (1,0) [0|1] "" XXX - SG_ NEDLSPaFrSt1De : 44|1@0+ (1,0) [0|1] "" XXX - SG_ NEDLSDrFrSt2De : 45|1@0+ (1,0) [0|1] "" XXX - SG_ NEDLSDrFrSt1De : 46|1@0+ (1,0) [0|1] "" XXX - SG_ NoEvSevSt : 54|7@0+ (1,0) [0|0] "" XXX - SG_ NESSRoSevSt : 48|1@0+ (1,0) [0|1] "" XXX - SG_ NESSRiSiSevSt : 49|1@0+ (1,0) [0|1] "" XXX - SG_ NESSReImpSevSt : 50|1@0+ (1,0) [0|1] "" XXX - SG_ NESSLeSiSevSt : 51|1@0+ (1,0) [0|1] "" XXX - SG_ NESSFrImpSt2SevSt : 52|1@0+ (1,0) [0|1] "" XXX - SG_ NESSFrImpSt1SevSt : 53|1@0+ (1,0) [0|1] "" XXX - SG_ NESSFrImpPreSevSt : 54|1@0+ (1,0) [0|1] "" XXX - SG_ NotiEventCount : 63|8@0+ (1,0) [0|255] "" XXX - -BO_ 2155872256 Fuel_Information: 6 XXX - SG_ FlLvlPctGroup : 0|9@0+ (1,0) [0|0] "" XXX - SG_ FlLvlPctV : 0|1@0+ (1,0) [0|1] "" XXX - SG_ FlLvlPct : 15|8@0+ (0.392157,0) [0|100.000035] "%" XXX - SG_ FlInjRlCtRstOcc : 1|1@0+ (1,0) [0|1] "" XXX - SG_ FuelFltChgNwIO : 2|1@0+ (1,0) [0|1] "" XXX - SG_ DrvStyPerfMdCsCrStVal : 5|3@0+ (1,0) [0|7] "" XXX - SG_ DrvStyPerfMdCsStAvl : 6|1@0+ (1,0) [0|1] "" XXX - SG_ RdWhlAngGroup : 23|8@0+ (1,0) [0|0] "" XXX - SG_ RdWhlAng : 22|7@0+ (0.703125,-45) [-45|44.296875] "deg" XXX - SG_ RdWhlAngV : 23|1@0+ (1,0) [0|1] "" XXX - SG_ VehPitchAngleGroup : 31|8@0+ (1,0) [0|0] "" XXX - SG_ VehPitchAngle : 30|7@0+ (0.703125,-45) [-45|44.296875] "deg" XXX - SG_ VehPitchAngleV : 31|1@0+ (1,0) [0|1] "" XXX - SG_ FlInjRlCt : 39|16@0+ (3.05176E-005,0) [0|1.999970916] "liters" XXX - -BO_ 2156175360 Display_Measurement_System_LS: 1 XXX - SG_ DispMeasSysExt : 1|2@0+ (1,0) [0|3] "" XXX - SG_ DispMeasSys : 2|1@0+ (1,0) [0|1] "" XXX - SG_ NtVsnSysEnbld : 3|1@0+ (1,0) [0|1] "" XXX - -BO_ 2149859328 System_Power_Mode_Backup_LS: 1 XXX - SG_ SysBkupPwrMdEn : 2|1@0+ (1,0) [0|1] "" XXX - SG_ SysBkUpPwrMdGroup : 3|4@0+ (1,0) [0|0] "" XXX - SG_ SysBkUpPwrMd : 1|2@0+ (1,0) [0|3] "" XXX - SG_ SysBkUpPwrMdV : 3|1@0+ (1,0) [0|1] "" XXX - -BO_ 2158854144 ODIAction_IPC_LS: 8 XXX - SG_ ODIActn_IPC : 5|62@0+ (1,0) [0|0] "" XXX - SG_ ODIAI_DaTy : 5|6@0+ (1,0) [0|63] "" XXX - SG_ ODIAI_FUCID : 15|8@0+ (1,0) [0|255] "" XXX - SG_ ODIAI_ActnID : 23|8@0+ (1,0) [0|255] "" XXX - SG_ ODIAI_DspMID : 31|8@0+ (1,0) [0|255] "" XXX - SG_ ODIAI_ActnVal : 39|32@0+ (1,0) [0|4294967295] "" XXX - -BO_ 2158837760 ODIAction_AuxIP_LS: 8 XXX - SG_ ODIActn_AxIP : 5|62@0+ (1,0) [0|0] "" XXX - SG_ ODIAA_DaTy : 5|6@0+ (1,0) [0|63] "" XXX - SG_ ODIAA_FUCID : 15|8@0+ (1,0) [0|255] "" XXX - SG_ ODIAA_ActnID : 23|8@0+ (1,0) [0|255] "" XXX - SG_ ODIAA_DspMID : 31|8@0+ (1,0) [0|255] "" XXX - SG_ ODIAA_ActnVal : 39|32@0+ (1,0) [0|4294967295] "" XXX - -BO_ 2159091712 ODI_IPC_2_TEL_LS: 8 XXX - SG_ ODI_IPC2TEL : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" XXX - -BO_ 2154561536 Vehicle_Odo_LS: 5 XXX - SG_ VehOdoGroup : 7|40@0+ (1,0) [0|0] "" XXX - SG_ VehOdo : 7|32@0+ (0.015625,0) [0|67108863.984375] "km" XXX - SG_ VehOdoV : 32|1@0+ (1,0) [0|1] "" XXX - -BO_ 2149908480 Brake_Pedal_Status_LS: 2 XXX - SG_ BrkPedInitTrvlAchvdStat : 1|2@0+ (1,0) [0|0] "" XXX - SG_ BrkPedTrvlAchvdV : 0|1@0+ (1,0) [0|1] "" XXX - SG_ BrkPedTrvlAchvd : 1|1@0+ (1,0) [0|1] "" XXX - SG_ BrkPdlModTrvlGroup : 3|2@0+ (1,0) [0|0] "" XXX - SG_ BrkPdlModTrvl : 2|1@0+ (1,0) [0|1] "" XXX - SG_ BrkPdlModTrvlV : 3|1@0+ (1,0) [0|1] "" XXX - SG_ BrkPdlPos : 15|8@0+ (0.392157,0) [0|100.000035] "% full" XXX - -BO_ 2151268352 Column_Lock_Status: 1 XXX - SG_ ClmnLckTT : 1|2@0+ (1,0) [0|3] "" XXX - -BO_ 2150604800 Right_Rear_Door_Status: 1 XXX - SG_ RRDoorAjarSwAct : 0|1@0+ (1,0) [0|1] "" XXX - -BO_ 2150588416 Passenger_Door_Status_LS: 1 XXX - SG_ PDAjrSwAtv : 0|1@0+ (1,0) [0|1] "" XXX - -BO_ 2150596608 Left_Rear_Door_Status: 1 XXX - SG_ RLDoorAjarSwAct : 0|1@0+ (1,0) [0|1] "" XXX - -BO_ 2155036672 Climate_Control_General_Status: 6 XXX - SG_ ACCompNormLdGroup : 0|9@0+ (1,0) [0|0] "" XXX - SG_ ACCompNormLdV : 0|1@0+ (1,0) [0|1] "" XXX - SG_ ACCompNormLd : 15|8@0+ (0.1,0) [0|25.5] "l/min" XXX - SG_ ACCmEngRunReq : 2|1@0+ (1,0) [0|1] "" XXX - SG_ ACCmpsrFldOn : 3|1@0+ (1,0) [0|1] "" XXX - SG_ ACCompModReq : 5|2@0+ (1,0) [0|3] "" XXX - SG_ ClmtCtrlTrgtTemp : 17|10@0+ (0.1,-10) [-10|92.3] "deg C" XXX - -BO_ 2150424576 Engine_Information_3_LS: 8 XXX - SG_ TrnsEngdStateGroup : 2|3@0+ (1,0) [0|0] "" XXX - SG_ TrnsEngdState : 1|2@0+ (1,0) [0|3] "" XXX - SG_ TrnsEngdStateV : 2|1@0+ (1,0) [0|1] "" XXX - SG_ ACRfHiSdFldPrsGroup : 3|20@0+ (1,0) [0|0] "" XXX - SG_ ACRfHiSdFldPrsV : 3|1@0+ (1,0) [0|1] "" XXX - SG_ ACRfHiSdFldPrs : 23|8@0+ (14,0) [0|3570] "kPaG" XXX - SG_ ACCompCmnd : 4|1@0+ (1,0) [0|1] "" XXX - SG_ RrAxlELSDCplLwResGroup : 5|46@0+ (1,0) [0|0] "" XXX - SG_ RrAxlELSDCplLwResV : 5|1@0+ (1,0) [0|1] "" XXX - SG_ RrAxlELSDCplLwRes : 47|8@0+ (10,0) [0|2550] "Nm" XXX - SG_ EngAirIntBstPrGroup : 6|39@0+ (1,0) [0|0] "" XXX - SG_ EngAirIntBstPrV : 6|1@0+ (1,0) [0|1] "" XXX - SG_ EngAirIntBstPr : 39|8@0- (1,0) [-128|127] "kPaG" XXX - SG_ ExtHlStrAssCsStAvl : 7|1@0+ (1,0) [0|1] "" XXX - SG_ TrnsRngInhbtStat : 10|3@0+ (1,0) [0|7] "" XXX - SG_ DrvtShftCntrlTrgtGear : 14|4@0+ (1,0) [0|15] "" XXX - SG_ ACCmpNrmLdGrdAld : 31|8@0+ (0.1,0) [0|25.5] "dm3/m/s" XXX - SG_ EngTrqDrRqdExtRngGroup : 52|13@0+ (1,0) [0|0] "" XXX - SG_ EngTrqDrRqdExtRng : 51|12@0+ (0.5,-848) [-848|1199.5] "Nm" XXX - SG_ EngTrqDrRqdExtRngV : 52|1@0+ (1,0) [0|1] "" XXX - SG_ ExtHlStrAssCsCrStVal : 55|3@0+ (1,0) [0|7] "" XXX - -BO_ 2150416384 Engine_Information_2_LS: 8 XXX - SG_ EngBstPrsIndGroup : 0|33@0+ (1,0) [0|0] "" XXX - SG_ EngBstPrsIndV : 0|1@0+ (1,0) [0|1] "" XXX - SG_ EngBstPrsInd : 39|8@0+ (0.392157,0) [0|100.000035] "%" XXX - SG_ VaccBoostFailure : 2|1@0+ (1,0) [0|1] "" XXX - SG_ GenFld : 3|1@0+ (1,0) [0|1] "" XXX - SG_ EngSpdLmtnMdAct : 4|1@0+ (1,0) [0|1] "" XXX - SG_ PTWrmgWtToShftIO : 5|1@0+ (1,0) [0|1] "" XXX - SG_ EngNEmsnsRelMalfAct : 6|1@0+ (1,0) [0|1] "" XXX - SG_ EngCstFlCutAct : 7|1@0+ (1,0) [0|1] "" XXX - SG_ EngRunAtv : 8|1@0+ (1,0) [0|1] "" XXX - SG_ EngIdlAtv : 11|1@0+ (1,0) [0|1] "" XXX - SG_ VehTopSpdLmtMdAct : 13|1@0+ (1,0) [0|1] "" XXX - SG_ EngCylDeactMd : 15|2@0+ (1,0) [0|3] "" XXX - SG_ TransEstGearGroup : 20|5@0+ (1,0) [0|0] "" XXX - SG_ TransEstGear : 19|4@0+ (1,0) [0|15] "" XXX - SG_ TransEstGearV : 20|1@0+ (1,0) [0|1] "" XXX - SG_ EngTrqActExtRngGroup : 21|46@0+ (1,0) [0|0] "" XXX - SG_ EngTrqActExtRngV : 21|1@0+ (1,0) [0|1] "" XXX - SG_ EngTrqActExtRng : 51|12@0+ (0.5,-848) [-848|1199.5] "Nm" XXX - SG_ EngVDA : 22|1@0+ (1,0) [0|1] "" XXX - SG_ TrnsVDA : 23|1@0+ (1,0) [0|1] "" XXX - SG_ EngCoolFanSpd : 31|8@0+ (0.392157,0) [0|100.000035] "%" XXX - SG_ VehTopSpdLmtArbVal : 47|8@0+ (2,0) [0|510] "km / h" XXX - SG_ EngSpdStat : 53|2@0+ (1,0) [0|3] "" XXX - SG_ RmVhStrtEngRng : 54|1@0+ (1,0) [0|1] "" XXX - SG_ TrnCrpMdAtv : 55|1@0+ (1,0) [0|1] "" XXX - -BO_ 2150408192 Engine_Information_1_LS: 8 XXX - SG_ TrnsSftMdStat : 2|3@0+ (1,0) [0|7] "" XXX - SG_ ThrPosGroup : 3|36@0+ (1,0) [0|0] "" XXX - SG_ ThrPosV : 3|1@0+ (1,0) [0|1] "" XXX - SG_ ThrPos : 39|8@0+ (0.392157,0) [0|100.000035] "%" XXX - SG_ AccActPosGroup : 4|45@0+ (1,0) [0|0] "" XXX - SG_ AccActPosV : 4|1@0+ (1,0) [0|1] "" XXX - SG_ AccActPos : 47|8@0+ (0.392157,0) [0|100.000035] "%" XXX - SG_ ElcRngSelDrvAct : 5|1@0+ (1,0) [0|1] "" XXX - SG_ TmpDrvrShftCtlAct : 6|1@0+ (1,0) [0|1] "" XXX - SG_ AccPdlOvrrdAtv : 7|1@0+ (1,0) [0|1] "" XXX - SG_ TrnShftPtrnActStat : 10|3@0+ (1,0) [0|7] "" XXX - SG_ TransTUDMdStat : 12|2@0+ (1,0) [0|3] "" XXX - SG_ Eng12vStrtrMtrCmmdOn : 13|1@0+ (1,0) [0|1] "" XXX - SG_ EngRunng : 14|1@0+ (1,0) [0|1] "" XXX - SG_ TrnsShftLvrPosGroup : 15|48@0+ (1,0) [0|0] "" XXX - SG_ TrnsShftLvrPosV : 15|1@0+ (1,0) [0|1] "" XXX - SG_ TrnsShftLvrPos : 51|4@0+ (1,0) [0|15] "" XXX - SG_ EngSpd : 23|16@0+ (0.25,0) [0|16383.75] "rpm" XXX - SG_ AutoTransComndGear : 55|4@0+ (1,0) [0|15] "" XXX - SG_ CrsCntEnbld : 56|1@0+ (1,0) [0|1] "" XXX - SG_ CltStartSwAtvGroup : 58|2@0+ (1,0) [0|0] "" XXX - SG_ CltStartSwAtv : 57|1@0+ (1,0) [0|1] "" XXX - SG_ CltStartSwAtvV : 58|1@0+ (1,0) [0|1] "" XXX - SG_ TopTrvlCltchSwActGroup : 60|2@0+ (1,0) [0|0] "" XXX - SG_ TopTrvlCltchSwAct : 59|1@0+ (1,0) [0|1] "" XXX - SG_ TopTrvlCltchSwActV : 60|1@0+ (1,0) [0|1] "" XXX - SG_ AdptPsngrSeatStng : 63|3@0+ (1,0) [0|7] "" XXX - -BO_ 2155954176 Climate_Control_Basic_Status_LS: 4 XXX - SG_ ACHtIdleBstLevReq : 1|2@0+ (1,0) [0|3] "" XXX - SG_ ClimCtrlAftBlowModActv : 2|1@0+ (1,0) [0|1] "" XXX - SG_ AirCndActIO : 5|1@0+ (1,0) [0|1] "" XXX - SG_ ClmCntlExtDefActIO : 6|1@0+ (1,0) [0|1] "" XXX - SG_ ClntCircPmpRq : 7|1@0+ (1,0) [0|1] "" XXX - SG_ ClmCntFrBlwFnSp : 15|8@0+ (0.392157,0) [0|100.000035] "%" XXX - SG_ AirCndCmptLdEst : 23|8@0+ (0.392157,0) [0|100.000035] "%" XXX - SG_ ClmCntRrBlwFnSp : 31|8@0+ (0.392157,0) [0|100.000035] "%" XXX - -BO_ 2153971712 Driver_Door_Status: 1 XXX - SG_ LftglsAjrSwAct : 1|1@0+ (1,0) [0|1] "" XXX - SG_ LftglsRelSwAct : 2|1@0+ (1,0) [0|1] "" XXX - SG_ DDAjrSwAtvGroup : 7|8@0+ (1,0) [0|0] "" XXX - SG_ DDAjrSwAtv : 0|1@0+ (1,0) [0|1] "" XXX - SG_ DDAjrSwAtvM : 7|1@0+ (1,0) [0|1] "" XXX - -BO_ 2149875712 Battery_Voltage: 7 XXX - SG_ BatVltGroup : 0|17@0+ (1,0) [0|0] "" XXX - SG_ BatVltV : 0|1@0+ (1,0) [0|1] "" XXX - SG_ BatVlt : 23|8@0+ (0.1,3) [3|28.5] "volts" XXX - SG_ BatSaverIO : 1|1@0+ (1,0) [0|1] "" XXX - SG_ SrvBattChrgSysIO : 2|1@0+ (1,0) [0|1] "" XXX - SG_ BatSOCGroup : 3|28@0+ (1,0) [0|0] "" XXX - SG_ BatSOCV : 3|1@0+ (1,0) [0|1] "" XXX - SG_ BatSOC : 31|8@0+ (0.392157,0) [0|100.000035] "%" XXX - SG_ BattStOfChrgCrtyLow : 4|1@0+ (1,0) [0|1] "" XXX - SG_ IntlgntBattSnsFldIO : 5|1@0+ (1,0) [0|1] "" XXX - SG_ BattStOfChrgLowIO : 6|1@0+ (1,0) [0|1] "" XXX - SG_ DCCnvStblznErrIO : 7|1@0+ (1,0) [0|1] "" XXX - SG_ EnrgMgtLdShdRq : 11|4@0+ (1,0) [0|15] "" XXX - SG_ BattVltIRq : 13|2@0+ (1,0) [0|3] "" XXX - SG_ PwrMdOffBattSOC : 39|8@0+ (0.392157,0) [0|100.000035] "%" XXX - SG_ BattCrntFltrd : 47|8@0- (0.5,0) [-64|63.5] "A" XXX - SG_ BatSvrMdSevLvl : 55|8@0+ (1,0) [0|255] "" XXX - -BO_ 2151186432 Auto_High_Beam_Status: 1 XXX - SG_ AutoBmSlctStat : 1|2@0+ (1,0) [0|3] "" XXX - SG_ CtLghtDet : 2|1@0+ (1,0) [0|1] "" XXX - SG_ AutoHgBmCtrlInOn : 3|1@0+ (1,0) [0|1] "" XXX - -BO_ 2149629952 Lighting_Status_LS: 5 XXX - SG_ OtsdAmbtLtLvlStatGroup : 0|23@0+ (1,0) [0|0] "" XXX - SG_ OtsdAmbtLtLvlStatV : 0|1@0+ (1,0) [0|1] "" XXX - SG_ OtsdAmbtLtLvlStat : 27|2@0+ (1,0) [0|3] "" XXX - SG_ DRLAct : 1|1@0+ (1,0) [0|1] "" XXX - SG_ HazSwAtv : 2|1@0+ (1,0) [0|1] "" XXX - SG_ PrkLtLeftIO : 3|1@0+ (1,0) [0|1] "" XXX - SG_ PrkLtRightIO : 4|1@0+ (1,0) [0|1] "" XXX - SG_ TrnSwAct : 6|2@0+ (1,0) [0|3] "" XXX - SG_ FrFogLmpsAct : 7|1@0+ (1,0) [0|1] "" XXX - SG_ PrkLtLeftOn : 8|1@0+ (1,0) [0|1] "" XXX - SG_ FrFgLtIO : 9|1@0+ (1,0) [0|1] "" XXX - SG_ AutoLtsInactIO : 10|1@0+ (1,0) [0|1] "" XXX - SG_ AutoLtsActIO : 11|1@0+ (1,0) [0|1] "" XXX - SG_ RrFgLtIO : 12|1@0+ (1,0) [0|1] "" XXX - SG_ HiBmIO : 13|1@0+ (1,0) [0|1] "" XXX - SG_ PrkLtIO : 14|1@0+ (1,0) [0|1] "" XXX - SG_ BrkLtsAtv : 15|1@0+ (1,0) [0|1] "" XXX - SG_ FlToPsSwAtv : 16|1@0+ (1,0) [0|1] "" XXX - SG_ RevLmpAtv : 17|1@0+ (1,0) [0|1] "N/A" XXX - SG_ PrkngLtsAct : 18|1@0+ (1,0) [0|1] "" XXX - SG_ RrFogLmpsAct : 19|1@0+ (1,0) [0|1] "" XXX - SG_ HiBmReqd : 20|1@0+ (1,0) [0|1] "" XXX - SG_ AutoBmSlctAllwd : 21|1@0+ (1,0) [0|1] "" XXX - SG_ PrkLtRightOn : 22|1@0+ (1,0) [0|1] "" XXX - SG_ SrvlnceMdAct : 23|1@0+ (1,0) [0|1] "" XXX - SG_ RtTrnLmpAtv : 25|2@0+ (1,0) [0|3] "" XXX - SG_ LftTrnLmpAtv : 29|2@0+ (1,0) [0|3] "" XXX - SG_ MainLghtSw : 31|2@0+ (1,0) [0|3] "N/A" XXX - SG_ HdlmpBmSelectStat : 33|2@0+ (1,0) [0|3] "" XXX - -BO_ 2149646336 Vehicle_Speed_Information: 8 XXX - SG_ VehSpdAvgDrvnGroup : 7|16@0+ (1,0) [0|0] "" XXX - SG_ VehSpdAvgDrvn : 6|15@0+ (0.015625,0) [0|511.984375] "km / h" XXX - SG_ VehSpdAvgDrvnV : 7|1@0+ (1,0) [0|1] "" XXX - SG_ DstRolCntAvgDrnRstOc : 21|1@0+ (1,0) [0|1] "" XXX - SG_ DistRollCntAvgDrvnGroup : 22|15@0+ (1,0) [0|0] "" XXX - SG_ DistRollCntAvgDrvn : 20|13@0+ (0.125,0) [0|1023.875] "m" XXX - SG_ DistRollCntAvgDrvnV : 22|1@0+ (1,0) [0|1] "" XXX - SG_ VehSpdAvgDrvnSrc : 23|1@0+ (1,0) [0|1] "" XXX - SG_ VehSpdAvgNDrvnGroup : 38|17@0+ (1,0) [0|0] "" XXX - SG_ VehSpdAvgNDrvn : 38|15@0+ (0.015625,0) [0|511.984375] "km / h" XXX - SG_ VehSpdAvgNDrvnV : 54|1@0+ (1,0) [0|1] "" XXX - SG_ DstRolCntAvgNonDrvnGroup : 39|32@0+ (1,0) [0|0] "" XXX - SG_ DstRolCntAvgNonDrvnV : 39|1@0+ (1,0) [0|1] "" XXX - SG_ DstRolCntAvgNonDrvn : 52|13@0+ (0.125,0) [0|1023.875] "m" XXX - SG_ DstRolCntAvNDrRstOc : 53|1@0+ (1,0) [0|1] "" XXX - SG_ DistRollCntAvgDrvnSrc : 55|1@0+ (1,0) [0|1] "" XXX - -BO_ 2154053632 Dimming_Information_LS: 3 XXX - SG_ IntDimNtPnlAtv : 0|1@0+ (1,0) [0|1] "" XXX - SG_ DispNtSchmAtv : 1|1@0+ (1,0) [0|1] "" XXX - SG_ CargoLmpActIO : 2|1@0+ (1,0) [0|1] "" XXX - SG_ IntDimLvl : 15|8@0+ (0.392157,0) [0|100.000035] "%" XXX - SG_ IntDimDspLvl : 23|8@0+ (0.392157,0) [0|100.000035] "%" XXX - -BO_ 2149851136 System_Power_Mode_LS: 1 XXX - SG_ SysPwrMdGroup : 2|3@0+ (1,0) [0|0] "" XXX - SG_ SysPwrMd : 1|2@0+ (1,0) [0|3] "" XXX - SG_ SysPwrMdV : 2|1@0+ (1,0) [0|1] "" XXX - SG_ KylsStrtAuthRq : 3|1@0+ (1,0) [0|1] "" XXX - -BO_ 2159124480 ODI_AuxIP_2_TEL_LS: 8 XXX - SG_ ODI_AxIP2TEL : 7|64@0+ (1,0) [0|1.84467440737096E+019] "" XXX - -BO_ 2151530496 TPM_Display_Commands: 6 XXX - SG_ TPMTrLrnMdCmplt : 0|1@0+ (1,0) [0|1] "" XXX - SG_ TrPrsMntrAtLocFld : 1|1@0+ (1,0) [0|1] "" XXX - SG_ TrPrsMntrTrLdStat : 3|2@0+ (1,0) [0|3] "" XXX - SG_ TireTrdTmpStat : 6|3@0+ (1,0) [0|7] "" XXX - SG_ TrFrntAxlPresStat : 9|2@0+ (1,0) [0|3] "" XXX - SG_ TrRrAxlPresStat : 11|2@0+ (1,0) [0|3] "" XXX - SG_ WintTrRecIndOn : 12|1@0+ (1,0) [0|1] "" XXX - SG_ TrPrsMntrFld : 13|1@0+ (1,0) [0|1] "" XXX - SG_ TireLocatnWarnEn : 15|1@0+ (1,0) [0|1] "" XXX - SG_ HVChgSyChgLvPfStRmt1 : 18|3@0+ (1,0) [0|7] "" XXX - SG_ StTODChrgTmpOvrdRmt1 : 20|2@0+ (1,0) [0|3] "" XXX - SG_ PrtyChrgRqRmt1 : 22|2@0+ (1,0) [0|3] "" XXX - SG_ OfBrdHVCVhCsChRqRmt1 : 23|1@0+ (1,0) [0|1] "" XXX - SG_ HVBatTmBsDlChStRqRmt1 : 28|21@0+ (1,0) [0|0] "" XXX - SG_ HVBTBDCSRR1_DChHStRq : 28|5@0+ (1,0) [0|31] "hr" XXX - SG_ HVBTBDCSRR1_DChSlSRq : 35|4@0+ (1,0) [0|15] "" XXX - SG_ HVBTBDCSRR1_DChDStRq : 39|4@0+ (1,0) [0|15] "" XXX - SG_ HVBTBDCSRR1_DChMHSRq : 45|6@0+ (1,0) [0|63] "min" XXX - SG_ HVBTBDCSRR1_DChSnSRq : 47|2@0+ (1,0) [0|3] "" XXX - SG_ HVBatTmBsChgMdRqRmt1 : 31|3@0+ (1,0) [0|7] "" XXX - - - -BA_DEF_ "UseGMParameterIDs" INT 0 0; -BA_DEF_ "ProtocolType" STRING ; -BA_DEF_ "BusType" STRING ; -BA_DEF_DEF_ "UseGMParameterIDs" 1; -BA_DEF_DEF_ "ProtocolType" "GMLAN"; -BA_DEF_DEF_ "BusType" ""; -BA_ "ProtocolType" "GMLAN"; -BA_ "BusType" "CAN"; - diff --git a/opendbc/gm_global_a_powertrain_expansion.dbc b/opendbc/gm_global_a_powertrain_expansion.dbc deleted file mode 100644 index b18ac6974da42f..00000000000000 --- a/opendbc/gm_global_a_powertrain_expansion.dbc +++ /dev/null @@ -1,56 +0,0 @@ -VERSION "" - - -NS_ : - NS_DESC_ - CM_ - BA_DEF_ - BA_ - VAL_ - CAT_DEF_ - CAT_ - FILTER - BA_DEF_DEF_ - EV_DATA_ - ENVVAR_DATA_ - SGTYPE_ - SGTYPE_VAL_ - BA_DEF_SGTYPE_ - BA_SGTYPE_ - SIG_TYPE_REF_ - VAL_TABLE_ - SIG_GROUP_ - SIG_VALTYPE_ - SIGTYPE_VALTYPE_ - BO_TX_BU_ - BA_DEF_REL_ - BA_REL_ - BA_DEF_DEF_REL_ - BU_SG_REL_ - BU_EV_REL_ - BU_BO_REL_ - SG_MUL_VAL_ - -BS_: -BU_: K1_APM -BO_ 470 APM_Stats: 7 K1_APM - SG_ APM_Low_Voltage_Sensed : 16|8@1+ (0.0787402,0) [0|0] "V" Vector__XXX - SG_ APM_Temperature_1 : 24|8@1+ (1,-40) [0|0] "C" Vector__XXX - SG_ APM_Temperature_2 : 32|8@1+ (1,-40) [0|0] "C" Vector__XXX - SG_ APM_Low_Voltage_Current_Output : 40|8@1- (1,0) [0|0] "A" Vector__XXX - SG_ APM_Status : 7|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ APM_High_Voltage_Input_Current : 8|8@1- (0.15,-7) [0|0] "A" Vector__XXX - SG_ APM_Counter : 48|8@1+ (1,0) [0|0] "" Vector__XXX - -BO_ 468 APM_Command: 2 K1_APM - SG_ APM_Status : 0|8@1+ (1,0) [0|0] "" Vector__XXX - SG_ APM_Voltage_Requested : 8|8@1+ (0.0787402,0) [0|0] "V" Vector__XXX - -BA_DEF_ BO_ "GenMsgBackgroundColor" STRING ; -BA_DEF_ BO_ "GenMsgForegroundColor" STRING ; -BA_DEF_ BO_ "isj1939dbc" INT 0 0; -BA_DEF_DEF_ "GenMsgBackgroundColor" "#ffffff"; -BA_DEF_DEF_ "GenMsgForegroundColor" "#000000"; -BA_DEF_DEF_ "isj1939dbc" 0; -CM_ BU_ K1_APM "14V Power Module"; -VAL_ 468 APM_Status 0 "Off" 160 "On"; diff --git a/opendbc/honda_fit_hybrid_2018_can_generated.dbc b/opendbc/honda_fit_hybrid_2018_can_generated.dbc deleted file mode 100644 index 3ada5c74f0b869..00000000000000 --- a/opendbc/honda_fit_hybrid_2018_can_generated.dbc +++ /dev/null @@ -1,361 +0,0 @@ -CM_ "AUTOGENERATED FILE, DO NOT EDIT"; - - -CM_ "Imported file _community.dbc starts here"; -BO_ 512 GAS_COMMAND: 6 EON - SG_ GAS_COMMAND : 7|16@0+ (0.253984064,-83.3) [0|1] "" INTERCEPTOR - SG_ GAS_COMMAND2 : 23|16@0+ (0.126992032,-83.3) [0|1] "" INTERCEPTOR - SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR - SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR - SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR - -BO_ 513 GAS_SENSOR: 6 INTERCEPTOR - SG_ INTERCEPTOR_GAS : 7|16@0+ (1,0) [0|1] "" EON - SG_ INTERCEPTOR_GAS2 : 23|16@0+ (1,0) [0|1] "" EON - SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON - SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON - SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON - -VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ; - - -CM_ "Imported file _honda_common.dbc starts here"; -BO_ 304 GAS_PEDAL_2: 8 PCM - SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON - SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON - SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON - -BO_ 316 GAS_PEDAL: 8 PCM - SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON - -BO_ 344 ENGINE_DATA: 8 PCM - SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON - SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON - SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON - SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON - -BO_ 380 POWERTRAIN_DATA: 8 PCM - SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON - SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON - SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON - SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "" EON - SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "" EON - SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "" EON - SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "" EON - SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON - SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "" EON - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON - -BO_ 420 VSA_STATUS: 8 VSA - SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON - SG_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" EON - SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON - SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX - SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON - SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON - -BO_ 427 STEER_MOTOR_TORQUE: 3 EPS - SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON - SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON - SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON - SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON - -BO_ 464 WHEEL_SPEEDS: 8 VSA - SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON - SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON - SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON - SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON - -BO_ 490 VEHICLE_DYNAMICS: 8 VSA - SG_ LAT_ACCEL : 7|16@0- (0.0015,0) [-20|20] "m/s2" EON - SG_ LONG_ACCEL : 23|16@0- (0.0015,0) [-20|20] "m/s2" EON - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON - -BO_ 773 SEATBELT_STATUS: 7 BDY - SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON - SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON - SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON - SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON - SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON - SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON - SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON - SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON - -BO_ 777 CAR_SPEED: 8 PCM - SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX - SG_ CAR_SPEED : 7|16@0+ (0.01,0) [0|65535] "kph" XXX - SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (0.01,0) [0|65535] "kph" XXX - SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "mph" XXX - SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX - SG_ IMPERIAL_UNIT : 63|1@0+ (1,0) [0|1] "" XXX - -BO_ 780 ACC_HUD: 8 ADAS - SG_ PCM_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" BDY - SG_ PCM_GAS : 23|8@0+ (1,0) [0|127] "" BDY - SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "kph" BDY - SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY - SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY - SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY - SG_ FCM_OFF : 35|1@0+ (1,0) [0|1] "" BDY - SG_ FCM_OFF_2 : 36|1@0+ (1,0) [0|1] "" BDY - SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY - SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY - SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY - SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY - SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY - SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY - SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY - SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY - SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY - SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY - SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY - SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" BDY - SG_ CHIME : 51|3@0+ (1,0) [0|1] "" BDY - SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY - SG_ ICONS : 63|2@0+ (1,0) [0|1] "" BDY - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY - SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY - -BO_ 804 CRUISE: 8 PCM - SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" EON - SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" EON - SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON - SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" EON - SG_ BOH2 : 47|8@0- (1,0) [0|255] "" EON - SG_ BOH3 : 55|8@0+ (1,0) [0|255] "" EON - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON - -BO_ 884 STALK_STATUS: 8 XXX - SG_ DASHBOARD_ALERT : 39|8@0+ (1,0) [0|255] "" EON - SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON - SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON - SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON - SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON - SG_ WIPER_SWITCH : 53|2@0+ (1,0) [0|3] "" XXX - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON - -BO_ 891 STALK_STATUS_2: 8 XXX - SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON - SG_ LOW_BEAMS : 35|1@0+ (1,0) [0|1] "" XXX - SG_ HIGH_BEAMS : 34|1@0+ (1,0) [0|1] "" XXX - SG_ PARK_LIGHTS : 36|1@0+ (1,0) [0|1] "" XXX - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON - -BO_ 1029 DOORS_STATUS: 8 BDY - SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON - SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON - SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON - SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON - SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON - -CM_ SG_ 304 "Seems to be platform-agnostic"; -CM_ SG_ 316 "Should exist on Nidec"; -CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged"; -CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping"; -CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light"; -CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light"; -CM_ SG_ 780 CRUISE_SPEED "255 = no speed"; -CM_ SG_ 780 PCM_SPEED "Used by Nidec"; -CM_ SG_ 780 PCM_GAS "Used by Nidec"; -CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed"; - -VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped"; -VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car"; -VAL_ 884 DASHBOARD_ALERT 0 "none" 51 "acc_problem" 55 "cmbs_problem" 75 "key_not_detected" 79 "fasten_seatbelt" 111 "lkas_problem" 131 "brake_system_problem" 132 "brake_hold_problem" 139 "tbd" 161 "door_open"; -VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off"; - - -CM_ "Imported file _nidec_common.dbc starts here"; -BO_ 145 KINEMATICS: 8 XXX - SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON - -BO_ 148 KINEMATICS_ALT: 8 XXX - SG_ LAT_ACCEL : 7|10@0+ (0.02,-512) [-20|20] "m/s2" EON - SG_ LONG_ACCEL : 24|9@0- (-0.02,0) [-20|20] "m/s2" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON - -BO_ 432 STANDSTILL: 7 VSA - SG_ CONTROLLED_STANDSTILL : 0|1@0+ (1,0) [0|1] "" EON - SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON - SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON - SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON - SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON - -BO_ 487 BRAKE_PRESSURE: 4 VSA - SG_ BRAKE_PRESSURE1 : 7|10@0+ (0.015625,-103) [0|1000] "" EON - SG_ BRAKE_PRESSURE2 : 9|10@0+ (0.015625,-103) [0|1000] "" EON - SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON - SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON - -BO_ 506 BRAKE_COMMAND: 8 ADAS - SG_ COMPUTER_BRAKE : 7|10@0+ (1,0) [0|1] "" EBCM - SG_ BRAKE_PUMP_REQUEST : 8|1@0+ (1,0) [0|1] "" EBCM - SG_ BRAKE_PUMP_REQUEST_ALT : 11|1@0+ (1,0) [0|1] "" EBCM - SG_ SET_ME_X00 : 23|3@0+ (1,0) [0|1] "" EBCM - SG_ CRUISE_OVERRIDE : 20|1@0+ (1,0) [0|1] "" EBCM - SG_ SET_ME_X00_2 : 19|1@0+ (1,0) [0|1] "" EBCM - SG_ CRUISE_FAULT_CMD : 18|1@0+ (1,0) [0|1] "" EBCM - SG_ CRUISE_CANCEL_CMD : 17|1@0+ (1,0) [0|1] "" EBCM - SG_ COMPUTER_BRAKE_REQUEST : 16|1@0+ (1,0) [0|1] "" EBCM - SG_ SET_ME_1 : 31|1@0+ (1,0) [0|1] "" EBCM - SG_ AEB_REQ_1 : 29|1@0+ (1,0) [0|1] "" XXX - SG_ AEB_REQ_2 : 26|3@0+ (1,0) [0|7] "" XXX - SG_ BRAKE_LIGHTS : 39|1@0+ (1,0) [0|1] "" EBCM - SG_ CRUISE_STATES : 38|7@0+ (1,0) [0|1] "" EBCM - SG_ CHIME : 47|3@0+ (1,0) [0|7] "" EBCM - SG_ SET_ME_X00_3 : 44|1@0+ (1,0) [0|1] "" EBCM - SG_ FCW : 43|2@0+ (1,0) [0|3] "" EBCM - SG_ AEB_STATUS : 41|2@0+ (1,0) [0|3] "" XXX - SG_ COMPUTER_BRAKE_ALT : 55|10@0+ (1,0) [0|0] "" EBCM - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EBCM - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EBCM - -BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA - SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON - SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON - SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON - SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON - SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" EON - SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON - -BO_ 829 LKAS_HUD: 5 ADAS - SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY - SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY - SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY - SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY - SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY - SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY - SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY - SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY - SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY - SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY - SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY - SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY - SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY - SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY - SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY - SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY - SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" BDY - SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY - SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY - -BO_ 892 CRUISE_PARAMS: 8 PCM - SG_ CRUISE_SPEED_OFFSET : 31|8@0- (0.1,0) [-128|127] "kph" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON - -CM_ SG_ 506 AEB_REQ_1 "set for duration of suspected AEB event"; -CM_ SG_ 506 COMPUTER_BRAKE_ALT "Used by dual-can Nidec"; -CM_ SG_ 506 BRAKE_PUMP_REQUEST_ALT "Used by dual-can Nidec"; -CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnngs etc..."; - -VAL_ 506 FCW 3 "fcw" 2 "fcw" 1 "fcw" 0 "no_fcw"; -VAL_ 506 CHIME 4 "double_chime" 3 "single_chime" 2 "continuous_chime" 1 "repeating_chime" 0 "no_chime"; -VAL_ 506 AEB_STATUS 3 "aeb_prepare" 2 "aeb_ready" 1 "aeb_braking" 0 "no_aeb"; -VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep"; - -CM_ "honda_fit_hybrid_2018_can.dbc starts here"; - -BO_ 228 STEERING_CONTROL: 5 ADAS - SG_ STEER_TORQUE : 7|16@0- (1,0) [-3840|3840] "" EPS - SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS - SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS - SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS - SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS - SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS - -BO_ 342 STEERING_SENSORS: 6 EPS - SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON - SG_ STEER_ANGLE_RATE : 23|16@0- (1,0) [-3000|3000] "deg/s" EON - SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 43|4@0+ (1,0) [0|3] "" EON - -BO_ 399 STEER_STATUS: 7 EPS - SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON - SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON - SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON - SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON - SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON - SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON - -BO_ 419 GEARBOX: 8 PCM - SG_ GEAR : 7|8@0+ (1,0) [0|256] "" EON - SG_ GEAR_SHIFTER : 35|4@0+ (1,0) [0|15] "" EON - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON - -BO_ 422 SCM_BUTTONS: 8 SCM - SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON - SG_ LIGHTS_SETTING : 1|2@0+ (1,0) [0|3] "" EON - SG_ MAIN_ON : 47|1@0+ (1,0) [0|1] "" EON - SG_ CRUISE_SETTING : 43|2@0+ (1,0) [0|3] "" EON - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON - -BO_ 545 ECON_STATUS: 5 XXX - SG_ ECON_ON : 23|1@0+ (1,0) [0|1] "" EON - SG_ CHECKSUM : 35|4@0+ (1,0) [0|3] "" EON - SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EON - -BO_ 660 SCM_FEEDBACK: 8 SCM - SG_ RIGHT_BLINKER : 6|1@0+ (1,0) [0|1] "" EON - SG_ LEFT_BLINKER : 5|1@0+ (1,0) [0|1] "" EON - SG_ WIPERS_SPEED : 4|2@0+ (1,0) [0|3] "" EON - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON - -BO_ 862 HIGHBEAM_CONTROL: 8 ADAS - SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY - SG_ ZEROS_BOH_2 : 48|4@1+ (1,0) [0|15] "" XXX - SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX - SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX - -BO_ 927 RADAR_HUD: 8 ADAS - SG_ ZEROS_BOH : 7|17@0+ (1,0) [0|127] "" BDY - SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|15] "" BDY - SG_ ZEROS_BOH2 : 31|8@0+ (1,0) [0|127] "" BDY - SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|15] "" BDY - SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|15] "" BDY - SG_ LEAD_SPEED : 39|9@0+ (1,0) [0|127] "" BDY - SG_ LEAD_STATE : 46|3@0+ (1,0) [0|127] "" BDY - SG_ LEAD_DISTANCE : 43|5@0+ (1,0) [0|31] "" BDY - SG_ ZEROS_BOH3 : 54|7@0+ (1,0) [0|127] "" BDY - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" BDY - -CM_ SG_ 419 GEAR "10 = reverse, 11 = transition"; - -VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal" ; -VAL_ 419 GEAR_SHIFTER 10 "S" 4 "D" 3 "N" 2 "R" 1 "P" ; -VAL_ 422 CRUISE_BUTTONS 7 "tbd" 6 "tbd" 5 "tbd" 4 "accel_res" 3 "decel_set" 2 "cancel" 1 "main" 0 "none" ; -VAL_ 422 LIGHTS_SETTING 3 "high_beam" 2 "low_beam" 1 "position" 0 "no_lights" ; -VAL_ 422 CRUISE_SETTING 3 "distance_adj" 2 "tbd" 1 "lkas_button" 0 "none" ; diff --git a/opendbc/honda_pilot_2023_can_generated.dbc b/opendbc/honda_pilot_2023_can_generated.dbc deleted file mode 100644 index 91686e80b0abc1..00000000000000 --- a/opendbc/honda_pilot_2023_can_generated.dbc +++ /dev/null @@ -1,495 +0,0 @@ -CM_ "AUTOGENERATED FILE, DO NOT EDIT"; - - -CM_ "Imported file _honda_common.dbc starts here"; -BO_ 304 GAS_PEDAL_2: 8 PCM - SG_ ENGINE_TORQUE_ESTIMATE : 7|16@0- (1,0) [-1000|1000] "Nm" EON - SG_ ENGINE_TORQUE_REQUEST : 23|16@0- (1,0) [-1000|1000] "Nm" EON - SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON - -BO_ 316 GAS_PEDAL: 8 PCM - SG_ CAR_GAS : 39|8@0+ (1,0) [0|255] "" EON - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON - -BO_ 344 ENGINE_DATA: 8 PCM - SG_ XMISSION_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" EON - SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON - SG_ XMISSION_SPEED2 : 39|16@0+ (0.01,0) [0|250] "kph" EON - SG_ ODOMETER : 55|8@0+ (10,0) [0|2550] "m" XXX - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON - -BO_ 380 POWERTRAIN_DATA: 8 PCM - SG_ PEDAL_GAS : 7|8@0+ (1,0) [0|255] "" EON - SG_ ENGINE_RPM : 23|16@0+ (1,0) [0|15000] "rpm" EON - SG_ GAS_PRESSED : 39|1@0+ (1,0) [0|1] "" EON - SG_ ACC_STATUS : 38|1@0+ (1,0) [0|1] "" EON - SG_ BOH_17C : 37|5@0+ (1,0) [0|1] "" EON - SG_ BRAKE_SWITCH : 32|1@0+ (1,0) [0|1] "" EON - SG_ BOH2_17C : 47|10@0+ (1,0) [0|1] "" EON - SG_ BRAKE_PRESSED : 53|1@0+ (1,0) [0|1] "" EON - SG_ BOH3_17C : 52|5@0+ (1,0) [0|1] "" EON - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON - -BO_ 420 VSA_STATUS: 8 VSA - SG_ USER_BRAKE : 7|16@0+ (0.015625,-1.609375) [0|1000] "" EON - SG_ COMPUTER_BRAKING : 23|1@0+ (1,0) [0|1] "" EON - SG_ ESP_DISABLED : 28|1@0+ (1,0) [0|1] "" EON - SG_ BRAKE_HOLD_RELATED : 52|1@0+ (1,0) [0|1] "" XXX - SG_ BRAKE_HOLD_ACTIVE : 46|1@0+ (1,0) [0|1] "" EON - SG_ BRAKE_HOLD_ENABLED : 45|1@0+ (1,0) [0|1] "" EON - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON - -BO_ 427 STEER_MOTOR_TORQUE: 3 EPS - SG_ CONFIG_VALID : 7|1@0+ (1,0) [0|1] "" EON - SG_ MOTOR_TORQUE : 1|10@0+ (1,0) [0|256] "" EON - SG_ OUTPUT_DISABLED : 22|1@0+ (1,0) [0|1] "" EON - SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" EON - -BO_ 464 WHEEL_SPEEDS: 8 VSA - SG_ WHEEL_SPEED_FL : 7|15@0+ (0.01,0) [0|250] "kph" EON - SG_ WHEEL_SPEED_FR : 8|15@0+ (0.01,0) [0|250] "kph" EON - SG_ WHEEL_SPEED_RL : 25|15@0+ (0.01,0) [0|250] "kph" EON - SG_ WHEEL_SPEED_RR : 42|15@0+ (0.01,0) [0|250] "kph" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON - -BO_ 490 VEHICLE_DYNAMICS: 8 VSA - SG_ LAT_ACCEL : 7|16@0- (0.0015,0) [-20|20] "m/s2" EON - SG_ LONG_ACCEL : 23|16@0- (0.0015,0) [-20|20] "m/s2" EON - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON - -BO_ 773 SEATBELT_STATUS: 7 BDY - SG_ SEATBELT_DRIVER_LAMP : 7|1@0+ (1,0) [0|1] "" EON - SG_ SEATBELT_PASS_UNLATCHED : 10|1@0+ (1,0) [0|1] "" EON - SG_ SEATBELT_PASS_LATCHED : 11|1@0+ (1,0) [0|1] "" EON - SG_ SEATBELT_DRIVER_UNLATCHED : 12|1@0+ (1,0) [0|1] "" EON - SG_ SEATBELT_DRIVER_LATCHED : 13|1@0+ (1,0) [0|1] "" EON - SG_ PASS_AIRBAG_OFF : 14|1@0+ (1,0) [0|1] "" EON - SG_ PASS_AIRBAG_ON : 15|1@0+ (1,0) [0|1] "" EON - SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 51|4@0+ (1,0) [0|3] "" EON - -BO_ 777 CAR_SPEED: 8 PCM - SG_ ROUGH_CAR_SPEED : 23|8@0+ (1,0) [0|255] "mph" XXX - SG_ CAR_SPEED : 7|16@0+ (0.01,0) [0|65535] "kph" XXX - SG_ ROUGH_CAR_SPEED_3 : 39|16@0+ (0.01,0) [0|65535] "kph" XXX - SG_ ROUGH_CAR_SPEED_2 : 31|8@0+ (1,0) [0|255] "mph" XXX - SG_ LOCK_STATUS : 55|2@0+ (1,0) [0|255] "" XXX - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX - SG_ IMPERIAL_UNIT : 63|1@0+ (1,0) [0|1] "" XXX - -BO_ 780 ACC_HUD: 8 ADAS - SG_ PCM_SPEED : 7|16@0+ (0.01,0) [0|250] "kph" BDY - SG_ PCM_GAS : 23|8@0+ (1,0) [0|127] "" BDY - SG_ CRUISE_SPEED : 31|8@0+ (1,0) [0|255] "kph" BDY - SG_ DTC_MODE : 39|1@0+ (1,0) [0|1] "" BDY - SG_ BOH : 38|1@0+ (1,0) [0|1] "" BDY - SG_ ACC_PROBLEM : 37|1@0+ (1,0) [0|1] "" BDY - SG_ FCM_OFF : 35|1@0+ (1,0) [0|1] "" BDY - SG_ FCM_OFF_2 : 36|1@0+ (1,0) [0|1] "" BDY - SG_ FCM_PROBLEM : 34|1@0+ (1,0) [0|1] "" BDY - SG_ RADAR_OBSTRUCTED : 33|1@0+ (1,0) [0|1] "" BDY - SG_ ENABLE_MINI_CAR : 32|1@0+ (1,0) [0|1] "" BDY - SG_ HUD_DISTANCE : 47|2@0+ (1,0) [0|3] "" BDY - SG_ HUD_LEAD : 45|2@0+ (1,0) [0|3] "" BDY - SG_ BOH_3 : 43|1@0+ (1,0) [0|3] "" BDY - SG_ BOH_4 : 42|1@0+ (1,0) [0|3] "" BDY - SG_ BOH_5 : 41|1@0+ (1,0) [0|3] "" BDY - SG_ CRUISE_CONTROL_LABEL : 40|1@0+ (1,0) [0|3] "" BDY - SG_ SET_ME_X01_2 : 55|1@0+ (1,0) [0|1] "" BDY - SG_ IMPERIAL_UNIT : 54|1@0+ (1,0) [0|1] "" BDY - SG_ ACC_ON : 52|1@0+ (1,0) [0|1] "" BDY - SG_ CHIME : 51|3@0+ (1,0) [0|1] "" BDY - SG_ SET_ME_X01 : 48|1@0+ (1,0) [0|1] "" BDY - SG_ ICONS : 63|2@0+ (1,0) [0|1] "" BDY - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY - SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" BDY - -BO_ 804 CRUISE: 8 PCM - SG_ HUD_SPEED_KPH : 7|8@0+ (1,0) [0|255] "kph" EON - SG_ HUD_SPEED_MPH : 15|8@0+ (1,0) [0|255] "mph" EON - SG_ TRIP_FUEL_CONSUMED : 23|16@0+ (1,0) [0|255] "" EON - SG_ CRUISE_SPEED_PCM : 39|8@0+ (1,0) [0|255] "" EON - SG_ BOH2 : 47|8@0- (1,0) [0|255] "" EON - SG_ BOH3 : 55|8@0+ (1,0) [0|255] "" EON - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON - -BO_ 884 STALK_STATUS: 8 XXX - SG_ DASHBOARD_ALERT : 39|8@0+ (1,0) [0|255] "" EON - SG_ AUTO_HEADLIGHTS : 46|1@0+ (1,0) [0|1] "" EON - SG_ HIGH_BEAM_HOLD : 47|1@0+ (1,0) [0|1] "" EON - SG_ HIGH_BEAM_FLASH : 45|1@0+ (1,0) [0|1] "" EON - SG_ HEADLIGHTS_ON : 54|1@0+ (1,0) [0|1] "" EON - SG_ WIPER_SWITCH : 53|2@0+ (1,0) [0|3] "" XXX - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON - -BO_ 891 STALK_STATUS_2: 8 XXX - SG_ WIPERS : 17|2@0+ (1,0) [0|3] "" EON - SG_ LOW_BEAMS : 35|1@0+ (1,0) [0|1] "" XXX - SG_ HIGH_BEAMS : 34|1@0+ (1,0) [0|1] "" XXX - SG_ PARK_LIGHTS : 36|1@0+ (1,0) [0|1] "" XXX - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON - -BO_ 1029 DOORS_STATUS: 8 BDY - SG_ DOOR_OPEN_FL : 37|1@0+ (1,0) [0|1] "" EON - SG_ DOOR_OPEN_FR : 38|1@0+ (1,0) [0|1] "" EON - SG_ DOOR_OPEN_RL : 39|1@0+ (1,0) [0|1] "" EON - SG_ DOOR_OPEN_RR : 40|1@0+ (1,0) [0|1] "" EON - SG_ TRUNK_OPEN : 41|1@0+ (1,0) [0|1] "" EON - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON - -CM_ SG_ 304 "Seems to be platform-agnostic"; -CM_ SG_ 316 "Should exist on Nidec"; -CM_ SG_ 420 BRAKE_HOLD_RELATED "On when Brake Hold engaged"; -CM_ SG_ 490 LONG_ACCEL "wheel speed derivative, noisy and zero snapping"; -CM_ SG_ 773 PASS_AIRBAG_ON "Might just be indicator light"; -CM_ SG_ 773 PASS_AIRBAG_OFF "Might just be indicator light"; -CM_ SG_ 780 CRUISE_SPEED "255 = no speed"; -CM_ SG_ 780 PCM_SPEED "Used by Nidec"; -CM_ SG_ 780 PCM_GAS "Used by Nidec"; -CM_ SG_ 804 CRUISE_SPEED_PCM "255 = no speed"; - -VAL_ 780 CRUISE_SPEED 255 "no_speed" 252 "stopped"; -VAL_ 780 HUD_LEAD 3 "acc_off" 2 "solid_car" 1 "dashed_car" 0 "no_car"; -VAL_ 884 DASHBOARD_ALERT 0 "none" 51 "acc_problem" 55 "cmbs_problem" 75 "key_not_detected" 79 "fasten_seatbelt" 111 "lkas_problem" 131 "brake_system_problem" 132 "brake_hold_problem" 139 "tbd" 161 "door_open"; -VAL_ 891 WIPERS 4 "High" 2 "Low" 0 "Off"; - - -CM_ "Imported file _bosch_2018.dbc starts here"; -BO_ 148 KINEMATICS: 8 XXX - SG_ LAT_ACCEL : 7|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON - SG_ LONG_ACCEL : 25|10@0+ (-0.035,17.92) [-20|20] "m/s2" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON - -BO_ 228 STEERING_CONTROL: 5 EON - SG_ STEER_TORQUE_REQUEST : 23|1@0+ (1,0) [0|1] "" EPS - SG_ SET_ME_X00 : 22|7@0+ (1,0) [0|127] "" EPS - SG_ SET_ME_X00_2 : 31|8@0+ (1,0) [0|0] "" EPS - SG_ STEER_TORQUE : 7|16@0- (1,0) [-4096|4096] "" EPS - SG_ STEER_DOWN_TO_ZERO : 38|1@0+ (1,0) [0|1] "" EPS - SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" EPS - SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" EPS - -BO_ 229 BOSCH_SUPPLEMENTAL_1: 8 XXX - SG_ SET_ME_X04 : 0|8@1+ (1,0) [0|255] "" XXX - SG_ SET_ME_X00 : 8|8@1+ (1,0) [0|255] "" XXX - SG_ SET_ME_X80 : 16|8@1+ (1,0) [0|255] "" XXX - SG_ SET_ME_X10 : 24|8@1+ (1,0) [0|255] "" XXX - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX - -BO_ 232 BRAKE_HOLD: 7 XXX - SG_ XMISSION_SPEED : 7|14@0- (1,0) [1|0] "" XXX - SG_ COMPUTER_BRAKE : 39|16@0+ (1,0) [0|0] "" XXX - SG_ COMPUTER_BRAKE_REQUEST : 29|1@0+ (1,0) [0|0] "" XXX - SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" XXX - SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" XXX - -BO_ 399 STEER_STATUS: 7 EPS - SG_ STEER_TORQUE_SENSOR : 7|16@0- (-1,0) [-31000|31000] "tbd" EON - SG_ STEER_ANGLE_RATE : 23|16@0- (-0.1,0) [-31000|31000] "deg/s" EON - SG_ STEER_STATUS : 39|4@0+ (1,0) [0|15] "" EON - SG_ STEER_CONTROL_ACTIVE : 35|1@0+ (1,0) [0|1] "" EON - SG_ STEER_CONFIG_INDEX : 43|4@0+ (1,0) [0|15] "" EON - SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON - -BO_ 450 EPB_STATUS: 8 EPB - SG_ EPB_ACTIVE : 3|1@0+ (1,0) [0|1] "" EON - SG_ EPB_STATE : 29|2@0+ (1,0) [0|3] "" EON - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX - -BO_ 545 XXX_16: 6 SCM - SG_ ECON_ON : 23|1@0+ (1,0) [0|1] "" XXX - SG_ DRIVE_MODE : 37|2@0+ (1,0) [0|3] "" XXX - SG_ COUNTER : 45|2@0+ (1,0) [0|3] "" BDY - SG_ CHECKSUM : 43|4@0+ (1,0) [0|15] "" BDY - -BO_ 576 LEFT_LANE_LINE_1: 8 CAM - SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX - SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX - SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX - SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX - SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX - SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX - SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX - -BO_ 577 LEFT_LANE_LINE_2: 8 CAM - SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX - SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX - SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX - SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX - SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX - SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX - SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX - SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX - -BO_ 579 RIGHT_LANE_LINE_1: 8 CAM - SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX - SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX - SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX - SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX - SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX - SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX - SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX - -BO_ 580 RIGHT_LANE_LINE_2: 8 CAM - SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX - SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX - SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX - SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX - SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX - SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX - SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX - SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX - -BO_ 582 ADJACENT_LEFT_LANE_LINE_1: 8 CAM - SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX - SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX - SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX - SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX - SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX - SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX - SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX - -BO_ 583 ADJACENT_LEFT_LANE_LINE_2: 8 CAM - SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX - SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX - SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX - SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX - SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX - SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX - SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX - SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX - -BO_ 585 ADJACENT_RIGHT_LANE_LINE_1: 8 CAM - SG_ LINE_DISTANCE_VISIBLE : 39|9@0+ (1,0) [0|1] "" XXX - SG_ LINE_PROBABILITY : 46|6@0+ (0.015625,0) [0|1] "" XXX - SG_ LINE_OFFSET : 23|12@0+ (0.004,-8.192) [0|1] "Meters" XXX - SG_ LINE_ANGLE : 7|12@0+ (0.0005,-1.024) [0|1] "" XXX - SG_ FRAME_INDEX : 8|4@1+ (1,0) [0|15] "" XXX - SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX - SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX - -BO_ 586 ADJACENT_RIGHT_LANE_LINE_2: 8 CAM - SG_ LINE_FAR_EDGE_POSITION : 55|8@0+ (1,-128) [0|1] "" XXX - SG_ LINE_SOLID : 13|1@0+ (1,0) [0|1] "" XXX - SG_ LINE_DASHED : 14|1@0+ (1,0) [0|1] "" XXX - SG_ LINE_CURVATURE : 23|12@0+ (0.00001,-0.02048) [0|1] "" XXX - SG_ LINE_PARAMETER : 39|12@0+ (1,0) [0|1] "" XXX - SG_ FRAME_INDEX : 7|4@0+ (1,0) [0|15] "" XXX - SG_ COUNTER : 61|2@0+ (1,0) [0|1] "" XXX - SG_ CHECKSUM : 59|4@0+ (1,0) [0|1] "" XXX - -BO_ 597 ROUGH_WHEEL_SPEED: 8 VSA - SG_ WHEEL_SPEED_FL : 7|8@0+ (1,0) [0|255] "mph" EON - SG_ WHEEL_SPEED_FR : 15|8@0+ (1,0) [0|255] "mph" EON - SG_ WHEEL_SPEED_RL : 23|8@0+ (1,0) [0|255] "mph" EON - SG_ WHEEL_SPEED_RR : 31|8@0+ (1,0) [0|255] "mph" EON - SG_ SET_TO_X55 : 39|8@0+ (1,0) [0|255] "" XXX - SG_ SET_TO_X55_2 : 47|8@0+ (1,0) [0|255] "" EON - SG_ LONG_COUNTER : 55|8@0+ (1,0) [0|255] "" XXX - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX - -BO_ 662 SCM_BUTTONS: 4 SCM - SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON - SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" EON - SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON - -BO_ 806 SCM_FEEDBACK: 8 SCM - SG_ DRIVERS_DOOR_OPEN : 17|1@0+ (1,0) [0|1] "" XXX - SG_ MAIN_ON : 28|1@0+ (1,0) [0|1] "" EON - SG_ RIGHT_BLINKER : 27|1@0+ (1,0) [0|1] "" EON - SG_ LEFT_BLINKER : 26|1@0+ (1,0) [0|1] "" EON - SG_ CMBS_STATES : 22|2@0+ (1,0) [0|3] "" EON - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX - -BO_ 862 CAMERA_MESSAGES: 8 CAM - SG_ ZEROS_BOH : 7|50@0+ (1,0) [0|127] "" BDY - SG_ AUTO_HIGHBEAMS_ACTIVE : 53|1@0+ (1,0) [0|1] "" XXX - SG_ HIGHBEAMS_ON : 52|1@0+ (1,0) [0|1] "" XXX - SG_ ZEROS_BOH_2 : 51|4@0+ (1,0) [0|15] "" XXX - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX - -BO_ 927 RADAR_HUD: 8 RADAR - SG_ ZEROS_BOH : 7|10@0+ (1,0) [0|127] "" BDY - SG_ CMBS_OFF : 12|1@0+ (1,0) [0|1] "" BDY - SG_ RESUME_INSTRUCTION : 21|1@0+ (1,0) [0|1] "" XXX - SG_ SET_TO_1 : 13|1@0+ (1,0) [0|1] "" BDY - SG_ ZEROS_BOH2 : 11|4@0+ (1,0) [0|1] "" XXX - SG_ APPLY_BRAKES_FOR_CANC : 23|1@0+ (1,0) [0|1] "" XXX - SG_ ACC_ALERTS : 20|5@0+ (1,0) [0|1] "" BDY - SG_ SET_TO_0 : 22|1@0+ (1,0) [0|1] "" XXX - SG_ HUD_LEAD : 40|1@0+ (1,0) [0|1] "" XXX - SG_ SET_TO_64 : 31|8@0+ (1,0) [0|255] "" XXX - SG_ LEAD_DISTANCE : 39|8@0+ (1,0) [0|255] "" XXX - SG_ ZEROS_BOH3 : 47|7@0+ (1,0) [0|127] "" XXX - SG_ ZEROS_BOH4 : 55|8@0+ (1,0) [0|255] "" XXX - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX - -BO_ 13274 LKAS_HUD_A: 5 ADAS - SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY - SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY - SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY - SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY - SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY - SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY - SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY - SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY - SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY - SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY - SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY - SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY - SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY - SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY - SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY - SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY - SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY - SG_ COUNTER : 37|2@0+ (1,0) [0|3] "" BDY - SG_ CHECKSUM : 35|4@0+ (1,0) [0|15] "" BDY - -BO_ 13275 LKAS_HUD_B: 8 ADAS - SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY - SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY - SG_ BOH : 6|7@0+ (1,0) [0|127] "" BDY - SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" BDY - SG_ DTC : 13|1@0+ (1,0) [0|1] "" BDY - SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" BDY - SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" BDY - SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY - SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY - SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY - SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY - SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY - SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY - SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY - SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY - SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" BDY - SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" BDY - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" BDY - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" BDY - -CM_ SG_ 450 EPB_STATE "3: On, 2: Disengaging, 1: Engaging, 0: Off"; -CM_ SG_ 576 LINE_DISTANCE_VISIBLE "Length of line visible, undecoded"; -CM_ SG_ 577 LINE_FAR_EDGE_POSITION "Appears to be a measure of line thickness, indicates location of the portion of the line furthest from the car, undecoded"; -CM_ SG_ 577 LINE_PARAMETER "Unclear if this is low quality line curvature rate or if this is something else, but it is correlated with line curvature, undecoded"; -CM_ SG_ 577 LINE_DASHED "1 = line is dashed"; -CM_ SG_ 577 LINE_SOLID "1 = line is solid"; - -VAL_ 399 STEER_STATUS 6 "tmp_fault" 5 "fault_1" 4 "no_torque_alert_2" 3 "low_speed_lockout" 2 "no_torque_alert_1" 0 "normal"; - - -CM_ "Imported file _steering_sensors_a.dbc starts here"; -BO_ 330 STEERING_SENSORS: 8 EPS - SG_ STEER_ANGLE : 7|16@0- (-0.1,0) [-500|500] "deg" EON - SG_ STEER_ANGLE_RATE : 23|16@0- (-1,0) [-3000|3000] "deg/s" EON - SG_ STEER_SENSOR_STATUS_1 : 34|1@0+ (1,0) [0|1] "" EON - SG_ STEER_SENSOR_STATUS_2 : 33|1@0+ (1,0) [0|1] "" EON - SG_ STEER_SENSOR_STATUS_3 : 32|1@0+ (1,0) [0|1] "" EON - SG_ STEER_WHEEL_ANGLE : 47|16@0- (-0.1,0) [-500|500] "deg" EON - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON - -CM_ "honda_pilot_2023_can.dbc starts here"; - -BO_ 419 GEARBOX: 8 XXX - SG_ GEAR_SHIFTER : 24|8@1+ (1,0) [0|255] "" XXX - SG_ GEAR : 32|8@1+ (1,0) [0|255] "" XXX - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX - -BO_ 432 STANDSTILL: 7 VSA - SG_ WHEELS_MOVING : 12|1@0+ (1,0) [0|1] "" EON - SG_ BRAKE_ERROR_1 : 11|1@0+ (1,0) [0|1] "" EON - SG_ BRAKE_ERROR_2 : 9|1@0+ (1,0) [0|1] "" EON - SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON - -BO_ 446 BRAKE_MODULE: 3 VSA - SG_ BRAKE_PRESSED : 4|1@0+ (1,0) [0|1] "" XXX - SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" XXX - SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" XXX - -BO_ 479 ACC_CONTROL: 8 EON - SG_ SET_TO_0 : 20|5@0+ (1,0) [0|1] "" XXX - SG_ CONTROL_ON : 23|3@0+ (1,0) [0|5] "" XXX - SG_ GAS_COMMAND : 7|16@0- (1,0) [0|0] "" XXX - SG_ ACCEL_COMMAND : 31|11@0- (0.01,0) [0|0] "m/s2" XXX - SG_ BRAKE_LIGHTS : 62|1@0+ (1,0) [0|1] "" XXX - SG_ BRAKE_REQUEST : 34|1@0+ (1,0) [0|1] "" XXX - SG_ STANDSTILL : 35|1@0+ (1,0) [0|1] "" XXX - SG_ STANDSTILL_RELEASE : 36|1@0+ (1,0) [0|1] "" XXX - SG_ AEB_STATUS : 33|1@0+ (1,0) [0|1] "" XXX - SG_ AEB_BRAKING : 47|1@0+ (1,0) [0|1] "" XXX - SG_ AEB_PREPARE : 43|1@0+ (1,0) [0|1] "" XXX - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX - -BO_ 495 ACC_CONTROL_ON: 8 XXX - SG_ SET_TO_75 : 31|8@0+ (1,0) [0|255] "" XXX - SG_ SET_TO_30 : 39|8@0+ (1,0) [0|255] "" XXX - SG_ ZEROS_BOH : 23|8@0+ (1,0) [0|255] "" XXX - SG_ ZEROS_BOH2 : 47|16@0+ (1,0) [0|255] "" XXX - SG_ SET_TO_FF : 15|8@0+ (1,0) [0|255] "" XXX - SG_ SET_TO_3 : 6|7@0+ (1,0) [0|4095] "" XXX - SG_ CONTROL_ON : 7|1@0+ (1,0) [0|1] "" XXX - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX - -BO_ 829 LKAS_HUD: 8 XXX - SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" XXX - SG_ BOH : 6|7@0+ (1,0) [0|127] "" XXX - SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" XXX - SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" XXX - SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" XXX - SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" XXX - SG_ LKAS_OFF : 11|1@0+ (1,0) [0|1] "" XXX - SG_ LKAS_PROBLEM : 12|1@0+ (1,0) [0|1] "" XXX - SG_ DTC : 13|1@0+ (1,0) [0|1] "" XXX - SG_ DASHED_LANES : 14|1@0+ (1,0) [0|1] "" XXX - SG_ BEEP : 17|2@0+ (1,0) [0|1] "" XXX - SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" XXX - SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" XXX - SG_ CLEAN_WINDSHIELD : 26|1@0+ (1,0) [0|1] "" XXX - SG_ LDW_OFF : 27|1@0+ (1,0) [0|1] "" XXX - SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" XXX - SG_ SET_ME_X48 : 31|8@0+ (1,0) [0|255] "" XXX - SG_ LANE_LINES : 36|2@0+ (1,0) [0|3] "" XXX - SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX - -BO_ 1302 ODOMETER: 8 XXX - SG_ ODOMETER : 7|24@0+ (1,0) [0|16777215] "km" EON - SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON - SG_ CHECKSUM : 59|4@0+ (1,0) [0|3] "" EON - -CM_ SG_ 479 CONTROL_ON "Set to 5 when car is being controlled"; -CM_ SG_ 479 AEB_STATUS "set for the duration of AEB event"; -CM_ SG_ 479 AEB_BRAKING "set when braking is commanded during AEB event"; -CM_ SG_ 479 AEB_PREPARE "set 1s before AEB"; -CM_ SG_ 829 BEEP "beeps are pleasant, chimes are for warnings etc..."; -CM_ SG_ 829 LANE_LINES "related to lane lines on cluster, left/right white/green"; - -VAL_ 419 GEAR_SHIFTER 2 "S" 32 "D" 16 "N" 8 "R" 4 "P"; -VAL_ 419 GEAR 26 "S" 20 "D" 19 "N" 18 "R" 17 "P"; -VAL_ 829 BEEP 3 "single_beep" 2 "triple_beep" 1 "repeated_beep" 0 "no_beep"; -VAL_ 829 LANE_LINES 7 "both_lines_green" 6 "both_lines_white" 2 "left_line_white" 0 "no_lines"; diff --git a/opendbc/hyundai_2015_ccan.dbc b/opendbc/hyundai_2015_ccan.dbc deleted file mode 100644 index fc1e1739071f59..00000000000000 --- a/opendbc/hyundai_2015_ccan.dbc +++ /dev/null @@ -1,1416 +0,0 @@ -VERSION "" - - -NS_ : - NS_DESC_ - CM_ - BA_DEF_ - BA_ - VAL_ - CAT_DEF_ - CAT_ - FILTER - BA_DEF_DEF_ - EV_DATA_ - ENVVAR_DATA_ - SGTYPE_ - SGTYPE_VAL_ - BA_DEF_SGTYPE_ - BA_SGTYPE_ - SIG_TYPE_REF_ - VAL_TABLE_ - SIG_GROUP_ - SIG_VALTYPE_ - SIGTYPE_VALTYPE_ - BO_TX_BU_ - BA_DEF_REL_ - BA_REL_ - BA_DEF_DEF_REL_ - BU_SG_REL_ - BU_EV_REL_ - BU_BO_REL_ - SG_MUL_VAL_ - -BS_: - -BU_: IAP ODS _4WD BCM HUD DATC MDPS AAF_Tester AEMC SMK _4WD EPB CUBIS MTS TMU EVP CGW TPMS LPI DI_BOX SPAS EMS LCA TCU IBOX FATC AFLS FPCM SCC AHLS AVM ABS SNV OPI PGS SAS AAF Dummy LDWS_LKAS LVR ESC PSB CLU ECS ACU REA - -BO_ 1532 ODS13: 5 ODS - SG_ CR_Ods_ID : 0|8@1+ (1.0,0.0) [0.0|255.0] "" ACU - SG_ CR_Ods_Chksum_H : 8|8@1+ (1.0,0.0) [0.0|255.0] "" Dummy - SG_ CR_Ods_Chksum_L : 16|8@1+ (1.0,0.0) [0.0|255.0] "" Dummy - SG_ CR_Ods_RomID_H : 24|8@1+ (1.0,0.0) [0.0|255.0] "" Dummy - SG_ CR_Ods_RomID_L : 32|8@1+ (1.0,0.0) [0.0|255.0] "" Dummy - -BO_ 1531 ODS12: 8 ODS - SG_ CR_Ods_SerNum0 : 0|8@1+ (1.0,0.0) [0.0|255.0] "" ACU - SG_ CR_Ods_SerNum1 : 8|8@1+ (1.0,0.0) [0.0|255.0] "" ACU - SG_ CR_Ods_SerNum2 : 16|8@1+ (1.0,0.0) [0.0|255.0] "" ACU - SG_ CR_Ods_SerNum3 : 24|8@1+ (1.0,0.0) [0.0|255.0] "" ACU - SG_ CR_Ods_SerNum4 : 32|8@1+ (1.0,0.0) [0.0|255.0] "" ACU - SG_ CR_Ods_SerNum5 : 40|8@1+ (1.0,0.0) [0.0|255.0] "" ACU - SG_ CR_Ods_SerNum6 : 48|8@1+ (1.0,0.0) [0.0|255.0] "" ACU - SG_ CR_Ods_SerNum7 : 56|8@1+ (1.0,0.0) [0.0|255.0] "" ACU - -BO_ 1530 ODS11: 8 ODS - SG_ CF_Ods_PrcCmd : 1|1@1+ (1.0,0.0) [0.0|1.0] "" Dummy - SG_ CF_Ods_BtsFail : 3|1@1+ (1.0,0.0) [0.0|1.0] "" Dummy - SG_ CF_Ods_AcuRcvSN : 4|1@1+ (1.0,0.0) [0.0|1.0] "" ACU - SG_ CF_Ods_EolCal : 5|1@1+ (1.0,0.0) [0.0|1.0] "" ACU - SG_ CF_Ods_PsFail : 6|1@1+ (1.0,0.0) [0.0|1.0] "" ACU - SG_ CF_Ods_EcuFail : 7|1@1+ (1.0,0.0) [0.0|1.0] "" ACU - SG_ CF_Ods_WgtStat : 8|1@1+ (1.0,0.0) [0.0|1.0] "" ACU - SG_ CF_Ods_OccStat : 16|1@1+ (1.0,0.0) [0.0|1.0] "" ACU - SG_ CR_Wcs_ErrStat : 32|8@1+ (1.0,0.0) [0.0|63.0] "" ACU - SG_ CR_Wcs_ClassStat : 40|8@1+ (1.0,0.0) [0.0|4.0] "" ACU,BCM - -BO_ 1017 ECS12: 4 ECS - SG_ Height_FL : 0|8@1+ (1.0,-128.0) [-128.0|127.0] "mm" AFLS - SG_ Height_FR : 8|8@1+ (1.0,-128.0) [-128.0|127.0] "mm" AFLS - SG_ Height_RL : 16|8@1+ (1.0,-128.0) [-128.0|127.0] "mm" AFLS - SG_ Height_RR : 24|8@1+ (1.0,-128.0) [-128.0|127.0] "mm" AFLS - -BO_ 1268 SPAS12: 8 SPAS - SG_ CF_Spas_HMI_Stat : 0|8@1+ (1.0,0.0) [0.0|255.0] "" CLU - SG_ CF_Spas_Disp : 8|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,EMS - SG_ CF_Spas_FIL_Ind : 10|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU - SG_ CF_Spas_FIR_Ind : 13|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU - SG_ CF_Spas_FOL_Ind : 16|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU - SG_ CF_Spas_FOR_Ind : 19|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU - SG_ CF_Spas_VolDown : 22|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ CF_Spas_RIL_Ind : 24|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU - SG_ CF_Spas_RIR_Ind : 27|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU - SG_ CF_Spas_FLS_Alarm : 30|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ CF_Spas_ROL_Ind : 32|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU - SG_ CF_Spas_ROR_Ind : 35|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU - SG_ CF_Spas_FCS_Alarm : 38|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ CF_Spas_FI_Ind : 40|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU - SG_ CF_Spas_RI_Ind : 43|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU - SG_ CF_Spas_FRS_Alarm : 46|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ CF_Spas_FR_Alarm : 48|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CLU - SG_ CF_Spas_RR_Alarm : 50|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CLU - SG_ CF_Spas_BEEP_Alarm : 52|4@1+ (1.0,0.0) [0.0|15.0] "" BCM,CLU - SG_ CF_Spas_StatAlarm : 56|1@1+ (1.0,0.0) [0.0|1.0] "" CLU - SG_ CF_Spas_RLS_Alarm : 57|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ CF_Spas_RCS_Alarm : 59|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ CF_Spas_RRS_Alarm : 61|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - -BO_ 1265 CLU11: 4 CLU - SG_ CF_Clu_CruiseSwState : 0|3@1+ (1.0,0.0) [0.0|7.0] "" EMS,LDWS_LKAS,SCC - SG_ CF_Clu_CruiseSwMain : 3|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,LDWS_LKAS,SCC - SG_ CF_Clu_SldMainSW : 4|1@1+ (1.0,0.0) [0.0|1.0] "" EMS - SG_ CF_Clu_ParityBit1 : 5|1@1+ (1.0,0.0) [0.0|1.0] "pulse count" EMS - SG_ CF_Clu_VanzDecimal : 6|2@1+ (0.125,0.0) [0.0|0.375] "" EMS - SG_ CF_Clu_Vanz : 8|9@1+ (0.5,0.0) [0.0|255.5] "km/h or MPH" BCM,CUBIS,EMS,IBOX,LDWS_LKAS,MDPS,SCC - SG_ CF_Clu_SPEED_UNIT : 17|1@1+ (1.0,0.0) [0.0|1.0] "" BCM,CUBIS,EMS,IBOX,LDWS_LKAS,MDPS,SCC - SG_ CF_Clu_DetentOut : 18|1@1+ (1.0,0.0) [0.0|1.0] "" AVM,BCM,LCA,PGS,SPAS - SG_ CF_Clu_RheostatLevel : 19|5@1+ (1.0,0.0) [0.0|31.0] "" AVM,BCM,LCA,PGS,SPAS - SG_ CF_Clu_CluInfo : 24|1@1+ (1.0,0.0) [0.0|1.0] "" BCM - SG_ CF_Clu_AmpInfo : 25|1@1+ (1.0,0.0) [0.0|1.0] "" BCM - SG_ CF_Clu_AliveCnt1 : 28|4@1+ (1.0,0.0) [0.0|15.0] "" AHLS,EMS,EPB,LDWS_LKAS,MDPS,SCC - -BO_ 1492 TMU_GW_PE_01: 8 CLU - SG_ TMU_IVRActivity : 0|2@1+ (1.0,0.0) [0.0|3.0] "" DATC - SG_ TMU_PhoneActivity : 2|2@1+ (1.0,0.0) [0.0|3.0] "" DATC - -BO_ 1491 HU_DATC_PE_00: 8 CLU - SG_ HU_VRActivity : 0|2@1+ (1.0,0.0) [0.0|3.0] "" DATC - SG_ HU_PhoneActivity : 2|2@1+ (1.0,0.0) [0.0|3.0] "" DATC - SG_ BlowerNoiseControl : 4|2@1+ (1.0,0.0) [0.0|3.0] "" DATC - -BO_ 1490 HU_DATC_E_02: 8 CLU - SG_ HU_DATC_RearOnOffSet : 6|2@1+ (1.0,0.0) [0.0|3.0] "" DATC - SG_ HU_DATC_ADSOnOffSet : 8|2@1+ (1.0,0.0) [0.0|3.0] "" DATC - -BO_ 1479 EMS21: 8 EMS - SG_ SCR_LEVEL_WARN_LAMP : 0|1@1+ (1.0,0.0) [0.0|1.0] "" CLU - SG_ SCR_LEVEL_WARN : 1|3@1+ (1.0,0.0) [0.0|4.0] "" CLU - SG_ SCR_SYS_ERROR_WARN : 4|3@1+ (1.0,0.0) [0.0|7.0] "" CLU - SG_ SCR_SYSTEM_WARN_LAMP : 7|1@1+ (1.0,0.0) [0.0|1.0] "" CLU - SG_ SCR_INDUCEMENT_EXIT_COND : 8|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ SCR_UREA_LEVEL : 16|8@1+ (0.5,0.0) [0.0|100.0] "%" CLU - SG_ SCR_NO_REMAINING_RESTARTS : 24|8@1+ (1.0,0.0) [0.0|255.0] "" CLU - SG_ SCR_REMAINING_DISTANCE : 32|16@1+ (1.0,0.0) [0.0|25000.0] "km" CLU - -BO_ 1472 GW_Warning_PE: 8 BCM - SG_ Audio_VolumeDown : 38|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ Pas_Spkr_Flh_Alarm : 48|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ Pas_Spkr_Fcnt_Alarm : 50|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ Pas_Spkr_Frh_Alarm : 52|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ Pas_Spkr_Rlh_Alarm : 56|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,PGS - SG_ Pas_Spkr_Rcnt_Alarm : 58|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ Pas_Spkr_Rrh_Alarm : 60|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,PGS - -BO_ 1984 CAL_SAS11: 2 ESC - SG_ CCW : 0|4@1+ (1.0,0.0) [0.0|15.0] "" SAS - SG_ SAS_CID : 4|11@1+ (1.0,0.0) [0.0|2047.0] "" SAS - -BO_ 1456 CLU12: 4 CLU - SG_ CF_Clu_Odometer : 0|24@1+ (0.1,0.0) [0.0|1677721.4] "km" _4WD,AAF,BCM,CUBIS,EMS,EPB,IBOX,LDWS_LKAS,SCC,TPMS - -BO_ 688 SAS11: 5 MDPS - SG_ SAS_Angle : 0|16@1- (0.1,0.0) [-3276.8|3276.7] "Deg" _4WD,ACU,AFLS,AVM,CLU,ECS,EMS,ESC,IBOX,LCA,LDWS_LKAS,PGS,PSB,SCC,SPAS,TCU,_4WD,ACU,AFLS,AVM,BCM,CLU,ECS,EMS,ESC,IBOX,LCA,LDWS_LKAS,PGS,PSB,SCC,SPAS,TCU - SG_ SAS_Speed : 16|8@1+ (4.0,0.0) [0.0|1016.0] "" AFLS,ECS,ESC,IBOX,LDWS_LKAS,SCC,SPAS,TCU,AFLS,ECS,ESC,IBOX,LDWS_LKAS,SCC,SPAS,TCU - SG_ SAS_Stat : 24|8@1+ (1.0,0.0) [0.0|255.0] "" ECS,ESC,IBOX,LDWS_LKAS,PSB,SCC,SPAS,TCU,ECS,ESC,IBOX,LDWS_LKAS,PSB,SCC,SPAS,TCU - SG_ MsgCount : 32|4@1+ (1.0,0.0) [0.0|15.0] "" ECS,ESC,IBOX,LDWS_LKAS,PSB,SCC,SPAS,ECS,ESC,IBOX,LDWS_LKAS,PSB,SCC,SPAS - SG_ CheckSum : 36|4@1+ (1.0,0.0) [0.0|15.0] "" ECS,EMS,ESC,IBOX,LDWS_LKAS,PSB,SCC,SPAS,ECS,EMS,ESC,IBOX,LDWS_LKAS,PSB,SCC,SPAS - -BO_ 1441 ACU12: 8 ACU - SG_ CR_Acu_SN : 0|64@1+ (1.0,0.0) [0.0|0.0] "" ODS - -BO_ 1440 ACU11: 8 ACU - SG_ CF_Ods_SNRcv : 1|1@1+ (1.0,0.0) [0.0|1.0] "" ODS - SG_ CF_Ods_IDRcv : 2|1@1+ (1.0,0.0) [0.0|1.0] "" ODS - SG_ CF_Ods_RZReq : 4|1@1+ (1.0,0.0) [0.0|1.0] "" ODS - SG_ CF_Abg_DepInhEnt : 6|1@1+ (1.0,0.0) [0.0|1.0] "" ODS - SG_ CF_Abg_DepEnt : 7|1@1+ (1.0,0.0) [0.0|1.0] "" ODS - SG_ CF_PasBkl_FltStat : 28|1@1+ (1.0,0.0) [0.0|1.0] "" ODS,PSB - SG_ CF_DriBkl_FltStat : 29|1@1+ (1.0,0.0) [0.0|1.0] "" ODS,PSB - SG_ CF_PasBkl_Stat : 30|1@1+ (1.0,0.0) [0.0|1.0] "" IBOX,ODS,PSB,TMU - SG_ CF_DriBkl_Stat : 31|1@1+ (1.0,0.0) [0.0|1.0] "" ODS,PSB - SG_ CF_SWL_Ind : 32|2@1+ (1.0,0.0) [0.0|3.0] "" CUBIS,IBOX - SG_ CF_Acu_FltStat : 34|2@1+ (1.0,0.0) [0.0|3.0] "" CUBIS,IBOX - SG_ CF_Acu_ExtOfSab : 36|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CLU,CUBIS,IBOX - SG_ CF_Acu_Dtc : 40|16@1+ (1.0,0.0) [0.0|65535.0] "" CUBIS,IBOX - SG_ CF_Acu_NumOfFlt : 56|8@1+ (1.0,0.0) [0.0|255.0] "" CUBIS,IBOX - -BO_ 1437 AHLS11: 8 AHLS - SG_ CF_Ahls_WarnLamp : 0|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ CF_Ahls_WarnMsg : 2|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - -BO_ 1434 PSB11: 2 PSB - SG_ PSB_LH_FAIL : 0|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ PSB_LH_TGL : 2|1@1+ (1.0,0.0) [0.0|1.0] "" CLU - SG_ PSB_LH_ACT : 3|4@1+ (1.0,0.0) [0.0|4.0] "" Dummy - SG_ PSB_RH_FAIL : 8|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ PSB_RH_TGL : 10|1@1+ (1.0,0.0) [0.0|1.0] "" CLU - SG_ PSB_RH_ACT : 11|4@1+ (1.0,0.0) [0.0|4.0] "" Dummy - -BO_ 916 TCS13: 8 ESC - SG_ aBasis : 0|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2" EMS,SCC - SG_ BrakeLight : 11|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,EMS,SCC - SG_ DCEnable : 12|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,SCC - SG_ AliveCounterTCS : 13|3@1+ (1.0,0.0) [0.0|7.0] "" EMS,SCC - SG_ ACCReqLim : 22|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,SCC - SG_ TQI_ACC : 24|8@1+ (0.390625,0.0) [0.0|99.609375] "%" EMS - SG_ ACCEL_REF_ACC : 32|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2" EMS,SCC - SG_ ACCEnable : 43|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,SCC - SG_ DriverOverride : 45|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,SCC - SG_ StandStill : 47|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,SCC - SG_ CheckSum_TCS3 : 48|4@1+ (1.0,0.0) [0.0|15.0] "" EMS,SCC - SG_ ACC_EQUIP : 52|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,SCC - SG_ PBRAKE_ACT : 53|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,SCC - SG_ ACC_REQ : 54|1@1+ (1.0,0.0) [0.0|1.0] "" EMS - SG_ DriverBraking : 55|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,SCC - SG_ CF_VSM_Coded : 56|1@1+ (1.0,0.0) [0.0|1.0] "" SCC - SG_ CF_VSM_Avail : 57|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,SCC - SG_ CF_VSM_Handshake : 59|1@1+ (1.0,0.0) [0.0|1.0] "" SCC - SG_ CF_DriBkeStat : 60|1@1+ (1.0,0.0) [0.0|1.0] "" SCC - SG_ CF_VSM_ConfSwi : 61|2@1+ (1.0,0.0) [0.0|3.0] "" SCC - SG_ AEB_EQUIP : 63|1@1+ (1.0,0.0) [0.0|1.0] "" SCC - -BO_ 1427 TPMS11: 6 BCM - SG_ TPMS_W_LAMP : 0|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,CUBIS,HUD,IBOX,CLU,CUBIS,HUD,IBOX - SG_ TREAD_W_LAMP : 2|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,CUBIS,HUD,IBOX,CLU,CUBIS,HUD,IBOX - SG_ POS_FL_W_LAMP : 4|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,CUBIS,HUD,IBOX - SG_ POS_FR_W_LAMP : 5|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,CUBIS,HUD,IBOX - SG_ POS_RL_W_LAMP : 6|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,CUBIS,HUD,IBOX - SG_ POS_RR_W_LAMP : 7|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,CUBIS,HUD,IBOX - SG_ STATUS_TPMS : 8|3@1+ (1.0,0.0) [0.0|0.0] "" CLU - SG_ UNIT : 11|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ PRESSURE_FL : 16|8@1+ (1.0,0.0) [0.0|255.0] "" CLU - SG_ PRESSURE_FR : 24|8@1+ (1.0,0.0) [0.0|255.0] "" CLU - SG_ PRESSURE_RL : 32|8@1+ (1.0,0.0) [0.0|255.0] "" CLU - SG_ PRESSURE_RR : 40|8@1+ (1.0,0.0) [0.0|255.0] "" CLU - -BO_ 915 TCS12: 4 ESC - SG_ SA_COUNT : 0|16@1+ (2.0,-32768.0) [-32768.0|98302.0] "" _4WD,ACU,MDPS - SG_ SA_Z_COUNT : 16|15@1+ (2.0,-32768.0) [-32768.0|32766.0] "" _4WD,ACU,MDPS - SG_ SA_Z_FLAG : 31|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ACU,MDPS - -BO_ 1170 EMS19: 8 EMS - SG_ CF_Ems_BrkReq : 0|1@1+ (1.0,0.0) [0.0|1.0] "" ESC,IBOX,TCU - SG_ CF_Ems_DnShftReq : 1|4@1+ (1.0,0.0) [0.0|14.0] "" IBOX,TCU - SG_ CF_Ems_RepModChk : 5|2@1+ (1.0,0.0) [0.0|3.0] "" IBOX - SG_ CF_Ems_AAFOpenReq : 7|1@1+ (1.0,0.0) [0.0|1.0] "" AAF,IBOX - SG_ CF_Ems_DecelReq : 8|12@1+ (0.0010,-4.094) [-4.094|0.0] "m/s^2" ESC,IBOX,TCU - SG_ CR_Ems_BstPre : 20|12@1+ (1.322,0.0) [0.0|4094.0] "hPa" CLU,IBOX - SG_ CR_Ems_EngOilTemp : 32|8@1+ (0.75,-40.0) [0.0|254.0] "deg" CLU,IBOX - SG_ DPF_LAMP_STAT : 40|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,IBOX - SG_ BAT_LAMP_STAT : 42|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX - SG_ CF_Ems_ModeledAmbTemp : 48|8@1+ (0.5,-41.0) [-41.0|85.5] "deg" AAF,IBOX - SG_ CF_Ems_OPSFail : 56|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX - SG_ CF_Ems_AliveCounterEMS9 : 58|2@1+ (1.0,0.0) [0.0|3.0] "" AAF,ABS,CUBIS,ECS,EPB,IBOX,MDPS,REA,SCC,SMK,TCU - SG_ CF_Ems_ChecksumEMS9 : 60|4@1+ (1.0,0.0) [0.0|15.0] "" AAF,ABS,CUBIS,ECS,EPB,IBOX,MDPS,REA,SCC,SMK,TCU - -BO_ 1425 AFLS11: 2 AFLS - SG_ AFLS_STAT : 1|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ CF_Afls_TrfChgStat : 3|1@1+ (1.0,0.0) [0.0|1.0] "" CLU - SG_ CF_Afls_LedHLStat : 4|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - -BO_ 912 SPAS11: 7 SPAS - SG_ CF_Spas_Stat : 0|4@1+ (1.0,0.0) [0.0|15.0] "" ESC,MDPS - SG_ CF_Spas_TestMode : 4|2@1+ (1.0,0.0) [0.0|3.0] "" MDPS - SG_ CR_Spas_StrAngCmd : 8|16@1- (0.1,0.0) [-3276.8|3276.7] "" MDPS - SG_ CF_Spas_BeepAlarm : 24|4@1+ (1.0,0.0) [0.0|15.0] "" CLU - SG_ CF_Spas_Mode_Seq : 28|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ CF_Spas_AliveCnt : 32|8@1+ (1.0,0.0) [0.0|255.0] "" MDPS - SG_ CF_Spas_Chksum : 40|8@1+ (1.0,0.0) [0.0|255.0] "" MDPS - SG_ CF_Spas_PasVol : 48|3@1+ (1.0,0.0) [0.0|7.0] "" CGW,CLU - -BO_ 1168 EPB11: 7 EPB - SG_ EPB_I_LAMP : 0|4@1+ (1.0,0.0) [0.0|15.0] "" BCM,CLU,CUBIS,ESC,IBOX - SG_ EPB_F_LAMP : 4|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,CUBIS,ESC,IBOX - SG_ EPB_ALARM : 6|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,ESC - SG_ EPB_CLU : 8|8@1+ (1.0,0.0) [0.0|255.0] "" CLU,ESC - SG_ EPB_SWITCH : 16|2@1+ (1.0,0.0) [0.0|3.0] "" ESC,SCC - SG_ EPB_RBL : 18|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,ESC - SG_ EPB_STATUS : 19|3@1+ (1.0,0.0) [0.0|7.0] "" CLU,EMS,ESC,SCC,TCU - SG_ EPB_FRC_ERR : 22|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,ESC,SCC,TCU - SG_ EPB_DBF_STAT : 24|1@1+ (1.0,0.0) [0.0|1.0] "" ESC - SG_ ESP_ACK : 25|1@1+ (1.0,0.0) [0.0|1.0] "" ESC - SG_ EPB_DBF_REQ : 26|1@1+ (1.0,0.0) [0.0|1.0] "" ESC - SG_ EPB_FAIL : 29|3@1+ (1.0,0.0) [0.0|7.0] "" ESC,SCC - SG_ EPB_FORCE : 32|12@1+ (1.0,-1000.0) [-1000.0|3000.0] "" ESC - SG_ EPB_DBF_DECEL : 48|8@1+ (0.01,0.0) [0.0|2.54] "g" ESC - -BO_ 399 EMS_H12: 8 EMS - SG_ R_TqAcnApvC : 0|8@1+ (0.2,0.0) [0.0|51.0] "Nm" DATC,IBOX - SG_ R_PAcnC : 8|8@1+ (125.0,0.0) [0.0|31875.0] "hPa" DATC,IBOX - SG_ TQI_B : 16|8@1+ (0.390625,0.0) [0.0|99.609375] "%" ABS,ESC,IBOX - SG_ SLD_VS : 24|8@1+ (1.0,0.0) [0.0|255.0] "km/h" CLU,IBOX - SG_ CF_CdaStat : 32|3@1+ (1.0,0.0) [0.0|7.0] "" AEMC,IBOX,TCU - SG_ CF_Ems_IsgStat : 35|3@1+ (1.0,0.0) [0.0|7.0] "" ABS,BCM,CLU,DATC,EPB,ESC,IBOX,LDWS_LKAS,MDPS,SMK,TCU - SG_ CF_Ems_OilChg : 38|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX - SG_ CF_Ems_EtcLimpMod : 39|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX - SG_ R_NEngIdlTgC : 40|8@1+ (10.0,0.0) [0.0|2550.0] "rpm" DATC,IBOX,TCU - SG_ CF_Ems_UpTarGr : 48|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX - SG_ CF_Ems_DownTarGr : 49|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX - SG_ CF_Ems_DesCurGr : 50|4@1+ (1.0,0.0) [0.0|15.0] "" CLU,IBOX - SG_ CF_Ems_SldAct : 54|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX - SG_ CF_Ems_SldPosAct : 55|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX - SG_ CF_Ems_HPresStat : 56|1@1+ (1.0,0.0) [0.0|1.0] "" IBOX,TCU - SG_ CF_Ems_IsgBuz : 57|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX - SG_ CF_Ems_IdlStpFCO : 58|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX - SG_ CF_Ems_FCopen : 59|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX - SG_ CF_Ems_ActEcoAct : 60|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX,TCU - SG_ CF_Ems_EngRunNorm : 61|1@1+ (1.0,0.0) [0.0|1.0] "" ABS,ESC,IBOX,TCU - SG_ CF_Ems_IsgStat2 : 62|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,IBOX,TCU - -BO_ 1419 LCA11: 8 LCA - SG_ CF_Lca_Stat : 0|4@1+ (1.0,0.0) [0.0|15.0] "" BCM,CLU - SG_ CF_Rcta_Stat : 4|4@1+ (1.0,0.0) [0.0|15.0] "" BCM,CLU - SG_ CF_Lca_IndLeft : 8|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CLU - SG_ CF_Rcw_Stat : 10|4@1+ (1.0,0.0) [0.0|15.0] "" BCM,CLU - SG_ CF_RCW_Warning : 14|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CLU - SG_ CF_Lca_IndRight : 16|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CLU - SG_ CF_Lca_SndWan_Stat : 18|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CLU - SG_ CF_FR_SndWan : 20|1@1+ (1.0,0.0) [0.0|1.0] "" BCM,CLU - SG_ CF_FL_SndWan : 21|1@1+ (1.0,0.0) [0.0|1.0] "" BCM,CLU - SG_ CF_RR_SndWan : 22|1@1+ (1.0,0.0) [0.0|1.0] "" BCM,CLU - SG_ CF_RL_SndWan : 23|1@1+ (1.0,0.0) [0.0|1.0] "" BCM,CLU - SG_ CF_Lca_IndBriLeft : 24|8@1+ (1.0,0.0) [0.0|255.0] "" BCM,CLU - SG_ CF_Lca_IndBriRight : 32|8@1+ (1.0,0.0) [0.0|255.0] "" BCM,CLU - SG_ CF_RCTA_IndBriLeft : 40|8@1+ (1.0,0.0) [0.0|255.0] "" BCM,CLU - SG_ CF_RCTA_IndBriRight : 48|8@1+ (1.0,0.0) [0.0|255.0] "" BCM,CLU - SG_ CF_RCTA_IndLeft : 56|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CLU - SG_ CF_RCTA_IndRight : 58|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CLU - SG_ CF_SndWarnForClu : 60|1@1+ (1.0,0.0) [0.0|1.0] "" CLU - -BO_ 906 ABS11: 8 ABS - SG_ ABS_DEF : 0|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ACU,EMS,SPAS,TCU - SG_ EBD_DEF : 1|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,EMS,SPAS,TCU - SG_ ABS_ACT : 2|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ACU,EPB,SPAS,TCU - SG_ ABS_W_LAMP : 3|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,CLU,CUBIS,MTS,TMU - SG_ EBD_W_LAMP : 4|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,CLU - SG_ ABS_DIAG : 5|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,CLU - SG_ ESS_STAT : 6|2@1+ (1.0,0.0) [0.0|3.0] "" _4WD,BCM,CLU,EMS - -BO_ 903 WHL_PUL11: 6 ABS - SG_ WHL_PUL_FL : 0|8@1+ (0.5,0.0) [0.0|127.5] "pulse count" CUBIS,EPB,IBOX,SPAS,TMU,TPMS,CUBIS,EPB,IBOX,LDWS_LKAS,SPAS,TMU,TPMS - SG_ WHL_PUL_FR : 8|8@1+ (0.5,0.0) [0.0|127.5] "pulse count" CUBIS,EPB,IBOX,SPAS,TMU,TPMS,CUBIS,EPB,IBOX,LDWS_LKAS,SPAS,TMU,TPMS - SG_ WHL_PUL_RL : 16|8@1+ (0.5,0.0) [0.0|127.5] "pulse count" CUBIS,EPB,IBOX,SPAS,TMU,TPMS,CUBIS,EPB,IBOX,LDWS_LKAS,SPAS,TMU,TPMS - SG_ WHL_PUL_RR : 24|8@1+ (0.5,0.0) [0.0|127.5] "pulse count" CUBIS,EPB,IBOX,SPAS,TMU,TPMS,CUBIS,EPB,IBOX,LDWS_LKAS,SPAS,TMU,TPMS - SG_ WHL_DIR_FL : 32|2@1+ (1.0,0.0) [0.0|3.0] "" EPB,SPAS,TPMS,EPB,LCA,SPAS,TPMS - SG_ WHL_DIR_FR : 34|2@1+ (1.0,0.0) [0.0|3.0] "" EPB,SPAS,TPMS,EPB,LCA,SPAS,TPMS - SG_ WHL_DIR_RL : 36|2@1+ (1.0,0.0) [0.0|3.0] "" EPB,SPAS,TPMS,EPB,LCA,SPAS,TPMS - SG_ WHL_DIR_RR : 38|2@1+ (1.0,0.0) [0.0|3.0] "" EPB,SPAS,TPMS,EPB,LCA,SPAS,TPMS - SG_ WHL_PUL_Chksum : 40|8@1+ (1.0,0.0) [0.0|255.0] "" EPB,SPAS,TPMS,EPB,LCA,LDWS_LKAS,SPAS,TPMS - -BO_ 1415 TMU11: 8 IBOX - SG_ CF_Tmu_VehSld : 0|1@1+ (1.0,0.0) [0.0|1.0] "" EMS - SG_ CF_Tmu_VehImmo : 1|1@1+ (1.0,0.0) [0.0|1.0] "" EMS - SG_ CF_Tmu_ReqRepCnd : 2|2@1+ (1.0,0.0) [0.0|3.0] "" EMS - SG_ CF_Tmu_AirconCtr : 4|1@1+ (1.0,0.0) [0.0|1.0] "" DATC - SG_ CF_Tmu_TempMd : 5|1@1+ (1.0,0.0) [0.0|1.0] "" DATC - SG_ CF_Tmu_TempSet : 6|16@1+ (1.0,0.0) [0.0|20.0] "" DATC - SG_ CF_Tmu_DefrostCtr : 22|1@1+ (1.0,0.0) [0.0|1.0] "" DATC,FATC - SG_ CF_Tmu_AliveCnt1 : 56|4@1+ (1.0,0.0) [0.0|15.0] "" EMS - -BO_ 902 WHL_SPD11: 8 ABS - SG_ WHL_SPD_FL : 0|14@1+ (0.03125,0.0) [0.0|511.96875] "km/h" _4WD,AFLS,AHLS,AVM,CLU,CUBIS,ECS,EMS,EPB,IBOX,LDWS_LKAS,PGS,PSB,SCC,SMK,SPAS,TCU,TPMS,_4WD,ACU,AFLS,AHLS,AVM,CLU,ECS,EMS,EPB,IBOX,LCA,LDWS_LKAS,PGS,PSB,SCC,SMK,SPAS,TCU,TPMS - SG_ WHL_SPD_FR : 16|14@1+ (0.03125,0.0) [0.0|511.96875] "km/h" _4WD,ACU,AFLS,AHLS,AVM,CLU,CUBIS,ECS,EMS,EPB,IBOX,LDWS_LKAS,PGS,PSB,SCC,SMK,SPAS,TCU,TPMS,_4WD,ACU,AFLS,AHLS,AVM,CLU,ECS,EMS,EPB,IBOX,LCA,LDWS_LKAS,PGS,PSB,SCC,SMK,SPAS,TCU,TPMS - SG_ WHL_SPD_RL : 32|14@1+ (0.03125,0.0) [0.0|511.96875] "km/h" _4WD,AFLS,AHLS,AVM,BCM,CLU,CUBIS,ECS,EMS,EPB,IBOX,LDWS_LKAS,PGS,PSB,SCC,SMK,SPAS,TCU,TPMS,_4WD,ACU,AFLS,AHLS,AVM,BCM,CLU,ECS,EMS,EPB,IBOX,LCA,LDWS_LKAS,PGS,PSB,SCC,SMK,SPAS,TCU,TPMS - SG_ WHL_SPD_RR : 48|14@1+ (0.03125,0.0) [0.0|511.96875] "km/h" _4WD,AFLS,AHLS,AVM,CLU,CUBIS,ECS,EMS,EPB,IBOX,LDWS_LKAS,PGS,PSB,SCC,SMK,SPAS,TCU,TPMS,_4WD,ACU,AFLS,AHLS,AVM,CLU,ECS,EMS,EPB,IBOX,LCA,LDWS_LKAS,PGS,PSB,SCC,SMK,SPAS,TCU,TPMS - SG_ WHL_SPD_AliveCounter_LSB : 14|2@1+ (1.0,0.0) [0.0|15.0] "" _4WD,EMS,LPI,TCU,TMU - SG_ WHL_SPD_AliveCounter_MSB : 30|2@1+ (1.0,0.0) [0.0|15.0] "" _4WD,EMS,LPI,TCU,TMU - SG_ WHL_SPD_Checksum_LSB : 46|2@1+ (1.0,0.0) [0.0|15.0] "" _4WD,EMS,LPI,TCU,TMU - SG_ WHL_SPD_Checksum_MSB : 62|2@1+ (1.0,0.0) [0.0|15.0] "" _4WD,EMS,LPI,TCU,TMU - -BO_ 1414 EVP11: 3 EVP - SG_ CF_Evp_Stat : 0|1@1+ (1.0,0.0) [0.0|1.0] "" CLU - -BO_ 1412 AAF11: 8 AAF - SG_ CF_Aaf_ActFlapStatus : 0|2@1+ (1.0,0.0) [0.0|3.0] "" AAF_Tester - SG_ CF_Aaf_ModeStatus : 2|3@1+ (1.0,0.0) [0.0|7.0] "" AAF_Tester - SG_ CF_Aaf_WrnLamp : 5|1@1+ (1.0,0.0) [0.0|1.0] "" CLU - SG_ CF_Aaf_ErrStatus : 6|10@1+ (1.0,0.0) [0.0|1023.0] "" AAF_Tester,EMS - SG_ CF_Aaf_OpenRqSysAct : 16|8@1+ (1.0,0.0) [0.0|255.0] "" AAF_Tester - SG_ CF_Aaf_PStatus : 24|8@1+ (1.0,0.0) [0.0|100.0] "%" AAF_Tester - SG_ CF_Aaf_OpenRqSysSol : 32|8@1+ (1.0,0.0) [0.0|255.0] "" AAF_Tester - SG_ CF_Aaf_SolFlapStatus : 40|2@1+ (1.0,0.0) [0.0|3.0] "" AAF_Tester - SG_ CF_Aaf_MilOnReq : 42|1@1+ (1.0,0.0) [0.0|1.0] "" EMS - -BO_ 900 EMS17: 8 EMS - SG_ CF_Ems_PkpCurMSV : 0|8@1+ (1.0,0.0) [0.0|255.0] "" DI_BOX - SG_ CF_Ems_HolCurMSV : 8|8@1+ (1.0,0.0) [0.0|255.0] "" DI_BOX - SG_ CF_Ems_InjVBnkAct : 16|8@1+ (1.0,0.0) [0.0|255.0] "" DI_BOX - SG_ CF_Ems_InjVActSet : 24|8@1+ (1.0,0.0) [0.0|255.0] "" DI_BOX - SG_ CF_Ems_DiagFulHDEV : 32|1@1+ (1.0,0.0) [0.0|1.0] "" DI_BOX - SG_ CF_Ems_SwiOffIC1 : 33|1@1+ (1.0,0.0) [0.0|1.0] "" DI_BOX - SG_ CF_Ems_SwiOffIC2 : 34|1@1+ (1.0,0.0) [0.0|1.0] "" DI_BOX - SG_ CF_Ems_DiagReqHDEV : 38|1@1+ (1.0,0.0) [0.0|1.0] "" DI_BOX - SG_ CR_Ems_DutyCycMSV : 40|8@1+ (0.3921568627,0.0) [0.0|100.0] "%" DI_BOX - SG_ CR_Ems_BatVolRly : 48|8@1+ (0.1,0.0) [0.0|25.5] "V" DI_BOX - -BO_ 387 REA11: 8 REA - SG_ CF_EndBst_PwmDuH : 0|1@1+ (1.0,0.0) [0.0|1.0] "" EMS - SG_ CF_EndBst_PwmDuL : 1|1@1+ (1.0,0.0) [0.0|1.0] "" EMS - SG_ CF_EndBst_PwmFqOutRng : 2|1@1+ (1.0,0.0) [0.0|1.0] "" EMS - SG_ CF_EndBst_HbriOverCur : 3|1@1+ (1.0,0.0) [0.0|1.0] "" EMS - SG_ CF_EndBst_HbriOverTemp : 4|1@1+ (1.0,0.0) [0.0|1.0] "" EMS - SG_ CF_EndBst_PosSnsKOR : 6|1@1+ (1.0,0.0) [0.0|1.0] "" EMS - SG_ CF_EndBst_PosSnsOSOR : 7|1@1+ (1.0,0.0) [0.0|1.0] "" EMS - SG_ CF_EndBst_EepFlt : 8|1@1+ (1.0,0.0) [0.0|1.0] "" EMS - SG_ CF_EndBst_RomFlt : 9|1@1+ (1.0,0.0) [0.0|1.0] "" EMS - SG_ CF_EndBst_RamFlt : 10|1@1+ (1.0,0.0) [0.0|1.0] "" EMS - SG_ CF_EndBst_CanFlt : 11|1@1+ (1.0,0.0) [0.0|1.0] "" EMS - SG_ CF_EndBst_AgH : 12|1@1+ (1.0,0.0) [0.0|1.0] "" EMS - SG_ CF_EndBst_AgL : 13|1@1+ (1.0,0.0) [0.0|1.0] "" EMS - SG_ CF_EndBst_ORVol : 14|1@1+ (1.0,0.0) [0.0|1.0] "" EMS - SG_ CR_EndBst_ActPos : 16|16@1+ (0.117,0.0) [1.989|118.053] "" EMS - SG_ CR_EndBst_DemPos : 32|16@1+ (0.117,0.0) [0.0|119.691] "" EMS - SG_ CR_EndBst_HbriPwr : 48|16@1+ (0.045,0.0) [0.0|99.99] "%" EMS - -BO_ 1411 CUBIS11: 8 CUBIS - SG_ CF_Cubis_HUDisp : 0|4@1+ (1.0,0.0) [0.0|15.0] "" CLU - -BO_ 899 FATC11: 8 DATC - SG_ CR_Fatc_TqAcnOut : 0|8@1+ (0.2,0.0) [0.0|50.8] "Nm" EMS,IBOX - SG_ CF_Fatc_AcnRqSwi : 8|1@1+ (1.0,0.0) [0.0|1.0] "" AAF,EMS,IBOX - SG_ CF_Fatc_AcnCltEnRq : 9|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX - SG_ CF_Fatc_EcvFlt : 10|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX - SG_ CF_Fatc_BlwrOn : 11|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX - SG_ CF_FATC_Iden : 12|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,IBOX - SG_ CF_Fatc_BlwrMax : 14|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,EMS,IBOX - SG_ CF_Fatc_EngStartReq : 15|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX - SG_ CF_Fatc_IsgStopReq : 16|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX - SG_ CF_Fatc_CtrInf : 17|3@1+ (1.0,0.0) [0.0|7.0] "" EMS,IBOX - SG_ CF_Fatc_MsgCnt : 20|4@1+ (1.0,0.0) [0.0|15.0] "" EMS,IBOX - SG_ CR_Fatc_OutTemp : 24|8@1+ (0.5,-40.0) [-40.0|60.0] "deg" BCM,CLU,EMS,IBOX,SPAS,TCU,TPMS - SG_ CR_Fatc_OutTempSns : 32|8@1+ (0.5,-40.0) [-40.0|60.0] "deg" AAF,AHLS,CLU,EMS,IBOX,SPAS,TCU - SG_ CF_Fatc_Compload : 40|3@1+ (1.0,0.0) [0.0|7.0] "" EMS,IBOX - SG_ CF_Fatc_ActiveEco : 43|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX - SG_ CF_Fatc_AutoActivation : 44|1@1+ (1.0,0.0) [0.0|1.0] "" IBOX - SG_ CF_Fatc_DefSw : 45|1@1+ (1.0,0.0) [0.0|1.0] "" BCM,IBOX - SG_ CF_Fatc_PtcRlyStat : 46|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX - SG_ CF_Fatc_ChkSum : 56|8@1+ (1.0,0.0) [0.0|255.0] "" EMS,IBOX,SPAS - -BO_ 129 EMS_DCT12: 8 EMS - SG_ CR_Ems_SoakTimeExt : 0|6@1+ (5.0,0.0) [0.0|315.0] "Min" TCU - SG_ BRAKE_ACT : 6|2@1+ (1.0,0.0) [0.0|3.0] "" TCU - SG_ CF_Ems_EngOperStat : 8|8@1+ (1.0,0.0) [0.0|255.0] "" TCU - SG_ CR_Ems_IndAirTemp : 16|8@1+ (0.75,-48.0) [-48.0|143.25] "deg" TCU - SG_ CF_Ems_Alive2 : 56|4@1+ (1.0,0.0) [0.0|15.0] "" TCU - SG_ CF_Ems_ChkSum2 : 60|4@1+ (1.0,0.0) [0.0|15.0] "" TCU - -BO_ 897 MDPS11: 8 MDPS - SG_ CF_Mdps_WLmp : 0|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,CUBIS,EMS,IBOX,SPAS - SG_ CF_Mdps_Flex : 2|3@1+ (1.0,0.0) [0.0|3.0] "" CLU,LDWS_LKAS - SG_ CF_Mdps_FlexDisp : 5|1@1+ (1.0,0.0) [0.0|1.0] "" CLU - SG_ CF_Mdps_Stat : 7|4@1+ (1.0,0.0) [0.0|15.0] "" SPAS - SG_ CR_Mdps_DrvTq : 11|12@1+ (0.01,-20.48) [-20.48|20.46] "" SPAS - SG_ CF_Mdps_ALTRequest : 23|1@1+ (1.0,0.0) [0.0|1.0] "" EMS - SG_ CR_Mdps_StrAng : 24|16@1- (0.1,0.0) [-3276.8|3276.7] "Deg" SPAS - SG_ CF_Mdps_AliveCnt : 40|8@1+ (1.0,0.0) [0.0|255.0] "" LDWS_LKAS,SPAS - SG_ CF_Mdps_Chksum : 48|8@1+ (1.0,0.0) [0.0|255.0] "" LDWS_LKAS,SPAS - SG_ CF_Mdps_SPAS_FUNC : 57|1@1+ (1.0,0.0) [0.0|1.0] "flag" SPAS - SG_ CF_Mdps_LKAS_FUNC : 58|1@1+ (1.0,0.0) [0.0|1.0] "flag" LDWS_LKAS - SG_ CF_Mdps_CurrMode : 59|2@1+ (1.0,0.0) [0.0|3.0] "" LDWS_LKAS - SG_ CF_Mdps_Type : 61|2@1+ (1.0,0.0) [0.0|2.0] "" LDWS_LKAS,SPAS - -BO_ 896 DI_BOX13: 8 DI_BOX - SG_ CF_DiBox_HPreInjVConfStat : 0|8@1+ (1.0,0.0) [0.0|255.0] "" EMS - SG_ CF_DiBox_HPreInjVStat1 : 8|8@1+ (1.0,0.0) [0.0|255.0] "" EMS - SG_ CF_DiBox_HPreInjVStat2 : 16|8@1+ (1.0,0.0) [0.0|255.0] "" EMS - SG_ CF_DiBox_HPreInjVPkp : 24|8@1+ (1.0,0.0) [0.0|255.0] "" EMS - SG_ CF_DiBox_HPreInjVBpt : 32|8@1+ (1.0,0.0) [0.0|255.0] "" EMS - SG_ CF_DiBox_ErrRegFrtMSV : 40|8@1+ (1.0,0.0) [0.0|255.0] "" EMS - SG_ CF_DiBox_ErrRegSedMSV : 48|8@1+ (1.0,0.0) [0.0|255.0] "" EMS - SG_ CF_DiBox_SPIErrSedMSV : 56|1@1+ (1.0,0.0) [0.0|1.0] "" EMS - SG_ CF_DiBox_SPIErrFrtMSV : 57|1@1+ (1.0,0.0) [0.0|1.0] "" EMS - SG_ CF_DiBox_IDErrSedMSV : 58|1@1+ (1.0,0.0) [0.0|1.0] "" EMS - SG_ CF_DiBox_IDErrFrtMSV : 59|1@1+ (1.0,0.0) [0.0|1.0] "" EMS - SG_ CF_DiBox_IniStatMSV : 60|1@1+ (1.0,0.0) [0.0|1.0] "" EMS - -BO_ 640 EMS13: 8 EMS - SG_ LV_FUEL_TYPE_ECU : 0|1@1+ (1.0,0.0) [0.0|1.0] "" BCM,CLU,LPI,SMK - SG_ LV_BFS_CFIRM : 1|1@1+ (1.0,0.0) [0.0|1.0] "" LPI - SG_ LV_CRASH : 2|1@1+ (1.0,0.0) [0.0|1.0] "" LPI - SG_ LV_VB_OFF_ACT : 3|1@1+ (1.0,0.0) [0.0|1.0] "" LPI - SG_ LV_GSL_MAP M : 4|1@1+ (1.0,0.0) [0.0|1.0] "" LPI - SG_ LV_ENG_TURN : 5|1@1+ (1.0,0.0) [0.0|1.0] "" LPI - SG_ ERR_FUEL : 8|8@1+ (1.0,0.0) [0.0|255.0] "" LPI - SG_ EOS : 16|8@1+ (1.0,0.0) [0.0|255.0] "" LPI - SG_ TCO : 24|8@1+ (0.75,-48.0) [-48.0|143.25] "deg" LPI - SG_ N_32 : 32|8@1+ (32.0,0.0) [0.0|8160.0] "rpm" LPI - SG_ MAF : 40|8@1+ (5.447,0.0) [0.0|1388.985] "mg/TDC" LPI - SG_ TIA : 48|8@1+ (0.75,-48.0) [-48.0|143.25] "deg" LPI - SG_ MAP m1 : 56|8@1+ (0.47058,0.0) [0.0|119.9979] "kPa" LPI - SG_ AMP m0 : 56|8@1+ (21.22,0.0) [0.0|5411.1] "hPa" LPI - -BO_ 128 EMS_DCT11: 8 EMS - SG_ PV_AV_CAN : 0|8@1+ (0.3906,0.0) [0.0|99.603] "%" TCU - SG_ TQ_STND : 8|6@1+ (10.0,0.0) [0.0|630.0] "Nm" TCU - SG_ F_N_ENG : 14|1@1+ (1.0,0.0) [0.0|1.0] "" TCU - SG_ F_SUB_TQI : 15|1@1+ (1.0,0.0) [0.0|1.0] "" TCU - SG_ N : 16|16@1+ (0.25,0.0) [0.0|16383.75] "rpm" TCU - SG_ TQI_ACOR : 32|8@1+ (0.390625,0.0) [0.0|99.6094] "%" IBOX,TCU - SG_ TQFR : 40|8@1+ (0.390625,0.0) [0.0|99.6094] "%" TCU - SG_ TQI : 48|8@1+ (0.390625,0.0) [0.0|99.609375] "%" TCU - SG_ CF_Ems_Alive : 56|4@1+ (1.0,0.0) [0.0|15.0] "" TCU - SG_ CF_Ems_ChkSum : 60|4@1+ (1.0,0.0) [0.0|15.0] "" TCU - -BO_ 1407 HU_MON_PE_01: 8 CLU - SG_ HU_Type : 0|8@1+ (1.0,0.0) [0.0|255.0] "" AVM,PGS - -BO_ 127 CGW5: 8 BCM - SG_ C_StopLampLhOpenSts : 0|1@1+ (1.0,0.0) [0.0|1.0] "" CLU - SG_ C_StopLampRhOpenSts : 1|1@1+ (1.0,0.0) [0.0|1.0] "" CLU - SG_ C_HMSLOpenSts : 2|1@1+ (1.0,0.0) [0.0|1.0] "" CLU - SG_ C_HLampLowLhOpenSts : 3|1@1+ (1.0,0.0) [0.0|1.0] "" CLU - SG_ C_HLampLowRhOpenSts : 4|1@1+ (1.0,0.0) [0.0|1.0] "" CLU - SG_ C_HLampHighLhOpenSts : 5|1@1+ (1.0,0.0) [0.0|1.0] "" CLU - SG_ C_HLampHighRhOpenSts : 6|1@1+ (1.0,0.0) [0.0|1.0] "" CLU - SG_ C_DRLLampLhOpenSts : 7|1@1+ (1.0,0.0) [0.0|1.0] "" CLU - SG_ C_DRLLampRhOpenSts : 8|1@1+ (1.0,0.0) [0.0|1.0] "" CLU - SG_ C_RearFOGLhOpenSts : 9|1@1+ (1.0,0.0) [0.0|1.0] "" CLU - SG_ C_RearFOGRhOpenSts : 10|1@1+ (1.0,0.0) [0.0|1.0] "" CLU - SG_ C_FrontFOGLhOpenSts : 11|1@1+ (1.0,0.0) [0.0|1.0] "" CLU - SG_ C_FrontFOGRhOpenSts : 12|1@1+ (1.0,0.0) [0.0|1.0] "" CLU - SG_ C_RearEXTTailLhOpenSts : 13|1@1+ (1.0,0.0) [0.0|1.0] "" CLU - SG_ C_RearEXTTailRhOpenSts : 14|1@1+ (1.0,0.0) [0.0|1.0] "" CLU - SG_ C_FrontEXTTailLhOpenSts : 15|1@1+ (1.0,0.0) [0.0|1.0] "" CLU - SG_ C_FrontEXTTailRhOpenSts : 16|1@1+ (1.0,0.0) [0.0|1.0] "" CLU - SG_ C_RearTSIGLhOpenSts : 17|1@1+ (1.0,0.0) [0.0|1.0] "" CLU - SG_ C_RearTSIGRhOpenSts : 18|1@1+ (1.0,0.0) [0.0|1.0] "" CLU - SG_ C_FrontTSIGLhOpenSts : 19|1@1+ (1.0,0.0) [0.0|1.0] "" CLU - SG_ C_FrontTSIGRhOpenSts : 20|1@1+ (1.0,0.0) [0.0|1.0] "" CLU - SG_ C_SBendingLhOpenSts : 21|1@1+ (1.0,0.0) [0.0|1.0] "" CLU - SG_ C_SBendingRhOpenSts : 22|1@1+ (1.0,0.0) [0.0|1.0] "" CLU - SG_ C_LicensePlateLhOpenSts : 23|1@1+ (1.0,0.0) [0.0|1.0] "" CLU - SG_ C_LicensePlateRhOpenSts : 24|1@1+ (1.0,0.0) [0.0|1.0] "" CLU - -BO_ 1151 ESP11: 6 ESC - SG_ AVH_STAT : 0|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,EPB,TCU - SG_ LDM_STAT : 2|1@1+ (1.0,0.0) [0.0|1.0] "" EPB,TCU - SG_ REQ_EPB_ACT : 3|2@1+ (1.0,0.0) [0.0|3.0] "" EPB,TCU - SG_ REQ_EPB_STAT : 5|1@1+ (1.0,0.0) [0.0|1.0] "" EPB - SG_ ECD_ACT : 6|1@1+ (1.0,0.0) [0.0|1.0] "" EPB - SG_ _4WD_LIM_REQ : 7|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,EMS - SG_ ROL_CNT_ESP : 8|8@1+ (1.0,0.0) [0.0|255.0] "" EPB,TCU - SG_ _4WD_TQC_LIM : 16|16@1+ (1.0,0.0) [0.0|65535.0] "Nm" _4WD,EMS - SG_ _4WD_CLU_LIM : 32|8@1+ (0.390625,0.0) [0.0|99.609375] "%" _4WD,EMS - SG_ _4WD_OPEN : 40|2@1+ (1.0,0.0) [0.0|3.0] "" _4WD,EMS - SG_ _4WD_LIM_MODE : 42|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD - -BO_ 1397 HU_AVM_E_00: 8 CLU - SG_ HU_AVM_Cal_Cmd : 0|4@1+ (1.0,0.0) [0.0|15.0] "" AVM,PGS - SG_ HU_AVM_Cal_Method : 4|2@1+ (1.0,0.0) [0.0|3.0] "" AVM,PGS - SG_ HU_AVM_Save_Controlpoint : 6|2@1+ (1.0,0.0) [0.0|3.0] "" AVM,PGS - SG_ HU_AVM_PT_X : 8|12@1+ (1.0,0.0) [0.0|15.0] "" AVM,PGS - SG_ HU_AVM_RearViewPointOpt : 20|4@1+ (1.0,0.0) [0.0|15.0] "" AVM,PGS - SG_ HU_AVM_PT_Y : 24|12@1+ (1.0,0.0) [0.0|4095.0] "" AVM,PGS - SG_ HU_AVM_FrontViewPointOpt : 36|4@1+ (1.0,0.0) [0.0|15.0] "" AVM,PGS - SG_ HU_AVM_SelectedMenu : 40|5@1+ (1.0,0.0) [0.0|31.0] "" AVM,PGS - SG_ HU_AVM_CameraOff : 45|2@1+ (1.0,0.0) [0.0|3.0] "" AVM,PGS - SG_ HU_AVM_Option : 48|4@1+ (1.0,0.0) [0.0|15.0] "" AVM,PGS - SG_ HU_AVM_CrossLineMove_Cmd : 52|4@1+ (1.0,0.0) [0.0|15.0] "" AVM,PGS - SG_ HU_AVM_RearView_Option : 56|4@1+ (1.0,0.0) [0.0|15.0] "" AVM,PGS - SG_ HU_AVM_FrontView_Option : 60|4@1+ (1.0,0.0) [0.0|15.0] "" AVM,PGS - -BO_ 1395 HU_AVM_E_01: 8 CLU - SG_ HU_PGSSelectedMenu : 0|4@1+ (1.0,0.0) [0.0|15.0] "" AVM,PGS - SG_ HU_PGSOption : 8|5@1+ (1.0,0.0) [0.0|31.0] "" AVM,PGS - SG_ HU_AVM_ParkingAssistMenu : 56|4@1+ (1.0,0.0) [0.0|15.0] "" AVM,PGS - SG_ HU_AVM_ParkingAssistSB : 60|4@1+ (1.0,0.0) [0.0|15.0] "" AVM,PGS - -BO_ 1393 OPI11: 5 OPI - SG_ CR_Opi_Spd_Rpm : 0|8@1+ (20.0,0.0) [0.0|3500.0] "rpm" TCU - SG_ CF_Opi_Over_Temp : 8|1@1+ (1.0,0.0) [0.0|1.0] "" TCU - SG_ CF_Opi_Over_Cur : 9|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,TCU - SG_ CF_Opi_Over_Vol : 10|1@1+ (1.0,0.0) [0.0|1.0] "" TCU - SG_ CF_Opi_Hall_Fail : 11|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,TCU - SG_ CF_Opi_Flt : 12|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,TCU - SG_ CF_Opi_Motor_Dir : 15|1@1+ (1.0,0.0) [0.0|1.0] "" TCU - SG_ CF_Opi_Romver : 16|8@1+ (1.0,0.0) [0.0|255.0] "" TCU - SG_ CF_Opi_PWM_Rate : 24|12@1+ (1.0,0.0) [0.0|100.0] "%" TCU - -BO_ 625 LPI11: 8 LPI - SG_ FUP_LPG_MMV : 0|8@1+ (128.0,0.0) [0.0|32640.0] "hPa" EMS - SG_ LV_FUEL_TYPE_BOX : 8|1@1+ (1.0,0.0) [0.0|1.0] "" EMS - SG_ LV_BFS_IN_PROGRESS : 9|1@1+ (1.0,0.0) [0.0|1.0] "" EMS - SG_ LV_GAS_OK : 10|1@1+ (1.0,0.0) [0.0|1.0] "" EMS - SG_ LV_FUP_ENA_THD : 11|1@1+ (1.0,0.0) [0.0|1.0] "" BCM,CLU,EMS,SMK - SG_ LPI_OBD : 12|4@1+ (1.0,0.0) [0.0|15.0] "" EMS - SG_ ERR_GAS : 16|8@1+ (1.0,0.0) [0.0|255.0] "" EMS - SG_ FAC_TI_GAS_COR : 24|16@1+ (3.05E-5,0.0) [0.0|1.9988175] "" EMS - SG_ FTL_AFU : 40|8@1+ (0.392,0.0) [0.0|99.96] "%" EMS - SG_ BFS_CYL : 48|8@1+ (1.0,0.0) [0.0|6.0] "Cyl Nr." EMS - SG_ LV_PRE_CDN_LEAK : 56|1@1+ (1.0,0.0) [0.0|1.0] "" EMS - SG_ LV_CONF_INJECTION_DELAY : 57|1@1+ (1.0,0.0) [0.0|1.0] "" EMS - SG_ LV_LPG_SW_DRIVER_REQ : 58|1@1+ (1.0,0.0) [0.0|1.0] "" EMS - -BO_ 356 VSM11: 4 ESC - SG_ CR_Esc_StrTqReq : 0|12@1+ (0.01,-20.48) [-20.48|20.47] "Nm" MDPS - SG_ CF_Esc_Act : 12|1@1+ (1.0,0.0) [0.0|1.0] "" LDWS_LKAS,MDPS - SG_ CF_Esc_CtrMode : 13|3@1+ (1.0,0.0) [0.0|7.0] "" MDPS - SG_ CF_Esc_Def : 16|1@1+ (1.0,0.0) [0.0|1.0] "" MDPS - SG_ CF_Esc_AliveCnt : 17|4@1+ (1.0,0.0) [0.0|15.0] "" LDWS_LKAS,MDPS - SG_ CF_Esc_Chksum : 24|8@1+ (1.0,0.0) [0.0|255.0] "" LDWS_LKAS,MDPS - -BO_ 1379 PGS_HU_PE_01: 8 PGS - SG_ PGS_State : 0|4@1+ (1.0,0.0) [0.0|15.0] "" CLU - SG_ PGS_ParkGuideState : 8|5@1+ (1.0,0.0) [0.0|31.0] "" CLU - SG_ PGS_Option : 16|5@1+ (1.0,0.0) [0.0|31.0] "" CLU - SG_ PGS_Version : 32|16@1+ (1.0,0.0) [0.0|65535.0] "" CLU - -BO_ 354 TCU_DCT13: 3 TCU - SG_ Clutch_Driving_Tq : 0|10@1+ (1.0,-512.0) [0.0|0.0] "Nm" ESC - SG_ Cluster_Engine_RPM : 10|13@1+ (0.9766,0.0) [0.0|0.0] "" CLU - SG_ Cluster_Engine_RPM_Flag : 23|1@1+ (1.0,0.0) [0.0|0.0] "" CLU - -BO_ 1378 HUD11: 4 HUD - SG_ CF_Hud_HeightStaus : 0|5@1+ (1.0,0.0) [0.0|31.0] "" CLU - SG_ CF_Hud_PBackStatus : 6|2@1+ (1.0,0.0) [0.0|0.0] "" BCM,CLU - SG_ CF_Hud_Brightness : 8|5@1+ (1.0,0.0) [0.0|31.0] "" CLU - -BO_ 608 EMS16: 8 EMS - SG_ TQI_MIN : 0|8@1+ (0.390625,0.0) [0.0|99.609375] "%" ESC,IBOX,TCU - SG_ TQI : 8|8@1+ (0.390625,0.0) [0.0|99.609375] "%" ESC,IBOX,TCU - SG_ TQI_TARGET : 16|8@1+ (0.390625,0.0) [0.0|99.609375] "%" EPB,ESC,IBOX,TCU - SG_ GLOW_STAT : 24|1@1+ (1.0,0.0) [0.0|1.0] "" BCM,CLU,IBOX,SMK - SG_ CRUISE_LAMP_M : 25|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX,TCU - SG_ CRUISE_LAMP_S : 26|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX,TCU - SG_ PRE_FUEL_CUT_IN : 27|1@1+ (1.0,0.0) [0.0|1.0] "" IBOX,TCU - SG_ ENG_STAT : 28|3@1+ (1.0,0.0) [0.0|7.0] "" ABS,AHLS,AVM,BCM,CLU,EPB,ESC,EVP,FPCM,IBOX,LCA,LDWS_LKAS,MDPS,SCC,SMK,TCU - SG_ SOAK_TIME_ERROR : 31|1@1+ (1.0,0.0) [0.0|1.0] "" DATC,EPB,IBOX,TCU - SG_ SOAK_TIME : 32|8@1+ (1.0,0.0) [0.0|255.0] "Min" _4WD,DATC,EPB,IBOX,TCU - SG_ TQI_MAX : 40|8@1+ (0.390625,0.0) [0.0|99.609375] "%" ESC,IBOX,TCU - SG_ SPK_TIME_CUR : 48|8@1+ (0.375,-35.625) [-35.625|60.0] "" IBOX,TCU - SG_ Checksum : 56|4@1+ (1.0,0.0) [0.0|15.0] "" ECS,IBOX,LDWS_LKAS,MDPS,SCC - SG_ AliveCounter : 60|2@1+ (1.0,0.0) [0.0|3.0] "" IBOX,LDWS_LKAS,MDPS,SCC - SG_ CF_Ems_AclAct : 62|2@1+ (1.0,0.0) [0.0|3.0] "" IBOX,SCC - -BO_ 1371 AVM_HU_PE_00: 8 AVM - SG_ AVM_View : 0|5@1+ (1.0,0.0) [0.0|31.0] "" CLU - SG_ AVM_ParkingAssist_BtnSts : 5|3@1+ (1.0,0.0) [0.0|7.0] "" CLU - SG_ AVM_Display_Message : 8|8@1+ (1.0,0.0) [0.0|255.0] "" CLU - SG_ AVM_Popup_Msg : 16|4@1+ (1.0,0.0) [0.0|15.0] "" CLU - SG_ AVM_Ready : 20|4@1+ (1.0,0.0) [0.0|15.0] "" CLU - SG_ AVM_ParkingAssist_Step : 24|4@1+ (1.0,0.0) [0.0|15.0] "" CLU - SG_ AVM_FrontBtn_Type : 28|4@1+ (1.0,0.0) [0.0|15.0] "" CLU - SG_ AVM_Option : 32|4@1+ (1.0,0.0) [0.0|15.0] "" CLU - SG_ AVM_HU_FrontViewPointOpt : 36|4@1+ (1.0,0.0) [0.0|15.0] "" CLU - SG_ AVM_HU_RearView_Option : 40|4@1+ (1.0,0.0) [0.0|15.0] "" CLU - SG_ AVM_HU_FrontView_Option : 44|4@1+ (1.0,0.0) [0.0|15.0] "" CLU - SG_ AVM_Version : 48|16@1+ (1.0,0.0) [0.0|65535.0] "" CLU - -BO_ 1370 HU_AVM_PE_00: 8 CLU - SG_ HU_AVM_Status : 0|2@1+ (1.0,0.0) [0.0|3.0] "" AVM,PGS - -BO_ 1369 CGW4: 8 BCM - SG_ CF_Gway_MemoryP1Cmd : 0|1@1+ (1.0,0.0) [0.0|1.0] "" CLU - SG_ CF_Gway_MemoryP2Cmd : 1|1@1+ (1.0,0.0) [0.0|1.0] "" CLU - SG_ CF_Gway_PBackP1Cmd : 2|1@1+ (1.0,0.0) [0.0|1.0] "" CLU - SG_ CF_Gway_PBackP2Cmd : 3|1@1+ (1.0,0.0) [0.0|1.0] "" CLU - SG_ CF_Gway_StrgWhlHeatedState : 4|1@1+ (1.0,0.0) [0.0|1.0] "" CLU - SG_ CF_Gway_PBackStopCmd : 5|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,HUD - SG_ CF_Gway_StaticBendLhAct : 6|1@1+ (1.0,0.0) [0.0|1.0] "" CLU - SG_ CF_Gway_StaticBendRhAct : 7|1@1+ (1.0,0.0) [0.0|1.0] "" CLU - SG_ CF_Gway_DrvWdwStat : 8|1@1+ (1.0,0.0) [0.0|1.0] "" CLU - SG_ CF_Gway_RLWdwState : 9|1@1+ (1.0,0.0) [0.0|1.0] "" CLU - SG_ CF_Gway_RRWdwState : 10|1@1+ (1.0,0.0) [0.0|1.0] "" CLU - SG_ CF_Gway_AstWdwStat : 11|1@1+ (1.0,0.0) [0.0|1.0] "" CLU - SG_ CF_Gway_MemoryEnable : 12|1@1+ (1.0,0.0) [0.0|1.0] "" CLU - SG_ CF_Gway_PBACKStopCmd : 13|1@1+ (1.0,0.0) [0.0|1.0] "" CLU - SG_ CF_Gway_PBACKStop : 14|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,HUD - SG_ CF_Gway_IMSBuzzer : 15|1@1+ (1.0,0.0) [0.0|1.0] "" CLU - SG_ CF_Gway_DrvSeatBeltInd : 36|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,Dummy - SG_ CF_Gway_AstSeatBeltInd : 38|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ CF_Gway_RCSeatBeltInd : 40|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ CF_Gway_RLSeatBeltInd : 42|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ CF_Gway_RRSeatBeltInd : 44|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ CF_Gway_RrWiperHighSw : 46|1@1+ (1.0,0.0) [0.0|1.0] "" CLU - SG_ CF_Gway_RrWiperLowSw : 47|1@1+ (1.0,0.0) [0.0|1.0] "" CLU - -BO_ 1367 EngFrzFrm12: 8 EMS - SG_ PID_06h : 0|8@1+ (0.78125,-100.0) [-100.0|99.22] "%" AAF,IBOX,TCU - SG_ PID_07h : 8|8@1+ (0.78125,-100.0) [-100.0|99.22] "%" AAF,IBOX,TCU - SG_ PID_08h : 16|8@1+ (0.78125,-100.0) [-100.0|99.22] "%" AAF,IBOX,TCU - SG_ PID_09h : 24|8@1+ (0.78125,-100.0) [-100.0|99.22] "%" AAF,IBOX,TCU - SG_ PID_0Bh : 32|8@1+ (1.0,0.0) [0.0|255.0] "kPa" AAF,IBOX,TCU - SG_ PID_23h : 40|16@1+ (10.0,0.0) [0.0|655350.0] "kPa" AAF,IBOX,TCU - -BO_ 1366 EngFrzFrm11: 8 EMS - SG_ PID_04h : 0|8@1+ (0.3921568627,0.0) [0.0|100.0] "%" AAF,TCU - SG_ PID_05h : 8|8@1+ (1.0,-40.0) [-40.0|215.0] "deg" AAF,TCU - SG_ PID_0Ch : 16|16@1+ (0.25,0.0) [0.0|16383.75] "rpm" AAF,TCU - SG_ PID_0Dh : 32|8@1+ (1.0,0.0) [0.0|255.0] "km/h" AAF,TCU - SG_ PID_11h : 40|8@1+ (0.3921568627,0.0) [0.0|100.0] "%" AAF,TCU - SG_ PID_03h : 48|16@1+ (1.0,0.0) [0.0|65535.0] "" AAF,TCU - -BO_ 1365 FPCM11: 8 FPCM - SG_ CR_Fpcm_LPActPre : 0|8@1+ (3.137254902,0.0) [0.0|800.0] "kPa" EMS - SG_ CF_Fpcm_LPPumpOverCur : 8|1@1+ (1.0,0.0) [0.0|1.0] "" EMS - SG_ CF_Fpcm_PreSnrHi : 9|1@1+ (1.0,0.0) [0.0|1.0] "" EMS - SG_ CF_Fpcm_PreSnrDisc : 10|1@1+ (1.0,0.0) [0.0|1.0] "" EMS - SG_ CF_Fpcm_PreSnrShort : 11|1@1+ (1.0,0.0) [0.0|1.0] "" EMS - SG_ CF_Fpcm_LPPumpDiscShort : 12|1@1+ (1.0,0.0) [0.0|1.0] "" EMS - SG_ CF_Fpcm_LP_System_Error : 13|1@1+ (1.0,0.0) [0.0|1.0] "" EMS - SG_ CF_Fpcm_PreSnrSigErr : 14|1@1+ (1.0,0.0) [0.0|1.0] "" EMS - SG_ CF_Fpcm_LPCtrCirFlt : 15|1@1+ (1.0,0.0) [0.0|1.0] "" EMS - -BO_ 852 LVR11: 7 LVR - SG_ CF_Lvr_GearInf : 0|4@1+ (1.0,0.0) [0.0|15.0] "" CLU,TCU - SG_ CF_Lvr_PRelStat : 4|1@1+ (1.0,0.0) [0.0|1.0] "" BCM,CLU,SMK,TCU - SG_ CF_Lvr_BkeAct : 5|1@1+ (1.0,0.0) [0.0|1.0] "" TCU - SG_ CF_Lvr_NFnStat : 6|1@1+ (1.0,0.0) [0.0|1.0] "" CLU - SG_ CF_Lvr_PosInf : 8|4@1+ (1.0,0.0) [0.0|15.0] "" TCU - SG_ CF_Lvr_PosCpl : 12|4@1+ (1.0,0.0) [0.0|15.0] "" TCU - SG_ CF_Lvr_UlkButStat : 18|2@1+ (1.0,0.0) [0.0|3.0] "" TCU - SG_ CF_Lvr_PNStat : 20|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ CF_Lvr_ShtLkStat : 24|4@1+ (1.0,0.0) [0.0|15.0] "" TCU - SG_ CF_Lvr_ShfErrInf : 28|20@1+ (1.0,0.0) [0.0|8191.0] "" CLU,TCU - SG_ CF_Lvr_AC : 48|4@1+ (1.0,0.0) [0.0|15.0] "" TCU - SG_ CF_Lvr_CS : 52|4@1+ (1.0,0.0) [0.0|15.0] "" TCU - -BO_ 1363 CGW2: 8 BCM - SG_ CF_Gway_GwayDiagState : 0|1@1+ (1.0,0.0) [0.0|3.0] "" CLU,Dummy - SG_ CF_Gway_DDMDiagState : 1|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy - SG_ CF_Gway_SCMDiagState : 2|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy - SG_ CF_Gway_PSMDiagState : 3|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy - SG_ CF_Gway_SJBDiagState : 4|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy - SG_ CF_Gway_IPMDiagState : 5|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy - SG_ CF_Gway_LDMFail : 6|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,LDWS_LKAS,LDWS_LKAS - SG_ CF_Gway_CLUSwGuiCtrl : 10|3@1+ (1.0,0.0) [0.0|63.0] "" CLU,Dummy - SG_ CF_Gway_CLUSwGroup : 13|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy - SG_ CF_Gway_CLUSwMode : 14|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy - SG_ CF_Gway_CLUSwEnter : 15|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy - SG_ CF_Gway_AutoLightValue : 16|1@1+ (1.0,0.0) [0.0|1.0] "" LCA,LCA - SG_ CF_Gway_BrakeFluidSw : 17|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy - SG_ CF_Gway_DrvSeatBeltInd : 18|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ CF_Gway_AvTail : 20|1@1+ (1.0,0.0) [0.0|3.0] "" CLU,SNV,SNV - SG_ CF_Gway_RearFogAct : 21|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy - SG_ CF_Gway_ExtTailAct : 22|1@1+ (1.0,0.0) [0.0|1.0] "" AVM,CLU,LCA,PGS,SPAS,AVM,LCA,PGS,SPAS - SG_ CF_Gway_RRDrSw : 23|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy - SG_ CF_Gway_RLDrSw : 24|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy - SG_ CF_Gway_IntTailAct : 25|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy - SG_ CF_Gway_CountryCfg : 26|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU,PGS,Dummy - SG_ CF_Gway_WiperParkPosition : 32|1@1+ (1.0,0.0) [0.0|1.0] "" AFLS,EMS,LDWS_LKAS,AFLS,EMS,LDWS_LKAS - SG_ CF_Gway_HLLowLHFail : 33|1@1+ (1.0,0.0) [0.0|1.0] "" LDWS_LKAS,SNV,LDWS_LKAS,SNV - SG_ CF_Gway_HLLowRHFail : 34|1@1+ (1.0,0.0) [0.0|1.0] "" LDWS_LKAS,SNV,LDWS_LKAS,SNV - SG_ CF_Gway_ESCLFailWarn : 35|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy - SG_ CF_Gway_ESCLNotLockedWarn : 36|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy - SG_ CF_Gway_ESCLNotUnlockWarn : 37|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy - SG_ CF_Gway_IDoutWarn : 38|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy - SG_ CF_Gway_ImmoLp : 40|1@1+ (1.0,0.0) [0.0|3.0] "" CLU,Dummy - SG_ CF_Gway_BCMRKEID : 41|3@1+ (1.0,0.0) [0.0|7.0] "" CLU,Dummy - SG_ CF_Gway_VehicleNotPWarn : 44|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy - SG_ CF_Gway_DeactivationWarn : 45|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy - SG_ CF_Gway_KeyBATDischargeWarn : 46|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy - SG_ CF_Gway_SSBWarn : 47|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy - SG_ CF_Gway_SMKFobID : 48|3@1+ (1.0,0.0) [0.0|7.0] "" CLU,Dummy - SG_ CF_Gway_SMKRKECmd : 51|3@1+ (1.0,0.0) [0.0|7.0] "" CLU,Dummy - SG_ CF_Gway_AutoLightOption : 54|1@1+ (1.0,0.0) [0.0|1.0] "" CLU - SG_ CF_Gway_SJBDeliveryMode : 55|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy - SG_ CF_Gway_KeyoutLp : 56|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,Dummy - SG_ CF_Gway_SMKDispWarn : 57|4@1+ (1.0,0.0) [0.0|15.0] "" CLU,Dummy - SG_ CF_Gway_WngBuz : 61|3@1+ (1.0,0.0) [0.0|7.0] "" CLU,Dummy - -BO_ 339 TCS11: 8 ESC - SG_ TCS_REQ : 0|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,EMS,EPB,TCU - SG_ MSR_C_REQ : 1|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,EPB,SCC,TCU - SG_ TCS_PAS : 2|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,CLU,EMS,SCC,SPAS,TCU - SG_ TCS_GSC : 3|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,EMS,TCU - SG_ CF_Esc_LimoInfo : 4|2@1+ (1.0,0.0) [0.0|3.0] "" _4WD,SCC - SG_ ABS_DIAG : 6|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,CLU,EMS,EPB - SG_ ABS_DEF : 7|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ACU,ECS,EMS,EPB,SCC,SPAS,TCU - SG_ TCS_DEF : 8|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,EMS,EPB,SCC,SPAS,TCU - SG_ TCS_CTL : 9|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,EMS,EPB,SCC,SPAS,TCU - SG_ ABS_ACT : 10|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ACU,ECS,EMS,EPB,LDWS_LKAS,SCC,SPAS,TCU - SG_ EBD_DEF : 11|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,EMS,EPB,SPAS,TCU - SG_ ESP_PAS : 12|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ACU,CLU,EMS,EPB,LDWS_LKAS,SCC,TCU - SG_ ESP_DEF : 13|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ACU,ECS,EMS,EPB,LDWS_LKAS,SCC,TCU - SG_ ESP_CTL : 14|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ACU,ECS,EMS,EPB,LDWS_LKAS,SCC,SPAS,TCU - SG_ TCS_MFRN : 15|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,EPB,TCU - SG_ DBC_CTL : 16|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,EMS,EPB - SG_ DBC_PAS : 17|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,EMS,EPB - SG_ DBC_DEF : 18|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,EMS,EPB - SG_ HAC_CTL : 19|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,CLU,EMS,EPB,TCU - SG_ HAC_PAS : 20|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,CLU,EMS,EPB,TCU - SG_ HAC_DEF : 21|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,CLU,EMS,EPB,TCU - SG_ ESS_STAT : 22|2@1+ (1.0,0.0) [0.0|3.0] "" _4WD,BCM,CLU,EMS,EPB - SG_ TQI_TCS : 24|8@1+ (0.390625,0.0) [0.0|99.609375] "%" EMS,EPB,TCU - SG_ TQI_MSR : 32|8@1+ (0.390625,0.0) [0.0|99.609375] "%" EMS,EPB,TCU - SG_ TQI_SLW_TCS : 40|8@1+ (0.390625,0.0) [0.0|99.609375] "%" EMS,EPB,TCU - SG_ CF_Esc_BrkCtl : 48|1@1+ (1.0,0.0) [0.0|1.0] "" EMS - SG_ BLA_CTL : 49|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CGW,CLU - SG_ AliveCounter_TCS1 : 52|4@1+ (1.0,0.0) [0.0|14.0] "" EMS,EPB,LDWS_LKAS - SG_ CheckSum_TCS1 : 56|8@1+ (1.0,0.0) [0.0|255.0] "" EMS,EPB,LDWS_LKAS - -BO_ 1362 SNV11: 4 SNV - SG_ CF_SNV_DisplayControl : 0|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,HUD - SG_ CF_Snv_BeepWarning : 2|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,HUD - SG_ CF_Snv_WarningMessage : 4|3@1+ (1.0,0.0) [0.0|7.0] "" CLU,HUD - SG_ CF_Snv_DetectionEnable : 7|1@1+ (1.0,0.0) [0.0|1.0] "" BCM,CLU,HUD - SG_ CF_Snv_PedestrianDetect : 8|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CLU,HUD - SG_ CF_Snv_IRLampControl : 10|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CLU,HUD - -BO_ 593 MDPS12: 8 MDPS - SG_ CR_Mdps_StrColTq : 0|11@1+ (0.0078125,-8.0) [-8.0|7.9921875] "Nm" LDWS_LKAS - SG_ CF_Mdps_Def : 11|1@1+ (1.0,0.0) [0.0|1.0] "" ESC - SG_ CF_Mdps_ToiUnavail : 12|1@1+ (1.0,0.0) [0.0|1.0] "" LDWS_LKAS - SG_ CF_Mdps_ToiActive : 13|1@1+ (1.0,0.0) [0.0|1.0] "" LDWS_LKAS - SG_ CF_Mdps_ToiFlt : 14|1@1+ (1.0,0.0) [0.0|1.0] "" LDWS_LKAS - SG_ CF_Mdps_FailStat : 15|1@1+ (1.0,0.0) [0.0|1.0] "" LDWS_LKAS - SG_ CF_Mdps_MsgCount2 : 16|8@1+ (1.0,0.0) [0.0|255.0] "" ESC,LDWS_LKAS - SG_ CF_Mdps_Chksum2 : 24|8@1+ (1.0,0.0) [0.0|255.0] "" ESC,LDWS_LKAS - SG_ CF_Mdps_SErr : 37|1@1+ (1.0,0.0) [0.0|1.0] "" ESC - SG_ CR_Mdps_StrTq : 40|12@1+ (0.01,-20.48) [-20.48|20.47] "Nm" ESC - SG_ CR_Mdps_OutTq : 52|12@1+ (0.1,-204.8) [-204.8|204.7] "" ESC,LDWS_LKAS - -BO_ 1360 IAP11: 3 IAP - SG_ CF_Iap_EcoPmodSwi : 0|1@1+ (1.0,0.0) [0.0|1.0] "" CLU - SG_ CF_Iap_EcoPmodAct : 1|1@1+ (1.0,0.0) [0.0|1.0] "" CLU - SG_ CF_Iap_ReqWarn : 2|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - -BO_ 1356 TCU_DCT14: 8 TCU - SG_ Vehicle_Stop_Time : 0|5@1+ (1.0,0.0) [0.0|0.0] "" CLU - SG_ HILL_HOLD_WARNING : 5|1@1+ (1.0,0.0) [0.0|0.0] "" CLU - -BO_ 1353 BAT11: 8 EMS - SG_ BAT_SNSR_I : 0|16@1+ (0.01,-327.0) [-327.0|328.0] "A" CGW,CUBIS,IBOX,TMU - SG_ BAT_SOC : 16|8@1+ (1.0,0.0) [0.0|100.0] "%" CGW,CUBIS,IBOX,TMU - SG_ BAT_SNSR_V : 24|14@1+ (0.0010,6.0) [6.0|18.0] "V" CGW,CUBIS,IBOX,TMU - SG_ BAT_SNSR_Temp : 38|9@1- (0.5,-40.0) [-40.0|125.0] "deg" CGW,CUBIS,IBOX,TMU - SG_ BAT_SNSR_State : 47|1@1+ (1.0,0.0) [0.0|1.0] "" CGW,CUBIS,IBOX,TMU - SG_ BAT_SOH : 48|7@1+ (1.0,0.0) [0.0|100.0] "%" CGW,CUBIS,IBOX,TMU - SG_ BAT_SNSR_Invalid : 55|1@1+ (1.0,0.0) [0.0|1.0] "" CGW,CUBIS,IBOX,TMU - SG_ BAT_SOF : 56|7@1+ (0.1,0.0) [0.0|12.0] "V" CGW,CUBIS,IBOX,TMU - SG_ BAT_SNSR_Error : 63|1@1+ (1.0,0.0) [0.0|1.0] "" CGW,CUBIS,IBOX,TMU - -BO_ 1351 EMS15: 8 EMS - SG_ ECGPOvrd : 0|1@1+ (1.0,0.0) [0.0|1.0] "" ESC,IBOX,SCC - SG_ QECACC : 1|1@1+ (1.0,0.0) [0.0|1.0] "" ESC,IBOX - SG_ ECFail : 2|1@1+ (1.0,0.0) [0.0|1.0] "" ESC,IBOX - SG_ SwitchOffCondExt : 3|1@1+ (1.0,0.0) [0.0|1.0] "" ESC,IBOX - SG_ BLECFail : 4|1@1+ (1.0,0.0) [0.0|1.0] "" ESC,IBOX - SG_ CF_Ems_IsaAct : 5|1@1+ (1.0,0.0) [0.0|1.0] "" CLU - SG_ FA_PV_CAN : 8|8@1+ (0.3906,0.0) [0.0|99.2] "%" IBOX,LDWS_LKAS,TCU - SG_ IntAirTemp : 16|8@1+ (0.75,-48.0) [-48.0|143.25] "deg" _4WD,ECS,EPB,IBOX,TCU - SG_ STATE_DC_OBD : 24|7@1+ (1.0,0.0) [0.0|127.0] "" IBOX,TCU - SG_ INH_DC_OBD : 31|1@1+ (1.0,0.0) [0.0|1.0] "" IBOX,TCU - SG_ CTR_IG_CYC_OBD : 32|16@1+ (1.0,0.0) [0.0|65535.0] "" ACU,IBOX,TCU - SG_ CTR_CDN_OBD : 48|16@1+ (1.0,0.0) [0.0|65535.0] "" IBOX,TCU - -BO_ 1350 DI_BOX12: 8 DI_BOX - SG_ CF_DiBox_FrtInjVDiagReg0 : 0|8@1+ (1.0,0.0) [0.0|255.0] "" EMS - SG_ CF_DiBox_FrtInjVDiagReg1 : 8|8@1+ (1.0,0.0) [0.0|255.0] "" EMS - SG_ CF_DiBox_FrtInjVDiagReg2 : 16|8@1+ (1.0,0.0) [0.0|255.0] "" EMS - SG_ CF_DiBox_SedInjVDiagReg0 : 24|8@1+ (1.0,0.0) [0.0|255.0] "" EMS - SG_ CF_DiBox_SedInjVDiagReg1 : 32|8@1+ (1.0,0.0) [0.0|255.0] "" EMS - SG_ CF_DiBox_SedInjVDiagReg2 : 40|8@1+ (1.0,0.0) [0.0|255.0] "" EMS - SG_ CR_DiBox_BatVol : 48|8@1+ (0.1,0.0) [0.0|25.5] "V" EMS - SG_ CF_DiBox_SedInjVChg : 56|1@1+ (1.0,0.0) [0.0|1.0] "" EMS - SG_ CF_DiBox_FrtInjVChg : 57|1@1+ (1.0,0.0) [0.0|1.0] "" EMS - SG_ CF_DiBox_SedInjVErrSPI : 58|1@1+ (1.0,0.0) [0.0|1.0] "" EMS - SG_ CF_DiBox_FrtInjVErrSPI : 59|1@1+ (1.0,0.0) [0.0|1.0] "" EMS - -BO_ 1349 EMS14: 8 EMS - SG_ IMMO_LAMP_STAT : 0|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX - SG_ L_MIL : 1|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,CUBIS,IBOX - SG_ IM_STAT : 2|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX - SG_ AMP_CAN : 3|5@1+ (10.731613,458.98) [458.98|791.660003] "mmHg" CLU,IBOX,TCU,TPMS - SG_ BAT_Alt_FR_Duty : 8|8@1+ (0.4,0.0) [0.0|100.0] "%" CGW,CUBIS,IBOX,TMU - SG_ VB : 24|8@1+ (0.1015625,0.0) [0.0|25.8984375] "V" CLU,CUBIS,DATC,EPB,FPCM,IBOX - SG_ EMS_VS : 32|12@1+ (0.0625,0.0) [0.0|255.875] "km/h" CLU - SG_ TEMP_FUEL : 56|8@1+ (0.75,-48.0) [-48.0|143.25] "deg" FPCM - -BO_ 68 DATC11: 8 DATC - SG_ CF_Datc_Type : 0|8@1+ (1.0,0.0) [0.0|255.0] "" CLU - SG_ CF_Datc_VerMaj : 8|8@1+ (1.0,0.0) [0.0|255.0] "" CLU - SG_ CF_Datc_VerMin : 16|8@1+ (1.0,0.0) [0.0|255.0] "" CLU - SG_ CR_Datc_OutTempC : 24|8@1+ (0.5,-41.0) [-41.0|86.5] "deg" CLU,FPCM - SG_ CR_Datc_OutTempF : 32|8@1+ (1.0,-42.0) [-42.0|213.0] "deg" CLU - SG_ CF_Datc_IncarTemp : 40|8@1+ (0.5,-40.0) [-40.0|60.0] "deg" BCM,CLU - -BO_ 67 DATC13: 8 DATC - SG_ CF_Datc_TempDispUnit : 0|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,IBOX - SG_ CF_Datc_ModDisp : 2|4@1+ (1.0,0.0) [0.0|15.0] "" CLU - SG_ CF_Datc_IonClean : 6|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ CF_Datc_ChgReqDisp : 8|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ CF_Datc_IntakeDisp : 10|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ CF_Datc_AutoDisp : 12|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ CF_Datc_FrDefLed : 14|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,IBOX - SG_ CF_Datc_AutoDefogBlink : 16|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ CF_Datc_ClmScanDisp : 18|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ CF_Datc_AqsDisp : 20|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ CF_Datc_AcDisp : 22|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ CF_Datc_OpSts : 25|3@1+ (1.0,0.0) [0.0|7.0] "" CLU - SG_ CF_Mtc_MaxAcDisp : 28|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ CF_Datc_DualDisp : 30|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ CF_Datc_PwrInf : 32|4@1+ (1.0,0.0) [0.0|15.0] "" CLU - SG_ CF_Datc_RearManual : 38|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ CF_Datc_RearAutoDisp : 40|2@1+ (1.0,0.0) [0.0|1.0] "" CLU - SG_ CF_Datc_RearOffDisp : 42|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ CF_Datc_RearClimateScnDisp : 44|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ CF_Datc_RearChgReqDisp : 46|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ CF_Datc_RearModDisp : 48|4@1+ (1.0,0.0) [0.0|15.0] "" CLU - SG_ CF_Datc_RearBlwDisp : 52|4@1+ (1.0,0.0) [0.0|15.0] "" CLU - SG_ CF_Datc_PSModDisp : 56|4@1+ (1.0,0.0) [0.0|15.0] "" CLU - SG_ CF_Datc_FrontBlwDisp : 60|4@1+ (1.0,0.0) [0.0|15.0] "" CLU,IBOX - -BO_ 66 DATC12: 8 DATC - SG_ CR_Datc_DrTempDispC : 0|8@1+ (0.5,14.0) [15.0|32.0] "deg" CLU,IBOX - SG_ CR_Datc_DrTempDispF : 8|8@1+ (1.0,56.0) [58.0|90.0] "" CLU,IBOX - SG_ CR_Datc_PsTempDispC : 16|8@1+ (0.5,14.0) [15.0|32.0] "deg" CLU,IBOX - SG_ CR_Datc_PsTempDispF : 24|8@1+ (1.0,56.0) [58.0|90.0] "" CLU,IBOX - SG_ CR_Datc_RearDrTempDispC : 40|8@1+ (0.5,14.0) [15.0|32.0] "deg" CLU - SG_ CR_Datc_RearDrTempDispF : 48|8@1+ (1.0,58.0) [58.0|90.0] "" CLU - SG_ CF_Datc_CO2_Warning : 56|8@1+ (1.0,0.0) [0.0|3.0] "" CLU - -BO_ 1345 CGW1: 8 BCM - SG_ CF_Gway_IGNSw : 0|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU,ECS,EMS,EPB,ESC,IBOX,LVR,MDPS,SAS,SCC,ECS,EMS,EPB,ESC,IBOX,LVR,MDPS,SAS,SCC - SG_ CF_Gway_RKECmd : 3|3@1+ (1.0,0.0) [0.0|7.0] "" CLU,ECS,EMS,IBOX,ECS,EMS,IBOX - SG_ CF_Gway_DrvKeyLockSw : 6|1@1+ (1.0,0.0) [0.0|1.0] "" ECS,EMS,IBOX,ECS,EMS,IBOX - SG_ CF_Gway_DrvKeyUnlockSw : 7|1@1+ (1.0,0.0) [0.0|1.0] "" ECS,EMS,IBOX,ECS,EMS,IBOX - SG_ CF_Gway_DrvDrSw : 8|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,ECS,EMS,EPB,ESC,IBOX,SCC,TCU,ECS,EMS,EPB,ESC,IBOX,SCC,TCU - SG_ CF_Gway_DrvSeatBeltSw : 10|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,EPB,ESC,IBOX,PSB,TCU,EMS,EPB,ESC,IBOX,PSB,TCU - SG_ CF_Gway_TrunkTgSw : 12|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,ECS,EMS,EPB,ESC,IBOX,ECS,EMS,EPB,ESC,IBOX - SG_ CF_Gway_AstSeatBeltSw : 14|2@1+ (1.0,0.0) [0.0|3.0] "" IBOX,PSB,IBOX,PSB - SG_ CF_Gway_SMKOption : 16|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,EMS,IBOX,EMS,IBOX,SMK - SG_ CF_Gway_HoodSw : 17|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,EMS,EPB,ESC,IBOX,EMS,EPB,ESC,IBOX - SG_ CF_Gway_TurnSigLh : 19|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,EMS,IBOX,LCA,LDWS_LKAS,SCC,EMS,IBOX,LCA,LDWS_LKAS,SCC - SG_ CF_Gway_WiperIntT : 21|3@1+ (1.0,0.0) [0.0|7.0] "" CLU,EMS,IBOX,LDWS_LKAS,EMS,ESC,IBOX,LDWS_LKAS - SG_ CF_Gway_WiperIntSw : 24|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,EMS,IBOX,LDWS_LKAS,EMS,ESC,IBOX,LDWS_LKAS - SG_ CF_Gway_WiperLowSw : 25|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,EMS,IBOX,LDWS_LKAS,EMS,ESC,IBOX,LDWS_LKAS - SG_ CF_Gway_WiperHighSw : 26|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,EMS,IBOX,LDWS_LKAS,EMS,ESC,IBOX,LDWS_LKAS - SG_ CF_Gway_WiperAutoSw : 27|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,EMS,IBOX,LDWS_LKAS,EMS,ESC,IBOX,LDWS_LKAS - SG_ CF_Gway_RainSnsState : 28|3@1+ (1.0,0.0) [0.0|7.0] "" AFLS,EMS,IBOX,LDWS_LKAS,AFLS,EMS,ESC,IBOX,LDWS_LKAS - SG_ CF_Gway_HeadLampLow : 31|1@1+ (1.0,0.0) [0.0|1.0] "" AFLS,CLU,EMS,IBOX,LDWS_LKAS,SNV,AFLS,EMS,IBOX,LDWS_LKAS,SNV - SG_ CF_Gway_HeadLampHigh : 32|1@1+ (1.0,0.0) [0.0|1.0] "" AFLS,CLU,EMS,IBOX,LDWS_LKAS,AFLS,EMS,IBOX,LDWS_LKAS - SG_ CF_Gway_HazardSw : 33|2@1+ (1.0,0.0) [0.0|3.0] "" ABS,EMS,ESC,IBOX,LCA,LDWS_LKAS,ABS,EMS,ESC,IBOX,LCA,LDWS_LKAS - SG_ CF_Gway_AstDrSw : 35|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX,IBOX - SG_ CF_Gway_DefoggerRly : 36|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX,EMS,IBOX - SG_ CF_Gway_ALightStat : 37|1@1+ (1.0,0.0) [0.0|1.0] "" AFLS,IBOX,LDWS_LKAS,AFLS,IBOX,LDWS_LKAS - SG_ CF_Gway_LightSwState : 38|2@1+ (1.0,0.0) [0.0|3.0] "" AFLS,IBOX,LDWS_LKAS,AFLS,IBOX,LDWS_LKAS - SG_ CF_Gway_Frt_Fog_Act : 40|1@1+ (1.0,0.0) [0.0|1.0] "" AFLS,CLU,IBOX,LDWS_LKAS,AFLS,IBOX,LDWS_LKAS - SG_ CF_Gway_TSigRHSw : 41|1@1+ (1.0,0.0) [0.0|1.0] "" IBOX,LDWS_LKAS,IBOX,LDWS_LKAS - SG_ CF_Gway_TSigLHSw : 42|1@1+ (1.0,0.0) [0.0|1.0] "" IBOX,LDWS_LKAS,IBOX,LDWS_LKAS - SG_ CF_Gway_DriveTypeOption : 43|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX,LDWS_LKAS,IBOX,LDWS_LKAS - SG_ CF_Gway_StarterRlyState : 44|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX,EMS,IBOX,SMK - SG_ CF_Gway_PassiveAccessLock : 45|2@1+ (1.0,0.0) [0.0|7.0] "" CLU,ECS,EMS,IBOX,ECS,EMS,IBOX,SMK - SG_ CF_Gway_WiperMistSw : 47|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,EMS,IBOX,LDWS_LKAS - SG_ CF_Gway_PassiveAccessUnlock : 48|2@1+ (1.0,0.0) [0.0|7.0] "" CLU,ECS,EMS,IBOX,ECS,EMS,IBOX,SMK - SG_ CF_Gway_RrSunRoofOpenState : 50|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,DATC,IBOX - SG_ CF_Gway_PassingSW : 51|1@1+ (1.0,0.0) [0.0|1.0] "" AFLS,IBOX,LDWS_LKAS,AFLS,IBOX,LDWS_LKAS - SG_ CF_Gway_HBAControlMode : 52|1@1+ (1.0,0.0) [0.0|1.0] "" IBOX,LDWS_LKAS,IBOX,LDWS_LKAS - SG_ CF_Gway_HLpHighSw : 53|1@1+ (1.0,0.0) [0.0|1.0] "" IBOX,LDWS_LKAS,IBOX,LDWS_LKAS - SG_ CF_Gway_InhibitRMT : 54|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,EPB,ESC,IBOX,LCA,LDWS_LKAS,MDPS,PGS,SCC,SPAS,TPMS,EPB,ESC,IBOX,LCA,LDWS_LKAS,PGS,SCC,SPAS,TPMS - SG_ CF_Gway_RainSnsOption : 56|1@1+ (1.0,0.0) [0.0|1.0] "" CLU - SG_ C_SunRoofOpenState : 57|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,DATC,IBOX,DATC,IBOX - SG_ CF_Gway_Ign1 : 58|1@1+ (1.0,0.0) [0.0|1.0] "" CLU - SG_ CF_Gway_Ign2 : 59|1@1+ (1.0,0.0) [0.0|1.0] "" CLU - SG_ CF_Gway_ParkBrakeSw : 60|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,ESC,IBOX,SCC,ESC,IBOX,SCC - SG_ CF_Gway_TurnSigRh : 62|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,EMS,IBOX,LCA,LDWS_LKAS,SCC,EMS,IBOX,LCA,LDWS_LKAS,SCC - -BO_ 64 DATC14: 8 DATC - SG_ CF_Datc_AqsLevelOut : 0|4@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ CF_Datc_DiagMode : 6|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ CR_Datc_SelfDiagCode : 8|8@1+ (1.0,-1.0) [0.0|254.0] "" CLU - SG_ DATC_SyncDisp : 16|4@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ DATC_OffDisp : 20|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ DATC_SmartVentDisp : 22|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ DATC_SmartVentOnOffStatus : 24|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ DATC_AutoDefogSysOff_Disp : 26|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ DATC_ADSDisp : 28|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - -BO_ 832 LKAS11: 8 LDWS_LKAS - SG_ CF_Lkas_LdwsSysState : 2|4@1+ (1.0,0.0) [0.0|15.0] "" CLU,IBOX,PSB - SG_ CF_Lkas_SysWarning : 6|4@1+ (1.0,0.0) [0.0|15.0] "" BCM,CLU - SG_ CF_Lkas_LdwsLHWarning : 10|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CLU,PSB - SG_ CF_Lkas_LdwsRHWarning : 12|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CLU,PSB - SG_ CF_Lkas_HbaLamp : 14|1@1+ (1.0,0.0) [0.0|1.0] "" CLU - SG_ CF_Lkas_FcwBasReq : 15|1@1+ (1.0,0.0) [0.0|1.0] "" ABS,ESC - SG_ CR_Lkas_StrToqReq : 16|11@1+ (0.0078125,-8.0) [-8.0|8.0] "Nm" MDPS - SG_ CF_Lkas_ActToi : 27|1@1+ (1.0,0.0) [0.0|1.0] "" MDPS - SG_ CF_Lkas_ToiFlt : 28|1@1+ (1.0,0.0) [0.0|1.0] "" MDPS - SG_ CF_Lkas_HbaSysState : 29|3@1+ (1.0,0.0) [0.0|7.0] "" BCM,CLU - SG_ CF_Lkas_FcwOpt : 32|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ CF_Lkas_HbaOpt : 34|1@1+ (1.0,0.0) [0.0|1.0] "" BCM,CGW - SG_ CF_Lkas_MsgCount : 36|4@1+ (1.0,0.0) [0.0|15.0] "" CLU,MDPS - SG_ CF_Lkas_FcwSysState : 40|3@1+ (1.0,0.0) [0.0|7.0] "" CLU - SG_ CF_Lkas_FcwCollisionWarning : 43|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ CF_Lkas_FusionState : 45|2@1+ (1.0,0.0) [0.0|3.0] "" SCC - SG_ CF_Lkas_Chksum : 48|8@1+ (1.0,0.0) [0.0|255.0] "" MDPS - SG_ CF_Lkas_FcwOpt_USM : 56|3@1+ (1.0,0.0) [0.0|7.0] "" CLU - SG_ CF_Lkas_LdwsOpt_USM : 59|3@1+ (1.0,0.0) [0.0|7.0] "" CLU,MDPS - -BO_ 1342 LKAS12: 6 LDWS_LKAS - SG_ CF_Lkas_TsrSlifOpt : 10|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ CF_LkasTsrStatus : 12|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ CF_Lkas_TsrSpeed_Display_Clu : 16|8@1+ (1.0,0.0) [0.0|255.0] "" CLU - SG_ CF_LkasTsrSpeed_Display_Navi : 24|8@1+ (1.0,0.0) [0.0|255.0] "" BCM,CLU - SG_ CF_Lkas_TsrAddinfo_Display : 32|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - -BO_ 1338 TMU_GW_E_01: 8 CLU - SG_ CF_Gway_TeleReqDrLock : 0|2@1+ (1.0,0.0) [0.0|3.0] "" BCM - SG_ CF_Gway_TeleReqDrUnlock : 2|2@1+ (1.0,0.0) [0.0|3.0] "" BCM - SG_ CF_Gway_TeleReqHazard : 4|2@1+ (1.0,0.0) [0.0|3.0] "" BCM - SG_ CF_Gway_TeleReqHorn : 6|2@1+ (1.0,0.0) [0.0|3.0] "" BCM - SG_ CF_Gway_TeleReqEngineOperate : 8|2@1+ (1.0,0.0) [0.0|3.0] "" BCM - -BO_ 1078 PAS11: 4 BCM - SG_ CF_Gway_PASDisplayFLH : 0|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU,AVM - SG_ CF_Gway_PASDisplayFRH : 3|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU,AVM - SG_ CF_Gway_PASRsound : 6|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,Dummy - SG_ CF_Gway_PASDisplayFCTR : 8|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU,AVM - SG_ CF_Gway_PASDisplayRCTR : 11|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU,PGS,AVM - SG_ CF_Gway_PASFsound : 14|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,Dummy - SG_ CF_Gway_PASDisplayRLH : 16|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU,PGS,AVM - SG_ CF_Gway_PASDisplayRRH : 19|3@1+ (1.0,0.0) [0.0|7.0] "" AVM,CLU,PGS,AVM - SG_ CF_Gway_PASCheckSound : 22|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,Dummy - SG_ CF_Gway_PASSystemOn : 24|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,Dummy - SG_ CF_Gway_PASOption : 26|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ CF_Gway_PASDistance : 28|1@1+ (1.0,0.0) [0.0|1.0] "" CLU - -BO_ 48 EMS18: 6 EMS - SG_ CF_Ems_DC1NumPerMSV : 0|8@1+ (1.0,0.0) [0.0|255.0] "" DI_BOX - SG_ CF_Ems_DC2NumPerMSV : 8|16@1+ (1.0,0.0) [0.0|65535.0] "" DI_BOX - SG_ CR_Ems_DutyCyc1MSV : 24|8@1+ (0.1953,0.0) [0.0|49.8] "%" DI_BOX - SG_ CR_Ems_DutyCyc2MSV : 32|8@1+ (0.13725,0.0) [0.0|35.0] "%" DI_BOX - SG_ CR_Ems_DutyCyc3MSV : 40|8@1+ (0.392,0.0) [0.0|100.0] "%" DI_BOX - -BO_ 1322 CLU15: 8 CLU - SG_ CF_Clu_VehicleSpeed : 0|8@1+ (1.0,0.0) [0.0|255.0] "" BCM - SG_ CF_Clu_InhibitP : 9|1@1+ (1.0,0.0) [0.0|1.0] "" BCM - SG_ CF_Clu_InhibitR : 10|1@1+ (1.0,0.0) [0.0|1.0] "" BCM - SG_ CF_Clu_InhibitN : 11|1@1+ (1.0,0.0) [0.0|1.0] "" BCM - SG_ CF_Clu_InhibitD : 12|1@1+ (1.0,0.0) [0.0|1.0] "" BCM - SG_ CF_Clu_HudInfoSet : 13|7@1+ (1.0,0.0) [0.0|127.0] "" HUD - SG_ CF_Clu_HudFontColorSet : 20|2@1+ (1.0,0.0) [0.0|3.0] "" HUD - SG_ CF_Clu_HudBrightUpSW : 22|2@1+ (1.0,0.0) [0.0|3.0] "" HUD - SG_ CF_Clu_HudBrightDnSW : 24|2@1+ (1.0,0.0) [0.0|3.0] "" HUD - SG_ CF_Clu_HudHeightUpSW : 26|2@1+ (1.0,0.0) [0.0|3.0] "" HUD - SG_ CF_Clu_HudHeightDnSW : 28|2@1+ (1.0,0.0) [0.0|3.0] "" HUD - SG_ CF_Clu_HudSet : 30|1@1+ (1.0,0.0) [0.0|1.0] "" HUD - SG_ CF_Clu_HudFontSizeSet : 31|2@1+ (1.0,0.0) [0.0|3.0] "" HUD - SG_ CF_Clu_LanguageInfo : 33|5@1+ (1.0,0.0) [0.0|31.0] "" BCM,PGS - SG_ CF_Clu_ClusterSound : 38|1@1- (1.0,0.0) [0.0|0.0] "" BCM,CGW,FATC - -BO_ 1066 _4WD13: 6 _4WD - SG_ _4WD_CURRENT : 0|8@1+ (0.390625,0.0) [-50.0|50.0] "A" TCU - SG_ _4WD_POSITION : 8|16@1+ (0.015625,0.0) [-180.0|180.0] "Deg" TCU - SG_ _4WD_CLU_THERM_STR : 24|8@1+ (1.0,0.0) [0.0|100.0] "%" TCU - SG_ _4WD_STATUS : 32|8@1+ (1.0,0.0) [0.0|15.0] "" ESC,TCU - -BO_ 1065 _4WD12: 8 _4WD - SG_ Ster_Pos : 0|16@1+ (1.0,-600.0) [-600.0|600.0] "Deg" ESC - SG_ FRSS : 16|8@1+ (1.0,0.0) [0.0|254.0] "km/h" ESC - SG_ FLSS : 24|8@1+ (1.0,0.0) [0.0|254.0] "km/h" ESC - SG_ RRSS : 32|8@1+ (1.0,0.0) [0.0|254.0] "km/h" ESC - SG_ RLSS : 40|8@1+ (1.0,0.0) [0.0|254.0] "km/h" ESC - SG_ CLU_PRES : 48|16@1+ (0.0625,-50.0) [-50.0|50.0] "Bar" ESC - -BO_ 809 EMS12: 8 EMS - SG_ CONF_TCU m1 : 0|6@1+ (1.0,0.0) [0.0|63.0] "" _4WD,ACU,BCM,CLU,DATC,EPB,ESC,IBOX,LCA,SMK - SG_ CAN_VERS m0 : 0|6@1+ (1.0,0.0) [0.0|7.7] "" _4WD,ABS,ESC,IBOX - SG_ TQ_STND m3 : 0|6@1+ (10.0,0.0) [0.0|630.0] "Nm" _4WD,DATC,ECS,EPB,ESC,FATC,IBOX - SG_ OBD_FRF_ACK m2 : 0|6@1+ (1.0,0.0) [0.0|63.0] "" _4WD,ESC,IBOX - SG_ MUL_CODE M : 6|2@1+ (1.0,0.0) [0.0|3.0] "" _4WD,ABS,ACU,BCM,CLU,DATC,ECS,EPB,ESC,IBOX,LCA,SMK,TCU - SG_ TEMP_ENG : 8|8@1+ (0.75,-48.0) [-48.0|143.25] "deg" _4WD,BCM,CLU,DATC,EPB,ESC,IBOX,SMK,TCU - SG_ MAF_FAC_ALTI_MMV : 16|8@1+ (0.00781,0.0) [0.0|1.99155] "" IBOX,TCU - SG_ VB_OFF_ACT : 24|1@1+ (1.0,0.0) [0.0|1.0] "" IBOX,TCU - SG_ ACK_ES : 25|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ACU,IBOX - SG_ CONF_MIL_FMY : 26|3@1+ (1.0,0.0) [0.0|7.0] "" ESC,IBOX,TCU - SG_ OD_OFF_REQ : 29|1@1+ (1.0,0.0) [0.0|1.0] "" IBOX,TCU - SG_ ACC_ACT : 30|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ABS,CLU,ESC,IAP,IBOX,SCC,TCU - SG_ CLU_ACK : 31|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,EPB,ESC,IBOX - SG_ BRAKE_ACT : 32|2@1+ (1.0,0.0) [0.0|3.0] "" _4WD,ABS,ACU,AFLS,CLU,DATC,ECS,EPB,ESC,IBOX,LDWS_LKAS,TCU - SG_ ENG_CHR : 34|4@1+ (1.0,0.0) [0.0|15.0] "" _4WD,ABS,ACU,CLU,DATC,EPB,ESC,FATC,IBOX,SCC,SMK,TCU - SG_ GP_CTL : 38|2@1+ (1.0,0.0) [0.0|3.0] "" IBOX - SG_ TPS : 40|8@1+ (0.4694836,-15.0234742) [-15.0234742|104.6948357] "%" _4WD,ABS,ACU,CLU,DATC,ECS,EPB,ESC,IBOX,TCU - SG_ PV_AV_CAN : 48|8@1+ (0.3906,0.0) [0.0|99.603] "%" _4WD,AAF,ABS,ACU,AFLS,CLU,DATC,EPB,ESC,IAP,IBOX,LDWS_LKAS,SCC,TCU - SG_ ENG_VOL : 56|8@1+ (0.1,0.0) [0.0|25.5] "liter" _4WD,ABS,ACU,BCM,CLU,DATC,EPB,ESC,IBOX,LDWS_LKAS,SCC,SMK - -BO_ 1064 _4WD11: 8 _4WD - SG_ _4WD_TYPE : 0|2@1+ (1.0,0.0) [0.0|3.0] "" ACU,ESC,TPMS - SG_ _4WD_SUPPORT : 2|2@1+ (1.0,0.0) [0.0|3.0] "" ABS,ESC,TPMS - SG_ _4WD_ERR : 8|8@1+ (1.0,0.0) [0.0|255.0] "" CLU,ESC - SG_ CLU_DUTY : 16|8@1+ (1.0,0.0) [0.0|64.0] "%" ABS,ESC - SG_ R_TIRE : 24|8@1+ (1.0,200.0) [200.0|455.0] "mm" ABS,ESC,TPMS - SG_ _4WD_SW : 32|8@1+ (1.0,0.0) [0.0|9.9] "" ESC - SG_ _2H_ACT : 40|1@1+ (1.0,0.0) [0.0|1.0] "" ABS,ESC - SG_ _4H_ACT : 41|1@1+ (1.0,0.0) [0.0|1.0] "" ABS,CLU,ESC,TPMS - SG_ LOW_ACT : 42|1@1+ (1.0,0.0) [0.0|1.0] "" ABS,ESC,TCU,TPMS - SG_ AUTO_ACT : 43|1@1+ (1.0,0.0) [0.0|1.0] "" ABS,ESC,TPMS - SG_ LOCK_ACT : 44|1@1+ (1.0,0.0) [0.0|1.0] "" ABS,CLU,ESC,TPMS - SG_ _4WD_TQC_CUR : 48|16@1+ (1.0,0.0) [0.0|65535.0] "Nm" ABS,ESC - -BO_ 1319 HU_GW_E_01: 8 CLU - SG_ C_ADrLNValueSet : 0|3@1+ (1.0,0.0) [0.0|7.0] "" BCM - SG_ C_ADrUNValueSet : 4|3@1+ (1.0,0.0) [0.0|7.0] "" BCM - SG_ C_TwUnNValueSet : 8|2@1+ (1.0,0.0) [0.0|3.0] "" BCM - SG_ C_ABuzzerNValueSet : 10|2@1+ (1.0,0.0) [0.0|3.0] "" BCM - SG_ C_ArmWKeyNValueSet : 12|2@1+ (1.0,0.0) [0.0|3.0] "" BCM - SG_ C_PSMNValueSet : 14|2@1+ (1.0,0.0) [0.0|3.0] "" BCM - SG_ C_SCMNValueSet : 16|2@1+ (1.0,0.0) [0.0|3.0] "" BCM - SG_ C_HLEscortNValueSet : 18|2@1+ (1.0,0.0) [0.0|3.0] "" BCM - SG_ C_WELNValueSet : 20|2@1+ (1.0,0.0) [0.0|3.0] "" BCM - SG_ C_TriTurnLNValueSet : 22|2@1+ (1.0,0.0) [0.0|3.0] "" BCM - SG_ C_SNVWarnNValueSet : 24|2@1+ (1.0,0.0) [0.0|3.0] "" BCM - SG_ C_LkasWarnNValueSet : 26|2@1+ (1.0,0.0) [0.0|3.0] "" BCM - -BO_ 1318 HU_GW_E_00: 8 CLU - SG_ C_ADrLURValueReq : 0|2@1+ (1.0,0.0) [0.0|3.0] "" BCM - SG_ C_TwUnRValueReq : 2|2@1+ (1.0,0.0) [0.0|3.0] "" BCM - SG_ C_AlarmRValueReq : 4|2@1+ (1.0,0.0) [0.0|3.0] "" BCM - SG_ C_IMSRValueReq : 6|2@1+ (1.0,0.0) [0.0|3.0] "" BCM - SG_ C_HLEscortRValueReq : 8|2@1+ (1.0,0.0) [0.0|3.0] "" BCM - SG_ C_WELRValueReq : 10|2@1+ (1.0,0.0) [0.0|3.0] "" BCM - SG_ C_TriTurnLRValueReq : 12|2@1+ (1.0,0.0) [0.0|3.0] "" BCM - SG_ C_SNVWarnRValueReq : 14|2@1+ (1.0,0.0) [0.0|3.0] "" BCM - SG_ C_LkasWarnRValueReq : 16|2@1+ (1.0,0.0) [0.0|3.0] "" BCM - -BO_ 1317 GW_HU_E_01: 8 BCM - SG_ C_ADrLRValue : 0|3@1+ (1.0,0.0) [0.0|7.0] "" CLU - SG_ C_ADrURValue : 4|3@1+ (1.0,0.0) [0.0|7.0] "" CLU - SG_ C_TwUnRValue : 8|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ C_ABuzzerRValue : 10|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ C_ArmWKeyRValue : 12|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ C_PSMRValue : 14|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ C_SCMRValue : 16|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ C_HLEscortRValue : 18|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ C_WELRValue : 20|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ C_TriTurnLRValue : 22|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - -BO_ 1316 GW_HU_E_00: 8 BCM - SG_ C_ADrLUNValueConf : 0|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ C_TwUnNValueConf : 2|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ C_AlarmNValueConf : 4|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ C_PSMNValueConf : 6|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ C_SCMNValueConf : 8|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ C_HLEscortNValueConf : 10|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ C_WELNValueConf : 12|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ C_TriTurnLNValueConf : 14|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - -BO_ 1315 GW_SWRC_PE: 8 BCM - SG_ C_ModeSW : 2|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ C_MuteSW : 4|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ C_SeekDnSW : 6|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ C_SeekUpSW : 8|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ C_BTPhoneCallSW : 10|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ C_BTPhoneHangUpSW : 12|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ C_DISCDownSW : 14|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ C_DISCUpSW : 16|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ C_SdsSW : 18|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ C_MTSSW : 20|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ C_VolDnSW : 22|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ C_VolUpSW : 24|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - -BO_ 1314 GW_IPM_PE_1: 8 BCM - SG_ C_AV_Tail : 0|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ C_ParkingBrakeSW : 2|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ C_RKECMD : 4|4@1+ (1.0,0.0) [0.0|15.0] "" CLU - SG_ C_BAState : 8|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ C_IGNSW : 12|3@1+ (1.0,0.0) [0.0|7.0] "" CLU - SG_ C_CountryCfg : 16|3@1+ (1.0,0.0) [0.0|7.0] "" CLU - SG_ C_TailLampActivity : 26|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ RearSW_RSELockOnOff : 28|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ C_SMKTeleCrankingState : 32|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ C_SMKTeleCrankingFailRes : 34|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - -BO_ 1057 SCC12: 8 SCC - SG_ CF_VSM_Prefill : 0|1@1+ (1.0,0.0) [0.0|1.0] "" ESC - SG_ CF_VSM_DecCmdAct : 1|1@1+ (1.0,0.0) [0.0|1.0] "" ESC - SG_ CF_VSM_HBACmd : 2|2@1+ (1.0,0.0) [0.0|3.0] "" ESC - SG_ CF_VSM_Warn : 4|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,ESC,IAP - SG_ CF_VSM_Stat : 6|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,ESC,PSB - SG_ CF_VSM_BeltCmd : 8|3@1+ (1.0,0.0) [0.0|7.0] "" ESC,PSB - SG_ ACCFailInfo : 11|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,CUBIS,ESC,IBOX - SG_ ACCMode : 13|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,ESC,IBOX,TCU - SG_ StopReq : 15|1@1+ (1.0,0.0) [0.0|1.0] "" EPB,ESC - SG_ CR_VSM_DecCmd : 16|8@1+ (0.01,0.0) [0.0|2.55] "g" ESC - SG_ aReqMax : 24|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2" EMS,ESC,TCU - SG_ TakeOverReq : 35|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,ESC,TCU - SG_ PreFill : 36|1@1+ (1.0,0.0) [0.0|1.0] "" ESC,TCU - SG_ aReqMin : 37|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2" EMS,ESC,TCU - SG_ CF_VSM_ConfMode : 48|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,ESC - SG_ AEB_Failinfo : 50|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,ESC - SG_ AEB_Status : 52|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,ESC - SG_ AEB_CmdAct : 54|1@1+ (1.0,0.0) [0.0|1.0] "" ESC - SG_ AEB_StopReq : 55|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,ESC - SG_ CR_VSM_Alive : 56|4@1+ (1.0,0.0) [0.0|15.0] "" ESC,PSB - SG_ CR_VSM_ChkSum : 60|4@1+ (1.0,0.0) [0.0|15.0] "" ESC,PSB - -BO_ 1313 GW_DDM_PE: 8 BCM - SG_ C_DRVDoorStatus : 0|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ C_ASTDoorStatus : 2|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ C_RLDoorStatus : 4|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ C_RRDoorStatus : 6|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ C_TrunkStatus : 8|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ C_OSMirrorStatus : 10|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - -BO_ 1056 SCC11: 8 SCC - SG_ MainMode_ACC : 0|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,EMS,ESC - SG_ SCCInfoDisplay : 1|3@1+ (1.0,0.0) [0.0|7.0] "" CLU,ESC - SG_ AliveCounterACC : 4|4@1+ (1.0,0.0) [0.0|15.0] "" CLU,EMS,ESC,TCU - SG_ VSetDis : 8|8@1+ (1.0,0.0) [0.0|255.0] "km/h or MPH" CLU,ESC,TCU - SG_ ObjValid : 16|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,ESC,TCU - SG_ DriverAlertDisplay : 17|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,ESC - SG_ TauGapSet : 19|3@1+ (1.0,0.0) [0.0|7.0] "" CLU,ESC,TCU - SG_ ACC_ObjStatus : 22|2@1+ (1.0,0.0) [0.0|3.0] "" ABS,ESC - SG_ ACC_ObjLatPos : 24|9@1+ (0.1,-20.0) [-20.0|31.1] "m" ABS,ESC - SG_ ACC_ObjDist : 33|11@1+ (0.1,0.0) [0.0|204.7] "m" ABS,ESC - SG_ ACC_ObjRelSpd : 44|12@1+ (0.1,-170.0) [-170.0|239.5] "m/s" ABS,ESC - SG_ Navi_SCC_Curve_Status : 56|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ Navi_SCC_Curve_Act : 58|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ Navi_SCC_Camera_Act : 60|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ Navi_SCC_Camera_Status : 62|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - -BO_ 1312 CGW3: 8 BCM - SG_ CR_Photosensor_LH : 0|8@1+ (78.125,0.0) [0.0|20000.0] "" DATC,DATC - SG_ CR_Photosensor_RH : 10|8@1+ (78.125,0.0) [0.0|20000.0] "" DATC,DATC - SG_ CF_Hoodsw_memory : 22|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,EMS - SG_ C_MirOutTempSns : 24|8@1+ (0.5,-40.5) [-40.0|60.0] "deg" AAF,CLU,DATC,EMS,SPAS,AAF,DATC,EMS,SPAS - -BO_ 544 ESP12: 8 ESC - SG_ LAT_ACCEL : 0|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2" _4WD,ECS,IBOX,LCA,LDWS_LKAS,MDPS,PSB,SCC,TCU - SG_ LAT_ACCEL_STAT : 11|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,IBOX,LDWS_LKAS,MDPS,PSB,SCC,TCU - SG_ LAT_ACCEL_DIAG : 12|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,IBOX,LDWS_LKAS,MDPS,PSB,SCC,TCU - SG_ LONG_ACCEL : 13|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2" _4WD,ECS,EMS,EPB,IBOX,LCA,LDWS_LKAS,PSB,SCC,SPAS,TCU - SG_ LONG_ACCEL_STAT : 24|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,EMS,EPB,IBOX,LDWS_LKAS,PSB,SCC,SPAS,TCU - SG_ LONG_ACCEL_DIAG : 25|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,EMS,EPB,IBOX,LDWS_LKAS,PSB,SCC,SPAS,TCU - SG_ CYL_PRES : 26|12@1+ (0.1,0.0) [0.0|409.5] "Bar" _4WD,ECS,EMS,EPB,IBOX,LDWS_LKAS,PSB,SCC,TCU - SG_ CYL_PRES_STAT : 38|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ECS,EMS,EPB,IBOX,LDWS_LKAS,PSB,SCC,TCU - SG_ CYL_PRESS_DIAG : 39|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ECS,EMS,EPB,IBOX,PSB,SCC,TCU - SG_ YAW_RATE : 40|13@1+ (0.01,-40.95) [-40.95|40.96] "" _4WD,AFLS,IBOX,LCA,LDWS_LKAS,MDPS,PSB,SCC,SPAS,TCU - SG_ YAW_RATE_STAT : 53|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,AFLS,IBOX,LCA,LDWS_LKAS,MDPS,PSB,SCC,SPAS,TCU - SG_ YAW_RATE_DIAG : 54|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,AFLS,IBOX,LCA,LDWS_LKAS,MDPS,PSB,SCC,SPAS,TCU - SG_ ESP12_AliveCounter : 56|4@1+ (1.0,0.0) [0.0|15.0] "" _4WD,EMS,LPI,TCU,TMU - SG_ ESP12_Checksum : 60|4@1+ (1.0,0.0) [0.0|15.0] "" _4WD,EMS,LPI,TCU,TMU - -BO_ 1307 CLU16: 8 CLU - SG_ CF_Clu_TirePressUnitNValueSet : 0|3@1+ (1.0,0.0) [0.0|7.0] "" TPMS - SG_ CF_Clu_SlifNValueSet : 3|2@1+ (1.0,0.0) [0.0|3.0] "" LDWS_LKAS - SG_ CF_Clu_RearWiperNValueSet : 12|2@1+ (1.0,0.0) [0.0|3.0] "" BCM - -BO_ 790 EMS11: 8 EMS - SG_ SWI_IGK : 0|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ABS,ACU,AHLS,CUBIS,DI_BOX,ECS,EPB,ESC,IBOX,LDWS_LKAS,MDPS,REA,SAS,SCC,TCU - SG_ F_N_ENG : 1|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ACU,AFLS,CLU,CUBIS,DATC,ECS,EPB,ESC,IBOX,MDPS,SCC,TCU - SG_ ACK_TCS : 2|1@1+ (1.0,0.0) [0.0|1.0] "" ESC,IBOX - SG_ PUC_STAT : 3|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,CLU,DATC,IBOX,TCU - SG_ TQ_COR_STAT : 4|2@1+ (1.0,0.0) [0.0|3.0] "" _4WD,ESC,IBOX,TCU - SG_ RLY_AC : 6|1@1+ (1.0,0.0) [0.0|1.0] "" DATC,IBOX,TCU - SG_ F_SUB_TQI : 7|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ECS,EPB,ESC,IBOX,TCU - SG_ TQI_ACOR : 8|8@1+ (0.390625,0.0) [0.0|99.6094] "%" _4WD,EPB,ESC,IBOX,TCU - SG_ N : 16|16@1+ (0.25,0.0) [0.0|16383.75] "rpm" _4WD,ACU,AFLS,CLU,CUBIS,DATC,ECS,EPB,ESC,FPCM,IBOX,MDPS,SCC,TCU - SG_ TQI : 32|8@1+ (0.390625,0.0) [0.0|99.6094] "%" _4WD,ECS,EPB,ESC,IBOX,TCU - SG_ TQFR : 40|8@1+ (0.390625,0.0) [0.0|99.6094] "%" _4WD,EPB,ESC,IBOX,TCU - SG_ VS : 48|8@1+ (1.0,0.0) [0.0|254.0] "km/h" _4WD,AAF,ACU,AHLS,BCM,CLU,DATC,ECS,EPB,IBOX,LCA,LDWS_LKAS,LVR,MDPS,ODS,SCC,SMK,SPAS,TCU,TPMS - SG_ RATIO_TQI_BAS_MAX_STND : 56|8@1+ (0.0078,0.0) [0.0|2.0] "" _4WD,IBOX,TCU - -BO_ 1301 CLU14: 8 CLU - SG_ CF_Clu_ADrUNValueSet : 0|3@1+ (1.0,0.0) [0.0|7.0] "" BCM - SG_ CF_Clu_ADrLNValueSet : 3|3@1+ (1.0,0.0) [0.0|7.0] "" BCM - SG_ CF_Clu_EscortHLNValueSet : 6|2@1+ (1.0,0.0) [0.0|3.0] "" BCM - SG_ CF_Clu_DoorLSNValueSet : 8|3@1+ (1.0,0.0) [0.0|7.0] "" BCM - SG_ CF_Clu_PSMNValueSet : 11|3@1+ (1.0,0.0) [0.0|7.0] "" BCM - SG_ CF_Clu_TTUnlockNValueSet : 14|2@1+ (1.0,0.0) [0.0|3.0] "" BCM - SG_ CF_Clu_PTGMNValueSet : 16|2@1+ (1.0,0.0) [0.0|3.0] "" BCM - SG_ CF_Clu_SCMNValueSet : 18|2@1+ (1.0,0.0) [0.0|3.0] "" BCM - SG_ CF_Clu_WlightNValueSet : 20|2@1+ (1.0,0.0) [0.0|3.0] "" BCM - SG_ CF_Clu_TempUnitNValueSet : 22|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,DATC - SG_ CF_Clu_MoodLpNValueSet : 24|3@1+ (1.0,0.0) [0.0|7.0] "" BCM - SG_ CF_Clu_TrfChgSet : 27|2@1+ (1.0,0.0) [0.0|3.0] "" AFLS - SG_ CF_Clu_OTTurnNValueSet : 29|3@1+ (1.0,0.0) [0.0|7.0] "" BCM - SG_ CF_Clu_LcaNValueSet : 32|2@1+ (1.0,0.0) [0.0|3.0] "" LCA - SG_ CF_Clu_RctaNValueSet : 34|2@1+ (1.0,0.0) [0.0|3.0] "" LCA - SG_ CF_Clu_RcwNValueSet : 36|2@1+ (1.0,0.0) [0.0|3.0] "" LCA - SG_ CF_Clu_EscOffNValueSet : 38|3@1+ (1.0,0.0) [0.0|7.0] "" ESC - SG_ CF_Clu_SccNaviCrvNValueSet : 41|2@1+ (1.0,0.0) [0.0|3.0] "" SCC - SG_ CF_Clu_SccNaviCamNValueSet : 43|2@1+ (1.0,0.0) [0.0|3.0] "" SCC - SG_ CF_Clu_SccAebNValueSet : 45|2@1+ (1.0,0.0) [0.0|3.0] "" SCC - SG_ CF_Clu_LkasModeNValueSet : 47|2@1+ (1.0,0.0) [0.0|3.0] "" LDWS_LKAS - SG_ CF_Clu_FcwNValueSet : 51|2@1+ (1.0,0.0) [0.0|3.0] "" LDWS_LKAS - SG_ CF_Clu_PasSpkrLvNValueSet : 53|3@1+ (1.0,0.0) [0.0|7.0] "" BCM - SG_ CF_Clu_SccDrvModeNValueSet : 56|3@1+ (1.0,0.0) [0.0|7.0] "" SCC - SG_ CF_Clu_HAnBNValueSet : 59|2@1+ (1.0,0.0) [0.0|3.0] "" BCM - SG_ CF_Clu_HfreeTrunkTgNValueSet : 61|3@1+ (1.0,0.0) [0.0|7.0] "" BCM - -BO_ 275 TCU13: 8 TCU - SG_ N_TGT_LUP : 0|8@1+ (10.0,500.0) [500.0|3040.0] "rpm" EMS,IBOX - SG_ SLOPE_TCU : 8|6@1+ (0.5,-16.0) [-16.0|15.5] "%" CLU,CUBIS,EMS,IBOX - SG_ CF_Tcu_InhCda : 14|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX - SG_ CF_Tcu_IsgInhib : 15|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX - SG_ CF_Tcu_BkeOnReq : 16|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,IBOX - SG_ CF_Tcu_NCStat : 18|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,IBOX - SG_ CF_Tcu_TarGr : 20|4@1+ (1.0,0.0) [0.0|15.0] "" _4WD,CLU,DATC,EMS,EPB,ESC,IBOX,SCC - SG_ CF_Tcu_ShfPatt : 24|4@1+ (1.0,0.0) [0.0|15.0] "" CLU,CUBIS,EMS,IBOX - SG_ CF_Tcu_InhVis : 28|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX - SG_ CF_Tcu_PRelReq : 29|1@1+ (1.0,0.0) [0.0|1.0] "" IBOX,LVR - SG_ CF_Tcu_ITPhase : 30|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX - SG_ CF_Tcu_ActEcoRdy : 31|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX - SG_ CF_Tcu_TqGrdLim : 32|8@1+ (10.0,0.0) [0.0|2540.0] "Nm/s" EMS,IBOX - SG_ CR_Tcu_IsgTgtRPM : 40|8@1+ (20.0,0.0) [0.0|3500.0] "rpm" EMS,IBOX - SG_ CF_Tcu_SptRdy : 48|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,IBOX - SG_ CF_Tcu_SbwPInfo : 56|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX - SG_ CF_Tcu_Alive3 : 58|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,IBOX - SG_ CF_Tcu_ChkSum3 : 60|4@1+ (1.0,0.0) [0.0|15.0] "" EMS,IBOX - -BO_ 274 TCU12: 8 TCU - SG_ ETL_TCU : 0|8@1+ (2.0,0.0) [0.0|508.0] "Nm" EMS,IBOX - SG_ CUR_GR : 8|4@1+ (1.0,0.0) [0.0|15.0] "" _4WD,EMS,ESC,IBOX,SCC,TPMS - SG_ CF_Tcu_Alive : 12|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,ESC,IBOX,SCC - SG_ CF_Tcu_ChkSum : 14|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,ESC,IBOX,SCC - SG_ VS_TCU : 16|8@1+ (1.0,0.0) [0.0|254.0] "km/h" BCM,CLU,DATC,EMS,IBOX,LCA,LVR,PGS,SMK,SNV - SG_ FUEL_CUT_TCU : 28|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX - SG_ INH_FUEL_CUT : 29|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX - SG_ IDLE_UP_TCU : 30|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX - SG_ N_INC_TCU : 31|1@1+ (1.0,0.0) [0.0|1.0] "" EMS,IBOX - SG_ SPK_RTD_TCU : 32|8@1+ (0.375,-23.625) [-15.0|15.0] "" EMS,IBOX - SG_ N_TC_RAW : 40|16@1+ (0.25,0.0) [0.0|16383.5] "rpm" EMS,IBOX - SG_ VS_TCU_DECIMAL : 56|8@1+ (0.0078125,0.0) [0.0|0.9921875] "km/h" CLU,EMS,IBOX,LCA - -BO_ 273 TCU11: 8 TCU - SG_ TQI_TCU_INC : 0|8@1+ (0.390625,0.0) [0.0|99.609375] "%" EMS,ESC,IBOX - SG_ G_SEL_DISP : 8|4@1+ (1.0,0.0) [0.0|15.0] "" _4WD,AFLS,AVM,BCM,CGW,CLU,CUBIS,ECS,EMS,EPB,ESC,IAP,IBOX,LCA,LDWS_LKAS,LVR,MDPS,PGS,SCC,SMK,SNV,SPAS,TPMS - SG_ F_TCU : 12|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,ESC,IBOX - SG_ TCU_TYPE : 14|2@1+ (1.0,0.0) [0.0|3.0] "" _4WD,EMS,ESC,IBOX - SG_ TCU_OBD : 16|3@1+ (1.0,0.0) [0.0|7.0] "" EMS,ESC,IBOX - SG_ SWI_GS : 19|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,EMS,EPB,ESC,IBOX,SCC - SG_ GEAR_TYPE : 20|4@1+ (1.0,0.0) [0.0|15.0] "" _4WD,CLU,EMS,ESC,IBOX,SCC - SG_ TQI_TCU : 24|8@1+ (0.390625,0.0) [0.0|99.609375] "%" EMS,ESC,IBOX - SG_ TEMP_AT : 32|8@1+ (1.0,-40.0) [-40.0|214.0] "deg" AAF,CLU,CUBIS,EMS,ESC,IBOX - SG_ N_TC : 40|16@1+ (0.25,0.0) [0.0|16383.5] "rpm" _4WD,EMS,EPB,ESC,IBOX - SG_ SWI_CC : 56|2@1+ (1.0,0.0) [0.0|3.0] "" _4WD,CLU,EMS,ESC,IBOX - SG_ CF_Tcu_Alive1 : 58|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,IBOX - SG_ CF_Tcu_ChkSum1 : 60|4@1+ (1.0,0.0) [0.0|15.0] "" EMS,IBOX - -BO_ 16 ACU13: 8 ACU - SG_ CF_Acu_CshAct : 0|1@1+ (1.0,0.0) [0.0|1.0] "" CUBIS,IBOX,ODS - -BO_ 1040 CGW_USM1: 8 BCM - SG_ CF_Gway_ATTurnRValue : 0|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ CF_Gway_PTGMRValue : 2|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ CF_Gway_EscortHLRValue : 4|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ CF_Gway_TTUnlockRValue : 6|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ CF_Gway_ADrLRValue : 8|3@1+ (1.0,0.0) [0.0|7.0] "" CLU - SG_ CF_Gway_ADrURValue : 11|3@1+ (1.0,0.0) [0.0|7.0] "" CLU - SG_ CF_Gway_SCMRValue : 14|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ CF_Gway_WlightRValue : 16|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ CF_Gway_PSMRValue : 18|3@1+ (1.0,0.0) [0.0|7.0] "" CLU - SG_ CF_Gway_OTTurnRValue : 21|3@1+ (1.0,0.0) [0.0|7.0] "" CLU - SG_ CF_Gway_DrLockSoundRValue : 24|3@1+ (1.0,0.0) [0.0|7.0] "" CLU - SG_ CF_Gway_HAnBRValue : 27|3@1+ (1.0,0.0) [0.0|7.0] "" CLU - SG_ CF_Gway_MoodLpRValue : 30|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ CF_Gway_HfreeTrunkRValue : 32|3@1+ (1.0,0.0) [0.0|7.0] "" CLU - SG_ CF_Gway_AutoLightRValue : 35|3@1+ (1.0,0.0) [0.0|7.0] "" CLU - SG_ CF_Gway_RearWiperRValue : 38|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ CF_Gway_PasSpkrLvRValue : 40|3@1+ (1.0,0.0) [0.0|7.0] "" CLU - -BO_ 1292 CLU13: 8 CLU - SG_ CF_Clu_LowfuelWarn : 0|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,FPCM,IBOX - SG_ CF_Clu_RefDetMod : 2|1@1+ (1.0,0.0) [0.0|1.0] "" IBOX - SG_ CF_Clu_AvgFCU : 3|2@1+ (1.0,0.0) [0.0|3.0] "" IBOX - SG_ CF_Clu_AvsmCur : 5|1@1+ (1.0,0.0) [0.0|1.0] "" ESC,SCC - SG_ CF_Clu_AvgFCI : 6|10@1+ (0.1,0.0) [0.0|102.2] "" IBOX - SG_ CF_Clu_DrivingModeSwi : 16|2@1+ (1.0,0.0) [0.0|3.0] "" DATC,ECS,EMS,ESC,IAP,MDPS,TCU - SG_ CF_Clu_FuelDispLvl : 18|5@1+ (1.0,0.0) [0.0|31.0] "" CGW,IBOX - SG_ CF_Clu_FlexSteerSW : 23|1@1+ (1.0,0.0) [0.0|1.0] "" MDPS - SG_ CF_Clu_DTE : 24|10@1+ (1.0,0.0) [0.0|1023.0] "" DATC - SG_ CF_Clu_TripUnit : 34|2@1+ (1.0,0.0) [0.0|3.0] "" DATC - SG_ CF_Clu_SWL_Stat : 36|3@1+ (1.0,0.0) [0.0|7.0] "" ACU,EMS - SG_ CF_Clu_ActiveEcoSW : 39|1@1+ (1.0,0.0) [0.0|1.0] "" DATC,EMS,TCU - SG_ CF_Clu_EcoDriveInf : 40|3@1+ (1.0,0.0) [0.0|7.0] "" CUBIS,EMS,IAP,IBOX - SG_ CF_Clu_IsaMainSW : 43|1@1+ (1.0,0.0) [0.0|1.0] "" EMS - SG_ CF_Clu_LdwsLkasSW : 56|1@1+ (1.0,0.0) [0.0|1.0] "" LDWS_LKAS - SG_ CF_Clu_AltLStatus : 59|1@1+ (1.0,0.0) [0.0|1.0] "" BCM,DATC,EMS - SG_ CF_Clu_AliveCnt2 : 60|4@1+ (1.0,0.0) [0.0|15.0] "" EMS,LDWS_LKAS - -BO_ 1290 SCC13: 8 SCC - SG_ SCCDrvModeRValue : 0|3@1+ (1.0,0.0) [0.0|7.0] "" CLU - SG_ SCC_Equip : 3|1@1+ (1.0,0.0) [0.0|1.0] "" ESC - SG_ AebDrvSetStatus : 4|3@1+ (1.0,0.0) [0.0|7.0] "" CLU,ESC - -BO_ 1287 TCS15: 4 ESC - SG_ ABS_W_LAMP : 0|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,CLU,CUBIS,IBOX - SG_ TCS_OFF_LAMP : 1|2@1+ (1.0,0.0) [0.0|1.0] "" _4WD,ACU,CLU - SG_ TCS_LAMP : 3|2@1+ (1.0,0.0) [0.0|3.0] "" _4WD,ACU,CLU,CUBIS,IBOX,SCC - SG_ DBC_W_LAMP : 5|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,CLU - SG_ DBC_F_LAMP : 6|2@1+ (1.0,0.0) [0.0|3.0] "" _4WD,CLU - SG_ ESC_Off_Step : 8|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ AVH_CLU : 16|8@1+ (1.0,0.0) [0.0|255.0] "" CLU,EPB - SG_ AVH_I_LAMP : 24|2@1+ (1.0,0.0) [0.0|3.0] "" EPB - SG_ EBD_W_LAMP : 26|1@1+ (1.0,0.0) [0.0|1.0] "" _4WD,CLU - SG_ AVH_ALARM : 27|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ AVH_LAMP : 29|3@1+ (1.0,0.0) [0.0|7.0] "" CLU,EPB,SPAS - -BO_ 1282 TCU14: 4 TCU - SG_ CF_TCU_WarnMsg : 0|3@1+ (1.0,0.0) [0.0|7.0] "" CLU - SG_ CF_TCU_WarnImg : 3|1@1+ (1.0,0.0) [0.0|1.0] "" CLU - SG_ CF_TCU_WarnSnd : 4|1@1+ (1.0,0.0) [0.0|1.0] "" CLU - SG_ CF_Tcu_GSel_BlinkReq : 5|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,LVR - SG_ CF_Tcu_StRelStat : 12|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,EMS,ESC - SG_ CF_Tcu_DriWarn1 : 13|3@1+ (1.0,0.0) [0.0|7.0] "" CLU,EMS,ESC - SG_ CF_Tcu_DriWarn2 : 16|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,EMS,ESC - -BO_ 1281 ECS11: 3 ECS - SG_ ECS_W_LAMP : 0|1@1+ (1.0,0.0) [0.0|1.0] "" CLU,CUBIS,IBOX - SG_ SYS_NA : 1|1@1+ (1.0,0.0) [0.0|1.0] "" CLU - SG_ ECS_DEF : 2|1@1+ (1.0,0.0) [0.0|1.0] "" CLU - SG_ ECS_DIAG : 3|1@1+ (1.0,0.0) [0.0|1.0] "" CLU - SG_ L_CHG_NA : 4|1@1+ (1.0,0.0) [0.0|1.0] "" CLU - SG_ Leveling_Off : 5|1@1+ (1.0,0.0) [0.0|1.0] "" CLU - SG_ LC_overheat : 6|1@1+ (1.0,0.0) [0.0|1.0] "" CLU - SG_ Lifting : 8|1@1+ (1.0,0.0) [0.0|1.0] "" CLU - SG_ Lowering : 9|1@1+ (1.0,0.0) [0.0|1.0] "" CLU - SG_ Damping_Mode : 10|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ REQ_Damping : 12|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ REQ_Height : 14|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ REQ_level : 16|4@1+ (1.0,0.0) [0.0|15.0] "" CLU - SG_ ACT_Height : 20|4@1+ (1.0,0.0) [0.0|15.0] "" CLU - -BO_ 1024 CLU_CFG11: 2 CLU - SG_ Vehicle_Type : 0|16@1+ (1.0,0.0) [0.0|65536.0] "" _4WD - -BO_ 1280 ACU14: 1 ACU - SG_ CF_SWL_Ind : 0|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ CF_TTL_Ind : 2|2@1+ (1.0,0.0) [0.0|3.0] "" CLU - SG_ CF_SBR_Ind : 4|2@1+ (1.0,0.0) [0.0|3.0] "" BCM,CLU - -BO_ 512 EMS20: 6 EMS - SG_ FCO : 0|16@1+ (0.128,0.0) [0.0|8388.48] "ul" CLU,CUBIS,FPCM,IBOX - SG_ CF_Ems_PumpTPres : 16|8@1+ (3.137254902,0.0) [0.0|800.0] "kPa" FPCM,IBOX - SG_ Split_Stat : 32|1@1+ (1.0,0.0) [0.0|1.0] "" FPCM diff --git a/opendbc/hyundai_2015_mcan.dbc b/opendbc/hyundai_2015_mcan.dbc deleted file mode 100644 index 6bcd771e511205..00000000000000 --- a/opendbc/hyundai_2015_mcan.dbc +++ /dev/null @@ -1,1564 +0,0 @@ -VERSION "" - - -NS_ : - NS_DESC_ - CM_ - BA_DEF_ - BA_ - VAL_ - CAT_DEF_ - CAT_ - FILTER - BA_DEF_DEF_ - EV_DATA_ - ENVVAR_DATA_ - SGTYPE_ - SGTYPE_VAL_ - BA_DEF_SGTYPE_ - BA_SGTYPE_ - SIG_TYPE_REF_ - VAL_TABLE_ - SIG_GROUP_ - SIG_VALTYPE_ - SIGTYPE_VALTYPE_ - BO_TX_BU_ - BA_DEF_REL_ - BA_REL_ - BA_DEF_DEF_REL_ - BU_SG_REL_ - BU_EV_REL_ - BU_BO_REL_ - SG_MUL_VAL_ - -BS_: - -BU_: CLOCK HUD H_U DATC CCP KMA_TMU CUBIS TMU IPM RSE_R RRC CGW RSE_L AMP EDT SWRC IBOX CLU FHCU ASD MON AVM KBD - - -BO_ 3221225472 VECTOR__INDEPENDENT_SIG_MSG: 0 Vector__XXX - SG_ C_WHEEL_FL : 0|12@0+ (1,0) [0|0] "" Vector__XXX - SG_ C_WHEEL_FR : 0|12@0+ (1,0) [0|0] "" Vector__XXX - SG_ C_WHEEL_RL : 0|12@0+ (1,0) [0|0] "" Vector__XXX - SG_ C_WHEEL_RR : 0|12@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 2046 TP_EDT_AMP: 8 EDT - SG_ Byte0_TCP_7FE : 7|8@0+ (1,0) [0|0] "" AMP - SG_ Byte1_Data_7FE : 15|8@0+ (1,0) [0|0] "" AMP - SG_ Byte2_Data_7FE : 23|8@0+ (1,0) [0|0] "" AMP - SG_ Byte3_Data_7FE : 31|8@0+ (1,0) [0|0] "" AMP - SG_ Byte4_Data_7FE : 39|8@0+ (1,0) [0|0] "" AMP - SG_ Byte5_Data_7FE : 47|8@0+ (1,0) [0|0] "" AMP - SG_ Byte6_Data_7FE : 55|8@0+ (1,0) [0|0] "" AMP - SG_ Byte7_Data_7FE : 63|8@0+ (1,0) [0|0] "" AMP - -BO_ 251 HU_TMU_E_02: 8 H_U - SG_ HU_GPS_Year : 7|8@0+ (1,0) [0|0] "" CUBIS,TMU - SG_ HU_GPS_Month : 15|8@0+ (1,0) [0|0] "" CUBIS,TMU - SG_ HU_GPS_Day : 23|8@0+ (1,0) [0|0] "" CUBIS,TMU - SG_ HU_GPS_Hour : 31|8@0+ (1,0) [0|0] "" CUBIS,TMU - SG_ HU_GPS_Minute : 39|8@0+ (1,0) [0|0] "" CUBIS,TMU - SG_ HU_GPS_Second : 47|8@0+ (1,0) [0|0] "" CUBIS,TMU - -BO_ 250 HU_TMU_E_01: 8 H_U - SG_ HU_VoiceRecCom : 2|3@0+ (1,0) [0|0] "" TMU - SG_ HU_LangChgCom : 5|3@0+ (1,0) [0|0] "" TMU - SG_ HU_CallEndCmd : 9|2@0+ (1,0) [0|0] "" TMU - SG_ HU_ServiceReqtID : 13|4@0+ (1,0) [0|0] "" TMU - SG_ HU_MicReqCmd : 15|2@0+ (1,0) [0|0] "" TMU - SG_ HU_SeviceAction : 18|3@0+ (1,0) [0|0] "" TMU - SG_ HU_eCallStatus : 20|2@0+ (1,0) [0|0] "" TMU - -BO_ 1269 TP_CLU_ANDAUTO_HU: 8 CLU - SG_ Byte0_TCP_4F5 : 7|8@0+ (1,0) [0|0] "" H_U - SG_ Byte1_Data_4F5 : 15|8@0+ (1,0) [0|0] "" H_U - SG_ Byte2_Data_4F5 : 23|8@0+ (1,0) [0|0] "" H_U - SG_ Byte3_Data_4F5 : 31|8@0+ (1,0) [0|0] "" H_U - SG_ Byte4_Data_4F5 : 39|8@0+ (1,0) [0|0] "" H_U - SG_ Byte5_Data_4F5 : 47|8@0+ (1,0) [0|0] "" H_U - SG_ Byte6_Data_4F5 : 55|8@0+ (1,0) [0|0] "" H_U - SG_ Byte7_Data_4F5 : 63|8@0+ (1,0) [0|0] "" H_U - -BO_ 1268 TP_HU_ANDAUTO_CLU: 8 H_U - SG_ Byte0_TCP_4F4 : 7|8@0+ (1,0) [0|0] "" CLU - SG_ Byte1_Data_4F4 : 15|8@0+ (1,0) [0|0] "" CLU - SG_ Byte2_Data_4F4 : 23|8@0+ (1,0) [0|0] "" CLU - SG_ Byte3_Data_4F4 : 31|8@0+ (1,0) [0|0] "" CLU - SG_ Byte4_Data_4F4 : 39|8@0+ (1,0) [0|0] "" CLU - SG_ Byte5_Data_4F4 : 47|8@0+ (1,0) [0|0] "" CLU - SG_ Byte6_Data_4F4 : 55|8@0+ (1,0) [0|0] "" CLU - SG_ Byte7_Data_4F4 : 63|8@0+ (1,0) [0|0] "" CLU - -BO_ 1267 TP_CLU_CARPLAY_HU: 8 CLU - SG_ Byte0_TCP_4F3 : 7|8@0+ (1,0) [0|0] "" H_U - SG_ Byte1_Data_4F3 : 15|8@0+ (1,0) [0|0] "" H_U - SG_ Byte2_Data_4F3 : 23|8@0+ (1,0) [0|0] "" H_U - SG_ Byte3_Data_4F3 : 31|8@0+ (1,0) [0|0] "" H_U - SG_ Byte4_Data_4F3 : 39|8@0+ (1,0) [0|0] "" H_U - SG_ Byte5_Data_4F3 : 47|8@0+ (1,0) [0|0] "" H_U - SG_ Byte6_Data_4F3 : 55|8@0+ (1,0) [0|0] "" H_U - SG_ Byte7_Data_4F3 : 63|8@0+ (1,0) [0|0] "" H_U - -BO_ 1266 TP_HU_CARPLAY_CLU: 8 H_U - SG_ Byte0_TCP_4F2 : 7|8@0+ (1,0) [0|0] "" CLU - SG_ Byte1_Data_4F2 : 15|8@0+ (1,0) [0|0] "" CLU - SG_ Byte2_Data_4F2 : 23|8@0+ (1,0) [0|0] "" CLU - SG_ Byte3_Data_4F2 : 31|8@0+ (1,0) [0|0] "" CLU - SG_ Byte4_Data_4F2 : 39|8@0+ (1,0) [0|0] "" CLU - SG_ Byte5_Data_4F2 : 47|8@0+ (1,0) [0|0] "" CLU - SG_ Byte6_Data_4F2 : 55|8@0+ (1,0) [0|0] "" CLU - SG_ Byte7_Data_4F2 : 63|8@0+ (1,0) [0|0] "" CLU - -BO_ 1263 TP_CLU_IBOX_HU: 8 CLU - SG_ Byte0_TCP_4EF : 7|8@0+ (1,0) [0|0] "" H_U - SG_ Byte1_Data_4EF : 15|8@0+ (1,0) [0|0] "" H_U - SG_ Byte2_Data_4EF : 23|8@0+ (1,0) [0|0] "" H_U - SG_ Byte3_Data_4EF : 31|8@0+ (1,0) [0|0] "" H_U - SG_ Byte4_Data_4EF : 39|8@0+ (1,0) [0|0] "" H_U - SG_ Byte5_Data_4EF : 47|8@0+ (1,0) [0|0] "" H_U - SG_ Byte6_Data_4EF : 55|8@0+ (1,0) [0|0] "" H_U - SG_ Byte7_Data_4EF : 63|8@0+ (1,0) [0|0] "" H_U - -BO_ 1262 TP_HU_IBOX_CLU: 8 H_U - SG_ Byte0_TCP_4EE : 7|8@0+ (1,0) [0|0] "" CLU - SG_ Byte1_Data_4EE : 15|8@0+ (1,0) [0|0] "" CLU - SG_ Byte2_Data_4EE : 23|8@0+ (1,0) [0|0] "" CLU - SG_ Byte3_Data_4EE : 31|8@0+ (1,0) [0|0] "" CLU - SG_ Byte4_Data_4EE : 39|8@0+ (1,0) [0|0] "" CLU - SG_ Byte5_Data_4EE : 47|8@0+ (1,0) [0|0] "" CLU - SG_ Byte6_Data_4EE : 55|8@0+ (1,0) [0|0] "" CLU - SG_ Byte7_Data_4EE : 63|8@0+ (1,0) [0|0] "" CLU - -BO_ 1261 TP_CLU_DLNA_HU: 8 CLU - SG_ Byte0_TCP_4ED : 7|8@0+ (1,0) [0|0] "" H_U - SG_ Byte1_Data_4ED : 15|8@0+ (1,0) [0|0] "" H_U - SG_ Byte2_Data_4ED : 23|8@0+ (1,0) [0|0] "" H_U - SG_ Byte3_Data_4ED : 31|8@0+ (1,0) [0|0] "" H_U - SG_ Byte4_Data_4ED : 39|8@0+ (1,0) [0|0] "" H_U - SG_ Byte5_Data_4ED : 47|8@0+ (1,0) [0|0] "" H_U - SG_ Byte6_Data_4ED : 55|8@0+ (1,0) [0|0] "" H_U - SG_ Byte7_Data_4ED : 63|8@0+ (1,0) [0|0] "" H_U - -BO_ 1260 TP_HU_DLNA_CLU: 8 H_U - SG_ Byte0_TCP_4EC : 7|8@0+ (1,0) [0|0] "" CLU - SG_ Byte1_Data_4EC : 15|8@0+ (1,0) [0|0] "" CLU - SG_ Byte2_Data_4EC : 23|8@0+ (1,0) [0|0] "" CLU - SG_ Byte3_Data_4EC : 31|8@0+ (1,0) [0|0] "" CLU - SG_ Byte4_Data_4EC : 39|8@0+ (1,0) [0|0] "" CLU - SG_ Byte5_Data_4EC : 47|8@0+ (1,0) [0|0] "" CLU - SG_ Byte6_Data_4EC : 55|8@0+ (1,0) [0|0] "" CLU - SG_ Byte7_Data_4EC : 63|8@0+ (1,0) [0|0] "" CLU - -BO_ 491 GW_DDM_PE: 8 CLU - SG_ C_DRVDoorStatus : 1|2@0+ (1,0) [0|0] "" AMP,ASD,AVM,CCP,CGW,CLOCK,CUBIS,DATC,EDT,FHCU,HUD,H_U,IBOX,IPM,KBD,KMA_TMU,MON,RRC,RSE_L,RSE_R,SWRC,TMU - SG_ C_ASTDoorStatus : 3|2@0+ (1,0) [0|0] "" AMP,ASD,AVM,CCP,CGW,CLOCK,CUBIS,DATC,EDT,FHCU,HUD,H_U,IBOX,IPM,KBD,KMA_TMU,MON,RRC,RSE_L,RSE_R,SWRC,TMU - SG_ C_RLDoorStatus : 5|2@0+ (1,0) [0|0] "" AMP,ASD,AVM,CCP,CGW,CLOCK,CUBIS,DATC,EDT,FHCU,HUD,H_U,IBOX,IPM,KBD,KMA_TMU,MON,RRC,RSE_L,RSE_R,SWRC,TMU - SG_ C_RRDoorStatus : 7|2@0+ (1,0) [0|0] "" AMP,ASD,AVM,CCP,CGW,CLOCK,CUBIS,DATC,EDT,FHCU,HUD,H_U,IBOX,IPM,KBD,KMA_TMU,MON,RRC,RSE_L,RSE_R,SWRC,TMU - SG_ C_TrunkStatus : 9|2@0+ (1,0) [0|0] "" AMP,ASD,AVM,CCP,CGW,CLOCK,CUBIS,DATC,EDT,FHCU,HUD,H_U,IBOX,IPM,KBD,KMA_TMU,MON,RRC,RSE_L,RSE_R,SWRC,TMU - SG_ C_OSMirrorStatus : 11|2@0+ (1,0) [0|0] "" AMP,ASD,AVM,CCP,CGW,CLOCK,CUBIS,DATC,EDT,FHCU,HUD,H_U,IBOX,IPM,KBD,KMA_TMU,MON,RRC,RSE_L,RSE_R,SWRC,TMU - -BO_ 1259 TP_CLU_MP_HU: 8 CLU - SG_ Byte0_TCP_4EB : 7|8@0+ (1,0) [0|0] "" H_U - SG_ Byte1_Data_4EB : 15|8@0+ (1,0) [0|0] "" H_U - SG_ Byte2_Data_4EB : 23|8@0+ (1,0) [0|0] "" H_U - SG_ Byte3_Data_4EB : 31|8@0+ (1,0) [0|0] "" H_U - SG_ Byte4_Data_4EB : 39|8@0+ (1,0) [0|0] "" H_U - SG_ Byte5_Data_4EB : 47|8@0+ (1,0) [0|0] "" H_U - SG_ Byte6_Data_4EB : 55|8@0+ (1,0) [0|0] "" H_U - SG_ Byte7_Data_4EB : 63|8@0+ (1,0) [0|0] "" H_U - -BO_ 1258 TP_HU_MP_CLU: 8 H_U - SG_ Byte0_TCP_4EA : 7|8@0+ (1,0) [0|0] "" CLU - SG_ Byte1_Data_4EA : 15|8@0+ (1,0) [0|0] "" CLU - SG_ Byte2_Data_4EA : 23|8@0+ (1,0) [0|0] "" CLU - SG_ Byte3_Data_4EA : 31|8@0+ (1,0) [0|0] "" CLU - SG_ Byte4_Data_4EA : 39|8@0+ (1,0) [0|0] "" CLU - SG_ Byte5_Data_4EA : 47|8@0+ (1,0) [0|0] "" CLU - SG_ Byte6_Data_4EA : 55|8@0+ (1,0) [0|0] "" CLU - SG_ Byte7_Data_4EA : 63|8@0+ (1,0) [0|0] "" CLU - -BO_ 1257 TP_CLU_FM_HU: 8 CLU - SG_ Byte0_TCP_4E9 : 7|8@0+ (1,0) [0|0] "" H_U - SG_ Byte1_Data_4E9 : 15|8@0+ (1,0) [0|0] "" H_U - SG_ Byte2_Data_4E9 : 23|8@0+ (1,0) [0|0] "" H_U - SG_ Byte3_Data_4E9 : 31|8@0+ (1,0) [0|0] "" H_U - SG_ Byte4_Data_4E9 : 39|8@0+ (1,0) [0|0] "" H_U - SG_ Byte5_Data_4E9 : 47|8@0+ (1,0) [0|0] "" H_U - SG_ Byte6_Data_4E9 : 55|8@0+ (1,0) [0|0] "" H_U - SG_ Byte7_Data_4E9 : 63|8@0+ (1,0) [0|0] "" H_U - -BO_ 1256 TP_HU_FM_CLU: 8 H_U - SG_ Byte0_TCP_4E8 : 7|8@0+ (1,0) [0|0] "" CLU - SG_ Byte1_Data_4E8 : 15|8@0+ (1,0) [0|0] "" CLU - SG_ Byte2_Data_4E8 : 23|8@0+ (1,0) [0|0] "" CLU - SG_ Byte3_Data_4E8 : 31|8@0+ (1,0) [0|0] "" CLU - SG_ Byte4_Data_4E8 : 39|8@0+ (1,0) [0|0] "" CLU - SG_ Byte5_Data_4E8 : 47|8@0+ (1,0) [0|0] "" CLU - SG_ Byte6_Data_4E8 : 55|8@0+ (1,0) [0|0] "" CLU - SG_ Byte7_Data_4E8 : 63|8@0+ (1,0) [0|0] "" CLU - -BO_ 1255 TP_CLU_MLT_HU: 8 CLU - SG_ Byte0_TCP_4E7 : 7|8@0+ (1,0) [0|0] "" H_U - SG_ Byte1_Data_4E7 : 15|8@0+ (1,0) [0|0] "" H_U - SG_ Byte2_Data_4E7 : 23|8@0+ (1,0) [0|0] "" H_U - SG_ Byte3_Data_4E7 : 31|8@0+ (1,0) [0|0] "" H_U - SG_ Byte4_Data_4E7 : 39|8@0+ (1,0) [0|0] "" H_U - SG_ Byte5_Data_4E7 : 47|8@0+ (1,0) [0|0] "" H_U - SG_ Byte6_Data_4E7 : 55|8@0+ (1,0) [0|0] "" H_U - SG_ Byte7_Data_4E7 : 63|8@0+ (1,0) [0|0] "" H_U - -BO_ 487 HU_CLU_PE_13: 8 H_U - SG_ Navi_DistToPoint1_F : 11|4@0+ (1,0) [0|0] "" CLU,HUD - SG_ Navi_DistToPoint1_I : 7|12@0+ (1,0) [0|0] "" CLU,HUD - SG_ Navi_DistToPoint1_U : 23|4@0+ (1,0) [0|0] "" CLU,HUD - SG_ Navi_DistToPoint2_I : 19|12@0+ (1,0) [0|0] "" CLU,HUD - SG_ Navi_DistToPoint2_F : 35|4@0+ (1,0) [0|0] "" CLU,HUD - SG_ Navi_DistToPoint2_U : 39|4@0+ (1,0) [0|0] "" CLU,HUD - SG_ Navi_DistToPoint3_F : 51|4@0+ (1,0) [0|0] "" CLU,HUD - SG_ Navi_DistToPoint3_I : 47|12@0+ (1,0) [0|0] "" CLU,HUD - SG_ Navi_DistToPoint3_U : 63|4@0+ (1,0) [0|0] "" CLU,HUD - -BO_ 1254 TP_HU_MLT_CLU: 8 H_U - SG_ Byte0_TCP_4E6 : 7|8@0+ (1,0) [0|0] "" CLU - SG_ Byte1_Data_4E6 : 15|8@0+ (1,0) [0|0] "" CLU - SG_ Byte2_Data_4E6 : 23|8@0+ (1,0) [0|0] "" CLU - SG_ Byte3_Data_4E6 : 31|8@0+ (1,0) [0|0] "" CLU - SG_ Byte4_Data_4E6 : 39|8@0+ (1,0) [0|0] "" CLU - SG_ Byte5_Data_4E6 : 47|8@0+ (1,0) [0|0] "" CLU - SG_ Byte6_Data_4E6 : 55|8@0+ (1,0) [0|0] "" CLU - SG_ Byte7_Data_4E6 : 63|8@0+ (1,0) [0|0] "" CLU - -BO_ 486 HU_CLU_PE_12: 8 H_U - SG_ Navi_DistToDest_I : 7|16@0+ (1,0) [0|0] "" CLU,HUD - SG_ Navi_DistToDest_F : 19|4@0+ (1,0) [0|0] "" CLU,HUD - SG_ Navi_DistToDest_U : 23|4@0+ (1,0) [0|0] "" CLU,HUD - SG_ Navi_EstimHour : 31|8@0+ (1,0) [0|254] "hh" CLU,HUD - SG_ Navi_EstimMin : 37|6@0+ (1,0) [0|59] "mm" CLU,HUD - SG_ Navi_EstimTimeType : 39|2@0+ (1,0) [0|0] "" CLU,HUD - SG_ Navi_Compass : 45|6@0+ (7.5,-7.5) [0|352.5] "Degree" CLU,HUD - -BO_ 229 HU_SYS_E_00: 8 H_U - SG_ SYS_SW_Ver_Req : 1|2@0+ (1,0) [0|0] "" AMP,CCP,CGW,CLOCK,CLU,HUD,IBOX,RRC,RSE_L - SG_ SYS_CAN_Ver_Req : 3|2@0+ (1,0) [0|0] "" AMP,CCP,CGW,CLOCK,CLU,HUD,IBOX,RRC,RSE_L - SG_ SYS_HW_Ver_Req : 5|2@0+ (1,0) [0|0] "" AMP,CCP,CGW,CLOCK,CLU,IBOX,RRC - SG_ SYS_RBD_Req : 9|2@0+ (1,0) [0|0] "" AMP,IBOX - SG_ SYS_MOSTErrorDiag_Req : 11|2@0+ (1,0) [0|0] "" AMP,IBOX - SG_ SYS_Reset_Req : 17|2@0+ (1,0) [0|0] "" AMP,IBOX - -BO_ 1253 TP_CLU_VCDC_HU: 8 CLU - SG_ Byte0_TCP_4E5 : 7|8@0+ (1,0) [0|0] "" H_U - SG_ Byte1_Data_4E5 : 15|8@0+ (1,0) [0|0] "" H_U - SG_ Byte2_Data_4E5 : 23|8@0+ (1,0) [0|0] "" H_U - SG_ Byte3_Data_4E5 : 31|8@0+ (1,0) [0|0] "" H_U - SG_ Byte4_Data_4E5 : 39|8@0+ (1,0) [0|0] "" H_U - SG_ Byte5_Data_4E5 : 47|8@0+ (1,0) [0|0] "" H_U - SG_ Byte6_Data_4E5 : 55|8@0+ (1,0) [0|0] "" H_U - SG_ Byte7_Data_4E5 : 63|8@0+ (1,0) [0|0] "" H_U - -BO_ 485 HU_CLU_PE_11: 8 H_U - SG_ Navi_FixedSpdTrap : 3|4@0+ (10,0) [10|110] "Km/h" CLU,HUD - SG_ Navi_MobileSpdTrap : 7|4@0+ (10,0) [10|110] "Km/h" CLU,HUD - SG_ Navi_OverSpdAlarm : 11|2@0+ (1,0) [0|0] "" CGW,CLU,HUD - SG_ Navi_SpdRedlightTrap : 15|4@0+ (10,0) [10|110] "Km/h" CLU,HUD - SG_ Navi_NonSpdTrap : 20|5@0+ (1,0) [0|0] "" CLU,HUD - SG_ Navi_WarningZone : 27|4@0+ (1,0) [0|0] "" CLU,HUD - SG_ Navi_MergeWarning : 33|2@0+ (1,0) [0|0] "" CLU,HUD - SG_ Navi_CurveWarning : 39|4@0+ (1,0) [0|0] "" CLU,HUD - SG_ Navi_BusSpdTrap : 43|4@0+ (10,0) [10|110] "Km/h" CLU,HUD - SG_ Navi_SpdLimit_Type : 49|2@0+ (1,0) [0|0] "" CLU,HUD - SG_ Navi_SpdLimit_Unit : 51|2@0+ (1,0) [0|0] "" CLU,HUD - SG_ Navi_SpdInfo_Type : 55|4@0+ (1,0) [0|0] "" CLU,HUD - SG_ Navi_SpdLimit : 63|8@0+ (1,0) [1|254] "" CLU,HUD - -BO_ 1252 TP_HU_VCDC_CLU: 8 H_U - SG_ Byte0_TCP_4E4 : 7|8@0+ (1,0) [0|0] "" CLU - SG_ Byte1_Data_4E4 : 15|8@0+ (1,0) [0|0] "" CLU - SG_ Byte2_Data_4E4 : 23|8@0+ (1,0) [0|0] "" CLU - SG_ Byte3_Data_4E4 : 31|8@0+ (1,0) [0|0] "" CLU - SG_ Byte4_Data_4E4 : 39|8@0+ (1,0) [0|0] "" CLU - SG_ Byte5_Data_4E4 : 47|8@0+ (1,0) [0|0] "" CLU - SG_ Byte6_Data_4E4 : 55|8@0+ (1,0) [0|0] "" CLU - SG_ Byte7_Data_4E4 : 63|8@0+ (1,0) [0|0] "" CLU - -BO_ 1251 TP_CLU_JB_HU: 8 CLU - SG_ Byte0_TCP_4E3 : 7|8@0+ (1,0) [0|0] "" H_U - SG_ Byte1_Data_4E3 : 15|8@0+ (1,0) [0|0] "" H_U - SG_ Byte2_Data_4E3 : 23|8@0+ (1,0) [0|0] "" H_U - SG_ Byte3_Data_4E3 : 31|8@0+ (1,0) [0|0] "" H_U - SG_ Byte4_Data_4E3 : 39|8@0+ (1,0) [0|0] "" H_U - SG_ Byte5_Data_4E3 : 47|8@0+ (1,0) [0|0] "" H_U - SG_ Byte6_Data_4E3 : 55|8@0+ (1,0) [0|0] "" H_U - SG_ Byte7_Data_4E3 : 63|8@0+ (1,0) [0|0] "" H_U - -BO_ 1250 TP_HU_JB_CLU: 8 H_U - SG_ Byte0_TCP_4E2 : 7|8@0+ (1,0) [0|0] "" CLU - SG_ Byte1_Data_4E2 : 15|8@0+ (1,0) [0|0] "" CLU - SG_ Byte2_Data_4E2 : 23|8@0+ (1,0) [0|0] "" CLU - SG_ Byte3_Data_4E2 : 31|8@0+ (1,0) [0|0] "" CLU - SG_ Byte4_Data_4E2 : 39|8@0+ (1,0) [0|0] "" CLU - SG_ Byte5_Data_4E2 : 47|8@0+ (1,0) [0|0] "" CLU - SG_ Byte6_Data_4E2 : 55|8@0+ (1,0) [0|0] "" CLU - SG_ Byte7_Data_4E2 : 63|8@0+ (1,0) [0|0] "" CLU - -BO_ 1248 TP_TMU_HU: 8 TMU - SG_ Byte0_TCP_4E0 : 7|8@0+ (1,0) [0|0] "" H_U - SG_ Byte1_Data_4E0 : 15|8@0+ (1,0) [0|0] "" H_U - SG_ Byte2_Data_4E0 : 23|8@0+ (1,0) [0|0] "" H_U - SG_ Byte3_Data_4E0 : 31|8@0+ (1,0) [0|0] "" H_U - SG_ Byte4_Data_4E0 : 39|8@0+ (1,0) [0|0] "" H_U - SG_ Byte5_Data_4E0 : 47|8@0+ (1,0) [0|0] "" H_U - SG_ Byte6_Data_4E0 : 55|8@0+ (1,0) [0|0] "" H_U - SG_ Byte7_Data_4E0 : 63|8@0+ (1,0) [0|0] "" H_U - -BO_ 479 CLU_HU_PE_01: 8 CLU - SG_ CLU_Type : 7|8@0+ (1,0) [0|0] "" H_U - SG_ CLU_Region : 15|8@0+ (1,0) [0|0] "" H_U - SG_ CLU_VersionMinor : 23|8@0+ (1,0) [0|0] "" H_U - SG_ CLU_VersionMajor : 31|8@0+ (1,0) [0|0] "" H_U - SG_ CLU_CurrentDispState : 39|8@0+ (1,0) [0|0] "" H_U - SG_ C_DRVDRSW : 41|2@0+ (1,0) [0|0] "" H_U - SG_ CF_Clu_LowfuelWarning : 44|2@0+ (1,0) [0|0] "" H_U - SG_ CLU_PowerInfo : 46|2@0+ (1,0) [0|0] "" H_U - SG_ C_DrivingModeState : 50|3@0+ (1,0) [0|0] "" H_U - SG_ Clu_RheostatLvl : 55|5@0+ (1,0) [0|0] "" H_U,MON,SWRC - SG_ C_Clu_ActiveEcoSW : 57|2@0+ (1,0) [0|0] "" H_U - SG_ C_Detent : 59|2@0+ (1,0) [0|0] "" CCP,CLOCK,H_U,KBD,MON,RRC,RSE_L,RSE_R - SG_ C_DrivingModeOn : 61|2@0+ (1,0) [0|0] "" H_U - -BO_ 2015 TP_EDT_All_Req: 8 EDT - SG_ Byte0_TCP_7DF : 7|8@0+ (1,0) [0|0] "" AMP,ASD,AVM,CCP,CGW,CLOCK,CLU,CUBIS,DATC,FHCU,HUD,H_U,IBOX,IPM,KBD,KMA_TMU,MON,RRC,RSE_L,RSE_R,TMU - SG_ Byte1_Data_7DF : 15|8@0+ (1,0) [0|0] "" AMP,ASD,AVM,CCP,CGW,CLOCK,CLU,CUBIS,DATC,FHCU,HUD,H_U,IBOX,IPM,KBD,KMA_TMU,MON,RRC,RSE_L,RSE_R,TMU - SG_ Byte2_Data_7DF : 23|8@0+ (1,0) [0|0] "" AMP,ASD,AVM,CCP,CGW,CLOCK,CLU,CUBIS,DATC,FHCU,HUD,H_U,IBOX,IPM,KBD,KMA_TMU,MON,RRC,RSE_L,RSE_R,TMU - SG_ Byte3_Data_7DF : 31|8@0+ (1,0) [0|0] "" AMP,ASD,AVM,CCP,CGW,CLOCK,CLU,CUBIS,DATC,FHCU,HUD,H_U,IBOX,IPM,KBD,KMA_TMU,MON,RRC,RSE_L,RSE_R,TMU - SG_ Byte4_Data_7DF : 39|8@0+ (1,0) [0|0] "" AMP,ASD,AVM,CCP,CGW,CLOCK,CLU,CUBIS,DATC,FHCU,HUD,H_U,IBOX,IPM,KBD,KMA_TMU,MON,RRC,RSE_L,RSE_R,TMU - SG_ Byte5_Data_7DF : 47|8@0+ (1,0) [0|0] "" AMP,ASD,AVM,CCP,CGW,CLOCK,CLU,CUBIS,DATC,FHCU,HUD,H_U,IBOX,IPM,KBD,KMA_TMU,MON,RRC,RSE_L,RSE_R,TMU - SG_ Byte6_Data_7DF : 55|8@0+ (1,0) [0|0] "" AMP,ASD,AVM,CCP,CGW,CLOCK,CLU,CUBIS,DATC,FHCU,HUD,H_U,IBOX,IPM,KBD,KMA_TMU,MON,RRC,RSE_L,RSE_R,TMU - SG_ Byte7_Data_7DF : 63|8@0+ (1,0) [0|0] "" AMP,ASD,AVM,CCP,CGW,CLOCK,CLU,CUBIS,DATC,FHCU,HUD,H_U,IBOX,IPM,KBD,KMA_TMU,MON,RRC,RSE_L,RSE_R,TMU - -BO_ 474 CLU_HU_PE_02: 8 CLU - SG_ CF_Clu_AvgFCU : 1|2@0+ (1,0) [0|0] "" H_U - SG_ CF_Clu_AvgFCL : 9|10@0+ (1,0) [0|0] "" H_U - SG_ CF_Clu_TermAvgSync : 25|2@0+ (1,0) [0|0] "" H_U - SG_ CF_Clu_EcoDriveInf : 36|3@0+ (1,0) [0|0] "" H_U - SG_ CR_Clu_TermAvgFCI : 33|10@0+ (1,0) [0|0] "" H_U - SG_ CF_CLU_EcoScore : 55|16@0+ (1,0) [0|0] "" H_U - -BO_ 1495 CLU_HU_P_05: 8 CLU - SG_ Clu_TripUnit : 9|2@0+ (1,0) [0|0] "" H_U,IBOX - SG_ Clu_DTEWarn : 11|2@0+ (1,0) [0|0] "" H_U,IBOX - SG_ Clu_DTE : 7|12@0+ (1,0) [0|1500] "km" H_U,IBOX - SG_ Clu_AFC : 23|10@0+ (0.1,0) [0|99.9] "" H_U,IBOX - SG_ Clu_IFC : 29|10@0+ (0.1,0) [0|99.9] "" H_U,IBOX - SG_ Clu_Odometer : 47|24@0+ (1,0) [0|999999] "" H_U,IBOX - -BO_ 1494 CLU_HU_P_01: 8 CLU - SG_ CF_TripUnit : 13|2@0+ (1,0) [0|0] "" H_U - SG_ CF_DTE : 7|10@0+ (1,0) [0|0] "" H_U - -BO_ 214 AMP_HU_E_SYS: 8 AMP - SG_ AMP_SWVerMajor : 7|8@0+ (1,0) [0|254] "" H_U,IBOX - SG_ AMP_SWVerMinor : 15|8@0+ (1,0) [0|254] "" H_U,IBOX - SG_ AMP_CANVerMajor : 23|8@0+ (1,0) [0|254] "" H_U,IBOX - SG_ AMP_CANVerMinor : 31|8@0+ (1,0) [0|254] "" H_U,IBOX - SG_ AMP_RBDResult : 34|3@0+ (1,0) [0|0] "" H_U - SG_ AMP_MOSTErrorDiagResult : 38|3@0+ (1,0) [0|0] "" H_U - SG_ AMP_HWVerMajor : 55|8@0+ (1,0) [0|254] "" H_U,IBOX - SG_ AMP_HWVerMinor : 63|8@0+ (1,0) [0|254] "" H_U,IBOX - -BO_ 1492 CLU_HU_P_04: 8 CLU - SG_ MM_CR_Fatc_AcnComCst_W : 7|10@0+ (10,0) [0|8000] "W" H_U - SG_ MM_CR_Ldc_PwrMon_W : 12|8@0+ (10,0) [0|2550] "W" H_U - SG_ MM_CR_Fatc_PTCPwrCon_W : 17|10@0+ (10,0) [0|10000] "W" H_U - SG_ MM_CR_BmsChgExp_T_Fast : 39|16@0+ (1,0) [0|0] "minute" H_U - SG_ MM_CR_BmsChgExp_T_Slow : 55|16@0+ (1,0) [0|0] "minute" H_U - -BO_ 1491 CLU_HU_P_03: 8 CLU - SG_ MM_CF_Vcu_EvMod : 3|4@0+ (1,0) [0|0] "" H_U - SG_ MM_CF_Vcu_GarSelDisp : 7|4@0+ (999,0) [0|0] "" H_U - SG_ MM_CF_Vcu_ThiBatTir : 8|1@0+ (1,0) [0|0] "" H_U - SG_ CR_Mcu_MotEstTqPc : 23|10@0+ (0.2,-100) [-100|99.8] "%" H_U - SG_ CR_Mcu_MotActRotSpd_rpm : 39|16@0+ (1,-32768) [-32768|32767] "rpm" H_U - -BO_ 1490 CLU_HU_P_02: 8 CLU - SG_ MM_CR_Vcu_EcoSco : 3|4@0+ (1,0) [0|0] "" H_U - SG_ MM_CF_Vcu_PgmRun5 : 5|2@0+ (1,0) [0|0] "" H_U - SG_ MM_CR_Clu_Odometer_kph : 15|24@0+ (0.1,0) [0|0] "km" H_U - -BO_ 1489 DATC_P_B_01: 8 CLU - SG_ C_InhibitR_DATC : 51|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ C_InhibitP_DATC : 50|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ C_InhibitN_DATC : 49|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ C_InhibitD_DATC : 48|1@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 465 CLU_HU_PE_03: 8 CLU - SG_ CF_Clu_EVDTEDisp : 0|9@0+ (1,0) [0|0] "" H_U,IBOX - SG_ CF_Clu_GasDTEDisp : 17|10@0+ (1,0) [0|0] "" H_U,IBOX - SG_ MM_CR_Clu_TotalDTEDisp : 34|11@0+ (1,0) [0|0] "" H_U,IBOX - SG_ CF_Clu_TripUnit : 49|2@0+ (1,0) [0|0] "" H_U,IBOX - -BO_ 1232 TP_HU_TMU: 8 H_U - SG_ Byte0_TCP_4D0 : 7|8@0+ (1,0) [0|0] "" TMU - SG_ Byte1_Data_4D0 : 15|8@0+ (1,0) [0|0] "" TMU - SG_ Byte2_Data_4D0 : 23|8@0+ (1,0) [0|0] "" TMU - SG_ Byte3_Data_4D0 : 31|8@0+ (1,0) [0|0] "" TMU - SG_ Byte4_Data_4D0 : 39|8@0+ (1,0) [0|0] "" TMU - SG_ Byte5_Data_4D0 : 47|8@0+ (1,0) [0|0] "" TMU - SG_ Byte6_Data_4D0 : 55|8@0+ (1,0) [0|0] "" TMU - SG_ Byte7_Data_4D0 : 63|8@0+ (1,0) [0|0] "" TMU - -BO_ 1488 CLU_HU_P_00: 8 CLU - SG_ MM_CR_Mcu_VehSpd_Kph : 7|8@0+ (1,0) [0|0] "" H_U - SG_ MM_CR_Mcu_VehSpdDec_Kph : 15|8@0+ (1,0) [0|0] "" H_U - SG_ MM_CR_Bms_Soc_Pc : 23|8@0+ (1,0) [0|0] "" H_U - SG_ MM_CR_Vcu_TqMotClu_Pc : 31|8@0+ (1,-127) [0|0] "" H_U - SG_ MM_CR_Bms_DrvEnaDist : 39|8@0+ (1,0) [0|0] "" H_U - SG_ MM_CR_Clu_Soc_Seg : 44|5@0+ (1,0) [0|0] "" H_U,IBOX - -BO_ 208 CLU_HU_E_SYS: 8 CLU - SG_ CLU_SWVerMajor : 7|8@0+ (1,0) [0|254] "" H_U - SG_ CLU_SWVerMinor : 15|8@0+ (1,0) [0|254] "" H_U - SG_ CLU_CANVerMajor : 23|8@0+ (1,0) [0|254] "" H_U - SG_ CLU_CANVerMinor : 31|8@0+ (1,0) [0|254] "" H_U - SG_ CLU_HWVerMajor : 55|8@0+ (1,0) [0|254] "" H_U - SG_ CLU_HWVerMinor : 63|8@0+ (1,0) [0|254] "" H_U - -BO_ 448 HU_DATC_PE_00: 8 H_U - SG_ DATC_AqsLevelChg : 3|4@0+ (1,0) [0|0] "" CGW,CLU,DATC,IPM - SG_ RSELockOnOff : 7|2@0+ (1,0) [0|0] "" CGW,DATC,IPM,RRC - SG_ DATC_AqsMode : 9|2@0+ (1,0) [0|0] "" CGW,CLU,DATC,IPM - SG_ HU_Graphreset_Info : 17|2@0+ (1,0) [0|0] "" CGW,CLU,DATC,IPM - SG_ HU_VRActivity : 33|2@0+ (1,0) [0|0] "" CGW,CLU,DATC,IPM - SG_ HU_PhoneActivity : 35|2@0+ (1,0) [0|0] "" CGW,CLU,DATC,IPM - SG_ BlowerNoiseControl : 37|2@0+ (1,0) [0|0] "" CGW,CLU,DATC,IPM - -BO_ 1211 TP_HU_TBT_CLU: 8 H_U - SG_ Byte0_TCP_4BB : 7|8@0+ (1,0) [0|0] "" CLU - SG_ Byte1_Data_4BB : 15|8@0+ (1,0) [0|0] "" CLU - SG_ Byte2_Data_4BB : 23|8@0+ (1,0) [0|0] "" CLU - SG_ Byte3_Data_4BB : 31|8@0+ (1,0) [0|0] "" CLU - SG_ Byte4_Data_4BB : 39|8@0+ (1,0) [0|0] "" CLU - SG_ Byte5_Data_4BB : 47|8@0+ (1,0) [0|0] "" CLU - SG_ Byte6_Data_4BB : 55|8@0+ (1,0) [0|0] "" CLU - SG_ Byte7_Data_4BB : 63|8@0+ (1,0) [0|0] "" CLU - -BO_ 1207 TP_HU_DAB_CLU: 8 H_U - SG_ Byte0_TCP_4B7 : 7|8@0+ (1,0) [0|0] "" CLU - SG_ Byte1_Data_4B7 : 15|8@0+ (1,0) [0|0] "" CLU - SG_ Byte2_Data_4B7 : 23|8@0+ (1,0) [0|0] "" CLU - SG_ Byte3_Data_4B7 : 31|8@0+ (1,0) [0|0] "" CLU - SG_ Byte4_Data_4B7 : 39|8@0+ (1,0) [0|0] "" CLU - SG_ Byte5_Data_4B7 : 47|8@0+ (1,0) [0|0] "" CLU - SG_ Byte6_Data_4B7 : 55|8@0+ (1,0) [0|0] "" CLU - SG_ Byte7_Data_4B7 : 63|8@0+ (1,0) [0|0] "" CLU - -BO_ 1206 TP_HU_XM_CLU: 8 H_U - SG_ Byte0_TCP_4B6 : 7|8@0+ (1,0) [0|0] "" CLU - SG_ Byte1_Data_4B6 : 15|8@0+ (1,0) [0|0] "" CLU - SG_ Byte2_Data_4B6 : 23|8@0+ (1,0) [0|0] "" CLU - SG_ Byte3_Data_4B6 : 31|8@0+ (1,0) [0|0] "" CLU - SG_ Byte4_Data_4B6 : 39|8@0+ (1,0) [0|0] "" CLU - SG_ Byte5_Data_4B6 : 47|8@0+ (1,0) [0|0] "" CLU - SG_ Byte6_Data_4B6 : 55|8@0+ (1,0) [0|0] "" CLU - SG_ Byte7_Data_4B6 : 63|8@0+ (1,0) [0|0] "" CLU - -BO_ 1204 TP_HU_DMB_CLU: 8 H_U - SG_ Byte0_TCP_4B4 : 7|8@0+ (1,0) [0|0] "" CLU - SG_ Byte1_Data_4B4 : 15|8@0+ (1,0) [0|0] "" CLU - SG_ Byte2_Data_4B4 : 23|8@0+ (1,0) [0|0] "" CLU - SG_ Byte3_Data_4B4 : 31|8@0+ (1,0) [0|0] "" CLU - SG_ Byte4_Data_4B4 : 39|8@0+ (1,0) [0|0] "" CLU - SG_ Byte5_Data_4B4 : 47|8@0+ (1,0) [0|0] "" CLU - SG_ Byte6_Data_4B4 : 55|8@0+ (1,0) [0|0] "" CLU - SG_ Byte7_Data_4B4 : 63|8@0+ (1,0) [0|0] "" CLU - -BO_ 432 TMU_GW_PE_01: 8 TMU - SG_ C_DATCOnOffReq : 1|2@0+ (1,0) [0|0] "" CGW,CLU,DATC,H_U,IPM - SG_ C_DATCTempUnit : 3|2@0+ (1,0) [0|0] "" CGW,CLU,DATC,H_U,IPM - SG_ C_DATCTempSet : 15|8@0+ (1,0) [0|0] "" CGW,CLU,DATC,H_U,IPM - SG_ TMU_IVRActivity : 33|2@0+ (1,0) [0|0] "" CGW,CLU,DATC,H_U,IPM - SG_ TMU_PhoneActivity : 35|2@0+ (1,0) [0|0] "" CGW,CLU,DATC,H_U,IPM - -BO_ 1195 TP_CLU_TBT_HU: 8 CLU - SG_ Byte0_TCP_4AB : 7|8@0+ (1,0) [0|0] "" H_U - SG_ Byte1_Data_4AB : 15|8@0+ (1,0) [0|0] "" H_U - SG_ Byte2_Data_4AB : 23|8@0+ (1,0) [0|0] "" H_U - SG_ Byte3_Data_4AB : 31|8@0+ (1,0) [0|0] "" H_U - SG_ Byte4_Data_4AB : 39|8@0+ (1,0) [0|0] "" H_U - SG_ Byte5_Data_4AB : 47|8@0+ (1,0) [0|0] "" H_U - SG_ Byte6_Data_4AB : 55|8@0+ (1,0) [0|0] "" H_U - SG_ Byte7_Data_4AB : 63|8@0+ (1,0) [0|0] "" H_U - -BO_ 1191 TP_CLU_DAB_HU: 8 CLU - SG_ Byte0_TCP_4A7 : 7|8@0+ (1,0) [0|0] "" H_U - SG_ Byte1_Data_4A7 : 15|8@0+ (1,0) [0|0] "" H_U - SG_ Byte2_Data_4A7 : 23|8@0+ (1,0) [0|0] "" H_U - SG_ Byte3_Data_4A7 : 31|8@0+ (1,0) [0|0] "" H_U - SG_ Byte4_Data_4A7 : 39|8@0+ (1,0) [0|0] "" H_U - SG_ Byte5_Data_4A7 : 47|8@0+ (1,0) [0|0] "" H_U - SG_ Byte6_Data_4A7 : 55|8@0+ (1,0) [0|0] "" H_U - SG_ Byte7_Data_4A7 : 63|8@0+ (1,0) [0|0] "" H_U - -BO_ 1190 TP_CLU_XM_HU: 8 CLU - SG_ Byte0_TCP_4A6 : 7|8@0+ (1,0) [0|0] "" H_U - SG_ Byte1_Data_4A6 : 15|8@0+ (1,0) [0|0] "" H_U - SG_ Byte2_Data_4A6 : 23|8@0+ (1,0) [0|0] "" H_U - SG_ Byte3_Data_4A6 : 31|8@0+ (1,0) [0|0] "" H_U - SG_ Byte4_Data_4A6 : 39|8@0+ (1,0) [0|0] "" H_U - SG_ Byte5_Data_4A6 : 47|8@0+ (1,0) [0|0] "" H_U - SG_ Byte6_Data_4A6 : 55|8@0+ (1,0) [0|0] "" H_U - SG_ Byte7_Data_4A6 : 63|8@0+ (1,0) [0|0] "" H_U - -BO_ 1188 TP_CLU_DMB_HU: 8 CLU - SG_ Byte0_TCP_4A4 : 7|8@0+ (1,0) [0|0] "" H_U - SG_ Byte1_Data_4A4 : 15|8@0+ (1,0) [0|0] "" H_U - SG_ Byte2_Data_4A4 : 23|8@0+ (1,0) [0|0] "" H_U - SG_ Byte3_Data_4A4 : 31|8@0+ (1,0) [0|0] "" H_U - SG_ Byte4_Data_4A4 : 39|8@0+ (1,0) [0|0] "" H_U - SG_ Byte5_Data_4A4 : 47|8@0+ (1,0) [0|0] "" H_U - SG_ Byte6_Data_4A4 : 55|8@0+ (1,0) [0|0] "" H_U - SG_ Byte7_Data_4A4 : 63|8@0+ (1,0) [0|0] "" H_U - -BO_ 1179 TP_HU_NAVI_CLU: 8 H_U - SG_ Byte0_TCP_49B : 7|8@0+ (1,0) [0|0] "" CLU - SG_ Byte1_Data_49B : 15|8@0+ (1,0) [0|0] "" CLU - SG_ Byte2_Data_49B : 23|8@0+ (1,0) [0|0] "" CLU - SG_ Byte3_Data_49B : 31|8@0+ (1,0) [0|0] "" CLU - SG_ Byte4_Data_49B : 39|8@0+ (1,0) [0|0] "" CLU - SG_ Byte5_Data_49B : 47|8@0+ (1,0) [0|0] "" CLU - SG_ Byte6_Data_49B : 55|8@0+ (1,0) [0|0] "" CLU - SG_ Byte7_Data_49B : 63|8@0+ (1,0) [0|0] "" CLU - -BO_ 1178 TP_CLU_Ipod_HU: 8 CLU - SG_ Byte0_TCP_49A : 7|8@0+ (1,0) [0|0] "" H_U - SG_ Byte1_Data_49A : 15|8@0+ (1,0) [0|0] "" H_U - SG_ Byte2_Data_49A : 23|8@0+ (1,0) [0|0] "" H_U - SG_ Byte3_Data_49A : 31|8@0+ (1,0) [0|0] "" H_U - SG_ Byte4_Data_49A : 39|8@0+ (1,0) [0|0] "" H_U - SG_ Byte5_Data_49A : 47|8@0+ (1,0) [0|0] "" H_U - SG_ Byte6_Data_49A : 55|8@0+ (1,0) [0|0] "" H_U - SG_ Byte7_Data_49A : 63|8@0+ (1,0) [0|0] "" H_U - -BO_ 410 HU_CLU_PE_08: 8 H_U - SG_ VCDC_SelDiscNo : 11|4@0+ (1,0) [0|0] "" CLU - SG_ VCDC_TrackChapterNo : 7|10@0+ (1,0) [0|0] "" CLU - SG_ VCDC_PlayTime : 23|24@0+ (1,0) [0|0] "" CLU - SG_ MLT_PlayTime : 47|24@0+ (1,0) [0|0] "" CLU - -BO_ 1176 TP_CLU_DVD_HU: 8 CLU - SG_ Byte0_TCP_498 : 7|8@0+ (1,0) [0|0] "" H_U - SG_ Byte1_Data_498 : 15|8@0+ (1,0) [0|0] "" H_U - SG_ Byte2_Data_498 : 23|8@0+ (1,0) [0|0] "" H_U - SG_ Byte3_Data_498 : 31|8@0+ (1,0) [0|0] "" H_U - SG_ Byte4_Data_498 : 39|8@0+ (1,0) [0|0] "" H_U - SG_ Byte5_Data_498 : 47|8@0+ (1,0) [0|0] "" H_U - SG_ Byte6_Data_498 : 55|8@0+ (1,0) [0|0] "" H_U - SG_ Byte7_Data_498 : 63|8@0+ (1,0) [0|0] "" H_U - -BO_ 1175 TP_CLU_USB_HU: 8 CLU - SG_ Byte0_TCP_497 : 7|8@0+ (1,0) [0|0] "" H_U - SG_ Byte1_Data_497 : 15|8@0+ (1,0) [0|0] "" H_U - SG_ Byte2_Data_497 : 23|8@0+ (1,0) [0|0] "" H_U - SG_ Byte3_Data_497 : 31|8@0+ (1,0) [0|0] "" H_U - SG_ Byte4_Data_497 : 39|8@0+ (1,0) [0|0] "" H_U - SG_ Byte5_Data_497 : 47|8@0+ (1,0) [0|0] "" H_U - SG_ Byte6_Data_497 : 55|8@0+ (1,0) [0|0] "" H_U - SG_ Byte7_Data_497 : 63|8@0+ (1,0) [0|0] "" H_U - -BO_ 407 HU_CLU_PE_05: 8 H_U - SG_ HU_LanguageInfo : 7|8@0+ (1,0) [0|0] "" CLU,HUD - SG_ HU_MuteStatus : 9|2@0+ (1,0) [0|0] "" CLU,HUD - SG_ HU_VolumeStatus : 15|6@0+ (1,0) [0|0] "" CLU,HUD - SG_ HU_NaviDisp : 17|2@0+ (1,0) [0|0] "" CLU,HUD - SG_ HU_NaviStatus : 19|2@0+ (1,0) [0|0] "" CGW,CLU,HUD,IPM - SG_ HU_DistanceUnit : 21|2@0+ (1,0) [0|0] "" CLU,HUD - SG_ HU_Navigation_On_Off : 23|2@0+ (1,0) [0|0] "" AVM,CGW,CLU,DATC,HUD,IPM - -BO_ 1942 TP_AMP_HU_DiagRes: 8 AMP - SG_ Byte0_TCP_796 : 7|8@0+ (1,0) [0|0] "" H_U - SG_ Byte1_Data_796 : 15|8@0+ (1,0) [0|0] "" H_U - SG_ Byte2_Data_796 : 23|8@0+ (1,0) [0|0] "" H_U - SG_ Byte3_Data_796 : 31|8@0+ (1,0) [0|0] "" H_U - SG_ Byte4_Data_796 : 39|8@0+ (1,0) [0|0] "" H_U - SG_ Byte5_Data_796 : 47|8@0+ (1,0) [0|0] "" H_U - SG_ Byte6_Data_796 : 55|8@0+ (1,0) [0|0] "" H_U - SG_ Byte7_Data_796 : 63|8@0+ (1,0) [0|0] "" H_U - -BO_ 406 HU_CLU_PE_04: 8 H_U - SG_ C_SDARS_ChannelNo : 7|8@0+ (1,0) [0|0] "" CLU - SG_ C_NaviRouteGuidance : 11|2@0+ (1,0) [0|0] "" CLU - SG_ HD_SPS_ChannelNo : 15|4@0+ (1,0) [0|0] "" CLU - SG_ C_SDARS_PresetNo : 19|4@0+ (1,0) [0|0] "" CLU - SG_ DAB_ServiceFollowing : 21|2@0+ (1,0) [0|0] "" CLU - SG_ SXM_ChannelNo : 25|10@0+ (1,0) [0|999] "" AMP,CLU,HUD - -BO_ 1941 TP_HU_AMP_DiagReq: 8 H_U - SG_ Byte0_TCP_795 : 7|8@0+ (1,0) [0|0] "" AMP - SG_ Byte1_Data_795 : 15|8@0+ (1,0) [0|0] "" AMP - SG_ Byte2_Data_795 : 23|8@0+ (1,0) [0|0] "" AMP - SG_ Byte3_Data_795 : 31|8@0+ (1,0) [0|0] "" AMP - SG_ Byte4_Data_795 : 39|8@0+ (1,0) [0|0] "" AMP - SG_ Byte5_Data_795 : 47|8@0+ (1,0) [0|0] "" AMP - SG_ Byte6_Data_795 : 55|8@0+ (1,0) [0|0] "" AMP - SG_ Byte7_Data_795 : 63|8@0+ (1,0) [0|0] "" AMP - -BO_ 1173 TP_CLU_CD_HU: 8 CLU - SG_ Byte0_TCP_495 : 7|8@0+ (1,0) [0|0] "" H_U - SG_ Byte1_Data_495 : 15|8@0+ (1,0) [0|0] "" H_U - SG_ Byte2_Data_495 : 23|8@0+ (1,0) [0|0] "" H_U - SG_ Byte3_Data_495 : 31|8@0+ (1,0) [0|0] "" H_U - SG_ Byte4_Data_495 : 39|8@0+ (1,0) [0|0] "" H_U - SG_ Byte5_Data_495 : 47|8@0+ (1,0) [0|0] "" H_U - SG_ Byte6_Data_495 : 55|8@0+ (1,0) [0|0] "" H_U - SG_ Byte7_Data_495 : 63|8@0+ (1,0) [0|0] "" H_U - -BO_ 405 HU_CLU_PE_03: 8 H_U - SG_ HU_IntegPresetNum : 7|8@0+ (1,0) [0|0] "" AMP,CLU,HUD - SG_ Radio_Area : 10|8@0+ (1,0) [0|0] "" CLU - SG_ DMB_PresetNo : 29|5@0+ (1,0) [0|0] "" CLU - SG_ RADIO_PresetNo : 18|5@0+ (1,0) [0|0] "" CLU - SG_ HU_Opstate_DIS2 : 38|7@0+ (1,0) [0|0] "" AMP,CLU,HUD - -BO_ 1168 TP_HU_USB_CLU: 8 H_U - SG_ Byte0_TCP_490 : 7|8@0+ (1,0) [0|0] "" CLU - SG_ Byte1_Data_490 : 15|8@0+ (1,0) [0|0] "" CLU - SG_ Byte2_Data_490 : 23|8@0+ (1,0) [0|0] "" CLU - SG_ Byte3_Data_490 : 31|8@0+ (1,0) [0|0] "" CLU - SG_ Byte4_Data_490 : 39|8@0+ (1,0) [0|0] "" CLU - SG_ Byte5_Data_490 : 47|8@0+ (1,0) [0|0] "" CLU - SG_ Byte6_Data_490 : 55|8@0+ (1,0) [0|0] "" CLU - SG_ Byte7_Data_490 : 63|8@0+ (1,0) [0|0] "" CLU - -BO_ 1936 TP_HU_All_Req: 8 H_U - SG_ Byte0_TCP_790 : 7|8@0+ (1,0) [0|0] "" AMP,ASD,AVM,CCP,CGW,CLOCK,CLU,CUBIS,DATC,EDT,FHCU,HUD,IBOX,IPM,KBD,KMA_TMU,MON,RRC,RSE_L,RSE_R,SWRC,TMU - SG_ Byte1_Data_790 : 15|8@0+ (1,0) [0|0] "" AMP,ASD,AVM,CCP,CGW,CLOCK,CLU,CUBIS,DATC,EDT,FHCU,HUD,IBOX,IPM,KBD,KMA_TMU,MON,RRC,RSE_L,RSE_R,SWRC,TMU - SG_ Byte2_Data_790 : 23|8@0+ (1,0) [0|0] "" AMP,ASD,AVM,CCP,CGW,CLOCK,CLU,CUBIS,DATC,EDT,FHCU,HUD,IBOX,IPM,KBD,KMA_TMU,MON,RRC,RSE_L,RSE_R,SWRC,TMU - SG_ Byte3_Data_790 : 31|8@0+ (1,0) [0|0] "" AMP,ASD,AVM,CCP,CGW,CLOCK,CLU,CUBIS,DATC,EDT,FHCU,HUD,IBOX,IPM,KBD,KMA_TMU,MON,RRC,RSE_L,RSE_R,SWRC,TMU - SG_ Byte4_Data_790 : 39|8@0+ (1,0) [0|0] "" AMP,ASD,AVM,CCP,CGW,CLOCK,CLU,CUBIS,DATC,EDT,FHCU,HUD,IBOX,IPM,KBD,KMA_TMU,MON,RRC,RSE_L,RSE_R,SWRC,TMU - SG_ Byte5_Data_790 : 47|8@0+ (1,0) [0|0] "" AMP,ASD,AVM,CCP,CGW,CLOCK,CLU,CUBIS,DATC,EDT,FHCU,HUD,IBOX,IPM,KBD,KMA_TMU,MON,RRC,RSE_L,RSE_R,SWRC,TMU - SG_ Byte6_Data_790 : 55|8@0+ (1,0) [0|0] "" AMP,ASD,AVM,CCP,CGW,CLOCK,CLU,CUBIS,DATC,EDT,FHCU,HUD,IBOX,IPM,KBD,KMA_TMU,MON,RRC,RSE_L,RSE_R,SWRC,TMU - SG_ Byte7_Data_790 : 63|8@0+ (1,0) [0|0] "" AMP,ASD,AVM,CCP,CGW,CLOCK,CLU,CUBIS,DATC,EDT,FHCU,HUD,IBOX,IPM,KBD,KMA_TMU,MON,RRC,RSE_L,RSE_R,SWRC,TMU - -BO_ 1167 TP_HU_Ipod_CLU: 8 H_U - SG_ Byte0_TCP_48F : 7|8@0+ (1,0) [0|0] "" CLU - SG_ Byte1_Data_48F : 15|8@0+ (1,0) [0|0] "" CLU - SG_ Byte2_Data_48F : 23|8@0+ (1,0) [0|0] "" CLU - SG_ Byte3_Data_48F : 31|8@0+ (1,0) [0|0] "" CLU - SG_ Byte4_Data_48F : 39|8@0+ (1,0) [0|0] "" CLU - SG_ Byte5_Data_48F : 47|8@0+ (1,0) [0|0] "" CLU - SG_ Byte6_Data_48F : 55|8@0+ (1,0) [0|0] "" CLU - SG_ Byte7_Data_48F : 63|8@0+ (1,0) [0|0] "" CLU - -BO_ 1166 TP_HU_DVD_CLU: 8 H_U - SG_ Byte0_TCP_48E : 7|8@0+ (1,0) [0|0] "" CLU - SG_ Byte1_Data_48E : 15|8@0+ (1,0) [0|0] "" CLU - SG_ Byte2_Data_48E : 23|8@0+ (1,0) [0|0] "" CLU - SG_ Byte3_Data_48E : 31|8@0+ (1,0) [0|0] "" CLU - SG_ Byte4_Data_48E : 39|8@0+ (1,0) [0|0] "" CLU - SG_ Byte5_Data_48E : 47|8@0+ (1,0) [0|0] "" CLU - SG_ Byte6_Data_48E : 55|8@0+ (1,0) [0|0] "" CLU - SG_ Byte7_Data_48E : 63|8@0+ (1,0) [0|0] "" CLU - -BO_ 1165 TP_HU_CD_CLU: 8 H_U - SG_ Byte0_TCP_48D : 7|8@0+ (1,0) [0|0] "" CLU - SG_ Byte1_Data_48D : 15|8@0+ (1,0) [0|0] "" CLU - SG_ Byte2_Data_48D : 23|8@0+ (1,0) [0|0] "" CLU - SG_ Byte3_Data_48D : 31|8@0+ (1,0) [0|0] "" CLU - SG_ Byte4_Data_48D : 39|8@0+ (1,0) [0|0] "" CLU - SG_ Byte5_Data_48D : 47|8@0+ (1,0) [0|0] "" CLU - SG_ Byte6_Data_48D : 55|8@0+ (1,0) [0|0] "" CLU - SG_ Byte7_Data_48D : 63|8@0+ (1,0) [0|0] "" CLU - -BO_ 1164 TP_CLU_NAVI_HU: 8 CLU - SG_ Byte0_TCP_48C : 7|8@0+ (1,0) [0|0] "" H_U - SG_ Byte1_Data_48C : 15|8@0+ (1,0) [0|0] "" H_U - SG_ Byte2_Data_48C : 23|8@0+ (1,0) [0|0] "" H_U - SG_ Byte3_Data_48C : 31|8@0+ (1,0) [0|0] "" H_U - SG_ Byte4_Data_48C : 39|8@0+ (1,0) [0|0] "" H_U - SG_ Byte5_Data_48C : 47|8@0+ (1,0) [0|0] "" H_U - SG_ Byte6_Data_48C : 55|8@0+ (1,0) [0|0] "" H_U - SG_ Byte7_Data_48C : 63|8@0+ (1,0) [0|0] "" H_U - -BO_ 139 AMP_HU_E_12: 8 AMP - SG_ AMP_Beep2VolumeState : 7|8@0+ (1,0) [0|0] "" H_U - SG_ AMP_Beep2FrequencyState : 15|16@0+ (1,0) [0|0] "" H_U - SG_ AMP_Beep2OutputMaskState : 31|16@0+ (1,0) [0|0] "" H_U - SG_ AMP_Beep2DOnState : 47|8@0+ (1,0) [0|0] "" H_U - SG_ AMP_Beep2DOffState : 55|8@0+ (1,0) [0|0] "" H_U - SG_ AMP_Beep2NOfCycleState : 63|8@0+ (1,0) [0|0] "" H_U - -BO_ 138 AMP_HU_E_11: 8 AMP - SG_ AMP_Beep1VolumeState : 7|8@0+ (1,0) [0|0] "" H_U - SG_ AMP_Beep1FrequencyState : 15|16@0+ (1,0) [0|0] "" H_U - SG_ AMP_Beep1OutputMaskState : 31|16@0+ (1,0) [0|0] "" H_U - SG_ AMP_Beep1DOnState : 47|8@0+ (1,0) [0|0] "" H_U - SG_ AMP_Beep1DOffState : 55|8@0+ (1,0) [0|0] "" H_U - SG_ AMP_Beep1NOfCycleState : 63|8@0+ (1,0) [0|0] "" H_U - -BO_ 137 AMP_HU_E_10: 8 AMP - SG_ AMP_MTSOutputMaskSupport : 1|2@0+ (1,0) [0|0] "" H_U - SG_ AMP_MTSMuteMaskSupport : 5|2@0+ (1,0) [0|0] "" H_U - SG_ AMP_HFOutputMaskSupport : 9|2@0+ (1,0) [0|0] "" H_U - SG_ AMP_HFMuteMaskSupport : 13|2@0+ (1,0) [0|0] "" H_U - SG_ AMP_NaviOutputMaskSupport : 17|2@0+ (1,0) [0|0] "" H_U - SG_ AMP_NaviMuteMaskSupport : 21|2@0+ (1,0) [0|0] "" H_U - -BO_ 1928 TP_HU_PhyRes: 8 H_U - SG_ Byte0_TCP_788 : 7|8@0+ (1,0) [0|0] "" EDT - SG_ Byte1_Data_788 : 15|8@0+ (1,0) [0|0] "" EDT - SG_ Byte2_Data_788 : 23|8@0+ (1,0) [0|0] "" EDT - SG_ Byte3_Data_788 : 31|8@0+ (1,0) [0|0] "" EDT - SG_ Byte4_Data_788 : 39|8@0+ (1,0) [0|0] "" EDT - SG_ Byte5_Data_788 : 47|8@0+ (1,0) [0|0] "" EDT - SG_ Byte6_Data_788 : 55|8@0+ (1,0) [0|0] "" EDT - SG_ Byte7_Data_788 : 63|8@0+ (1,0) [0|0] "" EDT - -BO_ 136 AMP_HU_E_09: 8 AMP - SG_ AMP_MaxBeep2VolumeState : 7|8@0+ (1,0) [0|0] "" H_U - SG_ AMP_MaxBeep2Freq_State : 15|16@0+ (1,0) [0|0] "" H_U - SG_ AMP_Beep2OutputMaskSup : 33|2@0+ (1,0) [0|0] "" H_U - SG_ AMP_MaxBeep2DOnState : 47|8@0+ (1,0) [0|0] "" H_U - SG_ AMP_MaxBeep2DOffState : 55|8@0+ (1,0) [0|0] "" H_U - SG_ AMP_MaxBeep2NOfCycleState : 63|8@0+ (1,0) [0|0] "" H_U - -BO_ 135 AMP_HU_E_08: 8 AMP - SG_ AMP_MaxBeep1VolumeState : 7|8@0+ (1,0) [0|0] "" H_U - SG_ AMP_MaxBeep1Freq_State : 15|16@0+ (1,0) [0|0] "" H_U - SG_ AMP_Beep1OutputMaskSup : 33|2@0+ (1,0) [0|0] "" H_U - SG_ AMP_MaxBeep1DOnState : 47|8@0+ (1,0) [0|0] "" H_U - SG_ AMP_MaxBeep1DOffState : 55|8@0+ (1,0) [0|0] "" H_U - SG_ AMP_MaxBeep1NOfCycleState : 63|8@0+ (1,0) [0|0] "" H_U - -BO_ 134 AMP_HU_E_07: 8 AMP - SG_ ASD_SetValue : 2|3@0+ (1,0) [0|0] "" H_U,IBOX - SG_ ASD_Version : 15|8@0+ (1,0) [0|0] "" H_U,IBOX - -BO_ 1157 TP_HU_CLU_HF: 8 H_U - SG_ Byte0_TCP_485 : 7|8@0+ (1,0) [0|0] "" CLU - SG_ Byte1_Data_485 : 15|8@0+ (1,0) [0|0] "" CLU - SG_ Byte2_Data_485 : 23|8@0+ (1,0) [0|0] "" CLU - SG_ Byte3_Data_485 : 31|8@0+ (1,0) [0|0] "" CLU - SG_ Byte4_Data_485 : 39|8@0+ (1,0) [0|0] "" CLU - SG_ Byte5_Data_485 : 47|8@0+ (1,0) [0|0] "" CLU - SG_ Byte6_Data_485 : 55|8@0+ (1,0) [0|0] "" CLU - SG_ Byte7_Data_485 : 63|8@0+ (1,0) [0|0] "" CLU - -BO_ 133 AMP_HU_E_06: 8 AMP - SG_ AMP_MaxVolumeStep : 7|8@0+ (1,0) [0|0] "" H_U - SG_ AMP_MaxBalanceStep : 15|8@0+ (1,0) [0|0] "" H_U - SG_ AMP_MaxFadeStep : 23|8@0+ (1,0) [0|0] "" H_U - SG_ AMP_MaxBassStep : 31|8@0+ (1,0) [0|0] "" H_U - SG_ AMP_MaxMidStep : 39|8@0+ (1,0) [0|0] "" H_U - SG_ AMP_MaxTrebleStep : 47|8@0+ (1,0) [0|0] "" H_U - SG_ AMP_ASDMajorVer : 55|8@0+ (1,0) [0|0] "" H_U - SG_ AMP_ASDMinorVer : 63|8@0+ (1,0) [0|0] "" H_U - -BO_ 389 AMP_HU_PE_05: 8 AMP - SG_ AMP_EngOrderC2Setting : 7|8@0+ (1,0) [0|0] "" H_U - SG_ AMP_EngOrderC4Setting : 15|8@0+ (1,0) [0|0] "" H_U - SG_ AMP_EngOrderC6Setting : 23|8@0+ (1,0) [0|0] "" H_U - SG_ AMP_APSBand0Setting : 31|8@0+ (1,0) [0|0] "" H_U - SG_ AMP_APSBand1Setting : 39|8@0+ (1,0) [0|0] "" H_U - SG_ AMP_APSBand2Setting : 47|8@0+ (1,0) [0|0] "" H_U - SG_ AMP_APSBand3Setting : 55|8@0+ (1,0) [0|0] "" H_U - SG_ AMP_APSBand4Setting : 63|8@0+ (1,0) [0|0] "" H_U - -BO_ 132 AMP_HU_E_05: 8 AMP - SG_ AMP_HFVolumeState : 7|8@0+ (1,0) [0|0] "" H_U - SG_ AMP_HFAudioCutState : 15|8@0+ (1,0) [0|0] "" H_U - SG_ AMP_HFOutputMaskState : 23|16@0+ (1,0) [0|0] "" H_U - SG_ AMP_HFMuteMaskState : 39|16@0+ (1,0) [0|0] "" H_U - SG_ AMP_MaxHFVolumeState : 55|8@0+ (1,0) [0|0] "" H_U - SG_ AMP_MaxHFAudioCutState : 63|8@0+ (1,0) [0|0] "" H_U - -BO_ 388 AMP_HU_PE_04: 8 AMP - SG_ AMP_PESSModeState : 1|2@0+ (1,0) [0|0] "" H_U - SG_ AMP_PESSDesignSetting : 4|3@0+ (1,0) [0|0] "" H_U - SG_ AMP_PESSAPSSetting : 7|3@0+ (1,0) [0|0] "" H_U - SG_ AMP_PESSVolumeSetting : 15|8@0+ (1,0) [0|0] "" H_U - -BO_ 1156 TP_CLU_HF_HU: 8 CLU - SG_ Byte0_TCP_484 : 7|8@0+ (1,0) [0|0] "" H_U - SG_ Byte1_Data_484 : 15|8@0+ (1,0) [0|0] "" H_U - SG_ Byte2_Data_484 : 23|8@0+ (1,0) [0|0] "" H_U - SG_ Byte3_Data_484 : 31|8@0+ (1,0) [0|0] "" H_U - SG_ Byte4_Data_484 : 39|8@0+ (1,0) [0|0] "" H_U - SG_ Byte5_Data_484 : 47|8@0+ (1,0) [0|0] "" H_U - SG_ Byte6_Data_484 : 55|8@0+ (1,0) [0|0] "" H_U - SG_ Byte7_Data_484 : 63|8@0+ (1,0) [0|0] "" H_U - -BO_ 131 AMP_HU_E_04: 8 AMP - SG_ AMP_MTSVolumeState : 7|8@0+ (1,0) [0|0] "" H_U - SG_ AMP_MTSAudioCutState : 15|8@0+ (1,0) [0|0] "" H_U - SG_ AMP_MTSOutputMaskState : 23|16@0+ (1,0) [0|0] "" H_U - SG_ AMP_MTSMuteMaskState : 39|16@0+ (1,0) [0|0] "" H_U - SG_ AMP_MaxMTSVolumeState : 55|8@0+ (1,0) [0|0] "" H_U - SG_ AMP_MaxMTSAudioCutState : 63|8@0+ (1,0) [0|0] "" H_U - -BO_ 387 AMP_HU_PE_03: 8 AMP - SG_ AMP_MainVolumeSetting : 7|8@0+ (1,0) [0|0] "" H_U - SG_ AMP_BalanceSetting : 15|8@0+ (1,0) [0|0] "" H_U - SG_ AMP_FadeSetting : 23|8@0+ (1,0) [0|0] "" H_U - SG_ AMP_BassSetting : 31|8@0+ (1,0) [0|0] "" H_U - SG_ AMP_MidSetting : 39|8@0+ (1,0) [0|0] "" H_U - SG_ AMP_TrebleSetting : 47|8@0+ (1,0) [0|0] "" H_U - SG_ AMP_VehicleSpeedamp : 55|8@0+ (1,0) [0|0] "" H_U - -BO_ 130 AMP_HU_E_03: 8 AMP - SG_ AMP_NaviVolumeState : 7|8@0+ (1,0) [0|0] "" H_U - SG_ AMP_NaviAudioCutState : 15|8@0+ (1,0) [0|0] "" H_U - SG_ AMP_NaviOutputMaskState : 23|16@0+ (1,0) [0|0] "" H_U - SG_ AMP_NaviMuteMaskState : 39|16@0+ (1,0) [0|0] "" H_U - SG_ AMP_MaxNaviVolumeState : 55|8@0+ (1,0) [0|0] "" H_U - SG_ AMP_MaxNaviAudioCutState : 63|8@0+ (1,0) [0|0] "" H_U - -BO_ 129 AMP_HU_E_02: 8 AMP - SG_ AMP_DriveState : 1|2@0+ (1,0) [0|0] "" H_U - SG_ AMP_ConvertibleTopState : 5|2@0+ (1,0) [0|0] "" H_U - -BO_ 385 AMP_HU_PE_02: 8 AMP - SG_ AMP_MuteState : 1|2@0+ (1,0) [0|0] "" H_U - SG_ AMP_RearSpMuteState : 3|2@0+ (1,0) [0|0] "" H_U - SG_ AMP_SurroundModeState : 9|2@0+ (1,0) [0|0] "" H_U - SG_ AMP_EQState : 13|2@0+ (1,0) [0|0] "" H_U - SG_ AMP_SPDIFMuteSt : 17|2@0+ (1,0) [0|0] "" H_U - SG_ AMP_BeatsModeState : 21|2@0+ (1,0) [0|0] "" H_U - SG_ AMP_DefaultBeep1St : 25|2@0+ (1,0) [0|0] "" H_U - SG_ AMP_DefaultBeep2St : 29|2@0+ (1,0) [0|0] "" H_U - SG_ AMP_AudioSource : 39|8@0+ (1,0) [0|0] "" H_U - SG_ AMP_VIPModeState : 41|2@0+ (1,0) [0|0] "" H_U - SG_ AMP_QLSModeState : 43|2@0+ (1,0) [0|0] "" H_U - -BO_ 128 AMP_HU_E_01: 8 AMP - SG_ AMP_CurrentVehicleID : 7|8@0+ (1,0) [0|0] "" H_U - SG_ AMP_SPDIFModeState : 11|4@0+ (1,0) [0|0] "" H_U - SG_ AMP_MajorVer : 23|8@0+ (1,0) [0|0] "" H_U,MON - SG_ AMP_MinorVer : 31|8@0+ (1,0) [0|0] "" H_U,MON - SG_ AMP_UpdateStartResp : 33|2@0+ (1,0) [0|0] "" H_U - SG_ AMP_UpdateEndResp : 41|2@0+ (1,0) [0|0] "" H_U - SG_ AMP_TuningMajorVer : 55|8@0+ (1,0) [0|0] "" H_U - SG_ AMP_TuningMinorVer : 63|8@0+ (1,0) [0|0] "" H_U - -BO_ 384 AMP_HU_PE_01: 8 AMP - SG_ AMP_HFModeState : 1|2@0+ (1,0) [0|0] "" CLU,H_U - SG_ HU_InitInfo : 3|2@0+ (1,0) [0|0] "" CLU,H_U - SG_ AMP_ASDModeState : 6|3@0+ (1,0) [0|0] "" CLU,H_U - SG_ AMP_NaviModeState : 9|2@0+ (1,0) [0|0] "" CLU,H_U - SG_ AMP_SPDIFInfo : 12|3@0+ (1,0) [0|0] "" CLU,H_U - SG_ AMP_MTSModeState : 17|2@0+ (1,0) [0|0] "" CLU,H_U - SG_ AMP_VSCModeState : 25|2@0+ (1,0) [0|0] "" CLU,H_U - SG_ AMP_SDVCStepState : 29|3@0+ (1,0) [0|0] "" CLU,H_U - SG_ AMP_Beep1ModeState : 33|2@0+ (1,0) [0|0] "" CLU,H_U - SG_ AMP_Beep2ModeState : 41|2@0+ (1,0) [0|0] "" CLU,H_U - SG_ AMP_DistrInfoState : 55|8@0+ (1,0) [0|0] "" CLU,H_U - SG_ AMP_INFORM_TO_IPM : 57|2@0+ (1,0) [0|0] "" CGW,CLU,DATC,H_U,IPM - SG_ AMP_SignalDoctorState : 59|2@0+ (1,0) [0|0] "" H_U - SG_ AMP_AutoVolumeState : 61|2@0+ (1,0) [0|0] "" H_U - -BO_ 1408 AMP_HU_P_01: 8 AMP - SG_ AMP_SupportMute : 1|2@0+ (1,0) [0|0] "" H_U - SG_ AMP_SupportHFMode : 3|2@0+ (1,0) [0|0] "" H_U - SG_ AMP_SupportCfgBeep1 : 5|2@0+ (1,0) [0|0] "" H_U - SG_ AMP_SupportCfgBeep2 : 7|2@0+ (1,0) [0|0] "" H_U - SG_ AMP_SupportSpeedAdjust : 9|2@0+ (1,0) [0|0] "" H_U - SG_ AMP_SupportSurroundMode : 11|2@0+ (1,0) [0|0] "" H_U - SG_ AMP_SupportNaviMode : 13|2@0+ (1,0) [0|0] "" H_U - SG_ AMP_SupportMTSMode : 15|2@0+ (1,0) [0|0] "" H_U - SG_ AMP_SupportTopState : 17|2@0+ (1,0) [0|0] "" H_U - SG_ AMP_SupportBothLHDandRHD : 19|2@0+ (1,0) [0|0] "" H_U - SG_ AMP_SupportEQState : 21|2@0+ (1,0) [0|0] "" H_U - SG_ AMP_SupportVehicleID : 23|2@0+ (1,0) [0|0] "" H_U - SG_ AMP_SupportAudioSource : 25|2@0+ (1,0) [0|0] "" H_U - SG_ AMP_SupportSPDIFModeState : 27|2@0+ (1,0) [0|0] "" H_U - SG_ AMP_SupportRearSpMute : 29|2@0+ (1,0) [0|0] "" H_U - SG_ AMP_SupportVEQMode : 31|2@0+ (1,0) [0|0] "" H_U - SG_ AMP_MakerID : 39|8@0+ (1,0) [0|0] "" H_U - SG_ AMP_SupportASDMode : 41|2@0+ (1,0) [0|0] "" H_U - SG_ AMP_SupportBeatsMode : 43|2@0+ (1,0) [0|0] "" H_U - SG_ AMP_SupportVIPMode : 45|2@0+ (1,0) [0|0] "" H_U - SG_ AMP_SupportQLS : 47|2@0+ (1,0) [0|0] "" H_U - SG_ AMP_SupportSignalDoctor : 49|2@0+ (1,0) [0|0] "" H_U - SG_ AMP_SupportAutoVolume : 51|2@0+ (1,0) [0|0] "" H_U - SG_ AMP_SupportPESSMode : 53|2@0+ (1,0) [0|0] "" H_U - -BO_ 1920 TP_HU_PhyReq: 8 EDT - SG_ Byte0_TCP_780 : 7|8@0+ (1,0) [0|0] "" H_U - SG_ Byte1_Data_780 : 15|8@0+ (1,0) [0|0] "" H_U - SG_ Byte2_Data_780 : 23|8@0+ (1,0) [0|0] "" H_U - SG_ Byte3_Data_780 : 31|8@0+ (1,0) [0|0] "" H_U - SG_ Byte4_Data_780 : 39|8@0+ (1,0) [0|0] "" H_U - SG_ Byte5_Data_780 : 47|8@0+ (1,0) [0|0] "" H_U - SG_ Byte6_Data_780 : 55|8@0+ (1,0) [0|0] "" H_U - SG_ Byte7_Data_780 : 63|8@0+ (1,0) [0|0] "" H_U - -BO_ 371 HU_TMU_PE_01: 8 H_U - SG_ HU_AliveStatus : 1|2@0+ (1,0) [0|0] "" CLU,CGW,TMU - SG_ HU_DeviceType : 5|4@0+ (1,0) [0|0] "" TMU - SG_ HU_DistanceUnit : 7|2@0+ (1,0) [0|0] "" TMU - SG_ HU_AudAllocStatus : 9|2@0+ (1,0) [0|0] "" TMU - SG_ HU_PowerStatus : 12|3@0+ (1,0) [0|0] "" TMU - SG_ HU_BTCallStatus : 15|3@0+ (1,0) [0|0] "" TMU - SG_ HU_VoiceRecStatus : 17|2@0+ (1,0) [0|0] "" TMU - SG_ HU_LangStatus : 20|3@0+ (1,0) [0|0] "" TMU - -BO_ 369 HU_Car_PE_01: 8 H_U - SG_ HU_VehiclePwr : 3|4@0+ (1,0) [0|0] "" AMP,ASD,AVM,CCP,CLOCK,CLU,CUBIS,DATC,FHCU,IPM,KBD,KMA_TMU,MON,RRC,RSE_L,RSE_R,TMU - -BO_ 1392 HU_TMU_P_01: 8 H_U - SG_ HU_GPS_Signal : 7|64@0+ (1,0) [0|0] "" TMU - -BO_ 112 HU_AMP_E_09: 8 H_U - SG_ AMP_Beep1VolumeStep : 7|8@0+ (1,0) [0|0] "" AMP - SG_ AMP_Beep1Frequency : 15|16@0+ (1,0) [0|0] "" AMP - SG_ AMP_Beep1Ch_OutputMask : 31|16@0+ (1,0) [0|0] "" AMP - SG_ AMP_Beep1DurationOn : 47|8@0+ (1,0) [0|0] "" AMP - SG_ AMP_Beep1DurationOff : 55|8@0+ (1,0) [0|0] "" AMP - SG_ AMP_Beep1NumberOfCycles : 63|8@0+ (1,0) [0|0] "" AMP - -BO_ 1390 GW_CLU_P: 8 CLU - SG_ C_VehicleSpeed : 7|8@0+ (1,0) [0|254] "" H_U,IBOX - SG_ C_Odometer : 15|24@0+ (1,0) [0|999999] "" H_U,IBOX - -BO_ 363 GW_IPM_PE_2: 8 CLU - SG_ C_DRVUnlockState : 1|2@0+ (1,0) [0|0] "" CUBIS,TMU - SG_ C_ASTUnlockState : 3|2@0+ (1,0) [0|0] "" CUBIS,TMU - SG_ C_RLUnlockstate : 5|2@0+ (1,0) [0|0] "" CUBIS,TMU - SG_ C_RRUnlockState : 7|2@0+ (1,0) [0|0] "" CUBIS,TMU - SG_ C_VehicleInfoTMU : 9|2@0+ (1,0) [0|0] "" CUBIS,TMU - SG_ C_Engine_Status : 11|2@0+ (1,0) [0|0] "" CUBIS,TMU - SG_ C_TMULockFeedBack : 23|2@0+ (1,0) [0|0] "" CUBIS,TMU - -BO_ 362 GW_IPM_PE_1: 8 CLU - SG_ C_AV_Tail : 1|2@0+ (1,0) [0|0] "" AMP,CCP,CLOCK,CLU,HUD,H_U,IBOX,RRC,RSE_L - SG_ C_ParkingBrakeSW : 3|2@0+ (1,0) [0|0] "" H_U - SG_ C_RKECMD : 7|4@0+ (1,0) [0|0] "" H_U - SG_ C_BAState : 9|2@0+ (1,0) [0|0] "" H_U,IBOX - SG_ C_IGNSW : 14|3@0+ (1,0) [0|0] "" AMP,AVM,CUBIS,EDT,H_U,MON,RRC,SWRC - SG_ C_CountryCfg : 18|3@0+ (1,0) [0|0] "" AVM,H_U - SG_ C_AltL : 25|2@0+ (1,0) [0|0] "" H_U - SG_ C_TailLampActivity : 27|2@0+ (1,0) [0|0] "" AMP,CCP,CLOCK,HUD,H_U,IBOX,RRC,RSE_L,SWRC - SG_ RearSW_RSELockOnOff : 29|2@0+ (1,0) [0|0] "" H_U,IBOX - SG_ C_TMULockFeedBack : 31|2@0+ (1,0) [0|0] "" CUBIS,TMU - SG_ C_SMKTeleCrankingState : 33|2@0+ (1,0) [0|0] "" H_U,IBOX - SG_ C_SMKTeleCrankingFailRes : 35|2@0+ (1,0) [0|0] "" H_U,IBOX - SG_ C_RKECMD_GEN2 : 39|3@0+ (1,0) [0|0] "" H_U,IBOX - SG_ C_Acu_CshAct : 41|2@0+ (1,0) [0|0] "" H_U,IBOX - SG_ C_IntTailAct : 43|2@0+ (1,0) [0|0] "" AMP,CCP,CLOCK,CLU,HUD,H_U,IBOX,RRC,RSE_L - SG_ C_PassiveAccessUnlock : 47|3@0+ (1,0) [0|0] "" H_U,IBOX - SG_ Lca_IndLeft : 49|2@0+ (1,0) [0|0] "" H_U - SG_ FL_SndWarn : 51|2@0+ (1,0) [0|0] "" AMP - SG_ FR_SndWarn : 53|2@0+ (1,0) [0|0] "" AMP - SG_ Lca_IndRight : 55|2@0+ (1,0) [0|0] "" H_U - SG_ RCTA_IndLeft : 57|2@0+ (1,0) [0|0] "" H_U - SG_ RL_SndWarn : 59|2@0+ (1,0) [0|0] "" AMP - SG_ RR_SndWarn : 61|2@0+ (1,0) [0|0] "" AMP - SG_ RCTA_IndRight : 63|2@0+ (1,0) [0|0] "" H_U - -BO_ 361 GW_CHASSIS_PE_1: 8 CLU - SG_ C_Inhibit_State : 3|4@0+ (1,0) [0|0] "" AVM,H_U - SG_ C_P_BrakeStatus : 5|2@0+ (1,0) [0|0] "" AVM,H_U - SG_ C_Clu_AltLStatus : 7|2@0+ (1,0) [0|0] "" AVM,H_U - -BO_ 359 GW_WARNING_PE_01: 8 CLU - SG_ Spas_BEEP_Alarm : 3|4@0+ (1,0) [0|0] "" AMP - SG_ Spas_Audio_VolumeDown : 5|2@0+ (1,0) [0|0] "" AMP - SG_ Spas_Spkr_Flh_Alarm : 9|2@0+ (1,0) [0|0] "" AMP,H_U - SG_ Spas_Spkr_Fcnt_Alarm : 11|2@0+ (1,0) [0|0] "" AMP,H_U - SG_ Spas_Spkr_Frh_Alarm : 13|2@0+ (1,0) [0|0] "" AMP,H_U - SG_ Spas_Spkr_Rlh_Alarm : 17|2@0+ (1,0) [0|0] "" AMP,H_U - SG_ Spas_Spkr_Rcnt_Alarm : 19|2@0+ (1,0) [0|0] "" AMP,H_U - SG_ Spas_Spkr_Rrh_Alarm : 21|2@0+ (1,0) [0|0] "" AMP,H_U - SG_ Lkas_SysStatus : 27|4@0+ (1,0) [0|0] "" AMP,H_U - SG_ Lkas_LH_Warning : 29|2@0+ (1,0) [0|0] "" AMP,H_U - SG_ Lkas_RH_Warning : 31|2@0+ (1,0) [0|0] "" AMP,H_U - SG_ Spas_Spkr_Level : 35|3@0+ (1,0) [0|0] "" AMP - SG_ Lkas_Audio_VolumeDown : 37|2@0+ (1,0) [0|0] "" AMP,H_U - SG_ Audio_VolumeDown : 39|2@0+ (1,0) [0|0] "" AMP,H_U - SG_ Pas_BEEP_Alarm : 43|4@0+ (1,0) [0|0] "" AMP - SG_ Pas_Audio_VolumeDown : 45|2@0+ (1,0) [0|0] "" AMP,H_U - SG_ Pas_Spkr_Level : 32|3@0+ (1,0) [0|0] "" AMP - SG_ Pas_Spkr_Flh_Alarm : 49|2@0+ (1,0) [0|0] "" AMP,H_U - SG_ Pas_Spkr_Fcnt_Alarm : 51|2@0+ (1,0) [0|0] "" AMP,H_U - SG_ Pas_Spkr_Frh_Alarm : 53|2@0+ (1,0) [0|0] "" AMP,H_U - SG_ Pas_Spkr_Rlh_Alarm : 57|2@0+ (1,0) [0|0] "" AMP,H_U - SG_ Pas_Spkr_Rcnt_Alarm : 59|2@0+ (1,0) [0|0] "" AMP,H_U - SG_ Pas_Spkr_Rrh_Alarm : 61|2@0+ (1,0) [0|0] "" AMP,H_U - -BO_ 1376 HU_TMU_P_02: 8 H_U - SG_ HU_GPS_Signal2 : 7|8@0+ (2,0) [0|0] "Degree" TMU - SG_ HU_GPS_Signal3 : 9|2@0+ (1,0) [0|0] "" TMU - SG_ HU_GPS_Signal4 : 12|3@0+ (1,0) [0|0] "" TMU - -BO_ 93 DATC_HU_E_SYS: 8 CLU - SG_ DATC_SWVerMajor : 7|8@0+ (1,0) [0|254] "" H_U - SG_ DATC_SWVerMinor : 15|8@0+ (1,0) [0|254] "" H_U - SG_ DATC_CANVerMajor : 23|8@0+ (1,0) [0|254] "" H_U - SG_ DATC_CANVerMinor : 31|8@0+ (1,0) [0|254] "" H_U - -BO_ 344 GW_CLU_PE: 8 CLU - SG_ C_InhibitP : 1|2@0+ (1,0) [0|0] "" H_U,IBOX - SG_ C_InhibitR : 3|2@0+ (1,0) [0|0] "" H_U,IBOX - SG_ C_InhibitN : 5|2@0+ (1,0) [0|0] "" H_U,IBOX - SG_ C_InhibitD : 7|2@0+ (1,0) [0|0] "" H_U,IBOX - SG_ C_P_BrakeStatus : 9|2@0+ (1,0) [0|0] "" H_U,IBOX - SG_ C_Clu_AltLStatus : 11|2@0+ (1,0) [0|0] "" H_U,IBOX - SG_ CF_Clu_LowfuelWarning : 13|2@0+ (1,0) [0|0] "" H_U,IBOX - SG_ C_InhibitRMT : 15|2@0+ (1,0) [0|0] "" H_U - SG_ CF_SMKRKECmd : 18|3@0+ (1,0) [0|0] "" H_U - -BO_ 87 HU_E_02: 8 H_U - SG_ NaviValidity : 1|2@0+ (1,0) [0|0] "" CGW,CLU - -BO_ 343 GW_WARNING_PE_02: 8 CLU - SG_ CF_Lkas_TsrSlifOpt : 1|2@0+ (1,0) [0|3] "" H_U - SG_ CF_Lkas_TsrStatus : 3|2@0+ (1,0) [0|3] "" H_U - SG_ CF_Lkas_TsrAddinfo_Disp : 7|2@0+ (1,0) [0|3] "" H_U - SG_ CF_Lkas_TsrSpeed_Display : 15|8@0+ (1,0) [0|255] "" H_U - -BO_ 75 HU_AMP_E_12: 8 H_U - SG_ AMP_EngOrderC2GainSet : 7|8@0+ (1,0) [0|0] "" AMP - SG_ AMP_EngOrderC4GainSet : 15|8@0+ (1,0) [0|0] "" AMP - SG_ AMP_EngOrderC6GainSet : 23|8@0+ (1,0) [0|0] "" AMP - SG_ AMP_APSBand0GainSet : 31|8@0+ (1,0) [0|0] "" AMP - SG_ AMP_APSBand1GainSet : 39|8@0+ (1,0) [0|0] "" AMP - SG_ AMP_APSBand2GainSet : 47|8@0+ (1,0) [0|0] "" AMP - SG_ AMP_APSBand3GainSet : 55|8@0+ (1,0) [0|0] "" AMP - SG_ AMP_APSBand4GainSet : 63|8@0+ (1,0) [0|0] "" AMP - -BO_ 74 HU_AMP_E_11: 8 H_U - SG_ AMP_PESSMode : 1|2@0+ (1,0) [0|0] "" AMP - SG_ AMP_PESSDesignSet : 4|3@0+ (1,0) [0|0] "" AMP - SG_ AMP_PESSAPSSet : 7|3@0+ (1,0) [0|0] "" AMP - SG_ AMP_PESSVolumeSet : 15|8@0+ (1,0) [0|0] "" AMP - -BO_ 1864 TP_AMP_EDT: 8 AMP - SG_ Byte0_TCP_748 : 7|8@0+ (1,0) [0|0] "" EDT - SG_ Byte1_Data_748 : 15|8@0+ (1,0) [0|0] "" EDT - SG_ Byte2_Data_748 : 23|8@0+ (1,0) [0|0] "" EDT - SG_ Byte3_Data_748 : 31|8@0+ (1,0) [0|0] "" EDT - SG_ Byte4_Data_748 : 39|8@0+ (1,0) [0|0] "" EDT - SG_ Byte5_Data_748 : 47|8@0+ (1,0) [0|0] "" EDT - SG_ Byte6_Data_748 : 55|8@0+ (1,0) [0|0] "" EDT - SG_ Byte7_Data_748 : 63|8@0+ (1,0) [0|0] "" EDT - -BO_ 327 TMU_HU_PE_03: 8 TMU - SG_ TMU_TbT_TurnIcon : 7|8@0+ (1,0) [0|0] "" H_U - SG_ TMU_TbT_CountDownBar : 11|4@0+ (1,0) [0|0] "" H_U - SG_ TMU_TbT_Distance_Unit : 13|2@0+ (1,0) [0|0] "" H_U - SG_ TMU_TbT_DestDistance_Unit : 15|2@0+ (1,0) [0|0] "" H_U - SG_ TMU_TbT_DistanceLo : 27|4@0+ (1,0) [0|0] "" H_U - SG_ TMU_TbT_DistanceHi : 23|12@0+ (1,0) [0|0] "" H_U - SG_ TMU_TbT_DestDistanceLo : 43|4@0+ (1,0) [0|0] "" H_U - SG_ TMU_TbT_DestDistanceHi : 39|12@0+ (1,0) [0|0] "" H_U - SG_ TMU_TbT_ExpectRemainHour : 55|8@0+ (1,0) [0|0] "" H_U - SG_ TMU_TbT_ExpectRemainMin : 61|6@0+ (1,0) [0|0] "" H_U - -BO_ 326 TMU_HU_PE_02: 8 TMU - SG_ TMU_CallStatus : 3|4@0+ (1,0) [0|0] "" H_U - SG_ TMU_CallType : 6|3@0+ (1,0) [0|0] "" H_U - SG_ TMU_CDMA_Streng : 11|4@0+ (1,0) [0|0] "" H_U - SG_ TMU_PacketStatus : 13|2@0+ (1,0) [0|0] "" H_U - SG_ TMU_TalkTimeHour : 20|5@0+ (1,0) [0|0] "" H_U - SG_ TMU_TalkTimeMinute : 29|6@0+ (1,0) [0|0] "" H_U - SG_ TMU_TalkTimeSecond : 37|6@0+ (1,0) [0|0] "" H_U - -BO_ 325 TMU_HU_PE_01: 8 TMU - SG_ TMU_AliveStatus : 2|3@0+ (1,0) [0|0] "" H_U - SG_ TMU_AudioStatus : 4|2@0+ (1,0) [0|0] "" H_U - SG_ TMU_UpdateStatus : 7|3@0+ (1,0) [0|0] "" H_U - SG_ TMU_LangStatus : 10|3@0+ (1,0) [0|0] "" H_U - SG_ TMU_VoiceRecStatus : 12|2@0+ (1,0) [0|0] "" H_U - SG_ TMU_MicStatus : 14|2@0+ (1,0) [0|0] "" H_U - SG_ TMU_ServCommuStatus : 19|4@0+ (1,0) [0|0] "" H_U - SG_ TMU_PowerStatus : 21|2@0+ (1,0) [0|0] "" H_U - SG_ TMU_EngineStatus : 23|2@0+ (1,0) [0|0] "" H_U - SG_ TMU_DownProgress : 31|8@0+ (1,0) [0|0] "" H_U - -BO_ 69 TMU_HU_E_04: 8 TMU - SG_ TMU_eCall : 1|2@0+ (1,0) [0|0] "" H_U - -BO_ 67 TMU_GW_E_01: 8 TMU - SG_ C_ReqDrLock : 1|2@0+ (1,0) [0|0] "" CGW,CLU,DATC,IPM - SG_ C_ReqDrUnlock : 3|2@0+ (1,0) [0|0] "" CGW,CLU,DATC,IPM - SG_ C_ReqHazard : 5|2@0+ (1,0) [0|0] "" CGW,CLU,DATC,IPM - SG_ C_ReqHorn : 7|2@0+ (1,0) [0|0] "" CGW,CLU,DATC,IPM - SG_ C_ReqEngineOperate : 9|2@0+ (1,0) [0|0] "" CGW,CLU,DATC,IPM - -BO_ 66 TMU_HU_E_03: 8 TMU - SG_ CDMA_SelfDiag : 1|2@0+ (1,0) [0|0] "" H_U - SG_ CDMA_Antena_SelfDiag : 3|2@0+ (1,0) [0|0] "" H_U - -BO_ 1345 TMU_HU_P_02: 8 TMU - SG_ TMU_SupVoiceTextService : 1|2@0+ (1,0) [0|0] "" H_U - SG_ TMU_SupEcoCoachService : 3|2@0+ (1,0) [0|0] "" H_U - SG_ TMU_SupSongTagService : 5|2@0+ (1,0) [0|0] "" H_U - SG_ TMU_SupContentService : 7|2@0+ (1,0) [0|0] "" H_U - SG_ TMU_MajorVersion : 15|8@0+ (1,0) [0|0] "" H_U - SG_ TMU_MinorVersion : 23|8@0+ (1,0) [0|0] "" H_U - SG_ TMU_DistributeInfo : 27|4@0+ (1,0) [0|0] "" H_U - -BO_ 65 TMU_HU_E_02: 8 TMU - SG_ TMU_BarLevel1 : 7|6@0+ (1,0) [0|0] "" H_U - SG_ TMU_BarLevel2 : 1|6@0+ (1,0) [0|0] "" H_U - SG_ TMU_BarLevel4 : 21|6@0+ (1,0) [0|0] "" H_U - SG_ TMU_BarLevel3 : 11|6@0+ (1,0) [0|0] "" H_U - SG_ TMU_BarLevel5 : 31|6@0+ (1,0) [0|0] "" H_U - SG_ TMU_BarLevel6 : 25|6@0+ (1,0) [0|0] "" H_U - SG_ TMU_BarLevel8 : 45|6@0+ (1,0) [0|0] "" H_U - SG_ TMU_BarLevel7 : 35|6@0+ (1,0) [0|0] "" H_U - SG_ TMU_BarLevel9 : 55|6@0+ (1,0) [0|0] "" H_U - SG_ TMU_BarLevel10 : 63|6@0+ (1,0) [0|0] "" H_U - -BO_ 1344 TMU_HU_P_01: 8 TMU - SG_ TMU_Arrow : 3|2@0+ (1,0) [0|0] "" H_U - SG_ TMU_ReFill_Info : 5|2@0+ (1,0) [0|0] "" H_U - SG_ TMU_AverageMPG : 1|10@0+ (1,0) [0|0] "" H_U - SG_ TMU_TotalMPG : 23|10@0+ (1,0) [0|0] "" H_U - SG_ TMU_RewardStar : 37|14@0+ (1,0) [0|0] "" H_U - -BO_ 64 TMU_HU_E_01: 8 TMU - SG_ TMU_DisMode : 3|4@0+ (1,0) [0|0] "" H_U - SG_ TMU_AudSrcType : 7|4@0+ (1,0) [0|0] "" CLU,DATC,H_U - SG_ TMU_AudReqCmd : 9|2@0+ (1,0) [0|0] "" H_U - SG_ TMU_LangCmd : 12|3@0+ (1,0) [0|0] "" H_U - SG_ TMU_ServReq : 15|3@0+ (1,0) [0|0] "" H_U - SG_ TMU_ErrorEvent : 23|8@0+ (1,0) [0|0] "" H_U - SG_ TMU_BeepCmd : 25|2@0+ (1,0) [0|0] "" H_U - SG_ TMU_eCall : 28|3@0+ (1,0) [0|0] "" H_U - -BO_ 62 HU_Navi_E_00: 8 H_U - SG_ Navi_SLIF_SpdUnit : 1|2@0+ (1,0) [0|0] "" CGW,CLU,HUD - SG_ Navi_SLIF_Frwinfo : 4|3@0+ (1,0) [0|0] "" CGW,CLU,HUD - SG_ Navi_SLIF_LinkClass : 7|3@0+ (1,0) [0|0] "" CGW,CLU,HUD - SG_ Navi_SLIF_SpdLimit : 15|8@0+ (1,0) [1|254] "" CGW,CLU,HUD - SG_ Navi_SLIFMapSource : 29|4@0+ (1,0) [0|8] "" CGW,CLU,HUD - SG_ Navi_SLIF_CountryCode : 23|10@0+ (1,0) [0|0] "" CGW,CLU,HUD - -BO_ 52 HU_DATC_E_02: 8 H_U - SG_ HU_DATC_DrTempUpDn : 1|2@0+ (1,0) [0|0] "" CGW,CLU,DATC,IPM - SG_ HU_DATC_PsTempUpDn : 3|2@0+ (1,0) [0|0] "" CGW,CLU,DATC,IPM - SG_ HU_DATC_RlTempUpDn : 5|2@0+ (1,0) [0|0] "" CGW,CLU,DATC,IPM - SG_ HU_DATC_RrTempUpDn : 7|2@0+ (1,0) [0|0] "" CGW,CLU,DATC,IPM - SG_ HU_DATC_MainBlower : 11|4@0+ (1,0) [0|0] "" CGW,CLU,DATC,IPM - SG_ HU_DATC_SubBlower : 15|4@0+ (1,0) [0|0] "" CGW,CLU,DATC,IPM - SG_ HU_DATC_RearBlower : 19|4@0+ (1,0) [0|0] "" CGW,CLU,DATC,IPM - SG_ HU_DATCRearPsModeSet : 23|4@0+ (1,0) [0|0] "" CGW,CLU - SG_ HU_DATC_FrontModeSet : 27|4@0+ (1,0) [0|0] "" CGW,CLU,DATC,IPM - SG_ HU_DATC_RearModeSet : 31|4@0+ (1,0) [0|0] "" CGW,CLU,DATC,IPM - SG_ HU_DATC_AutoSet : 33|2@0+ (1,0) [0|0] "" CGW,CLU,DATC,IPM - SG_ HU_DATC_OffReq : 35|2@0+ (1,0) [0|0] "" CGW,CLU,DATC,IPM - SG_ HU_DATC_IntakeSet : 37|2@0+ (1,0) [0|0] "" CGW,CLU,DATC,IPM - SG_ HU_DATC_RearOnOffSet : 39|2@0+ (1,0) [0|0] "" CGW,CLU,DATC,IPM - SG_ HU_DATC_AcSet : 41|2@0+ (1,0) [0|0] "" CGW,CLU,DATC,IPM - SG_ HU_DATC_AqsSet : 43|2@0+ (1,0) [0|0] "" CGW,CLU,DATC,IPM - SG_ HU_DATC_FrontDefog : 45|2@0+ (1,0) [0|0] "" CGW,CLU,DATC,IPM - SG_ HU_DATC_RearDefog : 47|2@0+ (1,0) [0|0] "" CGW,CLU,DATC,IPM - SG_ HU_DATC_ZoneControl : 49|2@0+ (1,0) [0|0] "" CGW,CLU,DATC,IPM - SG_ HU_DATC_CO2Set : 51|2@0+ (1,0) [0|0] "" CGW,CLU,DATC,IPM - SG_ DATC_SmartVentOnOffSet : 53|2@0+ (1,0) [0|0] "" CGW,CLU,DATC,IPM - SG_ DATC_ADSOnOffSet : 55|2@0+ (1,0) [0|0] "" CGW,CLU - SG_ HU_DATC_RearAutoDisp : 57|2@0+ (1,0) [0|0] "" CGW,CLU - SG_ HU_DATC_RearOffDisp : 59|2@0+ (1,0) [0|0] "" CGW,CLU - -BO_ 308 DATC_PE_05: 8 CLU - SG_ DATC_PwrInfo : 3|4@0+ (1,0) [0|0] "" AMP,AVM,CUBIS,H_U,MON - SG_ DATC_AltL : 5|2@0+ (1,0) [0|0] "" H_U,MON - SG_ DATC_CarInfo : 7|2@0+ (1,0) [0|0] "" H_U - SG_ DATC_ParkingBrake : 9|2@0+ (1,0) [0|0] "" H_U - SG_ DATC_LowFuelWarn : 11|2@0+ (1,0) [0|0] "" H_U - SG_ DATC_Rear_Off_Disp : 13|2@0+ (1,0) [0|0] "" H_U,MON - SG_ DATC_Rear_AutoDisp : 15|2@0+ (1,0) [0|0] "" H_U,MON - SG_ DATC_Rear_BlowerDisp : 19|4@0+ (1,0) [0|0] "" H_U,MON - SG_ DATC_DrSeatWarmerDisp : 22|3@0+ (1,0) [0|0] "" H_U,MON - SG_ DATC_SyncDisp : 27|4@0+ (1,0) [0|0] "" H_U,MON - SG_ DATC_RearDispCtrl : 31|4@0+ (1,0) [0|0] "" H_U,MON - SG_ DATC_RearDrModeDisp : 35|4@0+ (1,0) [0|0] "" H_U - SG_ DATC_PsSeatWarmerDisp : 38|3@0+ (1,0) [0|0] "" H_U,MON - SG_ DATC_DrVentSeatDisp : 42|3@0+ (1,0) [0|0] "" H_U,MON - SG_ DATC_PSVentSeatDisp : 46|3@0+ (1,0) [0|0] "" H_U,MON - SG_ DATC_RrDefLed : 49|2@0+ (1,0) [0|0] "" H_U,MON - SG_ DATC_SmartVentOnOffStatus : 51|2@0+ (1,0) [0|0] "" H_U - SG_ DATC_ADSOnOffStatus : 53|2@0+ (1,0) [0|0] "" H_U - SG_ DATC_AcDisp_OSD : 55|2@0+ (1,0) [0|0] "" H_U - SG_ DATC_PsModeDisp_OSD : 59|4@0+ (1,0) [0|0] "" H_U - SG_ DATC_ModeDisp_OSD : 63|4@0+ (1,0) [0|0] "" H_U - -BO_ 307 DATC_PE_04: 8 CLU - SG_ DATC_DiagMode : 1|2@0+ (1,0) [0|0] "" H_U,IBOX,MON - SG_ DATC_Rear_ChangeReqDisp : 3|2@0+ (1,0) [0|0] "" H_U,IBOX,MON - SG_ DATC_Rear_ClimateScnDisp : 5|2@0+ (1,0) [0|0] "" H_U,IBOX,MON - SG_ DATC_CO2OnOffStatus : 7|2@0+ (1,0) [0|0] "" H_U - SG_ DATC_SelfDiagDisp : 15|8@0+ (1,0) [0|0] "" H_U,IBOX,MON - SG_ DATC_RearBlwDisp_OSD : 19|4@0+ (1,0) [0|0] "" H_U - SG_ DATC_AqsLevelOut : 23|4@0+ (1,0) [0|0] "" H_U,IBOX,MON - SG_ DATC_RearModeDisp : 27|4@0+ (1,0) [0|0] "" H_U - SG_ DATC_RearPsModeDisp : 31|4@0+ (1,0) [0|0] "" H_U - SG_ DATC_FrontBlwDisp_Ps : 35|4@0+ (1,0) [0|0] "" H_U - SG_ DATC_AutoDisp_Ps : 39|2@0+ (1,0) [0|0] "" H_U - SG_ DATC_RearModeDisp_OSD : 43|4@0+ (1,0) [0|0] "" H_U - SG_ DATC_RearPSModeDisp_OSD : 47|4@0+ (1,0) [0|0] "" H_U - SG_ DATC_FrontBlwDisp_OSD : 51|4@0+ (1,0) [0|0] "" H_U - SG_ DATC_FrontBlwDispPs_OSD : 55|4@0+ (1,0) [0|0] "" H_U - SG_ DATC_Variant : 63|8@0+ (1,0) [0|0] "" H_U,IBOX,MON - -BO_ 306 DATC_PE_03: 8 CLU - SG_ DATC_ModeDisp : 3|4@0+ (1,0) [0|0] "" H_U,IBOX - SG_ DATC_TempUnit : 5|2@0+ (1,0) [0|0] "" H_U,IBOX - SG_ DATC_AutoDisp : 9|2@0+ (1,0) [0|0] "" H_U,IBOX - SG_ DATC_IntakeDisp : 11|2@0+ (1,0) [0|0] "" H_U,IBOX - SG_ DATC_ChangeReqDisp : 13|2@0+ (1,0) [0|0] "" H_U,IBOX - SG_ DATC_AcDisp : 17|2@0+ (1,0) [0|0] "" H_U,IBOX - SG_ DATC_AqsDisp : 19|2@0+ (1,0) [0|0] "" H_U,IBOX - SG_ DATC_ClimateScnDisp : 21|2@0+ (1,0) [0|0] "" H_U,IBOX - SG_ DATC_DualDisp : 25|2@0+ (1,0) [0|0] "" H_U,IBOX - SG_ DATC_OffDisp : 27|2@0+ (1,0) [0|0] "" H_U,IBOX - SG_ DATC_OpSts : 30|3@0+ (1,0) [0|0] "" H_U,IBOX - SG_ DATC_RearManual : 33|2@0+ (1,0) [0|0] "" H_U,MON - SG_ DATC_FrDefLed : 37|2@0+ (1,0) [0|0] "" H_U - SG_ DATC_SmartVentDisp : 39|2@0+ (1,0) [0|0] "" H_U - SG_ DATC_AutoDefogBlink : 41|2@0+ (1,0) [0|0] "" H_U,IBOX - SG_ DATC_ADSDisp : 43|2@0+ (1,0) [0|0] "" H_U - SG_ DATC_IonClean : 45|2@0+ (1,0) [0|0] "" H_U,IBOX - SG_ DATC_CO2Warning : 47|2@0+ (1,0) [0|0] "" H_U,IBOX - SG_ DATC_SubBlowerDisp : 51|4@0+ (1,0) [0|0] "" H_U,MON - SG_ DATC_BeepReq : 55|4@0+ (1,0) [0|0] "" H_U,KBD,MON - SG_ DATC_MainBlowerDisp : 59|4@0+ (1,0) [0|0] "" H_U,IBOX - SG_ DATC_PsModeDisp : 63|4@0+ (1,0) [0|0] "" H_U,IBOX - -BO_ 1329 DATC_P_02: 8 CLU - SG_ DATC_AmbientTemp_C : 7|8@0+ (1,0) [0|0] "" H_U,MON - SG_ DATC_AmbientTemp_F : 23|8@0+ (1,0) [0|0] "" H_U,MON - -BO_ 305 DATC_PE_02: 8 CLU - SG_ DATC_DrTempDispC : 7|8@0+ (0.5,14) [15|32] "C" H_U,IBOX,MON - SG_ DATC_Rear_DrTempDispC : 15|8@0+ (0.5,14) [15|32] "C" H_U,IBOX,MON - SG_ DATC_DrTempDispF : 23|8@0+ (1,56) [58|90] "F" H_U,IBOX,MON - SG_ DATC_Rear_DrTempDispF : 31|8@0+ (1,56) [58|90] "F" H_U,IBOX,MON - SG_ DATC_PsTempDispC : 39|8@0+ (0.5,14) [15|32] "C" H_U,IBOX,MON - SG_ Datc_RearPsTempDispC : 47|8@0+ (0.5,14) [15|32] "C" H_U,IBOX,MON - SG_ DATC_PsTempDispF : 55|8@0+ (1,56) [58|90] "F" H_U,IBOX,MON - SG_ DATC_RearPsTempDispF : 63|8@0+ (1,56) [58|90] "F" H_U,IBOX,MON - -BO_ 304 DATC_PE_01: 8 CLU - SG_ DATC_Type : 7|8@0+ (1,0) [0|0] "" H_U,MON - SG_ DATC_VerMMMajor : 15|8@0+ (1,0) [0|0] "" H_U,MON - SG_ DATC_VerMMMinor : 23|8@0+ (1,0) [0|0] "" H_U,MON - SG_ DATC_VerBDFMajor : 31|8@0+ (1,0) [0|0] "" H_U,MON - SG_ DATC_VerBDMinor : 39|8@0+ (1,0) [0|0] "" H_U,MON - SG_ DATC_VerCSMajor : 47|8@0+ (1,0) [0|0] "" H_U,MON - SG_ DATC_VerCSMinor : 55|8@0+ (1,0) [0|0] "" H_U,MON - -BO_ 291 HU_CLU_PE_07: 8 H_U - SG_ NV_DS_Curve : 3|4@0+ (1,0) [0|0] "" CLU - SG_ NV_DS_Merge : 7|4@0+ (1,0) [0|0] "" CLU - SG_ NV_DS_RailCross : 9|2@0+ (1,0) [0|0] "" CLU - SG_ NV_DS_FallingRocks : 11|2@0+ (1,0) [0|0] "" CLU - SG_ NV_DS_SchoolZone : 13|2@0+ (1,0) [0|0] "" CLU - SG_ NV_DS_AccidentBlack : 15|2@0+ (1,0) [0|0] "" CLU - SG_ NV_DS_SpeedBump : 17|2@0+ (1,0) [0|0] "" CLU - SG_ NV_DS_RoadKill : 19|2@0+ (1,0) [0|0] "" CLU - SG_ NV_DS_Downhill : 21|2@0+ (1,0) [0|0] "" CLU - SG_ NV_DS_Fog : 23|2@0+ (1,0) [0|0] "" CLU - SG_ NV_Display_TG : 31|2@0+ (1,0) [0|0] "" CLU,HUD - SG_ NV_Charge : 39|16@0+ (1,0) [0|0] "" CLU,HUD - SG_ NV_Charge_Unit : 55|8@0+ (1,0) [0|0] "" CLU,HUD - SG_ TBT_BarGraph100Level : 63|8@0+ (1,0) [0|100] "%" CLU,HUD - -BO_ 290 HU_CLU_PE_06: 8 H_U - SG_ NV_SD_SpdLimit2 : 3|4@0+ (10,0) [0|0] "km/h" CLU - SG_ NV_SD_SpdLimit1 : 7|4@0+ (10,0) [0|0] "km/h" CLU - SG_ NV_SD_EtcCam : 11|4@0+ (1,0) [0|0] "" CLU - SG_ NV_SD_SpdLimit3 : 15|4@0+ (10,0) [0|0] "km/h" CLU - SG_ NV_SD_SignCam : 17|2@0+ (1,0) [0|0] "" CLU - SG_ NV_SD_SignOverCam : 19|2@0+ (1,0) [0|0] "" CLU - SG_ NV_SD_MobileCam : 21|2@0+ (1,0) [0|0] "" CLU - SG_ NV_SD_FixedCam : 23|2@0+ (1,0) [0|0] "" CLU - SG_ NV_SD_OverLoadCam : 25|2@0+ (1,0) [0|0] "" CLU - SG_ NV_SD_ParkCam : 27|2@0+ (1,0) [0|0] "" CLU - SG_ NV_SD_CutInCam : 29|2@0+ (1,0) [0|0] "" CLU - SG_ NV_SD_BusOnlyCam : 31|2@0+ (1,0) [0|0] "" CLU - SG_ NV_SD_ShoulderCam : 35|2@0+ (1,0) [0|0] "" CLU - SG_ NV_SD_TrafficCam : 37|2@0+ (1,0) [0|0] "" CLU - SG_ NV_SD_PlateRcgCam : 39|2@0+ (1,0) [0|0] "" CLU - -BO_ 286 HU_CLU_PE_10: 8 H_U - SG_ Navi_TBTInfo : 63|8@0+ (1,0) [0|0] "" CGW,CLU - -BO_ 29 CLU_HU_E_00: 8 CLU - SG_ SYS_CLUVer : 7|16@0+ (1,0) [0|0] "" CUBIS,H_U - SG_ CLU_ClockInfoReq : 17|2@0+ (1,0) [0|0] "" H_U - SG_ CLU_DateInfoReq : 19|2@0+ (1,0) [0|0] "" H_U - -BO_ 27 AMP_HU_E_00: 8 AMP - SG_ SYS_AMPVer : 7|16@0+ (1,0) [0|0] "" H_U - -BO_ 23 HU_IPM_E_00: 8 H_U - SG_ C_ADrLNValueSet : 2|3@0+ (1,0) [0|0] "" DATC,IPM - SG_ C_ADrUNValueSet : 5|3@0+ (1,0) [0|0] "" DATC,IPM - SG_ SYS_Ver_Req : 7|2@0+ (1,0) [0|0] "" AMP,AVM,CLU,CUBIS,DATC,IPM - SG_ C_IMSRValueReq : 9|2@0+ (1,0) [0|0] "" DATC,IPM - SG_ C_PSMNValueSet : 11|2@0+ (1,0) [0|0] "" DATC,IPM - SG_ C_SCMNValueSet : 13|2@0+ (1,0) [0|0] "" DATC,IPM - SG_ C_ADrLURValueReq : 15|2@0+ (1,0) [0|0] "" DATC,IPM - SG_ C_ABuzzerNValueSet : 17|2@0+ (1,0) [0|0] "" DATC,IPM - SG_ C_AlarmRValueReq : 19|2@0+ (1,0) [0|0] "" DATC,IPM - SG_ C_ArmWKeyNValueSet : 21|2@0+ (1,0) [0|0] "" DATC,IPM - SG_ C_TwUnRValueReq : 23|2@0+ (1,0) [0|0] "" DATC,IPM - SG_ C_TwUnNValueSet : 25|2@0+ (1,0) [0|0] "" DATC,IPM - SG_ C_AutoMRFoldRValueReq : 27|2@0+ (1,0) [0|0] "" DATC,IPM - SG_ C_AutoMRFoldNValueSet : 29|2@0+ (1,0) [0|0] "" DATC,IPM - SG_ C_ADrLRValueReq : 31|2@0+ (1,0) [0|0] "" DATC,IPM - SG_ C_ArmWKeyRValueReq : 33|2@0+ (1,0) [0|0] "" DATC,IPM - SG_ C_ABuzzerRValueReq : 35|2@0+ (1,0) [0|0] "" DATC,IPM - SG_ C_ADrURValueReq : 37|2@0+ (1,0) [0|0] "" DATC,IPM - SG_ C_PSMRValueReq : 39|2@0+ (1,0) [0|0] "" DATC,IPM - SG_ C_SCMRValueReq : 47|2@0+ (1,0) [0|0] "" DATC,IPM - -BO_ 277 HU_CLU_PE_02: 8 H_U - SG_ TBT_Display_Type : 7|8@0+ (1,0) [0|0] "" CLU,HUD - SG_ TBT_Side_Street : 15|16@0+ (1,0) [0|0] "" CLU,HUD - SG_ TBT_Direction : 31|8@0+ (1,0) [0|0] "" CLU,HUD - SG_ TBT_Distance_Turn_Point : 39|16@0+ (1,0) [0|0] "m" CLU,HUD - SG_ TBT_Combined_Side_Street : 51|4@0+ (1,0) [0|0] "" CLU,HUD - SG_ TBT_Scale : 55|4@0+ (1,0) [0|0] "" CLU,HUD - SG_ TBT_DistancetoTurnPoint : 59|4@0+ (1,0) [0|0] "times" CLU,HUD - SG_ TBT_Bar_Graph_Level : 63|4@0+ (10,0) [0|100] "" CLU,HUD - -BO_ 276 HU_CLU_PE_01: 8 H_U - SG_ HU_OpState : 6|7@0+ (1,0) [0|0] "" AMP,CLU - SG_ HU_Navi_On_Off : 7|1@0+ (1,0) [0|0] "" CLU,HUD - SG_ HU_Preset_Number : 12|5@0+ (1,1) [1|30] "" AMP,CLU - SG_ HU_Tuner_Area : 15|3@0+ (1,0) [0|0] "" AMP,CLU - SG_ HU_Track_Number : 23|16@0+ (1,0) [0|0] "" CLU - SG_ HU_Play_time_Sec : 39|6@0+ (1,0) [0|0] "" CLU - SG_ HU_Play_time_Min : 33|7@0+ (1,0) [0|0] "" CLU - SG_ HU_Play_time_Hour : 42|6@0+ (1,0) [0|0] "" CLU - SG_ HU_Disc_select_No : 59|4@0+ (1,0) [0|0] "" CLU - SG_ HU_Frequency : 52|9@0+ (1,0) [0|0] "" AMP,CLU - -BO_ 17 HU_AMP_E_10: 8 H_U - SG_ AMP_Beep2VolumeStep : 7|8@0+ (1,0) [0|0] "" AMP - SG_ AMP_Beep2Frequency : 15|16@0+ (1,0) [0|0] "" AMP - SG_ AMP_Beep2Ch_OutputMask : 31|16@0+ (1,0) [0|0] "" AMP - SG_ AMP_Beep2DurationOn : 47|8@0+ (1,0) [0|0] "" AMP - SG_ AMP_Beep2DurationOff : 55|8@0+ (1,0) [0|0] "" AMP - SG_ AMP_Beep2NumberOfCycles : 63|8@0+ (1,0) [0|0] "" AMP - -BO_ 15 HU_AMP_E_08: 8 H_U - SG_ AMP_MainVolumeSet : 7|8@0+ (1,0) [0|0] "" AMP - SG_ AMP_BalanceSet : 15|8@0+ (1,0) [0|0] "" AMP - SG_ AMP_FadeSet : 23|8@0+ (1,0) [0|0] "" AMP - SG_ AMP_BassSet : 31|8@0+ (1,0) [0|0] "" AMP - SG_ AMP_MidSet : 39|8@0+ (1,0) [0|0] "" AMP - SG_ AMP_TrebleSet : 47|8@0+ (1,0) [0|0] "" AMP - -BO_ 14 HU_AMP_E_07: 8 H_U - SG_ AMP_HFVolumeStep : 7|8@0+ (1,0) [0|0] "" AMP - SG_ AMP_HFMainAudioCut : 15|8@0+ (1,0) [0|0] "" AMP - SG_ AMP_HFChannelOutputMask : 23|16@0+ (1,0) [0|0] "" AMP - SG_ AMP_HFChannelMuteMask : 39|16@0+ (1,0) [0|0] "" AMP - -BO_ 13 HU_AMP_E_06: 8 H_U - SG_ AMP_MTSVolumeStep : 7|8@0+ (1,0) [0|0] "" AMP - SG_ AMP_MTSMainAudioCut : 15|8@0+ (1,0) [0|0] "" AMP - SG_ AMP_MTSChannelOutputMask : 23|16@0+ (1,0) [0|0] "" AMP - SG_ AMP_MTSChannelMuteMask : 39|16@0+ (1,0) [0|0] "" AMP - -BO_ 12 HU_AMP_E_05: 8 H_U - SG_ AMP_NaviVolumeStep : 7|8@0+ (1,0) [0|0] "" AMP - SG_ AMP_NaviMainAudioCut : 15|8@0+ (1,0) [0|0] "" AMP - SG_ AMP_NaviChannelOutputMask : 23|16@0+ (1,0) [0|0] "" AMP - SG_ AMP_NaviChannelMuteMask : 39|16@0+ (1,0) [0|0] "" AMP - -BO_ 11 HU_AMP_E_04: 8 H_U - SG_ AMP_Drive : 1|2@0+ (1,0) [0|0] "" AMP - SG_ AMP_ConvertibleTop : 5|2@0+ (1,0) [0|0] "" AMP - -BO_ 10 HU_AMP_E_03: 8 H_U - SG_ AMP_CrtVehicleID : 7|8@0+ (1,0) [0|0] "" AMP - SG_ AMP_SPDIFMode : 11|4@0+ (1,0) [0|0] "" AMP - SG_ AMP_VersionReq : 17|2@0+ (1,0) [0|0] "" AMP - SG_ AMP_UpdateStart : 25|2@0+ (1,0) [0|0] "" AMP - SG_ AMP_UpdateEnd : 33|2@0+ (1,0) [0|0] "" AMP - -BO_ 9 HU_AMP_E_02: 8 H_U - SG_ AMP_Mute : 1|2@0+ (1,0) [0|0] "" AMP - SG_ AMP_RearSpMute : 3|2@0+ (1,0) [0|0] "" AMP - SG_ AMP_SurroundMode : 5|2@0+ (1,0) [0|0] "" AMP - SG_ AMP_VEQMode : 7|2@0+ (1,0) [0|0] "" AMP - SG_ AMP_AudioMode : 15|8@0+ (1,0) [0|0] "" AMP - SG_ AMP_EQ : 17|2@0+ (1,0) [0|0] "" AMP - SG_ AMP_Reset : 19|2@0+ (1,0) [0|0] "" AMP - SG_ AMP_SPDIFMute : 21|2@0+ (1,0) [0|0] "" AMP - SG_ AMP_DefaultBeep1 : 25|2@0+ (1,0) [0|0] "" AMP - SG_ AMP_DefaultBeep2 : 29|2@0+ (1,0) [0|0] "" AMP - SG_ AMP_BeatsMode : 33|2@0+ (1,0) [0|0] "" AMP - SG_ AMP_VIPMode : 35|2@0+ (1,0) [0|0] "" AMP - SG_ AMP_QLSMode : 37|2@0+ (1,0) [0|0] "" AMP - -BO_ 1288 HU_CLU_P_02: 8 H_U - SG_ NV_TIME_TYPE : 3|4@0+ (1,0) [0|0] "" CLU - SG_ NV_Hour : 15|8@0+ (1,0) [0|0] "" CLU - SG_ NV_Min : 23|8@0+ (1,0) [0|0] "" CLU - -BO_ 8 HU_AMP_E_01: 8 H_U - SG_ AMP_HFMode : 1|2@0+ (1,0) [0|0] "" AMP - SG_ AMP_NaviMode : 3|2@0+ (1,0) [0|0] "" AMP - SG_ AMP_MTSMode : 5|2@0+ (1,0) [0|0] "" AMP - SG_ AMP_VSCMode : 7|2@0+ (1,0) [0|0] "" AMP - SG_ AMP_Beep1Mode : 9|2@0+ (1,0) [0|0] "" AMP - SG_ AMP_Beep2Mode : 11|2@0+ (1,0) [0|0] "" AMP - SG_ AMP_SDVCStep : 14|3@0+ (1,0) [0|0] "" AMP - SG_ AMP_ASDMode : 18|3@0+ (1,0) [0|0] "" AMP - SG_ AMP_SignalDoctor : 20|2@0+ (1,0) [0|0] "" AMP - SG_ AMP_AutoVolume : 22|2@0+ (1,0) [0|0] "" AMP - -BO_ 1287 HU_CLU_P_01: 8 H_U - SG_ NV_DistToTurn_F1 : 3|4@0+ (1,0) [0|0] "" CLU - SG_ NV_DistToTurn_Unit : 7|4@0+ (1,0) [0|0] "" CLU - SG_ NV_DistToTurn_F3 : 11|4@0+ (1,0) [0|0] "" CLU - SG_ NV_DistToTurn_F2 : 15|4@0+ (1,0) [0|0] "" CLU - SG_ NV_DistToTurn_I1 : 23|16@0+ (1,0) [0|0] "" CLU - SG_ NV_DistToTurn_I2 : 39|16@0+ (1,0) [0|0] "" CLU - SG_ NV_DistToTurn_I3 : 55|16@0+ (1,0) [0|0] "" CLU - -BO_ 1286 HU_CLU_P_00: 8 H_U - SG_ NV_EstDist_F : 3|4@0+ (1,0) [0|0] "" CLU,HUD - SG_ NV_EstDist_Unit : 7|4@0+ (1,0) [0|0] "" CLU,HUD - SG_ NV_EstHour : 15|8@0+ (1,0) [0|0] "" CLU,HUD - SG_ NV_EstMin : 23|8@0+ (1,0) [0|0] "" CLU,HUD - SG_ NV_Azimuth : 31|8@0+ (1,0) [0|0] "" CLU,HUD - SG_ NV_EstDist_I : 39|16@0+ (1,0) [0|0] "" CLU,HUD - SG_ NV_EstimTimeType : 49|2@0+ (1,0) [0|0] "" CGW,CLU,HUD - SG_ NV_EstimTimeFormat : 51|2@0+ (1,0) [0|0] "" CGW,CLU,HUD - -BO_ 1284 HU_AMP_P_01: 8 H_U - SG_ HU_VehicleSpeed : 7|8@0+ (1,0) [0|0] "" AMP - SG_ AMP_SetMaxMainVolStep : 9|2@0+ (1,0) [0|0] "" AMP - SG_ AMP_LKASWarningOn : 21|2@0+ (1,0) [0|0] "" AMP - SG_ AMP_BSDWarningOn : 23|2@0+ (1,0) [0|0] "" AMP - -BO_ 256 HU_MON_PE_01: 8 H_U - SG_ HU_Type : 7|8@0+ (1,0) [0|0] "" AMP,CGW,CLU,HUD,KMA_TMU - SG_ HU_VerMajor : 15|8@0+ (1,0) [0|0] "" AMP,CLU,KMA_TMU,MON - SG_ HU_VerMinor : 23|8@0+ (1,0) [0|0] "" AMP,CLU,KMA_TMU,MON - SG_ HU_DistributeInfo : 31|8@0+ (1,0) [0|0] "" AMP,CGW,CLU,KMA_TMU,MON,RRC - SG_ HU_SubVerMajor : 39|8@0+ (1,0) [0|0] "" AMP,MON - SG_ HU_SubVerMinor : 47|8@0+ (1,0) [0|0] "" AMP,MON - SG_ HU_SDARSVersion : 55|8@0+ (1,0) [0|0] "" AMP,MON - SG_ HU_AdasSupport : 58|3@0+ (1,0) [0|0] "" CGW,CLU - -BO_ 1092 NM_CLOCK: 8 CLOCK - SG_ Destination_CLOCK : 7|8@0+ (1,0) [0|0] "" HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD - SG_ NMSleepFlag_CLOCK : 13|2@0+ (1,0) [0|0] "" HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD - SG_ NMCommandCode_CLOCK : 10|3@0+ (1,0) [0|0] "" HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD - -BO_ 1108 NM_HUD: 8 HUD - SG_ Destination_HUD : 7|8@0+ (1,0) [0|0] "" CLOCK,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD - SG_ NMSleepFlag_HUD : 13|2@0+ (1,0) [0|0] "" CLOCK,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD - SG_ NMCommandCode_HUD : 10|3@0+ (1,0) [0|0] "" CLOCK,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD - -BO_ 1088 NM_H_U: 8 H_U - SG_ Destination_H_U : 7|8@0+ (1,0) [0|0] "" CLOCK,HUD,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD - SG_ NMSleepFlag_H_U : 13|2@0+ (1,0) [0|0] "" CLOCK,HUD,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD - SG_ NMCommandCode_H_U : 10|3@0+ (1,0) [0|0] "" CLOCK,HUD,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD - -BO_ 1091 NM_DATC: 8 DATC - SG_ Destination_DATC : 7|8@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD - SG_ NMSleepFlag_DATC : 13|2@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD - SG_ NMCommandCode_DATC : 10|3@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD - -BO_ 1105 NM_CCP: 8 CCP - SG_ Destination_CCP : 7|8@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD - SG_ NMSleepFlag_CCP : 13|2@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD - SG_ NMCommandCode_CCP : 10|3@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD - -BO_ 1100 NM_KMA_TMU: 8 KMA_TMU - SG_ Destination_KMA_TMU : 7|8@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD - SG_ NMSleepFlag_KMA_TMU : 13|2@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD - SG_ NMCommandCode_KMA_TMU : 10|3@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD - -BO_ 1098 NM_CUBIS: 8 CUBIS - SG_ Destination_CUBIS : 7|8@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD - SG_ NMSleepFlag_CUBIS : 13|2@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD - SG_ NMCommandCode_CUBIS : 10|3@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD - -BO_ 1099 NM_TMU: 8 TMU - SG_ Destination_TMU : 7|8@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD - SG_ NMSleepFlag_TMU : 13|2@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD - SG_ NMCommandCode_TMU : 10|3@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD - -BO_ 1095 NM_IPM: 8 IPM - SG_ Destination_IPM : 7|8@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD - SG_ NMSleepFlag_IPM : 13|2@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD - SG_ NMCommandCode_IPM : 10|3@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD - -BO_ 1107 NM_RSE_R: 8 RSE_R - SG_ Destination_RSE_R : 7|8@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD - SG_ NMSleepFlag_RSE_R : 13|2@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD - SG_ NMCommandCode_RSE_R : 10|3@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD - -BO_ 1093 NM_RRC: 8 RRC - SG_ Destination_RRC : 7|8@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD - SG_ NMSleepFlag_RRC : 13|2@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD - SG_ NMCommandCode_RRC : 10|3@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD - -BO_ 1109 NM_CGW: 8 CGW - SG_ Destination_CGW : 7|8@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD - SG_ NMSleepFlag_CGW : 13|2@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD - SG_ NMCommandCode_CGW : 10|3@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD - -BO_ 1106 NM_RSE_L: 8 RSE_L - SG_ Destination_RSE_L : 7|8@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD - SG_ NMSleepFlag_RSE_L : 13|2@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD - SG_ NMCommandCode_RSE_L : 10|3@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD - -BO_ 1096 NM_AMP: 8 AMP - SG_ Destination_AMP : 7|8@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD - SG_ NMSleepFlag_AMP : 13|2@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD - SG_ NMCommandCode_AMP : 10|3@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD - -BO_ 1103 NM_EDT: 8 EDT - SG_ Destination_EDT : 7|8@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD - SG_ NMSleepFlag_EDT : 13|2@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD - SG_ NMCommandCode_EDT : 10|3@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM,KBD - -BO_ 1110 NM_SWRC: 8 SWRC - SG_ Destination_SWRC : 7|8@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,IBOX,CLU,FHCU,ASD,MON,AVM,KBD - SG_ NMSleepFlag_SWRC : 13|2@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,IBOX,CLU,FHCU,ASD,MON,AVM,KBD - SG_ NMCommandCode_SWRC : 10|3@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,IBOX,CLU,FHCU,ASD,MON,AVM,KBD - -BO_ 1102 NM_IBOX: 8 IBOX - SG_ Destination_IBOX : 7|8@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,CLU,FHCU,ASD,MON,AVM,KBD - SG_ NMSleepFlag_IBOX : 13|2@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,CLU,FHCU,ASD,MON,AVM,KBD - SG_ NMCommandCode_IBOX : 10|3@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,CLU,FHCU,ASD,MON,AVM,KBD - -BO_ 1101 NM_CLU: 8 CLU - SG_ Destination_CLU : 7|8@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,FHCU,ASD,MON,AVM,KBD - SG_ NMSleepFlag_CLU : 13|2@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,FHCU,ASD,MON,AVM,KBD - SG_ NMCommandCode_CLU : 10|3@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,FHCU,ASD,MON,AVM,KBD - -BO_ 1097 NM_FHCU: 8 FHCU - SG_ Destination_FHCU : 7|8@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,ASD,MON,AVM,KBD - SG_ NMSleepFlag_FHCU : 13|2@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,ASD,MON,AVM,KBD - SG_ NMCommandCode_FHCU : 10|3@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,ASD,MON,AVM,KBD - -BO_ 1094 NM_ASD: 8 ASD - SG_ Destination_ASD : 7|8@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,MON,AVM,KBD - SG_ NMSleepFlag_ASD : 13|2@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,MON,AVM,KBD - SG_ NMCommandCode_ASD : 10|3@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,MON,AVM,KBD - -BO_ 1089 NM_MON: 8 MON - SG_ Destination_MON : 7|8@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,AVM,KBD - SG_ NMSleepFlag_MON : 13|2@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,AVM,KBD - SG_ NMCommandCode_MON : 10|3@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,AVM,KBD - -BO_ 1104 NM_AVM: 8 AVM - SG_ Destination_AVM : 7|8@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,KBD - SG_ NMSleepFlag_AVM : 13|2@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,KBD - SG_ NMCommandCode_AVM : 10|3@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,KBD - -BO_ 1090 NM_KBD: 8 KBD - SG_ Destination_KBD : 7|8@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM - SG_ NMSleepFlag_KBD : 13|2@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM - SG_ NMCommandCode_KBD : 10|3@0+ (1,0) [0|0] "" CLOCK,HUD,H_U,DATC,CCP,KMA_TMU,CUBIS,TMU,IPM,RSE_R,RRC,CGW,RSE_L,AMP,EDT,SWRC,IBOX,CLU,FHCU,ASD,MON,AVM - diff --git a/opendbc/hyundai_i30_2014.dbc b/opendbc/hyundai_i30_2014.dbc deleted file mode 100644 index 3524f9b21a893c..00000000000000 --- a/opendbc/hyundai_i30_2014.dbc +++ /dev/null @@ -1,549 +0,0 @@ -VERSION "" - - -NS_ : - NS_DESC_ - CM_ - BA_DEF_ - BA_ - VAL_ - CAT_DEF_ - CAT_ - FILTER - BA_DEF_DEF_ - EV_DATA_ - ENVVAR_DATA_ - SGTYPE_ - SGTYPE_VAL_ - BA_DEF_SGTYPE_ - BA_SGTYPE_ - SIG_TYPE_REF_ - VAL_TABLE_ - SIG_GROUP_ - SIG_VALTYPE_ - SIGTYPE_VALTYPE_ - BO_TX_BU_ - BA_DEF_REL_ - BA_REL_ - BA_DEF_DEF_REL_ - BU_SG_REL_ - BU_EV_REL_ - BU_BO_REL_ - SG_MUL_VAL_ - -BS_: - -BU_: XXX - - -BO_ 128 EMS_DCT1: 8 XXX - SG_ PV_AV_CAN : 0|8@1+ (0.3906,0) [0|99.603] "%" XXX - SG_ TQ_STND : 8|6@1+ (10,0) [0|630] "Nm" XXX - SG_ F_N_ENG : 14|1@1+ (1,0) [0|1] "" XXX - SG_ F_SUB_TQI : 15|1@1+ (1,0) [0|1] "" XXX - SG_ N : 16|16@1+ (0.25,0) [0|16383.8] "rpm" XXX - SG_ TQI_ACOR : 32|8@1+ (0.390625,0) [0|99.6094] "%" XXX - SG_ TQFR : 40|8@1+ (0.390625,0) [0|99.6094] "%" XXX - SG_ TQI : 48|8@1+ (0.390625,0) [0|99.6094] "%" XXX - SG_ CF_Ems_Alive : 56|4@1+ (1,0) [0|15] "" XXX - SG_ CF_Ems_ChkSum : 60|4@1+ (1,0) [0|15] "" XXX - - -BO_ 129 EMS_DCT2: 8 XXX - SG_ CR_Ems_SoakTimeExt : 0|6@1+ (5,0) [0|315] "Min" XXX - SG_ BRAKE_ACT : 6|2@1+ (1,0) [0|3] "" XXX - SG_ CF_Ems_EngOperStat : 8|8@1+ (1,0) [0|255] "" XXX - SG_ CR_Ems_IndAirTemp : 16|8@1+ (0.75,-48) [-48|143.25] "" XXX - SG_ CF_Ems_Alive2 : 56|4@1+ (1,0) [0|15] "" XXX - SG_ CF_Ems_ChkSum2 : 60|4@1+ (1,0) [0|15] "" XXX - - -BO_ 160 EngFrzFrm1: 8 XXX - SG_ PID_04h : 0|8@1+ (0.392157,0) [0|100] "%" XXX - SG_ PID_05h : 8|8@1+ (1,-40) [-40|215] "" XXX - SG_ PID_0Ch : 16|16@1+ (0.25,0) [0|16383.8] "rpm" XXX - SG_ PID_0Dh : 32|8@1+ (1,0) [0|255] "km/h" XXX - SG_ PID_11h : 40|8@1+ (0.392157,0) [0|100] "%" XXX - SG_ PID_03h : 48|16@1+ (1,0) [0|65535] "" XXX - - -BO_ 161 EngFrzFrm2: 8 XXX - SG_ PID_06h : 0|8@1+ (0.78125,-100) [-100|99.22] "%" XXX - SG_ PID_07h : 8|8@1+ (0.78125,-100) [-100|99.22] "%" XXX - SG_ PID_08h : 16|8@1+ (0.78125,-100) [-100|99.22] "%" XXX - SG_ PID_09h : 24|8@1+ (0.78125,-100) [-100|99.22] "%" XXX - SG_ PID_0Bh : 32|8@1+ (1,0) [0|255] "kPa" XXX - SG_ PID_23h : 40|16@1+ (10,0) [0|655350] "kPa" XXX - - -BO_ 304 YRS1: 8 XXX - SG_ CR_Yrs_Yr : 0|16@1+ (0.005,-163.84) [-163.84|163.83] "" XXX - SG_ CF_Yrs_SnsStat1 : 16|4@1+ (1,0) [0|15] "" XXX - SG_ CF_Yrs_YrStat : 20|4@1+ (1,0) [0|15] "" XXX - SG_ CR_Yrs_LatAc : 32|16@1+ (0.000127465,-4.17677) [-4.17677|4.17652] "g" XXX - SG_ CR_Yrs_MsgCnt1 : 48|4@1+ (1,0) [0|15] "" XXX - SG_ CF_Yrs_LatAcStat1 : 52|4@1+ (1,0) [0|15] "" XXX - SG_ CR_Yrs_Crc1 : 56|8@1+ (1,0) [0|255] "" XXX - - -BO_ 305 YRS3: 8 XXX - SG_ CR_Yrs_YawAcc : 0|16@1+ (0.125,-4096) [-4096|4095.75] "" XXX - SG_ CF_Yrs_YawAccStat : 20|4@1+ (1,0) [0|15] "" XXX - SG_ CR_Yrs_Ax : 32|16@1+ (0.000127465,-4.17677) [-4.17677|4.17652] "g" XXX - SG_ CR_Yrs_MsgCnt3 : 48|4@1+ (1,0) [0|15] "" XXX - SG_ CF_Yrs_AxStat : 52|4@1+ (1,0) [0|15] "" XXX - SG_ CR_Yrs_Crc3 : 56|8@1+ (1,0) [0|255] "" XXX - - -BO_ 320 YRS2: 8 XXX - SG_ CF_Yrs_McuStat : 0|8@1+ (1,0) [0|255] "" XXX - SG_ CF_Yrs_SnsStat2 : 8|8@1+ (1,0) [0|255] "" XXX - SG_ CF_Yrs_ExtSysStat : 32|8@1+ (1,0) [0|255] "" XXX - SG_ CR_Yrs_Diag : 40|8@1+ (1,0) [0|255] "" XXX - SG_ CR_Yrs_MsgCnt2 : 48|4@1+ (1,0) [0|15] "" XXX - SG_ CF_Yrs_Type : 52|4@1+ (1,0) [0|15] "" XXX - SG_ CR_Yrs_Crc2 : 56|8@1+ (1,0) [0|255] "" XXX - - -BO_ 339 TCS1: 8 XXX - SG_ TCS_REQ : 0|1@1+ (1,0) [0|1] "" XXX - SG_ MSR_C_REQ : 1|1@1+ (1,0) [0|1] "" XXX - SG_ TCS_PAS : 2|1@1+ (1,0) [0|1] "" XXX - SG_ TCS_GSC : 3|1@1+ (1,0) [0|1] "" XXX - SG_ CF_Esc_LimoInfo : 4|2@1+ (1,0) [0|3] "" XXX - SG_ ABS_DIAG : 6|1@1+ (1,0) [0|1] "" XXX - SG_ ABS_DEF : 7|1@1+ (1,0) [0|1] "" XXX - SG_ TCS_DEF : 8|1@1+ (1,0) [0|1] "" XXX - SG_ TCS_CTL : 9|1@1+ (1,0) [0|1] "" XXX - SG_ ABS_ACT : 10|1@1+ (1,0) [0|1] "" XXX - SG_ EBD_DEF : 11|1@1+ (1,0) [0|1] "" XXX - SG_ ESP_PAS : 12|1@1+ (1,0) [0|1] "" XXX - SG_ ESP_DEF : 13|1@1+ (1,0) [0|1] "" XXX - SG_ ESP_CTL : 14|1@1+ (1,0) [0|1] "" XXX - SG_ TCS_MFRN : 15|1@1+ (1,0) [0|1] "" XXX - SG_ DBC_CTL : 16|1@1+ (1,0) [0|1] "" XXX - SG_ DBC_PAS : 17|1@1+ (1,0) [0|1] "" XXX - SG_ DBC_DEF : 18|1@1+ (1,0) [0|1] "" XXX - SG_ HAC_CTL : 19|1@1+ (1,0) [0|1] "" XXX - SG_ HAC_PAS : 20|1@1+ (1,0) [0|1] "" XXX - SG_ HAC_DEF : 21|1@1+ (1,0) [0|1] "" XXX - SG_ ESS_STAT : 22|2@1+ (1,0) [0|3] "" XXX - SG_ TQI_TCS : 24|8@1+ (0.390625,0) [0|99.6094] "%" XXX - SG_ TQI_MSR : 32|8@1+ (0.390625,0) [0|99.6094] "%" XXX - SG_ TQI_SLW_TCS : 40|8@1+ (0.390625,0) [0|99.6094] "%" XXX - SG_ CF_Esc_BrkCtl : 48|1@1+ (1,0) [0|1] "" XXX - SG_ ESC_OFF_STEP : 49|2@1+ (1,0) [0|3] "" XXX - SG_ _4WD_Status : 51|1@1+ (1,0) [0|1] "" XXX - SG_ AliveCounter_TCS1 : 52|4@1+ (1,0) [0|1] "" XXX - SG_ CheckSum_TCS1 : 56|8@1+ (1,0) [0|1] "" XXX - - -BO_ 356 VSM1: 8 XXX - SG_ CR_Esc_StrTqReq : 0|12@1+ (0.01,-20.48) [-20.48|20.47] "Nm" XXX - SG_ CF_Esc_Act : 12|1@1+ (1,0) [0|1] "" XXX - SG_ CF_Esc_CtrMode : 13|3@1+ (1,0) [0|7] "" XXX - SG_ CF_Esc_Def : 16|1@1+ (1,0) [0|1] "" XXX - SG_ CF_Esc_AliveCnt : 48|4@1+ (1,0) [0|15] "" XXX - SG_ CF_Esc_Chksum : 56|8@1+ (1,0) [0|255] "" XXX - - -BO_ 357 VSM2: 8 XXX - SG_ CR_Mdps_StrTq : 0|12@1+ (0.01,-20.48) [-20.48|20.47] "Nm" XXX - SG_ CR_Mdps_OutTq : 12|12@1+ (0.1,-204.8) [-204.8|204.7] "" XXX - SG_ CF_Mdps_Def : 24|1@1+ (1,0) [0|1] "" XXX - SG_ CF_Mdps_SErr : 25|1@1+ (1,0) [0|1] "" XXX - SG_ CF_Mdps_AliveCnt : 48|4@1+ (1,0) [0|15] "" XXX - SG_ CF_Mdps_Chksum : 56|8@1+ (1,0) [0|255] "" XXX - - -BO_ 399 EMS_H2: 8 XXX - SG_ R_TqAcnApvC : 0|8@1+ (0.2,0) [0|51] "Nm" XXX - SG_ R_PAcnC : 8|8@1+ (125,0) [0|31875] "hPa" XXX - SG_ TQI_B : 16|8@1+ (0.390625,0) [0|99.6094] "%" XXX - SG_ SLD_VS : 24|8@1+ (1,0) [0|255] "km/h" XXX - SG_ CF_CdaStat : 32|3@1+ (1,0) [0|7] "" XXX - SG_ CF_Ems_IsgStat : 35|3@1+ (1,0) [0|7] "" XXX - SG_ CF_Ems_OilChg : 38|1@1+ (1,0) [0|1] "" XXX - SG_ CF_Ems_EtcLimpMod : 39|1@1+ (1,0) [0|1] "" XXX - SG_ R_NEngIdlTgC : 40|8@1+ (10,0) [0|2550] "rpm" XXX - SG_ CF_Ems_UpTarGr : 48|1@1+ (1,0) [0|1] "" XXX - SG_ CF_Ems_DownTarGr : 49|1@1+ (1,0) [0|1] "" XXX - SG_ CF_Ems_DesCurGr : 50|4@1+ (1,0) [0|15] "" XXX - SG_ CF_Ems_SldAct : 54|1@1+ (1,0) [0|1] "" XXX - SG_ CF_Ems_SldPosAct : 55|1@1+ (1,0) [0|1] "" XXX - SG_ CF_Ems_HPresStat : 56|1@1+ (1,0) [0|1] "" XXX - SG_ CF_Ems_IsgBuz : 57|1@1+ (1,0) [0|1] "" XXX - SG_ CF_Ems_IdlStpFCO : 58|1@1+ (1,0) [0|1] "" XXX - SG_ CF_Ems_FCopen : 59|1@1+ (1,0) [0|1] "" XXX - SG_ CF_Ems_ActEcoAct : 60|1@1+ (1,0) [0|1] "" XXX - SG_ CF_Ems_EngRunNorm : 61|1@1+ (1,0) [0|1] "" XXX - SG_ CF_Ems_IsgStat2 : 62|2@1+ (2,0) [0|3] "" XXX - - -BO_ 497 TCS5: 8 XXX - SG_ ABS_W_LAMP : 0|1@1+ (1,0) [0|1] "" XXX - SG_ EBD_W_LAMP : 1|1@1+ (1,0) [0|1] "" XXX - SG_ TCS_OFF_LAMP : 2|1@1+ (1,0) [0|1] "" XXX - SG_ TCS_LAMP : 3|2@1+ (1,0) [0|3] "" XXX - SG_ DBC_W_LAMP : 5|1@1+ (1,0) [0|1] "" XXX - SG_ DBC_F_LAMP : 6|2@1+ (1,0) [0|3] "" XXX - SG_ ODOMETER_LEFT : 8|4@1+ (1,0) [0|15] "m" XXX - SG_ ODOMETER_RIGHT : 12|4@1+ (1,0) [0|15] "m" XXX - SG_ WHEEL_FL : 16|12@1+ (0.125,0) [0|511.875] "km/h" XXX - SG_ WHEEL_FR : 28|12@1+ (0.125,0) [0|511.875] "km/h" XXX - SG_ WHEEL_RL : 40|12@1+ (0.125,0) [0|511.875] "km/h" XXX - SG_ WHEEL_RR : 52|12@1+ (0.125,0) [0|511.875] "km/h" XXX - - -BO_ 544 ESP2: 8 XXX - SG_ LAT_ACCEL : 0|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2" XXX - SG_ ESP2_AliveCounter_LSB : 11|3@1+ (1,0) [0|7] "" XXX - SG_ LAT_ACCEL_STAT : 14|1@1+ (1,0) [0|1] "" XXX - SG_ LAT_ACCEL_DIAG : 15|1@1+ (1,0) [0|1] "" XXX - SG_ LONG_ACCEL : 16|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2" XXX - SG_ ESP2_AliveCounter_MSB : 27|1@1+ (1,0) [0|1] "" XXX - SG_ ESP2_Checksum_LSB : 28|2@1+ (1,0) [0|3] "" XXX - SG_ LONG_ACCEL_STAT : 30|1@1+ (1,0) [0|1] "" XXX - SG_ LONG_ACCEL_DIAG : 31|1@1+ (1,0) [0|1] "" XXX - SG_ CYL_PRES : 32|12@1+ (0.1,0) [0|409.5] "Bar" XXX - SG_ ESP12_Checksum_MSB : 44|2@1+ (1,0) [0|3] "" XXX - SG_ CYL_PRES_STAT : 46|1@1+ (1,0) [0|1] "" XXX - SG_ CYL_PRESS_DIAG : 47|1@1+ (1,0) [0|1] "" XXX - SG_ YAW_RATE : 48|13@1+ (0.01,-40.95) [-40.95|40.96] "" XXX - SG_ CYL_PRES_FLAG : 61|1@1+ (1,0) [0|1] "" XXX - SG_ YAW_RATE_STAT : 62|1@1+ (1,0) [0|1] "" XXX - SG_ YAW_RATE_DIAG : 63|1@1+ (1,0) [0|1] "" XXX - - -BO_ 608 EMS6: 8 XXX - SG_ TQI_MIN : 0|8@1+ (0.390625,0) [0|99.6094] "%" XXX - SG_ TQI : 8|8@1+ (0.390625,0) [0|99.6094] "%" XXX - SG_ TQI_TARGET : 16|8@1+ (0.390625,0) [0|99.6094] "%" XXX - SG_ GLOW_STAT : 24|1@1+ (1,0) [0|1] "" XXX - SG_ CRUISE_LAMP_M : 25|1@1+ (1,0) [0|1] "" XXX - SG_ CRUISE_LAMP_S : 26|1@1+ (1,0) [0|1] "" XXX - SG_ PRE_FUEL_CUT_IN : 27|1@1+ (1,0) [0|1] "" XXX - SG_ ENG_STAT : 28|3@1+ (1,0) [0|7] "" XXX - SG_ SOAK_TIME_ERROR : 31|1@1+ (1,0) [0|1] "" XXX - SG_ SOAK_TIME : 32|8@1+ (1,0) [0|255] "Min" XXX - SG_ TQI_MAX : 40|8@1+ (0.390625,0) [0|99.6094] "%" XXX - SG_ SPK_TIME_CUR : 48|8@1+ (0.375,-35.625) [-35.625|60] "" XXX - SG_ Checksum : 56|4@1+ (1,0) [0|15] "" XXX - SG_ AliveCounter : 60|2@1+ (1,0) [0|3] "" XXX - SG_ CF_Ems_AclAct : 62|2@1+ (1,0) [0|3] "" XXX - - -BO_ 672 EMS5: 8 XXX - SG_ ECGPOvrd : 0|1@1+ (1,0) [0|1] "" XXX - SG_ QECACC : 1|1@1+ (1,0) [0|1] "" XXX - SG_ ECFail : 2|1@1+ (1,0) [0|1] "" XXX - SG_ SwitchOffCondExt : 3|1@1+ (1,0) [0|1] "" XXX - SG_ BLECFail : 4|1@1+ (1,0) [0|1] "" XXX - SG_ AliveCounter : 5|2@1+ (1,0) [0|3] "" XXX - SG_ Byte0Parity : 7|1@1+ (1,0) [0|1] "" XXX - SG_ FA_PV_CAN : 8|8@1+ (0.3906,0) [0|99.2] "%" XXX - SG_ IntAirTemp : 16|8@1+ (0.75,-48) [-48|143.25] "" XXX - SG_ STATE_DC_OBD : 24|7@1+ (1,0) [0|127] "" XXX - SG_ INH_DC_OBD : 31|1@1+ (1,0) [0|1] "" XXX - SG_ CTR_IG_CYC_OBD : 32|16@1+ (1,0) [0|65535] "" XXX - SG_ CTR_CDN_OBD : 48|16@1+ (1,0) [0|65535] "" XXX - - -BO_ 688 SAS1: 8 XXX - SG_ SAS_Angle : 0|16@1+ (0.1,0) [-3276.8|3276.7] "Deg" XXX - SG_ SAS_Speed : 16|8@1+ (4,0) [0|1016] "" XXX - SG_ SAS_Stat : 24|8@1+ (1,0) [0|255] "" XXX - SG_ MsgCount : 32|4@1+ (1,0) [0|15] "" XXX - SG_ CheckSum : 36|4@1+ (1,0) [0|15] "" XXX - - -BO_ 790 EMS1: 8 XXX - SG_ SWI_IGK : 0|1@1+ (1,0) [0|1] "" XXX - SG_ F_N_ENG : 1|1@1+ (1,0) [0|1] "" XXX - SG_ ACK_TCS : 2|1@1+ (1,0) [0|1] "" XXX - SG_ PUC_STAT : 3|1@1+ (1,0) [0|1] "" XXX - SG_ TQ_COR_STAT : 4|2@1+ (1,0) [0|3] "" XXX - SG_ RLY_AC : 6|1@1+ (1,0) [0|1] "" XXX - SG_ F_SUB_TQI : 7|1@1+ (1,0) [0|1] "" XXX - SG_ TQI_ACOR : 8|8@1+ (0.390625,0) [0|99.6094] "%" XXX - SG_ N : 16|16@1+ (0.25,0) [0|16383.8] "rpm" XXX - SG_ TQI : 32|8@1+ (0.390625,0) [0|99.6094] "%" XXX - SG_ TQFR : 40|8@1+ (0.390625,0) [0|99.6094] "%" XXX - SG_ VS : 48|8@1+ (1,0) [0|254] "km/h" XXX - SG_ RATIO_TQI_BAS_MAX_STND : 56|8@1+ (0.0078,0) [0|2] "" XXX - - -BO_ 809 EMS2: 8 XXX - SG_ TQ_STND : 0|6@1+ (10,0) [0|630] "Nm" XXX - SG_ CAN_VERS : 0|6@1+ (1,0) [0|7.7] "" XXX - SG_ CONF_TCU : 0|6@1+ (1,0) [0|63] "" XXX - SG_ OBD_FRF_ACK : 0|6@1+ (1,0) [0|63] "" XXX - SG_ MUL_CODE : 6|2@1+ (1,0) [0|3] "" XXX - SG_ TEMP_ENG : 8|8@1+ (0.75,-48) [-48|143.25] "" XXX - SG_ MAF_FAC_ALTI_MMV : 16|8@1+ (0.00781,0) [0|1.99155] "" XXX - SG_ VB_OFF_ACT : 24|1@1+ (1,0) [0|1] "" XXX - SG_ ACK_ES : 25|1@1+ (1,0) [0|1] "" XXX - SG_ CONF_MIL_FMY : 26|3@1+ (1,0) [0|7] "" XXX - SG_ OD_OFF_REQ : 29|1@1+ (1,0) [0|1] "" XXX - SG_ ACC_ACT : 30|1@1+ (1,0) [0|1] "" XXX - SG_ CLU_ACK : 31|1@1+ (1,0) [0|1] "" XXX - SG_ BRAKE_ACT : 32|2@1+ (1,0) [0|3] "" XXX - SG_ ENG_CHR : 34|4@1+ (1,0) [0|15] "" XXX - SG_ GP_CTL : 38|2@1+ (1,0) [0|3] "" XXX - SG_ TPS : 40|8@1+ (0.469484,-15.0235) [-15.0235|104.695] "%" XXX - SG_ PV_AV_CAN : 48|8@1+ (0.3906,0) [0|99.603] "%" XXX - SG_ ENG_VOL : 56|8@1+ (0.1,0) [0|25.5] "liter" XXX - - -BO_ 848 FATC: 8 XXX - SG_ CR_Fatc_TqAcnOut : 0|8@1+ (0.2,0) [0|50.8] "Nm" XXX - SG_ CF_Fatc_AcnRqSwi : 8|1@1+ (1,0) [0|1] "" XXX - SG_ CF_Fatc_AcnCltEnRq : 9|1@1+ (1,0) [0|1] "" XXX - SG_ CF_Fatc_EcvFlt : 10|1@1+ (1,0) [0|1] "" XXX - SG_ CF_Fatc_BlwrOn : 11|1@1+ (1,0) [0|1] "" XXX - SG_ CF_FATC_Iden : 12|2@1+ (1,0) [0|3] "" XXX - SG_ CF_Fatc_BlwrMax : 14|1@1+ (1,0) [0|1] "" XXX - SG_ CF_Fatc_EngStartReq : 15|1@1+ (1,0) [0|1] "" XXX - SG_ CF_Fatc_IsgStopReq : 16|1@1+ (1,0) [0|1] "" XXX - SG_ CF_Fatc_CtrInf : 17|3@1+ (1,0) [0|7] "" XXX - SG_ CF_Fatc_MsgCnt : 20|4@1+ (1,0) [0|15] "" XXX - SG_ CR_Fatc_OutTemp : 24|8@1+ (0.5,-40) [-40|60] "" XXX - SG_ CR_Fatc_OutTempSns : 32|8@1+ (0.5,-40) [-40|60] "" XXX - SG_ CF_Fatc_Compload : 40|3@1+ (1,0) [0|7] "" XXX - SG_ CF_Fatc_ActiveEco : 43|1@1+ (1,0) [0|1] "" XXX - SG_ CF_Fatc_AutoActivation : 44|1@1+ (1,0) [0|1] "" XXX - SG_ CF_Fatc_DefSw : 45|1@1+ (1,0) [0|1] "" XXX - SG_ CF_Fatc_PtcRlyStat : 46|1@1+ (1,0) [0|1] "" XXX - SG_ CF_Fatc_ChkSum : 56|8@1+ (1,0) [0|255] "" XXX - - -BO_ 880 TCU3: 8 XXX - SG_ N_TGT_LUP : 0|8@1+ (10,500) [500|3040] "rpm" XXX - SG_ SLOPE_TCU : 8|6@1+ (0.5,-16) [-16|15.5] "%" XXX - SG_ CF_Tcu_InhCda : 14|1@1+ (1,0) [0|1] "" XXX - SG_ CF_Tcu_IsgInhib : 15|1@1+ (1,0) [0|1] "" XXX - SG_ CF_Tcu_BkeOnReq : 16|2@1+ (1,0) [0|3] "" XXX - SG_ CF_Tcu_NCStat : 18|2@1+ (1,0) [0|3] "" XXX - SG_ CF_Tcu_TarGr : 20|4@1+ (1,0) [0|15] "" XXX - SG_ CF_Tcu_ShfPatt : 24|4@1+ (1,0) [0|15] "" XXX - SG_ CF_Tcu_InhVis : 28|1@1+ (1,0) [0|1] "" XXX - SG_ CF_Tcu_PRelReq : 29|1@1+ (1,0) [0|1] "" XXX - SG_ CF_Tcu_ITPhase : 30|1@1+ (1,0) [0|1] "" XXX - SG_ CF_Tcu_ActEcoRdy : 31|1@1+ (1,0) [0|1] "" XXX - SG_ CF_Tcu_TqGrdLim : 32|8@1+ (10,0) [0|2540] "Nm/s" XXX - SG_ CR_Tcu_IsgTgtRPM : 40|8@1+ (20,0) [0|3500] "rpm" XXX - SG_ TQI_TCU_INC : 48|8@1+ (0.390625,0) [0|99.6094] "%" XXX - SG_ CF_Tcu_SbwPInfo : 56|1@1+ (1,0) [0|1] "" XXX - SG_ CF_Tcu_SptRdy : 57|1@1+ (1,0) [0|1] "" XXX - SG_ CF_Tcu_Alive3 : 58|2@1+ (1,0) [0|3] "" XXX - SG_ CF_Tcu_ChkSum3 : 60|4@1+ (1,0) [0|15] "" XXX - - -BO_ 898 EMS9: 8 XXX - SG_ CF_Ems_BrkReq : 0|1@1+ (1,0) [0|1] "" XXX - SG_ CF_Ems_DnShftReq : 1|4@1+ (1,0) [0|14] "" XXX - SG_ CF_Ems_RepModChk : 5|2@1+ (1,0) [0|3] "" XXX - SG_ CF_Ems_AAFOpenReq : 7|1@1+ (1,0) [0|1] "" XXX - SG_ CF_Ems_DecelReq : 8|12@1+ (0.001,-4.094) [-4.094|0] "m/s^2" XXX - SG_ CR_Ems_BstPre : 20|12@1+ (1.322,0) [0|4094] "hPa" XXX - SG_ CR_Ems_EngOilTemp : 32|8@1+ (0.75,-40) [0|254] "" XXX - SG_ CF_Ems_PumpTPres : 40|8@1+ (3.13725,0) [0|800] "kPa" XXX - SG_ CF_Ems_ModeledAmbTemp : 48|8@1+ (0.5,-41) [-40|60] "" XXX - SG_ CF_Ems_OPSFail : 56|1@1+ (1,0) [0|1] "" XXX - SG_ CF_Ems_ECTTRQLIM : 57|1@1+ (1,0) [0|1] "" XXX - SG_ CF_Ems_AliveCounterEMS9 : 58|2@1+ (1,0) [0|3] "" XXX - SG_ CF_Ems_ChecksumEMS9 : 60|4@1+ (1,0) [0|15] "" XXX - - -BO_ 1075 EPB1: 8 XXX - SG_ EPB_I_LAMP : 0|4@1+ (1,0) [0|15] "" XXX - SG_ EPB_F_LAMP : 4|2@1+ (1,0) [0|3] "" XXX - SG_ EPB_ALARM : 6|2@1+ (1,0) [0|3] "" XXX - SG_ EPB_CLU : 8|8@1+ (1,0) [0|255] "" XXX - SG_ EPB_SWITCH : 16|2@1+ (1,0) [0|3] "" XXX - SG_ EPB_RBL : 18|1@1+ (1,0) [0|1] "" XXX - SG_ EPB_STATUS : 19|3@1+ (1,0) [0|7] "" XXX - SG_ EPB_FRC_ERR : 22|2@1+ (1,0) [0|3] "" XXX - SG_ EPB_DBF_STAT : 24|1@1+ (1,0) [0|1] "" XXX - SG_ ESP_ACK : 25|1@1+ (1,0) [0|1] "" XXX - SG_ EPB_DBF_REQ : 26|1@1+ (1,0) [0|1] "" XXX - SG_ EPB_FAIL : 29|3@1+ (1,0) [0|7] "" XXX - SG_ EPB_FORCE : 32|12@1+ (1,-1000) [-1000|3000] "" XXX - SG_ EPB_DBF_DECEL : 48|8@1+ (0.01,0) [0|2.54] "g" XXX - - -BO_ 1087 TCU1: 8 XXX - SG_ ETL_TCU : 0|8@1+ (2,0) [0|508] "Nm" XXX - SG_ CUR_GR : 8|4@1+ (1,0) [0|15] "" XXX - SG_ CF_Tcu_Alive : 12|2@1+ (1,0) [0|3] "" XXX - SG_ CF_Tcu_ChkSum : 14|2@1+ (1,0) [0|3] "" XXX - SG_ VS_TCU : 16|8@1+ (1,0) [0|254] "km/h" XXX - SG_ FAN_CTRL_TCU : 24|2@1+ (1,0) [0|3] "" XXX - SG_ BRAKE_ACT_TCU : 26|2@1+ (1,0) [0|3] "" XXX - SG_ FUEL_CUT_TCU : 28|1@1+ (1,0) [0|1] "" XXX - SG_ INH_FUEL_CUT : 29|1@1+ (1,0) [0|1] "" XXX - SG_ IDLE_UP_TCU : 30|1@1+ (1,0) [0|1] "" XXX - SG_ N_INC_TCU : 31|1@1+ (1,0) [0|1] "" XXX - SG_ SPK_RTD_TCU : 32|8@1+ (0.375,-23.625) [-15|15] "" XXX - SG_ N_TC_RAW : 40|16@1+ (0.25,0) [0|16383.5] "rpm" XXX - SG_ VS_TCU_DECIMAL : 56|8@1+ (0.0078125,0) [0|0.992188] "km/h" XXX - - -BO_ 1088 TCU2: 8 XXX - SG_ ETL_TCU : 0|8@1+ (2,0) [0|508] "Nm" XXX - SG_ CUR_GR : 8|4@1+ (1,0) [0|15] "" XXX - SG_ CF_Tcu_Alive : 12|2@1+ (1,0) [0|3] "" XXX - SG_ CF_Tcu_ChkSum : 14|2@1+ (1,0) [0|3] "" XXX - SG_ VS_TCU : 16|8@1+ (1,0) [0|254] "km/h" XXX - SG_ FAN_CTRL_TCU : 24|2@1+ (1,0) [0|3] "" XXX - SG_ BRAKE_ACT_TCU : 26|2@1+ (1,0) [0|3] "" XXX - SG_ FUEL_CUT_TCU : 28|1@1+ (1,0) [0|1] "" XXX - SG_ INH_FUEL_CUT : 29|1@1+ (1,0) [0|1] "" XXX - SG_ IDLE_UP_TCU : 30|1@1+ (1,0) [0|1] "" XXX - SG_ N_INC_TCU : 31|1@1+ (1,0) [0|1] "" XXX - SG_ SPK_RTD_TCU : 32|8@1+ (0.375,-23.625) [-15|15] "" XXX - SG_ N_TC_RAW : 40|16@1+ (0.25,0) [0|16383.5] "rpm" XXX - SG_ VS_TCU_DECIMAL : 56|8@1+ (0.0078125,0) [0|0.992188] "km/h" XXX - - -BO_ 1200 WHL_SPD: 8 XXX - SG_ WHL_SPD_FL : 0|14@1+ (0.03125,0) [0|511.969] "km/h" XXX - SG_ WHL_SPD_FR : 16|14@1+ (0.03125,0) [0|511.969] "km/h" XXX - SG_ WHL_SPD_RL : 32|14@1+ (0.03125,0) [0|511.969] "km/h" XXX - SG_ WHL_SPD_RR : 48|14@1+ (0.03125,0) [0|511.969] "km/h" XXX - - -BO_ 1201 WHL_PUL: 8 XXX - SG_ WHL_PUL_FL : 0|8@1+ (0.5,0) [0|127.5] "pulse count" XXX - SG_ WHL_PUL_FR : 8|8@1+ (0.5,0) [0|127.5] "pulse count" XXX - SG_ WHL_PUL_RL : 16|8@1+ (0.5,0) [0|127.5] "pulse count" XXX - SG_ WHL_PUL_RR : 24|8@1+ (0.5,0) [0|127.5] "pulse count" XXX - SG_ WHL_DIR_FL : 32|2@1+ (1,0) [0|3] "" XXX - SG_ WHL_DIR_FR : 34|2@1+ (1,0) [0|3] "" XXX - SG_ WHL_DIR_RL : 36|2@1+ (1,0) [0|3] "" XXX - SG_ WHL_DIR_RR : 38|2@1+ (1,0) [0|3] "" XXX - SG_ WHL_PUL_Chksum : 56|8@1+ (1,0) [0|255] "" XXX - - -BO_ 1264 CLU1: 8 XXX - SG_ CF_Clu_CruiseSwState : 0|3@1+ (1,0) [0|7] "" XXX - SG_ CF_Blr_MaxStat : 3|1@1+ (1,0) [0|1] "" XXX - SG_ CF_Clu_SldMainSW : 4|1@1+ (1,0) [0|1] "" XXX - SG_ CF_Clu_ParityBit1 : 5|1@1+ (1,0) [0|1] "pulse count" XXX - SG_ CF_Clu_SPEED_UNIT : 6|1@1+ (1,0) [0|1] "" XXX - SG_ CF_Clu_ParkBrakeSw : 7|1@1+ (1,0) [0|1] "" XXX - SG_ CF_Clu_Vanz : 8|9@1+ (0.5,0) [0|255.5] "km/h or MPH" XXX - SG_ CF_Clu_AliveCounter : 17|7@1+ (1,0) [0|127] "" XXX - SG_ CF_Clu_CruiseSwMain : 24|1@1+ (1,0) [0|1] "" XXX - SG_ CF_Clu_VanzDecimal : 25|2@1+ (1,0) [0|0.375] "" XXX - SG_ VEHICLE_INFO : 27|3@1+ (1,0) [0|7] "" XXX - SG_ CF_Clu_StrRlyState : 30|1@1+ (1,0) [0|1] "" XXX - SG_ CF_Clu_SMKOption : 31|1@1+ (1,0) [0|1] "" XXX - SG_ R_TqAcnOutC : 32|8@1+ (1,0) [0|51] "Nm" XXX - SG_ CF_Clu_Odometer : 40|24@1+ (0.1,0) [0|1.67772e+006] "km" XXX - - -BO_ 1265 CLU3: 8 XXX - SG_ CF_Clu_AcnRqSwi : 0|1@1+ (1,0) [0|1] "" XXX - SG_ CF_Clu_AcnCltEnRq : 1|1@1+ (1,0) [0|1] "" XXX - SG_ CF_Clu_RefDetMod : 2|1@1+ (1,0) [0|1] "" XXX - SG_ CF_Clu_DefoggerRly : 5|1@1+ (1,0) [0|1] "" XXX - SG_ CF_Clu_LowfuelWarn : 16|2@1+ (1,0) [0|3] "" XXX - SG_ CF_Clu_SportsModeSwi : 18|2@1+ (1,0) [0|3] "" XXX - SG_ CF_Clu_ALightStat : 20|1@1+ (1,0) [0|1] "" XXX - SG_ CF_Clu_FrtFog : 21|1@1+ (1,0) [0|1] "" XXX - SG_ CF_Clu_DetentOut : 22|1@1+ (1,0) [0|1] "" XXX - SG_ CF_Clu_HeadLampTail : 23|1@1+ (1,0) [0|1] "" XXX - SG_ CF_Clu_TrailerMode : 24|1@1+ (1,0) [0|1] "" XXX - SG_ CF_Clu_DTE : 25|10@1+ (1,0) [0|1023] "" XXX - SG_ CF_Clu_TripUnit : 35|2@1+ (1,0) [0|3] "" XXX - SG_ CF_Clu_IsaMainSW : 37|1@1+ (1,0) [0|1] "" XXX - SG_ CF_Clu_FlexSteerSW : 40|1@1+ (1,0) [0|1] "" XXX - SG_ CF_Clu_AvsmCur : 41|1@1+ (1,0) [0|1] "" XXX - SG_ CF_Clu_HudSpeedset : 42|1@1+ (1,0) [0|1] "" XXX - SG_ CF_Clu_HudTbtSet : 43|1@1+ (1,0) [0|1] "" XXX - SG_ CF_Clu_HudSccSet : 44|1@1+ (1,0) [0|1] "" XXX - SG_ CF_Clu_HudLdwsSet : 45|1@1+ (1,0) [0|1] "" XXX - SG_ CF_Clu_HudDisSet : 46|1@1+ (1,0) [0|1] "" XXX - SG_ CF_Clu_HudFontSizeSet : 47|2@1+ (1,0) [0|3] "" XXX - SG_ CF_Clu_HudFontColorSet : 49|2@1+ (1,0) [0|3] "" XXX - SG_ CF_Clu_HudBrightSet : 51|2@1+ (1,0) [0|3] "" XXX - SG_ CF_Clu_HudHeightSet : 53|2@1+ (1,0) [0|3] "" XXX - SG_ CF_Clu_CluInfo : 55|1@1+ (1,0) [0|1] "" XXX - SG_ CF_Clu_RheostatLevel : 56|5@1+ (1,0) [0|31] "" XXX - SG_ CF_Clu_DrivinglampStat : 61|3@1+ (1,0) [0|7] "" XXX - - -BO_ 1349 EMS4: 8 XXX - SG_ IMMO_LAMP_STAT : 0|1@1+ (1,0) [0|1] "" XXX - SG_ L_MIL : 1|1@1+ (1,0) [0|1] "" XXX - SG_ IM_STAT : 2|1@1+ (1,0) [0|1] "" XXX - SG_ AMP_CAN : 3|5@1+ (10.7316,458.98) [458.98|791.66] "mmHg" XXX - SG_ FCO : 8|16@1+ (0.128,0) [0|8388.48] "ul" XXX - SG_ VB : 24|8@1+ (0.101563,0) [0|25.8984] "V" XXX - SG_ TEMP_FUEL : 48|8@1+ (0.75,-48) [-48|143.25] "" XXX - SG_ Split_Stat : 56|1@1+ (1,0) [0|1] "" XXX - SG_ CF_Ems_IsaAct : 57|1@1+ (1,0) [0|1] "" XXX - - -BO_ 1435 TCU4: 8 XXX - SG_ CF_TCU_WarnMsg : 0|3@1+ (1,0) [0|7] "" XXX - SG_ CF_TCU_WarnImg : 3|1@1+ (1,0) [0|1] "" XXX - SG_ CF_TCU_WarnSnd : 4|1@1+ (1,0) [0|1] "" XXX - SG_ CF_Tcu_EolStat : 5|1@1+ (1,0) [0|1] "" XXX - SG_ CR_Tcu_GearSelDisp2 : 8|4@1+ (1,0) [0|15] "" XXX - SG_ CF_Tcu_StRelStat : 12|1@1+ (1,0) [0|1] "" XXX - SG_ CF_Tcu_DriWarn1 : 13|3@1+ (1,0) [0|7] "" XXX - SG_ CF_Tcu_DriWarn2 : 16|2@1+ (1,0) [0|3] "" XXX - SG_ CF_Tcu_DrivingModeReq : 18|4@1+ (1,0) [0|0] "" XXX - SG_ CF_Tcu_DrivingModeDisp : 22|4@1+ (1,0) [0|0] "" XXX - SG_ CF_Tcu_SiCluster : 26|5@1+ (1,0) [0|0] "" XXX - SG_ CF_Tcu_DSmode_Inf : 31|1@1+ (1,0) [0|1] "" XXX - SG_ CF_Tcu_Alive4 : 58|2@1+ (1,0) [0|3] "" XXX - SG_ CF_Tcu_ChkSum4 : 60|4@1+ (1,0) [0|15] "" XXX - - -BO_ 1508 MDPS1: 8 XXX - SG_ CF_Mdps_WLmp : 1|2@1+ (1,0) [0|3] "" XXX - SG_ CF_Mdps_ALTRequest : 5|1@1+ (1,0) [0|1] "" XXX - SG_ CF_Mdps_Flex : 8|3@1+ (1,0) [0|7] "" XXX - SG_ CF_Mdps_FlexDisp : 11|1@1+ (1,0) [0|1] "" XXX - SG_ CF_Mdps_CurrMode : 12|2@1+ (1,0) [0|3] "" XXX - - -BO_ 1680 CLU2: 8 XXX - SG_ CF_Clu_IGNSw : 0|3@1+ (1,0) [0|7] "" XXX - SG_ RKE_CMD : 3|3@1+ (1,0) [0|7] "" XXX - SG_ CF_Clu_DrvDrSw : 6|2@1+ (1,0) [0|3] "" XXX - SG_ CF_Clu_DrvKeyLockSw : 8|1@1+ (1,0) [0|1] "" XXX - SG_ CF_Clu_DrvKeyUnlockSw : 9|1@1+ (1,0) [0|1] "" XXX - SG_ PIC_Lock : 10|3@1+ (1,0) [0|7] "" XXX - SG_ PIC_Unlock : 13|3@1+ (1,0) [0|7] "" XXX - SG_ CF_Clu_DrvSeatBeltSw : 16|2@1+ (1,0) [0|3] "" XXX - SG_ CF_Clu_TrunkTgSw : 18|2@1+ (1,0) [0|3] "" XXX - SG_ CF_Clu_AstSeatBeltSw : 20|2@1+ (1,0) [0|3] "" XXX - SG_ CF_Clu_HoodSw : 22|2@1+ (1,0) [0|3] "" XXX - SG_ CF_Clu_TurnSigLh : 24|1@1+ (1,0) [0|1] "" XXX - SG_ CF_Clu_TurnSigRh : 25|1@1+ (1,0) [0|1] "" XXX - SG_ CF_Clu_LdwsLkasSW : 26|1@1+ (1,0) [0|1] "" XXX - SG_ CF_Clu_WiperIntT : 27|3@1+ (1,0) [0|7] "" XXX - SG_ CF_Clu_WiperIntSW : 30|1@1+ (1,0) [0|1] "" XXX - SG_ CF_Clu_WiperLow : 31|1@1+ (1,0) [0|1] "" XXX - SG_ CF_Clu_WiperHigh : 32|1@1+ (1,0) [0|1] "" XXX - SG_ CF_Clu_WiperAuto : 33|1@1+ (1,0) [0|1] "" XXX - SG_ CF_Clu_RainSnsStat : 34|3@1+ (1,0) [0|7] "" XXX - SG_ CF_Clu_HeadLampLow : 37|1@1+ (1,0) [0|1] "" XXX - SG_ CF_Clu_HeadLampHigh : 38|1@1+ (1,0) [0|1] "" XXX - SG_ CF_Clu_AltLStatus : 39|1@1+ (1,0) [0|1] "" XXX - SG_ CF_Clu_EcoDriveInf : 40|3@1+ (1,0) [0|7] "" XXX - SG_ CF_Clu_SwiGearR : 43|2@1+ (1,0) [0|3] "" XXX - SG_ CF_Clu_SWL_Stat : 45|3@1+ (1,0) [0|7] "" XXX - SG_ CF_Clu_ActiveEcoSW : 48|1@1+ (1,0) [0|1] "" XXX - SG_ CF_Clu_HazardSW : 49|1@1+ (1,0) [0|1] "" XXX - SG_ CF_Clu_AliveCnt2 : 50|4@1+ (1,0) [0|15] "" XXX - SG_ CF_Clu_AstDrSw : 54|2@1+ (1,0) [0|3] "" XXX - SG_ CF_Clu_LkasDispMode : 56|2@1+ (1,0) [0|3] "" XXX - SG_ CF_Clu_AutoLightLevel : 58|2@1+ (1,0) [0|3] "" XXX - SG_ CF_Clu_SunRoofOpenState : 60|1@1+ (1,0) [0|1] "" XXX - - diff --git a/opendbc/hyundai_kia_mando_corner_radar_generated.dbc b/opendbc/hyundai_kia_mando_corner_radar_generated.dbc deleted file mode 100644 index 80627f9aebae7e..00000000000000 --- a/opendbc/hyundai_kia_mando_corner_radar_generated.dbc +++ /dev/null @@ -1,374 +0,0 @@ -CM_ "AUTOGENERATED FILE, DO NOT EDIT"; - -CM_ "hyundai_kia_mando_corner_radar.dbc starts here"; - -VERSION "" - - -NS_ : - NS_DESC_ - CM_ - BA_DEF_ - BA_ - VAL_ - CAT_DEF_ - CAT_ - FILTER - BA_DEF_DEF_ - EV_DATA_ - ENVVAR_DATA_ - SGTYPE_ - SGTYPE_VAL_ - BA_DEF_SGTYPE_ - BA_SGTYPE_ - SIG_TYPE_REF_ - VAL_TABLE_ - SIG_GROUP_ - SIG_VALTYPE_ - SIGTYPE_VALTYPE_ - BO_TX_BU_ - BA_DEF_REL_ - BA_REL_ - BA_DEF_DEF_REL_ - BU_SG_REL_ - BU_EV_REL_ - BU_BO_REL_ - SG_MUL_VAL_ - -BS_: - -BU_: XXX - -BO_ 256 RADAR_POINTS_METADATA_0x100: 64 RADAR - SG_ SIGNAL_1 : 0|32@1+ (1,0) [0|255] "" XXX - SG_ SIGNAL_2 : 32|32@1+ (1,0) [0|65535] "" XXX - SG_ SIGNAL_3 : 64|4@1+ (1,0) [0|15] "" XXX - SG_ SIGNAL_4 : 68|4@1+ (1,0) [0|15] "" XXX - SG_ RADAR_POINT_COUNT : 72|8@1+ (1,0) [0|255] "" XXX - SG_ SIGNAL_6 : 80|7@1+ (0.015625,0) [0|3] "" XXX - SG_ SIGNAL_7 : 87|1@1+ (1,0) [0|1] "" XXX - SG_ SIGNAL_8 : 88|3@1+ (1,0) [0|7] "" XXX - SG_ SIGNAL_9 : 91|5@1+ (0.0625,0) [0|31] "" XXX - SG_ SIGNAL_10 : 96|8@1+ (1,0) [0|255] "" XXX - SG_ SIGNAL_11 : 104|7@1+ (0.015625,0) [0|127] "" XXX - SG_ SIGNAL_12 : 111|2@1+ (1,0) [0|65535] "" XXX - SG_ SIGNAL_13 : 113|7@1+ (0.015625,0) [0|127] "" XXX - SG_ SIGNAL_14 : 120|7@1+ (0.015625,0) [0|127] "" XXX - SG_ SIGNAL_15 : 127|3@1+ (1,0) [0|3] "" XXX - SG_ SIGNAL_16 : 130|2@1+ (1,0) [0|3] "" XXX - SG_ SIGNAL_17 : 133|2@0+ (1,0) [0|3] "" XXX - SG_ SIGNAL_18 : 134|1@0+ (1,0) [0|3] "" XXX - SG_ SIGNAL_19 : 135|3@1+ (1,0) [0|3] "" XXX - SG_ SIGNAL_20 : 138|8@1+ (1,0) [0|63] "" XXX - SG_ SIGNAL_21 : 146|2@1+ (1,0) [0|3] "" XXX - SG_ SIGNAL_22 : 148|1@1+ (1,0) [0|3] "" XXX - SG_ SIGNAL_23 : 149|4@1+ (1,0) [0|7] "" XXX - SG_ SIGNAL_24 : 153|1@1+ (1,0) [0|3] "" XXX - SG_ SIGNAL_25 : 154|2@1+ (1,0) [0|3] "" XXX - SG_ SIGNAL_26 : 157|2@0+ (1,0) [0|3] "" XXX - SG_ SIGNAL_27 : 158|7@1+ (0.125,0) [0|3] "" XXX - SG_ SIGNAL_28 : 165|7@1+ (0.015625,0) [0|31] "" XXX - SG_ SIGNAL_29 : 172|7@1+ (0.125,0) [0|3] "" XXX - SG_ SIGNAL_30 : 179|7@1+ (0.015625,0) [0|1] "" XXX - SG_ SIGNAL_31 : 186|4@1+ (1,0) [0|7] "" XXX - SG_ SIGNAL_32 : 190|14@1+ (0.015625,0) [0|15] "" XXX - SG_ SIGNAL_33 : 204|11@1+ (0.03125,0) [0|8191] "" XXX - SG_ SIGNAL_34 : 215|2@1+ (1,0) [0|3] "" XXX - SG_ SIGNAL_35 : 217|7@1+ (1,0) [0|127] "" XXX - SG_ SIGNAL_36 : 224|6@1+ (1,0) [0|63] "" XXX - SG_ SIGNAL_37 : 230|6@1+ (0.2,0) [0|31] "" XXX - SG_ SIGNAL_38 : 236|6@1+ (0.2,0) [0|7] "" XXX - SG_ SIGNAL_39 : 242|8@1+ (1,-90) [0|255] "" XXX - SG_ SIGNAL_40 : 250|6@1+ (1,0) [0|63] "" XXX - SG_ SIGNAL_41 : 256|8@1+ (0.25,0) [0|255] "" XXX - SG_ SIGNAL_42 : 264|3@1+ (1,0) [0|3] "" XXX - SG_ SIGNAL_43 : 267|12@1+ (0.01,0) [0|31] "" XXX - SG_ SIGNAL_44 : 279|32@1+ (1,0) [0|63] "" XXX - SG_ SIGNAL_45 : 311|1@1+ (1,0) [0|1] "" XXX - SG_ SIGNAL_46 : 312|2@1+ (1,0) [0|3] "" XXX - SG_ SIGNAL_47 : 314|32@1+ (1,0) [0|255] "" XXX - SG_ SIGNAL_48 : 346|6@1+ (1,0) [0|63] "" XXX - SG_ SIGNAL_49 : 352|7@1+ (0.25,0) [0|127] "" XXX - SG_ SIGNAL_50 : 359|6@1+ (0.03125,0) [0|31] "" XXX - SG_ SIGNAL_51 : 365|10@1+ (0.125,0) [0|3] "" XXX - SG_ SIGNAL_52 : 375|10@1+ (0.125,0) [0|63] "" XXX - SG_ SIGNAL_53 : 385|7@1+ (1,0) [0|127] "" XXX - SG_ SIGNAL_54 : 392|7@1+ (1,0) [0|127] "" XXX - SG_ SIGNAL_55 : 399|8@1+ (0.00390625,0) [0|31] "" XXX - SG_ SIGNAL_56 : 407|10@1+ (0.125,0) [0|63] "" XXX - SG_ SIGNAL_57 : 417|1@1+ (1,0) [0|3] "" XXX - SG_ SIGNAL_58 : 418|1@1+ (1,0) [0|3] "" XXX - -BO_ 512 RADAR_POINTS_METADATA_0x200: 64 RADAR - SG_ SIGNAL_1 : 0|32@1+ (1,0) [0|255] "" XXX - SG_ SIGNAL_2 : 32|32@1+ (1,0) [0|65535] "" XXX - SG_ SIGNAL_3 : 64|4@1+ (1,0) [0|15] "" XXX - SG_ SIGNAL_4 : 68|4@1+ (1,0) [0|15] "" XXX - SG_ RADAR_POINT_COUNT : 72|8@1+ (1,0) [0|255] "" XXX - SG_ SIGNAL_6 : 80|7@1+ (0.015625,0) [0|3] "" XXX - SG_ SIGNAL_7 : 87|1@1+ (1,0) [0|1] "" XXX - SG_ SIGNAL_8 : 88|3@1+ (1,0) [0|7] "" XXX - SG_ SIGNAL_9 : 91|5@1+ (0.0625,0) [0|31] "" XXX - SG_ SIGNAL_10 : 96|8@1+ (1,0) [0|255] "" XXX - SG_ SIGNAL_11 : 104|7@1+ (0.015625,0) [0|127] "" XXX - SG_ SIGNAL_12 : 111|2@1+ (1,0) [0|65535] "" XXX - SG_ SIGNAL_13 : 113|7@1+ (0.015625,0) [0|127] "" XXX - SG_ SIGNAL_14 : 120|7@1+ (0.015625,0) [0|127] "" XXX - SG_ SIGNAL_15 : 127|3@1+ (1,0) [0|3] "" XXX - SG_ SIGNAL_16 : 130|2@1+ (1,0) [0|3] "" XXX - SG_ SIGNAL_17 : 133|2@0+ (1,0) [0|3] "" XXX - SG_ SIGNAL_18 : 134|1@0+ (1,0) [0|3] "" XXX - SG_ SIGNAL_19 : 135|3@1+ (1,0) [0|3] "" XXX - SG_ SIGNAL_20 : 138|8@1+ (1,0) [0|63] "" XXX - SG_ SIGNAL_21 : 146|2@1+ (1,0) [0|3] "" XXX - SG_ SIGNAL_22 : 148|1@1+ (1,0) [0|3] "" XXX - SG_ SIGNAL_23 : 149|4@1+ (1,0) [0|7] "" XXX - SG_ SIGNAL_24 : 153|1@1+ (1,0) [0|3] "" XXX - SG_ SIGNAL_25 : 154|2@1+ (1,0) [0|3] "" XXX - SG_ SIGNAL_26 : 157|2@0+ (1,0) [0|3] "" XXX - SG_ SIGNAL_27 : 158|7@1+ (0.125,0) [0|3] "" XXX - SG_ SIGNAL_28 : 165|7@1+ (0.015625,0) [0|31] "" XXX - SG_ SIGNAL_29 : 172|7@1+ (0.125,0) [0|3] "" XXX - SG_ SIGNAL_30 : 179|7@1+ (0.015625,0) [0|1] "" XXX - SG_ SIGNAL_31 : 186|4@1+ (1,0) [0|7] "" XXX - SG_ SIGNAL_32 : 190|14@1+ (0.015625,0) [0|15] "" XXX - SG_ SIGNAL_33 : 204|11@1+ (0.03125,0) [0|8191] "" XXX - SG_ SIGNAL_34 : 215|2@1+ (1,0) [0|3] "" XXX - SG_ SIGNAL_35 : 217|7@1+ (1,0) [0|127] "" XXX - SG_ SIGNAL_36 : 224|6@1+ (1,0) [0|63] "" XXX - SG_ SIGNAL_37 : 230|6@1+ (0.2,0) [0|31] "" XXX - SG_ SIGNAL_38 : 236|6@1+ (0.2,0) [0|7] "" XXX - SG_ SIGNAL_39 : 242|8@1+ (1,-90) [0|255] "" XXX - SG_ SIGNAL_40 : 250|6@1+ (1,0) [0|63] "" XXX - SG_ SIGNAL_41 : 256|8@1+ (0.25,0) [0|255] "" XXX - SG_ SIGNAL_42 : 264|3@1+ (1,0) [0|3] "" XXX - SG_ SIGNAL_43 : 267|12@1+ (0.01,0) [0|31] "" XXX - SG_ SIGNAL_44 : 279|32@1+ (1,0) [0|63] "" XXX - SG_ SIGNAL_45 : 311|1@1+ (1,0) [0|1] "" XXX - SG_ SIGNAL_46 : 312|2@1+ (1,0) [0|3] "" XXX - SG_ SIGNAL_47 : 314|32@1+ (1,0) [0|255] "" XXX - SG_ SIGNAL_48 : 346|6@1+ (1,0) [0|63] "" XXX - SG_ SIGNAL_49 : 352|7@1+ (0.25,0) [0|127] "" XXX - SG_ SIGNAL_50 : 359|6@1+ (0.03125,0) [0|31] "" XXX - SG_ SIGNAL_51 : 365|10@1+ (0.125,0) [0|3] "" XXX - SG_ SIGNAL_52 : 375|10@1+ (0.125,0) [0|63] "" XXX - SG_ SIGNAL_53 : 385|7@1+ (1,0) [0|127] "" XXX - SG_ SIGNAL_54 : 392|7@1+ (1,0) [0|127] "" XXX - SG_ SIGNAL_55 : 399|8@1+ (0.00390625,0) [0|31] "" XXX - SG_ SIGNAL_56 : 407|10@1+ (0.125,0) [0|63] "" XXX - SG_ SIGNAL_57 : 417|1@1+ (1,0) [0|3] "" XXX - SG_ SIGNAL_58 : 418|1@1+ (1,0) [0|3] "" XXX - -BO_ 257 RADAR_POINTS_0x101: 64 RADAR - SG_ MESSAGE_ID : 0|5@1+ (1,0) [0|31] "" XXX - SG_ LAYOUT_ID : 5|2@1+ (1,0) [0|3] "" XXX - SG_ POINT_1_DISTANCE : 7|14@1+ (0.015625,0) [0|255.984375] "" XXX - SG_ POINT_1_SIGNAL_2 : 21|2@1+ (1,0) [0|3] "" XXX - SG_ POINT_1_SIGNAL_3 : 23|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX - SG_ POINT_1_REL_VELOCITY : 31|13@1+ (0.03125,-66) [-66|189.96875] "" XXX - SG_ POINT_1_SIGNAL_5 : 44|2@1+ (1,0) [0|3] "" XXX - SG_ POINT_1_SIGNAL_6 : 46|2@1+ (1,0) [0|3] "" XXX - SG_ POINT_1_AZIMUTH : 48|12@1+ (0.001953125,-3.998046875) [-3.998046875|4.0] "" XXX - SG_ POINT_1_SIGNAL_8 : 60|2@1+ (1,0) [0|3] "" XXX - SG_ POINT_1_SIGNAL_9 : 62|1@1+ (1,0) [0|1] "" XXX - SG_ POINT_1_SIGNAL_10 : 63|7@1+ (1,0) [0|127] "" XXX - SG_ POINT_1_SIGNAL_11 : 70|1@1+ (1,0) [0|1] "" XXX - SG_ POINT_1_SIGNAL_12 : 71|6@1+ (1,0) [0|63] "" XXX - SG_ POINT_1_SIGNAL_13 : 77|2@1+ (1,0) [0|3] "" XXX - SG_ POINT_1_SIGNAL_14 : 79|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX - SG_ POINT_1_SIGNAL_15 : 87|1@1+ (1,0) [0|1] "" XXX - SG_ POINT_1_SIGNAL_16 : 88|2@1+ (1,0) [0|3] "" XXX - SG_ POINT_1_SIGNAL_17 : 90|3@1+ (1,0) [0|7] "" XXX - SG_ POINT_1_SIGNAL_18 : 93|6@1+ (1,0) [0|63] "" XXX - SG_ POINT_1_SIGNAL_19 : 99|8@1+ (1,0) [0|255] "" XXX - SG_ POINT_1_SIGNAL_20 : 107|1@1+ (1,0) [0|1] "" XXX - SG_ POINT_2_DISTANCE : 108|14@1+ (0.015625,0) [0|255.984375] "" XXX - SG_ POINT_2_SIGNAL_2 : 122|2@1+ (1,0) [0|3] "" XXX - SG_ POINT_2_SIGNAL_3 : 124|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX - SG_ POINT_2_REL_VELOCITY : 132|13@1+ (0.03125,-66) [-66|189.96875] "" XXX - SG_ POINT_2_SIGNAL_5 : 145|2@1+ (1,0) [0|3] "" XXX - SG_ POINT_2_SIGNAL_6 : 147|2@1+ (1,0) [0|3] "" XXX - SG_ POINT_2_AZIMUTH : 149|12@1+ (0.001953125,-3.998046875) [-3.998046875|4.0] "" XXX - SG_ POINT_2_SIGNAL_8 : 161|2@1+ (1,0) [0|3] "" XXX - SG_ POINT_2_SIGNAL_9 : 163|1@1+ (1,0) [0|1] "" XXX - SG_ POINT_2_SIGNAL_10 : 164|7@1+ (1,0) [0|127] "" XXX - SG_ POINT_2_SIGNAL_11 : 171|1@1+ (1,0) [0|1] "" XXX - SG_ POINT_2_SIGNAL_12 : 172|6@1+ (1,0) [0|63] "" XXX - SG_ POINT_2_SIGNAL_13 : 178|2@1+ (1,0) [0|3] "" XXX - SG_ POINT_2_SIGNAL_14 : 180|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX - SG_ POINT_2_SIGNAL_15 : 188|1@1+ (1,0) [0|1] "" XXX - SG_ POINT_2_SIGNAL_16 : 189|2@1+ (1,0) [0|3] "" XXX - SG_ POINT_2_SIGNAL_17 : 191|3@1+ (1,0) [0|7] "" XXX - SG_ POINT_2_SIGNAL_18 : 194|6@1+ (1,0) [0|63] "" XXX - SG_ POINT_2_SIGNAL_19 : 200|8@1+ (1,0) [0|255] "" XXX - SG_ POINT_2_SIGNAL_20 : 208|1@1+ (1,0) [0|1] "" XXX - SG_ POINT_3_DISTANCE : 209|14@1+ (0.015625,0) [0|255.984375] "" XXX - SG_ POINT_3_SIGNAL_2 : 223|2@1+ (1,0) [0|3] "" XXX - SG_ POINT_3_SIGNAL_3 : 225|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX - SG_ POINT_3_REL_VELOCITY : 233|13@1+ (0.03125,-66) [-66|189.96875] "" XXX - SG_ POINT_3_SIGNAL_5 : 246|2@1+ (1,0) [0|3] "" XXX - SG_ POINT_3_SIGNAL_6 : 248|2@1+ (1,0) [0|3] "" XXX - SG_ POINT_3_AZIMUTH : 250|12@1+ (0.001953125,-3.998046875) [-3.998046875|4.0] "" XXX - SG_ POINT_3_SIGNAL_8 : 262|2@1+ (1,0) [0|3] "" XXX - SG_ POINT_3_SIGNAL_9 : 264|1@1+ (1,0) [0|1] "" XXX - SG_ POINT_3_SIGNAL_10 : 265|7@1+ (1,0) [0|127] "" XXX - SG_ POINT_3_SIGNAL_11 : 272|1@1+ (1,0) [0|1] "" XXX - SG_ POINT_3_SIGNAL_12 : 273|6@1+ (1,0) [0|63] "" XXX - SG_ POINT_3_SIGNAL_13 : 279|2@1+ (1,0) [0|3] "" XXX - SG_ POINT_3_SIGNAL_14 : 281|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX - SG_ POINT_3_SIGNAL_15 : 289|1@1+ (1,0) [0|1] "" XXX - SG_ POINT_3_SIGNAL_16 : 290|2@1+ (1,0) [0|3] "" XXX - SG_ POINT_3_SIGNAL_17 : 292|3@1+ (1,0) [0|7] "" XXX - SG_ POINT_3_SIGNAL_18 : 295|6@1+ (1,0) [0|63] "" XXX - SG_ POINT_3_SIGNAL_19 : 301|8@1+ (1,0) [0|255] "" XXX - SG_ POINT_3_SIGNAL_20 : 309|1@1+ (1,0) [0|1] "" XXX - SG_ POINT_4_DISTANCE : 310|14@1+ (0.015625,0) [0|255.984375] "" XXX - SG_ POINT_4_SIGNAL_2 : 324|2@1+ (1,0) [0|3] "" XXX - SG_ POINT_4_SIGNAL_3 : 326|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX - SG_ POINT_4_REL_VELOCITY : 334|13@1+ (0.03125,-66) [-66|189.96875] "" XXX - SG_ POINT_4_SIGNAL_5 : 347|2@1+ (1,0) [0|3] "" XXX - SG_ POINT_4_SIGNAL_6 : 349|2@1+ (1,0) [0|3] "" XXX - SG_ POINT_4_AZIMUTH : 351|12@1+ (0.001953125,-3.998046875) [-3.998046875|4.0] "" XXX - SG_ POINT_4_SIGNAL_8 : 363|2@1+ (1,0) [0|3] "" XXX - SG_ POINT_4_SIGNAL_9 : 365|1@1+ (1,0) [0|1] "" XXX - SG_ POINT_4_SIGNAL_10 : 366|7@1+ (1,0) [0|127] "" XXX - SG_ POINT_4_SIGNAL_11 : 373|1@1+ (1,0) [0|1] "" XXX - SG_ POINT_4_SIGNAL_12 : 374|6@1+ (1,0) [0|63] "" XXX - SG_ POINT_4_SIGNAL_13 : 380|2@1+ (1,0) [0|3] "" XXX - SG_ POINT_4_SIGNAL_14 : 382|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX - SG_ POINT_4_SIGNAL_15 : 390|1@1+ (1,0) [0|1] "" XXX - SG_ POINT_4_SIGNAL_16 : 391|2@1+ (1,0) [0|3] "" XXX - SG_ POINT_4_SIGNAL_17 : 393|3@1+ (1,0) [0|7] "" XXX - SG_ POINT_4_SIGNAL_18 : 396|6@1+ (1,0) [0|63] "" XXX - SG_ POINT_4_SIGNAL_19 : 402|8@1+ (1,0) [0|255] "" XXX - SG_ POINT_4_SIGNAL_20 : 410|1@1+ (1,0) [0|1] "" XXX - SG_ POINT_5_DISTANCE : 411|14@1+ (0.015625,0) [0|255.984375] "" XXX - SG_ POINT_5_SIGNAL_2 : 425|2@1+ (1,0) [0|3] "" XXX - SG_ POINT_5_SIGNAL_3 : 427|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX - SG_ POINT_5_REL_VELOCITY : 435|13@1+ (0.03125,-66) [-66|189.96875] "" XXX - SG_ POINT_5_SIGNAL_5 : 448|2@1+ (1,0) [0|3] "" XXX - SG_ POINT_5_SIGNAL_6 : 450|2@1+ (1,0) [0|3] "" XXX - SG_ POINT_5_AZIMUTH : 452|12@1+ (0.001953125,-3.998046875) [-3.998046875|4.0] "" XXX - SG_ POINT_5_SIGNAL_8 : 464|2@1+ (1,0) [0|3] "" XXX - SG_ POINT_5_SIGNAL_9 : 466|1@1+ (1,0) [0|1] "" XXX - SG_ POINT_5_SIGNAL_10 : 467|7@1+ (1,0) [0|127] "" XXX - SG_ POINT_5_SIGNAL_11 : 474|1@1+ (1,0) [0|1] "" XXX - SG_ POINT_5_SIGNAL_12 : 475|6@1+ (1,0) [0|63] "" XXX - SG_ POINT_5_SIGNAL_13 : 481|2@1+ (1,0) [0|3] "" XXX - SG_ POINT_5_SIGNAL_14 : 483|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX - SG_ POINT_5_SIGNAL_15 : 491|1@1+ (1,0) [0|1] "" XXX - SG_ POINT_5_SIGNAL_16 : 492|2@1+ (1,0) [0|3] "" XXX - SG_ POINT_5_SIGNAL_17 : 494|3@1+ (1,0) [0|7] "" XXX - SG_ POINT_5_SIGNAL_18 : 497|6@1+ (1,0) [0|63] "" XXX - SG_ POINT_5_SIGNAL_19 : 503|8@1+ (1,0) [0|255] "" XXX - SG_ POINT_5_SIGNAL_20 : 511|1@1+ (1,0) [0|1] "" XXX - -BO_ 513 RADAR_POINTS_0x201: 64 RADAR - SG_ MESSAGE_ID : 0|5@1+ (1,0) [0|31] "" XXX - SG_ LAYOUT_ID : 5|2@1+ (1,0) [0|3] "" XXX - SG_ POINT_1_DISTANCE : 7|14@1+ (0.015625,0) [0|255.984375] "" XXX - SG_ POINT_1_SIGNAL_2 : 21|2@1+ (1,0) [0|3] "" XXX - SG_ POINT_1_SIGNAL_3 : 23|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX - SG_ POINT_1_REL_VELOCITY : 31|13@1+ (0.03125,-66) [-66|189.96875] "" XXX - SG_ POINT_1_SIGNAL_5 : 44|2@1+ (1,0) [0|3] "" XXX - SG_ POINT_1_SIGNAL_6 : 46|2@1+ (1,0) [0|3] "" XXX - SG_ POINT_1_AZIMUTH : 48|12@1+ (0.001953125,-3.998046875) [-3.998046875|4.0] "" XXX - SG_ POINT_1_SIGNAL_8 : 60|2@1+ (1,0) [0|3] "" XXX - SG_ POINT_1_SIGNAL_9 : 62|1@1+ (1,0) [0|1] "" XXX - SG_ POINT_1_SIGNAL_10 : 63|7@1+ (1,0) [0|127] "" XXX - SG_ POINT_1_SIGNAL_11 : 70|1@1+ (1,0) [0|1] "" XXX - SG_ POINT_1_SIGNAL_12 : 71|6@1+ (1,0) [0|63] "" XXX - SG_ POINT_1_SIGNAL_13 : 77|2@1+ (1,0) [0|3] "" XXX - SG_ POINT_1_SIGNAL_14 : 79|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX - SG_ POINT_1_SIGNAL_15 : 87|1@1+ (1,0) [0|1] "" XXX - SG_ POINT_1_SIGNAL_16 : 88|2@1+ (1,0) [0|3] "" XXX - SG_ POINT_1_SIGNAL_17 : 90|3@1+ (1,0) [0|7] "" XXX - SG_ POINT_1_SIGNAL_18 : 93|6@1+ (1,0) [0|63] "" XXX - SG_ POINT_1_SIGNAL_19 : 99|8@1+ (1,0) [0|255] "" XXX - SG_ POINT_1_SIGNAL_20 : 107|1@1+ (1,0) [0|1] "" XXX - SG_ POINT_2_DISTANCE : 108|14@1+ (0.015625,0) [0|255.984375] "" XXX - SG_ POINT_2_SIGNAL_2 : 122|2@1+ (1,0) [0|3] "" XXX - SG_ POINT_2_SIGNAL_3 : 124|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX - SG_ POINT_2_REL_VELOCITY : 132|13@1+ (0.03125,-66) [-66|189.96875] "" XXX - SG_ POINT_2_SIGNAL_5 : 145|2@1+ (1,0) [0|3] "" XXX - SG_ POINT_2_SIGNAL_6 : 147|2@1+ (1,0) [0|3] "" XXX - SG_ POINT_2_AZIMUTH : 149|12@1+ (0.001953125,-3.998046875) [-3.998046875|4.0] "" XXX - SG_ POINT_2_SIGNAL_8 : 161|2@1+ (1,0) [0|3] "" XXX - SG_ POINT_2_SIGNAL_9 : 163|1@1+ (1,0) [0|1] "" XXX - SG_ POINT_2_SIGNAL_10 : 164|7@1+ (1,0) [0|127] "" XXX - SG_ POINT_2_SIGNAL_11 : 171|1@1+ (1,0) [0|1] "" XXX - SG_ POINT_2_SIGNAL_12 : 172|6@1+ (1,0) [0|63] "" XXX - SG_ POINT_2_SIGNAL_13 : 178|2@1+ (1,0) [0|3] "" XXX - SG_ POINT_2_SIGNAL_14 : 180|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX - SG_ POINT_2_SIGNAL_15 : 188|1@1+ (1,0) [0|1] "" XXX - SG_ POINT_2_SIGNAL_16 : 189|2@1+ (1,0) [0|3] "" XXX - SG_ POINT_2_SIGNAL_17 : 191|3@1+ (1,0) [0|7] "" XXX - SG_ POINT_2_SIGNAL_18 : 194|6@1+ (1,0) [0|63] "" XXX - SG_ POINT_2_SIGNAL_19 : 200|8@1+ (1,0) [0|255] "" XXX - SG_ POINT_2_SIGNAL_20 : 208|1@1+ (1,0) [0|1] "" XXX - SG_ POINT_3_DISTANCE : 209|14@1+ (0.015625,0) [0|255.984375] "" XXX - SG_ POINT_3_SIGNAL_2 : 223|2@1+ (1,0) [0|3] "" XXX - SG_ POINT_3_SIGNAL_3 : 225|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX - SG_ POINT_3_REL_VELOCITY : 233|13@1+ (0.03125,-66) [-66|189.96875] "" XXX - SG_ POINT_3_SIGNAL_5 : 246|2@1+ (1,0) [0|3] "" XXX - SG_ POINT_3_SIGNAL_6 : 248|2@1+ (1,0) [0|3] "" XXX - SG_ POINT_3_AZIMUTH : 250|12@1+ (0.001953125,-3.998046875) [-3.998046875|4.0] "" XXX - SG_ POINT_3_SIGNAL_8 : 262|2@1+ (1,0) [0|3] "" XXX - SG_ POINT_3_SIGNAL_9 : 264|1@1+ (1,0) [0|1] "" XXX - SG_ POINT_3_SIGNAL_10 : 265|7@1+ (1,0) [0|127] "" XXX - SG_ POINT_3_SIGNAL_11 : 272|1@1+ (1,0) [0|1] "" XXX - SG_ POINT_3_SIGNAL_12 : 273|6@1+ (1,0) [0|63] "" XXX - SG_ POINT_3_SIGNAL_13 : 279|2@1+ (1,0) [0|3] "" XXX - SG_ POINT_3_SIGNAL_14 : 281|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX - SG_ POINT_3_SIGNAL_15 : 289|1@1+ (1,0) [0|1] "" XXX - SG_ POINT_3_SIGNAL_16 : 290|2@1+ (1,0) [0|3] "" XXX - SG_ POINT_3_SIGNAL_17 : 292|3@1+ (1,0) [0|7] "" XXX - SG_ POINT_3_SIGNAL_18 : 295|6@1+ (1,0) [0|63] "" XXX - SG_ POINT_3_SIGNAL_19 : 301|8@1+ (1,0) [0|255] "" XXX - SG_ POINT_3_SIGNAL_20 : 309|1@1+ (1,0) [0|1] "" XXX - SG_ POINT_4_DISTANCE : 310|14@1+ (0.015625,0) [0|255.984375] "" XXX - SG_ POINT_4_SIGNAL_2 : 324|2@1+ (1,0) [0|3] "" XXX - SG_ POINT_4_SIGNAL_3 : 326|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX - SG_ POINT_4_REL_VELOCITY : 334|13@1+ (0.03125,-66) [-66|189.96875] "" XXX - SG_ POINT_4_SIGNAL_5 : 347|2@1+ (1,0) [0|3] "" XXX - SG_ POINT_4_SIGNAL_6 : 349|2@1+ (1,0) [0|3] "" XXX - SG_ POINT_4_AZIMUTH : 351|12@1+ (0.001953125,-3.998046875) [-3.998046875|4.0] "" XXX - SG_ POINT_4_SIGNAL_8 : 363|2@1+ (1,0) [0|3] "" XXX - SG_ POINT_4_SIGNAL_9 : 365|1@1+ (1,0) [0|1] "" XXX - SG_ POINT_4_SIGNAL_10 : 366|7@1+ (1,0) [0|127] "" XXX - SG_ POINT_4_SIGNAL_11 : 373|1@1+ (1,0) [0|1] "" XXX - SG_ POINT_4_SIGNAL_12 : 374|6@1+ (1,0) [0|63] "" XXX - SG_ POINT_4_SIGNAL_13 : 380|2@1+ (1,0) [0|3] "" XXX - SG_ POINT_4_SIGNAL_14 : 382|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX - SG_ POINT_4_SIGNAL_15 : 390|1@1+ (1,0) [0|1] "" XXX - SG_ POINT_4_SIGNAL_16 : 391|2@1+ (1,0) [0|3] "" XXX - SG_ POINT_4_SIGNAL_17 : 393|3@1+ (1,0) [0|7] "" XXX - SG_ POINT_4_SIGNAL_18 : 396|6@1+ (1,0) [0|63] "" XXX - SG_ POINT_4_SIGNAL_19 : 402|8@1+ (1,0) [0|255] "" XXX - SG_ POINT_4_SIGNAL_20 : 410|1@1+ (1,0) [0|1] "" XXX - SG_ POINT_5_DISTANCE : 411|14@1+ (0.015625,0) [0|255.984375] "" XXX - SG_ POINT_5_SIGNAL_2 : 425|2@1+ (1,0) [0|3] "" XXX - SG_ POINT_5_SIGNAL_3 : 427|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX - SG_ POINT_5_REL_VELOCITY : 435|13@1+ (0.03125,-66) [-66|189.96875] "" XXX - SG_ POINT_5_SIGNAL_5 : 448|2@1+ (1,0) [0|3] "" XXX - SG_ POINT_5_SIGNAL_6 : 450|2@1+ (1,0) [0|3] "" XXX - SG_ POINT_5_AZIMUTH : 452|12@1+ (0.001953125,-3.998046875) [-3.998046875|4.0] "" XXX - SG_ POINT_5_SIGNAL_8 : 464|2@1+ (1,0) [0|3] "" XXX - SG_ POINT_5_SIGNAL_9 : 466|1@1+ (1,0) [0|1] "" XXX - SG_ POINT_5_SIGNAL_10 : 467|7@1+ (1,0) [0|127] "" XXX - SG_ POINT_5_SIGNAL_11 : 474|1@1+ (1,0) [0|1] "" XXX - SG_ POINT_5_SIGNAL_12 : 475|6@1+ (1,0) [0|63] "" XXX - SG_ POINT_5_SIGNAL_13 : 481|2@1+ (1,0) [0|3] "" XXX - SG_ POINT_5_SIGNAL_14 : 483|8@1+ (0.001953125,-0.248046875) [-0.248046875|0.25] "" XXX - SG_ POINT_5_SIGNAL_15 : 491|1@1+ (1,0) [0|1] "" XXX - SG_ POINT_5_SIGNAL_16 : 492|2@1+ (1,0) [0|3] "" XXX - SG_ POINT_5_SIGNAL_17 : 494|3@1+ (1,0) [0|7] "" XXX - SG_ POINT_5_SIGNAL_18 : 497|6@1+ (1,0) [0|63] "" XXX - SG_ POINT_5_SIGNAL_19 : 503|8@1+ (1,0) [0|255] "" XXX - SG_ POINT_5_SIGNAL_20 : 511|1@1+ (1,0) [0|1] "" XXX - -BO_ 260 RADAR_POINTS_CHECKSUM_0x104: 3 RADAR - SG_ CRC16 : 0|16@1+ (1,0) [0|65535] "" XXX - -BO_ 516 RADAR_POINTS_CHECKSUM_0x204: 3 RADAR - SG_ CRC16 : 0|16@1+ (1,0) [0|65535] "" XXX diff --git a/opendbc/hyundai_santafe_2007.dbc b/opendbc/hyundai_santafe_2007.dbc deleted file mode 100644 index c0f4f7e180ae25..00000000000000 --- a/opendbc/hyundai_santafe_2007.dbc +++ /dev/null @@ -1,118 +0,0 @@ -VERSION "" - - -NS_ : - NS_DESC_ - CM_ - BA_DEF_ - BA_ - VAL_ - CAT_DEF_ - CAT_ - FILTER - BA_DEF_DEF_ - EV_DATA_ - ENVVAR_DATA_ - SGTYPE_ - SGTYPE_VAL_ - BA_DEF_SGTYPE_ - BA_SGTYPE_ - SIG_TYPE_REF_ - VAL_TABLE_ - SIG_GROUP_ - SIG_VALTYPE_ - SIGTYPE_VALTYPE_ - BO_TX_BU_ - BA_DEF_REL_ - BA_REL_ - BA_DEF_DEF_REL_ - BU_SG_REL_ - BU_EV_REL_ - BU_BO_REL_ - SG_MUL_VAL_ - -BS_: - -BU_: AWD ECU TCU ESP SAS ABS - - -BO_ 339 ESP_Flags: 8 ESP - SG_ ABD_Active : 3|1@1+ (1,0) [0|1] "yes/no" AWD,ECU,TCU - SG_ TCS_Active : 9|1@1+ (1,0) [0|1] "yes/no" AWD,ECU,TCU - SG_ ABS_Active : 10|1@1+ (1,0) [0|1] "yes/no" AWD,ECU,TCU - SG_ ESP_Off : 12|1@1+ (1,0) [0|1] "yes/no" AWD,ECU,TCU - SG_ ESP_Active : 14|1@1+ (1,0) [0|1] "yes/no" AWD,ECU,TCU - SG_ VehicleSpeed : 16|8@1+ (1,0) [0|254] "km/h" AWD,ECU,TCU - SG_ TorqueRequestFast : 24|8@1+ (0.390625,0) [0|99.609375] "%" ECU,TCU - SG_ TorqueRequestSlow : 40|8@1+ (0.390625,0) [0|99.609375] "%" ECU,TCU - -BO_ 497 ESP_WheelSpeed: 8 ESP - SG_ FrontRightWheelSpeed : 16|12@1+ (0.125,0) [0|511.875] "km/h" AWD - SG_ FrontLeftWheelSpeed : 28|12@1+ (0.125,0) [0|511.875] "km/h" AWD - SG_ RearRightWheelSpeed : 40|12@1+ (0.125,0) [0|511.875] "km/h" AWD - SG_ RearLeftWheelSpeed : 52|12@1+ (0.125,0) [0|511.875] "km/h" AWD - -BO_ 608 ECU_Data1: 8 ECU - SG_ TorqueMin : 0|8@1+ (0.390625,0) [0|99.609375] "%" ESP,TCU - SG_ Torque : 8|8@1+ (0.390625,0) [0|99.609375] "%" ESP,TCU - SG_ TorqueTarget : 16|8@1+ (0.390625,0) [0|99.609375] "%" ESP,TCU - SG_ CruiseEnabled : 25|1@1+ (1,0) [0|1] "yes/no" TCU - SG_ CruiseActive : 26|1@1+ (1,0) [0|1] "yes/no" TCU - SG_ TorqueMax : 40|8@1+ (0.390625,0) [0|99.609375] "%" ESP,TCU - -BO_ 640 ECU_Data2: 8 ECU - SG_ RPM : 32|8@1+ (32,0) [0|8160] "rpm" TCU - SG_ MAF : 40|8@1+ (5.447,0) [0|1388.985] "mg/TDC" TCU - SG_ IAT : 48|8@1- (0.75,-48) [-48|143.25] "C" TCU - SG_ MAP : 56|8@1+ (0.47058,0) [0|119.9979] "KPa" TCU - -BO_ 688 SAS_Data: 5 SAS - SG_ SAS_Angle : 0|16@1- (0.1,0) [-3276.8|3276.7] "deg" AWD,ECU,ESP,TCU - SG_ SAS_Speed : 16|8@1+ (4,0) [0|1016] "deg/s" ESP,TCU - SG_ SAS_Status : 24|8@1+ (1,0) [0|255] "" ESP,TCU - SG_ Msg_Count : 32|4@1+ (1,0) [0|15] "" ESP - SG_ Check_Sum : 36|4@1+ (1,0) [0|15] "" ECU,ESP - -BO_ 809 ECU_Data5: 8 ECU - SG_ ECT : 8|8@1- (0.75,-48) [-48|143.25] "C" AWD,ABS,ESP,TCU - SG_ BrakeActive : 32|2@1+ (1,0) [0|3] "yes/no" AWD,ABS,ESP,TCU - SG_ TPS : 40|8@1+ (0.47265625,-15) [-15|105.52734375] "%" AWD,ABS,ESP,TCU - -BO_ 1064 AWD_Data1: 8 AWD - SG_ ClutchDuty : 16|8@1+ (1,0) [0|100] "%" ABS,ESP - SG_ ClutchLocked : 44|1@1+ (1,0) [0|1] "yes/no" ABS,ESP - -BO_ 1065 AWD_Data2: 8 AWD - SG_ SteeringWheelPosition : 0|16@1+ (1,-600) [-600|600] "deg" ABS - SG_ FrontRightWheelSpeed : 16|8@1+ (1,0) [0|254] "km/h" ABS - SG_ FrontLeftWheelSpeed : 24|8@1+ (1,0) [0|254] "km/h" ABS - SG_ RearRightWheelSpeed : 32|8@1+ (1,0) [0|254] "km/h" ABS - SG_ RearLeftWheelSpeed : 40|8@1+ (1,0) [0|254] "km/h" ABS - -BO_ 1087 TCU_Data: 8 TCU - SG_ CurrentGear : 0|3@1+ (1,0) [0|7] "" ECU - SG_ GearSwitch : 3|1@1+ (1,0) [0|1] "yes/no" ECU - SG_ SelectorPosition : 8|4@1+ (1,0) [0|15] "" ECU - SG_ InputShaftSpeed : 40|16@1+ (0.25,0) [0|16383.5] "rpm" ECU - -BO_ 1349 ECU_Data6: 8 ECU - SG_ BatteryVoltage : 24|8@1+ (0.1015625,0) [0|25.8984375] "V" ABS,ESP - -BO_ 1408 ABS_WheelSpeed: 8 ABS - SG_ FrontRightWheelSpeed : 16|12@1+ (0.125,0) [0|511.875] "km/h" AWD - SG_ FrontLeftWheelSpeed : 28|12@1+ (0.125,0) [0|511.875] "km/h" AWD - SG_ RearRightWheelSpeed : 40|12@1+ (0.125,0) [0|511.875] "km/h" AWD - SG_ RearLeftWheelSpeed : 52|12@1+ (0.125,0) [0|511.875] "km/h" AWD - -BO_ 1695 ECU_Data7: 8 ECU - SG_ ECU_Temperature : 8|8@1- (1,-28) [-28|227] "C" TCU - -BO_ 1984 SAS_Calibration: 2 ESP - SG_ CCW : 0|4@1+ (1,0) [0|15] "" SAS - SG_ CID : 4|11@1+ (1,0) [0|2047] "" SAS - - - -VAL_ 1087 CurrentGear 7 "R" 0 "N" 1 "1" 2 "2" 3 "3" 4 "4" ; -VAL_ 1087 SelectorPosition 7 "R" 6 "N" 5 "D" 8 "M" 15 "P" ; - diff --git a/opendbc/luxgen_s5_2015.dbc b/opendbc/luxgen_s5_2015.dbc deleted file mode 100644 index 34fe6b64605ba5..00000000000000 --- a/opendbc/luxgen_s5_2015.dbc +++ /dev/null @@ -1,153 +0,0 @@ -VERSION "" - - -NS_ : - NS_DESC_ - CM_ - BA_DEF_ - BA_ - VAL_ - CAT_DEF_ - CAT_ - FILTER - BA_DEF_DEF_ - EV_DATA_ - ENVVAR_DATA_ - SGTYPE_ - SGTYPE_VAL_ - BA_DEF_SGTYPE_ - BA_SGTYPE_ - SIG_TYPE_REF_ - VAL_TABLE_ - SIG_GROUP_ - SIG_VALTYPE_ - SIGTYPE_VALTYPE_ - BO_TX_BU_ - BA_DEF_REL_ - BA_REL_ - BA_DEF_DEF_REL_ - BU_SG_REL_ - BU_EV_REL_ - BU_BO_REL_ - SG_MUL_VAL_ - -BS_: - -BU_: XXX - - -BO_ 928 EPB_STATUS: 8 XXX - SG_ EPB_BRAKE : 16|1@1+ (1,0) [0|3] "" XXX - -BO_ 1104 SEATBELT_STATUS: 8 XXX - SG_ DRIVER_SEAT_BELT_ONOFF : 21|1@0+ (1,0) [0|3] "" XXX - -BO_ 1056 BODY_ECU_STATUS: 8 XXX - SG_ DOOR_RL_STATUS : 18|1@0+ (1,0) [0|255] "" XXX - SG_ DOOR_FL_STATUS : 13|1@0+ (1,0) [0|1] "" XXX - SG_ DOOR_FR_STATUS : 12|1@0+ (1,0) [0|1] "" XXX - SG_ DOOR_RR_STATUS : 19|1@0+ (1,0) [0|1] "" XXX - SG_ DOOR_BACK_DOOR_STATUS : 22|1@0+ (1,0) [0|1] "" XXX - SG_ LEFT_SIGNAL_STATUS : 10|1@0+ (1,0) [0|1] "" XXX - SG_ RIGHT_SIGNAL_STATUS : 9|1@0+ (1,0) [0|1] "" XXX - -BO_ 832 GEAR_RPM_SPEED_STATUS: 8 XXX - SG_ TRANS_MODE : 7|5@1+ (1,0) [0|0] "" XXX - SG_ TRANS_GEAR_POS : 2|3@0+ (1,0) [0|1] "" XXX - SG_ ENGINE_RPM1 : 55|8@0+ (1,0) [0|255] "" XXX - SG_ ENGINE_TEMP : 63|8@0+ (1,0) [0|255] "" XXX - -BO_ 821 THROTTLE_STATUS: 8 XXX - SG_ CRUSE_ONOFF : 2|1@0+ (1,0) [0|1] "on/off" XXX - SG_ CRUSE_ENABLED : 4|1@0+ (1,0) [0|1] "" XXX - SG_ THROTTLE_PEDAL_POS : 32|8@1+ (1,0) [0|255] "" XXX - SG_ THROTTLE_POS : 24|8@1+ (1,0) [0|255] "" XXX - SG_ RPM : 48|8@1- (1,0) [0|65535] "" XXX - -BO_ 922 STEERING_ANGLE_STATUS: 8 XXX - SG_ STEER_ANGLE_9000 : 7|16@0- (1,0) [0|65535] "" XXX - -BO_ 906 WHEEL_SPEEDS: 8 XXX - SG_ SPEED_FR : 24|8@1+ (1,0) [0|255] "" XXX - SG_ ABS_UNDEF1 : 32|8@1+ (1,0) [0|255] "" XXX - SG_ SPEED_FL : 0|8@1+ (1,0) [0|255] "" XXX - -BO_ 848 ABS_WHEELS_STATUS: 8 XXX - SG_ NEW_SIGNAL_1 : 23|8@0+ (1,0) [0|255] "" XXX - SG_ NEW_SIGNAL_2 : 31|8@0+ (1,0) [0|255] "" XXX - SG_ NEW_SIGNAL_3 : 7|8@0+ (1,0) [0|255] "" XXX - SG_ NEW_SIGNAL_4 : 15|8@0+ (1,0) [0|255] "" XXX - -BO_ 1402 DASH_STATUS: 8 XXX - SG_ CAR_SPEED : 32|8@1+ (1,0) [0|255] "" XXX - SG_ DASH_INFO2 : 16|8@1+ (1,0) [0|255] "" XXX - SG_ DASH_INFO0 : 0|8@1+ (1,0) [0|255] "" XXX - SG_ DASH_INFO_2 : 15|8@0+ (1,0) [0|255] "" XXX - SG_ DASH_INFO_3 : 31|8@0+ (1,0) [0|255] "" XXX - -BO_ 1306 _SPEEDX: 8 XXX - SG_ DASH_CAR_SPEED : 7|9@0+ (1,0) [0|255] "" XXX - -BO_ 1296 undefined: 8 XXX - -BO_ 790 ENGINE_DATA: 8 XXX - SG_ _X2 : 6|1@0+ (1,0) [0|1] "" XXX - SG_ NEW_SIGNAL_1 : 15|8@0+ (1,0) [0|255] "" XXX - SG_ NEW_SIGNAL_2 : 23|8@0+ (1,0) [0|255] "" XXX - SG_ NEW_SIGNAL_3 : 31|8@0+ (1,0) [0|255] "" XXX - SG_ NEW_SIGNAL_4 : 39|8@0+ (1,0) [0|255] "" XXX - SG_ NEW_SIGNAL_5 : 47|8@0+ (1,0) [0|255] "" XXX - -BO_ 1313 undefined_2: 8 XXX - -BO_ 1312 __trigger_every_range: 8 XXX - SG_ __SIGNAL_every_interval : 4|1@0+ (1,0) [0|1] "" XXX - -BO_ 896 undefined_3: 8 XXX - SG_ NEW_SIGNAL_1 : 32|4@1+ (1,0) [0|15] "" XXX - -BO_ 809 undefined_4: 8 XXX - -BO_ 864 BREAK_TCS_STATUS: 8 XXX - SG_ SPEED3 : 24|8@1+ (1,0) [0|255] "" XXX - SG_ TCS_ON_FF : 45|1@0+ (1,0) [0|1] "" XXX - SG_ XXXX1 : 63|8@0+ (1,0) [0|255] "" XXX - SG_ BRAKE_PRSSED : 42|1@0+ (1,0) [0|1] "" XXX - -BO_ 842 undefined_5: 8 XXX - -BO_ 880 WHEEL_RPM_STATUS: 8 XXX - SG_ WHEEL_RL_SPEED : 23|16@0+ (1,0) [0|255] "" XXX - SG_ WHEEL_FR_SPEED : 39|16@0+ (1,0) [0|255] "" XXX - SG_ WHEEL_FL_SPEED : 55|16@0+ (1,0) [0|255] "" XXX - SG_ WHEEL_RR_SPEED : 7|16@0- (1,0) [0|255] "" XXX - -BO_ 1040 CONSOLE_STATUS: 8 XXX - SG_ LEFT_SIGNAL_SWITCH : 1|1@0+ (1,0) [0|1] "" XXX - SG_ RIGHT_SIGNAL_SWITCH : 2|1@0+ (1,0) [0|1] "" XXX - SG_ HEAD_LIGHT_HANDLE_SWITCH : 3|1@0+ (1,0) [0|1] "" XXX - SG_ HID_LIGHT_SWITCH : 4|1@0+ (1,0) [0|1] "" XXX - SG_ YELLOW_WARN_TEMP_TRIGGER : 5|1@0+ (1,0) [0|1] "" XXX - SG_ HID_LIGHT_HANDLE_SWITCH : 6|1@0+ (1,0) [0|1] "" XXX - SG_ MIX_MODE : 7|1@0+ (1,0) [0|1] "" XXX - SG_ slider_rain_bar : 13|1@0+ (1,0) [0|1] "" XXX - SG_ temp_slider_rain_bar : 15|1@0+ (1,0) [0|1] "" XXX - SG_ temp_water_push : 11|1@0+ (1,0) [0|1] "" XXX - -BO_ 1120 HAVC_STATUS: 8 XXX - SG_ HAVC_TEMP : 32|8@1+ (1,0) [0|255] "" XXX - - -CM_ SG_ 1104 DRIVER_SEAT_BELT_ONOFF "0 - on , 1 = off"; -CM_ SG_ 1056 DOOR_RL_STATUS "04 - RL - open"; -CM_ SG_ 1056 DOOR_FL_STATUS "28 - FL open , 38 - FR"; -CM_ SG_ 1056 RIGHT_SIGNAL_STATUS "R,L shows at same time means hazard"; -CM_ SG_ 832 TRANS_MODE "AT - 85 / MT - 8D"; -CM_ SG_ 832 TRANS_GEAR_POS "R-7 , 0 - N"; -CM_ SG_ 821 CRUSE_ONOFF "Cruse Switch"; -CM_ SG_ 821 CRUSE_ENABLED "Cruse enabled"; -CM_ SG_ 821 THROTTLE_PEDAL_POS "Real Pedal Pos"; -CM_ SG_ 821 THROTTLE_POS "Throttle Pos for Cruse Mode"; -CM_ SG_ 906 ABS_UNDEF1 "ABS force"; -CM_ SG_ 906 SPEED_FL "used for car speed in dash board"; -CM_ SG_ 864 TCS_ON_FF "ON = 1, OFF =0"; diff --git a/opendbc/mazda_3_2019.dbc b/opendbc/mazda_3_2019.dbc deleted file mode 100644 index b23e7196bf7a27..00000000000000 --- a/opendbc/mazda_3_2019.dbc +++ /dev/null @@ -1,408 +0,0 @@ -VERSION "" - - -NS_ : - NS_DESC_ - CM_ - BA_DEF_ - BA_ - VAL_ - CAT_DEF_ - CAT_ - FILTER - BA_DEF_DEF_ - EV_DATA_ - ENVVAR_DATA_ - SGTYPE_ - SGTYPE_VAL_ - BA_DEF_SGTYPE_ - BA_SGTYPE_ - SIG_TYPE_REF_ - VAL_TABLE_ - SIG_GROUP_ - SIG_VALTYPE_ - SIGTYPE_VALTYPE_ - BO_TX_BU_ - BA_DEF_REL_ - BA_REL_ - BA_DEF_DEF_REL_ - BU_SG_REL_ - BU_EV_REL_ - BU_BO_REL_ - SG_MUL_VAL_ - -BS_: - -BU_: XXX - - -BO_ 256 CAM_Start: 8 XXX - SG_ NEW_SIGNAL_7 : 56|4@1+ (1,0) [0|15] "" XXX - SG_ NEW_SIGNAL_8 : 61|2@0+ (1,0) [0|15] "" XXX - SG_ NEW_SIGNAL_10 : 44|12@0+ (1,0) [0|15] "" XXX - SG_ NEW_SIGNAL_2 : 63|2@0+ (1,0) [0|3] "" XXX - SG_ NEW_SIGNAL_5 : 24|12@0+ (1,0) [0|255] "" XXX - SG_ NEW_SIGNAL_1 : 2|2@0+ (1,0) [0|1] "" XXX - SG_ ACTIVE_TARGET : 4|1@0+ (1,0) [0|1] "" XXX - SG_ NEW_SIGNAL_3 : 20|12@0+ (1,0) [0|7] "" XXX - SG_ DISTANCE_LEAD_CAR : 0|12@0+ (1,0) [0|255] "" XXX - -BO_ 358 CAM_End: 8 XXX - SG_ NEW_SIGNAL_2 : 61|2@0+ (1,0) [0|3] "" XXX - SG_ NEW_SIGNAL_3 : 59|4@0+ (1,0) [0|15] "" XXX - SG_ NEW_SIGNAL_1 : 31|8@0+ (1,0) [0|255] "" XXX - -BO_ 1216 CAM_69: 8 XXX - SG_ NEW_SIGNAL_1 : 56|4@1+ (1,0) [0|15] "" XXX - SG_ NEW_SIGNAL_2 : 7|16@0+ (1,0) [0|65535] "" XXX - SG_ NEW_SIGNAL_3 : 23|16@0+ (1,0) [0|65535] "" XXX - SG_ NEW_SIGNAL_4 : 39|16@0+ (1,0) [0|65535] "" XXX - SG_ NEW_SIGNAL_5 : 55|12@0+ (1,0) [0|7] "" XXX - -BO_ 1120 CAM_KEEP_ALIVE_2: 8 XXX - SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|65535] "" XXX - SG_ NEW_SIGNAL_2 : 23|16@0+ (1,0) [0|65535] "" XXX - SG_ NEW_SIGNAL_3 : 39|16@0+ (1,0) [0|65535] "" XXX - SG_ NEW_SIGNAL_4 : 55|16@0+ (1,0) [0|65535] "" XXX - -BO_ 1436 CAM_71: 8 XXX - SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|255] "" XXX - SG_ NEW_SIGNAL_2 : 23|16@0+ (1,0) [0|65535] "" XXX - SG_ NEW_SIGNAL_3 : 39|16@0+ (1,0) [0|65535] "" XXX - SG_ NEW_SIGNAL_4 : 55|16@0+ (1,0) [0|65535] "" XXX - -BO_ 18 STEER: 8 XXX - SG_ NEW_SIGNAL_3 : 55|2@0+ (1,0) [0|15] "" XXX - SG_ CTR : 41|2@0+ (1,0) [0|3] "" XXX - SG_ STEER_LEFT_BIT : 26|1@0+ (1,0) [0|1] "" XXX - SG_ STEER_ANGLE : 25|14@0- (1,375) [0|65536] "" XXX - SG_ ENGINE_OFF : 43|2@0+ (1,0) [0|63] "" XXX - SG_ NEW_SIGNAL_2 : 53|6@0+ (1,0) [0|15] "" XXX - -BO_ 257 LKAS: 8 XXX - SG_ CTR : 59|4@0+ (1,0) [0|255] "" XXX - SG_ CTR_ACT : 61|2@0+ (1,0) [0|3] "" XXX - SG_ SET_0 : 48|1@1+ (1,0) [0|3] "" XXX - SG_ SET_0_1 : 63|2@0+ (1,0) [0|3] "" XXX - SG_ SET_19 : 2|2@0+ (1,0) [0|255] "" XXX - SG_ LEAD_DIST : 0|12@0+ (1,0) [0|255] "" XXX - SG_ ANGLE_TARGET : 20|12@0+ (1,0) [0|4095] "" XXX - SG_ UNKNOWN : 24|12@0+ (1,0) [0|4095] "" XXX - SG_ MAX_TORQUE__ : 44|12@0- (1,0) [0|4095] "" XXX - -BO_ 258 NEW_MSG_3: 8 XXX - SG_ NEW_SIGNAL_3 : 59|4@0+ (1,0) [0|255] "" XXX - SG_ NEW_SIGNAL_5 : 44|10@0- (1,0) [0|1] "" XXX - SG_ NEW_SIGNAL_6 : 1|2@1+ (1,0) [0|3] "" XXX - SG_ NEW_SIGNAL_4 : 39|10@0- (1,0) [0|1] "" XXX - SG_ NEW_SIGNAL_1 : 13|10@0- (1,0) [0|255] "" XXX - SG_ NEW_SIGNAL_2 : 18|10@0- (1,0) [0|255] "" XXX - -BO_ 28 WHEEL_SPEEDS: 8 XXX - SG_ RR : 55|16@0+ (0.01,-100) [0|65535] "" XXX - SG_ RL : 39|16@0+ (0.01,-102) [0|65535] "" XXX - SG_ FL : 7|16@0+ (0.01,-100) [0|65535] "" XXX - SG_ FR : 23|16@0+ (0.01,-100) [0|65535] "" XXX - -BO_ 259 NEW_MSG_5: 8 XXX - SG_ NEW_SIGNAL_3 : 39|10@0- (1,0) [0|1] "" XXX - SG_ NEW_SIGNAL_4 : 44|10@0- (1,0) [0|1] "" XXX - SG_ NEW_SIGNAL_1 : 0|12@0- (1,0) [0|255] "" XXX - SG_ NEW_SIGNAL_2 : 19|11@0- (1,0) [0|10000000] "" XXX - -BO_ 260 NEW_MSG_6: 8 XXX - SG_ NEW_SIGNAL_1 : 0|12@0+ (1,0) [0|255] "" XXX - SG_ NEW_SIGNAL_3 : 24|12@0+ (1,0) [0|1] "" XXX - SG_ NEW_SIGNAL_2 : 20|12@0- (1,0) [0|1] "" XXX - -BO_ 261 NEW_MSG_7: 8 XXX - SG_ NEW_SIGNAL_1 : 15|8@0+ (1,0) [0|255] "" XXX - -BO_ 262 NEW_MSG_8: 8 XXX - SG_ NEW_SIGNAL_1 : 15|8@0- (1,0) [0|255] "" XXX - SG_ NEW_SIGNAL_2 : 7|8@0+ (1,0) [0|255] "" XXX - -BO_ 263 NEW_MSG_9: 8 XXX - SG_ NEW_SIGNAL_1 : 15|8@0+ (1,0) [0|255] "" XXX - -BO_ 310 NEW_MSG_10: 8 XXX - SG_ NEW_SIGNAL_1 : 56|4@1+ (1,0) [0|255] "" XXX - SG_ NEW_SIGNAL_2 : 47|8@0+ (1,0) [0|255] "" XXX - SG_ NEW_SIGNAL_3 : 61|2@0+ (1,0) [0|3] "" XXX - -BO_ 308 ACC_POSSIBLY: 8 XXX - SG_ NEW_SIGNAL_1 : 63|8@0+ (1,0) [0|255] "" XXX - SG_ NEW_SIGNAL_6 : 4|1@0+ (1,0) [0|255] "" XXX - SG_ NEW_SIGNAL_3 : 54|7@0+ (1,0) [0|15] "" XXX - SG_ NEW_SIGNAL_2 : 0|7@0+ (1,0) [0|63] "" XXX - SG_ NEW_SIGNAL_7 : 37|1@0+ (1,0) [0|1] "" XXX - SG_ NEW_SIGNAL_4 : 18|7@0+ (1,0) [0|15] "" XXX - SG_ NEW_SIGNAL_5 : 36|7@0+ (1,0) [0|1] "" XXX - SG_ NEW_SIGNAL_8 : 55|1@0+ (1,0) [0|1] "" XXX - -BO_ 304 CAM_LANES: 8 XXX - SG_ NEW_SIGNAL_3 : 59|4@0+ (1,0) [0|255] "" XXX - SG_ NEW_SIGNAL_4 : 61|2@0+ (1,0) [0|3] "" XXX - SG_ LEFT_LANE_DETECTED : 7|1@0+ (1,0) [0|1] "" XXX - SG_ RIGHT_LANE_DETECTED : 4|1@0+ (1,0) [0|255] "" XXX - SG_ DISTANCE_TO_LEFT_LANE_LOW_RES : 29|8@0+ (1,0) [0|4095] "" XXX - SG_ DISTANCE_TO_RIGHT_LANE_LOW_RES : 37|8@0+ (1,0) [0|15] "" XXX - SG_ DISTANCE_TO_RIGHT_LANE : 23|10@0- (1,0) [0|2047] "" XXX - SG_ DISTANCE_TO_LEFT_LANE : 1|10@0- (1,0) [0|1] "" XXX - -BO_ 305 CAM_LANES_2_MAYBE: 8 XXX - SG_ NEW_SIGNAL_1 : 1|10@0+ (1,0) [0|255] "" XXX - SG_ NEW_SIGNAL_3 : 37|8@0+ (1,0) [0|15] "" XXX - SG_ NEW_SIGNAL_5 : 56|4@1+ (1,0) [0|15] "" XXX - SG_ NEW_SIGNAL_6 : 61|2@0+ (1,0) [0|3] "" XXX - SG_ NEW_SIGNAL_4 : 29|8@0+ (1,0) [0|1] "" XXX - SG_ NEW_SIGNAL_7 : 7|1@0+ (1,0) [0|1] "" XXX - SG_ NEW_SIGNAL_8 : 4|1@0+ (1,0) [0|1] "" XXX - SG_ NEW_SIGNAL_2 : 23|10@0+ (1,0) [0|4095] "" XXX - -BO_ 352 NEW_MSG_14: 8 XXX - SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|255] "" XXX - SG_ NEW_SIGNAL_2 : 23|16@0+ (1,0) [0|65535] "" XXX - SG_ NEW_SIGNAL_3 : 39|16@0+ (1,0) [0|65535] "" XXX - SG_ NEW_SIGNAL_4 : 55|16@0+ (1,0) [0|65535] "" XXX - -BO_ 355 NEW_MSG_15: 8 XXX - SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|127] "" XXX - -BO_ 356 NEW_MSG_16: 8 XXX - SG_ NEW_SIGNAL_1 : 56|4@1+ (1,0) [0|15] "" XXX - SG_ NEW_SIGNAL_2 : 61|2@0+ (1,0) [0|3] "" XXX - -BO_ 357 NEW_MSG_17: 8 XXX - SG_ NEW_SIGNAL_1 : 61|2@0+ (1,0) [0|3] "" XXX - SG_ NEW_SIGNAL_2 : 7|32@0+ (1,0) [0|4294967295] "" XXX - SG_ NEW_SIGNAL_3 : 56|4@1+ (1,0) [0|15] "" XXX - -BO_ 59 STEER_RATE: 8 XXX - SG_ NEW_SIGNAL_2 : 47|4@0+ (1,0) [0|15] "" XXX - SG_ STEER_ANGLE_RATE : 55|8@0+ (0.05,0) [0|65535] "" XXX - SG_ NEW_SIGNAL_1 : 43|4@0+ (1,0) [0|15] "" XXX - SG_ STEER_ANGLE : 23|16@0+ (0.05,-1600) [-500|500] "" XXX - SG_ CHKSUM : 39|8@0+ (1,0) [0|15] "" XXX - -BO_ 24 BRAKE_PEDAL: 8 XXX - SG_ BRAKE_PEDAL_PRESSED_AND_ENGINE_ON : 0|1@0+ (1,0) [0|3] "" XXX - SG_ NOT_BRAKE_PEDAL_PRESSED : 6|1@0+ (1,0) [0|3] "" XXX - SG_ BRAKE_PEDAL_PRESSED : 7|1@0+ (1,0) [0|65535] "" XXX - SG_ NOT_BRAKE_PEDAL_PRESSED_AND_ENGINE_ON : 15|1@0+ (1,0) [0|7] "" XXX - -BO_ 26 ENGINE_DATA: 8 XXX - SG_ PEDAL_GAS : 39|10@0+ (1,0) [0|15] "" XXX - SG_ CHKSUM : 63|8@0- (1,0) [0|15] "" XXX - SG_ RPM : 7|13@0+ (1,0) [0|15] "" XXX - SG_ ENGINE_ON : 52|1@0+ (1,0) [0|15] "" XXX - -BO_ 145 BLINK_INFO: 8 XXX - SG_ RIGHT_BLINK : 12|1@0+ (1,0) [0|3] "" XXX - SG_ LEFT_BLINK : 13|1@0+ (1,0) [0|3] "" XXX - SG_ Speed : 27|12@0+ (1,0) [0|255] "" XXX - SG_ CTR : 51|4@0+ (1,0) [0|15] "" XXX - SG_ CHKSUM : 63|8@0+ (1,0) [0|15] "" XXX - -BO_ 16 STEER_TORQUE: 8 XXX - SG_ NEW_SIGNAL_12 : 7|2@0+ (1,0) [0|15] "" XXX - SG_ NEW_SIGNAL_1 : 43|4@0+ (1,0) [0|15] "" XXX - SG_ NEW_SIGNAL_5 : 47|4@0+ (1,0) [0|15] "" XXX - SG_ NEW_SIGNAL_3 : 51|4@0+ (1,0) [0|15] "" XXX - SG_ NEW_SIGNAL_4 : 55|4@0+ (1,0) [0|15] "" XXX - SG_ STEER_TORQUE_SENSOR : 5|13@0+ (1,-4000) [0|15] "" XXX - SG_ CHKSUM : 63|8@0- (1,0) [0|15] "" XXX - SG_ STEER_TORQUE_MOTOR : 8|13@0+ (0.05,-205) [0|15] "" XXX - SG_ BRAKE_PREASURE : 27|12@0+ (1,0) [0|15] "" XXX - -BO_ 17 STEER_TORQUE_2: 8 XXX - SG_ CTR : 51|4@0+ (1,0) [0|15] "" XXX - SG_ NEW_SIGNAL_5 : 55|4@0+ (1,0) [0|15] "" XXX - SG_ CHKSUM : 63|8@0+ (1,0) [0|255] "" XXX - SG_ STEER_TORQUE_MOTOR : 7|16@0+ (1,0) [0|255] "" XXX - SG_ NEW_SIGNAL_1 : 27|14@0+ (1,0) [0|255] "" XXX - SG_ NEW_SIGNAL_2 : 45|6@0+ (1,0) [0|15] "" XXX - SG_ NEW_SIGNAL_3 : 23|12@0+ (1,0) [0|255] "" XXX - -BO_ 29 WHEEL: 8 XXX - SG_ STANDSTILL : 52|1@0+ (1,0) [0|15] "" XXX - SG_ SPEED : 39|16@0+ (1,0) [0|127] "" XXX - SG_ ENCODER_1 : 7|16@0+ (1,0) [0|65535] "" XXX - SG_ ENCODER_2 : 23|16@0+ (1,0) [0|65535] "" XXX - SG_ NEW_SIGNAL_6 : 55|3@0+ (1,0) [0|7] "" XXX - SG_ NEW_SIGNAL_1 : 63|8@0+ (1,0) [0|255] "" XXX - SG_ NEW_SIGNAL_2 : 51|4@0+ (1,0) [0|15] "" XXX - -BO_ 31 GEAR: 8 XXX - SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|65535] "" XXX - SG_ NEW_SIGNAL_2 : 23|16@0+ (1,0) [0|65535] "" XXX - SG_ NEW_SIGNAL_4 : 55|16@0+ (1,0) [0|65535] "" XXX - SG_ GEAR : 36|4@0+ (1,0) [0|65535] "" XXX - -BO_ 96 STEER2: 8 XXX - SG_ NEW_SIGNAL_5 : 48|4@1+ (1,0) [0|15] "" XXX - SG_ CTR : 55|4@0+ (1,0) [0|15] "" XXX - SG_ CHKSUM : 63|8@0+ (1,0) [0|255] "" XXX - SG_ TURN_ON : 34|1@0+ (1,0) [0|1] "" XXX - SG_ TURN_OFF : 32|1@0+ (1,0) [0|1] "" XXX - SG_ ENGINE_ON : 33|1@0+ (1,0) [0|1] "" XXX - SG_ CAR_MOVING_FORWARD : 21|1@0+ (1,0) [0|15] "" XXX - SG_ CAR_REVERSING : 22|1@0+ (1,0) [0|1] "" XXX - SG_ ENGINE_OFF : 23|1@0+ (1,0) [0|1] "" XXX - SG_ NEW_SIGNAL_4 : 45|1@0+ (1,0) [0|15] "" XXX - SG_ SPEED : 18|16@0- (0.00621371,-62.1371) [-65635|65635] "MPH" XXX - SG_ STEER__ : 7|16@0+ (1,0) [0|65535] "" XXX - -BO_ 1209 KEEP_ALIVE_1: 8 XXX - SG_ NEW_SIGNAL_1 : 63|8@0+ (1,0) [0|255] "" XXX - SG_ NEW_SIGNAL_2 : 55|8@0+ (1,0) [0|255] "" XXX - SG_ NEW_SIGNAL_3 : 47|8@0+ (1,0) [0|255] "" XXX - SG_ NEW_SIGNAL_5 : 31|8@0+ (1,0) [0|255] "" XXX - SG_ NEW_SIGNAL_6 : 23|8@0+ (1,0) [0|255] "" XXX - SG_ NEW_SIGNAL_7 : 15|8@0+ (1,0) [0|255] "" XXX - SG_ NEW_SIGNAL_4 : 39|8@0+ (1,0) [0|255] "" XXX - SG_ NEW_SIGNAL_8 : 4|5@0+ (1,0) [0|127] "" XXX - -BO_ 37 BLANK_1: 8 XXX - SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|65535] "" XXX - SG_ NEW_SIGNAL_2 : 23|16@0+ (1,0) [0|65535] "" XXX - SG_ NEW_SIGNAL_3 : 39|16@0+ (1,0) [0|65535] "" XXX - SG_ NEW_SIGNAL_4 : 55|16@0+ (1,0) [0|65535] "" XXX - -BO_ 44 BLANK_2: 8 XXX - SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|16777215] "" XXX - SG_ NEW_SIGNAL_3 : 55|16@0+ (1,0) [0|65535] "" XXX - SG_ NEW_SIGNAL_4 : 23|16@0+ (1,0) [0|65535] "" XXX - SG_ NEW_SIGNAL_2 : 39|16@0+ (1,0) [0|16777215] "" XXX - -BO_ 128 RADARS: 8 XXX - SG_ NEW_SIGNAL_1 : 59|4@0+ (1,0) [0|255] "" XXX - SG_ NEW_SIGNAL_3 : 7|8@0+ (1,0) [0|255] "" XXX - SG_ NEW_SIGNAL_4 : 15|1@0+ (1,0) [0|255] "" XXX - SG_ FRONT_LEFT : 19|1@0+ (1,0) [0|255] "" XXX - SG_ FRONT : 21|1@0+ (1,0) [0|1] "" XXX - SG_ FRONT_RIGHT : 18|1@0+ (1,0) [0|1] "" XXX - SG_ REAR_RIGHT : 20|1@0+ (1,0) [0|15] "" XXX - SG_ REAR_LEFT : 17|1@0+ (1,0) [0|1] "" XXX - -BO_ 129 NEW_MSG_19: 8 XXX - SG_ NEW_SIGNAL_2 : 15|1@0+ (1,0) [0|65535] "" XXX - SG_ NEW_SIGNAL_3 : 31|16@0+ (1,0) [0|65535] "" XXX - SG_ NEW_SIGNAL_4 : 47|16@0+ (1,0) [0|65535] "" XXX - SG_ NEW_SIGNAL_5 : 56|8@1+ (1,0) [0|15] "" XXX - -BO_ 1034 KEEP_ALIVE_2: 8 XXX - SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|255] "" XXX - SG_ NEW_SIGNAL_3 : 23|16@0+ (1,0) [0|255] "" XXX - SG_ NEW_SIGNAL_4 : 39|16@0+ (1,0) [0|255] "" XXX - SG_ NEW_SIGNAL_5 : 55|16@0+ (1,0) [0|255] "" XXX - -BO_ 1200 KEEP_ALIVE_3: 8 XXX - SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|255] "" XXX - SG_ NEW_SIGNAL_2 : 55|16@0+ (1,0) [0|255] "" XXX - SG_ NEW_SIGNAL_3 : 23|16@0+ (1,0) [0|65535] "" XXX - SG_ NEW_SIGNAL_4 : 39|16@0+ (1,0) [0|65535] "" XXX - -BO_ 354 CAM_KEEP_ALIVE_1: 8 XXX - SG_ NEW_SIGNAL_1 : 7|16@0+ (1,0) [0|65535] "" XXX - SG_ NEW_SIGNAL_2 : 23|16@0+ (1,0) [0|65535] "" XXX - SG_ NEW_SIGNAL_3 : 39|16@0+ (1,0) [0|65535] "" XXX - SG_ NEW_SIGNAL_4 : 55|30@0+ (1,0) [0|65535] "" XXX - -BO_ 336 NEW_MSG_20: 8 XXX - SG_ NEW_SIGNAL_2 : 7|8@0+ (1,0) [0|4095] "" XXX - SG_ NEW_SIGNAL_1 : 11|12@0+ (1,0) [0|127] "" XXX - SG_ NEW_SIGNAL_3 : 31|8@0+ (1,0) [0|255] "" XXX - SG_ NEW_SIGNAL_4 : 39|8@0+ (1,0) [0|255] "" XXX - SG_ NEW_SIGNAL_5 : 47|8@0+ (1,0) [0|255] "" XXX - -BO_ 342 NEW_MSG_21: 8 XXX - SG_ NEW_SIGNAL_1 : 56|4@1+ (1,0) [0|15] "" XXX - SG_ NEW_SIGNAL_2 : 63|4@0+ (1,0) [0|15] "" XXX - SG_ NEW_SIGNAL_4 : 55|4@0+ (1,0) [0|15] "" XXX - SG_ NEW_SIGNAL_5 : 39|16@0+ (1,0) [0|15] "" XXX - SG_ NEW_SIGNAL_3 : 48|4@1+ (1,0) [0|15] "" XXX - SG_ NEW_SIGNAL_7 : 7|16@0+ (1,0) [0|255] "" XXX - SG_ NEW_SIGNAL_8 : 23|16@0+ (1,0) [0|65535] "" XXX - SG_ NEW_SIGNAL_6 : 40|4@1+ (1,0) [0|15] "" XXX - -BO_ 264 NEW_MSG_2: 8 XXX - SG_ NEW_SIGNAL_1 : 56|8@1+ (1,0) [0|15] "" XXX - SG_ NEW_SIGNAL_2 : 49|3@1+ (1,0) [0|7] "" XXX - SG_ CRZ_CTRL_PRESSED : 48|1@0+ (1,0) [0|1] "" XXX - -BO_ 22 CRZ_CTRL_BTNS: 8 XXX - SG_ CRZ_CTRL_BTN_PRESSED : 48|1@0+ (1,0) [0|1] "" XXX - SG_ NEW_SIGNAL_2 : 51|3@0+ (1,0) [0|7] "" XXX - SG_ SIGNAL : 45|1@0+ (1,0) [0|15] "" XXX - SG_ NOT_SIGNAL : 46|1@0+ (1,0) [0|3] "" XXX - -BO_ 306 CAM_LANE_3_MAYBE: 8 XXX - SG_ NEW_SIGNAL_1 : 19|10@0+ (1,0) [0|63] "" XXX - SG_ NEW_SIGNAL_2 : 13|10@0+ (1,0) [0|255] "" XXX - SG_ LANE_DETECTED_1 : 44|1@0+ (1,0) [0|1] "" XXX - SG_ LANE_DETECTED_2 : 45|1@0+ (1,0) [0|1] "" XXX - SG_ NEW_SIGNAL_4 : 25|10@0+ (1,0) [0|1] "" XXX - SG_ STEER : 7|10@0+ (1,0) [0|1] "" XXX - -BO_ 307 NEW_MSG_1: 8 XXX - SG_ NEW_SIGNAL_2 : 13|10@0+ (1,0) [0|1] "" XXX - SG_ NEW_SIGNAL_5 : 61|6@0+ (1,0) [0|1] "" XXX - SG_ NEW_SIGNAL_3 : 25|10@0+ (1,0) [0|1] "" XXX - SG_ NEW_SIGNAL_4 : 7|10@0+ (1,0) [0|1] "" XXX - SG_ NEW_SIGNAL_1 : 19|10@0+ (1,0) [0|1] "" XXX - -BO_ 320 NEW_MSG_4: 8 XXX - SG_ NEW_SIGNAL_4 : 16|1@0+ (1,0) [0|255] "" XXX - SG_ NEW_SIGNAL_3 : 43|6@0+ (1,0) [0|1] "" XXX - SG_ NEW_SIGNAL_1 : 36|9@0+ (1,0) [0|1] "" XXX - SG_ NEW_SIGNAL_2 : 27|7@0+ (1,0) [0|1] "" XXX - -BO_ 321 NEW_MSG_11: 8 XXX - SG_ NEW_SIGNAL_1 : 5|1@0+ (1,0) [0|1] "" XXX - SG_ NEW_SIGNAL_2 : 32|1@0+ (1,0) [0|1] "" XXX - -BO_ 293 NEW_MSG_12: 8 XXX - SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|255] "" XXX - SG_ NEW_SIGNAL_2 : 39|16@0+ (1,0) [0|255] "" XXX - SG_ NEW_SIGNAL_3 : 19|4@0+ (1,0) [0|1] "" XXX - -BO_ 294 NEW_MSG_13: 8 XXX - SG_ NEW_SIGNAL_1 : 59|4@0+ (1,0) [0|255] "" XXX - SG_ NEW_SIGNAL_2 : 61|2@0+ (1,0) [0|1] "" XXX - SG_ NEW_SIGNAL_3 : 7|16@0+ (1,0) [0|1] "" XXX - -BO_ 292 NEW_MSG_18: 8 XXX - SG_ NEW_SIGNAL_1 : 63|8@0+ (1,0) [0|255] "" XXX - -BO_ 291 NEW_MSG_22: 8 XXX - SG_ NEW_SIGNAL_1 : 39|8@0+ (1,0) [0|255] "" XXX - -BO_ 290 NEW_MSG_23: 8 XXX - SG_ NEW_SIGNAL_1 : 31|5@0+ (1,0) [0|255] "" XXX - -BO_ 277 NEW_MSG_24: 8 XXX - SG_ NEW_SIGNAL_1 : 47|8@0+ (1,0) [0|1] "" XXX - -BO_ 278 NEW_MSG_25: 8 XXX - -BO_ 273 NEW_MSG_26: 8 XXX - SG_ NEW_SIGNAL_1 : 23|4@0+ (1,0) [0|3] "" XXX - -BO_ 274 NEW_MSG_27: 8 XXX - SG_ NEW_SIGNAL_1 : 39|8@0+ (1,0) [0|1] "" XXX - -BO_ 289 NEW_MSG_28: 8 XXX - SG_ NEW_SIGNAL_1 : 55|8@0+ (1,0) [0|1] "" XXX - -BO_ 20 NEW_MSG_29: 8 XXX - SG_ RIGHT_BLINK_CLOCK : 23|8@0+ (1,0) [0|1] "" XXX - -BO_ 288 NEW_MSG_30: 8 XXX - - - - -CM_ SG_ 31 GEAR "13-P, 12-R, 11-N, 1-6-D"; -CM_ SG_ 96 SPEED ""; -VAL_ 31 GEAR 13 "P" 12 "R" 11 "N" 1 "D" 2 "D" 3 "D" 4 "D" 5 "D" 6 "D"; diff --git a/opendbc/mazda_radar.dbc b/opendbc/mazda_radar.dbc deleted file mode 100644 index a4fe3b4b9e867f..00000000000000 --- a/opendbc/mazda_radar.dbc +++ /dev/null @@ -1,73 +0,0 @@ -VERSION "" - - -NS_ : - NS_DESC_ - CM_ - BA_DEF_ - BA_ - VAL_ - CAT_DEF_ - CAT_ - FILTER - BA_DEF_DEF_ - EV_DATA_ - ENVVAR_DATA_ - SGTYPE_ - SGTYPE_VAL_ - BA_DEF_SGTYPE_ - BA_SGTYPE_ - SIG_TYPE_REF_ - VAL_TABLE_ - SIG_GROUP_ - SIG_VALTYPE_ - SIGTYPE_VALTYPE_ - BO_TX_BU_ - BA_DEF_REL_ - BA_REL_ - BA_DEF_DEF_REL_ - BU_SG_REL_ - BU_EV_REL_ - BU_BO_REL_ - SG_MUL_VAL_ - -BS_: - -BU_: XXX - - -BO_ 540 CRZ_CTRL: 8 XXX - -BO_ 539 CRZ_INFO: 8 XXX - -BO_ 865 RADAR_TRACK_361: 8 XXX - SG_ DIST_OBJ : 7|12@0+ (1,0) [0|4095] "" XXX - SG_ ANG_OBJ : 11|12@0- (1,0) [-2047|2047] "" XXX - SG_ RELV_OBJ : 31|11@0- (1,0) [-1023|1023] "" XXX - -BO_ 866 RADAR_TRACK_362: 8 XXX - SG_ DIST_OBJ : 7|12@0+ (1,0) [0|4095] "" XXX - SG_ ANG_OBJ : 11|12@0- (1,0) [-2047|2047] "" XXX - SG_ RELV_OBJ : 31|11@0- (1,0) [-1023|1023] "" XXX - -BO_ 867 RADAR_TRACK_363: 8 XXX - SG_ DIST_OBJ : 7|12@0+ (1,0) [0|4095] "" XXX - SG_ ANG_OBJ : 11|12@0- (1,0) [-2047|2047] "" XXX - SG_ RELV_OBJ : 31|11@0- (1,0) [-1023|1023] "" XXX - -BO_ 868 RADAR_TRACK_364: 8 XXX - SG_ DIST_OBJ : 7|12@0+ (1,0) [0|4095] "" XXX - SG_ ANG_OBJ : 11|12@0- (1,0) [-2047|2047] "" XXX - SG_ RELV_OBJ : 31|11@0- (1,0) [-1023|1023] "" XXX - -BO_ 869 RADAR_TRACK_365: 8 XXX - SG_ DIST_OBJ : 7|12@0+ (1,0) [0|4095] "" XXX - SG_ ANG_OBJ : 11|12@0- (1,0) [-2047|2047] "" XXX - SG_ RELV_OBJ : 31|11@0- (1,0) [-1023|1023] "" XXX - -BO_ 870 RADAR_TRACK_366: 8 XXX - SG_ DIST_OBJ : 7|12@0+ (1,0) [0|4095] "" XXX - SG_ ANG_OBJ : 11|12@0- (1,0) [-2047|2047] "" XXX - SG_ RELV_OBJ : 31|11@0- (1,0) [-1023|1023] "" XXX - -BO_ 1177 RADAR_499: 8 XXX \ No newline at end of file diff --git a/opendbc/mazda_rx8.dbc b/opendbc/mazda_rx8.dbc deleted file mode 100644 index b81e7c1d98315c..00000000000000 --- a/opendbc/mazda_rx8.dbc +++ /dev/null @@ -1,77 +0,0 @@ -VERSION "" - - -NS_ : - NS_DESC_ - CM_ - BA_DEF_ - BA_ - VAL_ - CAT_DEF_ - CAT_ - FILTER - BA_DEF_DEF_ - EV_DATA_ - ENVVAR_DATA_ - SGTYPE_ - SGTYPE_VAL_ - BA_DEF_SGTYPE_ - BA_SGTYPE_ - SIG_TYPE_REF_ - VAL_TABLE_ - SIG_GROUP_ - SIG_VALTYPE_ - SIGTYPE_VALTYPE_ - BO_TX_BU_ - BA_DEF_REL_ - BA_REL_ - BA_DEF_DEF_REL_ - BU_SG_REL_ - BU_EV_REL_ - BU_BO_REL_ - SG_MUL_VAL_ - -BS_: - -BU_: PowertrainControlModule InstrumentCluster ElectricPowerSteering AntilockBrakeSystem - - -BO_ 129 steering: 8 ElectricPowerSteering - SG_ SteeringAngle : 23|16@0- (1,0) [0|0] "deg" Vector__XXX - -BO_ 513 speed: 8 PowertrainControlModule - SG_ EngineRPM : 7|16@0+ (0.25,0) [0|0] "rpm" Vector__XXX - SG_ VehicleSpeed : 39|16@0+ (0.01,-100) [0|0] "kph" Vector__XXX - SG_ AcceleratorPos : 55|8@0+ (0.5,0) [0|0] "%" Vector__XXX - -BO_ 592 throttle_body: 8 PowertrainControlModule - SG_ IntakeAirTemperature : 31|8@0+ (1,-40) [0|0] "Cel" Vector__XXX - SG_ AcceleratorPedalSensorRaw : 23|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ AcceleratorPedalSensorFiltered : 55|8@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 658 brake_controls: 8 PowertrainControlModule - SG_ BrakePedalSwitch : 43|1@1+ (1,0) [0|0] "" Vector__XXX - SG_ ParkingBrakeSwitch : 38|1@1+ (1,0) [0|0] "" Vector__XXX - -BO_ 1056 coolant: 8 PowertrainControlModule - SG_ CoolantTemperature : 7|8@0+ (1,-40) [0|0] "Cel" Vector__XXX - -BO_ 1072 instrument_cluster: 8 InstrumentCluster - SG_ FuelLevel : 7|8@0+ (0.392156,0) [0|0] "%" Vector__XXX - SG_ FuelTankSensorLeft : 15|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ FuelTankSensorRight : 23|8@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 1200 wheel_speed: 8 AntilockBrakeSystem - SG_ WheelSpeedFL : 7|16@0+ (0.01,-100) [0|0] "kph" Vector__XXX - SG_ WheelSpeedFR : 23|16@0+ (0.01,-100) [0|0] "kph" Vector__XXX - SG_ WheelSpeedRL : 39|16@0+ (0.01,-100) [0|0] "kph" Vector__XXX - SG_ WheelSpeedRR : 55|16@0+ (0.01,-100) [0|0] "kph" Vector__XXX - -CM_ SG_ 129 SteeringAngle "Steering wheel angle: positive is right and negative is left"; -CM_ SG_ 513 AcceleratorPos "processed interpretation of AcceleratorPedalSensor values"; -CM_ SG_ 1072 FuelTankSensorLeft "lower sensor values indicate a more full tank"; -CM_ SG_ 1072 FuelTankSensorRight "lower sensor values indicate a more full tank"; - - - - diff --git a/opendbc/mercedes_benz_e350_2010.dbc b/opendbc/mercedes_benz_e350_2010.dbc deleted file mode 100644 index da6ae4c15ee66b..00000000000000 --- a/opendbc/mercedes_benz_e350_2010.dbc +++ /dev/null @@ -1,176 +0,0 @@ -VERSION "" - - -NS_ : - NS_DESC_ - CM_ - BA_DEF_ - BA_ - VAL_ - CAT_DEF_ - CAT_ - FILTER - BA_DEF_DEF_ - EV_DATA_ - ENVVAR_DATA_ - SGTYPE_ - SGTYPE_VAL_ - BA_DEF_SGTYPE_ - BA_SGTYPE_ - SIG_TYPE_REF_ - VAL_TABLE_ - SIG_GROUP_ - SIG_VALTYPE_ - SIGTYPE_VALTYPE_ - BO_TX_BU_ - BA_DEF_REL_ - BA_REL_ - BA_DEF_DEF_REL_ - BU_SG_REL_ - BU_EV_REL_ - BU_BO_REL_ - SG_MUL_VAL_ - -BS_: - -BU_: XXX - - -BO_ 3 STEER_SENSOR: 8 XXX - SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX - SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX - SG_ STEER_RATE : 19|12@0- (0.5,0) [0|255] "" XXX - SG_ STEER_DIRECTION : 4|1@0+ (1,2) [0|1] "" XXX - SG_ STEER_ANGLE : 3|12@0- (-0.5,0) [-500|500] "degrees" XXX - -BO_ 5 BRAKE_MODULE: 8 XXX - SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX - SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX - SG_ BRAKE_HOLD : 2|1@0+ (1,0) [0|1] "" XXX - SG_ BRAKE_POSITION : 17|10@0+ (1,0) [0|65535] "" XXX - SG_ DRIVER_BRAKE : 4|1@0+ (1,0) [0|1] "" XXX - SG_ COMPUTER_BRAKE : 10|1@0+ (1,0) [0|1] "" XXX - SG_ BRAKE_PRESSED : 0|1@1+ (1,0) [0|1] "" XXX - -BO_ 69 DRIVER_CONTROLS: 8 XXX - SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX - SG_ STEERING_WHEEL_BUTTONS : 32|16@1+ (1,0) [0|255] "4 directional, 2 volume control & 2 phone buttons" XXX - SG_ LEFT_BLINKER : 16|1@0+ (1,0) [0|1] "" XXX - SG_ RIGHT_BLINKER : 17|1@0+ (1,0) [0|1] "" XXX - SG_ HIGHBEAM_TOGGLE : 18|1@0+ (1,0) [0|1] "" XXX - SG_ HIGHBEAM_MOMENTARY : 19|1@0+ (1,0) [0|1] "" XXX - SG_ CRUISE_CONTROL_CANCEL : 0|1@0+ (1,0) [0|1] "" XXX - SG_ CRUISE_CONTROL_RESUME : 1|1@0+ (1,0) [0|1] "" XXX - SG_ CRUISE_CONTROL_ACCEL_HIGH : 2|1@0+ (1,0) [0|1] "" XXX - SG_ CRUISE_CONTROL_DECEL_HIGH : 3|1@0+ (1,0) [0|1] "" XXX - SG_ CRUISE_CONTROL_ACCEL_LOW : 4|1@0+ (1,0) [0|1] "" XXX - SG_ CRUISE_CONTROL_DECEL_LOW : 5|1@0+ (1,0) [0|1] "" XXX - SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX - SG_ SET_ME_XFF : 15|8@0+ (1,0) [0|255] "" XXX - -BO_ 513 WHEEL_ENCODERS: 8 XXX - SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX - SG_ WHEEL_ENCODER_2 : 15|8@0+ (1,0) [0|255] "" XXX - SG_ WHEEL_ENCODER_3 : 23|8@0+ (1,0) [0|255] "" XXX - SG_ WHEEL_ENCODER_4 : 31|8@0+ (1,0) [0|255] "" XXX - SG_ CHECKSUM : 56|8@1+ (1,0) [0|255] "" XXX - SG_ WHEEL_ENCODER_1 : 7|8@0+ (1,0) [0|255] "" XXX - -BO_ 261 GAS_PEDAL: 8 XXX - SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX - SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX - SG_ ENGINE_RPM : 4|5@0+ (1,0) [0|255] "" XXX - SG_ GAS_PEDAL : 39|8@0+ (1,0) [0|255] "" XXX - SG_ COMBINED_GAS : 31|8@0+ (1,0) [0|255] "" XXX - -BO_ 643 DOOR_SENSORS: 8 XXX - SG_ BRAKE_PRESSED : 27|1@0+ (1,0) [0|1] "" XXX - SG_ DOOR_OPEN_FR : 3|1@1+ (1,0) [0|3] "" XXX - SG_ DOOR_OPEN_RL : 5|1@0+ (1,0) [0|3] "" XXX - SG_ DOOR_OPEN_RR : 7|1@0+ (1,0) [0|3] "" XXX - SG_ DOOR_OPEN_FL : 1|1@0+ (1,0) [0|1] "" XXX - SG_ DOOR_CLOSED_FL : 0|1@0+ (1,0) [0|1] "" XXX - SG_ DOOR_CLOSED_FR : 2|1@0+ (1,0) [0|1] "" XXX - SG_ DOOR_CLOSED_RL : 4|1@0+ (1,0) [0|1] "" XXX - SG_ DOOR_CLOSED_RR : 6|1@0+ (1,0) [0|1] "" XXX - -BO_ 885 SEATBELT_SENSORS: 8 XXX - SG_ SEATBELT_DRIVER_LATCHED : 16|1@0+ (1,0) [0|1] "" XXX - SG_ SEATBELT_PASSENGER_LATCHED : 18|1@0+ (1,0) [0|1] "" XXX - -BO_ 257 CRUISE_CONTROL: 8 XXX - SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX - SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX - SG_ NEW_SIGNAL_1 : 6|1@0+ (1,0) [0|255] "" XXX - SG_ CRUISE_DISABLED : 23|1@0+ (1,0) [0|1] "" XXX - SG_ SET_ME_X002 : 39|8@0+ (1,0) [0|255] "" XXX - SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX - SG_ SET_ME_X003 : 47|8@0+ (1,0) [0|255] "" XXX - SG_ SET_ME_1 : 5|1@0+ (1,0) [0|1] "" XXX - SG_ CRUISE_ACCELERATING : 22|1@0+ (1,0) [0|1] "" XXX - SG_ LONGITUDINAL_ACCEL_REQUEST : 15|8@0- (1,0) [0|127] "" XXX - -BO_ 260 CRUISE_CONTROL2: 8 XXX - SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX - SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX - SG_ SET_ME_X00 : 47|8@0+ (1,0) [0|255] "" XXX - SG_ SET_ME_XFF : 31|8@0+ (1,0) [0|65535] "" XXX - SG_ SET_ME_X02 : 23|8@0+ (1,0) [0|255] "" XXX - SG_ SET_ME_XFF2 : 39|8@0+ (1,0) [0|255] "" XXX - SG_ NEW_SIGNAL_1 : 7|4@0+ (1,0) [0|255] "" XXX - -BO_ 14 STEER_TORQUE: 8 XXX - SG_ STEER_TORQUE : 15|8@0+ (1,0) [0|255] "" XXX - SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX - SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX - -BO_ 888 CRUISE_CONTROL3: 8 XXX - SG_ NEW_SIGNAL_2 : 7|1@0+ (1,0) [0|1] "" XXX - SG_ NEW_SIGNAL_1 : 38|1@0+ (1,0) [0|1] "" XXX - SG_ NEW_SIGNAL_5 : 32|1@0+ (1,0) [0|1] "" XXX - SG_ CRUISE_DISABLED : 36|1@0+ (1,0) [0|1] "" XXX - SG_ CRUISE_ENABLED : 34|1@0+ (1,0) [0|1] "" XXX - SG_ SET_ME_X003 : 47|8@0+ (1,0) [0|255] "" XXX - SG_ SET_ME_X004 : 63|8@0+ (1,0) [0|255] "" XXX - SG_ SET_ME_X002 : 31|8@0+ (1,0) [0|255] "" XXX - SG_ SET_ME_X00 : 23|8@0+ (1,0) [0|255] "" XXX - SG_ CRUISE_SET_SPEED : 15|8@0+ (1,0) [0|63] "mph" XXX - SG_ CRUISE_SPEED_CHANGE : 55|1@0+ (1,0) [0|1] "" XXX - -BO_ 307 POWER_SEATS: 8 XXX - SG_ DRIVER_FORWARD : 0|1@0+ (1,0) [0|1] "" XXX - SG_ DRIVER_BACK : 1|1@0+ (1,0) [0|1] "" XXX - -BO_ 109 GEAR_LEVER: 8 XXX - SG_ PARK_BUTTON : 12|1@0+ (1,0) [0|1] "" XXX - SG_ NEUTRAL_UP : 9|1@0+ (1,0) [0|1] "" XXX - SG_ NEUTRAL_DOWN : 10|1@0+ (1,0) [0|1] "" XXX - SG_ DRIVE : 11|1@0+ (1,0) [0|1] "" XXX - SG_ REVERSE : 8|1@0+ (1,0) [0|1] "" XXX - SG_ COUNTER : 23|4@0+ (1,0) [0|15] "" XXX - SG_ CHECKSUM : 31|8@0+ (1,0) [0|255] "" XXX - -BO_ 115 GEAR_PACKET: 8 XXX - SG_ GEAR : 0|4@1+ (1,0) [0|15] "" XXX - -BO_ 581 IGNITION: 8 XXX - -BO_ 515 WHEEL_SPEEDS: 8 XXX - SG_ WHEEL_MOVING_FR : 22|1@1+ (1,0) [0|15] "" XXX - SG_ WHEEL_MOVING_RL : 38|1@0+ (1,0) [0|1] "" XXX - SG_ WHEEL_MOVING_FL : 6|1@0+ (1,0) [0|1] "" XXX - SG_ WHEEL_MOVING_RR : 54|1@0+ (1,0) [0|1] "" XXX - SG_ WHEEL_SPEED_FL : 2|11@0+ (0.0375,0) [0|255] "mph" XXX - SG_ WHEEL_SPEED_FR : 18|11@0+ (0.0375,0) [0|255] "mph" XXX - SG_ WHEEL_SPEED_RL : 34|11@0+ (0.0375,0) [0|255] "mph" XXX - SG_ WHEEL_SPEED_RR : 50|11@0+ (0.0375,0) [0|255] "mph" XXX - - - - -CM_ SG_ 3 STEER_DIRECTION "0 = left, 1 = right"; -CM_ SG_ 5 BRAKE_POSITION "computer and driver"; -CM_ SG_ 5 BRAKE_PRESSED "computer and driver"; -CM_ SG_ 261 GAS_PEDAL "user gas input"; -CM_ SG_ 261 COMBINED_GAS "computer and driver gas"; -CM_ SG_ 257 CRUISE_ACCELERATING ""; \ No newline at end of file diff --git a/opendbc/nissan_xterra_2011.dbc b/opendbc/nissan_xterra_2011.dbc deleted file mode 100644 index 1e7bd4c4ae12cf..00000000000000 --- a/opendbc/nissan_xterra_2011.dbc +++ /dev/null @@ -1,96 +0,0 @@ -VERSION "" - - -NS_ : - NS_DESC_ - CM_ - BA_DEF_ - BA_ - VAL_ - CAT_DEF_ - CAT_ - FILTER - BA_DEF_DEF_ - EV_DATA_ - ENVVAR_DATA_ - SGTYPE_ - SGTYPE_VAL_ - BA_DEF_SGTYPE_ - BA_SGTYPE_ - SIG_TYPE_REF_ - VAL_TABLE_ - SIG_GROUP_ - SIG_VALTYPE_ - SIGTYPE_VALTYPE_ - BO_TX_BU_ - BA_DEF_REL_ - BA_REL_ - BA_DEF_DEF_REL_ - BU_SG_REL_ - BU_EV_REL_ - BU_BO_REL_ - SG_MUL_VAL_ - -BS_: - -BU_: XXX - -BO_ 2 STEERING: 5 XXX - SG_ COUNTER : 35|4@0+ (1,0) [0|255] "" XXX - SG_ STEERING_ANGLE : 0|16@1- (0.1,0) [0|65535] "deg" XXX - SG_ POWER_STEER_RATE : 23|8@0+ (1,0) [0|255] "" XXX - -BO_ 505 ENGINE_1: 8 XXX - SG_ RPM : 16|16@1+ (0.125,0) [0|45000] "R/min" XXX - SG_ FAN_REQ : 6|2@1+ (1,0) [0|3] "" XXX - SG_ AC_REQ : 3|1@1+ (1,0) [0|1] "" XXX - -BO_ 561 ENGINE_2: 8 XXX - SG_ Pedal_position : 16|8@1+ (0.5,0) [0|200] "%" XXX - -BO_ 563 ENGINE_7: 8 XXX - SG_ CLT : 0|8@1+ (0.366666,0) [0|255] "C" XXX - SG_ RPMlow : 32|8@1+ (3.15,0) [0|45000] "R/min" XXX - SG_ RPMhi : 56|8@1+ (3.15,0) [0|45000] "R/min" XXX - -BO_ 573 ENGINE_3: 8 XXX - SG_ Pedal_position : 8|8@1+ (0.392,0) [0|255] "%" XXX - SG_ Throttle_position_capped : 16|8@1+ (0.392,0) [0|255] "%" XXX - SG_ RPM : 24|16@1+ (3.15,0) [0|45000] "R/min" XXX - SG_ CLT : 56|8@1+ (0.366666,0) [0|255] "C" XXX - -BO_ 574 ENGINE_4: 8 XXX - SG_ Throttle_position_inverted : 16|8@1+ (0.392,0) [0|255] "%" XXX - SG_ EstimatedTorque : 24|16@1+ (0.1,0) [0|45000] "nM" XXX - SG_ Throttle_position : 48|8@1+ (0.392,0) [0|255] "%" XXX - -BO_ 595 TCU_1: 8 XXX - SG_ SHAFT_1_SPEED : 32|16@1+ (1,0) [0|45000] "r/min" XXX - SG_ SHAFT_2_SPEED : 48|16@1+ (1,0) [0|45000] "r/min" XXX - -BO_ 640 SPEED: 8 XXX - SG_ SPEED : 32|16@1+ (0.01,0) [0|45000] "km/h" XXX - -BO_ 644 ABS_1: 8 XXX - SG_ WHEEL_1 : 0|16@1+ (0.01,0) [0|45000] "km/h" XXX - SG_ WHEEL_2 : 15|16@1+ (0.01,0) [0|45000] "km/h" XXX - -BO_ 645 ABS_2: 8 XXX - SG_ WHEEL_3 : 0|16@1+ (0.01,0) [0|45000] "km/h" XXX - SG_ WHEEL_4 : 15|16@1+ (0.01,0) [0|45000] "km/h" XXX - -BO_ 852 SPEED_BREAK: 8 XXX - SG_ BREAK_LIGHT : 52|1@0+ (1,0) [0|3] "" XXX - SG_ SPEED_MPH : 7|16@0+ (0.0066,0) [0|65535] "mph" XXX - SG_ TCS_OFF : 38|1@0+ (1,0) [0|255] "" XXX - -BO_ 861 BCM: 8 XXX - -BO_ 1361 ENGINE_5: 8 XXX - SG_ CLT : 0|8@1+ (1,-45) [-45|150] "" XXX - -BO_ 1408 ENGINE_6: 8 XXX - SG_ RPM : 7|16@0+ (1.5,0) [0|65535] "" XXX - SG_ OIL_TEMP : 32|8@1+ (1,-40) [-40|150] "" XXX - -BO_ 1477 MILEAGE: 8 XXX \ No newline at end of file diff --git a/opendbc/opel_omega_2001.dbc b/opendbc/opel_omega_2001.dbc deleted file mode 100644 index 8f8e0cfdea1731..00000000000000 --- a/opendbc/opel_omega_2001.dbc +++ /dev/null @@ -1,104 +0,0 @@ -VERSION "" - - -NS_ : - NS_DESC_ - CM_ - BA_DEF_ - BA_ - VAL_ - CAT_DEF_ - CAT_ - FILTER - BA_DEF_DEF_ - EV_DATA_ - ENVVAR_DATA_ - SGTYPE_ - SGTYPE_VAL_ - BA_DEF_SGTYPE_ - BA_SGTYPE_ - SIG_TYPE_REF_ - VAL_TABLE_ - SIG_GROUP_ - SIG_VALTYPE_ - SIGTYPE_VALTYPE_ - BO_TX_BU_ - BA_DEF_REL_ - BA_REL_ - BA_DEF_DEF_REL_ - BU_SG_REL_ - BU_EV_REL_ - BU_BO_REL_ - SG_MUL_VAL_ - -BS_: - -BU_: ABS ESP ECU TCU SAS - - -BO_ 272 TCU_Data1: 8 TCU - SG_ TorqueRequest1 : 15|8@0+ (1,0) [0|255] "" ABS,ESP,ECU - SG_ TorqueRequest2 : 31|8@0+ (1,0) [0|255] "" ABS,ESP,ECU - SG_ OutputShaftSpeed : 55|16@0+ (1,0) [0|65535] "rpm" ABS,ESP,ECU - -BO_ 288 ESP_Data1: 8 ESP - SG_ ABD_Active : 4|1@0+ (1,0) [0|1] "yes/no" ECU,TCU - SG_ TorqueRequestFast : 15|8@0+ (1,0) [0|255] "" ECU,TCU - SG_ TorqueRequestSlow : 31|8@0+ (1,0) [0|255] "" ECU,TCU - -BO_ 384 SAS_Data: 8 SAS - SG_ SteeringAngle : 0|16@1- (0.1,0) [-3276.8|3276.7] "yes/no" ECU,TCU - SG_ SteeringSpeed : 16|8@1+ (1,0) [0|255] "" ECU,TCU - -BO_ 416 ECU_Data1: 8 ECU - SG_ RPM : 15|16@0+ (1,0) [0|65535] "rpm" ABS,ESP,TCU - SG_ TorqueResponse : 31|8@0+ (1,0) [0|255] "" ABS,ESP,TCU - SG_ TorqueLost : 39|8@0+ (1,0) [0|255] "" ABS,ESP,TCU - SG_ APP : 47|8@0+ (1,0) [0|102] "" ABS,ESP,TCU - SG_ TorqueRequest : 63|8@0+ (1,0) [0|255] "" ABS,ESP,TCU - -BO_ 448 ECU_Data2: 8 ECU - SG_ TPS : 23|8@0+ (1,0) [0|100] "" ABS,ESP,TCU - -BO_ 640 ECU_Data3: 8 ECU - SG_ BrakeActive : 18|1@0+ (1,0) [0|1] "yes/no" ABS,ESP,TCU - SG_ KickdownActive : 20|1@0+ (1,0) [0|1] "yes/no" ABS,ESP,TCU - SG_ CruiseActive : 22|1@0+ (1,0) [0|1] "yes/no" ABS,ESP,TCU - -BO_ 736 TCU_Data2: 8 TCU - SG_ TOT : 31|8@0- (1,-40) [-40|215] "" ECU - SG_ InputShaftSpeed : 47|16@0+ (1,0) [0|65535] "rpm" ECU - -BO_ 768 ABS_WheelSpeed: 8 ABS - SG_ FrontLeftWheelSpeed : 5|14@0+ (0.112,0) [0|255] "km/h" ECU,TCU - SG_ FrontLeftWheelErrorFlag : 7|1@0+ (1,0) [0|1] "" ECU,TCU - SG_ FrontRightWheelSpeed : 21|14@0+ (0.112,0) [0|255] "km/h" ECU,TCU - SG_ FrontRightWheelErrorFlag : 23|1@0+ (1,0) [0|1] "" ECU,TCU - SG_ RearLeftWheelSpeed : 37|14@0+ (0.112,0) [0|255] "km/h" ECU,TCU - SG_ RearLeftWheelErrorFlag : 39|1@0+ (1,0) [0|1] "" ECU,TCU - SG_ RearRightWheelSpeed : 53|14@0+ (0.112,0) [0|255] "km/h" ECU,TCU - SG_ RearRightWheelErrorFlag : 55|1@0+ (1,0) [0|1] "" ECU,TCU - -BO_ 792 ESP_Data2: 8 ESP - SG_ ABS_Active : 12|1@0+ (1,0) [0|1] "yes/no" ECU,TCU - SG_ ESP_Off : 20|1@0+ (1,0) [0|1] "yes/no" ECU,TCU - SG_ ESP_Active : 21|1@0+ (1,0) [0|1] "yes/no" ECU,TCU - -BO_ 992 TCU_Data3: 8 TCU - SG_ CurrentGear : 11|4@0+ (1,0) [0|15] "" ECU - SG_ SelectorPosition : 18|3@0+ (1,0) [0|7] "" ECU - SG_ AutoNeutralActive : 26|1@0+ (1,0) [0|1] "yes/no" ECU - SG_ WinterModeActive : 29|1@0+ (1,0) [0|1] "yes/no" ECU - SG_ SportModeActive : 30|1@0+ (1,0) [0|1] "yes/no" ECU - SG_ TCC_State : 37|2@0+ (1,0) [0|2] "" ECU - -BO_ 1472 ECU_Data4: 8 ECU - SG_ ECT : 15|8@0- (1,-40) [-40|215] "" TCU - SG_ IAT : 47|8@0- (1,-40) [-40|215] "" TCU - - - -VAL_ 992 CurrentGear 5 "1" 6 "2" 7 "3" 8 "4" ; -VAL_ 992 SelectorPosition 1 "P" 2 "R" 3 "N" 4 "D" 7 "3" 6 "2" 5 "1" ; -VAL_ 992 TCC_State 0 "Off" 1 "Partially Locked" 2 "Locked" ; - diff --git a/opendbc/pyproject.toml b/opendbc/pyproject.toml deleted file mode 100644 index 035775acc4d1cf..00000000000000 --- a/opendbc/pyproject.toml +++ /dev/null @@ -1,20 +0,0 @@ -[tool.poetry] -name = "opendbc" -version = "1.0.0" -description = "CAN bus databases and tools" -license = "MIT" -authors = ["Vehicle Researcher "] -readme = "README.md" -repository = "https://github.com/commaai/opendbc" - -[tool.cython-lint] -max-line-length = 120 -ignore = ["E111", "E114"] - -# https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml -[tool.ruff] -select = ["E", "F", "W", "PIE", "C4", "ISC", "RUF100", "A"] -ignore = ["W292", "E741", "E402", "C408", "ISC003"] -line-length = 160 -target-version="py311" -flake8-implicit-str-concat.allow-multiline=false diff --git a/opendbc/tesla_model3_party.dbc b/opendbc/tesla_model3_party.dbc deleted file mode 100644 index 22859ed57aa8ff..00000000000000 --- a/opendbc/tesla_model3_party.dbc +++ /dev/null @@ -1,331 +0,0 @@ -VERSION "" - - -NS_ : - NS_DESC_ - CM_ - BA_DEF_ - BA_ - VAL_ - CAT_DEF_ - CAT_ - FILTER - BA_DEF_DEF_ - EV_DATA_ - ENVVAR_DATA_ - SGTYPE_ - SGTYPE_VAL_ - BA_DEF_SGTYPE_ - BA_SGTYPE_ - SIG_TYPE_REF_ - VAL_TABLE_ - SIG_GROUP_ - SIG_VALTYPE_ - SIGTYPE_VALTYPE_ - BO_TX_BU_ - BA_DEF_REL_ - BA_REL_ - BA_DEF_DEF_REL_ - BU_SG_REL_ - BU_EV_REL_ - BU_BO_REL_ - SG_MUL_VAL_ - -BS_: - -BU_: CH DIPF DIPR ETH FC HVI HVS PARTY SDCV VEH VIRT - - -BO_ 905 DAS_status2: 8 PARTY - SG_ DAS_status2Checksum : 56|8@1+ (1,0) [0|255] "" aps - SG_ DAS_status2Counter : 52|4@1+ (1,0) [0|15] "" aps - SG_ DAS_longCollisionWarning : 48|4@1+ (1,0) [0|15] "" aps - SG_ DAS_ppOffsetDesiredRamp : 40|8@1+ (0.01,-1.28) [-1.28|1.27] "m" aps - SG_ DAS_driverInteractionLevel : 38|2@1+ (1,0) [0|2] "" aps - SG_ DAS_robState : 36|2@1+ (1,0) [0|3] "" aps - SG_ DAS_radarTelemetry : 34|2@1+ (1,0) [0|2] "" aps - SG_ DAS_lssState : 31|3@1+ (1,0) [0|7] "" aps - SG_ DAS_ACC_report : 26|5@1+ (1,0) [0|24] "" aps - SG_ DAS_pmmCameraFaultReason : 24|2@1+ (1,0) [0|2] "" aps - SG_ DAS_pmmSysFaultReason : 21|3@1+ (1,0) [0|7] "" aps - SG_ DAS_pmmRadarFaultReason : 19|2@1+ (1,0) [0|2] "" aps - SG_ DAS_pmmUltrasonicsFaultReason : 16|3@1+ (1,0) [0|4] "" aps - SG_ DAS_activationFailureStatus : 14|2@1+ (1,0) [0|2] "" aps - SG_ DAS_pmmLoggingRequest : 13|1@1+ (1,0) [0|1] "" aps - SG_ DAS_pmmObstacleSeverity : 10|3@1+ (1,0) [0|7] "" aps - SG_ DAS_accSpeedLimit : 0|10@1+ (0.2,0) [0|204.6] "mph" aps - -BO_ 264 DI_torque: 8 PARTY - SG_ DI_axleSpeed : 40|16@1- (0.1,0.0) [-2750|2750] "RPM" epas3s - SG_ DI_torqueActual : 27|13@1- (2,0) [-7500|7500] "Nm" X - SG_ DI_torqueCommand : 12|13@1- (2,0) [-7500|7500] "Nm" X - SG_ DI_torqueCounter : 8|4@1+ (1,0) [0|15] "" epas3s - SG_ DI_torqueChecksum : 0|8@1+ (1,0) [0|255] "" epas3s - -BO_ 585 SCCM_leftStalk: 3 PARTY - SG_ SCCM_leftStalkReserved1 : 19|5@1+ (1,0) [0|31] "" X - SG_ SCCM_turnIndicatorStalkStatus : 16|3@1+ (1,0) [0|5] "" park - SG_ SCCM_washWipeButtonStatus : 14|2@1+ (1,0) [0|3] "" X - SG_ SCCM_highBeamStalkStatus : 12|2@1+ (1,0) [0|3] "" X - SG_ SCCM_leftStalkCounter : 8|4@1+ (1,0) [0|15] "" X - SG_ SCCM_leftStalkCrc : 0|8@1+ (1,0) [0|255] "" X - -BO_ 280 DI_systemStatus: 8 PARTY - SG_ DI_trackModeState : 48|2@1+ (1,0) [0|2] "" X - SG_ DI_keepAliveRequest : 47|1@1+ (1,0) [0|1] "" X - SG_ DI_proximity : 46|1@1+ (1,0) [0|1] "" X - SG_ DI_epbRequest : 44|2@1+ (1,0) [0|2] "" X - SG_ DI_tractionControlMode : 40|3@1+ (1,0) [0|5] "" X - SG_ DI_accelPedalPos : 32|8@1+ (0.4,0) [0|100] "%" X - SG_ DI_immobilizerState : 27|3@1+ (1,0) [0|6] "" X - SG_ DI_regenLight : 26|1@1+ (1,0) [0|1] "" X - SG_ DI_gear : 21|3@1+ (1,0) [0|7] "" park - SG_ DI_brakePedalState : 19|2@1+ (1,0) [0|2] "" X - SG_ DI_systemState : 16|3@1+ (1,0) [0|5] "" X - SG_ DI_systemStatusCounter : 8|4@1+ (1,0) [0|15] "" X - SG_ DI_systemStatusChecksum : 0|8@1+ (1,0) [0|255] "" X - -BO_ 697 DAS_control: 8 PARTY - SG_ DAS_controlChecksum : 56|8@1+ (1,0) [0|255] "" aps - SG_ DAS_controlCounter : 53|3@1+ (1,0) [0|7] "" aps - SG_ DAS_accelMax : 44|9@1+ (0.04,-15) [-15|5.44] "m/s^2" aps - SG_ DAS_accelMin : 35|9@1+ (0.04,-15) [-15|5.44] "m/s^2" aps - SG_ DAS_jerkMax : 27|8@1+ (0.034,0) [0|8.67] "m/s^3" aps - SG_ DAS_jerkMin : 18|9@1+ (0.018,-9.1) [-9.1|0.097999999999999] "m/s^3" aps - SG_ DAS_aebEvent : 16|2@1+ (1,0) [0|3] "" aps - SG_ DAS_accState : 12|4@1+ (1,0) [0|15] "" aps - SG_ DAS_setSpeed : 0|12@1+ (0.1,0) [0|409.4] "kph" aps - -BO_ 341 ESP_B: 8 PARTY - SG_ ESP_wheelRotationChecksum : 56|8@1+ (1,0) [0|255] "" app - SG_ ESP_wheelRotationCounter : 52|4@1+ (1,0) [0|15] "" app - SG_ ESP_vehicleSpeed : 42|10@1+ (0.5,0) [0|511] "kph" app - SG_ ESP_vehicleStandstillSts : 41|1@1+ (1,0) [0|1] "" park - SG_ ESP_wheelSpeedsQF : 40|1@1+ (1,0) [0|1] "" epas3s - SG_ ESP_WheelRotationFrL : 38|2@1+ (1,0) [0|3] "" aps - SG_ ESP_WheelRotationFrR : 36|2@1+ (1,0) [0|3] "" aps - SG_ ESP_WheelRotationReL : 34|2@1+ (1,0) [0|3] "" aps - SG_ ESP_WheelRotationReR : 32|2@1+ (1,0) [0|3] "" aps - SG_ ESP_wheelPulseCountReR : 24|8@1+ (1,0) [0|254] "1" das - SG_ ESP_wheelPulseCountReL : 16|8@1+ (1,0) [0|254] "1" das - SG_ ESP_wheelPulseCountFrR : 8|8@1+ (1,0) [0|254] "1" app - SG_ ESP_wheelPulseCountFrL : 0|8@1+ (1,0) [0|254] "1" app - -BO_ 969 APS_status: 4 PARTY - SG_ APS_statusCounter : 22|4@1+ (1,0) [0|15] "" X - SG_ APS_apbGpioState : 20|2@1+ (1,0) [0|3] "" gtw - SG_ APS_apbStatusMonitorState : 16|3@1+ (1,0) [0|7] "" gtw - SG_ APS_switchState : 15|1@1+ (1,0) [0|1] "" X - SG_ APS_eacInternalState : 12|3@1+ (1,0) [0|7] "" gtw - SG_ APS_appGpioState : 10|2@1+ (1,0) [0|3] "" gtw - SG_ APS_canMaster : 8|2@1+ (1,0) [0|3] "" gtw - SG_ APS_vehBehaviorState : 4|3@1+ (1,0) [0|7] "" gtw - SG_ APS_appStatusMonitorState : 0|3@1+ (1,0) [0|7] "" gtw - -BO_ 925 IBST_status: 5 PARTY - SG_ IBST_sInputRodDriver : 21|12@1+ (0.015625,-5) [-5|47] "mm" gtw - SG_ IBST_internalState : 18|3@1+ (1,0) [0|6] "" gtw - SG_ IBST_driverBrakeApply : 16|2@1+ (1,0) [0|3] "" gtw - SG_ IBST_iBoosterStatus : 12|3@1+ (1,0) [0|6] "" gtw - SG_ IBST_statusCounter : 8|4@1+ (1,0) [0|15] "" X - SG_ IBST_statusChecksum : 0|8@1+ (1,0) [0|255] "" X - -BO_ 880 EPAS3S_sysStatus: 8 PARTY - SG_ EPAS3S_sysStatusChecksum : 63|8@0+ (1,0) [0|255] "" park - SG_ EPAS3S_sysStatusCounter : 51|4@0+ (1,0) [0|15] "" gtw - SG_ EPAS3S_eacStatus : 55|3@0+ (1,0) [0|7] "" das - SG_ EPAS3S_internalSAS : 37|14@0+ (0.1,-819.2) [-819.2|819] "deg" das - SG_ EPAS3S_handsOnLevel : 39|2@0+ (1,0) [0|3] "" das - SG_ EPAS3S_torsionBarTorque : 19|12@0+ (0.01,-20.5) [-20.5|20.45] "Nm" das - SG_ EPAS3S_eacErrorCode : 23|4@0+ (1,0) [0|15] "" das - SG_ EPAS3S_steeringRackForce : 1|10@0+ (50,-25575) [-25575|25575] "N" gtw - SG_ EPAS3S_steeringFault : 2|1@0+ (1,0) [0|1] "" das - SG_ EPAS3S_steeringReduced : 3|1@0+ (1,0) [0|1] "" das - SG_ EPAS3S_internalSASQF : 4|1@0+ (1,0) [0|1] "" gtw - SG_ EPAS3S_currentTuneMode : 7|3@0+ (1,0) [0|5] "" gtw - -BO_ 599 DI_speed: 8 PARTY - SG_ DI_uiSpeedUnits : 32|1@1+ (1,0) [0|1] "" das - SG_ DI_uiSpeed : 24|8@1+ (1,0) [0|254] "" das - SG_ DI_vehicleSpeed : 12|12@1+ (0.08,-40) [-40|285] "kph" park - SG_ DI_speedCounter : 8|4@1+ (1,0) [0|15] "" park - SG_ DI_speedChecksum : 0|8@1+ (1,0) [0|255] "" park - -BO_ 1160 DAS_steeringControl: 4 PARTY - SG_ DAS_steeringControlChecksum : 31|8@0+ (1,0) [0|255] "" aps - SG_ DAS_steeringControlCounter : 19|4@0+ (1,0) [0|15] "" aps - SG_ DAS_steeringControlType : 23|2@0+ (1,0) [0|3] "" aps - SG_ DAS_steeringAngleRequest : 6|15@0+ (0.1,-1638.35) [-1638.35|1638.35] "deg" aps - SG_ DAS_steeringHapticRequest : 7|1@0+ (1,0) [0|1] "" aps - -BO_ 297 SCCM_steeringAngleSensor: 8 PARTY - SG_ SCCM_steeringAngleSensorReservd3 : 56|8@1+ (1,0) [0|255] "" X - SG_ SCCM_steeringAngleSensorReservd2 : 48|8@1+ (1,0) [0|255] "" X - SG_ SCCM_steeringAngleSensorReservd1 : 46|2@1+ (1,0) [0|3] "" X - SG_ SCCM_steeringAngleSpeed : 32|14@1+ (0.5,-4096) [-4096|4095.5] "deg/s" park - SG_ SCCM_steeringAngleValidity : 30|2@1+ (1,0) [0|3] "" park - SG_ SCCM_steeringAngle : 16|14@1+ (0.1,-819.2) [-819.2|819] "deg" epas3s - SG_ SCCM_steeringAngleSensorStatus : 14|2@1+ (1,0) [0|3] "" epas3s - SG_ SCCM_supplierID : 12|2@1+ (1,0) [0|3] "" park - SG_ SCCM_steeringAngleCounter : 8|4@1+ (1,0) [0|15] "" epas3s - SG_ SCCM_steeringAngleCrc : 0|8@1+ (1,0) [0|255] "" epas3s - -BO_ 646 DI_state: 7 ETH - SG_ DI_summonInPanic : 48|1@1+ (1,0) [0|0] "" X - SG_ DI_rollPreventionState : 45|3@1+ (1,0) [0|0] "" X - SG_ DI_vehicleHoldState : 42|3@1+ (1,0) [0|0] "" X - SG_ DI_pmmStatus : 40|2@1+ (1,0) [0|0] "" X - SG_ DI_aebState : 37|3@1+ (1,0) [0|0] "" X - SG_ DI_autopilotRequest : 36|1@1+ (1,0) [0|0] "" X - SG_ DI_parkBrakeState : 32|4@1+ (1,0) [0|0] "" X - SG_ DI_autoparkState : 25|4@1+ (1,0) [0|0] "" X - SG_ DI_speedUnits : 24|1@1+ (1,0) [0|0] "" X - SG_ DI_digitalSpeed : 15|9@1+ (0.5,0) [0|0] "speed" X - SG_ DI_cruiseState : 12|3@1+ (1,0) [0|0] "" X - SG_ DI_locStatusCounter : 8|4@1+ (1,0) [0|0] "" X - SG_ DI_locStatusChecksum : 0|8@1+ (1,0) [0|0] "" X - -BO_ 785 UI_warning: 7 XXX - SG_ buckleStatus : 13|1@0+ (1,0) [0|1] "" XXX - SG_ anyDoorOpen : 28|1@0+ (1,0) [0|1] "" XXX - -BO_ 923 DAS_status: 8 PARTY - SG_ DAS_statusChecksum : 56|8@1+ (1,0) [0|255] "" aps - SG_ DAS_statusCounter : 52|4@1+ (1,0) [0|15] "" aps - SG_ DAS_summonAvailable : 51|1@1+ (1,0) [0|1] "" aps - SG_ DAS_autoLaneChangeState : 46|5@1+ (1,0) [0|31] "" aps - SG_ DAS_autopilotHandsOnState : 42|4@1+ (1,0) [0|15] "" aps - SG_ DAS_fleetSpeedState : 40|2@1+ (1,0) [0|3] "" aps - SG_ DAS_laneDepartureWarning : 37|3@1+ (1,0) [0|5] "" aps - SG_ DAS_csaState : 35|2@1+ (1,0) [0|3] "" aps - SG_ DAS_sideCollisionInhibit : 34|1@1+ (1,0) [0|1] "" aps - SG_ DAS_sideCollisionWarning : 32|2@1+ (1,0) [0|3] "" aps - SG_ DAS_sideCollisionAvoid : 30|2@1+ (1,0) [0|3] "" aps - SG_ DAS_summonRvsLeashReached : 29|1@1+ (1,0) [0|1] "" aps - SG_ DAS_summonFwdLeashReached : 28|1@1+ (1,0) [0|1] "" aps - SG_ DAS_autoparkWaitingForBrake : 26|1@1+ (1,0) [0|1] "" gtw - SG_ DAS_autoParked : 25|1@1+ (1,0) [0|1] "" aps - SG_ DAS_autoparkReady : 24|1@1+ (1,0) [0|1] "" aps - SG_ DAS_forwardCollisionWarning : 22|2@1+ (1,0) [0|3] "" aps - SG_ DAS_heaterState : 21|1@1+ (1,0) [0|1] "" gtw - SG_ DAS_visionOnlySpeedLimit : 16|5@1+ (5,0) [0|150] "kph/mph" aps - SG_ DAS_summonClearedGate : 15|1@1+ (1,0) [0|1] "" aps - SG_ DAS_summonObstacle : 14|1@1+ (1,0) [0|1] "" aps - SG_ DAS_suppressSpeedWarning : 13|1@1+ (1,0) [0|1] "" aps - SG_ DAS_fusedSpeedLimit : 8|5@1+ (5,0) [0|150] "kph/mph" aps - SG_ DAS_blindSpotRearRight : 6|2@1+ (1,0) [0|3] "" aps - SG_ DAS_blindSpotRearLeft : 4|2@1+ (1,0) [0|3] "" aps - SG_ DAS_autopilotState : 0|4@1+ (1,0) [0|15] "" aps - - - - - - - - -VAL_ 905 DAS_longCollisionWarning 7 "FCM_LONG_COLLISION_WARNING_VEHICLE_CUTIN" 0 "FCM_LONG_COLLISION_WARNING_NONE" 4 "FCM_LONG_COLLISION_WARNING_STOPSIGN_STOPLINE" 9 "FCM_LONG_COLLISION_WARNING_VEHICLE_MCVL2" 15 "FCM_LONG_COLLISION_WARNING_SNA" 8 "FCM_LONG_COLLISION_WARNING_VEHICLE_MCVL" 5 "FCM_LONG_COLLISION_WARNING_TFL_STOPLINE" 2 "FCM_LONG_COLLISION_WARNING_PEDESTRIAN" 12 "FCM_LONG_COLLISION_WARNING_VEHICLE_CIPV2" 6 "FCM_LONG_COLLISION_WARNING_VEHICLE_CIPV" 10 "FCM_LONG_COLLISION_WARNING_VEHICLE_MCVR" 3 "FCM_LONG_COLLISION_WARNING_IPSO" 1 "FCM_LONG_COLLISION_WARNING_VEHICLE_UNKNOWN" 11 "FCM_LONG_COLLISION_WARNING_VEHICLE_MCVR2" ; -VAL_ 905 DAS_ppOffsetDesiredRamp 128 "PP_NO_OFFSET" ; -VAL_ 905 DAS_driverInteractionLevel 0 "DRIVER_INTERACTING" 1 "DRIVER_NOT_INTERACTING" 2 "CONTINUED_DRIVER_NOT_INTERACTING" ; -VAL_ 905 DAS_robState 0 "ROB_STATE_INHIBITED" 2 "ROB_STATE_ACTIVE" 3 "ROB_STATE_MAPLESS" 1 "ROB_STATE_MEASURE" ; -VAL_ 905 DAS_radarTelemetry 0 "RADAR_TELEMETRY_IDLE" 1 "RADAR_TELEMETRY_NORMAL" 2 "RADAR_TELEMETRY_URGENT" ; -VAL_ 905 DAS_lssState 7 "LSS_STATE_OFF" 1 "LSS_STATE_LDW" 4 "LSS_STATE_MONITOR" 2 "LSS_STATE_LKA" 3 "LSS_STATE_ELK" 0 "LSS_STATE_FAULT" 5 "LSS_STATE_BLINDSPOT" 6 "LSS_STATE_ABORT" ; -VAL_ 905 DAS_ACC_report 12 "ACC_REPORT_LC_EXTERNAL_STATE_ABORTING" 17 "ACC_REPORT_TARGET_MCP" 11 "ACC_REPORT_LC_HANDS_ON_REQD_STRUCK_OUT" 19 "ACC_REPORT_MCVLR_DPP" 1 "ACC_REPORT_TARGET_CIPV" 15 "ACC_REPORT_RADAR_OBJ_ONE" 16 "ACC_REPORT_RADAR_OBJ_TWO" 14 "ACC_REPORT_LC_EXTERNAL_STATE_ACTIVE_RESTRICTED" 4 "ACC_REPORT_TARGET_MCVR" 20 "ACC_REPORT_MCVLR_IN_PATH" 10 "ACC_REPORT_CSA" 5 "ACC_REPORT_TARGET_CUTIN" 9 "ACC_REPORT_TARGET_TYPE_FAULT" 7 "ACC_REPORT_TARGET_TYPE_TRAFFIC_LIGHT" 6 "ACC_REPORT_TARGET_TYPE_STOP_SIGN" 24 "ACC_REPORT_BEHAVIOR_REPORT" 18 "ACC_REPORT_FLEET_SPEEDS" 2 "ACC_REPORT_TARGET_IN_FRONT_OF_CIPV" 23 "ACC_REPORT_CAMERA_ONLY" 3 "ACC_REPORT_TARGET_MCVL" 22 "ACC_REPORT_RADAR_OBJ_FIVE" 0 "ACC_REPORT_TARGET_NONE" 8 "ACC_REPORT_TARGET_TYPE_IPSO" 21 "ACC_REPORT_CIPV_CUTTING_OUT" 13 "ACC_REPORT_LC_EXTERNAL_STATE_ABORTED" ; -VAL_ 905 DAS_pmmCameraFaultReason 1 "PMM_CAMERA_BLOCKED_FRONT" 2 "PMM_CAMERA_INVALID_MIA" 0 "PMM_CAMERA_NO_FAULT" ; -VAL_ 905 DAS_pmmSysFaultReason 4 "PMM_FAULT_STEERING_ANGLE_RATE" 6 "PMM_FAULT_ROAD_TYPE" 5 "PMM_FAULT_DISABLED_BY_USER" 0 "PMM_FAULT_NONE" 1 "PMM_FAULT_DAS_DISABLED" 3 "PMM_FAULT_DI_FAULT" 2 "PMM_FAULT_SPEED" 7 "PMM_FAULT_BRAKE_PEDAL_INHIBIT" ; -VAL_ 905 DAS_pmmRadarFaultReason 2 "PMM_RADAR_INVALID_MIA" 1 "PMM_RADAR_BLOCKED_FRONT" 0 "PMM_RADAR_NO_FAULT" ; -VAL_ 905 DAS_pmmUltrasonicsFaultReason 2 "PMM_ULTRASONICS_BLOCKED_REAR" 0 "PMM_ULTRASONICS_NO_FAULT" 1 "PMM_ULTRASONICS_BLOCKED_FRONT" 3 "PMM_ULTRASONICS_BLOCKED_BOTH" 4 "PMM_ULTRASONICS_INVALID_MIA" ; -VAL_ 905 DAS_activationFailureStatus 0 "LC_ACTIVATION_IDLE" 2 "LC_ACTIVATION_FAILED_2" 1 "LC_ACTIVATION_FAILED_1" ; -VAL_ 905 DAS_pmmLoggingRequest 0 "FALSE" 1 "TRUE" ; -VAL_ 905 DAS_pmmObstacleSeverity 5 "PMM_CRASH_FRONT" 0 "PMM_NONE" 2 "PMM_IMMINENT_FRONT" 4 "PMM_CRASH_REAR" 1 "PMM_IMMINENT_REAR" 6 "PMM_ACCEL_LIMIT" 7 "PMM_SNA" 3 "PMM_BRAKE_REQUEST" ; -VAL_ 905 DAS_accSpeedLimit 1023 "SNA" 0 "NONE" ; -VAL_ 264 DI_axleSpeed -32768 "SNA" ; -VAL_ 264 DI_torqueActual -4096 "SNA" ; -VAL_ 264 DI_torqueCommand -4096 "SNA" ; -VAL_ 585 SCCM_turnIndicatorStalkStatus 3 "DOWN_1" 5 "SNA" 0 "IDLE" 1 "UP_1" 4 "DOWN_2" 2 "UP_2" ; -VAL_ 585 SCCM_washWipeButtonStatus 3 "SNA" 0 "NOT_PRESSED" 2 "2ND_DETENT" 1 "1ST_DETENT" ; -VAL_ 585 SCCM_highBeamStalkStatus 3 "SNA" 0 "IDLE" 1 "PULL" 2 "PUSH" ; -VAL_ 280 DI_trackModeState 0 "TRACK_MODE_UNAVAILABLE" 1 "TRACK_MODE_AVAILABLE" 2 "TRACK_MODE_ON" ; -VAL_ 280 DI_keepAliveRequest 1 "KEEP_ALIVE" 0 "NO_REQUEST" ; -VAL_ 280 DI_epbRequest 0 "DI_EPBREQUEST_NO_REQUEST" 1 "DI_EPBREQUEST_PARK" 2 "DI_EPBREQUEST_UNPARK" ; -VAL_ 280 DI_tractionControlMode 0 "TC_NORMAL" 1 "TC_SLIP_START" 4 "TC_ROLLS_MODE" 2 "TC_DEV_MODE_1" 5 "TC_DYNO_MODE" 3 "TC_DEV_MODE_2" ; -VAL_ 280 DI_accelPedalPos 255 "SNA" ; -VAL_ 280 DI_immobilizerState 2 "DI_IMM_STATE_AUTHENTICATING" 0 "DI_IMM_STATE_INIT_SNA" 3 "DI_IMM_STATE_DISARMED" 4 "DI_IMM_STATE_IDLE" 6 "DI_IMM_STATE_FAULT" 1 "DI_IMM_STATE_REQUEST" 5 "DI_IMM_STATE_RESET" ; -VAL_ 280 DI_gear 1 "DI_GEAR_P" 0 "DI_GEAR_INVALID" 7 "DI_GEAR_SNA" 2 "DI_GEAR_R" 3 "DI_GEAR_N" 4 "DI_GEAR_D" ; -VAL_ 280 DI_brakePedalState 2 "INVALID" 0 "OFF" 1 "ON" ; -VAL_ 280 DI_systemState 5 "DI_SYS_ENABLE" 1 "DI_SYS_IDLE" 2 "DI_SYS_STANDBY" 0 "DI_SYS_UNAVAILABLE" 3 "DI_SYS_FAULT" 4 "DI_SYS_ABORT" ; -VAL_ 697 DAS_accelMax 511 "SNA" ; -VAL_ 697 DAS_accelMin 511 "SNA" ; -VAL_ 697 DAS_jerkMax 255 "SNA" ; -VAL_ 697 DAS_jerkMin 511 "SNA" ; -VAL_ 697 DAS_aebEvent 2 "AEB_FAULT" 0 "AEB_NOT_ACTIVE" 3 "AEB_SNA" 1 "AEB_ACTIVE" ; -VAL_ 697 DAS_accState 4 "ACC_ON" 9 "APC_PAUSE" 14 "ACC_CANCEL_OUT_OF_CALIBRATION" 10 "APC_UNPARK_COMPLETE" 6 "APC_FORWARD" 3 "ACC_HOLD" 2 "ACC_CANCEL_RADAR_BLIND" 7 "APC_COMPLETE" 1 "ACC_CANCEL_CAMERA_BLIND" 8 "APC_ABORT" 13 "ACC_CANCEL_GENERIC_SILENT" 5 "APC_BACKWARD" 11 "APC_SELFPARK_START" 0 "ACC_CANCEL_GENERIC" 12 "ACC_CANCEL_PATH_NOT_CLEAR" 15 "FAULT_SNA" ; -VAL_ 697 DAS_setSpeed 4095 "SNA" ; -VAL_ 341 ESP_vehicleSpeed 1023 "ESP_VEHICLE_SPEED_SNA" ; -VAL_ 341 ESP_vehicleStandstillSts 1 "STANDSTILL" 0 "NOT_STANDSTILL" ; -VAL_ 341 ESP_wheelSpeedsQF 0 "ONE_OR_MORE_WSS_INVALID" 1 "ALL_WSS_VALID" ; -VAL_ 341 ESP_WheelRotationFrL 1 "WR_BACKWARD" 0 "WR_FORWARD" 3 "WR_NOT_DEFINABLE" 2 "WR_STANDSTILL" ; -VAL_ 341 ESP_WheelRotationFrR 1 "WR_BACKWARD" 0 "WR_FORWARD" 3 "WR_NOT_DEFINABLE" 2 "WR_STANDSTILL" ; -VAL_ 341 ESP_WheelRotationReL 1 "WR_BACKWARD" 0 "WR_FORWARD" 3 "WR_NOT_DEFINABLE" 2 "WR_STANDSTILL" ; -VAL_ 341 ESP_WheelRotationReR 1 "WR_BACKWARD" 0 "WR_FORWARD" 3 "WR_NOT_DEFINABLE" 2 "WR_STANDSTILL" ; -VAL_ 341 ESP_wheelPulseCountReR 255 "SNA" ; -VAL_ 341 ESP_wheelPulseCountReL 255 "SNA" ; -VAL_ 341 ESP_wheelPulseCountFrR 255 "SNA" ; -VAL_ 341 ESP_wheelPulseCountFrL 255 "SNA" ; -VAL_ 969 APS_apbGpioState 0 "AP_GPIO_STATE_PWR_DOWN_REBOOT" 3 "AP_GPIO_STATE_HEALTHY" 1 "AP_GPIO_STATE_DISABLED" 2 "AP_GPIO_STATE_CRITICAL" ; -VAL_ 969 APS_apbStatusMonitorState 1 "STATUS_MONITOR_STATE_PWR_OFF" 2 "STATUS_MONITOR_STATE_INIT" 7 "STATUS_MONITOR_NUM_STATES" 0 "STATUS_MONITOR_STATE_UNKNOWN" 4 "STATUS_MONITOR_STATE_CRITICAL" 6 "STATUS_MONITOR_STATE_RECOVERY" 5 "STATUS_MONITOR_STATE_SHUTTING_DOWN" 3 "STATUS_MONITOR_STATE_NOMINAL" ; -VAL_ 969 APS_eacInternalState 1 "APS_EAC_STATE_MOMENTARY" 3 "APS_EAC_STATE_AUTOPARK" 5 "APS_EAC_STATE_OVERRIDE" 4 "APS_EAC_STATE_INHIBIT" 0 "APS_EAC_STATE_INIT" 2 "APS_EAC_STATE_CONTINUOUS" 7 "APS_EAC_NUM_STATES" 6 "APS_EAC_STATE_LSS" ; -VAL_ 969 APS_appGpioState 0 "AP_GPIO_STATE_PWR_DOWN_REBOOT" 3 "AP_GPIO_STATE_HEALTHY" 1 "AP_GPIO_STATE_DISABLED" 2 "AP_GPIO_STATE_CRITICAL" ; -VAL_ 969 APS_canMaster 0 "CAN_MASTER_APS" 2 "CAN_MASTER_APB" 3 "CAN_MASTER_SNA" 1 "CAN_MASTER_APP" ; -VAL_ 969 APS_vehBehaviorState 0 "VEH_BEHAVIOR_STATE_UNKNOWN" 3 "VEH_BEHAVIOR_STATE_APS_BRIDGE_APP" 1 "VEH_BEHAVIOR_STATE_APS_AVAILABLE" 5 "VEH_BEHAVIOR_STATE_APS_FAIL_SAFE" 7 "VEH_BEHAVIOR_NUM_STATES" 2 "VEH_BEHAVIOR_STATE_APS_CONTROL" 6 "VEH_BEHAVIOR_STATE_APS_OVERRIDE" 4 "VEH_BEHAVIOR_STATE_APS_BRIDGE_APB" ; -VAL_ 969 APS_appStatusMonitorState 1 "STATUS_MONITOR_STATE_PWR_OFF" 2 "STATUS_MONITOR_STATE_INIT" 7 "STATUS_MONITOR_NUM_STATES" 0 "STATUS_MONITOR_STATE_UNKNOWN" 4 "STATUS_MONITOR_STATE_CRITICAL" 6 "STATUS_MONITOR_STATE_RECOVERY" 5 "STATUS_MONITOR_STATE_SHUTTING_DOWN" 3 "STATUS_MONITOR_STATE_NOMINAL" ; -VAL_ 925 IBST_internalState 5 "TRANSITION_TO_IDLE" 0 "NO_MODE_ACTIVE" 4 "DIAGNOSTIC" 6 "POST_DRIVE_CHECK" 1 "PRE_DRIVE_CHECK" 3 "EXTERNAL_BRAKE_REQUEST" 2 "LOCAL_BRAKE_REQUEST" ; -VAL_ 925 IBST_driverBrakeApply 1 "BRAKES_NOT_APPLIED" 2 "DRIVER_APPLYING_BRAKES" 3 "FAULT" 0 "NOT_INIT_OR_OFF" ; -VAL_ 925 IBST_iBoosterStatus 6 "IBOOSTER_ACTUATION" 4 "IBOOSTER_ACTIVE_GOOD_CHECK" 2 "IBOOSTER_FAILURE" 5 "IBOOSTER_READY" 3 "IBOOSTER_DIAGNOSTIC" 0 "IBOOSTER_OFF" 1 "IBOOSTER_INIT" ; -VAL_ 880 EPAS3S_eacStatus 7 "SNA" 2 "EAC_ACTIVE" 4 "LANE_KEEP_ASSIST" 3 "EAC_FAULT" 1 "EAC_AVAILABLE" 5 "EMERGENCY_LANE_KEEP" 0 "EAC_INHIBITED" ; -VAL_ 880 EPAS3S_handsOnLevel 1 "LEVEL_1" 0 "LEVEL_0" 3 "LEVEL_3" 2 "LEVEL_2" ; -VAL_ 880 EPAS3S_torsionBarTorque 4095 "SNA" 4094 "UNDEFINABLE_DATA" ; -VAL_ 880 EPAS3S_eacErrorCode 15 "SNA" 11 "EAC_ERROR_HIGH_TORSION_SAFETY" 4 "EAC_ERROR_TMP_FAULT" 2 "EAC_ERROR_MAX_SPEED" 7 "EAC_ERROR_HIGH_ANGLE_RATE_REQ" 0 "EAC_ERROR_IDLE" 10 "EAC_ERROR_HIGH_MMOT_SAFETY" 6 "EAC_ERROR_HIGH_ANGLE_REQ" 8 "EAC_ERROR_HIGH_ANGLE_SAFETY" 5 "EAR_ERROR_MAX_STEER_DELTA" 13 "EAC_ERROR_PINION_VEL_DIFF" 1 "EAC_ERROR_MIN_SPEED" 14 "EAC_EXTERNAL_MONITOR_INHIBIT" 12 "EAC_ERROR_LOW_ASSIST" 9 "EAC_ERROR_HIGH_ANGLE_RATE_SAFETY" 3 "EAC_ERROR_HANDS_ON" ; -VAL_ 880 EPAS3S_steeringRackForce 1023 "SNA" 1022 "NOT_IN_SPEC" ; -VAL_ 880 EPAS3S_steeringFault 0 "NO_FAULT" 1 "FAULT" ; -VAL_ 880 EPAS3S_steeringReduced 0 "NORMAL_ASSIST" 1 "REDUCED_ASSIST" ; -VAL_ 880 EPAS3S_internalSASQF 1 "IN_SPEC" 0 "UNDEFINABLE_ACCURACY" ; -VAL_ 880 EPAS3S_currentTuneMode 3 "STEERING_TUNE_RWD_COMFORT" 1 "STEERING_TUNE_DM_STANDARD" 5 "STEERING_TUNE_RWD_SPORT" 0 "STEERING_TUNE_DM_COMFORT" 4 "STEERING_TUNE_RWD_STANDARD" 2 "STEERING_TUNE_DM_SPORT" ; -VAL_ 599 DI_uiSpeedUnits 0 "DI_SPEED_MPH" 1 "DI_SPEED_KPH" ; -VAL_ 599 DI_uiSpeed 255 "DI_UI_SPEED_SNA" ; -VAL_ 599 DI_vehicleSpeed 4095 "SNA" ; -VAL_ 1160 DAS_steeringControlType 2 "LANE_KEEP_ASSIST" 0 "NONE" 1 "ANGLE_CONTROL" 3 "EMERGENCY_LANE_KEEP" ; -VAL_ 1160 DAS_steeringAngleRequest 16384 "ZERO_ANGLE" ; -VAL_ 297 SCCM_steeringAngleValidity 3 "SNA" 2 "INIT" 0 "INVALID" 1 "VALID" ; -VAL_ 297 SCCM_steeringAngleSensorStatus 0 "OK" 1 "INIT" 2 "ERROR" 3 "ERROR_INIT" ; -VAL_ 646 DI_rollPreventionState 0 "UNAVAILABLE" 1 "STANDBY" 2 "READY" 3 "BUILD" 4 "HOLD" 5 "PARK" 6 "FAULT" 7 "INIT" ; -VAL_ 646 DI_vehicleHoldState 0 "UNAVAILABLE" 1 "STANDBY" 2 "BLEND_IN" 3 "STANDSTILL" 4 "BLEND_OUT" 5 "PARK" 6 "FAULT" 7 "INIT" ; -VAL_ 646 DI_pmmStatus 0 "INACTIVE" 1 "ACTIVE" 2 "LOGGING_ACTIVE" 3 "SNA" ; -VAL_ 646 DI_aebState 0 "UNAVAILABLE" 1 "STANDBY" 2 "ENABLED" 3 "STANDSTILL" 4 "FAULT" 7 "SNA" ; -VAL_ 646 DI_autopilotRequest 0 "IDLE" 1 "ACTIVATE" ; -VAL_ 646 DI_parkBrakeState 0 "UNAVAILABLE" 1 "RELEASED" 2 "REQUESTED" 3 "APPLIED" 4 "FAULTED" 5 "PANIC_EPB" 6 "PANIC_SKID" 7 "RELEASING" 15 "SNA" ; -VAL_ 646 DI_autoparkState 0 "UNAVAILABLE" 1 "STANDBY" 2 "STARTED" 3 "ACTIVE" 4 "COMPLETE" 5 "PAUSED" 6 "ABORTED" 7 "RESUMED" 8 "UNPARK_COMPLETE" 9 "SELFPARK_STARTED" 15 "SNA" ; -VAL_ 646 DI_speedUnits 0 "MPH" 1 "KPH" ; -VAL_ 646 DI_cruiseState 0 "UNAVAILABLE" 1 "STANDBY" 2 "ENABLED" 3 "STANDSTILL" 4 "OVERRIDE" 5 "FAULT" 6 "PRE_FAULT" 7 "PRE_CANCEL" ; -VAL_ 785 buckleStatus 1 "LATCHED" 0 "UNLATCHED" ; -VAL_ 785 anyDoorOpen 1 "OPEN" 0 "CLOSED" ; -VAL_ 923 DAS_autoLaneChangeState 5 "ALC_UNAVAILABLE_VEHICLE_SPEED" 17 "ALC_ABORT_POOR_VIEW_RANGE" 23 "ALC_BLOCKED_VEH_TTC_AND_USS_L" 0 "ALC_UNAVAILABLE_DISABLED" 26 "ALC_BLOCKED_LANE_TYPE_L" 29 "ALC_ABORT_TIMEOUT" 9 "ALC_IN_PROGRESS_L" 4 "ALC_UNAVAILABLE_EXITING_HIGHWAY" 22 "ALC_BLOCKED_VEH_TTC_L" 12 "ALC_WAITING_FOR_SIDE_OBST_TO_PASS_R" 18 "ALC_ABORT_LC_HEALTH_BAD" 28 "ALC_WAITING_HANDS_ON" 8 "ALC_AVAILABLE_BOTH" 11 "ALC_WAITING_FOR_SIDE_OBST_TO_PASS_L" 3 "ALC_UNAVAILABLE_TP_FOLLOW" 2 "ALC_UNAVAILABLE_SONICS_INVALID" 21 "ALC_UNAVAILABLE_SOLID_LANE_LINE" 24 "ALC_BLOCKED_VEH_TTC_R" 1 "ALC_UNAVAILABLE_NO_LANES" 25 "ALC_BLOCKED_VEH_TTC_AND_USS_R" 30 "ALC_ABORT_MISSION_PLAN_INVALID" 27 "ALC_BLOCKED_LANE_TYPE_R" 19 "ALC_ABORT_BLINKER_TURNED_OFF" 31 "ALC_SNA" 13 "ALC_WAITING_FOR_FWD_OBST_TO_PASS_L" 16 "ALC_ABORT_SIDE_OBSTACLE_PRESENT_R" 6 "ALC_AVAILABLE_ONLY_L" 20 "ALC_ABORT_OTHER_REASON" 15 "ALC_ABORT_SIDE_OBSTACLE_PRESENT_L" 7 "ALC_AVAILABLE_ONLY_R" 14 "ALC_WAITING_FOR_FWD_OBST_TO_PASS_R" 10 "ALC_IN_PROGRESS_R" ; -VAL_ 923 DAS_autopilotHandsOnState 8 "LC_HANDS_ON_SUSPENDED" 15 "LC_HANDS_ON_SNA" 7 "LC_HANDS_ON_REQD_STRUCK_OUT" 3 "LC_HANDS_ON_REQD_VISUAL" 4 "LC_HANDS_ON_REQD_CHIME_1" 6 "LC_HANDS_ON_REQD_SLOWING" 1 "LC_HANDS_ON_REQD_DETECTED" 2 "LC_HANDS_ON_REQD_NOT_DETECTED" 5 "LC_HANDS_ON_REQD_CHIME_2" 0 "LC_HANDS_ON_NOT_REQD" ; -VAL_ 923 DAS_fleetSpeedState 0 "FLEETSPEED_UNAVAILABLE" 1 "FLEETSPEED_AVAILABLE" 2 "FLEETSPEED_ACTIVE" 3 "FLEETSPEED_HOLD" ; -VAL_ 923 DAS_laneDepartureWarning 5 "SNA" 0 "NONE" 2 "RIGHT_WARNING" 4 "RIGHT_WARNING_SEVERE" 3 "LEFT_WARNING_SEVERE" 1 "LEFT_WARNING" ; -VAL_ 923 DAS_csaState 1 "CSA_EXTERNAL_STATE_AVAILABLE" 3 "CSA_EXTERNAL_STATE_HOLD" 2 "CSA_EXTERNAL_STATE_ENABLE" 0 "CSA_EXTERNAL_STATE_UNAVAILABLE" ; -VAL_ 923 DAS_sideCollisionInhibit 0 "NO_INHIBIT" 1 "INHIBIT" ; -VAL_ 923 DAS_sideCollisionWarning 0 "NONE" 2 "WARN_RIGHT" 1 "WARN_LEFT" 3 "WARN_LEFT_RIGHT" ; -VAL_ 923 DAS_sideCollisionAvoid 3 "SNA" 0 "NONE" 1 "AVOID_LEFT" 2 "AVOID_RIGHT" ; -VAL_ 923 DAS_autoparkReady 0 "AUTOPARK_UNAVAILABLE" 1 "AUTOPARK_READY" ; -VAL_ 923 DAS_forwardCollisionWarning 3 "SNA" 0 "NONE" 1 "FORWARD_COLLISION_WARNING" ; -VAL_ 923 DAS_heaterState 0 "HEATER_OFF_SNA" 1 "HEATER_ON" ; -VAL_ 923 DAS_visionOnlySpeedLimit 31 "NONE" 0 "UNKNOWN_SNA" ; -VAL_ 923 DAS_suppressSpeedWarning 1 "Suppress_Speed_Warning" 0 "Do_Not_Suppress" ; -VAL_ 923 DAS_fusedSpeedLimit 31 "NONE" 0 "UNKNOWN_SNA" ; -VAL_ 923 DAS_blindSpotRearRight 3 "SNA" 0 "NO_WARNING" 1 "WARNING_LEVEL_1" 2 "WARNING_LEVEL_2" ; -VAL_ 923 DAS_blindSpotRearLeft 3 "SNA" 0 "NO_WARNING" 1 "WARNING_LEVEL_1" 2 "WARNING_LEVEL_2" ; -VAL_ 923 DAS_autopilotState 15 "SNA" 8 "ABORTING" 3 "ACTIVE_NOMINAL" 0 "DISABLED" 4 "ACTIVE_RESTRICTED" 5 "ACTIVE_NAV" 14 "FAULT" 1 "UNAVAILABLE" 9 "ABORTED" 2 "AVAILABLE" ; - - - diff --git a/opendbc/tesla_model3_vehicle.dbc b/opendbc/tesla_model3_vehicle.dbc deleted file mode 100644 index 604db8fe27c277..00000000000000 --- a/opendbc/tesla_model3_vehicle.dbc +++ /dev/null @@ -1,339 +0,0 @@ -VERSION "" - - -BU_: CH DIPF DIPR ETH FC HVI HVS PARTY SDCV VEH VIRT - - -BO_ 962 VCLEFT_switchStatus: 8 VEH - SG_ VCLEFT_frontBuckleSwitch m0: 48|2@1+ (1,0) [0|3] "" gtw - SG_ VCLEFT_btnWindowSwPackUpLF m0: 32|1@1+ (1,0) [0|1] "" gtw - SG_ VCLEFT_frontSeatTrackBack m0: 8|2@1+ (1,0) [0|3] "" gtw - SG_ VCLEFT_btnWindowSwPackAutoDownLF m0: 35|1@1+ (1,0) [0|1] "" gtw - SG_ VCLEFT_btnWindowSwPackDownRR m0: 46|1@1+ (1,0) [0|1] "" gtw - SG_ VCLEFT_btnWindowSwPackAutoUpRR m0: 45|1@1+ (1,0) [0|1] "" gtw - SG_ VCLEFT_btnWindowSwPackAutoDownRR m0: 47|1@1+ (1,0) [0|1] "" gtw - SG_ VCLEFT_rightMirrorTilt m0: 5|3@1+ (1,0) [0|4] "" vcright - SG_ VCLEFT_btnWindowSwPackUpRR m0: 44|1@1+ (1,0) [0|1] "" gtw - SG_ VCLEFT_frontOccupancySwitch m0: 50|2@1+ (1,0) [0|3] "" gtw - SG_ VCLEFT_swcRightTiltLeft m1: 8|2@1+ (1,0) [0|3] "" das - SG_ VCLEFT_rearRightOccupancySwitch m0: 58|2@1+ (1,0) [0|3] "" gtw - SG_ VCLEFT_btnWindowSwPackDownLF m0: 34|1@1+ (1,0) [0|1] "" gtw - SG_ VCLEFT_btnWindowSwPackAutoUpLF m0: 33|1@1+ (1,0) [0|1] "" gtw - SG_ VCLEFT_swcLeftTiltRight m1: 3|2@1+ (1,0) [0|3] "" das - SG_ VCLEFT_frontSeatBackrestForward m0: 22|2@1+ (1,0) [0|3] "" gtw - SG_ VCLEFT_swcRightTiltRight m1: 10|2@1+ (1,0) [0|3] "" das - SG_ VCLEFT_swcLeftScrollTicks m1: 16|6@1- (1,0) [-32|31] "" das - SG_ VCLEFT_btnWindowUpLR m1: 32|1@1+ (1,0) [0|1] "" gtw - SG_ VCLEFT_btnWindowAutoDownLR m1: 35|1@1+ (1,0) [0|1] "" gtw - SG_ VCLEFT_btnWindowSwPackDownRF m0: 42|1@1+ (1,0) [0|1] "" gtw - SG_ VCLEFT_btnWindowSwPackAutoUpRF m0: 41|1@1+ (1,0) [0|1] "" gtw - SG_ VCLEFT_frontSeatLumbarIn m0: 28|2@1+ (1,0) [0|3] "" gtw - SG_ VCLEFT_frontSeatLiftUp m0: 18|2@1+ (1,0) [0|3] "" gtw - SG_ VCLEFT_btnWindowSwPackDownLR m0: 38|1@1+ (1,0) [0|1] "" gtw - SG_ VCLEFT_btnWindowSwPackAutoUpLR m0: 37|1@1+ (1,0) [0|1] "" gtw - SG_ VCLEFT_frontSeatLumbarDown m0: 24|2@1+ (1,0) [0|3] "" gtw - SG_ VCLEFT_driverPresent m0: 4|1@1+ (1,0) [0|1] "" das - SG_ VCLEFT_frontSeatTiltDown m0: 12|2@1+ (1,0) [0|3] "" gtw - SG_ VCLEFT_frontSeatTrackForward m0: 10|2@1+ (1,0) [0|3] "" gtw - SG_ VCLEFT_rearLeftBuckleSwitch m0: 52|2@1+ (1,0) [0|3] "" gtw - SG_ VCLEFT_hazardButtonPressed m0: 3|1@1+ (1,0) [0|1] "" gtw - SG_ VCLEFT_swcRightScrollTicks m1: 24|6@1- (1,0) [-32|31] "" das - SG_ VCLEFT_swcRightPressed m1: 12|2@1+ (1,0) [0|3] "" das - SG_ VCLEFT_frontSeatLumbarOut m0: 30|2@1+ (1,0) [0|3] "" gtw - SG_ VCLEFT_brakePressed m0: 60|1@1+ (1,0) [0|1] "" di - SG_ VCLEFT_swcLeftTiltLeft m1: 14|2@1+ (1,0) [0|3] "" das - SG_ VCLEFT_swcLeftPressed m1: 5|2@1+ (1,0) [0|3] "" das - SG_ VCLEFT_btnWindowSwPackUpLR m0: 36|1@1+ (1,0) [0|1] "" gtw - SG_ VCLEFT_frontSeatTiltUp m0: 14|2@1+ (1,0) [0|3] "" gtw - SG_ VCLEFT_rearLeftOccupancySwitch m0: 56|2@1+ (1,0) [0|3] "" gtw - SG_ VCLEFT_frontSeatBackrestBack m0: 20|2@1+ (1,0) [0|3] "" gtw - SG_ VCLEFT_btnWindowSwPackAutoDownLR m0: 39|1@1+ (1,0) [0|1] "" gtw - SG_ VCLEFT_rearCenterOccupancySwitch m0: 54|2@1+ (1,0) [0|3] "" gtw - SG_ VCLEFT_frontSeatLumbarUp m0: 26|2@1+ (1,0) [0|3] "" gtw - SG_ VCLEFT_frontSeatLiftDown m0: 16|2@1+ (1,0) [0|3] "" gtw - SG_ VCLEFT_hornSwitchPressed m0: 2|1@1+ (1,0) [0|1] "" app - SG_ VCLEFT_btnWindowSwPackUpRF m0: 40|1@1+ (1,0) [0|1] "" gtw - SG_ VCLEFT_btnWindowAutoUpLR m1: 33|1@1+ (1,0) [0|1] "" gtw - SG_ VCLEFT_btnWindowSwPackAutoDownRF m0: 43|1@1+ (1,0) [0|1] "" gtw - SG_ VCLEFT_switchStatusIndex M: 0|2@1+ (1,0) [0|2] "" X - SG_ VCLEFT_btnWindowDownLR m1: 34|1@1+ (1,0) [0|1] "" gtw - SG_ VCLEFT_rearHVACButtonPressed m0: 61|1@1+ (1,0) [0|1] "" gtw - -BO_ 259 VCRIGHT_doorStatus: 8 VEH - SG_ VCRIGHT_reservedForBackCompat : 28|2@1+ (1,0) [0|3] "" X - SG_ VCRIGHT_trunkLatchStatus : 56|4@1+ (1,0) [0|8] "" di - SG_ VCRIGHT_mirrorFoldState : 52|3@1+ (1,0) [0|4] "" gtw - SG_ VCRIGHT_rearLatchStatus : 4|4@1+ (1,0) [0|8] "" aps - SG_ VCRIGHT_mirrorTiltYPosition : 41|8@1+ (0.02,0) [0|5] "V" gtw - SG_ VCRIGHT_frontRelActuatorSwitch : 12|1@1+ (1,0) [0|1] "" gtw - SG_ VCRIGHT_mirrorRecallState : 60|3@1+ (1,0) [0|5] "" gtw - SG_ VCRIGHT_frontIntSwitchPressed : 31|1@1+ (1,0) [0|1] "" aps - SG_ VCRIGHT_mirrorState : 49|3@1+ (1,0) [0|4] "" gtw - SG_ VCRIGHT_rearRelActuatorSwitch : 13|1@1+ (1,0) [0|1] "" gtw - SG_ VCRIGHT_frontHandlePulledPersist : 30|1@1+ (1,0) [0|1] "" gtw - SG_ VCRIGHT_mirrorTiltXPosition : 33|8@1+ (0.02,0) [0|5] "V" gtw - SG_ VCRIGHT_mirrorDipped : 63|1@1+ (1,0) [0|1] "" X - SG_ VCRIGHT_frontHandlePulled : 10|1@1+ (1,0) [0|1] "" aps - SG_ VCRIGHT_frontLatchStatus : 0|4@1+ (1,0) [0|8] "" aps - SG_ VCRIGHT_rearHandlePulled : 11|1@1+ (1,0) [0|1] "" aps - SG_ VCRIGHT_frontHandlePWM : 14|7@1+ (1,0) [0|100] "%" X - SG_ VCRIGHT_frontLatchSwitch : 8|1@1+ (1,0) [0|1] "" gtw - SG_ VCRIGHT_rearLatchSwitch : 9|1@1+ (1,0) [0|1] "" gtw - SG_ VCRIGHT_rearHandlePWM : 21|7@1+ (1,0) [0|100] "%" X - SG_ VCRIGHT_rearIntSwitchPressed : 32|1@1+ (1,0) [0|1] "" aps - -BO_ 585 SCCM_leftStalk: 3 VEH - SG_ SCCM_leftStalkCounter : 8|4@1+ (1,0) [0|15] "" X - SG_ SCCM_washWipeButtonStatus : 14|2@1+ (1,0) [0|3] "" das - SG_ SCCM_turnIndicatorStalkStatus : 16|3@1+ (1,0) [0|5] "" das - SG_ SCCM_leftStalkCrc : 0|8@1+ (1,0) [0|255] "" X - SG_ SCCM_leftStalkReserved1 : 19|5@1+ (1,0) [0|31] "" X - SG_ SCCM_highBeamStalkStatus : 12|2@1+ (1,0) [0|3] "" das - -BO_ 280 DI_systemStatus: 8 VEH - SG_ DI_epbRequest : 44|2@1+ (1,0) [0|2] "" epbl - SG_ DI_systemStatusCounter : 8|4@1+ (1,0) [0|15] "" X - SG_ DI_proximity : 46|1@1+ (1,0) [0|1] "" bms - SG_ DI_keepAliveRequest : 47|1@1+ (1,0) [0|1] "" bms - SG_ DI_accelPedalPos : 32|8@1+ (0.4,0) [0|100] "%" vcfront - SG_ DI_gear : 21|3@1+ (1,0) [0|7] "" gtw - SG_ DI_tractionControlMode : 40|3@1+ (1,0) [0|5] "" X - SG_ DI_trackModeState : 48|2@1+ (1,0) [0|2] "" gtw - SG_ DI_regenLight : 26|1@1+ (1,0) [0|1] "" vcleft - SG_ DI_systemState : 16|3@1+ (1,0) [0|5] "" epbl - SG_ DI_immobilizerState : 27|3@1+ (1,0) [0|6] "" X - SG_ DI_systemStatusChecksum : 0|8@1+ (1,0) [0|255] "" X - SG_ DI_brakePedalState : 19|2@1+ (1,0) [0|2] "" vcleft - -BO_ 835 VCRIGHT_status: 8 VEH - SG_ VCRIGHT_5AVoltage : 18|10@1+ (0.005443676098,0) [0|5.56888] "V" gtw - SG_ VCRIGHT_loadShedPriority : 0|8@1+ (1,0) [0|255] "" X - SG_ VCRIGHT_rearDefrostState : 11|3@1+ (1,0) [0|4] "" gtw - SG_ VCRIGHT_vbatProt : 28|12@1+ (0.005443676098,0) [0|22.29185] "V" gtw - SG_ VCRIGHT_vehiclePowerStateDBG : 8|2@1+ (1,0) [0|3] "" gtw - SG_ VCRIGHT_swEnStatus : 10|1@1+ (1,0) [0|1] "" gtw - SG_ VCRIGHT_mirrorHeatState : 14|3@1+ (1,0) [0|4] "" X - SG_ VCRIGHT_OTAState : 17|1@1+ (1,0) [0|1] "" gtw - SG_ VCRIGHT_footwellLightCurrent : 40|12@1- (0.1,0) [-204.8|204.7] "mA" X - SG_ VCRIGHT_pcbaTemperature : 52|11@1+ (0.125,-40) [-40|150] "degC" gtw - -BO_ 553 SCCM_rightStalk: 3 VEH - SG_ SCCM_rightStalkCounter : 8|4@1+ (1,0) [0|15] "" X - SG_ SCCM_rightStalkCrc : 0|8@1+ (1,0) [0|255] "" X - SG_ SCCM_rightStalkReserved1 : 15|1@1+ (1,0) [0|1] "" X - SG_ SCCM_parkButtonStatus : 16|2@1+ (1,0) [0|3] "" das - SG_ SCCM_rightStalkReserved2 : 18|6@1+ (1,0) [0|63] "" X - SG_ SCCM_rightStalkStatus : 12|3@1+ (1,0) [0|6] "" das - -BO_ 297 SCCM_steeringAngleSensor: 8 VEH - SG_ SCCM_steeringAngleValidity : 30|2@1+ (1,0) [0|3] "" gtw - SG_ SCCM_supplierID : 12|2@1+ (1,0) [0|3] "" gtw - SG_ SCCM_steeringAngleSensorReservd1 : 46|2@1+ (1,0) [0|3] "" X - SG_ SCCM_steeringAngleCrc : 0|8@1+ (1,0) [0|255] "" gtw - SG_ SCCM_steeringAngleSensorStatus : 14|2@1+ (1,0) [0|3] "" aps - SG_ SCCM_steeringAngleSpeed : 32|14@1+ (0.5,-4096) [-4096|4095.5] "deg/s" das - SG_ SCCM_steeringAngle : 16|14@1+ (0.1,-819.2) [-819.2|819] "deg" aps - SG_ SCCM_steeringAngleSensorReservd2 : 48|8@1+ (1,0) [0|255] "" X - SG_ SCCM_steeringAngleCounter : 8|4@1+ (1,0) [0|15] "" gtw - SG_ SCCM_steeringAngleSensorReservd3 : 56|8@1+ (1,0) [0|255] "" X - -BO_ 258 VCLEFT_doorStatus: 8 VEH - SG_ VCLEFT_mirrorDipped : 61|1@1+ (1,0) [0|1] "" X - SG_ VCLEFT_frontHandlePulledPersist : 62|1@1+ (1,0) [0|1] "" gtw - SG_ VCLEFT_mirrorRecallState : 55|3@1+ (1,0) [0|5] "" gtw - SG_ VCLEFT_rearIntSwitchPressed : 32|1@1+ (1,0) [0|1] "" aps - SG_ VCLEFT_rearLatchSwitch : 9|1@1+ (1,0) [0|1] "" gtw - SG_ VCLEFT_rearHandlePWM : 24|7@1+ (1,0) [0|100] "%" X - SG_ VCLEFT_frontLatchSwitch : 8|1@1+ (1,0) [0|1] "" gtw - SG_ VCLEFT_frontHandlePWM : 16|7@1+ (1,0) [0|100] "%" X - SG_ VCLEFT_rearHandlePulled : 11|1@1+ (1,0) [0|1] "" aps - SG_ VCLEFT_rearLatchStatus : 4|4@1+ (1,0) [0|8] "" aps - SG_ VCLEFT_frontHandlePulled : 10|1@1+ (1,0) [0|1] "" aps - SG_ VCLEFT_mirrorTiltXPosition : 33|8@1+ (0.02,0) [0|5] "V" gtw - SG_ VCLEFT_mirrorState : 49|3@1+ (1,0) [0|4] "" gtw - SG_ VCLEFT_frontIntSwitchPressed : 31|1@1+ (1,0) [0|1] "" aps - SG_ VCLEFT_rearRelActuatorSwitch : 13|1@1+ (1,0) [0|1] "" gtw - SG_ VCLEFT_mirrorHeatState : 58|3@1+ (1,0) [0|4] "" X - SG_ VCLEFT_frontRelActuatorSwitch : 12|1@1+ (1,0) [0|1] "" gtw - SG_ VCLEFT_mirrorTiltYPosition : 41|8@1+ (0.02,0) [0|5] "V" gtw - SG_ VCLEFT_frontLatchStatus : 0|4@1+ (1,0) [0|8] "" aps - SG_ VCLEFT_mirrorFoldState : 52|3@1+ (1,0) [0|4] "" gtw - - -BO_ 568 STW_ACTN_RQ: 8 STW - SG_ SpdCtrlLvr_Stat : 0|6@1+ (1,0) [0|0] "" NEO - SG_ VSL_Enbl_Rq : 6|1@1+ (1,0) [0|0] "" NEO - SG_ SpdCtrlLvrStat_Inv : 7|1@1+ (1,0) [0|0] "" NEO - SG_ DTR_Dist_Rq : 8|8@1+ (1,0) [0|200] "" NEO - SG_ TurnIndLvr_Stat : 16|2@1+ (1,0) [0|0] "" NEO - SG_ HiBmLvr_Stat : 18|2@1+ (1,0) [0|0] "" NEO - SG_ WprWashSw_Psd : 20|2@1+ (1,0) [0|0] "" NEO - SG_ WprWash_R_Sw_Posn_V2 : 22|2@1+ (1,0) [0|0] "" NEO - SG_ StW_Lvr_Stat : 24|3@1+ (1,0) [0|0] "" NEO - SG_ StW_Cond_Flt : 27|1@1+ (1,0) [0|0] "" NEO - SG_ StW_Cond_Psd : 28|2@1+ (1,0) [0|0] "" NEO - SG_ HrnSw_Psd : 30|2@1+ (1,0) [0|0] "" NEO - SG_ StW_Sw00_Psd : 32|1@1+ (1,0) [0|0] "" NEO - SG_ StW_Sw01_Psd : 33|1@1+ (1,0) [0|0] "" NEO - SG_ StW_Sw02_Psd : 34|1@1+ (1,0) [0|0] "" NEO - SG_ StW_Sw03_Psd : 35|1@1+ (1,0) [0|0] "" NEO - SG_ StW_Sw04_Psd : 36|1@1+ (1,0) [0|0] "" NEO - SG_ StW_Sw05_Psd : 37|1@1+ (1,0) [0|0] "" NEO - SG_ StW_Sw06_Psd : 38|1@1+ (1,0) [0|0] "" NEO - SG_ StW_Sw07_Psd : 39|1@1+ (1,0) [0|0] "" NEO - SG_ StW_Sw08_Psd : 40|1@1+ (1,0) [0|0] "" NEO - SG_ StW_Sw09_Psd : 41|1@1+ (1,0) [0|0] "" NEO - SG_ StW_Sw10_Psd : 42|1@1+ (1,0) [0|0] "" NEO - SG_ StW_Sw11_Psd : 43|1@1+ (1,0) [0|0] "" NEO - SG_ StW_Sw12_Psd : 44|1@1+ (1,0) [0|0] "" NEO - SG_ StW_Sw13_Psd : 45|1@1+ (1,0) [0|0] "" NEO - SG_ StW_Sw14_Psd : 46|1@1+ (1,0) [0|0] "" NEO - SG_ StW_Sw15_Psd : 47|1@1+ (1,0) [0|0] "" NEO - SG_ WprSw6Posn : 48|3@1+ (1,0) [0|0] "" NEO - SG_ MC_STW_ACTN_RQ : 52|4@1+ (1,0) [0|15] "" NEO - SG_ CRC_STW_ACTN_RQ : 56|8@1+ (1,0) [0|0] "" NEO - -BO_ 1001 DAS_bodyControls: 8 VEH - SG_ DAS_headlightRequest : 0|2@1+ (1,0) [0|3] "" aps - SG_ DAS_hazardLightRequest : 2|2@1+ (1,0) [0|3] "" aps - SG_ DAS_wiperSpeed : 4|4@1+ (1,0) [0|15] "" aps - SG_ DAS_turnIndicatorRequest : 8|2@1+ (1,0) [0|3] "" aps - SG_ DAS_highLowBeamDecision : 10|2@1+ (1,0) [0|3] "" aps - SG_ DAS_heaterRequest : 12|2@1+ (1,0) [0|2] "" aps - SG_ DAS_turnIndicatorRequestReason : 17|4@1+ (1,0) [0|8] "" aps - SG_ DAS_autopilotActive : 24|1@1+ (1,0) [0|1] "" XXX - SG_ DAS_accActive : 29|1@1+ (1,0) [0|1] "" XXX - SG_ DAS_bodyControlsCounter : 52|4@1+ (1,0) [0|15] "" aps - SG_ DAS_bodyControlsChecksum : 56|8@1+ (1,0) [0|255] "" aps - -BO_ 1013 ID3F5VCFRONT_lighting: 8 VEH - SG_ VCFRONT_lowBeamsCalibrated : 62|1@1+ (1,0) [0|1] "" Receiver - SG_ VCFRONT_lowBeamsOnForDRL : 61|1@1+ (1,0) [0|1] "" Receiver - SG_ VCFRONT_simLatchingStalk : 59|2@1+ (1,0) [0|3] "" Receiver - SG_ VCFRONT_highBeamSwitchActive : 58|1@1+ (1,0) [0|1] "" Receiver - SG_ VCFRONT_parkRightStatus : 56|2@1+ (1,0) [0|3] "" Receiver - SG_ VCFRONT_parkLeftStatus : 54|2@1+ (1,0) [0|3] "" Receiver - SG_ VCFRONT_turnSignalRightStatus : 52|2@1+ (1,0) [0|3] "" Receiver - SG_ VCFRONT_turnSignalLeftStatus : 50|2@1+ (1,0) [0|3] "" Receiver - SG_ VCFRONT_sideRepeaterRightStatus : 48|2@1+ (1,0) [0|3] "" Receiver - SG_ VCFRONT_sideRepeaterLeftStatus : 46|2@1+ (1,0) [0|3] "" Receiver - SG_ VCFRONT_sideMarkersStatus : 44|2@1+ (1,0) [0|3] "" Receiver - SG_ VCFRONT_fogRightStatus : 42|2@1+ (1,0) [0|3] "" Receiver - SG_ VCFRONT_fogLeftStatus : 40|2@1+ (1,0) [0|3] "" Receiver - SG_ VCFRONT_DRLRightStatus : 38|2@1+ (1,0) [0|3] "" Receiver - SG_ VCFRONT_DRLLeftStatus : 36|2@1+ (1,0) [0|3] "" Receiver - SG_ VCFRONT_highBeamRightStatus : 34|2@1+ (1,0) [0|3] "" Receiver - SG_ VCFRONT_highBeamLeftStatus : 32|2@1+ (1,0) [0|3] "" Receiver - SG_ VCFRONT_lowBeamRightStatus : 30|2@1+ (1,0) [0|3] "" Receiver - SG_ VCFRONT_lowBeamLeftStatus : 28|2@1+ (1,0) [0|3] "" Receiver - SG_ VCFRONT_hazardSwitchBacklight : 27|1@1+ (1,0) [0|1] "" Receiver - SG_ VCFRONT_seeYouHomeLightingReq : 26|1@1+ (1,0) [0|1] "" Receiver - SG_ VCFRONT_approachLightingRequest : 25|1@1+ (1,0) [0|1] "" Receiver - SG_ VCFRONT_courtesyLightingRequest : 24|1@1+ (1,0) [0|1] "" Receiver - SG_ VCFRONT_switchLightingBrightness : 16|8@1+ (0.5,0) [0|127] "%" Receiver - SG_ VCFRONT_ambientLightingBrightnes : 8|8@1+ (0.5,0) [0|127] "%" Receiver - SG_ VCFRONT_hazardLightRequest : 4|4@1+ (1,0) [0|8] "" Receiver - SG_ VCFRONT_indicatorRightRequest : 2|2@1+ (1,0) [0|2] "" Receiver - SG_ VCFRONT_indicatorLeftRequest : 0|2@1+ (1,0) [0|2] "" Receiver - -VAL_ 568 SpdCtrlLvr_Stat 32 "DN_1ST" 16 "UP_1ST" 8 "DN_2ND" 4 "UP_2ND" 2 "RWD" 1 "FWD" 0 "IDLE" ; -VAL_ 568 DTR_Dist_Rq 255 "SNA" 200 "ACC_DIST_7" 166 "ACC_DIST_6" 133 "ACC_DIST_5" 100 "ACC_DIST_4" 66 "ACC_DIST_3" 33 "ACC_DIST_2" 0 "ACC_DIST_1" ; -VAL_ 568 TurnIndLvr_Stat 3 "SNA" 2 "RIGHT" 1 "LEFT" 0 "IDLE" ; -VAL_ 568 HiBmLvr_Stat 3 "SNA" 2 "HIBM_FLSH_ON_PSD" 1 "HIBM_ON_PSD" 0 "IDLE" ; -VAL_ 568 WprWashSw_Psd 3 "SNA" 2 "WASH" 1 "TIPWIPE" 0 "NPSD" ; -VAL_ 568 WprWash_R_Sw_Posn_V2 3 "SNA" 2 "WASH" 1 "INTERVAL" 0 "OFF" ; -VAL_ 568 StW_Lvr_Stat 4 "STW_BACK" 3 "STW_FWD" 2 "STW_DOWN" 1 "STW_UP" 0 "NPSD" ; -VAL_ 568 StW_Cond_Psd 3 "SNA" 2 "DOWN" 1 "UP" 0 "NPSD" ; -VAL_ 568 HrnSw_Psd 3 "SNA" 2 "NDEF2" 1 "PSD" 0 "NPSD" ; -VAL_ 568 StW_Sw00_Psd 1 "PRESSED" 0 "NOT_PRESSED_SNA" ; -VAL_ 568 StW_Sw01_Psd 1 "PRESSED" 0 "NOT_PRESSED_SNA" ; -VAL_ 568 StW_Sw03_Psd 1 "PRESSED" 0 "NOT_PRESSED_SNA" ; -VAL_ 568 StW_Sw04_Psd 1 "PRESSED" 0 "NOT_PRESSED_SNA" ; -VAL_ 568 WprSw6Posn 7 "SNA" 6 "STAGE2" 5 "STAGE1" 4 "INTERVAL4" 3 "INTERVAL3" 2 "INTERVAL2" 1 "INTERVAL1" 0 "OFF" ; - -VAL_ 1001 DAS_headlightRequest 3 "DAS_HEADLIGHT_REQUEST_INVALID" 1 "DAS_HEADLIGHT_REQUEST_ON" 0 "DAS_HEADLIGHT_REQUEST_OFF"; -VAL_ 1001 DAS_hazardLightRequest 3 "DAS_REQUEST_HAZARDS_SNA" 2 "DAS_REQUEST_HAZARDS_UNUSED" 0 "DAS_REQUEST_HAZARDS_OFF" 1 "DAS_REQUEST_HAZARDS_ON"; -VAL_ 1001 DAS_wiperSpeed 3 "DAS_WIPER_SPEED_3" 12 "DAS_WIPER_SPEED_12" 8 "DAS_WIPER_SPEED_8" 14 "DAS_WIPER_SPEED_14" 5 "DAS_WIPER_SPEED_5" 13 "DAS_WIPER_SPEED_13" 2 "DAS_WIPER_SPEED_2" 0 "DAS_WIPER_SPEED_OFF" 4 "DAS_WIPER_SPEED_4" 1 "DAS_WIPER_SPEED_1" 15 "DAS_WIPER_SPEED_INVALID" 10 "DAS_WIPER_SPEED_10" 11 "DAS_WIPER_SPEED_11" 7 "DAS_WIPER_SPEED_7" 9 "DAS_WIPER_SPEED_9" 6 "DAS_WIPER_SPEED_6"; -VAL_ 1001 DAS_turnIndicatorRequest 0 "DAS_TURN_INDICATOR_NONE" 2 "DAS_TURN_INDICATOR_RIGHT" 3 "DAS_TURN_INDICATOR_CANCEL" 1 "DAS_TURN_INDICATOR_LEFT"; -VAL_ 1001 DAS_highLowBeamDecision 2 "DAS_HIGH_BEAM_ON" 1 "DAS_HIGH_BEAM_OFF" 3 "DAS_HIGH_BEAM_SNA" 0 "DAS_HIGH_BEAM_UNDECIDED"; -VAL_ 1001 DAS_heaterRequest 0 "DAS_HEATER_SNA" 2 "DAS_HEATER_ON" 1 "DAS_HEATER_OFF"; -VAL_ 1001 DAS_turnIndicatorRequestReason 8 "DAS_ACTIVE_COMMANDED_LANE_CHANGE" 4 "DAS_CANCEL_LANE_CHANGE" 6 "DAS_ACTIVE_MERGE" 2 "DAS_ACTIVE_SPEED_LANE_CHANGE" 5 "DAS_CANCEL_FORK" 0 "DAS_NONE" 3 "DAS_ACTIVE_FORK" 7 "DAS_CANCEL_MERGE" 1 "DAS_ACTIVE_NAV_LANE_CHANGE"; - -VAL_ 1013 VCFRONT_DRLLeftStatus 2 "LIGHT_FAULT" 0 "LIGHT_OFF" 1 "LIGHT_ON" 3 "LIGHT_SNA" ; -VAL_ 1013 VCFRONT_DRLRightStatus 2 "LIGHT_FAULT" 0 "LIGHT_OFF" 1 "LIGHT_ON" 3 "LIGHT_SNA" ; -VAL_ 1013 VCFRONT_ambientLightingBrightnes 255 "SNA" ; -VAL_ 1013 VCFRONT_fogLeftStatus 2 "LIGHT_FAULT" 0 "LIGHT_OFF" 1 "LIGHT_ON" 3 "LIGHT_SNA" ; -VAL_ 1013 VCFRONT_fogRightStatus 2 "LIGHT_FAULT" 0 "LIGHT_OFF" 1 "LIGHT_ON" 3 "LIGHT_SNA" ; -VAL_ 1013 VCFRONT_hazardLightRequest 1 "HAZARD_REQUEST_BUTTON" 6 "HAZARD_REQUEST_CAR_ALARM" 5 "HAZARD_REQUEST_CRASH" 7 "HAZARD_REQUEST_DAS" 2 "HAZARD_REQUEST_LOCK" 4 "HAZARD_REQUEST_MISLOCK" 0 "HAZARD_REQUEST_NONE" 8 "HAZARD_REQUEST_UDS" 3 "HAZARD_REQUEST_UNLOCK" ; -VAL_ 1013 VCFRONT_highBeamLeftStatus 2 "LIGHT_FAULT" 0 "LIGHT_OFF" 1 "LIGHT_ON" 3 "LIGHT_SNA" ; -VAL_ 1013 VCFRONT_highBeamRightStatus 2 "LIGHT_FAULT" 0 "LIGHT_OFF" 1 "LIGHT_ON" 3 "LIGHT_SNA" ; -VAL_ 1013 VCFRONT_indicatorLeftRequest 2 "TURN_SIGNAL_ACTIVE_HIGH" 1 "TURN_SIGNAL_ACTIVE_LOW" 0 "TURN_SIGNAL_OFF" ; -VAL_ 1013 VCFRONT_indicatorRightRequest 2 "TURN_SIGNAL_ACTIVE_HIGH" 1 "TURN_SIGNAL_ACTIVE_LOW" 0 "TURN_SIGNAL_OFF" ; -VAL_ 1013 VCFRONT_lowBeamLeftStatus 2 "LIGHT_FAULT" 0 "LIGHT_OFF" 1 "LIGHT_ON" 3 "LIGHT_SNA" ; -VAL_ 1013 VCFRONT_lowBeamRightStatus 2 "LIGHT_FAULT" 0 "LIGHT_OFF" 1 "LIGHT_ON" 3 "LIGHT_SNA" ; -VAL_ 1013 VCFRONT_parkLeftStatus 2 "LIGHT_FAULT" 0 "LIGHT_OFF" 1 "LIGHT_ON" 3 "LIGHT_SNA" ; -VAL_ 1013 VCFRONT_parkRightStatus 2 "LIGHT_FAULT" 0 "LIGHT_OFF" 1 "LIGHT_ON" 3 "LIGHT_SNA" ; -VAL_ 1013 VCFRONT_sideMarkersStatus 2 "LIGHT_FAULT" 0 "LIGHT_OFF" 1 "LIGHT_ON" 3 "LIGHT_SNA" ; -VAL_ 1013 VCFRONT_sideRepeaterLeftStatus 2 "LIGHT_FAULT" 0 "LIGHT_OFF" 1 "LIGHT_ON" 3 "LIGHT_SNA" ; -VAL_ 1013 VCFRONT_sideRepeaterRightStatus 2 "LIGHT_FAULT" 0 "LIGHT_OFF" 1 "LIGHT_ON" 3 "LIGHT_SNA" ; -VAL_ 1013 VCFRONT_simLatchingStalk 0 "SIMULATED_LATCHING_STALK_IDLE" 1 "SIMULATED_LATCHING_STALK_LEFT" 2 "SIMULATED_LATCHING_STALK_RIGHT" 3 "SIMULATED_LATCHING_STALK_SNA" ; -VAL_ 1013 VCFRONT_switchLightingBrightness 255 "SNA" ; -VAL_ 1013 VCFRONT_turnSignalLeftStatus 2 "LIGHT_FAULT" 0 "LIGHT_OFF" 1 "LIGHT_ON" 3 "LIGHT_SNA" ; -VAL_ 1013 VCFRONT_turnSignalRightStatus 2 "LIGHT_FAULT" 0 "LIGHT_OFF" 1 "LIGHT_ON" 3 "LIGHT_SNA" ; -VAL_ 962 VCLEFT_frontBuckleSwitch 2 "SWITCH_ON" 0 "SWITCH_SNA" 3 "SWITCH_FAULT" 1 "SWITCH_OFF"; -VAL_ 962 VCLEFT_frontSeatTrackBack 2 "SWITCH_ON" 0 "SWITCH_SNA" 3 "SWITCH_FAULT" 1 "SWITCH_OFF"; -VAL_ 962 VCLEFT_rightMirrorTilt 4 "MIRROR_TILT_LEFT" 2 "MIRROR_TILT_UP" 3 "MIRROR_TILT_RIGHT" 0 "MIRROR_TILT_STOP" 1 "MIRROR_TILT_DOWN"; -VAL_ 962 VCLEFT_frontOccupancySwitch 2 "SWITCH_ON" 0 "SWITCH_SNA" 3 "SWITCH_FAULT" 1 "SWITCH_OFF"; -VAL_ 962 VCLEFT_swcRightTiltLeft 2 "SWITCH_ON" 0 "SWITCH_SNA" 3 "SWITCH_FAULT" 1 "SWITCH_OFF"; -VAL_ 962 VCLEFT_rearRightOccupancySwitch 2 "SWITCH_ON" 0 "SWITCH_SNA" 3 "SWITCH_FAULT" 1 "SWITCH_OFF"; -VAL_ 962 VCLEFT_swcLeftTiltRight 2 "SWITCH_ON" 0 "SWITCH_SNA" 3 "SWITCH_FAULT" 1 "SWITCH_OFF"; -VAL_ 962 VCLEFT_frontSeatBackrestForward 2 "SWITCH_ON" 0 "SWITCH_SNA" 3 "SWITCH_FAULT" 1 "SWITCH_OFF"; -VAL_ 962 VCLEFT_swcRightTiltRight 2 "SWITCH_ON" 0 "SWITCH_SNA" 3 "SWITCH_FAULT" 1 "SWITCH_OFF"; -VAL_ 962 VCLEFT_frontSeatLumbarIn 2 "SWITCH_ON" 0 "SWITCH_SNA" 3 "SWITCH_FAULT" 1 "SWITCH_OFF"; -VAL_ 962 VCLEFT_frontSeatLiftUp 2 "SWITCH_ON" 0 "SWITCH_SNA" 3 "SWITCH_FAULT" 1 "SWITCH_OFF"; -VAL_ 962 VCLEFT_frontSeatLumbarDown 2 "SWITCH_ON" 0 "SWITCH_SNA" 3 "SWITCH_FAULT" 1 "SWITCH_OFF"; -VAL_ 962 VCLEFT_frontSeatTiltDown 2 "SWITCH_ON" 0 "SWITCH_SNA" 3 "SWITCH_FAULT" 1 "SWITCH_OFF"; -VAL_ 962 VCLEFT_frontSeatTrackForward 2 "SWITCH_ON" 0 "SWITCH_SNA" 3 "SWITCH_FAULT" 1 "SWITCH_OFF"; -VAL_ 962 VCLEFT_rearLeftBuckleSwitch 2 "SWITCH_ON" 0 "SWITCH_SNA" 3 "SWITCH_FAULT" 1 "SWITCH_OFF"; -VAL_ 962 VCLEFT_swcRightPressed 2 "SWITCH_ON" 0 "SWITCH_SNA" 3 "SWITCH_FAULT" 1 "SWITCH_OFF"; -VAL_ 962 VCLEFT_frontSeatLumbarOut 2 "SWITCH_ON" 0 "SWITCH_SNA" 3 "SWITCH_FAULT" 1 "SWITCH_OFF"; -VAL_ 962 VCLEFT_swcLeftTiltLeft 2 "SWITCH_ON" 0 "SWITCH_SNA" 3 "SWITCH_FAULT" 1 "SWITCH_OFF"; -VAL_ 962 VCLEFT_swcLeftPressed 2 "SWITCH_ON" 0 "SWITCH_SNA" 3 "SWITCH_FAULT" 1 "SWITCH_OFF"; -VAL_ 962 VCLEFT_frontSeatTiltUp 2 "SWITCH_ON" 0 "SWITCH_SNA" 3 "SWITCH_FAULT" 1 "SWITCH_OFF"; -VAL_ 962 VCLEFT_rearLeftOccupancySwitch 2 "SWITCH_ON" 0 "SWITCH_SNA" 3 "SWITCH_FAULT" 1 "SWITCH_OFF"; -VAL_ 962 VCLEFT_frontSeatBackrestBack 2 "SWITCH_ON" 0 "SWITCH_SNA" 3 "SWITCH_FAULT" 1 "SWITCH_OFF"; -VAL_ 962 VCLEFT_rearCenterOccupancySwitch 2 "SWITCH_ON" 0 "SWITCH_SNA" 3 "SWITCH_FAULT" 1 "SWITCH_OFF"; -VAL_ 962 VCLEFT_frontSeatLumbarUp 2 "SWITCH_ON" 0 "SWITCH_SNA" 3 "SWITCH_FAULT" 1 "SWITCH_OFF"; -VAL_ 962 VCLEFT_frontSeatLiftDown 2 "SWITCH_ON" 0 "SWITCH_SNA" 3 "SWITCH_FAULT" 1 "SWITCH_OFF"; -VAL_ 962 VCLEFT_switchStatusIndex 1 "VCLEFT_SWITCH_STATUS_INDEX_1" 2 "VCLEFT_SWITCH_STATUS_INDEX_INVALID" 0 "VCLEFT_SWITCH_STATUS_INDEX_0"; -VAL_ 259 VCRIGHT_trunkLatchStatus 8 "LATCH_FAULT" 2 "LATCH_CLOSED" 1 "LATCH_OPENED" 3 "LATCH_CLOSING" 7 "LATCH_DEFAULT" 4 "LATCH_OPENING" 5 "LATCH_AJAR" 6 "LATCH_TIMEOUT" 0 "LATCH_SNA"; -VAL_ 259 VCRIGHT_mirrorFoldState 4 "MIRROR_FOLD_STATE_UNFOLDING" 1 "MIRROR_FOLD_STATE_FOLDED" 3 "MIRROR_FOLD_STATE_FOLDING" 0 "MIRROR_FOLD_STATE_UNKNOWN" 2 "MIRROR_FOLD_STATE_UNFOLDED"; -VAL_ 259 VCRIGHT_rearLatchStatus 8 "LATCH_FAULT" 2 "LATCH_CLOSED" 1 "LATCH_OPENED" 3 "LATCH_CLOSING" 7 "LATCH_DEFAULT" 4 "LATCH_OPENING" 5 "LATCH_AJAR" 6 "LATCH_TIMEOUT" 0 "LATCH_SNA"; -VAL_ 259 VCRIGHT_mirrorRecallState 5 "MIRROR_RECALL_STATE_RECALLING_STOPPED" 2 "MIRROR_RECALL_STATE_RECALLING_AXIS_2" 0 "MIRROR_RECALL_STATE_INIT" 3 "MIRROR_RECALL_STATE_RECALLING_COMPLETE" 4 "MIRROR_RECALL_STATE_RECALLING_FAILED" 1 "MIRROR_RECALL_STATE_RECALLING_AXIS_1"; -VAL_ 259 VCRIGHT_mirrorState 3 "MIRROR_STATE_FOLD_UNFOLD" 1 "MIRROR_STATE_TILT_X" 0 "MIRROR_STATE_IDLE" 2 "MIRROR_STATE_TILT_Y" 4 "MIRROR_STATE_RECALL"; -VAL_ 259 VCRIGHT_frontLatchStatus 8 "LATCH_FAULT" 2 "LATCH_CLOSED" 1 "LATCH_OPENED" 3 "LATCH_CLOSING" 7 "LATCH_DEFAULT" 4 "LATCH_OPENING" 5 "LATCH_AJAR" 6 "LATCH_TIMEOUT" 0 "LATCH_SNA"; -VAL_ 585 SCCM_washWipeButtonStatus 3 "SNA" 0 "NOT_PRESSED" 2 "2ND_DETENT" 1 "1ST_DETENT"; -VAL_ 585 SCCM_turnIndicatorStalkStatus 3 "DOWN_1" 5 "SNA" 0 "IDLE" 1 "UP_1" 4 "DOWN_2" 2 "UP_2"; -VAL_ 585 SCCM_highBeamStalkStatus 3 "SNA" 0 "IDLE" 1 "PULL" 2 "PUSH"; -VAL_ 280 DI_epbRequest 0 "DI_EPBREQUEST_NO_REQUEST" 1 "DI_EPBREQUEST_PARK" 2 "DI_EPBREQUEST_UNPARK"; -VAL_ 280 DI_keepAliveRequest 1 "KEEP_ALIVE" 0 "NO_REQUEST"; -VAL_ 280 DI_accelPedalPos 255 "SNA"; -VAL_ 280 DI_gear 1 "DI_GEAR_P" 0 "DI_GEAR_INVALID" 7 "DI_GEAR_SNA" 2 "DI_GEAR_R" 3 "DI_GEAR_N" 4 "DI_GEAR_D"; -VAL_ 280 DI_tractionControlMode 0 "TC_NORMAL" 1 "TC_SLIP_START" 4 "TC_ROLLS_MODE" 2 "TC_DEV_MODE_1" 5 "TC_DYNO_MODE" 3 "TC_DEV_MODE_2"; -VAL_ 280 DI_trackModeState 0 "TRACK_MODE_UNAVAILABLE" 1 "TRACK_MODE_AVAILABLE" 2 "TRACK_MODE_ON"; -VAL_ 280 DI_systemState 5 "DI_SYS_ENABLE" 1 "DI_SYS_IDLE" 2 "DI_SYS_STANDBY" 0 "DI_SYS_UNAVAILABLE" 3 "DI_SYS_FAULT" 4 "DI_SYS_ABORT"; -VAL_ 280 DI_immobilizerState 2 "DI_IMM_STATE_AUTHENTICATING" 0 "DI_IMM_STATE_INIT_SNA" 3 "DI_IMM_STATE_DISARMED" 4 "DI_IMM_STATE_IDLE" 6 "DI_IMM_STATE_FAULT" 1 "DI_IMM_STATE_REQUEST" 5 "DI_IMM_STATE_RESET"; -VAL_ 280 DI_brakePedalState 2 "INVALID" 0 "OFF" 1 "ON"; -VAL_ 835 VCRIGHT_rearDefrostState 2 "HEATER_STATE_OFF" 4 "HEATER_STATE_FAULT" 1 "HEATER_STATE_ON" 0 "HEATER_STATE_SNA" 3 "HEATER_STATE_OFF_UNAVAILABLE"; -VAL_ 835 VCRIGHT_vehiclePowerStateDBG 3 "VEHICLE_POWER_STATE_DRIVE" 1 "VEHICLE_POWER_STATE_CONDITIONING" 2 "VEHICLE_POWER_STATE_ACCESSORY" 0 "VEHICLE_POWER_STATE_OFF"; -VAL_ 835 VCRIGHT_mirrorHeatState 2 "HEATER_STATE_OFF" 4 "HEATER_STATE_FAULT" 1 "HEATER_STATE_ON" 0 "HEATER_STATE_SNA" 3 "HEATER_STATE_OFF_UNAVAILABLE"; -VAL_ 553 SCCM_parkButtonStatus 3 "SNA" 0 "NOT_PRESSED" 2 "INIT" 1 "PRESSED"; -VAL_ 553 SCCM_rightStalkStatus 3 "DOWN_1" 6 "SNA" 0 "IDLE" 5 "INIT" 1 "UP_1" 4 "DOWN_2" 2 "UP_2"; -VAL_ 297 SCCM_steeringAngleValidity 3 "SNA" 2 "INIT" 0 "INVALID" 1 "VALID"; -VAL_ 297 SCCM_steeringAngleSensorStatus 0 "OK" 1 "INIT" 2 "ERROR" 3 "ERROR_INIT"; -VAL_ 258 VCLEFT_mirrorRecallState 5 "MIRROR_RECALL_STATE_RECALLING_STOPPED" 2 "MIRROR_RECALL_STATE_RECALLING_AXIS_2" 0 "MIRROR_RECALL_STATE_INIT" 3 "MIRROR_RECALL_STATE_RECALLING_COMPLETE" 4 "MIRROR_RECALL_STATE_RECALLING_FAILED" 1 "MIRROR_RECALL_STATE_RECALLING_AXIS_1"; -VAL_ 258 VCLEFT_rearLatchStatus 8 "LATCH_FAULT" 2 "LATCH_CLOSED" 1 "LATCH_OPENED" 3 "LATCH_CLOSING" 7 "LATCH_DEFAULT" 4 "LATCH_OPENING" 5 "LATCH_AJAR" 6 "LATCH_TIMEOUT" 0 "LATCH_SNA"; -VAL_ 258 VCLEFT_mirrorState 3 "MIRROR_STATE_FOLD_UNFOLD" 1 "MIRROR_STATE_TILT_X" 0 "MIRROR_STATE_IDLE" 2 "MIRROR_STATE_TILT_Y" 4 "MIRROR_STATE_RECALL"; -VAL_ 258 VCLEFT_mirrorHeatState 2 "HEATER_STATE_OFF" 4 "HEATER_STATE_FAULT" 1 "HEATER_STATE_ON" 0 "HEATER_STATE_SNA" 3 "HEATER_STATE_OFF_UNAVAILABLE"; -VAL_ 258 VCLEFT_frontLatchStatus 8 "LATCH_FAULT" 2 "LATCH_CLOSED" 1 "LATCH_OPENED" 3 "LATCH_CLOSING" 7 "LATCH_DEFAULT" 4 "LATCH_OPENING" 5 "LATCH_AJAR" 6 "LATCH_TIMEOUT" 0 "LATCH_SNA"; -VAL_ 258 VCLEFT_mirrorFoldState 4 "MIRROR_FOLD_STATE_UNFOLDING" 1 "MIRROR_FOLD_STATE_FOLDED" 3 "MIRROR_FOLD_STATE_FOLDING" 0 "MIRROR_FOLD_STATE_UNKNOWN" 2 "MIRROR_FOLD_STATE_UNFOLDED"; diff --git a/opendbc/toyota_2017_ref_pt.dbc b/opendbc/toyota_2017_ref_pt.dbc deleted file mode 100644 index 17cd8f1b36900e..00000000000000 --- a/opendbc/toyota_2017_ref_pt.dbc +++ /dev/null @@ -1,1638 +0,0 @@ -VERSION "" - - -NS_ : - NS_DESC_ - CM_ - BA_DEF_ - BA_ - VAL_ - CAT_DEF_ - CAT_ - FILTER - BA_DEF_DEF_ - EV_DATA_ - ENVVAR_DATA_ - SGTYPE_ - SGTYPE_VAL_ - BA_DEF_SGTYPE_ - BA_SGTYPE_ - SIG_TYPE_REF_ - VAL_TABLE_ - SIG_GROUP_ - SIG_VALTYPE_ - SIGTYPE_VALTYPE_ - BO_TX_BU_ - BA_DEF_REL_ - BA_REL_ - BA_DEF_DEF_REL_ - BU_SG_REL_ - BU_EV_REL_ - BU_BO_REL_ - SG_MUL_VAL_ - -BS_: - -BU_: AFS BSR CGW CSR DS1 FCM FRD KSS MAV SCS Vector__XXX - - -BO_ 1196 ABG1D50: 8 CGW - SG_ DRABG01 : 7|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRABG02 : 15|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRABG03 : 23|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRABG04 : 31|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRABG05 : 39|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRABG06 : 47|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRABG07 : 55|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRABG08 : 63|8@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 1212 ABG1D51: 8 CGW - SG_ DRABG09 : 7|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRABG10 : 15|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRABG11 : 23|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRABG12 : 31|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRABG13 : 39|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRABG14 : 47|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRABG15 : 55|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRABG16 : 63|8@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 945 ABG1S01: 8 CGW - SG_ CDT : 22|3@0+ (1,0) [0|0] "" DS1 - SG_ AB : 19|2@0+ (1,0) [0|0] "" DS1 - SG_ DBKLAB : 17|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ PODT : 27|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ PBKLAB : 25|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ EDRTRG : 44|2@0+ (1,0) [0|0] "" DS1 - -BO_ 836 ACC1F01: 8 DS1 - SG_ DSS1GDRV : 7|10@0- (0.1,0) [0|0] "m/s^2" Vector__XXX - SG_ DS1STAT2 : 13|3@0+ (1,0) [0|0] "" Vector__XXX - SG_ DS1STBK2 : 10|3@0+ (1,0) [0|0] "" Vector__XXX - SG_ PCSWAR : 18|1@0+ (1,0) [0|0] "" FCM - SG_ PCSALM : 17|1@0+ (1,0) [0|0] "" FCM - SG_ PCSOPR : 16|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ PCSABK : 31|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ PBATRGR : 30|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ PPTRGR : 28|1@0+ (1,0) [0|0] "" FCM - SG_ IBTRGR : 27|1@0+ (1,0) [0|0] "" FCM - SG_ CLEXTRGR : 26|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ IRLT_REQ : 25|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ BRKHLD : 37|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ AVSTRGR : 36|1@0+ (1,0) [0|0] "" SCS - SG_ VGRSTRGR : 35|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ PREFILL : 33|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ PBRTRGR : 32|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ PCSDIS : 43|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ PBPREPMP : 40|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ ACCF01SM : 63|8@0+ (1,0) [0|0] "" FCM - -BO_ 1227 ACC1N01: 8 DS1 - SG_ ACCNID : 7|8@0+ (1,0) [0|0] "" CGW - SG_ ACCSNG : 15|1@0+ (1,0) [0|0] "" CGW - SG_ ACCSPF : 23|16@0+ (1,0) [0|0] "" CGW - SG_ ACCREV : 39|32@0+ (1,0) [0|0] "" CGW - -BO_ 835 ACC1S03: 8 DS1 - SG_ ATACC2 : 7|16@0- (0.001,0) [0|0] "m/s^2" Vector__XXX - SG_ ACCTYPE : 23|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ XTRGT2 : 21|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ XLTMD2 : 20|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ LCDT2 : 19|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ LCNG : 18|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ SMC : 17|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ STOKJD : 31|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ PMTBRKG : 30|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ LVSTP : 29|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ LCCWOK : 25|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ LCBW2 : 24|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ CACC : 39|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ AT_RAW : 47|8@0- (0.05,0) [0|0] "m/s^2" Vector__XXX - SG_ ACC03SUM : 63|8@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 896 ACN1S01: 8 CGW - SG_ R_AC2 : 6|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ R_HTR : 5|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ ECOSW : 2|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ R_EGON : 1|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ BLWON : 15|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ SCAC : 13|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ CGIH : 23|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ FAN_AC : 22|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ ACHI : 20|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ ACMAX : 19|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ R_VSCUS : 31|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ R_SHTR : 30|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ R_PTC : 29|2@0+ (1,0) [0|0] "piece" Vector__XXX - SG_ GNRTIH : 27|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ R_COL_TM : 26|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ R_HET_TM : 24|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ TAMOUT : 55|8@0- (0.625,0) [0|0] "" Vector__XXX - -BO_ 897 ACN1S04: 8 CGW - SG_ R_ACCALL : 7|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ R_AC_WNG : 6|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ R_SW_CON : 5|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ R_BEEP : 4|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ I_RA_AUT : 3|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ I_RA_AC : 2|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ I_RA_LO : 1|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ I_RA_HI : 0|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ I_AUTO_D : 15|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ I_AUTO_P : 14|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ I_DEF : 13|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ I_RRDEF : 12|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ I_RFAUT : 11|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ I_REC : 10|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ I_FRS : 9|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ I_AC : 8|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ I_MHTR : 23|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ I_WIPD : 22|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ I_DUSY : 21|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ I_SWNG : 20|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ I_BLW_F : 19|4@0+ (1,0) [0|0] "" Vector__XXX - SG_ I_OAUT_D : 31|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ I_OLET_D : 30|3@0+ (1,0) [0|0] "" Vector__XXX - SG_ I_OAUT_P : 27|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ I_OLET_P : 26|3@0+ (1,0) [0|0] "" Vector__XXX - SG_ ST_BMN_F : 39|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ I_AIRPR : 47|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ I_O2 : 46|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ I_PLSM : 45|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ I_KAFUN : 43|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ I_SAFS : 42|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ I_ACOFF : 41|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ R_ONSCRN : 40|1@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 944 ACN1S07: 6 CGW - SG_ RDEF : 7|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ MHTR : 6|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ TR_TEMP : 15|8@0+ (0.25,-6.5) [0|0] "" Vector__XXX - SG_ ACN_AMB : 31|8@0+ (1,0) [0|0] "" CSR,DS1,FCM - SG_ AC_AMB05 : 44|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ AC_MODE : 43|2@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 1250 AFS1N01: 8 AFS - SG_ AFSNID : 7|8@0+ (1,0) [0|0] "" CGW - SG_ AFSSNG : 15|1@0+ (1,0) [0|0] "" CGW - SG_ AFSSPF : 23|16@0+ (1,0) [0|0] "" CGW - SG_ AFSREV : 39|32@0+ (1,0) [0|0] "" CGW - -BO_ 913 AFS1S01: 8 AFS - SG_ HLLI : 7|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ AZB_ADV : 5|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ HEDH_AZB : 3|1@0+ (1,0) [0|0] "" FCM - SG_ AZB_IND : 13|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ AZB_HIND : 11|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ AZB_PRE : 10|1@0+ (1,0) [0|0] "" FCM - SG_ LED_HLI : 9|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ LPECU_PR : 24|1@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 845 AFS1S02: 5 AFS - SG_ AHRR : 17|10@0+ (0.0048828125,0) [0|0] "V" Vector__XXX - SG_ AHVLD : 39|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ AHFAIL : 38|1@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 1044 AHB1S01: 8 FCM - SG_ AHB_DUTY : 47|8@0+ (0.5,0) [0|0] "%" Vector__XXX - SG_ F_AHB : 55|4@0+ (1,0) [0|0] "" Vector__XXX - SG_ C_AHB : 51|4@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 900 AVN1S01: 6 CGW - SG_ RDC : 7|4@0+ (1,0) [0|0] "" SCS - SG_ CONFID01 : 3|2@0+ (1,0) [0|0] "" SCS - SG_ CONF : 1|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ LYT : 15|4@0+ (1,0) [0|0] "" SCS - SG_ DRVW : 9|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ MWMP : 8|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ GRAD : 23|3@0+ (1,0) [0|0] "" Vector__XXX - SG_ HARSHID : 19|4@0+ (1,0) [0|0] "" SCS - SG_ BRANCH : 27|4@0+ (1,0) [0|0] "" Vector__XXX - SG_ HARSH : 35|2@0+ (1,0) [0|0] "" SCS - SG_ TOLLGATE : 33|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ TUNL : 32|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ LEAVEOUT : 47|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ MRGLANE : 46|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ LVLANE : 45|1@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 902 AVN1S03: 6 CGW - SG_ ANS : 7|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ CRS1 : 15|1@0+ (1,0) [0|0] "" SCS - SG_ RQAC : 14|7@0+ (0.02,0) [0|0] "G" Vector__XXX - SG_ GUID : 23|1@0+ (1,0) [0|0] "" SCS - SG_ GYRO : 22|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ NCRN : 21|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ CRN6 : 20|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ CRN5 : 19|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ CRN3 : 18|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ CRN2 : 17|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ CRN1 : 16|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ CONFID03 : 31|2@0+ (1,0) [0|0] "" SCS - SG_ CURV : 29|2@0+ (1,0) [0|0] "" SCS - SG_ CVST : 27|1@0+ (1,0) [0|0] "" SCS - SG_ NAVI_STR : 26|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ MIND : 25|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ ONOFF : 24|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ HWPB : 39|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ RAD : 38|7@0+ (5,0) [0|0] "m" SCS - SG_ AFS_SW : 41|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ AVS_SW : 40|1@0+ (1,0) [0|0] "" SCS - -BO_ 911 AVN1S07: 8 CGW - SG_ TOFC_RST : 6|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ SL_CSTM : 3|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ SL_RMDG : 2|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ ST_RTCOM : 1|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ AVN07VLD : 0|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ ST_UCST : 15|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ RSCOM51 : 23|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ RSCOM52 : 31|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ RSCOM53 : 39|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ RSCOM54 : 47|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ RSCOM55 : 55|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ RSCOM56 : 63|8@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 905 AVN1S08: 8 CGW - SG_ VVSW : 7|3@0+ (1,0) [0|0] "" CSR - SG_ BZV : 4|3@0+ (1,0) [0|0] "" CSR - SG_ DFS : 1|2@0+ (1,0) [0|0] "" CSR - SG_ BZ_M_SW : 15|1@0+ (1,0) [0|0] "" CSR - SG_ VOL_SW : 14|1@0+ (1,0) [0|0] "" CSR - SG_ BM : 13|1@0+ (1,0) [0|0] "" CSR - SG_ DOFR : 12|1@0+ (1,0) [0|0] "" CSR - SG_ RDSW : 11|1@0+ (1,0) [0|0] "" CSR - SG_ FDSW : 10|1@0+ (1,0) [0|0] "" CSR - SG_ RBSW : 9|1@0+ (1,0) [0|0] "" CSR - SG_ FBSW : 8|1@0+ (1,0) [0|0] "" CSR - SG_ NVDP_OK : 23|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ DEVICE : 22|3@0+ (1,0) [0|0] "" Vector__XXX - SG_ DISPSIZE : 31|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ HPTCSW_L : 30|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ HPTCSW_R : 29|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ HPTCSW_E : 28|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ D_MODE : 27|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ VARBGM : 26|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ WBGM : 24|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ X_LL : 39|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ Y_LL : 47|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ X_RH : 55|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ Y_RH : 63|8@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 998 AVN1S11: 5 CGW - SG_ SENSPFM : 7|3@0+ (1,0) [0|0] "" SCS - SG_ SENSFAIL : 4|3@0+ (1,0) [0|0] "" SCS - SG_ CONFID11 : 1|2@0+ (1,0) [0|0] "" SCS - SG_ CONFMMC : 15|8@0+ (1,0) [0|0] "" SCS - SG_ DISTERR : 23|8@0+ (1,0) [0|0] "" SCS - SG_ CONFLANE : 31|8@0+ (1,0) [0|0] "" SCS - SG_ CONFDIR : 39|8@0+ (1,0) [0|0] "" SCS - -BO_ 933 AVN1S13: 8 CGW - SG_ HUD_DISP : 7|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRVSIDE : 6|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ DT_GP : 5|6@0+ (1,0) [0|0] "" Vector__XXX - SG_ DT_UNIT : 15|3@0+ (1,0) [0|0] "" Vector__XXX - SG_ DIR_TURN : 12|5@0+ (11.25,0) [0|0] "degree" Vector__XXX - SG_ ROTARY : 23|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ ROAD_TP1 : 22|15@0+ (1,0) [0|0] "" Vector__XXX - SG_ ROAD_TP2 : 39|16@0+ (1,0) [0|0] "" Vector__XXX - SG_ N_H_UP : 55|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ COMPASS : 54|6@0+ (11.25,0) [0|0] "degree" Vector__XXX - SG_ DIR : 63|6@0+ (11.25,0) [0|0] "degree" Vector__XXX - -BO_ 936 AVN1S16: 5 CGW - SG_ NDADVSRY : 7|5@0+ (1,0) [0|0] "" Vector__XXX - SG_ NDCAUTON : 15|5@0+ (1,0) [0|0] "" Vector__XXX - SG_ NDSSLCT : 23|5@0+ (1,0) [0|0] "" Vector__XXX - SG_ NDCNFDID : 18|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ NDINDST : 25|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ AVN16SUM : 39|8@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 999 AVN1S17: 7 CGW - SG_ AVN17VLD : 7|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ LANEID17 : 6|3@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRVLANE : 3|4@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRV_SIDE : 12|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ LANE_NS : 11|4@0+ (1,0) [0|0] "" Vector__XXX - SG_ LANE1FLG : 23|4@0+ (1,0) [0|0] "" Vector__XXX - SG_ LANE2FLG : 19|4@0+ (1,0) [0|0] "" Vector__XXX - SG_ LANE1DIR : 31|16@0+ (1,0) [0|0] "" Vector__XXX - SG_ LANE2DIR : 47|16@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 1000 AVN1S18: 8 CGW - SG_ AVN18VLD : 7|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ LANEID18 : 6|3@0+ (1,0) [0|0] "" Vector__XXX - SG_ LANE3FLG : 3|4@0+ (1,0) [0|0] "" Vector__XXX - SG_ LANE4FLG : 15|4@0+ (1,0) [0|0] "" Vector__XXX - SG_ LANE5FLG : 11|4@0+ (1,0) [0|0] "" Vector__XXX - SG_ LANE3DIR : 23|16@0+ (1,0) [0|0] "" Vector__XXX - SG_ LANE4DIR : 39|16@0+ (1,0) [0|0] "" Vector__XXX - SG_ LANE5DIR : 55|16@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 1001 AVN1S19: 8 CGW - SG_ AVN19VLD : 7|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ LANEID19 : 6|3@0+ (1,0) [0|0] "" Vector__XXX - SG_ LANE6FLG : 3|4@0+ (1,0) [0|0] "" Vector__XXX - SG_ LANE7FLG : 15|4@0+ (1,0) [0|0] "" Vector__XXX - SG_ LANE8FLG : 11|4@0+ (1,0) [0|0] "" Vector__XXX - SG_ LANE6DIR : 23|16@0+ (1,0) [0|0] "" Vector__XXX - SG_ LANE7DIR : 39|16@0+ (1,0) [0|0] "" Vector__XXX - SG_ LANE8DIR : 55|16@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 1076 AVN1S20: 8 CGW - SG_ A_LNG_ST : 7|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ A_LANG : 5|6@0+ (1,0) [0|0] "" Vector__XXX - SG_ A_LNGDB1 : 15|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ A_LNGDB2 : 23|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ A_LNGDB3 : 31|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ A_LNGDB4 : 39|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ A_LNGDB5 : 47|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ A_LNGDB6 : 55|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ A_LNGDB7 : 63|7@0+ (1,0) [0|0] "" Vector__XXX - SG_ A_LNGCHG : 56|1@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 1077 AVN1S21: 8 CGW - SG_ A_OPEN_S : 7|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ OPENCHG : 6|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ CAPSW_S : 5|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ A_CLR_S : 3|4@0+ (1,0) [0|0] "" Vector__XXX - SG_ DISP_BRT : 15|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DISP_CNT : 23|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ MM_CLOCK : 31|11@0+ (1,0) [0|0] "" Vector__XXX - SG_ CLK_OFST : 36|4@0- (5,0) [0|0] "min" Vector__XXX - SG_ DST : 32|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ CLK_TYP : 47|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ A_UNTTMP : 45|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ A_UNTSP : 43|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ A_UNTDST : 41|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ A_UNTCSP : 55|3@0+ (1,0) [0|0] "" Vector__XXX - SG_ A_CLRCHG : 52|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ A_TMPCHG : 51|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ A_SPCHG : 50|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ A_DSTCHG : 49|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ A_CSPCHG : 48|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ A_SPLM : 63|6@0+ (5,0) [0|0] "" Vector__XXX - SG_ A_UTSPLM : 57|2@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 1043 AVN1S31: 8 CGW - SG_ GPSTM_Y : 7|8@0+ (1,0) [0|0] "year" Vector__XXX - SG_ GPSTM_MO : 15|8@0+ (1,0) [0|0] "month" Vector__XXX - SG_ GPSTM_D : 23|8@0+ (1,0) [0|0] "day" Vector__XXX - SG_ GPSTM_H : 31|8@0+ (1,0) [0|0] "hour" Vector__XXX - SG_ GPSTM_MI : 39|8@0+ (1,0) [0|0] "minute" Vector__XXX - SG_ GMT_DIFF : 55|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ GMTDIF_H : 54|4@0+ (1,0) [0|0] "hour" Vector__XXX - SG_ GMTDIF_M : 50|6@0+ (1,0) [0|0] "minute" Vector__XXX - SG_ SUMMERTM : 60|1@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 1075054137 BDB1F01_14: 8 CGW - SG_ BDBF01ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ BDBF01IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ SALR : 23|6@0+ (1,0) [0|0] "" Vector__XXX - SG_ HDCY_BDB : 17|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ AARE_B : 31|4@0+ (1,0) [0|0] "" Vector__XXX - SG_ I_SEN_B : 27|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ INTSET_B : 26|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ INCSET_B : 25|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ ISSD_BDB : 39|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ SEID : 37|3@0+ (1,0) [0|0] "" Vector__XXX - SG_ WS_ID : 44|3@0+ (1,0) [0|0] "" Vector__XXX - SG_ WS_SWON : 41|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ WS_DATA : 55|16@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 1075185211 BDB1F03_16: 8 CGW - SG_ BDBF03ID : 7|8@0+ (1,0) [0|0] "" DS1,FCM,MAV - SG_ BDBF03IF : 15|8@0+ (1,0) [0|0] "" DS1,FCM - SG_ TRIP_CNT : 23|16@0+ (1,0) [0|0] "trip" AFS,BSR,CSR,DS1,FCM,MAV - SG_ TIME_CNT : 39|32@0+ (100,0) [0|0] "ms" AFS,BSR,CSR,DS1,FCM,MAV - -BO_ 1074791968 BDB1S01_10: 8 CGW - SG_ BDB01_ID : 7|8@0+ (1,0) [0|0] "" FCM,MAV - SG_ BDB01_IF : 15|8@0+ (1,0) [0|0] "" FCM - SG_ LX : 23|16@0+ (0.2,0) [0|0] "ms" FCM - SG_ ADIM : 39|2@0+ (1,0) [0|0] "" AFS,BSR,CSR - SG_ IG_BDB : 37|1@0+ (1,0) [0|0] "" AFS,MAV - SG_ ACC_BDB : 36|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ SKSW : 46|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ DCTY : 45|1@0+ (1,0) [0|0] "" FCM,MAV,SCS - SG_ PCTY : 44|1@0+ (1,0) [0|0] "" MAV,SCS - SG_ RRCY : 43|1@0+ (1,0) [0|0] "" MAV,SCS - SG_ RLCY : 42|1@0+ (1,0) [0|0] "" MAV,SCS - SG_ BCTY : 41|1@0+ (1,0) [0|0] "" MAV,SCS - SG_ PSW : 51|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ SRBZ : 49|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ DBKL : 63|2@0+ (1,0) [0|0] "" FCM - SG_ PKB_BDB : 60|1@0+ (1,0) [0|0] "" CSR - SG_ SREXIST : 59|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ SRPOS : 58|3@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 1074857505 BDB1S02_11: 8 CGW - SG_ BDB02_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ BDB02_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ LUD : 23|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ TRNKOPN : 45|3@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 1074923042 BDB1S03_12: 8 CGW - SG_ BDB03_ID : 7|8@0+ (1,0) [0|0] "" DS1,FCM - SG_ BDB03_IF : 15|8@0+ (1,0) [0|0] "" DS1,FCM - SG_ LTS : 23|4@0+ (1,0) [0|0] "" Vector__XXX - SG_ PANL : 19|1@0+ (1,0) [0|0] "" BSR,CSR - SG_ UDRL : 31|1@0+ (1,0) [0|0] "" AFS - SG_ HEDH : 30|1@0+ (1,0) [0|0] "" AFS,DS1,FCM - SG_ HEDL : 29|1@0+ (1,0) [0|0] "" AFS,DS1 - SG_ TAIL : 28|1@0+ (1,0) [0|0] "" AFS,BSR,CSR,DS1 - SG_ FFOG : 27|1@0+ (1,0) [0|0] "" DS1 - SG_ RFOG : 26|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ SB_IND : 39|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ SB_OK : 37|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ RTRRQ : 35|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ SRWARN : 51|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ PWWARN : 50|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ WEL_REQ : 48|1@0+ (1,0) [0|0] "" AFS - SG_ DRPBZ_R : 62|3@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 1075381795 BDB1S04_19: 8 CGW - SG_ BDB04_ID : 7|8@0+ (1,0) [0|0] "" MAV - SG_ BDB04_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ MRMV_R : 23|2@0+ (1,0) [0|0] "" MAV - SG_ RSEL : 21|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ LSEL : 20|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ MHR : 19|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ MHL : 18|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ MVU : 17|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ MVD : 16|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ GHSW : 31|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ GCTY : 30|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ GHOPN : 42|3@0+ (1,0) [0|0] "" Vector__XXX - SG_ ABIF : 55|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ FLSHRQ : 63|3@0+ (1,0) [0|0] "" Vector__XXX - SG_ SB_ADV : 60|2@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 1074988600 BDB1S05_13: 8 CGW - SG_ BDB05_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ BDB05_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ PARK : 23|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ TSWB : 21|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ LSWD : 20|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ LSWP : 19|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ LSWR : 18|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ LSWL : 17|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ LSWB : 16|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRVKS_R : 31|3@0+ (1,0) [0|0] "" Vector__XXX - SG_ PWDRD : 39|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ PWDRP : 37|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ PWDRR : 35|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ PWDRL : 33|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ DKLS : 43|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ BKLS : 54|3@0+ (1,0) [0|0] "" Vector__XXX - SG_ KIDSCN_R : 51|7@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 1075250736 BDB1S06_17: 8 CGW - SG_ BDB06_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ BDB06_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ TBSW : 25|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ WBZF : 39|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ WVOL : 42|3@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 1075316273 BDB1S07_18: 8 CGW - SG_ BDB07_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ BDB07_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ WCD : 23|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ W1D : 31|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ W2D : 39|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ W3D : 47|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ BDB7SUM1 : 55|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ BDB7SUM2 : 63|8@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 1075447332 BDB1S08_1A: 8 CGW - SG_ BDB08_ID : 7|8@0+ (1,0) [0|0] "" DS1,FCM,MAV - SG_ BDB08_IF : 15|8@0+ (1,0) [0|0] "" DS1,FCM - SG_ DEST_BDB : 23|8@0+ (1,0) [0|0] "" AFS,BSR,CSR,DS1,FCM,MAV - SG_ DS_PACK1 : 31|8@0+ (1,0) [0|0] "" AFS,BSR,DS1,FCM,MAV - SG_ DS_PACK2 : 39|8@0+ (1,0) [0|0] "" AFS,BSR,DS1,FCM,MAV - SG_ STRG_WHL : 47|2@0+ (1,0) [0|0] "" AFS,CSR,DS1,FCM,MAV - SG_ DEICER : 40|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ KEYPLATE : 55|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DBLLCK : 62|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ U2OP_CST : 61|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ U2OP_DFT : 60|1@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 1075643943 BDB1S11_1D: 8 CGW - SG_ BDB11_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ BDB11_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ BDBREQ11 : 23|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ BDBREQ12 : 31|8@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 1083704892 BDB1S17_98: 8 CGW - SG_ BDB17_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ BDB17_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ CHABASE1 : 23|8@0+ (1,0) [0|0] "" AFS - SG_ CHABASE2 : 31|8@0+ (1,0) [0|0] "" AFS - SG_ CHABASE3 : 39|8@0+ (1,0) [0|0] "" AFS - SG_ CHA_NO1 : 47|4@0+ (1,0) [0|0] "" AFS - SG_ CHA_NO2 : 43|4@0+ (1,0) [0|0] "" AFS - SG_ CHA_NO3 : 55|4@0+ (1,0) [0|0] "" AFS - SG_ SP_BODY : 63|5@0+ (1,0) [0|0] "" AFS - -BO_ 1083770429 BDB1S18_99: 8 CGW - SG_ BDB18_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ BDB18_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ POP_NAME : 23|8@0+ (1,0) [0|0] "" AFS - SG_ BODY : 31|8@0+ (1,0) [0|0] "" AFS - SG_ GEAR : 39|8@0+ (1,0) [0|0] "" AFS - SG_ GRADE : 47|8@0+ (1,0) [0|0] "" AFS - SG_ ENGINE : 55|8@0+ (1,0) [0|0] "" AFS - -BO_ 1020 BDB1S19: 8 CGW - SG_ SOLAR_R : 23|9@0+ (100,0) [0|0] "" Vector__XXX - SG_ SOLAR_L : 39|9@0+ (100,0) [0|0] "" Vector__XXX - SG_ N_LX : 55|13@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 1083835966 BDB1S20_9A: 8 CGW - SG_ BDB20_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ BDB20_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ RNBDYC : 31|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ RNBDYD : 39|32@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 1083901503 BDB1S21_9B: 8 CGW - SG_ BDB21_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ BDB21_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ RFOG_SW : 22|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ FFOG_SW : 21|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ HF_SW : 20|1@0+ (1,0) [0|0] "" AFS - SG_ HU_SW : 19|1@0+ (1,0) [0|0] "" AFS - SG_ AUTO_SW : 18|1@0+ (1,0) [0|0] "" AFS - SG_ HEAD_SW : 17|1@0+ (1,0) [0|0] "" AFS - SG_ TAIL_SW : 16|1@0+ (1,0) [0|0] "" AFS - SG_ DRL_OFF : 24|1@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 1005 BGM1S01: 2 CGW - SG_ WCAA : 7|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ R_DISP : 1|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ BGM_BEEP : 11|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ BGM_MODE : 9|2@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 1237 BSR1N01: 8 BSR - SG_ BSRNID : 7|8@0+ (1,0) [0|0] "" CGW - SG_ BSRSNG : 15|1@0+ (1,0) [0|0] "" CGW - SG_ BSRSPF : 23|16@0+ (1,0) [0|0] "" CGW - SG_ BSRREV : 39|32@0+ (1,0) [0|0] "" CGW - -BO_ 1014 BSR1S01: 8 BSR - SG_ BSD_STAT : 7|3@0+ (1,0) [0|0] "" Vector__XXX - SG_ BSD_SW : 15|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ BSD_BUZ : 23|1@0+ (1,0) [0|0] "" CSR - -BO_ 1114 CGW1N02: 8 CGW - SG_ CGW2REV : 7|8@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 1228 CSR1N01: 8 CSR - SG_ CSRNID : 7|8@0+ (1,0) [0|0] "" CGW - SG_ CSRSNG : 15|1@0+ (1,0) [0|0] "" CGW - SG_ CSRSPF : 23|16@0+ (1,0) [0|0] "" CGW - SG_ CSRREV : 39|32@0+ (1,0) [0|0] "" CGW - -BO_ 918 CSR1S01: 7 CSR - SG_ CSV : 7|3@0+ (1,0) [0|0] "" Vector__XXX - SG_ CSSR : 4|2@0+ (1,0) [0|0] "" MAV - SG_ CSD : 2|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ CSME : 1|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ CSIN : 0|1@0+ (1,0) [0|0] "" MAV - SG_ FL_INFO : 15|4@0+ (1,0) [0|0] "" MAV - SG_ FR_INFO : 11|4@0+ (1,0) [0|0] "" MAV - SG_ RB_INFO : 23|4@0+ (1,0) [0|0] "" MAV - SG_ FC_INFO : 19|4@0+ (1,0) [0|0] "" MAV - SG_ RL_INFO : 31|4@0+ (1,0) [0|0] "" MAV - SG_ RR_INFO : 27|4@0+ (1,0) [0|0] "" MAV - SG_ CZV : 39|3@0+ (1,0) [0|0] "" Vector__XXX - SG_ VOT : 47|4@0+ (1,0) [0|0] "" Vector__XXX - SG_ FCZD : 43|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ RCZD : 42|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ FCDD : 41|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ RCDD : 40|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ VOL : 55|3@0+ (1,0) [0|0] "" Vector__XXX - SG_ CDG : 52|3@0+ (1,0) [0|0] "" Vector__XXX - SG_ MUTE : 49|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ BZ_OFF : 48|1@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 1087768273 DMS1S02_D6: 8 CGW - SG_ SS_MODE : 25|2@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 869 DS11D70: 7 DS1 - SG_ D_TRGJDG : 7|4@0+ (1,0) [0|0] "" Vector__XXX - SG_ D_RESSW : 3|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ D_SETSW : 2|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ D_CANSW : 1|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ D_MAINSW : 0|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ D_VMCC : 15|8@0+ (1,0) [0|0] "km/h" Vector__XXX - SG_ D_VNCC : 23|8@0+ (1,0) [0|0] "km/h" Vector__XXX - SG_ D_CCREQ : 31|8@0+ (100,-12800) [0|0] "N" Vector__XXX - SG_ D_TGTDST : 39|8@0+ (1,0) [0|0] "m" Vector__XXX - SG_ D_VRCC : 47|8@0- (1,0) [0|0] "km/h" Vector__XXX - SG_ D_WSTL : 55|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ D_DSW : 54|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ D_FDJDG : 52|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ D_DSSJDG : 51|1@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 870 DS11D71: 7 DS1 - SG_ XREQALM : 7|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ XREQABK : 6|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ TGT_DIST : 5|14@0+ (0.01,0) [0|0] "m" Vector__XXX - SG_ XREQPBA : 23|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ XREQFPB : 22|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ XREQPB : 21|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ XREQEXT : 20|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ XREQPSB : 19|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ TGT_VGAP : 18|11@0+ (0.025,-51.175) [0|0] "m/s" Vector__XXX - SG_ PCSDISP : 39|4@0+ (1,0) [0|0] "" Vector__XXX - SG_ XPCSRDY : 35|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ TGT_NUMB : 34|3@0+ (1,1) [0|0] "" Vector__XXX - SG_ TGT_POSX : 47|8@0- (0.04,0) [0|0] "m" Vector__XXX - -BO_ 871 DS11D72: 2 FCM - SG_ LKADRTRG : 7|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ LKADRSHR : 5|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ LKADRSLK : 4|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ LKADRSLD : 3|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ LKADRCC : 2|3@0+ (1,0) [0|0] "" Vector__XXX - SG_ LKADRTUR : 15|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ LKADRINV : 13|1@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 643 DS11F01: 7 DS1 - SG_ DSCOUNT : 7|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DSLCCW1 : 15|1@0+ (1,0) [0|0] "" FCM - SG_ DSSTPBZ : 14|1@0+ (1,0) [0|0] "" FCM - SG_ PBRTRGR2 : 12|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ DSSFTRQD : 11|4@0+ (1,0) [0|0] "" Vector__XXX - SG_ DSS1FDRV : 23|16@0- (2,0) [0|0] "N" Vector__XXX - SG_ DSS1STBK : 39|3@0+ (1,0) [0|0] "" Vector__XXX - SG_ DSS1STAT : 36|3@0+ (1,0) [0|0] "" Vector__XXX - SG_ DSBHOK : 33|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ PPTRGR2 : 32|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ DSRQBH : 47|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ IBTRGR2 : 45|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ PCSABK2 : 44|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ PCSNOCHG : 41|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ DS1F01SM : 55|8@0+ (1,0) [0|0] "" FCM - -BO_ 1041 DS12F02: 8 DS1 - SG_ PCSINDI : 7|2@0+ (1,0) [0|0] "" FCM - SG_ PCSWM : 5|2@0+ (1,0) [0|0] "" FCM - SG_ PCSFCT : 3|1@0+ (1,0) [0|0] "" FCM - SG_ PCSTUCT : 2|1@0+ (1,0) [0|0] "" FCM - SG_ DS1LCCK : 1|2@0+ (1,0) [0|0] "" FCM - SG_ PBTUCT : 14|1@0+ (1,0) [0|0] "" FCM - SG_ PCSEXIST : 13|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ PCSWDUCT : 11|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ PCSWD : 9|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ PCSDW : 39|3@0+ (1,0) [0|0] "" Vector__XXX - SG_ PCSDSRF : 36|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ PCSTEMP : 35|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ PCSDUST : 34|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ PCSLCCK : 33|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ PCSPEDW : 47|3@0+ (1,0) [0|0] "" Vector__XXX - SG_ PCSPVSN : 44|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ PCTEMP2 : 42|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ PCSDUST2 : 41|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ PCSOFFS : 40|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ PCSWDS : 55|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ FRDADJ : 53|3@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 1042 DS12F03: 8 FCM - SG_ LKAINDI : 7|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ LKAWLSL : 5|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ LKAWLSR : 3|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ LKAFCT : 15|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ LKATUCT : 14|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ LKACAMT : 13|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ LDWEXIST : 10|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ LKASPCND : 23|3@0+ (1,0) [0|0] "" Vector__XXX - SG_ LKAWTCS : 18|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ LKASAUT : 16|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ LDWBZ : 32|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ LDAFCVB : 47|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ LDARDA : 46|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ SWSSENSD : 45|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ SWSSWD : 43|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ SWSRAD : 55|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ SWSFLD : 53|3@0+ (1,0) [0|0] "" Vector__XXX - SG_ SWSBUZ : 50|2@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 1207 ECO1D50: 8 CGW - SG_ DRECO01 : 7|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRECO02 : 15|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRECO03 : 23|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRECO04 : 31|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRECO05 : 39|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRECO06 : 47|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRECO07 : 55|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRECO08 : 63|8@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 355 ECO1S01: 5 CGW - SG_ ECOSTAON : 19|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ ECOMODE : 18|3@0+ (1,0) [0|0] "" KSS,SCS - SG_ FCREQ : 31|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ SSVMREQ : 27|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ E2MRXMK : 26|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ BPHLDRQ : 36|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ BPHLDRQ2 : 35|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ ECOEGSTP : 33|1@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 922 ECO1S90: 8 CGW - SG_ ECOBZR : 23|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ ECOLMP : 21|3@0+ (1,0) [0|0] "" Vector__XXX - SG_ TESTECO : 30|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ OPLMPMSK : 29|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ MSTART : 28|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ ECOMODE3 : 27|4@0+ (1,0) [0|0] "" Vector__XXX - SG_ INFSSCOP : 39|3@0+ (1,0) [0|0] "" Vector__XXX - SG_ INFSSSTL : 36|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ ECLMP : 34|3@0+ (1,0) [0|0] "" Vector__XXX - SG_ AUTOSTA : 47|1@0+ (1,0) [0|0] "" SCS - SG_ INFSSFAL : 46|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ INFSSINH : 45|6@0+ (1,0) [0|0] "" Vector__XXX - SG_ SSACMODE : 52|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ INFSSADV : 50|3@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 1182 ECT1D50: 8 CGW - SG_ DRECT01 : 7|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRECT02 : 15|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRECT03 : 23|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRECT04 : 31|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRECT05 : 39|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRECT06 : 47|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRECT07 : 55|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRECT08 : 63|8@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 1183 ECT1D51: 8 CGW - SG_ DRECT11 : 7|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRECT12 : 15|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRECT13 : 23|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRECT14 : 31|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRECT15 : 39|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRECT16 : 47|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRECT17 : 55|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRECT18 : 63|8@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 1200 ECT1D52: 8 CGW - SG_ DRECT21 : 7|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRECT22 : 15|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRECT23 : 23|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRECT24 : 31|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRECT25 : 39|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRECT26 : 47|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRECT27 : 55|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRECT28 : 63|8@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 1201 ECT1D53: 8 CGW - SG_ DRECT31 : 7|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRECT32 : 15|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRECT33 : 23|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRECT34 : 31|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRECT35 : 39|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRECT36 : 47|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRECT37 : 55|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRECT38 : 63|8@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 1202 ECT1D54: 8 CGW - SG_ DRECT41 : 7|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRECT42 : 15|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRECT43 : 23|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRECT44 : 31|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRECT45 : 39|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRECT46 : 47|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRECT47 : 55|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRECT48 : 63|8@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 1203 ECT1D55: 8 CGW - SG_ DRECT51 : 7|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRECT52 : 15|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRECT53 : 23|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRECT54 : 31|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRECT55 : 39|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRECT56 : 47|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRECT57 : 55|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRECT58 : 63|8@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 464 ECT1F03: 8 CGW - SG_ NT : 7|16@0- (0.390625,0) [0|0] "rpm" Vector__XXX - SG_ ACT : 23|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ XDMET : 20|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ XNTSW : 19|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ XNMET : 18|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ XRMET : 17|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ XPMET : 16|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ SFTOUT_S : 29|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ X3MET : 26|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ X2MET : 25|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ XLOMET : 24|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ L4SW : 38|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ SNOW : 36|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ XFSFT : 35|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ SFTOUT : 34|3@0+ (1,0) [0|0] "" Vector__XXX - SG_ HSSLWN : 55|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ HSINH : 54|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ CLTMODBK : 53|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ LUOUT : 51|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ LUKG : 50|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ FBCOA : 48|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ ECTF03SM : 63|8@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 725 ECT1S10: 2 CGW - SG_ VTORATIO : 7|16@0+ (0.0009765625,0) [0|0] "" Vector__XXX - -BO_ 956 ECT1S92: 8 CGW - SG_ B_OILW : 7|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ B_OILMD : 5|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ B_ISNW : 1|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ B_RJTB : 0|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ B_WNDL : 15|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ B_LMULRJ : 14|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ B_P : 13|1@0+ (1,0) [0|0] "" AFS,CSR,MAV - SG_ B_R : 12|1@0+ (1,0) [0|0] "" AFS,BSR,CSR,DS1,FCM,MAV - SG_ B_N : 11|1@0+ (1,0) [0|0] "" AFS,CSR,MAV - SG_ B_ISPTM : 10|3@0+ (1,0) [0|0] "" Vector__XXX - SG_ BV_THOCL : 23|16@0+ (0.625,-50) [0|0] "" Vector__XXX - SG_ B_GEAR : 39|4@0+ (1,0) [0|0] "" Vector__XXX - SG_ B_SMDE : 32|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ B_D : 47|1@0+ (1,0) [0|0] "" AFS,CSR,DS1,MAV - SG_ B_ECOMI : 40|1@0+ (1,0) [0|0] "" DS1 - SG_ B_SPTMI : 55|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ B_PWRM : 54|3@0+ (1,0) [0|0] "" Vector__XXX - SG_ B_OILWM : 51|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ B_SPTMS : 49|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ B_DMODE : 61|3@0+ (1,0) [0|0] "" SCS - -BO_ 1176 ENG1D50: 8 CGW - SG_ DRENG01 : 7|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRENG02 : 15|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRENG03 : 23|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRENG04 : 31|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRENG05 : 39|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRENG06 : 47|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRENG07 : 55|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRENG08 : 63|8@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 1177 ENG1D51: 8 CGW - SG_ DRENG11 : 7|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRENG12 : 15|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRENG13 : 23|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRENG14 : 31|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRENG15 : 39|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRENG16 : 47|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRENG17 : 55|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRENG18 : 63|8@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 1178 ENG1D52: 8 CGW - SG_ DRENG21 : 7|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRENG22 : 15|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRENG23 : 23|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRENG24 : 31|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRENG25 : 39|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRENG26 : 47|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRENG27 : 55|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRENG28 : 63|8@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 1179 ENG1D53: 8 CGW - SG_ DRENG31 : 7|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRENG32 : 15|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRENG33 : 23|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRENG34 : 31|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRENG35 : 39|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRENG36 : 47|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRENG37 : 55|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRENG38 : 63|8@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 1180 ENG1D54: 8 CGW - SG_ DRENG41 : 7|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRENG42 : 15|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRENG43 : 23|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRENG44 : 31|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRENG45 : 39|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRENG46 : 47|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRENG47 : 55|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRENG48 : 63|8@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 1181 ENG1D55: 8 CGW - SG_ DRENG51 : 7|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRENG52 : 15|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRENG53 : 23|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRENG54 : 31|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRENG55 : 39|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRENG56 : 47|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRENG57 : 55|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRENG58 : 63|8@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 1192 ENG1D56: 8 CGW - SG_ DRENG61 : 7|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRENG62 : 15|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRENG63 : 23|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRENG64 : 31|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRENG65 : 39|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRENG66 : 47|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRENG67 : 55|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRENG68 : 63|8@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 1191 ENG1D57: 8 CGW - SG_ DRENG71 : 7|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRENG72 : 15|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRENG73 : 23|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRENG74 : 31|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRENG75 : 39|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRENG76 : 47|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRENG77 : 55|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRENG78 : 63|8@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 1197 ENG1D58: 8 CGW - SG_ DRENG81 : 7|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRENG82 : 15|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRENG83 : 23|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRENG84 : 31|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRENG85 : 39|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRENG86 : 47|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRENG87 : 55|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRENG88 : 63|8@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 1198 ENG1D59: 8 CGW - SG_ DRENG91 : 7|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRENG92 : 15|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRENG93 : 23|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRENG94 : 31|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRENG95 : 39|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRENG96 : 47|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRENG97 : 55|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRENG98 : 63|8@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 1199 ENG1D60: 8 CGW - SG_ DRENG101 : 7|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRENG102 : 15|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRENG103 : 23|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRENG104 : 31|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRENG105 : 39|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRENG106 : 47|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRENG107 : 55|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRENG108 : 63|8@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 1017 ENG1F03: 8 CGW - SG_ VARENG1 : 7|4@0+ (1,0) [0|0] "" AFS,SCS - SG_ VARENG2 : 3|4@0+ (1,0) [0|0] "" AFS,SCS - SG_ VARENG3 : 15|4@0+ (1,0) [0|0] "" AFS,SCS - SG_ VARENG4 : 11|1@0+ (1,0) [0|0] "" AFS,SCS - SG_ HVFLAG : 10|1@0+ (1,0) [0|0] "" AFS,BSR,FCM,SCS - SG_ VARTRM1 : 23|4@0+ (1,0) [0|0] "" AFS,CSR,FCM,MAV,SCS - SG_ GEARINF : 19|4@0+ (1,0) [0|0] "" SCS - SG_ DVINF : 31|2@0+ (1,0) [0|0] "" AFS,DS1,FCM,SCS - SG_ OBDINF : 27|4@0+ (1,0) [0|0] "" BSR,DS1,FCM,SCS - SG_ ECOFLAG : 39|1@0+ (1,0) [0|0] "" FCM - SG_ CDYMD : 38|2@0+ (1,0) [0|0] "" DS1,FCM - SG_ ENGF03SM : 63|8@0+ (1,0) [0|0] "" DS1,FCM,MAV - -BO_ 452 ENG1F07: 8 CGW - SG_ NE1 : 7|16@0- (0.78125,0) [0|0] "rpm" SCS - SG_ THA1 : 23|8@0+ (2.5,-40) [0|0] "" Vector__XXX - SG_ THWX : 31|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ EGF : 30|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ T2ERXF : 29|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ T2ERXMK : 28|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ ASTEFI : 27|1@0+ (1,0) [0|0] "" AFS - SG_ B2ERXMK : 26|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ PDLF : 24|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ ENTCAL2 : 39|8@0+ (12.5,0) [0|0] "rpm" Vector__XXX - SG_ EGFB : 46|1@0+ (1,0) [0|0] "" DS1,FCM - SG_ PTFB : 45|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ MILREQ : 43|4@0+ (1,0) [0|0] "" Vector__XXX - SG_ B_ECOL : 55|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ B_IECOCR : 53|6@0+ (2,0) [0|0] "" Vector__XXX - SG_ ENGF07SM : 63|8@0+ (1,0) [0|0] "" AFS,DS1,FCM - -BO_ 114 ENG1F43: 5 CGW - SG_ FAVLMCHL : 7|16@0- (2,0) [0|0] "N" Vector__XXX - SG_ FAVLMONL : 23|16@0- (2,0) [0|0] "N" Vector__XXX - SG_ ENGF43SM : 39|8@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 705 ENG1S01: 8 CGW - SG_ ETCSFB : 7|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ ETCSF : 6|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ VSCTH : 5|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ THF : 4|1@0+ (1,0) [0|0] "" DS1 - SG_ IDL1 : 3|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ XCCACT2 : 2|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ STPSWF : 1|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ WTC : 0|1@0+ (1,0) [0|0] "" KSS,SCS - SG_ ETQLVSC : 15|16@0- (0.03125,0) [0|0] "Nm" Vector__XXX - SG_ ETQREAL : 31|16@0- (0.03125,0) [0|0] "Nm" SCS - SG_ ETQISC : 47|8@0+ (1,-192) [0|0] "Nm" Vector__XXX - SG_ EACCP : 55|8@0+ (0.5,0) [0|0] "%" DS1,FCM - SG_ ENG01SUM : 63|8@0+ (1,0) [0|0] "" DS1,FCM - -BO_ 961 ENG1S23: 3 CGW - SG_ EKLSM : 7|8@0+ (0.625,0) [0|0] "%" Vector__XXX - SG_ GATHW : 15|16@0- (0.625,0) [0|0] "" Vector__XXX - -BO_ 979 ENG1S28: 2 CGW - SG_ B_FC : 7|16@0+ (0.0005,0) [0|0] "ml" Vector__XXX - -BO_ 1408 ENG1S51: 8 CGW - SG_ VIN_1 : 7|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ VIN_2 : 15|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ VIN_3 : 23|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ VIN_4 : 31|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ VIN_5 : 39|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ VIN_6 : 47|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ VIN_7 : 55|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ VIN_8 : 63|8@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 1409 ENG1S52: 8 CGW - SG_ VIN_9 : 7|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ VIN_10 : 15|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ VIN_11 : 23|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ VIN_12 : 31|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ VIN_13 : 39|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ VIN_14 : 47|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ VIN_15 : 55|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ VIN_16 : 63|8@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 1410 ENG1S54: 8 CGW - SG_ VIN_17 : 7|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ VC : 52|5@0+ (1,0) [0|0] "" Vector__XXX - SG_ TES : 63|8@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 955 ENG1S92: 8 CGW - SG_ B_ST : 7|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ B_TC : 6|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ B_GLOW : 3|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ B_STPE : 0|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ B_OMWI : 15|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ B_SILUP : 13|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ B_SILDN : 12|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ B_WSTP : 11|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ B_LOUT : 10|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ B_OILPL : 9|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ B_TMP : 23|8@0+ (0.5,0) [0|0] "" Vector__XXX - SG_ OGENETCS : 30|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ B_DPFW : 28|3@0+ (1,0) [0|0] "" Vector__XXX - SG_ BOSLAMP : 37|3@0+ (1,0) [0|0] "" Vector__XXX - SG_ BOSMINF : 34|3@0+ (1,0) [0|0] "" Vector__XXX - SG_ GOSLAMP : 45|3@0+ (1,0) [0|0] "" Vector__XXX - SG_ GOSMINF : 42|3@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 921 ENG1S95: 8 CGW - SG_ B_LLSP2 : 7|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ TLSTBZ : 6|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ B_ASLBZ2 : 5|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ B_SPU2 : 4|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ ACASID1 : 3|4@0+ (1,0) [0|0] "" Vector__XXX - SG_ ACASID2 : 15|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ B_LSP2 : 31|8@0+ (1,0) [0|0] "km/h Emph" Vector__XXX - SG_ B_ASLSP2 : 39|8@0+ (1,0) [0|0] "km/h Emph" Vector__XXX - SG_ CACCTRN : 47|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ CACCINF : 46|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ CACCFR2 : 45|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ CACCFR1 : 44|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ CACCFLD : 43|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ CACCCM3 : 42|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ CACCCM2 : 41|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ CACCCM1 : 40|1@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 238 ENG2F01: 4 CGW - SG_ STOFOK : 7|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ GROWIND : 6|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ B_TMP3 : 15|8@0+ (0.5,0) [0|0] "" Vector__XXX - SG_ IMMINJST : 23|16@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 466 ENG2F04: 8 CGW - SG_ XLDR : 7|1@0+ (1,0) [0|0] "" DS1 - SG_ XACCACTV : 6|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ XACCACT : 5|1@0+ (1,0) [0|0] "" DS1,FCM - SG_ XPAIDLV : 4|1@0+ (1,0) [0|0] "" DS1 - SG_ XPAIDL : 3|1@0+ (1,0) [0|0] "" DS1 - SG_ BHOK : 2|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ RQBH : 1|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ ACCSTAT : 15|3@0+ (1,0) [0|0] "" DS1 - SG_ ACCSTBK : 12|3@0+ (1,0) [0|0] "" Vector__XXX - SG_ STPBZ : 9|1@0+ (1,0) [0|0] "" DS1,FCM - SG_ PLOCKF : 8|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ ACCREQ : 23|16@0- (0.0009765625,0) [0|0] "m/s^2" DS1 - SG_ ACCAVL : 39|16@0- (2,0) [0|0] "N" Vector__XXX - SG_ SPDSTAT : 55|4@0+ (1,0) [0|0] "" DS1 - SG_ SSTOK : 51|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ CANREQ : 49|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ FCACT : 48|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ SM1D2 : 63|8@0+ (1,0) [0|0] "" DS1,FCM - -BO_ 467 ENG2F05: 8 CGW - SG_ LCCW2 : 4|1@0+ (1,0) [0|0] "" DS1,FCM - SG_ WSTL2 : 3|1@0+ (1,0) [0|0] "" DS1 - SG_ LCCHK : 2|3@0+ (1,0) [0|0] "" DS1 - SG_ XCCOK2 : 15|1@0+ (1,0) [0|0] "" DS1 - SG_ SLTACC : 14|2@0+ (1,0) [0|0] "" DS1 - SG_ LTME2 : 12|2@0+ (1,0) [0|0] "" DS1 - SG_ STPSWF2 : 10|1@0+ (1,0) [0|0] "" DS1 - SG_ CCSF : 9|1@0+ (1,0) [0|0] "" DS1 - SG_ CCSNG : 8|1@0+ (1,0) [0|0] "" DS1 - SG_ VM : 23|16@0+ (0.00390625,0) [0|0] "km/h" DS1 - SG_ INTG : 39|8@0- (0.04,0) [0|0] "m/s^2" DS1 - SG_ D2PRXMK : 47|1@0+ (1,0) [0|0] "" DS1 - SG_ SM1D3 : 63|8@0+ (1,0) [0|0] "" DS1,FCM - -BO_ 119 ENG2F41: 6 CGW - SG_ FDRV : 7|16@0- (2,0) [0|0] "N" Vector__XXX - SG_ FDRVREAL : 23|13@0- (10,0) [0|0] "N" Vector__XXX - SG_ XAECT : 39|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ XFDRVCOL : 38|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ FDRVSELP : 34|3@0+ (1,0) [0|0] "" Vector__XXX - SG_ ENG2F41S : 47|8@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 120 ENG2F42: 4 CGW - SG_ FAVLMCHH : 7|16@0- (2,0) [0|0] "N" Vector__XXX - SG_ CCRNG : 23|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ FDRVTYPD : 22|3@0+ (1,0) [0|0] "" Vector__XXX - SG_ GEARHD : 18|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ ENG2F42S : 31|8@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 916 EPS1S90: 1 CGW - SG_ B_WPS0 : 1|2@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 1235 FCM1N01: 8 FCM - SG_ FCMNID : 7|8@0+ (1,0) [0|0] "" CGW - SG_ FCMSNG : 15|1@0+ (1,0) [0|0] "" CGW - SG_ FCMSPF : 23|16@0+ (1,0) [0|0] "" CGW - SG_ FCMREV : 39|32@0+ (1,0) [0|0] "" CGW - -BO_ 1161 FCM1S10: 8 FCM - SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ TSGNGRY1 : 12|3@0+ (1,0) [0|0] "" Vector__XXX - SG_ TSGNHLT1 : 9|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ SPDVAL1 : 23|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ SPLSGN1 : 31|4@0+ (1,0) [0|0] "" Vector__XXX - SG_ SPLSGN2 : 27|4@0+ (1,0) [0|0] "" Vector__XXX - SG_ TSGN2 : 39|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ TSGNGRY2 : 44|3@0+ (1,0) [0|0] "" Vector__XXX - SG_ TSGNHLT2 : 41|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ SPDVAL2 : 55|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ BZRRQ_P : 63|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ BZRRQ_A : 61|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ SYNCID1 : 59|4@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 1162 FCM1S11: 8 FCM - SG_ TSGN3 : 7|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ TSGNGRY3 : 12|3@0+ (1,0) [0|0] "" Vector__XXX - SG_ TSGNHLT3 : 9|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ SPLSGN3 : 31|4@0+ (1,0) [0|0] "" Vector__XXX - SG_ SPLSGN4 : 27|4@0+ (1,0) [0|0] "" Vector__XXX - SG_ TSGN4 : 39|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ TSGNGRY4 : 44|3@0+ (1,0) [0|0] "" Vector__XXX - SG_ TSGNHLT4 : 41|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ DPSGNREQ : 54|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ SGNNUMP : 53|3@0+ (1,0) [0|0] "" Vector__XXX - SG_ SGNNUMA : 50|3@0+ (1,0) [0|0] "" Vector__XXX - SG_ SPDUNT : 63|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ TSRWMSG : 61|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ SYNCID2 : 59|4@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 1163 FCM1S12: 8 FCM - SG_ TSREQPD : 7|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ TSRMSW : 6|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ OTSGNNTM : 5|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ NTLVLSPD : 3|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ OVSPNTM : 1|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ OVSPVALL : 11|4@0+ (1,-5) [0|0] "" Vector__XXX - SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" Vector__XXX - SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" Vector__XXX - SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 1279 FRD1N01: 8 FRD - SG_ FRDNID : 7|8@0+ (1,0) [0|0] "" CGW - SG_ FRDSNG : 15|1@0+ (1,0) [0|0] "" CGW - SG_ FRDSPF : 23|16@0+ (1,0) [0|0] "" CGW - SG_ FRDREV : 39|32@0+ (1,0) [0|0] "" CGW - -BO_ 737 FWM1S01: 2 CGW - SG_ ACTHLF : 7|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ MOT4WD : 6|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ CCANCEL : 5|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ AI4WD : 4|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ LOW4 : 3|1@0+ (1,0) [0|0] "" MAV,SCS - SG_ DLOCK : 2|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ RDLOCK : 1|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ HLN : 0|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ F_SP4WD : 15|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ RQ_SP4WD : 14|7@0+ (1,73) [0|0] "km/h" Vector__XXX - -BO_ 1082263092 IDT1S03_82: 8 CGW - SG_ IDT03_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ IDT03_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ CO_IDT : 23|16@0+ (1,0) [0|0] "" Vector__XXX - SG_ UACK : 39|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ WRT : 38|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ RSTP : 37|1@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 1082328629 IDT1S04_83: 8 CGW - SG_ IDT04_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ IDT04_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ OSID : 47|16@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 1257 KSS1N01: 8 KSS - SG_ KSSNID : 7|8@0+ (1,0) [0|0] "" CGW - SG_ KSSSNG : 15|1@0+ (1,0) [0|0] "" CGW - SG_ KSSSPF : 23|16@0+ (1,0) [0|0] "" CGW - SG_ KSSREV : 39|32@0+ (1,0) [0|0] "" CGW - -BO_ 927 KSS1S90: 1 KSS - SG_ LKSS0 : 1|2@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 1263 MAV1N01: 8 MAV - SG_ MAVNID : 7|8@0+ (1,0) [0|0] "" CGW - SG_ MAVSNG : 15|1@0+ (1,0) [0|0] "" CGW - SG_ MAVSPF : 23|16@0+ (1,0) [0|0] "" CGW - -BO_ 1075840528 MET1S01_20: 8 CGW - SG_ MET01_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ MET01_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ MET_SPD : 23|8@0+ (1,0) [0|0] "km/h" CSR - SG_ RHEOSTAT : 30|7@0+ (1,0) [0|0] "%" Vector__XXX - SG_ TAIL_CN : 39|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ ILL_OF : 37|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ UNIT_TMP : 33|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ IN_FC : 47|16@0+ (0.1,0) [0|0] "Note" Vector__XXX - SG_ UNIT_0 : 63|3@0+ (1,0) [0|0] "" Vector__XXX - SG_ SP_TL : 60|4@0+ (1,0) [0|0] "" Vector__XXX - SG_ MET_TC : 56|1@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 1075906065 MET1S02_21: 8 CGW - SG_ MET02_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ MET02_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ MET_DEST : 23|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ ODO_UNIT : 29|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ OMRS : 27|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ UNIT_CH : 26|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ ODO : 39|32@0+ (1,0) [0|0] "km/mile" Vector__XXX - -BO_ 1076037145 MET1S04_23: 8 CGW - SG_ MET04_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ MET04_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ AF_FC : 23|16@0+ (0.1,0) [0|0] "Note" Vector__XXX - SG_ UNIT_3 : 39|3@0+ (1,0) [0|0] "" Vector__XXX - SG_ RANGE : 47|16@0+ (1,0) [0|0] "Note" Vector__XXX - SG_ UNIT_4 : 63|2@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 1076102682 MET1S05_24: 8 CGW - SG_ MET05_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ MET05_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ TO_SP : 23|16@0+ (0.1,0) [0|0] "km/h,MPH" Vector__XXX - SG_ UNIT_5 : 39|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ TO_FC : 47|16@0+ (0.1,0) [0|0] "MPG Ekm/l El/100km Ekm/gallon" Vector__XXX - SG_ UNIT_6 : 63|3@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 1076299282 MET1S08_27: 8 CGW - SG_ MET08_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ MET08_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ TO_DT : 23|16@0+ (1,0) [0|0] "km,mile" Vector__XXX - SG_ UNIT_10 : 39|2@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 1076364819 MET1S09_28: 8 CGW - SG_ MET09_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ MET09_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ WASH : 21|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ BLVW : 20|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ C_CW : 31|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ ENGW : 29|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ ABSW : 28|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ VSCW : 27|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ OPW : 37|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ OLW : 36|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ LW : 35|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ FSRS : 33|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ HALW : 46|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ BRW : 43|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ TIRW : 42|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ FWW : 40|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ SUSW : 53|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ LKAW : 61|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ MET_PCSW : 59|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ WTPW : 57|1@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 1076430356 MET1S10_29: 8 CGW - SG_ MET10_ID : 7|8@0+ (1,0) [0|0] "" DS1,FCM - SG_ MET10_IF : 15|8@0+ (1,0) [0|0] "" DS1,FCM - SG_ OM_MLG : 23|7@0+ (100,0) [0|0] "miles" Vector__XXX - SG_ PR_OM_FL : 16|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ TNS : 29|2@0+ (1,0) [0|0] "" AFS,BSR,DS1,FCM - SG_ HZS : 27|1@0+ (1,0) [0|0] "" AFS,FCM - -BO_ 1076495893 MET1S11_2A: 8 CGW - SG_ MET11_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ MET11_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ UNIT_CH2 : 23|2@0+ (1,0) [0|0] "" FCM - SG_ TOLER_A : 21|6@0+ (0.002,0.94) [0|0] "" FCM - SG_ CDISP_EX : 31|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ TOLER_B : 29|6@0- (0.2,0) [0|0] "km/h" FCM - SG_ TRIP_B : 39|32@0+ (0.1,0) [0|0] "km/MILE" Vector__XXX - -BO_ 1076561430 MET1S12_2B: 8 CGW - SG_ MET12_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ MET12_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ ESLW : 19|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ CSOW : 24|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ LHLW : 37|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ SMBW : 33|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ KDSW : 32|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ OMRW : 46|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ BSDW : 54|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ MTSW : 48|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ ATSW : 63|1@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 992 MET1S18: 8 CGW - SG_ M_LANG : 7|6@0+ (1,0) [0|0] "" Vector__XXX - SG_ M_LNG_ST : 1|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ M_LNGDB1 : 15|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ M_LNGDB2 : 23|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ M_LNGDB3 : 31|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ M_LNGDB4 : 39|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ M_LNGDB5 : 47|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ M_LNGDB6 : 55|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ M_LNGDB7 : 63|7@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 1075840755 MET1S22_20: 8 CGW - SG_ ID6F320 : 7|8@0+ (1,0) [0|0] "" DS1,FCM - SG_ IF6F320 : 15|8@0+ (1,0) [0|0] "" DS1,FCM - SG_ TSR_OSM : 22|2@0+ (1,0) [0|0] "" FCM - SG_ TSR_OSL : 20|2@0+ (1,0) [0|0] "" FCM - SG_ TSR_SNM : 18|2@0+ (1,0) [0|0] "" FCM - SG_ TSR_MAIN : 16|1@0+ (1,0) [0|0] "" FCM - SG_ LDAMCUS : 31|2@0+ (1,0) [0|0] "" FCM - SG_ LDAMSW : 29|2@0+ (1,0) [0|0] "" FCM - SG_ FCMUSER : 27|1@0+ (1,0) [0|0] "" FCM - SG_ FCMMCUS : 26|2@0+ (1,0) [0|0] "" FCM - SG_ FCMMSW : 24|1@0+ (1,0) [0|0] "" FCM - SG_ BSMMSW : 37|1@0+ (1,0) [0|0] "" BSR - SG_ CSRMSW : 34|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ PCSMCUS : 41|1@0+ (1,0) [0|0] "" DS1 - SG_ PCSMSW : 40|1@0+ (1,0) [0|0] "" DS1 - SG_ LKACTCSW : 51|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ LDA_SFB : 50|3@0+ (1,0) [0|0] "" FCM - -BO_ 1088685760 PMN1F03_E4: 8 CGW - SG_ PMNF03ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ PMNF03IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ PSSW_PMN : 17|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ PSW_PMN : 31|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ KCC_PMN : 29|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ PMOD_PMN : 27|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ MOD_EIG : 39|3@0+ (1,0) [0|0] "" Vector__XXX - SG_ SWBZ_EIG : 36|1@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 1193 SCS1D50: 8 SCS - SG_ DRSCS01 : 7|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRSCS02 : 15|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRSCS03 : 23|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRSCS04 : 31|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRSCS05 : 39|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRSCS06 : 47|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRSCS07 : 55|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ DRSCS08 : 63|8@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 1226 SCS1N01: 8 SCS - SG_ SCSNID : 7|8@0+ (1,0) [0|0] "" CGW - SG_ SCSSNG : 15|1@0+ (1,0) [0|0] "" CGW - SG_ SCSSPF : 23|16@0+ (1,0) [0|0] "" CGW - SG_ SCSREV : 39|32@0+ (1,0) [0|0] "" CGW - -BO_ 744 SCS1S01: 8 SCS - SG_ SELECTOR : 3|4@0+ (1,0) [0|0] "" Vector__XXX - SG_ AVS_MD : 63|3@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 815 SCS1S06: 5 SCS - SG_ RRVH : 23|8@0- (1,0) [0|0] "mm" AFS - SG_ RLVH : 31|8@0- (1,0) [0|0] "mm" AFS - SG_ SCECOINH : 35|1@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 917 SCS1S90: 4 SCS - SG_ B_LSUS6 : 7|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ B_LSUS4 : 5|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ B_LSUS2 : 3|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ B_LSUS8 : 9|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ DLR_HSID : 23|4@0+ (1,0) [0|0] "" Vector__XXX - SG_ LAR_HS : 18|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ AVSNI : 16|1@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 37 STR1S01: 8 CGW - SG_ STS3 : 7|1@0+ (1,0) [0|0] "" AFS,BSR,DS1,FCM,MAV - SG_ STS2 : 6|1@0+ (1,0) [0|0] "" AFS,DS1,FCM,KSS,MAV,SCS - SG_ STS1 : 5|1@0+ (1,0) [0|0] "" AFS,BSR,DS1,FCM,KSS,MAV,SCS - SG_ STS0 : 4|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ SSA : 3|12@0- (1.5,0) [0|0] "deg" AFS,BSR,DS1,FCM,KSS,MAV,SCS - SG_ SAZS : 23|1@0+ (1,0) [0|0] "" AFS,BSR,DS1,FCM - SG_ SFRZ : 22|3@0+ (1,0) [0|0] "" Vector__XXX - SG_ SSAZ : 19|12@0- (1.5,0) [0|0] "deg" AFS,BSR,DS1,FCM - SG_ SSAS : 39|4@0- (0.1,0) [0|0] "deg" FCM,KSS,SCS - SG_ SSAV : 35|12@0- (1,0) [0|0] "deg/s" FCM,KSS,SCS - SG_ STDID : 51|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ STR01SUM : 63|8@0+ (1,0) [0|0] "" AFS,DS1,FCM,MAV - -BO_ 1059 STR1S02: 1 CGW - SG_ SFR : 5|1@0+ (1,0) [0|0] "" MAV - SG_ STRWVG : 4|1@0+ (1,0) [0|0] "" AFS,BSR,DS1,FCM - -BO_ 170 VSC1F01: 8 CGW - SG_ VXFREF : 7|1@0+ (1,0) [0|0] "" AFS,FCM,MAV - SG_ VXFR : 6|15@0+ (0.01,-67.67) [0|0] "km/h" AFS,BSR,DS1,FCM,KSS,MAV,SCS - SG_ VXFLEF : 23|1@0+ (1,0) [0|0] "" AFS,FCM,MAV - SG_ VXFL : 22|15@0+ (0.01,-67.67) [0|0] "km/h" AFS,BSR,DS1,FCM,KSS,MAV,SCS - SG_ VXRREF : 39|1@0+ (1,0) [0|0] "" AFS,FCM,MAV - SG_ VXRR : 38|15@0+ (0.01,-67.67) [0|0] "km/h" AFS,BSR,DS1,FCM,KSS,MAV,SCS - SG_ VXRLEF : 55|1@0+ (1,0) [0|0] "" AFS,FCM,MAV - SG_ VXRL : 54|15@0+ (0.01,-67.67) [0|0] "km/h" AFS,BSR,DS1,FCM,KSS,MAV,SCS - -BO_ 426 VSC1F02: 6 CGW - SG_ VXFRF : 7|1@0+ (1,0) [0|0] "" AFS,BSR,FCM,MAV - SG_ VXFRIGS : 6|1@0+ (1,0) [0|0] "" BSR,DS1,FCM,MAV - SG_ VXFRHDS : 5|1@0+ (1,0) [0|0] "" FCM,KSS,MAV,SCS - SG_ VXFLF : 2|1@0+ (1,0) [0|0] "" AFS,BSR,FCM,MAV - SG_ VXFLIGS : 1|1@0+ (1,0) [0|0] "" BSR,DS1,FCM,MAV - SG_ VXFLHDS : 0|1@0+ (1,0) [0|0] "" FCM,KSS,MAV,SCS - SG_ VXRRF : 13|1@0+ (1,0) [0|0] "" AFS,BSR,FCM,MAV - SG_ VXRRIGS : 12|1@0+ (1,0) [0|0] "" BSR,DS1,FCM,MAV - SG_ VXRRHDS : 11|1@0+ (1,0) [0|0] "" FCM,KSS,MAV,SCS - SG_ VXRLF : 8|1@0+ (1,0) [0|0] "" AFS,BSR,FCM,MAV - SG_ VXRLIGS : 23|1@0+ (1,0) [0|0] "" BSR,DS1,FCM,MAV - SG_ VXRLHDS : 22|1@0+ (1,0) [0|0] "" FCM,KSS,MAV,SCS - SG_ VSCF02SM : 47|8@0+ (1,0) [0|0] "" AFS,DS1,FCM,MAV - -BO_ 550 VSC1F06: 8 CGW - SG_ VSCF01FG : 7|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ AHCURQ : 4|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ PMCF : 3|1@0+ (1,0) [0|0] "" DS1 - SG_ PMCS : 2|1@0+ (1,0) [0|0] "" DS1 - SG_ PMC : 1|10@0+ (0.02,0) [0|0] "Mpa" DS1 - SG_ ECOEN : 23|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ CCS : 22|1@0+ (1,0) [0|0] "" DS1 - SG_ FBA : 21|1@0+ (1,0) [0|0] "" DS1 - SG_ TRBRKSYS : 20|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ TS : 38|1@0+ (1,0) [0|0] "" KSS,SCS - SG_ WSTP : 37|1@0+ (1,0) [0|0] "" DS1,KSS,SCS - SG_ VSCACT : 36|1@0+ (1,0) [0|0] "" DS1,FCM - SG_ BAEX : 35|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ TEM : 34|3@0+ (1,0) [0|0] "" SCS - SG_ FSTP : 60|1@0+ (1,0) [0|0] "" DS1 - SG_ ABSACT : 59|1@0+ (1,0) [0|0] "" DS1,FCM,MAV - -BO_ 180 VSC1S03: 8 CGW - SG_ SP1P : 39|6@0+ (1,0) [0|0] "" DS1,FCM - SG_ SP1S : 33|1@0+ (1,0) [0|0] "" BSR,DS1,FCM,MAV - SG_ SP1 : 47|16@0- (0.01,0) [0|0] "km/h" BSR,DS1,FCM,MAV - SG_ VSC03SUM : 63|8@0+ (1,0) [0|0] "" DS1,FCM,MAV - -BO_ 800 VSC1S07: 8 CGW - SG_ FBKRLY : 6|1@0+ (1,0) [0|0] "" DS1 - SG_ FVSCM : 4|1@0+ (1,0) [0|0] "" DS1 - SG_ FVSCSFT : 3|1@0+ (1,0) [0|0] "" DS1 - SG_ FABS : 2|1@0+ (1,0) [0|0] "" DS1,FCM - SG_ TSVSC : 1|1@0+ (1,0) [0|0] "" DS1 - SG_ FVSCL : 0|1@0+ (1,0) [0|0] "" DS1 - SG_ RQCSTBKB : 15|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ PSBSTBY : 14|1@0+ (1,0) [0|0] "" DS1 - SG_ P2BRXMK : 13|1@0+ (1,0) [0|0] "" DS1 - SG_ MCC : 11|1@0+ (1,0) [0|0] "" DS1 - SG_ RQBKB : 10|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ BRSTOP : 9|1@0+ (1,0) [0|0] "" DS1,FCM - SG_ BRKON : 8|1@0+ (1,0) [0|0] "" DS1,FCM - SG_ ASLP : 23|8@0- (1,0) [0|0] "deg" DS1 - SG_ BRTYPACC : 31|2@0+ (1,0) [0|0] "" DS1 - SG_ BRKABT3 : 26|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ BRKABT2 : 25|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ BRKABT1 : 24|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ GVC : 39|8@0- (0.04,0) [0|0] "m/s^2" DS1 - SG_ XGVCINV : 43|1@0+ (1,0) [0|0] "" DS1 - SG_ S07CNT : 52|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ PCSBRSTA : 50|2@0+ (1,0) [0|0] "" DS1 - SG_ VSC07SUM : 63|8@0+ (1,0) [0|0] "" DS1,FCM - -BO_ 1056 VSC1S08: 8 CGW - SG_ YR1Z : 7|16@0- (1,0) [0|0] "rad/s" DS1,FCM,MAV - SG_ YR2Z : 23|16@0- (1,0) [0|0] "rad/s" DS1,FCM,MAV - SG_ GL1Z : 39|8@0- (0.0359,0) [0|0] "m/s^2" DS1,FCM,KSS,MAV,SCS - SG_ GL2Z : 47|8@0- (0.0359,0) [0|0] "m/s^2" DS1,FCM,KSS,MAV,SCS - SG_ YRGSDIR : 55|1@0+ (1,0) [0|0] "" DS1,FCM,KSS,SCS - SG_ GLZS : 51|1@0+ (1,0) [0|0] "" DS1,FCM,KSS,MAV,SCS - SG_ YRZF : 50|1@0+ (1,0) [0|0] "" DS1,FCM,MAV - SG_ YRZS : 49|1@0+ (1,0) [0|0] "" DS1,FCM,MAV - SG_ YRZKS : 48|1@0+ (1,0) [0|0] "" DS1,FCM,MAV - SG_ VSC08SUM : 63|8@0+ (1,0) [0|0] "" DS1,FCM,MAV - -BO_ 186 VSC1S12: 4 CGW - SG_ HAC2ESRQ : 21|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ FHACHOLD : 20|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ VSC12SUM : 31|8@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 562 VSC1S14: 6 CGW - SG_ VWPSUMFR : 7|8@0+ (1,0) [0|0] "" MAV - SG_ VWPSUMFL : 15|8@0+ (1,0) [0|0] "" MAV - SG_ VWPFRPM : 23|1@0+ (1,0) [0|0] "" MAV - SG_ VWPFLPM : 22|1@0+ (1,0) [0|0] "" MAV - SG_ S14CNT : 21|3@0+ (1,0) [0|0] "" Vector__XXX - SG_ VWPFRPMS : 18|1@0+ (1,0) [0|0] "" MAV - SG_ VWPFLPMS : 17|1@0+ (1,0) [0|0] "" MAV - SG_ VWPSUMRR : 31|8@0+ (1,0) [0|0] "" MAV - SG_ VWPSUMRL : 39|8@0+ (1,0) [0|0] "" MAV - SG_ VSC14SUM : 47|8@0+ (1,0) [0|0] "" MAV - -BO_ 552 VSC1S29: 4 CGW - SG_ ICBACT : 7|1@0+ (1,0) [0|0] "" DS1 - SG_ DVS0PCS : 6|15@0- (0.001,0) [0|0] "m/s^2" DS1 - SG_ SM228 : 31|8@0+ (1,0) [0|0] "" DS1 - -BO_ 1168 VSC1S92: 1 CGW - SG_ C_DCMOD1 : 7|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ C_DCMOD2 : 6|3@0+ (1,0) [0|0] "" Vector__XXX - SG_ C_DCMOD3 : 3|4@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 951 VSC1S95: 8 CGW - SG_ B_BRKW : 7|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ B_ABS : 5|3@0+ (1,0) [0|0] "" Vector__XXX - SG_ B_BRLV : 14|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ TRCOFF : 13|1@0+ (1,0) [0|0] "" DS1,FCM - SG_ VSCOFF : 12|2@0+ (1,0) [0|0] "" DS1,FCM - SG_ SLP_WL : 10|3@0+ (1,0) [0|0] "" MAV - SG_ B_MCST : 19|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ B_BUZZER : 31|4@0+ (1,0) [0|0] "" Vector__XXX - SG_ B_ALSD : 27|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ B_DACIND : 25|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ OGENVSC : 37|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ B_ATRC : 47|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ B_STRC : 46|3@0+ (1,0) [0|0] "" MAV - SG_ B_HZD : 43|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ VSCSWIH : 51|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ STRCDISP : 50|3@0+ (1,0) [0|0] "" Vector__XXX - SG_ STRCDSP2 : 60|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ VSCEXIST : 59|1@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 1063 VSC1S96: 8 CGW - SG_ MTS_DISP : 5|4@0+ (1,0) [0|0] "" Vector__XXX - SG_ B_MTS : 1|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ TRCCONRL : 11|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ TRCCONRR : 10|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ TRCCONFL : 9|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ TRCCONFR : 8|1@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 545 VSC2F05: 5 CGW - SG_ TQER : 7|16@0- (0.03125,0) [0|0] "Nm" Vector__XXX - SG_ REQC : 23|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ REQ2 : 22|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ REQ1 : 21|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ AIDWI : 20|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ RTD : 19|4@0+ (1,0) [0|0] "" Vector__XXX - SG_ LOMUSFT : 31|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ VSC2F05S : 39|8@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 544 VSC2F07: 4 CGW - SG_ FSROT : 7|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ BRK2 : 4|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ BRK1 : 3|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ FCNG : 1|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ TSLP : 0|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ TRCACT : 15|1@0+ (1,0) [0|0] "" DS1,FCM - SG_ ABSSLP : 14|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ VDMACT : 13|1@0+ (1,0) [0|0] "" FCM - SG_ DAC_CND : 9|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ VSC2F07S : 31|8@0+ (1,0) [0|0] "" DS1,FCM - -BO_ 36 YGS1S03: 8 CGW - SG_ YRS11S : 7|1@0+ (1,0) [0|0] "" DS1,FCM,MAV - SG_ YRS14S : 6|1@0+ (1,0) [0|0] "" DS1,FCM,MAV - SG_ YRS21S : 5|1@0+ (1,0) [0|0] "" DS1,FCM,MAV - SG_ YRS24S : 4|1@0+ (1,0) [0|0] "" DS1,FCM,MAV - SG_ YGS1 : 3|1@0+ (1,0) [0|0] "" DS1,FCM,KSS,MAV,SCS - SG_ YGS0 : 2|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ YR : 1|10@0+ (0.244,-125) [0|0] "deg/sec" DS1,FCM,MAV - SG_ YR_CPUMN : 23|4@0+ (1,0) [0|0] "" Vector__XXX - SG_ GS4S : 19|1@0+ (1,0) [0|0] "" DS1,FCM,KSS,MAV,SCS - SG_ GS1S : 18|1@0+ (1,0) [0|0] "" DS1,FCM,KSS,MAV,SCS - SG_ GL1X : 17|10@0+ (0.03589,-18.375) [0|0] "m/s^2" DS1,FCM,KSS,MAV,SCS - SG_ YG_ID : 39|4@0+ (1,0) [0|0] "" DS1,FCM,KSS,SCS - SG_ GS5S : 35|1@0+ (1,0) [0|0] "" DS1,FCM,KSS,MAV,SCS - SG_ GS2S : 34|1@0+ (1,0) [0|0] "" DS1,FCM,KSS,MAV,SCS - SG_ GL2Y : 33|10@0+ (0.03589,-18.375) [0|0] "m/s^2" DS1,FCM,KSS,MAV,SCS - SG_ YR_DIF : 55|8@0+ (0.244,-31) [0|0] "deg/sec" DS1,FCM,MAV - SG_ YGS03SUM : 63|8@0+ (1,0) [0|0] "" DS1,FCM,MAV - -BO_ 1073743490 YGW1S01_0: 8 CGW - SG_ YGW01_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ YGW01_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ YR_STSW : 22|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ YR_EGST : 20|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ YR_DRLK : 18|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ YR_KLEG : 16|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ YR_HZRD : 26|3@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 1073743491 YGW1S02_0: 8 CGW - SG_ YGW02_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ YGW02_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ YR_DEFOG : 19|2@0+ (1,0) [0|0] "" Vector__XXX - SG_ YR_ARCON : 17|2@0+ (1,0) [0|0] "" Vector__XXX - -BO_ 1073743494 YGW1S05_0: 8 CGW - SG_ YGW05_ID : 7|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ YGW05_IF : 15|8@0+ (1,0) [0|0] "" Vector__XXX - SG_ YI_IMO_E : 23|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ YI_UREQ : 16|1@0+ (1,0) [0|0] "" Vector__XXX - SG_ YI_RE : 47|16@0+ (1,0) [0|0] "" Vector__XXX diff --git a/opendbc/toyota_iQ_2009_can.dbc b/opendbc/toyota_iQ_2009_can.dbc deleted file mode 100644 index 2213e1ade23f31..00000000000000 --- a/opendbc/toyota_iQ_2009_can.dbc +++ /dev/null @@ -1,196 +0,0 @@ -VERSION "" - - -NS_ : - NS_DESC_ - CM_ - BA_DEF_ - BA_ - VAL_ - CAT_DEF_ - CAT_ - FILTER - BA_DEF_DEF_ - EV_DATA_ - ENVVAR_DATA_ - SGTYPE_ - SGTYPE_VAL_ - BA_DEF_SGTYPE_ - BA_SGTYPE_ - SIG_TYPE_REF_ - VAL_TABLE_ - SIG_GROUP_ - SIG_VALTYPE_ - SIGTYPE_VALTYPE_ - BO_TX_BU_ - BA_DEF_REL_ - BA_REL_ - BA_DEF_DEF_REL_ - BU_SG_REL_ - BU_EV_REL_ - BU_BO_REL_ - SG_MUL_VAL_ - -BS_: - -BU_: XXX - -BO_ 1552 CONTAINS_LRES_SPEED: 8 XXX - SG_ SPEED_LOWRES : 16|8@1+ (1,0) [0|255] "km/h?" XXX - SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|255] "" XXX - -BO_ 452 ENGINE: 8 XXX - SG_ ENGINE_RPM : 7|16@0+ (1,0) [0|65535] "rpm" XXX - SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX - SG_ DIFFERENT_EACH_RIDE : 23|8@0+ (1,0) [0|255] "" XXX - SG_ A_DECREASING_VALUE : 39|8@0+ (1,0) [0|255] "" XXX - -BO_ 37 STEERING: 8 XXX - SG_ STEER_DIRECTION : 3|1@0+ (1,0) [0|1] "" XXX - SG_ NEW_SIGNAL_1 : 39|8@0+ (1,0) [0|255] "" XXX - SG_ NEW_SIGNAL_4 : 42|2@0- (1,0) [0|3] "" XXX - SG_ NEW_SIGNAL_2 : 44|2@0- (1,0) [0|255] "" XXX - SG_ NEW_SIGNAL_3 : 46|2@0- (1,0) [0|3] "" XXX - SG_ STEER_ANGLE : 2|11@0- (1,0) [-350|350] "" XXX - -BO_ 36 ACCELERATIONS: 8 XXX - SG_ ACC_LAT_CLEAN : 2|11@0- (1,0) [0|255] "" XXX - SG_ ACC_LATERAL : 63|8@0- (1,0) [0|255] "" XXX - SG_ ACC_FRONT_BACK_1 : 31|8@0- (1,0) [0|255] "" XXX - SG_ ACC_FRONT_BACK_2 : 47|8@0- (1,0) [0|255] "" XXX - -BO_ 947 LOW_RES_INDICATORS: 8 XXX - SG_ LOW_RES_ACC_PEDAL : 23|7@0+ (1,0) [0|63] "" XXX - SG_ LOW_RES_RPM : 7|16@0+ (1,0) [0|255] "rpm" XXX - -BO_ 955 BRAKING_PLUS_OTHER: 8 XXX - SG_ IS_BRAKING_2 : 0|1@0+ (1,0) [0|1] "" XXX - SG_ ENGINE_TEMPERATURE : 23|8@0+ (1,0) [0|255] "" XXX - SG_ MAYBE_CLUTCH : 13|1@0+ (1,0) [0|1] "" XXX - -BO_ 1595 CONTAINS_TIME: 8 XXX - SG_ TIME_ON : 55|16@0+ (0.1,0) [0|65535] "s" XXX - SG_ BETWEEN_RIDES : 7|32@0+ (1,0) [0|4294967295] "" XXX - -BO_ 170 WHEELS_SPEEDS: 8 XXX - SG_ FRONT_LEFT_WHEEL_SPEED : 23|16@0+ (0.01,-67.67) [0|65535] "km/h" XXX - SG_ REAR_RIGHT_WHEEL_SPEED : 39|16@0+ (0.01,-67.67) [0|65535] "km/h" XXX - SG_ REAR_LEFT_WHEEL_SPEED : 55|16@0+ (0.01,-67.67) [0|65535] "km/h" XXX - SG_ FRONT_RIGHT_WHEEL_SPEED : 7|16@0+ (0.01,-67.67) [0|65535] "km/h" XXX - -BO_ 180 VEHICLE_DYNAMICS: 8 XXX - SG_ WIERD_STUFF : 8|2@1+ (1,0) [0|3] "" XXX - SG_ VEHICLE_SPEED : 47|16@0+ (0.01,0) [0|255] "km/h" XXX - SG_ SPEED_MOD_256 : 63|8@0- (1,0) [0|255] "" XXX - SG_ MAYBE_DISTANCE_MOD_256 : 39|8@0+ (1,0) [0|255] "" XXX - -BO_ 186 NEW_MSG_9: 8 XXX - SG_ NEW_SIGNAL_2 : 31|8@0+ (1,0) [0|255] "" XXX - -BO_ 426 NEW_MSG_5: 8 XXX - SG_ CONSTANT : 47|8@0+ (1,0) [0|255] "" XXX - -BO_ 906 BOOLS: 8 XXX - SG_ MAY_CONTAIN_LIGHTS : 7|4@0+ (1,0) [0|127] "" XXX - SG_ NEW_SIGNAL_1 : 3|1@0+ (1,0) [0|1] "" XXX - SG_ NEW_SIGNAL_2 : 2|1@0+ (1,0) [0|1] "" XXX - SG_ NEW_SIGNAL_3 : 1|1@0+ (1,0) [0|1] "" XXX - SG_ MOVEMENT_START_TRIGGER : 0|1@0+ (1,0) [0|1] "" XXX - -BO_ 979 LOW_RES_ACCELERATOR: 8 XXX - SG_ VERY_LRES_ACC : 7|16@0+ (1,0) [0|65535] "" XXX - -BO_ 1600 SLOW_VARIABLE_INFOS: 8 XXX - SG_ CHANGES_EACH_RIDE : 31|8@0+ (1,0) [0|255] "" XXX - SG_ INCREASING_VALUE_FUEL : 47|8@0+ (1,0) [0|255] "" XXX - -BO_ 1568 DOORS: 8 XXX - SG_ KEY_ACC : 36|1@0+ (1,0) [0|1] "" XXX - SG_ KEY_ON : 37|1@0+ (1,0) [0|1] "" XXX - SG_ KEY_INSERT : 46|1@0+ (1,0) [0|1] "" XXX - SG_ NOT_ON : 63|1@0+ (1,0) [0|1] "" XXX - SG_ DOOR_RIGHT : 44|1@0+ (1,0) [0|3] "" XXX - SG_ DOOR_TRUNK : 41|1@1+ (1,0) [0|3] "" XXX - SG_ DOOR_LEFT : 45|1@0+ (1,0) [0|255] "" XXX - SG_ HANDBRAKE : 60|1@0+ (1,0) [0|3] "" XXX - SG_ NEW_SIGNAL_1 : 4|1@0+ (1,0) [0|1] "" XXX - SG_ DRIVER_SEATBELT : 62|1@0+ (1,0) [0|1] "" XXX - SG_ TRIGGER_BOOL : 15|1@0+ (1,0) [0|1] "" XXX - -BO_ 705 COMMAND: 8 XXX - SG_ NOT_ACCELERATING_PEDAL : 3|1@1+ (1,0) [0|1] "" XXX - SG_ ACC_PEDAL_SENSOR : 55|16@0+ (1,0) [0|65535] "" XXX - SG_ ACC_COMMAND : 31|16@0- (1,0) [0|7] "" XXX - SG_ ACC_PEDAL_MEAN : 15|16@0- (1,0) [0|255] "" XXX - SG_ NEGATIVE_COMMAND_OFFSET : 47|8@0- (1,0) [0|255] "" XXX - -BO_ 928 STEER2_MAYBE: 8 XXX - SG_ NEW_SIGNAL_1 : 13|6@0+ (1,0) [0|63] "" XXX - SG_ NEW_SIGNAL_2 : 60|5@0+ (1,0) [0|31] "" XXX - SG_ NEW_SIGNAL_4 : 5|6@0+ (1,0) [0|255] "" XXX - SG_ NEW_SIGNAL_3 : 46|7@0+ (1,0) [0|15] "" XXX - -BO_ 896 LONG_TERM_2: 8 XXX - SG_ NEW_SIGNAL_1 : 55|8@0+ (1,0) [0|255] "" XXX - -BO_ 944 LONG_TERM_MSG: 8 XXX - SG_ LONG_TERM_SIGN : 31|8@0+ (1,0) [0|255] "" XXX - -BO_ 1553 TOTAL_DIST: 8 XXX - SG_ TOTAL_DISTANCE : 55|16@0+ (1,0) [0|65535] "" XXX - -BO_ 1572 WHY_THESE_VALUES: 8 XXX - -BO_ 1555 BETWEEN_RIDES_CHANGE_1: 8 XXX - SG_ BETWEEN_RIDES : 23|1@0+ (1,0) [0|1] "" XXX - -BO_ 1090 ASYNC_MSG_ACK: 8 XXX - SG_ NEW_SIGNAL_1 : 13|2@0+ (1,0) [0|1] "" XXX - SG_ NEW_SIGNAL_2 : 23|1@0+ (1,0) [0|1] "" XXX - -BO_ 1592 NEW_MSG_14: 8 XXX - SG_ DOORS_LOCKED2 : 20|1@0+ (1,0) [0|1] "" XXX - SG_ DOORS_LOCKED1 : 16|1@0+ (1,0) [0|1] "" XXX - -BO_ 608 NEW_MSG_6: 8 XXX - SG_ VERY_SMALL_SIGNAL2 : 56|1@0+ (1,0) [0|255] "" XXX - SG_ VERY_SMALL_SIGNAL1 : 0|1@0+ (1,0) [0|1] "" XXX - -BO_ 945 BETWEEN_RIDES_CHANGES_2: 8 XXX - SG_ BETWEEN_RIDES : 24|1@0+ (1,0) [0|65535] "" XXX - - - - -CM_ SG_ 1552 SPEED_LOWRES "Negative values to check"; -CM_ SG_ 452 CHECKSUM "Follows path of RPMs but more precise & 1 byte only"; -CM_ SG_ 452 A_DECREASING_VALUE "stabilizes to 62 after ~10 mins"; -CM_ SG_ 37 STEER_DIRECTION "Could be intended as 12 bit steering angle"; -CM_ SG_ 37 STEER_ANGLE "can convert to degrees (imprecise) or percentage of max amplitude"; -CM_ SG_ 36 ACC_FRONT_BACK_1 "more likely up-down"; -CM_ SG_ 36 ACC_FRONT_BACK_2 "more likely front-back"; -CM_ SG_ 947 LOW_RES_ACC_PEDAL "Follows rather closely other acceleration commands"; -CM_ SG_ 947 LOW_RES_RPM "Maybe used for onboard display?"; -CM_ SG_ 955 MAYBE_CLUTCH "might be related to shifting gears"; -CM_ SG_ 1595 TIME_ON "Time since last ignition, tenth of seconds"; -CM_ SG_ 1595 BETWEEN_RIDES "the fourth byte (at least) changes between rides"; -CM_ SG_ 180 WIERD_STUFF "Might be a signed value on the whole two bytes (sometimes all set)"; -CM_ SG_ 180 VEHICLE_SPEED "Roughly 2 seconds before wheel speeds"; -CM_ SG_ 180 SPEED_MOD_256 "One byte speed, a bit before vehicle speed"; -CM_ SG_ 180 MAYBE_DISTANCE_MOD_256 "Looks like measure for distance or wheel angle"; -CM_ SG_ 906 MOVEMENT_START_TRIGGER "trigger of when speed becomes != 0"; -CM_ SG_ 979 VERY_LRES_ACC "Power used by engine? moves alongside speed, very low res, goes from 0 to 9 max?"; -CM_ SG_ 1600 CHANGES_EACH_RIDE "Small decrementation during some rides, possibly long term fuel"; -CM_ SG_ 1600 INCREASING_VALUE_FUEL "Fuel/distance? Average fuel consumption?"; -CM_ SG_ 705 NOT_ACCELERATING_PEDAL "Looks like opposite of accelerating bit"; -CM_ SG_ 705 ACC_PEDAL_SENSOR "similar to pedal sensor maybe checksum."; -CM_ SG_ 705 ACC_COMMAND "Similar to other pedal indicator., cleaner, must be sent back to engine"; -CM_ SG_ 705 ACC_PEDAL_MEAN "Actual sensor for pedal (works when engine off)"; -CM_ SG_ 705 NEGATIVE_COMMAND_OFFSET "Mysterious for now"; -CM_ SG_ 928 NEW_SIGNAL_1 "Very slow changing noisy value, 45-49 in 10 min"; -CM_ SG_ 928 NEW_SIGNAL_2 "Other very slow changing 24-26 in 10 min"; -CM_ SG_ 928 NEW_SIGNAL_4 "Inconsistent across rides"; -CM_ SG_ 896 NEW_SIGNAL_1 "there is a difference at the beginning of 2017-10-31--12-04-05"; -CM_ SG_ 1553 TOTAL_DISTANCE "Probably also contains the previous/two previous bytes but can't confirm"; -CM_ SG_ 945 BETWEEN_RIDES "Might be others in the same message. at least this one"; - diff --git a/opendbc/toyota_prius_2010_pt.dbc b/opendbc/toyota_prius_2010_pt.dbc deleted file mode 100644 index 5c7df7d18b3ea7..00000000000000 --- a/opendbc/toyota_prius_2010_pt.dbc +++ /dev/null @@ -1,203 +0,0 @@ -VERSION "" - - -NS_ : - NS_DESC_ - CM_ - BA_DEF_ - BA_ - VAL_ - CAT_DEF_ - CAT_ - FILTER - BA_DEF_DEF_ - EV_DATA_ - ENVVAR_DATA_ - SGTYPE_ - SGTYPE_VAL_ - BA_DEF_SGTYPE_ - BA_SGTYPE_ - SIG_TYPE_REF_ - VAL_TABLE_ - SIG_GROUP_ - SIG_VALTYPE_ - SIGTYPE_VALTYPE_ - BO_TX_BU_ - BA_DEF_REL_ - BA_REL_ - BA_DEF_DEF_REL_ - BU_SG_REL_ - BU_EV_REL_ - BU_BO_REL_ - SG_MUL_VAL_ - -BS_: - -BU_: XXX DSU HCU EPS IPAS - - -BO_ 36 KINEMATICS: 8 XXX - SG_ ACCEL_Y : 33|10@0+ (1,-512) [0|65535] "" XXX - SG_ STEERING_TORQUE : 17|10@0+ (1,-512) [0|65535] "" XXX - SG_ YAW_RATE : 1|10@0+ (1,-512) [0|65535] "" XXX - -BO_ 166 BRAKE: 8 XXX - SG_ BRAKE_AMOUNT : 7|8@0+ (1,0) [0|255] "" XXX - SG_ BRAKE_PEDAL : 23|8@0+ (1,0) [0|255] "" XXX - -BO_ 170 WHEEL_SPEEDS: 8 XXX - SG_ WHEEL_SPEED_FR : 7|16@0+ (0.0062,-67.67) [0|250] "mph" XXX - SG_ WHEEL_SPEED_FL : 23|16@0+ (0.0062,-67.67) [0|250] "mph" XXX - SG_ WHEEL_SPEED_RR : 39|16@0+ (0.0062,-67.67) [0|250] "mph" XXX - SG_ WHEEL_SPEED_RL : 55|16@0+ (0.0062,-67.67) [0|250] "mph" XXX - -BO_ 180 SPEED: 8 XXX - SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX - SG_ SPEED : 47|16@0+ (0.0062,0) [0|115] "mph" XXX - SG_ ENCODER : 39|8@0+ (1,0) [0|255] "" XXX - -BO_ 295 GEAR_PACKET: 8 XXX - SG_ CAR_MOVEMENT : 39|8@0- (1,0) [0|255] "" XXX - SG_ COUNTER : 55|8@0+ (1,0) [0|255] "" XXX - SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX - SG_ GEAR : 47|4@0+ (1,0) [0|15] "" XXX - -BO_ 466 PCM_CRUISE: 8 XXX - SG_ GAS_RELEASED : 4|1@0+ (1,0) [0|1] "" XXX - SG_ ACCEL_NET : 23|16@0- (0.001,0) [-20|20] "m/s2" XXX - SG_ CRUISE_STATE : 55|4@0+ (1,0) [0|15] "" XXX - SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX - -BO_ 550 BRAKE_MODULE: 8 XXX - SG_ BRAKE_PRESSURE : 0|9@0+ (1,0) [0|511] "" XXX - SG_ BRAKE_POSITION : 16|9@0+ (1,0) [0|511] "" XXX - SG_ BRAKE_PRESSED : 37|1@0+ (1,0) [0|1] "" XXX - -BO_ 552 ACCELEROMETER: 8 XXX - SG_ ACCEL_Z : 22|15@0- (1,0) [0|32767] "" XXX - SG_ ACCEL_X : 6|15@0- (0.001,0) [-20|20] "m/s2" XXX - -BO_ 560 BRAKE_MODULE2: 8 XXX - SG_ BRAKE_LIGHTS : 26|1@0+ (1,0) [0|1] "" XXX - -BO_ 581 GAS_PEDAL: 8 XXX - SG_ GAS_PEDAL : 23|8@0+ (0.005,0) [0|1] "" XXX - -BO_ 608 STEER_TORQUE_SENSOR: 8 XXX - SG_ STEER_TORQUE_EPS : 47|16@0- (0.66,0) [-20000|20000] "" XXX - SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX - SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX - SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX - -BO_ 610 EPS_STATUS: 5 EPS - SG_ STATE : 3|4@0+ (1,0) [0|15] "" XXX - SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX - SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX - -BO_ 614 STEERING_IPAS: 8 IPAS - SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX - SG_ ANGLE : 3|12@0- (1,0) [0|16777215] "" XXX - SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX - SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX - SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX - SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX - -BO_ 643 PRE_COLLISION: 8 XXX - -BO_ 740 STEERING_LKA: 8 XXX - SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX - SG_ CHECKSUM : 39|8@0+ (1,0) [0|255] "" XXX - SG_ STEER_REQUEST : 0|1@0+ (1,0) [0|1] "" XXX - SG_ COUNTER : 6|6@0+ (1,0) [0|63] "" XXX - SG_ SET_ME_1 : 7|1@0+ (1,0) [0|1] "" XXX - SG_ STEER_TORQUE_CMD : 15|16@0- (1,0) [0|65535] "" XXX - -BO_ 742 LEAD_INFO: 8 DSU - SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" HCU - SG_ LEAD_REL_SPEED : 23|12@0- (0.025,0) [-100|100] "m/s" HCU - SG_ LEAD_LONG_DIST : 7|13@0+ (0.05,0) [0|300] "m" HCU - -BO_ 835 ACC_CONTROL: 8 DSU - SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s2" HCU - -BO_ 1556 STEERING_LEVERS: 8 XXX - SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX - -BO_ 37 STEER_ANGLE_SENSOR: 8 XXX - SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX - SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX - SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX - -BO_ 467 PCM_CRUISE_2: 8 XXX - SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX - SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "kph" XXX - SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "kph" XXX - SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX - -BO_ 921 PCM_CRUISE_SM: 8 XXX - SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX - SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX - SG_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX - -BO_ 951 ESP_CONTROL: 8 ESP - SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX - -BO_ 1042 LKAS_HUD: 8 XXX - SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX - SG_ RIGHT_LINE : 3|2@0+ (1,0) [0|3] "" XXX - SG_ LEFT_LINE : 5|2@0+ (1,0) [0|3] "" XXX - SG_ SET_ME_1 : 7|2@0+ (1,0) [0|3] "" XXX - SG_ LDA_ALERT : 9|2@0+ (1,0) [0|3] "" XXX - SG_ TWO_BEEPS : 12|1@0+ (1,0) [0|1] "" XXX - SG_ ADJUSTING_CAMERA : 13|1@0+ (1,0) [0|1] "" XXX - SG_ LDA_MALFUNCTION : 15|1@0+ (1,0) [0|1] "" XXX - -BO_ 1553 UI_SEETING: 8 XXX - SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX - -BO_ 1568 SEATS_DOORS: 8 XXX - SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX - SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX - SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX - SG_ DOOR_OPEN_RR : 43|1@0+ (1,0) [0|1] "" XXX - SG_ DOOR_OPEN_FR : 44|1@0+ (1,0) [0|1] "" XXX - -BO_ 452 POWERTRAIN: 8 XXX - SG_ ENGINE_RPM : 7|16@0+ (1,0) [0|65535] "rpm" XXX - SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX - - - - -CM_ SG_ 36 ACCEL_Y "unit is tbd"; -CM_ SG_ 36 STEERING_TORQUE "does not seem the steer torque, tbd"; -CM_ SG_ 36 YAW_RATE "verify"; -CM_ SG_ 466 ACCEL_NET "net acceleration produced by the system, given ACCEL_CMD, road grade and other factors"; -CM_ SG_ 466 CRUISE_STATE "Active state is 8, if standstill is requested will switch to state 11(3 sec timer), after timer is elapsed will switch into state 7(standstill). If plus button was pressed - status 9, minus button pressed - status 10"; -CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force"; -CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8"; -CM_ SG_ 560 BRAKE_LIGHTS "double check"; -CM_ SG_ 581 GAS_PEDAL "it seems slightly filtered"; -CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque"; -CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value"; -CM_ SG_ 614 ANGLE "set to measured angle when ipas control isn't active"; -CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set"; -CM_ SG_ 37 STEER_RATE "factor is tbd"; -CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph"; -CM_ SG_ 467 SET_SPEED "43 kph are shown as 28mph, so conversion isn't perfect"; -CM_ SG_ 921 UI_SET_SPEED "set speed shown in UI with user set unit"; -CM_ SG_ 1042 SET_ME_1 "unclear what this is, nut it's always 1 in drive traces"; -VAL_ 295 GEAR 0 "P" 1 "R" 2 "N" 3 "D" 4 "B" ; -VAL_ 466 CRUISE_STATE 11 "timer_3sec" 10 "setspeeddown" 9 "setspeedup" 8 "active" 7 "standstill" 1 "off" 0 "off"; -VAL_ 610 STATE 5 "override" 3 "enabled" 1 "disabled" ; -VAL_ 610 LKA_STATE 50 "temporary_fault" ; -VAL_ 614 STATE 3 "enabled" 1 "disabled" ; -VAL_ 614 DIRECTION_CMD 3 "right" 2 "center" 1 "left" ; -VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left" ; -VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok" ; -VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted" ; -VAL_ 1042 BARRIERS 3 "both" 2 "right" 1 "left" 0 "none" ; -VAL_ 1042 RIGHT_LINE 3 "orange" 2 "double" 1 "solid" 0 "none" ; -VAL_ 1042 LEFT_LINE 3 "orange" 2 "double" 1 "solid" 0 "none" ; -VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none" ; -VAL_ 1553 UNITS 1 "km" 2 "miles" ; diff --git a/opendbc/toyota_radar_dsu_tssp.dbc b/opendbc/toyota_radar_dsu_tssp.dbc deleted file mode 100644 index 168e589136b8c6..00000000000000 --- a/opendbc/toyota_radar_dsu_tssp.dbc +++ /dev/null @@ -1,194 +0,0 @@ -VERSION "" - - -NS_ : - NS_DESC_ - CM_ - BA_DEF_ - BA_ - VAL_ - CAT_DEF_ - CAT_ - FILTER - BA_DEF_DEF_ - EV_DATA_ - ENVVAR_DATA_ - SGTYPE_ - SGTYPE_VAL_ - BA_DEF_SGTYPE_ - BA_SGTYPE_ - SIG_TYPE_REF_ - VAL_TABLE_ - SIG_GROUP_ - SIG_VALTYPE_ - SIGTYPE_VALTYPE_ - BO_TX_BU_ - BA_DEF_REL_ - BA_REL_ - BA_DEF_DEF_REL_ - BU_SG_REL_ - BU_EV_REL_ - BU_BO_REL_ - SG_MUL_VAL_ - -BS_: - -BU_: XXX RADAR - -BO_ 768 BUTTONS: 8 RADAR - SG_ LKAS_PRESS : 2|1@0+ (1,0) [0|1] "" XXX - SG_ DISTANCE_PRESS : 5|1@0+ (1,0) [0|1] "" XXX - -BO_ 769 OBJECT_0: 8 RADAR - SG_ ID : 5|6@0+ (1,0) [0|255] "" XXX - SG_ LONG_DIST : 7|13@1+ (0.03,0) [0|65535] "m" XXX - SG_ LAT_DIST : 20|11@1- (0.018,0) [0|15] "" XXX - SG_ SPEED : 31|10@1- (0.06944444444,0) [0|71] "m/s" XXX - SG_ LAT_SPEED : 48|7@1- (0.1,0) [0|127] "m/s" XXX - SG_ RCS : 63|8@0+ (1,0) [0|255] "" XXX - -BO_ 771 OBJECT_1: 8 RADAR - SG_ ID : 5|6@0+ (1,0) [0|255] "" XXX - SG_ LONG_DIST : 7|13@1+ (0.03,0) [0|65535] "m" XXX - SG_ LAT_DIST : 20|11@1- (0.018,0) [0|15] "" XXX - SG_ SPEED : 31|10@1- (0.06944444444,0) [0|71] "m/s" XXX - SG_ LAT_SPEED : 48|7@1- (0.1,0) [0|127] "m/s" XXX - SG_ RCS : 63|8@0+ (1,0) [0|255] "" XXX - -BO_ 773 OBJECT_2: 8 RADAR - SG_ ID : 5|6@0+ (1,0) [0|255] "" XXX - SG_ LONG_DIST : 7|13@1+ (0.03,0) [0|65535] "m" XXX - SG_ LAT_DIST : 20|11@1- (0.018,0) [0|15] "" XXX - SG_ SPEED : 31|10@1- (0.06944444444,0) [0|71] "m/s" XXX - SG_ LAT_SPEED : 48|7@1- (0.1,0) [0|127] "m/s" XXX - SG_ RCS : 63|8@0+ (1,0) [0|255] "" XXX - -BO_ 775 OBJECT_3: 8 RADAR - SG_ ID : 5|6@0+ (1,0) [0|255] "" XXX - SG_ LONG_DIST : 7|13@1+ (0.03,0) [0|65535] "m" XXX - SG_ LAT_DIST : 20|11@1- (0.018,0) [0|15] "" XXX - SG_ SPEED : 31|10@1- (0.06944444444,0) [0|71] "m/s" XXX - SG_ LAT_SPEED : 48|7@1- (0.1,0) [0|127] "m/s" XXX - SG_ RCS : 63|8@0+ (1,0) [0|255] "" XXX - -BO_ 777 OBJECT_4: 8 RADAR - SG_ ID : 5|6@0+ (1,0) [0|255] "" XXX - SG_ LONG_DIST : 7|13@1+ (0.03,0) [0|65535] "m" XXX - SG_ LAT_DIST : 20|11@1- (0.018,0) [0|15] "" XXX - SG_ SPEED : 31|10@1- (0.06944444444,0) [0|71] "m/s" XXX - SG_ LAT_SPEED : 48|7@1- (0.1,0) [0|127] "m/s" XXX - SG_ RCS : 63|8@0+ (1,0) [0|255] "" XXX - -BO_ 779 OBJECT_5: 8 RADAR - SG_ ID : 5|6@0+ (1,0) [0|255] "" XXX - SG_ LONG_DIST : 7|13@1+ (0.03,0) [0|65535] "m" XXX - SG_ LAT_DIST : 20|11@1- (0.018,0) [0|15] "" XXX - SG_ SPEED : 31|10@1- (0.06944444444,0) [0|71] "m/s" XXX - SG_ LAT_SPEED : 48|7@1- (0.1,0) [0|127] "m/s" XXX - SG_ RCS : 63|8@0+ (1,0) [0|255] "" XXX - -BO_ 781 OBJECT_6: 8 RADAR - SG_ ID : 5|6@0+ (1,0) [0|255] "" XXX - SG_ LONG_DIST : 7|13@1+ (0.03,0) [0|65535] "m" XXX - SG_ LAT_DIST : 20|11@1- (0.018,0) [0|15] "" XXX - SG_ SPEED : 31|10@1- (0.06944444444,0) [0|71] "m/s" XXX - SG_ LAT_SPEED : 48|7@1- (0.1,0) [0|127] "m/s" XXX - SG_ RCS : 63|8@0+ (1,0) [0|255] "" XXX - -BO_ 783 OBJECT_7: 8 RADAR - SG_ ID : 5|6@0+ (1,0) [0|255] "" XXX - SG_ LONG_DIST : 7|13@1+ (0.03,0) [0|65535] "m" XXX - SG_ LAT_DIST : 20|11@1- (0.018,0) [0|15] "" XXX - SG_ SPEED : 31|10@1- (0.06944444444,0) [0|71] "m/s" XXX - SG_ LAT_SPEED : 48|7@1- (0.1,0) [0|127] "m/s" XXX - SG_ RCS : 63|8@0+ (1,0) [0|255] "" XXX - -BO_ 785 OBJECT_8: 8 RADAR - SG_ ID : 5|6@0+ (1,0) [0|255] "" XXX - SG_ LONG_DIST : 7|13@1+ (0.03,0) [0|65535] "m" XXX - SG_ LAT_DIST : 20|11@1- (0.018,0) [0|15] "" XXX - SG_ SPEED : 31|10@1- (0.06944444444,0) [0|71] "m/s" XXX - SG_ LAT_SPEED : 48|7@1- (0.1,0) [0|127] "m/s" XXX - SG_ RCS : 63|8@0+ (1,0) [0|255] "" XXX - -BO_ 787 OBJECT_9: 8 RADAR - SG_ ID : 5|6@0+ (1,0) [0|255] "" XXX - SG_ LONG_DIST : 7|13@1+ (0.03,0) [0|65535] "m" XXX - SG_ LAT_DIST : 20|11@1- (0.018,0) [0|15] "" XXX - SG_ SPEED : 31|10@1- (0.06944444444,0) [0|71] "m/s" XXX - SG_ LAT_SPEED : 48|7@1- (0.1,0) [0|127] "m/s" XXX - SG_ RCS : 63|8@0+ (1,0) [0|255] "" XXX - -BO_ 789 OBJECT_10: 8 RADAR - SG_ ID : 5|6@0+ (1,0) [0|255] "" XXX - SG_ LONG_DIST : 7|13@1+ (0.03,0) [0|65535] "m" XXX - SG_ LAT_DIST : 20|11@1- (0.018,0) [0|15] "" XXX - SG_ SPEED : 31|10@1- (0.06944444444,0) [0|71] "m/s" XXX - SG_ LAT_SPEED : 48|7@1- (0.1,0) [0|127] "m/s" XXX - SG_ RCS : 63|8@0+ (1,0) [0|255] "" XXX - -BO_ 791 OBJECT_11: 8 RADAR - SG_ ID : 5|6@0+ (1,0) [0|255] "" XXX - SG_ LONG_DIST : 7|13@1+ (0.03,0) [0|65535] "m" XXX - SG_ LAT_DIST : 20|11@1- (0.018,0) [0|15] "" XXX - SG_ SPEED : 31|10@1- (0.06944444444,0) [0|71] "m/s" XXX - SG_ LAT_SPEED : 48|7@1- (0.1,0) [0|127] "m/s" XXX - SG_ RCS : 63|8@0+ (1,0) [0|255] "" XXX - -CM_ "Front target" -BO_ 1664 CLUSTER_F: 8 RADAR - SG_ LONG_DIST : 7|13@1+ (0.03,0) [0|255] "m" XXX - SG_ LAT_DIST : 20|11@1- (0.015,0) [-20|20] "m" XXX - SG_ SPEED : 31|10@1- (0.06944444444,0) [0|71] "m/s" XXX - SG_ ID : 0|6@1+ (1,0) [0|63] "" XXX - SG_ LAT_SPEED : 48|7@1- (0.1,0) [0|127] "m/s" XXX - SG_ RCS : 63|8@0+ (1,0) [0|255] "" XXX - -CM_ "Front target ahead" -BO_ 1665 CLUSTER_F_A: 8 RADAR - SG_ LONG_DIST : 7|13@1+ (0.03,0) [0|255] "m" XXX - SG_ LAT_DIST : 20|11@1- (0.015,0) [-20|20] "m" XXX - SG_ SPEED : 31|10@1- (0.06944444444,0) [0|71] "m/s" XXX - SG_ ID : 0|6@1+ (1,0) [0|63] "" XXX - SG_ LAT_SPEED : 48|7@1- (0.1,0) [0|127] "m/s" XXX - SG_ RCS : 63|8@0+ (1,0) [0|255] "" XXX - -CM_ "Left target" -BO_ 1666 CLUSTER_L: 8 RADAR - SG_ LONG_DIST : 7|13@1+ (0.03,0) [0|255] "m" XXX - SG_ LAT_DIST : 20|11@1- (0.015,0) [-20|20] "m" XXX - SG_ SPEED : 31|10@1- (0.06944444444,0) [0|71] "m/s" XXX - SG_ VALID : 6|1@0+ (1,0) [0|1] "" XXX - SG_ ID : 0|6@1+ (1,0) [0|63] "" XXX - SG_ LAT_SPEED : 48|7@1- (0.1,0) [0|127] "m/s" XXX - SG_ RCS : 63|8@0+ (1,0) [0|255] "" XXX - -CM_ "Right target" -BO_ 1667 CLUSTER_R: 8 RADAR - SG_ LONG_DIST : 7|13@1+ (0.03,0) [0|255] "m" XXX - SG_ LAT_DIST : 20|11@1- (0.015,0) [-20|20] "m" XXX - SG_ SPEED : 31|10@1- (0.06944444444,0) [0|71] "m/s" XXX - SG_ VALID : 6|1@0+ (1,0) [0|1] "" XXX - SG_ ID : 0|6@1+ (1,0) [0|63] "" XXX - SG_ LAT_SPEED : 48|7@1- (0.1,0) [0|127] "m/s" XXX - SG_ RCS : 63|8@0+ (1,0) [0|255] "" XXX - -CM_ "Left target ahead" -BO_ 1668 CLUSTER_L_A: 8 RADAR - SG_ LONG_DIST : 7|13@1+ (0.03,0) [0|255] "m" XXX - SG_ LAT_DIST : 20|11@1- (0.015,0) [-20|20] "m" XXX - SG_ SPEED : 31|10@1- (0.06944444444,0) [0|71] "m/s" XXX - SG_ VALID : 6|1@0+ (1,0) [0|1] "" XXX - SG_ ID : 0|6@1+ (1,0) [0|63] "" XXX - SG_ LAT_SPEED : 48|7@1- (0.1,0) [0|127] "m/s" XXX - SG_ RCS : 63|8@0+ (1,0) [0|255] "" XXX - -CM_ "Right target ahead" -BO_ 1669 CLUSTER_R_A: 8 RADAR - SG_ LONG_DIST : 7|13@1+ (0.03,0) [0|255] "m" XXX - SG_ LAT_DIST : 20|11@1- (0.015,0) [-20|20] "m" XXX - SG_ SPEED : 31|10@1- (0.06944444444,0) [0|71] "m/s" XXX - SG_ VALID : 6|1@0+ (1,0) [0|1] "" XXX - SG_ ID : 0|6@1+ (1,0) [0|63] "" XXX - SG_ LAT_SPEED : 48|7@1- (0.1,0) [0|127] "m/s" XXX - SG_ RCS : 63|8@0+ (1,0) [0|255] "" XXX diff --git a/opendbc/volvo_v40_2017_pt.dbc b/opendbc/volvo_v40_2017_pt.dbc deleted file mode 100644 index 3c04331649b6a4..00000000000000 --- a/opendbc/volvo_v40_2017_pt.dbc +++ /dev/null @@ -1,363 +0,0 @@ -VERSION "" - - -NS_ : - NS_DESC_ - CM_ - BA_DEF_ - BA_ - VAL_ - CAT_DEF_ - CAT_ - FILTER - BA_DEF_DEF_ - EV_DATA_ - ENVVAR_DATA_ - SGTYPE_ - SGTYPE_VAL_ - BA_DEF_SGTYPE_ - BA_SGTYPE_ - SIG_TYPE_REF_ - VAL_TABLE_ - SIG_GROUP_ - SIG_VALTYPE_ - SIGTYPE_VALTYPE_ - BO_TX_BU_ - BA_DEF_REL_ - BA_REL_ - BA_DEF_DEF_REL_ - BU_SG_REL_ - BU_EV_REL_ - BU_BO_REL_ - SG_MUL_VAL_ - -BS_: - -BU_: XXX BCM CEM CVM DIM ECM FSM PSCM SAS SRS TCM - -BO_ 8 SAS0: 8 SAS - SG_ SteeringDirection : 42|1@0+ (1,0) [0|1] "" XXX - SG_ RelativeTurnDirection : 43|1@0+ (1,0) [0|1] "" XXX - SG_ SteeringAngle : 53|14@0+ (0.04395,0) [0|65535] "degrees" XXX - SG_ NEW_SIGNAL_1 : 47|4@0+ (1,0) [0|15] "" XXX - SG_ NEW_SIGNAL_2 : 39|4@0+ (1,0) [0|15] "" XXX - SG_ AngleRate : 21|14@0+ (0.075,0) [0|1500] "deg/S" XXX - -BO_ 16 CCButtons: 8 CEM - SG_ byte0 : 7|8@0+ (1,0) [0|255] "" XXX - SG_ byte1 : 15|8@0+ (1,0) [0|255] "" XXX - SG_ byte2 : 23|8@0+ (1,0) [0|255] "" XXX - SG_ byte3 : 31|8@0+ (1,0) [0|255] "" XXX - SG_ byte4 : 39|8@0+ (1,0) [0|255] "" XXX - SG_ byte6 : 55|5@0+ (1,0) [0|31] "" XXX - SG_ B7b0 : 56|1@0+ (1,0) [0|1] "" XXX - SG_ B7b1 : 57|1@0+ (1,0) [0|1] "" XXX - SG_ B7b6 : 62|1@0+ (1,0) [0|1] "" XXX - SG_ ACCOnOffBtn : 58|1@0+ (1,0) [0|1] "" XXX - SG_ ACCSetBtn : 63|1@0+ (1,0) [0|1] "" XXX - SG_ ACCStopBtn : 60|1@0+ (1,0) [0|1] "" XXX - SG_ ACCResumeBtn : 61|1@0+ (1,0) [0|1] "" XXX - SG_ ACCMinusBtn : 48|1@0+ (1,0) [0|1] "" XXX - SG_ TimeGapIncreaseBtn : 49|1@0+ (1,0) [0|1] "" XXX - SG_ TimeGapDecreaseBtn : 50|1@0+ (1,0) [0|1] "" XXX - SG_ byte5 : 47|8@0+ (1,0) [0|255] "" XXX - SG_ B7b3 : 59|1@0+ (1,0) [0|1] "" XXX - -BO_ 48 FSM0: 8 FSM - SG_ ACCStatusTracking : 56|1@0+ (1,0) [0|1] "" XXX - SG_ ACCStatusOnOff : 57|1@0+ (1,0) [0|1] "" XXX - SG_ ACCStatusActive : 58|1@0+ (1,0) [0|1] "" XXX - SG_ FCWSomething : 25|3@0+ (1,0) [0|3] "" XXX - SG_ StatusSomething : 55|8@0+ (1,0) [0|255] "" XXX - -BO_ 64 TCM0: 8 TCM - SG_ RPMSomething : 42|11@0+ (1,0) [0|2047] "" XXX - SG_ GearShifter : 46|2@0+ (1,0) [0|3] "" XXX - -BO_ 85 PedalandBrake: 8 ECM - SG_ AccPedal : 9|10@0+ (0.1,0) [0|1023] "%" XXX - SG_ BrakePedalActive2 : 24|1@0+ (1,0) [0|1] "" XXX - SG_ NEW_SIGNAL_1 : 35|12@0+ (1,0) [0|4095] "" XXX - SG_ BrakePedalActive : 38|1@0+ (1,0) [0|1] "" XXX - SG_ NEW_SIGNAL_3 : 55|8@0+ (1,0) [0|255] "" XXX - SG_ NEW_SIGNAL_2 : 63|8@0+ (1,0) [0|255] "" XXX - -BO_ 101 EngineInfo: 8 XXX - SG_ NEW_SIGNAL_1 : 17|10@0+ (1,-512) [0|1023] "" XXX - SG_ EngineSpeed : 52|13@0+ (1,0) [0|1023] "" XXX - -BO_ 112 NEW_MSG_4: 8 XXX - SG_ NEW_SIGNAL_1 : 39|8@0+ (1,0) [0|255] "" XXX - -BO_ 114 ECM1: 8 ECM1 - SG_ NEW_SIGNAL_1 : 23|8@0+ (1,0) [0|255] "" XXX - SG_ ECM_ACC_ONOFF_INV : 43|1@0+ (1,0) [0|1] "" XXX - SG_ ECM_ACC_RESUME_INV : 45|1@0+ (1,0) [0|1] "" XXX - SG_ ECM_ACC_SET_INV : 47|1@0+ (1,0) [0|1] "" XXX - SG_ ECM_ACC_TIMEGAP_INC_INV : 33|1@0+ (1,0) [0|1] "" XXX - SG_ ECM_ACC_DEC_INV : 32|1@0+ (1,0) [0|1] "" XXX - SG_ ECM_ACC_TIMEGAP_DEC_INV : 34|1@0+ (1,0) [0|1] "" XXX - -BO_ 117 ECM1_2: 8 ECM - -BO_ 128 NEW_MSG_5: 8 XXX - SG_ NEW_SIGNAL_2 : 26|11@0+ (1,0) [0|2047] "" XXX - SG_ NEW_SIGNAL_1 : 52|13@0+ (1,0) [0|8191] "" XXX - -BO_ 176 ECM2: 8 ECM - SG_ NEW_SIGNAL_1 : 50|11@0+ (1,0) [0|2047] "" XXX - SG_ NEW_SIGNAL_2 : 47|8@0+ (1,0) [0|63] "" XXX - -BO_ 192 Gear: 8 XXX - SG_ TransmissionGear : 36|3@0+ (1,1) [0|7] "" XXX - -BO_ 208 FSM1: 8 FSM - SG_ SET_X_E3 : 7|8@0+ (1,0) [0|255] "" XXX - SG_ SET_X_B4 : 15|8@0+ (1,0) [0|255] "" XXX - SG_ SET_X_08 : 23|8@0+ (1,0) [0|255] "" XXX - SG_ TrqLim : 31|8@0+ (1,-128) [0|255] "" XXX - SG_ Checksum : 55|8@0+ (1,0) [0|255] "" XXX - SG_ LKASteerDirection : 57|2@0+ (1,0) [0|2] "" XXX - SG_ SET_X_25 : 63|6@0+ (1,0) [0|63] "" XXX - SG_ LKAAngleReq : 37|14@0+ (0.04395,-360.0384) [-360.0384|359.99445] "degrees" XXX - SG_ SET_X_02 : 39|2@0+ (1,0) [0|3] "" XXX - -BO_ 224 PSCM0: 8 PSCM - SG_ NEW_SIGNAL_2 : 12|5@0+ (1,0) [0|31] "" XXX - SG_ counter_07 : 15|3@0+ (1,0) [0|7] "" XXX - SG_ counter2_07 : 37|3@0+ (1,0) [0|16383] "" XXX - SG_ rate_of_something : 46|7@0+ (1,0) [0|62] "" XXX - SG_ OneDuringDriving : 49|1@0+ (1,0) [0|1] "" XXX - SG_ NEW_SIGNAL_1 : 63|1@0+ (1,0) [0|1] "" XXX - -BO_ 245 wheelspeed0: 8 BCM - SG_ counter1 : 21|6@0+ (1,0) [0|65535] "" XXX - SG_ counter0 : 7|16@0+ (1,0) [0|65535] "" XXX - SG_ WhlSpdLF : 39|16@0+ (1,0) [0|65535] "" XXX - SG_ WhlSpdRF : 55|16@0+ (1,0) [0|65535] "" XXX - -BO_ 272 SpeedSignal0: 8 XXX - SG_ VehicleSpeedSignal : 55|16@0+ (0.01,0) [0|65535] "" XXX - -BO_ 288 wheel_speed1: 8 BCM - SG_ WhlSpdLR : 39|16@0+ (1,0) [0|65535] "" XXX - SG_ WhlSpdRR : 55|16@0+ (1,0) [0|65535] "" XXX - -BO_ 293 PSCM1: 8 PSCM - SG_ byte0 : 7|8@0+ (1,0) [0|255] "" XXX - SG_ byte3 : 31|8@0+ (1,0) [0|255] "" XXX - SG_ byte4 : 39|8@0+ (1,0) [0|255] "" XXX - SG_ byte7 : 63|8@0+ (1,0) [0|255] "" XXX - SG_ LKATorque : 11|12@0+ (1,-2000) [0|4095] "" XXX - SG_ SteeringAngleServo : 47|16@0+ (0.04395,-1440.1536) [0|65535] "deg" XXX - SG_ LKAActive : 15|4@0+ (1,0) [0|15] "" XXX - -BO_ 304 VehicleSpeed0: 8 BCM - SG_ NEW_SIGNAL_2 : 15|16@0+ (1,0) [0|65535] "" XXX - SG_ VehicleSpeed : 31|16@0+ (0.01,0) [0|65535] "km/h" XXX - SG_ NEW_SIGNAL_1 : 55|16@0+ (1,0) [0|65535] "" XXX - -BO_ 325 ECM3: 8 ECM - -BO_ 336 VehicleSpeed1: 8 BCM - SG_ NEW_SIGNAL_2 : 31|16@0+ (1,0) [0|65535] "" XXX - SG_ NEW_SIGNAL_1 : 15|16@0+ (1,0) [0|65535] "" XXX - SG_ VehicleSpeed : 55|16@0+ (0.01,0) [0|65535] "" XXX - -BO_ 352 FSM2: 8 FSM - SG_ LkaDimLine : 51|2@1+ (1,0) [0|127] "" XXX - SG_ NEW_SIGNAL_2 : 56|7@1+ (1,0) [0|255] "" XXX - SG_ NEW_SIGNAL_1 : 55|1@0+ (1,0) [0|1] "" XXX - SG_ NEW_SIGNAL_3 : 7|24@0+ (1,0) [0|16777215] "" XXX - SG_ NEW_SIGNAL_4 : 36|5@0+ (1,0) [0|31] "" XXX - -BO_ 432 BrakeMessages: 8 BCM - SG_ BrakePress0 : 1|10@0+ (1,0) [0|1023] "" XXX - SG_ BrakePress1 : 33|10@0+ (1,0) [0|1023] "" XXX - SG_ BrakeStatus : 18|3@0+ (1,0) [0|7] "" XXX - -BO_ 464 DIM0: 8 DIM - -BO_ 480 BCM0: 8 BCM - -BO_ 528 CEM0: 8 CEM - -BO_ 608 CVM0: 8 CVM - SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|255] "" XXX - SG_ NEW_SIGNAL_2 : 15|5@0+ (1,0) [0|32] "" XXX - SG_ Distance : 10|11@0+ (1,0) [0|2048] "" XXX - -BO_ 624 FSM3: 8 FSM - SG_ NEW_SIGNAL_1 : 23|8@0+ (1,0) [0|255] "" XXX - -BO_ 640 FSM4: 8 FSM - SG_ SpeedTarget : 47|8@0+ (1,0) [0|255] "" XXX - SG_ NEW_SIGNAL_1 : 49|10@0+ (1,0) [0|255] "" XXX - -BO_ 648 SRS0: 8 SRS - -BO_ 652 ECM4: 8 ECM - -BO_ 656 ECM5: 8 ECM - -BO_ 657 ECM6: 8 ECM - -BO_ 681 MiscCarInfo: 8 CEM - SG_ TurnSignal : 1|2@0+ (1,0) [0|3] "" XXX - SG_ HighBeamOn : 52|1@0+ (1,0) [0|1] "" XX - -BO_ 693 ECM7: 8 ECM - -BO_ 709 ACC: 8 ECM - SG_ SpeedTargetACC : 0|9@0+ (0.5,0) [0|511] "" XXX - -BO_ 853 FSM5: 8 FSM - SG_ TargetSpeedOdo : 23|8@0+ (1,0) [0|63] "kph" XXX - SG_ SpeedSign : 36|5@0+ (5,0) [0|32] "" XXX - SG_ TextUnderSign : 37|1@0+ (1,0) [0|1] "" XXX - SG_ NEW_SIGNAL_6 : 39|3@0+ (1,0) [0|3] "" XXX - SG_ NEW_SIGNAL_5 : 47|8@0+ (1,0) [0|255] "" XXX - SG_ NEW_SIGNAL_3 : 31|8@0+ (1,0) [0|255] "" XXX - SG_ LaneMarkingsOdo : 15|4@0+ (1,0) [0|7] "" XXX - SG_ NEW_SIGNAL_2 : 11|4@0+ (1,0) [0|15] "" XXX - SG_ NEW_SIGNAL_1 : 7|8@0+ (1,0) [0|255] "" XXX - SG_ NEW_SIGNAL_4 : 55|16@0+ (1,0) [0|65535] "" XXX - -BO_ 864 CEM1: 8 CEM - -BO_ 912 DIM1: 8 DIM - -BO_ 968 SRS1: 8 SRS - SG_ PassengerSeatBelt : 22|1@0+ (1,0) [0|1] "" XXX - SG_ DriverSeatBelt : 19|1@0+ (1,0) [0|1] "" XXX - -BO_ 1029 CEMBCM0: 8 CEM - -BO_ 1344 NEW_MSG_1: 8 XXX - SG_ NEW_SIGNAL_1 : 4|13@0+ (1,0) [0|8191] "" XXX - -BO_ 1830 diagCEMReq: 8 XXX - SG_ byte0 : 7|8@0+ (1,0) [0|255] "" XXX - SG_ byte1 : 15|8@0+ (1,0) [0|255] "" XXX - SG_ byte2 : 23|8@0+ (1,0) [0|255] "" XXX - SG_ byte3 : 31|8@0+ (1,0) [0|255] "" XXX - SG_ byte4 : 39|8@0+ (1,0) [0|255] "" XXX - SG_ byte5 : 47|8@0+ (1,0) [0|255] "" XXX - SG_ byte6 : 55|8@0+ (1,0) [0|255] "" XXX - SG_ byte7 : 63|8@0+ (1,0) [0|255] "" XXX - -BO_ 1838 diagCEMResp: 8 XXX - SG_ byte03 : 7|32@0+ (1,0) [0|4294967295] "" XXX - SG_ byte47 : 39|32@0+ (1,0) [0|4294967295] "" XXX - -BO_ 1840 diagPSCMReq: 8 XXX - SG_ byte0 : 7|8@0+ (1,0) [0|255] "" XXX - SG_ byte1 : 15|8@0+ (1,0) [0|255] "" XXX - SG_ byte2 : 23|8@0+ (1,0) [0|255] "" XXX - SG_ byte3 : 31|8@0+ (1,0) [0|255] "" XXX - SG_ byte4 : 39|8@0+ (1,0) [0|255] "" XXX - SG_ byte5 : 47|8@0+ (1,0) [0|255] "" XXX - SG_ byte6 : 55|8@0+ (1,0) [0|255] "" XXX - SG_ byte7 : 63|8@0+ (1,0) [0|255] "" XXX - -BO_ 1848 diagPSCMResp: 8 XXX - SG_ byte03 : 7|32@0+ (1,0) [0|4294967295] "" XXX - SG_ byte47 : 39|32@0+ (1,0) [0|4294967295] "" XXX - -BO_ 1892 diagFSMReq: 8 XXX - SG_ byte0 : 7|8@0+ (1,0) [0|255] "" XXX - SG_ byte1 : 15|8@0+ (1,0) [0|255] "" XXX - SG_ byte2 : 23|8@0+ (1,0) [0|255] "" XXX - SG_ byte3 : 31|8@0+ (1,0) [0|255] "" XXX - SG_ byte4 : 39|8@0+ (1,0) [0|255] "" XXX - SG_ byte5 : 47|8@0+ (1,0) [0|255] "" XXX - SG_ byte6 : 55|8@0+ (1,0) [0|255] "" XXX - SG_ byte7 : 63|8@0+ (1,0) [0|255] "" XXX - -BO_ 1900 diagFSMResp: 8 XXX - SG_ byte03 : 7|32@0+ (1,0) [0|4294967295] "" XXX - SG_ byte47 : 39|32@0+ (1,0) [0|4294967295] "" XXX - -BO_ 1939 diagCVMReq: 8 XXX - SG_ byte0 : 7|8@0+ (1,0) [0|255] "" XXX - SG_ byte1 : 15|8@0+ (1,0) [0|255] "" XXX - SG_ byte2 : 23|8@0+ (1,0) [0|255] "" XXX - SG_ byte3 : 31|8@0+ (1,0) [0|255] "" XXX - SG_ byte4 : 39|8@0+ (1,0) [0|255] "" XXX - SG_ byte5 : 47|8@0+ (1,0) [0|255] "" XXX - SG_ byte6 : 55|8@0+ (1,0) [0|255] "" XXX - SG_ byte7 : 63|8@0+ (1,0) [0|255] "" XXX - -BO_ 1947 diagCVMResp: 8 XXX - SG_ byte03 : 7|32@0+ (1,0) [0|4294967295] "" XXX - SG_ byte47 : 39|32@0+ (1,0) [0|4294967295] "" XXX - -BO_ 2015 diagGlobalReq: 8 XXX - SG_ byte0 : 7|8@0+ (1,0) [0|255] "" XXX - SG_ byte1 : 15|8@0+ (1,0) [0|255] "" XXX - SG_ byte2 : 23|8@0+ (1,0) [0|255] "" XXX - SG_ byte3 : 31|8@0+ (1,0) [0|255] "" XXX - SG_ byte4 : 39|8@0+ (1,0) [0|255] "" XXX - SG_ byte5 : 47|8@0+ (1,0) [0|255] "" XXX - SG_ byte6 : 55|8@0+ (1,0) [0|255] "" XXX - SG_ byte7 : 63|8@0+ (1,0) [0|255] "" XXX - - - - -CM_ SG_ 85 BrakePedalActive2 "Active during braking"; -CM_ SG_ 85 NEW_SIGNAL_1 "Not yet figured out."; -CM_ SG_ 85 BrakePedalActive "Brake pedal pushed"; -CM_ SG_ 8 SteeringDirection "1=Right turn, 0=Left turn. Steering wheel pointing left or right from center (0 deg)."; -CM_ SG_ 8 RelativeTurnDirection "1=Right turn, 0=Left turn. Steering wheel currently turning the way."; -CM_ SG_ 101 NEW_SIGNAL_1 "Rate of something?"; -CM_ SG_ 192 TransmissionGear "0 = 1st gear, 1= 2nd gear..."; -CM_ SG_ 681 TurnSignal "0 = Nothing, 1= Left, 3=Right"; -CM_ SG_ 681 HighBeamOn "1=HighBeam On, 0=HighBeam Off"; -CM_ SG_ 48 ACCStatusTracking "ACC Tracking vehicle, distance control."; -CM_ SG_ 48 ACCStatusOnOff "Turns one after pressing on/off button on steering wheeel"; -CM_ SG_ 48 ACCStatusActive "ACC Active"; -CM_ SG_ 48 FCWSomething "All bit set during fcw"; -CM_ SG_ 48 StatusSomething "Some status changes when zeroing DTCs"; -CM_ SG_ 208 TrqLim "Used in checksum calculation, Limit directional torque based on the number."; -CM_ SG_ 208 Checksum "Checksum calculated as a one-complement addition of LKAAngleRequest+LKADirection+Unkown, Zeros used to pad missing bits."; -CM_ SG_ 208 SET_X_02 "Bit 0 = Vibrate steering wheel., Bit 1 = Heartbeat"; -CM_ SG_ 352 LkaDimLine "Not true, but follows lka steer direction."; -CM_ SG_ 352 NEW_SIGNAL_1 "Turned one. Got LKA service needed can this be the one?"; -CM_ SG_ 640 SpeedTarget "SpeedTarget ACC (noisy bf starting acc Jumps from 0->252->0)"; -CM_ SG_ 853 TargetSpeedOdo "Probably target speed odo"; -CM_ SG_ 853 LaneMarkingsOdo "Bit 3=Left lane, Bit 2=Right lane, Bit 1=LKA on?, Bit 0=?"; -CM_ SG_ 709 SpeedTargetACC "SpeedTargetACC"; -CM_ SG_ 224 rate_of_something "Seems to be some kind of torque rather than rate."; -CM_ SG_ 224 OneDuringDriving "Set to 1 when vehicle is rolling."; -CM_ SG_ 293 byte7 "Bit0=0 when gearshift in park, else 1"; -CM_ SG_ 293 LKAActive "Bit0=0 when gear in park otherwise =1, Bit1=1 when LKA Active, 0 when not active. Bit2=? Bit3=?"; -CM_ SG_ 16 ACCOnOffBtn "Cruise control on/off button pressed"; -CM_ SG_ 16 ACCSetBtn "Acc Set button (+) pressed"; -CM_ SG_ 16 ACCStopBtn "ACC Stop button pressed"; -CM_ SG_ 16 ACCResumeBtn "ACC Resume button pressed"; -CM_ SG_ 16 ACCMinusBtn "ACC Minus (-) button pressed"; -CM_ SG_ 16 TimeGapIncreaseBtn "Increase the time gap on ACC"; -CM_ SG_ 16 TimeGapDecreaseBtn "Decrease the time gap on ACC"; -CM_ SG_ 245 counter0 "Speed based counter"; -CM_ SG_ 245 WhlSpdLF "Wheel speed left front"; -CM_ SG_ 245 WhlSpdRF "Wheel speed right front"; -CM_ SG_ 288 WhlSpdLR "Wheel speed left rear"; -CM_ SG_ 288 WhlSpdRR "Wheel speed right rear"; -CM_ SG_ 64 RPMSomething "TransmissionOutput?"; -CM_ SG_ 64 GearShifter "P=0, R=1, N=2, D=3"; -CM_ SG_ 272 VehicleSpeedSignal "km/h"; -CM_ SG_ 432 BrakePress0 "Brake being pressed"; -CM_ SG_ 432 BrakePress1 "Brake being pressed"; -CM_ SG_ 432 BrakeStatus "ACC brake?"; -CM_ SG_ 437 Counter0 "Related to braking? Maybe one per wheel?"; -CM_ SG_ 437 Counter1 "Related to braking? Maybe one per wheel?"; -CM_ SG_ 437 Counter2 "Related to braking? Maybe one per wheel?"; -CM_ SG_ 437 Counter3 "Related to braking? Maybe one per wheel?"; -CM_ SG_ 114 NEW_SIGNAL_1 "Jumped from 0 -> 120 during start. Makes triangle from time to time"; -CM_ SG_ 608 NEW_SIGNAL_1 "Status?"; -CM_ SG_ 608 NEW_SIGNAL_2 "Classification of object?"; -CM_ SG_ 608 Distance "Distance to object in front."; -CM_ SG_ 968 PassengerSeatBelt "1 = Seatbalt latched"; -CM_ SG_ 968 DriverSeatBelt "1=Seatbelt latched"; -VAL_ 64 GearShifter 0 "P" 1 "R" 2 "N" 3 "D" ; diff --git a/opendbc/volvo_v60_2015_pt.dbc b/opendbc/volvo_v60_2015_pt.dbc deleted file mode 100644 index f95eff00cc3c7e..00000000000000 --- a/opendbc/volvo_v60_2015_pt.dbc +++ /dev/null @@ -1,230 +0,0 @@ -VERSION "" - - -NS_ : - NS_DESC_ - CM_ - BA_DEF_ - BA_ - VAL_ - CAT_DEF_ - CAT_ - FILTER - BA_DEF_DEF_ - EV_DATA_ - ENVVAR_DATA_ - SGTYPE_ - SGTYPE_VAL_ - BA_DEF_SGTYPE_ - BA_SGTYPE_ - SIG_TYPE_REF_ - VAL_TABLE_ - SIG_GROUP_ - SIG_VALTYPE_ - SIGTYPE_VALTYPE_ - BO_TX_BU_ - BA_DEF_REL_ - BA_REL_ - BA_DEF_DEF_REL_ - BU_SG_REL_ - BU_EV_REL_ - BU_BO_REL_ - SG_MUL_VAL_ - -BS_: - -BU_: XXX BCM CEM FSM PSCM SAS - -BO_ 16 SAS0: 8 SAS - SG_ Counter0 : 3|8@0+ (1,0) [0|511] "" XXX - SG_ RateOfChangeOrTorque : 39|16@0+ (1,-32768) [0|65535] "" XXX - SG_ NEW_SIGNAL_1 : 22|15@0+ (1,0) [0|65535] "" XXX - SG_ SteeringDirection : 6|1@0+ (1,0) [0|1] "" XXX - SG_ SteeringAngle : 53|14@0+ (0.0445,0) [0|65535] "degrees" XXX - -BO_ 32 AccPedal: 8 XXX - SG_ AccPedal : 17|10@0+ (0.1,0) [0|1023] "%" XXX - -BO_ 81 FSM0: 8 FSM - SG_ ACCStatus : 18|3@0+ (1,0) [0|7] "" XXX - -BO_ 277 NEW_MSG_7: 8 XXX - SG_ NEW_SIGNAL_1 : 39|16@0+ (1,0) [0|65535] "" XXX - -BO_ 295 CCButtons: 8 CEM - SG_ ACCMinusBtn : 48|1@0+ (1,0) [0|1] "" XXX - SG_ ACCSetBtn : 63|1@0+ (1,0) [0|1] "" XXX - SG_ ACCOnOffBtn : 59|1@0+ (1,0) [0|1] "" XXX - SG_ ACCResumeBtn : 61|1@0+ (1,0) [0|1] "" XXX - SG_ TimeGapDecreaseBtnInv : 34|1@0+ (1,0) [0|1] "" XXX - SG_ ACCOnOffBtnInv : 43|1@0+ (1,0) [0|1] "" XXX - SG_ ACCResumeBtnInv : 45|1@0+ (1,0) [0|1] "" XXX - SG_ ACCSetBtnInv : 47|1@0+ (1,0) [0|1] "" XXX - SG_ TimeGapIncreaseBtn : 49|1@0+ (1,0) [0|1] "" XXX - SG_ TimeGapDecreaseBtn : 50|1@0+ (1,0) [0|1] "" XXX - SG_ ACCMinusBtnInv : 32|1@0+ (1,0) [0|1] "" XXX - SG_ TimeGapIncreaseBtnInv : 33|1@0+ (1,0) [0|1] "" XXX - -BO_ 298 NEW_MSG_5: 8 XXX - SG_ EngineRpm : 52|13@0+ (1,0) [0|8000] "" XXX - -BO_ 336 NEW_MSG_8: 8 XXX - -BO_ 328 VehicleSpeed1: 8 XXX - SG_ VehicleSpeed : 55|16@0+ (0.01,0) [0|65535] "" XXX - -BO_ 465 NEW_MSG_4: 8 XXX - SG_ NEW_SIGNAL_1 : 55|16@0+ (1,0) [0|4095] "" XXX - -BO_ 544 wheelspeed1: 8 BCM - SG_ WhlSpdRR : 39|16@0+ (0.01,-327.68) [0|65535] "" XXX - SG_ WhlSpdLR : 55|16@0+ (0.01,-327.68) [0|65535] "" XXX - -BO_ 565 wheelspeed0: 8 BCM - SG_ WhlSpdLF : 55|16@0+ (0.01,-327.68) [0|65535] "" XXX - SG_ WhlSpdRF : 39|16@0+ (0.01,-327.68) [0|65535] "" XXX - -BO_ 582 PSCM1: 8 PSCM - SG_ byte4 : 39|4@0+ (1,0) [0|15] "" XXX - SG_ LKATorque : 35|12@0+ (1,-2000) [0|65535] "" XXX - SG_ SteeringAngleServo : 23|16@0+ (0.0447,-1468) [0|65535] "deg" XXX - SG_ SteeringWheelRateOfChange : 15|8@0+ (1,0) [0|255] "" XXX - SG_ byte7 : 63|8@0+ (1,0) [0|255] "" XXX - SG_ byte0 : 7|8@0+ (1,0) [0|255] "" XXX - SG_ LKAActive : 55|8@0+ (1,0) [0|255] "" XXX - -BO_ 608 FSM1: 8 FSM - SG_ ACC_Tracking : 7|8@0+ (1,0) [0|255] "" XXX - -BO_ 609 fromWhere: 8 XXX - SG_ SteeringAngle : 21|14@0+ (0.1,-1021) [0|65535] "deg" XXX - -BO_ 610 FSM2: 8 FSM - SG_ TrqLim : 23|8@0+ (1,-128) [0|255] "" PSCM - SG_ Checksum : 55|8@0+ (1,0) [0|255] "" PSCM - SG_ LKAAngleReq : 29|14@0+ (0.04,-327.68) [0|16383] "" PSCM - SG_ SET_X_02 : 31|2@0+ (1,0) [0|3] "" XXX - SG_ SET_X_10 : 47|6@0+ (1,0) [0|63] "" XXX - SG_ SET_X_A4 : 63|8@0+ (1,0) [0|255] "" XXX - SG_ SET_X_22 : 15|8@0+ (1,0) [0|255] "" XXX - SG_ LKASteerDirection : 41|2@0+ (1,0) [0|3] "" PSCM - -BO_ 624 FSM3: 8 FSM - SG_ ACC_SOMETHING : 15|8@0+ (1,0) [0|255] "" XXX - SG_ ACC_Some : 17|10@0+ (1,0) [0|255] "" XXX - SG_ NEW_SIGNAL_3 : 47|8@0+ (1,0) [0|255] "" XXX - -BO_ 648 BrakePedal: 8 XXX - SG_ Counter : 0|3@1+ (1,0) [0|7] "" XXX - SG_ BrakePedal : 24|8@1+ (1,4) [0|255] "" XXX - -BO_ 794 FSM4: 8 FSM - SG_ NEW_SIGNAL_1 : 47|16@0+ (1,-46090) [0|16383] "" XXX - SG_ NEW_SIGNAL_2 : 32|4@1+ (1,0) [0|15] "" XXX - -BO_ 819 PSCM0: 8 PSCM - -BO_ 923 NEW_MSG_1: 8 XXX - SG_ NEW_SIGNAL_1 : 15|16@0+ (1,0) [0|65535] "" XXX - -BO_ 1021 FSM5: 8 FSM - -BO_ 1039 MiscCarInfo: 8 XXX - SG_ TurnSignal : 33|2@0+ (1,0) [0|3] "" XXX - -BO_ 1279 PSCM3: 8 PSCM - -BO_ 1830 diagCEMReq: 8 XXX - SG_ byte0 : 7|8@0+ (1,0) [0|255] "" XXX - SG_ byte1 : 15|8@0+ (1,0) [0|255] "" XXX - SG_ byte2 : 23|8@0+ (1,0) [0|255] "" XXX - SG_ byte3 : 31|8@0+ (1,0) [0|255] "" XXX - SG_ byte4 : 39|8@0+ (1,0) [0|255] "" XXX - SG_ byte5 : 47|8@0+ (1,0) [0|255] "" XXX - SG_ byte6 : 55|8@0+ (1,0) [0|255] "" XXX - SG_ byte7 : 63|8@0+ (1,0) [0|255] "" XXX - -BO_ 1838 diagCEMResp: 8 XXX - SG_ byte03 : 7|32@0+ (1,0) [0|4294967295] "" XXX - SG_ byte47 : 39|32@0+ (1,0) [0|4294967295] "" XXX - -BO_ 1840 diagPSCMReq: 8 XXX - SG_ byte0 : 7|8@0+ (1,0) [0|255] "" XXX - SG_ byte1 : 15|8@0+ (1,0) [0|255] "" XXX - SG_ byte2 : 23|8@0+ (1,0) [0|255] "" XXX - SG_ byte3 : 31|8@0+ (1,0) [0|255] "" XXX - SG_ byte4 : 39|8@0+ (1,0) [0|255] "" XXX - SG_ byte5 : 47|8@0+ (1,0) [0|255] "" XXX - SG_ byte6 : 55|8@0+ (1,0) [0|255] "" XXX - SG_ byte7 : 63|8@0+ (1,0) [0|255] "" XXX - -BO_ 1848 diagPSCMResp: 8 XXX - SG_ byte03 : 7|32@0+ (1,0) [0|4294967295] "" XXX - SG_ byte47 : 39|32@0+ (1,0) [0|4294967295] "" XXX - -BO_ 1892 diagFSMReq: 8 XXX - SG_ byte0 : 7|8@0+ (1,0) [0|255] "" XXX - SG_ byte1 : 15|8@0+ (1,0) [0|255] "" XXX - SG_ byte2 : 23|8@0+ (1,0) [0|255] "" XXX - SG_ byte3 : 31|8@0+ (1,0) [0|255] "" XXX - SG_ byte4 : 39|8@0+ (1,0) [0|255] "" XXX - SG_ byte5 : 47|8@0+ (1,0) [0|255] "" XXX - SG_ byte6 : 55|8@0+ (1,0) [0|255] "" XXX - SG_ byte7 : 63|8@0+ (1,0) [0|255] "" XXX - -BO_ 1900 diagFSMResp: 8 XXX - SG_ byte03 : 7|32@0+ (1,0) [0|4294967295] "" XXX - SG_ byte47 : 39|32@0+ (1,0) [0|4294967295] "" XXX - -BO_ 1939 diagCVMReq: 8 XXX - SG_ byte0 : 7|8@0+ (1,0) [0|255] "" XXX - SG_ byte1 : 15|8@0+ (1,0) [0|255] "" XXX - SG_ byte2 : 23|8@0+ (1,0) [0|255] "" XXX - SG_ byte3 : 31|8@0+ (1,0) [0|255] "" XXX - SG_ byte4 : 39|8@0+ (1,0) [0|255] "" XXX - SG_ byte5 : 47|8@0+ (1,0) [0|255] "" XXX - SG_ byte6 : 55|8@0+ (1,0) [0|255] "" XXX - SG_ byte7 : 63|8@0+ (1,0) [0|255] "" XXX - -BO_ 1947 diagCVMResp: 8 XXX - SG_ byte03 : 7|32@0+ (1,0) [0|4294967295] "" XXX - SG_ byte47 : 39|32@0+ (1,0) [0|4294967295] "" XXX - -BO_ 2015 diagGlobalReq: 8 XXX - SG_ byte0 : 7|8@0+ (1,0) [0|255] "" XXX - SG_ byte1 : 15|8@0+ (1,0) [0|255] "" XXX - SG_ byte2 : 23|8@0+ (1,0) [0|255] "" XXX - SG_ byte3 : 31|8@0+ (1,0) [0|255] "" XXX - SG_ byte4 : 39|8@0+ (1,0) [0|255] "" XXX - SG_ byte5 : 47|8@0+ (1,0) [0|255] "" XXX - SG_ byte6 : 55|8@0+ (1,0) [0|255] "" XXX - SG_ byte7 : 63|8@0+ (1,0) [0|255] "" XXX - - - - -CM_ SG_ 16 RateOfChangeOrTorque "Rate of change? Torque?"; -CM_ SG_ 16 SteeringDirection "0 = CCW, 1=CW (turning left or right of center)"; -CM_ SG_ 298 EngineRpm "Might be engine rpm. But behaves abit weird."; -CM_ SG_ 582 byte4 "High nibble"; -CM_ SG_ 582 SteeringWheelRateOfChange "Some rate of change for steering wheel? Torque?"; -CM_ SG_ 582 byte0 "0=CCW, 1=CW, bit 2,"; -CM_ SG_ 582 LKAActive "Bit 1, 1 When LKA Active, Bit 3, 1 When denying?"; -CM_ SG_ 81 ACCStatus "0=Acc Unavailable, 1=???, 2=Acc Ready, 3,4=???, 6= Acc Active, 7=Acc active tracking object (probably) "; -CM_ SG_ 608 ACC_Tracking "Seems to track distance, or speed of vehicle in front."; -CM_ SG_ 610 SET_X_22 "0x20 Heartbeat, VEgo <58kph = 0x03, VEgo >65kph = 0x04, 0x05"; -CM_ SG_ 624 ACC_SOMETHING "Might be some acc speed, moved abit after activating acc"; -CM_ SG_ 624 ACC_Some "Jumps to life after activating ACC, 0 when not active"; -CM_ SG_ 295 ACCMinusBtn "ACC Minus (-) button pressed"; -CM_ SG_ 295 ACCSetBtn "Acc Set button (+) pressed"; -CM_ SG_ 295 ACCOnOffBtn "Cruise control on/off button pressed"; -CM_ SG_ 295 ACCResumeBtn "ACC Resume button pressed"; -CM_ SG_ 295 TimeGapDecreaseBtnInv "Active zero when button pressed."; -CM_ SG_ 295 ACCOnOffBtnInv "Active zero when button pressed."; -CM_ SG_ 295 ACCResumeBtnInv "Active zero when button pressed."; -CM_ SG_ 295 ACCSetBtnInv "Active zero when button pressed."; -CM_ SG_ 295 TimeGapIncreaseBtn "Increase the time gap on ACC"; -CM_ SG_ 295 TimeGapDecreaseBtn "Decrease the time gap on ACC"; -CM_ SG_ 295 ACCMinusBtnInv "Active zero when button pressed."; -CM_ SG_ 295 TimeGapIncreaseBtnInv "Active zero when button pressed."; -CM_ SG_ 1039 TurnSignal "0 = Nothing, 1= Left, 3=Right"; diff --git a/panda/.github/workflows/drivers.yaml b/panda/.github/workflows/drivers.yaml deleted file mode 100644 index 78efcdeab2ad00..00000000000000 --- a/panda/.github/workflows/drivers.yaml +++ /dev/null @@ -1,23 +0,0 @@ -name: drivers -on: [push, pull_request] - -jobs: - build_socketcan: - name: socketcan build - runs-on: ubuntu-latest - timeout-minutes: 5 - steps: - - uses: actions/checkout@v2 - - name: Install dependencies - run: | - sudo apt-get install -y dkms gcc linux-headers-$(uname -r) make - - name: Build socketcan driver - run: | - cd drivers/linux - make link - make build - make install - - name: Print make log - if: always() - continue-on-error: true - run: cat /var/lib/dkms/panda/*/build/make.log diff --git a/panda/.github/workflows/repo.yml b/panda/.github/workflows/repo.yml deleted file mode 100644 index 9bf911fd7fe07b..00000000000000 --- a/panda/.github/workflows/repo.yml +++ /dev/null @@ -1,28 +0,0 @@ -name: repo - -on: - schedule: - - cron: "0 15 1 * *" - workflow_dispatch: - -jobs: - pre-commit-autoupdate: - name: pre-commit autoupdate - runs-on: ubuntu-latest - container: - image: ghcr.io/commaai/panda:latest - steps: - - uses: actions/checkout@v3 - - name: pre-commit autoupdate - run: | - git config --global --add safe.directory '*' - pre-commit autoupdate - - name: Create Pull Request - uses: peter-evans/create-pull-request@5b4a9f6a9e2af26e5f02351490b90d01eb8ec1e5 - with: - token: ${{ secrets.ACTIONS_CREATE_PR_PAT }} - commit-message: Update pre-commit hook versions - title: 'pre-commit: autoupdate hooks' - branch: pre-commit-updates - base: master - delete-branch: true diff --git a/panda/.github/workflows/test.yaml b/panda/.github/workflows/test.yaml deleted file mode 100644 index 97c9e07f0edd33..00000000000000 --- a/panda/.github/workflows/test.yaml +++ /dev/null @@ -1,116 +0,0 @@ -name: tests - -on: - push: - branches: - - master - pull_request: - -concurrency: - group: ${{ github.workflow }}-${{ github.ref != 'refs/heads/master' && github.ref || github.run_id }}-${{ github.event_name }} - cancel-in-progress: true - -env: - RUN: docker run -v ${{ github.workspace }}:/tmp/openpilot/panda -w /tmp/openpilot/panda --rm panda /bin/bash -c - BUILD: | - export DOCKER_BUILDKIT=1 - docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from ghcr.io/commaai/panda:latest -t panda -f Dockerfile . - - PYTHONWARNINGS: "error" - -jobs: - docker_push: - name: docker push - runs-on: ubuntu-latest - timeout-minutes: 20 - if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/panda' - steps: - - uses: actions/checkout@v2 - - name: Build Docker image - timeout-minutes: 11 - run: eval "$BUILD" - - name: Login to dockerhub - run: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }} - - name: Tag image - run: docker tag panda ghcr.io/commaai/panda:latest - - name: Push image - run: docker push ghcr.io/commaai/panda:latest - - build: - name: build - runs-on: ubuntu-latest - timeout-minutes: 20 - steps: - - uses: actions/checkout@v2 - - name: Build Docker image - run: eval "$BUILD" - - name: Test python package installer - run: ${{ env.RUN }} "python setup.py install" - - name: Build panda images and bootstub - run: ${{ env.RUN }} "scons -j4" - - name: Build panda with SPI support - run: ${{ env.RUN }} "ENABLE_SPI=1 scons -j4" - - name: Build with UBSan - run: ${{ env.RUN }} "scons -j4 --ubsan" - - name: Build jungle firmware with FINAL_PROVISIONING support - run: ${{ env.RUN }} "FINAL_PROVISIONING=1 scons -j4 board/jungle" - - unit_tests: - name: unit tests - runs-on: ubuntu-latest - timeout-minutes: 20 - steps: - - uses: actions/checkout@v2 - - name: Build Docker image - run: eval "$BUILD" - - name: Build panda - run: $RUN "scons -j4" - - name: Test communication protocols - run: $RUN "cd tests/usbprotocol && ./test.sh" - - safety: - name: safety - runs-on: ubuntu-latest - strategy: - matrix: - flags: ['', '--ubsan'] - timeout-minutes: 20 - steps: - - uses: actions/checkout@v2 - - name: Build Docker image - run: eval "$BUILD" - - name: Run safety tests - timeout-minutes: 5 - run: | - ${{ env.RUN }} "scons -c -j$(nproc) && \ - scons -j$(nproc) ${{ matrix.flags }} && \ - tests/safety/test.sh" - - misra: - name: MISRA C:2012 - runs-on: ubuntu-latest - timeout-minutes: 20 - steps: - - uses: actions/checkout@v2 - - name: Build Docker image - run: eval "$BUILD" - - name: Build FW - run: ${{ env.RUN }} "scons -j$(nproc)" - - name: Run MISRA C:2012 analysis - timeout-minutes: 1 - run: ${{ env.RUN }} "cd tests/misra && ./test_misra.sh" - - name: MISRA mutation tests - timeout-minutes: 5 - run: ${{ env.RUN }} "cd tests/misra && pytest -n8 test_mutation.py" - - python_linter: - name: python linter - runs-on: ubuntu-latest - timeout-minutes: 20 - steps: - - uses: actions/checkout@v2 - - name: Build Docker image - run: eval "$BUILD" - - name: Run static analysis - timeout-minutes: 3 - run: ${{ env.RUN }} "pre-commit run --all" diff --git a/panda/.pre-commit-config.yaml b/panda/.pre-commit-config.yaml deleted file mode 100644 index 95562318009400..00000000000000 --- a/panda/.pre-commit-config.yaml +++ /dev/null @@ -1,20 +0,0 @@ -repos: -- repo: https://github.com/pre-commit/pre-commit-hooks - rev: v4.6.0 - hooks: - - id: check-ast - - id: check-yaml - - id: check-merge-conflict - - id: check-symlinks - - id: check-executables-have-shebangs - - id: check-shebang-scripts-are-executable -- repo: https://github.com/pre-commit/mirrors-mypy - rev: v1.10.0 - hooks: - - id: mypy - additional_dependencies: ['git+https://github.com/numpy/numpy-stubs', 'types-requests', 'types-atomicwrites', - 'types-pycurl'] -- repo: https://github.com/astral-sh/ruff-pre-commit - rev: v0.4.7 - hooks: - - id: ruff diff --git a/panda/Dockerfile b/panda/Dockerfile deleted file mode 100644 index 74afcb6b5eac7d..00000000000000 --- a/panda/Dockerfile +++ /dev/null @@ -1,67 +0,0 @@ -FROM ubuntu:24.04 - -ENV PYTHONUNBUFFERED 1 -ENV PYTHONPATH /tmp/openpilot:$PYTHONPATH - -ENV DEBIAN_FRONTEND=noninteractive -RUN apt-get update && apt-get install -y --no-install-recommends \ - make \ - bzip2 \ - ca-certificates \ - capnproto \ - clang \ - g++ \ - gcc-arm-none-eabi libnewlib-arm-none-eabi \ - git \ - libarchive-dev \ - libbz2-dev \ - libcapnp-dev \ - libffi-dev \ - libtool \ - libusb-1.0-0 \ - libzmq3-dev \ - locales \ - opencl-headers \ - ocl-icd-opencl-dev \ - python3 \ - python3-dev \ - python3-pip \ - python-is-python3 \ - zlib1g-dev \ - && rm -rf /var/lib/apt/lists/* && \ - apt clean && \ - cd /usr/lib/gcc/arm-none-eabi/* && \ - rm -rf arm/ && \ - rm -rf thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp - -RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen -ENV LANG en_US.UTF-8 -ENV LANGUAGE en_US:en -ENV LC_ALL en_US.UTF-8 - -COPY requirements.txt /tmp/ -RUN pip3 install --break-system-packages --no-cache-dir -r /tmp/requirements.txt - -ENV CPPCHECK_DIR=/tmp/cppcheck -COPY tests/misra/install.sh /tmp/ -RUN /tmp/install.sh && rm -rf $CPPCHECK_DIR/.git/ -ENV SKIP_CPPCHECK_INSTALL=1 - -ENV CEREAL_REF="861144c136c91f70dcbc652c2ffe99f57440ad47" -ENV OPENDBC_REF="e0d4be4a6215d44809718dc84efe1b9f0299ad63" - -RUN git config --global --add safe.directory /tmp/openpilot/panda -RUN mkdir -p /tmp/openpilot/ && \ - cd /tmp/openpilot/ && \ - git clone --depth 1 https://github.com/commaai/cereal && \ - git clone --depth 1 https://github.com/commaai/opendbc && \ - cd cereal && git fetch origin $CEREAL_REF && git checkout FETCH_HEAD && rm -rf .git/ && cd .. && \ - cd opendbc && git fetch origin $OPENDBC_REF && git checkout FETCH_HEAD && rm -rf .git/ && cd .. && \ - cp -pR opendbc/SConstruct opendbc/site_scons/ . && \ - pip3 install --break-system-packages --no-cache-dir -r opendbc/requirements.txt && \ - scons -j8 --minimal opendbc/ cereal/ - -# for Jenkins -COPY README.md panda.tar.* /tmp/ -RUN mkdir /tmp/openpilot/panda && \ - tar -xvf /tmp/panda.tar.gz -C /tmp/openpilot/panda/ || true diff --git a/panda/Jenkinsfile b/panda/Jenkinsfile deleted file mode 100644 index 2d4c615dfe9653..00000000000000 --- a/panda/Jenkinsfile +++ /dev/null @@ -1,138 +0,0 @@ -def docker_run(String step_label, int timeout_mins, String cmd) { - timeout(time: timeout_mins, unit: 'MINUTES') { - sh script: "docker run --rm --privileged \ - --env PYTHONWARNINGS=error \ - --volume /dev/bus/usb:/dev/bus/usb \ - --volume /var/run/dbus:/var/run/dbus \ - --workdir /tmp/openpilot/panda \ - --net host \ - ${env.DOCKER_IMAGE_TAG} \ - bash -c 'scons -j8 && ${cmd}'", \ - label: step_label - } -} - - -def phone(String ip, String step_label, String cmd) { - withCredentials([file(credentialsId: 'id_rsa', variable: 'key_file')]) { - def ssh_cmd = """ -ssh -tt -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' /usr/bin/bash <<'END' - -set -e - - -source ~/.bash_profile -if [ -f /etc/profile ]; then - source /etc/profile -fi - -export CI=1 -export TEST_DIR=${env.TEST_DIR} -export SOURCE_DIR=${env.SOURCE_DIR} -export GIT_BRANCH=${env.GIT_BRANCH} -export GIT_COMMIT=${env.GIT_COMMIT} -export PYTHONPATH=${env.TEST_DIR}/../ -export PYTHONWARNINGS=error - -cd ${env.TEST_DIR} || true -${cmd} -exit 0 - -END""" - - sh script: ssh_cmd, label: step_label - } -} - -def phone_steps(String device_type, steps) { - lock(resource: "", label: device_type, inversePrecedence: true, variable: 'device_ip', quantity: 1) { - timeout(time: 20, unit: 'MINUTES') { - phone(device_ip, "git checkout", readFile("tests/setup_device_ci.sh"),) - steps.each { item -> - phone(device_ip, item[0], item[1]) - } - } - } -} - - - -pipeline { - agent any - environment { - CI = "1" - PYTHONWARNINGS= "error" - DOCKER_IMAGE_TAG = "panda:build-${env.GIT_COMMIT}" - - TEST_DIR = "/data/panda" - SOURCE_DIR = "/data/panda_source/" - } - options { - timeout(time: 3, unit: 'HOURS') - disableConcurrentBuilds(abortPrevious: env.BRANCH_NAME != 'master') - } - - stages { - stage('panda tests') { - parallel { - stage('test dos') { - agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } } - steps { - phone_steps("panda-dos", [ - ["build", "scons -j4"], - ["flash", "cd tests/ && ./reflash_internal_panda.py"], - ["flash jungle", "cd board/jungle && ./flash.py"], - ["test", "cd tests/hitl && HW_TYPES=6 pytest -n0 --durations=0 [2-9]*.py -k 'not test_send_recv'"], - ]) - } - } - - stage('test tres') { - agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } } - steps { - phone_steps("panda-tres", [ - ["build", "scons -j4"], - ["flash", "cd tests/ && ./reflash_internal_panda.py"], - ["flash jungle", "cd board/jungle && ./flash.py"], - ["test", "cd tests/hitl && HW_TYPES=9 pytest -n0 --durations=0 2*.py [5-9]*.py"], - ]) - } - } - - stage ('Acquire resource locks') { - options { - lock(resource: "pandas") - } - stages { - stage('Build Docker Image') { - steps { - timeout(time: 20, unit: 'MINUTES') { - script { - sh 'git archive -v -o panda.tar.gz --format=tar.gz HEAD' - dockerImage = docker.build("${env.DOCKER_IMAGE_TAG}") - } - } - } - } - stage('jungle tests') { - steps { - script { - retry (3) { - docker_run("reset hardware", 3, "python ./tests/hitl/reset_jungles.py") - } - } - } - } - stage('bootkick tests') { - steps { - script { - docker_run("test", 10, "pytest -n0 ./tests/som/test_bootkick.py") - } - } - } - } - } - } - } - } -} diff --git a/panda/LICENSE b/panda/LICENSE deleted file mode 100644 index 8a6c6976b70de3..00000000000000 --- a/panda/LICENSE +++ /dev/null @@ -1,7 +0,0 @@ -Copyright (c) 2016, Comma.ai, Inc. - -Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: - -The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. - -THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. diff --git a/panda/README.md b/panda/README.md deleted file mode 100644 index b2830b21efe337..00000000000000 --- a/panda/README.md +++ /dev/null @@ -1,105 +0,0 @@ -# Welcome to panda - -![panda tests](https://github.com/commaai/panda/workflows/tests/badge.svg) -![panda drivers](https://github.com/commaai/panda/workflows/drivers/badge.svg) - -panda speaks CAN and CAN FD, and it runs on [STM32F413](https://www.st.com/resource/en/reference_manual/rm0430-stm32f413423-advanced-armbased-32bit-mcus-stmicroelectronics.pdf) and [STM32H725](https://www.st.com/resource/en/reference_manual/rm0468-stm32h723733-stm32h725735-and-stm32h730-value-line-advanced-armbased-32bit-mcus-stmicroelectronics.pdf). - -## Directory structure - -``` -. -├── board # Code that runs on the STM32 -├── drivers # Drivers (not needed for use with Python) -├── python # Python userspace library for interfacing with the panda -├── tests # Tests and helper programs for panda -``` - -## Safety Model - -When a panda powers up, by default it's in `SAFETY_SILENT` mode. While in `SAFETY_SILENT` mode, the CAN buses are forced to be silent. In order to send messages, you have to select a safety mode. Some of safety modes (for example `SAFETY_ALLOUTPUT`) are disabled in release firmwares. In order to use them, compile and flash your own build. - -Safety modes optionally support `controls_allowed`, which allows or blocks a subset of messages based on a customizable state in the board. - -## Code Rigor - -The panda firmware is written for its use in conjuction with [openpilot](https://github.com/commaai/openpilot). The panda firmware, through its safety model, provides and enforces the -[openpilot safety](https://github.com/commaai/openpilot/blob/master/docs/SAFETY.md). Due to its critical function, it's important that the application code rigor within the `board` folder is held to high standards. - -These are the [CI regression tests](https://github.com/commaai/panda/actions) we have in place: -* A generic static code analysis is performed by [cppcheck](https://github.com/danmar/cppcheck/). -* In addition, [cppcheck](https://github.com/danmar/cppcheck/) has a specific addon to check for [MISRA C:2012](https://misra.org.uk/) violations. See [current coverage](https://github.com/commaai/panda/blob/master/tests/misra/coverage_table). -* Compiler options are relatively strict: the flags `-Wall -Wextra -Wstrict-prototypes -Werror` are enforced. -* The [safety logic](https://github.com/commaai/panda/tree/master/board/safety) is tested and verified by [unit tests](https://github.com/commaai/panda/tree/master/tests/safety) for each supported car variant. -to ensure that the behavior remains unchanged. -* A hardware-in-the-loop test verifies panda's functionalities on all active panda variants, including: - * additional safety model checks - * compiling and flashing the bootstub and app code - * receiving, sending, and forwarding CAN messages on all buses - * CAN loopback and latency tests through USB and SPI - -The above tests are themselves tested by: -* a [mutation test](tests/misra/test_mutation.py) on the MISRA coverage -* 100% line coverage enforced on the safety unit tests - -In addition, we run the [ruff linter](https://github.com/astral-sh/ruff) and [mypy](https://mypy-lang.org/) on panda's Python library. - -## Usage - -Setup dependencies: -```bash -# Ubuntu -sudo apt-get install dfu-util gcc-arm-none-eabi python3-pip libffi-dev git - -# macOS -brew install --cask gcc-arm-embedded -brew install python3 dfu-util gcc@13 -``` - -Clone panda repository and install: -``` bash -git clone https://github.com/commaai/panda.git -cd panda - -# install dependencies -pip install -r requirements.txt - -# install panda -python setup.py install -``` - -See [the Panda class](https://github.com/commaai/panda/blob/master/python/__init__.py) for how to interact with the panda. - -For example, to receive CAN messages: -``` python ->>> from panda import Panda ->>> panda = Panda() ->>> panda.can_recv() -``` -And to send one on bus 0: -``` python ->>> panda.set_safety_mode(Panda.SAFETY_ALLOUTPUT) ->>> panda.can_send(0x1aa, b'message', 0) -``` -Note that you may have to setup [udev rules](https://github.com/commaai/panda/tree/master/drivers/linux) for Linux, such as -``` bash -sudo tee /etc/udev/rules.d/11-panda.rules < 0U); - tres_update_fan_ir_power(); - pwm_set(TIM3, 4, percentage); -} - -void tres_set_bootkick(BootState state) { - set_gpio_output(GPIOA, 0, state != BOOT_BOOTKICK); - set_gpio_output(GPIOC, 12, state != BOOT_RESET); -} - -void tres_set_fan_enabled(bool enabled) { - // NOTE: fan controller reset doesn't work on a tres if IR is enabled - tres_fan_enabled = enabled; - tres_update_fan_ir_power(); -} - -bool tres_read_som_gpio (void) { - return (get_gpio_input(GPIOC, 2) != 0); -} - -void tres_init(void) { - // Enable USB 3.3V LDO for USB block - register_set_bits(&(PWR->CR3), PWR_CR3_USBREGEN); - register_set_bits(&(PWR->CR3), PWR_CR3_USB33DEN); - while ((PWR->CR3 & PWR_CR3_USB33RDY) == 0U); - - red_chiplet_init(); - - // C2: SOM GPIO used as input (fan control at boot) - set_gpio_mode(GPIOC, 2, MODE_INPUT); - set_gpio_pullup(GPIOC, 2, PULL_DOWN); - - // SOM bootkick + reset lines - set_gpio_mode(GPIOC, 12, MODE_OUTPUT); - tres_set_bootkick(BOOT_BOOTKICK); - - // SOM debugging UART - gpio_uart7_init(); - uart_init(&uart_ring_som_debug, 115200); - - // SPI init - gpio_spi_init(); - - // fan setup - set_gpio_alternate(GPIOC, 8, GPIO_AF2_TIM3); - - // Initialize IR PWM and set to 0% - set_gpio_alternate(GPIOC, 9, GPIO_AF2_TIM3); - pwm_init(TIM3, 4); - tres_set_ir_power(0U); - - // Fake siren - set_gpio_alternate(GPIOC, 10, GPIO_AF4_I2C5); - set_gpio_alternate(GPIOC, 11, GPIO_AF4_I2C5); - register_set_bits(&(GPIOC->OTYPER), GPIO_OTYPER_OT10 | GPIO_OTYPER_OT11); // open drain - fake_siren_init(); - - // Clock source - clock_source_init(); -} - -board board_tres = { - .harness_config = &red_chiplet_harness_config, - .has_obd = true, - .has_spi = true, - .has_canfd = true, - .fan_max_rpm = 6600U, - .avdd_mV = 1800U, - .fan_stall_recovery = false, - .fan_enable_cooldown_time = 3U, - .init = tres_init, - .init_bootloader = unused_init_bootloader, - .enable_can_transceiver = red_chiplet_enable_can_transceiver, - .enable_can_transceivers = red_chiplet_enable_can_transceivers, - .set_led = red_set_led, - .set_can_mode = red_chiplet_set_can_mode, - .check_ignition = red_check_ignition, - .read_voltage_mV = red_read_voltage_mV, - .read_current_mA = unused_read_current, - .set_fan_enabled = tres_set_fan_enabled, - .set_ir_power = tres_set_ir_power, - .set_siren = fake_siren_set, - .set_bootkick = tres_set_bootkick, - .read_som_gpio = tres_read_som_gpio -}; diff --git a/panda/board/boards/uno.h b/panda/board/boards/uno.h deleted file mode 100644 index a2e1e983542808..00000000000000 --- a/panda/board/boards/uno.h +++ /dev/null @@ -1,217 +0,0 @@ -// /////////////////////// // -// Uno (STM32F4) + Harness // -// /////////////////////// // - -void uno_enable_can_transceiver(uint8_t transceiver, bool enabled) { - switch (transceiver){ - case 1U: - set_gpio_output(GPIOC, 1, !enabled); - break; - case 2U: - set_gpio_output(GPIOC, 13, !enabled); - break; - case 3U: - set_gpio_output(GPIOA, 0, !enabled); - break; - case 4U: - set_gpio_output(GPIOB, 10, !enabled); - break; - default: - print("Invalid CAN transceiver ("); puth(transceiver); print("): enabling failed\n"); - break; - } -} - -void uno_enable_can_transceivers(bool enabled) { - for(uint8_t i=1U; i<=4U; i++){ - // Leave main CAN always on for CAN-based ignition detection - if((harness.status == HARNESS_STATUS_FLIPPED) ? (i == 3U) : (i == 1U)){ - uno_enable_can_transceiver(i, true); - } else { - uno_enable_can_transceiver(i, enabled); - } - } -} - -void uno_set_led(uint8_t color, bool enabled) { - switch (color){ - case LED_RED: - set_gpio_output(GPIOC, 9, !enabled); - break; - case LED_GREEN: - set_gpio_output(GPIOC, 7, !enabled); - break; - case LED_BLUE: - set_gpio_output(GPIOC, 6, !enabled); - break; - default: - break; - } -} - -void uno_set_bootkick(BootState state) { - if (state == BOOT_BOOTKICK) { - set_gpio_output(GPIOB, 14, false); - } else { - // We want the pin to be floating, not forced high! - set_gpio_mode(GPIOB, 14, MODE_INPUT); - } -} - -void uno_set_can_mode(uint8_t mode) { - uno_enable_can_transceiver(2U, false); - uno_enable_can_transceiver(4U, false); - switch (mode) { - case CAN_MODE_NORMAL: - case CAN_MODE_OBD_CAN2: - if ((bool)(mode == CAN_MODE_NORMAL) != (bool)(harness.status == HARNESS_STATUS_FLIPPED)) { - // B12,B13: disable OBD mode - set_gpio_mode(GPIOB, 12, MODE_INPUT); - set_gpio_mode(GPIOB, 13, MODE_INPUT); - - // B5,B6: normal CAN2 mode - set_gpio_alternate(GPIOB, 5, GPIO_AF9_CAN2); - set_gpio_alternate(GPIOB, 6, GPIO_AF9_CAN2); - uno_enable_can_transceiver(2U, true); - } else { - // B5,B6: disable normal CAN2 mode - set_gpio_mode(GPIOB, 5, MODE_INPUT); - set_gpio_mode(GPIOB, 6, MODE_INPUT); - - // B12,B13: OBD mode - set_gpio_alternate(GPIOB, 12, GPIO_AF9_CAN2); - set_gpio_alternate(GPIOB, 13, GPIO_AF9_CAN2); - uno_enable_can_transceiver(4U, true); - } - break; - default: - print("Tried to set unsupported CAN mode: "); puth(mode); print("\n"); - break; - } -} - -bool uno_check_ignition(void){ - // ignition is checked through harness - return harness_check_ignition(); -} - -void uno_set_usb_switch(bool phone){ - set_gpio_output(GPIOB, 3, phone); -} - -void uno_set_ir_power(uint8_t percentage){ - pwm_set(TIM4, 2, percentage); -} - -void uno_set_fan_enabled(bool enabled){ - set_gpio_output(GPIOA, 1, enabled); -} - -void uno_init(void) { - common_init_gpio(); - - // A8,A15: normal CAN3 mode - set_gpio_alternate(GPIOA, 8, GPIO_AF11_CAN3); - set_gpio_alternate(GPIOA, 15, GPIO_AF11_CAN3); - - // C0: OBD_SBU1 (orientation detection) - // C3: OBD_SBU2 (orientation detection) - set_gpio_mode(GPIOC, 0, MODE_ANALOG); - set_gpio_mode(GPIOC, 3, MODE_ANALOG); - - // GPS off - set_gpio_output(GPIOB, 1, 0); - set_gpio_output(GPIOC, 5, 0); - set_gpio_output(GPIOC, 12, 0); - - // C10: OBD_SBU1_RELAY (harness relay driving output) - // C11: OBD_SBU2_RELAY (harness relay driving output) - set_gpio_mode(GPIOC, 10, MODE_OUTPUT); - set_gpio_mode(GPIOC, 11, MODE_OUTPUT); - set_gpio_output_type(GPIOC, 10, OUTPUT_TYPE_OPEN_DRAIN); - set_gpio_output_type(GPIOC, 11, OUTPUT_TYPE_OPEN_DRAIN); - set_gpio_output(GPIOC, 10, 1); - set_gpio_output(GPIOC, 11, 1); - - // C8: FAN PWM aka TIM3_CH3 - set_gpio_alternate(GPIOC, 8, GPIO_AF2_TIM3); - - // Turn on phone regulator - set_gpio_output(GPIOB, 4, true); - - // Initialize IR PWM and set to 0% - set_gpio_alternate(GPIOB, 7, GPIO_AF2_TIM4); - pwm_init(TIM4, 2); - uno_set_ir_power(0U); - - // Initialize harness - harness_init(); - - - // Enable CAN transceivers - uno_enable_can_transceivers(true); - - // Disable LEDs - uno_set_led(LED_RED, false); - uno_set_led(LED_GREEN, false); - uno_set_led(LED_BLUE, false); - - // Set normal CAN mode - uno_set_can_mode(CAN_MODE_NORMAL); - - // Switch to phone usb mode if harness connection is powered by less than 7V - if(white_read_voltage_mV() < 7000U){ - uno_set_usb_switch(true); - } else { - uno_set_usb_switch(false); - } - - // Bootkick phone - uno_set_bootkick(BOOT_BOOTKICK); -} - -void uno_init_bootloader(void) { - // GPS off - set_gpio_output(GPIOB, 1, 0); - set_gpio_output(GPIOC, 5, 0); - set_gpio_output(GPIOC, 12, 0); -} - -harness_configuration uno_harness_config = { - .has_harness = true, - .GPIO_SBU1 = GPIOC, - .GPIO_SBU2 = GPIOC, - .GPIO_relay_SBU1 = GPIOC, - .GPIO_relay_SBU2 = GPIOC, - .pin_SBU1 = 0, - .pin_SBU2 = 3, - .pin_relay_SBU1 = 10, - .pin_relay_SBU2 = 11, - .adc_channel_SBU1 = 10, - .adc_channel_SBU2 = 13 -}; - -board board_uno = { - .harness_config = &uno_harness_config, - .has_obd = true, - .has_spi = false, - .has_canfd = false, - .fan_max_rpm = 5100U, - .avdd_mV = 3300U, - .fan_stall_recovery = false, - .fan_enable_cooldown_time = 0U, - .init = uno_init, - .init_bootloader = uno_init_bootloader, - .enable_can_transceiver = uno_enable_can_transceiver, - .enable_can_transceivers = uno_enable_can_transceivers, - .set_led = uno_set_led, - .set_can_mode = uno_set_can_mode, - .check_ignition = uno_check_ignition, - .read_voltage_mV = white_read_voltage_mV, - .read_current_mA = unused_read_current, - .set_fan_enabled = uno_set_fan_enabled, - .set_ir_power = uno_set_ir_power, - .set_siren = unused_set_siren, - .set_bootkick = uno_set_bootkick, - .read_som_gpio = unused_read_som_gpio -}; diff --git a/panda/board/boards/unused_funcs.h b/panda/board/boards/unused_funcs.h deleted file mode 100644 index 7bfde01391eea8..00000000000000 --- a/panda/board/boards/unused_funcs.h +++ /dev/null @@ -1,26 +0,0 @@ -void unused_init_bootloader(void) { -} - -void unused_set_ir_power(uint8_t percentage) { - UNUSED(percentage); -} - -void unused_set_fan_enabled(bool enabled) { - UNUSED(enabled); -} - -void unused_set_siren(bool enabled) { - UNUSED(enabled); -} - -uint32_t unused_read_current(void) { - return 0U; -} - -void unused_set_bootkick(BootState state) { - UNUSED(state); -} - -bool unused_read_som_gpio(void) { - return false; -} \ No newline at end of file diff --git a/panda/board/boards/white.h b/panda/board/boards/white.h deleted file mode 100644 index 8d22afbc9b4fa4..00000000000000 --- a/panda/board/boards/white.h +++ /dev/null @@ -1,210 +0,0 @@ -// ///////////////////// // -// White Panda (STM32F4) // -// ///////////////////// // - -void white_enable_can_transceiver(uint8_t transceiver, bool enabled) { - switch (transceiver){ - case 1U: - set_gpio_output(GPIOC, 1, !enabled); - break; - case 2U: - set_gpio_output(GPIOC, 13, !enabled); - break; - case 3U: - set_gpio_output(GPIOA, 0, !enabled); - break; - default: - print("Invalid CAN transceiver ("); puth(transceiver); print("): enabling failed\n"); - break; - } -} - -void white_enable_can_transceivers(bool enabled) { - uint8_t t1 = enabled ? 1U : 2U; // leave transceiver 1 enabled to detect CAN ignition - for(uint8_t i=t1; i<=3U; i++) { - white_enable_can_transceiver(i, enabled); - } -} - -void white_set_led(uint8_t color, bool enabled) { - switch (color){ - case LED_RED: - set_gpio_output(GPIOC, 9, !enabled); - break; - case LED_GREEN: - set_gpio_output(GPIOC, 7, !enabled); - break; - case LED_BLUE: - set_gpio_output(GPIOC, 6, !enabled); - break; - default: - break; - } -} - -void white_set_usb_power_mode(uint8_t mode){ - switch (mode) { - case USB_POWER_CLIENT: - // B2,A13: set client mode - set_gpio_output(GPIOB, 2, 0); - set_gpio_output(GPIOA, 13, 1); - break; - case USB_POWER_CDP: - // B2,A13: set CDP mode - set_gpio_output(GPIOB, 2, 1); - set_gpio_output(GPIOA, 13, 1); - break; - case USB_POWER_DCP: - // B2,A13: set DCP mode on the charger (breaks USB!) - set_gpio_output(GPIOB, 2, 0); - set_gpio_output(GPIOA, 13, 0); - break; - default: - print("Invalid usb power mode\n"); - break; - } -} - -void white_set_can_mode(uint8_t mode){ - if (mode == CAN_MODE_NORMAL) { - // B12,B13: disable GMLAN mode - set_gpio_mode(GPIOB, 12, MODE_INPUT); - set_gpio_mode(GPIOB, 13, MODE_INPUT); - - // B3,B4: disable GMLAN mode - set_gpio_mode(GPIOB, 3, MODE_INPUT); - set_gpio_mode(GPIOB, 4, MODE_INPUT); - - // B5,B6: normal CAN2 mode - set_gpio_alternate(GPIOB, 5, GPIO_AF9_CAN2); - set_gpio_alternate(GPIOB, 6, GPIO_AF9_CAN2); - - // A8,A15: normal CAN3 mode - set_gpio_alternate(GPIOA, 8, GPIO_AF11_CAN3); - set_gpio_alternate(GPIOA, 15, GPIO_AF11_CAN3); - } -} - -uint32_t white_read_voltage_mV(void){ - return adc_get_mV(12) * 11U; -} - -uint32_t white_read_current_mA(void){ - // This isn't in mA, but we're keeping it for backwards compatibility - return adc_get_raw(13); -} - -bool white_check_ignition(void){ - // ignition is on PA1 - return !get_gpio_input(GPIOA, 1); -} - -void white_grey_init(void) { - common_init_gpio(); - - // C3: current sense - set_gpio_mode(GPIOC, 3, MODE_ANALOG); - - // A1: started_alt - set_gpio_pullup(GPIOA, 1, PULL_UP); - - // A2, A3: USART 2 for debugging - set_gpio_alternate(GPIOA, 2, GPIO_AF7_USART2); - set_gpio_alternate(GPIOA, 3, GPIO_AF7_USART2); - - // A4, A5, A6, A7: SPI - set_gpio_alternate(GPIOA, 4, GPIO_AF5_SPI1); - set_gpio_alternate(GPIOA, 5, GPIO_AF5_SPI1); - set_gpio_alternate(GPIOA, 6, GPIO_AF5_SPI1); - set_gpio_alternate(GPIOA, 7, GPIO_AF5_SPI1); - - // B12: GMLAN, ignition sense, pull up - set_gpio_pullup(GPIOB, 12, PULL_UP); - - /* GMLAN mode pins: - M0(B15) M1(B14) mode - ======================= - 0 0 sleep - 1 0 100kbit - 0 1 high voltage wakeup - 1 1 33kbit (normal) - */ - set_gpio_output(GPIOB, 14, 0); - set_gpio_output(GPIOB, 15, 0); - - // B7: K-line enable - set_gpio_output(GPIOB, 7, 1); - - // C12, D2: Setup K-line (UART5) - set_gpio_alternate(GPIOC, 12, GPIO_AF8_UART5); - set_gpio_alternate(GPIOD, 2, GPIO_AF8_UART5); - set_gpio_pullup(GPIOD, 2, PULL_UP); - - // L-line enable - set_gpio_output(GPIOA, 14, 1); - - // C10, C11: L-Line setup (USART3) - set_gpio_alternate(GPIOC, 10, GPIO_AF7_USART3); - set_gpio_alternate(GPIOC, 11, GPIO_AF7_USART3); - set_gpio_pullup(GPIOC, 11, PULL_UP); - - - // Enable CAN transceivers - white_enable_can_transceivers(true); - - // Disable LEDs - white_set_led(LED_RED, false); - white_set_led(LED_GREEN, false); - white_set_led(LED_BLUE, false); - - // Set normal CAN mode - white_set_can_mode(CAN_MODE_NORMAL); - - // Init usb power mode - // Init in CDP mode only if panda is powered by 12V. - // Otherwise a PC would not be able to flash a standalone panda - if (white_read_voltage_mV() > 8000U) { // 8V threshold - white_set_usb_power_mode(USB_POWER_CDP); - } else { - white_set_usb_power_mode(USB_POWER_CLIENT); - } - - // ESP/GPS off - set_gpio_output(GPIOC, 5, 0); - set_gpio_output(GPIOC, 14, 0); -} - -void white_grey_init_bootloader(void) { - // ESP/GPS off - set_gpio_output(GPIOC, 5, 0); - set_gpio_output(GPIOC, 14, 0); -} - -harness_configuration white_harness_config = { - .has_harness = false -}; - -board board_white = { - .set_bootkick = unused_set_bootkick, - .harness_config = &white_harness_config, - .has_obd = false, - .has_spi = false, - .has_canfd = false, - .fan_max_rpm = 0U, - .avdd_mV = 3300U, - .fan_stall_recovery = false, - .fan_enable_cooldown_time = 0U, - .init = white_grey_init, - .init_bootloader = white_grey_init_bootloader, - .enable_can_transceiver = white_enable_can_transceiver, - .enable_can_transceivers = white_enable_can_transceivers, - .set_led = white_set_led, - .set_can_mode = white_set_can_mode, - .check_ignition = white_check_ignition, - .read_voltage_mV = white_read_voltage_mV, - .read_current_mA = white_read_current_mA, - .set_fan_enabled = unused_set_fan_enabled, - .set_ir_power = unused_set_ir_power, - .set_siren = unused_set_siren, - .read_som_gpio = unused_read_som_gpio -}; diff --git a/panda/board/bootstub.c b/panda/board/bootstub.c deleted file mode 100644 index aee665e7e04113..00000000000000 --- a/panda/board/bootstub.c +++ /dev/null @@ -1,89 +0,0 @@ -#define BOOTSTUB - -#define VERS_TAG 0x53524556 -#define MIN_VERSION 2 - -// ********************* Includes ********************* -#include "config.h" - -#include "drivers/pwm.h" -#include "drivers/usb.h" - -#include "early_init.h" -#include "provision.h" - -#include "crypto/rsa.h" -#include "crypto/sha.h" - -#include "obj/cert.h" -#include "obj/gitversion.h" -#include "flasher.h" - -// cppcheck-suppress unusedFunction ; used in headers not included in cppcheck -void __initialize_hardware_early(void) { - early_initialization(); -} - -void fail(void) { - soft_flasher_start(); -} - -// know where to sig check -extern void *_app_start[]; - -// FIXME: sometimes your panda will fail flashing and will quickly blink a single Green LED -// BOUNTY: $200 coupon on shop.comma.ai or $100 check. - -int main(void) { - // Init interrupt table - init_interrupts(true); - - disable_interrupts(); - clock_init(); - detect_board_type(); - -#ifdef PANDA_JUNGLE - current_board->set_panda_power(true); -#endif - - if (enter_bootloader_mode == ENTER_SOFTLOADER_MAGIC) { - enter_bootloader_mode = 0; - soft_flasher_start(); - } - - // validate length - int len = (int)_app_start[0]; - if ((len < 8) || (len > (0x1000000 - 0x4000 - 4 - RSANUMBYTES))) goto fail; - - // compute SHA hash - uint8_t digest[SHA_DIGEST_SIZE]; - SHA_hash(&_app_start[1], len-4, digest); - - // verify version, last bytes in the signed area - uint32_t vers[2] = {0}; - memcpy(&vers, ((void*)&_app_start[0]) + len - sizeof(vers), sizeof(vers)); - if (vers[0] != VERS_TAG || vers[1] < MIN_VERSION) { - goto fail; - } - - // verify RSA signature - if (RSA_verify(&release_rsa_key, ((void*)&_app_start[0]) + len, RSANUMBYTES, digest, SHA_DIGEST_SIZE)) { - goto good; - } - - // allow debug if built from source -#ifdef ALLOW_DEBUG - if (RSA_verify(&debug_rsa_key, ((void*)&_app_start[0]) + len, RSANUMBYTES, digest, SHA_DIGEST_SIZE)) { - goto good; - } -#endif - -// here is a failure -fail: - fail(); - return 0; -good: - // jump to flash - ((void(*)(void)) _app_start[1])(); - return 0; -} diff --git a/panda/board/bootstub_declarations.h b/panda/board/bootstub_declarations.h deleted file mode 100644 index 5cdec508e70e7c..00000000000000 --- a/panda/board/bootstub_declarations.h +++ /dev/null @@ -1,18 +0,0 @@ -// ******************** Prototypes ******************** -void print(const char *a){ UNUSED(a); } -void puth(uint8_t i){ UNUSED(i); } -void puth2(uint8_t i){ UNUSED(i); } -void puth4(uint8_t i){ UNUSED(i); } -void hexdump(const void *a, int l){ UNUSED(a); UNUSED(l); } -typedef struct board board; -typedef struct harness_configuration harness_configuration; -void pwm_init(TIM_TypeDef *TIM, uint8_t channel); -void pwm_set(TIM_TypeDef *TIM, uint8_t channel, uint8_t percentage); -// No UART support in bootloader -typedef struct uart_ring {} uart_ring; -uart_ring uart_ring_som_debug; -void uart_init(uart_ring *q, int baud) { UNUSED(q); UNUSED(baud); } - -// ********************* Globals ********************** -uint8_t hw_type = 0; -board *current_board; diff --git a/panda/board/can_comms.h b/panda/board/can_comms.h deleted file mode 100644 index c8f071abd570a4..00000000000000 --- a/panda/board/can_comms.h +++ /dev/null @@ -1,122 +0,0 @@ -/* - CAN transactions to and from the host come in the form of - a certain number of CANPacket_t. The transaction is split - into multiple transfers or chunks. - - * comms_can_read outputs this buffer in chunks of a specified length. - chunks are always the given length, except the last one. - * comms_can_write reads in this buffer in chunks. - * both functions maintain an overflow buffer for a partial CANPacket_t that - spans multiple transfers/chunks. - * the overflow buffers are reset by a dedicated control transfer handler, - which is sent by the host on each start of a connection. -*/ - -typedef struct { - uint32_t ptr; - uint32_t tail_size; - uint8_t data[72]; -} asm_buffer; - -asm_buffer can_read_buffer = {.ptr = 0U, .tail_size = 0U}; - -int comms_can_read(uint8_t *data, uint32_t max_len) { - uint32_t pos = 0U; - - // Send tail of previous message if it is in buffer - if (can_read_buffer.ptr > 0U) { - uint32_t overflow_len = MIN(max_len - pos, can_read_buffer.ptr); - (void)memcpy(&data[pos], can_read_buffer.data, overflow_len); - pos += overflow_len; - (void)memcpy(can_read_buffer.data, &can_read_buffer.data[overflow_len], can_read_buffer.ptr - overflow_len); - can_read_buffer.ptr -= overflow_len; - } - - if (can_read_buffer.ptr == 0U) { - // Fill rest of buffer with new data - CANPacket_t can_packet; - while ((pos < max_len) && can_pop(&can_rx_q, &can_packet)) { - uint32_t pckt_len = CANPACKET_HEAD_SIZE + dlc_to_len[can_packet.data_len_code]; - if ((pos + pckt_len) <= max_len) { - (void)memcpy(&data[pos], &can_packet, pckt_len); - pos += pckt_len; - } else { - (void)memcpy(&data[pos], &can_packet, max_len - pos); - can_read_buffer.ptr += pckt_len - (max_len - pos); - // cppcheck-suppress objectIndex - (void)memcpy(can_read_buffer.data, &((uint8_t*)&can_packet)[(max_len - pos)], can_read_buffer.ptr); - pos = max_len; - } - } - } - - return pos; -} - -asm_buffer can_write_buffer = {.ptr = 0U, .tail_size = 0U}; - -// send on CAN -void comms_can_write(const uint8_t *data, uint32_t len) { - uint32_t pos = 0U; - - // Assembling can message with data from buffer - if (can_write_buffer.ptr != 0U) { - if (can_write_buffer.tail_size <= (len - pos)) { - // we have enough data to complete the buffer - CANPacket_t to_push = {0}; - (void)memcpy(&can_write_buffer.data[can_write_buffer.ptr], &data[pos], can_write_buffer.tail_size); - can_write_buffer.ptr += can_write_buffer.tail_size; - pos += can_write_buffer.tail_size; - - // send out - (void)memcpy(&to_push, can_write_buffer.data, can_write_buffer.ptr); - can_send(&to_push, to_push.bus, false); - - // reset overflow buffer - can_write_buffer.ptr = 0U; - can_write_buffer.tail_size = 0U; - } else { - // maybe next time - uint32_t data_size = len - pos; - (void) memcpy(&can_write_buffer.data[can_write_buffer.ptr], &data[pos], data_size); - can_write_buffer.tail_size -= data_size; - can_write_buffer.ptr += data_size; - pos += data_size; - } - } - - // rest of the message - while (pos < len) { - uint32_t pckt_len = CANPACKET_HEAD_SIZE + dlc_to_len[(data[pos] >> 4U)]; - if ((pos + pckt_len) <= len) { - CANPacket_t to_push = {0}; - (void)memcpy(&to_push, &data[pos], pckt_len); - can_send(&to_push, to_push.bus, false); - pos += pckt_len; - } else { - (void)memcpy(can_write_buffer.data, &data[pos], len - pos); - can_write_buffer.ptr = len - pos; - can_write_buffer.tail_size = pckt_len - can_write_buffer.ptr; - pos += can_write_buffer.ptr; - } - } - - refresh_can_tx_slots_available(); -} - -void comms_can_reset(void) { - can_write_buffer.ptr = 0U; - can_write_buffer.tail_size = 0U; - can_read_buffer.ptr = 0U; - can_read_buffer.tail_size = 0U; -} - -// TODO: make this more general! -void refresh_can_tx_slots_available(void) { - if (can_tx_check_min_slots_free(MAX_CAN_MSGS_PER_USB_BULK_TRANSFER)) { - can_tx_comms_resume_usb(); - } - if (can_tx_check_min_slots_free(MAX_CAN_MSGS_PER_SPI_BULK_TRANSFER)) { - can_tx_comms_resume_spi(); - } -} diff --git a/panda/board/can_definitions.h b/panda/board/can_definitions.h deleted file mode 100644 index f3ce4378276ef5..00000000000000 --- a/panda/board/can_definitions.h +++ /dev/null @@ -1,34 +0,0 @@ -#pragma once - -const uint8_t PANDA_CAN_CNT = 3U; -const uint8_t PANDA_BUS_CNT = 3U; - -// bump this when changing the CAN packet -#define CAN_PACKET_VERSION 4 - -#define CANPACKET_HEAD_SIZE 6U - -#if !defined(STM32F4) - #define CANFD - #define CANPACKET_DATA_SIZE_MAX 64U -#else - #define CANPACKET_DATA_SIZE_MAX 8U -#endif - -typedef struct { - unsigned char reserved : 1; - unsigned char bus : 3; - unsigned char data_len_code : 4; // lookup length with dlc_to_len - unsigned char rejected : 1; - unsigned char returned : 1; - unsigned char extended : 1; - unsigned int addr : 29; - unsigned char checksum; - unsigned char data[CANPACKET_DATA_SIZE_MAX]; -} __attribute__((packed, aligned(4))) CANPacket_t; - -const unsigned char dlc_to_len[] = {0U, 1U, 2U, 3U, 4U, 5U, 6U, 7U, 8U, 12U, 16U, 20U, 24U, 32U, 48U, 64U}; - -#define GET_BUS(msg) ((msg)->bus) -#define GET_LEN(msg) (dlc_to_len[(msg)->data_len_code]) -#define GET_ADDR(msg) ((msg)->addr) diff --git a/panda/board/comms_definitions.h b/panda/board/comms_definitions.h deleted file mode 100644 index 18a6d2f8134749..00000000000000 --- a/panda/board/comms_definitions.h +++ /dev/null @@ -1,12 +0,0 @@ -typedef struct { - uint8_t request; - uint16_t param1; - uint16_t param2; - uint16_t length; -} __attribute__((packed)) ControlPacket_t; - -int comms_control_handler(ControlPacket_t *req, uint8_t *resp); -void comms_endpoint2_write(const uint8_t *data, uint32_t len); -void comms_can_write(const uint8_t *data, uint32_t len); -int comms_can_read(uint8_t *data, uint32_t max_len); -void comms_can_reset(void); diff --git a/panda/board/config.h b/panda/board/config.h deleted file mode 100644 index ef9ffcb8dcfe2c..00000000000000 --- a/panda/board/config.h +++ /dev/null @@ -1,44 +0,0 @@ -#pragma once - -#include - -//#define DEBUG -//#define DEBUG_UART -//#define DEBUG_USB -//#define DEBUG_SPI -//#define DEBUG_FAULTS -//#define DEBUG_COMMS -//#define DEBUG_FAN - -#define CAN_INIT_TIMEOUT_MS 500U -#define USBPACKET_MAX_SIZE 0x40U -#define MAX_CAN_MSGS_PER_USB_BULK_TRANSFER 51U -#define MAX_CAN_MSGS_PER_SPI_BULK_TRANSFER 170U - -// USB definitions -#define USB_VID 0xBBAAU - -#ifdef PANDA_JUNGLE - #ifdef BOOTSTUB - #define USB_PID 0xDDEFU - #else - #define USB_PID 0xDDCFU - #endif -#else - #ifdef BOOTSTUB - #define USB_PID 0xDDEEU - #else - #define USB_PID 0xDDCCU - #endif -#endif - -// platform includes -#ifdef STM32H7 - #include "stm32h7/stm32h7_config.h" -#elif defined(STM32F4) - #include "stm32f4/stm32f4_config.h" -#else - // TODO: uncomment this, cppcheck complains - // building for tests - //#include "fake_stm.h" -#endif diff --git a/panda/board/crc.h b/panda/board/crc.h deleted file mode 100644 index 3e20fb0981776c..00000000000000 --- a/panda/board/crc.h +++ /dev/null @@ -1,19 +0,0 @@ -#pragma once - -uint8_t crc_checksum(const uint8_t *dat, int len, const uint8_t poly) { - uint8_t crc = 0xFFU; - int i; - int j; - for (i = len - 1; i >= 0; i--) { - crc ^= dat[i]; - for (j = 0; j < 8; j++) { - if ((crc & 0x80U) != 0U) { - crc = (uint8_t)((crc << 1) ^ poly); - } - else { - crc <<= 1; - } - } - } - return crc; -} diff --git a/panda/board/critical.h b/panda/board/critical.h deleted file mode 100644 index c8cf52c7a11533..00000000000000 --- a/panda/board/critical.h +++ /dev/null @@ -1,23 +0,0 @@ -// ********************* Critical section helpers ********************* -volatile bool interrupts_enabled = false; - -void enable_interrupts(void) { - interrupts_enabled = true; - __enable_irq(); -} - -void disable_interrupts(void) { - interrupts_enabled = false; - __disable_irq(); -} - -uint8_t global_critical_depth = 0U; -#define ENTER_CRITICAL() \ - __disable_irq(); \ - global_critical_depth += 1U; - -#define EXIT_CRITICAL() \ - global_critical_depth -= 1U; \ - if ((global_critical_depth == 0U) && interrupts_enabled) { \ - __enable_irq(); \ - } diff --git a/panda/board/debug/README.md b/panda/board/debug/README.md deleted file mode 100644 index d475ce90b68a53..00000000000000 --- a/panda/board/debug/README.md +++ /dev/null @@ -1,26 +0,0 @@ -# In-circuit debugging using openocd and gdb - -## Hardware -Connect an ST-Link V2 programmer to the SWD pins on the board. The pins that need to be connected are: -- GND -- VTref -- SWDIO -- SWCLK -- NRST - -Make sure you're using a genuine one for boards that do not have a 3.3V panda power rail. For example, the tres runs at 1.8V, which is not supported by the clones. - -## Openocd -Install openocd. For Ubuntu 24.04, the one in the package manager works fine: `sudo apt install openocd`. - -To run, use `./debug_f4.sh (TODO)` or `./debug_h7.sh` depending on the panda. - -## GDB -You need `gdb-multiarch`. - -Once openocd is running, you can connect from gdb as follows: -``` -$ gdb-multiarch -(gdb) target ext :3333 -``` -To reset and break, use `monitor reset halt`. diff --git a/panda/board/debug/debug_h7.sh b/panda/board/debug/debug_h7.sh deleted file mode 100755 index a2bd88434e2bbd..00000000000000 --- a/panda/board/debug/debug_h7.sh +++ /dev/null @@ -1,3 +0,0 @@ -#!/bin/bash -e - -sudo openocd -f "interface/stlink.cfg" -c "transport select hla_swd" -f "target/stm32h7x.cfg" -c "init" diff --git a/panda/board/dfu_util_f4.sh b/panda/board/dfu_util_f4.sh deleted file mode 100755 index 8685c509853e00..00000000000000 --- a/panda/board/dfu_util_f4.sh +++ /dev/null @@ -1,11 +0,0 @@ -#!/usr/bin/env sh -set -e - -DFU_UTIL="dfu-util" - -scons -u -j$(nproc) - -PYTHONPATH=.. python3 -c "from python import Panda; Panda().reset(enter_bootstub=True); Panda().reset(enter_bootloader=True)" || true -sleep 1 -$DFU_UTIL -d 0483:df11 -a 0 -s 0x08004000 -D obj/panda.bin.signed -$DFU_UTIL -d 0483:df11 -a 0 -s 0x08000000:leave -D obj/bootstub.panda.bin diff --git a/panda/board/dfu_util_h7.sh b/panda/board/dfu_util_h7.sh deleted file mode 100755 index c39a24ec7b74f4..00000000000000 --- a/panda/board/dfu_util_h7.sh +++ /dev/null @@ -1,11 +0,0 @@ -#!/usr/bin/env sh -set -e - -DFU_UTIL="dfu-util" - -scons -u -j$(nproc) - -PYTHONPATH=.. python3 -c "from python import Panda; Panda().reset(enter_bootstub=True); Panda().reset(enter_bootloader=True)" || true -sleep 1 -$DFU_UTIL -d 0483:df11 -a 0 -s 0x08020000 -D obj/panda_h7.bin.signed -$DFU_UTIL -d 0483:df11 -a 0 -s 0x08000000:leave -D obj/bootstub.panda_h7.bin diff --git a/panda/board/drivers/bootkick.h b/panda/board/drivers/bootkick.h deleted file mode 100644 index 4b75f09088d21e..00000000000000 --- a/panda/board/drivers/bootkick.h +++ /dev/null @@ -1,67 +0,0 @@ -bool bootkick_ign_prev = false; -BootState boot_state = BOOT_BOOTKICK; -uint8_t bootkick_harness_status_prev = HARNESS_STATUS_NC; - -uint8_t boot_reset_countdown = 0; -uint8_t waiting_to_boot_countdown = 0; -bool bootkick_reset_triggered = false; -uint16_t bootkick_last_serial_ptr = 0; - -void bootkick_tick(bool ignition, bool recent_heartbeat) { - BootState boot_state_prev = boot_state; - const bool harness_inserted = (harness.status != bootkick_harness_status_prev) && (harness.status != HARNESS_STATUS_NC); - - if ((ignition && !bootkick_ign_prev) || harness_inserted) { - // bootkick on rising edge of ignition or harness insertion - boot_state = BOOT_BOOTKICK; - } else if (recent_heartbeat) { - // disable bootkick once openpilot is up - boot_state = BOOT_STANDBY; - } else { - - } - - /* - Ensure SOM boots in case it goes into QDL mode. Reset behavior: - * shouldn't trigger on the first boot after power-on - * only try reset once per bootkick, i.e. don't keep trying until booted - * only try once per panda boot, since openpilot will reset panda on startup - * once BOOT_RESET is triggered, it stays until countdown is finished - */ - if (!bootkick_reset_triggered && (boot_state == BOOT_BOOTKICK) && (boot_state_prev == BOOT_STANDBY)) { - waiting_to_boot_countdown = 20U; - } - if (waiting_to_boot_countdown > 0U) { - bool serial_activity = uart_ring_som_debug.w_ptr_tx != bootkick_last_serial_ptr; - if (serial_activity || current_board->read_som_gpio() || (boot_state != BOOT_BOOTKICK)) { - waiting_to_boot_countdown = 0U; - } else { - // try a reset - if (waiting_to_boot_countdown == 1U) { - boot_reset_countdown = 5U; - } - } - } - - // handle reset state - if (boot_reset_countdown > 0U) { - boot_state = BOOT_RESET; - bootkick_reset_triggered = true; - } else { - if (boot_state == BOOT_RESET) { - boot_state = BOOT_BOOTKICK; - } - } - - // update state - bootkick_ign_prev = ignition; - bootkick_harness_status_prev = harness.status; - bootkick_last_serial_ptr = uart_ring_som_debug.w_ptr_tx; - if (waiting_to_boot_countdown > 0U) { - waiting_to_boot_countdown--; - } - if (boot_reset_countdown > 0U) { - boot_reset_countdown--; - } - current_board->set_bootkick(boot_state); -} diff --git a/panda/board/drivers/bxcan.h b/panda/board/drivers/bxcan.h deleted file mode 100644 index 27ffcee525c734..00000000000000 --- a/panda/board/drivers/bxcan.h +++ /dev/null @@ -1,213 +0,0 @@ -// IRQs: CAN1_TX, CAN1_RX0, CAN1_SCE -// CAN2_TX, CAN2_RX0, CAN2_SCE -// CAN3_TX, CAN3_RX0, CAN3_SCE - -CAN_TypeDef *cans[] = {CAN1, CAN2, CAN3}; -uint8_t can_irq_number[3][3] = { - { CAN1_TX_IRQn, CAN1_RX0_IRQn, CAN1_SCE_IRQn }, - { CAN2_TX_IRQn, CAN2_RX0_IRQn, CAN2_SCE_IRQn }, - { CAN3_TX_IRQn, CAN3_RX0_IRQn, CAN3_SCE_IRQn }, -}; - -bool can_set_speed(uint8_t can_number) { - bool ret = true; - CAN_TypeDef *CANx = CANIF_FROM_CAN_NUM(can_number); - uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number); - - ret &= llcan_set_speed( - CANx, - bus_config[bus_number].can_speed, - can_loopback, - (unsigned int)(can_silent) & (1U << can_number) - ); - return ret; -} - -void update_can_health_pkt(uint8_t can_number, uint32_t ir_reg) { - CAN_TypeDef *CANx = CANIF_FROM_CAN_NUM(can_number); - uint32_t esr_reg = CANx->ESR; - - can_health[can_number].bus_off = ((esr_reg & CAN_ESR_BOFF) >> CAN_ESR_BOFF_Pos); - can_health[can_number].bus_off_cnt += can_health[can_number].bus_off; - can_health[can_number].error_warning = ((esr_reg & CAN_ESR_EWGF) >> CAN_ESR_EWGF_Pos); - can_health[can_number].error_passive = ((esr_reg & CAN_ESR_EPVF) >> CAN_ESR_EPVF_Pos); - - can_health[can_number].last_error = ((esr_reg & CAN_ESR_LEC) >> CAN_ESR_LEC_Pos); - if ((can_health[can_number].last_error != 0U) && (can_health[can_number].last_error != 7U)) { - can_health[can_number].last_stored_error = can_health[can_number].last_error; - } - - can_health[can_number].receive_error_cnt = ((esr_reg & CAN_ESR_REC) >> CAN_ESR_REC_Pos); - can_health[can_number].transmit_error_cnt = ((esr_reg & CAN_ESR_TEC) >> CAN_ESR_TEC_Pos); - - can_health[can_number].irq0_call_rate = interrupts[can_irq_number[can_number][0]].call_rate; - can_health[can_number].irq1_call_rate = interrupts[can_irq_number[can_number][1]].call_rate; - can_health[can_number].irq2_call_rate = interrupts[can_irq_number[can_number][2]].call_rate; - - if (ir_reg != 0U) { - can_health[can_number].total_error_cnt += 1U; - - // RX message lost due to FIFO overrun - if ((CANx->RF0R & (CAN_RF0R_FOVR0)) != 0U) { - can_health[can_number].total_rx_lost_cnt += 1U; - CANx->RF0R &= ~(CAN_RF0R_FOVR0); - } - can_health[can_number].can_core_reset_cnt += 1U; - llcan_clear_send(CANx); - } -} - -// ***************************** CAN ***************************** -// CANx_SCE IRQ Handler -void can_sce(uint8_t can_number) { - update_can_health_pkt(can_number, 1U); -} - -// CANx_TX IRQ Handler -void process_can(uint8_t can_number) { - if (can_number != 0xffU) { - - ENTER_CRITICAL(); - - CAN_TypeDef *CANx = CANIF_FROM_CAN_NUM(can_number); - uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number); - - // check for empty mailbox - CANPacket_t to_send; - if ((CANx->TSR & (CAN_TSR_TERR0 | CAN_TSR_ALST0)) != 0U) { // last TX failed due to error arbitration lost - can_health[can_number].total_tx_lost_cnt += 1U; - CANx->TSR |= (CAN_TSR_TERR0 | CAN_TSR_ALST0); - } - if ((CANx->TSR & CAN_TSR_TME0) == CAN_TSR_TME0) { - // add successfully transmitted message to my fifo - if ((CANx->TSR & CAN_TSR_RQCP0) == CAN_TSR_RQCP0) { - if ((CANx->TSR & CAN_TSR_TXOK0) == CAN_TSR_TXOK0) { - CANPacket_t to_push; - to_push.returned = 1U; - to_push.rejected = 0U; - to_push.extended = (CANx->sTxMailBox[0].TIR >> 2) & 0x1U; - to_push.addr = (to_push.extended != 0U) ? (CANx->sTxMailBox[0].TIR >> 3) : (CANx->sTxMailBox[0].TIR >> 21); - to_push.data_len_code = CANx->sTxMailBox[0].TDTR & 0xFU; - to_push.bus = bus_number; - WORD_TO_BYTE_ARRAY(&to_push.data[0], CANx->sTxMailBox[0].TDLR); - WORD_TO_BYTE_ARRAY(&to_push.data[4], CANx->sTxMailBox[0].TDHR); - can_set_checksum(&to_push); - - rx_buffer_overflow += can_push(&can_rx_q, &to_push) ? 0U : 1U; - } - - // clear interrupt - // careful, this can also be cleared by requesting a transmission - CANx->TSR |= CAN_TSR_RQCP0; - } - - if (can_pop(can_queues[bus_number], &to_send)) { - if (can_check_checksum(&to_send)) { - can_health[can_number].total_tx_cnt += 1U; - // only send if we have received a packet - CANx->sTxMailBox[0].TIR = ((to_send.extended != 0U) ? (to_send.addr << 3) : (to_send.addr << 21)) | (to_send.extended << 2); - CANx->sTxMailBox[0].TDTR = to_send.data_len_code; - BYTE_ARRAY_TO_WORD(CANx->sTxMailBox[0].TDLR, &to_send.data[0]); - BYTE_ARRAY_TO_WORD(CANx->sTxMailBox[0].TDHR, &to_send.data[4]); - // Send request TXRQ - CANx->sTxMailBox[0].TIR |= 0x1U; - } else { - can_health[can_number].total_tx_checksum_error_cnt += 1U; - } - - refresh_can_tx_slots_available(); - } - } - - EXIT_CRITICAL(); - } -} - -// CANx_RX0 IRQ Handler -// blink blue when we are receiving CAN messages -void can_rx(uint8_t can_number) { - CAN_TypeDef *CANx = CANIF_FROM_CAN_NUM(can_number); - uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number); - - while ((CANx->RF0R & CAN_RF0R_FMP0) != 0U) { - can_health[can_number].total_rx_cnt += 1U; - - // can is live - pending_can_live = 1; - - // add to my fifo - CANPacket_t to_push; - - to_push.returned = 0U; - to_push.rejected = 0U; - to_push.extended = (CANx->sFIFOMailBox[0].RIR >> 2) & 0x1U; - to_push.addr = (to_push.extended != 0U) ? (CANx->sFIFOMailBox[0].RIR >> 3) : (CANx->sFIFOMailBox[0].RIR >> 21); - to_push.data_len_code = CANx->sFIFOMailBox[0].RDTR & 0xFU; - to_push.bus = bus_number; - WORD_TO_BYTE_ARRAY(&to_push.data[0], CANx->sFIFOMailBox[0].RDLR); - WORD_TO_BYTE_ARRAY(&to_push.data[4], CANx->sFIFOMailBox[0].RDHR); - can_set_checksum(&to_push); - - // forwarding (panda only) - int bus_fwd_num = safety_fwd_hook(bus_number, to_push.addr); - if (bus_fwd_num != -1) { - CANPacket_t to_send; - - to_send.returned = 0U; - to_send.rejected = 0U; - to_send.extended = to_push.extended; // TXRQ - to_send.addr = to_push.addr; - to_send.bus = to_push.bus; - to_send.data_len_code = to_push.data_len_code; - (void)memcpy(to_send.data, to_push.data, dlc_to_len[to_push.data_len_code]); - can_set_checksum(&to_send); - - can_send(&to_send, bus_fwd_num, true); - can_health[can_number].total_fwd_cnt += 1U; - } - - safety_rx_invalid += safety_rx_hook(&to_push) ? 0U : 1U; - ignition_can_hook(&to_push); - - current_board->set_led(LED_BLUE, true); - rx_buffer_overflow += can_push(&can_rx_q, &to_push) ? 0U : 1U; - - // next - CANx->RF0R |= CAN_RF0R_RFOM0; - } -} - -void CAN1_TX_IRQ_Handler(void) { process_can(0); } -void CAN1_RX0_IRQ_Handler(void) { can_rx(0); } -void CAN1_SCE_IRQ_Handler(void) { can_sce(0); } - -void CAN2_TX_IRQ_Handler(void) { process_can(1); } -void CAN2_RX0_IRQ_Handler(void) { can_rx(1); } -void CAN2_SCE_IRQ_Handler(void) { can_sce(1); } - -void CAN3_TX_IRQ_Handler(void) { process_can(2); } -void CAN3_RX0_IRQ_Handler(void) { can_rx(2); } -void CAN3_SCE_IRQ_Handler(void) { can_sce(2); } - -bool can_init(uint8_t can_number) { - bool ret = false; - - REGISTER_INTERRUPT(CAN1_TX_IRQn, CAN1_TX_IRQ_Handler, CAN_INTERRUPT_RATE, FAULT_INTERRUPT_RATE_CAN_1) - REGISTER_INTERRUPT(CAN1_RX0_IRQn, CAN1_RX0_IRQ_Handler, CAN_INTERRUPT_RATE, FAULT_INTERRUPT_RATE_CAN_1) - REGISTER_INTERRUPT(CAN1_SCE_IRQn, CAN1_SCE_IRQ_Handler, CAN_INTERRUPT_RATE, FAULT_INTERRUPT_RATE_CAN_1) - REGISTER_INTERRUPT(CAN2_TX_IRQn, CAN2_TX_IRQ_Handler, CAN_INTERRUPT_RATE, FAULT_INTERRUPT_RATE_CAN_2) - REGISTER_INTERRUPT(CAN2_RX0_IRQn, CAN2_RX0_IRQ_Handler, CAN_INTERRUPT_RATE, FAULT_INTERRUPT_RATE_CAN_2) - REGISTER_INTERRUPT(CAN2_SCE_IRQn, CAN2_SCE_IRQ_Handler, CAN_INTERRUPT_RATE, FAULT_INTERRUPT_RATE_CAN_2) - REGISTER_INTERRUPT(CAN3_TX_IRQn, CAN3_TX_IRQ_Handler, CAN_INTERRUPT_RATE, FAULT_INTERRUPT_RATE_CAN_3) - REGISTER_INTERRUPT(CAN3_RX0_IRQn, CAN3_RX0_IRQ_Handler, CAN_INTERRUPT_RATE, FAULT_INTERRUPT_RATE_CAN_3) - REGISTER_INTERRUPT(CAN3_SCE_IRQn, CAN3_SCE_IRQ_Handler, CAN_INTERRUPT_RATE, FAULT_INTERRUPT_RATE_CAN_3) - - if (can_number != 0xffU) { - CAN_TypeDef *CANx = CANIF_FROM_CAN_NUM(can_number); - ret &= can_set_speed(can_number); - ret &= llcan_init(CANx); - // in case there are queued up messages - process_can(can_number); - } - return ret; -} diff --git a/panda/board/drivers/can_common.h b/panda/board/drivers/can_common.h deleted file mode 100644 index 55d9985afc05cc..00000000000000 --- a/panda/board/drivers/can_common.h +++ /dev/null @@ -1,286 +0,0 @@ -typedef struct { - volatile uint32_t w_ptr; - volatile uint32_t r_ptr; - uint32_t fifo_size; - CANPacket_t *elems; -} can_ring; - -typedef struct { - uint8_t bus_lookup; - uint8_t can_num_lookup; - int8_t forwarding_bus; - uint32_t can_speed; - uint32_t can_data_speed; - bool canfd_enabled; - bool brs_enabled; - bool canfd_non_iso; -} bus_config_t; - -uint32_t safety_tx_blocked = 0; -uint32_t safety_rx_invalid = 0; -uint32_t tx_buffer_overflow = 0; -uint32_t rx_buffer_overflow = 0; - -can_health_t can_health[] = {{0}, {0}, {0}}; - -extern int can_live; -extern int pending_can_live; - -// must reinit after changing these -extern int can_silent; -extern bool can_loopback; - -// Ignition detected from CAN meessages -bool ignition_can = false; -uint32_t ignition_can_cnt = 0U; - -#define ALL_CAN_SILENT 0xFF -#define ALL_CAN_LIVE 0 - -int can_live = 0; -int pending_can_live = 0; -int can_silent = ALL_CAN_SILENT; -bool can_loopback = false; - -// ******************* functions prototypes ********************* -bool can_init(uint8_t can_number); -void process_can(uint8_t can_number); - -// ********************* instantiate queues ********************* -#define can_buffer(x, size) \ - CANPacket_t elems_##x[size]; \ - can_ring can_##x = { .w_ptr = 0, .r_ptr = 0, .fifo_size = (size), .elems = (CANPacket_t *)&(elems_##x) }; - -#define CAN_RX_BUFFER_SIZE 4096U -#define CAN_TX_BUFFER_SIZE 416U - -#ifdef STM32H7 -// ITCM RAM and DTCM RAM are the fastest for Cortex-M7 core access -__attribute__((section(".axisram"))) can_buffer(rx_q, CAN_RX_BUFFER_SIZE) -__attribute__((section(".itcmram"))) can_buffer(tx1_q, CAN_TX_BUFFER_SIZE) -__attribute__((section(".itcmram"))) can_buffer(tx2_q, CAN_TX_BUFFER_SIZE) -#else -can_buffer(rx_q, CAN_RX_BUFFER_SIZE) -can_buffer(tx1_q, CAN_TX_BUFFER_SIZE) -can_buffer(tx2_q, CAN_TX_BUFFER_SIZE) -#endif -can_buffer(tx3_q, CAN_TX_BUFFER_SIZE) - -// FIXME: -// cppcheck-suppress misra-c2012-9.3 -can_ring *can_queues[] = {&can_tx1_q, &can_tx2_q, &can_tx3_q}; - -// helpers -#define WORD_TO_BYTE_ARRAY(dst8, src32) 0[dst8] = ((src32) & 0xFFU); 1[dst8] = (((src32) >> 8U) & 0xFFU); 2[dst8] = (((src32) >> 16U) & 0xFFU); 3[dst8] = (((src32) >> 24U) & 0xFFU) -#define BYTE_ARRAY_TO_WORD(dst32, src8) ((dst32) = 0[src8] | (1[src8] << 8U) | (2[src8] << 16U) | (3[src8] << 24U)) - -// ********************* interrupt safe queue ********************* -bool can_pop(can_ring *q, CANPacket_t *elem) { - bool ret = 0; - - ENTER_CRITICAL(); - if (q->w_ptr != q->r_ptr) { - *elem = q->elems[q->r_ptr]; - if ((q->r_ptr + 1U) == q->fifo_size) { - q->r_ptr = 0; - } else { - q->r_ptr += 1U; - } - ret = 1; - } - EXIT_CRITICAL(); - - return ret; -} - -bool can_push(can_ring *q, const CANPacket_t *elem) { - bool ret = false; - uint32_t next_w_ptr; - - ENTER_CRITICAL(); - if ((q->w_ptr + 1U) == q->fifo_size) { - next_w_ptr = 0; - } else { - next_w_ptr = q->w_ptr + 1U; - } - if (next_w_ptr != q->r_ptr) { - q->elems[q->w_ptr] = *elem; - q->w_ptr = next_w_ptr; - ret = true; - } - EXIT_CRITICAL(); - if (!ret) { - #ifdef DEBUG - print("can_push to "); - if (q == &can_rx_q) { - print("can_rx_q"); - } else if (q == &can_tx1_q) { - print("can_tx1_q"); - } else if (q == &can_tx2_q) { - print("can_tx2_q"); - } else if (q == &can_tx3_q) { - print("can_tx3_q"); - } else { - print("unknown"); - } - print(" failed!\n"); - #endif - } - return ret; -} - -uint32_t can_slots_empty(const can_ring *q) { - uint32_t ret = 0; - - ENTER_CRITICAL(); - if (q->w_ptr >= q->r_ptr) { - ret = q->fifo_size - 1U - q->w_ptr + q->r_ptr; - } else { - ret = q->r_ptr - q->w_ptr - 1U; - } - EXIT_CRITICAL(); - - return ret; -} - -void can_clear(can_ring *q) { - ENTER_CRITICAL(); - q->w_ptr = 0; - q->r_ptr = 0; - EXIT_CRITICAL(); - // handle TX buffer full with zero ECUs awake on the bus - refresh_can_tx_slots_available(); -} - -// assign CAN numbering -// bus num: CAN Bus numbers in panda, sent to/from USB -// Min: 0; Max: 127; Bit 7 marks message as receipt (bus 129 is receipt for but 1) -// cans: Look up MCU can interface from bus number -// can number: numeric lookup for MCU CAN interfaces (0 = CAN1, 1 = CAN2, etc); -// bus_lookup: Translates from 'can number' to 'bus number'. -// can_num_lookup: Translates from 'bus number' to 'can number'. -// forwarding bus: If >= 0, forward all messages from this bus to the specified bus. - -// Helpers -// Panda: Bus 0=CAN1 Bus 1=CAN2 Bus 2=CAN3 -bus_config_t bus_config[] = { - { .bus_lookup = 0U, .can_num_lookup = 0U, .forwarding_bus = -1, .can_speed = 5000U, .can_data_speed = 20000U, .canfd_enabled = false, .brs_enabled = false, .canfd_non_iso = false }, - { .bus_lookup = 1U, .can_num_lookup = 1U, .forwarding_bus = -1, .can_speed = 5000U, .can_data_speed = 20000U, .canfd_enabled = false, .brs_enabled = false, .canfd_non_iso = false }, - { .bus_lookup = 2U, .can_num_lookup = 2U, .forwarding_bus = -1, .can_speed = 5000U, .can_data_speed = 20000U, .canfd_enabled = false, .brs_enabled = false, .canfd_non_iso = false }, - { .bus_lookup = 0xFFU, .can_num_lookup = 0xFFU, .forwarding_bus = -1, .can_speed = 333U, .can_data_speed = 333U, .canfd_enabled = false, .brs_enabled = false, .canfd_non_iso = false }, -}; - -#define CANIF_FROM_CAN_NUM(num) (cans[num]) -#define BUS_NUM_FROM_CAN_NUM(num) (bus_config[num].bus_lookup) -#define CAN_NUM_FROM_BUS_NUM(num) (bus_config[num].can_num_lookup) - -void can_init_all(void) { - for (uint8_t i=0U; i < PANDA_CAN_CNT; i++) { - if (!current_board->has_canfd) { - bus_config[i].can_data_speed = 0U; - } - can_clear(can_queues[i]); - (void)can_init(i); - } -} - -void can_set_orientation(bool flipped) { - bus_config[0].bus_lookup = flipped ? 2U : 0U; - bus_config[0].can_num_lookup = flipped ? 2U : 0U; - bus_config[2].bus_lookup = flipped ? 0U : 2U; - bus_config[2].can_num_lookup = flipped ? 0U : 2U; -} - -void can_set_forwarding(uint8_t from, uint8_t to) { - bus_config[from].forwarding_bus = to; -} - -void ignition_can_hook(CANPacket_t *to_push) { - int bus = GET_BUS(to_push); - if (bus == 0) { - int addr = GET_ADDR(to_push); - int len = GET_LEN(to_push); - - // GM exception - if ((addr == 0x1F1) && (len == 8)) { - // SystemPowerMode (2=Run, 3=Crank Request) - ignition_can = (GET_BYTE(to_push, 0) & 0x2U) != 0U; - ignition_can_cnt = 0U; - } - - // Tesla exception - if ((addr == 0x348) && (len == 8)) { - // GTW_status - ignition_can = (GET_BYTE(to_push, 0) & 0x1U) != 0U; - ignition_can_cnt = 0U; - } - - // Mazda exception - if ((addr == 0x9E) && (len == 8)) { - ignition_can = (GET_BYTE(to_push, 0) >> 5) == 0x6U; - ignition_can_cnt = 0U; - } - - } else if (bus == 2) { - int addr = GET_ADDR(to_push); - int len = GET_LEN(to_push); - // GM exception, SDGM cars have this message on bus 2 - if ((addr == 0x1F1) && (len == 8)) { - // SystemPowerMode (2=Run, 3=Crank Request) - ignition_can = (GET_BYTE(to_push, 0) & 0x2U) != 0U; - ignition_can_cnt = 0U; - } - } -} - -bool can_tx_check_min_slots_free(uint32_t min) { - return - (can_slots_empty(&can_tx1_q) >= min) && - (can_slots_empty(&can_tx2_q) >= min) && - (can_slots_empty(&can_tx3_q) >= min); -} - -uint8_t calculate_checksum(const uint8_t *dat, uint32_t len) { - uint8_t checksum = 0U; - for (uint32_t i = 0U; i < len; i++) { - checksum ^= dat[i]; - } - return checksum; -} - -void can_set_checksum(CANPacket_t *packet) { - packet->checksum = 0U; - packet->checksum = calculate_checksum((uint8_t *) packet, CANPACKET_HEAD_SIZE + GET_LEN(packet)); -} - -bool can_check_checksum(CANPacket_t *packet) { - return (calculate_checksum((uint8_t *) packet, CANPACKET_HEAD_SIZE + GET_LEN(packet)) == 0U); -} - -void can_send(CANPacket_t *to_push, uint8_t bus_number, bool skip_tx_hook) { - if (skip_tx_hook || safety_tx_hook(to_push) != 0) { - if (bus_number < PANDA_BUS_CNT) { - // add CAN packet to send queue - tx_buffer_overflow += can_push(can_queues[bus_number], to_push) ? 0U : 1U; - process_can(CAN_NUM_FROM_BUS_NUM(bus_number)); - } - } else { - safety_tx_blocked += 1U; - to_push->returned = 0U; - to_push->rejected = 1U; - - // data changed - can_set_checksum(to_push); - rx_buffer_overflow += can_push(&can_rx_q, to_push) ? 0U : 1U; - } -} - -bool is_speed_valid(uint32_t speed, const uint32_t *all_speeds, uint8_t len) { - bool ret = false; - for (uint8_t i = 0U; i < len; i++) { - if (all_speeds[i] == speed) { - ret = true; - } - } - return ret; -} diff --git a/panda/board/drivers/clock_source.h b/panda/board/drivers/clock_source.h deleted file mode 100644 index 5d6fdc8a77b528..00000000000000 --- a/panda/board/drivers/clock_source.h +++ /dev/null @@ -1,37 +0,0 @@ -#define CLOCK_SOURCE_PERIOD_MS 50U -#define CLOCK_SOURCE_PULSE_LEN_MS 2U - -void clock_source_set_period(uint8_t period) { - register_set(&(TIM1->ARR), ((period*10U) - 1U), 0xFFFFU); -} - -void clock_source_init(void) { - // Setup timer - register_set(&(TIM1->PSC), ((APB2_TIMER_FREQ*100U)-1U), 0xFFFFU); // Tick on 0.1 ms - register_set(&(TIM1->ARR), ((CLOCK_SOURCE_PERIOD_MS*10U) - 1U), 0xFFFFU); // Period - register_set(&(TIM1->CCMR1), 0U, 0xFFFFU); // No output on compare - register_set(&(TIM1->CCER), TIM_CCER_CC1E, 0xFFFFU); // Enable compare 1 - register_set(&(TIM1->CCR1), (CLOCK_SOURCE_PULSE_LEN_MS*10U), 0xFFFFU); // Compare 1 value - register_set(&(TIM1->CCR2), (CLOCK_SOURCE_PULSE_LEN_MS*10U), 0xFFFFU); // Compare 1 value - register_set(&(TIM1->CCR3), (CLOCK_SOURCE_PULSE_LEN_MS*10U), 0xFFFFU); // Compare 1 value - register_set_bits(&(TIM1->DIER), TIM_DIER_UIE | TIM_DIER_CC1IE); // Enable interrupts - register_set(&(TIM1->CR1), TIM_CR1_CEN, 0x3FU); // Enable timer - - // No interrupts - NVIC_DisableIRQ(TIM1_UP_TIM10_IRQn); - NVIC_DisableIRQ(TIM1_CC_IRQn); - - // Set GPIO as timer channels - set_gpio_alternate(GPIOB, 14, GPIO_AF1_TIM1); - set_gpio_alternate(GPIOB, 15, GPIO_AF1_TIM1); - - // Set PWM mode - register_set(&(TIM1->CCMR1), (0b110UL << TIM_CCMR1_OC2M_Pos), 0xFFFFU); - register_set(&(TIM1->CCMR2), (0b110UL << TIM_CCMR2_OC3M_Pos), 0xFFFFU); - - // Enable output - register_set(&(TIM1->BDTR), TIM_BDTR_MOE, 0xFFFFU); - - // Enable complementary compares - register_set_bits(&(TIM1->CCER), TIM_CCER_CC2NE | TIM_CCER_CC3NE); -} diff --git a/panda/board/drivers/fake_siren.h b/panda/board/drivers/fake_siren.h deleted file mode 100644 index 7c73be0b1c3493..00000000000000 --- a/panda/board/drivers/fake_siren.h +++ /dev/null @@ -1,76 +0,0 @@ -#include "stm32h7/lli2c.h" - -#define CODEC_I2C_ADDR 0x10 - -// 1Vpp sine wave with 1V offset -const uint8_t fake_siren_lut[360] = { 134U, 135U, 137U, 138U, 139U, 140U, 141U, 143U, 144U, 145U, 146U, 148U, 149U, 150U, 151U, 152U, 154U, 155U, 156U, 157U, 158U, 159U, 160U, 162U, 163U, 164U, 165U, 166U, 167U, 168U, 169U, 170U, 171U, 172U, 174U, 175U, 176U, 177U, 177U, 178U, 179U, 180U, 181U, 182U, 183U, 184U, 185U, 186U, 186U, 187U, 188U, 189U, 190U, 190U, 191U, 192U, 193U, 193U, 194U, 195U, 195U, 196U, 196U, 197U, 197U, 198U, 199U, 199U, 199U, 200U, 200U, 201U, 201U, 202U, 202U, 202U, 203U, 203U, 203U, 203U, 204U, 204U, 204U, 204U, 204U, 204U, 204U, 205U, 205U, 205U, 205U, 205U, 205U, 205U, 204U, 204U, 204U, 204U, 204U, 204U, 204U, 203U, 203U, 203U, 203U, 202U, 202U, 202U, 201U, 201U, 200U, 200U, 199U, 199U, 199U, 198U, 197U, 197U, 196U, 196U, 195U, 195U, 194U, 193U, 193U, 192U, 191U, 190U, 190U, 189U, 188U, 187U, 186U, 186U, 185U, 184U, 183U, 182U, 181U, 180U, 179U, 178U, 177U, 177U, 176U, 175U, 174U, 172U, 171U, 170U, 169U, 168U, 167U, 166U, 165U, 164U, 163U, 162U, 160U, 159U, 158U, 157U, 156U, 155U, 154U, 152U, 151U, 150U, 149U, 148U, 146U, 145U, 144U, 143U, 141U, 140U, 139U, 138U, 137U, 135U, 134U, 133U, 132U, 130U, 129U, 128U, 127U, 125U, 124U, 123U, 122U, 121U, 119U, 118U, 117U, 116U, 115U, 113U, 112U, 111U, 110U, 109U, 108U, 106U, 105U, 104U, 103U, 102U, 101U, 100U, 99U, 98U, 97U, 96U, 95U, 94U, 93U, 92U, 91U, 90U, 89U, 88U, 87U, 86U, 85U, 84U, 83U, 82U, 82U, 81U, 80U, 79U, 78U, 78U, 77U, 76U, 76U, 75U, 74U, 74U, 73U, 72U, 72U, 71U, 71U, 70U, 70U, 69U, 69U, 68U, 68U, 67U, 67U, 67U, 66U, 66U, 66U, 65U, 65U, 65U, 65U, 64U, 64U, 64U, 64U, 64U, 64U, 64U, 64U, 64U, 63U, 64U, 64U, 64U, 64U, 64U, 64U, 64U, 64U, 64U, 65U, 65U, 65U, 65U, 66U, 66U, 66U, 67U, 67U, 67U, 68U, 68U, 69U, 69U, 70U, 70U, 71U, 71U, 72U, 72U, 73U, 74U, 74U, 75U, 76U, 76U, 77U, 78U, 78U, 79U, 80U, 81U, 82U, 82U, 83U, 84U, 85U, 86U, 87U, 88U, 89U, 90U, 91U, 92U, 93U, 94U, 95U, 96U, 97U, 98U, 99U, 100U, 101U, 102U, 103U, 104U, 105U, 106U, 108U, 109U, 110U, 111U, 112U, 113U, 115U, 116U, 117U, 118U, 119U, 121U, 122U, 123U, 124U, 125U, 127U, 128U, 129U, 130U, 132U, 133U }; - -bool fake_siren_enabled = false; - -void fake_siren_codec_enable(bool enabled) { - if (enabled) { - bool success = true; - success &= i2c_set_reg_bits(I2C5, CODEC_I2C_ADDR, 0x2B, (1U << 1)); // Left speaker mix from INA1 - success &= i2c_set_reg_bits(I2C5, CODEC_I2C_ADDR, 0x2C, (1U << 1)); // Right speaker mix from INA1 - success &= i2c_set_reg_mask(I2C5, CODEC_I2C_ADDR, 0x3D, 0x17, 0b11111); // Left speaker volume - success &= i2c_set_reg_mask(I2C5, CODEC_I2C_ADDR, 0x3E, 0x17, 0b11111); // Right speaker volume - success &= i2c_set_reg_mask(I2C5, CODEC_I2C_ADDR, 0x37, 0b101, 0b111); // INA gain - success &= i2c_set_reg_bits(I2C5, CODEC_I2C_ADDR, 0x4C, (1U << 7)); // Enable INA - success &= i2c_set_reg_bits(I2C5, CODEC_I2C_ADDR, 0x51, (1U << 7)); // Disable global shutdown - if (!success) { - print("Siren codec enable failed\n"); - fault_occurred(FAULT_SIREN_MALFUNCTION); - } - } else { - // Disable INA input. Make sure to retry a few times if the I2C bus is busy. - for (uint8_t i=0U; i<10U; i++) { - if (i2c_clear_reg_bits(I2C5, CODEC_I2C_ADDR, 0x4C, (1U << 7))) { - break; - } - } - } -} - - -void fake_siren_set(bool enabled) { - if (enabled != fake_siren_enabled) { - fake_siren_codec_enable(enabled); - } - - if (enabled) { - register_set_bits(&DMA1_Stream1->CR, DMA_SxCR_EN); - } else { - register_clear_bits(&DMA1_Stream1->CR, DMA_SxCR_EN); - } - fake_siren_enabled = enabled; -} - -void fake_siren_init(void) { - // Init DAC - register_set(&DAC1->MCR, 0U, 0xFFFFFFFFU); - register_set(&DAC1->CR, DAC_CR_TEN1 | (6U << DAC_CR_TSEL1_Pos) | DAC_CR_DMAEN1, 0xFFFFFFFFU); - register_set_bits(&DAC1->CR, DAC_CR_EN1); - - // Setup DMAMUX (DAC_CH1_DMA as input) - register_set(&DMAMUX1_Channel1->CCR, 67U, DMAMUX_CxCR_DMAREQ_ID_Msk); - - // Setup DMA - register_set(&DMA1_Stream1->M0AR, (uint32_t) fake_siren_lut, 0xFFFFFFFFU); - register_set(&DMA1_Stream1->PAR, (uint32_t) &(DAC1->DHR8R1), 0xFFFFFFFFU); - DMA1_Stream1->NDTR = sizeof(fake_siren_lut); - register_set(&DMA1_Stream1->FCR, 0U, 0x00000083U); - DMA1_Stream1->CR = (0b11UL << DMA_SxCR_PL_Pos); - DMA1_Stream1->CR |= DMA_SxCR_MINC | DMA_SxCR_CIRC | (1U << DMA_SxCR_DIR_Pos); - - // Init trigger timer (around 2.5kHz) - register_set(&TIM7->PSC, 0U, 0xFFFFU); - register_set(&TIM7->ARR, 133U, 0xFFFFU); - register_set(&TIM7->CR2, (0b10U << TIM_CR2_MMS_Pos), TIM_CR2_MMS_Msk); - register_set(&TIM7->CR1, TIM_CR1_ARPE | TIM_CR1_URS, 0x088EU); - TIM7->SR = 0U; - TIM7->CR1 |= TIM_CR1_CEN; - - // Enable the I2C to the codec - i2c_init(I2C5); - fake_siren_codec_enable(false); -} diff --git a/panda/board/drivers/fan.h b/panda/board/drivers/fan.h deleted file mode 100644 index 15296079aef4f6..00000000000000 --- a/panda/board/drivers/fan.h +++ /dev/null @@ -1,95 +0,0 @@ -struct fan_state_t { - uint16_t tach_counter; - uint16_t rpm; - uint16_t target_rpm; - uint8_t power; - float error_integral; - uint8_t stall_counter; - uint8_t stall_threshold; - uint8_t total_stall_count; - uint8_t cooldown_counter; -} fan_state_t; -struct fan_state_t fan_state; - -const float FAN_I = 0.001f; - -const uint8_t FAN_TICK_FREQ = 8U; -const uint8_t FAN_STALL_THRESHOLD_MIN = 3U; -const uint8_t FAN_STALL_THRESHOLD_MAX = 8U; - - -void fan_set_power(uint8_t percentage) { - fan_state.target_rpm = ((current_board->fan_max_rpm * CLAMP(percentage, 0U, 100U)) / 100U); -} - -void llfan_init(void); -void fan_init(void) { - fan_state.stall_threshold = FAN_STALL_THRESHOLD_MIN; - fan_state.cooldown_counter = current_board->fan_enable_cooldown_time * FAN_TICK_FREQ; - llfan_init(); -} - -// Call this at FAN_TICK_FREQ -void fan_tick(void) { - if (current_board->fan_max_rpm > 0U) { - // Measure fan RPM - uint16_t fan_rpm_fast = fan_state.tach_counter * (60U * FAN_TICK_FREQ / 4U); // 4 interrupts per rotation - fan_state.tach_counter = 0U; - fan_state.rpm = (fan_rpm_fast + (3U * fan_state.rpm)) / 4U; - - // Stall detection - bool fan_stalled = false; - if (current_board->fan_stall_recovery) { - if (fan_state.target_rpm > 0U) { - if (fan_rpm_fast == 0U) { - fan_state.stall_counter = MIN(fan_state.stall_counter + 1U, 255U); - } else { - fan_state.stall_counter = 0U; - } - - if (fan_state.stall_counter > (fan_state.stall_threshold*FAN_TICK_FREQ)) { - fan_stalled = true; - fan_state.stall_counter = 0U; - fan_state.stall_threshold = CLAMP(fan_state.stall_threshold + 2U, FAN_STALL_THRESHOLD_MIN, FAN_STALL_THRESHOLD_MAX); - fan_state.total_stall_count += 1U; - - // datasheet gives this range as the minimum startup duty - fan_state.error_integral = CLAMP(fan_state.error_integral, 20.0f, 45.0f); - } - } else { - fan_state.stall_counter = 0U; - fan_state.stall_threshold = FAN_STALL_THRESHOLD_MIN; - } - } - - #ifdef DEBUG_FAN - puth(fan_state.target_rpm); - print(" "); puth(fan_rpm_fast); - print(" "); puth(fan_state.power); - print(" "); puth(fan_state.stall_counter); - print("\n"); - #endif - - // Cooldown counter - if (fan_state.target_rpm > 0U) { - fan_state.cooldown_counter = current_board->fan_enable_cooldown_time * FAN_TICK_FREQ; - } else { - if (fan_state.cooldown_counter > 0U) { - fan_state.cooldown_counter--; - } - } - - // Update controller - if (fan_state.target_rpm == 0U) { - fan_state.error_integral = 0.0f; - } else { - float error = fan_state.target_rpm - fan_rpm_fast; - fan_state.error_integral += FAN_I * error; - } - fan_state.power = CLAMP(fan_state.error_integral, 0U, 100U); - - // Set PWM and enable line - pwm_set(TIM3, 3, fan_state.power); - current_board->set_fan_enabled(!fan_stalled && ((fan_state.target_rpm > 0U) || (fan_state.cooldown_counter > 0U))); - } -} diff --git a/panda/board/drivers/fdcan.h b/panda/board/drivers/fdcan.h deleted file mode 100644 index 0ba228a9e666ef..00000000000000 --- a/panda/board/drivers/fdcan.h +++ /dev/null @@ -1,267 +0,0 @@ -// IRQs: FDCAN1_IT0, FDCAN1_IT1 -// FDCAN2_IT0, FDCAN2_IT1 -// FDCAN3_IT0, FDCAN3_IT1 - -#define CANFD - -typedef struct { - volatile uint32_t header[2]; - volatile uint32_t data_word[CANPACKET_DATA_SIZE_MAX/4U]; -} canfd_fifo; - -FDCAN_GlobalTypeDef *cans[] = {FDCAN1, FDCAN2, FDCAN3}; - -uint8_t can_irq_number[3][2] = { - { FDCAN1_IT0_IRQn, FDCAN1_IT1_IRQn }, - { FDCAN2_IT0_IRQn, FDCAN2_IT1_IRQn }, - { FDCAN3_IT0_IRQn, FDCAN3_IT1_IRQn }, -}; - -#define CAN_ACK_ERROR 3U - -bool can_set_speed(uint8_t can_number) { - bool ret = true; - FDCAN_GlobalTypeDef *FDCANx = CANIF_FROM_CAN_NUM(can_number); - uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number); - - ret &= llcan_set_speed( - FDCANx, - bus_config[bus_number].can_speed, - bus_config[bus_number].can_data_speed, - bus_config[bus_number].canfd_non_iso, - can_loopback, - (unsigned int)(can_silent) & (1U << can_number) - ); - return ret; -} - -void update_can_health_pkt(uint8_t can_number, uint32_t ir_reg) { - FDCAN_GlobalTypeDef *FDCANx = CANIF_FROM_CAN_NUM(can_number); - uint32_t psr_reg = FDCANx->PSR; - uint32_t ecr_reg = FDCANx->ECR; - - can_health[can_number].bus_off = ((psr_reg & FDCAN_PSR_BO) >> FDCAN_PSR_BO_Pos); - can_health[can_number].bus_off_cnt += can_health[can_number].bus_off; - can_health[can_number].error_warning = ((psr_reg & FDCAN_PSR_EW) >> FDCAN_PSR_EW_Pos); - can_health[can_number].error_passive = ((psr_reg & FDCAN_PSR_EP) >> FDCAN_PSR_EP_Pos); - - can_health[can_number].last_error = ((psr_reg & FDCAN_PSR_LEC) >> FDCAN_PSR_LEC_Pos); - if ((can_health[can_number].last_error != 0U) && (can_health[can_number].last_error != 7U)) { - can_health[can_number].last_stored_error = can_health[can_number].last_error; - } - - can_health[can_number].last_data_error = ((psr_reg & FDCAN_PSR_DLEC) >> FDCAN_PSR_DLEC_Pos); - if ((can_health[can_number].last_data_error != 0U) && (can_health[can_number].last_data_error != 7U)) { - can_health[can_number].last_data_stored_error = can_health[can_number].last_data_error; - } - - can_health[can_number].receive_error_cnt = ((ecr_reg & FDCAN_ECR_REC) >> FDCAN_ECR_REC_Pos); - can_health[can_number].transmit_error_cnt = ((ecr_reg & FDCAN_ECR_TEC) >> FDCAN_ECR_TEC_Pos); - - can_health[can_number].irq0_call_rate = interrupts[can_irq_number[can_number][0]].call_rate; - can_health[can_number].irq1_call_rate = interrupts[can_irq_number[can_number][1]].call_rate; - - - if (ir_reg != 0U) { - // Clear error interrupts - FDCANx->IR |= (FDCAN_IR_PED | FDCAN_IR_PEA | FDCAN_IR_EP | FDCAN_IR_BO | FDCAN_IR_RF0L); - can_health[can_number].total_error_cnt += 1U; - // Check for RX FIFO overflow - if ((ir_reg & (FDCAN_IR_RF0L)) != 0U) { - can_health[can_number].total_rx_lost_cnt += 1U; - } - // Cases: - // 1. while multiplexing between buses 1 and 3 we are getting ACK errors that overwhelm CAN core, by resetting it recovers faster - // 2. H7 gets stuck in bus off recovery state indefinitely - if ((((can_health[can_number].last_error == CAN_ACK_ERROR) || (can_health[can_number].last_data_error == CAN_ACK_ERROR)) && (can_health[can_number].transmit_error_cnt > 127U)) || - ((ir_reg & FDCAN_IR_BO) != 0U)) { - can_health[can_number].can_core_reset_cnt += 1U; - can_health[can_number].total_tx_lost_cnt += (FDCAN_TX_FIFO_EL_CNT - (FDCANx->TXFQS & FDCAN_TXFQS_TFFL)); // TX FIFO msgs will be lost after reset - llcan_clear_send(FDCANx); - } - } -} - -// ***************************** CAN ***************************** -// FDFDCANx_IT1 IRQ Handler (TX) -void process_can(uint8_t can_number) { - if (can_number != 0xffU) { - ENTER_CRITICAL(); - - FDCAN_GlobalTypeDef *FDCANx = CANIF_FROM_CAN_NUM(can_number); - uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number); - - FDCANx->IR |= FDCAN_IR_TFE; // Clear Tx FIFO Empty flag - - if ((FDCANx->TXFQS & FDCAN_TXFQS_TFQF) == 0U) { - CANPacket_t to_send; - if (can_pop(can_queues[bus_number], &to_send)) { - if (can_check_checksum(&to_send)) { - can_health[can_number].total_tx_cnt += 1U; - - uint32_t TxFIFOSA = FDCAN_START_ADDRESS + (can_number * FDCAN_OFFSET) + (FDCAN_RX_FIFO_0_EL_CNT * FDCAN_RX_FIFO_0_EL_SIZE); - // get the index of the next TX FIFO element (0 to FDCAN_TX_FIFO_EL_CNT - 1) - uint32_t tx_index = (FDCANx->TXFQS >> FDCAN_TXFQS_TFQPI_Pos) & 0x1FU; - // only send if we have received a packet - canfd_fifo *fifo; - fifo = (canfd_fifo *)(TxFIFOSA + (tx_index * FDCAN_TX_FIFO_EL_SIZE)); - - fifo->header[0] = (to_send.extended << 30) | ((to_send.extended != 0U) ? (to_send.addr) : (to_send.addr << 18)); - uint32_t canfd_enabled_header = bus_config[can_number].canfd_enabled ? (1UL << 21) : 0UL; - uint32_t brs_enabled_header = bus_config[can_number].brs_enabled ? (1UL << 20) : 0UL; - fifo->header[1] = (to_send.data_len_code << 16) | canfd_enabled_header | brs_enabled_header; - - uint8_t data_len_w = (dlc_to_len[to_send.data_len_code] / 4U); - data_len_w += ((dlc_to_len[to_send.data_len_code] % 4U) > 0U) ? 1U : 0U; - for (unsigned int i = 0; i < data_len_w; i++) { - BYTE_ARRAY_TO_WORD(fifo->data_word[i], &to_send.data[i*4U]); - } - - FDCANx->TXBAR = (1UL << tx_index); - - // Send back to USB - CANPacket_t to_push; - - to_push.returned = 1U; - to_push.rejected = 0U; - to_push.extended = to_send.extended; - to_push.addr = to_send.addr; - to_push.bus = bus_number; - to_push.data_len_code = to_send.data_len_code; - (void)memcpy(to_push.data, to_send.data, dlc_to_len[to_push.data_len_code]); - can_set_checksum(&to_push); - - rx_buffer_overflow += can_push(&can_rx_q, &to_push) ? 0U : 1U; - } else { - can_health[can_number].total_tx_checksum_error_cnt += 1U; - } - - refresh_can_tx_slots_available(); - } - } - EXIT_CRITICAL(); - } -} - -// FDFDCANx_IT0 IRQ Handler (RX and errors) -// blink blue when we are receiving CAN messages -void can_rx(uint8_t can_number) { - FDCAN_GlobalTypeDef *FDCANx = CANIF_FROM_CAN_NUM(can_number); - uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number); - - uint32_t ir_reg = FDCANx->IR; - - // Clear all new messages from Rx FIFO 0 - FDCANx->IR |= FDCAN_IR_RF0N; - while((FDCANx->RXF0S & FDCAN_RXF0S_F0FL) != 0U) { - can_health[can_number].total_rx_cnt += 1U; - - // can is live - pending_can_live = 1; - - // get the index of the next RX FIFO element (0 to FDCAN_RX_FIFO_0_EL_CNT - 1) - uint32_t rx_fifo_idx = (uint8_t)((FDCANx->RXF0S >> FDCAN_RXF0S_F0GI_Pos) & 0x3FU); - - // Recommended to offset get index by at least +1 if RX FIFO is in overwrite mode and full (datasheet) - if((FDCANx->RXF0S & FDCAN_RXF0S_F0F) == FDCAN_RXF0S_F0F) { - rx_fifo_idx = ((rx_fifo_idx + 1U) >= FDCAN_RX_FIFO_0_EL_CNT) ? 0U : (rx_fifo_idx + 1U); - can_health[can_number].total_rx_lost_cnt += 1U; // At least one message was lost - } - - uint32_t RxFIFO0SA = FDCAN_START_ADDRESS + (can_number * FDCAN_OFFSET); - CANPacket_t to_push; - canfd_fifo *fifo; - - // getting address - fifo = (canfd_fifo *)(RxFIFO0SA + (rx_fifo_idx * FDCAN_RX_FIFO_0_EL_SIZE)); - - to_push.returned = 0U; - to_push.rejected = 0U; - to_push.extended = (fifo->header[0] >> 30) & 0x1U; - to_push.addr = ((to_push.extended != 0U) ? (fifo->header[0] & 0x1FFFFFFFU) : ((fifo->header[0] >> 18) & 0x7FFU)); - to_push.bus = bus_number; - to_push.data_len_code = ((fifo->header[1] >> 16) & 0xFU); - - bool canfd_frame = ((fifo->header[1] >> 21) & 0x1U); - bool brs_frame = ((fifo->header[1] >> 20) & 0x1U); - - uint8_t data_len_w = (dlc_to_len[to_push.data_len_code] / 4U); - data_len_w += ((dlc_to_len[to_push.data_len_code] % 4U) > 0U) ? 1U : 0U; - for (unsigned int i = 0; i < data_len_w; i++) { - WORD_TO_BYTE_ARRAY(&to_push.data[i*4U], fifo->data_word[i]); - } - can_set_checksum(&to_push); - - // forwarding (panda only) - int bus_fwd_num = safety_fwd_hook(bus_number, to_push.addr); - if (bus_fwd_num < 0) { - bus_fwd_num = bus_config[can_number].forwarding_bus; - } - if (bus_fwd_num != -1) { - CANPacket_t to_send; - - to_send.returned = 0U; - to_send.rejected = 0U; - to_send.extended = to_push.extended; - to_send.addr = to_push.addr; - to_send.bus = to_push.bus; - to_send.data_len_code = to_push.data_len_code; - (void)memcpy(to_send.data, to_push.data, dlc_to_len[to_push.data_len_code]); - can_set_checksum(&to_send); - - can_send(&to_send, bus_fwd_num, true); - can_health[can_number].total_fwd_cnt += 1U; - } - - safety_rx_invalid += safety_rx_hook(&to_push) ? 0U : 1U; - ignition_can_hook(&to_push); - - current_board->set_led(LED_BLUE, true); - rx_buffer_overflow += can_push(&can_rx_q, &to_push) ? 0U : 1U; - - // Enable CAN FD and BRS if CAN FD message was received - if (!(bus_config[can_number].canfd_enabled) && (canfd_frame)) { - bus_config[can_number].canfd_enabled = true; - } - if (!(bus_config[can_number].brs_enabled) && (brs_frame)) { - bus_config[can_number].brs_enabled = true; - } - - // update read index - FDCANx->RXF0A = rx_fifo_idx; - } - - // Error handling - if ((ir_reg & (FDCAN_IR_PED | FDCAN_IR_PEA | FDCAN_IR_EP | FDCAN_IR_BO | FDCAN_IR_RF0L)) != 0U) { - update_can_health_pkt(can_number, ir_reg); - } -} - -void FDCAN1_IT0_IRQ_Handler(void) { can_rx(0); } -void FDCAN1_IT1_IRQ_Handler(void) { process_can(0); } - -void FDCAN2_IT0_IRQ_Handler(void) { can_rx(1); } -void FDCAN2_IT1_IRQ_Handler(void) { process_can(1); } - -void FDCAN3_IT0_IRQ_Handler(void) { can_rx(2); } -void FDCAN3_IT1_IRQ_Handler(void) { process_can(2); } - -bool can_init(uint8_t can_number) { - bool ret = false; - - REGISTER_INTERRUPT(FDCAN1_IT0_IRQn, FDCAN1_IT0_IRQ_Handler, CAN_INTERRUPT_RATE, FAULT_INTERRUPT_RATE_CAN_1) - REGISTER_INTERRUPT(FDCAN1_IT1_IRQn, FDCAN1_IT1_IRQ_Handler, CAN_INTERRUPT_RATE, FAULT_INTERRUPT_RATE_CAN_1) - REGISTER_INTERRUPT(FDCAN2_IT0_IRQn, FDCAN2_IT0_IRQ_Handler, CAN_INTERRUPT_RATE, FAULT_INTERRUPT_RATE_CAN_2) - REGISTER_INTERRUPT(FDCAN2_IT1_IRQn, FDCAN2_IT1_IRQ_Handler, CAN_INTERRUPT_RATE, FAULT_INTERRUPT_RATE_CAN_2) - REGISTER_INTERRUPT(FDCAN3_IT0_IRQn, FDCAN3_IT0_IRQ_Handler, CAN_INTERRUPT_RATE, FAULT_INTERRUPT_RATE_CAN_3) - REGISTER_INTERRUPT(FDCAN3_IT1_IRQn, FDCAN3_IT1_IRQ_Handler, CAN_INTERRUPT_RATE, FAULT_INTERRUPT_RATE_CAN_3) - - if (can_number != 0xffU) { - FDCAN_GlobalTypeDef *FDCANx = CANIF_FROM_CAN_NUM(can_number); - ret &= can_set_speed(can_number); - ret &= llcan_init(FDCANx); - // in case there are queued up messages - process_can(can_number); - } - return ret; -} diff --git a/panda/board/drivers/gpio.h b/panda/board/drivers/gpio.h deleted file mode 100644 index 0b8fc091b1fccd..00000000000000 --- a/panda/board/drivers/gpio.h +++ /dev/null @@ -1,92 +0,0 @@ -#define MODE_INPUT 0 -#define MODE_OUTPUT 1 -#define MODE_ALTERNATE 2 -#define MODE_ANALOG 3 - -#define PULL_NONE 0 -#define PULL_UP 1 -#define PULL_DOWN 2 - -#define OUTPUT_TYPE_PUSH_PULL 0U -#define OUTPUT_TYPE_OPEN_DRAIN 1U - -typedef struct { - GPIO_TypeDef * const bank; - uint8_t pin; -} gpio_t; - -void set_gpio_mode(GPIO_TypeDef *GPIO, unsigned int pin, unsigned int mode) { - ENTER_CRITICAL(); - uint32_t tmp = GPIO->MODER; - tmp &= ~(3U << (pin * 2U)); - tmp |= (mode << (pin * 2U)); - register_set(&(GPIO->MODER), tmp, 0xFFFFFFFFU); - EXIT_CRITICAL(); -} - -void set_gpio_output(GPIO_TypeDef *GPIO, unsigned int pin, bool enabled) { - ENTER_CRITICAL(); - if (enabled) { - register_set_bits(&(GPIO->ODR), (1UL << pin)); - } else { - register_clear_bits(&(GPIO->ODR), (1UL << pin)); - } - set_gpio_mode(GPIO, pin, MODE_OUTPUT); - EXIT_CRITICAL(); -} - -void set_gpio_output_type(GPIO_TypeDef *GPIO, unsigned int pin, unsigned int output_type){ - ENTER_CRITICAL(); - if(output_type == OUTPUT_TYPE_OPEN_DRAIN) { - register_set_bits(&(GPIO->OTYPER), (1UL << pin)); - } else { - register_clear_bits(&(GPIO->OTYPER), (1U << pin)); - } - EXIT_CRITICAL(); -} - -void set_gpio_alternate(GPIO_TypeDef *GPIO, unsigned int pin, unsigned int mode) { - ENTER_CRITICAL(); - uint32_t tmp = GPIO->AFR[pin >> 3U]; - tmp &= ~(0xFU << ((pin & 7U) * 4U)); - tmp |= mode << ((pin & 7U) * 4U); - register_set(&(GPIO->AFR[pin >> 3]), tmp, 0xFFFFFFFFU); - set_gpio_mode(GPIO, pin, MODE_ALTERNATE); - EXIT_CRITICAL(); -} - -void set_gpio_pullup(GPIO_TypeDef *GPIO, unsigned int pin, unsigned int mode) { - ENTER_CRITICAL(); - uint32_t tmp = GPIO->PUPDR; - tmp &= ~(3U << (pin * 2U)); - tmp |= (mode << (pin * 2U)); - register_set(&(GPIO->PUPDR), tmp, 0xFFFFFFFFU); - EXIT_CRITICAL(); -} - -int get_gpio_input(const GPIO_TypeDef *GPIO, unsigned int pin) { - return (GPIO->IDR & (1UL << pin)) == (1UL << pin); -} - -void gpio_set_all_output(gpio_t *pins, uint8_t num_pins, bool enabled) { - for (uint8_t i = 0; i < num_pins; i++) { - set_gpio_output(pins[i].bank, pins[i].pin, enabled); - } -} - -void gpio_set_bitmask(gpio_t *pins, uint8_t num_pins, uint32_t bitmask) { - for (uint8_t i = 0; i < num_pins; i++) { - set_gpio_output(pins[i].bank, pins[i].pin, (bitmask >> i) & 1U); - } -} - -// Detection with internal pullup -#define PULL_EFFECTIVE_DELAY 4096 -bool detect_with_pull(GPIO_TypeDef *GPIO, int pin, int mode) { - set_gpio_mode(GPIO, pin, MODE_INPUT); - set_gpio_pullup(GPIO, pin, mode); - for (volatile int i=0; iharness_config->has_harness) { - bool drive_relay = intercept; - if (harness.status == HARNESS_STATUS_NC) { - // no harness, no relay to drive - drive_relay = false; - } - - if (drive_relay || ignition_relay) { - harness.relay_driven = true; - } - - // wait until we're not reading the analog voltages anymore - while (harness.sbu_adc_lock) {} - - if (harness.status == HARNESS_STATUS_NORMAL) { - set_gpio_output(current_board->harness_config->GPIO_relay_SBU1, current_board->harness_config->pin_relay_SBU1, !ignition_relay); - set_gpio_output(current_board->harness_config->GPIO_relay_SBU2, current_board->harness_config->pin_relay_SBU2, !drive_relay); - } else { - set_gpio_output(current_board->harness_config->GPIO_relay_SBU1, current_board->harness_config->pin_relay_SBU1, !drive_relay); - set_gpio_output(current_board->harness_config->GPIO_relay_SBU2, current_board->harness_config->pin_relay_SBU2, !ignition_relay); - } - - if (!(drive_relay || ignition_relay)) { - harness.relay_driven = false; - } - } -} - -bool harness_check_ignition(void) { - bool ret = false; - - // wait until we're not reading the analog voltages anymore - while (harness.sbu_adc_lock) {} - - switch(harness.status){ - case HARNESS_STATUS_NORMAL: - ret = !get_gpio_input(current_board->harness_config->GPIO_SBU1, current_board->harness_config->pin_SBU1); - break; - case HARNESS_STATUS_FLIPPED: - ret = !get_gpio_input(current_board->harness_config->GPIO_SBU2, current_board->harness_config->pin_SBU2); - break; - default: - break; - } - return ret; -} - -uint8_t harness_detect_orientation(void) { - uint8_t ret = harness.status; - - #ifndef BOOTSTUB - // We can't detect orientation if the relay is being driven - if (!harness.relay_driven && current_board->harness_config->has_harness) { - harness.sbu_adc_lock = true; - set_gpio_mode(current_board->harness_config->GPIO_SBU1, current_board->harness_config->pin_SBU1, MODE_ANALOG); - set_gpio_mode(current_board->harness_config->GPIO_SBU2, current_board->harness_config->pin_SBU2, MODE_ANALOG); - - harness.sbu1_voltage_mV = adc_get_mV(current_board->harness_config->adc_channel_SBU1); - harness.sbu2_voltage_mV = adc_get_mV(current_board->harness_config->adc_channel_SBU2); - uint16_t detection_threshold = current_board->avdd_mV / 2U; - - // Detect connection and orientation - if((harness.sbu1_voltage_mV < detection_threshold) || (harness.sbu2_voltage_mV < detection_threshold)){ - if (harness.sbu1_voltage_mV < harness.sbu2_voltage_mV) { - // orientation flipped (PANDA_SBU1->HARNESS_SBU1(relay), PANDA_SBU2->HARNESS_SBU2(ign)) - ret = HARNESS_STATUS_FLIPPED; - } else { - // orientation normal (PANDA_SBU2->HARNESS_SBU1(relay), PANDA_SBU1->HARNESS_SBU2(ign)) - // (SBU1->SBU2 is the normal orientation connection per USB-C cable spec) - ret = HARNESS_STATUS_NORMAL; - } - } else { - ret = HARNESS_STATUS_NC; - } - - // Pins are not 5V tolerant in ADC mode - set_gpio_mode(current_board->harness_config->GPIO_SBU1, current_board->harness_config->pin_SBU1, MODE_INPUT); - set_gpio_mode(current_board->harness_config->GPIO_SBU2, current_board->harness_config->pin_SBU2, MODE_INPUT); - harness.sbu_adc_lock = false; - } - #endif - - return ret; -} - -void harness_tick(void) { - harness.status = harness_detect_orientation(); -} - -void harness_init(void) { - // try to detect orientation - harness.status = harness_detect_orientation(); - if (harness.status != HARNESS_STATUS_NC) { - print("detected car harness with orientation "); puth2(harness.status); print("\n"); - } else { - print("failed to detect car harness!\n"); - } - - // keep buses connected by default - set_intercept_relay(false, false); -} diff --git a/panda/board/drivers/interrupts.h b/panda/board/drivers/interrupts.h deleted file mode 100644 index 77988f6e45e539..00000000000000 --- a/panda/board/drivers/interrupts.h +++ /dev/null @@ -1,99 +0,0 @@ -typedef struct interrupt { - IRQn_Type irq_type; - void (*handler)(void); - uint32_t call_counter; - uint32_t call_rate; - uint32_t max_call_rate; // Call rate is defined as the amount of calls each second - uint32_t call_rate_fault; -} interrupt; - -void interrupt_timer_init(void); -uint32_t microsecond_timer_get(void); - -void unused_interrupt_handler(void) { - // Something is wrong if this handler is called! - print("Unused interrupt handler called!\n"); - fault_occurred(FAULT_UNUSED_INTERRUPT_HANDLED); -} - -interrupt interrupts[NUM_INTERRUPTS]; - -#define REGISTER_INTERRUPT(irq_num, func_ptr, call_rate_max, rate_fault) \ - interrupts[irq_num].irq_type = (irq_num); \ - interrupts[irq_num].handler = (func_ptr); \ - interrupts[irq_num].call_counter = 0U; \ - interrupts[irq_num].call_rate = 0U; \ - interrupts[irq_num].max_call_rate = (call_rate_max); \ - interrupts[irq_num].call_rate_fault = (rate_fault); - -bool check_interrupt_rate = false; - -uint8_t interrupt_depth = 0U; -uint32_t last_time = 0U; -uint32_t idle_time = 0U; -uint32_t busy_time = 0U; -float interrupt_load = 0.0f; - -void handle_interrupt(IRQn_Type irq_type){ - ENTER_CRITICAL(); - if (interrupt_depth == 0U) { - uint32_t time = microsecond_timer_get(); - idle_time += get_ts_elapsed(time, last_time); - last_time = time; - } - interrupt_depth += 1U; - EXIT_CRITICAL(); - - interrupts[irq_type].call_counter++; - interrupts[irq_type].handler(); - - // Check that the interrupts don't fire too often - if (check_interrupt_rate && (interrupts[irq_type].call_counter > interrupts[irq_type].max_call_rate)) { - fault_occurred(interrupts[irq_type].call_rate_fault); - } - - ENTER_CRITICAL(); - interrupt_depth -= 1U; - if (interrupt_depth == 0U) { - uint32_t time = microsecond_timer_get(); - busy_time += get_ts_elapsed(time, last_time); - last_time = time; - } - EXIT_CRITICAL(); -} - -// Every second -void interrupt_timer_handler(void) { - if (INTERRUPT_TIMER->SR != 0U) { - for (uint16_t i = 0U; i < NUM_INTERRUPTS; i++) { - // Log IRQ call rate faults - if (check_interrupt_rate && (interrupts[i].call_counter > interrupts[i].max_call_rate)) { - print("Interrupt 0x"); puth(i); print(" fired too often (0x"); puth(interrupts[i].call_counter); print("/s)!\n"); - } - - // Reset interrupt counters - interrupts[i].call_rate = interrupts[i].call_counter; - interrupts[i].call_counter = 0U; - } - - // Calculate interrupt load - // The bootstub does not have the FPU enabled, so can't do float operations. -#if !defined(BOOTSTUB) - interrupt_load = ((busy_time + idle_time) > 0U) ? ((float) (((float) busy_time) / (busy_time + idle_time))) : 0.0f; -#endif - idle_time = 0U; - busy_time = 0U; - } - INTERRUPT_TIMER->SR = 0; -} - -void init_interrupts(bool check_rate_limit){ - check_interrupt_rate = check_rate_limit; - - for(uint16_t i=0U; iCR1), TIM_CR1_CEN | TIM_CR1_ARPE, 0x3FU); - - // Set channel as PWM mode 1 and enable output - switch(channel){ - case 1U: - register_set_bits(&(TIM->CCMR1), (TIM_CCMR1_OC1M_2 | TIM_CCMR1_OC1M_1 | TIM_CCMR1_OC1PE)); - register_set_bits(&(TIM->CCER), TIM_CCER_CC1E); - break; - case 2U: - register_set_bits(&(TIM->CCMR1), (TIM_CCMR1_OC2M_2 | TIM_CCMR1_OC2M_1 | TIM_CCMR1_OC2PE)); - register_set_bits(&(TIM->CCER), TIM_CCER_CC2E); - break; - case 3U: - register_set_bits(&(TIM->CCMR2), (TIM_CCMR2_OC3M_2 | TIM_CCMR2_OC3M_1 | TIM_CCMR2_OC3PE)); - register_set_bits(&(TIM->CCER), TIM_CCER_CC3E); - break; - case 4U: - register_set_bits(&(TIM->CCMR2), (TIM_CCMR2_OC4M_2 | TIM_CCMR2_OC4M_1 | TIM_CCMR2_OC4PE)); - register_set_bits(&(TIM->CCER), TIM_CCER_CC4E); - break; - default: - break; - } - - // Set max counter value - register_set(&(TIM->ARR), PWM_COUNTER_OVERFLOW, 0xFFFFU); - - // Update registers and clear counter - TIM->EGR |= TIM_EGR_UG; -} - -void pwm_set(TIM_TypeDef *TIM, uint8_t channel, uint8_t percentage){ - uint16_t comp_value = (((uint16_t) percentage * PWM_COUNTER_OVERFLOW) / 100U); - switch(channel){ - case 1U: - register_set(&(TIM->CCR1), comp_value, 0xFFFFU); - break; - case 2U: - register_set(&(TIM->CCR2), comp_value, 0xFFFFU); - break; - case 3U: - register_set(&(TIM->CCR3), comp_value, 0xFFFFU); - break; - case 4U: - register_set(&(TIM->CCR4), comp_value, 0xFFFFU); - break; - default: - break; - } -} diff --git a/panda/board/drivers/registers.h b/panda/board/drivers/registers.h deleted file mode 100644 index 5d5a4257d77b22..00000000000000 --- a/panda/board/drivers/registers.h +++ /dev/null @@ -1,81 +0,0 @@ - -typedef struct reg { - volatile uint32_t *address; - uint32_t value; - uint32_t check_mask; -} reg; - -// 10 bit hash with 23 as a prime -#define REGISTER_MAP_SIZE 0x3FFU -#define HASHING_PRIME 23U -#define CHECK_COLLISION(hash, addr) (((uint32_t) register_map[hash].address != 0U) && (register_map[hash].address != (addr))) - -reg register_map[REGISTER_MAP_SIZE]; - -// Hash spread in first and second iterations seems to be reasonable. -// See: tests/development/register_hashmap_spread.py -// Also, check the collision warnings in the debug output, and minimize those. -uint16_t hash_addr(uint32_t input){ - return (((input >> 16U) ^ ((((input + 1U) & 0xFFFFU) * HASHING_PRIME) & 0xFFFFU)) & REGISTER_MAP_SIZE); -} - -// Do not put bits in the check mask that get changed by the hardware -void register_set(volatile uint32_t *addr, uint32_t val, uint32_t mask){ - ENTER_CRITICAL() - // Set bits in register that are also in the mask - (*addr) = ((*addr) & (~mask)) | (val & mask); - - // Add these values to the map - uint16_t hash = hash_addr((uint32_t) addr); - uint16_t tries = REGISTER_MAP_SIZE; - while(CHECK_COLLISION(hash, addr) && (tries > 0U)) { hash = hash_addr((uint32_t) hash); tries--;} - if (tries != 0U){ - register_map[hash].address = addr; - register_map[hash].value = (register_map[hash].value & (~mask)) | (val & mask); - register_map[hash].check_mask |= mask; - } else { - #ifdef DEBUG_FAULTS - print("Hash collision: address 0x"); puth((uint32_t) addr); print("!\n"); - #endif - } - EXIT_CRITICAL() -} - -// Set individual bits. Also add them to the check_mask. -// Do not use this to change bits that get reset by the hardware -void register_set_bits(volatile uint32_t *addr, uint32_t val) { - register_set(addr, val, val); -} - -// Clear individual bits. Also add them to the check_mask. -// Do not use this to clear bits that get set by the hardware -void register_clear_bits(volatile uint32_t *addr, uint32_t val) { - register_set(addr, (~val), val); -} - -// To be called periodically -void check_registers(void){ - for(uint16_t i=0U; i wd_state.threshold) { - print("WD timeout 0x"); puth(et); print("\n"); - fault_occurred(wd_state.fault); - } - - wd_state.last_ts = ts; -} - -void simple_watchdog_init(uint32_t fault, uint32_t threshold) { - wd_state.fault = fault; - wd_state.threshold = threshold; - wd_state.last_ts = microsecond_timer_get(); -} diff --git a/panda/board/drivers/spi.h b/panda/board/drivers/spi.h deleted file mode 100644 index 61ae2aba9d6a84..00000000000000 --- a/panda/board/drivers/spi.h +++ /dev/null @@ -1,260 +0,0 @@ -#pragma once - -#include "crc.h" - -#define SPI_TIMEOUT_US 10000U - -// got max rate from hitting a non-existent endpoint -// in a tight loop, plus some buffer -#define SPI_IRQ_RATE 16000U - -#ifdef STM32H7 -#define SPI_BUF_SIZE 2048U -// H7 DMA2 located in D2 domain, so we need to use SRAM1/SRAM2 -__attribute__((section(".sram12"))) uint8_t spi_buf_rx[SPI_BUF_SIZE]; -__attribute__((section(".sram12"))) uint8_t spi_buf_tx[SPI_BUF_SIZE]; -#else -#define SPI_BUF_SIZE 1024U -uint8_t spi_buf_rx[SPI_BUF_SIZE]; -uint8_t spi_buf_tx[SPI_BUF_SIZE]; -#endif - -#define SPI_CHECKSUM_START 0xABU -#define SPI_SYNC_BYTE 0x5AU -#define SPI_HACK 0x79U -#define SPI_DACK 0x85U -#define SPI_NACK 0x1FU - -// SPI states -enum { - SPI_STATE_HEADER, - SPI_STATE_HEADER_ACK, - SPI_STATE_HEADER_NACK, - SPI_STATE_DATA_RX, - SPI_STATE_DATA_RX_ACK, - SPI_STATE_DATA_TX -}; - -bool spi_tx_dma_done = false; -uint8_t spi_state = SPI_STATE_HEADER; -uint8_t spi_endpoint; -uint16_t spi_data_len_mosi; -uint16_t spi_data_len_miso; -uint16_t spi_checksum_error_count = 0; -bool spi_can_tx_ready = false; - -const unsigned char version_text[] = "VERSION"; - -#define SPI_HEADER_SIZE 7U - -// low level SPI prototypes -void llspi_init(void); -void llspi_mosi_dma(uint8_t *addr, int len); -void llspi_miso_dma(uint8_t *addr, int len); - -void can_tx_comms_resume_spi(void) { - spi_can_tx_ready = true; -} - -uint16_t spi_version_packet(uint8_t *out) { - // this protocol version request is a stable portion of - // the panda's SPI protocol. its contents match that of the - // panda USB descriptors and are sufficent to list/enumerate - // a panda, determine panda type, and bootstub status. - - // the response is: - // VERSION + 2 byte data length + data + CRC8 - - // echo "VERSION" - (void)memcpy(out, version_text, 7); - - // write response - uint16_t data_len = 0; - uint16_t data_pos = 7U + 2U; - - // write serial - (void)memcpy(&out[data_pos], ((uint8_t *)UID_BASE), 12); - data_len += 12U; - - // HW type - out[data_pos + data_len] = hw_type; - data_len += 1U; - - // bootstub - out[data_pos + data_len] = USB_PID & 0xFFU; - data_len += 1U; - - // SPI protocol version - out[data_pos + data_len] = 0x2; - data_len += 1U; - - // data length - out[7] = data_len & 0xFFU; - out[8] = (data_len >> 8) & 0xFFU; - - // CRC8 - uint16_t resp_len = data_pos + data_len; - out[resp_len] = crc_checksum(out, resp_len, 0xD5U); - resp_len += 1U; - - return resp_len; -} - -void spi_init(void) { - // platform init - llspi_init(); - - // Start the first packet! - spi_state = SPI_STATE_HEADER; - llspi_mosi_dma(spi_buf_rx, SPI_HEADER_SIZE); -} - -bool validate_checksum(const uint8_t *data, uint16_t len) { - // TODO: can speed this up by casting the bulk to uint32_t and xor-ing the bytes afterwards - uint8_t checksum = SPI_CHECKSUM_START; - for(uint16_t i = 0U; i < len; i++){ - checksum ^= data[i]; - } - return checksum == 0U; -} - -void spi_rx_done(void) { - uint16_t response_len = 0U; - uint8_t next_rx_state = SPI_STATE_HEADER_NACK; - bool checksum_valid = false; - - // parse header - spi_endpoint = spi_buf_rx[1]; - spi_data_len_mosi = (spi_buf_rx[3] << 8) | spi_buf_rx[2]; - spi_data_len_miso = (spi_buf_rx[5] << 8) | spi_buf_rx[4]; - - if (memcmp(spi_buf_rx, version_text, 7) == 0) { - response_len = spi_version_packet(spi_buf_tx); - next_rx_state = SPI_STATE_HEADER_NACK;; - } else if (spi_state == SPI_STATE_HEADER) { - checksum_valid = validate_checksum(spi_buf_rx, SPI_HEADER_SIZE); - if ((spi_buf_rx[0] == SPI_SYNC_BYTE) && checksum_valid) { - // response: ACK and start receiving data portion - spi_buf_tx[0] = SPI_HACK; - next_rx_state = SPI_STATE_HEADER_ACK; - response_len = 1U; - } else { - // response: NACK and reset state machine - print("- incorrect header sync or checksum "); hexdump(spi_buf_rx, SPI_HEADER_SIZE); - spi_buf_tx[0] = SPI_NACK; - next_rx_state = SPI_STATE_HEADER_NACK; - response_len = 1U; - } - } else if (spi_state == SPI_STATE_DATA_RX) { - // We got everything! Based on the endpoint specified, call the appropriate handler - bool response_ack = false; - checksum_valid = validate_checksum(&(spi_buf_rx[SPI_HEADER_SIZE]), spi_data_len_mosi + 1U); - if (checksum_valid) { - if (spi_endpoint == 0U) { - if (spi_data_len_mosi >= sizeof(ControlPacket_t)) { - ControlPacket_t ctrl = {0}; - (void)memcpy(&ctrl, &spi_buf_rx[SPI_HEADER_SIZE], sizeof(ControlPacket_t)); - response_len = comms_control_handler(&ctrl, &spi_buf_tx[3]); - response_ack = true; - } else { - print("SPI: insufficient data for control handler\n"); - } - } else if ((spi_endpoint == 1U) || (spi_endpoint == 0x81U)) { - if (spi_data_len_mosi == 0U) { - response_len = comms_can_read(&(spi_buf_tx[3]), spi_data_len_miso); - response_ack = true; - } else { - print("SPI: did not expect data for can_read\n"); - } - } else if (spi_endpoint == 2U) { - comms_endpoint2_write(&spi_buf_rx[SPI_HEADER_SIZE], spi_data_len_mosi); - response_ack = true; - } else if (spi_endpoint == 3U) { - if (spi_data_len_mosi > 0U) { - if (spi_can_tx_ready) { - spi_can_tx_ready = false; - comms_can_write(&spi_buf_rx[SPI_HEADER_SIZE], spi_data_len_mosi); - response_ack = true; - } else { - response_ack = false; - print("SPI: CAN NACK\n"); - } - } else { - print("SPI: did expect data for can_write\n"); - } - } else if (spi_endpoint == 0xABU) { - // test endpoint, send max response length - response_len = spi_data_len_miso; - response_ack = true; - } else { - print("SPI: unexpected endpoint"); puth(spi_endpoint); print("\n"); - } - } else { - // Checksum was incorrect - response_ack = false; - print("- incorrect data checksum "); - puth4(spi_data_len_mosi); - print("\n"); - hexdump(spi_buf_rx, SPI_HEADER_SIZE); - hexdump(&(spi_buf_rx[SPI_HEADER_SIZE]), MIN(spi_data_len_mosi, 64)); - print("\n"); - } - - if (!response_ack) { - spi_buf_tx[0] = SPI_NACK; - next_rx_state = SPI_STATE_HEADER_NACK; - response_len = 1U; - } else { - // Setup response header - spi_buf_tx[0] = SPI_DACK; - spi_buf_tx[1] = response_len & 0xFFU; - spi_buf_tx[2] = (response_len >> 8) & 0xFFU; - - // Add checksum - uint8_t checksum = SPI_CHECKSUM_START; - for(uint16_t i = 0U; i < (response_len + 3U); i++) { - checksum ^= spi_buf_tx[i]; - } - spi_buf_tx[response_len + 3U] = checksum; - response_len += 4U; - - next_rx_state = SPI_STATE_DATA_TX; - } - } else { - print("SPI: RX unexpected state: "); puth(spi_state); print("\n"); - } - - // send out response - if (response_len == 0U) { - print("SPI: no response\n"); - spi_buf_tx[0] = SPI_NACK; - spi_state = SPI_STATE_HEADER_NACK; - response_len = 1U; - } - llspi_miso_dma(spi_buf_tx, response_len); - - spi_state = next_rx_state; - if (!checksum_valid && (spi_checksum_error_count < UINT16_MAX)) { - spi_checksum_error_count += 1U; - } -} - -void spi_tx_done(bool reset) { - if ((spi_state == SPI_STATE_HEADER_NACK) || reset) { - // Reset state - spi_state = SPI_STATE_HEADER; - llspi_mosi_dma(spi_buf_rx, SPI_HEADER_SIZE); - } else if (spi_state == SPI_STATE_HEADER_ACK) { - // ACK was sent, queue up the RX buf for the data + checksum - spi_state = SPI_STATE_DATA_RX; - llspi_mosi_dma(&spi_buf_rx[SPI_HEADER_SIZE], spi_data_len_mosi + 1U); - } else if (spi_state == SPI_STATE_DATA_TX) { - // Reset state - spi_state = SPI_STATE_HEADER; - llspi_mosi_dma(spi_buf_rx, SPI_HEADER_SIZE); - } else { - spi_state = SPI_STATE_HEADER; - llspi_mosi_dma(spi_buf_rx, SPI_HEADER_SIZE); - print("SPI: TX unexpected state: "); puth(spi_state); print("\n"); - } -} diff --git a/panda/board/drivers/timers.h b/panda/board/drivers/timers.h deleted file mode 100644 index d7f3f01fd0fb28..00000000000000 --- a/panda/board/drivers/timers.h +++ /dev/null @@ -1,31 +0,0 @@ -void timer_init(TIM_TypeDef *TIM, int psc) { - register_set(&(TIM->PSC), (psc-1), 0xFFFFU); - register_set(&(TIM->DIER), TIM_DIER_UIE, 0x5F5FU); - register_set(&(TIM->CR1), TIM_CR1_CEN, 0x3FU); - TIM->SR = 0; -} - -void microsecond_timer_init(void) { - MICROSECOND_TIMER->PSC = (APB1_TIMER_FREQ - 1U); - MICROSECOND_TIMER->CR1 = TIM_CR1_CEN; - MICROSECOND_TIMER->EGR = TIM_EGR_UG; -} - -uint32_t microsecond_timer_get(void) { - return MICROSECOND_TIMER->CNT; -} - -void interrupt_timer_init(void) { - enable_interrupt_timer(); - REGISTER_INTERRUPT(INTERRUPT_TIMER_IRQ, interrupt_timer_handler, 1, FAULT_INTERRUPT_RATE_INTERRUPTS) - register_set(&(INTERRUPT_TIMER->PSC), ((uint16_t)(15.25*APB1_TIMER_FREQ)-1U), 0xFFFFU); - register_set(&(INTERRUPT_TIMER->DIER), TIM_DIER_UIE, 0x5F5FU); - register_set(&(INTERRUPT_TIMER->CR1), TIM_CR1_CEN, 0x3FU); - INTERRUPT_TIMER->SR = 0; - NVIC_EnableIRQ(INTERRUPT_TIMER_IRQ); -} - -void tick_timer_init(void) { - timer_init(TICK_TIMER, (uint16_t)((15.25*APB2_TIMER_FREQ)/8U)); - NVIC_EnableIRQ(TICK_TIMER_IRQ); -} diff --git a/panda/board/drivers/uart.h b/panda/board/drivers/uart.h deleted file mode 100644 index 01d8c2ac0518ce..00000000000000 --- a/panda/board/drivers/uart.h +++ /dev/null @@ -1,196 +0,0 @@ -// IRQs: USART2, USART3, UART5 - -// ***************************** Definitions ***************************** -#define FIFO_SIZE_INT 0x400U - -typedef struct uart_ring { - volatile uint16_t w_ptr_tx; - volatile uint16_t r_ptr_tx; - uint8_t *elems_tx; - uint32_t tx_fifo_size; - volatile uint16_t w_ptr_rx; - volatile uint16_t r_ptr_rx; - uint8_t *elems_rx; - uint32_t rx_fifo_size; - USART_TypeDef *uart; - void (*callback)(struct uart_ring*); - bool overwrite; -} uart_ring; - -#define UART_BUFFER(x, size_rx, size_tx, uart_ptr, callback_ptr, overwrite_mode) \ - uint8_t elems_rx_##x[size_rx]; \ - uint8_t elems_tx_##x[size_tx]; \ - uart_ring uart_ring_##x = { \ - .w_ptr_tx = 0, \ - .r_ptr_tx = 0, \ - .elems_tx = ((uint8_t *)&(elems_tx_##x)), \ - .tx_fifo_size = (size_tx), \ - .w_ptr_rx = 0, \ - .r_ptr_rx = 0, \ - .elems_rx = ((uint8_t *)&(elems_rx_##x)), \ - .rx_fifo_size = (size_rx), \ - .uart = (uart_ptr), \ - .callback = (callback_ptr), \ - .overwrite = (overwrite_mode) \ - }; - -// ***************************** Function prototypes ***************************** -void debug_ring_callback(uart_ring *ring); -void uart_tx_ring(uart_ring *q); -void uart_send_break(uart_ring *u); - -// ******************************** UART buffers ******************************** - -// debug = USART2 -UART_BUFFER(debug, FIFO_SIZE_INT, FIFO_SIZE_INT, USART2, debug_ring_callback, true) - -// SOM debug = UART7 -#ifdef STM32H7 - UART_BUFFER(som_debug, FIFO_SIZE_INT, FIFO_SIZE_INT, UART7, NULL, true) -#else - // UART7 is not available on F4 - UART_BUFFER(som_debug, 1U, 1U, NULL, NULL, true) -#endif - -uart_ring *get_ring_by_number(int a) { - uart_ring *ring = NULL; - switch(a) { - case 0: - ring = &uart_ring_debug; - break; - case 4: - ring = &uart_ring_som_debug; - break; - default: - ring = NULL; - break; - } - return ring; -} - -// ************************* Low-level buffer functions ************************* -bool get_char(uart_ring *q, char *elem) { - bool ret = false; - - ENTER_CRITICAL(); - if (q->w_ptr_rx != q->r_ptr_rx) { - if (elem != NULL) *elem = q->elems_rx[q->r_ptr_rx]; - q->r_ptr_rx = (q->r_ptr_rx + 1U) % q->rx_fifo_size; - ret = true; - } - EXIT_CRITICAL(); - - return ret; -} - -bool injectc(uart_ring *q, char elem) { - int ret = false; - uint16_t next_w_ptr; - - ENTER_CRITICAL(); - next_w_ptr = (q->w_ptr_rx + 1U) % q->rx_fifo_size; - - if ((next_w_ptr == q->r_ptr_rx) && q->overwrite) { - // overwrite mode: drop oldest byte - q->r_ptr_rx = (q->r_ptr_rx + 1U) % q->rx_fifo_size; - } - - if (next_w_ptr != q->r_ptr_rx) { - q->elems_rx[q->w_ptr_rx] = elem; - q->w_ptr_rx = next_w_ptr; - ret = true; - } - EXIT_CRITICAL(); - - return ret; -} - -bool put_char(uart_ring *q, char elem) { - bool ret = false; - uint16_t next_w_ptr; - - ENTER_CRITICAL(); - next_w_ptr = (q->w_ptr_tx + 1U) % q->tx_fifo_size; - - if ((next_w_ptr == q->r_ptr_tx) && q->overwrite) { - // overwrite mode: drop oldest byte - q->r_ptr_tx = (q->r_ptr_tx + 1U) % q->tx_fifo_size; - } - - if (next_w_ptr != q->r_ptr_tx) { - q->elems_tx[q->w_ptr_tx] = elem; - q->w_ptr_tx = next_w_ptr; - ret = true; - } - EXIT_CRITICAL(); - - uart_tx_ring(q); - - return ret; -} - -void clear_uart_buff(uart_ring *q) { - ENTER_CRITICAL(); - q->w_ptr_tx = 0; - q->r_ptr_tx = 0; - q->w_ptr_rx = 0; - q->r_ptr_rx = 0; - EXIT_CRITICAL(); -} - -// ************************ High-level debug functions ********************** -void putch(const char a) { - // misra-c2012-17.7: serial debug function, ok to ignore output - (void)injectc(&uart_ring_debug, a); -} - -void print(const char *a) { - for (const char *in = a; *in; in++) { - if (*in == '\n') putch('\r'); - putch(*in); - } -} - -void putui(uint32_t i) { - uint32_t i_copy = i; - char str[11]; - uint8_t idx = 10; - str[idx] = '\0'; - idx--; - do { - str[idx] = (i_copy % 10U) + 0x30U; - idx--; - i_copy /= 10; - } while (i_copy != 0U); - print(&str[idx + 1U]); -} - -void puthx(uint32_t i, uint8_t len) { - const char c[] = "0123456789abcdef"; - for (int pos = ((int)len * 4) - 4; pos > -4; pos -= 4) { - putch(c[(i >> (unsigned int)(pos)) & 0xFU]); - } -} - -void puth(unsigned int i) { - puthx(i, 8U); -} - -void puth2(unsigned int i) { - puthx(i, 2U); -} - -void puth4(unsigned int i) { - puthx(i, 4U); -} - -void hexdump(const void *a, int l) { - if (a != NULL) { - for (int i=0; i < l; i++) { - if ((i != 0) && ((i & 0xf) == 0)) print("\n"); - puth2(((const unsigned char*)a)[i]); - print(" "); - } - } - print("\n"); -} diff --git a/panda/board/drivers/usb.h b/panda/board/drivers/usb.h deleted file mode 100644 index e0063722166b92..00000000000000 --- a/panda/board/drivers/usb.h +++ /dev/null @@ -1,924 +0,0 @@ -// IRQs: OTG_FS - -typedef union { - uint16_t w; - struct BW { - uint8_t msb; - uint8_t lsb; - } - bw; -} -uint16_t_uint8_t; - -typedef union _USB_Setup { - uint32_t d8[2]; - struct _SetupPkt_Struc - { - uint8_t bmRequestType; - uint8_t bRequest; - uint16_t_uint8_t wValue; - uint16_t_uint8_t wIndex; - uint16_t_uint8_t wLength; - } b; -} -USB_Setup_TypeDef; - -bool usb_enumerated = false; -uint16_t usb_last_frame_num = 0U; - -void usb_init(void); -void refresh_can_tx_slots_available(void); - -// **** supporting defines **** - -#define USB_REQ_GET_STATUS 0x00 -#define USB_REQ_CLEAR_FEATURE 0x01 -#define USB_REQ_SET_FEATURE 0x03 -#define USB_REQ_SET_ADDRESS 0x05 -#define USB_REQ_GET_DESCRIPTOR 0x06 -#define USB_REQ_SET_DESCRIPTOR 0x07 -#define USB_REQ_GET_CONFIGURATION 0x08 -#define USB_REQ_SET_CONFIGURATION 0x09 -#define USB_REQ_GET_INTERFACE 0x0A -#define USB_REQ_SET_INTERFACE 0x0B -#define USB_REQ_SYNCH_FRAME 0x0C - -#define USB_DESC_TYPE_DEVICE 0x01 -#define USB_DESC_TYPE_CONFIGURATION 0x02 -#define USB_DESC_TYPE_STRING 0x03 -#define USB_DESC_TYPE_INTERFACE 0x04 -#define USB_DESC_TYPE_ENDPOINT 0x05 -#define USB_DESC_TYPE_DEVICE_QUALIFIER 0x06 -#define USB_DESC_TYPE_OTHER_SPEED_CONFIGURATION 0x07 -#define USB_DESC_TYPE_BINARY_OBJECT_STORE 0x0f - -// offsets for configuration strings -#define STRING_OFFSET_LANGID 0x00 -#define STRING_OFFSET_IMANUFACTURER 0x01 -#define STRING_OFFSET_IPRODUCT 0x02 -#define STRING_OFFSET_ISERIAL 0x03 -#define STRING_OFFSET_ICONFIGURATION 0x04 -#define STRING_OFFSET_IINTERFACE 0x05 - -// WebUSB requests -#define WEBUSB_REQ_GET_URL 0x02 - -// WebUSB types -#define WEBUSB_DESC_TYPE_URL 0x03 -#define WEBUSB_URL_SCHEME_HTTPS 0x01 -#define WEBUSB_URL_SCHEME_HTTP 0x00 - -// WinUSB requests -#define WINUSB_REQ_GET_COMPATID_DESCRIPTOR 0x04 -#define WINUSB_REQ_GET_EXT_PROPS_OS 0x05 -#define WINUSB_REQ_GET_DESCRIPTOR 0x07 - -#define STS_GOUT_NAK 1 -#define STS_DATA_UPDT 2 -#define STS_XFER_COMP 3 -#define STS_SETUP_COMP 4 -#define STS_SETUP_UPDT 6 - -uint8_t response[USBPACKET_MAX_SIZE]; - -// for the repeating interfaces -#define DSCR_INTERFACE_LEN 9 -#define DSCR_ENDPOINT_LEN 7 -#define DSCR_CONFIG_LEN 9 -#define DSCR_DEVICE_LEN 18 - -// endpoint types -#define ENDPOINT_TYPE_CONTROL 0 -#define ENDPOINT_TYPE_ISO 1 -#define ENDPOINT_TYPE_BULK 2 -#define ENDPOINT_TYPE_INT 3 - -// These are arbitrary values used in bRequest -#define MS_VENDOR_CODE 0x20 -#define WEBUSB_VENDOR_CODE 0x30 - -// BOS constants -#define BINARY_OBJECT_STORE_DESCRIPTOR_LENGTH 0x05 -#define BINARY_OBJECT_STORE_DESCRIPTOR 0x0F -#define WINUSB_PLATFORM_DESCRIPTOR_LENGTH 0x9E - -// Convert machine byte order to USB byte order -#define TOUSBORDER(num)\ - ((num) & 0xFFU), (((uint16_t)(num) >> 8) & 0xFFU) - -// take in string length and return the first 2 bytes of a string descriptor -#define STRING_DESCRIPTOR_HEADER(size)\ - (((((size) * 2) + 2) & 0xFF) | 0x0300) - -uint8_t device_desc[] = { - DSCR_DEVICE_LEN, USB_DESC_TYPE_DEVICE, //Length, Type - 0x10, 0x02, // bcdUSB max version of USB supported (2.1) - 0xFF, 0xFF, 0xFF, 0x40, // Class, Subclass, Protocol, Max Packet Size - TOUSBORDER(USB_VID), // idVendor - TOUSBORDER(USB_PID), // idProduct - 0x00, 0x00, // bcdDevice - 0x01, 0x02, // Manufacturer, Product - 0x03, 0x01 // Serial Number, Num Configurations -}; - -uint8_t device_qualifier[] = { - 0x0a, USB_DESC_TYPE_DEVICE_QUALIFIER, //Length, Type - 0x10, 0x02, // bcdUSB max version of USB supported (2.1) - 0xFF, 0xFF, 0xFF, 0x40, // bDeviceClass, bDeviceSubClass, bDeviceProtocol, bMaxPacketSize0 - 0x01, 0x00 // bNumConfigurations, bReserved -}; - -#define ENDPOINT_RCV 0x80 -#define ENDPOINT_SND 0x00 - -uint8_t configuration_desc[] = { - DSCR_CONFIG_LEN, USB_DESC_TYPE_CONFIGURATION, // Length, Type, - TOUSBORDER(0x0045U), // Total Len (uint16) - 0x01, 0x01, STRING_OFFSET_ICONFIGURATION, // Num Interface, Config Value, Configuration - 0xc0, 0x32, // Attributes, Max Power - // interface 0 ALT 0 - DSCR_INTERFACE_LEN, USB_DESC_TYPE_INTERFACE, // Length, Type - 0x00, 0x00, 0x03, // Index, Alt Index idx, Endpoint count - 0XFF, 0xFF, 0xFF, // Class, Subclass, Protocol - 0x00, // Interface - // endpoint 1, read CAN - DSCR_ENDPOINT_LEN, USB_DESC_TYPE_ENDPOINT, // Length, Type - ENDPOINT_RCV | 1, ENDPOINT_TYPE_BULK, // Endpoint Num/Direction, Type - TOUSBORDER(0x0040U), // Max Packet (0x0040) - 0x00, // Polling Interval (NA) - // endpoint 2, send serial - DSCR_ENDPOINT_LEN, USB_DESC_TYPE_ENDPOINT, // Length, Type - ENDPOINT_SND | 2, ENDPOINT_TYPE_BULK, // Endpoint Num/Direction, Type - TOUSBORDER(0x0040U), // Max Packet (0x0040) - 0x00, // Polling Interval - // endpoint 3, send CAN - DSCR_ENDPOINT_LEN, USB_DESC_TYPE_ENDPOINT, // Length, Type - ENDPOINT_SND | 3, ENDPOINT_TYPE_BULK, // Endpoint Num/Direction, Type - TOUSBORDER(0x0040U), // Max Packet (0x0040) - 0x00, // Polling Interval - // interface 0 ALT 1 - DSCR_INTERFACE_LEN, USB_DESC_TYPE_INTERFACE, // Length, Type - 0x00, 0x01, 0x03, // Index, Alt Index idx, Endpoint count - 0XFF, 0xFF, 0xFF, // Class, Subclass, Protocol - 0x00, // Interface - // endpoint 1, read CAN - DSCR_ENDPOINT_LEN, USB_DESC_TYPE_ENDPOINT, // Length, Type - ENDPOINT_RCV | 1, ENDPOINT_TYPE_INT, // Endpoint Num/Direction, Type - TOUSBORDER(0x0040U), // Max Packet (0x0040) - 0x05, // Polling Interval (5 frames) - // endpoint 2, send serial - DSCR_ENDPOINT_LEN, USB_DESC_TYPE_ENDPOINT, // Length, Type - ENDPOINT_SND | 2, ENDPOINT_TYPE_BULK, // Endpoint Num/Direction, Type - TOUSBORDER(0x0040U), // Max Packet (0x0040) - 0x00, // Polling Interval - // endpoint 3, send CAN - DSCR_ENDPOINT_LEN, USB_DESC_TYPE_ENDPOINT, // Length, Type - ENDPOINT_SND | 3, ENDPOINT_TYPE_BULK, // Endpoint Num/Direction, Type - TOUSBORDER(0x0040U), // Max Packet (0x0040) - 0x00, // Polling Interval -}; - -// STRING_DESCRIPTOR_HEADER is for uint16 string descriptors -// it takes in a string length, which is bytes/2 because unicode -uint16_t string_language_desc[] = { - STRING_DESCRIPTOR_HEADER(1), - 0x0409 // american english -}; - -// these strings are all uint16's so that we don't need to spam ,0 after every character -uint16_t string_manufacturer_desc[] = { - STRING_DESCRIPTOR_HEADER(8), - 'c', 'o', 'm', 'm', 'a', '.', 'a', 'i' -}; - -uint16_t string_product_desc[] = { - STRING_DESCRIPTOR_HEADER(5), - 'p', 'a', 'n', 'd', 'a' -}; - -// default serial number when we're not a panda -uint16_t string_serial_desc[] = { - STRING_DESCRIPTOR_HEADER(4), - 'n', 'o', 'n', 'e' -}; - -// a string containing the default configuration index -uint16_t string_configuration_desc[] = { - STRING_DESCRIPTOR_HEADER(2), - '0', '1' // "01" -}; - -// WCID (auto install WinUSB driver) -// https://github.com/pbatard/libwdi/wiki/WCID-Devices -// https://docs.microsoft.com/en-us/windows-hardware/drivers/usbcon/winusb-installation#automatic-installation-of--winusb-without-an-inf-file -// WinUSB 1.0 descriptors, this is mostly used by Windows XP -uint8_t string_238_desc[] = { - 0x12, USB_DESC_TYPE_STRING, // bLength, bDescriptorType - 'M',0, 'S',0, 'F',0, 'T',0, '1',0, '0',0, '0',0, // qwSignature (MSFT100) - MS_VENDOR_CODE, 0x00 // bMS_VendorCode, bPad -}; -uint8_t winusb_ext_compatid_os_desc[] = { - 0x28, 0x00, 0x00, 0x00, // dwLength - 0x00, 0x01, // bcdVersion - 0x04, 0x00, // wIndex - 0x01, // bCount - 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, // Reserved - 0x00, // bFirstInterfaceNumber - 0x00, // Reserved - 'W', 'I', 'N', 'U', 'S', 'B', 0x00, 0x00, // compatible ID (WINUSB) - 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, // subcompatible ID (none) - 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 // Reserved -}; -uint8_t winusb_ext_prop_os_desc[] = { - 0x8e, 0x00, 0x00, 0x00, // dwLength - 0x00, 0x01, // bcdVersion - 0x05, 0x00, // wIndex - 0x01, 0x00, // wCount - // first property - 0x84, 0x00, 0x00, 0x00, // dwSize - 0x01, 0x00, 0x00, 0x00, // dwPropertyDataType - 0x28, 0x00, // wPropertyNameLength - 'D',0, 'e',0, 'v',0, 'i',0, 'c',0, 'e',0, 'I',0, 'n',0, 't',0, 'e',0, 'r',0, 'f',0, 'a',0, 'c',0, 'e',0, 'G',0, 'U',0, 'I',0, 'D',0, 0, 0, // bPropertyName (DeviceInterfaceGUID) - 0x4e, 0x00, 0x00, 0x00, // dwPropertyDataLength - '{',0, 'c',0, 'c',0, 'e',0, '5',0, '2',0, '9',0, '1',0, 'c',0, '-',0, 'a',0, '6',0, '9',0, 'f',0, '-',0, '4',0 ,'9',0 ,'9',0 ,'5',0 ,'-',0, 'a',0, '4',0, 'c',0, '2',0, '-',0, '2',0, 'a',0, 'e',0, '5',0, '7',0, 'a',0, '5',0, '1',0, 'a',0, 'd',0, 'e',0, '9',0, '}',0, 0, 0, // bPropertyData ({CCE5291C-A69F-4995-A4C2-2AE57A51ADE9}) -}; - -/* -Binary Object Store descriptor used to expose WebUSB (and more WinUSB) metadata -comments are from the wicg spec -References used: - https://wicg.github.io/webusb/#webusb-platform-capability-descriptor - https://github.com/sowbug/weblight/blob/192ad7a0e903542e2aa28c607d98254a12a6399d/firmware/webusb.c - https://os.mbed.com/users/larsgk/code/USBDevice_WebUSB/file/1d8a6665d607/WebUSBDevice/ - -*/ -uint8_t binary_object_store_desc[] = { - // BOS header - BINARY_OBJECT_STORE_DESCRIPTOR_LENGTH, // bLength, this is only the length of the header - BINARY_OBJECT_STORE_DESCRIPTOR, // bDescriptorType - 0x39, 0x00, // wTotalLength (LSB, MSB) - 0x02, // bNumDeviceCaps (WebUSB + WinUSB) - - // ------------------------------------------------- - // WebUSB descriptor - // header - 0x18, // bLength, Size of this descriptor. Must be set to 24. - 0x10, // bDescriptorType, DEVICE CAPABILITY descriptor - 0x05, // bDevCapabilityType, PLATFORM capability - 0x00, // bReserved, This field is reserved and shall be set to zero. - - // PlatformCapabilityUUID, Must be set to {3408b638-09a9-47a0-8bfd-a0768815b665}. - 0x38, 0xB6, 0x08, 0x34, - 0xA9, 0x09, 0xA0, 0x47, - 0x8B, 0xFD, 0xA0, 0x76, - 0x88, 0x15, 0xB6, 0x65, - // - - 0x00, 0x01, // bcdVersion, Protocol version supported. Must be set to 0x0100. - WEBUSB_VENDOR_CODE, // bVendorCode, bRequest value used for issuing WebUSB requests. - // there used to be a concept of "allowed origins", but it was removed from the spec - // it was intended to be a security feature, but then the entire security model relies on domain ownership - // https://github.com/WICG/webusb/issues/49 - // other implementations use various other indexed to leverate this no-longer-valid feature. we wont. - // the spec says we *must* reply to index 0x03 with the url, so we'll hint that that's the right index - 0x03, // iLandingPage, URL descriptor index of the device’s landing page. - - // ------------------------------------------------- - // WinUSB descriptor - // header - 0x1C, // Descriptor size (28 bytes) - 0x10, // Descriptor type (Device Capability) - 0x05, // Capability type (Platform) - 0x00, // Reserved - - // MS OS 2.0 Platform Capability ID (D8DD60DF-4589-4CC7-9CD2-659D9E648A9F) - // Indicates the device supports the Microsoft OS 2.0 descriptor - 0xDF, 0x60, 0xDD, 0xD8, - 0x89, 0x45, 0xC7, 0x4C, - 0x9C, 0xD2, 0x65, 0x9D, - 0x9E, 0x64, 0x8A, 0x9F, - - 0x00, 0x00, 0x03, 0x06, // Windows version, currently set to 8.1 (0x06030000) - - WINUSB_PLATFORM_DESCRIPTOR_LENGTH, 0x00, // MS OS 2.0 descriptor size (word) - MS_VENDOR_CODE, 0x00 // vendor code, no alternate enumeration -}; - -// WinUSB 2.0 descriptor. This is what modern systems use -// https://github.com/sowbug/weblight/blob/192ad7a0e903542e2aa28c607d98254a12a6399d/firmware/webusb.c -// http://janaxelson.com/files/ms_os_20_descriptors.c -// https://books.google.com/books?id=pkefBgAAQBAJ&pg=PA353&lpg=PA353 -uint8_t winusb_20_desc[WINUSB_PLATFORM_DESCRIPTOR_LENGTH] = { - // Microsoft OS 2.0 descriptor set header (table 10) - 0x0A, 0x00, // Descriptor size (10 bytes) - 0x00, 0x00, // MS OS 2.0 descriptor set header - - 0x00, 0x00, 0x03, 0x06, // Windows version (8.1) (0x06030000) - WINUSB_PLATFORM_DESCRIPTOR_LENGTH, 0x00, // Total size of MS OS 2.0 descriptor set - - // Microsoft OS 2.0 compatible ID descriptor - 0x14, 0x00, // Descriptor size (20 bytes) - 0x03, 0x00, // MS OS 2.0 compatible ID descriptor - 'W', 'I', 'N', 'U', 'S', 'B', 0x00, 0x00, // compatible ID (WINUSB) - 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, // Sub-compatible ID - - // Registry property descriptor - 0x80, 0x00, // Descriptor size (130 bytes) - 0x04, 0x00, // Registry Property descriptor - 0x01, 0x00, // Strings are null-terminated Unicode - 0x28, 0x00, // Size of Property Name (40 bytes) "DeviceInterfaceGUID" - - // bPropertyName (DeviceInterfaceGUID) - 'D', 0x00, 'e', 0x00, 'v', 0x00, 'i', 0x00, 'c', 0x00, 'e', 0x00, 'I', 0x00, 'n', 0x00, - 't', 0x00, 'e', 0x00, 'r', 0x00, 'f', 0x00, 'a', 0x00, 'c', 0x00, 'e', 0x00, 'G', 0x00, - 'U', 0x00, 'I', 0x00, 'D', 0x00, 0x00, 0x00, - - 0x4E, 0x00, // Size of Property Data (78 bytes) - - // Vendor-defined property data: {CCE5291C-A69F-4995-A4C2-2AE57A51ADE9} - '{', 0x00, 'c', 0x00, 'c', 0x00, 'e', 0x00, '5', 0x00, '2', 0x00, '9', 0x00, '1', 0x00, // 16 - 'c', 0x00, '-', 0x00, 'a', 0x00, '6', 0x00, '9', 0x00, 'f', 0x00, '-', 0x00, '4', 0x00, // 32 - '9', 0x00, '9', 0x00, '5', 0x00, '-', 0x00, 'a', 0x00, '4', 0x00, 'c', 0x00, '2', 0x00, // 48 - '-', 0x00, '2', 0x00, 'a', 0x00, 'e', 0x00, '5', 0x00, '7', 0x00, 'a', 0x00, '5', 0x00, // 64 - '1', 0x00, 'a', 0x00, 'd', 0x00, 'e', 0x00, '9', 0x00, '}', 0x00, 0x00, 0x00 // 78 bytes -}; - -// current packet -USB_Setup_TypeDef setup; -uint8_t usbdata[0x100] __attribute__((aligned(4))); -uint8_t* ep0_txdata = NULL; -uint16_t ep0_txlen = 0; -bool outep3_processing = false; - -// Store the current interface alt setting. -int current_int0_alt_setting = 0; - -// packet read and write - -void *USB_ReadPacket(void *dest, uint16_t len) { - uint32_t *dest_copy = (uint32_t *)dest; - uint32_t count32b = ((uint32_t)len + 3U) / 4U; - - for (uint32_t i = 0; i < count32b; i++) { - *dest_copy = USBx_DFIFO(0U); - dest_copy++; - } - return ((void *)dest_copy); -} - -void USB_WritePacket(const void *src, uint16_t len, uint32_t ep) { - #ifdef DEBUG_USB - print("writing "); - hexdump(src, len); - #endif - - uint32_t numpacket = ((uint32_t)len + (USBPACKET_MAX_SIZE - 1U)) / USBPACKET_MAX_SIZE; - uint32_t count32b = 0; - count32b = ((uint32_t)len + 3U) / 4U; - - // TODO: revisit this - USBx_INEP(ep)->DIEPTSIZ = ((numpacket << 19) & USB_OTG_DIEPTSIZ_PKTCNT) | - (len & USB_OTG_DIEPTSIZ_XFRSIZ); - USBx_INEP(ep)->DIEPCTL |= (USB_OTG_DIEPCTL_CNAK | USB_OTG_DIEPCTL_EPENA); - - // load the FIFO - if (src != NULL) { - const uint32_t *src_copy = (const uint32_t *)src; - for (uint32_t i = 0; i < count32b; i++) { - USBx_DFIFO(ep) = *src_copy; - src_copy++; - } - } -} - -// IN EP 0 TX FIFO has a max size of 127 bytes (much smaller than the rest) -// so use TX FIFO empty interrupt to send larger amounts of data -void USB_WritePacket_EP0(uint8_t *src, uint16_t len) { - #ifdef DEBUG_USB - print("writing "); - hexdump(src, len); - #endif - - uint16_t wplen = MIN(len, 0x40); - USB_WritePacket(src, wplen, 0); - - if (wplen < len) { - ep0_txdata = &src[wplen]; - ep0_txlen = len - wplen; - USBx_DEVICE->DIEPEMPMSK |= 1; - } else { - USBx_OUTEP(0U)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK; - } -} - -void usb_reset(void) { - // unmask endpoint interrupts, so many sets - USBx_DEVICE->DAINT = 0xFFFFFFFFU; - USBx_DEVICE->DAINTMSK = 0xFFFFFFFFU; - //USBx_DEVICE->DOEPMSK = (USB_OTG_DOEPMSK_STUPM | USB_OTG_DOEPMSK_XFRCM | USB_OTG_DOEPMSK_EPDM); - //USBx_DEVICE->DIEPMSK = (USB_OTG_DIEPMSK_TOM | USB_OTG_DIEPMSK_XFRCM | USB_OTG_DIEPMSK_EPDM | USB_OTG_DIEPMSK_ITTXFEMSK); - //USBx_DEVICE->DIEPMSK = (USB_OTG_DIEPMSK_TOM | USB_OTG_DIEPMSK_XFRCM | USB_OTG_DIEPMSK_EPDM); - - // all interrupts for debugging - USBx_DEVICE->DIEPMSK = 0xFFFFFFFFU; - USBx_DEVICE->DOEPMSK = 0xFFFFFFFFU; - - // clear interrupts - USBx_INEP(0U)->DIEPINT = 0xFF; - USBx_OUTEP(0U)->DOEPINT = 0xFF; - - // unset the address - USBx_DEVICE->DCFG &= ~USB_OTG_DCFG_DAD; - - // set up USB FIFOs - // RX start address is fixed to 0 - USBx->GRXFSIZ = 0x40; - - // 0x100 to offset past GRXFSIZ - USBx->DIEPTXF0_HNPTXFSIZ = (0x40UL << 16) | 0x40U; - - // EP1, massive - USBx->DIEPTXF[0] = (0x40UL << 16) | 0x80U; - - // flush TX fifo - USBx->GRSTCTL = USB_OTG_GRSTCTL_TXFFLSH | USB_OTG_GRSTCTL_TXFNUM_4; - while ((USBx->GRSTCTL & USB_OTG_GRSTCTL_TXFFLSH) == USB_OTG_GRSTCTL_TXFFLSH); - // flush RX FIFO - USBx->GRSTCTL = USB_OTG_GRSTCTL_RXFFLSH; - while ((USBx->GRSTCTL & USB_OTG_GRSTCTL_RXFFLSH) == USB_OTG_GRSTCTL_RXFFLSH); - - // no global NAK - USBx_DEVICE->DCTL |= USB_OTG_DCTL_CGINAK; - - // ready to receive setup packets - USBx_OUTEP(0U)->DOEPTSIZ = USB_OTG_DOEPTSIZ_STUPCNT | (USB_OTG_DOEPTSIZ_PKTCNT & (1UL << 19)) | (3U << 3); -} - -char to_hex_char(uint8_t a) { - char ret; - if (a < 10U) { - ret = '0' + a; - } else { - ret = 'a' + (a - 10U); - } - return ret; -} - -void usb_tick(void) { - uint16_t current_frame_num = (USBx_DEVICE->DSTS & USB_OTG_DSTS_FNSOF_Msk) >> USB_OTG_DSTS_FNSOF_Pos; - usb_enumerated = (current_frame_num != usb_last_frame_num); - usb_last_frame_num = current_frame_num; -} - -void usb_setup(void) { - int resp_len; - ControlPacket_t control_req; - - // setup packet is ready - switch (setup.b.bRequest) { - case USB_REQ_SET_CONFIGURATION: - // enable other endpoints, has to be here? - USBx_INEP(1U)->DIEPCTL = (0x40U & USB_OTG_DIEPCTL_MPSIZ) | (2UL << 18) | (1UL << 22) | - USB_OTG_DIEPCTL_SD0PID_SEVNFRM | USB_OTG_DIEPCTL_USBAEP; - USBx_INEP(1U)->DIEPINT = 0xFF; - - USBx_OUTEP(2U)->DOEPTSIZ = (1UL << 19) | 0x40U; - USBx_OUTEP(2U)->DOEPCTL = (0x40U & USB_OTG_DOEPCTL_MPSIZ) | (2UL << 18) | - USB_OTG_DOEPCTL_SD0PID_SEVNFRM | USB_OTG_DOEPCTL_USBAEP; - USBx_OUTEP(2U)->DOEPINT = 0xFF; - - USBx_OUTEP(3U)->DOEPTSIZ = (32UL << 19) | 0x800U; - USBx_OUTEP(3U)->DOEPCTL = (0x40U & USB_OTG_DOEPCTL_MPSIZ) | (2UL << 18) | - USB_OTG_DOEPCTL_SD0PID_SEVNFRM | USB_OTG_DOEPCTL_USBAEP; - USBx_OUTEP(3U)->DOEPINT = 0xFF; - - // mark ready to receive - USBx_OUTEP(2U)->DOEPCTL |= USB_OTG_DOEPCTL_EPENA | USB_OTG_DOEPCTL_CNAK; - USBx_OUTEP(3U)->DOEPCTL |= USB_OTG_DOEPCTL_EPENA | USB_OTG_DOEPCTL_CNAK; - - USB_WritePacket(0, 0, 0); - USBx_OUTEP(0U)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK; - break; - case USB_REQ_SET_ADDRESS: - // set now? - USBx_DEVICE->DCFG |= ((setup.b.wValue.w & 0x7fU) << 4); - - #ifdef DEBUG_USB - print(" set address\n"); - #endif - - USB_WritePacket(0, 0, 0); - USBx_OUTEP(0U)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK; - - break; - case USB_REQ_GET_DESCRIPTOR: - switch (setup.b.wValue.bw.lsb) { - case USB_DESC_TYPE_DEVICE: - //print(" writing device descriptor\n"); - - // set bcdDevice to hardware type - device_desc[13] = hw_type; - // setup transfer - USB_WritePacket(device_desc, MIN(sizeof(device_desc), setup.b.wLength.w), 0); - USBx_OUTEP(0U)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK; - - //print("D"); - break; - case USB_DESC_TYPE_CONFIGURATION: - USB_WritePacket(configuration_desc, MIN(sizeof(configuration_desc), setup.b.wLength.w), 0); - USBx_OUTEP(0U)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK; - break; - case USB_DESC_TYPE_DEVICE_QUALIFIER: - USB_WritePacket(device_qualifier, MIN(sizeof(device_qualifier), setup.b.wLength.w), 0); - USBx_OUTEP(0U)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK; - break; - case USB_DESC_TYPE_STRING: - switch (setup.b.wValue.bw.msb) { - case STRING_OFFSET_LANGID: - USB_WritePacket((uint8_t*)string_language_desc, MIN(sizeof(string_language_desc), setup.b.wLength.w), 0); - break; - case STRING_OFFSET_IMANUFACTURER: - USB_WritePacket((uint8_t*)string_manufacturer_desc, MIN(sizeof(string_manufacturer_desc), setup.b.wLength.w), 0); - break; - case STRING_OFFSET_IPRODUCT: - USB_WritePacket((uint8_t*)string_product_desc, MIN(sizeof(string_product_desc), setup.b.wLength.w), 0); - break; - case STRING_OFFSET_ISERIAL: - response[0] = 0x02 + (12 * 4); - response[1] = 0x03; - - // 96 bits = 12 bytes - for (int i = 0; i < 12; i++){ - uint8_t cc = ((uint8_t *)UID_BASE)[i]; - response[2 + (i * 4)] = to_hex_char((cc >> 4) & 0xFU); - response[2 + (i * 4) + 1] = '\0'; - response[2 + (i * 4) + 2] = to_hex_char((cc >> 0) & 0xFU); - response[2 + (i * 4) + 3] = '\0'; - } - - USB_WritePacket(response, MIN(response[0], setup.b.wLength.w), 0); - break; - case STRING_OFFSET_ICONFIGURATION: - USB_WritePacket((uint8_t*)string_configuration_desc, MIN(sizeof(string_configuration_desc), setup.b.wLength.w), 0); - break; - case 238: - USB_WritePacket((uint8_t*)string_238_desc, MIN(sizeof(string_238_desc), setup.b.wLength.w), 0); - break; - default: - // nothing - USB_WritePacket(0, 0, 0); - break; - } - USBx_OUTEP(0U)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK; - break; - case USB_DESC_TYPE_BINARY_OBJECT_STORE: - USB_WritePacket(binary_object_store_desc, MIN(sizeof(binary_object_store_desc), setup.b.wLength.w), 0); - USBx_OUTEP(0U)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK; - break; - default: - // nothing here? - USB_WritePacket(0, 0, 0); - USBx_OUTEP(0U)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK; - break; - } - break; - case USB_REQ_GET_STATUS: - // empty response? - response[0] = 0; - response[1] = 0; - USB_WritePacket((void*)&response, 2, 0); - USBx_OUTEP(0U)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK; - break; - case USB_REQ_SET_INTERFACE: - // Store the alt setting number for IN EP behavior. - current_int0_alt_setting = setup.b.wValue.w; - USB_WritePacket(0, 0, 0); - USBx_OUTEP(0U)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK; - break; - case WEBUSB_VENDOR_CODE: - // probably asking for allowed origins, which was removed from the spec - USB_WritePacket(0, 0, 0); - USBx_OUTEP(0U)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK; - break; - case MS_VENDOR_CODE: - switch (setup.b.wIndex.w) { - // winusb 2.0 descriptor from BOS - case WINUSB_REQ_GET_DESCRIPTOR: - USB_WritePacket_EP0((uint8_t*)winusb_20_desc, MIN(sizeof(winusb_20_desc), setup.b.wLength.w)); - break; - // Extended Compat ID OS Descriptor - case WINUSB_REQ_GET_COMPATID_DESCRIPTOR: - USB_WritePacket_EP0((uint8_t*)winusb_ext_compatid_os_desc, MIN(sizeof(winusb_ext_compatid_os_desc), setup.b.wLength.w)); - break; - // Extended Properties OS Descriptor - case WINUSB_REQ_GET_EXT_PROPS_OS: - USB_WritePacket_EP0((uint8_t*)winusb_ext_prop_os_desc, MIN(sizeof(winusb_ext_prop_os_desc), setup.b.wLength.w)); - break; - default: - USB_WritePacket_EP0(0, 0); - } - break; - default: - control_req.request = setup.b.bRequest; - control_req.param1 = setup.b.wValue.w; - control_req.param2 = setup.b.wIndex.w; - control_req.length = setup.b.wLength.w; - - resp_len = comms_control_handler(&control_req, response); - // response pending if -1 was returned - if (resp_len != -1) { - USB_WritePacket(response, MIN(resp_len, setup.b.wLength.w), 0); - USBx_OUTEP(0U)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK; - } - } -} - - - -// ***************************** USB port ***************************** - -void usb_irqhandler(void) { - //USBx->GINTMSK = 0; - - unsigned int gintsts = USBx->GINTSTS; - unsigned int gotgint = USBx->GOTGINT; - unsigned int daint = USBx_DEVICE->DAINT; - - // gintsts SUSPEND? 04008428 - #ifdef DEBUG_USB - puth(gintsts); - print(" "); - /*puth(USBx->GCCFG); - print(" ");*/ - puth(gotgint); - print(" ep "); - puth(daint); - print(" USB interrupt!\n"); - #endif - - if ((gintsts & USB_OTG_GINTSTS_CIDSCHG) != 0U) { - print("connector ID status change\n"); - } - - if ((gintsts & USB_OTG_GINTSTS_USBRST) != 0U) { - print("USB reset\n"); - usb_reset(); - } - - if ((gintsts & USB_OTG_GINTSTS_ENUMDNE) != 0U) { - print("enumeration done"); - // Full speed, ENUMSPD - //puth(USBx_DEVICE->DSTS); - print("\n"); - } - - if ((gintsts & USB_OTG_GINTSTS_OTGINT) != 0U) { - print("OTG int:"); - puth(USBx->GOTGINT); - print("\n"); - - // getting ADTOCHG - //USBx->GOTGINT = USBx->GOTGINT; - } - - // RX FIFO first - if ((gintsts & USB_OTG_GINTSTS_RXFLVL) != 0U) { - // 1. Read the Receive status pop register - volatile unsigned int rxst = USBx->GRXSTSP; - int status = (rxst & USB_OTG_GRXSTSP_PKTSTS) >> 17; - - #ifdef DEBUG_USB - print(" RX FIFO:"); - puth(rxst); - print(" status: "); - puth(status); - print(" len: "); - puth((rxst & USB_OTG_GRXSTSP_BCNT) >> 4); - print("\n"); - #endif - - if (status == STS_DATA_UPDT) { - int endpoint = (rxst & USB_OTG_GRXSTSP_EPNUM); - int len = (rxst & USB_OTG_GRXSTSP_BCNT) >> 4; - (void)USB_ReadPacket(&usbdata, len); - #ifdef DEBUG_USB - print(" data "); - puth(len); - print("\n"); - hexdump(&usbdata, len); - #endif - - if (endpoint == 2) { - comms_endpoint2_write((uint8_t *) usbdata, len); - } - - if (endpoint == 3) { - outep3_processing = true; - comms_can_write(usbdata, len); - } - } else if (status == STS_SETUP_UPDT) { - (void)USB_ReadPacket(&setup, 8); - #ifdef DEBUG_USB - print(" setup "); - hexdump(&setup, 8); - print("\n"); - #endif - } else { - // status is neither STS_DATA_UPDT or STS_SETUP_UPDT, skip - } - } - - /*if (gintsts & USB_OTG_GINTSTS_HPRTINT) { - // host - print("HPRT:"); - puth(USBx_HOST_PORT->HPRT); - print("\n"); - if (USBx_HOST_PORT->HPRT & USB_OTG_HPRT_PCDET) { - USBx_HOST_PORT->HPRT |= USB_OTG_HPRT_PRST; - USBx_HOST_PORT->HPRT |= USB_OTG_HPRT_PCDET; - } - - }*/ - - if ((gintsts & USB_OTG_GINTSTS_BOUTNAKEFF) || (gintsts & USB_OTG_GINTSTS_GINAKEFF)) { - // no global NAK, why is this getting set? - #ifdef DEBUG_USB - print("GLOBAL NAK\n"); - #endif - USBx_DEVICE->DCTL |= USB_OTG_DCTL_CGONAK | USB_OTG_DCTL_CGINAK; - } - - if ((gintsts & USB_OTG_GINTSTS_SRQINT) != 0U) { - // we want to do "A-device host negotiation protocol" since we are the A-device - /*print("start request\n"); - puth(USBx->GOTGCTL); - print("\n");*/ - //USBx->GUSBCFG |= USB_OTG_GUSBCFG_FDMOD; - //USBx_HOST_PORT->HPRT = USB_OTG_HPRT_PPWR | USB_OTG_HPRT_PENA; - //USBx->GOTGCTL |= USB_OTG_GOTGCTL_SRQ; - } - - // out endpoint hit - if ((gintsts & USB_OTG_GINTSTS_OEPINT) != 0U) { - #ifdef DEBUG_USB - print(" 0:"); - puth(USBx_OUTEP(0U)->DOEPINT); - print(" 2:"); - puth(USBx_OUTEP(2U)->DOEPINT); - print(" 3:"); - puth(USBx_OUTEP(3U)->DOEPINT); - print(" "); - puth(USBx_OUTEP(3U)->DOEPCTL); - print(" 4:"); - puth(USBx_OUTEP(4)->DOEPINT); - print(" OUT ENDPOINT\n"); - #endif - - if ((USBx_OUTEP(2U)->DOEPINT & USB_OTG_DOEPINT_XFRC) != 0U) { - #ifdef DEBUG_USB - print(" OUT2 PACKET XFRC\n"); - #endif - USBx_OUTEP(2U)->DOEPTSIZ = (1UL << 19) | 0x40U; - USBx_OUTEP(2U)->DOEPCTL |= USB_OTG_DOEPCTL_EPENA | USB_OTG_DOEPCTL_CNAK; - } - - if ((USBx_OUTEP(3U)->DOEPINT & USB_OTG_DOEPINT_XFRC) != 0U) { - #ifdef DEBUG_USB - print(" OUT3 PACKET XFRC\n"); - #endif - // NAK cleared by process_can (if tx buffers have room) - outep3_processing = false; - refresh_can_tx_slots_available(); - } else if ((USBx_OUTEP(3U)->DOEPINT & 0x2000U) != 0U) { - #ifdef DEBUG_USB - print(" OUT3 PACKET WTF\n"); - #endif - // if NAK was set trigger this, unknown interrupt - // TODO: why was this here? fires when TX buffers when we can't clear NAK - // USBx_OUTEP(3U)->DOEPTSIZ = (1U << 19) | 0x40U; - // USBx_OUTEP(3U)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK; - } else if ((USBx_OUTEP(3U)->DOEPINT) != 0U) { - #ifdef DEBUG_USB - print("OUTEP3 error "); - puth(USBx_OUTEP(3U)->DOEPINT); - print("\n"); - #endif - } else { - // USBx_OUTEP(3U)->DOEPINT is 0, ok to skip - } - - if ((USBx_OUTEP(0U)->DOEPINT & USB_OTG_DIEPINT_XFRC) != 0U) { - // ready for next packet - USBx_OUTEP(0U)->DOEPTSIZ = USB_OTG_DOEPTSIZ_STUPCNT | (USB_OTG_DOEPTSIZ_PKTCNT & (1UL << 19)) | (1U << 3); - } - - // respond to setup packets - if ((USBx_OUTEP(0U)->DOEPINT & USB_OTG_DOEPINT_STUP) != 0U) { - usb_setup(); - } - - USBx_OUTEP(0U)->DOEPINT = USBx_OUTEP(0U)->DOEPINT; - USBx_OUTEP(2U)->DOEPINT = USBx_OUTEP(2U)->DOEPINT; - USBx_OUTEP(3U)->DOEPINT = USBx_OUTEP(3U)->DOEPINT; - } - - // interrupt endpoint hit (Page 1221) - if ((gintsts & USB_OTG_GINTSTS_IEPINT) != 0U) { - #ifdef DEBUG_USB - print(" "); - puth(USBx_INEP(0U)->DIEPINT); - print(" "); - puth(USBx_INEP(1U)->DIEPINT); - print(" IN ENDPOINT\n"); - #endif - - // Should likely check the EP of the IN request even if there is - // only one IN endpoint. - - // No need to set NAK in OTG_DIEPCTL0 when nothing to send, - // Appears USB core automatically sets NAK. WritePacket clears it. - - // Handle the two interface alternate settings. Setting 0 has EP1 - // as bulk. Setting 1 has EP1 as interrupt. The code to handle - // these two EP variations are very similar and can be - // restructured for smaller code footprint. Keeping split out for - // now for clarity. - - //TODO add default case. Should it NAK? - switch (current_int0_alt_setting) { - case 0: ////// Bulk config - // *** IN token received when TxFIFO is empty - if ((USBx_INEP(1U)->DIEPINT & USB_OTG_DIEPMSK_ITTXFEMSK) != 0U) { - #ifdef DEBUG_USB - print(" IN PACKET QUEUE\n"); - #endif - // TODO: always assuming max len, can we get the length? - USB_WritePacket((void *)response, comms_can_read(response, 0x40), 1); - } - break; - - case 1: ////// Interrupt config - // *** IN token received when TxFIFO is empty - if ((USBx_INEP(1U)->DIEPINT & USB_OTG_DIEPMSK_ITTXFEMSK) != 0U) { - #ifdef DEBUG_USB - print(" IN PACKET QUEUE\n"); - #endif - // TODO: always assuming max len, can we get the length? - int len = comms_can_read(response, 0x40); - if (len > 0) { - USB_WritePacket((void *)response, len, 1); - } - } - break; - default: - print("current_int0_alt_setting value invalid\n"); - break; - } - - if ((USBx_INEP(0U)->DIEPINT & USB_OTG_DIEPMSK_ITTXFEMSK) != 0U) { - #ifdef DEBUG_USB - print(" IN PACKET QUEUE\n"); - #endif - - if ((ep0_txlen != 0U) && ((USBx_INEP(0U)->DTXFSTS & USB_OTG_DTXFSTS_INEPTFSAV) >= 0x40U)) { - uint16_t len = MIN(ep0_txlen, 0x40); - USB_WritePacket(ep0_txdata, len, 0); - ep0_txdata = &ep0_txdata[len]; - ep0_txlen -= len; - if (ep0_txlen == 0U) { - ep0_txdata = NULL; - USBx_DEVICE->DIEPEMPMSK &= ~1; - USBx_OUTEP(0U)->DOEPCTL |= USB_OTG_DOEPCTL_CNAK; - } - } - } - - // clear interrupts - USBx_INEP(0U)->DIEPINT = USBx_INEP(0U)->DIEPINT; // Why ep0? - USBx_INEP(1U)->DIEPINT = USBx_INEP(1U)->DIEPINT; - } - - // clear all interrupts we handled - USBx_DEVICE->DAINT = daint; - USBx->GOTGINT = gotgint; - USBx->GINTSTS = gintsts; - - //USBx->GINTMSK = 0xFFFFFFFF & ~(USB_OTG_GINTMSK_NPTXFEM | USB_OTG_GINTMSK_PTXFEM | USB_OTG_GINTSTS_SOF | USB_OTG_GINTSTS_EOPF); -} - -void can_tx_comms_resume_usb(void) { - ENTER_CRITICAL(); - if (!outep3_processing && (USBx_OUTEP(3U)->DOEPCTL & USB_OTG_DOEPCTL_NAKSTS) != 0U) { - USBx_OUTEP(3U)->DOEPTSIZ = (32UL << 19) | 0x800U; - USBx_OUTEP(3U)->DOEPCTL |= USB_OTG_DOEPCTL_EPENA | USB_OTG_DOEPCTL_CNAK; - } - EXIT_CRITICAL(); -} - -void usb_soft_disconnect(bool enable) { - if (enable) { - USBx_DEVICE->DCTL |= USB_OTG_DCTL_SDIS; - } else { - USBx_DEVICE->DCTL &= ~USB_OTG_DCTL_SDIS; - } -} diff --git a/panda/board/drivers/watchdog.h b/panda/board/drivers/watchdog.h deleted file mode 100644 index 89cf01e07efc1f..00000000000000 --- a/panda/board/drivers/watchdog.h +++ /dev/null @@ -1,24 +0,0 @@ -typedef enum { - WATCHDOG_50_MS = (400U - 1U), - WATCHDOG_500_MS = 4000U, -} WatchdogTimeout; - -void watchdog_feed(void) { - IND_WDG->KR = 0xAAAAU; -} - -void watchdog_init(WatchdogTimeout timeout) { - // enable watchdog - IND_WDG->KR = 0xCCCCU; - IND_WDG->KR = 0x5555U; - - // 32KHz / 4 prescaler = 8000Hz - register_set(&(IND_WDG->PR), 0x0U, IWDG_PR_PR_Msk); - register_set(&(IND_WDG->RLR), timeout, IWDG_RLR_RL_Msk); - - // wait for watchdog to be updated - while (IND_WDG->SR != 0U); - - // start the countdown - watchdog_feed(); -} diff --git a/panda/board/early_init.h b/panda/board/early_init.h deleted file mode 100644 index 0e78274c3c93fa..00000000000000 --- a/panda/board/early_init.h +++ /dev/null @@ -1,65 +0,0 @@ -// Early bringup -#define ENTER_BOOTLOADER_MAGIC 0xdeadbeefU -#define ENTER_SOFTLOADER_MAGIC 0xdeadc0deU -#define BOOT_NORMAL 0xdeadb111U - -extern void *g_pfnVectors; -extern uint32_t enter_bootloader_mode; - -typedef void (*bootloader_fcn)(void); -typedef bootloader_fcn *bootloader_fcn_ptr; - -void jump_to_bootloader(void) { - // do enter bootloader - enter_bootloader_mode = 0; - - bootloader_fcn_ptr bootloader_ptr = (bootloader_fcn_ptr)BOOTLOADER_ADDRESS; - bootloader_fcn bootloader = *bootloader_ptr; - - // jump to bootloader - enable_interrupts(); - bootloader(); - - // reset on exit - enter_bootloader_mode = BOOT_NORMAL; - NVIC_SystemReset(); -} - -void early_initialization(void) { - // Reset global critical depth - disable_interrupts(); - global_critical_depth = 0; - - // Init register and interrupt tables - init_registers(); - - // after it's been in the bootloader, things are initted differently, so we reset - if ((enter_bootloader_mode != BOOT_NORMAL) && - (enter_bootloader_mode != ENTER_BOOTLOADER_MAGIC) && - (enter_bootloader_mode != ENTER_SOFTLOADER_MAGIC)) { - enter_bootloader_mode = BOOT_NORMAL; - NVIC_SystemReset(); - } - - // if wrong chip, reboot - volatile unsigned int id = DBGMCU->IDCODE; - if ((id & 0xFFFU) != MCU_IDCODE) { - enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC; - } - - // setup interrupt table - SCB->VTOR = (uint32_t)&g_pfnVectors; - - // early GPIOs float everything - early_gpio_float(); - - detect_board_type(); - - if (enter_bootloader_mode == ENTER_BOOTLOADER_MAGIC) { - #ifdef PANDA - current_board->init_bootloader(); - #endif - current_board->set_led(LED_GREEN, 1); - jump_to_bootloader(); - } -} diff --git a/panda/board/fake_stm.h b/panda/board/fake_stm.h deleted file mode 100644 index b73a4e89857ced..00000000000000 --- a/panda/board/fake_stm.h +++ /dev/null @@ -1,33 +0,0 @@ -// minimal code to fake a panda for tests -#include -#include -#include - -#include "utils.h" - -#define CANFD -#define ALLOW_DEBUG -#define PANDA - -#define ENTER_CRITICAL() 0 -#define EXIT_CRITICAL() 0 - -void print(const char *a) { - printf("%s", a); -} - -void puth(unsigned int i) { - printf("%u", i); -} - -typedef struct { - uint32_t CNT; -} TIM_TypeDef; - -TIM_TypeDef timer; -TIM_TypeDef *MICROSECOND_TIMER = &timer; -uint32_t microsecond_timer_get(void); - -uint32_t microsecond_timer_get(void) { - return MICROSECOND_TIMER->CNT; -} diff --git a/panda/board/faults.h b/panda/board/faults.h deleted file mode 100644 index dc6c1f2aa405c8..00000000000000 --- a/panda/board/faults.h +++ /dev/null @@ -1,59 +0,0 @@ -#define FAULT_STATUS_NONE 0U -#define FAULT_STATUS_TEMPORARY 1U -#define FAULT_STATUS_PERMANENT 2U - -// Fault types, matches cereal.log.PandaState.FaultType -#define FAULT_RELAY_MALFUNCTION (1UL << 0) -#define FAULT_UNUSED_INTERRUPT_HANDLED (1UL << 1) -#define FAULT_INTERRUPT_RATE_CAN_1 (1UL << 2) -#define FAULT_INTERRUPT_RATE_CAN_2 (1UL << 3) -#define FAULT_INTERRUPT_RATE_CAN_3 (1UL << 4) -#define FAULT_INTERRUPT_RATE_TACH (1UL << 5) -#define FAULT_INTERRUPT_RATE_GMLAN (1UL << 6) // deprecated -#define FAULT_INTERRUPT_RATE_INTERRUPTS (1UL << 7) -#define FAULT_INTERRUPT_RATE_SPI_DMA (1UL << 8) -#define FAULT_INTERRUPT_RATE_SPI_CS (1UL << 9) -#define FAULT_INTERRUPT_RATE_UART_1 (1UL << 10) -#define FAULT_INTERRUPT_RATE_UART_2 (1UL << 11) -#define FAULT_INTERRUPT_RATE_UART_3 (1UL << 12) -#define FAULT_INTERRUPT_RATE_UART_5 (1UL << 13) -#define FAULT_INTERRUPT_RATE_UART_DMA (1UL << 14) -#define FAULT_INTERRUPT_RATE_USB (1UL << 15) -#define FAULT_INTERRUPT_RATE_TIM1 (1UL << 16) -#define FAULT_INTERRUPT_RATE_TIM3 (1UL << 17) -#define FAULT_REGISTER_DIVERGENT (1UL << 18) -#define FAULT_INTERRUPT_RATE_KLINE_INIT (1UL << 19) -#define FAULT_INTERRUPT_RATE_CLOCK_SOURCE (1UL << 20) -#define FAULT_INTERRUPT_RATE_TICK (1UL << 21) -#define FAULT_INTERRUPT_RATE_EXTI (1UL << 22) -#define FAULT_INTERRUPT_RATE_SPI (1UL << 23) -#define FAULT_INTERRUPT_RATE_UART_7 (1UL << 24) -#define FAULT_SIREN_MALFUNCTION (1UL << 25) -#define FAULT_HEARTBEAT_LOOP_WATCHDOG (1UL << 26) - -// Permanent faults -#define PERMANENT_FAULTS 0U - -uint8_t fault_status = FAULT_STATUS_NONE; -uint32_t faults = 0U; - -void fault_occurred(uint32_t fault) { - if ((faults & fault) == 0U) { - if ((PERMANENT_FAULTS & fault) != 0U) { - print("Permanent fault occurred: 0x"); puth(fault); print("\n"); - fault_status = FAULT_STATUS_PERMANENT; - } else { - print("Temporary fault occurred: 0x"); puth(fault); print("\n"); - fault_status = FAULT_STATUS_TEMPORARY; - } - } - faults |= fault; -} - -void fault_recovered(uint32_t fault) { - if ((PERMANENT_FAULTS & fault) == 0U) { - faults &= ~fault; - } else { - print("Cannot recover from a permanent fault!\n"); - } -} diff --git a/panda/board/flash.py b/panda/board/flash.py deleted file mode 100755 index 903a6a645f2205..00000000000000 --- a/panda/board/flash.py +++ /dev/null @@ -1,18 +0,0 @@ -#!/usr/bin/env python3 -import os -import subprocess - -from panda import Panda - -board_path = os.path.dirname(os.path.realpath(__file__)) - -if __name__ == "__main__": - subprocess.check_call(f"scons -C {board_path}/.. -j$(nproc) {board_path}", shell=True) - - serials = Panda.list() - print(f"found {len(serials)} panda(s) - {serials}") - for s in serials: - print("flashing", s) - with Panda(serial=s) as p: - p.flash() - exit(1 if len(serials) == 0 else 0) diff --git a/panda/board/flasher.h b/panda/board/flasher.h deleted file mode 100644 index d6c2c402113793..00000000000000 --- a/panda/board/flasher.h +++ /dev/null @@ -1,150 +0,0 @@ -// flasher state variables -uint32_t *prog_ptr = NULL; -bool unlocked = false; - -void spi_init(void); - -int comms_control_handler(ControlPacket_t *req, uint8_t *resp) { - int resp_len = 0; - - // flasher machine - memset(resp, 0, 4); - memcpy(resp+4, "\xde\xad\xd0\x0d", 4); - resp[0] = 0xff; - resp[2] = req->request; - resp[3] = ~req->request; - *((uint32_t **)&resp[8]) = prog_ptr; - resp_len = 0xc; - - int sec; - switch (req->request) { - // **** 0xb0: flasher echo - case 0xb0: - resp[1] = 0xff; - break; - // **** 0xb1: unlock flash - case 0xb1: - if (flash_is_locked()) { - flash_unlock(); - resp[1] = 0xff; - } - current_board->set_led(LED_GREEN, 1); - unlocked = true; - prog_ptr = (uint32_t *)APP_START_ADDRESS; - break; - // **** 0xb2: erase sector - case 0xb2: - sec = req->param1; - if (flash_erase_sector(sec, unlocked)) { - resp[1] = 0xff; - } - break; - // **** 0xc1: get hardware type - case 0xc1: - resp[0] = hw_type; - resp_len = 1; - break; - // **** 0xc3: fetch MCU UID - case 0xc3: - (void)memcpy(resp, ((uint8_t *)UID_BASE), 12); - resp_len = 12; - break; - // **** 0xd0: fetch serial number - case 0xd0: - // addresses are OTP - if (req->param1 == 1) { - memcpy(resp, (void *)DEVICE_SERIAL_NUMBER_ADDRESS, 0x10); - resp_len = 0x10; - } else { - get_provision_chunk(resp); - resp_len = PROVISION_CHUNK_LEN; - } - break; - // **** 0xd1: enter bootloader mode - case 0xd1: - // this allows reflashing of the bootstub - switch (req->param1) { - case 0: - print("-> entering bootloader\n"); - enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC; - NVIC_SystemReset(); - break; - case 1: - print("-> entering softloader\n"); - enter_bootloader_mode = ENTER_SOFTLOADER_MAGIC; - NVIC_SystemReset(); - break; - } - break; - // **** 0xd6: get version - case 0xd6: - COMPILE_TIME_ASSERT(sizeof(gitversion) <= USBPACKET_MAX_SIZE); - memcpy(resp, gitversion, sizeof(gitversion)); - resp_len = sizeof(gitversion); - break; - // **** 0xd8: reset ST - case 0xd8: - flush_write_buffer(); - NVIC_SystemReset(); - break; - } - return resp_len; -} - -void comms_can_write(const uint8_t *data, uint32_t len) { - UNUSED(data); - UNUSED(len); -} - -int comms_can_read(uint8_t *data, uint32_t max_len) { - UNUSED(data); - UNUSED(max_len); - return 0; -} - -void refresh_can_tx_slots_available(void) {} - -void comms_endpoint2_write(const uint8_t *data, uint32_t len) { - current_board->set_led(LED_RED, 0); - for (uint32_t i = 0; i < len/4; i++) { - flash_write_word(prog_ptr, *(uint32_t*)(data+(i*4))); - - //*(uint64_t*)(&spi_tx_buf[0x30+(i*4)]) = *prog_ptr; - prog_ptr++; - } - current_board->set_led(LED_RED, 1); -} - - -void soft_flasher_start(void) { - print("\n\n\n************************ FLASHER START ************************\n"); - - enter_bootloader_mode = 0; - - flasher_peripherals_init(); - - gpio_usart2_init(); - gpio_usb_init(); - - // enable USB - usb_init(); - - // enable SPI - if (current_board->has_spi) { - gpio_spi_init(); - spi_init(); - } - - // green LED on for flashing - current_board->set_led(LED_GREEN, 1); - - enable_interrupts(); - - for (;;) { - // blink the green LED fast - current_board->set_led(LED_GREEN, 0); - delay(500000); - current_board->set_led(LED_GREEN, 1); - delay(500000); - } -} diff --git a/panda/board/health.h b/panda/board/health.h deleted file mode 100644 index 74d822dc6cea34..00000000000000 --- a/panda/board/health.h +++ /dev/null @@ -1,61 +0,0 @@ -// When changing these structs, python/__init__.py needs to be kept up to date! - -#define HEALTH_PACKET_VERSION 16 -struct __attribute__((packed)) health_t { - uint32_t uptime_pkt; - uint32_t voltage_pkt; - uint32_t current_pkt; - uint32_t safety_tx_blocked_pkt; - uint32_t safety_rx_invalid_pkt; - uint32_t tx_buffer_overflow_pkt; - uint32_t rx_buffer_overflow_pkt; - uint32_t faults_pkt; - uint8_t ignition_line_pkt; - uint8_t ignition_can_pkt; - uint8_t controls_allowed_pkt; - uint8_t car_harness_status_pkt; - uint8_t safety_mode_pkt; - uint16_t safety_param_pkt; - uint8_t fault_status_pkt; - uint8_t power_save_enabled_pkt; - uint8_t heartbeat_lost_pkt; - uint16_t alternative_experience_pkt; - float interrupt_load_pkt; - uint8_t fan_power; - uint8_t safety_rx_checks_invalid_pkt; - uint16_t spi_checksum_error_count_pkt; - uint8_t fan_stall_count; - uint16_t sbu1_voltage_mV; - uint16_t sbu2_voltage_mV; - uint8_t som_reset_triggered; -}; - -#define CAN_HEALTH_PACKET_VERSION 5 -typedef struct __attribute__((packed)) { - uint8_t bus_off; - uint32_t bus_off_cnt; - uint8_t error_warning; - uint8_t error_passive; - uint8_t last_error; // real time LEC value - uint8_t last_stored_error; // last LEC positive error code stored - uint8_t last_data_error; // DLEC (for CANFD only) - uint8_t last_data_stored_error; // last DLEC positive error code stored (for CANFD only) - uint8_t receive_error_cnt; // Actual state of the receive error counter, values between 0 and 127. FDCAN_ECR.REC - uint8_t transmit_error_cnt; // Actual state of the transmit error counter, values between 0 and 255. FDCAN_ECR.TEC - uint32_t total_error_cnt; // How many times any error interrupt was invoked - uint32_t total_tx_lost_cnt; // Tx event FIFO element lost - uint32_t total_rx_lost_cnt; // Rx FIFO 0 message lost due to FIFO full condition - uint32_t total_tx_cnt; - uint32_t total_rx_cnt; - uint32_t total_fwd_cnt; // Messages forwarded from one bus to another - uint32_t total_tx_checksum_error_cnt; - uint16_t can_speed; - uint16_t can_data_speed; - uint8_t canfd_enabled; - uint8_t brs_enabled; - uint8_t canfd_non_iso; - uint32_t irq0_call_rate; - uint32_t irq1_call_rate; - uint32_t irq2_call_rate; - uint32_t can_core_reset_cnt; -} can_health_t; diff --git a/panda/board/jungle/README.md b/panda/board/jungle/README.md deleted file mode 100644 index 4c271cbf216083..00000000000000 --- a/panda/board/jungle/README.md +++ /dev/null @@ -1,26 +0,0 @@ -Welcome to the jungle -====== - -Firmware for the Panda Jungle testing board. -Available for purchase at the [comma shop](https://comma.ai/shop/panda-jungle). - -## udev rules - -To make the jungle usable without root permissions, you might need to setup udev rules for it. -On ubuntu, this should do the trick: -``` bash -sudo tee /etc/udev/rules.d/12-panda_jungle.rules <= 1U) && (channel <= 6U)) { - uint16_t readout = adc_get_mV(ADC1, channel - 1U); // these are mapped nicely in hardware - - ret = (((float) readout / 33e6) - 0.8e-6) / 52e-6 * 12.0f; - } else { - print("Invalid channel ("); puth(channel); print(")\n"); - } - return ret; -} - -uint16_t board_v2_get_sbu_mV(uint8_t channel, uint8_t sbu) { - uint16_t ret = 0U; - if ((channel >= 1U) && (channel <= 6U)) { - switch(sbu){ - case SBU1: - ret = adc_get_mV(sbu1_channels[channel - 1U].adc, sbu1_channels[channel - 1U].channel); - break; - case SBU2: - ret = adc_get_mV(sbu2_channels[channel - 1U].adc, sbu2_channels[channel - 1U].channel); - break; - default: - print("Invalid SBU ("); puth(sbu); print(")\n"); - break; - } - } else { - print("Invalid channel ("); puth(channel); print(")\n"); - } - return ret; -} - -void board_v2_init(void) { - common_init_gpio(); - - // Disable LEDs - board_v2_set_led(LED_RED, false); - board_v2_set_led(LED_GREEN, false); - board_v2_set_led(LED_BLUE, false); - - // Normal CAN mode - board_v2_set_can_mode(CAN_MODE_NORMAL); - - // Enable CAN transcievers - for(uint8_t i = 1; i <= 4; i++) { - board_v2_enable_can_transciever(i, true); - } - - // Set to no harness orientation - board_v2_set_harness_orientation(HARNESS_ORIENTATION_NONE); - - // Enable panda power by default - board_v2_set_panda_power(true); - - // Current monitor channels - adc_init(ADC1); - register_set_bits(&SYSCFG->PMCR, SYSCFG_PMCR_PA0SO | SYSCFG_PMCR_PA1SO); // open up analog switches for PA0_C and PA1_C - set_gpio_mode(GPIOF, 11, MODE_ANALOG); - set_gpio_mode(GPIOA, 6, MODE_ANALOG); - set_gpio_mode(GPIOC, 4, MODE_ANALOG); - set_gpio_mode(GPIOB, 1, MODE_ANALOG); - - // SBU channels - adc_init(ADC3); - set_gpio_mode(GPIOC, 2, MODE_ANALOG); - set_gpio_mode(GPIOC, 3, MODE_ANALOG); - set_gpio_mode(GPIOF, 9, MODE_ANALOG); - set_gpio_mode(GPIOF, 7, MODE_ANALOG); - set_gpio_mode(GPIOF, 5, MODE_ANALOG); - set_gpio_mode(GPIOF, 3, MODE_ANALOG); - set_gpio_mode(GPIOF, 10, MODE_ANALOG); - set_gpio_mode(GPIOF, 8, MODE_ANALOG); - set_gpio_mode(GPIOF, 6, MODE_ANALOG); - set_gpio_mode(GPIOF, 4, MODE_ANALOG); - set_gpio_mode(GPIOC, 0, MODE_ANALOG); - set_gpio_mode(GPIOC, 1, MODE_ANALOG); - - // Header pins - set_gpio_mode(GPIOG, 0, MODE_OUTPUT); - set_gpio_mode(GPIOG, 1, MODE_OUTPUT); - set_gpio_mode(GPIOG, 2, MODE_OUTPUT); - set_gpio_mode(GPIOG, 3, MODE_OUTPUT); - set_gpio_mode(GPIOG, 4, MODE_OUTPUT); - set_gpio_mode(GPIOG, 5, MODE_OUTPUT); - set_gpio_mode(GPIOG, 6, MODE_OUTPUT); - set_gpio_mode(GPIOG, 7, MODE_OUTPUT); -} - -void board_v2_tick(void) {} - -board board_v2 = { - .has_canfd = true, - .has_sbu_sense = true, - .avdd_mV = 3300U, - .init = &board_v2_init, - .set_led = &board_v2_set_led, - .board_tick = &board_v2_tick, - .get_button = &board_v2_get_button, - .set_panda_power = &board_v2_set_panda_power, - .set_panda_individual_power = &board_v2_set_panda_individual_power, - .set_ignition = &board_v2_set_ignition, - .set_individual_ignition = &board_v2_set_individual_ignition, - .set_harness_orientation = &board_v2_set_harness_orientation, - .set_can_mode = &board_v2_set_can_mode, - .enable_can_transciever = &board_v2_enable_can_transciever, - .enable_header_pin = &board_v2_enable_header_pin, - .get_channel_power = &board_v2_get_channel_power, - .get_sbu_mV = &board_v2_get_sbu_mV, -}; diff --git a/panda/board/jungle/flash.py b/panda/board/jungle/flash.py deleted file mode 100755 index 5b6c6e9046a6f2..00000000000000 --- a/panda/board/jungle/flash.py +++ /dev/null @@ -1,19 +0,0 @@ -#!/usr/bin/env python3 -import os -import subprocess - -from panda import PandaJungle - -board_path = os.path.dirname(os.path.realpath(__file__)) - -if __name__ == "__main__": - subprocess.check_call(f"scons -C {board_path}/.. -u -j$(nproc) {board_path}", shell=True) - - serials = PandaJungle.list() - print(f"found {len(serials)} panda jungle(s) - {serials}") - for s in serials: - print("flashing", s) - with PandaJungle(serial=s) as p: - p.flash() - - exit(1 if len(serials) == 0 else 0) diff --git a/panda/board/jungle/jungle_health.h b/panda/board/jungle/jungle_health.h deleted file mode 100644 index 931ed3715e0e60..00000000000000 --- a/panda/board/jungle/jungle_health.h +++ /dev/null @@ -1,24 +0,0 @@ -// When changing these structs, python/__init__.py needs to be kept up to date! - -#define JUNGLE_HEALTH_PACKET_VERSION 1 -struct __attribute__((packed)) jungle_health_t { - uint32_t uptime_pkt; - float ch1_power; - float ch2_power; - float ch3_power; - float ch4_power; - float ch5_power; - float ch6_power; - uint16_t ch1_sbu1_mV; - uint16_t ch1_sbu2_mV; - uint16_t ch2_sbu1_mV; - uint16_t ch2_sbu2_mV; - uint16_t ch3_sbu1_mV; - uint16_t ch3_sbu2_mV; - uint16_t ch4_sbu1_mV; - uint16_t ch4_sbu2_mV; - uint16_t ch5_sbu1_mV; - uint16_t ch5_sbu2_mV; - uint16_t ch6_sbu1_mV; - uint16_t ch6_sbu2_mV; -}; diff --git a/panda/board/jungle/main.c b/panda/board/jungle/main.c deleted file mode 100644 index 40777d9965e99d..00000000000000 --- a/panda/board/jungle/main.c +++ /dev/null @@ -1,247 +0,0 @@ -// ********************* Includes ********************* -#include "board/config.h" - -#include "board/safety.h" - -#include "board/drivers/pwm.h" -#include "board/drivers/usb.h" - -#include "board/early_init.h" -#include "board/provision.h" - -#include "board/health.h" -#include "jungle_health.h" - -#include "board/drivers/can_common.h" - -#ifdef STM32H7 - #include "board/drivers/fdcan.h" -#else - #include "board/drivers/bxcan.h" -#endif - -#include "board/obj/gitversion.h" - -#include "board/can_comms.h" -#include "main_comms.h" - - -// ********************* Serial debugging ********************* - -void debug_ring_callback(uart_ring *ring) { - char rcv; - while (get_char(ring, &rcv)) { - (void)injectc(ring, rcv); - } -} - -// ***************************** main code ***************************** - -// cppcheck-suppress unusedFunction ; used in headers not included in cppcheck -void __initialize_hardware_early(void) { - early_initialization(); -} - -void __attribute__ ((noinline)) enable_fpu(void) { - // enable the FPU - SCB->CPACR |= ((3UL << (10U * 2U)) | (3UL << (11U * 2U))); -} - -// called at 8Hz -uint32_t loop_counter = 0U; -uint16_t button_press_cnt = 0U; -void tick_handler(void) { - if (TICK_TIMER->SR != 0) { - if (generated_can_traffic) { - for (int i = 0; i < 3; i++) { - if (can_health[i].transmit_error_cnt >= 128) { - (void)llcan_init(CANIF_FROM_CAN_NUM(i)); - } - } - } - - // tick drivers at 8Hz - usb_tick(); - - // decimated to 1Hz - if ((loop_counter % 8) == 0U) { - #ifdef DEBUG - print("** blink "); - print("rx:"); puth4(can_rx_q.r_ptr); print("-"); puth4(can_rx_q.w_ptr); print(" "); - print("tx1:"); puth4(can_tx1_q.r_ptr); print("-"); puth4(can_tx1_q.w_ptr); print(" "); - print("tx2:"); puth4(can_tx2_q.r_ptr); print("-"); puth4(can_tx2_q.w_ptr); print(" "); - print("tx3:"); puth4(can_tx3_q.r_ptr); print("-"); puth4(can_tx3_q.w_ptr); print("\n"); - #endif - - current_board->board_tick(); - - // check registers - check_registers(); - - // turn off the blue LED, turned on by CAN - current_board->set_led(LED_BLUE, false); - - // Blink and OBD CAN -#ifdef FINAL_PROVISIONING - current_board->set_can_mode(can_mode == CAN_MODE_NORMAL ? CAN_MODE_OBD_CAN2 : CAN_MODE_NORMAL); -#endif - - // on to the next one - uptime_cnt += 1U; - } - - current_board->set_led(LED_GREEN, green_led_enabled); - - // Check on button - bool current_button_status = current_board->get_button(); - - if (current_button_status && button_press_cnt == 10) { - current_board->set_panda_power(!panda_power); - } - -#ifdef FINAL_PROVISIONING - // Ignition blinking - uint8_t ignition_bitmask = 0U; - for (uint8_t i = 0U; i < 6U; i++) { - ignition_bitmask |= ((loop_counter % 12U) < ((uint32_t) i + 2U)) << i; - } - current_board->set_individual_ignition(ignition_bitmask); - - // SBU voltage reporting - if (current_board->has_sbu_sense) { - for (uint8_t i = 0U; i < 6U; i++) { - CANPacket_t pkt = { 0 }; - pkt.data_len_code = 8U; - pkt.addr = 0x100U + i; - *(uint16_t *) &pkt.data[0] = current_board->get_sbu_mV(i + 1U, SBU1); - *(uint16_t *) &pkt.data[2] = current_board->get_sbu_mV(i + 1U, SBU2); - pkt.data[4] = (ignition_bitmask >> i) & 1U; - can_set_checksum(&pkt); - can_send(&pkt, 0U, false); - } - } -#else - // toggle ignition on button press - static bool prev_button_status = false; - if (!current_button_status && prev_button_status && button_press_cnt < 10){ - current_board->set_ignition(!ignition); - } - prev_button_status = current_button_status; -#endif - - button_press_cnt = current_button_status ? button_press_cnt + 1 : 0; - - loop_counter++; - } - TICK_TIMER->SR = 0; -} - - -int main(void) { - // Init interrupt table - init_interrupts(true); - - // shouldn't have interrupts here, but just in case - disable_interrupts(); - - // init early devices - clock_init(); - peripherals_init(); - detect_board_type(); - // red+green leds enabled until succesful USB init, as a debug indicator - current_board->set_led(LED_RED, true); - current_board->set_led(LED_GREEN, true); - - // print hello - print("\n\n\n************************ MAIN START ************************\n"); - - // check for non-supported board types - if (hw_type == HW_TYPE_UNKNOWN) { - print("Unsupported board type\n"); - while (1) { /* hang */ } - } - - print("Config:\n"); - print(" Board type: 0x"); puth(hw_type); print("\n"); - - // init board - current_board->init(); - - // we have an FPU, let's use it! - enable_fpu(); - - microsecond_timer_init(); - - // 8Hz timer - REGISTER_INTERRUPT(TICK_TIMER_IRQ, tick_handler, 10U, FAULT_INTERRUPT_RATE_TICK) - tick_timer_init(); - -#ifdef DEBUG - print("DEBUG ENABLED\n"); -#endif - // enable USB (right before interrupts or enum can fail!) - usb_init(); - - current_board->set_led(LED_RED, false); - current_board->set_led(LED_GREEN, false); - - print("**** INTERRUPTS ON ****\n"); - enable_interrupts(); - - can_silent = ALL_CAN_LIVE; - set_safety_hooks(SAFETY_ALLOUTPUT, 0U); - - can_init_all(); - current_board->set_harness_orientation(HARNESS_ORIENTATION_1); - -#ifdef FINAL_PROVISIONING - print("---- FINAL PROVISIONING BUILD ---- \n"); - can_set_forwarding(0, 2); - can_set_forwarding(1, 2); -#endif - - // LED should keep on blinking all the time - uint32_t cnt = 0; - for (cnt=0;;cnt++) { - if (generated_can_traffic) { - // fill up all the queues - can_ring *qs[] = {&can_tx1_q, &can_tx2_q, &can_tx3_q}; - for (int j = 0; j < 3; j++) { - for (uint16_t n = 0U; n < can_slots_empty(qs[j]); n++) { - uint16_t i = cnt % 100U; - CANPacket_t to_send; - to_send.returned = 0U; - to_send.rejected = 0U; - to_send.extended = 0U; - to_send.addr = 0x200U + i; - to_send.bus = i % 3U; - to_send.data_len_code = i % 8U; - (void)memcpy(to_send.data, "\xff\xff\xff\xff\xff\xff\xff\xff", dlc_to_len[to_send.data_len_code]); - can_set_checksum(&to_send); - - can_send(&to_send, to_send.bus, true); - } - } - - delay(1000); - continue; - } - - // useful for debugging, fade breaks = panda is overloaded - for (uint32_t fade = 0U; fade < MAX_LED_FADE; fade += 1U) { - current_board->set_led(LED_RED, true); - delay(fade >> 4); - current_board->set_led(LED_RED, false); - delay((MAX_LED_FADE - fade) >> 4); - } - - for (uint32_t fade = MAX_LED_FADE; fade > 0U; fade -= 1U) { - current_board->set_led(LED_RED, true); - delay(fade >> 4); - current_board->set_led(LED_RED, false); - delay((MAX_LED_FADE - fade) >> 4); - } - } - - return 0; -} diff --git a/panda/board/jungle/main_comms.h b/panda/board/jungle/main_comms.h deleted file mode 100644 index b2a58f52d4dba0..00000000000000 --- a/panda/board/jungle/main_comms.h +++ /dev/null @@ -1,267 +0,0 @@ -extern int _app_start[0xc000]; // Only first 3 sectors of size 0x4000 are used - -bool generated_can_traffic = false; - -int get_jungle_health_pkt(void *dat) { - COMPILE_TIME_ASSERT(sizeof(struct jungle_health_t) <= USBPACKET_MAX_SIZE); - struct jungle_health_t * health = (struct jungle_health_t*)dat; - - health->uptime_pkt = uptime_cnt; - health->ch1_power = current_board->get_channel_power(1U); - health->ch2_power = current_board->get_channel_power(2U); - health->ch3_power = current_board->get_channel_power(3U); - health->ch4_power = current_board->get_channel_power(4U); - health->ch5_power = current_board->get_channel_power(5U); - health->ch6_power = current_board->get_channel_power(6U); - - health->ch1_sbu1_mV = current_board->get_sbu_mV(1U, SBU1); - health->ch1_sbu2_mV = current_board->get_sbu_mV(1U, SBU2); - health->ch2_sbu1_mV = current_board->get_sbu_mV(2U, SBU1); - health->ch2_sbu2_mV = current_board->get_sbu_mV(2U, SBU2); - health->ch3_sbu1_mV = current_board->get_sbu_mV(3U, SBU1); - health->ch3_sbu2_mV = current_board->get_sbu_mV(3U, SBU2); - health->ch4_sbu1_mV = current_board->get_sbu_mV(4U, SBU1); - health->ch4_sbu2_mV = current_board->get_sbu_mV(4U, SBU2); - health->ch5_sbu1_mV = current_board->get_sbu_mV(5U, SBU1); - health->ch5_sbu2_mV = current_board->get_sbu_mV(5U, SBU2); - health->ch6_sbu1_mV = current_board->get_sbu_mV(6U, SBU1); - health->ch6_sbu2_mV = current_board->get_sbu_mV(6U, SBU2); - - return sizeof(*health); -} - -// send on serial, first byte to select the ring -void comms_endpoint2_write(const uint8_t *data, uint32_t len) { - UNUSED(data); - UNUSED(len); -} - -int comms_control_handler(ControlPacket_t *req, uint8_t *resp) { - unsigned int resp_len = 0; - uint32_t time; - -#ifdef DEBUG_COMMS - print("raw control request: "); hexdump(req, sizeof(ControlPacket_t)); print("\n"); - print("- request "); puth(req->request); print("\n"); - print("- param1 "); puth(req->param1); print("\n"); - print("- param2 "); puth(req->param2); print("\n"); -#endif - - switch (req->request) { - // **** 0xa0: Set panda power. - case 0xa0: - current_board->set_panda_power((req->param1 == 1U)); - break; - // **** 0xa1: Set harness orientation. - case 0xa1: - current_board->set_harness_orientation(req->param1); - break; - // **** 0xa2: Set ignition. - case 0xa2: - current_board->set_ignition((req->param1 == 1U)); - break; - // **** 0xa3: Set panda power per channel by bitmask. - case 0xa3: - current_board->set_panda_individual_power(req->param1, (req->param2 > 0U)); - break; - // **** 0xa4: Enable generated CAN traffic. - case 0xa4: - generated_can_traffic = (req->param1 > 0U); - break; - // **** 0xa8: get microsecond timer - case 0xa8: - time = microsecond_timer_get(); - resp[0] = (time & 0x000000FFU); - resp[1] = ((time & 0x0000FF00U) >> 8U); - resp[2] = ((time & 0x00FF0000U) >> 16U); - resp[3] = ((time & 0xFF000000U) >> 24U); - resp_len = 4U; - break; - // **** 0xc0: reset communications - case 0xc0: - comms_can_reset(); - break; - // **** 0xc1: get hardware type - case 0xc1: - resp[0] = hw_type; - resp_len = 1; - break; - // **** 0xc2: CAN health stats - case 0xc2: - COMPILE_TIME_ASSERT(sizeof(can_health_t) <= USBPACKET_MAX_SIZE); - if (req->param1 < 3U) { - update_can_health_pkt(req->param1, 0U); - can_health[req->param1].can_speed = (bus_config[req->param1].can_speed / 10U); - can_health[req->param1].can_data_speed = (bus_config[req->param1].can_data_speed / 10U); - can_health[req->param1].canfd_enabled = bus_config[req->param1].canfd_enabled; - can_health[req->param1].brs_enabled = bus_config[req->param1].brs_enabled; - can_health[req->param1].canfd_non_iso = bus_config[req->param1].canfd_non_iso; - resp_len = sizeof(can_health[req->param1]); - (void)memcpy(resp, &can_health[req->param1], resp_len); - } - break; - // **** 0xc3: fetch MCU UID - case 0xc3: - (void)memcpy(resp, ((uint8_t *)UID_BASE), 12); - resp_len = 12; - break; - // **** 0xd0: fetch serial (aka the provisioned dongle ID) - case 0xd0: - // addresses are OTP - if (req->param1 == 1U) { - (void)memcpy(resp, (uint8_t *)DEVICE_SERIAL_NUMBER_ADDRESS, 0x10); - resp_len = 0x10; - } else { - get_provision_chunk(resp); - resp_len = PROVISION_CHUNK_LEN; - } - break; - // **** 0xd1: enter bootloader mode - case 0xd1: - // this allows reflashing of the bootstub - switch (req->param1) { - case 0: - // only allow bootloader entry on debug builds - #ifdef ALLOW_DEBUG - print("-> entering bootloader\n"); - enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC; - NVIC_SystemReset(); - #endif - break; - case 1: - print("-> entering softloader\n"); - enter_bootloader_mode = ENTER_SOFTLOADER_MAGIC; - NVIC_SystemReset(); - break; - default: - print("Bootloader mode invalid\n"); - break; - } - break; - // **** 0xd2: get health packet - case 0xd2: - resp_len = get_jungle_health_pkt(resp); - break; - // **** 0xd3: get first 64 bytes of signature - case 0xd3: - { - resp_len = 64; - char * code = (char*)_app_start; - int code_len = _app_start[0]; - (void)memcpy(resp, &code[code_len], resp_len); - } - break; - // **** 0xd4: get second 64 bytes of signature - case 0xd4: - { - resp_len = 64; - char * code = (char*)_app_start; - int code_len = _app_start[0]; - (void)memcpy(resp, &code[code_len + 64], resp_len); - } - break; - // **** 0xd6: get version - case 0xd6: - COMPILE_TIME_ASSERT(sizeof(gitversion) <= USBPACKET_MAX_SIZE); - (void)memcpy(resp, gitversion, sizeof(gitversion)); - resp_len = sizeof(gitversion) - 1U; - break; - // **** 0xd8: reset ST - case 0xd8: - NVIC_SystemReset(); - break; - // **** 0xdb: set OBD CAN multiplexing mode - case 0xdb: - if (req->param1 == 1U) { - // Enable OBD CAN - current_board->set_can_mode(CAN_MODE_OBD_CAN2); - } else { - // Disable OBD CAN - current_board->set_can_mode(CAN_MODE_NORMAL); - } - break; - // **** 0xdd: get healthpacket and CANPacket versions - case 0xdd: - resp[0] = JUNGLE_HEALTH_PACKET_VERSION; - resp[1] = CAN_PACKET_VERSION; - resp[2] = CAN_HEALTH_PACKET_VERSION; - resp_len = 3; - break; - // **** 0xde: set can bitrate - case 0xde: - if ((req->param1 < PANDA_BUS_CNT) && is_speed_valid(req->param2, speeds, sizeof(speeds)/sizeof(speeds[0]))) { - bus_config[req->param1].can_speed = req->param2; - bool ret = can_init(CAN_NUM_FROM_BUS_NUM(req->param1)); - UNUSED(ret); - } - break; - // **** 0xe0: debug read - case 0xe0: - // read - while ((resp_len < MIN(req->length, USBPACKET_MAX_SIZE)) && get_char(get_ring_by_number(0), (char*)&resp[resp_len])) { - ++resp_len; - } - break; - // **** 0xe5: set CAN loopback (for testing) - case 0xe5: - can_loopback = (req->param1 > 0U); - can_init_all(); - break; - // **** 0xf1: Clear CAN ring buffer. - case 0xf1: - if (req->param1 == 0xFFFFU) { - print("Clearing CAN Rx queue\n"); - can_clear(&can_rx_q); - } else if (req->param1 < PANDA_BUS_CNT) { - print("Clearing CAN Tx queue\n"); - can_clear(can_queues[req->param1]); - } else { - print("Clearing CAN CAN ring buffer failed: wrong bus number\n"); - } - break; - // **** 0xf2: Clear debug ring buffer. - case 0xf2: - print("Clearing debug queue.\n"); - clear_uart_buff(get_ring_by_number(0)); - break; - // **** 0xf4: Set CAN transceiver enable pin - case 0xf4: - current_board->enable_can_transciever(req->param1, req->param2 > 0U); - break; - // **** 0xf5: Set CAN silent mode - case 0xf5: - can_silent = (req->param1 > 0U) ? ALL_CAN_SILENT : ALL_CAN_LIVE; - can_init_all(); - break; - // **** 0xf7: enable/disable header pin by number - case 0xf7: - current_board->enable_header_pin(req->param1, req->param2 > 0U); - break; - // **** 0xf9: set CAN FD data bitrate - case 0xf9: - if ((req->param1 < PANDA_CAN_CNT) && - current_board->has_canfd && - is_speed_valid(req->param2, data_speeds, sizeof(data_speeds)/sizeof(data_speeds[0]))) { - bus_config[req->param1].can_data_speed = req->param2; - bus_config[req->param1].canfd_enabled = (req->param2 >= bus_config[req->param1].can_speed); - bus_config[req->param1].brs_enabled = (req->param2 > bus_config[req->param1].can_speed); - bool ret = can_init(CAN_NUM_FROM_BUS_NUM(req->param1)); - UNUSED(ret); - } - break; - // **** 0xfc: set CAN FD non-ISO mode - case 0xfc: - if ((req->param1 < PANDA_CAN_CNT) && current_board->has_canfd) { - bus_config[req->param1].canfd_non_iso = (req->param2 != 0U); - bool ret = can_init(CAN_NUM_FROM_BUS_NUM(req->param1)); - UNUSED(ret); - } - break; - default: - print("NO HANDLER "); - puth(req->request); - print("\n"); - break; - } - return resp_len; -} diff --git a/panda/board/jungle/recover.py b/panda/board/jungle/recover.py deleted file mode 100755 index 19666c3edac451..00000000000000 --- a/panda/board/jungle/recover.py +++ /dev/null @@ -1,27 +0,0 @@ -#!/usr/bin/env python3 -import os -import time -import subprocess - -from panda import PandaJungle, PandaJungleDFU - -board_path = os.path.dirname(os.path.realpath(__file__)) - -if __name__ == "__main__": - subprocess.check_call(f"scons -C {board_path}/.. -u -j$(nproc) {board_path}", shell=True) - - for s in PandaJungle.list(): - print("putting", s, "in DFU mode") - with PandaJungle(serial=s) as p: - p.reset(enter_bootstub=True) - p.reset(enter_bootloader=True) - - # wait for reset panda jungles to come back up - time.sleep(1) - - dfu_serials = PandaJungleDFU.list() - print(f"found {len(dfu_serials)} panda jungle(s) in DFU - {dfu_serials}") - for s in dfu_serials: - print("flashing", s) - PandaJungleDFU(s).recover() - exit(1 if len(dfu_serials) == 0 else 0) diff --git a/panda/board/jungle/scripts/can_health.py b/panda/board/jungle/scripts/can_health.py deleted file mode 100755 index ff068b5baa150a..00000000000000 --- a/panda/board/jungle/scripts/can_health.py +++ /dev/null @@ -1,13 +0,0 @@ -#!/usr/bin/env python3 - -import time -from panda import PandaJungle - -if __name__ == "__main__": - jungle = PandaJungle() - - while True: - for bus in range(3): - print(bus, jungle.can_health(bus)) - print() - time.sleep(1) diff --git a/panda/board/jungle/scripts/can_printer.py b/panda/board/jungle/scripts/can_printer.py deleted file mode 100755 index 675fc508a10b63..00000000000000 --- a/panda/board/jungle/scripts/can_printer.py +++ /dev/null @@ -1,35 +0,0 @@ -#!/usr/bin/env python3 -import os -import time -from collections import defaultdict -import binascii - -from panda import PandaJungle - -# fake -def sec_since_boot(): - return time.time() - -def can_printer(): - p = PandaJungle() - - start = sec_since_boot() - lp = sec_since_boot() - msgs = defaultdict(list) - canbus = int(os.getenv("CAN", "0")) - while True: - can_recv = p.can_recv() - for address, _, dat, src in can_recv: - if src == canbus: - msgs[address].append(dat) - - if sec_since_boot() - lp > 0.1: - dd = chr(27) + "[2J" - dd += "%5.2f\n" % (sec_since_boot() - start) - for k,v in sorted(zip(list(msgs.keys()), [binascii.hexlify(x[-1]) for x in list(msgs.values())], strict=True)): - dd += "%s(%6d) %s\n" % ("%04X(%4d)" % (k,k),len(msgs[k]), v) - print(dd) - lp = sec_since_boot() - -if __name__ == "__main__": - can_printer() diff --git a/panda/board/jungle/scripts/debug_console.py b/panda/board/jungle/scripts/debug_console.py deleted file mode 100755 index f35388796f6691..00000000000000 --- a/panda/board/jungle/scripts/debug_console.py +++ /dev/null @@ -1,38 +0,0 @@ -#!/usr/bin/env python3 -import os -import sys -import time - -from panda import PandaJungle - -setcolor = ["\033[1;32;40m", "\033[1;31;40m"] -unsetcolor = "\033[00m" - -if __name__ == "__main__": - while True: - try: - claim = os.getenv("CLAIM") is not None - - serials = PandaJungle.list() - if os.getenv("SERIAL"): - serials = [x for x in serials if x==os.getenv("SERIAL")] - - panda_jungles = [PandaJungle(x, claim=claim) for x in serials] - - if not len(panda_jungles): - sys.exit("no panda jungles found") - - while True: - for i, panda_jungle in enumerate(panda_jungles): - while True: - ret = panda_jungle.debug_read() - if len(ret) > 0: - sys.stdout.write(setcolor[i] + ret.decode('ascii') + unsetcolor) - sys.stdout.flush() - else: - break - time.sleep(0.01) - except Exception as e: - print(e) - print("panda jungle disconnected!") - time.sleep(0.5) diff --git a/panda/board/jungle/scripts/echo_loopback_test.py b/panda/board/jungle/scripts/echo_loopback_test.py deleted file mode 100755 index 78b65b5341a339..00000000000000 --- a/panda/board/jungle/scripts/echo_loopback_test.py +++ /dev/null @@ -1,68 +0,0 @@ -#!/usr/bin/env python3 -import os -import time -import contextlib -import random -from termcolor import cprint - -from panda import PandaJungle - -# This script is intended to be used in conjunction with the echo.py test script from panda. -# It sends messages on bus 0, 1, 2 and checks for a reversed response to be sent back. - -################################################################# -############################# UTILS ############################# -################################################################# -def print_colored(text, color): - cprint(text + " "*40, color, end="\r") - -def get_test_string(): - return b"test"+os.urandom(4) - -################################################################# -############################# TEST ############################## -################################################################# - -def test_loopback(): - for bus in range(3): - # Clear can - jungle.can_clear(bus) - # Send a random message - address = random.randint(1, 2000) - data = get_test_string() - jungle.can_send(address, data, bus) - time.sleep(0.1) - - # Make sure it comes back reversed - incoming = jungle.can_recv() - found = False - for message in incoming: - incomingAddress, _, incomingData, incomingBus = message - if incomingAddress == address and incomingData == data[::-1] and incomingBus == bus: - found = True - break - if not found: - cprint("\nFAILED", "red") - raise AssertionError - -################################################################# -############################# MAIN ############################## -################################################################# -jungle = None -counter = 0 - -if __name__ == "__main__": - # Connect to jungle silently - print_colored("Connecting to jungle", "blue") - with open(os.devnull, "w") as devnull: - with contextlib.redirect_stdout(devnull): - jungle = PandaJungle() - jungle.set_panda_power(True) - jungle.set_ignition(False) - - # Run test - while True: - jungle.can_clear(0xFFFF) - test_loopback() - counter += 1 - print_colored(str(counter) + " loopback cycles complete", "blue") diff --git a/panda/board/jungle/scripts/get_version.py b/panda/board/jungle/scripts/get_version.py deleted file mode 100755 index 4fc9d30bef94a6..00000000000000 --- a/panda/board/jungle/scripts/get_version.py +++ /dev/null @@ -1,9 +0,0 @@ -#!/usr/bin/env python3 -from panda import PandaJungle - -if __name__ == "__main__": - for p in PandaJungle.list(): - pp = PandaJungle(p) - print(f"{pp.get_serial()[0]}: {pp.get_version()}") - - diff --git a/panda/board/jungle/scripts/health_test.py b/panda/board/jungle/scripts/health_test.py deleted file mode 100755 index 039f840e0b00f6..00000000000000 --- a/panda/board/jungle/scripts/health_test.py +++ /dev/null @@ -1,21 +0,0 @@ -#!/usr/bin/env python3 -import time -from pprint import pprint - -from panda import PandaJungle - -if __name__ == "__main__": - i = 0 - pi = 0 - - pj = PandaJungle() - while True: - st = time.monotonic() - while time.monotonic() - st < 1: - pj.health() - pj.can_health(0) - i += 1 - pprint(pj.health()) - print(f"Speed: {i - pi}Hz") - pi = i - diff --git a/panda/board/jungle/scripts/loopback_test.py b/panda/board/jungle/scripts/loopback_test.py deleted file mode 100755 index 10caf42cc4f52c..00000000000000 --- a/panda/board/jungle/scripts/loopback_test.py +++ /dev/null @@ -1,140 +0,0 @@ -#!/usr/bin/env python3 -import os -import time -import contextlib -import random -from termcolor import cprint - -from panda import Panda, PandaJungle - -NUM_PANDAS_PER_TEST = 1 -FOR_RELEASE_BUILDS = os.getenv("RELEASE") is not None # Release builds do not have ALLOUTPUT mode - -BUS_SPEEDS = [125, 500, 1000] - -################################################################# -############################# UTILS ############################# -################################################################# -# To suppress the connection text -def silent_panda_connect(serial): - with open(os.devnull, "w") as devnull: - with contextlib.redirect_stdout(devnull): - panda = Panda(serial) - return panda - -def print_colored(text, color): - cprint(text + " "*40, color, end="\r") - -def connect_to_pandas(): - print_colored("Connecting to pandas", "blue") - # Connect to pandas - pandas = [] - for serial in panda_serials: - pandas.append(silent_panda_connect(serial)) - print_colored("Connected", "blue") - -def start_with_orientation(orientation): - print_colored("Restarting pandas with orientation " + str(orientation), "blue") - jungle.set_panda_power(False) - jungle.set_harness_orientation(orientation) - time.sleep(4) - jungle.set_panda_power(True) - time.sleep(2) - connect_to_pandas() - -def can_loopback(sender): - receivers = list(filter((lambda p: (p != sender)), [jungle] + pandas)) - - for bus in range(4): - obd = False - if bus == 3: - obd = True - bus = 1 - - # Clear buses - for receiver in receivers: - receiver.set_obd(obd) - receiver.can_clear(bus) # TX - receiver.can_clear(0xFFFF) # RX - - # Send a random string - addr = 0x18DB33F1 if FOR_RELEASE_BUILDS else random.randint(1, 2000) - string = b"test"+os.urandom(4) - sender.set_obd(obd) - time.sleep(0.2) - sender.can_send(addr, string, bus) - time.sleep(0.2) - - # Check if all receivers have indeed received them in their receiving buffers - for receiver in receivers: - content = receiver.can_recv() - - # Check amount of messages - if len(content) != 1: - raise Exception("Amount of received CAN messages (" + str(len(content)) + ") does not equal 1. Bus: " + str(bus) +" OBD: " + str(obd)) - - # Check content - if content[0][0] != addr or content[0][2] != string: - raise Exception("Received CAN message content or address does not match") - - # Check bus - if content[0][3] != bus: - raise Exception("Received CAN message bus does not match") - -################################################################# -############################# TEST ############################## -################################################################# - -def test_loopback(): - # disable safety modes - for panda in pandas: - panda.set_safety_mode(Panda.SAFETY_ELM327 if FOR_RELEASE_BUILDS else Panda.SAFETY_ALLOUTPUT) - - # perform loopback with jungle as a sender - can_loopback(jungle) - - # perform loopback with each possible panda as a sender - for panda in pandas: - can_loopback(panda) - - # enable safety modes - for panda in pandas: - panda.set_safety_mode(Panda.SAFETY_SILENT) - -################################################################# -############################# MAIN ############################## -################################################################# -jungle = None -pandas = [] # type: ignore -panda_serials = [] -counter = 0 - -if __name__ == "__main__": - # Connect to jungle silently - print_colored("Connecting to jungle", "blue") - with open(os.devnull, "w") as devnull: - with contextlib.redirect_stdout(devnull): - jungle = PandaJungle() - jungle.set_panda_power(True) - jungle.set_ignition(False) - - # Connect to new pandas before starting tests - print_colored("Waiting for " + str(NUM_PANDAS_PER_TEST) + " pandas to be connected", "yellow") - while True: - connected_serials = Panda.list() - if len(connected_serials) == NUM_PANDAS_PER_TEST: - panda_serials = connected_serials - break - - start_with_orientation(PandaJungle.HARNESS_ORIENTATION_1) - - # Set bus speeds - for device in pandas + [jungle]: - for bus in range(len(BUS_SPEEDS)): - device.set_can_speed_kbps(bus, BUS_SPEEDS[bus]) - - # Run test - while True: - test_loopback() - counter += 1 - print_colored(str(counter) + " loopback cycles complete", "blue") diff --git a/panda/board/jungle/scripts/panda_identification_test.py b/panda/board/jungle/scripts/panda_identification_test.py deleted file mode 100755 index a61b0d608b9cc3..00000000000000 --- a/panda/board/jungle/scripts/panda_identification_test.py +++ /dev/null @@ -1,45 +0,0 @@ -#!/usr/bin/env python3 -import os -import time -import random -import contextlib - -from panda import PandaJungle -from panda import Panda - -PANDA_UNDER_TEST = Panda.HW_TYPE_UNO - -panda_jungle = PandaJungle() - -def silent_panda_connect(): - with open(os.devnull, "w") as devnull: - with contextlib.redirect_stdout(devnull): - panda = Panda() - return panda - -def reboot_panda(harness_orientation=PandaJungle.HARNESS_ORIENTATION_NONE, ignition=False): - print(f"Restarting panda with harness orientation: {harness_orientation} and ignition: {ignition}") - panda_jungle.set_panda_power(False) - panda_jungle.set_harness_orientation(harness_orientation) - panda_jungle.set_ignition(ignition) - time.sleep(2) - panda_jungle.set_panda_power(True) - time.sleep(2) - -count = 0 -if __name__ == "__main__": - while True: - ignition = random.randint(0, 1) - harness_orientation = random.randint(0, 2) - reboot_panda(harness_orientation, ignition) - - p = silent_panda_connect() - assert p.get_type() == PANDA_UNDER_TEST - assert p.health()['car_harness_status'] == harness_orientation - if harness_orientation != PandaJungle.HARNESS_ORIENTATION_NONE: - assert p.health()['ignition_line'] == ignition - - count += 1 - print(f"Passed {count} loops") - - diff --git a/panda/board/jungle/scripts/start.py b/panda/board/jungle/scripts/start.py deleted file mode 100755 index 76afd14ac4e63e..00000000000000 --- a/panda/board/jungle/scripts/start.py +++ /dev/null @@ -1,18 +0,0 @@ -#!/usr/bin/env python -import sys - -from panda import PandaJungle - -if __name__ == "__main__": - jungle = PandaJungle() - - # If first argument specified, it sets the ignition (0 or 1) - if len(sys.argv) > 1: - if sys.argv[1] == '1': - jungle.set_ignition(True) - else: - jungle.set_ignition(False) - jungle.set_harness_orientation(1) - jungle.set_panda_power(True) - - diff --git a/panda/board/jungle/stm32f4/board.h b/panda/board/jungle/stm32f4/board.h deleted file mode 100644 index 0adf7923b2738a..00000000000000 --- a/panda/board/jungle/stm32f4/board.h +++ /dev/null @@ -1,7 +0,0 @@ -#include "boards/board_declarations.h" -#include "boards/board_v1.h" - -void detect_board_type(void) { - hw_type = HW_TYPE_V1; - current_board = &board_v1; -} diff --git a/panda/board/jungle/stm32h7/board.h b/panda/board/jungle/stm32h7/board.h deleted file mode 100644 index 4fe4fa463776d5..00000000000000 --- a/panda/board/jungle/stm32h7/board.h +++ /dev/null @@ -1,9 +0,0 @@ -#include "boards/board_declarations.h" - -#include "stm32h7/lladc.h" -#include "boards/board_v2.h" - -void detect_board_type(void) { - hw_type = HW_TYPE_V2; - current_board = &board_v2; -} diff --git a/panda/board/jungle/stm32h7/lladc.h b/panda/board/jungle/stm32h7/lladc.h deleted file mode 100644 index 06b742dd3811d6..00000000000000 --- a/panda/board/jungle/stm32h7/lladc.h +++ /dev/null @@ -1,54 +0,0 @@ - -typedef struct { - ADC_TypeDef *adc; - uint8_t channel; -} adc_channel_t; - -void adc_init(ADC_TypeDef *adc) { - adc->CR &= ~(ADC_CR_DEEPPWD); // Reset deep-power-down mode - adc->CR |= ADC_CR_ADVREGEN; // Enable ADC regulator - while(!(adc->ISR & ADC_ISR_LDORDY) && (adc != ADC3)); - - if (adc != ADC3) { - adc->CR &= ~(ADC_CR_ADCALDIF); // Choose single-ended calibration - adc->CR |= ADC_CR_ADCALLIN; // Lineriality calibration - } - adc->CR |= ADC_CR_ADCAL; // Start calibrtation - while((adc->CR & ADC_CR_ADCAL) != 0); - - adc->ISR |= ADC_ISR_ADRDY; - adc->CR |= ADC_CR_ADEN; - while(!(adc->ISR & ADC_ISR_ADRDY)); -} - -uint16_t adc_get_raw(ADC_TypeDef *adc, uint8_t channel) { - adc->SQR1 &= ~(ADC_SQR1_L); - adc->SQR1 = ((uint32_t) channel << 6U); - - if (channel < 10U) { - adc->SMPR1 = (0x7U << (channel * 3U)); - } else { - adc->SMPR2 = (0x7U << ((channel - 10U) * 3U)); - } - adc->PCSEL_RES0 = (0x1U << channel); - - adc->CR |= ADC_CR_ADSTART; - while (!(adc->ISR & ADC_ISR_EOC)); - - uint16_t res = adc->DR; - - while (!(adc->ISR & ADC_ISR_EOS)); - adc->ISR |= ADC_ISR_EOS; - - return res; -} - -uint16_t adc_get_mV(ADC_TypeDef *adc, uint8_t channel) { - uint16_t ret = 0; - if ((adc == ADC1) || (adc == ADC2)) { - ret = (adc_get_raw(adc, channel) * current_board->avdd_mV) / 65535U; - } else if (adc == ADC3) { - ret = (adc_get_raw(adc, channel) * current_board->avdd_mV) / 4095U; - } else {} - return ret; -} diff --git a/panda/board/libc.h b/panda/board/libc.h deleted file mode 100644 index 7f669b95ab9851..00000000000000 --- a/panda/board/libc.h +++ /dev/null @@ -1,67 +0,0 @@ -// **** libc **** - -void delay(uint32_t a) { - volatile uint32_t i; - for (i = 0; i < a; i++); -} - -// cppcheck-suppress misra-c2012-21.2 -void *memset(void *str, int c, unsigned int n) { - uint8_t *s = str; - for (unsigned int i = 0; i < n; i++) { - *s = c; - s++; - } - return str; -} - -#define UNALIGNED(X, Y) \ - (((uint32_t)(X) & (sizeof(uint32_t) - 1U)) | ((uint32_t)(Y) & (sizeof(uint32_t) - 1U))) - -// cppcheck-suppress misra-c2012-21.2 -void *memcpy(void *dest, const void *src, unsigned int len) { - unsigned int n = len; - uint8_t *d8 = dest; - const uint8_t *s8 = src; - - if ((n >= 4U) && !UNALIGNED(s8, d8)) { - uint32_t *d32 = (uint32_t *)d8; // cppcheck-suppress misra-c2012-11.3 ; already checked that it's properly aligned - const uint32_t *s32 = (const uint32_t *)s8; // cppcheck-suppress misra-c2012-11.3 ; already checked that it's properly aligned - - while(n >= 16U) { - *d32 = *s32; d32++; s32++; - *d32 = *s32; d32++; s32++; - *d32 = *s32; d32++; s32++; - *d32 = *s32; d32++; s32++; - n -= 16U; - } - - while(n >= 4U) { - *d32 = *s32; d32++; s32++; - n -= 4U; - } - - d8 = (uint8_t *)d32; - s8 = (const uint8_t *)s32; - } - while (n-- > 0U) { - *d8 = *s8; d8++; s8++; - } - return dest; -} - -// cppcheck-suppress misra-c2012-21.2 -int memcmp(const void * ptr1, const void * ptr2, unsigned int num) { - int ret = 0; - const uint8_t *p1 = ptr1; - const uint8_t *p2 = ptr2; - for (unsigned int i = 0; i < num; i++) { - if (*p1 != *p2) { - ret = -1; - break; - } - p1++; - p2++; - } - return ret; -} diff --git a/panda/board/main.c b/panda/board/main.c deleted file mode 100644 index b481c28b46847d..00000000000000 --- a/panda/board/main.c +++ /dev/null @@ -1,404 +0,0 @@ -// ********************* Includes ********************* -#include "config.h" - -#include "drivers/pwm.h" -#include "drivers/usb.h" -#include "drivers/simple_watchdog.h" -#include "drivers/bootkick.h" - -#include "early_init.h" -#include "provision.h" - -#include "safety.h" - -#include "health.h" - -#include "drivers/can_common.h" - -#ifdef STM32H7 - #include "drivers/fdcan.h" -#else - #include "drivers/bxcan.h" -#endif - -#include "power_saving.h" - -#include "obj/gitversion.h" - -#include "can_comms.h" -#include "main_comms.h" - - -// ********************* Serial debugging ********************* - -bool check_started(void) { - bool started = current_board->check_ignition() || ignition_can; - return started; -} - -void debug_ring_callback(uart_ring *ring) { - char rcv; - while (get_char(ring, &rcv)) { - (void)put_char(ring, rcv); // misra-c2012-17.7: cast to void is ok: debug function - - // only allow bootloader entry on debug builds - #ifdef ALLOW_DEBUG - // jump to DFU flash - if (rcv == 'z') { - enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC; - NVIC_SystemReset(); - } - #endif - - // normal reset - if (rcv == 'x') { - NVIC_SystemReset(); - } - } -} - -// ****************************** safety mode ****************************** - -// this is the only way to leave silent mode -void set_safety_mode(uint16_t mode, uint16_t param) { - uint16_t mode_copy = mode; - int err = set_safety_hooks(mode_copy, param); - if (err == -1) { - print("Error: safety set mode failed. Falling back to SILENT\n"); - mode_copy = SAFETY_SILENT; - err = set_safety_hooks(mode_copy, 0U); - if (err == -1) { - print("Error: Failed setting SILENT mode. Hanging\n"); - while (true) { - // TERMINAL ERROR: we can't continue if SILENT safety mode isn't succesfully set - } - } - } - safety_tx_blocked = 0; - safety_rx_invalid = 0; - - switch (mode_copy) { - case SAFETY_SILENT: - set_intercept_relay(false, false); - if (current_board->has_obd) { - current_board->set_can_mode(CAN_MODE_NORMAL); - } - can_silent = ALL_CAN_SILENT; - break; - case SAFETY_NOOUTPUT: - set_intercept_relay(false, false); - if (current_board->has_obd) { - current_board->set_can_mode(CAN_MODE_NORMAL); - } - can_silent = ALL_CAN_LIVE; - break; - case SAFETY_ELM327: - set_intercept_relay(false, false); - heartbeat_counter = 0U; - heartbeat_lost = false; - if (current_board->has_obd) { - // Clear any pending messages in the can core (i.e. sending while comma power is unplugged) - // TODO: rewrite using hardware queues rather than fifo to cancel specific messages - llcan_clear_send(CANIF_FROM_CAN_NUM(1)); - if (param == 0U) { - current_board->set_can_mode(CAN_MODE_OBD_CAN2); - } else { - current_board->set_can_mode(CAN_MODE_NORMAL); - } - } - can_silent = ALL_CAN_LIVE; - break; - default: - set_intercept_relay(true, false); - heartbeat_counter = 0U; - heartbeat_lost = false; - if (current_board->has_obd) { - current_board->set_can_mode(CAN_MODE_NORMAL); - } - can_silent = ALL_CAN_LIVE; - break; - } - can_init_all(); -} - -bool is_car_safety_mode(uint16_t mode) { - return (mode != SAFETY_SILENT) && - (mode != SAFETY_NOOUTPUT) && - (mode != SAFETY_ALLOUTPUT) && - (mode != SAFETY_ELM327); -} - -// ***************************** main code ***************************** - -// cppcheck-suppress unusedFunction ; used in headers not included in cppcheck -void __initialize_hardware_early(void) { - early_initialization(); -} - -void __attribute__ ((noinline)) enable_fpu(void) { - // enable the FPU - SCB->CPACR |= ((3UL << (10U * 2U)) | (3UL << (11U * 2U))); -} - -// go into SILENT when heartbeat isn't received for this amount of seconds. -#define HEARTBEAT_IGNITION_CNT_ON 5U -#define HEARTBEAT_IGNITION_CNT_OFF 2U - -// called at 8Hz -uint8_t loop_counter = 0U; -uint8_t prev_harness_status = HARNESS_STATUS_NC; -void tick_handler(void) { - if (TICK_TIMER->SR != 0U) { - - // siren - current_board->set_siren((loop_counter & 1U) && (siren_enabled || (siren_countdown > 0U))); - - // tick drivers at 8Hz - fan_tick(); - usb_tick(); - harness_tick(); - simple_watchdog_kick(); - - // re-init everything that uses harness status - if (harness.status != prev_harness_status) { - prev_harness_status = harness.status; - can_set_orientation(harness.status == HARNESS_STATUS_FLIPPED); - - // re-init everything that uses harness status - can_init_all(); - set_safety_mode(current_safety_mode, current_safety_param); - set_power_save_state(power_save_status); - } - - // decimated to 1Hz - if (loop_counter == 0U) { - can_live = pending_can_live; - - //puth(usart1_dma); print(" "); puth(DMA2_Stream5->M0AR); print(" "); puth(DMA2_Stream5->NDTR); print("\n"); - - // reset this every 16th pass - if ((uptime_cnt & 0xFU) == 0U) { - pending_can_live = 0; - } - #ifdef DEBUG - print("** blink "); - print("rx:"); puth4(can_rx_q.r_ptr); print("-"); puth4(can_rx_q.w_ptr); print(" "); - print("tx1:"); puth4(can_tx1_q.r_ptr); print("-"); puth4(can_tx1_q.w_ptr); print(" "); - print("tx2:"); puth4(can_tx2_q.r_ptr); print("-"); puth4(can_tx2_q.w_ptr); print(" "); - print("tx3:"); puth4(can_tx3_q.r_ptr); print("-"); puth4(can_tx3_q.w_ptr); print("\n"); - #endif - - // set green LED to be controls allowed - current_board->set_led(LED_GREEN, controls_allowed | green_led_enabled); - - // turn off the blue LED, turned on by CAN - // unless we are in power saving mode - current_board->set_led(LED_BLUE, (uptime_cnt & 1U) && (power_save_status == POWER_SAVE_STATUS_ENABLED)); - - const bool recent_heartbeat = heartbeat_counter == 0U; - - // tick drivers at 1Hz - bootkick_tick(check_started(), recent_heartbeat); - - // increase heartbeat counter and cap it at the uint32 limit - if (heartbeat_counter < UINT32_MAX) { - heartbeat_counter += 1U; - } - - // disabling heartbeat not allowed while in safety mode - if (is_car_safety_mode(current_safety_mode)) { - heartbeat_disabled = false; - } - - if (siren_countdown > 0U) { - siren_countdown -= 1U; - } - - if (controls_allowed || heartbeat_engaged) { - controls_allowed_countdown = 30U; - } else if (controls_allowed_countdown > 0U) { - controls_allowed_countdown -= 1U; - } else { - - } - - // exit controls allowed if unused by openpilot for a few seconds - if (controls_allowed && !heartbeat_engaged) { - heartbeat_engaged_mismatches += 1U; - if (heartbeat_engaged_mismatches >= 3U) { - controls_allowed = false; - } - } else { - heartbeat_engaged_mismatches = 0U; - } - - if (!heartbeat_disabled) { - // if the heartbeat has been gone for a while, go to SILENT safety mode and enter power save - if (heartbeat_counter >= (check_started() ? HEARTBEAT_IGNITION_CNT_ON : HEARTBEAT_IGNITION_CNT_OFF)) { - print("device hasn't sent a heartbeat for 0x"); - puth(heartbeat_counter); - print(" seconds. Safety is set to SILENT mode.\n"); - - if (controls_allowed_countdown > 0U) { - siren_countdown = 5U; - controls_allowed_countdown = 0U; - } - - // set flag to indicate the heartbeat was lost - if (is_car_safety_mode(current_safety_mode)) { - heartbeat_lost = true; - } - - // clear heartbeat engaged state - heartbeat_engaged = false; - - if (current_safety_mode != SAFETY_SILENT) { - set_safety_mode(SAFETY_SILENT, 0U); - } - - if (power_save_status != POWER_SAVE_STATUS_ENABLED) { - set_power_save_state(POWER_SAVE_STATUS_ENABLED); - } - - // Also disable IR when the heartbeat goes missing - current_board->set_ir_power(0U); - - // Run fan when device is up, but not talking to us - // * bootloader enables the SOM GPIO on boot - // * fallback to USB enumerated where supported - bool enabled = usb_enumerated || current_board->read_som_gpio(); - fan_set_power(enabled ? 50U : 0U); - } - } - - // check registers - check_registers(); - - // set ignition_can to false after 2s of no CAN seen - if (ignition_can_cnt > 2U) { - ignition_can = false; - } - - // on to the next one - uptime_cnt += 1U; - safety_mode_cnt += 1U; - ignition_can_cnt += 1U; - - // synchronous safety check - safety_tick(¤t_safety_config); - } - - loop_counter++; - loop_counter %= 8U; - } - TICK_TIMER->SR = 0; -} - -int main(void) { - // Init interrupt table - init_interrupts(true); - - // shouldn't have interrupts here, but just in case - disable_interrupts(); - - // init early devices - clock_init(); - peripherals_init(); - detect_board_type(); - // red+green leds enabled until succesful USB/SPI init, as a debug indicator - current_board->set_led(LED_RED, true); - current_board->set_led(LED_GREEN, true); - adc_init(); - - // print hello - print("\n\n\n************************ MAIN START ************************\n"); - - // check for non-supported board types - if(hw_type == HW_TYPE_UNKNOWN){ - print("Unsupported board type\n"); - while (1) { /* hang */ } - } - - print("Config:\n"); - print(" Board type: 0x"); puth(hw_type); print("\n"); - - // init board - current_board->init(); - - // panda has an FPU, let's use it! - enable_fpu(); - - if (current_board->fan_max_rpm > 0U) { - fan_init(); - } - - microsecond_timer_init(); - - // init to SILENT and can silent - set_safety_mode(SAFETY_SILENT, 0U); - - // enable CAN TXs - current_board->enable_can_transceivers(true); - - // init watchdog for heartbeat loop, fed at 8Hz - simple_watchdog_init(FAULT_HEARTBEAT_LOOP_WATCHDOG, (3U * 1000000U / 8U)); - - // 8Hz timer - REGISTER_INTERRUPT(TICK_TIMER_IRQ, tick_handler, 10U, FAULT_INTERRUPT_RATE_TICK) - tick_timer_init(); - -#ifdef DEBUG - print("DEBUG ENABLED\n"); -#endif - // enable USB (right before interrupts or enum can fail!) - usb_init(); - -#ifdef ENABLE_SPI - if (current_board->has_spi) { - spi_init(); - } -#endif - - current_board->set_led(LED_RED, false); - current_board->set_led(LED_GREEN, false); - - print("**** INTERRUPTS ON ****\n"); - enable_interrupts(); - - // LED should keep on blinking all the time - while (true) { - if (power_save_status == POWER_SAVE_STATUS_DISABLED) { - #ifdef DEBUG_FAULTS - if (fault_status == FAULT_STATUS_NONE) { - #endif - // useful for debugging, fade breaks = panda is overloaded - for (uint32_t fade = 0U; fade < MAX_LED_FADE; fade += 1U) { - current_board->set_led(LED_RED, true); - delay(fade >> 4); - current_board->set_led(LED_RED, false); - delay((MAX_LED_FADE - fade) >> 4); - } - - for (uint32_t fade = MAX_LED_FADE; fade > 0U; fade -= 1U) { - current_board->set_led(LED_RED, true); - delay(fade >> 4); - current_board->set_led(LED_RED, false); - delay((MAX_LED_FADE - fade) >> 4); - } - - #ifdef DEBUG_FAULTS - } else { - current_board->set_led(LED_RED, 1); - delay(512000U); - current_board->set_led(LED_RED, 0); - delay(512000U); - } - #endif - } else { - __WFI(); - SCB->SCR &= ~SCB_SCR_SLEEPDEEP_Msk; - } - } - - return 0; -} diff --git a/panda/board/main_comms.h b/panda/board/main_comms.h deleted file mode 100644 index 4c5d509624742d..00000000000000 --- a/panda/board/main_comms.h +++ /dev/null @@ -1,392 +0,0 @@ -extern int _app_start[0xc000]; // Only first 3 sectors of size 0x4000 are used - -// Prototypes -void set_safety_mode(uint16_t mode, uint16_t param); -bool is_car_safety_mode(uint16_t mode); - -int get_health_pkt(void *dat) { - COMPILE_TIME_ASSERT(sizeof(struct health_t) <= USBPACKET_MAX_SIZE); - struct health_t * health = (struct health_t*)dat; - - health->uptime_pkt = uptime_cnt; - health->voltage_pkt = current_board->read_voltage_mV(); - health->current_pkt = current_board->read_current_mA(); - - // Use the GPIO pin to determine ignition or use a CAN based logic - health->ignition_line_pkt = (uint8_t)(current_board->check_ignition()); - health->ignition_can_pkt = ignition_can; - - health->controls_allowed_pkt = controls_allowed; - health->safety_tx_blocked_pkt = safety_tx_blocked; - health->safety_rx_invalid_pkt = safety_rx_invalid; - health->tx_buffer_overflow_pkt = tx_buffer_overflow; - health->rx_buffer_overflow_pkt = rx_buffer_overflow; - health->car_harness_status_pkt = harness.status; - health->safety_mode_pkt = (uint8_t)(current_safety_mode); - health->safety_param_pkt = current_safety_param; - health->alternative_experience_pkt = alternative_experience; - health->power_save_enabled_pkt = power_save_status == POWER_SAVE_STATUS_ENABLED; - health->heartbeat_lost_pkt = heartbeat_lost; - health->safety_rx_checks_invalid_pkt = safety_rx_checks_invalid; - - health->spi_checksum_error_count_pkt = spi_checksum_error_count; - - health->fault_status_pkt = fault_status; - health->faults_pkt = faults; - - health->interrupt_load_pkt = interrupt_load; - - health->fan_power = fan_state.power; - health->fan_stall_count = fan_state.total_stall_count; - - health->sbu1_voltage_mV = harness.sbu1_voltage_mV; - health->sbu2_voltage_mV = harness.sbu2_voltage_mV; - - health->som_reset_triggered = bootkick_reset_triggered; - - return sizeof(*health); -} - -// send on serial, first byte to select the ring -void comms_endpoint2_write(const uint8_t *data, uint32_t len) { - uart_ring *ur = get_ring_by_number(data[0]); - if ((len != 0U) && (ur != NULL)) { - if ((data[0] < 2U) || (data[0] >= 4U)) { - for (uint32_t i = 1; i < len; i++) { - while (!put_char(ur, data[i])) { - // wait - } - } - } - } -} - -int comms_control_handler(ControlPacket_t *req, uint8_t *resp) { - unsigned int resp_len = 0; - uart_ring *ur = NULL; - uint32_t time; - -#ifdef DEBUG_COMMS - print("raw control request: "); hexdump(req, sizeof(ControlPacket_t)); print("\n"); - print("- request "); puth(req->request); print("\n"); - print("- param1 "); puth(req->param1); print("\n"); - print("- param2 "); puth(req->param2); print("\n"); -#endif - - switch (req->request) { - // **** 0xa8: get microsecond timer - case 0xa8: - time = microsecond_timer_get(); - resp[0] = (time & 0x000000FFU); - resp[1] = ((time & 0x0000FF00U) >> 8U); - resp[2] = ((time & 0x00FF0000U) >> 16U); - resp[3] = ((time & 0xFF000000U) >> 24U); - resp_len = 4U; - break; - // **** 0xb0: set IR power - case 0xb0: - current_board->set_ir_power(req->param1); - break; - // **** 0xb1: set fan power - case 0xb1: - fan_set_power(req->param1); - break; - // **** 0xb2: get fan rpm - case 0xb2: - resp[0] = (fan_state.rpm & 0x00FFU); - resp[1] = ((fan_state.rpm & 0xFF00U) >> 8U); - resp_len = 2; - break; - // **** 0xc0: reset communications - case 0xc0: - comms_can_reset(); - break; - // **** 0xc1: get hardware type - case 0xc1: - resp[0] = hw_type; - resp_len = 1; - break; - // **** 0xc2: CAN health stats - case 0xc2: - COMPILE_TIME_ASSERT(sizeof(can_health_t) <= USBPACKET_MAX_SIZE); - if (req->param1 < 3U) { - update_can_health_pkt(req->param1, 0U); - can_health[req->param1].can_speed = (bus_config[req->param1].can_speed / 10U); - can_health[req->param1].can_data_speed = (bus_config[req->param1].can_data_speed / 10U); - can_health[req->param1].canfd_enabled = bus_config[req->param1].canfd_enabled; - can_health[req->param1].brs_enabled = bus_config[req->param1].brs_enabled; - can_health[req->param1].canfd_non_iso = bus_config[req->param1].canfd_non_iso; - resp_len = sizeof(can_health[req->param1]); - (void)memcpy(resp, &can_health[req->param1], resp_len); - } - break; - // **** 0xc3: fetch MCU UID - case 0xc3: - (void)memcpy(resp, ((uint8_t *)UID_BASE), 12); - resp_len = 12; - break; - // **** 0xc4: get interrupt call rate - case 0xc4: - if (req->param1 < NUM_INTERRUPTS) { - uint32_t load = interrupts[req->param1].call_rate; - resp[0] = (load & 0x000000FFU); - resp[1] = ((load & 0x0000FF00U) >> 8U); - resp[2] = ((load & 0x00FF0000U) >> 16U); - resp[3] = ((load & 0xFF000000U) >> 24U); - resp_len = 4U; - } - break; - // **** 0xc5: DEBUG: drive relay - case 0xc5: - set_intercept_relay((req->param1 & 0x1U), (req->param1 & 0x2U)); - break; - // **** 0xc6: DEBUG: read SOM GPIO - case 0xc6: - resp[0] = current_board->read_som_gpio(); - resp_len = 1; - break; - // **** 0xd0: fetch serial (aka the provisioned dongle ID) - case 0xd0: - // addresses are OTP - if (req->param1 == 1U) { - (void)memcpy(resp, (uint8_t *)DEVICE_SERIAL_NUMBER_ADDRESS, 0x10); - resp_len = 0x10; - } else { - get_provision_chunk(resp); - resp_len = PROVISION_CHUNK_LEN; - } - break; - // **** 0xd1: enter bootloader mode - case 0xd1: - // this allows reflashing of the bootstub - switch (req->param1) { - case 0: - // only allow bootloader entry on debug builds - #ifdef ALLOW_DEBUG - print("-> entering bootloader\n"); - enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC; - NVIC_SystemReset(); - #endif - break; - case 1: - print("-> entering softloader\n"); - enter_bootloader_mode = ENTER_SOFTLOADER_MAGIC; - NVIC_SystemReset(); - break; - default: - print("Bootloader mode invalid\n"); - break; - } - break; - // **** 0xd2: get health packet - case 0xd2: - resp_len = get_health_pkt(resp); - break; - // **** 0xd3: get first 64 bytes of signature - case 0xd3: - { - resp_len = 64; - char * code = (char*)_app_start; - int code_len = _app_start[0]; - (void)memcpy(resp, &code[code_len], resp_len); - } - break; - // **** 0xd4: get second 64 bytes of signature - case 0xd4: - { - resp_len = 64; - char * code = (char*)_app_start; - int code_len = _app_start[0]; - (void)memcpy(resp, &code[code_len + 64], resp_len); - } - break; - // **** 0xd6: get version - case 0xd6: - COMPILE_TIME_ASSERT(sizeof(gitversion) <= USBPACKET_MAX_SIZE); - (void)memcpy(resp, gitversion, sizeof(gitversion)); - resp_len = sizeof(gitversion) - 1U; - break; - // **** 0xd8: reset ST - case 0xd8: - NVIC_SystemReset(); - break; - // **** 0xdb: set OBD CAN multiplexing mode - case 0xdb: - if (current_board->has_obd) { - if (req->param1 == 1U) { - // Enable OBD CAN - current_board->set_can_mode(CAN_MODE_OBD_CAN2); - } else { - // Disable OBD CAN - current_board->set_can_mode(CAN_MODE_NORMAL); - } - } - break; - - // **** 0xdc: set safety mode - case 0xdc: - set_safety_mode(req->param1, (uint16_t)req->param2); - break; - // **** 0xdd: get healthpacket and CANPacket versions - case 0xdd: - resp[0] = HEALTH_PACKET_VERSION; - resp[1] = CAN_PACKET_VERSION; - resp[2] = CAN_HEALTH_PACKET_VERSION; - resp_len = 3; - break; - // **** 0xde: set can bitrate - case 0xde: - if ((req->param1 < PANDA_BUS_CNT) && is_speed_valid(req->param2, speeds, sizeof(speeds)/sizeof(speeds[0]))) { - bus_config[req->param1].can_speed = req->param2; - bool ret = can_init(CAN_NUM_FROM_BUS_NUM(req->param1)); - UNUSED(ret); - } - break; - // **** 0xdf: set alternative experience - case 0xdf: - // you can only set this if you are in a non car safety mode - if (!is_car_safety_mode(current_safety_mode)) { - alternative_experience = req->param1; - } - break; - // **** 0xe0: uart read - case 0xe0: - ur = get_ring_by_number(req->param1); - if (!ur) { - break; - } - - // read - uint16_t req_length = MIN(req->length, USBPACKET_MAX_SIZE); - while ((resp_len < req_length) && - get_char(ur, (char*)&resp[resp_len])) { - ++resp_len; - } - break; - // **** 0xe1: uart set baud rate - case 0xe1: - ur = get_ring_by_number(req->param1); - if (!ur) { - break; - } - uart_set_baud(ur->uart, req->param2); - break; - // **** 0xe2: uart set parity - case 0xe2: - ur = get_ring_by_number(req->param1); - if (!ur) { - break; - } - switch (req->param2) { - case 0: - // disable parity, 8-bit - ur->uart->CR1 &= ~(USART_CR1_PCE | USART_CR1_M); - break; - case 1: - // even parity, 9-bit - ur->uart->CR1 &= ~USART_CR1_PS; - ur->uart->CR1 |= USART_CR1_PCE | USART_CR1_M; - break; - case 2: - // odd parity, 9-bit - ur->uart->CR1 |= USART_CR1_PS; - ur->uart->CR1 |= USART_CR1_PCE | USART_CR1_M; - break; - default: - break; - } - break; - // **** 0xe4: uart set baud rate extended - case 0xe4: - ur = get_ring_by_number(req->param1); - if (!ur) { - break; - } - uart_set_baud(ur->uart, (int)req->param2*300); - break; - // **** 0xe5: set CAN loopback (for testing) - case 0xe5: - can_loopback = req->param1 > 0U; - can_init_all(); - break; - // **** 0xe6: set custom clock source period - case 0xe6: - clock_source_set_period(req->param1); - break; - // **** 0xe7: set power save state - case 0xe7: - set_power_save_state(req->param1); - break; - // **** 0xf1: Clear CAN ring buffer. - case 0xf1: - if (req->param1 == 0xFFFFU) { - print("Clearing CAN Rx queue\n"); - can_clear(&can_rx_q); - } else if (req->param1 < PANDA_BUS_CNT) { - print("Clearing CAN Tx queue\n"); - can_clear(can_queues[req->param1]); - } else { - print("Clearing CAN CAN ring buffer failed: wrong bus number\n"); - } - break; - // **** 0xf2: Clear UART ring buffer. - case 0xf2: - { - uart_ring * rb = get_ring_by_number(req->param1); - if (rb != NULL) { - print("Clearing UART queue.\n"); - clear_uart_buff(rb); - } - break; - } - // **** 0xf3: Heartbeat. Resets heartbeat counter. - case 0xf3: - { - heartbeat_counter = 0U; - heartbeat_lost = false; - heartbeat_disabled = false; - heartbeat_engaged = (req->param1 == 1U); - break; - } - // **** 0xf6: set siren enabled - case 0xf6: - siren_enabled = (req->param1 != 0U); - break; - // **** 0xf7: set green led enabled - case 0xf7: - green_led_enabled = (req->param1 != 0U); - break; - // **** 0xf8: disable heartbeat checks - case 0xf8: - if (!is_car_safety_mode(current_safety_mode)) { - heartbeat_disabled = true; - } - break; - // **** 0xf9: set CAN FD data bitrate - case 0xf9: - if ((req->param1 < PANDA_CAN_CNT) && - current_board->has_canfd && - is_speed_valid(req->param2, data_speeds, sizeof(data_speeds)/sizeof(data_speeds[0]))) { - bus_config[req->param1].can_data_speed = req->param2; - bus_config[req->param1].canfd_enabled = (req->param2 >= bus_config[req->param1].can_speed); - bus_config[req->param1].brs_enabled = (req->param2 > bus_config[req->param1].can_speed); - bool ret = can_init(CAN_NUM_FROM_BUS_NUM(req->param1)); - UNUSED(ret); - } - break; - // **** 0xfc: set CAN FD non-ISO mode - case 0xfc: - if ((req->param1 < PANDA_CAN_CNT) && current_board->has_canfd) { - bus_config[req->param1].canfd_non_iso = (req->param2 != 0U); - bool ret = can_init(CAN_NUM_FROM_BUS_NUM(req->param1)); - UNUSED(ret); - } - break; - default: - print("NO HANDLER "); - puth(req->request); - print("\n"); - break; - } - return resp_len; -} diff --git a/panda/board/main_declarations.h b/panda/board/main_declarations.h deleted file mode 100644 index a1496c0d0ac235..00000000000000 --- a/panda/board/main_declarations.h +++ /dev/null @@ -1,27 +0,0 @@ -// ******************** Prototypes ******************** -void print(const char *a); -void puth(unsigned int i); -void puth2(unsigned int i); -void puth4(unsigned int i); -void hexdump(const void *a, int l); -typedef struct board board; -typedef struct harness_configuration harness_configuration; -void pwm_init(TIM_TypeDef *TIM, uint8_t channel); -void pwm_set(TIM_TypeDef *TIM, uint8_t channel, uint8_t percentage); - -// ********************* Globals ********************** -uint8_t hw_type = 0; -board *current_board; -uint32_t uptime_cnt = 0; -bool green_led_enabled = false; - -// heartbeat state -uint32_t heartbeat_counter = 0; -bool heartbeat_lost = false; -bool heartbeat_disabled = false; // set over USB - -// siren state -bool siren_enabled = false; -uint32_t siren_countdown = 0; // siren plays while countdown > 0 -uint32_t controls_allowed_countdown = 0; - diff --git a/panda/board/obj/.placeholder b/panda/board/obj/.placeholder deleted file mode 100644 index e69de29bb2d1d6..00000000000000 diff --git a/panda/board/obj/bootstub.panda.bin b/panda/board/obj/bootstub.panda.bin new file mode 100644 index 00000000000000..3b869f1f8e2b73 Binary files /dev/null and b/panda/board/obj/bootstub.panda.bin differ diff --git a/panda/board/obj/bootstub.panda_h7.bin b/panda/board/obj/bootstub.panda_h7.bin new file mode 100644 index 00000000000000..141ada1b0cd670 Binary files /dev/null and b/panda/board/obj/bootstub.panda_h7.bin differ diff --git a/panda/board/obj/panda.bin.signed b/panda/board/obj/panda.bin.signed new file mode 100644 index 00000000000000..c762f9e742d213 Binary files /dev/null and b/panda/board/obj/panda.bin.signed differ diff --git a/panda/board/obj/panda_h7.bin.signed b/panda/board/obj/panda_h7.bin.signed new file mode 100644 index 00000000000000..34186d4bc04c0a Binary files /dev/null and b/panda/board/obj/panda_h7.bin.signed differ diff --git a/panda/board/power_saving.h b/panda/board/power_saving.h deleted file mode 100644 index 61541cae9eec7b..00000000000000 --- a/panda/board/power_saving.h +++ /dev/null @@ -1,46 +0,0 @@ -// WARNING: To stay in compliance with the SIL2 rules laid out in STM UM1840, we should never implement any of the available hardware low power modes. -// See rule: CoU_3 - -#define POWER_SAVE_STATUS_DISABLED 0 -#define POWER_SAVE_STATUS_ENABLED 1 - -int power_save_status = POWER_SAVE_STATUS_DISABLED; - -void set_power_save_state(int state) { - - bool is_valid_state = (state == POWER_SAVE_STATUS_ENABLED) || (state == POWER_SAVE_STATUS_DISABLED); - if (is_valid_state && (state != power_save_status)) { - bool enable = false; - if (state == POWER_SAVE_STATUS_ENABLED) { - print("enable power savings\n"); - - // Disable CAN interrupts - if (harness.status == HARNESS_STATUS_FLIPPED) { - llcan_irq_disable(cans[0]); - } else { - llcan_irq_disable(cans[2]); - } - llcan_irq_disable(cans[1]); - } else { - print("disable power savings\n"); - - if (harness.status == HARNESS_STATUS_FLIPPED) { - llcan_irq_enable(cans[0]); - } else { - llcan_irq_enable(cans[2]); - } - llcan_irq_enable(cans[1]); - - enable = true; - } - - current_board->enable_can_transceivers(enable); - - // Switch off IR when in power saving - if(!enable){ - current_board->set_ir_power(0U); - } - - power_save_status = state; - } -} diff --git a/panda/board/provision.h b/panda/board/provision.h deleted file mode 100644 index 2a8ce893d3d066..00000000000000 --- a/panda/board/provision.h +++ /dev/null @@ -1,13 +0,0 @@ -// this is where we manage the dongle ID assigned during our -// manufacturing. aside from this, there's a UID for the MCU - -#define PROVISION_CHUNK_LEN 0x20 - -const unsigned char unprovisioned_text[] = "\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff"; - -void get_provision_chunk(uint8_t *resp) { - (void)memcpy(resp, (uint8_t *)PROVISION_CHUNK_ADDRESS, PROVISION_CHUNK_LEN); - if (memcmp(resp, unprovisioned_text, 0x20) == 0) { - (void)memcpy(resp, "unprovisioned\x00\x00\x00testing123\x00\x00\xa3\xa6\x99\xec", 0x20); - } -} diff --git a/panda/board/recover.py b/panda/board/recover.py deleted file mode 100755 index 0a248525a8000b..00000000000000 --- a/panda/board/recover.py +++ /dev/null @@ -1,27 +0,0 @@ -#!/usr/bin/env python3 -import os -import time -import subprocess - -from panda import Panda, PandaDFU - -board_path = os.path.dirname(os.path.realpath(__file__)) - -if __name__ == "__main__": - subprocess.check_call(f"scons -C {board_path}/.. -j$(nproc) {board_path}", shell=True) - - for s in Panda.list(): - print("putting", s, "in DFU mode") - with Panda(serial=s) as p: - p.reset(enter_bootstub=True) - p.reset(enter_bootloader=True) - - # wait for reset pandas to come back up - time.sleep(1) - - dfu_serials = PandaDFU.list() - print(f"found {len(dfu_serials)} panda(s) in DFU - {dfu_serials}") - for s in dfu_serials: - print("flashing", s) - PandaDFU(s).recover() - exit(1 if len(dfu_serials) == 0 else 0) diff --git a/panda/board/safety.h b/panda/board/safety.h deleted file mode 100644 index 24ff779074385e..00000000000000 --- a/panda/board/safety.h +++ /dev/null @@ -1,708 +0,0 @@ -#include "safety_declarations.h" -#include "can_definitions.h" - -// include the safety policies. -#include "safety/safety_defaults.h" -#include "safety/safety_honda.h" -#include "safety/safety_toyota.h" -#include "safety/safety_tesla.h" -#include "safety/safety_gm.h" -#include "safety/safety_ford.h" -#include "safety/safety_hyundai.h" -#include "safety/safety_chrysler.h" -#include "safety/safety_subaru.h" -#include "safety/safety_subaru_preglobal.h" -#include "safety/safety_mazda.h" -#include "safety/safety_nissan.h" -#include "safety/safety_volkswagen_mqb.h" -#include "safety/safety_volkswagen_pq.h" -#include "safety/safety_elm327.h" -#include "safety/safety_body.h" - -// CAN-FD only safety modes -#ifdef CANFD -#include "safety/safety_hyundai_canfd.h" -#endif - -// from cereal.car.CarParams.SafetyModel -#define SAFETY_SILENT 0U -#define SAFETY_HONDA_NIDEC 1U -#define SAFETY_TOYOTA 2U -#define SAFETY_ELM327 3U -#define SAFETY_GM 4U -#define SAFETY_HONDA_BOSCH_GIRAFFE 5U -#define SAFETY_FORD 6U -#define SAFETY_HYUNDAI 8U -#define SAFETY_CHRYSLER 9U -#define SAFETY_TESLA 10U -#define SAFETY_SUBARU 11U -#define SAFETY_MAZDA 13U -#define SAFETY_NISSAN 14U -#define SAFETY_VOLKSWAGEN_MQB 15U -#define SAFETY_ALLOUTPUT 17U -#define SAFETY_GM_ASCM 18U -#define SAFETY_NOOUTPUT 19U -#define SAFETY_HONDA_BOSCH 20U -#define SAFETY_VOLKSWAGEN_PQ 21U -#define SAFETY_SUBARU_PREGLOBAL 22U -#define SAFETY_HYUNDAI_LEGACY 23U -#define SAFETY_HYUNDAI_COMMUNITY 24U -#define SAFETY_STELLANTIS 25U -#define SAFETY_FAW 26U -#define SAFETY_BODY 27U -#define SAFETY_HYUNDAI_CANFD 28U - -uint16_t current_safety_mode = SAFETY_SILENT; -uint16_t current_safety_param = 0; -const safety_hooks *current_hooks = &nooutput_hooks; -safety_config current_safety_config; - -bool safety_rx_hook(const CANPacket_t *to_push) { - bool controls_allowed_prev = controls_allowed; - - bool valid = rx_msg_safety_check(to_push, ¤t_safety_config, current_hooks); - if (valid) { - current_hooks->rx(to_push); - } - - // reset mismatches on rising edge of controls_allowed to avoid rare race condition - if (controls_allowed && !controls_allowed_prev) { - heartbeat_engaged_mismatches = 0; - } - - return valid; -} - -bool safety_tx_hook(CANPacket_t *to_send) { - bool whitelisted = msg_allowed(to_send, current_safety_config.tx_msgs, current_safety_config.tx_msgs_len); - if ((current_safety_mode == SAFETY_ALLOUTPUT) || (current_safety_mode == SAFETY_ELM327)) { - whitelisted = true; - } - - const bool safety_allowed = current_hooks->tx(to_send); - return !relay_malfunction && whitelisted && safety_allowed; -} - -int safety_fwd_hook(int bus_num, int addr) { - return (relay_malfunction ? -1 : current_hooks->fwd(bus_num, addr)); -} - -bool get_longitudinal_allowed(void) { - return controls_allowed && !gas_pressed_prev; -} - -// Given a CRC-8 poly, generate a static lookup table to use with a fast CRC-8 -// algorithm. Called at init time for safety modes using CRC-8. -void gen_crc_lookup_table_8(uint8_t poly, uint8_t crc_lut[]) { - for (uint16_t i = 0U; i <= 0xFFU; i++) { - uint8_t crc = (uint8_t)i; - for (int j = 0; j < 8; j++) { - if ((crc & 0x80U) != 0U) { - crc = (uint8_t)((crc << 1) ^ poly); - } else { - crc <<= 1; - } - } - crc_lut[i] = crc; - } -} - -void gen_crc_lookup_table_16(uint16_t poly, uint16_t crc_lut[]) { - for (uint16_t i = 0; i < 256U; i++) { - uint16_t crc = i << 8U; - for (uint16_t j = 0; j < 8U; j++) { - if ((crc & 0x8000U) != 0U) { - crc = (uint16_t)((crc << 1) ^ poly); - } else { - crc <<= 1; - } - } - crc_lut[i] = crc; - } -} - -bool msg_allowed(const CANPacket_t *to_send, const CanMsg msg_list[], int len) { - int addr = GET_ADDR(to_send); - int bus = GET_BUS(to_send); - int length = GET_LEN(to_send); - - bool allowed = false; - for (int i = 0; i < len; i++) { - if ((addr == msg_list[i].addr) && (bus == msg_list[i].bus) && (length == msg_list[i].len)) { - allowed = true; - break; - } - } - return allowed; -} - -int get_addr_check_index(const CANPacket_t *to_push, RxCheck addr_list[], const int len) { - int bus = GET_BUS(to_push); - int addr = GET_ADDR(to_push); - int length = GET_LEN(to_push); - - int index = -1; - for (int i = 0; i < len; i++) { - // if multiple msgs are allowed, determine which one is present on the bus - if (!addr_list[i].status.msg_seen) { - for (uint8_t j = 0U; (j < MAX_ADDR_CHECK_MSGS) && (addr_list[i].msg[j].addr != 0); j++) { - if ((addr == addr_list[i].msg[j].addr) && (bus == addr_list[i].msg[j].bus) && - (length == addr_list[i].msg[j].len)) { - addr_list[i].status.index = j; - addr_list[i].status.msg_seen = true; - break; - } - } - } - - if (addr_list[i].status.msg_seen) { - int idx = addr_list[i].status.index; - if ((addr == addr_list[i].msg[idx].addr) && (bus == addr_list[i].msg[idx].bus) && - (length == addr_list[i].msg[idx].len)) { - index = i; - break; - } - } - } - return index; -} - -// 1Hz safety function called by main. Now just a check for lagging safety messages -void safety_tick(const safety_config *cfg) { - bool rx_checks_invalid = false; - uint32_t ts = microsecond_timer_get(); - if (cfg != NULL) { - for (int i=0; i < cfg->rx_checks_len; i++) { - uint32_t elapsed_time = get_ts_elapsed(ts, cfg->rx_checks[i].status.last_timestamp); - // lag threshold is max of: 1s and MAX_MISSED_MSGS * expected timestep. - // Quite conservative to not risk false triggers. - // 2s of lag is worse case, since the function is called at 1Hz - uint32_t timestep = 1e6 / cfg->rx_checks[i].msg[cfg->rx_checks[i].status.index].frequency; - bool lagging = elapsed_time > MAX(timestep * MAX_MISSED_MSGS, 1e6); - cfg->rx_checks[i].status.lagging = lagging; - if (lagging) { - controls_allowed = false; - } - - if (lagging || !is_msg_valid(cfg->rx_checks, i)) { - rx_checks_invalid = true; - } - } - } - - safety_rx_checks_invalid = rx_checks_invalid; -} - -void update_counter(RxCheck addr_list[], int index, uint8_t counter) { - if (index != -1) { - uint8_t expected_counter = (addr_list[index].status.last_counter + 1U) % (addr_list[index].msg[addr_list[index].status.index].max_counter + 1U); - addr_list[index].status.wrong_counters += (expected_counter == counter) ? -1 : 1; - addr_list[index].status.wrong_counters = CLAMP(addr_list[index].status.wrong_counters, 0, MAX_WRONG_COUNTERS); - addr_list[index].status.last_counter = counter; - } -} - -bool is_msg_valid(RxCheck addr_list[], int index) { - bool valid = true; - if (index != -1) { - if (!addr_list[index].status.valid_checksum || !addr_list[index].status.valid_quality_flag || (addr_list[index].status.wrong_counters >= MAX_WRONG_COUNTERS)) { - valid = false; - controls_allowed = false; - } - } - return valid; -} - -void update_addr_timestamp(RxCheck addr_list[], int index) { - if (index != -1) { - uint32_t ts = microsecond_timer_get(); - addr_list[index].status.last_timestamp = ts; - } -} - -bool rx_msg_safety_check(const CANPacket_t *to_push, - const safety_config *cfg, - const safety_hooks *safety_hooks) { - - int index = get_addr_check_index(to_push, cfg->rx_checks, cfg->rx_checks_len); - update_addr_timestamp(cfg->rx_checks, index); - - if (index != -1) { - // checksum check - if ((safety_hooks->get_checksum != NULL) && (safety_hooks->compute_checksum != NULL) && cfg->rx_checks[index].msg[cfg->rx_checks[index].status.index].check_checksum) { - uint32_t checksum = safety_hooks->get_checksum(to_push); - uint32_t checksum_comp = safety_hooks->compute_checksum(to_push); - cfg->rx_checks[index].status.valid_checksum = checksum_comp == checksum; - } else { - cfg->rx_checks[index].status.valid_checksum = true; - } - - // counter check (max_counter == 0 means skip check) - if ((safety_hooks->get_counter != NULL) && (cfg->rx_checks[index].msg[cfg->rx_checks[index].status.index].max_counter > 0U)) { - uint8_t counter = safety_hooks->get_counter(to_push); - update_counter(cfg->rx_checks, index, counter); - } else { - cfg->rx_checks[index].status.wrong_counters = 0U; - } - - // quality flag check - if ((safety_hooks->get_quality_flag_valid != NULL) && cfg->rx_checks[index].msg[cfg->rx_checks[index].status.index].quality_flag) { - cfg->rx_checks[index].status.valid_quality_flag = safety_hooks->get_quality_flag_valid(to_push); - } else { - cfg->rx_checks[index].status.valid_quality_flag = true; - } - } - return is_msg_valid(cfg->rx_checks, index); -} - -void generic_rx_checks(bool stock_ecu_detected) { - // exit controls on rising edge of gas press - if (gas_pressed && !gas_pressed_prev && !(alternative_experience & ALT_EXP_DISABLE_DISENGAGE_ON_GAS)) { - controls_allowed = false; - } - gas_pressed_prev = gas_pressed; - - // exit controls on rising edge of brake press - if (brake_pressed && (!brake_pressed_prev || vehicle_moving)) { - controls_allowed = false; - } - brake_pressed_prev = brake_pressed; - - // exit controls on rising edge of regen paddle - if (regen_braking && (!regen_braking_prev || vehicle_moving)) { - controls_allowed = false; - } - regen_braking_prev = regen_braking; - - // check if stock ECU is on bus broken by car harness - if ((safety_mode_cnt > RELAY_TRNS_TIMEOUT) && stock_ecu_detected && !gm_skip_relay_check) { - relay_malfunction_set(); - } -} - -void relay_malfunction_set(void) { - relay_malfunction = true; - fault_occurred(FAULT_RELAY_MALFUNCTION); -} - -void relay_malfunction_reset(void) { - relay_malfunction = false; - fault_recovered(FAULT_RELAY_MALFUNCTION); -} - -typedef struct { - uint16_t id; - const safety_hooks *hooks; -} safety_hook_config; - -const safety_hook_config safety_hook_registry[] = { - {SAFETY_SILENT, &nooutput_hooks}, - {SAFETY_HONDA_NIDEC, &honda_nidec_hooks}, - {SAFETY_TOYOTA, &toyota_hooks}, - {SAFETY_ELM327, &elm327_hooks}, - {SAFETY_GM, &gm_hooks}, - {SAFETY_HONDA_BOSCH, &honda_bosch_hooks}, - {SAFETY_HYUNDAI, &hyundai_hooks}, - {SAFETY_CHRYSLER, &chrysler_hooks}, - {SAFETY_SUBARU, &subaru_hooks}, - {SAFETY_VOLKSWAGEN_MQB, &volkswagen_mqb_hooks}, - {SAFETY_NISSAN, &nissan_hooks}, - {SAFETY_NOOUTPUT, &nooutput_hooks}, - {SAFETY_HYUNDAI_LEGACY, &hyundai_legacy_hooks}, - {SAFETY_MAZDA, &mazda_hooks}, - {SAFETY_BODY, &body_hooks}, - {SAFETY_FORD, &ford_hooks}, -#ifdef CANFD - {SAFETY_HYUNDAI_CANFD, &hyundai_canfd_hooks}, -#endif -#ifdef ALLOW_DEBUG - {SAFETY_TESLA, &tesla_hooks}, - {SAFETY_SUBARU_PREGLOBAL, &subaru_preglobal_hooks}, - {SAFETY_VOLKSWAGEN_PQ, &volkswagen_pq_hooks}, - {SAFETY_ALLOUTPUT, &alloutput_hooks}, -#endif -}; - -int set_safety_hooks(uint16_t mode, uint16_t param) { - // reset state set by safety mode - safety_mode_cnt = 0U; - relay_malfunction = false; - enable_gas_interceptor = false; - gas_interceptor_prev = 0; - gas_pressed = false; - gas_pressed_prev = false; - brake_pressed = false; - brake_pressed_prev = false; - regen_braking = false; - regen_braking_prev = false; - cruise_engaged_prev = false; - vehicle_moving = false; - acc_main_on = false; - cruise_button_prev = 0; - desired_torque_last = 0; - rt_torque_last = 0; - ts_angle_last = 0; - desired_angle_last = 0; - ts_torque_check_last = 0; - ts_steer_req_mismatch_last = 0; - valid_steer_req_count = 0; - invalid_steer_req_count = 0; - - // reset samples - reset_sample(&vehicle_speed); - reset_sample(&torque_meas); - reset_sample(&torque_driver); - reset_sample(&angle_meas); - - controls_allowed = false; - relay_malfunction_reset(); - safety_rx_checks_invalid = false; - - current_safety_config.rx_checks = NULL; - current_safety_config.rx_checks_len = 0; - current_safety_config.tx_msgs = NULL; - current_safety_config.tx_msgs_len = 0; - - int set_status = -1; // not set - int hook_config_count = sizeof(safety_hook_registry) / sizeof(safety_hook_config); - for (int i = 0; i < hook_config_count; i++) { - if (safety_hook_registry[i].id == mode) { - current_hooks = safety_hook_registry[i].hooks; - current_safety_mode = mode; - current_safety_param = param; - set_status = 0; // set - } - } - if ((set_status == 0) && (current_hooks->init != NULL)) { - safety_config cfg = current_hooks->init(param); - current_safety_config.rx_checks = cfg.rx_checks; - current_safety_config.rx_checks_len = cfg.rx_checks_len; - current_safety_config.tx_msgs = cfg.tx_msgs; - current_safety_config.tx_msgs_len = cfg.tx_msgs_len; - // reset all dynamic fields in addr struct - for (int j = 0; j < current_safety_config.rx_checks_len; j++) { - current_safety_config.rx_checks[j].status = (RxStatus){0}; - } - } - return set_status; -} - -// convert a trimmed integer to signed 32 bit int -int to_signed(int d, int bits) { - int d_signed = d; - int max_value = (1 << MAX((bits - 1), 0)); - if (d >= max_value) { - d_signed = d - (1 << MAX(bits, 0)); - } - return d_signed; -} - -// given a new sample, update the sample_t struct -void update_sample(struct sample_t *sample, int sample_new) { - for (int i = MAX_SAMPLE_VALS - 1; i > 0; i--) { - sample->values[i] = sample->values[i-1]; - } - sample->values[0] = sample_new; - - // get the minimum and maximum measured samples - sample->min = sample->values[0]; - sample->max = sample->values[0]; - for (int i = 1; i < MAX_SAMPLE_VALS; i++) { - if (sample->values[i] < sample->min) { - sample->min = sample->values[i]; - } - if (sample->values[i] > sample->max) { - sample->max = sample->values[i]; - } - } -} - -// resets values and min/max for sample_t struct -void reset_sample(struct sample_t *sample) { - for (int i = 0; i < MAX_SAMPLE_VALS; i++) { - sample->values[i] = 0; - } - update_sample(sample, 0); -} - -bool max_limit_check(int val, const int MAX_VAL, const int MIN_VAL) { - return (val > MAX_VAL) || (val < MIN_VAL); -} - -// check that commanded torque value isn't too far from measured -bool dist_to_meas_check(int val, int val_last, struct sample_t *val_meas, - const int MAX_RATE_UP, const int MAX_RATE_DOWN, const int MAX_ERROR) { - - // *** val rate limit check *** - int highest_allowed_rl = MAX(val_last, 0) + MAX_RATE_UP; - int lowest_allowed_rl = MIN(val_last, 0) - MAX_RATE_UP; - - // if we've exceeded the meas val, we must start moving toward 0 - int highest_allowed = MIN(highest_allowed_rl, MAX(val_last - MAX_RATE_DOWN, MAX(val_meas->max, 0) + MAX_ERROR)); - int lowest_allowed = MAX(lowest_allowed_rl, MIN(val_last + MAX_RATE_DOWN, MIN(val_meas->min, 0) - MAX_ERROR)); - - // check for violation - return max_limit_check(val, highest_allowed, lowest_allowed); -} - -// check that commanded value isn't fighting against driver -bool driver_limit_check(int val, int val_last, const struct sample_t *val_driver, - const int MAX_VAL, const int MAX_RATE_UP, const int MAX_RATE_DOWN, - const int MAX_ALLOWANCE, const int DRIVER_FACTOR) { - - // torque delta/rate limits - int highest_allowed_rl = MAX(val_last, 0) + MAX_RATE_UP; - int lowest_allowed_rl = MIN(val_last, 0) - MAX_RATE_UP; - - // driver - int driver_max_limit = MAX_VAL + (MAX_ALLOWANCE + val_driver->max) * DRIVER_FACTOR; - int driver_min_limit = -MAX_VAL + (-MAX_ALLOWANCE + val_driver->min) * DRIVER_FACTOR; - - // if we've exceeded the applied torque, we must start moving toward 0 - int highest_allowed = MIN(highest_allowed_rl, MAX(val_last - MAX_RATE_DOWN, - MAX(driver_max_limit, 0))); - int lowest_allowed = MAX(lowest_allowed_rl, MIN(val_last + MAX_RATE_DOWN, - MIN(driver_min_limit, 0))); - - // check for violation - return max_limit_check(val, highest_allowed, lowest_allowed); -} - - -// real time check, mainly used for steer torque rate limiter -bool rt_rate_limit_check(int val, int val_last, const int MAX_RT_DELTA) { - - // *** torque real time rate limit check *** - int highest_val = MAX(val_last, 0) + MAX_RT_DELTA; - int lowest_val = MIN(val_last, 0) - MAX_RT_DELTA; - - // check for violation - return max_limit_check(val, highest_val, lowest_val); -} - - -// interp function that holds extreme values -float interpolate(struct lookup_t xy, float x) { - - int size = sizeof(xy.x) / sizeof(xy.x[0]); - float ret = xy.y[size - 1]; // default output is last point - - // x is lower than the first point in the x array. Return the first point - if (x <= xy.x[0]) { - ret = xy.y[0]; - - } else { - // find the index such that (xy.x[i] <= x < xy.x[i+1]) and linearly interp - for (int i=0; i < (size - 1); i++) { - if (x < xy.x[i+1]) { - float x0 = xy.x[i]; - float y0 = xy.y[i]; - float dx = xy.x[i+1] - x0; - float dy = xy.y[i+1] - y0; - // dx should not be zero as xy.x is supposed to be monotonic - dx = MAX(dx, 0.0001); - ret = (dy * (x - x0) / dx) + y0; - break; - } - } - } - return ret; -} - -int ROUND(float val) { - return val + ((val > 0.0) ? 0.5 : -0.5); -} - -// Safety checks for longitudinal actuation -bool longitudinal_accel_checks(int desired_accel, const LongitudinalLimits limits) { - bool accel_valid = get_longitudinal_allowed() && !max_limit_check(desired_accel, limits.max_accel, limits.min_accel); - bool accel_inactive = desired_accel == limits.inactive_accel; - return !(accel_valid || accel_inactive); -} - -bool longitudinal_speed_checks(int desired_speed, const LongitudinalLimits limits) { - return !get_longitudinal_allowed() && (desired_speed != limits.inactive_speed); -} - -bool longitudinal_transmission_rpm_checks(int desired_transmission_rpm, const LongitudinalLimits limits) { - bool transmission_rpm_valid = get_longitudinal_allowed() && !max_limit_check(desired_transmission_rpm, limits.max_transmission_rpm, limits.min_transmission_rpm); - bool transmission_rpm_inactive = desired_transmission_rpm == limits.inactive_transmission_rpm; - return !(transmission_rpm_valid || transmission_rpm_inactive); -} - -bool longitudinal_gas_checks(int desired_gas, const LongitudinalLimits limits) { - bool gas_valid = get_longitudinal_allowed() && !max_limit_check(desired_gas, limits.max_gas, limits.min_gas); - bool gas_inactive = desired_gas == limits.inactive_gas; - return !(gas_valid || gas_inactive); -} - -bool longitudinal_brake_checks(int desired_brake, const LongitudinalLimits limits) { - bool violation = false; - violation |= !get_longitudinal_allowed() && (desired_brake != 0); - violation |= desired_brake > limits.max_brake; - return violation; -} - -bool longitudinal_interceptor_checks(const CANPacket_t *to_send) { - return (!get_longitudinal_allowed() || brake_pressed_prev) && (GET_BYTE(to_send, 0) || GET_BYTE(to_send, 1)); -} - -// Safety checks for torque-based steering commands -bool steer_torque_cmd_checks(int desired_torque, int steer_req, const SteeringLimits limits) { - bool violation = false; - uint32_t ts = microsecond_timer_get(); - - bool aol_allowed = acc_main_on && (alternative_experience & ALT_EXP_ALWAYS_ON_LATERAL); - if (controls_allowed) { - // acc main must be on if controls are allowed - acc_main_on = controls_allowed; - } - - if (controls_allowed || aol_allowed) { - // *** global torque limit check *** - violation |= max_limit_check(desired_torque, limits.max_steer, -limits.max_steer); - - // *** torque rate limit check *** - if (limits.type == TorqueDriverLimited) { - violation |= driver_limit_check(desired_torque, desired_torque_last, &torque_driver, - limits.max_steer, limits.max_rate_up, limits.max_rate_down, - limits.driver_torque_allowance, limits.driver_torque_factor); - } else { - violation |= dist_to_meas_check(desired_torque, desired_torque_last, &torque_meas, - limits.max_rate_up, limits.max_rate_down, limits.max_torque_error); - } - desired_torque_last = desired_torque; - - // *** torque real time rate limit check *** - violation |= rt_rate_limit_check(desired_torque, rt_torque_last, limits.max_rt_delta); - - // every RT_INTERVAL set the new limits - uint32_t ts_elapsed = get_ts_elapsed(ts, ts_torque_check_last); - if (ts_elapsed > limits.max_rt_interval) { - rt_torque_last = desired_torque; - ts_torque_check_last = ts; - } - } - - // no torque if controls is not allowed - if (!(controls_allowed || aol_allowed) && (desired_torque != 0)) { - violation = true; - } - - // certain safety modes set their steer request bit low for one or more frame at a - // predefined max frequency to avoid steering faults in certain situations - bool steer_req_mismatch = (steer_req == 0) && (desired_torque != 0); - if (!limits.has_steer_req_tolerance) { - if (steer_req_mismatch) { - violation = true; - } - - } else { - if (steer_req_mismatch) { - if (invalid_steer_req_count == 0) { - // disallow torque cut if not enough recent matching steer_req messages - if (valid_steer_req_count < limits.min_valid_request_frames) { - violation = true; - } - - // or we've cut torque too recently in time - uint32_t ts_elapsed = get_ts_elapsed(ts, ts_steer_req_mismatch_last); - if (ts_elapsed < limits.min_valid_request_rt_interval) { - violation = true; - } - } else { - // or we're cutting more frames consecutively than allowed - if (invalid_steer_req_count >= limits.max_invalid_request_frames) { - violation = true; - } - } - - valid_steer_req_count = 0; - ts_steer_req_mismatch_last = ts; - invalid_steer_req_count = MIN(invalid_steer_req_count + 1, limits.max_invalid_request_frames); - } else { - valid_steer_req_count = MIN(valid_steer_req_count + 1, limits.min_valid_request_frames); - invalid_steer_req_count = 0; - } - } - - // reset to 0 if either controls is not allowed or there's a violation - if (violation || !(controls_allowed || aol_allowed)) { - valid_steer_req_count = 0; - invalid_steer_req_count = 0; - desired_torque_last = 0; - rt_torque_last = 0; - ts_torque_check_last = ts; - ts_steer_req_mismatch_last = ts; - } - - return violation; -} - -// Safety checks for angle-based steering commands -bool steer_angle_cmd_checks(int desired_angle, bool steer_control_enabled, const SteeringLimits limits) { - bool violation = false; - bool aol_allowed = acc_main_on && (alternative_experience & ALT_EXP_ALWAYS_ON_LATERAL); - if (controls_allowed) { - // acc main must be on if controls are allowed - acc_main_on = controls_allowed; - } - - if ((controls_allowed || aol_allowed) && steer_control_enabled) { - // convert floating point angle rate limits to integers in the scale of the desired angle on CAN, - // add 1 to not false trigger the violation. also fudge the speed by 1 m/s so rate limits are - // always slightly above openpilot's in case we read an updated speed in between angle commands - // TODO: this speed fudge can be much lower, look at data to determine the lowest reasonable offset - int delta_angle_up = (interpolate(limits.angle_rate_up_lookup, (vehicle_speed.min / VEHICLE_SPEED_FACTOR) - 1.) * limits.angle_deg_to_can) + 1.; - int delta_angle_down = (interpolate(limits.angle_rate_down_lookup, (vehicle_speed.min / VEHICLE_SPEED_FACTOR) - 1.) * limits.angle_deg_to_can) + 1.; - - // allow down limits at zero since small floats will be rounded to 0 - int highest_desired_angle = desired_angle_last + ((desired_angle_last > 0) ? delta_angle_up : delta_angle_down); - int lowest_desired_angle = desired_angle_last - ((desired_angle_last >= 0) ? delta_angle_down : delta_angle_up); - - // check that commanded angle value isn't too far from measured, used to limit torque for some safety modes - // ensure we start moving in direction of meas while respecting rate limits if error is exceeded - if (limits.enforce_angle_error && ((vehicle_speed.values[0] / VEHICLE_SPEED_FACTOR) > limits.angle_error_min_speed)) { - // the rate limits above are liberally above openpilot's to avoid false positives. - // likewise, allow a lower rate for moving towards meas when error is exceeded - int delta_angle_up_lower = interpolate(limits.angle_rate_up_lookup, (vehicle_speed.max / VEHICLE_SPEED_FACTOR) + 1.) * limits.angle_deg_to_can; - int delta_angle_down_lower = interpolate(limits.angle_rate_down_lookup, (vehicle_speed.max / VEHICLE_SPEED_FACTOR) + 1.) * limits.angle_deg_to_can; - - int highest_desired_angle_lower = desired_angle_last + ((desired_angle_last > 0) ? delta_angle_up_lower : delta_angle_down_lower); - int lowest_desired_angle_lower = desired_angle_last - ((desired_angle_last >= 0) ? delta_angle_down_lower : delta_angle_up_lower); - - lowest_desired_angle = MIN(MAX(lowest_desired_angle, angle_meas.min - limits.max_angle_error - 1), highest_desired_angle_lower); - highest_desired_angle = MAX(MIN(highest_desired_angle, angle_meas.max + limits.max_angle_error + 1), lowest_desired_angle_lower); - - // don't enforce above the max steer - lowest_desired_angle = CLAMP(lowest_desired_angle, -limits.max_steer, limits.max_steer); - highest_desired_angle = CLAMP(highest_desired_angle, -limits.max_steer, limits.max_steer); - } - - // check for violation; - violation |= max_limit_check(desired_angle, highest_desired_angle, lowest_desired_angle); - } - desired_angle_last = desired_angle; - - // Angle should either be 0 or same as current angle while not steering - if (!steer_control_enabled) { - violation |= (limits.inactive_angle_is_zero ? (desired_angle != 0) : - max_limit_check(desired_angle, angle_meas.max + 1, angle_meas.min - 1)); - } - - // No angle control allowed when controls are not allowed - violation |= !(controls_allowed || aol_allowed) && steer_control_enabled; - - return violation; -} - -void pcm_cruise_check(bool cruise_engaged) { - // Enter controls on rising edge of stock ACC, exit controls if stock ACC disengages - if (!cruise_engaged) { - controls_allowed = false; - } - if (cruise_engaged && !cruise_engaged_prev) { - controls_allowed = true; - } - cruise_engaged_prev = cruise_engaged; -} diff --git a/panda/board/safety/safety_body.h b/panda/board/safety/safety_body.h deleted file mode 100644 index 2ebca280f13dfb..00000000000000 --- a/panda/board/safety/safety_body.h +++ /dev/null @@ -1,46 +0,0 @@ -const CanMsg BODY_TX_MSGS[] = {{0x250, 0, 8}, {0x250, 0, 6}, {0x251, 0, 5}, // body - {0x350, 0, 8}, {0x350, 0, 6}, {0x351, 0, 5}, // knee - {0x1, 0, 8}}; // CAN flasher - -RxCheck body_rx_checks[] = { - {.msg = {{0x201, 0, 8, .check_checksum = false, .max_counter = 0U, .frequency = 100U}, { 0 }, { 0 }}}, -}; - -static void body_rx_hook(const CANPacket_t *to_push) { - // body is never at standstill - vehicle_moving = true; - - if (GET_ADDR(to_push) == 0x201U) { - controls_allowed = true; - } -} - -static bool body_tx_hook(const CANPacket_t *to_send) { - bool tx = true; - int addr = GET_ADDR(to_send); - int len = GET_LEN(to_send); - - if (!controls_allowed && (addr != 0x1)) { - tx = false; - } - - // Allow going into CAN flashing mode for base & knee even if controls are not allowed - bool flash_msg = ((addr == 0x250) || (addr == 0x350)) && (len == 8); - if (!controls_allowed && (GET_BYTES(to_send, 0, 4) == 0xdeadfaceU) && (GET_BYTES(to_send, 4, 4) == 0x0ab00b1eU) && flash_msg) { - tx = true; - } - - return tx; -} - -static safety_config body_init(uint16_t param) { - UNUSED(param); - return BUILD_SAFETY_CFG(body_rx_checks, BODY_TX_MSGS); -} - -const safety_hooks body_hooks = { - .init = body_init, - .rx = body_rx_hook, - .tx = body_tx_hook, - .fwd = default_fwd_hook, -}; diff --git a/panda/board/safety/safety_chrysler.h b/panda/board/safety/safety_chrysler.h deleted file mode 100644 index a1934a6c2c2b43..00000000000000 --- a/panda/board/safety/safety_chrysler.h +++ /dev/null @@ -1,303 +0,0 @@ -const SteeringLimits CHRYSLER_STEERING_LIMITS = { - .max_steer = 261, - .max_rt_delta = 112, - .max_rt_interval = 250000, - .max_rate_up = 3, - .max_rate_down = 3, - .max_torque_error = 80, - .type = TorqueMotorLimited, -}; - -const SteeringLimits CHRYSLER_RAM_DT_STEERING_LIMITS = { - .max_steer = 350, - .max_rt_delta = 112, - .max_rt_interval = 250000, - .max_rate_up = 6, - .max_rate_down = 6, - .max_torque_error = 80, - .type = TorqueMotorLimited, -}; - -const SteeringLimits CHRYSLER_RAM_HD_STEERING_LIMITS = { - .max_steer = 361, - .max_rt_delta = 182, - .max_rt_interval = 250000, - .max_rate_up = 14, - .max_rate_down = 14, - .max_torque_error = 80, - .type = TorqueMotorLimited, -}; - -typedef struct { - const int EPS_2; - const int ESP_1; - const int ESP_8; - const int ECM_5; - const int DAS_3; - const int DAS_6; - const int LKAS_COMMAND; - const int CRUISE_BUTTONS; - const int CRUISE_BUTTONS_ALT; -} ChryslerAddrs; - -// CAN messages for Chrysler/Jeep platforms -const ChryslerAddrs CHRYSLER_ADDRS = { - .EPS_2 = 0x220, // EPS driver input torque - .ESP_1 = 0x140, // Brake pedal and vehicle speed - .ESP_8 = 0x11C, // Brake pedal and vehicle speed - .ECM_5 = 0x22F, // Throttle position sensor - .DAS_3 = 0x1F4, // ACC engagement states from DASM - .DAS_6 = 0x2A6, // LKAS HUD and auto headlight control from DASM - .LKAS_COMMAND = 0x292, // LKAS controls from DASM - .CRUISE_BUTTONS = 0x23B, // Cruise control buttons - .CRUISE_BUTTONS_ALT = 0x23B, // Cruise control buttons -}; - -// CAN messages for the 5th gen RAM DT platform -const ChryslerAddrs CHRYSLER_RAM_DT_ADDRS = { - .EPS_2 = 0x31, // EPS driver input torque - .ESP_1 = 0x83, // Brake pedal and vehicle speed - .ESP_8 = 0x79, // Brake pedal and vehicle speed - .ECM_5 = 0x9D, // Throttle position sensor - .DAS_3 = 0x99, // ACC engagement states from DASM - .DAS_6 = 0xFA, // LKAS HUD and auto headlight control from DASM - .LKAS_COMMAND = 0xA6, // LKAS controls from DASM - .CRUISE_BUTTONS = 0xB1, // Cruise control buttons - .CRUISE_BUTTONS_ALT = 0xB1, // Cruise control buttons -}; - -// CAN messages for the 5th gen RAM HD platform -const ChryslerAddrs CHRYSLER_RAM_HD_ADDRS = { - .EPS_2 = 0x220, // EPS driver input torque - .ESP_1 = 0x140, // Brake pedal and vehicle speed - .ESP_8 = 0x11C, // Brake pedal and vehicle speed - .ECM_5 = 0x22F, // Throttle position sensor - .DAS_3 = 0x1F4, // ACC engagement states from DASM - .DAS_6 = 0x275, // LKAS HUD and auto headlight control from DASM - .LKAS_COMMAND = 0x276, // LKAS controls from DASM - .CRUISE_BUTTONS = 0x23A, // Cruise control buttons - .CRUISE_BUTTONS_ALT = 0x23B, // Cruise control buttons -}; - -const CanMsg CHRYSLER_TX_MSGS[] = { - {CHRYSLER_ADDRS.CRUISE_BUTTONS, 0, 3}, - {CHRYSLER_ADDRS.LKAS_COMMAND, 0, 6}, - {CHRYSLER_ADDRS.DAS_6, 0, 8}, -}; - -const CanMsg CHRYSLER_RAM_DT_TX_MSGS[] = { - {CHRYSLER_RAM_DT_ADDRS.CRUISE_BUTTONS, 2, 3}, - {CHRYSLER_RAM_DT_ADDRS.CRUISE_BUTTONS_ALT, 2, 3}, - {CHRYSLER_RAM_DT_ADDRS.LKAS_COMMAND, 0, 8}, - {CHRYSLER_RAM_DT_ADDRS.DAS_6, 0, 8}, -}; - -const CanMsg CHRYSLER_RAM_HD_TX_MSGS[] = { - {CHRYSLER_RAM_HD_ADDRS.CRUISE_BUTTONS, 2, 3}, - {CHRYSLER_RAM_HD_ADDRS.CRUISE_BUTTONS_ALT, 2, 3}, - {CHRYSLER_RAM_HD_ADDRS.LKAS_COMMAND, 0, 8}, - {CHRYSLER_RAM_HD_ADDRS.DAS_6, 0, 8}, -}; - -RxCheck chrysler_rx_checks[] = { - {.msg = {{CHRYSLER_ADDRS.EPS_2, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 100U}, { 0 }, { 0 }}}, - {.msg = {{CHRYSLER_ADDRS.ESP_1, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}}, - //{.msg = {{ESP_8, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}}}, - {.msg = {{514, 0, 8, .check_checksum = false, .max_counter = 0U, .frequency = 100U}, { 0 }, { 0 }}}, - {.msg = {{CHRYSLER_ADDRS.ECM_5, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}}, - {.msg = {{CHRYSLER_ADDRS.DAS_3, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}}, -}; - -RxCheck chrysler_ram_dt_rx_checks[] = { - {.msg = {{CHRYSLER_RAM_DT_ADDRS.EPS_2, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 100U}, { 0 }, { 0 }}}, - {.msg = {{CHRYSLER_RAM_DT_ADDRS.ESP_1, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}}, - {.msg = {{CHRYSLER_RAM_DT_ADDRS.ESP_8, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}}, - {.msg = {{CHRYSLER_RAM_DT_ADDRS.ECM_5, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}}, - {.msg = {{CHRYSLER_RAM_DT_ADDRS.DAS_3, 2, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}}, -}; - -RxCheck chrysler_ram_hd_rx_checks[] = { - {.msg = {{CHRYSLER_RAM_HD_ADDRS.EPS_2, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 100U}, { 0 }, { 0 }}}, - {.msg = {{CHRYSLER_RAM_HD_ADDRS.ESP_1, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}}, - {.msg = {{CHRYSLER_RAM_HD_ADDRS.ESP_8, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}}, - {.msg = {{CHRYSLER_RAM_HD_ADDRS.ECM_5, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}}, - {.msg = {{CHRYSLER_RAM_HD_ADDRS.DAS_3, 2, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}}, -}; - - - -const uint32_t CHRYSLER_PARAM_RAM_DT = 1U; // set for Ram DT platform -const uint32_t CHRYSLER_PARAM_RAM_HD = 2U; // set for Ram HD platform - -typedef enum { - CHRYSLER_RAM_DT, - CHRYSLER_RAM_HD, - CHRYSLER_PACIFICA, // plus Jeep -} ChryslerPlatform; -ChryslerPlatform chrysler_platform = CHRYSLER_PACIFICA; -const ChryslerAddrs *chrysler_addrs = &CHRYSLER_ADDRS; - -static uint32_t chrysler_get_checksum(const CANPacket_t *to_push) { - int checksum_byte = GET_LEN(to_push) - 1U; - return (uint8_t)(GET_BYTE(to_push, checksum_byte)); -} - -static uint32_t chrysler_compute_checksum(const CANPacket_t *to_push) { - // TODO: clean this up - // http://illmatics.com/Remote%20Car%20Hacking.pdf - uint8_t checksum = 0xFFU; - int len = GET_LEN(to_push); - for (int j = 0; j < (len - 1); j++) { - uint8_t shift = 0x80U; - uint8_t curr = (uint8_t)GET_BYTE(to_push, j); - for (int i=0; i<8; i++) { - uint8_t bit_sum = curr & shift; - uint8_t temp_chk = checksum & 0x80U; - if (bit_sum != 0U) { - bit_sum = 0x1C; - if (temp_chk != 0U) { - bit_sum = 1; - } - checksum = checksum << 1; - temp_chk = checksum | 1U; - bit_sum ^= temp_chk; - } else { - if (temp_chk != 0U) { - bit_sum = 0x1D; - } - checksum = checksum << 1; - bit_sum ^= checksum; - } - checksum = bit_sum; - shift = shift >> 1; - } - } - return (uint8_t)(~checksum); -} - -static uint8_t chrysler_get_counter(const CANPacket_t *to_push) { - return (uint8_t)(GET_BYTE(to_push, 6) >> 4); -} - -static void chrysler_rx_hook(const CANPacket_t *to_push) { - const int bus = GET_BUS(to_push); - const int addr = GET_ADDR(to_push); - - // Measured EPS torque - if ((bus == 0) && (addr == chrysler_addrs->EPS_2)) { - int torque_meas_new = ((GET_BYTE(to_push, 4) & 0x7U) << 8) + GET_BYTE(to_push, 5) - 1024U; - update_sample(&torque_meas, torque_meas_new); - } - - // enter controls on rising edge of ACC, exit controls on ACC off - const int das_3_bus = (chrysler_platform == CHRYSLER_PACIFICA) ? 0 : 2; - if ((bus == das_3_bus) && (addr == chrysler_addrs->DAS_3)) { - acc_main_on = GET_BIT(to_push, 20U); - bool cruise_engaged = GET_BIT(to_push, 21U); - pcm_cruise_check(cruise_engaged); - } - - // TODO: use the same message for both - // update vehicle moving - if ((chrysler_platform != CHRYSLER_PACIFICA) && (bus == 0) && (addr == chrysler_addrs->ESP_8)) { - vehicle_moving = ((GET_BYTE(to_push, 4) << 8) + GET_BYTE(to_push, 5)) != 0U; - } - if ((chrysler_platform == CHRYSLER_PACIFICA) && (bus == 0) && (addr == 514)) { - int speed_l = (GET_BYTE(to_push, 0) << 4) + (GET_BYTE(to_push, 1) >> 4); - int speed_r = (GET_BYTE(to_push, 2) << 4) + (GET_BYTE(to_push, 3) >> 4); - vehicle_moving = (speed_l != 0) || (speed_r != 0); - } - - // exit controls on rising edge of gas press - if ((bus == 0) && (addr == chrysler_addrs->ECM_5)) { - gas_pressed = GET_BYTE(to_push, 0U) != 0U; - } - - // exit controls on rising edge of brake press - if ((bus == 0) && (addr == chrysler_addrs->ESP_1)) { - brake_pressed = ((GET_BYTE(to_push, 0U) & 0xFU) >> 2U) == 1U; - } - - generic_rx_checks((bus == 0) && (addr == chrysler_addrs->LKAS_COMMAND)); -} - -static bool chrysler_tx_hook(const CANPacket_t *to_send) { - bool tx = true; - int addr = GET_ADDR(to_send); - - // STEERING - if (addr == chrysler_addrs->LKAS_COMMAND) { - int start_byte = (chrysler_platform == CHRYSLER_PACIFICA) ? 0 : 1; - int desired_torque = ((GET_BYTE(to_send, start_byte) & 0x7U) << 8) | GET_BYTE(to_send, start_byte + 1); - desired_torque -= 1024; - - const SteeringLimits limits = (chrysler_platform == CHRYSLER_PACIFICA) ? CHRYSLER_STEERING_LIMITS : - (chrysler_platform == CHRYSLER_RAM_DT) ? CHRYSLER_RAM_DT_STEERING_LIMITS : CHRYSLER_RAM_HD_STEERING_LIMITS; - - bool steer_req = (chrysler_platform == CHRYSLER_PACIFICA) ? GET_BIT(to_send, 4U) : (GET_BYTE(to_send, 3) & 0x7U) == 2U; - if (steer_torque_cmd_checks(desired_torque, steer_req, limits)) { - tx = false; - } - } - - // FORCE CANCEL: only the cancel button press is allowed - if ((addr == chrysler_addrs->CRUISE_BUTTONS) || (addr == CHRYSLER_RAM_HD_ADDRS.CRUISE_BUTTONS_ALT)) { - const bool is_cancel = GET_BYTE(to_send, 0) == 1U; - const bool is_resume = GET_BYTE(to_send, 0) == 0x10U; - const bool allowed = is_cancel || (is_resume && controls_allowed); - if (!allowed) { - tx = false; - } - } - - return tx; -} - -static int chrysler_fwd_hook(int bus_num, int addr) { - int bus_fwd = -1; - - // forward to camera - if (bus_num == 0) { - bus_fwd = 2; - } - - // forward all messages from camera except LKAS messages - const bool is_lkas = ((addr == chrysler_addrs->LKAS_COMMAND) || (addr == chrysler_addrs->DAS_6)); - if ((bus_num == 2) && !is_lkas){ - bus_fwd = 0; - } - - return bus_fwd; -} - -static safety_config chrysler_init(uint16_t param) { - safety_config ret; - - bool enable_ram_dt = GET_FLAG(param, CHRYSLER_PARAM_RAM_DT); - if (enable_ram_dt) { - chrysler_platform = CHRYSLER_RAM_DT; - chrysler_addrs = &CHRYSLER_RAM_DT_ADDRS; - ret = BUILD_SAFETY_CFG(chrysler_ram_dt_rx_checks, CHRYSLER_RAM_DT_TX_MSGS); -#ifdef ALLOW_DEBUG - } else if (GET_FLAG(param, CHRYSLER_PARAM_RAM_HD)) { - chrysler_platform = CHRYSLER_RAM_HD; - chrysler_addrs = &CHRYSLER_RAM_HD_ADDRS; - ret = BUILD_SAFETY_CFG(chrysler_ram_hd_rx_checks, CHRYSLER_RAM_HD_TX_MSGS); -#endif - } else { - chrysler_platform = CHRYSLER_PACIFICA; - chrysler_addrs = &CHRYSLER_ADDRS; - ret = BUILD_SAFETY_CFG(chrysler_rx_checks, CHRYSLER_TX_MSGS); - } - return ret; -} - -const safety_hooks chrysler_hooks = { - .init = chrysler_init, - .rx = chrysler_rx_hook, - .tx = chrysler_tx_hook, - .fwd = chrysler_fwd_hook, - .get_counter = chrysler_get_counter, - .get_checksum = chrysler_get_checksum, - .compute_checksum = chrysler_compute_checksum, -}; diff --git a/panda/board/safety/safety_defaults.h b/panda/board/safety/safety_defaults.h deleted file mode 100644 index 6c47dba3d644b0..00000000000000 --- a/panda/board/safety/safety_defaults.h +++ /dev/null @@ -1,68 +0,0 @@ -void default_rx_hook(const CANPacket_t *to_push) { - UNUSED(to_push); -} - -// *** no output safety mode *** - -static safety_config nooutput_init(uint16_t param) { - UNUSED(param); - return (safety_config){NULL, 0, NULL, 0}; -} - -static bool nooutput_tx_hook(const CANPacket_t *to_send) { - UNUSED(to_send); - return false; -} - -static int default_fwd_hook(int bus_num, int addr) { - UNUSED(bus_num); - UNUSED(addr); - return -1; -} - -const safety_hooks nooutput_hooks = { - .init = nooutput_init, - .rx = default_rx_hook, - .tx = nooutput_tx_hook, - .fwd = default_fwd_hook, -}; - -// *** all output safety mode *** - -// Enables passthrough mode where relay is open and bus 0 gets forwarded to bus 2 and vice versa -const uint16_t ALLOUTPUT_PARAM_PASSTHROUGH = 1; -bool alloutput_passthrough = false; - -static safety_config alloutput_init(uint16_t param) { - controls_allowed = true; - alloutput_passthrough = GET_FLAG(param, ALLOUTPUT_PARAM_PASSTHROUGH); - return (safety_config){NULL, 0, NULL, 0}; -} - -static bool alloutput_tx_hook(const CANPacket_t *to_send) { - UNUSED(to_send); - return true; -} - -static int alloutput_fwd_hook(int bus_num, int addr) { - int bus_fwd = -1; - UNUSED(addr); - - if (alloutput_passthrough) { - if (bus_num == 0) { - bus_fwd = 2; - } - if (bus_num == 2) { - bus_fwd = 0; - } - } - - return bus_fwd; -} - -const safety_hooks alloutput_hooks = { - .init = alloutput_init, - .rx = default_rx_hook, - .tx = alloutput_tx_hook, - .fwd = alloutput_fwd_hook, -}; diff --git a/panda/board/safety/safety_elm327.h b/panda/board/safety/safety_elm327.h deleted file mode 100644 index 954efca8d59e62..00000000000000 --- a/panda/board/safety/safety_elm327.h +++ /dev/null @@ -1,37 +0,0 @@ -const int GM_CAMERA_DIAG_ADDR = 0x24B; - -static bool elm327_tx_hook(const CANPacket_t *to_send) { - bool tx = true; - int addr = GET_ADDR(to_send); - int len = GET_LEN(to_send); - - // All ISO 15765-4 messages must be 8 bytes long - if (len != 8) { - tx = false; - } - - // Check valid 29 bit send addresses for ISO 15765-4 - // Check valid 11 bit send addresses for ISO 15765-4 - if ((addr != 0x18DB33F1) && ((addr & 0x1FFF00FF) != 0x18DA00F1) && - ((addr & 0x1FFFFF00) != 0x600) && ((addr & 0x1FFFFF00) != 0x700) && - (addr != GM_CAMERA_DIAG_ADDR)) { - tx = false; - } - - // GM camera uses non-standard diagnostic address, this has no control message address collisions - if ((addr == GM_CAMERA_DIAG_ADDR) && (len == 8)) { - // Only allow known frame types for ISO 15765-2 - if ((GET_BYTE(to_send, 0) & 0xF0U) > 0x30U) { - tx = false; - } - } - return tx; -} - -// If current_board->has_obd and safety_param == 0, bus 1 is multiplexed to the OBD-II port -const safety_hooks elm327_hooks = { - .init = nooutput_init, - .rx = default_rx_hook, - .tx = elm327_tx_hook, - .fwd = default_fwd_hook, -}; diff --git a/panda/board/safety/safety_ford.h b/panda/board/safety/safety_ford.h deleted file mode 100644 index e17cdf3cbff209..00000000000000 --- a/panda/board/safety/safety_ford.h +++ /dev/null @@ -1,424 +0,0 @@ -// Safety-relevant CAN messages for Ford vehicles. -#define FORD_EngBrakeData 0x165 // RX from PCM, for driver brake pedal and cruise state -#define FORD_EngVehicleSpThrottle 0x204 // RX from PCM, for driver throttle input -#define FORD_DesiredTorqBrk 0x213 // RX from ABS, for standstill state -#define FORD_BrakeSysFeatures 0x415 // RX from ABS, for vehicle speed -#define FORD_EngVehicleSpThrottle2 0x202 // RX from PCM, for second vehicle speed -#define FORD_Yaw_Data_FD1 0x91 // RX from RCM, for yaw rate -#define FORD_Steering_Data_FD1 0x083 // TX by OP, various driver switches and LKAS/CC buttons -#define FORD_ACCDATA 0x186 // TX by OP, ACC controls -#define FORD_ACCDATA_3 0x18A // TX by OP, ACC/TJA user interface -#define FORD_Lane_Assist_Data1 0x3CA // TX by OP, Lane Keep Assist -#define FORD_LateralMotionControl 0x3D3 // TX by OP, Lateral Control message -#define FORD_LateralMotionControl2 0x3D6 // TX by OP, alternate Lateral Control message -#define FORD_IPMA_Data 0x3D8 // TX by OP, IPMA and LKAS user interface - -// CAN bus numbers. -#define FORD_MAIN_BUS 0U -#define FORD_CAM_BUS 2U - -const CanMsg FORD_STOCK_TX_MSGS[] = { - {FORD_Steering_Data_FD1, 0, 8}, - {FORD_Steering_Data_FD1, 2, 8}, - {FORD_ACCDATA_3, 0, 8}, - {FORD_Lane_Assist_Data1, 0, 8}, - {FORD_LateralMotionControl, 0, 8}, - {FORD_IPMA_Data, 0, 8}, -}; - -const CanMsg FORD_LONG_TX_MSGS[] = { - {FORD_Steering_Data_FD1, 0, 8}, - {FORD_Steering_Data_FD1, 2, 8}, - {FORD_ACCDATA, 0, 8}, - {FORD_ACCDATA_3, 0, 8}, - {FORD_Lane_Assist_Data1, 0, 8}, - {FORD_LateralMotionControl, 0, 8}, - {FORD_IPMA_Data, 0, 8}, -}; - -const CanMsg FORD_CANFD_STOCK_TX_MSGS[] = { - {FORD_Steering_Data_FD1, 0, 8}, - {FORD_Steering_Data_FD1, 2, 8}, - {FORD_ACCDATA_3, 0, 8}, - {FORD_Lane_Assist_Data1, 0, 8}, - {FORD_LateralMotionControl2, 0, 8}, - {FORD_IPMA_Data, 0, 8}, -}; - -const CanMsg FORD_CANFD_LONG_TX_MSGS[] = { - {FORD_Steering_Data_FD1, 0, 8}, - {FORD_Steering_Data_FD1, 2, 8}, - {FORD_ACCDATA, 0, 8}, - {FORD_ACCDATA_3, 0, 8}, - {FORD_Lane_Assist_Data1, 0, 8}, - {FORD_LateralMotionControl2, 0, 8}, - {FORD_IPMA_Data, 0, 8}, -}; - -// warning: quality flags are not yet checked in openpilot's CAN parser, -// this may be the cause of blocked messages -RxCheck ford_rx_checks[] = { - {.msg = {{FORD_BrakeSysFeatures, 0, 8, .check_checksum = true, .max_counter = 15U, .quality_flag=true, .frequency = 50U}, { 0 }, { 0 }}}, - // FORD_EngVehicleSpThrottle2 has a counter that either randomly skips or by 2, likely ECU bug - // Some hybrid models also experience a bug where this checksum mismatches for one or two frames under heavy acceleration with ACC - // It has been confirmed that the Bronco Sport's camera only disallows ACC for bad quality flags, not counters or checksums, so we match that - {.msg = {{FORD_EngVehicleSpThrottle2, 0, 8, .check_checksum = false, .quality_flag=true, .frequency = 50U}, { 0 }, { 0 }}}, - {.msg = {{FORD_Yaw_Data_FD1, 0, 8, .check_checksum = true, .max_counter = 255U, .quality_flag=true, .frequency = 100U}, { 0 }, { 0 }}}, - // These messages have no counter or checksum - {.msg = {{FORD_EngBrakeData, 0, 8, .frequency = 10U}, { 0 }, { 0 }}}, - {.msg = {{FORD_EngVehicleSpThrottle, 0, 8, .frequency = 100U}, { 0 }, { 0 }}}, - {.msg = {{FORD_DesiredTorqBrk, 0, 8, .frequency = 50U}, { 0 }, { 0 }}}, -}; - -static uint8_t ford_get_counter(const CANPacket_t *to_push) { - int addr = GET_ADDR(to_push); - - uint8_t cnt = 0; - if (addr == FORD_BrakeSysFeatures) { - // Signal: VehVActlBrk_No_Cnt - cnt = (GET_BYTE(to_push, 2) >> 2) & 0xFU; - } else if (addr == FORD_Yaw_Data_FD1) { - // Signal: VehRollYaw_No_Cnt - cnt = GET_BYTE(to_push, 5); - } else { - } - return cnt; -} - -static uint32_t ford_get_checksum(const CANPacket_t *to_push) { - int addr = GET_ADDR(to_push); - - uint8_t chksum = 0; - if (addr == FORD_BrakeSysFeatures) { - // Signal: VehVActlBrk_No_Cs - chksum = GET_BYTE(to_push, 3); - } else if (addr == FORD_Yaw_Data_FD1) { - // Signal: VehRollYawW_No_Cs - chksum = GET_BYTE(to_push, 4); - } else { - } - return chksum; -} - -static uint32_t ford_compute_checksum(const CANPacket_t *to_push) { - int addr = GET_ADDR(to_push); - - uint8_t chksum = 0; - if (addr == FORD_BrakeSysFeatures) { - chksum += GET_BYTE(to_push, 0) + GET_BYTE(to_push, 1); // Veh_V_ActlBrk - chksum += GET_BYTE(to_push, 2) >> 6; // VehVActlBrk_D_Qf - chksum += (GET_BYTE(to_push, 2) >> 2) & 0xFU; // VehVActlBrk_No_Cnt - chksum = 0xFFU - chksum; - } else if (addr == FORD_Yaw_Data_FD1) { - chksum += GET_BYTE(to_push, 0) + GET_BYTE(to_push, 1); // VehRol_W_Actl - chksum += GET_BYTE(to_push, 2) + GET_BYTE(to_push, 3); // VehYaw_W_Actl - chksum += GET_BYTE(to_push, 5); // VehRollYaw_No_Cnt - chksum += GET_BYTE(to_push, 6) >> 6; // VehRolWActl_D_Qf - chksum += (GET_BYTE(to_push, 6) >> 4) & 0x3U; // VehYawWActl_D_Qf - chksum = 0xFFU - chksum; - } else { - } - - return chksum; -} - -static bool ford_get_quality_flag_valid(const CANPacket_t *to_push) { - int addr = GET_ADDR(to_push); - - bool valid = false; - if (addr == FORD_BrakeSysFeatures) { - valid = (GET_BYTE(to_push, 2) >> 6) == 0x3U; // VehVActlBrk_D_Qf - } else if (addr == FORD_EngVehicleSpThrottle2) { - valid = ((GET_BYTE(to_push, 4) >> 5) & 0x3U) == 0x3U; // VehVActlEng_D_Qf - } else if (addr == FORD_Yaw_Data_FD1) { - valid = ((GET_BYTE(to_push, 6) >> 4) & 0x3U) == 0x3U; // VehYawWActl_D_Qf - } else { - } - return valid; -} - -const uint16_t FORD_PARAM_LONGITUDINAL = 1; -const uint16_t FORD_PARAM_CANFD = 2; - -bool ford_longitudinal = false; -bool ford_canfd = false; - -const LongitudinalLimits FORD_LONG_LIMITS = { - // acceleration cmd limits (used for brakes) - // Signal: AccBrkTot_A_Rq - .max_accel = 5641, // 1.9999 m/s^s - .min_accel = 4231, // -3.4991 m/s^2 - .inactive_accel = 5128, // -0.0008 m/s^2 - - // gas cmd limits - // Signal: AccPrpl_A_Rq & AccPrpl_A_Pred - .max_gas = 700, // 2.0 m/s^2 - .min_gas = 450, // -0.5 m/s^2 - .inactive_gas = 0, // -5.0 m/s^2 -}; - -#define FORD_INACTIVE_CURVATURE 1000U -#define FORD_INACTIVE_CURVATURE_RATE 4096U -#define FORD_INACTIVE_PATH_OFFSET 512U -#define FORD_INACTIVE_PATH_ANGLE 1000U - -#define FORD_CANFD_INACTIVE_CURVATURE_RATE 1024U - -#define FORD_MAX_SPEED_DELTA 2.0 // m/s - -static bool ford_lkas_msg_check(int addr) { - return (addr == FORD_ACCDATA_3) - || (addr == FORD_Lane_Assist_Data1) - || (addr == FORD_LateralMotionControl) - || (addr == FORD_LateralMotionControl2) - || (addr == FORD_IPMA_Data); -} - -// Curvature rate limits -const SteeringLimits FORD_STEERING_LIMITS = { - .max_steer = 1000, - .angle_deg_to_can = 50000, // 1 / (2e-5) rad to can - .max_angle_error = 100, // 0.002 * FORD_STEERING_LIMITS.angle_deg_to_can - .angle_rate_up_lookup = { - {5., 25., 25.}, - {0.0002, 0.0001, 0.0001} - }, - .angle_rate_down_lookup = { - {5., 25., 25.}, - {0.000225, 0.00015, 0.00015} - }, - - // no blending at low speed due to lack of torque wind-up and inaccurate current curvature - .angle_error_min_speed = 10.0, // m/s - - .enforce_angle_error = true, - .inactive_angle_is_zero = true, -}; - -static void ford_rx_hook(const CANPacket_t *to_push) { - if (GET_BUS(to_push) == FORD_MAIN_BUS) { - int addr = GET_ADDR(to_push); - - // Update in motion state from standstill signal - if (addr == FORD_DesiredTorqBrk) { - // Signal: VehStop_D_Stat - vehicle_moving = ((GET_BYTE(to_push, 3) >> 3) & 0x3U) != 1U; - } - - // Update vehicle speed - if (addr == FORD_BrakeSysFeatures) { - // Signal: Veh_V_ActlBrk - UPDATE_VEHICLE_SPEED(((GET_BYTE(to_push, 0) << 8) | GET_BYTE(to_push, 1)) * 0.01 / 3.6); - } - - // Check vehicle speed against a second source - if (addr == FORD_EngVehicleSpThrottle2) { - // Disable controls if speeds from ABS and PCM ECUs are too far apart. - // Signal: Veh_V_ActlEng - float filtered_pcm_speed = ((GET_BYTE(to_push, 6) << 8) | GET_BYTE(to_push, 7)) * 0.01 / 3.6; - bool is_invalid_speed = ABS(filtered_pcm_speed - ((float)vehicle_speed.values[0] / VEHICLE_SPEED_FACTOR)) > FORD_MAX_SPEED_DELTA; - if (is_invalid_speed) { - controls_allowed = false; - } - } - - // Update vehicle yaw rate - if (addr == FORD_Yaw_Data_FD1) { - // Signal: VehYaw_W_Actl - float ford_yaw_rate = (((GET_BYTE(to_push, 2) << 8U) | GET_BYTE(to_push, 3)) * 0.0002) - 6.5; - float current_curvature = ford_yaw_rate / MAX(vehicle_speed.values[0] / VEHICLE_SPEED_FACTOR, 0.1); - // convert current curvature into units on CAN for comparison with desired curvature - update_sample(&angle_meas, ROUND(current_curvature * FORD_STEERING_LIMITS.angle_deg_to_can)); - } - - // Update gas pedal - if (addr == FORD_EngVehicleSpThrottle) { - // Pedal position: (0.1 * val) in percent - // Signal: ApedPos_Pc_ActlArb - gas_pressed = (((GET_BYTE(to_push, 0) & 0x03U) << 8) | GET_BYTE(to_push, 1)) > 0U; - } - - // Update brake pedal and cruise state - if (addr == FORD_EngBrakeData) { - // Signal: BpedDrvAppl_D_Actl - brake_pressed = ((GET_BYTE(to_push, 0) >> 4) & 0x3U) == 2U; - - // Signal: CcStat_D_Actl - unsigned int cruise_state = GET_BYTE(to_push, 1) & 0x07U; - acc_main_on = (cruise_state == 3U) ||(cruise_state == 4U) || (cruise_state == 5U); - bool cruise_engaged = (cruise_state == 4U) || (cruise_state == 5U); - pcm_cruise_check(cruise_engaged); - } - - // If steering controls messages are received on the destination bus, it's an indication - // that the relay might be malfunctioning. - bool stock_ecu_detected = ford_lkas_msg_check(addr); - if (ford_longitudinal) { - stock_ecu_detected = stock_ecu_detected || (addr == FORD_ACCDATA); - } - generic_rx_checks(stock_ecu_detected); - } - -} - -static bool ford_tx_hook(const CANPacket_t *to_send) { - bool tx = true; - - int addr = GET_ADDR(to_send); - - // Safety check for ACCDATA accel and brake requests - if (addr == FORD_ACCDATA) { - // Signal: AccPrpl_A_Rq - int gas = ((GET_BYTE(to_send, 6) & 0x3U) << 8) | GET_BYTE(to_send, 7); - // Signal: AccPrpl_A_Pred - int gas_pred = ((GET_BYTE(to_send, 2) & 0x3U) << 8) | GET_BYTE(to_send, 3); - // Signal: AccBrkTot_A_Rq - int accel = ((GET_BYTE(to_send, 0) & 0x1FU) << 8) | GET_BYTE(to_send, 1); - // Signal: CmbbDeny_B_Actl - bool cmbb_deny = GET_BIT(to_send, 37U); - - bool violation = false; - violation |= longitudinal_accel_checks(accel, FORD_LONG_LIMITS); - violation |= longitudinal_gas_checks(gas, FORD_LONG_LIMITS); - violation |= longitudinal_gas_checks(gas_pred, FORD_LONG_LIMITS); - - // Safety check for stock AEB - violation |= cmbb_deny; // do not prevent stock AEB actuation - - if (violation) { - tx = false; - } - } - - // Safety check for Steering_Data_FD1 button signals - // Note: Many other signals in this message are not relevant to safety (e.g. blinkers, wiper switches, high beam) - // which we passthru in OP. - if (addr == FORD_Steering_Data_FD1) { - // Violation if resume button is pressed while controls not allowed, or - // if cancel button is pressed when cruise isn't engaged. - bool violation = false; - violation |= GET_BIT(to_send, 8U) && !cruise_engaged_prev; // Signal: CcAslButtnCnclPress (cancel) - violation |= GET_BIT(to_send, 25U) && !controls_allowed; // Signal: CcAsllButtnResPress (resume) - - if (violation) { - tx = false; - } - } - - // Safety check for Lane_Assist_Data1 action - if (addr == FORD_Lane_Assist_Data1) { - // Do not allow steering using Lane_Assist_Data1 (Lane-Departure Aid). - // This message must be sent for Lane Centering to work, and can include - // values such as the steering angle or lane curvature for debugging, - // but the action (LkaActvStats_D2_Req) must be set to zero. - unsigned int action = GET_BYTE(to_send, 0) >> 5; - if (action != 0U) { - tx = false; - } - } - - // Safety check for LateralMotionControl action - if (addr == FORD_LateralMotionControl) { - // Signal: LatCtl_D_Rq - bool steer_control_enabled = ((GET_BYTE(to_send, 4) >> 2) & 0x7U) != 0U; - unsigned int raw_curvature = (GET_BYTE(to_send, 0) << 3) | (GET_BYTE(to_send, 1) >> 5); - unsigned int raw_curvature_rate = ((GET_BYTE(to_send, 1) & 0x1FU) << 8) | GET_BYTE(to_send, 2); - unsigned int raw_path_angle = (GET_BYTE(to_send, 3) << 3) | (GET_BYTE(to_send, 4) >> 5); - unsigned int raw_path_offset = (GET_BYTE(to_send, 5) << 2) | (GET_BYTE(to_send, 6) >> 6); - - // These signals are not yet tested with the current safety limits - bool violation = (raw_curvature_rate != FORD_INACTIVE_CURVATURE_RATE) || (raw_path_angle != FORD_INACTIVE_PATH_ANGLE) || (raw_path_offset != FORD_INACTIVE_PATH_OFFSET); - - // Check angle error and steer_control_enabled - int desired_curvature = raw_curvature - FORD_INACTIVE_CURVATURE; // /FORD_STEERING_LIMITS.angle_deg_to_can to get real curvature - violation |= steer_angle_cmd_checks(desired_curvature, steer_control_enabled, FORD_STEERING_LIMITS); - - if (violation) { - tx = false; - } - } - - // Safety check for LateralMotionControl2 action - if (addr == FORD_LateralMotionControl2) { - // Signal: LatCtl_D2_Rq - bool steer_control_enabled = ((GET_BYTE(to_send, 0) >> 4) & 0x7U) != 0U; - unsigned int raw_curvature = (GET_BYTE(to_send, 2) << 3) | (GET_BYTE(to_send, 3) >> 5); - unsigned int raw_curvature_rate = (GET_BYTE(to_send, 6) << 3) | (GET_BYTE(to_send, 7) >> 5); - unsigned int raw_path_angle = ((GET_BYTE(to_send, 3) & 0x1FU) << 6) | (GET_BYTE(to_send, 4) >> 2); - unsigned int raw_path_offset = ((GET_BYTE(to_send, 4) & 0x3U) << 8) | GET_BYTE(to_send, 5); - - // These signals are not yet tested with the current safety limits - bool violation = (raw_curvature_rate != FORD_CANFD_INACTIVE_CURVATURE_RATE) || (raw_path_angle != FORD_INACTIVE_PATH_ANGLE) || (raw_path_offset != FORD_INACTIVE_PATH_OFFSET); - - // Check angle error and steer_control_enabled - int desired_curvature = raw_curvature - FORD_INACTIVE_CURVATURE; // /FORD_STEERING_LIMITS.angle_deg_to_can to get real curvature - violation |= steer_angle_cmd_checks(desired_curvature, steer_control_enabled, FORD_STEERING_LIMITS); - - if (violation) { - tx = false; - } - } - - return tx; -} - -static int ford_fwd_hook(int bus_num, int addr) { - int bus_fwd = -1; - - switch (bus_num) { - case FORD_MAIN_BUS: { - // Forward all traffic from bus 0 onward - bus_fwd = FORD_CAM_BUS; - break; - } - case FORD_CAM_BUS: { - if (ford_lkas_msg_check(addr)) { - // Block stock LKAS and UI messages - bus_fwd = -1; - } else if (ford_longitudinal && (addr == FORD_ACCDATA)) { - // Block stock ACC message - bus_fwd = -1; - } else { - // Forward remaining traffic - bus_fwd = FORD_MAIN_BUS; - } - break; - } - default: { - // No other buses should be in use; fallback to do-not-forward - bus_fwd = -1; - break; - } - } - - return bus_fwd; -} - -static safety_config ford_init(uint16_t param) { - UNUSED(param); -#ifdef ALLOW_DEBUG - ford_longitudinal = GET_FLAG(param, FORD_PARAM_LONGITUDINAL); - ford_canfd = GET_FLAG(param, FORD_PARAM_CANFD); -#endif - - safety_config ret; - if (ford_canfd) { - ret = ford_longitudinal ? BUILD_SAFETY_CFG(ford_rx_checks, FORD_CANFD_LONG_TX_MSGS) : \ - BUILD_SAFETY_CFG(ford_rx_checks, FORD_CANFD_STOCK_TX_MSGS); - } else { - ret = ford_longitudinal ? BUILD_SAFETY_CFG(ford_rx_checks, FORD_LONG_TX_MSGS) : \ - BUILD_SAFETY_CFG(ford_rx_checks, FORD_STOCK_TX_MSGS); - } - return ret; -} - -const safety_hooks ford_hooks = { - .init = ford_init, - .rx = ford_rx_hook, - .tx = ford_tx_hook, - .fwd = ford_fwd_hook, - .get_counter = ford_get_counter, - .get_checksum = ford_get_checksum, - .compute_checksum = ford_compute_checksum, - .get_quality_flag_valid = ford_get_quality_flag_valid, -}; diff --git a/panda/board/safety/safety_gm.h b/panda/board/safety/safety_gm.h deleted file mode 100644 index c7ae19b7def0c2..00000000000000 --- a/panda/board/safety/safety_gm.h +++ /dev/null @@ -1,358 +0,0 @@ -const SteeringLimits GM_STEERING_LIMITS = { - .max_steer = 300, - .max_rate_up = 10, - .max_rate_down = 15, - .driver_torque_allowance = 65, - .driver_torque_factor = 4, - .max_rt_delta = 128, - .max_rt_interval = 250000, - .type = TorqueDriverLimited, -}; - -const LongitudinalLimits GM_ASCM_LONG_LIMITS = { - .max_gas = 7168, - .min_gas = 5500, - .inactive_gas = 5500, - .max_brake = 400, -}; - -const LongitudinalLimits GM_ASCM_LONG_LIMITS_SPORT = { - .max_gas = 8191, - .min_gas = 5500, - .inactive_gas = 5500, - .max_brake = 400, -}; - -const LongitudinalLimits GM_CAM_LONG_LIMITS = { - .max_gas = 7496, - .min_gas = 5610, - .inactive_gas = 5650, - .max_brake = 400, -}; - -const LongitudinalLimits GM_CAM_LONG_LIMITS_SPORT = { - .max_gas = 8848, - .min_gas = 5610, - .inactive_gas = 5650, - .max_brake = 400, -}; - -const LongitudinalLimits *gm_long_limits; - -const int GM_STANDSTILL_THRSLD = 10; // 0.311kph - -// panda interceptor threshold needs to be equivalent to openpilot threshold to avoid controls mismatches -// If thresholds are mismatched then it is possible for panda to see the gas fall and rise while openpilot is in the pre-enabled state -const int GM_GAS_INTERCEPTOR_THRESHOLD = 515; // (675 + 355) / 2 ratio between offset and gain from dbc file -#define GM_GET_INTERCEPTOR(msg) (((GET_BYTE((msg), 0) << 8) + GET_BYTE((msg), 1) + (GET_BYTE((msg), 2) << 8) + GET_BYTE((msg), 3)) / 2U) // avg between 2 tracks - -const CanMsg GM_ASCM_TX_MSGS[] = {{0x180, 0, 4}, {0x409, 0, 7}, {0x40A, 0, 7}, {0x2CB, 0, 8}, {0x370, 0, 6}, {0x200, 0, 6}, // pt bus - {0xA1, 1, 7}, {0x306, 1, 8}, {0x308, 1, 7}, {0x310, 1, 2}, // obs bus - {0x315, 2, 5}}; // ch bus - -const CanMsg GM_CAM_TX_MSGS[] = {{0x180, 0, 4}, {0x200, 0, 6}, {0x1E1, 0, 7}, // pt bus - {0x1E1, 2, 7}, {0x184, 2, 8}}; // camera bus - -const CanMsg GM_CAM_LONG_TX_MSGS[] = {{0x180, 0, 4}, {0x315, 0, 5}, {0x2CB, 0, 8}, {0x370, 0, 6}, {0x200, 0, 6}, // pt bus - {0x1E1, 2, 7}, {0x184, 2, 8}}; // camera bus - -const CanMsg GM_SDGM_TX_MSGS[] = {{0x180, 0, 4}, {0x1E1, 0, 7}, // pt bus - {0x184, 2, 8}}; // camera bus - -const CanMsg GM_CC_LONG_TX_MSGS[] = {{0x180, 0, 4}, {0x1E1, 0, 7}, // pt bus - {0x184, 2, 8}, {0x1E1, 2, 7}}; // camera bus - -// TODO: do checksum and counter checks. Add correct timestep, 0.1s for now. -RxCheck gm_rx_checks[] = { - {.msg = {{0x184, 0, 8, .frequency = 10U}, { 0 }, { 0 }}}, - {.msg = {{0x34A, 0, 5, .frequency = 10U}, { 0 }, { 0 }}}, - {.msg = {{0x1E1, 0, 7, .frequency = 10U}, // Non-SDGM Car - {0x1E1, 2, 7, .frequency = 100000U}}}, // SDGM Car - {.msg = {{0xF1, 0, 6, .frequency = 10U}, // Non-SDGM Car - {0xF1, 2, 6, .frequency = 100000U}}}, // SDGM Car - {.msg = {{0x1C4, 0, 8, .frequency = 10U}, { 0 }, { 0 }}}, - {.msg = {{0xC9, 0, 8, .frequency = 10U}, { 0 }, { 0 }}}, -}; - -const uint16_t GM_PARAM_HW_CAM = 1; -const uint16_t GM_PARAM_HW_CAM_LONG = 2; -const uint16_t GM_PARAM_HW_SDGM = 4; -const uint16_t GM_PARAM_CC_LONG = 8; -const uint16_t GM_PARAM_HW_ASCM_LONG = 16; -const uint16_t GM_PARAM_NO_CAMERA = 32; -const uint16_t GM_PARAM_NO_ACC = 64; -const uint16_t GM_PARAM_PEDAL_LONG = 128; // TODO: this can be inferred -const uint16_t GM_PARAM_PEDAL_INTERCEPTOR = 256; - -enum { - GM_BTN_UNPRESS = 1, - GM_BTN_RESUME = 2, - GM_BTN_SET = 3, - GM_BTN_CANCEL = 6, -}; - -typedef enum { - GM_ASCM, - GM_CAM, - GM_SDGM -} GmHardware; -GmHardware gm_hw = GM_ASCM; -bool gm_cam_long = false; -bool gm_pcm_cruise = false; -bool gm_has_acc = true; -bool gm_pedal_long = false; -bool gm_cc_long = false; -bool gm_skip_relay_check = false; -bool gm_force_ascm = false; - -static void handle_gm_wheel_buttons(const CANPacket_t *to_push) { - int button = (GET_BYTE(to_push, 5) & 0x70U) >> 4; - - // enter controls on falling edge of set or rising edge of resume (avoids fault) - bool set = (button != GM_BTN_SET) && (cruise_button_prev == GM_BTN_SET); - bool res = (button == GM_BTN_RESUME) && (cruise_button_prev != GM_BTN_RESUME); - if (set || res) { - controls_allowed = true; - } - - // exit controls on cancel press - if (button == GM_BTN_CANCEL) { - controls_allowed = false; - } - - cruise_button_prev = button; -} - -static void gm_rx_hook(const CANPacket_t *to_push) { - if ((GET_BUS(to_push) == 2U) && (GET_ADDR(to_push) == 0x1E1) && (gm_hw == GM_SDGM)) { - // SDGM buttons are on bus 2 - handle_gm_wheel_buttons(to_push); - } - if (GET_BUS(to_push) == 0U) { - int addr = GET_ADDR(to_push); - - if (addr == 0x184) { - int torque_driver_new = ((GET_BYTE(to_push, 6) & 0x7U) << 8) | GET_BYTE(to_push, 7); - torque_driver_new = to_signed(torque_driver_new, 11); - // update array of samples - update_sample(&torque_driver, torque_driver_new); - } - - // sample rear wheel speeds - if (addr == 0x34A) { - int left_rear_speed = (GET_BYTE(to_push, 0) << 8) | GET_BYTE(to_push, 1); - int right_rear_speed = (GET_BYTE(to_push, 2) << 8) | GET_BYTE(to_push, 3); - vehicle_moving = (left_rear_speed > GM_STANDSTILL_THRSLD) || (right_rear_speed > GM_STANDSTILL_THRSLD); - } - - // ACC steering wheel buttons (GM_CAM and GM_SDGM are tied to the PCM) - if ((addr == 0x1E1) && (!gm_pcm_cruise || gm_cc_long) && (gm_hw != GM_SDGM)) { - handle_gm_wheel_buttons(to_push); - } - - // Reference for brake pressed signals: - // https://github.com/commaai/openpilot/blob/master/selfdrive/car/gm/carstate.py - if ((addr == 0xBE) && (gm_hw == GM_ASCM)) { - brake_pressed = GET_BYTE(to_push, 1) >= 8U; - } - - if ((addr == 0xC9) && ((gm_hw == GM_CAM) || (gm_hw == GM_SDGM))) { - brake_pressed = GET_BIT(to_push, 40U) != 0U; - } - - if (addr == 0xC9) { - acc_main_on = GET_BIT(to_push, 29U) != 0U; - } - - if (addr == 0x1C4) { - if (!enable_gas_interceptor) { - gas_pressed = GET_BYTE(to_push, 5) != 0U; - } - - // enter controls on rising edge of ACC, exit controls when ACC off - if (gm_pcm_cruise && gm_has_acc) { - bool cruise_engaged = (GET_BYTE(to_push, 1) >> 5) != 0U; - pcm_cruise_check(cruise_engaged); - } - } - - // Cruise check for CC only cars - if ((addr == 0x3D1) && !gm_has_acc) { - bool cruise_engaged = (GET_BYTE(to_push, 4) >> 7) != 0U; - if (gm_cc_long) { - pcm_cruise_check(cruise_engaged); - } else { - cruise_engaged_prev = cruise_engaged; - } - } - - if (addr == 0xBD) { - regen_braking = (GET_BYTE(to_push, 0) >> 4) != 0U; - } - - // Pedal Interceptor - if ((addr == 0x201) && enable_gas_interceptor) { - int gas_interceptor = GM_GET_INTERCEPTOR(to_push); - gas_pressed = gas_interceptor > GM_GAS_INTERCEPTOR_THRESHOLD; - gas_interceptor_prev = gas_interceptor; -// gm_pcm_cruise = false; - } - - bool stock_ecu_detected = (addr == 0x180); // ASCMLKASteeringCmd - - // Check ASCMGasRegenCmd only if we're blocking it - if (!gm_pcm_cruise && !gm_pedal_long && (addr == 0x2CB)) { - stock_ecu_detected = true; - } - generic_rx_checks(stock_ecu_detected); - } -} - -static bool gm_tx_hook(const CANPacket_t *to_send) { - bool tx = true; - int addr = GET_ADDR(to_send); - - // BRAKE: safety check - if (addr == 0x315) { - int brake = ((GET_BYTE(to_send, 0) & 0xFU) << 8) + GET_BYTE(to_send, 1); - brake = (0x1000 - brake) & 0xFFF; - if (longitudinal_brake_checks(brake, *gm_long_limits)) { - tx = false; - } - } - - // LKA STEER: safety check - if (addr == 0x180) { - int desired_torque = ((GET_BYTE(to_send, 0) & 0x7U) << 8) + GET_BYTE(to_send, 1); - desired_torque = to_signed(desired_torque, 11); - - bool steer_req = GET_BIT(to_send, 3U); - - if (steer_torque_cmd_checks(desired_torque, steer_req, GM_STEERING_LIMITS)) { - tx = false; - } - } - - // GAS: safety check (interceptor) - if (addr == 0x200) { - if (longitudinal_interceptor_checks(to_send)) { - tx = 0; - } - } - - // GAS/REGEN: safety check - if (addr == 0x2CB) { - bool apply = GET_BIT(to_send, 0U); - int gas_regen = ((GET_BYTE(to_send, 1) & 0x1U) << 13) + ((GET_BYTE(to_send, 2) & 0xFFU) << 5) + ((GET_BYTE(to_send, 3) & 0xF8U) >> 3); - - bool violation = false; - // Allow apply bit in pre-enabled and overriding states - violation |= !controls_allowed && apply; - violation |= longitudinal_gas_checks(gas_regen, *gm_long_limits); - - if (violation) { - tx = false; - } - } - - // BUTTONS: used for resume spamming and cruise cancellation with stock longitudinal - if ((addr == 0x1E1) && (gm_pcm_cruise || gm_pedal_long || gm_cc_long)) { - int button = (GET_BYTE(to_send, 5) >> 4) & 0x7U; - - bool allowed_btn = (button == GM_BTN_CANCEL) && cruise_engaged_prev; - // For standard CC, allow spamming of SET / RESUME - if (gm_cc_long) { - allowed_btn |= cruise_engaged_prev && (button == GM_BTN_SET || button == GM_BTN_RESUME || button == GM_BTN_UNPRESS); - } - - if (!allowed_btn) { - tx = false; - } - } - - return tx; -} - -static int gm_fwd_hook(int bus_num, int addr) { - int bus_fwd = -1; - - if ((gm_hw == GM_CAM) || (gm_hw == GM_SDGM)) { - if (bus_num == 0) { - // block PSCMStatus; forwarded through openpilot to hide an alert from the camera - bool is_pscm_msg = (addr == 0x184); - if (!is_pscm_msg) { - bus_fwd = 2; - } - } - - if (bus_num == 2) { - // block lkas message and acc messages if gm_cam_long, forward all others - bool is_lkas_msg = (addr == 0x180); - bool is_acc_msg = (addr == 0x315) || (addr == 0x2CB) || (addr == 0x370); - bool block_msg = is_lkas_msg || (is_acc_msg && gm_cam_long); - if (!block_msg) { - bus_fwd = 0; - } - } - } - - return bus_fwd; -} - -static safety_config gm_init(uint16_t param) { - sport_mode = alternative_experience & ALT_EXP_RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX; - - if GET_FLAG(param, GM_PARAM_HW_CAM) { - gm_hw = GM_CAM; - } else if GET_FLAG(param, GM_PARAM_HW_SDGM) { - gm_hw = GM_SDGM; - } else { - gm_hw = GM_ASCM; - } - - gm_force_ascm = GET_FLAG(param, GM_PARAM_HW_ASCM_LONG); - - if (gm_hw == GM_ASCM || gm_force_ascm) { - if (sport_mode) { - gm_long_limits = &GM_ASCM_LONG_LIMITS_SPORT; - } else { - gm_long_limits = &GM_ASCM_LONG_LIMITS; - } - } else if ((gm_hw == GM_CAM) || (gm_hw == GM_SDGM)) { - if (sport_mode) { - gm_long_limits = &GM_CAM_LONG_LIMITS_SPORT; - } else { - gm_long_limits = &GM_CAM_LONG_LIMITS; - } - } else { - } - - gm_pedal_long = GET_FLAG(param, GM_PARAM_PEDAL_LONG); - gm_cc_long = GET_FLAG(param, GM_PARAM_CC_LONG); - gm_cam_long = GET_FLAG(param, GM_PARAM_HW_CAM_LONG) && !gm_cc_long; - gm_pcm_cruise = ((gm_hw == GM_CAM) && (!gm_cam_long || gm_cc_long) && !gm_force_ascm && !gm_pedal_long) || (gm_hw == GM_SDGM); - gm_skip_relay_check = GET_FLAG(param, GM_PARAM_NO_CAMERA); - gm_has_acc = !GET_FLAG(param, GM_PARAM_NO_ACC); - enable_gas_interceptor = GET_FLAG(param, GM_PARAM_PEDAL_INTERCEPTOR); - - safety_config ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_ASCM_TX_MSGS); - if (gm_hw == GM_CAM) { - if (gm_cc_long) { - ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_CC_LONG_TX_MSGS); - } else if (gm_cam_long) { - ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_CAM_LONG_TX_MSGS); - } else { - ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_CAM_TX_MSGS); - } - } else if (gm_hw == GM_SDGM) { - ret = BUILD_SAFETY_CFG(gm_rx_checks, GM_SDGM_TX_MSGS); - } - return ret; -} - -const safety_hooks gm_hooks = { - .init = gm_init, - .rx = gm_rx_hook, - .tx = gm_tx_hook, - .fwd = gm_fwd_hook, -}; diff --git a/panda/board/safety/safety_honda.h b/panda/board/safety/safety_honda.h deleted file mode 100644 index a0b3cece96945e..00000000000000 --- a/panda/board/safety/safety_honda.h +++ /dev/null @@ -1,528 +0,0 @@ -const CanMsg HONDA_N_TX_MSGS[] = {{0xE4, 0, 5}, {0x194, 0, 4}, {0x1FA, 0, 8}, {0x30C, 0, 8}, {0x33D, 0, 5}}; -const CanMsg HONDA_N_INTERCEPTOR_TX_MSGS[] = {{0xE4, 0, 5}, {0x194, 0, 4}, {0x1FA, 0, 8}, {0x200, 0, 6}, {0x30C, 0, 8}, {0x33D, 0, 5}}; -const CanMsg HONDA_BOSCH_TX_MSGS[] = {{0xE4, 0, 5}, {0xE5, 0, 8}, {0x296, 1, 4}, {0x33D, 0, 5}, {0x33DA, 0, 5}, {0x33DB, 0, 8}}; // Bosch -const CanMsg HONDA_BOSCH_LONG_TX_MSGS[] = {{0xE4, 1, 5}, {0x1DF, 1, 8}, {0x1EF, 1, 8}, {0x1FA, 1, 8}, {0x30C, 1, 8}, {0x33D, 1, 5}, {0x33DA, 1, 5}, {0x33DB, 1, 8}, {0x39F, 1, 8}, {0x18DAB0F1, 1, 8}}; // Bosch w/ gas and brakes -const CanMsg HONDA_RADARLESS_TX_MSGS[] = {{0xE4, 0, 5}, {0x296, 2, 4}, {0x33D, 0, 8}}; // Bosch radarless -const CanMsg HONDA_RADARLESS_LONG_TX_MSGS[] = {{0xE4, 0, 5}, {0x33D, 0, 8}, {0x1C8, 0, 8}, {0x30C, 0, 8}}; // Bosch radarless w/ gas and brakes - -// panda interceptor threshold needs to be equivalent to openpilot threshold to avoid controls mismatches -// If thresholds are mismatched then it is possible for panda to see the gas fall and rise while openpilot is in the pre-enabled state -// Threshold calculated from DBC gains: round(((83.3 / 0.253984064) + (83.3 / 0.126992032)) / 2) = 492 -const int HONDA_GAS_INTERCEPTOR_THRESHOLD = 492; -#define HONDA_GET_INTERCEPTOR(msg) (((GET_BYTE((msg), 0) << 8) + GET_BYTE((msg), 1) + (GET_BYTE((msg), 2) << 8) + GET_BYTE((msg), 3)) / 2U) // avg between 2 tracks - -const LongitudinalLimits HONDA_BOSCH_LONG_LIMITS = { - .max_accel = 200, // accel is used for brakes - .min_accel = -350, - - .max_gas = 2000, - .inactive_gas = -30000, -}; - -const LongitudinalLimits HONDA_BOSCH_LONG_LIMITS_SPORT = { - .max_accel = 400, // accel is used for brakes - .min_accel = -350, - - .max_gas = 2000, - .inactive_gas = -30000, -}; - -const LongitudinalLimits HONDA_NIDEC_LONG_LIMITS = { - .max_gas = 198, // 0xc6 - .max_brake = 255, - - .inactive_speed = 0, -}; - -// All common address checks except SCM_BUTTONS which isn't on one Nidec safety configuration -#define HONDA_COMMON_NO_SCM_FEEDBACK_RX_CHECKS(pt_bus) \ - {.msg = {{0x1A6, (pt_bus), 8, .check_checksum = true, .max_counter = 3U, .frequency = 25U}, /* SCM_BUTTONS */ \ - {0x296, (pt_bus), 4, .check_checksum = true, .max_counter = 3U, .frequency = 25U}, { 0 }}}, \ - {.msg = {{0x158, (pt_bus), 8, .check_checksum = true, .max_counter = 3U, .frequency = 100U}, { 0 }, { 0 }}}, /* ENGINE_DATA */ \ - {.msg = {{0x17C, (pt_bus), 8, .check_checksum = true, .max_counter = 3U, .frequency = 100U}, { 0 }, { 0 }}}, /* POWERTRAIN_DATA */ \ - -#define HONDA_COMMON_RX_CHECKS(pt_bus) \ - HONDA_COMMON_NO_SCM_FEEDBACK_RX_CHECKS(pt_bus) \ - {.msg = {{0x326, (pt_bus), 8, .check_checksum = true, .max_counter = 3U, .frequency = 10U}, { 0 }, { 0 }}}, /* SCM_FEEDBACK */ \ - -// Alternate brake message is used on some Honda Bosch, and Honda Bosch radarless (where PT bus is 0) -#define HONDA_ALT_BRAKE_ADDR_CHECK(pt_bus) \ - {.msg = {{0x1BE, (pt_bus), 3, .check_checksum = true, .max_counter = 3U, .frequency = 50U}, { 0 }, { 0 }}}, /* BRAKE_MODULE */ \ - - -// Nidec and bosch radarless has the powertrain bus on bus 0 -RxCheck honda_common_rx_checks[] = { - HONDA_COMMON_RX_CHECKS(0) -}; - -RxCheck honda_common_interceptor_rx_checks[] = { - HONDA_COMMON_RX_CHECKS(0) - {.msg = {{0x201, 0, 6, .check_checksum = false, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}}, -}; - -RxCheck honda_common_alt_brake_rx_checks[] = { - HONDA_COMMON_RX_CHECKS(0) - HONDA_ALT_BRAKE_ADDR_CHECK(0) -}; - -// For Nidecs with main on signal on an alternate msg (missing 0x326) -RxCheck honda_nidec_alt_rx_checks[] = { - HONDA_COMMON_NO_SCM_FEEDBACK_RX_CHECKS(0) -}; - -RxCheck honda_nidec_alt_interceptor_rx_checks[] = { - HONDA_COMMON_NO_SCM_FEEDBACK_RX_CHECKS(0) - {.msg = {{0x201, 0, 6, .check_checksum = false, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}}, -}; - -// Bosch has pt on bus 1, verified 0x1A6 does not exist -RxCheck honda_bosch_rx_checks[] = { - HONDA_COMMON_RX_CHECKS(1) -}; - -RxCheck honda_bosch_alt_brake_rx_checks[] = { - HONDA_COMMON_RX_CHECKS(1) - HONDA_ALT_BRAKE_ADDR_CHECK(1) -}; - -const uint16_t HONDA_PARAM_ALT_BRAKE = 1; -const uint16_t HONDA_PARAM_BOSCH_LONG = 2; -const uint16_t HONDA_PARAM_NIDEC_ALT = 4; -const uint16_t HONDA_PARAM_RADARLESS = 8; -const uint16_t HONDA_PARAM_GAS_INTERCEPTOR = 16; -const uint16_t HONDA_PARAM_CLARITY = 32; - -enum { - HONDA_BTN_NONE = 0, - HONDA_BTN_MAIN = 1, - HONDA_BTN_CANCEL = 2, - HONDA_BTN_SET = 3, - HONDA_BTN_RESUME = 4, -}; - -int honda_brake = 0; -bool honda_brake_switch_prev = false; -bool honda_alt_brake_msg = false; -bool honda_fwd_brake = false; -bool honda_bosch_long = false; -bool honda_bosch_radarless = false; -bool honda_clarity_brake_msg = false; -typedef enum {HONDA_NIDEC, HONDA_BOSCH} HondaHw; -HondaHw honda_hw = HONDA_NIDEC; - - -int honda_get_pt_bus(void) { - return ((honda_hw == HONDA_BOSCH) && !honda_bosch_radarless) ? 1 : 0; -} - -static uint32_t honda_get_checksum(const CANPacket_t *to_push) { - int checksum_byte = GET_LEN(to_push) - 1U; - return (uint8_t)(GET_BYTE(to_push, checksum_byte)) & 0xFU; -} - -static uint32_t honda_compute_checksum(const CANPacket_t *to_push) { - int len = GET_LEN(to_push); - uint8_t checksum = 0U; - unsigned int addr = GET_ADDR(to_push); - while (addr > 0U) { - checksum += (uint8_t)(addr & 0xFU); addr >>= 4; - } - for (int j = 0; j < len; j++) { - uint8_t byte = GET_BYTE(to_push, j); - checksum += (uint8_t)(byte & 0xFU) + (byte >> 4U); - if (j == (len - 1)) { - checksum -= (byte & 0xFU); // remove checksum in message - } - } - return (uint8_t)((8U - checksum) & 0xFU); -} - -static uint8_t honda_get_counter(const CANPacket_t *to_push) { - int addr = GET_ADDR(to_push); - - uint8_t cnt = 0U; - if (addr == 0x201) { - // Signal: COUNTER_PEDAL - cnt = GET_BYTE(to_push, 4) & 0x0FU; - } else { - int counter_byte = GET_LEN(to_push) - 1U; - cnt = (GET_BYTE(to_push, counter_byte) >> 4U) & 0x3U; - } - return cnt; -} - -static void honda_rx_hook(const CANPacket_t *to_push) { - const bool pcm_cruise = ((honda_hw == HONDA_BOSCH) && !honda_bosch_long) || \ - ((honda_hw == HONDA_NIDEC) && !enable_gas_interceptor); - int pt_bus = honda_get_pt_bus(); - - int addr = GET_ADDR(to_push); - int len = GET_LEN(to_push); - int bus = GET_BUS(to_push); - - // sample speed - if (addr == 0x158) { - // first 2 bytes - vehicle_moving = GET_BYTE(to_push, 0) | GET_BYTE(to_push, 1); - } - - // check ACC main state - // 0x326 for all Bosch and some Nidec, 0x1A6 for some Nidec - if ((addr == 0x326) || (addr == 0x1A6)) { - acc_main_on = GET_BIT(to_push, ((addr == 0x326) ? 28U : 47U)); - if (!acc_main_on) { - controls_allowed = false; - } - } - - // enter controls when PCM enters cruise state - if (pcm_cruise && (addr == 0x17C)) { - const bool cruise_engaged = GET_BIT(to_push, 38U); - // engage on rising edge - if (cruise_engaged && !cruise_engaged_prev) { - controls_allowed = true; - } - - // Since some Nidec cars can brake down to 0 after the PCM disengages, - // we don't disengage when the PCM does. - if (!cruise_engaged && (honda_hw != HONDA_NIDEC)) { - controls_allowed = false; - } - cruise_engaged_prev = cruise_engaged; - } - - // state machine to enter and exit controls for button enabling - // 0x1A6 for the ILX, 0x296 for the Civic Touring - if (((addr == 0x1A6) || (addr == 0x296)) && (bus == pt_bus)) { - int button = (GET_BYTE(to_push, 0) & 0xE0U) >> 5; - - // enter controls on the falling edge of set or resume - bool set = (button != HONDA_BTN_SET) && (cruise_button_prev == HONDA_BTN_SET); - bool res = (button != HONDA_BTN_RESUME) && (cruise_button_prev == HONDA_BTN_RESUME); - if (acc_main_on && !pcm_cruise && (set || res)) { - controls_allowed = true; - } - - // exit controls once main or cancel are pressed - if ((button == HONDA_BTN_MAIN) || (button == HONDA_BTN_CANCEL)) { - controls_allowed = false; - } - cruise_button_prev = button; - } - - // user brake signal on 0x17C reports applied brake from computer brake on accord - // and crv, which prevents the usual brake safety from working correctly. these - // cars have a signal on 0x1BE which only detects user's brake being applied so - // in these cases, this is used instead. - // most hondas: 0x17C - // accord, crv: 0x1BE - if (honda_alt_brake_msg) { - if (addr == 0x1BE) { - brake_pressed = GET_BIT(to_push, 4U); - } - } else { - if (addr == 0x17C) { - // also if brake switch is 1 for two CAN frames, as brake pressed is delayed - const bool brake_switch = GET_BIT(to_push, 32U); - brake_pressed = (GET_BIT(to_push, 53U)) || (brake_switch && honda_brake_switch_prev); - honda_brake_switch_prev = brake_switch; - } - } - - // length check because bosch hardware also uses this id (0x201 w/ len = 8) - if ((addr == 0x201) && (len == 6) && enable_gas_interceptor) { - int gas_interceptor = HONDA_GET_INTERCEPTOR(to_push); - gas_pressed = gas_interceptor > HONDA_GAS_INTERCEPTOR_THRESHOLD; - gas_interceptor_prev = gas_interceptor; - } - - if (!enable_gas_interceptor) { - if (addr == 0x17C) { - gas_pressed = GET_BYTE(to_push, 0) != 0U; - } - } - - // disable stock Honda AEB in alternative experience - if (!(alternative_experience & ALT_EXP_DISABLE_STOCK_AEB)) { - if ((bus == 2) && (addr == 0x1FA)) { - bool honda_stock_aeb = GET_BIT(to_push, 29U); - int honda_stock_brake = (GET_BYTE(to_push, 0) << 2) | (GET_BYTE(to_push, 1) >> 6); - - if (honda_clarity_brake_msg) { - honda_stock_brake = (GET_BYTE(to_push, 6) << 2) + ((GET_BYTE(to_push, 7) >> 6) & 0x3U); - } - // Forward AEB when stock braking is higher than openpilot braking - // only stop forwarding when AEB event is over - if (!honda_stock_aeb) { - honda_fwd_brake = false; - } else if (honda_stock_brake >= honda_brake) { - honda_fwd_brake = true; - } else { - // Leave Honda forward brake as is - } - } - } - - int bus_rdr_car = (honda_hw == HONDA_BOSCH) ? 0 : 2; // radar bus, car side - bool stock_ecu_detected = false; - - // If steering controls messages are received on the destination bus, it's an indication - // that the relay might be malfunctioning - if ((addr == 0xE4) || (addr == 0x194)) { - if (((honda_hw != HONDA_NIDEC) && (bus == bus_rdr_car)) || ((honda_hw == HONDA_NIDEC) && (bus == 0))) { - stock_ecu_detected = true; - } - } - // If Honda Bosch longitudinal mode is selected we need to ensure the radar is turned off - // Verify this by ensuring ACC_CONTROL (0x1DF) is not received on the PT bus - if (honda_bosch_long && !honda_bosch_radarless && (bus == pt_bus) && (addr == 0x1DF)) { - stock_ecu_detected = true; - } - - generic_rx_checks(stock_ecu_detected); - -} - -static bool honda_tx_hook(const CANPacket_t *to_send) { - sport_mode = alternative_experience & ALT_EXP_RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX; - - bool tx = true; - int addr = GET_ADDR(to_send); - int bus = GET_BUS(to_send); - - int bus_pt = honda_get_pt_bus(); - int bus_buttons = (honda_bosch_radarless) ? 2 : bus_pt; // the camera controls ACC on radarless Bosch cars - - // ACC_HUD: safety check (nidec w/o pedal) - if ((addr == 0x30C) && (bus == bus_pt)) { - int pcm_speed = (GET_BYTE(to_send, 0) << 8) | GET_BYTE(to_send, 1); - int pcm_gas = GET_BYTE(to_send, 2); - - bool violation = false; - violation |= longitudinal_speed_checks(pcm_speed, HONDA_NIDEC_LONG_LIMITS); - violation |= longitudinal_gas_checks(pcm_gas, HONDA_NIDEC_LONG_LIMITS); - if (violation) { - tx = false; - } - } - - // BRAKE: safety check (nidec) - if ((addr == 0x1FA) && (bus == bus_pt)) { - honda_brake = (GET_BYTE(to_send, 0) << 2) + ((GET_BYTE(to_send, 1) >> 6) & 0x3U); - if (honda_clarity_brake_msg) { - honda_brake = (GET_BYTE(to_send, 6) << 2) + ((GET_BYTE(to_send, 7) >> 6) & 0x3U); - } - if (longitudinal_brake_checks(honda_brake, HONDA_NIDEC_LONG_LIMITS)) { - tx = false; - } - if (honda_fwd_brake) { - tx = false; - } - } - - // BRAKE/GAS: safety check (bosch) - if ((addr == 0x1DF) && (bus == bus_pt)) { - int accel = (GET_BYTE(to_send, 3) << 3) | ((GET_BYTE(to_send, 4) >> 5) & 0x7U); - accel = to_signed(accel, 11); - - int gas = (GET_BYTE(to_send, 0) << 8) | GET_BYTE(to_send, 1); - gas = to_signed(gas, 16); - - bool violation = false; - if (sport_mode) { - violation |= longitudinal_accel_checks(accel, HONDA_BOSCH_LONG_LIMITS_SPORT); - violation |= longitudinal_gas_checks(gas, HONDA_BOSCH_LONG_LIMITS_SPORT); - } else { - violation |= longitudinal_accel_checks(accel, HONDA_BOSCH_LONG_LIMITS); - violation |= longitudinal_gas_checks(gas, HONDA_BOSCH_LONG_LIMITS); - } - if (violation) { - tx = false; - } - } - - // ACCEL: safety check (radarless) - if ((addr == 0x1C8) && (bus == bus_pt)) { - int accel = (GET_BYTE(to_send, 0) << 4) | (GET_BYTE(to_send, 1) >> 4); - accel = to_signed(accel, 12); - - bool violation = false; - if (sport_mode) { - violation |= longitudinal_accel_checks(accel, HONDA_BOSCH_LONG_LIMITS_SPORT); - } else { - violation |= longitudinal_accel_checks(accel, HONDA_BOSCH_LONG_LIMITS); - } - if (violation) { - tx = false; - } - } - - // STEER: safety check - if ((addr == 0xE4) || (addr == 0x194)) { - bool aol_allowed = acc_main_on && (alternative_experience & ALT_EXP_ALWAYS_ON_LATERAL); - if (!(controls_allowed || aol_allowed)) { - bool steer_applied = GET_BYTE(to_send, 0) | GET_BYTE(to_send, 1); - if (steer_applied) { - tx = false; - } - } - } - - // Bosch supplemental control check - if (addr == 0xE5) { - if ((GET_BYTES(to_send, 0, 4) != 0x10800004U) || ((GET_BYTES(to_send, 4, 4) & 0x00FFFFFFU) != 0x0U)) { - tx = false; - } - } - - // GAS: safety check (interceptor) - if (addr == 0x200) { - if (longitudinal_interceptor_checks(to_send)) { - tx = false; - } - } - - // FORCE CANCEL: safety check only relevant when spamming the cancel button in Bosch HW - // ensuring that only the cancel button press is sent (VAL 2) when controls are off. - // This avoids unintended engagements while still allowing resume spam - if ((addr == 0x296) && !controls_allowed && (bus == bus_buttons)) { - if (((GET_BYTE(to_send, 0) >> 5) & 0x7U) != 2U) { - tx = false; - } - } - - // Only tester present ("\x02\x3E\x80\x00\x00\x00\x00\x00") allowed on diagnostics address - if (addr == 0x18DAB0F1) { - if ((GET_BYTES(to_send, 0, 4) != 0x00803E02U) || (GET_BYTES(to_send, 4, 4) != 0x0U)) { - tx = false; - } - } - - return tx; -} - -static safety_config honda_nidec_init(uint16_t param) { - honda_hw = HONDA_NIDEC; - honda_brake = 0; - honda_brake_switch_prev = false; - honda_fwd_brake = false; - honda_alt_brake_msg = false; - honda_bosch_long = false; - honda_bosch_radarless = false; - enable_gas_interceptor = GET_FLAG(param, HONDA_PARAM_GAS_INTERCEPTOR); - honda_clarity_brake_msg = GET_FLAG(param, HONDA_PARAM_CLARITY); - - safety_config ret; - - bool enable_nidec_alt = GET_FLAG(param, HONDA_PARAM_NIDEC_ALT); - - if (enable_nidec_alt) { - enable_gas_interceptor ? SET_RX_CHECKS(honda_nidec_alt_interceptor_rx_checks, ret) : \ - SET_RX_CHECKS(honda_nidec_alt_rx_checks, ret); - } else { - enable_gas_interceptor ? SET_RX_CHECKS(honda_common_interceptor_rx_checks, ret) : \ - SET_RX_CHECKS(honda_common_rx_checks, ret); - } - - if (enable_gas_interceptor) { - SET_TX_MSGS(HONDA_N_INTERCEPTOR_TX_MSGS, ret); - } else { - SET_TX_MSGS(HONDA_N_TX_MSGS, ret); - } - return ret; -} - -static safety_config honda_bosch_init(uint16_t param) { - honda_hw = HONDA_BOSCH; - honda_brake_switch_prev = false; - honda_bosch_radarless = GET_FLAG(param, HONDA_PARAM_RADARLESS); - // Checking for alternate brake override from safety parameter - honda_alt_brake_msg = GET_FLAG(param, HONDA_PARAM_ALT_BRAKE); - - // radar disabled so allow gas/brakes -#ifdef ALLOW_DEBUG - honda_bosch_long = GET_FLAG(param, HONDA_PARAM_BOSCH_LONG); -#endif - - safety_config ret; - if (honda_bosch_radarless && honda_alt_brake_msg) { - SET_RX_CHECKS(honda_common_alt_brake_rx_checks, ret); - } else if (honda_bosch_radarless) { - SET_RX_CHECKS(honda_common_rx_checks, ret); - } else if (honda_alt_brake_msg) { - SET_RX_CHECKS(honda_bosch_alt_brake_rx_checks, ret); - } else { - SET_RX_CHECKS(honda_bosch_rx_checks, ret); - } - - if (honda_bosch_radarless) { - honda_bosch_long ? SET_TX_MSGS(HONDA_RADARLESS_LONG_TX_MSGS, ret) : \ - SET_TX_MSGS(HONDA_RADARLESS_TX_MSGS, ret); - } else { - honda_bosch_long ? SET_TX_MSGS(HONDA_BOSCH_LONG_TX_MSGS, ret) : \ - SET_TX_MSGS(HONDA_BOSCH_TX_MSGS, ret); - } - return ret; -} - -static int honda_nidec_fwd_hook(int bus_num, int addr) { - // fwd from car to camera. also fwd certain msgs from camera to car - // 0xE4 is steering on all cars except CRV and RDX, 0x194 for CRV and RDX, - // 0x1FA is brake control, 0x30C is acc hud, 0x33D is lkas hud - int bus_fwd = -1; - - if (bus_num == 0) { - bus_fwd = 2; - } - - if (bus_num == 2) { - // block stock lkas messages and stock acc messages (if OP is doing ACC) - bool is_lkas_msg = (addr == 0xE4) || (addr == 0x194) || (addr == 0x33D); - bool is_acc_hud_msg = addr == 0x30C; - bool is_brake_msg = addr == 0x1FA; - bool block_fwd = is_lkas_msg || is_acc_hud_msg || (is_brake_msg && !honda_fwd_brake); - if (!block_fwd) { - bus_fwd = 0; - } - } - - return bus_fwd; -} - -static int honda_bosch_fwd_hook(int bus_num, int addr) { - int bus_fwd = -1; - - if (bus_num == 0) { - bus_fwd = 2; - } - if (bus_num == 2) { - bool is_lkas_msg = (addr == 0xE4) || (addr == 0xE5) || (addr == 0x33D) || (addr == 0x33DA) || (addr == 0x33DB); - bool is_acc_msg = ((addr == 0x1C8) || (addr == 0x30C)) && honda_bosch_radarless && honda_bosch_long; - bool block_msg = is_lkas_msg || is_acc_msg; - if (!block_msg) { - bus_fwd = 0; - } - } - - return bus_fwd; -} - -const safety_hooks honda_nidec_hooks = { - .init = honda_nidec_init, - .rx = honda_rx_hook, - .tx = honda_tx_hook, - .fwd = honda_nidec_fwd_hook, - .get_counter = honda_get_counter, - .get_checksum = honda_get_checksum, - .compute_checksum = honda_compute_checksum, -}; - -const safety_hooks honda_bosch_hooks = { - .init = honda_bosch_init, - .rx = honda_rx_hook, - .tx = honda_tx_hook, - .fwd = honda_bosch_fwd_hook, - .get_counter = honda_get_counter, - .get_checksum = honda_get_checksum, - .compute_checksum = honda_compute_checksum, -}; diff --git a/panda/board/safety/safety_hyundai.h b/panda/board/safety/safety_hyundai.h deleted file mode 100644 index a849a87e1dc87d..00000000000000 --- a/panda/board/safety/safety_hyundai.h +++ /dev/null @@ -1,356 +0,0 @@ -#include "safety_hyundai_common.h" - -#define HYUNDAI_LIMITS(steer, rate_up, rate_down) { \ - .max_steer = (steer), \ - .max_rate_up = (rate_up), \ - .max_rate_down = (rate_down), \ - .max_rt_delta = 112, \ - .max_rt_interval = 250000, \ - .driver_torque_allowance = 50, \ - .driver_torque_factor = 2, \ - .type = TorqueDriverLimited, \ - /* the EPS faults when the steering angle is above a certain threshold for too long. to prevent this, */ \ - /* we allow setting CF_Lkas_ActToi bit to 0 while maintaining the requested torque value for two consecutive frames */ \ - .min_valid_request_frames = 89, \ - .max_invalid_request_frames = 2, \ - .min_valid_request_rt_interval = 810000, /* 810ms; a ~10% buffer on cutting every 90 frames */ \ - .has_steer_req_tolerance = true, \ -} - -const SteeringLimits HYUNDAI_STEERING_LIMITS = HYUNDAI_LIMITS(384, 3, 7); -const SteeringLimits HYUNDAI_STEERING_LIMITS_ALT = HYUNDAI_LIMITS(270, 2, 3); - -const LongitudinalLimits HYUNDAI_LONG_LIMITS = { - .max_accel = 200, // 1/100 m/s2 - .min_accel = -350, // 1/100 m/s2 -}; - -const LongitudinalLimits HYUNDAI_LONG_LIMITS_SPORT = { - .max_accel = 400, // 1/100 m/s2 - .min_accel = -350, // 1/100 m/s2 -}; - -const CanMsg HYUNDAI_TX_MSGS[] = { - {0x340, 0, 8}, // LKAS11 Bus 0 - {0x4F1, 0, 4}, // CLU11 Bus 0 - {0x485, 0, 4}, // LFAHDA_MFC Bus 0 -}; - -const CanMsg HYUNDAI_LONG_TX_MSGS[] = { - {0x340, 0, 8}, // LKAS11 Bus 0 - {0x4F1, 0, 4}, // CLU11 Bus 0 - {0x485, 0, 4}, // LFAHDA_MFC Bus 0 - {0x420, 0, 8}, // SCC11 Bus 0 - {0x421, 0, 8}, // SCC12 Bus 0 - {0x50A, 0, 8}, // SCC13 Bus 0 - {0x389, 0, 8}, // SCC14 Bus 0 - {0x4A2, 0, 2}, // FRT_RADAR11 Bus 0 - {0x38D, 0, 8}, // FCA11 Bus 0 - {0x483, 0, 8}, // FCA12 Bus 0 - {0x7D0, 0, 8}, // radar UDS TX addr Bus 0 (for radar disable) -}; - -const CanMsg HYUNDAI_CAMERA_SCC_TX_MSGS[] = { - {0x340, 0, 8}, // LKAS11 Bus 0 - {0x4F1, 2, 4}, // CLU11 Bus 2 - {0x485, 0, 4}, // LFAHDA_MFC Bus 0 -}; - -#define HYUNDAI_COMMON_RX_CHECKS(legacy) \ - {.msg = {{0x260, 0, 8, .check_checksum = true, .max_counter = 3U, .frequency = 100U}, \ - {0x371, 0, 8, .frequency = 100U}, { 0 }}}, \ - {.msg = {{0x386, 0, 8, .check_checksum = !(legacy), .max_counter = (legacy) ? 0U : 15U, .frequency = 100U}, { 0 }, { 0 }}}, \ - {.msg = {{0x394, 0, 8, .check_checksum = !(legacy), .max_counter = (legacy) ? 0U : 7U, .frequency = 100U}, { 0 }, { 0 }}}, \ - -#define HYUNDAI_SCC12_ADDR_CHECK(scc_bus) \ - {.msg = {{0x421, (scc_bus), 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}}, \ - -RxCheck hyundai_rx_checks[] = { - HYUNDAI_COMMON_RX_CHECKS(false) - HYUNDAI_SCC12_ADDR_CHECK(0) -}; - -RxCheck hyundai_cam_scc_rx_checks[] = { - HYUNDAI_COMMON_RX_CHECKS(false) - HYUNDAI_SCC12_ADDR_CHECK(2) -}; - -RxCheck hyundai_long_rx_checks[] = { - HYUNDAI_COMMON_RX_CHECKS(false) - // Use CLU11 (buttons) to manage controls allowed instead of SCC cruise state - {.msg = {{0x4F1, 0, 4, .check_checksum = false, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}}, -}; - -// older hyundai models have less checks due to missing counters and checksums -RxCheck hyundai_legacy_rx_checks[] = { - HYUNDAI_COMMON_RX_CHECKS(true) - HYUNDAI_SCC12_ADDR_CHECK(0) -}; - -bool hyundai_legacy = false; - - -static uint8_t hyundai_get_counter(const CANPacket_t *to_push) { - int addr = GET_ADDR(to_push); - - uint8_t cnt = 0; - if (addr == 0x260) { - cnt = (GET_BYTE(to_push, 7) >> 4) & 0x3U; - } else if (addr == 0x386) { - cnt = ((GET_BYTE(to_push, 3) >> 6) << 2) | (GET_BYTE(to_push, 1) >> 6); - } else if (addr == 0x394) { - cnt = (GET_BYTE(to_push, 1) >> 5) & 0x7U; - } else if (addr == 0x421) { - cnt = GET_BYTE(to_push, 7) & 0xFU; - } else if (addr == 0x4F1) { - cnt = (GET_BYTE(to_push, 3) >> 4) & 0xFU; - } else { - } - return cnt; -} - -static uint32_t hyundai_get_checksum(const CANPacket_t *to_push) { - int addr = GET_ADDR(to_push); - - uint8_t chksum = 0; - if (addr == 0x260) { - chksum = GET_BYTE(to_push, 7) & 0xFU; - } else if (addr == 0x386) { - chksum = ((GET_BYTE(to_push, 7) >> 6) << 2) | (GET_BYTE(to_push, 5) >> 6); - } else if (addr == 0x394) { - chksum = GET_BYTE(to_push, 6) & 0xFU; - } else if (addr == 0x421) { - chksum = GET_BYTE(to_push, 7) >> 4; - } else { - } - return chksum; -} - -static uint32_t hyundai_compute_checksum(const CANPacket_t *to_push) { - int addr = GET_ADDR(to_push); - - uint8_t chksum = 0; - if (addr == 0x386) { - // count the bits - for (int i = 0; i < 8; i++) { - uint8_t b = GET_BYTE(to_push, i); - for (int j = 0; j < 8; j++) { - uint8_t bit = 0; - // exclude checksum and counter - if (((i != 1) || (j < 6)) && ((i != 3) || (j < 6)) && ((i != 5) || (j < 6)) && ((i != 7) || (j < 6))) { - bit = (b >> (uint8_t)j) & 1U; - } - chksum += bit; - } - } - chksum = (chksum ^ 9U) & 15U; - } else { - // sum of nibbles - for (int i = 0; i < 8; i++) { - if ((addr == 0x394) && (i == 7)) { - continue; // exclude - } - uint8_t b = GET_BYTE(to_push, i); - if (((addr == 0x260) && (i == 7)) || ((addr == 0x394) && (i == 6)) || ((addr == 0x421) && (i == 7))) { - b &= (addr == 0x421) ? 0x0FU : 0xF0U; // remove checksum - } - chksum += (b % 16U) + (b / 16U); - } - chksum = (16U - (chksum % 16U)) % 16U; - } - - return chksum; -} - -static void hyundai_rx_hook(const CANPacket_t *to_push) { - int bus = GET_BUS(to_push); - int addr = GET_ADDR(to_push); - - // SCC12 is on bus 2 for camera-based SCC cars, bus 0 on all others - if ((addr == 0x421) && (((bus == 0) && !hyundai_camera_scc) || ((bus == 2) && hyundai_camera_scc))) { - // 2 bits: 13-14 - int cruise_engaged = (GET_BYTES(to_push, 0, 4) >> 13) & 0x3U; - hyundai_common_cruise_state_check(cruise_engaged); - } - - if (bus == 0) { - if (addr == 0x251) { - int torque_driver_new = (GET_BYTES(to_push, 0, 2) & 0x7ffU) - 1024U; - // update array of samples - update_sample(&torque_driver, torque_driver_new); - } - - // ACC steering wheel buttons - if (addr == 0x4F1) { - int cruise_button = GET_BYTE(to_push, 0) & 0x7U; - bool main_button = GET_BIT(to_push, 3U); - hyundai_common_cruise_buttons_check(cruise_button, main_button); - } - - // gas press, different for EV, hybrid, and ICE models - if ((addr == 0x371) && hyundai_ev_gas_signal) { - gas_pressed = (((GET_BYTE(to_push, 4) & 0x7FU) << 1) | GET_BYTE(to_push, 3) >> 7) != 0U; - } else if ((addr == 0x371) && hyundai_hybrid_gas_signal) { - gas_pressed = GET_BYTE(to_push, 7) != 0U; - } else if ((addr == 0x260) && !hyundai_ev_gas_signal && !hyundai_hybrid_gas_signal) { - gas_pressed = (GET_BYTE(to_push, 7) >> 6) != 0U; - } else { - } - - // sample wheel speed, averaging opposite corners - if (addr == 0x386) { - uint32_t front_left_speed = GET_BYTES(to_push, 0, 2) & 0x3FFFU; - uint32_t rear_right_speed = GET_BYTES(to_push, 6, 2) & 0x3FFFU; - vehicle_moving = (front_left_speed > HYUNDAI_STANDSTILL_THRSLD) || (rear_right_speed > HYUNDAI_STANDSTILL_THRSLD); - } - - if (addr == 0x394) { - brake_pressed = ((GET_BYTE(to_push, 5) >> 5U) & 0x3U) == 0x2U; - } - - bool stock_ecu_detected = (addr == 0x340); - - // If openpilot is controlling longitudinal we need to ensure the radar is turned off - // Enforce by checking we don't see SCC12 - if (hyundai_longitudinal && (addr == 0x421)) { - stock_ecu_detected = true; - } - generic_rx_checks(stock_ecu_detected); - } -} - -static bool hyundai_tx_hook(const CANPacket_t *to_send) { - sport_mode = alternative_experience & ALT_EXP_RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX; - - bool tx = true; - int addr = GET_ADDR(to_send); - - // FCA11: Block any potential actuation - if (addr == 0x38D) { - int CR_VSM_DecCmd = GET_BYTE(to_send, 1); - bool FCA_CmdAct = GET_BIT(to_send, 20U); - bool CF_VSM_DecCmdAct = GET_BIT(to_send, 31U); - - if ((CR_VSM_DecCmd != 0) || FCA_CmdAct || CF_VSM_DecCmdAct) { - tx = false; - } - } - - // ACCEL: safety check - if (addr == 0x421) { - int desired_accel_raw = (((GET_BYTE(to_send, 4) & 0x7U) << 8) | GET_BYTE(to_send, 3)) - 1023U; - int desired_accel_val = ((GET_BYTE(to_send, 5) << 3) | (GET_BYTE(to_send, 4) >> 5)) - 1023U; - - int aeb_decel_cmd = GET_BYTE(to_send, 2); - bool aeb_req = GET_BIT(to_send, 54U); - - bool violation = false; - - if (sport_mode) { - violation |= longitudinal_accel_checks(desired_accel_raw, HYUNDAI_LONG_LIMITS_SPORT); - violation |= longitudinal_accel_checks(desired_accel_val, HYUNDAI_LONG_LIMITS_SPORT); - } else { - violation |= longitudinal_accel_checks(desired_accel_raw, HYUNDAI_LONG_LIMITS); - violation |= longitudinal_accel_checks(desired_accel_val, HYUNDAI_LONG_LIMITS); - } - violation |= (aeb_decel_cmd != 0); - violation |= aeb_req; - - if (violation) { - tx = false; - } - } - - // LKA STEER: safety check - if (addr == 0x340) { - int desired_torque = ((GET_BYTES(to_send, 0, 4) >> 16) & 0x7ffU) - 1024U; - bool steer_req = GET_BIT(to_send, 27U); - - const SteeringLimits limits = hyundai_alt_limits ? HYUNDAI_STEERING_LIMITS_ALT : HYUNDAI_STEERING_LIMITS; - if (steer_torque_cmd_checks(desired_torque, steer_req, limits)) { - tx = false; - } - } - - // UDS: Only tester present ("\x02\x3E\x80\x00\x00\x00\x00\x00") allowed on diagnostics address - if (addr == 0x7D0) { - if ((GET_BYTES(to_send, 0, 4) != 0x00803E02U) || (GET_BYTES(to_send, 4, 4) != 0x0U)) { - tx = false; - } - } - - // BUTTONS: used for resume spamming and cruise cancellation - if ((addr == 0x4F1) && !hyundai_longitudinal) { - int button = GET_BYTE(to_send, 0) & 0x7U; - - bool allowed_resume = (button == 1) && controls_allowed; - bool allowed_cancel = (button == 4) && cruise_engaged_prev; - if (!(allowed_resume || allowed_cancel)) { - tx = false; - } - } - - return tx; -} - -static int hyundai_fwd_hook(int bus_num, int addr) { - - int bus_fwd = -1; - - // forward cam to ccan and viceversa, except lkas cmd - if (bus_num == 0) { - bus_fwd = 2; - } - if ((bus_num == 2) && (addr != 0x340) && (addr != 0x485)) { - bus_fwd = 0; - } - - return bus_fwd; -} - -static safety_config hyundai_init(uint16_t param) { - hyundai_common_init(param); - hyundai_legacy = false; - - if (hyundai_camera_scc) { - hyundai_longitudinal = false; - } - - safety_config ret; - if (hyundai_longitudinal) { - ret = BUILD_SAFETY_CFG(hyundai_long_rx_checks, HYUNDAI_LONG_TX_MSGS); - } else if (hyundai_camera_scc) { - ret = BUILD_SAFETY_CFG(hyundai_cam_scc_rx_checks, HYUNDAI_CAMERA_SCC_TX_MSGS); - } else { - ret = BUILD_SAFETY_CFG(hyundai_rx_checks, HYUNDAI_TX_MSGS); - } - return ret; -} - -static safety_config hyundai_legacy_init(uint16_t param) { - hyundai_common_init(param); - hyundai_legacy = true; - hyundai_longitudinal = false; - hyundai_camera_scc = false; - return BUILD_SAFETY_CFG(hyundai_legacy_rx_checks, HYUNDAI_TX_MSGS); -} - -const safety_hooks hyundai_hooks = { - .init = hyundai_init, - .rx = hyundai_rx_hook, - .tx = hyundai_tx_hook, - .fwd = hyundai_fwd_hook, - .get_counter = hyundai_get_counter, - .get_checksum = hyundai_get_checksum, - .compute_checksum = hyundai_compute_checksum, -}; - -const safety_hooks hyundai_legacy_hooks = { - .init = hyundai_legacy_init, - .rx = hyundai_rx_hook, - .tx = hyundai_tx_hook, - .fwd = hyundai_fwd_hook, - .get_counter = hyundai_get_counter, - .get_checksum = hyundai_get_checksum, - .compute_checksum = hyundai_compute_checksum, -}; diff --git a/panda/board/safety/safety_hyundai_canfd.h b/panda/board/safety/safety_hyundai_canfd.h deleted file mode 100644 index fb6ccf55a0db41..00000000000000 --- a/panda/board/safety/safety_hyundai_canfd.h +++ /dev/null @@ -1,360 +0,0 @@ -#include "safety_hyundai_common.h" - -const SteeringLimits HYUNDAI_CANFD_STEERING_LIMITS = { - .max_steer = 270, - .max_rt_delta = 112, - .max_rt_interval = 250000, - .max_rate_up = 2, - .max_rate_down = 3, - .driver_torque_allowance = 250, - .driver_torque_factor = 2, - .type = TorqueDriverLimited, - - // the EPS faults when the steering angle is above a certain threshold for too long. to prevent this, - // we allow setting torque actuation bit to 0 while maintaining the requested torque value for two consecutive frames - .min_valid_request_frames = 89, - .max_invalid_request_frames = 2, - .min_valid_request_rt_interval = 810000, // 810ms; a ~10% buffer on cutting every 90 frames - .has_steer_req_tolerance = true, -}; - -const CanMsg HYUNDAI_CANFD_HDA2_TX_MSGS[] = { - {0x50, 0, 16}, // LKAS - {0x1CF, 1, 8}, // CRUISE_BUTTON - {0x2A4, 0, 24}, // CAM_0x2A4 -}; - -const CanMsg HYUNDAI_CANFD_HDA2_ALT_STEERING_TX_MSGS[] = { - {0x110, 0, 32}, // LKAS_ALT - {0x1CF, 1, 8}, // CRUISE_BUTTON - {0x362, 0, 32}, // CAM_0x362 -}; - -const CanMsg HYUNDAI_CANFD_HDA2_LONG_TX_MSGS[] = { - {0x50, 0, 16}, // LKAS - {0x1CF, 1, 8}, // CRUISE_BUTTON - {0x2A4, 0, 24}, // CAM_0x2A4 - {0x51, 0, 32}, // ADRV_0x51 - {0x730, 1, 8}, // tester present for ADAS ECU disable - {0x12A, 1, 16}, // LFA - {0x160, 1, 16}, // ADRV_0x160 - {0x1E0, 1, 16}, // LFAHDA_CLUSTER - {0x1A0, 1, 32}, // CRUISE_INFO - {0x1EA, 1, 32}, // ADRV_0x1ea - {0x200, 1, 8}, // ADRV_0x200 - {0x345, 1, 8}, // ADRV_0x345 - {0x1DA, 1, 32}, // ADRV_0x1da -}; - -const CanMsg HYUNDAI_CANFD_HDA1_TX_MSGS[] = { - {0x12A, 0, 16}, // LFA - {0x1A0, 0, 32}, // CRUISE_INFO - {0x1CF, 2, 8}, // CRUISE_BUTTON - {0x1E0, 0, 16}, // LFAHDA_CLUSTER -}; - - -// *** Addresses checked in rx hook *** -// EV, ICE, HYBRID: ACCELERATOR (0x35), ACCELERATOR_BRAKE_ALT (0x100), ACCELERATOR_ALT (0x105) -#define HYUNDAI_CANFD_COMMON_RX_CHECKS(pt_bus) \ - {.msg = {{0x35, (pt_bus), 32, .check_checksum = true, .max_counter = 0xffU, .frequency = 100U}, \ - {0x100, (pt_bus), 32, .check_checksum = true, .max_counter = 0xffU, .frequency = 100U}, \ - {0x105, (pt_bus), 32, .check_checksum = true, .max_counter = 0xffU, .frequency = 100U}}}, \ - {.msg = {{0x175, (pt_bus), 24, .check_checksum = true, .max_counter = 0xffU, .frequency = 50U}, { 0 }, { 0 }}}, \ - {.msg = {{0xa0, (pt_bus), 24, .check_checksum = true, .max_counter = 0xffU, .frequency = 100U}, { 0 }, { 0 }}}, \ - {.msg = {{0xea, (pt_bus), 24, .check_checksum = true, .max_counter = 0xffU, .frequency = 100U}, { 0 }, { 0 }}}, \ - -#define HYUNDAI_CANFD_BUTTONS_ADDR_CHECK(pt_bus) \ - {.msg = {{0x1cf, (pt_bus), 8, .check_checksum = false, .max_counter = 0xfU, .frequency = 50U}, { 0 }, { 0 }}}, \ - -#define HYUNDAI_CANFD_ALT_BUTTONS_ADDR_CHECK(pt_bus) \ - {.msg = {{0x1aa, (pt_bus), 16, .check_checksum = false, .max_counter = 0xffU, .frequency = 50U}, { 0 }, { 0 }}}, \ - -// SCC_CONTROL (from ADAS unit or camera) -#define HYUNDAI_CANFD_SCC_ADDR_CHECK(scc_bus) \ - {.msg = {{0x1a0, (scc_bus), 32, .check_checksum = true, .max_counter = 0xffU, .frequency = 50U}, { 0 }, { 0 }}}, \ - - -// *** Non-HDA2 checks *** -// Camera sends SCC messages on HDA1. -// Both button messages exist on some platforms, so we ensure we track the correct one using flag -RxCheck hyundai_canfd_rx_checks[] = { - HYUNDAI_CANFD_COMMON_RX_CHECKS(0) - HYUNDAI_CANFD_BUTTONS_ADDR_CHECK(0) - HYUNDAI_CANFD_SCC_ADDR_CHECK(2) -}; -RxCheck hyundai_canfd_alt_buttons_rx_checks[] = { - HYUNDAI_CANFD_COMMON_RX_CHECKS(0) - HYUNDAI_CANFD_ALT_BUTTONS_ADDR_CHECK(0) - HYUNDAI_CANFD_SCC_ADDR_CHECK(2) -}; - -// Longitudinal checks for HDA1 -RxCheck hyundai_canfd_long_rx_checks[] = { - HYUNDAI_CANFD_COMMON_RX_CHECKS(0) - HYUNDAI_CANFD_BUTTONS_ADDR_CHECK(0) -}; -RxCheck hyundai_canfd_long_alt_buttons_rx_checks[] = { - HYUNDAI_CANFD_COMMON_RX_CHECKS(0) - HYUNDAI_CANFD_ALT_BUTTONS_ADDR_CHECK(0) -}; - -// Radar sends SCC messages on these cars instead of camera -RxCheck hyundai_canfd_radar_scc_rx_checks[] = { - HYUNDAI_CANFD_COMMON_RX_CHECKS(0) - HYUNDAI_CANFD_BUTTONS_ADDR_CHECK(0) - HYUNDAI_CANFD_SCC_ADDR_CHECK(0) -}; -RxCheck hyundai_canfd_radar_scc_alt_buttons_rx_checks[] = { - HYUNDAI_CANFD_COMMON_RX_CHECKS(0) - HYUNDAI_CANFD_ALT_BUTTONS_ADDR_CHECK(0) - HYUNDAI_CANFD_SCC_ADDR_CHECK(0) -}; - - -// *** HDA2 checks *** -// E-CAN is on bus 1, ADAS unit sends SCC messages on HDA2. -// Does not use the alt buttons message -RxCheck hyundai_canfd_hda2_rx_checks[] = { - HYUNDAI_CANFD_COMMON_RX_CHECKS(1) - HYUNDAI_CANFD_BUTTONS_ADDR_CHECK(1) - HYUNDAI_CANFD_SCC_ADDR_CHECK(1) -}; -RxCheck hyundai_canfd_hda2_long_rx_checks[] = { - HYUNDAI_CANFD_COMMON_RX_CHECKS(1) - HYUNDAI_CANFD_BUTTONS_ADDR_CHECK(1) -}; - - - -const int HYUNDAI_PARAM_CANFD_ALT_BUTTONS = 32; -const int HYUNDAI_PARAM_CANFD_HDA2_ALT_STEERING = 128; -bool hyundai_canfd_alt_buttons = false; -bool hyundai_canfd_hda2_alt_steering = false; - - -int hyundai_canfd_hda2_get_lkas_addr(void) { - return hyundai_canfd_hda2_alt_steering ? 0x110 : 0x50; -} - -static uint8_t hyundai_canfd_get_counter(const CANPacket_t *to_push) { - uint8_t ret = 0; - if (GET_LEN(to_push) == 8U) { - ret = GET_BYTE(to_push, 1) >> 4; - } else { - ret = GET_BYTE(to_push, 2); - } - return ret; -} - -static uint32_t hyundai_canfd_get_checksum(const CANPacket_t *to_push) { - uint32_t chksum = GET_BYTE(to_push, 0) | (GET_BYTE(to_push, 1) << 8); - return chksum; -} - -static void hyundai_canfd_rx_hook(const CANPacket_t *to_push) { - int bus = GET_BUS(to_push); - int addr = GET_ADDR(to_push); - - const int pt_bus = hyundai_canfd_hda2 ? 1 : 0; - const int scc_bus = hyundai_camera_scc ? 2 : pt_bus; - - if (bus == pt_bus) { - // driver torque - if (addr == 0xea) { - int torque_driver_new = ((GET_BYTE(to_push, 11) & 0x1fU) << 8U) | GET_BYTE(to_push, 10); - torque_driver_new -= 4095; - update_sample(&torque_driver, torque_driver_new); - } - - // cruise buttons - const int button_addr = hyundai_canfd_alt_buttons ? 0x1aa : 0x1cf; - if (addr == button_addr) { - bool main_button = false; - int cruise_button = 0; - if (addr == 0x1cf) { - cruise_button = GET_BYTE(to_push, 2) & 0x7U; - main_button = GET_BIT(to_push, 19U); - } else { - cruise_button = (GET_BYTE(to_push, 4) >> 4) & 0x7U; - main_button = GET_BIT(to_push, 34U); - } - hyundai_common_cruise_buttons_check(cruise_button, main_button); - } - - // gas press, different for EV, hybrid, and ICE models - if ((addr == 0x35) && hyundai_ev_gas_signal) { - gas_pressed = GET_BYTE(to_push, 5) != 0U; - } else if ((addr == 0x105) && hyundai_hybrid_gas_signal) { - gas_pressed = GET_BIT(to_push, 103U) || (GET_BYTE(to_push, 13) != 0U) || GET_BIT(to_push, 112U); - } else if ((addr == 0x100) && !hyundai_ev_gas_signal && !hyundai_hybrid_gas_signal) { - gas_pressed = GET_BIT(to_push, 176U); - } else { - } - - // brake press - if (addr == 0x175) { - brake_pressed = GET_BIT(to_push, 81U); - } - - // vehicle moving - if (addr == 0xa0) { - uint32_t front_left_speed = GET_BYTES(to_push, 8, 2); - uint32_t rear_right_speed = GET_BYTES(to_push, 14, 2); - vehicle_moving = (front_left_speed > HYUNDAI_STANDSTILL_THRSLD) || (rear_right_speed > HYUNDAI_STANDSTILL_THRSLD); - } - } - - if (bus == scc_bus) { - // cruise state - if ((addr == 0x1a0) && !hyundai_longitudinal) { - // 1=enabled, 2=driver override - int cruise_status = ((GET_BYTE(to_push, 8) >> 4) & 0x7U); - bool cruise_engaged = (cruise_status == 1) || (cruise_status == 2); - hyundai_common_cruise_state_check(cruise_engaged); - } - } - - const int steer_addr = hyundai_canfd_hda2 ? hyundai_canfd_hda2_get_lkas_addr() : 0x12a; - bool stock_ecu_detected = (addr == steer_addr) && (bus == 0); - if (hyundai_longitudinal) { - // on HDA2, ensure ADRV ECU is still knocked out - // on others, ensure accel msg is blocked from camera - const int stock_scc_bus = hyundai_canfd_hda2 ? 1 : 0; - stock_ecu_detected = stock_ecu_detected || ((addr == 0x1a0) && (bus == stock_scc_bus)); - } - generic_rx_checks(stock_ecu_detected); - -} - -static bool hyundai_canfd_tx_hook(const CANPacket_t *to_send) { - bool tx = true; - int addr = GET_ADDR(to_send); - - // steering - const int steer_addr = (hyundai_canfd_hda2 && !hyundai_longitudinal) ? hyundai_canfd_hda2_get_lkas_addr() : 0x12a; - if (addr == steer_addr) { - int desired_torque = (((GET_BYTE(to_send, 6) & 0xFU) << 7U) | (GET_BYTE(to_send, 5) >> 1U)) - 1024U; - bool steer_req = GET_BIT(to_send, 52U); - - if (steer_torque_cmd_checks(desired_torque, steer_req, HYUNDAI_CANFD_STEERING_LIMITS)) { - tx = false; - } - } - - // cruise buttons check - if (addr == 0x1cf) { - int button = GET_BYTE(to_send, 2) & 0x7U; - bool is_cancel = (button == HYUNDAI_BTN_CANCEL); - bool is_resume = (button == HYUNDAI_BTN_RESUME); - - bool allowed = (is_cancel && cruise_engaged_prev) || (is_resume && controls_allowed); - if (!allowed) { - tx = false; - } - } - - // UDS: only tester present ("\x02\x3E\x80\x00\x00\x00\x00\x00") allowed on diagnostics address - if ((addr == 0x730) && hyundai_canfd_hda2) { - if ((GET_BYTES(to_send, 0, 4) != 0x00803E02U) || (GET_BYTES(to_send, 4, 4) != 0x0U)) { - tx = false; - } - } - - // ACCEL: safety check - if (addr == 0x1a0) { - int desired_accel_raw = (((GET_BYTE(to_send, 17) & 0x7U) << 8) | GET_BYTE(to_send, 16)) - 1023U; - int desired_accel_val = ((GET_BYTE(to_send, 18) << 4) | (GET_BYTE(to_send, 17) >> 4)) - 1023U; - - bool violation = false; - - if (hyundai_longitudinal) { - violation |= longitudinal_accel_checks(desired_accel_raw, HYUNDAI_LONG_LIMITS); - violation |= longitudinal_accel_checks(desired_accel_val, HYUNDAI_LONG_LIMITS); - } else { - // only used to cancel on here - if ((desired_accel_raw != 0) || (desired_accel_val != 0)) { - violation = true; - } - } - - if (violation) { - tx = false; - } - } - - return tx; -} - -static int hyundai_canfd_fwd_hook(int bus_num, int addr) { - int bus_fwd = -1; - - if (bus_num == 0) { - bus_fwd = 2; - } - if (bus_num == 2) { - // LKAS for HDA2, LFA for HDA1 - int hda2_lfa_block_addr = hyundai_canfd_hda2_alt_steering ? 0x362 : 0x2a4; - bool is_lkas_msg = ((addr == hyundai_canfd_hda2_get_lkas_addr()) || (addr == hda2_lfa_block_addr)) && hyundai_canfd_hda2; - bool is_lfa_msg = ((addr == 0x12a) && !hyundai_canfd_hda2); - - // HUD icons - bool is_lfahda_msg = ((addr == 0x1e0) && !hyundai_canfd_hda2); - - // CRUISE_INFO for non-HDA2, we send our own longitudinal commands - bool is_scc_msg = ((addr == 0x1a0) && hyundai_longitudinal && !hyundai_canfd_hda2); - - bool block_msg = is_lkas_msg || is_lfa_msg || is_lfahda_msg || is_scc_msg; - if (!block_msg) { - bus_fwd = 0; - } - } - - return bus_fwd; -} - -static safety_config hyundai_canfd_init(uint16_t param) { - hyundai_common_init(param); - - gen_crc_lookup_table_16(0x1021, hyundai_canfd_crc_lut); - hyundai_canfd_alt_buttons = GET_FLAG(param, HYUNDAI_PARAM_CANFD_ALT_BUTTONS); - hyundai_canfd_hda2_alt_steering = GET_FLAG(param, HYUNDAI_PARAM_CANFD_HDA2_ALT_STEERING); - - // no long for radar-SCC HDA1 yet - if (!hyundai_canfd_hda2 && !hyundai_camera_scc) { - hyundai_longitudinal = false; - } - - safety_config ret; - if (hyundai_longitudinal) { - if (hyundai_canfd_hda2) { - ret = BUILD_SAFETY_CFG(hyundai_canfd_hda2_long_rx_checks, HYUNDAI_CANFD_HDA2_LONG_TX_MSGS); - } else { - ret = hyundai_canfd_alt_buttons ? BUILD_SAFETY_CFG(hyundai_canfd_long_alt_buttons_rx_checks, HYUNDAI_CANFD_HDA1_TX_MSGS) : \ - BUILD_SAFETY_CFG(hyundai_canfd_long_rx_checks, HYUNDAI_CANFD_HDA1_TX_MSGS); - } - } else { - if (hyundai_canfd_hda2) { - ret = hyundai_canfd_hda2_alt_steering ? BUILD_SAFETY_CFG(hyundai_canfd_hda2_rx_checks, HYUNDAI_CANFD_HDA2_ALT_STEERING_TX_MSGS) : \ - BUILD_SAFETY_CFG(hyundai_canfd_hda2_rx_checks, HYUNDAI_CANFD_HDA2_TX_MSGS); - } else if (!hyundai_camera_scc) { - ret = hyundai_canfd_alt_buttons ? BUILD_SAFETY_CFG(hyundai_canfd_radar_scc_alt_buttons_rx_checks, HYUNDAI_CANFD_HDA1_TX_MSGS) : \ - BUILD_SAFETY_CFG(hyundai_canfd_radar_scc_rx_checks, HYUNDAI_CANFD_HDA1_TX_MSGS); - } else { - ret = hyundai_canfd_alt_buttons ? BUILD_SAFETY_CFG(hyundai_canfd_alt_buttons_rx_checks, HYUNDAI_CANFD_HDA1_TX_MSGS) : \ - BUILD_SAFETY_CFG(hyundai_canfd_rx_checks, HYUNDAI_CANFD_HDA1_TX_MSGS); - } - } - - return ret; -} - -const safety_hooks hyundai_canfd_hooks = { - .init = hyundai_canfd_init, - .rx = hyundai_canfd_rx_hook, - .tx = hyundai_canfd_tx_hook, - .fwd = hyundai_canfd_fwd_hook, - .get_counter = hyundai_canfd_get_counter, - .get_checksum = hyundai_canfd_get_checksum, - .compute_checksum = hyundai_common_canfd_compute_checksum, -}; diff --git a/panda/board/safety/safety_hyundai_common.h b/panda/board/safety/safety_hyundai_common.h deleted file mode 100644 index b4cf2b540c7d4a..00000000000000 --- a/panda/board/safety/safety_hyundai_common.h +++ /dev/null @@ -1,121 +0,0 @@ -#ifndef SAFETY_HYUNDAI_COMMON_H -#define SAFETY_HYUNDAI_COMMON_H - -const int HYUNDAI_PARAM_EV_GAS = 1; -const int HYUNDAI_PARAM_HYBRID_GAS = 2; -const int HYUNDAI_PARAM_LONGITUDINAL = 4; -const int HYUNDAI_PARAM_CAMERA_SCC = 8; -const int HYUNDAI_PARAM_CANFD_HDA2 = 16; -const int HYUNDAI_PARAM_ALT_LIMITS = 64; // TODO: shift this down with the rest of the common flags - -const uint8_t HYUNDAI_PREV_BUTTON_SAMPLES = 8; // roughly 160 ms -const uint32_t HYUNDAI_STANDSTILL_THRSLD = 12; // 0.375 kph - -enum { - HYUNDAI_BTN_NONE = 0, - HYUNDAI_BTN_RESUME = 1, - HYUNDAI_BTN_SET = 2, - HYUNDAI_BTN_CANCEL = 4, -}; - -// common state -bool hyundai_ev_gas_signal = false; -bool hyundai_hybrid_gas_signal = false; -bool hyundai_longitudinal = false; -bool hyundai_camera_scc = false; -bool hyundai_canfd_hda2 = false; -bool hyundai_alt_limits = false; -uint8_t hyundai_last_button_interaction; // button messages since the user pressed an enable button - -uint16_t hyundai_canfd_crc_lut[256]; - -void hyundai_common_init(uint16_t param) { - hyundai_ev_gas_signal = GET_FLAG(param, HYUNDAI_PARAM_EV_GAS); - hyundai_hybrid_gas_signal = !hyundai_ev_gas_signal && GET_FLAG(param, HYUNDAI_PARAM_HYBRID_GAS); - hyundai_camera_scc = GET_FLAG(param, HYUNDAI_PARAM_CAMERA_SCC); - hyundai_canfd_hda2 = GET_FLAG(param, HYUNDAI_PARAM_CANFD_HDA2); - hyundai_alt_limits = GET_FLAG(param, HYUNDAI_PARAM_ALT_LIMITS); - - hyundai_last_button_interaction = HYUNDAI_PREV_BUTTON_SAMPLES; - -#ifdef ALLOW_DEBUG - hyundai_longitudinal = GET_FLAG(param, HYUNDAI_PARAM_LONGITUDINAL); -#else - hyundai_longitudinal = false; -#endif -} - -void hyundai_common_cruise_state_check(const bool cruise_engaged) { - // some newer HKG models can re-enable after spamming cancel button, - // so keep track of user button presses to deny engagement if no interaction - - // enter controls on rising edge of ACC and recent user button press, exit controls when ACC off - if (!hyundai_longitudinal) { - if (cruise_engaged && !cruise_engaged_prev && (hyundai_last_button_interaction < HYUNDAI_PREV_BUTTON_SAMPLES)) { - controls_allowed = true; - } - - if (!cruise_engaged) { - controls_allowed = false; - } - cruise_engaged_prev = cruise_engaged; - } -} - -void hyundai_common_cruise_buttons_check(const int cruise_button, const bool main_button) { - if (main_button && main_button != cruise_main_prev) { - if (acc_main_on && (alternative_experience & ALT_EXP_ALWAYS_ON_LATERAL)) { - controls_allowed = false; - } - acc_main_on = !acc_main_on; - } - cruise_main_prev = main_button; - if ((cruise_button == HYUNDAI_BTN_RESUME) || (cruise_button == HYUNDAI_BTN_SET) || (cruise_button == HYUNDAI_BTN_CANCEL) || main_button) { - hyundai_last_button_interaction = 0U; - } else { - hyundai_last_button_interaction = MIN(hyundai_last_button_interaction + 1U, HYUNDAI_PREV_BUTTON_SAMPLES); - } - - if (hyundai_longitudinal) { - // enter controls on falling edge of resume or set - bool set = (cruise_button != HYUNDAI_BTN_SET) && (cruise_button_prev == HYUNDAI_BTN_SET); - bool res = (cruise_button != HYUNDAI_BTN_RESUME) && (cruise_button_prev == HYUNDAI_BTN_RESUME); - if (set || res) { - controls_allowed = true; - } - - // exit controls on cancel press - if (cruise_button == HYUNDAI_BTN_CANCEL) { - controls_allowed = false; - } - - cruise_button_prev = cruise_button; - } -} - -uint32_t hyundai_common_canfd_compute_checksum(const CANPacket_t *to_push) { - int len = GET_LEN(to_push); - uint32_t address = GET_ADDR(to_push); - - uint16_t crc = 0; - - for (int i = 2; i < len; i++) { - crc = (crc << 8U) ^ hyundai_canfd_crc_lut[(crc >> 8U) ^ GET_BYTE(to_push, i)]; - } - - // Add address to crc - crc = (crc << 8U) ^ hyundai_canfd_crc_lut[(crc >> 8U) ^ ((address >> 0U) & 0xFFU)]; - crc = (crc << 8U) ^ hyundai_canfd_crc_lut[(crc >> 8U) ^ ((address >> 8U) & 0xFFU)]; - - if (len == 24) { - crc ^= 0x819dU; - } else if (len == 32) { - crc ^= 0x9f5bU; - } else { - - } - - return crc; -} - -#endif diff --git a/panda/board/safety/safety_mazda.h b/panda/board/safety/safety_mazda.h deleted file mode 100644 index 19e2dd1205124d..00000000000000 --- a/panda/board/safety/safety_mazda.h +++ /dev/null @@ -1,129 +0,0 @@ -// CAN msgs we care about -#define MAZDA_LKAS 0x243 -#define MAZDA_LKAS_HUD 0x440 -#define MAZDA_CRZ_CTRL 0x21c -#define MAZDA_CRZ_BTNS 0x09d -#define MAZDA_STEER_TORQUE 0x240 -#define MAZDA_ENGINE_DATA 0x202 -#define MAZDA_PEDALS 0x165 - -// CAN bus numbers -#define MAZDA_MAIN 0 -#define MAZDA_AUX 1 -#define MAZDA_CAM 2 - -const SteeringLimits MAZDA_STEERING_LIMITS = { - .max_steer = 800, - .max_rate_up = 10, - .max_rate_down = 25, - .max_rt_delta = 300, - .max_rt_interval = 250000, - .driver_torque_factor = 1, - .driver_torque_allowance = 15, - .type = TorqueDriverLimited, -}; - -const CanMsg MAZDA_TX_MSGS[] = {{MAZDA_LKAS, 0, 8}, {MAZDA_CRZ_BTNS, 0, 8}, {MAZDA_LKAS_HUD, 0, 8}}; - -RxCheck mazda_rx_checks[] = { - {.msg = {{MAZDA_CRZ_CTRL, 0, 8, .frequency = 50U}, { 0 }, { 0 }}}, - {.msg = {{MAZDA_CRZ_BTNS, 0, 8, .frequency = 10U}, { 0 }, { 0 }}}, - {.msg = {{MAZDA_STEER_TORQUE, 0, 8, .frequency = 83U}, { 0 }, { 0 }}}, - {.msg = {{MAZDA_ENGINE_DATA, 0, 8, .frequency = 100U}, { 0 }, { 0 }}}, - {.msg = {{MAZDA_PEDALS, 0, 8, .frequency = 50U}, { 0 }, { 0 }}}, -}; - -// track msgs coming from OP so that we know what CAM msgs to drop and what to forward -static void mazda_rx_hook(const CANPacket_t *to_push) { - if ((int)GET_BUS(to_push) == MAZDA_MAIN) { - int addr = GET_ADDR(to_push); - - if (addr == MAZDA_ENGINE_DATA) { - // sample speed: scale by 0.01 to get kph - int speed = (GET_BYTE(to_push, 2) << 8) | GET_BYTE(to_push, 3); - vehicle_moving = speed > 10; // moving when speed > 0.1 kph - } - - if (addr == MAZDA_STEER_TORQUE) { - int torque_driver_new = GET_BYTE(to_push, 0) - 127U; - // update array of samples - update_sample(&torque_driver, torque_driver_new); - } - - // enter controls on rising edge of ACC, exit controls on ACC off - if (addr == MAZDA_CRZ_CTRL) { - acc_main_on = GET_BIT(to_push, 17U); - bool cruise_engaged = GET_BYTE(to_push, 0) & 0x8U; - pcm_cruise_check(cruise_engaged); - } - - if (addr == MAZDA_ENGINE_DATA) { - gas_pressed = (GET_BYTE(to_push, 4) || (GET_BYTE(to_push, 5) & 0xF0U)); - } - - if (addr == MAZDA_PEDALS) { - brake_pressed = (GET_BYTE(to_push, 0) & 0x10U); - } - - generic_rx_checks((addr == MAZDA_LKAS)); - } -} - -static bool mazda_tx_hook(const CANPacket_t *to_send) { - bool tx = true; - int bus = GET_BUS(to_send); - // Check if msg is sent on the main BUS - if (bus == MAZDA_MAIN) { - int addr = GET_ADDR(to_send); - - // steer cmd checks - if (addr == MAZDA_LKAS) { - int desired_torque = (((GET_BYTE(to_send, 0) & 0x0FU) << 8) | GET_BYTE(to_send, 1)) - 2048U; - - if (steer_torque_cmd_checks(desired_torque, -1, MAZDA_STEERING_LIMITS)) { - tx = false; - } - } - - // cruise buttons check - if (addr == MAZDA_CRZ_BTNS) { - // allow resume spamming while controls allowed, but - // only allow cancel while contrls not allowed - bool cancel_cmd = (GET_BYTE(to_send, 0) == 0x1U); - if (!controls_allowed && !cancel_cmd) { - tx = false; - } - } - } - - return tx; -} - -static int mazda_fwd_hook(int bus, int addr) { - int bus_fwd = -1; - - if (bus == MAZDA_MAIN) { - bus_fwd = MAZDA_CAM; - } else if (bus == MAZDA_CAM) { - bool block = (addr == MAZDA_LKAS) || (addr == MAZDA_LKAS_HUD); - if (!block) { - bus_fwd = MAZDA_MAIN; - } - } else { - // don't fwd - } - - return bus_fwd; -} - -static safety_config mazda_init(uint16_t param) { - UNUSED(param); - return BUILD_SAFETY_CFG(mazda_rx_checks, MAZDA_TX_MSGS); -} - -const safety_hooks mazda_hooks = { - .init = mazda_init, - .rx = mazda_rx_hook, - .tx = mazda_tx_hook, - .fwd = mazda_fwd_hook, -}; diff --git a/panda/board/safety/safety_nissan.h b/panda/board/safety/safety_nissan.h deleted file mode 100644 index 30e1445bd27691..00000000000000 --- a/panda/board/safety/safety_nissan.h +++ /dev/null @@ -1,164 +0,0 @@ -const SteeringLimits NISSAN_STEERING_LIMITS = { - .angle_deg_to_can = 100, - .angle_rate_up_lookup = { - {0., 5., 15.}, - {5., .8, .15} - }, - .angle_rate_down_lookup = { - {0., 5., 15.}, - {5., 3.5, .4} - }, -}; - -const CanMsg NISSAN_TX_MSGS[] = { - {0x169, 0, 8}, // LKAS - {0x2b1, 0, 8}, // PROPILOT_HUD - {0x4cc, 0, 8}, // PROPILOT_HUD_INFO_MSG - {0x20b, 2, 6}, // CRUISE_THROTTLE (X-Trail) - {0x20b, 1, 6}, // CRUISE_THROTTLE (Altima) - {0x280, 2, 8} // CANCEL_MSG (Leaf) -}; - -// Signals duplicated below due to the fact that these messages can come in on either CAN bus, depending on car model. -RxCheck nissan_rx_checks[] = { - {.msg = {{0x2, 0, 5, .frequency = 100U}, - {0x2, 1, 5, .frequency = 100U}, { 0 }}}, // STEER_ANGLE_SENSOR - {.msg = {{0x285, 0, 8, .frequency = 50U}, - {0x285, 1, 8, .frequency = 50U}, { 0 }}}, // WHEEL_SPEEDS_REAR - {.msg = {{0x30f, 2, 3, .frequency = 10U}, - {0x30f, 1, 3, .frequency = 10U}, { 0 }}}, // CRUISE_STATE - {.msg = {{0x15c, 0, 8, .frequency = 50U}, - {0x15c, 1, 8, .frequency = 50U}, - {0x239, 0, 8, .frequency = 50U}}}, // GAS_PEDAL - {.msg = {{0x454, 0, 8, .frequency = 10U}, - {0x454, 1, 8, .frequency = 10U}, - {0x1cc, 0, 4, .frequency = 100U}}}, // DOORS_LIGHTS / BRAKE -}; - -// EPS Location. false = V-CAN, true = C-CAN -const int NISSAN_PARAM_ALT_EPS_BUS = 1; - -bool nissan_alt_eps = false; - -static void nissan_rx_hook(const CANPacket_t *to_push) { - int bus = GET_BUS(to_push); - int addr = GET_ADDR(to_push); - - if (bus == (nissan_alt_eps ? 1 : 0)) { - if (addr == 0x2) { - // Current steering angle - // Factor -0.1, little endian - int angle_meas_new = (GET_BYTES(to_push, 0, 4) & 0xFFFFU); - // Multiply by -10 to match scale of LKAS angle - angle_meas_new = to_signed(angle_meas_new, 16) * -10; - - // update array of samples - update_sample(&angle_meas, angle_meas_new); - } - - if (addr == 0x285) { - // Get current speed and standstill - uint16_t right_rear = (GET_BYTE(to_push, 0) << 8) | (GET_BYTE(to_push, 1)); - uint16_t left_rear = (GET_BYTE(to_push, 2) << 8) | (GET_BYTE(to_push, 3)); - vehicle_moving = (right_rear | left_rear) != 0U; - UPDATE_VEHICLE_SPEED((right_rear + left_rear) / 2.0 * 0.005 / 3.6); - } - - if (addr == 0x1b6) { - acc_main_on = GET_BIT(to_push, 36U); - } - - // X-Trail 0x15c, Leaf 0x239 - if ((addr == 0x15c) || (addr == 0x239)) { - if (addr == 0x15c){ - gas_pressed = ((GET_BYTE(to_push, 5) << 2) | ((GET_BYTE(to_push, 6) >> 6) & 0x3U)) > 3U; - } else { - acc_main_on = GET_BIT(to_push, 17U); - gas_pressed = GET_BYTE(to_push, 0) > 3U; - } - } - - // X-trail 0x454, Leaf 0x239 - if ((addr == 0x454) || (addr == 0x239)) { - if (addr == 0x454){ - brake_pressed = (GET_BYTE(to_push, 2) & 0x80U) != 0U; - } else { - brake_pressed = ((GET_BYTE(to_push, 4) >> 5) & 1U) != 0U; - } - } - } - - // Handle cruise enabled - if ((addr == 0x30f) && (bus == (nissan_alt_eps ? 1 : 2))) { - bool cruise_engaged = (GET_BYTE(to_push, 0) >> 3) & 1U; - pcm_cruise_check(cruise_engaged); - } - - generic_rx_checks((addr == 0x169) && (bus == 0)); -} - - -static bool nissan_tx_hook(const CANPacket_t *to_send) { - bool tx = true; - int addr = GET_ADDR(to_send); - bool violation = false; - - // steer cmd checks - if (addr == 0x169) { - int desired_angle = ((GET_BYTE(to_send, 0) << 10) | (GET_BYTE(to_send, 1) << 2) | ((GET_BYTE(to_send, 2) >> 6) & 0x3U)); - bool lka_active = (GET_BYTE(to_send, 6) >> 4) & 1U; - - // Factor is -0.01, offset is 1310. Flip to correct sign, but keep units in CAN scale - desired_angle = -desired_angle + (1310.0f * NISSAN_STEERING_LIMITS.angle_deg_to_can); - - if (steer_angle_cmd_checks(desired_angle, lka_active, NISSAN_STEERING_LIMITS)) { - violation = true; - } - } - - // acc button check, only allow cancel button to be sent - if (addr == 0x20b) { - // Violation of any button other than cancel is pressed - violation |= ((GET_BYTE(to_send, 1) & 0x3dU) > 0U); - } - - if (violation) { - tx = false; - } - - return tx; -} - - -static int nissan_fwd_hook(int bus_num, int addr) { - int bus_fwd = -1; - - if (bus_num == 0) { - bool block_msg = (addr == 0x280); // CANCEL_MSG - if (!block_msg) { - bus_fwd = 2; // ADAS - } - } - - if (bus_num == 2) { - // 0x169 is LKAS, 0x2b1 LKAS_HUD, 0x4cc LKAS_HUD_INFO_MSG - bool block_msg = ((addr == 0x169) || (addr == 0x2b1) || (addr == 0x4cc)); - if (!block_msg) { - bus_fwd = 0; // V-CAN - } - } - - return bus_fwd; -} - -static safety_config nissan_init(uint16_t param) { - nissan_alt_eps = GET_FLAG(param, NISSAN_PARAM_ALT_EPS_BUS); - return BUILD_SAFETY_CFG(nissan_rx_checks, NISSAN_TX_MSGS); -} - -const safety_hooks nissan_hooks = { - .init = nissan_init, - .rx = nissan_rx_hook, - .tx = nissan_tx_hook, - .fwd = nissan_fwd_hook, -}; diff --git a/panda/board/safety/safety_subaru.h b/panda/board/safety/safety_subaru.h deleted file mode 100644 index a4f497dab0106a..00000000000000 --- a/panda/board/safety/safety_subaru.h +++ /dev/null @@ -1,295 +0,0 @@ -#define SUBARU_STEERING_LIMITS_GENERATOR(steer_max, rate_up, rate_down) \ - { \ - .max_steer = (steer_max), \ - .max_rt_delta = 940, \ - .max_rt_interval = 250000, \ - .max_rate_up = (rate_up), \ - .max_rate_down = (rate_down), \ - .driver_torque_factor = 50, \ - .driver_torque_allowance = 60, \ - .type = TorqueDriverLimited, \ - /* the EPS will temporary fault if the steering rate is too high, so we cut the \ - the steering torque every 7 frames for 1 frame if the steering rate is high */ \ - .min_valid_request_frames = 7, \ - .max_invalid_request_frames = 1, \ - .min_valid_request_rt_interval = 144000, /* 10% tolerance */ \ - .has_steer_req_tolerance = true, \ - } - - -const SteeringLimits SUBARU_STEERING_LIMITS = SUBARU_STEERING_LIMITS_GENERATOR(3071, 50, 70); -const SteeringLimits SUBARU_GEN2_STEERING_LIMITS = SUBARU_STEERING_LIMITS_GENERATOR(1000, 40, 40); - - -const LongitudinalLimits SUBARU_LONG_LIMITS = { - .min_gas = 808, // appears to be engine braking - .max_gas = 3400, // approx 2 m/s^2 when maxing cruise_rpm and cruise_throttle - .inactive_gas = 1818, // this is zero acceleration - .max_brake = 600, // approx -3.5 m/s^2 - - .min_transmission_rpm = 0, - .max_transmission_rpm = 3600, -}; - -#define MSG_SUBARU_Brake_Status 0x13c -#define MSG_SUBARU_CruiseControl 0x240 -#define MSG_SUBARU_Throttle 0x40 -#define MSG_SUBARU_Steering_Torque 0x119 -#define MSG_SUBARU_Wheel_Speeds 0x13a - -#define MSG_SUBARU_ES_LKAS 0x122 -#define MSG_SUBARU_ES_LKAS_ANGLE 0x124 -#define MSG_SUBARU_ES_Brake 0x220 -#define MSG_SUBARU_ES_Distance 0x221 -#define MSG_SUBARU_ES_Status 0x222 -#define MSG_SUBARU_ES_DashStatus 0x321 -#define MSG_SUBARU_ES_LKAS_State 0x322 -#define MSG_SUBARU_ES_Infotainment 0x323 - -#define MSG_SUBARU_ES_UDS_Request 0x787 - -#define MSG_SUBARU_ES_HighBeamAssist 0x121 -#define MSG_SUBARU_ES_STATIC_1 0x22a -#define MSG_SUBARU_ES_STATIC_2 0x325 - -#define SUBARU_MAIN_BUS 0 -#define SUBARU_ALT_BUS 1 -#define SUBARU_CAM_BUS 2 - -#define SUBARU_COMMON_TX_MSGS(alt_bus, lkas_msg) \ - {lkas_msg, SUBARU_MAIN_BUS, 8}, \ - {MSG_SUBARU_ES_Distance, alt_bus, 8}, \ - {MSG_SUBARU_ES_DashStatus, SUBARU_MAIN_BUS, 8}, \ - {MSG_SUBARU_ES_LKAS_State, SUBARU_MAIN_BUS, 8}, \ - {MSG_SUBARU_ES_Infotainment, SUBARU_MAIN_BUS, 8}, \ - -#define SUBARU_COMMON_LONG_TX_MSGS(alt_bus) \ - {MSG_SUBARU_ES_Brake, alt_bus, 8}, \ - {MSG_SUBARU_ES_Status, alt_bus, 8}, \ - -#define SUBARU_GEN2_LONG_ADDITIONAL_TX_MSGS() \ - {MSG_SUBARU_ES_UDS_Request, SUBARU_CAM_BUS, 8}, \ - {MSG_SUBARU_ES_HighBeamAssist, SUBARU_MAIN_BUS, 8}, \ - {MSG_SUBARU_ES_STATIC_1, SUBARU_MAIN_BUS, 8}, \ - {MSG_SUBARU_ES_STATIC_2, SUBARU_MAIN_BUS, 8}, \ - -#define SUBARU_COMMON_RX_CHECKS(alt_bus) \ - {.msg = {{MSG_SUBARU_Throttle, SUBARU_MAIN_BUS, 8, .check_checksum = true, .max_counter = 15U, .frequency = 100U}, { 0 }, { 0 }}}, \ - {.msg = {{MSG_SUBARU_Steering_Torque, SUBARU_MAIN_BUS, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}}, \ - {.msg = {{MSG_SUBARU_Wheel_Speeds, alt_bus, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}}, \ - {.msg = {{MSG_SUBARU_Brake_Status, alt_bus, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}}, \ - {.msg = {{MSG_SUBARU_CruiseControl, alt_bus, 8, .check_checksum = true, .max_counter = 15U, .frequency = 20U}, { 0 }, { 0 }}}, \ - -const CanMsg SUBARU_TX_MSGS[] = { - SUBARU_COMMON_TX_MSGS(SUBARU_MAIN_BUS, MSG_SUBARU_ES_LKAS) -}; - -const CanMsg SUBARU_LONG_TX_MSGS[] = { - SUBARU_COMMON_TX_MSGS(SUBARU_MAIN_BUS, MSG_SUBARU_ES_LKAS) - SUBARU_COMMON_LONG_TX_MSGS(SUBARU_MAIN_BUS) -}; - -const CanMsg SUBARU_GEN2_TX_MSGS[] = { - SUBARU_COMMON_TX_MSGS(SUBARU_ALT_BUS, MSG_SUBARU_ES_LKAS) -}; - -const CanMsg SUBARU_GEN2_LONG_TX_MSGS[] = { - SUBARU_COMMON_TX_MSGS(SUBARU_ALT_BUS, MSG_SUBARU_ES_LKAS) - SUBARU_COMMON_LONG_TX_MSGS(SUBARU_ALT_BUS) - SUBARU_GEN2_LONG_ADDITIONAL_TX_MSGS() -}; - -RxCheck subaru_rx_checks[] = { - SUBARU_COMMON_RX_CHECKS(SUBARU_MAIN_BUS) -}; - -RxCheck subaru_gen2_rx_checks[] = { - SUBARU_COMMON_RX_CHECKS(SUBARU_ALT_BUS) -}; - - -const uint16_t SUBARU_PARAM_GEN2 = 1; -const uint16_t SUBARU_PARAM_LONGITUDINAL = 2; - -bool subaru_gen2 = false; -bool subaru_longitudinal = false; - - -static uint32_t subaru_get_checksum(const CANPacket_t *to_push) { - return (uint8_t)GET_BYTE(to_push, 0); -} - -static uint8_t subaru_get_counter(const CANPacket_t *to_push) { - return (uint8_t)(GET_BYTE(to_push, 1) & 0xFU); -} - -static uint32_t subaru_compute_checksum(const CANPacket_t *to_push) { - int addr = GET_ADDR(to_push); - int len = GET_LEN(to_push); - uint8_t checksum = (uint8_t)(addr) + (uint8_t)((unsigned int)(addr) >> 8U); - for (int i = 1; i < len; i++) { - checksum += (uint8_t)GET_BYTE(to_push, i); - } - return checksum; -} - -static void subaru_rx_hook(const CANPacket_t *to_push) { - const int bus = GET_BUS(to_push); - const int alt_main_bus = subaru_gen2 ? SUBARU_ALT_BUS : SUBARU_MAIN_BUS; - - int addr = GET_ADDR(to_push); - if ((addr == MSG_SUBARU_Steering_Torque) && (bus == SUBARU_MAIN_BUS)) { - int torque_driver_new; - torque_driver_new = ((GET_BYTES(to_push, 0, 4) >> 16) & 0x7FFU); - torque_driver_new = -1 * to_signed(torque_driver_new, 11); - update_sample(&torque_driver, torque_driver_new); - - int angle_meas_new = (GET_BYTES(to_push, 4, 2) & 0xFFFFU); - // convert Steering_Torque -> Steering_Angle to centidegrees, to match the ES_LKAS_ANGLE angle request units - angle_meas_new = ROUND(to_signed(angle_meas_new, 16) * -2.17); - update_sample(&angle_meas, angle_meas_new); - } - - // enter controls on rising edge of ACC, exit controls on ACC off - if ((addr == MSG_SUBARU_CruiseControl) && (bus == alt_main_bus)) { - acc_main_on = GET_BIT(to_push, 40U); - bool cruise_engaged = GET_BIT(to_push, 41U); - pcm_cruise_check(cruise_engaged); - } - - // update vehicle moving with any non-zero wheel speed - if ((addr == MSG_SUBARU_Wheel_Speeds) && (bus == alt_main_bus)) { - uint32_t fr = (GET_BYTES(to_push, 1, 3) >> 4) & 0x1FFFU; - uint32_t rr = (GET_BYTES(to_push, 3, 3) >> 1) & 0x1FFFU; - uint32_t rl = (GET_BYTES(to_push, 4, 3) >> 6) & 0x1FFFU; - uint32_t fl = (GET_BYTES(to_push, 6, 2) >> 3) & 0x1FFFU; - - vehicle_moving = (fr > 0U) || (rr > 0U) || (rl > 0U) || (fl > 0U); - - UPDATE_VEHICLE_SPEED((fr + rr + rl + fl) / 4U * 0.057); - } - - if ((addr == MSG_SUBARU_Brake_Status) && (bus == alt_main_bus)) { - brake_pressed = GET_BIT(to_push, 62U); - } - - if ((addr == MSG_SUBARU_Throttle) && (bus == SUBARU_MAIN_BUS)) { - gas_pressed = GET_BYTE(to_push, 4) != 0U; - } - - generic_rx_checks((addr == MSG_SUBARU_ES_LKAS) && (bus == SUBARU_MAIN_BUS)); -} - -static bool subaru_tx_hook(const CANPacket_t *to_send) { - bool tx = true; - int addr = GET_ADDR(to_send); - bool violation = false; - - // steer cmd checks - if (addr == MSG_SUBARU_ES_LKAS) { - int desired_torque = ((GET_BYTES(to_send, 0, 4) >> 16) & 0x1FFFU); - desired_torque = -1 * to_signed(desired_torque, 13); - - bool steer_req = GET_BIT(to_send, 29U); - - const SteeringLimits limits = subaru_gen2 ? SUBARU_GEN2_STEERING_LIMITS : SUBARU_STEERING_LIMITS; - violation |= steer_torque_cmd_checks(desired_torque, steer_req, limits); - } - - // check es_brake brake_pressure limits - if (addr == MSG_SUBARU_ES_Brake) { - int es_brake_pressure = GET_BYTES(to_send, 2, 2); - violation |= longitudinal_brake_checks(es_brake_pressure, SUBARU_LONG_LIMITS); - } - - // check es_distance cruise_throttle limits - if (addr == MSG_SUBARU_ES_Distance) { - int cruise_throttle = (GET_BYTES(to_send, 2, 2) & 0x1FFFU); - bool cruise_cancel = GET_BIT(to_send, 56U); - - if (subaru_longitudinal) { - violation |= longitudinal_gas_checks(cruise_throttle, SUBARU_LONG_LIMITS); - } else { - // If openpilot is not controlling long, only allow ES_Distance for cruise cancel requests, - // (when Cruise_Cancel is true, and Cruise_Throttle is inactive) - violation |= (cruise_throttle != SUBARU_LONG_LIMITS.inactive_gas); - violation |= (!cruise_cancel); - } - } - - // check es_status transmission_rpm limits - if (addr == MSG_SUBARU_ES_Status) { - int transmission_rpm = (GET_BYTES(to_send, 2, 2) & 0x1FFFU); - violation |= longitudinal_transmission_rpm_checks(transmission_rpm, SUBARU_LONG_LIMITS); - } - - if (addr == MSG_SUBARU_ES_UDS_Request) { - // tester present ('\x02\x3E\x80\x00\x00\x00\x00\x00') is allowed for gen2 longitudinal to keep eyesight disabled - bool is_tester_present = (GET_BYTES(to_send, 0, 4) == 0x00803E02U) && (GET_BYTES(to_send, 4, 4) == 0x0U); - - // reading ES button data by identifier (b'\x03\x22\x11\x30\x00\x00\x00\x00') is also allowed (DID 0x1130) - bool is_button_rdbi = (GET_BYTES(to_send, 0, 4) == 0x30112203U) && (GET_BYTES(to_send, 4, 4) == 0x0U); - - violation |= !(is_tester_present || is_button_rdbi); - } - - if (violation){ - tx = false; - } - return tx; -} - -static int subaru_fwd_hook(int bus_num, int addr) { - int bus_fwd = -1; - - if (bus_num == SUBARU_MAIN_BUS) { - bus_fwd = SUBARU_CAM_BUS; // to the eyesight camera - } - - if (bus_num == SUBARU_CAM_BUS) { - // Global platform - bool block_lkas = ((addr == MSG_SUBARU_ES_LKAS) || - (addr == MSG_SUBARU_ES_DashStatus) || - (addr == MSG_SUBARU_ES_LKAS_State) || - (addr == MSG_SUBARU_ES_Infotainment)); - - bool block_long = ((addr == MSG_SUBARU_ES_Brake) || - (addr == MSG_SUBARU_ES_Distance) || - (addr == MSG_SUBARU_ES_Status)); - - bool block_msg = block_lkas || (subaru_longitudinal && block_long); - if (!block_msg) { - bus_fwd = SUBARU_MAIN_BUS; // Main CAN - } - } - - return bus_fwd; -} - -static safety_config subaru_init(uint16_t param) { - subaru_gen2 = GET_FLAG(param, SUBARU_PARAM_GEN2); - -#ifdef ALLOW_DEBUG - subaru_longitudinal = GET_FLAG(param, SUBARU_PARAM_LONGITUDINAL); -#endif - - safety_config ret; - if (subaru_gen2) { - ret = subaru_longitudinal ? BUILD_SAFETY_CFG(subaru_gen2_rx_checks, SUBARU_GEN2_LONG_TX_MSGS) : \ - BUILD_SAFETY_CFG(subaru_gen2_rx_checks, SUBARU_GEN2_TX_MSGS); - } else { - ret = subaru_longitudinal ? BUILD_SAFETY_CFG(subaru_rx_checks, SUBARU_LONG_TX_MSGS) : \ - BUILD_SAFETY_CFG(subaru_rx_checks, SUBARU_TX_MSGS); - } - return ret; -} - -const safety_hooks subaru_hooks = { - .init = subaru_init, - .rx = subaru_rx_hook, - .tx = subaru_tx_hook, - .fwd = subaru_fwd_hook, - .get_counter = subaru_get_counter, - .get_checksum = subaru_get_checksum, - .compute_checksum = subaru_compute_checksum, -}; diff --git a/panda/board/safety/safety_subaru_preglobal.h b/panda/board/safety/safety_subaru_preglobal.h deleted file mode 100644 index 7d44fb0c8fe129..00000000000000 --- a/panda/board/safety/safety_subaru_preglobal.h +++ /dev/null @@ -1,127 +0,0 @@ -const SteeringLimits SUBARU_PG_STEERING_LIMITS = { - .max_steer = 2047, - .max_rt_delta = 940, - .max_rt_interval = 250000, - .max_rate_up = 50, - .max_rate_down = 70, - .driver_torque_factor = 10, - .driver_torque_allowance = 75, - .type = TorqueDriverLimited, -}; - -// Preglobal platform -// 0x161 is ES_CruiseThrottle -// 0x164 is ES_LKAS - -#define MSG_SUBARU_PG_CruiseControl 0x144 -#define MSG_SUBARU_PG_Throttle 0x140 -#define MSG_SUBARU_PG_Wheel_Speeds 0xD4 -#define MSG_SUBARU_PG_Brake_Pedal 0xD1 -#define MSG_SUBARU_PG_ES_LKAS 0x164 -#define MSG_SUBARU_PG_ES_Distance 0x161 -#define MSG_SUBARU_PG_Steering_Torque 0x371 - -#define SUBARU_PG_MAIN_BUS 0 -#define SUBARU_PG_CAM_BUS 2 - -const CanMsg SUBARU_PG_TX_MSGS[] = { - {MSG_SUBARU_PG_ES_Distance, SUBARU_PG_MAIN_BUS, 8}, - {MSG_SUBARU_PG_ES_LKAS, SUBARU_PG_MAIN_BUS, 8} -}; - -// TODO: do checksum and counter checks after adding the signals to the outback dbc file -RxCheck subaru_preglobal_rx_checks[] = { - {.msg = {{MSG_SUBARU_PG_Throttle, SUBARU_PG_MAIN_BUS, 8, .frequency = 100U}, { 0 }, { 0 }}}, - {.msg = {{MSG_SUBARU_PG_Steering_Torque, SUBARU_PG_MAIN_BUS, 8, .frequency = 50U}, { 0 }, { 0 }}}, - {.msg = {{MSG_SUBARU_PG_CruiseControl, SUBARU_PG_MAIN_BUS, 8, .frequency = 20U}, { 0 }, { 0 }}}, -}; - - -const int SUBARU_PG_PARAM_REVERSED_DRIVER_TORQUE = 1; -bool subaru_pg_reversed_driver_torque = false; - - -static void subaru_preglobal_rx_hook(const CANPacket_t *to_push) { - const int bus = GET_BUS(to_push); - - if (bus == SUBARU_PG_MAIN_BUS) { - int addr = GET_ADDR(to_push); - if (addr == MSG_SUBARU_PG_Steering_Torque) { - int torque_driver_new; - torque_driver_new = (GET_BYTE(to_push, 3) >> 5) + (GET_BYTE(to_push, 4) << 3); - torque_driver_new = to_signed(torque_driver_new, 11); - torque_driver_new = subaru_pg_reversed_driver_torque ? -torque_driver_new : torque_driver_new; - update_sample(&torque_driver, torque_driver_new); - } - - // enter controls on rising edge of ACC, exit controls on ACC off - if (addr == MSG_SUBARU_PG_CruiseControl) { - acc_main_on = GET_BIT(to_push, 48U); - bool cruise_engaged = GET_BIT(to_push, 49U); - pcm_cruise_check(cruise_engaged); - } - - // update vehicle moving with any non-zero wheel speed - if (addr == MSG_SUBARU_PG_Wheel_Speeds) { - vehicle_moving = ((GET_BYTES(to_push, 0, 4) >> 12) != 0U) || (GET_BYTES(to_push, 4, 4) != 0U); - } - - if (addr == MSG_SUBARU_PG_Brake_Pedal) { - brake_pressed = ((GET_BYTES(to_push, 0, 4) >> 16) & 0xFFU) > 0U; - } - - if (addr == MSG_SUBARU_PG_Throttle) { - gas_pressed = GET_BYTE(to_push, 0) != 0U; - } - - generic_rx_checks((addr == MSG_SUBARU_PG_ES_LKAS)); - } -} - -static bool subaru_preglobal_tx_hook(const CANPacket_t *to_send) { - bool tx = true; - int addr = GET_ADDR(to_send); - - // steer cmd checks - if (addr == MSG_SUBARU_PG_ES_LKAS) { - int desired_torque = ((GET_BYTES(to_send, 0, 4) >> 8) & 0x1FFFU); - desired_torque = -1 * to_signed(desired_torque, 13); - - bool steer_req = GET_BIT(to_send, 24U); - - if (steer_torque_cmd_checks(desired_torque, steer_req, SUBARU_PG_STEERING_LIMITS)) { - tx = false; - } - - } - return tx; -} - -static int subaru_preglobal_fwd_hook(int bus_num, int addr) { - int bus_fwd = -1; - - if (bus_num == SUBARU_PG_MAIN_BUS) { - bus_fwd = SUBARU_PG_CAM_BUS; // Camera CAN - } - - if (bus_num == SUBARU_PG_CAM_BUS) { - bool block_msg = ((addr == MSG_SUBARU_PG_ES_Distance) || (addr == MSG_SUBARU_PG_ES_LKAS)); - if (!block_msg) { - bus_fwd = SUBARU_PG_MAIN_BUS; // Main CAN - } - } - - return bus_fwd; -} - -static safety_config subaru_preglobal_init(uint16_t param) { - subaru_pg_reversed_driver_torque = GET_FLAG(param, SUBARU_PG_PARAM_REVERSED_DRIVER_TORQUE); - return BUILD_SAFETY_CFG(subaru_preglobal_rx_checks, SUBARU_PG_TX_MSGS); -} - -const safety_hooks subaru_preglobal_hooks = { - .init = subaru_preglobal_init, - .rx = subaru_preglobal_rx_hook, - .tx = subaru_preglobal_tx_hook, - .fwd = subaru_preglobal_fwd_hook, -}; diff --git a/panda/board/safety/safety_tesla.h b/panda/board/safety/safety_tesla.h deleted file mode 100644 index 4c3a1575ccb405..00000000000000 --- a/panda/board/safety/safety_tesla.h +++ /dev/null @@ -1,249 +0,0 @@ -const SteeringLimits TESLA_STEERING_LIMITS = { - .angle_deg_to_can = 10, - .angle_rate_up_lookup = { - {0., 5., 15.}, - {10., 1.6, .3} - }, - .angle_rate_down_lookup = { - {0., 5., 15.}, - {10., 7.0, .8} - }, -}; - -const LongitudinalLimits TESLA_LONG_LIMITS = { - .max_accel = 425, // 2. m/s^2 - .min_accel = 287, // -3.52 m/s^2 // TODO: limit to -3.48 - .inactive_accel = 375, // 0. m/s^2 -}; - - -const int TESLA_FLAG_POWERTRAIN = 1; -const int TESLA_FLAG_LONGITUDINAL_CONTROL = 2; -const int TESLA_FLAG_RAVEN = 4; - -const CanMsg TESLA_TX_MSGS[] = { - {0x488, 0, 4}, // DAS_steeringControl - {0x45, 0, 8}, // STW_ACTN_RQ - {0x45, 2, 8}, // STW_ACTN_RQ - {0x2b9, 0, 8}, // DAS_control -}; - -const CanMsg TESLA_PT_TX_MSGS[] = { - {0x2bf, 0, 8}, // DAS_control -}; - -RxCheck tesla_rx_checks[] = { - {.msg = {{0x2b9, 2, 8, .frequency = 25U}, { 0 }, { 0 }}}, // DAS_control - {.msg = {{0x370, 0, 8, .frequency = 25U}, { 0 }, { 0 }}}, // EPAS_sysStatus - {.msg = {{0x108, 0, 8, .frequency = 100U}, { 0 }, { 0 }}}, // DI_torque1 - {.msg = {{0x118, 0, 6, .frequency = 100U}, { 0 }, { 0 }}}, // DI_torque2 - {.msg = {{0x20a, 0, 8, .frequency = 50U}, { 0 }, { 0 }}}, // BrakeMessage - {.msg = {{0x368, 0, 8, .frequency = 10U}, { 0 }, { 0 }}}, // DI_state - {.msg = {{0x318, 0, 8, .frequency = 10U}, { 0 }, { 0 }}}, // GTW_carState -}; - -RxCheck tesla_raven_rx_checks[] = { - {.msg = {{0x2b9, 2, 8, .frequency = 25U}, { 0 }, { 0 }}}, // DAS_control - {.msg = {{0x131, 2, 8, .frequency = 100U}, { 0 }, { 0 }}}, // EPAS3P_sysStatus - {.msg = {{0x108, 0, 8, .frequency = 100U}, { 0 }, { 0 }}}, // DI_torque1 - {.msg = {{0x118, 0, 6, .frequency = 100U}, { 0 }, { 0 }}}, // DI_torque2 - {.msg = {{0x20a, 0, 8, .frequency = 50U}, { 0 }, { 0 }}}, // BrakeMessage - {.msg = {{0x368, 0, 8, .frequency = 10U}, { 0 }, { 0 }}}, // DI_state - {.msg = {{0x318, 0, 8, .frequency = 10U}, { 0 }, { 0 }}}, // GTW_carState -}; - -RxCheck tesla_pt_rx_checks[] = { - {.msg = {{0x106, 0, 8, .frequency = 100U}, { 0 }, { 0 }}}, // DI_torque1 - {.msg = {{0x116, 0, 6, .frequency = 100U}, { 0 }, { 0 }}}, // DI_torque2 - {.msg = {{0x1f8, 0, 8, .frequency = 50U}, { 0 }, { 0 }}}, // BrakeMessage - {.msg = {{0x2bf, 2, 8, .frequency = 25U}, { 0 }, { 0 }}}, // DAS_control - {.msg = {{0x256, 0, 8, .frequency = 10U}, { 0 }, { 0 }}}, // DI_state -}; - -bool tesla_longitudinal = false; -bool tesla_powertrain = false; // Are we the second panda intercepting the powertrain bus? -bool tesla_raven = false; - -bool tesla_stock_aeb = false; - -static void tesla_rx_hook(const CANPacket_t *to_push) { - int bus = GET_BUS(to_push); - int addr = GET_ADDR(to_push); - - if (!tesla_powertrain) { - if((!tesla_raven && (addr == 0x370) && (bus == 0)) || (tesla_raven && (addr == 0x131) && (bus == 2))) { - // Steering angle: (0.1 * val) - 819.2 in deg. - // Store it 1/10 deg to match steering request - int angle_meas_new = (((GET_BYTE(to_push, 4) & 0x3FU) << 8) | GET_BYTE(to_push, 5)) - 8192U; - update_sample(&angle_meas, angle_meas_new); - } - } - - if(bus == 0) { - if(addr == (tesla_powertrain ? 0x116 : 0x118)) { - // Vehicle speed: ((0.05 * val) - 25) * MPH_TO_MPS - float speed = (((((GET_BYTE(to_push, 3) & 0x0FU) << 8) | (GET_BYTE(to_push, 2))) * 0.05) - 25) * 0.447; - vehicle_moving = ABS(speed) > 0.1; - UPDATE_VEHICLE_SPEED(speed); - } - - if(addr == (tesla_powertrain ? 0x106 : 0x108)) { - // Gas pressed - gas_pressed = (GET_BYTE(to_push, 6) != 0U); - } - - if(addr == (tesla_powertrain ? 0x1f8 : 0x20a)) { - // Brake pressed - brake_pressed = (((GET_BYTE(to_push, 0) & 0x0CU) >> 2) != 1U); - } - - if(addr == (tesla_powertrain ? 0x256 : 0x368)) { - // Cruise state - int cruise_state = (GET_BYTE(to_push, 1) >> 4); - - acc_main_on = (cruise_state == 1) || // STANDBY - (cruise_state == 2) || // ENABLED - (cruise_state == 3) || // STANDSTILL - (cruise_state == 4) || // OVERRIDE - (cruise_state == 6) || // PRE_FAULT - (cruise_state == 7); // PRE_CANCEL - - bool cruise_engaged = (cruise_state == 2) || // ENABLED - (cruise_state == 3) || // STANDSTILL - (cruise_state == 4) || // OVERRIDE - (cruise_state == 6) || // PRE_FAULT - (cruise_state == 7); // PRE_CANCEL - pcm_cruise_check(cruise_engaged); - } - } - - if (bus == 2) { - int das_control_addr = (tesla_powertrain ? 0x2bf : 0x2b9); - if (tesla_longitudinal && (addr == das_control_addr)) { - // "AEB_ACTIVE" - tesla_stock_aeb = ((GET_BYTE(to_push, 2) & 0x03U) == 1U); - } - } - - if (tesla_powertrain) { - // 0x2bf: DAS_control should not be received on bus 0 - generic_rx_checks((addr == 0x2bf) && (bus == 0)); - } else { - // 0x488: DAS_steeringControl should not be received on bus 0 - generic_rx_checks((addr == 0x488) && (bus == 0)); - } - -} - - -static bool tesla_tx_hook(const CANPacket_t *to_send) { - bool tx = true; - int addr = GET_ADDR(to_send); - bool violation = false; - - if(!tesla_powertrain && (addr == 0x488)) { - // Steering control: (0.1 * val) - 1638.35 in deg. - // We use 1/10 deg as a unit here - int raw_angle_can = (((GET_BYTE(to_send, 0) & 0x7FU) << 8) | GET_BYTE(to_send, 1)); - int desired_angle = raw_angle_can - 16384; - int steer_control_type = GET_BYTE(to_send, 2) >> 6; - bool steer_control_enabled = (steer_control_type != 0) && // NONE - (steer_control_type != 3); // DISABLED - - if (steer_angle_cmd_checks(desired_angle, steer_control_enabled, TESLA_STEERING_LIMITS)) { - violation = true; - } - } - - if (!tesla_powertrain && (addr == 0x45)) { - // No button other than cancel can be sent by us - int control_lever_status = (GET_BYTE(to_send, 0) & 0x3FU); - if (control_lever_status != 1) { - violation = true; - } - } - - if(addr == (tesla_powertrain ? 0x2bf : 0x2b9)) { - // DAS_control: longitudinal control message - if (tesla_longitudinal) { - // No AEB events may be sent by openpilot - int aeb_event = GET_BYTE(to_send, 2) & 0x03U; - if (aeb_event != 0) { - violation = true; - } - - // Don't send messages when the stock AEB system is active - if (tesla_stock_aeb) { - violation = true; - } - - // Don't allow any acceleration limits above the safety limits - int raw_accel_max = ((GET_BYTE(to_send, 6) & 0x1FU) << 4) | (GET_BYTE(to_send, 5) >> 4); - int raw_accel_min = ((GET_BYTE(to_send, 5) & 0x0FU) << 5) | (GET_BYTE(to_send, 4) >> 3); - violation |= longitudinal_accel_checks(raw_accel_max, TESLA_LONG_LIMITS); - violation |= longitudinal_accel_checks(raw_accel_min, TESLA_LONG_LIMITS); - } else { - violation = true; - } - } - - if (violation) { - tx = false; - } - - return tx; -} - -static int tesla_fwd_hook(int bus_num, int addr) { - int bus_fwd = -1; - - if(bus_num == 0) { - // Chassis/PT to autopilot - bus_fwd = 2; - } - - if(bus_num == 2) { - // Autopilot to chassis/PT - int das_control_addr = (tesla_powertrain ? 0x2bf : 0x2b9); - - bool block_msg = false; - if (!tesla_powertrain && (addr == 0x488)) { - block_msg = true; - } - - if (tesla_longitudinal && (addr == das_control_addr) && !tesla_stock_aeb) { - block_msg = true; - } - - if(!block_msg) { - bus_fwd = 0; - } - } - - return bus_fwd; -} - -static safety_config tesla_init(uint16_t param) { - tesla_powertrain = GET_FLAG(param, TESLA_FLAG_POWERTRAIN); - tesla_longitudinal = GET_FLAG(param, TESLA_FLAG_LONGITUDINAL_CONTROL); - tesla_raven = GET_FLAG(param, TESLA_FLAG_RAVEN); - - tesla_stock_aeb = false; - - safety_config ret; - if (tesla_powertrain) { - ret = BUILD_SAFETY_CFG(tesla_pt_rx_checks, TESLA_PT_TX_MSGS); - } else if (tesla_raven) { - ret = BUILD_SAFETY_CFG(tesla_raven_rx_checks, TESLA_TX_MSGS); - } else { - ret = BUILD_SAFETY_CFG(tesla_rx_checks, TESLA_TX_MSGS); - } - return ret; -} - -const safety_hooks tesla_hooks = { - .init = tesla_init, - .rx = tesla_rx_hook, - .tx = tesla_tx_hook, - .fwd = tesla_fwd_hook, -}; diff --git a/panda/board/safety/safety_toyota.h b/panda/board/safety/safety_toyota.h deleted file mode 100644 index 36b236ceabcfdd..00000000000000 --- a/panda/board/safety/safety_toyota.h +++ /dev/null @@ -1,475 +0,0 @@ -const SteeringLimits TOYOTA_STEERING_LIMITS = { - .max_steer = 1500, - .max_rate_up = 15, // ramp up slow - .max_rate_down = 25, // ramp down fast - .max_torque_error = 350, // max torque cmd in excess of motor torque - .max_rt_delta = 450, // the real time limit is 1800/sec, a 20% buffer - .max_rt_interval = 250000, - .type = TorqueMotorLimited, - - // the EPS faults when the steering angle rate is above a certain threshold for too long. to prevent this, - // we allow setting STEER_REQUEST bit to 0 while maintaining the requested torque value for a single frame - .min_valid_request_frames = 18, - .max_invalid_request_frames = 1, - .min_valid_request_rt_interval = 170000, // 170ms; a ~10% buffer on cutting every 19 frames - .has_steer_req_tolerance = true, - - // LTA angle limits - // factor for STEER_TORQUE_SENSOR->STEER_ANGLE and STEERING_LTA->STEER_ANGLE_CMD (1 / 0.0573) - .angle_deg_to_can = 17.452007, - .angle_rate_up_lookup = { - {5., 25., 25.}, - {0.3, 0.15, 0.15} - }, - .angle_rate_down_lookup = { - {5., 25., 25.}, - {0.36, 0.26, 0.26} - }, -}; - -const int TOYOTA_LTA_MAX_ANGLE = 1657; // EPS only accepts up to 94.9461 -const int TOYOTA_LTA_MAX_MEAS_TORQUE = 1500; -const int TOYOTA_LTA_MAX_DRIVER_TORQUE = 150; - -// longitudinal limits -const LongitudinalLimits TOYOTA_LONG_LIMITS = { - .max_accel = 2000, // 2.0 m/s2 - .min_accel = -3500, // -3.5 m/s2 -}; - -const LongitudinalLimits TOYOTA_LONG_LIMITS_SPORT = { - .max_accel = 4000, // 4.0 m/s2 - .min_accel = -3500, // -3.5 m/s2 -}; - -// panda interceptor threshold needs to be equivalent to openpilot threshold to avoid controls mismatches -// If thresholds are mismatched then it is possible for panda to see the gas fall and rise while openpilot is in the pre-enabled state -// Threshold calculated from DBC gains: round((((15 + 75.555) / 0.159375) + ((15 + 151.111) / 0.159375)) / 2) = 805 -const int TOYOTA_GAS_INTERCEPTOR_THRSLD = 805; -#define TOYOTA_GET_INTERCEPTOR(msg) (((GET_BYTE((msg), 0) << 8) + GET_BYTE((msg), 1) + (GET_BYTE((msg), 2) << 8) + GET_BYTE((msg), 3)) / 2U) // avg between 2 tracks - -// Stock longitudinal -#define TOYOTA_BASE_TX_MSGS \ - {0x191, 0, 8}, {0x412, 0, 8}, {0x343, 0, 8}, {0x1D2, 0, 8}, /* LKAS + LTA + ACC & PCM cancel cmds */ \ - {0x750, 0, 8}, /* white list 0x750 for Enhanced Diagnostic Request */ \ - -#define TOYOTA_COMMON_TX_MSGS \ - TOYOTA_BASE_TX_MSGS \ - {0x2E4, 0, 5}, \ - -#define TOYOTA_COMMON_SECOC_TX_MSGS \ - TOYOTA_BASE_TX_MSGS \ - {0x2E4, 0, 8}, {0x131, 0, 8}, \ - -#define TOYOTA_COMMON_LONG_TX_MSGS \ - TOYOTA_COMMON_TX_MSGS \ - {0x283, 0, 7}, {0x2E6, 0, 8}, {0x2E7, 0, 8}, {0x33E, 0, 7}, {0x344, 0, 8}, {0x365, 0, 7}, {0x366, 0, 7}, {0x4CB, 0, 8}, /* DSU bus 0 */ \ - {0x128, 1, 6}, {0x141, 1, 4}, {0x160, 1, 8}, {0x161, 1, 7}, {0x470, 1, 4}, /* DSU bus 1 */ \ - {0x411, 0, 8}, /* PCS_HUD */ \ - {0x750, 0, 8}, /* radar diagnostic address */ \ - {0x1D3, 0, 8}, \ - -const CanMsg TOYOTA_TX_MSGS[] = { - TOYOTA_COMMON_TX_MSGS -}; - -const CanMsg TOYOTA_SECOC_TX_MSGS[] = { - TOYOTA_COMMON_SECOC_TX_MSGS -}; - -const CanMsg TOYOTA_LONG_TX_MSGS[] = { - TOYOTA_COMMON_LONG_TX_MSGS -}; - -const CanMsg TOYOTA_INTERCEPTOR_TX_MSGS[] = { - TOYOTA_COMMON_LONG_TX_MSGS - {0x200, 0, 6}, // gas interceptor -}; - -#define TOYOTA_COMMON_RX_CHECKS(lta) \ - {.msg = {{ 0xaa, 0, 8, .check_checksum = false, .frequency = 83U}, { 0 }, { 0 }}}, \ - {.msg = {{0x260, 0, 8, .check_checksum = true, .quality_flag = (lta), .frequency = 50U}, { 0 }, { 0 }}}, \ - {.msg = {{0x1D2, 0, 8, .check_checksum = true, .frequency = 33U}, \ - {0x176, 0, 8, .check_checksum = true, .frequency = 32U}, { 0 }}}, \ - {.msg = {{0x101, 0, 8, .check_checksum = false, .frequency = 50U}, \ - {0x224, 0, 8, .check_checksum = false, .frequency = 40U}, \ - {0x226, 0, 8, .check_checksum = false, .frequency = 40U}}}, \ - -RxCheck toyota_lka_rx_checks[] = { - TOYOTA_COMMON_RX_CHECKS(false) -}; - -RxCheck toyota_lka_interceptor_rx_checks[] = { - TOYOTA_COMMON_RX_CHECKS(false) - {.msg = {{0x201, 0, 6, .check_checksum = false, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}}, -}; - -// Check the quality flag for angle measurement when using LTA, since it's not set on TSS-P cars -RxCheck toyota_lta_rx_checks[] = { - TOYOTA_COMMON_RX_CHECKS(true) -}; - -RxCheck toyota_lta_interceptor_rx_checks[] = { - TOYOTA_COMMON_RX_CHECKS(true) - {.msg = {{0x201, 0, 6, .check_checksum = false, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}}, -}; - -// safety param flags -// first byte is for EPS factor, second is for flags -const uint32_t TOYOTA_PARAM_OFFSET = 8U; -const uint32_t TOYOTA_EPS_FACTOR = (1UL << TOYOTA_PARAM_OFFSET) - 1U; -const uint32_t TOYOTA_PARAM_ALT_BRAKE = 1UL << TOYOTA_PARAM_OFFSET; -const uint32_t TOYOTA_PARAM_STOCK_LONGITUDINAL = 2UL << TOYOTA_PARAM_OFFSET; -const uint32_t TOYOTA_PARAM_LTA = 4UL << TOYOTA_PARAM_OFFSET; -const uint32_t TOYOTA_PARAM_GAS_INTERCEPTOR = 8UL << TOYOTA_PARAM_OFFSET; - -bool toyota_secoc = false; -bool toyota_alt_brake = false; -bool toyota_stock_longitudinal = false; -bool toyota_lta = false; -int toyota_dbc_eps_torque_factor = 100; // conversion factor for STEER_TORQUE_EPS in %: see dbc file - -static uint32_t toyota_compute_checksum(const CANPacket_t *to_push) { - int addr = GET_ADDR(to_push); - int len = GET_LEN(to_push); - uint8_t checksum = (uint8_t)(addr) + (uint8_t)((unsigned int)(addr) >> 8U) + (uint8_t)(len); - for (int i = 0; i < (len - 1); i++) { - checksum += (uint8_t)GET_BYTE(to_push, i); - } - return checksum; -} - -static uint32_t toyota_get_checksum(const CANPacket_t *to_push) { - int checksum_byte = GET_LEN(to_push) - 1U; - return (uint8_t)(GET_BYTE(to_push, checksum_byte)); -} - -static uint8_t toyota_get_counter(const CANPacket_t *to_push) { - int addr = GET_ADDR(to_push); - - uint8_t cnt = 0U; - if (addr == 0x201) { - // Signal: COUNTER_PEDAL - cnt = GET_BYTE(to_push, 4) & 0x0FU; - } - return cnt; -} - -static bool toyota_get_quality_flag_valid(const CANPacket_t *to_push) { - int addr = GET_ADDR(to_push); - - bool valid = false; - if (addr == 0x260) { - valid = !GET_BIT(to_push, 3U); // STEER_ANGLE_INITIALIZING - } - return valid; -} - -static void toyota_rx_hook(const CANPacket_t *to_push) { - if (GET_BUS(to_push) == 0U) { - int addr = GET_ADDR(to_push); - - // get eps motor torque (0.66 factor in dbc) - if (addr == 0x260) { - int torque_meas_new = (GET_BYTE(to_push, 5) << 8) | GET_BYTE(to_push, 6); - torque_meas_new = to_signed(torque_meas_new, 16); - - // scale by dbc_factor - torque_meas_new = (torque_meas_new * toyota_dbc_eps_torque_factor) / 100; - - // update array of sample - update_sample(&torque_meas, torque_meas_new); - - // increase torque_meas by 1 to be conservative on rounding - torque_meas.min--; - torque_meas.max++; - - // driver torque for angle limiting - int torque_driver_new = (GET_BYTE(to_push, 1) << 8) | GET_BYTE(to_push, 2); - torque_driver_new = to_signed(torque_driver_new, 16); - update_sample(&torque_driver, torque_driver_new); - - // LTA request angle should match current angle while inactive, clipped to max accepted angle. - // note that angle can be relative to init angle on some TSS2 platforms, LTA has the same offset - bool steer_angle_initializing = GET_BIT(to_push, 3U); - if (!steer_angle_initializing) { - int angle_meas_new = (GET_BYTE(to_push, 3) << 8U) | GET_BYTE(to_push, 4); - angle_meas_new = CLAMP(to_signed(angle_meas_new, 16), -TOYOTA_LTA_MAX_ANGLE, TOYOTA_LTA_MAX_ANGLE); - update_sample(&angle_meas, angle_meas_new); - } - } - - if (addr == 0x1D3) { - acc_main_on = GET_BIT(to_push, 15U); - } - - // enter controls on rising edge of ACC, exit controls on ACC off - // exit controls on rising edge of gas press - if (addr == 0x1D2) { - // 5th bit is CRUISE_ACTIVE - bool cruise_engaged = GET_BIT(to_push, 5U); - pcm_cruise_check(cruise_engaged); - - // sample gas pedal - if (!enable_gas_interceptor) { - gas_pressed = !GET_BIT(to_push, 4U); - } - } - - // sample speed - if (addr == 0xaa) { - int speed = 0; - // sum 4 wheel speeds. conversion: raw * 0.01 - 67.67 - for (uint8_t i = 0U; i < 8U; i += 2U) { - int wheel_speed = (GET_BYTE(to_push, i) << 8U) | GET_BYTE(to_push, (i + 1U)); - speed += wheel_speed - 6767; - } - // check that all wheel speeds are at zero value - vehicle_moving = speed != 0; - - UPDATE_VEHICLE_SPEED(speed / 4.0 * 0.01 / 3.6); - } - - // most cars have brake_pressed on 0x226, corolla and rav4 on 0x224 - if (((addr == 0x224) && toyota_alt_brake) || ((addr == 0x226) && !toyota_alt_brake)) { - uint8_t bit = (addr == 0x224) ? 5U : 37U; - brake_pressed = GET_BIT(to_push, bit); - } - - // sample gas interceptor - if ((addr == 0x201) && enable_gas_interceptor) { - int gas_interceptor = TOYOTA_GET_INTERCEPTOR(to_push); - gas_pressed = gas_interceptor > TOYOTA_GAS_INTERCEPTOR_THRSLD; - - // TODO: remove this, only left in for gas_interceptor_prev test - gas_interceptor_prev = gas_interceptor; - } - - bool stock_ecu_detected = addr == 0x2E4; // STEERING_LKA - if (!toyota_stock_longitudinal && (addr == 0x343)) { - stock_ecu_detected = true; // ACC_CONTROL - } - generic_rx_checks(stock_ecu_detected); - } -} - -static bool toyota_tx_hook(const CANPacket_t *to_send) { - sport_mode = alternative_experience & ALT_EXP_RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX; - - bool tx = true; - int addr = GET_ADDR(to_send); - int bus = GET_BUS(to_send); - - // Check if msg is sent on BUS 0 - if (bus == 0) { - - // GAS PEDAL: safety check - if (addr == 0x200) { - if (longitudinal_interceptor_checks(to_send)) { - tx = false; - } - } - - // ACCEL: safety check on byte 1-2 - if (addr == 0x343) { - int desired_accel = (GET_BYTE(to_send, 0) << 8) | GET_BYTE(to_send, 1); - desired_accel = to_signed(desired_accel, 16); - - bool violation = false; - if (sport_mode) { - violation |= longitudinal_accel_checks(desired_accel, TOYOTA_LONG_LIMITS_SPORT); - } else { - violation |= longitudinal_accel_checks(desired_accel, TOYOTA_LONG_LIMITS); - } - - // only ACC messages that cancel are allowed when openpilot is not controlling longitudinal - if (toyota_stock_longitudinal) { - bool cancel_req = GET_BIT(to_send, 24U); - if (!cancel_req) { - violation = true; - } - if (desired_accel != TOYOTA_LONG_LIMITS.inactive_accel) { - violation = true; - } - } - - if (violation) { - tx = false; - } - } - - // AEB: block all actuation. only used when DSU is unplugged - if (addr == 0x283) { - // only allow the checksum, which is the last byte - bool block = (GET_BYTES(to_send, 0, 4) != 0U) || (GET_BYTE(to_send, 4) != 0U) || (GET_BYTE(to_send, 5) != 0U); - if (block) { - tx = false; - } - } - - // STEERING_LTA angle steering check - if (addr == 0x191) { - // check the STEER_REQUEST, STEER_REQUEST_2, TORQUE_WIND_DOWN, STEER_ANGLE_CMD signals - bool lta_request = GET_BIT(to_send, 0U); - bool lta_request2 = GET_BIT(to_send, 25U); - int torque_wind_down = GET_BYTE(to_send, 5); - int lta_angle = (GET_BYTE(to_send, 1) << 8) | GET_BYTE(to_send, 2); - lta_angle = to_signed(lta_angle, 16); - - bool steer_control_enabled = lta_request || lta_request2; - if (!toyota_lta) { - // using torque (LKA), block LTA msgs with actuation requests - if (steer_control_enabled || (lta_angle != 0) || (torque_wind_down != 0)) { - tx = false; - } - } else { - // check angle rate limits and inactive angle - if (steer_angle_cmd_checks(lta_angle, steer_control_enabled, TOYOTA_STEERING_LIMITS)) { - tx = false; - } - - if (lta_request != lta_request2) { - tx = false; - } - - // TORQUE_WIND_DOWN is gated on steer request - if (!steer_control_enabled && (torque_wind_down != 0)) { - tx = false; - } - - // TORQUE_WIND_DOWN can only be no or full torque - if ((torque_wind_down != 0) && (torque_wind_down != 100)) { - tx = false; - } - - // check if we should wind down torque - int driver_torque = MIN(ABS(torque_driver.min), ABS(torque_driver.max)); - if ((driver_torque > TOYOTA_LTA_MAX_DRIVER_TORQUE) && (torque_wind_down != 0)) { - tx = false; - } - - int eps_torque = MIN(ABS(torque_meas.min), ABS(torque_meas.max)); - if ((eps_torque > TOYOTA_LTA_MAX_MEAS_TORQUE) && (torque_wind_down != 0)) { - tx = false; - } - } - } - - // STEERING_LTA_2 angle steering check (SecOC) - if (toyota_secoc && (addr == 0x131)) { - // SecOC cars block any form of LTA actuation for now - bool lta_request = GET_BIT(to_send, 3U); // STEERING_LTA_2.STEER_REQUEST - bool lta_request2 = GET_BIT(to_send, 0U); // STEERING_LTA_2.STEER_REQUEST_2 - int lta_angle_msb = GET_BYTE(to_send, 2); // STEERING_LTA_2.STEER_ANGLE_CMD (MSB) - int lta_angle_lsb = GET_BYTE(to_send, 3); // STEERING_LTA_2.STEER_ANGLE_CMD (LSB) - bool actuation = lta_request || lta_request2 || (lta_angle_msb != 0) || (lta_angle_lsb != 0); - if (actuation) { - tx = false; - } - } - // STEER: safety check on bytes 2-3 - if (addr == 0x2E4) { - int desired_torque = (GET_BYTE(to_send, 1) << 8) | GET_BYTE(to_send, 2); - desired_torque = to_signed(desired_torque, 16); - bool steer_req = GET_BIT(to_send, 0U); - // When using LTA (angle control), assert no actuation on LKA message - if (!toyota_lta) { - if (steer_torque_cmd_checks(desired_torque, steer_req, TOYOTA_STEERING_LIMITS)) { - tx = false; - } - } else { - if ((desired_torque != 0) || steer_req) { - tx = false; - } - } - } - } - - // UDS: Only tester present ("\x0F\x02\x3E\x00\x00\x00\x00\x00") allowed on diagnostics address - if (addr == 0x750) { - // this address is sub-addressed. only allow tester present to radar (0xF) - bool invalid_uds_msg = (GET_BYTES(to_send, 0, 4) != 0x003E020FU) || (GET_BYTES(to_send, 4, 4) != 0x0U); - // AleSato added some more hack'sss - bool valid_uds_msgs = (GET_BYTES(to_send, 0, 4) == 0x11300540U); // automatic door locking and unlocking - if (invalid_uds_msg && !valid_uds_msgs) { - tx = 0; - } - } - - return tx; -} - -static safety_config toyota_init(uint16_t param) { -#ifdef ALLOW_DEBUG - const uint32_t TOYOTA_PARAM_SECOC = 8UL << TOYOTA_PARAM_OFFSET; - toyota_secoc = GET_FLAG(param, TOYOTA_PARAM_SECOC); -#endif - - toyota_alt_brake = GET_FLAG(param, TOYOTA_PARAM_ALT_BRAKE); - toyota_stock_longitudinal = GET_FLAG(param, TOYOTA_PARAM_STOCK_LONGITUDINAL); - toyota_lta = GET_FLAG(param, TOYOTA_PARAM_LTA); - enable_gas_interceptor = GET_FLAG(param, TOYOTA_PARAM_GAS_INTERCEPTOR); - toyota_dbc_eps_torque_factor = param & TOYOTA_EPS_FACTOR; - - // Gas interceptor should not be used if openpilot is not controlling longitudinal - if (toyota_stock_longitudinal) { - enable_gas_interceptor = false; - } - - safety_config ret; - if (toyota_stock_longitudinal) { - if (toyota_secoc) { - SET_TX_MSGS(TOYOTA_SECOC_TX_MSGS, ret); - } else { - SET_TX_MSGS(TOYOTA_TX_MSGS, ret); - } - } else { - enable_gas_interceptor ? SET_TX_MSGS(TOYOTA_INTERCEPTOR_TX_MSGS, ret) : \ - SET_TX_MSGS(TOYOTA_LONG_TX_MSGS, ret); - } - - if (enable_gas_interceptor) { - toyota_lta ? SET_RX_CHECKS(toyota_lta_interceptor_rx_checks, ret) : \ - SET_RX_CHECKS(toyota_lka_interceptor_rx_checks, ret); - } else { - toyota_lta ? SET_RX_CHECKS(toyota_lta_rx_checks, ret) : \ - SET_RX_CHECKS(toyota_lka_rx_checks, ret); - } - return ret; -} - -static int toyota_fwd_hook(int bus_num, int addr) { - - int bus_fwd = -1; - - if (bus_num == 0) { - bus_fwd = 2; - } - - if (bus_num == 2) { - // block stock lkas messages and stock acc messages (if OP is doing ACC) - // in TSS2, 0x191 is LTA which we need to block to avoid controls collision - bool is_lkas_msg = ((addr == 0x2E4) || (addr == 0x412) || (addr == 0x191)); - // on SecOC cars 0x131 is also LTA - is_lkas_msg |= toyota_secoc && (addr == 0x131); - // in TSS2 the camera does ACC as well, so filter 0x343 - bool is_acc_msg = (addr == 0x343); - bool block_msg = is_lkas_msg || (is_acc_msg && !toyota_stock_longitudinal); - if (!block_msg) { - bus_fwd = 0; - } - } - - return bus_fwd; -} - -const safety_hooks toyota_hooks = { - .init = toyota_init, - .rx = toyota_rx_hook, - .tx = toyota_tx_hook, - .fwd = toyota_fwd_hook, - .get_checksum = toyota_get_checksum, - .compute_checksum = toyota_compute_checksum, - .get_counter = toyota_get_counter, - .get_quality_flag_valid = toyota_get_quality_flag_valid, -}; diff --git a/panda/board/safety/safety_volkswagen_common.h b/panda/board/safety/safety_volkswagen_common.h deleted file mode 100644 index ce2bf580feacde..00000000000000 --- a/panda/board/safety/safety_volkswagen_common.h +++ /dev/null @@ -1,10 +0,0 @@ -#ifndef SAFETY_VOLKSWAGEN_COMMON_H -#define SAFETY_VOLKSWAGEN_COMMON_H - -const uint16_t FLAG_VOLKSWAGEN_LONG_CONTROL = 1; - -bool volkswagen_longitudinal = false; -bool volkswagen_set_button_prev = false; -bool volkswagen_resume_button_prev = false; - -#endif diff --git a/panda/board/safety/safety_volkswagen_mqb.h b/panda/board/safety/safety_volkswagen_mqb.h deleted file mode 100644 index 0a84342f540483..00000000000000 --- a/panda/board/safety/safety_volkswagen_mqb.h +++ /dev/null @@ -1,312 +0,0 @@ -#include "safety_volkswagen_common.h" - -// lateral limits -const SteeringLimits VOLKSWAGEN_MQB_STEERING_LIMITS = { - .max_steer = 300, // 3.0 Nm (EPS side max of 3.0Nm with fault if violated) - .max_rt_delta = 75, // 4 max rate up * 50Hz send rate * 250000 RT interval / 1000000 = 50 ; 50 * 1.5 for safety pad = 75 - .max_rt_interval = 250000, // 250ms between real time checks - .max_rate_up = 4, // 2.0 Nm/s RoC limit (EPS rack has own soft-limit of 5.0 Nm/s) - .max_rate_down = 10, // 5.0 Nm/s RoC limit (EPS rack has own soft-limit of 5.0 Nm/s) - .driver_torque_allowance = 80, - .driver_torque_factor = 3, - .type = TorqueDriverLimited, -}; - -// longitudinal limits -// acceleration in m/s2 * 1000 to avoid floating point math -const LongitudinalLimits VOLKSWAGEN_MQB_LONG_LIMITS = { - .max_accel = 2000, - .min_accel = -3500, - .inactive_accel = 3010, // VW sends one increment above the max range when inactive -}; - -const LongitudinalLimits VOLKSWAGEN_MQB_LONG_LIMITS_SPORT = { - .max_accel = 4000, - .min_accel = -3500, - .inactive_accel = 3010, // VW sends one increment above the max range when inactive -}; - -#define MSG_ESP_19 0x0B2 // RX from ABS, for wheel speeds -#define MSG_LH_EPS_03 0x09F // RX from EPS, for driver steering torque -#define MSG_ESP_05 0x106 // RX from ABS, for brake switch state -#define MSG_TSK_06 0x120 // RX from ECU, for ACC status from drivetrain coordinator -#define MSG_MOTOR_20 0x121 // RX from ECU, for driver throttle input -#define MSG_ACC_06 0x122 // TX by OP, ACC control instructions to the drivetrain coordinator -#define MSG_HCA_01 0x126 // TX by OP, Heading Control Assist steering torque -#define MSG_GRA_ACC_01 0x12B // TX by OP, ACC control buttons for cancel/resume -#define MSG_ACC_07 0x12E // TX by OP, ACC control instructions to the drivetrain coordinator -#define MSG_ACC_02 0x30C // TX by OP, ACC HUD data to the instrument cluster -#define MSG_MOTOR_14 0x3BE // RX from ECU, for brake switch status -#define MSG_LDW_02 0x397 // TX by OP, Lane line recognition and text alerts - -// Transmit of GRA_ACC_01 is allowed on bus 0 and 2 to keep compatibility with gateway and camera integration -const CanMsg VOLKSWAGEN_MQB_STOCK_TX_MSGS[] = {{MSG_HCA_01, 0, 8}, {MSG_GRA_ACC_01, 0, 8}, {MSG_GRA_ACC_01, 2, 8}, - {MSG_LDW_02, 0, 8}, {MSG_LH_EPS_03, 2, 8}}; -const CanMsg VOLKSWAGEN_MQB_LONG_TX_MSGS[] = {{MSG_HCA_01, 0, 8}, {MSG_LDW_02, 0, 8}, {MSG_LH_EPS_03, 2, 8}, - {MSG_ACC_02, 0, 8}, {MSG_ACC_06, 0, 8}, {MSG_ACC_07, 0, 8}}; - -RxCheck volkswagen_mqb_rx_checks[] = { - {.msg = {{MSG_ESP_19, 0, 8, .check_checksum = false, .max_counter = 0U, .frequency = 100U}, { 0 }, { 0 }}}, - {.msg = {{MSG_LH_EPS_03, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 100U}, { 0 }, { 0 }}}, - {.msg = {{MSG_ESP_05, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}}, - {.msg = {{MSG_TSK_06, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}}, - {.msg = {{MSG_MOTOR_20, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 50U}, { 0 }, { 0 }}}, - {.msg = {{MSG_MOTOR_14, 0, 8, .check_checksum = false, .max_counter = 0U, .frequency = 10U}, { 0 }, { 0 }}}, - {.msg = {{MSG_GRA_ACC_01, 0, 8, .check_checksum = true, .max_counter = 15U, .frequency = 33U}, { 0 }, { 0 }}}, -}; - -uint8_t volkswagen_crc8_lut_8h2f[256]; // Static lookup table for CRC8 poly 0x2F, aka 8H2F/AUTOSAR -bool volkswagen_mqb_brake_pedal_switch = false; -bool volkswagen_mqb_brake_pressure_detected = false; - -static uint32_t volkswagen_mqb_get_checksum(const CANPacket_t *to_push) { - return (uint8_t)GET_BYTE(to_push, 0); -} - -static uint8_t volkswagen_mqb_get_counter(const CANPacket_t *to_push) { - // MQB message counters are consistently found at LSB 8. - return (uint8_t)GET_BYTE(to_push, 1) & 0xFU; -} - -static uint32_t volkswagen_mqb_compute_crc(const CANPacket_t *to_push) { - int addr = GET_ADDR(to_push); - int len = GET_LEN(to_push); - - // This is CRC-8H2F/AUTOSAR with a twist. See the OpenDBC implementation - // of this algorithm for a version with explanatory comments. - - uint8_t crc = 0xFFU; - for (int i = 1; i < len; i++) { - crc ^= (uint8_t)GET_BYTE(to_push, i); - crc = volkswagen_crc8_lut_8h2f[crc]; - } - - uint8_t counter = volkswagen_mqb_get_counter(to_push); - if (addr == MSG_LH_EPS_03) { - crc ^= (uint8_t[]){0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5}[counter]; - } else if (addr == MSG_ESP_05) { - crc ^= (uint8_t[]){0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07}[counter]; - } else if (addr == MSG_TSK_06) { - crc ^= (uint8_t[]){0xC4,0xE2,0x4F,0xE4,0xF8,0x2F,0x56,0x81,0x9F,0xE5,0x83,0x44,0x05,0x3F,0x97,0xDF}[counter]; - } else if (addr == MSG_MOTOR_20) { - crc ^= (uint8_t[]){0xE9,0x65,0xAE,0x6B,0x7B,0x35,0xE5,0x5F,0x4E,0xC7,0x86,0xA2,0xBB,0xDD,0xEB,0xB4}[counter]; - } else if (addr == MSG_GRA_ACC_01) { - crc ^= (uint8_t[]){0x6A,0x38,0xB4,0x27,0x22,0xEF,0xE1,0xBB,0xF8,0x80,0x84,0x49,0xC7,0x9E,0x1E,0x2B}[counter]; - } else { - // Undefined CAN message, CRC check expected to fail - } - crc = volkswagen_crc8_lut_8h2f[crc]; - - return (uint8_t)(crc ^ 0xFFU); -} - -static safety_config volkswagen_mqb_init(uint16_t param) { - UNUSED(param); - - volkswagen_set_button_prev = false; - volkswagen_resume_button_prev = false; - volkswagen_mqb_brake_pedal_switch = false; - volkswagen_mqb_brake_pressure_detected = false; - -#ifdef ALLOW_DEBUG - volkswagen_longitudinal = GET_FLAG(param, FLAG_VOLKSWAGEN_LONG_CONTROL); -#endif - gen_crc_lookup_table_8(0x2F, volkswagen_crc8_lut_8h2f); - return volkswagen_longitudinal ? BUILD_SAFETY_CFG(volkswagen_mqb_rx_checks, VOLKSWAGEN_MQB_LONG_TX_MSGS) : \ - BUILD_SAFETY_CFG(volkswagen_mqb_rx_checks, VOLKSWAGEN_MQB_STOCK_TX_MSGS); -} - -static void volkswagen_mqb_rx_hook(const CANPacket_t *to_push) { - if (GET_BUS(to_push) == 0U) { - int addr = GET_ADDR(to_push); - - // Update in-motion state by sampling wheel speeds - if (addr == MSG_ESP_19) { - // sum 4 wheel speeds - int speed = 0; - for (uint8_t i = 0U; i < 8U; i += 2U) { - int wheel_speed = GET_BYTE(to_push, i) | (GET_BYTE(to_push, i + 1U) << 8); - speed += wheel_speed; - } - // Check all wheel speeds for any movement - vehicle_moving = speed > 0; - } - - // Update driver input torque samples - // Signal: LH_EPS_03.EPS_Lenkmoment (absolute torque) - // Signal: LH_EPS_03.EPS_VZ_Lenkmoment (direction) - if (addr == MSG_LH_EPS_03) { - int torque_driver_new = GET_BYTE(to_push, 5) | ((GET_BYTE(to_push, 6) & 0x1FU) << 8); - int sign = (GET_BYTE(to_push, 6) & 0x80U) >> 7; - if (sign == 1) { - torque_driver_new *= -1; - } - update_sample(&torque_driver, torque_driver_new); - } - - if (addr == MSG_TSK_06) { - // When using stock ACC, enter controls on rising edge of stock ACC engage, exit on disengage - // Always exit controls on main switch off - // Signal: TSK_06.TSK_Status - int acc_status = (GET_BYTE(to_push, 3) & 0x7U); - bool cruise_engaged = (acc_status == 3) || (acc_status == 4) || (acc_status == 5); - acc_main_on = cruise_engaged || (acc_status == 2); - - if (!volkswagen_longitudinal) { - pcm_cruise_check(cruise_engaged); - } - - if (!acc_main_on) { - controls_allowed = false; - } - } - - if (addr == MSG_GRA_ACC_01) { - // If using openpilot longitudinal, enter controls on falling edge of Set or Resume with main switch on - // Signal: GRA_ACC_01.GRA_Tip_Setzen - // Signal: GRA_ACC_01.GRA_Tip_Wiederaufnahme - if (volkswagen_longitudinal) { - bool set_button = GET_BIT(to_push, 16U); - bool resume_button = GET_BIT(to_push, 19U); - if ((volkswagen_set_button_prev && !set_button) || (volkswagen_resume_button_prev && !resume_button)) { - controls_allowed = acc_main_on; - } - volkswagen_set_button_prev = set_button; - volkswagen_resume_button_prev = resume_button; - } - // Always exit controls on rising edge of Cancel - // Signal: GRA_ACC_01.GRA_Abbrechen - if (GET_BIT(to_push, 13U)) { - controls_allowed = false; - } - } - - // Signal: Motor_20.MO_Fahrpedalrohwert_01 - if (addr == MSG_MOTOR_20) { - gas_pressed = ((GET_BYTES(to_push, 0, 4) >> 12) & 0xFFU) != 0U; - } - - // Signal: Motor_14.MO_Fahrer_bremst (ECU detected brake pedal switch F63) - if (addr == MSG_MOTOR_14) { - volkswagen_mqb_brake_pedal_switch = (GET_BYTE(to_push, 3) & 0x10U) >> 4; - } - - // Signal: ESP_05.ESP_Fahrer_bremst (ESP detected driver brake pressure above platform specified threshold) - if (addr == MSG_ESP_05) { - volkswagen_mqb_brake_pressure_detected = (GET_BYTE(to_push, 3) & 0x4U) >> 2; - } - - brake_pressed = volkswagen_mqb_brake_pedal_switch || volkswagen_mqb_brake_pressure_detected; - - generic_rx_checks((addr == MSG_HCA_01)); - } -} - -static bool volkswagen_mqb_tx_hook(const CANPacket_t *to_send) { - sport_mode = alternative_experience & ALT_EXP_RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX; - - int addr = GET_ADDR(to_send); - bool tx = true; - - // Safety check for HCA_01 Heading Control Assist torque - // Signal: HCA_01.HCA_01_LM_Offset (absolute torque) - // Signal: HCA_01.HCA_01_LM_OffSign (direction) - if (addr == MSG_HCA_01) { - int desired_torque = GET_BYTE(to_send, 2) | ((GET_BYTE(to_send, 3) & 0x1U) << 8); - bool sign = GET_BIT(to_send, 31U); - if (sign) { - desired_torque *= -1; - } - - bool steer_req = GET_BIT(to_send, 30U); - - if (steer_torque_cmd_checks(desired_torque, steer_req, VOLKSWAGEN_MQB_STEERING_LIMITS)) { - tx = false; - } - } - - // Safety check for both ACC_06 and ACC_07 acceleration requests - // To avoid floating point math, scale upward and compare to pre-scaled safety m/s2 boundaries - if ((addr == MSG_ACC_06) || (addr == MSG_ACC_07)) { - bool violation = false; - int desired_accel = 0; - - if (addr == MSG_ACC_06) { - // Signal: ACC_06.ACC_Sollbeschleunigung_02 (acceleration in m/s2, scale 0.005, offset -7.22) - desired_accel = ((((GET_BYTE(to_send, 4) & 0x7U) << 8) | GET_BYTE(to_send, 3)) * 5U) - 7220U; - } else { - // Signal: ACC_07.ACC_Folgebeschl (acceleration in m/s2, scale 0.03, offset -4.6) - int secondary_accel = (GET_BYTE(to_send, 4) * 30U) - 4600U; - violation |= (secondary_accel != 3020); // enforce always inactive (one increment above max range) at this time - // Signal: ACC_07.ACC_Sollbeschleunigung_02 (acceleration in m/s2, scale 0.005, offset -7.22) - desired_accel = (((GET_BYTE(to_send, 7) << 3) | ((GET_BYTE(to_send, 6) & 0xE0U) >> 5)) * 5U) - 7220U; - } - - if (sport_mode) { - if (desired_accel != 0) { - violation |= longitudinal_accel_checks(desired_accel, VOLKSWAGEN_MQB_LONG_LIMITS_SPORT); - } - } else { - violation |= longitudinal_accel_checks(desired_accel, VOLKSWAGEN_MQB_LONG_LIMITS); - } - - if (violation) { - tx = false; - } - } - - // FORCE CANCEL: ensuring that only the cancel button press is sent when controls are off. - // This avoids unintended engagements while still allowing resume spam - if ((addr == MSG_GRA_ACC_01) && !controls_allowed) { - // disallow resume and set: bits 16 and 19 - if ((GET_BYTE(to_send, 2) & 0x9U) != 0U) { - tx = false; - } - } - - return tx; -} - -static int volkswagen_mqb_fwd_hook(int bus_num, int addr) { - int bus_fwd = -1; - - switch (bus_num) { - case 0: - if (addr == MSG_LH_EPS_03) { - // openpilot needs to replace apparent driver steering input torque to pacify VW Emergency Assist - bus_fwd = -1; - } else { - // Forward all remaining traffic from Extended CAN onward - bus_fwd = 2; - } - break; - case 2: - if ((addr == MSG_HCA_01) || (addr == MSG_LDW_02)) { - // openpilot takes over LKAS steering control and related HUD messages from the camera - bus_fwd = -1; - } else if (volkswagen_longitudinal && ((addr == MSG_ACC_02) || (addr == MSG_ACC_06) || (addr == MSG_ACC_07))) { - // openpilot takes over acceleration/braking control and related HUD messages from the stock ACC radar - bus_fwd = -1; - } else { - // Forward all remaining traffic from Extended CAN devices to J533 gateway - bus_fwd = 0; - } - break; - default: - // No other buses should be in use; fallback to do-not-forward - bus_fwd = -1; - break; - } - - return bus_fwd; -} - -const safety_hooks volkswagen_mqb_hooks = { - .init = volkswagen_mqb_init, - .rx = volkswagen_mqb_rx_hook, - .tx = volkswagen_mqb_tx_hook, - .fwd = volkswagen_mqb_fwd_hook, - .get_counter = volkswagen_mqb_get_counter, - .get_checksum = volkswagen_mqb_get_checksum, - .compute_checksum = volkswagen_mqb_compute_crc, -}; diff --git a/panda/board/safety/safety_volkswagen_pq.h b/panda/board/safety/safety_volkswagen_pq.h deleted file mode 100644 index c8838cf481e48d..00000000000000 --- a/panda/board/safety/safety_volkswagen_pq.h +++ /dev/null @@ -1,269 +0,0 @@ -#include "safety_volkswagen_common.h" - -// lateral limits -const SteeringLimits VOLKSWAGEN_PQ_STEERING_LIMITS = { - .max_steer = 300, // 3.0 Nm (EPS side max of 3.0Nm with fault if violated) - .max_rt_delta = 113, // 6 max rate up * 50Hz send rate * 250000 RT interval / 1000000 = 75 ; 125 * 1.5 for safety pad = 113 - .max_rt_interval = 250000, // 250ms between real time checks - .max_rate_up = 6, // 3.0 Nm/s RoC limit (EPS rack has own soft-limit of 5.0 Nm/s) - .max_rate_down = 10, // 5.0 Nm/s RoC limit (EPS rack has own soft-limit of 5.0 Nm/s) - .driver_torque_factor = 3, - .driver_torque_allowance = 80, - .type = TorqueDriverLimited, -}; - -// longitudinal limits -// acceleration in m/s2 * 1000 to avoid floating point math -const LongitudinalLimits VOLKSWAGEN_PQ_LONG_LIMITS = { - .max_accel = 2000, - .min_accel = -3500, - .inactive_accel = 3010, // VW sends one increment above the max range when inactive -}; - -const LongitudinalLimits VOLKSWAGEN_PQ_LONG_LIMITS_SPORT = { - .max_accel = 4000, - .min_accel = -3500, - .inactive_accel = 3010, // VW sends one increment above the max range when inactive -}; - -#define MSG_LENKHILFE_3 0x0D0 // RX from EPS, for steering angle and driver steering torque -#define MSG_HCA_1 0x0D2 // TX by OP, Heading Control Assist steering torque -#define MSG_BREMSE_1 0x1A0 // RX from ABS, for ego speed -#define MSG_MOTOR_2 0x288 // RX from ECU, for CC state and brake switch state -#define MSG_ACC_SYSTEM 0x368 // TX by OP, longitudinal acceleration controls -#define MSG_MOTOR_3 0x380 // RX from ECU, for driver throttle input -#define MSG_GRA_NEU 0x38A // TX by OP, ACC control buttons for cancel/resume -#define MSG_MOTOR_5 0x480 // RX from ECU, for ACC main switch state -#define MSG_ACC_GRA_ANZEIGE 0x56A // TX by OP, ACC HUD -#define MSG_LDW_1 0x5BE // TX by OP, Lane line recognition and text alerts - -// Transmit of GRA_Neu is allowed on bus 0 and 2 to keep compatibility with gateway and camera integration -const CanMsg VOLKSWAGEN_PQ_STOCK_TX_MSGS[] = {{MSG_HCA_1, 0, 5}, {MSG_LDW_1, 0, 8}, - {MSG_GRA_NEU, 0, 4}, {MSG_GRA_NEU, 2, 4}}; -const CanMsg VOLKSWAGEN_PQ_LONG_TX_MSGS[] = {{MSG_HCA_1, 0, 5}, {MSG_LDW_1, 0, 8}, - {MSG_ACC_SYSTEM, 0, 8}, {MSG_ACC_GRA_ANZEIGE, 0, 8}}; - -RxCheck volkswagen_pq_rx_checks[] = { - {.msg = {{MSG_LENKHILFE_3, 0, 6, .check_checksum = true, .max_counter = 15U, .frequency = 100U}, { 0 }, { 0 }}}, - {.msg = {{MSG_BREMSE_1, 0, 8, .check_checksum = false, .max_counter = 0U, .frequency = 100U}, { 0 }, { 0 }}}, - {.msg = {{MSG_MOTOR_2, 0, 8, .check_checksum = false, .max_counter = 0U, .frequency = 50U}, { 0 }, { 0 }}}, - {.msg = {{MSG_MOTOR_3, 0, 8, .check_checksum = false, .max_counter = 0U, .frequency = 100U}, { 0 }, { 0 }}}, - {.msg = {{MSG_MOTOR_5, 0, 8, .check_checksum = true, .max_counter = 0U, .frequency = 50U}, { 0 }, { 0 }}}, - {.msg = {{MSG_GRA_NEU, 0, 4, .check_checksum = true, .max_counter = 15U, .frequency = 30U}, { 0 }, { 0 }}}, -}; - -static uint32_t volkswagen_pq_get_checksum(const CANPacket_t *to_push) { - int addr = GET_ADDR(to_push); - - return (uint32_t)GET_BYTE(to_push, (addr == MSG_MOTOR_5) ? 7 : 0); -} - -static uint8_t volkswagen_pq_get_counter(const CANPacket_t *to_push) { - int addr = GET_ADDR(to_push); - uint8_t counter = 0U; - - if (addr == MSG_LENKHILFE_3) { - counter = (uint8_t)(GET_BYTE(to_push, 1) & 0xF0U) >> 4; - } else if (addr == MSG_GRA_NEU) { - counter = (uint8_t)(GET_BYTE(to_push, 2) & 0xF0U) >> 4; - } else { - } - - return counter; -} - -static uint32_t volkswagen_pq_compute_checksum(const CANPacket_t *to_push) { - int addr = GET_ADDR(to_push); - int len = GET_LEN(to_push); - uint8_t checksum = 0U; - int checksum_byte = (addr == MSG_MOTOR_5) ? 7 : 0; - - // Simple XOR over the payload, except for the byte where the checksum lives. - for (int i = 0; i < len; i++) { - if (i != checksum_byte) { - checksum ^= (uint8_t)GET_BYTE(to_push, i); - } - } - - return checksum; -} - -static safety_config volkswagen_pq_init(uint16_t param) { - UNUSED(param); - - volkswagen_set_button_prev = false; - volkswagen_resume_button_prev = false; - -#ifdef ALLOW_DEBUG - volkswagen_longitudinal = GET_FLAG(param, FLAG_VOLKSWAGEN_LONG_CONTROL); -#endif - return volkswagen_longitudinal ? BUILD_SAFETY_CFG(volkswagen_pq_rx_checks, VOLKSWAGEN_PQ_LONG_TX_MSGS) : \ - BUILD_SAFETY_CFG(volkswagen_pq_rx_checks, VOLKSWAGEN_PQ_STOCK_TX_MSGS); -} - -static void volkswagen_pq_rx_hook(const CANPacket_t *to_push) { - if (GET_BUS(to_push) == 0U) { - int addr = GET_ADDR(to_push); - - // Update in-motion state from speed value. - // Signal: Bremse_1.Geschwindigkeit_neu__Bremse_1_ - if (addr == MSG_BREMSE_1) { - int speed = ((GET_BYTE(to_push, 2) & 0xFEU) >> 1) | (GET_BYTE(to_push, 3) << 7); - vehicle_moving = speed > 0; - } - - // Update driver input torque samples - // Signal: Lenkhilfe_3.LH3_LM (absolute torque) - // Signal: Lenkhilfe_3.LH3_LMSign (direction) - if (addr == MSG_LENKHILFE_3) { - int torque_driver_new = GET_BYTE(to_push, 2) | ((GET_BYTE(to_push, 3) & 0x3U) << 8); - int sign = (GET_BYTE(to_push, 3) & 0x4U) >> 2; - if (sign == 1) { - torque_driver_new *= -1; - } - update_sample(&torque_driver, torque_driver_new); - } - - if (volkswagen_longitudinal) { - if (addr == MSG_MOTOR_5) { - // ACC main switch on is a prerequisite to enter controls, exit controls immediately on main switch off - // Signal: Motor_5.GRA_Hauptschalter - acc_main_on = GET_BIT(to_push, 50U); - if (!acc_main_on) { - controls_allowed = false; - } - } - - if (addr == MSG_GRA_NEU) { - // If ACC main switch is on, enter controls on falling edge of Set or Resume - // Signal: GRA_Neu.GRA_Neu_Setzen - // Signal: GRA_Neu.GRA_Neu_Recall - bool set_button = GET_BIT(to_push, 16U); - bool resume_button = GET_BIT(to_push, 17U); - if ((volkswagen_set_button_prev && !set_button) || (volkswagen_resume_button_prev && !resume_button)) { - controls_allowed = acc_main_on; - } - volkswagen_set_button_prev = set_button; - volkswagen_resume_button_prev = resume_button; - // Exit controls on rising edge of Cancel, override Set/Resume if present simultaneously - // Signal: GRA_ACC_01.GRA_Abbrechen - if (GET_BIT(to_push, 9U)) { - controls_allowed = false; - } - } - } else { - if (addr == MSG_MOTOR_2) { - // Enter controls on rising edge of stock ACC, exit controls if stock ACC disengages - // Signal: Motor_2.GRA_Status - int acc_status = (GET_BYTE(to_push, 2) & 0xC0U) >> 6; - bool cruise_engaged = (acc_status == 1) || (acc_status == 2); - pcm_cruise_check(cruise_engaged); - } - } - - // Signal: Motor_3.Fahrpedal_Rohsignal - if (addr == MSG_MOTOR_3) { - gas_pressed = (GET_BYTE(to_push, 2)); - } - - // Signal: Motor_2.Bremslichtschalter - if (addr == MSG_MOTOR_2) { - brake_pressed = (GET_BYTE(to_push, 2) & 0x1U); - } - - generic_rx_checks((addr == MSG_HCA_1)); - } -} - -static bool volkswagen_pq_tx_hook(const CANPacket_t *to_send) { - sport_mode = alternative_experience & ALT_EXP_RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX; - - int addr = GET_ADDR(to_send); - bool tx = true; - - // Safety check for HCA_1 Heading Control Assist torque - // Signal: HCA_1.LM_Offset (absolute torque) - // Signal: HCA_1.LM_Offsign (direction) - if (addr == MSG_HCA_1) { - int desired_torque = GET_BYTE(to_send, 2) | ((GET_BYTE(to_send, 3) & 0x7FU) << 8); - desired_torque = desired_torque / 32; // DBC scale from PQ network to centi-Nm - int sign = (GET_BYTE(to_send, 3) & 0x80U) >> 7; - if (sign == 1) { - desired_torque *= -1; - } - - uint32_t hca_status = ((GET_BYTE(to_send, 1) >> 4) & 0xFU); - bool steer_req = ((hca_status == 5U) || (hca_status == 7U)); - - if (steer_torque_cmd_checks(desired_torque, steer_req, VOLKSWAGEN_PQ_STEERING_LIMITS)) { - tx = false; - } - } - - // Safety check for acceleration commands - // To avoid floating point math, scale upward and compare to pre-scaled safety m/s2 boundaries - if (addr == MSG_ACC_SYSTEM) { - // Signal: ACC_System.ACS_Sollbeschl (acceleration in m/s2, scale 0.005, offset -7.22) - int desired_accel = ((((GET_BYTE(to_send, 4) & 0x7U) << 8) | GET_BYTE(to_send, 3)) * 5U) - 7220U; - - if (sport_mode) { - if (longitudinal_accel_checks(desired_accel, VOLKSWAGEN_PQ_LONG_LIMITS_SPORT)) { - tx = false; - } - } else { - if (longitudinal_accel_checks(desired_accel, VOLKSWAGEN_PQ_LONG_LIMITS)) { - tx = false; - } - } - } - - // FORCE CANCEL: ensuring that only the cancel button press is sent when controls are off. - // This avoids unintended engagements while still allowing resume spam - if ((addr == MSG_GRA_NEU) && !controls_allowed) { - // Signal: GRA_Neu.GRA_Neu_Setzen - // Signal: GRA_Neu.GRA_Neu_Recall - if (GET_BIT(to_send, 16U) || GET_BIT(to_send, 17U)) { - tx = false; - } - } - - return tx; -} - -static int volkswagen_pq_fwd_hook(int bus_num, int addr) { - int bus_fwd = -1; - - switch (bus_num) { - case 0: - // Forward all traffic from the Extended CAN onward - bus_fwd = 2; - break; - case 2: - if ((addr == MSG_HCA_1) || (addr == MSG_LDW_1)) { - // openpilot takes over LKAS steering control and related HUD messages from the camera - bus_fwd = -1; - } else if (volkswagen_longitudinal && ((addr == MSG_ACC_SYSTEM) || (addr == MSG_ACC_GRA_ANZEIGE))) { - // openpilot takes over acceleration/braking control and related HUD messages from the stock ACC radar - } else { - // Forward all remaining traffic from Extended CAN devices to J533 gateway - bus_fwd = 0; - } - break; - default: - // No other buses should be in use; fallback to do-not-forward - bus_fwd = -1; - break; - } - - return bus_fwd; -} - -const safety_hooks volkswagen_pq_hooks = { - .init = volkswagen_pq_init, - .rx = volkswagen_pq_rx_hook, - .tx = volkswagen_pq_tx_hook, - .fwd = volkswagen_pq_fwd_hook, - .get_counter = volkswagen_pq_get_counter, - .get_checksum = volkswagen_pq_get_checksum, - .compute_checksum = volkswagen_pq_compute_checksum, -}; diff --git a/panda/board/safety_declarations.h b/panda/board/safety_declarations.h deleted file mode 100644 index 0427d90aab1433..00000000000000 --- a/panda/board/safety_declarations.h +++ /dev/null @@ -1,276 +0,0 @@ -#pragma once - -#define GET_BIT(msg, b) ((bool)!!(((msg)->data[((b) / 8U)] >> ((b) % 8U)) & 0x1U)) -#define GET_BYTE(msg, b) ((msg)->data[(b)]) -#define GET_FLAG(value, mask) (((__typeof__(mask))(value) & (mask)) == (mask)) // cppcheck-suppress misra-c2012-1.2; allow __typeof__ - -#define BUILD_SAFETY_CFG(rx, tx) ((safety_config){(rx), (sizeof((rx)) / sizeof((rx)[0])), \ - (tx), (sizeof((tx)) / sizeof((tx)[0]))}) -#define SET_RX_CHECKS(rx, config) ((config).rx_checks = (rx), \ - (config).rx_checks_len = sizeof((rx)) / sizeof((rx)[0])) -#define SET_TX_MSGS(tx, config) ((config).tx_msgs = (tx), \ - (config).tx_msgs_len = sizeof((tx)) / sizeof((tx)[0])) -#define UPDATE_VEHICLE_SPEED(val_ms) (update_sample(&vehicle_speed, ROUND((val_ms) * VEHICLE_SPEED_FACTOR))) - -uint32_t GET_BYTES(const CANPacket_t *msg, int start, int len) { - uint32_t ret = 0U; - for (int i = 0; i < len; i++) { - const uint32_t shift = i * 8; - ret |= (((uint32_t)msg->data[start + i]) << shift); - } - return ret; -} - -const int MAX_WRONG_COUNTERS = 5; -const uint8_t MAX_MISSED_MSGS = 10U; -#define MAX_ADDR_CHECK_MSGS 3U -#define MAX_SAMPLE_VALS 6 -// used to represent floating point vehicle speed in a sample_t -#define VEHICLE_SPEED_FACTOR 100.0 - - -// sample struct that keeps 6 samples in memory -struct sample_t { - int values[MAX_SAMPLE_VALS]; - int min; - int max; -} sample_t_default = {.values = {0}, .min = 0, .max = 0}; - -// safety code requires floats -struct lookup_t { - float x[3]; - float y[3]; -}; - -typedef struct { - int addr; - int bus; - int len; -} CanMsg; - -typedef enum { - TorqueMotorLimited, // torque steering command, limited by EPS output torque - TorqueDriverLimited, // torque steering command, limited by driver's input torque -} SteeringControlType; - -typedef struct { - // torque cmd limits - const int max_steer; - const int max_rate_up; - const int max_rate_down; - const int max_rt_delta; - const uint32_t max_rt_interval; - - const SteeringControlType type; - - // driver torque limits - const int driver_torque_allowance; - const int driver_torque_factor; - - // motor torque limits - const int max_torque_error; - - // safety around steer req bit - const int min_valid_request_frames; - const int max_invalid_request_frames; - const uint32_t min_valid_request_rt_interval; - const bool has_steer_req_tolerance; - - // angle cmd limits - const float angle_deg_to_can; - const struct lookup_t angle_rate_up_lookup; - const struct lookup_t angle_rate_down_lookup; - const int max_angle_error; // used to limit error between meas and cmd while enabled - const float angle_error_min_speed; // minimum speed to start limiting angle error - - const bool enforce_angle_error; // enables max_angle_error check - const bool inactive_angle_is_zero; // if false, enforces angle near meas when disabled (default) -} SteeringLimits; - -typedef struct { - // acceleration cmd limits - const int max_accel; - const int min_accel; - const int inactive_accel; - - // gas & brake cmd limits - // inactive and min gas are 0 on most safety modes - const int max_gas; - const int min_gas; - const int inactive_gas; - const int max_brake; - - // transmission rpm limits - const int max_transmission_rpm; - const int min_transmission_rpm; - const int inactive_transmission_rpm; - - // speed cmd limits - const int inactive_speed; -} LongitudinalLimits; - -typedef struct { - const int addr; - const int bus; - const int len; - const bool check_checksum; // true is checksum check is performed - const uint8_t max_counter; // maximum value of the counter. 0 means that the counter check is skipped - const bool quality_flag; // true is quality flag check is performed - const uint32_t frequency; // expected frequency of the message [Hz] -} CanMsgCheck; - -typedef struct { - // dynamic flags, reset on safety mode init - bool msg_seen; - int index; // if multiple messages are allowed to be checked, this stores the index of the first one seen. only msg[msg_index] will be used - bool valid_checksum; // true if and only if checksum check is passed - int wrong_counters; // counter of wrong counters, saturated between 0 and MAX_WRONG_COUNTERS - bool valid_quality_flag; // true if the message's quality/health/status signals are valid - uint8_t last_counter; // last counter value - uint32_t last_timestamp; // micro-s - bool lagging; // true if and only if the time between updates is excessive -} RxStatus; - -// params and flags about checksum, counter and frequency checks for each monitored address -typedef struct { - const CanMsgCheck msg[MAX_ADDR_CHECK_MSGS]; // check either messages (e.g. honda steer) - RxStatus status; -} RxCheck; - -typedef struct { - RxCheck *rx_checks; - int rx_checks_len; - const CanMsg *tx_msgs; - int tx_msgs_len; -} safety_config; - -typedef uint32_t (*get_checksum_t)(const CANPacket_t *to_push); -typedef uint32_t (*compute_checksum_t)(const CANPacket_t *to_push); -typedef uint8_t (*get_counter_t)(const CANPacket_t *to_push); -typedef bool (*get_quality_flag_valid_t)(const CANPacket_t *to_push); - -typedef safety_config (*safety_hook_init)(uint16_t param); -typedef void (*rx_hook)(const CANPacket_t *to_push); -typedef bool (*tx_hook)(const CANPacket_t *to_send); -typedef int (*fwd_hook)(int bus_num, int addr); - -typedef struct { - safety_hook_init init; - rx_hook rx; - tx_hook tx; - fwd_hook fwd; - get_checksum_t get_checksum; - compute_checksum_t compute_checksum; - get_counter_t get_counter; - get_quality_flag_valid_t get_quality_flag_valid; -} safety_hooks; - -bool safety_rx_hook(const CANPacket_t *to_push); -bool safety_tx_hook(CANPacket_t *to_send); -uint32_t get_ts_elapsed(uint32_t ts, uint32_t ts_last); -int to_signed(int d, int bits); -void update_sample(struct sample_t *sample, int sample_new); -void reset_sample(struct sample_t *sample); -bool max_limit_check(int val, const int MAX, const int MIN); -bool angle_dist_to_meas_check(int val, struct sample_t *val_meas, - const int MAX_ERROR, const int MAX_VAL); -bool dist_to_meas_check(int val, int val_last, struct sample_t *val_meas, - const int MAX_RATE_UP, const int MAX_RATE_DOWN, const int MAX_ERROR); -bool driver_limit_check(int val, int val_last, const struct sample_t *val_driver, - const int MAX, const int MAX_RATE_UP, const int MAX_RATE_DOWN, - const int MAX_ALLOWANCE, const int DRIVER_FACTOR); -bool get_longitudinal_allowed(void); -bool rt_rate_limit_check(int val, int val_last, const int MAX_RT_DELTA); -float interpolate(struct lookup_t xy, float x); -int ROUND(float val); -void gen_crc_lookup_table_8(uint8_t poly, uint8_t crc_lut[]); -void gen_crc_lookup_table_16(uint16_t poly, uint16_t crc_lut[]); -bool msg_allowed(const CANPacket_t *to_send, const CanMsg msg_list[], int len); -int get_addr_check_index(const CANPacket_t *to_push, RxCheck addr_list[], const int len); -void update_counter(RxCheck addr_list[], int index, uint8_t counter); -void update_addr_timestamp(RxCheck addr_list[], int index); -bool is_msg_valid(RxCheck addr_list[], int index); -bool rx_msg_safety_check(const CANPacket_t *to_push, - const safety_config *cfg, - const safety_hooks *safety_hooks); -void generic_rx_checks(bool stock_ecu_detected); -void relay_malfunction_set(void); -void relay_malfunction_reset(void); -bool steer_torque_cmd_checks(int desired_torque, int steer_req, const SteeringLimits limits); -bool steer_angle_cmd_checks(int desired_angle, bool steer_control_enabled, const SteeringLimits limits); -bool longitudinal_accel_checks(int desired_accel, const LongitudinalLimits limits); -bool longitudinal_speed_checks(int desired_speed, const LongitudinalLimits limits); -bool longitudinal_gas_checks(int desired_gas, const LongitudinalLimits limits); -bool longitudinal_transmission_rpm_checks(int desired_transmission_rpm, const LongitudinalLimits limits); -bool longitudinal_brake_checks(int desired_brake, const LongitudinalLimits limits); -bool longitudinal_interceptor_checks(const CANPacket_t *to_send); -void pcm_cruise_check(bool cruise_engaged); - -void safety_tick(const safety_config *safety_config); - -// This can be set by the safety hooks -bool controls_allowed = false; -bool relay_malfunction = false; -bool enable_gas_interceptor = false; -int gas_interceptor_prev = 0; -bool gas_pressed = false; -bool gas_pressed_prev = false; -bool brake_pressed = false; -bool brake_pressed_prev = false; -bool regen_braking = false; -bool regen_braking_prev = false; -bool cruise_engaged_prev = false; -bool sport_mode = false; -struct sample_t vehicle_speed; -bool vehicle_moving = false; -bool acc_main_on = false; // referred to as "ACC off" in ISO 15622:2018 -int cruise_button_prev = 0; -int cruise_main_prev = 0; -bool safety_rx_checks_invalid = false; - -// for safety modes with torque steering control -int desired_torque_last = 0; // last desired steer torque -int rt_torque_last = 0; // last desired torque for real time check -int valid_steer_req_count = 0; // counter for steer request bit matching non-zero torque -int invalid_steer_req_count = 0; // counter to allow multiple frames of mismatching torque request bit -struct sample_t torque_meas; // last 6 motor torques produced by the eps -struct sample_t torque_driver; // last 6 driver torques measured -uint32_t ts_torque_check_last = 0; -uint32_t ts_steer_req_mismatch_last = 0; // last timestamp steer req was mismatched with torque - -// state for controls_allowed timeout logic -bool heartbeat_engaged = false; // openpilot enabled, passed in heartbeat USB command -uint32_t heartbeat_engaged_mismatches = 0; // count of mismatches between heartbeat_engaged and controls_allowed - -// for safety modes with angle steering control -uint32_t ts_angle_last = 0; -int desired_angle_last = 0; -struct sample_t angle_meas; // last 6 steer angles/curvatures - -// This can be set with a USB command -// It enables features that allow alternative experiences, like not disengaging on gas press -// It is only either 0 or 1 on mainline comma.ai openpilot - -#define ALT_EXP_DISABLE_DISENGAGE_ON_GAS 1 - -// If using this flag, make sure to communicate to your users that a stock safety feature is now disabled. -#define ALT_EXP_DISABLE_STOCK_AEB 2 - -// If using this flag, be aware that harder braking is more likely to lead to rear endings, -// and that alone this flag doesn't make braking compliant because there's also a time element. -// Setting this flag is used for allowing the full -5.0 to +4.0 m/s^2 at lower speeds -// See ISO 15622:2018 for more information. -#define ALT_EXP_RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX 8 - -// This flag allows AEB to be commanded from openpilot. -#define ALT_EXP_ALLOW_AEB 16 - -int alternative_experience = 0; - -// time since safety mode has been changed -uint32_t safety_mode_cnt = 0U; -// allow 1s of transition timeout after relay changes state before assessing malfunctioning -const uint32_t RELAY_TRNS_TIMEOUT = 1U; - -// Always on Lateral -#define ALT_EXP_ALWAYS_ON_LATERAL 32 diff --git a/panda/board/stm32f4/board.h b/panda/board/stm32f4/board.h deleted file mode 100644 index bf95d58eaa9f6c..00000000000000 --- a/panda/board/stm32f4/board.h +++ /dev/null @@ -1,39 +0,0 @@ -// ///////////////////////////////////////////////////////////// // -// Hardware abstraction layer for all different supported boards // -// ///////////////////////////////////////////////////////////// // -#include "boards/board_declarations.h" -#include "boards/unused_funcs.h" - -// ///// Board definition and detection ///// // -#include "stm32f4/lladc.h" -#include "drivers/harness.h" -#include "drivers/fan.h" -#include "stm32f4/llfan.h" -#include "drivers/clock_source.h" -#include "boards/white.h" -#include "boards/grey.h" -#include "boards/black.h" -#include "boards/uno.h" -#include "boards/dos.h" - -void detect_board_type(void) { - // SPI lines floating: white (TODO: is this reliable? Not really, we have to enable ESP/GPS to be able to detect this on the UART) - set_gpio_output(GPIOC, 14, 1); - set_gpio_output(GPIOC, 5, 1); - if(!detect_with_pull(GPIOB, 1, PULL_UP) && !detect_with_pull(GPIOB, 7, PULL_UP)){ - hw_type = HW_TYPE_DOS; - current_board = &board_dos; - } else if((detect_with_pull(GPIOA, 4, PULL_DOWN)) || (detect_with_pull(GPIOA, 5, PULL_DOWN)) || (detect_with_pull(GPIOA, 6, PULL_DOWN)) || (detect_with_pull(GPIOA, 7, PULL_DOWN))){ - hw_type = HW_TYPE_WHITE_PANDA; - current_board = &board_white; - } else if(detect_with_pull(GPIOA, 13, PULL_DOWN)) { // Rev AB deprecated, so no pullup means black. In REV C, A13 is pulled up to 5V with a 10K - hw_type = HW_TYPE_GREY_PANDA; - current_board = &board_grey; - } else if(!detect_with_pull(GPIOB, 15, PULL_UP)) { - hw_type = HW_TYPE_UNO; - current_board = &board_uno; - } else { - hw_type = HW_TYPE_BLACK_PANDA; - current_board = &board_black; - } -} diff --git a/panda/board/stm32f4/clock.h b/panda/board/stm32f4/clock.h deleted file mode 100644 index f0084faccb4e78..00000000000000 --- a/panda/board/stm32f4/clock.h +++ /dev/null @@ -1,34 +0,0 @@ -void clock_init(void) { - // enable external oscillator - register_set_bits(&(RCC->CR), RCC_CR_HSEON); - while ((RCC->CR & RCC_CR_HSERDY) == 0U); - - // divide things - // AHB = 96MHz - // APB1 = 48MHz - // APB2 = 48MHz - register_set(&(RCC->CFGR), RCC_CFGR_HPRE_DIV1 | RCC_CFGR_PPRE2_DIV2 | RCC_CFGR_PPRE1_DIV2, 0xFF7FFCF3U); - - // 16MHz crystal - // PLLM: 8 - // PLLN: 96 - // PLLP: 2 - // PLLQ: 4 - // P output: 96MHz - // Q output: 48MHz - register_set(&(RCC->PLLCFGR), RCC_PLLCFGR_PLLQ_2 | RCC_PLLCFGR_PLLM_3 | RCC_PLLCFGR_PLLN_6 | RCC_PLLCFGR_PLLN_5 | RCC_PLLCFGR_PLLSRC_HSE, 0x7F437FFFU); - - // start PLL - register_set_bits(&(RCC->CR), RCC_CR_PLLON); - while ((RCC->CR & RCC_CR_PLLRDY) == 0U); - - // Configure Flash prefetch, Instruction cache, Data cache and wait state - // *** without this, it breaks *** - register_set(&(FLASH->ACR), FLASH_ACR_ICEN | FLASH_ACR_DCEN | FLASH_ACR_LATENCY_5WS, 0x1F0FU); - - // switch to PLL - register_set_bits(&(RCC->CFGR), RCC_CFGR_SW_PLL); - while ((RCC->CFGR & RCC_CFGR_SWS) != RCC_CFGR_SWS_PLL); - - // *** running on PLL *** -} diff --git a/panda/board/stm32f4/inc/cmsis_compiler.h b/panda/board/stm32f4/inc/cmsis_compiler.h deleted file mode 100644 index d0f39eef67ed91..00000000000000 --- a/panda/board/stm32f4/inc/cmsis_compiler.h +++ /dev/null @@ -1,284 +0,0 @@ -/**************************************************************************//** - * @file cmsis_compiler.h - * @brief CMSIS compiler generic header file - * @version V5.1.0 - * @date 09. October 2018 - ******************************************************************************/ -/* - * Copyright (c) 2009-2018 Arm Limited. All rights reserved. - * - * SPDX-License-Identifier: Apache-2.0 - * - * Licensed under the Apache License, Version 2.0 (the License); you may - * not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an AS IS BASIS, WITHOUT - * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - -#ifndef __CMSIS_COMPILER_H -#define __CMSIS_COMPILER_H - -#include - -/* - * Arm Compiler 4/5 - */ -#if defined ( __CC_ARM ) - #include "cmsis_armcc.h" - - -/* - * Arm Compiler 6.6 LTM (armclang) - */ -#elif defined (__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050) && (__ARMCC_VERSION < 6100100) - #include "cmsis_armclang_ltm.h" - - /* - * Arm Compiler above 6.10.1 (armclang) - */ -#elif defined (__ARMCC_VERSION) && (__ARMCC_VERSION >= 6100100) - #include "cmsis_armclang.h" - - -/* - * GNU Compiler - */ -#elif defined ( __GNUC__ ) - #include "cmsis_gcc.h" - - -/* - * IAR Compiler - */ -#elif defined ( __ICCARM__ ) - #include - - -/* - * TI Arm Compiler - */ -#elif defined ( __TI_ARM__ ) - #include - - #ifndef __ASM - #define __ASM __asm - #endif - #ifndef __INLINE - #define __INLINE inline - #endif - #ifndef __STATIC_INLINE - #define __STATIC_INLINE static inline - #endif - #ifndef __STATIC_FORCEINLINE - #define __STATIC_FORCEINLINE __STATIC_INLINE - #endif - #ifndef __NO_RETURN - #define __NO_RETURN __attribute__((noreturn)) - #endif - #ifndef __USED - #define __USED __attribute__((used)) - #endif - #ifndef __WEAK - #define __WEAK __attribute__((weak)) - #endif - #ifndef __PACKED - #define __PACKED __attribute__((packed)) - #endif - #ifndef __PACKED_STRUCT - #define __PACKED_STRUCT struct __attribute__((packed)) - #endif - #ifndef __PACKED_UNION - #define __PACKED_UNION union __attribute__((packed)) - #endif - #ifndef __UNALIGNED_UINT32 /* deprecated */ - struct __attribute__((packed)) T_UINT32 { uint32_t v; }; - #define __UNALIGNED_UINT32(x) (((struct T_UINT32 *)(x))->v) - #endif - #ifndef __UNALIGNED_UINT16_WRITE - __PACKED_STRUCT T_UINT16_WRITE { uint16_t v; }; - #define __UNALIGNED_UINT16_WRITE(addr, val) (void)((((struct T_UINT16_WRITE *)(void*)(addr))->v) = (val)) - #endif - #ifndef __UNALIGNED_UINT16_READ - __PACKED_STRUCT T_UINT16_READ { uint16_t v; }; - #define __UNALIGNED_UINT16_READ(addr) (((const struct T_UINT16_READ *)(const void *)(addr))->v) - #endif - #ifndef __UNALIGNED_UINT32_WRITE - __PACKED_STRUCT T_UINT32_WRITE { uint32_t v; }; - #define __UNALIGNED_UINT32_WRITE(addr, val) (void)((((struct T_UINT32_WRITE *)(void *)(addr))->v) = (val)) - #endif - #ifndef __UNALIGNED_UINT32_READ - __PACKED_STRUCT T_UINT32_READ { uint32_t v; }; - #define __UNALIGNED_UINT32_READ(addr) (((const struct T_UINT32_READ *)(const void *)(addr))->v) - #endif - #ifndef __ALIGNED - #define __ALIGNED(x) __attribute__((aligned(x))) - #endif - #ifndef __RESTRICT - #define __RESTRICT __restrict - #endif - #ifndef __COMPILER_BARRIER - #warning No compiler specific solution for __COMPILER_BARRIER. __COMPILER_BARRIER is ignored. - #define __COMPILER_BARRIER() (void)0 - #endif - - -/* - * TASKING Compiler - */ -#elif defined ( __TASKING__ ) - /* - * The CMSIS functions have been implemented as intrinsics in the compiler. - * Please use "carm -?i" to get an up to date list of all intrinsics, - * Including the CMSIS ones. - */ - - #ifndef __ASM - #define __ASM __asm - #endif - #ifndef __INLINE - #define __INLINE inline - #endif - #ifndef __STATIC_INLINE - #define __STATIC_INLINE static inline - #endif - #ifndef __STATIC_FORCEINLINE - #define __STATIC_FORCEINLINE __STATIC_INLINE - #endif - #ifndef __NO_RETURN - #define __NO_RETURN __attribute__((noreturn)) - #endif - #ifndef __USED - #define __USED __attribute__((used)) - #endif - #ifndef __WEAK - #define __WEAK __attribute__((weak)) - #endif - #ifndef __PACKED - #define __PACKED __packed__ - #endif - #ifndef __PACKED_STRUCT - #define __PACKED_STRUCT struct __packed__ - #endif - #ifndef __PACKED_UNION - #define __PACKED_UNION union __packed__ - #endif - #ifndef __UNALIGNED_UINT32 /* deprecated */ - struct __packed__ T_UINT32 { uint32_t v; }; - #define __UNALIGNED_UINT32(x) (((struct T_UINT32 *)(x))->v) - #endif - #ifndef __UNALIGNED_UINT16_WRITE - __PACKED_STRUCT T_UINT16_WRITE { uint16_t v; }; - #define __UNALIGNED_UINT16_WRITE(addr, val) (void)((((struct T_UINT16_WRITE *)(void *)(addr))->v) = (val)) - #endif - #ifndef __UNALIGNED_UINT16_READ - __PACKED_STRUCT T_UINT16_READ { uint16_t v; }; - #define __UNALIGNED_UINT16_READ(addr) (((const struct T_UINT16_READ *)(const void *)(addr))->v) - #endif - #ifndef __UNALIGNED_UINT32_WRITE - __PACKED_STRUCT T_UINT32_WRITE { uint32_t v; }; - #define __UNALIGNED_UINT32_WRITE(addr, val) (void)((((struct T_UINT32_WRITE *)(void *)(addr))->v) = (val)) - #endif - #ifndef __UNALIGNED_UINT32_READ - __PACKED_STRUCT T_UINT32_READ { uint32_t v; }; - #define __UNALIGNED_UINT32_READ(addr) (((const struct T_UINT32_READ *)(const void *)(addr))->v) - #endif - #ifndef __ALIGNED - #define __ALIGNED(x) __align(x) - #endif - #ifndef __RESTRICT - #warning No compiler specific solution for __RESTRICT. __RESTRICT is ignored. - #define __RESTRICT - #endif - #ifndef __COMPILER_BARRIER - #warning No compiler specific solution for __COMPILER_BARRIER. __COMPILER_BARRIER is ignored. - #define __COMPILER_BARRIER() (void)0 - #endif - - -/* - * COSMIC Compiler - */ -#elif defined ( __CSMC__ ) - #include - - #ifndef __ASM - #define __ASM _asm - #endif - #ifndef __INLINE - #define __INLINE inline - #endif - #ifndef __STATIC_INLINE - #define __STATIC_INLINE static inline - #endif - #ifndef __STATIC_FORCEINLINE - #define __STATIC_FORCEINLINE __STATIC_INLINE - #endif - #ifndef __NO_RETURN - // NO RETURN is automatically detected hence no warning here - #define __NO_RETURN - #endif - #ifndef __USED - #warning No compiler specific solution for __USED. __USED is ignored. - #define __USED - #endif - #ifndef __WEAK - #define __WEAK __weak - #endif - #ifndef __PACKED - #define __PACKED @packed - #endif - #ifndef __PACKED_STRUCT - #define __PACKED_STRUCT @packed struct - #endif - #ifndef __PACKED_UNION - #define __PACKED_UNION @packed union - #endif - #ifndef __UNALIGNED_UINT32 /* deprecated */ - @packed struct T_UINT32 { uint32_t v; }; - #define __UNALIGNED_UINT32(x) (((struct T_UINT32 *)(x))->v) - #endif - #ifndef __UNALIGNED_UINT16_WRITE - __PACKED_STRUCT T_UINT16_WRITE { uint16_t v; }; - #define __UNALIGNED_UINT16_WRITE(addr, val) (void)((((struct T_UINT16_WRITE *)(void *)(addr))->v) = (val)) - #endif - #ifndef __UNALIGNED_UINT16_READ - __PACKED_STRUCT T_UINT16_READ { uint16_t v; }; - #define __UNALIGNED_UINT16_READ(addr) (((const struct T_UINT16_READ *)(const void *)(addr))->v) - #endif - #ifndef __UNALIGNED_UINT32_WRITE - __PACKED_STRUCT T_UINT32_WRITE { uint32_t v; }; - #define __UNALIGNED_UINT32_WRITE(addr, val) (void)((((struct T_UINT32_WRITE *)(void *)(addr))->v) = (val)) - #endif - #ifndef __UNALIGNED_UINT32_READ - __PACKED_STRUCT T_UINT32_READ { uint32_t v; }; - #define __UNALIGNED_UINT32_READ(addr) (((const struct T_UINT32_READ *)(const void *)(addr))->v) - #endif - #ifndef __ALIGNED - #warning No compiler specific solution for __ALIGNED. __ALIGNED is ignored. - #define __ALIGNED(x) - #endif - #ifndef __RESTRICT - #warning No compiler specific solution for __RESTRICT. __RESTRICT is ignored. - #define __RESTRICT - #endif - #ifndef __COMPILER_BARRIER - #warning No compiler specific solution for __COMPILER_BARRIER. __COMPILER_BARRIER is ignored. - #define __COMPILER_BARRIER() (void)0 - #endif - - -#else - #error Unknown compiler. -#endif - - -#endif /* __CMSIS_COMPILER_H */ - - diff --git a/panda/board/stm32f4/inc/cmsis_gcc.h b/panda/board/stm32f4/inc/cmsis_gcc.h deleted file mode 100644 index 2f68473f64e216..00000000000000 --- a/panda/board/stm32f4/inc/cmsis_gcc.h +++ /dev/null @@ -1,2169 +0,0 @@ -/**************************************************************************//** - * @file cmsis_gcc.h - * @brief CMSIS compiler GCC header file - * @version V5.2.0 - * @date 08. May 2019 - ******************************************************************************/ -/* - * Copyright (c) 2009-2019 Arm Limited. All rights reserved. - * - * SPDX-License-Identifier: Apache-2.0 - * - * Licensed under the Apache License, Version 2.0 (the License); you may - * not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an AS IS BASIS, WITHOUT - * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - -#ifndef __CMSIS_GCC_H -#define __CMSIS_GCC_H - -/* ignore some GCC warnings */ -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wsign-conversion" -#pragma GCC diagnostic ignored "-Wconversion" -#pragma GCC diagnostic ignored "-Wunused-parameter" - -/* Fallback for __has_builtin */ -#ifndef __has_builtin - #define __has_builtin(x) (0) -#endif - -/* CMSIS compiler specific defines */ -#ifndef __ASM - #define __ASM __asm -#endif -#ifndef __INLINE - #define __INLINE inline -#endif -#ifndef __STATIC_INLINE - #define __STATIC_INLINE static inline -#endif -#ifndef __STATIC_FORCEINLINE - #define __STATIC_FORCEINLINE __attribute__((always_inline)) static inline -#endif -#ifndef __NO_RETURN - #define __NO_RETURN __attribute__((__noreturn__)) -#endif -#ifndef __USED - #define __USED __attribute__((used)) -#endif -#ifndef __WEAK - #define __WEAK __attribute__((weak)) -#endif -#ifndef __PACKED - #define __PACKED __attribute__((packed, aligned(1))) -#endif -#ifndef __PACKED_STRUCT - #define __PACKED_STRUCT struct __attribute__((packed, aligned(1))) -#endif -#ifndef __PACKED_UNION - #define __PACKED_UNION union __attribute__((packed, aligned(1))) -#endif -#ifndef __UNALIGNED_UINT32 /* deprecated */ - #pragma GCC diagnostic push - #pragma GCC diagnostic ignored "-Wpacked" - #pragma GCC diagnostic ignored "-Wattributes" - struct __attribute__((packed)) T_UINT32 { uint32_t v; }; - #pragma GCC diagnostic pop - #define __UNALIGNED_UINT32(x) (((struct T_UINT32 *)(x))->v) -#endif -#ifndef __UNALIGNED_UINT16_WRITE - #pragma GCC diagnostic push - #pragma GCC diagnostic ignored "-Wpacked" - #pragma GCC diagnostic ignored "-Wattributes" - __PACKED_STRUCT T_UINT16_WRITE { uint16_t v; }; - #pragma GCC diagnostic pop - #define __UNALIGNED_UINT16_WRITE(addr, val) (void)((((struct T_UINT16_WRITE *)(void *)(addr))->v) = (val)) -#endif -#ifndef __UNALIGNED_UINT16_READ - #pragma GCC diagnostic push - #pragma GCC diagnostic ignored "-Wpacked" - #pragma GCC diagnostic ignored "-Wattributes" - __PACKED_STRUCT T_UINT16_READ { uint16_t v; }; - #pragma GCC diagnostic pop - #define __UNALIGNED_UINT16_READ(addr) (((const struct T_UINT16_READ *)(const void *)(addr))->v) -#endif -#ifndef __UNALIGNED_UINT32_WRITE - #pragma GCC diagnostic push - #pragma GCC diagnostic ignored "-Wpacked" - #pragma GCC diagnostic ignored "-Wattributes" - __PACKED_STRUCT T_UINT32_WRITE { uint32_t v; }; - #pragma GCC diagnostic pop - #define __UNALIGNED_UINT32_WRITE(addr, val) (void)((((struct T_UINT32_WRITE *)(void *)(addr))->v) = (val)) -#endif -#ifndef __UNALIGNED_UINT32_READ - #pragma GCC diagnostic push - #pragma GCC diagnostic ignored "-Wpacked" - #pragma GCC diagnostic ignored "-Wattributes" - __PACKED_STRUCT T_UINT32_READ { uint32_t v; }; - #pragma GCC diagnostic pop - #define __UNALIGNED_UINT32_READ(addr) (((const struct T_UINT32_READ *)(const void *)(addr))->v) -#endif -#ifndef __ALIGNED - #define __ALIGNED(x) __attribute__((aligned(x))) -#endif -#ifndef __RESTRICT - #define __RESTRICT __restrict -#endif -#ifndef __COMPILER_BARRIER - #define __COMPILER_BARRIER() __ASM volatile("":::"memory") -#endif - -/* ######################### Startup and Lowlevel Init ######################## */ - -#ifndef __PROGRAM_START - -/** - \brief Initializes data and bss sections - \details This default implementations initialized all data and additional bss - sections relying on .copy.table and .zero.table specified properly - in the used linker script. - - */ -__STATIC_FORCEINLINE __NO_RETURN void __cmsis_start(void) -{ - extern void _start(void) __NO_RETURN; - - typedef struct { - uint32_t const* src; - uint32_t* dest; - uint32_t wlen; - } __copy_table_t; - - typedef struct { - uint32_t* dest; - uint32_t wlen; - } __zero_table_t; - - extern const __copy_table_t __copy_table_start__; - extern const __copy_table_t __copy_table_end__; - extern const __zero_table_t __zero_table_start__; - extern const __zero_table_t __zero_table_end__; - - for (__copy_table_t const* pTable = &__copy_table_start__; pTable < &__copy_table_end__; ++pTable) { - for(uint32_t i=0u; iwlen; ++i) { - pTable->dest[i] = pTable->src[i]; - } - } - - for (__zero_table_t const* pTable = &__zero_table_start__; pTable < &__zero_table_end__; ++pTable) { - for(uint32_t i=0u; iwlen; ++i) { - pTable->dest[i] = 0u; - } - } - - _start(); -} - -#define __PROGRAM_START __cmsis_start -#endif - -#ifndef __INITIAL_SP -#define __INITIAL_SP __StackTop -#endif - -#ifndef __STACK_LIMIT -#define __STACK_LIMIT __StackLimit -#endif - -#ifndef __VECTOR_TABLE -#define __VECTOR_TABLE __Vectors -#endif - -#ifndef __VECTOR_TABLE_ATTRIBUTE -#define __VECTOR_TABLE_ATTRIBUTE __attribute((used, section(".vectors"))) -#endif - -/* ########################### Core Function Access ########################### */ -/** \ingroup CMSIS_Core_FunctionInterface - \defgroup CMSIS_Core_RegAccFunctions CMSIS Core Register Access Functions - @{ - */ - -/** - \brief Enable IRQ Interrupts - \details Enables IRQ interrupts by clearing the I-bit in the CPSR. - Can only be executed in Privileged modes. - */ -__STATIC_FORCEINLINE void __enable_irq(void) -{ - __ASM volatile ("cpsie i" : : : "memory"); -} - - -/** - \brief Disable IRQ Interrupts - \details Disables IRQ interrupts by setting the I-bit in the CPSR. - Can only be executed in Privileged modes. - */ -__STATIC_FORCEINLINE void __disable_irq(void) -{ - __ASM volatile ("cpsid i" : : : "memory"); -} - - -/** - \brief Get Control Register - \details Returns the content of the Control Register. - \return Control Register value - */ -__STATIC_FORCEINLINE uint32_t __get_CONTROL(void) -{ - uint32_t result; - - __ASM volatile ("MRS %0, control" : "=r" (result) ); - return(result); -} - - -#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3)) -/** - \brief Get Control Register (non-secure) - \details Returns the content of the non-secure Control Register when in secure mode. - \return non-secure Control Register value - */ -__STATIC_FORCEINLINE uint32_t __TZ_get_CONTROL_NS(void) -{ - uint32_t result; - - __ASM volatile ("MRS %0, control_ns" : "=r" (result) ); - return(result); -} -#endif - - -/** - \brief Set Control Register - \details Writes the given value to the Control Register. - \param [in] control Control Register value to set - */ -__STATIC_FORCEINLINE void __set_CONTROL(uint32_t control) -{ - __ASM volatile ("MSR control, %0" : : "r" (control) : "memory"); -} - - -#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3)) -/** - \brief Set Control Register (non-secure) - \details Writes the given value to the non-secure Control Register when in secure state. - \param [in] control Control Register value to set - */ -__STATIC_FORCEINLINE void __TZ_set_CONTROL_NS(uint32_t control) -{ - __ASM volatile ("MSR control_ns, %0" : : "r" (control) : "memory"); -} -#endif - - -/** - \brief Get IPSR Register - \details Returns the content of the IPSR Register. - \return IPSR Register value - */ -__STATIC_FORCEINLINE uint32_t __get_IPSR(void) -{ - uint32_t result; - - __ASM volatile ("MRS %0, ipsr" : "=r" (result) ); - return(result); -} - - -/** - \brief Get APSR Register - \details Returns the content of the APSR Register. - \return APSR Register value - */ -__STATIC_FORCEINLINE uint32_t __get_APSR(void) -{ - uint32_t result; - - __ASM volatile ("MRS %0, apsr" : "=r" (result) ); - return(result); -} - - -/** - \brief Get xPSR Register - \details Returns the content of the xPSR Register. - \return xPSR Register value - */ -__STATIC_FORCEINLINE uint32_t __get_xPSR(void) -{ - uint32_t result; - - __ASM volatile ("MRS %0, xpsr" : "=r" (result) ); - return(result); -} - - -/** - \brief Get Process Stack Pointer - \details Returns the current value of the Process Stack Pointer (PSP). - \return PSP Register value - */ -__STATIC_FORCEINLINE uint32_t __get_PSP(void) -{ - uint32_t result; - - __ASM volatile ("MRS %0, psp" : "=r" (result) ); - return(result); -} - - -#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3)) -/** - \brief Get Process Stack Pointer (non-secure) - \details Returns the current value of the non-secure Process Stack Pointer (PSP) when in secure state. - \return PSP Register value - */ -__STATIC_FORCEINLINE uint32_t __TZ_get_PSP_NS(void) -{ - uint32_t result; - - __ASM volatile ("MRS %0, psp_ns" : "=r" (result) ); - return(result); -} -#endif - - -/** - \brief Set Process Stack Pointer - \details Assigns the given value to the Process Stack Pointer (PSP). - \param [in] topOfProcStack Process Stack Pointer value to set - */ -__STATIC_FORCEINLINE void __set_PSP(uint32_t topOfProcStack) -{ - __ASM volatile ("MSR psp, %0" : : "r" (topOfProcStack) : ); -} - - -#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3)) -/** - \brief Set Process Stack Pointer (non-secure) - \details Assigns the given value to the non-secure Process Stack Pointer (PSP) when in secure state. - \param [in] topOfProcStack Process Stack Pointer value to set - */ -__STATIC_FORCEINLINE void __TZ_set_PSP_NS(uint32_t topOfProcStack) -{ - __ASM volatile ("MSR psp_ns, %0" : : "r" (topOfProcStack) : ); -} -#endif - - -/** - \brief Get Main Stack Pointer - \details Returns the current value of the Main Stack Pointer (MSP). - \return MSP Register value - */ -__STATIC_FORCEINLINE uint32_t __get_MSP(void) -{ - uint32_t result; - - __ASM volatile ("MRS %0, msp" : "=r" (result) ); - return(result); -} - - -#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3)) -/** - \brief Get Main Stack Pointer (non-secure) - \details Returns the current value of the non-secure Main Stack Pointer (MSP) when in secure state. - \return MSP Register value - */ -__STATIC_FORCEINLINE uint32_t __TZ_get_MSP_NS(void) -{ - uint32_t result; - - __ASM volatile ("MRS %0, msp_ns" : "=r" (result) ); - return(result); -} -#endif - - -/** - \brief Set Main Stack Pointer - \details Assigns the given value to the Main Stack Pointer (MSP). - \param [in] topOfMainStack Main Stack Pointer value to set - */ -__STATIC_FORCEINLINE void __set_MSP(uint32_t topOfMainStack) -{ - __ASM volatile ("MSR msp, %0" : : "r" (topOfMainStack) : ); -} - - -#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3)) -/** - \brief Set Main Stack Pointer (non-secure) - \details Assigns the given value to the non-secure Main Stack Pointer (MSP) when in secure state. - \param [in] topOfMainStack Main Stack Pointer value to set - */ -__STATIC_FORCEINLINE void __TZ_set_MSP_NS(uint32_t topOfMainStack) -{ - __ASM volatile ("MSR msp_ns, %0" : : "r" (topOfMainStack) : ); -} -#endif - - -#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3)) -/** - \brief Get Stack Pointer (non-secure) - \details Returns the current value of the non-secure Stack Pointer (SP) when in secure state. - \return SP Register value - */ -__STATIC_FORCEINLINE uint32_t __TZ_get_SP_NS(void) -{ - uint32_t result; - - __ASM volatile ("MRS %0, sp_ns" : "=r" (result) ); - return(result); -} - - -/** - \brief Set Stack Pointer (non-secure) - \details Assigns the given value to the non-secure Stack Pointer (SP) when in secure state. - \param [in] topOfStack Stack Pointer value to set - */ -__STATIC_FORCEINLINE void __TZ_set_SP_NS(uint32_t topOfStack) -{ - __ASM volatile ("MSR sp_ns, %0" : : "r" (topOfStack) : ); -} -#endif - - -/** - \brief Get Priority Mask - \details Returns the current state of the priority mask bit from the Priority Mask Register. - \return Priority Mask value - */ -__STATIC_FORCEINLINE uint32_t __get_PRIMASK(void) -{ - uint32_t result; - - __ASM volatile ("MRS %0, primask" : "=r" (result) :: "memory"); - return(result); -} - - -#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3)) -/** - \brief Get Priority Mask (non-secure) - \details Returns the current state of the non-secure priority mask bit from the Priority Mask Register when in secure state. - \return Priority Mask value - */ -__STATIC_FORCEINLINE uint32_t __TZ_get_PRIMASK_NS(void) -{ - uint32_t result; - - __ASM volatile ("MRS %0, primask_ns" : "=r" (result) :: "memory"); - return(result); -} -#endif - - -/** - \brief Set Priority Mask - \details Assigns the given value to the Priority Mask Register. - \param [in] priMask Priority Mask - */ -__STATIC_FORCEINLINE void __set_PRIMASK(uint32_t priMask) -{ - __ASM volatile ("MSR primask, %0" : : "r" (priMask) : "memory"); -} - - -#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3)) -/** - \brief Set Priority Mask (non-secure) - \details Assigns the given value to the non-secure Priority Mask Register when in secure state. - \param [in] priMask Priority Mask - */ -__STATIC_FORCEINLINE void __TZ_set_PRIMASK_NS(uint32_t priMask) -{ - __ASM volatile ("MSR primask_ns, %0" : : "r" (priMask) : "memory"); -} -#endif - - -#if ((defined (__ARM_ARCH_7M__ ) && (__ARM_ARCH_7M__ == 1)) || \ - (defined (__ARM_ARCH_7EM__ ) && (__ARM_ARCH_7EM__ == 1)) || \ - (defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) ) -/** - \brief Enable FIQ - \details Enables FIQ interrupts by clearing the F-bit in the CPSR. - Can only be executed in Privileged modes. - */ -__STATIC_FORCEINLINE void __enable_fault_irq(void) -{ - __ASM volatile ("cpsie f" : : : "memory"); -} - - -/** - \brief Disable FIQ - \details Disables FIQ interrupts by setting the F-bit in the CPSR. - Can only be executed in Privileged modes. - */ -__STATIC_FORCEINLINE void __disable_fault_irq(void) -{ - __ASM volatile ("cpsid f" : : : "memory"); -} - - -/** - \brief Get Base Priority - \details Returns the current value of the Base Priority register. - \return Base Priority register value - */ -__STATIC_FORCEINLINE uint32_t __get_BASEPRI(void) -{ - uint32_t result; - - __ASM volatile ("MRS %0, basepri" : "=r" (result) ); - return(result); -} - - -#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3)) -/** - \brief Get Base Priority (non-secure) - \details Returns the current value of the non-secure Base Priority register when in secure state. - \return Base Priority register value - */ -__STATIC_FORCEINLINE uint32_t __TZ_get_BASEPRI_NS(void) -{ - uint32_t result; - - __ASM volatile ("MRS %0, basepri_ns" : "=r" (result) ); - return(result); -} -#endif - - -/** - \brief Set Base Priority - \details Assigns the given value to the Base Priority register. - \param [in] basePri Base Priority value to set - */ -__STATIC_FORCEINLINE void __set_BASEPRI(uint32_t basePri) -{ - __ASM volatile ("MSR basepri, %0" : : "r" (basePri) : "memory"); -} - - -#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3)) -/** - \brief Set Base Priority (non-secure) - \details Assigns the given value to the non-secure Base Priority register when in secure state. - \param [in] basePri Base Priority value to set - */ -__STATIC_FORCEINLINE void __TZ_set_BASEPRI_NS(uint32_t basePri) -{ - __ASM volatile ("MSR basepri_ns, %0" : : "r" (basePri) : "memory"); -} -#endif - - -/** - \brief Set Base Priority with condition - \details Assigns the given value to the Base Priority register only if BASEPRI masking is disabled, - or the new value increases the BASEPRI priority level. - \param [in] basePri Base Priority value to set - */ -__STATIC_FORCEINLINE void __set_BASEPRI_MAX(uint32_t basePri) -{ - __ASM volatile ("MSR basepri_max, %0" : : "r" (basePri) : "memory"); -} - - -/** - \brief Get Fault Mask - \details Returns the current value of the Fault Mask register. - \return Fault Mask register value - */ -__STATIC_FORCEINLINE uint32_t __get_FAULTMASK(void) -{ - uint32_t result; - - __ASM volatile ("MRS %0, faultmask" : "=r" (result) ); - return(result); -} - - -#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3)) -/** - \brief Get Fault Mask (non-secure) - \details Returns the current value of the non-secure Fault Mask register when in secure state. - \return Fault Mask register value - */ -__STATIC_FORCEINLINE uint32_t __TZ_get_FAULTMASK_NS(void) -{ - uint32_t result; - - __ASM volatile ("MRS %0, faultmask_ns" : "=r" (result) ); - return(result); -} -#endif - - -/** - \brief Set Fault Mask - \details Assigns the given value to the Fault Mask register. - \param [in] faultMask Fault Mask value to set - */ -__STATIC_FORCEINLINE void __set_FAULTMASK(uint32_t faultMask) -{ - __ASM volatile ("MSR faultmask, %0" : : "r" (faultMask) : "memory"); -} - - -#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3)) -/** - \brief Set Fault Mask (non-secure) - \details Assigns the given value to the non-secure Fault Mask register when in secure state. - \param [in] faultMask Fault Mask value to set - */ -__STATIC_FORCEINLINE void __TZ_set_FAULTMASK_NS(uint32_t faultMask) -{ - __ASM volatile ("MSR faultmask_ns, %0" : : "r" (faultMask) : "memory"); -} -#endif - -#endif /* ((defined (__ARM_ARCH_7M__ ) && (__ARM_ARCH_7M__ == 1)) || \ - (defined (__ARM_ARCH_7EM__ ) && (__ARM_ARCH_7EM__ == 1)) || \ - (defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) ) */ - - -#if ((defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) || \ - (defined (__ARM_ARCH_8M_BASE__ ) && (__ARM_ARCH_8M_BASE__ == 1)) ) - -/** - \brief Get Process Stack Pointer Limit - Devices without ARMv8-M Main Extensions (i.e. Cortex-M23) lack the non-secure - Stack Pointer Limit register hence zero is returned always in non-secure - mode. - - \details Returns the current value of the Process Stack Pointer Limit (PSPLIM). - \return PSPLIM Register value - */ -__STATIC_FORCEINLINE uint32_t __get_PSPLIM(void) -{ -#if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) && \ - (!defined (__ARM_FEATURE_CMSE) || (__ARM_FEATURE_CMSE < 3))) - // without main extensions, the non-secure PSPLIM is RAZ/WI - return 0U; -#else - uint32_t result; - __ASM volatile ("MRS %0, psplim" : "=r" (result) ); - return result; -#endif -} - -#if (defined (__ARM_FEATURE_CMSE) && (__ARM_FEATURE_CMSE == 3)) -/** - \brief Get Process Stack Pointer Limit (non-secure) - Devices without ARMv8-M Main Extensions (i.e. Cortex-M23) lack the non-secure - Stack Pointer Limit register hence zero is returned always. - - \details Returns the current value of the non-secure Process Stack Pointer Limit (PSPLIM) when in secure state. - \return PSPLIM Register value - */ -__STATIC_FORCEINLINE uint32_t __TZ_get_PSPLIM_NS(void) -{ -#if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1))) - // without main extensions, the non-secure PSPLIM is RAZ/WI - return 0U; -#else - uint32_t result; - __ASM volatile ("MRS %0, psplim_ns" : "=r" (result) ); - return result; -#endif -} -#endif - - -/** - \brief Set Process Stack Pointer Limit - Devices without ARMv8-M Main Extensions (i.e. Cortex-M23) lack the non-secure - Stack Pointer Limit register hence the write is silently ignored in non-secure - mode. - - \details Assigns the given value to the Process Stack Pointer Limit (PSPLIM). - \param [in] ProcStackPtrLimit Process Stack Pointer Limit value to set - */ -__STATIC_FORCEINLINE void __set_PSPLIM(uint32_t ProcStackPtrLimit) -{ -#if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) && \ - (!defined (__ARM_FEATURE_CMSE) || (__ARM_FEATURE_CMSE < 3))) - // without main extensions, the non-secure PSPLIM is RAZ/WI - (void)ProcStackPtrLimit; -#else - __ASM volatile ("MSR psplim, %0" : : "r" (ProcStackPtrLimit)); -#endif -} - - -#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3)) -/** - \brief Set Process Stack Pointer (non-secure) - Devices without ARMv8-M Main Extensions (i.e. Cortex-M23) lack the non-secure - Stack Pointer Limit register hence the write is silently ignored. - - \details Assigns the given value to the non-secure Process Stack Pointer Limit (PSPLIM) when in secure state. - \param [in] ProcStackPtrLimit Process Stack Pointer Limit value to set - */ -__STATIC_FORCEINLINE void __TZ_set_PSPLIM_NS(uint32_t ProcStackPtrLimit) -{ -#if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1))) - // without main extensions, the non-secure PSPLIM is RAZ/WI - (void)ProcStackPtrLimit; -#else - __ASM volatile ("MSR psplim_ns, %0\n" : : "r" (ProcStackPtrLimit)); -#endif -} -#endif - - -/** - \brief Get Main Stack Pointer Limit - Devices without ARMv8-M Main Extensions (i.e. Cortex-M23) lack the non-secure - Stack Pointer Limit register hence zero is returned always in non-secure - mode. - - \details Returns the current value of the Main Stack Pointer Limit (MSPLIM). - \return MSPLIM Register value - */ -__STATIC_FORCEINLINE uint32_t __get_MSPLIM(void) -{ -#if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) && \ - (!defined (__ARM_FEATURE_CMSE) || (__ARM_FEATURE_CMSE < 3))) - // without main extensions, the non-secure MSPLIM is RAZ/WI - return 0U; -#else - uint32_t result; - __ASM volatile ("MRS %0, msplim" : "=r" (result) ); - return result; -#endif -} - - -#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3)) -/** - \brief Get Main Stack Pointer Limit (non-secure) - Devices without ARMv8-M Main Extensions (i.e. Cortex-M23) lack the non-secure - Stack Pointer Limit register hence zero is returned always. - - \details Returns the current value of the non-secure Main Stack Pointer Limit(MSPLIM) when in secure state. - \return MSPLIM Register value - */ -__STATIC_FORCEINLINE uint32_t __TZ_get_MSPLIM_NS(void) -{ -#if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1))) - // without main extensions, the non-secure MSPLIM is RAZ/WI - return 0U; -#else - uint32_t result; - __ASM volatile ("MRS %0, msplim_ns" : "=r" (result) ); - return result; -#endif -} -#endif - - -/** - \brief Set Main Stack Pointer Limit - Devices without ARMv8-M Main Extensions (i.e. Cortex-M23) lack the non-secure - Stack Pointer Limit register hence the write is silently ignored in non-secure - mode. - - \details Assigns the given value to the Main Stack Pointer Limit (MSPLIM). - \param [in] MainStackPtrLimit Main Stack Pointer Limit value to set - */ -__STATIC_FORCEINLINE void __set_MSPLIM(uint32_t MainStackPtrLimit) -{ -#if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) && \ - (!defined (__ARM_FEATURE_CMSE) || (__ARM_FEATURE_CMSE < 3))) - // without main extensions, the non-secure MSPLIM is RAZ/WI - (void)MainStackPtrLimit; -#else - __ASM volatile ("MSR msplim, %0" : : "r" (MainStackPtrLimit)); -#endif -} - - -#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3)) -/** - \brief Set Main Stack Pointer Limit (non-secure) - Devices without ARMv8-M Main Extensions (i.e. Cortex-M23) lack the non-secure - Stack Pointer Limit register hence the write is silently ignored. - - \details Assigns the given value to the non-secure Main Stack Pointer Limit (MSPLIM) when in secure state. - \param [in] MainStackPtrLimit Main Stack Pointer value to set - */ -__STATIC_FORCEINLINE void __TZ_set_MSPLIM_NS(uint32_t MainStackPtrLimit) -{ -#if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1))) - // without main extensions, the non-secure MSPLIM is RAZ/WI - (void)MainStackPtrLimit; -#else - __ASM volatile ("MSR msplim_ns, %0" : : "r" (MainStackPtrLimit)); -#endif -} -#endif - -#endif /* ((defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) || \ - (defined (__ARM_ARCH_8M_BASE__ ) && (__ARM_ARCH_8M_BASE__ == 1)) ) */ - - -/** - \brief Get FPSCR - \details Returns the current value of the Floating Point Status/Control register. - \return Floating Point Status/Control register value - */ -__STATIC_FORCEINLINE uint32_t __get_FPSCR(void) -{ -#if ((defined (__FPU_PRESENT) && (__FPU_PRESENT == 1U)) && \ - (defined (__FPU_USED ) && (__FPU_USED == 1U)) ) -#if __has_builtin(__builtin_arm_get_fpscr) -// Re-enable using built-in when GCC has been fixed -// || (__GNUC__ > 7) || (__GNUC__ == 7 && __GNUC_MINOR__ >= 2) - /* see https://gcc.gnu.org/ml/gcc-patches/2017-04/msg00443.html */ - return __builtin_arm_get_fpscr(); -#else - uint32_t result; - - __ASM volatile ("VMRS %0, fpscr" : "=r" (result) ); - return(result); -#endif -#else - return(0U); -#endif -} - - -/** - \brief Set FPSCR - \details Assigns the given value to the Floating Point Status/Control register. - \param [in] fpscr Floating Point Status/Control value to set - */ -__STATIC_FORCEINLINE void __set_FPSCR(uint32_t fpscr) -{ -#if ((defined (__FPU_PRESENT) && (__FPU_PRESENT == 1U)) && \ - (defined (__FPU_USED ) && (__FPU_USED == 1U)) ) -#if __has_builtin(__builtin_arm_set_fpscr) -// Re-enable using built-in when GCC has been fixed -// || (__GNUC__ > 7) || (__GNUC__ == 7 && __GNUC_MINOR__ >= 2) - /* see https://gcc.gnu.org/ml/gcc-patches/2017-04/msg00443.html */ - __builtin_arm_set_fpscr(fpscr); -#else - __ASM volatile ("VMSR fpscr, %0" : : "r" (fpscr) : "vfpcc", "memory"); -#endif -#else - (void)fpscr; -#endif -} - - -/*@} end of CMSIS_Core_RegAccFunctions */ - - -/* ########################## Core Instruction Access ######################### */ -/** \defgroup CMSIS_Core_InstructionInterface CMSIS Core Instruction Interface - Access to dedicated instructions - @{ -*/ - -/* Define macros for porting to both thumb1 and thumb2. - * For thumb1, use low register (r0-r7), specified by constraint "l" - * Otherwise, use general registers, specified by constraint "r" */ -#if defined (__thumb__) && !defined (__thumb2__) -#define __CMSIS_GCC_OUT_REG(r) "=l" (r) -#define __CMSIS_GCC_RW_REG(r) "+l" (r) -#define __CMSIS_GCC_USE_REG(r) "l" (r) -#else -#define __CMSIS_GCC_OUT_REG(r) "=r" (r) -#define __CMSIS_GCC_RW_REG(r) "+r" (r) -#define __CMSIS_GCC_USE_REG(r) "r" (r) -#endif - -/** - \brief No Operation - \details No Operation does nothing. This instruction can be used for code alignment purposes. - */ -#define __NOP() __ASM volatile ("nop") - -/** - \brief Wait For Interrupt - \details Wait For Interrupt is a hint instruction that suspends execution until one of a number of events occurs. - */ -#define __WFI() __ASM volatile ("wfi") - - -/** - \brief Wait For Event - \details Wait For Event is a hint instruction that permits the processor to enter - a low-power state until one of a number of events occurs. - */ -#define __WFE() __ASM volatile ("wfe") - - -/** - \brief Send Event - \details Send Event is a hint instruction. It causes an event to be signaled to the CPU. - */ -#define __SEV() __ASM volatile ("sev") - - -/** - \brief Instruction Synchronization Barrier - \details Instruction Synchronization Barrier flushes the pipeline in the processor, - so that all instructions following the ISB are fetched from cache or memory, - after the instruction has been completed. - */ -__STATIC_FORCEINLINE void __ISB(void) -{ - __ASM volatile ("isb 0xF":::"memory"); -} - - -/** - \brief Data Synchronization Barrier - \details Acts as a special kind of Data Memory Barrier. - It completes when all explicit memory accesses before this instruction complete. - */ -__STATIC_FORCEINLINE void __DSB(void) -{ - __ASM volatile ("dsb 0xF":::"memory"); -} - - -/** - \brief Data Memory Barrier - \details Ensures the apparent order of the explicit memory operations before - and after the instruction, without ensuring their completion. - */ -__STATIC_FORCEINLINE void __DMB(void) -{ - __ASM volatile ("dmb 0xF":::"memory"); -} - - -/** - \brief Reverse byte order (32 bit) - \details Reverses the byte order in unsigned integer value. For example, 0x12345678 becomes 0x78563412. - \param [in] value Value to reverse - \return Reversed value - */ -__STATIC_FORCEINLINE uint32_t __REV(uint32_t value) -{ -#if (__GNUC__ > 4) || (__GNUC__ == 4 && __GNUC_MINOR__ >= 5) - return __builtin_bswap32(value); -#else - uint32_t result; - - __ASM volatile ("rev %0, %1" : __CMSIS_GCC_OUT_REG (result) : __CMSIS_GCC_USE_REG (value) ); - return result; -#endif -} - - -/** - \brief Reverse byte order (16 bit) - \details Reverses the byte order within each halfword of a word. For example, 0x12345678 becomes 0x34127856. - \param [in] value Value to reverse - \return Reversed value - */ -__STATIC_FORCEINLINE uint32_t __REV16(uint32_t value) -{ - uint32_t result; - - __ASM volatile ("rev16 %0, %1" : __CMSIS_GCC_OUT_REG (result) : __CMSIS_GCC_USE_REG (value) ); - return result; -} - - -/** - \brief Reverse byte order (16 bit) - \details Reverses the byte order in a 16-bit value and returns the signed 16-bit result. For example, 0x0080 becomes 0x8000. - \param [in] value Value to reverse - \return Reversed value - */ -__STATIC_FORCEINLINE int16_t __REVSH(int16_t value) -{ -#if (__GNUC__ > 4) || (__GNUC__ == 4 && __GNUC_MINOR__ >= 8) - return (int16_t)__builtin_bswap16(value); -#else - int16_t result; - - __ASM volatile ("revsh %0, %1" : __CMSIS_GCC_OUT_REG (result) : __CMSIS_GCC_USE_REG (value) ); - return result; -#endif -} - - -/** - \brief Rotate Right in unsigned value (32 bit) - \details Rotate Right (immediate) provides the value of the contents of a register rotated by a variable number of bits. - \param [in] op1 Value to rotate - \param [in] op2 Number of Bits to rotate - \return Rotated value - */ -__STATIC_FORCEINLINE uint32_t __ROR(uint32_t op1, uint32_t op2) -{ - op2 %= 32U; - if (op2 == 0U) - { - return op1; - } - return (op1 >> op2) | (op1 << (32U - op2)); -} - - -/** - \brief Breakpoint - \details Causes the processor to enter Debug state. - Debug tools can use this to investigate system state when the instruction at a particular address is reached. - \param [in] value is ignored by the processor. - If required, a debugger can use it to store additional information about the breakpoint. - */ -#define __BKPT(value) __ASM volatile ("bkpt "#value) - - -/** - \brief Reverse bit order of value - \details Reverses the bit order of the given value. - \param [in] value Value to reverse - \return Reversed value - */ -__STATIC_FORCEINLINE uint32_t __RBIT(uint32_t value) -{ - uint32_t result; - -#if ((defined (__ARM_ARCH_7M__ ) && (__ARM_ARCH_7M__ == 1)) || \ - (defined (__ARM_ARCH_7EM__ ) && (__ARM_ARCH_7EM__ == 1)) || \ - (defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) ) - __ASM volatile ("rbit %0, %1" : "=r" (result) : "r" (value) ); -#else - uint32_t s = (4U /*sizeof(v)*/ * 8U) - 1U; /* extra shift needed at end */ - - result = value; /* r will be reversed bits of v; first get LSB of v */ - for (value >>= 1U; value != 0U; value >>= 1U) - { - result <<= 1U; - result |= value & 1U; - s--; - } - result <<= s; /* shift when v's highest bits are zero */ -#endif - return result; -} - - -/** - \brief Count leading zeros - \details Counts the number of leading zeros of a data value. - \param [in] value Value to count the leading zeros - \return number of leading zeros in value - */ -__STATIC_FORCEINLINE uint8_t __CLZ(uint32_t value) -{ - /* Even though __builtin_clz produces a CLZ instruction on ARM, formally - __builtin_clz(0) is undefined behaviour, so handle this case specially. - This guarantees ARM-compatible results if happening to compile on a non-ARM - target, and ensures the compiler doesn't decide to activate any - optimisations using the logic "value was passed to __builtin_clz, so it - is non-zero". - ARM GCC 7.3 and possibly earlier will optimise this test away, leaving a - single CLZ instruction. - */ - if (value == 0U) - { - return 32U; - } - return __builtin_clz(value); -} - - -#if ((defined (__ARM_ARCH_7M__ ) && (__ARM_ARCH_7M__ == 1)) || \ - (defined (__ARM_ARCH_7EM__ ) && (__ARM_ARCH_7EM__ == 1)) || \ - (defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) || \ - (defined (__ARM_ARCH_8M_BASE__ ) && (__ARM_ARCH_8M_BASE__ == 1)) ) -/** - \brief LDR Exclusive (8 bit) - \details Executes a exclusive LDR instruction for 8 bit value. - \param [in] ptr Pointer to data - \return value of type uint8_t at (*ptr) - */ -__STATIC_FORCEINLINE uint8_t __LDREXB(volatile uint8_t *addr) -{ - uint32_t result; - -#if (__GNUC__ > 4) || (__GNUC__ == 4 && __GNUC_MINOR__ >= 8) - __ASM volatile ("ldrexb %0, %1" : "=r" (result) : "Q" (*addr) ); -#else - /* Prior to GCC 4.8, "Q" will be expanded to [rx, #0] which is not - accepted by assembler. So has to use following less efficient pattern. - */ - __ASM volatile ("ldrexb %0, [%1]" : "=r" (result) : "r" (addr) : "memory" ); -#endif - return ((uint8_t) result); /* Add explicit type cast here */ -} - - -/** - \brief LDR Exclusive (16 bit) - \details Executes a exclusive LDR instruction for 16 bit values. - \param [in] ptr Pointer to data - \return value of type uint16_t at (*ptr) - */ -__STATIC_FORCEINLINE uint16_t __LDREXH(volatile uint16_t *addr) -{ - uint32_t result; - -#if (__GNUC__ > 4) || (__GNUC__ == 4 && __GNUC_MINOR__ >= 8) - __ASM volatile ("ldrexh %0, %1" : "=r" (result) : "Q" (*addr) ); -#else - /* Prior to GCC 4.8, "Q" will be expanded to [rx, #0] which is not - accepted by assembler. So has to use following less efficient pattern. - */ - __ASM volatile ("ldrexh %0, [%1]" : "=r" (result) : "r" (addr) : "memory" ); -#endif - return ((uint16_t) result); /* Add explicit type cast here */ -} - - -/** - \brief LDR Exclusive (32 bit) - \details Executes a exclusive LDR instruction for 32 bit values. - \param [in] ptr Pointer to data - \return value of type uint32_t at (*ptr) - */ -__STATIC_FORCEINLINE uint32_t __LDREXW(volatile uint32_t *addr) -{ - uint32_t result; - - __ASM volatile ("ldrex %0, %1" : "=r" (result) : "Q" (*addr) ); - return(result); -} - - -/** - \brief STR Exclusive (8 bit) - \details Executes a exclusive STR instruction for 8 bit values. - \param [in] value Value to store - \param [in] ptr Pointer to location - \return 0 Function succeeded - \return 1 Function failed - */ -__STATIC_FORCEINLINE uint32_t __STREXB(uint8_t value, volatile uint8_t *addr) -{ - uint32_t result; - - __ASM volatile ("strexb %0, %2, %1" : "=&r" (result), "=Q" (*addr) : "r" ((uint32_t)value) ); - return(result); -} - - -/** - \brief STR Exclusive (16 bit) - \details Executes a exclusive STR instruction for 16 bit values. - \param [in] value Value to store - \param [in] ptr Pointer to location - \return 0 Function succeeded - \return 1 Function failed - */ -__STATIC_FORCEINLINE uint32_t __STREXH(uint16_t value, volatile uint16_t *addr) -{ - uint32_t result; - - __ASM volatile ("strexh %0, %2, %1" : "=&r" (result), "=Q" (*addr) : "r" ((uint32_t)value) ); - return(result); -} - - -/** - \brief STR Exclusive (32 bit) - \details Executes a exclusive STR instruction for 32 bit values. - \param [in] value Value to store - \param [in] ptr Pointer to location - \return 0 Function succeeded - \return 1 Function failed - */ -__STATIC_FORCEINLINE uint32_t __STREXW(uint32_t value, volatile uint32_t *addr) -{ - uint32_t result; - - __ASM volatile ("strex %0, %2, %1" : "=&r" (result), "=Q" (*addr) : "r" (value) ); - return(result); -} - - -/** - \brief Remove the exclusive lock - \details Removes the exclusive lock which is created by LDREX. - */ -__STATIC_FORCEINLINE void __CLREX(void) -{ - __ASM volatile ("clrex" ::: "memory"); -} - -#endif /* ((defined (__ARM_ARCH_7M__ ) && (__ARM_ARCH_7M__ == 1)) || \ - (defined (__ARM_ARCH_7EM__ ) && (__ARM_ARCH_7EM__ == 1)) || \ - (defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) || \ - (defined (__ARM_ARCH_8M_BASE__ ) && (__ARM_ARCH_8M_BASE__ == 1)) ) */ - - -#if ((defined (__ARM_ARCH_7M__ ) && (__ARM_ARCH_7M__ == 1)) || \ - (defined (__ARM_ARCH_7EM__ ) && (__ARM_ARCH_7EM__ == 1)) || \ - (defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) ) -/** - \brief Signed Saturate - \details Saturates a signed value. - \param [in] ARG1 Value to be saturated - \param [in] ARG2 Bit position to saturate to (1..32) - \return Saturated value - */ -#define __SSAT(ARG1,ARG2) \ -__extension__ \ -({ \ - int32_t __RES, __ARG1 = (ARG1); \ - __ASM ("ssat %0, %1, %2" : "=r" (__RES) : "I" (ARG2), "r" (__ARG1) ); \ - __RES; \ - }) - - -/** - \brief Unsigned Saturate - \details Saturates an unsigned value. - \param [in] ARG1 Value to be saturated - \param [in] ARG2 Bit position to saturate to (0..31) - \return Saturated value - */ -#define __USAT(ARG1,ARG2) \ - __extension__ \ -({ \ - uint32_t __RES, __ARG1 = (ARG1); \ - __ASM ("usat %0, %1, %2" : "=r" (__RES) : "I" (ARG2), "r" (__ARG1) ); \ - __RES; \ - }) - - -/** - \brief Rotate Right with Extend (32 bit) - \details Moves each bit of a bitstring right by one bit. - The carry input is shifted in at the left end of the bitstring. - \param [in] value Value to rotate - \return Rotated value - */ -__STATIC_FORCEINLINE uint32_t __RRX(uint32_t value) -{ - uint32_t result; - - __ASM volatile ("rrx %0, %1" : __CMSIS_GCC_OUT_REG (result) : __CMSIS_GCC_USE_REG (value) ); - return(result); -} - - -/** - \brief LDRT Unprivileged (8 bit) - \details Executes a Unprivileged LDRT instruction for 8 bit value. - \param [in] ptr Pointer to data - \return value of type uint8_t at (*ptr) - */ -__STATIC_FORCEINLINE uint8_t __LDRBT(volatile uint8_t *ptr) -{ - uint32_t result; - -#if (__GNUC__ > 4) || (__GNUC__ == 4 && __GNUC_MINOR__ >= 8) - __ASM volatile ("ldrbt %0, %1" : "=r" (result) : "Q" (*ptr) ); -#else - /* Prior to GCC 4.8, "Q" will be expanded to [rx, #0] which is not - accepted by assembler. So has to use following less efficient pattern. - */ - __ASM volatile ("ldrbt %0, [%1]" : "=r" (result) : "r" (ptr) : "memory" ); -#endif - return ((uint8_t) result); /* Add explicit type cast here */ -} - - -/** - \brief LDRT Unprivileged (16 bit) - \details Executes a Unprivileged LDRT instruction for 16 bit values. - \param [in] ptr Pointer to data - \return value of type uint16_t at (*ptr) - */ -__STATIC_FORCEINLINE uint16_t __LDRHT(volatile uint16_t *ptr) -{ - uint32_t result; - -#if (__GNUC__ > 4) || (__GNUC__ == 4 && __GNUC_MINOR__ >= 8) - __ASM volatile ("ldrht %0, %1" : "=r" (result) : "Q" (*ptr) ); -#else - /* Prior to GCC 4.8, "Q" will be expanded to [rx, #0] which is not - accepted by assembler. So has to use following less efficient pattern. - */ - __ASM volatile ("ldrht %0, [%1]" : "=r" (result) : "r" (ptr) : "memory" ); -#endif - return ((uint16_t) result); /* Add explicit type cast here */ -} - - -/** - \brief LDRT Unprivileged (32 bit) - \details Executes a Unprivileged LDRT instruction for 32 bit values. - \param [in] ptr Pointer to data - \return value of type uint32_t at (*ptr) - */ -__STATIC_FORCEINLINE uint32_t __LDRT(volatile uint32_t *ptr) -{ - uint32_t result; - - __ASM volatile ("ldrt %0, %1" : "=r" (result) : "Q" (*ptr) ); - return(result); -} - - -/** - \brief STRT Unprivileged (8 bit) - \details Executes a Unprivileged STRT instruction for 8 bit values. - \param [in] value Value to store - \param [in] ptr Pointer to location - */ -__STATIC_FORCEINLINE void __STRBT(uint8_t value, volatile uint8_t *ptr) -{ - __ASM volatile ("strbt %1, %0" : "=Q" (*ptr) : "r" ((uint32_t)value) ); -} - - -/** - \brief STRT Unprivileged (16 bit) - \details Executes a Unprivileged STRT instruction for 16 bit values. - \param [in] value Value to store - \param [in] ptr Pointer to location - */ -__STATIC_FORCEINLINE void __STRHT(uint16_t value, volatile uint16_t *ptr) -{ - __ASM volatile ("strht %1, %0" : "=Q" (*ptr) : "r" ((uint32_t)value) ); -} - - -/** - \brief STRT Unprivileged (32 bit) - \details Executes a Unprivileged STRT instruction for 32 bit values. - \param [in] value Value to store - \param [in] ptr Pointer to location - */ -__STATIC_FORCEINLINE void __STRT(uint32_t value, volatile uint32_t *ptr) -{ - __ASM volatile ("strt %1, %0" : "=Q" (*ptr) : "r" (value) ); -} - -#else /* ((defined (__ARM_ARCH_7M__ ) && (__ARM_ARCH_7M__ == 1)) || \ - (defined (__ARM_ARCH_7EM__ ) && (__ARM_ARCH_7EM__ == 1)) || \ - (defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) ) */ - -/** - \brief Signed Saturate - \details Saturates a signed value. - \param [in] value Value to be saturated - \param [in] sat Bit position to saturate to (1..32) - \return Saturated value - */ -__STATIC_FORCEINLINE int32_t __SSAT(int32_t val, uint32_t sat) -{ - if ((sat >= 1U) && (sat <= 32U)) - { - const int32_t max = (int32_t)((1U << (sat - 1U)) - 1U); - const int32_t min = -1 - max ; - if (val > max) - { - return max; - } - else if (val < min) - { - return min; - } - } - return val; -} - -/** - \brief Unsigned Saturate - \details Saturates an unsigned value. - \param [in] value Value to be saturated - \param [in] sat Bit position to saturate to (0..31) - \return Saturated value - */ -__STATIC_FORCEINLINE uint32_t __USAT(int32_t val, uint32_t sat) -{ - if (sat <= 31U) - { - const uint32_t max = ((1U << sat) - 1U); - if (val > (int32_t)max) - { - return max; - } - else if (val < 0) - { - return 0U; - } - } - return (uint32_t)val; -} - -#endif /* ((defined (__ARM_ARCH_7M__ ) && (__ARM_ARCH_7M__ == 1)) || \ - (defined (__ARM_ARCH_7EM__ ) && (__ARM_ARCH_7EM__ == 1)) || \ - (defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) ) */ - - -#if ((defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) || \ - (defined (__ARM_ARCH_8M_BASE__ ) && (__ARM_ARCH_8M_BASE__ == 1)) ) -/** - \brief Load-Acquire (8 bit) - \details Executes a LDAB instruction for 8 bit value. - \param [in] ptr Pointer to data - \return value of type uint8_t at (*ptr) - */ -__STATIC_FORCEINLINE uint8_t __LDAB(volatile uint8_t *ptr) -{ - uint32_t result; - - __ASM volatile ("ldab %0, %1" : "=r" (result) : "Q" (*ptr) ); - return ((uint8_t) result); -} - - -/** - \brief Load-Acquire (16 bit) - \details Executes a LDAH instruction for 16 bit values. - \param [in] ptr Pointer to data - \return value of type uint16_t at (*ptr) - */ -__STATIC_FORCEINLINE uint16_t __LDAH(volatile uint16_t *ptr) -{ - uint32_t result; - - __ASM volatile ("ldah %0, %1" : "=r" (result) : "Q" (*ptr) ); - return ((uint16_t) result); -} - - -/** - \brief Load-Acquire (32 bit) - \details Executes a LDA instruction for 32 bit values. - \param [in] ptr Pointer to data - \return value of type uint32_t at (*ptr) - */ -__STATIC_FORCEINLINE uint32_t __LDA(volatile uint32_t *ptr) -{ - uint32_t result; - - __ASM volatile ("lda %0, %1" : "=r" (result) : "Q" (*ptr) ); - return(result); -} - - -/** - \brief Store-Release (8 bit) - \details Executes a STLB instruction for 8 bit values. - \param [in] value Value to store - \param [in] ptr Pointer to location - */ -__STATIC_FORCEINLINE void __STLB(uint8_t value, volatile uint8_t *ptr) -{ - __ASM volatile ("stlb %1, %0" : "=Q" (*ptr) : "r" ((uint32_t)value) ); -} - - -/** - \brief Store-Release (16 bit) - \details Executes a STLH instruction for 16 bit values. - \param [in] value Value to store - \param [in] ptr Pointer to location - */ -__STATIC_FORCEINLINE void __STLH(uint16_t value, volatile uint16_t *ptr) -{ - __ASM volatile ("stlh %1, %0" : "=Q" (*ptr) : "r" ((uint32_t)value) ); -} - - -/** - \brief Store-Release (32 bit) - \details Executes a STL instruction for 32 bit values. - \param [in] value Value to store - \param [in] ptr Pointer to location - */ -__STATIC_FORCEINLINE void __STL(uint32_t value, volatile uint32_t *ptr) -{ - __ASM volatile ("stl %1, %0" : "=Q" (*ptr) : "r" ((uint32_t)value) ); -} - - -/** - \brief Load-Acquire Exclusive (8 bit) - \details Executes a LDAB exclusive instruction for 8 bit value. - \param [in] ptr Pointer to data - \return value of type uint8_t at (*ptr) - */ -__STATIC_FORCEINLINE uint8_t __LDAEXB(volatile uint8_t *ptr) -{ - uint32_t result; - - __ASM volatile ("ldaexb %0, %1" : "=r" (result) : "Q" (*ptr) ); - return ((uint8_t) result); -} - - -/** - \brief Load-Acquire Exclusive (16 bit) - \details Executes a LDAH exclusive instruction for 16 bit values. - \param [in] ptr Pointer to data - \return value of type uint16_t at (*ptr) - */ -__STATIC_FORCEINLINE uint16_t __LDAEXH(volatile uint16_t *ptr) -{ - uint32_t result; - - __ASM volatile ("ldaexh %0, %1" : "=r" (result) : "Q" (*ptr) ); - return ((uint16_t) result); -} - - -/** - \brief Load-Acquire Exclusive (32 bit) - \details Executes a LDA exclusive instruction for 32 bit values. - \param [in] ptr Pointer to data - \return value of type uint32_t at (*ptr) - */ -__STATIC_FORCEINLINE uint32_t __LDAEX(volatile uint32_t *ptr) -{ - uint32_t result; - - __ASM volatile ("ldaex %0, %1" : "=r" (result) : "Q" (*ptr) ); - return(result); -} - - -/** - \brief Store-Release Exclusive (8 bit) - \details Executes a STLB exclusive instruction for 8 bit values. - \param [in] value Value to store - \param [in] ptr Pointer to location - \return 0 Function succeeded - \return 1 Function failed - */ -__STATIC_FORCEINLINE uint32_t __STLEXB(uint8_t value, volatile uint8_t *ptr) -{ - uint32_t result; - - __ASM volatile ("stlexb %0, %2, %1" : "=&r" (result), "=Q" (*ptr) : "r" ((uint32_t)value) ); - return(result); -} - - -/** - \brief Store-Release Exclusive (16 bit) - \details Executes a STLH exclusive instruction for 16 bit values. - \param [in] value Value to store - \param [in] ptr Pointer to location - \return 0 Function succeeded - \return 1 Function failed - */ -__STATIC_FORCEINLINE uint32_t __STLEXH(uint16_t value, volatile uint16_t *ptr) -{ - uint32_t result; - - __ASM volatile ("stlexh %0, %2, %1" : "=&r" (result), "=Q" (*ptr) : "r" ((uint32_t)value) ); - return(result); -} - - -/** - \brief Store-Release Exclusive (32 bit) - \details Executes a STL exclusive instruction for 32 bit values. - \param [in] value Value to store - \param [in] ptr Pointer to location - \return 0 Function succeeded - \return 1 Function failed - */ -__STATIC_FORCEINLINE uint32_t __STLEX(uint32_t value, volatile uint32_t *ptr) -{ - uint32_t result; - - __ASM volatile ("stlex %0, %2, %1" : "=&r" (result), "=Q" (*ptr) : "r" ((uint32_t)value) ); - return(result); -} - -#endif /* ((defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) || \ - (defined (__ARM_ARCH_8M_BASE__ ) && (__ARM_ARCH_8M_BASE__ == 1)) ) */ - -/*@}*/ /* end of group CMSIS_Core_InstructionInterface */ - - -/* ################### Compiler specific Intrinsics ########################### */ -/** \defgroup CMSIS_SIMD_intrinsics CMSIS SIMD Intrinsics - Access to dedicated SIMD instructions - @{ -*/ - -#if (defined (__ARM_FEATURE_DSP) && (__ARM_FEATURE_DSP == 1)) - -__STATIC_FORCEINLINE uint32_t __SADD8(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("sadd8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __QADD8(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("qadd8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __SHADD8(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("shadd8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __UADD8(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("uadd8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __UQADD8(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("uqadd8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __UHADD8(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("uhadd8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - - -__STATIC_FORCEINLINE uint32_t __SSUB8(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("ssub8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __QSUB8(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("qsub8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __SHSUB8(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("shsub8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __USUB8(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("usub8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __UQSUB8(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("uqsub8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __UHSUB8(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("uhsub8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - - -__STATIC_FORCEINLINE uint32_t __SADD16(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("sadd16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __QADD16(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("qadd16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __SHADD16(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("shadd16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __UADD16(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("uadd16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __UQADD16(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("uqadd16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __UHADD16(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("uhadd16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __SSUB16(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("ssub16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __QSUB16(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("qsub16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __SHSUB16(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("shsub16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __USUB16(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("usub16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __UQSUB16(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("uqsub16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __UHSUB16(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("uhsub16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __SASX(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("sasx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __QASX(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("qasx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __SHASX(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("shasx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __UASX(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("uasx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __UQASX(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("uqasx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __UHASX(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("uhasx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __SSAX(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("ssax %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __QSAX(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("qsax %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __SHSAX(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("shsax %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __USAX(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("usax %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __UQSAX(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("uqsax %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __UHSAX(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("uhsax %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __USAD8(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("usad8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __USADA8(uint32_t op1, uint32_t op2, uint32_t op3) -{ - uint32_t result; - - __ASM volatile ("usada8 %0, %1, %2, %3" : "=r" (result) : "r" (op1), "r" (op2), "r" (op3) ); - return(result); -} - -#define __SSAT16(ARG1,ARG2) \ -({ \ - int32_t __RES, __ARG1 = (ARG1); \ - __ASM ("ssat16 %0, %1, %2" : "=r" (__RES) : "I" (ARG2), "r" (__ARG1) ); \ - __RES; \ - }) - -#define __USAT16(ARG1,ARG2) \ -({ \ - uint32_t __RES, __ARG1 = (ARG1); \ - __ASM ("usat16 %0, %1, %2" : "=r" (__RES) : "I" (ARG2), "r" (__ARG1) ); \ - __RES; \ - }) - -__STATIC_FORCEINLINE uint32_t __UXTB16(uint32_t op1) -{ - uint32_t result; - - __ASM volatile ("uxtb16 %0, %1" : "=r" (result) : "r" (op1)); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __UXTAB16(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("uxtab16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __SXTB16(uint32_t op1) -{ - uint32_t result; - - __ASM volatile ("sxtb16 %0, %1" : "=r" (result) : "r" (op1)); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __SXTAB16(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("sxtab16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __SMUAD (uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("smuad %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __SMUADX (uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("smuadx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __SMLAD (uint32_t op1, uint32_t op2, uint32_t op3) -{ - uint32_t result; - - __ASM volatile ("smlad %0, %1, %2, %3" : "=r" (result) : "r" (op1), "r" (op2), "r" (op3) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __SMLADX (uint32_t op1, uint32_t op2, uint32_t op3) -{ - uint32_t result; - - __ASM volatile ("smladx %0, %1, %2, %3" : "=r" (result) : "r" (op1), "r" (op2), "r" (op3) ); - return(result); -} - -__STATIC_FORCEINLINE uint64_t __SMLALD (uint32_t op1, uint32_t op2, uint64_t acc) -{ - union llreg_u{ - uint32_t w32[2]; - uint64_t w64; - } llr; - llr.w64 = acc; - -#ifndef __ARMEB__ /* Little endian */ - __ASM volatile ("smlald %0, %1, %2, %3" : "=r" (llr.w32[0]), "=r" (llr.w32[1]): "r" (op1), "r" (op2) , "0" (llr.w32[0]), "1" (llr.w32[1]) ); -#else /* Big endian */ - __ASM volatile ("smlald %0, %1, %2, %3" : "=r" (llr.w32[1]), "=r" (llr.w32[0]): "r" (op1), "r" (op2) , "0" (llr.w32[1]), "1" (llr.w32[0]) ); -#endif - - return(llr.w64); -} - -__STATIC_FORCEINLINE uint64_t __SMLALDX (uint32_t op1, uint32_t op2, uint64_t acc) -{ - union llreg_u{ - uint32_t w32[2]; - uint64_t w64; - } llr; - llr.w64 = acc; - -#ifndef __ARMEB__ /* Little endian */ - __ASM volatile ("smlaldx %0, %1, %2, %3" : "=r" (llr.w32[0]), "=r" (llr.w32[1]): "r" (op1), "r" (op2) , "0" (llr.w32[0]), "1" (llr.w32[1]) ); -#else /* Big endian */ - __ASM volatile ("smlaldx %0, %1, %2, %3" : "=r" (llr.w32[1]), "=r" (llr.w32[0]): "r" (op1), "r" (op2) , "0" (llr.w32[1]), "1" (llr.w32[0]) ); -#endif - - return(llr.w64); -} - -__STATIC_FORCEINLINE uint32_t __SMUSD (uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("smusd %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __SMUSDX (uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("smusdx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __SMLSD (uint32_t op1, uint32_t op2, uint32_t op3) -{ - uint32_t result; - - __ASM volatile ("smlsd %0, %1, %2, %3" : "=r" (result) : "r" (op1), "r" (op2), "r" (op3) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __SMLSDX (uint32_t op1, uint32_t op2, uint32_t op3) -{ - uint32_t result; - - __ASM volatile ("smlsdx %0, %1, %2, %3" : "=r" (result) : "r" (op1), "r" (op2), "r" (op3) ); - return(result); -} - -__STATIC_FORCEINLINE uint64_t __SMLSLD (uint32_t op1, uint32_t op2, uint64_t acc) -{ - union llreg_u{ - uint32_t w32[2]; - uint64_t w64; - } llr; - llr.w64 = acc; - -#ifndef __ARMEB__ /* Little endian */ - __ASM volatile ("smlsld %0, %1, %2, %3" : "=r" (llr.w32[0]), "=r" (llr.w32[1]): "r" (op1), "r" (op2) , "0" (llr.w32[0]), "1" (llr.w32[1]) ); -#else /* Big endian */ - __ASM volatile ("smlsld %0, %1, %2, %3" : "=r" (llr.w32[1]), "=r" (llr.w32[0]): "r" (op1), "r" (op2) , "0" (llr.w32[1]), "1" (llr.w32[0]) ); -#endif - - return(llr.w64); -} - -__STATIC_FORCEINLINE uint64_t __SMLSLDX (uint32_t op1, uint32_t op2, uint64_t acc) -{ - union llreg_u{ - uint32_t w32[2]; - uint64_t w64; - } llr; - llr.w64 = acc; - -#ifndef __ARMEB__ /* Little endian */ - __ASM volatile ("smlsldx %0, %1, %2, %3" : "=r" (llr.w32[0]), "=r" (llr.w32[1]): "r" (op1), "r" (op2) , "0" (llr.w32[0]), "1" (llr.w32[1]) ); -#else /* Big endian */ - __ASM volatile ("smlsldx %0, %1, %2, %3" : "=r" (llr.w32[1]), "=r" (llr.w32[0]): "r" (op1), "r" (op2) , "0" (llr.w32[1]), "1" (llr.w32[0]) ); -#endif - - return(llr.w64); -} - -__STATIC_FORCEINLINE uint32_t __SEL (uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("sel %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE int32_t __QADD( int32_t op1, int32_t op2) -{ - int32_t result; - - __ASM volatile ("qadd %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE int32_t __QSUB( int32_t op1, int32_t op2) -{ - int32_t result; - - __ASM volatile ("qsub %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -#if 0 -#define __PKHBT(ARG1,ARG2,ARG3) \ -({ \ - uint32_t __RES, __ARG1 = (ARG1), __ARG2 = (ARG2); \ - __ASM ("pkhbt %0, %1, %2, lsl %3" : "=r" (__RES) : "r" (__ARG1), "r" (__ARG2), "I" (ARG3) ); \ - __RES; \ - }) - -#define __PKHTB(ARG1,ARG2,ARG3) \ -({ \ - uint32_t __RES, __ARG1 = (ARG1), __ARG2 = (ARG2); \ - if (ARG3 == 0) \ - __ASM ("pkhtb %0, %1, %2" : "=r" (__RES) : "r" (__ARG1), "r" (__ARG2) ); \ - else \ - __ASM ("pkhtb %0, %1, %2, asr %3" : "=r" (__RES) : "r" (__ARG1), "r" (__ARG2), "I" (ARG3) ); \ - __RES; \ - }) -#endif - -#define __PKHBT(ARG1,ARG2,ARG3) ( ((((uint32_t)(ARG1)) ) & 0x0000FFFFUL) | \ - ((((uint32_t)(ARG2)) << (ARG3)) & 0xFFFF0000UL) ) - -#define __PKHTB(ARG1,ARG2,ARG3) ( ((((uint32_t)(ARG1)) ) & 0xFFFF0000UL) | \ - ((((uint32_t)(ARG2)) >> (ARG3)) & 0x0000FFFFUL) ) - -__STATIC_FORCEINLINE int32_t __SMMLA (int32_t op1, int32_t op2, int32_t op3) -{ - int32_t result; - - __ASM volatile ("smmla %0, %1, %2, %3" : "=r" (result): "r" (op1), "r" (op2), "r" (op3) ); - return(result); -} - -#endif /* (__ARM_FEATURE_DSP == 1) */ -/*@} end of group CMSIS_SIMD_intrinsics */ - - -#pragma GCC diagnostic pop - -#endif /* __CMSIS_GCC_H */ - diff --git a/panda/board/stm32f4/inc/cmsis_version.h b/panda/board/stm32f4/inc/cmsis_version.h deleted file mode 100644 index bf57cf3e805348..00000000000000 --- a/panda/board/stm32f4/inc/cmsis_version.h +++ /dev/null @@ -1,40 +0,0 @@ -/**************************************************************************//** - * @file cmsis_version.h - * @brief CMSIS Core(M) Version definitions - * @version V5.0.3 - * @date 24. June 2019 - ******************************************************************************/ -/* - * Copyright (c) 2009-2019 ARM Limited. All rights reserved. - * - * SPDX-License-Identifier: Apache-2.0 - * - * Licensed under the Apache License, Version 2.0 (the License); you may - * not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an AS IS BASIS, WITHOUT - * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - -#if defined ( __ICCARM__ ) - #pragma system_include /* treat file as system include file for MISRA check */ -#elif defined (__clang__) - #pragma clang system_header /* treat file as system include file */ -#endif - -#ifndef __CMSIS_VERSION_H -#define __CMSIS_VERSION_H - -/* CMSIS Version definitions */ -#define __CM_CMSIS_VERSION_MAIN ( 5U) /*!< [31:16] CMSIS Core(M) main version */ -#define __CM_CMSIS_VERSION_SUB ( 3U) /*!< [15:0] CMSIS Core(M) sub version */ -#define __CM_CMSIS_VERSION ((__CM_CMSIS_VERSION_MAIN << 16U) | \ - __CM_CMSIS_VERSION_SUB ) /*!< CMSIS Core(M) version number */ -#endif - diff --git a/panda/board/stm32f4/inc/core_cm4.h b/panda/board/stm32f4/inc/core_cm4.h deleted file mode 100644 index 0d40081a385dc1..00000000000000 --- a/panda/board/stm32f4/inc/core_cm4.h +++ /dev/null @@ -1,2125 +0,0 @@ -/**************************************************************************//** - * @file core_cm4.h - * @brief CMSIS Cortex-M4 Core Peripheral Access Layer Header File - * @version V5.1.0 - * @date 13. March 2019 - ******************************************************************************/ -/* - * Copyright (c) 2009-2019 Arm Limited. All rights reserved. - * - * SPDX-License-Identifier: Apache-2.0 - * - * Licensed under the Apache License, Version 2.0 (the License); you may - * not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an AS IS BASIS, WITHOUT - * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - -#if defined ( __ICCARM__ ) - #pragma system_include /* treat file as system include file for MISRA check */ -#elif defined (__clang__) - #pragma clang system_header /* treat file as system include file */ -#endif - -#ifndef __CORE_CM4_H_GENERIC -#define __CORE_CM4_H_GENERIC - -#include - -#ifdef __cplusplus - extern "C" { -#endif - -/** - \page CMSIS_MISRA_Exceptions MISRA-C:2004 Compliance Exceptions - CMSIS violates the following MISRA-C:2004 rules: - - \li Required Rule 8.5, object/function definition in header file.
- Function definitions in header files are used to allow 'inlining'. - - \li Required Rule 18.4, declaration of union type or object of union type: '{...}'.
- Unions are used for effective representation of core registers. - - \li Advisory Rule 19.7, Function-like macro defined.
- Function-like macros are used to allow more efficient code. - */ - - -/******************************************************************************* - * CMSIS definitions - ******************************************************************************/ -/** - \ingroup Cortex_M4 - @{ - */ - -#include "cmsis_version.h" - -/* CMSIS CM4 definitions */ -#define __CM4_CMSIS_VERSION_MAIN (__CM_CMSIS_VERSION_MAIN) /*!< \deprecated [31:16] CMSIS HAL main version */ -#define __CM4_CMSIS_VERSION_SUB (__CM_CMSIS_VERSION_SUB) /*!< \deprecated [15:0] CMSIS HAL sub version */ -#define __CM4_CMSIS_VERSION ((__CM4_CMSIS_VERSION_MAIN << 16U) | \ - __CM4_CMSIS_VERSION_SUB ) /*!< \deprecated CMSIS HAL version number */ - -#define __CORTEX_M (4U) /*!< Cortex-M Core */ - -/** __FPU_USED indicates whether an FPU is used or not. - For this, __FPU_PRESENT has to be checked prior to making use of FPU specific registers and functions. -*/ -#if defined ( __CC_ARM ) - #if defined __TARGET_FPU_VFP - #if defined (__FPU_PRESENT) && (__FPU_PRESENT == 1U) - #define __FPU_USED 1U - #else - #error "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)" - #define __FPU_USED 0U - #endif - #else - #define __FPU_USED 0U - #endif - -#elif defined (__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050) - #if defined __ARM_FP - #if defined (__FPU_PRESENT) && (__FPU_PRESENT == 1U) - #define __FPU_USED 1U - #else - #warning "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)" - #define __FPU_USED 0U - #endif - #else - #define __FPU_USED 0U - #endif - -#elif defined ( __GNUC__ ) - #if defined (__VFP_FP__) && !defined(__SOFTFP__) - #if defined (__FPU_PRESENT) && (__FPU_PRESENT == 1U) - #define __FPU_USED 1U - #else - #error "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)" - #define __FPU_USED 0U - #endif - #else - #define __FPU_USED 0U - #endif - -#elif defined ( __ICCARM__ ) - #if defined __ARMVFP__ - #if defined (__FPU_PRESENT) && (__FPU_PRESENT == 1U) - #define __FPU_USED 1U - #else - #error "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)" - #define __FPU_USED 0U - #endif - #else - #define __FPU_USED 0U - #endif - -#elif defined ( __TI_ARM__ ) - #if defined __TI_VFP_SUPPORT__ - #if defined (__FPU_PRESENT) && (__FPU_PRESENT == 1U) - #define __FPU_USED 1U - #else - #error "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)" - #define __FPU_USED 0U - #endif - #else - #define __FPU_USED 0U - #endif - -#elif defined ( __TASKING__ ) - #if defined __FPU_VFP__ - #if defined (__FPU_PRESENT) && (__FPU_PRESENT == 1U) - #define __FPU_USED 1U - #else - #error "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)" - #define __FPU_USED 0U - #endif - #else - #define __FPU_USED 0U - #endif - -#elif defined ( __CSMC__ ) - #if ( __CSMC__ & 0x400U) - #if defined (__FPU_PRESENT) && (__FPU_PRESENT == 1U) - #define __FPU_USED 1U - #else - #error "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)" - #define __FPU_USED 0U - #endif - #else - #define __FPU_USED 0U - #endif - -#endif - -#include "cmsis_compiler.h" /* CMSIS compiler specific defines */ - - -#ifdef __cplusplus -} -#endif - -#endif /* __CORE_CM4_H_GENERIC */ - -#ifndef __CMSIS_GENERIC - -#ifndef __CORE_CM4_H_DEPENDANT -#define __CORE_CM4_H_DEPENDANT - -#ifdef __cplusplus - extern "C" { -#endif - -/* check device defines and use defaults */ -#if defined __CHECK_DEVICE_DEFINES - #ifndef __CM4_REV - #define __CM4_REV 0x0000U - #warning "__CM4_REV not defined in device header file; using default!" - #endif - - #ifndef __FPU_PRESENT - #define __FPU_PRESENT 0U - #warning "__FPU_PRESENT not defined in device header file; using default!" - #endif - - #ifndef __MPU_PRESENT - #define __MPU_PRESENT 0U - #warning "__MPU_PRESENT not defined in device header file; using default!" - #endif - - #ifndef __NVIC_PRIO_BITS - #define __NVIC_PRIO_BITS 3U - #warning "__NVIC_PRIO_BITS not defined in device header file; using default!" - #endif - - #ifndef __Vendor_SysTickConfig - #define __Vendor_SysTickConfig 0U - #warning "__Vendor_SysTickConfig not defined in device header file; using default!" - #endif -#endif - -/* IO definitions (access restrictions to peripheral registers) */ -/** - \defgroup CMSIS_glob_defs CMSIS Global Defines - - IO Type Qualifiers are used - \li to specify the access to peripheral variables. - \li for automatic generation of peripheral register debug information. -*/ -#ifdef __cplusplus - #define __I volatile /*!< Defines 'read only' permissions */ -#else - #define __I volatile const /*!< Defines 'read only' permissions */ -#endif -#define __O volatile /*!< Defines 'write only' permissions */ -#define __IO volatile /*!< Defines 'read / write' permissions */ - -/* following defines should be used for structure members */ -#define __IM volatile const /*! Defines 'read only' structure member permissions */ -#define __OM volatile /*! Defines 'write only' structure member permissions */ -#define __IOM volatile /*! Defines 'read / write' structure member permissions */ - -/*@} end of group Cortex_M4 */ - - - -/******************************************************************************* - * Register Abstraction - Core Register contain: - - Core Register - - Core NVIC Register - - Core SCB Register - - Core SysTick Register - - Core Debug Register - - Core MPU Register - - Core FPU Register - ******************************************************************************/ -/** - \defgroup CMSIS_core_register Defines and Type Definitions - \brief Type definitions and defines for Cortex-M processor based devices. -*/ - -/** - \ingroup CMSIS_core_register - \defgroup CMSIS_CORE Status and Control Registers - \brief Core Register type definitions. - @{ - */ - -/** - \brief Union type to access the Application Program Status Register (APSR). - */ -typedef union -{ - struct - { - uint32_t _reserved0:16; /*!< bit: 0..15 Reserved */ - uint32_t GE:4; /*!< bit: 16..19 Greater than or Equal flags */ - uint32_t _reserved1:7; /*!< bit: 20..26 Reserved */ - uint32_t Q:1; /*!< bit: 27 Saturation condition flag */ - uint32_t V:1; /*!< bit: 28 Overflow condition code flag */ - uint32_t C:1; /*!< bit: 29 Carry condition code flag */ - uint32_t Z:1; /*!< bit: 30 Zero condition code flag */ - uint32_t N:1; /*!< bit: 31 Negative condition code flag */ - } b; /*!< Structure used for bit access */ - uint32_t w; /*!< Type used for word access */ -} APSR_Type; - -/* APSR Register Definitions */ -#define APSR_N_Pos 31U /*!< APSR: N Position */ -#define APSR_N_Msk (1UL << APSR_N_Pos) /*!< APSR: N Mask */ - -#define APSR_Z_Pos 30U /*!< APSR: Z Position */ -#define APSR_Z_Msk (1UL << APSR_Z_Pos) /*!< APSR: Z Mask */ - -#define APSR_C_Pos 29U /*!< APSR: C Position */ -#define APSR_C_Msk (1UL << APSR_C_Pos) /*!< APSR: C Mask */ - -#define APSR_V_Pos 28U /*!< APSR: V Position */ -#define APSR_V_Msk (1UL << APSR_V_Pos) /*!< APSR: V Mask */ - -#define APSR_Q_Pos 27U /*!< APSR: Q Position */ -#define APSR_Q_Msk (1UL << APSR_Q_Pos) /*!< APSR: Q Mask */ - -#define APSR_GE_Pos 16U /*!< APSR: GE Position */ -#define APSR_GE_Msk (0xFUL << APSR_GE_Pos) /*!< APSR: GE Mask */ - - -/** - \brief Union type to access the Interrupt Program Status Register (IPSR). - */ -typedef union -{ - struct - { - uint32_t ISR:9; /*!< bit: 0.. 8 Exception number */ - uint32_t _reserved0:23; /*!< bit: 9..31 Reserved */ - } b; /*!< Structure used for bit access */ - uint32_t w; /*!< Type used for word access */ -} IPSR_Type; - -/* IPSR Register Definitions */ -#define IPSR_ISR_Pos 0U /*!< IPSR: ISR Position */ -#define IPSR_ISR_Msk (0x1FFUL /*<< IPSR_ISR_Pos*/) /*!< IPSR: ISR Mask */ - - -/** - \brief Union type to access the Special-Purpose Program Status Registers (xPSR). - */ -typedef union -{ - struct - { - uint32_t ISR:9; /*!< bit: 0.. 8 Exception number */ - uint32_t _reserved0:1; /*!< bit: 9 Reserved */ - uint32_t ICI_IT_1:6; /*!< bit: 10..15 ICI/IT part 1 */ - uint32_t GE:4; /*!< bit: 16..19 Greater than or Equal flags */ - uint32_t _reserved1:4; /*!< bit: 20..23 Reserved */ - uint32_t T:1; /*!< bit: 24 Thumb bit */ - uint32_t ICI_IT_2:2; /*!< bit: 25..26 ICI/IT part 2 */ - uint32_t Q:1; /*!< bit: 27 Saturation condition flag */ - uint32_t V:1; /*!< bit: 28 Overflow condition code flag */ - uint32_t C:1; /*!< bit: 29 Carry condition code flag */ - uint32_t Z:1; /*!< bit: 30 Zero condition code flag */ - uint32_t N:1; /*!< bit: 31 Negative condition code flag */ - } b; /*!< Structure used for bit access */ - uint32_t w; /*!< Type used for word access */ -} xPSR_Type; - -/* xPSR Register Definitions */ -#define xPSR_N_Pos 31U /*!< xPSR: N Position */ -#define xPSR_N_Msk (1UL << xPSR_N_Pos) /*!< xPSR: N Mask */ - -#define xPSR_Z_Pos 30U /*!< xPSR: Z Position */ -#define xPSR_Z_Msk (1UL << xPSR_Z_Pos) /*!< xPSR: Z Mask */ - -#define xPSR_C_Pos 29U /*!< xPSR: C Position */ -#define xPSR_C_Msk (1UL << xPSR_C_Pos) /*!< xPSR: C Mask */ - -#define xPSR_V_Pos 28U /*!< xPSR: V Position */ -#define xPSR_V_Msk (1UL << xPSR_V_Pos) /*!< xPSR: V Mask */ - -#define xPSR_Q_Pos 27U /*!< xPSR: Q Position */ -#define xPSR_Q_Msk (1UL << xPSR_Q_Pos) /*!< xPSR: Q Mask */ - -#define xPSR_ICI_IT_2_Pos 25U /*!< xPSR: ICI/IT part 2 Position */ -#define xPSR_ICI_IT_2_Msk (3UL << xPSR_ICI_IT_2_Pos) /*!< xPSR: ICI/IT part 2 Mask */ - -#define xPSR_T_Pos 24U /*!< xPSR: T Position */ -#define xPSR_T_Msk (1UL << xPSR_T_Pos) /*!< xPSR: T Mask */ - -#define xPSR_GE_Pos 16U /*!< xPSR: GE Position */ -#define xPSR_GE_Msk (0xFUL << xPSR_GE_Pos) /*!< xPSR: GE Mask */ - -#define xPSR_ICI_IT_1_Pos 10U /*!< xPSR: ICI/IT part 1 Position */ -#define xPSR_ICI_IT_1_Msk (0x3FUL << xPSR_ICI_IT_1_Pos) /*!< xPSR: ICI/IT part 1 Mask */ - -#define xPSR_ISR_Pos 0U /*!< xPSR: ISR Position */ -#define xPSR_ISR_Msk (0x1FFUL /*<< xPSR_ISR_Pos*/) /*!< xPSR: ISR Mask */ - - -/** - \brief Union type to access the Control Registers (CONTROL). - */ -typedef union -{ - struct - { - uint32_t nPRIV:1; /*!< bit: 0 Execution privilege in Thread mode */ - uint32_t SPSEL:1; /*!< bit: 1 Stack to be used */ - uint32_t FPCA:1; /*!< bit: 2 FP extension active flag */ - uint32_t _reserved0:29; /*!< bit: 3..31 Reserved */ - } b; /*!< Structure used for bit access */ - uint32_t w; /*!< Type used for word access */ -} CONTROL_Type; - -/* CONTROL Register Definitions */ -#define CONTROL_FPCA_Pos 2U /*!< CONTROL: FPCA Position */ -#define CONTROL_FPCA_Msk (1UL << CONTROL_FPCA_Pos) /*!< CONTROL: FPCA Mask */ - -#define CONTROL_SPSEL_Pos 1U /*!< CONTROL: SPSEL Position */ -#define CONTROL_SPSEL_Msk (1UL << CONTROL_SPSEL_Pos) /*!< CONTROL: SPSEL Mask */ - -#define CONTROL_nPRIV_Pos 0U /*!< CONTROL: nPRIV Position */ -#define CONTROL_nPRIV_Msk (1UL /*<< CONTROL_nPRIV_Pos*/) /*!< CONTROL: nPRIV Mask */ - -/*@} end of group CMSIS_CORE */ - - -/** - \ingroup CMSIS_core_register - \defgroup CMSIS_NVIC Nested Vectored Interrupt Controller (NVIC) - \brief Type definitions for the NVIC Registers - @{ - */ - -/** - \brief Structure type to access the Nested Vectored Interrupt Controller (NVIC). - */ -typedef struct -{ - __IOM uint32_t ISER[8U]; /*!< Offset: 0x000 (R/W) Interrupt Set Enable Register */ - uint32_t RESERVED0[24U]; - __IOM uint32_t ICER[8U]; /*!< Offset: 0x080 (R/W) Interrupt Clear Enable Register */ - uint32_t RESERVED1[24U]; - __IOM uint32_t ISPR[8U]; /*!< Offset: 0x100 (R/W) Interrupt Set Pending Register */ - uint32_t RESERVED2[24U]; - __IOM uint32_t ICPR[8U]; /*!< Offset: 0x180 (R/W) Interrupt Clear Pending Register */ - uint32_t RESERVED3[24U]; - __IOM uint32_t IABR[8U]; /*!< Offset: 0x200 (R/W) Interrupt Active bit Register */ - uint32_t RESERVED4[56U]; - __IOM uint8_t IP[240U]; /*!< Offset: 0x300 (R/W) Interrupt Priority Register (8Bit wide) */ - uint32_t RESERVED5[644U]; - __OM uint32_t STIR; /*!< Offset: 0xE00 ( /W) Software Trigger Interrupt Register */ -} NVIC_Type; - -/* Software Triggered Interrupt Register Definitions */ -#define NVIC_STIR_INTID_Pos 0U /*!< STIR: INTLINESNUM Position */ -#define NVIC_STIR_INTID_Msk (0x1FFUL /*<< NVIC_STIR_INTID_Pos*/) /*!< STIR: INTLINESNUM Mask */ - -/*@} end of group CMSIS_NVIC */ - - -/** - \ingroup CMSIS_core_register - \defgroup CMSIS_SCB System Control Block (SCB) - \brief Type definitions for the System Control Block Registers - @{ - */ - -/** - \brief Structure type to access the System Control Block (SCB). - */ -typedef struct -{ - __IM uint32_t CPUID; /*!< Offset: 0x000 (R/ ) CPUID Base Register */ - __IOM uint32_t ICSR; /*!< Offset: 0x004 (R/W) Interrupt Control and State Register */ - __IOM uint32_t VTOR; /*!< Offset: 0x008 (R/W) Vector Table Offset Register */ - __IOM uint32_t AIRCR; /*!< Offset: 0x00C (R/W) Application Interrupt and Reset Control Register */ - __IOM uint32_t SCR; /*!< Offset: 0x010 (R/W) System Control Register */ - __IOM uint32_t CCR; /*!< Offset: 0x014 (R/W) Configuration Control Register */ - __IOM uint8_t SHP[12U]; /*!< Offset: 0x018 (R/W) System Handlers Priority Registers (4-7, 8-11, 12-15) */ - __IOM uint32_t SHCSR; /*!< Offset: 0x024 (R/W) System Handler Control and State Register */ - __IOM uint32_t CFSR; /*!< Offset: 0x028 (R/W) Configurable Fault Status Register */ - __IOM uint32_t HFSR; /*!< Offset: 0x02C (R/W) HardFault Status Register */ - __IOM uint32_t DFSR; /*!< Offset: 0x030 (R/W) Debug Fault Status Register */ - __IOM uint32_t MMFAR; /*!< Offset: 0x034 (R/W) MemManage Fault Address Register */ - __IOM uint32_t BFAR; /*!< Offset: 0x038 (R/W) BusFault Address Register */ - __IOM uint32_t AFSR; /*!< Offset: 0x03C (R/W) Auxiliary Fault Status Register */ - __IM uint32_t PFR[2U]; /*!< Offset: 0x040 (R/ ) Processor Feature Register */ - __IM uint32_t DFR; /*!< Offset: 0x048 (R/ ) Debug Feature Register */ - __IM uint32_t ADR; /*!< Offset: 0x04C (R/ ) Auxiliary Feature Register */ - __IM uint32_t MMFR[4U]; /*!< Offset: 0x050 (R/ ) Memory Model Feature Register */ - __IM uint32_t ISAR[5U]; /*!< Offset: 0x060 (R/ ) Instruction Set Attributes Register */ - uint32_t RESERVED0[5U]; - __IOM uint32_t CPACR; /*!< Offset: 0x088 (R/W) Coprocessor Access Control Register */ -} SCB_Type; - -/* SCB CPUID Register Definitions */ -#define SCB_CPUID_IMPLEMENTER_Pos 24U /*!< SCB CPUID: IMPLEMENTER Position */ -#define SCB_CPUID_IMPLEMENTER_Msk (0xFFUL << SCB_CPUID_IMPLEMENTER_Pos) /*!< SCB CPUID: IMPLEMENTER Mask */ - -#define SCB_CPUID_VARIANT_Pos 20U /*!< SCB CPUID: VARIANT Position */ -#define SCB_CPUID_VARIANT_Msk (0xFUL << SCB_CPUID_VARIANT_Pos) /*!< SCB CPUID: VARIANT Mask */ - -#define SCB_CPUID_ARCHITECTURE_Pos 16U /*!< SCB CPUID: ARCHITECTURE Position */ -#define SCB_CPUID_ARCHITECTURE_Msk (0xFUL << SCB_CPUID_ARCHITECTURE_Pos) /*!< SCB CPUID: ARCHITECTURE Mask */ - -#define SCB_CPUID_PARTNO_Pos 4U /*!< SCB CPUID: PARTNO Position */ -#define SCB_CPUID_PARTNO_Msk (0xFFFUL << SCB_CPUID_PARTNO_Pos) /*!< SCB CPUID: PARTNO Mask */ - -#define SCB_CPUID_REVISION_Pos 0U /*!< SCB CPUID: REVISION Position */ -#define SCB_CPUID_REVISION_Msk (0xFUL /*<< SCB_CPUID_REVISION_Pos*/) /*!< SCB CPUID: REVISION Mask */ - -/* SCB Interrupt Control State Register Definitions */ -#define SCB_ICSR_NMIPENDSET_Pos 31U /*!< SCB ICSR: NMIPENDSET Position */ -#define SCB_ICSR_NMIPENDSET_Msk (1UL << SCB_ICSR_NMIPENDSET_Pos) /*!< SCB ICSR: NMIPENDSET Mask */ - -#define SCB_ICSR_PENDSVSET_Pos 28U /*!< SCB ICSR: PENDSVSET Position */ -#define SCB_ICSR_PENDSVSET_Msk (1UL << SCB_ICSR_PENDSVSET_Pos) /*!< SCB ICSR: PENDSVSET Mask */ - -#define SCB_ICSR_PENDSVCLR_Pos 27U /*!< SCB ICSR: PENDSVCLR Position */ -#define SCB_ICSR_PENDSVCLR_Msk (1UL << SCB_ICSR_PENDSVCLR_Pos) /*!< SCB ICSR: PENDSVCLR Mask */ - -#define SCB_ICSR_PENDSTSET_Pos 26U /*!< SCB ICSR: PENDSTSET Position */ -#define SCB_ICSR_PENDSTSET_Msk (1UL << SCB_ICSR_PENDSTSET_Pos) /*!< SCB ICSR: PENDSTSET Mask */ - -#define SCB_ICSR_PENDSTCLR_Pos 25U /*!< SCB ICSR: PENDSTCLR Position */ -#define SCB_ICSR_PENDSTCLR_Msk (1UL << SCB_ICSR_PENDSTCLR_Pos) /*!< SCB ICSR: PENDSTCLR Mask */ - -#define SCB_ICSR_ISRPREEMPT_Pos 23U /*!< SCB ICSR: ISRPREEMPT Position */ -#define SCB_ICSR_ISRPREEMPT_Msk (1UL << SCB_ICSR_ISRPREEMPT_Pos) /*!< SCB ICSR: ISRPREEMPT Mask */ - -#define SCB_ICSR_ISRPENDING_Pos 22U /*!< SCB ICSR: ISRPENDING Position */ -#define SCB_ICSR_ISRPENDING_Msk (1UL << SCB_ICSR_ISRPENDING_Pos) /*!< SCB ICSR: ISRPENDING Mask */ - -#define SCB_ICSR_VECTPENDING_Pos 12U /*!< SCB ICSR: VECTPENDING Position */ -#define SCB_ICSR_VECTPENDING_Msk (0x1FFUL << SCB_ICSR_VECTPENDING_Pos) /*!< SCB ICSR: VECTPENDING Mask */ - -#define SCB_ICSR_RETTOBASE_Pos 11U /*!< SCB ICSR: RETTOBASE Position */ -#define SCB_ICSR_RETTOBASE_Msk (1UL << SCB_ICSR_RETTOBASE_Pos) /*!< SCB ICSR: RETTOBASE Mask */ - -#define SCB_ICSR_VECTACTIVE_Pos 0U /*!< SCB ICSR: VECTACTIVE Position */ -#define SCB_ICSR_VECTACTIVE_Msk (0x1FFUL /*<< SCB_ICSR_VECTACTIVE_Pos*/) /*!< SCB ICSR: VECTACTIVE Mask */ - -/* SCB Vector Table Offset Register Definitions */ -#define SCB_VTOR_TBLOFF_Pos 7U /*!< SCB VTOR: TBLOFF Position */ -#define SCB_VTOR_TBLOFF_Msk (0x1FFFFFFUL << SCB_VTOR_TBLOFF_Pos) /*!< SCB VTOR: TBLOFF Mask */ - -/* SCB Application Interrupt and Reset Control Register Definitions */ -#define SCB_AIRCR_VECTKEY_Pos 16U /*!< SCB AIRCR: VECTKEY Position */ -#define SCB_AIRCR_VECTKEY_Msk (0xFFFFUL << SCB_AIRCR_VECTKEY_Pos) /*!< SCB AIRCR: VECTKEY Mask */ - -#define SCB_AIRCR_VECTKEYSTAT_Pos 16U /*!< SCB AIRCR: VECTKEYSTAT Position */ -#define SCB_AIRCR_VECTKEYSTAT_Msk (0xFFFFUL << SCB_AIRCR_VECTKEYSTAT_Pos) /*!< SCB AIRCR: VECTKEYSTAT Mask */ - -#define SCB_AIRCR_ENDIANESS_Pos 15U /*!< SCB AIRCR: ENDIANESS Position */ -#define SCB_AIRCR_ENDIANESS_Msk (1UL << SCB_AIRCR_ENDIANESS_Pos) /*!< SCB AIRCR: ENDIANESS Mask */ - -#define SCB_AIRCR_PRIGROUP_Pos 8U /*!< SCB AIRCR: PRIGROUP Position */ -#define SCB_AIRCR_PRIGROUP_Msk (7UL << SCB_AIRCR_PRIGROUP_Pos) /*!< SCB AIRCR: PRIGROUP Mask */ - -#define SCB_AIRCR_SYSRESETREQ_Pos 2U /*!< SCB AIRCR: SYSRESETREQ Position */ -#define SCB_AIRCR_SYSRESETREQ_Msk (1UL << SCB_AIRCR_SYSRESETREQ_Pos) /*!< SCB AIRCR: SYSRESETREQ Mask */ - -#define SCB_AIRCR_VECTCLRACTIVE_Pos 1U /*!< SCB AIRCR: VECTCLRACTIVE Position */ -#define SCB_AIRCR_VECTCLRACTIVE_Msk (1UL << SCB_AIRCR_VECTCLRACTIVE_Pos) /*!< SCB AIRCR: VECTCLRACTIVE Mask */ - -#define SCB_AIRCR_VECTRESET_Pos 0U /*!< SCB AIRCR: VECTRESET Position */ -#define SCB_AIRCR_VECTRESET_Msk (1UL /*<< SCB_AIRCR_VECTRESET_Pos*/) /*!< SCB AIRCR: VECTRESET Mask */ - -/* SCB System Control Register Definitions */ -#define SCB_SCR_SEVONPEND_Pos 4U /*!< SCB SCR: SEVONPEND Position */ -#define SCB_SCR_SEVONPEND_Msk (1UL << SCB_SCR_SEVONPEND_Pos) /*!< SCB SCR: SEVONPEND Mask */ - -#define SCB_SCR_SLEEPDEEP_Pos 2U /*!< SCB SCR: SLEEPDEEP Position */ -#define SCB_SCR_SLEEPDEEP_Msk (1UL << SCB_SCR_SLEEPDEEP_Pos) /*!< SCB SCR: SLEEPDEEP Mask */ - -#define SCB_SCR_SLEEPONEXIT_Pos 1U /*!< SCB SCR: SLEEPONEXIT Position */ -#define SCB_SCR_SLEEPONEXIT_Msk (1UL << SCB_SCR_SLEEPONEXIT_Pos) /*!< SCB SCR: SLEEPONEXIT Mask */ - -/* SCB Configuration Control Register Definitions */ -#define SCB_CCR_STKALIGN_Pos 9U /*!< SCB CCR: STKALIGN Position */ -#define SCB_CCR_STKALIGN_Msk (1UL << SCB_CCR_STKALIGN_Pos) /*!< SCB CCR: STKALIGN Mask */ - -#define SCB_CCR_BFHFNMIGN_Pos 8U /*!< SCB CCR: BFHFNMIGN Position */ -#define SCB_CCR_BFHFNMIGN_Msk (1UL << SCB_CCR_BFHFNMIGN_Pos) /*!< SCB CCR: BFHFNMIGN Mask */ - -#define SCB_CCR_DIV_0_TRP_Pos 4U /*!< SCB CCR: DIV_0_TRP Position */ -#define SCB_CCR_DIV_0_TRP_Msk (1UL << SCB_CCR_DIV_0_TRP_Pos) /*!< SCB CCR: DIV_0_TRP Mask */ - -#define SCB_CCR_UNALIGN_TRP_Pos 3U /*!< SCB CCR: UNALIGN_TRP Position */ -#define SCB_CCR_UNALIGN_TRP_Msk (1UL << SCB_CCR_UNALIGN_TRP_Pos) /*!< SCB CCR: UNALIGN_TRP Mask */ - -#define SCB_CCR_USERSETMPEND_Pos 1U /*!< SCB CCR: USERSETMPEND Position */ -#define SCB_CCR_USERSETMPEND_Msk (1UL << SCB_CCR_USERSETMPEND_Pos) /*!< SCB CCR: USERSETMPEND Mask */ - -#define SCB_CCR_NONBASETHRDENA_Pos 0U /*!< SCB CCR: NONBASETHRDENA Position */ -#define SCB_CCR_NONBASETHRDENA_Msk (1UL /*<< SCB_CCR_NONBASETHRDENA_Pos*/) /*!< SCB CCR: NONBASETHRDENA Mask */ - -/* SCB System Handler Control and State Register Definitions */ -#define SCB_SHCSR_USGFAULTENA_Pos 18U /*!< SCB SHCSR: USGFAULTENA Position */ -#define SCB_SHCSR_USGFAULTENA_Msk (1UL << SCB_SHCSR_USGFAULTENA_Pos) /*!< SCB SHCSR: USGFAULTENA Mask */ - -#define SCB_SHCSR_BUSFAULTENA_Pos 17U /*!< SCB SHCSR: BUSFAULTENA Position */ -#define SCB_SHCSR_BUSFAULTENA_Msk (1UL << SCB_SHCSR_BUSFAULTENA_Pos) /*!< SCB SHCSR: BUSFAULTENA Mask */ - -#define SCB_SHCSR_MEMFAULTENA_Pos 16U /*!< SCB SHCSR: MEMFAULTENA Position */ -#define SCB_SHCSR_MEMFAULTENA_Msk (1UL << SCB_SHCSR_MEMFAULTENA_Pos) /*!< SCB SHCSR: MEMFAULTENA Mask */ - -#define SCB_SHCSR_SVCALLPENDED_Pos 15U /*!< SCB SHCSR: SVCALLPENDED Position */ -#define SCB_SHCSR_SVCALLPENDED_Msk (1UL << SCB_SHCSR_SVCALLPENDED_Pos) /*!< SCB SHCSR: SVCALLPENDED Mask */ - -#define SCB_SHCSR_BUSFAULTPENDED_Pos 14U /*!< SCB SHCSR: BUSFAULTPENDED Position */ -#define SCB_SHCSR_BUSFAULTPENDED_Msk (1UL << SCB_SHCSR_BUSFAULTPENDED_Pos) /*!< SCB SHCSR: BUSFAULTPENDED Mask */ - -#define SCB_SHCSR_MEMFAULTPENDED_Pos 13U /*!< SCB SHCSR: MEMFAULTPENDED Position */ -#define SCB_SHCSR_MEMFAULTPENDED_Msk (1UL << SCB_SHCSR_MEMFAULTPENDED_Pos) /*!< SCB SHCSR: MEMFAULTPENDED Mask */ - -#define SCB_SHCSR_USGFAULTPENDED_Pos 12U /*!< SCB SHCSR: USGFAULTPENDED Position */ -#define SCB_SHCSR_USGFAULTPENDED_Msk (1UL << SCB_SHCSR_USGFAULTPENDED_Pos) /*!< SCB SHCSR: USGFAULTPENDED Mask */ - -#define SCB_SHCSR_SYSTICKACT_Pos 11U /*!< SCB SHCSR: SYSTICKACT Position */ -#define SCB_SHCSR_SYSTICKACT_Msk (1UL << SCB_SHCSR_SYSTICKACT_Pos) /*!< SCB SHCSR: SYSTICKACT Mask */ - -#define SCB_SHCSR_PENDSVACT_Pos 10U /*!< SCB SHCSR: PENDSVACT Position */ -#define SCB_SHCSR_PENDSVACT_Msk (1UL << SCB_SHCSR_PENDSVACT_Pos) /*!< SCB SHCSR: PENDSVACT Mask */ - -#define SCB_SHCSR_MONITORACT_Pos 8U /*!< SCB SHCSR: MONITORACT Position */ -#define SCB_SHCSR_MONITORACT_Msk (1UL << SCB_SHCSR_MONITORACT_Pos) /*!< SCB SHCSR: MONITORACT Mask */ - -#define SCB_SHCSR_SVCALLACT_Pos 7U /*!< SCB SHCSR: SVCALLACT Position */ -#define SCB_SHCSR_SVCALLACT_Msk (1UL << SCB_SHCSR_SVCALLACT_Pos) /*!< SCB SHCSR: SVCALLACT Mask */ - -#define SCB_SHCSR_USGFAULTACT_Pos 3U /*!< SCB SHCSR: USGFAULTACT Position */ -#define SCB_SHCSR_USGFAULTACT_Msk (1UL << SCB_SHCSR_USGFAULTACT_Pos) /*!< SCB SHCSR: USGFAULTACT Mask */ - -#define SCB_SHCSR_BUSFAULTACT_Pos 1U /*!< SCB SHCSR: BUSFAULTACT Position */ -#define SCB_SHCSR_BUSFAULTACT_Msk (1UL << SCB_SHCSR_BUSFAULTACT_Pos) /*!< SCB SHCSR: BUSFAULTACT Mask */ - -#define SCB_SHCSR_MEMFAULTACT_Pos 0U /*!< SCB SHCSR: MEMFAULTACT Position */ -#define SCB_SHCSR_MEMFAULTACT_Msk (1UL /*<< SCB_SHCSR_MEMFAULTACT_Pos*/) /*!< SCB SHCSR: MEMFAULTACT Mask */ - -/* SCB Configurable Fault Status Register Definitions */ -#define SCB_CFSR_USGFAULTSR_Pos 16U /*!< SCB CFSR: Usage Fault Status Register Position */ -#define SCB_CFSR_USGFAULTSR_Msk (0xFFFFUL << SCB_CFSR_USGFAULTSR_Pos) /*!< SCB CFSR: Usage Fault Status Register Mask */ - -#define SCB_CFSR_BUSFAULTSR_Pos 8U /*!< SCB CFSR: Bus Fault Status Register Position */ -#define SCB_CFSR_BUSFAULTSR_Msk (0xFFUL << SCB_CFSR_BUSFAULTSR_Pos) /*!< SCB CFSR: Bus Fault Status Register Mask */ - -#define SCB_CFSR_MEMFAULTSR_Pos 0U /*!< SCB CFSR: Memory Manage Fault Status Register Position */ -#define SCB_CFSR_MEMFAULTSR_Msk (0xFFUL /*<< SCB_CFSR_MEMFAULTSR_Pos*/) /*!< SCB CFSR: Memory Manage Fault Status Register Mask */ - -/* MemManage Fault Status Register (part of SCB Configurable Fault Status Register) */ -#define SCB_CFSR_MMARVALID_Pos (SCB_SHCSR_MEMFAULTACT_Pos + 7U) /*!< SCB CFSR (MMFSR): MMARVALID Position */ -#define SCB_CFSR_MMARVALID_Msk (1UL << SCB_CFSR_MMARVALID_Pos) /*!< SCB CFSR (MMFSR): MMARVALID Mask */ - -#define SCB_CFSR_MLSPERR_Pos (SCB_SHCSR_MEMFAULTACT_Pos + 5U) /*!< SCB CFSR (MMFSR): MLSPERR Position */ -#define SCB_CFSR_MLSPERR_Msk (1UL << SCB_CFSR_MLSPERR_Pos) /*!< SCB CFSR (MMFSR): MLSPERR Mask */ - -#define SCB_CFSR_MSTKERR_Pos (SCB_SHCSR_MEMFAULTACT_Pos + 4U) /*!< SCB CFSR (MMFSR): MSTKERR Position */ -#define SCB_CFSR_MSTKERR_Msk (1UL << SCB_CFSR_MSTKERR_Pos) /*!< SCB CFSR (MMFSR): MSTKERR Mask */ - -#define SCB_CFSR_MUNSTKERR_Pos (SCB_SHCSR_MEMFAULTACT_Pos + 3U) /*!< SCB CFSR (MMFSR): MUNSTKERR Position */ -#define SCB_CFSR_MUNSTKERR_Msk (1UL << SCB_CFSR_MUNSTKERR_Pos) /*!< SCB CFSR (MMFSR): MUNSTKERR Mask */ - -#define SCB_CFSR_DACCVIOL_Pos (SCB_SHCSR_MEMFAULTACT_Pos + 1U) /*!< SCB CFSR (MMFSR): DACCVIOL Position */ -#define SCB_CFSR_DACCVIOL_Msk (1UL << SCB_CFSR_DACCVIOL_Pos) /*!< SCB CFSR (MMFSR): DACCVIOL Mask */ - -#define SCB_CFSR_IACCVIOL_Pos (SCB_SHCSR_MEMFAULTACT_Pos + 0U) /*!< SCB CFSR (MMFSR): IACCVIOL Position */ -#define SCB_CFSR_IACCVIOL_Msk (1UL /*<< SCB_CFSR_IACCVIOL_Pos*/) /*!< SCB CFSR (MMFSR): IACCVIOL Mask */ - -/* BusFault Status Register (part of SCB Configurable Fault Status Register) */ -#define SCB_CFSR_BFARVALID_Pos (SCB_CFSR_BUSFAULTSR_Pos + 7U) /*!< SCB CFSR (BFSR): BFARVALID Position */ -#define SCB_CFSR_BFARVALID_Msk (1UL << SCB_CFSR_BFARVALID_Pos) /*!< SCB CFSR (BFSR): BFARVALID Mask */ - -#define SCB_CFSR_LSPERR_Pos (SCB_CFSR_BUSFAULTSR_Pos + 5U) /*!< SCB CFSR (BFSR): LSPERR Position */ -#define SCB_CFSR_LSPERR_Msk (1UL << SCB_CFSR_LSPERR_Pos) /*!< SCB CFSR (BFSR): LSPERR Mask */ - -#define SCB_CFSR_STKERR_Pos (SCB_CFSR_BUSFAULTSR_Pos + 4U) /*!< SCB CFSR (BFSR): STKERR Position */ -#define SCB_CFSR_STKERR_Msk (1UL << SCB_CFSR_STKERR_Pos) /*!< SCB CFSR (BFSR): STKERR Mask */ - -#define SCB_CFSR_UNSTKERR_Pos (SCB_CFSR_BUSFAULTSR_Pos + 3U) /*!< SCB CFSR (BFSR): UNSTKERR Position */ -#define SCB_CFSR_UNSTKERR_Msk (1UL << SCB_CFSR_UNSTKERR_Pos) /*!< SCB CFSR (BFSR): UNSTKERR Mask */ - -#define SCB_CFSR_IMPRECISERR_Pos (SCB_CFSR_BUSFAULTSR_Pos + 2U) /*!< SCB CFSR (BFSR): IMPRECISERR Position */ -#define SCB_CFSR_IMPRECISERR_Msk (1UL << SCB_CFSR_IMPRECISERR_Pos) /*!< SCB CFSR (BFSR): IMPRECISERR Mask */ - -#define SCB_CFSR_PRECISERR_Pos (SCB_CFSR_BUSFAULTSR_Pos + 1U) /*!< SCB CFSR (BFSR): PRECISERR Position */ -#define SCB_CFSR_PRECISERR_Msk (1UL << SCB_CFSR_PRECISERR_Pos) /*!< SCB CFSR (BFSR): PRECISERR Mask */ - -#define SCB_CFSR_IBUSERR_Pos (SCB_CFSR_BUSFAULTSR_Pos + 0U) /*!< SCB CFSR (BFSR): IBUSERR Position */ -#define SCB_CFSR_IBUSERR_Msk (1UL << SCB_CFSR_IBUSERR_Pos) /*!< SCB CFSR (BFSR): IBUSERR Mask */ - -/* UsageFault Status Register (part of SCB Configurable Fault Status Register) */ -#define SCB_CFSR_DIVBYZERO_Pos (SCB_CFSR_USGFAULTSR_Pos + 9U) /*!< SCB CFSR (UFSR): DIVBYZERO Position */ -#define SCB_CFSR_DIVBYZERO_Msk (1UL << SCB_CFSR_DIVBYZERO_Pos) /*!< SCB CFSR (UFSR): DIVBYZERO Mask */ - -#define SCB_CFSR_UNALIGNED_Pos (SCB_CFSR_USGFAULTSR_Pos + 8U) /*!< SCB CFSR (UFSR): UNALIGNED Position */ -#define SCB_CFSR_UNALIGNED_Msk (1UL << SCB_CFSR_UNALIGNED_Pos) /*!< SCB CFSR (UFSR): UNALIGNED Mask */ - -#define SCB_CFSR_NOCP_Pos (SCB_CFSR_USGFAULTSR_Pos + 3U) /*!< SCB CFSR (UFSR): NOCP Position */ -#define SCB_CFSR_NOCP_Msk (1UL << SCB_CFSR_NOCP_Pos) /*!< SCB CFSR (UFSR): NOCP Mask */ - -#define SCB_CFSR_INVPC_Pos (SCB_CFSR_USGFAULTSR_Pos + 2U) /*!< SCB CFSR (UFSR): INVPC Position */ -#define SCB_CFSR_INVPC_Msk (1UL << SCB_CFSR_INVPC_Pos) /*!< SCB CFSR (UFSR): INVPC Mask */ - -#define SCB_CFSR_INVSTATE_Pos (SCB_CFSR_USGFAULTSR_Pos + 1U) /*!< SCB CFSR (UFSR): INVSTATE Position */ -#define SCB_CFSR_INVSTATE_Msk (1UL << SCB_CFSR_INVSTATE_Pos) /*!< SCB CFSR (UFSR): INVSTATE Mask */ - -#define SCB_CFSR_UNDEFINSTR_Pos (SCB_CFSR_USGFAULTSR_Pos + 0U) /*!< SCB CFSR (UFSR): UNDEFINSTR Position */ -#define SCB_CFSR_UNDEFINSTR_Msk (1UL << SCB_CFSR_UNDEFINSTR_Pos) /*!< SCB CFSR (UFSR): UNDEFINSTR Mask */ - -/* SCB Hard Fault Status Register Definitions */ -#define SCB_HFSR_DEBUGEVT_Pos 31U /*!< SCB HFSR: DEBUGEVT Position */ -#define SCB_HFSR_DEBUGEVT_Msk (1UL << SCB_HFSR_DEBUGEVT_Pos) /*!< SCB HFSR: DEBUGEVT Mask */ - -#define SCB_HFSR_FORCED_Pos 30U /*!< SCB HFSR: FORCED Position */ -#define SCB_HFSR_FORCED_Msk (1UL << SCB_HFSR_FORCED_Pos) /*!< SCB HFSR: FORCED Mask */ - -#define SCB_HFSR_VECTTBL_Pos 1U /*!< SCB HFSR: VECTTBL Position */ -#define SCB_HFSR_VECTTBL_Msk (1UL << SCB_HFSR_VECTTBL_Pos) /*!< SCB HFSR: VECTTBL Mask */ - -/* SCB Debug Fault Status Register Definitions */ -#define SCB_DFSR_EXTERNAL_Pos 4U /*!< SCB DFSR: EXTERNAL Position */ -#define SCB_DFSR_EXTERNAL_Msk (1UL << SCB_DFSR_EXTERNAL_Pos) /*!< SCB DFSR: EXTERNAL Mask */ - -#define SCB_DFSR_VCATCH_Pos 3U /*!< SCB DFSR: VCATCH Position */ -#define SCB_DFSR_VCATCH_Msk (1UL << SCB_DFSR_VCATCH_Pos) /*!< SCB DFSR: VCATCH Mask */ - -#define SCB_DFSR_DWTTRAP_Pos 2U /*!< SCB DFSR: DWTTRAP Position */ -#define SCB_DFSR_DWTTRAP_Msk (1UL << SCB_DFSR_DWTTRAP_Pos) /*!< SCB DFSR: DWTTRAP Mask */ - -#define SCB_DFSR_BKPT_Pos 1U /*!< SCB DFSR: BKPT Position */ -#define SCB_DFSR_BKPT_Msk (1UL << SCB_DFSR_BKPT_Pos) /*!< SCB DFSR: BKPT Mask */ - -#define SCB_DFSR_HALTED_Pos 0U /*!< SCB DFSR: HALTED Position */ -#define SCB_DFSR_HALTED_Msk (1UL /*<< SCB_DFSR_HALTED_Pos*/) /*!< SCB DFSR: HALTED Mask */ - -/*@} end of group CMSIS_SCB */ - - -/** - \ingroup CMSIS_core_register - \defgroup CMSIS_SCnSCB System Controls not in SCB (SCnSCB) - \brief Type definitions for the System Control and ID Register not in the SCB - @{ - */ - -/** - \brief Structure type to access the System Control and ID Register not in the SCB. - */ -typedef struct -{ - uint32_t RESERVED0[1U]; - __IM uint32_t ICTR; /*!< Offset: 0x004 (R/ ) Interrupt Controller Type Register */ - __IOM uint32_t ACTLR; /*!< Offset: 0x008 (R/W) Auxiliary Control Register */ -} SCnSCB_Type; - -/* Interrupt Controller Type Register Definitions */ -#define SCnSCB_ICTR_INTLINESNUM_Pos 0U /*!< ICTR: INTLINESNUM Position */ -#define SCnSCB_ICTR_INTLINESNUM_Msk (0xFUL /*<< SCnSCB_ICTR_INTLINESNUM_Pos*/) /*!< ICTR: INTLINESNUM Mask */ - -/* Auxiliary Control Register Definitions */ -#define SCnSCB_ACTLR_DISOOFP_Pos 9U /*!< ACTLR: DISOOFP Position */ -#define SCnSCB_ACTLR_DISOOFP_Msk (1UL << SCnSCB_ACTLR_DISOOFP_Pos) /*!< ACTLR: DISOOFP Mask */ - -#define SCnSCB_ACTLR_DISFPCA_Pos 8U /*!< ACTLR: DISFPCA Position */ -#define SCnSCB_ACTLR_DISFPCA_Msk (1UL << SCnSCB_ACTLR_DISFPCA_Pos) /*!< ACTLR: DISFPCA Mask */ - -#define SCnSCB_ACTLR_DISFOLD_Pos 2U /*!< ACTLR: DISFOLD Position */ -#define SCnSCB_ACTLR_DISFOLD_Msk (1UL << SCnSCB_ACTLR_DISFOLD_Pos) /*!< ACTLR: DISFOLD Mask */ - -#define SCnSCB_ACTLR_DISDEFWBUF_Pos 1U /*!< ACTLR: DISDEFWBUF Position */ -#define SCnSCB_ACTLR_DISDEFWBUF_Msk (1UL << SCnSCB_ACTLR_DISDEFWBUF_Pos) /*!< ACTLR: DISDEFWBUF Mask */ - -#define SCnSCB_ACTLR_DISMCYCINT_Pos 0U /*!< ACTLR: DISMCYCINT Position */ -#define SCnSCB_ACTLR_DISMCYCINT_Msk (1UL /*<< SCnSCB_ACTLR_DISMCYCINT_Pos*/) /*!< ACTLR: DISMCYCINT Mask */ - -/*@} end of group CMSIS_SCnotSCB */ - - -/** - \ingroup CMSIS_core_register - \defgroup CMSIS_SysTick System Tick Timer (SysTick) - \brief Type definitions for the System Timer Registers. - @{ - */ - -/** - \brief Structure type to access the System Timer (SysTick). - */ -typedef struct -{ - __IOM uint32_t CTRL; /*!< Offset: 0x000 (R/W) SysTick Control and Status Register */ - __IOM uint32_t LOAD; /*!< Offset: 0x004 (R/W) SysTick Reload Value Register */ - __IOM uint32_t VAL; /*!< Offset: 0x008 (R/W) SysTick Current Value Register */ - __IM uint32_t CALIB; /*!< Offset: 0x00C (R/ ) SysTick Calibration Register */ -} SysTick_Type; - -/* SysTick Control / Status Register Definitions */ -#define SysTick_CTRL_COUNTFLAG_Pos 16U /*!< SysTick CTRL: COUNTFLAG Position */ -#define SysTick_CTRL_COUNTFLAG_Msk (1UL << SysTick_CTRL_COUNTFLAG_Pos) /*!< SysTick CTRL: COUNTFLAG Mask */ - -#define SysTick_CTRL_CLKSOURCE_Pos 2U /*!< SysTick CTRL: CLKSOURCE Position */ -#define SysTick_CTRL_CLKSOURCE_Msk (1UL << SysTick_CTRL_CLKSOURCE_Pos) /*!< SysTick CTRL: CLKSOURCE Mask */ - -#define SysTick_CTRL_TICKINT_Pos 1U /*!< SysTick CTRL: TICKINT Position */ -#define SysTick_CTRL_TICKINT_Msk (1UL << SysTick_CTRL_TICKINT_Pos) /*!< SysTick CTRL: TICKINT Mask */ - -#define SysTick_CTRL_ENABLE_Pos 0U /*!< SysTick CTRL: ENABLE Position */ -#define SysTick_CTRL_ENABLE_Msk (1UL /*<< SysTick_CTRL_ENABLE_Pos*/) /*!< SysTick CTRL: ENABLE Mask */ - -/* SysTick Reload Register Definitions */ -#define SysTick_LOAD_RELOAD_Pos 0U /*!< SysTick LOAD: RELOAD Position */ -#define SysTick_LOAD_RELOAD_Msk (0xFFFFFFUL /*<< SysTick_LOAD_RELOAD_Pos*/) /*!< SysTick LOAD: RELOAD Mask */ - -/* SysTick Current Register Definitions */ -#define SysTick_VAL_CURRENT_Pos 0U /*!< SysTick VAL: CURRENT Position */ -#define SysTick_VAL_CURRENT_Msk (0xFFFFFFUL /*<< SysTick_VAL_CURRENT_Pos*/) /*!< SysTick VAL: CURRENT Mask */ - -/* SysTick Calibration Register Definitions */ -#define SysTick_CALIB_NOREF_Pos 31U /*!< SysTick CALIB: NOREF Position */ -#define SysTick_CALIB_NOREF_Msk (1UL << SysTick_CALIB_NOREF_Pos) /*!< SysTick CALIB: NOREF Mask */ - -#define SysTick_CALIB_SKEW_Pos 30U /*!< SysTick CALIB: SKEW Position */ -#define SysTick_CALIB_SKEW_Msk (1UL << SysTick_CALIB_SKEW_Pos) /*!< SysTick CALIB: SKEW Mask */ - -#define SysTick_CALIB_TENMS_Pos 0U /*!< SysTick CALIB: TENMS Position */ -#define SysTick_CALIB_TENMS_Msk (0xFFFFFFUL /*<< SysTick_CALIB_TENMS_Pos*/) /*!< SysTick CALIB: TENMS Mask */ - -/*@} end of group CMSIS_SysTick */ - - -/** - \ingroup CMSIS_core_register - \defgroup CMSIS_ITM Instrumentation Trace Macrocell (ITM) - \brief Type definitions for the Instrumentation Trace Macrocell (ITM) - @{ - */ - -/** - \brief Structure type to access the Instrumentation Trace Macrocell Register (ITM). - */ -typedef struct -{ - __OM union - { - __OM uint8_t u8; /*!< Offset: 0x000 ( /W) ITM Stimulus Port 8-bit */ - __OM uint16_t u16; /*!< Offset: 0x000 ( /W) ITM Stimulus Port 16-bit */ - __OM uint32_t u32; /*!< Offset: 0x000 ( /W) ITM Stimulus Port 32-bit */ - } PORT [32U]; /*!< Offset: 0x000 ( /W) ITM Stimulus Port Registers */ - uint32_t RESERVED0[864U]; - __IOM uint32_t TER; /*!< Offset: 0xE00 (R/W) ITM Trace Enable Register */ - uint32_t RESERVED1[15U]; - __IOM uint32_t TPR; /*!< Offset: 0xE40 (R/W) ITM Trace Privilege Register */ - uint32_t RESERVED2[15U]; - __IOM uint32_t TCR; /*!< Offset: 0xE80 (R/W) ITM Trace Control Register */ - uint32_t RESERVED3[32U]; - uint32_t RESERVED4[43U]; - __OM uint32_t LAR; /*!< Offset: 0xFB0 ( /W) ITM Lock Access Register */ - __IM uint32_t LSR; /*!< Offset: 0xFB4 (R/ ) ITM Lock Status Register */ - uint32_t RESERVED5[6U]; - __IM uint32_t PID4; /*!< Offset: 0xFD0 (R/ ) ITM Peripheral Identification Register #4 */ - __IM uint32_t PID5; /*!< Offset: 0xFD4 (R/ ) ITM Peripheral Identification Register #5 */ - __IM uint32_t PID6; /*!< Offset: 0xFD8 (R/ ) ITM Peripheral Identification Register #6 */ - __IM uint32_t PID7; /*!< Offset: 0xFDC (R/ ) ITM Peripheral Identification Register #7 */ - __IM uint32_t PID0; /*!< Offset: 0xFE0 (R/ ) ITM Peripheral Identification Register #0 */ - __IM uint32_t PID1; /*!< Offset: 0xFE4 (R/ ) ITM Peripheral Identification Register #1 */ - __IM uint32_t PID2; /*!< Offset: 0xFE8 (R/ ) ITM Peripheral Identification Register #2 */ - __IM uint32_t PID3; /*!< Offset: 0xFEC (R/ ) ITM Peripheral Identification Register #3 */ - __IM uint32_t CID0; /*!< Offset: 0xFF0 (R/ ) ITM Component Identification Register #0 */ - __IM uint32_t CID1; /*!< Offset: 0xFF4 (R/ ) ITM Component Identification Register #1 */ - __IM uint32_t CID2; /*!< Offset: 0xFF8 (R/ ) ITM Component Identification Register #2 */ - __IM uint32_t CID3; /*!< Offset: 0xFFC (R/ ) ITM Component Identification Register #3 */ -} ITM_Type; - -/* ITM Trace Privilege Register Definitions */ -#define ITM_TPR_PRIVMASK_Pos 0U /*!< ITM TPR: PRIVMASK Position */ -#define ITM_TPR_PRIVMASK_Msk (0xFFFFFFFFUL /*<< ITM_TPR_PRIVMASK_Pos*/) /*!< ITM TPR: PRIVMASK Mask */ - -/* ITM Trace Control Register Definitions */ -#define ITM_TCR_BUSY_Pos 23U /*!< ITM TCR: BUSY Position */ -#define ITM_TCR_BUSY_Msk (1UL << ITM_TCR_BUSY_Pos) /*!< ITM TCR: BUSY Mask */ - -#define ITM_TCR_TraceBusID_Pos 16U /*!< ITM TCR: ATBID Position */ -#define ITM_TCR_TraceBusID_Msk (0x7FUL << ITM_TCR_TraceBusID_Pos) /*!< ITM TCR: ATBID Mask */ - -#define ITM_TCR_GTSFREQ_Pos 10U /*!< ITM TCR: Global timestamp frequency Position */ -#define ITM_TCR_GTSFREQ_Msk (3UL << ITM_TCR_GTSFREQ_Pos) /*!< ITM TCR: Global timestamp frequency Mask */ - -#define ITM_TCR_TSPrescale_Pos 8U /*!< ITM TCR: TSPrescale Position */ -#define ITM_TCR_TSPrescale_Msk (3UL << ITM_TCR_TSPrescale_Pos) /*!< ITM TCR: TSPrescale Mask */ - -#define ITM_TCR_SWOENA_Pos 4U /*!< ITM TCR: SWOENA Position */ -#define ITM_TCR_SWOENA_Msk (1UL << ITM_TCR_SWOENA_Pos) /*!< ITM TCR: SWOENA Mask */ - -#define ITM_TCR_DWTENA_Pos 3U /*!< ITM TCR: DWTENA Position */ -#define ITM_TCR_DWTENA_Msk (1UL << ITM_TCR_DWTENA_Pos) /*!< ITM TCR: DWTENA Mask */ - -#define ITM_TCR_SYNCENA_Pos 2U /*!< ITM TCR: SYNCENA Position */ -#define ITM_TCR_SYNCENA_Msk (1UL << ITM_TCR_SYNCENA_Pos) /*!< ITM TCR: SYNCENA Mask */ - -#define ITM_TCR_TSENA_Pos 1U /*!< ITM TCR: TSENA Position */ -#define ITM_TCR_TSENA_Msk (1UL << ITM_TCR_TSENA_Pos) /*!< ITM TCR: TSENA Mask */ - -#define ITM_TCR_ITMENA_Pos 0U /*!< ITM TCR: ITM Enable bit Position */ -#define ITM_TCR_ITMENA_Msk (1UL /*<< ITM_TCR_ITMENA_Pos*/) /*!< ITM TCR: ITM Enable bit Mask */ - -/* ITM Lock Status Register Definitions */ -#define ITM_LSR_ByteAcc_Pos 2U /*!< ITM LSR: ByteAcc Position */ -#define ITM_LSR_ByteAcc_Msk (1UL << ITM_LSR_ByteAcc_Pos) /*!< ITM LSR: ByteAcc Mask */ - -#define ITM_LSR_Access_Pos 1U /*!< ITM LSR: Access Position */ -#define ITM_LSR_Access_Msk (1UL << ITM_LSR_Access_Pos) /*!< ITM LSR: Access Mask */ - -#define ITM_LSR_Present_Pos 0U /*!< ITM LSR: Present Position */ -#define ITM_LSR_Present_Msk (1UL /*<< ITM_LSR_Present_Pos*/) /*!< ITM LSR: Present Mask */ - -/*@}*/ /* end of group CMSIS_ITM */ - - -/** - \ingroup CMSIS_core_register - \defgroup CMSIS_DWT Data Watchpoint and Trace (DWT) - \brief Type definitions for the Data Watchpoint and Trace (DWT) - @{ - */ - -/** - \brief Structure type to access the Data Watchpoint and Trace Register (DWT). - */ -typedef struct -{ - __IOM uint32_t CTRL; /*!< Offset: 0x000 (R/W) Control Register */ - __IOM uint32_t CYCCNT; /*!< Offset: 0x004 (R/W) Cycle Count Register */ - __IOM uint32_t CPICNT; /*!< Offset: 0x008 (R/W) CPI Count Register */ - __IOM uint32_t EXCCNT; /*!< Offset: 0x00C (R/W) Exception Overhead Count Register */ - __IOM uint32_t SLEEPCNT; /*!< Offset: 0x010 (R/W) Sleep Count Register */ - __IOM uint32_t LSUCNT; /*!< Offset: 0x014 (R/W) LSU Count Register */ - __IOM uint32_t FOLDCNT; /*!< Offset: 0x018 (R/W) Folded-instruction Count Register */ - __IM uint32_t PCSR; /*!< Offset: 0x01C (R/ ) Program Counter Sample Register */ - __IOM uint32_t COMP0; /*!< Offset: 0x020 (R/W) Comparator Register 0 */ - __IOM uint32_t MASK0; /*!< Offset: 0x024 (R/W) Mask Register 0 */ - __IOM uint32_t FUNCTION0; /*!< Offset: 0x028 (R/W) Function Register 0 */ - uint32_t RESERVED0[1U]; - __IOM uint32_t COMP1; /*!< Offset: 0x030 (R/W) Comparator Register 1 */ - __IOM uint32_t MASK1; /*!< Offset: 0x034 (R/W) Mask Register 1 */ - __IOM uint32_t FUNCTION1; /*!< Offset: 0x038 (R/W) Function Register 1 */ - uint32_t RESERVED1[1U]; - __IOM uint32_t COMP2; /*!< Offset: 0x040 (R/W) Comparator Register 2 */ - __IOM uint32_t MASK2; /*!< Offset: 0x044 (R/W) Mask Register 2 */ - __IOM uint32_t FUNCTION2; /*!< Offset: 0x048 (R/W) Function Register 2 */ - uint32_t RESERVED2[1U]; - __IOM uint32_t COMP3; /*!< Offset: 0x050 (R/W) Comparator Register 3 */ - __IOM uint32_t MASK3; /*!< Offset: 0x054 (R/W) Mask Register 3 */ - __IOM uint32_t FUNCTION3; /*!< Offset: 0x058 (R/W) Function Register 3 */ -} DWT_Type; - -/* DWT Control Register Definitions */ -#define DWT_CTRL_NUMCOMP_Pos 28U /*!< DWT CTRL: NUMCOMP Position */ -#define DWT_CTRL_NUMCOMP_Msk (0xFUL << DWT_CTRL_NUMCOMP_Pos) /*!< DWT CTRL: NUMCOMP Mask */ - -#define DWT_CTRL_NOTRCPKT_Pos 27U /*!< DWT CTRL: NOTRCPKT Position */ -#define DWT_CTRL_NOTRCPKT_Msk (0x1UL << DWT_CTRL_NOTRCPKT_Pos) /*!< DWT CTRL: NOTRCPKT Mask */ - -#define DWT_CTRL_NOEXTTRIG_Pos 26U /*!< DWT CTRL: NOEXTTRIG Position */ -#define DWT_CTRL_NOEXTTRIG_Msk (0x1UL << DWT_CTRL_NOEXTTRIG_Pos) /*!< DWT CTRL: NOEXTTRIG Mask */ - -#define DWT_CTRL_NOCYCCNT_Pos 25U /*!< DWT CTRL: NOCYCCNT Position */ -#define DWT_CTRL_NOCYCCNT_Msk (0x1UL << DWT_CTRL_NOCYCCNT_Pos) /*!< DWT CTRL: NOCYCCNT Mask */ - -#define DWT_CTRL_NOPRFCNT_Pos 24U /*!< DWT CTRL: NOPRFCNT Position */ -#define DWT_CTRL_NOPRFCNT_Msk (0x1UL << DWT_CTRL_NOPRFCNT_Pos) /*!< DWT CTRL: NOPRFCNT Mask */ - -#define DWT_CTRL_CYCEVTENA_Pos 22U /*!< DWT CTRL: CYCEVTENA Position */ -#define DWT_CTRL_CYCEVTENA_Msk (0x1UL << DWT_CTRL_CYCEVTENA_Pos) /*!< DWT CTRL: CYCEVTENA Mask */ - -#define DWT_CTRL_FOLDEVTENA_Pos 21U /*!< DWT CTRL: FOLDEVTENA Position */ -#define DWT_CTRL_FOLDEVTENA_Msk (0x1UL << DWT_CTRL_FOLDEVTENA_Pos) /*!< DWT CTRL: FOLDEVTENA Mask */ - -#define DWT_CTRL_LSUEVTENA_Pos 20U /*!< DWT CTRL: LSUEVTENA Position */ -#define DWT_CTRL_LSUEVTENA_Msk (0x1UL << DWT_CTRL_LSUEVTENA_Pos) /*!< DWT CTRL: LSUEVTENA Mask */ - -#define DWT_CTRL_SLEEPEVTENA_Pos 19U /*!< DWT CTRL: SLEEPEVTENA Position */ -#define DWT_CTRL_SLEEPEVTENA_Msk (0x1UL << DWT_CTRL_SLEEPEVTENA_Pos) /*!< DWT CTRL: SLEEPEVTENA Mask */ - -#define DWT_CTRL_EXCEVTENA_Pos 18U /*!< DWT CTRL: EXCEVTENA Position */ -#define DWT_CTRL_EXCEVTENA_Msk (0x1UL << DWT_CTRL_EXCEVTENA_Pos) /*!< DWT CTRL: EXCEVTENA Mask */ - -#define DWT_CTRL_CPIEVTENA_Pos 17U /*!< DWT CTRL: CPIEVTENA Position */ -#define DWT_CTRL_CPIEVTENA_Msk (0x1UL << DWT_CTRL_CPIEVTENA_Pos) /*!< DWT CTRL: CPIEVTENA Mask */ - -#define DWT_CTRL_EXCTRCENA_Pos 16U /*!< DWT CTRL: EXCTRCENA Position */ -#define DWT_CTRL_EXCTRCENA_Msk (0x1UL << DWT_CTRL_EXCTRCENA_Pos) /*!< DWT CTRL: EXCTRCENA Mask */ - -#define DWT_CTRL_PCSAMPLENA_Pos 12U /*!< DWT CTRL: PCSAMPLENA Position */ -#define DWT_CTRL_PCSAMPLENA_Msk (0x1UL << DWT_CTRL_PCSAMPLENA_Pos) /*!< DWT CTRL: PCSAMPLENA Mask */ - -#define DWT_CTRL_SYNCTAP_Pos 10U /*!< DWT CTRL: SYNCTAP Position */ -#define DWT_CTRL_SYNCTAP_Msk (0x3UL << DWT_CTRL_SYNCTAP_Pos) /*!< DWT CTRL: SYNCTAP Mask */ - -#define DWT_CTRL_CYCTAP_Pos 9U /*!< DWT CTRL: CYCTAP Position */ -#define DWT_CTRL_CYCTAP_Msk (0x1UL << DWT_CTRL_CYCTAP_Pos) /*!< DWT CTRL: CYCTAP Mask */ - -#define DWT_CTRL_POSTINIT_Pos 5U /*!< DWT CTRL: POSTINIT Position */ -#define DWT_CTRL_POSTINIT_Msk (0xFUL << DWT_CTRL_POSTINIT_Pos) /*!< DWT CTRL: POSTINIT Mask */ - -#define DWT_CTRL_POSTPRESET_Pos 1U /*!< DWT CTRL: POSTPRESET Position */ -#define DWT_CTRL_POSTPRESET_Msk (0xFUL << DWT_CTRL_POSTPRESET_Pos) /*!< DWT CTRL: POSTPRESET Mask */ - -#define DWT_CTRL_CYCCNTENA_Pos 0U /*!< DWT CTRL: CYCCNTENA Position */ -#define DWT_CTRL_CYCCNTENA_Msk (0x1UL /*<< DWT_CTRL_CYCCNTENA_Pos*/) /*!< DWT CTRL: CYCCNTENA Mask */ - -/* DWT CPI Count Register Definitions */ -#define DWT_CPICNT_CPICNT_Pos 0U /*!< DWT CPICNT: CPICNT Position */ -#define DWT_CPICNT_CPICNT_Msk (0xFFUL /*<< DWT_CPICNT_CPICNT_Pos*/) /*!< DWT CPICNT: CPICNT Mask */ - -/* DWT Exception Overhead Count Register Definitions */ -#define DWT_EXCCNT_EXCCNT_Pos 0U /*!< DWT EXCCNT: EXCCNT Position */ -#define DWT_EXCCNT_EXCCNT_Msk (0xFFUL /*<< DWT_EXCCNT_EXCCNT_Pos*/) /*!< DWT EXCCNT: EXCCNT Mask */ - -/* DWT Sleep Count Register Definitions */ -#define DWT_SLEEPCNT_SLEEPCNT_Pos 0U /*!< DWT SLEEPCNT: SLEEPCNT Position */ -#define DWT_SLEEPCNT_SLEEPCNT_Msk (0xFFUL /*<< DWT_SLEEPCNT_SLEEPCNT_Pos*/) /*!< DWT SLEEPCNT: SLEEPCNT Mask */ - -/* DWT LSU Count Register Definitions */ -#define DWT_LSUCNT_LSUCNT_Pos 0U /*!< DWT LSUCNT: LSUCNT Position */ -#define DWT_LSUCNT_LSUCNT_Msk (0xFFUL /*<< DWT_LSUCNT_LSUCNT_Pos*/) /*!< DWT LSUCNT: LSUCNT Mask */ - -/* DWT Folded-instruction Count Register Definitions */ -#define DWT_FOLDCNT_FOLDCNT_Pos 0U /*!< DWT FOLDCNT: FOLDCNT Position */ -#define DWT_FOLDCNT_FOLDCNT_Msk (0xFFUL /*<< DWT_FOLDCNT_FOLDCNT_Pos*/) /*!< DWT FOLDCNT: FOLDCNT Mask */ - -/* DWT Comparator Mask Register Definitions */ -#define DWT_MASK_MASK_Pos 0U /*!< DWT MASK: MASK Position */ -#define DWT_MASK_MASK_Msk (0x1FUL /*<< DWT_MASK_MASK_Pos*/) /*!< DWT MASK: MASK Mask */ - -/* DWT Comparator Function Register Definitions */ -#define DWT_FUNCTION_MATCHED_Pos 24U /*!< DWT FUNCTION: MATCHED Position */ -#define DWT_FUNCTION_MATCHED_Msk (0x1UL << DWT_FUNCTION_MATCHED_Pos) /*!< DWT FUNCTION: MATCHED Mask */ - -#define DWT_FUNCTION_DATAVADDR1_Pos 16U /*!< DWT FUNCTION: DATAVADDR1 Position */ -#define DWT_FUNCTION_DATAVADDR1_Msk (0xFUL << DWT_FUNCTION_DATAVADDR1_Pos) /*!< DWT FUNCTION: DATAVADDR1 Mask */ - -#define DWT_FUNCTION_DATAVADDR0_Pos 12U /*!< DWT FUNCTION: DATAVADDR0 Position */ -#define DWT_FUNCTION_DATAVADDR0_Msk (0xFUL << DWT_FUNCTION_DATAVADDR0_Pos) /*!< DWT FUNCTION: DATAVADDR0 Mask */ - -#define DWT_FUNCTION_DATAVSIZE_Pos 10U /*!< DWT FUNCTION: DATAVSIZE Position */ -#define DWT_FUNCTION_DATAVSIZE_Msk (0x3UL << DWT_FUNCTION_DATAVSIZE_Pos) /*!< DWT FUNCTION: DATAVSIZE Mask */ - -#define DWT_FUNCTION_LNK1ENA_Pos 9U /*!< DWT FUNCTION: LNK1ENA Position */ -#define DWT_FUNCTION_LNK1ENA_Msk (0x1UL << DWT_FUNCTION_LNK1ENA_Pos) /*!< DWT FUNCTION: LNK1ENA Mask */ - -#define DWT_FUNCTION_DATAVMATCH_Pos 8U /*!< DWT FUNCTION: DATAVMATCH Position */ -#define DWT_FUNCTION_DATAVMATCH_Msk (0x1UL << DWT_FUNCTION_DATAVMATCH_Pos) /*!< DWT FUNCTION: DATAVMATCH Mask */ - -#define DWT_FUNCTION_CYCMATCH_Pos 7U /*!< DWT FUNCTION: CYCMATCH Position */ -#define DWT_FUNCTION_CYCMATCH_Msk (0x1UL << DWT_FUNCTION_CYCMATCH_Pos) /*!< DWT FUNCTION: CYCMATCH Mask */ - -#define DWT_FUNCTION_EMITRANGE_Pos 5U /*!< DWT FUNCTION: EMITRANGE Position */ -#define DWT_FUNCTION_EMITRANGE_Msk (0x1UL << DWT_FUNCTION_EMITRANGE_Pos) /*!< DWT FUNCTION: EMITRANGE Mask */ - -#define DWT_FUNCTION_FUNCTION_Pos 0U /*!< DWT FUNCTION: FUNCTION Position */ -#define DWT_FUNCTION_FUNCTION_Msk (0xFUL /*<< DWT_FUNCTION_FUNCTION_Pos*/) /*!< DWT FUNCTION: FUNCTION Mask */ - -/*@}*/ /* end of group CMSIS_DWT */ - - -/** - \ingroup CMSIS_core_register - \defgroup CMSIS_TPI Trace Port Interface (TPI) - \brief Type definitions for the Trace Port Interface (TPI) - @{ - */ - -/** - \brief Structure type to access the Trace Port Interface Register (TPI). - */ -typedef struct -{ - __IM uint32_t SSPSR; /*!< Offset: 0x000 (R/ ) Supported Parallel Port Size Register */ - __IOM uint32_t CSPSR; /*!< Offset: 0x004 (R/W) Current Parallel Port Size Register */ - uint32_t RESERVED0[2U]; - __IOM uint32_t ACPR; /*!< Offset: 0x010 (R/W) Asynchronous Clock Prescaler Register */ - uint32_t RESERVED1[55U]; - __IOM uint32_t SPPR; /*!< Offset: 0x0F0 (R/W) Selected Pin Protocol Register */ - uint32_t RESERVED2[131U]; - __IM uint32_t FFSR; /*!< Offset: 0x300 (R/ ) Formatter and Flush Status Register */ - __IOM uint32_t FFCR; /*!< Offset: 0x304 (R/W) Formatter and Flush Control Register */ - __IM uint32_t FSCR; /*!< Offset: 0x308 (R/ ) Formatter Synchronization Counter Register */ - uint32_t RESERVED3[759U]; - __IM uint32_t TRIGGER; /*!< Offset: 0xEE8 (R/ ) TRIGGER Register */ - __IM uint32_t FIFO0; /*!< Offset: 0xEEC (R/ ) Integration ETM Data */ - __IM uint32_t ITATBCTR2; /*!< Offset: 0xEF0 (R/ ) ITATBCTR2 */ - uint32_t RESERVED4[1U]; - __IM uint32_t ITATBCTR0; /*!< Offset: 0xEF8 (R/ ) ITATBCTR0 */ - __IM uint32_t FIFO1; /*!< Offset: 0xEFC (R/ ) Integration ITM Data */ - __IOM uint32_t ITCTRL; /*!< Offset: 0xF00 (R/W) Integration Mode Control */ - uint32_t RESERVED5[39U]; - __IOM uint32_t CLAIMSET; /*!< Offset: 0xFA0 (R/W) Claim tag set */ - __IOM uint32_t CLAIMCLR; /*!< Offset: 0xFA4 (R/W) Claim tag clear */ - uint32_t RESERVED7[8U]; - __IM uint32_t DEVID; /*!< Offset: 0xFC8 (R/ ) TPIU_DEVID */ - __IM uint32_t DEVTYPE; /*!< Offset: 0xFCC (R/ ) TPIU_DEVTYPE */ -} TPI_Type; - -/* TPI Asynchronous Clock Prescaler Register Definitions */ -#define TPI_ACPR_PRESCALER_Pos 0U /*!< TPI ACPR: PRESCALER Position */ -#define TPI_ACPR_PRESCALER_Msk (0x1FFFUL /*<< TPI_ACPR_PRESCALER_Pos*/) /*!< TPI ACPR: PRESCALER Mask */ - -/* TPI Selected Pin Protocol Register Definitions */ -#define TPI_SPPR_TXMODE_Pos 0U /*!< TPI SPPR: TXMODE Position */ -#define TPI_SPPR_TXMODE_Msk (0x3UL /*<< TPI_SPPR_TXMODE_Pos*/) /*!< TPI SPPR: TXMODE Mask */ - -/* TPI Formatter and Flush Status Register Definitions */ -#define TPI_FFSR_FtNonStop_Pos 3U /*!< TPI FFSR: FtNonStop Position */ -#define TPI_FFSR_FtNonStop_Msk (0x1UL << TPI_FFSR_FtNonStop_Pos) /*!< TPI FFSR: FtNonStop Mask */ - -#define TPI_FFSR_TCPresent_Pos 2U /*!< TPI FFSR: TCPresent Position */ -#define TPI_FFSR_TCPresent_Msk (0x1UL << TPI_FFSR_TCPresent_Pos) /*!< TPI FFSR: TCPresent Mask */ - -#define TPI_FFSR_FtStopped_Pos 1U /*!< TPI FFSR: FtStopped Position */ -#define TPI_FFSR_FtStopped_Msk (0x1UL << TPI_FFSR_FtStopped_Pos) /*!< TPI FFSR: FtStopped Mask */ - -#define TPI_FFSR_FlInProg_Pos 0U /*!< TPI FFSR: FlInProg Position */ -#define TPI_FFSR_FlInProg_Msk (0x1UL /*<< TPI_FFSR_FlInProg_Pos*/) /*!< TPI FFSR: FlInProg Mask */ - -/* TPI Formatter and Flush Control Register Definitions */ -#define TPI_FFCR_TrigIn_Pos 8U /*!< TPI FFCR: TrigIn Position */ -#define TPI_FFCR_TrigIn_Msk (0x1UL << TPI_FFCR_TrigIn_Pos) /*!< TPI FFCR: TrigIn Mask */ - -#define TPI_FFCR_EnFCont_Pos 1U /*!< TPI FFCR: EnFCont Position */ -#define TPI_FFCR_EnFCont_Msk (0x1UL << TPI_FFCR_EnFCont_Pos) /*!< TPI FFCR: EnFCont Mask */ - -/* TPI TRIGGER Register Definitions */ -#define TPI_TRIGGER_TRIGGER_Pos 0U /*!< TPI TRIGGER: TRIGGER Position */ -#define TPI_TRIGGER_TRIGGER_Msk (0x1UL /*<< TPI_TRIGGER_TRIGGER_Pos*/) /*!< TPI TRIGGER: TRIGGER Mask */ - -/* TPI Integration ETM Data Register Definitions (FIFO0) */ -#define TPI_FIFO0_ITM_ATVALID_Pos 29U /*!< TPI FIFO0: ITM_ATVALID Position */ -#define TPI_FIFO0_ITM_ATVALID_Msk (0x1UL << TPI_FIFO0_ITM_ATVALID_Pos) /*!< TPI FIFO0: ITM_ATVALID Mask */ - -#define TPI_FIFO0_ITM_bytecount_Pos 27U /*!< TPI FIFO0: ITM_bytecount Position */ -#define TPI_FIFO0_ITM_bytecount_Msk (0x3UL << TPI_FIFO0_ITM_bytecount_Pos) /*!< TPI FIFO0: ITM_bytecount Mask */ - -#define TPI_FIFO0_ETM_ATVALID_Pos 26U /*!< TPI FIFO0: ETM_ATVALID Position */ -#define TPI_FIFO0_ETM_ATVALID_Msk (0x1UL << TPI_FIFO0_ETM_ATVALID_Pos) /*!< TPI FIFO0: ETM_ATVALID Mask */ - -#define TPI_FIFO0_ETM_bytecount_Pos 24U /*!< TPI FIFO0: ETM_bytecount Position */ -#define TPI_FIFO0_ETM_bytecount_Msk (0x3UL << TPI_FIFO0_ETM_bytecount_Pos) /*!< TPI FIFO0: ETM_bytecount Mask */ - -#define TPI_FIFO0_ETM2_Pos 16U /*!< TPI FIFO0: ETM2 Position */ -#define TPI_FIFO0_ETM2_Msk (0xFFUL << TPI_FIFO0_ETM2_Pos) /*!< TPI FIFO0: ETM2 Mask */ - -#define TPI_FIFO0_ETM1_Pos 8U /*!< TPI FIFO0: ETM1 Position */ -#define TPI_FIFO0_ETM1_Msk (0xFFUL << TPI_FIFO0_ETM1_Pos) /*!< TPI FIFO0: ETM1 Mask */ - -#define TPI_FIFO0_ETM0_Pos 0U /*!< TPI FIFO0: ETM0 Position */ -#define TPI_FIFO0_ETM0_Msk (0xFFUL /*<< TPI_FIFO0_ETM0_Pos*/) /*!< TPI FIFO0: ETM0 Mask */ - -/* TPI ITATBCTR2 Register Definitions */ -#define TPI_ITATBCTR2_ATREADY2_Pos 0U /*!< TPI ITATBCTR2: ATREADY2 Position */ -#define TPI_ITATBCTR2_ATREADY2_Msk (0x1UL /*<< TPI_ITATBCTR2_ATREADY2_Pos*/) /*!< TPI ITATBCTR2: ATREADY2 Mask */ - -#define TPI_ITATBCTR2_ATREADY1_Pos 0U /*!< TPI ITATBCTR2: ATREADY1 Position */ -#define TPI_ITATBCTR2_ATREADY1_Msk (0x1UL /*<< TPI_ITATBCTR2_ATREADY1_Pos*/) /*!< TPI ITATBCTR2: ATREADY1 Mask */ - -/* TPI Integration ITM Data Register Definitions (FIFO1) */ -#define TPI_FIFO1_ITM_ATVALID_Pos 29U /*!< TPI FIFO1: ITM_ATVALID Position */ -#define TPI_FIFO1_ITM_ATVALID_Msk (0x1UL << TPI_FIFO1_ITM_ATVALID_Pos) /*!< TPI FIFO1: ITM_ATVALID Mask */ - -#define TPI_FIFO1_ITM_bytecount_Pos 27U /*!< TPI FIFO1: ITM_bytecount Position */ -#define TPI_FIFO1_ITM_bytecount_Msk (0x3UL << TPI_FIFO1_ITM_bytecount_Pos) /*!< TPI FIFO1: ITM_bytecount Mask */ - -#define TPI_FIFO1_ETM_ATVALID_Pos 26U /*!< TPI FIFO1: ETM_ATVALID Position */ -#define TPI_FIFO1_ETM_ATVALID_Msk (0x1UL << TPI_FIFO1_ETM_ATVALID_Pos) /*!< TPI FIFO1: ETM_ATVALID Mask */ - -#define TPI_FIFO1_ETM_bytecount_Pos 24U /*!< TPI FIFO1: ETM_bytecount Position */ -#define TPI_FIFO1_ETM_bytecount_Msk (0x3UL << TPI_FIFO1_ETM_bytecount_Pos) /*!< TPI FIFO1: ETM_bytecount Mask */ - -#define TPI_FIFO1_ITM2_Pos 16U /*!< TPI FIFO1: ITM2 Position */ -#define TPI_FIFO1_ITM2_Msk (0xFFUL << TPI_FIFO1_ITM2_Pos) /*!< TPI FIFO1: ITM2 Mask */ - -#define TPI_FIFO1_ITM1_Pos 8U /*!< TPI FIFO1: ITM1 Position */ -#define TPI_FIFO1_ITM1_Msk (0xFFUL << TPI_FIFO1_ITM1_Pos) /*!< TPI FIFO1: ITM1 Mask */ - -#define TPI_FIFO1_ITM0_Pos 0U /*!< TPI FIFO1: ITM0 Position */ -#define TPI_FIFO1_ITM0_Msk (0xFFUL /*<< TPI_FIFO1_ITM0_Pos*/) /*!< TPI FIFO1: ITM0 Mask */ - -/* TPI ITATBCTR0 Register Definitions */ -#define TPI_ITATBCTR0_ATREADY2_Pos 0U /*!< TPI ITATBCTR0: ATREADY2 Position */ -#define TPI_ITATBCTR0_ATREADY2_Msk (0x1UL /*<< TPI_ITATBCTR0_ATREADY2_Pos*/) /*!< TPI ITATBCTR0: ATREADY2 Mask */ - -#define TPI_ITATBCTR0_ATREADY1_Pos 0U /*!< TPI ITATBCTR0: ATREADY1 Position */ -#define TPI_ITATBCTR0_ATREADY1_Msk (0x1UL /*<< TPI_ITATBCTR0_ATREADY1_Pos*/) /*!< TPI ITATBCTR0: ATREADY1 Mask */ - -/* TPI Integration Mode Control Register Definitions */ -#define TPI_ITCTRL_Mode_Pos 0U /*!< TPI ITCTRL: Mode Position */ -#define TPI_ITCTRL_Mode_Msk (0x3UL /*<< TPI_ITCTRL_Mode_Pos*/) /*!< TPI ITCTRL: Mode Mask */ - -/* TPI DEVID Register Definitions */ -#define TPI_DEVID_NRZVALID_Pos 11U /*!< TPI DEVID: NRZVALID Position */ -#define TPI_DEVID_NRZVALID_Msk (0x1UL << TPI_DEVID_NRZVALID_Pos) /*!< TPI DEVID: NRZVALID Mask */ - -#define TPI_DEVID_MANCVALID_Pos 10U /*!< TPI DEVID: MANCVALID Position */ -#define TPI_DEVID_MANCVALID_Msk (0x1UL << TPI_DEVID_MANCVALID_Pos) /*!< TPI DEVID: MANCVALID Mask */ - -#define TPI_DEVID_PTINVALID_Pos 9U /*!< TPI DEVID: PTINVALID Position */ -#define TPI_DEVID_PTINVALID_Msk (0x1UL << TPI_DEVID_PTINVALID_Pos) /*!< TPI DEVID: PTINVALID Mask */ - -#define TPI_DEVID_MinBufSz_Pos 6U /*!< TPI DEVID: MinBufSz Position */ -#define TPI_DEVID_MinBufSz_Msk (0x7UL << TPI_DEVID_MinBufSz_Pos) /*!< TPI DEVID: MinBufSz Mask */ - -#define TPI_DEVID_AsynClkIn_Pos 5U /*!< TPI DEVID: AsynClkIn Position */ -#define TPI_DEVID_AsynClkIn_Msk (0x1UL << TPI_DEVID_AsynClkIn_Pos) /*!< TPI DEVID: AsynClkIn Mask */ - -#define TPI_DEVID_NrTraceInput_Pos 0U /*!< TPI DEVID: NrTraceInput Position */ -#define TPI_DEVID_NrTraceInput_Msk (0x1FUL /*<< TPI_DEVID_NrTraceInput_Pos*/) /*!< TPI DEVID: NrTraceInput Mask */ - -/* TPI DEVTYPE Register Definitions */ -#define TPI_DEVTYPE_SubType_Pos 4U /*!< TPI DEVTYPE: SubType Position */ -#define TPI_DEVTYPE_SubType_Msk (0xFUL /*<< TPI_DEVTYPE_SubType_Pos*/) /*!< TPI DEVTYPE: SubType Mask */ - -#define TPI_DEVTYPE_MajorType_Pos 0U /*!< TPI DEVTYPE: MajorType Position */ -#define TPI_DEVTYPE_MajorType_Msk (0xFUL << TPI_DEVTYPE_MajorType_Pos) /*!< TPI DEVTYPE: MajorType Mask */ - -/*@}*/ /* end of group CMSIS_TPI */ - - -#if defined (__MPU_PRESENT) && (__MPU_PRESENT == 1U) -/** - \ingroup CMSIS_core_register - \defgroup CMSIS_MPU Memory Protection Unit (MPU) - \brief Type definitions for the Memory Protection Unit (MPU) - @{ - */ - -/** - \brief Structure type to access the Memory Protection Unit (MPU). - */ -typedef struct -{ - __IM uint32_t TYPE; /*!< Offset: 0x000 (R/ ) MPU Type Register */ - __IOM uint32_t CTRL; /*!< Offset: 0x004 (R/W) MPU Control Register */ - __IOM uint32_t RNR; /*!< Offset: 0x008 (R/W) MPU Region RNRber Register */ - __IOM uint32_t RBAR; /*!< Offset: 0x00C (R/W) MPU Region Base Address Register */ - __IOM uint32_t RASR; /*!< Offset: 0x010 (R/W) MPU Region Attribute and Size Register */ - __IOM uint32_t RBAR_A1; /*!< Offset: 0x014 (R/W) MPU Alias 1 Region Base Address Register */ - __IOM uint32_t RASR_A1; /*!< Offset: 0x018 (R/W) MPU Alias 1 Region Attribute and Size Register */ - __IOM uint32_t RBAR_A2; /*!< Offset: 0x01C (R/W) MPU Alias 2 Region Base Address Register */ - __IOM uint32_t RASR_A2; /*!< Offset: 0x020 (R/W) MPU Alias 2 Region Attribute and Size Register */ - __IOM uint32_t RBAR_A3; /*!< Offset: 0x024 (R/W) MPU Alias 3 Region Base Address Register */ - __IOM uint32_t RASR_A3; /*!< Offset: 0x028 (R/W) MPU Alias 3 Region Attribute and Size Register */ -} MPU_Type; - -#define MPU_TYPE_RALIASES 4U - -/* MPU Type Register Definitions */ -#define MPU_TYPE_IREGION_Pos 16U /*!< MPU TYPE: IREGION Position */ -#define MPU_TYPE_IREGION_Msk (0xFFUL << MPU_TYPE_IREGION_Pos) /*!< MPU TYPE: IREGION Mask */ - -#define MPU_TYPE_DREGION_Pos 8U /*!< MPU TYPE: DREGION Position */ -#define MPU_TYPE_DREGION_Msk (0xFFUL << MPU_TYPE_DREGION_Pos) /*!< MPU TYPE: DREGION Mask */ - -#define MPU_TYPE_SEPARATE_Pos 0U /*!< MPU TYPE: SEPARATE Position */ -#define MPU_TYPE_SEPARATE_Msk (1UL /*<< MPU_TYPE_SEPARATE_Pos*/) /*!< MPU TYPE: SEPARATE Mask */ - -/* MPU Control Register Definitions */ -#define MPU_CTRL_PRIVDEFENA_Pos 2U /*!< MPU CTRL: PRIVDEFENA Position */ -#define MPU_CTRL_PRIVDEFENA_Msk (1UL << MPU_CTRL_PRIVDEFENA_Pos) /*!< MPU CTRL: PRIVDEFENA Mask */ - -#define MPU_CTRL_HFNMIENA_Pos 1U /*!< MPU CTRL: HFNMIENA Position */ -#define MPU_CTRL_HFNMIENA_Msk (1UL << MPU_CTRL_HFNMIENA_Pos) /*!< MPU CTRL: HFNMIENA Mask */ - -#define MPU_CTRL_ENABLE_Pos 0U /*!< MPU CTRL: ENABLE Position */ -#define MPU_CTRL_ENABLE_Msk (1UL /*<< MPU_CTRL_ENABLE_Pos*/) /*!< MPU CTRL: ENABLE Mask */ - -/* MPU Region Number Register Definitions */ -#define MPU_RNR_REGION_Pos 0U /*!< MPU RNR: REGION Position */ -#define MPU_RNR_REGION_Msk (0xFFUL /*<< MPU_RNR_REGION_Pos*/) /*!< MPU RNR: REGION Mask */ - -/* MPU Region Base Address Register Definitions */ -#define MPU_RBAR_ADDR_Pos 5U /*!< MPU RBAR: ADDR Position */ -#define MPU_RBAR_ADDR_Msk (0x7FFFFFFUL << MPU_RBAR_ADDR_Pos) /*!< MPU RBAR: ADDR Mask */ - -#define MPU_RBAR_VALID_Pos 4U /*!< MPU RBAR: VALID Position */ -#define MPU_RBAR_VALID_Msk (1UL << MPU_RBAR_VALID_Pos) /*!< MPU RBAR: VALID Mask */ - -#define MPU_RBAR_REGION_Pos 0U /*!< MPU RBAR: REGION Position */ -#define MPU_RBAR_REGION_Msk (0xFUL /*<< MPU_RBAR_REGION_Pos*/) /*!< MPU RBAR: REGION Mask */ - -/* MPU Region Attribute and Size Register Definitions */ -#define MPU_RASR_ATTRS_Pos 16U /*!< MPU RASR: MPU Region Attribute field Position */ -#define MPU_RASR_ATTRS_Msk (0xFFFFUL << MPU_RASR_ATTRS_Pos) /*!< MPU RASR: MPU Region Attribute field Mask */ - -#define MPU_RASR_XN_Pos 28U /*!< MPU RASR: ATTRS.XN Position */ -#define MPU_RASR_XN_Msk (1UL << MPU_RASR_XN_Pos) /*!< MPU RASR: ATTRS.XN Mask */ - -#define MPU_RASR_AP_Pos 24U /*!< MPU RASR: ATTRS.AP Position */ -#define MPU_RASR_AP_Msk (0x7UL << MPU_RASR_AP_Pos) /*!< MPU RASR: ATTRS.AP Mask */ - -#define MPU_RASR_TEX_Pos 19U /*!< MPU RASR: ATTRS.TEX Position */ -#define MPU_RASR_TEX_Msk (0x7UL << MPU_RASR_TEX_Pos) /*!< MPU RASR: ATTRS.TEX Mask */ - -#define MPU_RASR_S_Pos 18U /*!< MPU RASR: ATTRS.S Position */ -#define MPU_RASR_S_Msk (1UL << MPU_RASR_S_Pos) /*!< MPU RASR: ATTRS.S Mask */ - -#define MPU_RASR_C_Pos 17U /*!< MPU RASR: ATTRS.C Position */ -#define MPU_RASR_C_Msk (1UL << MPU_RASR_C_Pos) /*!< MPU RASR: ATTRS.C Mask */ - -#define MPU_RASR_B_Pos 16U /*!< MPU RASR: ATTRS.B Position */ -#define MPU_RASR_B_Msk (1UL << MPU_RASR_B_Pos) /*!< MPU RASR: ATTRS.B Mask */ - -#define MPU_RASR_SRD_Pos 8U /*!< MPU RASR: Sub-Region Disable Position */ -#define MPU_RASR_SRD_Msk (0xFFUL << MPU_RASR_SRD_Pos) /*!< MPU RASR: Sub-Region Disable Mask */ - -#define MPU_RASR_SIZE_Pos 1U /*!< MPU RASR: Region Size Field Position */ -#define MPU_RASR_SIZE_Msk (0x1FUL << MPU_RASR_SIZE_Pos) /*!< MPU RASR: Region Size Field Mask */ - -#define MPU_RASR_ENABLE_Pos 0U /*!< MPU RASR: Region enable bit Position */ -#define MPU_RASR_ENABLE_Msk (1UL /*<< MPU_RASR_ENABLE_Pos*/) /*!< MPU RASR: Region enable bit Disable Mask */ - -/*@} end of group CMSIS_MPU */ -#endif /* defined (__MPU_PRESENT) && (__MPU_PRESENT == 1U) */ - - -/** - \ingroup CMSIS_core_register - \defgroup CMSIS_FPU Floating Point Unit (FPU) - \brief Type definitions for the Floating Point Unit (FPU) - @{ - */ - -/** - \brief Structure type to access the Floating Point Unit (FPU). - */ -typedef struct -{ - uint32_t RESERVED0[1U]; - __IOM uint32_t FPCCR; /*!< Offset: 0x004 (R/W) Floating-Point Context Control Register */ - __IOM uint32_t FPCAR; /*!< Offset: 0x008 (R/W) Floating-Point Context Address Register */ - __IOM uint32_t FPDSCR; /*!< Offset: 0x00C (R/W) Floating-Point Default Status Control Register */ - __IM uint32_t MVFR0; /*!< Offset: 0x010 (R/ ) Media and FP Feature Register 0 */ - __IM uint32_t MVFR1; /*!< Offset: 0x014 (R/ ) Media and FP Feature Register 1 */ - __IM uint32_t MVFR2; /*!< Offset: 0x018 (R/ ) Media and FP Feature Register 2 */ -} FPU_Type; - -/* Floating-Point Context Control Register Definitions */ -#define FPU_FPCCR_ASPEN_Pos 31U /*!< FPCCR: ASPEN bit Position */ -#define FPU_FPCCR_ASPEN_Msk (1UL << FPU_FPCCR_ASPEN_Pos) /*!< FPCCR: ASPEN bit Mask */ - -#define FPU_FPCCR_LSPEN_Pos 30U /*!< FPCCR: LSPEN Position */ -#define FPU_FPCCR_LSPEN_Msk (1UL << FPU_FPCCR_LSPEN_Pos) /*!< FPCCR: LSPEN bit Mask */ - -#define FPU_FPCCR_MONRDY_Pos 8U /*!< FPCCR: MONRDY Position */ -#define FPU_FPCCR_MONRDY_Msk (1UL << FPU_FPCCR_MONRDY_Pos) /*!< FPCCR: MONRDY bit Mask */ - -#define FPU_FPCCR_BFRDY_Pos 6U /*!< FPCCR: BFRDY Position */ -#define FPU_FPCCR_BFRDY_Msk (1UL << FPU_FPCCR_BFRDY_Pos) /*!< FPCCR: BFRDY bit Mask */ - -#define FPU_FPCCR_MMRDY_Pos 5U /*!< FPCCR: MMRDY Position */ -#define FPU_FPCCR_MMRDY_Msk (1UL << FPU_FPCCR_MMRDY_Pos) /*!< FPCCR: MMRDY bit Mask */ - -#define FPU_FPCCR_HFRDY_Pos 4U /*!< FPCCR: HFRDY Position */ -#define FPU_FPCCR_HFRDY_Msk (1UL << FPU_FPCCR_HFRDY_Pos) /*!< FPCCR: HFRDY bit Mask */ - -#define FPU_FPCCR_THREAD_Pos 3U /*!< FPCCR: processor mode bit Position */ -#define FPU_FPCCR_THREAD_Msk (1UL << FPU_FPCCR_THREAD_Pos) /*!< FPCCR: processor mode active bit Mask */ - -#define FPU_FPCCR_USER_Pos 1U /*!< FPCCR: privilege level bit Position */ -#define FPU_FPCCR_USER_Msk (1UL << FPU_FPCCR_USER_Pos) /*!< FPCCR: privilege level bit Mask */ - -#define FPU_FPCCR_LSPACT_Pos 0U /*!< FPCCR: Lazy state preservation active bit Position */ -#define FPU_FPCCR_LSPACT_Msk (1UL /*<< FPU_FPCCR_LSPACT_Pos*/) /*!< FPCCR: Lazy state preservation active bit Mask */ - -/* Floating-Point Context Address Register Definitions */ -#define FPU_FPCAR_ADDRESS_Pos 3U /*!< FPCAR: ADDRESS bit Position */ -#define FPU_FPCAR_ADDRESS_Msk (0x1FFFFFFFUL << FPU_FPCAR_ADDRESS_Pos) /*!< FPCAR: ADDRESS bit Mask */ - -/* Floating-Point Default Status Control Register Definitions */ -#define FPU_FPDSCR_AHP_Pos 26U /*!< FPDSCR: AHP bit Position */ -#define FPU_FPDSCR_AHP_Msk (1UL << FPU_FPDSCR_AHP_Pos) /*!< FPDSCR: AHP bit Mask */ - -#define FPU_FPDSCR_DN_Pos 25U /*!< FPDSCR: DN bit Position */ -#define FPU_FPDSCR_DN_Msk (1UL << FPU_FPDSCR_DN_Pos) /*!< FPDSCR: DN bit Mask */ - -#define FPU_FPDSCR_FZ_Pos 24U /*!< FPDSCR: FZ bit Position */ -#define FPU_FPDSCR_FZ_Msk (1UL << FPU_FPDSCR_FZ_Pos) /*!< FPDSCR: FZ bit Mask */ - -#define FPU_FPDSCR_RMode_Pos 22U /*!< FPDSCR: RMode bit Position */ -#define FPU_FPDSCR_RMode_Msk (3UL << FPU_FPDSCR_RMode_Pos) /*!< FPDSCR: RMode bit Mask */ - -/* Media and FP Feature Register 0 Definitions */ -#define FPU_MVFR0_FP_rounding_modes_Pos 28U /*!< MVFR0: FP rounding modes bits Position */ -#define FPU_MVFR0_FP_rounding_modes_Msk (0xFUL << FPU_MVFR0_FP_rounding_modes_Pos) /*!< MVFR0: FP rounding modes bits Mask */ - -#define FPU_MVFR0_Short_vectors_Pos 24U /*!< MVFR0: Short vectors bits Position */ -#define FPU_MVFR0_Short_vectors_Msk (0xFUL << FPU_MVFR0_Short_vectors_Pos) /*!< MVFR0: Short vectors bits Mask */ - -#define FPU_MVFR0_Square_root_Pos 20U /*!< MVFR0: Square root bits Position */ -#define FPU_MVFR0_Square_root_Msk (0xFUL << FPU_MVFR0_Square_root_Pos) /*!< MVFR0: Square root bits Mask */ - -#define FPU_MVFR0_Divide_Pos 16U /*!< MVFR0: Divide bits Position */ -#define FPU_MVFR0_Divide_Msk (0xFUL << FPU_MVFR0_Divide_Pos) /*!< MVFR0: Divide bits Mask */ - -#define FPU_MVFR0_FP_excep_trapping_Pos 12U /*!< MVFR0: FP exception trapping bits Position */ -#define FPU_MVFR0_FP_excep_trapping_Msk (0xFUL << FPU_MVFR0_FP_excep_trapping_Pos) /*!< MVFR0: FP exception trapping bits Mask */ - -#define FPU_MVFR0_Double_precision_Pos 8U /*!< MVFR0: Double-precision bits Position */ -#define FPU_MVFR0_Double_precision_Msk (0xFUL << FPU_MVFR0_Double_precision_Pos) /*!< MVFR0: Double-precision bits Mask */ - -#define FPU_MVFR0_Single_precision_Pos 4U /*!< MVFR0: Single-precision bits Position */ -#define FPU_MVFR0_Single_precision_Msk (0xFUL << FPU_MVFR0_Single_precision_Pos) /*!< MVFR0: Single-precision bits Mask */ - -#define FPU_MVFR0_A_SIMD_registers_Pos 0U /*!< MVFR0: A_SIMD registers bits Position */ -#define FPU_MVFR0_A_SIMD_registers_Msk (0xFUL /*<< FPU_MVFR0_A_SIMD_registers_Pos*/) /*!< MVFR0: A_SIMD registers bits Mask */ - -/* Media and FP Feature Register 1 Definitions */ -#define FPU_MVFR1_FP_fused_MAC_Pos 28U /*!< MVFR1: FP fused MAC bits Position */ -#define FPU_MVFR1_FP_fused_MAC_Msk (0xFUL << FPU_MVFR1_FP_fused_MAC_Pos) /*!< MVFR1: FP fused MAC bits Mask */ - -#define FPU_MVFR1_FP_HPFP_Pos 24U /*!< MVFR1: FP HPFP bits Position */ -#define FPU_MVFR1_FP_HPFP_Msk (0xFUL << FPU_MVFR1_FP_HPFP_Pos) /*!< MVFR1: FP HPFP bits Mask */ - -#define FPU_MVFR1_D_NaN_mode_Pos 4U /*!< MVFR1: D_NaN mode bits Position */ -#define FPU_MVFR1_D_NaN_mode_Msk (0xFUL << FPU_MVFR1_D_NaN_mode_Pos) /*!< MVFR1: D_NaN mode bits Mask */ - -#define FPU_MVFR1_FtZ_mode_Pos 0U /*!< MVFR1: FtZ mode bits Position */ -#define FPU_MVFR1_FtZ_mode_Msk (0xFUL /*<< FPU_MVFR1_FtZ_mode_Pos*/) /*!< MVFR1: FtZ mode bits Mask */ - -/* Media and FP Feature Register 2 Definitions */ - -#define FPU_MVFR2_VFP_Misc_Pos 4U /*!< MVFR2: VFP Misc bits Position */ -#define FPU_MVFR2_VFP_Misc_Msk (0xFUL << FPU_MVFR2_VFP_Misc_Pos) /*!< MVFR2: VFP Misc bits Mask */ - -/*@} end of group CMSIS_FPU */ - - -/** - \ingroup CMSIS_core_register - \defgroup CMSIS_CoreDebug Core Debug Registers (CoreDebug) - \brief Type definitions for the Core Debug Registers - @{ - */ - -/** - \brief Structure type to access the Core Debug Register (CoreDebug). - */ -typedef struct -{ - __IOM uint32_t DHCSR; /*!< Offset: 0x000 (R/W) Debug Halting Control and Status Register */ - __OM uint32_t DCRSR; /*!< Offset: 0x004 ( /W) Debug Core Register Selector Register */ - __IOM uint32_t DCRDR; /*!< Offset: 0x008 (R/W) Debug Core Register Data Register */ - __IOM uint32_t DEMCR; /*!< Offset: 0x00C (R/W) Debug Exception and Monitor Control Register */ -} CoreDebug_Type; - -/* Debug Halting Control and Status Register Definitions */ -#define CoreDebug_DHCSR_DBGKEY_Pos 16U /*!< CoreDebug DHCSR: DBGKEY Position */ -#define CoreDebug_DHCSR_DBGKEY_Msk (0xFFFFUL << CoreDebug_DHCSR_DBGKEY_Pos) /*!< CoreDebug DHCSR: DBGKEY Mask */ - -#define CoreDebug_DHCSR_S_RESET_ST_Pos 25U /*!< CoreDebug DHCSR: S_RESET_ST Position */ -#define CoreDebug_DHCSR_S_RESET_ST_Msk (1UL << CoreDebug_DHCSR_S_RESET_ST_Pos) /*!< CoreDebug DHCSR: S_RESET_ST Mask */ - -#define CoreDebug_DHCSR_S_RETIRE_ST_Pos 24U /*!< CoreDebug DHCSR: S_RETIRE_ST Position */ -#define CoreDebug_DHCSR_S_RETIRE_ST_Msk (1UL << CoreDebug_DHCSR_S_RETIRE_ST_Pos) /*!< CoreDebug DHCSR: S_RETIRE_ST Mask */ - -#define CoreDebug_DHCSR_S_LOCKUP_Pos 19U /*!< CoreDebug DHCSR: S_LOCKUP Position */ -#define CoreDebug_DHCSR_S_LOCKUP_Msk (1UL << CoreDebug_DHCSR_S_LOCKUP_Pos) /*!< CoreDebug DHCSR: S_LOCKUP Mask */ - -#define CoreDebug_DHCSR_S_SLEEP_Pos 18U /*!< CoreDebug DHCSR: S_SLEEP Position */ -#define CoreDebug_DHCSR_S_SLEEP_Msk (1UL << CoreDebug_DHCSR_S_SLEEP_Pos) /*!< CoreDebug DHCSR: S_SLEEP Mask */ - -#define CoreDebug_DHCSR_S_HALT_Pos 17U /*!< CoreDebug DHCSR: S_HALT Position */ -#define CoreDebug_DHCSR_S_HALT_Msk (1UL << CoreDebug_DHCSR_S_HALT_Pos) /*!< CoreDebug DHCSR: S_HALT Mask */ - -#define CoreDebug_DHCSR_S_REGRDY_Pos 16U /*!< CoreDebug DHCSR: S_REGRDY Position */ -#define CoreDebug_DHCSR_S_REGRDY_Msk (1UL << CoreDebug_DHCSR_S_REGRDY_Pos) /*!< CoreDebug DHCSR: S_REGRDY Mask */ - -#define CoreDebug_DHCSR_C_SNAPSTALL_Pos 5U /*!< CoreDebug DHCSR: C_SNAPSTALL Position */ -#define CoreDebug_DHCSR_C_SNAPSTALL_Msk (1UL << CoreDebug_DHCSR_C_SNAPSTALL_Pos) /*!< CoreDebug DHCSR: C_SNAPSTALL Mask */ - -#define CoreDebug_DHCSR_C_MASKINTS_Pos 3U /*!< CoreDebug DHCSR: C_MASKINTS Position */ -#define CoreDebug_DHCSR_C_MASKINTS_Msk (1UL << CoreDebug_DHCSR_C_MASKINTS_Pos) /*!< CoreDebug DHCSR: C_MASKINTS Mask */ - -#define CoreDebug_DHCSR_C_STEP_Pos 2U /*!< CoreDebug DHCSR: C_STEP Position */ -#define CoreDebug_DHCSR_C_STEP_Msk (1UL << CoreDebug_DHCSR_C_STEP_Pos) /*!< CoreDebug DHCSR: C_STEP Mask */ - -#define CoreDebug_DHCSR_C_HALT_Pos 1U /*!< CoreDebug DHCSR: C_HALT Position */ -#define CoreDebug_DHCSR_C_HALT_Msk (1UL << CoreDebug_DHCSR_C_HALT_Pos) /*!< CoreDebug DHCSR: C_HALT Mask */ - -#define CoreDebug_DHCSR_C_DEBUGEN_Pos 0U /*!< CoreDebug DHCSR: C_DEBUGEN Position */ -#define CoreDebug_DHCSR_C_DEBUGEN_Msk (1UL /*<< CoreDebug_DHCSR_C_DEBUGEN_Pos*/) /*!< CoreDebug DHCSR: C_DEBUGEN Mask */ - -/* Debug Core Register Selector Register Definitions */ -#define CoreDebug_DCRSR_REGWnR_Pos 16U /*!< CoreDebug DCRSR: REGWnR Position */ -#define CoreDebug_DCRSR_REGWnR_Msk (1UL << CoreDebug_DCRSR_REGWnR_Pos) /*!< CoreDebug DCRSR: REGWnR Mask */ - -#define CoreDebug_DCRSR_REGSEL_Pos 0U /*!< CoreDebug DCRSR: REGSEL Position */ -#define CoreDebug_DCRSR_REGSEL_Msk (0x1FUL /*<< CoreDebug_DCRSR_REGSEL_Pos*/) /*!< CoreDebug DCRSR: REGSEL Mask */ - -/* Debug Exception and Monitor Control Register Definitions */ -#define CoreDebug_DEMCR_TRCENA_Pos 24U /*!< CoreDebug DEMCR: TRCENA Position */ -#define CoreDebug_DEMCR_TRCENA_Msk (1UL << CoreDebug_DEMCR_TRCENA_Pos) /*!< CoreDebug DEMCR: TRCENA Mask */ - -#define CoreDebug_DEMCR_MON_REQ_Pos 19U /*!< CoreDebug DEMCR: MON_REQ Position */ -#define CoreDebug_DEMCR_MON_REQ_Msk (1UL << CoreDebug_DEMCR_MON_REQ_Pos) /*!< CoreDebug DEMCR: MON_REQ Mask */ - -#define CoreDebug_DEMCR_MON_STEP_Pos 18U /*!< CoreDebug DEMCR: MON_STEP Position */ -#define CoreDebug_DEMCR_MON_STEP_Msk (1UL << CoreDebug_DEMCR_MON_STEP_Pos) /*!< CoreDebug DEMCR: MON_STEP Mask */ - -#define CoreDebug_DEMCR_MON_PEND_Pos 17U /*!< CoreDebug DEMCR: MON_PEND Position */ -#define CoreDebug_DEMCR_MON_PEND_Msk (1UL << CoreDebug_DEMCR_MON_PEND_Pos) /*!< CoreDebug DEMCR: MON_PEND Mask */ - -#define CoreDebug_DEMCR_MON_EN_Pos 16U /*!< CoreDebug DEMCR: MON_EN Position */ -#define CoreDebug_DEMCR_MON_EN_Msk (1UL << CoreDebug_DEMCR_MON_EN_Pos) /*!< CoreDebug DEMCR: MON_EN Mask */ - -#define CoreDebug_DEMCR_VC_HARDERR_Pos 10U /*!< CoreDebug DEMCR: VC_HARDERR Position */ -#define CoreDebug_DEMCR_VC_HARDERR_Msk (1UL << CoreDebug_DEMCR_VC_HARDERR_Pos) /*!< CoreDebug DEMCR: VC_HARDERR Mask */ - -#define CoreDebug_DEMCR_VC_INTERR_Pos 9U /*!< CoreDebug DEMCR: VC_INTERR Position */ -#define CoreDebug_DEMCR_VC_INTERR_Msk (1UL << CoreDebug_DEMCR_VC_INTERR_Pos) /*!< CoreDebug DEMCR: VC_INTERR Mask */ - -#define CoreDebug_DEMCR_VC_BUSERR_Pos 8U /*!< CoreDebug DEMCR: VC_BUSERR Position */ -#define CoreDebug_DEMCR_VC_BUSERR_Msk (1UL << CoreDebug_DEMCR_VC_BUSERR_Pos) /*!< CoreDebug DEMCR: VC_BUSERR Mask */ - -#define CoreDebug_DEMCR_VC_STATERR_Pos 7U /*!< CoreDebug DEMCR: VC_STATERR Position */ -#define CoreDebug_DEMCR_VC_STATERR_Msk (1UL << CoreDebug_DEMCR_VC_STATERR_Pos) /*!< CoreDebug DEMCR: VC_STATERR Mask */ - -#define CoreDebug_DEMCR_VC_CHKERR_Pos 6U /*!< CoreDebug DEMCR: VC_CHKERR Position */ -#define CoreDebug_DEMCR_VC_CHKERR_Msk (1UL << CoreDebug_DEMCR_VC_CHKERR_Pos) /*!< CoreDebug DEMCR: VC_CHKERR Mask */ - -#define CoreDebug_DEMCR_VC_NOCPERR_Pos 5U /*!< CoreDebug DEMCR: VC_NOCPERR Position */ -#define CoreDebug_DEMCR_VC_NOCPERR_Msk (1UL << CoreDebug_DEMCR_VC_NOCPERR_Pos) /*!< CoreDebug DEMCR: VC_NOCPERR Mask */ - -#define CoreDebug_DEMCR_VC_MMERR_Pos 4U /*!< CoreDebug DEMCR: VC_MMERR Position */ -#define CoreDebug_DEMCR_VC_MMERR_Msk (1UL << CoreDebug_DEMCR_VC_MMERR_Pos) /*!< CoreDebug DEMCR: VC_MMERR Mask */ - -#define CoreDebug_DEMCR_VC_CORERESET_Pos 0U /*!< CoreDebug DEMCR: VC_CORERESET Position */ -#define CoreDebug_DEMCR_VC_CORERESET_Msk (1UL /*<< CoreDebug_DEMCR_VC_CORERESET_Pos*/) /*!< CoreDebug DEMCR: VC_CORERESET Mask */ - -/*@} end of group CMSIS_CoreDebug */ - - -/** - \ingroup CMSIS_core_register - \defgroup CMSIS_core_bitfield Core register bit field macros - \brief Macros for use with bit field definitions (xxx_Pos, xxx_Msk). - @{ - */ - -/** - \brief Mask and shift a bit field value for use in a register bit range. - \param[in] field Name of the register bit field. - \param[in] value Value of the bit field. This parameter is interpreted as an uint32_t type. - \return Masked and shifted value. -*/ -#define _VAL2FLD(field, value) (((uint32_t)(value) << field ## _Pos) & field ## _Msk) - -/** - \brief Mask and shift a register value to extract a bit filed value. - \param[in] field Name of the register bit field. - \param[in] value Value of register. This parameter is interpreted as an uint32_t type. - \return Masked and shifted bit field value. -*/ -#define _FLD2VAL(field, value) (((uint32_t)(value) & field ## _Msk) >> field ## _Pos) - -/*@} end of group CMSIS_core_bitfield */ - - -/** - \ingroup CMSIS_core_register - \defgroup CMSIS_core_base Core Definitions - \brief Definitions for base addresses, unions, and structures. - @{ - */ - -/* Memory mapping of Core Hardware */ -#define SCS_BASE (0xE000E000UL) /*!< System Control Space Base Address */ -#define ITM_BASE (0xE0000000UL) /*!< ITM Base Address */ -#define DWT_BASE (0xE0001000UL) /*!< DWT Base Address */ -#define TPI_BASE (0xE0040000UL) /*!< TPI Base Address */ -#define CoreDebug_BASE (0xE000EDF0UL) /*!< Core Debug Base Address */ -#define SysTick_BASE (SCS_BASE + 0x0010UL) /*!< SysTick Base Address */ -#define NVIC_BASE (SCS_BASE + 0x0100UL) /*!< NVIC Base Address */ -#define SCB_BASE (SCS_BASE + 0x0D00UL) /*!< System Control Block Base Address */ - -#define SCnSCB ((SCnSCB_Type *) SCS_BASE ) /*!< System control Register not in SCB */ -#define SCB ((SCB_Type *) SCB_BASE ) /*!< SCB configuration struct */ -#define SysTick ((SysTick_Type *) SysTick_BASE ) /*!< SysTick configuration struct */ -#define NVIC ((NVIC_Type *) NVIC_BASE ) /*!< NVIC configuration struct */ -#define ITM ((ITM_Type *) ITM_BASE ) /*!< ITM configuration struct */ -#define DWT ((DWT_Type *) DWT_BASE ) /*!< DWT configuration struct */ -#define TPI ((TPI_Type *) TPI_BASE ) /*!< TPI configuration struct */ -#define CoreDebug ((CoreDebug_Type *) CoreDebug_BASE) /*!< Core Debug configuration struct */ - -#if defined (__MPU_PRESENT) && (__MPU_PRESENT == 1U) - #define MPU_BASE (SCS_BASE + 0x0D90UL) /*!< Memory Protection Unit */ - #define MPU ((MPU_Type *) MPU_BASE ) /*!< Memory Protection Unit */ -#endif - -#define FPU_BASE (SCS_BASE + 0x0F30UL) /*!< Floating Point Unit */ -#define FPU ((FPU_Type *) FPU_BASE ) /*!< Floating Point Unit */ - -/*@} */ - - - -/******************************************************************************* - * Hardware Abstraction Layer - Core Function Interface contains: - - Core NVIC Functions - - Core SysTick Functions - - Core Debug Functions - - Core Register Access Functions - ******************************************************************************/ -/** - \defgroup CMSIS_Core_FunctionInterface Functions and Instructions Reference -*/ - - - -/* ########################## NVIC functions #################################### */ -/** - \ingroup CMSIS_Core_FunctionInterface - \defgroup CMSIS_Core_NVICFunctions NVIC Functions - \brief Functions that manage interrupts and exceptions via the NVIC. - @{ - */ - -#ifdef CMSIS_NVIC_VIRTUAL - #ifndef CMSIS_NVIC_VIRTUAL_HEADER_FILE - #define CMSIS_NVIC_VIRTUAL_HEADER_FILE "cmsis_nvic_virtual.h" - #endif - #include CMSIS_NVIC_VIRTUAL_HEADER_FILE -#else - #define NVIC_SetPriorityGrouping __NVIC_SetPriorityGrouping - #define NVIC_GetPriorityGrouping __NVIC_GetPriorityGrouping - #define NVIC_EnableIRQ __NVIC_EnableIRQ - #define NVIC_GetEnableIRQ __NVIC_GetEnableIRQ - #define NVIC_DisableIRQ __NVIC_DisableIRQ - #define NVIC_GetPendingIRQ __NVIC_GetPendingIRQ - #define NVIC_SetPendingIRQ __NVIC_SetPendingIRQ - #define NVIC_ClearPendingIRQ __NVIC_ClearPendingIRQ - #define NVIC_GetActive __NVIC_GetActive - #define NVIC_SetPriority __NVIC_SetPriority - #define NVIC_GetPriority __NVIC_GetPriority - #define NVIC_SystemReset __NVIC_SystemReset -#endif /* CMSIS_NVIC_VIRTUAL */ - -#ifdef CMSIS_VECTAB_VIRTUAL - #ifndef CMSIS_VECTAB_VIRTUAL_HEADER_FILE - #define CMSIS_VECTAB_VIRTUAL_HEADER_FILE "cmsis_vectab_virtual.h" - #endif - #include CMSIS_VECTAB_VIRTUAL_HEADER_FILE -#else - #define NVIC_SetVector __NVIC_SetVector - #define NVIC_GetVector __NVIC_GetVector -#endif /* (CMSIS_VECTAB_VIRTUAL) */ - -#define NVIC_USER_IRQ_OFFSET 16 - - -/* The following EXC_RETURN values are saved the LR on exception entry */ -#define EXC_RETURN_HANDLER (0xFFFFFFF1UL) /* return to Handler mode, uses MSP after return */ -#define EXC_RETURN_THREAD_MSP (0xFFFFFFF9UL) /* return to Thread mode, uses MSP after return */ -#define EXC_RETURN_THREAD_PSP (0xFFFFFFFDUL) /* return to Thread mode, uses PSP after return */ -#define EXC_RETURN_HANDLER_FPU (0xFFFFFFE1UL) /* return to Handler mode, uses MSP after return, restore floating-point state */ -#define EXC_RETURN_THREAD_MSP_FPU (0xFFFFFFE9UL) /* return to Thread mode, uses MSP after return, restore floating-point state */ -#define EXC_RETURN_THREAD_PSP_FPU (0xFFFFFFEDUL) /* return to Thread mode, uses PSP after return, restore floating-point state */ - - -/** - \brief Set Priority Grouping - \details Sets the priority grouping field using the required unlock sequence. - The parameter PriorityGroup is assigned to the field SCB->AIRCR [10:8] PRIGROUP field. - Only values from 0..7 are used. - In case of a conflict between priority grouping and available - priority bits (__NVIC_PRIO_BITS), the smallest possible priority group is set. - \param [in] PriorityGroup Priority grouping field. - */ -__STATIC_INLINE void __NVIC_SetPriorityGrouping(uint32_t PriorityGroup) -{ - uint32_t reg_value; - uint32_t PriorityGroupTmp = (PriorityGroup & (uint32_t)0x07UL); /* only values 0..7 are used */ - - reg_value = SCB->AIRCR; /* read old register configuration */ - reg_value &= ~((uint32_t)(SCB_AIRCR_VECTKEY_Msk | SCB_AIRCR_PRIGROUP_Msk)); /* clear bits to change */ - reg_value = (reg_value | - ((uint32_t)0x5FAUL << SCB_AIRCR_VECTKEY_Pos) | - (PriorityGroupTmp << SCB_AIRCR_PRIGROUP_Pos) ); /* Insert write key and priority group */ - SCB->AIRCR = reg_value; -} - - -/** - \brief Get Priority Grouping - \details Reads the priority grouping field from the NVIC Interrupt Controller. - \return Priority grouping field (SCB->AIRCR [10:8] PRIGROUP field). - */ -__STATIC_INLINE uint32_t __NVIC_GetPriorityGrouping(void) -{ - return ((uint32_t)((SCB->AIRCR & SCB_AIRCR_PRIGROUP_Msk) >> SCB_AIRCR_PRIGROUP_Pos)); -} - - -/** - \brief Enable Interrupt - \details Enables a device specific interrupt in the NVIC interrupt controller. - \param [in] IRQn Device specific interrupt number. - \note IRQn must not be negative. - */ -__STATIC_INLINE void __NVIC_EnableIRQ(IRQn_Type IRQn) -{ - if ((int32_t)(IRQn) >= 0) - { - __COMPILER_BARRIER(); - NVIC->ISER[(((uint32_t)IRQn) >> 5UL)] = (uint32_t)(1UL << (((uint32_t)IRQn) & 0x1FUL)); - __COMPILER_BARRIER(); - } -} - - -/** - \brief Get Interrupt Enable status - \details Returns a device specific interrupt enable status from the NVIC interrupt controller. - \param [in] IRQn Device specific interrupt number. - \return 0 Interrupt is not enabled. - \return 1 Interrupt is enabled. - \note IRQn must not be negative. - */ -__STATIC_INLINE uint32_t __NVIC_GetEnableIRQ(IRQn_Type IRQn) -{ - if ((int32_t)(IRQn) >= 0) - { - return((uint32_t)(((NVIC->ISER[(((uint32_t)IRQn) >> 5UL)] & (1UL << (((uint32_t)IRQn) & 0x1FUL))) != 0UL) ? 1UL : 0UL)); - } - else - { - return(0U); - } -} - - -/** - \brief Disable Interrupt - \details Disables a device specific interrupt in the NVIC interrupt controller. - \param [in] IRQn Device specific interrupt number. - \note IRQn must not be negative. - */ -__STATIC_INLINE void __NVIC_DisableIRQ(IRQn_Type IRQn) -{ - if ((int32_t)(IRQn) >= 0) - { - NVIC->ICER[(((uint32_t)IRQn) >> 5UL)] = (uint32_t)(1UL << (((uint32_t)IRQn) & 0x1FUL)); - __DSB(); - __ISB(); - } -} - - -/** - \brief Get Pending Interrupt - \details Reads the NVIC pending register and returns the pending bit for the specified device specific interrupt. - \param [in] IRQn Device specific interrupt number. - \return 0 Interrupt status is not pending. - \return 1 Interrupt status is pending. - \note IRQn must not be negative. - */ -__STATIC_INLINE uint32_t __NVIC_GetPendingIRQ(IRQn_Type IRQn) -{ - if ((int32_t)(IRQn) >= 0) - { - return((uint32_t)(((NVIC->ISPR[(((uint32_t)IRQn) >> 5UL)] & (1UL << (((uint32_t)IRQn) & 0x1FUL))) != 0UL) ? 1UL : 0UL)); - } - else - { - return(0U); - } -} - - -/** - \brief Set Pending Interrupt - \details Sets the pending bit of a device specific interrupt in the NVIC pending register. - \param [in] IRQn Device specific interrupt number. - \note IRQn must not be negative. - */ -__STATIC_INLINE void __NVIC_SetPendingIRQ(IRQn_Type IRQn) -{ - if ((int32_t)(IRQn) >= 0) - { - NVIC->ISPR[(((uint32_t)IRQn) >> 5UL)] = (uint32_t)(1UL << (((uint32_t)IRQn) & 0x1FUL)); - } -} - - -/** - \brief Clear Pending Interrupt - \details Clears the pending bit of a device specific interrupt in the NVIC pending register. - \param [in] IRQn Device specific interrupt number. - \note IRQn must not be negative. - */ -__STATIC_INLINE void __NVIC_ClearPendingIRQ(IRQn_Type IRQn) -{ - if ((int32_t)(IRQn) >= 0) - { - NVIC->ICPR[(((uint32_t)IRQn) >> 5UL)] = (uint32_t)(1UL << (((uint32_t)IRQn) & 0x1FUL)); - } -} - - -/** - \brief Get Active Interrupt - \details Reads the active register in the NVIC and returns the active bit for the device specific interrupt. - \param [in] IRQn Device specific interrupt number. - \return 0 Interrupt status is not active. - \return 1 Interrupt status is active. - \note IRQn must not be negative. - */ -__STATIC_INLINE uint32_t __NVIC_GetActive(IRQn_Type IRQn) -{ - if ((int32_t)(IRQn) >= 0) - { - return((uint32_t)(((NVIC->IABR[(((uint32_t)IRQn) >> 5UL)] & (1UL << (((uint32_t)IRQn) & 0x1FUL))) != 0UL) ? 1UL : 0UL)); - } - else - { - return(0U); - } -} - - -/** - \brief Set Interrupt Priority - \details Sets the priority of a device specific interrupt or a processor exception. - The interrupt number can be positive to specify a device specific interrupt, - or negative to specify a processor exception. - \param [in] IRQn Interrupt number. - \param [in] priority Priority to set. - \note The priority cannot be set for every processor exception. - */ -__STATIC_INLINE void __NVIC_SetPriority(IRQn_Type IRQn, uint32_t priority) -{ - if ((int32_t)(IRQn) >= 0) - { - NVIC->IP[((uint32_t)IRQn)] = (uint8_t)((priority << (8U - __NVIC_PRIO_BITS)) & (uint32_t)0xFFUL); - } - else - { - SCB->SHP[(((uint32_t)IRQn) & 0xFUL)-4UL] = (uint8_t)((priority << (8U - __NVIC_PRIO_BITS)) & (uint32_t)0xFFUL); - } -} - - -/** - \brief Get Interrupt Priority - \details Reads the priority of a device specific interrupt or a processor exception. - The interrupt number can be positive to specify a device specific interrupt, - or negative to specify a processor exception. - \param [in] IRQn Interrupt number. - \return Interrupt Priority. - Value is aligned automatically to the implemented priority bits of the microcontroller. - */ -__STATIC_INLINE uint32_t __NVIC_GetPriority(IRQn_Type IRQn) -{ - - if ((int32_t)(IRQn) >= 0) - { - return(((uint32_t)NVIC->IP[((uint32_t)IRQn)] >> (8U - __NVIC_PRIO_BITS))); - } - else - { - return(((uint32_t)SCB->SHP[(((uint32_t)IRQn) & 0xFUL)-4UL] >> (8U - __NVIC_PRIO_BITS))); - } -} - - -/** - \brief Encode Priority - \details Encodes the priority for an interrupt with the given priority group, - preemptive priority value, and subpriority value. - In case of a conflict between priority grouping and available - priority bits (__NVIC_PRIO_BITS), the smallest possible priority group is set. - \param [in] PriorityGroup Used priority group. - \param [in] PreemptPriority Preemptive priority value (starting from 0). - \param [in] SubPriority Subpriority value (starting from 0). - \return Encoded priority. Value can be used in the function \ref NVIC_SetPriority(). - */ -__STATIC_INLINE uint32_t NVIC_EncodePriority (uint32_t PriorityGroup, uint32_t PreemptPriority, uint32_t SubPriority) -{ - uint32_t PriorityGroupTmp = (PriorityGroup & (uint32_t)0x07UL); /* only values 0..7 are used */ - uint32_t PreemptPriorityBits; - uint32_t SubPriorityBits; - - PreemptPriorityBits = ((7UL - PriorityGroupTmp) > (uint32_t)(__NVIC_PRIO_BITS)) ? (uint32_t)(__NVIC_PRIO_BITS) : (uint32_t)(7UL - PriorityGroupTmp); - SubPriorityBits = ((PriorityGroupTmp + (uint32_t)(__NVIC_PRIO_BITS)) < (uint32_t)7UL) ? (uint32_t)0UL : (uint32_t)((PriorityGroupTmp - 7UL) + (uint32_t)(__NVIC_PRIO_BITS)); - - return ( - ((PreemptPriority & (uint32_t)((1UL << (PreemptPriorityBits)) - 1UL)) << SubPriorityBits) | - ((SubPriority & (uint32_t)((1UL << (SubPriorityBits )) - 1UL))) - ); -} - - -/** - \brief Decode Priority - \details Decodes an interrupt priority value with a given priority group to - preemptive priority value and subpriority value. - In case of a conflict between priority grouping and available - priority bits (__NVIC_PRIO_BITS) the smallest possible priority group is set. - \param [in] Priority Priority value, which can be retrieved with the function \ref NVIC_GetPriority(). - \param [in] PriorityGroup Used priority group. - \param [out] pPreemptPriority Preemptive priority value (starting from 0). - \param [out] pSubPriority Subpriority value (starting from 0). - */ -__STATIC_INLINE void NVIC_DecodePriority (uint32_t Priority, uint32_t PriorityGroup, uint32_t* const pPreemptPriority, uint32_t* const pSubPriority) -{ - uint32_t PriorityGroupTmp = (PriorityGroup & (uint32_t)0x07UL); /* only values 0..7 are used */ - uint32_t PreemptPriorityBits; - uint32_t SubPriorityBits; - - PreemptPriorityBits = ((7UL - PriorityGroupTmp) > (uint32_t)(__NVIC_PRIO_BITS)) ? (uint32_t)(__NVIC_PRIO_BITS) : (uint32_t)(7UL - PriorityGroupTmp); - SubPriorityBits = ((PriorityGroupTmp + (uint32_t)(__NVIC_PRIO_BITS)) < (uint32_t)7UL) ? (uint32_t)0UL : (uint32_t)((PriorityGroupTmp - 7UL) + (uint32_t)(__NVIC_PRIO_BITS)); - - *pPreemptPriority = (Priority >> SubPriorityBits) & (uint32_t)((1UL << (PreemptPriorityBits)) - 1UL); - *pSubPriority = (Priority ) & (uint32_t)((1UL << (SubPriorityBits )) - 1UL); -} - - -/** - \brief Set Interrupt Vector - \details Sets an interrupt vector in SRAM based interrupt vector table. - The interrupt number can be positive to specify a device specific interrupt, - or negative to specify a processor exception. - VTOR must been relocated to SRAM before. - \param [in] IRQn Interrupt number - \param [in] vector Address of interrupt handler function - */ -__STATIC_INLINE void __NVIC_SetVector(IRQn_Type IRQn, uint32_t vector) -{ - uint32_t vectors = (uint32_t )SCB->VTOR; - (* (int *) (vectors + ((int32_t)IRQn + NVIC_USER_IRQ_OFFSET) * 4)) = vector; - /* ARM Application Note 321 states that the M4 does not require the architectural barrier */ -} - - -/** - \brief Get Interrupt Vector - \details Reads an interrupt vector from interrupt vector table. - The interrupt number can be positive to specify a device specific interrupt, - or negative to specify a processor exception. - \param [in] IRQn Interrupt number. - \return Address of interrupt handler function - */ -__STATIC_INLINE uint32_t __NVIC_GetVector(IRQn_Type IRQn) -{ - uint32_t vectors = (uint32_t )SCB->VTOR; - return (uint32_t)(* (int *) (vectors + ((int32_t)IRQn + NVIC_USER_IRQ_OFFSET) * 4)); -} - - -/** - \brief System Reset - \details Initiates a system reset request to reset the MCU. - */ -__NO_RETURN __STATIC_INLINE void __NVIC_SystemReset(void) -{ - __DSB(); /* Ensure all outstanding memory accesses included - buffered write are completed before reset */ - SCB->AIRCR = (uint32_t)((0x5FAUL << SCB_AIRCR_VECTKEY_Pos) | - (SCB->AIRCR & SCB_AIRCR_PRIGROUP_Msk) | - SCB_AIRCR_SYSRESETREQ_Msk ); /* Keep priority group unchanged */ - __DSB(); /* Ensure completion of memory access */ - - for(;;) /* wait until reset */ - { - __NOP(); - } -} - -/*@} end of CMSIS_Core_NVICFunctions */ - - -/* ########################## MPU functions #################################### */ - -#if defined (__MPU_PRESENT) && (__MPU_PRESENT == 1U) - -#include "mpu_armv7.h" - -#endif - - -/* ########################## FPU functions #################################### */ -/** - \ingroup CMSIS_Core_FunctionInterface - \defgroup CMSIS_Core_FpuFunctions FPU Functions - \brief Function that provides FPU type. - @{ - */ - -/** - \brief get FPU type - \details returns the FPU type - \returns - - \b 0: No FPU - - \b 1: Single precision FPU - - \b 2: Double + Single precision FPU - */ -__STATIC_INLINE uint32_t SCB_GetFPUType(void) -{ - uint32_t mvfr0; - - mvfr0 = FPU->MVFR0; - if ((mvfr0 & (FPU_MVFR0_Single_precision_Msk | FPU_MVFR0_Double_precision_Msk)) == 0x020U) - { - return 1U; /* Single precision FPU */ - } - else - { - return 0U; /* No FPU */ - } -} - - -/*@} end of CMSIS_Core_FpuFunctions */ - - - -/* ################################## SysTick function ############################################ */ -/** - \ingroup CMSIS_Core_FunctionInterface - \defgroup CMSIS_Core_SysTickFunctions SysTick Functions - \brief Functions that configure the System. - @{ - */ - -#if defined (__Vendor_SysTickConfig) && (__Vendor_SysTickConfig == 0U) - -/** - \brief System Tick Configuration - \details Initializes the System Timer and its interrupt, and starts the System Tick Timer. - Counter is in free running mode to generate periodic interrupts. - \param [in] ticks Number of ticks between two interrupts. - \return 0 Function succeeded. - \return 1 Function failed. - \note When the variable __Vendor_SysTickConfig is set to 1, then the - function SysTick_Config is not included. In this case, the file device.h - must contain a vendor-specific implementation of this function. - */ -__STATIC_INLINE uint32_t SysTick_Config(uint32_t ticks) -{ - if ((ticks - 1UL) > SysTick_LOAD_RELOAD_Msk) - { - return (1UL); /* Reload value impossible */ - } - - SysTick->LOAD = (uint32_t)(ticks - 1UL); /* set reload register */ - NVIC_SetPriority (SysTick_IRQn, (1UL << __NVIC_PRIO_BITS) - 1UL); /* set Priority for Systick Interrupt */ - SysTick->VAL = 0UL; /* Load the SysTick Counter Value */ - SysTick->CTRL = SysTick_CTRL_CLKSOURCE_Msk | - SysTick_CTRL_TICKINT_Msk | - SysTick_CTRL_ENABLE_Msk; /* Enable SysTick IRQ and SysTick Timer */ - return (0UL); /* Function successful */ -} - -#endif - -/*@} end of CMSIS_Core_SysTickFunctions */ - - - -/* ##################################### Debug In/Output function ########################################### */ -/** - \ingroup CMSIS_Core_FunctionInterface - \defgroup CMSIS_core_DebugFunctions ITM Functions - \brief Functions that access the ITM debug interface. - @{ - */ - -extern volatile int32_t ITM_RxBuffer; /*!< External variable to receive characters. */ -#define ITM_RXBUFFER_EMPTY ((int32_t)0x5AA55AA5U) /*!< Value identifying \ref ITM_RxBuffer is ready for next character. */ - - -/** - \brief ITM Send Character - \details Transmits a character via the ITM channel 0, and - \li Just returns when no debugger is connected that has booked the output. - \li Is blocking when a debugger is connected, but the previous character sent has not been transmitted. - \param [in] ch Character to transmit. - \returns Character to transmit. - */ -__STATIC_INLINE uint32_t ITM_SendChar (uint32_t ch) -{ - if (((ITM->TCR & ITM_TCR_ITMENA_Msk) != 0UL) && /* ITM enabled */ - ((ITM->TER & 1UL ) != 0UL) ) /* ITM Port #0 enabled */ - { - while (ITM->PORT[0U].u32 == 0UL) - { - __NOP(); - } - ITM->PORT[0U].u8 = (uint8_t)ch; - } - return (ch); -} - - -/** - \brief ITM Receive Character - \details Inputs a character via the external variable \ref ITM_RxBuffer. - \return Received character. - \return -1 No character pending. - */ -__STATIC_INLINE int32_t ITM_ReceiveChar (void) -{ - int32_t ch = -1; /* no character available */ - - if (ITM_RxBuffer != ITM_RXBUFFER_EMPTY) - { - ch = ITM_RxBuffer; - ITM_RxBuffer = ITM_RXBUFFER_EMPTY; /* ready for next character */ - } - - return (ch); -} - - -/** - \brief ITM Check Character - \details Checks whether a character is pending for reading in the variable \ref ITM_RxBuffer. - \return 0 No character available. - \return 1 Character available. - */ -__STATIC_INLINE int32_t ITM_CheckChar (void) -{ - - if (ITM_RxBuffer == ITM_RXBUFFER_EMPTY) - { - return (0); /* no character available */ - } - else - { - return (1); /* character available */ - } -} - -/*@} end of CMSIS_core_DebugFunctions */ - - - - -#ifdef __cplusplus -} -#endif - -#endif /* __CORE_CM4_H_DEPENDANT */ - -#endif /* __CMSIS_GENERIC */ - diff --git a/panda/board/stm32f4/inc/mpu_armv7.h b/panda/board/stm32f4/inc/mpu_armv7.h deleted file mode 100644 index e72cc4623db517..00000000000000 --- a/panda/board/stm32f4/inc/mpu_armv7.h +++ /dev/null @@ -1,273 +0,0 @@ -/****************************************************************************** - * @file mpu_armv7.h - * @brief CMSIS MPU API for Armv7-M MPU - * @version V5.1.0 - * @date 08. March 2019 - ******************************************************************************/ -/* - * Copyright (c) 2017-2019 Arm Limited. All rights reserved. - * - * SPDX-License-Identifier: Apache-2.0 - * - * Licensed under the Apache License, Version 2.0 (the License); you may - * not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an AS IS BASIS, WITHOUT - * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - -#if defined ( __ICCARM__ ) - #pragma system_include /* treat file as system include file for MISRA check */ -#elif defined (__clang__) - #pragma clang system_header /* treat file as system include file */ -#endif - -#ifndef ARM_MPU_ARMV7_H -#define ARM_MPU_ARMV7_H - -#define ARM_MPU_REGION_SIZE_32B ((uint8_t)0x04U) ///!< MPU Region Size 32 Bytes -#define ARM_MPU_REGION_SIZE_64B ((uint8_t)0x05U) ///!< MPU Region Size 64 Bytes -#define ARM_MPU_REGION_SIZE_128B ((uint8_t)0x06U) ///!< MPU Region Size 128 Bytes -#define ARM_MPU_REGION_SIZE_256B ((uint8_t)0x07U) ///!< MPU Region Size 256 Bytes -#define ARM_MPU_REGION_SIZE_512B ((uint8_t)0x08U) ///!< MPU Region Size 512 Bytes -#define ARM_MPU_REGION_SIZE_1KB ((uint8_t)0x09U) ///!< MPU Region Size 1 KByte -#define ARM_MPU_REGION_SIZE_2KB ((uint8_t)0x0AU) ///!< MPU Region Size 2 KBytes -#define ARM_MPU_REGION_SIZE_4KB ((uint8_t)0x0BU) ///!< MPU Region Size 4 KBytes -#define ARM_MPU_REGION_SIZE_8KB ((uint8_t)0x0CU) ///!< MPU Region Size 8 KBytes -#define ARM_MPU_REGION_SIZE_16KB ((uint8_t)0x0DU) ///!< MPU Region Size 16 KBytes -#define ARM_MPU_REGION_SIZE_32KB ((uint8_t)0x0EU) ///!< MPU Region Size 32 KBytes -#define ARM_MPU_REGION_SIZE_64KB ((uint8_t)0x0FU) ///!< MPU Region Size 64 KBytes -#define ARM_MPU_REGION_SIZE_128KB ((uint8_t)0x10U) ///!< MPU Region Size 128 KBytes -#define ARM_MPU_REGION_SIZE_256KB ((uint8_t)0x11U) ///!< MPU Region Size 256 KBytes -#define ARM_MPU_REGION_SIZE_512KB ((uint8_t)0x12U) ///!< MPU Region Size 512 KBytes -#define ARM_MPU_REGION_SIZE_1MB ((uint8_t)0x13U) ///!< MPU Region Size 1 MByte -#define ARM_MPU_REGION_SIZE_2MB ((uint8_t)0x14U) ///!< MPU Region Size 2 MBytes -#define ARM_MPU_REGION_SIZE_4MB ((uint8_t)0x15U) ///!< MPU Region Size 4 MBytes -#define ARM_MPU_REGION_SIZE_8MB ((uint8_t)0x16U) ///!< MPU Region Size 8 MBytes -#define ARM_MPU_REGION_SIZE_16MB ((uint8_t)0x17U) ///!< MPU Region Size 16 MBytes -#define ARM_MPU_REGION_SIZE_32MB ((uint8_t)0x18U) ///!< MPU Region Size 32 MBytes -#define ARM_MPU_REGION_SIZE_64MB ((uint8_t)0x19U) ///!< MPU Region Size 64 MBytes -#define ARM_MPU_REGION_SIZE_128MB ((uint8_t)0x1AU) ///!< MPU Region Size 128 MBytes -#define ARM_MPU_REGION_SIZE_256MB ((uint8_t)0x1BU) ///!< MPU Region Size 256 MBytes -#define ARM_MPU_REGION_SIZE_512MB ((uint8_t)0x1CU) ///!< MPU Region Size 512 MBytes -#define ARM_MPU_REGION_SIZE_1GB ((uint8_t)0x1DU) ///!< MPU Region Size 1 GByte -#define ARM_MPU_REGION_SIZE_2GB ((uint8_t)0x1EU) ///!< MPU Region Size 2 GBytes -#define ARM_MPU_REGION_SIZE_4GB ((uint8_t)0x1FU) ///!< MPU Region Size 4 GBytes - -#define ARM_MPU_AP_NONE 0U ///!< MPU Access Permission no access -#define ARM_MPU_AP_PRIV 1U ///!< MPU Access Permission privileged access only -#define ARM_MPU_AP_URO 2U ///!< MPU Access Permission unprivileged access read-only -#define ARM_MPU_AP_FULL 3U ///!< MPU Access Permission full access -#define ARM_MPU_AP_PRO 5U ///!< MPU Access Permission privileged access read-only -#define ARM_MPU_AP_RO 6U ///!< MPU Access Permission read-only access - -/** MPU Region Base Address Register Value -* -* \param Region The region to be configured, number 0 to 15. -* \param BaseAddress The base address for the region. -*/ -#define ARM_MPU_RBAR(Region, BaseAddress) \ - (((BaseAddress) & MPU_RBAR_ADDR_Msk) | \ - ((Region) & MPU_RBAR_REGION_Msk) | \ - (MPU_RBAR_VALID_Msk)) - -/** -* MPU Memory Access Attributes -* -* \param TypeExtField Type extension field, allows you to configure memory access type, for example strongly ordered, peripheral. -* \param IsShareable Region is shareable between multiple bus masters. -* \param IsCacheable Region is cacheable, i.e. its value may be kept in cache. -* \param IsBufferable Region is bufferable, i.e. using write-back caching. Cacheable but non-bufferable regions use write-through policy. -*/ -#define ARM_MPU_ACCESS_(TypeExtField, IsShareable, IsCacheable, IsBufferable) \ - ((((TypeExtField) << MPU_RASR_TEX_Pos) & MPU_RASR_TEX_Msk) | \ - (((IsShareable) << MPU_RASR_S_Pos) & MPU_RASR_S_Msk) | \ - (((IsCacheable) << MPU_RASR_C_Pos) & MPU_RASR_C_Msk) | \ - (((IsBufferable) << MPU_RASR_B_Pos) & MPU_RASR_B_Msk)) - -/** -* MPU Region Attribute and Size Register Value -* -* \param DisableExec Instruction access disable bit, 1= disable instruction fetches. -* \param AccessPermission Data access permissions, allows you to configure read/write access for User and Privileged mode. -* \param AccessAttributes Memory access attribution, see \ref ARM_MPU_ACCESS_. -* \param SubRegionDisable Sub-region disable field. -* \param Size Region size of the region to be configured, for example 4K, 8K. -*/ -#define ARM_MPU_RASR_EX(DisableExec, AccessPermission, AccessAttributes, SubRegionDisable, Size) \ - ((((DisableExec) << MPU_RASR_XN_Pos) & MPU_RASR_XN_Msk) | \ - (((AccessPermission) << MPU_RASR_AP_Pos) & MPU_RASR_AP_Msk) | \ - (((AccessAttributes) & (MPU_RASR_TEX_Msk | MPU_RASR_S_Msk | MPU_RASR_C_Msk | MPU_RASR_B_Msk))) | \ - (((SubRegionDisable) << MPU_RASR_SRD_Pos) & MPU_RASR_SRD_Msk) | \ - (((Size) << MPU_RASR_SIZE_Pos) & MPU_RASR_SIZE_Msk) | \ - (((MPU_RASR_ENABLE_Msk)))) - -/** -* MPU Region Attribute and Size Register Value -* -* \param DisableExec Instruction access disable bit, 1= disable instruction fetches. -* \param AccessPermission Data access permissions, allows you to configure read/write access for User and Privileged mode. -* \param TypeExtField Type extension field, allows you to configure memory access type, for example strongly ordered, peripheral. -* \param IsShareable Region is shareable between multiple bus masters. -* \param IsCacheable Region is cacheable, i.e. its value may be kept in cache. -* \param IsBufferable Region is bufferable, i.e. using write-back caching. Cacheable but non-bufferable regions use write-through policy. -* \param SubRegionDisable Sub-region disable field. -* \param Size Region size of the region to be configured, for example 4K, 8K. -*/ -#define ARM_MPU_RASR(DisableExec, AccessPermission, TypeExtField, IsShareable, IsCacheable, IsBufferable, SubRegionDisable, Size) \ - ARM_MPU_RASR_EX(DisableExec, AccessPermission, ARM_MPU_ACCESS_(TypeExtField, IsShareable, IsCacheable, IsBufferable), SubRegionDisable, Size) - -/** -* MPU Memory Access Attribute for strongly ordered memory. -* - TEX: 000b -* - Shareable -* - Non-cacheable -* - Non-bufferable -*/ -#define ARM_MPU_ACCESS_ORDERED ARM_MPU_ACCESS_(0U, 1U, 0U, 0U) - -/** -* MPU Memory Access Attribute for device memory. -* - TEX: 000b (if shareable) or 010b (if non-shareable) -* - Shareable or non-shareable -* - Non-cacheable -* - Bufferable (if shareable) or non-bufferable (if non-shareable) -* -* \param IsShareable Configures the device memory as shareable or non-shareable. -*/ -#define ARM_MPU_ACCESS_DEVICE(IsShareable) ((IsShareable) ? ARM_MPU_ACCESS_(0U, 1U, 0U, 1U) : ARM_MPU_ACCESS_(2U, 0U, 0U, 0U)) - -/** -* MPU Memory Access Attribute for normal memory. -* - TEX: 1BBb (reflecting outer cacheability rules) -* - Shareable or non-shareable -* - Cacheable or non-cacheable (reflecting inner cacheability rules) -* - Bufferable or non-bufferable (reflecting inner cacheability rules) -* -* \param OuterCp Configures the outer cache policy. -* \param InnerCp Configures the inner cache policy. -* \param IsShareable Configures the memory as shareable or non-shareable. -*/ -#define ARM_MPU_ACCESS_NORMAL(OuterCp, InnerCp, IsShareable) ARM_MPU_ACCESS_((4U | (OuterCp)), IsShareable, ((InnerCp) & 2U), ((InnerCp) & 1U)) - -/** -* MPU Memory Access Attribute non-cacheable policy. -*/ -#define ARM_MPU_CACHEP_NOCACHE 0U - -/** -* MPU Memory Access Attribute write-back, write and read allocate policy. -*/ -#define ARM_MPU_CACHEP_WB_WRA 1U - -/** -* MPU Memory Access Attribute write-through, no write allocate policy. -*/ -#define ARM_MPU_CACHEP_WT_NWA 2U - -/** -* MPU Memory Access Attribute write-back, no write allocate policy. -*/ -#define ARM_MPU_CACHEP_WB_NWA 3U - - -/** -* Struct for a single MPU Region -*/ -typedef struct { - uint32_t RBAR; //!< The region base address register value (RBAR) - uint32_t RASR; //!< The region attribute and size register value (RASR) \ref MPU_RASR -} ARM_MPU_Region_t; - -/** Enable the MPU. -* \param MPU_Control Default access permissions for unconfigured regions. -*/ -__STATIC_INLINE void ARM_MPU_Enable(uint32_t MPU_Control) -{ - MPU->CTRL = MPU_Control | MPU_CTRL_ENABLE_Msk; -#ifdef SCB_SHCSR_MEMFAULTENA_Msk - SCB->SHCSR |= SCB_SHCSR_MEMFAULTENA_Msk; -#endif - __DSB(); - __ISB(); -} - -/** Disable the MPU. -*/ -__STATIC_INLINE void ARM_MPU_Disable(void) -{ - __DMB(); -#ifdef SCB_SHCSR_MEMFAULTENA_Msk - SCB->SHCSR &= ~SCB_SHCSR_MEMFAULTENA_Msk; -#endif - MPU->CTRL &= ~MPU_CTRL_ENABLE_Msk; -} - -/** Clear and disable the given MPU region. -* \param rnr Region number to be cleared. -*/ -__STATIC_INLINE void ARM_MPU_ClrRegion(uint32_t rnr) -{ - MPU->RNR = rnr; - MPU->RASR = 0U; -} - -/** Configure an MPU region. -* \param rbar Value for RBAR register. -* \param rsar Value for RSAR register. -*/ -__STATIC_INLINE void ARM_MPU_SetRegion(uint32_t rbar, uint32_t rasr) -{ - MPU->RBAR = rbar; - MPU->RASR = rasr; -} - -/** Configure the given MPU region. -* \param rnr Region number to be configured. -* \param rbar Value for RBAR register. -* \param rsar Value for RSAR register. -*/ -__STATIC_INLINE void ARM_MPU_SetRegionEx(uint32_t rnr, uint32_t rbar, uint32_t rasr) -{ - MPU->RNR = rnr; - MPU->RBAR = rbar; - MPU->RASR = rasr; -} - -/** Memcopy with strictly ordered memory access, e.g. for register targets. -* \param dst Destination data is copied to. -* \param src Source data is copied from. -* \param len Amount of data words to be copied. -*/ -__STATIC_INLINE void ARM_MPU_OrderedMemcpy(volatile uint32_t* dst, const uint32_t* __RESTRICT src, uint32_t len) -{ - uint32_t i; - for (i = 0U; i < len; ++i) - { - dst[i] = src[i]; - } -} - -/** Load the given number of MPU regions from a table. -* \param table Pointer to the MPU configuration table. -* \param cnt Amount of regions to be configured. -*/ -__STATIC_INLINE void ARM_MPU_Load(ARM_MPU_Region_t const* table, uint32_t cnt) -{ - const uint32_t rowWordSize = sizeof(ARM_MPU_Region_t)/4U; - while (cnt > MPU_TYPE_RALIASES) { - ARM_MPU_OrderedMemcpy(&(MPU->RBAR), &(table->RBAR), MPU_TYPE_RALIASES*rowWordSize); - table += MPU_TYPE_RALIASES; - cnt -= MPU_TYPE_RALIASES; - } - ARM_MPU_OrderedMemcpy(&(MPU->RBAR), &(table->RBAR), cnt*rowWordSize); -} - -#endif - diff --git a/panda/board/stm32f4/inc/stm32f413xx.h b/panda/board/stm32f4/inc/stm32f413xx.h deleted file mode 100644 index 0962a8def1a3a6..00000000000000 --- a/panda/board/stm32f4/inc/stm32f413xx.h +++ /dev/null @@ -1,14995 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f413xx.h - * @author MCD Application Team - * @version V2.6.0 - * @date 04-November-2016 - * @brief CMSIS STM32F413xx Device Peripheral Access Layer Header File. - * - * This file contains: - * - Data structures and the address mapping for all peripherals - * - peripherals registers declarations and bits definition - * - Macros to access peripheral’s registers hardware - * - ****************************************************************************** - * @attention - * - *

© COPYRIGHT(c) 2016 STMicroelectronics

- * - * Redistribution and use in source and binary forms, with or without modification, - * are permitted provided that the following conditions are met: - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * 3. Neither the name of STMicroelectronics nor the names of its contributors - * may be used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE - * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL - * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR - * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, - * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE - * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************** - */ - -/** @addtogroup CMSIS_Device - * @{ - */ - -/** @addtogroup stm32f413xx - * @{ - */ - -#ifndef __STM32F413xx_H -#define __STM32F413xx_H - -#ifdef __cplusplus - extern "C" { -#endif /* __cplusplus */ - -/** @addtogroup Configuration_section_for_CMSIS - * @{ - */ - -/** - * @brief Configuration of the Cortex-M4 Processor and Core Peripherals - */ -#define __CM4_REV 0x0001U /*!< Core revision r0p1 */ -#define __MPU_PRESENT 1U /*!< STM32F4XX provides an MPU */ -#define __NVIC_PRIO_BITS 4U /*!< STM32F4XX uses 4 Bits for the Priority Levels */ -#define __Vendor_SysTickConfig 0U /*!< Set to 1 if different SysTick Config is used */ -#define __FPU_PRESENT 1U /*!< FPU present */ - -/** - * @} - */ - -/** @addtogroup Peripheral_interrupt_number_definition - * @{ - */ - -/** - * @brief STM32F4XX Interrupt Number Definition, according to the selected device - * in @ref Library_configuration_section - */ -typedef enum -{ -/****** Cortex-M4 Processor Exceptions Numbers ****************************************************************/ - NonMaskableInt_IRQn = -14, /*!< 2 Non Maskable Interrupt */ - MemoryManagement_IRQn = -12, /*!< 4 Cortex-M4 Memory Management Interrupt */ - BusFault_IRQn = -11, /*!< 5 Cortex-M4 Bus Fault Interrupt */ - UsageFault_IRQn = -10, /*!< 6 Cortex-M4 Usage Fault Interrupt */ - SVCall_IRQn = -5, /*!< 11 Cortex-M4 SV Call Interrupt */ - DebugMonitor_IRQn = -4, /*!< 12 Cortex-M4 Debug Monitor Interrupt */ - PendSV_IRQn = -2, /*!< 14 Cortex-M4 Pend SV Interrupt */ - SysTick_IRQn = -1, /*!< 15 Cortex-M4 System Tick Interrupt */ -/****** STM32 specific Interrupt Numbers **********************************************************************/ - WWDG_IRQn = 0, /*!< Window WatchDog Interrupt */ - PVD_IRQn = 1, /*!< PVD through EXTI Line detection Interrupt */ - TAMP_STAMP_IRQn = 2, /*!< Tamper and TimeStamp interrupts through the EXTI line */ - RTC_WKUP_IRQn = 3, /*!< RTC Wakeup interrupt through the EXTI line */ - FLASH_IRQn = 4, /*!< FLASH global Interrupt */ - RCC_IRQn = 5, /*!< RCC global Interrupt */ - EXTI0_IRQn = 6, /*!< EXTI Line0 Interrupt */ - EXTI1_IRQn = 7, /*!< EXTI Line1 Interrupt */ - EXTI2_IRQn = 8, /*!< EXTI Line2 Interrupt */ - EXTI3_IRQn = 9, /*!< EXTI Line3 Interrupt */ - EXTI4_IRQn = 10, /*!< EXTI Line4 Interrupt */ - DMA1_Stream0_IRQn = 11, /*!< DMA1 Stream 0 global Interrupt */ - DMA1_Stream1_IRQn = 12, /*!< DMA1 Stream 1 global Interrupt */ - DMA1_Stream2_IRQn = 13, /*!< DMA1 Stream 2 global Interrupt */ - DMA1_Stream3_IRQn = 14, /*!< DMA1 Stream 3 global Interrupt */ - DMA1_Stream4_IRQn = 15, /*!< DMA1 Stream 4 global Interrupt */ - DMA1_Stream5_IRQn = 16, /*!< DMA1 Stream 5 global Interrupt */ - DMA1_Stream6_IRQn = 17, /*!< DMA1 Stream 6 global Interrupt */ - ADC_IRQn = 18, /*!< ADC1, ADC2 and ADC3 global Interrupts */ - CAN1_TX_IRQn = 19, /*!< CAN1 TX Interrupt */ - CAN1_RX0_IRQn = 20, /*!< CAN1 RX0 Interrupt */ - CAN1_RX1_IRQn = 21, /*!< CAN1 RX1 Interrupt */ - CAN1_SCE_IRQn = 22, /*!< CAN1 SCE Interrupt */ - EXTI9_5_IRQn = 23, /*!< External Line[9:5] Interrupts */ - TIM1_BRK_TIM9_IRQn = 24, /*!< TIM1 Break interrupt and TIM9 global interrupt */ - TIM1_UP_TIM10_IRQn = 25, /*!< TIM1 Update Interrupt and TIM10 global interrupt */ - TIM1_TRG_COM_TIM11_IRQn = 26, /*!< TIM1 Trigger and Commutation Interrupt and TIM11 global interrupt */ - TIM1_CC_IRQn = 27, /*!< TIM1 Capture Compare Interrupt */ - TIM2_IRQn = 28, /*!< TIM2 global Interrupt */ - TIM3_IRQn = 29, /*!< TIM3 global Interrupt */ - TIM4_IRQn = 30, /*!< TIM4 global Interrupt */ - I2C1_EV_IRQn = 31, /*!< I2C1 Event Interrupt */ - I2C1_ER_IRQn = 32, /*!< I2C1 Error Interrupt */ - I2C2_EV_IRQn = 33, /*!< I2C2 Event Interrupt */ - I2C2_ER_IRQn = 34, /*!< I2C2 Error Interrupt */ - SPI1_IRQn = 35, /*!< SPI1 global Interrupt */ - SPI2_IRQn = 36, /*!< SPI2 global Interrupt */ - USART1_IRQn = 37, /*!< USART1 global Interrupt */ - USART2_IRQn = 38, /*!< USART2 global Interrupt */ - USART3_IRQn = 39, /*!< USART3 global Interrupt */ - EXTI15_10_IRQn = 40, /*!< External Line[15:10] Interrupts */ - RTC_Alarm_IRQn = 41, /*!< RTC Alarm (A and B) through EXTI Line Interrupt */ - OTG_FS_WKUP_IRQn = 42, /*!< USB OTG FS Wakeup through EXTI line interrupt */ - TIM8_BRK_TIM12_IRQn = 43, /*!< TIM8 Break Interrupt and TIM12 global interrupt */ - TIM8_UP_TIM13_IRQn = 44, /*!< TIM8 Update Interrupt and TIM13 global interrupt */ - TIM8_TRG_COM_TIM14_IRQn = 45, /*!< TIM8 Trigger and Commutation Interrupt and TIM14 global interrupt */ - TIM8_CC_IRQn = 46, /*!< TIM8 Capture Compare global interrupt */ - DMA1_Stream7_IRQn = 47, /*!< DMA1 Stream7 Interrupt */ - FSMC_IRQn = 48, /*!< FSMC global Interrupt */ - SDIO_IRQn = 49, /*!< SDIO global Interrupt */ - TIM5_IRQn = 50, /*!< TIM5 global Interrupt */ - SPI3_IRQn = 51, /*!< SPI3 global Interrupt */ - UART4_IRQn = 52, /*!< UART4 global Interrupt */ - UART5_IRQn = 53, /*!< UART5 global Interrupt */ - TIM6_DAC_IRQn = 54, /*!< TIM6 global and DAC1&2 underrun error interrupts */ - TIM7_IRQn = 55, /*!< TIM7 global interrupt */ - DMA2_Stream0_IRQn = 56, /*!< DMA2 Stream 0 global Interrupt */ - DMA2_Stream1_IRQn = 57, /*!< DMA2 Stream 1 global Interrupt */ - DMA2_Stream2_IRQn = 58, /*!< DMA2 Stream 2 global Interrupt */ - DMA2_Stream3_IRQn = 59, /*!< DMA2 Stream 3 global Interrupt */ - DMA2_Stream4_IRQn = 60, /*!< DMA2 Stream 4 global Interrupt */ - DFSDM1_FLT0_IRQn = 61, /*!< DFSDM1 Filter 0 global Interrupt */ - DFSDM1_FLT1_IRQn = 62, /*!< DFSDM1 Filter 1 global Interrupt */ - CAN2_TX_IRQn = 63, /*!< CAN2 TX Interrupt */ - CAN2_RX0_IRQn = 64, /*!< CAN2 RX0 Interrupt */ - CAN2_RX1_IRQn = 65, /*!< CAN2 RX1 Interrupt */ - CAN2_SCE_IRQn = 66, /*!< CAN2 SCE Interrupt */ - OTG_FS_IRQn = 67, /*!< USB OTG FS global Interrupt */ - DMA2_Stream5_IRQn = 68, /*!< DMA2 Stream 5 global interrupt */ - DMA2_Stream6_IRQn = 69, /*!< DMA2 Stream 6 global interrupt */ - DMA2_Stream7_IRQn = 70, /*!< DMA2 Stream 7 global interrupt */ - USART6_IRQn = 71, /*!< USART6 global interrupt */ - I2C3_EV_IRQn = 72, /*!< I2C3 event interrupt */ - I2C3_ER_IRQn = 73, /*!< I2C3 error interrupt */ - CAN3_TX_IRQn = 74, /*!< CAN3 TX Interrupt */ - CAN3_RX0_IRQn = 75, /*!< CAN3 RX0 Interrupt */ - CAN3_RX1_IRQn = 76, /*!< CAN3 RX1 Interrupt */ - CAN3_SCE_IRQn = 77, /*!< CAN3 SCE Interrupt */ - RNG_IRQn = 80, /*!< RNG global Interrupt */ - FPU_IRQn = 81, /*!< FPU global interrupt */ - UART7_IRQn = 82, /*!< UART7 global interrupt */ - UART8_IRQn = 83, /*!< UART8 global interrupt */ - SPI4_IRQn = 84, /*!< SPI4 global Interrupt */ - SPI5_IRQn = 85, /*!< SPI5 global Interrupt */ - SAI1_IRQn = 87, /*!< SAI1 global Interrupt */ - UART9_IRQn = 88, /*!< UART9 global Interrupt */ - UART10_IRQn = 89, /*!< UART10 global Interrupt */ - QUADSPI_IRQn = 92, /*!< QuadSPI global Interrupt */ - FMPI2C1_EV_IRQn = 95, /*!< FMPI2C1 Event Interrupt */ - FMPI2C1_ER_IRQn = 96, /*!< FMPI2C1 Error Interrupt */ - LPTIM1_IRQn = 97, /*!< LP TIM1 interrupt */ - DFSDM2_FLT0_IRQn = 98, /*!< DFSDM2 Filter 0 global Interrupt */ - DFSDM2_FLT1_IRQn = 99, /*!< DFSDM2 Filter 1 global Interrupt */ - DFSDM2_FLT2_IRQn = 100, /*!< DFSDM2 Filter 2 global Interrupt */ - DFSDM2_FLT3_IRQn = 101 /*!< DFSDM2 Filter 3 global Interrupt */ -} IRQn_Type; - -/** - * @} - */ - -#include "core_cm4.h" /* Cortex-M4 processor and core peripherals */ -#include "system_stm32f4xx.h" -#include - -/** @addtogroup Peripheral_registers_structures - * @{ - */ - -/** - * @brief Analog to Digital Converter - */ - -typedef struct -{ - __IO uint32_t SR; /*!< ADC status register, Address offset: 0x00 */ - __IO uint32_t CR1; /*!< ADC control register 1, Address offset: 0x04 */ - __IO uint32_t CR2; /*!< ADC control register 2, Address offset: 0x08 */ - __IO uint32_t SMPR1; /*!< ADC sample time register 1, Address offset: 0x0C */ - __IO uint32_t SMPR2; /*!< ADC sample time register 2, Address offset: 0x10 */ - __IO uint32_t JOFR1; /*!< ADC injected channel data offset register 1, Address offset: 0x14 */ - __IO uint32_t JOFR2; /*!< ADC injected channel data offset register 2, Address offset: 0x18 */ - __IO uint32_t JOFR3; /*!< ADC injected channel data offset register 3, Address offset: 0x1C */ - __IO uint32_t JOFR4; /*!< ADC injected channel data offset register 4, Address offset: 0x20 */ - __IO uint32_t HTR; /*!< ADC watchdog higher threshold register, Address offset: 0x24 */ - __IO uint32_t LTR; /*!< ADC watchdog lower threshold register, Address offset: 0x28 */ - __IO uint32_t SQR1; /*!< ADC regular sequence register 1, Address offset: 0x2C */ - __IO uint32_t SQR2; /*!< ADC regular sequence register 2, Address offset: 0x30 */ - __IO uint32_t SQR3; /*!< ADC regular sequence register 3, Address offset: 0x34 */ - __IO uint32_t JSQR; /*!< ADC injected sequence register, Address offset: 0x38*/ - __IO uint32_t JDR1; /*!< ADC injected data register 1, Address offset: 0x3C */ - __IO uint32_t JDR2; /*!< ADC injected data register 2, Address offset: 0x40 */ - __IO uint32_t JDR3; /*!< ADC injected data register 3, Address offset: 0x44 */ - __IO uint32_t JDR4; /*!< ADC injected data register 4, Address offset: 0x48 */ - __IO uint32_t DR; /*!< ADC regular data register, Address offset: 0x4C */ -} ADC_TypeDef; - -typedef struct -{ - __IO uint32_t CSR; /*!< ADC Common status register, Address offset: ADC1 base address + 0x300 */ - __IO uint32_t CCR; /*!< ADC common control register, Address offset: ADC1 base address + 0x304 */ - __IO uint32_t CDR; /*!< ADC common regular data register for dual - AND triple modes, Address offset: ADC1 base address + 0x308 */ -} ADC_Common_TypeDef; - - -/** - * @brief Controller Area Network TxMailBox - */ - -typedef struct -{ - __IO uint32_t TIR; /*!< CAN TX mailbox identifier register */ - __IO uint32_t TDTR; /*!< CAN mailbox data length control and time stamp register */ - __IO uint32_t TDLR; /*!< CAN mailbox data low register */ - __IO uint32_t TDHR; /*!< CAN mailbox data high register */ -} CAN_TxMailBox_TypeDef; - -/** - * @brief Controller Area Network FIFOMailBox - */ - -typedef struct -{ - __IO uint32_t RIR; /*!< CAN receive FIFO mailbox identifier register */ - __IO uint32_t RDTR; /*!< CAN receive FIFO mailbox data length control and time stamp register */ - __IO uint32_t RDLR; /*!< CAN receive FIFO mailbox data low register */ - __IO uint32_t RDHR; /*!< CAN receive FIFO mailbox data high register */ -} CAN_FIFOMailBox_TypeDef; - -/** - * @brief Controller Area Network FilterRegister - */ - -typedef struct -{ - __IO uint32_t FR1; /*!< CAN Filter bank register 1 */ - __IO uint32_t FR2; /*!< CAN Filter bank register 1 */ -} CAN_FilterRegister_TypeDef; - -/** - * @brief Controller Area Network - */ - -typedef struct -{ - __IO uint32_t MCR; /*!< CAN master control register, Address offset: 0x00 */ - __IO uint32_t MSR; /*!< CAN master status register, Address offset: 0x04 */ - __IO uint32_t TSR; /*!< CAN transmit status register, Address offset: 0x08 */ - __IO uint32_t RF0R; /*!< CAN receive FIFO 0 register, Address offset: 0x0C */ - __IO uint32_t RF1R; /*!< CAN receive FIFO 1 register, Address offset: 0x10 */ - __IO uint32_t IER; /*!< CAN interrupt enable register, Address offset: 0x14 */ - __IO uint32_t ESR; /*!< CAN error status register, Address offset: 0x18 */ - __IO uint32_t BTR; /*!< CAN bit timing register, Address offset: 0x1C */ - uint32_t RESERVED0[88]; /*!< Reserved, 0x020 - 0x17F */ - CAN_TxMailBox_TypeDef sTxMailBox[3]; /*!< CAN Tx MailBox, Address offset: 0x180 - 0x1AC */ - CAN_FIFOMailBox_TypeDef sFIFOMailBox[2]; /*!< CAN FIFO MailBox, Address offset: 0x1B0 - 0x1CC */ - uint32_t RESERVED1[12]; /*!< Reserved, 0x1D0 - 0x1FF */ - __IO uint32_t FMR; /*!< CAN filter master register, Address offset: 0x200 */ - __IO uint32_t FM1R; /*!< CAN filter mode register, Address offset: 0x204 */ - uint32_t RESERVED2; /*!< Reserved, 0x208 */ - __IO uint32_t FS1R; /*!< CAN filter scale register, Address offset: 0x20C */ - uint32_t RESERVED3; /*!< Reserved, 0x210 */ - __IO uint32_t FFA1R; /*!< CAN filter FIFO assignment register, Address offset: 0x214 */ - uint32_t RESERVED4; /*!< Reserved, 0x218 */ - __IO uint32_t FA1R; /*!< CAN filter activation register, Address offset: 0x21C */ - uint32_t RESERVED5[8]; /*!< Reserved, 0x220-0x23F */ - CAN_FilterRegister_TypeDef sFilterRegister[28]; /*!< CAN Filter Register, Address offset: 0x240-0x31C */ -} CAN_TypeDef; - -/** - * @brief CRC calculation unit - */ - -typedef struct -{ - __IO uint32_t DR; /*!< CRC Data register, Address offset: 0x00 */ - __IO uint8_t IDR; /*!< CRC Independent data register, Address offset: 0x04 */ - uint8_t RESERVED0; /*!< Reserved, 0x05 */ - uint16_t RESERVED1; /*!< Reserved, 0x06 */ - __IO uint32_t CR; /*!< CRC Control register, Address offset: 0x08 */ -} CRC_TypeDef; - -/** - * @brief DFSDM module registers - */ -typedef struct -{ - __IO uint32_t FLTCR1; /*!< DFSDM control register1, Address offset: 0x100 */ - __IO uint32_t FLTCR2; /*!< DFSDM control register2, Address offset: 0x104 */ - __IO uint32_t FLTISR; /*!< DFSDM interrupt and status register, Address offset: 0x108 */ - __IO uint32_t FLTICR; /*!< DFSDM interrupt flag clear register, Address offset: 0x10C */ - __IO uint32_t FLTJCHGR; /*!< DFSDM injected channel group selection register, Address offset: 0x110 */ - __IO uint32_t FLTFCR; /*!< DFSDM filter control register, Address offset: 0x114 */ - __IO uint32_t FLTJDATAR; /*!< DFSDM data register for injected group, Address offset: 0x118 */ - __IO uint32_t FLTRDATAR; /*!< DFSDM data register for regular group, Address offset: 0x11C */ - __IO uint32_t FLTAWHTR; /*!< DFSDM analog watchdog high threshold register, Address offset: 0x120 */ - __IO uint32_t FLTAWLTR; /*!< DFSDM analog watchdog low threshold register, Address offset: 0x124 */ - __IO uint32_t FLTAWSR; /*!< DFSDM analog watchdog status register Address offset: 0x128 */ - __IO uint32_t FLTAWCFR; /*!< DFSDM analog watchdog clear flag register Address offset: 0x12C */ - __IO uint32_t FLTEXMAX; /*!< DFSDM extreme detector maximum register, Address offset: 0x130 */ - __IO uint32_t FLTEXMIN; /*!< DFSDM extreme detector minimum register Address offset: 0x134 */ - __IO uint32_t FLTCNVTIMR; /*!< DFSDM conversion timer, Address offset: 0x138 */ -} DFSDM_Filter_TypeDef; - -/** - * @brief DFSDM channel configuration registers - */ -typedef struct -{ - __IO uint32_t CHCFGR1; /*!< DFSDM channel configuration register1, Address offset: 0x00 */ - __IO uint32_t CHCFGR2; /*!< DFSDM channel configuration register2, Address offset: 0x04 */ - __IO uint32_t CHAWSCDR; /*!< DFSDM channel analog watchdog and - short circuit detector register, Address offset: 0x08 */ - __IO uint32_t CHWDATAR; /*!< DFSDM channel watchdog filter data register, Address offset: 0x0C */ - __IO uint32_t CHDATINR; /*!< DFSDM channel data input register, Address offset: 0x10 */ -} DFSDM_Channel_TypeDef; - -/** - * @brief Digital to Analog Converter - */ - -typedef struct -{ - __IO uint32_t CR; /*!< DAC control register, Address offset: 0x00 */ - __IO uint32_t SWTRIGR; /*!< DAC software trigger register, Address offset: 0x04 */ - __IO uint32_t DHR12R1; /*!< DAC channel1 12-bit right-aligned data holding register, Address offset: 0x08 */ - __IO uint32_t DHR12L1; /*!< DAC channel1 12-bit left aligned data holding register, Address offset: 0x0C */ - __IO uint32_t DHR8R1; /*!< DAC channel1 8-bit right aligned data holding register, Address offset: 0x10 */ - __IO uint32_t DHR12R2; /*!< DAC channel2 12-bit right aligned data holding register, Address offset: 0x14 */ - __IO uint32_t DHR12L2; /*!< DAC channel2 12-bit left aligned data holding register, Address offset: 0x18 */ - __IO uint32_t DHR8R2; /*!< DAC channel2 8-bit right-aligned data holding register, Address offset: 0x1C */ - __IO uint32_t DHR12RD; /*!< Dual DAC 12-bit right-aligned data holding register, Address offset: 0x20 */ - __IO uint32_t DHR12LD; /*!< DUAL DAC 12-bit left aligned data holding register, Address offset: 0x24 */ - __IO uint32_t DHR8RD; /*!< DUAL DAC 8-bit right aligned data holding register, Address offset: 0x28 */ - __IO uint32_t DOR1; /*!< DAC channel1 data output register, Address offset: 0x2C */ - __IO uint32_t DOR2; /*!< DAC channel2 data output register, Address offset: 0x30 */ - __IO uint32_t SR; /*!< DAC status register, Address offset: 0x34 */ -} DAC_TypeDef; - -/** - * @brief Debug MCU - */ - -typedef struct -{ - __IO uint32_t IDCODE; /*!< MCU device ID code, Address offset: 0x00 */ - __IO uint32_t CR; /*!< Debug MCU configuration register, Address offset: 0x04 */ - __IO uint32_t APB1FZ; /*!< Debug MCU APB1 freeze register, Address offset: 0x08 */ - __IO uint32_t APB2FZ; /*!< Debug MCU APB2 freeze register, Address offset: 0x0C */ -}DBGMCU_TypeDef; - - -/** - * @brief DMA Controller - */ - -typedef struct -{ - __IO uint32_t CR; /*!< DMA stream x configuration register */ - __IO uint32_t NDTR; /*!< DMA stream x number of data register */ - __IO uint32_t PAR; /*!< DMA stream x peripheral address register */ - __IO uint32_t M0AR; /*!< DMA stream x memory 0 address register */ - __IO uint32_t M1AR; /*!< DMA stream x memory 1 address register */ - __IO uint32_t FCR; /*!< DMA stream x FIFO control register */ -} DMA_Stream_TypeDef; - -typedef struct -{ - __IO uint32_t LISR; /*!< DMA low interrupt status register, Address offset: 0x00 */ - __IO uint32_t HISR; /*!< DMA high interrupt status register, Address offset: 0x04 */ - __IO uint32_t LIFCR; /*!< DMA low interrupt flag clear register, Address offset: 0x08 */ - __IO uint32_t HIFCR; /*!< DMA high interrupt flag clear register, Address offset: 0x0C */ -} DMA_TypeDef; - -/** - * @brief External Interrupt/Event Controller - */ - -typedef struct -{ - __IO uint32_t IMR; /*!< EXTI Interrupt mask register, Address offset: 0x00 */ - __IO uint32_t EMR; /*!< EXTI Event mask register, Address offset: 0x04 */ - __IO uint32_t RTSR; /*!< EXTI Rising trigger selection register, Address offset: 0x08 */ - __IO uint32_t FTSR; /*!< EXTI Falling trigger selection register, Address offset: 0x0C */ - __IO uint32_t SWIER; /*!< EXTI Software interrupt event register, Address offset: 0x10 */ - __IO uint32_t PR; /*!< EXTI Pending register, Address offset: 0x14 */ -} EXTI_TypeDef; - -/** - * @brief FLASH Registers - */ - -typedef struct -{ - __IO uint32_t ACR; /*!< FLASH access control register, Address offset: 0x00 */ - __IO uint32_t KEYR; /*!< FLASH key register, Address offset: 0x04 */ - __IO uint32_t OPTKEYR; /*!< FLASH option key register, Address offset: 0x08 */ - __IO uint32_t SR; /*!< FLASH status register, Address offset: 0x0C */ - __IO uint32_t CR; /*!< FLASH control register, Address offset: 0x10 */ - __IO uint32_t OPTCR; /*!< FLASH option control register , Address offset: 0x14 */ - __IO uint32_t OPTCR1; /*!< FLASH option control register 1, Address offset: 0x18 */ -} FLASH_TypeDef; - - - -/** - * @brief Flexible Static Memory Controller - */ - -typedef struct -{ - __IO uint32_t BTCR[8]; /*!< NOR/PSRAM chip-select control register(BCR) and chip-select timing register(BTR), Address offset: 0x00-1C */ -} FSMC_Bank1_TypeDef; - -/** - * @brief Flexible Static Memory Controller Bank1E - */ - -typedef struct -{ - __IO uint32_t BWTR[7]; /*!< NOR/PSRAM write timing registers, Address offset: 0x104-0x11C */ -} FSMC_Bank1E_TypeDef; -/** - * @brief General Purpose I/O - */ - -typedef struct -{ - __IO uint32_t MODER; /*!< GPIO port mode register, Address offset: 0x00 */ - __IO uint32_t OTYPER; /*!< GPIO port output type register, Address offset: 0x04 */ - __IO uint32_t OSPEEDR; /*!< GPIO port output speed register, Address offset: 0x08 */ - __IO uint32_t PUPDR; /*!< GPIO port pull-up/pull-down register, Address offset: 0x0C */ - __IO uint32_t IDR; /*!< GPIO port input data register, Address offset: 0x10 */ - __IO uint32_t ODR; /*!< GPIO port output data register, Address offset: 0x14 */ - __IO uint32_t BSRR; /*!< GPIO port bit set/reset register, Address offset: 0x18 */ - __IO uint32_t LCKR; /*!< GPIO port configuration lock register, Address offset: 0x1C */ - __IO uint32_t AFR[2]; /*!< GPIO alternate function registers, Address offset: 0x20-0x24 */ -} GPIO_TypeDef; - -/** - * @brief System configuration controller - */ - -typedef struct -{ - __IO uint32_t MEMRMP; /*!< SYSCFG memory remap register, Address offset: 0x00 */ - __IO uint32_t PMC; /*!< SYSCFG peripheral mode configuration register, Address offset: 0x04 */ - __IO uint32_t EXTICR[4]; /*!< SYSCFG external interrupt configuration registers, Address offset: 0x08-0x14 */ - uint32_t RESERVED; /*!< Reserved, 0x18 */ - __IO uint32_t CFGR2; /*!< SYSCFG Configuration register2, Address offset: 0x1C */ - __IO uint32_t CMPCR; /*!< SYSCFG Compensation cell control register, Address offset: 0x20 */ - uint32_t RESERVED1[2]; /*!< Reserved, 0x24-0x28 */ - __IO uint32_t CFGR; /*!< SYSCFG Configuration register, Address offset: 0x2C */ - __IO uint32_t MCHDLYCR; /*!< SYSCFG multi-channel delay register, Address offset: 0x30 */ -} SYSCFG_TypeDef; - -/** - * @brief Inter-integrated Circuit Interface - */ - -typedef struct -{ - __IO uint32_t CR1; /*!< I2C Control register 1, Address offset: 0x00 */ - __IO uint32_t CR2; /*!< I2C Control register 2, Address offset: 0x04 */ - __IO uint32_t OAR1; /*!< I2C Own address register 1, Address offset: 0x08 */ - __IO uint32_t OAR2; /*!< I2C Own address register 2, Address offset: 0x0C */ - __IO uint32_t DR; /*!< I2C Data register, Address offset: 0x10 */ - __IO uint32_t SR1; /*!< I2C Status register 1, Address offset: 0x14 */ - __IO uint32_t SR2; /*!< I2C Status register 2, Address offset: 0x18 */ - __IO uint32_t CCR; /*!< I2C Clock control register, Address offset: 0x1C */ - __IO uint32_t TRISE; /*!< I2C TRISE register, Address offset: 0x20 */ - __IO uint32_t FLTR; /*!< I2C FLTR register, Address offset: 0x24 */ -} I2C_TypeDef; - -/** - * @brief Inter-integrated Circuit Interface - */ - -typedef struct -{ - __IO uint32_t CR1; /*!< FMPI2C Control register 1, Address offset: 0x00 */ - __IO uint32_t CR2; /*!< FMPI2C Control register 2, Address offset: 0x04 */ - __IO uint32_t OAR1; /*!< FMPI2C Own address 1 register, Address offset: 0x08 */ - __IO uint32_t OAR2; /*!< FMPI2C Own address 2 register, Address offset: 0x0C */ - __IO uint32_t TIMINGR; /*!< FMPI2C Timing register, Address offset: 0x10 */ - __IO uint32_t TIMEOUTR; /*!< FMPI2C Timeout register, Address offset: 0x14 */ - __IO uint32_t ISR; /*!< FMPI2C Interrupt and status register, Address offset: 0x18 */ - __IO uint32_t ICR; /*!< FMPI2C Interrupt clear register, Address offset: 0x1C */ - __IO uint32_t PECR; /*!< FMPI2C PEC register, Address offset: 0x20 */ - __IO uint32_t RXDR; /*!< FMPI2C Receive data register, Address offset: 0x24 */ - __IO uint32_t TXDR; /*!< FMPI2C Transmit data register, Address offset: 0x28 */ -} FMPI2C_TypeDef; - -/** - * @brief Independent WATCHDOG - */ - -typedef struct -{ - __IO uint32_t KR; /*!< IWDG Key register, Address offset: 0x00 */ - __IO uint32_t PR; /*!< IWDG Prescaler register, Address offset: 0x04 */ - __IO uint32_t RLR; /*!< IWDG Reload register, Address offset: 0x08 */ - __IO uint32_t SR; /*!< IWDG Status register, Address offset: 0x0C */ -} IWDG_TypeDef; - - -/** - * @brief Power Control - */ - -typedef struct -{ - __IO uint32_t CR; /*!< PWR power control register, Address offset: 0x00 */ - __IO uint32_t CSR; /*!< PWR power control/status register, Address offset: 0x04 */ -} PWR_TypeDef; - -/** - * @brief Reset and Clock Control - */ - -typedef struct -{ - __IO uint32_t CR; /*!< RCC clock control register, Address offset: 0x00 */ - __IO uint32_t PLLCFGR; /*!< RCC PLL configuration register, Address offset: 0x04 */ - __IO uint32_t CFGR; /*!< RCC clock configuration register, Address offset: 0x08 */ - __IO uint32_t CIR; /*!< RCC clock interrupt register, Address offset: 0x0C */ - __IO uint32_t AHB1RSTR; /*!< RCC AHB1 peripheral reset register, Address offset: 0x10 */ - __IO uint32_t AHB2RSTR; /*!< RCC AHB2 peripheral reset register, Address offset: 0x14 */ - __IO uint32_t AHB3RSTR; /*!< RCC AHB3 peripheral reset register, Address offset: 0x18 */ - uint32_t RESERVED0; /*!< Reserved, 0x1C */ - __IO uint32_t APB1RSTR; /*!< RCC APB1 peripheral reset register, Address offset: 0x20 */ - __IO uint32_t APB2RSTR; /*!< RCC APB2 peripheral reset register, Address offset: 0x24 */ - uint32_t RESERVED1[2]; /*!< Reserved, 0x28-0x2C */ - __IO uint32_t AHB1ENR; /*!< RCC AHB1 peripheral clock register, Address offset: 0x30 */ - __IO uint32_t AHB2ENR; /*!< RCC AHB2 peripheral clock register, Address offset: 0x34 */ - __IO uint32_t AHB3ENR; /*!< RCC AHB3 peripheral clock register, Address offset: 0x38 */ - uint32_t RESERVED2; /*!< Reserved, 0x3C */ - __IO uint32_t APB1ENR; /*!< RCC APB1 peripheral clock enable register, Address offset: 0x40 */ - __IO uint32_t APB2ENR; /*!< RCC APB2 peripheral clock enable register, Address offset: 0x44 */ - uint32_t RESERVED3[2]; /*!< Reserved, 0x48-0x4C */ - __IO uint32_t AHB1LPENR; /*!< RCC AHB1 peripheral clock enable in low power mode register, Address offset: 0x50 */ - __IO uint32_t AHB2LPENR; /*!< RCC AHB2 peripheral clock enable in low power mode register, Address offset: 0x54 */ - __IO uint32_t AHB3LPENR; /*!< RCC AHB3 peripheral clock enable in low power mode register, Address offset: 0x58 */ - uint32_t RESERVED4; /*!< Reserved, 0x5C */ - __IO uint32_t APB1LPENR; /*!< RCC APB1 peripheral clock enable in low power mode register, Address offset: 0x60 */ - __IO uint32_t APB2LPENR; /*!< RCC APB2 peripheral clock enable in low power mode register, Address offset: 0x64 */ - uint32_t RESERVED5[2]; /*!< Reserved, 0x68-0x6C */ - __IO uint32_t BDCR; /*!< RCC Backup domain control register, Address offset: 0x70 */ - __IO uint32_t CSR; /*!< RCC clock control & status register, Address offset: 0x74 */ - uint32_t RESERVED6[2]; /*!< Reserved, 0x78-0x7C */ - __IO uint32_t SSCGR; /*!< RCC spread spectrum clock generation register, Address offset: 0x80 */ - __IO uint32_t PLLI2SCFGR; /*!< RCC PLLI2S configuration register, Address offset: 0x84 */ - uint32_t RESERVED7; /*!< Reserved, 0x84 */ - __IO uint32_t DCKCFGR; /*!< RCC Dedicated Clocks configuration register, Address offset: 0x8C */ - __IO uint32_t CKGATENR; /*!< RCC Clocks Gated ENable Register, Address offset: 0x90 */ - __IO uint32_t DCKCFGR2; /*!< RCC Dedicated Clocks configuration register 2, Address offset: 0x94 */ -} RCC_TypeDef; - -/** - * @brief Real-Time Clock - */ - -typedef struct -{ - __IO uint32_t TR; /*!< RTC time register, Address offset: 0x00 */ - __IO uint32_t DR; /*!< RTC date register, Address offset: 0x04 */ - __IO uint32_t CR; /*!< RTC control register, Address offset: 0x08 */ - __IO uint32_t ISR; /*!< RTC initialization and status register, Address offset: 0x0C */ - __IO uint32_t PRER; /*!< RTC prescaler register, Address offset: 0x10 */ - __IO uint32_t WUTR; /*!< RTC wakeup timer register, Address offset: 0x14 */ - __IO uint32_t CALIBR; /*!< RTC calibration register, Address offset: 0x18 */ - __IO uint32_t ALRMAR; /*!< RTC alarm A register, Address offset: 0x1C */ - __IO uint32_t ALRMBR; /*!< RTC alarm B register, Address offset: 0x20 */ - __IO uint32_t WPR; /*!< RTC write protection register, Address offset: 0x24 */ - __IO uint32_t SSR; /*!< RTC sub second register, Address offset: 0x28 */ - __IO uint32_t SHIFTR; /*!< RTC shift control register, Address offset: 0x2C */ - __IO uint32_t TSTR; /*!< RTC time stamp time register, Address offset: 0x30 */ - __IO uint32_t TSDR; /*!< RTC time stamp date register, Address offset: 0x34 */ - __IO uint32_t TSSSR; /*!< RTC time-stamp sub second register, Address offset: 0x38 */ - __IO uint32_t CALR; /*!< RTC calibration register, Address offset: 0x3C */ - __IO uint32_t TAFCR; /*!< RTC tamper and alternate function configuration register, Address offset: 0x40 */ - __IO uint32_t ALRMASSR;/*!< RTC alarm A sub second register, Address offset: 0x44 */ - __IO uint32_t ALRMBSSR;/*!< RTC alarm B sub second register, Address offset: 0x48 */ - uint32_t RESERVED7; /*!< Reserved, 0x4C */ - __IO uint32_t BKP0R; /*!< RTC backup register 1, Address offset: 0x50 */ - __IO uint32_t BKP1R; /*!< RTC backup register 1, Address offset: 0x54 */ - __IO uint32_t BKP2R; /*!< RTC backup register 2, Address offset: 0x58 */ - __IO uint32_t BKP3R; /*!< RTC backup register 3, Address offset: 0x5C */ - __IO uint32_t BKP4R; /*!< RTC backup register 4, Address offset: 0x60 */ - __IO uint32_t BKP5R; /*!< RTC backup register 5, Address offset: 0x64 */ - __IO uint32_t BKP6R; /*!< RTC backup register 6, Address offset: 0x68 */ - __IO uint32_t BKP7R; /*!< RTC backup register 7, Address offset: 0x6C */ - __IO uint32_t BKP8R; /*!< RTC backup register 8, Address offset: 0x70 */ - __IO uint32_t BKP9R; /*!< RTC backup register 9, Address offset: 0x74 */ - __IO uint32_t BKP10R; /*!< RTC backup register 10, Address offset: 0x78 */ - __IO uint32_t BKP11R; /*!< RTC backup register 11, Address offset: 0x7C */ - __IO uint32_t BKP12R; /*!< RTC backup register 12, Address offset: 0x80 */ - __IO uint32_t BKP13R; /*!< RTC backup register 13, Address offset: 0x84 */ - __IO uint32_t BKP14R; /*!< RTC backup register 14, Address offset: 0x88 */ - __IO uint32_t BKP15R; /*!< RTC backup register 15, Address offset: 0x8C */ - __IO uint32_t BKP16R; /*!< RTC backup register 16, Address offset: 0x90 */ - __IO uint32_t BKP17R; /*!< RTC backup register 17, Address offset: 0x94 */ - __IO uint32_t BKP18R; /*!< RTC backup register 18, Address offset: 0x98 */ - __IO uint32_t BKP19R; /*!< RTC backup register 19, Address offset: 0x9C */ -} RTC_TypeDef; - -/** - * @brief Serial Audio Interface - */ - -typedef struct -{ - __IO uint32_t GCR; /*!< SAI global configuration register, Address offset: 0x00 */ -} SAI_TypeDef; - -typedef struct -{ - __IO uint32_t CR1; /*!< SAI block x configuration register 1, Address offset: 0x04 */ - __IO uint32_t CR2; /*!< SAI block x configuration register 2, Address offset: 0x08 */ - __IO uint32_t FRCR; /*!< SAI block x frame configuration register, Address offset: 0x0C */ - __IO uint32_t SLOTR; /*!< SAI block x slot register, Address offset: 0x10 */ - __IO uint32_t IMR; /*!< SAI block x interrupt mask register, Address offset: 0x14 */ - __IO uint32_t SR; /*!< SAI block x status register, Address offset: 0x18 */ - __IO uint32_t CLRFR; /*!< SAI block x clear flag register, Address offset: 0x1C */ - __IO uint32_t DR; /*!< SAI block x data register, Address offset: 0x20 */ -} SAI_Block_TypeDef; - -/** - * @brief SD host Interface - */ - -typedef struct -{ - __IO uint32_t POWER; /*!< SDIO power control register, Address offset: 0x00 */ - __IO uint32_t CLKCR; /*!< SDI clock control register, Address offset: 0x04 */ - __IO uint32_t ARG; /*!< SDIO argument register, Address offset: 0x08 */ - __IO uint32_t CMD; /*!< SDIO command register, Address offset: 0x0C */ - __IO const uint32_t RESPCMD; /*!< SDIO command response register, Address offset: 0x10 */ - __IO const uint32_t RESP1; /*!< SDIO response 1 register, Address offset: 0x14 */ - __IO const uint32_t RESP2; /*!< SDIO response 2 register, Address offset: 0x18 */ - __IO const uint32_t RESP3; /*!< SDIO response 3 register, Address offset: 0x1C */ - __IO const uint32_t RESP4; /*!< SDIO response 4 register, Address offset: 0x20 */ - __IO uint32_t DTIMER; /*!< SDIO data timer register, Address offset: 0x24 */ - __IO uint32_t DLEN; /*!< SDIO data length register, Address offset: 0x28 */ - __IO uint32_t DCTRL; /*!< SDIO data control register, Address offset: 0x2C */ - __IO const uint32_t DCOUNT; /*!< SDIO data counter register, Address offset: 0x30 */ - __IO const uint32_t STA; /*!< SDIO status register, Address offset: 0x34 */ - __IO uint32_t ICR; /*!< SDIO interrupt clear register, Address offset: 0x38 */ - __IO uint32_t MASK; /*!< SDIO mask register, Address offset: 0x3C */ - uint32_t RESERVED0[2]; /*!< Reserved, 0x40-0x44 */ - __IO const uint32_t FIFOCNT; /*!< SDIO FIFO counter register, Address offset: 0x48 */ - uint32_t RESERVED1[13]; /*!< Reserved, 0x4C-0x7C */ - __IO uint32_t FIFO; /*!< SDIO data FIFO register, Address offset: 0x80 */ -} SDIO_TypeDef; - -/** - * @brief Serial Peripheral Interface - */ - -typedef struct -{ - __IO uint32_t CR1; /*!< SPI control register 1 (not used in I2S mode), Address offset: 0x00 */ - __IO uint32_t CR2; /*!< SPI control register 2, Address offset: 0x04 */ - __IO uint32_t SR; /*!< SPI status register, Address offset: 0x08 */ - __IO uint32_t DR; /*!< SPI data register, Address offset: 0x0C */ - __IO uint32_t CRCPR; /*!< SPI CRC polynomial register (not used in I2S mode), Address offset: 0x10 */ - __IO uint32_t RXCRCR; /*!< SPI RX CRC register (not used in I2S mode), Address offset: 0x14 */ - __IO uint32_t TXCRCR; /*!< SPI TX CRC register (not used in I2S mode), Address offset: 0x18 */ - __IO uint32_t I2SCFGR; /*!< SPI_I2S configuration register, Address offset: 0x1C */ - __IO uint32_t I2SPR; /*!< SPI_I2S prescaler register, Address offset: 0x20 */ -} SPI_TypeDef; - -/** - * @brief QUAD Serial Peripheral Interface - */ - -typedef struct -{ - __IO uint32_t CR; /*!< QUADSPI Control register, Address offset: 0x00 */ - __IO uint32_t DCR; /*!< QUADSPI Device Configuration register, Address offset: 0x04 */ - __IO uint32_t SR; /*!< QUADSPI Status register, Address offset: 0x08 */ - __IO uint32_t FCR; /*!< QUADSPI Flag Clear register, Address offset: 0x0C */ - __IO uint32_t DLR; /*!< QUADSPI Data Length register, Address offset: 0x10 */ - __IO uint32_t CCR; /*!< QUADSPI Communication Configuration register, Address offset: 0x14 */ - __IO uint32_t AR; /*!< QUADSPI Address register, Address offset: 0x18 */ - __IO uint32_t ABR; /*!< QUADSPI Alternate Bytes register, Address offset: 0x1C */ - __IO uint32_t DR; /*!< QUADSPI Data register, Address offset: 0x20 */ - __IO uint32_t PSMKR; /*!< QUADSPI Polling Status Mask register, Address offset: 0x24 */ - __IO uint32_t PSMAR; /*!< QUADSPI Polling Status Match register, Address offset: 0x28 */ - __IO uint32_t PIR; /*!< QUADSPI Polling Interval register, Address offset: 0x2C */ - __IO uint32_t LPTR; /*!< QUADSPI Low Power Timeout register, Address offset: 0x30 */ -} QUADSPI_TypeDef; - -/** - * @brief TIM - */ - -typedef struct -{ - __IO uint32_t CR1; /*!< TIM control register 1, Address offset: 0x00 */ - __IO uint32_t CR2; /*!< TIM control register 2, Address offset: 0x04 */ - __IO uint32_t SMCR; /*!< TIM slave mode control register, Address offset: 0x08 */ - __IO uint32_t DIER; /*!< TIM DMA/interrupt enable register, Address offset: 0x0C */ - __IO uint32_t SR; /*!< TIM status register, Address offset: 0x10 */ - __IO uint32_t EGR; /*!< TIM event generation register, Address offset: 0x14 */ - __IO uint32_t CCMR1; /*!< TIM capture/compare mode register 1, Address offset: 0x18 */ - __IO uint32_t CCMR2; /*!< TIM capture/compare mode register 2, Address offset: 0x1C */ - __IO uint32_t CCER; /*!< TIM capture/compare enable register, Address offset: 0x20 */ - __IO uint32_t CNT; /*!< TIM counter register, Address offset: 0x24 */ - __IO uint32_t PSC; /*!< TIM prescaler, Address offset: 0x28 */ - __IO uint32_t ARR; /*!< TIM auto-reload register, Address offset: 0x2C */ - __IO uint32_t RCR; /*!< TIM repetition counter register, Address offset: 0x30 */ - __IO uint32_t CCR1; /*!< TIM capture/compare register 1, Address offset: 0x34 */ - __IO uint32_t CCR2; /*!< TIM capture/compare register 2, Address offset: 0x38 */ - __IO uint32_t CCR3; /*!< TIM capture/compare register 3, Address offset: 0x3C */ - __IO uint32_t CCR4; /*!< TIM capture/compare register 4, Address offset: 0x40 */ - __IO uint32_t BDTR; /*!< TIM break and dead-time register, Address offset: 0x44 */ - __IO uint32_t DCR; /*!< TIM DMA control register, Address offset: 0x48 */ - __IO uint32_t DMAR; /*!< TIM DMA address for full transfer, Address offset: 0x4C */ - __IO uint32_t OR; /*!< TIM option register, Address offset: 0x50 */ -} TIM_TypeDef; - -/** - * @brief Universal Synchronous Asynchronous Receiver Transmitter - */ - -typedef struct -{ - __IO uint32_t SR; /*!< USART Status register, Address offset: 0x00 */ - __IO uint32_t DR; /*!< USART Data register, Address offset: 0x04 */ - __IO uint32_t BRR; /*!< USART Baud rate register, Address offset: 0x08 */ - __IO uint32_t CR1; /*!< USART Control register 1, Address offset: 0x0C */ - __IO uint32_t CR2; /*!< USART Control register 2, Address offset: 0x10 */ - __IO uint32_t CR3; /*!< USART Control register 3, Address offset: 0x14 */ - __IO uint32_t GTPR; /*!< USART Guard time and prescaler register, Address offset: 0x18 */ -} USART_TypeDef; - -/** - * @brief Window WATCHDOG - */ - -typedef struct -{ - __IO uint32_t CR; /*!< WWDG Control register, Address offset: 0x00 */ - __IO uint32_t CFR; /*!< WWDG Configuration register, Address offset: 0x04 */ - __IO uint32_t SR; /*!< WWDG Status register, Address offset: 0x08 */ -} WWDG_TypeDef; - -/** - * @brief RNG - */ - -typedef struct -{ - __IO uint32_t CR; /*!< RNG control register, Address offset: 0x00 */ - __IO uint32_t SR; /*!< RNG status register, Address offset: 0x04 */ - __IO uint32_t DR; /*!< RNG data register, Address offset: 0x08 */ -} RNG_TypeDef; - -/** - * @brief USB_OTG_Core_Registers - */ -typedef struct -{ - __IO uint32_t GOTGCTL; /*!< USB_OTG Control and Status Register 000h */ - __IO uint32_t GOTGINT; /*!< USB_OTG Interrupt Register 004h */ - __IO uint32_t GAHBCFG; /*!< Core AHB Configuration Register 008h */ - __IO uint32_t GUSBCFG; /*!< Core USB Configuration Register 00Ch */ - __IO uint32_t GRSTCTL; /*!< Core Reset Register 010h */ - __IO uint32_t GINTSTS; /*!< Core Interrupt Register 014h */ - __IO uint32_t GINTMSK; /*!< Core Interrupt Mask Register 018h */ - __IO uint32_t GRXSTSR; /*!< Receive Sts Q Read Register 01Ch */ - __IO uint32_t GRXSTSP; /*!< Receive Sts Q Read & POP Register 020h */ - __IO uint32_t GRXFSIZ; /*!< Receive FIFO Size Register 024h */ - __IO uint32_t DIEPTXF0_HNPTXFSIZ; /*!< EP0 / Non Periodic Tx FIFO Size Register 028h */ - __IO uint32_t HNPTXSTS; /*!< Non Periodic Tx FIFO/Queue Sts reg 02Ch */ - uint32_t Reserved30[2]; /*!< Reserved 030h */ - __IO uint32_t GCCFG; /*!< General Purpose IO Register 038h */ - __IO uint32_t CID; /*!< User ID Register 03Ch */ - uint32_t Reserved5[3]; /*!< Reserved 040h-048h */ - __IO uint32_t GHWCFG3; /*!< User HW config3 04Ch */ - uint32_t Reserved6; /*!< Reserved 050h */ - __IO uint32_t GLPMCFG; /*!< LPM Register 054h */ - uint32_t Reserved; /*!< Reserved 058h */ - __IO uint32_t GDFIFOCFG; /*!< DFIFO Software Config Register 05Ch */ - uint32_t Reserved43[40]; /*!< Reserved 058h-0FFh */ - __IO uint32_t HPTXFSIZ; /*!< Host Periodic Tx FIFO Size Reg 100h */ - __IO uint32_t DIEPTXF[0x0F]; /*!< dev Periodic Transmit FIFO */ -} USB_OTG_GlobalTypeDef; - -/** - * @brief USB_OTG_device_Registers - */ -typedef struct -{ - __IO uint32_t DCFG; /*!< dev Configuration Register 800h */ - __IO uint32_t DCTL; /*!< dev Control Register 804h */ - __IO uint32_t DSTS; /*!< dev Status Register (RO) 808h */ - uint32_t Reserved0C; /*!< Reserved 80Ch */ - __IO uint32_t DIEPMSK; /*!< dev IN Endpoint Mask 810h */ - __IO uint32_t DOEPMSK; /*!< dev OUT Endpoint Mask 814h */ - __IO uint32_t DAINT; /*!< dev All Endpoints Itr Reg 818h */ - __IO uint32_t DAINTMSK; /*!< dev All Endpoints Itr Mask 81Ch */ - uint32_t Reserved20; /*!< Reserved 820h */ - uint32_t Reserved9; /*!< Reserved 824h */ - __IO uint32_t DVBUSDIS; /*!< dev VBUS discharge Register 828h */ - __IO uint32_t DVBUSPULSE; /*!< dev VBUS Pulse Register 82Ch */ - __IO uint32_t DTHRCTL; /*!< dev threshold 830h */ - __IO uint32_t DIEPEMPMSK; /*!< dev empty msk 834h */ - __IO uint32_t DEACHINT; /*!< dedicated EP interrupt 838h */ - __IO uint32_t DEACHMSK; /*!< dedicated EP msk 83Ch */ - uint32_t Reserved40; /*!< dedicated EP mask 840h */ - __IO uint32_t DINEP1MSK; /*!< dedicated EP mask 844h */ - uint32_t Reserved44[15]; /*!< Reserved 844-87Ch */ - __IO uint32_t DOUTEP1MSK; /*!< dedicated EP msk 884h */ -} USB_OTG_DeviceTypeDef; - -/** - * @brief USB_OTG_IN_Endpoint-Specific_Register - */ -typedef struct -{ - __IO uint32_t DIEPCTL; /*!< dev IN Endpoint Control Reg 900h + (ep_num * 20h) + 00h */ - uint32_t Reserved04; /*!< Reserved 900h + (ep_num * 20h) + 04h */ - __IO uint32_t DIEPINT; /*!< dev IN Endpoint Itr Reg 900h + (ep_num * 20h) + 08h */ - uint32_t Reserved0C; /*!< Reserved 900h + (ep_num * 20h) + 0Ch */ - __IO uint32_t DIEPTSIZ; /*!< IN Endpoint Txfer Size 900h + (ep_num * 20h) + 10h */ - __IO uint32_t DIEPDMA; /*!< IN Endpoint DMA Address Reg 900h + (ep_num * 20h) + 14h */ - __IO uint32_t DTXFSTS; /*!< IN Endpoint Tx FIFO Status Reg 900h + (ep_num * 20h) + 18h */ - uint32_t Reserved18; /*!< Reserved 900h+(ep_num*20h)+1Ch-900h+ (ep_num * 20h) + 1Ch */ -} USB_OTG_INEndpointTypeDef; - -/** - * @brief USB_OTG_OUT_Endpoint-Specific_Registers - */ -typedef struct -{ - __IO uint32_t DOEPCTL; /*!< dev OUT Endpoint Control Reg B00h + (ep_num * 20h) + 00h */ - uint32_t Reserved04; /*!< Reserved B00h + (ep_num * 20h) + 04h */ - __IO uint32_t DOEPINT; /*!< dev OUT Endpoint Itr Reg B00h + (ep_num * 20h) + 08h */ - uint32_t Reserved0C; /*!< Reserved B00h + (ep_num * 20h) + 0Ch */ - __IO uint32_t DOEPTSIZ; /*!< dev OUT Endpoint Txfer Size B00h + (ep_num * 20h) + 10h */ - __IO uint32_t DOEPDMA; /*!< dev OUT Endpoint DMA Address B00h + (ep_num * 20h) + 14h */ - uint32_t Reserved18[2]; /*!< Reserved B00h + (ep_num * 20h) + 18h - B00h + (ep_num * 20h) + 1Ch */ -} USB_OTG_OUTEndpointTypeDef; - -/** - * @brief USB_OTG_Host_Mode_Register_Structures - */ -typedef struct -{ - __IO uint32_t HCFG; /*!< Host Configuration Register 400h */ - __IO uint32_t HFIR; /*!< Host Frame Interval Register 404h */ - __IO uint32_t HFNUM; /*!< Host Frame Nbr/Frame Remaining 408h */ - uint32_t Reserved40C; /*!< Reserved 40Ch */ - __IO uint32_t HPTXSTS; /*!< Host Periodic Tx FIFO/ Queue Status 410h */ - __IO uint32_t HAINT; /*!< Host All Channels Interrupt Register 414h */ - __IO uint32_t HAINTMSK; /*!< Host All Channels Interrupt Mask 418h */ -} USB_OTG_HostTypeDef; - -/** - * @brief USB_OTG_Host_Channel_Specific_Registers - */ -typedef struct -{ - __IO uint32_t HCCHAR; /*!< Host Channel Characteristics Register 500h */ - __IO uint32_t HCSPLT; /*!< Host Channel Split Control Register 504h */ - __IO uint32_t HCINT; /*!< Host Channel Interrupt Register 508h */ - __IO uint32_t HCINTMSK; /*!< Host Channel Interrupt Mask Register 50Ch */ - __IO uint32_t HCTSIZ; /*!< Host Channel Transfer Size Register 510h */ - __IO uint32_t HCDMA; /*!< Host Channel DMA Address Register 514h */ - uint32_t Reserved[2]; /*!< Reserved */ -} USB_OTG_HostChannelTypeDef; - -/** - * @brief LPTIMER - */ -typedef struct -{ - __IO uint32_t ISR; /*!< LPTIM Interrupt and Status register, Address offset: 0x00 */ - __IO uint32_t ICR; /*!< LPTIM Interrupt Clear register, Address offset: 0x04 */ - __IO uint32_t IER; /*!< LPTIM Interrupt Enable register, Address offset: 0x08 */ - __IO uint32_t CFGR; /*!< LPTIM Configuration register, Address offset: 0x0C */ - __IO uint32_t CR; /*!< LPTIM Control register, Address offset: 0x10 */ - __IO uint32_t CMP; /*!< LPTIM Compare register, Address offset: 0x14 */ - __IO uint32_t ARR; /*!< LPTIM Autoreload register, Address offset: 0x18 */ - __IO uint32_t CNT; /*!< LPTIM Counter register, Address offset: 0x1C */ - __IO uint32_t OR; /*!< LPTIM Option register, Address offset: 0x20 */ -} LPTIM_TypeDef; - -/** - * @} - */ - -/** @addtogroup Peripheral_memory_map - * @{ - */ -#define FLASH_BASE 0x08000000U /*!< FLASH (up to 1.5 MB) base address in the alias region */ -#define SRAM1_BASE 0x20000000U /*!< SRAM1(256 KB) base address in the alias region */ -#define SRAM2_BASE 0x20040000U /*!< SRAM2(64 KB) base address in the alias region */ -#define PERIPH_BASE 0x40000000U /*!< Peripheral base address in the alias region */ -#define FSMC_R_BASE 0xA0000000U /*!< FSMC registers base address */ -#define QSPI_R_BASE 0xA0001000U /*!< QuadSPI registers base address */ -#define SRAM1_BB_BASE 0x22000000U /*!< SRAM1(256 KB) base address in the bit-band region */ -#define SRAM2_BB_BASE 0x22800000U /*!< SRAM2(64 KB) base address in the bit-band region */ -#define PERIPH_BB_BASE 0x42000000U /*!< Peripheral base address in the bit-band region */ -#define FLASH_END 0x0817FFFFU /*!< FLASH end address */ - -/* Legacy defines */ -#define SRAM_BASE SRAM1_BASE -#define SRAM_BB_BASE SRAM1_BB_BASE - - -/*!< Peripheral memory map */ -#define APB1PERIPH_BASE PERIPH_BASE -#define APB2PERIPH_BASE (PERIPH_BASE + 0x00010000U) -#define AHB1PERIPH_BASE (PERIPH_BASE + 0x00020000U) -#define AHB2PERIPH_BASE (PERIPH_BASE + 0x10000000U) - -/*!< APB1 peripherals */ -#define TIM2_BASE (APB1PERIPH_BASE + 0x0000U) -#define TIM3_BASE (APB1PERIPH_BASE + 0x0400U) -#define TIM4_BASE (APB1PERIPH_BASE + 0x0800U) -#define TIM5_BASE (APB1PERIPH_BASE + 0x0C00U) -#define TIM6_BASE (APB1PERIPH_BASE + 0x1000U) -#define TIM7_BASE (APB1PERIPH_BASE + 0x1400U) -#define TIM12_BASE (APB1PERIPH_BASE + 0x1800U) -#define TIM13_BASE (APB1PERIPH_BASE + 0x1C00U) -#define TIM14_BASE (APB1PERIPH_BASE + 0x2000U) -#define LPTIM1_BASE (APB1PERIPH_BASE + 0x2400U) -#define RTC_BASE (APB1PERIPH_BASE + 0x2800U) -#define WWDG_BASE (APB1PERIPH_BASE + 0x2C00U) -#define IWDG_BASE (APB1PERIPH_BASE + 0x3000U) -#define I2S2ext_BASE (APB1PERIPH_BASE + 0x3400U) -#define SPI2_BASE (APB1PERIPH_BASE + 0x3800U) -#define SPI3_BASE (APB1PERIPH_BASE + 0x3C00U) -#define I2S3ext_BASE (APB1PERIPH_BASE + 0x4000U) -#define USART2_BASE (APB1PERIPH_BASE + 0x4400U) -#define USART3_BASE (APB1PERIPH_BASE + 0x4800U) -#define UART4_BASE (APB1PERIPH_BASE + 0x4C00U) -#define UART5_BASE (APB1PERIPH_BASE + 0x5000U) -#define I2C1_BASE (APB1PERIPH_BASE + 0x5400U) -#define I2C2_BASE (APB1PERIPH_BASE + 0x5800U) -#define I2C3_BASE (APB1PERIPH_BASE + 0x5C00U) -#define FMPI2C1_BASE (APB1PERIPH_BASE + 0x6000U) -#define CAN1_BASE (APB1PERIPH_BASE + 0x6400U) -#define CAN2_BASE (APB1PERIPH_BASE + 0x6800U) -#define CAN3_BASE (APB1PERIPH_BASE + 0x6C00U) -#define PWR_BASE (APB1PERIPH_BASE + 0x7000U) -#define DAC_BASE (APB1PERIPH_BASE + 0x7400U) -#define UART7_BASE (APB1PERIPH_BASE + 0x7800U) -#define UART8_BASE (APB1PERIPH_BASE + 0x7C00U) - -/*!< APB2 peripherals */ -#define TIM1_BASE (APB2PERIPH_BASE + 0x0000U) -#define TIM8_BASE (APB2PERIPH_BASE + 0x0400U) -#define USART1_BASE (APB2PERIPH_BASE + 0x1000U) -#define USART6_BASE (APB2PERIPH_BASE + 0x1400U) -#define UART9_BASE (APB2PERIPH_BASE + 0x1800U) -#define UART10_BASE (APB2PERIPH_BASE + 0x1C00U) -#define ADC1_BASE (APB2PERIPH_BASE + 0x2000U) -#define ADC_BASE (APB2PERIPH_BASE + 0x2300U) -#define SDIO_BASE (APB2PERIPH_BASE + 0x2C00U) -#define SPI1_BASE (APB2PERIPH_BASE + 0x3000U) -#define SPI4_BASE (APB2PERIPH_BASE + 0x3400U) -#define SYSCFG_BASE (APB2PERIPH_BASE + 0x3800U) -#define EXTI_BASE (APB2PERIPH_BASE + 0x3C00U) -#define TIM9_BASE (APB2PERIPH_BASE + 0x4000U) -#define TIM10_BASE (APB2PERIPH_BASE + 0x4400U) -#define TIM11_BASE (APB2PERIPH_BASE + 0x4800U) -#define SPI5_BASE (APB2PERIPH_BASE + 0x5000U) -#define DFSDM1_BASE (APB2PERIPH_BASE + 0x6000U) -#define DFSDM2_BASE (APB2PERIPH_BASE + 0x6400U) -#define DFSDM1_Channel0_BASE (DFSDM1_BASE + 0x00U) -#define DFSDM1_Channel1_BASE (DFSDM1_BASE + 0x20U) -#define DFSDM1_Channel2_BASE (DFSDM1_BASE + 0x40U) -#define DFSDM1_Channel3_BASE (DFSDM1_BASE + 0x60U) -#define DFSDM1_Filter0_BASE (DFSDM1_BASE + 0x100U) -#define DFSDM1_Filter1_BASE (DFSDM1_BASE + 0x180U) -#define DFSDM2_Channel0_BASE (DFSDM2_BASE + 0x00U) -#define DFSDM2_Channel1_BASE (DFSDM2_BASE + 0x20U) -#define DFSDM2_Channel2_BASE (DFSDM2_BASE + 0x40U) -#define DFSDM2_Channel3_BASE (DFSDM2_BASE + 0x60U) -#define DFSDM2_Channel4_BASE (DFSDM2_BASE + 0x80U) -#define DFSDM2_Channel5_BASE (DFSDM2_BASE + 0xA0U) -#define DFSDM2_Channel6_BASE (DFSDM2_BASE + 0xC0U) -#define DFSDM2_Channel7_BASE (DFSDM2_BASE + 0xE0U) -#define DFSDM2_Filter0_BASE (DFSDM2_BASE + 0x100U) -#define DFSDM2_Filter1_BASE (DFSDM2_BASE + 0x180U) -#define DFSDM2_Filter2_BASE (DFSDM2_BASE + 0x200U) -#define DFSDM2_Filter3_BASE (DFSDM2_BASE + 0x280U) -#define SAI1_BASE (APB2PERIPH_BASE + 0x5800U) -#define SAI1_Block_A_BASE (SAI1_BASE + 0x004U) -#define SAI1_Block_B_BASE (SAI1_BASE + 0x024U) - -/*!< AHB1 peripherals */ -#define GPIOA_BASE (AHB1PERIPH_BASE + 0x0000U) -#define GPIOB_BASE (AHB1PERIPH_BASE + 0x0400U) -#define GPIOC_BASE (AHB1PERIPH_BASE + 0x0800U) -#define GPIOD_BASE (AHB1PERIPH_BASE + 0x0C00U) -#define GPIOE_BASE (AHB1PERIPH_BASE + 0x1000U) -#define GPIOF_BASE (AHB1PERIPH_BASE + 0x1400U) -#define GPIOG_BASE (AHB1PERIPH_BASE + 0x1800U) -#define GPIOH_BASE (AHB1PERIPH_BASE + 0x1C00U) -#define CRC_BASE (AHB1PERIPH_BASE + 0x3000U) -#define RCC_BASE (AHB1PERIPH_BASE + 0x3800U) -#define FLASH_R_BASE (AHB1PERIPH_BASE + 0x3C00U) -#define DMA1_BASE (AHB1PERIPH_BASE + 0x6000U) -#define DMA1_Stream0_BASE (DMA1_BASE + 0x010U) -#define DMA1_Stream1_BASE (DMA1_BASE + 0x028U) -#define DMA1_Stream2_BASE (DMA1_BASE + 0x040U) -#define DMA1_Stream3_BASE (DMA1_BASE + 0x058U) -#define DMA1_Stream4_BASE (DMA1_BASE + 0x070U) -#define DMA1_Stream5_BASE (DMA1_BASE + 0x088U) -#define DMA1_Stream6_BASE (DMA1_BASE + 0x0A0U) -#define DMA1_Stream7_BASE (DMA1_BASE + 0x0B8U) -#define DMA2_BASE (AHB1PERIPH_BASE + 0x6400U) -#define DMA2_Stream0_BASE (DMA2_BASE + 0x010U) -#define DMA2_Stream1_BASE (DMA2_BASE + 0x028U) -#define DMA2_Stream2_BASE (DMA2_BASE + 0x040U) -#define DMA2_Stream3_BASE (DMA2_BASE + 0x058U) -#define DMA2_Stream4_BASE (DMA2_BASE + 0x070U) -#define DMA2_Stream5_BASE (DMA2_BASE + 0x088U) -#define DMA2_Stream6_BASE (DMA2_BASE + 0x0A0U) -#define DMA2_Stream7_BASE (DMA2_BASE + 0x0B8U) - -/*!< AHB2 peripherals */ -#define RNG_BASE (AHB2PERIPH_BASE + 0x60800U) - - -/*!< FSMC Bankx registers base address */ -#define FSMC_Bank1_R_BASE (FSMC_R_BASE + 0x0000U) -#define FSMC_Bank1E_R_BASE (FSMC_R_BASE + 0x0104U) - -/*!< Debug MCU registers base address */ -#define DBGMCU_BASE 0xE0042000U -/*!< USB registers base address */ -#define USB_OTG_FS_PERIPH_BASE 0x50000000U - -#define USB_OTG_GLOBAL_BASE 0x000U -#define USB_OTG_DEVICE_BASE 0x800U -#define USB_OTG_IN_ENDPOINT_BASE 0x900U -#define USB_OTG_OUT_ENDPOINT_BASE 0xB00U -#define USB_OTG_EP_REG_SIZE 0x20U -#define USB_OTG_HOST_BASE 0x400U -#define USB_OTG_HOST_PORT_BASE 0x440U -#define USB_OTG_HOST_CHANNEL_BASE 0x500U -#define USB_OTG_HOST_CHANNEL_SIZE 0x20U -#define USB_OTG_PCGCCTL_BASE 0xE00U -#define USB_OTG_FIFO_BASE 0x1000U -#define USB_OTG_FIFO_SIZE 0x1000U - -#define UID_BASE 0x1FFF7A10U /*!< Unique device ID register base address */ -#define FLASHSIZE_BASE 0x1FFF7A22U /*!< FLASH Size register base address */ -#define PACKAGE_BASE 0x1FFF7BF0U /*!< Package size register base address */ -/** - * @} - */ - -/** @addtogroup Peripheral_declaration - * @{ - */ -#define TIM2 ((TIM_TypeDef *) TIM2_BASE) -#define TIM3 ((TIM_TypeDef *) TIM3_BASE) -#define TIM4 ((TIM_TypeDef *) TIM4_BASE) -#define TIM5 ((TIM_TypeDef *) TIM5_BASE) -#define TIM6 ((TIM_TypeDef *) TIM6_BASE) -#define TIM7 ((TIM_TypeDef *) TIM7_BASE) -#define TIM12 ((TIM_TypeDef *) TIM12_BASE) -#define TIM13 ((TIM_TypeDef *) TIM13_BASE) -#define TIM14 ((TIM_TypeDef *) TIM14_BASE) -#define LPTIM1 ((LPTIM_TypeDef *) LPTIM1_BASE) -#define RTC ((RTC_TypeDef *) RTC_BASE) -#define WWDG ((WWDG_TypeDef *) WWDG_BASE) -#define IWDG ((IWDG_TypeDef *) IWDG_BASE) -#define I2S2ext ((SPI_TypeDef *) I2S2ext_BASE) -#define SPI2 ((SPI_TypeDef *) SPI2_BASE) -#define SPI3 ((SPI_TypeDef *) SPI3_BASE) -#define I2S3ext ((SPI_TypeDef *) I2S3ext_BASE) -#define USART2 ((USART_TypeDef *) USART2_BASE) -#define USART3 ((USART_TypeDef *) USART3_BASE) -#define UART4 ((USART_TypeDef *) UART4_BASE) -#define UART5 ((USART_TypeDef *) UART5_BASE) -#define I2C1 ((I2C_TypeDef *) I2C1_BASE) -#define I2C2 ((I2C_TypeDef *) I2C2_BASE) -#define I2C3 ((I2C_TypeDef *) I2C3_BASE) -#define FMPI2C1 ((FMPI2C_TypeDef *) FMPI2C1_BASE) -#define CAN1 ((CAN_TypeDef *) CAN1_BASE) -#define CAN2 ((CAN_TypeDef *) CAN2_BASE) -#define CAN3 ((CAN_TypeDef *) CAN3_BASE) -#define PWR ((PWR_TypeDef *) PWR_BASE) -#define DAC1 ((DAC_TypeDef *) DAC_BASE) -#define DAC ((DAC_TypeDef *) DAC_BASE) /* Kept for legacy purpose */ -#define UART7 ((USART_TypeDef *) UART7_BASE) -#define UART8 ((USART_TypeDef *) UART8_BASE) -#define TIM1 ((TIM_TypeDef *) TIM1_BASE) -#define TIM8 ((TIM_TypeDef *) TIM8_BASE) -#define USART1 ((USART_TypeDef *) USART1_BASE) -#define USART6 ((USART_TypeDef *) USART6_BASE) -#define UART9 ((USART_TypeDef *) UART9_BASE) -#define UART10 ((USART_TypeDef *) UART10_BASE) -#define ADC ((ADC_Common_TypeDef *) ADC_BASE) -#define ADC1 ((ADC_TypeDef *) ADC1_BASE) -#define SDIO ((SDIO_TypeDef *) SDIO_BASE) -#define SPI1 ((SPI_TypeDef *) SPI1_BASE) -#define SPI4 ((SPI_TypeDef *) SPI4_BASE) -#define SYSCFG ((SYSCFG_TypeDef *) SYSCFG_BASE) -#define EXTI ((EXTI_TypeDef *) EXTI_BASE) -#define TIM9 ((TIM_TypeDef *) TIM9_BASE) -#define TIM10 ((TIM_TypeDef *) TIM10_BASE) -#define TIM11 ((TIM_TypeDef *) TIM11_BASE) -#define SPI5 ((SPI_TypeDef *) SPI5_BASE) -#define DFSDM1_Channel0 ((DFSDM_Channel_TypeDef *) DFSDM1_Channel0_BASE) -#define DFSDM1_Channel1 ((DFSDM_Channel_TypeDef *) DFSDM1_Channel1_BASE) -#define DFSDM1_Channel2 ((DFSDM_Channel_TypeDef *) DFSDM1_Channel2_BASE) -#define DFSDM1_Channel3 ((DFSDM_Channel_TypeDef *) DFSDM1_Channel3_BASE) -#define DFSDM1_Filter0 ((DFSDM_Filter_TypeDef *) DFSDM1_Filter0_BASE) -#define DFSDM1_Filter1 ((DFSDM_Filter_TypeDef *) DFSDM1_Filter1_BASE) -#define DFSDM2_Channel0 ((DFSDM_Channel_TypeDef *) DFSDM2_Channel0_BASE) -#define DFSDM2_Channel1 ((DFSDM_Channel_TypeDef *) DFSDM2_Channel1_BASE) -#define DFSDM2_Channel2 ((DFSDM_Channel_TypeDef *) DFSDM2_Channel2_BASE) -#define DFSDM2_Channel3 ((DFSDM_Channel_TypeDef *) DFSDM2_Channel3_BASE) -#define DFSDM2_Channel4 ((DFSDM_Channel_TypeDef *) DFSDM2_Channel4_BASE) -#define DFSDM2_Channel5 ((DFSDM_Channel_TypeDef *) DFSDM2_Channel5_BASE) -#define DFSDM2_Channel6 ((DFSDM_Channel_TypeDef *) DFSDM2_Channel6_BASE) -#define DFSDM2_Channel7 ((DFSDM_Channel_TypeDef *) DFSDM2_Channel7_BASE) -#define DFSDM2_Filter0 ((DFSDM_Filter_TypeDef *) DFSDM2_Filter0_BASE) -#define DFSDM2_Filter1 ((DFSDM_Filter_TypeDef *) DFSDM2_Filter1_BASE) -#define DFSDM2_Filter2 ((DFSDM_Filter_TypeDef *) DFSDM2_Filter2_BASE) -#define DFSDM2_Filter3 ((DFSDM_Filter_TypeDef *) DFSDM2_Filter3_BASE) -#define SAI1 ((SAI_TypeDef *) SAI1_BASE) -#define SAI1_Block_A ((SAI_Block_TypeDef *)SAI1_Block_A_BASE) -#define SAI1_Block_B ((SAI_Block_TypeDef *)SAI1_Block_B_BASE) -#define GPIOA ((GPIO_TypeDef *) GPIOA_BASE) -#define GPIOB ((GPIO_TypeDef *) GPIOB_BASE) -#define GPIOC ((GPIO_TypeDef *) GPIOC_BASE) -#define GPIOD ((GPIO_TypeDef *) GPIOD_BASE) -#define GPIOE ((GPIO_TypeDef *) GPIOE_BASE) -#define GPIOF ((GPIO_TypeDef *) GPIOF_BASE) -#define GPIOG ((GPIO_TypeDef *) GPIOG_BASE) -#define GPIOH ((GPIO_TypeDef *) GPIOH_BASE) -#define CRC ((CRC_TypeDef *) CRC_BASE) -#define RCC ((RCC_TypeDef *) RCC_BASE) -#define FLASH ((FLASH_TypeDef *) FLASH_R_BASE) -#define DMA1 ((DMA_TypeDef *) DMA1_BASE) -#define DMA1_Stream0 ((DMA_Stream_TypeDef *) DMA1_Stream0_BASE) -#define DMA1_Stream1 ((DMA_Stream_TypeDef *) DMA1_Stream1_BASE) -#define DMA1_Stream2 ((DMA_Stream_TypeDef *) DMA1_Stream2_BASE) -#define DMA1_Stream3 ((DMA_Stream_TypeDef *) DMA1_Stream3_BASE) -#define DMA1_Stream4 ((DMA_Stream_TypeDef *) DMA1_Stream4_BASE) -#define DMA1_Stream5 ((DMA_Stream_TypeDef *) DMA1_Stream5_BASE) -#define DMA1_Stream6 ((DMA_Stream_TypeDef *) DMA1_Stream6_BASE) -#define DMA1_Stream7 ((DMA_Stream_TypeDef *) DMA1_Stream7_BASE) -#define DMA2 ((DMA_TypeDef *) DMA2_BASE) -#define DMA2_Stream0 ((DMA_Stream_TypeDef *) DMA2_Stream0_BASE) -#define DMA2_Stream1 ((DMA_Stream_TypeDef *) DMA2_Stream1_BASE) -#define DMA2_Stream2 ((DMA_Stream_TypeDef *) DMA2_Stream2_BASE) -#define DMA2_Stream3 ((DMA_Stream_TypeDef *) DMA2_Stream3_BASE) -#define DMA2_Stream4 ((DMA_Stream_TypeDef *) DMA2_Stream4_BASE) -#define DMA2_Stream5 ((DMA_Stream_TypeDef *) DMA2_Stream5_BASE) -#define DMA2_Stream6 ((DMA_Stream_TypeDef *) DMA2_Stream6_BASE) -#define DMA2_Stream7 ((DMA_Stream_TypeDef *) DMA2_Stream7_BASE) -#define RNG ((RNG_TypeDef *) RNG_BASE) -#define FSMC_Bank1 ((FSMC_Bank1_TypeDef *) FSMC_Bank1_R_BASE) -#define FSMC_Bank1E ((FSMC_Bank1E_TypeDef *) FSMC_Bank1E_R_BASE) -#define QUADSPI ((QUADSPI_TypeDef *) QSPI_R_BASE) -#define DBGMCU ((DBGMCU_TypeDef *) DBGMCU_BASE) -#define USB_OTG_FS ((USB_OTG_GlobalTypeDef *) USB_OTG_FS_PERIPH_BASE) - -/** - * @} - */ - -/** @addtogroup Exported_constants - * @{ - */ - - /** @addtogroup Peripheral_Registers_Bits_Definition - * @{ - */ - -/******************************************************************************/ -/* Peripheral Registers_Bits_Definition */ -/******************************************************************************/ - -/******************************************************************************/ -/* */ -/* Analog to Digital Converter */ -/* */ -/******************************************************************************/ -/******************** Bit definition for ADC_SR register ********************/ -#define ADC_SR_AWD_Pos (0U) -#define ADC_SR_AWD_Msk (0x1U << ADC_SR_AWD_Pos) /*!< 0x00000001 */ -#define ADC_SR_AWD ADC_SR_AWD_Msk /*!
© COPYRIGHT(c) 2016 STMicroelectronics
- * - * Redistribution and use in source and binary forms, with or without modification, - * are permitted provided that the following conditions are met: - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * 3. Neither the name of STMicroelectronics nor the names of its contributors - * may be used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE - * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL - * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR - * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, - * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE - * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************** - */ - -/** @addtogroup CMSIS - * @{ - */ - -/** @addtogroup stm32f4xx - * @{ - */ - -#ifndef __STM32F4xx_H -#define __STM32F4xx_H - -#ifdef __cplusplus - extern "C" { -#endif /* __cplusplus */ - -/** @addtogroup Library_configuration_section - * @{ - */ - -/** - * @brief STM32 Family - */ -#if !defined (STM32F4) -#define STM32F4 -#endif /* STM32F4 */ - -/* Uncomment the line below according to the target STM32 device used in your - application - */ -/* #if !defined (STM32F405xx) && !defined (STM32F415xx) && !defined (STM32F407xx) && !defined (STM32F417xx) && \ - !defined (STM32F427xx) && !defined (STM32F437xx) && !defined (STM32F429xx) && !defined (STM32F439xx) && \ - !defined (STM32F401xC) && !defined (STM32F401xE) && !defined (STM32F410Tx) && !defined (STM32F410Cx) && \ - !defined (STM32F410Rx) && !defined (STM32F411xE) && !defined (STM32F446xx) && !defined (STM32F469xx) && \ - !defined (STM32F479xx) && !defined (STM32F412Cx) && !defined (STM32F412Rx) && !defined (STM32F412Vx) && \ - !defined (STM32F412Zx) && !defined (STM32F413xx) && !defined (STM32F423xx) */ - /* #define STM32F405xx */ /*!< STM32F405RG, STM32F405VG and STM32F405ZG Devices */ - /* #define STM32F415xx */ /*!< STM32F415RG, STM32F415VG and STM32F415ZG Devices */ - /* #define STM32F407xx */ /*!< STM32F407VG, STM32F407VE, STM32F407ZG, STM32F407ZE, STM32F407IG and STM32F407IE Devices */ - /* #define STM32F417xx */ /*!< STM32F417VG, STM32F417VE, STM32F417ZG, STM32F417ZE, STM32F417IG and STM32F417IE Devices */ - /* #define STM32F427xx */ /*!< STM32F427VG, STM32F427VI, STM32F427ZG, STM32F427ZI, STM32F427IG and STM32F427II Devices */ - /* #define STM32F437xx */ /*!< STM32F437VG, STM32F437VI, STM32F437ZG, STM32F437ZI, STM32F437IG and STM32F437II Devices */ - /* #define STM32F429xx */ /*!< STM32F429VG, STM32F429VI, STM32F429ZG, STM32F429ZI, STM32F429BG, STM32F429BI, STM32F429NG, - STM32F439NI, STM32F429IG and STM32F429II Devices */ - /* #define STM32F439xx */ /*!< STM32F439VG, STM32F439VI, STM32F439ZG, STM32F439ZI, STM32F439BG, STM32F439BI, STM32F439NG, - STM32F439NI, STM32F439IG and STM32F439II Devices */ - /* #define STM32F401xC */ /*!< STM32F401CB, STM32F401CC, STM32F401RB, STM32F401RC, STM32F401VB and STM32F401VC Devices */ - /* #define STM32F401xE */ /*!< STM32F401CD, STM32F401RD, STM32F401VD, STM32F401CE, STM32F401RE and STM32F401VE Devices */ - /* #define STM32F410Tx */ /*!< STM32F410T8 and STM32F410TB Devices */ - /* #define STM32F410Cx */ /*!< STM32F410C8 and STM32F410CB Devices */ - /* #define STM32F410Rx */ /*!< STM32F410R8 and STM32F410RB Devices */ - /* #define STM32F411xE */ /*!< STM32F411CC, STM32F411RC, STM32F411VC, STM32F411CE, STM32F411RE and STM32F411VE Devices */ - /* #define STM32F446xx */ /*!< STM32F446MC, STM32F446ME, STM32F446RC, STM32F446RE, STM32F446VC, STM32F446VE, STM32F446ZC, - and STM32F446ZE Devices */ - /* #define STM32F469xx */ /*!< STM32F469AI, STM32F469II, STM32F469BI, STM32F469NI, STM32F469AG, STM32F469IG, STM32F469BG, - STM32F469NG, STM32F469AE, STM32F469IE, STM32F469BE and STM32F469NE Devices */ - /* #define STM32F479xx */ /*!< STM32F479AI, STM32F479II, STM32F479BI, STM32F479NI, STM32F479AG, STM32F479IG, STM32F479BG - and STM32F479NG Devices */ - /* #define STM32F412Cx */ /*!< STM32F412CEU and STM32F412CGU Devices */ - /* #define STM32F412Zx */ /*!< STM32F412ZET, STM32F412ZGT, STM32F412ZEJ and STM32F412ZGJ Devices */ - /* #define STM32F412Vx */ /*!< STM32F412VET, STM32F412VGT, STM32F412VEH and STM32F412VGH Devices */ - /* #define STM32F412Rx */ /*!< STM32F412RET, STM32F412RGT, STM32F412REY and STM32F412RGY Devices */ - /* #define STM32F413xx */ /*!< STM32F413CH, STM32F413MH, STM32F413RH, STM32F413VH, STM32F413ZH, STM32F413CG, STM32F413MG, - STM32F413RG, STM32F413VG and STM32F413ZG Devices */ - /* #define STM32F423xx */ /*!< STM32F423CH, STM32F423RH, STM32F423VH and STM32F423ZH Devices */ -//#endif - -/* Tip: To avoid modifying this file each time you need to switch between these - devices, you can define the device in your toolchain compiler preprocessor. - */ -#if !defined (USE_HAL_DRIVER) -/** - * @brief Comment the line below if you will not use the peripherals drivers. - In this case, these drivers will not be included and the application code will - be based on direct access to peripherals registers - */ - /*#define USE_HAL_DRIVER */ -#endif /* USE_HAL_DRIVER */ - -/** - * @brief CMSIS version number V2.6.0 - */ -#define __STM32F4xx_CMSIS_VERSION_MAIN (0x02U) /*!< [31:24] main version */ -#define __STM32F4xx_CMSIS_VERSION_SUB1 (0x06U) /*!< [23:16] sub1 version */ -#define __STM32F4xx_CMSIS_VERSION_SUB2 (0x00U) /*!< [15:8] sub2 version */ -#define __STM32F4xx_CMSIS_VERSION_RC (0x00U) /*!< [7:0] release candidate */ -#define __STM32F4xx_CMSIS_VERSION ((__STM32F4xx_CMSIS_VERSION_MAIN << 24)\ - |(__STM32F4xx_CMSIS_VERSION_SUB1 << 16)\ - |(__STM32F4xx_CMSIS_VERSION_SUB2 << 8 )\ - |(__STM32F4xx_CMSIS_VERSION)) - -/** - * @} - */ - -/** @addtogroup Device_Included - * @{ - */ - -// #if defined(STM32F405xx) -// #include "stm32f405xx.h" -// #elif defined(STM32F415xx) -// #include "stm32f415xx.h" -// #elif defined(STM32F407xx) -// #include "stm32f407xx.h" -// #elif defined(STM32F417xx) -// #include "stm32f417xx.h" -// #elif defined(STM32F427xx) -// #include "stm32f427xx.h" -// #elif defined(STM32F437xx) -// #include "stm32f437xx.h" -// #elif defined(STM32F429xx) -// #include "stm32f429xx.h" -// #elif defined(STM32F439xx) -// #include "stm32f439xx.h" -// #elif defined(STM32F401xC) -// #include "stm32f401xc.h" -// #elif defined(STM32F401xE) -// #include "stm32f401xe.h" -// #elif defined(STM32F410Tx) -// #include "stm32f410tx.h" -// #elif defined(STM32F410Cx) -// #include "stm32f410cx.h" -// #elif defined(STM32F410Rx) -// #include "stm32f410rx.h" -// #elif defined(STM32F411xE) -// #include "stm32f411xe.h" -// #elif defined(STM32F446xx) -// #include "stm32f446xx.h" -// #elif defined(STM32F469xx) -// #include "stm32f469xx.h" -// #elif defined(STM32F479xx) -// #include "stm32f479xx.h" -// #elif defined(STM32F412Cx) -// #include "stm32f412cx.h" -// #elif defined(STM32F412Zx) -// #include "stm32f412zx.h" -// #elif defined(STM32F412Rx) -// #include "stm32f412rx.h" -// #elif defined(STM32F412Vx) -// #include "stm32f412vx.h" -#if defined(STM32F413xx) - #include "stm32f413xx.h" - #elif defined(STM32F423xx) - #include "stm32f423xx.h" -#else - #error "Please select first the target STM32F4xx device used in your application (in stm32f4xx.h file)" -#endif - -/** - * @} - */ - -/** @addtogroup Exported_types - * @{ - */ -typedef enum -{ - RESET = 0U, - SET = !RESET -} FlagStatus, ITStatus; - -typedef enum -{ - DISABLE = 0U, - ENABLE = !DISABLE -} FunctionalState; -#define IS_FUNCTIONAL_STATE(STATE) (((STATE) == DISABLE) || ((STATE) == ENABLE)) - -typedef enum -{ - ERROR = 0U, - SUCCESS = !ERROR -} ErrorStatus; - -/** - * @} - */ - - -/** @addtogroup Exported_macro - * @{ - */ -#define SET_BIT(REG, BIT) ((REG) |= (BIT)) - -#define CLEAR_BIT(REG, BIT) ((REG) &= ~(BIT)) - -#define READ_BIT(REG, BIT) ((REG) & (BIT)) - -#define CLEAR_REG(REG) ((REG) = (0x0)) - -#define WRITE_REG(REG, VAL) ((REG) = (VAL)) - -#define READ_REG(REG) ((REG)) - -#define MODIFY_REG(REG, CLEARMASK, SETMASK) WRITE_REG((REG), (((READ_REG(REG)) & (~(CLEARMASK))) | (SETMASK))) - -#define POSITION_VAL(VAL) (__CLZ(__RBIT(VAL))) - - -/** - * @} - */ - -#if defined (USE_HAL_DRIVER) - #include "stm32f4xx_hal.h" -#endif /* USE_HAL_DRIVER */ - -#ifdef __cplusplus -} -#endif /* __cplusplus */ - -#endif /* __STM32F4xx_H */ -/** - * @} - */ - -/** - * @} - */ - - - - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/panda/board/stm32f4/inc/stm32f4xx_hal_def.h b/panda/board/stm32f4/inc/stm32f4xx_hal_def.h deleted file mode 100644 index b77f179a0cd9bf..00000000000000 --- a/panda/board/stm32f4/inc/stm32f4xx_hal_def.h +++ /dev/null @@ -1,214 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_def.h - * @author MCD Application Team - * @version V1.6.0 - * @date 04-November-2016 - * @brief This file contains HAL common defines, enumeration, macros and - * structures definitions. - ****************************************************************************** - * @attention - * - *

© COPYRIGHT(c) 2016 STMicroelectronics

- * - * Redistribution and use in source and binary forms, with or without modification, - * are permitted provided that the following conditions are met: - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * 3. Neither the name of STMicroelectronics nor the names of its contributors - * may be used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE - * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL - * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR - * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, - * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE - * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef __STM32F4xx_HAL_DEF -#define __STM32F4xx_HAL_DEF - -#ifdef __cplusplus - extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx.h" -//#include "Legacy/stm32_hal_legacy.h" -//#include - -/* Exported types ------------------------------------------------------------*/ - -/** - * @brief HAL Status structures definition - */ -typedef enum -{ - HAL_OK = 0x00U, - HAL_ERROR = 0x01U, - HAL_BUSY = 0x02U, - HAL_TIMEOUT = 0x03U -} HAL_StatusTypeDef; - -/** - * @brief HAL Lock structures definition - */ -typedef enum -{ - HAL_UNLOCKED = 0x00U, - HAL_LOCKED = 0x01U -} HAL_LockTypeDef; - -/* Exported macro ------------------------------------------------------------*/ -#define HAL_MAX_DELAY 0xFFFFFFFFU - -#define HAL_IS_BIT_SET(REG, BIT) (((REG) & (BIT)) != RESET) -#define HAL_IS_BIT_CLR(REG, BIT) (((REG) & (BIT)) == RESET) - -#define __HAL_LINKDMA(__HANDLE__, __PPP_DMA_FIELD__, __DMA_HANDLE__) \ - do{ \ - (__HANDLE__)->__PPP_DMA_FIELD__ = &(__DMA_HANDLE__); \ - (__DMA_HANDLE__).Parent = (__HANDLE__); \ - } while(0) - -#define UNUSED(x) ((void)(x)) - -/** @brief Reset the Handle's State field. - * @param __HANDLE__: specifies the Peripheral Handle. - * @note This macro can be used for the following purpose: - * - When the Handle is declared as local variable; before passing it as parameter - * to HAL_PPP_Init() for the first time, it is mandatory to use this macro - * to set to 0 the Handle's "State" field. - * Otherwise, "State" field may have any random value and the first time the function - * HAL_PPP_Init() is called, the low level hardware initialization will be missed - * (i.e. HAL_PPP_MspInit() will not be executed). - * - When there is a need to reconfigure the low level hardware: instead of calling - * HAL_PPP_DeInit() then HAL_PPP_Init(), user can make a call to this macro then HAL_PPP_Init(). - * In this later function, when the Handle's "State" field is set to 0, it will execute the function - * HAL_PPP_MspInit() which will reconfigure the low level hardware. - * @retval None - */ -#define __HAL_RESET_HANDLE_STATE(__HANDLE__) ((__HANDLE__)->State = 0U) - -#if (USE_RTOS == 1) - /* Reserved for future use */ - #error "USE_RTOS should be 0 in the current HAL release" -#else - #define __HAL_LOCK(__HANDLE__) \ - do{ \ - if((__HANDLE__)->Lock == HAL_LOCKED) \ - { \ - return HAL_BUSY; \ - } \ - else \ - { \ - (__HANDLE__)->Lock = HAL_LOCKED; \ - } \ - }while (0) - - #define __HAL_UNLOCK(__HANDLE__) \ - do{ \ - (__HANDLE__)->Lock = HAL_UNLOCKED; \ - }while (0) -#endif /* USE_RTOS */ - -#if defined ( __GNUC__ ) - #ifndef __weak - #define __weak __attribute__((weak)) - #endif /* __weak */ - #ifndef __packed - #define __packed __attribute__((__packed__)) - #endif /* __packed */ -#endif /* __GNUC__ */ - - -/* Macro to get variable aligned on 4-bytes, for __ICCARM__ the directive "#pragma data_alignment=4" must be used instead */ -#if defined (__GNUC__) /* GNU Compiler */ - #ifndef __ALIGN_END - #define __ALIGN_END __attribute__ ((aligned (4))) - #endif /* __ALIGN_END */ - #ifndef __ALIGN_BEGIN - #define __ALIGN_BEGIN - #endif /* __ALIGN_BEGIN */ -#else - #ifndef __ALIGN_END - #define __ALIGN_END - #endif /* __ALIGN_END */ - #ifndef __ALIGN_BEGIN - #if defined (__CC_ARM) /* ARM Compiler */ - #define __ALIGN_BEGIN __align(4) - #elif defined (__ICCARM__) /* IAR Compiler */ - #define __ALIGN_BEGIN - #endif /* __CC_ARM */ - #endif /* __ALIGN_BEGIN */ -#endif /* __GNUC__ */ - - -/** - * @brief __RAM_FUNC definition - */ -#if defined ( __CC_ARM ) -/* ARM Compiler - ------------ - RAM functions are defined using the toolchain options. - Functions that are executed in RAM should reside in a separate source module. - Using the 'Options for File' dialog you can simply change the 'Code / Const' - area of a module to a memory space in physical RAM. - Available memory areas are declared in the 'Target' tab of the 'Options for Target' - dialog. -*/ -#define __RAM_FUNC HAL_StatusTypeDef - -#elif defined ( __ICCARM__ ) -/* ICCARM Compiler - --------------- - RAM functions are defined using a specific toolchain keyword "__ramfunc". -*/ -#define __RAM_FUNC __ramfunc HAL_StatusTypeDef - -#elif defined ( __GNUC__ ) -/* GNU Compiler - ------------ - RAM functions are defined using a specific toolchain attribute - "__attribute__((section(".RamFunc")))". -*/ -#define __RAM_FUNC HAL_StatusTypeDef __attribute__((section(".RamFunc"))) - -#endif - -/** - * @brief __NOINLINE definition - */ -#if defined ( __CC_ARM ) || defined ( __GNUC__ ) -/* ARM & GNUCompiler - ---------------- -*/ -#define __NOINLINE __attribute__ ( (noinline) ) - -#elif defined ( __ICCARM__ ) -/* ICCARM Compiler - --------------- -*/ -#define __NOINLINE _Pragma("optimize = no_inline") - -#endif - -#ifdef __cplusplus -} -#endif - -#endif /* ___STM32F4xx_HAL_DEF */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/panda/board/stm32f4/inc/stm32f4xx_hal_gpio_ex.h b/panda/board/stm32f4/inc/stm32f4xx_hal_gpio_ex.h deleted file mode 100644 index 6c5f34dcb774fb..00000000000000 --- a/panda/board/stm32f4/inc/stm32f4xx_hal_gpio_ex.h +++ /dev/null @@ -1,1591 +0,0 @@ -/** - ****************************************************************************** - * @file stm32f4xx_hal_gpio_ex.h - * @author MCD Application Team - * @version V1.6.0 - * @date 04-November-2016 - * @brief Header file of GPIO HAL Extension module. - ****************************************************************************** - * @attention - * - *

© COPYRIGHT(c) 2016 STMicroelectronics

- * - * Redistribution and use in source and binary forms, with or without modification, - * are permitted provided that the following conditions are met: - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * 3. Neither the name of STMicroelectronics nor the names of its contributors - * may be used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE - * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL - * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR - * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, - * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE - * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef __STM32F4xx_HAL_GPIO_EX_H -#define __STM32F4xx_HAL_GPIO_EX_H - -#ifdef __cplusplus - extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#include "stm32f4xx_hal_def.h" - -/** @addtogroup STM32F4xx_HAL_Driver - * @{ - */ - -/** @defgroup GPIOEx GPIOEx - * @{ - */ - -/* Exported types ------------------------------------------------------------*/ -/* Exported constants --------------------------------------------------------*/ -/** @defgroup GPIOEx_Exported_Constants GPIO Exported Constants - * @{ - */ - -/** @defgroup GPIO_Alternate_function_selection GPIO Alternate Function Selection - * @{ - */ - -/*------------------------------------------ STM32F429xx/STM32F439xx ---------*/ -#if defined(STM32F429xx) || defined(STM32F439xx) -/** - * @brief AF 0 selection - */ -#define GPIO_AF0_RTC_50Hz ((uint8_t)0x00U) /* RTC_50Hz Alternate Function mapping */ -#define GPIO_AF0_MCO ((uint8_t)0x00U) /* MCO (MCO1 and MCO2) Alternate Function mapping */ -#define GPIO_AF0_TAMPER ((uint8_t)0x00U) /* TAMPER (TAMPER_1 and TAMPER_2) Alternate Function mapping */ -#define GPIO_AF0_SWJ ((uint8_t)0x00U) /* SWJ (SWD and JTAG) Alternate Function mapping */ -#define GPIO_AF0_TRACE ((uint8_t)0x00U) /* TRACE Alternate Function mapping */ - -/** - * @brief AF 1 selection - */ -#define GPIO_AF1_TIM1 ((uint8_t)0x01U) /* TIM1 Alternate Function mapping */ -#define GPIO_AF1_TIM2 ((uint8_t)0x01U) /* TIM2 Alternate Function mapping */ - -/** - * @brief AF 2 selection - */ -#define GPIO_AF2_TIM3 ((uint8_t)0x02U) /* TIM3 Alternate Function mapping */ -#define GPIO_AF2_TIM4 ((uint8_t)0x02U) /* TIM4 Alternate Function mapping */ -#define GPIO_AF2_TIM5 ((uint8_t)0x02U) /* TIM5 Alternate Function mapping */ - -/** - * @brief AF 3 selection - */ -#define GPIO_AF3_TIM8 ((uint8_t)0x03U) /* TIM8 Alternate Function mapping */ -#define GPIO_AF3_TIM9 ((uint8_t)0x03U) /* TIM9 Alternate Function mapping */ -#define GPIO_AF3_TIM10 ((uint8_t)0x03U) /* TIM10 Alternate Function mapping */ -#define GPIO_AF3_TIM11 ((uint8_t)0x03U) /* TIM11 Alternate Function mapping */ - -/** - * @brief AF 4 selection - */ -#define GPIO_AF4_I2C1 ((uint8_t)0x04U) /* I2C1 Alternate Function mapping */ -#define GPIO_AF4_I2C2 ((uint8_t)0x04U) /* I2C2 Alternate Function mapping */ -#define GPIO_AF4_I2C3 ((uint8_t)0x04U) /* I2C3 Alternate Function mapping */ - -/** - * @brief AF 5 selection - */ -#define GPIO_AF5_SPI1 ((uint8_t)0x05U) /* SPI1 Alternate Function mapping */ -#define GPIO_AF5_SPI2 ((uint8_t)0x05U) /* SPI2/I2S2 Alternate Function mapping */ -#define GPIO_AF5_SPI3 ((uint8_t)0x05U) /* SPI3/I2S3 Alternate Function mapping */ -#define GPIO_AF5_SPI4 ((uint8_t)0x05U) /* SPI4 Alternate Function mapping */ -#define GPIO_AF5_SPI5 ((uint8_t)0x05U) /* SPI5 Alternate Function mapping */ -#define GPIO_AF5_SPI6 ((uint8_t)0x05U) /* SPI6 Alternate Function mapping */ -#define GPIO_AF5_I2S3ext ((uint8_t)0x05U) /* I2S3ext_SD Alternate Function mapping */ - -/** - * @brief AF 6 selection - */ -#define GPIO_AF6_SPI3 ((uint8_t)0x06U) /* SPI3/I2S3 Alternate Function mapping */ -#define GPIO_AF6_I2S2ext ((uint8_t)0x06U) /* I2S2ext_SD Alternate Function mapping */ -#define GPIO_AF6_SAI1 ((uint8_t)0x06U) /* SAI1 Alternate Function mapping */ - -/** - * @brief AF 7 selection - */ -#define GPIO_AF7_USART1 ((uint8_t)0x07U) /* USART1 Alternate Function mapping */ -#define GPIO_AF7_USART2 ((uint8_t)0x07U) /* USART2 Alternate Function mapping */ -#define GPIO_AF7_USART3 ((uint8_t)0x07U) /* USART3 Alternate Function mapping */ -#define GPIO_AF7_I2S3ext ((uint8_t)0x07U) /* I2S3ext_SD Alternate Function mapping */ - -/** - * @brief AF 8 selection - */ -#define GPIO_AF8_UART4 ((uint8_t)0x08U) /* UART4 Alternate Function mapping */ -#define GPIO_AF8_UART5 ((uint8_t)0x08U) /* UART5 Alternate Function mapping */ -#define GPIO_AF8_USART6 ((uint8_t)0x08U) /* USART6 Alternate Function mapping */ -#define GPIO_AF8_UART7 ((uint8_t)0x08U) /* UART7 Alternate Function mapping */ -#define GPIO_AF8_UART8 ((uint8_t)0x08U) /* UART8 Alternate Function mapping */ - -/** - * @brief AF 9 selection - */ -#define GPIO_AF9_CAN1 ((uint8_t)0x09U) /* CAN1 Alternate Function mapping */ -#define GPIO_AF9_CAN2 ((uint8_t)0x09U) /* CAN2 Alternate Function mapping */ -#define GPIO_AF9_TIM12 ((uint8_t)0x09U) /* TIM12 Alternate Function mapping */ -#define GPIO_AF9_TIM13 ((uint8_t)0x09U) /* TIM13 Alternate Function mapping */ -#define GPIO_AF9_TIM14 ((uint8_t)0x09U) /* TIM14 Alternate Function mapping */ -#define GPIO_AF9_LTDC ((uint8_t)0x09U) /* LCD-TFT Alternate Function mapping */ - -/** - * @brief AF 10 selection - */ -#define GPIO_AF10_OTG_FS ((uint8_t)0x0AU) /* OTG_FS Alternate Function mapping */ -#define GPIO_AF10_OTG_HS ((uint8_t)0x0AU) /* OTG_HS Alternate Function mapping */ - -/** - * @brief AF 11 selection - */ -#define GPIO_AF11_ETH ((uint8_t)0x0BU) /* ETHERNET Alternate Function mapping */ - -/** - * @brief AF 12 selection - */ -#define GPIO_AF12_FMC ((uint8_t)0x0CU) /* FMC Alternate Function mapping */ -#define GPIO_AF12_OTG_HS_FS ((uint8_t)0x0CU) /* OTG HS configured in FS, Alternate Function mapping */ -#define GPIO_AF12_SDIO ((uint8_t)0x0CU) /* SDIO Alternate Function mapping */ - -/** - * @brief AF 13 selection - */ -#define GPIO_AF13_DCMI ((uint8_t)0x0DU) /* DCMI Alternate Function mapping */ - -/** - * @brief AF 14 selection - */ -#define GPIO_AF14_LTDC ((uint8_t)0x0EU) /* LCD-TFT Alternate Function mapping */ - -/** - * @brief AF 15 selection - */ -#define GPIO_AF15_EVENTOUT ((uint8_t)0x0FU) /* EVENTOUT Alternate Function mapping */ -#endif /* STM32F429xx || STM32F439xx */ -/*----------------------------------------------------------------------------*/ - -/*---------------------------------- STM32F427xx/STM32F437xx------------------*/ -#if defined(STM32F427xx) || defined(STM32F437xx) -/** - * @brief AF 0 selection - */ -#define GPIO_AF0_RTC_50Hz ((uint8_t)0x00U) /* RTC_50Hz Alternate Function mapping */ -#define GPIO_AF0_MCO ((uint8_t)0x00U) /* MCO (MCO1 and MCO2) Alternate Function mapping */ -#define GPIO_AF0_TAMPER ((uint8_t)0x00U) /* TAMPER (TAMPER_1 and TAMPER_2) Alternate Function mapping */ -#define GPIO_AF0_SWJ ((uint8_t)0x00U) /* SWJ (SWD and JTAG) Alternate Function mapping */ -#define GPIO_AF0_TRACE ((uint8_t)0x00U) /* TRACE Alternate Function mapping */ - -/** - * @brief AF 1 selection - */ -#define GPIO_AF1_TIM1 ((uint8_t)0x01U) /* TIM1 Alternate Function mapping */ -#define GPIO_AF1_TIM2 ((uint8_t)0x01U) /* TIM2 Alternate Function mapping */ - -/** - * @brief AF 2 selection - */ -#define GPIO_AF2_TIM3 ((uint8_t)0x02U) /* TIM3 Alternate Function mapping */ -#define GPIO_AF2_TIM4 ((uint8_t)0x02U) /* TIM4 Alternate Function mapping */ -#define GPIO_AF2_TIM5 ((uint8_t)0x02U) /* TIM5 Alternate Function mapping */ - -/** - * @brief AF 3 selection - */ -#define GPIO_AF3_TIM8 ((uint8_t)0x03U) /* TIM8 Alternate Function mapping */ -#define GPIO_AF3_TIM9 ((uint8_t)0x03U) /* TIM9 Alternate Function mapping */ -#define GPIO_AF3_TIM10 ((uint8_t)0x03U) /* TIM10 Alternate Function mapping */ -#define GPIO_AF3_TIM11 ((uint8_t)0x03U) /* TIM11 Alternate Function mapping */ - -/** - * @brief AF 4 selection - */ -#define GPIO_AF4_I2C1 ((uint8_t)0x04U) /* I2C1 Alternate Function mapping */ -#define GPIO_AF4_I2C2 ((uint8_t)0x04U) /* I2C2 Alternate Function mapping */ -#define GPIO_AF4_I2C3 ((uint8_t)0x04U) /* I2C3 Alternate Function mapping */ - -/** - * @brief AF 5 selection - */ -#define GPIO_AF5_SPI1 ((uint8_t)0x05U) /* SPI1 Alternate Function mapping */ -#define GPIO_AF5_SPI2 ((uint8_t)0x05U) /* SPI2/I2S2 Alternate Function mapping */ -#define GPIO_AF5_SPI3 ((uint8_t)0x05U) /* SPI3/I2S3 Alternate Function mapping */ -#define GPIO_AF5_SPI4 ((uint8_t)0x05U) /* SPI4 Alternate Function mapping */ -#define GPIO_AF5_SPI5 ((uint8_t)0x05U) /* SPI5 Alternate Function mapping */ -#define GPIO_AF5_SPI6 ((uint8_t)0x05U) /* SPI6 Alternate Function mapping */ -/** @brief GPIO_Legacy - */ -#define GPIO_AF5_I2S3ext GPIO_AF5_SPI3 /* I2S3ext_SD Alternate Function mapping */ - -/** - * @brief AF 6 selection - */ -#define GPIO_AF6_SPI3 ((uint8_t)0x06U) /* SPI3/I2S3 Alternate Function mapping */ -#define GPIO_AF6_I2S2ext ((uint8_t)0x06U) /* I2S2ext_SD Alternate Function mapping */ -#define GPIO_AF6_SAI1 ((uint8_t)0x06U) /* SAI1 Alternate Function mapping */ - -/** - * @brief AF 7 selection - */ -#define GPIO_AF7_USART1 ((uint8_t)0x07U) /* USART1 Alternate Function mapping */ -#define GPIO_AF7_USART2 ((uint8_t)0x07U) /* USART2 Alternate Function mapping */ -#define GPIO_AF7_USART3 ((uint8_t)0x07U) /* USART3 Alternate Function mapping */ -#define GPIO_AF7_I2S3ext ((uint8_t)0x07U) /* I2S3ext_SD Alternate Function mapping */ - -/** - * @brief AF 8 selection - */ -#define GPIO_AF8_UART4 ((uint8_t)0x08U) /* UART4 Alternate Function mapping */ -#define GPIO_AF8_UART5 ((uint8_t)0x08U) /* UART5 Alternate Function mapping */ -#define GPIO_AF8_USART6 ((uint8_t)0x08U) /* USART6 Alternate Function mapping */ -#define GPIO_AF8_UART7 ((uint8_t)0x08U) /* UART7 Alternate Function mapping */ -#define GPIO_AF8_UART8 ((uint8_t)0x08U) /* UART8 Alternate Function mapping */ - -/** - * @brief AF 9 selection - */ -#define GPIO_AF9_CAN1 ((uint8_t)0x09U) /* CAN1 Alternate Function mapping */ -#define GPIO_AF9_CAN2 ((uint8_t)0x09U) /* CAN2 Alternate Function mapping */ -#define GPIO_AF9_TIM12 ((uint8_t)0x09U) /* TIM12 Alternate Function mapping */ -#define GPIO_AF9_TIM13 ((uint8_t)0x09U) /* TIM13 Alternate Function mapping */ -#define GPIO_AF9_TIM14 ((uint8_t)0x09U) /* TIM14 Alternate Function mapping */ - -/** - * @brief AF 10 selection - */ -#define GPIO_AF10_OTG_FS ((uint8_t)0x0AU) /* OTG_FS Alternate Function mapping */ -#define GPIO_AF10_OTG_HS ((uint8_t)0x0AU) /* OTG_HS Alternate Function mapping */ - -/** - * @brief AF 11 selection - */ -#define GPIO_AF11_ETH ((uint8_t)0x0BU) /* ETHERNET Alternate Function mapping */ - -/** - * @brief AF 12 selection - */ -#define GPIO_AF12_FMC ((uint8_t)0x0CU) /* FMC Alternate Function mapping */ -#define GPIO_AF12_OTG_HS_FS ((uint8_t)0x0CU) /* OTG HS configured in FS, Alternate Function mapping */ -#define GPIO_AF12_SDIO ((uint8_t)0x0CU) /* SDIO Alternate Function mapping */ - -/** - * @brief AF 13 selection - */ -#define GPIO_AF13_DCMI ((uint8_t)0x0DU) /* DCMI Alternate Function mapping */ - -/** - * @brief AF 15 selection - */ -#define GPIO_AF15_EVENTOUT ((uint8_t)0x0FU) /* EVENTOUT Alternate Function mapping */ -#endif /* STM32F427xx || STM32F437xx */ -/*----------------------------------------------------------------------------*/ - -/*---------------------------------- STM32F407xx/STM32F417xx------------------*/ -#if defined(STM32F407xx) || defined(STM32F417xx) -/** - * @brief AF 0 selection - */ -#define GPIO_AF0_RTC_50Hz ((uint8_t)0x00U) /* RTC_50Hz Alternate Function mapping */ -#define GPIO_AF0_MCO ((uint8_t)0x00U) /* MCO (MCO1 and MCO2) Alternate Function mapping */ -#define GPIO_AF0_TAMPER ((uint8_t)0x00U) /* TAMPER (TAMPER_1 and TAMPER_2) Alternate Function mapping */ -#define GPIO_AF0_SWJ ((uint8_t)0x00U) /* SWJ (SWD and JTAG) Alternate Function mapping */ -#define GPIO_AF0_TRACE ((uint8_t)0x00U) /* TRACE Alternate Function mapping */ - -/** - * @brief AF 1 selection - */ -#define GPIO_AF1_TIM1 ((uint8_t)0x01U) /* TIM1 Alternate Function mapping */ -#define GPIO_AF1_TIM2 ((uint8_t)0x01U) /* TIM2 Alternate Function mapping */ - -/** - * @brief AF 2 selection - */ -#define GPIO_AF2_TIM3 ((uint8_t)0x02U) /* TIM3 Alternate Function mapping */ -#define GPIO_AF2_TIM4 ((uint8_t)0x02U) /* TIM4 Alternate Function mapping */ -#define GPIO_AF2_TIM5 ((uint8_t)0x02U) /* TIM5 Alternate Function mapping */ - -/** - * @brief AF 3 selection - */ -#define GPIO_AF3_TIM8 ((uint8_t)0x03U) /* TIM8 Alternate Function mapping */ -#define GPIO_AF3_TIM9 ((uint8_t)0x03U) /* TIM9 Alternate Function mapping */ -#define GPIO_AF3_TIM10 ((uint8_t)0x03U) /* TIM10 Alternate Function mapping */ -#define GPIO_AF3_TIM11 ((uint8_t)0x03U) /* TIM11 Alternate Function mapping */ - -/** - * @brief AF 4 selection - */ -#define GPIO_AF4_I2C1 ((uint8_t)0x04U) /* I2C1 Alternate Function mapping */ -#define GPIO_AF4_I2C2 ((uint8_t)0x04U) /* I2C2 Alternate Function mapping */ -#define GPIO_AF4_I2C3 ((uint8_t)0x04U) /* I2C3 Alternate Function mapping */ - -/** - * @brief AF 5 selection - */ -#define GPIO_AF5_SPI1 ((uint8_t)0x05U) /* SPI1 Alternate Function mapping */ -#define GPIO_AF5_SPI2 ((uint8_t)0x05U) /* SPI2/I2S2 Alternate Function mapping */ -#define GPIO_AF5_I2S3ext ((uint8_t)0x05U) /* I2S3ext_SD Alternate Function mapping */ - -/** - * @brief AF 6 selection - */ -#define GPIO_AF6_SPI3 ((uint8_t)0x06U) /* SPI3/I2S3 Alternate Function mapping */ -#define GPIO_AF6_I2S2ext ((uint8_t)0x06U) /* I2S2ext_SD Alternate Function mapping */ - -/** - * @brief AF 7 selection - */ -#define GPIO_AF7_USART1 ((uint8_t)0x07U) /* USART1 Alternate Function mapping */ -#define GPIO_AF7_USART2 ((uint8_t)0x07U) /* USART2 Alternate Function mapping */ -#define GPIO_AF7_USART3 ((uint8_t)0x07U) /* USART3 Alternate Function mapping */ -#define GPIO_AF7_I2S3ext ((uint8_t)0x07U) /* I2S3ext_SD Alternate Function mapping */ - -/** - * @brief AF 8 selection - */ -#define GPIO_AF8_UART4 ((uint8_t)0x08U) /* UART4 Alternate Function mapping */ -#define GPIO_AF8_UART5 ((uint8_t)0x08U) /* UART5 Alternate Function mapping */ -#define GPIO_AF8_USART6 ((uint8_t)0x08U) /* USART6 Alternate Function mapping */ - -/** - * @brief AF 9 selection - */ -#define GPIO_AF9_CAN1 ((uint8_t)0x09U) /* CAN1 Alternate Function mapping */ -#define GPIO_AF9_CAN2 ((uint8_t)0x09U) /* CAN2 Alternate Function mapping */ -#define GPIO_AF9_TIM12 ((uint8_t)0x09U) /* TIM12 Alternate Function mapping */ -#define GPIO_AF9_TIM13 ((uint8_t)0x09U) /* TIM13 Alternate Function mapping */ -#define GPIO_AF9_TIM14 ((uint8_t)0x09U) /* TIM14 Alternate Function mapping */ - -/** - * @brief AF 10 selection - */ -#define GPIO_AF10_OTG_FS ((uint8_t)0x0AU) /* OTG_FS Alternate Function mapping */ -#define GPIO_AF10_OTG_HS ((uint8_t)0x0AU) /* OTG_HS Alternate Function mapping */ - -/** - * @brief AF 11 selection - */ -#define GPIO_AF11_ETH ((uint8_t)0x0BU) /* ETHERNET Alternate Function mapping */ - -/** - * @brief AF 12 selection - */ -#define GPIO_AF12_FSMC ((uint8_t)0x0CU) /* FSMC Alternate Function mapping */ -#define GPIO_AF12_OTG_HS_FS ((uint8_t)0x0CU) /* OTG HS configured in FS, Alternate Function mapping */ -#define GPIO_AF12_SDIO ((uint8_t)0x0CU) /* SDIO Alternate Function mapping */ - -/** - * @brief AF 13 selection - */ -#define GPIO_AF13_DCMI ((uint8_t)0x0DU) /* DCMI Alternate Function mapping */ - -/** - * @brief AF 15 selection - */ -#define GPIO_AF15_EVENTOUT ((uint8_t)0x0FU) /* EVENTOUT Alternate Function mapping */ -#endif /* STM32F407xx || STM32F417xx */ -/*----------------------------------------------------------------------------*/ - -/*---------------------------------- STM32F405xx/STM32F415xx------------------*/ -#if defined(STM32F405xx) || defined(STM32F415xx) -/** - * @brief AF 0 selection - */ -#define GPIO_AF0_RTC_50Hz ((uint8_t)0x00U) /* RTC_50Hz Alternate Function mapping */ -#define GPIO_AF0_MCO ((uint8_t)0x00U) /* MCO (MCO1 and MCO2) Alternate Function mapping */ -#define GPIO_AF0_TAMPER ((uint8_t)0x00U) /* TAMPER (TAMPER_1 and TAMPER_2) Alternate Function mapping */ -#define GPIO_AF0_SWJ ((uint8_t)0x00U) /* SWJ (SWD and JTAG) Alternate Function mapping */ -#define GPIO_AF0_TRACE ((uint8_t)0x00U) /* TRACE Alternate Function mapping */ - -/** - * @brief AF 1 selection - */ -#define GPIO_AF1_TIM1 ((uint8_t)0x01U) /* TIM1 Alternate Function mapping */ -#define GPIO_AF1_TIM2 ((uint8_t)0x01U) /* TIM2 Alternate Function mapping */ - -/** - * @brief AF 2 selection - */ -#define GPIO_AF2_TIM3 ((uint8_t)0x02U) /* TIM3 Alternate Function mapping */ -#define GPIO_AF2_TIM4 ((uint8_t)0x02U) /* TIM4 Alternate Function mapping */ -#define GPIO_AF2_TIM5 ((uint8_t)0x02U) /* TIM5 Alternate Function mapping */ - -/** - * @brief AF 3 selection - */ -#define GPIO_AF3_TIM8 ((uint8_t)0x03U) /* TIM8 Alternate Function mapping */ -#define GPIO_AF3_TIM9 ((uint8_t)0x03U) /* TIM9 Alternate Function mapping */ -#define GPIO_AF3_TIM10 ((uint8_t)0x03U) /* TIM10 Alternate Function mapping */ -#define GPIO_AF3_TIM11 ((uint8_t)0x03U) /* TIM11 Alternate Function mapping */ - -/** - * @brief AF 4 selection - */ -#define GPIO_AF4_I2C1 ((uint8_t)0x04U) /* I2C1 Alternate Function mapping */ -#define GPIO_AF4_I2C2 ((uint8_t)0x04U) /* I2C2 Alternate Function mapping */ -#define GPIO_AF4_I2C3 ((uint8_t)0x04U) /* I2C3 Alternate Function mapping */ - -/** - * @brief AF 5 selection - */ -#define GPIO_AF5_SPI1 ((uint8_t)0x05U) /* SPI1 Alternate Function mapping */ -#define GPIO_AF5_SPI2 ((uint8_t)0x05U) /* SPI2/I2S2 Alternate Function mapping */ -#define GPIO_AF5_I2S3ext ((uint8_t)0x05U) /* I2S3ext_SD Alternate Function mapping */ - -/** - * @brief AF 6 selection - */ -#define GPIO_AF6_SPI3 ((uint8_t)0x06U) /* SPI3/I2S3 Alternate Function mapping */ -#define GPIO_AF6_I2S2ext ((uint8_t)0x06U) /* I2S2ext_SD Alternate Function mapping */ - -/** - * @brief AF 7 selection - */ -#define GPIO_AF7_USART1 ((uint8_t)0x07U) /* USART1 Alternate Function mapping */ -#define GPIO_AF7_USART2 ((uint8_t)0x07U) /* USART2 Alternate Function mapping */ -#define GPIO_AF7_USART3 ((uint8_t)0x07U) /* USART3 Alternate Function mapping */ -#define GPIO_AF7_I2S3ext ((uint8_t)0x07U) /* I2S3ext_SD Alternate Function mapping */ - -/** - * @brief AF 8 selection - */ -#define GPIO_AF8_UART4 ((uint8_t)0x08U) /* UART4 Alternate Function mapping */ -#define GPIO_AF8_UART5 ((uint8_t)0x08U) /* UART5 Alternate Function mapping */ -#define GPIO_AF8_USART6 ((uint8_t)0x08U) /* USART6 Alternate Function mapping */ - -/** - * @brief AF 9 selection - */ -#define GPIO_AF9_CAN1 ((uint8_t)0x09U) /* CAN1 Alternate Function mapping */ -#define GPIO_AF9_CAN2 ((uint8_t)0x09U) /* CAN2 Alternate Function mapping */ -#define GPIO_AF9_TIM12 ((uint8_t)0x09U) /* TIM12 Alternate Function mapping */ -#define GPIO_AF9_TIM13 ((uint8_t)0x09U) /* TIM13 Alternate Function mapping */ -#define GPIO_AF9_TIM14 ((uint8_t)0x09U) /* TIM14 Alternate Function mapping */ - -/** - * @brief AF 10 selection - */ -#define GPIO_AF10_OTG_FS ((uint8_t)0x0AU) /* OTG_FS Alternate Function mapping */ -#define GPIO_AF10_OTG_HS ((uint8_t)0x0AU) /* OTG_HS Alternate Function mapping */ - -/** - * @brief AF 12 selection - */ -#define GPIO_AF12_FSMC ((uint8_t)0x0CU) /* FSMC Alternate Function mapping */ -#define GPIO_AF12_OTG_HS_FS ((uint8_t)0x0CU) /* OTG HS configured in FS, Alternate Function mapping */ -#define GPIO_AF12_SDIO ((uint8_t)0x0CU) /* SDIO Alternate Function mapping */ - -/** - * @brief AF 15 selection - */ -#define GPIO_AF15_EVENTOUT ((uint8_t)0x0FU) /* EVENTOUT Alternate Function mapping */ -#endif /* STM32F405xx || STM32F415xx */ - -/*----------------------------------------------------------------------------*/ - -/*---------------------------------------- STM32F401xx------------------------*/ -#if defined(STM32F401xC) || defined(STM32F401xE) -/** - * @brief AF 0 selection - */ -#define GPIO_AF0_RTC_50Hz ((uint8_t)0x00U) /* RTC_50Hz Alternate Function mapping */ -#define GPIO_AF0_MCO ((uint8_t)0x00U) /* MCO (MCO1 and MCO2) Alternate Function mapping */ -#define GPIO_AF0_TAMPER ((uint8_t)0x00U) /* TAMPER (TAMPER_1 and TAMPER_2) Alternate Function mapping */ -#define GPIO_AF0_SWJ ((uint8_t)0x00U) /* SWJ (SWD and JTAG) Alternate Function mapping */ -#define GPIO_AF0_TRACE ((uint8_t)0x00U) /* TRACE Alternate Function mapping */ - -/** - * @brief AF 1 selection - */ -#define GPIO_AF1_TIM1 ((uint8_t)0x01U) /* TIM1 Alternate Function mapping */ -#define GPIO_AF1_TIM2 ((uint8_t)0x01U) /* TIM2 Alternate Function mapping */ - -/** - * @brief AF 2 selection - */ -#define GPIO_AF2_TIM3 ((uint8_t)0x02U) /* TIM3 Alternate Function mapping */ -#define GPIO_AF2_TIM4 ((uint8_t)0x02U) /* TIM4 Alternate Function mapping */ -#define GPIO_AF2_TIM5 ((uint8_t)0x02U) /* TIM5 Alternate Function mapping */ - -/** - * @brief AF 3 selection - */ -#define GPIO_AF3_TIM9 ((uint8_t)0x03U) /* TIM9 Alternate Function mapping */ -#define GPIO_AF3_TIM10 ((uint8_t)0x03U) /* TIM10 Alternate Function mapping */ -#define GPIO_AF3_TIM11 ((uint8_t)0x03U) /* TIM11 Alternate Function mapping */ - -/** - * @brief AF 4 selection - */ -#define GPIO_AF4_I2C1 ((uint8_t)0x04U) /* I2C1 Alternate Function mapping */ -#define GPIO_AF4_I2C2 ((uint8_t)0x04U) /* I2C2 Alternate Function mapping */ -#define GPIO_AF4_I2C3 ((uint8_t)0x04U) /* I2C3 Alternate Function mapping */ - -/** - * @brief AF 5 selection - */ -#define GPIO_AF5_SPI1 ((uint8_t)0x05U) /* SPI1 Alternate Function mapping */ -#define GPIO_AF5_SPI2 ((uint8_t)0x05U) /* SPI2/I2S2 Alternate Function mapping */ -#define GPIO_AF5_SPI4 ((uint8_t)0x05U) /* SPI4 Alternate Function mapping */ -#define GPIO_AF5_I2S3ext ((uint8_t)0x05U) /* I2S3ext_SD Alternate Function mapping */ - -/** - * @brief AF 6 selection - */ -#define GPIO_AF6_SPI3 ((uint8_t)0x06U) /* SPI3/I2S3 Alternate Function mapping */ -#define GPIO_AF6_I2S2ext ((uint8_t)0x06U) /* I2S2ext_SD Alternate Function mapping */ - -/** - * @brief AF 7 selection - */ -#define GPIO_AF7_USART1 ((uint8_t)0x07U) /* USART1 Alternate Function mapping */ -#define GPIO_AF7_USART2 ((uint8_t)0x07U) /* USART2 Alternate Function mapping */ -#define GPIO_AF7_I2S3ext ((uint8_t)0x07U) /* I2S3ext_SD Alternate Function mapping */ - -/** - * @brief AF 8 selection - */ -#define GPIO_AF8_USART6 ((uint8_t)0x08U) /* USART6 Alternate Function mapping */ - -/** - * @brief AF 9 selection - */ -#define GPIO_AF9_TIM14 ((uint8_t)0x09U) /* TIM14 Alternate Function mapping */ -#define GPIO_AF9_I2C2 ((uint8_t)0x09U) /* I2C2 Alternate Function mapping */ -#define GPIO_AF9_I2C3 ((uint8_t)0x09U) /* I2C3 Alternate Function mapping */ - - -/** - * @brief AF 10 selection - */ -#define GPIO_AF10_OTG_FS ((uint8_t)0x0AU) /* OTG_FS Alternate Function mapping */ - -/** - * @brief AF 12 selection - */ -#define GPIO_AF12_SDIO ((uint8_t)0x0CU) /* SDIO Alternate Function mapping */ - -/** - * @brief AF 15 selection - */ -#define GPIO_AF15_EVENTOUT ((uint8_t)0x0FU) /* EVENTOUT Alternate Function mapping */ -#endif /* STM32F401xC || STM32F401xE */ -/*----------------------------------------------------------------------------*/ - -/*--------------- STM32F412Zx/STM32F412Vx/STM32F412Rx/STM32F412Cx-------------*/ -#if defined(STM32F412Zx) || defined(STM32F412Vx) || defined(STM32F412Rx) || defined(STM32F412Cx) -/** - * @brief AF 0 selection - */ -#define GPIO_AF0_RTC_50Hz ((uint8_t)0x00U) /* RTC_50Hz Alternate Function mapping */ -#define GPIO_AF0_MCO ((uint8_t)0x00U) /* MCO (MCO1 and MCO2) Alternate Function mapping */ -#define GPIO_AF0_TAMPER ((uint8_t)0x00U) /* TAMPER (TAMPER_1 and TAMPER_2) Alternate Function mapping */ -#define GPIO_AF0_SWJ ((uint8_t)0x00U) /* SWJ (SWD and JTAG) Alternate Function mapping */ -#define GPIO_AF0_TRACE ((uint8_t)0x00U) /* TRACE Alternate Function mapping */ - -/** - * @brief AF 1 selection - */ -#define GPIO_AF1_TIM1 ((uint8_t)0x01U) /* TIM1 Alternate Function mapping */ -#define GPIO_AF1_TIM2 ((uint8_t)0x01U) /* TIM2 Alternate Function mapping */ - -/** - * @brief AF 2 selection - */ -#define GPIO_AF2_TIM3 ((uint8_t)0x02U) /* TIM3 Alternate Function mapping */ -#define GPIO_AF2_TIM4 ((uint8_t)0x02U) /* TIM4 Alternate Function mapping */ -#define GPIO_AF2_TIM5 ((uint8_t)0x02U) /* TIM5 Alternate Function mapping */ - -/** - * @brief AF 3 selection - */ -#define GPIO_AF3_TIM8 ((uint8_t)0x03U) /* TIM8 Alternate Function mapping */ -#define GPIO_AF3_TIM9 ((uint8_t)0x03U) /* TIM9 Alternate Function mapping */ -#define GPIO_AF3_TIM10 ((uint8_t)0x03U) /* TIM10 Alternate Function mapping */ -#define GPIO_AF3_TIM11 ((uint8_t)0x03U) /* TIM11 Alternate Function mapping */ - -/** - * @brief AF 4 selection - */ -#define GPIO_AF4_I2C1 ((uint8_t)0x04U) /* I2C1 Alternate Function mapping */ -#define GPIO_AF4_I2C2 ((uint8_t)0x04U) /* I2C2 Alternate Function mapping */ -#define GPIO_AF4_I2C3 ((uint8_t)0x04U) /* I2C3 Alternate Function mapping */ -#define GPIO_AF4_FMPI2C1 ((uint8_t)0x04U) /* FMPI2C1 Alternate Function mapping */ - -/** - * @brief AF 5 selection - */ -#define GPIO_AF5_SPI1 ((uint8_t)0x05U) /* SPI1/I2S1 Alternate Function mapping */ -#define GPIO_AF5_SPI2 ((uint8_t)0x05U) /* SPI2/I2S2 Alternate Function mapping */ -#define GPIO_AF5_SPI3 ((uint8_t)0x05U) /* SPI3/I2S3 Alternate Function mapping */ -#define GPIO_AF5_SPI4 ((uint8_t)0x05U) /* SPI4/I2S4 Alternate Function mapping */ -#define GPIO_AF5_I2S3ext ((uint8_t)0x05U) /* I2S3ext_SD Alternate Function mapping */ - -/** - * @brief AF 6 selection - */ -#define GPIO_AF6_SPI2 ((uint8_t)0x06U) /* I2S2 Alternate Function mapping */ -#define GPIO_AF6_SPI3 ((uint8_t)0x06U) /* SPI3/I2S3 Alternate Function mapping */ -#define GPIO_AF6_SPI4 ((uint8_t)0x06U) /* SPI4/I2S4 Alternate Function mapping */ -#define GPIO_AF6_SPI5 ((uint8_t)0x06U) /* SPI5/I2S5 Alternate Function mapping */ -#define GPIO_AF6_I2S2ext ((uint8_t)0x06U) /* I2S2ext_SD Alternate Function mapping */ -#define GPIO_AF6_DFSDM1 ((uint8_t)0x06U) /* DFSDM1 Alternate Function mapping */ -/** - * @brief AF 7 selection - */ -#define GPIO_AF7_SPI3 ((uint8_t)0x07U) /* SPI3/I2S3 Alternate Function mapping */ -#define GPIO_AF7_USART1 ((uint8_t)0x07U) /* USART1 Alternate Function mapping */ -#define GPIO_AF7_USART2 ((uint8_t)0x07U) /* USART2 Alternate Function mapping */ -#define GPIO_AF7_USART3 ((uint8_t)0x07U) /* USART3 Alternate Function mapping */ -#define GPIO_AF7_I2S3ext ((uint8_t)0x07U) /* I2S3ext_SD Alternate Function mapping */ - -/** - * @brief AF 8 selection - */ -#define GPIO_AF8_USART6 ((uint8_t)0x08U) /* USART6 Alternate Function mapping */ -#define GPIO_AF8_USART3 ((uint8_t)0x08U) /* USART3 Alternate Function mapping */ -#define GPIO_AF8_DFSDM1 ((uint8_t)0x08U) /* DFSDM1 Alternate Function mapping */ -#define GPIO_AF8_CAN1 ((uint8_t)0x08U) /* CAN1 Alternate Function mapping */ - -/** - * @brief AF 9 selection - */ -#define GPIO_AF9_TIM13 ((uint8_t)0x09U) /* TIM13 Alternate Function mapping */ -#define GPIO_AF9_TIM14 ((uint8_t)0x09U) /* TIM14 Alternate Function mapping */ -#define GPIO_AF9_I2C2 ((uint8_t)0x09U) /* I2C2 Alternate Function mapping */ -#define GPIO_AF9_I2C3 ((uint8_t)0x09U) /* I2C3 Alternate Function mapping */ -#define GPIO_AF9_FMPI2C1 ((uint8_t)0x09U) /* FMPI2C1 Alternate Function mapping */ -#define GPIO_AF9_CAN1 ((uint8_t)0x09U) /* CAN1 Alternate Function mapping */ -#define GPIO_AF9_CAN2 ((uint8_t)0x09U) /* CAN1 Alternate Function mapping */ -#define GPIO_AF9_QSPI ((uint8_t)0x09U) /* QSPI Alternate Function mapping */ - -/** - * @brief AF 10 selection - */ -#define GPIO_AF10_OTG_FS ((uint8_t)0x0AU) /* OTG_FS Alternate Function mapping */ -#define GPIO_AF10_DFSDM1 ((uint8_t)0x0AU) /* DFSDM1 Alternate Function mapping */ -#define GPIO_AF10_QSPI ((uint8_t)0x0AU) /* QSPI Alternate Function mapping */ -#define GPIO_AF10_FMC ((uint8_t)0x0AU) /* FMC Alternate Function mapping */ - -/** - * @brief AF 12 selection - */ -#define GPIO_AF12_SDIO ((uint8_t)0x0CU) /* SDIO Alternate Function mapping */ -#define GPIO_AF12_FSMC ((uint8_t)0x0CU) /* FMC Alternate Function mapping */ - -/** - * @brief AF 15 selection - */ -#define GPIO_AF15_EVENTOUT ((uint8_t)0x0FU) /* EVENTOUT Alternate Function mapping */ -#endif /* STM32F412Zx || STM32F412Vx || STM32F412Rx || STM32F412Cx */ - -/*----------------------------------------------------------------------------*/ - -/*--------------- STM32F413xx/STM32F423xx-------------------------------------*/ -#if defined(STM32F413xx) || defined(STM32F423xx) -/** - * @brief AF 0 selection - */ -#define GPIO_AF0_RTC_50Hz ((uint8_t)0x00U) /* RTC_50Hz Alternate Function mapping */ -#define GPIO_AF0_MCO ((uint8_t)0x00U) /* MCO (MCO1 and MCO2) Alternate Function mapping */ -#define GPIO_AF0_SWJ ((uint8_t)0x00U) /* SWJ (SWD and JTAG) Alternate Function mapping */ -#define GPIO_AF0_TRACE ((uint8_t)0x00U) /* TRACE Alternate Function mapping */ - -/** - * @brief AF 1 selection - */ -#define GPIO_AF1_TIM1 ((uint8_t)0x01U) /* TIM1 Alternate Function mapping */ -#define GPIO_AF1_TIM2 ((uint8_t)0x01U) /* TIM2 Alternate Function mapping */ -#define GPIO_AF1_LPTIM1 ((uint8_t)0x01U) /* LPTIM1 Alternate Function mapping */ - -/** - * @brief AF 2 selection - */ -#define GPIO_AF2_TIM3 ((uint8_t)0x02U) /* TIM3 Alternate Function mapping */ -#define GPIO_AF2_TIM4 ((uint8_t)0x02U) /* TIM4 Alternate Function mapping */ -#define GPIO_AF2_TIM5 ((uint8_t)0x02U) /* TIM5 Alternate Function mapping */ - -/** - * @brief AF 3 selection - */ -#define GPIO_AF3_TIM8 ((uint8_t)0x03U) /* TIM8 Alternate Function mapping */ -#define GPIO_AF3_TIM9 ((uint8_t)0x03U) /* TIM9 Alternate Function mapping */ -#define GPIO_AF3_TIM10 ((uint8_t)0x03U) /* TIM10 Alternate Function mapping */ -#define GPIO_AF3_TIM11 ((uint8_t)0x03U) /* TIM11 Alternate Function mapping */ -#define GPIO_AF3_DFSDM2 ((uint8_t)0x03U) /* DFSDM2 Alternate Function mapping */ - -/** - * @brief AF 4 selection - */ -#define GPIO_AF4_I2C1 ((uint8_t)0x04U) /* I2C1 Alternate Function mapping */ -#define GPIO_AF4_I2C2 ((uint8_t)0x04U) /* I2C2 Alternate Function mapping */ -#define GPIO_AF4_I2C3 ((uint8_t)0x04U) /* I2C3 Alternate Function mapping */ -#define GPIO_AF4_FMPI2C1 ((uint8_t)0x04U) /* FMPI2C1 Alternate Function mapping */ - -/** - * @brief AF 5 selection - */ -#define GPIO_AF5_SPI1 ((uint8_t)0x05U) /* SPI1/I2S1 Alternate Function mapping */ -#define GPIO_AF5_SPI2 ((uint8_t)0x05U) /* SPI2/I2S2 Alternate Function mapping */ -#define GPIO_AF5_SPI3 ((uint8_t)0x05U) /* SPI3/I2S3 Alternate Function mapping */ -#define GPIO_AF5_SPI4 ((uint8_t)0x05U) /* SPI4/I2S4 Alternate Function mapping */ -#define GPIO_AF5_I2S3ext ((uint8_t)0x05U) /* I2S3ext_SD Alternate Function mapping */ - -/** - * @brief AF 6 selection - */ -#define GPIO_AF6_SPI2 ((uint8_t)0x06U) /* I2S2 Alternate Function mapping */ -#define GPIO_AF6_SPI3 ((uint8_t)0x06U) /* SPI3/I2S3 Alternate Function mapping */ -#define GPIO_AF6_SPI4 ((uint8_t)0x06U) /* SPI4/I2S4 Alternate Function mapping */ -#define GPIO_AF6_SPI5 ((uint8_t)0x06U) /* SPI5/I2S5 Alternate Function mapping */ -#define GPIO_AF6_I2S2ext ((uint8_t)0x06U) /* I2S2ext_SD Alternate Function mapping */ -#define GPIO_AF6_DFSDM1 ((uint8_t)0x06U) /* DFSDM1 Alternate Function mapping */ -#define GPIO_AF6_DFSDM2 ((uint8_t)0x06U) /* DFSDM2 Alternate Function mapping */ -/** - * @brief AF 7 selection - */ -#define GPIO_AF7_SPI3 ((uint8_t)0x07U) /* SPI3/I2S3 Alternate Function mapping */ -#define GPIO_AF7_SAI1 ((uint8_t)0x07U) /* SAI1 Alternate Function mapping */ -#define GPIO_AF7_USART1 ((uint8_t)0x07U) /* USART1 Alternate Function mapping */ -#define GPIO_AF7_USART2 ((uint8_t)0x07U) /* USART2 Alternate Function mapping */ -#define GPIO_AF7_USART3 ((uint8_t)0x07U) /* USART3 Alternate Function mapping */ -#define GPIO_AF7_I2S3ext ((uint8_t)0x07U) /* I2S3ext_SD Alternate Function mapping */ -#define GPIO_AF7_DFSDM2 ((uint8_t)0x07U) /* DFSDM2 Alternate Function mapping */ - -/** - * @brief AF 8 selection - */ -#define GPIO_AF8_USART6 ((uint8_t)0x08U) /* USART6 Alternate Function mapping */ -#define GPIO_AF8_USART3 ((uint8_t)0x08U) /* USART3 Alternate Function mapping */ -#define GPIO_AF8_UART4 ((uint8_t)0x08U) /* UART4 Alternate Function mapping */ -#define GPIO_AF8_UART5 ((uint8_t)0x08U) /* UART5 Alternate Function mapping */ -#define GPIO_AF8_UART7 ((uint8_t)0x08U) /* UART8 Alternate Function mapping */ -#define GPIO_AF8_UART8 ((uint8_t)0x08U) /* UART8 Alternate Function mapping */ -#define GPIO_AF8_DFSDM1 ((uint8_t)0x08U) /* DFSDM1 Alternate Function mapping */ -#define GPIO_AF8_CAN1 ((uint8_t)0x08U) /* CAN1 Alternate Function mapping */ - -/** - * @brief AF 9 selection - */ -#define GPIO_AF9_TIM12 ((uint8_t)0x09U) /* TIM12 Alternate Function mapping */ -#define GPIO_AF9_TIM13 ((uint8_t)0x09U) /* TIM13 Alternate Function mapping */ -#define GPIO_AF9_TIM14 ((uint8_t)0x09U) /* TIM14 Alternate Function mapping */ -#define GPIO_AF9_I2C2 ((uint8_t)0x09U) /* I2C2 Alternate Function mapping */ -#define GPIO_AF9_I2C3 ((uint8_t)0x09U) /* I2C3 Alternate Function mapping */ -#define GPIO_AF9_FMPI2C1 ((uint8_t)0x09U) /* FMPI2C1 Alternate Function mapping */ -#define GPIO_AF9_CAN1 ((uint8_t)0x09U) /* CAN1 Alternate Function mapping */ -#define GPIO_AF9_CAN2 ((uint8_t)0x09U) /* CAN1 Alternate Function mapping */ -#define GPIO_AF9_QSPI ((uint8_t)0x09U) /* QSPI Alternate Function mapping */ - -/** - * @brief AF 10 selection - */ -#define GPIO_AF10_SAI1 ((uint8_t)0x0AU) /* SAI1 Alternate Function mapping */ -#define GPIO_AF10_OTG_FS ((uint8_t)0x0AU) /* OTG_FS Alternate Function mapping */ -#define GPIO_AF10_DFSDM1 ((uint8_t)0x0AU) /* DFSDM1 Alternate Function mapping */ -#define GPIO_AF10_DFSDM2 ((uint8_t)0x0AU) /* DFSDM2 Alternate Function mapping */ -#define GPIO_AF10_QSPI ((uint8_t)0x0AU) /* QSPI Alternate Function mapping */ -#define GPIO_AF10_FSMC ((uint8_t)0x0AU) /* FSMC Alternate Function mapping */ - -/** - * @brief AF 11 selection - */ -#define GPIO_AF11_UART4 ((uint8_t)0x0BU) /* UART4 Alternate Function mapping */ -#define GPIO_AF11_UART5 ((uint8_t)0x0BU) /* UART5 Alternate Function mapping */ -#define GPIO_AF11_UART9 ((uint8_t)0x0BU) /* UART9 Alternate Function mapping */ -#define GPIO_AF11_UART10 ((uint8_t)0x0BU) /* UART10 Alternate Function mapping */ -#define GPIO_AF11_CAN3 ((uint8_t)0x0BU) /* CAN3 Alternate Function mapping */ - -/** - * @brief AF 12 selection - */ -#define GPIO_AF12_SDIO ((uint8_t)0x0CU) /* SDIO Alternate Function mapping */ -#define GPIO_AF12_FSMC ((uint8_t)0x0CU) /* FMC Alternate Function mapping */ - -/** - * @brief AF 14 selection - */ -#define GPIO_AF14_RNG ((uint8_t)0x0EU) /* RNG Alternate Function mapping */ - -/** - * @brief AF 15 selection - */ -#define GPIO_AF15_EVENTOUT ((uint8_t)0x0FU) /* EVENTOUT Alternate Function mapping */ -#endif /* STM32F413xx || STM32F423xx */ - -/*---------------------------------------- STM32F411xx------------------------*/ -#if defined(STM32F411xE) -/** - * @brief AF 0 selection - */ -#define GPIO_AF0_RTC_50Hz ((uint8_t)0x00U) /* RTC_50Hz Alternate Function mapping */ -#define GPIO_AF0_MCO ((uint8_t)0x00U) /* MCO (MCO1 and MCO2) Alternate Function mapping */ -#define GPIO_AF0_TAMPER ((uint8_t)0x00U) /* TAMPER (TAMPER_1 and TAMPER_2) Alternate Function mapping */ -#define GPIO_AF0_SWJ ((uint8_t)0x00U) /* SWJ (SWD and JTAG) Alternate Function mapping */ -#define GPIO_AF0_TRACE ((uint8_t)0x00U) /* TRACE Alternate Function mapping */ - -/** - * @brief AF 1 selection - */ -#define GPIO_AF1_TIM1 ((uint8_t)0x01U) /* TIM1 Alternate Function mapping */ -#define GPIO_AF1_TIM2 ((uint8_t)0x01U) /* TIM2 Alternate Function mapping */ - -/** - * @brief AF 2 selection - */ -#define GPIO_AF2_TIM3 ((uint8_t)0x02U) /* TIM3 Alternate Function mapping */ -#define GPIO_AF2_TIM4 ((uint8_t)0x02U) /* TIM4 Alternate Function mapping */ -#define GPIO_AF2_TIM5 ((uint8_t)0x02U) /* TIM5 Alternate Function mapping */ - -/** - * @brief AF 3 selection - */ -#define GPIO_AF3_TIM9 ((uint8_t)0x03U) /* TIM9 Alternate Function mapping */ -#define GPIO_AF3_TIM10 ((uint8_t)0x03U) /* TIM10 Alternate Function mapping */ -#define GPIO_AF3_TIM11 ((uint8_t)0x03U) /* TIM11 Alternate Function mapping */ - -/** - * @brief AF 4 selection - */ -#define GPIO_AF4_I2C1 ((uint8_t)0x04U) /* I2C1 Alternate Function mapping */ -#define GPIO_AF4_I2C2 ((uint8_t)0x04U) /* I2C2 Alternate Function mapping */ -#define GPIO_AF4_I2C3 ((uint8_t)0x04U) /* I2C3 Alternate Function mapping */ - -/** - * @brief AF 5 selection - */ -#define GPIO_AF5_SPI1 ((uint8_t)0x05U) /* SPI1/I2S1 Alternate Function mapping */ -#define GPIO_AF5_SPI2 ((uint8_t)0x05U) /* SPI2/I2S2 Alternate Function mapping */ -#define GPIO_AF5_SPI3 ((uint8_t)0x05U) /* SPI3/I2S3 Alternate Function mapping */ -#define GPIO_AF5_SPI4 ((uint8_t)0x05U) /* SPI4 Alternate Function mapping */ -#define GPIO_AF5_I2S3ext ((uint8_t)0x05U) /* I2S3ext_SD Alternate Function mapping */ - -/** - * @brief AF 6 selection - */ -#define GPIO_AF6_SPI2 ((uint8_t)0x06U) /* I2S2 Alternate Function mapping */ -#define GPIO_AF6_SPI3 ((uint8_t)0x06U) /* SPI3/I2S3 Alternate Function mapping */ -#define GPIO_AF6_SPI4 ((uint8_t)0x06U) /* SPI4/I2S4 Alternate Function mapping */ -#define GPIO_AF6_SPI5 ((uint8_t)0x06U) /* SPI5/I2S5 Alternate Function mapping */ -#define GPIO_AF6_I2S2ext ((uint8_t)0x06U) /* I2S2ext_SD Alternate Function mapping */ - -/** - * @brief AF 7 selection - */ -#define GPIO_AF7_SPI3 ((uint8_t)0x07U) /* SPI3/I2S3 Alternate Function mapping */ -#define GPIO_AF7_USART1 ((uint8_t)0x07U) /* USART1 Alternate Function mapping */ -#define GPIO_AF7_USART2 ((uint8_t)0x07U) /* USART2 Alternate Function mapping */ -#define GPIO_AF7_I2S3ext ((uint8_t)0x07U) /* I2S3ext_SD Alternate Function mapping */ - -/** - * @brief AF 8 selection - */ -#define GPIO_AF8_USART6 ((uint8_t)0x08U) /* USART6 Alternate Function mapping */ - -/** - * @brief AF 9 selection - */ -#define GPIO_AF9_TIM14 ((uint8_t)0x09U) /* TIM14 Alternate Function mapping */ -#define GPIO_AF9_I2C2 ((uint8_t)0x09U) /* I2C2 Alternate Function mapping */ -#define GPIO_AF9_I2C3 ((uint8_t)0x09U) /* I2C3 Alternate Function mapping */ - -/** - * @brief AF 10 selection - */ -#define GPIO_AF10_OTG_FS ((uint8_t)0x0AU) /* OTG_FS Alternate Function mapping */ - -/** - * @brief AF 12 selection - */ -#define GPIO_AF12_SDIO ((uint8_t)0x0CU) /* SDIO Alternate Function mapping */ - -/** - * @brief AF 15 selection - */ -#define GPIO_AF15_EVENTOUT ((uint8_t)0x0FU) /* EVENTOUT Alternate Function mapping */ -#endif /* STM32F411xE */ - -/*---------------------------------------- STM32F410xx------------------------*/ -#if defined(STM32F410Tx) || defined(STM32F410Cx) || defined(STM32F410Rx) -/** - * @brief AF 0 selection - */ -#define GPIO_AF0_RTC_50Hz ((uint8_t)0x00U) /* RTC_50Hz Alternate Function mapping */ -#define GPIO_AF0_MCO ((uint8_t)0x00U) /* MCO (MCO1 and MCO2) Alternate Function mapping */ -#define GPIO_AF0_TAMPER ((uint8_t)0x00U) /* TAMPER (TAMPER_1 and TAMPER_2) Alternate Function mapping */ -#define GPIO_AF0_SWJ ((uint8_t)0x00U) /* SWJ (SWD and JTAG) Alternate Function mapping */ -#define GPIO_AF0_TRACE ((uint8_t)0x00U) /* TRACE Alternate Function mapping */ - -/** - * @brief AF 1 selection - */ -#define GPIO_AF1_TIM1 ((uint8_t)0x01U) /* TIM1 Alternate Function mapping */ -#define GPIO_AF1_LPTIM1 ((uint8_t)0x01U) /* LPTIM1 Alternate Function mapping */ - -/** - * @brief AF 2 selection - */ -#define GPIO_AF2_TIM5 ((uint8_t)0x02U) /* TIM5 Alternate Function mapping */ - -/** - * @brief AF 3 selection - */ -#define GPIO_AF3_TIM9 ((uint8_t)0x03U) /* TIM9 Alternate Function mapping */ -#define GPIO_AF3_TIM11 ((uint8_t)0x03U) /* TIM11 Alternate Function mapping */ - -/** - * @brief AF 4 selection - */ -#define GPIO_AF4_I2C1 ((uint8_t)0x04U) /* I2C1 Alternate Function mapping */ -#define GPIO_AF4_I2C2 ((uint8_t)0x04U) /* I2C2 Alternate Function mapping */ -#define GPIO_AF4_FMPI2C1 ((uint8_t)0x04U) /* FMPI2C1 Alternate Function mapping */ - -/** - * @brief AF 5 selection - */ -#define GPIO_AF5_SPI1 ((uint8_t)0x05U) /* SPI1/I2S1 Alternate Function mapping */ -#if defined(STM32F410Cx) || defined(STM32F410Rx) -#define GPIO_AF5_SPI2 ((uint8_t)0x05U) /* SPI2/I2S2 Alternate Function mapping */ -#endif /* STM32F410Cx || STM32F410Rx */ - -/** - * @brief AF 6 selection - */ -#define GPIO_AF6_SPI1 ((uint8_t)0x06U) /* SPI1 Alternate Function mapping */ -#if defined(STM32F410Cx) || defined(STM32F410Rx) -#define GPIO_AF6_SPI2 ((uint8_t)0x06U) /* I2S2 Alternate Function mapping */ -#endif /* STM32F410Cx || STM32F410Rx */ -#define GPIO_AF6_SPI5 ((uint8_t)0x06U) /* SPI5/I2S5 Alternate Function mapping */ -/** - * @brief AF 7 selection - */ -#define GPIO_AF7_USART1 ((uint8_t)0x07U) /* USART1 Alternate Function mapping */ -#define GPIO_AF7_USART2 ((uint8_t)0x07U) /* USART2 Alternate Function mapping */ - -/** - * @brief AF 8 selection - */ -#define GPIO_AF8_USART6 ((uint8_t)0x08U) /* USART6 Alternate Function mapping */ - -/** - * @brief AF 9 selection - */ -#define GPIO_AF9_I2C2 ((uint8_t)0x09U) /* I2C2 Alternate Function mapping */ -#define GPIO_AF9_FMPI2C1 ((uint8_t)0x09U) /* FMPI2C1 Alternate Function mapping */ - -/** - * @brief AF 15 selection - */ -#define GPIO_AF15_EVENTOUT ((uint8_t)0x0FU) /* EVENTOUT Alternate Function mapping */ -#endif /* STM32F410Tx || STM32F410Cx || STM32F410Rx */ - -/*---------------------------------------- STM32F446xx -----------------------*/ -#if defined(STM32F446xx) -/** - * @brief AF 0 selection - */ -#define GPIO_AF0_RTC_50Hz ((uint8_t)0x00U) /* RTC_50Hz Alternate Function mapping */ -#define GPIO_AF0_MCO ((uint8_t)0x00U) /* MCO (MCO1 and MCO2) Alternate Function mapping */ -#define GPIO_AF0_TAMPER ((uint8_t)0x00U) /* TAMPER (TAMPER_1 and TAMPER_2) Alternate Function mapping */ -#define GPIO_AF0_SWJ ((uint8_t)0x00U) /* SWJ (SWD and JTAG) Alternate Function mapping */ -#define GPIO_AF0_TRACE ((uint8_t)0x00U) /* TRACE Alternate Function mapping */ - -/** - * @brief AF 1 selection - */ -#define GPIO_AF1_TIM1 ((uint8_t)0x01U) /* TIM1 Alternate Function mapping */ -#define GPIO_AF1_TIM2 ((uint8_t)0x01U) /* TIM2 Alternate Function mapping */ - -/** - * @brief AF 2 selection - */ -#define GPIO_AF2_TIM3 ((uint8_t)0x02U) /* TIM3 Alternate Function mapping */ -#define GPIO_AF2_TIM4 ((uint8_t)0x02U) /* TIM4 Alternate Function mapping */ -#define GPIO_AF2_TIM5 ((uint8_t)0x02U) /* TIM5 Alternate Function mapping */ - -/** - * @brief AF 3 selection - */ -#define GPIO_AF3_TIM8 ((uint8_t)0x03U) /* TIM8 Alternate Function mapping */ -#define GPIO_AF3_TIM9 ((uint8_t)0x03U) /* TIM9 Alternate Function mapping */ -#define GPIO_AF3_TIM10 ((uint8_t)0x03U) /* TIM10 Alternate Function mapping */ -#define GPIO_AF3_TIM11 ((uint8_t)0x03U) /* TIM11 Alternate Function mapping */ -#define GPIO_AF3_CEC ((uint8_t)0x03U) /* CEC Alternate Function mapping */ - -/** - * @brief AF 4 selection - */ -#define GPIO_AF4_I2C1 ((uint8_t)0x04U) /* I2C1 Alternate Function mapping */ -#define GPIO_AF4_I2C2 ((uint8_t)0x04U) /* I2C2 Alternate Function mapping */ -#define GPIO_AF4_I2C3 ((uint8_t)0x04U) /* I2C3 Alternate Function mapping */ -#define GPIO_AF4_FMPI2C1 ((uint8_t)0x04U) /* FMPI2C1 Alternate Function mapping */ -#define GPIO_AF4_CEC ((uint8_t)0x04U) /* CEC Alternate Function mapping */ - -/** - * @brief AF 5 selection - */ -#define GPIO_AF5_SPI1 ((uint8_t)0x05U) /* SPI1/I2S1 Alternate Function mapping */ -#define GPIO_AF5_SPI2 ((uint8_t)0x05U) /* SPI2/I2S2 Alternate Function mapping */ -#define GPIO_AF5_SPI3 ((uint8_t)0x05U) /* SPI3/I2S3 Alternate Function mapping */ -#define GPIO_AF5_SPI4 ((uint8_t)0x05U) /* SPI4 Alternate Function mapping */ - -/** - * @brief AF 6 selection - */ -#define GPIO_AF6_SPI2 ((uint8_t)0x06U) /* SPI2/I2S2 Alternate Function mapping */ -#define GPIO_AF6_SPI3 ((uint8_t)0x06U) /* SPI3/I2S3 Alternate Function mapping */ -#define GPIO_AF6_SPI4 ((uint8_t)0x06U) /* SPI4 Alternate Function mapping */ -#define GPIO_AF6_SAI1 ((uint8_t)0x06U) /* SAI1 Alternate Function mapping */ - -/** - * @brief AF 7 selection - */ -#define GPIO_AF7_USART1 ((uint8_t)0x07U) /* USART1 Alternate Function mapping */ -#define GPIO_AF7_USART2 ((uint8_t)0x07U) /* USART2 Alternate Function mapping */ -#define GPIO_AF7_USART3 ((uint8_t)0x07U) /* USART3 Alternate Function mapping */ -#define GPIO_AF7_UART5 ((uint8_t)0x07U) /* UART5 Alternate Function mapping */ -#define GPIO_AF7_SPI2 ((uint8_t)0x07U) /* SPI2/I2S2 Alternate Function mapping */ -#define GPIO_AF7_SPI3 ((uint8_t)0x07U) /* SPI3/I2S3 Alternate Function mapping */ -#define GPIO_AF7_SPDIFRX ((uint8_t)0x07U) /* SPDIFRX Alternate Function mapping */ - -/** - * @brief AF 8 selection - */ -#define GPIO_AF8_UART4 ((uint8_t)0x08U) /* UART4 Alternate Function mapping */ -#define GPIO_AF8_UART5 ((uint8_t)0x08U) /* UART5 Alternate Function mapping */ -#define GPIO_AF8_USART6 ((uint8_t)0x08U) /* USART6 Alternate Function mapping */ -#define GPIO_AF8_SPDIFRX ((uint8_t)0x08U) /* SPDIFRX Alternate Function mapping */ -#define GPIO_AF8_SAI2 ((uint8_t)0x08U) /* SAI2 Alternate Function mapping */ - -/** - * @brief AF 9 selection - */ -#define GPIO_AF9_CAN1 ((uint8_t)0x09U) /* CAN1 Alternate Function mapping */ -#define GPIO_AF9_CAN2 ((uint8_t)0x09U) /* CAN2 Alternate Function mapping */ -#define GPIO_AF9_TIM12 ((uint8_t)0x09U) /* TIM12 Alternate Function mapping */ -#define GPIO_AF9_TIM13 ((uint8_t)0x09U) /* TIM13 Alternate Function mapping */ -#define GPIO_AF9_TIM14 ((uint8_t)0x09U) /* TIM14 Alternate Function mapping */ -#define GPIO_AF9_QSPI ((uint8_t)0x09U) /* QSPI Alternate Function mapping */ - -/** - * @brief AF 10 selection - */ -#define GPIO_AF10_OTG_FS ((uint8_t)0x0AU) /* OTG_FS Alternate Function mapping */ -#define GPIO_AF10_OTG_HS ((uint8_t)0x0AU) /* OTG_HS Alternate Function mapping */ -#define GPIO_AF10_SAI2 ((uint8_t)0x0AU) /* SAI2 Alternate Function mapping */ -#define GPIO_AF10_QSPI ((uint8_t)0x0AU) /* QSPI Alternate Function mapping */ - -/** - * @brief AF 11 selection - */ -#define GPIO_AF11_ETH ((uint8_t)0x0BU) /* ETHERNET Alternate Function mapping */ - -/** - * @brief AF 12 selection - */ -#define GPIO_AF12_FMC ((uint8_t)0x0CU) /* FMC Alternate Function mapping */ -#define GPIO_AF12_OTG_HS_FS ((uint8_t)0x0CU) /* OTG HS configured in FS, Alternate Function mapping */ -#define GPIO_AF12_SDIO ((uint8_t)0x0CU) /* SDIO Alternate Function mapping */ - -/** - * @brief AF 13 selection - */ -#define GPIO_AF13_DCMI ((uint8_t)0x0DU) /* DCMI Alternate Function mapping */ - -/** - * @brief AF 15 selection - */ -#define GPIO_AF15_EVENTOUT ((uint8_t)0x0FU) /* EVENTOUT Alternate Function mapping */ - -#endif /* STM32F446xx */ -/*----------------------------------------------------------------------------*/ - -/*-------------------------------- STM32F469xx/STM32F479xx--------------------*/ -#if defined(STM32F469xx) || defined(STM32F479xx) -/** - * @brief AF 0 selection - */ -#define GPIO_AF0_RTC_50Hz ((uint8_t)0x00U) /* RTC_50Hz Alternate Function mapping */ -#define GPIO_AF0_MCO ((uint8_t)0x00U) /* MCO (MCO1 and MCO2) Alternate Function mapping */ -#define GPIO_AF0_TAMPER ((uint8_t)0x00U) /* TAMPER (TAMPER_1 and TAMPER_2) Alternate Function mapping */ -#define GPIO_AF0_SWJ ((uint8_t)0x00U) /* SWJ (SWD and JTAG) Alternate Function mapping */ -#define GPIO_AF0_TRACE ((uint8_t)0x00U) /* TRACE Alternate Function mapping */ - -/** - * @brief AF 1 selection - */ -#define GPIO_AF1_TIM1 ((uint8_t)0x01U) /* TIM1 Alternate Function mapping */ -#define GPIO_AF1_TIM2 ((uint8_t)0x01U) /* TIM2 Alternate Function mapping */ - -/** - * @brief AF 2 selection - */ -#define GPIO_AF2_TIM3 ((uint8_t)0x02U) /* TIM3 Alternate Function mapping */ -#define GPIO_AF2_TIM4 ((uint8_t)0x02U) /* TIM4 Alternate Function mapping */ -#define GPIO_AF2_TIM5 ((uint8_t)0x02U) /* TIM5 Alternate Function mapping */ - -/** - * @brief AF 3 selection - */ -#define GPIO_AF3_TIM8 ((uint8_t)0x03U) /* TIM8 Alternate Function mapping */ -#define GPIO_AF3_TIM9 ((uint8_t)0x03U) /* TIM9 Alternate Function mapping */ -#define GPIO_AF3_TIM10 ((uint8_t)0x03U) /* TIM10 Alternate Function mapping */ -#define GPIO_AF3_TIM11 ((uint8_t)0x03U) /* TIM11 Alternate Function mapping */ - -/** - * @brief AF 4 selection - */ -#define GPIO_AF4_I2C1 ((uint8_t)0x04U) /* I2C1 Alternate Function mapping */ -#define GPIO_AF4_I2C2 ((uint8_t)0x04U) /* I2C2 Alternate Function mapping */ -#define GPIO_AF4_I2C3 ((uint8_t)0x04U) /* I2C3 Alternate Function mapping */ - -/** - * @brief AF 5 selection - */ -#define GPIO_AF5_SPI1 ((uint8_t)0x05U) /* SPI1 Alternate Function mapping */ -#define GPIO_AF5_SPI2 ((uint8_t)0x05U) /* SPI2/I2S2 Alternate Function mapping */ -#define GPIO_AF5_SPI3 ((uint8_t)0x05U) /* SPI3/I2S3 Alternate Function mapping */ -#define GPIO_AF5_SPI4 ((uint8_t)0x05U) /* SPI4 Alternate Function mapping */ -#define GPIO_AF5_SPI5 ((uint8_t)0x05U) /* SPI5 Alternate Function mapping */ -#define GPIO_AF5_SPI6 ((uint8_t)0x05U) /* SPI6 Alternate Function mapping */ -#define GPIO_AF5_I2S3ext ((uint8_t)0x05U) /* I2S3ext_SD Alternate Function mapping */ - -/** - * @brief AF 6 selection - */ -#define GPIO_AF6_SPI3 ((uint8_t)0x06U) /* SPI3/I2S3 Alternate Function mapping */ -#define GPIO_AF6_I2S2ext ((uint8_t)0x06U) /* I2S2ext_SD Alternate Function mapping */ -#define GPIO_AF6_SAI1 ((uint8_t)0x06U) /* SAI1 Alternate Function mapping */ - -/** - * @brief AF 7 selection - */ -#define GPIO_AF7_USART1 ((uint8_t)0x07U) /* USART1 Alternate Function mapping */ -#define GPIO_AF7_USART2 ((uint8_t)0x07U) /* USART2 Alternate Function mapping */ -#define GPIO_AF7_USART3 ((uint8_t)0x07U) /* USART3 Alternate Function mapping */ -#define GPIO_AF7_I2S3ext ((uint8_t)0x07U) /* I2S3ext_SD Alternate Function mapping */ - -/** - * @brief AF 8 selection - */ -#define GPIO_AF8_UART4 ((uint8_t)0x08U) /* UART4 Alternate Function mapping */ -#define GPIO_AF8_UART5 ((uint8_t)0x08U) /* UART5 Alternate Function mapping */ -#define GPIO_AF8_USART6 ((uint8_t)0x08U) /* USART6 Alternate Function mapping */ -#define GPIO_AF8_UART7 ((uint8_t)0x08U) /* UART7 Alternate Function mapping */ -#define GPIO_AF8_UART8 ((uint8_t)0x08U) /* UART8 Alternate Function mapping */ - -/** - * @brief AF 9 selection - */ -#define GPIO_AF9_CAN1 ((uint8_t)0x09U) /* CAN1 Alternate Function mapping */ -#define GPIO_AF9_CAN2 ((uint8_t)0x09U) /* CAN2 Alternate Function mapping */ -#define GPIO_AF9_TIM12 ((uint8_t)0x09U) /* TIM12 Alternate Function mapping */ -#define GPIO_AF9_TIM13 ((uint8_t)0x09U) /* TIM13 Alternate Function mapping */ -#define GPIO_AF9_TIM14 ((uint8_t)0x09U) /* TIM14 Alternate Function mapping */ -#define GPIO_AF9_LTDC ((uint8_t)0x09U) /* LCD-TFT Alternate Function mapping */ -#define GPIO_AF9_QSPI ((uint8_t)0x09U) /* QSPI Alternate Function mapping */ - -/** - * @brief AF 10 selection - */ -#define GPIO_AF10_OTG_FS ((uint8_t)0x0AU) /* OTG_FS Alternate Function mapping */ -#define GPIO_AF10_OTG_HS ((uint8_t)0x0AU) /* OTG_HS Alternate Function mapping */ -#define GPIO_AF10_QSPI ((uint8_t)0x0AU) /* QSPI Alternate Function mapping */ - -/** - * @brief AF 11 selection - */ -#define GPIO_AF11_ETH ((uint8_t)0x0BU) /* ETHERNET Alternate Function mapping */ - -/** - * @brief AF 12 selection - */ -#define GPIO_AF12_FMC ((uint8_t)0x0CU) /* FMC Alternate Function mapping */ -#define GPIO_AF12_OTG_HS_FS ((uint8_t)0x0CU) /* OTG HS configured in FS, Alternate Function mapping */ -#define GPIO_AF12_SDIO ((uint8_t)0x0CU) /* SDIO Alternate Function mapping */ - -/** - * @brief AF 13 selection - */ -#define GPIO_AF13_DCMI ((uint8_t)0x0DU) /* DCMI Alternate Function mapping */ -#define GPIO_AF13_DSI ((uint8_t)0x0DU) /* DSI Alternate Function mapping */ - -/** - * @brief AF 14 selection - */ -#define GPIO_AF14_LTDC ((uint8_t)0x0EU) /* LCD-TFT Alternate Function mapping */ - -/** - * @brief AF 15 selection - */ -#define GPIO_AF15_EVENTOUT ((uint8_t)0x0FU) /* EVENTOUT Alternate Function mapping */ - -#endif /* STM32F469xx || STM32F479xx */ -/*----------------------------------------------------------------------------*/ -/** - * @} - */ - -/** - * @} - */ - -/* Exported macro ------------------------------------------------------------*/ -/** @defgroup GPIOEx_Exported_Macros GPIO Exported Macros - * @{ - */ -/** - * @} - */ - -/* Exported functions --------------------------------------------------------*/ -/** @defgroup GPIOEx_Exported_Functions GPIO Exported Functions - * @{ - */ -/** - * @} - */ - -/* Private types -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private constants ---------------------------------------------------------*/ -/** @defgroup GPIOEx_Private_Constants GPIO Private Constants - * @{ - */ -/** - * @} - */ - -/* Private macros ------------------------------------------------------------*/ -/** @defgroup GPIOEx_Private_Macros GPIO Private Macros - * @{ - */ -/** @defgroup GPIOEx_Get_Port_Index GPIO Get Port Index - * @{ - */ -#if defined(STM32F405xx) || defined(STM32F415xx) || defined(STM32F407xx) || defined(STM32F417xx) -#define GPIO_GET_INDEX(__GPIOx__) (uint8_t)(((__GPIOx__) == (GPIOA))? 0U :\ - ((__GPIOx__) == (GPIOB))? 1U :\ - ((__GPIOx__) == (GPIOC))? 2U :\ - ((__GPIOx__) == (GPIOD))? 3U :\ - ((__GPIOx__) == (GPIOE))? 4U :\ - ((__GPIOx__) == (GPIOF))? 5U :\ - ((__GPIOx__) == (GPIOG))? 6U :\ - ((__GPIOx__) == (GPIOH))? 7U : 8U) -#endif /* STM32F405xx || STM32F415xx || STM32F407xx || STM32F417xx */ - -#if defined(STM32F427xx) || defined(STM32F437xx) || defined(STM32F429xx) || defined(STM32F439xx) ||\ - defined(STM32F469xx) || defined(STM32F479xx) -#define GPIO_GET_INDEX(__GPIOx__) (uint8_t)(((__GPIOx__) == (GPIOA))? 0U :\ - ((__GPIOx__) == (GPIOB))? 1U :\ - ((__GPIOx__) == (GPIOC))? 2U :\ - ((__GPIOx__) == (GPIOD))? 3U :\ - ((__GPIOx__) == (GPIOE))? 4U :\ - ((__GPIOx__) == (GPIOF))? 5U :\ - ((__GPIOx__) == (GPIOG))? 6U :\ - ((__GPIOx__) == (GPIOH))? 7U :\ - ((__GPIOx__) == (GPIOI))? 8U :\ - ((__GPIOx__) == (GPIOJ))? 9U : 10U) -#endif /* STM32F427xx || STM32F437xx || STM32F429xx || STM32F439xx || STM32F469xx || STM32F479xx */ - -#if defined(STM32F410Tx) || defined(STM32F410Cx) || defined(STM32F410Rx) -#define GPIO_GET_INDEX(__GPIOx__) (uint8_t)(((__GPIOx__) == (GPIOA))? 0U :\ - ((__GPIOx__) == (GPIOB))? 1U :\ - ((__GPIOx__) == (GPIOC))? 2U : 7U) -#endif /* STM32F410Tx || STM32F410Cx || STM32F410Rx */ - -#if defined(STM32F401xC) || defined(STM32F401xE) || defined(STM32F411xE) -#define GPIO_GET_INDEX(__GPIOx__) (uint8_t)(((__GPIOx__) == (GPIOA))? 0U :\ - ((__GPIOx__) == (GPIOB))? 1U :\ - ((__GPIOx__) == (GPIOC))? 2U :\ - ((__GPIOx__) == (GPIOD))? 3U :\ - ((__GPIOx__) == (GPIOE))? 4U : 7U) -#endif /* STM32F401xC || STM32F401xE || STM32F411xE */ - -#if defined(STM32F446xx) || defined(STM32F412Zx) ||defined(STM32F412Vx) || defined(STM32F412Rx) || defined(STM32F412Cx) || defined(STM32F413xx) || defined(STM32F423xx) -#define GPIO_GET_INDEX(__GPIOx__) (uint8_t)(((__GPIOx__) == (GPIOA))? 0U :\ - ((__GPIOx__) == (GPIOB))? 1U :\ - ((__GPIOx__) == (GPIOC))? 2U :\ - ((__GPIOx__) == (GPIOD))? 3U :\ - ((__GPIOx__) == (GPIOE))? 4U :\ - ((__GPIOx__) == (GPIOF))? 5U :\ - ((__GPIOx__) == (GPIOG))? 6U : 7U) -#endif /* STM32F446xx || STM32F412Zx || STM32F412Vx || STM32F412Rx || STM32F412Cx || STM32F413xx || STM32F423xx */ - -/** - * @} - */ - -/** @defgroup GPIOEx_IS_Alternat_function_selection GPIO Check Alternate Function - * @{ - */ -/*------------------------- STM32F429xx/STM32F439xx---------------------------*/ -#if defined(STM32F429xx) || defined(STM32F439xx) -#define IS_GPIO_AF(AF) (((AF) == GPIO_AF0_RTC_50Hz) || ((AF) == GPIO_AF9_TIM14) || \ - ((AF) == GPIO_AF0_MCO) || ((AF) == GPIO_AF0_TAMPER) || \ - ((AF) == GPIO_AF0_SWJ) || ((AF) == GPIO_AF0_TRACE) || \ - ((AF) == GPIO_AF1_TIM1) || ((AF) == GPIO_AF1_TIM2) || \ - ((AF) == GPIO_AF2_TIM3) || ((AF) == GPIO_AF2_TIM4) || \ - ((AF) == GPIO_AF2_TIM5) || ((AF) == GPIO_AF3_TIM8) || \ - ((AF) == GPIO_AF4_I2C1) || ((AF) == GPIO_AF4_I2C2) || \ - ((AF) == GPIO_AF4_I2C3) || ((AF) == GPIO_AF5_SPI1) || \ - ((AF) == GPIO_AF5_SPI2) || ((AF) == GPIO_AF9_TIM13) || \ - ((AF) == GPIO_AF6_SPI3) || ((AF) == GPIO_AF9_TIM12) || \ - ((AF) == GPIO_AF7_USART1) || ((AF) == GPIO_AF7_USART2) || \ - ((AF) == GPIO_AF7_USART3) || ((AF) == GPIO_AF8_UART4) || \ - ((AF) == GPIO_AF8_UART5) || ((AF) == GPIO_AF8_USART6) || \ - ((AF) == GPIO_AF9_CAN1) || ((AF) == GPIO_AF9_CAN2) || \ - ((AF) == GPIO_AF10_OTG_FS) || ((AF) == GPIO_AF10_OTG_HS) || \ - ((AF) == GPIO_AF11_ETH) || ((AF) == GPIO_AF12_OTG_HS_FS) || \ - ((AF) == GPIO_AF12_SDIO) || ((AF) == GPIO_AF13_DCMI) || \ - ((AF) == GPIO_AF15_EVENTOUT) || ((AF) == GPIO_AF5_SPI4) || \ - ((AF) == GPIO_AF5_SPI5) || ((AF) == GPIO_AF5_SPI6) || \ - ((AF) == GPIO_AF8_UART7) || ((AF) == GPIO_AF8_UART8) || \ - ((AF) == GPIO_AF12_FMC) || ((AF) == GPIO_AF6_SAI1) || \ - ((AF) == GPIO_AF14_LTDC)) - -#endif /* STM32F429xx || STM32F439xx */ -/*----------------------------------------------------------------------------*/ - -/*---------------------------------- STM32F427xx/STM32F437xx------------------*/ -#if defined(STM32F427xx) || defined(STM32F437xx) -#define IS_GPIO_AF(AF) (((AF) == GPIO_AF0_RTC_50Hz) || ((AF) == GPIO_AF9_TIM14) || \ - ((AF) == GPIO_AF0_MCO) || ((AF) == GPIO_AF0_TAMPER) || \ - ((AF) == GPIO_AF0_SWJ) || ((AF) == GPIO_AF0_TRACE) || \ - ((AF) == GPIO_AF1_TIM1) || ((AF) == GPIO_AF1_TIM2) || \ - ((AF) == GPIO_AF2_TIM3) || ((AF) == GPIO_AF2_TIM4) || \ - ((AF) == GPIO_AF2_TIM5) || ((AF) == GPIO_AF3_TIM8) || \ - ((AF) == GPIO_AF4_I2C1) || ((AF) == GPIO_AF4_I2C2) || \ - ((AF) == GPIO_AF4_I2C3) || ((AF) == GPIO_AF5_SPI1) || \ - ((AF) == GPIO_AF5_SPI2) || ((AF) == GPIO_AF9_TIM13) || \ - ((AF) == GPIO_AF6_SPI3) || ((AF) == GPIO_AF9_TIM12) || \ - ((AF) == GPIO_AF7_USART1) || ((AF) == GPIO_AF7_USART2) || \ - ((AF) == GPIO_AF7_USART3) || ((AF) == GPIO_AF8_UART4) || \ - ((AF) == GPIO_AF8_UART5) || ((AF) == GPIO_AF8_USART6) || \ - ((AF) == GPIO_AF9_CAN1) || ((AF) == GPIO_AF9_CAN2) || \ - ((AF) == GPIO_AF10_OTG_FS) || ((AF) == GPIO_AF10_OTG_HS) || \ - ((AF) == GPIO_AF11_ETH) || ((AF) == GPIO_AF12_OTG_HS_FS) || \ - ((AF) == GPIO_AF12_SDIO) || ((AF) == GPIO_AF13_DCMI) || \ - ((AF) == GPIO_AF15_EVENTOUT) || ((AF) == GPIO_AF5_SPI4) || \ - ((AF) == GPIO_AF5_SPI5) || ((AF) == GPIO_AF5_SPI6) || \ - ((AF) == GPIO_AF8_UART7) || ((AF) == GPIO_AF8_UART8) || \ - ((AF) == GPIO_AF12_FMC) || ((AF) == GPIO_AF6_SAI1)) - -#endif /* STM32F427xx || STM32F437xx */ -/*----------------------------------------------------------------------------*/ - -/*---------------------------------- STM32F407xx/STM32F417xx------------------*/ -#if defined(STM32F407xx) || defined(STM32F417xx) -#define IS_GPIO_AF(AF) (((AF) == GPIO_AF0_RTC_50Hz) || ((AF) == GPIO_AF9_TIM14) || \ - ((AF) == GPIO_AF0_MCO) || ((AF) == GPIO_AF0_TAMPER) || \ - ((AF) == GPIO_AF0_SWJ) || ((AF) == GPIO_AF0_TRACE) || \ - ((AF) == GPIO_AF1_TIM1) || ((AF) == GPIO_AF1_TIM2) || \ - ((AF) == GPIO_AF2_TIM3) || ((AF) == GPIO_AF2_TIM4) || \ - ((AF) == GPIO_AF2_TIM5) || ((AF) == GPIO_AF3_TIM8) || \ - ((AF) == GPIO_AF4_I2C1) || ((AF) == GPIO_AF4_I2C2) || \ - ((AF) == GPIO_AF4_I2C3) || ((AF) == GPIO_AF5_SPI1) || \ - ((AF) == GPIO_AF5_SPI2) || ((AF) == GPIO_AF9_TIM13) || \ - ((AF) == GPIO_AF6_SPI3) || ((AF) == GPIO_AF9_TIM12) || \ - ((AF) == GPIO_AF7_USART1) || ((AF) == GPIO_AF7_USART2) || \ - ((AF) == GPIO_AF7_USART3) || ((AF) == GPIO_AF8_UART4) || \ - ((AF) == GPIO_AF8_UART5) || ((AF) == GPIO_AF8_USART6) || \ - ((AF) == GPIO_AF9_CAN1) || ((AF) == GPIO_AF9_CAN2) || \ - ((AF) == GPIO_AF10_OTG_FS) || ((AF) == GPIO_AF10_OTG_HS) || \ - ((AF) == GPIO_AF11_ETH) || ((AF) == GPIO_AF12_OTG_HS_FS) || \ - ((AF) == GPIO_AF12_SDIO) || ((AF) == GPIO_AF13_DCMI) || \ - ((AF) == GPIO_AF12_FSMC) || ((AF) == GPIO_AF15_EVENTOUT)) - -#endif /* STM32F407xx || STM32F417xx */ -/*----------------------------------------------------------------------------*/ - -/*---------------------------------- STM32F405xx/STM32F415xx------------------*/ -#if defined(STM32F405xx) || defined(STM32F415xx) -#define IS_GPIO_AF(AF) (((AF) == GPIO_AF0_RTC_50Hz) || ((AF) == GPIO_AF9_TIM14) || \ - ((AF) == GPIO_AF0_MCO) || ((AF) == GPIO_AF0_TAMPER) || \ - ((AF) == GPIO_AF0_SWJ) || ((AF) == GPIO_AF0_TRACE) || \ - ((AF) == GPIO_AF1_TIM1) || ((AF) == GPIO_AF1_TIM2) || \ - ((AF) == GPIO_AF2_TIM3) || ((AF) == GPIO_AF2_TIM4) || \ - ((AF) == GPIO_AF2_TIM5) || ((AF) == GPIO_AF3_TIM8) || \ - ((AF) == GPIO_AF4_I2C1) || ((AF) == GPIO_AF4_I2C2) || \ - ((AF) == GPIO_AF4_I2C3) || ((AF) == GPIO_AF5_SPI1) || \ - ((AF) == GPIO_AF5_SPI2) || ((AF) == GPIO_AF9_TIM13) || \ - ((AF) == GPIO_AF6_SPI3) || ((AF) == GPIO_AF9_TIM12) || \ - ((AF) == GPIO_AF7_USART1) || ((AF) == GPIO_AF7_USART2) || \ - ((AF) == GPIO_AF7_USART3) || ((AF) == GPIO_AF8_UART4) || \ - ((AF) == GPIO_AF8_UART5) || ((AF) == GPIO_AF8_USART6) || \ - ((AF) == GPIO_AF9_CAN1) || ((AF) == GPIO_AF9_CAN2) || \ - ((AF) == GPIO_AF10_OTG_FS) || ((AF) == GPIO_AF10_OTG_HS) || \ - ((AF) == GPIO_AF12_OTG_HS_FS) || ((AF) == GPIO_AF12_SDIO) || \ - ((AF) == GPIO_AF12_FSMC) || ((AF) == GPIO_AF15_EVENTOUT)) - -#endif /* STM32F405xx || STM32F415xx */ - -/*----------------------------------------------------------------------------*/ - -/*---------------------------------------- STM32F401xx------------------------*/ -#if defined(STM32F401xC) || defined(STM32F401xE) -#define IS_GPIO_AF(AF) (((AF) == GPIO_AF0_RTC_50Hz) || ((AF) == GPIO_AF9_TIM14) || \ - ((AF) == GPIO_AF0_MCO) || ((AF) == GPIO_AF0_TAMPER) || \ - ((AF) == GPIO_AF0_SWJ) || ((AF) == GPIO_AF0_TRACE) || \ - ((AF) == GPIO_AF1_TIM1) || ((AF) == GPIO_AF1_TIM2) || \ - ((AF) == GPIO_AF2_TIM3) || ((AF) == GPIO_AF2_TIM4) || \ - ((AF) == GPIO_AF2_TIM5) || ((AF) == GPIO_AF4_I2C1) || \ - ((AF) == GPIO_AF4_I2C2) || ((AF) == GPIO_AF4_I2C3) || \ - ((AF) == GPIO_AF5_SPI1) || ((AF) == GPIO_AF5_SPI2) || \ - ((AF) == GPIO_AF6_SPI3) || ((AF) == GPIO_AF5_SPI4) || \ - ((AF) == GPIO_AF7_USART1) || ((AF) == GPIO_AF7_USART2) || \ - ((AF) == GPIO_AF8_USART6) || ((AF) == GPIO_AF10_OTG_FS) || \ - ((AF) == GPIO_AF9_I2C2) || ((AF) == GPIO_AF9_I2C3) || \ - ((AF) == GPIO_AF12_SDIO) || ((AF) == GPIO_AF15_EVENTOUT)) - -#endif /* STM32F401xC || STM32F401xE */ -/*----------------------------------------------------------------------------*/ -/*---------------------------------------- STM32F410xx------------------------*/ -#if defined(STM32F410Tx) || defined(STM32F410Cx) || defined(STM32F410Rx) -#define IS_GPIO_AF(AF) (((AF) < 10U) || ((AF) == 15U)) -#endif /* STM32F410Tx || STM32F410Cx || STM32F410Rx */ - -/*---------------------------------------- STM32F411xx------------------------*/ -#if defined(STM32F411xE) -#define IS_GPIO_AF(AF) (((AF) == GPIO_AF0_RTC_50Hz) || ((AF) == GPIO_AF9_TIM14) || \ - ((AF) == GPIO_AF0_MCO) || ((AF) == GPIO_AF0_TAMPER) || \ - ((AF) == GPIO_AF0_SWJ) || ((AF) == GPIO_AF0_TRACE) || \ - ((AF) == GPIO_AF1_TIM1) || ((AF) == GPIO_AF1_TIM2) || \ - ((AF) == GPIO_AF2_TIM3) || ((AF) == GPIO_AF2_TIM4) || \ - ((AF) == GPIO_AF2_TIM5) || ((AF) == GPIO_AF4_I2C1) || \ - ((AF) == GPIO_AF4_I2C2) || ((AF) == GPIO_AF4_I2C3) || \ - ((AF) == GPIO_AF5_SPI1) || ((AF) == GPIO_AF5_SPI2) || \ - ((AF) == GPIO_AF5_SPI3) || ((AF) == GPIO_AF6_SPI4) || \ - ((AF) == GPIO_AF6_SPI3) || ((AF) == GPIO_AF5_SPI4) || \ - ((AF) == GPIO_AF6_SPI5) || ((AF) == GPIO_AF7_SPI3) || \ - ((AF) == GPIO_AF7_USART1) || ((AF) == GPIO_AF7_USART2) || \ - ((AF) == GPIO_AF8_USART6) || ((AF) == GPIO_AF10_OTG_FS) || \ - ((AF) == GPIO_AF9_I2C2) || ((AF) == GPIO_AF9_I2C3) || \ - ((AF) == GPIO_AF12_SDIO) || ((AF) == GPIO_AF15_EVENTOUT)) - -#endif /* STM32F411xE */ -/*----------------------------------------------------------------------------*/ - -/*----------------------------------------------- STM32F446xx ----------------*/ -#if defined(STM32F446xx) -#define IS_GPIO_AF(AF) (((AF) == GPIO_AF0_RTC_50Hz) || ((AF) == GPIO_AF9_TIM14) || \ - ((AF) == GPIO_AF0_MCO) || ((AF) == GPIO_AF0_TAMPER) || \ - ((AF) == GPIO_AF0_SWJ) || ((AF) == GPIO_AF0_TRACE) || \ - ((AF) == GPIO_AF1_TIM1) || ((AF) == GPIO_AF1_TIM2) || \ - ((AF) == GPIO_AF2_TIM3) || ((AF) == GPIO_AF2_TIM4) || \ - ((AF) == GPIO_AF2_TIM5) || ((AF) == GPIO_AF3_TIM8) || \ - ((AF) == GPIO_AF4_I2C1) || ((AF) == GPIO_AF4_I2C2) || \ - ((AF) == GPIO_AF4_I2C3) || ((AF) == GPIO_AF5_SPI1) || \ - ((AF) == GPIO_AF5_SPI2) || ((AF) == GPIO_AF9_TIM13) || \ - ((AF) == GPIO_AF6_SPI3) || ((AF) == GPIO_AF9_TIM12) || \ - ((AF) == GPIO_AF7_USART1) || ((AF) == GPIO_AF7_USART2) || \ - ((AF) == GPIO_AF7_USART3) || ((AF) == GPIO_AF8_UART4) || \ - ((AF) == GPIO_AF8_UART5) || ((AF) == GPIO_AF8_USART6) || \ - ((AF) == GPIO_AF9_CAN1) || ((AF) == GPIO_AF9_CAN2) || \ - ((AF) == GPIO_AF10_OTG_FS) || ((AF) == GPIO_AF10_OTG_HS) || \ - ((AF) == GPIO_AF11_ETH) || ((AF) == GPIO_AF12_OTG_HS_FS) || \ - ((AF) == GPIO_AF12_SDIO) || ((AF) == GPIO_AF13_DCMI) || \ - ((AF) == GPIO_AF15_EVENTOUT) || ((AF) == GPIO_AF5_SPI4) || \ - ((AF) == GPIO_AF12_FMC) || ((AF) == GPIO_AF6_SAI1) || \ - ((AF) == GPIO_AF3_CEC) || ((AF) == GPIO_AF4_CEC) || \ - ((AF) == GPIO_AF5_SPI3) || ((AF) == GPIO_AF6_SPI2) || \ - ((AF) == GPIO_AF6_SPI4) || ((AF) == GPIO_AF7_UART5) || \ - ((AF) == GPIO_AF7_SPI2) || ((AF) == GPIO_AF7_SPI3) || \ - ((AF) == GPIO_AF7_SPDIFRX) || ((AF) == GPIO_AF8_SPDIFRX) || \ - ((AF) == GPIO_AF8_SAI2) || ((AF) == GPIO_AF9_QSPI) || \ - ((AF) == GPIO_AF10_SAI2) || ((AF) == GPIO_AF10_QSPI)) - -#endif /* STM32F446xx */ -/*----------------------------------------------------------------------------*/ - -/*------------------------------------------- STM32F469xx/STM32F479xx --------*/ -#if defined(STM32F469xx) || defined(STM32F479xx) -#define IS_GPIO_AF(AF) (((AF) == GPIO_AF0_RTC_50Hz) || ((AF) == GPIO_AF9_TIM14) || \ - ((AF) == GPIO_AF0_MCO) || ((AF) == GPIO_AF0_TAMPER) || \ - ((AF) == GPIO_AF0_SWJ) || ((AF) == GPIO_AF0_TRACE) || \ - ((AF) == GPIO_AF1_TIM1) || ((AF) == GPIO_AF1_TIM2) || \ - ((AF) == GPIO_AF2_TIM3) || ((AF) == GPIO_AF2_TIM4) || \ - ((AF) == GPIO_AF2_TIM5) || ((AF) == GPIO_AF3_TIM8) || \ - ((AF) == GPIO_AF4_I2C1) || ((AF) == GPIO_AF4_I2C2) || \ - ((AF) == GPIO_AF4_I2C3) || ((AF) == GPIO_AF5_SPI1) || \ - ((AF) == GPIO_AF5_SPI2) || ((AF) == GPIO_AF9_TIM13) || \ - ((AF) == GPIO_AF6_SPI3) || ((AF) == GPIO_AF9_TIM12) || \ - ((AF) == GPIO_AF7_USART1) || ((AF) == GPIO_AF7_USART2) || \ - ((AF) == GPIO_AF7_USART3) || ((AF) == GPIO_AF8_UART4) || \ - ((AF) == GPIO_AF8_UART5) || ((AF) == GPIO_AF8_USART6) || \ - ((AF) == GPIO_AF9_CAN1) || ((AF) == GPIO_AF9_CAN2) || \ - ((AF) == GPIO_AF10_OTG_FS) || ((AF) == GPIO_AF10_OTG_HS) || \ - ((AF) == GPIO_AF11_ETH) || ((AF) == GPIO_AF12_OTG_HS_FS) || \ - ((AF) == GPIO_AF12_SDIO) || ((AF) == GPIO_AF13_DCMI) || \ - ((AF) == GPIO_AF15_EVENTOUT) || ((AF) == GPIO_AF5_SPI4) || \ - ((AF) == GPIO_AF5_SPI5) || ((AF) == GPIO_AF5_SPI6) || \ - ((AF) == GPIO_AF8_UART7) || ((AF) == GPIO_AF8_UART8) || \ - ((AF) == GPIO_AF12_FMC) || ((AF) == GPIO_AF6_SAI1) || \ - ((AF) == GPIO_AF14_LTDC) || ((AF) == GPIO_AF13_DSI) || \ - ((AF) == GPIO_AF9_QSPI) || ((AF) == GPIO_AF10_QSPI)) - -#endif /* STM32F469xx || STM32F479xx */ -/*----------------------------------------------------------------------------*/ - -/*------------------STM32F412Zx/STM32F412Vx/STM32F412Rx/STM32F412Cx-----------*/ -#if defined(STM32F412Zx) || defined(STM32F412Vx) || defined(STM32F412Rx) || defined(STM32F412Cx) -#define IS_GPIO_AF(AF) (((AF) < 16U) && ((AF) != 11U) && ((AF) != 14U) && ((AF) != 13U)) -#endif /* STM32F412Zx || STM32F412Vx || STM32F412Rx || STM32F412Cx */ -/*----------------------------------------------------------------------------*/ - -/*------------------STM32F413xx/STM32F423xx-----------------------------------*/ -#if defined(STM32F413xx) || defined(STM32F423xx) -#define IS_GPIO_AF(AF) (((AF) < 16U) && ((AF) != 13U)) -#endif /* STM32F413xx || STM32F423xx */ -/*----------------------------------------------------------------------------*/ - -/** - * @} - */ - -/** - * @} - */ - -/* Private functions ---------------------------------------------------------*/ -/** @defgroup GPIOEx_Private_Functions GPIO Private Functions - * @{ - */ - -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ - -#ifdef __cplusplus -} -#endif - -#endif /* __STM32F4xx_HAL_GPIO_EX_H */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/panda/board/stm32f4/inc/system_stm32f4xx.h b/panda/board/stm32f4/inc/system_stm32f4xx.h deleted file mode 100644 index 7978dab458ba22..00000000000000 --- a/panda/board/stm32f4/inc/system_stm32f4xx.h +++ /dev/null @@ -1,124 +0,0 @@ -/** - ****************************************************************************** - * @file system_stm32f4xx.h - * @author MCD Application Team - * @version V2.6.0 - * @date 04-November-2016 - * @brief CMSIS Cortex-M4 Device System Source File for STM32F4xx devices. - ****************************************************************************** - * @attention - * - *

© COPYRIGHT(c) 2016 STMicroelectronics

- * - * Redistribution and use in source and binary forms, with or without modification, - * are permitted provided that the following conditions are met: - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * 3. Neither the name of STMicroelectronics nor the names of its contributors - * may be used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE - * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL - * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR - * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, - * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE - * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************** - */ - -/** @addtogroup CMSIS - * @{ - */ - -/** @addtogroup stm32f4xx_system - * @{ - */ - -/** - * @brief Define to prevent recursive inclusion - */ -#ifndef __SYSTEM_STM32F4XX_H -#define __SYSTEM_STM32F4XX_H - -#ifdef __cplusplus - extern "C" { -#endif - -/** @addtogroup STM32F4xx_System_Includes - * @{ - */ - -/** - * @} - */ - - -/** @addtogroup STM32F4xx_System_Exported_types - * @{ - */ - /* This variable is updated in three ways: - 1) by calling CMSIS function SystemCoreClockUpdate() - 2) by calling HAL API function HAL_RCC_GetSysClockFreq() - 3) each time HAL_RCC_ClockConfig() is called to configure the system clock frequency - Note: If you use this function to configure the system clock; then there - is no need to call the 2 first functions listed above, since SystemCoreClock - variable is updated automatically. - */ -extern uint32_t SystemCoreClock; /*!< System Clock Frequency (Core Clock) */ - -extern const uint8_t AHBPrescTable[16]; /*!< AHB prescalers table values */ -extern const uint8_t APBPrescTable[8]; /*!< APB prescalers table values */ - -/** - * @} - */ - -/** @addtogroup STM32F4xx_System_Exported_Constants - * @{ - */ - -/** - * @} - */ - -/** @addtogroup STM32F4xx_System_Exported_Macros - * @{ - */ - -/** - * @} - */ - -/** @addtogroup STM32F4xx_System_Exported_Functions - * @{ - */ - -extern void SystemInit(void); -extern void SystemCoreClockUpdate(void); -/** - * @} - */ - -#ifdef __cplusplus -} -#endif - -#endif /*__SYSTEM_STM32F4XX_H */ - -/** - * @} - */ - -/** - * @} - */ -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/panda/board/stm32f4/interrupt_handlers.h b/panda/board/stm32f4/interrupt_handlers.h deleted file mode 100644 index 41d7427d71bdf5..00000000000000 --- a/panda/board/stm32f4/interrupt_handlers.h +++ /dev/null @@ -1,98 +0,0 @@ -// ********************* Bare interrupt handlers ********************* -// Only implemented the STM32F413 interrupts for now - -void WWDG_IRQHandler(void) {handle_interrupt(WWDG_IRQn);} -void PVD_IRQHandler(void) {handle_interrupt(PVD_IRQn);} -void TAMP_STAMP_IRQHandler(void) {handle_interrupt(TAMP_STAMP_IRQn);} -void RTC_WKUP_IRQHandler(void) {handle_interrupt(RTC_WKUP_IRQn);} -void FLASH_IRQHandler(void) {handle_interrupt(FLASH_IRQn);} -void RCC_IRQHandler(void) {handle_interrupt(RCC_IRQn);} -void EXTI0_IRQHandler(void) {handle_interrupt(EXTI0_IRQn);} -void EXTI1_IRQHandler(void) {handle_interrupt(EXTI1_IRQn);} -void EXTI2_IRQHandler(void) {handle_interrupt(EXTI2_IRQn);} -void EXTI3_IRQHandler(void) {handle_interrupt(EXTI3_IRQn);} -void EXTI4_IRQHandler(void) {handle_interrupt(EXTI4_IRQn);} -void DMA1_Stream0_IRQHandler(void) {handle_interrupt(DMA1_Stream0_IRQn);} -void DMA1_Stream1_IRQHandler(void) {handle_interrupt(DMA1_Stream1_IRQn);} -void DMA1_Stream2_IRQHandler(void) {handle_interrupt(DMA1_Stream2_IRQn);} -void DMA1_Stream3_IRQHandler(void) {handle_interrupt(DMA1_Stream3_IRQn);} -void DMA1_Stream4_IRQHandler(void) {handle_interrupt(DMA1_Stream4_IRQn);} -void DMA1_Stream5_IRQHandler(void) {handle_interrupt(DMA1_Stream5_IRQn);} -void DMA1_Stream6_IRQHandler(void) {handle_interrupt(DMA1_Stream6_IRQn);} -void ADC_IRQHandler(void) {handle_interrupt(ADC_IRQn);} -void CAN1_TX_IRQHandler(void) {handle_interrupt(CAN1_TX_IRQn);} -void CAN1_RX0_IRQHandler(void) {handle_interrupt(CAN1_RX0_IRQn);} -void CAN1_RX1_IRQHandler(void) {handle_interrupt(CAN1_RX1_IRQn);} -void CAN1_SCE_IRQHandler(void) {handle_interrupt(CAN1_SCE_IRQn);} -void EXTI9_5_IRQHandler(void) {handle_interrupt(EXTI9_5_IRQn);} -void TIM1_BRK_TIM9_IRQHandler(void) {handle_interrupt(TIM1_BRK_TIM9_IRQn);} -void TIM1_UP_TIM10_IRQHandler(void) {handle_interrupt(TIM1_UP_TIM10_IRQn);} -void TIM1_TRG_COM_TIM11_IRQHandler(void) {handle_interrupt(TIM1_TRG_COM_TIM11_IRQn);} -void TIM1_CC_IRQHandler(void) {handle_interrupt(TIM1_CC_IRQn);} -void TIM2_IRQHandler(void) {handle_interrupt(TIM2_IRQn);} -void TIM3_IRQHandler(void) {handle_interrupt(TIM3_IRQn);} -void TIM4_IRQHandler(void) {handle_interrupt(TIM4_IRQn);} -void I2C1_EV_IRQHandler(void) {handle_interrupt(I2C1_EV_IRQn);} -void I2C1_ER_IRQHandler(void) {handle_interrupt(I2C1_ER_IRQn);} -void I2C2_EV_IRQHandler(void) {handle_interrupt(I2C2_EV_IRQn);} -void I2C2_ER_IRQHandler(void) {handle_interrupt(I2C2_ER_IRQn);} -void SPI1_IRQHandler(void) {handle_interrupt(SPI1_IRQn);} -void SPI2_IRQHandler(void) {handle_interrupt(SPI2_IRQn);} -void USART1_IRQHandler(void) {handle_interrupt(USART1_IRQn);} -void USART2_IRQHandler(void) {handle_interrupt(USART2_IRQn);} -void USART3_IRQHandler(void) {handle_interrupt(USART3_IRQn);} -void EXTI15_10_IRQHandler(void) {handle_interrupt(EXTI15_10_IRQn);} -void RTC_Alarm_IRQHandler(void) {handle_interrupt(RTC_Alarm_IRQn);} -void OTG_FS_WKUP_IRQHandler(void) {handle_interrupt(OTG_FS_WKUP_IRQn);} -void TIM8_BRK_TIM12_IRQHandler(void) {handle_interrupt(TIM8_BRK_TIM12_IRQn);} -void TIM8_UP_TIM13_IRQHandler(void) {handle_interrupt(TIM8_UP_TIM13_IRQn);} -void TIM8_TRG_COM_TIM14_IRQHandler(void) {handle_interrupt(TIM8_TRG_COM_TIM14_IRQn);} -void TIM8_CC_IRQHandler(void) {handle_interrupt(TIM8_CC_IRQn);} -void DMA1_Stream7_IRQHandler(void) {handle_interrupt(DMA1_Stream7_IRQn);} -void FSMC_IRQHandler(void) {handle_interrupt(FSMC_IRQn);} -void SDIO_IRQHandler(void) {handle_interrupt(SDIO_IRQn);} -void TIM5_IRQHandler(void) {handle_interrupt(TIM5_IRQn);} -void SPI3_IRQHandler(void) {handle_interrupt(SPI3_IRQn);} -void UART4_IRQHandler(void) {handle_interrupt(UART4_IRQn);} -void UART5_IRQHandler(void) {handle_interrupt(UART5_IRQn);} -void TIM6_DAC_IRQHandler(void) {handle_interrupt(TIM6_DAC_IRQn);} -void TIM7_IRQHandler(void) {handle_interrupt(TIM7_IRQn);} -void DMA2_Stream0_IRQHandler(void) {handle_interrupt(DMA2_Stream0_IRQn);} -void DMA2_Stream1_IRQHandler(void) {handle_interrupt(DMA2_Stream1_IRQn);} -void DMA2_Stream2_IRQHandler(void) {handle_interrupt(DMA2_Stream2_IRQn);} -void DMA2_Stream3_IRQHandler(void) {handle_interrupt(DMA2_Stream3_IRQn);} -void DMA2_Stream4_IRQHandler(void) {handle_interrupt(DMA2_Stream4_IRQn);} -void CAN2_TX_IRQHandler(void) {handle_interrupt(CAN2_TX_IRQn);} -void CAN2_RX0_IRQHandler(void) {handle_interrupt(CAN2_RX0_IRQn);} -void CAN2_RX1_IRQHandler(void) {handle_interrupt(CAN2_RX1_IRQn);} -void CAN2_SCE_IRQHandler(void) {handle_interrupt(CAN2_SCE_IRQn);} -void OTG_FS_IRQHandler(void) {handle_interrupt(OTG_FS_IRQn);} -void DMA2_Stream5_IRQHandler(void) {handle_interrupt(DMA2_Stream5_IRQn);} -void DMA2_Stream6_IRQHandler(void) {handle_interrupt(DMA2_Stream6_IRQn);} -void DMA2_Stream7_IRQHandler(void) {handle_interrupt(DMA2_Stream7_IRQn);} -void USART6_IRQHandler(void) {handle_interrupt(USART6_IRQn);} -void I2C3_EV_IRQHandler(void) {handle_interrupt(I2C3_EV_IRQn);} -void I2C3_ER_IRQHandler(void) {handle_interrupt(I2C3_ER_IRQn);} -void DFSDM1_FLT0_IRQHandler(void) {handle_interrupt(DFSDM1_FLT0_IRQn);} -void DFSDM1_FLT1_IRQHandler(void) {handle_interrupt(DFSDM1_FLT1_IRQn);} -void CAN3_TX_IRQHandler(void) {handle_interrupt(CAN3_TX_IRQn);} -void CAN3_RX0_IRQHandler(void) {handle_interrupt(CAN3_RX0_IRQn);} -void CAN3_RX1_IRQHandler(void) {handle_interrupt(CAN3_RX1_IRQn);} -void CAN3_SCE_IRQHandler(void) {handle_interrupt(CAN3_SCE_IRQn);} -void RNG_IRQHandler(void) {handle_interrupt(RNG_IRQn);} -void FPU_IRQHandler(void) {handle_interrupt(FPU_IRQn);} -void UART7_IRQHandler(void) {handle_interrupt(UART7_IRQn);} -void UART8_IRQHandler(void) {handle_interrupt(UART8_IRQn);} -void SPI4_IRQHandler(void) {handle_interrupt(SPI4_IRQn);} -void SPI5_IRQHandler(void) {handle_interrupt(SPI5_IRQn);} -void SAI1_IRQHandler(void) {handle_interrupt(SAI1_IRQn);} -void UART9_IRQHandler(void) {handle_interrupt(UART9_IRQn);} -void UART10_IRQHandler(void) {handle_interrupt(UART10_IRQn);} -void QUADSPI_IRQHandler(void) {handle_interrupt(QUADSPI_IRQn);} -void FMPI2C1_EV_IRQHandler(void) {handle_interrupt(FMPI2C1_EV_IRQn);} -void FMPI2C1_ER_IRQHandler(void) {handle_interrupt(FMPI2C1_ER_IRQn);} -void LPTIM1_IRQHandler(void) {handle_interrupt(LPTIM1_IRQn);} -void DFSDM2_FLT0_IRQHandler(void) {handle_interrupt(DFSDM2_FLT0_IRQn);} -void DFSDM2_FLT1_IRQHandler(void) {handle_interrupt(DFSDM2_FLT1_IRQn);} -void DFSDM2_FLT2_IRQHandler(void) {handle_interrupt(DFSDM2_FLT2_IRQn);} -void DFSDM2_FLT3_IRQHandler(void) {handle_interrupt(DFSDM2_FLT3_IRQn);} diff --git a/panda/board/stm32f4/lladc.h b/panda/board/stm32f4/lladc.h deleted file mode 100644 index c2df10f1b1811c..00000000000000 --- a/panda/board/stm32f4/lladc.h +++ /dev/null @@ -1,24 +0,0 @@ - -void register_set(volatile uint32_t *addr, uint32_t val, uint32_t mask); - -void adc_init(void) { - register_set(&(ADC->CCR), ADC_CCR_TSVREFE | ADC_CCR_VBATE, 0xC30000U); - register_set(&(ADC1->CR2), ADC_CR2_ADON, 0xFF7F0F03U); - register_set(&(ADC1->SMPR1), ADC_SMPR1_SMP12 | ADC_SMPR1_SMP13, 0x7FFFFFFU); -} - -uint16_t adc_get_raw(uint8_t channel) { - // Select channel - register_set(&(ADC1->JSQR), ((uint32_t) channel << 15U), 0x3FFFFFU); - - // Start conversion - ADC1->SR &= ~(ADC_SR_JEOC); - ADC1->CR2 |= ADC_CR2_JSWSTART; - while (!(ADC1->SR & ADC_SR_JEOC)); - - return ADC1->JDR1; -} - -uint16_t adc_get_mV(uint8_t channel) { - return (adc_get_raw(channel) * current_board->avdd_mV) / 4095U; -} diff --git a/panda/board/stm32f4/llbxcan.h b/panda/board/stm32f4/llbxcan.h deleted file mode 100644 index 72523cf1bcd2ec..00000000000000 --- a/panda/board/stm32f4/llbxcan.h +++ /dev/null @@ -1,158 +0,0 @@ -// Flasher and pedal use raw mailbox access -#define GET_MAILBOX_BYTE(msg, b) (((int)(b) > 3) ? (((msg)->RDHR >> (8U * ((unsigned int)(b) % 4U))) & 0xFFU) : (((msg)->RDLR >> (8U * (unsigned int)(b))) & 0xFFU)) -#define GET_MAILBOX_BYTES_04(msg) ((msg)->RDLR) -#define GET_MAILBOX_BYTES_48(msg) ((msg)->RDHR) - -// SAE 2284-3 : minimum 16 tq, SJW 3, sample point at 81.3% -#define CAN_QUANTA 16U -#define CAN_SEQ1 12U -#define CAN_SEQ2 3U -#define CAN_SJW 3U - -#define CAN_PCLK 48000U -// 333 = 33.3 kbps -// 5000 = 500 kbps -#define can_speed_to_prescaler(x) (CAN_PCLK / CAN_QUANTA * 10U / (x)) - -#define CAN_NAME_FROM_CANIF(CAN_DEV) (((CAN_DEV)==CAN1) ? "CAN1" : (((CAN_DEV) == CAN2) ? "CAN2" : "CAN3")) - -void print(const char *a); - -// kbps multiplied by 10 -const uint32_t speeds[] = {100U, 200U, 500U, 1000U, 1250U, 2500U, 5000U, 10000U}; -const uint32_t data_speeds[] = {0U}; // No separate data speed, dummy - -bool llcan_set_speed(CAN_TypeDef *CANx, uint32_t speed, bool loopback, bool silent) { - bool ret = true; - - // initialization mode - register_set(&(CANx->MCR), CAN_MCR_TTCM | CAN_MCR_INRQ, 0x180FFU); - uint32_t timeout_counter = 0U; - while((CANx->MSR & CAN_MSR_INAK) != CAN_MSR_INAK){ - // Delay for about 1ms - delay(10000); - timeout_counter++; - - if(timeout_counter >= CAN_INIT_TIMEOUT_MS){ - print(CAN_NAME_FROM_CANIF(CANx)); print(" set_speed timed out (1)!\n"); - ret = false; - break; - } - } - - if(ret){ - // set time quanta from defines - register_set(&(CANx->BTR), ((CAN_BTR_TS1_0 * (CAN_SEQ1-1U)) | - (CAN_BTR_TS2_0 * (CAN_SEQ2-1U)) | - (CAN_BTR_SJW_0 * (CAN_SJW-1U)) | - (can_speed_to_prescaler(speed) - 1U)), 0xC37F03FFU); - - // silent loopback mode for debugging - if (loopback) { - register_set_bits(&(CANx->BTR), CAN_BTR_SILM | CAN_BTR_LBKM); - } - if (silent) { - register_set_bits(&(CANx->BTR), CAN_BTR_SILM); - } - - // reset - register_set(&(CANx->MCR), CAN_MCR_TTCM | CAN_MCR_ABOM, 0x180FFU); - - timeout_counter = 0U; - while(((CANx->MSR & CAN_MSR_INAK) == CAN_MSR_INAK)) { - // Delay for about 1ms - delay(10000); - timeout_counter++; - - if(timeout_counter >= CAN_INIT_TIMEOUT_MS){ - print(CAN_NAME_FROM_CANIF(CANx)); print(" set_speed timed out (2)!\n"); - ret = false; - break; - } - } - } - - return ret; -} - -void llcan_irq_disable(const CAN_TypeDef *CANx) { - if (CANx == CAN1) { - NVIC_DisableIRQ(CAN1_TX_IRQn); - NVIC_DisableIRQ(CAN1_RX0_IRQn); - NVIC_DisableIRQ(CAN1_SCE_IRQn); - } else if (CANx == CAN2) { - NVIC_DisableIRQ(CAN2_TX_IRQn); - NVIC_DisableIRQ(CAN2_RX0_IRQn); - NVIC_DisableIRQ(CAN2_SCE_IRQn); - } else if (CANx == CAN3) { - NVIC_DisableIRQ(CAN3_TX_IRQn); - NVIC_DisableIRQ(CAN3_RX0_IRQn); - NVIC_DisableIRQ(CAN3_SCE_IRQn); - } else { - } -} - -void llcan_irq_enable(const CAN_TypeDef *CANx) { - if (CANx == CAN1) { - NVIC_EnableIRQ(CAN1_TX_IRQn); - NVIC_EnableIRQ(CAN1_RX0_IRQn); - NVIC_EnableIRQ(CAN1_SCE_IRQn); - } else if (CANx == CAN2) { - NVIC_EnableIRQ(CAN2_TX_IRQn); - NVIC_EnableIRQ(CAN2_RX0_IRQn); - NVIC_EnableIRQ(CAN2_SCE_IRQn); - } else if (CANx == CAN3) { - NVIC_EnableIRQ(CAN3_TX_IRQn); - NVIC_EnableIRQ(CAN3_RX0_IRQn); - NVIC_EnableIRQ(CAN3_SCE_IRQn); - } else { - } -} - -bool llcan_init(CAN_TypeDef *CANx) { - bool ret = true; - - // Enter init mode - register_set_bits(&(CANx->FMR), CAN_FMR_FINIT); - - // Wait for INAK bit to be set - uint32_t timeout_counter = 0U; - while(((CANx->MSR & CAN_MSR_INAK) == CAN_MSR_INAK)) { - // Delay for about 1ms - delay(10000); - timeout_counter++; - - if(timeout_counter >= CAN_INIT_TIMEOUT_MS){ - print(CAN_NAME_FROM_CANIF(CANx)); print(" initialization timed out!\n"); - ret = false; - break; - } - } - - if(ret){ - // no mask - // For some weird reason some of these registers do not want to set properly on CAN2 and CAN3. Probably something to do with the single/dual mode and their different filters. - CANx->sFilterRegister[0].FR1 = 0U; - CANx->sFilterRegister[0].FR2 = 0U; - CANx->sFilterRegister[14].FR1 = 0U; - CANx->sFilterRegister[14].FR2 = 0U; - CANx->FA1R |= 1U | (1UL << 14); - - // Exit init mode, do not wait - register_clear_bits(&(CANx->FMR), CAN_FMR_FINIT); - - // enable certain CAN interrupts - register_set_bits(&(CANx->IER), CAN_IER_TMEIE | CAN_IER_FMPIE0 | CAN_IER_ERRIE | CAN_IER_LECIE | CAN_IER_BOFIE | CAN_IER_EPVIE | CAN_IER_EWGIE | CAN_IER_FOVIE0 | CAN_IER_FFIE0); - - // clear overrun flag on init - CANx->RF0R &= ~(CAN_RF0R_FOVR0); - - llcan_irq_enable(CANx); - } - return ret; -} - -void llcan_clear_send(CAN_TypeDef *CANx) { - CANx->TSR |= CAN_TSR_ABRQ0; // Abort message transmission on error interrupt - CANx->MSR |= CAN_MSR_ERRI; // Clear error interrupt -} diff --git a/panda/board/stm32f4/llfan.h b/panda/board/stm32f4/llfan.h deleted file mode 100644 index 9e3f0c654b1846..00000000000000 --- a/panda/board/stm32f4/llfan.h +++ /dev/null @@ -1,23 +0,0 @@ -// TACH interrupt handler -void EXTI2_IRQ_Handler(void) { - volatile unsigned int pr = EXTI->PR & (1U << 2); - if ((pr & (1U << 2)) != 0U) { - fan_state.tach_counter++; - } - EXTI->PR = (1U << 2); -} - -void llfan_init(void) { - // 5000RPM * 4 tach edges / 60 seconds - REGISTER_INTERRUPT(EXTI2_IRQn, EXTI2_IRQ_Handler, 700U, FAULT_INTERRUPT_RATE_TACH) - - // Init PWM speed control - pwm_init(TIM3, 3); - - // Init TACH interrupt - register_set(&(SYSCFG->EXTICR[0]), SYSCFG_EXTICR1_EXTI2_PD, 0xF00U); - register_set_bits(&(EXTI->IMR), (1U << 2)); - register_set_bits(&(EXTI->RTSR), (1U << 2)); - register_set_bits(&(EXTI->FTSR), (1U << 2)); - NVIC_EnableIRQ(EXTI2_IRQn); -} diff --git a/panda/board/stm32f4/llflash.h b/panda/board/stm32f4/llflash.h deleted file mode 100644 index 61adcd4584c3a6..00000000000000 --- a/panda/board/stm32f4/llflash.h +++ /dev/null @@ -1,28 +0,0 @@ -bool flash_is_locked(void) { - return (FLASH->CR & FLASH_CR_LOCK); -} - -void flash_unlock(void) { - FLASH->KEYR = 0x45670123; - FLASH->KEYR = 0xCDEF89AB; -} - -bool flash_erase_sector(uint8_t sector, bool unlocked) { - // don't erase the bootloader(sector 0) - if (sector != 0 && sector < 12 && unlocked) { - FLASH->CR = (sector << 3) | FLASH_CR_SER; - FLASH->CR |= FLASH_CR_STRT; - while (FLASH->SR & FLASH_SR_BSY); - return true; - } - return false; -} - -void flash_write_word(void *prog_ptr, uint32_t data) { - uint32_t *pp = prog_ptr; - FLASH->CR = FLASH_CR_PSIZE_1 | FLASH_CR_PG; - *pp = data; - while (FLASH->SR & FLASH_SR_BSY); -} - -void flush_write_buffer(void) { } diff --git a/panda/board/stm32f4/llspi.h b/panda/board/stm32f4/llspi.h deleted file mode 100644 index 31e419b6f74b11..00000000000000 --- a/panda/board/stm32f4/llspi.h +++ /dev/null @@ -1,90 +0,0 @@ -void llspi_miso_dma(uint8_t *addr, int len) { - // disable DMA - DMA2_Stream3->CR &= ~DMA_SxCR_EN; - register_clear_bits(&(SPI1->CR2), SPI_CR2_TXDMAEN); - - // setup source and length - register_set(&(DMA2_Stream3->M0AR), (uint32_t)addr, 0xFFFFFFFFU); - DMA2_Stream3->NDTR = len; - - // enable DMA - register_set_bits(&(SPI1->CR2), SPI_CR2_TXDMAEN); - DMA2_Stream3->CR |= DMA_SxCR_EN; -} - -void llspi_mosi_dma(uint8_t *addr, int len) { - // disable DMA - register_clear_bits(&(SPI1->CR2), SPI_CR2_RXDMAEN); - DMA2_Stream2->CR &= ~DMA_SxCR_EN; - - // drain the bus - volatile uint8_t dat = SPI1->DR; - (void)dat; - - // setup destination and length - register_set(&(DMA2_Stream2->M0AR), (uint32_t)addr, 0xFFFFFFFFU); - DMA2_Stream2->NDTR = len; - - // enable DMA - DMA2_Stream2->CR |= DMA_SxCR_EN; - register_set_bits(&(SPI1->CR2), SPI_CR2_RXDMAEN); -} - -// SPI MOSI DMA FINISHED -void DMA2_Stream2_IRQ_Handler(void) { - // Clear interrupt flag - ENTER_CRITICAL(); - DMA2->LIFCR = DMA_LIFCR_CTCIF2; - - spi_rx_done(); - - EXIT_CRITICAL(); -} - -// SPI MISO DMA FINISHED -void DMA2_Stream3_IRQ_Handler(void) { - // Clear interrupt flag - DMA2->LIFCR = DMA_LIFCR_CTCIF3; - - // Wait until the transaction is actually finished and clear the DR - // Timeout to prevent hang when the master clock stops. - bool timed_out = false; - uint32_t start_time = microsecond_timer_get(); - while (!(SPI1->SR & SPI_SR_TXE)) { - if (get_ts_elapsed(microsecond_timer_get(), start_time) > SPI_TIMEOUT_US) { - timed_out = true; - break; - } - } - volatile uint8_t dat = SPI1->DR; - (void)dat; - SPI1->DR = 0U; - - if (timed_out) { - print("SPI: TX timeout\n"); - } - - spi_tx_done(timed_out); -} - -// ***************************** SPI init ***************************** -void llspi_init(void) { - REGISTER_INTERRUPT(DMA2_Stream2_IRQn, DMA2_Stream2_IRQ_Handler, SPI_IRQ_RATE, FAULT_INTERRUPT_RATE_SPI_DMA) - REGISTER_INTERRUPT(DMA2_Stream3_IRQn, DMA2_Stream3_IRQ_Handler, SPI_IRQ_RATE, FAULT_INTERRUPT_RATE_SPI_DMA) - - // Setup MOSI DMA - register_set(&(DMA2_Stream2->CR), (DMA_SxCR_CHSEL_1 | DMA_SxCR_CHSEL_0 | DMA_SxCR_MINC | DMA_SxCR_TCIE), 0x1E077EFEU); - register_set(&(DMA2_Stream2->PAR), (uint32_t)&(SPI1->DR), 0xFFFFFFFFU); - - // Setup MISO DMA - register_set(&(DMA2_Stream3->CR), (DMA_SxCR_CHSEL_1 | DMA_SxCR_CHSEL_0 | DMA_SxCR_MINC | DMA_SxCR_DIR_0 | DMA_SxCR_TCIE), 0x1E077EFEU); - register_set(&(DMA2_Stream3->PAR), (uint32_t)&(SPI1->DR), 0xFFFFFFFFU); - - // Enable SPI and the error interrupts - // TODO: verify clock phase and polarity - register_set(&(SPI1->CR1), SPI_CR1_SPE, 0xFFFFU); - register_set(&(SPI1->CR2), 0U, 0xF7U); - - NVIC_EnableIRQ(DMA2_Stream2_IRQn); - NVIC_EnableIRQ(DMA2_Stream3_IRQn); -} diff --git a/panda/board/stm32f4/lluart.h b/panda/board/stm32f4/lluart.h deleted file mode 100644 index 64094119f4dcb7..00000000000000 --- a/panda/board/stm32f4/lluart.h +++ /dev/null @@ -1,92 +0,0 @@ -// ***************************** Interrupt handlers ***************************** - -void uart_tx_ring(uart_ring *q){ - ENTER_CRITICAL(); - // Send out next byte of TX buffer - if (q->w_ptr_tx != q->r_ptr_tx) { - // Only send if transmit register is empty (aka last byte has been sent) - if ((q->uart->SR & USART_SR_TXE) != 0U) { - q->uart->DR = q->elems_tx[q->r_ptr_tx]; // This clears TXE - q->r_ptr_tx = (q->r_ptr_tx + 1U) % q->tx_fifo_size; - } - - // Enable TXE interrupt if there is still data to be sent - if(q->r_ptr_tx != q->w_ptr_tx){ - q->uart->CR1 |= USART_CR1_TXEIE; - } else { - q->uart->CR1 &= ~USART_CR1_TXEIE; - } - } - EXIT_CRITICAL(); -} - -void uart_rx_ring(uart_ring *q){ - ENTER_CRITICAL(); - - // Read out RX buffer - uint8_t c = q->uart->DR; // This read after reading SR clears a bunch of interrupts - - uint16_t next_w_ptr = (q->w_ptr_rx + 1U) % q->rx_fifo_size; - - if ((next_w_ptr == q->r_ptr_rx) && q->overwrite) { - // overwrite mode: drop oldest byte - q->r_ptr_rx = (q->r_ptr_rx + 1U) % q->rx_fifo_size; - } - - // Do not overwrite buffer data - if (next_w_ptr != q->r_ptr_rx) { - q->elems_rx[q->w_ptr_rx] = c; - q->w_ptr_rx = next_w_ptr; - if (q->callback != NULL) { - q->callback(q); - } - } - - EXIT_CRITICAL(); -} - -void uart_send_break(uart_ring *u) { - while ((u->uart->CR1 & USART_CR1_SBK) != 0U); - u->uart->CR1 |= USART_CR1_SBK; -} - -// This read after reading SR clears all error interrupts. We don't want compiler warnings, nor optimizations -#define UART_READ_DR(uart) volatile uint8_t t = (uart)->DR; UNUSED(t); - -void uart_interrupt_handler(uart_ring *q) { - ENTER_CRITICAL(); - - // Read UART status. This is also the first step necessary in clearing most interrupts - uint32_t status = q->uart->SR; - - // If RXNE is set, perform a read. This clears RXNE, ORE, IDLE, NF and FE - if((status & USART_SR_RXNE) != 0U){ - uart_rx_ring(q); - } - - // Detect errors and clear them - uint32_t err = (status & USART_SR_ORE) | (status & USART_SR_NE) | (status & USART_SR_FE) | (status & USART_SR_PE); - if(err != 0U){ - #ifdef DEBUG_UART - print("Encountered UART error: "); puth(err); print("\n"); - #endif - UART_READ_DR(q->uart) - } - // Send if necessary - uart_tx_ring(q); - - EXIT_CRITICAL(); -} - -void USART2_IRQ_Handler(void) { uart_interrupt_handler(&uart_ring_debug); } - -// ***************************** Hardware setup ***************************** - -#define DIV_(_PCLK_, _BAUD_) (((_PCLK_) * 25U) / (4U * (_BAUD_))) -#define DIVMANT_(_PCLK_, _BAUD_) (DIV_((_PCLK_), (_BAUD_)) / 100U) -#define DIVFRAQ_(_PCLK_, _BAUD_) ((((DIV_((_PCLK_), (_BAUD_)) - (DIVMANT_((_PCLK_), (_BAUD_)) * 100U)) * 16U) + 50U) / 100U) -#define USART_BRR_(_PCLK_, _BAUD_) ((DIVMANT_((_PCLK_), (_BAUD_)) << 4) | (DIVFRAQ_((_PCLK_), (_BAUD_)) & 0x0FU)) - -void uart_set_baud(USART_TypeDef *u, unsigned int baud) { - u->BRR = USART_BRR_(APB1_FREQ*1000000U, baud); -} diff --git a/panda/board/stm32f4/llusb.h b/panda/board/stm32f4/llusb.h deleted file mode 100644 index 6f15c89e1182a2..00000000000000 --- a/panda/board/stm32f4/llusb.h +++ /dev/null @@ -1,91 +0,0 @@ -USB_OTG_GlobalTypeDef *USBx = USB_OTG_FS; - -#define USBx_HOST ((USB_OTG_HostTypeDef *)((uint32_t)USBx + USB_OTG_HOST_BASE)) -#define USBx_DEVICE ((USB_OTG_DeviceTypeDef *)((uint32_t)USBx + USB_OTG_DEVICE_BASE)) -#define USBx_INEP(i) ((USB_OTG_INEndpointTypeDef *)((uint32_t)USBx + USB_OTG_IN_ENDPOINT_BASE + ((i) * USB_OTG_EP_REG_SIZE))) -#define USBx_OUTEP(i) ((USB_OTG_OUTEndpointTypeDef *)((uint32_t)USBx + USB_OTG_OUT_ENDPOINT_BASE + ((i) * USB_OTG_EP_REG_SIZE))) -#define USBx_DFIFO(i) *(__IO uint32_t *)((uint32_t)USBx + USB_OTG_FIFO_BASE + ((i) * USB_OTG_FIFO_SIZE)) -#define USBx_PCGCCTL *(__IO uint32_t *)((uint32_t)USBx + USB_OTG_PCGCCTL_BASE) - -#define USBD_FS_TRDT_VALUE 5UL -#define USB_OTG_SPEED_FULL 3UL - - -void usb_irqhandler(void); - -void OTG_FS_IRQ_Handler(void) { - NVIC_DisableIRQ(OTG_FS_IRQn); - //__disable_irq(); - usb_irqhandler(); - //__enable_irq(); - NVIC_EnableIRQ(OTG_FS_IRQn); -} - -void usb_init(void) { - REGISTER_INTERRUPT(OTG_FS_IRQn, OTG_FS_IRQ_Handler, 1500000U, FAULT_INTERRUPT_RATE_USB) //TODO: Find out a better rate limit for USB. Now it's the 1.5MB/s rate - - // full speed PHY, do reset and remove power down - /*puth(USBx->GRSTCTL); - print(" resetting PHY\n");*/ - while ((USBx->GRSTCTL & USB_OTG_GRSTCTL_AHBIDL) == 0U); - //print("AHB idle\n"); - - // reset PHY here - USBx->GRSTCTL |= USB_OTG_GRSTCTL_CSRST; - while ((USBx->GRSTCTL & USB_OTG_GRSTCTL_CSRST) == USB_OTG_GRSTCTL_CSRST); - //print("reset done\n"); - - // internal PHY, force device mode - USBx->GUSBCFG = USB_OTG_GUSBCFG_PHYSEL | USB_OTG_GUSBCFG_FDMOD; - - // slowest timings - USBx->GUSBCFG |= ((USBD_FS_TRDT_VALUE << 10) & USB_OTG_GUSBCFG_TRDT); - - // power up the PHY - USBx->GCCFG = USB_OTG_GCCFG_PWRDWN; - - //USBx->GCCFG |= USB_OTG_GCCFG_VBDEN | USB_OTG_GCCFG_SDEN |USB_OTG_GCCFG_PDEN | USB_OTG_GCCFG_DCDEN; - - /* B-peripheral session valid override enable*/ - USBx->GOTGCTL |= USB_OTG_GOTGCTL_BVALOVAL; - USBx->GOTGCTL |= USB_OTG_GOTGCTL_BVALOEN; - - // be a device, slowest timings - //USBx->GUSBCFG = USB_OTG_GUSBCFG_FDMOD | USB_OTG_GUSBCFG_PHYSEL | USB_OTG_GUSBCFG_TRDT | USB_OTG_GUSBCFG_TOCAL; - //USBx->GUSBCFG |= (uint32_t)((USBD_FS_TRDT_VALUE << 10) & USB_OTG_GUSBCFG_TRDT); - //USBx->GUSBCFG = USB_OTG_GUSBCFG_PHYSEL | USB_OTG_GUSBCFG_TRDT | USB_OTG_GUSBCFG_TOCAL; - - // **** for debugging, doesn't seem to work **** - //USBx->GUSBCFG |= USB_OTG_GUSBCFG_CTXPKT; - - // reset PHY clock - USBx_PCGCCTL = 0; - - // enable the fancy OTG things - // DCFG_FRAME_INTERVAL_80 is 0 - //USBx->GUSBCFG |= USB_OTG_GUSBCFG_HNPCAP | USB_OTG_GUSBCFG_SRPCAP; - USBx_DEVICE->DCFG |= USB_OTG_SPEED_FULL | USB_OTG_DCFG_NZLSOHSK; - - //USBx_DEVICE->DCFG = USB_OTG_DCFG_NZLSOHSK | USB_OTG_DCFG_DSPD; - //USBx_DEVICE->DCFG = USB_OTG_DCFG_DSPD; - - // clear pending interrupts - USBx->GINTSTS = 0xBFFFFFFFU; - - // setup USB interrupts - // all interrupts except TXFIFO EMPTY - //USBx->GINTMSK = 0xFFFFFFFF & ~(USB_OTG_GINTMSK_NPTXFEM | USB_OTG_GINTMSK_PTXFEM | USB_OTG_GINTSTS_SOF | USB_OTG_GINTSTS_EOPF); - //USBx->GINTMSK = 0xFFFFFFFF & ~(USB_OTG_GINTMSK_NPTXFEM | USB_OTG_GINTMSK_PTXFEM); - USBx->GINTMSK = USB_OTG_GINTMSK_USBRST | USB_OTG_GINTMSK_ENUMDNEM | USB_OTG_GINTMSK_OTGINT | - USB_OTG_GINTMSK_RXFLVLM | USB_OTG_GINTMSK_GONAKEFFM | USB_OTG_GINTMSK_GINAKEFFM | - USB_OTG_GINTMSK_OEPINT | USB_OTG_GINTMSK_IEPINT | USB_OTG_GINTMSK_USBSUSPM | - USB_OTG_GINTMSK_CIDSCHGM | USB_OTG_GINTMSK_SRQIM | USB_OTG_GINTMSK_MMISM | USB_OTG_GINTMSK_EOPFM; - - USBx->GAHBCFG = USB_OTG_GAHBCFG_GINT; - - // DCTL startup value is 2 on new chip, 0 on old chip - USBx_DEVICE->DCTL = 0; - - // enable the IRQ - NVIC_EnableIRQ(OTG_FS_IRQn); -} diff --git a/panda/board/stm32f4/peripherals.h b/panda/board/stm32f4/peripherals.h deleted file mode 100644 index 711f1b82a0e6d8..00000000000000 --- a/panda/board/stm32f4/peripherals.h +++ /dev/null @@ -1,90 +0,0 @@ -void gpio_usb_init(void) { - // A11,A12: USB - set_gpio_alternate(GPIOA, 11, GPIO_AF10_OTG_FS); - set_gpio_alternate(GPIOA, 12, GPIO_AF10_OTG_FS); - GPIOA->OSPEEDR = GPIO_OSPEEDER_OSPEEDR11 | GPIO_OSPEEDER_OSPEEDR12; -} - -void gpio_spi_init(void) { - // A4-A7: SPI - set_gpio_alternate(GPIOA, 4, GPIO_AF5_SPI1); - set_gpio_alternate(GPIOA, 5, GPIO_AF5_SPI1); - set_gpio_alternate(GPIOA, 6, GPIO_AF5_SPI1); - set_gpio_alternate(GPIOA, 7, GPIO_AF5_SPI1); - register_set_bits(&(GPIOA->OSPEEDR), GPIO_OSPEEDER_OSPEEDR4 | GPIO_OSPEEDER_OSPEEDR5 | GPIO_OSPEEDER_OSPEEDR6 | GPIO_OSPEEDER_OSPEEDR7); -} - -void gpio_usart2_init(void) { - // A2,A3: USART 2 for debugging - set_gpio_alternate(GPIOA, 2, GPIO_AF7_USART2); - set_gpio_alternate(GPIOA, 3, GPIO_AF7_USART2); -} - -// Common GPIO initialization -void common_init_gpio(void) { - // TODO: Is this block actually doing something??? - // pull low to hold ESP in reset?? - // enable OTG out tied to ground - GPIOA->ODR = 0; - GPIOB->ODR = 0; - GPIOA->PUPDR = 0; - GPIOB->AFR[0] = 0; - GPIOB->AFR[1] = 0; - - // C2: Voltage sense line - set_gpio_mode(GPIOC, 2, MODE_ANALOG); - - gpio_usb_init(); - - // B8,B9: CAN 1 - set_gpio_alternate(GPIOB, 8, GPIO_AF8_CAN1); - set_gpio_alternate(GPIOB, 9, GPIO_AF8_CAN1); -} - -void flasher_peripherals_init(void) { - RCC->AHB1ENR |= RCC_AHB1ENR_DMA2EN; - RCC->APB2ENR |= RCC_APB2ENR_SPI1EN; - RCC->AHB2ENR |= RCC_AHB2ENR_OTGFSEN; - RCC->APB1ENR |= RCC_APB1ENR_USART2EN; -} - -// Peripheral initialization -void peripherals_init(void) { - // enable GPIO(A,B,C,D) - RCC->AHB1ENR |= RCC_AHB1ENR_GPIOAEN; - RCC->AHB1ENR |= RCC_AHB1ENR_GPIOBEN; - RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN; - RCC->AHB1ENR |= RCC_AHB1ENR_GPIODEN; - - // Supplemental - RCC->AHB1ENR |= RCC_AHB1ENR_DMA2EN; - RCC->APB1ENR |= RCC_APB1ENR_PWREN; // for RTC config - RCC->APB2ENR |= RCC_APB2ENR_SYSCFGEN; - - // Connectivity - RCC->APB2ENR |= RCC_APB2ENR_SPI1EN; - RCC->AHB2ENR |= RCC_AHB2ENR_OTGFSEN; - RCC->APB1ENR |= RCC_APB1ENR_USART2EN; - RCC->APB1ENR |= RCC_APB1ENR_USART3EN; - RCC->APB1ENR |= RCC_APB1ENR_UART5EN; - RCC->APB1ENR |= RCC_APB1ENR_CAN1EN; - RCC->APB1ENR |= RCC_APB1ENR_CAN2EN; - RCC->APB1ENR |= RCC_APB1ENR_CAN3EN; - - // Analog - RCC->APB2ENR |= RCC_APB2ENR_ADC1EN; - RCC->APB1ENR |= RCC_APB1ENR_DACEN; - - // Timers - RCC->APB2ENR |= RCC_APB2ENR_TIM1EN; // clock source timer - RCC->APB1ENR |= RCC_APB1ENR_TIM2EN; // main counter - RCC->APB1ENR |= RCC_APB1ENR_TIM3EN; // pedal and fan PWM - RCC->APB1ENR |= RCC_APB1ENR_TIM4EN; // IR PWM - RCC->APB1ENR |= RCC_APB1ENR_TIM5EN; // k-line init - RCC->APB1ENR |= RCC_APB1ENR_TIM6EN; // interrupt timer - RCC->APB2ENR |= RCC_APB2ENR_TIM9EN; // slow loop -} - -void enable_interrupt_timer(void) { - register_set_bits(&(RCC->APB1ENR), RCC_APB1ENR_TIM6EN); // Enable interrupt timer peripheral -} diff --git a/panda/board/stm32f4/startup_stm32f413xx.s b/panda/board/stm32f4/startup_stm32f413xx.s deleted file mode 100644 index 6e6fb5ffa58bc5..00000000000000 --- a/panda/board/stm32f4/startup_stm32f413xx.s +++ /dev/null @@ -1,583 +0,0 @@ -/** - ****************************************************************************** - * @file startup_stm32f413xx.s - * @author MCD Application Team - * @version V2.6.0 - * @date 04-November-2016 - * @brief STM32F413xx Devices vector table for GCC based toolchains. - * This module performs: - * - Set the initial SP - * - Set the initial PC == Reset_Handler, - * - Set the vector table entries with the exceptions ISR address - * - Branches to main in the C library (which eventually - * calls main()). - * After Reset the Cortex-M4 processor is in Thread mode, - * priority is Privileged, and the Stack is set to Main. - ****************************************************************************** - * @attention - * - *

© COPYRIGHT 2016 STMicroelectronics

- * - * Redistribution and use in source and binary forms, with or without modification, - * are permitted provided that the following conditions are met: - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * 3. Neither the name of STMicroelectronics nor the names of its contributors - * may be used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE - * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL - * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR - * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, - * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE - * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************** - */ - - .syntax unified - .cpu cortex-m4 - .fpu softvfp - .thumb - -.global g_pfnVectors -.global Default_Handler - -/* start address for the initialization values of the .data section. -defined in linker script */ -.word _sidata -/* start address for the .data section. defined in linker script */ -.word _sdata -/* end address for the .data section. defined in linker script */ -.word _edata -/* start address for the .bss section. defined in linker script */ -.word _sbss -/* end address for the .bss section. defined in linker script */ -.word _ebss -/* stack used for SystemInit_ExtMemCtl; always internal RAM used */ - -/** - * @brief This is the code that gets called when the processor first - * starts execution following a reset event. Only the absolutely - * necessary set is performed, after which the application - * supplied main() routine is called. - * @param None - * @retval : None -*/ - - .section .text.Reset_Handler - .weak Reset_Handler - .type Reset_Handler, %function -Reset_Handler: - ldr sp, =_estack /* set stack pointer */ - bl __initialize_hardware_early - -/* Copy the data segment initializers from flash to SRAM */ - movs r1, #0 - b LoopCopyDataInit - -CopyDataInit: - ldr r3, =_sidata - ldr r3, [r3, r1] - str r3, [r0, r1] - adds r1, r1, #4 - -LoopCopyDataInit: - ldr r0, =_sdata - ldr r3, =_edata - adds r2, r0, r1 - cmp r2, r3 - bcc CopyDataInit - ldr r2, =_sbss - b LoopFillZerobss -/* Zero fill the bss segment. */ -FillZerobss: - movs r3, #0 - str r3, [r2], #4 - -LoopFillZerobss: - ldr r3, = _ebss - cmp r2, r3 - bcc FillZerobss - -/* Call the clock system intitialization function.*/ - /* bl SystemInit */ -/* Call static constructors */ - /* bl __libc_init_array */ -/* Call the application's entry point.*/ - bl main - bx lr -.size Reset_Handler, .-Reset_Handler - -/** - * @brief This is the code that gets called when the processor receives an - * unexpected interrupt. This simply enters an infinite loop, preserving - * the system state for examination by a debugger. - * @param None - * @retval None -*/ - .section .text.Default_Handler,"ax",%progbits -Default_Handler: -Infinite_Loop: - b Infinite_Loop - .size Default_Handler, .-Default_Handler -/****************************************************************************** -* -* The minimal vector table for a Cortex M3. Note that the proper constructs -* must be placed on this to ensure that it ends up at physical address -* 0x0000.0000. -* -*******************************************************************************/ - .section .isr_vector,"a",%progbits - .type g_pfnVectors, %object - .size g_pfnVectors, .-g_pfnVectors - -g_pfnVectors: - .word _estack - .word Reset_Handler - .word NMI_Handler - .word HardFault_Handler - .word MemManage_Handler - .word BusFault_Handler - .word UsageFault_Handler - .word 0 - .word 0 - .word 0 - .word 0 - .word SVC_Handler - .word DebugMon_Handler - .word 0 - .word PendSV_Handler - .word SysTick_Handler - - /* External Interrupts */ - .word WWDG_IRQHandler /* Window WatchDog */ - .word PVD_IRQHandler /* PVD through EXTI Line detection */ - .word TAMP_STAMP_IRQHandler /* Tamper and TimeStamps through the EXTI line */ - .word RTC_WKUP_IRQHandler /* RTC Wakeup through the EXTI line */ - .word FLASH_IRQHandler /* FLASH */ - .word RCC_IRQHandler /* RCC */ - .word EXTI0_IRQHandler /* EXTI Line0 */ - .word EXTI1_IRQHandler /* EXTI Line1 */ - .word EXTI2_IRQHandler /* EXTI Line2 */ - .word EXTI3_IRQHandler /* EXTI Line3 */ - .word EXTI4_IRQHandler /* EXTI Line4 */ - .word DMA1_Stream0_IRQHandler /* DMA1 Stream 0 */ - .word DMA1_Stream1_IRQHandler /* DMA1 Stream 1 */ - .word DMA1_Stream2_IRQHandler /* DMA1 Stream 2 */ - .word DMA1_Stream3_IRQHandler /* DMA1 Stream 3 */ - .word DMA1_Stream4_IRQHandler /* DMA1 Stream 4 */ - .word DMA1_Stream5_IRQHandler /* DMA1 Stream 5 */ - .word DMA1_Stream6_IRQHandler /* DMA1 Stream 6 */ - .word ADC_IRQHandler /* ADC1, ADC2 and ADC3s */ - .word CAN1_TX_IRQHandler /* CAN1 TX */ - .word CAN1_RX0_IRQHandler /* CAN1 RX0 */ - .word CAN1_RX1_IRQHandler /* CAN1 RX1 */ - .word CAN1_SCE_IRQHandler /* CAN1 SCE */ - .word EXTI9_5_IRQHandler /* External Line[9:5]s */ - .word TIM1_BRK_TIM9_IRQHandler /* TIM1 Break and TIM9 */ - .word TIM1_UP_TIM10_IRQHandler /* TIM1 Update and TIM10 */ - .word TIM1_TRG_COM_TIM11_IRQHandler /* TIM1 Trigger and Commutation and TIM11 */ - .word TIM1_CC_IRQHandler /* TIM1 Capture Compare */ - .word TIM2_IRQHandler /* TIM2 */ - .word TIM3_IRQHandler /* TIM3 */ - .word TIM4_IRQHandler /* TIM4 */ - .word I2C1_EV_IRQHandler /* I2C1 Event */ - .word I2C1_ER_IRQHandler /* I2C1 Error */ - .word I2C2_EV_IRQHandler /* I2C2 Event */ - .word I2C2_ER_IRQHandler /* I2C2 Error */ - .word SPI1_IRQHandler /* SPI1 */ - .word SPI2_IRQHandler /* SPI2 */ - .word USART1_IRQHandler /* USART1 */ - .word USART2_IRQHandler /* USART2 */ - .word USART3_IRQHandler /* USART3 */ - .word EXTI15_10_IRQHandler /* External Line[15:10]s */ - .word RTC_Alarm_IRQHandler /* RTC Alarm (A and B) through EXTI Line */ - .word OTG_FS_WKUP_IRQHandler /* USB OTG FS Wakeup through EXTI line */ - .word TIM8_BRK_TIM12_IRQHandler /* TIM8 Break and TIM12 */ - .word TIM8_UP_TIM13_IRQHandler /* TIM8 Update and TIM13 */ - .word TIM8_TRG_COM_TIM14_IRQHandler /* TIM8 Trigger and Commutation and TIM14 */ - .word TIM8_CC_IRQHandler /* TIM8 Capture Compare */ - .word DMA1_Stream7_IRQHandler /* DMA1 Stream7 */ - .word FSMC_IRQHandler /* FSMC */ - .word SDIO_IRQHandler /* SDIO */ - .word TIM5_IRQHandler /* TIM5 */ - .word SPI3_IRQHandler /* SPI3 */ - .word UART4_IRQHandler /* UART4 */ - .word UART5_IRQHandler /* UART5 */ - .word TIM6_DAC_IRQHandler /* TIM6, DAC1 and DAC2 */ - .word TIM7_IRQHandler /* TIM7 */ - .word DMA2_Stream0_IRQHandler /* DMA2 Stream 0 */ - .word DMA2_Stream1_IRQHandler /* DMA2 Stream 1 */ - .word DMA2_Stream2_IRQHandler /* DMA2 Stream 2 */ - .word DMA2_Stream3_IRQHandler /* DMA2 Stream 3 */ - .word DMA2_Stream4_IRQHandler /* DMA2 Stream 4 */ - .word DFSDM1_FLT0_IRQHandler /* DFSDM1 Filter0 */ - .word DFSDM1_FLT1_IRQHandler /* DFSDM1 Filter1 */ - .word CAN2_TX_IRQHandler /* CAN2 TX */ - .word CAN2_RX0_IRQHandler /* CAN2 RX0 */ - .word CAN2_RX1_IRQHandler /* CAN2 RX1 */ - .word CAN2_SCE_IRQHandler /* CAN2 SCE */ - .word OTG_FS_IRQHandler /* USB OTG FS */ - .word DMA2_Stream5_IRQHandler /* DMA2 Stream 5 */ - .word DMA2_Stream6_IRQHandler /* DMA2 Stream 6 */ - .word DMA2_Stream7_IRQHandler /* DMA2 Stream 7 */ - .word USART6_IRQHandler /* USART6 */ - .word I2C3_EV_IRQHandler /* I2C3 event */ - .word I2C3_ER_IRQHandler /* I2C3 error */ - .word CAN3_TX_IRQHandler /* CAN3 TX */ - .word CAN3_RX0_IRQHandler /* CAN3 RX0 */ - .word CAN3_RX1_IRQHandler /* CAN3 RX1 */ - .word CAN3_SCE_IRQHandler /* CAN3 SCE */ - .word 0 /* Reserved */ - .word 0 /* Reserved */ - .word RNG_IRQHandler /* RNG */ - .word FPU_IRQHandler /* FPU */ - .word UART7_IRQHandler /* UART7 */ - .word UART8_IRQHandler /* UART8 */ - .word SPI4_IRQHandler /* SPI4 */ - .word SPI5_IRQHandler /* SPI5 */ - .word 0 /* Reserved */ - .word SAI1_IRQHandler /* SAI1 */ - .word UART9_IRQHandler /* UART9 */ - .word UART10_IRQHandler /* UART10 */ - .word 0 /* Reserved */ - .word 0 /* Reserved */ - .word QUADSPI_IRQHandler /* QuadSPI */ - .word 0 /* Reserved */ - .word 0 /* Reserved */ - .word FMPI2C1_EV_IRQHandler /* FMPI2C1 Event */ - .word FMPI2C1_ER_IRQHandler /* FMPI2C1 Error */ - .word LPTIM1_IRQHandler /* LPTIM1 */ - .word DFSDM2_FLT0_IRQHandler /* DFSDM2 Filter0 */ - .word DFSDM2_FLT1_IRQHandler /* DFSDM2 Filter1 */ - .word DFSDM2_FLT2_IRQHandler /* DFSDM2 Filter2 */ - .word DFSDM2_FLT3_IRQHandler /* DFSDM2 Filter3 */ - -/******************************************************************************* -* -* Provide weak aliases for each Exception handler to the Default_Handler. -* As they are weak aliases, any function with the same name will override -* this definition. -* -*******************************************************************************/ - .weak NMI_Handler - .thumb_set NMI_Handler,Default_Handler - - .weak HardFault_Handler - .thumb_set HardFault_Handler,Default_Handler - - .weak MemManage_Handler - .thumb_set MemManage_Handler,Default_Handler - - .weak BusFault_Handler - .thumb_set BusFault_Handler,Default_Handler - - .weak UsageFault_Handler - .thumb_set UsageFault_Handler,Default_Handler - - .weak SVC_Handler - .thumb_set SVC_Handler,Default_Handler - - .weak DebugMon_Handler - .thumb_set DebugMon_Handler,Default_Handler - - .weak PendSV_Handler - .thumb_set PendSV_Handler,Default_Handler - - .weak SysTick_Handler - .thumb_set SysTick_Handler,Default_Handler - - .weak WWDG_IRQHandler - .thumb_set WWDG_IRQHandler,Default_Handler - - .weak PVD_IRQHandler - .thumb_set PVD_IRQHandler,Default_Handler - - .weak TAMP_STAMP_IRQHandler - .thumb_set TAMP_STAMP_IRQHandler,Default_Handler - - .weak RTC_WKUP_IRQHandler - .thumb_set RTC_WKUP_IRQHandler,Default_Handler - - .weak FLASH_IRQHandler - .thumb_set FLASH_IRQHandler,Default_Handler - - .weak RCC_IRQHandler - .thumb_set RCC_IRQHandler,Default_Handler - - .weak EXTI0_IRQHandler - .thumb_set EXTI0_IRQHandler,Default_Handler - - .weak EXTI1_IRQHandler - .thumb_set EXTI1_IRQHandler,Default_Handler - - .weak EXTI2_IRQHandler - .thumb_set EXTI2_IRQHandler,Default_Handler - - .weak EXTI3_IRQHandler - .thumb_set EXTI3_IRQHandler,Default_Handler - - .weak EXTI4_IRQHandler - .thumb_set EXTI4_IRQHandler,Default_Handler - - .weak DMA1_Stream0_IRQHandler - .thumb_set DMA1_Stream0_IRQHandler,Default_Handler - - .weak DMA1_Stream1_IRQHandler - .thumb_set DMA1_Stream1_IRQHandler,Default_Handler - - .weak DMA1_Stream2_IRQHandler - .thumb_set DMA1_Stream2_IRQHandler,Default_Handler - - .weak DMA1_Stream3_IRQHandler - .thumb_set DMA1_Stream3_IRQHandler,Default_Handler - - .weak DMA1_Stream4_IRQHandler - .thumb_set DMA1_Stream4_IRQHandler,Default_Handler - - .weak DMA1_Stream5_IRQHandler - .thumb_set DMA1_Stream5_IRQHandler,Default_Handler - - .weak DMA1_Stream6_IRQHandler - .thumb_set DMA1_Stream6_IRQHandler,Default_Handler - - .weak ADC_IRQHandler - .thumb_set ADC_IRQHandler,Default_Handler - - .weak CAN1_TX_IRQHandler - .thumb_set CAN1_TX_IRQHandler,Default_Handler - - .weak CAN1_RX0_IRQHandler - .thumb_set CAN1_RX0_IRQHandler,Default_Handler - - .weak CAN1_RX1_IRQHandler - .thumb_set CAN1_RX1_IRQHandler,Default_Handler - - .weak CAN1_SCE_IRQHandler - .thumb_set CAN1_SCE_IRQHandler,Default_Handler - - .weak EXTI9_5_IRQHandler - .thumb_set EXTI9_5_IRQHandler,Default_Handler - - .weak TIM1_BRK_TIM9_IRQHandler - .thumb_set TIM1_BRK_TIM9_IRQHandler,Default_Handler - - .weak TIM1_UP_TIM10_IRQHandler - .thumb_set TIM1_UP_TIM10_IRQHandler,Default_Handler - - .weak TIM1_TRG_COM_TIM11_IRQHandler - .thumb_set TIM1_TRG_COM_TIM11_IRQHandler,Default_Handler - - .weak TIM1_CC_IRQHandler - .thumb_set TIM1_CC_IRQHandler,Default_Handler - - .weak TIM2_IRQHandler - .thumb_set TIM2_IRQHandler,Default_Handler - - .weak TIM3_IRQHandler - .thumb_set TIM3_IRQHandler,Default_Handler - - .weak TIM4_IRQHandler - .thumb_set TIM4_IRQHandler,Default_Handler - - .weak I2C1_EV_IRQHandler - .thumb_set I2C1_EV_IRQHandler,Default_Handler - - .weak I2C1_ER_IRQHandler - .thumb_set I2C1_ER_IRQHandler,Default_Handler - - .weak I2C2_EV_IRQHandler - .thumb_set I2C2_EV_IRQHandler,Default_Handler - - .weak I2C2_ER_IRQHandler - .thumb_set I2C2_ER_IRQHandler,Default_Handler - - .weak SPI1_IRQHandler - .thumb_set SPI1_IRQHandler,Default_Handler - - .weak SPI2_IRQHandler - .thumb_set SPI2_IRQHandler,Default_Handler - - .weak USART1_IRQHandler - .thumb_set USART1_IRQHandler,Default_Handler - - .weak USART2_IRQHandler - .thumb_set USART2_IRQHandler,Default_Handler - - .weak USART3_IRQHandler - .thumb_set USART3_IRQHandler,Default_Handler - - .weak EXTI15_10_IRQHandler - .thumb_set EXTI15_10_IRQHandler,Default_Handler - - .weak RTC_Alarm_IRQHandler - .thumb_set RTC_Alarm_IRQHandler,Default_Handler - - .weak OTG_FS_WKUP_IRQHandler - .thumb_set OTG_FS_WKUP_IRQHandler,Default_Handler - - .weak TIM8_BRK_TIM12_IRQHandler - .thumb_set TIM8_BRK_TIM12_IRQHandler,Default_Handler - - .weak TIM8_UP_TIM13_IRQHandler - .thumb_set TIM8_UP_TIM13_IRQHandler,Default_Handler - - .weak TIM8_TRG_COM_TIM14_IRQHandler - .thumb_set TIM8_TRG_COM_TIM14_IRQHandler,Default_Handler - - .weak TIM8_CC_IRQHandler - .thumb_set TIM8_CC_IRQHandler,Default_Handler - - .weak DMA1_Stream7_IRQHandler - .thumb_set DMA1_Stream7_IRQHandler,Default_Handler - - .weak FSMC_IRQHandler - .thumb_set FSMC_IRQHandler,Default_Handler - - .weak SDIO_IRQHandler - .thumb_set SDIO_IRQHandler,Default_Handler - - .weak TIM5_IRQHandler - .thumb_set TIM5_IRQHandler,Default_Handler - - .weak SPI3_IRQHandler - .thumb_set SPI3_IRQHandler,Default_Handler - - .weak UART4_IRQHandler - .thumb_set UART4_IRQHandler,Default_Handler - - .weak UART5_IRQHandler - .thumb_set UART5_IRQHandler,Default_Handler - - .weak TIM6_DAC_IRQHandler - .thumb_set TIM6_DAC_IRQHandler,Default_Handler - - .weak TIM7_IRQHandler - .thumb_set TIM7_IRQHandler,Default_Handler - - .weak DMA2_Stream0_IRQHandler - .thumb_set DMA2_Stream0_IRQHandler,Default_Handler - - .weak DMA2_Stream1_IRQHandler - .thumb_set DMA2_Stream1_IRQHandler,Default_Handler - - .weak DMA2_Stream2_IRQHandler - .thumb_set DMA2_Stream2_IRQHandler,Default_Handler - - .weak DMA2_Stream3_IRQHandler - .thumb_set DMA2_Stream3_IRQHandler,Default_Handler - - .weak DMA2_Stream4_IRQHandler - .thumb_set DMA2_Stream4_IRQHandler,Default_Handler - - .weak DFSDM1_FLT0_IRQHandler - .thumb_set DFSDM1_FLT0_IRQHandler,Default_Handler - - .weak DFSDM1_FLT1_IRQHandler - .thumb_set DFSDM1_FLT1_IRQHandler,Default_Handler - - .weak CAN2_TX_IRQHandler - .thumb_set CAN2_TX_IRQHandler,Default_Handler - - .weak CAN2_RX0_IRQHandler - .thumb_set CAN2_RX0_IRQHandler,Default_Handler - - .weak CAN2_RX1_IRQHandler - .thumb_set CAN2_RX1_IRQHandler,Default_Handler - - .weak CAN2_SCE_IRQHandler - .thumb_set CAN2_SCE_IRQHandler,Default_Handler - - .weak OTG_FS_IRQHandler - .thumb_set OTG_FS_IRQHandler,Default_Handler - - .weak DMA2_Stream5_IRQHandler - .thumb_set DMA2_Stream5_IRQHandler,Default_Handler - - .weak DMA2_Stream6_IRQHandler - .thumb_set DMA2_Stream6_IRQHandler,Default_Handler - - .weak DMA2_Stream7_IRQHandler - .thumb_set DMA2_Stream7_IRQHandler,Default_Handler - - .weak USART6_IRQHandler - .thumb_set USART6_IRQHandler,Default_Handler - - .weak I2C3_EV_IRQHandler - .thumb_set I2C3_EV_IRQHandler,Default_Handler - - .weak I2C3_ER_IRQHandler - .thumb_set I2C3_ER_IRQHandler,Default_Handler - - .weak CAN3_TX_IRQHandler - .thumb_set CAN3_TX_IRQHandler,Default_Handler - - .weak CAN3_RX0_IRQHandler - .thumb_set CAN3_RX0_IRQHandler,Default_Handler - - .weak CAN3_RX1_IRQHandler - .thumb_set CAN3_RX1_IRQHandler,Default_Handler - - .weak CAN3_SCE_IRQHandler - .thumb_set CAN3_SCE_IRQHandler,Default_Handler - - .weak RNG_IRQHandler - .thumb_set RNG_IRQHandler,Default_Handler - - .weak FPU_IRQHandler - .thumb_set FPU_IRQHandler,Default_Handler - - .weak UART7_IRQHandler - .thumb_set UART7_IRQHandler,Default_Handler - - .weak UART8_IRQHandler - .thumb_set UART8_IRQHandler,Default_Handler - - .weak SPI4_IRQHandler - .thumb_set SPI4_IRQHandler,Default_Handler - - .weak SPI5_IRQHandler - .thumb_set SPI5_IRQHandler,Default_Handler - - .weak SAI1_IRQHandler - .thumb_set SAI1_IRQHandler,Default_Handler - - .weak UART9_IRQHandler - .thumb_set UART9_IRQHandler,Default_Handler - - .weak UART10_IRQHandler - .thumb_set UART10_IRQHandler,Default_Handler - - .weak QUADSPI_IRQHandler - .thumb_set QUADSPI_IRQHandler,Default_Handler - - .weak FMPI2C1_EV_IRQHandler - .thumb_set FMPI2C1_EV_IRQHandler,Default_Handler - - .weak FMPI2C1_ER_IRQHandler - .thumb_set FMPI2C1_ER_IRQHandler,Default_Handler - - .weak LPTIM1_IRQHandler - .thumb_set LPTIM1_IRQHandler,Default_Handler - - .weak DFSDM2_FLT0_IRQHandler - .thumb_set DFSDM2_FLT0_IRQHandler,Default_Handler - - .weak DFSDM2_FLT1_IRQHandler - .thumb_set DFSDM2_FLT1_IRQHandler,Default_Handler - - .weak DFSDM2_FLT2_IRQHandler - .thumb_set DFSDM2_FLT2_IRQHandler,Default_Handler - - .weak DFSDM2_FLT3_IRQHandler - .thumb_set DFSDM2_FLT3_IRQHandler,Default_Handler -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/panda/board/stm32f4/stm32f4_config.h b/panda/board/stm32f4/stm32f4_config.h deleted file mode 100644 index 85baff25b5f9f7..00000000000000 --- a/panda/board/stm32f4/stm32f4_config.h +++ /dev/null @@ -1,82 +0,0 @@ -#include "stm32f4/inc/stm32f4xx.h" -#include "stm32f4/inc/stm32f4xx_hal_gpio_ex.h" -#define MCU_IDCODE 0x463U - -// from the linker script -#define APP_START_ADDRESS 0x8004000U - -#define CORE_FREQ 96U // in MHz -#define APB1_FREQ (CORE_FREQ/2U) -#define APB1_TIMER_FREQ (APB1_FREQ*2U) // APB1 is multiplied by 2 for the timer peripherals -#define APB2_FREQ (CORE_FREQ/2U) -#define APB2_TIMER_FREQ (APB2_FREQ*2U) // APB2 is multiplied by 2 for the timer peripherals - -#define BOOTLOADER_ADDRESS 0x1FFF0004U - -// Around (1Mbps / 8 bits/byte / 12 bytes per message) -#define CAN_INTERRUPT_RATE 12000U - -#define MAX_LED_FADE 8192U - -#define NUM_INTERRUPTS 102U // There are 102 external interrupt sources (see stm32f413.h) - -#define TICK_TIMER_IRQ TIM1_BRK_TIM9_IRQn -#define TICK_TIMER TIM9 - -#define MICROSECOND_TIMER TIM2 - -#define INTERRUPT_TIMER_IRQ TIM6_DAC_IRQn -#define INTERRUPT_TIMER TIM6 - -#define IND_WDG IWDG - -#define PROVISION_CHUNK_ADDRESS 0x1FFF79E0U -#define DEVICE_SERIAL_NUMBER_ADDRESS 0x1FFF79C0U - -#include "can_definitions.h" -#include "comms_definitions.h" - -#ifndef BOOTSTUB - #include "main_declarations.h" -#else - #include "bootstub_declarations.h" -#endif - -#include "libc.h" -#include "critical.h" -#include "faults.h" -#include "utils.h" - -#include "drivers/registers.h" -#include "drivers/interrupts.h" -#include "drivers/gpio.h" -#include "stm32f4/peripherals.h" -#include "stm32f4/interrupt_handlers.h" -#include "drivers/timers.h" -#include "stm32f4/board.h" -#include "stm32f4/clock.h" -#include "drivers/watchdog.h" - -#include "drivers/spi.h" -#include "stm32f4/llspi.h" - -#if !defined(BOOTSTUB) - #include "drivers/uart.h" - #include "stm32f4/lluart.h" -#endif - -#ifdef BOOTSTUB - #include "stm32f4/llflash.h" -#else - #include "stm32f4/llbxcan.h" -#endif - -#include "stm32f4/llusb.h" - -void early_gpio_float(void) { - RCC->AHB1ENR = RCC_AHB1ENR_GPIOAEN | RCC_AHB1ENR_GPIOBEN | RCC_AHB1ENR_GPIOCEN; - - GPIOA->MODER = 0; GPIOB->MODER = 0; GPIOC->MODER = 0; - GPIOA->ODR = 0; GPIOB->ODR = 0; GPIOC->ODR = 0; - GPIOA->PUPDR = 0; GPIOB->PUPDR = 0; GPIOC->PUPDR = 0; -} diff --git a/panda/board/stm32f4/stm32f4_flash.ld b/panda/board/stm32f4/stm32f4_flash.ld deleted file mode 100644 index a601c1f60a7b42..00000000000000 --- a/panda/board/stm32f4/stm32f4_flash.ld +++ /dev/null @@ -1,166 +0,0 @@ -/* -***************************************************************************** -** -** File : stm32f4_flash.ld -** -** Abstract : Linker script for STM32F407VG Device with -** 1024KByte FLASH, 192KByte RAM -** -** Set heap size, stack size and stack location according -** to application requirements. -** -** Set memory bank area and size if external memory is used. -** -** Target : STMicroelectronics STM32 -** -** Environment : Atollic TrueSTUDIO(R) -** -** Distribution: The file is distributed "as is," without any warranty -** of any kind. -** -** (c)Copyright Atollic AB. -** You may use this file as-is or modify it according to the needs of your -** project. Distribution of this file (unmodified or modified) is not -** permitted. Atollic AB permit registered Atollic TrueSTUDIO(R) users the -** rights to distribute the assembled, compiled & linked contents of this -** file as part of an application binary file, provided that it is built -** using the Atollic TrueSTUDIO(R) toolchain. -** -***************************************************************************** -*/ - -/* Entry Point */ -ENTRY(Reset_Handler) - -/* Highest address of the user mode stack */ -enter_bootloader_mode = 0x2001FFFC; -_estack = 0x2001FFFC; /* end of 128K RAM on AHB bus*/ -_app_start = 0x08004000; /* Reserve Sector 0(16K) for bootloader */ - -/* Generate a link error if heap and stack don't fit into RAM */ -_Min_Heap_Size = 0; /* required amount of heap */ -_Min_Stack_Size = 0x400; /* required amount of stack */ - -/* Specify the memory areas */ -MEMORY -{ - FLASH (rx) : ORIGIN = 0x08000000, LENGTH = 1024K - RAM (xrw) : ORIGIN = 0x20000000, LENGTH = 256K - RAM2 (xrw) : ORIGIN = 0x20040000, LENGTH = 64K - MEMORY_B1 (rx) : ORIGIN = 0x60000000, LENGTH = 0K -} - -/* Define output sections */ -SECTIONS -{ - /* The startup code goes first into FLASH */ - .isr_vector : - { - . = ALIGN(4); - KEEP(*(.isr_vector)) /* Startup code */ - . = ALIGN(4); - } >FLASH - - /* The program code and other data goes into FLASH */ - .text : - { - . = ALIGN(4); - *(.text) /* .text sections (code) */ - *(.text*) /* .text* sections (code) */ - *(.rodata) /* .rodata sections (constants, strings, etc.) */ - *(.rodata*) /* .rodata* sections (constants, strings, etc.) */ - *(.glue_7) /* glue arm to thumb code */ - *(.glue_7t) /* glue thumb to arm code */ - *(.eh_frame) - - KEEP (*(.init)) - KEEP (*(.fini)) - - . = ALIGN(4); - _etext = .; /* define a global symbols at end of code */ - _exit = .; - } >FLASH - - - .ARM.extab : { *(.ARM.extab* .gnu.linkonce.armextab.*) } >FLASH - .ARM : { - __exidx_start = .; - *(.ARM.exidx*) - __exidx_end = .; - } >FLASH - - .preinit_array : - { - PROVIDE_HIDDEN (__preinit_array_start = .); - KEEP (*(.preinit_array*)) - PROVIDE_HIDDEN (__preinit_array_end = .); - } >FLASH - .init_array : - { - PROVIDE_HIDDEN (__init_array_start = .); - KEEP (*(SORT(.init_array.*))) - KEEP (*(.init_array*)) - PROVIDE_HIDDEN (__init_array_end = .); - } >FLASH - .fini_array : - { - PROVIDE_HIDDEN (__fini_array_start = .); - KEEP (*(.fini_array*)) - KEEP (*(SORT(.fini_array.*))) - PROVIDE_HIDDEN (__fini_array_end = .); - } >FLASH - - /* used by the startup to initialize data */ - _sidata = .; - - /* Initialized data sections goes into RAM, load LMA copy after code */ - .data : AT ( _sidata ) - { - . = ALIGN(4); - _sdata = .; /* create a global symbol at data start */ - *(.data) /* .data sections */ - *(.data*) /* .data* sections */ - - . = ALIGN(4); - _edata = .; /* define a global symbol at data end */ - } >RAM - - /* Uninitialized data section */ - . = ALIGN(4); - .bss : - { - /* This is used by the startup in order to initialize the .bss secion */ - _sbss = .; /* define a global symbol at bss start */ - __bss_start__ = _sbss; - *(.bss) - *(.bss*) - *(COMMON) - - . = ALIGN(4); - _ebss = .; /* define a global symbol at bss end */ - __bss_end__ = _ebss; - } >RAM - - /* User_heap_stack section, used to check that there is enough RAM left */ - ._user_heap_stack : - { - . = ALIGN(4); - PROVIDE ( end = . ); - PROVIDE ( _end = . ); - . = . + _Min_Heap_Size; - . = . + _Min_Stack_Size; - . = ALIGN(4); - } >RAM - - /* MEMORY_bank1 section, code must be located here explicitly */ - /* Example: extern int foo(void) __attribute__ ((section (".mb1text"))); */ - .memory_b1_text : - { - *(.mb1text) /* .mb1text sections (code) */ - *(.mb1text*) /* .mb1text* sections (code) */ - *(.mb1rodata) /* read-only data (constants) */ - *(.mb1rodata*) - } >MEMORY_B1 - - .ARM.attributes 0 : { *(.ARM.attributes) } -} diff --git a/panda/board/stm32h7/board.h b/panda/board/stm32h7/board.h deleted file mode 100644 index f5a8e55aa8048d..00000000000000 --- a/panda/board/stm32h7/board.h +++ /dev/null @@ -1,53 +0,0 @@ -// ///////////////////////////////////////////////////////////// // -// Hardware abstraction layer for all different supported boards // -// ///////////////////////////////////////////////////////////// // -#include "boards/board_declarations.h" -#include "boards/unused_funcs.h" - -// ///// Board definition and detection ///// // -#include "stm32h7/lladc.h" -#include "drivers/harness.h" -#include "drivers/fan.h" -#include "stm32h7/llfan.h" -#include "stm32h7/lldac.h" -#include "drivers/fake_siren.h" -#include "drivers/clock_source.h" -#include "boards/red.h" -#include "boards/red_chiplet.h" -#include "boards/tres.h" -#include "boards/cuatro.h" - - -uint8_t get_board_id(void) { - return detect_with_pull(GPIOF, 7, PULL_UP) | - (detect_with_pull(GPIOF, 8, PULL_UP) << 1U) | - (detect_with_pull(GPIOF, 9, PULL_UP) << 2U) | - (detect_with_pull(GPIOF, 10, PULL_UP) << 3U); -} - -void detect_board_type(void) { - const uint8_t board_id = get_board_id(); - - if (board_id == 0U) { - hw_type = HW_TYPE_RED_PANDA; - current_board = &board_red; - } else if (board_id == 1U) { - // deprecated - //hw_type = HW_TYPE_RED_PANDA_V2; - } else if (board_id == 2U) { - hw_type = HW_TYPE_TRES; - current_board = &board_tres; - } else if (board_id == 3U) { - hw_type = HW_TYPE_CUATRO; - current_board = &board_tres; - } else { - hw_type = HW_TYPE_UNKNOWN; - print("Hardware type is UNKNOWN!\n"); - } - - // TODO: detect this live -#ifdef STM32H723 - hw_type = HW_TYPE_CUATRO; - current_board = &board_cuatro; -#endif -} diff --git a/panda/board/stm32h7/clock.h b/panda/board/stm32h7/clock.h deleted file mode 100644 index 2e3ab701d81465..00000000000000 --- a/panda/board/stm32h7/clock.h +++ /dev/null @@ -1,76 +0,0 @@ -/* -HSE: 25MHz -PLL1Q: 80MHz (for FDCAN) -HSI48 enabled (for USB) -CPU: 240MHz -CPU Systick: 240MHz -AXI: 120MHz -HCLK3: 60MHz -APB3 per: 60MHz -AHB1,2 per: 120MHz -APB1 per: 60MHz -APB1 tim: 120MHz -APB2 per: 60MHz -APB2 tim: 120MHz -AHB4 per: 120MHz -APB4 per: 60MHz -PCLK1: 60MHz (for USART2,3,4,5,7,8) -*/ - -void clock_init(void) { - // Set power mode to direct SMPS power supply(depends on the board layout) -#ifndef STM32H723 - register_set(&(PWR->CR3), PWR_CR3_SMPSEN, 0xFU); // powered only by SMPS -#else - register_set(&(PWR->CR3), PWR_CR3_LDOEN, 0xFU); -#endif - // Set VOS level (VOS3 to 170Mhz, VOS2 to 300Mhz, VOS1 to 400Mhz, VOS0 to 550Mhz) - register_set(&(PWR->D3CR), PWR_D3CR_VOS_1 | PWR_D3CR_VOS_0, 0xC000U); //VOS1, needed for 80Mhz CAN FD - while ((PWR->CSR1 & PWR_CSR1_ACTVOSRDY) == 0U); - while ((PWR->CSR1 & PWR_CSR1_ACTVOS) != (PWR->D3CR & PWR_D3CR_VOS)); // check that VOS level was actually set - - // Configure Flash ACR register LATENCY and WRHIGHFREQ (VOS0 range!) - register_set(&(FLASH->ACR), FLASH_ACR_LATENCY_2WS | 0x20U, 0x3FU); // VOS2, AXI 100MHz-150MHz - // enable external oscillator HSE - register_set_bits(&(RCC->CR), RCC_CR_HSEON); - while ((RCC->CR & RCC_CR_HSERDY) == 0U); - // enable internal HSI48 for USB FS kernel - register_set_bits(&(RCC->CR), RCC_CR_HSI48ON); - while ((RCC->CR & RCC_CR_HSI48RDY) == 0U); - // Specify the frequency source for PLL1, divider for DIVM1, DIVM2, DIVM3 : HSE, 5, 5, 5 - register_set(&(RCC->PLLCKSELR), RCC_PLLCKSELR_PLLSRC_HSE | RCC_PLLCKSELR_DIVM1_0 | RCC_PLLCKSELR_DIVM1_2 | RCC_PLLCKSELR_DIVM2_0 | RCC_PLLCKSELR_DIVM2_2 | RCC_PLLCKSELR_DIVM3_0 | RCC_PLLCKSELR_DIVM3_2, 0x3F3F3F3U); - - // *** PLL1 start *** - // Specify multiplier N and dividers P, Q, R for PLL1 : 48, 1, 3, 2 (clock 240Mhz, PLL1Q 80Mhz for CAN FD) - register_set(&(RCC->PLL1DIVR), 0x102002FU, 0x7F7FFFFFU); - // Specify the input and output frequency ranges, enable dividers for PLL1 - register_set(&(RCC->PLLCFGR), RCC_PLLCFGR_PLL1RGE_2 | RCC_PLLCFGR_DIVP1EN | RCC_PLLCFGR_DIVQ1EN | RCC_PLLCFGR_DIVR1EN, 0x7000CU); - // Enable PLL1 - register_set_bits(&(RCC->CR), RCC_CR_PLL1ON); - while((RCC->CR & RCC_CR_PLL1RDY) == 0U); - // *** PLL1 end *** - - //////////////OTHER CLOCKS//////////////////// - // RCC HCLK Clock Source / RCC APB3 Clock Source / RCC SYS Clock Source - register_set(&(RCC->D1CFGR), RCC_D1CFGR_HPRE_DIV2 | RCC_D1CFGR_D1PPRE_DIV2 | RCC_D1CFGR_D1CPRE_DIV1, 0xF7FU); - // RCC APB1 Clock Source / RCC APB2 Clock Source - register_set(&(RCC->D2CFGR), RCC_D2CFGR_D2PPRE1_DIV2 | RCC_D2CFGR_D2PPRE2_DIV2, 0x770U); - // RCC APB4 Clock Source - register_set(&(RCC->D3CFGR), RCC_D3CFGR_D3PPRE_DIV2, 0x70U); - - // Set SysClock source to PLL - register_set(&(RCC->CFGR), RCC_CFGR_SW_PLL1, 0x7U); - while((RCC->CFGR & RCC_CFGR_SWS) != RCC_CFGR_SWS_PLL1); - //////////////END OTHER CLOCKS//////////////////// - - // Configure clock source for USB (HSI48) - register_set(&(RCC->D2CCIP2R), RCC_D2CCIP2R_USBSEL_1 | RCC_D2CCIP2R_USBSEL_0, RCC_D2CCIP2R_USBSEL); - // Configure clock source for FDCAN (PLL1Q at 80Mhz) - register_set(&(RCC->D2CCIP1R), RCC_D2CCIP1R_FDCANSEL_0, RCC_D2CCIP1R_FDCANSEL); - // Configure clock source for ADC1,2,3 (per_ck(currently HSE)) - register_set(&(RCC->D3CCIPR), RCC_D3CCIPR_ADCSEL_1, RCC_D3CCIPR_ADCSEL); - //Enable the Clock Security System - register_set_bits(&(RCC->CR), RCC_CR_CSSHSEON); - //Enable Vdd33usb supply level detector - register_set_bits(&(PWR->CR3), PWR_CR3_USB33DEN); -} diff --git a/panda/board/stm32h7/inc/cmsis_compiler.h b/panda/board/stm32h7/inc/cmsis_compiler.h deleted file mode 100644 index d0f39eef67ed91..00000000000000 --- a/panda/board/stm32h7/inc/cmsis_compiler.h +++ /dev/null @@ -1,284 +0,0 @@ -/**************************************************************************//** - * @file cmsis_compiler.h - * @brief CMSIS compiler generic header file - * @version V5.1.0 - * @date 09. October 2018 - ******************************************************************************/ -/* - * Copyright (c) 2009-2018 Arm Limited. All rights reserved. - * - * SPDX-License-Identifier: Apache-2.0 - * - * Licensed under the Apache License, Version 2.0 (the License); you may - * not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an AS IS BASIS, WITHOUT - * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - -#ifndef __CMSIS_COMPILER_H -#define __CMSIS_COMPILER_H - -#include - -/* - * Arm Compiler 4/5 - */ -#if defined ( __CC_ARM ) - #include "cmsis_armcc.h" - - -/* - * Arm Compiler 6.6 LTM (armclang) - */ -#elif defined (__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050) && (__ARMCC_VERSION < 6100100) - #include "cmsis_armclang_ltm.h" - - /* - * Arm Compiler above 6.10.1 (armclang) - */ -#elif defined (__ARMCC_VERSION) && (__ARMCC_VERSION >= 6100100) - #include "cmsis_armclang.h" - - -/* - * GNU Compiler - */ -#elif defined ( __GNUC__ ) - #include "cmsis_gcc.h" - - -/* - * IAR Compiler - */ -#elif defined ( __ICCARM__ ) - #include - - -/* - * TI Arm Compiler - */ -#elif defined ( __TI_ARM__ ) - #include - - #ifndef __ASM - #define __ASM __asm - #endif - #ifndef __INLINE - #define __INLINE inline - #endif - #ifndef __STATIC_INLINE - #define __STATIC_INLINE static inline - #endif - #ifndef __STATIC_FORCEINLINE - #define __STATIC_FORCEINLINE __STATIC_INLINE - #endif - #ifndef __NO_RETURN - #define __NO_RETURN __attribute__((noreturn)) - #endif - #ifndef __USED - #define __USED __attribute__((used)) - #endif - #ifndef __WEAK - #define __WEAK __attribute__((weak)) - #endif - #ifndef __PACKED - #define __PACKED __attribute__((packed)) - #endif - #ifndef __PACKED_STRUCT - #define __PACKED_STRUCT struct __attribute__((packed)) - #endif - #ifndef __PACKED_UNION - #define __PACKED_UNION union __attribute__((packed)) - #endif - #ifndef __UNALIGNED_UINT32 /* deprecated */ - struct __attribute__((packed)) T_UINT32 { uint32_t v; }; - #define __UNALIGNED_UINT32(x) (((struct T_UINT32 *)(x))->v) - #endif - #ifndef __UNALIGNED_UINT16_WRITE - __PACKED_STRUCT T_UINT16_WRITE { uint16_t v; }; - #define __UNALIGNED_UINT16_WRITE(addr, val) (void)((((struct T_UINT16_WRITE *)(void*)(addr))->v) = (val)) - #endif - #ifndef __UNALIGNED_UINT16_READ - __PACKED_STRUCT T_UINT16_READ { uint16_t v; }; - #define __UNALIGNED_UINT16_READ(addr) (((const struct T_UINT16_READ *)(const void *)(addr))->v) - #endif - #ifndef __UNALIGNED_UINT32_WRITE - __PACKED_STRUCT T_UINT32_WRITE { uint32_t v; }; - #define __UNALIGNED_UINT32_WRITE(addr, val) (void)((((struct T_UINT32_WRITE *)(void *)(addr))->v) = (val)) - #endif - #ifndef __UNALIGNED_UINT32_READ - __PACKED_STRUCT T_UINT32_READ { uint32_t v; }; - #define __UNALIGNED_UINT32_READ(addr) (((const struct T_UINT32_READ *)(const void *)(addr))->v) - #endif - #ifndef __ALIGNED - #define __ALIGNED(x) __attribute__((aligned(x))) - #endif - #ifndef __RESTRICT - #define __RESTRICT __restrict - #endif - #ifndef __COMPILER_BARRIER - #warning No compiler specific solution for __COMPILER_BARRIER. __COMPILER_BARRIER is ignored. - #define __COMPILER_BARRIER() (void)0 - #endif - - -/* - * TASKING Compiler - */ -#elif defined ( __TASKING__ ) - /* - * The CMSIS functions have been implemented as intrinsics in the compiler. - * Please use "carm -?i" to get an up to date list of all intrinsics, - * Including the CMSIS ones. - */ - - #ifndef __ASM - #define __ASM __asm - #endif - #ifndef __INLINE - #define __INLINE inline - #endif - #ifndef __STATIC_INLINE - #define __STATIC_INLINE static inline - #endif - #ifndef __STATIC_FORCEINLINE - #define __STATIC_FORCEINLINE __STATIC_INLINE - #endif - #ifndef __NO_RETURN - #define __NO_RETURN __attribute__((noreturn)) - #endif - #ifndef __USED - #define __USED __attribute__((used)) - #endif - #ifndef __WEAK - #define __WEAK __attribute__((weak)) - #endif - #ifndef __PACKED - #define __PACKED __packed__ - #endif - #ifndef __PACKED_STRUCT - #define __PACKED_STRUCT struct __packed__ - #endif - #ifndef __PACKED_UNION - #define __PACKED_UNION union __packed__ - #endif - #ifndef __UNALIGNED_UINT32 /* deprecated */ - struct __packed__ T_UINT32 { uint32_t v; }; - #define __UNALIGNED_UINT32(x) (((struct T_UINT32 *)(x))->v) - #endif - #ifndef __UNALIGNED_UINT16_WRITE - __PACKED_STRUCT T_UINT16_WRITE { uint16_t v; }; - #define __UNALIGNED_UINT16_WRITE(addr, val) (void)((((struct T_UINT16_WRITE *)(void *)(addr))->v) = (val)) - #endif - #ifndef __UNALIGNED_UINT16_READ - __PACKED_STRUCT T_UINT16_READ { uint16_t v; }; - #define __UNALIGNED_UINT16_READ(addr) (((const struct T_UINT16_READ *)(const void *)(addr))->v) - #endif - #ifndef __UNALIGNED_UINT32_WRITE - __PACKED_STRUCT T_UINT32_WRITE { uint32_t v; }; - #define __UNALIGNED_UINT32_WRITE(addr, val) (void)((((struct T_UINT32_WRITE *)(void *)(addr))->v) = (val)) - #endif - #ifndef __UNALIGNED_UINT32_READ - __PACKED_STRUCT T_UINT32_READ { uint32_t v; }; - #define __UNALIGNED_UINT32_READ(addr) (((const struct T_UINT32_READ *)(const void *)(addr))->v) - #endif - #ifndef __ALIGNED - #define __ALIGNED(x) __align(x) - #endif - #ifndef __RESTRICT - #warning No compiler specific solution for __RESTRICT. __RESTRICT is ignored. - #define __RESTRICT - #endif - #ifndef __COMPILER_BARRIER - #warning No compiler specific solution for __COMPILER_BARRIER. __COMPILER_BARRIER is ignored. - #define __COMPILER_BARRIER() (void)0 - #endif - - -/* - * COSMIC Compiler - */ -#elif defined ( __CSMC__ ) - #include - - #ifndef __ASM - #define __ASM _asm - #endif - #ifndef __INLINE - #define __INLINE inline - #endif - #ifndef __STATIC_INLINE - #define __STATIC_INLINE static inline - #endif - #ifndef __STATIC_FORCEINLINE - #define __STATIC_FORCEINLINE __STATIC_INLINE - #endif - #ifndef __NO_RETURN - // NO RETURN is automatically detected hence no warning here - #define __NO_RETURN - #endif - #ifndef __USED - #warning No compiler specific solution for __USED. __USED is ignored. - #define __USED - #endif - #ifndef __WEAK - #define __WEAK __weak - #endif - #ifndef __PACKED - #define __PACKED @packed - #endif - #ifndef __PACKED_STRUCT - #define __PACKED_STRUCT @packed struct - #endif - #ifndef __PACKED_UNION - #define __PACKED_UNION @packed union - #endif - #ifndef __UNALIGNED_UINT32 /* deprecated */ - @packed struct T_UINT32 { uint32_t v; }; - #define __UNALIGNED_UINT32(x) (((struct T_UINT32 *)(x))->v) - #endif - #ifndef __UNALIGNED_UINT16_WRITE - __PACKED_STRUCT T_UINT16_WRITE { uint16_t v; }; - #define __UNALIGNED_UINT16_WRITE(addr, val) (void)((((struct T_UINT16_WRITE *)(void *)(addr))->v) = (val)) - #endif - #ifndef __UNALIGNED_UINT16_READ - __PACKED_STRUCT T_UINT16_READ { uint16_t v; }; - #define __UNALIGNED_UINT16_READ(addr) (((const struct T_UINT16_READ *)(const void *)(addr))->v) - #endif - #ifndef __UNALIGNED_UINT32_WRITE - __PACKED_STRUCT T_UINT32_WRITE { uint32_t v; }; - #define __UNALIGNED_UINT32_WRITE(addr, val) (void)((((struct T_UINT32_WRITE *)(void *)(addr))->v) = (val)) - #endif - #ifndef __UNALIGNED_UINT32_READ - __PACKED_STRUCT T_UINT32_READ { uint32_t v; }; - #define __UNALIGNED_UINT32_READ(addr) (((const struct T_UINT32_READ *)(const void *)(addr))->v) - #endif - #ifndef __ALIGNED - #warning No compiler specific solution for __ALIGNED. __ALIGNED is ignored. - #define __ALIGNED(x) - #endif - #ifndef __RESTRICT - #warning No compiler specific solution for __RESTRICT. __RESTRICT is ignored. - #define __RESTRICT - #endif - #ifndef __COMPILER_BARRIER - #warning No compiler specific solution for __COMPILER_BARRIER. __COMPILER_BARRIER is ignored. - #define __COMPILER_BARRIER() (void)0 - #endif - - -#else - #error Unknown compiler. -#endif - - -#endif /* __CMSIS_COMPILER_H */ - - diff --git a/panda/board/stm32h7/inc/cmsis_gcc.h b/panda/board/stm32h7/inc/cmsis_gcc.h deleted file mode 100644 index 2f68473f64e216..00000000000000 --- a/panda/board/stm32h7/inc/cmsis_gcc.h +++ /dev/null @@ -1,2169 +0,0 @@ -/**************************************************************************//** - * @file cmsis_gcc.h - * @brief CMSIS compiler GCC header file - * @version V5.2.0 - * @date 08. May 2019 - ******************************************************************************/ -/* - * Copyright (c) 2009-2019 Arm Limited. All rights reserved. - * - * SPDX-License-Identifier: Apache-2.0 - * - * Licensed under the Apache License, Version 2.0 (the License); you may - * not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an AS IS BASIS, WITHOUT - * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - -#ifndef __CMSIS_GCC_H -#define __CMSIS_GCC_H - -/* ignore some GCC warnings */ -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wsign-conversion" -#pragma GCC diagnostic ignored "-Wconversion" -#pragma GCC diagnostic ignored "-Wunused-parameter" - -/* Fallback for __has_builtin */ -#ifndef __has_builtin - #define __has_builtin(x) (0) -#endif - -/* CMSIS compiler specific defines */ -#ifndef __ASM - #define __ASM __asm -#endif -#ifndef __INLINE - #define __INLINE inline -#endif -#ifndef __STATIC_INLINE - #define __STATIC_INLINE static inline -#endif -#ifndef __STATIC_FORCEINLINE - #define __STATIC_FORCEINLINE __attribute__((always_inline)) static inline -#endif -#ifndef __NO_RETURN - #define __NO_RETURN __attribute__((__noreturn__)) -#endif -#ifndef __USED - #define __USED __attribute__((used)) -#endif -#ifndef __WEAK - #define __WEAK __attribute__((weak)) -#endif -#ifndef __PACKED - #define __PACKED __attribute__((packed, aligned(1))) -#endif -#ifndef __PACKED_STRUCT - #define __PACKED_STRUCT struct __attribute__((packed, aligned(1))) -#endif -#ifndef __PACKED_UNION - #define __PACKED_UNION union __attribute__((packed, aligned(1))) -#endif -#ifndef __UNALIGNED_UINT32 /* deprecated */ - #pragma GCC diagnostic push - #pragma GCC diagnostic ignored "-Wpacked" - #pragma GCC diagnostic ignored "-Wattributes" - struct __attribute__((packed)) T_UINT32 { uint32_t v; }; - #pragma GCC diagnostic pop - #define __UNALIGNED_UINT32(x) (((struct T_UINT32 *)(x))->v) -#endif -#ifndef __UNALIGNED_UINT16_WRITE - #pragma GCC diagnostic push - #pragma GCC diagnostic ignored "-Wpacked" - #pragma GCC diagnostic ignored "-Wattributes" - __PACKED_STRUCT T_UINT16_WRITE { uint16_t v; }; - #pragma GCC diagnostic pop - #define __UNALIGNED_UINT16_WRITE(addr, val) (void)((((struct T_UINT16_WRITE *)(void *)(addr))->v) = (val)) -#endif -#ifndef __UNALIGNED_UINT16_READ - #pragma GCC diagnostic push - #pragma GCC diagnostic ignored "-Wpacked" - #pragma GCC diagnostic ignored "-Wattributes" - __PACKED_STRUCT T_UINT16_READ { uint16_t v; }; - #pragma GCC diagnostic pop - #define __UNALIGNED_UINT16_READ(addr) (((const struct T_UINT16_READ *)(const void *)(addr))->v) -#endif -#ifndef __UNALIGNED_UINT32_WRITE - #pragma GCC diagnostic push - #pragma GCC diagnostic ignored "-Wpacked" - #pragma GCC diagnostic ignored "-Wattributes" - __PACKED_STRUCT T_UINT32_WRITE { uint32_t v; }; - #pragma GCC diagnostic pop - #define __UNALIGNED_UINT32_WRITE(addr, val) (void)((((struct T_UINT32_WRITE *)(void *)(addr))->v) = (val)) -#endif -#ifndef __UNALIGNED_UINT32_READ - #pragma GCC diagnostic push - #pragma GCC diagnostic ignored "-Wpacked" - #pragma GCC diagnostic ignored "-Wattributes" - __PACKED_STRUCT T_UINT32_READ { uint32_t v; }; - #pragma GCC diagnostic pop - #define __UNALIGNED_UINT32_READ(addr) (((const struct T_UINT32_READ *)(const void *)(addr))->v) -#endif -#ifndef __ALIGNED - #define __ALIGNED(x) __attribute__((aligned(x))) -#endif -#ifndef __RESTRICT - #define __RESTRICT __restrict -#endif -#ifndef __COMPILER_BARRIER - #define __COMPILER_BARRIER() __ASM volatile("":::"memory") -#endif - -/* ######################### Startup and Lowlevel Init ######################## */ - -#ifndef __PROGRAM_START - -/** - \brief Initializes data and bss sections - \details This default implementations initialized all data and additional bss - sections relying on .copy.table and .zero.table specified properly - in the used linker script. - - */ -__STATIC_FORCEINLINE __NO_RETURN void __cmsis_start(void) -{ - extern void _start(void) __NO_RETURN; - - typedef struct { - uint32_t const* src; - uint32_t* dest; - uint32_t wlen; - } __copy_table_t; - - typedef struct { - uint32_t* dest; - uint32_t wlen; - } __zero_table_t; - - extern const __copy_table_t __copy_table_start__; - extern const __copy_table_t __copy_table_end__; - extern const __zero_table_t __zero_table_start__; - extern const __zero_table_t __zero_table_end__; - - for (__copy_table_t const* pTable = &__copy_table_start__; pTable < &__copy_table_end__; ++pTable) { - for(uint32_t i=0u; iwlen; ++i) { - pTable->dest[i] = pTable->src[i]; - } - } - - for (__zero_table_t const* pTable = &__zero_table_start__; pTable < &__zero_table_end__; ++pTable) { - for(uint32_t i=0u; iwlen; ++i) { - pTable->dest[i] = 0u; - } - } - - _start(); -} - -#define __PROGRAM_START __cmsis_start -#endif - -#ifndef __INITIAL_SP -#define __INITIAL_SP __StackTop -#endif - -#ifndef __STACK_LIMIT -#define __STACK_LIMIT __StackLimit -#endif - -#ifndef __VECTOR_TABLE -#define __VECTOR_TABLE __Vectors -#endif - -#ifndef __VECTOR_TABLE_ATTRIBUTE -#define __VECTOR_TABLE_ATTRIBUTE __attribute((used, section(".vectors"))) -#endif - -/* ########################### Core Function Access ########################### */ -/** \ingroup CMSIS_Core_FunctionInterface - \defgroup CMSIS_Core_RegAccFunctions CMSIS Core Register Access Functions - @{ - */ - -/** - \brief Enable IRQ Interrupts - \details Enables IRQ interrupts by clearing the I-bit in the CPSR. - Can only be executed in Privileged modes. - */ -__STATIC_FORCEINLINE void __enable_irq(void) -{ - __ASM volatile ("cpsie i" : : : "memory"); -} - - -/** - \brief Disable IRQ Interrupts - \details Disables IRQ interrupts by setting the I-bit in the CPSR. - Can only be executed in Privileged modes. - */ -__STATIC_FORCEINLINE void __disable_irq(void) -{ - __ASM volatile ("cpsid i" : : : "memory"); -} - - -/** - \brief Get Control Register - \details Returns the content of the Control Register. - \return Control Register value - */ -__STATIC_FORCEINLINE uint32_t __get_CONTROL(void) -{ - uint32_t result; - - __ASM volatile ("MRS %0, control" : "=r" (result) ); - return(result); -} - - -#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3)) -/** - \brief Get Control Register (non-secure) - \details Returns the content of the non-secure Control Register when in secure mode. - \return non-secure Control Register value - */ -__STATIC_FORCEINLINE uint32_t __TZ_get_CONTROL_NS(void) -{ - uint32_t result; - - __ASM volatile ("MRS %0, control_ns" : "=r" (result) ); - return(result); -} -#endif - - -/** - \brief Set Control Register - \details Writes the given value to the Control Register. - \param [in] control Control Register value to set - */ -__STATIC_FORCEINLINE void __set_CONTROL(uint32_t control) -{ - __ASM volatile ("MSR control, %0" : : "r" (control) : "memory"); -} - - -#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3)) -/** - \brief Set Control Register (non-secure) - \details Writes the given value to the non-secure Control Register when in secure state. - \param [in] control Control Register value to set - */ -__STATIC_FORCEINLINE void __TZ_set_CONTROL_NS(uint32_t control) -{ - __ASM volatile ("MSR control_ns, %0" : : "r" (control) : "memory"); -} -#endif - - -/** - \brief Get IPSR Register - \details Returns the content of the IPSR Register. - \return IPSR Register value - */ -__STATIC_FORCEINLINE uint32_t __get_IPSR(void) -{ - uint32_t result; - - __ASM volatile ("MRS %0, ipsr" : "=r" (result) ); - return(result); -} - - -/** - \brief Get APSR Register - \details Returns the content of the APSR Register. - \return APSR Register value - */ -__STATIC_FORCEINLINE uint32_t __get_APSR(void) -{ - uint32_t result; - - __ASM volatile ("MRS %0, apsr" : "=r" (result) ); - return(result); -} - - -/** - \brief Get xPSR Register - \details Returns the content of the xPSR Register. - \return xPSR Register value - */ -__STATIC_FORCEINLINE uint32_t __get_xPSR(void) -{ - uint32_t result; - - __ASM volatile ("MRS %0, xpsr" : "=r" (result) ); - return(result); -} - - -/** - \brief Get Process Stack Pointer - \details Returns the current value of the Process Stack Pointer (PSP). - \return PSP Register value - */ -__STATIC_FORCEINLINE uint32_t __get_PSP(void) -{ - uint32_t result; - - __ASM volatile ("MRS %0, psp" : "=r" (result) ); - return(result); -} - - -#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3)) -/** - \brief Get Process Stack Pointer (non-secure) - \details Returns the current value of the non-secure Process Stack Pointer (PSP) when in secure state. - \return PSP Register value - */ -__STATIC_FORCEINLINE uint32_t __TZ_get_PSP_NS(void) -{ - uint32_t result; - - __ASM volatile ("MRS %0, psp_ns" : "=r" (result) ); - return(result); -} -#endif - - -/** - \brief Set Process Stack Pointer - \details Assigns the given value to the Process Stack Pointer (PSP). - \param [in] topOfProcStack Process Stack Pointer value to set - */ -__STATIC_FORCEINLINE void __set_PSP(uint32_t topOfProcStack) -{ - __ASM volatile ("MSR psp, %0" : : "r" (topOfProcStack) : ); -} - - -#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3)) -/** - \brief Set Process Stack Pointer (non-secure) - \details Assigns the given value to the non-secure Process Stack Pointer (PSP) when in secure state. - \param [in] topOfProcStack Process Stack Pointer value to set - */ -__STATIC_FORCEINLINE void __TZ_set_PSP_NS(uint32_t topOfProcStack) -{ - __ASM volatile ("MSR psp_ns, %0" : : "r" (topOfProcStack) : ); -} -#endif - - -/** - \brief Get Main Stack Pointer - \details Returns the current value of the Main Stack Pointer (MSP). - \return MSP Register value - */ -__STATIC_FORCEINLINE uint32_t __get_MSP(void) -{ - uint32_t result; - - __ASM volatile ("MRS %0, msp" : "=r" (result) ); - return(result); -} - - -#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3)) -/** - \brief Get Main Stack Pointer (non-secure) - \details Returns the current value of the non-secure Main Stack Pointer (MSP) when in secure state. - \return MSP Register value - */ -__STATIC_FORCEINLINE uint32_t __TZ_get_MSP_NS(void) -{ - uint32_t result; - - __ASM volatile ("MRS %0, msp_ns" : "=r" (result) ); - return(result); -} -#endif - - -/** - \brief Set Main Stack Pointer - \details Assigns the given value to the Main Stack Pointer (MSP). - \param [in] topOfMainStack Main Stack Pointer value to set - */ -__STATIC_FORCEINLINE void __set_MSP(uint32_t topOfMainStack) -{ - __ASM volatile ("MSR msp, %0" : : "r" (topOfMainStack) : ); -} - - -#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3)) -/** - \brief Set Main Stack Pointer (non-secure) - \details Assigns the given value to the non-secure Main Stack Pointer (MSP) when in secure state. - \param [in] topOfMainStack Main Stack Pointer value to set - */ -__STATIC_FORCEINLINE void __TZ_set_MSP_NS(uint32_t topOfMainStack) -{ - __ASM volatile ("MSR msp_ns, %0" : : "r" (topOfMainStack) : ); -} -#endif - - -#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3)) -/** - \brief Get Stack Pointer (non-secure) - \details Returns the current value of the non-secure Stack Pointer (SP) when in secure state. - \return SP Register value - */ -__STATIC_FORCEINLINE uint32_t __TZ_get_SP_NS(void) -{ - uint32_t result; - - __ASM volatile ("MRS %0, sp_ns" : "=r" (result) ); - return(result); -} - - -/** - \brief Set Stack Pointer (non-secure) - \details Assigns the given value to the non-secure Stack Pointer (SP) when in secure state. - \param [in] topOfStack Stack Pointer value to set - */ -__STATIC_FORCEINLINE void __TZ_set_SP_NS(uint32_t topOfStack) -{ - __ASM volatile ("MSR sp_ns, %0" : : "r" (topOfStack) : ); -} -#endif - - -/** - \brief Get Priority Mask - \details Returns the current state of the priority mask bit from the Priority Mask Register. - \return Priority Mask value - */ -__STATIC_FORCEINLINE uint32_t __get_PRIMASK(void) -{ - uint32_t result; - - __ASM volatile ("MRS %0, primask" : "=r" (result) :: "memory"); - return(result); -} - - -#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3)) -/** - \brief Get Priority Mask (non-secure) - \details Returns the current state of the non-secure priority mask bit from the Priority Mask Register when in secure state. - \return Priority Mask value - */ -__STATIC_FORCEINLINE uint32_t __TZ_get_PRIMASK_NS(void) -{ - uint32_t result; - - __ASM volatile ("MRS %0, primask_ns" : "=r" (result) :: "memory"); - return(result); -} -#endif - - -/** - \brief Set Priority Mask - \details Assigns the given value to the Priority Mask Register. - \param [in] priMask Priority Mask - */ -__STATIC_FORCEINLINE void __set_PRIMASK(uint32_t priMask) -{ - __ASM volatile ("MSR primask, %0" : : "r" (priMask) : "memory"); -} - - -#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3)) -/** - \brief Set Priority Mask (non-secure) - \details Assigns the given value to the non-secure Priority Mask Register when in secure state. - \param [in] priMask Priority Mask - */ -__STATIC_FORCEINLINE void __TZ_set_PRIMASK_NS(uint32_t priMask) -{ - __ASM volatile ("MSR primask_ns, %0" : : "r" (priMask) : "memory"); -} -#endif - - -#if ((defined (__ARM_ARCH_7M__ ) && (__ARM_ARCH_7M__ == 1)) || \ - (defined (__ARM_ARCH_7EM__ ) && (__ARM_ARCH_7EM__ == 1)) || \ - (defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) ) -/** - \brief Enable FIQ - \details Enables FIQ interrupts by clearing the F-bit in the CPSR. - Can only be executed in Privileged modes. - */ -__STATIC_FORCEINLINE void __enable_fault_irq(void) -{ - __ASM volatile ("cpsie f" : : : "memory"); -} - - -/** - \brief Disable FIQ - \details Disables FIQ interrupts by setting the F-bit in the CPSR. - Can only be executed in Privileged modes. - */ -__STATIC_FORCEINLINE void __disable_fault_irq(void) -{ - __ASM volatile ("cpsid f" : : : "memory"); -} - - -/** - \brief Get Base Priority - \details Returns the current value of the Base Priority register. - \return Base Priority register value - */ -__STATIC_FORCEINLINE uint32_t __get_BASEPRI(void) -{ - uint32_t result; - - __ASM volatile ("MRS %0, basepri" : "=r" (result) ); - return(result); -} - - -#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3)) -/** - \brief Get Base Priority (non-secure) - \details Returns the current value of the non-secure Base Priority register when in secure state. - \return Base Priority register value - */ -__STATIC_FORCEINLINE uint32_t __TZ_get_BASEPRI_NS(void) -{ - uint32_t result; - - __ASM volatile ("MRS %0, basepri_ns" : "=r" (result) ); - return(result); -} -#endif - - -/** - \brief Set Base Priority - \details Assigns the given value to the Base Priority register. - \param [in] basePri Base Priority value to set - */ -__STATIC_FORCEINLINE void __set_BASEPRI(uint32_t basePri) -{ - __ASM volatile ("MSR basepri, %0" : : "r" (basePri) : "memory"); -} - - -#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3)) -/** - \brief Set Base Priority (non-secure) - \details Assigns the given value to the non-secure Base Priority register when in secure state. - \param [in] basePri Base Priority value to set - */ -__STATIC_FORCEINLINE void __TZ_set_BASEPRI_NS(uint32_t basePri) -{ - __ASM volatile ("MSR basepri_ns, %0" : : "r" (basePri) : "memory"); -} -#endif - - -/** - \brief Set Base Priority with condition - \details Assigns the given value to the Base Priority register only if BASEPRI masking is disabled, - or the new value increases the BASEPRI priority level. - \param [in] basePri Base Priority value to set - */ -__STATIC_FORCEINLINE void __set_BASEPRI_MAX(uint32_t basePri) -{ - __ASM volatile ("MSR basepri_max, %0" : : "r" (basePri) : "memory"); -} - - -/** - \brief Get Fault Mask - \details Returns the current value of the Fault Mask register. - \return Fault Mask register value - */ -__STATIC_FORCEINLINE uint32_t __get_FAULTMASK(void) -{ - uint32_t result; - - __ASM volatile ("MRS %0, faultmask" : "=r" (result) ); - return(result); -} - - -#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3)) -/** - \brief Get Fault Mask (non-secure) - \details Returns the current value of the non-secure Fault Mask register when in secure state. - \return Fault Mask register value - */ -__STATIC_FORCEINLINE uint32_t __TZ_get_FAULTMASK_NS(void) -{ - uint32_t result; - - __ASM volatile ("MRS %0, faultmask_ns" : "=r" (result) ); - return(result); -} -#endif - - -/** - \brief Set Fault Mask - \details Assigns the given value to the Fault Mask register. - \param [in] faultMask Fault Mask value to set - */ -__STATIC_FORCEINLINE void __set_FAULTMASK(uint32_t faultMask) -{ - __ASM volatile ("MSR faultmask, %0" : : "r" (faultMask) : "memory"); -} - - -#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3)) -/** - \brief Set Fault Mask (non-secure) - \details Assigns the given value to the non-secure Fault Mask register when in secure state. - \param [in] faultMask Fault Mask value to set - */ -__STATIC_FORCEINLINE void __TZ_set_FAULTMASK_NS(uint32_t faultMask) -{ - __ASM volatile ("MSR faultmask_ns, %0" : : "r" (faultMask) : "memory"); -} -#endif - -#endif /* ((defined (__ARM_ARCH_7M__ ) && (__ARM_ARCH_7M__ == 1)) || \ - (defined (__ARM_ARCH_7EM__ ) && (__ARM_ARCH_7EM__ == 1)) || \ - (defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) ) */ - - -#if ((defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) || \ - (defined (__ARM_ARCH_8M_BASE__ ) && (__ARM_ARCH_8M_BASE__ == 1)) ) - -/** - \brief Get Process Stack Pointer Limit - Devices without ARMv8-M Main Extensions (i.e. Cortex-M23) lack the non-secure - Stack Pointer Limit register hence zero is returned always in non-secure - mode. - - \details Returns the current value of the Process Stack Pointer Limit (PSPLIM). - \return PSPLIM Register value - */ -__STATIC_FORCEINLINE uint32_t __get_PSPLIM(void) -{ -#if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) && \ - (!defined (__ARM_FEATURE_CMSE) || (__ARM_FEATURE_CMSE < 3))) - // without main extensions, the non-secure PSPLIM is RAZ/WI - return 0U; -#else - uint32_t result; - __ASM volatile ("MRS %0, psplim" : "=r" (result) ); - return result; -#endif -} - -#if (defined (__ARM_FEATURE_CMSE) && (__ARM_FEATURE_CMSE == 3)) -/** - \brief Get Process Stack Pointer Limit (non-secure) - Devices without ARMv8-M Main Extensions (i.e. Cortex-M23) lack the non-secure - Stack Pointer Limit register hence zero is returned always. - - \details Returns the current value of the non-secure Process Stack Pointer Limit (PSPLIM) when in secure state. - \return PSPLIM Register value - */ -__STATIC_FORCEINLINE uint32_t __TZ_get_PSPLIM_NS(void) -{ -#if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1))) - // without main extensions, the non-secure PSPLIM is RAZ/WI - return 0U; -#else - uint32_t result; - __ASM volatile ("MRS %0, psplim_ns" : "=r" (result) ); - return result; -#endif -} -#endif - - -/** - \brief Set Process Stack Pointer Limit - Devices without ARMv8-M Main Extensions (i.e. Cortex-M23) lack the non-secure - Stack Pointer Limit register hence the write is silently ignored in non-secure - mode. - - \details Assigns the given value to the Process Stack Pointer Limit (PSPLIM). - \param [in] ProcStackPtrLimit Process Stack Pointer Limit value to set - */ -__STATIC_FORCEINLINE void __set_PSPLIM(uint32_t ProcStackPtrLimit) -{ -#if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) && \ - (!defined (__ARM_FEATURE_CMSE) || (__ARM_FEATURE_CMSE < 3))) - // without main extensions, the non-secure PSPLIM is RAZ/WI - (void)ProcStackPtrLimit; -#else - __ASM volatile ("MSR psplim, %0" : : "r" (ProcStackPtrLimit)); -#endif -} - - -#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3)) -/** - \brief Set Process Stack Pointer (non-secure) - Devices without ARMv8-M Main Extensions (i.e. Cortex-M23) lack the non-secure - Stack Pointer Limit register hence the write is silently ignored. - - \details Assigns the given value to the non-secure Process Stack Pointer Limit (PSPLIM) when in secure state. - \param [in] ProcStackPtrLimit Process Stack Pointer Limit value to set - */ -__STATIC_FORCEINLINE void __TZ_set_PSPLIM_NS(uint32_t ProcStackPtrLimit) -{ -#if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1))) - // without main extensions, the non-secure PSPLIM is RAZ/WI - (void)ProcStackPtrLimit; -#else - __ASM volatile ("MSR psplim_ns, %0\n" : : "r" (ProcStackPtrLimit)); -#endif -} -#endif - - -/** - \brief Get Main Stack Pointer Limit - Devices without ARMv8-M Main Extensions (i.e. Cortex-M23) lack the non-secure - Stack Pointer Limit register hence zero is returned always in non-secure - mode. - - \details Returns the current value of the Main Stack Pointer Limit (MSPLIM). - \return MSPLIM Register value - */ -__STATIC_FORCEINLINE uint32_t __get_MSPLIM(void) -{ -#if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) && \ - (!defined (__ARM_FEATURE_CMSE) || (__ARM_FEATURE_CMSE < 3))) - // without main extensions, the non-secure MSPLIM is RAZ/WI - return 0U; -#else - uint32_t result; - __ASM volatile ("MRS %0, msplim" : "=r" (result) ); - return result; -#endif -} - - -#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3)) -/** - \brief Get Main Stack Pointer Limit (non-secure) - Devices without ARMv8-M Main Extensions (i.e. Cortex-M23) lack the non-secure - Stack Pointer Limit register hence zero is returned always. - - \details Returns the current value of the non-secure Main Stack Pointer Limit(MSPLIM) when in secure state. - \return MSPLIM Register value - */ -__STATIC_FORCEINLINE uint32_t __TZ_get_MSPLIM_NS(void) -{ -#if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1))) - // without main extensions, the non-secure MSPLIM is RAZ/WI - return 0U; -#else - uint32_t result; - __ASM volatile ("MRS %0, msplim_ns" : "=r" (result) ); - return result; -#endif -} -#endif - - -/** - \brief Set Main Stack Pointer Limit - Devices without ARMv8-M Main Extensions (i.e. Cortex-M23) lack the non-secure - Stack Pointer Limit register hence the write is silently ignored in non-secure - mode. - - \details Assigns the given value to the Main Stack Pointer Limit (MSPLIM). - \param [in] MainStackPtrLimit Main Stack Pointer Limit value to set - */ -__STATIC_FORCEINLINE void __set_MSPLIM(uint32_t MainStackPtrLimit) -{ -#if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) && \ - (!defined (__ARM_FEATURE_CMSE) || (__ARM_FEATURE_CMSE < 3))) - // without main extensions, the non-secure MSPLIM is RAZ/WI - (void)MainStackPtrLimit; -#else - __ASM volatile ("MSR msplim, %0" : : "r" (MainStackPtrLimit)); -#endif -} - - -#if (defined (__ARM_FEATURE_CMSE ) && (__ARM_FEATURE_CMSE == 3)) -/** - \brief Set Main Stack Pointer Limit (non-secure) - Devices without ARMv8-M Main Extensions (i.e. Cortex-M23) lack the non-secure - Stack Pointer Limit register hence the write is silently ignored. - - \details Assigns the given value to the non-secure Main Stack Pointer Limit (MSPLIM) when in secure state. - \param [in] MainStackPtrLimit Main Stack Pointer value to set - */ -__STATIC_FORCEINLINE void __TZ_set_MSPLIM_NS(uint32_t MainStackPtrLimit) -{ -#if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1))) - // without main extensions, the non-secure MSPLIM is RAZ/WI - (void)MainStackPtrLimit; -#else - __ASM volatile ("MSR msplim_ns, %0" : : "r" (MainStackPtrLimit)); -#endif -} -#endif - -#endif /* ((defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) || \ - (defined (__ARM_ARCH_8M_BASE__ ) && (__ARM_ARCH_8M_BASE__ == 1)) ) */ - - -/** - \brief Get FPSCR - \details Returns the current value of the Floating Point Status/Control register. - \return Floating Point Status/Control register value - */ -__STATIC_FORCEINLINE uint32_t __get_FPSCR(void) -{ -#if ((defined (__FPU_PRESENT) && (__FPU_PRESENT == 1U)) && \ - (defined (__FPU_USED ) && (__FPU_USED == 1U)) ) -#if __has_builtin(__builtin_arm_get_fpscr) -// Re-enable using built-in when GCC has been fixed -// || (__GNUC__ > 7) || (__GNUC__ == 7 && __GNUC_MINOR__ >= 2) - /* see https://gcc.gnu.org/ml/gcc-patches/2017-04/msg00443.html */ - return __builtin_arm_get_fpscr(); -#else - uint32_t result; - - __ASM volatile ("VMRS %0, fpscr" : "=r" (result) ); - return(result); -#endif -#else - return(0U); -#endif -} - - -/** - \brief Set FPSCR - \details Assigns the given value to the Floating Point Status/Control register. - \param [in] fpscr Floating Point Status/Control value to set - */ -__STATIC_FORCEINLINE void __set_FPSCR(uint32_t fpscr) -{ -#if ((defined (__FPU_PRESENT) && (__FPU_PRESENT == 1U)) && \ - (defined (__FPU_USED ) && (__FPU_USED == 1U)) ) -#if __has_builtin(__builtin_arm_set_fpscr) -// Re-enable using built-in when GCC has been fixed -// || (__GNUC__ > 7) || (__GNUC__ == 7 && __GNUC_MINOR__ >= 2) - /* see https://gcc.gnu.org/ml/gcc-patches/2017-04/msg00443.html */ - __builtin_arm_set_fpscr(fpscr); -#else - __ASM volatile ("VMSR fpscr, %0" : : "r" (fpscr) : "vfpcc", "memory"); -#endif -#else - (void)fpscr; -#endif -} - - -/*@} end of CMSIS_Core_RegAccFunctions */ - - -/* ########################## Core Instruction Access ######################### */ -/** \defgroup CMSIS_Core_InstructionInterface CMSIS Core Instruction Interface - Access to dedicated instructions - @{ -*/ - -/* Define macros for porting to both thumb1 and thumb2. - * For thumb1, use low register (r0-r7), specified by constraint "l" - * Otherwise, use general registers, specified by constraint "r" */ -#if defined (__thumb__) && !defined (__thumb2__) -#define __CMSIS_GCC_OUT_REG(r) "=l" (r) -#define __CMSIS_GCC_RW_REG(r) "+l" (r) -#define __CMSIS_GCC_USE_REG(r) "l" (r) -#else -#define __CMSIS_GCC_OUT_REG(r) "=r" (r) -#define __CMSIS_GCC_RW_REG(r) "+r" (r) -#define __CMSIS_GCC_USE_REG(r) "r" (r) -#endif - -/** - \brief No Operation - \details No Operation does nothing. This instruction can be used for code alignment purposes. - */ -#define __NOP() __ASM volatile ("nop") - -/** - \brief Wait For Interrupt - \details Wait For Interrupt is a hint instruction that suspends execution until one of a number of events occurs. - */ -#define __WFI() __ASM volatile ("wfi") - - -/** - \brief Wait For Event - \details Wait For Event is a hint instruction that permits the processor to enter - a low-power state until one of a number of events occurs. - */ -#define __WFE() __ASM volatile ("wfe") - - -/** - \brief Send Event - \details Send Event is a hint instruction. It causes an event to be signaled to the CPU. - */ -#define __SEV() __ASM volatile ("sev") - - -/** - \brief Instruction Synchronization Barrier - \details Instruction Synchronization Barrier flushes the pipeline in the processor, - so that all instructions following the ISB are fetched from cache or memory, - after the instruction has been completed. - */ -__STATIC_FORCEINLINE void __ISB(void) -{ - __ASM volatile ("isb 0xF":::"memory"); -} - - -/** - \brief Data Synchronization Barrier - \details Acts as a special kind of Data Memory Barrier. - It completes when all explicit memory accesses before this instruction complete. - */ -__STATIC_FORCEINLINE void __DSB(void) -{ - __ASM volatile ("dsb 0xF":::"memory"); -} - - -/** - \brief Data Memory Barrier - \details Ensures the apparent order of the explicit memory operations before - and after the instruction, without ensuring their completion. - */ -__STATIC_FORCEINLINE void __DMB(void) -{ - __ASM volatile ("dmb 0xF":::"memory"); -} - - -/** - \brief Reverse byte order (32 bit) - \details Reverses the byte order in unsigned integer value. For example, 0x12345678 becomes 0x78563412. - \param [in] value Value to reverse - \return Reversed value - */ -__STATIC_FORCEINLINE uint32_t __REV(uint32_t value) -{ -#if (__GNUC__ > 4) || (__GNUC__ == 4 && __GNUC_MINOR__ >= 5) - return __builtin_bswap32(value); -#else - uint32_t result; - - __ASM volatile ("rev %0, %1" : __CMSIS_GCC_OUT_REG (result) : __CMSIS_GCC_USE_REG (value) ); - return result; -#endif -} - - -/** - \brief Reverse byte order (16 bit) - \details Reverses the byte order within each halfword of a word. For example, 0x12345678 becomes 0x34127856. - \param [in] value Value to reverse - \return Reversed value - */ -__STATIC_FORCEINLINE uint32_t __REV16(uint32_t value) -{ - uint32_t result; - - __ASM volatile ("rev16 %0, %1" : __CMSIS_GCC_OUT_REG (result) : __CMSIS_GCC_USE_REG (value) ); - return result; -} - - -/** - \brief Reverse byte order (16 bit) - \details Reverses the byte order in a 16-bit value and returns the signed 16-bit result. For example, 0x0080 becomes 0x8000. - \param [in] value Value to reverse - \return Reversed value - */ -__STATIC_FORCEINLINE int16_t __REVSH(int16_t value) -{ -#if (__GNUC__ > 4) || (__GNUC__ == 4 && __GNUC_MINOR__ >= 8) - return (int16_t)__builtin_bswap16(value); -#else - int16_t result; - - __ASM volatile ("revsh %0, %1" : __CMSIS_GCC_OUT_REG (result) : __CMSIS_GCC_USE_REG (value) ); - return result; -#endif -} - - -/** - \brief Rotate Right in unsigned value (32 bit) - \details Rotate Right (immediate) provides the value of the contents of a register rotated by a variable number of bits. - \param [in] op1 Value to rotate - \param [in] op2 Number of Bits to rotate - \return Rotated value - */ -__STATIC_FORCEINLINE uint32_t __ROR(uint32_t op1, uint32_t op2) -{ - op2 %= 32U; - if (op2 == 0U) - { - return op1; - } - return (op1 >> op2) | (op1 << (32U - op2)); -} - - -/** - \brief Breakpoint - \details Causes the processor to enter Debug state. - Debug tools can use this to investigate system state when the instruction at a particular address is reached. - \param [in] value is ignored by the processor. - If required, a debugger can use it to store additional information about the breakpoint. - */ -#define __BKPT(value) __ASM volatile ("bkpt "#value) - - -/** - \brief Reverse bit order of value - \details Reverses the bit order of the given value. - \param [in] value Value to reverse - \return Reversed value - */ -__STATIC_FORCEINLINE uint32_t __RBIT(uint32_t value) -{ - uint32_t result; - -#if ((defined (__ARM_ARCH_7M__ ) && (__ARM_ARCH_7M__ == 1)) || \ - (defined (__ARM_ARCH_7EM__ ) && (__ARM_ARCH_7EM__ == 1)) || \ - (defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) ) - __ASM volatile ("rbit %0, %1" : "=r" (result) : "r" (value) ); -#else - uint32_t s = (4U /*sizeof(v)*/ * 8U) - 1U; /* extra shift needed at end */ - - result = value; /* r will be reversed bits of v; first get LSB of v */ - for (value >>= 1U; value != 0U; value >>= 1U) - { - result <<= 1U; - result |= value & 1U; - s--; - } - result <<= s; /* shift when v's highest bits are zero */ -#endif - return result; -} - - -/** - \brief Count leading zeros - \details Counts the number of leading zeros of a data value. - \param [in] value Value to count the leading zeros - \return number of leading zeros in value - */ -__STATIC_FORCEINLINE uint8_t __CLZ(uint32_t value) -{ - /* Even though __builtin_clz produces a CLZ instruction on ARM, formally - __builtin_clz(0) is undefined behaviour, so handle this case specially. - This guarantees ARM-compatible results if happening to compile on a non-ARM - target, and ensures the compiler doesn't decide to activate any - optimisations using the logic "value was passed to __builtin_clz, so it - is non-zero". - ARM GCC 7.3 and possibly earlier will optimise this test away, leaving a - single CLZ instruction. - */ - if (value == 0U) - { - return 32U; - } - return __builtin_clz(value); -} - - -#if ((defined (__ARM_ARCH_7M__ ) && (__ARM_ARCH_7M__ == 1)) || \ - (defined (__ARM_ARCH_7EM__ ) && (__ARM_ARCH_7EM__ == 1)) || \ - (defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) || \ - (defined (__ARM_ARCH_8M_BASE__ ) && (__ARM_ARCH_8M_BASE__ == 1)) ) -/** - \brief LDR Exclusive (8 bit) - \details Executes a exclusive LDR instruction for 8 bit value. - \param [in] ptr Pointer to data - \return value of type uint8_t at (*ptr) - */ -__STATIC_FORCEINLINE uint8_t __LDREXB(volatile uint8_t *addr) -{ - uint32_t result; - -#if (__GNUC__ > 4) || (__GNUC__ == 4 && __GNUC_MINOR__ >= 8) - __ASM volatile ("ldrexb %0, %1" : "=r" (result) : "Q" (*addr) ); -#else - /* Prior to GCC 4.8, "Q" will be expanded to [rx, #0] which is not - accepted by assembler. So has to use following less efficient pattern. - */ - __ASM volatile ("ldrexb %0, [%1]" : "=r" (result) : "r" (addr) : "memory" ); -#endif - return ((uint8_t) result); /* Add explicit type cast here */ -} - - -/** - \brief LDR Exclusive (16 bit) - \details Executes a exclusive LDR instruction for 16 bit values. - \param [in] ptr Pointer to data - \return value of type uint16_t at (*ptr) - */ -__STATIC_FORCEINLINE uint16_t __LDREXH(volatile uint16_t *addr) -{ - uint32_t result; - -#if (__GNUC__ > 4) || (__GNUC__ == 4 && __GNUC_MINOR__ >= 8) - __ASM volatile ("ldrexh %0, %1" : "=r" (result) : "Q" (*addr) ); -#else - /* Prior to GCC 4.8, "Q" will be expanded to [rx, #0] which is not - accepted by assembler. So has to use following less efficient pattern. - */ - __ASM volatile ("ldrexh %0, [%1]" : "=r" (result) : "r" (addr) : "memory" ); -#endif - return ((uint16_t) result); /* Add explicit type cast here */ -} - - -/** - \brief LDR Exclusive (32 bit) - \details Executes a exclusive LDR instruction for 32 bit values. - \param [in] ptr Pointer to data - \return value of type uint32_t at (*ptr) - */ -__STATIC_FORCEINLINE uint32_t __LDREXW(volatile uint32_t *addr) -{ - uint32_t result; - - __ASM volatile ("ldrex %0, %1" : "=r" (result) : "Q" (*addr) ); - return(result); -} - - -/** - \brief STR Exclusive (8 bit) - \details Executes a exclusive STR instruction for 8 bit values. - \param [in] value Value to store - \param [in] ptr Pointer to location - \return 0 Function succeeded - \return 1 Function failed - */ -__STATIC_FORCEINLINE uint32_t __STREXB(uint8_t value, volatile uint8_t *addr) -{ - uint32_t result; - - __ASM volatile ("strexb %0, %2, %1" : "=&r" (result), "=Q" (*addr) : "r" ((uint32_t)value) ); - return(result); -} - - -/** - \brief STR Exclusive (16 bit) - \details Executes a exclusive STR instruction for 16 bit values. - \param [in] value Value to store - \param [in] ptr Pointer to location - \return 0 Function succeeded - \return 1 Function failed - */ -__STATIC_FORCEINLINE uint32_t __STREXH(uint16_t value, volatile uint16_t *addr) -{ - uint32_t result; - - __ASM volatile ("strexh %0, %2, %1" : "=&r" (result), "=Q" (*addr) : "r" ((uint32_t)value) ); - return(result); -} - - -/** - \brief STR Exclusive (32 bit) - \details Executes a exclusive STR instruction for 32 bit values. - \param [in] value Value to store - \param [in] ptr Pointer to location - \return 0 Function succeeded - \return 1 Function failed - */ -__STATIC_FORCEINLINE uint32_t __STREXW(uint32_t value, volatile uint32_t *addr) -{ - uint32_t result; - - __ASM volatile ("strex %0, %2, %1" : "=&r" (result), "=Q" (*addr) : "r" (value) ); - return(result); -} - - -/** - \brief Remove the exclusive lock - \details Removes the exclusive lock which is created by LDREX. - */ -__STATIC_FORCEINLINE void __CLREX(void) -{ - __ASM volatile ("clrex" ::: "memory"); -} - -#endif /* ((defined (__ARM_ARCH_7M__ ) && (__ARM_ARCH_7M__ == 1)) || \ - (defined (__ARM_ARCH_7EM__ ) && (__ARM_ARCH_7EM__ == 1)) || \ - (defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) || \ - (defined (__ARM_ARCH_8M_BASE__ ) && (__ARM_ARCH_8M_BASE__ == 1)) ) */ - - -#if ((defined (__ARM_ARCH_7M__ ) && (__ARM_ARCH_7M__ == 1)) || \ - (defined (__ARM_ARCH_7EM__ ) && (__ARM_ARCH_7EM__ == 1)) || \ - (defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) ) -/** - \brief Signed Saturate - \details Saturates a signed value. - \param [in] ARG1 Value to be saturated - \param [in] ARG2 Bit position to saturate to (1..32) - \return Saturated value - */ -#define __SSAT(ARG1,ARG2) \ -__extension__ \ -({ \ - int32_t __RES, __ARG1 = (ARG1); \ - __ASM ("ssat %0, %1, %2" : "=r" (__RES) : "I" (ARG2), "r" (__ARG1) ); \ - __RES; \ - }) - - -/** - \brief Unsigned Saturate - \details Saturates an unsigned value. - \param [in] ARG1 Value to be saturated - \param [in] ARG2 Bit position to saturate to (0..31) - \return Saturated value - */ -#define __USAT(ARG1,ARG2) \ - __extension__ \ -({ \ - uint32_t __RES, __ARG1 = (ARG1); \ - __ASM ("usat %0, %1, %2" : "=r" (__RES) : "I" (ARG2), "r" (__ARG1) ); \ - __RES; \ - }) - - -/** - \brief Rotate Right with Extend (32 bit) - \details Moves each bit of a bitstring right by one bit. - The carry input is shifted in at the left end of the bitstring. - \param [in] value Value to rotate - \return Rotated value - */ -__STATIC_FORCEINLINE uint32_t __RRX(uint32_t value) -{ - uint32_t result; - - __ASM volatile ("rrx %0, %1" : __CMSIS_GCC_OUT_REG (result) : __CMSIS_GCC_USE_REG (value) ); - return(result); -} - - -/** - \brief LDRT Unprivileged (8 bit) - \details Executes a Unprivileged LDRT instruction for 8 bit value. - \param [in] ptr Pointer to data - \return value of type uint8_t at (*ptr) - */ -__STATIC_FORCEINLINE uint8_t __LDRBT(volatile uint8_t *ptr) -{ - uint32_t result; - -#if (__GNUC__ > 4) || (__GNUC__ == 4 && __GNUC_MINOR__ >= 8) - __ASM volatile ("ldrbt %0, %1" : "=r" (result) : "Q" (*ptr) ); -#else - /* Prior to GCC 4.8, "Q" will be expanded to [rx, #0] which is not - accepted by assembler. So has to use following less efficient pattern. - */ - __ASM volatile ("ldrbt %0, [%1]" : "=r" (result) : "r" (ptr) : "memory" ); -#endif - return ((uint8_t) result); /* Add explicit type cast here */ -} - - -/** - \brief LDRT Unprivileged (16 bit) - \details Executes a Unprivileged LDRT instruction for 16 bit values. - \param [in] ptr Pointer to data - \return value of type uint16_t at (*ptr) - */ -__STATIC_FORCEINLINE uint16_t __LDRHT(volatile uint16_t *ptr) -{ - uint32_t result; - -#if (__GNUC__ > 4) || (__GNUC__ == 4 && __GNUC_MINOR__ >= 8) - __ASM volatile ("ldrht %0, %1" : "=r" (result) : "Q" (*ptr) ); -#else - /* Prior to GCC 4.8, "Q" will be expanded to [rx, #0] which is not - accepted by assembler. So has to use following less efficient pattern. - */ - __ASM volatile ("ldrht %0, [%1]" : "=r" (result) : "r" (ptr) : "memory" ); -#endif - return ((uint16_t) result); /* Add explicit type cast here */ -} - - -/** - \brief LDRT Unprivileged (32 bit) - \details Executes a Unprivileged LDRT instruction for 32 bit values. - \param [in] ptr Pointer to data - \return value of type uint32_t at (*ptr) - */ -__STATIC_FORCEINLINE uint32_t __LDRT(volatile uint32_t *ptr) -{ - uint32_t result; - - __ASM volatile ("ldrt %0, %1" : "=r" (result) : "Q" (*ptr) ); - return(result); -} - - -/** - \brief STRT Unprivileged (8 bit) - \details Executes a Unprivileged STRT instruction for 8 bit values. - \param [in] value Value to store - \param [in] ptr Pointer to location - */ -__STATIC_FORCEINLINE void __STRBT(uint8_t value, volatile uint8_t *ptr) -{ - __ASM volatile ("strbt %1, %0" : "=Q" (*ptr) : "r" ((uint32_t)value) ); -} - - -/** - \brief STRT Unprivileged (16 bit) - \details Executes a Unprivileged STRT instruction for 16 bit values. - \param [in] value Value to store - \param [in] ptr Pointer to location - */ -__STATIC_FORCEINLINE void __STRHT(uint16_t value, volatile uint16_t *ptr) -{ - __ASM volatile ("strht %1, %0" : "=Q" (*ptr) : "r" ((uint32_t)value) ); -} - - -/** - \brief STRT Unprivileged (32 bit) - \details Executes a Unprivileged STRT instruction for 32 bit values. - \param [in] value Value to store - \param [in] ptr Pointer to location - */ -__STATIC_FORCEINLINE void __STRT(uint32_t value, volatile uint32_t *ptr) -{ - __ASM volatile ("strt %1, %0" : "=Q" (*ptr) : "r" (value) ); -} - -#else /* ((defined (__ARM_ARCH_7M__ ) && (__ARM_ARCH_7M__ == 1)) || \ - (defined (__ARM_ARCH_7EM__ ) && (__ARM_ARCH_7EM__ == 1)) || \ - (defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) ) */ - -/** - \brief Signed Saturate - \details Saturates a signed value. - \param [in] value Value to be saturated - \param [in] sat Bit position to saturate to (1..32) - \return Saturated value - */ -__STATIC_FORCEINLINE int32_t __SSAT(int32_t val, uint32_t sat) -{ - if ((sat >= 1U) && (sat <= 32U)) - { - const int32_t max = (int32_t)((1U << (sat - 1U)) - 1U); - const int32_t min = -1 - max ; - if (val > max) - { - return max; - } - else if (val < min) - { - return min; - } - } - return val; -} - -/** - \brief Unsigned Saturate - \details Saturates an unsigned value. - \param [in] value Value to be saturated - \param [in] sat Bit position to saturate to (0..31) - \return Saturated value - */ -__STATIC_FORCEINLINE uint32_t __USAT(int32_t val, uint32_t sat) -{ - if (sat <= 31U) - { - const uint32_t max = ((1U << sat) - 1U); - if (val > (int32_t)max) - { - return max; - } - else if (val < 0) - { - return 0U; - } - } - return (uint32_t)val; -} - -#endif /* ((defined (__ARM_ARCH_7M__ ) && (__ARM_ARCH_7M__ == 1)) || \ - (defined (__ARM_ARCH_7EM__ ) && (__ARM_ARCH_7EM__ == 1)) || \ - (defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) ) */ - - -#if ((defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) || \ - (defined (__ARM_ARCH_8M_BASE__ ) && (__ARM_ARCH_8M_BASE__ == 1)) ) -/** - \brief Load-Acquire (8 bit) - \details Executes a LDAB instruction for 8 bit value. - \param [in] ptr Pointer to data - \return value of type uint8_t at (*ptr) - */ -__STATIC_FORCEINLINE uint8_t __LDAB(volatile uint8_t *ptr) -{ - uint32_t result; - - __ASM volatile ("ldab %0, %1" : "=r" (result) : "Q" (*ptr) ); - return ((uint8_t) result); -} - - -/** - \brief Load-Acquire (16 bit) - \details Executes a LDAH instruction for 16 bit values. - \param [in] ptr Pointer to data - \return value of type uint16_t at (*ptr) - */ -__STATIC_FORCEINLINE uint16_t __LDAH(volatile uint16_t *ptr) -{ - uint32_t result; - - __ASM volatile ("ldah %0, %1" : "=r" (result) : "Q" (*ptr) ); - return ((uint16_t) result); -} - - -/** - \brief Load-Acquire (32 bit) - \details Executes a LDA instruction for 32 bit values. - \param [in] ptr Pointer to data - \return value of type uint32_t at (*ptr) - */ -__STATIC_FORCEINLINE uint32_t __LDA(volatile uint32_t *ptr) -{ - uint32_t result; - - __ASM volatile ("lda %0, %1" : "=r" (result) : "Q" (*ptr) ); - return(result); -} - - -/** - \brief Store-Release (8 bit) - \details Executes a STLB instruction for 8 bit values. - \param [in] value Value to store - \param [in] ptr Pointer to location - */ -__STATIC_FORCEINLINE void __STLB(uint8_t value, volatile uint8_t *ptr) -{ - __ASM volatile ("stlb %1, %0" : "=Q" (*ptr) : "r" ((uint32_t)value) ); -} - - -/** - \brief Store-Release (16 bit) - \details Executes a STLH instruction for 16 bit values. - \param [in] value Value to store - \param [in] ptr Pointer to location - */ -__STATIC_FORCEINLINE void __STLH(uint16_t value, volatile uint16_t *ptr) -{ - __ASM volatile ("stlh %1, %0" : "=Q" (*ptr) : "r" ((uint32_t)value) ); -} - - -/** - \brief Store-Release (32 bit) - \details Executes a STL instruction for 32 bit values. - \param [in] value Value to store - \param [in] ptr Pointer to location - */ -__STATIC_FORCEINLINE void __STL(uint32_t value, volatile uint32_t *ptr) -{ - __ASM volatile ("stl %1, %0" : "=Q" (*ptr) : "r" ((uint32_t)value) ); -} - - -/** - \brief Load-Acquire Exclusive (8 bit) - \details Executes a LDAB exclusive instruction for 8 bit value. - \param [in] ptr Pointer to data - \return value of type uint8_t at (*ptr) - */ -__STATIC_FORCEINLINE uint8_t __LDAEXB(volatile uint8_t *ptr) -{ - uint32_t result; - - __ASM volatile ("ldaexb %0, %1" : "=r" (result) : "Q" (*ptr) ); - return ((uint8_t) result); -} - - -/** - \brief Load-Acquire Exclusive (16 bit) - \details Executes a LDAH exclusive instruction for 16 bit values. - \param [in] ptr Pointer to data - \return value of type uint16_t at (*ptr) - */ -__STATIC_FORCEINLINE uint16_t __LDAEXH(volatile uint16_t *ptr) -{ - uint32_t result; - - __ASM volatile ("ldaexh %0, %1" : "=r" (result) : "Q" (*ptr) ); - return ((uint16_t) result); -} - - -/** - \brief Load-Acquire Exclusive (32 bit) - \details Executes a LDA exclusive instruction for 32 bit values. - \param [in] ptr Pointer to data - \return value of type uint32_t at (*ptr) - */ -__STATIC_FORCEINLINE uint32_t __LDAEX(volatile uint32_t *ptr) -{ - uint32_t result; - - __ASM volatile ("ldaex %0, %1" : "=r" (result) : "Q" (*ptr) ); - return(result); -} - - -/** - \brief Store-Release Exclusive (8 bit) - \details Executes a STLB exclusive instruction for 8 bit values. - \param [in] value Value to store - \param [in] ptr Pointer to location - \return 0 Function succeeded - \return 1 Function failed - */ -__STATIC_FORCEINLINE uint32_t __STLEXB(uint8_t value, volatile uint8_t *ptr) -{ - uint32_t result; - - __ASM volatile ("stlexb %0, %2, %1" : "=&r" (result), "=Q" (*ptr) : "r" ((uint32_t)value) ); - return(result); -} - - -/** - \brief Store-Release Exclusive (16 bit) - \details Executes a STLH exclusive instruction for 16 bit values. - \param [in] value Value to store - \param [in] ptr Pointer to location - \return 0 Function succeeded - \return 1 Function failed - */ -__STATIC_FORCEINLINE uint32_t __STLEXH(uint16_t value, volatile uint16_t *ptr) -{ - uint32_t result; - - __ASM volatile ("stlexh %0, %2, %1" : "=&r" (result), "=Q" (*ptr) : "r" ((uint32_t)value) ); - return(result); -} - - -/** - \brief Store-Release Exclusive (32 bit) - \details Executes a STL exclusive instruction for 32 bit values. - \param [in] value Value to store - \param [in] ptr Pointer to location - \return 0 Function succeeded - \return 1 Function failed - */ -__STATIC_FORCEINLINE uint32_t __STLEX(uint32_t value, volatile uint32_t *ptr) -{ - uint32_t result; - - __ASM volatile ("stlex %0, %2, %1" : "=&r" (result), "=Q" (*ptr) : "r" ((uint32_t)value) ); - return(result); -} - -#endif /* ((defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) || \ - (defined (__ARM_ARCH_8M_BASE__ ) && (__ARM_ARCH_8M_BASE__ == 1)) ) */ - -/*@}*/ /* end of group CMSIS_Core_InstructionInterface */ - - -/* ################### Compiler specific Intrinsics ########################### */ -/** \defgroup CMSIS_SIMD_intrinsics CMSIS SIMD Intrinsics - Access to dedicated SIMD instructions - @{ -*/ - -#if (defined (__ARM_FEATURE_DSP) && (__ARM_FEATURE_DSP == 1)) - -__STATIC_FORCEINLINE uint32_t __SADD8(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("sadd8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __QADD8(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("qadd8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __SHADD8(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("shadd8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __UADD8(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("uadd8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __UQADD8(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("uqadd8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __UHADD8(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("uhadd8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - - -__STATIC_FORCEINLINE uint32_t __SSUB8(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("ssub8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __QSUB8(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("qsub8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __SHSUB8(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("shsub8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __USUB8(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("usub8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __UQSUB8(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("uqsub8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __UHSUB8(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("uhsub8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - - -__STATIC_FORCEINLINE uint32_t __SADD16(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("sadd16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __QADD16(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("qadd16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __SHADD16(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("shadd16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __UADD16(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("uadd16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __UQADD16(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("uqadd16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __UHADD16(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("uhadd16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __SSUB16(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("ssub16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __QSUB16(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("qsub16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __SHSUB16(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("shsub16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __USUB16(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("usub16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __UQSUB16(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("uqsub16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __UHSUB16(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("uhsub16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __SASX(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("sasx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __QASX(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("qasx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __SHASX(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("shasx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __UASX(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("uasx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __UQASX(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("uqasx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __UHASX(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("uhasx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __SSAX(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("ssax %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __QSAX(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("qsax %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __SHSAX(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("shsax %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __USAX(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("usax %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __UQSAX(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("uqsax %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __UHSAX(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("uhsax %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __USAD8(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("usad8 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __USADA8(uint32_t op1, uint32_t op2, uint32_t op3) -{ - uint32_t result; - - __ASM volatile ("usada8 %0, %1, %2, %3" : "=r" (result) : "r" (op1), "r" (op2), "r" (op3) ); - return(result); -} - -#define __SSAT16(ARG1,ARG2) \ -({ \ - int32_t __RES, __ARG1 = (ARG1); \ - __ASM ("ssat16 %0, %1, %2" : "=r" (__RES) : "I" (ARG2), "r" (__ARG1) ); \ - __RES; \ - }) - -#define __USAT16(ARG1,ARG2) \ -({ \ - uint32_t __RES, __ARG1 = (ARG1); \ - __ASM ("usat16 %0, %1, %2" : "=r" (__RES) : "I" (ARG2), "r" (__ARG1) ); \ - __RES; \ - }) - -__STATIC_FORCEINLINE uint32_t __UXTB16(uint32_t op1) -{ - uint32_t result; - - __ASM volatile ("uxtb16 %0, %1" : "=r" (result) : "r" (op1)); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __UXTAB16(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("uxtab16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __SXTB16(uint32_t op1) -{ - uint32_t result; - - __ASM volatile ("sxtb16 %0, %1" : "=r" (result) : "r" (op1)); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __SXTAB16(uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("sxtab16 %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __SMUAD (uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("smuad %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __SMUADX (uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("smuadx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __SMLAD (uint32_t op1, uint32_t op2, uint32_t op3) -{ - uint32_t result; - - __ASM volatile ("smlad %0, %1, %2, %3" : "=r" (result) : "r" (op1), "r" (op2), "r" (op3) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __SMLADX (uint32_t op1, uint32_t op2, uint32_t op3) -{ - uint32_t result; - - __ASM volatile ("smladx %0, %1, %2, %3" : "=r" (result) : "r" (op1), "r" (op2), "r" (op3) ); - return(result); -} - -__STATIC_FORCEINLINE uint64_t __SMLALD (uint32_t op1, uint32_t op2, uint64_t acc) -{ - union llreg_u{ - uint32_t w32[2]; - uint64_t w64; - } llr; - llr.w64 = acc; - -#ifndef __ARMEB__ /* Little endian */ - __ASM volatile ("smlald %0, %1, %2, %3" : "=r" (llr.w32[0]), "=r" (llr.w32[1]): "r" (op1), "r" (op2) , "0" (llr.w32[0]), "1" (llr.w32[1]) ); -#else /* Big endian */ - __ASM volatile ("smlald %0, %1, %2, %3" : "=r" (llr.w32[1]), "=r" (llr.w32[0]): "r" (op1), "r" (op2) , "0" (llr.w32[1]), "1" (llr.w32[0]) ); -#endif - - return(llr.w64); -} - -__STATIC_FORCEINLINE uint64_t __SMLALDX (uint32_t op1, uint32_t op2, uint64_t acc) -{ - union llreg_u{ - uint32_t w32[2]; - uint64_t w64; - } llr; - llr.w64 = acc; - -#ifndef __ARMEB__ /* Little endian */ - __ASM volatile ("smlaldx %0, %1, %2, %3" : "=r" (llr.w32[0]), "=r" (llr.w32[1]): "r" (op1), "r" (op2) , "0" (llr.w32[0]), "1" (llr.w32[1]) ); -#else /* Big endian */ - __ASM volatile ("smlaldx %0, %1, %2, %3" : "=r" (llr.w32[1]), "=r" (llr.w32[0]): "r" (op1), "r" (op2) , "0" (llr.w32[1]), "1" (llr.w32[0]) ); -#endif - - return(llr.w64); -} - -__STATIC_FORCEINLINE uint32_t __SMUSD (uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("smusd %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __SMUSDX (uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("smusdx %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __SMLSD (uint32_t op1, uint32_t op2, uint32_t op3) -{ - uint32_t result; - - __ASM volatile ("smlsd %0, %1, %2, %3" : "=r" (result) : "r" (op1), "r" (op2), "r" (op3) ); - return(result); -} - -__STATIC_FORCEINLINE uint32_t __SMLSDX (uint32_t op1, uint32_t op2, uint32_t op3) -{ - uint32_t result; - - __ASM volatile ("smlsdx %0, %1, %2, %3" : "=r" (result) : "r" (op1), "r" (op2), "r" (op3) ); - return(result); -} - -__STATIC_FORCEINLINE uint64_t __SMLSLD (uint32_t op1, uint32_t op2, uint64_t acc) -{ - union llreg_u{ - uint32_t w32[2]; - uint64_t w64; - } llr; - llr.w64 = acc; - -#ifndef __ARMEB__ /* Little endian */ - __ASM volatile ("smlsld %0, %1, %2, %3" : "=r" (llr.w32[0]), "=r" (llr.w32[1]): "r" (op1), "r" (op2) , "0" (llr.w32[0]), "1" (llr.w32[1]) ); -#else /* Big endian */ - __ASM volatile ("smlsld %0, %1, %2, %3" : "=r" (llr.w32[1]), "=r" (llr.w32[0]): "r" (op1), "r" (op2) , "0" (llr.w32[1]), "1" (llr.w32[0]) ); -#endif - - return(llr.w64); -} - -__STATIC_FORCEINLINE uint64_t __SMLSLDX (uint32_t op1, uint32_t op2, uint64_t acc) -{ - union llreg_u{ - uint32_t w32[2]; - uint64_t w64; - } llr; - llr.w64 = acc; - -#ifndef __ARMEB__ /* Little endian */ - __ASM volatile ("smlsldx %0, %1, %2, %3" : "=r" (llr.w32[0]), "=r" (llr.w32[1]): "r" (op1), "r" (op2) , "0" (llr.w32[0]), "1" (llr.w32[1]) ); -#else /* Big endian */ - __ASM volatile ("smlsldx %0, %1, %2, %3" : "=r" (llr.w32[1]), "=r" (llr.w32[0]): "r" (op1), "r" (op2) , "0" (llr.w32[1]), "1" (llr.w32[0]) ); -#endif - - return(llr.w64); -} - -__STATIC_FORCEINLINE uint32_t __SEL (uint32_t op1, uint32_t op2) -{ - uint32_t result; - - __ASM volatile ("sel %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE int32_t __QADD( int32_t op1, int32_t op2) -{ - int32_t result; - - __ASM volatile ("qadd %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -__STATIC_FORCEINLINE int32_t __QSUB( int32_t op1, int32_t op2) -{ - int32_t result; - - __ASM volatile ("qsub %0, %1, %2" : "=r" (result) : "r" (op1), "r" (op2) ); - return(result); -} - -#if 0 -#define __PKHBT(ARG1,ARG2,ARG3) \ -({ \ - uint32_t __RES, __ARG1 = (ARG1), __ARG2 = (ARG2); \ - __ASM ("pkhbt %0, %1, %2, lsl %3" : "=r" (__RES) : "r" (__ARG1), "r" (__ARG2), "I" (ARG3) ); \ - __RES; \ - }) - -#define __PKHTB(ARG1,ARG2,ARG3) \ -({ \ - uint32_t __RES, __ARG1 = (ARG1), __ARG2 = (ARG2); \ - if (ARG3 == 0) \ - __ASM ("pkhtb %0, %1, %2" : "=r" (__RES) : "r" (__ARG1), "r" (__ARG2) ); \ - else \ - __ASM ("pkhtb %0, %1, %2, asr %3" : "=r" (__RES) : "r" (__ARG1), "r" (__ARG2), "I" (ARG3) ); \ - __RES; \ - }) -#endif - -#define __PKHBT(ARG1,ARG2,ARG3) ( ((((uint32_t)(ARG1)) ) & 0x0000FFFFUL) | \ - ((((uint32_t)(ARG2)) << (ARG3)) & 0xFFFF0000UL) ) - -#define __PKHTB(ARG1,ARG2,ARG3) ( ((((uint32_t)(ARG1)) ) & 0xFFFF0000UL) | \ - ((((uint32_t)(ARG2)) >> (ARG3)) & 0x0000FFFFUL) ) - -__STATIC_FORCEINLINE int32_t __SMMLA (int32_t op1, int32_t op2, int32_t op3) -{ - int32_t result; - - __ASM volatile ("smmla %0, %1, %2, %3" : "=r" (result): "r" (op1), "r" (op2), "r" (op3) ); - return(result); -} - -#endif /* (__ARM_FEATURE_DSP == 1) */ -/*@} end of group CMSIS_SIMD_intrinsics */ - - -#pragma GCC diagnostic pop - -#endif /* __CMSIS_GCC_H */ - diff --git a/panda/board/stm32h7/inc/cmsis_version.h b/panda/board/stm32h7/inc/cmsis_version.h deleted file mode 100644 index bf57cf3e805348..00000000000000 --- a/panda/board/stm32h7/inc/cmsis_version.h +++ /dev/null @@ -1,40 +0,0 @@ -/**************************************************************************//** - * @file cmsis_version.h - * @brief CMSIS Core(M) Version definitions - * @version V5.0.3 - * @date 24. June 2019 - ******************************************************************************/ -/* - * Copyright (c) 2009-2019 ARM Limited. All rights reserved. - * - * SPDX-License-Identifier: Apache-2.0 - * - * Licensed under the Apache License, Version 2.0 (the License); you may - * not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an AS IS BASIS, WITHOUT - * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - -#if defined ( __ICCARM__ ) - #pragma system_include /* treat file as system include file for MISRA check */ -#elif defined (__clang__) - #pragma clang system_header /* treat file as system include file */ -#endif - -#ifndef __CMSIS_VERSION_H -#define __CMSIS_VERSION_H - -/* CMSIS Version definitions */ -#define __CM_CMSIS_VERSION_MAIN ( 5U) /*!< [31:16] CMSIS Core(M) main version */ -#define __CM_CMSIS_VERSION_SUB ( 3U) /*!< [15:0] CMSIS Core(M) sub version */ -#define __CM_CMSIS_VERSION ((__CM_CMSIS_VERSION_MAIN << 16U) | \ - __CM_CMSIS_VERSION_SUB ) /*!< CMSIS Core(M) version number */ -#endif - diff --git a/panda/board/stm32h7/inc/core_cm7.h b/panda/board/stm32h7/inc/core_cm7.h deleted file mode 100644 index 3da3c43e40e18f..00000000000000 --- a/panda/board/stm32h7/inc/core_cm7.h +++ /dev/null @@ -1,2725 +0,0 @@ -/**************************************************************************//** - * @file core_cm7.h - * @brief CMSIS Cortex-M7 Core Peripheral Access Layer Header File - * @version V5.1.1 - * @date 28. March 2019 - ******************************************************************************/ -/* - * Copyright (c) 2009-2019 Arm Limited. All rights reserved. - * - * SPDX-License-Identifier: Apache-2.0 - * - * Licensed under the Apache License, Version 2.0 (the License); you may - * not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an AS IS BASIS, WITHOUT - * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - -#if defined ( __ICCARM__ ) - #pragma system_include /* treat file as system include file for MISRA check */ -#elif defined (__clang__) - #pragma clang system_header /* treat file as system include file */ -#endif - -#ifndef __CORE_CM7_H_GENERIC -#define __CORE_CM7_H_GENERIC - -#include - -#ifdef __cplusplus - extern "C" { -#endif - -/** - \page CMSIS_MISRA_Exceptions MISRA-C:2004 Compliance Exceptions - CMSIS violates the following MISRA-C:2004 rules: - - \li Required Rule 8.5, object/function definition in header file.
- Function definitions in header files are used to allow 'inlining'. - - \li Required Rule 18.4, declaration of union type or object of union type: '{...}'.
- Unions are used for effective representation of core registers. - - \li Advisory Rule 19.7, Function-like macro defined.
- Function-like macros are used to allow more efficient code. - */ - - -/******************************************************************************* - * CMSIS definitions - ******************************************************************************/ -/** - \ingroup Cortex_M7 - @{ - */ - -#include "cmsis_version.h" - -/* CMSIS CM7 definitions */ -#define __CM7_CMSIS_VERSION_MAIN (__CM_CMSIS_VERSION_MAIN) /*!< \deprecated [31:16] CMSIS HAL main version */ -#define __CM7_CMSIS_VERSION_SUB ( __CM_CMSIS_VERSION_SUB) /*!< \deprecated [15:0] CMSIS HAL sub version */ -#define __CM7_CMSIS_VERSION ((__CM7_CMSIS_VERSION_MAIN << 16U) | \ - __CM7_CMSIS_VERSION_SUB ) /*!< \deprecated CMSIS HAL version number */ - -#define __CORTEX_M (7U) /*!< Cortex-M Core */ - -/** __FPU_USED indicates whether an FPU is used or not. - For this, __FPU_PRESENT has to be checked prior to making use of FPU specific registers and functions. -*/ -#if defined ( __CC_ARM ) - #if defined __TARGET_FPU_VFP - #if defined (__FPU_PRESENT) && (__FPU_PRESENT == 1U) - #define __FPU_USED 1U - #else - #error "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)" - #define __FPU_USED 0U - #endif - #else - #define __FPU_USED 0U - #endif - -#elif defined (__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050) - #if defined __ARM_FP - #if defined (__FPU_PRESENT) && (__FPU_PRESENT == 1U) - #define __FPU_USED 1U - #else - #warning "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)" - #define __FPU_USED 0U - #endif - #else - #define __FPU_USED 0U - #endif - -#elif defined ( __GNUC__ ) - #if defined (__VFP_FP__) && !defined(__SOFTFP__) - #if defined (__FPU_PRESENT) && (__FPU_PRESENT == 1U) - #define __FPU_USED 1U - #else - #error "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)" - #define __FPU_USED 0U - #endif - #else - #define __FPU_USED 0U - #endif - -#elif defined ( __ICCARM__ ) - #if defined __ARMVFP__ - #if defined (__FPU_PRESENT) && (__FPU_PRESENT == 1U) - #define __FPU_USED 1U - #else - #error "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)" - #define __FPU_USED 0U - #endif - #else - #define __FPU_USED 0U - #endif - -#elif defined ( __TI_ARM__ ) - #if defined __TI_VFP_SUPPORT__ - #if defined (__FPU_PRESENT) && (__FPU_PRESENT == 1U) - #define __FPU_USED 1U - #else - #error "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)" - #define __FPU_USED 0U - #endif - #else - #define __FPU_USED 0U - #endif - -#elif defined ( __TASKING__ ) - #if defined __FPU_VFP__ - #if defined (__FPU_PRESENT) && (__FPU_PRESENT == 1U) - #define __FPU_USED 1U - #else - #error "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)" - #define __FPU_USED 0U - #endif - #else - #define __FPU_USED 0U - #endif - -#elif defined ( __CSMC__ ) - #if ( __CSMC__ & 0x400U) - #if defined (__FPU_PRESENT) && (__FPU_PRESENT == 1U) - #define __FPU_USED 1U - #else - #error "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)" - #define __FPU_USED 0U - #endif - #else - #define __FPU_USED 0U - #endif - -#endif - -#include "cmsis_compiler.h" /* CMSIS compiler specific defines */ - - -#ifdef __cplusplus -} -#endif - -#endif /* __CORE_CM7_H_GENERIC */ - -#ifndef __CMSIS_GENERIC - -#ifndef __CORE_CM7_H_DEPENDANT -#define __CORE_CM7_H_DEPENDANT - -#ifdef __cplusplus - extern "C" { -#endif - -/* check device defines and use defaults */ -#if defined __CHECK_DEVICE_DEFINES - #ifndef __CM7_REV - #define __CM7_REV 0x0000U - #warning "__CM7_REV not defined in device header file; using default!" - #endif - - #ifndef __FPU_PRESENT - #define __FPU_PRESENT 0U - #warning "__FPU_PRESENT not defined in device header file; using default!" - #endif - - #ifndef __MPU_PRESENT - #define __MPU_PRESENT 0U - #warning "__MPU_PRESENT not defined in device header file; using default!" - #endif - - #ifndef __ICACHE_PRESENT - #define __ICACHE_PRESENT 0U - #warning "__ICACHE_PRESENT not defined in device header file; using default!" - #endif - - #ifndef __DCACHE_PRESENT - #define __DCACHE_PRESENT 0U - #warning "__DCACHE_PRESENT not defined in device header file; using default!" - #endif - - #ifndef __DTCM_PRESENT - #define __DTCM_PRESENT 0U - #warning "__DTCM_PRESENT not defined in device header file; using default!" - #endif - - #ifndef __NVIC_PRIO_BITS - #define __NVIC_PRIO_BITS 3U - #warning "__NVIC_PRIO_BITS not defined in device header file; using default!" - #endif - - #ifndef __Vendor_SysTickConfig - #define __Vendor_SysTickConfig 0U - #warning "__Vendor_SysTickConfig not defined in device header file; using default!" - #endif -#endif - -/* IO definitions (access restrictions to peripheral registers) */ -/** - \defgroup CMSIS_glob_defs CMSIS Global Defines - - IO Type Qualifiers are used - \li to specify the access to peripheral variables. - \li for automatic generation of peripheral register debug information. -*/ -#ifdef __cplusplus - #define __I volatile /*!< Defines 'read only' permissions */ -#else - #define __I volatile const /*!< Defines 'read only' permissions */ -#endif -#define __O volatile /*!< Defines 'write only' permissions */ -#define __IO volatile /*!< Defines 'read / write' permissions */ - -/* following defines should be used for structure members */ -#define __IM volatile const /*! Defines 'read only' structure member permissions */ -#define __OM volatile /*! Defines 'write only' structure member permissions */ -#define __IOM volatile /*! Defines 'read / write' structure member permissions */ - -/*@} end of group Cortex_M7 */ - - - -/******************************************************************************* - * Register Abstraction - Core Register contain: - - Core Register - - Core NVIC Register - - Core SCB Register - - Core SysTick Register - - Core Debug Register - - Core MPU Register - - Core FPU Register - ******************************************************************************/ -/** - \defgroup CMSIS_core_register Defines and Type Definitions - \brief Type definitions and defines for Cortex-M processor based devices. -*/ - -/** - \ingroup CMSIS_core_register - \defgroup CMSIS_CORE Status and Control Registers - \brief Core Register type definitions. - @{ - */ - -/** - \brief Union type to access the Application Program Status Register (APSR). - */ -typedef union -{ - struct - { - uint32_t _reserved0:16; /*!< bit: 0..15 Reserved */ - uint32_t GE:4; /*!< bit: 16..19 Greater than or Equal flags */ - uint32_t _reserved1:7; /*!< bit: 20..26 Reserved */ - uint32_t Q:1; /*!< bit: 27 Saturation condition flag */ - uint32_t V:1; /*!< bit: 28 Overflow condition code flag */ - uint32_t C:1; /*!< bit: 29 Carry condition code flag */ - uint32_t Z:1; /*!< bit: 30 Zero condition code flag */ - uint32_t N:1; /*!< bit: 31 Negative condition code flag */ - } b; /*!< Structure used for bit access */ - uint32_t w; /*!< Type used for word access */ -} APSR_Type; - -/* APSR Register Definitions */ -#define APSR_N_Pos 31U /*!< APSR: N Position */ -#define APSR_N_Msk (1UL << APSR_N_Pos) /*!< APSR: N Mask */ - -#define APSR_Z_Pos 30U /*!< APSR: Z Position */ -#define APSR_Z_Msk (1UL << APSR_Z_Pos) /*!< APSR: Z Mask */ - -#define APSR_C_Pos 29U /*!< APSR: C Position */ -#define APSR_C_Msk (1UL << APSR_C_Pos) /*!< APSR: C Mask */ - -#define APSR_V_Pos 28U /*!< APSR: V Position */ -#define APSR_V_Msk (1UL << APSR_V_Pos) /*!< APSR: V Mask */ - -#define APSR_Q_Pos 27U /*!< APSR: Q Position */ -#define APSR_Q_Msk (1UL << APSR_Q_Pos) /*!< APSR: Q Mask */ - -#define APSR_GE_Pos 16U /*!< APSR: GE Position */ -#define APSR_GE_Msk (0xFUL << APSR_GE_Pos) /*!< APSR: GE Mask */ - - -/** - \brief Union type to access the Interrupt Program Status Register (IPSR). - */ -typedef union -{ - struct - { - uint32_t ISR:9; /*!< bit: 0.. 8 Exception number */ - uint32_t _reserved0:23; /*!< bit: 9..31 Reserved */ - } b; /*!< Structure used for bit access */ - uint32_t w; /*!< Type used for word access */ -} IPSR_Type; - -/* IPSR Register Definitions */ -#define IPSR_ISR_Pos 0U /*!< IPSR: ISR Position */ -#define IPSR_ISR_Msk (0x1FFUL /*<< IPSR_ISR_Pos*/) /*!< IPSR: ISR Mask */ - - -/** - \brief Union type to access the Special-Purpose Program Status Registers (xPSR). - */ -typedef union -{ - struct - { - uint32_t ISR:9; /*!< bit: 0.. 8 Exception number */ - uint32_t _reserved0:1; /*!< bit: 9 Reserved */ - uint32_t ICI_IT_1:6; /*!< bit: 10..15 ICI/IT part 1 */ - uint32_t GE:4; /*!< bit: 16..19 Greater than or Equal flags */ - uint32_t _reserved1:4; /*!< bit: 20..23 Reserved */ - uint32_t T:1; /*!< bit: 24 Thumb bit */ - uint32_t ICI_IT_2:2; /*!< bit: 25..26 ICI/IT part 2 */ - uint32_t Q:1; /*!< bit: 27 Saturation condition flag */ - uint32_t V:1; /*!< bit: 28 Overflow condition code flag */ - uint32_t C:1; /*!< bit: 29 Carry condition code flag */ - uint32_t Z:1; /*!< bit: 30 Zero condition code flag */ - uint32_t N:1; /*!< bit: 31 Negative condition code flag */ - } b; /*!< Structure used for bit access */ - uint32_t w; /*!< Type used for word access */ -} xPSR_Type; - -/* xPSR Register Definitions */ -#define xPSR_N_Pos 31U /*!< xPSR: N Position */ -#define xPSR_N_Msk (1UL << xPSR_N_Pos) /*!< xPSR: N Mask */ - -#define xPSR_Z_Pos 30U /*!< xPSR: Z Position */ -#define xPSR_Z_Msk (1UL << xPSR_Z_Pos) /*!< xPSR: Z Mask */ - -#define xPSR_C_Pos 29U /*!< xPSR: C Position */ -#define xPSR_C_Msk (1UL << xPSR_C_Pos) /*!< xPSR: C Mask */ - -#define xPSR_V_Pos 28U /*!< xPSR: V Position */ -#define xPSR_V_Msk (1UL << xPSR_V_Pos) /*!< xPSR: V Mask */ - -#define xPSR_Q_Pos 27U /*!< xPSR: Q Position */ -#define xPSR_Q_Msk (1UL << xPSR_Q_Pos) /*!< xPSR: Q Mask */ - -#define xPSR_ICI_IT_2_Pos 25U /*!< xPSR: ICI/IT part 2 Position */ -#define xPSR_ICI_IT_2_Msk (3UL << xPSR_ICI_IT_2_Pos) /*!< xPSR: ICI/IT part 2 Mask */ - -#define xPSR_T_Pos 24U /*!< xPSR: T Position */ -#define xPSR_T_Msk (1UL << xPSR_T_Pos) /*!< xPSR: T Mask */ - -#define xPSR_GE_Pos 16U /*!< xPSR: GE Position */ -#define xPSR_GE_Msk (0xFUL << xPSR_GE_Pos) /*!< xPSR: GE Mask */ - -#define xPSR_ICI_IT_1_Pos 10U /*!< xPSR: ICI/IT part 1 Position */ -#define xPSR_ICI_IT_1_Msk (0x3FUL << xPSR_ICI_IT_1_Pos) /*!< xPSR: ICI/IT part 1 Mask */ - -#define xPSR_ISR_Pos 0U /*!< xPSR: ISR Position */ -#define xPSR_ISR_Msk (0x1FFUL /*<< xPSR_ISR_Pos*/) /*!< xPSR: ISR Mask */ - - -/** - \brief Union type to access the Control Registers (CONTROL). - */ -typedef union -{ - struct - { - uint32_t nPRIV:1; /*!< bit: 0 Execution privilege in Thread mode */ - uint32_t SPSEL:1; /*!< bit: 1 Stack to be used */ - uint32_t FPCA:1; /*!< bit: 2 FP extension active flag */ - uint32_t _reserved0:29; /*!< bit: 3..31 Reserved */ - } b; /*!< Structure used for bit access */ - uint32_t w; /*!< Type used for word access */ -} CONTROL_Type; - -/* CONTROL Register Definitions */ -#define CONTROL_FPCA_Pos 2U /*!< CONTROL: FPCA Position */ -#define CONTROL_FPCA_Msk (1UL << CONTROL_FPCA_Pos) /*!< CONTROL: FPCA Mask */ - -#define CONTROL_SPSEL_Pos 1U /*!< CONTROL: SPSEL Position */ -#define CONTROL_SPSEL_Msk (1UL << CONTROL_SPSEL_Pos) /*!< CONTROL: SPSEL Mask */ - -#define CONTROL_nPRIV_Pos 0U /*!< CONTROL: nPRIV Position */ -#define CONTROL_nPRIV_Msk (1UL /*<< CONTROL_nPRIV_Pos*/) /*!< CONTROL: nPRIV Mask */ - -/*@} end of group CMSIS_CORE */ - - -/** - \ingroup CMSIS_core_register - \defgroup CMSIS_NVIC Nested Vectored Interrupt Controller (NVIC) - \brief Type definitions for the NVIC Registers - @{ - */ - -/** - \brief Structure type to access the Nested Vectored Interrupt Controller (NVIC). - */ -typedef struct -{ - __IOM uint32_t ISER[8U]; /*!< Offset: 0x000 (R/W) Interrupt Set Enable Register */ - uint32_t RESERVED0[24U]; - __IOM uint32_t ICER[8U]; /*!< Offset: 0x080 (R/W) Interrupt Clear Enable Register */ - uint32_t RESERVED1[24U]; - __IOM uint32_t ISPR[8U]; /*!< Offset: 0x100 (R/W) Interrupt Set Pending Register */ - uint32_t RESERVED2[24U]; - __IOM uint32_t ICPR[8U]; /*!< Offset: 0x180 (R/W) Interrupt Clear Pending Register */ - uint32_t RESERVED3[24U]; - __IOM uint32_t IABR[8U]; /*!< Offset: 0x200 (R/W) Interrupt Active bit Register */ - uint32_t RESERVED4[56U]; - __IOM uint8_t IP[240U]; /*!< Offset: 0x300 (R/W) Interrupt Priority Register (8Bit wide) */ - uint32_t RESERVED5[644U]; - __OM uint32_t STIR; /*!< Offset: 0xE00 ( /W) Software Trigger Interrupt Register */ -} NVIC_Type; - -/* Software Triggered Interrupt Register Definitions */ -#define NVIC_STIR_INTID_Pos 0U /*!< STIR: INTLINESNUM Position */ -#define NVIC_STIR_INTID_Msk (0x1FFUL /*<< NVIC_STIR_INTID_Pos*/) /*!< STIR: INTLINESNUM Mask */ - -/*@} end of group CMSIS_NVIC */ - - -/** - \ingroup CMSIS_core_register - \defgroup CMSIS_SCB System Control Block (SCB) - \brief Type definitions for the System Control Block Registers - @{ - */ - -/** - \brief Structure type to access the System Control Block (SCB). - */ -typedef struct -{ - __IM uint32_t CPUID; /*!< Offset: 0x000 (R/ ) CPUID Base Register */ - __IOM uint32_t ICSR; /*!< Offset: 0x004 (R/W) Interrupt Control and State Register */ - __IOM uint32_t VTOR; /*!< Offset: 0x008 (R/W) Vector Table Offset Register */ - __IOM uint32_t AIRCR; /*!< Offset: 0x00C (R/W) Application Interrupt and Reset Control Register */ - __IOM uint32_t SCR; /*!< Offset: 0x010 (R/W) System Control Register */ - __IOM uint32_t CCR; /*!< Offset: 0x014 (R/W) Configuration Control Register */ - __IOM uint8_t SHPR[12U]; /*!< Offset: 0x018 (R/W) System Handlers Priority Registers (4-7, 8-11, 12-15) */ - __IOM uint32_t SHCSR; /*!< Offset: 0x024 (R/W) System Handler Control and State Register */ - __IOM uint32_t CFSR; /*!< Offset: 0x028 (R/W) Configurable Fault Status Register */ - __IOM uint32_t HFSR; /*!< Offset: 0x02C (R/W) HardFault Status Register */ - __IOM uint32_t DFSR; /*!< Offset: 0x030 (R/W) Debug Fault Status Register */ - __IOM uint32_t MMFAR; /*!< Offset: 0x034 (R/W) MemManage Fault Address Register */ - __IOM uint32_t BFAR; /*!< Offset: 0x038 (R/W) BusFault Address Register */ - __IOM uint32_t AFSR; /*!< Offset: 0x03C (R/W) Auxiliary Fault Status Register */ - __IM uint32_t ID_PFR[2U]; /*!< Offset: 0x040 (R/ ) Processor Feature Register */ - __IM uint32_t ID_DFR; /*!< Offset: 0x048 (R/ ) Debug Feature Register */ - __IM uint32_t ID_AFR; /*!< Offset: 0x04C (R/ ) Auxiliary Feature Register */ - __IM uint32_t ID_MFR[4U]; /*!< Offset: 0x050 (R/ ) Memory Model Feature Register */ - __IM uint32_t ID_ISAR[5U]; /*!< Offset: 0x060 (R/ ) Instruction Set Attributes Register */ - uint32_t RESERVED0[1U]; - __IM uint32_t CLIDR; /*!< Offset: 0x078 (R/ ) Cache Level ID register */ - __IM uint32_t CTR; /*!< Offset: 0x07C (R/ ) Cache Type register */ - __IM uint32_t CCSIDR; /*!< Offset: 0x080 (R/ ) Cache Size ID Register */ - __IOM uint32_t CSSELR; /*!< Offset: 0x084 (R/W) Cache Size Selection Register */ - __IOM uint32_t CPACR; /*!< Offset: 0x088 (R/W) Coprocessor Access Control Register */ - uint32_t RESERVED3[93U]; - __OM uint32_t STIR; /*!< Offset: 0x200 ( /W) Software Triggered Interrupt Register */ - uint32_t RESERVED4[15U]; - __IM uint32_t MVFR0; /*!< Offset: 0x240 (R/ ) Media and VFP Feature Register 0 */ - __IM uint32_t MVFR1; /*!< Offset: 0x244 (R/ ) Media and VFP Feature Register 1 */ - __IM uint32_t MVFR2; /*!< Offset: 0x248 (R/ ) Media and VFP Feature Register 2 */ - uint32_t RESERVED5[1U]; - __OM uint32_t ICIALLU; /*!< Offset: 0x250 ( /W) I-Cache Invalidate All to PoU */ - uint32_t RESERVED6[1U]; - __OM uint32_t ICIMVAU; /*!< Offset: 0x258 ( /W) I-Cache Invalidate by MVA to PoU */ - __OM uint32_t DCIMVAC; /*!< Offset: 0x25C ( /W) D-Cache Invalidate by MVA to PoC */ - __OM uint32_t DCISW; /*!< Offset: 0x260 ( /W) D-Cache Invalidate by Set-way */ - __OM uint32_t DCCMVAU; /*!< Offset: 0x264 ( /W) D-Cache Clean by MVA to PoU */ - __OM uint32_t DCCMVAC; /*!< Offset: 0x268 ( /W) D-Cache Clean by MVA to PoC */ - __OM uint32_t DCCSW; /*!< Offset: 0x26C ( /W) D-Cache Clean by Set-way */ - __OM uint32_t DCCIMVAC; /*!< Offset: 0x270 ( /W) D-Cache Clean and Invalidate by MVA to PoC */ - __OM uint32_t DCCISW; /*!< Offset: 0x274 ( /W) D-Cache Clean and Invalidate by Set-way */ - uint32_t RESERVED7[6U]; - __IOM uint32_t ITCMCR; /*!< Offset: 0x290 (R/W) Instruction Tightly-Coupled Memory Control Register */ - __IOM uint32_t DTCMCR; /*!< Offset: 0x294 (R/W) Data Tightly-Coupled Memory Control Registers */ - __IOM uint32_t AHBPCR; /*!< Offset: 0x298 (R/W) AHBP Control Register */ - __IOM uint32_t CACR; /*!< Offset: 0x29C (R/W) L1 Cache Control Register */ - __IOM uint32_t AHBSCR; /*!< Offset: 0x2A0 (R/W) AHB Slave Control Register */ - uint32_t RESERVED8[1U]; - __IOM uint32_t ABFSR; /*!< Offset: 0x2A8 (R/W) Auxiliary Bus Fault Status Register */ -} SCB_Type; - -/* SCB CPUID Register Definitions */ -#define SCB_CPUID_IMPLEMENTER_Pos 24U /*!< SCB CPUID: IMPLEMENTER Position */ -#define SCB_CPUID_IMPLEMENTER_Msk (0xFFUL << SCB_CPUID_IMPLEMENTER_Pos) /*!< SCB CPUID: IMPLEMENTER Mask */ - -#define SCB_CPUID_VARIANT_Pos 20U /*!< SCB CPUID: VARIANT Position */ -#define SCB_CPUID_VARIANT_Msk (0xFUL << SCB_CPUID_VARIANT_Pos) /*!< SCB CPUID: VARIANT Mask */ - -#define SCB_CPUID_ARCHITECTURE_Pos 16U /*!< SCB CPUID: ARCHITECTURE Position */ -#define SCB_CPUID_ARCHITECTURE_Msk (0xFUL << SCB_CPUID_ARCHITECTURE_Pos) /*!< SCB CPUID: ARCHITECTURE Mask */ - -#define SCB_CPUID_PARTNO_Pos 4U /*!< SCB CPUID: PARTNO Position */ -#define SCB_CPUID_PARTNO_Msk (0xFFFUL << SCB_CPUID_PARTNO_Pos) /*!< SCB CPUID: PARTNO Mask */ - -#define SCB_CPUID_REVISION_Pos 0U /*!< SCB CPUID: REVISION Position */ -#define SCB_CPUID_REVISION_Msk (0xFUL /*<< SCB_CPUID_REVISION_Pos*/) /*!< SCB CPUID: REVISION Mask */ - -/* SCB Interrupt Control State Register Definitions */ -#define SCB_ICSR_NMIPENDSET_Pos 31U /*!< SCB ICSR: NMIPENDSET Position */ -#define SCB_ICSR_NMIPENDSET_Msk (1UL << SCB_ICSR_NMIPENDSET_Pos) /*!< SCB ICSR: NMIPENDSET Mask */ - -#define SCB_ICSR_PENDSVSET_Pos 28U /*!< SCB ICSR: PENDSVSET Position */ -#define SCB_ICSR_PENDSVSET_Msk (1UL << SCB_ICSR_PENDSVSET_Pos) /*!< SCB ICSR: PENDSVSET Mask */ - -#define SCB_ICSR_PENDSVCLR_Pos 27U /*!< SCB ICSR: PENDSVCLR Position */ -#define SCB_ICSR_PENDSVCLR_Msk (1UL << SCB_ICSR_PENDSVCLR_Pos) /*!< SCB ICSR: PENDSVCLR Mask */ - -#define SCB_ICSR_PENDSTSET_Pos 26U /*!< SCB ICSR: PENDSTSET Position */ -#define SCB_ICSR_PENDSTSET_Msk (1UL << SCB_ICSR_PENDSTSET_Pos) /*!< SCB ICSR: PENDSTSET Mask */ - -#define SCB_ICSR_PENDSTCLR_Pos 25U /*!< SCB ICSR: PENDSTCLR Position */ -#define SCB_ICSR_PENDSTCLR_Msk (1UL << SCB_ICSR_PENDSTCLR_Pos) /*!< SCB ICSR: PENDSTCLR Mask */ - -#define SCB_ICSR_ISRPREEMPT_Pos 23U /*!< SCB ICSR: ISRPREEMPT Position */ -#define SCB_ICSR_ISRPREEMPT_Msk (1UL << SCB_ICSR_ISRPREEMPT_Pos) /*!< SCB ICSR: ISRPREEMPT Mask */ - -#define SCB_ICSR_ISRPENDING_Pos 22U /*!< SCB ICSR: ISRPENDING Position */ -#define SCB_ICSR_ISRPENDING_Msk (1UL << SCB_ICSR_ISRPENDING_Pos) /*!< SCB ICSR: ISRPENDING Mask */ - -#define SCB_ICSR_VECTPENDING_Pos 12U /*!< SCB ICSR: VECTPENDING Position */ -#define SCB_ICSR_VECTPENDING_Msk (0x1FFUL << SCB_ICSR_VECTPENDING_Pos) /*!< SCB ICSR: VECTPENDING Mask */ - -#define SCB_ICSR_RETTOBASE_Pos 11U /*!< SCB ICSR: RETTOBASE Position */ -#define SCB_ICSR_RETTOBASE_Msk (1UL << SCB_ICSR_RETTOBASE_Pos) /*!< SCB ICSR: RETTOBASE Mask */ - -#define SCB_ICSR_VECTACTIVE_Pos 0U /*!< SCB ICSR: VECTACTIVE Position */ -#define SCB_ICSR_VECTACTIVE_Msk (0x1FFUL /*<< SCB_ICSR_VECTACTIVE_Pos*/) /*!< SCB ICSR: VECTACTIVE Mask */ - -/* SCB Vector Table Offset Register Definitions */ -#define SCB_VTOR_TBLOFF_Pos 7U /*!< SCB VTOR: TBLOFF Position */ -#define SCB_VTOR_TBLOFF_Msk (0x1FFFFFFUL << SCB_VTOR_TBLOFF_Pos) /*!< SCB VTOR: TBLOFF Mask */ - -/* SCB Application Interrupt and Reset Control Register Definitions */ -#define SCB_AIRCR_VECTKEY_Pos 16U /*!< SCB AIRCR: VECTKEY Position */ -#define SCB_AIRCR_VECTKEY_Msk (0xFFFFUL << SCB_AIRCR_VECTKEY_Pos) /*!< SCB AIRCR: VECTKEY Mask */ - -#define SCB_AIRCR_VECTKEYSTAT_Pos 16U /*!< SCB AIRCR: VECTKEYSTAT Position */ -#define SCB_AIRCR_VECTKEYSTAT_Msk (0xFFFFUL << SCB_AIRCR_VECTKEYSTAT_Pos) /*!< SCB AIRCR: VECTKEYSTAT Mask */ - -#define SCB_AIRCR_ENDIANESS_Pos 15U /*!< SCB AIRCR: ENDIANESS Position */ -#define SCB_AIRCR_ENDIANESS_Msk (1UL << SCB_AIRCR_ENDIANESS_Pos) /*!< SCB AIRCR: ENDIANESS Mask */ - -#define SCB_AIRCR_PRIGROUP_Pos 8U /*!< SCB AIRCR: PRIGROUP Position */ -#define SCB_AIRCR_PRIGROUP_Msk (7UL << SCB_AIRCR_PRIGROUP_Pos) /*!< SCB AIRCR: PRIGROUP Mask */ - -#define SCB_AIRCR_SYSRESETREQ_Pos 2U /*!< SCB AIRCR: SYSRESETREQ Position */ -#define SCB_AIRCR_SYSRESETREQ_Msk (1UL << SCB_AIRCR_SYSRESETREQ_Pos) /*!< SCB AIRCR: SYSRESETREQ Mask */ - -#define SCB_AIRCR_VECTCLRACTIVE_Pos 1U /*!< SCB AIRCR: VECTCLRACTIVE Position */ -#define SCB_AIRCR_VECTCLRACTIVE_Msk (1UL << SCB_AIRCR_VECTCLRACTIVE_Pos) /*!< SCB AIRCR: VECTCLRACTIVE Mask */ - -#define SCB_AIRCR_VECTRESET_Pos 0U /*!< SCB AIRCR: VECTRESET Position */ -#define SCB_AIRCR_VECTRESET_Msk (1UL /*<< SCB_AIRCR_VECTRESET_Pos*/) /*!< SCB AIRCR: VECTRESET Mask */ - -/* SCB System Control Register Definitions */ -#define SCB_SCR_SEVONPEND_Pos 4U /*!< SCB SCR: SEVONPEND Position */ -#define SCB_SCR_SEVONPEND_Msk (1UL << SCB_SCR_SEVONPEND_Pos) /*!< SCB SCR: SEVONPEND Mask */ - -#define SCB_SCR_SLEEPDEEP_Pos 2U /*!< SCB SCR: SLEEPDEEP Position */ -#define SCB_SCR_SLEEPDEEP_Msk (1UL << SCB_SCR_SLEEPDEEP_Pos) /*!< SCB SCR: SLEEPDEEP Mask */ - -#define SCB_SCR_SLEEPONEXIT_Pos 1U /*!< SCB SCR: SLEEPONEXIT Position */ -#define SCB_SCR_SLEEPONEXIT_Msk (1UL << SCB_SCR_SLEEPONEXIT_Pos) /*!< SCB SCR: SLEEPONEXIT Mask */ - -/* SCB Configuration Control Register Definitions */ -#define SCB_CCR_BP_Pos 18U /*!< SCB CCR: Branch prediction enable bit Position */ -#define SCB_CCR_BP_Msk (1UL << SCB_CCR_BP_Pos) /*!< SCB CCR: Branch prediction enable bit Mask */ - -#define SCB_CCR_IC_Pos 17U /*!< SCB CCR: Instruction cache enable bit Position */ -#define SCB_CCR_IC_Msk (1UL << SCB_CCR_IC_Pos) /*!< SCB CCR: Instruction cache enable bit Mask */ - -#define SCB_CCR_DC_Pos 16U /*!< SCB CCR: Cache enable bit Position */ -#define SCB_CCR_DC_Msk (1UL << SCB_CCR_DC_Pos) /*!< SCB CCR: Cache enable bit Mask */ - -#define SCB_CCR_STKALIGN_Pos 9U /*!< SCB CCR: STKALIGN Position */ -#define SCB_CCR_STKALIGN_Msk (1UL << SCB_CCR_STKALIGN_Pos) /*!< SCB CCR: STKALIGN Mask */ - -#define SCB_CCR_BFHFNMIGN_Pos 8U /*!< SCB CCR: BFHFNMIGN Position */ -#define SCB_CCR_BFHFNMIGN_Msk (1UL << SCB_CCR_BFHFNMIGN_Pos) /*!< SCB CCR: BFHFNMIGN Mask */ - -#define SCB_CCR_DIV_0_TRP_Pos 4U /*!< SCB CCR: DIV_0_TRP Position */ -#define SCB_CCR_DIV_0_TRP_Msk (1UL << SCB_CCR_DIV_0_TRP_Pos) /*!< SCB CCR: DIV_0_TRP Mask */ - -#define SCB_CCR_UNALIGN_TRP_Pos 3U /*!< SCB CCR: UNALIGN_TRP Position */ -#define SCB_CCR_UNALIGN_TRP_Msk (1UL << SCB_CCR_UNALIGN_TRP_Pos) /*!< SCB CCR: UNALIGN_TRP Mask */ - -#define SCB_CCR_USERSETMPEND_Pos 1U /*!< SCB CCR: USERSETMPEND Position */ -#define SCB_CCR_USERSETMPEND_Msk (1UL << SCB_CCR_USERSETMPEND_Pos) /*!< SCB CCR: USERSETMPEND Mask */ - -#define SCB_CCR_NONBASETHRDENA_Pos 0U /*!< SCB CCR: NONBASETHRDENA Position */ -#define SCB_CCR_NONBASETHRDENA_Msk (1UL /*<< SCB_CCR_NONBASETHRDENA_Pos*/) /*!< SCB CCR: NONBASETHRDENA Mask */ - -/* SCB System Handler Control and State Register Definitions */ -#define SCB_SHCSR_USGFAULTENA_Pos 18U /*!< SCB SHCSR: USGFAULTENA Position */ -#define SCB_SHCSR_USGFAULTENA_Msk (1UL << SCB_SHCSR_USGFAULTENA_Pos) /*!< SCB SHCSR: USGFAULTENA Mask */ - -#define SCB_SHCSR_BUSFAULTENA_Pos 17U /*!< SCB SHCSR: BUSFAULTENA Position */ -#define SCB_SHCSR_BUSFAULTENA_Msk (1UL << SCB_SHCSR_BUSFAULTENA_Pos) /*!< SCB SHCSR: BUSFAULTENA Mask */ - -#define SCB_SHCSR_MEMFAULTENA_Pos 16U /*!< SCB SHCSR: MEMFAULTENA Position */ -#define SCB_SHCSR_MEMFAULTENA_Msk (1UL << SCB_SHCSR_MEMFAULTENA_Pos) /*!< SCB SHCSR: MEMFAULTENA Mask */ - -#define SCB_SHCSR_SVCALLPENDED_Pos 15U /*!< SCB SHCSR: SVCALLPENDED Position */ -#define SCB_SHCSR_SVCALLPENDED_Msk (1UL << SCB_SHCSR_SVCALLPENDED_Pos) /*!< SCB SHCSR: SVCALLPENDED Mask */ - -#define SCB_SHCSR_BUSFAULTPENDED_Pos 14U /*!< SCB SHCSR: BUSFAULTPENDED Position */ -#define SCB_SHCSR_BUSFAULTPENDED_Msk (1UL << SCB_SHCSR_BUSFAULTPENDED_Pos) /*!< SCB SHCSR: BUSFAULTPENDED Mask */ - -#define SCB_SHCSR_MEMFAULTPENDED_Pos 13U /*!< SCB SHCSR: MEMFAULTPENDED Position */ -#define SCB_SHCSR_MEMFAULTPENDED_Msk (1UL << SCB_SHCSR_MEMFAULTPENDED_Pos) /*!< SCB SHCSR: MEMFAULTPENDED Mask */ - -#define SCB_SHCSR_USGFAULTPENDED_Pos 12U /*!< SCB SHCSR: USGFAULTPENDED Position */ -#define SCB_SHCSR_USGFAULTPENDED_Msk (1UL << SCB_SHCSR_USGFAULTPENDED_Pos) /*!< SCB SHCSR: USGFAULTPENDED Mask */ - -#define SCB_SHCSR_SYSTICKACT_Pos 11U /*!< SCB SHCSR: SYSTICKACT Position */ -#define SCB_SHCSR_SYSTICKACT_Msk (1UL << SCB_SHCSR_SYSTICKACT_Pos) /*!< SCB SHCSR: SYSTICKACT Mask */ - -#define SCB_SHCSR_PENDSVACT_Pos 10U /*!< SCB SHCSR: PENDSVACT Position */ -#define SCB_SHCSR_PENDSVACT_Msk (1UL << SCB_SHCSR_PENDSVACT_Pos) /*!< SCB SHCSR: PENDSVACT Mask */ - -#define SCB_SHCSR_MONITORACT_Pos 8U /*!< SCB SHCSR: MONITORACT Position */ -#define SCB_SHCSR_MONITORACT_Msk (1UL << SCB_SHCSR_MONITORACT_Pos) /*!< SCB SHCSR: MONITORACT Mask */ - -#define SCB_SHCSR_SVCALLACT_Pos 7U /*!< SCB SHCSR: SVCALLACT Position */ -#define SCB_SHCSR_SVCALLACT_Msk (1UL << SCB_SHCSR_SVCALLACT_Pos) /*!< SCB SHCSR: SVCALLACT Mask */ - -#define SCB_SHCSR_USGFAULTACT_Pos 3U /*!< SCB SHCSR: USGFAULTACT Position */ -#define SCB_SHCSR_USGFAULTACT_Msk (1UL << SCB_SHCSR_USGFAULTACT_Pos) /*!< SCB SHCSR: USGFAULTACT Mask */ - -#define SCB_SHCSR_BUSFAULTACT_Pos 1U /*!< SCB SHCSR: BUSFAULTACT Position */ -#define SCB_SHCSR_BUSFAULTACT_Msk (1UL << SCB_SHCSR_BUSFAULTACT_Pos) /*!< SCB SHCSR: BUSFAULTACT Mask */ - -#define SCB_SHCSR_MEMFAULTACT_Pos 0U /*!< SCB SHCSR: MEMFAULTACT Position */ -#define SCB_SHCSR_MEMFAULTACT_Msk (1UL /*<< SCB_SHCSR_MEMFAULTACT_Pos*/) /*!< SCB SHCSR: MEMFAULTACT Mask */ - -/* SCB Configurable Fault Status Register Definitions */ -#define SCB_CFSR_USGFAULTSR_Pos 16U /*!< SCB CFSR: Usage Fault Status Register Position */ -#define SCB_CFSR_USGFAULTSR_Msk (0xFFFFUL << SCB_CFSR_USGFAULTSR_Pos) /*!< SCB CFSR: Usage Fault Status Register Mask */ - -#define SCB_CFSR_BUSFAULTSR_Pos 8U /*!< SCB CFSR: Bus Fault Status Register Position */ -#define SCB_CFSR_BUSFAULTSR_Msk (0xFFUL << SCB_CFSR_BUSFAULTSR_Pos) /*!< SCB CFSR: Bus Fault Status Register Mask */ - -#define SCB_CFSR_MEMFAULTSR_Pos 0U /*!< SCB CFSR: Memory Manage Fault Status Register Position */ -#define SCB_CFSR_MEMFAULTSR_Msk (0xFFUL /*<< SCB_CFSR_MEMFAULTSR_Pos*/) /*!< SCB CFSR: Memory Manage Fault Status Register Mask */ - -/* MemManage Fault Status Register (part of SCB Configurable Fault Status Register) */ -#define SCB_CFSR_MMARVALID_Pos (SCB_SHCSR_MEMFAULTACT_Pos + 7U) /*!< SCB CFSR (MMFSR): MMARVALID Position */ -#define SCB_CFSR_MMARVALID_Msk (1UL << SCB_CFSR_MMARVALID_Pos) /*!< SCB CFSR (MMFSR): MMARVALID Mask */ - -#define SCB_CFSR_MLSPERR_Pos (SCB_SHCSR_MEMFAULTACT_Pos + 5U) /*!< SCB CFSR (MMFSR): MLSPERR Position */ -#define SCB_CFSR_MLSPERR_Msk (1UL << SCB_CFSR_MLSPERR_Pos) /*!< SCB CFSR (MMFSR): MLSPERR Mask */ - -#define SCB_CFSR_MSTKERR_Pos (SCB_SHCSR_MEMFAULTACT_Pos + 4U) /*!< SCB CFSR (MMFSR): MSTKERR Position */ -#define SCB_CFSR_MSTKERR_Msk (1UL << SCB_CFSR_MSTKERR_Pos) /*!< SCB CFSR (MMFSR): MSTKERR Mask */ - -#define SCB_CFSR_MUNSTKERR_Pos (SCB_SHCSR_MEMFAULTACT_Pos + 3U) /*!< SCB CFSR (MMFSR): MUNSTKERR Position */ -#define SCB_CFSR_MUNSTKERR_Msk (1UL << SCB_CFSR_MUNSTKERR_Pos) /*!< SCB CFSR (MMFSR): MUNSTKERR Mask */ - -#define SCB_CFSR_DACCVIOL_Pos (SCB_SHCSR_MEMFAULTACT_Pos + 1U) /*!< SCB CFSR (MMFSR): DACCVIOL Position */ -#define SCB_CFSR_DACCVIOL_Msk (1UL << SCB_CFSR_DACCVIOL_Pos) /*!< SCB CFSR (MMFSR): DACCVIOL Mask */ - -#define SCB_CFSR_IACCVIOL_Pos (SCB_SHCSR_MEMFAULTACT_Pos + 0U) /*!< SCB CFSR (MMFSR): IACCVIOL Position */ -#define SCB_CFSR_IACCVIOL_Msk (1UL /*<< SCB_CFSR_IACCVIOL_Pos*/) /*!< SCB CFSR (MMFSR): IACCVIOL Mask */ - -/* BusFault Status Register (part of SCB Configurable Fault Status Register) */ -#define SCB_CFSR_BFARVALID_Pos (SCB_CFSR_BUSFAULTSR_Pos + 7U) /*!< SCB CFSR (BFSR): BFARVALID Position */ -#define SCB_CFSR_BFARVALID_Msk (1UL << SCB_CFSR_BFARVALID_Pos) /*!< SCB CFSR (BFSR): BFARVALID Mask */ - -#define SCB_CFSR_LSPERR_Pos (SCB_CFSR_BUSFAULTSR_Pos + 5U) /*!< SCB CFSR (BFSR): LSPERR Position */ -#define SCB_CFSR_LSPERR_Msk (1UL << SCB_CFSR_LSPERR_Pos) /*!< SCB CFSR (BFSR): LSPERR Mask */ - -#define SCB_CFSR_STKERR_Pos (SCB_CFSR_BUSFAULTSR_Pos + 4U) /*!< SCB CFSR (BFSR): STKERR Position */ -#define SCB_CFSR_STKERR_Msk (1UL << SCB_CFSR_STKERR_Pos) /*!< SCB CFSR (BFSR): STKERR Mask */ - -#define SCB_CFSR_UNSTKERR_Pos (SCB_CFSR_BUSFAULTSR_Pos + 3U) /*!< SCB CFSR (BFSR): UNSTKERR Position */ -#define SCB_CFSR_UNSTKERR_Msk (1UL << SCB_CFSR_UNSTKERR_Pos) /*!< SCB CFSR (BFSR): UNSTKERR Mask */ - -#define SCB_CFSR_IMPRECISERR_Pos (SCB_CFSR_BUSFAULTSR_Pos + 2U) /*!< SCB CFSR (BFSR): IMPRECISERR Position */ -#define SCB_CFSR_IMPRECISERR_Msk (1UL << SCB_CFSR_IMPRECISERR_Pos) /*!< SCB CFSR (BFSR): IMPRECISERR Mask */ - -#define SCB_CFSR_PRECISERR_Pos (SCB_CFSR_BUSFAULTSR_Pos + 1U) /*!< SCB CFSR (BFSR): PRECISERR Position */ -#define SCB_CFSR_PRECISERR_Msk (1UL << SCB_CFSR_PRECISERR_Pos) /*!< SCB CFSR (BFSR): PRECISERR Mask */ - -#define SCB_CFSR_IBUSERR_Pos (SCB_CFSR_BUSFAULTSR_Pos + 0U) /*!< SCB CFSR (BFSR): IBUSERR Position */ -#define SCB_CFSR_IBUSERR_Msk (1UL << SCB_CFSR_IBUSERR_Pos) /*!< SCB CFSR (BFSR): IBUSERR Mask */ - -/* UsageFault Status Register (part of SCB Configurable Fault Status Register) */ -#define SCB_CFSR_DIVBYZERO_Pos (SCB_CFSR_USGFAULTSR_Pos + 9U) /*!< SCB CFSR (UFSR): DIVBYZERO Position */ -#define SCB_CFSR_DIVBYZERO_Msk (1UL << SCB_CFSR_DIVBYZERO_Pos) /*!< SCB CFSR (UFSR): DIVBYZERO Mask */ - -#define SCB_CFSR_UNALIGNED_Pos (SCB_CFSR_USGFAULTSR_Pos + 8U) /*!< SCB CFSR (UFSR): UNALIGNED Position */ -#define SCB_CFSR_UNALIGNED_Msk (1UL << SCB_CFSR_UNALIGNED_Pos) /*!< SCB CFSR (UFSR): UNALIGNED Mask */ - -#define SCB_CFSR_NOCP_Pos (SCB_CFSR_USGFAULTSR_Pos + 3U) /*!< SCB CFSR (UFSR): NOCP Position */ -#define SCB_CFSR_NOCP_Msk (1UL << SCB_CFSR_NOCP_Pos) /*!< SCB CFSR (UFSR): NOCP Mask */ - -#define SCB_CFSR_INVPC_Pos (SCB_CFSR_USGFAULTSR_Pos + 2U) /*!< SCB CFSR (UFSR): INVPC Position */ -#define SCB_CFSR_INVPC_Msk (1UL << SCB_CFSR_INVPC_Pos) /*!< SCB CFSR (UFSR): INVPC Mask */ - -#define SCB_CFSR_INVSTATE_Pos (SCB_CFSR_USGFAULTSR_Pos + 1U) /*!< SCB CFSR (UFSR): INVSTATE Position */ -#define SCB_CFSR_INVSTATE_Msk (1UL << SCB_CFSR_INVSTATE_Pos) /*!< SCB CFSR (UFSR): INVSTATE Mask */ - -#define SCB_CFSR_UNDEFINSTR_Pos (SCB_CFSR_USGFAULTSR_Pos + 0U) /*!< SCB CFSR (UFSR): UNDEFINSTR Position */ -#define SCB_CFSR_UNDEFINSTR_Msk (1UL << SCB_CFSR_UNDEFINSTR_Pos) /*!< SCB CFSR (UFSR): UNDEFINSTR Mask */ - -/* SCB Hard Fault Status Register Definitions */ -#define SCB_HFSR_DEBUGEVT_Pos 31U /*!< SCB HFSR: DEBUGEVT Position */ -#define SCB_HFSR_DEBUGEVT_Msk (1UL << SCB_HFSR_DEBUGEVT_Pos) /*!< SCB HFSR: DEBUGEVT Mask */ - -#define SCB_HFSR_FORCED_Pos 30U /*!< SCB HFSR: FORCED Position */ -#define SCB_HFSR_FORCED_Msk (1UL << SCB_HFSR_FORCED_Pos) /*!< SCB HFSR: FORCED Mask */ - -#define SCB_HFSR_VECTTBL_Pos 1U /*!< SCB HFSR: VECTTBL Position */ -#define SCB_HFSR_VECTTBL_Msk (1UL << SCB_HFSR_VECTTBL_Pos) /*!< SCB HFSR: VECTTBL Mask */ - -/* SCB Debug Fault Status Register Definitions */ -#define SCB_DFSR_EXTERNAL_Pos 4U /*!< SCB DFSR: EXTERNAL Position */ -#define SCB_DFSR_EXTERNAL_Msk (1UL << SCB_DFSR_EXTERNAL_Pos) /*!< SCB DFSR: EXTERNAL Mask */ - -#define SCB_DFSR_VCATCH_Pos 3U /*!< SCB DFSR: VCATCH Position */ -#define SCB_DFSR_VCATCH_Msk (1UL << SCB_DFSR_VCATCH_Pos) /*!< SCB DFSR: VCATCH Mask */ - -#define SCB_DFSR_DWTTRAP_Pos 2U /*!< SCB DFSR: DWTTRAP Position */ -#define SCB_DFSR_DWTTRAP_Msk (1UL << SCB_DFSR_DWTTRAP_Pos) /*!< SCB DFSR: DWTTRAP Mask */ - -#define SCB_DFSR_BKPT_Pos 1U /*!< SCB DFSR: BKPT Position */ -#define SCB_DFSR_BKPT_Msk (1UL << SCB_DFSR_BKPT_Pos) /*!< SCB DFSR: BKPT Mask */ - -#define SCB_DFSR_HALTED_Pos 0U /*!< SCB DFSR: HALTED Position */ -#define SCB_DFSR_HALTED_Msk (1UL /*<< SCB_DFSR_HALTED_Pos*/) /*!< SCB DFSR: HALTED Mask */ - -/* SCB Cache Level ID Register Definitions */ -#define SCB_CLIDR_LOUU_Pos 27U /*!< SCB CLIDR: LoUU Position */ -#define SCB_CLIDR_LOUU_Msk (7UL << SCB_CLIDR_LOUU_Pos) /*!< SCB CLIDR: LoUU Mask */ - -#define SCB_CLIDR_LOC_Pos 24U /*!< SCB CLIDR: LoC Position */ -#define SCB_CLIDR_LOC_Msk (7UL << SCB_CLIDR_LOC_Pos) /*!< SCB CLIDR: LoC Mask */ - -/* SCB Cache Type Register Definitions */ -#define SCB_CTR_FORMAT_Pos 29U /*!< SCB CTR: Format Position */ -#define SCB_CTR_FORMAT_Msk (7UL << SCB_CTR_FORMAT_Pos) /*!< SCB CTR: Format Mask */ - -#define SCB_CTR_CWG_Pos 24U /*!< SCB CTR: CWG Position */ -#define SCB_CTR_CWG_Msk (0xFUL << SCB_CTR_CWG_Pos) /*!< SCB CTR: CWG Mask */ - -#define SCB_CTR_ERG_Pos 20U /*!< SCB CTR: ERG Position */ -#define SCB_CTR_ERG_Msk (0xFUL << SCB_CTR_ERG_Pos) /*!< SCB CTR: ERG Mask */ - -#define SCB_CTR_DMINLINE_Pos 16U /*!< SCB CTR: DminLine Position */ -#define SCB_CTR_DMINLINE_Msk (0xFUL << SCB_CTR_DMINLINE_Pos) /*!< SCB CTR: DminLine Mask */ - -#define SCB_CTR_IMINLINE_Pos 0U /*!< SCB CTR: ImInLine Position */ -#define SCB_CTR_IMINLINE_Msk (0xFUL /*<< SCB_CTR_IMINLINE_Pos*/) /*!< SCB CTR: ImInLine Mask */ - -/* SCB Cache Size ID Register Definitions */ -#define SCB_CCSIDR_WT_Pos 31U /*!< SCB CCSIDR: WT Position */ -#define SCB_CCSIDR_WT_Msk (1UL << SCB_CCSIDR_WT_Pos) /*!< SCB CCSIDR: WT Mask */ - -#define SCB_CCSIDR_WB_Pos 30U /*!< SCB CCSIDR: WB Position */ -#define SCB_CCSIDR_WB_Msk (1UL << SCB_CCSIDR_WB_Pos) /*!< SCB CCSIDR: WB Mask */ - -#define SCB_CCSIDR_RA_Pos 29U /*!< SCB CCSIDR: RA Position */ -#define SCB_CCSIDR_RA_Msk (1UL << SCB_CCSIDR_RA_Pos) /*!< SCB CCSIDR: RA Mask */ - -#define SCB_CCSIDR_WA_Pos 28U /*!< SCB CCSIDR: WA Position */ -#define SCB_CCSIDR_WA_Msk (1UL << SCB_CCSIDR_WA_Pos) /*!< SCB CCSIDR: WA Mask */ - -#define SCB_CCSIDR_NUMSETS_Pos 13U /*!< SCB CCSIDR: NumSets Position */ -#define SCB_CCSIDR_NUMSETS_Msk (0x7FFFUL << SCB_CCSIDR_NUMSETS_Pos) /*!< SCB CCSIDR: NumSets Mask */ - -#define SCB_CCSIDR_ASSOCIATIVITY_Pos 3U /*!< SCB CCSIDR: Associativity Position */ -#define SCB_CCSIDR_ASSOCIATIVITY_Msk (0x3FFUL << SCB_CCSIDR_ASSOCIATIVITY_Pos) /*!< SCB CCSIDR: Associativity Mask */ - -#define SCB_CCSIDR_LINESIZE_Pos 0U /*!< SCB CCSIDR: LineSize Position */ -#define SCB_CCSIDR_LINESIZE_Msk (7UL /*<< SCB_CCSIDR_LINESIZE_Pos*/) /*!< SCB CCSIDR: LineSize Mask */ - -/* SCB Cache Size Selection Register Definitions */ -#define SCB_CSSELR_LEVEL_Pos 1U /*!< SCB CSSELR: Level Position */ -#define SCB_CSSELR_LEVEL_Msk (7UL << SCB_CSSELR_LEVEL_Pos) /*!< SCB CSSELR: Level Mask */ - -#define SCB_CSSELR_IND_Pos 0U /*!< SCB CSSELR: InD Position */ -#define SCB_CSSELR_IND_Msk (1UL /*<< SCB_CSSELR_IND_Pos*/) /*!< SCB CSSELR: InD Mask */ - -/* SCB Software Triggered Interrupt Register Definitions */ -#define SCB_STIR_INTID_Pos 0U /*!< SCB STIR: INTID Position */ -#define SCB_STIR_INTID_Msk (0x1FFUL /*<< SCB_STIR_INTID_Pos*/) /*!< SCB STIR: INTID Mask */ - -/* SCB D-Cache Invalidate by Set-way Register Definitions */ -#define SCB_DCISW_WAY_Pos 30U /*!< SCB DCISW: Way Position */ -#define SCB_DCISW_WAY_Msk (3UL << SCB_DCISW_WAY_Pos) /*!< SCB DCISW: Way Mask */ - -#define SCB_DCISW_SET_Pos 5U /*!< SCB DCISW: Set Position */ -#define SCB_DCISW_SET_Msk (0x1FFUL << SCB_DCISW_SET_Pos) /*!< SCB DCISW: Set Mask */ - -/* SCB D-Cache Clean by Set-way Register Definitions */ -#define SCB_DCCSW_WAY_Pos 30U /*!< SCB DCCSW: Way Position */ -#define SCB_DCCSW_WAY_Msk (3UL << SCB_DCCSW_WAY_Pos) /*!< SCB DCCSW: Way Mask */ - -#define SCB_DCCSW_SET_Pos 5U /*!< SCB DCCSW: Set Position */ -#define SCB_DCCSW_SET_Msk (0x1FFUL << SCB_DCCSW_SET_Pos) /*!< SCB DCCSW: Set Mask */ - -/* SCB D-Cache Clean and Invalidate by Set-way Register Definitions */ -#define SCB_DCCISW_WAY_Pos 30U /*!< SCB DCCISW: Way Position */ -#define SCB_DCCISW_WAY_Msk (3UL << SCB_DCCISW_WAY_Pos) /*!< SCB DCCISW: Way Mask */ - -#define SCB_DCCISW_SET_Pos 5U /*!< SCB DCCISW: Set Position */ -#define SCB_DCCISW_SET_Msk (0x1FFUL << SCB_DCCISW_SET_Pos) /*!< SCB DCCISW: Set Mask */ - -/* Instruction Tightly-Coupled Memory Control Register Definitions */ -#define SCB_ITCMCR_SZ_Pos 3U /*!< SCB ITCMCR: SZ Position */ -#define SCB_ITCMCR_SZ_Msk (0xFUL << SCB_ITCMCR_SZ_Pos) /*!< SCB ITCMCR: SZ Mask */ - -#define SCB_ITCMCR_RETEN_Pos 2U /*!< SCB ITCMCR: RETEN Position */ -#define SCB_ITCMCR_RETEN_Msk (1UL << SCB_ITCMCR_RETEN_Pos) /*!< SCB ITCMCR: RETEN Mask */ - -#define SCB_ITCMCR_RMW_Pos 1U /*!< SCB ITCMCR: RMW Position */ -#define SCB_ITCMCR_RMW_Msk (1UL << SCB_ITCMCR_RMW_Pos) /*!< SCB ITCMCR: RMW Mask */ - -#define SCB_ITCMCR_EN_Pos 0U /*!< SCB ITCMCR: EN Position */ -#define SCB_ITCMCR_EN_Msk (1UL /*<< SCB_ITCMCR_EN_Pos*/) /*!< SCB ITCMCR: EN Mask */ - -/* Data Tightly-Coupled Memory Control Register Definitions */ -#define SCB_DTCMCR_SZ_Pos 3U /*!< SCB DTCMCR: SZ Position */ -#define SCB_DTCMCR_SZ_Msk (0xFUL << SCB_DTCMCR_SZ_Pos) /*!< SCB DTCMCR: SZ Mask */ - -#define SCB_DTCMCR_RETEN_Pos 2U /*!< SCB DTCMCR: RETEN Position */ -#define SCB_DTCMCR_RETEN_Msk (1UL << SCB_DTCMCR_RETEN_Pos) /*!< SCB DTCMCR: RETEN Mask */ - -#define SCB_DTCMCR_RMW_Pos 1U /*!< SCB DTCMCR: RMW Position */ -#define SCB_DTCMCR_RMW_Msk (1UL << SCB_DTCMCR_RMW_Pos) /*!< SCB DTCMCR: RMW Mask */ - -#define SCB_DTCMCR_EN_Pos 0U /*!< SCB DTCMCR: EN Position */ -#define SCB_DTCMCR_EN_Msk (1UL /*<< SCB_DTCMCR_EN_Pos*/) /*!< SCB DTCMCR: EN Mask */ - -/* AHBP Control Register Definitions */ -#define SCB_AHBPCR_SZ_Pos 1U /*!< SCB AHBPCR: SZ Position */ -#define SCB_AHBPCR_SZ_Msk (7UL << SCB_AHBPCR_SZ_Pos) /*!< SCB AHBPCR: SZ Mask */ - -#define SCB_AHBPCR_EN_Pos 0U /*!< SCB AHBPCR: EN Position */ -#define SCB_AHBPCR_EN_Msk (1UL /*<< SCB_AHBPCR_EN_Pos*/) /*!< SCB AHBPCR: EN Mask */ - -/* L1 Cache Control Register Definitions */ -#define SCB_CACR_FORCEWT_Pos 2U /*!< SCB CACR: FORCEWT Position */ -#define SCB_CACR_FORCEWT_Msk (1UL << SCB_CACR_FORCEWT_Pos) /*!< SCB CACR: FORCEWT Mask */ - -#define SCB_CACR_ECCEN_Pos 1U /*!< SCB CACR: ECCEN Position */ -#define SCB_CACR_ECCEN_Msk (1UL << SCB_CACR_ECCEN_Pos) /*!< SCB CACR: ECCEN Mask */ - -#define SCB_CACR_SIWT_Pos 0U /*!< SCB CACR: SIWT Position */ -#define SCB_CACR_SIWT_Msk (1UL /*<< SCB_CACR_SIWT_Pos*/) /*!< SCB CACR: SIWT Mask */ - -/* AHBS Control Register Definitions */ -#define SCB_AHBSCR_INITCOUNT_Pos 11U /*!< SCB AHBSCR: INITCOUNT Position */ -#define SCB_AHBSCR_INITCOUNT_Msk (0x1FUL << SCB_AHBPCR_INITCOUNT_Pos) /*!< SCB AHBSCR: INITCOUNT Mask */ - -#define SCB_AHBSCR_TPRI_Pos 2U /*!< SCB AHBSCR: TPRI Position */ -#define SCB_AHBSCR_TPRI_Msk (0x1FFUL << SCB_AHBPCR_TPRI_Pos) /*!< SCB AHBSCR: TPRI Mask */ - -#define SCB_AHBSCR_CTL_Pos 0U /*!< SCB AHBSCR: CTL Position*/ -#define SCB_AHBSCR_CTL_Msk (3UL /*<< SCB_AHBPCR_CTL_Pos*/) /*!< SCB AHBSCR: CTL Mask */ - -/* Auxiliary Bus Fault Status Register Definitions */ -#define SCB_ABFSR_AXIMTYPE_Pos 8U /*!< SCB ABFSR: AXIMTYPE Position*/ -#define SCB_ABFSR_AXIMTYPE_Msk (3UL << SCB_ABFSR_AXIMTYPE_Pos) /*!< SCB ABFSR: AXIMTYPE Mask */ - -#define SCB_ABFSR_EPPB_Pos 4U /*!< SCB ABFSR: EPPB Position*/ -#define SCB_ABFSR_EPPB_Msk (1UL << SCB_ABFSR_EPPB_Pos) /*!< SCB ABFSR: EPPB Mask */ - -#define SCB_ABFSR_AXIM_Pos 3U /*!< SCB ABFSR: AXIM Position*/ -#define SCB_ABFSR_AXIM_Msk (1UL << SCB_ABFSR_AXIM_Pos) /*!< SCB ABFSR: AXIM Mask */ - -#define SCB_ABFSR_AHBP_Pos 2U /*!< SCB ABFSR: AHBP Position*/ -#define SCB_ABFSR_AHBP_Msk (1UL << SCB_ABFSR_AHBP_Pos) /*!< SCB ABFSR: AHBP Mask */ - -#define SCB_ABFSR_DTCM_Pos 1U /*!< SCB ABFSR: DTCM Position*/ -#define SCB_ABFSR_DTCM_Msk (1UL << SCB_ABFSR_DTCM_Pos) /*!< SCB ABFSR: DTCM Mask */ - -#define SCB_ABFSR_ITCM_Pos 0U /*!< SCB ABFSR: ITCM Position*/ -#define SCB_ABFSR_ITCM_Msk (1UL /*<< SCB_ABFSR_ITCM_Pos*/) /*!< SCB ABFSR: ITCM Mask */ - -/*@} end of group CMSIS_SCB */ - - -/** - \ingroup CMSIS_core_register - \defgroup CMSIS_SCnSCB System Controls not in SCB (SCnSCB) - \brief Type definitions for the System Control and ID Register not in the SCB - @{ - */ - -/** - \brief Structure type to access the System Control and ID Register not in the SCB. - */ -typedef struct -{ - uint32_t RESERVED0[1U]; - __IM uint32_t ICTR; /*!< Offset: 0x004 (R/ ) Interrupt Controller Type Register */ - __IOM uint32_t ACTLR; /*!< Offset: 0x008 (R/W) Auxiliary Control Register */ -} SCnSCB_Type; - -/* Interrupt Controller Type Register Definitions */ -#define SCnSCB_ICTR_INTLINESNUM_Pos 0U /*!< ICTR: INTLINESNUM Position */ -#define SCnSCB_ICTR_INTLINESNUM_Msk (0xFUL /*<< SCnSCB_ICTR_INTLINESNUM_Pos*/) /*!< ICTR: INTLINESNUM Mask */ - -/* Auxiliary Control Register Definitions */ -#define SCnSCB_ACTLR_DISDYNADD_Pos 26U /*!< ACTLR: DISDYNADD Position */ -#define SCnSCB_ACTLR_DISDYNADD_Msk (1UL << SCnSCB_ACTLR_DISDYNADD_Pos) /*!< ACTLR: DISDYNADD Mask */ - -#define SCnSCB_ACTLR_DISISSCH1_Pos 21U /*!< ACTLR: DISISSCH1 Position */ -#define SCnSCB_ACTLR_DISISSCH1_Msk (0x1FUL << SCnSCB_ACTLR_DISISSCH1_Pos) /*!< ACTLR: DISISSCH1 Mask */ - -#define SCnSCB_ACTLR_DISDI_Pos 16U /*!< ACTLR: DISDI Position */ -#define SCnSCB_ACTLR_DISDI_Msk (0x1FUL << SCnSCB_ACTLR_DISDI_Pos) /*!< ACTLR: DISDI Mask */ - -#define SCnSCB_ACTLR_DISCRITAXIRUR_Pos 15U /*!< ACTLR: DISCRITAXIRUR Position */ -#define SCnSCB_ACTLR_DISCRITAXIRUR_Msk (1UL << SCnSCB_ACTLR_DISCRITAXIRUR_Pos) /*!< ACTLR: DISCRITAXIRUR Mask */ - -#define SCnSCB_ACTLR_DISBTACALLOC_Pos 14U /*!< ACTLR: DISBTACALLOC Position */ -#define SCnSCB_ACTLR_DISBTACALLOC_Msk (1UL << SCnSCB_ACTLR_DISBTACALLOC_Pos) /*!< ACTLR: DISBTACALLOC Mask */ - -#define SCnSCB_ACTLR_DISBTACREAD_Pos 13U /*!< ACTLR: DISBTACREAD Position */ -#define SCnSCB_ACTLR_DISBTACREAD_Msk (1UL << SCnSCB_ACTLR_DISBTACREAD_Pos) /*!< ACTLR: DISBTACREAD Mask */ - -#define SCnSCB_ACTLR_DISITMATBFLUSH_Pos 12U /*!< ACTLR: DISITMATBFLUSH Position */ -#define SCnSCB_ACTLR_DISITMATBFLUSH_Msk (1UL << SCnSCB_ACTLR_DISITMATBFLUSH_Pos) /*!< ACTLR: DISITMATBFLUSH Mask */ - -#define SCnSCB_ACTLR_DISRAMODE_Pos 11U /*!< ACTLR: DISRAMODE Position */ -#define SCnSCB_ACTLR_DISRAMODE_Msk (1UL << SCnSCB_ACTLR_DISRAMODE_Pos) /*!< ACTLR: DISRAMODE Mask */ - -#define SCnSCB_ACTLR_FPEXCODIS_Pos 10U /*!< ACTLR: FPEXCODIS Position */ -#define SCnSCB_ACTLR_FPEXCODIS_Msk (1UL << SCnSCB_ACTLR_FPEXCODIS_Pos) /*!< ACTLR: FPEXCODIS Mask */ - -#define SCnSCB_ACTLR_DISFOLD_Pos 2U /*!< ACTLR: DISFOLD Position */ -#define SCnSCB_ACTLR_DISFOLD_Msk (1UL << SCnSCB_ACTLR_DISFOLD_Pos) /*!< ACTLR: DISFOLD Mask */ - -#define SCnSCB_ACTLR_DISMCYCINT_Pos 0U /*!< ACTLR: DISMCYCINT Position */ -#define SCnSCB_ACTLR_DISMCYCINT_Msk (1UL /*<< SCnSCB_ACTLR_DISMCYCINT_Pos*/) /*!< ACTLR: DISMCYCINT Mask */ - -/*@} end of group CMSIS_SCnotSCB */ - - -/** - \ingroup CMSIS_core_register - \defgroup CMSIS_SysTick System Tick Timer (SysTick) - \brief Type definitions for the System Timer Registers. - @{ - */ - -/** - \brief Structure type to access the System Timer (SysTick). - */ -typedef struct -{ - __IOM uint32_t CTRL; /*!< Offset: 0x000 (R/W) SysTick Control and Status Register */ - __IOM uint32_t LOAD; /*!< Offset: 0x004 (R/W) SysTick Reload Value Register */ - __IOM uint32_t VAL; /*!< Offset: 0x008 (R/W) SysTick Current Value Register */ - __IM uint32_t CALIB; /*!< Offset: 0x00C (R/ ) SysTick Calibration Register */ -} SysTick_Type; - -/* SysTick Control / Status Register Definitions */ -#define SysTick_CTRL_COUNTFLAG_Pos 16U /*!< SysTick CTRL: COUNTFLAG Position */ -#define SysTick_CTRL_COUNTFLAG_Msk (1UL << SysTick_CTRL_COUNTFLAG_Pos) /*!< SysTick CTRL: COUNTFLAG Mask */ - -#define SysTick_CTRL_CLKSOURCE_Pos 2U /*!< SysTick CTRL: CLKSOURCE Position */ -#define SysTick_CTRL_CLKSOURCE_Msk (1UL << SysTick_CTRL_CLKSOURCE_Pos) /*!< SysTick CTRL: CLKSOURCE Mask */ - -#define SysTick_CTRL_TICKINT_Pos 1U /*!< SysTick CTRL: TICKINT Position */ -#define SysTick_CTRL_TICKINT_Msk (1UL << SysTick_CTRL_TICKINT_Pos) /*!< SysTick CTRL: TICKINT Mask */ - -#define SysTick_CTRL_ENABLE_Pos 0U /*!< SysTick CTRL: ENABLE Position */ -#define SysTick_CTRL_ENABLE_Msk (1UL /*<< SysTick_CTRL_ENABLE_Pos*/) /*!< SysTick CTRL: ENABLE Mask */ - -/* SysTick Reload Register Definitions */ -#define SysTick_LOAD_RELOAD_Pos 0U /*!< SysTick LOAD: RELOAD Position */ -#define SysTick_LOAD_RELOAD_Msk (0xFFFFFFUL /*<< SysTick_LOAD_RELOAD_Pos*/) /*!< SysTick LOAD: RELOAD Mask */ - -/* SysTick Current Register Definitions */ -#define SysTick_VAL_CURRENT_Pos 0U /*!< SysTick VAL: CURRENT Position */ -#define SysTick_VAL_CURRENT_Msk (0xFFFFFFUL /*<< SysTick_VAL_CURRENT_Pos*/) /*!< SysTick VAL: CURRENT Mask */ - -/* SysTick Calibration Register Definitions */ -#define SysTick_CALIB_NOREF_Pos 31U /*!< SysTick CALIB: NOREF Position */ -#define SysTick_CALIB_NOREF_Msk (1UL << SysTick_CALIB_NOREF_Pos) /*!< SysTick CALIB: NOREF Mask */ - -#define SysTick_CALIB_SKEW_Pos 30U /*!< SysTick CALIB: SKEW Position */ -#define SysTick_CALIB_SKEW_Msk (1UL << SysTick_CALIB_SKEW_Pos) /*!< SysTick CALIB: SKEW Mask */ - -#define SysTick_CALIB_TENMS_Pos 0U /*!< SysTick CALIB: TENMS Position */ -#define SysTick_CALIB_TENMS_Msk (0xFFFFFFUL /*<< SysTick_CALIB_TENMS_Pos*/) /*!< SysTick CALIB: TENMS Mask */ - -/*@} end of group CMSIS_SysTick */ - - -/** - \ingroup CMSIS_core_register - \defgroup CMSIS_ITM Instrumentation Trace Macrocell (ITM) - \brief Type definitions for the Instrumentation Trace Macrocell (ITM) - @{ - */ - -/** - \brief Structure type to access the Instrumentation Trace Macrocell Register (ITM). - */ -typedef struct -{ - __OM union - { - __OM uint8_t u8; /*!< Offset: 0x000 ( /W) ITM Stimulus Port 8-bit */ - __OM uint16_t u16; /*!< Offset: 0x000 ( /W) ITM Stimulus Port 16-bit */ - __OM uint32_t u32; /*!< Offset: 0x000 ( /W) ITM Stimulus Port 32-bit */ - } PORT [32U]; /*!< Offset: 0x000 ( /W) ITM Stimulus Port Registers */ - uint32_t RESERVED0[864U]; - __IOM uint32_t TER; /*!< Offset: 0xE00 (R/W) ITM Trace Enable Register */ - uint32_t RESERVED1[15U]; - __IOM uint32_t TPR; /*!< Offset: 0xE40 (R/W) ITM Trace Privilege Register */ - uint32_t RESERVED2[15U]; - __IOM uint32_t TCR; /*!< Offset: 0xE80 (R/W) ITM Trace Control Register */ - uint32_t RESERVED3[32U]; - uint32_t RESERVED4[43U]; - __OM uint32_t LAR; /*!< Offset: 0xFB0 ( /W) ITM Lock Access Register */ - __IM uint32_t LSR; /*!< Offset: 0xFB4 (R/ ) ITM Lock Status Register */ - uint32_t RESERVED5[6U]; - __IM uint32_t PID4; /*!< Offset: 0xFD0 (R/ ) ITM Peripheral Identification Register #4 */ - __IM uint32_t PID5; /*!< Offset: 0xFD4 (R/ ) ITM Peripheral Identification Register #5 */ - __IM uint32_t PID6; /*!< Offset: 0xFD8 (R/ ) ITM Peripheral Identification Register #6 */ - __IM uint32_t PID7; /*!< Offset: 0xFDC (R/ ) ITM Peripheral Identification Register #7 */ - __IM uint32_t PID0; /*!< Offset: 0xFE0 (R/ ) ITM Peripheral Identification Register #0 */ - __IM uint32_t PID1; /*!< Offset: 0xFE4 (R/ ) ITM Peripheral Identification Register #1 */ - __IM uint32_t PID2; /*!< Offset: 0xFE8 (R/ ) ITM Peripheral Identification Register #2 */ - __IM uint32_t PID3; /*!< Offset: 0xFEC (R/ ) ITM Peripheral Identification Register #3 */ - __IM uint32_t CID0; /*!< Offset: 0xFF0 (R/ ) ITM Component Identification Register #0 */ - __IM uint32_t CID1; /*!< Offset: 0xFF4 (R/ ) ITM Component Identification Register #1 */ - __IM uint32_t CID2; /*!< Offset: 0xFF8 (R/ ) ITM Component Identification Register #2 */ - __IM uint32_t CID3; /*!< Offset: 0xFFC (R/ ) ITM Component Identification Register #3 */ -} ITM_Type; - -/* ITM Trace Privilege Register Definitions */ -#define ITM_TPR_PRIVMASK_Pos 0U /*!< ITM TPR: PRIVMASK Position */ -#define ITM_TPR_PRIVMASK_Msk (0xFFFFFFFFUL /*<< ITM_TPR_PRIVMASK_Pos*/) /*!< ITM TPR: PRIVMASK Mask */ - -/* ITM Trace Control Register Definitions */ -#define ITM_TCR_BUSY_Pos 23U /*!< ITM TCR: BUSY Position */ -#define ITM_TCR_BUSY_Msk (1UL << ITM_TCR_BUSY_Pos) /*!< ITM TCR: BUSY Mask */ - -#define ITM_TCR_TraceBusID_Pos 16U /*!< ITM TCR: ATBID Position */ -#define ITM_TCR_TraceBusID_Msk (0x7FUL << ITM_TCR_TraceBusID_Pos) /*!< ITM TCR: ATBID Mask */ - -#define ITM_TCR_GTSFREQ_Pos 10U /*!< ITM TCR: Global timestamp frequency Position */ -#define ITM_TCR_GTSFREQ_Msk (3UL << ITM_TCR_GTSFREQ_Pos) /*!< ITM TCR: Global timestamp frequency Mask */ - -#define ITM_TCR_TSPrescale_Pos 8U /*!< ITM TCR: TSPrescale Position */ -#define ITM_TCR_TSPrescale_Msk (3UL << ITM_TCR_TSPrescale_Pos) /*!< ITM TCR: TSPrescale Mask */ - -#define ITM_TCR_SWOENA_Pos 4U /*!< ITM TCR: SWOENA Position */ -#define ITM_TCR_SWOENA_Msk (1UL << ITM_TCR_SWOENA_Pos) /*!< ITM TCR: SWOENA Mask */ - -#define ITM_TCR_DWTENA_Pos 3U /*!< ITM TCR: DWTENA Position */ -#define ITM_TCR_DWTENA_Msk (1UL << ITM_TCR_DWTENA_Pos) /*!< ITM TCR: DWTENA Mask */ - -#define ITM_TCR_SYNCENA_Pos 2U /*!< ITM TCR: SYNCENA Position */ -#define ITM_TCR_SYNCENA_Msk (1UL << ITM_TCR_SYNCENA_Pos) /*!< ITM TCR: SYNCENA Mask */ - -#define ITM_TCR_TSENA_Pos 1U /*!< ITM TCR: TSENA Position */ -#define ITM_TCR_TSENA_Msk (1UL << ITM_TCR_TSENA_Pos) /*!< ITM TCR: TSENA Mask */ - -#define ITM_TCR_ITMENA_Pos 0U /*!< ITM TCR: ITM Enable bit Position */ -#define ITM_TCR_ITMENA_Msk (1UL /*<< ITM_TCR_ITMENA_Pos*/) /*!< ITM TCR: ITM Enable bit Mask */ - -/* ITM Lock Status Register Definitions */ -#define ITM_LSR_ByteAcc_Pos 2U /*!< ITM LSR: ByteAcc Position */ -#define ITM_LSR_ByteAcc_Msk (1UL << ITM_LSR_ByteAcc_Pos) /*!< ITM LSR: ByteAcc Mask */ - -#define ITM_LSR_Access_Pos 1U /*!< ITM LSR: Access Position */ -#define ITM_LSR_Access_Msk (1UL << ITM_LSR_Access_Pos) /*!< ITM LSR: Access Mask */ - -#define ITM_LSR_Present_Pos 0U /*!< ITM LSR: Present Position */ -#define ITM_LSR_Present_Msk (1UL /*<< ITM_LSR_Present_Pos*/) /*!< ITM LSR: Present Mask */ - -/*@}*/ /* end of group CMSIS_ITM */ - - -/** - \ingroup CMSIS_core_register - \defgroup CMSIS_DWT Data Watchpoint and Trace (DWT) - \brief Type definitions for the Data Watchpoint and Trace (DWT) - @{ - */ - -/** - \brief Structure type to access the Data Watchpoint and Trace Register (DWT). - */ -typedef struct -{ - __IOM uint32_t CTRL; /*!< Offset: 0x000 (R/W) Control Register */ - __IOM uint32_t CYCCNT; /*!< Offset: 0x004 (R/W) Cycle Count Register */ - __IOM uint32_t CPICNT; /*!< Offset: 0x008 (R/W) CPI Count Register */ - __IOM uint32_t EXCCNT; /*!< Offset: 0x00C (R/W) Exception Overhead Count Register */ - __IOM uint32_t SLEEPCNT; /*!< Offset: 0x010 (R/W) Sleep Count Register */ - __IOM uint32_t LSUCNT; /*!< Offset: 0x014 (R/W) LSU Count Register */ - __IOM uint32_t FOLDCNT; /*!< Offset: 0x018 (R/W) Folded-instruction Count Register */ - __IM uint32_t PCSR; /*!< Offset: 0x01C (R/ ) Program Counter Sample Register */ - __IOM uint32_t COMP0; /*!< Offset: 0x020 (R/W) Comparator Register 0 */ - __IOM uint32_t MASK0; /*!< Offset: 0x024 (R/W) Mask Register 0 */ - __IOM uint32_t FUNCTION0; /*!< Offset: 0x028 (R/W) Function Register 0 */ - uint32_t RESERVED0[1U]; - __IOM uint32_t COMP1; /*!< Offset: 0x030 (R/W) Comparator Register 1 */ - __IOM uint32_t MASK1; /*!< Offset: 0x034 (R/W) Mask Register 1 */ - __IOM uint32_t FUNCTION1; /*!< Offset: 0x038 (R/W) Function Register 1 */ - uint32_t RESERVED1[1U]; - __IOM uint32_t COMP2; /*!< Offset: 0x040 (R/W) Comparator Register 2 */ - __IOM uint32_t MASK2; /*!< Offset: 0x044 (R/W) Mask Register 2 */ - __IOM uint32_t FUNCTION2; /*!< Offset: 0x048 (R/W) Function Register 2 */ - uint32_t RESERVED2[1U]; - __IOM uint32_t COMP3; /*!< Offset: 0x050 (R/W) Comparator Register 3 */ - __IOM uint32_t MASK3; /*!< Offset: 0x054 (R/W) Mask Register 3 */ - __IOM uint32_t FUNCTION3; /*!< Offset: 0x058 (R/W) Function Register 3 */ - uint32_t RESERVED3[981U]; - __OM uint32_t LAR; /*!< Offset: 0xFB0 ( W) Lock Access Register */ - __IM uint32_t LSR; /*!< Offset: 0xFB4 (R ) Lock Status Register */ -} DWT_Type; - -/* DWT Control Register Definitions */ -#define DWT_CTRL_NUMCOMP_Pos 28U /*!< DWT CTRL: NUMCOMP Position */ -#define DWT_CTRL_NUMCOMP_Msk (0xFUL << DWT_CTRL_NUMCOMP_Pos) /*!< DWT CTRL: NUMCOMP Mask */ - -#define DWT_CTRL_NOTRCPKT_Pos 27U /*!< DWT CTRL: NOTRCPKT Position */ -#define DWT_CTRL_NOTRCPKT_Msk (0x1UL << DWT_CTRL_NOTRCPKT_Pos) /*!< DWT CTRL: NOTRCPKT Mask */ - -#define DWT_CTRL_NOEXTTRIG_Pos 26U /*!< DWT CTRL: NOEXTTRIG Position */ -#define DWT_CTRL_NOEXTTRIG_Msk (0x1UL << DWT_CTRL_NOEXTTRIG_Pos) /*!< DWT CTRL: NOEXTTRIG Mask */ - -#define DWT_CTRL_NOCYCCNT_Pos 25U /*!< DWT CTRL: NOCYCCNT Position */ -#define DWT_CTRL_NOCYCCNT_Msk (0x1UL << DWT_CTRL_NOCYCCNT_Pos) /*!< DWT CTRL: NOCYCCNT Mask */ - -#define DWT_CTRL_NOPRFCNT_Pos 24U /*!< DWT CTRL: NOPRFCNT Position */ -#define DWT_CTRL_NOPRFCNT_Msk (0x1UL << DWT_CTRL_NOPRFCNT_Pos) /*!< DWT CTRL: NOPRFCNT Mask */ - -#define DWT_CTRL_CYCEVTENA_Pos 22U /*!< DWT CTRL: CYCEVTENA Position */ -#define DWT_CTRL_CYCEVTENA_Msk (0x1UL << DWT_CTRL_CYCEVTENA_Pos) /*!< DWT CTRL: CYCEVTENA Mask */ - -#define DWT_CTRL_FOLDEVTENA_Pos 21U /*!< DWT CTRL: FOLDEVTENA Position */ -#define DWT_CTRL_FOLDEVTENA_Msk (0x1UL << DWT_CTRL_FOLDEVTENA_Pos) /*!< DWT CTRL: FOLDEVTENA Mask */ - -#define DWT_CTRL_LSUEVTENA_Pos 20U /*!< DWT CTRL: LSUEVTENA Position */ -#define DWT_CTRL_LSUEVTENA_Msk (0x1UL << DWT_CTRL_LSUEVTENA_Pos) /*!< DWT CTRL: LSUEVTENA Mask */ - -#define DWT_CTRL_SLEEPEVTENA_Pos 19U /*!< DWT CTRL: SLEEPEVTENA Position */ -#define DWT_CTRL_SLEEPEVTENA_Msk (0x1UL << DWT_CTRL_SLEEPEVTENA_Pos) /*!< DWT CTRL: SLEEPEVTENA Mask */ - -#define DWT_CTRL_EXCEVTENA_Pos 18U /*!< DWT CTRL: EXCEVTENA Position */ -#define DWT_CTRL_EXCEVTENA_Msk (0x1UL << DWT_CTRL_EXCEVTENA_Pos) /*!< DWT CTRL: EXCEVTENA Mask */ - -#define DWT_CTRL_CPIEVTENA_Pos 17U /*!< DWT CTRL: CPIEVTENA Position */ -#define DWT_CTRL_CPIEVTENA_Msk (0x1UL << DWT_CTRL_CPIEVTENA_Pos) /*!< DWT CTRL: CPIEVTENA Mask */ - -#define DWT_CTRL_EXCTRCENA_Pos 16U /*!< DWT CTRL: EXCTRCENA Position */ -#define DWT_CTRL_EXCTRCENA_Msk (0x1UL << DWT_CTRL_EXCTRCENA_Pos) /*!< DWT CTRL: EXCTRCENA Mask */ - -#define DWT_CTRL_PCSAMPLENA_Pos 12U /*!< DWT CTRL: PCSAMPLENA Position */ -#define DWT_CTRL_PCSAMPLENA_Msk (0x1UL << DWT_CTRL_PCSAMPLENA_Pos) /*!< DWT CTRL: PCSAMPLENA Mask */ - -#define DWT_CTRL_SYNCTAP_Pos 10U /*!< DWT CTRL: SYNCTAP Position */ -#define DWT_CTRL_SYNCTAP_Msk (0x3UL << DWT_CTRL_SYNCTAP_Pos) /*!< DWT CTRL: SYNCTAP Mask */ - -#define DWT_CTRL_CYCTAP_Pos 9U /*!< DWT CTRL: CYCTAP Position */ -#define DWT_CTRL_CYCTAP_Msk (0x1UL << DWT_CTRL_CYCTAP_Pos) /*!< DWT CTRL: CYCTAP Mask */ - -#define DWT_CTRL_POSTINIT_Pos 5U /*!< DWT CTRL: POSTINIT Position */ -#define DWT_CTRL_POSTINIT_Msk (0xFUL << DWT_CTRL_POSTINIT_Pos) /*!< DWT CTRL: POSTINIT Mask */ - -#define DWT_CTRL_POSTPRESET_Pos 1U /*!< DWT CTRL: POSTPRESET Position */ -#define DWT_CTRL_POSTPRESET_Msk (0xFUL << DWT_CTRL_POSTPRESET_Pos) /*!< DWT CTRL: POSTPRESET Mask */ - -#define DWT_CTRL_CYCCNTENA_Pos 0U /*!< DWT CTRL: CYCCNTENA Position */ -#define DWT_CTRL_CYCCNTENA_Msk (0x1UL /*<< DWT_CTRL_CYCCNTENA_Pos*/) /*!< DWT CTRL: CYCCNTENA Mask */ - -/* DWT CPI Count Register Definitions */ -#define DWT_CPICNT_CPICNT_Pos 0U /*!< DWT CPICNT: CPICNT Position */ -#define DWT_CPICNT_CPICNT_Msk (0xFFUL /*<< DWT_CPICNT_CPICNT_Pos*/) /*!< DWT CPICNT: CPICNT Mask */ - -/* DWT Exception Overhead Count Register Definitions */ -#define DWT_EXCCNT_EXCCNT_Pos 0U /*!< DWT EXCCNT: EXCCNT Position */ -#define DWT_EXCCNT_EXCCNT_Msk (0xFFUL /*<< DWT_EXCCNT_EXCCNT_Pos*/) /*!< DWT EXCCNT: EXCCNT Mask */ - -/* DWT Sleep Count Register Definitions */ -#define DWT_SLEEPCNT_SLEEPCNT_Pos 0U /*!< DWT SLEEPCNT: SLEEPCNT Position */ -#define DWT_SLEEPCNT_SLEEPCNT_Msk (0xFFUL /*<< DWT_SLEEPCNT_SLEEPCNT_Pos*/) /*!< DWT SLEEPCNT: SLEEPCNT Mask */ - -/* DWT LSU Count Register Definitions */ -#define DWT_LSUCNT_LSUCNT_Pos 0U /*!< DWT LSUCNT: LSUCNT Position */ -#define DWT_LSUCNT_LSUCNT_Msk (0xFFUL /*<< DWT_LSUCNT_LSUCNT_Pos*/) /*!< DWT LSUCNT: LSUCNT Mask */ - -/* DWT Folded-instruction Count Register Definitions */ -#define DWT_FOLDCNT_FOLDCNT_Pos 0U /*!< DWT FOLDCNT: FOLDCNT Position */ -#define DWT_FOLDCNT_FOLDCNT_Msk (0xFFUL /*<< DWT_FOLDCNT_FOLDCNT_Pos*/) /*!< DWT FOLDCNT: FOLDCNT Mask */ - -/* DWT Comparator Mask Register Definitions */ -#define DWT_MASK_MASK_Pos 0U /*!< DWT MASK: MASK Position */ -#define DWT_MASK_MASK_Msk (0x1FUL /*<< DWT_MASK_MASK_Pos*/) /*!< DWT MASK: MASK Mask */ - -/* DWT Comparator Function Register Definitions */ -#define DWT_FUNCTION_MATCHED_Pos 24U /*!< DWT FUNCTION: MATCHED Position */ -#define DWT_FUNCTION_MATCHED_Msk (0x1UL << DWT_FUNCTION_MATCHED_Pos) /*!< DWT FUNCTION: MATCHED Mask */ - -#define DWT_FUNCTION_DATAVADDR1_Pos 16U /*!< DWT FUNCTION: DATAVADDR1 Position */ -#define DWT_FUNCTION_DATAVADDR1_Msk (0xFUL << DWT_FUNCTION_DATAVADDR1_Pos) /*!< DWT FUNCTION: DATAVADDR1 Mask */ - -#define DWT_FUNCTION_DATAVADDR0_Pos 12U /*!< DWT FUNCTION: DATAVADDR0 Position */ -#define DWT_FUNCTION_DATAVADDR0_Msk (0xFUL << DWT_FUNCTION_DATAVADDR0_Pos) /*!< DWT FUNCTION: DATAVADDR0 Mask */ - -#define DWT_FUNCTION_DATAVSIZE_Pos 10U /*!< DWT FUNCTION: DATAVSIZE Position */ -#define DWT_FUNCTION_DATAVSIZE_Msk (0x3UL << DWT_FUNCTION_DATAVSIZE_Pos) /*!< DWT FUNCTION: DATAVSIZE Mask */ - -#define DWT_FUNCTION_LNK1ENA_Pos 9U /*!< DWT FUNCTION: LNK1ENA Position */ -#define DWT_FUNCTION_LNK1ENA_Msk (0x1UL << DWT_FUNCTION_LNK1ENA_Pos) /*!< DWT FUNCTION: LNK1ENA Mask */ - -#define DWT_FUNCTION_DATAVMATCH_Pos 8U /*!< DWT FUNCTION: DATAVMATCH Position */ -#define DWT_FUNCTION_DATAVMATCH_Msk (0x1UL << DWT_FUNCTION_DATAVMATCH_Pos) /*!< DWT FUNCTION: DATAVMATCH Mask */ - -#define DWT_FUNCTION_CYCMATCH_Pos 7U /*!< DWT FUNCTION: CYCMATCH Position */ -#define DWT_FUNCTION_CYCMATCH_Msk (0x1UL << DWT_FUNCTION_CYCMATCH_Pos) /*!< DWT FUNCTION: CYCMATCH Mask */ - -#define DWT_FUNCTION_EMITRANGE_Pos 5U /*!< DWT FUNCTION: EMITRANGE Position */ -#define DWT_FUNCTION_EMITRANGE_Msk (0x1UL << DWT_FUNCTION_EMITRANGE_Pos) /*!< DWT FUNCTION: EMITRANGE Mask */ - -#define DWT_FUNCTION_FUNCTION_Pos 0U /*!< DWT FUNCTION: FUNCTION Position */ -#define DWT_FUNCTION_FUNCTION_Msk (0xFUL /*<< DWT_FUNCTION_FUNCTION_Pos*/) /*!< DWT FUNCTION: FUNCTION Mask */ - -/*@}*/ /* end of group CMSIS_DWT */ - - -/** - \ingroup CMSIS_core_register - \defgroup CMSIS_TPI Trace Port Interface (TPI) - \brief Type definitions for the Trace Port Interface (TPI) - @{ - */ - -/** - \brief Structure type to access the Trace Port Interface Register (TPI). - */ -typedef struct -{ - __IM uint32_t SSPSR; /*!< Offset: 0x000 (R/ ) Supported Parallel Port Size Register */ - __IOM uint32_t CSPSR; /*!< Offset: 0x004 (R/W) Current Parallel Port Size Register */ - uint32_t RESERVED0[2U]; - __IOM uint32_t ACPR; /*!< Offset: 0x010 (R/W) Asynchronous Clock Prescaler Register */ - uint32_t RESERVED1[55U]; - __IOM uint32_t SPPR; /*!< Offset: 0x0F0 (R/W) Selected Pin Protocol Register */ - uint32_t RESERVED2[131U]; - __IM uint32_t FFSR; /*!< Offset: 0x300 (R/ ) Formatter and Flush Status Register */ - __IOM uint32_t FFCR; /*!< Offset: 0x304 (R/W) Formatter and Flush Control Register */ - __IM uint32_t FSCR; /*!< Offset: 0x308 (R/ ) Formatter Synchronization Counter Register */ - uint32_t RESERVED3[759U]; - __IM uint32_t TRIGGER; /*!< Offset: 0xEE8 (R/ ) TRIGGER Register */ - __IM uint32_t FIFO0; /*!< Offset: 0xEEC (R/ ) Integration ETM Data */ - __IM uint32_t ITATBCTR2; /*!< Offset: 0xEF0 (R/ ) ITATBCTR2 */ - uint32_t RESERVED4[1U]; - __IM uint32_t ITATBCTR0; /*!< Offset: 0xEF8 (R/ ) ITATBCTR0 */ - __IM uint32_t FIFO1; /*!< Offset: 0xEFC (R/ ) Integration ITM Data */ - __IOM uint32_t ITCTRL; /*!< Offset: 0xF00 (R/W) Integration Mode Control */ - uint32_t RESERVED5[39U]; - __IOM uint32_t CLAIMSET; /*!< Offset: 0xFA0 (R/W) Claim tag set */ - __IOM uint32_t CLAIMCLR; /*!< Offset: 0xFA4 (R/W) Claim tag clear */ - uint32_t RESERVED7[8U]; - __IM uint32_t DEVID; /*!< Offset: 0xFC8 (R/ ) TPIU_DEVID */ - __IM uint32_t DEVTYPE; /*!< Offset: 0xFCC (R/ ) TPIU_DEVTYPE */ -} TPI_Type; - -/* TPI Asynchronous Clock Prescaler Register Definitions */ -#define TPI_ACPR_PRESCALER_Pos 0U /*!< TPI ACPR: PRESCALER Position */ -#define TPI_ACPR_PRESCALER_Msk (0x1FFFUL /*<< TPI_ACPR_PRESCALER_Pos*/) /*!< TPI ACPR: PRESCALER Mask */ - -/* TPI Selected Pin Protocol Register Definitions */ -#define TPI_SPPR_TXMODE_Pos 0U /*!< TPI SPPR: TXMODE Position */ -#define TPI_SPPR_TXMODE_Msk (0x3UL /*<< TPI_SPPR_TXMODE_Pos*/) /*!< TPI SPPR: TXMODE Mask */ - -/* TPI Formatter and Flush Status Register Definitions */ -#define TPI_FFSR_FtNonStop_Pos 3U /*!< TPI FFSR: FtNonStop Position */ -#define TPI_FFSR_FtNonStop_Msk (0x1UL << TPI_FFSR_FtNonStop_Pos) /*!< TPI FFSR: FtNonStop Mask */ - -#define TPI_FFSR_TCPresent_Pos 2U /*!< TPI FFSR: TCPresent Position */ -#define TPI_FFSR_TCPresent_Msk (0x1UL << TPI_FFSR_TCPresent_Pos) /*!< TPI FFSR: TCPresent Mask */ - -#define TPI_FFSR_FtStopped_Pos 1U /*!< TPI FFSR: FtStopped Position */ -#define TPI_FFSR_FtStopped_Msk (0x1UL << TPI_FFSR_FtStopped_Pos) /*!< TPI FFSR: FtStopped Mask */ - -#define TPI_FFSR_FlInProg_Pos 0U /*!< TPI FFSR: FlInProg Position */ -#define TPI_FFSR_FlInProg_Msk (0x1UL /*<< TPI_FFSR_FlInProg_Pos*/) /*!< TPI FFSR: FlInProg Mask */ - -/* TPI Formatter and Flush Control Register Definitions */ -#define TPI_FFCR_TrigIn_Pos 8U /*!< TPI FFCR: TrigIn Position */ -#define TPI_FFCR_TrigIn_Msk (0x1UL << TPI_FFCR_TrigIn_Pos) /*!< TPI FFCR: TrigIn Mask */ - -#define TPI_FFCR_EnFCont_Pos 1U /*!< TPI FFCR: EnFCont Position */ -#define TPI_FFCR_EnFCont_Msk (0x1UL << TPI_FFCR_EnFCont_Pos) /*!< TPI FFCR: EnFCont Mask */ - -/* TPI TRIGGER Register Definitions */ -#define TPI_TRIGGER_TRIGGER_Pos 0U /*!< TPI TRIGGER: TRIGGER Position */ -#define TPI_TRIGGER_TRIGGER_Msk (0x1UL /*<< TPI_TRIGGER_TRIGGER_Pos*/) /*!< TPI TRIGGER: TRIGGER Mask */ - -/* TPI Integration ETM Data Register Definitions (FIFO0) */ -#define TPI_FIFO0_ITM_ATVALID_Pos 29U /*!< TPI FIFO0: ITM_ATVALID Position */ -#define TPI_FIFO0_ITM_ATVALID_Msk (0x1UL << TPI_FIFO0_ITM_ATVALID_Pos) /*!< TPI FIFO0: ITM_ATVALID Mask */ - -#define TPI_FIFO0_ITM_bytecount_Pos 27U /*!< TPI FIFO0: ITM_bytecount Position */ -#define TPI_FIFO0_ITM_bytecount_Msk (0x3UL << TPI_FIFO0_ITM_bytecount_Pos) /*!< TPI FIFO0: ITM_bytecount Mask */ - -#define TPI_FIFO0_ETM_ATVALID_Pos 26U /*!< TPI FIFO0: ETM_ATVALID Position */ -#define TPI_FIFO0_ETM_ATVALID_Msk (0x1UL << TPI_FIFO0_ETM_ATVALID_Pos) /*!< TPI FIFO0: ETM_ATVALID Mask */ - -#define TPI_FIFO0_ETM_bytecount_Pos 24U /*!< TPI FIFO0: ETM_bytecount Position */ -#define TPI_FIFO0_ETM_bytecount_Msk (0x3UL << TPI_FIFO0_ETM_bytecount_Pos) /*!< TPI FIFO0: ETM_bytecount Mask */ - -#define TPI_FIFO0_ETM2_Pos 16U /*!< TPI FIFO0: ETM2 Position */ -#define TPI_FIFO0_ETM2_Msk (0xFFUL << TPI_FIFO0_ETM2_Pos) /*!< TPI FIFO0: ETM2 Mask */ - -#define TPI_FIFO0_ETM1_Pos 8U /*!< TPI FIFO0: ETM1 Position */ -#define TPI_FIFO0_ETM1_Msk (0xFFUL << TPI_FIFO0_ETM1_Pos) /*!< TPI FIFO0: ETM1 Mask */ - -#define TPI_FIFO0_ETM0_Pos 0U /*!< TPI FIFO0: ETM0 Position */ -#define TPI_FIFO0_ETM0_Msk (0xFFUL /*<< TPI_FIFO0_ETM0_Pos*/) /*!< TPI FIFO0: ETM0 Mask */ - -/* TPI ITATBCTR2 Register Definitions */ -#define TPI_ITATBCTR2_ATREADY2_Pos 0U /*!< TPI ITATBCTR2: ATREADY2 Position */ -#define TPI_ITATBCTR2_ATREADY2_Msk (0x1UL /*<< TPI_ITATBCTR2_ATREADY2_Pos*/) /*!< TPI ITATBCTR2: ATREADY2 Mask */ - -#define TPI_ITATBCTR2_ATREADY1_Pos 0U /*!< TPI ITATBCTR2: ATREADY1 Position */ -#define TPI_ITATBCTR2_ATREADY1_Msk (0x1UL /*<< TPI_ITATBCTR2_ATREADY1_Pos*/) /*!< TPI ITATBCTR2: ATREADY1 Mask */ - -/* TPI Integration ITM Data Register Definitions (FIFO1) */ -#define TPI_FIFO1_ITM_ATVALID_Pos 29U /*!< TPI FIFO1: ITM_ATVALID Position */ -#define TPI_FIFO1_ITM_ATVALID_Msk (0x1UL << TPI_FIFO1_ITM_ATVALID_Pos) /*!< TPI FIFO1: ITM_ATVALID Mask */ - -#define TPI_FIFO1_ITM_bytecount_Pos 27U /*!< TPI FIFO1: ITM_bytecount Position */ -#define TPI_FIFO1_ITM_bytecount_Msk (0x3UL << TPI_FIFO1_ITM_bytecount_Pos) /*!< TPI FIFO1: ITM_bytecount Mask */ - -#define TPI_FIFO1_ETM_ATVALID_Pos 26U /*!< TPI FIFO1: ETM_ATVALID Position */ -#define TPI_FIFO1_ETM_ATVALID_Msk (0x1UL << TPI_FIFO1_ETM_ATVALID_Pos) /*!< TPI FIFO1: ETM_ATVALID Mask */ - -#define TPI_FIFO1_ETM_bytecount_Pos 24U /*!< TPI FIFO1: ETM_bytecount Position */ -#define TPI_FIFO1_ETM_bytecount_Msk (0x3UL << TPI_FIFO1_ETM_bytecount_Pos) /*!< TPI FIFO1: ETM_bytecount Mask */ - -#define TPI_FIFO1_ITM2_Pos 16U /*!< TPI FIFO1: ITM2 Position */ -#define TPI_FIFO1_ITM2_Msk (0xFFUL << TPI_FIFO1_ITM2_Pos) /*!< TPI FIFO1: ITM2 Mask */ - -#define TPI_FIFO1_ITM1_Pos 8U /*!< TPI FIFO1: ITM1 Position */ -#define TPI_FIFO1_ITM1_Msk (0xFFUL << TPI_FIFO1_ITM1_Pos) /*!< TPI FIFO1: ITM1 Mask */ - -#define TPI_FIFO1_ITM0_Pos 0U /*!< TPI FIFO1: ITM0 Position */ -#define TPI_FIFO1_ITM0_Msk (0xFFUL /*<< TPI_FIFO1_ITM0_Pos*/) /*!< TPI FIFO1: ITM0 Mask */ - -/* TPI ITATBCTR0 Register Definitions */ -#define TPI_ITATBCTR0_ATREADY2_Pos 0U /*!< TPI ITATBCTR0: ATREADY2 Position */ -#define TPI_ITATBCTR0_ATREADY2_Msk (0x1UL /*<< TPI_ITATBCTR0_ATREADY2_Pos*/) /*!< TPI ITATBCTR0: ATREADY2 Mask */ - -#define TPI_ITATBCTR0_ATREADY1_Pos 0U /*!< TPI ITATBCTR0: ATREADY1 Position */ -#define TPI_ITATBCTR0_ATREADY1_Msk (0x1UL /*<< TPI_ITATBCTR0_ATREADY1_Pos*/) /*!< TPI ITATBCTR0: ATREADY1 Mask */ - -/* TPI Integration Mode Control Register Definitions */ -#define TPI_ITCTRL_Mode_Pos 0U /*!< TPI ITCTRL: Mode Position */ -#define TPI_ITCTRL_Mode_Msk (0x3UL /*<< TPI_ITCTRL_Mode_Pos*/) /*!< TPI ITCTRL: Mode Mask */ - -/* TPI DEVID Register Definitions */ -#define TPI_DEVID_NRZVALID_Pos 11U /*!< TPI DEVID: NRZVALID Position */ -#define TPI_DEVID_NRZVALID_Msk (0x1UL << TPI_DEVID_NRZVALID_Pos) /*!< TPI DEVID: NRZVALID Mask */ - -#define TPI_DEVID_MANCVALID_Pos 10U /*!< TPI DEVID: MANCVALID Position */ -#define TPI_DEVID_MANCVALID_Msk (0x1UL << TPI_DEVID_MANCVALID_Pos) /*!< TPI DEVID: MANCVALID Mask */ - -#define TPI_DEVID_PTINVALID_Pos 9U /*!< TPI DEVID: PTINVALID Position */ -#define TPI_DEVID_PTINVALID_Msk (0x1UL << TPI_DEVID_PTINVALID_Pos) /*!< TPI DEVID: PTINVALID Mask */ - -#define TPI_DEVID_MinBufSz_Pos 6U /*!< TPI DEVID: MinBufSz Position */ -#define TPI_DEVID_MinBufSz_Msk (0x7UL << TPI_DEVID_MinBufSz_Pos) /*!< TPI DEVID: MinBufSz Mask */ - -#define TPI_DEVID_AsynClkIn_Pos 5U /*!< TPI DEVID: AsynClkIn Position */ -#define TPI_DEVID_AsynClkIn_Msk (0x1UL << TPI_DEVID_AsynClkIn_Pos) /*!< TPI DEVID: AsynClkIn Mask */ - -#define TPI_DEVID_NrTraceInput_Pos 0U /*!< TPI DEVID: NrTraceInput Position */ -#define TPI_DEVID_NrTraceInput_Msk (0x1FUL /*<< TPI_DEVID_NrTraceInput_Pos*/) /*!< TPI DEVID: NrTraceInput Mask */ - -/* TPI DEVTYPE Register Definitions */ -#define TPI_DEVTYPE_SubType_Pos 4U /*!< TPI DEVTYPE: SubType Position */ -#define TPI_DEVTYPE_SubType_Msk (0xFUL /*<< TPI_DEVTYPE_SubType_Pos*/) /*!< TPI DEVTYPE: SubType Mask */ - -#define TPI_DEVTYPE_MajorType_Pos 0U /*!< TPI DEVTYPE: MajorType Position */ -#define TPI_DEVTYPE_MajorType_Msk (0xFUL << TPI_DEVTYPE_MajorType_Pos) /*!< TPI DEVTYPE: MajorType Mask */ - -/*@}*/ /* end of group CMSIS_TPI */ - - -#if defined (__MPU_PRESENT) && (__MPU_PRESENT == 1U) -/** - \ingroup CMSIS_core_register - \defgroup CMSIS_MPU Memory Protection Unit (MPU) - \brief Type definitions for the Memory Protection Unit (MPU) - @{ - */ - -/** - \brief Structure type to access the Memory Protection Unit (MPU). - */ -typedef struct -{ - __IM uint32_t TYPE; /*!< Offset: 0x000 (R/ ) MPU Type Register */ - __IOM uint32_t CTRL; /*!< Offset: 0x004 (R/W) MPU Control Register */ - __IOM uint32_t RNR; /*!< Offset: 0x008 (R/W) MPU Region RNRber Register */ - __IOM uint32_t RBAR; /*!< Offset: 0x00C (R/W) MPU Region Base Address Register */ - __IOM uint32_t RASR; /*!< Offset: 0x010 (R/W) MPU Region Attribute and Size Register */ - __IOM uint32_t RBAR_A1; /*!< Offset: 0x014 (R/W) MPU Alias 1 Region Base Address Register */ - __IOM uint32_t RASR_A1; /*!< Offset: 0x018 (R/W) MPU Alias 1 Region Attribute and Size Register */ - __IOM uint32_t RBAR_A2; /*!< Offset: 0x01C (R/W) MPU Alias 2 Region Base Address Register */ - __IOM uint32_t RASR_A2; /*!< Offset: 0x020 (R/W) MPU Alias 2 Region Attribute and Size Register */ - __IOM uint32_t RBAR_A3; /*!< Offset: 0x024 (R/W) MPU Alias 3 Region Base Address Register */ - __IOM uint32_t RASR_A3; /*!< Offset: 0x028 (R/W) MPU Alias 3 Region Attribute and Size Register */ -} MPU_Type; - -#define MPU_TYPE_RALIASES 4U - -/* MPU Type Register Definitions */ -#define MPU_TYPE_IREGION_Pos 16U /*!< MPU TYPE: IREGION Position */ -#define MPU_TYPE_IREGION_Msk (0xFFUL << MPU_TYPE_IREGION_Pos) /*!< MPU TYPE: IREGION Mask */ - -#define MPU_TYPE_DREGION_Pos 8U /*!< MPU TYPE: DREGION Position */ -#define MPU_TYPE_DREGION_Msk (0xFFUL << MPU_TYPE_DREGION_Pos) /*!< MPU TYPE: DREGION Mask */ - -#define MPU_TYPE_SEPARATE_Pos 0U /*!< MPU TYPE: SEPARATE Position */ -#define MPU_TYPE_SEPARATE_Msk (1UL /*<< MPU_TYPE_SEPARATE_Pos*/) /*!< MPU TYPE: SEPARATE Mask */ - -/* MPU Control Register Definitions */ -#define MPU_CTRL_PRIVDEFENA_Pos 2U /*!< MPU CTRL: PRIVDEFENA Position */ -#define MPU_CTRL_PRIVDEFENA_Msk (1UL << MPU_CTRL_PRIVDEFENA_Pos) /*!< MPU CTRL: PRIVDEFENA Mask */ - -#define MPU_CTRL_HFNMIENA_Pos 1U /*!< MPU CTRL: HFNMIENA Position */ -#define MPU_CTRL_HFNMIENA_Msk (1UL << MPU_CTRL_HFNMIENA_Pos) /*!< MPU CTRL: HFNMIENA Mask */ - -#define MPU_CTRL_ENABLE_Pos 0U /*!< MPU CTRL: ENABLE Position */ -#define MPU_CTRL_ENABLE_Msk (1UL /*<< MPU_CTRL_ENABLE_Pos*/) /*!< MPU CTRL: ENABLE Mask */ - -/* MPU Region Number Register Definitions */ -#define MPU_RNR_REGION_Pos 0U /*!< MPU RNR: REGION Position */ -#define MPU_RNR_REGION_Msk (0xFFUL /*<< MPU_RNR_REGION_Pos*/) /*!< MPU RNR: REGION Mask */ - -/* MPU Region Base Address Register Definitions */ -#define MPU_RBAR_ADDR_Pos 5U /*!< MPU RBAR: ADDR Position */ -#define MPU_RBAR_ADDR_Msk (0x7FFFFFFUL << MPU_RBAR_ADDR_Pos) /*!< MPU RBAR: ADDR Mask */ - -#define MPU_RBAR_VALID_Pos 4U /*!< MPU RBAR: VALID Position */ -#define MPU_RBAR_VALID_Msk (1UL << MPU_RBAR_VALID_Pos) /*!< MPU RBAR: VALID Mask */ - -#define MPU_RBAR_REGION_Pos 0U /*!< MPU RBAR: REGION Position */ -#define MPU_RBAR_REGION_Msk (0xFUL /*<< MPU_RBAR_REGION_Pos*/) /*!< MPU RBAR: REGION Mask */ - -/* MPU Region Attribute and Size Register Definitions */ -#define MPU_RASR_ATTRS_Pos 16U /*!< MPU RASR: MPU Region Attribute field Position */ -#define MPU_RASR_ATTRS_Msk (0xFFFFUL << MPU_RASR_ATTRS_Pos) /*!< MPU RASR: MPU Region Attribute field Mask */ - -#define MPU_RASR_XN_Pos 28U /*!< MPU RASR: ATTRS.XN Position */ -#define MPU_RASR_XN_Msk (1UL << MPU_RASR_XN_Pos) /*!< MPU RASR: ATTRS.XN Mask */ - -#define MPU_RASR_AP_Pos 24U /*!< MPU RASR: ATTRS.AP Position */ -#define MPU_RASR_AP_Msk (0x7UL << MPU_RASR_AP_Pos) /*!< MPU RASR: ATTRS.AP Mask */ - -#define MPU_RASR_TEX_Pos 19U /*!< MPU RASR: ATTRS.TEX Position */ -#define MPU_RASR_TEX_Msk (0x7UL << MPU_RASR_TEX_Pos) /*!< MPU RASR: ATTRS.TEX Mask */ - -#define MPU_RASR_S_Pos 18U /*!< MPU RASR: ATTRS.S Position */ -#define MPU_RASR_S_Msk (1UL << MPU_RASR_S_Pos) /*!< MPU RASR: ATTRS.S Mask */ - -#define MPU_RASR_C_Pos 17U /*!< MPU RASR: ATTRS.C Position */ -#define MPU_RASR_C_Msk (1UL << MPU_RASR_C_Pos) /*!< MPU RASR: ATTRS.C Mask */ - -#define MPU_RASR_B_Pos 16U /*!< MPU RASR: ATTRS.B Position */ -#define MPU_RASR_B_Msk (1UL << MPU_RASR_B_Pos) /*!< MPU RASR: ATTRS.B Mask */ - -#define MPU_RASR_SRD_Pos 8U /*!< MPU RASR: Sub-Region Disable Position */ -#define MPU_RASR_SRD_Msk (0xFFUL << MPU_RASR_SRD_Pos) /*!< MPU RASR: Sub-Region Disable Mask */ - -#define MPU_RASR_SIZE_Pos 1U /*!< MPU RASR: Region Size Field Position */ -#define MPU_RASR_SIZE_Msk (0x1FUL << MPU_RASR_SIZE_Pos) /*!< MPU RASR: Region Size Field Mask */ - -#define MPU_RASR_ENABLE_Pos 0U /*!< MPU RASR: Region enable bit Position */ -#define MPU_RASR_ENABLE_Msk (1UL /*<< MPU_RASR_ENABLE_Pos*/) /*!< MPU RASR: Region enable bit Disable Mask */ - -/*@} end of group CMSIS_MPU */ -#endif /* defined (__MPU_PRESENT) && (__MPU_PRESENT == 1U) */ - - -/** - \ingroup CMSIS_core_register - \defgroup CMSIS_FPU Floating Point Unit (FPU) - \brief Type definitions for the Floating Point Unit (FPU) - @{ - */ - -/** - \brief Structure type to access the Floating Point Unit (FPU). - */ -typedef struct -{ - uint32_t RESERVED0[1U]; - __IOM uint32_t FPCCR; /*!< Offset: 0x004 (R/W) Floating-Point Context Control Register */ - __IOM uint32_t FPCAR; /*!< Offset: 0x008 (R/W) Floating-Point Context Address Register */ - __IOM uint32_t FPDSCR; /*!< Offset: 0x00C (R/W) Floating-Point Default Status Control Register */ - __IM uint32_t MVFR0; /*!< Offset: 0x010 (R/ ) Media and FP Feature Register 0 */ - __IM uint32_t MVFR1; /*!< Offset: 0x014 (R/ ) Media and FP Feature Register 1 */ - __IM uint32_t MVFR2; /*!< Offset: 0x018 (R/ ) Media and FP Feature Register 2 */ -} FPU_Type; - -/* Floating-Point Context Control Register Definitions */ -#define FPU_FPCCR_ASPEN_Pos 31U /*!< FPCCR: ASPEN bit Position */ -#define FPU_FPCCR_ASPEN_Msk (1UL << FPU_FPCCR_ASPEN_Pos) /*!< FPCCR: ASPEN bit Mask */ - -#define FPU_FPCCR_LSPEN_Pos 30U /*!< FPCCR: LSPEN Position */ -#define FPU_FPCCR_LSPEN_Msk (1UL << FPU_FPCCR_LSPEN_Pos) /*!< FPCCR: LSPEN bit Mask */ - -#define FPU_FPCCR_MONRDY_Pos 8U /*!< FPCCR: MONRDY Position */ -#define FPU_FPCCR_MONRDY_Msk (1UL << FPU_FPCCR_MONRDY_Pos) /*!< FPCCR: MONRDY bit Mask */ - -#define FPU_FPCCR_BFRDY_Pos 6U /*!< FPCCR: BFRDY Position */ -#define FPU_FPCCR_BFRDY_Msk (1UL << FPU_FPCCR_BFRDY_Pos) /*!< FPCCR: BFRDY bit Mask */ - -#define FPU_FPCCR_MMRDY_Pos 5U /*!< FPCCR: MMRDY Position */ -#define FPU_FPCCR_MMRDY_Msk (1UL << FPU_FPCCR_MMRDY_Pos) /*!< FPCCR: MMRDY bit Mask */ - -#define FPU_FPCCR_HFRDY_Pos 4U /*!< FPCCR: HFRDY Position */ -#define FPU_FPCCR_HFRDY_Msk (1UL << FPU_FPCCR_HFRDY_Pos) /*!< FPCCR: HFRDY bit Mask */ - -#define FPU_FPCCR_THREAD_Pos 3U /*!< FPCCR: processor mode bit Position */ -#define FPU_FPCCR_THREAD_Msk (1UL << FPU_FPCCR_THREAD_Pos) /*!< FPCCR: processor mode active bit Mask */ - -#define FPU_FPCCR_USER_Pos 1U /*!< FPCCR: privilege level bit Position */ -#define FPU_FPCCR_USER_Msk (1UL << FPU_FPCCR_USER_Pos) /*!< FPCCR: privilege level bit Mask */ - -#define FPU_FPCCR_LSPACT_Pos 0U /*!< FPCCR: Lazy state preservation active bit Position */ -#define FPU_FPCCR_LSPACT_Msk (1UL /*<< FPU_FPCCR_LSPACT_Pos*/) /*!< FPCCR: Lazy state preservation active bit Mask */ - -/* Floating-Point Context Address Register Definitions */ -#define FPU_FPCAR_ADDRESS_Pos 3U /*!< FPCAR: ADDRESS bit Position */ -#define FPU_FPCAR_ADDRESS_Msk (0x1FFFFFFFUL << FPU_FPCAR_ADDRESS_Pos) /*!< FPCAR: ADDRESS bit Mask */ - -/* Floating-Point Default Status Control Register Definitions */ -#define FPU_FPDSCR_AHP_Pos 26U /*!< FPDSCR: AHP bit Position */ -#define FPU_FPDSCR_AHP_Msk (1UL << FPU_FPDSCR_AHP_Pos) /*!< FPDSCR: AHP bit Mask */ - -#define FPU_FPDSCR_DN_Pos 25U /*!< FPDSCR: DN bit Position */ -#define FPU_FPDSCR_DN_Msk (1UL << FPU_FPDSCR_DN_Pos) /*!< FPDSCR: DN bit Mask */ - -#define FPU_FPDSCR_FZ_Pos 24U /*!< FPDSCR: FZ bit Position */ -#define FPU_FPDSCR_FZ_Msk (1UL << FPU_FPDSCR_FZ_Pos) /*!< FPDSCR: FZ bit Mask */ - -#define FPU_FPDSCR_RMode_Pos 22U /*!< FPDSCR: RMode bit Position */ -#define FPU_FPDSCR_RMode_Msk (3UL << FPU_FPDSCR_RMode_Pos) /*!< FPDSCR: RMode bit Mask */ - -/* Media and FP Feature Register 0 Definitions */ -#define FPU_MVFR0_FP_rounding_modes_Pos 28U /*!< MVFR0: FP rounding modes bits Position */ -#define FPU_MVFR0_FP_rounding_modes_Msk (0xFUL << FPU_MVFR0_FP_rounding_modes_Pos) /*!< MVFR0: FP rounding modes bits Mask */ - -#define FPU_MVFR0_Short_vectors_Pos 24U /*!< MVFR0: Short vectors bits Position */ -#define FPU_MVFR0_Short_vectors_Msk (0xFUL << FPU_MVFR0_Short_vectors_Pos) /*!< MVFR0: Short vectors bits Mask */ - -#define FPU_MVFR0_Square_root_Pos 20U /*!< MVFR0: Square root bits Position */ -#define FPU_MVFR0_Square_root_Msk (0xFUL << FPU_MVFR0_Square_root_Pos) /*!< MVFR0: Square root bits Mask */ - -#define FPU_MVFR0_Divide_Pos 16U /*!< MVFR0: Divide bits Position */ -#define FPU_MVFR0_Divide_Msk (0xFUL << FPU_MVFR0_Divide_Pos) /*!< MVFR0: Divide bits Mask */ - -#define FPU_MVFR0_FP_excep_trapping_Pos 12U /*!< MVFR0: FP exception trapping bits Position */ -#define FPU_MVFR0_FP_excep_trapping_Msk (0xFUL << FPU_MVFR0_FP_excep_trapping_Pos) /*!< MVFR0: FP exception trapping bits Mask */ - -#define FPU_MVFR0_Double_precision_Pos 8U /*!< MVFR0: Double-precision bits Position */ -#define FPU_MVFR0_Double_precision_Msk (0xFUL << FPU_MVFR0_Double_precision_Pos) /*!< MVFR0: Double-precision bits Mask */ - -#define FPU_MVFR0_Single_precision_Pos 4U /*!< MVFR0: Single-precision bits Position */ -#define FPU_MVFR0_Single_precision_Msk (0xFUL << FPU_MVFR0_Single_precision_Pos) /*!< MVFR0: Single-precision bits Mask */ - -#define FPU_MVFR0_A_SIMD_registers_Pos 0U /*!< MVFR0: A_SIMD registers bits Position */ -#define FPU_MVFR0_A_SIMD_registers_Msk (0xFUL /*<< FPU_MVFR0_A_SIMD_registers_Pos*/) /*!< MVFR0: A_SIMD registers bits Mask */ - -/* Media and FP Feature Register 1 Definitions */ -#define FPU_MVFR1_FP_fused_MAC_Pos 28U /*!< MVFR1: FP fused MAC bits Position */ -#define FPU_MVFR1_FP_fused_MAC_Msk (0xFUL << FPU_MVFR1_FP_fused_MAC_Pos) /*!< MVFR1: FP fused MAC bits Mask */ - -#define FPU_MVFR1_FP_HPFP_Pos 24U /*!< MVFR1: FP HPFP bits Position */ -#define FPU_MVFR1_FP_HPFP_Msk (0xFUL << FPU_MVFR1_FP_HPFP_Pos) /*!< MVFR1: FP HPFP bits Mask */ - -#define FPU_MVFR1_D_NaN_mode_Pos 4U /*!< MVFR1: D_NaN mode bits Position */ -#define FPU_MVFR1_D_NaN_mode_Msk (0xFUL << FPU_MVFR1_D_NaN_mode_Pos) /*!< MVFR1: D_NaN mode bits Mask */ - -#define FPU_MVFR1_FtZ_mode_Pos 0U /*!< MVFR1: FtZ mode bits Position */ -#define FPU_MVFR1_FtZ_mode_Msk (0xFUL /*<< FPU_MVFR1_FtZ_mode_Pos*/) /*!< MVFR1: FtZ mode bits Mask */ - -/* Media and FP Feature Register 2 Definitions */ - -#define FPU_MVFR2_VFP_Misc_Pos 4U /*!< MVFR2: VFP Misc bits Position */ -#define FPU_MVFR2_VFP_Misc_Msk (0xFUL << FPU_MVFR2_VFP_Misc_Pos) /*!< MVFR2: VFP Misc bits Mask */ - -/*@} end of group CMSIS_FPU */ - - -/** - \ingroup CMSIS_core_register - \defgroup CMSIS_CoreDebug Core Debug Registers (CoreDebug) - \brief Type definitions for the Core Debug Registers - @{ - */ - -/** - \brief Structure type to access the Core Debug Register (CoreDebug). - */ -typedef struct -{ - __IOM uint32_t DHCSR; /*!< Offset: 0x000 (R/W) Debug Halting Control and Status Register */ - __OM uint32_t DCRSR; /*!< Offset: 0x004 ( /W) Debug Core Register Selector Register */ - __IOM uint32_t DCRDR; /*!< Offset: 0x008 (R/W) Debug Core Register Data Register */ - __IOM uint32_t DEMCR; /*!< Offset: 0x00C (R/W) Debug Exception and Monitor Control Register */ -} CoreDebug_Type; - -/* Debug Halting Control and Status Register Definitions */ -#define CoreDebug_DHCSR_DBGKEY_Pos 16U /*!< CoreDebug DHCSR: DBGKEY Position */ -#define CoreDebug_DHCSR_DBGKEY_Msk (0xFFFFUL << CoreDebug_DHCSR_DBGKEY_Pos) /*!< CoreDebug DHCSR: DBGKEY Mask */ - -#define CoreDebug_DHCSR_S_RESET_ST_Pos 25U /*!< CoreDebug DHCSR: S_RESET_ST Position */ -#define CoreDebug_DHCSR_S_RESET_ST_Msk (1UL << CoreDebug_DHCSR_S_RESET_ST_Pos) /*!< CoreDebug DHCSR: S_RESET_ST Mask */ - -#define CoreDebug_DHCSR_S_RETIRE_ST_Pos 24U /*!< CoreDebug DHCSR: S_RETIRE_ST Position */ -#define CoreDebug_DHCSR_S_RETIRE_ST_Msk (1UL << CoreDebug_DHCSR_S_RETIRE_ST_Pos) /*!< CoreDebug DHCSR: S_RETIRE_ST Mask */ - -#define CoreDebug_DHCSR_S_LOCKUP_Pos 19U /*!< CoreDebug DHCSR: S_LOCKUP Position */ -#define CoreDebug_DHCSR_S_LOCKUP_Msk (1UL << CoreDebug_DHCSR_S_LOCKUP_Pos) /*!< CoreDebug DHCSR: S_LOCKUP Mask */ - -#define CoreDebug_DHCSR_S_SLEEP_Pos 18U /*!< CoreDebug DHCSR: S_SLEEP Position */ -#define CoreDebug_DHCSR_S_SLEEP_Msk (1UL << CoreDebug_DHCSR_S_SLEEP_Pos) /*!< CoreDebug DHCSR: S_SLEEP Mask */ - -#define CoreDebug_DHCSR_S_HALT_Pos 17U /*!< CoreDebug DHCSR: S_HALT Position */ -#define CoreDebug_DHCSR_S_HALT_Msk (1UL << CoreDebug_DHCSR_S_HALT_Pos) /*!< CoreDebug DHCSR: S_HALT Mask */ - -#define CoreDebug_DHCSR_S_REGRDY_Pos 16U /*!< CoreDebug DHCSR: S_REGRDY Position */ -#define CoreDebug_DHCSR_S_REGRDY_Msk (1UL << CoreDebug_DHCSR_S_REGRDY_Pos) /*!< CoreDebug DHCSR: S_REGRDY Mask */ - -#define CoreDebug_DHCSR_C_SNAPSTALL_Pos 5U /*!< CoreDebug DHCSR: C_SNAPSTALL Position */ -#define CoreDebug_DHCSR_C_SNAPSTALL_Msk (1UL << CoreDebug_DHCSR_C_SNAPSTALL_Pos) /*!< CoreDebug DHCSR: C_SNAPSTALL Mask */ - -#define CoreDebug_DHCSR_C_MASKINTS_Pos 3U /*!< CoreDebug DHCSR: C_MASKINTS Position */ -#define CoreDebug_DHCSR_C_MASKINTS_Msk (1UL << CoreDebug_DHCSR_C_MASKINTS_Pos) /*!< CoreDebug DHCSR: C_MASKINTS Mask */ - -#define CoreDebug_DHCSR_C_STEP_Pos 2U /*!< CoreDebug DHCSR: C_STEP Position */ -#define CoreDebug_DHCSR_C_STEP_Msk (1UL << CoreDebug_DHCSR_C_STEP_Pos) /*!< CoreDebug DHCSR: C_STEP Mask */ - -#define CoreDebug_DHCSR_C_HALT_Pos 1U /*!< CoreDebug DHCSR: C_HALT Position */ -#define CoreDebug_DHCSR_C_HALT_Msk (1UL << CoreDebug_DHCSR_C_HALT_Pos) /*!< CoreDebug DHCSR: C_HALT Mask */ - -#define CoreDebug_DHCSR_C_DEBUGEN_Pos 0U /*!< CoreDebug DHCSR: C_DEBUGEN Position */ -#define CoreDebug_DHCSR_C_DEBUGEN_Msk (1UL /*<< CoreDebug_DHCSR_C_DEBUGEN_Pos*/) /*!< CoreDebug DHCSR: C_DEBUGEN Mask */ - -/* Debug Core Register Selector Register Definitions */ -#define CoreDebug_DCRSR_REGWnR_Pos 16U /*!< CoreDebug DCRSR: REGWnR Position */ -#define CoreDebug_DCRSR_REGWnR_Msk (1UL << CoreDebug_DCRSR_REGWnR_Pos) /*!< CoreDebug DCRSR: REGWnR Mask */ - -#define CoreDebug_DCRSR_REGSEL_Pos 0U /*!< CoreDebug DCRSR: REGSEL Position */ -#define CoreDebug_DCRSR_REGSEL_Msk (0x1FUL /*<< CoreDebug_DCRSR_REGSEL_Pos*/) /*!< CoreDebug DCRSR: REGSEL Mask */ - -/* Debug Exception and Monitor Control Register Definitions */ -#define CoreDebug_DEMCR_TRCENA_Pos 24U /*!< CoreDebug DEMCR: TRCENA Position */ -#define CoreDebug_DEMCR_TRCENA_Msk (1UL << CoreDebug_DEMCR_TRCENA_Pos) /*!< CoreDebug DEMCR: TRCENA Mask */ - -#define CoreDebug_DEMCR_MON_REQ_Pos 19U /*!< CoreDebug DEMCR: MON_REQ Position */ -#define CoreDebug_DEMCR_MON_REQ_Msk (1UL << CoreDebug_DEMCR_MON_REQ_Pos) /*!< CoreDebug DEMCR: MON_REQ Mask */ - -#define CoreDebug_DEMCR_MON_STEP_Pos 18U /*!< CoreDebug DEMCR: MON_STEP Position */ -#define CoreDebug_DEMCR_MON_STEP_Msk (1UL << CoreDebug_DEMCR_MON_STEP_Pos) /*!< CoreDebug DEMCR: MON_STEP Mask */ - -#define CoreDebug_DEMCR_MON_PEND_Pos 17U /*!< CoreDebug DEMCR: MON_PEND Position */ -#define CoreDebug_DEMCR_MON_PEND_Msk (1UL << CoreDebug_DEMCR_MON_PEND_Pos) /*!< CoreDebug DEMCR: MON_PEND Mask */ - -#define CoreDebug_DEMCR_MON_EN_Pos 16U /*!< CoreDebug DEMCR: MON_EN Position */ -#define CoreDebug_DEMCR_MON_EN_Msk (1UL << CoreDebug_DEMCR_MON_EN_Pos) /*!< CoreDebug DEMCR: MON_EN Mask */ - -#define CoreDebug_DEMCR_VC_HARDERR_Pos 10U /*!< CoreDebug DEMCR: VC_HARDERR Position */ -#define CoreDebug_DEMCR_VC_HARDERR_Msk (1UL << CoreDebug_DEMCR_VC_HARDERR_Pos) /*!< CoreDebug DEMCR: VC_HARDERR Mask */ - -#define CoreDebug_DEMCR_VC_INTERR_Pos 9U /*!< CoreDebug DEMCR: VC_INTERR Position */ -#define CoreDebug_DEMCR_VC_INTERR_Msk (1UL << CoreDebug_DEMCR_VC_INTERR_Pos) /*!< CoreDebug DEMCR: VC_INTERR Mask */ - -#define CoreDebug_DEMCR_VC_BUSERR_Pos 8U /*!< CoreDebug DEMCR: VC_BUSERR Position */ -#define CoreDebug_DEMCR_VC_BUSERR_Msk (1UL << CoreDebug_DEMCR_VC_BUSERR_Pos) /*!< CoreDebug DEMCR: VC_BUSERR Mask */ - -#define CoreDebug_DEMCR_VC_STATERR_Pos 7U /*!< CoreDebug DEMCR: VC_STATERR Position */ -#define CoreDebug_DEMCR_VC_STATERR_Msk (1UL << CoreDebug_DEMCR_VC_STATERR_Pos) /*!< CoreDebug DEMCR: VC_STATERR Mask */ - -#define CoreDebug_DEMCR_VC_CHKERR_Pos 6U /*!< CoreDebug DEMCR: VC_CHKERR Position */ -#define CoreDebug_DEMCR_VC_CHKERR_Msk (1UL << CoreDebug_DEMCR_VC_CHKERR_Pos) /*!< CoreDebug DEMCR: VC_CHKERR Mask */ - -#define CoreDebug_DEMCR_VC_NOCPERR_Pos 5U /*!< CoreDebug DEMCR: VC_NOCPERR Position */ -#define CoreDebug_DEMCR_VC_NOCPERR_Msk (1UL << CoreDebug_DEMCR_VC_NOCPERR_Pos) /*!< CoreDebug DEMCR: VC_NOCPERR Mask */ - -#define CoreDebug_DEMCR_VC_MMERR_Pos 4U /*!< CoreDebug DEMCR: VC_MMERR Position */ -#define CoreDebug_DEMCR_VC_MMERR_Msk (1UL << CoreDebug_DEMCR_VC_MMERR_Pos) /*!< CoreDebug DEMCR: VC_MMERR Mask */ - -#define CoreDebug_DEMCR_VC_CORERESET_Pos 0U /*!< CoreDebug DEMCR: VC_CORERESET Position */ -#define CoreDebug_DEMCR_VC_CORERESET_Msk (1UL /*<< CoreDebug_DEMCR_VC_CORERESET_Pos*/) /*!< CoreDebug DEMCR: VC_CORERESET Mask */ - -/*@} end of group CMSIS_CoreDebug */ - - -/** - \ingroup CMSIS_core_register - \defgroup CMSIS_core_bitfield Core register bit field macros - \brief Macros for use with bit field definitions (xxx_Pos, xxx_Msk). - @{ - */ - -/** - \brief Mask and shift a bit field value for use in a register bit range. - \param[in] field Name of the register bit field. - \param[in] value Value of the bit field. This parameter is interpreted as an uint32_t type. - \return Masked and shifted value. -*/ -#define _VAL2FLD(field, value) (((uint32_t)(value) << field ## _Pos) & field ## _Msk) - -/** - \brief Mask and shift a register value to extract a bit filed value. - \param[in] field Name of the register bit field. - \param[in] value Value of register. This parameter is interpreted as an uint32_t type. - \return Masked and shifted bit field value. -*/ -#define _FLD2VAL(field, value) (((uint32_t)(value) & field ## _Msk) >> field ## _Pos) - -/*@} end of group CMSIS_core_bitfield */ - - -/** - \ingroup CMSIS_core_register - \defgroup CMSIS_core_base Core Definitions - \brief Definitions for base addresses, unions, and structures. - @{ - */ - -/* Memory mapping of Core Hardware */ -#define SCS_BASE (0xE000E000UL) /*!< System Control Space Base Address */ -#define ITM_BASE (0xE0000000UL) /*!< ITM Base Address */ -#define DWT_BASE (0xE0001000UL) /*!< DWT Base Address */ -#define TPI_BASE (0xE0040000UL) /*!< TPI Base Address */ -#define CoreDebug_BASE (0xE000EDF0UL) /*!< Core Debug Base Address */ -#define SysTick_BASE (SCS_BASE + 0x0010UL) /*!< SysTick Base Address */ -#define NVIC_BASE (SCS_BASE + 0x0100UL) /*!< NVIC Base Address */ -#define SCB_BASE (SCS_BASE + 0x0D00UL) /*!< System Control Block Base Address */ - -#define SCnSCB ((SCnSCB_Type *) SCS_BASE ) /*!< System control Register not in SCB */ -#define SCB ((SCB_Type *) SCB_BASE ) /*!< SCB configuration struct */ -#define SysTick ((SysTick_Type *) SysTick_BASE ) /*!< SysTick configuration struct */ -#define NVIC ((NVIC_Type *) NVIC_BASE ) /*!< NVIC configuration struct */ -#define ITM ((ITM_Type *) ITM_BASE ) /*!< ITM configuration struct */ -#define DWT ((DWT_Type *) DWT_BASE ) /*!< DWT configuration struct */ -#define TPI ((TPI_Type *) TPI_BASE ) /*!< TPI configuration struct */ -#define CoreDebug ((CoreDebug_Type *) CoreDebug_BASE) /*!< Core Debug configuration struct */ - -#if defined (__MPU_PRESENT) && (__MPU_PRESENT == 1U) - #define MPU_BASE (SCS_BASE + 0x0D90UL) /*!< Memory Protection Unit */ - #define MPU ((MPU_Type *) MPU_BASE ) /*!< Memory Protection Unit */ -#endif - -#define FPU_BASE (SCS_BASE + 0x0F30UL) /*!< Floating Point Unit */ -#define FPU ((FPU_Type *) FPU_BASE ) /*!< Floating Point Unit */ - -/*@} */ - - - -/******************************************************************************* - * Hardware Abstraction Layer - Core Function Interface contains: - - Core NVIC Functions - - Core SysTick Functions - - Core Debug Functions - - Core Register Access Functions - ******************************************************************************/ -/** - \defgroup CMSIS_Core_FunctionInterface Functions and Instructions Reference -*/ - - - -/* ########################## NVIC functions #################################### */ -/** - \ingroup CMSIS_Core_FunctionInterface - \defgroup CMSIS_Core_NVICFunctions NVIC Functions - \brief Functions that manage interrupts and exceptions via the NVIC. - @{ - */ - -#ifdef CMSIS_NVIC_VIRTUAL - #ifndef CMSIS_NVIC_VIRTUAL_HEADER_FILE - #define CMSIS_NVIC_VIRTUAL_HEADER_FILE "cmsis_nvic_virtual.h" - #endif - #include CMSIS_NVIC_VIRTUAL_HEADER_FILE -#else - #define NVIC_SetPriorityGrouping __NVIC_SetPriorityGrouping - #define NVIC_GetPriorityGrouping __NVIC_GetPriorityGrouping - #define NVIC_EnableIRQ __NVIC_EnableIRQ - #define NVIC_GetEnableIRQ __NVIC_GetEnableIRQ - #define NVIC_DisableIRQ __NVIC_DisableIRQ - #define NVIC_GetPendingIRQ __NVIC_GetPendingIRQ - #define NVIC_SetPendingIRQ __NVIC_SetPendingIRQ - #define NVIC_ClearPendingIRQ __NVIC_ClearPendingIRQ - #define NVIC_GetActive __NVIC_GetActive - #define NVIC_SetPriority __NVIC_SetPriority - #define NVIC_GetPriority __NVIC_GetPriority - #define NVIC_SystemReset __NVIC_SystemReset -#endif /* CMSIS_NVIC_VIRTUAL */ - -#ifdef CMSIS_VECTAB_VIRTUAL - #ifndef CMSIS_VECTAB_VIRTUAL_HEADER_FILE - #define CMSIS_VECTAB_VIRTUAL_HEADER_FILE "cmsis_vectab_virtual.h" - #endif - #include CMSIS_VECTAB_VIRTUAL_HEADER_FILE -#else - #define NVIC_SetVector __NVIC_SetVector - #define NVIC_GetVector __NVIC_GetVector -#endif /* (CMSIS_VECTAB_VIRTUAL) */ - -#define NVIC_USER_IRQ_OFFSET 16 - - -/* The following EXC_RETURN values are saved the LR on exception entry */ -#define EXC_RETURN_HANDLER (0xFFFFFFF1UL) /* return to Handler mode, uses MSP after return */ -#define EXC_RETURN_THREAD_MSP (0xFFFFFFF9UL) /* return to Thread mode, uses MSP after return */ -#define EXC_RETURN_THREAD_PSP (0xFFFFFFFDUL) /* return to Thread mode, uses PSP after return */ -#define EXC_RETURN_HANDLER_FPU (0xFFFFFFE1UL) /* return to Handler mode, uses MSP after return, restore floating-point state */ -#define EXC_RETURN_THREAD_MSP_FPU (0xFFFFFFE9UL) /* return to Thread mode, uses MSP after return, restore floating-point state */ -#define EXC_RETURN_THREAD_PSP_FPU (0xFFFFFFEDUL) /* return to Thread mode, uses PSP after return, restore floating-point state */ - - -/** - \brief Set Priority Grouping - \details Sets the priority grouping field using the required unlock sequence. - The parameter PriorityGroup is assigned to the field SCB->AIRCR [10:8] PRIGROUP field. - Only values from 0..7 are used. - In case of a conflict between priority grouping and available - priority bits (__NVIC_PRIO_BITS), the smallest possible priority group is set. - \param [in] PriorityGroup Priority grouping field. - */ -__STATIC_INLINE void __NVIC_SetPriorityGrouping(uint32_t PriorityGroup) -{ - uint32_t reg_value; - uint32_t PriorityGroupTmp = (PriorityGroup & (uint32_t)0x07UL); /* only values 0..7 are used */ - - reg_value = SCB->AIRCR; /* read old register configuration */ - reg_value &= ~((uint32_t)(SCB_AIRCR_VECTKEY_Msk | SCB_AIRCR_PRIGROUP_Msk)); /* clear bits to change */ - reg_value = (reg_value | - ((uint32_t)0x5FAUL << SCB_AIRCR_VECTKEY_Pos) | - (PriorityGroupTmp << SCB_AIRCR_PRIGROUP_Pos) ); /* Insert write key and priority group */ - SCB->AIRCR = reg_value; -} - - -/** - \brief Get Priority Grouping - \details Reads the priority grouping field from the NVIC Interrupt Controller. - \return Priority grouping field (SCB->AIRCR [10:8] PRIGROUP field). - */ -__STATIC_INLINE uint32_t __NVIC_GetPriorityGrouping(void) -{ - return ((uint32_t)((SCB->AIRCR & SCB_AIRCR_PRIGROUP_Msk) >> SCB_AIRCR_PRIGROUP_Pos)); -} - - -/** - \brief Enable Interrupt - \details Enables a device specific interrupt in the NVIC interrupt controller. - \param [in] IRQn Device specific interrupt number. - \note IRQn must not be negative. - */ -__STATIC_INLINE void __NVIC_EnableIRQ(IRQn_Type IRQn) -{ - if ((int32_t)(IRQn) >= 0) - { - __COMPILER_BARRIER(); - NVIC->ISER[(((uint32_t)IRQn) >> 5UL)] = (uint32_t)(1UL << (((uint32_t)IRQn) & 0x1FUL)); - __COMPILER_BARRIER(); - } -} - - -/** - \brief Get Interrupt Enable status - \details Returns a device specific interrupt enable status from the NVIC interrupt controller. - \param [in] IRQn Device specific interrupt number. - \return 0 Interrupt is not enabled. - \return 1 Interrupt is enabled. - \note IRQn must not be negative. - */ -__STATIC_INLINE uint32_t __NVIC_GetEnableIRQ(IRQn_Type IRQn) -{ - if ((int32_t)(IRQn) >= 0) - { - return((uint32_t)(((NVIC->ISER[(((uint32_t)IRQn) >> 5UL)] & (1UL << (((uint32_t)IRQn) & 0x1FUL))) != 0UL) ? 1UL : 0UL)); - } - else - { - return(0U); - } -} - - -/** - \brief Disable Interrupt - \details Disables a device specific interrupt in the NVIC interrupt controller. - \param [in] IRQn Device specific interrupt number. - \note IRQn must not be negative. - */ -__STATIC_INLINE void __NVIC_DisableIRQ(IRQn_Type IRQn) -{ - if ((int32_t)(IRQn) >= 0) - { - NVIC->ICER[(((uint32_t)IRQn) >> 5UL)] = (uint32_t)(1UL << (((uint32_t)IRQn) & 0x1FUL)); - __DSB(); - __ISB(); - } -} - - -/** - \brief Get Pending Interrupt - \details Reads the NVIC pending register and returns the pending bit for the specified device specific interrupt. - \param [in] IRQn Device specific interrupt number. - \return 0 Interrupt status is not pending. - \return 1 Interrupt status is pending. - \note IRQn must not be negative. - */ -__STATIC_INLINE uint32_t __NVIC_GetPendingIRQ(IRQn_Type IRQn) -{ - if ((int32_t)(IRQn) >= 0) - { - return((uint32_t)(((NVIC->ISPR[(((uint32_t)IRQn) >> 5UL)] & (1UL << (((uint32_t)IRQn) & 0x1FUL))) != 0UL) ? 1UL : 0UL)); - } - else - { - return(0U); - } -} - - -/** - \brief Set Pending Interrupt - \details Sets the pending bit of a device specific interrupt in the NVIC pending register. - \param [in] IRQn Device specific interrupt number. - \note IRQn must not be negative. - */ -__STATIC_INLINE void __NVIC_SetPendingIRQ(IRQn_Type IRQn) -{ - if ((int32_t)(IRQn) >= 0) - { - NVIC->ISPR[(((uint32_t)IRQn) >> 5UL)] = (uint32_t)(1UL << (((uint32_t)IRQn) & 0x1FUL)); - } -} - - -/** - \brief Clear Pending Interrupt - \details Clears the pending bit of a device specific interrupt in the NVIC pending register. - \param [in] IRQn Device specific interrupt number. - \note IRQn must not be negative. - */ -__STATIC_INLINE void __NVIC_ClearPendingIRQ(IRQn_Type IRQn) -{ - if ((int32_t)(IRQn) >= 0) - { - NVIC->ICPR[(((uint32_t)IRQn) >> 5UL)] = (uint32_t)(1UL << (((uint32_t)IRQn) & 0x1FUL)); - } -} - - -/** - \brief Get Active Interrupt - \details Reads the active register in the NVIC and returns the active bit for the device specific interrupt. - \param [in] IRQn Device specific interrupt number. - \return 0 Interrupt status is not active. - \return 1 Interrupt status is active. - \note IRQn must not be negative. - */ -__STATIC_INLINE uint32_t __NVIC_GetActive(IRQn_Type IRQn) -{ - if ((int32_t)(IRQn) >= 0) - { - return((uint32_t)(((NVIC->IABR[(((uint32_t)IRQn) >> 5UL)] & (1UL << (((uint32_t)IRQn) & 0x1FUL))) != 0UL) ? 1UL : 0UL)); - } - else - { - return(0U); - } -} - - -/** - \brief Set Interrupt Priority - \details Sets the priority of a device specific interrupt or a processor exception. - The interrupt number can be positive to specify a device specific interrupt, - or negative to specify a processor exception. - \param [in] IRQn Interrupt number. - \param [in] priority Priority to set. - \note The priority cannot be set for every processor exception. - */ -__STATIC_INLINE void __NVIC_SetPriority(IRQn_Type IRQn, uint32_t priority) -{ - if ((int32_t)(IRQn) >= 0) - { - NVIC->IP[((uint32_t)IRQn)] = (uint8_t)((priority << (8U - __NVIC_PRIO_BITS)) & (uint32_t)0xFFUL); - } - else - { - SCB->SHPR[(((uint32_t)IRQn) & 0xFUL)-4UL] = (uint8_t)((priority << (8U - __NVIC_PRIO_BITS)) & (uint32_t)0xFFUL); - } -} - - -/** - \brief Get Interrupt Priority - \details Reads the priority of a device specific interrupt or a processor exception. - The interrupt number can be positive to specify a device specific interrupt, - or negative to specify a processor exception. - \param [in] IRQn Interrupt number. - \return Interrupt Priority. - Value is aligned automatically to the implemented priority bits of the microcontroller. - */ -__STATIC_INLINE uint32_t __NVIC_GetPriority(IRQn_Type IRQn) -{ - - if ((int32_t)(IRQn) >= 0) - { - return(((uint32_t)NVIC->IP[((uint32_t)IRQn)] >> (8U - __NVIC_PRIO_BITS))); - } - else - { - return(((uint32_t)SCB->SHPR[(((uint32_t)IRQn) & 0xFUL)-4UL] >> (8U - __NVIC_PRIO_BITS))); - } -} - - -/** - \brief Encode Priority - \details Encodes the priority for an interrupt with the given priority group, - preemptive priority value, and subpriority value. - In case of a conflict between priority grouping and available - priority bits (__NVIC_PRIO_BITS), the smallest possible priority group is set. - \param [in] PriorityGroup Used priority group. - \param [in] PreemptPriority Preemptive priority value (starting from 0). - \param [in] SubPriority Subpriority value (starting from 0). - \return Encoded priority. Value can be used in the function \ref NVIC_SetPriority(). - */ -__STATIC_INLINE uint32_t NVIC_EncodePriority (uint32_t PriorityGroup, uint32_t PreemptPriority, uint32_t SubPriority) -{ - uint32_t PriorityGroupTmp = (PriorityGroup & (uint32_t)0x07UL); /* only values 0..7 are used */ - uint32_t PreemptPriorityBits; - uint32_t SubPriorityBits; - - PreemptPriorityBits = ((7UL - PriorityGroupTmp) > (uint32_t)(__NVIC_PRIO_BITS)) ? (uint32_t)(__NVIC_PRIO_BITS) : (uint32_t)(7UL - PriorityGroupTmp); - SubPriorityBits = ((PriorityGroupTmp + (uint32_t)(__NVIC_PRIO_BITS)) < (uint32_t)7UL) ? (uint32_t)0UL : (uint32_t)((PriorityGroupTmp - 7UL) + (uint32_t)(__NVIC_PRIO_BITS)); - - return ( - ((PreemptPriority & (uint32_t)((1UL << (PreemptPriorityBits)) - 1UL)) << SubPriorityBits) | - ((SubPriority & (uint32_t)((1UL << (SubPriorityBits )) - 1UL))) - ); -} - - -/** - \brief Decode Priority - \details Decodes an interrupt priority value with a given priority group to - preemptive priority value and subpriority value. - In case of a conflict between priority grouping and available - priority bits (__NVIC_PRIO_BITS) the smallest possible priority group is set. - \param [in] Priority Priority value, which can be retrieved with the function \ref NVIC_GetPriority(). - \param [in] PriorityGroup Used priority group. - \param [out] pPreemptPriority Preemptive priority value (starting from 0). - \param [out] pSubPriority Subpriority value (starting from 0). - */ -__STATIC_INLINE void NVIC_DecodePriority (uint32_t Priority, uint32_t PriorityGroup, uint32_t* const pPreemptPriority, uint32_t* const pSubPriority) -{ - uint32_t PriorityGroupTmp = (PriorityGroup & (uint32_t)0x07UL); /* only values 0..7 are used */ - uint32_t PreemptPriorityBits; - uint32_t SubPriorityBits; - - PreemptPriorityBits = ((7UL - PriorityGroupTmp) > (uint32_t)(__NVIC_PRIO_BITS)) ? (uint32_t)(__NVIC_PRIO_BITS) : (uint32_t)(7UL - PriorityGroupTmp); - SubPriorityBits = ((PriorityGroupTmp + (uint32_t)(__NVIC_PRIO_BITS)) < (uint32_t)7UL) ? (uint32_t)0UL : (uint32_t)((PriorityGroupTmp - 7UL) + (uint32_t)(__NVIC_PRIO_BITS)); - - *pPreemptPriority = (Priority >> SubPriorityBits) & (uint32_t)((1UL << (PreemptPriorityBits)) - 1UL); - *pSubPriority = (Priority ) & (uint32_t)((1UL << (SubPriorityBits )) - 1UL); -} - - -/** - \brief Set Interrupt Vector - \details Sets an interrupt vector in SRAM based interrupt vector table. - The interrupt number can be positive to specify a device specific interrupt, - or negative to specify a processor exception. - VTOR must been relocated to SRAM before. - \param [in] IRQn Interrupt number - \param [in] vector Address of interrupt handler function - */ -__STATIC_INLINE void __NVIC_SetVector(IRQn_Type IRQn, uint32_t vector) -{ - uint32_t vectors = (uint32_t )SCB->VTOR; - (* (int *) (vectors + ((int32_t)IRQn + NVIC_USER_IRQ_OFFSET) * 4)) = vector; - __DSB(); -} - - -/** - \brief Get Interrupt Vector - \details Reads an interrupt vector from interrupt vector table. - The interrupt number can be positive to specify a device specific interrupt, - or negative to specify a processor exception. - \param [in] IRQn Interrupt number. - \return Address of interrupt handler function - */ -__STATIC_INLINE uint32_t __NVIC_GetVector(IRQn_Type IRQn) -{ - uint32_t vectors = (uint32_t )SCB->VTOR; - return (uint32_t)(* (int *) (vectors + ((int32_t)IRQn + NVIC_USER_IRQ_OFFSET) * 4)); -} - - -/** - \brief System Reset - \details Initiates a system reset request to reset the MCU. - */ -__NO_RETURN __STATIC_INLINE void __NVIC_SystemReset(void) -{ - __DSB(); /* Ensure all outstanding memory accesses included - buffered write are completed before reset */ - SCB->AIRCR = (uint32_t)((0x5FAUL << SCB_AIRCR_VECTKEY_Pos) | - (SCB->AIRCR & SCB_AIRCR_PRIGROUP_Msk) | - SCB_AIRCR_SYSRESETREQ_Msk ); /* Keep priority group unchanged */ - __DSB(); /* Ensure completion of memory access */ - - for(;;) /* wait until reset */ - { - __NOP(); - } -} - -/*@} end of CMSIS_Core_NVICFunctions */ - - -/* ########################## MPU functions #################################### */ - -#if defined (__MPU_PRESENT) && (__MPU_PRESENT == 1U) - -#include "mpu_armv7.h" - -#endif - - -/* ########################## FPU functions #################################### */ -/** - \ingroup CMSIS_Core_FunctionInterface - \defgroup CMSIS_Core_FpuFunctions FPU Functions - \brief Function that provides FPU type. - @{ - */ - -/** - \brief get FPU type - \details returns the FPU type - \returns - - \b 0: No FPU - - \b 1: Single precision FPU - - \b 2: Double + Single precision FPU - */ -__STATIC_INLINE uint32_t SCB_GetFPUType(void) -{ - uint32_t mvfr0; - - mvfr0 = SCB->MVFR0; - if ((mvfr0 & (FPU_MVFR0_Single_precision_Msk | FPU_MVFR0_Double_precision_Msk)) == 0x220U) - { - return 2U; /* Double + Single precision FPU */ - } - else if ((mvfr0 & (FPU_MVFR0_Single_precision_Msk | FPU_MVFR0_Double_precision_Msk)) == 0x020U) - { - return 1U; /* Single precision FPU */ - } - else - { - return 0U; /* No FPU */ - } -} - -/*@} end of CMSIS_Core_FpuFunctions */ - - - -/* ########################## Cache functions #################################### */ -/** - \ingroup CMSIS_Core_FunctionInterface - \defgroup CMSIS_Core_CacheFunctions Cache Functions - \brief Functions that configure Instruction and Data cache. - @{ - */ - -/* Cache Size ID Register Macros */ -#define CCSIDR_WAYS(x) (((x) & SCB_CCSIDR_ASSOCIATIVITY_Msk) >> SCB_CCSIDR_ASSOCIATIVITY_Pos) -#define CCSIDR_SETS(x) (((x) & SCB_CCSIDR_NUMSETS_Msk ) >> SCB_CCSIDR_NUMSETS_Pos ) - -#define __SCB_DCACHE_LINE_SIZE 32U /*!< Cortex-M7 cache line size is fixed to 32 bytes (8 words). See also register SCB_CCSIDR */ -#define __SCB_ICACHE_LINE_SIZE 32U /*!< Cortex-M7 cache line size is fixed to 32 bytes (8 words). See also register SCB_CCSIDR */ - -/** - \brief Enable I-Cache - \details Turns on I-Cache - */ -__STATIC_FORCEINLINE void SCB_EnableICache (void) -{ - #if defined (__ICACHE_PRESENT) && (__ICACHE_PRESENT == 1U) - if (SCB->CCR & SCB_CCR_IC_Msk) return; /* return if ICache is already enabled */ - - __DSB(); - __ISB(); - SCB->ICIALLU = 0UL; /* invalidate I-Cache */ - __DSB(); - __ISB(); - SCB->CCR |= (uint32_t)SCB_CCR_IC_Msk; /* enable I-Cache */ - __DSB(); - __ISB(); - #endif -} - - -/** - \brief Disable I-Cache - \details Turns off I-Cache - */ -__STATIC_FORCEINLINE void SCB_DisableICache (void) -{ - #if defined (__ICACHE_PRESENT) && (__ICACHE_PRESENT == 1U) - __DSB(); - __ISB(); - SCB->CCR &= ~(uint32_t)SCB_CCR_IC_Msk; /* disable I-Cache */ - SCB->ICIALLU = 0UL; /* invalidate I-Cache */ - __DSB(); - __ISB(); - #endif -} - - -/** - \brief Invalidate I-Cache - \details Invalidates I-Cache - */ -__STATIC_FORCEINLINE void SCB_InvalidateICache (void) -{ - #if defined (__ICACHE_PRESENT) && (__ICACHE_PRESENT == 1U) - __DSB(); - __ISB(); - SCB->ICIALLU = 0UL; - __DSB(); - __ISB(); - #endif -} - - -/** - \brief I-Cache Invalidate by address - \details Invalidates I-Cache for the given address. - I-Cache is invalidated starting from a 32 byte aligned address in 32 byte granularity. - I-Cache memory blocks which are part of given address + given size are invalidated. - \param[in] addr address - \param[in] isize size of memory block (in number of bytes) -*/ -__STATIC_FORCEINLINE void SCB_InvalidateICache_by_Addr (void *addr, int32_t isize) -{ - #if defined (__ICACHE_PRESENT) && (__ICACHE_PRESENT == 1U) - if ( isize > 0 ) { - int32_t op_size = isize + (((uint32_t)addr) & (__SCB_ICACHE_LINE_SIZE - 1U)); - uint32_t op_addr = (uint32_t)addr /* & ~(__SCB_ICACHE_LINE_SIZE - 1U) */; - - __DSB(); - - do { - SCB->ICIMVAU = op_addr; /* register accepts only 32byte aligned values, only bits 31..5 are valid */ - op_addr += __SCB_ICACHE_LINE_SIZE; - op_size -= __SCB_ICACHE_LINE_SIZE; - } while ( op_size > 0 ); - - __DSB(); - __ISB(); - } - #endif -} - - -/** - \brief Enable D-Cache - \details Turns on D-Cache - */ -__STATIC_FORCEINLINE void SCB_EnableDCache (void) -{ - #if defined (__DCACHE_PRESENT) && (__DCACHE_PRESENT == 1U) - uint32_t ccsidr; - uint32_t sets; - uint32_t ways; - - if (SCB->CCR & SCB_CCR_DC_Msk) return; /* return if DCache is already enabled */ - - SCB->CSSELR = 0U; /* select Level 1 data cache */ - __DSB(); - - ccsidr = SCB->CCSIDR; - - /* invalidate D-Cache */ - sets = (uint32_t)(CCSIDR_SETS(ccsidr)); - do { - ways = (uint32_t)(CCSIDR_WAYS(ccsidr)); - do { - SCB->DCISW = (((sets << SCB_DCISW_SET_Pos) & SCB_DCISW_SET_Msk) | - ((ways << SCB_DCISW_WAY_Pos) & SCB_DCISW_WAY_Msk) ); - #if defined ( __CC_ARM ) - __schedule_barrier(); - #endif - } while (ways-- != 0U); - } while(sets-- != 0U); - __DSB(); - - SCB->CCR |= (uint32_t)SCB_CCR_DC_Msk; /* enable D-Cache */ - - __DSB(); - __ISB(); - #endif -} - - -/** - \brief Disable D-Cache - \details Turns off D-Cache - */ -__STATIC_FORCEINLINE void SCB_DisableDCache (void) -{ - #if defined (__DCACHE_PRESENT) && (__DCACHE_PRESENT == 1U) - uint32_t ccsidr; - uint32_t sets; - uint32_t ways; - - SCB->CSSELR = 0U; /* select Level 1 data cache */ - __DSB(); - - SCB->CCR &= ~(uint32_t)SCB_CCR_DC_Msk; /* disable D-Cache */ - __DSB(); - - ccsidr = SCB->CCSIDR; - - /* clean & invalidate D-Cache */ - sets = (uint32_t)(CCSIDR_SETS(ccsidr)); - do { - ways = (uint32_t)(CCSIDR_WAYS(ccsidr)); - do { - SCB->DCCISW = (((sets << SCB_DCCISW_SET_Pos) & SCB_DCCISW_SET_Msk) | - ((ways << SCB_DCCISW_WAY_Pos) & SCB_DCCISW_WAY_Msk) ); - #if defined ( __CC_ARM ) - __schedule_barrier(); - #endif - } while (ways-- != 0U); - } while(sets-- != 0U); - - __DSB(); - __ISB(); - #endif -} - - -/** - \brief Invalidate D-Cache - \details Invalidates D-Cache - */ -__STATIC_FORCEINLINE void SCB_InvalidateDCache (void) -{ - #if defined (__DCACHE_PRESENT) && (__DCACHE_PRESENT == 1U) - uint32_t ccsidr; - uint32_t sets; - uint32_t ways; - - SCB->CSSELR = 0U; /* select Level 1 data cache */ - __DSB(); - - ccsidr = SCB->CCSIDR; - - /* invalidate D-Cache */ - sets = (uint32_t)(CCSIDR_SETS(ccsidr)); - do { - ways = (uint32_t)(CCSIDR_WAYS(ccsidr)); - do { - SCB->DCISW = (((sets << SCB_DCISW_SET_Pos) & SCB_DCISW_SET_Msk) | - ((ways << SCB_DCISW_WAY_Pos) & SCB_DCISW_WAY_Msk) ); - #if defined ( __CC_ARM ) - __schedule_barrier(); - #endif - } while (ways-- != 0U); - } while(sets-- != 0U); - - __DSB(); - __ISB(); - #endif -} - - -/** - \brief Clean D-Cache - \details Cleans D-Cache - */ -__STATIC_FORCEINLINE void SCB_CleanDCache (void) -{ - #if defined (__DCACHE_PRESENT) && (__DCACHE_PRESENT == 1U) - uint32_t ccsidr; - uint32_t sets; - uint32_t ways; - - SCB->CSSELR = 0U; /* select Level 1 data cache */ - __DSB(); - - ccsidr = SCB->CCSIDR; - - /* clean D-Cache */ - sets = (uint32_t)(CCSIDR_SETS(ccsidr)); - do { - ways = (uint32_t)(CCSIDR_WAYS(ccsidr)); - do { - SCB->DCCSW = (((sets << SCB_DCCSW_SET_Pos) & SCB_DCCSW_SET_Msk) | - ((ways << SCB_DCCSW_WAY_Pos) & SCB_DCCSW_WAY_Msk) ); - #if defined ( __CC_ARM ) - __schedule_barrier(); - #endif - } while (ways-- != 0U); - } while(sets-- != 0U); - - __DSB(); - __ISB(); - #endif -} - - -/** - \brief Clean & Invalidate D-Cache - \details Cleans and Invalidates D-Cache - */ -__STATIC_FORCEINLINE void SCB_CleanInvalidateDCache (void) -{ - #if defined (__DCACHE_PRESENT) && (__DCACHE_PRESENT == 1U) - uint32_t ccsidr; - uint32_t sets; - uint32_t ways; - - SCB->CSSELR = 0U; /* select Level 1 data cache */ - __DSB(); - - ccsidr = SCB->CCSIDR; - - /* clean & invalidate D-Cache */ - sets = (uint32_t)(CCSIDR_SETS(ccsidr)); - do { - ways = (uint32_t)(CCSIDR_WAYS(ccsidr)); - do { - SCB->DCCISW = (((sets << SCB_DCCISW_SET_Pos) & SCB_DCCISW_SET_Msk) | - ((ways << SCB_DCCISW_WAY_Pos) & SCB_DCCISW_WAY_Msk) ); - #if defined ( __CC_ARM ) - __schedule_barrier(); - #endif - } while (ways-- != 0U); - } while(sets-- != 0U); - - __DSB(); - __ISB(); - #endif -} - - -/** - \brief D-Cache Invalidate by address - \details Invalidates D-Cache for the given address. - D-Cache is invalidated starting from a 32 byte aligned address in 32 byte granularity. - D-Cache memory blocks which are part of given address + given size are invalidated. - \param[in] addr address - \param[in] dsize size of memory block (in number of bytes) -*/ -__STATIC_FORCEINLINE void SCB_InvalidateDCache_by_Addr (void *addr, int32_t dsize) -{ - #if defined (__DCACHE_PRESENT) && (__DCACHE_PRESENT == 1U) - if ( dsize > 0 ) { - int32_t op_size = dsize + (((uint32_t)addr) & (__SCB_DCACHE_LINE_SIZE - 1U)); - uint32_t op_addr = (uint32_t)addr /* & ~(__SCB_DCACHE_LINE_SIZE - 1U) */; - - __DSB(); - - do { - SCB->DCIMVAC = op_addr; /* register accepts only 32byte aligned values, only bits 31..5 are valid */ - op_addr += __SCB_DCACHE_LINE_SIZE; - op_size -= __SCB_DCACHE_LINE_SIZE; - } while ( op_size > 0 ); - - __DSB(); - __ISB(); - } - #endif -} - - -/** - \brief D-Cache Clean by address - \details Cleans D-Cache for the given address - D-Cache is cleaned starting from a 32 byte aligned address in 32 byte granularity. - D-Cache memory blocks which are part of given address + given size are cleaned. - \param[in] addr address - \param[in] dsize size of memory block (in number of bytes) -*/ -__STATIC_FORCEINLINE void SCB_CleanDCache_by_Addr (uint32_t *addr, int32_t dsize) -{ - #if defined (__DCACHE_PRESENT) && (__DCACHE_PRESENT == 1U) - if ( dsize > 0 ) { - int32_t op_size = dsize + (((uint32_t)addr) & (__SCB_DCACHE_LINE_SIZE - 1U)); - uint32_t op_addr = (uint32_t)addr /* & ~(__SCB_DCACHE_LINE_SIZE - 1U) */; - - __DSB(); - - do { - SCB->DCCMVAC = op_addr; /* register accepts only 32byte aligned values, only bits 31..5 are valid */ - op_addr += __SCB_DCACHE_LINE_SIZE; - op_size -= __SCB_DCACHE_LINE_SIZE; - } while ( op_size > 0 ); - - __DSB(); - __ISB(); - } - #endif -} - - -/** - \brief D-Cache Clean and Invalidate by address - \details Cleans and invalidates D_Cache for the given address - D-Cache is cleaned and invalidated starting from a 32 byte aligned address in 32 byte granularity. - D-Cache memory blocks which are part of given address + given size are cleaned and invalidated. - \param[in] addr address (aligned to 32-byte boundary) - \param[in] dsize size of memory block (in number of bytes) -*/ -__STATIC_FORCEINLINE void SCB_CleanInvalidateDCache_by_Addr (uint32_t *addr, int32_t dsize) -{ - #if defined (__DCACHE_PRESENT) && (__DCACHE_PRESENT == 1U) - if ( dsize > 0 ) { - int32_t op_size = dsize + (((uint32_t)addr) & (__SCB_DCACHE_LINE_SIZE - 1U)); - uint32_t op_addr = (uint32_t)addr /* & ~(__SCB_DCACHE_LINE_SIZE - 1U) */; - - __DSB(); - - do { - SCB->DCCIMVAC = op_addr; /* register accepts only 32byte aligned values, only bits 31..5 are valid */ - op_addr += __SCB_DCACHE_LINE_SIZE; - op_size -= __SCB_DCACHE_LINE_SIZE; - } while ( op_size > 0 ); - - __DSB(); - __ISB(); - } - #endif -} - -/*@} end of CMSIS_Core_CacheFunctions */ - - - -/* ################################## SysTick function ############################################ */ -/** - \ingroup CMSIS_Core_FunctionInterface - \defgroup CMSIS_Core_SysTickFunctions SysTick Functions - \brief Functions that configure the System. - @{ - */ - -#if defined (__Vendor_SysTickConfig) && (__Vendor_SysTickConfig == 0U) - -/** - \brief System Tick Configuration - \details Initializes the System Timer and its interrupt, and starts the System Tick Timer. - Counter is in free running mode to generate periodic interrupts. - \param [in] ticks Number of ticks between two interrupts. - \return 0 Function succeeded. - \return 1 Function failed. - \note When the variable __Vendor_SysTickConfig is set to 1, then the - function SysTick_Config is not included. In this case, the file device.h - must contain a vendor-specific implementation of this function. - */ -__STATIC_INLINE uint32_t SysTick_Config(uint32_t ticks) -{ - if ((ticks - 1UL) > SysTick_LOAD_RELOAD_Msk) - { - return (1UL); /* Reload value impossible */ - } - - SysTick->LOAD = (uint32_t)(ticks - 1UL); /* set reload register */ - NVIC_SetPriority (SysTick_IRQn, (1UL << __NVIC_PRIO_BITS) - 1UL); /* set Priority for Systick Interrupt */ - SysTick->VAL = 0UL; /* Load the SysTick Counter Value */ - SysTick->CTRL = SysTick_CTRL_CLKSOURCE_Msk | - SysTick_CTRL_TICKINT_Msk | - SysTick_CTRL_ENABLE_Msk; /* Enable SysTick IRQ and SysTick Timer */ - return (0UL); /* Function successful */ -} - -#endif - -/*@} end of CMSIS_Core_SysTickFunctions */ - - - -/* ##################################### Debug In/Output function ########################################### */ -/** - \ingroup CMSIS_Core_FunctionInterface - \defgroup CMSIS_core_DebugFunctions ITM Functions - \brief Functions that access the ITM debug interface. - @{ - */ - -extern volatile int32_t ITM_RxBuffer; /*!< External variable to receive characters. */ -#define ITM_RXBUFFER_EMPTY ((int32_t)0x5AA55AA5U) /*!< Value identifying \ref ITM_RxBuffer is ready for next character. */ - - -/** - \brief ITM Send Character - \details Transmits a character via the ITM channel 0, and - \li Just returns when no debugger is connected that has booked the output. - \li Is blocking when a debugger is connected, but the previous character sent has not been transmitted. - \param [in] ch Character to transmit. - \returns Character to transmit. - */ -__STATIC_INLINE uint32_t ITM_SendChar (uint32_t ch) -{ - if (((ITM->TCR & ITM_TCR_ITMENA_Msk) != 0UL) && /* ITM enabled */ - ((ITM->TER & 1UL ) != 0UL) ) /* ITM Port #0 enabled */ - { - while (ITM->PORT[0U].u32 == 0UL) - { - __NOP(); - } - ITM->PORT[0U].u8 = (uint8_t)ch; - } - return (ch); -} - - -/** - \brief ITM Receive Character - \details Inputs a character via the external variable \ref ITM_RxBuffer. - \return Received character. - \return -1 No character pending. - */ -__STATIC_INLINE int32_t ITM_ReceiveChar (void) -{ - int32_t ch = -1; /* no character available */ - - if (ITM_RxBuffer != ITM_RXBUFFER_EMPTY) - { - ch = ITM_RxBuffer; - ITM_RxBuffer = ITM_RXBUFFER_EMPTY; /* ready for next character */ - } - - return (ch); -} - - -/** - \brief ITM Check Character - \details Checks whether a character is pending for reading in the variable \ref ITM_RxBuffer. - \return 0 No character available. - \return 1 Character available. - */ -__STATIC_INLINE int32_t ITM_CheckChar (void) -{ - - if (ITM_RxBuffer == ITM_RXBUFFER_EMPTY) - { - return (0); /* no character available */ - } - else - { - return (1); /* character available */ - } -} - -/*@} end of CMSIS_core_DebugFunctions */ - - - - -#ifdef __cplusplus -} -#endif - -#endif /* __CORE_CM7_H_DEPENDANT */ - -#endif /* __CMSIS_GENERIC */ diff --git a/panda/board/stm32h7/inc/mpu_armv7.h b/panda/board/stm32h7/inc/mpu_armv7.h deleted file mode 100644 index e72cc4623db517..00000000000000 --- a/panda/board/stm32h7/inc/mpu_armv7.h +++ /dev/null @@ -1,273 +0,0 @@ -/****************************************************************************** - * @file mpu_armv7.h - * @brief CMSIS MPU API for Armv7-M MPU - * @version V5.1.0 - * @date 08. March 2019 - ******************************************************************************/ -/* - * Copyright (c) 2017-2019 Arm Limited. All rights reserved. - * - * SPDX-License-Identifier: Apache-2.0 - * - * Licensed under the Apache License, Version 2.0 (the License); you may - * not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an AS IS BASIS, WITHOUT - * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - -#if defined ( __ICCARM__ ) - #pragma system_include /* treat file as system include file for MISRA check */ -#elif defined (__clang__) - #pragma clang system_header /* treat file as system include file */ -#endif - -#ifndef ARM_MPU_ARMV7_H -#define ARM_MPU_ARMV7_H - -#define ARM_MPU_REGION_SIZE_32B ((uint8_t)0x04U) ///!< MPU Region Size 32 Bytes -#define ARM_MPU_REGION_SIZE_64B ((uint8_t)0x05U) ///!< MPU Region Size 64 Bytes -#define ARM_MPU_REGION_SIZE_128B ((uint8_t)0x06U) ///!< MPU Region Size 128 Bytes -#define ARM_MPU_REGION_SIZE_256B ((uint8_t)0x07U) ///!< MPU Region Size 256 Bytes -#define ARM_MPU_REGION_SIZE_512B ((uint8_t)0x08U) ///!< MPU Region Size 512 Bytes -#define ARM_MPU_REGION_SIZE_1KB ((uint8_t)0x09U) ///!< MPU Region Size 1 KByte -#define ARM_MPU_REGION_SIZE_2KB ((uint8_t)0x0AU) ///!< MPU Region Size 2 KBytes -#define ARM_MPU_REGION_SIZE_4KB ((uint8_t)0x0BU) ///!< MPU Region Size 4 KBytes -#define ARM_MPU_REGION_SIZE_8KB ((uint8_t)0x0CU) ///!< MPU Region Size 8 KBytes -#define ARM_MPU_REGION_SIZE_16KB ((uint8_t)0x0DU) ///!< MPU Region Size 16 KBytes -#define ARM_MPU_REGION_SIZE_32KB ((uint8_t)0x0EU) ///!< MPU Region Size 32 KBytes -#define ARM_MPU_REGION_SIZE_64KB ((uint8_t)0x0FU) ///!< MPU Region Size 64 KBytes -#define ARM_MPU_REGION_SIZE_128KB ((uint8_t)0x10U) ///!< MPU Region Size 128 KBytes -#define ARM_MPU_REGION_SIZE_256KB ((uint8_t)0x11U) ///!< MPU Region Size 256 KBytes -#define ARM_MPU_REGION_SIZE_512KB ((uint8_t)0x12U) ///!< MPU Region Size 512 KBytes -#define ARM_MPU_REGION_SIZE_1MB ((uint8_t)0x13U) ///!< MPU Region Size 1 MByte -#define ARM_MPU_REGION_SIZE_2MB ((uint8_t)0x14U) ///!< MPU Region Size 2 MBytes -#define ARM_MPU_REGION_SIZE_4MB ((uint8_t)0x15U) ///!< MPU Region Size 4 MBytes -#define ARM_MPU_REGION_SIZE_8MB ((uint8_t)0x16U) ///!< MPU Region Size 8 MBytes -#define ARM_MPU_REGION_SIZE_16MB ((uint8_t)0x17U) ///!< MPU Region Size 16 MBytes -#define ARM_MPU_REGION_SIZE_32MB ((uint8_t)0x18U) ///!< MPU Region Size 32 MBytes -#define ARM_MPU_REGION_SIZE_64MB ((uint8_t)0x19U) ///!< MPU Region Size 64 MBytes -#define ARM_MPU_REGION_SIZE_128MB ((uint8_t)0x1AU) ///!< MPU Region Size 128 MBytes -#define ARM_MPU_REGION_SIZE_256MB ((uint8_t)0x1BU) ///!< MPU Region Size 256 MBytes -#define ARM_MPU_REGION_SIZE_512MB ((uint8_t)0x1CU) ///!< MPU Region Size 512 MBytes -#define ARM_MPU_REGION_SIZE_1GB ((uint8_t)0x1DU) ///!< MPU Region Size 1 GByte -#define ARM_MPU_REGION_SIZE_2GB ((uint8_t)0x1EU) ///!< MPU Region Size 2 GBytes -#define ARM_MPU_REGION_SIZE_4GB ((uint8_t)0x1FU) ///!< MPU Region Size 4 GBytes - -#define ARM_MPU_AP_NONE 0U ///!< MPU Access Permission no access -#define ARM_MPU_AP_PRIV 1U ///!< MPU Access Permission privileged access only -#define ARM_MPU_AP_URO 2U ///!< MPU Access Permission unprivileged access read-only -#define ARM_MPU_AP_FULL 3U ///!< MPU Access Permission full access -#define ARM_MPU_AP_PRO 5U ///!< MPU Access Permission privileged access read-only -#define ARM_MPU_AP_RO 6U ///!< MPU Access Permission read-only access - -/** MPU Region Base Address Register Value -* -* \param Region The region to be configured, number 0 to 15. -* \param BaseAddress The base address for the region. -*/ -#define ARM_MPU_RBAR(Region, BaseAddress) \ - (((BaseAddress) & MPU_RBAR_ADDR_Msk) | \ - ((Region) & MPU_RBAR_REGION_Msk) | \ - (MPU_RBAR_VALID_Msk)) - -/** -* MPU Memory Access Attributes -* -* \param TypeExtField Type extension field, allows you to configure memory access type, for example strongly ordered, peripheral. -* \param IsShareable Region is shareable between multiple bus masters. -* \param IsCacheable Region is cacheable, i.e. its value may be kept in cache. -* \param IsBufferable Region is bufferable, i.e. using write-back caching. Cacheable but non-bufferable regions use write-through policy. -*/ -#define ARM_MPU_ACCESS_(TypeExtField, IsShareable, IsCacheable, IsBufferable) \ - ((((TypeExtField) << MPU_RASR_TEX_Pos) & MPU_RASR_TEX_Msk) | \ - (((IsShareable) << MPU_RASR_S_Pos) & MPU_RASR_S_Msk) | \ - (((IsCacheable) << MPU_RASR_C_Pos) & MPU_RASR_C_Msk) | \ - (((IsBufferable) << MPU_RASR_B_Pos) & MPU_RASR_B_Msk)) - -/** -* MPU Region Attribute and Size Register Value -* -* \param DisableExec Instruction access disable bit, 1= disable instruction fetches. -* \param AccessPermission Data access permissions, allows you to configure read/write access for User and Privileged mode. -* \param AccessAttributes Memory access attribution, see \ref ARM_MPU_ACCESS_. -* \param SubRegionDisable Sub-region disable field. -* \param Size Region size of the region to be configured, for example 4K, 8K. -*/ -#define ARM_MPU_RASR_EX(DisableExec, AccessPermission, AccessAttributes, SubRegionDisable, Size) \ - ((((DisableExec) << MPU_RASR_XN_Pos) & MPU_RASR_XN_Msk) | \ - (((AccessPermission) << MPU_RASR_AP_Pos) & MPU_RASR_AP_Msk) | \ - (((AccessAttributes) & (MPU_RASR_TEX_Msk | MPU_RASR_S_Msk | MPU_RASR_C_Msk | MPU_RASR_B_Msk))) | \ - (((SubRegionDisable) << MPU_RASR_SRD_Pos) & MPU_RASR_SRD_Msk) | \ - (((Size) << MPU_RASR_SIZE_Pos) & MPU_RASR_SIZE_Msk) | \ - (((MPU_RASR_ENABLE_Msk)))) - -/** -* MPU Region Attribute and Size Register Value -* -* \param DisableExec Instruction access disable bit, 1= disable instruction fetches. -* \param AccessPermission Data access permissions, allows you to configure read/write access for User and Privileged mode. -* \param TypeExtField Type extension field, allows you to configure memory access type, for example strongly ordered, peripheral. -* \param IsShareable Region is shareable between multiple bus masters. -* \param IsCacheable Region is cacheable, i.e. its value may be kept in cache. -* \param IsBufferable Region is bufferable, i.e. using write-back caching. Cacheable but non-bufferable regions use write-through policy. -* \param SubRegionDisable Sub-region disable field. -* \param Size Region size of the region to be configured, for example 4K, 8K. -*/ -#define ARM_MPU_RASR(DisableExec, AccessPermission, TypeExtField, IsShareable, IsCacheable, IsBufferable, SubRegionDisable, Size) \ - ARM_MPU_RASR_EX(DisableExec, AccessPermission, ARM_MPU_ACCESS_(TypeExtField, IsShareable, IsCacheable, IsBufferable), SubRegionDisable, Size) - -/** -* MPU Memory Access Attribute for strongly ordered memory. -* - TEX: 000b -* - Shareable -* - Non-cacheable -* - Non-bufferable -*/ -#define ARM_MPU_ACCESS_ORDERED ARM_MPU_ACCESS_(0U, 1U, 0U, 0U) - -/** -* MPU Memory Access Attribute for device memory. -* - TEX: 000b (if shareable) or 010b (if non-shareable) -* - Shareable or non-shareable -* - Non-cacheable -* - Bufferable (if shareable) or non-bufferable (if non-shareable) -* -* \param IsShareable Configures the device memory as shareable or non-shareable. -*/ -#define ARM_MPU_ACCESS_DEVICE(IsShareable) ((IsShareable) ? ARM_MPU_ACCESS_(0U, 1U, 0U, 1U) : ARM_MPU_ACCESS_(2U, 0U, 0U, 0U)) - -/** -* MPU Memory Access Attribute for normal memory. -* - TEX: 1BBb (reflecting outer cacheability rules) -* - Shareable or non-shareable -* - Cacheable or non-cacheable (reflecting inner cacheability rules) -* - Bufferable or non-bufferable (reflecting inner cacheability rules) -* -* \param OuterCp Configures the outer cache policy. -* \param InnerCp Configures the inner cache policy. -* \param IsShareable Configures the memory as shareable or non-shareable. -*/ -#define ARM_MPU_ACCESS_NORMAL(OuterCp, InnerCp, IsShareable) ARM_MPU_ACCESS_((4U | (OuterCp)), IsShareable, ((InnerCp) & 2U), ((InnerCp) & 1U)) - -/** -* MPU Memory Access Attribute non-cacheable policy. -*/ -#define ARM_MPU_CACHEP_NOCACHE 0U - -/** -* MPU Memory Access Attribute write-back, write and read allocate policy. -*/ -#define ARM_MPU_CACHEP_WB_WRA 1U - -/** -* MPU Memory Access Attribute write-through, no write allocate policy. -*/ -#define ARM_MPU_CACHEP_WT_NWA 2U - -/** -* MPU Memory Access Attribute write-back, no write allocate policy. -*/ -#define ARM_MPU_CACHEP_WB_NWA 3U - - -/** -* Struct for a single MPU Region -*/ -typedef struct { - uint32_t RBAR; //!< The region base address register value (RBAR) - uint32_t RASR; //!< The region attribute and size register value (RASR) \ref MPU_RASR -} ARM_MPU_Region_t; - -/** Enable the MPU. -* \param MPU_Control Default access permissions for unconfigured regions. -*/ -__STATIC_INLINE void ARM_MPU_Enable(uint32_t MPU_Control) -{ - MPU->CTRL = MPU_Control | MPU_CTRL_ENABLE_Msk; -#ifdef SCB_SHCSR_MEMFAULTENA_Msk - SCB->SHCSR |= SCB_SHCSR_MEMFAULTENA_Msk; -#endif - __DSB(); - __ISB(); -} - -/** Disable the MPU. -*/ -__STATIC_INLINE void ARM_MPU_Disable(void) -{ - __DMB(); -#ifdef SCB_SHCSR_MEMFAULTENA_Msk - SCB->SHCSR &= ~SCB_SHCSR_MEMFAULTENA_Msk; -#endif - MPU->CTRL &= ~MPU_CTRL_ENABLE_Msk; -} - -/** Clear and disable the given MPU region. -* \param rnr Region number to be cleared. -*/ -__STATIC_INLINE void ARM_MPU_ClrRegion(uint32_t rnr) -{ - MPU->RNR = rnr; - MPU->RASR = 0U; -} - -/** Configure an MPU region. -* \param rbar Value for RBAR register. -* \param rsar Value for RSAR register. -*/ -__STATIC_INLINE void ARM_MPU_SetRegion(uint32_t rbar, uint32_t rasr) -{ - MPU->RBAR = rbar; - MPU->RASR = rasr; -} - -/** Configure the given MPU region. -* \param rnr Region number to be configured. -* \param rbar Value for RBAR register. -* \param rsar Value for RSAR register. -*/ -__STATIC_INLINE void ARM_MPU_SetRegionEx(uint32_t rnr, uint32_t rbar, uint32_t rasr) -{ - MPU->RNR = rnr; - MPU->RBAR = rbar; - MPU->RASR = rasr; -} - -/** Memcopy with strictly ordered memory access, e.g. for register targets. -* \param dst Destination data is copied to. -* \param src Source data is copied from. -* \param len Amount of data words to be copied. -*/ -__STATIC_INLINE void ARM_MPU_OrderedMemcpy(volatile uint32_t* dst, const uint32_t* __RESTRICT src, uint32_t len) -{ - uint32_t i; - for (i = 0U; i < len; ++i) - { - dst[i] = src[i]; - } -} - -/** Load the given number of MPU regions from a table. -* \param table Pointer to the MPU configuration table. -* \param cnt Amount of regions to be configured. -*/ -__STATIC_INLINE void ARM_MPU_Load(ARM_MPU_Region_t const* table, uint32_t cnt) -{ - const uint32_t rowWordSize = sizeof(ARM_MPU_Region_t)/4U; - while (cnt > MPU_TYPE_RALIASES) { - ARM_MPU_OrderedMemcpy(&(MPU->RBAR), &(table->RBAR), MPU_TYPE_RALIASES*rowWordSize); - table += MPU_TYPE_RALIASES; - cnt -= MPU_TYPE_RALIASES; - } - ARM_MPU_OrderedMemcpy(&(MPU->RBAR), &(table->RBAR), cnt*rowWordSize); -} - -#endif - diff --git a/panda/board/stm32h7/inc/stm32h725xx.h b/panda/board/stm32h7/inc/stm32h725xx.h deleted file mode 100644 index 0e0d4a9d62678a..00000000000000 --- a/panda/board/stm32h7/inc/stm32h725xx.h +++ /dev/null @@ -1,24740 +0,0 @@ -/** - ****************************************************************************** - * @file stm32h735xx.h - * @author MCD Application Team - * @brief CMSIS STM32H735xx Device Peripheral Access Layer Header File. - * - * This file contains: - * - Data structures and the address mapping for all peripherals - * - Peripheral's registers declarations and bits definition - * - Macros to access peripheral's registers hardware - * - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2019 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/** @addtogroup CMSIS_Device - * @{ - */ - -/** @addtogroup stm32h735xx - * @{ - */ - -#ifndef STM32H735xx_H -#define STM32H735xx_H - -#ifdef __cplusplus - extern "C" { -#endif /* __cplusplus */ - -/** @addtogroup Peripheral_interrupt_number_definition - * @{ - */ - -/** - * @brief STM32H7XX Interrupt Number Definition, according to the selected device - * in @ref Library_configuration_section - */ -typedef enum -{ -/****** Cortex-M Processor Exceptions Numbers *****************************************************************/ - NonMaskableInt_IRQn = -14, /*!< 2 Non Maskable Interrupt */ - HardFault_IRQn = -13, /*!< 4 Cortex-M Memory Management Interrupt */ - MemoryManagement_IRQn = -12, /*!< 4 Cortex-M Memory Management Interrupt */ - BusFault_IRQn = -11, /*!< 5 Cortex-M Bus Fault Interrupt */ - UsageFault_IRQn = -10, /*!< 6 Cortex-M Usage Fault Interrupt */ - SVCall_IRQn = -5, /*!< 11 Cortex-M SV Call Interrupt */ - DebugMonitor_IRQn = -4, /*!< 12 Cortex-M Debug Monitor Interrupt */ - PendSV_IRQn = -2, /*!< 14 Cortex-M Pend SV Interrupt */ - SysTick_IRQn = -1, /*!< 15 Cortex-M System Tick Interrupt */ -/****** STM32 specific Interrupt Numbers **********************************************************************/ - WWDG_IRQn = 0, /*!< Window WatchDog Interrupt ( wwdg1_it, wwdg2_it) */ - PVD_AVD_IRQn = 1, /*!< PVD/AVD through EXTI Line detection Interrupt */ - TAMP_STAMP_IRQn = 2, /*!< Tamper and TimeStamp interrupts through the EXTI line */ - RTC_WKUP_IRQn = 3, /*!< RTC Wakeup interrupt through the EXTI line */ - FLASH_IRQn = 4, /*!< FLASH global Interrupt */ - RCC_IRQn = 5, /*!< RCC global Interrupt */ - EXTI0_IRQn = 6, /*!< EXTI Line0 Interrupt */ - EXTI1_IRQn = 7, /*!< EXTI Line1 Interrupt */ - EXTI2_IRQn = 8, /*!< EXTI Line2 Interrupt */ - EXTI3_IRQn = 9, /*!< EXTI Line3 Interrupt */ - EXTI4_IRQn = 10, /*!< EXTI Line4 Interrupt */ - DMA1_Stream0_IRQn = 11, /*!< DMA1 Stream 0 global Interrupt */ - DMA1_Stream1_IRQn = 12, /*!< DMA1 Stream 1 global Interrupt */ - DMA1_Stream2_IRQn = 13, /*!< DMA1 Stream 2 global Interrupt */ - DMA1_Stream3_IRQn = 14, /*!< DMA1 Stream 3 global Interrupt */ - DMA1_Stream4_IRQn = 15, /*!< DMA1 Stream 4 global Interrupt */ - DMA1_Stream5_IRQn = 16, /*!< DMA1 Stream 5 global Interrupt */ - DMA1_Stream6_IRQn = 17, /*!< DMA1 Stream 6 global Interrupt */ - ADC_IRQn = 18, /*!< ADC1 and ADC2 global Interrupts */ - FDCAN1_IT0_IRQn = 19, /*!< FDCAN1 Interrupt line 0 */ - FDCAN2_IT0_IRQn = 20, /*!< FDCAN2 Interrupt line 0 */ - FDCAN1_IT1_IRQn = 21, /*!< FDCAN1 Interrupt line 1 */ - FDCAN2_IT1_IRQn = 22, /*!< FDCAN2 Interrupt line 1 */ - EXTI9_5_IRQn = 23, /*!< External Line[9:5] Interrupts */ - TIM1_BRK_IRQn = 24, /*!< TIM1 Break Interrupt */ - TIM1_UP_IRQn = 25, /*!< TIM1 Update Interrupt */ - TIM1_TRG_COM_IRQn = 26, /*!< TIM1 Trigger and Commutation Interrupt */ - TIM1_CC_IRQn = 27, /*!< TIM1 Capture Compare Interrupt */ - TIM2_IRQn = 28, /*!< TIM2 global Interrupt */ - TIM3_IRQn = 29, /*!< TIM3 global Interrupt */ - TIM4_IRQn = 30, /*!< TIM4 global Interrupt */ - I2C1_EV_IRQn = 31, /*!< I2C1 Event Interrupt */ - I2C1_ER_IRQn = 32, /*!< I2C1 Error Interrupt */ - I2C2_EV_IRQn = 33, /*!< I2C2 Event Interrupt */ - I2C2_ER_IRQn = 34, /*!< I2C2 Error Interrupt */ - SPI1_IRQn = 35, /*!< SPI1 global Interrupt */ - SPI2_IRQn = 36, /*!< SPI2 global Interrupt */ - USART1_IRQn = 37, /*!< USART1 global Interrupt */ - USART2_IRQn = 38, /*!< USART2 global Interrupt */ - USART3_IRQn = 39, /*!< USART3 global Interrupt */ - EXTI15_10_IRQn = 40, /*!< External Line[15:10] Interrupts */ - RTC_Alarm_IRQn = 41, /*!< RTC Alarm (A and B) through EXTI Line Interrupt */ - TIM8_BRK_TIM12_IRQn = 43, /*!< TIM8 Break Interrupt and TIM12 global interrupt */ - TIM8_UP_TIM13_IRQn = 44, /*!< TIM8 Update Interrupt and TIM13 global interrupt */ - TIM8_TRG_COM_TIM14_IRQn = 45, /*!< TIM8 Trigger and Commutation Interrupt and TIM14 global interrupt */ - TIM8_CC_IRQn = 46, /*!< TIM8 Capture Compare Interrupt */ - DMA1_Stream7_IRQn = 47, /*!< DMA1 Stream7 Interrupt */ - FMC_IRQn = 48, /*!< FMC global Interrupt */ - SDMMC1_IRQn = 49, /*!< SDMMC1 global Interrupt */ - TIM5_IRQn = 50, /*!< TIM5 global Interrupt */ - SPI3_IRQn = 51, /*!< SPI3 global Interrupt */ - UART4_IRQn = 52, /*!< UART4 global Interrupt */ - UART5_IRQn = 53, /*!< UART5 global Interrupt */ - TIM6_DAC_IRQn = 54, /*!< TIM6 global and DAC1&2 underrun error interrupts */ - TIM7_IRQn = 55, /*!< TIM7 global interrupt */ - DMA2_Stream0_IRQn = 56, /*!< DMA2 Stream 0 global Interrupt */ - DMA2_Stream1_IRQn = 57, /*!< DMA2 Stream 1 global Interrupt */ - DMA2_Stream2_IRQn = 58, /*!< DMA2 Stream 2 global Interrupt */ - DMA2_Stream3_IRQn = 59, /*!< DMA2 Stream 3 global Interrupt */ - DMA2_Stream4_IRQn = 60, /*!< DMA2 Stream 4 global Interrupt */ - ETH_IRQn = 61, /*!< Ethernet global Interrupt */ - ETH_WKUP_IRQn = 62, /*!< Ethernet Wakeup through EXTI line Interrupt */ - FDCAN_CAL_IRQn = 63, /*!< FDCAN Calibration unit Interrupt */ - DMA2_Stream5_IRQn = 68, /*!< DMA2 Stream 5 global interrupt */ - DMA2_Stream6_IRQn = 69, /*!< DMA2 Stream 6 global interrupt */ - DMA2_Stream7_IRQn = 70, /*!< DMA2 Stream 7 global interrupt */ - USART6_IRQn = 71, /*!< USART6 global interrupt */ - I2C3_EV_IRQn = 72, /*!< I2C3 event interrupt */ - I2C3_ER_IRQn = 73, /*!< I2C3 error interrupt */ - OTG_HS_EP1_OUT_IRQn = 74, /*!< USB OTG HS End Point 1 Out global interrupt */ - OTG_HS_EP1_IN_IRQn = 75, /*!< USB OTG HS End Point 1 In global interrupt */ - OTG_HS_WKUP_IRQn = 76, /*!< USB OTG HS Wakeup through EXTI interrupt */ - OTG_HS_IRQn = 77, /*!< USB OTG HS global interrupt */ - DCMI_PSSI_IRQn = 78, /*!< DCMI and PSSI global interrupt */ - CRYP_IRQn = 79, /*!< CRYP crypto global interrupt */ - HASH_RNG_IRQn = 80, /*!< HASH and RNG global interrupt */ - FPU_IRQn = 81, /*!< FPU global interrupt */ - UART7_IRQn = 82, /*!< UART7 global interrupt */ - UART8_IRQn = 83, /*!< UART8 global interrupt */ - SPI4_IRQn = 84, /*!< SPI4 global Interrupt */ - SPI5_IRQn = 85, /*!< SPI5 global Interrupt */ - SPI6_IRQn = 86, /*!< SPI6 global Interrupt */ - SAI1_IRQn = 87, /*!< SAI1 global Interrupt */ - LTDC_IRQn = 88, /*!< LTDC global Interrupt */ - LTDC_ER_IRQn = 89, /*!< LTDC Error global Interrupt */ - DMA2D_IRQn = 90, /*!< DMA2D global Interrupt */ - OCTOSPI1_IRQn = 92, /*!< OCTOSPI1 global interrupt */ - LPTIM1_IRQn = 93, /*!< LP TIM1 interrupt */ - CEC_IRQn = 94, /*!< HDMI-CEC global Interrupt */ - I2C4_EV_IRQn = 95, /*!< I2C4 Event Interrupt */ - I2C4_ER_IRQn = 96, /*!< I2C4 Error Interrupt */ - SPDIF_RX_IRQn = 97, /*!< SPDIF-RX global Interrupt */ - DMAMUX1_OVR_IRQn = 102, /*! - -/** @addtogroup Peripheral_registers_structures - * @{ - */ - -/** - * @brief Analog to Digital Converter - */ - -typedef struct -{ - __IO uint32_t ISR; /*!< ADC Interrupt and Status Register, Address offset: 0x00 */ - __IO uint32_t IER; /*!< ADC Interrupt Enable Register, Address offset: 0x04 */ - __IO uint32_t CR; /*!< ADC control register, Address offset: 0x08 */ - __IO uint32_t CFGR; /*!< ADC Configuration register, Address offset: 0x0C */ - __IO uint32_t CFGR2; /*!< ADC Configuration register 2, Address offset: 0x10 */ - __IO uint32_t SMPR1; /*!< ADC sample time register 1, Address offset: 0x14 */ - __IO uint32_t SMPR2; /*!< ADC sample time register 2, Address offset: 0x18 */ - __IO uint32_t PCSEL_RES0; /*!< Rserved for ADC3, ADC1/2 pre-channel selection, Address offset: 0x1C */ - __IO uint32_t LTR1_TR1; /*!< ADC watchdog Lower threshold register 1, Address offset: 0x20 */ - __IO uint32_t HTR1_TR2; /*!< ADC watchdog higher threshold register 1, Address offset: 0x24 */ - __IO uint32_t RES1_TR3; /*!< Rserved for ADC1/2, ADC3 threshold register, Address offset: 0x28 */ - uint32_t RESERVED2; /*!< Reserved, 0x02C */ - __IO uint32_t SQR1; /*!< ADC regular sequence register 1, Address offset: 0x30 */ - __IO uint32_t SQR2; /*!< ADC regular sequence register 2, Address offset: 0x34 */ - __IO uint32_t SQR3; /*!< ADC regular sequence register 3, Address offset: 0x38 */ - __IO uint32_t SQR4; /*!< ADC regular sequence register 4, Address offset: 0x3C */ - __IO uint32_t DR; /*!< ADC regular data register, Address offset: 0x40 */ - uint32_t RESERVED3; /*!< Reserved, 0x044 */ - uint32_t RESERVED4; /*!< Reserved, 0x048 */ - __IO uint32_t JSQR; /*!< ADC injected sequence register, Address offset: 0x4C */ - uint32_t RESERVED5[4]; /*!< Reserved, 0x050 - 0x05C */ - __IO uint32_t OFR1; /*!< ADC offset register 1, Address offset: 0x60 */ - __IO uint32_t OFR2; /*!< ADC offset register 2, Address offset: 0x64 */ - __IO uint32_t OFR3; /*!< ADC offset register 3, Address offset: 0x68 */ - __IO uint32_t OFR4; /*!< ADC offset register 4, Address offset: 0x6C */ - uint32_t RESERVED6[4]; /*!< Reserved, 0x070 - 0x07C */ - __IO uint32_t JDR1; /*!< ADC injected data register 1, Address offset: 0x80 */ - __IO uint32_t JDR2; /*!< ADC injected data register 2, Address offset: 0x84 */ - __IO uint32_t JDR3; /*!< ADC injected data register 3, Address offset: 0x88 */ - __IO uint32_t JDR4; /*!< ADC injected data register 4, Address offset: 0x8C */ - uint32_t RESERVED7[4]; /*!< Reserved, 0x090 - 0x09C */ - __IO uint32_t AWD2CR; /*!< ADC Analog Watchdog 2 Configuration Register, Address offset: 0xA0 */ - __IO uint32_t AWD3CR; /*!< ADC Analog Watchdog 3 Configuration Register, Address offset: 0xA4 */ - uint32_t RESERVED8; /*!< Reserved, 0x0A8 */ - uint32_t RESERVED9; /*!< Reserved, 0x0AC */ - __IO uint32_t LTR2_DIFSEL; /*!< ADC watchdog Lower threshold register 2, Difsel for ADC3, Address offset: 0xB0 */ - __IO uint32_t HTR2_CALFACT; /*!< ADC watchdog Higher threshold register 2, Calfact for ADC3, Address offset: 0xB4 */ - __IO uint32_t LTR3_RES10; /*!< ADC watchdog Lower threshold register 3, specific ADC1/2, Address offset: 0xB8 */ - __IO uint32_t HTR3_RES11; /*!< ADC watchdog Higher threshold register 3, specific ADC1/2, Address offset: 0xBC */ - __IO uint32_t DIFSEL_RES12; /*!< ADC Differential Mode Selection Register specific ADC1/2, Address offset: 0xC0 */ - __IO uint32_t CALFACT_RES13; /*!< ADC Calibration Factors specific ADC1/2, Address offset: 0xC4 */ - __IO uint32_t CALFACT2_RES14; /*!< ADC Linearity Calibration Factors specific ADC1/2, Address offset: 0xC8 */ -} ADC_TypeDef; - - -typedef struct -{ -__IO uint32_t CSR; /*!< ADC Common status register, Address offset: ADC1/3 base address + 0x300 */ -uint32_t RESERVED; /*!< Reserved, ADC1/3 base address + 0x304 */ -__IO uint32_t CCR; /*!< ADC common control register, Address offset: ADC1/3 base address + 0x308 */ -__IO uint32_t CDR; /*!< ADC common regular data register for dual Address offset: ADC1/3 base address + 0x30C */ -__IO uint32_t CDR2; /*!< ADC common regular data register for 32-bit dual mode Address offset: ADC1/3 base address + 0x310 */ - -} ADC_Common_TypeDef; - - -/** - * @brief VREFBUF - */ - -typedef struct -{ - __IO uint32_t CSR; /*!< VREFBUF control and status register, Address offset: 0x00 */ - __IO uint32_t CCR; /*!< VREFBUF calibration and control register, Address offset: 0x04 */ -} VREFBUF_TypeDef; - - -/** - * @brief FD Controller Area Network - */ - -typedef struct -{ - __IO uint32_t CREL; /*!< FDCAN Core Release register, Address offset: 0x000 */ - __IO uint32_t ENDN; /*!< FDCAN Endian register, Address offset: 0x004 */ - __IO uint32_t RESERVED1; /*!< Reserved, 0x008 */ - __IO uint32_t DBTP; /*!< FDCAN Data Bit Timing & Prescaler register, Address offset: 0x00C */ - __IO uint32_t TEST; /*!< FDCAN Test register, Address offset: 0x010 */ - __IO uint32_t RWD; /*!< FDCAN RAM Watchdog register, Address offset: 0x014 */ - __IO uint32_t CCCR; /*!< FDCAN CC Control register, Address offset: 0x018 */ - __IO uint32_t NBTP; /*!< FDCAN Nominal Bit Timing & Prescaler register, Address offset: 0x01C */ - __IO uint32_t TSCC; /*!< FDCAN Timestamp Counter Configuration register, Address offset: 0x020 */ - __IO uint32_t TSCV; /*!< FDCAN Timestamp Counter Value register, Address offset: 0x024 */ - __IO uint32_t TOCC; /*!< FDCAN Timeout Counter Configuration register, Address offset: 0x028 */ - __IO uint32_t TOCV; /*!< FDCAN Timeout Counter Value register, Address offset: 0x02C */ - __IO uint32_t RESERVED2[4]; /*!< Reserved, 0x030 - 0x03C */ - __IO uint32_t ECR; /*!< FDCAN Error Counter register, Address offset: 0x040 */ - __IO uint32_t PSR; /*!< FDCAN Protocol Status register, Address offset: 0x044 */ - __IO uint32_t TDCR; /*!< FDCAN Transmitter Delay Compensation register, Address offset: 0x048 */ - __IO uint32_t RESERVED3; /*!< Reserved, 0x04C */ - __IO uint32_t IR; /*!< FDCAN Interrupt register, Address offset: 0x050 */ - __IO uint32_t IE; /*!< FDCAN Interrupt Enable register, Address offset: 0x054 */ - __IO uint32_t ILS; /*!< FDCAN Interrupt Line Select register, Address offset: 0x058 */ - __IO uint32_t ILE; /*!< FDCAN Interrupt Line Enable register, Address offset: 0x05C */ - __IO uint32_t RESERVED4[8]; /*!< Reserved, 0x060 - 0x07C */ - __IO uint32_t GFC; /*!< FDCAN Global Filter Configuration register, Address offset: 0x080 */ - __IO uint32_t SIDFC; /*!< FDCAN Standard ID Filter Configuration register, Address offset: 0x084 */ - __IO uint32_t XIDFC; /*!< FDCAN Extended ID Filter Configuration register, Address offset: 0x088 */ - __IO uint32_t RESERVED5; /*!< Reserved, 0x08C */ - __IO uint32_t XIDAM; /*!< FDCAN Extended ID AND Mask register, Address offset: 0x090 */ - __IO uint32_t HPMS; /*!< FDCAN High Priority Message Status register, Address offset: 0x094 */ - __IO uint32_t NDAT1; /*!< FDCAN New Data 1 register, Address offset: 0x098 */ - __IO uint32_t NDAT2; /*!< FDCAN New Data 2 register, Address offset: 0x09C */ - __IO uint32_t RXF0C; /*!< FDCAN Rx FIFO 0 Configuration register, Address offset: 0x0A0 */ - __IO uint32_t RXF0S; /*!< FDCAN Rx FIFO 0 Status register, Address offset: 0x0A4 */ - __IO uint32_t RXF0A; /*!< FDCAN Rx FIFO 0 Acknowledge register, Address offset: 0x0A8 */ - __IO uint32_t RXBC; /*!< FDCAN Rx Buffer Configuration register, Address offset: 0x0AC */ - __IO uint32_t RXF1C; /*!< FDCAN Rx FIFO 1 Configuration register, Address offset: 0x0B0 */ - __IO uint32_t RXF1S; /*!< FDCAN Rx FIFO 1 Status register, Address offset: 0x0B4 */ - __IO uint32_t RXF1A; /*!< FDCAN Rx FIFO 1 Acknowledge register, Address offset: 0x0B8 */ - __IO uint32_t RXESC; /*!< FDCAN Rx Buffer/FIFO Element Size Configuration register, Address offset: 0x0BC */ - __IO uint32_t TXBC; /*!< FDCAN Tx Buffer Configuration register, Address offset: 0x0C0 */ - __IO uint32_t TXFQS; /*!< FDCAN Tx FIFO/Queue Status register, Address offset: 0x0C4 */ - __IO uint32_t TXESC; /*!< FDCAN Tx Buffer Element Size Configuration register, Address offset: 0x0C8 */ - __IO uint32_t TXBRP; /*!< FDCAN Tx Buffer Request Pending register, Address offset: 0x0CC */ - __IO uint32_t TXBAR; /*!< FDCAN Tx Buffer Add Request register, Address offset: 0x0D0 */ - __IO uint32_t TXBCR; /*!< FDCAN Tx Buffer Cancellation Request register, Address offset: 0x0D4 */ - __IO uint32_t TXBTO; /*!< FDCAN Tx Buffer Transmission Occurred register, Address offset: 0x0D8 */ - __IO uint32_t TXBCF; /*!< FDCAN Tx Buffer Cancellation Finished register, Address offset: 0x0DC */ - __IO uint32_t TXBTIE; /*!< FDCAN Tx Buffer Transmission Interrupt Enable register, Address offset: 0x0E0 */ - __IO uint32_t TXBCIE; /*!< FDCAN Tx Buffer Cancellation Finished Interrupt Enable register, Address offset: 0x0E4 */ - __IO uint32_t RESERVED6[2]; /*!< Reserved, 0x0E8 - 0x0EC */ - __IO uint32_t TXEFC; /*!< FDCAN Tx Event FIFO Configuration register, Address offset: 0x0F0 */ - __IO uint32_t TXEFS; /*!< FDCAN Tx Event FIFO Status register, Address offset: 0x0F4 */ - __IO uint32_t TXEFA; /*!< FDCAN Tx Event FIFO Acknowledge register, Address offset: 0x0F8 */ - __IO uint32_t RESERVED7; /*!< Reserved, 0x0FC */ -} FDCAN_GlobalTypeDef; - -/** - * @brief TTFD Controller Area Network - */ - -typedef struct -{ - __IO uint32_t TTTMC; /*!< TT Trigger Memory Configuration register, Address offset: 0x100 */ - __IO uint32_t TTRMC; /*!< TT Reference Message Configuration register, Address offset: 0x104 */ - __IO uint32_t TTOCF; /*!< TT Operation Configuration register, Address offset: 0x108 */ - __IO uint32_t TTMLM; /*!< TT Matrix Limits register, Address offset: 0x10C */ - __IO uint32_t TURCF; /*!< TUR Configuration register, Address offset: 0x110 */ - __IO uint32_t TTOCN; /*!< TT Operation Control register, Address offset: 0x114 */ - __IO uint32_t TTGTP; /*!< TT Global Time Preset register, Address offset: 0x118 */ - __IO uint32_t TTTMK; /*!< TT Time Mark register, Address offset: 0x11C */ - __IO uint32_t TTIR; /*!< TT Interrupt register, Address offset: 0x120 */ - __IO uint32_t TTIE; /*!< TT Interrupt Enable register, Address offset: 0x124 */ - __IO uint32_t TTILS; /*!< TT Interrupt Line Select register, Address offset: 0x128 */ - __IO uint32_t TTOST; /*!< TT Operation Status register, Address offset: 0x12C */ - __IO uint32_t TURNA; /*!< TT TUR Numerator Actual register, Address offset: 0x130 */ - __IO uint32_t TTLGT; /*!< TT Local and Global Time register, Address offset: 0x134 */ - __IO uint32_t TTCTC; /*!< TT Cycle Time and Count register, Address offset: 0x138 */ - __IO uint32_t TTCPT; /*!< TT Capture Time register, Address offset: 0x13C */ - __IO uint32_t TTCSM; /*!< TT Cycle Sync Mark register, Address offset: 0x140 */ - __IO uint32_t RESERVED1[111]; /*!< Reserved, 0x144 - 0x2FC */ - __IO uint32_t TTTS; /*!< TT Trigger Select register, Address offset: 0x300 */ -} TTCAN_TypeDef; - -/** - * @brief FD Controller Area Network - */ - -typedef struct -{ - __IO uint32_t CREL; /*!< Clock Calibration Unit Core Release register, Address offset: 0x00 */ - __IO uint32_t CCFG; /*!< Calibration Configuration register, Address offset: 0x04 */ - __IO uint32_t CSTAT; /*!< Calibration Status register, Address offset: 0x08 */ - __IO uint32_t CWD; /*!< Calibration Watchdog register, Address offset: 0x0C */ - __IO uint32_t IR; /*!< CCU Interrupt register, Address offset: 0x10 */ - __IO uint32_t IE; /*!< CCU Interrupt Enable register, Address offset: 0x14 */ -} FDCAN_ClockCalibrationUnit_TypeDef; - - -/** - * @brief Consumer Electronics Control - */ - -typedef struct -{ - __IO uint32_t CR; /*!< CEC control register, Address offset:0x00 */ - __IO uint32_t CFGR; /*!< CEC configuration register, Address offset:0x04 */ - __IO uint32_t TXDR; /*!< CEC Tx data register , Address offset:0x08 */ - __IO uint32_t RXDR; /*!< CEC Rx Data Register, Address offset:0x0C */ - __IO uint32_t ISR; /*!< CEC Interrupt and Status Register, Address offset:0x10 */ - __IO uint32_t IER; /*!< CEC interrupt enable register, Address offset:0x14 */ -}CEC_TypeDef; - -/** - * @brief COordincate Rotation DIgital Computer - */ -typedef struct -{ - __IO uint32_t CSR; /*!< CORDIC control and status register, Address offset: 0x00 */ - __IO uint32_t WDATA; /*!< CORDIC argument register, Address offset: 0x04 */ - __IO uint32_t RDATA; /*!< CORDIC result register, Address offset: 0x08 */ -} CORDIC_TypeDef; - -/** - * @brief CRC calculation unit - */ - -typedef struct -{ - __IO uint32_t DR; /*!< CRC Data register, Address offset: 0x00 */ - __IO uint32_t IDR; /*!< CRC Independent data register, Address offset: 0x04 */ - __IO uint32_t CR; /*!< CRC Control register, Address offset: 0x08 */ - uint32_t RESERVED2; /*!< Reserved, 0x0C */ - __IO uint32_t INIT; /*!< Initial CRC value register, Address offset: 0x10 */ - __IO uint32_t POL; /*!< CRC polynomial register, Address offset: 0x14 */ -} CRC_TypeDef; - - -/** - * @brief Clock Recovery System - */ -typedef struct -{ -__IO uint32_t CR; /*!< CRS ccontrol register, Address offset: 0x00 */ -__IO uint32_t CFGR; /*!< CRS configuration register, Address offset: 0x04 */ -__IO uint32_t ISR; /*!< CRS interrupt and status register, Address offset: 0x08 */ -__IO uint32_t ICR; /*!< CRS interrupt flag clear register, Address offset: 0x0C */ -} CRS_TypeDef; - - -/** - * @brief Digital to Analog Converter - */ - -typedef struct -{ - __IO uint32_t CR; /*!< DAC control register, Address offset: 0x00 */ - __IO uint32_t SWTRIGR; /*!< DAC software trigger register, Address offset: 0x04 */ - __IO uint32_t DHR12R1; /*!< DAC channel1 12-bit right-aligned data holding register, Address offset: 0x08 */ - __IO uint32_t DHR12L1; /*!< DAC channel1 12-bit left aligned data holding register, Address offset: 0x0C */ - __IO uint32_t DHR8R1; /*!< DAC channel1 8-bit right aligned data holding register, Address offset: 0x10 */ - __IO uint32_t DHR12R2; /*!< DAC channel2 12-bit right aligned data holding register, Address offset: 0x14 */ - __IO uint32_t DHR12L2; /*!< DAC channel2 12-bit left aligned data holding register, Address offset: 0x18 */ - __IO uint32_t DHR8R2; /*!< DAC channel2 8-bit right-aligned data holding register, Address offset: 0x1C */ - __IO uint32_t DHR12RD; /*!< Dual DAC 12-bit right-aligned data holding register, Address offset: 0x20 */ - __IO uint32_t DHR12LD; /*!< DUAL DAC 12-bit left aligned data holding register, Address offset: 0x24 */ - __IO uint32_t DHR8RD; /*!< DUAL DAC 8-bit right aligned data holding register, Address offset: 0x28 */ - __IO uint32_t DOR1; /*!< DAC channel1 data output register, Address offset: 0x2C */ - __IO uint32_t DOR2; /*!< DAC channel2 data output register, Address offset: 0x30 */ - __IO uint32_t SR; /*!< DAC status register, Address offset: 0x34 */ - __IO uint32_t CCR; /*!< DAC calibration control register, Address offset: 0x38 */ - __IO uint32_t MCR; /*!< DAC mode control register, Address offset: 0x3C */ - __IO uint32_t SHSR1; /*!< DAC Sample and Hold sample time register 1, Address offset: 0x40 */ - __IO uint32_t SHSR2; /*!< DAC Sample and Hold sample time register 2, Address offset: 0x44 */ - __IO uint32_t SHHR; /*!< DAC Sample and Hold hold time register, Address offset: 0x48 */ - __IO uint32_t SHRR; /*!< DAC Sample and Hold refresh time register, Address offset: 0x4C */ -} DAC_TypeDef; - -/** - * @brief DFSDM module registers - */ -typedef struct -{ - __IO uint32_t FLTCR1; /*!< DFSDM control register1, Address offset: 0x100 */ - __IO uint32_t FLTCR2; /*!< DFSDM control register2, Address offset: 0x104 */ - __IO uint32_t FLTISR; /*!< DFSDM interrupt and status register, Address offset: 0x108 */ - __IO uint32_t FLTICR; /*!< DFSDM interrupt flag clear register, Address offset: 0x10C */ - __IO uint32_t FLTJCHGR; /*!< DFSDM injected channel group selection register, Address offset: 0x110 */ - __IO uint32_t FLTFCR; /*!< DFSDM filter control register, Address offset: 0x114 */ - __IO uint32_t FLTJDATAR; /*!< DFSDM data register for injected group, Address offset: 0x118 */ - __IO uint32_t FLTRDATAR; /*!< DFSDM data register for regular group, Address offset: 0x11C */ - __IO uint32_t FLTAWHTR; /*!< DFSDM analog watchdog high threshold register, Address offset: 0x120 */ - __IO uint32_t FLTAWLTR; /*!< DFSDM analog watchdog low threshold register, Address offset: 0x124 */ - __IO uint32_t FLTAWSR; /*!< DFSDM analog watchdog status register Address offset: 0x128 */ - __IO uint32_t FLTAWCFR; /*!< DFSDM analog watchdog clear flag register Address offset: 0x12C */ - __IO uint32_t FLTEXMAX; /*!< DFSDM extreme detector maximum register, Address offset: 0x130 */ - __IO uint32_t FLTEXMIN; /*!< DFSDM extreme detector minimum register Address offset: 0x134 */ - __IO uint32_t FLTCNVTIMR; /*!< DFSDM conversion timer, Address offset: 0x138 */ -} DFSDM_Filter_TypeDef; - -/** - * @brief DFSDM channel configuration registers - */ -typedef struct -{ - __IO uint32_t CHCFGR1; /*!< DFSDM channel configuration register1, Address offset: 0x00 */ - __IO uint32_t CHCFGR2; /*!< DFSDM channel configuration register2, Address offset: 0x04 */ - __IO uint32_t CHAWSCDR; /*!< DFSDM channel analog watchdog and - short circuit detector register, Address offset: 0x08 */ - __IO uint32_t CHWDATAR; /*!< DFSDM channel watchdog filter data register, Address offset: 0x0C */ - __IO uint32_t CHDATINR; /*!< DFSDM channel data input register, Address offset: 0x10 */ -} DFSDM_Channel_TypeDef; - -/** - * @brief Debug MCU - */ -typedef struct -{ - __IO uint32_t IDCODE; /*!< MCU device ID code, Address offset: 0x00 */ - __IO uint32_t CR; /*!< Debug MCU configuration register, Address offset: 0x04 */ - uint32_t RESERVED4[11]; /*!< Reserved, Address offset: 0x08 */ - __IO uint32_t APB3FZ1; /*!< Debug MCU APB3FZ1 freeze register, Address offset: 0x34 */ - uint32_t RESERVED5; /*!< Reserved, Address offset: 0x38 */ - __IO uint32_t APB1LFZ1; /*!< Debug MCU APB1LFZ1 freeze register, Address offset: 0x3C */ - uint32_t RESERVED6; /*!< Reserved, Address offset: 0x40 */ - __IO uint32_t APB1HFZ1; /*!< Debug MCU APB1LFZ1 freeze register, Address offset: 0x44 */ - uint32_t RESERVED7; /*!< Reserved, Address offset: 0x48 */ - __IO uint32_t APB2FZ1; /*!< Debug MCU APB2FZ1 freeze register, Address offset: 0x4C */ - uint32_t RESERVED8; /*!< Reserved, Address offset: 0x50 */ - __IO uint32_t APB4FZ1; /*!< Debug MCU APB4FZ1 freeze register, Address offset: 0x54 */ - __IO uint32_t RESERVED9[990]; /*!< Reserved, Address offset: 0x58-0xFCC */ - __IO uint32_t PIDR4; /*!< Debug MCU peripheral identity register 4, Address offset: 0xFD0 */ - __IO uint32_t RESERVED10[3];/*!< Reserved, Address offset: 0xFD4-0xFDC */ - __IO uint32_t PIDR0; /*!< Debug MCU peripheral identity register 0, Address offset: 0xFE0 */ - __IO uint32_t PIDR1; /*!< Debug MCU peripheral identity register 1, Address offset: 0xFE4 */ - __IO uint32_t PIDR2; /*!< Debug MCU peripheral identity register 2, Address offset: 0xFE8 */ - __IO uint32_t PIDR3; /*!< Debug MCU peripheral identity register 3, Address offset: 0xFEC */ - __IO uint32_t CIDR0; /*!< Debug MCU component identity register 0, Address offset: 0xFF0 */ - __IO uint32_t CIDR1; /*!< Debug MCU component identity register 1, Address offset: 0xFF4 */ - __IO uint32_t CIDR2; /*!< Debug MCU component identity register 2, Address offset: 0xFF8 */ - __IO uint32_t CIDR3; /*!< Debug MCU component identity register 3, Address offset: 0xFFC */ -}DBGMCU_TypeDef; -/** - * @brief DCMI - */ - -typedef struct -{ - __IO uint32_t CR; /*!< DCMI control register 1, Address offset: 0x00 */ - __IO uint32_t SR; /*!< DCMI status register, Address offset: 0x04 */ - __IO uint32_t RISR; /*!< DCMI raw interrupt status register, Address offset: 0x08 */ - __IO uint32_t IER; /*!< DCMI interrupt enable register, Address offset: 0x0C */ - __IO uint32_t MISR; /*!< DCMI masked interrupt status register, Address offset: 0x10 */ - __IO uint32_t ICR; /*!< DCMI interrupt clear register, Address offset: 0x14 */ - __IO uint32_t ESCR; /*!< DCMI embedded synchronization code register, Address offset: 0x18 */ - __IO uint32_t ESUR; /*!< DCMI embedded synchronization unmask register, Address offset: 0x1C */ - __IO uint32_t CWSTRTR; /*!< DCMI crop window start, Address offset: 0x20 */ - __IO uint32_t CWSIZER; /*!< DCMI crop window size, Address offset: 0x24 */ - __IO uint32_t DR; /*!< DCMI data register, Address offset: 0x28 */ -} DCMI_TypeDef; - -/** - * @brief PSSI - */ - -typedef struct -{ - __IO uint32_t CR; /*!< PSSI control register 1, Address offset: 0x000 */ - __IO uint32_t SR; /*!< PSSI status register, Address offset: 0x004 */ - __IO uint32_t RIS; /*!< PSSI raw interrupt status register, Address offset: 0x008 */ - __IO uint32_t IER; /*!< PSSI interrupt enable register, Address offset: 0x00C */ - __IO uint32_t MIS; /*!< PSSI masked interrupt status register, Address offset: 0x010 */ - __IO uint32_t ICR; /*!< PSSI interrupt clear register, Address offset: 0x014 */ - __IO uint32_t RESERVED1[4]; /*!< Reserved, 0x018 - 0x024 */ - __IO uint32_t DR; /*!< PSSI data register, Address offset: 0x028 */ - __IO uint32_t RESERVED2[241]; /*!< Reserved, 0x02C - 0x3EC */ - __IO uint32_t HWCFGR; /*!< PSSI IP HW configuration register, Address offset: 0x3F0 */ - __IO uint32_t VERR; /*!< PSSI IP version register, Address offset: 0x3F4 */ - __IO uint32_t IPIDR; /*!< PSSI IP ID register, Address offset: 0x3F8 */ - __IO uint32_t SIDR; /*!< PSSI SIZE ID register, Address offset: 0x3FC */ -} PSSI_TypeDef; - -/** - * @brief DMA Controller - */ - -typedef struct -{ - __IO uint32_t CR; /*!< DMA stream x configuration register */ - __IO uint32_t NDTR; /*!< DMA stream x number of data register */ - __IO uint32_t PAR; /*!< DMA stream x peripheral address register */ - __IO uint32_t M0AR; /*!< DMA stream x memory 0 address register */ - __IO uint32_t M1AR; /*!< DMA stream x memory 1 address register */ - __IO uint32_t FCR; /*!< DMA stream x FIFO control register */ -} DMA_Stream_TypeDef; - -typedef struct -{ - __IO uint32_t LISR; /*!< DMA low interrupt status register, Address offset: 0x00 */ - __IO uint32_t HISR; /*!< DMA high interrupt status register, Address offset: 0x04 */ - __IO uint32_t LIFCR; /*!< DMA low interrupt flag clear register, Address offset: 0x08 */ - __IO uint32_t HIFCR; /*!< DMA high interrupt flag clear register, Address offset: 0x0C */ -} DMA_TypeDef; - -typedef struct -{ - __IO uint32_t CCR; /*!< DMA channel x configuration register */ - __IO uint32_t CNDTR; /*!< DMA channel x number of data register */ - __IO uint32_t CPAR; /*!< DMA channel x peripheral address register */ - __IO uint32_t CM0AR; /*!< DMA channel x memory 0 address register */ - __IO uint32_t CM1AR; /*!< DMA channel x memory 1 address register */ -} BDMA_Channel_TypeDef; - -typedef struct -{ - __IO uint32_t ISR; /*!< DMA interrupt status register, Address offset: 0x00 */ - __IO uint32_t IFCR; /*!< DMA interrupt flag clear register, Address offset: 0x04 */ -} BDMA_TypeDef; - -typedef struct -{ - __IO uint32_t CCR; /*!< DMA Multiplexer Channel x Control Register */ -}DMAMUX_Channel_TypeDef; - -typedef struct -{ - __IO uint32_t CSR; /*!< DMA Channel Status Register */ - __IO uint32_t CFR; /*!< DMA Channel Clear Flag Register */ -}DMAMUX_ChannelStatus_TypeDef; - -typedef struct -{ - __IO uint32_t RGCR; /*!< DMA Request Generator x Control Register */ -}DMAMUX_RequestGen_TypeDef; - -typedef struct -{ - __IO uint32_t RGSR; /*!< DMA Request Generator Status Register */ - __IO uint32_t RGCFR; /*!< DMA Request Generator Clear Flag Register */ -}DMAMUX_RequestGenStatus_TypeDef; - -/** - * @brief MDMA Controller - */ -typedef struct -{ - __IO uint32_t GISR0; /*!< MDMA Global Interrupt/Status Register 0, Address offset: 0x00 */ -}MDMA_TypeDef; - -typedef struct -{ - __IO uint32_t CISR; /*!< MDMA channel x interrupt/status register, Address offset: 0x40 */ - __IO uint32_t CIFCR; /*!< MDMA channel x interrupt flag clear register, Address offset: 0x44 */ - __IO uint32_t CESR; /*!< MDMA Channel x error status register, Address offset: 0x48 */ - __IO uint32_t CCR; /*!< MDMA channel x control register, Address offset: 0x4C */ - __IO uint32_t CTCR; /*!< MDMA channel x Transfer Configuration register, Address offset: 0x50 */ - __IO uint32_t CBNDTR; /*!< MDMA Channel x block number of data register, Address offset: 0x54 */ - __IO uint32_t CSAR; /*!< MDMA channel x source address register, Address offset: 0x58 */ - __IO uint32_t CDAR; /*!< MDMA channel x destination address register, Address offset: 0x5C */ - __IO uint32_t CBRUR; /*!< MDMA channel x Block Repeat address Update register, Address offset: 0x60 */ - __IO uint32_t CLAR; /*!< MDMA channel x Link Address register, Address offset: 0x64 */ - __IO uint32_t CTBR; /*!< MDMA channel x Trigger and Bus selection Register, Address offset: 0x68 */ - uint32_t RESERVED0; /*!< Reserved, 0x6C */ - __IO uint32_t CMAR; /*!< MDMA channel x Mask address register, Address offset: 0x70 */ - __IO uint32_t CMDR; /*!< MDMA channel x Mask Data register, Address offset: 0x74 */ -}MDMA_Channel_TypeDef; - -/** - * @brief DMA2D Controller - */ - -typedef struct -{ - __IO uint32_t CR; /*!< DMA2D Control Register, Address offset: 0x00 */ - __IO uint32_t ISR; /*!< DMA2D Interrupt Status Register, Address offset: 0x04 */ - __IO uint32_t IFCR; /*!< DMA2D Interrupt Flag Clear Register, Address offset: 0x08 */ - __IO uint32_t FGMAR; /*!< DMA2D Foreground Memory Address Register, Address offset: 0x0C */ - __IO uint32_t FGOR; /*!< DMA2D Foreground Offset Register, Address offset: 0x10 */ - __IO uint32_t BGMAR; /*!< DMA2D Background Memory Address Register, Address offset: 0x14 */ - __IO uint32_t BGOR; /*!< DMA2D Background Offset Register, Address offset: 0x18 */ - __IO uint32_t FGPFCCR; /*!< DMA2D Foreground PFC Control Register, Address offset: 0x1C */ - __IO uint32_t FGCOLR; /*!< DMA2D Foreground Color Register, Address offset: 0x20 */ - __IO uint32_t BGPFCCR; /*!< DMA2D Background PFC Control Register, Address offset: 0x24 */ - __IO uint32_t BGCOLR; /*!< DMA2D Background Color Register, Address offset: 0x28 */ - __IO uint32_t FGCMAR; /*!< DMA2D Foreground CLUT Memory Address Register, Address offset: 0x2C */ - __IO uint32_t BGCMAR; /*!< DMA2D Background CLUT Memory Address Register, Address offset: 0x30 */ - __IO uint32_t OPFCCR; /*!< DMA2D Output PFC Control Register, Address offset: 0x34 */ - __IO uint32_t OCOLR; /*!< DMA2D Output Color Register, Address offset: 0x38 */ - __IO uint32_t OMAR; /*!< DMA2D Output Memory Address Register, Address offset: 0x3C */ - __IO uint32_t OOR; /*!< DMA2D Output Offset Register, Address offset: 0x40 */ - __IO uint32_t NLR; /*!< DMA2D Number of Line Register, Address offset: 0x44 */ - __IO uint32_t LWR; /*!< DMA2D Line Watermark Register, Address offset: 0x48 */ - __IO uint32_t AMTCR; /*!< DMA2D AHB Master Timer Configuration Register, Address offset: 0x4C */ - uint32_t RESERVED[236]; /*!< Reserved, 0x50-0x3FF */ - __IO uint32_t FGCLUT[256]; /*!< DMA2D Foreground CLUT, Address offset:400-7FF */ - __IO uint32_t BGCLUT[256]; /*!< DMA2D Background CLUT, Address offset:800-BFF */ -} DMA2D_TypeDef; - - -/** - * @brief Ethernet MAC - */ -typedef struct -{ - __IO uint32_t MACCR; - __IO uint32_t MACECR; - __IO uint32_t MACPFR; - __IO uint32_t MACWTR; - __IO uint32_t MACHT0R; - __IO uint32_t MACHT1R; - uint32_t RESERVED1[14]; - __IO uint32_t MACVTR; - uint32_t RESERVED2; - __IO uint32_t MACVHTR; - uint32_t RESERVED3; - __IO uint32_t MACVIR; - __IO uint32_t MACIVIR; - uint32_t RESERVED4[2]; - __IO uint32_t MACTFCR; - uint32_t RESERVED5[7]; - __IO uint32_t MACRFCR; - uint32_t RESERVED6[7]; - __IO uint32_t MACISR; - __IO uint32_t MACIER; - __IO uint32_t MACRXTXSR; - uint32_t RESERVED7; - __IO uint32_t MACPCSR; - __IO uint32_t MACRWKPFR; - uint32_t RESERVED8[2]; - __IO uint32_t MACLCSR; - __IO uint32_t MACLTCR; - __IO uint32_t MACLETR; - __IO uint32_t MAC1USTCR; - uint32_t RESERVED9[12]; - __IO uint32_t MACVR; - __IO uint32_t MACDR; - uint32_t RESERVED10; - __IO uint32_t MACHWF0R; - __IO uint32_t MACHWF1R; - __IO uint32_t MACHWF2R; - uint32_t RESERVED11[54]; - __IO uint32_t MACMDIOAR; - __IO uint32_t MACMDIODR; - uint32_t RESERVED12[2]; - __IO uint32_t MACARPAR; - uint32_t RESERVED13[59]; - __IO uint32_t MACA0HR; - __IO uint32_t MACA0LR; - __IO uint32_t MACA1HR; - __IO uint32_t MACA1LR; - __IO uint32_t MACA2HR; - __IO uint32_t MACA2LR; - __IO uint32_t MACA3HR; - __IO uint32_t MACA3LR; - uint32_t RESERVED14[248]; - __IO uint32_t MMCCR; - __IO uint32_t MMCRIR; - __IO uint32_t MMCTIR; - __IO uint32_t MMCRIMR; - __IO uint32_t MMCTIMR; - uint32_t RESERVED15[14]; - __IO uint32_t MMCTSCGPR; - __IO uint32_t MMCTMCGPR; - uint32_t RESERVED16[5]; - __IO uint32_t MMCTPCGR; - uint32_t RESERVED17[10]; - __IO uint32_t MMCRCRCEPR; - __IO uint32_t MMCRAEPR; - uint32_t RESERVED18[10]; - __IO uint32_t MMCRUPGR; - uint32_t RESERVED19[9]; - __IO uint32_t MMCTLPIMSTR; - __IO uint32_t MMCTLPITCR; - __IO uint32_t MMCRLPIMSTR; - __IO uint32_t MMCRLPITCR; - uint32_t RESERVED20[65]; - __IO uint32_t MACL3L4C0R; - __IO uint32_t MACL4A0R; - uint32_t RESERVED21[2]; - __IO uint32_t MACL3A0R0R; - __IO uint32_t MACL3A1R0R; - __IO uint32_t MACL3A2R0R; - __IO uint32_t MACL3A3R0R; - uint32_t RESERVED22[4]; - __IO uint32_t MACL3L4C1R; - __IO uint32_t MACL4A1R; - uint32_t RESERVED23[2]; - __IO uint32_t MACL3A0R1R; - __IO uint32_t MACL3A1R1R; - __IO uint32_t MACL3A2R1R; - __IO uint32_t MACL3A3R1R; - uint32_t RESERVED24[108]; - __IO uint32_t MACTSCR; - __IO uint32_t MACSSIR; - __IO uint32_t MACSTSR; - __IO uint32_t MACSTNR; - __IO uint32_t MACSTSUR; - __IO uint32_t MACSTNUR; - __IO uint32_t MACTSAR; - uint32_t RESERVED25; - __IO uint32_t MACTSSR; - uint32_t RESERVED26[3]; - __IO uint32_t MACTTSSNR; - __IO uint32_t MACTTSSSR; - uint32_t RESERVED27[2]; - __IO uint32_t MACACR; - uint32_t RESERVED28; - __IO uint32_t MACATSNR; - __IO uint32_t MACATSSR; - __IO uint32_t MACTSIACR; - __IO uint32_t MACTSEACR; - __IO uint32_t MACTSICNR; - __IO uint32_t MACTSECNR; - uint32_t RESERVED29[4]; - __IO uint32_t MACPPSCR; - uint32_t RESERVED30[3]; - __IO uint32_t MACPPSTTSR; - __IO uint32_t MACPPSTTNR; - __IO uint32_t MACPPSIR; - __IO uint32_t MACPPSWR; - uint32_t RESERVED31[12]; - __IO uint32_t MACPOCR; - __IO uint32_t MACSPI0R; - __IO uint32_t MACSPI1R; - __IO uint32_t MACSPI2R; - __IO uint32_t MACLMIR; - uint32_t RESERVED32[11]; - __IO uint32_t MTLOMR; - uint32_t RESERVED33[7]; - __IO uint32_t MTLISR; - uint32_t RESERVED34[55]; - __IO uint32_t MTLTQOMR; - __IO uint32_t MTLTQUR; - __IO uint32_t MTLTQDR; - uint32_t RESERVED35[8]; - __IO uint32_t MTLQICSR; - __IO uint32_t MTLRQOMR; - __IO uint32_t MTLRQMPOCR; - __IO uint32_t MTLRQDR; - uint32_t RESERVED36[177]; - __IO uint32_t DMAMR; - __IO uint32_t DMASBMR; - __IO uint32_t DMAISR; - __IO uint32_t DMADSR; - uint32_t RESERVED37[60]; - __IO uint32_t DMACCR; - __IO uint32_t DMACTCR; - __IO uint32_t DMACRCR; - uint32_t RESERVED38[2]; - __IO uint32_t DMACTDLAR; - uint32_t RESERVED39; - __IO uint32_t DMACRDLAR; - __IO uint32_t DMACTDTPR; - uint32_t RESERVED40; - __IO uint32_t DMACRDTPR; - __IO uint32_t DMACTDRLR; - __IO uint32_t DMACRDRLR; - __IO uint32_t DMACIER; - __IO uint32_t DMACRIWTR; -__IO uint32_t DMACSFCSR; - uint32_t RESERVED41; - __IO uint32_t DMACCATDR; - uint32_t RESERVED42; - __IO uint32_t DMACCARDR; - uint32_t RESERVED43; - __IO uint32_t DMACCATBR; - uint32_t RESERVED44; - __IO uint32_t DMACCARBR; - __IO uint32_t DMACSR; -uint32_t RESERVED45[2]; -__IO uint32_t DMACMFCR; -}ETH_TypeDef; -/** - * @brief External Interrupt/Event Controller - */ - -typedef struct -{ -__IO uint32_t RTSR1; /*!< EXTI Rising trigger selection register, Address offset: 0x00 */ -__IO uint32_t FTSR1; /*!< EXTI Falling trigger selection register, Address offset: 0x04 */ -__IO uint32_t SWIER1; /*!< EXTI Software interrupt event register, Address offset: 0x08 */ -__IO uint32_t D3PMR1; /*!< EXTI D3 Pending mask register, (same register as to SRDPMR1) Address offset: 0x0C */ -__IO uint32_t D3PCR1L; /*!< EXTI D3 Pending clear selection register low, (same register as to SRDPCR1L) Address offset: 0x10 */ -__IO uint32_t D3PCR1H; /*!< EXTI D3 Pending clear selection register High, (same register as to SRDPCR1H) Address offset: 0x14 */ -uint32_t RESERVED1[2]; /*!< Reserved, 0x18 to 0x1C */ -__IO uint32_t RTSR2; /*!< EXTI Rising trigger selection register, Address offset: 0x20 */ -__IO uint32_t FTSR2; /*!< EXTI Falling trigger selection register, Address offset: 0x24 */ -__IO uint32_t SWIER2; /*!< EXTI Software interrupt event register, Address offset: 0x28 */ -__IO uint32_t D3PMR2; /*!< EXTI D3 Pending mask register, (same register as to SRDPMR2) Address offset: 0x2C */ -__IO uint32_t D3PCR2L; /*!< EXTI D3 Pending clear selection register low, (same register as to SRDPCR2L) Address offset: 0x30 */ -__IO uint32_t D3PCR2H; /*!< EXTI D3 Pending clear selection register High, (same register as to SRDPCR2H) Address offset: 0x34 */ -uint32_t RESERVED2[2]; /*!< Reserved, 0x38 to 0x3C */ -__IO uint32_t RTSR3; /*!< EXTI Rising trigger selection register, Address offset: 0x40 */ -__IO uint32_t FTSR3; /*!< EXTI Falling trigger selection register, Address offset: 0x44 */ -__IO uint32_t SWIER3; /*!< EXTI Software interrupt event register, Address offset: 0x48 */ -__IO uint32_t D3PMR3; /*!< EXTI D3 Pending mask register, (same register as to SRDPMR3) Address offset: 0x4C */ -__IO uint32_t D3PCR3L; /*!< EXTI D3 Pending clear selection register low, (same register as to SRDPCR3L) Address offset: 0x50 */ -__IO uint32_t D3PCR3H; /*!< EXTI D3 Pending clear selection register High, (same register as to SRDPCR3H) Address offset: 0x54 */ -uint32_t RESERVED3[10]; /*!< Reserved, 0x58 to 0x7C */ -__IO uint32_t IMR1; /*!< EXTI Interrupt mask register, Address offset: 0x80 */ -__IO uint32_t EMR1; /*!< EXTI Event mask register, Address offset: 0x84 */ -__IO uint32_t PR1; /*!< EXTI Pending register, Address offset: 0x88 */ -uint32_t RESERVED4; /*!< Reserved, 0x8C */ -__IO uint32_t IMR2; /*!< EXTI Interrupt mask register, Address offset: 0x90 */ -__IO uint32_t EMR2; /*!< EXTI Event mask register, Address offset: 0x94 */ -__IO uint32_t PR2; /*!< EXTI Pending register, Address offset: 0x98 */ -uint32_t RESERVED5; /*!< Reserved, 0x9C */ -__IO uint32_t IMR3; /*!< EXTI Interrupt mask register, Address offset: 0xA0 */ -__IO uint32_t EMR3; /*!< EXTI Event mask register, Address offset: 0xA4 */ -__IO uint32_t PR3; /*!< EXTI Pending register, Address offset: 0xA8 */ -}EXTI_TypeDef; - -/** - * @brief This structure registers corresponds to EXTI_Typdef CPU1/CPU2 registers subset (IMRx, EMRx and PRx), allowing to define EXTI_D1/EXTI_D2 - * with rapid/common access to these IMRx, EMRx, PRx registers for CPU1 and CPU2. - * Note that EXTI_D1 and EXTI_D2 bases addresses are calculated to point to CPUx first register: - * IMR1 in case of EXTI_D1 that is addressing CPU1 (Coretx-M7) - * C2IMR1 in case of EXTI_D2 that is addressing CPU2 (Coretx-M4) - * Note: EXTI_D2 and corresponding C2IMRx, C2EMRx and C2PRx registers are available for Dual Core devices only - */ - -typedef struct -{ -__IO uint32_t IMR1; /*!< EXTI Interrupt mask register, Address offset: 0x00 */ -__IO uint32_t EMR1; /*!< EXTI Event mask register, Address offset: 0x04 */ -__IO uint32_t PR1; /*!< EXTI Pending register, Address offset: 0x08 */ -uint32_t RESERVED1; /*!< Reserved, 0x0C */ -__IO uint32_t IMR2; /*!< EXTI Interrupt mask register, Address offset: 0x10 */ -__IO uint32_t EMR2; /*!< EXTI Event mask register, Address offset: 0x14 */ -__IO uint32_t PR2; /*!< EXTI Pending register, Address offset: 0x18 */ -uint32_t RESERVED2; /*!< Reserved, 0x1C */ -__IO uint32_t IMR3; /*!< EXTI Interrupt mask register, Address offset: 0x20 */ -__IO uint32_t EMR3; /*!< EXTI Event mask register, Address offset: 0x24 */ -__IO uint32_t PR3; /*!< EXTI Pending register, Address offset: 0x28 */ -}EXTI_Core_TypeDef; - - -/** - * @brief FLASH Registers - */ - -typedef struct -{ - __IO uint32_t ACR; /*!< FLASH access control register, Address offset: 0x00 */ - __IO uint32_t KEYR1; /*!< Flash Key Register for bank1, Address offset: 0x04 */ - __IO uint32_t OPTKEYR; /*!< Flash Option Key Register, Address offset: 0x08 */ - __IO uint32_t CR1; /*!< Flash Control Register for bank1, Address offset: 0x0C */ - __IO uint32_t SR1; /*!< Flash Status Register for bank1, Address offset: 0x10 */ - __IO uint32_t CCR1; /*!< Flash Control Register for bank1, Address offset: 0x14 */ - __IO uint32_t OPTCR; /*!< Flash Option Control Register, Address offset: 0x18 */ - __IO uint32_t OPTSR_CUR; /*!< Flash Option Status Current Register, Address offset: 0x1C */ - __IO uint32_t OPTSR_PRG; /*!< Flash Option Status to Program Register, Address offset: 0x20 */ - __IO uint32_t OPTCCR; /*!< Flash Option Clear Control Register, Address offset: 0x24 */ - __IO uint32_t PRAR_CUR1; /*!< Flash Current Protection Address Register for bank1, Address offset: 0x28 */ - __IO uint32_t PRAR_PRG1; /*!< Flash Protection Address to Program Register for bank1, Address offset: 0x2C */ - __IO uint32_t SCAR_CUR1; /*!< Flash Current Secure Address Register for bank1, Address offset: 0x30 */ - __IO uint32_t SCAR_PRG1; /*!< Flash Secure Address to Program Register for bank1, Address offset: 0x34 */ - __IO uint32_t WPSN_CUR1; /*!< Flash Current Write Protection Register on bank1, Address offset: 0x38 */ - __IO uint32_t WPSN_PRG1; /*!< Flash Write Protection to Program Register on bank1, Address offset: 0x3C */ - __IO uint32_t BOOT_CUR; /*!< Flash Current Boot Address for Pelican Core Register, Address offset: 0x40 */ - __IO uint32_t BOOT_PRG; /*!< Flash Boot Address to Program for Pelican Core Register, Address offset: 0x44 */ - uint32_t RESERVED0[2]; /*!< Reserved, 0x48 to 0x4C */ - __IO uint32_t CRCCR1; /*!< Flash CRC Control register For Bank1 Register , Address offset: 0x50 */ - __IO uint32_t CRCSADD1; /*!< Flash CRC Start Address Register for Bank1 , Address offset: 0x54 */ - __IO uint32_t CRCEADD1; /*!< Flash CRC End Address Register for Bank1 , Address offset: 0x58 */ - __IO uint32_t CRCDATA; /*!< Flash CRC Data Register for Bank1 , Address offset: 0x5C */ - __IO uint32_t ECC_FA1; /*!< Flash ECC Fail Address For Bank1 Register , Address offset: 0x60 */ - uint32_t RESERVED[3]; /*!< Reserved, 0x64 to 0x6C */ - __IO uint32_t OPTSR2_CUR; /*!< Flash Option Status Current Register 2, Address offset: 0x70 */ - __IO uint32_t OPTSR2_PRG; /*!< Flash Option Status to Program Register 2, Address offset: 0x74 */ -} FLASH_TypeDef; - -/** - * @brief Filter and Mathematical ACcelerator - */ -typedef struct -{ - __IO uint32_t X1BUFCFG; /*!< FMAC X1 Buffer Configuration register, Address offset: 0x00 */ - __IO uint32_t X2BUFCFG; /*!< FMAC X2 Buffer Configuration register, Address offset: 0x04 */ - __IO uint32_t YBUFCFG; /*!< FMAC Y Buffer Configuration register, Address offset: 0x08 */ - __IO uint32_t PARAM; /*!< FMAC Parameter register, Address offset: 0x0C */ - __IO uint32_t CR; /*!< FMAC Control register, Address offset: 0x10 */ - __IO uint32_t SR; /*!< FMAC Status register, Address offset: 0x14 */ - __IO uint32_t WDATA; /*!< FMAC Write Data register, Address offset: 0x18 */ - __IO uint32_t RDATA; /*!< FMAC Read Data register, Address offset: 0x1C */ -} FMAC_TypeDef; - -/** - * @brief Flexible Memory Controller - */ - -typedef struct -{ - __IO uint32_t BTCR[8]; /*!< NOR/PSRAM chip-select control register(BCR) and chip-select timing register(BTR), Address offset: 0x00-1C */ -} FMC_Bank1_TypeDef; - -/** - * @brief Flexible Memory Controller Bank1E - */ - -typedef struct -{ - __IO uint32_t BWTR[7]; /*!< NOR/PSRAM write timing registers, Address offset: 0x104-0x11C */ -} FMC_Bank1E_TypeDef; - -/** - * @brief Flexible Memory Controller Bank2 - */ - -typedef struct -{ - __IO uint32_t PCR2; /*!< NAND Flash control register 2, Address offset: 0x60 */ - __IO uint32_t SR2; /*!< NAND Flash FIFO status and interrupt register 2, Address offset: 0x64 */ - __IO uint32_t PMEM2; /*!< NAND Flash Common memory space timing register 2, Address offset: 0x68 */ - __IO uint32_t PATT2; /*!< NAND Flash Attribute memory space timing register 2, Address offset: 0x6C */ - uint32_t RESERVED0; /*!< Reserved, 0x70 */ - __IO uint32_t ECCR2; /*!< NAND Flash ECC result registers 2, Address offset: 0x74 */ -} FMC_Bank2_TypeDef; - -/** - * @brief Flexible Memory Controller Bank3 - */ - -typedef struct -{ - __IO uint32_t PCR; /*!< NAND Flash control register 3, Address offset: 0x80 */ - __IO uint32_t SR; /*!< NAND Flash FIFO status and interrupt register 3, Address offset: 0x84 */ - __IO uint32_t PMEM; /*!< NAND Flash Common memory space timing register 3, Address offset: 0x88 */ - __IO uint32_t PATT; /*!< NAND Flash Attribute memory space timing register 3, Address offset: 0x8C */ - uint32_t RESERVED; /*!< Reserved, 0x90 */ - __IO uint32_t ECCR; /*!< NAND Flash ECC result registers 3, Address offset: 0x94 */ -} FMC_Bank3_TypeDef; - -/** - * @brief Flexible Memory Controller Bank5 and 6 - */ - - -typedef struct -{ - __IO uint32_t SDCR[2]; /*!< SDRAM Control registers , Address offset: 0x140-0x144 */ - __IO uint32_t SDTR[2]; /*!< SDRAM Timing registers , Address offset: 0x148-0x14C */ - __IO uint32_t SDCMR; /*!< SDRAM Command Mode register, Address offset: 0x150 */ - __IO uint32_t SDRTR; /*!< SDRAM Refresh Timer register, Address offset: 0x154 */ - __IO uint32_t SDSR; /*!< SDRAM Status register, Address offset: 0x158 */ -} FMC_Bank5_6_TypeDef; - -/** - * @brief General Purpose I/O - */ - -typedef struct -{ - __IO uint32_t MODER; /*!< GPIO port mode register, Address offset: 0x00 */ - __IO uint32_t OTYPER; /*!< GPIO port output type register, Address offset: 0x04 */ - __IO uint32_t OSPEEDR; /*!< GPIO port output speed register, Address offset: 0x08 */ - __IO uint32_t PUPDR; /*!< GPIO port pull-up/pull-down register, Address offset: 0x0C */ - __IO uint32_t IDR; /*!< GPIO port input data register, Address offset: 0x10 */ - __IO uint32_t ODR; /*!< GPIO port output data register, Address offset: 0x14 */ - __IO uint32_t BSRR; /*!< GPIO port bit set/reset, Address offset: 0x18 */ - __IO uint32_t LCKR; /*!< GPIO port configuration lock register, Address offset: 0x1C */ - __IO uint32_t AFR[2]; /*!< GPIO alternate function registers, Address offset: 0x20-0x24 */ -} GPIO_TypeDef; - -/** - * @brief Operational Amplifier (OPAMP) - */ - -typedef struct -{ - __IO uint32_t CSR; /*!< OPAMP control/status register, Address offset: 0x00 */ - __IO uint32_t OTR; /*!< OPAMP offset trimming register for normal mode, Address offset: 0x04 */ - __IO uint32_t HSOTR; /*!< OPAMP offset trimming register for high speed mode, Address offset: 0x08 */ -} OPAMP_TypeDef; - -/** - * @brief System configuration controller - */ - -typedef struct -{ - uint32_t RESERVED1; /*!< Reserved, Address offset: 0x00 */ - __IO uint32_t PMCR; /*!< SYSCFG peripheral mode configuration register, Address offset: 0x04 */ - __IO uint32_t EXTICR[4]; /*!< SYSCFG external interrupt configuration registers, Address offset: 0x08-0x14 */ - __IO uint32_t CFGR; /*!< SYSCFG configuration registers, Address offset: 0x18 */ - uint32_t RESERVED2; /*!< Reserved, Address offset: 0x1C */ - __IO uint32_t CCCSR; /*!< SYSCFG compensation cell control/status register, Address offset: 0x20 */ - __IO uint32_t CCVR; /*!< SYSCFG compensation cell value register, Address offset: 0x24 */ - __IO uint32_t CCCR; /*!< SYSCFG compensation cell code register, Address offset: 0x28 */ - uint32_t RESERVED3; /*!< Reserved, Address offset: 0x2C */ - __IO uint32_t ADC2ALT; /*!< ADC2 internal input alternate connection register, Address offset: 0x30 */ - uint32_t RESERVED4[60]; /*!< Reserved, 0x34-0x120 */ - __IO uint32_t PKGR; /*!< SYSCFG package register, Address offset: 0x124 */ - uint32_t RESERVED5[118]; /*!< Reserved, 0x128-0x2FC */ - __IO uint32_t UR0; /*!< SYSCFG user register 0, Address offset: 0x300 */ - __IO uint32_t UR1; /*!< SYSCFG user register 1, Address offset: 0x304 */ - __IO uint32_t UR2; /*!< SYSCFG user register 2, Address offset: 0x308 */ - __IO uint32_t UR3; /*!< SYSCFG user register 3, Address offset: 0x30C */ - __IO uint32_t UR4; /*!< SYSCFG user register 4, Address offset: 0x310 */ - __IO uint32_t UR5; /*!< SYSCFG user register 5, Address offset: 0x314 */ - __IO uint32_t UR6; /*!< SYSCFG user register 6, Address offset: 0x318 */ - __IO uint32_t UR7; /*!< SYSCFG user register 7, Address offset: 0x31C */ - uint32_t RESERVED6[3]; /*!< Reserved, Address offset: 0x320-0x328 */ - __IO uint32_t UR11; /*!< SYSCFG user register 11, Address offset: 0x32C */ - __IO uint32_t UR12; /*!< SYSCFG user register 12, Address offset: 0x330 */ - __IO uint32_t UR13; /*!< SYSCFG user register 13, Address offset: 0x334 */ - __IO uint32_t UR14; /*!< SYSCFG user register 14, Address offset: 0x338 */ - __IO uint32_t UR15; /*!< SYSCFG user register 15, Address offset: 0x33C */ - __IO uint32_t UR16; /*!< SYSCFG user register 16, Address offset: 0x340 */ - __IO uint32_t UR17; /*!< SYSCFG user register 17, Address offset: 0x344 */ - __IO uint32_t UR18; /*!< SYSCFG user register 18, Address offset: 0x348 */ - -} SYSCFG_TypeDef; - -/** - * @brief Inter-integrated Circuit Interface - */ - -typedef struct -{ - __IO uint32_t CR1; /*!< I2C Control register 1, Address offset: 0x00 */ - __IO uint32_t CR2; /*!< I2C Control register 2, Address offset: 0x04 */ - __IO uint32_t OAR1; /*!< I2C Own address 1 register, Address offset: 0x08 */ - __IO uint32_t OAR2; /*!< I2C Own address 2 register, Address offset: 0x0C */ - __IO uint32_t TIMINGR; /*!< I2C Timing register, Address offset: 0x10 */ - __IO uint32_t TIMEOUTR; /*!< I2C Timeout register, Address offset: 0x14 */ - __IO uint32_t ISR; /*!< I2C Interrupt and status register, Address offset: 0x18 */ - __IO uint32_t ICR; /*!< I2C Interrupt clear register, Address offset: 0x1C */ - __IO uint32_t PECR; /*!< I2C PEC register, Address offset: 0x20 */ - __IO uint32_t RXDR; /*!< I2C Receive data register, Address offset: 0x24 */ - __IO uint32_t TXDR; /*!< I2C Transmit data register, Address offset: 0x28 */ -} I2C_TypeDef; - -/** - * @brief Independent WATCHDOG - */ - -typedef struct -{ - __IO uint32_t KR; /*!< IWDG Key register, Address offset: 0x00 */ - __IO uint32_t PR; /*!< IWDG Prescaler register, Address offset: 0x04 */ - __IO uint32_t RLR; /*!< IWDG Reload register, Address offset: 0x08 */ - __IO uint32_t SR; /*!< IWDG Status register, Address offset: 0x0C */ - __IO uint32_t WINR; /*!< IWDG Window register, Address offset: 0x10 */ -} IWDG_TypeDef; - - -/** - * @brief LCD-TFT Display Controller - */ - -typedef struct -{ - uint32_t RESERVED0[2]; /*!< Reserved, 0x00-0x04 */ - __IO uint32_t SSCR; /*!< LTDC Synchronization Size Configuration Register, Address offset: 0x08 */ - __IO uint32_t BPCR; /*!< LTDC Back Porch Configuration Register, Address offset: 0x0C */ - __IO uint32_t AWCR; /*!< LTDC Active Width Configuration Register, Address offset: 0x10 */ - __IO uint32_t TWCR; /*!< LTDC Total Width Configuration Register, Address offset: 0x14 */ - __IO uint32_t GCR; /*!< LTDC Global Control Register, Address offset: 0x18 */ - uint32_t RESERVED1[2]; /*!< Reserved, 0x1C-0x20 */ - __IO uint32_t SRCR; /*!< LTDC Shadow Reload Configuration Register, Address offset: 0x24 */ - uint32_t RESERVED2[1]; /*!< Reserved, 0x28 */ - __IO uint32_t BCCR; /*!< LTDC Background Color Configuration Register, Address offset: 0x2C */ - uint32_t RESERVED3[1]; /*!< Reserved, 0x30 */ - __IO uint32_t IER; /*!< LTDC Interrupt Enable Register, Address offset: 0x34 */ - __IO uint32_t ISR; /*!< LTDC Interrupt Status Register, Address offset: 0x38 */ - __IO uint32_t ICR; /*!< LTDC Interrupt Clear Register, Address offset: 0x3C */ - __IO uint32_t LIPCR; /*!< LTDC Line Interrupt Position Configuration Register, Address offset: 0x40 */ - __IO uint32_t CPSR; /*!< LTDC Current Position Status Register, Address offset: 0x44 */ - __IO uint32_t CDSR; /*!< LTDC Current Display Status Register, Address offset: 0x48 */ -} LTDC_TypeDef; - -/** - * @brief LCD-TFT Display layer x Controller - */ - -typedef struct -{ - __IO uint32_t CR; /*!< LTDC Layerx Control Register Address offset: 0x84 */ - __IO uint32_t WHPCR; /*!< LTDC Layerx Window Horizontal Position Configuration Register Address offset: 0x88 */ - __IO uint32_t WVPCR; /*!< LTDC Layerx Window Vertical Position Configuration Register Address offset: 0x8C */ - __IO uint32_t CKCR; /*!< LTDC Layerx Color Keying Configuration Register Address offset: 0x90 */ - __IO uint32_t PFCR; /*!< LTDC Layerx Pixel Format Configuration Register Address offset: 0x94 */ - __IO uint32_t CACR; /*!< LTDC Layerx Constant Alpha Configuration Register Address offset: 0x98 */ - __IO uint32_t DCCR; /*!< LTDC Layerx Default Color Configuration Register Address offset: 0x9C */ - __IO uint32_t BFCR; /*!< LTDC Layerx Blending Factors Configuration Register Address offset: 0xA0 */ - uint32_t RESERVED0[2]; /*!< Reserved */ - __IO uint32_t CFBAR; /*!< LTDC Layerx Color Frame Buffer Address Register Address offset: 0xAC */ - __IO uint32_t CFBLR; /*!< LTDC Layerx Color Frame Buffer Length Register Address offset: 0xB0 */ - __IO uint32_t CFBLNR; /*!< LTDC Layerx ColorFrame Buffer Line Number Register Address offset: 0xB4 */ - uint32_t RESERVED1[3]; /*!< Reserved */ - __IO uint32_t CLUTWR; /*!< LTDC Layerx CLUT Write Register Address offset: 0x144 */ - -} LTDC_Layer_TypeDef; - -/** - * @brief Power Control - */ - -typedef struct -{ - __IO uint32_t CR1; /*!< PWR power control register 1, Address offset: 0x00 */ - __IO uint32_t CSR1; /*!< PWR power control status register 1, Address offset: 0x04 */ - __IO uint32_t CR2; /*!< PWR power control register 2, Address offset: 0x08 */ - __IO uint32_t CR3; /*!< PWR power control register 3, Address offset: 0x0C */ - __IO uint32_t CPUCR; /*!< PWR CPU control register, Address offset: 0x10 */ - uint32_t RESERVED0; /*!< Reserved, Address offset: 0x14 */ - __IO uint32_t D3CR; /*!< PWR D3 domain control register, Address offset: 0x18 */ - uint32_t RESERVED1; /*!< Reserved, Address offset: 0x1C */ - __IO uint32_t WKUPCR; /*!< PWR wakeup clear register, Address offset: 0x20 */ - __IO uint32_t WKUPFR; /*!< PWR wakeup flag register, Address offset: 0x24 */ - __IO uint32_t WKUPEPR; /*!< PWR wakeup enable and polarity register, Address offset: 0x28 */ -} PWR_TypeDef; - -/** - * @brief Reset and Clock Control - */ - -typedef struct -{ - __IO uint32_t CR; /*!< RCC clock control register, Address offset: 0x00 */ - __IO uint32_t HSICFGR; /*!< HSI Clock Calibration Register, Address offset: 0x04 */ - __IO uint32_t CRRCR; /*!< Clock Recovery RC Register, Address offset: 0x08 */ - __IO uint32_t CSICFGR; /*!< CSI Clock Calibration Register, Address offset: 0x0C */ - __IO uint32_t CFGR; /*!< RCC clock configuration register, Address offset: 0x10 */ - uint32_t RESERVED1; /*!< Reserved, Address offset: 0x14 */ - __IO uint32_t D1CFGR; /*!< RCC Domain 1 configuration register, Address offset: 0x18 */ - __IO uint32_t D2CFGR; /*!< RCC Domain 2 configuration register, Address offset: 0x1C */ - __IO uint32_t D3CFGR; /*!< RCC Domain 3 configuration register, Address offset: 0x20 */ - uint32_t RESERVED2; /*!< Reserved, Address offset: 0x24 */ - __IO uint32_t PLLCKSELR; /*!< RCC PLLs Clock Source Selection Register, Address offset: 0x28 */ - __IO uint32_t PLLCFGR; /*!< RCC PLLs Configuration Register, Address offset: 0x2C */ - __IO uint32_t PLL1DIVR; /*!< RCC PLL1 Dividers Configuration Register, Address offset: 0x30 */ - __IO uint32_t PLL1FRACR; /*!< RCC PLL1 Fractional Divider Configuration Register, Address offset: 0x34 */ - __IO uint32_t PLL2DIVR; /*!< RCC PLL2 Dividers Configuration Register, Address offset: 0x38 */ - __IO uint32_t PLL2FRACR; /*!< RCC PLL2 Fractional Divider Configuration Register, Address offset: 0x3C */ - __IO uint32_t PLL3DIVR; /*!< RCC PLL3 Dividers Configuration Register, Address offset: 0x40 */ - __IO uint32_t PLL3FRACR; /*!< RCC PLL3 Fractional Divider Configuration Register, Address offset: 0x44 */ - uint32_t RESERVED3; /*!< Reserved, Address offset: 0x48 */ - __IO uint32_t D1CCIPR; /*!< RCC Domain 1 Kernel Clock Configuration Register Address offset: 0x4C */ - __IO uint32_t D2CCIP1R; /*!< RCC Domain 2 Kernel Clock Configuration Register Address offset: 0x50 */ - __IO uint32_t D2CCIP2R; /*!< RCC Domain 2 Kernel Clock Configuration Register Address offset: 0x54 */ - __IO uint32_t D3CCIPR; /*!< RCC Domain 3 Kernel Clock Configuration Register Address offset: 0x58 */ - uint32_t RESERVED4; /*!< Reserved, Address offset: 0x5C */ - __IO uint32_t CIER; /*!< RCC Clock Source Interrupt Enable Register Address offset: 0x60 */ - __IO uint32_t CIFR; /*!< RCC Clock Source Interrupt Flag Register Address offset: 0x64 */ - __IO uint32_t CICR; /*!< RCC Clock Source Interrupt Clear Register Address offset: 0x68 */ - uint32_t RESERVED5; /*!< Reserved, Address offset: 0x6C */ - __IO uint32_t BDCR; /*!< RCC Vswitch Backup Domain Control Register, Address offset: 0x70 */ - __IO uint32_t CSR; /*!< RCC clock control & status register, Address offset: 0x74 */ - uint32_t RESERVED6; /*!< Reserved, Address offset: 0x78 */ - __IO uint32_t AHB3RSTR; /*!< RCC AHB3 peripheral reset register, Address offset: 0x7C */ - __IO uint32_t AHB1RSTR; /*!< RCC AHB1 peripheral reset register, Address offset: 0x80 */ - __IO uint32_t AHB2RSTR; /*!< RCC AHB2 peripheral reset register, Address offset: 0x84 */ - __IO uint32_t AHB4RSTR; /*!< RCC AHB4 peripheral reset register, Address offset: 0x88 */ - __IO uint32_t APB3RSTR; /*!< RCC APB3 peripheral reset register, Address offset: 0x8C */ - __IO uint32_t APB1LRSTR; /*!< RCC APB1 peripheral reset Low Word register, Address offset: 0x90 */ - __IO uint32_t APB1HRSTR; /*!< RCC APB1 peripheral reset High Word register, Address offset: 0x94 */ - __IO uint32_t APB2RSTR; /*!< RCC APB2 peripheral reset register, Address offset: 0x98 */ - __IO uint32_t APB4RSTR; /*!< RCC APB4 peripheral reset register, Address offset: 0x9C */ - __IO uint32_t GCR; /*!< RCC RCC Global Control Register, Address offset: 0xA0 */ - uint32_t RESERVED8; /*!< Reserved, Address offset: 0xA4 */ - __IO uint32_t D3AMR; /*!< RCC Domain 3 Autonomous Mode Register, Address offset: 0xA8 */ - uint32_t RESERVED11[9]; /*!< Reserved, 0xAC-0xCC Address offset: 0xAC */ - __IO uint32_t RSR; /*!< RCC Reset status register, Address offset: 0xD0 */ - __IO uint32_t AHB3ENR; /*!< RCC AHB3 peripheral clock register, Address offset: 0xD4 */ - __IO uint32_t AHB1ENR; /*!< RCC AHB1 peripheral clock register, Address offset: 0xD8 */ - __IO uint32_t AHB2ENR; /*!< RCC AHB2 peripheral clock register, Address offset: 0xDC */ - __IO uint32_t AHB4ENR; /*!< RCC AHB4 peripheral clock register, Address offset: 0xE0 */ - __IO uint32_t APB3ENR; /*!< RCC APB3 peripheral clock register, Address offset: 0xE4 */ - __IO uint32_t APB1LENR; /*!< RCC APB1 peripheral clock Low Word register, Address offset: 0xE8 */ - __IO uint32_t APB1HENR; /*!< RCC APB1 peripheral clock High Word register, Address offset: 0xEC */ - __IO uint32_t APB2ENR; /*!< RCC APB2 peripheral clock register, Address offset: 0xF0 */ - __IO uint32_t APB4ENR; /*!< RCC APB4 peripheral clock register, Address offset: 0xF4 */ - uint32_t RESERVED12; /*!< Reserved, Address offset: 0xF8 */ - __IO uint32_t AHB3LPENR; /*!< RCC AHB3 peripheral sleep clock register, Address offset: 0xFC */ - __IO uint32_t AHB1LPENR; /*!< RCC AHB1 peripheral sleep clock register, Address offset: 0x100 */ - __IO uint32_t AHB2LPENR; /*!< RCC AHB2 peripheral sleep clock register, Address offset: 0x104 */ - __IO uint32_t AHB4LPENR; /*!< RCC AHB4 peripheral sleep clock register, Address offset: 0x108 */ - __IO uint32_t APB3LPENR; /*!< RCC APB3 peripheral sleep clock register, Address offset: 0x10C */ - __IO uint32_t APB1LLPENR; /*!< RCC APB1 peripheral sleep clock Low Word register, Address offset: 0x110 */ - __IO uint32_t APB1HLPENR; /*!< RCC APB1 peripheral sleep clock High Word register, Address offset: 0x114 */ - __IO uint32_t APB2LPENR; /*!< RCC APB2 peripheral sleep clock register, Address offset: 0x118 */ - __IO uint32_t APB4LPENR; /*!< RCC APB4 peripheral sleep clock register, Address offset: 0x11C */ - uint32_t RESERVED13[4]; /*!< Reserved, 0x120-0x12C Address offset: 0x120 */ - -} RCC_TypeDef; - - -/** - * @brief Real-Time Clock - */ -typedef struct -{ - __IO uint32_t TR; /*!< RTC time register, Address offset: 0x00 */ - __IO uint32_t DR; /*!< RTC date register, Address offset: 0x04 */ - __IO uint32_t CR; /*!< RTC control register, Address offset: 0x08 */ - __IO uint32_t ISR; /*!< RTC initialization and status register, Address offset: 0x0C */ - __IO uint32_t PRER; /*!< RTC prescaler register, Address offset: 0x10 */ - __IO uint32_t WUTR; /*!< RTC wakeup timer register, Address offset: 0x14 */ - uint32_t RESERVED; /*!< Reserved, Address offset: 0x18 */ - __IO uint32_t ALRMAR; /*!< RTC alarm A register, Address offset: 0x1C */ - __IO uint32_t ALRMBR; /*!< RTC alarm B register, Address offset: 0x20 */ - __IO uint32_t WPR; /*!< RTC write protection register, Address offset: 0x24 */ - __IO uint32_t SSR; /*!< RTC sub second register, Address offset: 0x28 */ - __IO uint32_t SHIFTR; /*!< RTC shift control register, Address offset: 0x2C */ - __IO uint32_t TSTR; /*!< RTC time stamp time register, Address offset: 0x30 */ - __IO uint32_t TSDR; /*!< RTC time stamp date register, Address offset: 0x34 */ - __IO uint32_t TSSSR; /*!< RTC time-stamp sub second register, Address offset: 0x38 */ - __IO uint32_t CALR; /*!< RTC calibration register, Address offset: 0x3C */ - __IO uint32_t TAMPCR; /*!< RTC tamper configuration register, Address offset: 0x40 */ - __IO uint32_t ALRMASSR; /*!< RTC alarm A sub second register, Address offset: 0x44 */ - __IO uint32_t ALRMBSSR; /*!< RTC alarm B sub second register, Address offset: 0x48 */ - __IO uint32_t OR; /*!< RTC option register, Address offset: 0x4C */ - __IO uint32_t BKP0R; /*!< RTC backup register 0, Address offset: 0x50 */ - __IO uint32_t BKP1R; /*!< RTC backup register 1, Address offset: 0x54 */ - __IO uint32_t BKP2R; /*!< RTC backup register 2, Address offset: 0x58 */ - __IO uint32_t BKP3R; /*!< RTC backup register 3, Address offset: 0x5C */ - __IO uint32_t BKP4R; /*!< RTC backup register 4, Address offset: 0x60 */ - __IO uint32_t BKP5R; /*!< RTC backup register 5, Address offset: 0x64 */ - __IO uint32_t BKP6R; /*!< RTC backup register 6, Address offset: 0x68 */ - __IO uint32_t BKP7R; /*!< RTC backup register 7, Address offset: 0x6C */ - __IO uint32_t BKP8R; /*!< RTC backup register 8, Address offset: 0x70 */ - __IO uint32_t BKP9R; /*!< RTC backup register 9, Address offset: 0x74 */ - __IO uint32_t BKP10R; /*!< RTC backup register 10, Address offset: 0x78 */ - __IO uint32_t BKP11R; /*!< RTC backup register 11, Address offset: 0x7C */ - __IO uint32_t BKP12R; /*!< RTC backup register 12, Address offset: 0x80 */ - __IO uint32_t BKP13R; /*!< RTC backup register 13, Address offset: 0x84 */ - __IO uint32_t BKP14R; /*!< RTC backup register 14, Address offset: 0x88 */ - __IO uint32_t BKP15R; /*!< RTC backup register 15, Address offset: 0x8C */ - __IO uint32_t BKP16R; /*!< RTC backup register 16, Address offset: 0x90 */ - __IO uint32_t BKP17R; /*!< RTC backup register 17, Address offset: 0x94 */ - __IO uint32_t BKP18R; /*!< RTC backup register 18, Address offset: 0x98 */ - __IO uint32_t BKP19R; /*!< RTC backup register 19, Address offset: 0x9C */ - __IO uint32_t BKP20R; /*!< RTC backup register 20, Address offset: 0xA0 */ - __IO uint32_t BKP21R; /*!< RTC backup register 21, Address offset: 0xA4 */ - __IO uint32_t BKP22R; /*!< RTC backup register 22, Address offset: 0xA8 */ - __IO uint32_t BKP23R; /*!< RTC backup register 23, Address offset: 0xAC */ - __IO uint32_t BKP24R; /*!< RTC backup register 24, Address offset: 0xB0 */ - __IO uint32_t BKP25R; /*!< RTC backup register 25, Address offset: 0xB4 */ - __IO uint32_t BKP26R; /*!< RTC backup register 26, Address offset: 0xB8 */ - __IO uint32_t BKP27R; /*!< RTC backup register 27, Address offset: 0xBC */ - __IO uint32_t BKP28R; /*!< RTC backup register 28, Address offset: 0xC0 */ - __IO uint32_t BKP29R; /*!< RTC backup register 29, Address offset: 0xC4 */ - __IO uint32_t BKP30R; /*!< RTC backup register 30, Address offset: 0xC8 */ - __IO uint32_t BKP31R; /*!< RTC backup register 31, Address offset: 0xCC */ -} RTC_TypeDef; - -/** - * @brief Serial Audio Interface - */ - -typedef struct -{ - __IO uint32_t GCR; /*!< SAI global configuration register, Address offset: 0x00 */ - uint32_t RESERVED0[16]; /*!< Reserved, 0x04 - 0x43 */ - __IO uint32_t PDMCR; /*!< SAI PDM control register, Address offset: 0x44 */ - __IO uint32_t PDMDLY; /*!< SAI PDM delay register, Address offset: 0x48 */ -} SAI_TypeDef; - -typedef struct -{ - __IO uint32_t CR1; /*!< SAI block x configuration register 1, Address offset: 0x04 */ - __IO uint32_t CR2; /*!< SAI block x configuration register 2, Address offset: 0x08 */ - __IO uint32_t FRCR; /*!< SAI block x frame configuration register, Address offset: 0x0C */ - __IO uint32_t SLOTR; /*!< SAI block x slot register, Address offset: 0x10 */ - __IO uint32_t IMR; /*!< SAI block x interrupt mask register, Address offset: 0x14 */ - __IO uint32_t SR; /*!< SAI block x status register, Address offset: 0x18 */ - __IO uint32_t CLRFR; /*!< SAI block x clear flag register, Address offset: 0x1C */ - __IO uint32_t DR; /*!< SAI block x data register, Address offset: 0x20 */ -} SAI_Block_TypeDef; - -/** - * @brief SPDIF-RX Interface - */ - -typedef struct -{ - __IO uint32_t CR; /*!< Control register, Address offset: 0x00 */ - __IO uint32_t IMR; /*!< Interrupt mask register, Address offset: 0x04 */ - __IO uint32_t SR; /*!< Status register, Address offset: 0x08 */ - __IO uint32_t IFCR; /*!< Interrupt Flag Clear register, Address offset: 0x0C */ - __IO uint32_t DR; /*!< Data input register, Address offset: 0x10 */ - __IO uint32_t CSR; /*!< Channel Status register, Address offset: 0x14 */ - __IO uint32_t DIR; /*!< Debug Information register, Address offset: 0x18 */ - uint32_t RESERVED2; /*!< Reserved, 0x1A */ -} SPDIFRX_TypeDef; - - -/** - * @brief Secure digital input/output Interface - */ - -typedef struct -{ - __IO uint32_t POWER; /*!< SDMMC power control register, Address offset: 0x00 */ - __IO uint32_t CLKCR; /*!< SDMMC clock control register, Address offset: 0x04 */ - __IO uint32_t ARG; /*!< SDMMC argument register, Address offset: 0x08 */ - __IO uint32_t CMD; /*!< SDMMC command register, Address offset: 0x0C */ - __I uint32_t RESPCMD; /*!< SDMMC command response register, Address offset: 0x10 */ - __I uint32_t RESP1; /*!< SDMMC response 1 register, Address offset: 0x14 */ - __I uint32_t RESP2; /*!< SDMMC response 2 register, Address offset: 0x18 */ - __I uint32_t RESP3; /*!< SDMMC response 3 register, Address offset: 0x1C */ - __I uint32_t RESP4; /*!< SDMMC response 4 register, Address offset: 0x20 */ - __IO uint32_t DTIMER; /*!< SDMMC data timer register, Address offset: 0x24 */ - __IO uint32_t DLEN; /*!< SDMMC data length register, Address offset: 0x28 */ - __IO uint32_t DCTRL; /*!< SDMMC data control register, Address offset: 0x2C */ - __I uint32_t DCOUNT; /*!< SDMMC data counter register, Address offset: 0x30 */ - __I uint32_t STA; /*!< SDMMC status register, Address offset: 0x34 */ - __IO uint32_t ICR; /*!< SDMMC interrupt clear register, Address offset: 0x38 */ - __IO uint32_t MASK; /*!< SDMMC mask register, Address offset: 0x3C */ - __IO uint32_t ACKTIME; /*!< SDMMC Acknowledgement timer register, Address offset: 0x40 */ - uint32_t RESERVED0[3]; /*!< Reserved, 0x44 - 0x4C - 0x4C */ - __IO uint32_t IDMACTRL; /*!< SDMMC DMA control register, Address offset: 0x50 */ - __IO uint32_t IDMABSIZE; /*!< SDMMC DMA buffer size register, Address offset: 0x54 */ - __IO uint32_t IDMABASE0; /*!< SDMMC DMA buffer 0 base address register, Address offset: 0x58 */ - __IO uint32_t IDMABASE1; /*!< SDMMC DMA buffer 1 base address register, Address offset: 0x5C */ - uint32_t RESERVED1[8]; /*!< Reserved, 0x60-0x7C */ - __IO uint32_t FIFO; /*!< SDMMC data FIFO register, Address offset: 0x80 */ - uint32_t RESERVED2[222]; /*!< Reserved, 0x84-0x3F8 */ - __IO uint32_t IPVR; /*!< SDMMC data FIFO register, Address offset: 0x3FC */ -} SDMMC_TypeDef; - - -/** - * @brief Delay Block DLYB - */ - -typedef struct -{ - __IO uint32_t CR; /*!< DELAY BLOCK control register, Address offset: 0x00 */ - __IO uint32_t CFGR; /*!< DELAY BLOCK configuration register, Address offset: 0x04 */ -} DLYB_TypeDef; - -/** - * @brief HW Semaphore HSEM - */ - -typedef struct -{ - __IO uint32_t R[32]; /*!< 2-step write lock and read back registers, Address offset: 00h-7Ch */ - __IO uint32_t RLR[32]; /*!< 1-step read lock registers, Address offset: 80h-FCh */ - __IO uint32_t C1IER; /*!< HSEM Interrupt enable register , Address offset: 100h */ - __IO uint32_t C1ICR; /*!< HSEM Interrupt clear register , Address offset: 104h */ - __IO uint32_t C1ISR; /*!< HSEM Interrupt Status register , Address offset: 108h */ - __IO uint32_t C1MISR; /*!< HSEM Interrupt Masked Status register , Address offset: 10Ch */ - uint32_t Reserved[12]; /* Reserved Address offset: 110h-13Ch */ - __IO uint32_t CR; /*!< HSEM Semaphore clear register , Address offset: 140h */ - __IO uint32_t KEYR; /*!< HSEM Semaphore clear key register , Address offset: 144h */ - -} HSEM_TypeDef; - -typedef struct -{ - __IO uint32_t IER; /*!< HSEM interrupt enable register , Address offset: 0h */ - __IO uint32_t ICR; /*!< HSEM interrupt clear register , Address offset: 4h */ - __IO uint32_t ISR; /*!< HSEM interrupt status register , Address offset: 8h */ - __IO uint32_t MISR; /*!< HSEM masked interrupt status register , Address offset: Ch */ -} HSEM_Common_TypeDef; - -/** - * @brief Serial Peripheral Interface - */ - -typedef struct -{ - __IO uint32_t CR1; /*!< SPI/I2S Control register 1, Address offset: 0x00 */ - __IO uint32_t CR2; /*!< SPI Control register 2, Address offset: 0x04 */ - __IO uint32_t CFG1; /*!< SPI Configuration register 1, Address offset: 0x08 */ - __IO uint32_t CFG2; /*!< SPI Configuration register 2, Address offset: 0x0C */ - __IO uint32_t IER; /*!< SPI/I2S Interrupt Enable register, Address offset: 0x10 */ - __IO uint32_t SR; /*!< SPI/I2S Status register, Address offset: 0x14 */ - __IO uint32_t IFCR; /*!< SPI/I2S Interrupt/Status flags clear register, Address offset: 0x18 */ - uint32_t RESERVED0; /*!< Reserved, 0x1C */ - __IO uint32_t TXDR; /*!< SPI/I2S Transmit data register, Address offset: 0x20 */ - uint32_t RESERVED1[3]; /*!< Reserved, 0x24-0x2C */ - __IO uint32_t RXDR; /*!< SPI/I2S Receive data register, Address offset: 0x30 */ - uint32_t RESERVED2[3]; /*!< Reserved, 0x34-0x3C */ - __IO uint32_t CRCPOLY; /*!< SPI CRC Polynomial register, Address offset: 0x40 */ - __IO uint32_t TXCRC; /*!< SPI Transmitter CRC register, Address offset: 0x44 */ - __IO uint32_t RXCRC; /*!< SPI Receiver CRC register, Address offset: 0x48 */ - __IO uint32_t UDRDR; /*!< SPI Underrun data register, Address offset: 0x4C */ - __IO uint32_t I2SCFGR; /*!< I2S Configuration register, Address offset: 0x50 */ - -} SPI_TypeDef; - -/** - * @brief DTS - */ -typedef struct -{ - __IO uint32_t CFGR1; /*!< DTS configuration register, Address offset: 0x00 */ - uint32_t RESERVED0; /*!< Reserved, Address offset: 0x04 */ - __IO uint32_t T0VALR1; /*!< DTS T0 Value register, Address offset: 0x08 */ - uint32_t RESERVED1; /*!< Reserved, Address offset: 0x0C */ - __IO uint32_t RAMPVALR; /*!< DTS Ramp value register, Address offset: 0x10 */ - __IO uint32_t ITR1; /*!< DTS Interrupt threshold register, Address offset: 0x14 */ - uint32_t RESERVED2; /*!< Reserved, Address offset: 0x18 */ - __IO uint32_t DR; /*!< DTS data register, Address offset: 0x1C */ - __IO uint32_t SR; /*!< DTS status register Address offset: 0x20 */ - __IO uint32_t ITENR; /*!< DTS Interrupt enable register, Address offset: 0x24 */ - __IO uint32_t ICIFR; /*!< DTS Clear Interrupt flag register, Address offset: 0x28 */ - __IO uint32_t OR; /*!< DTS option register 1, Address offset: 0x2C */ -} -DTS_TypeDef; - -/** - * @brief TIM - */ - -typedef struct -{ - __IO uint32_t CR1; /*!< TIM control register 1, Address offset: 0x00 */ - __IO uint32_t CR2; /*!< TIM control register 2, Address offset: 0x04 */ - __IO uint32_t SMCR; /*!< TIM slave mode control register, Address offset: 0x08 */ - __IO uint32_t DIER; /*!< TIM DMA/interrupt enable register, Address offset: 0x0C */ - __IO uint32_t SR; /*!< TIM status register, Address offset: 0x10 */ - __IO uint32_t EGR; /*!< TIM event generation register, Address offset: 0x14 */ - __IO uint32_t CCMR1; /*!< TIM capture/compare mode register 1, Address offset: 0x18 */ - __IO uint32_t CCMR2; /*!< TIM capture/compare mode register 2, Address offset: 0x1C */ - __IO uint32_t CCER; /*!< TIM capture/compare enable register, Address offset: 0x20 */ - __IO uint32_t CNT; /*!< TIM counter register, Address offset: 0x24 */ - __IO uint32_t PSC; /*!< TIM prescaler, Address offset: 0x28 */ - __IO uint32_t ARR; /*!< TIM auto-reload register, Address offset: 0x2C */ - __IO uint32_t RCR; /*!< TIM repetition counter register, Address offset: 0x30 */ - __IO uint32_t CCR1; /*!< TIM capture/compare register 1, Address offset: 0x34 */ - __IO uint32_t CCR2; /*!< TIM capture/compare register 2, Address offset: 0x38 */ - __IO uint32_t CCR3; /*!< TIM capture/compare register 3, Address offset: 0x3C */ - __IO uint32_t CCR4; /*!< TIM capture/compare register 4, Address offset: 0x40 */ - __IO uint32_t BDTR; /*!< TIM break and dead-time register, Address offset: 0x44 */ - __IO uint32_t DCR; /*!< TIM DMA control register, Address offset: 0x48 */ - __IO uint32_t DMAR; /*!< TIM DMA address for full transfer, Address offset: 0x4C */ - uint32_t RESERVED1; /*!< Reserved, 0x50 */ - __IO uint32_t CCMR3; /*!< TIM capture/compare mode register 3, Address offset: 0x54 */ - __IO uint32_t CCR5; /*!< TIM capture/compare register5, Address offset: 0x58 */ - __IO uint32_t CCR6; /*!< TIM capture/compare register6, Address offset: 0x5C */ - __IO uint32_t AF1; /*!< TIM alternate function option register 1, Address offset: 0x60 */ - __IO uint32_t AF2; /*!< TIM alternate function option register 2, Address offset: 0x64 */ - __IO uint32_t TISEL; /*!< TIM Input Selection register, Address offset: 0x68 */ -} TIM_TypeDef; - -/** - * @brief LPTIMIMER - */ -typedef struct -{ - __IO uint32_t ISR; /*!< LPTIM Interrupt and Status register, Address offset: 0x00 */ - __IO uint32_t ICR; /*!< LPTIM Interrupt Clear register, Address offset: 0x04 */ - __IO uint32_t IER; /*!< LPTIM Interrupt Enable register, Address offset: 0x08 */ - __IO uint32_t CFGR; /*!< LPTIM Configuration register, Address offset: 0x0C */ - __IO uint32_t CR; /*!< LPTIM Control register, Address offset: 0x10 */ - __IO uint32_t CMP; /*!< LPTIM Compare register, Address offset: 0x14 */ - __IO uint32_t ARR; /*!< LPTIM Autoreload register, Address offset: 0x18 */ - __IO uint32_t CNT; /*!< LPTIM Counter register, Address offset: 0x1C */ - uint32_t RESERVED1; /*!< Reserved, 0x20 */ - __IO uint32_t CFGR2; /*!< LPTIM Configuration register, Address offset: 0x24 */ -} LPTIM_TypeDef; - -/** - * @brief Comparator - */ -typedef struct -{ - __IO uint32_t SR; /*!< Comparator status register, Address offset: 0x00 */ - __IO uint32_t ICFR; /*!< Comparator interrupt clear flag register, Address offset: 0x04 */ - __IO uint32_t OR; /*!< Comparator option register, Address offset: 0x08 */ -} COMPOPT_TypeDef; - -typedef struct -{ - __IO uint32_t CFGR; /*!< Comparator configuration register , Address offset: 0x00 */ -} COMP_TypeDef; - -typedef struct -{ - __IO uint32_t CFGR; /*!< COMP control and status register, used for bits common to several COMP instances, Address offset: 0x00 */ -} COMP_Common_TypeDef; -/** - * @brief Universal Synchronous Asynchronous Receiver Transmitter - */ - -typedef struct -{ - __IO uint32_t CR1; /*!< USART Control register 1, Address offset: 0x00 */ - __IO uint32_t CR2; /*!< USART Control register 2, Address offset: 0x04 */ - __IO uint32_t CR3; /*!< USART Control register 3, Address offset: 0x08 */ - __IO uint32_t BRR; /*!< USART Baud rate register, Address offset: 0x0C */ - __IO uint32_t GTPR; /*!< USART Guard time and prescaler register, Address offset: 0x10 */ - __IO uint32_t RTOR; /*!< USART Receiver Time Out register, Address offset: 0x14 */ - __IO uint32_t RQR; /*!< USART Request register, Address offset: 0x18 */ - __IO uint32_t ISR; /*!< USART Interrupt and status register, Address offset: 0x1C */ - __IO uint32_t ICR; /*!< USART Interrupt flag Clear register, Address offset: 0x20 */ - __IO uint32_t RDR; /*!< USART Receive Data register, Address offset: 0x24 */ - __IO uint32_t TDR; /*!< USART Transmit Data register, Address offset: 0x28 */ - __IO uint32_t PRESC; /*!< USART clock Prescaler register, Address offset: 0x2C */ -} USART_TypeDef; - -/** - * @brief Single Wire Protocol Master Interface SPWMI - */ -typedef struct -{ - __IO uint32_t CR; /*!< SWPMI Configuration/Control register, Address offset: 0x00 */ - __IO uint32_t BRR; /*!< SWPMI bitrate register, Address offset: 0x04 */ - uint32_t RESERVED1; /*!< Reserved, 0x08 */ - __IO uint32_t ISR; /*!< SWPMI Interrupt and Status register, Address offset: 0x0C */ - __IO uint32_t ICR; /*!< SWPMI Interrupt Flag Clear register, Address offset: 0x10 */ - __IO uint32_t IER; /*!< SWPMI Interrupt Enable register, Address offset: 0x14 */ - __IO uint32_t RFL; /*!< SWPMI Receive Frame Length register, Address offset: 0x18 */ - __IO uint32_t TDR; /*!< SWPMI Transmit data register, Address offset: 0x1C */ - __IO uint32_t RDR; /*!< SWPMI Receive data register, Address offset: 0x20 */ - __IO uint32_t OR; /*!< SWPMI Option register, Address offset: 0x24 */ -} SWPMI_TypeDef; - -/** - * @brief Window WATCHDOG - */ - -typedef struct -{ - __IO uint32_t CR; /*!< WWDG Control register, Address offset: 0x00 */ - __IO uint32_t CFR; /*!< WWDG Configuration register, Address offset: 0x04 */ - __IO uint32_t SR; /*!< WWDG Status register, Address offset: 0x08 */ -} WWDG_TypeDef; - - -/** - * @brief RAM_ECC_Specific_Registers - */ -typedef struct -{ - __IO uint32_t CR; /*!< RAMECC monitor configuration register */ - __IO uint32_t SR; /*!< RAMECC monitor status register */ - __IO uint32_t FAR; /*!< RAMECC monitor failing address register */ - __IO uint32_t FDRL; /*!< RAMECC monitor failing data low register */ - __IO uint32_t FDRH; /*!< RAMECC monitor failing data high register */ - __IO uint32_t FECR; /*!< RAMECC monitor failing ECC error code register */ -} RAMECC_MonitorTypeDef; - -typedef struct -{ - __IO uint32_t IER; /*!< RAMECC interrupt enable register */ -} RAMECC_TypeDef; -/** - * @} - */ - - -/** - * @brief Crypto Processor - */ - -typedef struct -{ - __IO uint32_t CR; /*!< CRYP control register, Address offset: 0x00 */ - __IO uint32_t SR; /*!< CRYP status register, Address offset: 0x04 */ - __IO uint32_t DIN; /*!< CRYP data input register, Address offset: 0x08 */ - __IO uint32_t DOUT; /*!< CRYP data output register, Address offset: 0x0C */ - __IO uint32_t DMACR; /*!< CRYP DMA control register, Address offset: 0x10 */ - __IO uint32_t IMSCR; /*!< CRYP interrupt mask set/clear register, Address offset: 0x14 */ - __IO uint32_t RISR; /*!< CRYP raw interrupt status register, Address offset: 0x18 */ - __IO uint32_t MISR; /*!< CRYP masked interrupt status register, Address offset: 0x1C */ - __IO uint32_t K0LR; /*!< CRYP key left register 0, Address offset: 0x20 */ - __IO uint32_t K0RR; /*!< CRYP key right register 0, Address offset: 0x24 */ - __IO uint32_t K1LR; /*!< CRYP key left register 1, Address offset: 0x28 */ - __IO uint32_t K1RR; /*!< CRYP key right register 1, Address offset: 0x2C */ - __IO uint32_t K2LR; /*!< CRYP key left register 2, Address offset: 0x30 */ - __IO uint32_t K2RR; /*!< CRYP key right register 2, Address offset: 0x34 */ - __IO uint32_t K3LR; /*!< CRYP key left register 3, Address offset: 0x38 */ - __IO uint32_t K3RR; /*!< CRYP key right register 3, Address offset: 0x3C */ - __IO uint32_t IV0LR; /*!< CRYP initialization vector left-word register 0, Address offset: 0x40 */ - __IO uint32_t IV0RR; /*!< CRYP initialization vector right-word register 0, Address offset: 0x44 */ - __IO uint32_t IV1LR; /*!< CRYP initialization vector left-word register 1, Address offset: 0x48 */ - __IO uint32_t IV1RR; /*!< CRYP initialization vector right-word register 1, Address offset: 0x4C */ - __IO uint32_t CSGCMCCM0R; /*!< CRYP GCM/GMAC or CCM/CMAC context swap register 0, Address offset: 0x50 */ - __IO uint32_t CSGCMCCM1R; /*!< CRYP GCM/GMAC or CCM/CMAC context swap register 1, Address offset: 0x54 */ - __IO uint32_t CSGCMCCM2R; /*!< CRYP GCM/GMAC or CCM/CMAC context swap register 2, Address offset: 0x58 */ - __IO uint32_t CSGCMCCM3R; /*!< CRYP GCM/GMAC or CCM/CMAC context swap register 3, Address offset: 0x5C */ - __IO uint32_t CSGCMCCM4R; /*!< CRYP GCM/GMAC or CCM/CMAC context swap register 4, Address offset: 0x60 */ - __IO uint32_t CSGCMCCM5R; /*!< CRYP GCM/GMAC or CCM/CMAC context swap register 5, Address offset: 0x64 */ - __IO uint32_t CSGCMCCM6R; /*!< CRYP GCM/GMAC or CCM/CMAC context swap register 6, Address offset: 0x68 */ - __IO uint32_t CSGCMCCM7R; /*!< CRYP GCM/GMAC or CCM/CMAC context swap register 7, Address offset: 0x6C */ - __IO uint32_t CSGCM0R; /*!< CRYP GCM/GMAC context swap register 0, Address offset: 0x70 */ - __IO uint32_t CSGCM1R; /*!< CRYP GCM/GMAC context swap register 1, Address offset: 0x74 */ - __IO uint32_t CSGCM2R; /*!< CRYP GCM/GMAC context swap register 2, Address offset: 0x78 */ - __IO uint32_t CSGCM3R; /*!< CRYP GCM/GMAC context swap register 3, Address offset: 0x7C */ - __IO uint32_t CSGCM4R; /*!< CRYP GCM/GMAC context swap register 4, Address offset: 0x80 */ - __IO uint32_t CSGCM5R; /*!< CRYP GCM/GMAC context swap register 5, Address offset: 0x84 */ - __IO uint32_t CSGCM6R; /*!< CRYP GCM/GMAC context swap register 6, Address offset: 0x88 */ - __IO uint32_t CSGCM7R; /*!< CRYP GCM/GMAC context swap register 7, Address offset: 0x8C */ -} CRYP_TypeDef; - -/** - * @brief HASH - */ - -typedef struct -{ - __IO uint32_t CR; /*!< HASH control register, Address offset: 0x00 */ - __IO uint32_t DIN; /*!< HASH data input register, Address offset: 0x04 */ - __IO uint32_t STR; /*!< HASH start register, Address offset: 0x08 */ - __IO uint32_t HR[5]; /*!< HASH digest registers, Address offset: 0x0C-0x1C */ - __IO uint32_t IMR; /*!< HASH interrupt enable register, Address offset: 0x20 */ - __IO uint32_t SR; /*!< HASH status register, Address offset: 0x24 */ - uint32_t RESERVED[52]; /*!< Reserved, 0x28-0xF4 */ - __IO uint32_t CSR[54]; /*!< HASH context swap registers, Address offset: 0x0F8-0x1CC */ -} HASH_TypeDef; - -/** - * @brief HASH_DIGEST - */ - -typedef struct -{ - __IO uint32_t HR[8]; /*!< HASH digest registers, Address offset: 0x310-0x32C */ -} HASH_DIGEST_TypeDef; - - -/** - * @brief RNG - */ - -typedef struct -{ - __IO uint32_t CR; /*!< RNG control register, Address offset: 0x00 */ - __IO uint32_t SR; /*!< RNG status register, Address offset: 0x04 */ - __IO uint32_t DR; /*!< RNG data register, Address offset: 0x08 */ - uint32_t RESERVED; - __IO uint32_t HTCR; /*!< RNG health test configuration register, Address offset: 0x10 */ -} RNG_TypeDef; - -/** - * @brief MDIOS - */ - -typedef struct -{ - __IO uint32_t CR; - __IO uint32_t WRFR; - __IO uint32_t CWRFR; - __IO uint32_t RDFR; - __IO uint32_t CRDFR; - __IO uint32_t SR; - __IO uint32_t CLRFR; - uint32_t RESERVED[57]; - __IO uint32_t DINR0; - __IO uint32_t DINR1; - __IO uint32_t DINR2; - __IO uint32_t DINR3; - __IO uint32_t DINR4; - __IO uint32_t DINR5; - __IO uint32_t DINR6; - __IO uint32_t DINR7; - __IO uint32_t DINR8; - __IO uint32_t DINR9; - __IO uint32_t DINR10; - __IO uint32_t DINR11; - __IO uint32_t DINR12; - __IO uint32_t DINR13; - __IO uint32_t DINR14; - __IO uint32_t DINR15; - __IO uint32_t DINR16; - __IO uint32_t DINR17; - __IO uint32_t DINR18; - __IO uint32_t DINR19; - __IO uint32_t DINR20; - __IO uint32_t DINR21; - __IO uint32_t DINR22; - __IO uint32_t DINR23; - __IO uint32_t DINR24; - __IO uint32_t DINR25; - __IO uint32_t DINR26; - __IO uint32_t DINR27; - __IO uint32_t DINR28; - __IO uint32_t DINR29; - __IO uint32_t DINR30; - __IO uint32_t DINR31; - __IO uint32_t DOUTR0; - __IO uint32_t DOUTR1; - __IO uint32_t DOUTR2; - __IO uint32_t DOUTR3; - __IO uint32_t DOUTR4; - __IO uint32_t DOUTR5; - __IO uint32_t DOUTR6; - __IO uint32_t DOUTR7; - __IO uint32_t DOUTR8; - __IO uint32_t DOUTR9; - __IO uint32_t DOUTR10; - __IO uint32_t DOUTR11; - __IO uint32_t DOUTR12; - __IO uint32_t DOUTR13; - __IO uint32_t DOUTR14; - __IO uint32_t DOUTR15; - __IO uint32_t DOUTR16; - __IO uint32_t DOUTR17; - __IO uint32_t DOUTR18; - __IO uint32_t DOUTR19; - __IO uint32_t DOUTR20; - __IO uint32_t DOUTR21; - __IO uint32_t DOUTR22; - __IO uint32_t DOUTR23; - __IO uint32_t DOUTR24; - __IO uint32_t DOUTR25; - __IO uint32_t DOUTR26; - __IO uint32_t DOUTR27; - __IO uint32_t DOUTR28; - __IO uint32_t DOUTR29; - __IO uint32_t DOUTR30; - __IO uint32_t DOUTR31; -} MDIOS_TypeDef; - - -/** - * @brief USB_OTG_Core_Registers - */ -typedef struct -{ - __IO uint32_t GOTGCTL; /*!< USB_OTG Control and Status Register 000h */ - __IO uint32_t GOTGINT; /*!< USB_OTG Interrupt Register 004h */ - __IO uint32_t GAHBCFG; /*!< Core AHB Configuration Register 008h */ - __IO uint32_t GUSBCFG; /*!< Core USB Configuration Register 00Ch */ - __IO uint32_t GRSTCTL; /*!< Core Reset Register 010h */ - __IO uint32_t GINTSTS; /*!< Core Interrupt Register 014h */ - __IO uint32_t GINTMSK; /*!< Core Interrupt Mask Register 018h */ - __IO uint32_t GRXSTSR; /*!< Receive Sts Q Read Register 01Ch */ - __IO uint32_t GRXSTSP; /*!< Receive Sts Q Read & POP Register 020h */ - __IO uint32_t GRXFSIZ; /*!< Receive FIFO Size Register 024h */ - __IO uint32_t DIEPTXF0_HNPTXFSIZ; /*!< EP0 / Non Periodic Tx FIFO Size Register 028h */ - __IO uint32_t HNPTXSTS; /*!< Non Periodic Tx FIFO/Queue Sts reg 02Ch */ - uint32_t Reserved30[2]; /*!< Reserved 030h */ - __IO uint32_t GCCFG; /*!< General Purpose IO Register 038h */ - __IO uint32_t CID; /*!< User ID Register 03Ch */ - __IO uint32_t GSNPSID; /* USB_OTG core ID 040h*/ - __IO uint32_t GHWCFG1; /* User HW config1 044h*/ - __IO uint32_t GHWCFG2; /* User HW config2 048h*/ - __IO uint32_t GHWCFG3; /*!< User HW config3 04Ch */ - uint32_t Reserved6; /*!< Reserved 050h */ - __IO uint32_t GLPMCFG; /*!< LPM Register 054h */ - __IO uint32_t GPWRDN; /*!< Power Down Register 058h */ - __IO uint32_t GDFIFOCFG; /*!< DFIFO Software Config Register 05Ch */ - __IO uint32_t GADPCTL; /*!< ADP Timer, Control and Status Register 60Ch */ - uint32_t Reserved43[39]; /*!< Reserved 058h-0FFh */ - __IO uint32_t HPTXFSIZ; /*!< Host Periodic Tx FIFO Size Reg 100h */ - __IO uint32_t DIEPTXF[0x0F]; /*!< dev Periodic Transmit FIFO */ -} USB_OTG_GlobalTypeDef; - - -/** - * @brief USB_OTG_device_Registers - */ -typedef struct -{ - __IO uint32_t DCFG; /*!< dev Configuration Register 800h */ - __IO uint32_t DCTL; /*!< dev Control Register 804h */ - __IO uint32_t DSTS; /*!< dev Status Register (RO) 808h */ - uint32_t Reserved0C; /*!< Reserved 80Ch */ - __IO uint32_t DIEPMSK; /*!< dev IN Endpoint Mask 810h */ - __IO uint32_t DOEPMSK; /*!< dev OUT Endpoint Mask 814h */ - __IO uint32_t DAINT; /*!< dev All Endpoints Itr Reg 818h */ - __IO uint32_t DAINTMSK; /*!< dev All Endpoints Itr Mask 81Ch */ - uint32_t Reserved20; /*!< Reserved 820h */ - uint32_t Reserved9; /*!< Reserved 824h */ - __IO uint32_t DVBUSDIS; /*!< dev VBUS discharge Register 828h */ - __IO uint32_t DVBUSPULSE; /*!< dev VBUS Pulse Register 82Ch */ - __IO uint32_t DTHRCTL; /*!< dev threshold 830h */ - __IO uint32_t DIEPEMPMSK; /*!< dev empty msk 834h */ - __IO uint32_t DEACHINT; /*!< dedicated EP interrupt 838h */ - __IO uint32_t DEACHMSK; /*!< dedicated EP msk 83Ch */ - uint32_t Reserved40; /*!< dedicated EP mask 840h */ - __IO uint32_t DINEP1MSK; /*!< dedicated EP mask 844h */ - uint32_t Reserved44[15]; /*!< Reserved 844-87Ch */ - __IO uint32_t DOUTEP1MSK; /*!< dedicated EP msk 884h */ -} USB_OTG_DeviceTypeDef; - - -/** - * @brief USB_OTG_IN_Endpoint-Specific_Register - */ -typedef struct -{ - __IO uint32_t DIEPCTL; /*!< dev IN Endpoint Control Reg 900h + (ep_num * 20h) + 00h */ - uint32_t Reserved04; /*!< Reserved 900h + (ep_num * 20h) + 04h */ - __IO uint32_t DIEPINT; /*!< dev IN Endpoint Itr Reg 900h + (ep_num * 20h) + 08h */ - uint32_t Reserved0C; /*!< Reserved 900h + (ep_num * 20h) + 0Ch */ - __IO uint32_t DIEPTSIZ; /*!< IN Endpoint Txfer Size 900h + (ep_num * 20h) + 10h */ - __IO uint32_t DIEPDMA; /*!< IN Endpoint DMA Address Reg 900h + (ep_num * 20h) + 14h */ - __IO uint32_t DTXFSTS; /*!< IN Endpoint Tx FIFO Status Reg 900h + (ep_num * 20h) + 18h */ - uint32_t Reserved18; /*!< Reserved 900h+(ep_num*20h)+1Ch-900h+ (ep_num * 20h) + 1Ch */ -} USB_OTG_INEndpointTypeDef; - - -/** - * @brief USB_OTG_OUT_Endpoint-Specific_Registers - */ -typedef struct -{ - __IO uint32_t DOEPCTL; /*!< dev OUT Endpoint Control Reg B00h + (ep_num * 20h) + 00h */ - uint32_t Reserved04; /*!< Reserved B00h + (ep_num * 20h) + 04h */ - __IO uint32_t DOEPINT; /*!< dev OUT Endpoint Itr Reg B00h + (ep_num * 20h) + 08h */ - uint32_t Reserved0C; /*!< Reserved B00h + (ep_num * 20h) + 0Ch */ - __IO uint32_t DOEPTSIZ; /*!< dev OUT Endpoint Txfer Size B00h + (ep_num * 20h) + 10h */ - __IO uint32_t DOEPDMA; /*!< dev OUT Endpoint DMA Address B00h + (ep_num * 20h) + 14h */ - uint32_t Reserved18[2]; /*!< Reserved B00h + (ep_num * 20h) + 18h - B00h + (ep_num * 20h) + 1Ch */ -} USB_OTG_OUTEndpointTypeDef; - - -/** - * @brief USB_OTG_Host_Mode_Register_Structures - */ -typedef struct -{ - __IO uint32_t HCFG; /*!< Host Configuration Register 400h */ - __IO uint32_t HFIR; /*!< Host Frame Interval Register 404h */ - __IO uint32_t HFNUM; /*!< Host Frame Nbr/Frame Remaining 408h */ - uint32_t Reserved40C; /*!< Reserved 40Ch */ - __IO uint32_t HPTXSTS; /*!< Host Periodic Tx FIFO/ Queue Status 410h */ - __IO uint32_t HAINT; /*!< Host All Channels Interrupt Register 414h */ - __IO uint32_t HAINTMSK; /*!< Host All Channels Interrupt Mask 418h */ -} USB_OTG_HostTypeDef; - -/** - * @brief USB_OTG_Host_Channel_Specific_Registers - */ -typedef struct -{ - __IO uint32_t HCCHAR; /*!< Host Channel Characteristics Register 500h */ - __IO uint32_t HCSPLT; /*!< Host Channel Split Control Register 504h */ - __IO uint32_t HCINT; /*!< Host Channel Interrupt Register 508h */ - __IO uint32_t HCINTMSK; /*!< Host Channel Interrupt Mask Register 50Ch */ - __IO uint32_t HCTSIZ; /*!< Host Channel Transfer Size Register 510h */ - __IO uint32_t HCDMA; /*!< Host Channel DMA Address Register 514h */ - uint32_t Reserved[2]; /*!< Reserved */ -} USB_OTG_HostChannelTypeDef; -/** - * @} - */ - -/** - * @brief OCTO Serial Peripheral Interface - */ - -typedef struct -{ - __IO uint32_t CR; /*!< OCTOSPI Control register, Address offset: 0x000 */ - uint32_t RESERVED; /*!< Reserved, Address offset: 0x004 */ - __IO uint32_t DCR1; /*!< OCTOSPI Device Configuration register 1, Address offset: 0x008 */ - __IO uint32_t DCR2; /*!< OCTOSPI Device Configuration register 2, Address offset: 0x00C */ - __IO uint32_t DCR3; /*!< OCTOSPI Device Configuration register 3, Address offset: 0x010 */ - __IO uint32_t DCR4; /*!< OCTOSPI Device Configuration register 4, Address offset: 0x014 */ - uint32_t RESERVED1[2]; /*!< Reserved, Address offset: 0x018-0x01C */ - __IO uint32_t SR; /*!< OCTOSPI Status register, Address offset: 0x020 */ - __IO uint32_t FCR; /*!< OCTOSPI Flag Clear register, Address offset: 0x024 */ - uint32_t RESERVED2[6]; /*!< Reserved, Address offset: 0x028-0x03C */ - __IO uint32_t DLR; /*!< OCTOSPI Data Length register, Address offset: 0x040 */ - uint32_t RESERVED3; /*!< Reserved, Address offset: 0x044 */ - __IO uint32_t AR; /*!< OCTOSPI Address register, Address offset: 0x048 */ - uint32_t RESERVED4; /*!< Reserved, Address offset: 0x04C */ - __IO uint32_t DR; /*!< OCTOSPI Data register, Address offset: 0x050 */ - uint32_t RESERVED5[11]; /*!< Reserved, Address offset: 0x054-0x07C */ - __IO uint32_t PSMKR; /*!< OCTOSPI Polling Status Mask register, Address offset: 0x080 */ - uint32_t RESERVED6; /*!< Reserved, Address offset: 0x084 */ - __IO uint32_t PSMAR; /*!< OCTOSPI Polling Status Match register, Address offset: 0x088 */ - uint32_t RESERVED7; /*!< Reserved, Address offset: 0x08C */ - __IO uint32_t PIR; /*!< OCTOSPI Polling Interval register, Address offset: 0x090 */ - uint32_t RESERVED8[27]; /*!< Reserved, Address offset: 0x094-0x0FC */ - __IO uint32_t CCR; /*!< OCTOSPI Communication Configuration register, Address offset: 0x100 */ - uint32_t RESERVED9; /*!< Reserved, Address offset: 0x104 */ - __IO uint32_t TCR; /*!< OCTOSPI Timing Configuration register, Address offset: 0x108 */ - uint32_t RESERVED10; /*!< Reserved, Address offset: 0x10C */ - __IO uint32_t IR; /*!< OCTOSPI Instruction register, Address offset: 0x110 */ - uint32_t RESERVED11[3]; /*!< Reserved, Address offset: 0x114-0x11C */ - __IO uint32_t ABR; /*!< OCTOSPI Alternate Bytes register, Address offset: 0x120 */ - uint32_t RESERVED12[3]; /*!< Reserved, Address offset: 0x124-0x12C */ - __IO uint32_t LPTR; /*!< OCTOSPI Low Power Timeout register, Address offset: 0x130 */ - uint32_t RESERVED13[3]; /*!< Reserved, Address offset: 0x134-0x13C */ - __IO uint32_t WPCCR; /*!< OCTOSPI Wrap Communication Configuration register, Address offset: 0x140 */ - uint32_t RESERVED14; /*!< Reserved, Address offset: 0x144 */ - __IO uint32_t WPTCR; /*!< OCTOSPI Wrap Timing Configuration register, Address offset: 0x148 */ - uint32_t RESERVED15; /*!< Reserved, Address offset: 0x14C */ - __IO uint32_t WPIR; /*!< OCTOSPI Wrap Instruction register, Address offset: 0x150 */ - uint32_t RESERVED16[3]; /*!< Reserved, Address offset: 0x154-0x15C */ - __IO uint32_t WPABR; /*!< OCTOSPI Wrap Alternate Bytes register, Address offset: 0x160 */ - uint32_t RESERVED17[7]; /*!< Reserved, Address offset: 0x164-0x17C */ - __IO uint32_t WCCR; /*!< OCTOSPI Write Communication Configuration register, Address offset: 0x180 */ - uint32_t RESERVED18; /*!< Reserved, Address offset: 0x184 */ - __IO uint32_t WTCR; /*!< OCTOSPI Write Timing Configuration register, Address offset: 0x188 */ - uint32_t RESERVED19; /*!< Reserved, Address offset: 0x18C */ - __IO uint32_t WIR; /*!< OCTOSPI Write Instruction register, Address offset: 0x190 */ - uint32_t RESERVED20[3]; /*!< Reserved, Address offset: 0x194-0x19C */ - __IO uint32_t WABR; /*!< OCTOSPI Write Alternate Bytes register, Address offset: 0x1A0 */ - uint32_t RESERVED21[23]; /*!< Reserved, Address offset: 0x1A4-0x1FC */ - __IO uint32_t HLCR; /*!< OCTOSPI Hyperbus Latency Configuration register, Address offset: 0x200 */ - uint32_t RESERVED22[122]; /*!< Reserved, Address offset: 0x204-0x3EC */ - __IO uint32_t HWCFGR; /*!< OCTOSPI HW Configuration register, Address offset: 0x3F0 */ - __IO uint32_t VER; /*!< OCTOSPI Version register, Address offset: 0x3F4 */ - __IO uint32_t ID; /*!< OCTOSPI Identification register, Address offset: 0x3F8 */ - __IO uint32_t MID; /*!< OCTOPSI HW Magic ID register, Address offset: 0x3FC */ -} OCTOSPI_TypeDef; - -/** - * @} - */ -/** - * @brief OCTO Serial Peripheral Interface IO Manager - */ - -typedef struct -{ - __IO uint32_t CR; /*!< OCTOSPI IO Manager Control register, Address offset: 0x00 */ - __IO uint32_t PCR[3]; /*!< OCTOSPI IO Manager Port[1:3] Configuration register, Address offset: 0x04-0x20 */ -} OCTOSPIM_TypeDef; - -/** - * @} - */ - -/** - * @brief OTFD register - */ -typedef struct -{ - __IO uint32_t REG_CONFIGR; - __IO uint32_t REG_START_ADDR; - __IO uint32_t REG_END_ADDR; - __IO uint32_t REG_NONCER0; - __IO uint32_t REG_NONCER1; - __IO uint32_t REG_KEYR0; - __IO uint32_t REG_KEYR1; - __IO uint32_t REG_KEYR2; - __IO uint32_t REG_KEYR3; -} OTFDEC_Region_TypeDef; - -typedef struct -{ - __IO uint32_t CR; - uint32_t RESERVED1[191]; - __IO uint32_t ISR; - __IO uint32_t ICR; - __IO uint32_t IER; - uint32_t RESERVED2[56]; - __IO uint32_t HWCFGR2; - __IO uint32_t HWCFGR1; - __IO uint32_t VERR; - __IO uint32_t IPIDR; - __IO uint32_t SIDR; -} OTFDEC_TypeDef; -/** - * @} - */ - -/** - * @brief Global Programmer View - */ - -typedef struct -{ - uint32_t RESERVED0[2036]; /*!< Reserved, Address offset: 0x00-0x1FCC */ - __IO uint32_t AXI_PERIPH_ID_4; /*!< AXI interconnect - peripheral ID4 register, Address offset: 0x1FD0 */ - uint32_t AXI_PERIPH_ID_5; /*!< Reserved, Address offset: 0x1FD4 */ - uint32_t AXI_PERIPH_ID_6; /*!< Reserved, Address offset: 0x1FD8 */ - uint32_t AXI_PERIPH_ID_7; /*!< Reserved, Address offset: 0x1FDC */ - __IO uint32_t AXI_PERIPH_ID_0; /*!< AXI interconnect - peripheral ID0 register, Address offset: 0x1FE0 */ - __IO uint32_t AXI_PERIPH_ID_1; /*!< AXI interconnect - peripheral ID1 register, Address offset: 0x1FE4 */ - __IO uint32_t AXI_PERIPH_ID_2; /*!< AXI interconnect - peripheral ID2 register, Address offset: 0x1FE8 */ - __IO uint32_t AXI_PERIPH_ID_3; /*!< AXI interconnect - peripheral ID3 register, Address offset: 0x1FEC */ - __IO uint32_t AXI_COMP_ID_0; /*!< AXI interconnect - component ID0 register, Address offset: 0x1FF0 */ - __IO uint32_t AXI_COMP_ID_1; /*!< AXI interconnect - component ID1 register, Address offset: 0x1FF4 */ - __IO uint32_t AXI_COMP_ID_2; /*!< AXI interconnect - component ID2 register, Address offset: 0x1FF8 */ - __IO uint32_t AXI_COMP_ID_3; /*!< AXI interconnect - component ID3 register, Address offset: 0x1FFC */ - uint32_t RESERVED1[2]; /*!< Reserved, Address offset: 0x2000-0x2004 */ - __IO uint32_t AXI_TARG1_FN_MOD_ISS_BM; /*!< AXI interconnect - TARG 1 bus matrix issuing functionality register, Address offset: 0x2008 */ - uint32_t RESERVED2[6]; /*!< Reserved, Address offset: 0x200C-0x2020 */ - __IO uint32_t AXI_TARG1_FN_MOD2; /*!< AXI interconnect - TARG 1 bus matrix functionality 2 register, Address offset: 0x2024 */ - uint32_t RESERVED3; /*!< Reserved, Address offset: 0x2028 */ - __IO uint32_t AXI_TARG1_FN_MOD_LB; /*!< AXI interconnect - TARG 1 long burst functionality modification register, Address offset: 0x202C */ - uint32_t RESERVED4[54]; /*!< Reserved, Address offset: 0x2030-0x2104 */ - __IO uint32_t AXI_TARG1_FN_MOD; /*!< AXI interconnect - TARG 1 issuing functionality modification register, Address offset: 0x2108 */ - uint32_t RESERVED5[959]; /*!< Reserved, Address offset: 0x210C-0x3004 */ - __IO uint32_t AXI_TARG2_FN_MOD_ISS_BM; /*!< AXI interconnect - TARG 2 bus matrix issuing functionality register, Address offset: 0x3008 */ - uint32_t RESERVED6[6]; /*!< Reserved, Address offset: 0x300C-0x3020 */ - __IO uint32_t AXI_TARG2_FN_MOD2; /*!< AXI interconnect - TARG 2 bus matrix functionality 2 register, Address offset: 0x3024 */ - uint32_t RESERVED7; /*!< Reserved, Address offset: 0x3028 */ - __IO uint32_t AXI_TARG2_FN_MOD_LB; /*!< AXI interconnect - TARG 2 long burst functionality modification register, Address offset: 0x302C */ - uint32_t RESERVED8[54]; /*!< Reserved, Address offset: 0x3030-0x3104 */ - __IO uint32_t AXI_TARG2_FN_MOD; /*!< AXI interconnect - TARG 2 issuing functionality modification register, Address offset: 0x3108 */ - uint32_t RESERVED9[959]; /*!< Reserved, Address offset: 0x310C-0x4004 */ - __IO uint32_t AXI_TARG3_FN_MOD_ISS_BM; /*!< AXI interconnect - TARG 3 bus matrix issuing functionality register, Address offset: 0x4008 */ - uint32_t RESERVED10[1023]; /*!< Reserved, Address offset: 0x400C-0x5004 */ - __IO uint32_t AXI_TARG4_FN_MOD_ISS_BM; /*!< AXI interconnect - TARG 4 bus matrix issuing functionality register, Address offset: 0x5008 */ - uint32_t RESERVED11[1023]; /*!< Reserved, Address offset: 0x500C-0x6004 */ - __IO uint32_t AXI_TARG5_FN_MOD_ISS_BM; /*!< AXI interconnect - TARG 5 bus matrix issuing functionality register, Address offset: 0x6008 */ - uint32_t RESERVED12[1023]; /*!< Reserved, Address offset: 0x600C-0x7004 */ - __IO uint32_t AXI_TARG6_FN_MOD_ISS_BM; /*!< AXI interconnect - TARG 6 bus matrix issuing functionality register, Address offset: 0x7008 */ - uint32_t RESERVED13[1023]; /*!< Reserved, Address offset: 0x700C-0x8004 */ - __IO uint32_t AXI_TARG7_FN_MOD_ISS_BM; /*!< AXI interconnect - TARG 7 bus matrix issuing functionality register, Address offset: 0x8008 */ - uint32_t RESERVED14[6]; /*!< Reserved, Address offset: 0x800C-0x8020 */ - __IO uint32_t AXI_TARG7_FN_MOD2; /*!< AXI interconnect - TARG 7 bus matrix functionality 2 register, Address offset: 0x8024 */ - uint32_t RESERVED15; /*!< Reserved, Address offset: 0x8028 */ - __IO uint32_t AXI_TARG7_FN_MOD_LB; /*!< AXI interconnect - TARG 7 long burst functionality modification register, Address offset: 0x802C */ - uint32_t RESERVED16[54]; /*!< Reserved, Address offset: 0x8030-0x8104 */ - __IO uint32_t AXI_TARG7_FN_MOD; /*!< AXI interconnect - TARG 7 issuing functionality modification register, Address offset: 0x8108 */ - uint32_t RESERVED17[959]; /*!< Reserved, Address offset: 0x810C-0x9004 */ - __IO uint32_t AXI_TARG8_FN_MOD_ISS_BM; /*!< AXI interconnect - TARG 8 bus matrix issuing functionality register, Address offset: 0x9008 */ - uint32_t RESERVED117[6]; /*!< Reserved, Address offset: 0x900C-0x9020 */ - __IO uint32_t AXI_TARG8_FN_MOD2; /*!< AXI interconnect - TARG 8 bus matrix functionality 2 register, Address offset: 0x9024 */ - uint32_t RESERVED118[56]; /*!< Reserved, Address offset: 0x9028-0x9104 */ - __IO uint32_t AXI_TARG8_FN_MOD; /*!< AXI interconnect - TARG 8 issuing functionality modification register, Address offset: 0x9108 */ - uint32_t RESERVED119[58310]; /*!< Reserved, Address offset: 0x910C-0x42020 */ - __IO uint32_t AXI_INI1_FN_MOD2; /*!< AXI interconnect - INI 1 functionality modification 2 register, Address offset: 0x42024 */ - __IO uint32_t AXI_INI1_FN_MOD_AHB; /*!< AXI interconnect - INI 1 AHB functionality modification register, Address offset: 0x42028 */ - uint32_t RESERVED18[53]; /*!< Reserved, Address offset: 0x4202C-0x420FC */ - __IO uint32_t AXI_INI1_READ_QOS; /*!< AXI interconnect - INI 1 read QoS register, Address offset: 0x42100 */ - __IO uint32_t AXI_INI1_WRITE_QOS; /*!< AXI interconnect - INI 1 write QoS register, Address offset: 0x42104 */ - __IO uint32_t AXI_INI1_FN_MOD; /*!< AXI interconnect - INI 1 issuing functionality modification register, Address offset: 0x42108 */ - uint32_t RESERVED19[1021]; /*!< Reserved, Address offset: 0x4210C-0x430FC */ - __IO uint32_t AXI_INI2_READ_QOS; /*!< AXI interconnect - INI 2 read QoS register, Address offset: 0x43100 */ - __IO uint32_t AXI_INI2_WRITE_QOS; /*!< AXI interconnect - INI 2 write QoS register, Address offset: 0x43104 */ - __IO uint32_t AXI_INI2_FN_MOD; /*!< AXI interconnect - INI 2 issuing functionality modification register, Address offset: 0x43108 */ - uint32_t RESERVED20[966]; /*!< Reserved, Address offset: 0x4310C-0x44020 */ - __IO uint32_t AXI_INI3_FN_MOD2; /*!< AXI interconnect - INI 3 functionality modification 2 register, Address offset: 0x44024 */ - __IO uint32_t AXI_INI3_FN_MOD_AHB; /*!< AXI interconnect - INI 3 AHB functionality modification register, Address offset: 0x44028 */ - uint32_t RESERVED21[53]; /*!< Reserved, Address offset: 0x4402C-0x440FC */ - __IO uint32_t AXI_INI3_READ_QOS; /*!< AXI interconnect - INI 3 read QoS register, Address offset: 0x44100 */ - __IO uint32_t AXI_INI3_WRITE_QOS; /*!< AXI interconnect - INI 3 write QoS register, Address offset: 0x44104 */ - __IO uint32_t AXI_INI3_FN_MOD; /*!< AXI interconnect - INI 3 issuing functionality modification register, Address offset: 0x44108 */ - uint32_t RESERVED22[1021]; /*!< Reserved, Address offset: 0x4410C-0x450FC */ - __IO uint32_t AXI_INI4_READ_QOS; /*!< AXI interconnect - INI 4 read QoS register, Address offset: 0x45100 */ - __IO uint32_t AXI_INI4_WRITE_QOS; /*!< AXI interconnect - INI 4 write QoS register, Address offset: 0x45104 */ - __IO uint32_t AXI_INI4_FN_MOD; /*!< AXI interconnect - INI 4 issuing functionality modification register, Address offset: 0x45108 */ - uint32_t RESERVED23[1021]; /*!< Reserved, Address offset: 0x4510C-0x460FC */ - __IO uint32_t AXI_INI5_READ_QOS; /*!< AXI interconnect - INI 5 read QoS register, Address offset: 0x46100 */ - __IO uint32_t AXI_INI5_WRITE_QOS; /*!< AXI interconnect - INI 5 write QoS register, Address offset: 0x46104 */ - __IO uint32_t AXI_INI5_FN_MOD; /*!< AXI interconnect - INI 5 issuing functionality modification register, Address offset: 0x46108 */ - uint32_t RESERVED24[1021]; /*!< Reserved, Address offset: 0x4610C-0x470FC */ - __IO uint32_t AXI_INI6_READ_QOS; /*!< AXI interconnect - INI 6 read QoS register, Address offset: 0x47100 */ - __IO uint32_t AXI_INI6_WRITE_QOS; /*!< AXI interconnect - INI 6 write QoS register, Address offset: 0x47104 */ - __IO uint32_t AXI_INI6_FN_MOD; /*!< AXI interconnect - INI 6 issuing functionality modification register, Address offset: 0x47108 */ - -} GPV_TypeDef; - -/** @addtogroup Peripheral_memory_map - * @{ - */ -#define D1_ITCMRAM_BASE (0x00000000UL) /*!< Base address of : 64KB RAM reserved for CPU execution/instruction accessible over ITCM */ -#define D1_ITCMICP_BASE (0x00100000UL) /*!< Base address of : (up to 128KB) embedded Test FLASH memory accessible over ITCM */ -#define D1_DTCMRAM_BASE (0x20000000UL) /*!< Base address of : 128KB system data RAM accessible over DTCM */ -#define D1_AXIFLASH_BASE (0x08000000UL) /*!< Base address of : (up to 1 MB) embedded FLASH memory accessible over AXI */ -#define D1_AXIICP_BASE (0x1FF00000UL) /*!< Base address of : (up to 128KB) embedded Test FLASH memory accessible over AXI */ -#define D1_AXISRAM1_BASE (0x24000000UL) /*!< Base address of : (up to 128KB) system data RAM1 accessible over over AXI */ -#define D1_AXISRAM2_BASE (0x24020000UL) /*!< Base address of : (up to 192KB) system data RAM2 accessible over over AXI to be shared with ITCM (64K granularity) */ -#define D1_AXISRAM_BASE D1_AXISRAM1_BASE /*!< Base address of : (up to 320KB) system data RAM1/2 accessible over over AXI */ - -#define D2_AHBSRAM1_BASE (0x30000000UL) /*!< Base address of : (up to 16KB) system data RAM accessible over over AXI->AHB Bridge */ -#define D2_AHBSRAM2_BASE (0x30004000UL) /*!< Base address of : (up to 16KB) system data RAM accessible over over AXI->AHB Bridge */ -#define D2_AHBSRAM_BASE D2_AHBSRAM1_BASE /*!< Base address of : (up to 32KB) system data RAM1/2 accessible over over AXI->AHB Bridge */ - -#define D3_BKPSRAM_BASE (0x38800000UL) /*!< Base address of : Backup SRAM(4 KB) over AXI->AHB Bridge */ -#define D3_SRAM_BASE (0x38000000UL) /*!< Base address of : Backup SRAM(16 KB) over AXI->AHB Bridge */ - -#define PERIPH_BASE (0x40000000UL) /*!< Base address of : AHB/APB Peripherals */ -#define OCTOSPI1_BASE (0x90000000UL) /*!< Base address of : OCTOSPI1 memories accessible over AXI */ -#define OCTOSPI2_BASE (0x70000000UL) /*!< Base address of : OCTOSPI2 memories accessible over AXI */ - -#define FLASH_BANK1_BASE (0x08000000UL) /*!< Base address of : (up to 1 MB) Flash Bank1 accessible over AXI */ -#define FLASH_END (0x080FFFFFUL) /*!< FLASH end address */ - - -/* Legacy define */ -#define FLASH_BASE FLASH_BANK1_BASE - -/*!< Device electronic signature memory map */ -#define UID_BASE (0x1FF1E800UL) /*!< Unique device ID register base address */ -#define FLASHSIZE_BASE (0x1FF1E880UL) /*!< FLASH Size register base address */ - - -/*!< Peripheral memory map */ -#define D2_APB1PERIPH_BASE PERIPH_BASE -#define D2_APB2PERIPH_BASE (PERIPH_BASE + 0x00010000UL) -#define D2_AHB1PERIPH_BASE (PERIPH_BASE + 0x00020000UL) -#define D2_AHB2PERIPH_BASE (PERIPH_BASE + 0x08020000UL) - -#define D1_APB1PERIPH_BASE (PERIPH_BASE + 0x10000000UL) -#define D1_AHB1PERIPH_BASE (PERIPH_BASE + 0x12000000UL) - -#define D3_APB1PERIPH_BASE (PERIPH_BASE + 0x18000000UL) -#define D3_AHB1PERIPH_BASE (PERIPH_BASE + 0x18020000UL) - -/*!< Legacy Peripheral memory map */ -#define APB1PERIPH_BASE PERIPH_BASE -#define APB2PERIPH_BASE (PERIPH_BASE + 0x00010000UL) -#define AHB1PERIPH_BASE (PERIPH_BASE + 0x00020000UL) -#define AHB2PERIPH_BASE (PERIPH_BASE + 0x08000000UL) - - -/*!< D1_AHB1PERIPH peripherals */ - -#define MDMA_BASE (D1_AHB1PERIPH_BASE + 0x0000UL) -#define DMA2D_BASE (D1_AHB1PERIPH_BASE + 0x1000UL) -#define FLASH_R_BASE (D1_AHB1PERIPH_BASE + 0x2000UL) -#define FMC_R_BASE (D1_AHB1PERIPH_BASE + 0x4000UL) -#define OCTOSPI1_R_BASE (D1_AHB1PERIPH_BASE + 0x5000UL) -#define DLYB_OCTOSPI1_BASE (D1_AHB1PERIPH_BASE + 0x6000UL) -#define SDMMC1_BASE (D1_AHB1PERIPH_BASE + 0x7000UL) -#define DLYB_SDMMC1_BASE (D1_AHB1PERIPH_BASE + 0x8000UL) -#define RAMECC1_BASE (D1_AHB1PERIPH_BASE + 0x9000UL) -#define OCTOSPI2_R_BASE (D1_AHB1PERIPH_BASE + 0xA000UL) -#define DLYB_OCTOSPI2_BASE (D1_AHB1PERIPH_BASE + 0xB000UL) -#define OCTOSPIM_BASE (D1_AHB1PERIPH_BASE + 0xB400UL) - -#define OTFDEC1_BASE (D1_AHB1PERIPH_BASE + 0xB800UL) -#define OTFDEC1_REGION1_BASE (OTFDEC1_BASE + 0x20UL) -#define OTFDEC1_REGION2_BASE (OTFDEC1_BASE + 0x50UL) -#define OTFDEC1_REGION3_BASE (OTFDEC1_BASE + 0x80UL) -#define OTFDEC1_REGION4_BASE (OTFDEC1_BASE + 0xB0UL) -#define OTFDEC2_BASE (D1_AHB1PERIPH_BASE + 0xBC00UL) -#define OTFDEC2_REGION1_BASE (OTFDEC2_BASE + 0x20UL) -#define OTFDEC2_REGION2_BASE (OTFDEC2_BASE + 0x50UL) -#define OTFDEC2_REGION3_BASE (OTFDEC2_BASE + 0x80UL) -#define OTFDEC2_REGION4_BASE (OTFDEC2_BASE + 0xB0UL) - -/*!< D2_AHB1PERIPH peripherals */ - -#define DMA1_BASE (D2_AHB1PERIPH_BASE + 0x0000UL) -#define DMA2_BASE (D2_AHB1PERIPH_BASE + 0x0400UL) -#define DMAMUX1_BASE (D2_AHB1PERIPH_BASE + 0x0800UL) -#define ADC1_BASE (D2_AHB1PERIPH_BASE + 0x2000UL) -#define ADC2_BASE (D2_AHB1PERIPH_BASE + 0x2100UL) -#define ADC12_COMMON_BASE (D2_AHB1PERIPH_BASE + 0x2300UL) -#define ETH_BASE (D2_AHB1PERIPH_BASE + 0x8000UL) -#define ETH_MAC_BASE (ETH_BASE) - -/*!< USB registers base address */ -#define USB1_OTG_HS_PERIPH_BASE (0x40040000UL) -#define USB_OTG_GLOBAL_BASE (0x000UL) -#define USB_OTG_DEVICE_BASE (0x800UL) -#define USB_OTG_IN_ENDPOINT_BASE (0x900UL) -#define USB_OTG_OUT_ENDPOINT_BASE (0xB00UL) -#define USB_OTG_EP_REG_SIZE (0x20UL) -#define USB_OTG_HOST_BASE (0x400UL) -#define USB_OTG_HOST_PORT_BASE (0x440UL) -#define USB_OTG_HOST_CHANNEL_BASE (0x500UL) -#define USB_OTG_HOST_CHANNEL_SIZE (0x20UL) -#define USB_OTG_PCGCCTL_BASE (0xE00UL) -#define USB_OTG_FIFO_BASE (0x1000UL) -#define USB_OTG_FIFO_SIZE (0x1000UL) - -/*!< D2_AHB2PERIPH peripherals */ - -#define DCMI_BASE (D2_AHB2PERIPH_BASE + 0x0000UL) -#define PSSI_BASE (D2_AHB2PERIPH_BASE + 0x0400UL) -#define CRYP_BASE (D2_AHB2PERIPH_BASE + 0x1000UL) -#define HASH_BASE (D2_AHB2PERIPH_BASE + 0x1400UL) -#define HASH_DIGEST_BASE (D2_AHB2PERIPH_BASE + 0x1710UL) -#define RNG_BASE (D2_AHB2PERIPH_BASE + 0x1800UL) -#define SDMMC2_BASE (D2_AHB2PERIPH_BASE + 0x2400UL) -#define DLYB_SDMMC2_BASE (D2_AHB2PERIPH_BASE + 0x2800UL) -#define RAMECC2_BASE (D2_AHB2PERIPH_BASE + 0x3000UL) -#define FMAC_BASE (D2_AHB2PERIPH_BASE + 0x4000UL) -#define CORDIC_BASE (D2_AHB2PERIPH_BASE + 0x4400UL) - -/*!< D3_AHB1PERIPH peripherals */ -#define GPIOA_BASE (D3_AHB1PERIPH_BASE + 0x0000UL) -#define GPIOB_BASE (D3_AHB1PERIPH_BASE + 0x0400UL) -#define GPIOC_BASE (D3_AHB1PERIPH_BASE + 0x0800UL) -#define GPIOD_BASE (D3_AHB1PERIPH_BASE + 0x0C00UL) -#define GPIOE_BASE (D3_AHB1PERIPH_BASE + 0x1000UL) -#define GPIOF_BASE (D3_AHB1PERIPH_BASE + 0x1400UL) -#define GPIOG_BASE (D3_AHB1PERIPH_BASE + 0x1800UL) -#define GPIOH_BASE (D3_AHB1PERIPH_BASE + 0x1C00UL) -#define GPIOJ_BASE (D3_AHB1PERIPH_BASE + 0x2400UL) -#define GPIOK_BASE (D3_AHB1PERIPH_BASE + 0x2800UL) -#define RCC_BASE (D3_AHB1PERIPH_BASE + 0x4400UL) -#define PWR_BASE (D3_AHB1PERIPH_BASE + 0x4800UL) -#define CRC_BASE (D3_AHB1PERIPH_BASE + 0x4C00UL) -#define BDMA_BASE (D3_AHB1PERIPH_BASE + 0x5400UL) -#define DMAMUX2_BASE (D3_AHB1PERIPH_BASE + 0x5800UL) -#define ADC3_BASE (D3_AHB1PERIPH_BASE + 0x6000UL) -#define ADC3_COMMON_BASE (D3_AHB1PERIPH_BASE + 0x6300UL) -#define HSEM_BASE (D3_AHB1PERIPH_BASE + 0x6400UL) -#define RAMECC3_BASE (D3_AHB1PERIPH_BASE + 0x7000UL) - -/*!< D1_APB1PERIPH peripherals */ -#define LTDC_BASE (D1_APB1PERIPH_BASE + 0x1000UL) -#define LTDC_Layer1_BASE (LTDC_BASE + 0x84UL) -#define LTDC_Layer2_BASE (LTDC_BASE + 0x104UL) -#define WWDG1_BASE (D1_APB1PERIPH_BASE + 0x3000UL) - -/*!< D2_APB1PERIPH peripherals */ -#define TIM2_BASE (D2_APB1PERIPH_BASE + 0x0000UL) -#define TIM3_BASE (D2_APB1PERIPH_BASE + 0x0400UL) -#define TIM4_BASE (D2_APB1PERIPH_BASE + 0x0800UL) -#define TIM5_BASE (D2_APB1PERIPH_BASE + 0x0C00UL) -#define TIM6_BASE (D2_APB1PERIPH_BASE + 0x1000UL) -#define TIM7_BASE (D2_APB1PERIPH_BASE + 0x1400UL) -#define TIM12_BASE (D2_APB1PERIPH_BASE + 0x1800UL) -#define TIM13_BASE (D2_APB1PERIPH_BASE + 0x1C00UL) -#define TIM14_BASE (D2_APB1PERIPH_BASE + 0x2000UL) -#define LPTIM1_BASE (D2_APB1PERIPH_BASE + 0x2400UL) - - -#define SPI2_BASE (D2_APB1PERIPH_BASE + 0x3800UL) -#define SPI3_BASE (D2_APB1PERIPH_BASE + 0x3C00UL) -#define SPDIFRX_BASE (D2_APB1PERIPH_BASE + 0x4000UL) -#define USART2_BASE (D2_APB1PERIPH_BASE + 0x4400UL) -#define USART3_BASE (D2_APB1PERIPH_BASE + 0x4800UL) -#define UART4_BASE (D2_APB1PERIPH_BASE + 0x4C00UL) -#define UART5_BASE (D2_APB1PERIPH_BASE + 0x5000UL) -#define I2C1_BASE (D2_APB1PERIPH_BASE + 0x5400UL) -#define I2C2_BASE (D2_APB1PERIPH_BASE + 0x5800UL) -#define I2C3_BASE (D2_APB1PERIPH_BASE + 0x5C00UL) -#define I2C5_BASE (D2_APB1PERIPH_BASE + 0x6400UL) -#define CEC_BASE (D2_APB1PERIPH_BASE + 0x6C00UL) -#define DAC1_BASE (D2_APB1PERIPH_BASE + 0x7400UL) -#define UART7_BASE (D2_APB1PERIPH_BASE + 0x7800UL) -#define UART8_BASE (D2_APB1PERIPH_BASE + 0x7C00UL) -#define CRS_BASE (D2_APB1PERIPH_BASE + 0x8400UL) -#define SWPMI1_BASE (D2_APB1PERIPH_BASE + 0x8800UL) -#define OPAMP_BASE (D2_APB1PERIPH_BASE + 0x9000UL) -#define OPAMP1_BASE (D2_APB1PERIPH_BASE + 0x9000UL) -#define OPAMP2_BASE (D2_APB1PERIPH_BASE + 0x9010UL) -#define MDIOS_BASE (D2_APB1PERIPH_BASE + 0x9400UL) -#define FDCAN1_BASE (D2_APB1PERIPH_BASE + 0xA000UL) -#define FDCAN2_BASE (D2_APB1PERIPH_BASE + 0xA400UL) -#define FDCAN_CCU_BASE (D2_APB1PERIPH_BASE + 0xA800UL) -#define SRAMCAN_BASE (D2_APB1PERIPH_BASE + 0xAC00UL) -#define FDCAN3_BASE (D2_APB1PERIPH_BASE + 0xD400UL) -#define TIM23_BASE (D2_APB1PERIPH_BASE + 0xE000UL) -#define TIM24_BASE (D2_APB1PERIPH_BASE + 0xE400UL) - -/*!< D2_APB2PERIPH peripherals */ - -#define TIM1_BASE (D2_APB2PERIPH_BASE + 0x0000UL) -#define TIM8_BASE (D2_APB2PERIPH_BASE + 0x0400UL) -#define USART1_BASE (D2_APB2PERIPH_BASE + 0x1000UL) -#define USART6_BASE (D2_APB2PERIPH_BASE + 0x1400UL) -#define UART9_BASE (D2_APB2PERIPH_BASE + 0x1800UL) -#define USART10_BASE (D2_APB2PERIPH_BASE + 0x1C00UL) -#define SPI1_BASE (D2_APB2PERIPH_BASE + 0x3000UL) -#define SPI4_BASE (D2_APB2PERIPH_BASE + 0x3400UL) -#define TIM15_BASE (D2_APB2PERIPH_BASE + 0x4000UL) -#define TIM16_BASE (D2_APB2PERIPH_BASE + 0x4400UL) -#define TIM17_BASE (D2_APB2PERIPH_BASE + 0x4800UL) -#define SPI5_BASE (D2_APB2PERIPH_BASE + 0x5000UL) -#define SAI1_BASE (D2_APB2PERIPH_BASE + 0x5800UL) -#define SAI1_Block_A_BASE (SAI1_BASE + 0x004UL) -#define SAI1_Block_B_BASE (SAI1_BASE + 0x024UL) -#define DFSDM1_BASE (D2_APB2PERIPH_BASE + 0x7800UL) -#define DFSDM1_Channel0_BASE (DFSDM1_BASE + 0x00UL) -#define DFSDM1_Channel1_BASE (DFSDM1_BASE + 0x20UL) -#define DFSDM1_Channel2_BASE (DFSDM1_BASE + 0x40UL) -#define DFSDM1_Channel3_BASE (DFSDM1_BASE + 0x60UL) -#define DFSDM1_Channel4_BASE (DFSDM1_BASE + 0x80UL) -#define DFSDM1_Channel5_BASE (DFSDM1_BASE + 0xA0UL) -#define DFSDM1_Channel6_BASE (DFSDM1_BASE + 0xC0UL) -#define DFSDM1_Channel7_BASE (DFSDM1_BASE + 0xE0UL) -#define DFSDM1_Filter0_BASE (DFSDM1_BASE + 0x100UL) -#define DFSDM1_Filter1_BASE (DFSDM1_BASE + 0x180UL) -#define DFSDM1_Filter2_BASE (DFSDM1_BASE + 0x200UL) -#define DFSDM1_Filter3_BASE (DFSDM1_BASE + 0x280UL) - - -/*!< D3_APB1PERIPH peripherals */ -#define EXTI_BASE (D3_APB1PERIPH_BASE + 0x0000UL) -#define EXTI_D1_BASE (EXTI_BASE + 0x0080UL) -#define EXTI_D2_BASE (EXTI_BASE + 0x00C0UL) -#define SYSCFG_BASE (D3_APB1PERIPH_BASE + 0x0400UL) -#define LPUART1_BASE (D3_APB1PERIPH_BASE + 0x0C00UL) -#define SPI6_BASE (D3_APB1PERIPH_BASE + 0x1400UL) -#define I2C4_BASE (D3_APB1PERIPH_BASE + 0x1C00UL) -#define LPTIM2_BASE (D3_APB1PERIPH_BASE + 0x2400UL) -#define LPTIM3_BASE (D3_APB1PERIPH_BASE + 0x2800UL) -#define LPTIM4_BASE (D3_APB1PERIPH_BASE + 0x2C00UL) -#define LPTIM5_BASE (D3_APB1PERIPH_BASE + 0x3000UL) -#define COMP12_BASE (D3_APB1PERIPH_BASE + 0x3800UL) -#define COMP1_BASE (COMP12_BASE + 0x0CUL) -#define COMP2_BASE (COMP12_BASE + 0x10UL) -#define VREFBUF_BASE (D3_APB1PERIPH_BASE + 0x3C00UL) -#define RTC_BASE (D3_APB1PERIPH_BASE + 0x4000UL) -#define IWDG1_BASE (D3_APB1PERIPH_BASE + 0x4800UL) - - -#define SAI4_BASE (D3_APB1PERIPH_BASE + 0x5400UL) -#define SAI4_Block_A_BASE (SAI4_BASE + 0x004UL) -#define SAI4_Block_B_BASE (SAI4_BASE + 0x024UL) - -#define DTS_BASE (D3_APB1PERIPH_BASE + 0x6800UL) - - - -#define BDMA_Channel0_BASE (BDMA_BASE + 0x0008UL) -#define BDMA_Channel1_BASE (BDMA_BASE + 0x001CUL) -#define BDMA_Channel2_BASE (BDMA_BASE + 0x0030UL) -#define BDMA_Channel3_BASE (BDMA_BASE + 0x0044UL) -#define BDMA_Channel4_BASE (BDMA_BASE + 0x0058UL) -#define BDMA_Channel5_BASE (BDMA_BASE + 0x006CUL) -#define BDMA_Channel6_BASE (BDMA_BASE + 0x0080UL) -#define BDMA_Channel7_BASE (BDMA_BASE + 0x0094UL) - -#define DMAMUX2_Channel0_BASE (DMAMUX2_BASE) -#define DMAMUX2_Channel1_BASE (DMAMUX2_BASE + 0x0004UL) -#define DMAMUX2_Channel2_BASE (DMAMUX2_BASE + 0x0008UL) -#define DMAMUX2_Channel3_BASE (DMAMUX2_BASE + 0x000CUL) -#define DMAMUX2_Channel4_BASE (DMAMUX2_BASE + 0x0010UL) -#define DMAMUX2_Channel5_BASE (DMAMUX2_BASE + 0x0014UL) -#define DMAMUX2_Channel6_BASE (DMAMUX2_BASE + 0x0018UL) -#define DMAMUX2_Channel7_BASE (DMAMUX2_BASE + 0x001CUL) - -#define DMAMUX2_RequestGenerator0_BASE (DMAMUX2_BASE + 0x0100UL) -#define DMAMUX2_RequestGenerator1_BASE (DMAMUX2_BASE + 0x0104UL) -#define DMAMUX2_RequestGenerator2_BASE (DMAMUX2_BASE + 0x0108UL) -#define DMAMUX2_RequestGenerator3_BASE (DMAMUX2_BASE + 0x010CUL) -#define DMAMUX2_RequestGenerator4_BASE (DMAMUX2_BASE + 0x0110UL) -#define DMAMUX2_RequestGenerator5_BASE (DMAMUX2_BASE + 0x0114UL) -#define DMAMUX2_RequestGenerator6_BASE (DMAMUX2_BASE + 0x0118UL) -#define DMAMUX2_RequestGenerator7_BASE (DMAMUX2_BASE + 0x011CUL) - -#define DMAMUX2_ChannelStatus_BASE (DMAMUX2_BASE + 0x0080UL) -#define DMAMUX2_RequestGenStatus_BASE (DMAMUX2_BASE + 0x0140UL) - -#define DMA1_Stream0_BASE (DMA1_BASE + 0x010UL) -#define DMA1_Stream1_BASE (DMA1_BASE + 0x028UL) -#define DMA1_Stream2_BASE (DMA1_BASE + 0x040UL) -#define DMA1_Stream3_BASE (DMA1_BASE + 0x058UL) -#define DMA1_Stream4_BASE (DMA1_BASE + 0x070UL) -#define DMA1_Stream5_BASE (DMA1_BASE + 0x088UL) -#define DMA1_Stream6_BASE (DMA1_BASE + 0x0A0UL) -#define DMA1_Stream7_BASE (DMA1_BASE + 0x0B8UL) - -#define DMA2_Stream0_BASE (DMA2_BASE + 0x010UL) -#define DMA2_Stream1_BASE (DMA2_BASE + 0x028UL) -#define DMA2_Stream2_BASE (DMA2_BASE + 0x040UL) -#define DMA2_Stream3_BASE (DMA2_BASE + 0x058UL) -#define DMA2_Stream4_BASE (DMA2_BASE + 0x070UL) -#define DMA2_Stream5_BASE (DMA2_BASE + 0x088UL) -#define DMA2_Stream6_BASE (DMA2_BASE + 0x0A0UL) -#define DMA2_Stream7_BASE (DMA2_BASE + 0x0B8UL) - -#define DMAMUX1_Channel0_BASE (DMAMUX1_BASE) -#define DMAMUX1_Channel1_BASE (DMAMUX1_BASE + 0x0004UL) -#define DMAMUX1_Channel2_BASE (DMAMUX1_BASE + 0x0008UL) -#define DMAMUX1_Channel3_BASE (DMAMUX1_BASE + 0x000CUL) -#define DMAMUX1_Channel4_BASE (DMAMUX1_BASE + 0x0010UL) -#define DMAMUX1_Channel5_BASE (DMAMUX1_BASE + 0x0014UL) -#define DMAMUX1_Channel6_BASE (DMAMUX1_BASE + 0x0018UL) -#define DMAMUX1_Channel7_BASE (DMAMUX1_BASE + 0x001CUL) -#define DMAMUX1_Channel8_BASE (DMAMUX1_BASE + 0x0020UL) -#define DMAMUX1_Channel9_BASE (DMAMUX1_BASE + 0x0024UL) -#define DMAMUX1_Channel10_BASE (DMAMUX1_BASE + 0x0028UL) -#define DMAMUX1_Channel11_BASE (DMAMUX1_BASE + 0x002CUL) -#define DMAMUX1_Channel12_BASE (DMAMUX1_BASE + 0x0030UL) -#define DMAMUX1_Channel13_BASE (DMAMUX1_BASE + 0x0034UL) -#define DMAMUX1_Channel14_BASE (DMAMUX1_BASE + 0x0038UL) -#define DMAMUX1_Channel15_BASE (DMAMUX1_BASE + 0x003CUL) - -#define DMAMUX1_RequestGenerator0_BASE (DMAMUX1_BASE + 0x0100UL) -#define DMAMUX1_RequestGenerator1_BASE (DMAMUX1_BASE + 0x0104UL) -#define DMAMUX1_RequestGenerator2_BASE (DMAMUX1_BASE + 0x0108UL) -#define DMAMUX1_RequestGenerator3_BASE (DMAMUX1_BASE + 0x010CUL) -#define DMAMUX1_RequestGenerator4_BASE (DMAMUX1_BASE + 0x0110UL) -#define DMAMUX1_RequestGenerator5_BASE (DMAMUX1_BASE + 0x0114UL) -#define DMAMUX1_RequestGenerator6_BASE (DMAMUX1_BASE + 0x0118UL) -#define DMAMUX1_RequestGenerator7_BASE (DMAMUX1_BASE + 0x011CUL) - -#define DMAMUX1_ChannelStatus_BASE (DMAMUX1_BASE + 0x0080UL) -#define DMAMUX1_RequestGenStatus_BASE (DMAMUX1_BASE + 0x0140UL) - -/*!< FMC Banks registers base address */ -#define FMC_Bank1_R_BASE (FMC_R_BASE + 0x0000UL) -#define FMC_Bank1E_R_BASE (FMC_R_BASE + 0x0104UL) -#define FMC_Bank2_R_BASE (FMC_R_BASE + 0x0060UL) -#define FMC_Bank3_R_BASE (FMC_R_BASE + 0x0080UL) -#define FMC_Bank5_6_R_BASE (FMC_R_BASE + 0x0140UL) - -/* Debug MCU registers base address */ -#define DBGMCU_BASE (0x5C001000UL) - -#define MDMA_Channel0_BASE (MDMA_BASE + 0x00000040UL) -#define MDMA_Channel1_BASE (MDMA_BASE + 0x00000080UL) -#define MDMA_Channel2_BASE (MDMA_BASE + 0x000000C0UL) -#define MDMA_Channel3_BASE (MDMA_BASE + 0x00000100UL) -#define MDMA_Channel4_BASE (MDMA_BASE + 0x00000140UL) -#define MDMA_Channel5_BASE (MDMA_BASE + 0x00000180UL) -#define MDMA_Channel6_BASE (MDMA_BASE + 0x000001C0UL) -#define MDMA_Channel7_BASE (MDMA_BASE + 0x00000200UL) -#define MDMA_Channel8_BASE (MDMA_BASE + 0x00000240UL) -#define MDMA_Channel9_BASE (MDMA_BASE + 0x00000280UL) -#define MDMA_Channel10_BASE (MDMA_BASE + 0x000002C0UL) -#define MDMA_Channel11_BASE (MDMA_BASE + 0x00000300UL) -#define MDMA_Channel12_BASE (MDMA_BASE + 0x00000340UL) -#define MDMA_Channel13_BASE (MDMA_BASE + 0x00000380UL) -#define MDMA_Channel14_BASE (MDMA_BASE + 0x000003C0UL) -#define MDMA_Channel15_BASE (MDMA_BASE + 0x00000400UL) - -#define RAMECC1_Monitor1_BASE (RAMECC1_BASE + 0x20UL) -#define RAMECC1_Monitor2_BASE (RAMECC1_BASE + 0x40UL) -#define RAMECC1_Monitor3_BASE (RAMECC1_BASE + 0x60UL) -#define RAMECC1_Monitor4_BASE (RAMECC1_BASE + 0x80UL) -#define RAMECC1_Monitor5_BASE (RAMECC1_BASE + 0xA0UL) -#define RAMECC1_Monitor6_BASE (RAMECC1_BASE + 0xC0UL) - -#define RAMECC2_Monitor1_BASE (RAMECC2_BASE + 0x20UL) -#define RAMECC2_Monitor2_BASE (RAMECC2_BASE + 0x40UL) -#define RAMECC2_Monitor3_BASE (RAMECC2_BASE + 0x60UL) - -#define RAMECC3_Monitor1_BASE (RAMECC3_BASE + 0x20UL) -#define RAMECC3_Monitor2_BASE (RAMECC3_BASE + 0x40UL) - - - -#define GPV_BASE (PERIPH_BASE + 0x11000000UL) /*!< GPV_BASE (PERIPH_BASE + 0x11000000UL) */ - -/** - * @} - */ - -/** @addtogroup Peripheral_declaration - * @{ - */ -#define TIM2 ((TIM_TypeDef *) TIM2_BASE) -#define TIM3 ((TIM_TypeDef *) TIM3_BASE) -#define TIM4 ((TIM_TypeDef *) TIM4_BASE) -#define TIM5 ((TIM_TypeDef *) TIM5_BASE) -#define TIM6 ((TIM_TypeDef *) TIM6_BASE) -#define TIM7 ((TIM_TypeDef *) TIM7_BASE) -#define TIM13 ((TIM_TypeDef *) TIM13_BASE) -#define TIM14 ((TIM_TypeDef *) TIM14_BASE) -#define VREFBUF ((VREFBUF_TypeDef *) VREFBUF_BASE) -#define RTC ((RTC_TypeDef *) RTC_BASE) -#define WWDG1 ((WWDG_TypeDef *) WWDG1_BASE) - - -#define IWDG1 ((IWDG_TypeDef *) IWDG1_BASE) -#define SPI2 ((SPI_TypeDef *) SPI2_BASE) -#define SPI3 ((SPI_TypeDef *) SPI3_BASE) -#define SPI4 ((SPI_TypeDef *) SPI4_BASE) -#define SPI5 ((SPI_TypeDef *) SPI5_BASE) -#define SPI6 ((SPI_TypeDef *) SPI6_BASE) -#define USART2 ((USART_TypeDef *) USART2_BASE) -#define USART3 ((USART_TypeDef *) USART3_BASE) -#define USART6 ((USART_TypeDef *) USART6_BASE) -#define USART10 ((USART_TypeDef *) USART10_BASE) -#define UART7 ((USART_TypeDef *) UART7_BASE) -#define UART8 ((USART_TypeDef *) UART8_BASE) -#define UART9 ((USART_TypeDef *) UART9_BASE) -#define CRS ((CRS_TypeDef *) CRS_BASE) -#define UART4 ((USART_TypeDef *) UART4_BASE) -#define UART5 ((USART_TypeDef *) UART5_BASE) -#define I2C1 ((I2C_TypeDef *) I2C1_BASE) -#define I2C2 ((I2C_TypeDef *) I2C2_BASE) -#define I2C3 ((I2C_TypeDef *) I2C3_BASE) -#define I2C4 ((I2C_TypeDef *) I2C4_BASE) -#define I2C5 ((I2C_TypeDef *) I2C5_BASE) -#define FDCAN1 ((FDCAN_GlobalTypeDef *) FDCAN1_BASE) -#define FDCAN2 ((FDCAN_GlobalTypeDef *) FDCAN2_BASE) -#define FDCAN_CCU ((FDCAN_ClockCalibrationUnit_TypeDef *) FDCAN_CCU_BASE) -#define FDCAN3 ((FDCAN_GlobalTypeDef *) FDCAN3_BASE) -#define TIM23 ((TIM_TypeDef *) TIM23_BASE) -#define TIM24 ((TIM_TypeDef *) TIM24_BASE) -#define CEC ((CEC_TypeDef *) CEC_BASE) -#define LPTIM1 ((LPTIM_TypeDef *) LPTIM1_BASE) -#define PWR ((PWR_TypeDef *) PWR_BASE) -#define DAC1 ((DAC_TypeDef *) DAC1_BASE) -#define LPUART1 ((USART_TypeDef *) LPUART1_BASE) -#define SWPMI1 ((SWPMI_TypeDef *) SWPMI1_BASE) -#define LPTIM2 ((LPTIM_TypeDef *) LPTIM2_BASE) -#define LPTIM3 ((LPTIM_TypeDef *) LPTIM3_BASE) -#define DTS ((DTS_TypeDef *) DTS_BASE) -#define LPTIM4 ((LPTIM_TypeDef *) LPTIM4_BASE) -#define LPTIM5 ((LPTIM_TypeDef *) LPTIM5_BASE) - -#define SYSCFG ((SYSCFG_TypeDef *) SYSCFG_BASE) -#define COMP12 ((COMPOPT_TypeDef *) COMP12_BASE) -#define COMP1 ((COMP_TypeDef *) COMP1_BASE) -#define COMP2 ((COMP_TypeDef *) COMP2_BASE) -#define COMP12_COMMON ((COMP_Common_TypeDef *) COMP2_BASE) -#define OPAMP ((OPAMP_TypeDef *) OPAMP_BASE) -#define OPAMP1 ((OPAMP_TypeDef *) OPAMP1_BASE) -#define OPAMP2 ((OPAMP_TypeDef *) OPAMP2_BASE) - - -#define EXTI ((EXTI_TypeDef *) EXTI_BASE) -#define EXTI_D1 ((EXTI_Core_TypeDef *) EXTI_D1_BASE) -#define EXTI_D2 ((EXTI_Core_TypeDef *) EXTI_D2_BASE) -#define TIM1 ((TIM_TypeDef *) TIM1_BASE) -#define SPI1 ((SPI_TypeDef *) SPI1_BASE) -#define TIM8 ((TIM_TypeDef *) TIM8_BASE) -#define USART1 ((USART_TypeDef *) USART1_BASE) -#define TIM12 ((TIM_TypeDef *) TIM12_BASE) -#define TIM15 ((TIM_TypeDef *) TIM15_BASE) -#define TIM16 ((TIM_TypeDef *) TIM16_BASE) -#define TIM17 ((TIM_TypeDef *) TIM17_BASE) -#define SAI1 ((SAI_TypeDef *) SAI1_BASE) -#define SAI1_Block_A ((SAI_Block_TypeDef *)SAI1_Block_A_BASE) -#define SAI1_Block_B ((SAI_Block_TypeDef *)SAI1_Block_B_BASE) -#define SAI4 ((SAI_TypeDef *) SAI4_BASE) -#define SAI4_Block_A ((SAI_Block_TypeDef *)SAI4_Block_A_BASE) -#define SAI4_Block_B ((SAI_Block_TypeDef *)SAI4_Block_B_BASE) - -#define SPDIFRX ((SPDIFRX_TypeDef *) SPDIFRX_BASE) -#define DFSDM1_Channel0 ((DFSDM_Channel_TypeDef *) DFSDM1_Channel0_BASE) -#define DFSDM1_Channel1 ((DFSDM_Channel_TypeDef *) DFSDM1_Channel1_BASE) -#define DFSDM1_Channel2 ((DFSDM_Channel_TypeDef *) DFSDM1_Channel2_BASE) -#define DFSDM1_Channel3 ((DFSDM_Channel_TypeDef *) DFSDM1_Channel3_BASE) -#define DFSDM1_Channel4 ((DFSDM_Channel_TypeDef *) DFSDM1_Channel4_BASE) -#define DFSDM1_Channel5 ((DFSDM_Channel_TypeDef *) DFSDM1_Channel5_BASE) -#define DFSDM1_Channel6 ((DFSDM_Channel_TypeDef *) DFSDM1_Channel6_BASE) -#define DFSDM1_Channel7 ((DFSDM_Channel_TypeDef *) DFSDM1_Channel7_BASE) -#define DFSDM1_Filter0 ((DFSDM_Filter_TypeDef *) DFSDM1_Filter0_BASE) -#define DFSDM1_Filter1 ((DFSDM_Filter_TypeDef *) DFSDM1_Filter1_BASE) -#define DFSDM1_Filter2 ((DFSDM_Filter_TypeDef *) DFSDM1_Filter2_BASE) -#define DFSDM1_Filter3 ((DFSDM_Filter_TypeDef *) DFSDM1_Filter3_BASE) -#define DMA2D ((DMA2D_TypeDef *) DMA2D_BASE) -#define DCMI ((DCMI_TypeDef *) DCMI_BASE) -#define PSSI ((PSSI_TypeDef *) PSSI_BASE) -#define RCC ((RCC_TypeDef *) RCC_BASE) -#define FLASH ((FLASH_TypeDef *) FLASH_R_BASE) -#define CRC ((CRC_TypeDef *) CRC_BASE) - -#define GPIOA ((GPIO_TypeDef *) GPIOA_BASE) -#define GPIOB ((GPIO_TypeDef *) GPIOB_BASE) -#define GPIOC ((GPIO_TypeDef *) GPIOC_BASE) -#define GPIOD ((GPIO_TypeDef *) GPIOD_BASE) -#define GPIOE ((GPIO_TypeDef *) GPIOE_BASE) -#define GPIOF ((GPIO_TypeDef *) GPIOF_BASE) -#define GPIOG ((GPIO_TypeDef *) GPIOG_BASE) -#define GPIOH ((GPIO_TypeDef *) GPIOH_BASE) -#define GPIOJ ((GPIO_TypeDef *) GPIOJ_BASE) -#define GPIOK ((GPIO_TypeDef *) GPIOK_BASE) - -#define ADC1 ((ADC_TypeDef *) ADC1_BASE) -#define ADC2 ((ADC_TypeDef *) ADC2_BASE) -#define ADC3 ((ADC_TypeDef *) ADC3_BASE) -#define ADC3_COMMON ((ADC_Common_TypeDef *) ADC3_COMMON_BASE) -#define ADC12_COMMON ((ADC_Common_TypeDef *) ADC12_COMMON_BASE) - -#define CRYP ((CRYP_TypeDef *) CRYP_BASE) -#define HASH ((HASH_TypeDef *) HASH_BASE) -#define HASH_DIGEST ((HASH_DIGEST_TypeDef *) HASH_DIGEST_BASE) -#define RNG ((RNG_TypeDef *) RNG_BASE) -#define SDMMC2 ((SDMMC_TypeDef *) SDMMC2_BASE) -#define DLYB_SDMMC2 ((DLYB_TypeDef *) DLYB_SDMMC2_BASE) -#define FMAC ((FMAC_TypeDef *) FMAC_BASE) -#define CORDIC ((CORDIC_TypeDef *) CORDIC_BASE) - -#define BDMA ((BDMA_TypeDef *) BDMA_BASE) -#define BDMA_Channel0 ((BDMA_Channel_TypeDef *) BDMA_Channel0_BASE) -#define BDMA_Channel1 ((BDMA_Channel_TypeDef *) BDMA_Channel1_BASE) -#define BDMA_Channel2 ((BDMA_Channel_TypeDef *) BDMA_Channel2_BASE) -#define BDMA_Channel3 ((BDMA_Channel_TypeDef *) BDMA_Channel3_BASE) -#define BDMA_Channel4 ((BDMA_Channel_TypeDef *) BDMA_Channel4_BASE) -#define BDMA_Channel5 ((BDMA_Channel_TypeDef *) BDMA_Channel5_BASE) -#define BDMA_Channel6 ((BDMA_Channel_TypeDef *) BDMA_Channel6_BASE) -#define BDMA_Channel7 ((BDMA_Channel_TypeDef *) BDMA_Channel7_BASE) - -#define RAMECC1 ((RAMECC_TypeDef *)RAMECC1_BASE) -#define RAMECC1_Monitor1 ((RAMECC_MonitorTypeDef *)RAMECC1_Monitor1_BASE) -#define RAMECC1_Monitor2 ((RAMECC_MonitorTypeDef *)RAMECC1_Monitor2_BASE) -#define RAMECC1_Monitor3 ((RAMECC_MonitorTypeDef *)RAMECC1_Monitor3_BASE) -#define RAMECC1_Monitor4 ((RAMECC_MonitorTypeDef *)RAMECC1_Monitor4_BASE) -#define RAMECC1_Monitor5 ((RAMECC_MonitorTypeDef *)RAMECC1_Monitor5_BASE) -#define RAMECC1_Monitor6 ((RAMECC_MonitorTypeDef *)RAMECC1_Monitor6_BASE) - -#define RAMECC2 ((RAMECC_TypeDef *)RAMECC2_BASE) -#define RAMECC2_Monitor1 ((RAMECC_MonitorTypeDef *)RAMECC2_Monitor1_BASE) -#define RAMECC2_Monitor2 ((RAMECC_MonitorTypeDef *)RAMECC2_Monitor2_BASE) -#define RAMECC2_Monitor3 ((RAMECC_MonitorTypeDef *)RAMECC2_Monitor3_BASE) - -#define RAMECC3 ((RAMECC_TypeDef *)RAMECC3_BASE) -#define RAMECC3_Monitor1 ((RAMECC_MonitorTypeDef *)RAMECC3_Monitor1_BASE) -#define RAMECC3_Monitor2 ((RAMECC_MonitorTypeDef *)RAMECC3_Monitor2_BASE) - -#define DMAMUX2 ((DMAMUX_Channel_TypeDef *) DMAMUX2_BASE) -#define DMAMUX2_Channel0 ((DMAMUX_Channel_TypeDef *) DMAMUX2_Channel0_BASE) -#define DMAMUX2_Channel1 ((DMAMUX_Channel_TypeDef *) DMAMUX2_Channel1_BASE) -#define DMAMUX2_Channel2 ((DMAMUX_Channel_TypeDef *) DMAMUX2_Channel2_BASE) -#define DMAMUX2_Channel3 ((DMAMUX_Channel_TypeDef *) DMAMUX2_Channel3_BASE) -#define DMAMUX2_Channel4 ((DMAMUX_Channel_TypeDef *) DMAMUX2_Channel4_BASE) -#define DMAMUX2_Channel5 ((DMAMUX_Channel_TypeDef *) DMAMUX2_Channel5_BASE) -#define DMAMUX2_Channel6 ((DMAMUX_Channel_TypeDef *) DMAMUX2_Channel6_BASE) -#define DMAMUX2_Channel7 ((DMAMUX_Channel_TypeDef *) DMAMUX2_Channel7_BASE) - - -#define DMAMUX2_RequestGenerator0 ((DMAMUX_RequestGen_TypeDef *) DMAMUX2_RequestGenerator0_BASE) -#define DMAMUX2_RequestGenerator1 ((DMAMUX_RequestGen_TypeDef *) DMAMUX2_RequestGenerator1_BASE) -#define DMAMUX2_RequestGenerator2 ((DMAMUX_RequestGen_TypeDef *) DMAMUX2_RequestGenerator2_BASE) -#define DMAMUX2_RequestGenerator3 ((DMAMUX_RequestGen_TypeDef *) DMAMUX2_RequestGenerator3_BASE) -#define DMAMUX2_RequestGenerator4 ((DMAMUX_RequestGen_TypeDef *) DMAMUX2_RequestGenerator4_BASE) -#define DMAMUX2_RequestGenerator5 ((DMAMUX_RequestGen_TypeDef *) DMAMUX2_RequestGenerator5_BASE) -#define DMAMUX2_RequestGenerator6 ((DMAMUX_RequestGen_TypeDef *) DMAMUX2_RequestGenerator6_BASE) -#define DMAMUX2_RequestGenerator7 ((DMAMUX_RequestGen_TypeDef *) DMAMUX2_RequestGenerator7_BASE) - -#define DMAMUX2_ChannelStatus ((DMAMUX_ChannelStatus_TypeDef *) DMAMUX2_ChannelStatus_BASE) -#define DMAMUX2_RequestGenStatus ((DMAMUX_RequestGenStatus_TypeDef *) DMAMUX2_RequestGenStatus_BASE) - -#define DMA2 ((DMA_TypeDef *) DMA2_BASE) -#define DMA2_Stream0 ((DMA_Stream_TypeDef *) DMA2_Stream0_BASE) -#define DMA2_Stream1 ((DMA_Stream_TypeDef *) DMA2_Stream1_BASE) -#define DMA2_Stream2 ((DMA_Stream_TypeDef *) DMA2_Stream2_BASE) -#define DMA2_Stream3 ((DMA_Stream_TypeDef *) DMA2_Stream3_BASE) -#define DMA2_Stream4 ((DMA_Stream_TypeDef *) DMA2_Stream4_BASE) -#define DMA2_Stream5 ((DMA_Stream_TypeDef *) DMA2_Stream5_BASE) -#define DMA2_Stream6 ((DMA_Stream_TypeDef *) DMA2_Stream6_BASE) -#define DMA2_Stream7 ((DMA_Stream_TypeDef *) DMA2_Stream7_BASE) - -#define DMA1 ((DMA_TypeDef *) DMA1_BASE) -#define DMA1_Stream0 ((DMA_Stream_TypeDef *) DMA1_Stream0_BASE) -#define DMA1_Stream1 ((DMA_Stream_TypeDef *) DMA1_Stream1_BASE) -#define DMA1_Stream2 ((DMA_Stream_TypeDef *) DMA1_Stream2_BASE) -#define DMA1_Stream3 ((DMA_Stream_TypeDef *) DMA1_Stream3_BASE) -#define DMA1_Stream4 ((DMA_Stream_TypeDef *) DMA1_Stream4_BASE) -#define DMA1_Stream5 ((DMA_Stream_TypeDef *) DMA1_Stream5_BASE) -#define DMA1_Stream6 ((DMA_Stream_TypeDef *) DMA1_Stream6_BASE) -#define DMA1_Stream7 ((DMA_Stream_TypeDef *) DMA1_Stream7_BASE) - - -#define DMAMUX1 ((DMAMUX_Channel_TypeDef *) DMAMUX1_BASE) -#define DMAMUX1_Channel0 ((DMAMUX_Channel_TypeDef *) DMAMUX1_Channel0_BASE) -#define DMAMUX1_Channel1 ((DMAMUX_Channel_TypeDef *) DMAMUX1_Channel1_BASE) -#define DMAMUX1_Channel2 ((DMAMUX_Channel_TypeDef *) DMAMUX1_Channel2_BASE) -#define DMAMUX1_Channel3 ((DMAMUX_Channel_TypeDef *) DMAMUX1_Channel3_BASE) -#define DMAMUX1_Channel4 ((DMAMUX_Channel_TypeDef *) DMAMUX1_Channel4_BASE) -#define DMAMUX1_Channel5 ((DMAMUX_Channel_TypeDef *) DMAMUX1_Channel5_BASE) -#define DMAMUX1_Channel6 ((DMAMUX_Channel_TypeDef *) DMAMUX1_Channel6_BASE) -#define DMAMUX1_Channel7 ((DMAMUX_Channel_TypeDef *) DMAMUX1_Channel7_BASE) -#define DMAMUX1_Channel8 ((DMAMUX_Channel_TypeDef *) DMAMUX1_Channel8_BASE) -#define DMAMUX1_Channel9 ((DMAMUX_Channel_TypeDef *) DMAMUX1_Channel9_BASE) -#define DMAMUX1_Channel10 ((DMAMUX_Channel_TypeDef *) DMAMUX1_Channel10_BASE) -#define DMAMUX1_Channel11 ((DMAMUX_Channel_TypeDef *) DMAMUX1_Channel11_BASE) -#define DMAMUX1_Channel12 ((DMAMUX_Channel_TypeDef *) DMAMUX1_Channel12_BASE) -#define DMAMUX1_Channel13 ((DMAMUX_Channel_TypeDef *) DMAMUX1_Channel13_BASE) -#define DMAMUX1_Channel14 ((DMAMUX_Channel_TypeDef *) DMAMUX1_Channel14_BASE) -#define DMAMUX1_Channel15 ((DMAMUX_Channel_TypeDef *) DMAMUX1_Channel15_BASE) - -#define DMAMUX1_RequestGenerator0 ((DMAMUX_RequestGen_TypeDef *) DMAMUX1_RequestGenerator0_BASE) -#define DMAMUX1_RequestGenerator1 ((DMAMUX_RequestGen_TypeDef *) DMAMUX1_RequestGenerator1_BASE) -#define DMAMUX1_RequestGenerator2 ((DMAMUX_RequestGen_TypeDef *) DMAMUX1_RequestGenerator2_BASE) -#define DMAMUX1_RequestGenerator3 ((DMAMUX_RequestGen_TypeDef *) DMAMUX1_RequestGenerator3_BASE) -#define DMAMUX1_RequestGenerator4 ((DMAMUX_RequestGen_TypeDef *) DMAMUX1_RequestGenerator4_BASE) -#define DMAMUX1_RequestGenerator5 ((DMAMUX_RequestGen_TypeDef *) DMAMUX1_RequestGenerator5_BASE) -#define DMAMUX1_RequestGenerator6 ((DMAMUX_RequestGen_TypeDef *) DMAMUX1_RequestGenerator6_BASE) -#define DMAMUX1_RequestGenerator7 ((DMAMUX_RequestGen_TypeDef *) DMAMUX1_RequestGenerator7_BASE) - -#define DMAMUX1_ChannelStatus ((DMAMUX_ChannelStatus_TypeDef *) DMAMUX1_ChannelStatus_BASE) -#define DMAMUX1_RequestGenStatus ((DMAMUX_RequestGenStatus_TypeDef *) DMAMUX1_RequestGenStatus_BASE) - - -#define FMC_Bank1_R ((FMC_Bank1_TypeDef *) FMC_Bank1_R_BASE) -#define FMC_Bank1E_R ((FMC_Bank1E_TypeDef *) FMC_Bank1E_R_BASE) -#define FMC_Bank2_R ((FMC_Bank2_TypeDef *) FMC_Bank2_R_BASE) -#define FMC_Bank3_R ((FMC_Bank3_TypeDef *) FMC_Bank3_R_BASE) -#define FMC_Bank5_6_R ((FMC_Bank5_6_TypeDef *) FMC_Bank5_6_R_BASE) - -#define OCTOSPI1 ((OCTOSPI_TypeDef *) OCTOSPI1_R_BASE) -#define DLYB_OCTOSPI1 ((DLYB_TypeDef *) DLYB_OCTOSPI1_BASE) -#define OCTOSPI2 ((OCTOSPI_TypeDef *) OCTOSPI2_R_BASE) -#define DLYB_OCTOSPI2 ((DLYB_TypeDef *) DLYB_OCTOSPI2_BASE) -#define OCTOSPIM ((OCTOSPIM_TypeDef *) OCTOSPIM_BASE) - -#define OTFDEC1 ((OTFDEC_TypeDef *) OTFDEC1_BASE) -#define OTFDEC1_REGION1 ((OTFDEC_Region_TypeDef *) OTFDEC1_REGION1_BASE) -#define OTFDEC1_REGION2 ((OTFDEC_Region_TypeDef *) OTFDEC1_REGION2_BASE) -#define OTFDEC1_REGION3 ((OTFDEC_Region_TypeDef *) OTFDEC1_REGION3_BASE) -#define OTFDEC1_REGION4 ((OTFDEC_Region_TypeDef *) OTFDEC1_REGION4_BASE) - -#define OTFDEC2 ((OTFDEC_TypeDef *) OTFDEC2_BASE) -#define OTFDEC2_REGION1 ((OTFDEC_Region_TypeDef *) OTFDEC2_REGION1_BASE) -#define OTFDEC2_REGION2 ((OTFDEC_Region_TypeDef *) OTFDEC2_REGION2_BASE) -#define OTFDEC2_REGION3 ((OTFDEC_Region_TypeDef *) OTFDEC2_REGION3_BASE) -#define OTFDEC2_REGION4 ((OTFDEC_Region_TypeDef *) OTFDEC2_REGION4_BASE) - -#define SDMMC1 ((SDMMC_TypeDef *) SDMMC1_BASE) -#define DLYB_SDMMC1 ((DLYB_TypeDef *) DLYB_SDMMC1_BASE) - -#define DBGMCU ((DBGMCU_TypeDef *) DBGMCU_BASE) - -#define HSEM ((HSEM_TypeDef *) HSEM_BASE) -#define HSEM_COMMON ((HSEM_Common_TypeDef *) (HSEM_BASE + 0x100UL)) - -#define LTDC ((LTDC_TypeDef *)LTDC_BASE) -#define LTDC_Layer1 ((LTDC_Layer_TypeDef *)LTDC_Layer1_BASE) -#define LTDC_Layer2 ((LTDC_Layer_TypeDef *)LTDC_Layer2_BASE) - -#define MDIOS ((MDIOS_TypeDef *) MDIOS_BASE) - -#define ETH ((ETH_TypeDef *)ETH_BASE) -#define MDMA ((MDMA_TypeDef *)MDMA_BASE) -#define MDMA_Channel0 ((MDMA_Channel_TypeDef *)MDMA_Channel0_BASE) -#define MDMA_Channel1 ((MDMA_Channel_TypeDef *)MDMA_Channel1_BASE) -#define MDMA_Channel2 ((MDMA_Channel_TypeDef *)MDMA_Channel2_BASE) -#define MDMA_Channel3 ((MDMA_Channel_TypeDef *)MDMA_Channel3_BASE) -#define MDMA_Channel4 ((MDMA_Channel_TypeDef *)MDMA_Channel4_BASE) -#define MDMA_Channel5 ((MDMA_Channel_TypeDef *)MDMA_Channel5_BASE) -#define MDMA_Channel6 ((MDMA_Channel_TypeDef *)MDMA_Channel6_BASE) -#define MDMA_Channel7 ((MDMA_Channel_TypeDef *)MDMA_Channel7_BASE) -#define MDMA_Channel8 ((MDMA_Channel_TypeDef *)MDMA_Channel8_BASE) -#define MDMA_Channel9 ((MDMA_Channel_TypeDef *)MDMA_Channel9_BASE) -#define MDMA_Channel10 ((MDMA_Channel_TypeDef *)MDMA_Channel10_BASE) -#define MDMA_Channel11 ((MDMA_Channel_TypeDef *)MDMA_Channel11_BASE) -#define MDMA_Channel12 ((MDMA_Channel_TypeDef *)MDMA_Channel12_BASE) -#define MDMA_Channel13 ((MDMA_Channel_TypeDef *)MDMA_Channel13_BASE) -#define MDMA_Channel14 ((MDMA_Channel_TypeDef *)MDMA_Channel14_BASE) -#define MDMA_Channel15 ((MDMA_Channel_TypeDef *)MDMA_Channel15_BASE) - - -#define USB1_OTG_HS ((USB_OTG_GlobalTypeDef *) USB1_OTG_HS_PERIPH_BASE) - -/* Legacy defines */ -#define USB_OTG_HS USB1_OTG_HS -#define USB_OTG_HS_PERIPH_BASE USB1_OTG_HS_PERIPH_BASE - -#define GPV ((GPV_TypeDef *) GPV_BASE) - -/** - * @} - */ - -/** @addtogroup Exported_constants - * @{ - */ - - /** @addtogroup Peripheral_Registers_Bits_Definition - * @{ - */ - -/******************************************************************************/ -/* Peripheral Registers_Bits_Definition */ -/******************************************************************************/ - -/******************************************************************************/ -/* */ -/* Analog to Digital Converter */ -/* */ -/******************************************************************************/ -/******************************* ADC VERSION ********************************/ -#define ADC_VER_V5_V90 -/******************** Bit definition for ADC_ISR register ********************/ -#define ADC_ISR_ADRDY_Pos (0U) -#define ADC_ISR_ADRDY_Msk (0x1UL << ADC_ISR_ADRDY_Pos) /*!< 0x00000001 */ -#define ADC_ISR_ADRDY ADC_ISR_ADRDY_Msk /*!< ADC Ready (ADRDY) flag */ -#define ADC_ISR_EOSMP_Pos (1U) -#define ADC_ISR_EOSMP_Msk (0x1UL << ADC_ISR_EOSMP_Pos) /*!< 0x00000002 */ -#define ADC_ISR_EOSMP ADC_ISR_EOSMP_Msk /*!< ADC End of Sampling flag */ -#define ADC_ISR_EOC_Pos (2U) -#define ADC_ISR_EOC_Msk (0x1UL << ADC_ISR_EOC_Pos) /*!< 0x00000004 */ -#define ADC_ISR_EOC ADC_ISR_EOC_Msk /*!< ADC End of Regular Conversion flag */ -#define ADC_ISR_EOS_Pos (3U) -#define ADC_ISR_EOS_Msk (0x1UL << ADC_ISR_EOS_Pos) /*!< 0x00000008 */ -#define ADC_ISR_EOS ADC_ISR_EOS_Msk /*!< ADC End of Regular sequence of Conversions flag */ -#define ADC_ISR_OVR_Pos (4U) -#define ADC_ISR_OVR_Msk (0x1UL << ADC_ISR_OVR_Pos) /*!< 0x00000010 */ -#define ADC_ISR_OVR ADC_ISR_OVR_Msk /*!< ADC overrun flag */ -#define ADC_ISR_JEOC_Pos (5U) -#define ADC_ISR_JEOC_Msk (0x1UL << ADC_ISR_JEOC_Pos) /*!< 0x00000020 */ -#define ADC_ISR_JEOC ADC_ISR_JEOC_Msk /*!< ADC End of Injected Conversion flag */ -#define ADC_ISR_JEOS_Pos (6U) -#define ADC_ISR_JEOS_Msk (0x1UL << ADC_ISR_JEOS_Pos) /*!< 0x00000040 */ -#define ADC_ISR_JEOS ADC_ISR_JEOS_Msk /*!< ADC End of Injected sequence of Conversions flag */ -#define ADC_ISR_AWD1_Pos (7U) -#define ADC_ISR_AWD1_Msk (0x1UL << ADC_ISR_AWD1_Pos) /*!< 0x00000080 */ -#define ADC_ISR_AWD1 ADC_ISR_AWD1_Msk /*!< ADC Analog watchdog 1 flag */ -#define ADC_ISR_AWD2_Pos (8U) -#define ADC_ISR_AWD2_Msk (0x1UL << ADC_ISR_AWD2_Pos) /*!< 0x00000100 */ -#define ADC_ISR_AWD2 ADC_ISR_AWD2_Msk /*!< ADC Analog watchdog 2 flag */ -#define ADC_ISR_AWD3_Pos (9U) -#define ADC_ISR_AWD3_Msk (0x1UL << ADC_ISR_AWD3_Pos) /*!< 0x00000200 */ -#define ADC_ISR_AWD3 ADC_ISR_AWD3_Msk /*!< ADC Analog watchdog 3 flag */ -#define ADC_ISR_JQOVF_Pos (10U) -#define ADC_ISR_JQOVF_Msk (0x1UL << ADC_ISR_JQOVF_Pos) /*!< 0x00000400 */ -#define ADC_ISR_JQOVF ADC_ISR_JQOVF_Msk /*!< ADC Injected Context Queue Overflow flag */ -#define ADC_ISR_LDORDY_Pos (12U) -#define ADC_ISR_LDORDY_Msk (0x1UL << ADC_ISR_LDORDY_Pos) /*!< 0x00001000 */ -#define ADC_ISR_LDORDY ADC_ISR_LDORDY_Msk /*!< ADC LDO Ready (LDORDY) flag */ - -/******************** Bit definition for ADC_IER register ********************/ -#define ADC_IER_ADRDYIE_Pos (0U) -#define ADC_IER_ADRDYIE_Msk (0x1UL << ADC_IER_ADRDYIE_Pos) /*!< 0x00000001 */ -#define ADC_IER_ADRDYIE ADC_IER_ADRDYIE_Msk /*!< ADC Ready (ADRDY) interrupt source */ -#define ADC_IER_EOSMPIE_Pos (1U) -#define ADC_IER_EOSMPIE_Msk (0x1UL << ADC_IER_EOSMPIE_Pos) /*!< 0x00000002 */ -#define ADC_IER_EOSMPIE ADC_IER_EOSMPIE_Msk /*!< ADC End of Sampling interrupt source */ -#define ADC_IER_EOCIE_Pos (2U) -#define ADC_IER_EOCIE_Msk (0x1UL << ADC_IER_EOCIE_Pos) /*!< 0x00000004 */ -#define ADC_IER_EOCIE ADC_IER_EOCIE_Msk /*!< ADC End of Regular Conversion interrupt source */ -#define ADC_IER_EOSIE_Pos (3U) -#define ADC_IER_EOSIE_Msk (0x1UL << ADC_IER_EOSIE_Pos) /*!< 0x00000008 */ -#define ADC_IER_EOSIE ADC_IER_EOSIE_Msk /*!< ADC End of Regular sequence of Conversions interrupt source */ -#define ADC_IER_OVRIE_Pos (4U) -#define ADC_IER_OVRIE_Msk (0x1UL << ADC_IER_OVRIE_Pos) /*!< 0x00000010 */ -#define ADC_IER_OVRIE ADC_IER_OVRIE_Msk /*!< ADC overrun interrupt source */ -#define ADC_IER_JEOCIE_Pos (5U) -#define ADC_IER_JEOCIE_Msk (0x1UL << ADC_IER_JEOCIE_Pos) /*!< 0x00000020 */ -#define ADC_IER_JEOCIE ADC_IER_JEOCIE_Msk /*!< ADC End of Injected Conversion interrupt source */ -#define ADC_IER_JEOSIE_Pos (6U) -#define ADC_IER_JEOSIE_Msk (0x1UL << ADC_IER_JEOSIE_Pos) /*!< 0x00000040 */ -#define ADC_IER_JEOSIE ADC_IER_JEOSIE_Msk /*!< ADC End of Injected sequence of Conversions interrupt source */ -#define ADC_IER_AWD1IE_Pos (7U) -#define ADC_IER_AWD1IE_Msk (0x1UL << ADC_IER_AWD1IE_Pos) /*!< 0x00000080 */ -#define ADC_IER_AWD1IE ADC_IER_AWD1IE_Msk /*!< ADC Analog watchdog 1 interrupt source */ -#define ADC_IER_AWD2IE_Pos (8U) -#define ADC_IER_AWD2IE_Msk (0x1UL << ADC_IER_AWD2IE_Pos) /*!< 0x00000100 */ -#define ADC_IER_AWD2IE ADC_IER_AWD2IE_Msk /*!< ADC Analog watchdog 2 interrupt source */ -#define ADC_IER_AWD3IE_Pos (9U) -#define ADC_IER_AWD3IE_Msk (0x1UL << ADC_IER_AWD3IE_Pos) /*!< 0x00000200 */ -#define ADC_IER_AWD3IE ADC_IER_AWD3IE_Msk /*!< ADC Analog watchdog 3 interrupt source */ -#define ADC_IER_JQOVFIE_Pos (10U) -#define ADC_IER_JQOVFIE_Msk (0x1UL << ADC_IER_JQOVFIE_Pos) /*!< 0x00000400 */ -#define ADC_IER_JQOVFIE ADC_IER_JQOVFIE_Msk /*!< ADC Injected Context Queue Overflow interrupt source */ - -/******************** Bit definition for ADC_CR register ********************/ -#define ADC_CR_ADEN_Pos (0U) -#define ADC_CR_ADEN_Msk (0x1UL << ADC_CR_ADEN_Pos) /*!< 0x00000001 */ -#define ADC_CR_ADEN ADC_CR_ADEN_Msk /*!< ADC Enable control */ -#define ADC_CR_ADDIS_Pos (1U) -#define ADC_CR_ADDIS_Msk (0x1UL << ADC_CR_ADDIS_Pos) /*!< 0x00000002 */ -#define ADC_CR_ADDIS ADC_CR_ADDIS_Msk /*!< ADC Disable command */ -#define ADC_CR_ADSTART_Pos (2U) -#define ADC_CR_ADSTART_Msk (0x1UL << ADC_CR_ADSTART_Pos) /*!< 0x00000004 */ -#define ADC_CR_ADSTART ADC_CR_ADSTART_Msk /*!< ADC Start of Regular conversion */ -#define ADC_CR_JADSTART_Pos (3U) -#define ADC_CR_JADSTART_Msk (0x1UL << ADC_CR_JADSTART_Pos) /*!< 0x00000008 */ -#define ADC_CR_JADSTART ADC_CR_JADSTART_Msk /*!< ADC Start of injected conversion */ -#define ADC_CR_ADSTP_Pos (4U) -#define ADC_CR_ADSTP_Msk (0x1UL << ADC_CR_ADSTP_Pos) /*!< 0x00000010 */ -#define ADC_CR_ADSTP ADC_CR_ADSTP_Msk /*!< ADC Stop of Regular conversion */ -#define ADC_CR_JADSTP_Pos (5U) -#define ADC_CR_JADSTP_Msk (0x1UL << ADC_CR_JADSTP_Pos) /*!< 0x00000020 */ -#define ADC_CR_JADSTP ADC_CR_JADSTP_Msk /*!< ADC Stop of injected conversion */ -#define ADC_CR_BOOST_Pos (8U) -#define ADC_CR_BOOST_Msk (0x3UL << ADC_CR_BOOST_Pos) /*!< 0x00000300 */ -#define ADC_CR_BOOST ADC_CR_BOOST_Msk /*!< ADC Boost Mode configuration */ -#define ADC_CR_BOOST_0 (0x1UL << ADC_CR_BOOST_Pos) /*!< 0x00000100 */ -#define ADC_CR_BOOST_1 (0x2UL << ADC_CR_BOOST_Pos) /*!< 0x00000200 */ -#define ADC_CR_ADCALLIN_Pos (16U) -#define ADC_CR_ADCALLIN_Msk (0x1UL << ADC_CR_ADCALLIN_Pos) /*!< 0x00010000 */ -#define ADC_CR_ADCALLIN ADC_CR_ADCALLIN_Msk /*!< ADC Linearity calibration */ -#define ADC_CR_LINCALRDYW1_Pos (22U) -#define ADC_CR_LINCALRDYW1_Msk (0x1UL << ADC_CR_LINCALRDYW1_Pos) /*!< 0x00400000 */ -#define ADC_CR_LINCALRDYW1 ADC_CR_LINCALRDYW1_Msk /*!< ADC Linearity calibration ready Word 1 */ -#define ADC_CR_LINCALRDYW2_Pos (23U) -#define ADC_CR_LINCALRDYW2_Msk (0x1UL << ADC_CR_LINCALRDYW2_Pos) /*!< 0x00800000 */ -#define ADC_CR_LINCALRDYW2 ADC_CR_LINCALRDYW2_Msk /*!< ADC Linearity calibration ready Word 2 */ -#define ADC_CR_LINCALRDYW3_Pos (24U) -#define ADC_CR_LINCALRDYW3_Msk (0x1UL << ADC_CR_LINCALRDYW3_Pos) /*!< 0x01000000 */ -#define ADC_CR_LINCALRDYW3 ADC_CR_LINCALRDYW3_Msk /*!< ADC Linearity calibration ready Word 3 */ -#define ADC_CR_LINCALRDYW4_Pos (25U) -#define ADC_CR_LINCALRDYW4_Msk (0x1UL << ADC_CR_LINCALRDYW4_Pos) /*!< 0x02000000 */ -#define ADC_CR_LINCALRDYW4 ADC_CR_LINCALRDYW4_Msk /*!< ADC Linearity calibration ready Word 4 */ -#define ADC_CR_LINCALRDYW5_Pos (26U) -#define ADC_CR_LINCALRDYW5_Msk (0x1UL << ADC_CR_LINCALRDYW5_Pos) /*!< 0x04000000 */ -#define ADC_CR_LINCALRDYW5 ADC_CR_LINCALRDYW5_Msk /*!< ADC Linearity calibration ready Word 5 */ -#define ADC_CR_LINCALRDYW6_Pos (27U) -#define ADC_CR_LINCALRDYW6_Msk (0x1UL << ADC_CR_LINCALRDYW6_Pos) /*!< 0x08000000 */ -#define ADC_CR_LINCALRDYW6 ADC_CR_LINCALRDYW6_Msk /*!< ADC Linearity calibration ready Word 6 */ -#define ADC_CR_ADVREGEN_Pos (28U) -#define ADC_CR_ADVREGEN_Msk (0x1UL << ADC_CR_ADVREGEN_Pos) /*!< 0x10000000 */ -#define ADC_CR_ADVREGEN ADC_CR_ADVREGEN_Msk /*!< ADC Voltage regulator Enable */ -#define ADC_CR_DEEPPWD_Pos (29U) -#define ADC_CR_DEEPPWD_Msk (0x1UL << ADC_CR_DEEPPWD_Pos) /*!< 0x20000000 */ -#define ADC_CR_DEEPPWD ADC_CR_DEEPPWD_Msk /*!< ADC Deep power down Enable */ -#define ADC_CR_ADCALDIF_Pos (30U) -#define ADC_CR_ADCALDIF_Msk (0x1UL << ADC_CR_ADCALDIF_Pos) /*!< 0x40000000 */ -#define ADC_CR_ADCALDIF ADC_CR_ADCALDIF_Msk /*!< ADC Differential Mode for calibration */ -#define ADC_CR_ADCAL_Pos (31U) -#define ADC_CR_ADCAL_Msk (0x1UL << ADC_CR_ADCAL_Pos) /*!< 0x80000000 */ -#define ADC_CR_ADCAL ADC_CR_ADCAL_Msk /*!< ADC Calibration */ - -/******************** Bit definition for ADC_CFGR register ********************/ -#define ADC_CFGR_DMNGT_Pos (0U) -#define ADC_CFGR_DMNGT_Msk (0x3UL << ADC_CFGR_DMNGT_Pos) /*!< 0x00000003 */ -#define ADC_CFGR_DMNGT ADC_CFGR_DMNGT_Msk /*!< ADC Data Management configuration */ -#define ADC_CFGR_DMNGT_0 (0x1UL << ADC_CFGR_DMNGT_Pos) /*!< 0x00000001 */ -#define ADC_CFGR_DMNGT_1 (0x2UL << ADC_CFGR_DMNGT_Pos) /*!< 0x00000002 */ - -#define ADC_CFGR_RES_Pos (2U) -#define ADC_CFGR_RES_Msk (0x7UL << ADC_CFGR_RES_Pos) /*!< 0x0000001C */ -#define ADC_CFGR_RES ADC_CFGR_RES_Msk /*!< ADC Data resolution */ -#define ADC_CFGR_RES_0 (0x1UL << ADC_CFGR_RES_Pos) /*!< 0x00000004 */ -#define ADC_CFGR_RES_1 (0x2UL << ADC_CFGR_RES_Pos) /*!< 0x00000008 */ -#define ADC_CFGR_RES_2 (0x4UL << ADC_CFGR_RES_Pos) /*!< 0x00000010 */ - -#define ADC_CFGR_EXTSEL_Pos (5U) -#define ADC_CFGR_EXTSEL_Msk (0x1FUL << ADC_CFGR_EXTSEL_Pos) /*!< 0x000003E0 */ -#define ADC_CFGR_EXTSEL ADC_CFGR_EXTSEL_Msk /*!< ADC External trigger selection for regular group */ -#define ADC_CFGR_EXTSEL_0 (0x01UL << ADC_CFGR_EXTSEL_Pos) /*!< 0x00000020 */ -#define ADC_CFGR_EXTSEL_1 (0x02UL << ADC_CFGR_EXTSEL_Pos) /*!< 0x00000040 */ -#define ADC_CFGR_EXTSEL_2 (0x04UL << ADC_CFGR_EXTSEL_Pos) /*!< 0x00000080 */ -#define ADC_CFGR_EXTSEL_3 (0x08UL << ADC_CFGR_EXTSEL_Pos) /*!< 0x00000100 */ -#define ADC_CFGR_EXTSEL_4 (0x10UL << ADC_CFGR_EXTSEL_Pos) /*!< 0x00000200 */ - -#define ADC_CFGR_EXTEN_Pos (10U) -#define ADC_CFGR_EXTEN_Msk (0x3UL << ADC_CFGR_EXTEN_Pos) /*!< 0x00000C00 */ -#define ADC_CFGR_EXTEN ADC_CFGR_EXTEN_Msk /*!< ADC External trigger enable and polarity selection for regular channels */ -#define ADC_CFGR_EXTEN_0 (0x1UL << ADC_CFGR_EXTEN_Pos) /*!< 0x00000400 */ -#define ADC_CFGR_EXTEN_1 (0x2UL << ADC_CFGR_EXTEN_Pos) /*!< 0x00000800 */ - -#define ADC_CFGR_OVRMOD_Pos (12U) -#define ADC_CFGR_OVRMOD_Msk (0x1UL << ADC_CFGR_OVRMOD_Pos) /*!< 0x00001000 */ -#define ADC_CFGR_OVRMOD ADC_CFGR_OVRMOD_Msk /*!< ADC overrun mode */ -#define ADC_CFGR_CONT_Pos (13U) -#define ADC_CFGR_CONT_Msk (0x1UL << ADC_CFGR_CONT_Pos) /*!< 0x00002000 */ -#define ADC_CFGR_CONT ADC_CFGR_CONT_Msk /*!< ADC Single/continuous conversion mode for regular conversion */ -#define ADC_CFGR_AUTDLY_Pos (14U) -#define ADC_CFGR_AUTDLY_Msk (0x1UL << ADC_CFGR_AUTDLY_Pos) /*!< 0x00004000 */ -#define ADC_CFGR_AUTDLY ADC_CFGR_AUTDLY_Msk /*!< ADC Delayed conversion mode */ - -#define ADC_CFGR_DISCEN_Pos (16U) -#define ADC_CFGR_DISCEN_Msk (0x1UL << ADC_CFGR_DISCEN_Pos) /*!< 0x00010000 */ -#define ADC_CFGR_DISCEN ADC_CFGR_DISCEN_Msk /*!< ADC Discontinuous mode for regular channels */ - -#define ADC_CFGR_DISCNUM_Pos (17U) -#define ADC_CFGR_DISCNUM_Msk (0x7UL << ADC_CFGR_DISCNUM_Pos) /*!< 0x000E0000 */ -#define ADC_CFGR_DISCNUM ADC_CFGR_DISCNUM_Msk /*!< ADC Discontinuous mode channel count */ -#define ADC_CFGR_DISCNUM_0 (0x1UL << ADC_CFGR_DISCNUM_Pos) /*!< 0x00020000 */ -#define ADC_CFGR_DISCNUM_1 (0x2UL << ADC_CFGR_DISCNUM_Pos) /*!< 0x00040000 */ -#define ADC_CFGR_DISCNUM_2 (0x4UL << ADC_CFGR_DISCNUM_Pos) /*!< 0x00080000 */ - -#define ADC_CFGR_JDISCEN_Pos (20U) -#define ADC_CFGR_JDISCEN_Msk (0x1UL << ADC_CFGR_JDISCEN_Pos) /*!< 0x00100000 */ -#define ADC_CFGR_JDISCEN ADC_CFGR_JDISCEN_Msk /*!< ADC Discontinuous mode on injected channels */ -#define ADC_CFGR_JQM_Pos (21U) -#define ADC_CFGR_JQM_Msk (0x1UL << ADC_CFGR_JQM_Pos) /*!< 0x00200000 */ -#define ADC_CFGR_JQM ADC_CFGR_JQM_Msk /*!< ADC JSQR Queue mode */ -#define ADC_CFGR_AWD1SGL_Pos (22U) -#define ADC_CFGR_AWD1SGL_Msk (0x1UL << ADC_CFGR_AWD1SGL_Pos) /*!< 0x00400000 */ -#define ADC_CFGR_AWD1SGL ADC_CFGR_AWD1SGL_Msk /*!< Enable the watchdog 1 on a single channel or on all channels */ -#define ADC_CFGR_AWD1EN_Pos (23U) -#define ADC_CFGR_AWD1EN_Msk (0x1UL << ADC_CFGR_AWD1EN_Pos) /*!< 0x00800000 */ -#define ADC_CFGR_AWD1EN ADC_CFGR_AWD1EN_Msk /*!< ADC Analog watchdog 1 enable on regular Channels */ -#define ADC_CFGR_JAWD1EN_Pos (24U) -#define ADC_CFGR_JAWD1EN_Msk (0x1UL << ADC_CFGR_JAWD1EN_Pos) /*!< 0x01000000 */ -#define ADC_CFGR_JAWD1EN ADC_CFGR_JAWD1EN_Msk /*!< ADC Analog watchdog 1 enable on injected Channels */ -#define ADC_CFGR_JAUTO_Pos (25U) -#define ADC_CFGR_JAUTO_Msk (0x1UL << ADC_CFGR_JAUTO_Pos) /*!< 0x02000000 */ -#define ADC_CFGR_JAUTO ADC_CFGR_JAUTO_Msk /*!< ADC Automatic injected group conversion */ - -#define ADC_CFGR_AWD1CH_Pos (26U) -#define ADC_CFGR_AWD1CH_Msk (0x1FUL << ADC_CFGR_AWD1CH_Pos) /*!< 0x7C000000 */ -#define ADC_CFGR_AWD1CH ADC_CFGR_AWD1CH_Msk /*!< ADC Analog watchdog 1 Channel selection */ -#define ADC_CFGR_AWD1CH_0 (0x01UL << ADC_CFGR_AWD1CH_Pos) /*!< 0x04000000 */ -#define ADC_CFGR_AWD1CH_1 (0x02UL << ADC_CFGR_AWD1CH_Pos) /*!< 0x08000000 */ -#define ADC_CFGR_AWD1CH_2 (0x04UL << ADC_CFGR_AWD1CH_Pos) /*!< 0x10000000 */ -#define ADC_CFGR_AWD1CH_3 (0x08UL << ADC_CFGR_AWD1CH_Pos) /*!< 0x20000000 */ -#define ADC_CFGR_AWD1CH_4 (0x10UL << ADC_CFGR_AWD1CH_Pos) /*!< 0x40000000 */ - -#define ADC_CFGR_JQDIS_Pos (31U) -#define ADC_CFGR_JQDIS_Msk (0x1UL << ADC_CFGR_JQDIS_Pos) /*!< 0x80000000 */ -#define ADC_CFGR_JQDIS ADC_CFGR_JQDIS_Msk /*!< ADC Injected queue disable */ - -#define ADC3_CFGR_DMAEN_Pos (0U) -#define ADC3_CFGR_DMAEN_Msk (0x1UL << ADC3_CFGR_DMAEN_Pos) /*!< 0x00000001 */ -#define ADC3_CFGR_DMAEN ADC3_CFGR_DMAEN_Msk /*!< ADC DMA transfer enable */ -#define ADC3_CFGR_DMACFG_Pos (1U) -#define ADC3_CFGR_DMACFG_Msk (0x1UL << ADC3_CFGR_DMACFG_Pos) /*!< 0x00000002 */ -#define ADC3_CFGR_DMACFG ADC3_CFGR_DMACFG_Msk /*!< ADC DMA transfer configuration */ - -#define ADC3_CFGR_RES_Pos (3U) -#define ADC3_CFGR_RES_Msk (0x3UL << ADC3_CFGR_RES_Pos) /*!< 0x00000018 */ -#define ADC3_CFGR_RES ADC3_CFGR_RES_Msk /*!< ADC data resolution */ -#define ADC3_CFGR_RES_0 (0x1UL << ADC3_CFGR_RES_Pos) /*!< 0x00000008 */ -#define ADC3_CFGR_RES_1 (0x2UL << ADC3_CFGR_RES_Pos) /*!< 0x00000010 */ - -#define ADC3_CFGR_ALIGN_Pos (15U) -#define ADC3_CFGR_ALIGN_Msk (0x1UL << ADC3_CFGR_ALIGN_Pos) /*!< 0x00008000 */ -#define ADC3_CFGR_ALIGN ADC3_CFGR_ALIGN_Msk /*!< ADC data alignment */ -/******************** Bit definition for ADC_CFGR2 register ********************/ -#define ADC_CFGR2_ROVSE_Pos (0U) -#define ADC_CFGR2_ROVSE_Msk (0x1UL << ADC_CFGR2_ROVSE_Pos) /*!< 0x00000001 */ -#define ADC_CFGR2_ROVSE ADC_CFGR2_ROVSE_Msk /*!< ADC Regular group oversampler enable */ -#define ADC_CFGR2_JOVSE_Pos (1U) -#define ADC_CFGR2_JOVSE_Msk (0x1UL << ADC_CFGR2_JOVSE_Pos) /*!< 0x00000002 */ -#define ADC_CFGR2_JOVSE ADC_CFGR2_JOVSE_Msk /*!< ADC Injected group oversampler enable */ - -#define ADC_CFGR2_OVSS_Pos (5U) -#define ADC_CFGR2_OVSS_Msk (0xFUL << ADC_CFGR2_OVSS_Pos) /*!< 0x000001E0 */ -#define ADC_CFGR2_OVSS ADC_CFGR2_OVSS_Msk /*!< ADC Regular Oversampling shift */ -#define ADC_CFGR2_OVSS_0 (0x1UL << ADC_CFGR2_OVSS_Pos) /*!< 0x00000020 */ -#define ADC_CFGR2_OVSS_1 (0x2UL << ADC_CFGR2_OVSS_Pos) /*!< 0x00000040 */ -#define ADC_CFGR2_OVSS_2 (0x4UL << ADC_CFGR2_OVSS_Pos) /*!< 0x00000080 */ -#define ADC_CFGR2_OVSS_3 (0x8UL << ADC_CFGR2_OVSS_Pos) /*!< 0x00000100 */ - -#define ADC_CFGR2_TROVS_Pos (9U) -#define ADC_CFGR2_TROVS_Msk (0x1UL << ADC_CFGR2_TROVS_Pos) /*!< 0x00000200 */ -#define ADC_CFGR2_TROVS ADC_CFGR2_TROVS_Msk /*!< ADC Triggered regular Oversampling */ -#define ADC_CFGR2_ROVSM_Pos (10U) -#define ADC_CFGR2_ROVSM_Msk (0x1UL << ADC_CFGR2_ROVSM_Pos) /*!< 0x00000400 */ -#define ADC_CFGR2_ROVSM ADC_CFGR2_ROVSM_Msk /*!< ADC Regular oversampling mode */ - -#define ADC_CFGR2_RSHIFT1_Pos (11U) -#define ADC_CFGR2_RSHIFT1_Msk (0x1UL << ADC_CFGR2_RSHIFT1_Pos) /*!< 0x00000800 */ -#define ADC_CFGR2_RSHIFT1 ADC_CFGR2_RSHIFT1_Msk /*!< ADC Right-shift data after Offset 1 correction */ -#define ADC_CFGR2_RSHIFT2_Pos (12U) -#define ADC_CFGR2_RSHIFT2_Msk (0x1UL << ADC_CFGR2_RSHIFT2_Pos) /*!< 0x00001000 */ -#define ADC_CFGR2_RSHIFT2 ADC_CFGR2_RSHIFT2_Msk /*!< ADC Right-shift data after Offset 2 correction */ -#define ADC_CFGR2_RSHIFT3_Pos (13U) -#define ADC_CFGR2_RSHIFT3_Msk (0x1UL << ADC_CFGR2_RSHIFT3_Pos) /*!< 0x00002000 */ -#define ADC_CFGR2_RSHIFT3 ADC_CFGR2_RSHIFT3_Msk /*!< ADC Right-shift data after Offset 3 correction */ -#define ADC_CFGR2_RSHIFT4_Pos (14U) -#define ADC_CFGR2_RSHIFT4_Msk (0x1UL << ADC_CFGR2_RSHIFT4_Pos) /*!< 0x00004000 */ -#define ADC_CFGR2_RSHIFT4 ADC_CFGR2_RSHIFT4_Msk /*!< ADC Right-shift data after Offset 4 correction */ - -#define ADC_CFGR2_OVSR_Pos (16U) -#define ADC_CFGR2_OVSR_Msk (0x3FFUL << ADC_CFGR2_OVSR_Pos) /*!< 0x03FF0000 */ -#define ADC_CFGR2_OVSR ADC_CFGR2_OVSR_Msk /*!< ADC oversampling Ratio */ -#define ADC_CFGR2_OVSR_0 (0x001UL << ADC_CFGR2_OVSR_Pos) /*!< 0x00010000 */ -#define ADC_CFGR2_OVSR_1 (0x002UL << ADC_CFGR2_OVSR_Pos) /*!< 0x00020000 */ -#define ADC_CFGR2_OVSR_2 (0x004UL << ADC_CFGR2_OVSR_Pos) /*!< 0x00040000 */ -#define ADC_CFGR2_OVSR_3 (0x008UL << ADC_CFGR2_OVSR_Pos) /*!< 0x00080000 */ -#define ADC_CFGR2_OVSR_4 (0x010UL << ADC_CFGR2_OVSR_Pos) /*!< 0x00100000 */ -#define ADC_CFGR2_OVSR_5 (0x020UL << ADC_CFGR2_OVSR_Pos) /*!< 0x00200000 */ -#define ADC_CFGR2_OVSR_6 (0x040UL << ADC_CFGR2_OVSR_Pos) /*!< 0x00400000 */ -#define ADC_CFGR2_OVSR_7 (0x080UL << ADC_CFGR2_OVSR_Pos) /*!< 0x00800000 */ -#define ADC_CFGR2_OVSR_8 (0x100UL << ADC_CFGR2_OVSR_Pos) /*!< 0x01000000 */ -#define ADC_CFGR2_OVSR_9 (0x200UL << ADC_CFGR2_OVSR_Pos) /*!< 0x02000000 */ - -#define ADC_CFGR2_LSHIFT_Pos (28U) -#define ADC_CFGR2_LSHIFT_Msk (0xFUL << ADC_CFGR2_LSHIFT_Pos) /*!< 0xF0000000 */ -#define ADC_CFGR2_LSHIFT ADC_CFGR2_LSHIFT_Msk /*!< ADC Left shift factor */ -#define ADC_CFGR2_LSHIFT_0 (0x1UL << ADC_CFGR2_LSHIFT_Pos) /*!< 0x10000000 */ -#define ADC_CFGR2_LSHIFT_1 (0x2UL << ADC_CFGR2_LSHIFT_Pos) /*!< 0x20000000 */ -#define ADC_CFGR2_LSHIFT_2 (0x4UL << ADC_CFGR2_LSHIFT_Pos) /*!< 0x40000000 */ -#define ADC_CFGR2_LSHIFT_3 (0x8UL << ADC_CFGR2_LSHIFT_Pos) /*!< 0x80000000 */ - -#define ADC3_CFGR2_OVSR_Pos (2U) -#define ADC3_CFGR2_OVSR_Msk (0x7UL << ADC3_CFGR2_OVSR_Pos) /*!< 0x0000001C */ -#define ADC3_CFGR2_OVSR ADC3_CFGR2_OVSR_Msk /*!< ADC oversampling ratio */ -#define ADC3_CFGR2_OVSR_0 (0x1UL << ADC3_CFGR2_OVSR_Pos) /*!< 0x00000004 */ -#define ADC3_CFGR2_OVSR_1 (0x2UL << ADC3_CFGR2_OVSR_Pos) /*!< 0x00000008 */ -#define ADC3_CFGR2_OVSR_2 (0x4UL << ADC3_CFGR2_OVSR_Pos) /*!< 0x00000010 */ - -#define ADC3_CFGR2_SWTRIG_Pos (25U) -#define ADC3_CFGR2_SWTRIG_Msk (0x1UL << ADC3_CFGR2_SWTRIG_Pos) /*!< 0x02000000 */ -#define ADC3_CFGR2_SWTRIG ADC3_CFGR2_SWTRIG_Msk /*!< ADC Software Trigger Bit for Sample time control trigger mode */ -#define ADC3_CFGR2_BULB_Pos (26U) -#define ADC3_CFGR2_BULB_Msk (0x1UL << ADC3_CFGR2_BULB_Pos) /*!< 0x04000000 */ -#define ADC3_CFGR2_BULB ADC3_CFGR2_BULB_Msk /*!< ADC Bulb sampling mode */ -#define ADC3_CFGR2_SMPTRIG_Pos (27U) -#define ADC3_CFGR2_SMPTRIG_Msk (0x1UL << ADC3_CFGR2_SMPTRIG_Pos) /*!< 0x08000000 */ -#define ADC3_CFGR2_SMPTRIG ADC3_CFGR2_SMPTRIG_Msk /*!< ADC Sample Time Control Trigger mode */ -/******************** Bit definition for ADC_SMPR1 register ********************/ -#define ADC_SMPR1_SMP0_Pos (0U) -#define ADC_SMPR1_SMP0_Msk (0x7UL << ADC_SMPR1_SMP0_Pos) /*!< 0x00000007 */ -#define ADC_SMPR1_SMP0 ADC_SMPR1_SMP0_Msk /*!< ADC Channel 0 Sampling time selection */ -#define ADC_SMPR1_SMP0_0 (0x1UL << ADC_SMPR1_SMP0_Pos) /*!< 0x00000001 */ -#define ADC_SMPR1_SMP0_1 (0x2UL << ADC_SMPR1_SMP0_Pos) /*!< 0x00000002 */ -#define ADC_SMPR1_SMP0_2 (0x4UL << ADC_SMPR1_SMP0_Pos) /*!< 0x00000004 */ - -#define ADC_SMPR1_SMP1_Pos (3U) -#define ADC_SMPR1_SMP1_Msk (0x7UL << ADC_SMPR1_SMP1_Pos) /*!< 0x00000038 */ -#define ADC_SMPR1_SMP1 ADC_SMPR1_SMP1_Msk /*!< ADC Channel 1 Sampling time selection */ -#define ADC_SMPR1_SMP1_0 (0x1UL << ADC_SMPR1_SMP1_Pos) /*!< 0x00000008 */ -#define ADC_SMPR1_SMP1_1 (0x2UL << ADC_SMPR1_SMP1_Pos) /*!< 0x00000010 */ -#define ADC_SMPR1_SMP1_2 (0x4UL << ADC_SMPR1_SMP1_Pos) /*!< 0x00000020 */ - -#define ADC_SMPR1_SMP2_Pos (6U) -#define ADC_SMPR1_SMP2_Msk (0x7UL << ADC_SMPR1_SMP2_Pos) /*!< 0x000001C0 */ -#define ADC_SMPR1_SMP2 ADC_SMPR1_SMP2_Msk /*!< ADC Channel 2 Sampling time selection */ -#define ADC_SMPR1_SMP2_0 (0x1UL << ADC_SMPR1_SMP2_Pos) /*!< 0x00000040 */ -#define ADC_SMPR1_SMP2_1 (0x2UL << ADC_SMPR1_SMP2_Pos) /*!< 0x00000080 */ -#define ADC_SMPR1_SMP2_2 (0x4UL << ADC_SMPR1_SMP2_Pos) /*!< 0x00000100 */ - -#define ADC_SMPR1_SMP3_Pos (9U) -#define ADC_SMPR1_SMP3_Msk (0x7UL << ADC_SMPR1_SMP3_Pos) /*!< 0x00000E00 */ -#define ADC_SMPR1_SMP3 ADC_SMPR1_SMP3_Msk /*!< ADC Channel 3 Sampling time selection */ -#define ADC_SMPR1_SMP3_0 (0x1UL << ADC_SMPR1_SMP3_Pos) /*!< 0x00000200 */ -#define ADC_SMPR1_SMP3_1 (0x2UL << ADC_SMPR1_SMP3_Pos) /*!< 0x00000400 */ -#define ADC_SMPR1_SMP3_2 (0x4UL << ADC_SMPR1_SMP3_Pos) /*!< 0x00000800 */ - -#define ADC_SMPR1_SMP4_Pos (12U) -#define ADC_SMPR1_SMP4_Msk (0x7UL << ADC_SMPR1_SMP4_Pos) /*!< 0x00007000 */ -#define ADC_SMPR1_SMP4 ADC_SMPR1_SMP4_Msk /*!< ADC Channel 4 Sampling time selection */ -#define ADC_SMPR1_SMP4_0 (0x1UL << ADC_SMPR1_SMP4_Pos) /*!< 0x00001000 */ -#define ADC_SMPR1_SMP4_1 (0x2UL << ADC_SMPR1_SMP4_Pos) /*!< 0x00002000 */ -#define ADC_SMPR1_SMP4_2 (0x4UL << ADC_SMPR1_SMP4_Pos) /*!< 0x00004000 */ - -#define ADC_SMPR1_SMP5_Pos (15U) -#define ADC_SMPR1_SMP5_Msk (0x7UL << ADC_SMPR1_SMP5_Pos) /*!< 0x00038000 */ -#define ADC_SMPR1_SMP5 ADC_SMPR1_SMP5_Msk /*!< ADC Channel 5 Sampling time selection */ -#define ADC_SMPR1_SMP5_0 (0x1UL << ADC_SMPR1_SMP5_Pos) /*!< 0x00008000 */ -#define ADC_SMPR1_SMP5_1 (0x2UL << ADC_SMPR1_SMP5_Pos) /*!< 0x00010000 */ -#define ADC_SMPR1_SMP5_2 (0x4UL << ADC_SMPR1_SMP5_Pos) /*!< 0x00020000 */ - -#define ADC_SMPR1_SMP6_Pos (18U) -#define ADC_SMPR1_SMP6_Msk (0x7UL << ADC_SMPR1_SMP6_Pos) /*!< 0x001C0000 */ -#define ADC_SMPR1_SMP6 ADC_SMPR1_SMP6_Msk /*!< ADC Channel 6 Sampling time selection */ -#define ADC_SMPR1_SMP6_0 (0x1UL << ADC_SMPR1_SMP6_Pos) /*!< 0x00040000 */ -#define ADC_SMPR1_SMP6_1 (0x2UL << ADC_SMPR1_SMP6_Pos) /*!< 0x00080000 */ -#define ADC_SMPR1_SMP6_2 (0x4UL << ADC_SMPR1_SMP6_Pos) /*!< 0x00100000 */ - -#define ADC_SMPR1_SMP7_Pos (21U) -#define ADC_SMPR1_SMP7_Msk (0x7UL << ADC_SMPR1_SMP7_Pos) /*!< 0x00E00000 */ -#define ADC_SMPR1_SMP7 ADC_SMPR1_SMP7_Msk /*!< ADC Channel 7 Sampling time selection */ -#define ADC_SMPR1_SMP7_0 (0x1UL << ADC_SMPR1_SMP7_Pos) /*!< 0x00200000 */ -#define ADC_SMPR1_SMP7_1 (0x2UL << ADC_SMPR1_SMP7_Pos) /*!< 0x00400000 */ -#define ADC_SMPR1_SMP7_2 (0x4UL << ADC_SMPR1_SMP7_Pos) /*!< 0x00800000 */ - -#define ADC_SMPR1_SMP8_Pos (24U) -#define ADC_SMPR1_SMP8_Msk (0x7UL << ADC_SMPR1_SMP8_Pos) /*!< 0x07000000 */ -#define ADC_SMPR1_SMP8 ADC_SMPR1_SMP8_Msk /*!< ADC Channel 8 Sampling time selection */ -#define ADC_SMPR1_SMP8_0 (0x1UL << ADC_SMPR1_SMP8_Pos) /*!< 0x01000000 */ -#define ADC_SMPR1_SMP8_1 (0x2UL << ADC_SMPR1_SMP8_Pos) /*!< 0x02000000 */ -#define ADC_SMPR1_SMP8_2 (0x4UL << ADC_SMPR1_SMP8_Pos) /*!< 0x04000000 */ - -#define ADC_SMPR1_SMP9_Pos (27U) -#define ADC_SMPR1_SMP9_Msk (0x7UL << ADC_SMPR1_SMP9_Pos) /*!< 0x38000000 */ -#define ADC_SMPR1_SMP9 ADC_SMPR1_SMP9_Msk /*!< ADC Channel 9 Sampling time selection */ -#define ADC_SMPR1_SMP9_0 (0x1UL << ADC_SMPR1_SMP9_Pos) /*!< 0x08000000 */ -#define ADC_SMPR1_SMP9_1 (0x2UL << ADC_SMPR1_SMP9_Pos) /*!< 0x10000000 */ -#define ADC_SMPR1_SMP9_2 (0x4UL << ADC_SMPR1_SMP9_Pos) /*!< 0x20000000 */ - -/******************** Bit definition for ADC_SMPR2 register ********************/ -#define ADC_SMPR2_SMP10_Pos (0U) -#define ADC_SMPR2_SMP10_Msk (0x7UL << ADC_SMPR2_SMP10_Pos) /*!< 0x00000007 */ -#define ADC_SMPR2_SMP10 ADC_SMPR2_SMP10_Msk /*!< ADC Channel 10 Sampling time selection */ -#define ADC_SMPR2_SMP10_0 (0x1UL << ADC_SMPR2_SMP10_Pos) /*!< 0x00000001 */ -#define ADC_SMPR2_SMP10_1 (0x2UL << ADC_SMPR2_SMP10_Pos) /*!< 0x00000002 */ -#define ADC_SMPR2_SMP10_2 (0x4UL << ADC_SMPR2_SMP10_Pos) /*!< 0x00000004 */ - -#define ADC_SMPR2_SMP11_Pos (3U) -#define ADC_SMPR2_SMP11_Msk (0x7UL << ADC_SMPR2_SMP11_Pos) /*!< 0x00000038 */ -#define ADC_SMPR2_SMP11 ADC_SMPR2_SMP11_Msk /*!< ADC Channel 11 Sampling time selection */ -#define ADC_SMPR2_SMP11_0 (0x1UL << ADC_SMPR2_SMP11_Pos) /*!< 0x00000008 */ -#define ADC_SMPR2_SMP11_1 (0x2UL << ADC_SMPR2_SMP11_Pos) /*!< 0x00000010 */ -#define ADC_SMPR2_SMP11_2 (0x4UL << ADC_SMPR2_SMP11_Pos) /*!< 0x00000020 */ - -#define ADC_SMPR2_SMP12_Pos (6U) -#define ADC_SMPR2_SMP12_Msk (0x7UL << ADC_SMPR2_SMP12_Pos) /*!< 0x000001C0 */ -#define ADC_SMPR2_SMP12 ADC_SMPR2_SMP12_Msk /*!< ADC Channel 12 Sampling time selection */ -#define ADC_SMPR2_SMP12_0 (0x1UL << ADC_SMPR2_SMP12_Pos) /*!< 0x00000040 */ -#define ADC_SMPR2_SMP12_1 (0x2UL << ADC_SMPR2_SMP12_Pos) /*!< 0x00000080 */ -#define ADC_SMPR2_SMP12_2 (0x4UL << ADC_SMPR2_SMP12_Pos) /*!< 0x00000100 */ - -#define ADC_SMPR2_SMP13_Pos (9U) -#define ADC_SMPR2_SMP13_Msk (0x7UL << ADC_SMPR2_SMP13_Pos) /*!< 0x00000E00 */ -#define ADC_SMPR2_SMP13 ADC_SMPR2_SMP13_Msk /*!< ADC Channel 13 Sampling time selection */ -#define ADC_SMPR2_SMP13_0 (0x1UL << ADC_SMPR2_SMP13_Pos) /*!< 0x00000200 */ -#define ADC_SMPR2_SMP13_1 (0x2UL << ADC_SMPR2_SMP13_Pos) /*!< 0x00000400 */ -#define ADC_SMPR2_SMP13_2 (0x4UL << ADC_SMPR2_SMP13_Pos) /*!< 0x00000800 */ - -#define ADC_SMPR2_SMP14_Pos (12U) -#define ADC_SMPR2_SMP14_Msk (0x7UL << ADC_SMPR2_SMP14_Pos) /*!< 0x00007000 */ -#define ADC_SMPR2_SMP14 ADC_SMPR2_SMP14_Msk /*!< ADC Channel 14 Sampling time selection */ -#define ADC_SMPR2_SMP14_0 (0x1UL << ADC_SMPR2_SMP14_Pos) /*!< 0x00001000 */ -#define ADC_SMPR2_SMP14_1 (0x2UL << ADC_SMPR2_SMP14_Pos) /*!< 0x00002000 */ -#define ADC_SMPR2_SMP14_2 (0x4UL << ADC_SMPR2_SMP14_Pos) /*!< 0x00004000 */ - -#define ADC_SMPR2_SMP15_Pos (15U) -#define ADC_SMPR2_SMP15_Msk (0x7UL << ADC_SMPR2_SMP15_Pos) /*!< 0x00038000 */ -#define ADC_SMPR2_SMP15 ADC_SMPR2_SMP15_Msk /*!< ADC Channel 15 Sampling time selection */ -#define ADC_SMPR2_SMP15_0 (0x1UL << ADC_SMPR2_SMP15_Pos) /*!< 0x00008000 */ -#define ADC_SMPR2_SMP15_1 (0x2UL << ADC_SMPR2_SMP15_Pos) /*!< 0x00010000 */ -#define ADC_SMPR2_SMP15_2 (0x4UL << ADC_SMPR2_SMP15_Pos) /*!< 0x00020000 */ - -#define ADC_SMPR2_SMP16_Pos (18U) -#define ADC_SMPR2_SMP16_Msk (0x7UL << ADC_SMPR2_SMP16_Pos) /*!< 0x001C0000 */ -#define ADC_SMPR2_SMP16 ADC_SMPR2_SMP16_Msk /*!< ADC Channel 16 Sampling time selection */ -#define ADC_SMPR2_SMP16_0 (0x1UL << ADC_SMPR2_SMP16_Pos) /*!< 0x00040000 */ -#define ADC_SMPR2_SMP16_1 (0x2UL << ADC_SMPR2_SMP16_Pos) /*!< 0x00080000 */ -#define ADC_SMPR2_SMP16_2 (0x4UL << ADC_SMPR2_SMP16_Pos) /*!< 0x00100000 */ - -#define ADC_SMPR2_SMP17_Pos (21U) -#define ADC_SMPR2_SMP17_Msk (0x7UL << ADC_SMPR2_SMP17_Pos) /*!< 0x00E00000 */ -#define ADC_SMPR2_SMP17 ADC_SMPR2_SMP17_Msk /*!< ADC Channel 17 Sampling time selection */ -#define ADC_SMPR2_SMP17_0 (0x1UL << ADC_SMPR2_SMP17_Pos) /*!< 0x00200000 */ -#define ADC_SMPR2_SMP17_1 (0x2UL << ADC_SMPR2_SMP17_Pos) /*!< 0x00400000 */ -#define ADC_SMPR2_SMP17_2 (0x4UL << ADC_SMPR2_SMP17_Pos) /*!< 0x00800000 */ - -#define ADC_SMPR2_SMP18_Pos (24U) -#define ADC_SMPR2_SMP18_Msk (0x7UL << ADC_SMPR2_SMP18_Pos) /*!< 0x07000000 */ -#define ADC_SMPR2_SMP18 ADC_SMPR2_SMP18_Msk /*!< ADC Channel 18 Sampling time selection */ -#define ADC_SMPR2_SMP18_0 (0x1UL << ADC_SMPR2_SMP18_Pos) /*!< 0x01000000 */ -#define ADC_SMPR2_SMP18_1 (0x2UL << ADC_SMPR2_SMP18_Pos) /*!< 0x02000000 */ -#define ADC_SMPR2_SMP18_2 (0x4UL << ADC_SMPR2_SMP18_Pos) /*!< 0x04000000 */ - -#define ADC_SMPR2_SMP19_Pos (27U) -#define ADC_SMPR2_SMP19_Msk (0x7UL << ADC_SMPR2_SMP19_Pos) /*!< 0x38000000 */ -#define ADC_SMPR2_SMP19 ADC_SMPR2_SMP19_Msk /*!< ADC Channel 19 Sampling time selection */ -#define ADC_SMPR2_SMP19_0 (0x1UL << ADC_SMPR2_SMP19_Pos) /*!< 0x08000000 */ -#define ADC_SMPR2_SMP19_1 (0x2UL << ADC_SMPR2_SMP19_Pos) /*!< 0x10000000 */ -#define ADC_SMPR2_SMP19_2 (0x4UL << ADC_SMPR2_SMP19_Pos) /*!< 0x20000000 */ - -/******************** Bit definition for ADC_PCSEL register ********************/ -#define ADC_PCSEL_PCSEL_Pos (0U) -#define ADC_PCSEL_PCSEL_Msk (0xFFFFFUL << ADC_PCSEL_PCSEL_Pos) /*!< 0x000FFFFF */ -#define ADC_PCSEL_PCSEL ADC_PCSEL_PCSEL_Msk /*!< ADC pre channel selection */ -#define ADC_PCSEL_PCSEL_0 (0x00001UL << ADC_PCSEL_PCSEL_Pos) /*!< 0x00000001 */ -#define ADC_PCSEL_PCSEL_1 (0x00002UL << ADC_PCSEL_PCSEL_Pos) /*!< 0x00000002 */ -#define ADC_PCSEL_PCSEL_2 (0x00004UL << ADC_PCSEL_PCSEL_Pos) /*!< 0x00000004 */ -#define ADC_PCSEL_PCSEL_3 (0x00008UL << ADC_PCSEL_PCSEL_Pos) /*!< 0x00000008 */ -#define ADC_PCSEL_PCSEL_4 (0x00010UL << ADC_PCSEL_PCSEL_Pos) /*!< 0x00000010 */ -#define ADC_PCSEL_PCSEL_5 (0x00020UL << ADC_PCSEL_PCSEL_Pos) /*!< 0x00000020 */ -#define ADC_PCSEL_PCSEL_6 (0x00040UL << ADC_PCSEL_PCSEL_Pos) /*!< 0x00000040 */ -#define ADC_PCSEL_PCSEL_7 (0x00080UL << ADC_PCSEL_PCSEL_Pos) /*!< 0x00000080 */ -#define ADC_PCSEL_PCSEL_8 (0x00100UL << ADC_PCSEL_PCSEL_Pos) /*!< 0x00000100 */ -#define ADC_PCSEL_PCSEL_9 (0x00200UL << ADC_PCSEL_PCSEL_Pos) /*!< 0x00000200 */ -#define ADC_PCSEL_PCSEL_10 (0x00400UL << ADC_PCSEL_PCSEL_Pos) /*!< 0x00000400 */ -#define ADC_PCSEL_PCSEL_11 (0x00800UL << ADC_PCSEL_PCSEL_Pos) /*!< 0x00000800 */ -#define ADC_PCSEL_PCSEL_12 (0x01000UL << ADC_PCSEL_PCSEL_Pos) /*!< 0x00001000 */ -#define ADC_PCSEL_PCSEL_13 (0x02000UL << ADC_PCSEL_PCSEL_Pos) /*!< 0x00002000 */ -#define ADC_PCSEL_PCSEL_14 (0x04000UL << ADC_PCSEL_PCSEL_Pos) /*!< 0x00004000 */ -#define ADC_PCSEL_PCSEL_15 (0x08000UL << ADC_PCSEL_PCSEL_Pos) /*!< 0x00008000 */ -#define ADC_PCSEL_PCSEL_16 (0x10000UL << ADC_PCSEL_PCSEL_Pos) /*!< 0x00010000 */ -#define ADC_PCSEL_PCSEL_17 (0x20000UL << ADC_PCSEL_PCSEL_Pos) /*!< 0x00020000 */ -#define ADC_PCSEL_PCSEL_18 (0x40000UL << ADC_PCSEL_PCSEL_Pos) /*!< 0x00040000 */ -#define ADC_PCSEL_PCSEL_19 (0x80000UL << ADC_PCSEL_PCSEL_Pos) /*!< 0x00080000 */ - -/***************** Bit definition for ADC_LTR1, 2, 3 registers *****************/ -#define ADC_LTR_LT_Pos (0U) -#define ADC_LTR_LT_Msk (0x3FFFFFFUL << ADC_LTR_LT_Pos) /*!< 0x03FFFFFF */ -#define ADC_LTR_LT ADC_LTR_LT_Msk /*!< ADC Analog watchdog 1, 2 and 3 lower threshold */ - -/***************** Bit definition for ADC_HTR1, 2, 3 registers ****************/ -#define ADC_HTR_HT_Pos (0U) -#define ADC_HTR_HT_Msk (0x3FFFFFFUL << ADC_HTR_HT_Pos) /*!< 0x03FFFFFF */ -#define ADC_HTR_HT ADC_HTR_HT_Msk /*!< ADC Analog watchdog 1,2 and 3 higher threshold */ - -/******************** Bit definition for ADC3_TR1 register *******************/ -#define ADC3_TR1_LT1_Pos (0U) -#define ADC3_TR1_LT1_Msk (0xFFFUL << ADC3_TR1_LT1_Pos) /*!< 0x00000FFF */ -#define ADC3_TR1_LT1 ADC3_TR1_LT1_Msk /*!< ADC analog watchdog 1 threshold low */ - -#define ADC3_TR1_AWDFILT_Pos (12U) -#define ADC3_TR1_AWDFILT_Msk (0x7UL << ADC3_TR1_AWDFILT_Pos) /*!< 0x00007000 */ -#define ADC3_TR1_AWDFILT ADC3_TR1_AWDFILT_Msk /*!< ADC analog watchdog filtering parameter */ -#define ADC3_TR1_AWDFILT_0 (0x1UL << ADC3_TR1_AWDFILT_Pos) /*!< 0x00001000 */ -#define ADC3_TR1_AWDFILT_1 (0x2UL << ADC3_TR1_AWDFILT_Pos) /*!< 0x00002000 */ -#define ADC3_TR1_AWDFILT_2 (0x4UL << ADC3_TR1_AWDFILT_Pos) /*!< 0x00004000 */ - -#define ADC3_TR1_HT1_Pos (16U) -#define ADC3_TR1_HT1_Msk (0xFFFUL << ADC3_TR1_HT1_Pos) /*!< 0x0FFF0000 */ -#define ADC3_TR1_HT1 ADC3_TR1_HT1_Msk /*!< ADC analog watchdog 1 threshold high */ - -/******************** Bit definition for ADC3_TR2 register *******************/ -#define ADC3_TR2_LT2_Pos (0U) -#define ADC3_TR2_LT2_Msk (0xFFUL << ADC3_TR2_LT2_Pos) /*!< 0x000000FF */ -#define ADC3_TR2_LT2 ADC3_TR2_LT2_Msk /*!< ADC analog watchdog 2 threshold low */ - -#define ADC3_TR2_HT2_Pos (16U) -#define ADC3_TR2_HT2_Msk (0xFFUL << ADC3_TR2_HT2_Pos) /*!< 0x00FF0000 */ -#define ADC3_TR2_HT2 ADC3_TR2_HT2_Msk /*!< ADC analog watchdog 2 threshold high */ - -/******************** Bit definition for ADC3_TR3 register *******************/ -#define ADC3_TR3_LT3_Pos (0U) -#define ADC3_TR3_LT3_Msk (0xFFUL << ADC3_TR3_LT3_Pos) /*!< 0x000000FF */ -#define ADC3_TR3_LT3 ADC3_TR3_LT3_Msk /*!< ADC analog watchdog 3 threshold low */ - -#define ADC3_TR3_HT3_Pos (16U) -#define ADC3_TR3_HT3_Msk (0xFFUL << ADC3_TR3_HT3_Pos) /*!< 0x00FF0000 */ -#define ADC3_TR3_HT3 ADC3_TR3_HT3_Msk /*!< ADC analog watchdog 3 threshold high */ - -/******************** Bit definition for ADC_SQR1 register ********************/ -#define ADC_SQR1_L_Pos (0U) -#define ADC_SQR1_L_Msk (0xFUL << ADC_SQR1_L_Pos) /*!< 0x0000000F */ -#define ADC_SQR1_L ADC_SQR1_L_Msk /*!< ADC regular channel sequence length */ -#define ADC_SQR1_L_0 (0x1UL << ADC_SQR1_L_Pos) /*!< 0x00000001 */ -#define ADC_SQR1_L_1 (0x2UL << ADC_SQR1_L_Pos) /*!< 0x00000002 */ -#define ADC_SQR1_L_2 (0x4UL << ADC_SQR1_L_Pos) /*!< 0x00000004 */ -#define ADC_SQR1_L_3 (0x8UL << ADC_SQR1_L_Pos) /*!< 0x00000008 */ - -#define ADC_SQR1_SQ1_Pos (6U) -#define ADC_SQR1_SQ1_Msk (0x1FUL << ADC_SQR1_SQ1_Pos) /*!< 0x000007C0 */ -#define ADC_SQR1_SQ1 ADC_SQR1_SQ1_Msk /*!< ADC 1st conversion in regular sequence */ -#define ADC_SQR1_SQ1_0 (0x01UL << ADC_SQR1_SQ1_Pos) /*!< 0x00000040 */ -#define ADC_SQR1_SQ1_1 (0x02UL << ADC_SQR1_SQ1_Pos) /*!< 0x00000080 */ -#define ADC_SQR1_SQ1_2 (0x04UL << ADC_SQR1_SQ1_Pos) /*!< 0x00000100 */ -#define ADC_SQR1_SQ1_3 (0x08UL << ADC_SQR1_SQ1_Pos) /*!< 0x00000200 */ -#define ADC_SQR1_SQ1_4 (0x10UL << ADC_SQR1_SQ1_Pos) /*!< 0x00000400 */ - -#define ADC_SQR1_SQ2_Pos (12U) -#define ADC_SQR1_SQ2_Msk (0x1FUL << ADC_SQR1_SQ2_Pos) /*!< 0x0001F000 */ -#define ADC_SQR1_SQ2 ADC_SQR1_SQ2_Msk /*!< ADC 2nd conversion in regular sequence */ -#define ADC_SQR1_SQ2_0 (0x01UL << ADC_SQR1_SQ2_Pos) /*!< 0x00001000 */ -#define ADC_SQR1_SQ2_1 (0x02UL << ADC_SQR1_SQ2_Pos) /*!< 0x00002000 */ -#define ADC_SQR1_SQ2_2 (0x04UL << ADC_SQR1_SQ2_Pos) /*!< 0x00004000 */ -#define ADC_SQR1_SQ2_3 (0x08UL << ADC_SQR1_SQ2_Pos) /*!< 0x00008000 */ -#define ADC_SQR1_SQ2_4 (0x10UL << ADC_SQR1_SQ2_Pos) /*!< 0x00010000 */ - -#define ADC_SQR1_SQ3_Pos (18U) -#define ADC_SQR1_SQ3_Msk (0x1FUL << ADC_SQR1_SQ3_Pos) /*!< 0x007C0000 */ -#define ADC_SQR1_SQ3 ADC_SQR1_SQ3_Msk /*!< ADC 3rd conversion in regular sequence */ -#define ADC_SQR1_SQ3_0 (0x01UL << ADC_SQR1_SQ3_Pos) /*!< 0x00040000 */ -#define ADC_SQR1_SQ3_1 (0x02UL << ADC_SQR1_SQ3_Pos) /*!< 0x00080000 */ -#define ADC_SQR1_SQ3_2 (0x04UL << ADC_SQR1_SQ3_Pos) /*!< 0x00100000 */ -#define ADC_SQR1_SQ3_3 (0x08UL << ADC_SQR1_SQ3_Pos) /*!< 0x00200000 */ -#define ADC_SQR1_SQ3_4 (0x10UL << ADC_SQR1_SQ3_Pos) /*!< 0x00400000 */ - -#define ADC_SQR1_SQ4_Pos (24U) -#define ADC_SQR1_SQ4_Msk (0x1FUL << ADC_SQR1_SQ4_Pos) /*!< 0x1F000000 */ -#define ADC_SQR1_SQ4 ADC_SQR1_SQ4_Msk /*!< ADC 4th conversion in regular sequence */ -#define ADC_SQR1_SQ4_0 (0x01UL << ADC_SQR1_SQ4_Pos) /*!< 0x01000000 */ -#define ADC_SQR1_SQ4_1 (0x02UL << ADC_SQR1_SQ4_Pos) /*!< 0x02000000 */ -#define ADC_SQR1_SQ4_2 (0x04UL << ADC_SQR1_SQ4_Pos) /*!< 0x04000000 */ -#define ADC_SQR1_SQ4_3 (0x08UL << ADC_SQR1_SQ4_Pos) /*!< 0x08000000 */ -#define ADC_SQR1_SQ4_4 (0x10UL << ADC_SQR1_SQ4_Pos) /*!< 0x10000000 */ - -/******************** Bit definition for ADC_SQR2 register ********************/ -#define ADC_SQR2_SQ5_Pos (0U) -#define ADC_SQR2_SQ5_Msk (0x1FUL << ADC_SQR2_SQ5_Pos) /*!< 0x0000001F */ -#define ADC_SQR2_SQ5 ADC_SQR2_SQ5_Msk /*!< ADC 5th conversion in regular sequence */ -#define ADC_SQR2_SQ5_0 (0x01UL << ADC_SQR2_SQ5_Pos) /*!< 0x00000001 */ -#define ADC_SQR2_SQ5_1 (0x02UL << ADC_SQR2_SQ5_Pos) /*!< 0x00000002 */ -#define ADC_SQR2_SQ5_2 (0x04UL << ADC_SQR2_SQ5_Pos) /*!< 0x00000004 */ -#define ADC_SQR2_SQ5_3 (0x08UL << ADC_SQR2_SQ5_Pos) /*!< 0x00000008 */ -#define ADC_SQR2_SQ5_4 (0x10UL << ADC_SQR2_SQ5_Pos) /*!< 0x00000010 */ - -#define ADC_SQR2_SQ6_Pos (6U) -#define ADC_SQR2_SQ6_Msk (0x1FUL << ADC_SQR2_SQ6_Pos) /*!< 0x000007C0 */ -#define ADC_SQR2_SQ6 ADC_SQR2_SQ6_Msk /*!< ADC 6th conversion in regular sequence */ -#define ADC_SQR2_SQ6_0 (0x01UL << ADC_SQR2_SQ6_Pos) /*!< 0x00000040 */ -#define ADC_SQR2_SQ6_1 (0x02UL << ADC_SQR2_SQ6_Pos) /*!< 0x00000080 */ -#define ADC_SQR2_SQ6_2 (0x04UL << ADC_SQR2_SQ6_Pos) /*!< 0x00000100 */ -#define ADC_SQR2_SQ6_3 (0x08UL << ADC_SQR2_SQ6_Pos) /*!< 0x00000200 */ -#define ADC_SQR2_SQ6_4 (0x10UL << ADC_SQR2_SQ6_Pos) /*!< 0x00000400 */ - -#define ADC_SQR2_SQ7_Pos (12U) -#define ADC_SQR2_SQ7_Msk (0x1FUL << ADC_SQR2_SQ7_Pos) /*!< 0x0001F000 */ -#define ADC_SQR2_SQ7 ADC_SQR2_SQ7_Msk /*!< ADC 7th conversion in regular sequence */ -#define ADC_SQR2_SQ7_0 (0x01UL << ADC_SQR2_SQ7_Pos) /*!< 0x00001000 */ -#define ADC_SQR2_SQ7_1 (0x02UL << ADC_SQR2_SQ7_Pos) /*!< 0x00002000 */ -#define ADC_SQR2_SQ7_2 (0x04UL << ADC_SQR2_SQ7_Pos) /*!< 0x00004000 */ -#define ADC_SQR2_SQ7_3 (0x08UL << ADC_SQR2_SQ7_Pos) /*!< 0x00008000 */ -#define ADC_SQR2_SQ7_4 (0x10UL << ADC_SQR2_SQ7_Pos) /*!< 0x00010000 */ - -#define ADC_SQR2_SQ8_Pos (18U) -#define ADC_SQR2_SQ8_Msk (0x1FUL << ADC_SQR2_SQ8_Pos) /*!< 0x007C0000 */ -#define ADC_SQR2_SQ8 ADC_SQR2_SQ8_Msk /*!< ADC 8th conversion in regular sequence */ -#define ADC_SQR2_SQ8_0 (0x01UL << ADC_SQR2_SQ8_Pos) /*!< 0x00040000 */ -#define ADC_SQR2_SQ8_1 (0x02UL << ADC_SQR2_SQ8_Pos) /*!< 0x00080000 */ -#define ADC_SQR2_SQ8_2 (0x04UL << ADC_SQR2_SQ8_Pos) /*!< 0x00100000 */ -#define ADC_SQR2_SQ8_3 (0x08UL << ADC_SQR2_SQ8_Pos) /*!< 0x00200000 */ -#define ADC_SQR2_SQ8_4 (0x10UL << ADC_SQR2_SQ8_Pos) /*!< 0x00400000 */ - -#define ADC_SQR2_SQ9_Pos (24U) -#define ADC_SQR2_SQ9_Msk (0x1FUL << ADC_SQR2_SQ9_Pos) /*!< 0x1F000000 */ -#define ADC_SQR2_SQ9 ADC_SQR2_SQ9_Msk /*!< ADC 9th conversion in regular sequence */ -#define ADC_SQR2_SQ9_0 (0x01UL << ADC_SQR2_SQ9_Pos) /*!< 0x01000000 */ -#define ADC_SQR2_SQ9_1 (0x02UL << ADC_SQR2_SQ9_Pos) /*!< 0x02000000 */ -#define ADC_SQR2_SQ9_2 (0x04UL << ADC_SQR2_SQ9_Pos) /*!< 0x04000000 */ -#define ADC_SQR2_SQ9_3 (0x08UL << ADC_SQR2_SQ9_Pos) /*!< 0x08000000 */ -#define ADC_SQR2_SQ9_4 (0x10UL << ADC_SQR2_SQ9_Pos) /*!< 0x10000000 */ - -/******************** Bit definition for ADC_SQR3 register ********************/ -#define ADC_SQR3_SQ10_Pos (0U) -#define ADC_SQR3_SQ10_Msk (0x1FUL << ADC_SQR3_SQ10_Pos) /*!< 0x0000001F */ -#define ADC_SQR3_SQ10 ADC_SQR3_SQ10_Msk /*!< ADC 10th conversion in regular sequence */ -#define ADC_SQR3_SQ10_0 (0x01UL << ADC_SQR3_SQ10_Pos) /*!< 0x00000001 */ -#define ADC_SQR3_SQ10_1 (0x02UL << ADC_SQR3_SQ10_Pos) /*!< 0x00000002 */ -#define ADC_SQR3_SQ10_2 (0x04UL << ADC_SQR3_SQ10_Pos) /*!< 0x00000004 */ -#define ADC_SQR3_SQ10_3 (0x08UL << ADC_SQR3_SQ10_Pos) /*!< 0x00000008 */ -#define ADC_SQR3_SQ10_4 (0x10UL << ADC_SQR3_SQ10_Pos) /*!< 0x00000010 */ - -#define ADC_SQR3_SQ11_Pos (6U) -#define ADC_SQR3_SQ11_Msk (0x1FUL << ADC_SQR3_SQ11_Pos) /*!< 0x000007C0 */ -#define ADC_SQR3_SQ11 ADC_SQR3_SQ11_Msk /*!< ADC 11th conversion in regular sequence */ -#define ADC_SQR3_SQ11_0 (0x01UL << ADC_SQR3_SQ11_Pos) /*!< 0x00000040 */ -#define ADC_SQR3_SQ11_1 (0x02UL << ADC_SQR3_SQ11_Pos) /*!< 0x00000080 */ -#define ADC_SQR3_SQ11_2 (0x04UL << ADC_SQR3_SQ11_Pos) /*!< 0x00000100 */ -#define ADC_SQR3_SQ11_3 (0x08UL << ADC_SQR3_SQ11_Pos) /*!< 0x00000200 */ -#define ADC_SQR3_SQ11_4 (0x10UL << ADC_SQR3_SQ11_Pos) /*!< 0x00000400 */ - -#define ADC_SQR3_SQ12_Pos (12U) -#define ADC_SQR3_SQ12_Msk (0x1FUL << ADC_SQR3_SQ12_Pos) /*!< 0x0001F000 */ -#define ADC_SQR3_SQ12 ADC_SQR3_SQ12_Msk /*!< ADC 12th conversion in regular sequence */ -#define ADC_SQR3_SQ12_0 (0x01UL << ADC_SQR3_SQ12_Pos) /*!< 0x00001000 */ -#define ADC_SQR3_SQ12_1 (0x02UL << ADC_SQR3_SQ12_Pos) /*!< 0x00002000 */ -#define ADC_SQR3_SQ12_2 (0x04UL << ADC_SQR3_SQ12_Pos) /*!< 0x00004000 */ -#define ADC_SQR3_SQ12_3 (0x08UL << ADC_SQR3_SQ12_Pos) /*!< 0x00008000 */ -#define ADC_SQR3_SQ12_4 (0x10UL << ADC_SQR3_SQ12_Pos) /*!< 0x00010000 */ - -#define ADC_SQR3_SQ13_Pos (18U) -#define ADC_SQR3_SQ13_Msk (0x1FUL << ADC_SQR3_SQ13_Pos) /*!< 0x007C0000 */ -#define ADC_SQR3_SQ13 ADC_SQR3_SQ13_Msk /*!< ADC 13th conversion in regular sequence */ -#define ADC_SQR3_SQ13_0 (0x01UL << ADC_SQR3_SQ13_Pos) /*!< 0x00040000 */ -#define ADC_SQR3_SQ13_1 (0x02UL << ADC_SQR3_SQ13_Pos) /*!< 0x00080000 */ -#define ADC_SQR3_SQ13_2 (0x04UL << ADC_SQR3_SQ13_Pos) /*!< 0x00100000 */ -#define ADC_SQR3_SQ13_3 (0x08UL << ADC_SQR3_SQ13_Pos) /*!< 0x00200000 */ -#define ADC_SQR3_SQ13_4 (0x10UL << ADC_SQR3_SQ13_Pos) /*!< 0x00400000 */ - -#define ADC_SQR3_SQ14_Pos (24U) -#define ADC_SQR3_SQ14_Msk (0x1FUL << ADC_SQR3_SQ14_Pos) /*!< 0x1F000000 */ -#define ADC_SQR3_SQ14 ADC_SQR3_SQ14_Msk /*!< ADC 14th conversion in regular sequence */ -#define ADC_SQR3_SQ14_0 (0x01UL << ADC_SQR3_SQ14_Pos) /*!< 0x01000000 */ -#define ADC_SQR3_SQ14_1 (0x02UL << ADC_SQR3_SQ14_Pos) /*!< 0x02000000 */ -#define ADC_SQR3_SQ14_2 (0x04UL << ADC_SQR3_SQ14_Pos) /*!< 0x04000000 */ -#define ADC_SQR3_SQ14_3 (0x08UL << ADC_SQR3_SQ14_Pos) /*!< 0x08000000 */ -#define ADC_SQR3_SQ14_4 (0x10UL << ADC_SQR3_SQ14_Pos) /*!< 0x10000000 */ - -/******************** Bit definition for ADC_SQR4 register ********************/ -#define ADC_SQR4_SQ15_Pos (0U) -#define ADC_SQR4_SQ15_Msk (0x1FUL << ADC_SQR4_SQ15_Pos) /*!< 0x0000001F */ -#define ADC_SQR4_SQ15 ADC_SQR4_SQ15_Msk /*!< ADC 15th conversion in regular sequence */ -#define ADC_SQR4_SQ15_0 (0x01UL << ADC_SQR4_SQ15_Pos) /*!< 0x00000001 */ -#define ADC_SQR4_SQ15_1 (0x02UL << ADC_SQR4_SQ15_Pos) /*!< 0x00000002 */ -#define ADC_SQR4_SQ15_2 (0x04UL << ADC_SQR4_SQ15_Pos) /*!< 0x00000004 */ -#define ADC_SQR4_SQ15_3 (0x08UL << ADC_SQR4_SQ15_Pos) /*!< 0x00000008 */ -#define ADC_SQR4_SQ15_4 (0x10UL << ADC_SQR4_SQ15_Pos) /*!< 0x00000010 */ - -#define ADC_SQR4_SQ16_Pos (6U) -#define ADC_SQR4_SQ16_Msk (0x1FUL << ADC_SQR4_SQ16_Pos) /*!< 0x000007C0 */ -#define ADC_SQR4_SQ16 ADC_SQR4_SQ16_Msk /*!< ADC 16th conversion in regular sequence */ -#define ADC_SQR4_SQ16_0 (0x01UL << ADC_SQR4_SQ16_Pos) /*!< 0x00000040 */ -#define ADC_SQR4_SQ16_1 (0x02UL << ADC_SQR4_SQ16_Pos) /*!< 0x00000080 */ -#define ADC_SQR4_SQ16_2 (0x04UL << ADC_SQR4_SQ16_Pos) /*!< 0x00000100 */ -#define ADC_SQR4_SQ16_3 (0x08UL << ADC_SQR4_SQ16_Pos) /*!< 0x00000200 */ -#define ADC_SQR4_SQ16_4 (0x10UL << ADC_SQR4_SQ16_Pos) /*!< 0x00000400 */ -/******************** Bit definition for ADC_DR register ********************/ -#define ADC_DR_RDATA_Pos (0U) -#define ADC_DR_RDATA_Msk (0xFFFFFFFFUL << ADC_DR_RDATA_Pos) /*!< 0xFFFFFFFF */ -#define ADC_DR_RDATA ADC_DR_RDATA_Msk /*!< ADC regular Data converted */ - -/******************** Bit definition for ADC_JSQR register ********************/ -#define ADC_JSQR_JL_Pos (0U) -#define ADC_JSQR_JL_Msk (0x3UL << ADC_JSQR_JL_Pos) /*!< 0x00000003 */ -#define ADC_JSQR_JL ADC_JSQR_JL_Msk /*!< ADC injected channel sequence length */ -#define ADC_JSQR_JL_0 (0x1UL << ADC_JSQR_JL_Pos) /*!< 0x00000001 */ -#define ADC_JSQR_JL_1 (0x2UL << ADC_JSQR_JL_Pos) /*!< 0x00000002 */ - -#define ADC_JSQR_JEXTSEL_Pos (2U) -#define ADC_JSQR_JEXTSEL_Msk (0x1FUL << ADC_JSQR_JEXTSEL_Pos) /*!< 0x0000007C */ -#define ADC_JSQR_JEXTSEL ADC_JSQR_JEXTSEL_Msk /*!< ADC external trigger selection for injected group */ -#define ADC_JSQR_JEXTSEL_0 (0x01UL << ADC_JSQR_JEXTSEL_Pos) /*!< 0x00000004 */ -#define ADC_JSQR_JEXTSEL_1 (0x02UL << ADC_JSQR_JEXTSEL_Pos) /*!< 0x00000008 */ -#define ADC_JSQR_JEXTSEL_2 (0x04UL << ADC_JSQR_JEXTSEL_Pos) /*!< 0x00000010 */ -#define ADC_JSQR_JEXTSEL_3 (0x08UL << ADC_JSQR_JEXTSEL_Pos) /*!< 0x00000020 */ -#define ADC_JSQR_JEXTSEL_4 (0x10UL << ADC_JSQR_JEXTSEL_Pos) /*!< 0x00000040 */ - -#define ADC_JSQR_JEXTEN_Pos (7U) -#define ADC_JSQR_JEXTEN_Msk (0x3UL << ADC_JSQR_JEXTEN_Pos) /*!< 0x00000180 */ -#define ADC_JSQR_JEXTEN ADC_JSQR_JEXTEN_Msk /*!< ADC external trigger enable and polarity selection for injected channels */ -#define ADC_JSQR_JEXTEN_0 (0x1UL << ADC_JSQR_JEXTEN_Pos) /*!< 0x00000080 */ -#define ADC_JSQR_JEXTEN_1 (0x2UL << ADC_JSQR_JEXTEN_Pos) /*!< 0x00000100 */ - -#define ADC_JSQR_JSQ1_Pos (9U) -#define ADC_JSQR_JSQ1_Msk (0x1FUL << ADC_JSQR_JSQ1_Pos) /*!< 0x00003E00 */ -#define ADC_JSQR_JSQ1 ADC_JSQR_JSQ1_Msk /*!< ADC 1st conversion in injected sequence */ -#define ADC_JSQR_JSQ1_0 (0x01UL << ADC_JSQR_JSQ1_Pos) /*!< 0x00000200 */ -#define ADC_JSQR_JSQ1_1 (0x02UL << ADC_JSQR_JSQ1_Pos) /*!< 0x00000400 */ -#define ADC_JSQR_JSQ1_2 (0x04UL << ADC_JSQR_JSQ1_Pos) /*!< 0x00000800 */ -#define ADC_JSQR_JSQ1_3 (0x08UL << ADC_JSQR_JSQ1_Pos) /*!< 0x00001000 */ -#define ADC_JSQR_JSQ1_4 (0x10UL << ADC_JSQR_JSQ1_Pos) /*!< 0x00002000 */ - -#define ADC_JSQR_JSQ2_Pos (15U) -#define ADC_JSQR_JSQ2_Msk (0x1FUL << ADC_JSQR_JSQ2_Pos) /*!< 0x000F8000 */ -#define ADC_JSQR_JSQ2 ADC_JSQR_JSQ2_Msk /*!< ADC 2nd conversion in injected sequence */ -#define ADC_JSQR_JSQ2_0 (0x01UL << ADC_JSQR_JSQ2_Pos) /*!< 0x00008000 */ -#define ADC_JSQR_JSQ2_1 (0x02UL << ADC_JSQR_JSQ2_Pos) /*!< 0x00010000 */ -#define ADC_JSQR_JSQ2_2 (0x04UL << ADC_JSQR_JSQ2_Pos) /*!< 0x00020000 */ -#define ADC_JSQR_JSQ2_3 (0x08UL << ADC_JSQR_JSQ2_Pos) /*!< 0x00040000 */ -#define ADC_JSQR_JSQ2_4 (0x10UL << ADC_JSQR_JSQ2_Pos) /*!< 0x00080000 */ - -#define ADC_JSQR_JSQ3_Pos (21U) -#define ADC_JSQR_JSQ3_Msk (0x1FUL << ADC_JSQR_JSQ3_Pos) /*!< 0x03E00000 */ -#define ADC_JSQR_JSQ3 ADC_JSQR_JSQ3_Msk /*!< ADC 3rd conversion in injected sequence */ -#define ADC_JSQR_JSQ3_0 (0x01UL << ADC_JSQR_JSQ3_Pos) /*!< 0x00200000 */ -#define ADC_JSQR_JSQ3_1 (0x02UL << ADC_JSQR_JSQ3_Pos) /*!< 0x00400000 */ -#define ADC_JSQR_JSQ3_2 (0x04UL << ADC_JSQR_JSQ3_Pos) /*!< 0x00800000 */ -#define ADC_JSQR_JSQ3_3 (0x08UL << ADC_JSQR_JSQ3_Pos) /*!< 0x01000000 */ -#define ADC_JSQR_JSQ3_4 (0x10UL << ADC_JSQR_JSQ3_Pos) /*!< 0x02000000 */ - -#define ADC_JSQR_JSQ4_Pos (27U) -#define ADC_JSQR_JSQ4_Msk (0x1FUL << ADC_JSQR_JSQ4_Pos) /*!< 0xF8000000 */ -#define ADC_JSQR_JSQ4 ADC_JSQR_JSQ4_Msk /*!< ADC 4th conversion in injected sequence */ -#define ADC_JSQR_JSQ4_0 (0x01UL << ADC_JSQR_JSQ4_Pos) /*!< 0x08000000 */ -#define ADC_JSQR_JSQ4_1 (0x02UL << ADC_JSQR_JSQ4_Pos) /*!< 0x10000000 */ -#define ADC_JSQR_JSQ4_2 (0x04UL << ADC_JSQR_JSQ4_Pos) /*!< 0x20000000 */ -#define ADC_JSQR_JSQ4_3 (0x08UL << ADC_JSQR_JSQ4_Pos) /*!< 0x40000000 */ -#define ADC_JSQR_JSQ4_4 (0x10UL << ADC_JSQR_JSQ4_Pos) /*!< 0x80000000 */ - -/******************** Bit definition for ADC_OFR1 register ********************/ -#define ADC_OFR1_OFFSET1_Pos (0U) -#define ADC_OFR1_OFFSET1_Msk (0x3FFFFFFUL << ADC_OFR1_OFFSET1_Pos) /*!< 0x03FFFFFF */ -#define ADC_OFR1_OFFSET1 ADC_OFR1_OFFSET1_Msk /*!< ADC data offset 1 for channel programmed into bits OFFSET1_CH[4:0] */ -#define ADC_OFR1_OFFSET1_0 (0x0000001UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00000001 */ -#define ADC_OFR1_OFFSET1_1 (0x0000002UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00000002 */ -#define ADC_OFR1_OFFSET1_2 (0x0000004UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00000004 */ -#define ADC_OFR1_OFFSET1_3 (0x0000008UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00000008 */ -#define ADC_OFR1_OFFSET1_4 (0x0000010UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00000010 */ -#define ADC_OFR1_OFFSET1_5 (0x0000020UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00000020 */ -#define ADC_OFR1_OFFSET1_6 (0x0000040UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00000040 */ -#define ADC_OFR1_OFFSET1_7 (0x0000080UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00000080 */ -#define ADC_OFR1_OFFSET1_8 (0x0000100UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00000100 */ -#define ADC_OFR1_OFFSET1_9 (0x0000200UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00000200 */ -#define ADC_OFR1_OFFSET1_10 (0x0000400UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00000400 */ -#define ADC_OFR1_OFFSET1_11 (0x0000800UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00000800 */ -#define ADC_OFR1_OFFSET1_12 (0x0001000UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00001000 */ -#define ADC_OFR1_OFFSET1_13 (0x0002000UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00002000 */ -#define ADC_OFR1_OFFSET1_14 (0x0004000UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00004000 */ -#define ADC_OFR1_OFFSET1_15 (0x0008000UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00008000 */ -#define ADC_OFR1_OFFSET1_16 (0x0010000UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00010000 */ -#define ADC_OFR1_OFFSET1_17 (0x0020000UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00020000 */ -#define ADC_OFR1_OFFSET1_18 (0x0040000UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00040000 */ -#define ADC_OFR1_OFFSET1_19 (0x0080000UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00080000 */ -#define ADC_OFR1_OFFSET1_20 (0x0100000UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00100000 */ -#define ADC_OFR1_OFFSET1_21 (0x0200000UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00200000 */ -#define ADC_OFR1_OFFSET1_22 (0x0400000UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00400000 */ -#define ADC_OFR1_OFFSET1_23 (0x0800000UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00800000 */ -#define ADC_OFR1_OFFSET1_24 (0x1000000UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x01000000 */ -#define ADC_OFR1_OFFSET1_25 (0x2000000UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x02000000 */ - -#define ADC_OFR1_OFFSET1_CH_Pos (26U) -#define ADC_OFR1_OFFSET1_CH_Msk (0x1FUL << ADC_OFR1_OFFSET1_CH_Pos) /*!< 0x7C000000 */ -#define ADC_OFR1_OFFSET1_CH ADC_OFR1_OFFSET1_CH_Msk /*!< ADC Channel selection for the data offset 1 */ -#define ADC_OFR1_OFFSET1_CH_0 (0x01UL << ADC_OFR1_OFFSET1_CH_Pos) /*!< 0x04000000 */ -#define ADC_OFR1_OFFSET1_CH_1 (0x02UL << ADC_OFR1_OFFSET1_CH_Pos) /*!< 0x08000000 */ -#define ADC_OFR1_OFFSET1_CH_2 (0x04UL << ADC_OFR1_OFFSET1_CH_Pos) /*!< 0x10000000 */ -#define ADC_OFR1_OFFSET1_CH_3 (0x08UL << ADC_OFR1_OFFSET1_CH_Pos) /*!< 0x20000000 */ -#define ADC_OFR1_OFFSET1_CH_4 (0x10UL << ADC_OFR1_OFFSET1_CH_Pos) /*!< 0x40000000 */ - -#define ADC_OFR1_SSATE_Pos (31U) -#define ADC_OFR1_SSATE_Msk (0x1UL << ADC_OFR1_SSATE_Pos) /*!< 0x80000000 */ -#define ADC_OFR1_SSATE ADC_OFR1_SSATE_Msk /*!< ADC Signed saturation Enable */ - -#define ADC3_OFR1_OFFSET1_Pos (0U) -#define ADC3_OFR1_OFFSET1_Msk (0xFFFUL << ADC3_OFR1_OFFSET1_Pos) /*!< 0x00000FFF */ -#define ADC3_OFR1_OFFSET1 ADC3_OFR1_OFFSET1_Msk /*!< ADC data offset 1 for channel programmed into bits OFFSET1_CH[4:0] */ - -#define ADC3_OFR1_OFFSETPOS_Pos (24U) -#define ADC3_OFR1_OFFSETPOS_Msk (0x1UL << ADC3_OFR1_OFFSETPOS_Pos) /*!< 0x01000000 */ -#define ADC3_OFR1_OFFSETPOS ADC3_OFR1_OFFSETPOS_Msk /*!< ADC offset number 1 positive */ -#define ADC3_OFR1_SATEN_Pos (25U) -#define ADC3_OFR1_SATEN_Msk (0x1UL << ADC3_OFR1_SATEN_Pos) /*!< 0x02000000 */ -#define ADC3_OFR1_SATEN ADC3_OFR1_SATEN_Msk /*!< ADC offset number 1 saturation enable */ - -#define ADC3_OFR1_OFFSET1_EN_Pos (31U) -#define ADC3_OFR1_OFFSET1_EN_Msk (0x1UL << ADC3_OFR1_OFFSET1_EN_Pos) /*!< 0x80000000 */ -#define ADC3_OFR1_OFFSET1_EN ADC3_OFR1_OFFSET1_EN_Msk /*!< ADC offset number 1 enable */ - -/******************** Bit definition for ADC_OFR2 register ********************/ -#define ADC_OFR2_OFFSET2_Pos (0U) -#define ADC_OFR2_OFFSET2_Msk (0x3FFFFFFUL << ADC_OFR2_OFFSET2_Pos) /*!< 0x03FFFFFF */ -#define ADC_OFR2_OFFSET2 ADC_OFR2_OFFSET2_Msk /*!< ADC data offset 2 for channel programmed into bits OFFSET2_CH[4:0] */ -#define ADC_OFR2_OFFSET2_0 (0x0000001UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00000001 */ -#define ADC_OFR2_OFFSET2_1 (0x0000002UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00000002 */ -#define ADC_OFR2_OFFSET2_2 (0x0000004UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00000004 */ -#define ADC_OFR2_OFFSET2_3 (0x0000008UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00000008 */ -#define ADC_OFR2_OFFSET2_4 (0x0000010UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00000010 */ -#define ADC_OFR2_OFFSET2_5 (0x0000020UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00000020 */ -#define ADC_OFR2_OFFSET2_6 (0x0000040UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00000040 */ -#define ADC_OFR2_OFFSET2_7 (0x0000080UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00000080 */ -#define ADC_OFR2_OFFSET2_8 (0x0000100UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00000100 */ -#define ADC_OFR2_OFFSET2_9 (0x0000200UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00000200 */ -#define ADC_OFR2_OFFSET2_10 (0x0000400UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00000400 */ -#define ADC_OFR2_OFFSET2_11 (0x0000800UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00000800 */ -#define ADC_OFR2_OFFSET2_12 (0x0001000UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00001000 */ -#define ADC_OFR2_OFFSET2_13 (0x0002000UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00002000 */ -#define ADC_OFR2_OFFSET2_14 (0x0004000UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00004000 */ -#define ADC_OFR2_OFFSET2_15 (0x0008000UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00008000 */ -#define ADC_OFR2_OFFSET2_16 (0x0010000UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00010000 */ -#define ADC_OFR2_OFFSET2_17 (0x0020000UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00020000 */ -#define ADC_OFR2_OFFSET2_18 (0x0040000UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00040000 */ -#define ADC_OFR2_OFFSET2_19 (0x0080000UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00080000 */ -#define ADC_OFR2_OFFSET2_20 (0x0100000UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00100000 */ -#define ADC_OFR2_OFFSET2_21 (0x0200000UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00200000 */ -#define ADC_OFR2_OFFSET2_22 (0x0400000UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00400000 */ -#define ADC_OFR2_OFFSET2_23 (0x0800000UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00800000 */ -#define ADC_OFR2_OFFSET2_24 (0x1000000UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x01000000 */ -#define ADC_OFR2_OFFSET2_25 (0x2000000UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x02000000 */ - -#define ADC_OFR2_OFFSET2_CH_Pos (26U) -#define ADC_OFR2_OFFSET2_CH_Msk (0x1FUL << ADC_OFR2_OFFSET2_CH_Pos) /*!< 0x7C000000 */ -#define ADC_OFR2_OFFSET2_CH ADC_OFR2_OFFSET2_CH_Msk /*!< ADC Channel selection for the data offset 2 */ -#define ADC_OFR2_OFFSET2_CH_0 (0x01UL << ADC_OFR2_OFFSET2_CH_Pos) /*!< 0x04000000 */ -#define ADC_OFR2_OFFSET2_CH_1 (0x02UL << ADC_OFR2_OFFSET2_CH_Pos) /*!< 0x08000000 */ -#define ADC_OFR2_OFFSET2_CH_2 (0x04UL << ADC_OFR2_OFFSET2_CH_Pos) /*!< 0x10000000 */ -#define ADC_OFR2_OFFSET2_CH_3 (0x08UL << ADC_OFR2_OFFSET2_CH_Pos) /*!< 0x20000000 */ -#define ADC_OFR2_OFFSET2_CH_4 (0x10UL << ADC_OFR2_OFFSET2_CH_Pos) /*!< 0x40000000 */ - -#define ADC_OFR2_SSATE_Pos (31U) -#define ADC_OFR2_SSATE_Msk (0x1UL << ADC_OFR2_SSATE_Pos) /*!< 0x80000000 */ -#define ADC_OFR2_SSATE ADC_OFR2_SSATE_Msk /*!< ADC Signed saturation Enable */ - -#define ADC3_OFR2_OFFSET2_Pos (0U) -#define ADC3_OFR2_OFFSET2_Msk (0xFFFUL << ADC3_OFR2_OFFSET2_Pos) /*!< 0x00000FFF */ -#define ADC3_OFR2_OFFSET2 ADC3_OFR2_OFFSET2_Msk /*!< ADC data offset 2 for channel programmed into bits OFFSET1_CH[4:0] */ - -#define ADC3_OFR2_OFFSETPOS_Pos (24U) -#define ADC3_OFR2_OFFSETPOS_Msk (0x1UL << ADC3_OFR2_OFFSETPOS_Pos) /*!< 0x01000000 */ -#define ADC3_OFR2_OFFSETPOS ADC3_OFR2_OFFSETPOS_Msk /*!< ADC offset number 2 positive */ -#define ADC3_OFR2_SATEN_Pos (25U) -#define ADC3_OFR2_SATEN_Msk (0x1UL << ADC3_OFR2_SATEN_Pos) /*!< 0x02000000 */ -#define ADC3_OFR2_SATEN ADC3_OFR2_SATEN_Msk /*!< ADC offset number 2 saturation enable */ - -#define ADC3_OFR2_OFFSET2_EN_Pos (31U) -#define ADC3_OFR2_OFFSET2_EN_Msk (0x1UL << ADC3_OFR2_OFFSET2_EN_Pos) /*!< 0x80000000 */ -#define ADC3_OFR2_OFFSET2_EN ADC3_OFR2_OFFSET2_EN_Msk /*!< ADC offset number 2 enable */ - -/******************** Bit definition for ADC_OFR3 register ********************/ -#define ADC_OFR3_OFFSET3_Pos (0U) -#define ADC_OFR3_OFFSET3_Msk (0x3FFFFFFUL << ADC_OFR3_OFFSET3_Pos) /*!< 0x03FFFFFF */ -#define ADC_OFR3_OFFSET3 ADC_OFR3_OFFSET3_Msk /*!< ADC data offset 3 for channel programmed into bits OFFSET3_CH[4:0] */ -#define ADC_OFR3_OFFSET3_0 (0x0000001UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00000001 */ -#define ADC_OFR3_OFFSET3_1 (0x0000002UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00000002 */ -#define ADC_OFR3_OFFSET3_2 (0x0000004UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00000004 */ -#define ADC_OFR3_OFFSET3_3 (0x0000008UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00000008 */ -#define ADC_OFR3_OFFSET3_4 (0x0000010UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00000010 */ -#define ADC_OFR3_OFFSET3_5 (0x0000020UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00000020 */ -#define ADC_OFR3_OFFSET3_6 (0x0000040UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00000040 */ -#define ADC_OFR3_OFFSET3_7 (0x0000080UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00000080 */ -#define ADC_OFR3_OFFSET3_8 (0x0000100UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00000100 */ -#define ADC_OFR3_OFFSET3_9 (0x0000200UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00000200 */ -#define ADC_OFR3_OFFSET3_10 (0x0000400UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00000400 */ -#define ADC_OFR3_OFFSET3_11 (0x0000800UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00000800 */ -#define ADC_OFR3_OFFSET3_12 (0x0001000UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00001000 */ -#define ADC_OFR3_OFFSET3_13 (0x0002000UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00002000 */ -#define ADC_OFR3_OFFSET3_14 (0x0004000UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00004000 */ -#define ADC_OFR3_OFFSET3_15 (0x0008000UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00008000 */ -#define ADC_OFR3_OFFSET3_16 (0x0010000UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00010000 */ -#define ADC_OFR3_OFFSET3_17 (0x0020000UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00020000 */ -#define ADC_OFR3_OFFSET3_18 (0x0040000UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00040000 */ -#define ADC_OFR3_OFFSET3_19 (0x0080000UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00080000 */ -#define ADC_OFR3_OFFSET3_20 (0x0100000UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00100000 */ -#define ADC_OFR3_OFFSET3_21 (0x0200000UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00200000 */ -#define ADC_OFR3_OFFSET3_22 (0x0400000UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00400000 */ -#define ADC_OFR3_OFFSET3_23 (0x0800000UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00800000 */ -#define ADC_OFR3_OFFSET3_24 (0x1000000UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x01000000 */ -#define ADC_OFR3_OFFSET3_25 (0x2000000UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x02000000 */ - -#define ADC_OFR3_OFFSET3_CH_Pos (26U) -#define ADC_OFR3_OFFSET3_CH_Msk (0x1FUL << ADC_OFR3_OFFSET3_CH_Pos) /*!< 0x7C000000 */ -#define ADC_OFR3_OFFSET3_CH ADC_OFR3_OFFSET3_CH_Msk /*!< ADC Channel selection for the data offset 3 */ -#define ADC_OFR3_OFFSET3_CH_0 (0x01UL << ADC_OFR3_OFFSET3_CH_Pos) /*!< 0x04000000 */ -#define ADC_OFR3_OFFSET3_CH_1 (0x02UL << ADC_OFR3_OFFSET3_CH_Pos) /*!< 0x08000000 */ -#define ADC_OFR3_OFFSET3_CH_2 (0x04UL << ADC_OFR3_OFFSET3_CH_Pos) /*!< 0x10000000 */ -#define ADC_OFR3_OFFSET3_CH_3 (0x08UL << ADC_OFR3_OFFSET3_CH_Pos) /*!< 0x20000000 */ -#define ADC_OFR3_OFFSET3_CH_4 (0x10UL << ADC_OFR3_OFFSET3_CH_Pos) /*!< 0x40000000 */ - -#define ADC_OFR3_SSATE_Pos (31U) -#define ADC_OFR3_SSATE_Msk (0x1UL << ADC_OFR3_SSATE_Pos) /*!< 0x80000000 */ -#define ADC_OFR3_SSATE ADC_OFR3_SSATE_Msk /*!< ADC Signed saturation Enable */ - -#define ADC3_OFR3_OFFSET3_Pos (0U) -#define ADC3_OFR3_OFFSET3_Msk (0xFFFUL << ADC3_OFR3_OFFSET3_Pos) /*!< 0x00000FFF */ -#define ADC3_OFR3_OFFSET3 ADC3_OFR3_OFFSET3_Msk /*!< ADC data offset 3 for channel programmed into bits OFFSET1_CH[4:0] */ - -#define ADC3_OFR3_OFFSETPOS_Pos (24U) -#define ADC3_OFR3_OFFSETPOS_Msk (0x1UL << ADC3_OFR3_OFFSETPOS_Pos) /*!< 0x01000000 */ -#define ADC3_OFR3_OFFSETPOS ADC3_OFR3_OFFSETPOS_Msk /*!< ADC offset number 3 positive */ -#define ADC3_OFR3_SATEN_Pos (25U) -#define ADC3_OFR3_SATEN_Msk (0x1UL << ADC3_OFR3_SATEN_Pos) /*!< 0x02000000 */ -#define ADC3_OFR3_SATEN ADC3_OFR3_SATEN_Msk /*!< ADC offset number 3 saturation enable */ - -#define ADC3_OFR3_OFFSET3_EN_Pos (31U) -#define ADC3_OFR3_OFFSET3_EN_Msk (0x1UL << ADC3_OFR3_OFFSET3_EN_Pos) /*!< 0x80000000 */ -#define ADC3_OFR3_OFFSET3_EN ADC3_OFR3_OFFSET3_EN_Msk /*!< ADC offset number 3 enable */ - -/******************** Bit definition for ADC_OFR4 register ********************/ -#define ADC_OFR4_OFFSET4_Pos (0U) -#define ADC_OFR4_OFFSET4_Msk (0x3FFFFFFUL << ADC_OFR4_OFFSET4_Pos) /*!< 0x03FFFFFF */ -#define ADC_OFR4_OFFSET4 ADC_OFR4_OFFSET4_Msk /*!< ADC data offset 4 for channel programmed into bits OFFSET4_CH[4:0] */ -#define ADC_OFR4_OFFSET4_0 (0x0000001UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00000001 */ -#define ADC_OFR4_OFFSET4_1 (0x0000002UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00000002 */ -#define ADC_OFR4_OFFSET4_2 (0x0000004UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00000004 */ -#define ADC_OFR4_OFFSET4_3 (0x0000008UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00000008 */ -#define ADC_OFR4_OFFSET4_4 (0x0000010UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00000010 */ -#define ADC_OFR4_OFFSET4_5 (0x0000020UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00000020 */ -#define ADC_OFR4_OFFSET4_6 (0x0000040UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00000040 */ -#define ADC_OFR4_OFFSET4_7 (0x0000080UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00000080 */ -#define ADC_OFR4_OFFSET4_8 (0x0000100UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00000100 */ -#define ADC_OFR4_OFFSET4_9 (0x0000200UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00000200 */ -#define ADC_OFR4_OFFSET4_10 (0x0000400UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00000400 */ -#define ADC_OFR4_OFFSET4_11 (0x0000800UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00000800 */ -#define ADC_OFR4_OFFSET4_12 (0x0001000UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00001000 */ -#define ADC_OFR4_OFFSET4_13 (0x0002000UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00002000 */ -#define ADC_OFR4_OFFSET4_14 (0x0004000UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00004000 */ -#define ADC_OFR4_OFFSET4_15 (0x0008000UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00008000 */ -#define ADC_OFR4_OFFSET4_16 (0x0010000UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00010000 */ -#define ADC_OFR4_OFFSET4_17 (0x0020000UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00020000 */ -#define ADC_OFR4_OFFSET4_18 (0x0040000UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00040000 */ -#define ADC_OFR4_OFFSET4_19 (0x0080000UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00080000 */ -#define ADC_OFR4_OFFSET4_20 (0x0100000UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00100000 */ -#define ADC_OFR4_OFFSET4_21 (0x0200000UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00200000 */ -#define ADC_OFR4_OFFSET4_22 (0x0400000UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00400000 */ -#define ADC_OFR4_OFFSET4_23 (0x0800000UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00800000 */ -#define ADC_OFR4_OFFSET4_24 (0x1000000UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x01000000 */ -#define ADC_OFR4_OFFSET4_25 (0x2000000UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x02000000 */ - -#define ADC_OFR4_OFFSET4_CH_Pos (26U) -#define ADC_OFR4_OFFSET4_CH_Msk (0x1FUL << ADC_OFR4_OFFSET4_CH_Pos) /*!< 0x7C000000 */ -#define ADC_OFR4_OFFSET4_CH ADC_OFR4_OFFSET4_CH_Msk /*!< ADC Channel selection for the data offset 4 */ -#define ADC_OFR4_OFFSET4_CH_0 (0x01UL << ADC_OFR4_OFFSET4_CH_Pos) /*!< 0x04000000 */ -#define ADC_OFR4_OFFSET4_CH_1 (0x02UL << ADC_OFR4_OFFSET4_CH_Pos) /*!< 0x08000000 */ -#define ADC_OFR4_OFFSET4_CH_2 (0x04UL << ADC_OFR4_OFFSET4_CH_Pos) /*!< 0x10000000 */ -#define ADC_OFR4_OFFSET4_CH_3 (0x08UL << ADC_OFR4_OFFSET4_CH_Pos) /*!< 0x20000000 */ -#define ADC_OFR4_OFFSET4_CH_4 (0x10UL << ADC_OFR4_OFFSET4_CH_Pos) /*!< 0x40000000 */ - -#define ADC_OFR4_SSATE_Pos (31U) -#define ADC_OFR4_SSATE_Msk (0x1UL << ADC_OFR4_SSATE_Pos) /*!< 0x80000000 */ -#define ADC_OFR4_SSATE ADC_OFR4_SSATE_Msk /*!< ADC Signed saturation Enable */ - -#define ADC3_OFR4_OFFSET4_Pos (0U) -#define ADC3_OFR4_OFFSET4_Msk (0xFFFUL << ADC3_OFR4_OFFSET4_Pos) /*!< 0x00000FFF */ -#define ADC3_OFR4_OFFSET4 ADC3_OFR4_OFFSET4_Msk /*!< ADC data offset 4 for channel programmed into bits OFFSET1_CH[4:0] */ - -#define ADC3_OFR4_OFFSETPOS_Pos (24U) -#define ADC3_OFR4_OFFSETPOS_Msk (0x1UL << ADC3_OFR4_OFFSETPOS_Pos) /*!< 0x01000000 */ -#define ADC3_OFR4_OFFSETPOS ADC3_OFR4_OFFSETPOS_Msk /*!< ADC offset number 4 positive */ -#define ADC3_OFR4_SATEN_Pos (25U) -#define ADC3_OFR4_SATEN_Msk (0x1UL << ADC3_OFR4_SATEN_Pos) /*!< 0x02000000 */ -#define ADC3_OFR4_SATEN ADC3_OFR4_SATEN_Msk /*!< ADC offset number 4 saturation enable */ - -#define ADC3_OFR4_OFFSET4_EN_Pos (31U) -#define ADC3_OFR4_OFFSET4_EN_Msk (0x1UL << ADC3_OFR4_OFFSET4_EN_Pos) /*!< 0x80000000 */ -#define ADC3_OFR4_OFFSET4_EN ADC3_OFR4_OFFSET4_EN_Msk /*!< ADC offset number 4 enable */ - -/******************** Bit definition for ADC_JDR1 register ********************/ -#define ADC_JDR1_JDATA_Pos (0U) -#define ADC_JDR1_JDATA_Msk (0xFFFFFFFFUL << ADC_JDR1_JDATA_Pos) /*!< 0xFFFFFFFF */ -#define ADC_JDR1_JDATA ADC_JDR1_JDATA_Msk /*!< ADC Injected DATA */ -#define ADC_JDR1_JDATA_0 (0x00000001UL << ADC_JDR1_JDATA_Pos) /*!< 0x00000001 */ -#define ADC_JDR1_JDATA_1 (0x00000002UL << ADC_JDR1_JDATA_Pos) /*!< 0x00000002 */ -#define ADC_JDR1_JDATA_2 (0x00000004UL << ADC_JDR1_JDATA_Pos) /*!< 0x00000004 */ -#define ADC_JDR1_JDATA_3 (0x00000008UL << ADC_JDR1_JDATA_Pos) /*!< 0x00000008 */ -#define ADC_JDR1_JDATA_4 (0x00000010UL << ADC_JDR1_JDATA_Pos) /*!< 0x00000010 */ -#define ADC_JDR1_JDATA_5 (0x00000020UL << ADC_JDR1_JDATA_Pos) /*!< 0x00000020 */ -#define ADC_JDR1_JDATA_6 (0x00000040UL << ADC_JDR1_JDATA_Pos) /*!< 0x00000040 */ -#define ADC_JDR1_JDATA_7 (0x00000080UL << ADC_JDR1_JDATA_Pos) /*!< 0x00000080 */ -#define ADC_JDR1_JDATA_8 (0x00000100UL << ADC_JDR1_JDATA_Pos) /*!< 0x00000100 */ -#define ADC_JDR1_JDATA_9 (0x00000200UL << ADC_JDR1_JDATA_Pos) /*!< 0x00000200 */ -#define ADC_JDR1_JDATA_10 (0x00000400UL << ADC_JDR1_JDATA_Pos) /*!< 0x00000400 */ -#define ADC_JDR1_JDATA_11 (0x00000800UL << ADC_JDR1_JDATA_Pos) /*!< 0x00000800 */ -#define ADC_JDR1_JDATA_12 (0x00001000UL << ADC_JDR1_JDATA_Pos) /*!< 0x00001000 */ -#define ADC_JDR1_JDATA_13 (0x00002000UL << ADC_JDR1_JDATA_Pos) /*!< 0x00002000 */ -#define ADC_JDR1_JDATA_14 (0x00004000UL << ADC_JDR1_JDATA_Pos) /*!< 0x00004000 */ -#define ADC_JDR1_JDATA_15 (0x00008000UL << ADC_JDR1_JDATA_Pos) /*!< 0x00008000 */ -#define ADC_JDR1_JDATA_16 (0x00010000UL << ADC_JDR1_JDATA_Pos) /*!< 0x00010000 */ -#define ADC_JDR1_JDATA_17 (0x00020000UL << ADC_JDR1_JDATA_Pos) /*!< 0x00020000 */ -#define ADC_JDR1_JDATA_18 (0x00040000UL << ADC_JDR1_JDATA_Pos) /*!< 0x00040000 */ -#define ADC_JDR1_JDATA_19 (0x00080000UL << ADC_JDR1_JDATA_Pos) /*!< 0x00080000 */ -#define ADC_JDR1_JDATA_20 (0x00100000UL << ADC_JDR1_JDATA_Pos) /*!< 0x00100000 */ -#define ADC_JDR1_JDATA_21 (0x00200000UL << ADC_JDR1_JDATA_Pos) /*!< 0x00200000 */ -#define ADC_JDR1_JDATA_22 (0x00400000UL << ADC_JDR1_JDATA_Pos) /*!< 0x00400000 */ -#define ADC_JDR1_JDATA_23 (0x00800000UL << ADC_JDR1_JDATA_Pos) /*!< 0x00800000 */ -#define ADC_JDR1_JDATA_24 (0x01000000UL << ADC_JDR1_JDATA_Pos) /*!< 0x01000000 */ -#define ADC_JDR1_JDATA_25 (0x02000000UL << ADC_JDR1_JDATA_Pos) /*!< 0x02000000 */ -#define ADC_JDR1_JDATA_26 (0x04000000UL << ADC_JDR1_JDATA_Pos) /*!< 0x04000000 */ -#define ADC_JDR1_JDATA_27 (0x08000000UL << ADC_JDR1_JDATA_Pos) /*!< 0x08000000 */ -#define ADC_JDR1_JDATA_28 (0x10000000UL << ADC_JDR1_JDATA_Pos) /*!< 0x10000000 */ -#define ADC_JDR1_JDATA_29 (0x20000000UL << ADC_JDR1_JDATA_Pos) /*!< 0x20000000 */ -#define ADC_JDR1_JDATA_30 (0x40000000UL << ADC_JDR1_JDATA_Pos) /*!< 0x40000000 */ -#define ADC_JDR1_JDATA_31 (0x80000000UL << ADC_JDR1_JDATA_Pos) /*!< 0x80000000 */ - -/******************** Bit definition for ADC_JDR2 register ********************/ -#define ADC_JDR2_JDATA_Pos (0U) -#define ADC_JDR2_JDATA_Msk (0xFFFFFFFFUL << ADC_JDR2_JDATA_Pos) /*!< 0xFFFFFFFF */ -#define ADC_JDR2_JDATA ADC_JDR2_JDATA_Msk /*!< ADC Injected DATA */ -#define ADC_JDR2_JDATA_0 (0x00000001UL << ADC_JDR2_JDATA_Pos) /*!< 0x00000001 */ -#define ADC_JDR2_JDATA_1 (0x00000002UL << ADC_JDR2_JDATA_Pos) /*!< 0x00000002 */ -#define ADC_JDR2_JDATA_2 (0x00000004UL << ADC_JDR2_JDATA_Pos) /*!< 0x00000004 */ -#define ADC_JDR2_JDATA_3 (0x00000008UL << ADC_JDR2_JDATA_Pos) /*!< 0x00000008 */ -#define ADC_JDR2_JDATA_4 (0x00000010UL << ADC_JDR2_JDATA_Pos) /*!< 0x00000010 */ -#define ADC_JDR2_JDATA_5 (0x00000020UL << ADC_JDR2_JDATA_Pos) /*!< 0x00000020 */ -#define ADC_JDR2_JDATA_6 (0x00000040UL << ADC_JDR2_JDATA_Pos) /*!< 0x00000040 */ -#define ADC_JDR2_JDATA_7 (0x00000080UL << ADC_JDR2_JDATA_Pos) /*!< 0x00000080 */ -#define ADC_JDR2_JDATA_8 (0x00000100UL << ADC_JDR2_JDATA_Pos) /*!< 0x00000100 */ -#define ADC_JDR2_JDATA_9 (0x00000200UL << ADC_JDR2_JDATA_Pos) /*!< 0x00000200 */ -#define ADC_JDR2_JDATA_10 (0x00000400UL << ADC_JDR2_JDATA_Pos) /*!< 0x00000400 */ -#define ADC_JDR2_JDATA_11 (0x00000800UL << ADC_JDR2_JDATA_Pos) /*!< 0x00000800 */ -#define ADC_JDR2_JDATA_12 (0x00001000UL << ADC_JDR2_JDATA_Pos) /*!< 0x00001000 */ -#define ADC_JDR2_JDATA_13 (0x00002000UL << ADC_JDR2_JDATA_Pos) /*!< 0x00002000 */ -#define ADC_JDR2_JDATA_14 (0x00004000UL << ADC_JDR2_JDATA_Pos) /*!< 0x00004000 */ -#define ADC_JDR2_JDATA_15 (0x00008000UL << ADC_JDR2_JDATA_Pos) /*!< 0x00008000 */ -#define ADC_JDR2_JDATA_16 (0x00010000UL << ADC_JDR2_JDATA_Pos) /*!< 0x00010000 */ -#define ADC_JDR2_JDATA_17 (0x00020000UL << ADC_JDR2_JDATA_Pos) /*!< 0x00020000 */ -#define ADC_JDR2_JDATA_18 (0x00040000UL << ADC_JDR2_JDATA_Pos) /*!< 0x00040000 */ -#define ADC_JDR2_JDATA_19 (0x00080000UL << ADC_JDR2_JDATA_Pos) /*!< 0x00080000 */ -#define ADC_JDR2_JDATA_20 (0x00100000UL << ADC_JDR2_JDATA_Pos) /*!< 0x00100000 */ -#define ADC_JDR2_JDATA_21 (0x00200000UL << ADC_JDR2_JDATA_Pos) /*!< 0x00200000 */ -#define ADC_JDR2_JDATA_22 (0x00400000UL << ADC_JDR2_JDATA_Pos) /*!< 0x00400000 */ -#define ADC_JDR2_JDATA_23 (0x00800000UL << ADC_JDR2_JDATA_Pos) /*!< 0x00800000 */ -#define ADC_JDR2_JDATA_24 (0x01000000UL << ADC_JDR2_JDATA_Pos) /*!< 0x01000000 */ -#define ADC_JDR2_JDATA_25 (0x02000000UL << ADC_JDR2_JDATA_Pos) /*!< 0x02000000 */ -#define ADC_JDR2_JDATA_26 (0x04000000UL << ADC_JDR2_JDATA_Pos) /*!< 0x04000000 */ -#define ADC_JDR2_JDATA_27 (0x08000000UL << ADC_JDR2_JDATA_Pos) /*!< 0x08000000 */ -#define ADC_JDR2_JDATA_28 (0x10000000UL << ADC_JDR2_JDATA_Pos) /*!< 0x10000000 */ -#define ADC_JDR2_JDATA_29 (0x20000000UL << ADC_JDR2_JDATA_Pos) /*!< 0x20000000 */ -#define ADC_JDR2_JDATA_30 (0x40000000UL << ADC_JDR2_JDATA_Pos) /*!< 0x40000000 */ -#define ADC_JDR2_JDATA_31 (0x80000000UL << ADC_JDR2_JDATA_Pos) /*!< 0x80000000 */ - -/******************** Bit definition for ADC_JDR3 register ********************/ -#define ADC_JDR3_JDATA_Pos (0U) -#define ADC_JDR3_JDATA_Msk (0xFFFFFFFFUL << ADC_JDR3_JDATA_Pos) /*!< 0xFFFFFFFF */ -#define ADC_JDR3_JDATA ADC_JDR3_JDATA_Msk /*!< ADC Injected DATA */ -#define ADC_JDR3_JDATA_0 (0x00000001UL << ADC_JDR3_JDATA_Pos) /*!< 0x00000001 */ -#define ADC_JDR3_JDATA_1 (0x00000002UL << ADC_JDR3_JDATA_Pos) /*!< 0x00000002 */ -#define ADC_JDR3_JDATA_2 (0x00000004UL << ADC_JDR3_JDATA_Pos) /*!< 0x00000004 */ -#define ADC_JDR3_JDATA_3 (0x00000008UL << ADC_JDR3_JDATA_Pos) /*!< 0x00000008 */ -#define ADC_JDR3_JDATA_4 (0x00000010UL << ADC_JDR3_JDATA_Pos) /*!< 0x00000010 */ -#define ADC_JDR3_JDATA_5 (0x00000020UL << ADC_JDR3_JDATA_Pos) /*!< 0x00000020 */ -#define ADC_JDR3_JDATA_6 (0x00000040UL << ADC_JDR3_JDATA_Pos) /*!< 0x00000040 */ -#define ADC_JDR3_JDATA_7 (0x00000080UL << ADC_JDR3_JDATA_Pos) /*!< 0x00000080 */ -#define ADC_JDR3_JDATA_8 (0x00000100UL << ADC_JDR3_JDATA_Pos) /*!< 0x00000100 */ -#define ADC_JDR3_JDATA_9 (0x00000200UL << ADC_JDR3_JDATA_Pos) /*!< 0x00000200 */ -#define ADC_JDR3_JDATA_10 (0x00000400UL << ADC_JDR3_JDATA_Pos) /*!< 0x00000400 */ -#define ADC_JDR3_JDATA_11 (0x00000800UL << ADC_JDR3_JDATA_Pos) /*!< 0x00000800 */ -#define ADC_JDR3_JDATA_12 (0x00001000UL << ADC_JDR3_JDATA_Pos) /*!< 0x00001000 */ -#define ADC_JDR3_JDATA_13 (0x00002000UL << ADC_JDR3_JDATA_Pos) /*!< 0x00002000 */ -#define ADC_JDR3_JDATA_14 (0x00004000UL << ADC_JDR3_JDATA_Pos) /*!< 0x00004000 */ -#define ADC_JDR3_JDATA_15 (0x00008000UL << ADC_JDR3_JDATA_Pos) /*!< 0x00008000 */ -#define ADC_JDR3_JDATA_16 (0x00010000UL << ADC_JDR3_JDATA_Pos) /*!< 0x00010000 */ -#define ADC_JDR3_JDATA_17 (0x00020000UL << ADC_JDR3_JDATA_Pos) /*!< 0x00020000 */ -#define ADC_JDR3_JDATA_18 (0x00040000UL << ADC_JDR3_JDATA_Pos) /*!< 0x00040000 */ -#define ADC_JDR3_JDATA_19 (0x00080000UL << ADC_JDR3_JDATA_Pos) /*!< 0x00080000 */ -#define ADC_JDR3_JDATA_20 (0x00100000UL << ADC_JDR3_JDATA_Pos) /*!< 0x00100000 */ -#define ADC_JDR3_JDATA_21 (0x00200000UL << ADC_JDR3_JDATA_Pos) /*!< 0x00200000 */ -#define ADC_JDR3_JDATA_22 (0x00400000UL << ADC_JDR3_JDATA_Pos) /*!< 0x00400000 */ -#define ADC_JDR3_JDATA_23 (0x00800000UL << ADC_JDR3_JDATA_Pos) /*!< 0x00800000 */ -#define ADC_JDR3_JDATA_24 (0x01000000UL << ADC_JDR3_JDATA_Pos) /*!< 0x01000000 */ -#define ADC_JDR3_JDATA_25 (0x02000000UL << ADC_JDR3_JDATA_Pos) /*!< 0x02000000 */ -#define ADC_JDR3_JDATA_26 (0x04000000UL << ADC_JDR3_JDATA_Pos) /*!< 0x04000000 */ -#define ADC_JDR3_JDATA_27 (0x08000000UL << ADC_JDR3_JDATA_Pos) /*!< 0x08000000 */ -#define ADC_JDR3_JDATA_28 (0x10000000UL << ADC_JDR3_JDATA_Pos) /*!< 0x10000000 */ -#define ADC_JDR3_JDATA_29 (0x20000000UL << ADC_JDR3_JDATA_Pos) /*!< 0x20000000 */ -#define ADC_JDR3_JDATA_30 (0x40000000UL << ADC_JDR3_JDATA_Pos) /*!< 0x40000000 */ -#define ADC_JDR3_JDATA_31 (0x80000000UL << ADC_JDR3_JDATA_Pos) /*!< 0x80000000 */ - -/******************** Bit definition for ADC_JDR4 register ********************/ -#define ADC_JDR4_JDATA_Pos (0U) -#define ADC_JDR4_JDATA_Msk (0xFFFFFFFFUL << ADC_JDR4_JDATA_Pos) /*!< 0xFFFFFFFF */ -#define ADC_JDR4_JDATA ADC_JDR4_JDATA_Msk /*!< ADC Injected DATA */ -#define ADC_JDR4_JDATA_0 (0x00000001UL << ADC_JDR4_JDATA_Pos) /*!< 0x00000001 */ -#define ADC_JDR4_JDATA_1 (0x00000002UL << ADC_JDR4_JDATA_Pos) /*!< 0x00000002 */ -#define ADC_JDR4_JDATA_2 (0x00000004UL << ADC_JDR4_JDATA_Pos) /*!< 0x00000004 */ -#define ADC_JDR4_JDATA_3 (0x00000008UL << ADC_JDR4_JDATA_Pos) /*!< 0x00000008 */ -#define ADC_JDR4_JDATA_4 (0x00000010UL << ADC_JDR4_JDATA_Pos) /*!< 0x00000010 */ -#define ADC_JDR4_JDATA_5 (0x00000020UL << ADC_JDR4_JDATA_Pos) /*!< 0x00000020 */ -#define ADC_JDR4_JDATA_6 (0x00000040UL << ADC_JDR4_JDATA_Pos) /*!< 0x00000040 */ -#define ADC_JDR4_JDATA_7 (0x00000080UL << ADC_JDR4_JDATA_Pos) /*!< 0x00000080 */ -#define ADC_JDR4_JDATA_8 (0x00000100UL << ADC_JDR4_JDATA_Pos) /*!< 0x00000100 */ -#define ADC_JDR4_JDATA_9 (0x00000200UL << ADC_JDR4_JDATA_Pos) /*!< 0x00000200 */ -#define ADC_JDR4_JDATA_10 (0x00000400UL << ADC_JDR4_JDATA_Pos) /*!< 0x00000400 */ -#define ADC_JDR4_JDATA_11 (0x00000800UL << ADC_JDR4_JDATA_Pos) /*!< 0x00000800 */ -#define ADC_JDR4_JDATA_12 (0x00001000UL << ADC_JDR4_JDATA_Pos) /*!< 0x00001000 */ -#define ADC_JDR4_JDATA_13 (0x00002000UL << ADC_JDR4_JDATA_Pos) /*!< 0x00002000 */ -#define ADC_JDR4_JDATA_14 (0x00004000UL << ADC_JDR4_JDATA_Pos) /*!< 0x00004000 */ -#define ADC_JDR4_JDATA_15 (0x00008000UL << ADC_JDR4_JDATA_Pos) /*!< 0x00008000 */ -#define ADC_JDR4_JDATA_16 (0x00010000UL << ADC_JDR4_JDATA_Pos) /*!< 0x00010000 */ -#define ADC_JDR4_JDATA_17 (0x00020000UL << ADC_JDR4_JDATA_Pos) /*!< 0x00020000 */ -#define ADC_JDR4_JDATA_18 (0x00040000UL << ADC_JDR4_JDATA_Pos) /*!< 0x00040000 */ -#define ADC_JDR4_JDATA_19 (0x00080000UL << ADC_JDR4_JDATA_Pos) /*!< 0x00080000 */ -#define ADC_JDR4_JDATA_20 (0x00100000UL << ADC_JDR4_JDATA_Pos) /*!< 0x00100000 */ -#define ADC_JDR4_JDATA_21 (0x00200000UL << ADC_JDR4_JDATA_Pos) /*!< 0x00200000 */ -#define ADC_JDR4_JDATA_22 (0x00400000UL << ADC_JDR4_JDATA_Pos) /*!< 0x00400000 */ -#define ADC_JDR4_JDATA_23 (0x00800000UL << ADC_JDR4_JDATA_Pos) /*!< 0x00800000 */ -#define ADC_JDR4_JDATA_24 (0x01000000UL << ADC_JDR4_JDATA_Pos) /*!< 0x01000000 */ -#define ADC_JDR4_JDATA_25 (0x02000000UL << ADC_JDR4_JDATA_Pos) /*!< 0x02000000 */ -#define ADC_JDR4_JDATA_26 (0x04000000UL << ADC_JDR4_JDATA_Pos) /*!< 0x04000000 */ -#define ADC_JDR4_JDATA_27 (0x08000000UL << ADC_JDR4_JDATA_Pos) /*!< 0x08000000 */ -#define ADC_JDR4_JDATA_28 (0x10000000UL << ADC_JDR4_JDATA_Pos) /*!< 0x10000000 */ -#define ADC_JDR4_JDATA_29 (0x20000000UL << ADC_JDR4_JDATA_Pos) /*!< 0x20000000 */ -#define ADC_JDR4_JDATA_30 (0x40000000UL << ADC_JDR4_JDATA_Pos) /*!< 0x40000000 */ -#define ADC_JDR4_JDATA_31 (0x80000000UL << ADC_JDR4_JDATA_Pos) /*!< 0x80000000 */ - -/******************** Bit definition for ADC_AWD2CR register ********************/ -#define ADC_AWD2CR_AWD2CH_Pos (0U) -#define ADC_AWD2CR_AWD2CH_Msk (0xFFFFFUL << ADC_AWD2CR_AWD2CH_Pos) /*!< 0x000FFFFF */ -#define ADC_AWD2CR_AWD2CH ADC_AWD2CR_AWD2CH_Msk /*!< ADC Analog watchdog 2 channel selection */ -#define ADC_AWD2CR_AWD2CH_0 (0x00001UL << ADC_AWD2CR_AWD2CH_Pos) /*!< 0x00000001 */ -#define ADC_AWD2CR_AWD2CH_1 (0x00002UL << ADC_AWD2CR_AWD2CH_Pos) /*!< 0x00000002 */ -#define ADC_AWD2CR_AWD2CH_2 (0x00004UL << ADC_AWD2CR_AWD2CH_Pos) /*!< 0x00000004 */ -#define ADC_AWD2CR_AWD2CH_3 (0x00008UL << ADC_AWD2CR_AWD2CH_Pos) /*!< 0x00000008 */ -#define ADC_AWD2CR_AWD2CH_4 (0x00010UL << ADC_AWD2CR_AWD2CH_Pos) /*!< 0x00000010 */ -#define ADC_AWD2CR_AWD2CH_5 (0x00020UL << ADC_AWD2CR_AWD2CH_Pos) /*!< 0x00000020 */ -#define ADC_AWD2CR_AWD2CH_6 (0x00040UL << ADC_AWD2CR_AWD2CH_Pos) /*!< 0x00000040 */ -#define ADC_AWD2CR_AWD2CH_7 (0x00080UL << ADC_AWD2CR_AWD2CH_Pos) /*!< 0x00000080 */ -#define ADC_AWD2CR_AWD2CH_8 (0x00100UL << ADC_AWD2CR_AWD2CH_Pos) /*!< 0x00000100 */ -#define ADC_AWD2CR_AWD2CH_9 (0x00200UL << ADC_AWD2CR_AWD2CH_Pos) /*!< 0x00000200 */ -#define ADC_AWD2CR_AWD2CH_10 (0x00400UL << ADC_AWD2CR_AWD2CH_Pos) /*!< 0x00000400 */ -#define ADC_AWD2CR_AWD2CH_11 (0x00800UL << ADC_AWD2CR_AWD2CH_Pos) /*!< 0x00000800 */ -#define ADC_AWD2CR_AWD2CH_12 (0x01000UL << ADC_AWD2CR_AWD2CH_Pos) /*!< 0x00001000 */ -#define ADC_AWD2CR_AWD2CH_13 (0x02000UL << ADC_AWD2CR_AWD2CH_Pos) /*!< 0x00002000 */ -#define ADC_AWD2CR_AWD2CH_14 (0x04000UL << ADC_AWD2CR_AWD2CH_Pos) /*!< 0x00004000 */ -#define ADC_AWD2CR_AWD2CH_15 (0x08000UL << ADC_AWD2CR_AWD2CH_Pos) /*!< 0x00008000 */ -#define ADC_AWD2CR_AWD2CH_16 (0x10000UL << ADC_AWD2CR_AWD2CH_Pos) /*!< 0x00010000 */ -#define ADC_AWD2CR_AWD2CH_17 (0x20000UL << ADC_AWD2CR_AWD2CH_Pos) /*!< 0x00020000 */ -#define ADC_AWD2CR_AWD2CH_18 (0x40000UL << ADC_AWD2CR_AWD2CH_Pos) /*!< 0x00040000 */ -#define ADC_AWD2CR_AWD2CH_19 (0x80000UL << ADC_AWD2CR_AWD2CH_Pos) /*!< 0x00080000 */ - -/******************** Bit definition for ADC_AWD3CR register ********************/ -#define ADC_AWD3CR_AWD3CH_Pos (0U) -#define ADC_AWD3CR_AWD3CH_Msk (0xFFFFFUL << ADC_AWD3CR_AWD3CH_Pos) /*!< 0x000FFFFF */ -#define ADC_AWD3CR_AWD3CH ADC_AWD3CR_AWD3CH_Msk /*!< ADC Analog watchdog 2 channel selection */ -#define ADC_AWD3CR_AWD3CH_0 (0x00001UL << ADC_AWD3CR_AWD3CH_Pos) /*!< 0x00000001 */ -#define ADC_AWD3CR_AWD3CH_1 (0x00002UL << ADC_AWD3CR_AWD3CH_Pos) /*!< 0x00000002 */ -#define ADC_AWD3CR_AWD3CH_2 (0x00004UL << ADC_AWD3CR_AWD3CH_Pos) /*!< 0x00000004 */ -#define ADC_AWD3CR_AWD3CH_3 (0x00008UL << ADC_AWD3CR_AWD3CH_Pos) /*!< 0x00000008 */ -#define ADC_AWD3CR_AWD3CH_4 (0x00010UL << ADC_AWD3CR_AWD3CH_Pos) /*!< 0x00000010 */ -#define ADC_AWD3CR_AWD3CH_5 (0x00020UL << ADC_AWD3CR_AWD3CH_Pos) /*!< 0x00000020 */ -#define ADC_AWD3CR_AWD3CH_6 (0x00040UL << ADC_AWD3CR_AWD3CH_Pos) /*!< 0x00000040 */ -#define ADC_AWD3CR_AWD3CH_7 (0x00080UL << ADC_AWD3CR_AWD3CH_Pos) /*!< 0x00000080 */ -#define ADC_AWD3CR_AWD3CH_8 (0x00100UL << ADC_AWD3CR_AWD3CH_Pos) /*!< 0x00000100 */ -#define ADC_AWD3CR_AWD3CH_9 (0x00200UL << ADC_AWD3CR_AWD3CH_Pos) /*!< 0x00000200 */ -#define ADC_AWD3CR_AWD3CH_10 (0x00400UL << ADC_AWD3CR_AWD3CH_Pos) /*!< 0x00000400 */ -#define ADC_AWD3CR_AWD3CH_11 (0x00800UL << ADC_AWD3CR_AWD3CH_Pos) /*!< 0x00000800 */ -#define ADC_AWD3CR_AWD3CH_12 (0x01000UL << ADC_AWD3CR_AWD3CH_Pos) /*!< 0x00001000 */ -#define ADC_AWD3CR_AWD3CH_13 (0x02000UL << ADC_AWD3CR_AWD3CH_Pos) /*!< 0x00002000 */ -#define ADC_AWD3CR_AWD3CH_14 (0x04000UL << ADC_AWD3CR_AWD3CH_Pos) /*!< 0x00004000 */ -#define ADC_AWD3CR_AWD3CH_15 (0x08000UL << ADC_AWD3CR_AWD3CH_Pos) /*!< 0x00008000 */ -#define ADC_AWD3CR_AWD3CH_16 (0x10000UL << ADC_AWD3CR_AWD3CH_Pos) /*!< 0x00010000 */ -#define ADC_AWD3CR_AWD3CH_17 (0x20000UL << ADC_AWD3CR_AWD3CH_Pos) /*!< 0x00020000 */ -#define ADC_AWD3CR_AWD3CH_18 (0x40000UL << ADC_AWD3CR_AWD3CH_Pos) /*!< 0x00040000 */ -#define ADC_AWD3CR_AWD3CH_19 (0x80000UL << ADC_AWD3CR_AWD3CH_Pos) /*!< 0x00080000 */ - -/******************** Bit definition for ADC_DIFSEL register ********************/ -#define ADC_DIFSEL_DIFSEL_Pos (0U) -#define ADC_DIFSEL_DIFSEL_Msk (0xFFFFFUL << ADC_DIFSEL_DIFSEL_Pos) /*!< 0x000FFFFF */ -#define ADC_DIFSEL_DIFSEL ADC_DIFSEL_DIFSEL_Msk /*!< ADC differential modes for channels 1 to 18 */ -#define ADC_DIFSEL_DIFSEL_0 (0x00001UL << ADC_DIFSEL_DIFSEL_Pos) /*!< 0x00000001 */ -#define ADC_DIFSEL_DIFSEL_1 (0x00002UL << ADC_DIFSEL_DIFSEL_Pos) /*!< 0x00000002 */ -#define ADC_DIFSEL_DIFSEL_2 (0x00004UL << ADC_DIFSEL_DIFSEL_Pos) /*!< 0x00000004 */ -#define ADC_DIFSEL_DIFSEL_3 (0x00008UL << ADC_DIFSEL_DIFSEL_Pos) /*!< 0x00000008 */ -#define ADC_DIFSEL_DIFSEL_4 (0x00010UL << ADC_DIFSEL_DIFSEL_Pos) /*!< 0x00000010 */ -#define ADC_DIFSEL_DIFSEL_5 (0x00020UL << ADC_DIFSEL_DIFSEL_Pos) /*!< 0x00000020 */ -#define ADC_DIFSEL_DIFSEL_6 (0x00040UL << ADC_DIFSEL_DIFSEL_Pos) /*!< 0x00000040 */ -#define ADC_DIFSEL_DIFSEL_7 (0x00080UL << ADC_DIFSEL_DIFSEL_Pos) /*!< 0x00000080 */ -#define ADC_DIFSEL_DIFSEL_8 (0x00100UL << ADC_DIFSEL_DIFSEL_Pos) /*!< 0x00000100 */ -#define ADC_DIFSEL_DIFSEL_9 (0x00200UL << ADC_DIFSEL_DIFSEL_Pos) /*!< 0x00000200 */ -#define ADC_DIFSEL_DIFSEL_10 (0x00400UL << ADC_DIFSEL_DIFSEL_Pos) /*!< 0x00000400 */ -#define ADC_DIFSEL_DIFSEL_11 (0x00800UL << ADC_DIFSEL_DIFSEL_Pos) /*!< 0x00000800 */ -#define ADC_DIFSEL_DIFSEL_12 (0x01000UL << ADC_DIFSEL_DIFSEL_Pos) /*!< 0x00001000 */ -#define ADC_DIFSEL_DIFSEL_13 (0x02000UL << ADC_DIFSEL_DIFSEL_Pos) /*!< 0x00002000 */ -#define ADC_DIFSEL_DIFSEL_14 (0x04000UL << ADC_DIFSEL_DIFSEL_Pos) /*!< 0x00004000 */ -#define ADC_DIFSEL_DIFSEL_15 (0x08000UL << ADC_DIFSEL_DIFSEL_Pos) /*!< 0x00008000 */ -#define ADC_DIFSEL_DIFSEL_16 (0x10000UL << ADC_DIFSEL_DIFSEL_Pos) /*!< 0x00010000 */ -#define ADC_DIFSEL_DIFSEL_17 (0x20000UL << ADC_DIFSEL_DIFSEL_Pos) /*!< 0x00020000 */ -#define ADC_DIFSEL_DIFSEL_18 (0x40000UL << ADC_DIFSEL_DIFSEL_Pos) /*!< 0x00040000 */ -#define ADC_DIFSEL_DIFSEL_19 (0x80000UL << ADC_DIFSEL_DIFSEL_Pos) /*!< 0x00080000 */ - -/******************** Bit definition for ADC_CALFACT register ********************/ -#define ADC_CALFACT_CALFACT_S_Pos (0U) -#define ADC_CALFACT_CALFACT_S_Msk (0x7FFUL << ADC_CALFACT_CALFACT_S_Pos) /*!< 0x000007FF */ -#define ADC_CALFACT_CALFACT_S ADC_CALFACT_CALFACT_S_Msk /*!< ADC calibration factors in single-ended mode */ -#define ADC_CALFACT_CALFACT_S_0 (0x001UL << ADC_CALFACT_CALFACT_S_Pos) /*!< 0x00000001 */ -#define ADC_CALFACT_CALFACT_S_1 (0x002UL << ADC_CALFACT_CALFACT_S_Pos) /*!< 0x00000002 */ -#define ADC_CALFACT_CALFACT_S_2 (0x004UL << ADC_CALFACT_CALFACT_S_Pos) /*!< 0x00000004 */ -#define ADC_CALFACT_CALFACT_S_3 (0x008UL << ADC_CALFACT_CALFACT_S_Pos) /*!< 0x00000008 */ -#define ADC_CALFACT_CALFACT_S_4 (0x010UL << ADC_CALFACT_CALFACT_S_Pos) /*!< 0x00000010 */ -#define ADC_CALFACT_CALFACT_S_5 (0x020UL << ADC_CALFACT_CALFACT_S_Pos) /*!< 0x00000020 */ -#define ADC_CALFACT_CALFACT_S_6 (0x040UL << ADC_CALFACT_CALFACT_S_Pos) /*!< 0x00000040 */ -#define ADC_CALFACT_CALFACT_S_7 (0x080UL << ADC_CALFACT_CALFACT_S_Pos) /*!< 0x00000080 */ -#define ADC_CALFACT_CALFACT_S_8 (0x100UL << ADC_CALFACT_CALFACT_S_Pos) /*!< 0x00000100 */ -#define ADC_CALFACT_CALFACT_S_9 (0x200UL << ADC_CALFACT_CALFACT_S_Pos) /*!< 0x00000200 */ -#define ADC_CALFACT_CALFACT_S_10 (0x400UL << ADC_CALFACT_CALFACT_S_Pos) /*!< 0x00000400 */ -#define ADC_CALFACT_CALFACT_D_Pos (16U) -#define ADC_CALFACT_CALFACT_D_Msk (0x7FFUL << ADC_CALFACT_CALFACT_D_Pos) /*!< 0x07FF0000 */ -#define ADC_CALFACT_CALFACT_D ADC_CALFACT_CALFACT_D_Msk /*!< ADC calibration factors in differential mode */ -#define ADC_CALFACT_CALFACT_D_0 (0x001UL << ADC_CALFACT_CALFACT_D_Pos) /*!< 0x00010000 */ -#define ADC_CALFACT_CALFACT_D_1 (0x002UL << ADC_CALFACT_CALFACT_D_Pos) /*!< 0x00020000 */ -#define ADC_CALFACT_CALFACT_D_2 (0x004UL << ADC_CALFACT_CALFACT_D_Pos) /*!< 0x00040000 */ -#define ADC_CALFACT_CALFACT_D_3 (0x008UL << ADC_CALFACT_CALFACT_D_Pos) /*!< 0x00080000 */ -#define ADC_CALFACT_CALFACT_D_4 (0x010UL << ADC_CALFACT_CALFACT_D_Pos) /*!< 0x00100000 */ -#define ADC_CALFACT_CALFACT_D_5 (0x020UL << ADC_CALFACT_CALFACT_D_Pos) /*!< 0x00200000 */ -#define ADC_CALFACT_CALFACT_D_6 (0x040UL << ADC_CALFACT_CALFACT_D_Pos) /*!< 0x00400000 */ -#define ADC_CALFACT_CALFACT_D_7 (0x080UL << ADC_CALFACT_CALFACT_D_Pos) /*!< 0x00800000 */ -#define ADC_CALFACT_CALFACT_D_8 (0x100UL << ADC_CALFACT_CALFACT_D_Pos) /*!< 0x01000000 */ -#define ADC_CALFACT_CALFACT_D_9 (0x200UL << ADC_CALFACT_CALFACT_D_Pos) /*!< 0x02000000 */ -#define ADC_CALFACT_CALFACT_D_10 (0x400UL << ADC_CALFACT_CALFACT_D_Pos) /*!< 0x04000000 */ - -/******************** Bit definition for ADC_CALFACT2 register ********************/ -#define ADC_CALFACT2_LINCALFACT_Pos (0U) -#define ADC_CALFACT2_LINCALFACT_Msk (0x3FFFFFFFUL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x3FFFFFFF */ -#define ADC_CALFACT2_LINCALFACT ADC_CALFACT2_LINCALFACT_Msk /*!< ADC Linearity calibration factors */ -#define ADC_CALFACT2_LINCALFACT_0 (0x00000001UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00000001 */ -#define ADC_CALFACT2_LINCALFACT_1 (0x00000002UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00000002 */ -#define ADC_CALFACT2_LINCALFACT_2 (0x00000004UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00000004 */ -#define ADC_CALFACT2_LINCALFACT_3 (0x00000008UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00000008 */ -#define ADC_CALFACT2_LINCALFACT_4 (0x00000010UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00000010 */ -#define ADC_CALFACT2_LINCALFACT_5 (0x00000020UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00000020 */ -#define ADC_CALFACT2_LINCALFACT_6 (0x00000040UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00000040 */ -#define ADC_CALFACT2_LINCALFACT_7 (0x00000080UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00000080 */ -#define ADC_CALFACT2_LINCALFACT_8 (0x00000100UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00000100 */ -#define ADC_CALFACT2_LINCALFACT_9 (0x00000200UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00000200 */ -#define ADC_CALFACT2_LINCALFACT_10 (0x00000400UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00000400 */ -#define ADC_CALFACT2_LINCALFACT_11 (0x00000800UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00000800 */ -#define ADC_CALFACT2_LINCALFACT_12 (0x00001000UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00001000 */ -#define ADC_CALFACT2_LINCALFACT_13 (0x00002000UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00002000 */ -#define ADC_CALFACT2_LINCALFACT_14 (0x00004000UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00004000 */ -#define ADC_CALFACT2_LINCALFACT_15 (0x00008000UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00008000 */ -#define ADC_CALFACT2_LINCALFACT_16 (0x00010000UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00010000 */ -#define ADC_CALFACT2_LINCALFACT_17 (0x00020000UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00020000 */ -#define ADC_CALFACT2_LINCALFACT_18 (0x00040000UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00040000 */ -#define ADC_CALFACT2_LINCALFACT_19 (0x00080000UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00080000 */ -#define ADC_CALFACT2_LINCALFACT_20 (0x00100000UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00100000 */ -#define ADC_CALFACT2_LINCALFACT_21 (0x00200000UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00200000 */ -#define ADC_CALFACT2_LINCALFACT_22 (0x00400000UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00400000 */ -#define ADC_CALFACT2_LINCALFACT_23 (0x00800000UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00800000 */ -#define ADC_CALFACT2_LINCALFACT_24 (0x01000000UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x01000000 */ -#define ADC_CALFACT2_LINCALFACT_25 (0x02000000UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x02000000 */ -#define ADC_CALFACT2_LINCALFACT_26 (0x04000000UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x04000000 */ -#define ADC_CALFACT2_LINCALFACT_27 (0x08000000UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x08000000 */ -#define ADC_CALFACT2_LINCALFACT_28 (0x10000000UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x10000000 */ -#define ADC_CALFACT2_LINCALFACT_29 (0x20000000UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x20000000 */ - -/************************* ADC Common registers *****************************/ -/******************** Bit definition for ADC_CSR register ********************/ -#define ADC_CSR_ADRDY_MST_Pos (0U) -#define ADC_CSR_ADRDY_MST_Msk (0x1UL << ADC_CSR_ADRDY_MST_Pos) /*!< 0x00000001 */ -#define ADC_CSR_ADRDY_MST ADC_CSR_ADRDY_MST_Msk /*!< Master ADC ready */ -#define ADC_CSR_EOSMP_MST_Pos (1U) -#define ADC_CSR_EOSMP_MST_Msk (0x1UL << ADC_CSR_EOSMP_MST_Pos) /*!< 0x00000002 */ -#define ADC_CSR_EOSMP_MST ADC_CSR_EOSMP_MST_Msk /*!< End of sampling phase flag of the master ADC */ -#define ADC_CSR_EOC_MST_Pos (2U) -#define ADC_CSR_EOC_MST_Msk (0x1UL << ADC_CSR_EOC_MST_Pos) /*!< 0x00000004 */ -#define ADC_CSR_EOC_MST ADC_CSR_EOC_MST_Msk /*!< End of regular conversion of the master ADC */ -#define ADC_CSR_EOS_MST_Pos (3U) -#define ADC_CSR_EOS_MST_Msk (0x1UL << ADC_CSR_EOS_MST_Pos) /*!< 0x00000008 */ -#define ADC_CSR_EOS_MST ADC_CSR_EOS_MST_Msk /*!< End of regular sequence flag of the master ADC */ -#define ADC_CSR_OVR_MST_Pos (4U) -#define ADC_CSR_OVR_MST_Msk (0x1UL << ADC_CSR_OVR_MST_Pos) /*!< 0x00000010 */ -#define ADC_CSR_OVR_MST ADC_CSR_OVR_MST_Msk /*!< Overrun flag of the master ADC */ -#define ADC_CSR_JEOC_MST_Pos (5U) -#define ADC_CSR_JEOC_MST_Msk (0x1UL << ADC_CSR_JEOC_MST_Pos) /*!< 0x00000020 */ -#define ADC_CSR_JEOC_MST ADC_CSR_JEOC_MST_Msk /*!< End of injected conversion of the master ADC */ -#define ADC_CSR_JEOS_MST_Pos (6U) -#define ADC_CSR_JEOS_MST_Msk (0x1UL << ADC_CSR_JEOS_MST_Pos) /*!< 0x00000040 */ -#define ADC_CSR_JEOS_MST ADC_CSR_JEOS_MST_Msk /*!< End of injected sequence flag of the master ADC */ -#define ADC_CSR_AWD1_MST_Pos (7U) -#define ADC_CSR_AWD1_MST_Msk (0x1UL << ADC_CSR_AWD1_MST_Pos) /*!< 0x00000080 */ -#define ADC_CSR_AWD1_MST ADC_CSR_AWD1_MST_Msk /*!< Analog watchdog 1 flag of the master ADC */ -#define ADC_CSR_AWD2_MST_Pos (8U) -#define ADC_CSR_AWD2_MST_Msk (0x1UL << ADC_CSR_AWD2_MST_Pos) /*!< 0x00000100 */ -#define ADC_CSR_AWD2_MST ADC_CSR_AWD2_MST_Msk /*!< Analog watchdog 2 flag of the master ADC */ -#define ADC_CSR_AWD3_MST_Pos (9U) -#define ADC_CSR_AWD3_MST_Msk (0x1UL << ADC_CSR_AWD3_MST_Pos) /*!< 0x00000200 */ -#define ADC_CSR_AWD3_MST ADC_CSR_AWD3_MST_Msk /*!< Analog watchdog 3 flag of the master ADC */ -#define ADC_CSR_JQOVF_MST_Pos (10U) -#define ADC_CSR_JQOVF_MST_Msk (0x1UL << ADC_CSR_JQOVF_MST_Pos) /*!< 0x00000400 */ -#define ADC_CSR_JQOVF_MST ADC_CSR_JQOVF_MST_Msk /*!< Injected context queue overflow flag of the master ADC */ -#define ADC_CSR_ADRDY_SLV_Pos (16U) -#define ADC_CSR_ADRDY_SLV_Msk (0x1UL << ADC_CSR_ADRDY_SLV_Pos) /*!< 0x00010000 */ -#define ADC_CSR_ADRDY_SLV ADC_CSR_ADRDY_SLV_Msk /*!< Slave ADC ready */ -#define ADC_CSR_EOSMP_SLV_Pos (17U) -#define ADC_CSR_EOSMP_SLV_Msk (0x1UL << ADC_CSR_EOSMP_SLV_Pos) /*!< 0x00020000 */ -#define ADC_CSR_EOSMP_SLV ADC_CSR_EOSMP_SLV_Msk /*!< End of sampling phase flag of the slave ADC */ -#define ADC_CSR_EOC_SLV_Pos (18U) -#define ADC_CSR_EOC_SLV_Msk (0x1UL << ADC_CSR_EOC_SLV_Pos) /*!< 0x00040000 */ -#define ADC_CSR_EOC_SLV ADC_CSR_EOC_SLV_Msk /*!< End of regular conversion of the slave ADC */ -#define ADC_CSR_EOS_SLV_Pos (19U) -#define ADC_CSR_EOS_SLV_Msk (0x1UL << ADC_CSR_EOS_SLV_Pos) /*!< 0x00080000 */ -#define ADC_CSR_EOS_SLV ADC_CSR_EOS_SLV_Msk /*!< End of regular sequence flag of the slave ADC */ -#define ADC_CSR_OVR_SLV_Pos (20U) -#define ADC_CSR_OVR_SLV_Msk (0x1UL << ADC_CSR_OVR_SLV_Pos) /*!< 0x00100000 */ -#define ADC_CSR_OVR_SLV ADC_CSR_OVR_SLV_Msk /*!< Overrun flag of the slave ADC */ -#define ADC_CSR_JEOC_SLV_Pos (21U) -#define ADC_CSR_JEOC_SLV_Msk (0x1UL << ADC_CSR_JEOC_SLV_Pos) /*!< 0x00200000 */ -#define ADC_CSR_JEOC_SLV ADC_CSR_JEOC_SLV_Msk /*!< End of injected conversion of the slave ADC */ -#define ADC_CSR_JEOS_SLV_Pos (22U) -#define ADC_CSR_JEOS_SLV_Msk (0x1UL << ADC_CSR_JEOS_SLV_Pos) /*!< 0x00400000 */ -#define ADC_CSR_JEOS_SLV ADC_CSR_JEOS_SLV_Msk /*!< End of injected sequence flag of the slave ADC */ -#define ADC_CSR_AWD1_SLV_Pos (23U) -#define ADC_CSR_AWD1_SLV_Msk (0x1UL << ADC_CSR_AWD1_SLV_Pos) /*!< 0x00800000 */ -#define ADC_CSR_AWD1_SLV ADC_CSR_AWD1_SLV_Msk /*!< Analog watchdog 1 flag of the slave ADC */ -#define ADC_CSR_AWD2_SLV_Pos (24U) -#define ADC_CSR_AWD2_SLV_Msk (0x1UL << ADC_CSR_AWD2_SLV_Pos) /*!< 0x01000000 */ -#define ADC_CSR_AWD2_SLV ADC_CSR_AWD2_SLV_Msk /*!< Analog watchdog 2 flag of the slave ADC */ -#define ADC_CSR_AWD3_SLV_Pos (25U) -#define ADC_CSR_AWD3_SLV_Msk (0x1UL << ADC_CSR_AWD3_SLV_Pos) /*!< 0x02000000 */ -#define ADC_CSR_AWD3_SLV ADC_CSR_AWD3_SLV_Msk /*!< Analog watchdog 3 flag of the slave ADC */ -#define ADC_CSR_JQOVF_SLV_Pos (26U) -#define ADC_CSR_JQOVF_SLV_Msk (0x1UL << ADC_CSR_JQOVF_SLV_Pos) /*!< 0x04000000 */ -#define ADC_CSR_JQOVF_SLV ADC_CSR_JQOVF_SLV_Msk /*!< Injected context queue overflow flag of the slave ADC */ - -/******************** Bit definition for ADC_CCR register ********************/ -#define ADC_CCR_DUAL_Pos (0U) -#define ADC_CCR_DUAL_Msk (0x1FUL << ADC_CCR_DUAL_Pos) /*!< 0x0000001F */ -#define ADC_CCR_DUAL ADC_CCR_DUAL_Msk /*!< Dual ADC mode selection */ -#define ADC_CCR_DUAL_0 (0x01UL << ADC_CCR_DUAL_Pos) /*!< 0x00000001 */ -#define ADC_CCR_DUAL_1 (0x02UL << ADC_CCR_DUAL_Pos) /*!< 0x00000002 */ -#define ADC_CCR_DUAL_2 (0x04UL << ADC_CCR_DUAL_Pos) /*!< 0x00000004 */ -#define ADC_CCR_DUAL_3 (0x08UL << ADC_CCR_DUAL_Pos) /*!< 0x00000008 */ -#define ADC_CCR_DUAL_4 (0x10UL << ADC_CCR_DUAL_Pos) /*!< 0x00000010 */ - -#define ADC_CCR_DELAY_Pos (8U) -#define ADC_CCR_DELAY_Msk (0xFUL << ADC_CCR_DELAY_Pos) /*!< 0x00000F00 */ -#define ADC_CCR_DELAY ADC_CCR_DELAY_Msk /*!< Delay between 2 sampling phases */ -#define ADC_CCR_DELAY_0 (0x1UL << ADC_CCR_DELAY_Pos) /*!< 0x00000100 */ -#define ADC_CCR_DELAY_1 (0x2UL << ADC_CCR_DELAY_Pos) /*!< 0x00000200 */ -#define ADC_CCR_DELAY_2 (0x4UL << ADC_CCR_DELAY_Pos) /*!< 0x00000400 */ -#define ADC_CCR_DELAY_3 (0x8UL << ADC_CCR_DELAY_Pos) /*!< 0x00000800 */ - - -#define ADC_CCR_DAMDF_Pos (14U) -#define ADC_CCR_DAMDF_Msk (0x3UL << ADC_CCR_DAMDF_Pos) /*!< 0x0000C000 */ -#define ADC_CCR_DAMDF ADC_CCR_DAMDF_Msk /*!< Dual ADC mode Data format */ -#define ADC_CCR_DAMDF_0 (0x1UL << ADC_CCR_DAMDF_Pos) /*!< 0x00004000 */ -#define ADC_CCR_DAMDF_1 (0x2UL << ADC_CCR_DAMDF_Pos) /*!< 0x00008000 */ - -#define ADC_CCR_CKMODE_Pos (16U) -#define ADC_CCR_CKMODE_Msk (0x3UL << ADC_CCR_CKMODE_Pos) /*!< 0x00030000 */ -#define ADC_CCR_CKMODE ADC_CCR_CKMODE_Msk /*!< ADC clock mode */ -#define ADC_CCR_CKMODE_0 (0x1UL << ADC_CCR_CKMODE_Pos) /*!< 0x00010000 */ -#define ADC_CCR_CKMODE_1 (0x2UL << ADC_CCR_CKMODE_Pos) /*!< 0x00020000 */ - -#define ADC_CCR_PRESC_Pos (18U) -#define ADC_CCR_PRESC_Msk (0xFUL << ADC_CCR_PRESC_Pos) /*!< 0x003C0000 */ -#define ADC_CCR_PRESC ADC_CCR_PRESC_Msk /*!< ADC prescaler */ -#define ADC_CCR_PRESC_0 (0x1UL << ADC_CCR_PRESC_Pos) /*!< 0x00040000 */ -#define ADC_CCR_PRESC_1 (0x2UL << ADC_CCR_PRESC_Pos) /*!< 0x00080000 */ -#define ADC_CCR_PRESC_2 (0x4UL << ADC_CCR_PRESC_Pos) /*!< 0x00100000 */ -#define ADC_CCR_PRESC_3 (0x8UL << ADC_CCR_PRESC_Pos) /*!< 0x00200000 */ - -#define ADC_CCR_VREFEN_Pos (22U) -#define ADC_CCR_VREFEN_Msk (0x1UL << ADC_CCR_VREFEN_Pos) /*!< 0x00400000 */ -#define ADC_CCR_VREFEN ADC_CCR_VREFEN_Msk /*!< VREFINT enable */ -#define ADC_CCR_TSEN_Pos (23U) -#define ADC_CCR_TSEN_Msk (0x1UL << ADC_CCR_TSEN_Pos) /*!< 0x00800000 */ -#define ADC_CCR_TSEN ADC_CCR_TSEN_Msk /*!< Temperature sensor enable */ -#define ADC_CCR_VBATEN_Pos (24U) -#define ADC_CCR_VBATEN_Msk (0x1UL << ADC_CCR_VBATEN_Pos) /*!< 0x01000000 */ -#define ADC_CCR_VBATEN ADC_CCR_VBATEN_Msk /*!< VBAT enable */ - -/******************** Bit definition for ADC_CDR register *******************/ -#define ADC_CDR_RDATA_MST_Pos (0U) -#define ADC_CDR_RDATA_MST_Msk (0xFFFFUL << ADC_CDR_RDATA_MST_Pos) /*!< 0x0000FFFF */ -#define ADC_CDR_RDATA_MST ADC_CDR_RDATA_MST_Msk /*!< ADC multimode master group regular conversion data */ - -#define ADC_CDR_RDATA_SLV_Pos (16U) -#define ADC_CDR_RDATA_SLV_Msk (0xFFFFUL << ADC_CDR_RDATA_SLV_Pos) /*!< 0xFFFF0000 */ -#define ADC_CDR_RDATA_SLV ADC_CDR_RDATA_SLV_Msk /*!< ADC multimode slave group regular conversion data */ - -/******************** Bit definition for ADC_CDR2 register ******************/ -#define ADC_CDR2_RDATA_ALT_Pos (0U) -#define ADC_CDR2_RDATA_ALT_Msk (0xFFFFFFFFUL << ADC_CDR2_RDATA_ALT_Pos) /*!< 0xFFFFFFFF */ -#define ADC_CDR2_RDATA_ALT ADC_CDR2_RDATA_ALT_Msk /*!< Regular data of the master/slave alternated ADCs */ - - -/******************************************************************************/ -/* */ -/* VREFBUF */ -/* */ -/******************************************************************************/ -/******************* Bit definition for VREFBUF_CSR register ****************/ -#define VREFBUF_CSR_ENVR_Pos (0U) -#define VREFBUF_CSR_ENVR_Msk (0x1UL << VREFBUF_CSR_ENVR_Pos) /*!< 0x00000001 */ -#define VREFBUF_CSR_ENVR VREFBUF_CSR_ENVR_Msk /*!*/ -#define DAC_CR_CEN1_Pos (14U) -#define DAC_CR_CEN1_Msk (0x1UL << DAC_CR_CEN1_Pos) /*!< 0x00004000 */ -#define DAC_CR_CEN1 DAC_CR_CEN1_Msk /*!*/ - -#define DAC_CR_EN2_Pos (16U) -#define DAC_CR_EN2_Msk (0x1UL << DAC_CR_EN2_Pos) /*!< 0x00010000 */ -#define DAC_CR_EN2 DAC_CR_EN2_Msk /*!*/ -#define DAC_CR_CEN2_Pos (30U) -#define DAC_CR_CEN2_Msk (0x1UL << DAC_CR_CEN2_Pos) /*!< 0x40000000 */ -#define DAC_CR_CEN2 DAC_CR_CEN2_Msk /*!*/ - -/***************** Bit definition for DAC_SWTRIGR register ******************/ -#define DAC_SWTRIGR_SWTRIG1_Pos (0U) -#define DAC_SWTRIGR_SWTRIG1_Msk (0x1UL << DAC_SWTRIGR_SWTRIG1_Pos) /*!< 0x00000001 */ -#define DAC_SWTRIGR_SWTRIG1 DAC_SWTRIGR_SWTRIG1_Msk /*!
© Copyright (c) 2019 STMicroelectronics. - * All rights reserved.
- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/** @addtogroup CMSIS_Device - * @{ - */ - -/** @addtogroup stm32h735xx - * @{ - */ - -#ifndef STM32H735xx_H -#define STM32H735xx_H - -#ifdef __cplusplus - extern "C" { -#endif /* __cplusplus */ - -/** @addtogroup Peripheral_interrupt_number_definition - * @{ - */ - -/** - * @brief STM32H7XX Interrupt Number Definition, according to the selected device - * in @ref Library_configuration_section - */ -typedef enum -{ -/****** Cortex-M Processor Exceptions Numbers *****************************************************************/ - NonMaskableInt_IRQn = -14, /*!< 2 Non Maskable Interrupt */ - HardFault_IRQn = -13, /*!< 4 Cortex-M Memory Management Interrupt */ - MemoryManagement_IRQn = -12, /*!< 4 Cortex-M Memory Management Interrupt */ - BusFault_IRQn = -11, /*!< 5 Cortex-M Bus Fault Interrupt */ - UsageFault_IRQn = -10, /*!< 6 Cortex-M Usage Fault Interrupt */ - SVCall_IRQn = -5, /*!< 11 Cortex-M SV Call Interrupt */ - DebugMonitor_IRQn = -4, /*!< 12 Cortex-M Debug Monitor Interrupt */ - PendSV_IRQn = -2, /*!< 14 Cortex-M Pend SV Interrupt */ - SysTick_IRQn = -1, /*!< 15 Cortex-M System Tick Interrupt */ -/****** STM32 specific Interrupt Numbers **********************************************************************/ - WWDG_IRQn = 0, /*!< Window WatchDog Interrupt ( wwdg1_it, wwdg2_it) */ - PVD_AVD_IRQn = 1, /*!< PVD/AVD through EXTI Line detection Interrupt */ - TAMP_STAMP_IRQn = 2, /*!< Tamper and TimeStamp interrupts through the EXTI line */ - RTC_WKUP_IRQn = 3, /*!< RTC Wakeup interrupt through the EXTI line */ - FLASH_IRQn = 4, /*!< FLASH global Interrupt */ - RCC_IRQn = 5, /*!< RCC global Interrupt */ - EXTI0_IRQn = 6, /*!< EXTI Line0 Interrupt */ - EXTI1_IRQn = 7, /*!< EXTI Line1 Interrupt */ - EXTI2_IRQn = 8, /*!< EXTI Line2 Interrupt */ - EXTI3_IRQn = 9, /*!< EXTI Line3 Interrupt */ - EXTI4_IRQn = 10, /*!< EXTI Line4 Interrupt */ - DMA1_Stream0_IRQn = 11, /*!< DMA1 Stream 0 global Interrupt */ - DMA1_Stream1_IRQn = 12, /*!< DMA1 Stream 1 global Interrupt */ - DMA1_Stream2_IRQn = 13, /*!< DMA1 Stream 2 global Interrupt */ - DMA1_Stream3_IRQn = 14, /*!< DMA1 Stream 3 global Interrupt */ - DMA1_Stream4_IRQn = 15, /*!< DMA1 Stream 4 global Interrupt */ - DMA1_Stream5_IRQn = 16, /*!< DMA1 Stream 5 global Interrupt */ - DMA1_Stream6_IRQn = 17, /*!< DMA1 Stream 6 global Interrupt */ - ADC_IRQn = 18, /*!< ADC1 and ADC2 global Interrupts */ - FDCAN1_IT0_IRQn = 19, /*!< FDCAN1 Interrupt line 0 */ - FDCAN2_IT0_IRQn = 20, /*!< FDCAN2 Interrupt line 0 */ - FDCAN1_IT1_IRQn = 21, /*!< FDCAN1 Interrupt line 1 */ - FDCAN2_IT1_IRQn = 22, /*!< FDCAN2 Interrupt line 1 */ - EXTI9_5_IRQn = 23, /*!< External Line[9:5] Interrupts */ - TIM1_BRK_IRQn = 24, /*!< TIM1 Break Interrupt */ - TIM1_UP_IRQn = 25, /*!< TIM1 Update Interrupt */ - TIM1_TRG_COM_IRQn = 26, /*!< TIM1 Trigger and Commutation Interrupt */ - TIM1_CC_IRQn = 27, /*!< TIM1 Capture Compare Interrupt */ - TIM2_IRQn = 28, /*!< TIM2 global Interrupt */ - TIM3_IRQn = 29, /*!< TIM3 global Interrupt */ - TIM4_IRQn = 30, /*!< TIM4 global Interrupt */ - I2C1_EV_IRQn = 31, /*!< I2C1 Event Interrupt */ - I2C1_ER_IRQn = 32, /*!< I2C1 Error Interrupt */ - I2C2_EV_IRQn = 33, /*!< I2C2 Event Interrupt */ - I2C2_ER_IRQn = 34, /*!< I2C2 Error Interrupt */ - SPI1_IRQn = 35, /*!< SPI1 global Interrupt */ - SPI2_IRQn = 36, /*!< SPI2 global Interrupt */ - USART1_IRQn = 37, /*!< USART1 global Interrupt */ - USART2_IRQn = 38, /*!< USART2 global Interrupt */ - USART3_IRQn = 39, /*!< USART3 global Interrupt */ - EXTI15_10_IRQn = 40, /*!< External Line[15:10] Interrupts */ - RTC_Alarm_IRQn = 41, /*!< RTC Alarm (A and B) through EXTI Line Interrupt */ - TIM8_BRK_TIM12_IRQn = 43, /*!< TIM8 Break Interrupt and TIM12 global interrupt */ - TIM8_UP_TIM13_IRQn = 44, /*!< TIM8 Update Interrupt and TIM13 global interrupt */ - TIM8_TRG_COM_TIM14_IRQn = 45, /*!< TIM8 Trigger and Commutation Interrupt and TIM14 global interrupt */ - TIM8_CC_IRQn = 46, /*!< TIM8 Capture Compare Interrupt */ - DMA1_Stream7_IRQn = 47, /*!< DMA1 Stream7 Interrupt */ - FMC_IRQn = 48, /*!< FMC global Interrupt */ - SDMMC1_IRQn = 49, /*!< SDMMC1 global Interrupt */ - TIM5_IRQn = 50, /*!< TIM5 global Interrupt */ - SPI3_IRQn = 51, /*!< SPI3 global Interrupt */ - UART4_IRQn = 52, /*!< UART4 global Interrupt */ - UART5_IRQn = 53, /*!< UART5 global Interrupt */ - TIM6_DAC_IRQn = 54, /*!< TIM6 global and DAC1&2 underrun error interrupts */ - TIM7_IRQn = 55, /*!< TIM7 global interrupt */ - DMA2_Stream0_IRQn = 56, /*!< DMA2 Stream 0 global Interrupt */ - DMA2_Stream1_IRQn = 57, /*!< DMA2 Stream 1 global Interrupt */ - DMA2_Stream2_IRQn = 58, /*!< DMA2 Stream 2 global Interrupt */ - DMA2_Stream3_IRQn = 59, /*!< DMA2 Stream 3 global Interrupt */ - DMA2_Stream4_IRQn = 60, /*!< DMA2 Stream 4 global Interrupt */ - ETH_IRQn = 61, /*!< Ethernet global Interrupt */ - ETH_WKUP_IRQn = 62, /*!< Ethernet Wakeup through EXTI line Interrupt */ - FDCAN_CAL_IRQn = 63, /*!< FDCAN Calibration unit Interrupt */ - DMA2_Stream5_IRQn = 68, /*!< DMA2 Stream 5 global interrupt */ - DMA2_Stream6_IRQn = 69, /*!< DMA2 Stream 6 global interrupt */ - DMA2_Stream7_IRQn = 70, /*!< DMA2 Stream 7 global interrupt */ - USART6_IRQn = 71, /*!< USART6 global interrupt */ - I2C3_EV_IRQn = 72, /*!< I2C3 event interrupt */ - I2C3_ER_IRQn = 73, /*!< I2C3 error interrupt */ - OTG_HS_EP1_OUT_IRQn = 74, /*!< USB OTG HS End Point 1 Out global interrupt */ - OTG_HS_EP1_IN_IRQn = 75, /*!< USB OTG HS End Point 1 In global interrupt */ - OTG_HS_WKUP_IRQn = 76, /*!< USB OTG HS Wakeup through EXTI interrupt */ - OTG_HS_IRQn = 77, /*!< USB OTG HS global interrupt */ - DCMI_PSSI_IRQn = 78, /*!< DCMI and PSSI global interrupt */ - CRYP_IRQn = 79, /*!< CRYP crypto global interrupt */ - HASH_RNG_IRQn = 80, /*!< HASH and RNG global interrupt */ - FPU_IRQn = 81, /*!< FPU global interrupt */ - UART7_IRQn = 82, /*!< UART7 global interrupt */ - UART8_IRQn = 83, /*!< UART8 global interrupt */ - SPI4_IRQn = 84, /*!< SPI4 global Interrupt */ - SPI5_IRQn = 85, /*!< SPI5 global Interrupt */ - SPI6_IRQn = 86, /*!< SPI6 global Interrupt */ - SAI1_IRQn = 87, /*!< SAI1 global Interrupt */ - LTDC_IRQn = 88, /*!< LTDC global Interrupt */ - LTDC_ER_IRQn = 89, /*!< LTDC Error global Interrupt */ - DMA2D_IRQn = 90, /*!< DMA2D global Interrupt */ - OCTOSPI1_IRQn = 92, /*!< OCTOSPI1 global interrupt */ - LPTIM1_IRQn = 93, /*!< LP TIM1 interrupt */ - CEC_IRQn = 94, /*!< HDMI-CEC global Interrupt */ - I2C4_EV_IRQn = 95, /*!< I2C4 Event Interrupt */ - I2C4_ER_IRQn = 96, /*!< I2C4 Error Interrupt */ - SPDIF_RX_IRQn = 97, /*!< SPDIF-RX global Interrupt */ - DMAMUX1_OVR_IRQn = 102, /*! - -/** @addtogroup Peripheral_registers_structures - * @{ - */ - -/** - * @brief Analog to Digital Converter - */ - -typedef struct -{ - __IO uint32_t ISR; /*!< ADC Interrupt and Status Register, Address offset: 0x00 */ - __IO uint32_t IER; /*!< ADC Interrupt Enable Register, Address offset: 0x04 */ - __IO uint32_t CR; /*!< ADC control register, Address offset: 0x08 */ - __IO uint32_t CFGR; /*!< ADC Configuration register, Address offset: 0x0C */ - __IO uint32_t CFGR2; /*!< ADC Configuration register 2, Address offset: 0x10 */ - __IO uint32_t SMPR1; /*!< ADC sample time register 1, Address offset: 0x14 */ - __IO uint32_t SMPR2; /*!< ADC sample time register 2, Address offset: 0x18 */ - __IO uint32_t PCSEL_RES0; /*!< Rserved for ADC3, ADC1/2 pre-channel selection, Address offset: 0x1C */ - __IO uint32_t LTR1_TR1; /*!< ADC watchdog Lower threshold register 1, Address offset: 0x20 */ - __IO uint32_t HTR1_TR2; /*!< ADC watchdog higher threshold register 1, Address offset: 0x24 */ - __IO uint32_t RES1_TR3; /*!< Rserved for ADC1/2, ADC3 threshold register, Address offset: 0x28 */ - uint32_t RESERVED2; /*!< Reserved, 0x02C */ - __IO uint32_t SQR1; /*!< ADC regular sequence register 1, Address offset: 0x30 */ - __IO uint32_t SQR2; /*!< ADC regular sequence register 2, Address offset: 0x34 */ - __IO uint32_t SQR3; /*!< ADC regular sequence register 3, Address offset: 0x38 */ - __IO uint32_t SQR4; /*!< ADC regular sequence register 4, Address offset: 0x3C */ - __IO uint32_t DR; /*!< ADC regular data register, Address offset: 0x40 */ - uint32_t RESERVED3; /*!< Reserved, 0x044 */ - uint32_t RESERVED4; /*!< Reserved, 0x048 */ - __IO uint32_t JSQR; /*!< ADC injected sequence register, Address offset: 0x4C */ - uint32_t RESERVED5[4]; /*!< Reserved, 0x050 - 0x05C */ - __IO uint32_t OFR1; /*!< ADC offset register 1, Address offset: 0x60 */ - __IO uint32_t OFR2; /*!< ADC offset register 2, Address offset: 0x64 */ - __IO uint32_t OFR3; /*!< ADC offset register 3, Address offset: 0x68 */ - __IO uint32_t OFR4; /*!< ADC offset register 4, Address offset: 0x6C */ - uint32_t RESERVED6[4]; /*!< Reserved, 0x070 - 0x07C */ - __IO uint32_t JDR1; /*!< ADC injected data register 1, Address offset: 0x80 */ - __IO uint32_t JDR2; /*!< ADC injected data register 2, Address offset: 0x84 */ - __IO uint32_t JDR3; /*!< ADC injected data register 3, Address offset: 0x88 */ - __IO uint32_t JDR4; /*!< ADC injected data register 4, Address offset: 0x8C */ - uint32_t RESERVED7[4]; /*!< Reserved, 0x090 - 0x09C */ - __IO uint32_t AWD2CR; /*!< ADC Analog Watchdog 2 Configuration Register, Address offset: 0xA0 */ - __IO uint32_t AWD3CR; /*!< ADC Analog Watchdog 3 Configuration Register, Address offset: 0xA4 */ - uint32_t RESERVED8; /*!< Reserved, 0x0A8 */ - uint32_t RESERVED9; /*!< Reserved, 0x0AC */ - __IO uint32_t LTR2_DIFSEL; /*!< ADC watchdog Lower threshold register 2, Difsel for ADC3, Address offset: 0xB0 */ - __IO uint32_t HTR2_CALFACT; /*!< ADC watchdog Higher threshold register 2, Calfact for ADC3, Address offset: 0xB4 */ - __IO uint32_t LTR3_RES10; /*!< ADC watchdog Lower threshold register 3, specific ADC1/2, Address offset: 0xB8 */ - __IO uint32_t HTR3_RES11; /*!< ADC watchdog Higher threshold register 3, specific ADC1/2, Address offset: 0xBC */ - __IO uint32_t DIFSEL_RES12; /*!< ADC Differential Mode Selection Register specific ADC1/2, Address offset: 0xC0 */ - __IO uint32_t CALFACT_RES13; /*!< ADC Calibration Factors specific ADC1/2, Address offset: 0xC4 */ - __IO uint32_t CALFACT2_RES14; /*!< ADC Linearity Calibration Factors specific ADC1/2, Address offset: 0xC8 */ -} ADC_TypeDef; - - -typedef struct -{ -__IO uint32_t CSR; /*!< ADC Common status register, Address offset: ADC1/3 base address + 0x300 */ -uint32_t RESERVED; /*!< Reserved, ADC1/3 base address + 0x304 */ -__IO uint32_t CCR; /*!< ADC common control register, Address offset: ADC1/3 base address + 0x308 */ -__IO uint32_t CDR; /*!< ADC common regular data register for dual Address offset: ADC1/3 base address + 0x30C */ -__IO uint32_t CDR2; /*!< ADC common regular data register for 32-bit dual mode Address offset: ADC1/3 base address + 0x310 */ - -} ADC_Common_TypeDef; - - -/** - * @brief VREFBUF - */ - -typedef struct -{ - __IO uint32_t CSR; /*!< VREFBUF control and status register, Address offset: 0x00 */ - __IO uint32_t CCR; /*!< VREFBUF calibration and control register, Address offset: 0x04 */ -} VREFBUF_TypeDef; - - -/** - * @brief FD Controller Area Network - */ - -typedef struct -{ - __IO uint32_t CREL; /*!< FDCAN Core Release register, Address offset: 0x000 */ - __IO uint32_t ENDN; /*!< FDCAN Endian register, Address offset: 0x004 */ - __IO uint32_t RESERVED1; /*!< Reserved, 0x008 */ - __IO uint32_t DBTP; /*!< FDCAN Data Bit Timing & Prescaler register, Address offset: 0x00C */ - __IO uint32_t TEST; /*!< FDCAN Test register, Address offset: 0x010 */ - __IO uint32_t RWD; /*!< FDCAN RAM Watchdog register, Address offset: 0x014 */ - __IO uint32_t CCCR; /*!< FDCAN CC Control register, Address offset: 0x018 */ - __IO uint32_t NBTP; /*!< FDCAN Nominal Bit Timing & Prescaler register, Address offset: 0x01C */ - __IO uint32_t TSCC; /*!< FDCAN Timestamp Counter Configuration register, Address offset: 0x020 */ - __IO uint32_t TSCV; /*!< FDCAN Timestamp Counter Value register, Address offset: 0x024 */ - __IO uint32_t TOCC; /*!< FDCAN Timeout Counter Configuration register, Address offset: 0x028 */ - __IO uint32_t TOCV; /*!< FDCAN Timeout Counter Value register, Address offset: 0x02C */ - __IO uint32_t RESERVED2[4]; /*!< Reserved, 0x030 - 0x03C */ - __IO uint32_t ECR; /*!< FDCAN Error Counter register, Address offset: 0x040 */ - __IO uint32_t PSR; /*!< FDCAN Protocol Status register, Address offset: 0x044 */ - __IO uint32_t TDCR; /*!< FDCAN Transmitter Delay Compensation register, Address offset: 0x048 */ - __IO uint32_t RESERVED3; /*!< Reserved, 0x04C */ - __IO uint32_t IR; /*!< FDCAN Interrupt register, Address offset: 0x050 */ - __IO uint32_t IE; /*!< FDCAN Interrupt Enable register, Address offset: 0x054 */ - __IO uint32_t ILS; /*!< FDCAN Interrupt Line Select register, Address offset: 0x058 */ - __IO uint32_t ILE; /*!< FDCAN Interrupt Line Enable register, Address offset: 0x05C */ - __IO uint32_t RESERVED4[8]; /*!< Reserved, 0x060 - 0x07C */ - __IO uint32_t GFC; /*!< FDCAN Global Filter Configuration register, Address offset: 0x080 */ - __IO uint32_t SIDFC; /*!< FDCAN Standard ID Filter Configuration register, Address offset: 0x084 */ - __IO uint32_t XIDFC; /*!< FDCAN Extended ID Filter Configuration register, Address offset: 0x088 */ - __IO uint32_t RESERVED5; /*!< Reserved, 0x08C */ - __IO uint32_t XIDAM; /*!< FDCAN Extended ID AND Mask register, Address offset: 0x090 */ - __IO uint32_t HPMS; /*!< FDCAN High Priority Message Status register, Address offset: 0x094 */ - __IO uint32_t NDAT1; /*!< FDCAN New Data 1 register, Address offset: 0x098 */ - __IO uint32_t NDAT2; /*!< FDCAN New Data 2 register, Address offset: 0x09C */ - __IO uint32_t RXF0C; /*!< FDCAN Rx FIFO 0 Configuration register, Address offset: 0x0A0 */ - __IO uint32_t RXF0S; /*!< FDCAN Rx FIFO 0 Status register, Address offset: 0x0A4 */ - __IO uint32_t RXF0A; /*!< FDCAN Rx FIFO 0 Acknowledge register, Address offset: 0x0A8 */ - __IO uint32_t RXBC; /*!< FDCAN Rx Buffer Configuration register, Address offset: 0x0AC */ - __IO uint32_t RXF1C; /*!< FDCAN Rx FIFO 1 Configuration register, Address offset: 0x0B0 */ - __IO uint32_t RXF1S; /*!< FDCAN Rx FIFO 1 Status register, Address offset: 0x0B4 */ - __IO uint32_t RXF1A; /*!< FDCAN Rx FIFO 1 Acknowledge register, Address offset: 0x0B8 */ - __IO uint32_t RXESC; /*!< FDCAN Rx Buffer/FIFO Element Size Configuration register, Address offset: 0x0BC */ - __IO uint32_t TXBC; /*!< FDCAN Tx Buffer Configuration register, Address offset: 0x0C0 */ - __IO uint32_t TXFQS; /*!< FDCAN Tx FIFO/Queue Status register, Address offset: 0x0C4 */ - __IO uint32_t TXESC; /*!< FDCAN Tx Buffer Element Size Configuration register, Address offset: 0x0C8 */ - __IO uint32_t TXBRP; /*!< FDCAN Tx Buffer Request Pending register, Address offset: 0x0CC */ - __IO uint32_t TXBAR; /*!< FDCAN Tx Buffer Add Request register, Address offset: 0x0D0 */ - __IO uint32_t TXBCR; /*!< FDCAN Tx Buffer Cancellation Request register, Address offset: 0x0D4 */ - __IO uint32_t TXBTO; /*!< FDCAN Tx Buffer Transmission Occurred register, Address offset: 0x0D8 */ - __IO uint32_t TXBCF; /*!< FDCAN Tx Buffer Cancellation Finished register, Address offset: 0x0DC */ - __IO uint32_t TXBTIE; /*!< FDCAN Tx Buffer Transmission Interrupt Enable register, Address offset: 0x0E0 */ - __IO uint32_t TXBCIE; /*!< FDCAN Tx Buffer Cancellation Finished Interrupt Enable register, Address offset: 0x0E4 */ - __IO uint32_t RESERVED6[2]; /*!< Reserved, 0x0E8 - 0x0EC */ - __IO uint32_t TXEFC; /*!< FDCAN Tx Event FIFO Configuration register, Address offset: 0x0F0 */ - __IO uint32_t TXEFS; /*!< FDCAN Tx Event FIFO Status register, Address offset: 0x0F4 */ - __IO uint32_t TXEFA; /*!< FDCAN Tx Event FIFO Acknowledge register, Address offset: 0x0F8 */ - __IO uint32_t RESERVED7; /*!< Reserved, 0x0FC */ -} FDCAN_GlobalTypeDef; - -/** - * @brief TTFD Controller Area Network - */ - -typedef struct -{ - __IO uint32_t TTTMC; /*!< TT Trigger Memory Configuration register, Address offset: 0x100 */ - __IO uint32_t TTRMC; /*!< TT Reference Message Configuration register, Address offset: 0x104 */ - __IO uint32_t TTOCF; /*!< TT Operation Configuration register, Address offset: 0x108 */ - __IO uint32_t TTMLM; /*!< TT Matrix Limits register, Address offset: 0x10C */ - __IO uint32_t TURCF; /*!< TUR Configuration register, Address offset: 0x110 */ - __IO uint32_t TTOCN; /*!< TT Operation Control register, Address offset: 0x114 */ - __IO uint32_t TTGTP; /*!< TT Global Time Preset register, Address offset: 0x118 */ - __IO uint32_t TTTMK; /*!< TT Time Mark register, Address offset: 0x11C */ - __IO uint32_t TTIR; /*!< TT Interrupt register, Address offset: 0x120 */ - __IO uint32_t TTIE; /*!< TT Interrupt Enable register, Address offset: 0x124 */ - __IO uint32_t TTILS; /*!< TT Interrupt Line Select register, Address offset: 0x128 */ - __IO uint32_t TTOST; /*!< TT Operation Status register, Address offset: 0x12C */ - __IO uint32_t TURNA; /*!< TT TUR Numerator Actual register, Address offset: 0x130 */ - __IO uint32_t TTLGT; /*!< TT Local and Global Time register, Address offset: 0x134 */ - __IO uint32_t TTCTC; /*!< TT Cycle Time and Count register, Address offset: 0x138 */ - __IO uint32_t TTCPT; /*!< TT Capture Time register, Address offset: 0x13C */ - __IO uint32_t TTCSM; /*!< TT Cycle Sync Mark register, Address offset: 0x140 */ - __IO uint32_t RESERVED1[111]; /*!< Reserved, 0x144 - 0x2FC */ - __IO uint32_t TTTS; /*!< TT Trigger Select register, Address offset: 0x300 */ -} TTCAN_TypeDef; - -/** - * @brief FD Controller Area Network - */ - -typedef struct -{ - __IO uint32_t CREL; /*!< Clock Calibration Unit Core Release register, Address offset: 0x00 */ - __IO uint32_t CCFG; /*!< Calibration Configuration register, Address offset: 0x04 */ - __IO uint32_t CSTAT; /*!< Calibration Status register, Address offset: 0x08 */ - __IO uint32_t CWD; /*!< Calibration Watchdog register, Address offset: 0x0C */ - __IO uint32_t IR; /*!< CCU Interrupt register, Address offset: 0x10 */ - __IO uint32_t IE; /*!< CCU Interrupt Enable register, Address offset: 0x14 */ -} FDCAN_ClockCalibrationUnit_TypeDef; - - -/** - * @brief Consumer Electronics Control - */ - -typedef struct -{ - __IO uint32_t CR; /*!< CEC control register, Address offset:0x00 */ - __IO uint32_t CFGR; /*!< CEC configuration register, Address offset:0x04 */ - __IO uint32_t TXDR; /*!< CEC Tx data register , Address offset:0x08 */ - __IO uint32_t RXDR; /*!< CEC Rx Data Register, Address offset:0x0C */ - __IO uint32_t ISR; /*!< CEC Interrupt and Status Register, Address offset:0x10 */ - __IO uint32_t IER; /*!< CEC interrupt enable register, Address offset:0x14 */ -}CEC_TypeDef; - -/** - * @brief COordincate Rotation DIgital Computer - */ -typedef struct -{ - __IO uint32_t CSR; /*!< CORDIC control and status register, Address offset: 0x00 */ - __IO uint32_t WDATA; /*!< CORDIC argument register, Address offset: 0x04 */ - __IO uint32_t RDATA; /*!< CORDIC result register, Address offset: 0x08 */ -} CORDIC_TypeDef; - -/** - * @brief CRC calculation unit - */ - -typedef struct -{ - __IO uint32_t DR; /*!< CRC Data register, Address offset: 0x00 */ - __IO uint32_t IDR; /*!< CRC Independent data register, Address offset: 0x04 */ - __IO uint32_t CR; /*!< CRC Control register, Address offset: 0x08 */ - uint32_t RESERVED2; /*!< Reserved, 0x0C */ - __IO uint32_t INIT; /*!< Initial CRC value register, Address offset: 0x10 */ - __IO uint32_t POL; /*!< CRC polynomial register, Address offset: 0x14 */ -} CRC_TypeDef; - - -/** - * @brief Clock Recovery System - */ -typedef struct -{ -__IO uint32_t CR; /*!< CRS ccontrol register, Address offset: 0x00 */ -__IO uint32_t CFGR; /*!< CRS configuration register, Address offset: 0x04 */ -__IO uint32_t ISR; /*!< CRS interrupt and status register, Address offset: 0x08 */ -__IO uint32_t ICR; /*!< CRS interrupt flag clear register, Address offset: 0x0C */ -} CRS_TypeDef; - - -/** - * @brief Digital to Analog Converter - */ - -typedef struct -{ - __IO uint32_t CR; /*!< DAC control register, Address offset: 0x00 */ - __IO uint32_t SWTRIGR; /*!< DAC software trigger register, Address offset: 0x04 */ - __IO uint32_t DHR12R1; /*!< DAC channel1 12-bit right-aligned data holding register, Address offset: 0x08 */ - __IO uint32_t DHR12L1; /*!< DAC channel1 12-bit left aligned data holding register, Address offset: 0x0C */ - __IO uint32_t DHR8R1; /*!< DAC channel1 8-bit right aligned data holding register, Address offset: 0x10 */ - __IO uint32_t DHR12R2; /*!< DAC channel2 12-bit right aligned data holding register, Address offset: 0x14 */ - __IO uint32_t DHR12L2; /*!< DAC channel2 12-bit left aligned data holding register, Address offset: 0x18 */ - __IO uint32_t DHR8R2; /*!< DAC channel2 8-bit right-aligned data holding register, Address offset: 0x1C */ - __IO uint32_t DHR12RD; /*!< Dual DAC 12-bit right-aligned data holding register, Address offset: 0x20 */ - __IO uint32_t DHR12LD; /*!< DUAL DAC 12-bit left aligned data holding register, Address offset: 0x24 */ - __IO uint32_t DHR8RD; /*!< DUAL DAC 8-bit right aligned data holding register, Address offset: 0x28 */ - __IO uint32_t DOR1; /*!< DAC channel1 data output register, Address offset: 0x2C */ - __IO uint32_t DOR2; /*!< DAC channel2 data output register, Address offset: 0x30 */ - __IO uint32_t SR; /*!< DAC status register, Address offset: 0x34 */ - __IO uint32_t CCR; /*!< DAC calibration control register, Address offset: 0x38 */ - __IO uint32_t MCR; /*!< DAC mode control register, Address offset: 0x3C */ - __IO uint32_t SHSR1; /*!< DAC Sample and Hold sample time register 1, Address offset: 0x40 */ - __IO uint32_t SHSR2; /*!< DAC Sample and Hold sample time register 2, Address offset: 0x44 */ - __IO uint32_t SHHR; /*!< DAC Sample and Hold hold time register, Address offset: 0x48 */ - __IO uint32_t SHRR; /*!< DAC Sample and Hold refresh time register, Address offset: 0x4C */ -} DAC_TypeDef; - -/** - * @brief DFSDM module registers - */ -typedef struct -{ - __IO uint32_t FLTCR1; /*!< DFSDM control register1, Address offset: 0x100 */ - __IO uint32_t FLTCR2; /*!< DFSDM control register2, Address offset: 0x104 */ - __IO uint32_t FLTISR; /*!< DFSDM interrupt and status register, Address offset: 0x108 */ - __IO uint32_t FLTICR; /*!< DFSDM interrupt flag clear register, Address offset: 0x10C */ - __IO uint32_t FLTJCHGR; /*!< DFSDM injected channel group selection register, Address offset: 0x110 */ - __IO uint32_t FLTFCR; /*!< DFSDM filter control register, Address offset: 0x114 */ - __IO uint32_t FLTJDATAR; /*!< DFSDM data register for injected group, Address offset: 0x118 */ - __IO uint32_t FLTRDATAR; /*!< DFSDM data register for regular group, Address offset: 0x11C */ - __IO uint32_t FLTAWHTR; /*!< DFSDM analog watchdog high threshold register, Address offset: 0x120 */ - __IO uint32_t FLTAWLTR; /*!< DFSDM analog watchdog low threshold register, Address offset: 0x124 */ - __IO uint32_t FLTAWSR; /*!< DFSDM analog watchdog status register Address offset: 0x128 */ - __IO uint32_t FLTAWCFR; /*!< DFSDM analog watchdog clear flag register Address offset: 0x12C */ - __IO uint32_t FLTEXMAX; /*!< DFSDM extreme detector maximum register, Address offset: 0x130 */ - __IO uint32_t FLTEXMIN; /*!< DFSDM extreme detector minimum register Address offset: 0x134 */ - __IO uint32_t FLTCNVTIMR; /*!< DFSDM conversion timer, Address offset: 0x138 */ -} DFSDM_Filter_TypeDef; - -/** - * @brief DFSDM channel configuration registers - */ -typedef struct -{ - __IO uint32_t CHCFGR1; /*!< DFSDM channel configuration register1, Address offset: 0x00 */ - __IO uint32_t CHCFGR2; /*!< DFSDM channel configuration register2, Address offset: 0x04 */ - __IO uint32_t CHAWSCDR; /*!< DFSDM channel analog watchdog and - short circuit detector register, Address offset: 0x08 */ - __IO uint32_t CHWDATAR; /*!< DFSDM channel watchdog filter data register, Address offset: 0x0C */ - __IO uint32_t CHDATINR; /*!< DFSDM channel data input register, Address offset: 0x10 */ -} DFSDM_Channel_TypeDef; - -/** - * @brief Debug MCU - */ -typedef struct -{ - __IO uint32_t IDCODE; /*!< MCU device ID code, Address offset: 0x00 */ - __IO uint32_t CR; /*!< Debug MCU configuration register, Address offset: 0x04 */ - uint32_t RESERVED4[11]; /*!< Reserved, Address offset: 0x08 */ - __IO uint32_t APB3FZ1; /*!< Debug MCU APB3FZ1 freeze register, Address offset: 0x34 */ - uint32_t RESERVED5; /*!< Reserved, Address offset: 0x38 */ - __IO uint32_t APB1LFZ1; /*!< Debug MCU APB1LFZ1 freeze register, Address offset: 0x3C */ - uint32_t RESERVED6; /*!< Reserved, Address offset: 0x40 */ - __IO uint32_t APB1HFZ1; /*!< Debug MCU APB1LFZ1 freeze register, Address offset: 0x44 */ - uint32_t RESERVED7; /*!< Reserved, Address offset: 0x48 */ - __IO uint32_t APB2FZ1; /*!< Debug MCU APB2FZ1 freeze register, Address offset: 0x4C */ - uint32_t RESERVED8; /*!< Reserved, Address offset: 0x50 */ - __IO uint32_t APB4FZ1; /*!< Debug MCU APB4FZ1 freeze register, Address offset: 0x54 */ - __IO uint32_t RESERVED9[990]; /*!< Reserved, Address offset: 0x58-0xFCC */ - __IO uint32_t PIDR4; /*!< Debug MCU peripheral identity register 4, Address offset: 0xFD0 */ - __IO uint32_t RESERVED10[3];/*!< Reserved, Address offset: 0xFD4-0xFDC */ - __IO uint32_t PIDR0; /*!< Debug MCU peripheral identity register 0, Address offset: 0xFE0 */ - __IO uint32_t PIDR1; /*!< Debug MCU peripheral identity register 1, Address offset: 0xFE4 */ - __IO uint32_t PIDR2; /*!< Debug MCU peripheral identity register 2, Address offset: 0xFE8 */ - __IO uint32_t PIDR3; /*!< Debug MCU peripheral identity register 3, Address offset: 0xFEC */ - __IO uint32_t CIDR0; /*!< Debug MCU component identity register 0, Address offset: 0xFF0 */ - __IO uint32_t CIDR1; /*!< Debug MCU component identity register 1, Address offset: 0xFF4 */ - __IO uint32_t CIDR2; /*!< Debug MCU component identity register 2, Address offset: 0xFF8 */ - __IO uint32_t CIDR3; /*!< Debug MCU component identity register 3, Address offset: 0xFFC */ -}DBGMCU_TypeDef; -/** - * @brief DCMI - */ - -typedef struct -{ - __IO uint32_t CR; /*!< DCMI control register 1, Address offset: 0x00 */ - __IO uint32_t SR; /*!< DCMI status register, Address offset: 0x04 */ - __IO uint32_t RISR; /*!< DCMI raw interrupt status register, Address offset: 0x08 */ - __IO uint32_t IER; /*!< DCMI interrupt enable register, Address offset: 0x0C */ - __IO uint32_t MISR; /*!< DCMI masked interrupt status register, Address offset: 0x10 */ - __IO uint32_t ICR; /*!< DCMI interrupt clear register, Address offset: 0x14 */ - __IO uint32_t ESCR; /*!< DCMI embedded synchronization code register, Address offset: 0x18 */ - __IO uint32_t ESUR; /*!< DCMI embedded synchronization unmask register, Address offset: 0x1C */ - __IO uint32_t CWSTRTR; /*!< DCMI crop window start, Address offset: 0x20 */ - __IO uint32_t CWSIZER; /*!< DCMI crop window size, Address offset: 0x24 */ - __IO uint32_t DR; /*!< DCMI data register, Address offset: 0x28 */ -} DCMI_TypeDef; - -/** - * @brief PSSI - */ - -typedef struct -{ - __IO uint32_t CR; /*!< PSSI control register 1, Address offset: 0x000 */ - __IO uint32_t SR; /*!< PSSI status register, Address offset: 0x004 */ - __IO uint32_t RIS; /*!< PSSI raw interrupt status register, Address offset: 0x008 */ - __IO uint32_t IER; /*!< PSSI interrupt enable register, Address offset: 0x00C */ - __IO uint32_t MIS; /*!< PSSI masked interrupt status register, Address offset: 0x010 */ - __IO uint32_t ICR; /*!< PSSI interrupt clear register, Address offset: 0x014 */ - __IO uint32_t RESERVED1[4]; /*!< Reserved, 0x018 - 0x024 */ - __IO uint32_t DR; /*!< PSSI data register, Address offset: 0x028 */ - __IO uint32_t RESERVED2[241]; /*!< Reserved, 0x02C - 0x3EC */ - __IO uint32_t HWCFGR; /*!< PSSI IP HW configuration register, Address offset: 0x3F0 */ - __IO uint32_t VERR; /*!< PSSI IP version register, Address offset: 0x3F4 */ - __IO uint32_t IPIDR; /*!< PSSI IP ID register, Address offset: 0x3F8 */ - __IO uint32_t SIDR; /*!< PSSI SIZE ID register, Address offset: 0x3FC */ -} PSSI_TypeDef; - -/** - * @brief DMA Controller - */ - -typedef struct -{ - __IO uint32_t CR; /*!< DMA stream x configuration register */ - __IO uint32_t NDTR; /*!< DMA stream x number of data register */ - __IO uint32_t PAR; /*!< DMA stream x peripheral address register */ - __IO uint32_t M0AR; /*!< DMA stream x memory 0 address register */ - __IO uint32_t M1AR; /*!< DMA stream x memory 1 address register */ - __IO uint32_t FCR; /*!< DMA stream x FIFO control register */ -} DMA_Stream_TypeDef; - -typedef struct -{ - __IO uint32_t LISR; /*!< DMA low interrupt status register, Address offset: 0x00 */ - __IO uint32_t HISR; /*!< DMA high interrupt status register, Address offset: 0x04 */ - __IO uint32_t LIFCR; /*!< DMA low interrupt flag clear register, Address offset: 0x08 */ - __IO uint32_t HIFCR; /*!< DMA high interrupt flag clear register, Address offset: 0x0C */ -} DMA_TypeDef; - -typedef struct -{ - __IO uint32_t CCR; /*!< DMA channel x configuration register */ - __IO uint32_t CNDTR; /*!< DMA channel x number of data register */ - __IO uint32_t CPAR; /*!< DMA channel x peripheral address register */ - __IO uint32_t CM0AR; /*!< DMA channel x memory 0 address register */ - __IO uint32_t CM1AR; /*!< DMA channel x memory 1 address register */ -} BDMA_Channel_TypeDef; - -typedef struct -{ - __IO uint32_t ISR; /*!< DMA interrupt status register, Address offset: 0x00 */ - __IO uint32_t IFCR; /*!< DMA interrupt flag clear register, Address offset: 0x04 */ -} BDMA_TypeDef; - -typedef struct -{ - __IO uint32_t CCR; /*!< DMA Multiplexer Channel x Control Register */ -}DMAMUX_Channel_TypeDef; - -typedef struct -{ - __IO uint32_t CSR; /*!< DMA Channel Status Register */ - __IO uint32_t CFR; /*!< DMA Channel Clear Flag Register */ -}DMAMUX_ChannelStatus_TypeDef; - -typedef struct -{ - __IO uint32_t RGCR; /*!< DMA Request Generator x Control Register */ -}DMAMUX_RequestGen_TypeDef; - -typedef struct -{ - __IO uint32_t RGSR; /*!< DMA Request Generator Status Register */ - __IO uint32_t RGCFR; /*!< DMA Request Generator Clear Flag Register */ -}DMAMUX_RequestGenStatus_TypeDef; - -/** - * @brief MDMA Controller - */ -typedef struct -{ - __IO uint32_t GISR0; /*!< MDMA Global Interrupt/Status Register 0, Address offset: 0x00 */ -}MDMA_TypeDef; - -typedef struct -{ - __IO uint32_t CISR; /*!< MDMA channel x interrupt/status register, Address offset: 0x40 */ - __IO uint32_t CIFCR; /*!< MDMA channel x interrupt flag clear register, Address offset: 0x44 */ - __IO uint32_t CESR; /*!< MDMA Channel x error status register, Address offset: 0x48 */ - __IO uint32_t CCR; /*!< MDMA channel x control register, Address offset: 0x4C */ - __IO uint32_t CTCR; /*!< MDMA channel x Transfer Configuration register, Address offset: 0x50 */ - __IO uint32_t CBNDTR; /*!< MDMA Channel x block number of data register, Address offset: 0x54 */ - __IO uint32_t CSAR; /*!< MDMA channel x source address register, Address offset: 0x58 */ - __IO uint32_t CDAR; /*!< MDMA channel x destination address register, Address offset: 0x5C */ - __IO uint32_t CBRUR; /*!< MDMA channel x Block Repeat address Update register, Address offset: 0x60 */ - __IO uint32_t CLAR; /*!< MDMA channel x Link Address register, Address offset: 0x64 */ - __IO uint32_t CTBR; /*!< MDMA channel x Trigger and Bus selection Register, Address offset: 0x68 */ - uint32_t RESERVED0; /*!< Reserved, 0x6C */ - __IO uint32_t CMAR; /*!< MDMA channel x Mask address register, Address offset: 0x70 */ - __IO uint32_t CMDR; /*!< MDMA channel x Mask Data register, Address offset: 0x74 */ -}MDMA_Channel_TypeDef; - -/** - * @brief DMA2D Controller - */ - -typedef struct -{ - __IO uint32_t CR; /*!< DMA2D Control Register, Address offset: 0x00 */ - __IO uint32_t ISR; /*!< DMA2D Interrupt Status Register, Address offset: 0x04 */ - __IO uint32_t IFCR; /*!< DMA2D Interrupt Flag Clear Register, Address offset: 0x08 */ - __IO uint32_t FGMAR; /*!< DMA2D Foreground Memory Address Register, Address offset: 0x0C */ - __IO uint32_t FGOR; /*!< DMA2D Foreground Offset Register, Address offset: 0x10 */ - __IO uint32_t BGMAR; /*!< DMA2D Background Memory Address Register, Address offset: 0x14 */ - __IO uint32_t BGOR; /*!< DMA2D Background Offset Register, Address offset: 0x18 */ - __IO uint32_t FGPFCCR; /*!< DMA2D Foreground PFC Control Register, Address offset: 0x1C */ - __IO uint32_t FGCOLR; /*!< DMA2D Foreground Color Register, Address offset: 0x20 */ - __IO uint32_t BGPFCCR; /*!< DMA2D Background PFC Control Register, Address offset: 0x24 */ - __IO uint32_t BGCOLR; /*!< DMA2D Background Color Register, Address offset: 0x28 */ - __IO uint32_t FGCMAR; /*!< DMA2D Foreground CLUT Memory Address Register, Address offset: 0x2C */ - __IO uint32_t BGCMAR; /*!< DMA2D Background CLUT Memory Address Register, Address offset: 0x30 */ - __IO uint32_t OPFCCR; /*!< DMA2D Output PFC Control Register, Address offset: 0x34 */ - __IO uint32_t OCOLR; /*!< DMA2D Output Color Register, Address offset: 0x38 */ - __IO uint32_t OMAR; /*!< DMA2D Output Memory Address Register, Address offset: 0x3C */ - __IO uint32_t OOR; /*!< DMA2D Output Offset Register, Address offset: 0x40 */ - __IO uint32_t NLR; /*!< DMA2D Number of Line Register, Address offset: 0x44 */ - __IO uint32_t LWR; /*!< DMA2D Line Watermark Register, Address offset: 0x48 */ - __IO uint32_t AMTCR; /*!< DMA2D AHB Master Timer Configuration Register, Address offset: 0x4C */ - uint32_t RESERVED[236]; /*!< Reserved, 0x50-0x3FF */ - __IO uint32_t FGCLUT[256]; /*!< DMA2D Foreground CLUT, Address offset:400-7FF */ - __IO uint32_t BGCLUT[256]; /*!< DMA2D Background CLUT, Address offset:800-BFF */ -} DMA2D_TypeDef; - - -/** - * @brief Ethernet MAC - */ -typedef struct -{ - __IO uint32_t MACCR; - __IO uint32_t MACECR; - __IO uint32_t MACPFR; - __IO uint32_t MACWTR; - __IO uint32_t MACHT0R; - __IO uint32_t MACHT1R; - uint32_t RESERVED1[14]; - __IO uint32_t MACVTR; - uint32_t RESERVED2; - __IO uint32_t MACVHTR; - uint32_t RESERVED3; - __IO uint32_t MACVIR; - __IO uint32_t MACIVIR; - uint32_t RESERVED4[2]; - __IO uint32_t MACTFCR; - uint32_t RESERVED5[7]; - __IO uint32_t MACRFCR; - uint32_t RESERVED6[7]; - __IO uint32_t MACISR; - __IO uint32_t MACIER; - __IO uint32_t MACRXTXSR; - uint32_t RESERVED7; - __IO uint32_t MACPCSR; - __IO uint32_t MACRWKPFR; - uint32_t RESERVED8[2]; - __IO uint32_t MACLCSR; - __IO uint32_t MACLTCR; - __IO uint32_t MACLETR; - __IO uint32_t MAC1USTCR; - uint32_t RESERVED9[12]; - __IO uint32_t MACVR; - __IO uint32_t MACDR; - uint32_t RESERVED10; - __IO uint32_t MACHWF0R; - __IO uint32_t MACHWF1R; - __IO uint32_t MACHWF2R; - uint32_t RESERVED11[54]; - __IO uint32_t MACMDIOAR; - __IO uint32_t MACMDIODR; - uint32_t RESERVED12[2]; - __IO uint32_t MACARPAR; - uint32_t RESERVED13[59]; - __IO uint32_t MACA0HR; - __IO uint32_t MACA0LR; - __IO uint32_t MACA1HR; - __IO uint32_t MACA1LR; - __IO uint32_t MACA2HR; - __IO uint32_t MACA2LR; - __IO uint32_t MACA3HR; - __IO uint32_t MACA3LR; - uint32_t RESERVED14[248]; - __IO uint32_t MMCCR; - __IO uint32_t MMCRIR; - __IO uint32_t MMCTIR; - __IO uint32_t MMCRIMR; - __IO uint32_t MMCTIMR; - uint32_t RESERVED15[14]; - __IO uint32_t MMCTSCGPR; - __IO uint32_t MMCTMCGPR; - uint32_t RESERVED16[5]; - __IO uint32_t MMCTPCGR; - uint32_t RESERVED17[10]; - __IO uint32_t MMCRCRCEPR; - __IO uint32_t MMCRAEPR; - uint32_t RESERVED18[10]; - __IO uint32_t MMCRUPGR; - uint32_t RESERVED19[9]; - __IO uint32_t MMCTLPIMSTR; - __IO uint32_t MMCTLPITCR; - __IO uint32_t MMCRLPIMSTR; - __IO uint32_t MMCRLPITCR; - uint32_t RESERVED20[65]; - __IO uint32_t MACL3L4C0R; - __IO uint32_t MACL4A0R; - uint32_t RESERVED21[2]; - __IO uint32_t MACL3A0R0R; - __IO uint32_t MACL3A1R0R; - __IO uint32_t MACL3A2R0R; - __IO uint32_t MACL3A3R0R; - uint32_t RESERVED22[4]; - __IO uint32_t MACL3L4C1R; - __IO uint32_t MACL4A1R; - uint32_t RESERVED23[2]; - __IO uint32_t MACL3A0R1R; - __IO uint32_t MACL3A1R1R; - __IO uint32_t MACL3A2R1R; - __IO uint32_t MACL3A3R1R; - uint32_t RESERVED24[108]; - __IO uint32_t MACTSCR; - __IO uint32_t MACSSIR; - __IO uint32_t MACSTSR; - __IO uint32_t MACSTNR; - __IO uint32_t MACSTSUR; - __IO uint32_t MACSTNUR; - __IO uint32_t MACTSAR; - uint32_t RESERVED25; - __IO uint32_t MACTSSR; - uint32_t RESERVED26[3]; - __IO uint32_t MACTTSSNR; - __IO uint32_t MACTTSSSR; - uint32_t RESERVED27[2]; - __IO uint32_t MACACR; - uint32_t RESERVED28; - __IO uint32_t MACATSNR; - __IO uint32_t MACATSSR; - __IO uint32_t MACTSIACR; - __IO uint32_t MACTSEACR; - __IO uint32_t MACTSICNR; - __IO uint32_t MACTSECNR; - uint32_t RESERVED29[4]; - __IO uint32_t MACPPSCR; - uint32_t RESERVED30[3]; - __IO uint32_t MACPPSTTSR; - __IO uint32_t MACPPSTTNR; - __IO uint32_t MACPPSIR; - __IO uint32_t MACPPSWR; - uint32_t RESERVED31[12]; - __IO uint32_t MACPOCR; - __IO uint32_t MACSPI0R; - __IO uint32_t MACSPI1R; - __IO uint32_t MACSPI2R; - __IO uint32_t MACLMIR; - uint32_t RESERVED32[11]; - __IO uint32_t MTLOMR; - uint32_t RESERVED33[7]; - __IO uint32_t MTLISR; - uint32_t RESERVED34[55]; - __IO uint32_t MTLTQOMR; - __IO uint32_t MTLTQUR; - __IO uint32_t MTLTQDR; - uint32_t RESERVED35[8]; - __IO uint32_t MTLQICSR; - __IO uint32_t MTLRQOMR; - __IO uint32_t MTLRQMPOCR; - __IO uint32_t MTLRQDR; - uint32_t RESERVED36[177]; - __IO uint32_t DMAMR; - __IO uint32_t DMASBMR; - __IO uint32_t DMAISR; - __IO uint32_t DMADSR; - uint32_t RESERVED37[60]; - __IO uint32_t DMACCR; - __IO uint32_t DMACTCR; - __IO uint32_t DMACRCR; - uint32_t RESERVED38[2]; - __IO uint32_t DMACTDLAR; - uint32_t RESERVED39; - __IO uint32_t DMACRDLAR; - __IO uint32_t DMACTDTPR; - uint32_t RESERVED40; - __IO uint32_t DMACRDTPR; - __IO uint32_t DMACTDRLR; - __IO uint32_t DMACRDRLR; - __IO uint32_t DMACIER; - __IO uint32_t DMACRIWTR; -__IO uint32_t DMACSFCSR; - uint32_t RESERVED41; - __IO uint32_t DMACCATDR; - uint32_t RESERVED42; - __IO uint32_t DMACCARDR; - uint32_t RESERVED43; - __IO uint32_t DMACCATBR; - uint32_t RESERVED44; - __IO uint32_t DMACCARBR; - __IO uint32_t DMACSR; -uint32_t RESERVED45[2]; -__IO uint32_t DMACMFCR; -}ETH_TypeDef; -/** - * @brief External Interrupt/Event Controller - */ - -typedef struct -{ -__IO uint32_t RTSR1; /*!< EXTI Rising trigger selection register, Address offset: 0x00 */ -__IO uint32_t FTSR1; /*!< EXTI Falling trigger selection register, Address offset: 0x04 */ -__IO uint32_t SWIER1; /*!< EXTI Software interrupt event register, Address offset: 0x08 */ -__IO uint32_t D3PMR1; /*!< EXTI D3 Pending mask register, (same register as to SRDPMR1) Address offset: 0x0C */ -__IO uint32_t D3PCR1L; /*!< EXTI D3 Pending clear selection register low, (same register as to SRDPCR1L) Address offset: 0x10 */ -__IO uint32_t D3PCR1H; /*!< EXTI D3 Pending clear selection register High, (same register as to SRDPCR1H) Address offset: 0x14 */ -uint32_t RESERVED1[2]; /*!< Reserved, 0x18 to 0x1C */ -__IO uint32_t RTSR2; /*!< EXTI Rising trigger selection register, Address offset: 0x20 */ -__IO uint32_t FTSR2; /*!< EXTI Falling trigger selection register, Address offset: 0x24 */ -__IO uint32_t SWIER2; /*!< EXTI Software interrupt event register, Address offset: 0x28 */ -__IO uint32_t D3PMR2; /*!< EXTI D3 Pending mask register, (same register as to SRDPMR2) Address offset: 0x2C */ -__IO uint32_t D3PCR2L; /*!< EXTI D3 Pending clear selection register low, (same register as to SRDPCR2L) Address offset: 0x30 */ -__IO uint32_t D3PCR2H; /*!< EXTI D3 Pending clear selection register High, (same register as to SRDPCR2H) Address offset: 0x34 */ -uint32_t RESERVED2[2]; /*!< Reserved, 0x38 to 0x3C */ -__IO uint32_t RTSR3; /*!< EXTI Rising trigger selection register, Address offset: 0x40 */ -__IO uint32_t FTSR3; /*!< EXTI Falling trigger selection register, Address offset: 0x44 */ -__IO uint32_t SWIER3; /*!< EXTI Software interrupt event register, Address offset: 0x48 */ -__IO uint32_t D3PMR3; /*!< EXTI D3 Pending mask register, (same register as to SRDPMR3) Address offset: 0x4C */ -__IO uint32_t D3PCR3L; /*!< EXTI D3 Pending clear selection register low, (same register as to SRDPCR3L) Address offset: 0x50 */ -__IO uint32_t D3PCR3H; /*!< EXTI D3 Pending clear selection register High, (same register as to SRDPCR3H) Address offset: 0x54 */ -uint32_t RESERVED3[10]; /*!< Reserved, 0x58 to 0x7C */ -__IO uint32_t IMR1; /*!< EXTI Interrupt mask register, Address offset: 0x80 */ -__IO uint32_t EMR1; /*!< EXTI Event mask register, Address offset: 0x84 */ -__IO uint32_t PR1; /*!< EXTI Pending register, Address offset: 0x88 */ -uint32_t RESERVED4; /*!< Reserved, 0x8C */ -__IO uint32_t IMR2; /*!< EXTI Interrupt mask register, Address offset: 0x90 */ -__IO uint32_t EMR2; /*!< EXTI Event mask register, Address offset: 0x94 */ -__IO uint32_t PR2; /*!< EXTI Pending register, Address offset: 0x98 */ -uint32_t RESERVED5; /*!< Reserved, 0x9C */ -__IO uint32_t IMR3; /*!< EXTI Interrupt mask register, Address offset: 0xA0 */ -__IO uint32_t EMR3; /*!< EXTI Event mask register, Address offset: 0xA4 */ -__IO uint32_t PR3; /*!< EXTI Pending register, Address offset: 0xA8 */ -}EXTI_TypeDef; - -/** - * @brief This structure registers corresponds to EXTI_Typdef CPU1/CPU2 registers subset (IMRx, EMRx and PRx), allowing to define EXTI_D1/EXTI_D2 - * with rapid/common access to these IMRx, EMRx, PRx registers for CPU1 and CPU2. - * Note that EXTI_D1 and EXTI_D2 bases addresses are calculated to point to CPUx first register: - * IMR1 in case of EXTI_D1 that is addressing CPU1 (Coretx-M7) - * C2IMR1 in case of EXTI_D2 that is addressing CPU2 (Coretx-M4) - * Note: EXTI_D2 and corresponding C2IMRx, C2EMRx and C2PRx registers are available for Dual Core devices only - */ - -typedef struct -{ -__IO uint32_t IMR1; /*!< EXTI Interrupt mask register, Address offset: 0x00 */ -__IO uint32_t EMR1; /*!< EXTI Event mask register, Address offset: 0x04 */ -__IO uint32_t PR1; /*!< EXTI Pending register, Address offset: 0x08 */ -uint32_t RESERVED1; /*!< Reserved, 0x0C */ -__IO uint32_t IMR2; /*!< EXTI Interrupt mask register, Address offset: 0x10 */ -__IO uint32_t EMR2; /*!< EXTI Event mask register, Address offset: 0x14 */ -__IO uint32_t PR2; /*!< EXTI Pending register, Address offset: 0x18 */ -uint32_t RESERVED2; /*!< Reserved, 0x1C */ -__IO uint32_t IMR3; /*!< EXTI Interrupt mask register, Address offset: 0x20 */ -__IO uint32_t EMR3; /*!< EXTI Event mask register, Address offset: 0x24 */ -__IO uint32_t PR3; /*!< EXTI Pending register, Address offset: 0x28 */ -}EXTI_Core_TypeDef; - - -/** - * @brief FLASH Registers - */ - -typedef struct -{ - __IO uint32_t ACR; /*!< FLASH access control register, Address offset: 0x00 */ - __IO uint32_t KEYR1; /*!< Flash Key Register for bank1, Address offset: 0x04 */ - __IO uint32_t OPTKEYR; /*!< Flash Option Key Register, Address offset: 0x08 */ - __IO uint32_t CR1; /*!< Flash Control Register for bank1, Address offset: 0x0C */ - __IO uint32_t SR1; /*!< Flash Status Register for bank1, Address offset: 0x10 */ - __IO uint32_t CCR1; /*!< Flash Control Register for bank1, Address offset: 0x14 */ - __IO uint32_t OPTCR; /*!< Flash Option Control Register, Address offset: 0x18 */ - __IO uint32_t OPTSR_CUR; /*!< Flash Option Status Current Register, Address offset: 0x1C */ - __IO uint32_t OPTSR_PRG; /*!< Flash Option Status to Program Register, Address offset: 0x20 */ - __IO uint32_t OPTCCR; /*!< Flash Option Clear Control Register, Address offset: 0x24 */ - __IO uint32_t PRAR_CUR1; /*!< Flash Current Protection Address Register for bank1, Address offset: 0x28 */ - __IO uint32_t PRAR_PRG1; /*!< Flash Protection Address to Program Register for bank1, Address offset: 0x2C */ - __IO uint32_t SCAR_CUR1; /*!< Flash Current Secure Address Register for bank1, Address offset: 0x30 */ - __IO uint32_t SCAR_PRG1; /*!< Flash Secure Address to Program Register for bank1, Address offset: 0x34 */ - __IO uint32_t WPSN_CUR1; /*!< Flash Current Write Protection Register on bank1, Address offset: 0x38 */ - __IO uint32_t WPSN_PRG1; /*!< Flash Write Protection to Program Register on bank1, Address offset: 0x3C */ - __IO uint32_t BOOT_CUR; /*!< Flash Current Boot Address for Pelican Core Register, Address offset: 0x40 */ - __IO uint32_t BOOT_PRG; /*!< Flash Boot Address to Program for Pelican Core Register, Address offset: 0x44 */ - uint32_t RESERVED0[2]; /*!< Reserved, 0x48 to 0x4C */ - __IO uint32_t CRCCR1; /*!< Flash CRC Control register For Bank1 Register , Address offset: 0x50 */ - __IO uint32_t CRCSADD1; /*!< Flash CRC Start Address Register for Bank1 , Address offset: 0x54 */ - __IO uint32_t CRCEADD1; /*!< Flash CRC End Address Register for Bank1 , Address offset: 0x58 */ - __IO uint32_t CRCDATA; /*!< Flash CRC Data Register for Bank1 , Address offset: 0x5C */ - __IO uint32_t ECC_FA1; /*!< Flash ECC Fail Address For Bank1 Register , Address offset: 0x60 */ - uint32_t RESERVED[3]; /*!< Reserved, 0x64 to 0x6C */ - __IO uint32_t OPTSR2_CUR; /*!< Flash Option Status Current Register 2, Address offset: 0x70 */ - __IO uint32_t OPTSR2_PRG; /*!< Flash Option Status to Program Register 2, Address offset: 0x74 */ -} FLASH_TypeDef; - -/** - * @brief Filter and Mathematical ACcelerator - */ -typedef struct -{ - __IO uint32_t X1BUFCFG; /*!< FMAC X1 Buffer Configuration register, Address offset: 0x00 */ - __IO uint32_t X2BUFCFG; /*!< FMAC X2 Buffer Configuration register, Address offset: 0x04 */ - __IO uint32_t YBUFCFG; /*!< FMAC Y Buffer Configuration register, Address offset: 0x08 */ - __IO uint32_t PARAM; /*!< FMAC Parameter register, Address offset: 0x0C */ - __IO uint32_t CR; /*!< FMAC Control register, Address offset: 0x10 */ - __IO uint32_t SR; /*!< FMAC Status register, Address offset: 0x14 */ - __IO uint32_t WDATA; /*!< FMAC Write Data register, Address offset: 0x18 */ - __IO uint32_t RDATA; /*!< FMAC Read Data register, Address offset: 0x1C */ -} FMAC_TypeDef; - -/** - * @brief Flexible Memory Controller - */ - -typedef struct -{ - __IO uint32_t BTCR[8]; /*!< NOR/PSRAM chip-select control register(BCR) and chip-select timing register(BTR), Address offset: 0x00-1C */ -} FMC_Bank1_TypeDef; - -/** - * @brief Flexible Memory Controller Bank1E - */ - -typedef struct -{ - __IO uint32_t BWTR[7]; /*!< NOR/PSRAM write timing registers, Address offset: 0x104-0x11C */ -} FMC_Bank1E_TypeDef; - -/** - * @brief Flexible Memory Controller Bank2 - */ - -typedef struct -{ - __IO uint32_t PCR2; /*!< NAND Flash control register 2, Address offset: 0x60 */ - __IO uint32_t SR2; /*!< NAND Flash FIFO status and interrupt register 2, Address offset: 0x64 */ - __IO uint32_t PMEM2; /*!< NAND Flash Common memory space timing register 2, Address offset: 0x68 */ - __IO uint32_t PATT2; /*!< NAND Flash Attribute memory space timing register 2, Address offset: 0x6C */ - uint32_t RESERVED0; /*!< Reserved, 0x70 */ - __IO uint32_t ECCR2; /*!< NAND Flash ECC result registers 2, Address offset: 0x74 */ -} FMC_Bank2_TypeDef; - -/** - * @brief Flexible Memory Controller Bank3 - */ - -typedef struct -{ - __IO uint32_t PCR; /*!< NAND Flash control register 3, Address offset: 0x80 */ - __IO uint32_t SR; /*!< NAND Flash FIFO status and interrupt register 3, Address offset: 0x84 */ - __IO uint32_t PMEM; /*!< NAND Flash Common memory space timing register 3, Address offset: 0x88 */ - __IO uint32_t PATT; /*!< NAND Flash Attribute memory space timing register 3, Address offset: 0x8C */ - uint32_t RESERVED; /*!< Reserved, 0x90 */ - __IO uint32_t ECCR; /*!< NAND Flash ECC result registers 3, Address offset: 0x94 */ -} FMC_Bank3_TypeDef; - -/** - * @brief Flexible Memory Controller Bank5 and 6 - */ - - -typedef struct -{ - __IO uint32_t SDCR[2]; /*!< SDRAM Control registers , Address offset: 0x140-0x144 */ - __IO uint32_t SDTR[2]; /*!< SDRAM Timing registers , Address offset: 0x148-0x14C */ - __IO uint32_t SDCMR; /*!< SDRAM Command Mode register, Address offset: 0x150 */ - __IO uint32_t SDRTR; /*!< SDRAM Refresh Timer register, Address offset: 0x154 */ - __IO uint32_t SDSR; /*!< SDRAM Status register, Address offset: 0x158 */ -} FMC_Bank5_6_TypeDef; - -/** - * @brief General Purpose I/O - */ - -typedef struct -{ - __IO uint32_t MODER; /*!< GPIO port mode register, Address offset: 0x00 */ - __IO uint32_t OTYPER; /*!< GPIO port output type register, Address offset: 0x04 */ - __IO uint32_t OSPEEDR; /*!< GPIO port output speed register, Address offset: 0x08 */ - __IO uint32_t PUPDR; /*!< GPIO port pull-up/pull-down register, Address offset: 0x0C */ - __IO uint32_t IDR; /*!< GPIO port input data register, Address offset: 0x10 */ - __IO uint32_t ODR; /*!< GPIO port output data register, Address offset: 0x14 */ - __IO uint32_t BSRR; /*!< GPIO port bit set/reset, Address offset: 0x18 */ - __IO uint32_t LCKR; /*!< GPIO port configuration lock register, Address offset: 0x1C */ - __IO uint32_t AFR[2]; /*!< GPIO alternate function registers, Address offset: 0x20-0x24 */ -} GPIO_TypeDef; - -/** - * @brief Operational Amplifier (OPAMP) - */ - -typedef struct -{ - __IO uint32_t CSR; /*!< OPAMP control/status register, Address offset: 0x00 */ - __IO uint32_t OTR; /*!< OPAMP offset trimming register for normal mode, Address offset: 0x04 */ - __IO uint32_t HSOTR; /*!< OPAMP offset trimming register for high speed mode, Address offset: 0x08 */ -} OPAMP_TypeDef; - -/** - * @brief System configuration controller - */ - -typedef struct -{ - uint32_t RESERVED1; /*!< Reserved, Address offset: 0x00 */ - __IO uint32_t PMCR; /*!< SYSCFG peripheral mode configuration register, Address offset: 0x04 */ - __IO uint32_t EXTICR[4]; /*!< SYSCFG external interrupt configuration registers, Address offset: 0x08-0x14 */ - __IO uint32_t CFGR; /*!< SYSCFG configuration registers, Address offset: 0x18 */ - uint32_t RESERVED2; /*!< Reserved, Address offset: 0x1C */ - __IO uint32_t CCCSR; /*!< SYSCFG compensation cell control/status register, Address offset: 0x20 */ - __IO uint32_t CCVR; /*!< SYSCFG compensation cell value register, Address offset: 0x24 */ - __IO uint32_t CCCR; /*!< SYSCFG compensation cell code register, Address offset: 0x28 */ - uint32_t RESERVED3; /*!< Reserved, Address offset: 0x2C */ - __IO uint32_t ADC2ALT; /*!< ADC2 internal input alternate connection register, Address offset: 0x30 */ - uint32_t RESERVED4[60]; /*!< Reserved, 0x34-0x120 */ - __IO uint32_t PKGR; /*!< SYSCFG package register, Address offset: 0x124 */ - uint32_t RESERVED5[118]; /*!< Reserved, 0x128-0x2FC */ - __IO uint32_t UR0; /*!< SYSCFG user register 0, Address offset: 0x300 */ - __IO uint32_t UR1; /*!< SYSCFG user register 1, Address offset: 0x304 */ - __IO uint32_t UR2; /*!< SYSCFG user register 2, Address offset: 0x308 */ - __IO uint32_t UR3; /*!< SYSCFG user register 3, Address offset: 0x30C */ - __IO uint32_t UR4; /*!< SYSCFG user register 4, Address offset: 0x310 */ - __IO uint32_t UR5; /*!< SYSCFG user register 5, Address offset: 0x314 */ - __IO uint32_t UR6; /*!< SYSCFG user register 6, Address offset: 0x318 */ - __IO uint32_t UR7; /*!< SYSCFG user register 7, Address offset: 0x31C */ - uint32_t RESERVED6[3]; /*!< Reserved, Address offset: 0x320-0x328 */ - __IO uint32_t UR11; /*!< SYSCFG user register 11, Address offset: 0x32C */ - __IO uint32_t UR12; /*!< SYSCFG user register 12, Address offset: 0x330 */ - __IO uint32_t UR13; /*!< SYSCFG user register 13, Address offset: 0x334 */ - __IO uint32_t UR14; /*!< SYSCFG user register 14, Address offset: 0x338 */ - __IO uint32_t UR15; /*!< SYSCFG user register 15, Address offset: 0x33C */ - __IO uint32_t UR16; /*!< SYSCFG user register 16, Address offset: 0x340 */ - __IO uint32_t UR17; /*!< SYSCFG user register 17, Address offset: 0x344 */ - __IO uint32_t UR18; /*!< SYSCFG user register 18, Address offset: 0x348 */ - -} SYSCFG_TypeDef; - -/** - * @brief Inter-integrated Circuit Interface - */ - -typedef struct -{ - __IO uint32_t CR1; /*!< I2C Control register 1, Address offset: 0x00 */ - __IO uint32_t CR2; /*!< I2C Control register 2, Address offset: 0x04 */ - __IO uint32_t OAR1; /*!< I2C Own address 1 register, Address offset: 0x08 */ - __IO uint32_t OAR2; /*!< I2C Own address 2 register, Address offset: 0x0C */ - __IO uint32_t TIMINGR; /*!< I2C Timing register, Address offset: 0x10 */ - __IO uint32_t TIMEOUTR; /*!< I2C Timeout register, Address offset: 0x14 */ - __IO uint32_t ISR; /*!< I2C Interrupt and status register, Address offset: 0x18 */ - __IO uint32_t ICR; /*!< I2C Interrupt clear register, Address offset: 0x1C */ - __IO uint32_t PECR; /*!< I2C PEC register, Address offset: 0x20 */ - __IO uint32_t RXDR; /*!< I2C Receive data register, Address offset: 0x24 */ - __IO uint32_t TXDR; /*!< I2C Transmit data register, Address offset: 0x28 */ -} I2C_TypeDef; - -/** - * @brief Independent WATCHDOG - */ - -typedef struct -{ - __IO uint32_t KR; /*!< IWDG Key register, Address offset: 0x00 */ - __IO uint32_t PR; /*!< IWDG Prescaler register, Address offset: 0x04 */ - __IO uint32_t RLR; /*!< IWDG Reload register, Address offset: 0x08 */ - __IO uint32_t SR; /*!< IWDG Status register, Address offset: 0x0C */ - __IO uint32_t WINR; /*!< IWDG Window register, Address offset: 0x10 */ -} IWDG_TypeDef; - - -/** - * @brief LCD-TFT Display Controller - */ - -typedef struct -{ - uint32_t RESERVED0[2]; /*!< Reserved, 0x00-0x04 */ - __IO uint32_t SSCR; /*!< LTDC Synchronization Size Configuration Register, Address offset: 0x08 */ - __IO uint32_t BPCR; /*!< LTDC Back Porch Configuration Register, Address offset: 0x0C */ - __IO uint32_t AWCR; /*!< LTDC Active Width Configuration Register, Address offset: 0x10 */ - __IO uint32_t TWCR; /*!< LTDC Total Width Configuration Register, Address offset: 0x14 */ - __IO uint32_t GCR; /*!< LTDC Global Control Register, Address offset: 0x18 */ - uint32_t RESERVED1[2]; /*!< Reserved, 0x1C-0x20 */ - __IO uint32_t SRCR; /*!< LTDC Shadow Reload Configuration Register, Address offset: 0x24 */ - uint32_t RESERVED2[1]; /*!< Reserved, 0x28 */ - __IO uint32_t BCCR; /*!< LTDC Background Color Configuration Register, Address offset: 0x2C */ - uint32_t RESERVED3[1]; /*!< Reserved, 0x30 */ - __IO uint32_t IER; /*!< LTDC Interrupt Enable Register, Address offset: 0x34 */ - __IO uint32_t ISR; /*!< LTDC Interrupt Status Register, Address offset: 0x38 */ - __IO uint32_t ICR; /*!< LTDC Interrupt Clear Register, Address offset: 0x3C */ - __IO uint32_t LIPCR; /*!< LTDC Line Interrupt Position Configuration Register, Address offset: 0x40 */ - __IO uint32_t CPSR; /*!< LTDC Current Position Status Register, Address offset: 0x44 */ - __IO uint32_t CDSR; /*!< LTDC Current Display Status Register, Address offset: 0x48 */ -} LTDC_TypeDef; - -/** - * @brief LCD-TFT Display layer x Controller - */ - -typedef struct -{ - __IO uint32_t CR; /*!< LTDC Layerx Control Register Address offset: 0x84 */ - __IO uint32_t WHPCR; /*!< LTDC Layerx Window Horizontal Position Configuration Register Address offset: 0x88 */ - __IO uint32_t WVPCR; /*!< LTDC Layerx Window Vertical Position Configuration Register Address offset: 0x8C */ - __IO uint32_t CKCR; /*!< LTDC Layerx Color Keying Configuration Register Address offset: 0x90 */ - __IO uint32_t PFCR; /*!< LTDC Layerx Pixel Format Configuration Register Address offset: 0x94 */ - __IO uint32_t CACR; /*!< LTDC Layerx Constant Alpha Configuration Register Address offset: 0x98 */ - __IO uint32_t DCCR; /*!< LTDC Layerx Default Color Configuration Register Address offset: 0x9C */ - __IO uint32_t BFCR; /*!< LTDC Layerx Blending Factors Configuration Register Address offset: 0xA0 */ - uint32_t RESERVED0[2]; /*!< Reserved */ - __IO uint32_t CFBAR; /*!< LTDC Layerx Color Frame Buffer Address Register Address offset: 0xAC */ - __IO uint32_t CFBLR; /*!< LTDC Layerx Color Frame Buffer Length Register Address offset: 0xB0 */ - __IO uint32_t CFBLNR; /*!< LTDC Layerx ColorFrame Buffer Line Number Register Address offset: 0xB4 */ - uint32_t RESERVED1[3]; /*!< Reserved */ - __IO uint32_t CLUTWR; /*!< LTDC Layerx CLUT Write Register Address offset: 0x144 */ - -} LTDC_Layer_TypeDef; - -/** - * @brief Power Control - */ - -typedef struct -{ - __IO uint32_t CR1; /*!< PWR power control register 1, Address offset: 0x00 */ - __IO uint32_t CSR1; /*!< PWR power control status register 1, Address offset: 0x04 */ - __IO uint32_t CR2; /*!< PWR power control register 2, Address offset: 0x08 */ - __IO uint32_t CR3; /*!< PWR power control register 3, Address offset: 0x0C */ - __IO uint32_t CPUCR; /*!< PWR CPU control register, Address offset: 0x10 */ - uint32_t RESERVED0; /*!< Reserved, Address offset: 0x14 */ - __IO uint32_t D3CR; /*!< PWR D3 domain control register, Address offset: 0x18 */ - uint32_t RESERVED1; /*!< Reserved, Address offset: 0x1C */ - __IO uint32_t WKUPCR; /*!< PWR wakeup clear register, Address offset: 0x20 */ - __IO uint32_t WKUPFR; /*!< PWR wakeup flag register, Address offset: 0x24 */ - __IO uint32_t WKUPEPR; /*!< PWR wakeup enable and polarity register, Address offset: 0x28 */ -} PWR_TypeDef; - -/** - * @brief Reset and Clock Control - */ - -typedef struct -{ - __IO uint32_t CR; /*!< RCC clock control register, Address offset: 0x00 */ - __IO uint32_t HSICFGR; /*!< HSI Clock Calibration Register, Address offset: 0x04 */ - __IO uint32_t CRRCR; /*!< Clock Recovery RC Register, Address offset: 0x08 */ - __IO uint32_t CSICFGR; /*!< CSI Clock Calibration Register, Address offset: 0x0C */ - __IO uint32_t CFGR; /*!< RCC clock configuration register, Address offset: 0x10 */ - uint32_t RESERVED1; /*!< Reserved, Address offset: 0x14 */ - __IO uint32_t D1CFGR; /*!< RCC Domain 1 configuration register, Address offset: 0x18 */ - __IO uint32_t D2CFGR; /*!< RCC Domain 2 configuration register, Address offset: 0x1C */ - __IO uint32_t D3CFGR; /*!< RCC Domain 3 configuration register, Address offset: 0x20 */ - uint32_t RESERVED2; /*!< Reserved, Address offset: 0x24 */ - __IO uint32_t PLLCKSELR; /*!< RCC PLLs Clock Source Selection Register, Address offset: 0x28 */ - __IO uint32_t PLLCFGR; /*!< RCC PLLs Configuration Register, Address offset: 0x2C */ - __IO uint32_t PLL1DIVR; /*!< RCC PLL1 Dividers Configuration Register, Address offset: 0x30 */ - __IO uint32_t PLL1FRACR; /*!< RCC PLL1 Fractional Divider Configuration Register, Address offset: 0x34 */ - __IO uint32_t PLL2DIVR; /*!< RCC PLL2 Dividers Configuration Register, Address offset: 0x38 */ - __IO uint32_t PLL2FRACR; /*!< RCC PLL2 Fractional Divider Configuration Register, Address offset: 0x3C */ - __IO uint32_t PLL3DIVR; /*!< RCC PLL3 Dividers Configuration Register, Address offset: 0x40 */ - __IO uint32_t PLL3FRACR; /*!< RCC PLL3 Fractional Divider Configuration Register, Address offset: 0x44 */ - uint32_t RESERVED3; /*!< Reserved, Address offset: 0x48 */ - __IO uint32_t D1CCIPR; /*!< RCC Domain 1 Kernel Clock Configuration Register Address offset: 0x4C */ - __IO uint32_t D2CCIP1R; /*!< RCC Domain 2 Kernel Clock Configuration Register Address offset: 0x50 */ - __IO uint32_t D2CCIP2R; /*!< RCC Domain 2 Kernel Clock Configuration Register Address offset: 0x54 */ - __IO uint32_t D3CCIPR; /*!< RCC Domain 3 Kernel Clock Configuration Register Address offset: 0x58 */ - uint32_t RESERVED4; /*!< Reserved, Address offset: 0x5C */ - __IO uint32_t CIER; /*!< RCC Clock Source Interrupt Enable Register Address offset: 0x60 */ - __IO uint32_t CIFR; /*!< RCC Clock Source Interrupt Flag Register Address offset: 0x64 */ - __IO uint32_t CICR; /*!< RCC Clock Source Interrupt Clear Register Address offset: 0x68 */ - uint32_t RESERVED5; /*!< Reserved, Address offset: 0x6C */ - __IO uint32_t BDCR; /*!< RCC Vswitch Backup Domain Control Register, Address offset: 0x70 */ - __IO uint32_t CSR; /*!< RCC clock control & status register, Address offset: 0x74 */ - uint32_t RESERVED6; /*!< Reserved, Address offset: 0x78 */ - __IO uint32_t AHB3RSTR; /*!< RCC AHB3 peripheral reset register, Address offset: 0x7C */ - __IO uint32_t AHB1RSTR; /*!< RCC AHB1 peripheral reset register, Address offset: 0x80 */ - __IO uint32_t AHB2RSTR; /*!< RCC AHB2 peripheral reset register, Address offset: 0x84 */ - __IO uint32_t AHB4RSTR; /*!< RCC AHB4 peripheral reset register, Address offset: 0x88 */ - __IO uint32_t APB3RSTR; /*!< RCC APB3 peripheral reset register, Address offset: 0x8C */ - __IO uint32_t APB1LRSTR; /*!< RCC APB1 peripheral reset Low Word register, Address offset: 0x90 */ - __IO uint32_t APB1HRSTR; /*!< RCC APB1 peripheral reset High Word register, Address offset: 0x94 */ - __IO uint32_t APB2RSTR; /*!< RCC APB2 peripheral reset register, Address offset: 0x98 */ - __IO uint32_t APB4RSTR; /*!< RCC APB4 peripheral reset register, Address offset: 0x9C */ - __IO uint32_t GCR; /*!< RCC RCC Global Control Register, Address offset: 0xA0 */ - uint32_t RESERVED8; /*!< Reserved, Address offset: 0xA4 */ - __IO uint32_t D3AMR; /*!< RCC Domain 3 Autonomous Mode Register, Address offset: 0xA8 */ - uint32_t RESERVED11[9]; /*!< Reserved, 0xAC-0xCC Address offset: 0xAC */ - __IO uint32_t RSR; /*!< RCC Reset status register, Address offset: 0xD0 */ - __IO uint32_t AHB3ENR; /*!< RCC AHB3 peripheral clock register, Address offset: 0xD4 */ - __IO uint32_t AHB1ENR; /*!< RCC AHB1 peripheral clock register, Address offset: 0xD8 */ - __IO uint32_t AHB2ENR; /*!< RCC AHB2 peripheral clock register, Address offset: 0xDC */ - __IO uint32_t AHB4ENR; /*!< RCC AHB4 peripheral clock register, Address offset: 0xE0 */ - __IO uint32_t APB3ENR; /*!< RCC APB3 peripheral clock register, Address offset: 0xE4 */ - __IO uint32_t APB1LENR; /*!< RCC APB1 peripheral clock Low Word register, Address offset: 0xE8 */ - __IO uint32_t APB1HENR; /*!< RCC APB1 peripheral clock High Word register, Address offset: 0xEC */ - __IO uint32_t APB2ENR; /*!< RCC APB2 peripheral clock register, Address offset: 0xF0 */ - __IO uint32_t APB4ENR; /*!< RCC APB4 peripheral clock register, Address offset: 0xF4 */ - uint32_t RESERVED12; /*!< Reserved, Address offset: 0xF8 */ - __IO uint32_t AHB3LPENR; /*!< RCC AHB3 peripheral sleep clock register, Address offset: 0xFC */ - __IO uint32_t AHB1LPENR; /*!< RCC AHB1 peripheral sleep clock register, Address offset: 0x100 */ - __IO uint32_t AHB2LPENR; /*!< RCC AHB2 peripheral sleep clock register, Address offset: 0x104 */ - __IO uint32_t AHB4LPENR; /*!< RCC AHB4 peripheral sleep clock register, Address offset: 0x108 */ - __IO uint32_t APB3LPENR; /*!< RCC APB3 peripheral sleep clock register, Address offset: 0x10C */ - __IO uint32_t APB1LLPENR; /*!< RCC APB1 peripheral sleep clock Low Word register, Address offset: 0x110 */ - __IO uint32_t APB1HLPENR; /*!< RCC APB1 peripheral sleep clock High Word register, Address offset: 0x114 */ - __IO uint32_t APB2LPENR; /*!< RCC APB2 peripheral sleep clock register, Address offset: 0x118 */ - __IO uint32_t APB4LPENR; /*!< RCC APB4 peripheral sleep clock register, Address offset: 0x11C */ - uint32_t RESERVED13[4]; /*!< Reserved, 0x120-0x12C Address offset: 0x120 */ - -} RCC_TypeDef; - - -/** - * @brief Real-Time Clock - */ -typedef struct -{ - __IO uint32_t TR; /*!< RTC time register, Address offset: 0x00 */ - __IO uint32_t DR; /*!< RTC date register, Address offset: 0x04 */ - __IO uint32_t CR; /*!< RTC control register, Address offset: 0x08 */ - __IO uint32_t ISR; /*!< RTC initialization and status register, Address offset: 0x0C */ - __IO uint32_t PRER; /*!< RTC prescaler register, Address offset: 0x10 */ - __IO uint32_t WUTR; /*!< RTC wakeup timer register, Address offset: 0x14 */ - uint32_t RESERVED; /*!< Reserved, Address offset: 0x18 */ - __IO uint32_t ALRMAR; /*!< RTC alarm A register, Address offset: 0x1C */ - __IO uint32_t ALRMBR; /*!< RTC alarm B register, Address offset: 0x20 */ - __IO uint32_t WPR; /*!< RTC write protection register, Address offset: 0x24 */ - __IO uint32_t SSR; /*!< RTC sub second register, Address offset: 0x28 */ - __IO uint32_t SHIFTR; /*!< RTC shift control register, Address offset: 0x2C */ - __IO uint32_t TSTR; /*!< RTC time stamp time register, Address offset: 0x30 */ - __IO uint32_t TSDR; /*!< RTC time stamp date register, Address offset: 0x34 */ - __IO uint32_t TSSSR; /*!< RTC time-stamp sub second register, Address offset: 0x38 */ - __IO uint32_t CALR; /*!< RTC calibration register, Address offset: 0x3C */ - __IO uint32_t TAMPCR; /*!< RTC tamper configuration register, Address offset: 0x40 */ - __IO uint32_t ALRMASSR; /*!< RTC alarm A sub second register, Address offset: 0x44 */ - __IO uint32_t ALRMBSSR; /*!< RTC alarm B sub second register, Address offset: 0x48 */ - __IO uint32_t OR; /*!< RTC option register, Address offset: 0x4C */ - __IO uint32_t BKP0R; /*!< RTC backup register 0, Address offset: 0x50 */ - __IO uint32_t BKP1R; /*!< RTC backup register 1, Address offset: 0x54 */ - __IO uint32_t BKP2R; /*!< RTC backup register 2, Address offset: 0x58 */ - __IO uint32_t BKP3R; /*!< RTC backup register 3, Address offset: 0x5C */ - __IO uint32_t BKP4R; /*!< RTC backup register 4, Address offset: 0x60 */ - __IO uint32_t BKP5R; /*!< RTC backup register 5, Address offset: 0x64 */ - __IO uint32_t BKP6R; /*!< RTC backup register 6, Address offset: 0x68 */ - __IO uint32_t BKP7R; /*!< RTC backup register 7, Address offset: 0x6C */ - __IO uint32_t BKP8R; /*!< RTC backup register 8, Address offset: 0x70 */ - __IO uint32_t BKP9R; /*!< RTC backup register 9, Address offset: 0x74 */ - __IO uint32_t BKP10R; /*!< RTC backup register 10, Address offset: 0x78 */ - __IO uint32_t BKP11R; /*!< RTC backup register 11, Address offset: 0x7C */ - __IO uint32_t BKP12R; /*!< RTC backup register 12, Address offset: 0x80 */ - __IO uint32_t BKP13R; /*!< RTC backup register 13, Address offset: 0x84 */ - __IO uint32_t BKP14R; /*!< RTC backup register 14, Address offset: 0x88 */ - __IO uint32_t BKP15R; /*!< RTC backup register 15, Address offset: 0x8C */ - __IO uint32_t BKP16R; /*!< RTC backup register 16, Address offset: 0x90 */ - __IO uint32_t BKP17R; /*!< RTC backup register 17, Address offset: 0x94 */ - __IO uint32_t BKP18R; /*!< RTC backup register 18, Address offset: 0x98 */ - __IO uint32_t BKP19R; /*!< RTC backup register 19, Address offset: 0x9C */ - __IO uint32_t BKP20R; /*!< RTC backup register 20, Address offset: 0xA0 */ - __IO uint32_t BKP21R; /*!< RTC backup register 21, Address offset: 0xA4 */ - __IO uint32_t BKP22R; /*!< RTC backup register 22, Address offset: 0xA8 */ - __IO uint32_t BKP23R; /*!< RTC backup register 23, Address offset: 0xAC */ - __IO uint32_t BKP24R; /*!< RTC backup register 24, Address offset: 0xB0 */ - __IO uint32_t BKP25R; /*!< RTC backup register 25, Address offset: 0xB4 */ - __IO uint32_t BKP26R; /*!< RTC backup register 26, Address offset: 0xB8 */ - __IO uint32_t BKP27R; /*!< RTC backup register 27, Address offset: 0xBC */ - __IO uint32_t BKP28R; /*!< RTC backup register 28, Address offset: 0xC0 */ - __IO uint32_t BKP29R; /*!< RTC backup register 29, Address offset: 0xC4 */ - __IO uint32_t BKP30R; /*!< RTC backup register 30, Address offset: 0xC8 */ - __IO uint32_t BKP31R; /*!< RTC backup register 31, Address offset: 0xCC */ -} RTC_TypeDef; - -/** - * @brief Serial Audio Interface - */ - -typedef struct -{ - __IO uint32_t GCR; /*!< SAI global configuration register, Address offset: 0x00 */ - uint32_t RESERVED0[16]; /*!< Reserved, 0x04 - 0x43 */ - __IO uint32_t PDMCR; /*!< SAI PDM control register, Address offset: 0x44 */ - __IO uint32_t PDMDLY; /*!< SAI PDM delay register, Address offset: 0x48 */ -} SAI_TypeDef; - -typedef struct -{ - __IO uint32_t CR1; /*!< SAI block x configuration register 1, Address offset: 0x04 */ - __IO uint32_t CR2; /*!< SAI block x configuration register 2, Address offset: 0x08 */ - __IO uint32_t FRCR; /*!< SAI block x frame configuration register, Address offset: 0x0C */ - __IO uint32_t SLOTR; /*!< SAI block x slot register, Address offset: 0x10 */ - __IO uint32_t IMR; /*!< SAI block x interrupt mask register, Address offset: 0x14 */ - __IO uint32_t SR; /*!< SAI block x status register, Address offset: 0x18 */ - __IO uint32_t CLRFR; /*!< SAI block x clear flag register, Address offset: 0x1C */ - __IO uint32_t DR; /*!< SAI block x data register, Address offset: 0x20 */ -} SAI_Block_TypeDef; - -/** - * @brief SPDIF-RX Interface - */ - -typedef struct -{ - __IO uint32_t CR; /*!< Control register, Address offset: 0x00 */ - __IO uint32_t IMR; /*!< Interrupt mask register, Address offset: 0x04 */ - __IO uint32_t SR; /*!< Status register, Address offset: 0x08 */ - __IO uint32_t IFCR; /*!< Interrupt Flag Clear register, Address offset: 0x0C */ - __IO uint32_t DR; /*!< Data input register, Address offset: 0x10 */ - __IO uint32_t CSR; /*!< Channel Status register, Address offset: 0x14 */ - __IO uint32_t DIR; /*!< Debug Information register, Address offset: 0x18 */ - uint32_t RESERVED2; /*!< Reserved, 0x1A */ -} SPDIFRX_TypeDef; - - -/** - * @brief Secure digital input/output Interface - */ - -typedef struct -{ - __IO uint32_t POWER; /*!< SDMMC power control register, Address offset: 0x00 */ - __IO uint32_t CLKCR; /*!< SDMMC clock control register, Address offset: 0x04 */ - __IO uint32_t ARG; /*!< SDMMC argument register, Address offset: 0x08 */ - __IO uint32_t CMD; /*!< SDMMC command register, Address offset: 0x0C */ - __I uint32_t RESPCMD; /*!< SDMMC command response register, Address offset: 0x10 */ - __I uint32_t RESP1; /*!< SDMMC response 1 register, Address offset: 0x14 */ - __I uint32_t RESP2; /*!< SDMMC response 2 register, Address offset: 0x18 */ - __I uint32_t RESP3; /*!< SDMMC response 3 register, Address offset: 0x1C */ - __I uint32_t RESP4; /*!< SDMMC response 4 register, Address offset: 0x20 */ - __IO uint32_t DTIMER; /*!< SDMMC data timer register, Address offset: 0x24 */ - __IO uint32_t DLEN; /*!< SDMMC data length register, Address offset: 0x28 */ - __IO uint32_t DCTRL; /*!< SDMMC data control register, Address offset: 0x2C */ - __I uint32_t DCOUNT; /*!< SDMMC data counter register, Address offset: 0x30 */ - __I uint32_t STA; /*!< SDMMC status register, Address offset: 0x34 */ - __IO uint32_t ICR; /*!< SDMMC interrupt clear register, Address offset: 0x38 */ - __IO uint32_t MASK; /*!< SDMMC mask register, Address offset: 0x3C */ - __IO uint32_t ACKTIME; /*!< SDMMC Acknowledgement timer register, Address offset: 0x40 */ - uint32_t RESERVED0[3]; /*!< Reserved, 0x44 - 0x4C - 0x4C */ - __IO uint32_t IDMACTRL; /*!< SDMMC DMA control register, Address offset: 0x50 */ - __IO uint32_t IDMABSIZE; /*!< SDMMC DMA buffer size register, Address offset: 0x54 */ - __IO uint32_t IDMABASE0; /*!< SDMMC DMA buffer 0 base address register, Address offset: 0x58 */ - __IO uint32_t IDMABASE1; /*!< SDMMC DMA buffer 1 base address register, Address offset: 0x5C */ - uint32_t RESERVED1[8]; /*!< Reserved, 0x60-0x7C */ - __IO uint32_t FIFO; /*!< SDMMC data FIFO register, Address offset: 0x80 */ - uint32_t RESERVED2[222]; /*!< Reserved, 0x84-0x3F8 */ - __IO uint32_t IPVR; /*!< SDMMC data FIFO register, Address offset: 0x3FC */ -} SDMMC_TypeDef; - - -/** - * @brief Delay Block DLYB - */ - -typedef struct -{ - __IO uint32_t CR; /*!< DELAY BLOCK control register, Address offset: 0x00 */ - __IO uint32_t CFGR; /*!< DELAY BLOCK configuration register, Address offset: 0x04 */ -} DLYB_TypeDef; - -/** - * @brief HW Semaphore HSEM - */ - -typedef struct -{ - __IO uint32_t R[32]; /*!< 2-step write lock and read back registers, Address offset: 00h-7Ch */ - __IO uint32_t RLR[32]; /*!< 1-step read lock registers, Address offset: 80h-FCh */ - __IO uint32_t C1IER; /*!< HSEM Interrupt enable register , Address offset: 100h */ - __IO uint32_t C1ICR; /*!< HSEM Interrupt clear register , Address offset: 104h */ - __IO uint32_t C1ISR; /*!< HSEM Interrupt Status register , Address offset: 108h */ - __IO uint32_t C1MISR; /*!< HSEM Interrupt Masked Status register , Address offset: 10Ch */ - uint32_t Reserved[12]; /* Reserved Address offset: 110h-13Ch */ - __IO uint32_t CR; /*!< HSEM Semaphore clear register , Address offset: 140h */ - __IO uint32_t KEYR; /*!< HSEM Semaphore clear key register , Address offset: 144h */ - -} HSEM_TypeDef; - -typedef struct -{ - __IO uint32_t IER; /*!< HSEM interrupt enable register , Address offset: 0h */ - __IO uint32_t ICR; /*!< HSEM interrupt clear register , Address offset: 4h */ - __IO uint32_t ISR; /*!< HSEM interrupt status register , Address offset: 8h */ - __IO uint32_t MISR; /*!< HSEM masked interrupt status register , Address offset: Ch */ -} HSEM_Common_TypeDef; - -/** - * @brief Serial Peripheral Interface - */ - -typedef struct -{ - __IO uint32_t CR1; /*!< SPI/I2S Control register 1, Address offset: 0x00 */ - __IO uint32_t CR2; /*!< SPI Control register 2, Address offset: 0x04 */ - __IO uint32_t CFG1; /*!< SPI Configuration register 1, Address offset: 0x08 */ - __IO uint32_t CFG2; /*!< SPI Configuration register 2, Address offset: 0x0C */ - __IO uint32_t IER; /*!< SPI/I2S Interrupt Enable register, Address offset: 0x10 */ - __IO uint32_t SR; /*!< SPI/I2S Status register, Address offset: 0x14 */ - __IO uint32_t IFCR; /*!< SPI/I2S Interrupt/Status flags clear register, Address offset: 0x18 */ - uint32_t RESERVED0; /*!< Reserved, 0x1C */ - __IO uint32_t TXDR; /*!< SPI/I2S Transmit data register, Address offset: 0x20 */ - uint32_t RESERVED1[3]; /*!< Reserved, 0x24-0x2C */ - __IO uint32_t RXDR; /*!< SPI/I2S Receive data register, Address offset: 0x30 */ - uint32_t RESERVED2[3]; /*!< Reserved, 0x34-0x3C */ - __IO uint32_t CRCPOLY; /*!< SPI CRC Polynomial register, Address offset: 0x40 */ - __IO uint32_t TXCRC; /*!< SPI Transmitter CRC register, Address offset: 0x44 */ - __IO uint32_t RXCRC; /*!< SPI Receiver CRC register, Address offset: 0x48 */ - __IO uint32_t UDRDR; /*!< SPI Underrun data register, Address offset: 0x4C */ - __IO uint32_t I2SCFGR; /*!< I2S Configuration register, Address offset: 0x50 */ - -} SPI_TypeDef; - -/** - * @brief DTS - */ -typedef struct -{ - __IO uint32_t CFGR1; /*!< DTS configuration register, Address offset: 0x00 */ - uint32_t RESERVED0; /*!< Reserved, Address offset: 0x04 */ - __IO uint32_t T0VALR1; /*!< DTS T0 Value register, Address offset: 0x08 */ - uint32_t RESERVED1; /*!< Reserved, Address offset: 0x0C */ - __IO uint32_t RAMPVALR; /*!< DTS Ramp value register, Address offset: 0x10 */ - __IO uint32_t ITR1; /*!< DTS Interrupt threshold register, Address offset: 0x14 */ - uint32_t RESERVED2; /*!< Reserved, Address offset: 0x18 */ - __IO uint32_t DR; /*!< DTS data register, Address offset: 0x1C */ - __IO uint32_t SR; /*!< DTS status register Address offset: 0x20 */ - __IO uint32_t ITENR; /*!< DTS Interrupt enable register, Address offset: 0x24 */ - __IO uint32_t ICIFR; /*!< DTS Clear Interrupt flag register, Address offset: 0x28 */ - __IO uint32_t OR; /*!< DTS option register 1, Address offset: 0x2C */ -} -DTS_TypeDef; - -/** - * @brief TIM - */ - -typedef struct -{ - __IO uint32_t CR1; /*!< TIM control register 1, Address offset: 0x00 */ - __IO uint32_t CR2; /*!< TIM control register 2, Address offset: 0x04 */ - __IO uint32_t SMCR; /*!< TIM slave mode control register, Address offset: 0x08 */ - __IO uint32_t DIER; /*!< TIM DMA/interrupt enable register, Address offset: 0x0C */ - __IO uint32_t SR; /*!< TIM status register, Address offset: 0x10 */ - __IO uint32_t EGR; /*!< TIM event generation register, Address offset: 0x14 */ - __IO uint32_t CCMR1; /*!< TIM capture/compare mode register 1, Address offset: 0x18 */ - __IO uint32_t CCMR2; /*!< TIM capture/compare mode register 2, Address offset: 0x1C */ - __IO uint32_t CCER; /*!< TIM capture/compare enable register, Address offset: 0x20 */ - __IO uint32_t CNT; /*!< TIM counter register, Address offset: 0x24 */ - __IO uint32_t PSC; /*!< TIM prescaler, Address offset: 0x28 */ - __IO uint32_t ARR; /*!< TIM auto-reload register, Address offset: 0x2C */ - __IO uint32_t RCR; /*!< TIM repetition counter register, Address offset: 0x30 */ - __IO uint32_t CCR1; /*!< TIM capture/compare register 1, Address offset: 0x34 */ - __IO uint32_t CCR2; /*!< TIM capture/compare register 2, Address offset: 0x38 */ - __IO uint32_t CCR3; /*!< TIM capture/compare register 3, Address offset: 0x3C */ - __IO uint32_t CCR4; /*!< TIM capture/compare register 4, Address offset: 0x40 */ - __IO uint32_t BDTR; /*!< TIM break and dead-time register, Address offset: 0x44 */ - __IO uint32_t DCR; /*!< TIM DMA control register, Address offset: 0x48 */ - __IO uint32_t DMAR; /*!< TIM DMA address for full transfer, Address offset: 0x4C */ - uint32_t RESERVED1; /*!< Reserved, 0x50 */ - __IO uint32_t CCMR3; /*!< TIM capture/compare mode register 3, Address offset: 0x54 */ - __IO uint32_t CCR5; /*!< TIM capture/compare register5, Address offset: 0x58 */ - __IO uint32_t CCR6; /*!< TIM capture/compare register6, Address offset: 0x5C */ - __IO uint32_t AF1; /*!< TIM alternate function option register 1, Address offset: 0x60 */ - __IO uint32_t AF2; /*!< TIM alternate function option register 2, Address offset: 0x64 */ - __IO uint32_t TISEL; /*!< TIM Input Selection register, Address offset: 0x68 */ -} TIM_TypeDef; - -/** - * @brief LPTIMIMER - */ -typedef struct -{ - __IO uint32_t ISR; /*!< LPTIM Interrupt and Status register, Address offset: 0x00 */ - __IO uint32_t ICR; /*!< LPTIM Interrupt Clear register, Address offset: 0x04 */ - __IO uint32_t IER; /*!< LPTIM Interrupt Enable register, Address offset: 0x08 */ - __IO uint32_t CFGR; /*!< LPTIM Configuration register, Address offset: 0x0C */ - __IO uint32_t CR; /*!< LPTIM Control register, Address offset: 0x10 */ - __IO uint32_t CMP; /*!< LPTIM Compare register, Address offset: 0x14 */ - __IO uint32_t ARR; /*!< LPTIM Autoreload register, Address offset: 0x18 */ - __IO uint32_t CNT; /*!< LPTIM Counter register, Address offset: 0x1C */ - uint32_t RESERVED1; /*!< Reserved, 0x20 */ - __IO uint32_t CFGR2; /*!< LPTIM Configuration register, Address offset: 0x24 */ -} LPTIM_TypeDef; - -/** - * @brief Comparator - */ -typedef struct -{ - __IO uint32_t SR; /*!< Comparator status register, Address offset: 0x00 */ - __IO uint32_t ICFR; /*!< Comparator interrupt clear flag register, Address offset: 0x04 */ - __IO uint32_t OR; /*!< Comparator option register, Address offset: 0x08 */ -} COMPOPT_TypeDef; - -typedef struct -{ - __IO uint32_t CFGR; /*!< Comparator configuration register , Address offset: 0x00 */ -} COMP_TypeDef; - -typedef struct -{ - __IO uint32_t CFGR; /*!< COMP control and status register, used for bits common to several COMP instances, Address offset: 0x00 */ -} COMP_Common_TypeDef; -/** - * @brief Universal Synchronous Asynchronous Receiver Transmitter - */ - -typedef struct -{ - __IO uint32_t CR1; /*!< USART Control register 1, Address offset: 0x00 */ - __IO uint32_t CR2; /*!< USART Control register 2, Address offset: 0x04 */ - __IO uint32_t CR3; /*!< USART Control register 3, Address offset: 0x08 */ - __IO uint32_t BRR; /*!< USART Baud rate register, Address offset: 0x0C */ - __IO uint32_t GTPR; /*!< USART Guard time and prescaler register, Address offset: 0x10 */ - __IO uint32_t RTOR; /*!< USART Receiver Time Out register, Address offset: 0x14 */ - __IO uint32_t RQR; /*!< USART Request register, Address offset: 0x18 */ - __IO uint32_t ISR; /*!< USART Interrupt and status register, Address offset: 0x1C */ - __IO uint32_t ICR; /*!< USART Interrupt flag Clear register, Address offset: 0x20 */ - __IO uint32_t RDR; /*!< USART Receive Data register, Address offset: 0x24 */ - __IO uint32_t TDR; /*!< USART Transmit Data register, Address offset: 0x28 */ - __IO uint32_t PRESC; /*!< USART clock Prescaler register, Address offset: 0x2C */ -} USART_TypeDef; - -/** - * @brief Single Wire Protocol Master Interface SPWMI - */ -typedef struct -{ - __IO uint32_t CR; /*!< SWPMI Configuration/Control register, Address offset: 0x00 */ - __IO uint32_t BRR; /*!< SWPMI bitrate register, Address offset: 0x04 */ - uint32_t RESERVED1; /*!< Reserved, 0x08 */ - __IO uint32_t ISR; /*!< SWPMI Interrupt and Status register, Address offset: 0x0C */ - __IO uint32_t ICR; /*!< SWPMI Interrupt Flag Clear register, Address offset: 0x10 */ - __IO uint32_t IER; /*!< SWPMI Interrupt Enable register, Address offset: 0x14 */ - __IO uint32_t RFL; /*!< SWPMI Receive Frame Length register, Address offset: 0x18 */ - __IO uint32_t TDR; /*!< SWPMI Transmit data register, Address offset: 0x1C */ - __IO uint32_t RDR; /*!< SWPMI Receive data register, Address offset: 0x20 */ - __IO uint32_t OR; /*!< SWPMI Option register, Address offset: 0x24 */ -} SWPMI_TypeDef; - -/** - * @brief Window WATCHDOG - */ - -typedef struct -{ - __IO uint32_t CR; /*!< WWDG Control register, Address offset: 0x00 */ - __IO uint32_t CFR; /*!< WWDG Configuration register, Address offset: 0x04 */ - __IO uint32_t SR; /*!< WWDG Status register, Address offset: 0x08 */ -} WWDG_TypeDef; - - -/** - * @brief RAM_ECC_Specific_Registers - */ -typedef struct -{ - __IO uint32_t CR; /*!< RAMECC monitor configuration register */ - __IO uint32_t SR; /*!< RAMECC monitor status register */ - __IO uint32_t FAR; /*!< RAMECC monitor failing address register */ - __IO uint32_t FDRL; /*!< RAMECC monitor failing data low register */ - __IO uint32_t FDRH; /*!< RAMECC monitor failing data high register */ - __IO uint32_t FECR; /*!< RAMECC monitor failing ECC error code register */ -} RAMECC_MonitorTypeDef; - -typedef struct -{ - __IO uint32_t IER; /*!< RAMECC interrupt enable register */ -} RAMECC_TypeDef; -/** - * @} - */ - - -/** - * @brief Crypto Processor - */ - -typedef struct -{ - __IO uint32_t CR; /*!< CRYP control register, Address offset: 0x00 */ - __IO uint32_t SR; /*!< CRYP status register, Address offset: 0x04 */ - __IO uint32_t DIN; /*!< CRYP data input register, Address offset: 0x08 */ - __IO uint32_t DOUT; /*!< CRYP data output register, Address offset: 0x0C */ - __IO uint32_t DMACR; /*!< CRYP DMA control register, Address offset: 0x10 */ - __IO uint32_t IMSCR; /*!< CRYP interrupt mask set/clear register, Address offset: 0x14 */ - __IO uint32_t RISR; /*!< CRYP raw interrupt status register, Address offset: 0x18 */ - __IO uint32_t MISR; /*!< CRYP masked interrupt status register, Address offset: 0x1C */ - __IO uint32_t K0LR; /*!< CRYP key left register 0, Address offset: 0x20 */ - __IO uint32_t K0RR; /*!< CRYP key right register 0, Address offset: 0x24 */ - __IO uint32_t K1LR; /*!< CRYP key left register 1, Address offset: 0x28 */ - __IO uint32_t K1RR; /*!< CRYP key right register 1, Address offset: 0x2C */ - __IO uint32_t K2LR; /*!< CRYP key left register 2, Address offset: 0x30 */ - __IO uint32_t K2RR; /*!< CRYP key right register 2, Address offset: 0x34 */ - __IO uint32_t K3LR; /*!< CRYP key left register 3, Address offset: 0x38 */ - __IO uint32_t K3RR; /*!< CRYP key right register 3, Address offset: 0x3C */ - __IO uint32_t IV0LR; /*!< CRYP initialization vector left-word register 0, Address offset: 0x40 */ - __IO uint32_t IV0RR; /*!< CRYP initialization vector right-word register 0, Address offset: 0x44 */ - __IO uint32_t IV1LR; /*!< CRYP initialization vector left-word register 1, Address offset: 0x48 */ - __IO uint32_t IV1RR; /*!< CRYP initialization vector right-word register 1, Address offset: 0x4C */ - __IO uint32_t CSGCMCCM0R; /*!< CRYP GCM/GMAC or CCM/CMAC context swap register 0, Address offset: 0x50 */ - __IO uint32_t CSGCMCCM1R; /*!< CRYP GCM/GMAC or CCM/CMAC context swap register 1, Address offset: 0x54 */ - __IO uint32_t CSGCMCCM2R; /*!< CRYP GCM/GMAC or CCM/CMAC context swap register 2, Address offset: 0x58 */ - __IO uint32_t CSGCMCCM3R; /*!< CRYP GCM/GMAC or CCM/CMAC context swap register 3, Address offset: 0x5C */ - __IO uint32_t CSGCMCCM4R; /*!< CRYP GCM/GMAC or CCM/CMAC context swap register 4, Address offset: 0x60 */ - __IO uint32_t CSGCMCCM5R; /*!< CRYP GCM/GMAC or CCM/CMAC context swap register 5, Address offset: 0x64 */ - __IO uint32_t CSGCMCCM6R; /*!< CRYP GCM/GMAC or CCM/CMAC context swap register 6, Address offset: 0x68 */ - __IO uint32_t CSGCMCCM7R; /*!< CRYP GCM/GMAC or CCM/CMAC context swap register 7, Address offset: 0x6C */ - __IO uint32_t CSGCM0R; /*!< CRYP GCM/GMAC context swap register 0, Address offset: 0x70 */ - __IO uint32_t CSGCM1R; /*!< CRYP GCM/GMAC context swap register 1, Address offset: 0x74 */ - __IO uint32_t CSGCM2R; /*!< CRYP GCM/GMAC context swap register 2, Address offset: 0x78 */ - __IO uint32_t CSGCM3R; /*!< CRYP GCM/GMAC context swap register 3, Address offset: 0x7C */ - __IO uint32_t CSGCM4R; /*!< CRYP GCM/GMAC context swap register 4, Address offset: 0x80 */ - __IO uint32_t CSGCM5R; /*!< CRYP GCM/GMAC context swap register 5, Address offset: 0x84 */ - __IO uint32_t CSGCM6R; /*!< CRYP GCM/GMAC context swap register 6, Address offset: 0x88 */ - __IO uint32_t CSGCM7R; /*!< CRYP GCM/GMAC context swap register 7, Address offset: 0x8C */ -} CRYP_TypeDef; - -/** - * @brief HASH - */ - -typedef struct -{ - __IO uint32_t CR; /*!< HASH control register, Address offset: 0x00 */ - __IO uint32_t DIN; /*!< HASH data input register, Address offset: 0x04 */ - __IO uint32_t STR; /*!< HASH start register, Address offset: 0x08 */ - __IO uint32_t HR[5]; /*!< HASH digest registers, Address offset: 0x0C-0x1C */ - __IO uint32_t IMR; /*!< HASH interrupt enable register, Address offset: 0x20 */ - __IO uint32_t SR; /*!< HASH status register, Address offset: 0x24 */ - uint32_t RESERVED[52]; /*!< Reserved, 0x28-0xF4 */ - __IO uint32_t CSR[54]; /*!< HASH context swap registers, Address offset: 0x0F8-0x1CC */ -} HASH_TypeDef; - -/** - * @brief HASH_DIGEST - */ - -typedef struct -{ - __IO uint32_t HR[8]; /*!< HASH digest registers, Address offset: 0x310-0x32C */ -} HASH_DIGEST_TypeDef; - - -/** - * @brief RNG - */ - -typedef struct -{ - __IO uint32_t CR; /*!< RNG control register, Address offset: 0x00 */ - __IO uint32_t SR; /*!< RNG status register, Address offset: 0x04 */ - __IO uint32_t DR; /*!< RNG data register, Address offset: 0x08 */ - uint32_t RESERVED; - __IO uint32_t HTCR; /*!< RNG health test configuration register, Address offset: 0x10 */ -} RNG_TypeDef; - -/** - * @brief MDIOS - */ - -typedef struct -{ - __IO uint32_t CR; - __IO uint32_t WRFR; - __IO uint32_t CWRFR; - __IO uint32_t RDFR; - __IO uint32_t CRDFR; - __IO uint32_t SR; - __IO uint32_t CLRFR; - uint32_t RESERVED[57]; - __IO uint32_t DINR0; - __IO uint32_t DINR1; - __IO uint32_t DINR2; - __IO uint32_t DINR3; - __IO uint32_t DINR4; - __IO uint32_t DINR5; - __IO uint32_t DINR6; - __IO uint32_t DINR7; - __IO uint32_t DINR8; - __IO uint32_t DINR9; - __IO uint32_t DINR10; - __IO uint32_t DINR11; - __IO uint32_t DINR12; - __IO uint32_t DINR13; - __IO uint32_t DINR14; - __IO uint32_t DINR15; - __IO uint32_t DINR16; - __IO uint32_t DINR17; - __IO uint32_t DINR18; - __IO uint32_t DINR19; - __IO uint32_t DINR20; - __IO uint32_t DINR21; - __IO uint32_t DINR22; - __IO uint32_t DINR23; - __IO uint32_t DINR24; - __IO uint32_t DINR25; - __IO uint32_t DINR26; - __IO uint32_t DINR27; - __IO uint32_t DINR28; - __IO uint32_t DINR29; - __IO uint32_t DINR30; - __IO uint32_t DINR31; - __IO uint32_t DOUTR0; - __IO uint32_t DOUTR1; - __IO uint32_t DOUTR2; - __IO uint32_t DOUTR3; - __IO uint32_t DOUTR4; - __IO uint32_t DOUTR5; - __IO uint32_t DOUTR6; - __IO uint32_t DOUTR7; - __IO uint32_t DOUTR8; - __IO uint32_t DOUTR9; - __IO uint32_t DOUTR10; - __IO uint32_t DOUTR11; - __IO uint32_t DOUTR12; - __IO uint32_t DOUTR13; - __IO uint32_t DOUTR14; - __IO uint32_t DOUTR15; - __IO uint32_t DOUTR16; - __IO uint32_t DOUTR17; - __IO uint32_t DOUTR18; - __IO uint32_t DOUTR19; - __IO uint32_t DOUTR20; - __IO uint32_t DOUTR21; - __IO uint32_t DOUTR22; - __IO uint32_t DOUTR23; - __IO uint32_t DOUTR24; - __IO uint32_t DOUTR25; - __IO uint32_t DOUTR26; - __IO uint32_t DOUTR27; - __IO uint32_t DOUTR28; - __IO uint32_t DOUTR29; - __IO uint32_t DOUTR30; - __IO uint32_t DOUTR31; -} MDIOS_TypeDef; - - -/** - * @brief USB_OTG_Core_Registers - */ -typedef struct -{ - __IO uint32_t GOTGCTL; /*!< USB_OTG Control and Status Register 000h */ - __IO uint32_t GOTGINT; /*!< USB_OTG Interrupt Register 004h */ - __IO uint32_t GAHBCFG; /*!< Core AHB Configuration Register 008h */ - __IO uint32_t GUSBCFG; /*!< Core USB Configuration Register 00Ch */ - __IO uint32_t GRSTCTL; /*!< Core Reset Register 010h */ - __IO uint32_t GINTSTS; /*!< Core Interrupt Register 014h */ - __IO uint32_t GINTMSK; /*!< Core Interrupt Mask Register 018h */ - __IO uint32_t GRXSTSR; /*!< Receive Sts Q Read Register 01Ch */ - __IO uint32_t GRXSTSP; /*!< Receive Sts Q Read & POP Register 020h */ - __IO uint32_t GRXFSIZ; /*!< Receive FIFO Size Register 024h */ - __IO uint32_t DIEPTXF0_HNPTXFSIZ; /*!< EP0 / Non Periodic Tx FIFO Size Register 028h */ - __IO uint32_t HNPTXSTS; /*!< Non Periodic Tx FIFO/Queue Sts reg 02Ch */ - uint32_t Reserved30[2]; /*!< Reserved 030h */ - __IO uint32_t GCCFG; /*!< General Purpose IO Register 038h */ - __IO uint32_t CID; /*!< User ID Register 03Ch */ - __IO uint32_t GSNPSID; /* USB_OTG core ID 040h*/ - __IO uint32_t GHWCFG1; /* User HW config1 044h*/ - __IO uint32_t GHWCFG2; /* User HW config2 048h*/ - __IO uint32_t GHWCFG3; /*!< User HW config3 04Ch */ - uint32_t Reserved6; /*!< Reserved 050h */ - __IO uint32_t GLPMCFG; /*!< LPM Register 054h */ - __IO uint32_t GPWRDN; /*!< Power Down Register 058h */ - __IO uint32_t GDFIFOCFG; /*!< DFIFO Software Config Register 05Ch */ - __IO uint32_t GADPCTL; /*!< ADP Timer, Control and Status Register 60Ch */ - uint32_t Reserved43[39]; /*!< Reserved 058h-0FFh */ - __IO uint32_t HPTXFSIZ; /*!< Host Periodic Tx FIFO Size Reg 100h */ - __IO uint32_t DIEPTXF[0x0F]; /*!< dev Periodic Transmit FIFO */ -} USB_OTG_GlobalTypeDef; - - -/** - * @brief USB_OTG_device_Registers - */ -typedef struct -{ - __IO uint32_t DCFG; /*!< dev Configuration Register 800h */ - __IO uint32_t DCTL; /*!< dev Control Register 804h */ - __IO uint32_t DSTS; /*!< dev Status Register (RO) 808h */ - uint32_t Reserved0C; /*!< Reserved 80Ch */ - __IO uint32_t DIEPMSK; /*!< dev IN Endpoint Mask 810h */ - __IO uint32_t DOEPMSK; /*!< dev OUT Endpoint Mask 814h */ - __IO uint32_t DAINT; /*!< dev All Endpoints Itr Reg 818h */ - __IO uint32_t DAINTMSK; /*!< dev All Endpoints Itr Mask 81Ch */ - uint32_t Reserved20; /*!< Reserved 820h */ - uint32_t Reserved9; /*!< Reserved 824h */ - __IO uint32_t DVBUSDIS; /*!< dev VBUS discharge Register 828h */ - __IO uint32_t DVBUSPULSE; /*!< dev VBUS Pulse Register 82Ch */ - __IO uint32_t DTHRCTL; /*!< dev threshold 830h */ - __IO uint32_t DIEPEMPMSK; /*!< dev empty msk 834h */ - __IO uint32_t DEACHINT; /*!< dedicated EP interrupt 838h */ - __IO uint32_t DEACHMSK; /*!< dedicated EP msk 83Ch */ - uint32_t Reserved40; /*!< dedicated EP mask 840h */ - __IO uint32_t DINEP1MSK; /*!< dedicated EP mask 844h */ - uint32_t Reserved44[15]; /*!< Reserved 844-87Ch */ - __IO uint32_t DOUTEP1MSK; /*!< dedicated EP msk 884h */ -} USB_OTG_DeviceTypeDef; - - -/** - * @brief USB_OTG_IN_Endpoint-Specific_Register - */ -typedef struct -{ - __IO uint32_t DIEPCTL; /*!< dev IN Endpoint Control Reg 900h + (ep_num * 20h) + 00h */ - uint32_t Reserved04; /*!< Reserved 900h + (ep_num * 20h) + 04h */ - __IO uint32_t DIEPINT; /*!< dev IN Endpoint Itr Reg 900h + (ep_num * 20h) + 08h */ - uint32_t Reserved0C; /*!< Reserved 900h + (ep_num * 20h) + 0Ch */ - __IO uint32_t DIEPTSIZ; /*!< IN Endpoint Txfer Size 900h + (ep_num * 20h) + 10h */ - __IO uint32_t DIEPDMA; /*!< IN Endpoint DMA Address Reg 900h + (ep_num * 20h) + 14h */ - __IO uint32_t DTXFSTS; /*!< IN Endpoint Tx FIFO Status Reg 900h + (ep_num * 20h) + 18h */ - uint32_t Reserved18; /*!< Reserved 900h+(ep_num*20h)+1Ch-900h+ (ep_num * 20h) + 1Ch */ -} USB_OTG_INEndpointTypeDef; - - -/** - * @brief USB_OTG_OUT_Endpoint-Specific_Registers - */ -typedef struct -{ - __IO uint32_t DOEPCTL; /*!< dev OUT Endpoint Control Reg B00h + (ep_num * 20h) + 00h */ - uint32_t Reserved04; /*!< Reserved B00h + (ep_num * 20h) + 04h */ - __IO uint32_t DOEPINT; /*!< dev OUT Endpoint Itr Reg B00h + (ep_num * 20h) + 08h */ - uint32_t Reserved0C; /*!< Reserved B00h + (ep_num * 20h) + 0Ch */ - __IO uint32_t DOEPTSIZ; /*!< dev OUT Endpoint Txfer Size B00h + (ep_num * 20h) + 10h */ - __IO uint32_t DOEPDMA; /*!< dev OUT Endpoint DMA Address B00h + (ep_num * 20h) + 14h */ - uint32_t Reserved18[2]; /*!< Reserved B00h + (ep_num * 20h) + 18h - B00h + (ep_num * 20h) + 1Ch */ -} USB_OTG_OUTEndpointTypeDef; - - -/** - * @brief USB_OTG_Host_Mode_Register_Structures - */ -typedef struct -{ - __IO uint32_t HCFG; /*!< Host Configuration Register 400h */ - __IO uint32_t HFIR; /*!< Host Frame Interval Register 404h */ - __IO uint32_t HFNUM; /*!< Host Frame Nbr/Frame Remaining 408h */ - uint32_t Reserved40C; /*!< Reserved 40Ch */ - __IO uint32_t HPTXSTS; /*!< Host Periodic Tx FIFO/ Queue Status 410h */ - __IO uint32_t HAINT; /*!< Host All Channels Interrupt Register 414h */ - __IO uint32_t HAINTMSK; /*!< Host All Channels Interrupt Mask 418h */ -} USB_OTG_HostTypeDef; - -/** - * @brief USB_OTG_Host_Channel_Specific_Registers - */ -typedef struct -{ - __IO uint32_t HCCHAR; /*!< Host Channel Characteristics Register 500h */ - __IO uint32_t HCSPLT; /*!< Host Channel Split Control Register 504h */ - __IO uint32_t HCINT; /*!< Host Channel Interrupt Register 508h */ - __IO uint32_t HCINTMSK; /*!< Host Channel Interrupt Mask Register 50Ch */ - __IO uint32_t HCTSIZ; /*!< Host Channel Transfer Size Register 510h */ - __IO uint32_t HCDMA; /*!< Host Channel DMA Address Register 514h */ - uint32_t Reserved[2]; /*!< Reserved */ -} USB_OTG_HostChannelTypeDef; -/** - * @} - */ - -/** - * @brief OCTO Serial Peripheral Interface - */ - -typedef struct -{ - __IO uint32_t CR; /*!< OCTOSPI Control register, Address offset: 0x000 */ - uint32_t RESERVED; /*!< Reserved, Address offset: 0x004 */ - __IO uint32_t DCR1; /*!< OCTOSPI Device Configuration register 1, Address offset: 0x008 */ - __IO uint32_t DCR2; /*!< OCTOSPI Device Configuration register 2, Address offset: 0x00C */ - __IO uint32_t DCR3; /*!< OCTOSPI Device Configuration register 3, Address offset: 0x010 */ - __IO uint32_t DCR4; /*!< OCTOSPI Device Configuration register 4, Address offset: 0x014 */ - uint32_t RESERVED1[2]; /*!< Reserved, Address offset: 0x018-0x01C */ - __IO uint32_t SR; /*!< OCTOSPI Status register, Address offset: 0x020 */ - __IO uint32_t FCR; /*!< OCTOSPI Flag Clear register, Address offset: 0x024 */ - uint32_t RESERVED2[6]; /*!< Reserved, Address offset: 0x028-0x03C */ - __IO uint32_t DLR; /*!< OCTOSPI Data Length register, Address offset: 0x040 */ - uint32_t RESERVED3; /*!< Reserved, Address offset: 0x044 */ - __IO uint32_t AR; /*!< OCTOSPI Address register, Address offset: 0x048 */ - uint32_t RESERVED4; /*!< Reserved, Address offset: 0x04C */ - __IO uint32_t DR; /*!< OCTOSPI Data register, Address offset: 0x050 */ - uint32_t RESERVED5[11]; /*!< Reserved, Address offset: 0x054-0x07C */ - __IO uint32_t PSMKR; /*!< OCTOSPI Polling Status Mask register, Address offset: 0x080 */ - uint32_t RESERVED6; /*!< Reserved, Address offset: 0x084 */ - __IO uint32_t PSMAR; /*!< OCTOSPI Polling Status Match register, Address offset: 0x088 */ - uint32_t RESERVED7; /*!< Reserved, Address offset: 0x08C */ - __IO uint32_t PIR; /*!< OCTOSPI Polling Interval register, Address offset: 0x090 */ - uint32_t RESERVED8[27]; /*!< Reserved, Address offset: 0x094-0x0FC */ - __IO uint32_t CCR; /*!< OCTOSPI Communication Configuration register, Address offset: 0x100 */ - uint32_t RESERVED9; /*!< Reserved, Address offset: 0x104 */ - __IO uint32_t TCR; /*!< OCTOSPI Timing Configuration register, Address offset: 0x108 */ - uint32_t RESERVED10; /*!< Reserved, Address offset: 0x10C */ - __IO uint32_t IR; /*!< OCTOSPI Instruction register, Address offset: 0x110 */ - uint32_t RESERVED11[3]; /*!< Reserved, Address offset: 0x114-0x11C */ - __IO uint32_t ABR; /*!< OCTOSPI Alternate Bytes register, Address offset: 0x120 */ - uint32_t RESERVED12[3]; /*!< Reserved, Address offset: 0x124-0x12C */ - __IO uint32_t LPTR; /*!< OCTOSPI Low Power Timeout register, Address offset: 0x130 */ - uint32_t RESERVED13[3]; /*!< Reserved, Address offset: 0x134-0x13C */ - __IO uint32_t WPCCR; /*!< OCTOSPI Wrap Communication Configuration register, Address offset: 0x140 */ - uint32_t RESERVED14; /*!< Reserved, Address offset: 0x144 */ - __IO uint32_t WPTCR; /*!< OCTOSPI Wrap Timing Configuration register, Address offset: 0x148 */ - uint32_t RESERVED15; /*!< Reserved, Address offset: 0x14C */ - __IO uint32_t WPIR; /*!< OCTOSPI Wrap Instruction register, Address offset: 0x150 */ - uint32_t RESERVED16[3]; /*!< Reserved, Address offset: 0x154-0x15C */ - __IO uint32_t WPABR; /*!< OCTOSPI Wrap Alternate Bytes register, Address offset: 0x160 */ - uint32_t RESERVED17[7]; /*!< Reserved, Address offset: 0x164-0x17C */ - __IO uint32_t WCCR; /*!< OCTOSPI Write Communication Configuration register, Address offset: 0x180 */ - uint32_t RESERVED18; /*!< Reserved, Address offset: 0x184 */ - __IO uint32_t WTCR; /*!< OCTOSPI Write Timing Configuration register, Address offset: 0x188 */ - uint32_t RESERVED19; /*!< Reserved, Address offset: 0x18C */ - __IO uint32_t WIR; /*!< OCTOSPI Write Instruction register, Address offset: 0x190 */ - uint32_t RESERVED20[3]; /*!< Reserved, Address offset: 0x194-0x19C */ - __IO uint32_t WABR; /*!< OCTOSPI Write Alternate Bytes register, Address offset: 0x1A0 */ - uint32_t RESERVED21[23]; /*!< Reserved, Address offset: 0x1A4-0x1FC */ - __IO uint32_t HLCR; /*!< OCTOSPI Hyperbus Latency Configuration register, Address offset: 0x200 */ - uint32_t RESERVED22[122]; /*!< Reserved, Address offset: 0x204-0x3EC */ - __IO uint32_t HWCFGR; /*!< OCTOSPI HW Configuration register, Address offset: 0x3F0 */ - __IO uint32_t VER; /*!< OCTOSPI Version register, Address offset: 0x3F4 */ - __IO uint32_t ID; /*!< OCTOSPI Identification register, Address offset: 0x3F8 */ - __IO uint32_t MID; /*!< OCTOPSI HW Magic ID register, Address offset: 0x3FC */ -} OCTOSPI_TypeDef; - -/** - * @} - */ -/** - * @brief OCTO Serial Peripheral Interface IO Manager - */ - -typedef struct -{ - __IO uint32_t CR; /*!< OCTOSPI IO Manager Control register, Address offset: 0x00 */ - __IO uint32_t PCR[3]; /*!< OCTOSPI IO Manager Port[1:3] Configuration register, Address offset: 0x04-0x20 */ -} OCTOSPIM_TypeDef; - -/** - * @} - */ - -/** - * @brief OTFD register - */ -typedef struct -{ - __IO uint32_t REG_CONFIGR; - __IO uint32_t REG_START_ADDR; - __IO uint32_t REG_END_ADDR; - __IO uint32_t REG_NONCER0; - __IO uint32_t REG_NONCER1; - __IO uint32_t REG_KEYR0; - __IO uint32_t REG_KEYR1; - __IO uint32_t REG_KEYR2; - __IO uint32_t REG_KEYR3; -} OTFDEC_Region_TypeDef; - -typedef struct -{ - __IO uint32_t CR; - uint32_t RESERVED1[191]; - __IO uint32_t ISR; - __IO uint32_t ICR; - __IO uint32_t IER; - uint32_t RESERVED2[56]; - __IO uint32_t HWCFGR2; - __IO uint32_t HWCFGR1; - __IO uint32_t VERR; - __IO uint32_t IPIDR; - __IO uint32_t SIDR; -} OTFDEC_TypeDef; -/** - * @} - */ - -/** - * @brief Global Programmer View - */ - -typedef struct -{ - uint32_t RESERVED0[2036]; /*!< Reserved, Address offset: 0x00-0x1FCC */ - __IO uint32_t AXI_PERIPH_ID_4; /*!< AXI interconnect - peripheral ID4 register, Address offset: 0x1FD0 */ - uint32_t AXI_PERIPH_ID_5; /*!< Reserved, Address offset: 0x1FD4 */ - uint32_t AXI_PERIPH_ID_6; /*!< Reserved, Address offset: 0x1FD8 */ - uint32_t AXI_PERIPH_ID_7; /*!< Reserved, Address offset: 0x1FDC */ - __IO uint32_t AXI_PERIPH_ID_0; /*!< AXI interconnect - peripheral ID0 register, Address offset: 0x1FE0 */ - __IO uint32_t AXI_PERIPH_ID_1; /*!< AXI interconnect - peripheral ID1 register, Address offset: 0x1FE4 */ - __IO uint32_t AXI_PERIPH_ID_2; /*!< AXI interconnect - peripheral ID2 register, Address offset: 0x1FE8 */ - __IO uint32_t AXI_PERIPH_ID_3; /*!< AXI interconnect - peripheral ID3 register, Address offset: 0x1FEC */ - __IO uint32_t AXI_COMP_ID_0; /*!< AXI interconnect - component ID0 register, Address offset: 0x1FF0 */ - __IO uint32_t AXI_COMP_ID_1; /*!< AXI interconnect - component ID1 register, Address offset: 0x1FF4 */ - __IO uint32_t AXI_COMP_ID_2; /*!< AXI interconnect - component ID2 register, Address offset: 0x1FF8 */ - __IO uint32_t AXI_COMP_ID_3; /*!< AXI interconnect - component ID3 register, Address offset: 0x1FFC */ - uint32_t RESERVED1[2]; /*!< Reserved, Address offset: 0x2000-0x2004 */ - __IO uint32_t AXI_TARG1_FN_MOD_ISS_BM; /*!< AXI interconnect - TARG 1 bus matrix issuing functionality register, Address offset: 0x2008 */ - uint32_t RESERVED2[6]; /*!< Reserved, Address offset: 0x200C-0x2020 */ - __IO uint32_t AXI_TARG1_FN_MOD2; /*!< AXI interconnect - TARG 1 bus matrix functionality 2 register, Address offset: 0x2024 */ - uint32_t RESERVED3; /*!< Reserved, Address offset: 0x2028 */ - __IO uint32_t AXI_TARG1_FN_MOD_LB; /*!< AXI interconnect - TARG 1 long burst functionality modification register, Address offset: 0x202C */ - uint32_t RESERVED4[54]; /*!< Reserved, Address offset: 0x2030-0x2104 */ - __IO uint32_t AXI_TARG1_FN_MOD; /*!< AXI interconnect - TARG 1 issuing functionality modification register, Address offset: 0x2108 */ - uint32_t RESERVED5[959]; /*!< Reserved, Address offset: 0x210C-0x3004 */ - __IO uint32_t AXI_TARG2_FN_MOD_ISS_BM; /*!< AXI interconnect - TARG 2 bus matrix issuing functionality register, Address offset: 0x3008 */ - uint32_t RESERVED6[6]; /*!< Reserved, Address offset: 0x300C-0x3020 */ - __IO uint32_t AXI_TARG2_FN_MOD2; /*!< AXI interconnect - TARG 2 bus matrix functionality 2 register, Address offset: 0x3024 */ - uint32_t RESERVED7; /*!< Reserved, Address offset: 0x3028 */ - __IO uint32_t AXI_TARG2_FN_MOD_LB; /*!< AXI interconnect - TARG 2 long burst functionality modification register, Address offset: 0x302C */ - uint32_t RESERVED8[54]; /*!< Reserved, Address offset: 0x3030-0x3104 */ - __IO uint32_t AXI_TARG2_FN_MOD; /*!< AXI interconnect - TARG 2 issuing functionality modification register, Address offset: 0x3108 */ - uint32_t RESERVED9[959]; /*!< Reserved, Address offset: 0x310C-0x4004 */ - __IO uint32_t AXI_TARG3_FN_MOD_ISS_BM; /*!< AXI interconnect - TARG 3 bus matrix issuing functionality register, Address offset: 0x4008 */ - uint32_t RESERVED10[1023]; /*!< Reserved, Address offset: 0x400C-0x5004 */ - __IO uint32_t AXI_TARG4_FN_MOD_ISS_BM; /*!< AXI interconnect - TARG 4 bus matrix issuing functionality register, Address offset: 0x5008 */ - uint32_t RESERVED11[1023]; /*!< Reserved, Address offset: 0x500C-0x6004 */ - __IO uint32_t AXI_TARG5_FN_MOD_ISS_BM; /*!< AXI interconnect - TARG 5 bus matrix issuing functionality register, Address offset: 0x6008 */ - uint32_t RESERVED12[1023]; /*!< Reserved, Address offset: 0x600C-0x7004 */ - __IO uint32_t AXI_TARG6_FN_MOD_ISS_BM; /*!< AXI interconnect - TARG 6 bus matrix issuing functionality register, Address offset: 0x7008 */ - uint32_t RESERVED13[1023]; /*!< Reserved, Address offset: 0x700C-0x8004 */ - __IO uint32_t AXI_TARG7_FN_MOD_ISS_BM; /*!< AXI interconnect - TARG 7 bus matrix issuing functionality register, Address offset: 0x8008 */ - uint32_t RESERVED14[6]; /*!< Reserved, Address offset: 0x800C-0x8020 */ - __IO uint32_t AXI_TARG7_FN_MOD2; /*!< AXI interconnect - TARG 7 bus matrix functionality 2 register, Address offset: 0x8024 */ - uint32_t RESERVED15; /*!< Reserved, Address offset: 0x8028 */ - __IO uint32_t AXI_TARG7_FN_MOD_LB; /*!< AXI interconnect - TARG 7 long burst functionality modification register, Address offset: 0x802C */ - uint32_t RESERVED16[54]; /*!< Reserved, Address offset: 0x8030-0x8104 */ - __IO uint32_t AXI_TARG7_FN_MOD; /*!< AXI interconnect - TARG 7 issuing functionality modification register, Address offset: 0x8108 */ - uint32_t RESERVED17[959]; /*!< Reserved, Address offset: 0x810C-0x9004 */ - __IO uint32_t AXI_TARG8_FN_MOD_ISS_BM; /*!< AXI interconnect - TARG 8 bus matrix issuing functionality register, Address offset: 0x9008 */ - uint32_t RESERVED117[6]; /*!< Reserved, Address offset: 0x900C-0x9020 */ - __IO uint32_t AXI_TARG8_FN_MOD2; /*!< AXI interconnect - TARG 8 bus matrix functionality 2 register, Address offset: 0x9024 */ - uint32_t RESERVED118[56]; /*!< Reserved, Address offset: 0x9028-0x9104 */ - __IO uint32_t AXI_TARG8_FN_MOD; /*!< AXI interconnect - TARG 8 issuing functionality modification register, Address offset: 0x9108 */ - uint32_t RESERVED119[58310]; /*!< Reserved, Address offset: 0x910C-0x42020 */ - __IO uint32_t AXI_INI1_FN_MOD2; /*!< AXI interconnect - INI 1 functionality modification 2 register, Address offset: 0x42024 */ - __IO uint32_t AXI_INI1_FN_MOD_AHB; /*!< AXI interconnect - INI 1 AHB functionality modification register, Address offset: 0x42028 */ - uint32_t RESERVED18[53]; /*!< Reserved, Address offset: 0x4202C-0x420FC */ - __IO uint32_t AXI_INI1_READ_QOS; /*!< AXI interconnect - INI 1 read QoS register, Address offset: 0x42100 */ - __IO uint32_t AXI_INI1_WRITE_QOS; /*!< AXI interconnect - INI 1 write QoS register, Address offset: 0x42104 */ - __IO uint32_t AXI_INI1_FN_MOD; /*!< AXI interconnect - INI 1 issuing functionality modification register, Address offset: 0x42108 */ - uint32_t RESERVED19[1021]; /*!< Reserved, Address offset: 0x4210C-0x430FC */ - __IO uint32_t AXI_INI2_READ_QOS; /*!< AXI interconnect - INI 2 read QoS register, Address offset: 0x43100 */ - __IO uint32_t AXI_INI2_WRITE_QOS; /*!< AXI interconnect - INI 2 write QoS register, Address offset: 0x43104 */ - __IO uint32_t AXI_INI2_FN_MOD; /*!< AXI interconnect - INI 2 issuing functionality modification register, Address offset: 0x43108 */ - uint32_t RESERVED20[966]; /*!< Reserved, Address offset: 0x4310C-0x44020 */ - __IO uint32_t AXI_INI3_FN_MOD2; /*!< AXI interconnect - INI 3 functionality modification 2 register, Address offset: 0x44024 */ - __IO uint32_t AXI_INI3_FN_MOD_AHB; /*!< AXI interconnect - INI 3 AHB functionality modification register, Address offset: 0x44028 */ - uint32_t RESERVED21[53]; /*!< Reserved, Address offset: 0x4402C-0x440FC */ - __IO uint32_t AXI_INI3_READ_QOS; /*!< AXI interconnect - INI 3 read QoS register, Address offset: 0x44100 */ - __IO uint32_t AXI_INI3_WRITE_QOS; /*!< AXI interconnect - INI 3 write QoS register, Address offset: 0x44104 */ - __IO uint32_t AXI_INI3_FN_MOD; /*!< AXI interconnect - INI 3 issuing functionality modification register, Address offset: 0x44108 */ - uint32_t RESERVED22[1021]; /*!< Reserved, Address offset: 0x4410C-0x450FC */ - __IO uint32_t AXI_INI4_READ_QOS; /*!< AXI interconnect - INI 4 read QoS register, Address offset: 0x45100 */ - __IO uint32_t AXI_INI4_WRITE_QOS; /*!< AXI interconnect - INI 4 write QoS register, Address offset: 0x45104 */ - __IO uint32_t AXI_INI4_FN_MOD; /*!< AXI interconnect - INI 4 issuing functionality modification register, Address offset: 0x45108 */ - uint32_t RESERVED23[1021]; /*!< Reserved, Address offset: 0x4510C-0x460FC */ - __IO uint32_t AXI_INI5_READ_QOS; /*!< AXI interconnect - INI 5 read QoS register, Address offset: 0x46100 */ - __IO uint32_t AXI_INI5_WRITE_QOS; /*!< AXI interconnect - INI 5 write QoS register, Address offset: 0x46104 */ - __IO uint32_t AXI_INI5_FN_MOD; /*!< AXI interconnect - INI 5 issuing functionality modification register, Address offset: 0x46108 */ - uint32_t RESERVED24[1021]; /*!< Reserved, Address offset: 0x4610C-0x470FC */ - __IO uint32_t AXI_INI6_READ_QOS; /*!< AXI interconnect - INI 6 read QoS register, Address offset: 0x47100 */ - __IO uint32_t AXI_INI6_WRITE_QOS; /*!< AXI interconnect - INI 6 write QoS register, Address offset: 0x47104 */ - __IO uint32_t AXI_INI6_FN_MOD; /*!< AXI interconnect - INI 6 issuing functionality modification register, Address offset: 0x47108 */ - -} GPV_TypeDef; - -/** @addtogroup Peripheral_memory_map - * @{ - */ -#define D1_ITCMRAM_BASE (0x00000000UL) /*!< Base address of : 64KB RAM reserved for CPU execution/instruction accessible over ITCM */ -#define D1_ITCMICP_BASE (0x00100000UL) /*!< Base address of : (up to 128KB) embedded Test FLASH memory accessible over ITCM */ -#define D1_DTCMRAM_BASE (0x20000000UL) /*!< Base address of : 128KB system data RAM accessible over DTCM */ -#define D1_AXIFLASH_BASE (0x08000000UL) /*!< Base address of : (up to 1 MB) embedded FLASH memory accessible over AXI */ -#define D1_AXIICP_BASE (0x1FF00000UL) /*!< Base address of : (up to 128KB) embedded Test FLASH memory accessible over AXI */ -#define D1_AXISRAM1_BASE (0x24000000UL) /*!< Base address of : (up to 128KB) system data RAM1 accessible over over AXI */ -#define D1_AXISRAM2_BASE (0x24020000UL) /*!< Base address of : (up to 192KB) system data RAM2 accessible over over AXI to be shared with ITCM (64K granularity) */ -#define D1_AXISRAM_BASE D1_AXISRAM1_BASE /*!< Base address of : (up to 320KB) system data RAM1/2 accessible over over AXI */ - -#define D2_AHBSRAM1_BASE (0x30000000UL) /*!< Base address of : (up to 16KB) system data RAM accessible over over AXI->AHB Bridge */ -#define D2_AHBSRAM2_BASE (0x30004000UL) /*!< Base address of : (up to 16KB) system data RAM accessible over over AXI->AHB Bridge */ -#define D2_AHBSRAM_BASE D2_AHBSRAM1_BASE /*!< Base address of : (up to 32KB) system data RAM1/2 accessible over over AXI->AHB Bridge */ - -#define D3_BKPSRAM_BASE (0x38800000UL) /*!< Base address of : Backup SRAM(4 KB) over AXI->AHB Bridge */ -#define D3_SRAM_BASE (0x38000000UL) /*!< Base address of : Backup SRAM(16 KB) over AXI->AHB Bridge */ - -#define PERIPH_BASE (0x40000000UL) /*!< Base address of : AHB/APB Peripherals */ -#define OCTOSPI1_BASE (0x90000000UL) /*!< Base address of : OCTOSPI1 memories accessible over AXI */ -#define OCTOSPI2_BASE (0x70000000UL) /*!< Base address of : OCTOSPI2 memories accessible over AXI */ - -#define FLASH_BANK1_BASE (0x08000000UL) /*!< Base address of : (up to 1 MB) Flash Bank1 accessible over AXI */ -#define FLASH_END (0x080FFFFFUL) /*!< FLASH end address */ - - -/* Legacy define */ -#define FLASH_BASE FLASH_BANK1_BASE - -/*!< Device electronic signature memory map */ -#define UID_BASE (0x1FF1E800UL) /*!< Unique device ID register base address */ -#define FLASHSIZE_BASE (0x1FF1E880UL) /*!< FLASH Size register base address */ - - -/*!< Peripheral memory map */ -#define D2_APB1PERIPH_BASE PERIPH_BASE -#define D2_APB2PERIPH_BASE (PERIPH_BASE + 0x00010000UL) -#define D2_AHB1PERIPH_BASE (PERIPH_BASE + 0x00020000UL) -#define D2_AHB2PERIPH_BASE (PERIPH_BASE + 0x08020000UL) - -#define D1_APB1PERIPH_BASE (PERIPH_BASE + 0x10000000UL) -#define D1_AHB1PERIPH_BASE (PERIPH_BASE + 0x12000000UL) - -#define D3_APB1PERIPH_BASE (PERIPH_BASE + 0x18000000UL) -#define D3_AHB1PERIPH_BASE (PERIPH_BASE + 0x18020000UL) - -/*!< Legacy Peripheral memory map */ -#define APB1PERIPH_BASE PERIPH_BASE -#define APB2PERIPH_BASE (PERIPH_BASE + 0x00010000UL) -#define AHB1PERIPH_BASE (PERIPH_BASE + 0x00020000UL) -#define AHB2PERIPH_BASE (PERIPH_BASE + 0x08000000UL) - - -/*!< D1_AHB1PERIPH peripherals */ - -#define MDMA_BASE (D1_AHB1PERIPH_BASE + 0x0000UL) -#define DMA2D_BASE (D1_AHB1PERIPH_BASE + 0x1000UL) -#define FLASH_R_BASE (D1_AHB1PERIPH_BASE + 0x2000UL) -#define FMC_R_BASE (D1_AHB1PERIPH_BASE + 0x4000UL) -#define OCTOSPI1_R_BASE (D1_AHB1PERIPH_BASE + 0x5000UL) -#define DLYB_OCTOSPI1_BASE (D1_AHB1PERIPH_BASE + 0x6000UL) -#define SDMMC1_BASE (D1_AHB1PERIPH_BASE + 0x7000UL) -#define DLYB_SDMMC1_BASE (D1_AHB1PERIPH_BASE + 0x8000UL) -#define RAMECC1_BASE (D1_AHB1PERIPH_BASE + 0x9000UL) -#define OCTOSPI2_R_BASE (D1_AHB1PERIPH_BASE + 0xA000UL) -#define DLYB_OCTOSPI2_BASE (D1_AHB1PERIPH_BASE + 0xB000UL) -#define OCTOSPIM_BASE (D1_AHB1PERIPH_BASE + 0xB400UL) - -#define OTFDEC1_BASE (D1_AHB1PERIPH_BASE + 0xB800UL) -#define OTFDEC1_REGION1_BASE (OTFDEC1_BASE + 0x20UL) -#define OTFDEC1_REGION2_BASE (OTFDEC1_BASE + 0x50UL) -#define OTFDEC1_REGION3_BASE (OTFDEC1_BASE + 0x80UL) -#define OTFDEC1_REGION4_BASE (OTFDEC1_BASE + 0xB0UL) -#define OTFDEC2_BASE (D1_AHB1PERIPH_BASE + 0xBC00UL) -#define OTFDEC2_REGION1_BASE (OTFDEC2_BASE + 0x20UL) -#define OTFDEC2_REGION2_BASE (OTFDEC2_BASE + 0x50UL) -#define OTFDEC2_REGION3_BASE (OTFDEC2_BASE + 0x80UL) -#define OTFDEC2_REGION4_BASE (OTFDEC2_BASE + 0xB0UL) - -/*!< D2_AHB1PERIPH peripherals */ - -#define DMA1_BASE (D2_AHB1PERIPH_BASE + 0x0000UL) -#define DMA2_BASE (D2_AHB1PERIPH_BASE + 0x0400UL) -#define DMAMUX1_BASE (D2_AHB1PERIPH_BASE + 0x0800UL) -#define ADC1_BASE (D2_AHB1PERIPH_BASE + 0x2000UL) -#define ADC2_BASE (D2_AHB1PERIPH_BASE + 0x2100UL) -#define ADC12_COMMON_BASE (D2_AHB1PERIPH_BASE + 0x2300UL) -#define ETH_BASE (D2_AHB1PERIPH_BASE + 0x8000UL) -#define ETH_MAC_BASE (ETH_BASE) - -/*!< USB registers base address */ -#define USB1_OTG_HS_PERIPH_BASE (0x40040000UL) -#define USB_OTG_GLOBAL_BASE (0x000UL) -#define USB_OTG_DEVICE_BASE (0x800UL) -#define USB_OTG_IN_ENDPOINT_BASE (0x900UL) -#define USB_OTG_OUT_ENDPOINT_BASE (0xB00UL) -#define USB_OTG_EP_REG_SIZE (0x20UL) -#define USB_OTG_HOST_BASE (0x400UL) -#define USB_OTG_HOST_PORT_BASE (0x440UL) -#define USB_OTG_HOST_CHANNEL_BASE (0x500UL) -#define USB_OTG_HOST_CHANNEL_SIZE (0x20UL) -#define USB_OTG_PCGCCTL_BASE (0xE00UL) -#define USB_OTG_FIFO_BASE (0x1000UL) -#define USB_OTG_FIFO_SIZE (0x1000UL) - -/*!< D2_AHB2PERIPH peripherals */ - -#define DCMI_BASE (D2_AHB2PERIPH_BASE + 0x0000UL) -#define PSSI_BASE (D2_AHB2PERIPH_BASE + 0x0400UL) -#define CRYP_BASE (D2_AHB2PERIPH_BASE + 0x1000UL) -#define HASH_BASE (D2_AHB2PERIPH_BASE + 0x1400UL) -#define HASH_DIGEST_BASE (D2_AHB2PERIPH_BASE + 0x1710UL) -#define RNG_BASE (D2_AHB2PERIPH_BASE + 0x1800UL) -#define SDMMC2_BASE (D2_AHB2PERIPH_BASE + 0x2400UL) -#define DLYB_SDMMC2_BASE (D2_AHB2PERIPH_BASE + 0x2800UL) -#define RAMECC2_BASE (D2_AHB2PERIPH_BASE + 0x3000UL) -#define FMAC_BASE (D2_AHB2PERIPH_BASE + 0x4000UL) -#define CORDIC_BASE (D2_AHB2PERIPH_BASE + 0x4400UL) - -/*!< D3_AHB1PERIPH peripherals */ -#define GPIOA_BASE (D3_AHB1PERIPH_BASE + 0x0000UL) -#define GPIOB_BASE (D3_AHB1PERIPH_BASE + 0x0400UL) -#define GPIOC_BASE (D3_AHB1PERIPH_BASE + 0x0800UL) -#define GPIOD_BASE (D3_AHB1PERIPH_BASE + 0x0C00UL) -#define GPIOE_BASE (D3_AHB1PERIPH_BASE + 0x1000UL) -#define GPIOF_BASE (D3_AHB1PERIPH_BASE + 0x1400UL) -#define GPIOG_BASE (D3_AHB1PERIPH_BASE + 0x1800UL) -#define GPIOH_BASE (D3_AHB1PERIPH_BASE + 0x1C00UL) -#define GPIOJ_BASE (D3_AHB1PERIPH_BASE + 0x2400UL) -#define GPIOK_BASE (D3_AHB1PERIPH_BASE + 0x2800UL) -#define RCC_BASE (D3_AHB1PERIPH_BASE + 0x4400UL) -#define PWR_BASE (D3_AHB1PERIPH_BASE + 0x4800UL) -#define CRC_BASE (D3_AHB1PERIPH_BASE + 0x4C00UL) -#define BDMA_BASE (D3_AHB1PERIPH_BASE + 0x5400UL) -#define DMAMUX2_BASE (D3_AHB1PERIPH_BASE + 0x5800UL) -#define ADC3_BASE (D3_AHB1PERIPH_BASE + 0x6000UL) -#define ADC3_COMMON_BASE (D3_AHB1PERIPH_BASE + 0x6300UL) -#define HSEM_BASE (D3_AHB1PERIPH_BASE + 0x6400UL) -#define RAMECC3_BASE (D3_AHB1PERIPH_BASE + 0x7000UL) - -/*!< D1_APB1PERIPH peripherals */ -#define LTDC_BASE (D1_APB1PERIPH_BASE + 0x1000UL) -#define LTDC_Layer1_BASE (LTDC_BASE + 0x84UL) -#define LTDC_Layer2_BASE (LTDC_BASE + 0x104UL) -#define WWDG1_BASE (D1_APB1PERIPH_BASE + 0x3000UL) - -/*!< D2_APB1PERIPH peripherals */ -#define TIM2_BASE (D2_APB1PERIPH_BASE + 0x0000UL) -#define TIM3_BASE (D2_APB1PERIPH_BASE + 0x0400UL) -#define TIM4_BASE (D2_APB1PERIPH_BASE + 0x0800UL) -#define TIM5_BASE (D2_APB1PERIPH_BASE + 0x0C00UL) -#define TIM6_BASE (D2_APB1PERIPH_BASE + 0x1000UL) -#define TIM7_BASE (D2_APB1PERIPH_BASE + 0x1400UL) -#define TIM12_BASE (D2_APB1PERIPH_BASE + 0x1800UL) -#define TIM13_BASE (D2_APB1PERIPH_BASE + 0x1C00UL) -#define TIM14_BASE (D2_APB1PERIPH_BASE + 0x2000UL) -#define LPTIM1_BASE (D2_APB1PERIPH_BASE + 0x2400UL) - - -#define SPI2_BASE (D2_APB1PERIPH_BASE + 0x3800UL) -#define SPI3_BASE (D2_APB1PERIPH_BASE + 0x3C00UL) -#define SPDIFRX_BASE (D2_APB1PERIPH_BASE + 0x4000UL) -#define USART2_BASE (D2_APB1PERIPH_BASE + 0x4400UL) -#define USART3_BASE (D2_APB1PERIPH_BASE + 0x4800UL) -#define UART4_BASE (D2_APB1PERIPH_BASE + 0x4C00UL) -#define UART5_BASE (D2_APB1PERIPH_BASE + 0x5000UL) -#define I2C1_BASE (D2_APB1PERIPH_BASE + 0x5400UL) -#define I2C2_BASE (D2_APB1PERIPH_BASE + 0x5800UL) -#define I2C3_BASE (D2_APB1PERIPH_BASE + 0x5C00UL) -#define I2C5_BASE (D2_APB1PERIPH_BASE + 0x6400UL) -#define CEC_BASE (D2_APB1PERIPH_BASE + 0x6C00UL) -#define DAC1_BASE (D2_APB1PERIPH_BASE + 0x7400UL) -#define UART7_BASE (D2_APB1PERIPH_BASE + 0x7800UL) -#define UART8_BASE (D2_APB1PERIPH_BASE + 0x7C00UL) -#define CRS_BASE (D2_APB1PERIPH_BASE + 0x8400UL) -#define SWPMI1_BASE (D2_APB1PERIPH_BASE + 0x8800UL) -#define OPAMP_BASE (D2_APB1PERIPH_BASE + 0x9000UL) -#define OPAMP1_BASE (D2_APB1PERIPH_BASE + 0x9000UL) -#define OPAMP2_BASE (D2_APB1PERIPH_BASE + 0x9010UL) -#define MDIOS_BASE (D2_APB1PERIPH_BASE + 0x9400UL) -#define FDCAN1_BASE (D2_APB1PERIPH_BASE + 0xA000UL) -#define FDCAN2_BASE (D2_APB1PERIPH_BASE + 0xA400UL) -#define FDCAN_CCU_BASE (D2_APB1PERIPH_BASE + 0xA800UL) -#define SRAMCAN_BASE (D2_APB1PERIPH_BASE + 0xAC00UL) -#define FDCAN3_BASE (D2_APB1PERIPH_BASE + 0xD400UL) -#define TIM23_BASE (D2_APB1PERIPH_BASE + 0xE000UL) -#define TIM24_BASE (D2_APB1PERIPH_BASE + 0xE400UL) - -/*!< D2_APB2PERIPH peripherals */ - -#define TIM1_BASE (D2_APB2PERIPH_BASE + 0x0000UL) -#define TIM8_BASE (D2_APB2PERIPH_BASE + 0x0400UL) -#define USART1_BASE (D2_APB2PERIPH_BASE + 0x1000UL) -#define USART6_BASE (D2_APB2PERIPH_BASE + 0x1400UL) -#define UART9_BASE (D2_APB2PERIPH_BASE + 0x1800UL) -#define USART10_BASE (D2_APB2PERIPH_BASE + 0x1C00UL) -#define SPI1_BASE (D2_APB2PERIPH_BASE + 0x3000UL) -#define SPI4_BASE (D2_APB2PERIPH_BASE + 0x3400UL) -#define TIM15_BASE (D2_APB2PERIPH_BASE + 0x4000UL) -#define TIM16_BASE (D2_APB2PERIPH_BASE + 0x4400UL) -#define TIM17_BASE (D2_APB2PERIPH_BASE + 0x4800UL) -#define SPI5_BASE (D2_APB2PERIPH_BASE + 0x5000UL) -#define SAI1_BASE (D2_APB2PERIPH_BASE + 0x5800UL) -#define SAI1_Block_A_BASE (SAI1_BASE + 0x004UL) -#define SAI1_Block_B_BASE (SAI1_BASE + 0x024UL) -#define DFSDM1_BASE (D2_APB2PERIPH_BASE + 0x7800UL) -#define DFSDM1_Channel0_BASE (DFSDM1_BASE + 0x00UL) -#define DFSDM1_Channel1_BASE (DFSDM1_BASE + 0x20UL) -#define DFSDM1_Channel2_BASE (DFSDM1_BASE + 0x40UL) -#define DFSDM1_Channel3_BASE (DFSDM1_BASE + 0x60UL) -#define DFSDM1_Channel4_BASE (DFSDM1_BASE + 0x80UL) -#define DFSDM1_Channel5_BASE (DFSDM1_BASE + 0xA0UL) -#define DFSDM1_Channel6_BASE (DFSDM1_BASE + 0xC0UL) -#define DFSDM1_Channel7_BASE (DFSDM1_BASE + 0xE0UL) -#define DFSDM1_Filter0_BASE (DFSDM1_BASE + 0x100UL) -#define DFSDM1_Filter1_BASE (DFSDM1_BASE + 0x180UL) -#define DFSDM1_Filter2_BASE (DFSDM1_BASE + 0x200UL) -#define DFSDM1_Filter3_BASE (DFSDM1_BASE + 0x280UL) - - -/*!< D3_APB1PERIPH peripherals */ -#define EXTI_BASE (D3_APB1PERIPH_BASE + 0x0000UL) -#define EXTI_D1_BASE (EXTI_BASE + 0x0080UL) -#define EXTI_D2_BASE (EXTI_BASE + 0x00C0UL) -#define SYSCFG_BASE (D3_APB1PERIPH_BASE + 0x0400UL) -#define LPUART1_BASE (D3_APB1PERIPH_BASE + 0x0C00UL) -#define SPI6_BASE (D3_APB1PERIPH_BASE + 0x1400UL) -#define I2C4_BASE (D3_APB1PERIPH_BASE + 0x1C00UL) -#define LPTIM2_BASE (D3_APB1PERIPH_BASE + 0x2400UL) -#define LPTIM3_BASE (D3_APB1PERIPH_BASE + 0x2800UL) -#define LPTIM4_BASE (D3_APB1PERIPH_BASE + 0x2C00UL) -#define LPTIM5_BASE (D3_APB1PERIPH_BASE + 0x3000UL) -#define COMP12_BASE (D3_APB1PERIPH_BASE + 0x3800UL) -#define COMP1_BASE (COMP12_BASE + 0x0CUL) -#define COMP2_BASE (COMP12_BASE + 0x10UL) -#define VREFBUF_BASE (D3_APB1PERIPH_BASE + 0x3C00UL) -#define RTC_BASE (D3_APB1PERIPH_BASE + 0x4000UL) -#define IWDG1_BASE (D3_APB1PERIPH_BASE + 0x4800UL) - - -#define SAI4_BASE (D3_APB1PERIPH_BASE + 0x5400UL) -#define SAI4_Block_A_BASE (SAI4_BASE + 0x004UL) -#define SAI4_Block_B_BASE (SAI4_BASE + 0x024UL) - -#define DTS_BASE (D3_APB1PERIPH_BASE + 0x6800UL) - - - -#define BDMA_Channel0_BASE (BDMA_BASE + 0x0008UL) -#define BDMA_Channel1_BASE (BDMA_BASE + 0x001CUL) -#define BDMA_Channel2_BASE (BDMA_BASE + 0x0030UL) -#define BDMA_Channel3_BASE (BDMA_BASE + 0x0044UL) -#define BDMA_Channel4_BASE (BDMA_BASE + 0x0058UL) -#define BDMA_Channel5_BASE (BDMA_BASE + 0x006CUL) -#define BDMA_Channel6_BASE (BDMA_BASE + 0x0080UL) -#define BDMA_Channel7_BASE (BDMA_BASE + 0x0094UL) - -#define DMAMUX2_Channel0_BASE (DMAMUX2_BASE) -#define DMAMUX2_Channel1_BASE (DMAMUX2_BASE + 0x0004UL) -#define DMAMUX2_Channel2_BASE (DMAMUX2_BASE + 0x0008UL) -#define DMAMUX2_Channel3_BASE (DMAMUX2_BASE + 0x000CUL) -#define DMAMUX2_Channel4_BASE (DMAMUX2_BASE + 0x0010UL) -#define DMAMUX2_Channel5_BASE (DMAMUX2_BASE + 0x0014UL) -#define DMAMUX2_Channel6_BASE (DMAMUX2_BASE + 0x0018UL) -#define DMAMUX2_Channel7_BASE (DMAMUX2_BASE + 0x001CUL) - -#define DMAMUX2_RequestGenerator0_BASE (DMAMUX2_BASE + 0x0100UL) -#define DMAMUX2_RequestGenerator1_BASE (DMAMUX2_BASE + 0x0104UL) -#define DMAMUX2_RequestGenerator2_BASE (DMAMUX2_BASE + 0x0108UL) -#define DMAMUX2_RequestGenerator3_BASE (DMAMUX2_BASE + 0x010CUL) -#define DMAMUX2_RequestGenerator4_BASE (DMAMUX2_BASE + 0x0110UL) -#define DMAMUX2_RequestGenerator5_BASE (DMAMUX2_BASE + 0x0114UL) -#define DMAMUX2_RequestGenerator6_BASE (DMAMUX2_BASE + 0x0118UL) -#define DMAMUX2_RequestGenerator7_BASE (DMAMUX2_BASE + 0x011CUL) - -#define DMAMUX2_ChannelStatus_BASE (DMAMUX2_BASE + 0x0080UL) -#define DMAMUX2_RequestGenStatus_BASE (DMAMUX2_BASE + 0x0140UL) - -#define DMA1_Stream0_BASE (DMA1_BASE + 0x010UL) -#define DMA1_Stream1_BASE (DMA1_BASE + 0x028UL) -#define DMA1_Stream2_BASE (DMA1_BASE + 0x040UL) -#define DMA1_Stream3_BASE (DMA1_BASE + 0x058UL) -#define DMA1_Stream4_BASE (DMA1_BASE + 0x070UL) -#define DMA1_Stream5_BASE (DMA1_BASE + 0x088UL) -#define DMA1_Stream6_BASE (DMA1_BASE + 0x0A0UL) -#define DMA1_Stream7_BASE (DMA1_BASE + 0x0B8UL) - -#define DMA2_Stream0_BASE (DMA2_BASE + 0x010UL) -#define DMA2_Stream1_BASE (DMA2_BASE + 0x028UL) -#define DMA2_Stream2_BASE (DMA2_BASE + 0x040UL) -#define DMA2_Stream3_BASE (DMA2_BASE + 0x058UL) -#define DMA2_Stream4_BASE (DMA2_BASE + 0x070UL) -#define DMA2_Stream5_BASE (DMA2_BASE + 0x088UL) -#define DMA2_Stream6_BASE (DMA2_BASE + 0x0A0UL) -#define DMA2_Stream7_BASE (DMA2_BASE + 0x0B8UL) - -#define DMAMUX1_Channel0_BASE (DMAMUX1_BASE) -#define DMAMUX1_Channel1_BASE (DMAMUX1_BASE + 0x0004UL) -#define DMAMUX1_Channel2_BASE (DMAMUX1_BASE + 0x0008UL) -#define DMAMUX1_Channel3_BASE (DMAMUX1_BASE + 0x000CUL) -#define DMAMUX1_Channel4_BASE (DMAMUX1_BASE + 0x0010UL) -#define DMAMUX1_Channel5_BASE (DMAMUX1_BASE + 0x0014UL) -#define DMAMUX1_Channel6_BASE (DMAMUX1_BASE + 0x0018UL) -#define DMAMUX1_Channel7_BASE (DMAMUX1_BASE + 0x001CUL) -#define DMAMUX1_Channel8_BASE (DMAMUX1_BASE + 0x0020UL) -#define DMAMUX1_Channel9_BASE (DMAMUX1_BASE + 0x0024UL) -#define DMAMUX1_Channel10_BASE (DMAMUX1_BASE + 0x0028UL) -#define DMAMUX1_Channel11_BASE (DMAMUX1_BASE + 0x002CUL) -#define DMAMUX1_Channel12_BASE (DMAMUX1_BASE + 0x0030UL) -#define DMAMUX1_Channel13_BASE (DMAMUX1_BASE + 0x0034UL) -#define DMAMUX1_Channel14_BASE (DMAMUX1_BASE + 0x0038UL) -#define DMAMUX1_Channel15_BASE (DMAMUX1_BASE + 0x003CUL) - -#define DMAMUX1_RequestGenerator0_BASE (DMAMUX1_BASE + 0x0100UL) -#define DMAMUX1_RequestGenerator1_BASE (DMAMUX1_BASE + 0x0104UL) -#define DMAMUX1_RequestGenerator2_BASE (DMAMUX1_BASE + 0x0108UL) -#define DMAMUX1_RequestGenerator3_BASE (DMAMUX1_BASE + 0x010CUL) -#define DMAMUX1_RequestGenerator4_BASE (DMAMUX1_BASE + 0x0110UL) -#define DMAMUX1_RequestGenerator5_BASE (DMAMUX1_BASE + 0x0114UL) -#define DMAMUX1_RequestGenerator6_BASE (DMAMUX1_BASE + 0x0118UL) -#define DMAMUX1_RequestGenerator7_BASE (DMAMUX1_BASE + 0x011CUL) - -#define DMAMUX1_ChannelStatus_BASE (DMAMUX1_BASE + 0x0080UL) -#define DMAMUX1_RequestGenStatus_BASE (DMAMUX1_BASE + 0x0140UL) - -/*!< FMC Banks registers base address */ -#define FMC_Bank1_R_BASE (FMC_R_BASE + 0x0000UL) -#define FMC_Bank1E_R_BASE (FMC_R_BASE + 0x0104UL) -#define FMC_Bank2_R_BASE (FMC_R_BASE + 0x0060UL) -#define FMC_Bank3_R_BASE (FMC_R_BASE + 0x0080UL) -#define FMC_Bank5_6_R_BASE (FMC_R_BASE + 0x0140UL) - -/* Debug MCU registers base address */ -#define DBGMCU_BASE (0x5C001000UL) - -#define MDMA_Channel0_BASE (MDMA_BASE + 0x00000040UL) -#define MDMA_Channel1_BASE (MDMA_BASE + 0x00000080UL) -#define MDMA_Channel2_BASE (MDMA_BASE + 0x000000C0UL) -#define MDMA_Channel3_BASE (MDMA_BASE + 0x00000100UL) -#define MDMA_Channel4_BASE (MDMA_BASE + 0x00000140UL) -#define MDMA_Channel5_BASE (MDMA_BASE + 0x00000180UL) -#define MDMA_Channel6_BASE (MDMA_BASE + 0x000001C0UL) -#define MDMA_Channel7_BASE (MDMA_BASE + 0x00000200UL) -#define MDMA_Channel8_BASE (MDMA_BASE + 0x00000240UL) -#define MDMA_Channel9_BASE (MDMA_BASE + 0x00000280UL) -#define MDMA_Channel10_BASE (MDMA_BASE + 0x000002C0UL) -#define MDMA_Channel11_BASE (MDMA_BASE + 0x00000300UL) -#define MDMA_Channel12_BASE (MDMA_BASE + 0x00000340UL) -#define MDMA_Channel13_BASE (MDMA_BASE + 0x00000380UL) -#define MDMA_Channel14_BASE (MDMA_BASE + 0x000003C0UL) -#define MDMA_Channel15_BASE (MDMA_BASE + 0x00000400UL) - -#define RAMECC1_Monitor1_BASE (RAMECC1_BASE + 0x20UL) -#define RAMECC1_Monitor2_BASE (RAMECC1_BASE + 0x40UL) -#define RAMECC1_Monitor3_BASE (RAMECC1_BASE + 0x60UL) -#define RAMECC1_Monitor4_BASE (RAMECC1_BASE + 0x80UL) -#define RAMECC1_Monitor5_BASE (RAMECC1_BASE + 0xA0UL) -#define RAMECC1_Monitor6_BASE (RAMECC1_BASE + 0xC0UL) - -#define RAMECC2_Monitor1_BASE (RAMECC2_BASE + 0x20UL) -#define RAMECC2_Monitor2_BASE (RAMECC2_BASE + 0x40UL) -#define RAMECC2_Monitor3_BASE (RAMECC2_BASE + 0x60UL) - -#define RAMECC3_Monitor1_BASE (RAMECC3_BASE + 0x20UL) -#define RAMECC3_Monitor2_BASE (RAMECC3_BASE + 0x40UL) - - - -#define GPV_BASE (PERIPH_BASE + 0x11000000UL) /*!< GPV_BASE (PERIPH_BASE + 0x11000000UL) */ - -/** - * @} - */ - -/** @addtogroup Peripheral_declaration - * @{ - */ -#define TIM2 ((TIM_TypeDef *) TIM2_BASE) -#define TIM3 ((TIM_TypeDef *) TIM3_BASE) -#define TIM4 ((TIM_TypeDef *) TIM4_BASE) -#define TIM5 ((TIM_TypeDef *) TIM5_BASE) -#define TIM6 ((TIM_TypeDef *) TIM6_BASE) -#define TIM7 ((TIM_TypeDef *) TIM7_BASE) -#define TIM13 ((TIM_TypeDef *) TIM13_BASE) -#define TIM14 ((TIM_TypeDef *) TIM14_BASE) -#define VREFBUF ((VREFBUF_TypeDef *) VREFBUF_BASE) -#define RTC ((RTC_TypeDef *) RTC_BASE) -#define WWDG1 ((WWDG_TypeDef *) WWDG1_BASE) - - -#define IWDG1 ((IWDG_TypeDef *) IWDG1_BASE) -#define SPI2 ((SPI_TypeDef *) SPI2_BASE) -#define SPI3 ((SPI_TypeDef *) SPI3_BASE) -#define SPI4 ((SPI_TypeDef *) SPI4_BASE) -#define SPI5 ((SPI_TypeDef *) SPI5_BASE) -#define SPI6 ((SPI_TypeDef *) SPI6_BASE) -#define USART2 ((USART_TypeDef *) USART2_BASE) -#define USART3 ((USART_TypeDef *) USART3_BASE) -#define USART6 ((USART_TypeDef *) USART6_BASE) -#define USART10 ((USART_TypeDef *) USART10_BASE) -#define UART7 ((USART_TypeDef *) UART7_BASE) -#define UART8 ((USART_TypeDef *) UART8_BASE) -#define UART9 ((USART_TypeDef *) UART9_BASE) -#define CRS ((CRS_TypeDef *) CRS_BASE) -#define UART4 ((USART_TypeDef *) UART4_BASE) -#define UART5 ((USART_TypeDef *) UART5_BASE) -#define I2C1 ((I2C_TypeDef *) I2C1_BASE) -#define I2C2 ((I2C_TypeDef *) I2C2_BASE) -#define I2C3 ((I2C_TypeDef *) I2C3_BASE) -#define I2C4 ((I2C_TypeDef *) I2C4_BASE) -#define I2C5 ((I2C_TypeDef *) I2C5_BASE) -#define FDCAN1 ((FDCAN_GlobalTypeDef *) FDCAN1_BASE) -#define FDCAN2 ((FDCAN_GlobalTypeDef *) FDCAN2_BASE) -#define FDCAN_CCU ((FDCAN_ClockCalibrationUnit_TypeDef *) FDCAN_CCU_BASE) -#define FDCAN3 ((FDCAN_GlobalTypeDef *) FDCAN3_BASE) -#define TIM23 ((TIM_TypeDef *) TIM23_BASE) -#define TIM24 ((TIM_TypeDef *) TIM24_BASE) -#define CEC ((CEC_TypeDef *) CEC_BASE) -#define LPTIM1 ((LPTIM_TypeDef *) LPTIM1_BASE) -#define PWR ((PWR_TypeDef *) PWR_BASE) -#define DAC1 ((DAC_TypeDef *) DAC1_BASE) -#define LPUART1 ((USART_TypeDef *) LPUART1_BASE) -#define SWPMI1 ((SWPMI_TypeDef *) SWPMI1_BASE) -#define LPTIM2 ((LPTIM_TypeDef *) LPTIM2_BASE) -#define LPTIM3 ((LPTIM_TypeDef *) LPTIM3_BASE) -#define DTS ((DTS_TypeDef *) DTS_BASE) -#define LPTIM4 ((LPTIM_TypeDef *) LPTIM4_BASE) -#define LPTIM5 ((LPTIM_TypeDef *) LPTIM5_BASE) - -#define SYSCFG ((SYSCFG_TypeDef *) SYSCFG_BASE) -#define COMP12 ((COMPOPT_TypeDef *) COMP12_BASE) -#define COMP1 ((COMP_TypeDef *) COMP1_BASE) -#define COMP2 ((COMP_TypeDef *) COMP2_BASE) -#define COMP12_COMMON ((COMP_Common_TypeDef *) COMP2_BASE) -#define OPAMP ((OPAMP_TypeDef *) OPAMP_BASE) -#define OPAMP1 ((OPAMP_TypeDef *) OPAMP1_BASE) -#define OPAMP2 ((OPAMP_TypeDef *) OPAMP2_BASE) - - -#define EXTI ((EXTI_TypeDef *) EXTI_BASE) -#define EXTI_D1 ((EXTI_Core_TypeDef *) EXTI_D1_BASE) -#define EXTI_D2 ((EXTI_Core_TypeDef *) EXTI_D2_BASE) -#define TIM1 ((TIM_TypeDef *) TIM1_BASE) -#define SPI1 ((SPI_TypeDef *) SPI1_BASE) -#define TIM8 ((TIM_TypeDef *) TIM8_BASE) -#define USART1 ((USART_TypeDef *) USART1_BASE) -#define TIM12 ((TIM_TypeDef *) TIM12_BASE) -#define TIM15 ((TIM_TypeDef *) TIM15_BASE) -#define TIM16 ((TIM_TypeDef *) TIM16_BASE) -#define TIM17 ((TIM_TypeDef *) TIM17_BASE) -#define SAI1 ((SAI_TypeDef *) SAI1_BASE) -#define SAI1_Block_A ((SAI_Block_TypeDef *)SAI1_Block_A_BASE) -#define SAI1_Block_B ((SAI_Block_TypeDef *)SAI1_Block_B_BASE) -#define SAI4 ((SAI_TypeDef *) SAI4_BASE) -#define SAI4_Block_A ((SAI_Block_TypeDef *)SAI4_Block_A_BASE) -#define SAI4_Block_B ((SAI_Block_TypeDef *)SAI4_Block_B_BASE) - -#define SPDIFRX ((SPDIFRX_TypeDef *) SPDIFRX_BASE) -#define DFSDM1_Channel0 ((DFSDM_Channel_TypeDef *) DFSDM1_Channel0_BASE) -#define DFSDM1_Channel1 ((DFSDM_Channel_TypeDef *) DFSDM1_Channel1_BASE) -#define DFSDM1_Channel2 ((DFSDM_Channel_TypeDef *) DFSDM1_Channel2_BASE) -#define DFSDM1_Channel3 ((DFSDM_Channel_TypeDef *) DFSDM1_Channel3_BASE) -#define DFSDM1_Channel4 ((DFSDM_Channel_TypeDef *) DFSDM1_Channel4_BASE) -#define DFSDM1_Channel5 ((DFSDM_Channel_TypeDef *) DFSDM1_Channel5_BASE) -#define DFSDM1_Channel6 ((DFSDM_Channel_TypeDef *) DFSDM1_Channel6_BASE) -#define DFSDM1_Channel7 ((DFSDM_Channel_TypeDef *) DFSDM1_Channel7_BASE) -#define DFSDM1_Filter0 ((DFSDM_Filter_TypeDef *) DFSDM1_Filter0_BASE) -#define DFSDM1_Filter1 ((DFSDM_Filter_TypeDef *) DFSDM1_Filter1_BASE) -#define DFSDM1_Filter2 ((DFSDM_Filter_TypeDef *) DFSDM1_Filter2_BASE) -#define DFSDM1_Filter3 ((DFSDM_Filter_TypeDef *) DFSDM1_Filter3_BASE) -#define DMA2D ((DMA2D_TypeDef *) DMA2D_BASE) -#define DCMI ((DCMI_TypeDef *) DCMI_BASE) -#define PSSI ((PSSI_TypeDef *) PSSI_BASE) -#define RCC ((RCC_TypeDef *) RCC_BASE) -#define FLASH ((FLASH_TypeDef *) FLASH_R_BASE) -#define CRC ((CRC_TypeDef *) CRC_BASE) - -#define GPIOA ((GPIO_TypeDef *) GPIOA_BASE) -#define GPIOB ((GPIO_TypeDef *) GPIOB_BASE) -#define GPIOC ((GPIO_TypeDef *) GPIOC_BASE) -#define GPIOD ((GPIO_TypeDef *) GPIOD_BASE) -#define GPIOE ((GPIO_TypeDef *) GPIOE_BASE) -#define GPIOF ((GPIO_TypeDef *) GPIOF_BASE) -#define GPIOG ((GPIO_TypeDef *) GPIOG_BASE) -#define GPIOH ((GPIO_TypeDef *) GPIOH_BASE) -#define GPIOJ ((GPIO_TypeDef *) GPIOJ_BASE) -#define GPIOK ((GPIO_TypeDef *) GPIOK_BASE) - -#define ADC1 ((ADC_TypeDef *) ADC1_BASE) -#define ADC2 ((ADC_TypeDef *) ADC2_BASE) -#define ADC3 ((ADC_TypeDef *) ADC3_BASE) -#define ADC3_COMMON ((ADC_Common_TypeDef *) ADC3_COMMON_BASE) -#define ADC12_COMMON ((ADC_Common_TypeDef *) ADC12_COMMON_BASE) - -#define CRYP ((CRYP_TypeDef *) CRYP_BASE) -#define HASH ((HASH_TypeDef *) HASH_BASE) -#define HASH_DIGEST ((HASH_DIGEST_TypeDef *) HASH_DIGEST_BASE) -#define RNG ((RNG_TypeDef *) RNG_BASE) -#define SDMMC2 ((SDMMC_TypeDef *) SDMMC2_BASE) -#define DLYB_SDMMC2 ((DLYB_TypeDef *) DLYB_SDMMC2_BASE) -#define FMAC ((FMAC_TypeDef *) FMAC_BASE) -#define CORDIC ((CORDIC_TypeDef *) CORDIC_BASE) - -#define BDMA ((BDMA_TypeDef *) BDMA_BASE) -#define BDMA_Channel0 ((BDMA_Channel_TypeDef *) BDMA_Channel0_BASE) -#define BDMA_Channel1 ((BDMA_Channel_TypeDef *) BDMA_Channel1_BASE) -#define BDMA_Channel2 ((BDMA_Channel_TypeDef *) BDMA_Channel2_BASE) -#define BDMA_Channel3 ((BDMA_Channel_TypeDef *) BDMA_Channel3_BASE) -#define BDMA_Channel4 ((BDMA_Channel_TypeDef *) BDMA_Channel4_BASE) -#define BDMA_Channel5 ((BDMA_Channel_TypeDef *) BDMA_Channel5_BASE) -#define BDMA_Channel6 ((BDMA_Channel_TypeDef *) BDMA_Channel6_BASE) -#define BDMA_Channel7 ((BDMA_Channel_TypeDef *) BDMA_Channel7_BASE) - -#define RAMECC1 ((RAMECC_TypeDef *)RAMECC1_BASE) -#define RAMECC1_Monitor1 ((RAMECC_MonitorTypeDef *)RAMECC1_Monitor1_BASE) -#define RAMECC1_Monitor2 ((RAMECC_MonitorTypeDef *)RAMECC1_Monitor2_BASE) -#define RAMECC1_Monitor3 ((RAMECC_MonitorTypeDef *)RAMECC1_Monitor3_BASE) -#define RAMECC1_Monitor4 ((RAMECC_MonitorTypeDef *)RAMECC1_Monitor4_BASE) -#define RAMECC1_Monitor5 ((RAMECC_MonitorTypeDef *)RAMECC1_Monitor5_BASE) -#define RAMECC1_Monitor6 ((RAMECC_MonitorTypeDef *)RAMECC1_Monitor6_BASE) - -#define RAMECC2 ((RAMECC_TypeDef *)RAMECC2_BASE) -#define RAMECC2_Monitor1 ((RAMECC_MonitorTypeDef *)RAMECC2_Monitor1_BASE) -#define RAMECC2_Monitor2 ((RAMECC_MonitorTypeDef *)RAMECC2_Monitor2_BASE) -#define RAMECC2_Monitor3 ((RAMECC_MonitorTypeDef *)RAMECC2_Monitor3_BASE) - -#define RAMECC3 ((RAMECC_TypeDef *)RAMECC3_BASE) -#define RAMECC3_Monitor1 ((RAMECC_MonitorTypeDef *)RAMECC3_Monitor1_BASE) -#define RAMECC3_Monitor2 ((RAMECC_MonitorTypeDef *)RAMECC3_Monitor2_BASE) - -#define DMAMUX2 ((DMAMUX_Channel_TypeDef *) DMAMUX2_BASE) -#define DMAMUX2_Channel0 ((DMAMUX_Channel_TypeDef *) DMAMUX2_Channel0_BASE) -#define DMAMUX2_Channel1 ((DMAMUX_Channel_TypeDef *) DMAMUX2_Channel1_BASE) -#define DMAMUX2_Channel2 ((DMAMUX_Channel_TypeDef *) DMAMUX2_Channel2_BASE) -#define DMAMUX2_Channel3 ((DMAMUX_Channel_TypeDef *) DMAMUX2_Channel3_BASE) -#define DMAMUX2_Channel4 ((DMAMUX_Channel_TypeDef *) DMAMUX2_Channel4_BASE) -#define DMAMUX2_Channel5 ((DMAMUX_Channel_TypeDef *) DMAMUX2_Channel5_BASE) -#define DMAMUX2_Channel6 ((DMAMUX_Channel_TypeDef *) DMAMUX2_Channel6_BASE) -#define DMAMUX2_Channel7 ((DMAMUX_Channel_TypeDef *) DMAMUX2_Channel7_BASE) - - -#define DMAMUX2_RequestGenerator0 ((DMAMUX_RequestGen_TypeDef *) DMAMUX2_RequestGenerator0_BASE) -#define DMAMUX2_RequestGenerator1 ((DMAMUX_RequestGen_TypeDef *) DMAMUX2_RequestGenerator1_BASE) -#define DMAMUX2_RequestGenerator2 ((DMAMUX_RequestGen_TypeDef *) DMAMUX2_RequestGenerator2_BASE) -#define DMAMUX2_RequestGenerator3 ((DMAMUX_RequestGen_TypeDef *) DMAMUX2_RequestGenerator3_BASE) -#define DMAMUX2_RequestGenerator4 ((DMAMUX_RequestGen_TypeDef *) DMAMUX2_RequestGenerator4_BASE) -#define DMAMUX2_RequestGenerator5 ((DMAMUX_RequestGen_TypeDef *) DMAMUX2_RequestGenerator5_BASE) -#define DMAMUX2_RequestGenerator6 ((DMAMUX_RequestGen_TypeDef *) DMAMUX2_RequestGenerator6_BASE) -#define DMAMUX2_RequestGenerator7 ((DMAMUX_RequestGen_TypeDef *) DMAMUX2_RequestGenerator7_BASE) - -#define DMAMUX2_ChannelStatus ((DMAMUX_ChannelStatus_TypeDef *) DMAMUX2_ChannelStatus_BASE) -#define DMAMUX2_RequestGenStatus ((DMAMUX_RequestGenStatus_TypeDef *) DMAMUX2_RequestGenStatus_BASE) - -#define DMA2 ((DMA_TypeDef *) DMA2_BASE) -#define DMA2_Stream0 ((DMA_Stream_TypeDef *) DMA2_Stream0_BASE) -#define DMA2_Stream1 ((DMA_Stream_TypeDef *) DMA2_Stream1_BASE) -#define DMA2_Stream2 ((DMA_Stream_TypeDef *) DMA2_Stream2_BASE) -#define DMA2_Stream3 ((DMA_Stream_TypeDef *) DMA2_Stream3_BASE) -#define DMA2_Stream4 ((DMA_Stream_TypeDef *) DMA2_Stream4_BASE) -#define DMA2_Stream5 ((DMA_Stream_TypeDef *) DMA2_Stream5_BASE) -#define DMA2_Stream6 ((DMA_Stream_TypeDef *) DMA2_Stream6_BASE) -#define DMA2_Stream7 ((DMA_Stream_TypeDef *) DMA2_Stream7_BASE) - -#define DMA1 ((DMA_TypeDef *) DMA1_BASE) -#define DMA1_Stream0 ((DMA_Stream_TypeDef *) DMA1_Stream0_BASE) -#define DMA1_Stream1 ((DMA_Stream_TypeDef *) DMA1_Stream1_BASE) -#define DMA1_Stream2 ((DMA_Stream_TypeDef *) DMA1_Stream2_BASE) -#define DMA1_Stream3 ((DMA_Stream_TypeDef *) DMA1_Stream3_BASE) -#define DMA1_Stream4 ((DMA_Stream_TypeDef *) DMA1_Stream4_BASE) -#define DMA1_Stream5 ((DMA_Stream_TypeDef *) DMA1_Stream5_BASE) -#define DMA1_Stream6 ((DMA_Stream_TypeDef *) DMA1_Stream6_BASE) -#define DMA1_Stream7 ((DMA_Stream_TypeDef *) DMA1_Stream7_BASE) - - -#define DMAMUX1 ((DMAMUX_Channel_TypeDef *) DMAMUX1_BASE) -#define DMAMUX1_Channel0 ((DMAMUX_Channel_TypeDef *) DMAMUX1_Channel0_BASE) -#define DMAMUX1_Channel1 ((DMAMUX_Channel_TypeDef *) DMAMUX1_Channel1_BASE) -#define DMAMUX1_Channel2 ((DMAMUX_Channel_TypeDef *) DMAMUX1_Channel2_BASE) -#define DMAMUX1_Channel3 ((DMAMUX_Channel_TypeDef *) DMAMUX1_Channel3_BASE) -#define DMAMUX1_Channel4 ((DMAMUX_Channel_TypeDef *) DMAMUX1_Channel4_BASE) -#define DMAMUX1_Channel5 ((DMAMUX_Channel_TypeDef *) DMAMUX1_Channel5_BASE) -#define DMAMUX1_Channel6 ((DMAMUX_Channel_TypeDef *) DMAMUX1_Channel6_BASE) -#define DMAMUX1_Channel7 ((DMAMUX_Channel_TypeDef *) DMAMUX1_Channel7_BASE) -#define DMAMUX1_Channel8 ((DMAMUX_Channel_TypeDef *) DMAMUX1_Channel8_BASE) -#define DMAMUX1_Channel9 ((DMAMUX_Channel_TypeDef *) DMAMUX1_Channel9_BASE) -#define DMAMUX1_Channel10 ((DMAMUX_Channel_TypeDef *) DMAMUX1_Channel10_BASE) -#define DMAMUX1_Channel11 ((DMAMUX_Channel_TypeDef *) DMAMUX1_Channel11_BASE) -#define DMAMUX1_Channel12 ((DMAMUX_Channel_TypeDef *) DMAMUX1_Channel12_BASE) -#define DMAMUX1_Channel13 ((DMAMUX_Channel_TypeDef *) DMAMUX1_Channel13_BASE) -#define DMAMUX1_Channel14 ((DMAMUX_Channel_TypeDef *) DMAMUX1_Channel14_BASE) -#define DMAMUX1_Channel15 ((DMAMUX_Channel_TypeDef *) DMAMUX1_Channel15_BASE) - -#define DMAMUX1_RequestGenerator0 ((DMAMUX_RequestGen_TypeDef *) DMAMUX1_RequestGenerator0_BASE) -#define DMAMUX1_RequestGenerator1 ((DMAMUX_RequestGen_TypeDef *) DMAMUX1_RequestGenerator1_BASE) -#define DMAMUX1_RequestGenerator2 ((DMAMUX_RequestGen_TypeDef *) DMAMUX1_RequestGenerator2_BASE) -#define DMAMUX1_RequestGenerator3 ((DMAMUX_RequestGen_TypeDef *) DMAMUX1_RequestGenerator3_BASE) -#define DMAMUX1_RequestGenerator4 ((DMAMUX_RequestGen_TypeDef *) DMAMUX1_RequestGenerator4_BASE) -#define DMAMUX1_RequestGenerator5 ((DMAMUX_RequestGen_TypeDef *) DMAMUX1_RequestGenerator5_BASE) -#define DMAMUX1_RequestGenerator6 ((DMAMUX_RequestGen_TypeDef *) DMAMUX1_RequestGenerator6_BASE) -#define DMAMUX1_RequestGenerator7 ((DMAMUX_RequestGen_TypeDef *) DMAMUX1_RequestGenerator7_BASE) - -#define DMAMUX1_ChannelStatus ((DMAMUX_ChannelStatus_TypeDef *) DMAMUX1_ChannelStatus_BASE) -#define DMAMUX1_RequestGenStatus ((DMAMUX_RequestGenStatus_TypeDef *) DMAMUX1_RequestGenStatus_BASE) - - -#define FMC_Bank1_R ((FMC_Bank1_TypeDef *) FMC_Bank1_R_BASE) -#define FMC_Bank1E_R ((FMC_Bank1E_TypeDef *) FMC_Bank1E_R_BASE) -#define FMC_Bank2_R ((FMC_Bank2_TypeDef *) FMC_Bank2_R_BASE) -#define FMC_Bank3_R ((FMC_Bank3_TypeDef *) FMC_Bank3_R_BASE) -#define FMC_Bank5_6_R ((FMC_Bank5_6_TypeDef *) FMC_Bank5_6_R_BASE) - -#define OCTOSPI1 ((OCTOSPI_TypeDef *) OCTOSPI1_R_BASE) -#define DLYB_OCTOSPI1 ((DLYB_TypeDef *) DLYB_OCTOSPI1_BASE) -#define OCTOSPI2 ((OCTOSPI_TypeDef *) OCTOSPI2_R_BASE) -#define DLYB_OCTOSPI2 ((DLYB_TypeDef *) DLYB_OCTOSPI2_BASE) -#define OCTOSPIM ((OCTOSPIM_TypeDef *) OCTOSPIM_BASE) - -#define OTFDEC1 ((OTFDEC_TypeDef *) OTFDEC1_BASE) -#define OTFDEC1_REGION1 ((OTFDEC_Region_TypeDef *) OTFDEC1_REGION1_BASE) -#define OTFDEC1_REGION2 ((OTFDEC_Region_TypeDef *) OTFDEC1_REGION2_BASE) -#define OTFDEC1_REGION3 ((OTFDEC_Region_TypeDef *) OTFDEC1_REGION3_BASE) -#define OTFDEC1_REGION4 ((OTFDEC_Region_TypeDef *) OTFDEC1_REGION4_BASE) - -#define OTFDEC2 ((OTFDEC_TypeDef *) OTFDEC2_BASE) -#define OTFDEC2_REGION1 ((OTFDEC_Region_TypeDef *) OTFDEC2_REGION1_BASE) -#define OTFDEC2_REGION2 ((OTFDEC_Region_TypeDef *) OTFDEC2_REGION2_BASE) -#define OTFDEC2_REGION3 ((OTFDEC_Region_TypeDef *) OTFDEC2_REGION3_BASE) -#define OTFDEC2_REGION4 ((OTFDEC_Region_TypeDef *) OTFDEC2_REGION4_BASE) - -#define SDMMC1 ((SDMMC_TypeDef *) SDMMC1_BASE) -#define DLYB_SDMMC1 ((DLYB_TypeDef *) DLYB_SDMMC1_BASE) - -#define DBGMCU ((DBGMCU_TypeDef *) DBGMCU_BASE) - -#define HSEM ((HSEM_TypeDef *) HSEM_BASE) -#define HSEM_COMMON ((HSEM_Common_TypeDef *) (HSEM_BASE + 0x100UL)) - -#define LTDC ((LTDC_TypeDef *)LTDC_BASE) -#define LTDC_Layer1 ((LTDC_Layer_TypeDef *)LTDC_Layer1_BASE) -#define LTDC_Layer2 ((LTDC_Layer_TypeDef *)LTDC_Layer2_BASE) - -#define MDIOS ((MDIOS_TypeDef *) MDIOS_BASE) - -#define ETH ((ETH_TypeDef *)ETH_BASE) -#define MDMA ((MDMA_TypeDef *)MDMA_BASE) -#define MDMA_Channel0 ((MDMA_Channel_TypeDef *)MDMA_Channel0_BASE) -#define MDMA_Channel1 ((MDMA_Channel_TypeDef *)MDMA_Channel1_BASE) -#define MDMA_Channel2 ((MDMA_Channel_TypeDef *)MDMA_Channel2_BASE) -#define MDMA_Channel3 ((MDMA_Channel_TypeDef *)MDMA_Channel3_BASE) -#define MDMA_Channel4 ((MDMA_Channel_TypeDef *)MDMA_Channel4_BASE) -#define MDMA_Channel5 ((MDMA_Channel_TypeDef *)MDMA_Channel5_BASE) -#define MDMA_Channel6 ((MDMA_Channel_TypeDef *)MDMA_Channel6_BASE) -#define MDMA_Channel7 ((MDMA_Channel_TypeDef *)MDMA_Channel7_BASE) -#define MDMA_Channel8 ((MDMA_Channel_TypeDef *)MDMA_Channel8_BASE) -#define MDMA_Channel9 ((MDMA_Channel_TypeDef *)MDMA_Channel9_BASE) -#define MDMA_Channel10 ((MDMA_Channel_TypeDef *)MDMA_Channel10_BASE) -#define MDMA_Channel11 ((MDMA_Channel_TypeDef *)MDMA_Channel11_BASE) -#define MDMA_Channel12 ((MDMA_Channel_TypeDef *)MDMA_Channel12_BASE) -#define MDMA_Channel13 ((MDMA_Channel_TypeDef *)MDMA_Channel13_BASE) -#define MDMA_Channel14 ((MDMA_Channel_TypeDef *)MDMA_Channel14_BASE) -#define MDMA_Channel15 ((MDMA_Channel_TypeDef *)MDMA_Channel15_BASE) - - -#define USB1_OTG_HS ((USB_OTG_GlobalTypeDef *) USB1_OTG_HS_PERIPH_BASE) - -/* Legacy defines */ -#define USB_OTG_HS USB1_OTG_HS -#define USB_OTG_HS_PERIPH_BASE USB1_OTG_HS_PERIPH_BASE - -#define GPV ((GPV_TypeDef *) GPV_BASE) - -/** - * @} - */ - -/** @addtogroup Exported_constants - * @{ - */ - - /** @addtogroup Peripheral_Registers_Bits_Definition - * @{ - */ - -/******************************************************************************/ -/* Peripheral Registers_Bits_Definition */ -/******************************************************************************/ - -/******************************************************************************/ -/* */ -/* Analog to Digital Converter */ -/* */ -/******************************************************************************/ -/******************************* ADC VERSION ********************************/ -#define ADC_VER_V5_V90 -/******************** Bit definition for ADC_ISR register ********************/ -#define ADC_ISR_ADRDY_Pos (0U) -#define ADC_ISR_ADRDY_Msk (0x1UL << ADC_ISR_ADRDY_Pos) /*!< 0x00000001 */ -#define ADC_ISR_ADRDY ADC_ISR_ADRDY_Msk /*!< ADC Ready (ADRDY) flag */ -#define ADC_ISR_EOSMP_Pos (1U) -#define ADC_ISR_EOSMP_Msk (0x1UL << ADC_ISR_EOSMP_Pos) /*!< 0x00000002 */ -#define ADC_ISR_EOSMP ADC_ISR_EOSMP_Msk /*!< ADC End of Sampling flag */ -#define ADC_ISR_EOC_Pos (2U) -#define ADC_ISR_EOC_Msk (0x1UL << ADC_ISR_EOC_Pos) /*!< 0x00000004 */ -#define ADC_ISR_EOC ADC_ISR_EOC_Msk /*!< ADC End of Regular Conversion flag */ -#define ADC_ISR_EOS_Pos (3U) -#define ADC_ISR_EOS_Msk (0x1UL << ADC_ISR_EOS_Pos) /*!< 0x00000008 */ -#define ADC_ISR_EOS ADC_ISR_EOS_Msk /*!< ADC End of Regular sequence of Conversions flag */ -#define ADC_ISR_OVR_Pos (4U) -#define ADC_ISR_OVR_Msk (0x1UL << ADC_ISR_OVR_Pos) /*!< 0x00000010 */ -#define ADC_ISR_OVR ADC_ISR_OVR_Msk /*!< ADC overrun flag */ -#define ADC_ISR_JEOC_Pos (5U) -#define ADC_ISR_JEOC_Msk (0x1UL << ADC_ISR_JEOC_Pos) /*!< 0x00000020 */ -#define ADC_ISR_JEOC ADC_ISR_JEOC_Msk /*!< ADC End of Injected Conversion flag */ -#define ADC_ISR_JEOS_Pos (6U) -#define ADC_ISR_JEOS_Msk (0x1UL << ADC_ISR_JEOS_Pos) /*!< 0x00000040 */ -#define ADC_ISR_JEOS ADC_ISR_JEOS_Msk /*!< ADC End of Injected sequence of Conversions flag */ -#define ADC_ISR_AWD1_Pos (7U) -#define ADC_ISR_AWD1_Msk (0x1UL << ADC_ISR_AWD1_Pos) /*!< 0x00000080 */ -#define ADC_ISR_AWD1 ADC_ISR_AWD1_Msk /*!< ADC Analog watchdog 1 flag */ -#define ADC_ISR_AWD2_Pos (8U) -#define ADC_ISR_AWD2_Msk (0x1UL << ADC_ISR_AWD2_Pos) /*!< 0x00000100 */ -#define ADC_ISR_AWD2 ADC_ISR_AWD2_Msk /*!< ADC Analog watchdog 2 flag */ -#define ADC_ISR_AWD3_Pos (9U) -#define ADC_ISR_AWD3_Msk (0x1UL << ADC_ISR_AWD3_Pos) /*!< 0x00000200 */ -#define ADC_ISR_AWD3 ADC_ISR_AWD3_Msk /*!< ADC Analog watchdog 3 flag */ -#define ADC_ISR_JQOVF_Pos (10U) -#define ADC_ISR_JQOVF_Msk (0x1UL << ADC_ISR_JQOVF_Pos) /*!< 0x00000400 */ -#define ADC_ISR_JQOVF ADC_ISR_JQOVF_Msk /*!< ADC Injected Context Queue Overflow flag */ -#define ADC_ISR_LDORDY_Pos (12U) -#define ADC_ISR_LDORDY_Msk (0x1UL << ADC_ISR_LDORDY_Pos) /*!< 0x00001000 */ -#define ADC_ISR_LDORDY ADC_ISR_LDORDY_Msk /*!< ADC LDO Ready (LDORDY) flag */ - -/******************** Bit definition for ADC_IER register ********************/ -#define ADC_IER_ADRDYIE_Pos (0U) -#define ADC_IER_ADRDYIE_Msk (0x1UL << ADC_IER_ADRDYIE_Pos) /*!< 0x00000001 */ -#define ADC_IER_ADRDYIE ADC_IER_ADRDYIE_Msk /*!< ADC Ready (ADRDY) interrupt source */ -#define ADC_IER_EOSMPIE_Pos (1U) -#define ADC_IER_EOSMPIE_Msk (0x1UL << ADC_IER_EOSMPIE_Pos) /*!< 0x00000002 */ -#define ADC_IER_EOSMPIE ADC_IER_EOSMPIE_Msk /*!< ADC End of Sampling interrupt source */ -#define ADC_IER_EOCIE_Pos (2U) -#define ADC_IER_EOCIE_Msk (0x1UL << ADC_IER_EOCIE_Pos) /*!< 0x00000004 */ -#define ADC_IER_EOCIE ADC_IER_EOCIE_Msk /*!< ADC End of Regular Conversion interrupt source */ -#define ADC_IER_EOSIE_Pos (3U) -#define ADC_IER_EOSIE_Msk (0x1UL << ADC_IER_EOSIE_Pos) /*!< 0x00000008 */ -#define ADC_IER_EOSIE ADC_IER_EOSIE_Msk /*!< ADC End of Regular sequence of Conversions interrupt source */ -#define ADC_IER_OVRIE_Pos (4U) -#define ADC_IER_OVRIE_Msk (0x1UL << ADC_IER_OVRIE_Pos) /*!< 0x00000010 */ -#define ADC_IER_OVRIE ADC_IER_OVRIE_Msk /*!< ADC overrun interrupt source */ -#define ADC_IER_JEOCIE_Pos (5U) -#define ADC_IER_JEOCIE_Msk (0x1UL << ADC_IER_JEOCIE_Pos) /*!< 0x00000020 */ -#define ADC_IER_JEOCIE ADC_IER_JEOCIE_Msk /*!< ADC End of Injected Conversion interrupt source */ -#define ADC_IER_JEOSIE_Pos (6U) -#define ADC_IER_JEOSIE_Msk (0x1UL << ADC_IER_JEOSIE_Pos) /*!< 0x00000040 */ -#define ADC_IER_JEOSIE ADC_IER_JEOSIE_Msk /*!< ADC End of Injected sequence of Conversions interrupt source */ -#define ADC_IER_AWD1IE_Pos (7U) -#define ADC_IER_AWD1IE_Msk (0x1UL << ADC_IER_AWD1IE_Pos) /*!< 0x00000080 */ -#define ADC_IER_AWD1IE ADC_IER_AWD1IE_Msk /*!< ADC Analog watchdog 1 interrupt source */ -#define ADC_IER_AWD2IE_Pos (8U) -#define ADC_IER_AWD2IE_Msk (0x1UL << ADC_IER_AWD2IE_Pos) /*!< 0x00000100 */ -#define ADC_IER_AWD2IE ADC_IER_AWD2IE_Msk /*!< ADC Analog watchdog 2 interrupt source */ -#define ADC_IER_AWD3IE_Pos (9U) -#define ADC_IER_AWD3IE_Msk (0x1UL << ADC_IER_AWD3IE_Pos) /*!< 0x00000200 */ -#define ADC_IER_AWD3IE ADC_IER_AWD3IE_Msk /*!< ADC Analog watchdog 3 interrupt source */ -#define ADC_IER_JQOVFIE_Pos (10U) -#define ADC_IER_JQOVFIE_Msk (0x1UL << ADC_IER_JQOVFIE_Pos) /*!< 0x00000400 */ -#define ADC_IER_JQOVFIE ADC_IER_JQOVFIE_Msk /*!< ADC Injected Context Queue Overflow interrupt source */ - -/******************** Bit definition for ADC_CR register ********************/ -#define ADC_CR_ADEN_Pos (0U) -#define ADC_CR_ADEN_Msk (0x1UL << ADC_CR_ADEN_Pos) /*!< 0x00000001 */ -#define ADC_CR_ADEN ADC_CR_ADEN_Msk /*!< ADC Enable control */ -#define ADC_CR_ADDIS_Pos (1U) -#define ADC_CR_ADDIS_Msk (0x1UL << ADC_CR_ADDIS_Pos) /*!< 0x00000002 */ -#define ADC_CR_ADDIS ADC_CR_ADDIS_Msk /*!< ADC Disable command */ -#define ADC_CR_ADSTART_Pos (2U) -#define ADC_CR_ADSTART_Msk (0x1UL << ADC_CR_ADSTART_Pos) /*!< 0x00000004 */ -#define ADC_CR_ADSTART ADC_CR_ADSTART_Msk /*!< ADC Start of Regular conversion */ -#define ADC_CR_JADSTART_Pos (3U) -#define ADC_CR_JADSTART_Msk (0x1UL << ADC_CR_JADSTART_Pos) /*!< 0x00000008 */ -#define ADC_CR_JADSTART ADC_CR_JADSTART_Msk /*!< ADC Start of injected conversion */ -#define ADC_CR_ADSTP_Pos (4U) -#define ADC_CR_ADSTP_Msk (0x1UL << ADC_CR_ADSTP_Pos) /*!< 0x00000010 */ -#define ADC_CR_ADSTP ADC_CR_ADSTP_Msk /*!< ADC Stop of Regular conversion */ -#define ADC_CR_JADSTP_Pos (5U) -#define ADC_CR_JADSTP_Msk (0x1UL << ADC_CR_JADSTP_Pos) /*!< 0x00000020 */ -#define ADC_CR_JADSTP ADC_CR_JADSTP_Msk /*!< ADC Stop of injected conversion */ -#define ADC_CR_BOOST_Pos (8U) -#define ADC_CR_BOOST_Msk (0x3UL << ADC_CR_BOOST_Pos) /*!< 0x00000300 */ -#define ADC_CR_BOOST ADC_CR_BOOST_Msk /*!< ADC Boost Mode configuration */ -#define ADC_CR_BOOST_0 (0x1UL << ADC_CR_BOOST_Pos) /*!< 0x00000100 */ -#define ADC_CR_BOOST_1 (0x2UL << ADC_CR_BOOST_Pos) /*!< 0x00000200 */ -#define ADC_CR_ADCALLIN_Pos (16U) -#define ADC_CR_ADCALLIN_Msk (0x1UL << ADC_CR_ADCALLIN_Pos) /*!< 0x00010000 */ -#define ADC_CR_ADCALLIN ADC_CR_ADCALLIN_Msk /*!< ADC Linearity calibration */ -#define ADC_CR_LINCALRDYW1_Pos (22U) -#define ADC_CR_LINCALRDYW1_Msk (0x1UL << ADC_CR_LINCALRDYW1_Pos) /*!< 0x00400000 */ -#define ADC_CR_LINCALRDYW1 ADC_CR_LINCALRDYW1_Msk /*!< ADC Linearity calibration ready Word 1 */ -#define ADC_CR_LINCALRDYW2_Pos (23U) -#define ADC_CR_LINCALRDYW2_Msk (0x1UL << ADC_CR_LINCALRDYW2_Pos) /*!< 0x00800000 */ -#define ADC_CR_LINCALRDYW2 ADC_CR_LINCALRDYW2_Msk /*!< ADC Linearity calibration ready Word 2 */ -#define ADC_CR_LINCALRDYW3_Pos (24U) -#define ADC_CR_LINCALRDYW3_Msk (0x1UL << ADC_CR_LINCALRDYW3_Pos) /*!< 0x01000000 */ -#define ADC_CR_LINCALRDYW3 ADC_CR_LINCALRDYW3_Msk /*!< ADC Linearity calibration ready Word 3 */ -#define ADC_CR_LINCALRDYW4_Pos (25U) -#define ADC_CR_LINCALRDYW4_Msk (0x1UL << ADC_CR_LINCALRDYW4_Pos) /*!< 0x02000000 */ -#define ADC_CR_LINCALRDYW4 ADC_CR_LINCALRDYW4_Msk /*!< ADC Linearity calibration ready Word 4 */ -#define ADC_CR_LINCALRDYW5_Pos (26U) -#define ADC_CR_LINCALRDYW5_Msk (0x1UL << ADC_CR_LINCALRDYW5_Pos) /*!< 0x04000000 */ -#define ADC_CR_LINCALRDYW5 ADC_CR_LINCALRDYW5_Msk /*!< ADC Linearity calibration ready Word 5 */ -#define ADC_CR_LINCALRDYW6_Pos (27U) -#define ADC_CR_LINCALRDYW6_Msk (0x1UL << ADC_CR_LINCALRDYW6_Pos) /*!< 0x08000000 */ -#define ADC_CR_LINCALRDYW6 ADC_CR_LINCALRDYW6_Msk /*!< ADC Linearity calibration ready Word 6 */ -#define ADC_CR_ADVREGEN_Pos (28U) -#define ADC_CR_ADVREGEN_Msk (0x1UL << ADC_CR_ADVREGEN_Pos) /*!< 0x10000000 */ -#define ADC_CR_ADVREGEN ADC_CR_ADVREGEN_Msk /*!< ADC Voltage regulator Enable */ -#define ADC_CR_DEEPPWD_Pos (29U) -#define ADC_CR_DEEPPWD_Msk (0x1UL << ADC_CR_DEEPPWD_Pos) /*!< 0x20000000 */ -#define ADC_CR_DEEPPWD ADC_CR_DEEPPWD_Msk /*!< ADC Deep power down Enable */ -#define ADC_CR_ADCALDIF_Pos (30U) -#define ADC_CR_ADCALDIF_Msk (0x1UL << ADC_CR_ADCALDIF_Pos) /*!< 0x40000000 */ -#define ADC_CR_ADCALDIF ADC_CR_ADCALDIF_Msk /*!< ADC Differential Mode for calibration */ -#define ADC_CR_ADCAL_Pos (31U) -#define ADC_CR_ADCAL_Msk (0x1UL << ADC_CR_ADCAL_Pos) /*!< 0x80000000 */ -#define ADC_CR_ADCAL ADC_CR_ADCAL_Msk /*!< ADC Calibration */ - -/******************** Bit definition for ADC_CFGR register ********************/ -#define ADC_CFGR_DMNGT_Pos (0U) -#define ADC_CFGR_DMNGT_Msk (0x3UL << ADC_CFGR_DMNGT_Pos) /*!< 0x00000003 */ -#define ADC_CFGR_DMNGT ADC_CFGR_DMNGT_Msk /*!< ADC Data Management configuration */ -#define ADC_CFGR_DMNGT_0 (0x1UL << ADC_CFGR_DMNGT_Pos) /*!< 0x00000001 */ -#define ADC_CFGR_DMNGT_1 (0x2UL << ADC_CFGR_DMNGT_Pos) /*!< 0x00000002 */ - -#define ADC_CFGR_RES_Pos (2U) -#define ADC_CFGR_RES_Msk (0x7UL << ADC_CFGR_RES_Pos) /*!< 0x0000001C */ -#define ADC_CFGR_RES ADC_CFGR_RES_Msk /*!< ADC Data resolution */ -#define ADC_CFGR_RES_0 (0x1UL << ADC_CFGR_RES_Pos) /*!< 0x00000004 */ -#define ADC_CFGR_RES_1 (0x2UL << ADC_CFGR_RES_Pos) /*!< 0x00000008 */ -#define ADC_CFGR_RES_2 (0x4UL << ADC_CFGR_RES_Pos) /*!< 0x00000010 */ - -#define ADC_CFGR_EXTSEL_Pos (5U) -#define ADC_CFGR_EXTSEL_Msk (0x1FUL << ADC_CFGR_EXTSEL_Pos) /*!< 0x000003E0 */ -#define ADC_CFGR_EXTSEL ADC_CFGR_EXTSEL_Msk /*!< ADC External trigger selection for regular group */ -#define ADC_CFGR_EXTSEL_0 (0x01UL << ADC_CFGR_EXTSEL_Pos) /*!< 0x00000020 */ -#define ADC_CFGR_EXTSEL_1 (0x02UL << ADC_CFGR_EXTSEL_Pos) /*!< 0x00000040 */ -#define ADC_CFGR_EXTSEL_2 (0x04UL << ADC_CFGR_EXTSEL_Pos) /*!< 0x00000080 */ -#define ADC_CFGR_EXTSEL_3 (0x08UL << ADC_CFGR_EXTSEL_Pos) /*!< 0x00000100 */ -#define ADC_CFGR_EXTSEL_4 (0x10UL << ADC_CFGR_EXTSEL_Pos) /*!< 0x00000200 */ - -#define ADC_CFGR_EXTEN_Pos (10U) -#define ADC_CFGR_EXTEN_Msk (0x3UL << ADC_CFGR_EXTEN_Pos) /*!< 0x00000C00 */ -#define ADC_CFGR_EXTEN ADC_CFGR_EXTEN_Msk /*!< ADC External trigger enable and polarity selection for regular channels */ -#define ADC_CFGR_EXTEN_0 (0x1UL << ADC_CFGR_EXTEN_Pos) /*!< 0x00000400 */ -#define ADC_CFGR_EXTEN_1 (0x2UL << ADC_CFGR_EXTEN_Pos) /*!< 0x00000800 */ - -#define ADC_CFGR_OVRMOD_Pos (12U) -#define ADC_CFGR_OVRMOD_Msk (0x1UL << ADC_CFGR_OVRMOD_Pos) /*!< 0x00001000 */ -#define ADC_CFGR_OVRMOD ADC_CFGR_OVRMOD_Msk /*!< ADC overrun mode */ -#define ADC_CFGR_CONT_Pos (13U) -#define ADC_CFGR_CONT_Msk (0x1UL << ADC_CFGR_CONT_Pos) /*!< 0x00002000 */ -#define ADC_CFGR_CONT ADC_CFGR_CONT_Msk /*!< ADC Single/continuous conversion mode for regular conversion */ -#define ADC_CFGR_AUTDLY_Pos (14U) -#define ADC_CFGR_AUTDLY_Msk (0x1UL << ADC_CFGR_AUTDLY_Pos) /*!< 0x00004000 */ -#define ADC_CFGR_AUTDLY ADC_CFGR_AUTDLY_Msk /*!< ADC Delayed conversion mode */ - -#define ADC_CFGR_DISCEN_Pos (16U) -#define ADC_CFGR_DISCEN_Msk (0x1UL << ADC_CFGR_DISCEN_Pos) /*!< 0x00010000 */ -#define ADC_CFGR_DISCEN ADC_CFGR_DISCEN_Msk /*!< ADC Discontinuous mode for regular channels */ - -#define ADC_CFGR_DISCNUM_Pos (17U) -#define ADC_CFGR_DISCNUM_Msk (0x7UL << ADC_CFGR_DISCNUM_Pos) /*!< 0x000E0000 */ -#define ADC_CFGR_DISCNUM ADC_CFGR_DISCNUM_Msk /*!< ADC Discontinuous mode channel count */ -#define ADC_CFGR_DISCNUM_0 (0x1UL << ADC_CFGR_DISCNUM_Pos) /*!< 0x00020000 */ -#define ADC_CFGR_DISCNUM_1 (0x2UL << ADC_CFGR_DISCNUM_Pos) /*!< 0x00040000 */ -#define ADC_CFGR_DISCNUM_2 (0x4UL << ADC_CFGR_DISCNUM_Pos) /*!< 0x00080000 */ - -#define ADC_CFGR_JDISCEN_Pos (20U) -#define ADC_CFGR_JDISCEN_Msk (0x1UL << ADC_CFGR_JDISCEN_Pos) /*!< 0x00100000 */ -#define ADC_CFGR_JDISCEN ADC_CFGR_JDISCEN_Msk /*!< ADC Discontinuous mode on injected channels */ -#define ADC_CFGR_JQM_Pos (21U) -#define ADC_CFGR_JQM_Msk (0x1UL << ADC_CFGR_JQM_Pos) /*!< 0x00200000 */ -#define ADC_CFGR_JQM ADC_CFGR_JQM_Msk /*!< ADC JSQR Queue mode */ -#define ADC_CFGR_AWD1SGL_Pos (22U) -#define ADC_CFGR_AWD1SGL_Msk (0x1UL << ADC_CFGR_AWD1SGL_Pos) /*!< 0x00400000 */ -#define ADC_CFGR_AWD1SGL ADC_CFGR_AWD1SGL_Msk /*!< Enable the watchdog 1 on a single channel or on all channels */ -#define ADC_CFGR_AWD1EN_Pos (23U) -#define ADC_CFGR_AWD1EN_Msk (0x1UL << ADC_CFGR_AWD1EN_Pos) /*!< 0x00800000 */ -#define ADC_CFGR_AWD1EN ADC_CFGR_AWD1EN_Msk /*!< ADC Analog watchdog 1 enable on regular Channels */ -#define ADC_CFGR_JAWD1EN_Pos (24U) -#define ADC_CFGR_JAWD1EN_Msk (0x1UL << ADC_CFGR_JAWD1EN_Pos) /*!< 0x01000000 */ -#define ADC_CFGR_JAWD1EN ADC_CFGR_JAWD1EN_Msk /*!< ADC Analog watchdog 1 enable on injected Channels */ -#define ADC_CFGR_JAUTO_Pos (25U) -#define ADC_CFGR_JAUTO_Msk (0x1UL << ADC_CFGR_JAUTO_Pos) /*!< 0x02000000 */ -#define ADC_CFGR_JAUTO ADC_CFGR_JAUTO_Msk /*!< ADC Automatic injected group conversion */ - -#define ADC_CFGR_AWD1CH_Pos (26U) -#define ADC_CFGR_AWD1CH_Msk (0x1FUL << ADC_CFGR_AWD1CH_Pos) /*!< 0x7C000000 */ -#define ADC_CFGR_AWD1CH ADC_CFGR_AWD1CH_Msk /*!< ADC Analog watchdog 1 Channel selection */ -#define ADC_CFGR_AWD1CH_0 (0x01UL << ADC_CFGR_AWD1CH_Pos) /*!< 0x04000000 */ -#define ADC_CFGR_AWD1CH_1 (0x02UL << ADC_CFGR_AWD1CH_Pos) /*!< 0x08000000 */ -#define ADC_CFGR_AWD1CH_2 (0x04UL << ADC_CFGR_AWD1CH_Pos) /*!< 0x10000000 */ -#define ADC_CFGR_AWD1CH_3 (0x08UL << ADC_CFGR_AWD1CH_Pos) /*!< 0x20000000 */ -#define ADC_CFGR_AWD1CH_4 (0x10UL << ADC_CFGR_AWD1CH_Pos) /*!< 0x40000000 */ - -#define ADC_CFGR_JQDIS_Pos (31U) -#define ADC_CFGR_JQDIS_Msk (0x1UL << ADC_CFGR_JQDIS_Pos) /*!< 0x80000000 */ -#define ADC_CFGR_JQDIS ADC_CFGR_JQDIS_Msk /*!< ADC Injected queue disable */ - -#define ADC3_CFGR_DMAEN_Pos (0U) -#define ADC3_CFGR_DMAEN_Msk (0x1UL << ADC3_CFGR_DMAEN_Pos) /*!< 0x00000001 */ -#define ADC3_CFGR_DMAEN ADC3_CFGR_DMAEN_Msk /*!< ADC DMA transfer enable */ -#define ADC3_CFGR_DMACFG_Pos (1U) -#define ADC3_CFGR_DMACFG_Msk (0x1UL << ADC3_CFGR_DMACFG_Pos) /*!< 0x00000002 */ -#define ADC3_CFGR_DMACFG ADC3_CFGR_DMACFG_Msk /*!< ADC DMA transfer configuration */ - -#define ADC3_CFGR_RES_Pos (3U) -#define ADC3_CFGR_RES_Msk (0x3UL << ADC3_CFGR_RES_Pos) /*!< 0x00000018 */ -#define ADC3_CFGR_RES ADC3_CFGR_RES_Msk /*!< ADC data resolution */ -#define ADC3_CFGR_RES_0 (0x1UL << ADC3_CFGR_RES_Pos) /*!< 0x00000008 */ -#define ADC3_CFGR_RES_1 (0x2UL << ADC3_CFGR_RES_Pos) /*!< 0x00000010 */ - -#define ADC3_CFGR_ALIGN_Pos (15U) -#define ADC3_CFGR_ALIGN_Msk (0x1UL << ADC3_CFGR_ALIGN_Pos) /*!< 0x00008000 */ -#define ADC3_CFGR_ALIGN ADC3_CFGR_ALIGN_Msk /*!< ADC data alignment */ -/******************** Bit definition for ADC_CFGR2 register ********************/ -#define ADC_CFGR2_ROVSE_Pos (0U) -#define ADC_CFGR2_ROVSE_Msk (0x1UL << ADC_CFGR2_ROVSE_Pos) /*!< 0x00000001 */ -#define ADC_CFGR2_ROVSE ADC_CFGR2_ROVSE_Msk /*!< ADC Regular group oversampler enable */ -#define ADC_CFGR2_JOVSE_Pos (1U) -#define ADC_CFGR2_JOVSE_Msk (0x1UL << ADC_CFGR2_JOVSE_Pos) /*!< 0x00000002 */ -#define ADC_CFGR2_JOVSE ADC_CFGR2_JOVSE_Msk /*!< ADC Injected group oversampler enable */ - -#define ADC_CFGR2_OVSS_Pos (5U) -#define ADC_CFGR2_OVSS_Msk (0xFUL << ADC_CFGR2_OVSS_Pos) /*!< 0x000001E0 */ -#define ADC_CFGR2_OVSS ADC_CFGR2_OVSS_Msk /*!< ADC Regular Oversampling shift */ -#define ADC_CFGR2_OVSS_0 (0x1UL << ADC_CFGR2_OVSS_Pos) /*!< 0x00000020 */ -#define ADC_CFGR2_OVSS_1 (0x2UL << ADC_CFGR2_OVSS_Pos) /*!< 0x00000040 */ -#define ADC_CFGR2_OVSS_2 (0x4UL << ADC_CFGR2_OVSS_Pos) /*!< 0x00000080 */ -#define ADC_CFGR2_OVSS_3 (0x8UL << ADC_CFGR2_OVSS_Pos) /*!< 0x00000100 */ - -#define ADC_CFGR2_TROVS_Pos (9U) -#define ADC_CFGR2_TROVS_Msk (0x1UL << ADC_CFGR2_TROVS_Pos) /*!< 0x00000200 */ -#define ADC_CFGR2_TROVS ADC_CFGR2_TROVS_Msk /*!< ADC Triggered regular Oversampling */ -#define ADC_CFGR2_ROVSM_Pos (10U) -#define ADC_CFGR2_ROVSM_Msk (0x1UL << ADC_CFGR2_ROVSM_Pos) /*!< 0x00000400 */ -#define ADC_CFGR2_ROVSM ADC_CFGR2_ROVSM_Msk /*!< ADC Regular oversampling mode */ - -#define ADC_CFGR2_RSHIFT1_Pos (11U) -#define ADC_CFGR2_RSHIFT1_Msk (0x1UL << ADC_CFGR2_RSHIFT1_Pos) /*!< 0x00000800 */ -#define ADC_CFGR2_RSHIFT1 ADC_CFGR2_RSHIFT1_Msk /*!< ADC Right-shift data after Offset 1 correction */ -#define ADC_CFGR2_RSHIFT2_Pos (12U) -#define ADC_CFGR2_RSHIFT2_Msk (0x1UL << ADC_CFGR2_RSHIFT2_Pos) /*!< 0x00001000 */ -#define ADC_CFGR2_RSHIFT2 ADC_CFGR2_RSHIFT2_Msk /*!< ADC Right-shift data after Offset 2 correction */ -#define ADC_CFGR2_RSHIFT3_Pos (13U) -#define ADC_CFGR2_RSHIFT3_Msk (0x1UL << ADC_CFGR2_RSHIFT3_Pos) /*!< 0x00002000 */ -#define ADC_CFGR2_RSHIFT3 ADC_CFGR2_RSHIFT3_Msk /*!< ADC Right-shift data after Offset 3 correction */ -#define ADC_CFGR2_RSHIFT4_Pos (14U) -#define ADC_CFGR2_RSHIFT4_Msk (0x1UL << ADC_CFGR2_RSHIFT4_Pos) /*!< 0x00004000 */ -#define ADC_CFGR2_RSHIFT4 ADC_CFGR2_RSHIFT4_Msk /*!< ADC Right-shift data after Offset 4 correction */ - -#define ADC_CFGR2_OVSR_Pos (16U) -#define ADC_CFGR2_OVSR_Msk (0x3FFUL << ADC_CFGR2_OVSR_Pos) /*!< 0x03FF0000 */ -#define ADC_CFGR2_OVSR ADC_CFGR2_OVSR_Msk /*!< ADC oversampling Ratio */ -#define ADC_CFGR2_OVSR_0 (0x001UL << ADC_CFGR2_OVSR_Pos) /*!< 0x00010000 */ -#define ADC_CFGR2_OVSR_1 (0x002UL << ADC_CFGR2_OVSR_Pos) /*!< 0x00020000 */ -#define ADC_CFGR2_OVSR_2 (0x004UL << ADC_CFGR2_OVSR_Pos) /*!< 0x00040000 */ -#define ADC_CFGR2_OVSR_3 (0x008UL << ADC_CFGR2_OVSR_Pos) /*!< 0x00080000 */ -#define ADC_CFGR2_OVSR_4 (0x010UL << ADC_CFGR2_OVSR_Pos) /*!< 0x00100000 */ -#define ADC_CFGR2_OVSR_5 (0x020UL << ADC_CFGR2_OVSR_Pos) /*!< 0x00200000 */ -#define ADC_CFGR2_OVSR_6 (0x040UL << ADC_CFGR2_OVSR_Pos) /*!< 0x00400000 */ -#define ADC_CFGR2_OVSR_7 (0x080UL << ADC_CFGR2_OVSR_Pos) /*!< 0x00800000 */ -#define ADC_CFGR2_OVSR_8 (0x100UL << ADC_CFGR2_OVSR_Pos) /*!< 0x01000000 */ -#define ADC_CFGR2_OVSR_9 (0x200UL << ADC_CFGR2_OVSR_Pos) /*!< 0x02000000 */ - -#define ADC_CFGR2_LSHIFT_Pos (28U) -#define ADC_CFGR2_LSHIFT_Msk (0xFUL << ADC_CFGR2_LSHIFT_Pos) /*!< 0xF0000000 */ -#define ADC_CFGR2_LSHIFT ADC_CFGR2_LSHIFT_Msk /*!< ADC Left shift factor */ -#define ADC_CFGR2_LSHIFT_0 (0x1UL << ADC_CFGR2_LSHIFT_Pos) /*!< 0x10000000 */ -#define ADC_CFGR2_LSHIFT_1 (0x2UL << ADC_CFGR2_LSHIFT_Pos) /*!< 0x20000000 */ -#define ADC_CFGR2_LSHIFT_2 (0x4UL << ADC_CFGR2_LSHIFT_Pos) /*!< 0x40000000 */ -#define ADC_CFGR2_LSHIFT_3 (0x8UL << ADC_CFGR2_LSHIFT_Pos) /*!< 0x80000000 */ - -#define ADC3_CFGR2_OVSR_Pos (2U) -#define ADC3_CFGR2_OVSR_Msk (0x7UL << ADC3_CFGR2_OVSR_Pos) /*!< 0x0000001C */ -#define ADC3_CFGR2_OVSR ADC3_CFGR2_OVSR_Msk /*!< ADC oversampling ratio */ -#define ADC3_CFGR2_OVSR_0 (0x1UL << ADC3_CFGR2_OVSR_Pos) /*!< 0x00000004 */ -#define ADC3_CFGR2_OVSR_1 (0x2UL << ADC3_CFGR2_OVSR_Pos) /*!< 0x00000008 */ -#define ADC3_CFGR2_OVSR_2 (0x4UL << ADC3_CFGR2_OVSR_Pos) /*!< 0x00000010 */ - -#define ADC3_CFGR2_SWTRIG_Pos (25U) -#define ADC3_CFGR2_SWTRIG_Msk (0x1UL << ADC3_CFGR2_SWTRIG_Pos) /*!< 0x02000000 */ -#define ADC3_CFGR2_SWTRIG ADC3_CFGR2_SWTRIG_Msk /*!< ADC Software Trigger Bit for Sample time control trigger mode */ -#define ADC3_CFGR2_BULB_Pos (26U) -#define ADC3_CFGR2_BULB_Msk (0x1UL << ADC3_CFGR2_BULB_Pos) /*!< 0x04000000 */ -#define ADC3_CFGR2_BULB ADC3_CFGR2_BULB_Msk /*!< ADC Bulb sampling mode */ -#define ADC3_CFGR2_SMPTRIG_Pos (27U) -#define ADC3_CFGR2_SMPTRIG_Msk (0x1UL << ADC3_CFGR2_SMPTRIG_Pos) /*!< 0x08000000 */ -#define ADC3_CFGR2_SMPTRIG ADC3_CFGR2_SMPTRIG_Msk /*!< ADC Sample Time Control Trigger mode */ -/******************** Bit definition for ADC_SMPR1 register ********************/ -#define ADC_SMPR1_SMP0_Pos (0U) -#define ADC_SMPR1_SMP0_Msk (0x7UL << ADC_SMPR1_SMP0_Pos) /*!< 0x00000007 */ -#define ADC_SMPR1_SMP0 ADC_SMPR1_SMP0_Msk /*!< ADC Channel 0 Sampling time selection */ -#define ADC_SMPR1_SMP0_0 (0x1UL << ADC_SMPR1_SMP0_Pos) /*!< 0x00000001 */ -#define ADC_SMPR1_SMP0_1 (0x2UL << ADC_SMPR1_SMP0_Pos) /*!< 0x00000002 */ -#define ADC_SMPR1_SMP0_2 (0x4UL << ADC_SMPR1_SMP0_Pos) /*!< 0x00000004 */ - -#define ADC_SMPR1_SMP1_Pos (3U) -#define ADC_SMPR1_SMP1_Msk (0x7UL << ADC_SMPR1_SMP1_Pos) /*!< 0x00000038 */ -#define ADC_SMPR1_SMP1 ADC_SMPR1_SMP1_Msk /*!< ADC Channel 1 Sampling time selection */ -#define ADC_SMPR1_SMP1_0 (0x1UL << ADC_SMPR1_SMP1_Pos) /*!< 0x00000008 */ -#define ADC_SMPR1_SMP1_1 (0x2UL << ADC_SMPR1_SMP1_Pos) /*!< 0x00000010 */ -#define ADC_SMPR1_SMP1_2 (0x4UL << ADC_SMPR1_SMP1_Pos) /*!< 0x00000020 */ - -#define ADC_SMPR1_SMP2_Pos (6U) -#define ADC_SMPR1_SMP2_Msk (0x7UL << ADC_SMPR1_SMP2_Pos) /*!< 0x000001C0 */ -#define ADC_SMPR1_SMP2 ADC_SMPR1_SMP2_Msk /*!< ADC Channel 2 Sampling time selection */ -#define ADC_SMPR1_SMP2_0 (0x1UL << ADC_SMPR1_SMP2_Pos) /*!< 0x00000040 */ -#define ADC_SMPR1_SMP2_1 (0x2UL << ADC_SMPR1_SMP2_Pos) /*!< 0x00000080 */ -#define ADC_SMPR1_SMP2_2 (0x4UL << ADC_SMPR1_SMP2_Pos) /*!< 0x00000100 */ - -#define ADC_SMPR1_SMP3_Pos (9U) -#define ADC_SMPR1_SMP3_Msk (0x7UL << ADC_SMPR1_SMP3_Pos) /*!< 0x00000E00 */ -#define ADC_SMPR1_SMP3 ADC_SMPR1_SMP3_Msk /*!< ADC Channel 3 Sampling time selection */ -#define ADC_SMPR1_SMP3_0 (0x1UL << ADC_SMPR1_SMP3_Pos) /*!< 0x00000200 */ -#define ADC_SMPR1_SMP3_1 (0x2UL << ADC_SMPR1_SMP3_Pos) /*!< 0x00000400 */ -#define ADC_SMPR1_SMP3_2 (0x4UL << ADC_SMPR1_SMP3_Pos) /*!< 0x00000800 */ - -#define ADC_SMPR1_SMP4_Pos (12U) -#define ADC_SMPR1_SMP4_Msk (0x7UL << ADC_SMPR1_SMP4_Pos) /*!< 0x00007000 */ -#define ADC_SMPR1_SMP4 ADC_SMPR1_SMP4_Msk /*!< ADC Channel 4 Sampling time selection */ -#define ADC_SMPR1_SMP4_0 (0x1UL << ADC_SMPR1_SMP4_Pos) /*!< 0x00001000 */ -#define ADC_SMPR1_SMP4_1 (0x2UL << ADC_SMPR1_SMP4_Pos) /*!< 0x00002000 */ -#define ADC_SMPR1_SMP4_2 (0x4UL << ADC_SMPR1_SMP4_Pos) /*!< 0x00004000 */ - -#define ADC_SMPR1_SMP5_Pos (15U) -#define ADC_SMPR1_SMP5_Msk (0x7UL << ADC_SMPR1_SMP5_Pos) /*!< 0x00038000 */ -#define ADC_SMPR1_SMP5 ADC_SMPR1_SMP5_Msk /*!< ADC Channel 5 Sampling time selection */ -#define ADC_SMPR1_SMP5_0 (0x1UL << ADC_SMPR1_SMP5_Pos) /*!< 0x00008000 */ -#define ADC_SMPR1_SMP5_1 (0x2UL << ADC_SMPR1_SMP5_Pos) /*!< 0x00010000 */ -#define ADC_SMPR1_SMP5_2 (0x4UL << ADC_SMPR1_SMP5_Pos) /*!< 0x00020000 */ - -#define ADC_SMPR1_SMP6_Pos (18U) -#define ADC_SMPR1_SMP6_Msk (0x7UL << ADC_SMPR1_SMP6_Pos) /*!< 0x001C0000 */ -#define ADC_SMPR1_SMP6 ADC_SMPR1_SMP6_Msk /*!< ADC Channel 6 Sampling time selection */ -#define ADC_SMPR1_SMP6_0 (0x1UL << ADC_SMPR1_SMP6_Pos) /*!< 0x00040000 */ -#define ADC_SMPR1_SMP6_1 (0x2UL << ADC_SMPR1_SMP6_Pos) /*!< 0x00080000 */ -#define ADC_SMPR1_SMP6_2 (0x4UL << ADC_SMPR1_SMP6_Pos) /*!< 0x00100000 */ - -#define ADC_SMPR1_SMP7_Pos (21U) -#define ADC_SMPR1_SMP7_Msk (0x7UL << ADC_SMPR1_SMP7_Pos) /*!< 0x00E00000 */ -#define ADC_SMPR1_SMP7 ADC_SMPR1_SMP7_Msk /*!< ADC Channel 7 Sampling time selection */ -#define ADC_SMPR1_SMP7_0 (0x1UL << ADC_SMPR1_SMP7_Pos) /*!< 0x00200000 */ -#define ADC_SMPR1_SMP7_1 (0x2UL << ADC_SMPR1_SMP7_Pos) /*!< 0x00400000 */ -#define ADC_SMPR1_SMP7_2 (0x4UL << ADC_SMPR1_SMP7_Pos) /*!< 0x00800000 */ - -#define ADC_SMPR1_SMP8_Pos (24U) -#define ADC_SMPR1_SMP8_Msk (0x7UL << ADC_SMPR1_SMP8_Pos) /*!< 0x07000000 */ -#define ADC_SMPR1_SMP8 ADC_SMPR1_SMP8_Msk /*!< ADC Channel 8 Sampling time selection */ -#define ADC_SMPR1_SMP8_0 (0x1UL << ADC_SMPR1_SMP8_Pos) /*!< 0x01000000 */ -#define ADC_SMPR1_SMP8_1 (0x2UL << ADC_SMPR1_SMP8_Pos) /*!< 0x02000000 */ -#define ADC_SMPR1_SMP8_2 (0x4UL << ADC_SMPR1_SMP8_Pos) /*!< 0x04000000 */ - -#define ADC_SMPR1_SMP9_Pos (27U) -#define ADC_SMPR1_SMP9_Msk (0x7UL << ADC_SMPR1_SMP9_Pos) /*!< 0x38000000 */ -#define ADC_SMPR1_SMP9 ADC_SMPR1_SMP9_Msk /*!< ADC Channel 9 Sampling time selection */ -#define ADC_SMPR1_SMP9_0 (0x1UL << ADC_SMPR1_SMP9_Pos) /*!< 0x08000000 */ -#define ADC_SMPR1_SMP9_1 (0x2UL << ADC_SMPR1_SMP9_Pos) /*!< 0x10000000 */ -#define ADC_SMPR1_SMP9_2 (0x4UL << ADC_SMPR1_SMP9_Pos) /*!< 0x20000000 */ - -/******************** Bit definition for ADC_SMPR2 register ********************/ -#define ADC_SMPR2_SMP10_Pos (0U) -#define ADC_SMPR2_SMP10_Msk (0x7UL << ADC_SMPR2_SMP10_Pos) /*!< 0x00000007 */ -#define ADC_SMPR2_SMP10 ADC_SMPR2_SMP10_Msk /*!< ADC Channel 10 Sampling time selection */ -#define ADC_SMPR2_SMP10_0 (0x1UL << ADC_SMPR2_SMP10_Pos) /*!< 0x00000001 */ -#define ADC_SMPR2_SMP10_1 (0x2UL << ADC_SMPR2_SMP10_Pos) /*!< 0x00000002 */ -#define ADC_SMPR2_SMP10_2 (0x4UL << ADC_SMPR2_SMP10_Pos) /*!< 0x00000004 */ - -#define ADC_SMPR2_SMP11_Pos (3U) -#define ADC_SMPR2_SMP11_Msk (0x7UL << ADC_SMPR2_SMP11_Pos) /*!< 0x00000038 */ -#define ADC_SMPR2_SMP11 ADC_SMPR2_SMP11_Msk /*!< ADC Channel 11 Sampling time selection */ -#define ADC_SMPR2_SMP11_0 (0x1UL << ADC_SMPR2_SMP11_Pos) /*!< 0x00000008 */ -#define ADC_SMPR2_SMP11_1 (0x2UL << ADC_SMPR2_SMP11_Pos) /*!< 0x00000010 */ -#define ADC_SMPR2_SMP11_2 (0x4UL << ADC_SMPR2_SMP11_Pos) /*!< 0x00000020 */ - -#define ADC_SMPR2_SMP12_Pos (6U) -#define ADC_SMPR2_SMP12_Msk (0x7UL << ADC_SMPR2_SMP12_Pos) /*!< 0x000001C0 */ -#define ADC_SMPR2_SMP12 ADC_SMPR2_SMP12_Msk /*!< ADC Channel 12 Sampling time selection */ -#define ADC_SMPR2_SMP12_0 (0x1UL << ADC_SMPR2_SMP12_Pos) /*!< 0x00000040 */ -#define ADC_SMPR2_SMP12_1 (0x2UL << ADC_SMPR2_SMP12_Pos) /*!< 0x00000080 */ -#define ADC_SMPR2_SMP12_2 (0x4UL << ADC_SMPR2_SMP12_Pos) /*!< 0x00000100 */ - -#define ADC_SMPR2_SMP13_Pos (9U) -#define ADC_SMPR2_SMP13_Msk (0x7UL << ADC_SMPR2_SMP13_Pos) /*!< 0x00000E00 */ -#define ADC_SMPR2_SMP13 ADC_SMPR2_SMP13_Msk /*!< ADC Channel 13 Sampling time selection */ -#define ADC_SMPR2_SMP13_0 (0x1UL << ADC_SMPR2_SMP13_Pos) /*!< 0x00000200 */ -#define ADC_SMPR2_SMP13_1 (0x2UL << ADC_SMPR2_SMP13_Pos) /*!< 0x00000400 */ -#define ADC_SMPR2_SMP13_2 (0x4UL << ADC_SMPR2_SMP13_Pos) /*!< 0x00000800 */ - -#define ADC_SMPR2_SMP14_Pos (12U) -#define ADC_SMPR2_SMP14_Msk (0x7UL << ADC_SMPR2_SMP14_Pos) /*!< 0x00007000 */ -#define ADC_SMPR2_SMP14 ADC_SMPR2_SMP14_Msk /*!< ADC Channel 14 Sampling time selection */ -#define ADC_SMPR2_SMP14_0 (0x1UL << ADC_SMPR2_SMP14_Pos) /*!< 0x00001000 */ -#define ADC_SMPR2_SMP14_1 (0x2UL << ADC_SMPR2_SMP14_Pos) /*!< 0x00002000 */ -#define ADC_SMPR2_SMP14_2 (0x4UL << ADC_SMPR2_SMP14_Pos) /*!< 0x00004000 */ - -#define ADC_SMPR2_SMP15_Pos (15U) -#define ADC_SMPR2_SMP15_Msk (0x7UL << ADC_SMPR2_SMP15_Pos) /*!< 0x00038000 */ -#define ADC_SMPR2_SMP15 ADC_SMPR2_SMP15_Msk /*!< ADC Channel 15 Sampling time selection */ -#define ADC_SMPR2_SMP15_0 (0x1UL << ADC_SMPR2_SMP15_Pos) /*!< 0x00008000 */ -#define ADC_SMPR2_SMP15_1 (0x2UL << ADC_SMPR2_SMP15_Pos) /*!< 0x00010000 */ -#define ADC_SMPR2_SMP15_2 (0x4UL << ADC_SMPR2_SMP15_Pos) /*!< 0x00020000 */ - -#define ADC_SMPR2_SMP16_Pos (18U) -#define ADC_SMPR2_SMP16_Msk (0x7UL << ADC_SMPR2_SMP16_Pos) /*!< 0x001C0000 */ -#define ADC_SMPR2_SMP16 ADC_SMPR2_SMP16_Msk /*!< ADC Channel 16 Sampling time selection */ -#define ADC_SMPR2_SMP16_0 (0x1UL << ADC_SMPR2_SMP16_Pos) /*!< 0x00040000 */ -#define ADC_SMPR2_SMP16_1 (0x2UL << ADC_SMPR2_SMP16_Pos) /*!< 0x00080000 */ -#define ADC_SMPR2_SMP16_2 (0x4UL << ADC_SMPR2_SMP16_Pos) /*!< 0x00100000 */ - -#define ADC_SMPR2_SMP17_Pos (21U) -#define ADC_SMPR2_SMP17_Msk (0x7UL << ADC_SMPR2_SMP17_Pos) /*!< 0x00E00000 */ -#define ADC_SMPR2_SMP17 ADC_SMPR2_SMP17_Msk /*!< ADC Channel 17 Sampling time selection */ -#define ADC_SMPR2_SMP17_0 (0x1UL << ADC_SMPR2_SMP17_Pos) /*!< 0x00200000 */ -#define ADC_SMPR2_SMP17_1 (0x2UL << ADC_SMPR2_SMP17_Pos) /*!< 0x00400000 */ -#define ADC_SMPR2_SMP17_2 (0x4UL << ADC_SMPR2_SMP17_Pos) /*!< 0x00800000 */ - -#define ADC_SMPR2_SMP18_Pos (24U) -#define ADC_SMPR2_SMP18_Msk (0x7UL << ADC_SMPR2_SMP18_Pos) /*!< 0x07000000 */ -#define ADC_SMPR2_SMP18 ADC_SMPR2_SMP18_Msk /*!< ADC Channel 18 Sampling time selection */ -#define ADC_SMPR2_SMP18_0 (0x1UL << ADC_SMPR2_SMP18_Pos) /*!< 0x01000000 */ -#define ADC_SMPR2_SMP18_1 (0x2UL << ADC_SMPR2_SMP18_Pos) /*!< 0x02000000 */ -#define ADC_SMPR2_SMP18_2 (0x4UL << ADC_SMPR2_SMP18_Pos) /*!< 0x04000000 */ - -#define ADC_SMPR2_SMP19_Pos (27U) -#define ADC_SMPR2_SMP19_Msk (0x7UL << ADC_SMPR2_SMP19_Pos) /*!< 0x38000000 */ -#define ADC_SMPR2_SMP19 ADC_SMPR2_SMP19_Msk /*!< ADC Channel 19 Sampling time selection */ -#define ADC_SMPR2_SMP19_0 (0x1UL << ADC_SMPR2_SMP19_Pos) /*!< 0x08000000 */ -#define ADC_SMPR2_SMP19_1 (0x2UL << ADC_SMPR2_SMP19_Pos) /*!< 0x10000000 */ -#define ADC_SMPR2_SMP19_2 (0x4UL << ADC_SMPR2_SMP19_Pos) /*!< 0x20000000 */ - -/******************** Bit definition for ADC_PCSEL register ********************/ -#define ADC_PCSEL_PCSEL_Pos (0U) -#define ADC_PCSEL_PCSEL_Msk (0xFFFFFUL << ADC_PCSEL_PCSEL_Pos) /*!< 0x000FFFFF */ -#define ADC_PCSEL_PCSEL ADC_PCSEL_PCSEL_Msk /*!< ADC pre channel selection */ -#define ADC_PCSEL_PCSEL_0 (0x00001UL << ADC_PCSEL_PCSEL_Pos) /*!< 0x00000001 */ -#define ADC_PCSEL_PCSEL_1 (0x00002UL << ADC_PCSEL_PCSEL_Pos) /*!< 0x00000002 */ -#define ADC_PCSEL_PCSEL_2 (0x00004UL << ADC_PCSEL_PCSEL_Pos) /*!< 0x00000004 */ -#define ADC_PCSEL_PCSEL_3 (0x00008UL << ADC_PCSEL_PCSEL_Pos) /*!< 0x00000008 */ -#define ADC_PCSEL_PCSEL_4 (0x00010UL << ADC_PCSEL_PCSEL_Pos) /*!< 0x00000010 */ -#define ADC_PCSEL_PCSEL_5 (0x00020UL << ADC_PCSEL_PCSEL_Pos) /*!< 0x00000020 */ -#define ADC_PCSEL_PCSEL_6 (0x00040UL << ADC_PCSEL_PCSEL_Pos) /*!< 0x00000040 */ -#define ADC_PCSEL_PCSEL_7 (0x00080UL << ADC_PCSEL_PCSEL_Pos) /*!< 0x00000080 */ -#define ADC_PCSEL_PCSEL_8 (0x00100UL << ADC_PCSEL_PCSEL_Pos) /*!< 0x00000100 */ -#define ADC_PCSEL_PCSEL_9 (0x00200UL << ADC_PCSEL_PCSEL_Pos) /*!< 0x00000200 */ -#define ADC_PCSEL_PCSEL_10 (0x00400UL << ADC_PCSEL_PCSEL_Pos) /*!< 0x00000400 */ -#define ADC_PCSEL_PCSEL_11 (0x00800UL << ADC_PCSEL_PCSEL_Pos) /*!< 0x00000800 */ -#define ADC_PCSEL_PCSEL_12 (0x01000UL << ADC_PCSEL_PCSEL_Pos) /*!< 0x00001000 */ -#define ADC_PCSEL_PCSEL_13 (0x02000UL << ADC_PCSEL_PCSEL_Pos) /*!< 0x00002000 */ -#define ADC_PCSEL_PCSEL_14 (0x04000UL << ADC_PCSEL_PCSEL_Pos) /*!< 0x00004000 */ -#define ADC_PCSEL_PCSEL_15 (0x08000UL << ADC_PCSEL_PCSEL_Pos) /*!< 0x00008000 */ -#define ADC_PCSEL_PCSEL_16 (0x10000UL << ADC_PCSEL_PCSEL_Pos) /*!< 0x00010000 */ -#define ADC_PCSEL_PCSEL_17 (0x20000UL << ADC_PCSEL_PCSEL_Pos) /*!< 0x00020000 */ -#define ADC_PCSEL_PCSEL_18 (0x40000UL << ADC_PCSEL_PCSEL_Pos) /*!< 0x00040000 */ -#define ADC_PCSEL_PCSEL_19 (0x80000UL << ADC_PCSEL_PCSEL_Pos) /*!< 0x00080000 */ - -/***************** Bit definition for ADC_LTR1, 2, 3 registers *****************/ -#define ADC_LTR_LT_Pos (0U) -#define ADC_LTR_LT_Msk (0x3FFFFFFUL << ADC_LTR_LT_Pos) /*!< 0x03FFFFFF */ -#define ADC_LTR_LT ADC_LTR_LT_Msk /*!< ADC Analog watchdog 1, 2 and 3 lower threshold */ - -/***************** Bit definition for ADC_HTR1, 2, 3 registers ****************/ -#define ADC_HTR_HT_Pos (0U) -#define ADC_HTR_HT_Msk (0x3FFFFFFUL << ADC_HTR_HT_Pos) /*!< 0x03FFFFFF */ -#define ADC_HTR_HT ADC_HTR_HT_Msk /*!< ADC Analog watchdog 1,2 and 3 higher threshold */ - -/******************** Bit definition for ADC3_TR1 register *******************/ -#define ADC3_TR1_LT1_Pos (0U) -#define ADC3_TR1_LT1_Msk (0xFFFUL << ADC3_TR1_LT1_Pos) /*!< 0x00000FFF */ -#define ADC3_TR1_LT1 ADC3_TR1_LT1_Msk /*!< ADC analog watchdog 1 threshold low */ - -#define ADC3_TR1_AWDFILT_Pos (12U) -#define ADC3_TR1_AWDFILT_Msk (0x7UL << ADC3_TR1_AWDFILT_Pos) /*!< 0x00007000 */ -#define ADC3_TR1_AWDFILT ADC3_TR1_AWDFILT_Msk /*!< ADC analog watchdog filtering parameter */ -#define ADC3_TR1_AWDFILT_0 (0x1UL << ADC3_TR1_AWDFILT_Pos) /*!< 0x00001000 */ -#define ADC3_TR1_AWDFILT_1 (0x2UL << ADC3_TR1_AWDFILT_Pos) /*!< 0x00002000 */ -#define ADC3_TR1_AWDFILT_2 (0x4UL << ADC3_TR1_AWDFILT_Pos) /*!< 0x00004000 */ - -#define ADC3_TR1_HT1_Pos (16U) -#define ADC3_TR1_HT1_Msk (0xFFFUL << ADC3_TR1_HT1_Pos) /*!< 0x0FFF0000 */ -#define ADC3_TR1_HT1 ADC3_TR1_HT1_Msk /*!< ADC analog watchdog 1 threshold high */ - -/******************** Bit definition for ADC3_TR2 register *******************/ -#define ADC3_TR2_LT2_Pos (0U) -#define ADC3_TR2_LT2_Msk (0xFFUL << ADC3_TR2_LT2_Pos) /*!< 0x000000FF */ -#define ADC3_TR2_LT2 ADC3_TR2_LT2_Msk /*!< ADC analog watchdog 2 threshold low */ - -#define ADC3_TR2_HT2_Pos (16U) -#define ADC3_TR2_HT2_Msk (0xFFUL << ADC3_TR2_HT2_Pos) /*!< 0x00FF0000 */ -#define ADC3_TR2_HT2 ADC3_TR2_HT2_Msk /*!< ADC analog watchdog 2 threshold high */ - -/******************** Bit definition for ADC3_TR3 register *******************/ -#define ADC3_TR3_LT3_Pos (0U) -#define ADC3_TR3_LT3_Msk (0xFFUL << ADC3_TR3_LT3_Pos) /*!< 0x000000FF */ -#define ADC3_TR3_LT3 ADC3_TR3_LT3_Msk /*!< ADC analog watchdog 3 threshold low */ - -#define ADC3_TR3_HT3_Pos (16U) -#define ADC3_TR3_HT3_Msk (0xFFUL << ADC3_TR3_HT3_Pos) /*!< 0x00FF0000 */ -#define ADC3_TR3_HT3 ADC3_TR3_HT3_Msk /*!< ADC analog watchdog 3 threshold high */ - -/******************** Bit definition for ADC_SQR1 register ********************/ -#define ADC_SQR1_L_Pos (0U) -#define ADC_SQR1_L_Msk (0xFUL << ADC_SQR1_L_Pos) /*!< 0x0000000F */ -#define ADC_SQR1_L ADC_SQR1_L_Msk /*!< ADC regular channel sequence length */ -#define ADC_SQR1_L_0 (0x1UL << ADC_SQR1_L_Pos) /*!< 0x00000001 */ -#define ADC_SQR1_L_1 (0x2UL << ADC_SQR1_L_Pos) /*!< 0x00000002 */ -#define ADC_SQR1_L_2 (0x4UL << ADC_SQR1_L_Pos) /*!< 0x00000004 */ -#define ADC_SQR1_L_3 (0x8UL << ADC_SQR1_L_Pos) /*!< 0x00000008 */ - -#define ADC_SQR1_SQ1_Pos (6U) -#define ADC_SQR1_SQ1_Msk (0x1FUL << ADC_SQR1_SQ1_Pos) /*!< 0x000007C0 */ -#define ADC_SQR1_SQ1 ADC_SQR1_SQ1_Msk /*!< ADC 1st conversion in regular sequence */ -#define ADC_SQR1_SQ1_0 (0x01UL << ADC_SQR1_SQ1_Pos) /*!< 0x00000040 */ -#define ADC_SQR1_SQ1_1 (0x02UL << ADC_SQR1_SQ1_Pos) /*!< 0x00000080 */ -#define ADC_SQR1_SQ1_2 (0x04UL << ADC_SQR1_SQ1_Pos) /*!< 0x00000100 */ -#define ADC_SQR1_SQ1_3 (0x08UL << ADC_SQR1_SQ1_Pos) /*!< 0x00000200 */ -#define ADC_SQR1_SQ1_4 (0x10UL << ADC_SQR1_SQ1_Pos) /*!< 0x00000400 */ - -#define ADC_SQR1_SQ2_Pos (12U) -#define ADC_SQR1_SQ2_Msk (0x1FUL << ADC_SQR1_SQ2_Pos) /*!< 0x0001F000 */ -#define ADC_SQR1_SQ2 ADC_SQR1_SQ2_Msk /*!< ADC 2nd conversion in regular sequence */ -#define ADC_SQR1_SQ2_0 (0x01UL << ADC_SQR1_SQ2_Pos) /*!< 0x00001000 */ -#define ADC_SQR1_SQ2_1 (0x02UL << ADC_SQR1_SQ2_Pos) /*!< 0x00002000 */ -#define ADC_SQR1_SQ2_2 (0x04UL << ADC_SQR1_SQ2_Pos) /*!< 0x00004000 */ -#define ADC_SQR1_SQ2_3 (0x08UL << ADC_SQR1_SQ2_Pos) /*!< 0x00008000 */ -#define ADC_SQR1_SQ2_4 (0x10UL << ADC_SQR1_SQ2_Pos) /*!< 0x00010000 */ - -#define ADC_SQR1_SQ3_Pos (18U) -#define ADC_SQR1_SQ3_Msk (0x1FUL << ADC_SQR1_SQ3_Pos) /*!< 0x007C0000 */ -#define ADC_SQR1_SQ3 ADC_SQR1_SQ3_Msk /*!< ADC 3rd conversion in regular sequence */ -#define ADC_SQR1_SQ3_0 (0x01UL << ADC_SQR1_SQ3_Pos) /*!< 0x00040000 */ -#define ADC_SQR1_SQ3_1 (0x02UL << ADC_SQR1_SQ3_Pos) /*!< 0x00080000 */ -#define ADC_SQR1_SQ3_2 (0x04UL << ADC_SQR1_SQ3_Pos) /*!< 0x00100000 */ -#define ADC_SQR1_SQ3_3 (0x08UL << ADC_SQR1_SQ3_Pos) /*!< 0x00200000 */ -#define ADC_SQR1_SQ3_4 (0x10UL << ADC_SQR1_SQ3_Pos) /*!< 0x00400000 */ - -#define ADC_SQR1_SQ4_Pos (24U) -#define ADC_SQR1_SQ4_Msk (0x1FUL << ADC_SQR1_SQ4_Pos) /*!< 0x1F000000 */ -#define ADC_SQR1_SQ4 ADC_SQR1_SQ4_Msk /*!< ADC 4th conversion in regular sequence */ -#define ADC_SQR1_SQ4_0 (0x01UL << ADC_SQR1_SQ4_Pos) /*!< 0x01000000 */ -#define ADC_SQR1_SQ4_1 (0x02UL << ADC_SQR1_SQ4_Pos) /*!< 0x02000000 */ -#define ADC_SQR1_SQ4_2 (0x04UL << ADC_SQR1_SQ4_Pos) /*!< 0x04000000 */ -#define ADC_SQR1_SQ4_3 (0x08UL << ADC_SQR1_SQ4_Pos) /*!< 0x08000000 */ -#define ADC_SQR1_SQ4_4 (0x10UL << ADC_SQR1_SQ4_Pos) /*!< 0x10000000 */ - -/******************** Bit definition for ADC_SQR2 register ********************/ -#define ADC_SQR2_SQ5_Pos (0U) -#define ADC_SQR2_SQ5_Msk (0x1FUL << ADC_SQR2_SQ5_Pos) /*!< 0x0000001F */ -#define ADC_SQR2_SQ5 ADC_SQR2_SQ5_Msk /*!< ADC 5th conversion in regular sequence */ -#define ADC_SQR2_SQ5_0 (0x01UL << ADC_SQR2_SQ5_Pos) /*!< 0x00000001 */ -#define ADC_SQR2_SQ5_1 (0x02UL << ADC_SQR2_SQ5_Pos) /*!< 0x00000002 */ -#define ADC_SQR2_SQ5_2 (0x04UL << ADC_SQR2_SQ5_Pos) /*!< 0x00000004 */ -#define ADC_SQR2_SQ5_3 (0x08UL << ADC_SQR2_SQ5_Pos) /*!< 0x00000008 */ -#define ADC_SQR2_SQ5_4 (0x10UL << ADC_SQR2_SQ5_Pos) /*!< 0x00000010 */ - -#define ADC_SQR2_SQ6_Pos (6U) -#define ADC_SQR2_SQ6_Msk (0x1FUL << ADC_SQR2_SQ6_Pos) /*!< 0x000007C0 */ -#define ADC_SQR2_SQ6 ADC_SQR2_SQ6_Msk /*!< ADC 6th conversion in regular sequence */ -#define ADC_SQR2_SQ6_0 (0x01UL << ADC_SQR2_SQ6_Pos) /*!< 0x00000040 */ -#define ADC_SQR2_SQ6_1 (0x02UL << ADC_SQR2_SQ6_Pos) /*!< 0x00000080 */ -#define ADC_SQR2_SQ6_2 (0x04UL << ADC_SQR2_SQ6_Pos) /*!< 0x00000100 */ -#define ADC_SQR2_SQ6_3 (0x08UL << ADC_SQR2_SQ6_Pos) /*!< 0x00000200 */ -#define ADC_SQR2_SQ6_4 (0x10UL << ADC_SQR2_SQ6_Pos) /*!< 0x00000400 */ - -#define ADC_SQR2_SQ7_Pos (12U) -#define ADC_SQR2_SQ7_Msk (0x1FUL << ADC_SQR2_SQ7_Pos) /*!< 0x0001F000 */ -#define ADC_SQR2_SQ7 ADC_SQR2_SQ7_Msk /*!< ADC 7th conversion in regular sequence */ -#define ADC_SQR2_SQ7_0 (0x01UL << ADC_SQR2_SQ7_Pos) /*!< 0x00001000 */ -#define ADC_SQR2_SQ7_1 (0x02UL << ADC_SQR2_SQ7_Pos) /*!< 0x00002000 */ -#define ADC_SQR2_SQ7_2 (0x04UL << ADC_SQR2_SQ7_Pos) /*!< 0x00004000 */ -#define ADC_SQR2_SQ7_3 (0x08UL << ADC_SQR2_SQ7_Pos) /*!< 0x00008000 */ -#define ADC_SQR2_SQ7_4 (0x10UL << ADC_SQR2_SQ7_Pos) /*!< 0x00010000 */ - -#define ADC_SQR2_SQ8_Pos (18U) -#define ADC_SQR2_SQ8_Msk (0x1FUL << ADC_SQR2_SQ8_Pos) /*!< 0x007C0000 */ -#define ADC_SQR2_SQ8 ADC_SQR2_SQ8_Msk /*!< ADC 8th conversion in regular sequence */ -#define ADC_SQR2_SQ8_0 (0x01UL << ADC_SQR2_SQ8_Pos) /*!< 0x00040000 */ -#define ADC_SQR2_SQ8_1 (0x02UL << ADC_SQR2_SQ8_Pos) /*!< 0x00080000 */ -#define ADC_SQR2_SQ8_2 (0x04UL << ADC_SQR2_SQ8_Pos) /*!< 0x00100000 */ -#define ADC_SQR2_SQ8_3 (0x08UL << ADC_SQR2_SQ8_Pos) /*!< 0x00200000 */ -#define ADC_SQR2_SQ8_4 (0x10UL << ADC_SQR2_SQ8_Pos) /*!< 0x00400000 */ - -#define ADC_SQR2_SQ9_Pos (24U) -#define ADC_SQR2_SQ9_Msk (0x1FUL << ADC_SQR2_SQ9_Pos) /*!< 0x1F000000 */ -#define ADC_SQR2_SQ9 ADC_SQR2_SQ9_Msk /*!< ADC 9th conversion in regular sequence */ -#define ADC_SQR2_SQ9_0 (0x01UL << ADC_SQR2_SQ9_Pos) /*!< 0x01000000 */ -#define ADC_SQR2_SQ9_1 (0x02UL << ADC_SQR2_SQ9_Pos) /*!< 0x02000000 */ -#define ADC_SQR2_SQ9_2 (0x04UL << ADC_SQR2_SQ9_Pos) /*!< 0x04000000 */ -#define ADC_SQR2_SQ9_3 (0x08UL << ADC_SQR2_SQ9_Pos) /*!< 0x08000000 */ -#define ADC_SQR2_SQ9_4 (0x10UL << ADC_SQR2_SQ9_Pos) /*!< 0x10000000 */ - -/******************** Bit definition for ADC_SQR3 register ********************/ -#define ADC_SQR3_SQ10_Pos (0U) -#define ADC_SQR3_SQ10_Msk (0x1FUL << ADC_SQR3_SQ10_Pos) /*!< 0x0000001F */ -#define ADC_SQR3_SQ10 ADC_SQR3_SQ10_Msk /*!< ADC 10th conversion in regular sequence */ -#define ADC_SQR3_SQ10_0 (0x01UL << ADC_SQR3_SQ10_Pos) /*!< 0x00000001 */ -#define ADC_SQR3_SQ10_1 (0x02UL << ADC_SQR3_SQ10_Pos) /*!< 0x00000002 */ -#define ADC_SQR3_SQ10_2 (0x04UL << ADC_SQR3_SQ10_Pos) /*!< 0x00000004 */ -#define ADC_SQR3_SQ10_3 (0x08UL << ADC_SQR3_SQ10_Pos) /*!< 0x00000008 */ -#define ADC_SQR3_SQ10_4 (0x10UL << ADC_SQR3_SQ10_Pos) /*!< 0x00000010 */ - -#define ADC_SQR3_SQ11_Pos (6U) -#define ADC_SQR3_SQ11_Msk (0x1FUL << ADC_SQR3_SQ11_Pos) /*!< 0x000007C0 */ -#define ADC_SQR3_SQ11 ADC_SQR3_SQ11_Msk /*!< ADC 11th conversion in regular sequence */ -#define ADC_SQR3_SQ11_0 (0x01UL << ADC_SQR3_SQ11_Pos) /*!< 0x00000040 */ -#define ADC_SQR3_SQ11_1 (0x02UL << ADC_SQR3_SQ11_Pos) /*!< 0x00000080 */ -#define ADC_SQR3_SQ11_2 (0x04UL << ADC_SQR3_SQ11_Pos) /*!< 0x00000100 */ -#define ADC_SQR3_SQ11_3 (0x08UL << ADC_SQR3_SQ11_Pos) /*!< 0x00000200 */ -#define ADC_SQR3_SQ11_4 (0x10UL << ADC_SQR3_SQ11_Pos) /*!< 0x00000400 */ - -#define ADC_SQR3_SQ12_Pos (12U) -#define ADC_SQR3_SQ12_Msk (0x1FUL << ADC_SQR3_SQ12_Pos) /*!< 0x0001F000 */ -#define ADC_SQR3_SQ12 ADC_SQR3_SQ12_Msk /*!< ADC 12th conversion in regular sequence */ -#define ADC_SQR3_SQ12_0 (0x01UL << ADC_SQR3_SQ12_Pos) /*!< 0x00001000 */ -#define ADC_SQR3_SQ12_1 (0x02UL << ADC_SQR3_SQ12_Pos) /*!< 0x00002000 */ -#define ADC_SQR3_SQ12_2 (0x04UL << ADC_SQR3_SQ12_Pos) /*!< 0x00004000 */ -#define ADC_SQR3_SQ12_3 (0x08UL << ADC_SQR3_SQ12_Pos) /*!< 0x00008000 */ -#define ADC_SQR3_SQ12_4 (0x10UL << ADC_SQR3_SQ12_Pos) /*!< 0x00010000 */ - -#define ADC_SQR3_SQ13_Pos (18U) -#define ADC_SQR3_SQ13_Msk (0x1FUL << ADC_SQR3_SQ13_Pos) /*!< 0x007C0000 */ -#define ADC_SQR3_SQ13 ADC_SQR3_SQ13_Msk /*!< ADC 13th conversion in regular sequence */ -#define ADC_SQR3_SQ13_0 (0x01UL << ADC_SQR3_SQ13_Pos) /*!< 0x00040000 */ -#define ADC_SQR3_SQ13_1 (0x02UL << ADC_SQR3_SQ13_Pos) /*!< 0x00080000 */ -#define ADC_SQR3_SQ13_2 (0x04UL << ADC_SQR3_SQ13_Pos) /*!< 0x00100000 */ -#define ADC_SQR3_SQ13_3 (0x08UL << ADC_SQR3_SQ13_Pos) /*!< 0x00200000 */ -#define ADC_SQR3_SQ13_4 (0x10UL << ADC_SQR3_SQ13_Pos) /*!< 0x00400000 */ - -#define ADC_SQR3_SQ14_Pos (24U) -#define ADC_SQR3_SQ14_Msk (0x1FUL << ADC_SQR3_SQ14_Pos) /*!< 0x1F000000 */ -#define ADC_SQR3_SQ14 ADC_SQR3_SQ14_Msk /*!< ADC 14th conversion in regular sequence */ -#define ADC_SQR3_SQ14_0 (0x01UL << ADC_SQR3_SQ14_Pos) /*!< 0x01000000 */ -#define ADC_SQR3_SQ14_1 (0x02UL << ADC_SQR3_SQ14_Pos) /*!< 0x02000000 */ -#define ADC_SQR3_SQ14_2 (0x04UL << ADC_SQR3_SQ14_Pos) /*!< 0x04000000 */ -#define ADC_SQR3_SQ14_3 (0x08UL << ADC_SQR3_SQ14_Pos) /*!< 0x08000000 */ -#define ADC_SQR3_SQ14_4 (0x10UL << ADC_SQR3_SQ14_Pos) /*!< 0x10000000 */ - -/******************** Bit definition for ADC_SQR4 register ********************/ -#define ADC_SQR4_SQ15_Pos (0U) -#define ADC_SQR4_SQ15_Msk (0x1FUL << ADC_SQR4_SQ15_Pos) /*!< 0x0000001F */ -#define ADC_SQR4_SQ15 ADC_SQR4_SQ15_Msk /*!< ADC 15th conversion in regular sequence */ -#define ADC_SQR4_SQ15_0 (0x01UL << ADC_SQR4_SQ15_Pos) /*!< 0x00000001 */ -#define ADC_SQR4_SQ15_1 (0x02UL << ADC_SQR4_SQ15_Pos) /*!< 0x00000002 */ -#define ADC_SQR4_SQ15_2 (0x04UL << ADC_SQR4_SQ15_Pos) /*!< 0x00000004 */ -#define ADC_SQR4_SQ15_3 (0x08UL << ADC_SQR4_SQ15_Pos) /*!< 0x00000008 */ -#define ADC_SQR4_SQ15_4 (0x10UL << ADC_SQR4_SQ15_Pos) /*!< 0x00000010 */ - -#define ADC_SQR4_SQ16_Pos (6U) -#define ADC_SQR4_SQ16_Msk (0x1FUL << ADC_SQR4_SQ16_Pos) /*!< 0x000007C0 */ -#define ADC_SQR4_SQ16 ADC_SQR4_SQ16_Msk /*!< ADC 16th conversion in regular sequence */ -#define ADC_SQR4_SQ16_0 (0x01UL << ADC_SQR4_SQ16_Pos) /*!< 0x00000040 */ -#define ADC_SQR4_SQ16_1 (0x02UL << ADC_SQR4_SQ16_Pos) /*!< 0x00000080 */ -#define ADC_SQR4_SQ16_2 (0x04UL << ADC_SQR4_SQ16_Pos) /*!< 0x00000100 */ -#define ADC_SQR4_SQ16_3 (0x08UL << ADC_SQR4_SQ16_Pos) /*!< 0x00000200 */ -#define ADC_SQR4_SQ16_4 (0x10UL << ADC_SQR4_SQ16_Pos) /*!< 0x00000400 */ -/******************** Bit definition for ADC_DR register ********************/ -#define ADC_DR_RDATA_Pos (0U) -#define ADC_DR_RDATA_Msk (0xFFFFFFFFUL << ADC_DR_RDATA_Pos) /*!< 0xFFFFFFFF */ -#define ADC_DR_RDATA ADC_DR_RDATA_Msk /*!< ADC regular Data converted */ - -/******************** Bit definition for ADC_JSQR register ********************/ -#define ADC_JSQR_JL_Pos (0U) -#define ADC_JSQR_JL_Msk (0x3UL << ADC_JSQR_JL_Pos) /*!< 0x00000003 */ -#define ADC_JSQR_JL ADC_JSQR_JL_Msk /*!< ADC injected channel sequence length */ -#define ADC_JSQR_JL_0 (0x1UL << ADC_JSQR_JL_Pos) /*!< 0x00000001 */ -#define ADC_JSQR_JL_1 (0x2UL << ADC_JSQR_JL_Pos) /*!< 0x00000002 */ - -#define ADC_JSQR_JEXTSEL_Pos (2U) -#define ADC_JSQR_JEXTSEL_Msk (0x1FUL << ADC_JSQR_JEXTSEL_Pos) /*!< 0x0000007C */ -#define ADC_JSQR_JEXTSEL ADC_JSQR_JEXTSEL_Msk /*!< ADC external trigger selection for injected group */ -#define ADC_JSQR_JEXTSEL_0 (0x01UL << ADC_JSQR_JEXTSEL_Pos) /*!< 0x00000004 */ -#define ADC_JSQR_JEXTSEL_1 (0x02UL << ADC_JSQR_JEXTSEL_Pos) /*!< 0x00000008 */ -#define ADC_JSQR_JEXTSEL_2 (0x04UL << ADC_JSQR_JEXTSEL_Pos) /*!< 0x00000010 */ -#define ADC_JSQR_JEXTSEL_3 (0x08UL << ADC_JSQR_JEXTSEL_Pos) /*!< 0x00000020 */ -#define ADC_JSQR_JEXTSEL_4 (0x10UL << ADC_JSQR_JEXTSEL_Pos) /*!< 0x00000040 */ - -#define ADC_JSQR_JEXTEN_Pos (7U) -#define ADC_JSQR_JEXTEN_Msk (0x3UL << ADC_JSQR_JEXTEN_Pos) /*!< 0x00000180 */ -#define ADC_JSQR_JEXTEN ADC_JSQR_JEXTEN_Msk /*!< ADC external trigger enable and polarity selection for injected channels */ -#define ADC_JSQR_JEXTEN_0 (0x1UL << ADC_JSQR_JEXTEN_Pos) /*!< 0x00000080 */ -#define ADC_JSQR_JEXTEN_1 (0x2UL << ADC_JSQR_JEXTEN_Pos) /*!< 0x00000100 */ - -#define ADC_JSQR_JSQ1_Pos (9U) -#define ADC_JSQR_JSQ1_Msk (0x1FUL << ADC_JSQR_JSQ1_Pos) /*!< 0x00003E00 */ -#define ADC_JSQR_JSQ1 ADC_JSQR_JSQ1_Msk /*!< ADC 1st conversion in injected sequence */ -#define ADC_JSQR_JSQ1_0 (0x01UL << ADC_JSQR_JSQ1_Pos) /*!< 0x00000200 */ -#define ADC_JSQR_JSQ1_1 (0x02UL << ADC_JSQR_JSQ1_Pos) /*!< 0x00000400 */ -#define ADC_JSQR_JSQ1_2 (0x04UL << ADC_JSQR_JSQ1_Pos) /*!< 0x00000800 */ -#define ADC_JSQR_JSQ1_3 (0x08UL << ADC_JSQR_JSQ1_Pos) /*!< 0x00001000 */ -#define ADC_JSQR_JSQ1_4 (0x10UL << ADC_JSQR_JSQ1_Pos) /*!< 0x00002000 */ - -#define ADC_JSQR_JSQ2_Pos (15U) -#define ADC_JSQR_JSQ2_Msk (0x1FUL << ADC_JSQR_JSQ2_Pos) /*!< 0x000F8000 */ -#define ADC_JSQR_JSQ2 ADC_JSQR_JSQ2_Msk /*!< ADC 2nd conversion in injected sequence */ -#define ADC_JSQR_JSQ2_0 (0x01UL << ADC_JSQR_JSQ2_Pos) /*!< 0x00008000 */ -#define ADC_JSQR_JSQ2_1 (0x02UL << ADC_JSQR_JSQ2_Pos) /*!< 0x00010000 */ -#define ADC_JSQR_JSQ2_2 (0x04UL << ADC_JSQR_JSQ2_Pos) /*!< 0x00020000 */ -#define ADC_JSQR_JSQ2_3 (0x08UL << ADC_JSQR_JSQ2_Pos) /*!< 0x00040000 */ -#define ADC_JSQR_JSQ2_4 (0x10UL << ADC_JSQR_JSQ2_Pos) /*!< 0x00080000 */ - -#define ADC_JSQR_JSQ3_Pos (21U) -#define ADC_JSQR_JSQ3_Msk (0x1FUL << ADC_JSQR_JSQ3_Pos) /*!< 0x03E00000 */ -#define ADC_JSQR_JSQ3 ADC_JSQR_JSQ3_Msk /*!< ADC 3rd conversion in injected sequence */ -#define ADC_JSQR_JSQ3_0 (0x01UL << ADC_JSQR_JSQ3_Pos) /*!< 0x00200000 */ -#define ADC_JSQR_JSQ3_1 (0x02UL << ADC_JSQR_JSQ3_Pos) /*!< 0x00400000 */ -#define ADC_JSQR_JSQ3_2 (0x04UL << ADC_JSQR_JSQ3_Pos) /*!< 0x00800000 */ -#define ADC_JSQR_JSQ3_3 (0x08UL << ADC_JSQR_JSQ3_Pos) /*!< 0x01000000 */ -#define ADC_JSQR_JSQ3_4 (0x10UL << ADC_JSQR_JSQ3_Pos) /*!< 0x02000000 */ - -#define ADC_JSQR_JSQ4_Pos (27U) -#define ADC_JSQR_JSQ4_Msk (0x1FUL << ADC_JSQR_JSQ4_Pos) /*!< 0xF8000000 */ -#define ADC_JSQR_JSQ4 ADC_JSQR_JSQ4_Msk /*!< ADC 4th conversion in injected sequence */ -#define ADC_JSQR_JSQ4_0 (0x01UL << ADC_JSQR_JSQ4_Pos) /*!< 0x08000000 */ -#define ADC_JSQR_JSQ4_1 (0x02UL << ADC_JSQR_JSQ4_Pos) /*!< 0x10000000 */ -#define ADC_JSQR_JSQ4_2 (0x04UL << ADC_JSQR_JSQ4_Pos) /*!< 0x20000000 */ -#define ADC_JSQR_JSQ4_3 (0x08UL << ADC_JSQR_JSQ4_Pos) /*!< 0x40000000 */ -#define ADC_JSQR_JSQ4_4 (0x10UL << ADC_JSQR_JSQ4_Pos) /*!< 0x80000000 */ - -/******************** Bit definition for ADC_OFR1 register ********************/ -#define ADC_OFR1_OFFSET1_Pos (0U) -#define ADC_OFR1_OFFSET1_Msk (0x3FFFFFFUL << ADC_OFR1_OFFSET1_Pos) /*!< 0x03FFFFFF */ -#define ADC_OFR1_OFFSET1 ADC_OFR1_OFFSET1_Msk /*!< ADC data offset 1 for channel programmed into bits OFFSET1_CH[4:0] */ -#define ADC_OFR1_OFFSET1_0 (0x0000001UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00000001 */ -#define ADC_OFR1_OFFSET1_1 (0x0000002UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00000002 */ -#define ADC_OFR1_OFFSET1_2 (0x0000004UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00000004 */ -#define ADC_OFR1_OFFSET1_3 (0x0000008UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00000008 */ -#define ADC_OFR1_OFFSET1_4 (0x0000010UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00000010 */ -#define ADC_OFR1_OFFSET1_5 (0x0000020UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00000020 */ -#define ADC_OFR1_OFFSET1_6 (0x0000040UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00000040 */ -#define ADC_OFR1_OFFSET1_7 (0x0000080UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00000080 */ -#define ADC_OFR1_OFFSET1_8 (0x0000100UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00000100 */ -#define ADC_OFR1_OFFSET1_9 (0x0000200UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00000200 */ -#define ADC_OFR1_OFFSET1_10 (0x0000400UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00000400 */ -#define ADC_OFR1_OFFSET1_11 (0x0000800UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00000800 */ -#define ADC_OFR1_OFFSET1_12 (0x0001000UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00001000 */ -#define ADC_OFR1_OFFSET1_13 (0x0002000UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00002000 */ -#define ADC_OFR1_OFFSET1_14 (0x0004000UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00004000 */ -#define ADC_OFR1_OFFSET1_15 (0x0008000UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00008000 */ -#define ADC_OFR1_OFFSET1_16 (0x0010000UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00010000 */ -#define ADC_OFR1_OFFSET1_17 (0x0020000UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00020000 */ -#define ADC_OFR1_OFFSET1_18 (0x0040000UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00040000 */ -#define ADC_OFR1_OFFSET1_19 (0x0080000UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00080000 */ -#define ADC_OFR1_OFFSET1_20 (0x0100000UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00100000 */ -#define ADC_OFR1_OFFSET1_21 (0x0200000UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00200000 */ -#define ADC_OFR1_OFFSET1_22 (0x0400000UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00400000 */ -#define ADC_OFR1_OFFSET1_23 (0x0800000UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x00800000 */ -#define ADC_OFR1_OFFSET1_24 (0x1000000UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x01000000 */ -#define ADC_OFR1_OFFSET1_25 (0x2000000UL << ADC_OFR1_OFFSET1_Pos) /*!< 0x02000000 */ - -#define ADC_OFR1_OFFSET1_CH_Pos (26U) -#define ADC_OFR1_OFFSET1_CH_Msk (0x1FUL << ADC_OFR1_OFFSET1_CH_Pos) /*!< 0x7C000000 */ -#define ADC_OFR1_OFFSET1_CH ADC_OFR1_OFFSET1_CH_Msk /*!< ADC Channel selection for the data offset 1 */ -#define ADC_OFR1_OFFSET1_CH_0 (0x01UL << ADC_OFR1_OFFSET1_CH_Pos) /*!< 0x04000000 */ -#define ADC_OFR1_OFFSET1_CH_1 (0x02UL << ADC_OFR1_OFFSET1_CH_Pos) /*!< 0x08000000 */ -#define ADC_OFR1_OFFSET1_CH_2 (0x04UL << ADC_OFR1_OFFSET1_CH_Pos) /*!< 0x10000000 */ -#define ADC_OFR1_OFFSET1_CH_3 (0x08UL << ADC_OFR1_OFFSET1_CH_Pos) /*!< 0x20000000 */ -#define ADC_OFR1_OFFSET1_CH_4 (0x10UL << ADC_OFR1_OFFSET1_CH_Pos) /*!< 0x40000000 */ - -#define ADC_OFR1_SSATE_Pos (31U) -#define ADC_OFR1_SSATE_Msk (0x1UL << ADC_OFR1_SSATE_Pos) /*!< 0x80000000 */ -#define ADC_OFR1_SSATE ADC_OFR1_SSATE_Msk /*!< ADC Signed saturation Enable */ - -#define ADC3_OFR1_OFFSET1_Pos (0U) -#define ADC3_OFR1_OFFSET1_Msk (0xFFFUL << ADC3_OFR1_OFFSET1_Pos) /*!< 0x00000FFF */ -#define ADC3_OFR1_OFFSET1 ADC3_OFR1_OFFSET1_Msk /*!< ADC data offset 1 for channel programmed into bits OFFSET1_CH[4:0] */ - -#define ADC3_OFR1_OFFSETPOS_Pos (24U) -#define ADC3_OFR1_OFFSETPOS_Msk (0x1UL << ADC3_OFR1_OFFSETPOS_Pos) /*!< 0x01000000 */ -#define ADC3_OFR1_OFFSETPOS ADC3_OFR1_OFFSETPOS_Msk /*!< ADC offset number 1 positive */ -#define ADC3_OFR1_SATEN_Pos (25U) -#define ADC3_OFR1_SATEN_Msk (0x1UL << ADC3_OFR1_SATEN_Pos) /*!< 0x02000000 */ -#define ADC3_OFR1_SATEN ADC3_OFR1_SATEN_Msk /*!< ADC offset number 1 saturation enable */ - -#define ADC3_OFR1_OFFSET1_EN_Pos (31U) -#define ADC3_OFR1_OFFSET1_EN_Msk (0x1UL << ADC3_OFR1_OFFSET1_EN_Pos) /*!< 0x80000000 */ -#define ADC3_OFR1_OFFSET1_EN ADC3_OFR1_OFFSET1_EN_Msk /*!< ADC offset number 1 enable */ - -/******************** Bit definition for ADC_OFR2 register ********************/ -#define ADC_OFR2_OFFSET2_Pos (0U) -#define ADC_OFR2_OFFSET2_Msk (0x3FFFFFFUL << ADC_OFR2_OFFSET2_Pos) /*!< 0x03FFFFFF */ -#define ADC_OFR2_OFFSET2 ADC_OFR2_OFFSET2_Msk /*!< ADC data offset 2 for channel programmed into bits OFFSET2_CH[4:0] */ -#define ADC_OFR2_OFFSET2_0 (0x0000001UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00000001 */ -#define ADC_OFR2_OFFSET2_1 (0x0000002UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00000002 */ -#define ADC_OFR2_OFFSET2_2 (0x0000004UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00000004 */ -#define ADC_OFR2_OFFSET2_3 (0x0000008UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00000008 */ -#define ADC_OFR2_OFFSET2_4 (0x0000010UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00000010 */ -#define ADC_OFR2_OFFSET2_5 (0x0000020UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00000020 */ -#define ADC_OFR2_OFFSET2_6 (0x0000040UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00000040 */ -#define ADC_OFR2_OFFSET2_7 (0x0000080UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00000080 */ -#define ADC_OFR2_OFFSET2_8 (0x0000100UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00000100 */ -#define ADC_OFR2_OFFSET2_9 (0x0000200UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00000200 */ -#define ADC_OFR2_OFFSET2_10 (0x0000400UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00000400 */ -#define ADC_OFR2_OFFSET2_11 (0x0000800UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00000800 */ -#define ADC_OFR2_OFFSET2_12 (0x0001000UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00001000 */ -#define ADC_OFR2_OFFSET2_13 (0x0002000UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00002000 */ -#define ADC_OFR2_OFFSET2_14 (0x0004000UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00004000 */ -#define ADC_OFR2_OFFSET2_15 (0x0008000UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00008000 */ -#define ADC_OFR2_OFFSET2_16 (0x0010000UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00010000 */ -#define ADC_OFR2_OFFSET2_17 (0x0020000UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00020000 */ -#define ADC_OFR2_OFFSET2_18 (0x0040000UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00040000 */ -#define ADC_OFR2_OFFSET2_19 (0x0080000UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00080000 */ -#define ADC_OFR2_OFFSET2_20 (0x0100000UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00100000 */ -#define ADC_OFR2_OFFSET2_21 (0x0200000UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00200000 */ -#define ADC_OFR2_OFFSET2_22 (0x0400000UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00400000 */ -#define ADC_OFR2_OFFSET2_23 (0x0800000UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x00800000 */ -#define ADC_OFR2_OFFSET2_24 (0x1000000UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x01000000 */ -#define ADC_OFR2_OFFSET2_25 (0x2000000UL << ADC_OFR2_OFFSET2_Pos) /*!< 0x02000000 */ - -#define ADC_OFR2_OFFSET2_CH_Pos (26U) -#define ADC_OFR2_OFFSET2_CH_Msk (0x1FUL << ADC_OFR2_OFFSET2_CH_Pos) /*!< 0x7C000000 */ -#define ADC_OFR2_OFFSET2_CH ADC_OFR2_OFFSET2_CH_Msk /*!< ADC Channel selection for the data offset 2 */ -#define ADC_OFR2_OFFSET2_CH_0 (0x01UL << ADC_OFR2_OFFSET2_CH_Pos) /*!< 0x04000000 */ -#define ADC_OFR2_OFFSET2_CH_1 (0x02UL << ADC_OFR2_OFFSET2_CH_Pos) /*!< 0x08000000 */ -#define ADC_OFR2_OFFSET2_CH_2 (0x04UL << ADC_OFR2_OFFSET2_CH_Pos) /*!< 0x10000000 */ -#define ADC_OFR2_OFFSET2_CH_3 (0x08UL << ADC_OFR2_OFFSET2_CH_Pos) /*!< 0x20000000 */ -#define ADC_OFR2_OFFSET2_CH_4 (0x10UL << ADC_OFR2_OFFSET2_CH_Pos) /*!< 0x40000000 */ - -#define ADC_OFR2_SSATE_Pos (31U) -#define ADC_OFR2_SSATE_Msk (0x1UL << ADC_OFR2_SSATE_Pos) /*!< 0x80000000 */ -#define ADC_OFR2_SSATE ADC_OFR2_SSATE_Msk /*!< ADC Signed saturation Enable */ - -#define ADC3_OFR2_OFFSET2_Pos (0U) -#define ADC3_OFR2_OFFSET2_Msk (0xFFFUL << ADC3_OFR2_OFFSET2_Pos) /*!< 0x00000FFF */ -#define ADC3_OFR2_OFFSET2 ADC3_OFR2_OFFSET2_Msk /*!< ADC data offset 2 for channel programmed into bits OFFSET1_CH[4:0] */ - -#define ADC3_OFR2_OFFSETPOS_Pos (24U) -#define ADC3_OFR2_OFFSETPOS_Msk (0x1UL << ADC3_OFR2_OFFSETPOS_Pos) /*!< 0x01000000 */ -#define ADC3_OFR2_OFFSETPOS ADC3_OFR2_OFFSETPOS_Msk /*!< ADC offset number 2 positive */ -#define ADC3_OFR2_SATEN_Pos (25U) -#define ADC3_OFR2_SATEN_Msk (0x1UL << ADC3_OFR2_SATEN_Pos) /*!< 0x02000000 */ -#define ADC3_OFR2_SATEN ADC3_OFR2_SATEN_Msk /*!< ADC offset number 2 saturation enable */ - -#define ADC3_OFR2_OFFSET2_EN_Pos (31U) -#define ADC3_OFR2_OFFSET2_EN_Msk (0x1UL << ADC3_OFR2_OFFSET2_EN_Pos) /*!< 0x80000000 */ -#define ADC3_OFR2_OFFSET2_EN ADC3_OFR2_OFFSET2_EN_Msk /*!< ADC offset number 2 enable */ - -/******************** Bit definition for ADC_OFR3 register ********************/ -#define ADC_OFR3_OFFSET3_Pos (0U) -#define ADC_OFR3_OFFSET3_Msk (0x3FFFFFFUL << ADC_OFR3_OFFSET3_Pos) /*!< 0x03FFFFFF */ -#define ADC_OFR3_OFFSET3 ADC_OFR3_OFFSET3_Msk /*!< ADC data offset 3 for channel programmed into bits OFFSET3_CH[4:0] */ -#define ADC_OFR3_OFFSET3_0 (0x0000001UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00000001 */ -#define ADC_OFR3_OFFSET3_1 (0x0000002UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00000002 */ -#define ADC_OFR3_OFFSET3_2 (0x0000004UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00000004 */ -#define ADC_OFR3_OFFSET3_3 (0x0000008UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00000008 */ -#define ADC_OFR3_OFFSET3_4 (0x0000010UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00000010 */ -#define ADC_OFR3_OFFSET3_5 (0x0000020UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00000020 */ -#define ADC_OFR3_OFFSET3_6 (0x0000040UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00000040 */ -#define ADC_OFR3_OFFSET3_7 (0x0000080UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00000080 */ -#define ADC_OFR3_OFFSET3_8 (0x0000100UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00000100 */ -#define ADC_OFR3_OFFSET3_9 (0x0000200UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00000200 */ -#define ADC_OFR3_OFFSET3_10 (0x0000400UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00000400 */ -#define ADC_OFR3_OFFSET3_11 (0x0000800UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00000800 */ -#define ADC_OFR3_OFFSET3_12 (0x0001000UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00001000 */ -#define ADC_OFR3_OFFSET3_13 (0x0002000UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00002000 */ -#define ADC_OFR3_OFFSET3_14 (0x0004000UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00004000 */ -#define ADC_OFR3_OFFSET3_15 (0x0008000UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00008000 */ -#define ADC_OFR3_OFFSET3_16 (0x0010000UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00010000 */ -#define ADC_OFR3_OFFSET3_17 (0x0020000UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00020000 */ -#define ADC_OFR3_OFFSET3_18 (0x0040000UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00040000 */ -#define ADC_OFR3_OFFSET3_19 (0x0080000UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00080000 */ -#define ADC_OFR3_OFFSET3_20 (0x0100000UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00100000 */ -#define ADC_OFR3_OFFSET3_21 (0x0200000UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00200000 */ -#define ADC_OFR3_OFFSET3_22 (0x0400000UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00400000 */ -#define ADC_OFR3_OFFSET3_23 (0x0800000UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x00800000 */ -#define ADC_OFR3_OFFSET3_24 (0x1000000UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x01000000 */ -#define ADC_OFR3_OFFSET3_25 (0x2000000UL << ADC_OFR3_OFFSET3_Pos) /*!< 0x02000000 */ - -#define ADC_OFR3_OFFSET3_CH_Pos (26U) -#define ADC_OFR3_OFFSET3_CH_Msk (0x1FUL << ADC_OFR3_OFFSET3_CH_Pos) /*!< 0x7C000000 */ -#define ADC_OFR3_OFFSET3_CH ADC_OFR3_OFFSET3_CH_Msk /*!< ADC Channel selection for the data offset 3 */ -#define ADC_OFR3_OFFSET3_CH_0 (0x01UL << ADC_OFR3_OFFSET3_CH_Pos) /*!< 0x04000000 */ -#define ADC_OFR3_OFFSET3_CH_1 (0x02UL << ADC_OFR3_OFFSET3_CH_Pos) /*!< 0x08000000 */ -#define ADC_OFR3_OFFSET3_CH_2 (0x04UL << ADC_OFR3_OFFSET3_CH_Pos) /*!< 0x10000000 */ -#define ADC_OFR3_OFFSET3_CH_3 (0x08UL << ADC_OFR3_OFFSET3_CH_Pos) /*!< 0x20000000 */ -#define ADC_OFR3_OFFSET3_CH_4 (0x10UL << ADC_OFR3_OFFSET3_CH_Pos) /*!< 0x40000000 */ - -#define ADC_OFR3_SSATE_Pos (31U) -#define ADC_OFR3_SSATE_Msk (0x1UL << ADC_OFR3_SSATE_Pos) /*!< 0x80000000 */ -#define ADC_OFR3_SSATE ADC_OFR3_SSATE_Msk /*!< ADC Signed saturation Enable */ - -#define ADC3_OFR3_OFFSET3_Pos (0U) -#define ADC3_OFR3_OFFSET3_Msk (0xFFFUL << ADC3_OFR3_OFFSET3_Pos) /*!< 0x00000FFF */ -#define ADC3_OFR3_OFFSET3 ADC3_OFR3_OFFSET3_Msk /*!< ADC data offset 3 for channel programmed into bits OFFSET1_CH[4:0] */ - -#define ADC3_OFR3_OFFSETPOS_Pos (24U) -#define ADC3_OFR3_OFFSETPOS_Msk (0x1UL << ADC3_OFR3_OFFSETPOS_Pos) /*!< 0x01000000 */ -#define ADC3_OFR3_OFFSETPOS ADC3_OFR3_OFFSETPOS_Msk /*!< ADC offset number 3 positive */ -#define ADC3_OFR3_SATEN_Pos (25U) -#define ADC3_OFR3_SATEN_Msk (0x1UL << ADC3_OFR3_SATEN_Pos) /*!< 0x02000000 */ -#define ADC3_OFR3_SATEN ADC3_OFR3_SATEN_Msk /*!< ADC offset number 3 saturation enable */ - -#define ADC3_OFR3_OFFSET3_EN_Pos (31U) -#define ADC3_OFR3_OFFSET3_EN_Msk (0x1UL << ADC3_OFR3_OFFSET3_EN_Pos) /*!< 0x80000000 */ -#define ADC3_OFR3_OFFSET3_EN ADC3_OFR3_OFFSET3_EN_Msk /*!< ADC offset number 3 enable */ - -/******************** Bit definition for ADC_OFR4 register ********************/ -#define ADC_OFR4_OFFSET4_Pos (0U) -#define ADC_OFR4_OFFSET4_Msk (0x3FFFFFFUL << ADC_OFR4_OFFSET4_Pos) /*!< 0x03FFFFFF */ -#define ADC_OFR4_OFFSET4 ADC_OFR4_OFFSET4_Msk /*!< ADC data offset 4 for channel programmed into bits OFFSET4_CH[4:0] */ -#define ADC_OFR4_OFFSET4_0 (0x0000001UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00000001 */ -#define ADC_OFR4_OFFSET4_1 (0x0000002UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00000002 */ -#define ADC_OFR4_OFFSET4_2 (0x0000004UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00000004 */ -#define ADC_OFR4_OFFSET4_3 (0x0000008UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00000008 */ -#define ADC_OFR4_OFFSET4_4 (0x0000010UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00000010 */ -#define ADC_OFR4_OFFSET4_5 (0x0000020UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00000020 */ -#define ADC_OFR4_OFFSET4_6 (0x0000040UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00000040 */ -#define ADC_OFR4_OFFSET4_7 (0x0000080UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00000080 */ -#define ADC_OFR4_OFFSET4_8 (0x0000100UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00000100 */ -#define ADC_OFR4_OFFSET4_9 (0x0000200UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00000200 */ -#define ADC_OFR4_OFFSET4_10 (0x0000400UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00000400 */ -#define ADC_OFR4_OFFSET4_11 (0x0000800UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00000800 */ -#define ADC_OFR4_OFFSET4_12 (0x0001000UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00001000 */ -#define ADC_OFR4_OFFSET4_13 (0x0002000UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00002000 */ -#define ADC_OFR4_OFFSET4_14 (0x0004000UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00004000 */ -#define ADC_OFR4_OFFSET4_15 (0x0008000UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00008000 */ -#define ADC_OFR4_OFFSET4_16 (0x0010000UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00010000 */ -#define ADC_OFR4_OFFSET4_17 (0x0020000UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00020000 */ -#define ADC_OFR4_OFFSET4_18 (0x0040000UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00040000 */ -#define ADC_OFR4_OFFSET4_19 (0x0080000UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00080000 */ -#define ADC_OFR4_OFFSET4_20 (0x0100000UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00100000 */ -#define ADC_OFR4_OFFSET4_21 (0x0200000UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00200000 */ -#define ADC_OFR4_OFFSET4_22 (0x0400000UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00400000 */ -#define ADC_OFR4_OFFSET4_23 (0x0800000UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x00800000 */ -#define ADC_OFR4_OFFSET4_24 (0x1000000UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x01000000 */ -#define ADC_OFR4_OFFSET4_25 (0x2000000UL << ADC_OFR4_OFFSET4_Pos) /*!< 0x02000000 */ - -#define ADC_OFR4_OFFSET4_CH_Pos (26U) -#define ADC_OFR4_OFFSET4_CH_Msk (0x1FUL << ADC_OFR4_OFFSET4_CH_Pos) /*!< 0x7C000000 */ -#define ADC_OFR4_OFFSET4_CH ADC_OFR4_OFFSET4_CH_Msk /*!< ADC Channel selection for the data offset 4 */ -#define ADC_OFR4_OFFSET4_CH_0 (0x01UL << ADC_OFR4_OFFSET4_CH_Pos) /*!< 0x04000000 */ -#define ADC_OFR4_OFFSET4_CH_1 (0x02UL << ADC_OFR4_OFFSET4_CH_Pos) /*!< 0x08000000 */ -#define ADC_OFR4_OFFSET4_CH_2 (0x04UL << ADC_OFR4_OFFSET4_CH_Pos) /*!< 0x10000000 */ -#define ADC_OFR4_OFFSET4_CH_3 (0x08UL << ADC_OFR4_OFFSET4_CH_Pos) /*!< 0x20000000 */ -#define ADC_OFR4_OFFSET4_CH_4 (0x10UL << ADC_OFR4_OFFSET4_CH_Pos) /*!< 0x40000000 */ - -#define ADC_OFR4_SSATE_Pos (31U) -#define ADC_OFR4_SSATE_Msk (0x1UL << ADC_OFR4_SSATE_Pos) /*!< 0x80000000 */ -#define ADC_OFR4_SSATE ADC_OFR4_SSATE_Msk /*!< ADC Signed saturation Enable */ - -#define ADC3_OFR4_OFFSET4_Pos (0U) -#define ADC3_OFR4_OFFSET4_Msk (0xFFFUL << ADC3_OFR4_OFFSET4_Pos) /*!< 0x00000FFF */ -#define ADC3_OFR4_OFFSET4 ADC3_OFR4_OFFSET4_Msk /*!< ADC data offset 4 for channel programmed into bits OFFSET1_CH[4:0] */ - -#define ADC3_OFR4_OFFSETPOS_Pos (24U) -#define ADC3_OFR4_OFFSETPOS_Msk (0x1UL << ADC3_OFR4_OFFSETPOS_Pos) /*!< 0x01000000 */ -#define ADC3_OFR4_OFFSETPOS ADC3_OFR4_OFFSETPOS_Msk /*!< ADC offset number 4 positive */ -#define ADC3_OFR4_SATEN_Pos (25U) -#define ADC3_OFR4_SATEN_Msk (0x1UL << ADC3_OFR4_SATEN_Pos) /*!< 0x02000000 */ -#define ADC3_OFR4_SATEN ADC3_OFR4_SATEN_Msk /*!< ADC offset number 4 saturation enable */ - -#define ADC3_OFR4_OFFSET4_EN_Pos (31U) -#define ADC3_OFR4_OFFSET4_EN_Msk (0x1UL << ADC3_OFR4_OFFSET4_EN_Pos) /*!< 0x80000000 */ -#define ADC3_OFR4_OFFSET4_EN ADC3_OFR4_OFFSET4_EN_Msk /*!< ADC offset number 4 enable */ - -/******************** Bit definition for ADC_JDR1 register ********************/ -#define ADC_JDR1_JDATA_Pos (0U) -#define ADC_JDR1_JDATA_Msk (0xFFFFFFFFUL << ADC_JDR1_JDATA_Pos) /*!< 0xFFFFFFFF */ -#define ADC_JDR1_JDATA ADC_JDR1_JDATA_Msk /*!< ADC Injected DATA */ -#define ADC_JDR1_JDATA_0 (0x00000001UL << ADC_JDR1_JDATA_Pos) /*!< 0x00000001 */ -#define ADC_JDR1_JDATA_1 (0x00000002UL << ADC_JDR1_JDATA_Pos) /*!< 0x00000002 */ -#define ADC_JDR1_JDATA_2 (0x00000004UL << ADC_JDR1_JDATA_Pos) /*!< 0x00000004 */ -#define ADC_JDR1_JDATA_3 (0x00000008UL << ADC_JDR1_JDATA_Pos) /*!< 0x00000008 */ -#define ADC_JDR1_JDATA_4 (0x00000010UL << ADC_JDR1_JDATA_Pos) /*!< 0x00000010 */ -#define ADC_JDR1_JDATA_5 (0x00000020UL << ADC_JDR1_JDATA_Pos) /*!< 0x00000020 */ -#define ADC_JDR1_JDATA_6 (0x00000040UL << ADC_JDR1_JDATA_Pos) /*!< 0x00000040 */ -#define ADC_JDR1_JDATA_7 (0x00000080UL << ADC_JDR1_JDATA_Pos) /*!< 0x00000080 */ -#define ADC_JDR1_JDATA_8 (0x00000100UL << ADC_JDR1_JDATA_Pos) /*!< 0x00000100 */ -#define ADC_JDR1_JDATA_9 (0x00000200UL << ADC_JDR1_JDATA_Pos) /*!< 0x00000200 */ -#define ADC_JDR1_JDATA_10 (0x00000400UL << ADC_JDR1_JDATA_Pos) /*!< 0x00000400 */ -#define ADC_JDR1_JDATA_11 (0x00000800UL << ADC_JDR1_JDATA_Pos) /*!< 0x00000800 */ -#define ADC_JDR1_JDATA_12 (0x00001000UL << ADC_JDR1_JDATA_Pos) /*!< 0x00001000 */ -#define ADC_JDR1_JDATA_13 (0x00002000UL << ADC_JDR1_JDATA_Pos) /*!< 0x00002000 */ -#define ADC_JDR1_JDATA_14 (0x00004000UL << ADC_JDR1_JDATA_Pos) /*!< 0x00004000 */ -#define ADC_JDR1_JDATA_15 (0x00008000UL << ADC_JDR1_JDATA_Pos) /*!< 0x00008000 */ -#define ADC_JDR1_JDATA_16 (0x00010000UL << ADC_JDR1_JDATA_Pos) /*!< 0x00010000 */ -#define ADC_JDR1_JDATA_17 (0x00020000UL << ADC_JDR1_JDATA_Pos) /*!< 0x00020000 */ -#define ADC_JDR1_JDATA_18 (0x00040000UL << ADC_JDR1_JDATA_Pos) /*!< 0x00040000 */ -#define ADC_JDR1_JDATA_19 (0x00080000UL << ADC_JDR1_JDATA_Pos) /*!< 0x00080000 */ -#define ADC_JDR1_JDATA_20 (0x00100000UL << ADC_JDR1_JDATA_Pos) /*!< 0x00100000 */ -#define ADC_JDR1_JDATA_21 (0x00200000UL << ADC_JDR1_JDATA_Pos) /*!< 0x00200000 */ -#define ADC_JDR1_JDATA_22 (0x00400000UL << ADC_JDR1_JDATA_Pos) /*!< 0x00400000 */ -#define ADC_JDR1_JDATA_23 (0x00800000UL << ADC_JDR1_JDATA_Pos) /*!< 0x00800000 */ -#define ADC_JDR1_JDATA_24 (0x01000000UL << ADC_JDR1_JDATA_Pos) /*!< 0x01000000 */ -#define ADC_JDR1_JDATA_25 (0x02000000UL << ADC_JDR1_JDATA_Pos) /*!< 0x02000000 */ -#define ADC_JDR1_JDATA_26 (0x04000000UL << ADC_JDR1_JDATA_Pos) /*!< 0x04000000 */ -#define ADC_JDR1_JDATA_27 (0x08000000UL << ADC_JDR1_JDATA_Pos) /*!< 0x08000000 */ -#define ADC_JDR1_JDATA_28 (0x10000000UL << ADC_JDR1_JDATA_Pos) /*!< 0x10000000 */ -#define ADC_JDR1_JDATA_29 (0x20000000UL << ADC_JDR1_JDATA_Pos) /*!< 0x20000000 */ -#define ADC_JDR1_JDATA_30 (0x40000000UL << ADC_JDR1_JDATA_Pos) /*!< 0x40000000 */ -#define ADC_JDR1_JDATA_31 (0x80000000UL << ADC_JDR1_JDATA_Pos) /*!< 0x80000000 */ - -/******************** Bit definition for ADC_JDR2 register ********************/ -#define ADC_JDR2_JDATA_Pos (0U) -#define ADC_JDR2_JDATA_Msk (0xFFFFFFFFUL << ADC_JDR2_JDATA_Pos) /*!< 0xFFFFFFFF */ -#define ADC_JDR2_JDATA ADC_JDR2_JDATA_Msk /*!< ADC Injected DATA */ -#define ADC_JDR2_JDATA_0 (0x00000001UL << ADC_JDR2_JDATA_Pos) /*!< 0x00000001 */ -#define ADC_JDR2_JDATA_1 (0x00000002UL << ADC_JDR2_JDATA_Pos) /*!< 0x00000002 */ -#define ADC_JDR2_JDATA_2 (0x00000004UL << ADC_JDR2_JDATA_Pos) /*!< 0x00000004 */ -#define ADC_JDR2_JDATA_3 (0x00000008UL << ADC_JDR2_JDATA_Pos) /*!< 0x00000008 */ -#define ADC_JDR2_JDATA_4 (0x00000010UL << ADC_JDR2_JDATA_Pos) /*!< 0x00000010 */ -#define ADC_JDR2_JDATA_5 (0x00000020UL << ADC_JDR2_JDATA_Pos) /*!< 0x00000020 */ -#define ADC_JDR2_JDATA_6 (0x00000040UL << ADC_JDR2_JDATA_Pos) /*!< 0x00000040 */ -#define ADC_JDR2_JDATA_7 (0x00000080UL << ADC_JDR2_JDATA_Pos) /*!< 0x00000080 */ -#define ADC_JDR2_JDATA_8 (0x00000100UL << ADC_JDR2_JDATA_Pos) /*!< 0x00000100 */ -#define ADC_JDR2_JDATA_9 (0x00000200UL << ADC_JDR2_JDATA_Pos) /*!< 0x00000200 */ -#define ADC_JDR2_JDATA_10 (0x00000400UL << ADC_JDR2_JDATA_Pos) /*!< 0x00000400 */ -#define ADC_JDR2_JDATA_11 (0x00000800UL << ADC_JDR2_JDATA_Pos) /*!< 0x00000800 */ -#define ADC_JDR2_JDATA_12 (0x00001000UL << ADC_JDR2_JDATA_Pos) /*!< 0x00001000 */ -#define ADC_JDR2_JDATA_13 (0x00002000UL << ADC_JDR2_JDATA_Pos) /*!< 0x00002000 */ -#define ADC_JDR2_JDATA_14 (0x00004000UL << ADC_JDR2_JDATA_Pos) /*!< 0x00004000 */ -#define ADC_JDR2_JDATA_15 (0x00008000UL << ADC_JDR2_JDATA_Pos) /*!< 0x00008000 */ -#define ADC_JDR2_JDATA_16 (0x00010000UL << ADC_JDR2_JDATA_Pos) /*!< 0x00010000 */ -#define ADC_JDR2_JDATA_17 (0x00020000UL << ADC_JDR2_JDATA_Pos) /*!< 0x00020000 */ -#define ADC_JDR2_JDATA_18 (0x00040000UL << ADC_JDR2_JDATA_Pos) /*!< 0x00040000 */ -#define ADC_JDR2_JDATA_19 (0x00080000UL << ADC_JDR2_JDATA_Pos) /*!< 0x00080000 */ -#define ADC_JDR2_JDATA_20 (0x00100000UL << ADC_JDR2_JDATA_Pos) /*!< 0x00100000 */ -#define ADC_JDR2_JDATA_21 (0x00200000UL << ADC_JDR2_JDATA_Pos) /*!< 0x00200000 */ -#define ADC_JDR2_JDATA_22 (0x00400000UL << ADC_JDR2_JDATA_Pos) /*!< 0x00400000 */ -#define ADC_JDR2_JDATA_23 (0x00800000UL << ADC_JDR2_JDATA_Pos) /*!< 0x00800000 */ -#define ADC_JDR2_JDATA_24 (0x01000000UL << ADC_JDR2_JDATA_Pos) /*!< 0x01000000 */ -#define ADC_JDR2_JDATA_25 (0x02000000UL << ADC_JDR2_JDATA_Pos) /*!< 0x02000000 */ -#define ADC_JDR2_JDATA_26 (0x04000000UL << ADC_JDR2_JDATA_Pos) /*!< 0x04000000 */ -#define ADC_JDR2_JDATA_27 (0x08000000UL << ADC_JDR2_JDATA_Pos) /*!< 0x08000000 */ -#define ADC_JDR2_JDATA_28 (0x10000000UL << ADC_JDR2_JDATA_Pos) /*!< 0x10000000 */ -#define ADC_JDR2_JDATA_29 (0x20000000UL << ADC_JDR2_JDATA_Pos) /*!< 0x20000000 */ -#define ADC_JDR2_JDATA_30 (0x40000000UL << ADC_JDR2_JDATA_Pos) /*!< 0x40000000 */ -#define ADC_JDR2_JDATA_31 (0x80000000UL << ADC_JDR2_JDATA_Pos) /*!< 0x80000000 */ - -/******************** Bit definition for ADC_JDR3 register ********************/ -#define ADC_JDR3_JDATA_Pos (0U) -#define ADC_JDR3_JDATA_Msk (0xFFFFFFFFUL << ADC_JDR3_JDATA_Pos) /*!< 0xFFFFFFFF */ -#define ADC_JDR3_JDATA ADC_JDR3_JDATA_Msk /*!< ADC Injected DATA */ -#define ADC_JDR3_JDATA_0 (0x00000001UL << ADC_JDR3_JDATA_Pos) /*!< 0x00000001 */ -#define ADC_JDR3_JDATA_1 (0x00000002UL << ADC_JDR3_JDATA_Pos) /*!< 0x00000002 */ -#define ADC_JDR3_JDATA_2 (0x00000004UL << ADC_JDR3_JDATA_Pos) /*!< 0x00000004 */ -#define ADC_JDR3_JDATA_3 (0x00000008UL << ADC_JDR3_JDATA_Pos) /*!< 0x00000008 */ -#define ADC_JDR3_JDATA_4 (0x00000010UL << ADC_JDR3_JDATA_Pos) /*!< 0x00000010 */ -#define ADC_JDR3_JDATA_5 (0x00000020UL << ADC_JDR3_JDATA_Pos) /*!< 0x00000020 */ -#define ADC_JDR3_JDATA_6 (0x00000040UL << ADC_JDR3_JDATA_Pos) /*!< 0x00000040 */ -#define ADC_JDR3_JDATA_7 (0x00000080UL << ADC_JDR3_JDATA_Pos) /*!< 0x00000080 */ -#define ADC_JDR3_JDATA_8 (0x00000100UL << ADC_JDR3_JDATA_Pos) /*!< 0x00000100 */ -#define ADC_JDR3_JDATA_9 (0x00000200UL << ADC_JDR3_JDATA_Pos) /*!< 0x00000200 */ -#define ADC_JDR3_JDATA_10 (0x00000400UL << ADC_JDR3_JDATA_Pos) /*!< 0x00000400 */ -#define ADC_JDR3_JDATA_11 (0x00000800UL << ADC_JDR3_JDATA_Pos) /*!< 0x00000800 */ -#define ADC_JDR3_JDATA_12 (0x00001000UL << ADC_JDR3_JDATA_Pos) /*!< 0x00001000 */ -#define ADC_JDR3_JDATA_13 (0x00002000UL << ADC_JDR3_JDATA_Pos) /*!< 0x00002000 */ -#define ADC_JDR3_JDATA_14 (0x00004000UL << ADC_JDR3_JDATA_Pos) /*!< 0x00004000 */ -#define ADC_JDR3_JDATA_15 (0x00008000UL << ADC_JDR3_JDATA_Pos) /*!< 0x00008000 */ -#define ADC_JDR3_JDATA_16 (0x00010000UL << ADC_JDR3_JDATA_Pos) /*!< 0x00010000 */ -#define ADC_JDR3_JDATA_17 (0x00020000UL << ADC_JDR3_JDATA_Pos) /*!< 0x00020000 */ -#define ADC_JDR3_JDATA_18 (0x00040000UL << ADC_JDR3_JDATA_Pos) /*!< 0x00040000 */ -#define ADC_JDR3_JDATA_19 (0x00080000UL << ADC_JDR3_JDATA_Pos) /*!< 0x00080000 */ -#define ADC_JDR3_JDATA_20 (0x00100000UL << ADC_JDR3_JDATA_Pos) /*!< 0x00100000 */ -#define ADC_JDR3_JDATA_21 (0x00200000UL << ADC_JDR3_JDATA_Pos) /*!< 0x00200000 */ -#define ADC_JDR3_JDATA_22 (0x00400000UL << ADC_JDR3_JDATA_Pos) /*!< 0x00400000 */ -#define ADC_JDR3_JDATA_23 (0x00800000UL << ADC_JDR3_JDATA_Pos) /*!< 0x00800000 */ -#define ADC_JDR3_JDATA_24 (0x01000000UL << ADC_JDR3_JDATA_Pos) /*!< 0x01000000 */ -#define ADC_JDR3_JDATA_25 (0x02000000UL << ADC_JDR3_JDATA_Pos) /*!< 0x02000000 */ -#define ADC_JDR3_JDATA_26 (0x04000000UL << ADC_JDR3_JDATA_Pos) /*!< 0x04000000 */ -#define ADC_JDR3_JDATA_27 (0x08000000UL << ADC_JDR3_JDATA_Pos) /*!< 0x08000000 */ -#define ADC_JDR3_JDATA_28 (0x10000000UL << ADC_JDR3_JDATA_Pos) /*!< 0x10000000 */ -#define ADC_JDR3_JDATA_29 (0x20000000UL << ADC_JDR3_JDATA_Pos) /*!< 0x20000000 */ -#define ADC_JDR3_JDATA_30 (0x40000000UL << ADC_JDR3_JDATA_Pos) /*!< 0x40000000 */ -#define ADC_JDR3_JDATA_31 (0x80000000UL << ADC_JDR3_JDATA_Pos) /*!< 0x80000000 */ - -/******************** Bit definition for ADC_JDR4 register ********************/ -#define ADC_JDR4_JDATA_Pos (0U) -#define ADC_JDR4_JDATA_Msk (0xFFFFFFFFUL << ADC_JDR4_JDATA_Pos) /*!< 0xFFFFFFFF */ -#define ADC_JDR4_JDATA ADC_JDR4_JDATA_Msk /*!< ADC Injected DATA */ -#define ADC_JDR4_JDATA_0 (0x00000001UL << ADC_JDR4_JDATA_Pos) /*!< 0x00000001 */ -#define ADC_JDR4_JDATA_1 (0x00000002UL << ADC_JDR4_JDATA_Pos) /*!< 0x00000002 */ -#define ADC_JDR4_JDATA_2 (0x00000004UL << ADC_JDR4_JDATA_Pos) /*!< 0x00000004 */ -#define ADC_JDR4_JDATA_3 (0x00000008UL << ADC_JDR4_JDATA_Pos) /*!< 0x00000008 */ -#define ADC_JDR4_JDATA_4 (0x00000010UL << ADC_JDR4_JDATA_Pos) /*!< 0x00000010 */ -#define ADC_JDR4_JDATA_5 (0x00000020UL << ADC_JDR4_JDATA_Pos) /*!< 0x00000020 */ -#define ADC_JDR4_JDATA_6 (0x00000040UL << ADC_JDR4_JDATA_Pos) /*!< 0x00000040 */ -#define ADC_JDR4_JDATA_7 (0x00000080UL << ADC_JDR4_JDATA_Pos) /*!< 0x00000080 */ -#define ADC_JDR4_JDATA_8 (0x00000100UL << ADC_JDR4_JDATA_Pos) /*!< 0x00000100 */ -#define ADC_JDR4_JDATA_9 (0x00000200UL << ADC_JDR4_JDATA_Pos) /*!< 0x00000200 */ -#define ADC_JDR4_JDATA_10 (0x00000400UL << ADC_JDR4_JDATA_Pos) /*!< 0x00000400 */ -#define ADC_JDR4_JDATA_11 (0x00000800UL << ADC_JDR4_JDATA_Pos) /*!< 0x00000800 */ -#define ADC_JDR4_JDATA_12 (0x00001000UL << ADC_JDR4_JDATA_Pos) /*!< 0x00001000 */ -#define ADC_JDR4_JDATA_13 (0x00002000UL << ADC_JDR4_JDATA_Pos) /*!< 0x00002000 */ -#define ADC_JDR4_JDATA_14 (0x00004000UL << ADC_JDR4_JDATA_Pos) /*!< 0x00004000 */ -#define ADC_JDR4_JDATA_15 (0x00008000UL << ADC_JDR4_JDATA_Pos) /*!< 0x00008000 */ -#define ADC_JDR4_JDATA_16 (0x00010000UL << ADC_JDR4_JDATA_Pos) /*!< 0x00010000 */ -#define ADC_JDR4_JDATA_17 (0x00020000UL << ADC_JDR4_JDATA_Pos) /*!< 0x00020000 */ -#define ADC_JDR4_JDATA_18 (0x00040000UL << ADC_JDR4_JDATA_Pos) /*!< 0x00040000 */ -#define ADC_JDR4_JDATA_19 (0x00080000UL << ADC_JDR4_JDATA_Pos) /*!< 0x00080000 */ -#define ADC_JDR4_JDATA_20 (0x00100000UL << ADC_JDR4_JDATA_Pos) /*!< 0x00100000 */ -#define ADC_JDR4_JDATA_21 (0x00200000UL << ADC_JDR4_JDATA_Pos) /*!< 0x00200000 */ -#define ADC_JDR4_JDATA_22 (0x00400000UL << ADC_JDR4_JDATA_Pos) /*!< 0x00400000 */ -#define ADC_JDR4_JDATA_23 (0x00800000UL << ADC_JDR4_JDATA_Pos) /*!< 0x00800000 */ -#define ADC_JDR4_JDATA_24 (0x01000000UL << ADC_JDR4_JDATA_Pos) /*!< 0x01000000 */ -#define ADC_JDR4_JDATA_25 (0x02000000UL << ADC_JDR4_JDATA_Pos) /*!< 0x02000000 */ -#define ADC_JDR4_JDATA_26 (0x04000000UL << ADC_JDR4_JDATA_Pos) /*!< 0x04000000 */ -#define ADC_JDR4_JDATA_27 (0x08000000UL << ADC_JDR4_JDATA_Pos) /*!< 0x08000000 */ -#define ADC_JDR4_JDATA_28 (0x10000000UL << ADC_JDR4_JDATA_Pos) /*!< 0x10000000 */ -#define ADC_JDR4_JDATA_29 (0x20000000UL << ADC_JDR4_JDATA_Pos) /*!< 0x20000000 */ -#define ADC_JDR4_JDATA_30 (0x40000000UL << ADC_JDR4_JDATA_Pos) /*!< 0x40000000 */ -#define ADC_JDR4_JDATA_31 (0x80000000UL << ADC_JDR4_JDATA_Pos) /*!< 0x80000000 */ - -/******************** Bit definition for ADC_AWD2CR register ********************/ -#define ADC_AWD2CR_AWD2CH_Pos (0U) -#define ADC_AWD2CR_AWD2CH_Msk (0xFFFFFUL << ADC_AWD2CR_AWD2CH_Pos) /*!< 0x000FFFFF */ -#define ADC_AWD2CR_AWD2CH ADC_AWD2CR_AWD2CH_Msk /*!< ADC Analog watchdog 2 channel selection */ -#define ADC_AWD2CR_AWD2CH_0 (0x00001UL << ADC_AWD2CR_AWD2CH_Pos) /*!< 0x00000001 */ -#define ADC_AWD2CR_AWD2CH_1 (0x00002UL << ADC_AWD2CR_AWD2CH_Pos) /*!< 0x00000002 */ -#define ADC_AWD2CR_AWD2CH_2 (0x00004UL << ADC_AWD2CR_AWD2CH_Pos) /*!< 0x00000004 */ -#define ADC_AWD2CR_AWD2CH_3 (0x00008UL << ADC_AWD2CR_AWD2CH_Pos) /*!< 0x00000008 */ -#define ADC_AWD2CR_AWD2CH_4 (0x00010UL << ADC_AWD2CR_AWD2CH_Pos) /*!< 0x00000010 */ -#define ADC_AWD2CR_AWD2CH_5 (0x00020UL << ADC_AWD2CR_AWD2CH_Pos) /*!< 0x00000020 */ -#define ADC_AWD2CR_AWD2CH_6 (0x00040UL << ADC_AWD2CR_AWD2CH_Pos) /*!< 0x00000040 */ -#define ADC_AWD2CR_AWD2CH_7 (0x00080UL << ADC_AWD2CR_AWD2CH_Pos) /*!< 0x00000080 */ -#define ADC_AWD2CR_AWD2CH_8 (0x00100UL << ADC_AWD2CR_AWD2CH_Pos) /*!< 0x00000100 */ -#define ADC_AWD2CR_AWD2CH_9 (0x00200UL << ADC_AWD2CR_AWD2CH_Pos) /*!< 0x00000200 */ -#define ADC_AWD2CR_AWD2CH_10 (0x00400UL << ADC_AWD2CR_AWD2CH_Pos) /*!< 0x00000400 */ -#define ADC_AWD2CR_AWD2CH_11 (0x00800UL << ADC_AWD2CR_AWD2CH_Pos) /*!< 0x00000800 */ -#define ADC_AWD2CR_AWD2CH_12 (0x01000UL << ADC_AWD2CR_AWD2CH_Pos) /*!< 0x00001000 */ -#define ADC_AWD2CR_AWD2CH_13 (0x02000UL << ADC_AWD2CR_AWD2CH_Pos) /*!< 0x00002000 */ -#define ADC_AWD2CR_AWD2CH_14 (0x04000UL << ADC_AWD2CR_AWD2CH_Pos) /*!< 0x00004000 */ -#define ADC_AWD2CR_AWD2CH_15 (0x08000UL << ADC_AWD2CR_AWD2CH_Pos) /*!< 0x00008000 */ -#define ADC_AWD2CR_AWD2CH_16 (0x10000UL << ADC_AWD2CR_AWD2CH_Pos) /*!< 0x00010000 */ -#define ADC_AWD2CR_AWD2CH_17 (0x20000UL << ADC_AWD2CR_AWD2CH_Pos) /*!< 0x00020000 */ -#define ADC_AWD2CR_AWD2CH_18 (0x40000UL << ADC_AWD2CR_AWD2CH_Pos) /*!< 0x00040000 */ -#define ADC_AWD2CR_AWD2CH_19 (0x80000UL << ADC_AWD2CR_AWD2CH_Pos) /*!< 0x00080000 */ - -/******************** Bit definition for ADC_AWD3CR register ********************/ -#define ADC_AWD3CR_AWD3CH_Pos (0U) -#define ADC_AWD3CR_AWD3CH_Msk (0xFFFFFUL << ADC_AWD3CR_AWD3CH_Pos) /*!< 0x000FFFFF */ -#define ADC_AWD3CR_AWD3CH ADC_AWD3CR_AWD3CH_Msk /*!< ADC Analog watchdog 2 channel selection */ -#define ADC_AWD3CR_AWD3CH_0 (0x00001UL << ADC_AWD3CR_AWD3CH_Pos) /*!< 0x00000001 */ -#define ADC_AWD3CR_AWD3CH_1 (0x00002UL << ADC_AWD3CR_AWD3CH_Pos) /*!< 0x00000002 */ -#define ADC_AWD3CR_AWD3CH_2 (0x00004UL << ADC_AWD3CR_AWD3CH_Pos) /*!< 0x00000004 */ -#define ADC_AWD3CR_AWD3CH_3 (0x00008UL << ADC_AWD3CR_AWD3CH_Pos) /*!< 0x00000008 */ -#define ADC_AWD3CR_AWD3CH_4 (0x00010UL << ADC_AWD3CR_AWD3CH_Pos) /*!< 0x00000010 */ -#define ADC_AWD3CR_AWD3CH_5 (0x00020UL << ADC_AWD3CR_AWD3CH_Pos) /*!< 0x00000020 */ -#define ADC_AWD3CR_AWD3CH_6 (0x00040UL << ADC_AWD3CR_AWD3CH_Pos) /*!< 0x00000040 */ -#define ADC_AWD3CR_AWD3CH_7 (0x00080UL << ADC_AWD3CR_AWD3CH_Pos) /*!< 0x00000080 */ -#define ADC_AWD3CR_AWD3CH_8 (0x00100UL << ADC_AWD3CR_AWD3CH_Pos) /*!< 0x00000100 */ -#define ADC_AWD3CR_AWD3CH_9 (0x00200UL << ADC_AWD3CR_AWD3CH_Pos) /*!< 0x00000200 */ -#define ADC_AWD3CR_AWD3CH_10 (0x00400UL << ADC_AWD3CR_AWD3CH_Pos) /*!< 0x00000400 */ -#define ADC_AWD3CR_AWD3CH_11 (0x00800UL << ADC_AWD3CR_AWD3CH_Pos) /*!< 0x00000800 */ -#define ADC_AWD3CR_AWD3CH_12 (0x01000UL << ADC_AWD3CR_AWD3CH_Pos) /*!< 0x00001000 */ -#define ADC_AWD3CR_AWD3CH_13 (0x02000UL << ADC_AWD3CR_AWD3CH_Pos) /*!< 0x00002000 */ -#define ADC_AWD3CR_AWD3CH_14 (0x04000UL << ADC_AWD3CR_AWD3CH_Pos) /*!< 0x00004000 */ -#define ADC_AWD3CR_AWD3CH_15 (0x08000UL << ADC_AWD3CR_AWD3CH_Pos) /*!< 0x00008000 */ -#define ADC_AWD3CR_AWD3CH_16 (0x10000UL << ADC_AWD3CR_AWD3CH_Pos) /*!< 0x00010000 */ -#define ADC_AWD3CR_AWD3CH_17 (0x20000UL << ADC_AWD3CR_AWD3CH_Pos) /*!< 0x00020000 */ -#define ADC_AWD3CR_AWD3CH_18 (0x40000UL << ADC_AWD3CR_AWD3CH_Pos) /*!< 0x00040000 */ -#define ADC_AWD3CR_AWD3CH_19 (0x80000UL << ADC_AWD3CR_AWD3CH_Pos) /*!< 0x00080000 */ - -/******************** Bit definition for ADC_DIFSEL register ********************/ -#define ADC_DIFSEL_DIFSEL_Pos (0U) -#define ADC_DIFSEL_DIFSEL_Msk (0xFFFFFUL << ADC_DIFSEL_DIFSEL_Pos) /*!< 0x000FFFFF */ -#define ADC_DIFSEL_DIFSEL ADC_DIFSEL_DIFSEL_Msk /*!< ADC differential modes for channels 1 to 18 */ -#define ADC_DIFSEL_DIFSEL_0 (0x00001UL << ADC_DIFSEL_DIFSEL_Pos) /*!< 0x00000001 */ -#define ADC_DIFSEL_DIFSEL_1 (0x00002UL << ADC_DIFSEL_DIFSEL_Pos) /*!< 0x00000002 */ -#define ADC_DIFSEL_DIFSEL_2 (0x00004UL << ADC_DIFSEL_DIFSEL_Pos) /*!< 0x00000004 */ -#define ADC_DIFSEL_DIFSEL_3 (0x00008UL << ADC_DIFSEL_DIFSEL_Pos) /*!< 0x00000008 */ -#define ADC_DIFSEL_DIFSEL_4 (0x00010UL << ADC_DIFSEL_DIFSEL_Pos) /*!< 0x00000010 */ -#define ADC_DIFSEL_DIFSEL_5 (0x00020UL << ADC_DIFSEL_DIFSEL_Pos) /*!< 0x00000020 */ -#define ADC_DIFSEL_DIFSEL_6 (0x00040UL << ADC_DIFSEL_DIFSEL_Pos) /*!< 0x00000040 */ -#define ADC_DIFSEL_DIFSEL_7 (0x00080UL << ADC_DIFSEL_DIFSEL_Pos) /*!< 0x00000080 */ -#define ADC_DIFSEL_DIFSEL_8 (0x00100UL << ADC_DIFSEL_DIFSEL_Pos) /*!< 0x00000100 */ -#define ADC_DIFSEL_DIFSEL_9 (0x00200UL << ADC_DIFSEL_DIFSEL_Pos) /*!< 0x00000200 */ -#define ADC_DIFSEL_DIFSEL_10 (0x00400UL << ADC_DIFSEL_DIFSEL_Pos) /*!< 0x00000400 */ -#define ADC_DIFSEL_DIFSEL_11 (0x00800UL << ADC_DIFSEL_DIFSEL_Pos) /*!< 0x00000800 */ -#define ADC_DIFSEL_DIFSEL_12 (0x01000UL << ADC_DIFSEL_DIFSEL_Pos) /*!< 0x00001000 */ -#define ADC_DIFSEL_DIFSEL_13 (0x02000UL << ADC_DIFSEL_DIFSEL_Pos) /*!< 0x00002000 */ -#define ADC_DIFSEL_DIFSEL_14 (0x04000UL << ADC_DIFSEL_DIFSEL_Pos) /*!< 0x00004000 */ -#define ADC_DIFSEL_DIFSEL_15 (0x08000UL << ADC_DIFSEL_DIFSEL_Pos) /*!< 0x00008000 */ -#define ADC_DIFSEL_DIFSEL_16 (0x10000UL << ADC_DIFSEL_DIFSEL_Pos) /*!< 0x00010000 */ -#define ADC_DIFSEL_DIFSEL_17 (0x20000UL << ADC_DIFSEL_DIFSEL_Pos) /*!< 0x00020000 */ -#define ADC_DIFSEL_DIFSEL_18 (0x40000UL << ADC_DIFSEL_DIFSEL_Pos) /*!< 0x00040000 */ -#define ADC_DIFSEL_DIFSEL_19 (0x80000UL << ADC_DIFSEL_DIFSEL_Pos) /*!< 0x00080000 */ - -/******************** Bit definition for ADC_CALFACT register ********************/ -#define ADC_CALFACT_CALFACT_S_Pos (0U) -#define ADC_CALFACT_CALFACT_S_Msk (0x7FFUL << ADC_CALFACT_CALFACT_S_Pos) /*!< 0x000007FF */ -#define ADC_CALFACT_CALFACT_S ADC_CALFACT_CALFACT_S_Msk /*!< ADC calibration factors in single-ended mode */ -#define ADC_CALFACT_CALFACT_S_0 (0x001UL << ADC_CALFACT_CALFACT_S_Pos) /*!< 0x00000001 */ -#define ADC_CALFACT_CALFACT_S_1 (0x002UL << ADC_CALFACT_CALFACT_S_Pos) /*!< 0x00000002 */ -#define ADC_CALFACT_CALFACT_S_2 (0x004UL << ADC_CALFACT_CALFACT_S_Pos) /*!< 0x00000004 */ -#define ADC_CALFACT_CALFACT_S_3 (0x008UL << ADC_CALFACT_CALFACT_S_Pos) /*!< 0x00000008 */ -#define ADC_CALFACT_CALFACT_S_4 (0x010UL << ADC_CALFACT_CALFACT_S_Pos) /*!< 0x00000010 */ -#define ADC_CALFACT_CALFACT_S_5 (0x020UL << ADC_CALFACT_CALFACT_S_Pos) /*!< 0x00000020 */ -#define ADC_CALFACT_CALFACT_S_6 (0x040UL << ADC_CALFACT_CALFACT_S_Pos) /*!< 0x00000040 */ -#define ADC_CALFACT_CALFACT_S_7 (0x080UL << ADC_CALFACT_CALFACT_S_Pos) /*!< 0x00000080 */ -#define ADC_CALFACT_CALFACT_S_8 (0x100UL << ADC_CALFACT_CALFACT_S_Pos) /*!< 0x00000100 */ -#define ADC_CALFACT_CALFACT_S_9 (0x200UL << ADC_CALFACT_CALFACT_S_Pos) /*!< 0x00000200 */ -#define ADC_CALFACT_CALFACT_S_10 (0x400UL << ADC_CALFACT_CALFACT_S_Pos) /*!< 0x00000400 */ -#define ADC_CALFACT_CALFACT_D_Pos (16U) -#define ADC_CALFACT_CALFACT_D_Msk (0x7FFUL << ADC_CALFACT_CALFACT_D_Pos) /*!< 0x07FF0000 */ -#define ADC_CALFACT_CALFACT_D ADC_CALFACT_CALFACT_D_Msk /*!< ADC calibration factors in differential mode */ -#define ADC_CALFACT_CALFACT_D_0 (0x001UL << ADC_CALFACT_CALFACT_D_Pos) /*!< 0x00010000 */ -#define ADC_CALFACT_CALFACT_D_1 (0x002UL << ADC_CALFACT_CALFACT_D_Pos) /*!< 0x00020000 */ -#define ADC_CALFACT_CALFACT_D_2 (0x004UL << ADC_CALFACT_CALFACT_D_Pos) /*!< 0x00040000 */ -#define ADC_CALFACT_CALFACT_D_3 (0x008UL << ADC_CALFACT_CALFACT_D_Pos) /*!< 0x00080000 */ -#define ADC_CALFACT_CALFACT_D_4 (0x010UL << ADC_CALFACT_CALFACT_D_Pos) /*!< 0x00100000 */ -#define ADC_CALFACT_CALFACT_D_5 (0x020UL << ADC_CALFACT_CALFACT_D_Pos) /*!< 0x00200000 */ -#define ADC_CALFACT_CALFACT_D_6 (0x040UL << ADC_CALFACT_CALFACT_D_Pos) /*!< 0x00400000 */ -#define ADC_CALFACT_CALFACT_D_7 (0x080UL << ADC_CALFACT_CALFACT_D_Pos) /*!< 0x00800000 */ -#define ADC_CALFACT_CALFACT_D_8 (0x100UL << ADC_CALFACT_CALFACT_D_Pos) /*!< 0x01000000 */ -#define ADC_CALFACT_CALFACT_D_9 (0x200UL << ADC_CALFACT_CALFACT_D_Pos) /*!< 0x02000000 */ -#define ADC_CALFACT_CALFACT_D_10 (0x400UL << ADC_CALFACT_CALFACT_D_Pos) /*!< 0x04000000 */ - -/******************** Bit definition for ADC_CALFACT2 register ********************/ -#define ADC_CALFACT2_LINCALFACT_Pos (0U) -#define ADC_CALFACT2_LINCALFACT_Msk (0x3FFFFFFFUL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x3FFFFFFF */ -#define ADC_CALFACT2_LINCALFACT ADC_CALFACT2_LINCALFACT_Msk /*!< ADC Linearity calibration factors */ -#define ADC_CALFACT2_LINCALFACT_0 (0x00000001UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00000001 */ -#define ADC_CALFACT2_LINCALFACT_1 (0x00000002UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00000002 */ -#define ADC_CALFACT2_LINCALFACT_2 (0x00000004UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00000004 */ -#define ADC_CALFACT2_LINCALFACT_3 (0x00000008UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00000008 */ -#define ADC_CALFACT2_LINCALFACT_4 (0x00000010UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00000010 */ -#define ADC_CALFACT2_LINCALFACT_5 (0x00000020UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00000020 */ -#define ADC_CALFACT2_LINCALFACT_6 (0x00000040UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00000040 */ -#define ADC_CALFACT2_LINCALFACT_7 (0x00000080UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00000080 */ -#define ADC_CALFACT2_LINCALFACT_8 (0x00000100UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00000100 */ -#define ADC_CALFACT2_LINCALFACT_9 (0x00000200UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00000200 */ -#define ADC_CALFACT2_LINCALFACT_10 (0x00000400UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00000400 */ -#define ADC_CALFACT2_LINCALFACT_11 (0x00000800UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00000800 */ -#define ADC_CALFACT2_LINCALFACT_12 (0x00001000UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00001000 */ -#define ADC_CALFACT2_LINCALFACT_13 (0x00002000UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00002000 */ -#define ADC_CALFACT2_LINCALFACT_14 (0x00004000UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00004000 */ -#define ADC_CALFACT2_LINCALFACT_15 (0x00008000UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00008000 */ -#define ADC_CALFACT2_LINCALFACT_16 (0x00010000UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00010000 */ -#define ADC_CALFACT2_LINCALFACT_17 (0x00020000UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00020000 */ -#define ADC_CALFACT2_LINCALFACT_18 (0x00040000UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00040000 */ -#define ADC_CALFACT2_LINCALFACT_19 (0x00080000UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00080000 */ -#define ADC_CALFACT2_LINCALFACT_20 (0x00100000UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00100000 */ -#define ADC_CALFACT2_LINCALFACT_21 (0x00200000UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00200000 */ -#define ADC_CALFACT2_LINCALFACT_22 (0x00400000UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00400000 */ -#define ADC_CALFACT2_LINCALFACT_23 (0x00800000UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x00800000 */ -#define ADC_CALFACT2_LINCALFACT_24 (0x01000000UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x01000000 */ -#define ADC_CALFACT2_LINCALFACT_25 (0x02000000UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x02000000 */ -#define ADC_CALFACT2_LINCALFACT_26 (0x04000000UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x04000000 */ -#define ADC_CALFACT2_LINCALFACT_27 (0x08000000UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x08000000 */ -#define ADC_CALFACT2_LINCALFACT_28 (0x10000000UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x10000000 */ -#define ADC_CALFACT2_LINCALFACT_29 (0x20000000UL << ADC_CALFACT2_LINCALFACT_Pos) /*!< 0x20000000 */ - -/************************* ADC Common registers *****************************/ -/******************** Bit definition for ADC_CSR register ********************/ -#define ADC_CSR_ADRDY_MST_Pos (0U) -#define ADC_CSR_ADRDY_MST_Msk (0x1UL << ADC_CSR_ADRDY_MST_Pos) /*!< 0x00000001 */ -#define ADC_CSR_ADRDY_MST ADC_CSR_ADRDY_MST_Msk /*!< Master ADC ready */ -#define ADC_CSR_EOSMP_MST_Pos (1U) -#define ADC_CSR_EOSMP_MST_Msk (0x1UL << ADC_CSR_EOSMP_MST_Pos) /*!< 0x00000002 */ -#define ADC_CSR_EOSMP_MST ADC_CSR_EOSMP_MST_Msk /*!< End of sampling phase flag of the master ADC */ -#define ADC_CSR_EOC_MST_Pos (2U) -#define ADC_CSR_EOC_MST_Msk (0x1UL << ADC_CSR_EOC_MST_Pos) /*!< 0x00000004 */ -#define ADC_CSR_EOC_MST ADC_CSR_EOC_MST_Msk /*!< End of regular conversion of the master ADC */ -#define ADC_CSR_EOS_MST_Pos (3U) -#define ADC_CSR_EOS_MST_Msk (0x1UL << ADC_CSR_EOS_MST_Pos) /*!< 0x00000008 */ -#define ADC_CSR_EOS_MST ADC_CSR_EOS_MST_Msk /*!< End of regular sequence flag of the master ADC */ -#define ADC_CSR_OVR_MST_Pos (4U) -#define ADC_CSR_OVR_MST_Msk (0x1UL << ADC_CSR_OVR_MST_Pos) /*!< 0x00000010 */ -#define ADC_CSR_OVR_MST ADC_CSR_OVR_MST_Msk /*!< Overrun flag of the master ADC */ -#define ADC_CSR_JEOC_MST_Pos (5U) -#define ADC_CSR_JEOC_MST_Msk (0x1UL << ADC_CSR_JEOC_MST_Pos) /*!< 0x00000020 */ -#define ADC_CSR_JEOC_MST ADC_CSR_JEOC_MST_Msk /*!< End of injected conversion of the master ADC */ -#define ADC_CSR_JEOS_MST_Pos (6U) -#define ADC_CSR_JEOS_MST_Msk (0x1UL << ADC_CSR_JEOS_MST_Pos) /*!< 0x00000040 */ -#define ADC_CSR_JEOS_MST ADC_CSR_JEOS_MST_Msk /*!< End of injected sequence flag of the master ADC */ -#define ADC_CSR_AWD1_MST_Pos (7U) -#define ADC_CSR_AWD1_MST_Msk (0x1UL << ADC_CSR_AWD1_MST_Pos) /*!< 0x00000080 */ -#define ADC_CSR_AWD1_MST ADC_CSR_AWD1_MST_Msk /*!< Analog watchdog 1 flag of the master ADC */ -#define ADC_CSR_AWD2_MST_Pos (8U) -#define ADC_CSR_AWD2_MST_Msk (0x1UL << ADC_CSR_AWD2_MST_Pos) /*!< 0x00000100 */ -#define ADC_CSR_AWD2_MST ADC_CSR_AWD2_MST_Msk /*!< Analog watchdog 2 flag of the master ADC */ -#define ADC_CSR_AWD3_MST_Pos (9U) -#define ADC_CSR_AWD3_MST_Msk (0x1UL << ADC_CSR_AWD3_MST_Pos) /*!< 0x00000200 */ -#define ADC_CSR_AWD3_MST ADC_CSR_AWD3_MST_Msk /*!< Analog watchdog 3 flag of the master ADC */ -#define ADC_CSR_JQOVF_MST_Pos (10U) -#define ADC_CSR_JQOVF_MST_Msk (0x1UL << ADC_CSR_JQOVF_MST_Pos) /*!< 0x00000400 */ -#define ADC_CSR_JQOVF_MST ADC_CSR_JQOVF_MST_Msk /*!< Injected context queue overflow flag of the master ADC */ -#define ADC_CSR_ADRDY_SLV_Pos (16U) -#define ADC_CSR_ADRDY_SLV_Msk (0x1UL << ADC_CSR_ADRDY_SLV_Pos) /*!< 0x00010000 */ -#define ADC_CSR_ADRDY_SLV ADC_CSR_ADRDY_SLV_Msk /*!< Slave ADC ready */ -#define ADC_CSR_EOSMP_SLV_Pos (17U) -#define ADC_CSR_EOSMP_SLV_Msk (0x1UL << ADC_CSR_EOSMP_SLV_Pos) /*!< 0x00020000 */ -#define ADC_CSR_EOSMP_SLV ADC_CSR_EOSMP_SLV_Msk /*!< End of sampling phase flag of the slave ADC */ -#define ADC_CSR_EOC_SLV_Pos (18U) -#define ADC_CSR_EOC_SLV_Msk (0x1UL << ADC_CSR_EOC_SLV_Pos) /*!< 0x00040000 */ -#define ADC_CSR_EOC_SLV ADC_CSR_EOC_SLV_Msk /*!< End of regular conversion of the slave ADC */ -#define ADC_CSR_EOS_SLV_Pos (19U) -#define ADC_CSR_EOS_SLV_Msk (0x1UL << ADC_CSR_EOS_SLV_Pos) /*!< 0x00080000 */ -#define ADC_CSR_EOS_SLV ADC_CSR_EOS_SLV_Msk /*!< End of regular sequence flag of the slave ADC */ -#define ADC_CSR_OVR_SLV_Pos (20U) -#define ADC_CSR_OVR_SLV_Msk (0x1UL << ADC_CSR_OVR_SLV_Pos) /*!< 0x00100000 */ -#define ADC_CSR_OVR_SLV ADC_CSR_OVR_SLV_Msk /*!< Overrun flag of the slave ADC */ -#define ADC_CSR_JEOC_SLV_Pos (21U) -#define ADC_CSR_JEOC_SLV_Msk (0x1UL << ADC_CSR_JEOC_SLV_Pos) /*!< 0x00200000 */ -#define ADC_CSR_JEOC_SLV ADC_CSR_JEOC_SLV_Msk /*!< End of injected conversion of the slave ADC */ -#define ADC_CSR_JEOS_SLV_Pos (22U) -#define ADC_CSR_JEOS_SLV_Msk (0x1UL << ADC_CSR_JEOS_SLV_Pos) /*!< 0x00400000 */ -#define ADC_CSR_JEOS_SLV ADC_CSR_JEOS_SLV_Msk /*!< End of injected sequence flag of the slave ADC */ -#define ADC_CSR_AWD1_SLV_Pos (23U) -#define ADC_CSR_AWD1_SLV_Msk (0x1UL << ADC_CSR_AWD1_SLV_Pos) /*!< 0x00800000 */ -#define ADC_CSR_AWD1_SLV ADC_CSR_AWD1_SLV_Msk /*!< Analog watchdog 1 flag of the slave ADC */ -#define ADC_CSR_AWD2_SLV_Pos (24U) -#define ADC_CSR_AWD2_SLV_Msk (0x1UL << ADC_CSR_AWD2_SLV_Pos) /*!< 0x01000000 */ -#define ADC_CSR_AWD2_SLV ADC_CSR_AWD2_SLV_Msk /*!< Analog watchdog 2 flag of the slave ADC */ -#define ADC_CSR_AWD3_SLV_Pos (25U) -#define ADC_CSR_AWD3_SLV_Msk (0x1UL << ADC_CSR_AWD3_SLV_Pos) /*!< 0x02000000 */ -#define ADC_CSR_AWD3_SLV ADC_CSR_AWD3_SLV_Msk /*!< Analog watchdog 3 flag of the slave ADC */ -#define ADC_CSR_JQOVF_SLV_Pos (26U) -#define ADC_CSR_JQOVF_SLV_Msk (0x1UL << ADC_CSR_JQOVF_SLV_Pos) /*!< 0x04000000 */ -#define ADC_CSR_JQOVF_SLV ADC_CSR_JQOVF_SLV_Msk /*!< Injected context queue overflow flag of the slave ADC */ - -/******************** Bit definition for ADC_CCR register ********************/ -#define ADC_CCR_DUAL_Pos (0U) -#define ADC_CCR_DUAL_Msk (0x1FUL << ADC_CCR_DUAL_Pos) /*!< 0x0000001F */ -#define ADC_CCR_DUAL ADC_CCR_DUAL_Msk /*!< Dual ADC mode selection */ -#define ADC_CCR_DUAL_0 (0x01UL << ADC_CCR_DUAL_Pos) /*!< 0x00000001 */ -#define ADC_CCR_DUAL_1 (0x02UL << ADC_CCR_DUAL_Pos) /*!< 0x00000002 */ -#define ADC_CCR_DUAL_2 (0x04UL << ADC_CCR_DUAL_Pos) /*!< 0x00000004 */ -#define ADC_CCR_DUAL_3 (0x08UL << ADC_CCR_DUAL_Pos) /*!< 0x00000008 */ -#define ADC_CCR_DUAL_4 (0x10UL << ADC_CCR_DUAL_Pos) /*!< 0x00000010 */ - -#define ADC_CCR_DELAY_Pos (8U) -#define ADC_CCR_DELAY_Msk (0xFUL << ADC_CCR_DELAY_Pos) /*!< 0x00000F00 */ -#define ADC_CCR_DELAY ADC_CCR_DELAY_Msk /*!< Delay between 2 sampling phases */ -#define ADC_CCR_DELAY_0 (0x1UL << ADC_CCR_DELAY_Pos) /*!< 0x00000100 */ -#define ADC_CCR_DELAY_1 (0x2UL << ADC_CCR_DELAY_Pos) /*!< 0x00000200 */ -#define ADC_CCR_DELAY_2 (0x4UL << ADC_CCR_DELAY_Pos) /*!< 0x00000400 */ -#define ADC_CCR_DELAY_3 (0x8UL << ADC_CCR_DELAY_Pos) /*!< 0x00000800 */ - - -#define ADC_CCR_DAMDF_Pos (14U) -#define ADC_CCR_DAMDF_Msk (0x3UL << ADC_CCR_DAMDF_Pos) /*!< 0x0000C000 */ -#define ADC_CCR_DAMDF ADC_CCR_DAMDF_Msk /*!< Dual ADC mode Data format */ -#define ADC_CCR_DAMDF_0 (0x1UL << ADC_CCR_DAMDF_Pos) /*!< 0x00004000 */ -#define ADC_CCR_DAMDF_1 (0x2UL << ADC_CCR_DAMDF_Pos) /*!< 0x00008000 */ - -#define ADC_CCR_CKMODE_Pos (16U) -#define ADC_CCR_CKMODE_Msk (0x3UL << ADC_CCR_CKMODE_Pos) /*!< 0x00030000 */ -#define ADC_CCR_CKMODE ADC_CCR_CKMODE_Msk /*!< ADC clock mode */ -#define ADC_CCR_CKMODE_0 (0x1UL << ADC_CCR_CKMODE_Pos) /*!< 0x00010000 */ -#define ADC_CCR_CKMODE_1 (0x2UL << ADC_CCR_CKMODE_Pos) /*!< 0x00020000 */ - -#define ADC_CCR_PRESC_Pos (18U) -#define ADC_CCR_PRESC_Msk (0xFUL << ADC_CCR_PRESC_Pos) /*!< 0x003C0000 */ -#define ADC_CCR_PRESC ADC_CCR_PRESC_Msk /*!< ADC prescaler */ -#define ADC_CCR_PRESC_0 (0x1UL << ADC_CCR_PRESC_Pos) /*!< 0x00040000 */ -#define ADC_CCR_PRESC_1 (0x2UL << ADC_CCR_PRESC_Pos) /*!< 0x00080000 */ -#define ADC_CCR_PRESC_2 (0x4UL << ADC_CCR_PRESC_Pos) /*!< 0x00100000 */ -#define ADC_CCR_PRESC_3 (0x8UL << ADC_CCR_PRESC_Pos) /*!< 0x00200000 */ - -#define ADC_CCR_VREFEN_Pos (22U) -#define ADC_CCR_VREFEN_Msk (0x1UL << ADC_CCR_VREFEN_Pos) /*!< 0x00400000 */ -#define ADC_CCR_VREFEN ADC_CCR_VREFEN_Msk /*!< VREFINT enable */ -#define ADC_CCR_TSEN_Pos (23U) -#define ADC_CCR_TSEN_Msk (0x1UL << ADC_CCR_TSEN_Pos) /*!< 0x00800000 */ -#define ADC_CCR_TSEN ADC_CCR_TSEN_Msk /*!< Temperature sensor enable */ -#define ADC_CCR_VBATEN_Pos (24U) -#define ADC_CCR_VBATEN_Msk (0x1UL << ADC_CCR_VBATEN_Pos) /*!< 0x01000000 */ -#define ADC_CCR_VBATEN ADC_CCR_VBATEN_Msk /*!< VBAT enable */ - -/******************** Bit definition for ADC_CDR register *******************/ -#define ADC_CDR_RDATA_MST_Pos (0U) -#define ADC_CDR_RDATA_MST_Msk (0xFFFFUL << ADC_CDR_RDATA_MST_Pos) /*!< 0x0000FFFF */ -#define ADC_CDR_RDATA_MST ADC_CDR_RDATA_MST_Msk /*!< ADC multimode master group regular conversion data */ - -#define ADC_CDR_RDATA_SLV_Pos (16U) -#define ADC_CDR_RDATA_SLV_Msk (0xFFFFUL << ADC_CDR_RDATA_SLV_Pos) /*!< 0xFFFF0000 */ -#define ADC_CDR_RDATA_SLV ADC_CDR_RDATA_SLV_Msk /*!< ADC multimode slave group regular conversion data */ - -/******************** Bit definition for ADC_CDR2 register ******************/ -#define ADC_CDR2_RDATA_ALT_Pos (0U) -#define ADC_CDR2_RDATA_ALT_Msk (0xFFFFFFFFUL << ADC_CDR2_RDATA_ALT_Pos) /*!< 0xFFFFFFFF */ -#define ADC_CDR2_RDATA_ALT ADC_CDR2_RDATA_ALT_Msk /*!< Regular data of the master/slave alternated ADCs */ - - -/******************************************************************************/ -/* */ -/* VREFBUF */ -/* */ -/******************************************************************************/ -/******************* Bit definition for VREFBUF_CSR register ****************/ -#define VREFBUF_CSR_ENVR_Pos (0U) -#define VREFBUF_CSR_ENVR_Msk (0x1UL << VREFBUF_CSR_ENVR_Pos) /*!< 0x00000001 */ -#define VREFBUF_CSR_ENVR VREFBUF_CSR_ENVR_Msk /*!*/ -#define DAC_CR_CEN1_Pos (14U) -#define DAC_CR_CEN1_Msk (0x1UL << DAC_CR_CEN1_Pos) /*!< 0x00004000 */ -#define DAC_CR_CEN1 DAC_CR_CEN1_Msk /*!*/ - -#define DAC_CR_EN2_Pos (16U) -#define DAC_CR_EN2_Msk (0x1UL << DAC_CR_EN2_Pos) /*!< 0x00010000 */ -#define DAC_CR_EN2 DAC_CR_EN2_Msk /*!*/ -#define DAC_CR_CEN2_Pos (30U) -#define DAC_CR_CEN2_Msk (0x1UL << DAC_CR_CEN2_Pos) /*!< 0x40000000 */ -#define DAC_CR_CEN2 DAC_CR_CEN2_Msk /*!*/ - -/***************** Bit definition for DAC_SWTRIGR register ******************/ -#define DAC_SWTRIGR_SWTRIG1_Pos (0U) -#define DAC_SWTRIGR_SWTRIG1_Msk (0x1UL << DAC_SWTRIGR_SWTRIG1_Pos) /*!< 0x00000001 */ -#define DAC_SWTRIGR_SWTRIG1 DAC_SWTRIGR_SWTRIG1_Msk /*!
© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.
- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/** @addtogroup CMSIS - * @{ - */ - -/** @addtogroup stm32h7xx - * @{ - */ - -#ifndef STM32H7xx_H -#define STM32H7xx_H - -#ifdef __cplusplus - extern "C" { -#endif /* __cplusplus */ - -/** @addtogroup Library_configuration_section - * @{ - */ - -/** - * @brief STM32 Family - */ -#if !defined (STM32H7) -#define STM32H7 -#endif /* STM32H7 */ - - -/* Uncomment the line below according to the target STM32H7 device used in your - application - */ - -/* #if !defined (STM32H743xx) && !defined (STM32H753xx) && !defined (STM32H750xx) && !defined (STM32H742xx) && \ - !defined (STM32H745xx) && !defined (STM32H755xx) && !defined (STM32H747xx) && !defined (STM32H757xx) && \ - !defined (STM32H7A3xx) && !defined (STM32H7A3xxQ) && !defined (STM32H7B3xx) && !defined (STM32H7B3xxQ) && !defined (STM32H7B0xx) && !defined (STM32H7B0xxQ) && \ - !defined (STM32H735xx) && !defined (STM32H733xx) && !defined (STM32H730xx) && !defined (STM32H730xxQ) && !defined (STM32H725xx) && !defined (STM32H723xx) */ - /* #define STM32H742xx */ /*!< STM32H742VI, STM32H742ZI, STM32H742AI, STM32H742II, STM32H742BI, STM32H742XI Devices */ - /* #define STM32H743xx */ /*!< STM32H743VI, STM32H743ZI, STM32H743AI, STM32H743II, STM32H743BI, STM32H743XI Devices */ - /* #define STM32H753xx */ /*!< STM32H753VI, STM32H753ZI, STM32H753AI, STM32H753II, STM32H753BI, STM32H753XI Devices */ - /* #define STM32H750xx */ /*!< STM32H750V, STM32H750I, STM32H750X Devices */ - /* #define STM32H747xx */ /*!< STM32H747ZI, STM32H747AI, STM32H747II, STM32H747BI, STM32H747XI Devices */ - /* #define STM32H757xx */ /*!< STM32H757ZI, STM32H757AI, STM32H757II, STM32H757BI, STM32H757XI Devices */ - /* #define STM32H745xx */ /*!< STM32H745ZI, STM32H745II, STM32H745BI, STM32H745XI Devices */ - /* #define STM32H755xx */ /*!< STM32H755ZI, STM32H755II, STM32H755BI, STM32H755XI Devices */ - /* #define STM32H7B0xx */ /*!< STM32H7B0ABIxQ, STM32H7B0IBTx, STM32H7B0RBTx, STM32H7B0VBTx, STM32H7B0ZBTx, STM32H7B0IBKxQ */ - /* #define STM32H7A3xx */ /*!< STM32H7A3IIK6, STM32H7A3IIT6, STM32H7A3NIH6, STM32H7A3RIT6, STM32H7A3VIH6, STM32H7A3VIT6, STM32H7A3ZIT6 */ - /* #define STM32H7A3xxQ */ /*!< STM32H7A3QIY6Q, STM32H7A3IIK6Q, STM32H7A3IIT6Q, STM32H7A3LIH6Q, STM32H7A3VIH6Q, STM32H7A3VIT6Q, STM32H7A3AII6Q, STM32H7A3ZIT6Q */ - /* #define STM32H7B3xx */ /*!< STM32H7B3IIK6, STM32H7B3IIT6, STM32H7B3NIH6, STM32H7B3RIT6, STM32H7B3VIH6, STM32H7B3VIT6, STM32H7B3ZIT6 */ - /* #define STM32H7B3xxQ */ /*!< STM32H7B3QIY6Q, STM32H7B3IIK6Q, STM32H7B3IIT6Q, STM32H7B3LIH6Q, STM32H7B3VIH6Q, STM32H7B3VIT6Q, STM32H7B3AII6Q, STM32H7B3ZIT6Q */ - /* #define STM32H735xx */ /*!< STM32H735AGI6, STM32H735IGK6, STM32H735RGV6, STM32H735VGT6, STM32H735VGY6, STM32H735ZGT6 Devices */ - /* #define STM32H733xx */ /*!< STM32H733VGH6, STM32H733VGT6, STM32H733ZGI6, STM32H733ZGT6, Devices */ - /* #define STM32H730xx */ /*!< STM32H730VBH6, STM32H730VBT6, STM32H730ZBT6, STM32H730ZBI6 Devices */ - /* #define STM32H730xxQ */ /*!< STM32H730IBT6Q, STM32H730ABI6Q, STM32H730IBK6Q Devices */ - /* #define STM32H725xx */ /*!< STM32H725AGI6, STM32H725IGK6, STM32H725IGT6, STM32H725RGV6, STM32H725VGT6, STM32H725VGY6, STM32H725ZGT6, STM32H725REV6, SM32H725VET6, STM32H725ZET6, STM32H725AEI6, STM32H725IET6, STM32H725IEK6 Devices */ - /* #define STM32H723xx */ /*!< STM32H723VGH6, STM32H723VGT6, STM32H723ZGI6, STM32H723ZGT6, STM32H723VET6, STM32H723VEH6, STM32H723ZET6, STM32H723ZEI6 Devices */ -/* #endif */ - -/* Tip: To avoid modifying this file each time you need to switch between these - devices, you can define the device in your toolchain compiler preprocessor. - */ - -#if defined(DUAL_CORE) && !defined(CORE_CM4) && !defined(CORE_CM7) - #error "Dual core device, please select CORE_CM4 or CORE_CM7" -#endif - -#if !defined (USE_HAL_DRIVER) -/** - * @brief Comment the line below if you will not use the peripherals drivers. - In this case, these drivers will not be included and the application code will - be based on direct access to peripherals registers - */ - /*#define USE_HAL_DRIVER */ -#endif /* USE_HAL_DRIVER */ - -/** - * @brief CMSIS Device version number V1.10.0 - */ -#define __STM32H7xx_CMSIS_DEVICE_VERSION_MAIN (0x01) /*!< [31:24] main version */ -#define __STM32H7xx_CMSIS_DEVICE_VERSION_SUB1 (0x0A) /*!< [23:16] sub1 version */ -#define __STM32H7xx_CMSIS_DEVICE_VERSION_SUB2 (0x00) /*!< [15:8] sub2 version */ -#define __STM32H7xx_CMSIS_DEVICE_VERSION_RC (0x00) /*!< [7:0] release candidate */ -#define __STM32H7xx_CMSIS_DEVICE_VERSION ((__STM32H7xx_CMSIS_DEVICE_VERSION_MAIN << 24)\ - |(__STM32H7xx_CMSIS_DEVICE_VERSION_SUB1 << 16)\ - |(__STM32H7xx_CMSIS_DEVICE_VERSION_SUB2 << 8 )\ - |(__STM32H7xx_CMSIS_DEVICE_VERSION_RC)) - -/** - * @} - */ - -/** @addtogroup Device_Included - * @{ - */ - -#if defined(STM32H743xx) - #include "stm32h743xx.h" -// #elif defined(STM32H753xx) -// #include "stm32h753xx.h" -// #elif defined(STM32H750xx) -// #include "stm32h750xx.h" -// #elif defined(STM32H742xx) -// #include "stm32h742xx.h" -// #elif defined(STM32H745xx) -// #include "stm32h745xx.h" -// #elif defined(STM32H755xx) -// #include "stm32h755xx.h" -// #elif defined(STM32H747xx) -// #include "stm32h747xx.h" -// #elif defined(STM32H757xx) -// #include "stm32h757xx.h" -// #elif defined(STM32H7B0xx) -// #include "stm32h7b0xx.h" -// #elif defined(STM32H7B0xxQ) -// #include "stm32h7b0xxq.h" -// #elif defined(STM32H7A3xx) -// #include "stm32h7a3xx.h" -// #elif defined(STM32H7B3xx) -// #include "stm32h7b3xx.h" -// #elif defined(STM32H7A3xxQ) -// #include "stm32h7a3xxq.h" -// #elif defined(STM32H7B3xxQ) -// #include "stm32h7b3xxq.h" -#elif defined(STM32H735xx) - #include "stm32h735xx.h" -// #elif defined(STM32H733xx) -// #include "stm32h733xx.h" -// #elif defined(STM32H730xx) -// #include "stm32h730xx.h" -// #elif defined(STM32H730xxQ) -// #include "stm32h730xxq.h" -#elif defined(STM32H725xx) - #include "stm32h725xx.h" -// #elif defined(STM32H723xx) -// #include "stm32h723xx.h" -#else - #error "Please select first the target STM32H7xx device used in your application (in stm32h7xx.h file)" -#endif - -/** - * @} - */ - -/** @addtogroup Exported_types - * @{ - */ -typedef enum -{ - RESET = 0, - SET = !RESET -} FlagStatus, ITStatus; - -typedef enum -{ - DISABLE = 0, - ENABLE = !DISABLE -} FunctionalState; -#define IS_FUNCTIONAL_STATE(STATE) (((STATE) == DISABLE) || ((STATE) == ENABLE)) - -typedef enum -{ - SUCCESS = 0, - ERROR = !SUCCESS -} ErrorStatus; - -/** - * @} - */ - - -/** @addtogroup Exported_macros - * @{ - */ -#define SET_BIT(REG, BIT) ((REG) |= (BIT)) - -#define CLEAR_BIT(REG, BIT) ((REG) &= ~(BIT)) - -#define READ_BIT(REG, BIT) ((REG) & (BIT)) - -#define CLEAR_REG(REG) ((REG) = (0x0)) - -#define WRITE_REG(REG, VAL) ((REG) = (VAL)) - -#define READ_REG(REG) ((REG)) - -#define MODIFY_REG(REG, CLEARMASK, SETMASK) WRITE_REG((REG), (((READ_REG(REG)) & (~(CLEARMASK))) | (SETMASK))) - -#define POSITION_VAL(VAL) (__CLZ(__RBIT(VAL))) - - -/** - * @} - */ - -#if defined (USE_HAL_DRIVER) - #include "stm32h7xx_hal.h" -#endif /* USE_HAL_DRIVER */ - - -#ifdef __cplusplus -} -#endif /* __cplusplus */ - -#endif /* STM32H7xx_H */ -/** - * @} - */ - -/** - * @} - */ - - - - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/panda/board/stm32h7/inc/stm32h7xx_hal_def.h b/panda/board/stm32h7/inc/stm32h7xx_hal_def.h deleted file mode 100644 index 3854b1cd39df5b..00000000000000 --- a/panda/board/stm32h7/inc/stm32h7xx_hal_def.h +++ /dev/null @@ -1,221 +0,0 @@ -/** - ****************************************************************************** - * @file stm32h7xx_hal_def.h - * @author MCD Application Team - * @brief This file contains HAL common defines, enumeration, macros and - * structures definitions. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef STM32H7xx_HAL_DEF -#define STM32H7xx_HAL_DEF - -#ifdef __cplusplus - extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#include "stm32h7xx.h" -//#include "Legacy/stm32_hal_legacy.h" -//#include -//#include - -/* Exported types ------------------------------------------------------------*/ - -/** - * @brief HAL Status structures definition - */ -typedef enum -{ - HAL_OK = 0x00, - HAL_ERROR = 0x01, - HAL_BUSY = 0x02, - HAL_TIMEOUT = 0x03 -} HAL_StatusTypeDef; - -/** - * @brief HAL Lock structures definition - */ -typedef enum -{ - HAL_UNLOCKED = 0x00, - HAL_LOCKED = 0x01 -} HAL_LockTypeDef; - -/* Exported macro ------------------------------------------------------------*/ - -#define HAL_MAX_DELAY 0xFFFFFFFFU - -#define HAL_IS_BIT_SET(REG, BIT) (((REG) & (BIT)) == (BIT)) -#define HAL_IS_BIT_CLR(REG, BIT) (((REG) & (BIT)) == 0U) - -#define __HAL_LINKDMA(__HANDLE__, __PPP_DMA_FIELD__, __DMA_HANDLE__) \ - do{ \ - (__HANDLE__)->__PPP_DMA_FIELD__ = &(__DMA_HANDLE__); \ - (__DMA_HANDLE__).Parent = (__HANDLE__); \ - } while(0) - -#define UNUSED(x) ((void)(x)) - -/** @brief Reset the Handle's State field. - * @param __HANDLE__: specifies the Peripheral Handle. - * @note This macro can be used for the following purpose: - * - When the Handle is declared as local variable; before passing it as parameter - * to HAL_PPP_Init() for the first time, it is mandatory to use this macro - * to set to 0 the Handle's "State" field. - * Otherwise, "State" field may have any random value and the first time the function - * HAL_PPP_Init() is called, the low level hardware initialization will be missed - * (i.e. HAL_PPP_MspInit() will not be executed). - * - When there is a need to reconfigure the low level hardware: instead of calling - * HAL_PPP_DeInit() then HAL_PPP_Init(), user can make a call to this macro then HAL_PPP_Init(). - * In this later function, when the Handle's "State" field is set to 0, it will execute the function - * HAL_PPP_MspInit() which will reconfigure the low level hardware. - * @retval None - */ -#define __HAL_RESET_HANDLE_STATE(__HANDLE__) ((__HANDLE__)->State = 0) - -#if (USE_RTOS == 1) - #error " USE_RTOS should be 0 in the current HAL release " -#else - #define __HAL_LOCK(__HANDLE__) \ - do{ \ - if((__HANDLE__)->Lock == HAL_LOCKED) \ - { \ - return HAL_BUSY; \ - } \ - else \ - { \ - (__HANDLE__)->Lock = HAL_LOCKED; \ - } \ - }while (0) - - #define __HAL_UNLOCK(__HANDLE__) \ - do{ \ - (__HANDLE__)->Lock = HAL_UNLOCKED; \ - }while (0) -#endif /* USE_RTOS */ - - -#if defined (__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050) /* ARM Compiler V6 */ - #ifndef __weak - #define __weak __attribute__((weak)) - #endif - #ifndef __packed - #define __packed __attribute__((packed)) - #endif -#elif defined ( __GNUC__ ) && !defined (__CC_ARM) /* GNU Compiler */ - #ifndef __weak - #define __weak __attribute__((weak)) - #endif /* __weak */ - #ifndef __packed - #define __packed __attribute__((__packed__)) - #endif /* __packed */ -#endif /* __GNUC__ */ - - -/* Macro to get variable aligned on 4-bytes, for __ICCARM__ the directive "#pragma data_alignment=4" must be used instead */ -#if defined (__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050) /* ARM Compiler V6 */ - #ifndef __ALIGN_BEGIN - #define __ALIGN_BEGIN - #endif - #ifndef __ALIGN_END - #define __ALIGN_END __attribute__ ((aligned (4))) - #endif -#elif defined ( __GNUC__ ) && !defined (__CC_ARM) /* GNU Compiler */ - #ifndef __ALIGN_END - #define __ALIGN_END __attribute__ ((aligned (4))) - #endif /* __ALIGN_END */ - #ifndef __ALIGN_BEGIN - #define __ALIGN_BEGIN - #endif /* __ALIGN_BEGIN */ -#else - #ifndef __ALIGN_END - #define __ALIGN_END - #endif /* __ALIGN_END */ - #ifndef __ALIGN_BEGIN - #if defined (__CC_ARM) /* ARM Compiler V5 */ - #define __ALIGN_BEGIN __align(4) - #elif defined (__ICCARM__) /* IAR Compiler */ - #define __ALIGN_BEGIN - #endif /* __CC_ARM */ - #endif /* __ALIGN_BEGIN */ -#endif /* __GNUC__ */ - -/* Macro to get variable aligned on 32-bytes,needed for cache maintenance purpose */ -#if defined (__GNUC__) /* GNU Compiler */ - #define ALIGN_32BYTES(buf) buf __attribute__ ((aligned (32))) -#elif defined (__ICCARM__) /* IAR Compiler */ - #define ALIGN_32BYTES(buf) _Pragma("data_alignment=32") buf -#elif defined (__CC_ARM) /* ARM Compiler */ - #define ALIGN_32BYTES(buf) __align(32) buf -#endif - -/** - * @brief __RAM_FUNC definition - */ -#if defined ( __CC_ARM ) || (defined (__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050)) -/* ARM Compiler V4/V5 and V6 - -------------------------- - RAM functions are defined using the toolchain options. - Functions that are executed in RAM should reside in a separate source module. - Using the 'Options for File' dialog you can simply change the 'Code / Const' - area of a module to a memory space in physical RAM. - Available memory areas are declared in the 'Target' tab of the 'Options for Target' - dialog. -*/ -#define __RAM_FUNC - -#elif defined ( __ICCARM__ ) -/* ICCARM Compiler - --------------- - RAM functions are defined using a specific toolchain keyword "__ramfunc". -*/ -#define __RAM_FUNC __ramfunc - -#elif defined ( __GNUC__ ) -/* GNU Compiler - ------------ - RAM functions are defined using a specific toolchain attribute - "__attribute__((section(".RamFunc")))". -*/ -#define __RAM_FUNC __attribute__((section(".RamFunc"))) - -#endif - -/** - * @brief __NOINLINE definition - */ -#if defined ( __CC_ARM ) || (defined (__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050)) || defined ( __GNUC__ ) -/* ARM V4/V5 and V6 & GNU Compiler - ------------------------------- -*/ -#define __NOINLINE __attribute__ ( (noinline) ) - -#elif defined ( __ICCARM__ ) -/* ICCARM Compiler - --------------- -*/ -#define __NOINLINE _Pragma("optimize = no_inline") - -#endif - - -#ifdef __cplusplus -} -#endif - -#endif /* STM32H7xx_HAL_DEF */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/panda/board/stm32h7/inc/stm32h7xx_hal_gpio_ex.h b/panda/board/stm32h7/inc/stm32h7xx_hal_gpio_ex.h deleted file mode 100644 index 14f576a424b344..00000000000000 --- a/panda/board/stm32h7/inc/stm32h7xx_hal_gpio_ex.h +++ /dev/null @@ -1,489 +0,0 @@ -/** - ****************************************************************************** - * @file stm32h7xx_hal_gpio_ex.h - * @author MCD Application Team - * @brief Header file of GPIO HAL Extension module. - ****************************************************************************** - * @attention - * - *

© COPYRIGHT(c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/* Define to prevent recursive inclusion -------------------------------------*/ -#ifndef STM32H7xx_HAL_GPIO_EX_H -#define STM32H7xx_HAL_GPIO_EX_H - -#ifdef __cplusplus -extern "C" { -#endif - -/* Includes ------------------------------------------------------------------*/ -#include "stm32h7xx_hal_def.h" - -/** @addtogroup STM32H7xx_HAL_Driver - * @{ - */ - -/** @addtogroup GPIOEx GPIOEx - * @{ - */ - -/* Exported types ------------------------------------------------------------*/ - -/* Exported constants --------------------------------------------------------*/ -/** @defgroup GPIOEx_Exported_Constants GPIO Exported Constants - * @{ - */ - -/** @defgroup GPIO_Alternate_function_selection GPIO Alternate Function Selection - * @{ - */ - -/** - * @brief AF 0 selection - */ -#define GPIO_AF0_RTC_50Hz ((uint8_t)0x00) /* RTC_50Hz Alternate Function mapping */ -#define GPIO_AF0_MCO ((uint8_t)0x00) /* MCO (MCO1 and MCO2) Alternate Function mapping */ -#define GPIO_AF0_SWJ ((uint8_t)0x00) /* SWJ (SWD and JTAG) Alternate Function mapping */ -#define GPIO_AF0_LCDBIAS ((uint8_t)0x00) /* LCDBIAS Alternate Function mapping */ -#define GPIO_AF0_TRACE ((uint8_t)0x00) /* TRACE Alternate Function mapping */ -#if defined (PWR_CPUCR_PDDS_D2) /* PWR D1 and D2 domains exists */ -#define GPIO_AF0_C1DSLEEP ((uint8_t)0x00) /* Cortex-M7 Deep Sleep Alternate Function mapping : available on STM32H7 Rev.B and above */ -#define GPIO_AF0_C1SLEEP ((uint8_t)0x00) /* Cortex-M7 Sleep Alternate Function mapping : available on STM32H7 Rev.B and above */ -#define GPIO_AF0_D1PWREN ((uint8_t)0x00) /* Domain 1 PWR enable Alternate Function mapping : available on STM32H7 Rev.B and above */ -#define GPIO_AF0_D2PWREN ((uint8_t)0x00) /* Domain 2 PWR enable Alternate Function mapping : available on STM32H7 Rev.B and above */ -#if defined(DUAL_CORE) -#define GPIO_AF0_C2DSLEEP ((uint8_t)0x00) /* Cortex-M4 Deep Sleep Alternate Function mapping : available on STM32H7 Rev.B and above */ -#define GPIO_AF0_C2SLEEP ((uint8_t)0x00) /* Cortex-M4 Sleep Alternate Function mapping : available on STM32H7 Rev.B and above */ -#endif /* DUAL_CORE */ -#endif /* PWR_CPUCR_PDDS_D2 */ - -/** - * @brief AF 1 selection - */ -#define GPIO_AF1_TIM1 ((uint8_t)0x01) /* TIM1 Alternate Function mapping */ -#define GPIO_AF1_TIM2 ((uint8_t)0x01) /* TIM2 Alternate Function mapping */ -#define GPIO_AF1_TIM16 ((uint8_t)0x01) /* TIM16 Alternate Function mapping */ -#define GPIO_AF1_TIM17 ((uint8_t)0x01) /* TIM17 Alternate Function mapping */ -#define GPIO_AF1_LPTIM1 ((uint8_t)0x01) /* LPTIM1 Alternate Function mapping */ -#if defined(HRTIM1) -#define GPIO_AF1_HRTIM1 ((uint8_t)0x01) /* HRTIM1 Alternate Function mapping */ -#endif /* HRTIM1 */ -#if defined(SAI4) -#define GPIO_AF1_SAI4 ((uint8_t)0x01) /* SAI4 Alternate Function mapping : available on STM32H72xxx/STM32H73xxx */ -#endif /* SAI4 */ -#define GPIO_AF1_FMC ((uint8_t)0x01) /* FMC Alternate Function mapping : available on STM32H72xxx/STM32H73xxx */ - - -/** - * @brief AF 2 selection - */ -#define GPIO_AF2_TIM3 ((uint8_t)0x02) /* TIM3 Alternate Function mapping */ -#define GPIO_AF2_TIM4 ((uint8_t)0x02) /* TIM4 Alternate Function mapping */ -#define GPIO_AF2_TIM5 ((uint8_t)0x02) /* TIM5 Alternate Function mapping */ -#define GPIO_AF2_TIM12 ((uint8_t)0x02) /* TIM12 Alternate Function mapping */ -#define GPIO_AF2_SAI1 ((uint8_t)0x02) /* SAI1 Alternate Function mapping */ -#if defined(HRTIM1) -#define GPIO_AF2_HRTIM1 ((uint8_t)0x02) /* HRTIM1 Alternate Function mapping */ -#endif /* HRTIM1 */ -#define GPIO_AF2_TIM15 ((uint8_t)0x02) /* TIM15 Alternate Function mapping : available on STM32H7A3xxx/STM32H7B3xxx/STM32H7B0xxx and STM32H72xxx/STM32H73xxx */ -#if defined(FDCAN3) -#define GPIO_AF2_FDCAN3 ((uint8_t)0x02) /* FDCAN3 Alternate Function mapping */ -#endif /*FDCAN3*/ - -/** - * @brief AF 3 selection - */ -#define GPIO_AF3_TIM8 ((uint8_t)0x03) /* TIM8 Alternate Function mapping */ -#define GPIO_AF3_LPTIM2 ((uint8_t)0x03) /* LPTIM2 Alternate Function mapping */ -#define GPIO_AF3_DFSDM1 ((uint8_t)0x03) /* DFSDM Alternate Function mapping */ -#define GPIO_AF3_LPTIM3 ((uint8_t)0x03) /* LPTIM3 Alternate Function mapping */ -#define GPIO_AF3_LPTIM4 ((uint8_t)0x03) /* LPTIM4 Alternate Function mapping */ -#define GPIO_AF3_LPTIM5 ((uint8_t)0x03) /* LPTIM5 Alternate Function mapping */ -#define GPIO_AF3_LPUART ((uint8_t)0x03) /* LPUART Alternate Function mapping */ -#if defined(OCTOSPIM) -#define GPIO_AF3_OCTOSPIM_P1 ((uint8_t)0x03) /* OCTOSPI Manager Port 1 Alternate Function mapping */ -#define GPIO_AF3_OCTOSPIM_P2 ((uint8_t)0x03) /* OCTOSPI Manager Port 2 Alternate Function mapping */ -#endif /* OCTOSPIM */ -#if defined(HRTIM1) -#define GPIO_AF3_HRTIM1 ((uint8_t)0x03) /* HRTIM1 Alternate Function mapping */ -#endif /* HRTIM1 */ -#define GPIO_AF3_LTDC ((uint8_t)0x03) /* LTDC Alternate Function mapping : available on STM32H72xxx/STM32H73xxx */ - -/** - * @brief AF 4 selection - */ -#define GPIO_AF4_I2C1 ((uint8_t)0x04) /* I2C1 Alternate Function mapping */ -#define GPIO_AF4_I2C2 ((uint8_t)0x04) /* I2C2 Alternate Function mapping */ -#define GPIO_AF4_I2C3 ((uint8_t)0x04) /* I2C3 Alternate Function mapping */ -#define GPIO_AF4_I2C4 ((uint8_t)0x04) /* I2C4 Alternate Function mapping */ -#if defined(I2C5) -#define GPIO_AF4_I2C5 ((uint8_t)0x04) /* I2C5 Alternate Function mapping */ -#endif /* I2C5*/ -#define GPIO_AF4_TIM15 ((uint8_t)0x04) /* TIM15 Alternate Function mapping */ -#define GPIO_AF4_CEC ((uint8_t)0x04) /* CEC Alternate Function mapping */ -#define GPIO_AF4_LPTIM2 ((uint8_t)0x04) /* LPTIM2 Alternate Function mapping */ -#define GPIO_AF4_USART1 ((uint8_t)0x04) /* USART1 Alternate Function mapping */ -#if defined(USART10) -#define GPIO_AF4_USART10 ((uint8_t)0x04) /* USART10 Alternate Function mapping : available on STM32H72xxx/STM32H73xxx */ -#endif /*USART10*/ -#define GPIO_AF4_DFSDM1 ((uint8_t)0x04) /* DFSDM Alternate Function mapping */ -#if defined(DFSDM2_BASE) -#define GPIO_AF4_DFSDM2 ((uint8_t)0x04) /* DFSDM2 Alternate Function mapping */ -#endif /* DFSDM2_BASE */ -#define GPIO_AF4_DCMI ((uint8_t)0x04) /* DCMI Alternate Function mapping : available on STM32H7A3xxx/STM32H7B3xxx/STM32H7B0xxx and STM32H72xxx/STM32H73xxx */ -#if defined(PSSI) -#define GPIO_AF4_PSSI ((uint8_t)0x04) /* PSSI Alternate Function mapping */ -#endif /* PSSI */ -#if defined(OCTOSPIM) -#define GPIO_AF4_OCTOSPIM_P1 ((uint8_t)0x04) /* OCTOSPI Manager Port 1 Alternate Function mapping : available on STM32H72xxx/STM32H73xxx */ -#endif /* OCTOSPIM */ - -/** - * @brief AF 5 selection - */ -#define GPIO_AF5_SPI1 ((uint8_t)0x05) /* SPI1 Alternate Function mapping */ -#define GPIO_AF5_SPI2 ((uint8_t)0x05) /* SPI2 Alternate Function mapping */ -#define GPIO_AF5_SPI3 ((uint8_t)0x05) /* SPI3 Alternate Function mapping */ -#define GPIO_AF5_SPI4 ((uint8_t)0x05) /* SPI4 Alternate Function mapping */ -#define GPIO_AF5_SPI5 ((uint8_t)0x05) /* SPI5 Alternate Function mapping */ -#define GPIO_AF5_SPI6 ((uint8_t)0x05) /* SPI6 Alternate Function mapping */ -#define GPIO_AF5_CEC ((uint8_t)0x05) /* CEC Alternate Function mapping */ -#if defined(FDCAN3) -#define GPIO_AF5_FDCAN3 ((uint8_t)0x05) /* FDCAN3 Alternate Function mapping */ -#endif /*FDCAN3*/ - -/** - * @brief AF 6 selection - */ -#define GPIO_AF6_SPI2 ((uint8_t)0x06) /* SPI2 Alternate Function mapping */ -#define GPIO_AF6_SPI3 ((uint8_t)0x06) /* SPI3 Alternate Function mapping */ -#define GPIO_AF6_SAI1 ((uint8_t)0x06) /* SAI1 Alternate Function mapping */ -#define GPIO_AF6_I2C4 ((uint8_t)0x06) /* I2C4 Alternate Function mapping */ -#if defined(I2C5) -#define GPIO_AF6_I2C5 ((uint8_t)0x06) /* I2C5 Alternate Function mapping */ -#endif /* I2C5*/ -#define GPIO_AF6_DFSDM1 ((uint8_t)0x06) /* DFSDM Alternate Function mapping */ -#define GPIO_AF6_UART4 ((uint8_t)0x06) /* UART4 Alternate Function mapping */ -#if defined(DFSDM2_BASE) -#define GPIO_AF6_DFSDM2 ((uint8_t)0x06) /* DFSDM2 Alternate Function mapping */ -#endif /* DFSDM2_BASE */ -#if defined(SAI3) -#define GPIO_AF6_SAI3 ((uint8_t)0x06) /* SAI3 Alternate Function mapping */ -#endif /* SAI3 */ -#if defined(OCTOSPIM) -#define GPIO_AF6_OCTOSPIM_P1 ((uint8_t)0x06) /* OCTOSPI Manager Port 1 Alternate Function mapping */ -#endif /* OCTOSPIM */ - -/** - * @brief AF 7 selection - */ -#define GPIO_AF7_SPI2 ((uint8_t)0x07) /* SPI2 Alternate Function mapping */ -#define GPIO_AF7_SPI3 ((uint8_t)0x07) /* SPI3 Alternate Function mapping */ -#define GPIO_AF7_SPI6 ((uint8_t)0x07) /* SPI6 Alternate Function mapping */ -#define GPIO_AF7_USART1 ((uint8_t)0x07) /* USART1 Alternate Function mapping */ -#define GPIO_AF7_USART2 ((uint8_t)0x07) /* USART2 Alternate Function mapping */ -#define GPIO_AF7_USART3 ((uint8_t)0x07) /* USART3 Alternate Function mapping */ -#define GPIO_AF7_USART6 ((uint8_t)0x07) /* USART6 Alternate Function mapping */ -#define GPIO_AF7_UART7 ((uint8_t)0x07) /* UART7 Alternate Function mapping */ -#define GPIO_AF7_SDMMC1 ((uint8_t)0x07) /* SDMMC1 Alternate Function mapping */ - -/** - * @brief AF 8 selection - */ -#define GPIO_AF8_SPI6 ((uint8_t)0x08) /* SPI6 Alternate Function mapping */ -#if defined(SAI2) -#define GPIO_AF8_SAI2 ((uint8_t)0x08) /* SAI2 Alternate Function mapping */ -#endif /*SAI2*/ -#define GPIO_AF8_UART4 ((uint8_t)0x08) /* UART4 Alternate Function mapping */ -#define GPIO_AF8_UART5 ((uint8_t)0x08) /* UART5 Alternate Function mapping */ -#define GPIO_AF8_UART8 ((uint8_t)0x08) /* UART8 Alternate Function mapping */ -#define GPIO_AF8_SPDIF ((uint8_t)0x08) /* SPDIF Alternate Function mapping */ -#define GPIO_AF8_LPUART ((uint8_t)0x08) /* LPUART Alternate Function mapping */ -#define GPIO_AF8_SDMMC1 ((uint8_t)0x08) /* SDMMC1 Alternate Function mapping */ -#if defined(SAI4) -#define GPIO_AF8_SAI4 ((uint8_t)0x08) /* SAI4 Alternate Function mapping */ -#endif /* SAI4 */ - -/** - * @brief AF 9 selection - */ -#define GPIO_AF9_FDCAN1 ((uint8_t)0x09) /* FDCAN1 Alternate Function mapping */ -#define GPIO_AF9_FDCAN2 ((uint8_t)0x09) /* FDCAN2 Alternate Function mapping */ -#define GPIO_AF9_TIM13 ((uint8_t)0x09) /* TIM13 Alternate Function mapping */ -#define GPIO_AF9_TIM14 ((uint8_t)0x09) /* TIM14 Alternate Function mapping */ -#define GPIO_AF9_SDMMC2 ((uint8_t)0x09) /* SDMMC2 Alternate Function mapping */ -#define GPIO_AF9_LTDC ((uint8_t)0x09) /* LTDC Alternate Function mapping */ -#define GPIO_AF9_SPDIF ((uint8_t)0x09) /* SPDIF Alternate Function mapping */ -#define GPIO_AF9_FMC ((uint8_t)0x09) /* FMC Alternate Function mapping */ -#if defined(QUADSPI) -#define GPIO_AF9_QUADSPI ((uint8_t)0x09) /* QUADSPI Alternate Function mapping */ -#endif /* QUADSPI */ -#if defined(SAI4) -#define GPIO_AF9_SAI4 ((uint8_t)0x09) /* SAI4 Alternate Function mapping */ -#endif /* SAI4 */ -#if defined(OCTOSPIM) -#define GPIO_AF9_OCTOSPIM_P1 ((uint8_t)0x09) /* OCTOSPI Manager Port 1 Alternate Function mapping */ -#define GPIO_AF9_OCTOSPIM_P2 ((uint8_t)0x09) /* OCTOSPI Manager Port 2 Alternate Function mapping */ -#endif /* OCTOSPIM */ - -/** - * @brief AF 10 selection - */ -#if defined(SAI2) -#define GPIO_AF10_SAI2 ((uint8_t)0x0A) /* SAI2 Alternate Function mapping */ -#endif /*SAI2*/ -#define GPIO_AF10_SDMMC2 ((uint8_t)0x0A) /* SDMMC2 Alternate Function mapping */ -#if defined(USB2_OTG_FS) -#define GPIO_AF10_OTG2_FS ((uint8_t)0x0A) /* OTG2_FS Alternate Function mapping */ -#endif /*USB2_OTG_FS*/ -#define GPIO_AF10_COMP1 ((uint8_t)0x0A) /* COMP1 Alternate Function mapping */ -#define GPIO_AF10_COMP2 ((uint8_t)0x0A) /* COMP2 Alternate Function mapping */ -#if defined(LTDC) -#define GPIO_AF10_LTDC ((uint8_t)0x0A) /* LTDC Alternate Function mapping */ -#endif /*LTDC*/ -#define GPIO_AF10_CRS_SYNC ((uint8_t)0x0A) /* CRS Sync Alternate Function mapping : available on STM32H7 Rev.B and above */ -#if defined(QUADSPI) -#define GPIO_AF10_QUADSPI ((uint8_t)0x0A) /* QUADSPI Alternate Function mapping */ -#endif /* QUADSPI */ -#if defined(SAI4) -#define GPIO_AF10_SAI4 ((uint8_t)0x0A) /* SAI4 Alternate Function mapping */ -#endif /* SAI4 */ -#if !defined(USB2_OTG_FS) -#define GPIO_AF10_OTG1_FS ((uint8_t)0x0A) /* OTG1_FS Alternate Function mapping : available on STM32H7A3xxx/STM32H7B3xxx/STM32H7B0xxx and STM32H72xxx/STM32H73xxx */ -#endif /* !USB2_OTG_FS */ -#define GPIO_AF10_OTG1_HS ((uint8_t)0x0A) /* OTG1_HS Alternate Function mapping */ -#if defined(OCTOSPIM) -#define GPIO_AF10_OCTOSPIM_P1 ((uint8_t)0x0A) /* OCTOSPI Manager Port 1 Alternate Function mapping */ -#endif /* OCTOSPIM */ -#define GPIO_AF10_TIM8 ((uint8_t)0x0A) /* TIM8 Alternate Function mapping */ -#define GPIO_AF10_FMC ((uint8_t)0x0A) /* FMC Alternate Function mapping : available on STM32H7A3xxx/STM32H7B3xxx/STM32H7B0xxx and STM32H72xxx/STM32H73xxx */ - -/** - * @brief AF 11 selection - */ -#define GPIO_AF11_SWP ((uint8_t)0x0B) /* SWP Alternate Function mapping */ -#define GPIO_AF11_MDIOS ((uint8_t)0x0B) /* MDIOS Alternate Function mapping */ -#define GPIO_AF11_UART7 ((uint8_t)0x0B) /* UART7 Alternate Function mapping */ -#define GPIO_AF11_SDMMC2 ((uint8_t)0x0B) /* SDMMC2 Alternate Function mapping */ -#define GPIO_AF11_DFSDM1 ((uint8_t)0x0B) /* DFSDM1 Alternate Function mapping */ -#define GPIO_AF11_COMP1 ((uint8_t)0x0B) /* COMP1 Alternate Function mapping */ -#define GPIO_AF11_COMP2 ((uint8_t)0x0B) /* COMP2 Alternate Function mapping */ -#define GPIO_AF11_TIM1 ((uint8_t)0x0B) /* TIM1 Alternate Function mapping */ -#define GPIO_AF11_TIM8 ((uint8_t)0x0B) /* TIM8 Alternate Function mapping */ -#define GPIO_AF11_I2C4 ((uint8_t)0x0B) /* I2C4 Alternate Function mapping */ -#if defined(DFSDM2_BASE) -#define GPIO_AF11_DFSDM2 ((uint8_t)0x0B) /* DFSDM2 Alternate Function mapping */ -#endif /* DFSDM2_BASE */ -#if defined(USART10) -#define GPIO_AF11_USART10 ((uint8_t)0x0B) /* USART10 Alternate Function mapping */ -#endif /* USART10 */ -#if defined(UART9) -#define GPIO_AF11_UART9 ((uint8_t)0x0B) /* UART9 Alternate Function mapping */ -#endif /* UART9 */ -#if defined(ETH) -#define GPIO_AF11_ETH ((uint8_t)0x0B) /* ETH Alternate Function mapping */ -#endif /* ETH */ -#if defined(LTDC) -#define GPIO_AF11_LTDC ((uint8_t)0x0B) /* LTDC Alternate Function mapping : available on STM32H7A3xxx/STM32H7B3xxx/STM32H7B0xxx and STM32H72xxx/STM32H73xxx */ -#endif /*LTDC*/ -#if defined(OCTOSPIM) -#define GPIO_AF11_OCTOSPIM_P1 ((uint8_t)0x0B) /* OCTOSPI Manager Port 1 Alternate Function mapping */ -#endif /* OCTOSPIM */ - -/** - * @brief AF 12 selection - */ -#define GPIO_AF12_FMC ((uint8_t)0x0C) /* FMC Alternate Function mapping */ -#define GPIO_AF12_SDMMC1 ((uint8_t)0x0C) /* SDMMC1 Alternate Function mapping */ -#define GPIO_AF12_MDIOS ((uint8_t)0x0C) /* MDIOS Alternate Function mapping */ -#define GPIO_AF12_COMP1 ((uint8_t)0x0C) /* COMP1 Alternate Function mapping */ -#define GPIO_AF12_COMP2 ((uint8_t)0x0C) /* COMP2 Alternate Function mapping */ -#define GPIO_AF12_TIM1 ((uint8_t)0x0C) /* TIM1 Alternate Function mapping */ -#define GPIO_AF12_TIM8 ((uint8_t)0x0C) /* TIM8 Alternate Function mapping */ -#if defined(LTDC) -#define GPIO_AF12_LTDC ((uint8_t)0x0C) /* LTDC Alternate Function mapping */ -#endif /*LTDC*/ -#if defined(USB2_OTG_FS) -#define GPIO_AF12_OTG1_FS ((uint8_t)0x0C) /* OTG1_FS Alternate Function mapping */ -#endif /* USB2_OTG_FS */ -#if defined(OCTOSPIM) -#define GPIO_AF12_OCTOSPIM_P1 ((uint8_t)0x0C) /* OCTOSPI Manager Port 1 Alternate Function mapping */ -#endif /* OCTOSPIM */ - -/** - * @brief AF 13 selection - */ -#define GPIO_AF13_DCMI ((uint8_t)0x0D) /* DCMI Alternate Function mapping */ -#define GPIO_AF13_COMP1 ((uint8_t)0x0D) /* COMP1 Alternate Function mapping */ -#define GPIO_AF13_COMP2 ((uint8_t)0x0D) /* COMP2 Alternate Function mapping */ -#if defined(LTDC) -#define GPIO_AF13_LTDC ((uint8_t)0x0D) /* LTDC Alternate Function mapping */ -#endif /*LTDC*/ -#if defined(DSI) -#define GPIO_AF13_DSI ((uint8_t)0x0D) /* DSI Alternate Function mapping */ -#endif /* DSI */ -#if defined(PSSI) -#define GPIO_AF13_PSSI ((uint8_t)0x0D) /* PSSI Alternate Function mapping */ -#endif /* PSSI */ -#define GPIO_AF13_TIM1 ((uint8_t)0x0D) /* TIM1 Alternate Function mapping */ -#if defined(TIM23) -#define GPIO_AF13_TIM23 ((uint8_t)0x0D) /* TIM23 Alternate Function mapping */ -#endif /*TIM23*/ - -/** - * @brief AF 14 selection - */ -#define GPIO_AF14_LTDC ((uint8_t)0x0E) /* LTDC Alternate Function mapping */ -#define GPIO_AF14_UART5 ((uint8_t)0x0E) /* UART5 Alternate Function mapping */ -#if defined(TIM24) -#define GPIO_AF14_TIM24 ((uint8_t)0x0E) /* TIM24 Alternate Function mapping */ -#endif /*TIM24*/ - -/** - * @brief AF 15 selection - */ -#define GPIO_AF15_EVENTOUT ((uint8_t)0x0F) /* EVENTOUT Alternate Function mapping */ - -#define IS_GPIO_AF(AF) ((AF) <= (uint8_t)0x0F) - - - -/** - * @} - */ - -/** - * @} - */ - -/* Exported macro ------------------------------------------------------------*/ -/** @defgroup GPIOEx_Exported_Macros GPIO Exported Macros - * @{ - */ -/** - * @} - */ - -/* Exported functions --------------------------------------------------------*/ -/** @defgroup GPIOEx_Exported_Functions GPIO Exported Functions - * @{ - */ -/** - * @} - */ -/* Private types -------------------------------------------------------------*/ -/* Private variables ---------------------------------------------------------*/ -/* Private constants ---------------------------------------------------------*/ -/** @defgroup GPIOEx_Private_Constants GPIO Private Constants - * @{ - */ - -/** - * @brief GPIO pin available on the platform - */ -/* Defines the available pins per GPIOs */ -#define GPIOA_PIN_AVAILABLE GPIO_PIN_All -#define GPIOB_PIN_AVAILABLE GPIO_PIN_All -#define GPIOC_PIN_AVAILABLE GPIO_PIN_All -#define GPIOD_PIN_AVAILABLE GPIO_PIN_All -#define GPIOE_PIN_AVAILABLE GPIO_PIN_All -#define GPIOF_PIN_AVAILABLE GPIO_PIN_All -#define GPIOG_PIN_AVAILABLE GPIO_PIN_All -#if defined(GPIOI) -#define GPIOI_PIN_AVAILABLE GPIO_PIN_All -#endif /*GPIOI*/ -#if defined(GPIOI) -#define GPIOJ_PIN_AVAILABLE GPIO_PIN_All -#else -#define GPIOJ_PIN_AVAILABLE (GPIO_PIN_8 | GPIO_PIN_9 | GPIO_PIN_10 | GPIO_PIN_11 ) -#endif /* GPIOI */ -#define GPIOH_PIN_AVAILABLE GPIO_PIN_All -#if defined(GPIOI) -#define GPIOK_PIN_AVAILABLE (GPIO_PIN_0 | GPIO_PIN_1 | GPIO_PIN_2 | GPIO_PIN_3 | GPIO_PIN_4 | \ - GPIO_PIN_5 | GPIO_PIN_6 | GPIO_PIN_7) -#else -#define GPIOK_PIN_AVAILABLE (GPIO_PIN_0 | GPIO_PIN_1 | GPIO_PIN_2 ) -#endif /* GPIOI */ - -/** - * @} - */ - -/* Private macros ------------------------------------------------------------*/ -/** @defgroup GPIOEx_Private_Macros GPIO Private Macros - * @{ - */ -/** @defgroup GPIOEx_Get_Port_Index GPIO Get Port Index - * @{ - */ -#if defined(GPIOI) -#define GPIO_GET_INDEX(__GPIOx__) (((__GPIOx__) == (GPIOA))? 0UL :\ - ((__GPIOx__) == (GPIOB))? 1UL :\ - ((__GPIOx__) == (GPIOC))? 2UL :\ - ((__GPIOx__) == (GPIOD))? 3UL :\ - ((__GPIOx__) == (GPIOE))? 4UL :\ - ((__GPIOx__) == (GPIOF))? 5UL :\ - ((__GPIOx__) == (GPIOG))? 6UL :\ - ((__GPIOx__) == (GPIOH))? 7UL :\ - ((__GPIOx__) == (GPIOI))? 8UL :\ - ((__GPIOx__) == (GPIOJ))? 9UL : 10UL) -#else -#define GPIO_GET_INDEX(__GPIOx__) (((__GPIOx__) == (GPIOA))? 0UL :\ - ((__GPIOx__) == (GPIOB))? 1UL :\ - ((__GPIOx__) == (GPIOC))? 2UL :\ - ((__GPIOx__) == (GPIOD))? 3UL :\ - ((__GPIOx__) == (GPIOE))? 4UL :\ - ((__GPIOx__) == (GPIOF))? 5UL :\ - ((__GPIOx__) == (GPIOG))? 6UL :\ - ((__GPIOx__) == (GPIOH))? 7UL :\ - ((__GPIOx__) == (GPIOJ))? 9UL : 10UL) -#endif /* GPIOI */ - -/** - * @} - */ - -/** @defgroup GPIOEx_IS_Alternat_function_selection GPIO Check Alternate Function - * @{ - */ -/** - * @} - */ - -/** - * @} - */ - -/* Private functions ---------------------------------------------------------*/ -/** @defgroup GPIOEx_Private_Functions GPIO Private Functions - * @{ - */ - -/** - * @} - */ - -/** - * @} - */ - -/** - * @} - */ - -#ifdef __cplusplus -} -#endif - -#endif /* STM32H7xx_HAL_GPIO_EX_H */ - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/panda/board/stm32h7/inc/system_stm32h7xx.h b/panda/board/stm32h7/inc/system_stm32h7xx.h deleted file mode 100644 index dd75af67fffea9..00000000000000 --- a/panda/board/stm32h7/inc/system_stm32h7xx.h +++ /dev/null @@ -1,105 +0,0 @@ -/** - ****************************************************************************** - * @file system_stm32h7xx.h - * @author MCD Application Team - * @brief CMSIS Cortex-Mx Device System Source File for STM32H7xx devices. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2017 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - -/** @addtogroup CMSIS - * @{ - */ - -/** @addtogroup stm32h7xx_system - * @{ - */ - -/** - * @brief Define to prevent recursive inclusion - */ -#ifndef SYSTEM_STM32H7XX_H -#define SYSTEM_STM32H7XX_H - -#ifdef __cplusplus - extern "C" { -#endif - -/** @addtogroup STM32H7xx_System_Includes - * @{ - */ - -/** - * @} - */ - - -/** @addtogroup STM32H7xx_System_Exported_types - * @{ - */ - /* This variable is updated in three ways: - 1) by calling CMSIS function SystemCoreClockUpdate() - 2) by calling HAL API function HAL_RCC_GetSysClockFreq() - 3) each time HAL_RCC_ClockConfig() is called to configure the system clock frequency - Note: If you use this function to configure the system clock; then there - is no need to call the 2 first functions listed above, since SystemCoreClock - variable is updated automatically. - */ -extern uint32_t SystemCoreClock; /*!< System Domain1 Clock Frequency */ -extern uint32_t SystemD2Clock; /*!< System Domain2 Clock Frequency */ -extern const uint8_t D1CorePrescTable[16] ; /*!< D1CorePrescTable prescalers table values */ - -/** - * @} - */ - -/** @addtogroup STM32H7xx_System_Exported_Constants - * @{ - */ - -/** - * @} - */ - -/** @addtogroup STM32H7xx_System_Exported_Macros - * @{ - */ - -/** - * @} - */ - -/** @addtogroup STM32H7xx_System_Exported_Functions - * @{ - */ - -extern void SystemInit(void); -extern void SystemCoreClockUpdate(void); -/** - * @} - */ - -#ifdef __cplusplus -} -#endif - -#endif /* SYSTEM_STM32H7XX_H */ - -/** - * @} - */ - -/** - * @} - */ -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ diff --git a/panda/board/stm32h7/interrupt_handlers.h b/panda/board/stm32h7/interrupt_handlers.h deleted file mode 100644 index fb1298d77bdc7f..00000000000000 --- a/panda/board/stm32h7/interrupt_handlers.h +++ /dev/null @@ -1,76 +0,0 @@ -// ********************* Bare interrupt handlers ********************* -// Interrupts for STM32H7x5 - -void WWDG_IRQHandler(void) {handle_interrupt(WWDG_IRQn);} -void PVD_AVD_IRQHandler(void) {handle_interrupt(PVD_AVD_IRQn);} -void TAMP_STAMP_IRQHandler(void) {handle_interrupt(TAMP_STAMP_IRQn);} -void RTC_WKUP_IRQHandler(void) {handle_interrupt(RTC_WKUP_IRQn);} -void FLASH_IRQHandler(void) {handle_interrupt(FLASH_IRQn);} -void RCC_IRQHandler(void) {handle_interrupt(RCC_IRQn);} -void EXTI0_IRQHandler(void) {handle_interrupt(EXTI0_IRQn);} -void EXTI1_IRQHandler(void) {handle_interrupt(EXTI1_IRQn);} -void EXTI2_IRQHandler(void) {handle_interrupt(EXTI2_IRQn);} -void EXTI3_IRQHandler(void) {handle_interrupt(EXTI3_IRQn);} -void EXTI4_IRQHandler(void) {handle_interrupt(EXTI4_IRQn);} -void DMA1_Stream0_IRQHandler(void) {handle_interrupt(DMA1_Stream0_IRQn);} -void DMA1_Stream1_IRQHandler(void) {handle_interrupt(DMA1_Stream1_IRQn);} -void DMA1_Stream2_IRQHandler(void) {handle_interrupt(DMA1_Stream2_IRQn);} -void DMA1_Stream3_IRQHandler(void) {handle_interrupt(DMA1_Stream3_IRQn);} -void DMA1_Stream4_IRQHandler(void) {handle_interrupt(DMA1_Stream4_IRQn);} -void DMA1_Stream5_IRQHandler(void) {handle_interrupt(DMA1_Stream5_IRQn);} -void DMA1_Stream6_IRQHandler(void) {handle_interrupt(DMA1_Stream6_IRQn);} -void ADC_IRQHandler(void) {handle_interrupt(ADC_IRQn);} -void EXTI9_5_IRQHandler(void) {handle_interrupt(EXTI9_5_IRQn);} -void TIM1_BRK_IRQHandler(void) {handle_interrupt(TIM1_BRK_IRQn);} -void TIM1_UP_TIM10_IRQHandler(void) {handle_interrupt(TIM1_UP_TIM10_IRQn);} -void TIM1_TRG_COM_IRQHandler(void) {handle_interrupt(TIM1_TRG_COM_IRQn);} -void TIM1_CC_IRQHandler(void) {handle_interrupt(TIM1_CC_IRQn);} -void TIM2_IRQHandler(void) {handle_interrupt(TIM2_IRQn);} -void TIM3_IRQHandler(void) {handle_interrupt(TIM3_IRQn);} -void TIM4_IRQHandler(void) {handle_interrupt(TIM4_IRQn);} -void I2C1_EV_IRQHandler(void) {handle_interrupt(I2C1_EV_IRQn);} -void I2C1_ER_IRQHandler(void) {handle_interrupt(I2C1_ER_IRQn);} -void I2C2_EV_IRQHandler(void) {handle_interrupt(I2C2_EV_IRQn);} -void I2C2_ER_IRQHandler(void) {handle_interrupt(I2C2_ER_IRQn);} -void SPI1_IRQHandler(void) {handle_interrupt(SPI1_IRQn);} -void SPI2_IRQHandler(void) {handle_interrupt(SPI2_IRQn);} -void USART1_IRQHandler(void) {handle_interrupt(USART1_IRQn);} -void USART2_IRQHandler(void) {handle_interrupt(USART2_IRQn);} -void USART3_IRQHandler(void) {handle_interrupt(USART3_IRQn);} -void EXTI15_10_IRQHandler(void) {handle_interrupt(EXTI15_10_IRQn);} -void RTC_Alarm_IRQHandler(void) {handle_interrupt(RTC_Alarm_IRQn);} -void TIM8_BRK_TIM12_IRQHandler(void) {handle_interrupt(TIM8_BRK_TIM12_IRQn);} -void TIM8_UP_TIM13_IRQHandler(void) {handle_interrupt(TIM8_UP_TIM13_IRQn);} -void TIM8_TRG_COM_TIM14_IRQHandler(void) {handle_interrupt(TIM8_TRG_COM_TIM14_IRQn);} -void TIM8_CC_IRQHandler(void) {handle_interrupt(TIM8_CC_IRQn);} -void DMA1_Stream7_IRQHandler(void) {handle_interrupt(DMA1_Stream7_IRQn);} -void TIM5_IRQHandler(void) {handle_interrupt(TIM5_IRQn);} -void SPI3_IRQHandler(void) {handle_interrupt(SPI3_IRQn);} -void SPI4_IRQHandler(void) {handle_interrupt(SPI4_IRQn);} -void UART4_IRQHandler(void) {handle_interrupt(UART4_IRQn);} -void UART5_IRQHandler(void) {handle_interrupt(UART5_IRQn);} -void TIM6_DAC_IRQHandler(void) {handle_interrupt(TIM6_DAC_IRQn);} -void TIM7_IRQHandler(void) {handle_interrupt(TIM7_IRQn);} -void DMA2_Stream0_IRQHandler(void) {handle_interrupt(DMA2_Stream0_IRQn);} -void DMA2_Stream1_IRQHandler(void) {handle_interrupt(DMA2_Stream1_IRQn);} -void DMA2_Stream2_IRQHandler(void) {handle_interrupt(DMA2_Stream2_IRQn);} -void DMA2_Stream3_IRQHandler(void) {handle_interrupt(DMA2_Stream3_IRQn);} -void DMA2_Stream4_IRQHandler(void) {handle_interrupt(DMA2_Stream4_IRQn);} -void DMA2_Stream5_IRQHandler(void) {handle_interrupt(DMA2_Stream5_IRQn);} -void DMA2_Stream6_IRQHandler(void) {handle_interrupt(DMA2_Stream6_IRQn);} -void DMA2_Stream7_IRQHandler(void) {handle_interrupt(DMA2_Stream7_IRQn);} -void USART6_IRQHandler(void) {handle_interrupt(USART6_IRQn);} -void I2C3_EV_IRQHandler(void) {handle_interrupt(I2C3_EV_IRQn);} -void I2C3_ER_IRQHandler(void) {handle_interrupt(I2C3_ER_IRQn);} -void FDCAN1_IT0_IRQHandler(void) {handle_interrupt(FDCAN1_IT0_IRQn);} -void FDCAN1_IT1_IRQHandler(void) {handle_interrupt(FDCAN1_IT1_IRQn);} -void FDCAN2_IT0_IRQHandler(void) {handle_interrupt(FDCAN2_IT0_IRQn);} -void FDCAN2_IT1_IRQHandler(void) {handle_interrupt(FDCAN2_IT1_IRQn);} -void FDCAN3_IT0_IRQHandler(void) {handle_interrupt(FDCAN3_IT0_IRQn);} -void FDCAN3_IT1_IRQHandler(void) {handle_interrupt(FDCAN3_IT1_IRQn);} -void FDCAN_CAL_IRQHandler(void) {handle_interrupt(FDCAN_CAL_IRQn);} -void OTG_HS_EP1_OUT_IRQHandler(void) {handle_interrupt(OTG_HS_EP1_OUT_IRQn);} -void OTG_HS_EP1_IN_IRQHandler(void) {handle_interrupt(OTG_HS_EP1_IN_IRQn);} -void OTG_HS_WKUP_IRQHandler(void) {handle_interrupt(OTG_HS_WKUP_IRQn);} -void OTG_HS_IRQHandler(void) {handle_interrupt(OTG_HS_IRQn);} -void UART7_IRQHandler(void) {handle_interrupt(UART7_IRQn);} diff --git a/panda/board/stm32h7/lladc.h b/panda/board/stm32h7/lladc.h deleted file mode 100644 index 7d818f27af1b7d..00000000000000 --- a/panda/board/stm32h7/lladc.h +++ /dev/null @@ -1,39 +0,0 @@ - -void adc_init(void) { - ADC1->CR &= ~(ADC_CR_DEEPPWD); //Reset deep-power-down mode - ADC1->CR |= ADC_CR_ADVREGEN; // Enable ADC regulator - while(!(ADC1->ISR & ADC_ISR_LDORDY)); - - ADC1->CR &= ~(ADC_CR_ADCALDIF); // Choose single-ended calibration - ADC1->CR |= ADC_CR_ADCALLIN; // Lineriality calibration - ADC1->CR |= ADC_CR_ADCAL; // Start calibrtation - while((ADC1->CR & ADC_CR_ADCAL) != 0U); - - ADC1->ISR |= ADC_ISR_ADRDY; - ADC1->CR |= ADC_CR_ADEN; - while(!(ADC1->ISR & ADC_ISR_ADRDY)); -} - -uint16_t adc_get_raw(uint8_t channel) { - uint16_t res = 0U; - ADC1->SQR1 &= ~(ADC_SQR1_L); - ADC1->SQR1 = (uint32_t)channel << 6U; - - ADC1->SMPR1 = 0x2UL << (channel * 3UL); - ADC1->PCSEL_RES0 = (0x1UL << channel); - ADC1->CFGR2 = (127UL << ADC_CFGR2_OVSR_Pos) | (0x7U << ADC_CFGR2_OVSS_Pos) | ADC_CFGR2_ROVSE; - - ADC1->CR |= ADC_CR_ADSTART; - while (!(ADC1->ISR & ADC_ISR_EOC)); - - res = ADC1->DR; - - while (!(ADC1->ISR & ADC_ISR_EOS)); - ADC1->ISR |= ADC_ISR_EOS; - - return res; -} - -uint16_t adc_get_mV(uint8_t channel) { - return (adc_get_raw(channel) * current_board->avdd_mV) / 65535U; -} diff --git a/panda/board/stm32h7/lldac.h b/panda/board/stm32h7/lldac.h deleted file mode 100644 index 5726f62413d8e2..00000000000000 --- a/panda/board/stm32h7/lldac.h +++ /dev/null @@ -1,42 +0,0 @@ -void dac_init(DAC_TypeDef *dac, uint8_t channel, bool dma) { - register_set(&dac->CR, 0U, 0xFFFFU); - register_set(&dac->MCR, 0U, 0xFFFFU); - - switch(channel) { - case 1: - if (dma) { - register_set_bits(&dac->CR, DAC_CR_DMAEN1); - // register_set(&DAC->CR, (6U << DAC_CR_TSEL1_Pos), DAC_CR_TSEL1); - register_set_bits(&dac->CR, DAC_CR_TEN1); - } else { - register_clear_bits(&dac->CR, DAC_CR_DMAEN1); - } - register_set_bits(&dac->CR, DAC_CR_EN1); - break; - case 2: - if (dma) { - register_set_bits(&dac->CR, DAC_CR_DMAEN2); - } else { - register_clear_bits(&dac->CR, DAC_CR_DMAEN2); - } - register_set_bits(&dac->CR, DAC_CR_EN2); - break; - default: - break; - } -} - -// Set channel 1 value, in mV -void dac_set(DAC_TypeDef *dac, uint8_t channel, uint32_t value) { - uint32_t raw_val = MAX(MIN(value * (1UL << 8U) / 3300U, (1UL << 8U)), 0U); - switch(channel) { - case 1: - register_set(&dac->DHR8R1, raw_val, 0xFFU); - break; - case 2: - register_set(&dac->DHR8R2, raw_val, 0xFFU); - break; - default: - break; - } -} diff --git a/panda/board/stm32h7/llfan.h b/panda/board/stm32h7/llfan.h deleted file mode 100644 index dce622503ab92c..00000000000000 --- a/panda/board/stm32h7/llfan.h +++ /dev/null @@ -1,23 +0,0 @@ -// TACH interrupt handler -void EXTI2_IRQ_Handler(void) { - volatile unsigned int pr = EXTI->PR1 & (1U << 2); - if ((pr & (1U << 2)) != 0U) { - fan_state.tach_counter++; - } - EXTI->PR1 = (1U << 2); -} - -void llfan_init(void) { - // 5000RPM * 4 tach edges / 60 seconds - REGISTER_INTERRUPT(EXTI2_IRQn, EXTI2_IRQ_Handler, 700U, FAULT_INTERRUPT_RATE_TACH) - - // Init PWM speed control - pwm_init(TIM3, 3); - - // Init TACH interrupt - register_set(&(SYSCFG->EXTICR[0]), SYSCFG_EXTICR1_EXTI2_PD, 0xF00U); - register_set_bits(&(EXTI->IMR1), (1U << 2)); - register_set_bits(&(EXTI->RTSR1), (1U << 2)); - register_set_bits(&(EXTI->FTSR1), (1U << 2)); - NVIC_EnableIRQ(EXTI2_IRQn); -} diff --git a/panda/board/stm32h7/llfdcan.h b/panda/board/stm32h7/llfdcan.h deleted file mode 100644 index db42024c43b398..00000000000000 --- a/panda/board/stm32h7/llfdcan.h +++ /dev/null @@ -1,269 +0,0 @@ -// SAE J2284-4 document specifies a bus-line network running at 2 Mbit/s -// SAE J2284-5 document specifies a point-to-point communication running at 5 Mbit/s - -#define CAN_PCLK 80000U // KHz, sourced from PLL1Q -#define BITRATE_PRESCALER 2U // Valid from 250Kbps to 5Mbps with 80Mhz clock -#define CAN_SP_NOMINAL 80U // 80% for both SAE J2284-4 and SAE J2284-5 -#define CAN_SP_DATA_2M 80U // 80% for SAE J2284-4 -#define CAN_SP_DATA_5M 75U // 75% for SAE J2284-5 -#define CAN_QUANTA(speed, prescaler) (CAN_PCLK / ((speed) / 10U * (prescaler))) -#define CAN_SEG1(tq, sp) (((tq) * (sp) / 100U)- 1U) -#define CAN_SEG2(tq, sp) ((tq) * (100U - (sp)) / 100U) - -// FDCAN core settings -#define FDCAN_MESSAGE_RAM_SIZE 0x2800UL -#define FDCAN_START_ADDRESS 0x4000AC00UL -#define FDCAN_OFFSET 3384UL // bytes for each FDCAN module, equally -#define FDCAN_OFFSET_W 846UL // words for each FDCAN module, equally -#define FDCAN_END_ADDRESS 0x4000D3FCUL // Message RAM has a width of 4 bytes - -// FDCAN_RX_FIFO_0_EL_CNT + FDCAN_TX_FIFO_EL_CNT can't exceed 47 elements (47 * 72 bytes = 3,384 bytes) per FDCAN module - -// RX FIFO 0 -#define FDCAN_RX_FIFO_0_EL_CNT 46UL -#define FDCAN_RX_FIFO_0_HEAD_SIZE 8UL // bytes -#define FDCAN_RX_FIFO_0_DATA_SIZE 64UL // bytes -#define FDCAN_RX_FIFO_0_EL_SIZE (FDCAN_RX_FIFO_0_HEAD_SIZE + FDCAN_RX_FIFO_0_DATA_SIZE) -#define FDCAN_RX_FIFO_0_EL_W_SIZE (FDCAN_RX_FIFO_0_EL_SIZE / 4UL) -#define FDCAN_RX_FIFO_0_OFFSET 0UL - -// TX FIFO -#define FDCAN_TX_FIFO_EL_CNT 1UL -#define FDCAN_TX_FIFO_HEAD_SIZE 8UL // bytes -#define FDCAN_TX_FIFO_DATA_SIZE 64UL // bytes -#define FDCAN_TX_FIFO_EL_SIZE (FDCAN_TX_FIFO_HEAD_SIZE + FDCAN_TX_FIFO_DATA_SIZE) -#define FDCAN_TX_FIFO_EL_W_SIZE (FDCAN_TX_FIFO_EL_SIZE / 4UL) -#define FDCAN_TX_FIFO_OFFSET (FDCAN_RX_FIFO_0_OFFSET + (FDCAN_RX_FIFO_0_EL_CNT * FDCAN_RX_FIFO_0_EL_W_SIZE)) - -#define CAN_NAME_FROM_CANIF(CAN_DEV) (((CAN_DEV)==FDCAN1) ? "FDCAN1" : (((CAN_DEV) == FDCAN2) ? "FDCAN2" : "FDCAN3")) -#define CAN_NUM_FROM_CANIF(CAN_DEV) (((CAN_DEV)==FDCAN1) ? 0UL : (((CAN_DEV) == FDCAN2) ? 1UL : 2UL)) - - -void print(const char *a); - -// kbps multiplied by 10 -const uint32_t speeds[] = {100U, 200U, 500U, 1000U, 1250U, 2500U, 5000U, 10000U}; -const uint32_t data_speeds[] = {100U, 200U, 500U, 1000U, 1250U, 2500U, 5000U, 10000U, 20000U, 50000U}; - - -bool fdcan_request_init(FDCAN_GlobalTypeDef *FDCANx) { - bool ret = true; - // Exit from sleep mode - FDCANx->CCCR &= ~(FDCAN_CCCR_CSR); - while ((FDCANx->CCCR & FDCAN_CCCR_CSA) == FDCAN_CCCR_CSA); - - // Request init - uint32_t timeout_counter = 0U; - FDCANx->CCCR |= FDCAN_CCCR_INIT; - while ((FDCANx->CCCR & FDCAN_CCCR_INIT) == 0U) { - // Delay for about 1ms - delay(10000); - timeout_counter++; - - if (timeout_counter >= CAN_INIT_TIMEOUT_MS){ - ret = false; - break; - } - } - return ret; -} - -bool fdcan_exit_init(FDCAN_GlobalTypeDef *FDCANx) { - bool ret = true; - - FDCANx->CCCR &= ~(FDCAN_CCCR_INIT); - uint32_t timeout_counter = 0U; - while ((FDCANx->CCCR & FDCAN_CCCR_INIT) != 0U) { - // Delay for about 1ms - delay(10000); - timeout_counter++; - - if (timeout_counter >= CAN_INIT_TIMEOUT_MS) { - ret = false; - break; - } - } - return ret; -} - -bool llcan_set_speed(FDCAN_GlobalTypeDef *FDCANx, uint32_t speed, uint32_t data_speed, bool non_iso, bool loopback, bool silent) { - UNUSED(speed); - bool ret = fdcan_request_init(FDCANx); - - if (ret) { - // Enable config change - FDCANx->CCCR |= FDCAN_CCCR_CCE; - - //Reset operation mode to Normal - FDCANx->CCCR &= ~(FDCAN_CCCR_TEST); - FDCANx->TEST &= ~(FDCAN_TEST_LBCK); - FDCANx->CCCR &= ~(FDCAN_CCCR_MON); - FDCANx->CCCR &= ~(FDCAN_CCCR_ASM); - FDCANx->CCCR &= ~(FDCAN_CCCR_NISO); - - // TODO: add as a separate safety mode - // Enable ASM restricted operation(for debug or automatic bitrate switching) - //FDCANx->CCCR |= FDCAN_CCCR_ASM; - - uint8_t prescaler = BITRATE_PRESCALER; - if (speed < 2500U) { - // The only way to support speeds lower than 250Kbit/s (down to 10Kbit/s) - prescaler = BITRATE_PRESCALER * 16U; - } - - // Set the nominal bit timing values - uint32_t tq = CAN_QUANTA(speed, prescaler); - uint32_t sp = CAN_SP_NOMINAL; - uint32_t seg1 = CAN_SEG1(tq, sp); - uint32_t seg2 = CAN_SEG2(tq, sp); - uint8_t sjw = MIN(127U, seg2); - - FDCANx->NBTP = (((sjw & 0x7FUL)-1U)<DBTP = (((sjw & 0xFUL)-1U)<CCCR |= FDCAN_CCCR_NISO; - } - - // Silent loopback is known as internal loopback in the docs - if (loopback) { - FDCANx->CCCR |= FDCAN_CCCR_TEST; - FDCANx->TEST |= FDCAN_TEST_LBCK; - FDCANx->CCCR |= FDCAN_CCCR_MON; - } - // Silent is known as bus monitoring in the docs - if (silent) { - FDCANx->CCCR |= FDCAN_CCCR_MON; - } - ret = fdcan_exit_init(FDCANx); - if (!ret) { - print(CAN_NAME_FROM_CANIF(FDCANx)); print(" set_speed timed out! (2)\n"); - } - } else { - print(CAN_NAME_FROM_CANIF(FDCANx)); print(" set_speed timed out! (1)\n"); - } - return ret; -} - -void llcan_irq_disable(const FDCAN_GlobalTypeDef *FDCANx) { - if (FDCANx == FDCAN1) { - NVIC_DisableIRQ(FDCAN1_IT0_IRQn); - NVIC_DisableIRQ(FDCAN1_IT1_IRQn); - } else if (FDCANx == FDCAN2) { - NVIC_DisableIRQ(FDCAN2_IT0_IRQn); - NVIC_DisableIRQ(FDCAN2_IT1_IRQn); - } else if (FDCANx == FDCAN3) { - NVIC_DisableIRQ(FDCAN3_IT0_IRQn); - NVIC_DisableIRQ(FDCAN3_IT1_IRQn); - } else { - } -} - -void llcan_irq_enable(const FDCAN_GlobalTypeDef *FDCANx) { - if (FDCANx == FDCAN1) { - NVIC_EnableIRQ(FDCAN1_IT0_IRQn); - NVIC_EnableIRQ(FDCAN1_IT1_IRQn); - } else if (FDCANx == FDCAN2) { - NVIC_EnableIRQ(FDCAN2_IT0_IRQn); - NVIC_EnableIRQ(FDCAN2_IT1_IRQn); - } else if (FDCANx == FDCAN3) { - NVIC_EnableIRQ(FDCAN3_IT0_IRQn); - NVIC_EnableIRQ(FDCAN3_IT1_IRQn); - } else { - } -} - -bool llcan_init(FDCAN_GlobalTypeDef *FDCANx) { - uint32_t can_number = CAN_NUM_FROM_CANIF(FDCANx); - bool ret = fdcan_request_init(FDCANx); - - if (ret) { - // Enable config change - FDCANx->CCCR |= FDCAN_CCCR_CCE; - // Enable automatic retransmission - FDCANx->CCCR &= ~(FDCAN_CCCR_DAR); - // Enable transmission pause feature - FDCANx->CCCR |= FDCAN_CCCR_TXP; - // Disable protocol exception handling - FDCANx->CCCR |= FDCAN_CCCR_PXHD; - // FD with BRS - FDCANx->CCCR |= (FDCAN_CCCR_FDOE | FDCAN_CCCR_BRSE); - - // Set TX mode to FIFO - FDCANx->TXBC &= ~(FDCAN_TXBC_TFQM); - // Configure TX element data size - FDCANx->TXESC |= 0x7U << FDCAN_TXESC_TBDS_Pos; // 64 bytes - //Configure RX FIFO0 element data size - FDCANx->RXESC |= 0x7U << FDCAN_RXESC_F0DS_Pos; - // Disable filtering, accept all valid frames received - FDCANx->XIDFC &= ~(FDCAN_XIDFC_LSE); // No extended filters - FDCANx->SIDFC &= ~(FDCAN_SIDFC_LSS); // No standard filters - FDCANx->GFC &= ~(FDCAN_GFC_RRFE); // Accept extended remote frames - FDCANx->GFC &= ~(FDCAN_GFC_RRFS); // Accept standard remote frames - FDCANx->GFC &= ~(FDCAN_GFC_ANFE); // Accept extended frames to FIFO 0 - FDCANx->GFC &= ~(FDCAN_GFC_ANFS); // Accept standard frames to FIFO 0 - - uint32_t RxFIFO0SA = FDCAN_START_ADDRESS + (can_number * FDCAN_OFFSET); - uint32_t TxFIFOSA = RxFIFO0SA + (FDCAN_RX_FIFO_0_EL_CNT * FDCAN_RX_FIFO_0_EL_SIZE); - - // RX FIFO 0 - FDCANx->RXF0C |= (FDCAN_RX_FIFO_0_OFFSET + (can_number * FDCAN_OFFSET_W)) << FDCAN_RXF0C_F0SA_Pos; - FDCANx->RXF0C |= FDCAN_RX_FIFO_0_EL_CNT << FDCAN_RXF0C_F0S_Pos; - // RX FIFO 0 switch to non-blocking (overwrite) mode - FDCANx->RXF0C |= FDCAN_RXF0C_F0OM; - - // TX FIFO (mode set earlier) - FDCANx->TXBC |= (FDCAN_TX_FIFO_OFFSET + (can_number * FDCAN_OFFSET_W)) << FDCAN_TXBC_TBSA_Pos; - FDCANx->TXBC |= FDCAN_TX_FIFO_EL_CNT << FDCAN_TXBC_TFQS_Pos; - - // Flush allocated RAM - uint32_t EndAddress = TxFIFOSA + (FDCAN_TX_FIFO_EL_CNT * FDCAN_TX_FIFO_EL_SIZE); - for (uint32_t RAMcounter = RxFIFO0SA; RAMcounter < EndAddress; RAMcounter += 4U) { - *(uint32_t *)(RAMcounter) = 0x00000000; - } - - // Enable both interrupts for each module - FDCANx->ILE = (FDCAN_ILE_EINT0 | FDCAN_ILE_EINT1); - - FDCANx->IE &= 0x0U; // Reset all interrupts - // Messages for INT0 - FDCANx->IE |= FDCAN_IE_RF0NE; // Rx FIFO 0 new message - FDCANx->IE |= FDCAN_IE_PEDE | FDCAN_IE_PEAE | FDCAN_IE_BOE | FDCAN_IE_EPE | FDCAN_IE_RF0LE; - - // Messages for INT1 (Only TFE works??) - FDCANx->ILS |= FDCAN_ILS_TFEL; - FDCANx->IE |= FDCAN_IE_TFEE; // Tx FIFO empty - - ret = fdcan_exit_init(FDCANx); - if(!ret) { - print(CAN_NAME_FROM_CANIF(FDCANx)); print(" llcan_init timed out (2)!\n"); - } - - llcan_irq_enable(FDCANx); - - } else { - print(CAN_NAME_FROM_CANIF(FDCANx)); print(" llcan_init timed out (1)!\n"); - } - return ret; -} - -void llcan_clear_send(FDCAN_GlobalTypeDef *FDCANx) { - // from datasheet: "Transmit cancellation is not intended for Tx FIFO operation." - // so we need to clear pending transmission manually by resetting FDCAN core - FDCANx->IR |= 0x3FCFFFFFU; // clear all interrupts - bool ret = llcan_init(FDCANx); - UNUSED(ret); -} diff --git a/panda/board/stm32h7/llflash.h b/panda/board/stm32h7/llflash.h deleted file mode 100644 index b95011a9ed87c2..00000000000000 --- a/panda/board/stm32h7/llflash.h +++ /dev/null @@ -1,33 +0,0 @@ -bool flash_is_locked(void) { - return (FLASH->CR1 & FLASH_CR_LOCK); -} - -void flash_unlock(void) { - FLASH->KEYR1 = 0x45670123; - FLASH->KEYR1 = 0xCDEF89AB; -} - -bool flash_erase_sector(uint8_t sector, bool unlocked) { - // don't erase the bootloader(sector 0) - if (sector != 0 && sector < 8 && unlocked) { - FLASH->CR1 = (sector << 8) | FLASH_CR_SER; - FLASH->CR1 |= FLASH_CR_START; - while (FLASH->SR1 & FLASH_SR_QW); - return true; - } - return false; -} - -void flash_write_word(void *prog_ptr, uint32_t data) { - uint32_t *pp = prog_ptr; - FLASH->CR1 |= FLASH_CR_PG; - *pp = data; - while (FLASH->SR1 & FLASH_SR_QW); -} - -void flush_write_buffer(void) { - if (FLASH->SR1 & FLASH_SR_WBNE) { - FLASH->CR1 |= FLASH_CR_FW; - while (FLASH->SR1 & FLASH_CR_FW); - } -} diff --git a/panda/board/stm32h7/lli2c.h b/panda/board/stm32h7/lli2c.h deleted file mode 100644 index b423c94bddb3c7..00000000000000 --- a/panda/board/stm32h7/lli2c.h +++ /dev/null @@ -1,153 +0,0 @@ - -// TODO: this driver relies heavily on polling, -// if we want it to be more async, we should use interrupts - -#define I2C_TIMEOUT_US 100000U - -// cppcheck-suppress misra-c2012-2.7; not sure why it triggers here? -bool i2c_status_wait(const volatile uint32_t *reg, uint32_t mask, uint32_t val) { - uint32_t start_time = microsecond_timer_get(); - while(((*reg & mask) != val) && (get_ts_elapsed(microsecond_timer_get(), start_time) < I2C_TIMEOUT_US)); - return ((*reg & mask) == val); -} - -bool i2c_write_reg(I2C_TypeDef *I2C, uint8_t addr, uint8_t reg, uint8_t value) { - // Setup transfer and send START + addr - bool ret = false; - for(uint32_t i=0U; i<10U; i++) { - register_clear_bits(&I2C->CR2, I2C_CR2_ADD10); - I2C->CR2 = ((uint32_t)addr << 1U) & I2C_CR2_SADD_Msk; - register_clear_bits(&I2C->CR2, I2C_CR2_RD_WRN); - register_set_bits(&I2C->CR2, I2C_CR2_AUTOEND); - I2C->CR2 |= 2UL << I2C_CR2_NBYTES_Pos; - - I2C->CR2 |= I2C_CR2_START; - if(!i2c_status_wait(&I2C->CR2, I2C_CR2_START, 0U)) { - continue; - } - - // check if we lost arbitration - if ((I2C->ISR & I2C_ISR_ARLO) != 0U) { - register_set_bits(&I2C->ICR, I2C_ICR_ARLOCF); - } else { - ret = true; - break; - } - } - - if (!ret) { - goto end; - } - - // Send data - ret = i2c_status_wait(&I2C->ISR, I2C_ISR_TXIS, I2C_ISR_TXIS); - if(!ret) { - goto end; - } - I2C->TXDR = reg; - - ret = i2c_status_wait(&I2C->ISR, I2C_ISR_TXIS, I2C_ISR_TXIS); - if(!ret) { - goto end; - } - I2C->TXDR = value; - -end: - return ret; -} - -bool i2c_read_reg(I2C_TypeDef *I2C, uint8_t addr, uint8_t reg, uint8_t *value) { - // Setup transfer and send START + addr - bool ret = false; - for(uint32_t i=0U; i<10U; i++) { - register_clear_bits(&I2C->CR2, I2C_CR2_ADD10); - I2C->CR2 = ((uint32_t)addr << 1U) & I2C_CR2_SADD_Msk; - register_clear_bits(&I2C->CR2, I2C_CR2_RD_WRN); - register_clear_bits(&I2C->CR2, I2C_CR2_AUTOEND); - I2C->CR2 |= 1UL << I2C_CR2_NBYTES_Pos; - - I2C->CR2 |= I2C_CR2_START; - if(!i2c_status_wait(&I2C->CR2, I2C_CR2_START, 0U)) { - continue; - } - - // check if we lost arbitration - if ((I2C->ISR & I2C_ISR_ARLO) != 0U) { - register_set_bits(&I2C->ICR, I2C_ICR_ARLOCF); - } else { - ret = true; - break; - } - } - - if (!ret) { - goto end; - } - - // Send data - ret = i2c_status_wait(&I2C->ISR, I2C_ISR_TXIS, I2C_ISR_TXIS); - if(!ret) { - goto end; - } - I2C->TXDR = reg; - - // Restart - I2C->CR2 = (((addr << 1) | 0x1U) & I2C_CR2_SADD_Msk) | (1UL << I2C_CR2_NBYTES_Pos) | I2C_CR2_RD_WRN | I2C_CR2_START; - ret = i2c_status_wait(&I2C->CR2, I2C_CR2_START, 0U); - if(!ret) { - goto end; - } - - // check if we lost arbitration - if ((I2C->ISR & I2C_ISR_ARLO) != 0U) { - register_set_bits(&I2C->ICR, I2C_ICR_ARLOCF); - ret = false; - goto end; - } - - // Read data - ret = i2c_status_wait(&I2C->ISR, I2C_ISR_RXNE, I2C_ISR_RXNE); - if(!ret) { - goto end; - } - *value = I2C->RXDR; - - // Stop - I2C->CR2 |= I2C_CR2_STOP; - -end: - return ret; -} - -bool i2c_set_reg_bits(I2C_TypeDef *I2C, uint8_t address, uint8_t regis, uint8_t bits) { - uint8_t value; - bool ret = i2c_read_reg(I2C, address, regis, &value); - if(ret) { - ret = i2c_write_reg(I2C, address, regis, value | bits); - } - return ret; -} - -bool i2c_clear_reg_bits(I2C_TypeDef *I2C, uint8_t address, uint8_t regis, uint8_t bits) { - uint8_t value; - bool ret = i2c_read_reg(I2C, address, regis, &value); - if(ret) { - ret = i2c_write_reg(I2C, address, regis, value & (uint8_t) (~bits)); - } - return ret; -} - -bool i2c_set_reg_mask(I2C_TypeDef *I2C, uint8_t address, uint8_t regis, uint8_t value, uint8_t mask) { - uint8_t old_value; - bool ret = i2c_read_reg(I2C, address, regis, &old_value); - if(ret) { - ret = i2c_write_reg(I2C, address, regis, (old_value & (uint8_t) (~mask)) | (value & mask)); - } - return ret; -} - -void i2c_init(I2C_TypeDef *I2C) { - // 100kHz clock speed - I2C->TIMINGR = 0x107075B0; - I2C->CR1 = I2C_CR1_PE; -} \ No newline at end of file diff --git a/panda/board/stm32h7/llspi.h b/panda/board/stm32h7/llspi.h deleted file mode 100644 index 903f6a5ecc0b25..00000000000000 --- a/panda/board/stm32h7/llspi.h +++ /dev/null @@ -1,106 +0,0 @@ -// master -> panda DMA start -void llspi_mosi_dma(uint8_t *addr, int len) { - // disable DMA + SPI - register_clear_bits(&(SPI4->CFG1), SPI_CFG1_RXDMAEN); - DMA2_Stream2->CR &= ~DMA_SxCR_EN; - register_clear_bits(&(SPI4->CR1), SPI_CR1_SPE); - - // drain the bus - while ((SPI4->SR & SPI_SR_RXP) != 0U) { - volatile uint8_t dat = SPI4->RXDR; - (void)dat; - } - - // clear all pending - SPI4->IFCR |= (0x1FFU << 3U); - register_set(&(SPI4->IER), 0, 0x3FFU); - - // setup destination and length - register_set(&(DMA2_Stream2->M0AR), (uint32_t)addr, 0xFFFFFFFFU); - DMA2_Stream2->NDTR = len; - - // enable DMA + SPI - DMA2_Stream2->CR |= DMA_SxCR_EN; - register_set_bits(&(SPI4->CFG1), SPI_CFG1_RXDMAEN); - register_set_bits(&(SPI4->CR1), SPI_CR1_SPE); -} - -// panda -> master DMA start -void llspi_miso_dma(uint8_t *addr, int len) { - // disable DMA + SPI - DMA2_Stream3->CR &= ~DMA_SxCR_EN; - register_clear_bits(&(SPI4->CFG1), SPI_CFG1_TXDMAEN); - register_clear_bits(&(SPI4->CR1), SPI_CR1_SPE); - - // setup source and length - register_set(&(DMA2_Stream3->M0AR), (uint32_t)addr, 0xFFFFFFFFU); - DMA2_Stream3->NDTR = len; - - // clear under-run while we were reading - SPI4->IFCR |= (0x1FFU << 3U); - - // setup interrupt on TXC - register_set(&(SPI4->IER), (1U << SPI_IER_EOTIE_Pos), 0x3FFU); - - // enable DMA + SPI - register_set_bits(&(SPI4->CFG1), SPI_CFG1_TXDMAEN); - DMA2_Stream3->CR |= DMA_SxCR_EN; - register_set_bits(&(SPI4->CR1), SPI_CR1_SPE); -} - -// master -> panda DMA finished -void DMA2_Stream2_IRQ_Handler(void) { - // Clear interrupt flag - DMA2->LIFCR = DMA_LIFCR_CTCIF2; - - spi_rx_done(); -} - -// panda -> master DMA finished -void DMA2_Stream3_IRQ_Handler(void) { - ENTER_CRITICAL(); - - DMA2->LIFCR = DMA_LIFCR_CTCIF3; - spi_tx_dma_done = true; - - EXIT_CRITICAL(); -} - -// panda TX finished -void SPI4_IRQ_Handler(void) { - // clear flag - SPI4->IFCR |= (0x1FFU << 3U); - - if (spi_tx_dma_done && ((SPI4->SR & SPI_SR_TXC) != 0U)) { - spi_tx_dma_done = false; - spi_tx_done(false); - } -} - - -void llspi_init(void) { - REGISTER_INTERRUPT(SPI4_IRQn, SPI4_IRQ_Handler, (SPI_IRQ_RATE * 2U), FAULT_INTERRUPT_RATE_SPI) - REGISTER_INTERRUPT(DMA2_Stream2_IRQn, DMA2_Stream2_IRQ_Handler, SPI_IRQ_RATE, FAULT_INTERRUPT_RATE_SPI_DMA) - REGISTER_INTERRUPT(DMA2_Stream3_IRQn, DMA2_Stream3_IRQ_Handler, SPI_IRQ_RATE, FAULT_INTERRUPT_RATE_SPI_DMA) - - // Setup MOSI DMA - register_set(&(DMAMUX1_Channel10->CCR), 83U, 0xFFFFFFFFU); - register_set(&(DMA2_Stream2->CR), (DMA_SxCR_MINC | DMA_SxCR_TCIE), 0x1E077EFEU); - register_set(&(DMA2_Stream2->PAR), (uint32_t)&(SPI4->RXDR), 0xFFFFFFFFU); - - // Setup MISO DMA, memory -> peripheral - register_set(&(DMAMUX1_Channel11->CCR), 84U, 0xFFFFFFFFU); - register_set(&(DMA2_Stream3->CR), (DMA_SxCR_MINC | DMA_SxCR_DIR_0 | DMA_SxCR_TCIE), 0x1E077EFEU); - register_set(&(DMA2_Stream3->PAR), (uint32_t)&(SPI4->TXDR), 0xFFFFFFFFU); - - // Enable SPI - register_set(&(SPI4->IER), 0, 0x3FFU); - register_set(&(SPI4->CFG1), (7U << SPI_CFG1_DSIZE_Pos), SPI_CFG1_DSIZE_Msk); - register_set(&(SPI4->UDRDR), 0xcd, 0xFFFFU); // set under-run value for debugging - register_set(&(SPI4->CR1), SPI_CR1_SPE, 0xFFFFU); - register_set(&(SPI4->CR2), 0, 0xFFFFU); - - NVIC_EnableIRQ(DMA2_Stream2_IRQn); - NVIC_EnableIRQ(DMA2_Stream3_IRQn); - NVIC_EnableIRQ(SPI4_IRQn); -} diff --git a/panda/board/stm32h7/lluart.h b/panda/board/stm32h7/lluart.h deleted file mode 100644 index 6ca6dcec3dd608..00000000000000 --- a/panda/board/stm32h7/lluart.h +++ /dev/null @@ -1,106 +0,0 @@ -void uart_rx_ring(uart_ring *q){ - // Do not read out directly if DMA enabled - ENTER_CRITICAL(); - - // Read out RX buffer - uint8_t c = q->uart->RDR; // This read after reading SR clears a bunch of interrupts - - uint16_t next_w_ptr = (q->w_ptr_rx + 1U) % q->rx_fifo_size; - - if ((next_w_ptr == q->r_ptr_rx) && q->overwrite) { - // overwrite mode: drop oldest byte - q->r_ptr_rx = (q->r_ptr_rx + 1U) % q->rx_fifo_size; - } - - // Do not overwrite buffer data - if (next_w_ptr != q->r_ptr_rx) { - q->elems_rx[q->w_ptr_rx] = c; - q->w_ptr_rx = next_w_ptr; - if (q->callback != NULL) { - q->callback(q); - } - } - - EXIT_CRITICAL(); -} - -void uart_tx_ring(uart_ring *q){ - ENTER_CRITICAL(); - // Send out next byte of TX buffer - if (q->w_ptr_tx != q->r_ptr_tx) { - // Only send if transmit register is empty (aka last byte has been sent) - if ((q->uart->ISR & USART_ISR_TXE_TXFNF) != 0U) { - q->uart->TDR = q->elems_tx[q->r_ptr_tx]; // This clears TXE - q->r_ptr_tx = (q->r_ptr_tx + 1U) % q->tx_fifo_size; - } - - // Enable TXE interrupt if there is still data to be sent - if(q->r_ptr_tx != q->w_ptr_tx){ - q->uart->CR1 |= USART_CR1_TXEIE; - } else { - q->uart->CR1 &= ~USART_CR1_TXEIE; - } - } - EXIT_CRITICAL(); -} - -void uart_set_baud(USART_TypeDef *u, unsigned int baud) { - // UART7 is connected to APB1 at 60MHz - u->BRR = 60000000U / baud; -} - -// This read after reading ISR clears all error interrupts. We don't want compiler warnings, nor optimizations -#define UART_READ_RDR(uart) volatile uint8_t t = (uart)->RDR; UNUSED(t); - -void uart_interrupt_handler(uart_ring *q) { - ENTER_CRITICAL(); - - // Read UART status. This is also the first step necessary in clearing most interrupts - uint32_t status = q->uart->ISR; - - // If RXFNE is set, perform a read. This clears RXFNE, ORE, IDLE, NF and FE - if((status & USART_ISR_RXNE_RXFNE) != 0U){ - uart_rx_ring(q); - } - - // Detect errors and clear them - uint32_t err = (status & USART_ISR_ORE) | (status & USART_ISR_NE) | (status & USART_ISR_FE) | (status & USART_ISR_PE); - if(err != 0U){ - #ifdef DEBUG_UART - print("Encountered UART error: "); puth(err); print("\n"); - #endif - UART_READ_RDR(q->uart) - } - - if ((err & USART_ISR_ORE) != 0U) { - q->uart->ICR |= USART_ICR_ORECF; - } else if ((err & USART_ISR_NE) != 0U) { - q->uart->ICR |= USART_ICR_NECF; - } else if ((err & USART_ISR_FE) != 0U) { - q->uart->ICR |= USART_ICR_FECF; - } else if ((err & USART_ISR_PE) != 0U) { - q->uart->ICR |= USART_ICR_PECF; - } else {} - - // Send if necessary - uart_tx_ring(q); - - EXIT_CRITICAL(); -} - -void UART7_IRQ_Handler(void) { uart_interrupt_handler(&uart_ring_som_debug); } - -void uart_init(uart_ring *q, int baud) { - if (q->uart == UART7) { - REGISTER_INTERRUPT(UART7_IRQn, UART7_IRQ_Handler, 150000U, FAULT_INTERRUPT_RATE_UART_7) - - uart_set_baud(q->uart, baud); - q->uart->CR1 = USART_CR1_UE | USART_CR1_TE | USART_CR1_RE; - - // Enable interrupt on RX not empty - q->uart->CR1 |= USART_CR1_RXNEIE; - - // Enable UART interrupts - NVIC_EnableIRQ(UART7_IRQn); - } -} diff --git a/panda/board/stm32h7/llusb.h b/panda/board/stm32h7/llusb.h deleted file mode 100644 index 2975f62be61dda..00000000000000 --- a/panda/board/stm32h7/llusb.h +++ /dev/null @@ -1,91 +0,0 @@ -USB_OTG_GlobalTypeDef *USBx = USB_OTG_HS; - -#define USBx_HOST ((USB_OTG_HostTypeDef *)((uint32_t)USBx + USB_OTG_HOST_BASE)) -#define USBx_DEVICE ((USB_OTG_DeviceTypeDef *)((uint32_t)USBx + USB_OTG_DEVICE_BASE)) -#define USBx_INEP(i) ((USB_OTG_INEndpointTypeDef *)((uint32_t)USBx + USB_OTG_IN_ENDPOINT_BASE + ((i) * USB_OTG_EP_REG_SIZE))) -#define USBx_OUTEP(i) ((USB_OTG_OUTEndpointTypeDef *)((uint32_t)USBx + USB_OTG_OUT_ENDPOINT_BASE + ((i) * USB_OTG_EP_REG_SIZE))) -#define USBx_DFIFO(i) *(__IO uint32_t *)((uint32_t)USBx + USB_OTG_FIFO_BASE + ((i) * USB_OTG_FIFO_SIZE)) -#define USBx_PCGCCTL *(__IO uint32_t *)((uint32_t)USBx + USB_OTG_PCGCCTL_BASE) - -#define USBD_FS_TRDT_VALUE 6UL -#define USB_OTG_SPEED_FULL 3U -#define DCFG_FRAME_INTERVAL_80 0U - - -void usb_irqhandler(void); - -void OTG_HS_IRQ_Handler(void) { - NVIC_DisableIRQ(OTG_HS_IRQn); - usb_irqhandler(); - NVIC_EnableIRQ(OTG_HS_IRQn); -} - -void usb_init(void) { - REGISTER_INTERRUPT(OTG_HS_IRQn, OTG_HS_IRQ_Handler, 1500000U, FAULT_INTERRUPT_RATE_USB) // TODO: Find out a better rate limit for USB. Now it's the 1.5MB/s rate - - // Disable global interrupt - USBx->GAHBCFG &= ~(USB_OTG_GAHBCFG_GINT); - // Select FS Embedded PHY - USBx->GUSBCFG |= USB_OTG_GUSBCFG_PHYSEL; - // Force device mode - USBx->GUSBCFG &= ~(USB_OTG_GUSBCFG_FHMOD | USB_OTG_GUSBCFG_FDMOD); - USBx->GUSBCFG |= USB_OTG_GUSBCFG_FDMOD; - delay(250000); // Wait for about 25ms (explicitly stated in H7 ref manual) - // Wait for AHB master IDLE state. - while ((USBx->GRSTCTL & USB_OTG_GRSTCTL_AHBIDL) == 0U); - // Core Soft Reset - USBx->GRSTCTL |= USB_OTG_GRSTCTL_CSRST; - while ((USBx->GRSTCTL & USB_OTG_GRSTCTL_CSRST) == USB_OTG_GRSTCTL_CSRST); - // Activate the USB Transceiver - USBx->GCCFG |= USB_OTG_GCCFG_PWRDWN; - - for (uint8_t i = 0U; i < 15U; i++) { - USBx->DIEPTXF[i] = 0U; - } - - // VBUS Sensing setup - USBx_DEVICE->DCTL |= USB_OTG_DCTL_SDIS; - // Deactivate VBUS Sensing B - USBx->GCCFG &= ~(USB_OTG_GCCFG_VBDEN); - // B-peripheral session valid override enable - USBx->GOTGCTL |= USB_OTG_GOTGCTL_BVALOEN; - USBx->GOTGCTL |= USB_OTG_GOTGCTL_BVALOVAL; - // Restart the Phy Clock - USBx_PCGCCTL = 0U; - // Device mode configuration - USBx_DEVICE->DCFG |= DCFG_FRAME_INTERVAL_80; - USBx_DEVICE->DCFG |= USB_OTG_SPEED_FULL | USB_OTG_DCFG_NZLSOHSK; - - // Flush FIFOs - USBx->GRSTCTL = (USB_OTG_GRSTCTL_TXFFLSH | (0x10U << 6)); - while ((USBx->GRSTCTL & USB_OTG_GRSTCTL_TXFFLSH) == USB_OTG_GRSTCTL_TXFFLSH); - - USBx->GRSTCTL = USB_OTG_GRSTCTL_RXFFLSH; - while ((USBx->GRSTCTL & USB_OTG_GRSTCTL_RXFFLSH) == USB_OTG_GRSTCTL_RXFFLSH); - - // Clear all pending Device Interrupts - USBx_DEVICE->DIEPMSK = 0U; - USBx_DEVICE->DOEPMSK = 0U; - USBx_DEVICE->DAINTMSK = 0U; - USBx_DEVICE->DIEPMSK &= ~(USB_OTG_DIEPMSK_TXFURM); - - // Disable all interrupts. - USBx->GINTMSK = 0U; - // Clear any pending interrupts - USBx->GINTSTS = 0xBFFFFFFFU; - // Enable interrupts matching to the Device mode ONLY - USBx->GINTMSK = USB_OTG_GINTMSK_USBRST | USB_OTG_GINTMSK_ENUMDNEM | USB_OTG_GINTMSK_OTGINT | - USB_OTG_GINTMSK_RXFLVLM | USB_OTG_GINTMSK_GONAKEFFM | USB_OTG_GINTMSK_GINAKEFFM | - USB_OTG_GINTMSK_OEPINT | USB_OTG_GINTMSK_IEPINT | - USB_OTG_GINTMSK_CIDSCHGM | USB_OTG_GINTMSK_SRQIM | USB_OTG_GINTMSK_MMISM; - - // Set USB Turnaround time - USBx->GUSBCFG |= ((USBD_FS_TRDT_VALUE << 10) & USB_OTG_GUSBCFG_TRDT); - // Enables the controller's Global Int in the AHB Config reg - USBx->GAHBCFG |= USB_OTG_GAHBCFG_GINT; - // Soft disconnect disable: - USBx_DEVICE->DCTL &= ~(USB_OTG_DCTL_SDIS); - - // enable the IRQ - NVIC_EnableIRQ(OTG_HS_IRQn); -} diff --git a/panda/board/stm32h7/peripherals.h b/panda/board/stm32h7/peripherals.h deleted file mode 100644 index b60f19016d728a..00000000000000 --- a/panda/board/stm32h7/peripherals.h +++ /dev/null @@ -1,138 +0,0 @@ -void gpio_usb_init(void) { - // A11,A12: USB - set_gpio_alternate(GPIOA, 11, GPIO_AF10_OTG1_FS); - set_gpio_alternate(GPIOA, 12, GPIO_AF10_OTG1_FS); - GPIOA->OSPEEDR = GPIO_OSPEEDR_OSPEED11 | GPIO_OSPEEDR_OSPEED12; -} - -void gpio_spi_init(void) { - set_gpio_alternate(GPIOE, 11, GPIO_AF5_SPI4); - set_gpio_alternate(GPIOE, 12, GPIO_AF5_SPI4); - set_gpio_alternate(GPIOE, 13, GPIO_AF5_SPI4); - set_gpio_alternate(GPIOE, 14, GPIO_AF5_SPI4); - register_set_bits(&(GPIOE->OSPEEDR), GPIO_OSPEEDR_OSPEED11 | GPIO_OSPEEDR_OSPEED12 | GPIO_OSPEEDR_OSPEED13 | GPIO_OSPEEDR_OSPEED14); -} - -void gpio_usart2_init(void) { - // A2,A3: USART 2 for debugging - set_gpio_alternate(GPIOA, 2, GPIO_AF7_USART2); - set_gpio_alternate(GPIOA, 3, GPIO_AF7_USART2); -} - -void gpio_uart7_init(void) { - // E7,E8: UART 7 for debugging - set_gpio_alternate(GPIOE, 7, GPIO_AF7_UART7); - set_gpio_alternate(GPIOE, 8, GPIO_AF7_UART7); -} - -// Common GPIO initialization -void common_init_gpio(void) { - /// E2,E3,E4: RGB LED - set_gpio_pullup(GPIOE, 2, PULL_NONE); - set_gpio_mode(GPIOE, 2, MODE_OUTPUT); - set_gpio_output_type(GPIOE, 2, OUTPUT_TYPE_OPEN_DRAIN); - - set_gpio_pullup(GPIOE, 3, PULL_NONE); - set_gpio_mode(GPIOE, 3, MODE_OUTPUT); - set_gpio_output_type(GPIOE, 3, OUTPUT_TYPE_OPEN_DRAIN); - - set_gpio_pullup(GPIOE, 4, PULL_NONE); - set_gpio_mode(GPIOE, 4, MODE_OUTPUT); - set_gpio_output_type(GPIOE, 4, OUTPUT_TYPE_OPEN_DRAIN); - - //C4,A1: OBD_SBU1, OBD_SBU2 - set_gpio_pullup(GPIOC, 4, PULL_NONE); - set_gpio_mode(GPIOC, 4, MODE_ANALOG); - - set_gpio_pullup(GPIOA, 1, PULL_NONE); - set_gpio_mode(GPIOA, 1, MODE_ANALOG); - - //F11: VOLT_S - set_gpio_pullup(GPIOF, 11, PULL_NONE); - set_gpio_mode(GPIOF, 11, MODE_ANALOG); - - gpio_usb_init(); - - // B8,B9: FDCAN1 - set_gpio_pullup(GPIOB, 8, PULL_NONE); - set_gpio_alternate(GPIOB, 8, GPIO_AF9_FDCAN1); - - set_gpio_pullup(GPIOB, 9, PULL_NONE); - set_gpio_alternate(GPIOB, 9, GPIO_AF9_FDCAN1); - - // B5,B6 (mplex to B12,B13): FDCAN2 - set_gpio_pullup(GPIOB, 12, PULL_NONE); - set_gpio_pullup(GPIOB, 13, PULL_NONE); - - set_gpio_pullup(GPIOB, 5, PULL_NONE); - set_gpio_alternate(GPIOB, 5, GPIO_AF9_FDCAN2); - - set_gpio_pullup(GPIOB, 6, PULL_NONE); - set_gpio_alternate(GPIOB, 6, GPIO_AF9_FDCAN2); - - // G9,G10: FDCAN3 - set_gpio_pullup(GPIOG, 9, PULL_NONE); - set_gpio_alternate(GPIOG, 9, GPIO_AF2_FDCAN3); - - set_gpio_pullup(GPIOG, 10, PULL_NONE); - set_gpio_alternate(GPIOG, 10, GPIO_AF2_FDCAN3); -} - -void flasher_peripherals_init(void) { - RCC->AHB1ENR |= RCC_AHB1ENR_USB1OTGHSEN; - - // SPI + DMA - RCC->APB2ENR |= RCC_APB2ENR_SPI4EN; - RCC->AHB1ENR |= RCC_AHB1ENR_DMA2EN; -} - -// Peripheral initialization -void peripherals_init(void) { - // enable GPIO(A,B,C,D,E,F,G,H) - RCC->AHB4ENR |= RCC_AHB4ENR_GPIOAEN; - RCC->AHB4ENR |= RCC_AHB4ENR_GPIOBEN; - RCC->AHB4ENR |= RCC_AHB4ENR_GPIOCEN; - RCC->AHB4ENR |= RCC_AHB4ENR_GPIODEN; - RCC->AHB4ENR |= RCC_AHB4ENR_GPIOEEN; - RCC->AHB4ENR |= RCC_AHB4ENR_GPIOFEN; - RCC->AHB4ENR |= RCC_AHB4ENR_GPIOGEN; - - // Enable CPU access to SRAM1 and SRAM2 (in domain D2) for DMA - RCC->AHB2ENR |= RCC_AHB2ENR_SRAM1EN | RCC_AHB2ENR_SRAM2EN; - - // Supplemental - RCC->AHB1ENR |= RCC_AHB1ENR_DMA1EN; // DAC DMA - RCC->AHB1ENR |= RCC_AHB1ENR_DMA2EN; // SPI DMA - RCC->APB4ENR |= RCC_APB4ENR_SYSCFGEN; - - // Connectivity - RCC->APB2ENR |= RCC_APB2ENR_SPI4EN; // SPI - RCC->APB1LENR |= RCC_APB1LENR_I2C5EN; // codec I2C - RCC->AHB1ENR |= RCC_AHB1ENR_USB1OTGHSEN; // USB - RCC->AHB1LPENR |= RCC_AHB1LPENR_USB1OTGHSLPEN; // USB LP needed for CSleep state(__WFI()) - RCC->AHB1LPENR &= ~(RCC_AHB1LPENR_USB1OTGHSULPILPEN); // disable USB ULPI - RCC->APB1LENR |= RCC_APB1LENR_UART7EN; // SOM uart - RCC->APB1HENR |= RCC_APB1HENR_FDCANEN; // FDCAN core enable - - // Analog - RCC->AHB1ENR |= RCC_AHB1ENR_ADC12EN; // Enable ADC12 clocks - RCC->APB1LENR |= RCC_APB1LENR_DAC12EN; // DAC - - // Timers - RCC->APB2ENR |= RCC_APB2ENR_TIM1EN; // clock source timer - RCC->APB1LENR |= RCC_APB1LENR_TIM2EN; // main counter - RCC->APB1LENR |= RCC_APB1LENR_TIM3EN; // fan pwm - RCC->APB1LENR |= RCC_APB1LENR_TIM6EN; // interrupt timer - RCC->APB1LENR |= RCC_APB1LENR_TIM7EN; // DMA trigger timer - RCC->APB2ENR |= RCC_APB2ENR_TIM8EN; // tick timer - RCC->APB1LENR |= RCC_APB1LENR_TIM12EN; // slow loop - -#ifdef PANDA_JUNGLE - RCC->AHB3ENR |= RCC_AHB3ENR_SDMMC1EN; // SDMMC - RCC->AHB4ENR |= RCC_AHB4ENR_ADC3EN; // Enable ADC3 clocks -#endif -} - -void enable_interrupt_timer(void) { - register_set_bits(&(RCC->APB1LENR), RCC_APB1LENR_TIM6EN); // Enable interrupt timer peripheral -} diff --git a/panda/board/stm32h7/startup_stm32h7x5xx.s b/panda/board/stm32h7/startup_stm32h7x5xx.s deleted file mode 100644 index 15015a11329d73..00000000000000 --- a/panda/board/stm32h7/startup_stm32h7x5xx.s +++ /dev/null @@ -1,767 +0,0 @@ -/** - ****************************************************************************** - * @file startup_stm32h735xx.s - * @author MCD Application Team - * @brief STM32H735xx Devices vector table for GCC based toolchain. - * This module performs: - * - Set the initial SP - * - Set the initial PC == Reset_Handler, - * - Set the vector table entries with the exceptions ISR address - * - Branches to main in the C library (which eventually - * calls main()). - * After Reset the Cortex-M processor is in Thread mode, - * priority is Privileged, and the Stack is set to Main. - ****************************************************************************** - * @attention - * - *

© Copyright (c) 2019 STMicroelectronics. - * All rights reserved.

- * - * This software component is licensed by ST under BSD 3-Clause license, - * the "License"; You may not use this file except in compliance with the - * License. You may obtain a copy of the License at: - * opensource.org/licenses/BSD-3-Clause - * - ****************************************************************************** - */ - - .syntax unified - .cpu cortex-m7 - .fpu softvfp - .thumb - -.global g_pfnVectors -.global Default_Handler - -/* start address for the initialization values of the .data section. -defined in linker script */ -.word _sidata -/* start address for the .data section. defined in linker script */ -.word _sdata -/* end address for the .data section. defined in linker script */ -.word _edata -/* start address for the .bss section. defined in linker script */ -.word _sbss -/* end address for the .bss section. defined in linker script */ -.word _ebss -/* stack used for SystemInit_ExtMemCtl; always internal RAM used */ - -/** - * @brief This is the code that gets called when the processor first - * starts execution following a reset event. Only the absolutely - * necessary set is performed, after which the application - * supplied main() routine is called. - * @param None - * @retval : None -*/ - - .section .text.Reset_Handler - .weak Reset_Handler - .type Reset_Handler, %function -Reset_Handler: - ldr sp, =_estack /* set stack pointer */ - bl __initialize_hardware_early - -/* Copy the data segment initializers from flash to SRAM */ - ldr r0, =_sdata - ldr r1, =_edata - ldr r2, =_sidata - movs r3, #0 - b LoopCopyDataInit - -CopyDataInit: - ldr r4, [r2, r3] - str r4, [r0, r3] - adds r3, r3, #4 - -LoopCopyDataInit: - adds r4, r0, r3 - cmp r4, r1 - bcc CopyDataInit -/* Zero fill the bss segment. */ - ldr r2, =_sbss - ldr r4, =_ebss - movs r3, #0 - b LoopFillZerobss - -FillZerobss: - str r3, [r2] - adds r2, r2, #4 - -LoopFillZerobss: - cmp r2, r4 - bcc FillZerobss - -/* Call the clock system intitialization function.*/ - /* bl SystemInit */ -/* Call static constructors */ - /* bl __libc_init_array */ -/* Call the application's entry point.*/ - bl main - bx lr -.size Reset_Handler, .-Reset_Handler - -/** - * @brief This is the code that gets called when the processor receives an - * unexpected interrupt. This simply enters an infinite loop, preserving - * the system state for examination by a debugger. - * @param None - * @retval None -*/ - .section .text.Default_Handler,"ax",%progbits -Default_Handler: -Infinite_Loop: - b Infinite_Loop - .size Default_Handler, .-Default_Handler -/****************************************************************************** -* -* The minimal vector table for a Cortex M. Note that the proper constructs -* must be placed on this to ensure that it ends up at physical address -* 0x0000.0000. -* -*******************************************************************************/ - .section .isr_vector,"a",%progbits - .type g_pfnVectors, %object - .size g_pfnVectors, .-g_pfnVectors - - -g_pfnVectors: - .word _estack - .word Reset_Handler - - .word NMI_Handler - .word HardFault_Handler - .word MemManage_Handler - .word BusFault_Handler - .word UsageFault_Handler - .word 0 - .word 0 - .word 0 - .word 0 - .word SVC_Handler - .word DebugMon_Handler - .word 0 - .word PendSV_Handler - .word SysTick_Handler - - /* External Interrupts */ - .word WWDG_IRQHandler /* Window WatchDog */ - .word PVD_AVD_IRQHandler /* PVD/AVD through EXTI Line detection */ - .word TAMP_STAMP_IRQHandler /* Tamper and TimeStamps through the EXTI line */ - .word RTC_WKUP_IRQHandler /* RTC Wakeup through the EXTI line */ - .word FLASH_IRQHandler /* FLASH */ - .word RCC_IRQHandler /* RCC */ - .word EXTI0_IRQHandler /* EXTI Line0 */ - .word EXTI1_IRQHandler /* EXTI Line1 */ - .word EXTI2_IRQHandler /* EXTI Line2 */ - .word EXTI3_IRQHandler /* EXTI Line3 */ - .word EXTI4_IRQHandler /* EXTI Line4 */ - .word DMA1_Stream0_IRQHandler /* DMA1 Stream 0 */ - .word DMA1_Stream1_IRQHandler /* DMA1 Stream 1 */ - .word DMA1_Stream2_IRQHandler /* DMA1 Stream 2 */ - .word DMA1_Stream3_IRQHandler /* DMA1 Stream 3 */ - .word DMA1_Stream4_IRQHandler /* DMA1 Stream 4 */ - .word DMA1_Stream5_IRQHandler /* DMA1 Stream 5 */ - .word DMA1_Stream6_IRQHandler /* DMA1 Stream 6 */ - .word ADC_IRQHandler /* ADC1, ADC2 and ADC3s */ - .word FDCAN1_IT0_IRQHandler /* FDCAN1 interrupt line 0 */ - .word FDCAN2_IT0_IRQHandler /* FDCAN2 interrupt line 0 */ - .word FDCAN1_IT1_IRQHandler /* FDCAN1 interrupt line 1 */ - .word FDCAN2_IT1_IRQHandler /* FDCAN2 interrupt line 1 */ - .word EXTI9_5_IRQHandler /* External Line[9:5]s */ - .word TIM1_BRK_IRQHandler /* TIM1 Break interrupt */ - .word TIM1_UP_IRQHandler /* TIM1 Update interrupt */ - .word TIM1_TRG_COM_IRQHandler /* TIM1 Trigger and Commutation interrupt */ - .word TIM1_CC_IRQHandler /* TIM1 Capture Compare */ - .word TIM2_IRQHandler /* TIM2 */ - .word TIM3_IRQHandler /* TIM3 */ - .word TIM4_IRQHandler /* TIM4 */ - .word I2C1_EV_IRQHandler /* I2C1 Event */ - .word I2C1_ER_IRQHandler /* I2C1 Error */ - .word I2C2_EV_IRQHandler /* I2C2 Event */ - .word I2C2_ER_IRQHandler /* I2C2 Error */ - .word SPI1_IRQHandler /* SPI1 */ - .word SPI2_IRQHandler /* SPI2 */ - .word USART1_IRQHandler /* USART1 */ - .word USART2_IRQHandler /* USART2 */ - .word USART3_IRQHandler /* USART3 */ - .word EXTI15_10_IRQHandler /* External Line[15:10]s */ - .word RTC_Alarm_IRQHandler /* RTC Alarm (A and B) through EXTI Line */ - .word 0 /* Reserved */ - .word TIM8_BRK_TIM12_IRQHandler /* TIM8 Break and TIM12 */ - .word TIM8_UP_TIM13_IRQHandler /* TIM8 Update and TIM13 */ - .word TIM8_TRG_COM_TIM14_IRQHandler /* TIM8 Trigger and Commutation and TIM14 */ - .word TIM8_CC_IRQHandler /* TIM8 Capture Compare */ - .word DMA1_Stream7_IRQHandler /* DMA1 Stream7 */ - .word FMC_IRQHandler /* FMC */ - .word SDMMC1_IRQHandler /* SDMMC1 */ - .word TIM5_IRQHandler /* TIM5 */ - .word SPI3_IRQHandler /* SPI3 */ - .word UART4_IRQHandler /* UART4 */ - .word UART5_IRQHandler /* UART5 */ - .word TIM6_DAC_IRQHandler /* TIM6 and DAC1&2 underrun errors */ - .word TIM7_IRQHandler /* TIM7 */ - .word DMA2_Stream0_IRQHandler /* DMA2 Stream 0 */ - .word DMA2_Stream1_IRQHandler /* DMA2 Stream 1 */ - .word DMA2_Stream2_IRQHandler /* DMA2 Stream 2 */ - .word DMA2_Stream3_IRQHandler /* DMA2 Stream 3 */ - .word DMA2_Stream4_IRQHandler /* DMA2 Stream 4 */ - .word ETH_IRQHandler /* Ethernet */ - .word ETH_WKUP_IRQHandler /* Ethernet Wakeup through EXTI line */ - .word FDCAN_CAL_IRQHandler /* FDCAN calibration unit interrupt*/ - .word 0 /* Reserved */ - .word 0 /* Reserved */ - .word 0 /* Reserved */ - .word 0 /* Reserved */ - .word DMA2_Stream5_IRQHandler /* DMA2 Stream 5 */ - .word DMA2_Stream6_IRQHandler /* DMA2 Stream 6 */ - .word DMA2_Stream7_IRQHandler /* DMA2 Stream 7 */ - .word USART6_IRQHandler /* USART6 */ - .word I2C3_EV_IRQHandler /* I2C3 event */ - .word I2C3_ER_IRQHandler /* I2C3 error */ - .word OTG_HS_EP1_OUT_IRQHandler /* USB OTG HS End Point 1 Out */ - .word OTG_HS_EP1_IN_IRQHandler /* USB OTG HS End Point 1 In */ - .word OTG_HS_WKUP_IRQHandler /* USB OTG HS Wakeup through EXTI */ - .word OTG_HS_IRQHandler /* USB OTG HS */ - .word DCMI_PSSI_IRQHandler /* DCMI, PSSI */ - .word CRYP_IRQHandler /* CRYP */ - .word HASH_RNG_IRQHandler /* Hash and Rng */ - .word FPU_IRQHandler /* FPU */ - .word UART7_IRQHandler /* UART7 */ - .word UART8_IRQHandler /* UART8 */ - .word SPI4_IRQHandler /* SPI4 */ - .word SPI5_IRQHandler /* SPI5 */ - .word SPI6_IRQHandler /* SPI6 */ - .word SAI1_IRQHandler /* SAI1 */ - .word LTDC_IRQHandler /* LTDC */ - .word LTDC_ER_IRQHandler /* LTDC error */ - .word DMA2D_IRQHandler /* DMA2D */ - .word 0 /* Reserved */ - .word OCTOSPI1_IRQHandler /* OCTOSPI1 */ - .word LPTIM1_IRQHandler /* LPTIM1 */ - .word CEC_IRQHandler /* HDMI_CEC */ - .word I2C4_EV_IRQHandler /* I2C4 Event */ - .word I2C4_ER_IRQHandler /* I2C4 Error */ - .word SPDIF_RX_IRQHandler /* SPDIF_RX */ - .word 0 /* Reserved */ - .word 0 /* Reserved */ - .word 0 /* Reserved */ - .word 0 /* Reserved */ - .word DMAMUX1_OVR_IRQHandler /* DMAMUX1 Overrun interrupt */ - .word 0 /* Reserved */ - .word 0 /* Reserved */ - .word 0 /* Reserved */ - .word 0 /* Reserved */ - .word 0 /* Reserved */ - .word 0 /* Reserved */ - .word 0 /* Reserved */ - .word DFSDM1_FLT0_IRQHandler /* DFSDM Filter0 Interrupt */ - .word DFSDM1_FLT1_IRQHandler /* DFSDM Filter1 Interrupt */ - .word DFSDM1_FLT2_IRQHandler /* DFSDM Filter2 Interrupt */ - .word DFSDM1_FLT3_IRQHandler /* DFSDM Filter3 Interrupt */ - .word 0 /* Reserved */ - .word SWPMI1_IRQHandler /* Serial Wire Interface 1 global interrupt */ - .word TIM15_IRQHandler /* TIM15 global Interrupt */ - .word TIM16_IRQHandler /* TIM16 global Interrupt */ - .word TIM17_IRQHandler /* TIM17 global Interrupt */ - .word MDIOS_WKUP_IRQHandler /* MDIOS Wakeup Interrupt */ - .word MDIOS_IRQHandler /* MDIOS global Interrupt */ - .word 0 /* Reserved */ - .word MDMA_IRQHandler /* MDMA global Interrupt */ - .word 0 /* Reserved */ - .word SDMMC2_IRQHandler /* SDMMC2 global Interrupt */ - .word HSEM1_IRQHandler /* HSEM1 global Interrupt */ - .word 0 /* Reserved */ - .word ADC3_IRQHandler /* ADC3 global Interrupt */ - .word DMAMUX2_OVR_IRQHandler /* DMAMUX Overrun interrupt */ - .word BDMA_Channel0_IRQHandler /* BDMA Channel 0 global Interrupt */ - .word BDMA_Channel1_IRQHandler /* BDMA Channel 1 global Interrupt */ - .word BDMA_Channel2_IRQHandler /* BDMA Channel 2 global Interrupt */ - .word BDMA_Channel3_IRQHandler /* BDMA Channel 3 global Interrupt */ - .word BDMA_Channel4_IRQHandler /* BDMA Channel 4 global Interrupt */ - .word BDMA_Channel5_IRQHandler /* BDMA Channel 5 global Interrupt */ - .word BDMA_Channel6_IRQHandler /* BDMA Channel 6 global Interrupt */ - .word BDMA_Channel7_IRQHandler /* BDMA Channel 7 global Interrupt */ - .word COMP1_IRQHandler /* COMP1 global Interrupt */ - .word LPTIM2_IRQHandler /* LP TIM2 global interrupt */ - .word LPTIM3_IRQHandler /* LP TIM3 global interrupt */ - .word LPTIM4_IRQHandler /* LP TIM4 global interrupt */ - .word LPTIM5_IRQHandler /* LP TIM5 global interrupt */ - .word LPUART1_IRQHandler /* LP UART1 interrupt */ - .word 0 /* Reserved */ - .word CRS_IRQHandler /* Clock Recovery Global Interrupt */ - .word ECC_IRQHandler /* ECC diagnostic Global Interrupt */ - .word SAI4_IRQHandler /* SAI4 global interrupt */ - .word DTS_IRQHandler /* Digital Temperature Sensor interrupt */ - .word 0 /* Reserved */ - .word WAKEUP_PIN_IRQHandler /* Interrupt for all 6 wake-up pins */ - .word OCTOSPI2_IRQHandler /* OCTOSPI2 Interrupt */ - .word OTFDEC1_IRQHandler /* OTFDEC1 Interrupt */ - .word OTFDEC2_IRQHandler /* OTFDEC2 Interrupt */ - .word FMAC_IRQHandler /* FMAC Interrupt */ - .word CORDIC_IRQHandler /* CORDIC Interrupt */ - .word UART9_IRQHandler /* UART9 Interrupt */ - .word USART10_IRQHandler /* UART10 Interrupt */ - .word I2C5_EV_IRQHandler /* I2C5 Event Interrupt */ - .word I2C5_ER_IRQHandler /* I2C5 Error Interrupt */ - .word FDCAN3_IT0_IRQHandler /* FDCAN3 interrupt line 0 */ - .word FDCAN3_IT1_IRQHandler /* FDCAN3 interrupt line 1 */ - .word TIM23_IRQHandler /* TIM23 global interrupt */ - .word TIM24_IRQHandler /* TIM24 global interrupt */ - -/******************************************************************************* -* -* Provide weak aliases for each Exception handler to the Default_Handler. -* As they are weak aliases, any function with the same name will override -* this definition. -* -*******************************************************************************/ - .weak NMI_Handler - .thumb_set NMI_Handler,Default_Handler - - .weak HardFault_Handler - .thumb_set HardFault_Handler,Default_Handler - - .weak MemManage_Handler - .thumb_set MemManage_Handler,Default_Handler - - .weak BusFault_Handler - .thumb_set BusFault_Handler,Default_Handler - - .weak UsageFault_Handler - .thumb_set UsageFault_Handler,Default_Handler - - .weak SVC_Handler - .thumb_set SVC_Handler,Default_Handler - - .weak DebugMon_Handler - .thumb_set DebugMon_Handler,Default_Handler - - .weak PendSV_Handler - .thumb_set PendSV_Handler,Default_Handler - - .weak SysTick_Handler - .thumb_set SysTick_Handler,Default_Handler - - .weak WWDG_IRQHandler - .thumb_set WWDG_IRQHandler,Default_Handler - - .weak PVD_AVD_IRQHandler - .thumb_set PVD_AVD_IRQHandler,Default_Handler - - .weak TAMP_STAMP_IRQHandler - .thumb_set TAMP_STAMP_IRQHandler,Default_Handler - - .weak RTC_WKUP_IRQHandler - .thumb_set RTC_WKUP_IRQHandler,Default_Handler - - .weak FLASH_IRQHandler - .thumb_set FLASH_IRQHandler,Default_Handler - - .weak RCC_IRQHandler - .thumb_set RCC_IRQHandler,Default_Handler - - .weak EXTI0_IRQHandler - .thumb_set EXTI0_IRQHandler,Default_Handler - - .weak EXTI1_IRQHandler - .thumb_set EXTI1_IRQHandler,Default_Handler - - .weak EXTI2_IRQHandler - .thumb_set EXTI2_IRQHandler,Default_Handler - - .weak EXTI3_IRQHandler - .thumb_set EXTI3_IRQHandler,Default_Handler - - .weak EXTI4_IRQHandler - .thumb_set EXTI4_IRQHandler,Default_Handler - - .weak DMA1_Stream0_IRQHandler - .thumb_set DMA1_Stream0_IRQHandler,Default_Handler - - .weak DMA1_Stream1_IRQHandler - .thumb_set DMA1_Stream1_IRQHandler,Default_Handler - - .weak DMA1_Stream2_IRQHandler - .thumb_set DMA1_Stream2_IRQHandler,Default_Handler - - .weak DMA1_Stream3_IRQHandler - .thumb_set DMA1_Stream3_IRQHandler,Default_Handler - - .weak DMA1_Stream4_IRQHandler - .thumb_set DMA1_Stream4_IRQHandler,Default_Handler - - .weak DMA1_Stream5_IRQHandler - .thumb_set DMA1_Stream5_IRQHandler,Default_Handler - - .weak DMA1_Stream6_IRQHandler - .thumb_set DMA1_Stream6_IRQHandler,Default_Handler - - .weak ADC_IRQHandler - .thumb_set ADC_IRQHandler,Default_Handler - - .weak FDCAN1_IT0_IRQHandler - .thumb_set FDCAN1_IT0_IRQHandler,Default_Handler - - .weak FDCAN2_IT0_IRQHandler - .thumb_set FDCAN2_IT0_IRQHandler,Default_Handler - - .weak FDCAN1_IT1_IRQHandler - .thumb_set FDCAN1_IT1_IRQHandler,Default_Handler - - .weak FDCAN2_IT1_IRQHandler - .thumb_set FDCAN2_IT1_IRQHandler,Default_Handler - - .weak EXTI9_5_IRQHandler - .thumb_set EXTI9_5_IRQHandler,Default_Handler - - .weak TIM1_BRK_IRQHandler - .thumb_set TIM1_BRK_IRQHandler,Default_Handler - - .weak TIM1_UP_IRQHandler - .thumb_set TIM1_UP_IRQHandler,Default_Handler - - .weak TIM1_TRG_COM_IRQHandler - .thumb_set TIM1_TRG_COM_IRQHandler,Default_Handler - - .weak TIM1_CC_IRQHandler - .thumb_set TIM1_CC_IRQHandler,Default_Handler - - .weak TIM2_IRQHandler - .thumb_set TIM2_IRQHandler,Default_Handler - - .weak TIM3_IRQHandler - .thumb_set TIM3_IRQHandler,Default_Handler - - .weak TIM4_IRQHandler - .thumb_set TIM4_IRQHandler,Default_Handler - - .weak I2C1_EV_IRQHandler - .thumb_set I2C1_EV_IRQHandler,Default_Handler - - .weak I2C1_ER_IRQHandler - .thumb_set I2C1_ER_IRQHandler,Default_Handler - - .weak I2C2_EV_IRQHandler - .thumb_set I2C2_EV_IRQHandler,Default_Handler - - .weak I2C2_ER_IRQHandler - .thumb_set I2C2_ER_IRQHandler,Default_Handler - - .weak SPI1_IRQHandler - .thumb_set SPI1_IRQHandler,Default_Handler - - .weak SPI2_IRQHandler - .thumb_set SPI2_IRQHandler,Default_Handler - - .weak USART1_IRQHandler - .thumb_set USART1_IRQHandler,Default_Handler - - .weak USART2_IRQHandler - .thumb_set USART2_IRQHandler,Default_Handler - - .weak USART3_IRQHandler - .thumb_set USART3_IRQHandler,Default_Handler - - .weak EXTI15_10_IRQHandler - .thumb_set EXTI15_10_IRQHandler,Default_Handler - - .weak RTC_Alarm_IRQHandler - .thumb_set RTC_Alarm_IRQHandler,Default_Handler - - .weak TIM8_BRK_TIM12_IRQHandler - .thumb_set TIM8_BRK_TIM12_IRQHandler,Default_Handler - - .weak TIM8_UP_TIM13_IRQHandler - .thumb_set TIM8_UP_TIM13_IRQHandler,Default_Handler - - .weak TIM8_TRG_COM_TIM14_IRQHandler - .thumb_set TIM8_TRG_COM_TIM14_IRQHandler,Default_Handler - - .weak TIM8_CC_IRQHandler - .thumb_set TIM8_CC_IRQHandler,Default_Handler - - .weak DMA1_Stream7_IRQHandler - .thumb_set DMA1_Stream7_IRQHandler,Default_Handler - - .weak FMC_IRQHandler - .thumb_set FMC_IRQHandler,Default_Handler - - .weak SDMMC1_IRQHandler - .thumb_set SDMMC1_IRQHandler,Default_Handler - - .weak TIM5_IRQHandler - .thumb_set TIM5_IRQHandler,Default_Handler - - .weak SPI3_IRQHandler - .thumb_set SPI3_IRQHandler,Default_Handler - - .weak UART4_IRQHandler - .thumb_set UART4_IRQHandler,Default_Handler - - .weak UART5_IRQHandler - .thumb_set UART5_IRQHandler,Default_Handler - - .weak TIM6_DAC_IRQHandler - .thumb_set TIM6_DAC_IRQHandler,Default_Handler - - .weak TIM7_IRQHandler - .thumb_set TIM7_IRQHandler,Default_Handler - - .weak DMA2_Stream0_IRQHandler - .thumb_set DMA2_Stream0_IRQHandler,Default_Handler - - .weak DMA2_Stream1_IRQHandler - .thumb_set DMA2_Stream1_IRQHandler,Default_Handler - - .weak DMA2_Stream2_IRQHandler - .thumb_set DMA2_Stream2_IRQHandler,Default_Handler - - .weak DMA2_Stream3_IRQHandler - .thumb_set DMA2_Stream3_IRQHandler,Default_Handler - - .weak DMA2_Stream4_IRQHandler - .thumb_set DMA2_Stream4_IRQHandler,Default_Handler - - .weak ETH_IRQHandler - .thumb_set ETH_IRQHandler,Default_Handler - - .weak ETH_WKUP_IRQHandler - .thumb_set ETH_WKUP_IRQHandler,Default_Handler - - .weak FDCAN_CAL_IRQHandler - .thumb_set FDCAN_CAL_IRQHandler,Default_Handler - - .weak DMA2_Stream5_IRQHandler - .thumb_set DMA2_Stream5_IRQHandler,Default_Handler - - .weak DMA2_Stream6_IRQHandler - .thumb_set DMA2_Stream6_IRQHandler,Default_Handler - - .weak DMA2_Stream7_IRQHandler - .thumb_set DMA2_Stream7_IRQHandler,Default_Handler - - .weak USART6_IRQHandler - .thumb_set USART6_IRQHandler,Default_Handler - - .weak I2C3_EV_IRQHandler - .thumb_set I2C3_EV_IRQHandler,Default_Handler - - .weak I2C3_ER_IRQHandler - .thumb_set I2C3_ER_IRQHandler,Default_Handler - - .weak OTG_HS_EP1_OUT_IRQHandler - .thumb_set OTG_HS_EP1_OUT_IRQHandler,Default_Handler - - .weak OTG_HS_EP1_IN_IRQHandler - .thumb_set OTG_HS_EP1_IN_IRQHandler,Default_Handler - - .weak OTG_HS_WKUP_IRQHandler - .thumb_set OTG_HS_WKUP_IRQHandler,Default_Handler - - .weak OTG_HS_IRQHandler - .thumb_set OTG_HS_IRQHandler,Default_Handler - - .weak DCMI_PSSI_IRQHandler - .thumb_set DCMI_PSSI_IRQHandler,Default_Handler - - .weak CRYP_IRQHandler - .thumb_set CRYP_IRQHandler,Default_Handler - - .weak HASH_RNG_IRQHandler - .thumb_set HASH_RNG_IRQHandler,Default_Handler - - .weak FPU_IRQHandler - .thumb_set FPU_IRQHandler,Default_Handler - - .weak UART7_IRQHandler - .thumb_set UART7_IRQHandler,Default_Handler - - .weak UART8_IRQHandler - .thumb_set UART8_IRQHandler,Default_Handler - - .weak SPI4_IRQHandler - .thumb_set SPI4_IRQHandler,Default_Handler - - .weak SPI5_IRQHandler - .thumb_set SPI5_IRQHandler,Default_Handler - - .weak SPI6_IRQHandler - .thumb_set SPI6_IRQHandler,Default_Handler - - .weak SAI1_IRQHandler - .thumb_set SAI1_IRQHandler,Default_Handler - - .weak LTDC_IRQHandler - .thumb_set LTDC_IRQHandler,Default_Handler - - .weak LTDC_ER_IRQHandler - .thumb_set LTDC_ER_IRQHandler,Default_Handler - - .weak DMA2D_IRQHandler - .thumb_set DMA2D_IRQHandler,Default_Handler - - .weak OCTOSPI1_IRQHandler - .thumb_set OCTOSPI1_IRQHandler,Default_Handler - - .weak LPTIM1_IRQHandler - .thumb_set LPTIM1_IRQHandler,Default_Handler - - .weak CEC_IRQHandler - .thumb_set CEC_IRQHandler,Default_Handler - - .weak I2C4_EV_IRQHandler - .thumb_set I2C4_EV_IRQHandler,Default_Handler - - .weak I2C4_ER_IRQHandler - .thumb_set I2C4_ER_IRQHandler,Default_Handler - - .weak SPDIF_RX_IRQHandler - .thumb_set SPDIF_RX_IRQHandler,Default_Handler - - .weak DMAMUX1_OVR_IRQHandler - .thumb_set DMAMUX1_OVR_IRQHandler,Default_Handler - - .weak DFSDM1_FLT0_IRQHandler - .thumb_set DFSDM1_FLT0_IRQHandler,Default_Handler - - .weak DFSDM1_FLT1_IRQHandler - .thumb_set DFSDM1_FLT1_IRQHandler,Default_Handler - - .weak DFSDM1_FLT2_IRQHandler - .thumb_set DFSDM1_FLT2_IRQHandler,Default_Handler - - .weak DFSDM1_FLT3_IRQHandler - .thumb_set DFSDM1_FLT3_IRQHandler,Default_Handler - - .weak SWPMI1_IRQHandler - .thumb_set SWPMI1_IRQHandler,Default_Handler - - .weak TIM15_IRQHandler - .thumb_set TIM15_IRQHandler,Default_Handler - - .weak TIM16_IRQHandler - .thumb_set TIM16_IRQHandler,Default_Handler - - .weak TIM17_IRQHandler - .thumb_set TIM17_IRQHandler,Default_Handler - - .weak MDIOS_WKUP_IRQHandler - .thumb_set MDIOS_WKUP_IRQHandler,Default_Handler - - .weak MDIOS_IRQHandler - .thumb_set MDIOS_IRQHandler,Default_Handler - - .weak MDMA_IRQHandler - .thumb_set MDMA_IRQHandler,Default_Handler - - .weak SDMMC2_IRQHandler - .thumb_set SDMMC2_IRQHandler,Default_Handler - - .weak HSEM1_IRQHandler - .thumb_set HSEM1_IRQHandler,Default_Handler - - .weak ADC3_IRQHandler - .thumb_set ADC3_IRQHandler,Default_Handler - - .weak DMAMUX2_OVR_IRQHandler - .thumb_set DMAMUX2_OVR_IRQHandler,Default_Handler - - .weak BDMA_Channel0_IRQHandler - .thumb_set BDMA_Channel0_IRQHandler,Default_Handler - - .weak BDMA_Channel1_IRQHandler - .thumb_set BDMA_Channel1_IRQHandler,Default_Handler - - .weak BDMA_Channel2_IRQHandler - .thumb_set BDMA_Channel2_IRQHandler,Default_Handler - - .weak BDMA_Channel3_IRQHandler - .thumb_set BDMA_Channel3_IRQHandler,Default_Handler - - .weak BDMA_Channel4_IRQHandler - .thumb_set BDMA_Channel4_IRQHandler,Default_Handler - - .weak BDMA_Channel5_IRQHandler - .thumb_set BDMA_Channel5_IRQHandler,Default_Handler - - .weak BDMA_Channel6_IRQHandler - .thumb_set BDMA_Channel6_IRQHandler,Default_Handler - - .weak BDMA_Channel7_IRQHandler - .thumb_set BDMA_Channel7_IRQHandler,Default_Handler - - .weak COMP1_IRQHandler - .thumb_set COMP1_IRQHandler,Default_Handler - - .weak LPTIM2_IRQHandler - .thumb_set LPTIM2_IRQHandler,Default_Handler - - .weak LPTIM3_IRQHandler - .thumb_set LPTIM3_IRQHandler,Default_Handler - - .weak LPTIM4_IRQHandler - .thumb_set LPTIM4_IRQHandler,Default_Handler - - .weak LPTIM5_IRQHandler - .thumb_set LPTIM5_IRQHandler,Default_Handler - - .weak LPUART1_IRQHandler - .thumb_set LPUART1_IRQHandler,Default_Handler - - .weak CRS_IRQHandler - .thumb_set CRS_IRQHandler,Default_Handler - - .weak ECC_IRQHandler - .thumb_set ECC_IRQHandler,Default_Handler - - .weak SAI4_IRQHandler - .thumb_set SAI4_IRQHandler,Default_Handler - - .weak DTS_IRQHandler - .thumb_set DTS_IRQHandler,Default_Handler - - .weak WAKEUP_PIN_IRQHandler - .thumb_set WAKEUP_PIN_IRQHandler,Default_Handler - - .weak OCTOSPI2_IRQHandler - .thumb_set OCTOSPI2_IRQHandler,Default_Handler - - .weak OTFDEC1_IRQHandler - .thumb_set OTFDEC1_IRQHandler,Default_Handler - - .weak OTFDEC2_IRQHandler - .thumb_set OTFDEC2_IRQHandler,Default_Handler - - .weak FMAC_IRQHandler - .thumb_set FMAC_IRQHandler,Default_Handler - - .weak CORDIC_IRQHandler - .thumb_set CORDIC_IRQHandler,Default_Handler - - .weak UART9_IRQHandler - .thumb_set UART9_IRQHandler,Default_Handler - - .weak USART10_IRQHandler - .thumb_set USART10_IRQHandler,Default_Handler - - .weak I2C5_EV_IRQHandler - .thumb_set I2C5_EV_IRQHandler,Default_Handler - - .weak I2C5_ER_IRQHandler - .thumb_set I2C5_ER_IRQHandler,Default_Handler - - .weak FDCAN3_IT0_IRQHandler - .thumb_set FDCAN3_IT0_IRQHandler,Default_Handler - - .weak FDCAN3_IT1_IRQHandler - .thumb_set FDCAN3_IT1_IRQHandler,Default_Handler - - .weak TIM23_IRQHandler - .thumb_set TIM23_IRQHandler,Default_Handler - - .weak TIM24_IRQHandler - .thumb_set TIM24_IRQHandler,Default_Handler - -/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ - diff --git a/panda/board/stm32h7/stm32h7_config.h b/panda/board/stm32h7/stm32h7_config.h deleted file mode 100644 index 64f149848dfd6d..00000000000000 --- a/panda/board/stm32h7/stm32h7_config.h +++ /dev/null @@ -1,95 +0,0 @@ -#include "stm32h7/inc/stm32h7xx.h" -#include "stm32h7/inc/stm32h7xx_hal_gpio_ex.h" -#define MCU_IDCODE 0x483U - -// from the linker script -#define APP_START_ADDRESS 0x8020000U - -#define CORE_FREQ 240U // in Mhz -//APB1 - 120Mhz, APB2 - 120Mhz -#define APB1_FREQ (CORE_FREQ/4U) -#define APB1_TIMER_FREQ (APB1_FREQ*2U) // APB1 is multiplied by 2 for the timer peripherals -#define APB2_FREQ (CORE_FREQ/4U) -#define APB2_TIMER_FREQ (APB2_FREQ*2U) // APB2 is multiplied by 2 for the timer peripherals - -#define BOOTLOADER_ADDRESS 0x1FF09804U - -/* -An IRQ is received on message RX/TX (or RX errors), with -separate IRQs for RX and TX. - -0-byte CAN FD frame as the worst case: -- 17 slow bits = SOF + 11 ID + R1 + IDE + EDL + R0 + BRS -- 23 fast bits = ESI + 4 DLC + 0 DATA + 17 CRC + CRC delimeter -- 12 slow bits = ACK + DEL + 7 EOF + 3 IFS -- all currently supported cars are 0.5 Mbps / 2 Mbps - -1 / ((29 bits / 0.5Mbps) + (23 bits / 2Mbps)) = 14388Hz -*/ -#define CAN_INTERRUPT_RATE 16000U - -#define MAX_LED_FADE 10240U - -// There are 163 external interrupt sources (see stm32f735xx.h) -#define NUM_INTERRUPTS 163U - -#define TICK_TIMER_IRQ TIM8_BRK_TIM12_IRQn -#define TICK_TIMER TIM12 - -#define MICROSECOND_TIMER TIM2 - -#define INTERRUPT_TIMER_IRQ TIM6_DAC_IRQn -#define INTERRUPT_TIMER TIM6 - -#define IND_WDG IWDG1 - -#define PROVISION_CHUNK_ADDRESS 0x080FFFE0U -#define DEVICE_SERIAL_NUMBER_ADDRESS 0x080FFFC0U - -#include "can_definitions.h" -#include "comms_definitions.h" - -#ifndef BOOTSTUB - #include "main_declarations.h" -#else - #include "bootstub_declarations.h" -#endif - -#include "libc.h" -#include "critical.h" -#include "faults.h" -#include "utils.h" - -#include "drivers/registers.h" -#include "drivers/interrupts.h" -#include "drivers/gpio.h" -#include "stm32h7/peripherals.h" -#include "stm32h7/interrupt_handlers.h" -#include "drivers/timers.h" -#include "drivers/watchdog.h" - -#if !defined(BOOTSTUB) - #include "drivers/uart.h" - #include "stm32h7/lluart.h" -#endif - -#include "stm32h7/board.h" -#include "stm32h7/clock.h" - -#ifdef BOOTSTUB - #include "stm32h7/llflash.h" -#else - #include "stm32h7/llfdcan.h" -#endif - -#include "stm32h7/llusb.h" - -#include "drivers/spi.h" -#include "stm32h7/llspi.h" - -void early_gpio_float(void) { - RCC->AHB4ENR = RCC_AHB4ENR_GPIOAEN | RCC_AHB4ENR_GPIOBEN | RCC_AHB4ENR_GPIOCEN | RCC_AHB4ENR_GPIODEN | RCC_AHB4ENR_GPIOEEN | RCC_AHB4ENR_GPIOFEN | RCC_AHB4ENR_GPIOGEN | RCC_AHB4ENR_GPIOHEN; - GPIOA->MODER = 0xAB000000U; GPIOB->MODER = 0; GPIOC->MODER = 0; GPIOD->MODER = 0; GPIOE->MODER = 0; GPIOF->MODER = 0; GPIOG->MODER = 0; GPIOH->MODER = 0; - GPIOA->ODR = 0; GPIOB->ODR = 0; GPIOC->ODR = 0; GPIOD->ODR = 0; GPIOE->ODR = 0; GPIOF->ODR = 0; GPIOG->ODR = 0; GPIOH->ODR = 0; - GPIOA->PUPDR = 0; GPIOB->PUPDR = 0; GPIOC->PUPDR = 0; GPIOD->PUPDR = 0; GPIOE->PUPDR = 0; GPIOF->PUPDR = 0; GPIOG->PUPDR = 0; GPIOH->PUPDR = 0; -} diff --git a/panda/board/stm32h7/stm32h7x5_flash.ld b/panda/board/stm32h7/stm32h7x5_flash.ld deleted file mode 100644 index 3b6eee5dd09316..00000000000000 --- a/panda/board/stm32h7/stm32h7x5_flash.ld +++ /dev/null @@ -1,221 +0,0 @@ -/* -****************************************************************************** -** - -** File : LinkerScript.ld -** -** Author : Auto-generated by System Workbench for STM32 -** -** Abstract : Linker script for STM32H735ZGTx series -** 1024Kbytes FLASH and 560Kbytes RAM -** -** Set heap size, stack size and stack location according -** to application requirements. -** -** Set memory bank area and size if external memory is used. -** -** Target : STMicroelectronics STM32 -** -** Distribution: The file is distributed “as is,” without any warranty -** of any kind. -** -***************************************************************************** -** @attention -** -**

© COPYRIGHT(c) 2019 STMicroelectronics

-** -** Redistribution and use in source and binary forms, with or without modification, -** are permitted provided that the following conditions are met: -** 1. Redistributions of source code must retain the above copyright notice, -** this list of conditions and the following disclaimer. -** 2. Redistributions in binary form must reproduce the above copyright notice, -** this list of conditions and the following disclaimer in the documentation -** and/or other materials provided with the distribution. -** 3. Neither the name of STMicroelectronics nor the names of its contributors -** may be used to endorse or promote products derived from this software -** without specific prior written permission. -** -** THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -** AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -** IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE -** DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE -** FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL -** DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR -** SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER -** CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, -** OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE -** OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -** -***************************************************************************** -*/ - -/* Entry Point */ -ENTRY(Reset_Handler) - -/* Highest address of the user mode stack */ -enter_bootloader_mode = 0x38001FFC; -_estack = 0x20020000; /* end of RAM */ -_app_start = 0x08020000; /* Reserve Sector 0(128K) for bootloader */ - -/* Generate a link error if heap and stack don't fit into RAM */ -_Min_Heap_Size = 0x200; /* required amount of heap */ -_Min_Stack_Size = 0x400; /* required amount of stack */ - -/* Specify the memory areas */ -MEMORY -{ -/* RAM */ -BACKUP_SRAM (xrw) : ORIGIN = 0x38800000, LENGTH = 4K /* Backup SRAM(4kb) */ -SRAM4 (xrw) : ORIGIN = 0x38000000, LENGTH = 16K /* SRAM4(16kb) best for BDMA and SDMMC1*/ -SRAM12 (xrw) : ORIGIN = 0x30000000, LENGTH = 32K /* SRAM1(16kb) + SRAM2(16kb), not for BDMA or SDMMC1 */ -AXISRAM (xrw) : ORIGIN = 0x24000000, LENGTH = 320K /* AXI SRAM */ -DTCMRAM (xrw) : ORIGIN = 0x20000000, LENGTH = 128K /* DTCM */ - -/* Code */ -SYSTEM (rx) : ORIGIN = 0x1FF00000, LENGTH = 128K /* System memory */ -FLASH (rx) : ORIGIN = 0x08000000, LENGTH = 1024K -ITCMRAM (xrw) : ORIGIN = 0x00000000, LENGTH = 64K -} - -/* Define output sections */ -SECTIONS -{ - /* The startup code goes first into FLASH */ - .isr_vector : - { - . = ALIGN(4); - KEEP(*(.isr_vector)) /* Startup code */ - . = ALIGN(4); - } >FLASH - - /* The program code and other data goes into FLASH */ - .text : - { - . = ALIGN(4); - *(.text) /* .text sections (code) */ - *(.text*) /* .text* sections (code) */ - *(.glue_7) /* glue arm to thumb code */ - *(.glue_7t) /* glue thumb to arm code */ - *(.eh_frame) - - KEEP (*(.init)) - KEEP (*(.fini)) - - . = ALIGN(4); - _etext = .; /* define a global symbols at end of code */ - } >FLASH - - /* Constant data goes into FLASH */ - .rodata : - { - . = ALIGN(4); - *(.rodata) /* .rodata sections (constants, strings, etc.) */ - *(.rodata*) /* .rodata* sections (constants, strings, etc.) */ - . = ALIGN(4); - } >FLASH - - .ARM.extab : { *(.ARM.extab* .gnu.linkonce.armextab.*) } >FLASH - .ARM : { - __exidx_start = .; - *(.ARM.exidx*) - __exidx_end = .; - } >FLASH - - .preinit_array : - { - PROVIDE_HIDDEN (__preinit_array_start = .); - KEEP (*(.preinit_array*)) - PROVIDE_HIDDEN (__preinit_array_end = .); - } >FLASH - .init_array : - { - PROVIDE_HIDDEN (__init_array_start = .); - KEEP (*(SORT(.init_array.*))) - KEEP (*(.init_array*)) - PROVIDE_HIDDEN (__init_array_end = .); - } >FLASH - .fini_array : - { - PROVIDE_HIDDEN (__fini_array_start = .); - KEEP (*(SORT(.fini_array.*))) - KEEP (*(.fini_array*)) - PROVIDE_HIDDEN (__fini_array_end = .); - } >FLASH - - /* used by the startup to initialize data */ - _sidata = LOADADDR(.data); - - /* Initialized data sections goes into RAM, load LMA copy after code */ - .data : - { - . = ALIGN(4); - _sdata = .; /* create a global symbol at data start */ - *(.data) /* .data sections */ - *(.data*) /* .data* sections */ - - . = ALIGN(4); - _edata = .; /* define a global symbol at data end */ - } >DTCMRAM AT> FLASH - - - /* Uninitialized data section */ - . = ALIGN(4); - .bss : - { - /* This is used by the startup in order to initialize the .bss secion */ - _sbss = .; /* define a global symbol at bss start */ - __bss_start__ = _sbss; - *(.bss) - *(.bss*) - *(COMMON) - - . = ALIGN(4); - _ebss = .; /* define a global symbol at bss end */ - __bss_end__ = _ebss; - } >DTCMRAM - - /* User_heap_stack section, used to check that there is enough RAM left */ - ._user_heap_stack : - { - . = ALIGN(8); - PROVIDE ( end = . ); - PROVIDE ( _end = . ); - . = . + _Min_Heap_Size; - . = . + _Min_Stack_Size; - . = ALIGN(8); - } >DTCMRAM - - .itcmram (NOLOAD) : - { - . = ALIGN(4); - *(.itcmram*) - } >ITCMRAM - - .axisram (NOLOAD) : - { - . = ALIGN(4); - *(.axisram*) - } >AXISRAM - - .sram12 (NOLOAD) : - { - . = ALIGN(4); - *(.sram12*) - } >SRAM12 - - .sram4 (NOLOAD) : - { - . = ALIGN(4); - *(.sram4*) - } >SRAM4 - - .backup_sram (NOLOAD) : - { - . = ALIGN(4); - *(.backup_sram*) - } >BACKUP_SRAM - - .ARM.attributes 0 : { *(.ARM.attributes) } -} - - diff --git a/panda/board/utils.h b/panda/board/utils.h deleted file mode 100644 index f355ce8c2f2118..00000000000000 --- a/panda/board/utils.h +++ /dev/null @@ -1,47 +0,0 @@ -// cppcheck-suppress-macro misra-c2012-1.2; allow __typeof__ extension -#define MIN(a, b) ({ \ - __typeof__ (a) _a = (a); \ - __typeof__ (b) _b = (b); \ - (_a < _b) ? _a : _b; \ -}) - -// cppcheck-suppress-macro misra-c2012-1.2; allow __typeof__ extension -#define MAX(a, b) ({ \ - __typeof__ (a) _a = (a); \ - __typeof__ (b) _b = (b); \ - (_a > _b) ? _a : _b; \ -}) - -// cppcheck-suppress-macro misra-c2012-1.2; allow __typeof__ extension -#define CLAMP(x, low, high) ({ \ - __typeof__(x) __x = (x); \ - __typeof__(low) __low = (low);\ - __typeof__(high) __high = (high);\ - (__x > __high) ? __high : ((__x < __low) ? __low : __x); \ -}) - -// cppcheck-suppress-macro misra-c2012-1.2; allow __typeof__ extension -#define ABS(a) ({ \ - __typeof__ (a) _a = (a); \ - (_a > 0) ? _a : (-_a); \ -}) - -#ifndef NULL -// this just provides a standard implementation of NULL -// in lieu of including libc in the panda build -// cppcheck-suppress [misra-c2012-21.1] -#define NULL ((void*)0) -#endif - -// STM32 HAL defines this -#ifndef UNUSED -#define UNUSED(x) ((void)(x)) -#endif - -#define COMPILE_TIME_ASSERT(pred) ((void)sizeof(char[1 - (2 * (!(pred) ? 1 : 0))])) - -// compute the time elapsed (in microseconds) from 2 counter samples -// case where ts < ts_last is ok: overflow is properly re-casted into uint32_t -uint32_t get_ts_elapsed(uint32_t ts, uint32_t ts_last) { - return ts - ts_last; -} diff --git a/panda/certs/debug b/panda/certs/debug deleted file mode 100644 index 39864b6b1a36e4..00000000000000 --- a/panda/certs/debug +++ /dev/null @@ -1,15 +0,0 @@ ------BEGIN RSA PRIVATE KEY----- -MIICXQIBAAKBgQC948lnRo4x44Rd7Y8bQAML4aKDC4XRx958fHV8K6+FbCaP1Z42 -U2kX0yygak0LjoDutpgObmGHZA+Iz3HeUD6VGjr/teN24vPk+A95cRsjt8rgmGQ9 -6HNjaNgjR+gl1F9XxFimMzir82Xpl1ekTueJNXa7ia5HVH1nFdiksOKHGQIDAQAB -AoGAQuPw2I6EHJLW1/eNB75e1FqhUqRGeYV8nEGDaUBCTi+wzc4kM2LijF/5QnDv -vvht9qkfm0XK2VSoHDtnEzcVM/l1ksb68n4R/1nUooAWY6cQI7dCSk/A6yS1EJFg -BXsgGbT/65khw9pzBW2zVtMVcVNWFayqfCO1I9WcDdA1x1kCQQDfrhoZTZNoDEUE -JKM4fiUdWr1h3Aw8KLJFFexSWeGDwo+qqnujYcKWkHa9qaH1RG5x8Kir9s9Oi4Js -mzKwov8fAkEA2VPJPWxJ4vVQpXle6wC1nyoL7s739yxMWFcabvkzDDhlIVBNdVJd -gZKsFWV7QnVNdDMjn9D27FwKu3i2D+kKxwJBANp1SMojqO765MEKI1t+YDNONx6H -cm+i85Fjuv4nCIjOEdCGVuCYDxtMFpxgO2y3HAMuHx5sm8XDnWsDHLvFRdMCQD7V -XqWHnYUk8AAnqy2+ssQl3/VXmZG5GQmhhV74Za3u0C5ljT+SZL6FrYMyKAT67T3f -WzllrT6BDglNyTWoZxkCQQCt0XSoGM3603GGYNt6AUlGSgtXSo/2Px7odGUtQoKA -FH9q6FVMYpQJ38spZxIGufZJmLP8LLg6YIWJj1F+akxr ------END RSA PRIVATE KEY----- diff --git a/panda/certs/debug.pub b/panda/certs/debug.pub deleted file mode 100644 index 00e219d7bb8cfa..00000000000000 --- a/panda/certs/debug.pub +++ /dev/null @@ -1 +0,0 @@ -ssh-rsa AAAAB3NzaC1yc2EAAAADAQABAAAAgQC948lnRo4x44Rd7Y8bQAML4aKDC4XRx958fHV8K6+FbCaP1Z42U2kX0yygak0LjoDutpgObmGHZA+Iz3HeUD6VGjr/teN24vPk+A95cRsjt8rgmGQ96HNjaNgjR+gl1F9XxFimMzir82Xpl1ekTueJNXa7ia5HVH1nFdiksOKHGQ== batman@y840 diff --git a/panda/certs/release.pub b/panda/certs/release.pub deleted file mode 100644 index 19066e29a75cad..00000000000000 --- a/panda/certs/release.pub +++ /dev/null @@ -1 +0,0 @@ -ssh-rsa AAAAB3NzaC1yc2EAAAADAQABAAAAgQDGN9GU2nOc0kKq6vdZI5qUMzHt234ngqofrgCFFxL0D2Whex0zACp9gar0HZp+bvtpoSgU/Ev8wexNKr+A9QTradljiuxi5ctrOra9k+wxqNj63Wrcu4+wU5UnJEVf/buV4jCOFffMT8z3PO4imt8LzHuEIC/m/ASKVYyvuvBRQQ== batman@y840 diff --git a/panda/crypto/hash-internal.h b/panda/crypto/hash-internal.h deleted file mode 100644 index 05ec3ec9fd22aa..00000000000000 --- a/panda/crypto/hash-internal.h +++ /dev/null @@ -1,63 +0,0 @@ -/* - * Copyright 2007 The Android Open Source Project - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * * Neither the name of Google Inc. nor the names of its contributors may - * be used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY Google Inc. ``AS IS'' AND ANY EXPRESS OR - * IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF - * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO - * EVENT SHALL Google Inc. BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, - * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, - * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; - * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, - * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR - * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF - * ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - */ - -#ifndef SYSTEM_CORE_INCLUDE_MINCRYPT_HASH_INTERNAL_H_ -#define SYSTEM_CORE_INCLUDE_MINCRYPT_HASH_INTERNAL_H_ - -#include "stdint.h" - -#ifdef __cplusplus -extern "C" { -#endif // __cplusplus - -struct HASH_CTX; // forward decl - -typedef struct HASH_VTAB { - void (* const init)(struct HASH_CTX*); - void (* const update)(struct HASH_CTX*, const void*, int); - const uint8_t* (* const final)(struct HASH_CTX*); - const uint8_t* (* const hash)(const void*, int, uint8_t*); - int size; -} HASH_VTAB; - -typedef struct HASH_CTX { - const HASH_VTAB * f; - uint64_t count; - uint8_t buf[64]; - uint32_t state[8]; // upto SHA2 -} HASH_CTX; - -#define HASH_init(ctx) (ctx)->f->init(ctx) -#define HASH_update(ctx, data, len) (ctx)->f->update(ctx, data, len) -#define HASH_final(ctx) (ctx)->f->final(ctx) -#define HASH_hash(data, len, digest) (ctx)->f->hash(data, len, digest) -#define HASH_size(ctx) (ctx)->f->size - -#ifdef __cplusplus -} -#endif // __cplusplus - -#endif // SYSTEM_CORE_INCLUDE_MINCRYPT_HASH_INTERNAL_H_ diff --git a/panda/crypto/rsa.c b/panda/crypto/rsa.c deleted file mode 100644 index 24171e87909275..00000000000000 --- a/panda/crypto/rsa.c +++ /dev/null @@ -1,294 +0,0 @@ -/* rsa.c -** -** Copyright 2012, The Android Open Source Project -** -** Redistribution and use in source and binary forms, with or without -** modification, are permitted provided that the following conditions are met: -** * Redistributions of source code must retain the above copyright -** notice, this list of conditions and the following disclaimer. -** * Redistributions in binary form must reproduce the above copyright -** notice, this list of conditions and the following disclaimer in the -** documentation and/or other materials provided with the distribution. -** * Neither the name of Google Inc. nor the names of its contributors may -** be used to endorse or promote products derived from this software -** without specific prior written permission. -** -** THIS SOFTWARE IS PROVIDED BY Google Inc. ``AS IS'' AND ANY EXPRESS OR -** IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF -** MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO -** EVENT SHALL Google Inc. BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, -** SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, -** PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; -** OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, -** WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR -** OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF -** ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -*/ - -#include "rsa.h" -#include "sha.h" - -// a[] -= mod -static void subM(const RSAPublicKey* key, - uint32_t* a) { - int64_t A = 0; - int i; - for (i = 0; i < key->len; ++i) { - A += (uint64_t)a[i] - key->n[i]; - a[i] = (uint32_t)A; - A >>= 32; - } -} - -// return a[] >= mod -static int geM(const RSAPublicKey* key, - const uint32_t* a) { - int i; - for (i = key->len; i;) { - --i; - if (a[i] < key->n[i]) return 0; - if (a[i] > key->n[i]) return 1; - } - return 1; // equal -} - -// montgomery c[] += a * b[] / R % mod -static void montMulAdd(const RSAPublicKey* key, - uint32_t* c, - const uint32_t a, - const uint32_t* b) { - uint64_t A = (uint64_t)a * b[0] + c[0]; - uint32_t d0 = (uint32_t)A * key->n0inv; - uint64_t B = (uint64_t)d0 * key->n[0] + (uint32_t)A; - int i; - - for (i = 1; i < key->len; ++i) { - A = (A >> 32) + (uint64_t)a * b[i] + c[i]; - B = (B >> 32) + (uint64_t)d0 * key->n[i] + (uint32_t)A; - c[i - 1] = (uint32_t)B; - } - - A = (A >> 32) + (B >> 32); - - c[i - 1] = (uint32_t)A; - - if (A >> 32) { - subM(key, c); - } -} - -// montgomery c[] = a[] * b[] / R % mod -static void montMul(const RSAPublicKey* key, - uint32_t* c, - const uint32_t* a, - const uint32_t* b) { - int i; - for (i = 0; i < key->len; ++i) { - c[i] = 0; - } - for (i = 0; i < key->len; ++i) { - montMulAdd(key, c, a[i], b); - } -} - -// In-place public exponentiation. -// Input and output big-endian byte array in inout. -static void modpow(const RSAPublicKey* key, - uint8_t* inout) { - uint32_t a[RSANUMWORDS]; - uint32_t aR[RSANUMWORDS]; - uint32_t aaR[RSANUMWORDS]; - uint32_t* aaa = 0; - int i; - - // Convert from big endian byte array to little endian word array. - for (i = 0; i < key->len; ++i) { - uint32_t tmp = - (inout[((key->len - 1 - i) * 4) + 0] << 24) | - (inout[((key->len - 1 - i) * 4) + 1] << 16) | - (inout[((key->len - 1 - i) * 4) + 2] << 8) | - (inout[((key->len - 1 - i) * 4) + 3] << 0); - a[i] = tmp; - } - - if (key->exponent == 65537) { - aaa = aaR; // Re-use location. - montMul(key, aR, a, key->rr); // aR = a * RR / R mod M - for (i = 0; i < 16; i += 2) { - montMul(key, aaR, aR, aR); // aaR = aR * aR / R mod M - montMul(key, aR, aaR, aaR); // aR = aaR * aaR / R mod M - } - montMul(key, aaa, aR, a); // aaa = aR * a / R mod M - } else if (key->exponent == 3) { - aaa = aR; // Re-use location. - montMul(key, aR, a, key->rr); /* aR = a * RR / R mod M */ - montMul(key, aaR, aR, aR); /* aaR = aR * aR / R mod M */ - montMul(key, aaa, aaR, a); /* aaa = aaR * a / R mod M */ - } - - // Make sure aaa < mod; aaa is at most 1x mod too large. - if (geM(key, aaa)) { - subM(key, aaa); - } - - // Convert to bigendian byte array - for (i = key->len - 1; i >= 0; --i) { - uint32_t tmp = aaa[i]; - *inout++ = tmp >> 24; - *inout++ = tmp >> 16; - *inout++ = tmp >> 8; - *inout++ = tmp >> 0; - } -} - -// Expected PKCS1.5 signature padding bytes, for a keytool RSA signature. -// Has the 0-length optional parameter encoded in the ASN1 (as opposed to the -// other flavor which omits the optional parameter entirely). This code does not -// accept signatures without the optional parameter. - -/* -static const uint8_t sha_padding[RSANUMBYTES] = { - 0x00, 0x01, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, - 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, - 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, - 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, - 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, - 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, - 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, - 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, - 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, - 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, - 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, - 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, - 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, - 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, - 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, - 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, - 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, - 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, - 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, - 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, - 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, - 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, - 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, - 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, - 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, - 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, - 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, - 0xff, 0xff, 0xff, 0xff, 0x00, 0x30, 0x21, 0x30, - 0x09, 0x06, 0x05, 0x2b, 0x0e, 0x03, 0x02, 0x1a, - 0x05, 0x00, 0x04, 0x14, - - // 20 bytes of hash go here. - 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 -}; -*/ - -static const uint8_t sha_padding_1024[RSANUMBYTES] = { - 0x00, 0x01, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, - 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, - 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, - 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, - 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, - 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, - 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, - 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, - 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, - 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, - 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, - 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, - 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, - 0xff, 0xff, 0xff, 0x00, - - // 20 bytes of hash go here. - 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 -}; - -// SHA-1 of PKCS1.5 signature sha_padding for 2048 bit, as above. -// At the location of the bytes of the hash all 00 are hashed. -/*static const uint8_t kExpectedPadShaRsa2048[SHA_DIGEST_SIZE] = { - 0xdc, 0xbd, 0xbe, 0x42, 0xd5, 0xf5, 0xa7, 0x2e, - 0x6e, 0xfc, 0xf5, 0x5d, 0xaf, 0x9d, 0xea, 0x68, - 0x7c, 0xfb, 0xf1, 0x67 -};*/ - -// Verify a 2048-bit RSA PKCS1.5 signature against an expected hash. -// Both e=3 and e=65537 are supported. hash_len may be -// SHA_DIGEST_SIZE (== 20) to indicate a SHA-1 hash, or -// SHA256_DIGEST_SIZE (== 32) to indicate a SHA-256 hash. No other -// values are supported. -// -// Returns 1 on successful verification, 0 on failure. -int RSA_verify(const RSAPublicKey *key, - const uint8_t *signature, - const int len, - const uint8_t *hash, - const int hash_len) { - uint8_t buf[RSANUMBYTES]; - int i; - //const uint8_t* padding_hash; - - if (key->len != RSANUMWORDS) { - return 0; // Wrong key passed in. - } - - if (len != sizeof(buf)) { - return 0; // Wrong input length. - } - - if (hash_len != SHA_DIGEST_SIZE) { - return 0; // Unsupported hash. - } - - if (key->exponent != 3 && key->exponent != 65537) { - return 0; // Unsupported exponent. - } - - for (i = 0; i < len; ++i) { // Copy input to local workspace. - buf[i] = signature[i]; - } - - modpow(key, buf); // In-place exponentiation. - -#ifdef TEST_RSA - printf("sig\n"); - for (i=0;i - -#ifdef __cplusplus -extern "C" { -#endif - -#define RSANUMBYTES 128 /* 1024 bit key length */ -#define RSANUMWORDS (RSANUMBYTES / sizeof(uint32_t)) - -typedef struct RSAPublicKey { - int len; /* Length of n[] in number of uint32_t */ - uint32_t n0inv; /* -1 / n[0] mod 2^32 */ - uint32_t n[RSANUMWORDS]; /* modulus as little endian array */ - uint32_t rr[RSANUMWORDS]; /* R^2 as little endian array */ - int exponent; /* 3 or 65537 */ -} RSAPublicKey; - -int RSA_verify(const RSAPublicKey *key, - const uint8_t* signature, - const int len, - const uint8_t* hash, - const int hash_len); - -#ifdef __cplusplus -} -#endif - -#endif // SYSTEM_CORE_INCLUDE_MINCRYPT_RSA_H_ diff --git a/panda/crypto/sha.c b/panda/crypto/sha.c deleted file mode 100644 index a13162c5fac0d3..00000000000000 --- a/panda/crypto/sha.c +++ /dev/null @@ -1,179 +0,0 @@ -/* sha.c -** -** Copyright 2013, The Android Open Source Project -** -** Redistribution and use in source and binary forms, with or without -** modification, are permitted provided that the following conditions are met: -** * Redistributions of source code must retain the above copyright -** notice, this list of conditions and the following disclaimer. -** * Redistributions in binary form must reproduce the above copyright -** notice, this list of conditions and the following disclaimer in the -** documentation and/or other materials provided with the distribution. -** * Neither the name of Google Inc. nor the names of its contributors may -** be used to endorse or promote products derived from this software -** without specific prior written permission. -** -** THIS SOFTWARE IS PROVIDED BY Google Inc. ``AS IS'' AND ANY EXPRESS OR -** IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF -** MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO -** EVENT SHALL Google Inc. BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, -** SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, -** PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; -** OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, -** WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR -** OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF -** ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -*/ - -// Optimized for minimal code size. - -void *memcpy(void *str1, const void *str2, unsigned int n); - -#include "sha.h" - -#define rol(bits, value) (((value) << (bits)) | ((value) >> (32 - (bits)))) - -static void SHA1_Transform(SHA_CTX* ctx) { - uint32_t W[80]; - uint32_t A, B, C, D, E; - uint8_t* p = ctx->buf; - int t; - - for(t = 0; t < 16; ++t) { - uint32_t tmp = *p++ << 24; - tmp |= *p++ << 16; - tmp |= *p++ << 8; - tmp |= *p++; - W[t] = tmp; - } - - for(; t < 80; t++) { - W[t] = rol(1,W[t-3] ^ W[t-8] ^ W[t-14] ^ W[t-16]); - } - - A = ctx->state[0]; - B = ctx->state[1]; - C = ctx->state[2]; - D = ctx->state[3]; - E = ctx->state[4]; - - for(t = 0; t < 80; t++) { - uint32_t tmp = rol(5,A) + E + W[t]; - - if (t < 20) - tmp += (D^(B&(C^D))) + 0x5A827999; - else if ( t < 40) - tmp += (B^C^D) + 0x6ED9EBA1; - else if ( t < 60) - tmp += ((B&C)|(D&(B|C))) + 0x8F1BBCDC; - else - tmp += (B^C^D) + 0xCA62C1D6; - - E = D; - D = C; - C = rol(30,B); - B = A; - A = tmp; - } - - ctx->state[0] += A; - ctx->state[1] += B; - ctx->state[2] += C; - ctx->state[3] += D; - ctx->state[4] += E; -} - -static const HASH_VTAB SHA_VTAB = { - SHA_init, - SHA_update, - SHA_final, - SHA_hash, - SHA_DIGEST_SIZE -}; - -void SHA_init(SHA_CTX* ctx) { - ctx->f = &SHA_VTAB; - ctx->state[0] = 0x67452301; - ctx->state[1] = 0xEFCDAB89; - ctx->state[2] = 0x98BADCFE; - ctx->state[3] = 0x10325476; - ctx->state[4] = 0xC3D2E1F0; - ctx->count = 0; -} - - -void SHA_update(SHA_CTX* ctx, const void* data, int len) { - int i = (int) (ctx->count & 63); - const uint8_t* p = (const uint8_t*)data; - - ctx->count += len; - - while (len--) { - ctx->buf[i++] = *p++; - if (i == 64) { - SHA1_Transform(ctx); - i = 0; - } - } -} - - -const uint8_t* SHA_final(SHA_CTX* ctx) { - uint8_t *p = ctx->buf; - uint64_t cnt = ctx->count * 8; - int i; - - SHA_update(ctx, (uint8_t*)"\x80", 1); - while ((ctx->count & 63) != 56) { - SHA_update(ctx, (uint8_t*)"\0", 1); - } - - /* Hack - right shift operator with non const argument requires - * libgcc.a which is missing in EON - * thus expanding for loop from - - for (i = 0; i < 8; ++i) { - uint8_t tmp = (uint8_t) (cnt >> ((7 - i) * 8)); - SHA_update(ctx, &tmp, 1); - } - - to - */ - - uint8_t tmp = 0; - tmp = (uint8_t) (cnt >> ((7 - 0) * 8)); - SHA_update(ctx, &tmp, 1); - tmp = (uint8_t) (cnt >> ((7 - 1) * 8)); - SHA_update(ctx, &tmp, 1); - tmp = (uint8_t) (cnt >> ((7 - 2) * 8)); - SHA_update(ctx, &tmp, 1); - tmp = (uint8_t) (cnt >> ((7 - 3) * 8)); - SHA_update(ctx, &tmp, 1); - tmp = (uint8_t) (cnt >> ((7 - 4) * 8)); - SHA_update(ctx, &tmp, 1); - tmp = (uint8_t) (cnt >> ((7 - 5) * 8)); - SHA_update(ctx, &tmp, 1); - tmp = (uint8_t) (cnt >> ((7 - 6) * 8)); - SHA_update(ctx, &tmp, 1); - tmp = (uint8_t) (cnt >> ((7 - 7) * 8)); - SHA_update(ctx, &tmp, 1); - - for (i = 0; i < 5; i++) { - uint32_t tmp = ctx->state[i]; - *p++ = tmp >> 24; - *p++ = tmp >> 16; - *p++ = tmp >> 8; - *p++ = tmp >> 0; - } - - return ctx->buf; -} - -/* Convenience function */ -const uint8_t* SHA_hash(const void* data, int len, uint8_t* digest) { - SHA_CTX ctx; - SHA_init(&ctx); - SHA_update(&ctx, data, len); - memcpy(digest, SHA_final(&ctx), SHA_DIGEST_SIZE); - return digest; -} diff --git a/panda/crypto/sha.h b/panda/crypto/sha.h deleted file mode 100644 index 4b51a531bf582a..00000000000000 --- a/panda/crypto/sha.h +++ /dev/null @@ -1,51 +0,0 @@ -/* - * Copyright 2005 The Android Open Source Project - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * * Neither the name of Google Inc. nor the names of its contributors may - * be used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY Google Inc. ``AS IS'' AND ANY EXPRESS OR - * IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF - * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO - * EVENT SHALL Google Inc. BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, - * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, - * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; - * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, - * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR - * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF - * ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - */ -#ifndef SYSTEM_CORE_INCLUDE_MINCRYPT_SHA1_H_ -#define SYSTEM_CORE_INCLUDE_MINCRYPT_SHA1_H_ - -#include "hash-internal.h" - -#ifdef __cplusplus -extern "C" { -#endif // __cplusplus - -typedef HASH_CTX SHA_CTX; - -void SHA_init(SHA_CTX* ctx); -void SHA_update(SHA_CTX* ctx, const void* data, int len); -const uint8_t* SHA_final(SHA_CTX* ctx); - -// Convenience method. Returns digest address. -// NOTE: *digest needs to hold SHA_DIGEST_SIZE bytes. -const uint8_t* SHA_hash(const void* data, int len, uint8_t* digest); - -#define SHA_DIGEST_SIZE 20 - -#ifdef __cplusplus -} -#endif // __cplusplus - -#endif // SYSTEM_CORE_INCLUDE_MINCRYPT_SHA1_H_ diff --git a/panda/crypto/sign.py b/panda/crypto/sign.py deleted file mode 100755 index daea38630c581b..00000000000000 --- a/panda/crypto/sign.py +++ /dev/null @@ -1,38 +0,0 @@ -#!/usr/bin/env python3 -import os -import sys -import struct -import hashlib -from Crypto.PublicKey import RSA -import binascii - -# increment this to make new hardware not run old versions -VERSION = 2 - -if __name__ == "__main__": - with open(sys.argv[3]) as k: - rsa = RSA.importKey(k.read()) - - with open(sys.argv[1], "rb") as f: - dat = f.read() - - print("signing", len(dat), "bytes") - - with open(sys.argv[2], "wb") as f: - if os.getenv("SETLEN") is not None: - # add the version at the end - dat += b"VERS" + struct.pack("I", VERSION) - # add the length at the beginning - x = struct.pack("I", len(dat)) + dat[4:] - # mock signature of dat[4:] - dd = hashlib.sha1(dat[4:]).digest() - else: - x = dat - dd = hashlib.sha1(dat).digest() - - print("hash:", str(binascii.hexlify(dd), "utf-8")) - dd = b"\x00\x01" + b"\xff" * 0x69 + b"\x00" + dd - rsa_out = pow(int.from_bytes(dd, byteorder='big', signed=False), rsa.d, rsa.n) - sig = (hex(rsa_out)[2:].rjust(0x100, '0')) - x += binascii.unhexlify(sig) - f.write(x) diff --git a/panda/docs/CANPacket_structure.png b/panda/docs/CANPacket_structure.png deleted file mode 100644 index 7dd134316112be..00000000000000 Binary files a/panda/docs/CANPacket_structure.png and /dev/null differ diff --git a/panda/docs/USB_packet_structure.png b/panda/docs/USB_packet_structure.png deleted file mode 100644 index 30e848c3f6a844..00000000000000 Binary files a/panda/docs/USB_packet_structure.png and /dev/null differ diff --git a/panda/drivers/linux/.gitignore b/panda/drivers/linux/.gitignore deleted file mode 100644 index 93a6cde7630501..00000000000000 --- a/panda/drivers/linux/.gitignore +++ /dev/null @@ -1,6 +0,0 @@ -.*.cmd -*.ko -.tmp_versions -Module.symvers -modules.order -*.mod.c diff --git a/panda/drivers/linux/Makefile b/panda/drivers/linux/Makefile deleted file mode 100644 index 5ccc4bd08cd769..00000000000000 --- a/panda/drivers/linux/Makefile +++ /dev/null @@ -1,24 +0,0 @@ -VERSION=0.0.1 -obj-m+=panda.o - -all: build install - -build: - sudo dkms build panda/$(VERSION) - -install: - sudo dkms install panda/$(VERSION) - -remove: - sudo dkms remove panda/$(VERSION) --all - -uninstall: - sudo dkms uninstall panda/$(VERSION) - -clean: remove - -link: - sudo dkms add `pwd` - -unload: - sudo rmmod panda diff --git a/panda/drivers/linux/README.md b/panda/drivers/linux/README.md deleted file mode 100644 index 2280ce8539945d..00000000000000 --- a/panda/drivers/linux/README.md +++ /dev/null @@ -1,28 +0,0 @@ -# Linux driver -Installs the panda linux kernel driver using DKMS. - -This will allow the panda to work with tools such as `can-utils` - -## Prerequisites - - `apt-get install dkms gcc linux-headers-$(uname -r) make sudo` - -## Installation - - `make all` - - `make link` (optional, setup to build/install when kernel is updated) - -## Uninstall - - `make clean` - -## Usage - -You will need to bring it up using `sudo ifconfig can0 up` or -`sudo ip link set dev can0 up`, depending on your platform. - -Note that you may have to setup udev rules for Linux -``` bash -sudo tee /etc/udev/rules.d/11-panda.rules < -#include -#include -#include // Macros used to mark up functions e.g., __init __exit -#include // Contains types, macros, functions for the kernel -#include // Core header for loading LKMs into the kernel -#include -#include -#include - -/* vendor and product id */ -#define PANDA_MODULE_NAME "panda" -#define PANDA_VENDOR_ID 0XBBAA -#define PANDA_PRODUCT_ID 0XDDCC - -#define PANDA_MAX_TX_URBS 20 -#define PANDA_CTX_FREE PANDA_MAX_TX_URBS - -#define PANDA_USB_RX_BUFF_SIZE 0x40 -#define PANDA_USB_TX_BUFF_SIZE (sizeof(struct panda_usb_can_msg)) - -#define PANDA_NUM_CAN_INTERFACES 3 - -#define PANDA_CAN_TRANSMIT 1 -#define PANDA_CAN_EXTENDED 4 - -#define PANDA_BITRATE 500000 - -#define PANDA_DLC_MASK 0x0F - -#define SAFETY_ALLOUTPUT 17 -#define SAFETY_SILENT 0 - -struct panda_usb_ctx { - struct panda_inf_priv *priv; - u32 ndx; - u8 dlc; -}; - -struct panda_dev_priv; - -struct panda_inf_priv { - struct can_priv can; - struct panda_usb_ctx tx_context[PANDA_MAX_TX_URBS]; - struct net_device *netdev; - struct usb_anchor tx_submitted; - atomic_t free_ctx_cnt; - u8 interface_num; - u8 mcu_can_ifnum; - struct panda_dev_priv *priv_dev; -}; - -struct panda_dev_priv { - struct usb_device *udev; - struct device *dev; - struct usb_anchor rx_submitted; - struct panda_inf_priv *interfaces[PANDA_NUM_CAN_INTERFACES]; -}; - -struct __packed panda_usb_can_msg { - u32 rir; - u32 bus_dat_len; - u8 data[8]; -}; - -static const struct usb_device_id panda_usb_table[] = { - { USB_DEVICE(PANDA_VENDOR_ID, PANDA_PRODUCT_ID) }, - {} /* Terminating entry */ -}; - -MODULE_DEVICE_TABLE(usb, panda_usb_table); - - -// panda: CAN1 = 0 CAN2 = 1 CAN3 = 2 -const int can_numbering[] = {0,1,2}; - -struct panda_inf_priv * -panda_get_inf_from_bus_id(struct panda_dev_priv *priv_dev, int bus_id) { - int inf_num; - for(inf_num = 0; inf_num < PANDA_NUM_CAN_INTERFACES; inf_num++) - if(can_numbering[inf_num] == bus_id) - return priv_dev->interfaces[inf_num]; - return NULL; -} - -// CTX handling shamlessly ripped from mcba_usb.c linux driver -static inline void panda_init_ctx(struct panda_inf_priv *priv) -{ - int i = 0; - - for (i = 0; i < PANDA_MAX_TX_URBS; i++) { - priv->tx_context[i].ndx = PANDA_CTX_FREE; - priv->tx_context[i].priv = priv; - } - - atomic_set(&priv->free_ctx_cnt, ARRAY_SIZE(priv->tx_context)); -} - -static inline struct panda_usb_ctx *panda_usb_get_free_ctx(struct panda_inf_priv *priv, struct can_frame *cf) -{ - int i = 0; - struct panda_usb_ctx *ctx = NULL; - - for (i = 0; i < PANDA_MAX_TX_URBS; i++) { - if (priv->tx_context[i].ndx == PANDA_CTX_FREE) { - ctx = &priv->tx_context[i]; - ctx->ndx = i; - ctx->dlc = cf->can_dlc; - - atomic_dec(&priv->free_ctx_cnt); - break; - } - } - - //printk("CTX num %d\n", atomic_read(&priv->free_ctx_cnt)); - if (!atomic_read(&priv->free_ctx_cnt)) { - /* That was the last free ctx. Slow down tx path */ - printk("SENDING TOO FAST\n"); - netif_stop_queue(priv->netdev); - } - - return ctx; -} - -/* panda_usb_free_ctx and panda_usb_get_free_ctx are executed by different - * threads. The order of execution in below function is important. - */ -static inline void panda_usb_free_ctx(struct panda_usb_ctx *ctx) -{ - /* Increase number of free ctxs before freeing ctx */ - atomic_inc(&ctx->priv->free_ctx_cnt); - - ctx->ndx = PANDA_CTX_FREE; - - /* Wake up the queue once ctx is marked free */ - netif_wake_queue(ctx->priv->netdev); -} - -static void panda_urb_unlink(struct panda_inf_priv *priv) -{ - usb_kill_anchored_urbs(&priv->priv_dev->rx_submitted); - usb_kill_anchored_urbs(&priv->tx_submitted); -} - -static int panda_set_output_enable(struct panda_inf_priv* priv, bool enable) { - return usb_control_msg(priv->priv_dev->udev, - usb_sndctrlpipe(priv->priv_dev->udev, 0), - 0xDC, USB_TYPE_VENDOR | USB_RECIP_DEVICE, - enable ? SAFETY_ALLOUTPUT : SAFETY_SILENT, 0, NULL, 0, USB_CTRL_SET_TIMEOUT); -} - -static void panda_usb_write_bulk_callback(struct urb *urb) -{ - struct panda_usb_ctx *ctx = urb->context; - struct net_device *netdev; - - WARN_ON(!ctx); - - netdev = ctx->priv->netdev; - - /* free up our allocated buffer */ - usb_free_coherent(urb->dev, urb->transfer_buffer_length, urb->transfer_buffer, urb->transfer_dma); - - if (!netif_device_present(netdev)) - return; - - netdev->stats.tx_packets++; - netdev->stats.tx_bytes += ctx->dlc; - - can_get_echo_skb(netdev, ctx->ndx, NULL); - - if (urb->status) - netdev_info(netdev, "Tx URB aborted (%d)\n", urb->status); - - /* Release the context */ - panda_usb_free_ctx(ctx); -} - -static netdev_tx_t panda_usb_xmit(struct panda_inf_priv *priv, struct panda_usb_can_msg *usb_msg, struct panda_usb_ctx *ctx) -{ - struct urb *urb; - u8 *buf; - int err; - - /* create a URB, and a buffer for it, and copy the data to the URB */ - urb = usb_alloc_urb(0, GFP_ATOMIC); - if (!urb) - return -ENOMEM; - - buf = usb_alloc_coherent(priv->priv_dev->udev, PANDA_USB_TX_BUFF_SIZE, GFP_ATOMIC, &urb->transfer_dma); - if (!buf) { - err = -ENOMEM; - goto nomembuf; - } - - memcpy(buf, usb_msg, PANDA_USB_TX_BUFF_SIZE); - - usb_fill_bulk_urb(urb, priv->priv_dev->udev, - usb_sndbulkpipe(priv->priv_dev->udev, 3), buf, - PANDA_USB_TX_BUFF_SIZE, panda_usb_write_bulk_callback, - ctx); - - urb->transfer_flags |= URB_NO_TRANSFER_DMA_MAP; - usb_anchor_urb(urb, &priv->tx_submitted); - - err = usb_submit_urb(urb, GFP_ATOMIC); - if (unlikely(err)) - goto failed; - - /* Release our reference to this URB, the USB core will eventually free it entirely. */ - usb_free_urb(urb); - - return 0; - - failed: - usb_unanchor_urb(urb); - usb_free_coherent(priv->priv_dev->udev, PANDA_USB_TX_BUFF_SIZE, buf, urb->transfer_dma); - - if (err == -ENODEV) - netif_device_detach(priv->netdev); - else - netdev_warn(priv->netdev, "failed tx_urb %d\n", err); - - nomembuf: - usb_free_urb(urb); - - return err; -} - -static void panda_usb_process_can_rx(struct panda_dev_priv *priv_dev, struct panda_usb_can_msg *msg) -{ - struct can_frame *cf; - struct sk_buff *skb; - int bus_num; - struct panda_inf_priv *priv_inf; - struct net_device_stats *stats; - - bus_num = (msg->bus_dat_len >> 4) & 0xf; - priv_inf = panda_get_inf_from_bus_id(priv_dev, bus_num); - if (!priv_inf) { - printk("Got something on an unused interface %d\n", bus_num); - return; - } - //printk("Recv bus %d\n", bus_num); - - stats = &priv_inf->netdev->stats; - //u16 sid; - - if (!netif_device_present(priv_inf->netdev)) - return; - - skb = alloc_can_skb(priv_inf->netdev, &cf); - if (!skb) - return; - - if (msg->rir & PANDA_CAN_EXTENDED) { - cf->can_id = (msg->rir >> 3) | CAN_EFF_FLAG; - } else { - cf->can_id = (msg->rir >> 21); - } - - // TODO: Handle Remote Frames - //if (msg->dlc & MCBA_DLC_RTR_MASK) - // cf->can_id |= CAN_RTR_FLAG; - -#if LINUX_VERSION_CODE < KERNEL_VERSION(5, 11, 0) - cf->can_dlc = get_can_dlc(msg->bus_dat_len & PANDA_DLC_MASK); -#else - cf->can_dlc = can_cc_dlc2len(msg->bus_dat_len & PANDA_DLC_MASK); -#endif - - memcpy(cf->data, msg->data, cf->can_dlc); - - stats->rx_packets++; - stats->rx_bytes += cf->can_dlc; - - netif_rx(skb); -} - -static void panda_usb_read_bulk_callback(struct urb *urb) -{ - struct panda_dev_priv *priv_dev = urb->context; - int retval; - int pos = 0; - int inf_num; - - switch (urb->status) { - case 0: /* success */ - break; - case -ENOENT: - case -ESHUTDOWN: - return; - default: - dev_info(priv_dev->dev, "Rx URB aborted (%d)\n", urb->status); - goto resubmit_urb; - } - - while (pos < urb->actual_length) { - struct panda_usb_can_msg *msg; - - if (pos + sizeof(struct panda_usb_can_msg) > urb->actual_length) { - dev_err(priv_dev->dev, "format error\n"); - break; - } - - msg = (struct panda_usb_can_msg *)(urb->transfer_buffer + pos); - - panda_usb_process_can_rx(priv_dev, msg); - - pos += sizeof(struct panda_usb_can_msg); - } - - resubmit_urb: - usb_fill_bulk_urb(urb, priv_dev->udev, - usb_rcvbulkpipe(priv_dev->udev, 1), - urb->transfer_buffer, PANDA_USB_RX_BUFF_SIZE, - panda_usb_read_bulk_callback, priv_dev); - - retval = usb_submit_urb(urb, GFP_ATOMIC); - - if (retval == -ENODEV) { - for (inf_num = 0; inf_num < PANDA_NUM_CAN_INTERFACES; inf_num++) - if (priv_dev->interfaces[inf_num]) - netif_device_detach(priv_dev->interfaces[inf_num]->netdev); - } else if (retval) { - dev_err(priv_dev->dev, "failed resubmitting read bulk urb: %d\n", retval); - } -} - - -static int panda_usb_start(struct panda_dev_priv *priv_dev) -{ - int err; - struct urb *urb = NULL; - u8 *buf; - int inf_num; - - for (inf_num = 0; inf_num < PANDA_NUM_CAN_INTERFACES; inf_num++) - panda_init_ctx(priv_dev->interfaces[inf_num]); - - err = usb_set_interface(priv_dev->udev, 0, 0); - if (err) { - dev_err(priv_dev->dev, "Can not set alternate setting to 0, error: %i", err); - return err; - } - - /* create a URB, and a buffer for it */ - urb = usb_alloc_urb(0, GFP_KERNEL); - if (!urb) { - return -ENOMEM; - } - - buf = usb_alloc_coherent(priv_dev->udev, PANDA_USB_RX_BUFF_SIZE, GFP_KERNEL, &urb->transfer_dma); - if (!buf) { - dev_err(priv_dev->dev, "No memory left for USB buffer\n"); - usb_free_urb(urb); - return -ENOMEM; - } - - usb_fill_bulk_urb(urb, priv_dev->udev, - usb_rcvbulkpipe(priv_dev->udev, 1), - buf, PANDA_USB_RX_BUFF_SIZE, - panda_usb_read_bulk_callback, priv_dev); - urb->transfer_flags |= URB_NO_TRANSFER_DMA_MAP; - - usb_anchor_urb(urb, &priv_dev->rx_submitted); - - err = usb_submit_urb(urb, GFP_KERNEL); - if (err) { - usb_unanchor_urb(urb); - usb_free_coherent(priv_dev->udev, PANDA_USB_RX_BUFF_SIZE, buf, urb->transfer_dma); - usb_free_urb(urb); - dev_err(priv_dev->dev, "Failed in start, while submitting urb.\n"); - return err; - } - - /* Drop reference, USB core will take care of freeing it */ - usb_free_urb(urb); - - - return 0; -} - -/* Open USB device */ -static int panda_usb_open(struct net_device *netdev) -{ - struct panda_inf_priv *priv = netdev_priv(netdev); - int err; - - /* common open */ - err = open_candev(netdev); - if (err) - return err; - - //priv->can_speed_check = true; - priv->can.state = CAN_STATE_ERROR_ACTIVE; - - netif_start_queue(netdev); - - return 0; -} - -/* Close USB device */ -static int panda_usb_close(struct net_device *netdev) -{ - struct panda_inf_priv *priv = netdev_priv(netdev); - - priv->can.state = CAN_STATE_STOPPED; - - netif_stop_queue(netdev); - - /* Stop polling */ - panda_urb_unlink(priv); - - close_candev(netdev); - - return 0; -} - -static netdev_tx_t panda_usb_start_xmit(struct sk_buff *skb, struct net_device *netdev) -{ - struct panda_inf_priv *priv_inf = netdev_priv(netdev); - struct can_frame *cf = (struct can_frame *)skb->data; - struct panda_usb_ctx *ctx = NULL; - struct net_device_stats *stats = &priv_inf->netdev->stats; - int err; - struct panda_usb_can_msg usb_msg = {}; - int bus = priv_inf->mcu_can_ifnum; - - if (can_dropped_invalid_skb(netdev, skb)) { - printk("Invalid CAN packet"); - return NETDEV_TX_OK; - } - - ctx = panda_usb_get_free_ctx(priv_inf, cf); - - //Warning: cargo cult. Can't tell what this is for, but it is - //everywhere and encouraged in the documentation. - can_put_echo_skb(skb, priv_inf->netdev, ctx->ndx, NULL); - - if (cf->can_id & CAN_EFF_FLAG) { - usb_msg.rir = cpu_to_le32(((cf->can_id & 0x1FFFFFFF) << 3) | PANDA_CAN_TRANSMIT | PANDA_CAN_EXTENDED); - } else { - usb_msg.rir = cpu_to_le32(((cf->can_id & 0x7FF) << 21) | PANDA_CAN_TRANSMIT); - } - usb_msg.bus_dat_len = cpu_to_le32((cf->can_dlc & 0x0F) | (bus << 4)); - - memcpy(usb_msg.data, cf->data, cf->can_dlc); - - //TODO Handle Remote Frames - //if (cf->can_id & CAN_RTR_FLAG) - // usb_msg.dlc |= PANDA_DLC_RTR_MASK; - - // printk("Received data from socket. bus: %x; canid: %x; len: %d\n", priv_inf->mcu_can_ifnum, cf->can_id, cf->can_dlc); - - err = panda_usb_xmit(priv_inf, &usb_msg, ctx); - if (err) - goto xmit_failed; - - return NETDEV_TX_OK; - - xmit_failed: - can_free_echo_skb(priv_inf->netdev, ctx->ndx, NULL); - panda_usb_free_ctx(ctx); - dev_kfree_skb_any(skb); - stats->tx_dropped++; - - return NETDEV_TX_OK; -} - -static const struct net_device_ops panda_netdev_ops = { - .ndo_open = panda_usb_open, - .ndo_stop = panda_usb_close, - .ndo_start_xmit = panda_usb_start_xmit, -}; - -static int panda_usb_probe(struct usb_interface *intf, const struct usb_device_id *id) -{ - struct net_device *netdev; - struct panda_inf_priv *priv_inf; - int err = -ENOMEM; - int inf_num; - struct panda_dev_priv *priv_dev; - struct usb_device *usbdev = interface_to_usbdev(intf); - - priv_dev = kzalloc(sizeof(struct panda_dev_priv), GFP_KERNEL); - if (!priv_dev) { - dev_err(&intf->dev, "Couldn't alloc priv_dev\n"); - return -ENOMEM; - } - priv_dev->udev = usbdev; - priv_dev->dev = &intf->dev; - usb_set_intfdata(intf, priv_dev); - - ////// Interface privs - for (inf_num = 0; inf_num < PANDA_NUM_CAN_INTERFACES; inf_num++) { - netdev = alloc_candev(sizeof(struct panda_inf_priv), PANDA_MAX_TX_URBS); - if (!netdev) { - dev_err(&intf->dev, "Couldn't alloc candev\n"); - goto cleanup_candev; - } - netdev->netdev_ops = &panda_netdev_ops; - netdev->flags |= IFF_ECHO; /* we support local echo */ - - priv_inf = netdev_priv(netdev); - priv_inf->netdev = netdev; - priv_inf->priv_dev = priv_dev; - priv_inf->interface_num = inf_num; - priv_inf->mcu_can_ifnum = can_numbering[inf_num]; - - init_usb_anchor(&priv_dev->rx_submitted); - init_usb_anchor(&priv_inf->tx_submitted); - - /* Init CAN device */ - priv_inf->can.state = CAN_STATE_STOPPED; - priv_inf->can.bittiming.bitrate = PANDA_BITRATE; - - SET_NETDEV_DEV(netdev, &intf->dev); - - err = register_candev(netdev); - if (err) { - netdev_err(netdev, "couldn't register PANDA CAN device: %d\n", err); - free_candev(priv_inf->netdev); - goto cleanup_candev; - } - - priv_dev->interfaces[inf_num] = priv_inf; - } - - err = panda_usb_start(priv_dev); - if (err) { - dev_err(&intf->dev, "Failed to initialize Comma.ai Panda CAN controller\n"); - goto cleanup_candev; - } - - err = panda_set_output_enable(priv_inf, true); - if (err) { - dev_info(&intf->dev, "Failed to initialize send enable message to Panda.\n"); - goto cleanup_candev; - } - - dev_info(&intf->dev, "Comma.ai Panda CAN controller connected\n"); - - return 0; - - cleanup_candev: - for (inf_num = 0; inf_num < PANDA_NUM_CAN_INTERFACES; inf_num++) { - priv_inf = priv_dev->interfaces[inf_num]; - if (priv_inf) { - unregister_candev(priv_inf->netdev); - free_candev(priv_inf->netdev); - } else { - break; - } - } - - kfree(priv_dev); - - return err; -} - -/* Called by the usb core when driver is unloaded or device is removed */ -static void panda_usb_disconnect(struct usb_interface *intf) -{ - struct panda_dev_priv *priv_dev = usb_get_intfdata(intf); - struct panda_inf_priv *priv_inf; - int inf_num; - - usb_set_intfdata(intf, NULL); - - for (inf_num = 0; inf_num < PANDA_NUM_CAN_INTERFACES; inf_num++) { - priv_inf = priv_dev->interfaces[inf_num]; - if (priv_inf) { - netdev_info(priv_inf->netdev, "device disconnected\n"); - unregister_candev(priv_inf->netdev); - free_candev(priv_inf->netdev); - } else { - break; - } - } - - panda_urb_unlink(priv_inf); - kfree(priv_dev); -} - -static struct usb_driver panda_usb_driver = { - .name = PANDA_MODULE_NAME, - .probe = panda_usb_probe, - .disconnect = panda_usb_disconnect, - .id_table = panda_usb_table, -}; - -module_usb_driver(panda_usb_driver); - -MODULE_LICENSE("GPL"); -MODULE_AUTHOR("Jessy Diamond Exum "); -MODULE_DESCRIPTION("SocketCAN driver for Comma.ai's Panda Adapter."); -MODULE_VERSION("0.1"); diff --git a/panda/drivers/linux/test/Makefile b/panda/drivers/linux/test/Makefile deleted file mode 100644 index c73945e4cd0702..00000000000000 --- a/panda/drivers/linux/test/Makefile +++ /dev/null @@ -1,2 +0,0 @@ -all: - gcc main.c -o cantest -pthread -lpthread diff --git a/panda/drivers/linux/test/main.c b/panda/drivers/linux/test/main.c deleted file mode 100644 index 1f44efc76e20a7..00000000000000 --- a/panda/drivers/linux/test/main.c +++ /dev/null @@ -1,120 +0,0 @@ -#include -#include -#include -#include -#include - -#include -#include -#include -#include - -#include -#include - -const char *ifname = "can0"; - -static unsigned char payload[] = {0xAA, 0xAA, 0xAA, 0xAA, 0x07, 0x00, 0x00, 0x00}; -int packet_len = 8; -int dir = 0; - -void *write_thread( void *dat ){ - int nbytes; - struct can_frame frame; - int s = *((int*) dat); - - while(1){ - for(int i = 0; i < 1; i ++){ - if(packet_len % 2){ - frame.can_id = 0x8AA | CAN_EFF_FLAG; - }else{ - frame.can_id = 0xAA; - } - - frame.can_dlc = packet_len; - memcpy(frame.data, payload, frame.can_dlc); - - nbytes = write(s, &frame, sizeof(struct can_frame)); - - printf("Wrote %d bytes; addr: %lx; datlen: %d\n", nbytes, frame.can_id, frame.can_dlc); - - if(dir){ - packet_len++; - if(packet_len >= 8) - dir = 0; - }else{ - packet_len--; - if(packet_len <= 0) - dir = 1; - } - } - sleep(2); - } -} - - -int main(void) -{ - pthread_t sndthread; - int err, s, nbytes; - struct sockaddr_can addr; - struct can_frame frame; - struct ifreq ifr; - - if((s = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) { - perror("Error while opening socket"); - return -1; - } - - strcpy(ifr.ifr_name, ifname); - ioctl(s, SIOCGIFINDEX, &ifr); - - addr.can_family = AF_CAN; - addr.can_ifindex = ifr.ifr_ifindex; - - printf("%s at index %d\n", ifname, ifr.ifr_ifindex); - - if(bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) { - perror("Error in socket bind"); - return -2; - } - - /////// Create Write Thread - - err = pthread_create( &sndthread, NULL, write_thread, (void*) &s); - if(err){ - fprintf(stderr,"Error - pthread_create() return code: %d\n", err); - exit(EXIT_FAILURE); - } - - /////// Listen to socket - while (1) { - struct can_frame framein; - - // Read in a CAN frame - int numBytes = read(s, &framein, CANFD_MTU); - switch (numBytes) { - case CAN_MTU: - if(framein.can_id & 0x80000000) - printf("Received %u byte payload; canid 0x%lx (EXT)\n", - framein.can_dlc, framein.can_id & 0x7FFFFFFF); - else - printf("Received %u byte payload; canid 0x%lx\n", framein.can_dlc, framein.can_id); - break; - case CANFD_MTU: - // TODO: Should make an example for CAN FD - break; - case -1: - // Check the signal value on interrupt - //if (EINTR == errno) - // continue; - - // Delay before continuing - sleep(1); - default: - continue; - } - } - - return 0; -} diff --git a/panda/drivers/linux/test/run.sh b/panda/drivers/linux/test/run.sh deleted file mode 100644 index 5301719b497982..00000000000000 --- a/panda/drivers/linux/test/run.sh +++ /dev/null @@ -1,4 +0,0 @@ -#!/usr/bin/env bash -sudo ifconfig can0 up -make -./cantest diff --git a/panda/drivers/spi/.gitignore b/panda/drivers/spi/.gitignore deleted file mode 100644 index 49dc09d89f95bf..00000000000000 --- a/panda/drivers/spi/.gitignore +++ /dev/null @@ -1,7 +0,0 @@ -spidev.c -*.ko -*.cmd -*.mod -*.symvers -*.order -*.mod.c diff --git a/panda/drivers/spi/Makefile b/panda/drivers/spi/Makefile deleted file mode 100644 index 9a2a0abf678739..00000000000000 --- a/panda/drivers/spi/Makefile +++ /dev/null @@ -1,14 +0,0 @@ -obj-m += spidev_panda.o - -KDIR := /lib/modules/$(shell uname -r)/build -PWD := $(shell pwd) - -# GCC9 bug, apply kernel patch instead? -# https://git.kernel.org/pub/scm/linux/kernel/git/torvalds/linux.git/commit/?id=0b999ae3614d09d97a1575936bcee884f912b10e -ccflags-y := -Wno-missing-attributes - -default: - $(MAKE) -C $(KDIR) M=$(PWD) modules - -clean: - $(MAKE) -C $(KDIR) M=$(PWD) clean diff --git a/panda/drivers/spi/load.sh b/panda/drivers/spi/load.sh deleted file mode 100644 index b8efdbf708fbc1..00000000000000 --- a/panda/drivers/spi/load.sh +++ /dev/null @@ -1,27 +0,0 @@ -#!/bin/bash -set -e - -DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)" -cd $DIR - -make -j8 - -sudo su -c "echo spi0.0 > /sys/bus/spi/drivers/spidev/unbind" || true - -sudo dmesg -C - -#sudo rmmod -f spidev_panda -sudo rmmod spidev_panda || true -sudo insmod spidev_panda.ko - -sudo su -c "echo 'file $DIR/spidev_panda.c +p' > /sys/kernel/debug/dynamic_debug/control" -sudo su -c "echo 'file $DIR/spi_panda.h +p' > /sys/kernel/debug/dynamic_debug/control" - -sudo lsmod - -echo "loaded" -ls -la /dev/spi* -sudo chmod 666 /dev/spi* -ipython -c "from panda import Panda; print(Panda.list())" -KERN=1 ipython -c "from panda import Panda; print(Panda.list())" -dmesg diff --git a/panda/drivers/spi/patch b/panda/drivers/spi/patch deleted file mode 100644 index a146303424b9c0..00000000000000 --- a/panda/drivers/spi/patch +++ /dev/null @@ -1,33 +0,0 @@ -53c53,54 -< #define SPIDEV_MAJOR 153 /* assigned */ ---- -> int SPIDEV_MAJOR = 0; -> //#define SPIDEV_MAJOR 153 /* assigned */ -354a356,358 -> -> #include "spi_panda.h" -> -413,414c417,419 -< retval = __put_user((spi->mode & SPI_LSB_FIRST) ? 1 : 0, -< (__u8 __user *)arg); ---- -> retval = panda_transfer(spidev, spi, arg); -> //retval = __put_user((spi->mode & SPI_LSB_FIRST) ? 1 : 0, -> // (__u8 __user *)arg); -697,698d701 -< { .compatible = "rohm,dh2228fv" }, -< { .compatible = "lineartechnology,ltc2488" }, -831c834 -< .name = "spidev", ---- -> .name = "spidev_panda", -856c859 -< status = register_chrdev(SPIDEV_MAJOR, "spi", &spidev_fops); ---- -> status = register_chrdev(0, "spi", &spidev_fops); -860c863,865 -< spidev_class = class_create(THIS_MODULE, "spidev"); ---- -> SPIDEV_MAJOR = status; -> -> spidev_class = class_create(THIS_MODULE, "spidev_panda"); diff --git a/panda/drivers/spi/pull-src.sh b/panda/drivers/spi/pull-src.sh deleted file mode 100644 index f74b94b9e79674..00000000000000 --- a/panda/drivers/spi/pull-src.sh +++ /dev/null @@ -1,12 +0,0 @@ -#!/usr/bin/bash -set -e - -DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)" -cd $DIR - -rm -f spidev.c -wget https://raw.githubusercontent.com/commaai/agnos-kernel-sdm845/master/drivers/spi/spidev.c - -# diff spidev.c spidev_panda.c > patch -# git diff --no-index spidev.c spidev_panda.c -patch -o spidev_panda.c spidev.c -i patch diff --git a/panda/drivers/spi/spi_panda.h b/panda/drivers/spi/spi_panda.h deleted file mode 100644 index c7da681fc2be2e..00000000000000 --- a/panda/drivers/spi/spi_panda.h +++ /dev/null @@ -1,160 +0,0 @@ -#include -#include -#include - -#define SPI_SYNC 0x5AU -#define SPI_HACK 0x79U -#define SPI_DACK 0x85U -#define SPI_NACK 0x1FU -#define SPI_CHECKSUM_START 0xABU - -struct __attribute__((packed)) spi_header { - u8 sync; - u8 endpoint; - uint16_t tx_len; - uint16_t max_rx_len; -}; - -struct spi_panda_transfer { - __u64 rx_buf; - __u64 tx_buf; - __u32 tx_length; - __u32 rx_length_max; - __u32 timeout; - __u8 endpoint; - __u8 expect_disconnect; -}; - -static u8 panda_calc_checksum(u8 *buf, u16 length) { - int i; - u8 checksum = SPI_CHECKSUM_START; - for (i = 0U; i < length; i++) { - checksum ^= buf[i]; - } - return checksum; -} - -static long panda_wait_for_ack(struct spidev_data *spidev, u8 ack_val, u8 length) { - int i; - int ret; - for (i = 0; i < 1000; i++) { - ret = spidev_sync_read(spidev, length); - if (ret < 0) { - return ret; - } - - if (spidev->rx_buffer[0] == ack_val) { - return 0; - } else if (spidev->rx_buffer[0] == SPI_NACK) { - return -2; - } - if (i > 20) usleep_range(10, 20); - } - return -1; -} - -static long panda_transfer_raw(struct spidev_data *spidev, struct spi_device *spi, unsigned long arg) { - u16 rx_len; - long retval = -1; - struct spi_header header; - struct spi_panda_transfer pt; - - struct spi_transfer t = { - .len = 0, - .tx_buf = spidev->tx_buffer, - .rx_buf = spidev->rx_buffer, - .speed_hz = spidev->spi->max_speed_hz, - }; - - struct spi_message m; - spi_message_init(&m); - spi_message_add_tail(&t, &m); - - // read struct from user - if (!access_ok(VERIFY_WRITE, arg, sizeof(pt))) { - return -1; - } - if (copy_from_user(&pt, (void __user *)arg, sizeof(pt))) { - return -1; - } - dev_dbg(&spi->dev, "ep: %d, tx len: %d\n", pt.endpoint, pt.tx_length); - - // send header - header.sync = 0x5a; - header.endpoint = pt.endpoint; - header.tx_len = pt.tx_length; - header.max_rx_len = pt.rx_length_max; - memcpy(spidev->tx_buffer, &header, sizeof(header)); - spidev->tx_buffer[sizeof(header)] = panda_calc_checksum(spidev->tx_buffer, sizeof(header)); - - t.len = sizeof(header) + 1; - retval = spidev_sync(spidev, &m); - if (retval < 0) { - dev_dbg(&spi->dev, "spi xfer failed %ld\n", retval); - return retval; - } - - // wait for ACK - retval = panda_wait_for_ack(spidev, SPI_HACK, 1); - if (retval < 0) { - dev_dbg(&spi->dev, "no header ack %ld\n", retval); - return retval; - } - - // send data - dev_dbg(&spi->dev, "sending data\n"); - retval = copy_from_user(spidev->tx_buffer, (const u8 __user *)(uintptr_t)pt.tx_buf, pt.tx_length); - spidev->tx_buffer[pt.tx_length] = panda_calc_checksum(spidev->tx_buffer, pt.tx_length); - t.len = pt.tx_length + 1; - retval = spidev_sync(spidev, &m); - - if (pt.expect_disconnect) { - return 0; - } - - // wait for ACK - retval = panda_wait_for_ack(spidev, SPI_DACK, 3); - if (retval < 0) { - dev_dbg(&spi->dev, "no data ack\n"); - return retval; - } - - // get response - t.rx_buf = spidev->rx_buffer + 3; - rx_len = (spidev->rx_buffer[2] << 8) | (spidev->rx_buffer[1]); - dev_dbg(&spi->dev, "rx len %u\n", rx_len); - if (rx_len > pt.rx_length_max) { - dev_dbg(&spi->dev, "RX len greater than max\n"); - return -1; - } - - // do the read - t.len = rx_len + 1; - retval = spidev_sync(spidev, &m); - if (retval < 0) { - dev_dbg(&spi->dev, "spi xfer failed %ld\n", retval); - return retval; - } - if (panda_calc_checksum(spidev->rx_buffer, 3 + rx_len + 1) != 0) { - dev_dbg(&spi->dev, "bad checksum\n"); - return -1; - } - - retval = copy_to_user((u8 __user *)(uintptr_t)pt.rx_buf, spidev->rx_buffer + 3, rx_len); - - return rx_len; -} - -static long panda_transfer(struct spidev_data *spidev, struct spi_device *spi, unsigned long arg) { - int i; - int ret; - dev_dbg(&spi->dev, "=== XFER start ===\n"); - for (i = 0; i < 20; i++) { - ret = panda_transfer_raw(spidev, spi, arg); - if (ret >= 0) { - break; - } - } - dev_dbg(&spi->dev, "took %d tries\n", i+1); - return ret; -} diff --git a/panda/drivers/spi/spidev_panda.c b/panda/drivers/spi/spidev_panda.c deleted file mode 100644 index f21fe3387b87c8..00000000000000 --- a/panda/drivers/spi/spidev_panda.c +++ /dev/null @@ -1,891 +0,0 @@ -/* - * Simple synchronous userspace interface to SPI devices - * - * Copyright (C) 2006 SWAPP - * Andrea Paterniani - * Copyright (C) 2007 David Brownell (simplification, cleanup) - * - * This program is free software; you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; either version 2 of the License, or - * (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - */ - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include -#include - -#include - - -/* - * This supports access to SPI devices using normal userspace I/O calls. - * Note that while traditional UNIX/POSIX I/O semantics are half duplex, - * and often mask message boundaries, full SPI support requires full duplex - * transfers. There are several kinds of internal message boundaries to - * handle chipselect management and other protocol options. - * - * SPI has a character major number assigned. We allocate minor numbers - * dynamically using a bitmask. You must use hotplug tools, such as udev - * (or mdev with busybox) to create and destroy the /dev/spidevB.C device - * nodes, since there is no fixed association of minor numbers with any - * particular SPI bus or device. - */ -int SPIDEV_MAJOR = 0; -//#define SPIDEV_MAJOR 153 /* assigned */ -#define N_SPI_MINORS 32 /* ... up to 256 */ - -static DECLARE_BITMAP(minors, N_SPI_MINORS); - - -/* Bit masks for spi_device.mode management. Note that incorrect - * settings for some settings can cause *lots* of trouble for other - * devices on a shared bus: - * - * - CS_HIGH ... this device will be active when it shouldn't be - * - 3WIRE ... when active, it won't behave as it should - * - NO_CS ... there will be no explicit message boundaries; this - * is completely incompatible with the shared bus model - * - READY ... transfers may proceed when they shouldn't. - * - * REVISIT should changing those flags be privileged? - */ -#define SPI_MODE_MASK (SPI_CPHA | SPI_CPOL | SPI_CS_HIGH \ - | SPI_LSB_FIRST | SPI_3WIRE | SPI_LOOP \ - | SPI_NO_CS | SPI_READY | SPI_TX_DUAL \ - | SPI_TX_QUAD | SPI_RX_DUAL | SPI_RX_QUAD) - -struct spidev_data { - dev_t devt; - spinlock_t spi_lock; - struct spi_device *spi; - struct list_head device_entry; - - /* TX/RX buffers are NULL unless this device is open (users > 0) */ - struct mutex buf_lock; - unsigned users; - u8 *tx_buffer; - u8 *rx_buffer; - u32 speed_hz; -}; - -static LIST_HEAD(device_list); -static DEFINE_MUTEX(device_list_lock); - -static unsigned bufsiz = 4096; -module_param(bufsiz, uint, S_IRUGO); -MODULE_PARM_DESC(bufsiz, "data bytes in biggest supported SPI message"); - -/*-------------------------------------------------------------------------*/ - -static ssize_t -spidev_sync(struct spidev_data *spidev, struct spi_message *message) -{ - DECLARE_COMPLETION_ONSTACK(done); - int status; - struct spi_device *spi; - - spin_lock_irq(&spidev->spi_lock); - spi = spidev->spi; - spin_unlock_irq(&spidev->spi_lock); - - if (spi == NULL) - status = -ESHUTDOWN; - else - status = spi_sync(spi, message); - - if (status == 0) - status = message->actual_length; - - return status; -} - -static inline ssize_t -spidev_sync_write(struct spidev_data *spidev, size_t len) -{ - struct spi_transfer t = { - .tx_buf = spidev->tx_buffer, - .len = len, - .speed_hz = spidev->speed_hz, - }; - struct spi_message m; - - spi_message_init(&m); - spi_message_add_tail(&t, &m); - return spidev_sync(spidev, &m); -} - -static inline ssize_t -spidev_sync_read(struct spidev_data *spidev, size_t len) -{ - struct spi_transfer t = { - .rx_buf = spidev->rx_buffer, - .len = len, - .speed_hz = spidev->speed_hz, - }; - struct spi_message m; - - spi_message_init(&m); - spi_message_add_tail(&t, &m); - return spidev_sync(spidev, &m); -} - -/*-------------------------------------------------------------------------*/ - -/* Read-only message with current device setup */ -static ssize_t -spidev_read(struct file *filp, char __user *buf, size_t count, loff_t *f_pos) -{ - struct spidev_data *spidev; - ssize_t status = 0; - - /* chipselect only toggles at start or end of operation */ - if (count > bufsiz) - return -EMSGSIZE; - - spidev = filp->private_data; - - mutex_lock(&spidev->buf_lock); - status = spidev_sync_read(spidev, count); - if (status > 0) { - unsigned long missing; - - missing = copy_to_user(buf, spidev->rx_buffer, status); - if (missing == status) - status = -EFAULT; - else - status = status - missing; - } - mutex_unlock(&spidev->buf_lock); - - return status; -} - -/* Write-only message with current device setup */ -static ssize_t -spidev_write(struct file *filp, const char __user *buf, - size_t count, loff_t *f_pos) -{ - struct spidev_data *spidev; - ssize_t status = 0; - unsigned long missing; - - /* chipselect only toggles at start or end of operation */ - if (count > bufsiz) - return -EMSGSIZE; - - spidev = filp->private_data; - - mutex_lock(&spidev->buf_lock); - missing = copy_from_user(spidev->tx_buffer, buf, count); - if (missing == 0) - status = spidev_sync_write(spidev, count); - else - status = -EFAULT; - mutex_unlock(&spidev->buf_lock); - - return status; -} - -static int spidev_message(struct spidev_data *spidev, - struct spi_ioc_transfer *u_xfers, unsigned n_xfers) -{ - struct spi_message msg; - struct spi_transfer *k_xfers; - struct spi_transfer *k_tmp; - struct spi_ioc_transfer *u_tmp; - unsigned n, total, tx_total, rx_total; - u8 *tx_buf, *rx_buf; - int status = -EFAULT; - - spi_message_init(&msg); - k_xfers = kcalloc(n_xfers, sizeof(*k_tmp), GFP_KERNEL); - if (k_xfers == NULL) - return -ENOMEM; - - /* Construct spi_message, copying any tx data to bounce buffer. - * We walk the array of user-provided transfers, using each one - * to initialize a kernel version of the same transfer. - */ - tx_buf = spidev->tx_buffer; - rx_buf = spidev->rx_buffer; - total = 0; - tx_total = 0; - rx_total = 0; - for (n = n_xfers, k_tmp = k_xfers, u_tmp = u_xfers; - n; - n--, k_tmp++, u_tmp++) { - k_tmp->len = u_tmp->len; - - total += k_tmp->len; - /* Since the function returns the total length of transfers - * on success, restrict the total to positive int values to - * avoid the return value looking like an error. Also check - * each transfer length to avoid arithmetic overflow. - */ - if (total > INT_MAX || k_tmp->len > INT_MAX) { - status = -EMSGSIZE; - goto done; - } - - if (u_tmp->rx_buf) { - /* this transfer needs space in RX bounce buffer */ - rx_total += k_tmp->len; - if (rx_total > bufsiz) { - status = -EMSGSIZE; - goto done; - } - k_tmp->rx_buf = rx_buf; - if (!access_ok(VERIFY_WRITE, (u8 __user *) - (uintptr_t) u_tmp->rx_buf, - u_tmp->len)) - goto done; - rx_buf += k_tmp->len; - } - if (u_tmp->tx_buf) { - /* this transfer needs space in TX bounce buffer */ - tx_total += k_tmp->len; - if (tx_total > bufsiz) { - status = -EMSGSIZE; - goto done; - } - k_tmp->tx_buf = tx_buf; - if (copy_from_user(tx_buf, (const u8 __user *) - (uintptr_t) u_tmp->tx_buf, - u_tmp->len)) - goto done; - tx_buf += k_tmp->len; - } - - k_tmp->cs_change = !!u_tmp->cs_change; - k_tmp->tx_nbits = u_tmp->tx_nbits; - k_tmp->rx_nbits = u_tmp->rx_nbits; - k_tmp->bits_per_word = u_tmp->bits_per_word; - k_tmp->delay_usecs = u_tmp->delay_usecs; - k_tmp->speed_hz = u_tmp->speed_hz; - if (!k_tmp->speed_hz) - k_tmp->speed_hz = spidev->speed_hz; -#ifdef VERBOSE - dev_dbg(&spidev->spi->dev, - " xfer len %u %s%s%s%dbits %u usec %uHz\n", - u_tmp->len, - u_tmp->rx_buf ? "rx " : "", - u_tmp->tx_buf ? "tx " : "", - u_tmp->cs_change ? "cs " : "", - u_tmp->bits_per_word ? : spidev->spi->bits_per_word, - u_tmp->delay_usecs, - u_tmp->speed_hz ? : spidev->spi->max_speed_hz); -#endif - spi_message_add_tail(k_tmp, &msg); - } - - status = spidev_sync(spidev, &msg); - if (status < 0) - goto done; - - /* copy any rx data out of bounce buffer */ - rx_buf = spidev->rx_buffer; - for (n = n_xfers, u_tmp = u_xfers; n; n--, u_tmp++) { - if (u_tmp->rx_buf) { - if (__copy_to_user((u8 __user *) - (uintptr_t) u_tmp->rx_buf, rx_buf, - u_tmp->len)) { - status = -EFAULT; - goto done; - } - rx_buf += u_tmp->len; - } - } - status = total; - -done: - kfree(k_xfers); - return status; -} - -static struct spi_ioc_transfer * -spidev_get_ioc_message(unsigned int cmd, struct spi_ioc_transfer __user *u_ioc, - unsigned *n_ioc) -{ - struct spi_ioc_transfer *ioc; - u32 tmp; - - /* Check type, command number and direction */ - if (_IOC_TYPE(cmd) != SPI_IOC_MAGIC - || _IOC_NR(cmd) != _IOC_NR(SPI_IOC_MESSAGE(0)) - || _IOC_DIR(cmd) != _IOC_WRITE) - return ERR_PTR(-ENOTTY); - - tmp = _IOC_SIZE(cmd); - if ((tmp % sizeof(struct spi_ioc_transfer)) != 0) - return ERR_PTR(-EINVAL); - *n_ioc = tmp / sizeof(struct spi_ioc_transfer); - if (*n_ioc == 0) - return NULL; - - /* copy into scratch area */ - ioc = kmalloc(tmp, GFP_KERNEL); - if (!ioc) - return ERR_PTR(-ENOMEM); - if (__copy_from_user(ioc, u_ioc, tmp)) { - kfree(ioc); - return ERR_PTR(-EFAULT); - } - return ioc; -} - - -#include "spi_panda.h" - -static long -spidev_ioctl(struct file *filp, unsigned int cmd, unsigned long arg) -{ - int err = 0; - int retval = 0; - struct spidev_data *spidev; - struct spi_device *spi; - u32 tmp; - unsigned n_ioc; - struct spi_ioc_transfer *ioc; - - /* Check type and command number */ - if (_IOC_TYPE(cmd) != SPI_IOC_MAGIC) - return -ENOTTY; - - /* Check access direction once here; don't repeat below. - * IOC_DIR is from the user perspective, while access_ok is - * from the kernel perspective; so they look reversed. - */ - if (_IOC_DIR(cmd) & _IOC_READ) - err = !access_ok(VERIFY_WRITE, - (void __user *)arg, _IOC_SIZE(cmd)); - if (err == 0 && _IOC_DIR(cmd) & _IOC_WRITE) - err = !access_ok(VERIFY_READ, - (void __user *)arg, _IOC_SIZE(cmd)); - if (err) - return -EFAULT; - - /* guard against device removal before, or while, - * we issue this ioctl. - */ - spidev = filp->private_data; - spin_lock_irq(&spidev->spi_lock); - spi = spi_dev_get(spidev->spi); - spin_unlock_irq(&spidev->spi_lock); - - if (spi == NULL) - return -ESHUTDOWN; - - /* use the buffer lock here for triple duty: - * - prevent I/O (from us) so calling spi_setup() is safe; - * - prevent concurrent SPI_IOC_WR_* from morphing - * data fields while SPI_IOC_RD_* reads them; - * - SPI_IOC_MESSAGE needs the buffer locked "normally". - */ - mutex_lock(&spidev->buf_lock); - - switch (cmd) { - /* read requests */ - case SPI_IOC_RD_MODE: - retval = __put_user(spi->mode & SPI_MODE_MASK, - (__u8 __user *)arg); - break; - case SPI_IOC_RD_MODE32: - retval = __put_user(spi->mode & SPI_MODE_MASK, - (__u32 __user *)arg); - break; - case SPI_IOC_RD_LSB_FIRST: - retval = panda_transfer(spidev, spi, arg); - //retval = __put_user((spi->mode & SPI_LSB_FIRST) ? 1 : 0, - // (__u8 __user *)arg); - break; - case SPI_IOC_RD_BITS_PER_WORD: - retval = __put_user(spi->bits_per_word, (__u8 __user *)arg); - break; - case SPI_IOC_RD_MAX_SPEED_HZ: - retval = __put_user(spidev->speed_hz, (__u32 __user *)arg); - break; - - /* write requests */ - case SPI_IOC_WR_MODE: - case SPI_IOC_WR_MODE32: - if (cmd == SPI_IOC_WR_MODE) - retval = __get_user(tmp, (u8 __user *)arg); - else - retval = __get_user(tmp, (u32 __user *)arg); - if (retval == 0) { - u32 save = spi->mode; - - if (tmp & ~SPI_MODE_MASK) { - retval = -EINVAL; - break; - } - - tmp |= spi->mode & ~SPI_MODE_MASK; - spi->mode = (u16)tmp; - retval = spi_setup(spi); - if (retval < 0) - spi->mode = save; - else - dev_dbg(&spi->dev, "spi mode %x\n", tmp); - } - break; - case SPI_IOC_WR_LSB_FIRST: - retval = __get_user(tmp, (__u8 __user *)arg); - if (retval == 0) { - u32 save = spi->mode; - - if (tmp) - spi->mode |= SPI_LSB_FIRST; - else - spi->mode &= ~SPI_LSB_FIRST; - retval = spi_setup(spi); - if (retval < 0) - spi->mode = save; - else - dev_dbg(&spi->dev, "%csb first\n", - tmp ? 'l' : 'm'); - } - break; - case SPI_IOC_WR_BITS_PER_WORD: - retval = __get_user(tmp, (__u8 __user *)arg); - if (retval == 0) { - u8 save = spi->bits_per_word; - - spi->bits_per_word = tmp; - retval = spi_setup(spi); - if (retval < 0) - spi->bits_per_word = save; - else - dev_dbg(&spi->dev, "%d bits per word\n", tmp); - } - break; - case SPI_IOC_WR_MAX_SPEED_HZ: - retval = __get_user(tmp, (__u32 __user *)arg); - if (retval == 0) { - u32 save = spi->max_speed_hz; - - spi->max_speed_hz = tmp; - retval = spi_setup(spi); - if (retval >= 0) - spidev->speed_hz = tmp; - else - dev_dbg(&spi->dev, "%d Hz (max)\n", tmp); - spi->max_speed_hz = save; - } - break; - - default: - /* segmented and/or full-duplex I/O request */ - /* Check message and copy into scratch area */ - ioc = spidev_get_ioc_message(cmd, - (struct spi_ioc_transfer __user *)arg, &n_ioc); - if (IS_ERR(ioc)) { - retval = PTR_ERR(ioc); - break; - } - if (!ioc) - break; /* n_ioc is also 0 */ - - /* translate to spi_message, execute */ - retval = spidev_message(spidev, ioc, n_ioc); - kfree(ioc); - break; - } - - mutex_unlock(&spidev->buf_lock); - spi_dev_put(spi); - return retval; -} - -#ifdef CONFIG_COMPAT -static long -spidev_compat_ioc_message(struct file *filp, unsigned int cmd, - unsigned long arg) -{ - struct spi_ioc_transfer __user *u_ioc; - int retval = 0; - struct spidev_data *spidev; - struct spi_device *spi; - unsigned n_ioc, n; - struct spi_ioc_transfer *ioc; - - u_ioc = (struct spi_ioc_transfer __user *) compat_ptr(arg); - if (!access_ok(VERIFY_READ, u_ioc, _IOC_SIZE(cmd))) - return -EFAULT; - - /* guard against device removal before, or while, - * we issue this ioctl. - */ - spidev = filp->private_data; - spin_lock_irq(&spidev->spi_lock); - spi = spi_dev_get(spidev->spi); - spin_unlock_irq(&spidev->spi_lock); - - if (spi == NULL) - return -ESHUTDOWN; - - /* SPI_IOC_MESSAGE needs the buffer locked "normally" */ - mutex_lock(&spidev->buf_lock); - - /* Check message and copy into scratch area */ - ioc = spidev_get_ioc_message(cmd, u_ioc, &n_ioc); - if (IS_ERR(ioc)) { - retval = PTR_ERR(ioc); - goto done; - } - if (!ioc) - goto done; /* n_ioc is also 0 */ - - /* Convert buffer pointers */ - for (n = 0; n < n_ioc; n++) { - ioc[n].rx_buf = (uintptr_t) compat_ptr(ioc[n].rx_buf); - ioc[n].tx_buf = (uintptr_t) compat_ptr(ioc[n].tx_buf); - } - - /* translate to spi_message, execute */ - retval = spidev_message(spidev, ioc, n_ioc); - kfree(ioc); - -done: - mutex_unlock(&spidev->buf_lock); - spi_dev_put(spi); - return retval; -} - -static long -spidev_compat_ioctl(struct file *filp, unsigned int cmd, unsigned long arg) -{ - if (_IOC_TYPE(cmd) == SPI_IOC_MAGIC - && _IOC_NR(cmd) == _IOC_NR(SPI_IOC_MESSAGE(0)) - && _IOC_DIR(cmd) == _IOC_WRITE) - return spidev_compat_ioc_message(filp, cmd, arg); - - return spidev_ioctl(filp, cmd, (unsigned long)compat_ptr(arg)); -} -#else -#define spidev_compat_ioctl NULL -#endif /* CONFIG_COMPAT */ - -static int spidev_open(struct inode *inode, struct file *filp) -{ - struct spidev_data *spidev; - int status = -ENXIO; - - mutex_lock(&device_list_lock); - - list_for_each_entry(spidev, &device_list, device_entry) { - if (spidev->devt == inode->i_rdev) { - status = 0; - break; - } - } - - if (status) { - pr_debug("spidev: nothing for minor %d\n", iminor(inode)); - goto err_find_dev; - } - - if (!spidev->tx_buffer) { - spidev->tx_buffer = kmalloc(bufsiz, GFP_KERNEL); - if (!spidev->tx_buffer) { - dev_dbg(&spidev->spi->dev, "open/ENOMEM\n"); - status = -ENOMEM; - goto err_find_dev; - } - } - - if (!spidev->rx_buffer) { - spidev->rx_buffer = kmalloc(bufsiz, GFP_KERNEL); - if (!spidev->rx_buffer) { - dev_dbg(&spidev->spi->dev, "open/ENOMEM\n"); - status = -ENOMEM; - goto err_alloc_rx_buf; - } - } - - spidev->users++; - filp->private_data = spidev; - nonseekable_open(inode, filp); - - mutex_unlock(&device_list_lock); - return 0; - -err_alloc_rx_buf: - kfree(spidev->tx_buffer); - spidev->tx_buffer = NULL; -err_find_dev: - mutex_unlock(&device_list_lock); - return status; -} - -static int spidev_release(struct inode *inode, struct file *filp) -{ - struct spidev_data *spidev; - - mutex_lock(&device_list_lock); - spidev = filp->private_data; - filp->private_data = NULL; - - /* last close? */ - spidev->users--; - if (!spidev->users) { - int dofree; - - kfree(spidev->tx_buffer); - spidev->tx_buffer = NULL; - - kfree(spidev->rx_buffer); - spidev->rx_buffer = NULL; - - spin_lock_irq(&spidev->spi_lock); - if (spidev->spi) - spidev->speed_hz = spidev->spi->max_speed_hz; - - /* ... after we unbound from the underlying device? */ - dofree = (spidev->spi == NULL); - spin_unlock_irq(&spidev->spi_lock); - - if (dofree) - kfree(spidev); - } - mutex_unlock(&device_list_lock); - - return 0; -} - -static const struct file_operations spidev_fops = { - .owner = THIS_MODULE, - /* REVISIT switch to aio primitives, so that userspace - * gets more complete API coverage. It'll simplify things - * too, except for the locking. - */ - .write = spidev_write, - .read = spidev_read, - .unlocked_ioctl = spidev_ioctl, - .compat_ioctl = spidev_compat_ioctl, - .open = spidev_open, - .release = spidev_release, - .llseek = no_llseek, -}; - -/*-------------------------------------------------------------------------*/ - -/* The main reason to have this class is to make mdev/udev create the - * /dev/spidevB.C character device nodes exposing our userspace API. - * It also simplifies memory management. - */ - -static struct class *spidev_class; - -#ifdef CONFIG_OF -static const struct of_device_id spidev_dt_ids[] = { - { .compatible = "commaai,panda" }, - {}, -}; -MODULE_DEVICE_TABLE(of, spidev_dt_ids); -#endif - -#ifdef CONFIG_ACPI - -/* Dummy SPI devices not to be used in production systems */ -#define SPIDEV_ACPI_DUMMY 1 - -static const struct acpi_device_id spidev_acpi_ids[] = { - /* - * The ACPI SPT000* devices are only meant for development and - * testing. Systems used in production should have a proper ACPI - * description of the connected peripheral and they should also use - * a proper driver instead of poking directly to the SPI bus. - */ - { "SPT0001", SPIDEV_ACPI_DUMMY }, - { "SPT0002", SPIDEV_ACPI_DUMMY }, - { "SPT0003", SPIDEV_ACPI_DUMMY }, - {}, -}; -MODULE_DEVICE_TABLE(acpi, spidev_acpi_ids); - -static void spidev_probe_acpi(struct spi_device *spi) -{ - const struct acpi_device_id *id; - - if (!has_acpi_companion(&spi->dev)) - return; - - id = acpi_match_device(spidev_acpi_ids, &spi->dev); - if (WARN_ON(!id)) - return; - - if (id->driver_data == SPIDEV_ACPI_DUMMY) - dev_warn(&spi->dev, "do not use this driver in production systems!\n"); -} -#else -static inline void spidev_probe_acpi(struct spi_device *spi) {} -#endif - -/*-------------------------------------------------------------------------*/ - -static int spidev_probe(struct spi_device *spi) -{ - struct spidev_data *spidev; - int status; - unsigned long minor; - - /* - * spidev should never be referenced in DT without a specific - * compatible string, it is a Linux implementation thing - * rather than a description of the hardware. - */ - if (spi->dev.of_node && !of_match_device(spidev_dt_ids, &spi->dev)) { - dev_err(&spi->dev, "buggy DT: spidev listed directly in DT\n"); - WARN_ON(spi->dev.of_node && - !of_match_device(spidev_dt_ids, &spi->dev)); - } - - spidev_probe_acpi(spi); - - /* Allocate driver data */ - spidev = kzalloc(sizeof(*spidev), GFP_KERNEL); - if (!spidev) - return -ENOMEM; - - /* Initialize the driver data */ - spidev->spi = spi; - spin_lock_init(&spidev->spi_lock); - mutex_init(&spidev->buf_lock); - - INIT_LIST_HEAD(&spidev->device_entry); - - /* If we can allocate a minor number, hook up this device. - * Reusing minors is fine so long as udev or mdev is working. - */ - mutex_lock(&device_list_lock); - minor = find_first_zero_bit(minors, N_SPI_MINORS); - if (minor < N_SPI_MINORS) { - struct device *dev; - - spidev->devt = MKDEV(SPIDEV_MAJOR, minor); - dev = device_create(spidev_class, &spi->dev, spidev->devt, - spidev, "spidev%d.%d", - spi->master->bus_num, spi->chip_select); - status = PTR_ERR_OR_ZERO(dev); - } else { - dev_dbg(&spi->dev, "no minor number available!\n"); - status = -ENODEV; - } - if (status == 0) { - set_bit(minor, minors); - list_add(&spidev->device_entry, &device_list); - } - mutex_unlock(&device_list_lock); - - spidev->speed_hz = spi->max_speed_hz; - - if (status == 0) - spi_set_drvdata(spi, spidev); - else - kfree(spidev); - - return status; -} - -static int spidev_remove(struct spi_device *spi) -{ - struct spidev_data *spidev = spi_get_drvdata(spi); - - /* make sure ops on existing fds can abort cleanly */ - spin_lock_irq(&spidev->spi_lock); - spidev->spi = NULL; - spin_unlock_irq(&spidev->spi_lock); - - /* prevent new opens */ - mutex_lock(&device_list_lock); - list_del(&spidev->device_entry); - device_destroy(spidev_class, spidev->devt); - clear_bit(MINOR(spidev->devt), minors); - if (spidev->users == 0) - kfree(spidev); - mutex_unlock(&device_list_lock); - - return 0; -} - -static struct spi_driver spidev_spi_driver = { - .driver = { - .name = "spidev_panda", - .of_match_table = of_match_ptr(spidev_dt_ids), - .acpi_match_table = ACPI_PTR(spidev_acpi_ids), - }, - .probe = spidev_probe, - .remove = spidev_remove, - - /* NOTE: suspend/resume methods are not necessary here. - * We don't do anything except pass the requests to/from - * the underlying controller. The refrigerator handles - * most issues; the controller driver handles the rest. - */ -}; - -/*-------------------------------------------------------------------------*/ - -static int __init spidev_init(void) -{ - int status; - - /* Claim our 256 reserved device numbers. Then register a class - * that will key udev/mdev to add/remove /dev nodes. Last, register - * the driver which manages those device numbers. - */ - BUILD_BUG_ON(N_SPI_MINORS > 256); - status = register_chrdev(0, "spi", &spidev_fops); - if (status < 0) - return status; - - SPIDEV_MAJOR = status; - - spidev_class = class_create(THIS_MODULE, "spidev_panda"); - if (IS_ERR(spidev_class)) { - unregister_chrdev(SPIDEV_MAJOR, spidev_spi_driver.driver.name); - return PTR_ERR(spidev_class); - } - - status = spi_register_driver(&spidev_spi_driver); - if (status < 0) { - class_destroy(spidev_class); - unregister_chrdev(SPIDEV_MAJOR, spidev_spi_driver.driver.name); - } - return status; -} -module_init(spidev_init); - -static void __exit spidev_exit(void) -{ - spi_unregister_driver(&spidev_spi_driver); - class_destroy(spidev_class); - unregister_chrdev(SPIDEV_MAJOR, spidev_spi_driver.driver.name); -} -module_exit(spidev_exit); - -MODULE_AUTHOR("Andrea Paterniani, "); -MODULE_DESCRIPTION("User mode SPI device interface"); -MODULE_LICENSE("GPL"); -MODULE_ALIAS("spi:spidev"); diff --git a/panda/examples/__init__.py b/panda/examples/__init__.py deleted file mode 100644 index e69de29bb2d1d6..00000000000000 diff --git a/panda/examples/can_bit_transition.md b/panda/examples/can_bit_transition.md deleted file mode 100644 index fa0a6c6bb354fd..00000000000000 --- a/panda/examples/can_bit_transition.md +++ /dev/null @@ -1,25 +0,0 @@ -# How to use can_bit_transition.py to reverse engineer a single bit field - -Let's say our goal is to find a brake pedal signal (caused by your foot pressing the brake pedal vs adaptive cruise control braking). - -The following process will allow you to quickly find bits that are always 0 during a period of time (when you know you were not pressing the brake with your foot) and always 1 in a different period of time (when you know you were pressing the brake with your foot). - -Open up a drive in cabana where you can find a place you used the brake pedal and another place where you did not use the brake pedal (and you can identify when you were on the brake pedal and when you were not). You may want to go out for a drive and put something in front of the camera after you put your foot on the brake and take it away before you take your foot off the brake so you can easily identify exactly when you had your foot on the brake based on the video in cabana. This is critical because this script needs the brake signal to always be high the entire time for one of the time frames. A 10 second time frame worked well for me. - -I found a drive where I knew I was not pressing the brake between timestamp 50.0 thru 65.0 and I was pressing the brake between timestamp 69.0 thru 79.0. Determine what the timestamps are in cabana by plotting any message and putting your mouse over the plot at the location you want to discover the timestamp. The tool tip on mouse hover has the format: timestamp: value - -Now download the log from cabana (Save Log button) and run the script passing in the timestamps -(replace csv file name with cabana log you downloaded and time ranges with your own) -``` -./can_bit_transition.py ./honda_crv_ex_2017_can-1520354796875.csv 50.0-65.0 69.0-79.0 -``` - -The script will output bits that were always low in the first time range and always high in the second time range (and vice versa) -``` -id 17c 0 -> 1 at byte 4 bitmask 1 -id 17c 0 -> 1 at byte 6 bitmask 32 -id 221 1 -> 0 at byte 0 bitmask 4 -id 1be 0 -> 1 at byte 0 bitmask 16 -``` - -Now I go back to cabana and graph the above bits by searching for the message by id, double clicking on the appropriate bit, and then selecting "show plot". I already knew that message id 0x17c is both user brake and adaptive cruise control braking combined, so I plotted one of those signals along side 0x221 and 0x1be. By replaying a drive I could see that 0x221 was not a brake signal (when high at random times that did not correspond to braking). Next I looked at 0x1be and I found it was the brake pedal signal I was looking for (went high whenever I pressed the brake pedal and did not go high when adaptive cruise control was braking). \ No newline at end of file diff --git a/panda/examples/can_bit_transition.py b/panda/examples/can_bit_transition.py deleted file mode 100644 index 1e7bad54e79201..00000000000000 --- a/panda/examples/can_bit_transition.py +++ /dev/null @@ -1,111 +0,0 @@ -#!/usr/bin/env python3 -import csv -import sys - -CSV_KEYS = { - "logger": { - "time": "Time", - "message_id": "MessageID", - "data": "Message", - "bus": "Bus" - }, - "cabana": { - "time": "time", - "message_id": "addr", - "data": "data", - "bus": "bus" - } -} - - -class Message(): - """Details about a specific message ID.""" - - def __init__(self, message_id): - self.message_id = message_id - self.ones = [0] * 64 # bit set if 1 is always seen - self.zeros = [0] * 64 # bit set if 0 is always seen - - def printBitDiff(self, other): - """Prints bits that transition from always zero to always 1 and vice versa.""" - for i in range(len(self.ones)): - zero_to_one = other.zeros[i] & self.ones[i] - if zero_to_one: - print('id %s 0 -> 1 at byte %d bitmask %d' % (self.message_id, i, zero_to_one)) - one_to_zero = other.ones[i] & self.zeros[i] - if one_to_zero: - print('id %s 1 -> 0 at byte %d bitmask %d' % (self.message_id, i, one_to_zero)) - - -class Info(): - """A collection of Messages.""" - - def __init__(self): - self.messages = {} # keyed by MessageID - - def load(self, filename, start, end): - """Given a CSV file, adds information about message IDs and their values.""" - with open(filename, newline='') as inp: - reader = csv.DictReader(inp) - dtype = None - for row in reader: - if not len(row): - continue - if dtype is None: - dtype = "logger" if "Bus" in row else "cabana" - - time = float(row[CSV_KEYS[dtype]["time"]]) - bus = int(row[CSV_KEYS[dtype]["bus"]]) - if time < start or bus > 127: - continue - elif time > end: - break - - message_id = row[CSV_KEYS[dtype]["message_id"]] - if message_id.startswith('0x'): - message_id = message_id[2:] # remove leading '0x' - else: - message_id = hex(int(message_id))[2:] # old message IDs are in decimal - message_id = f'{bus}:{message_id}' - - data = row[CSV_KEYS[dtype]["data"]] - if data.startswith('0x'): - data = data[2:] # remove leading '0x' - else: - data = data - new_message = False - if message_id not in self.messages: - self.messages[message_id] = Message(message_id) - new_message = True - message = self.messages[message_id] - bts = bytearray.fromhex(data) - for i in range(len(bts)): - ones = int(bts[i]) - message.ones[i] = ones if new_message else message.ones[i] & ones - # Inverts the data and masks it to a byte to get the zeros as ones. - zeros = (~int(bts[i])) & 0xff - message.zeros[i] = zeros if new_message else message.zeros[i] & zeros - -def PrintUnique(log_file, low_range, high_range): - # find messages with bits that are always low - start, end = list(map(float, low_range.split('-'))) - low = Info() - low.load(log_file, start, end) - # find messages with bits that are always high - start, end = list(map(float, high_range.split('-'))) - high = Info() - high.load(log_file, start, end) - # print messages that go from low to high - found = False - for message_id in sorted(high.messages, key=lambda x: int(x.split(':')[1], 16)): - if message_id in low.messages: - high.messages[message_id].printBitDiff(low.messages[message_id]) - found = True - if not found: - print('No messages that transition from always low to always high found!') - -if __name__ == "__main__": - if len(sys.argv) < 4: - print('Usage:\n%s log.csv - -' % sys.argv[0]) - sys.exit(0) - PrintUnique(sys.argv[1], sys.argv[2], sys.argv[3]) diff --git a/panda/examples/can_logger.py b/panda/examples/can_logger.py deleted file mode 100644 index aed3ac9d6b9aa6..00000000000000 --- a/panda/examples/can_logger.py +++ /dev/null @@ -1,43 +0,0 @@ -#!/usr/bin/env python3 - -import csv -import time -from panda import Panda - -def can_logger(): - p = Panda() - - try: - outputfile = open('output.csv', 'w') - csvwriter = csv.writer(outputfile) - # Write Header - csvwriter.writerow(['Bus', 'MessageID', 'Message', 'MessageLength', 'Time']) - print("Writing csv file output.csv. Press Ctrl-C to exit...\n") - - bus0_msg_cnt = 0 - bus1_msg_cnt = 0 - bus2_msg_cnt = 0 - - start_time = time.time() - while True: - can_recv = p.can_recv() - - for address, _, dat, src in can_recv: - csvwriter.writerow( - [str(src), str(hex(address)), f"0x{dat.hex()}", len(dat), str(time.time() - start_time)]) - - if src == 0: - bus0_msg_cnt += 1 - elif src == 1: - bus1_msg_cnt += 1 - elif src == 2: - bus2_msg_cnt += 1 - - print(f"Message Counts... Bus 0: {bus0_msg_cnt} Bus 1: {bus1_msg_cnt} Bus 2: {bus2_msg_cnt}", end='\r') - - except KeyboardInterrupt: - print(f"\nNow exiting. Final message Counts... Bus 0: {bus0_msg_cnt} Bus 1: {bus1_msg_cnt} Bus 2: {bus2_msg_cnt}") - outputfile.close() - -if __name__ == "__main__": - can_logger() diff --git a/panda/examples/can_unique.md b/panda/examples/can_unique.md deleted file mode 100644 index 4d8ac460e4d6c3..00000000000000 --- a/panda/examples/can_unique.md +++ /dev/null @@ -1,103 +0,0 @@ -# How to use can_unique.py to reverse engineer a single bit field - -Let's say our goal is to find the CAN message indicating that the driver's door is either open or closed. -The following process is great for simple single-bit messages. -However for frequently changing values, such as RPM or speed, Cabana's graphical plots are probably better to use. - - -First record a few minutes of background CAN messages with all the doors closed and save it in background.csv: -``` -./can_logger.py -mv output.csv background.csv -``` -Then run can_logger.py for a few seconds while performing the action you're interested, such as opening and then closing the -front-left door and save it as door-fl-1.csv -Repeat the process and save it as door-f1-2.csv to have an easy way to confirm any suspicions. - -Now we'll use can_unique.py to look for unique bits: -``` -$ ./can_unique.py door-fl-1.csv background* -id 820 new one at byte 2 bitmask 2 -id 520 new one at byte 3 bitmask 7 -id 520 new zero at byte 3 bitmask 8 -id 520 new one at byte 5 bitmask 6 -id 520 new zero at byte 5 bitmask 9 -id 559 new zero at byte 6 bitmask 4 -id 804 new one at byte 5 bitmask 2 -id 804 new zero at byte 5 bitmask 1 - -$ ./can_unique.py door-fl-2.csv background* -id 672 new one at byte 3 bitmask 3 -id 820 new one at byte 2 bitmask 2 -id 520 new one at byte 3 bitmask 7 -id 520 new zero at byte 3 bitmask 8 -id 520 new one at byte 5 bitmask 6 -id 520 new zero at byte 5 bitmask 9 -id 559 new zero at byte 6 bitmask 4 -``` - -One of these bits hopefully indicates that the driver's door is open. -Let's go through each message ID to figure out which one is correct. -We expect any correct bits to have changed in both runs. -We can rule out 804 because it only occurred in the first run. -We can rule out 672 because it only occurred in the second run. -That leaves us with these message IDs: 820, 520, 559. Let's take a closer look at each one. - -``` -$ fgrep ,559, door-fl-1.csv |head -0,559,00ff0000000024f0 -0,559,00ff000000004464 -0,559,00ff0000000054a9 -0,559,00ff0000000064e3 -0,559,00ff00000000742e -0,559,00ff000000008451 -0,559,00ff00000000949c -0,559,00ff00000000a4d6 -0,559,00ff00000000b41b -0,559,00ff00000000c442 -``` -Message ID 559 looks like an incrementing value, so it's not what we're looking for. - -``` -$ fgrep ,520, door-fl-2.csv -0,520,26ff00f8a1890000 -0,520,26ff00f8a2890000 -0,520,26ff00f8a2890000 -0,520,26ff00f8a1890000 -0,520,26ff00f8a2890000 -0,520,26ff00f8a1890000 -0,520,26ff00f8a2890000 -0,520,26ff00f8a1890000 -0,520,26ff00f8a2890000 -0,520,26ff00f8a1890000 -0,520,26ff00f8a2890000 -0,520,26ff00f8a1890000 -``` -Message ID 520 oscillates between two values. However I only opened and closed the door once, so this is probably not it. - -``` -$ fgrep ,820, door-fl-1.csv -0,820,44000100a500c802 -0,820,44000100a500c803 -0,820,44000300a500c803 -0,820,44000300a500c802 -0,820,44000300a500c802 -0,820,44000300a500c802 -0,820,44000100a500c802 -0,820,44000100a500c802 -0,820,44000100a500c802 -``` -Message ID 820 looks promising! It starts off at 44000100a500c802 when the door is closed. -When the door is open it goes to 44000300a500c802. -Then when the door is closed again, it goes back to 44000100a500c802. -Let's confirm by looking at the data from our other run: -``` -$ fgrep ,820, door-fl-2.csv -0,820,44000100a500c802 -0,820,44000300a500c802 -0,820,44000100a500c802 -``` -Perfect! We now know that message id 820 at byte 2 bitmask 2 is set if the driver's door is open. -If we repeat the process with the front passenger's door, -then we'll find that message id 820 at byte 2 bitmask 4 is set if the front-right door is open. -This confirms our finding because it's common for similar signals to be near each other. diff --git a/panda/examples/can_unique.py b/panda/examples/can_unique.py deleted file mode 100644 index 05977afb0a65b9..00000000000000 --- a/panda/examples/can_unique.py +++ /dev/null @@ -1,116 +0,0 @@ -#!/usr/bin/env python3 - -# Given an interesting CSV file of CAN messages and a list of background CAN -# messages, print which bits in the interesting file have never appeared -# in the background files. - -# Expects the CSV file to be in one of the following formats: - -# can_logger.py -# Bus,MessageID,Message,MessageLength -# 0,0x292,0x040000001068,6 - -# The old can_logger.py format is also supported: -# Bus,MessageID,Message -# 0,344,c000c00000000000 - -# Cabana "Save Log" format -# time,addr,bus,data -# 240.47911496100002,53,0,0acc0ade0074bf9e - - -import csv -import sys - -class Message(): - """Details about a specific message ID.""" - - def __init__(self, message_id): - self.message_id = message_id - self.data = {} # keyed by hex string encoded message data - self.ones = [0] * 64 # bit set if 1 is seen - self.zeros = [0] * 64 # bit set if 0 has been seen - - def printBitDiff(self, other): - """Prints bits that are set or cleared compared to other background.""" - for i in range(len(self.ones)): - new_ones = ((~other.ones[i]) & 0xff) & self.ones[i] - if new_ones: - print('id %s new one at byte %d bitmask %d' % ( - self.message_id, i, new_ones)) - new_zeros = ((~other.zeros[i]) & 0xff) & self.zeros[i] - if new_zeros: - print('id %s new zero at byte %d bitmask %d' % ( - self.message_id, i, new_zeros)) - - -class Info(): - """A collection of Messages.""" - - def __init__(self): - self.messages = {} # keyed by MessageID - - def load(self, filename): - """Given a CSV file, adds information about message IDs and their values.""" - with open(filename) as inp: - reader = csv.reader(inp) - header = next(reader, None) - if header[0] == 'time': - self.cabana(reader) - else: - self.logger(reader) - - def cabana(self, reader): - for row in reader: - bus = row[2] - message_id = hex(int(row[1]))[2:] - message_id = f'{bus}:{message_id}' - data = row[3] - self.store(message_id, data) - - def logger(self, reader): - for row in reader: - bus = row[0] - if row[1].startswith('0x'): - message_id = row[1][2:] # remove leading '0x' - else: - message_id = hex(int(row[1]))[2:] # old message IDs are in decimal - message_id = f'{bus}:{message_id}' - if row[1].startswith('0x'): - data = row[2][2:] # remove leading '0x' - else: - data = row[2] - self.store(message_id, data) - - def store(self, message_id, data): - if message_id not in self.messages: - self.messages[message_id] = Message(message_id) - message = self.messages[message_id] - if data not in self.messages[message_id].data: - message.data[data] = True - bts = bytearray.fromhex(data) - for i in range(len(bts)): - message.ones[i] = message.ones[i] | int(bts[i]) - # Inverts the data and masks it to a byte to get the zeros as ones. - message.zeros[i] = message.zeros[i] | ((~int(bts[i])) & 0xff) - - -def PrintUnique(interesting_file, background_files): - background = Info() - for background_file in background_files: - background.load(background_file) - interesting = Info() - interesting.load(interesting_file) - for message_id in sorted(interesting.messages): - if message_id not in background.messages: - print('New message_id: %s' % message_id) - else: - interesting.messages[message_id].printBitDiff( - background.messages[message_id]) - - -if __name__ == "__main__": - if len(sys.argv) < 3: - print('Usage:\n%s interesting.csv background*.csv' % sys.argv[0]) - sys.exit(0) - PrintUnique(sys.argv[1], sys.argv[2:]) diff --git a/panda/examples/query_fw_versions.py b/panda/examples/query_fw_versions.py deleted file mode 100644 index fe70bf96abe836..00000000000000 --- a/panda/examples/query_fw_versions.py +++ /dev/null @@ -1,114 +0,0 @@ -#!/usr/bin/env python3 -import argparse -from tqdm import tqdm -from panda import Panda -from panda.python.uds import UdsClient, MessageTimeoutError, NegativeResponseError, InvalidSubAddressError, \ - SESSION_TYPE, DATA_IDENTIFIER_TYPE - -if __name__ == "__main__": - parser = argparse.ArgumentParser() - parser.add_argument("--rxoffset", default="") - parser.add_argument("--nonstandard", action="store_true") - parser.add_argument("--no-obd", action="store_true", help="Bus 1 will not be multiplexed to the OBD-II port") - parser.add_argument("--debug", action="store_true") - parser.add_argument("--addr") - parser.add_argument("--sub_addr", "--subaddr", help="A hex sub-address or `scan` to scan the full sub-address range") - parser.add_argument("--bus") - parser.add_argument('-s', '--serial', help="Serial number of panda to use") - args = parser.parse_args() - - if args.addr: - addrs = [int(args.addr, base=16)] - else: - addrs = [0x700 + i for i in range(256)] - addrs += [0x18da0000 + (i << 8) + 0xf1 for i in range(256)] - results = {} - - sub_addrs: list[int | None] = [None] - if args.sub_addr: - if args.sub_addr == "scan": - sub_addrs = list(range(0xff + 1)) - else: - sub_addrs = [int(args.sub_addr, base=16)] - if sub_addrs[0] > 0xff: # type: ignore - print(f"Invalid sub-address: 0x{sub_addrs[0]:X}, needs to be in range 0x0 to 0xff") - parser.print_help() - exit() - - uds_data_ids = {} - for std_id in DATA_IDENTIFIER_TYPE: - uds_data_ids[std_id.value] = std_id.name - if args.nonstandard: - for uds_id in range(0xf100, 0xf180): - uds_data_ids[uds_id] = "IDENTIFICATION_OPTION_VEHICLE_MANUFACTURER_SPECIFIC_DATA_IDENTIFIER" - for uds_id in range(0xf1a0, 0xf1f0): - uds_data_ids[uds_id] = "IDENTIFICATION_OPTION_VEHICLE_MANUFACTURER_SPECIFIC" - for uds_id in range(0xf1f0, 0xf200): - uds_data_ids[uds_id] = "IDENTIFICATION_OPTION_SYSTEM_SUPPLIER_SPECIFIC" - - panda_serials = Panda.list() - if args.serial is None and len(panda_serials) > 1: - print("\nMultiple pandas found, choose one:") - for serial in panda_serials: - with Panda(serial) as panda: - print(f" {serial}: internal={panda.is_internal()}") - print() - parser.print_help() - exit() - - panda = Panda(serial=args.serial) - panda.set_safety_mode(Panda.SAFETY_ELM327, 1 if args.no_obd else 0) - print("querying addresses ...") - with tqdm(addrs) as t: - for addr in t: - # skip functional broadcast addrs - if addr == 0x7df or addr == 0x18db33f1: - continue - - if args.bus: - bus = int(args.bus) - else: - bus = 1 if panda.has_obd() else 0 - rx_addr = addr + int(args.rxoffset, base=16) if args.rxoffset else None - - # Try all sub-addresses for addr. By default, this is None - for sub_addr in sub_addrs: - sub_addr_str = hex(sub_addr) if sub_addr is not None else None - t.set_description(f"{hex(addr)}, {sub_addr_str}") - uds_client = UdsClient(panda, addr, rx_addr, bus, sub_addr=sub_addr, timeout=0.2, debug=args.debug) - # Check for anything alive at this address, and switch to the highest - # available diagnostic session without security access - try: - uds_client.tester_present() - uds_client.diagnostic_session_control(SESSION_TYPE.DEFAULT) - uds_client.diagnostic_session_control(SESSION_TYPE.EXTENDED_DIAGNOSTIC) - except NegativeResponseError: - pass - except MessageTimeoutError: - continue - except InvalidSubAddressError as e: - print(f'*** Skipping address {hex(addr)}: {e}') - break - - # Run queries against all standard UDS data identifiers, plus selected - # non-standardized identifier ranges if requested - resp = {} - for uds_data_id in sorted(uds_data_ids): - try: - data = uds_client.read_data_by_identifier(uds_data_id) # type: ignore - if data: - resp[uds_data_id] = data - except (NegativeResponseError, MessageTimeoutError, InvalidSubAddressError): - pass - - if resp.keys(): - results[(addr, sub_addr)] = resp - - if len(results.items()): - for (addr, sub_addr), resp in results.items(): - sub_addr_str = f", sub-address 0x{sub_addr:X}" if sub_addr is not None else "" - print(f"\n\n*** Results for address 0x{addr:X}{sub_addr_str} ***\n\n") - for rid, dat in resp.items(): - print(f"0x{rid:02X} {uds_data_ids[rid]}: {dat}") - else: - print("no fw versions found!") diff --git a/panda/examples/query_vin_and_stats.py b/panda/examples/query_vin_and_stats.py deleted file mode 100644 index 564b5b917754c3..00000000000000 --- a/panda/examples/query_vin_and_stats.py +++ /dev/null @@ -1,57 +0,0 @@ -#!/usr/bin/env python3 -import time -import struct -from panda import Panda -from hexdump import hexdump -from panda.python.isotp import isotp_send, isotp_recv - -# 0x7e0 = Toyota -# 0x18DB33F1 for Honda? - - -def get_current_data_for_pid(pid): - # 01 xx = Show current data - isotp_send(panda, b"\x01" + bytes([pid]), 0x7e0) - return isotp_recv(panda, 0x7e8) - -def get_supported_pids(): - ret = [] - pid = 0 - while 1: - supported = struct.unpack(">I", get_current_data_for_pid(pid)[2:])[0] - for i in range(1 + pid, 0x21 + pid): - if supported & 0x80000000: - ret.append(i) - supported <<= 1 - pid += 0x20 - if pid not in ret: - break - return ret - -if __name__ == "__main__": - panda = Panda() - panda.set_safety_mode(Panda.SAFETY_ELM327) - panda.can_clear(0) - - # 09 02 = Get VIN - isotp_send(panda, b"\x09\x02", 0x7df) - ret = isotp_recv(panda, 0x7e8) - hexdump(ret) - print("VIN: %s" % "".join(map(chr, ret[:2]))) - - # 03 = get DTCS - isotp_send(panda, b"\x03", 0x7e0) - dtcs = isotp_recv(panda, 0x7e8) - print("DTCs:", "".join(map(chr, dtcs[:2]))) - - supported_pids = get_supported_pids() - print("Supported PIDs:", supported_pids) - - while 1: - speed = struct.unpack(">B", get_current_data_for_pid(13)[2:])[0] # kph - rpm = struct.unpack(">H", get_current_data_for_pid(12)[2:])[0] / 4.0 # revs - throttle = struct.unpack(">B", get_current_data_for_pid(17)[2:])[0] / 255.0 * 100 # percent - temp = struct.unpack(">B", get_current_data_for_pid(5)[2:])[0] - 40 # degrees C - load = struct.unpack(">B", get_current_data_for_pid(4)[2:])[0] / 255.0 * 100 # percent - print("%d KPH, %d RPM, %.1f%% Throttle, %d deg C, %.1f%% load" % (speed, rpm, throttle, temp, load)) - time.sleep(0.2) diff --git a/panda/examples/tesla_tester.py b/panda/examples/tesla_tester.py deleted file mode 100644 index 966e39d103fbc0..00000000000000 --- a/panda/examples/tesla_tester.py +++ /dev/null @@ -1,50 +0,0 @@ -#!/usr/bin/env python3 - -import binascii -from panda import Panda - -def tesla_tester(): - p = Panda() - - body_bus_speed = 125 # Tesla Body busses (B, BF) are 125kbps, rest are 500kbps - body_bus_num = 1 # My TDC to OBD adapter has PT on bus0 BDY on bus1 and CH on bus2 - p.set_can_speed_kbps(body_bus_num, body_bus_speed) - - # Now set the panda from its default of SAFETY_SILENT (read only) to SAFETY_ALLOUTPUT - # Careful, as this will let us send any CAN messages we want (which could be very bad!) - print("Setting Panda to output mode...") - p.set_safety_mode(Panda.SAFETY_ALLOUTPUT) - - # BDY 0x248 is the MCU_commands message, which includes folding mirrors, opening the trunk, frunk, setting the cars lock state and more. - # For our test, we will edit the 3rd byte, which is MCU_lockRequest. 0x01 will lock, 0x02 will unlock: - print("Unlocking Tesla...") - p.can_send(0x248, b"\x00\x00\x02\x00\x00\x00\x00\x00", body_bus_num) - - #Or, we can set the first byte, MCU_frontHoodCommand + MCU_liftgateSwitch, to 0x01 to pop the frunk, or 0x04 to open/close the trunk (0x05 should open both) - print("Opening Frunk...") - p.can_send(0x248, b"\x01\x00\x00\x00\x00\x00\x00\x00", body_bus_num) - - #Back to safety... - print("Disabling output on Panda...") - p.set_safety_mode(Panda.SAFETY_SILENT) - - print("Reading VIN from 0x568. This is painfully slow and can take up to 3 minutes (1 minute per message; 3 messages needed for full VIN)...") - - vin = {} - while True: - #Read the VIN - can_recv = p.can_recv() - for address, _, dat, src in can_recv: - if src == body_bus_num: - if address == 1384: # 0x568 is VIN - vin_index = int(binascii.hexlify(dat)[:2]) # first byte is the index, 00, 01, 02 - vin_string = binascii.hexlify(dat)[2:] # rest of the string is the actual VIN data - vin[vin_index] = vin_string.decode("hex") - print("Got VIN index " + str(vin_index) + " data " + vin[vin_index]) - #if we have all 3 parts of the VIN, print it and break out of our while loop - if 0 in vin and 1 in vin and 2 in vin: - print("VIN: " + vin[0] + vin[1] + vin[2][:3]) - break - -if __name__ == "__main__": - tesla_tester() diff --git a/panda/mypy.ini b/panda/mypy.ini deleted file mode 100644 index 0b6de30d80107e..00000000000000 --- a/panda/mypy.ini +++ /dev/null @@ -1,11 +0,0 @@ -[mypy] -; third-party packages -ignore_missing_imports = True - -; helpful warnings -warn_redundant_casts = True -warn_unreachable = True -warn_unused_ignores = True - -; restrict dynamic typing -warn_return_any = True diff --git a/panda/pyproject.toml b/panda/pyproject.toml deleted file mode 100644 index 375885e54d1645..00000000000000 --- a/panda/pyproject.toml +++ /dev/null @@ -1,15 +0,0 @@ -# https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml -[tool.ruff] -line-length = 160 -target-version="py311" - -[tool.ruff.lint] -select = ["E", "F", "W", "PIE", "C4", "ISC", "RUF100", "A"] -ignore = ["W292", "E741", "E402", "C408", "ISC003"] -flake8-implicit-str-concat.allow-multiline=false - -[tool.ruff.lint.flake8-tidy-imports.banned-api] -"pytest.main".msg = "pytest.main requires special handling that is easy to mess up!" - -[tool.pytest.ini_options] -addopts = "-n auto" diff --git a/panda/release/.gitignore b/panda/release/.gitignore deleted file mode 100644 index c4c4ffc6aa41a8..00000000000000 --- a/panda/release/.gitignore +++ /dev/null @@ -1 +0,0 @@ -*.zip diff --git a/panda/release/make_release.sh b/panda/release/make_release.sh deleted file mode 100755 index 5628c4998dbfd1..00000000000000 --- a/panda/release/make_release.sh +++ /dev/null @@ -1,22 +0,0 @@ -#!/bin/bash -set -e - -DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)" -export CERT=/home/batman/xx/pandaextra/certs/release - -if [ ! -f "$CERT" ]; then - echo "No release cert found, cannot build release." - echo "You probably aren't looking to do this anyway." - exit -fi - -export RELEASE=1 -export BUILDER=DEV - -cd $DIR/../board -scons -u -c -rm obj/* -scons -u -cd obj -RELEASE_NAME=$(awk '{print $1}' version) -zip -j ../../release/panda-$RELEASE_NAME.zip version panda.bin.signed bootstub.panda.bin panda_h7.bin.signed bootstub.panda_h7.bin diff --git a/panda/setup.cfg b/panda/setup.cfg deleted file mode 100644 index 3480374bc2f25b..00000000000000 --- a/panda/setup.cfg +++ /dev/null @@ -1,2 +0,0 @@ -[bdist_wheel] -universal=1 \ No newline at end of file diff --git a/panda/tests/__init__.py b/panda/tests/__init__.py deleted file mode 100644 index e69de29bb2d1d6..00000000000000 diff --git a/panda/tests/benchmark.py b/panda/tests/benchmark.py deleted file mode 100755 index c2b0c85c938bcb..00000000000000 --- a/panda/tests/benchmark.py +++ /dev/null @@ -1,43 +0,0 @@ -#!/usr/bin/env python3 -import time -from contextlib import contextmanager - -from panda import Panda, PandaDFU -from panda.tests.hitl.helpers import get_random_can_messages - - -@contextmanager -def print_time(desc): - start = time.perf_counter() - yield - end = time.perf_counter() - print(f"{end - start:.2f}s - {desc}") - - -if __name__ == "__main__": - with print_time("Panda()"): - p = Panda() - - with print_time("PandaDFU.list()"): - PandaDFU.list() - - fxn = [ - 'reset', - 'reconnect', - 'up_to_date', - 'health', - #'flash', - ] - for f in fxn: - with print_time(f"Panda.{f}()"): - getattr(p, f)() - - p.set_can_loopback(True) - - for n in range(6): - msgs = get_random_can_messages(int(10**n)) - with print_time(f"Panda.can_send_many() - {len(msgs)} msgs"): - p.can_send_many(msgs) - - with print_time("Panda.can_recv()"): - m = p.can_recv() diff --git a/panda/tests/black_white_loopback_test.py b/panda/tests/black_white_loopback_test.py deleted file mode 100755 index 8198a30d5fd286..00000000000000 --- a/panda/tests/black_white_loopback_test.py +++ /dev/null @@ -1,156 +0,0 @@ -#!/usr/bin/env python3 - -# Loopback test between black panda (+ harness and power) and white/grey panda -# Tests all buses, including OBD CAN, which is on the same bus as CAN0 in this test. -# To be sure, the test should be run with both harness orientations - - -import os -import time -import random -import argparse -from panda import Panda - -def get_test_string(): - return b"test" + os.urandom(10) - -counter = 0 -nonzero_bus_errors = 0 -zero_bus_errors = 0 -content_errors = 0 - -def run_test(sleep_duration): - global counter - - pandas = Panda.list() - print(pandas) - - # make sure two pandas are connected - if len(pandas) != 2: - raise Exception("Connect white/grey and black panda to run this test!") - - # connect - pandas[0] = Panda(pandas[0]) - pandas[1] = Panda(pandas[1]) - - black_panda = None - other_panda = None - - # find out which one is black - if pandas[0].is_black() and not pandas[1].is_black(): - black_panda = pandas[0] - other_panda = pandas[1] - elif not pandas[0].is_black() and pandas[1].is_black(): - black_panda = pandas[1] - other_panda = pandas[0] - else: - raise Exception("Connect white/grey and black panda to run this test!") - - # disable safety modes - black_panda.set_safety_mode(Panda.SAFETY_ALLOUTPUT) - other_panda.set_safety_mode(Panda.SAFETY_ALLOUTPUT) - - # test health packet - print("black panda health", black_panda.health()) - print("other panda health", other_panda.health()) - - # test black -> other - while True: - test_buses(black_panda, other_panda, True, [(0, False, [0]), (1, False, [1]), (2, False, [2]), (1, True, [0])], sleep_duration) - test_buses(black_panda, other_panda, False, [(0, False, [0]), (1, False, [1]), (2, False, [2]), (0, True, [0, 1])], sleep_duration) - counter += 1 - print("Number of cycles:", counter, "Non-zero bus errors:", nonzero_bus_errors, "Zero bus errors:", zero_bus_errors, "Content errors:", content_errors) - - # Toggle relay - black_panda.set_safety_mode(Panda.SAFETY_SILENT) - time.sleep(1) - black_panda.set_safety_mode(Panda.SAFETY_ALLOUTPUT) - time.sleep(1) - - -def test_buses(black_panda, other_panda, direction, test_array, sleep_duration): - global nonzero_bus_errors, zero_bus_errors, content_errors - - if direction: - print("***************** TESTING (BLACK --> OTHER) *****************") - else: - print("***************** TESTING (OTHER --> BLACK) *****************") - - for send_bus, obd, recv_buses in test_array: - black_panda.send_heartbeat() - other_panda.send_heartbeat() - print("\ntest can: ", send_bus, " OBD: ", obd) - - # set OBD on black panda - black_panda.set_obd(True if obd else None) - - # clear and flush - if direction: - black_panda.can_clear(send_bus) - else: - other_panda.can_clear(send_bus) - - for recv_bus in recv_buses: - if direction: - other_panda.can_clear(recv_bus) - else: - black_panda.can_clear(recv_bus) - - black_panda.can_recv() - other_panda.can_recv() - - # send the characters - at = random.randint(1, 2000) - st = get_test_string()[0:8] - if direction: - black_panda.can_send(at, st, send_bus) - else: - other_panda.can_send(at, st, send_bus) - time.sleep(0.1) - - # check for receive - if direction: - _ = black_panda.can_recv() # can echo - cans_loop = other_panda.can_recv() - else: - _ = other_panda.can_recv() # can echo - cans_loop = black_panda.can_recv() - - loop_buses = [] - for loop in cans_loop: - if (loop[0] != at) or (loop[2] != st): - content_errors += 1 - - print(" Loop on bus", str(loop[3])) - loop_buses.append(loop[3]) - if len(cans_loop) == 0: - print(" No loop") - assert not os.getenv("NOASSERT") - - # test loop buses - recv_buses.sort() - loop_buses.sort() - if(recv_buses != loop_buses): - if len(loop_buses) == 0: - zero_bus_errors += 1 - else: - nonzero_bus_errors += 1 - assert not os.getenv("NOASSERT") - else: - print(" TEST PASSED") - - time.sleep(sleep_duration) - print("\n") - -if __name__ == "__main__": - parser = argparse.ArgumentParser() - parser.add_argument("-n", type=int, help="Number of test iterations to run") - parser.add_argument("-sleep", type=int, help="Sleep time between tests", default=0) - args = parser.parse_args() - - if args.n is None: - while True: - run_test(sleep_duration=args.sleep) - else: - for _ in range(args.n): - run_test(sleep_duration=args.sleep) diff --git a/panda/tests/black_white_relay_endurance.py b/panda/tests/black_white_relay_endurance.py deleted file mode 100755 index 005277c15adf00..00000000000000 --- a/panda/tests/black_white_relay_endurance.py +++ /dev/null @@ -1,164 +0,0 @@ -#!/usr/bin/env python3 - -# Loopback test between black panda (+ harness and power) and white/grey panda -# Tests all buses, including OBD CAN, which is on the same bus as CAN0 in this test. -# To be sure, the test should be run with both harness orientations - - -import os -import time -import random -import argparse - -from panda import Panda - -def get_test_string(): - return b"test" + os.urandom(10) - -counter = 0 -nonzero_bus_errors = 0 -zero_bus_errors = 0 -content_errors = 0 - -def run_test(sleep_duration): - global counter - - pandas = Panda.list() - print(pandas) - - # make sure two pandas are connected - if len(pandas) != 2: - raise Exception("Connect white/grey and black panda to run this test!") - - # connect - pandas[0] = Panda(pandas[0]) - pandas[1] = Panda(pandas[1]) - - black_panda = None - other_panda = None - - # find out which one is black - if pandas[0].is_black() and not pandas[1].is_black(): - black_panda = pandas[0] - other_panda = pandas[1] - elif not pandas[0].is_black() and pandas[1].is_black(): - black_panda = pandas[1] - other_panda = pandas[0] - else: - raise Exception("Connect white/grey and black panda to run this test!") - - # disable safety modes - black_panda.set_safety_mode(Panda.SAFETY_ALLOUTPUT) - other_panda.set_safety_mode(Panda.SAFETY_ALLOUTPUT) - - # test health packet - print("black panda health", black_panda.health()) - print("other panda health", other_panda.health()) - - # test black -> other - start_time = time.time() - temp_start_time = start_time - while True: - test_buses(black_panda, other_panda, True, [(0, False, [0]), (1, False, [1]), (2, False, [2]), (1, True, [0])], sleep_duration) - test_buses(black_panda, other_panda, False, [(0, False, [0]), (1, False, [1]), (2, False, [2]), (0, True, [0, 1])], sleep_duration) - counter += 1 - - runtime = time.time() - start_time - print("Number of cycles:", counter, "Non-zero bus errors:", nonzero_bus_errors, "Zero bus errors:", zero_bus_errors, - "Content errors:", content_errors, "Runtime: ", runtime) - - if (time.time() - temp_start_time) > 3600 * 6: - # Toggle relay - black_panda.set_safety_mode(Panda.SAFETY_SILENT) - time.sleep(1) - black_panda.set_safety_mode(Panda.SAFETY_ALLOUTPUT) - time.sleep(1) - temp_start_time = time.time() - - -def test_buses(black_panda, other_panda, direction, test_array, sleep_duration): - global nonzero_bus_errors, zero_bus_errors, content_errors - - if direction: - print("***************** TESTING (BLACK --> OTHER) *****************") - else: - print("***************** TESTING (OTHER --> BLACK) *****************") - - for send_bus, obd, recv_buses in test_array: - black_panda.send_heartbeat() - other_panda.send_heartbeat() - print("\ntest can: ", send_bus, " OBD: ", obd) - - # set OBD on black panda - black_panda.set_obd(True if obd else None) - - # clear and flush - if direction: - black_panda.can_clear(send_bus) - else: - other_panda.can_clear(send_bus) - - for recv_bus in recv_buses: - if direction: - other_panda.can_clear(recv_bus) - else: - black_panda.can_clear(recv_bus) - - black_panda.can_recv() - other_panda.can_recv() - - # send the characters - at = random.randint(1, 2000) - st = get_test_string()[0:8] - if direction: - black_panda.can_send(at, st, send_bus) - else: - other_panda.can_send(at, st, send_bus) - time.sleep(0.1) - - # check for receive - if direction: - _ = black_panda.can_recv() # cans echo - cans_loop = other_panda.can_recv() - else: - _ = other_panda.can_recv() # cans echo - cans_loop = black_panda.can_recv() - - loop_buses = [] - for loop in cans_loop: - if (loop[0] != at) or (loop[2] != st): - content_errors += 1 - - print(" Loop on bus", str(loop[3])) - loop_buses.append(loop[3]) - if len(cans_loop) == 0: - print(" No loop") - assert os.getenv("NOASSERT") - - # test loop buses - recv_buses.sort() - loop_buses.sort() - if(recv_buses != loop_buses): - if len(loop_buses) == 0: - zero_bus_errors += 1 - else: - nonzero_bus_errors += 1 - assert os.getenv("NOASSERT") - else: - print(" TEST PASSED") - - time.sleep(sleep_duration) - print("\n") - -if __name__ == "__main__": - parser = argparse.ArgumentParser() - parser.add_argument("-n", type=int, help="Number of test iterations to run") - parser.add_argument("-sleep", type=int, help="Sleep time between tests", default=0) - args = parser.parse_args() - - if args.n is None: - while True: - run_test(sleep_duration=args.sleep) - else: - for _ in range(args.n): - run_test(sleep_duration=args.sleep) diff --git a/panda/tests/black_white_relay_test.py b/panda/tests/black_white_relay_test.py deleted file mode 100755 index 38db06a1a524a0..00000000000000 --- a/panda/tests/black_white_relay_test.py +++ /dev/null @@ -1,135 +0,0 @@ -#!/usr/bin/env python3 - -# Relay test with loopback between black panda (+ harness and power) and white/grey panda -# Tests the relay switching multiple times / second by looking at the buses on which loop occurs. - - -import os -import time -import random -import argparse - -from panda import Panda - -def get_test_string(): - return b"test" + os.urandom(10) - -counter = 0 -open_errors = 0 -closed_errors = 0 -content_errors = 0 - -def run_test(sleep_duration): - global counter, open_errors, closed_errors - - pandas = Panda.list() - print(pandas) - - # make sure two pandas are connected - if len(pandas) != 2: - raise Exception("Connect white/grey and black panda to run this test!") - - # connect - pandas[0] = Panda(pandas[0]) - pandas[1] = Panda(pandas[1]) - - # find out which one is black - type0 = pandas[0].get_type() - type1 = pandas[1].get_type() - - black_panda = None - other_panda = None - - if type0 == "\x03" and type1 != "\x03": - black_panda = pandas[0] - other_panda = pandas[1] - elif type0 != "\x03" and type1 == "\x03": - black_panda = pandas[1] - other_panda = pandas[0] - else: - raise Exception("Connect white/grey and black panda to run this test!") - - # disable safety modes - black_panda.set_safety_mode(Panda.SAFETY_ALLOUTPUT) - other_panda.set_safety_mode(Panda.SAFETY_ALLOUTPUT) - - # test health packet - print("black panda health", black_panda.health()) - print("other panda health", other_panda.health()) - - # test black -> other - while True: - # Switch on relay - black_panda.set_safety_mode(Panda.SAFETY_ALLOUTPUT) - time.sleep(0.05) - - if not test_buses(black_panda, other_panda, (0, False, [0])): - open_errors += 1 - raise Exception("Open error") - - # Switch off relay - black_panda.set_safety_mode(Panda.SAFETY_SILENT) - time.sleep(0.05) - - if not test_buses(black_panda, other_panda, (0, False, [0, 2])): - closed_errors += 1 - raise Exception("Close error") - - counter += 1 - print("Number of cycles:", counter, "Open errors:", open_errors, "Closed errors:", closed_errors, "Content errors:", content_errors) - -def test_buses(black_panda, other_panda, test_obj): - global content_errors - send_bus, obd, recv_buses = test_obj - - black_panda.send_heartbeat() - other_panda.send_heartbeat() - - # Set OBD on send panda - other_panda.set_obd(True if obd else None) - - # clear and flush - other_panda.can_clear(send_bus) - - for recv_bus in recv_buses: - black_panda.can_clear(recv_bus) - - black_panda.can_recv() - other_panda.can_recv() - - # send the characters - at = random.randint(1, 2000) - st = get_test_string()[0:8] - other_panda.can_send(at, st, send_bus) - time.sleep(0.05) - - # check for receive - _ = other_panda.can_recv() # can echo - cans_loop = black_panda.can_recv() - - loop_buses = [] - for loop in cans_loop: - if (loop[0] != at) or (loop[2] != st): - content_errors += 1 - loop_buses.append(loop[3]) - - # test loop buses - recv_buses.sort() - loop_buses.sort() - if(recv_buses != loop_buses): - return False - else: - return True - -if __name__ == "__main__": - parser = argparse.ArgumentParser() - parser.add_argument("-n", type=int, help="Number of test iterations to run") - parser.add_argument("-sleep", type=int, help="Sleep time between tests", default=0) - args = parser.parse_args() - - if args.n is None: - while True: - run_test(sleep_duration=args.sleep) - else: - for _ in range(args.n): - run_test(sleep_duration=args.sleep) diff --git a/panda/tests/bulk_write_test.py b/panda/tests/bulk_write_test.py deleted file mode 100755 index 278766a1990de3..00000000000000 --- a/panda/tests/bulk_write_test.py +++ /dev/null @@ -1,48 +0,0 @@ -#!/usr/bin/env python3 -import os -import time -import threading -from typing import Any - -from panda import Panda - -JUNGLE = "JUNGLE" in os.environ -if JUNGLE: - from panda import PandaJungle - -# The TX buffers on pandas is 0x100 in length. -NUM_MESSAGES_PER_BUS = 10000 - -def flood_tx(panda): - print('Sending!') - msg = b"\xaa" * 4 - packet = [[0xaa, None, msg, 0], [0xaa, None, msg, 1], [0xaa, None, msg, 2]] * NUM_MESSAGES_PER_BUS - panda.can_send_many(packet, timeout=10000) - print(f"Done sending {3*NUM_MESSAGES_PER_BUS} messages!") - -if __name__ == "__main__": - serials = Panda.list() - if JUNGLE: - sender = Panda() - receiver = PandaJungle() - else: - if len(serials) != 2: - raise Exception("Connect two pandas to perform this test!") - sender = Panda(serials[0]) - receiver = Panda(serials[1]) # type: ignore - receiver.set_safety_mode(Panda.SAFETY_ALLOUTPUT) - - sender.set_safety_mode(Panda.SAFETY_ALLOUTPUT) - - # Start transmisson - threading.Thread(target=flood_tx, args=(sender,)).start() - - # Receive as much as we can in a few second time period - rx: list[Any] = [] - old_len = 0 - start_time = time.time() - while time.time() - start_time < 3 or len(rx) > old_len: - old_len = len(rx) - print(old_len) - rx.extend(receiver.can_recv()) - print(f"Received {len(rx)} messages") diff --git a/panda/tests/can_printer.py b/panda/tests/can_printer.py deleted file mode 100755 index 15ce89f688158f..00000000000000 --- a/panda/tests/can_printer.py +++ /dev/null @@ -1,36 +0,0 @@ -#!/usr/bin/env python3 -import os -import time -from collections import defaultdict -import binascii - -from panda import Panda - -# fake -def sec_since_boot(): - return time.time() - -def can_printer(): - p = Panda() - p.set_safety_mode(Panda.SAFETY_ALLOUTPUT) - - start = sec_since_boot() - lp = sec_since_boot() - msgs = defaultdict(list) - canbus = int(os.getenv("CAN", "0")) - while True: - can_recv = p.can_recv() - for address, _, dat, src in can_recv: - if src == canbus: - msgs[address].append(dat) - - if sec_since_boot() - lp > 0.1: - dd = chr(27) + "[2J" - dd += "%5.2f\n" % (sec_since_boot() - start) - for k, v in sorted(zip(list(msgs.keys()), [binascii.hexlify(x[-1]) for x in list(msgs.values())], strict=True)): - dd += "%s(%6d) %s\n" % ("%04X(%4d)" % (k, k), len(msgs[k]), v) - print(dd) - lp = sec_since_boot() - -if __name__ == "__main__": - can_printer() diff --git a/panda/tests/canfd/test_canfd.py b/panda/tests/canfd/test_canfd.py deleted file mode 100755 index 873bc796ba57dd..00000000000000 --- a/panda/tests/canfd/test_canfd.py +++ /dev/null @@ -1,152 +0,0 @@ -#!/usr/bin/env python3 -import os -import time -import random -from collections import defaultdict -from panda import Panda, calculate_checksum, DLC_TO_LEN -from panda import PandaJungle -from panda.tests.hitl.helpers import time_many_sends - -H7_HW_TYPES = [Panda.HW_TYPE_RED_PANDA, Panda.HW_TYPE_RED_PANDA_V2] -JUNGLE_SERIAL = os.getenv("JUNGLE") -H7_PANDAS_EXCLUDE = [] # type: ignore -if os.getenv("H7_PANDAS_EXCLUDE"): - H7_PANDAS_EXCLUDE = os.getenv("H7_PANDAS_EXCLUDE").strip().split(" ") # type: ignore - -def panda_reset(): - panda_serials = [] - - panda_jungle = PandaJungle(JUNGLE_SERIAL) - panda_jungle.set_can_silent(True) - panda_jungle.set_panda_power(False) - time.sleep(1) - panda_jungle.set_panda_power(True) - time.sleep(4) - - for serial in Panda.list(): - if serial not in H7_PANDAS_EXCLUDE: - with Panda(serial=serial) as p: - if p.get_type() in H7_HW_TYPES: - p.reset() - panda_serials.append(serial) - - print("test pandas", panda_serials) - assert len(panda_serials) == 2, "Two H7 pandas required" - - return panda_serials - -def panda_init(serial, enable_canfd=False, enable_non_iso=False): - p = Panda(serial=serial) - p.set_power_save(False) - for bus in range(3): - p.set_can_speed_kbps(0, 500) - if enable_canfd: - p.set_can_data_speed_kbps(bus, 2000) - if enable_non_iso: - p.set_canfd_non_iso(bus, True) - p.set_safety_mode(Panda.SAFETY_ALLOUTPUT) - return p - -def test_canfd_throughput(p, p_recv=None): - two_pandas = p_recv is not None - p.set_safety_mode(Panda.SAFETY_ALLOUTPUT) - if two_pandas: - p_recv.set_safety_mode(Panda.SAFETY_ALLOUTPUT) - # enable output mode - else: - p.set_can_loopback(True) - - tests = [ - [500, 1000, 2000], # speeds - [93, 87, 78], # saturation thresholds - ] - - for i in range(len(tests[0])): - # set bus 0 data speed to speed - p.set_can_data_speed_kbps(0, tests[0][i]) - if p_recv is not None: - p_recv.set_can_data_speed_kbps(0, tests[0][i]) - time.sleep(0.05) - - comp_kbps = time_many_sends(p, 0, p_recv=p_recv, msg_count=400, two_pandas=two_pandas, msg_len=64) - - # bit count from https://en.wikipedia.org/wiki/CAN_bus - saturation_pct = (comp_kbps / tests[0][i]) * 100.0 - assert saturation_pct > tests[1][i] - assert saturation_pct < 100 - -def canfd_test(p_send, p_recv): - for n in range(100): - sent_msgs = defaultdict(set) - to_send = [] - for _ in range(200): - bus = random.randrange(3) - for dlc in range(len(DLC_TO_LEN)): - address = random.randrange(1, 1<<29) - data = bytearray(random.getrandbits(8) for _ in range(DLC_TO_LEN[dlc])) - if len(data) >= 2: - data[0] = calculate_checksum(data[1:] + bytes(str(address), encoding="utf-8")) - to_send.append([address, 0, data, bus]) - sent_msgs[bus].add((address, bytes(data))) - - p_send.can_send_many(to_send, timeout=0) - - start_time = time.monotonic() - while (time.monotonic() - start_time < 1) and any(len(x) > 0 for x in sent_msgs.values()): - incoming = p_recv.can_recv() - for msg in incoming: - address, _, data, bus = msg - if len(data) >= 2: - assert calculate_checksum(data[1:] + bytes(str(address), encoding="utf-8")) == data[0] - k = (address, bytes(data)) - assert k in sent_msgs[bus], f"message {k} was never sent on bus {bus}" - sent_msgs[bus].discard(k) - - for bus in range(3): - assert not len(sent_msgs[bus]), f"loop {n}: bus {bus} missing {len(sent_msgs[bus])} messages" - -def setup_test(enable_non_iso=False): - panda_serials = panda_reset() - - p_send = panda_init(panda_serials[0], enable_canfd=False, enable_non_iso=enable_non_iso) - p_recv = panda_init(panda_serials[1], enable_canfd=True, enable_non_iso=enable_non_iso) - - # Check that sending panda CAN FD and BRS are turned off - for bus in range(3): - health = p_send.can_health(bus) - assert not health["canfd_enabled"] - assert not health["brs_enabled"] - assert health["canfd_non_iso"] == enable_non_iso - - # Receiving panda sends dummy CAN FD message that should enable CAN FD on sender side - for bus in range(3): - p_recv.can_send(0x200, b"dummymessage", bus) - p_recv.can_recv() - p_send.can_recv() - - # Check if all tested buses on sending panda have swithed to CAN FD with BRS - for bus in range(3): - health = p_send.can_health(bus) - assert health["canfd_enabled"] - assert health["brs_enabled"] - assert health["canfd_non_iso"] == enable_non_iso - - return p_send, p_recv - -def main(): - print("[TEST CAN-FD]") - p_send, p_recv = setup_test() - canfd_test(p_send, p_recv) - - print("[TEST CAN-FD non-ISO]") - p_send, p_recv = setup_test(enable_non_iso=True) - canfd_test(p_send, p_recv) - - print("[TEST CAN-FD THROUGHPUT]") - panda_serials = panda_reset() - p_send = panda_init(panda_serials[0], enable_canfd=True) - p_recv = panda_init(panda_serials[1], enable_canfd=True) - test_canfd_throughput(p_send, p_recv) - -if __name__ == "__main__": - main() diff --git a/panda/tests/check_fw_size.py b/panda/tests/check_fw_size.py deleted file mode 100755 index 53681c5a3e757e..00000000000000 --- a/panda/tests/check_fw_size.py +++ /dev/null @@ -1,97 +0,0 @@ -#!/usr/bin/env python3 -import subprocess -from collections import defaultdict - - -def check_space(file, mcu): - MCUS = { - "H7": { - ".flash": 1024*1024, # FLASH - ".dtcmram": 128*1024, # DTCMRAM - ".itcmram": 64*1024, # ITCMRAM - ".axisram": 320*1024, # AXI SRAM - ".sram12": 32*1024, # SRAM1(16kb) + SRAM2(16kb) - ".sram4": 16*1024, # SRAM4 - ".backup_sram": 4*1024, # SRAM4 - }, - "F4": { - ".flash": 1024*1024, # FLASH - ".dtcmram": 256*1024, # RAM - ".ram_d1": 64*1024, # RAM2 - }, - } - IGNORE_LIST = [ - ".ARM.attributes", - ".comment", - ".debug_line", - ".debug_info", - ".debug_abbrev", - ".debug_aranges", - ".debug_str", - ".debug_ranges", - ".debug_loc", - ".debug_frame", - ".debug_line_str", - ".debug_rnglists", - ".debug_loclists", - ] - FLASH = [ - ".isr_vector", - ".text", - ".rodata", - ".data" - ] - RAM = [ - ".data", - ".bss", - "._user_heap_stack" # _user_heap_stack considered free? - ] - - result = {} - calcs = defaultdict(int) - - output = str(subprocess.check_output(f"arm-none-eabi-size -x --format=sysv {file}", shell=True), 'utf-8') - - for row in output.split('\n'): - pop = False - line = row.split() - if len(line) == 3 and line[0].startswith('.'): - if line[0] in IGNORE_LIST: - continue - result[line[0]] = [line[1], line[2]] - if line[0] in FLASH: - calcs[".flash"] += int(line[1], 16) - pop = True - if line[0] in RAM: - calcs[".dtcmram"] += int(line[1], 16) - pop = True - if pop: - result.pop(line[0]) - - if len(result): - for line in result: - calcs[line] += int(result[line][0], 16) - - print(f"=======SUMMARY FOR {mcu} FILE {file}=======") - for line in calcs: - if line in MCUS[mcu]: - used_percent = (100 - (MCUS[mcu][line] - calcs[line]) / MCUS[mcu][line] * 100) - print(f"SECTION: {line} size: {MCUS[mcu][line]} USED: {calcs[line]}({used_percent:.2f}%) FREE: {MCUS[mcu][line] - calcs[line]}") - else: - print(line, calcs[line]) - print() - - -if __name__ == "__main__": - # red panda - check_space("../board/obj/bootstub.panda_h7.elf", "H7") - check_space("../board/obj/panda_h7.elf", "H7") - # black panda - check_space("../board/obj/bootstub.panda.elf", "F4") - check_space("../board/obj/panda.elf", "F4") - # jungle v1 - check_space("../board/jungle/obj/bootstub.panda_jungle.elf", "F4") - check_space("../board/jungle/obj/panda_jungle.elf", "F4") - # jungle v2 - check_space("../board/jungle/obj/bootstub.panda_jungle_h7.elf", "H7") - check_space("../board/jungle/obj/panda_jungle_h7.elf", "H7") diff --git a/panda/tests/ci_shell.sh b/panda/tests/ci_shell.sh deleted file mode 100755 index 92c0f96e8abe1c..00000000000000 --- a/panda/tests/ci_shell.sh +++ /dev/null @@ -1,20 +0,0 @@ -#!/bin/bash -e - -DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)" -OP_ROOT="$DIR/../../" -PANDA_ROOT="$DIR/../" - -if [ -z "$BUILD" ]; then - docker pull docker.io/commaai/panda:latest -else - docker build --cache-from docker.io/commaai/panda:latest -t docker.io/commaai/panda:latest -f $PANDA_ROOT/Dockerfile $PANDA_ROOT -fi - -docker run \ - -it \ - --rm \ - --volume $OP_ROOT:$OP_ROOT \ - --workdir $PWD \ - --env PYTHONPATH=$OP_ROOT \ - docker.io/commaai/panda:latest \ - /bin/bash diff --git a/panda/tests/debug_console.py b/panda/tests/debug_console.py deleted file mode 100755 index 8755be14989d7f..00000000000000 --- a/panda/tests/debug_console.py +++ /dev/null @@ -1,62 +0,0 @@ -#!/usr/bin/env python3 - -import os -import sys -import time -import select -import codecs - -from panda import Panda - -setcolor = ["\033[1;32;40m", "\033[1;31;40m"] -unsetcolor = "\033[00m" - -port_number = int(os.getenv("PORT", "0")) -claim = os.getenv("CLAIM") is not None -no_color = os.getenv("NO_COLOR") is not None -no_reconnect = os.getenv("NO_RECONNECT") is not None - -if __name__ == "__main__": - while True: - try: - serials = Panda.list() - if os.getenv("SERIAL"): - serials = [x for x in serials if x == os.getenv("SERIAL")] - - pandas = [Panda(x, claim=claim) for x in serials] - decoders = [codecs.getincrementaldecoder('utf-8')() for _ in pandas] - - if not len(pandas): - print("no pandas found") - if no_reconnect: - sys.exit(0) - time.sleep(1) - continue - - if os.getenv("BAUD") is not None: - for panda in pandas: - panda.set_uart_baud(port_number, int(os.getenv("BAUD"))) # type: ignore - - while True: - for i, panda in enumerate(pandas): - while True: - ret = panda.serial_read(port_number) - if len(ret) > 0: - decoded = decoders[i].decode(ret) - if no_color: - sys.stdout.write(decoded) - else: - sys.stdout.write(setcolor[i] + decoded + unsetcolor) - sys.stdout.flush() - else: - break - if select.select([sys.stdin], [], [], 0) == ([sys.stdin], [], []): - ln = sys.stdin.readline() - if claim: - panda.serial_write(port_number, ln) - time.sleep(0.01) - except KeyboardInterrupt: - break - except Exception: - print("panda disconnected!") - time.sleep(0.5) diff --git a/panda/tests/development/register_hashmap_spread.py b/panda/tests/development/register_hashmap_spread.py deleted file mode 100755 index 3e20e584aa4698..00000000000000 --- a/panda/tests/development/register_hashmap_spread.py +++ /dev/null @@ -1,50 +0,0 @@ -#!/usr/bin/env python3 -import matplotlib.pyplot as plt # pylint: disable=import-error - -HASHING_PRIME = 23 -REGISTER_MAP_SIZE = 0x3FF -BYTES_PER_REG = 4 - -# From ST32F413 datasheet -REGISTER_ADDRESS_REGIONS = [ - (0x40000000, 0x40007FFF), - (0x40010000, 0x400107FF), - (0x40011000, 0x400123FF), - (0x40012C00, 0x40014BFF), - (0x40015000, 0x400153FF), - (0x40015800, 0x40015BFF), - (0x40016000, 0x400167FF), - (0x40020000, 0x40021FFF), - (0x40023000, 0x400233FF), - (0x40023800, 0x40023FFF), - (0x40026000, 0x400267FF), - (0x50000000, 0x5003FFFF), - (0x50060000, 0x500603FF), - (0x50060800, 0x50060BFF), - (0x50060800, 0x50060BFF), - (0xE0000000, 0xE00FFFFF) -] - -def _hash(reg_addr): - return (((reg_addr >> 16) ^ ((((reg_addr + 1) & 0xFFFF) * HASHING_PRIME) & 0xFFFF)) & REGISTER_MAP_SIZE) - -# Calculate hash for each address -hashes = [] -double_hashes = [] -for (start_addr, stop_addr) in REGISTER_ADDRESS_REGIONS: - for addr in range(start_addr, stop_addr + 1, BYTES_PER_REG): - h = _hash(addr) - hashes.append(h) - double_hashes.append(_hash(h)) - -# Make histograms -plt.subplot(2, 1, 1) -plt.hist(hashes, bins=REGISTER_MAP_SIZE) -plt.title("Number of collisions per _hash") -plt.xlabel("Address") - -plt.subplot(2, 1, 2) -plt.hist(double_hashes, bins=REGISTER_MAP_SIZE) -plt.title("Number of collisions per double _hash") -plt.xlabel("Address") -plt.show() diff --git a/panda/tests/echo.py b/panda/tests/echo.py deleted file mode 100755 index 90bf4a8c769aa4..00000000000000 --- a/panda/tests/echo.py +++ /dev/null @@ -1,16 +0,0 @@ -#!/usr/bin/env python3 -from panda import Panda - -# This script is intended to be used in conjunction with the echo_loopback_test.py test script from panda jungle. -# It sends a reversed response back for every message received containing b"test". -if __name__ == "__main__": - p = Panda() - p.set_safety_mode(Panda.SAFETY_ALLOUTPUT) - p.set_power_save(False) - - while True: - incoming = p.can_recv() - for message in incoming: - address, notused, data, bus = message - if b'test' in data: - p.can_send(address, data[::-1], bus) diff --git a/panda/tests/elm_car_simulator.py b/panda/tests/elm_car_simulator.py deleted file mode 100755 index 56e825f5dd848a..00000000000000 --- a/panda/tests/elm_car_simulator.py +++ /dev/null @@ -1,232 +0,0 @@ -#!/usr/bin/env python3 - -"""Used to Reverse/Test ELM protocol auto detect and OBD message response without a car.""" - -import os -import sys -import struct -import binascii -import time -import threading -from collections import deque - -from panda import Panda - -def lin_checksum(dat): - return sum(dat) % 0x100 - -class ELMCarSimulator(): - def __init__(self, sn, silent=False, can_kbaud=500, - can=True, can11b=True, can29b=True, - lin=True): - self.__p = Panda(sn if sn else Panda.list()[0]) - self.__on = True - self.__stop = False - self.__silent = silent - - self.__lin_timer = None - self.__lin_active = False - self.__lin_enable = lin - self.__lin_monitor_thread = threading.Thread(target=self.__lin_monitor) - - self.__can_multipart_data = None - self.__can_kbaud = can_kbaud - self.__can_extra_noise_msgs = deque() - self.__can_enable = can - self.__can11b = can11b - self.__can29b = can29b - self.__can_monitor_thread = threading.Thread(target=self.__can_monitor) - - @property - def panda(self): - return self.__p - - def stop(self): - if self.__lin_timer: - self.__lin_timer.cancel() - self.__lin_timeout_handler() - - self.__stop = True - - def join(self): - if self.__lin_monitor_thread.is_alive(): - self.__lin_monitor_thread.join() - if self.__can_monitor_thread.is_alive(): - self.__can_monitor_thread.join() - if self.__p: - print("closing handle") - self.__p.close() - - def set_enable(self, on): - self.__on = on - - def start(self): - self.panda.set_safety_mode(Panda.SAFETY_ALLOUTPUT) - if self.__lin_enable: - self.__lin_monitor_thread.start() - if self.__can_enable: - self.__can_monitor_thread.start() - - ######################### - # CAN related functions # - ######################### - - def __can_monitor(self): - print("STARTING CAN THREAD") - self.panda.set_can_speed_kbps(0, self.__can_kbaud) - self.panda.can_recv() # Toss whatever was already there - - while not self.__stop: - for address, ts, data, src in self.panda.can_recv(): - if self.__on and src == 0 and len(data) == 8 and data[0] >= 2: - if not self.__silent: - print("Processing CAN message", src, hex(address), binascii.hexlify(data)) - self.__can_process_msg(data[1], data[2], address, ts, data, src) - elif not self.__silent: - print("Rejecting CAN message", src, hex(address), binascii.hexlify(data)) - - def can_mode_11b(self): - self.__can11b = True - self.__can29b = False - - def can_mode_29b(self): - self.__can11b = False - self.__can29b = True - - def can_mode_11b_29b(self): - self.__can11b = True - self.__can29b = True - - def change_can_baud(self, kbaud): - self.__can_kbaud = kbaud - self.panda.set_can_speed_kbps(0, self.__can_kbaud) - - def can_add_extra_noise(self, noise_msg, addr=None): - self.__can_extra_noise_msgs.append((addr, noise_msg)) - - def _can_send(self, addr, msg): - if not self.__silent: - print(" CAN Reply (%x)" % addr, binascii.hexlify(msg)) - self.panda.can_send(addr, msg + b'\x00' * (8 - len(msg)), 0) - if self.__can_extra_noise_msgs: - noise = self.__can_extra_noise_msgs.popleft() - self.panda.can_send(noise[0] if noise[0] is not None else addr, - noise[1] + b'\x00' * (8 - len(noise[1])), 0) - - def _can_addr_matches(self, addr): - if self.__can11b and (addr == 0x7DF or (addr & 0x7F8) == 0x7E0): - return True - if self.__can29b and (addr == 0x18db33f1 or (addr & 0x1FFF00FF) == 0x18da00f1): - return True - return False - - def __can_process_msg(self, mode, pid, address, ts, data, src): - if not self.__silent: - print("CAN MSG", binascii.hexlify(data[1:1 + data[0]]), - "Addr:", hex(address), "Mode:", hex(mode)[2:].zfill(2), - "PID:", hex(pid)[2:].zfill(2), "canLen:", len(data), - binascii.hexlify(data)) - - if self._can_addr_matches(address) and len(data) == 8: - outmsg = None - if data[:3] == b'\x30\x00\x00' and len(self.__can_multipart_data): - if not self.__silent: - print("Request for more data") - outaddr = 0x7E8 if address == 0x7DF or address == 0x7E0 else 0x18DAF110 - msgnum = 1 - while(self.__can_multipart_data): - datalen = min(7, len(self.__can_multipart_data)) - msgpiece = struct.pack("B", 0x20 | msgnum) + self.__can_multipart_data[:datalen] - self._can_send(outaddr, msgpiece) - self.__can_multipart_data = self.__can_multipart_data[7:] - msgnum = (msgnum + 1) % 0x10 - time.sleep(0.01) - - else: - outmsg = self._process_obd(mode, pid) - - if outmsg: - outaddr = 0x7E8 if address == 0x7DF or address == 0x7E0 else 0x18DAF110 - - if len(outmsg) <= 5: - self._can_send(outaddr, - struct.pack("BBB", len(outmsg) + 2, 0x40 | data[1], pid) + outmsg) - else: - first_msg_len = min(3, len(outmsg) % 7) - payload_len = len(outmsg) + 3 - msgpiece = struct.pack("BBBBB", 0x10 | ((payload_len >> 8) & 0xF), - payload_len & 0xFF, - 0x40 | data[1], pid, 1) + outmsg[:first_msg_len] - self._can_send(outaddr, msgpiece) - self.__can_multipart_data = outmsg[first_msg_len:] - - ######################### - # General OBD functions # - ######################### - - def _process_obd(self, mode, pid): - if mode == 0x01: # Mode: Show current data - if pid == 0x00: # List supported things - return b"\xff\xff\xff\xfe" # b"\xBE\x1F\xB8\x10" #Bitfield, random features - elif pid == 0x01: # Monitor Status since DTC cleared - return b"\x00\x00\x00\x00" # Bitfield, random features - elif pid == 0x04: # Calculated engine load - return b"\x2f" - elif pid == 0x05: # Engine coolant temperature - return b"\x3c" - elif pid == 0x0B: # Intake manifold absolute pressure - return b"\x90" - elif pid == 0x0C: # Engine RPM - return b"\x1A\xF8" - elif pid == 0x0D: # Vehicle Speed - return b"\x53" - elif pid == 0x10: # MAF air flow rate - return b"\x01\xA0" - elif pid == 0x11: # Throttle Position - return b"\x90" - elif pid == 0x33: # Absolute Barometric Pressure - return b"\x90" - elif mode == 0x09: # Mode: Request vehicle information - if pid == 0x02: # Show VIN - return b"1D4GP00R55B123456" - if pid == 0xFC: # test long multi message. Ligned up for LIN responses - return b''.join(struct.pack(">BBH", 0xAA, 0xAA, num + 1) for num in range(80)) - if pid == 0xFD: # test long multi message - parts = (b'\xAA\xAA\xAA' + struct.pack(">I", num) for num in range(80)) - return b'\xAA\xAA\xAA' + b''.join(parts) - if pid == 0xFE: # test very long multi message - parts = (b'\xAA\xAA\xAA' + struct.pack(">I", num) for num in range(584)) - return b'\xAA\xAA\xAA' + b''.join(parts) + b'\xAA' - if pid == 0xFF: - return b'\xAA\x00\x00' + \ - b"".join((b'\xAA' * 5) + struct.pack(">H", num + 1) for num in range(584)) - #return b"\xAA"*100#(0xFFF-3) - - -if __name__ == "__main__": - serial = os.getenv("SERIAL") if os.getenv("SERIAL") else None - kbaud = int(os.getenv("CANKBAUD")) if os.getenv("CANKBAUD") else 500 # type: ignore - bitwidth = int(os.getenv("CANBITWIDTH")) if os.getenv("CANBITWIDTH") else 0 # type: ignore - canenable = bool(int(os.getenv("CANENABLE"))) if os.getenv("CANENABLE") else True # type: ignore - linenable = bool(int(os.getenv("LINENABLE"))) if os.getenv("LINENABLE") else True # type: ignore - sim = ELMCarSimulator(serial, can_kbaud=kbaud, can=canenable, lin=linenable) - if(bitwidth == 0): - sim.can_mode_11b_29b() - if(bitwidth == 11): - sim.can_mode_11b() - if(bitwidth == 29): - sim.can_mode_29b() - - import signal - - def signal_handler(signal, frame): - print('\nShutting down simulator') - sim.stop() - sim.join() - sys.exit(0) - - signal.signal(signal.SIGINT, signal_handler) - - sim.start() - - signal.pause() diff --git a/panda/tests/elm_throughput.py b/panda/tests/elm_throughput.py deleted file mode 100755 index 983d4a1416c1e5..00000000000000 --- a/panda/tests/elm_throughput.py +++ /dev/null @@ -1,44 +0,0 @@ -#!/usr/bin/env python3 - -import socket -import threading -import select - -class Reader(threading.Thread): - def __init__(self, s, *args, **kwargs): - super().__init__(*args, **kwargs) - self._s = s - self.__stop = False - - def stop(self): - self.__stop = True - - def run(self): - while not self.__stop: - s.recv(1000) - -def read_or_fail(s): - ready = select.select([s], [], [], 4) - assert ready[0], "Socket did not receive data within the timeout duration." - return s.recv(1000) - -def send_msg(s, msg): - s.send(msg) - res = b'' - while not res.endswith(">"): - res += read_or_fail(s) - return res - -if __name__ == "__main__": - s = socket.create_connection(("192.168.0.10", 35000)) - send_msg(s, b"ATZ\r") - send_msg(s, b"ATL1\r") - print(send_msg(s, b"ATE0\r")) - print(send_msg(s, b"ATS0\r")) - print(send_msg(s, b"ATSP6\r")) - - print("\nLOOP\n") - - while True: - print(send_msg(s, b"0100\r")) - print(send_msg(s, b"010d\r")) diff --git a/panda/tests/fan/fan_test.py b/panda/tests/fan/fan_test.py deleted file mode 100755 index 36a11715b3d374..00000000000000 --- a/panda/tests/fan/fan_test.py +++ /dev/null @@ -1,14 +0,0 @@ -#!/usr/bin/env python -import time - -from panda import Panda - -if __name__ == "__main__": - p = Panda() - power = 0 - while True: - p.set_fan_power(power) - time.sleep(5) - print("Power: ", power, "RPM:", str(p.get_fan_rpm()), "Expected:", int(6500 * power / 100)) - power += 10 - power %= 110 diff --git a/panda/tests/fan/fan_tuning.py b/panda/tests/fan/fan_tuning.py deleted file mode 100755 index 2bdfab79a2db9c..00000000000000 --- a/panda/tests/fan/fan_tuning.py +++ /dev/null @@ -1,88 +0,0 @@ -#!/usr/bin/env python3 -import json -import time -import threading - -from panda import Panda - -def drain_serial(p): - ret = [] - while True: - d = p.serial_read(0) - if len(d) == 0: - break - ret.append(d) - return ret - - -fan_cmd = 0. - -def logger(event): - # requires a build with DEBUG_FAN - with Panda(claim=False) as p, open('/tmp/fan_log', 'w') as f: - power = None - target_rpm = None - stall_count = None - rpm_fast = None - t = time.monotonic() - - drain_serial(p) - while not event.is_set(): - p.set_fan_power(fan_cmd) - - for l in drain_serial(p)[::-1]: - ns = l.decode('utf8').strip().split(' ') - if len(ns) == 4: - target_rpm, rpm_fast, power, stall_count = (int(n, 16) for n in ns) - break - - dat = { - 't': time.monotonic() - t, - 'cmd_power': fan_cmd, - 'pwm_power': power, - 'target_rpm': target_rpm, - 'rpm_fast': rpm_fast, - 'rpm': p.get_fan_rpm(), - 'stall_counter': stall_count, - 'total_stall_count': p.health()['fan_stall_count'], - } - f.write(json.dumps(dat) + '\n') - time.sleep(1/16.) - p.set_fan_power(0) - -def get_overshoot_rpm(p, power): - global fan_cmd - - # make sure the fan is stopped completely - fan_cmd = 0. - while p.get_fan_rpm() > 100: - time.sleep(0.1) - time.sleep(3) - - # set it to 30% power to mimic going onroad - fan_cmd = power - max_rpm = 0 - max_power = 0 - for _ in range(70): - max_rpm = max(max_rpm, p.get_fan_rpm()) - max_power = max(max_power, p.health()['fan_power']) - time.sleep(0.1) - - # tolerate 10% overshoot - expected_rpm = Panda.MAX_FAN_RPMs[bytes(p.get_type())] * power / 100 - overshoot = (max_rpm / expected_rpm) - 1 - - return overshoot, max_rpm, max_power - - -if __name__ == "__main__": - event = threading.Event() - threading.Thread(target=logger, args=(event, )).start() - - try: - p = Panda() - for power in range(10, 101, 10): - overshoot, max_rpm, max_power = get_overshoot_rpm(p, power) - print(f"Fan power {power}%: overshoot {overshoot:.2%}, Max RPM {max_rpm}, Max power {max_power}%") - finally: - event.set() diff --git a/panda/tests/get_version.py b/panda/tests/get_version.py deleted file mode 100755 index a0138122bad75b..00000000000000 --- a/panda/tests/get_version.py +++ /dev/null @@ -1,7 +0,0 @@ -#!/usr/bin/env python3 -from panda import Panda - -if __name__ == "__main__": - for p in Panda.list(): - pp = Panda(p) - print(f"{pp.get_serial()[0]}: {pp.get_version()}") diff --git a/panda/tests/health_test.py b/panda/tests/health_test.py deleted file mode 100755 index 1195c2d7f214a4..00000000000000 --- a/panda/tests/health_test.py +++ /dev/null @@ -1,18 +0,0 @@ -#!/usr/bin/env python3 -import time -from panda import Panda - -if __name__ == "__main__": - i = 0 - pi = 0 - - panda = Panda() - while True: - st = time.monotonic() - while time.monotonic() - st < 1: - panda.health() - i += 1 - print(i, panda.health(), "\n") - print(f"Speed: {i - pi}Hz") - pi = i - diff --git a/panda/tests/hitl/1_program.py b/panda/tests/hitl/1_program.py deleted file mode 100644 index 6a5087fa96124f..00000000000000 --- a/panda/tests/hitl/1_program.py +++ /dev/null @@ -1,103 +0,0 @@ -import os -import time -import pytest - -from panda import Panda, PandaDFU, McuType, BASEDIR - - -def check_signature(p): - assert not p.bootstub, "Flashed firmware not booting. Stuck in bootstub." - assert p.up_to_date() - - -def test_dfu(p): - app_mcu_type = p.get_mcu_type() - dfu_serial = p.get_dfu_serial() - - p.reset(enter_bootstub=True) - p.reset(enter_bootloader=True) - assert Panda.wait_for_dfu(dfu_serial, timeout=19), "failed to enter DFU" - - dfu = PandaDFU(dfu_serial) - assert dfu.get_mcu_type() == app_mcu_type - - assert dfu_serial in PandaDFU.list() - - dfu._handle.clear_status() - dfu.reset() - p.reconnect() - -# TODO: make more comprehensive bootstub tests and run on a few production ones + current -# TODO: also test release-signed app -@pytest.mark.timeout(30) -def test_known_bootstub(p): - """ - Test that compiled app can work with known production bootstub - """ - known_bootstubs = { - # covers the two cases listed in Panda.connect - McuType.F4: [ - # case A - no bcdDevice or panda type, has to assume F4 - "bootstub_f4_first_dos_production.panda.bin", - - # case B - just bcdDevice - "bootstub_f4_only_bcd.panda.bin", - ], - McuType.H7: ["bootstub.panda_h7.bin"], - } - - for kb in known_bootstubs[p.get_mcu_type()]: - app_ids = (p.get_mcu_type(), p.get_usb_serial()) - assert None not in app_ids - - p.reset(enter_bootstub=True) - p.reset(enter_bootloader=True) - - dfu_serial = p.get_dfu_serial() - assert Panda.wait_for_dfu(dfu_serial, timeout=30) - - dfu = PandaDFU(dfu_serial) - with open(os.path.join(BASEDIR, "tests/hitl/known_bootstub", kb), "rb") as f: - code = f.read() - - dfu.program_bootstub(code) - dfu.reset() - - p.connect(claim=False, wait=True) - - # check for MCU or serial mismatch - with Panda(p._serial, claim=False) as np: - bootstub_ids = (np.get_mcu_type(), np.get_usb_serial()) - assert app_ids == bootstub_ids - - # ensure we can flash app and it jumps to app - p.flash() - check_signature(p) - assert not p.bootstub - -@pytest.mark.timeout(25) -def test_recover(p): - assert p.recover(timeout=30) - check_signature(p) - -@pytest.mark.timeout(25) -def test_flash(p): - # test flash from bootstub - serial = p._serial - assert serial is not None - p.reset(enter_bootstub=True) - p.close() - time.sleep(2) - - with Panda(serial) as np: - assert np.bootstub - assert np._serial == serial - np.flash() - - p.reconnect() - p.reset() - check_signature(p) - - # test flash from app - p.flash() - check_signature(p) diff --git a/panda/tests/hitl/2_health.py b/panda/tests/hitl/2_health.py deleted file mode 100644 index 12c75f561db153..00000000000000 --- a/panda/tests/hitl/2_health.py +++ /dev/null @@ -1,65 +0,0 @@ -import time -import pytest - -from panda import Panda - - -@pytest.mark.skip_panda_types((Panda.HW_TYPE_DOS, )) -def test_voltage(p): - for _ in range(10): - voltage = p.health()['voltage'] - assert ((voltage > 11000) and (voltage < 13000)) - time.sleep(0.1) - -def test_hw_type(p): - """ - hw type should be same in bootstub as application - """ - - hw_type = p.get_type() - mcu_type = p.get_mcu_type() - assert mcu_type is not None - - app_uid = p.get_uid() - usb_serial = p.get_usb_serial() - assert app_uid == usb_serial - - p.reset(enter_bootstub=True, reconnect=True) - p.close() - time.sleep(3) - with Panda(p.get_usb_serial()) as pp: - assert pp.bootstub - assert pp.get_type() == hw_type, "Bootstub and app hw type mismatch" - assert pp.get_mcu_type() == mcu_type, "Bootstub and app MCU type mismatch" - assert pp.get_uid() == app_uid - -def test_heartbeat(p, panda_jungle): - panda_jungle.set_ignition(True) - # TODO: add more cases here once the tests aren't super slow - p.set_safety_mode(mode=Panda.SAFETY_HYUNDAI, param=Panda.FLAG_HYUNDAI_LONG) - p.send_heartbeat() - assert p.health()['safety_mode'] == Panda.SAFETY_HYUNDAI - assert p.health()['safety_param'] == Panda.FLAG_HYUNDAI_LONG - - # shouldn't do anything once we're in a car safety mode - p.set_heartbeat_disabled() - - time.sleep(6.) - - h = p.health() - assert h['heartbeat_lost'] - assert h['safety_mode'] == Panda.SAFETY_SILENT - assert h['safety_param'] == 0 - assert h['controls_allowed'] == 0 - -def test_microsecond_timer(p): - start_time = p.get_microsecond_timer() - time.sleep(1) - end_time = p.get_microsecond_timer() - - # account for uint32 overflow - if end_time < start_time: - end_time += 2**32 - - time_diff = (end_time - start_time) / 1e6 - assert 0.98 < time_diff < 1.02, f"Timer not running at the correct speed! (got {time_diff:.2f}s instead of 1.0s)" diff --git a/panda/tests/hitl/3_usb_to_can.py b/panda/tests/hitl/3_usb_to_can.py deleted file mode 100644 index c0a9035fe4d148..00000000000000 --- a/panda/tests/hitl/3_usb_to_can.py +++ /dev/null @@ -1,86 +0,0 @@ -import time -from flaky import flaky - -from panda import Panda -from panda.tests.hitl.helpers import time_many_sends - -def test_can_loopback(p): - p.set_safety_mode(Panda.SAFETY_ALLOUTPUT) - p.set_can_loopback(True) - - for bus in (0, 1, 2): - # set bus 0 speed to 5000 - p.set_can_speed_kbps(bus, 500) - - # send a message on bus 0 - p.can_send(0x1aa, b"message", bus) - - # confirm receive both on loopback and send receipt - time.sleep(0.05) - r = p.can_recv() - sr = [x for x in r if x[3] == 0x80 | bus] - lb = [x for x in r if x[3] == bus] - assert len(sr) == 1 - assert len(lb) == 1 - - # confirm data is correct - assert 0x1aa == sr[0][0] == lb[0][0] - assert b"message" == sr[0][2] == lb[0][2] - -def test_reliability(p): - MSG_COUNT = 100 - - p.set_safety_mode(Panda.SAFETY_ALLOUTPUT) - p.set_can_loopback(True) - p.set_can_speed_kbps(0, 1000) - - addrs = list(range(100, 100 + MSG_COUNT)) - ts = [(j, 0, b"\xaa" * 8, 0) for j in addrs] - - for _ in range(100): - st = time.monotonic() - - p.can_send_many(ts) - - r = [] - while len(r) < 200 and (time.monotonic() - st) < 0.5: - r.extend(p.can_recv()) - - sent_echo = [x for x in r if x[3] == 0x80] - loopback_resp = [x for x in r if x[3] == 0] - - assert sorted([x[0] for x in loopback_resp]) == addrs - assert sorted([x[0] for x in sent_echo]) == addrs - assert len(r) == 200 - - # take sub 20ms - et = (time.monotonic() - st) * 1000.0 - assert et < 20 - -@flaky(max_runs=6, min_passes=1) -def test_throughput(p): - # enable output mode - p.set_safety_mode(Panda.SAFETY_ALLOUTPUT) - - # enable CAN loopback mode - p.set_can_loopback(True) - - for speed in [10, 20, 50, 100, 125, 250, 500, 1000]: - # set bus 0 speed to speed - p.set_can_speed_kbps(0, speed) - time.sleep(0.05) - - comp_kbps = time_many_sends(p, 0) - - # bit count from https://en.wikipedia.org/wiki/CAN_bus - saturation_pct = (comp_kbps / speed) * 100.0 - assert saturation_pct > 80 - assert saturation_pct < 100 - - print("loopback 100 messages at speed %d, comp speed is %.2f, percent %.2f" % (speed, comp_kbps, saturation_pct)) - -# this will fail if you have hardware serial connected -def test_serial_debug(p): - _ = p.serial_read(Panda.SERIAL_DEBUG) # junk - p.call_control_api(0x01) - assert p.serial_read(Panda.SERIAL_DEBUG).startswith(b"NO HANDLER") diff --git a/panda/tests/hitl/4_can_loopback.py b/panda/tests/hitl/4_can_loopback.py deleted file mode 100644 index a7e1aea1eef0fa..00000000000000 --- a/panda/tests/hitl/4_can_loopback.py +++ /dev/null @@ -1,202 +0,0 @@ -import os -import time -import pytest -import random -import threading -from flaky import flaky -from collections import defaultdict - -from panda import Panda -from panda.tests.hitl.conftest import PandaGroup -from panda.tests.hitl.helpers import time_many_sends, get_random_can_messages, clear_can_buffers - -@flaky(max_runs=3, min_passes=1) -@pytest.mark.timeout(35) -def test_send_recv(p, panda_jungle): - def test(p_send, p_recv): - for bus in (0, 1, 2): - for speed in (10, 20, 50, 100, 125, 250, 500, 1000): - clear_can_buffers(p_send, speed) - clear_can_buffers(p_recv, speed) - - comp_kbps = time_many_sends(p_send, bus, p_recv, two_pandas=True) - - saturation_pct = (comp_kbps / speed) * 100.0 - assert 80 < saturation_pct < 100 - - print(f"two pandas bus {bus}, 100 messages at speed {speed:4d}, comp speed is {comp_kbps:7.2f}, {saturation_pct:6.2f}%") - - # Run tests in both directions - p.set_safety_mode(Panda.SAFETY_ALLOUTPUT) - test(p, panda_jungle) - test(panda_jungle, p) - - -@flaky(max_runs=6, min_passes=1) -@pytest.mark.timeout(30) -def test_latency(p, panda_jungle): - def test(p_send, p_recv): - for bus in (0, 1, 2): - for speed in (10, 20, 50, 100, 125, 250, 500, 1000): - clear_can_buffers(p_send, speed) - clear_can_buffers(p_recv, speed) - - latencies = [] - comp_kbps_list = [] - saturation_pcts = [] - - num_messages = 100 - - for _ in range(num_messages): - st = time.monotonic() - p_send.can_send(0x1ab, b"message", bus) - r = [] - while len(r) < 1 and (time.monotonic() - st) < 5: - r = p_recv.can_recv() - et = time.monotonic() - r_echo = [] - while len(r_echo) < 1 and (time.monotonic() - st) < 10: - r_echo = p_send.can_recv() - - if len(r) == 0 or len(r_echo) == 0: - print(f"r: {r}, r_echo: {r_echo}") - - assert len(r) == 1 - assert len(r_echo) == 1 - - et = (et - st) * 1000.0 - comp_kbps = (1 + 11 + 1 + 1 + 1 + 4 + 8 * 8 + 15 + 1 + 1 + 1 + 7) / et - latency = et - ((1 + 11 + 1 + 1 + 1 + 4 + 8 * 8 + 15 + 1 + 1 + 1 + 7) / speed) - - assert latency < 5.0 - - saturation_pct = (comp_kbps / speed) * 100.0 - latencies.append(latency) - comp_kbps_list.append(comp_kbps) - saturation_pcts.append(saturation_pct) - - average_latency = sum(latencies) / num_messages - assert average_latency < 1.0 - average_comp_kbps = sum(comp_kbps_list) / num_messages - average_saturation_pct = sum(saturation_pcts) / num_messages - - print("two pandas bus {}, {} message average at speed {:4d}, latency is {:5.3f}ms, comp speed is {:7.2f}, percent {:6.2f}" - .format(bus, num_messages, speed, average_latency, average_comp_kbps, average_saturation_pct)) - - # Run tests in both directions - p.set_safety_mode(Panda.SAFETY_ALLOUTPUT) - test(p, panda_jungle) - test(panda_jungle, p) - - -@pytest.mark.panda_expect_can_error -@pytest.mark.test_panda_types(PandaGroup.GEN2) -def test_gen2_loopback(p, panda_jungle): - def test(p_send, p_recv, address=None): - for bus in range(4): - obd = False - if bus == 3: - obd = True - bus = 1 - - # Clear buses - clear_can_buffers(p_send) - clear_can_buffers(p_recv) - - # Send a random string - addr = address if address else random.randint(1, 2000) - string = b"test" + os.urandom(4) - p_send.set_obd(obd) - p_recv.set_obd(obd) - time.sleep(0.2) - p_send.can_send(addr, string, bus) - time.sleep(0.2) - - content = p_recv.can_recv() - - # Check amount of messages - assert len(content) == 1 - - # Check content - assert content[0][0] == addr and content[0][2] == string - - # Check bus - assert content[0][3] == bus - - print("Bus:", bus, "address:", addr, "OBD:", obd, "OK") - - # Run tests in both directions - p.set_safety_mode(Panda.SAFETY_ALLOUTPUT) - test(p, panda_jungle) - test(panda_jungle, p) - - # Test extended frame address with ELM327 mode - p.set_safety_mode(Panda.SAFETY_ELM327) - test(p, panda_jungle, 0x18DB33F1) - test(panda_jungle, p, 0x18DB33F1) - - # TODO: why it's not being reset by fixtures reinit? - p.set_obd(False) - panda_jungle.set_obd(False) - -def test_bulk_write(p, panda_jungle): - # The TX buffers on pandas is 0x100 in length. - NUM_MESSAGES_PER_BUS = 10000 - - def flood_tx(panda): - print('Sending!') - msg = b"\xaa" * 8 - packet = [] - # start with many messages on a single bus (higher contention for single TX ring buffer) - packet += [[0xaa, None, msg, 0]] * NUM_MESSAGES_PER_BUS - # end with many messages on multiple buses - packet += [[0xaa, None, msg, 0], [0xaa, None, msg, 1], [0xaa, None, msg, 2]] * NUM_MESSAGES_PER_BUS - - # Disable timeout - panda.set_safety_mode(Panda.SAFETY_ALLOUTPUT) - panda.can_send_many(packet, timeout=0) - print(f"Done sending {4 * NUM_MESSAGES_PER_BUS} messages!", time.monotonic()) - print(panda.health()) - - # Start transmisson - threading.Thread(target=flood_tx, args=(p,)).start() - - # Receive as much as we can in a few second time period - rx = [] - old_len = 0 - start_time = time.monotonic() - while time.monotonic() - start_time < 5 or len(rx) > old_len: - old_len = len(rx) - rx.extend(panda_jungle.can_recv()) - print(f"Received {len(rx)} messages", time.monotonic()) - - # All messages should have been received - if len(rx) != 4 * NUM_MESSAGES_PER_BUS: - raise Exception("Did not receive all messages!") - -def test_message_integrity(p): - p.set_safety_mode(Panda.SAFETY_ALLOUTPUT) - p.set_can_loopback(True) - for i in range(250): - sent_msgs = defaultdict(set) - for _ in range(random.randrange(10)): - to_send = get_random_can_messages(random.randrange(100)) - for m in to_send: - sent_msgs[m[3]].add((m[0], m[2])) - p.can_send_many(to_send, timeout=0) - - start_time = time.monotonic() - while time.monotonic() - start_time < 2 and any(len(sent_msgs[bus]) for bus in range(3)): - recvd = p.can_recv() - for msg in recvd: - if msg[3] >= 128: - k = (msg[0], bytes(msg[2])) - bus = msg[3]-128 - assert k in sent_msgs[bus], f"message {k} was never sent on bus {bus}" - sent_msgs[msg[3]-128].discard(k) - - # if a set isn't empty, messages got dropped - for bus in range(3): - assert not len(sent_msgs[bus]), f"loop {i}: bus {bus} missing {len(sent_msgs[bus])} messages" - - print("Got all messages intact") diff --git a/panda/tests/hitl/5_spi.py b/panda/tests/hitl/5_spi.py deleted file mode 100644 index f9a4e28d4e8cce..00000000000000 --- a/panda/tests/hitl/5_spi.py +++ /dev/null @@ -1,103 +0,0 @@ -import binascii -import pytest -import random -from unittest.mock import patch - -from panda import Panda, PandaDFU -from panda.python.spi import SpiDevice, PandaProtocolMismatch, PandaSpiNackResponse - -pytestmark = [ - pytest.mark.test_panda_types((Panda.HW_TYPE_TRES, )) -] - -@pytest.mark.skip("doesn't work, bootloader seems to ignore commands once it sees junk") -def test_dfu_with_spam(p): - dfu_serial = p.get_dfu_serial() - - # enter DFU - p.reset(enter_bootstub=True) - p.reset(enter_bootloader=True) - assert Panda.wait_for_dfu(dfu_serial, timeout=19), "failed to enter DFU" - - # send junk - d = SpiDevice() - for _ in range(9): - with d.acquire() as spi: - dat = [random.randint(-1, 255) for _ in range(random.randint(1, 100))] - spi.xfer(dat) - - # should still show up - assert dfu_serial in PandaDFU.list() - -class TestSpi: - def _ping(self, mocker, panda): - # should work with no retries - spy = mocker.spy(panda._handle, '_wait_for_ack') - panda.health() - assert spy.call_count == 2 - mocker.stop(spy) - - def test_protocol_version_check(self, p): - for bootstub in (False, True): - p.reset(enter_bootstub=bootstub) - with patch('panda.python.spi.PandaSpiHandle.PROTOCOL_VERSION', return_value="abc"): - # list should still work with wrong version - assert p._serial in Panda.list() - - # connect but raise protocol error - with pytest.raises(PandaProtocolMismatch): - Panda(p._serial) - - def test_protocol_version_data(self, p): - for bootstub in (False, True): - p.reset(enter_bootstub=bootstub) - v = p._handle.get_protocol_version() - - uid = binascii.hexlify(v[:12]).decode() - assert uid == p.get_uid() - - hwtype = v[12] - assert hwtype == ord(p.get_type()) - - bstub = v[13] - assert bstub == (0xEE if bootstub else 0xCC) - - def test_all_comm_types(self, mocker, p): - spy = mocker.spy(p._handle, '_wait_for_ack') - - # controlRead + controlWrite - p.health() - p.can_clear(0) - assert spy.call_count == 2*2 - - # bulkRead + bulkWrite - p.can_recv() - p.can_send(0x123, b"somedata", 0) - assert spy.call_count == 2*4 - - def test_bad_header(self, mocker, p): - with patch('panda.python.spi.SYNC', return_value=0): - with pytest.raises(PandaSpiNackResponse): - p._handle.controlRead(Panda.REQUEST_IN, 0xd2, 0, 0, p.HEALTH_STRUCT.size, timeout=50) - self._ping(mocker, p) - - def test_bad_checksum(self, mocker, p): - cnt = p.health()['spi_checksum_error_count'] - with patch('panda.python.spi.PandaSpiHandle._calc_checksum', return_value=0): - with pytest.raises(PandaSpiNackResponse): - p._handle.controlRead(Panda.REQUEST_IN, 0xd2, 0, 0, p.HEALTH_STRUCT.size, timeout=50) - self._ping(mocker, p) - assert (p.health()['spi_checksum_error_count'] - cnt) > 0 - - def test_non_existent_endpoint(self, mocker, p): - for _ in range(10): - ep = random.randint(4, 20) - with pytest.raises(PandaSpiNackResponse): - p._handle.bulkRead(ep, random.randint(1, 1000), timeout=50) - - self._ping(mocker, p) - - with pytest.raises(PandaSpiNackResponse): - p._handle.bulkWrite(ep, b"abc", timeout=50) - - self._ping(mocker, p) diff --git a/panda/tests/hitl/6_safety.py b/panda/tests/hitl/6_safety.py deleted file mode 100644 index 2237f5303600f4..00000000000000 --- a/panda/tests/hitl/6_safety.py +++ /dev/null @@ -1,29 +0,0 @@ -import time - -from panda import Panda - - -def test_safety_nooutput(p): - p.set_safety_mode(Panda.SAFETY_SILENT) - p.set_can_loopback(True) - - # send a message on bus 0 - p.can_send(0x1aa, b"message", 0) - - # confirm receive nothing - time.sleep(0.05) - r = p.can_recv() - # bus 192 is messages blocked by TX safety hook on bus 0 - assert len([x for x in r if x[3] != 192]) == 0 - assert len([x for x in r if x[3] == 192]) == 1 - - -def test_canfd_safety_modes(p): - # works on all pandas - p.set_safety_mode(Panda.SAFETY_TOYOTA) - assert p.health()['safety_mode'] == Panda.SAFETY_TOYOTA - - # shouldn't be able to set a CAN-FD safety mode on non CAN-FD panda - p.set_safety_mode(Panda.SAFETY_HYUNDAI_CANFD) - expected_mode = Panda.SAFETY_HYUNDAI_CANFD if p.get_type() in Panda.H7_DEVICES else Panda.SAFETY_SILENT - assert p.health()['safety_mode'] == expected_mode diff --git a/panda/tests/hitl/7_internal.py b/panda/tests/hitl/7_internal.py deleted file mode 100644 index eb8577fb5524f8..00000000000000 --- a/panda/tests/hitl/7_internal.py +++ /dev/null @@ -1,68 +0,0 @@ -import time -import pytest - -from panda import Panda - -pytestmark = [ - pytest.mark.skip_panda_types(Panda.HW_TYPE_UNO), - pytest.mark.test_panda_types(Panda.INTERNAL_DEVICES) -] - -@pytest.mark.timeout(2*60) -def test_fan_controller(p): - start_health = p.health() - - for power in (30, 50, 80, 100): - p.set_fan_power(0) - while p.get_fan_rpm() > 0: - time.sleep(0.1) - - # wait until fan spins up (and recovers if needed), - # then wait a bit more for the RPM to converge - p.set_fan_power(power) - for _ in range(20): - time.sleep(1) - if p.get_fan_rpm() > 1000: - break - time.sleep(5) - - expected_rpm = Panda.MAX_FAN_RPMs[bytes(p.get_type())] * power / 100 - assert 0.9 * expected_rpm <= p.get_fan_rpm() <= 1.1 * expected_rpm - - # Ensure the stall detection is tested on dos - if p.get_type() == Panda.HW_TYPE_DOS: - stalls = p.health()['fan_stall_count'] - start_health['fan_stall_count'] - assert stalls >= 2 - print("stall count", stalls) - else: - assert p.health()['fan_stall_count'] == 0 - -def test_fan_cooldown(p): - # if the fan cooldown doesn't work, we get high frequency noise on the tach line - # while the rotor spins down. this makes sure it never goes beyond the expected max RPM - p.set_fan_power(100) - time.sleep(3) - p.set_fan_power(0) - for _ in range(5): - assert p.get_fan_rpm() <= 7000 - time.sleep(0.5) - -def test_fan_overshoot(p): - if p.get_type() == Panda.HW_TYPE_DOS: - pytest.skip("panda's fan controller overshoots on the comma three fans that need stall recovery") - - # make sure it's stopped completely - p.set_fan_power(0) - while p.get_fan_rpm() > 0: - time.sleep(0.1) - - # set it to 30% power to mimic going onroad - p.set_fan_power(30) - max_rpm = 0 - for _ in range(50): - max_rpm = max(max_rpm, p.get_fan_rpm()) - time.sleep(0.1) - - # tolerate 10% overshoot - expected_rpm = Panda.MAX_FAN_RPMs[bytes(p.get_type())] * 30 / 100 - assert max_rpm <= 1.1 * expected_rpm, f"Fan overshoot: {(max_rpm / expected_rpm * 100) - 100:.1f}%" diff --git a/panda/tests/hitl/8_misc.py b/panda/tests/hitl/8_misc.py deleted file mode 100644 index 3c47ed492b5280..00000000000000 --- a/panda/tests/hitl/8_misc.py +++ /dev/null @@ -1,13 +0,0 @@ -import time - -from panda import Panda - -def test_boot_time(p): - # boot time should be instant - st = time.monotonic() - p.reset(reconnect=False) - assert Panda.wait_for_panda(p.get_usb_serial(), timeout=3.0) - - # USB enumeration is slow, so SPI is faster - assert time.monotonic() - st < (1.0 if p.spi else 5.0) - diff --git a/panda/tests/hitl/9_harness.py b/panda/tests/hitl/9_harness.py deleted file mode 100644 index 5689892b8a4f2c..00000000000000 --- a/panda/tests/hitl/9_harness.py +++ /dev/null @@ -1,77 +0,0 @@ -import time -import pytest -import itertools - -from panda import Panda -from panda.tests.hitl.conftest import PandaGroup - -# TODO: test relay - -@pytest.mark.panda_expect_can_error -@pytest.mark.test_panda_types(PandaGroup.GEN2) -def test_harness_status(p, panda_jungle): - # map from jungle orientations to panda orientations - orientation_map = { - Panda.HARNESS_STATUS_NC: Panda.HARNESS_STATUS_NC, - } - - # this shouldn't be parameterized since we don't want the panda to be reset - # between the tests. - for ignition, orientation in itertools.product([True, False], [Panda.HARNESS_STATUS_NC, Panda.HARNESS_STATUS_NORMAL, Panda.HARNESS_STATUS_FLIPPED]): - print() - p.set_safety_mode(Panda.SAFETY_ELM327) - panda_jungle.set_harness_orientation(orientation) - panda_jungle.set_ignition(ignition) - - # wait for orientation detection - time.sleep(0.25) - - health = p.health() - detected_orientation = health['car_harness_status'] - print(f"orientation set: {orientation} detected: {detected_orientation}") - - if detected_orientation not in orientation_map: - assert detected_orientation != Panda.HARNESS_STATUS_NC - other = {Panda.HARNESS_STATUS_NORMAL: Panda.HARNESS_STATUS_FLIPPED, Panda.HARNESS_STATUS_FLIPPED: Panda.HARNESS_STATUS_NORMAL} - orientation_map.update({ - orientation: detected_orientation, - other[orientation]: other[detected_orientation], - }) - - # Orientation - assert orientation_map[detected_orientation] == orientation - - # Line ignition - assert health['ignition_line'] == (False if orientation == Panda.HARNESS_STATUS_NC else ignition) - - # CAN traffic - if orientation != Panda.HARNESS_STATUS_NC: - for bus in range(3): - panda_jungle.can_send(0x123, f"{bus}".encode(), bus) - time.sleep(0.5) - - msgs = p.can_recv() - buses = {int(dat): bus for _, _, dat, bus in msgs if bus <= 3} - print(msgs) - - # jungle doesn't actually switch buses when switching orientation - flipped = orientation == Panda.HARNESS_STATUS_FLIPPED - assert buses[0] == (2 if flipped else 0) - assert buses[2] == (0 if flipped else 2) - - # SBU voltages - supply_voltage_mV = 1800 if p.get_type() in [Panda.HW_TYPE_TRES, ] else 3300 - - if orientation == Panda.HARNESS_STATUS_NC: - assert health['sbu1_voltage_mV'] > 0.9 * supply_voltage_mV - assert health['sbu2_voltage_mV'] > 0.9 * supply_voltage_mV - else: - relay_line = 'sbu1_voltage_mV' if (detected_orientation == Panda.HARNESS_STATUS_FLIPPED) else 'sbu2_voltage_mV' - ignition_line = 'sbu2_voltage_mV' if (detected_orientation == Panda.HARNESS_STATUS_FLIPPED) else 'sbu1_voltage_mV' - - assert health[relay_line] < 0.1 * supply_voltage_mV - assert health[ignition_line] > health[relay_line] - if ignition: - assert health[ignition_line] < 0.3 * supply_voltage_mV - else: - assert health[ignition_line] > 0.9 * supply_voltage_mV diff --git a/panda/tests/hitl/__init__.py b/panda/tests/hitl/__init__.py deleted file mode 100644 index e69de29bb2d1d6..00000000000000 diff --git a/panda/tests/hitl/conftest.py b/panda/tests/hitl/conftest.py deleted file mode 100644 index 1c4db1e9219eae..00000000000000 --- a/panda/tests/hitl/conftest.py +++ /dev/null @@ -1,222 +0,0 @@ -import os -import pytest -import concurrent.futures - -from panda import Panda, PandaDFU, PandaJungle -from panda.tests.hitl.helpers import clear_can_buffers - -# needed to get output when using xdist -if "DEBUG" in os.environ: - import sys - sys.stdout = sys.stderr - -SPEED_NORMAL = 500 -BUS_SPEEDS = [(0, SPEED_NORMAL), (1, SPEED_NORMAL), (2, SPEED_NORMAL)] - - -JUNGLE_SERIAL = os.getenv("PANDAS_JUNGLE") -NO_JUNGLE = os.environ.get("NO_JUNGLE", "0") == "1" -PANDAS_EXCLUDE = os.getenv("PANDAS_EXCLUDE", "").strip().split(" ") -HW_TYPES = os.environ.get("HW_TYPES", None) - -PARALLEL = "PARALLEL" in os.environ -NON_PARALLEL = "NON_PARALLEL" in os.environ -if PARALLEL: - NO_JUNGLE = True - -class PandaGroup: - H7 = (Panda.HW_TYPE_RED_PANDA, Panda.HW_TYPE_RED_PANDA_V2, Panda.HW_TYPE_TRES) - GEN2 = (Panda.HW_TYPE_BLACK_PANDA, Panda.HW_TYPE_UNO, Panda.HW_TYPE_DOS) + H7 - TESTED = (Panda.HW_TYPE_WHITE_PANDA, Panda.HW_TYPE_BLACK_PANDA, Panda.HW_TYPE_RED_PANDA, Panda.HW_TYPE_RED_PANDA_V2, Panda.HW_TYPE_UNO) - -if HW_TYPES is not None: - PandaGroup.TESTED = [bytes([int(x), ]) for x in HW_TYPES.strip().split(",")] # type: ignore - - -# Find all pandas connected -_all_pandas = {} -_panda_jungle = None -def init_all_pandas(): - if not NO_JUNGLE: - global _panda_jungle - _panda_jungle = PandaJungle(JUNGLE_SERIAL) - _panda_jungle.set_panda_power(True) - - for serial in Panda.list(): - if serial not in PANDAS_EXCLUDE: - with Panda(serial=serial, claim=False) as p: - ptype = bytes(p.get_type()) - if ptype in PandaGroup.TESTED: - _all_pandas[serial] = ptype - - # ensure we have all tested panda types - missing_types = set(PandaGroup.TESTED) - set(_all_pandas.values()) - assert len(missing_types) == 0, f"Missing panda types: {missing_types}" - - print(f"{len(_all_pandas)} total pandas") -init_all_pandas() -_all_panda_serials = sorted(_all_pandas.keys()) - - -def init_jungle(): - if _panda_jungle is None: - return - clear_can_buffers(_panda_jungle) - _panda_jungle.set_panda_power(True) - _panda_jungle.set_can_loopback(False) - _panda_jungle.set_obd(False) - _panda_jungle.set_harness_orientation(PandaJungle.HARNESS_ORIENTATION_1) - for bus, speed in BUS_SPEEDS: - _panda_jungle.set_can_speed_kbps(bus, speed) - - # ensure FW hasn't changed - assert _panda_jungle.up_to_date() - - -def pytest_configure(config): - config.addinivalue_line( - "markers", "test_panda_types(name): whitelist a test for specific panda types" - ) - config.addinivalue_line( - "markers", "skip_panda_types(name): blacklist panda types from a test" - ) - config.addinivalue_line( - "markers", "panda_expect_can_error: mark test to ignore CAN health errors" - ) - -@pytest.hookimpl(tryfirst=True) -def pytest_collection_modifyitems(items): - for item in items: - if item.get_closest_marker('timeout') is None: - item.add_marker(pytest.mark.timeout(60)) - - # xdist grouping by panda - serial = item.name.split("serial=")[1].split(",")[0] - assert len(serial) == 24 - item.add_marker(pytest.mark.xdist_group(serial)) - - needs_jungle = "panda_jungle" in item.fixturenames - if PARALLEL and needs_jungle: - item.add_marker(pytest.mark.skip(reason="no jungle tests in PARALLEL mode")) - elif NON_PARALLEL and not needs_jungle: - item.add_marker(pytest.mark.skip(reason="only running jungle tests")) - -def pytest_make_parametrize_id(config, val, argname): - if val in _all_pandas: - # TODO: get nice string instead of int - hw_type = _all_pandas[val][0] - return f"serial={val}, hw_type={hw_type}" - return None - - -@pytest.fixture(name='panda_jungle', scope='function') -def fixture_panda_jungle(request): - init_jungle() - return _panda_jungle - -@pytest.fixture(name='p', scope='function') -def func_fixture_panda(request, module_panda): - p = module_panda - - # Check if test is applicable to this panda - mark = request.node.get_closest_marker('test_panda_types') - if mark: - assert len(mark.args) > 0, "Missing panda types argument in mark" - test_types = mark.args[0] - if _all_pandas[p.get_usb_serial()] not in test_types: - pytest.skip(f"Not applicable, {test_types} pandas only") - - mark = request.node.get_closest_marker('skip_panda_types') - if mark: - assert len(mark.args) > 0, "Missing panda types argument in mark" - skip_types = mark.args[0] - if _all_pandas[p.get_usb_serial()] in skip_types: - pytest.skip(f"Not applicable to {skip_types}") - - # this is 2+ seconds on USB pandas due to slow - # enumeration on the host side - p.reset() - - # ensure FW hasn't changed - assert p.up_to_date() - - # Run test - yield p - - # Teardown - - # reconnect - if p.get_dfu_serial() in PandaDFU.list(): - PandaDFU(p.get_dfu_serial()).reset() - p.reconnect() - if not p.connected: - p.reconnect() - if p.bootstub: - p.reset() - - assert not p.bootstub - - # TODO: would be nice to make these common checks in the teardown - # show up as failed tests instead of "errors" - - # Check for faults - assert p.health()['faults'] == 0 - assert p.health()['fault_status'] == 0 - - # Check for SPI errors - #assert p.health()['spi_checksum_error_count'] == 0 - - # Check health of each CAN core after test, normal to fail for test_gen2_loopback on OBD bus, so skipping - mark = request.node.get_closest_marker('panda_expect_can_error') - expect_can_error = mark is not None - if not expect_can_error: - for i in range(3): - can_health = p.can_health(i) - assert can_health['bus_off_cnt'] == 0 - assert can_health['receive_error_cnt'] < 127 - assert can_health['transmit_error_cnt'] < 255 - assert can_health['error_passive'] == 0 - assert can_health['error_warning'] == 0 - assert can_health['total_rx_lost_cnt'] == 0 - assert can_health['total_tx_lost_cnt'] == 0 - assert can_health['total_error_cnt'] == 0 - assert can_health['total_tx_checksum_error_cnt'] == 0 - -@pytest.fixture(name='module_panda', params=_all_panda_serials, scope='module') -def fixture_panda_setup(request): - """ - Clean up all pandas + jungle and return the panda under test. - """ - panda_serial = request.param - - # Initialize jungle - init_jungle() - - # Connect to pandas - def cnnct(s): - if s == panda_serial: - p = Panda(serial=s) - p.reset(reconnect=True) - - p.set_can_loopback(False) - p.set_power_save(False) - for bus, speed in BUS_SPEEDS: - p.set_can_speed_kbps(bus, speed) - clear_can_buffers(p) - p.set_power_save(False) - return p - elif not PARALLEL: - with Panda(serial=s) as p: - p.reset(reconnect=False) - return None - - with concurrent.futures.ThreadPoolExecutor() as exc: - ps = list(exc.map(cnnct, _all_panda_serials, timeout=20)) - pandas = [p for p in ps if p is not None] - - # run test - yield pandas[0] - - # Teardown - for p in pandas: - p.close() diff --git a/panda/tests/hitl/helpers.py b/panda/tests/hitl/helpers.py deleted file mode 100644 index 4eee4373116d44..00000000000000 --- a/panda/tests/hitl/helpers.py +++ /dev/null @@ -1,71 +0,0 @@ -import time -import random - - -def get_random_can_messages(n): - m = [] - for _ in range(n): - bus = random.randrange(3) - addr = random.randrange(1 << 29) - dat = bytes([random.getrandbits(8) for _ in range(random.randrange(1, 9))]) - m.append([addr, None, dat, bus]) - return m - - -def time_many_sends(p, bus, p_recv=None, msg_count=100, two_pandas=False, msg_len=8): - if p_recv is None: - p_recv = p - if p == p_recv and two_pandas: - raise ValueError("Cannot have two pandas that are the same panda") - - msg_id = random.randint(0x100, 0x200) - to_send = [(msg_id, 0, b"\xaa" * msg_len, bus)] * msg_count - - start_time = time.monotonic() - p.can_send_many(to_send) - r = [] - r_echo = [] - r_len_expected = msg_count if two_pandas else msg_count * 2 - r_echo_len_exected = msg_count if two_pandas else 0 - - while len(r) < r_len_expected and (time.monotonic() - start_time) < 5: - r.extend(p_recv.can_recv()) - end_time = time.monotonic() - if two_pandas: - while len(r_echo) < r_echo_len_exected and (time.monotonic() - start_time) < 10: - r_echo.extend(p.can_recv()) - - sent_echo = [x for x in r if x[3] == 0x80 | bus and x[0] == msg_id] - sent_echo.extend([x for x in r_echo if x[3] == 0x80 | bus and x[0] == msg_id]) - resp = [x for x in r if x[3] == bus and x[0] == msg_id] - - leftovers = [x for x in r if (x[3] != 0x80 | bus and x[3] != bus) or x[0] != msg_id] - assert len(leftovers) == 0 - - assert len(resp) == msg_count - assert len(sent_echo) == msg_count - - end_time = (end_time - start_time) * 1000.0 - comp_kbps = (1 + 11 + 1 + 1 + 1 + 4 + (msg_len * 8) + 15 + 1 + 1 + 1 + 7) * msg_count / end_time - - return comp_kbps - - -def clear_can_buffers(panda, speed: int | None = None): - if speed is not None: - for bus in range(3): - panda.set_can_speed_kbps(bus, speed) - - # clear tx buffers - for i in range(4): - panda.can_clear(i) - - # clear rx buffers - panda.can_clear(0xFFFF) - r = [1] - st = time.monotonic() - while len(r) > 0: - r = panda.can_recv() - time.sleep(0.05) - if (time.monotonic() - st) > 10: - raise Exception("Unable to clear can buffers for panda ", panda.get_serial()) diff --git a/panda/tests/hitl/known_bootstub/bootstub.panda_h7.bin b/panda/tests/hitl/known_bootstub/bootstub.panda_h7.bin deleted file mode 100755 index a6d856bd2c7006..00000000000000 Binary files a/panda/tests/hitl/known_bootstub/bootstub.panda_h7.bin and /dev/null differ diff --git a/panda/tests/hitl/known_bootstub/bootstub_f4_first_dos_production.panda.bin b/panda/tests/hitl/known_bootstub/bootstub_f4_first_dos_production.panda.bin deleted file mode 100644 index 786acf639e738c..00000000000000 Binary files a/panda/tests/hitl/known_bootstub/bootstub_f4_first_dos_production.panda.bin and /dev/null differ diff --git a/panda/tests/hitl/known_bootstub/bootstub_f4_only_bcd.panda.bin b/panda/tests/hitl/known_bootstub/bootstub_f4_only_bcd.panda.bin deleted file mode 100755 index 000fd26fe47b95..00000000000000 Binary files a/panda/tests/hitl/known_bootstub/bootstub_f4_only_bcd.panda.bin and /dev/null differ diff --git a/panda/tests/hitl/reset_jungles.py b/panda/tests/hitl/reset_jungles.py deleted file mode 100755 index fb946731c938f4..00000000000000 --- a/panda/tests/hitl/reset_jungles.py +++ /dev/null @@ -1,42 +0,0 @@ -#!/usr/bin/env python3 -import concurrent.futures - -from panda import PandaJungle, PandaJungleDFU, McuType -from panda.tests.libs.resetter import Resetter - -SERIALS = {'180019001451313236343430', '1d0017000c50435635333720'} - -def recover(s): - with PandaJungleDFU(s) as pd: - pd.recover() - -def flash(s): - with PandaJungle(s) as p: - p.flash() - return p.get_mcu_type() - -# Reset + flash all CI hardware to get it into a consistent state -# * port 1: jungles-under-test -# * port 2: USB hubs -# * port 3: HITL pandas and their jungles -if __name__ == "__main__": - with Resetter() as r: - # everything off - for i in range(1, 4): - r.enable_power(i, 0) - r.cycle_power(ports=[1, 2], dfu=True) - - dfu_serials = PandaJungleDFU.list() - print(len(dfu_serials), len(SERIALS)) - assert len(dfu_serials) == len(SERIALS) - - with concurrent.futures.ProcessPoolExecutor(max_workers=len(dfu_serials)) as exc: - list(exc.map(recover, dfu_serials, timeout=30)) - - # power cycle for H7 bootloader bug - r.cycle_power(ports=[1, 2]) - - serials = PandaJungle.list() - assert set(PandaJungle.list()) >= SERIALS - mcu_types = list(exc.map(flash, SERIALS, timeout=20)) - assert set(mcu_types) == {McuType.F4, McuType.H7} diff --git a/panda/tests/hitl/run_parallel_tests.sh b/panda/tests/hitl/run_parallel_tests.sh deleted file mode 100755 index b6b79d99f6c54e..00000000000000 --- a/panda/tests/hitl/run_parallel_tests.sh +++ /dev/null @@ -1,8 +0,0 @@ -#!/bin/bash -set -e - -DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)" -cd $DIR - -# n = number of pandas tested -PARALLEL=1 pytest --durations=0 *.py -n 5 --dist loadgroup -x diff --git a/panda/tests/hitl/run_serial_tests.sh b/panda/tests/hitl/run_serial_tests.sh deleted file mode 100755 index 31270f044c3907..00000000000000 --- a/panda/tests/hitl/run_serial_tests.sh +++ /dev/null @@ -1,7 +0,0 @@ -#!/bin/bash -set -e - -DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)" -cd $DIR - -NON_PARALLEL=1 pytest --durations=0 *.py -x diff --git a/panda/tests/ir_test.py b/panda/tests/ir_test.py deleted file mode 100755 index e41decf255fc5b..00000000000000 --- a/panda/tests/ir_test.py +++ /dev/null @@ -1,14 +0,0 @@ -#!/usr/bin/env python3 -import time - -from panda import Panda - -power = 0 -if __name__ == "__main__": - p = Panda() - while True: - p.set_ir_power(power) - print("Power: ", str(power)) - time.sleep(1) - power += 10 - power %= 100 diff --git a/panda/tests/libpanda/SConscript b/panda/tests/libpanda/SConscript deleted file mode 100644 index cc089073083808..00000000000000 --- a/panda/tests/libpanda/SConscript +++ /dev/null @@ -1,42 +0,0 @@ -import platform - -CC = 'gcc' -system = platform.system() -if system == 'Darwin': - # gcc installed by homebrew has version suffix (e.g. gcc-12) in order to be - # distinguishable from system one - which acts as a symlink to clang - CC += '-13' - -env = Environment( - CC=CC, - CFLAGS=[ - '-nostdlib', - '-fno-builtin', - '-std=gnu11', - '-Wfatal-errors', - '-Wno-pointer-to-int-cast', - ], - CPPPATH=[".", "../../board/"], -) -if system == "Darwin": - env.PrependENVPath('PATH', '/opt/homebrew/bin') - -if GetOption('ubsan'): - flags = [ - "-fsanitize=undefined", - "-fno-sanitize-recover=undefined", - ] - env['CFLAGS'] += flags - env['LINKFLAGS'] += flags - -panda = env.SharedObject("panda.os", "panda.c") -libpanda = env.SharedLibrary("libpanda.so", [panda]) - -if GetOption('coverage'): - env.Append( - CFLAGS=["-fprofile-arcs", "-ftest-coverage", "-fprofile-abs-path",], - LIBS=["gcov"], - ) - # GCC note file is generated by compiler, ensure we build it, and allow scons to clean it up - AlwaysBuild(panda) - env.SideEffect("panda.gcno", panda) diff --git a/panda/tests/libpanda/libpanda_py.py b/panda/tests/libpanda/libpanda_py.py deleted file mode 100644 index 6f888ac60e5945..00000000000000 --- a/panda/tests/libpanda/libpanda_py.py +++ /dev/null @@ -1,96 +0,0 @@ -import os -from cffi import FFI -from typing import Any, Protocol - -from panda import LEN_TO_DLC -from panda.tests.libpanda.safety_helpers import PandaSafety, setup_safety_helpers - -libpanda_dir = os.path.dirname(os.path.abspath(__file__)) -libpanda_fn = os.path.join(libpanda_dir, "libpanda.so") - -ffi = FFI() - -ffi.cdef(""" -typedef struct { - unsigned char reserved : 1; - unsigned char bus : 3; - unsigned char data_len_code : 4; - unsigned char rejected : 1; - unsigned char returned : 1; - unsigned char extended : 1; - unsigned int addr : 29; - unsigned char checksum; - unsigned char data[64]; -} CANPacket_t; -""", packed=True) - -ffi.cdef(""" -bool safety_rx_hook(CANPacket_t *to_send); -bool safety_tx_hook(CANPacket_t *to_push); -int safety_fwd_hook(int bus_num, int addr); -int set_safety_hooks(uint16_t mode, uint16_t param); -""") - -ffi.cdef(""" -typedef struct { - volatile uint32_t w_ptr; - volatile uint32_t r_ptr; - uint32_t fifo_size; - CANPacket_t *elems; -} can_ring; - -extern can_ring *rx_q; -extern can_ring *tx1_q; -extern can_ring *tx2_q; -extern can_ring *tx3_q; - -bool can_pop(can_ring *q, CANPacket_t *elem); -bool can_push(can_ring *q, CANPacket_t *elem); -void can_set_checksum(CANPacket_t *packet); -int comms_can_read(uint8_t *data, uint32_t max_len); -void comms_can_write(uint8_t *data, uint32_t len); -void comms_can_reset(void); -uint32_t can_slots_empty(can_ring *q); -""") - -setup_safety_helpers(ffi) - -class CANPacket: - reserved: int - bus: int - data_len_code: int - rejected: int - returned: int - extended: int - addr: int - data: list[int] - -class Panda(PandaSafety, Protocol): - # CAN - tx1_q: Any - tx2_q: Any - tx3_q: Any - def can_set_checksum(self, p: CANPacket) -> None: ... - - # safety - def safety_rx_hook(self, to_send: CANPacket) -> int: ... - def safety_tx_hook(self, to_push: CANPacket) -> int: ... - def safety_fwd_hook(self, bus_num: int, addr: int) -> int: ... - def set_safety_hooks(self, mode: int, param: int) -> int: ... - - -libpanda: Panda = ffi.dlopen(libpanda_fn) - - -# helpers - -def make_CANPacket(addr: int, bus: int, dat): - ret = ffi.new('CANPacket_t *') - ret[0].extended = 1 if addr >= 0x800 else 0 - ret[0].addr = addr - ret[0].data_len_code = LEN_TO_DLC[len(dat)] - ret[0].bus = bus - ret[0].data = bytes(dat) - libpanda.can_set_checksum(ret) - - return ret diff --git a/panda/tests/libpanda/panda.c b/panda/tests/libpanda/panda.c deleted file mode 100644 index f34c028048c3b4..00000000000000 --- a/panda/tests/libpanda/panda.c +++ /dev/null @@ -1,31 +0,0 @@ -#include "fake_stm.h" -#include "config.h" -#include "can_definitions.h" - -bool can_init(uint8_t can_number) { return true; } -void process_can(uint8_t can_number) { } -//int safety_tx_hook(CANPacket_t *to_send) { return 1; } - -typedef struct harness_configuration harness_configuration; -void refresh_can_tx_slots_available(void); -void can_tx_comms_resume_usb(void) { }; -void can_tx_comms_resume_spi(void) { }; - -#include "health.h" -#include "faults.h" -#include "libc.h" -#include "boards/board_declarations.h" -#include "safety.h" -#include "main_declarations.h" -#include "drivers/can_common.h" - -can_ring *rx_q = &can_rx_q; -can_ring *tx1_q = &can_tx1_q; -can_ring *tx2_q = &can_tx2_q; -can_ring *tx3_q = &can_tx3_q; - -#include "comms_definitions.h" -#include "can_comms.h" - -// libpanda stuff -#include "safety_helpers.h" diff --git a/panda/tests/libpanda/safety_helpers.h b/panda/tests/libpanda/safety_helpers.h deleted file mode 100644 index 074463d3196854..00000000000000 --- a/panda/tests/libpanda/safety_helpers.h +++ /dev/null @@ -1,195 +0,0 @@ -void safety_tick_current_safety_config() { - safety_tick(¤t_safety_config); -} - -bool safety_config_valid() { - if (current_safety_config.rx_checks_len <= 0) { - printf("missing RX checks\n"); - return false; - } - - for (int i = 0; i < current_safety_config.rx_checks_len; i++) { - const RxCheck addr = current_safety_config.rx_checks[i]; - bool valid = addr.status.msg_seen && !addr.status.lagging && addr.status.valid_checksum && (addr.status.wrong_counters < MAX_WRONG_COUNTERS) && addr.status.valid_quality_flag; - if (!valid) { - // printf("i %d seen %d lagging %d valid checksum %d wrong counters %d valid quality flag %d\n", i, addr.status.msg_seen, addr.status.lagging, addr.status.valid_checksum, addr.status.wrong_counters, addr.status.valid_quality_flag); - return false; - } - } - return true; -} - -void set_controls_allowed(bool c){ - controls_allowed = c; -} - -void set_alternative_experience(int mode){ - alternative_experience = mode; -} - -void set_relay_malfunction(bool c){ - relay_malfunction = c; -} - -bool get_controls_allowed(void){ - return controls_allowed; -} - -int get_alternative_experience(void){ - return alternative_experience; -} - -bool get_relay_malfunction(void){ - return relay_malfunction; -} - -int get_gas_interceptor_prev(void){ - return gas_interceptor_prev; -} - -bool get_gas_pressed_prev(void){ - return gas_pressed_prev; -} - -bool get_brake_pressed_prev(void){ - return brake_pressed_prev; -} - -bool get_regen_braking_prev(void){ - return regen_braking_prev; -} - -bool get_cruise_engaged_prev(void){ - return cruise_engaged_prev; -} - -void set_cruise_engaged_prev(bool engaged){ - cruise_engaged_prev = engaged; -} - -bool get_vehicle_moving(void){ - return vehicle_moving; -} - -bool get_acc_main_on(void){ - return acc_main_on; -} - -int get_vehicle_speed_min(void){ - return vehicle_speed.min; -} - -int get_vehicle_speed_max(void){ - return vehicle_speed.max; -} - -int get_vehicle_speed_last(void){ - return vehicle_speed.values[0]; -} - -int get_current_safety_mode(void){ - return current_safety_mode; -} - -int get_current_safety_param(void){ - return current_safety_param; -} - -int get_hw_type(void){ - return hw_type; -} - -void set_timer(uint32_t t){ - timer.CNT = t; -} - -void set_torque_meas(int min, int max){ - torque_meas.min = min; - torque_meas.max = max; -} - -int get_torque_meas_min(void){ - return torque_meas.min; -} - -int get_torque_meas_max(void){ - return torque_meas.max; -} - -void set_torque_driver(int min, int max){ - torque_driver.min = min; - torque_driver.max = max; -} - -int get_torque_driver_min(void){ - return torque_driver.min; -} - -int get_torque_driver_max(void){ - return torque_driver.max; -} - -void set_rt_torque_last(int t){ - rt_torque_last = t; -} - -void set_desired_torque_last(int t){ - desired_torque_last = t; -} - -void set_desired_angle_last(int t){ - desired_angle_last = t; -} - -int get_desired_angle_last(void){ - return desired_angle_last; -} - -void set_angle_meas(int min, int max){ - angle_meas.min = min; - angle_meas.max = max; -} - -int get_angle_meas_min(void){ - return angle_meas.min; -} - -int get_angle_meas_max(void){ - return angle_meas.max; -} - - -// ***** car specific helpers ***** - -void set_honda_alt_brake_msg(bool c){ - honda_alt_brake_msg = c; -} - -void set_honda_bosch_long(bool c){ - honda_bosch_long = c; -} - -int get_honda_hw(void) { - return honda_hw; -} - -void set_honda_fwd_brake(bool c){ - honda_fwd_brake = c; -} - -bool get_honda_fwd_brake(void){ - return honda_fwd_brake; -} - -void init_tests(void){ - // get HW_TYPE from env variable set in test.sh - if (getenv("HW_TYPE")) { - hw_type = atoi(getenv("HW_TYPE")); - } - safety_mode_cnt = 2U; // avoid ignoring relay_malfunction logic - alternative_experience = 0; - set_timer(0); - ts_steer_req_mismatch_last = 0; - valid_steer_req_count = 0; - invalid_steer_req_count = 0; -} diff --git a/panda/tests/libpanda/safety_helpers.py b/panda/tests/libpanda/safety_helpers.py deleted file mode 100644 index 80ee18688c6fda..00000000000000 --- a/panda/tests/libpanda/safety_helpers.py +++ /dev/null @@ -1,106 +0,0 @@ -# panda safety helpers, from safety_helpers.c -from typing import Protocol - -def setup_safety_helpers(ffi): - ffi.cdef(""" - void set_controls_allowed(bool c); - bool get_controls_allowed(void); - bool get_longitudinal_allowed(void); - void set_alternative_experience(int mode); - int get_alternative_experience(void); - void set_relay_malfunction(bool c); - bool get_relay_malfunction(void); - int get_gas_interceptor_prev(void); - bool get_gas_pressed_prev(void); - bool get_brake_pressed_prev(void); - bool get_regen_braking_prev(void); - bool get_acc_main_on(void); - int get_vehicle_speed_min(void); - int get_vehicle_speed_max(void); - int get_vehicle_speed_last(void); - int get_current_safety_mode(void); - int get_current_safety_param(void); - - void set_torque_meas(int min, int max); - int get_torque_meas_min(void); - int get_torque_meas_max(void); - void set_torque_driver(int min, int max); - int get_torque_driver_min(void); - int get_torque_driver_max(void); - void set_desired_torque_last(int t); - void set_rt_torque_last(int t); - void set_desired_angle_last(int t); - int get_desired_angle_last(); - void set_angle_meas(int min, int max); - int get_angle_meas_min(void); - int get_angle_meas_max(void); - - bool get_cruise_engaged_prev(void); - void set_cruise_engaged_prev(bool engaged); - bool get_vehicle_moving(void); - int get_hw_type(void); - void set_timer(uint32_t t); - - void safety_tick_current_safety_config(); - bool safety_config_valid(); - - void init_tests(void); - - void set_honda_fwd_brake(bool c); - bool get_honda_fwd_brake(void); - void set_honda_alt_brake_msg(bool c); - void set_honda_bosch_long(bool c); - int get_honda_hw(void); - """) - -class PandaSafety(Protocol): - def set_controls_allowed(self, c: bool) -> None: ... - def get_controls_allowed(self) -> bool: ... - def get_longitudinal_allowed(self) -> bool: ... - def set_alternative_experience(self, mode: int) -> None: ... - def get_alternative_experience(self) -> int: ... - def set_relay_malfunction(self, c: bool) -> None: ... - def get_relay_malfunction(self) -> bool: ... - def get_gas_interceptor_prev(self) -> bool: ... - def get_gas_pressed_prev(self) -> bool: ... - def get_brake_pressed_prev(self) -> bool: ... - def get_regen_braking_prev(self) -> bool: ... - def get_acc_main_on(self) -> bool: ... - def get_vehicle_speed_min(self) -> int: ... - def get_vehicle_speed_max(self) -> int: ... - def get_vehicle_speed_last(self) -> int: ... - def get_current_safety_mode(self) -> int: ... - def get_current_safety_param(self) -> int: ... - - def set_torque_meas(self, min: int, max: int) -> None: ... # noqa: A002 - def get_torque_meas_min(self) -> int: ... - def get_torque_meas_max(self) -> int: ... - def set_torque_driver(self, min: int, max: int) -> None: ... # noqa: A002 - def get_torque_driver_min(self) -> int: ... - def get_torque_driver_max(self) -> int: ... - def set_desired_torque_last(self, t: int) -> None: ... - def set_rt_torque_last(self, t: int) -> None: ... - def set_desired_angle_last(self, t: int) -> None: ... - def get_desired_angle_last(self) -> int: ... - def set_angle_meas(self, min: int, max: int) -> None: ... # noqa: A002 - def get_angle_meas_min(self) -> int: ... - def get_angle_meas_max(self) -> int: ... - - def get_cruise_engaged_prev(self) -> bool: ... - def set_cruise_engaged_prev(self, enabled: bool) -> None: ... - def get_vehicle_moving(self) -> bool: ... - def get_hw_type(self) -> int: ... - def set_timer(self, t: int) -> None: ... - - def safety_tick_current_safety_config(self) -> None: ... - def safety_config_valid(self) -> bool: ... - - def init_tests(self) -> None: ... - - def set_honda_fwd_brake(self, c: bool) -> None: ... - def get_honda_fwd_brake(self) -> bool: ... - def set_honda_alt_brake_msg(self, c: bool) -> None: ... - def set_honda_bosch_long(self, c: bool) -> None: ... - def get_honda_hw(self) -> int: ... - - diff --git a/panda/tests/libs/resetter.py b/panda/tests/libs/resetter.py deleted file mode 100644 index 3868bde67495bb..00000000000000 --- a/panda/tests/libs/resetter.py +++ /dev/null @@ -1,57 +0,0 @@ -import time -import usb1 - - -class Resetter(): - def __init__(self): - self._handle = None - self.connect() - - def __enter__(self): - return self - - def __exit__(self, *args): - self.close() - - def close(self): - self._handle.close() - self._context.close() - self._handle = None - - def connect(self): - if self._handle: - self.close() - - self._handle = None - - self._context = usb1.USBContext() - self._context.open() - for device in self._context.getDeviceList(skip_on_error=True): - if device.getVendorID() == 0xbbaa and device.getProductID() == 0xddc0: - try: - self._handle = device.open() - self._handle.claimInterface(0) - break - except Exception as e: - print(e) - assert self._handle - - def enable_power(self, port, enabled): - self._handle.controlWrite((usb1.ENDPOINT_OUT | usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE), 0xff, port, enabled, b'') - - def enable_boot(self, enabled): - self._handle.controlWrite((usb1.ENDPOINT_OUT | usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE), 0xff, 0, enabled, b'') - - def cycle_power(self, delay=5, dfu=False, ports=None): - if ports is None: - ports = [1, 2, 3] - - self.enable_boot(dfu) - for port in ports: - self.enable_power(port, False) - time.sleep(0.5) - - for port in ports: - self.enable_power(port, True) - time.sleep(delay) - self.enable_boot(False) diff --git a/panda/tests/loopback_test.py b/panda/tests/loopback_test.py deleted file mode 100755 index a95c2ea2285f6d..00000000000000 --- a/panda/tests/loopback_test.py +++ /dev/null @@ -1,94 +0,0 @@ -#!/usr/bin/env python3 - -import os -import time -import random -import argparse -from itertools import permutations - -from panda import Panda - -def get_test_string(): - return b"test" + os.urandom(10) - -def run_test(sleep_duration): - pandas = Panda.list() - print(pandas) - - if len(pandas) < 2: - raise Exception("Minimum two pandas are needed for test") - - run_test_w_pandas(pandas, sleep_duration) - -def run_test_w_pandas(pandas, sleep_duration): - h = [Panda(x) for x in pandas] - print("H", h) - - for hh in h: - hh.set_safety_mode(Panda.SAFETY_ALLOUTPUT) - - # test both directions - for ho in permutations(list(range(len(h))), r=2): - print("***************** TESTING", ho) - - panda0, panda1 = h[ho[0]], h[ho[1]] - - # **** test health packet **** - print("health", ho[0], h[ho[0]].health()) - - # **** test can line loopback **** - for bus, obd in [(0, False), (1, False), (2, False), (1, True), (2, True)]: - print("\ntest can", bus) - # flush - cans_echo = panda0.can_recv() - cans_loop = panda1.can_recv() - - panda0.set_obd(None) - panda1.set_obd(None) - - if obd is True: - panda0.set_obd(bus) - panda1.set_obd(bus) - bus = 3 - - # send the characters - at = random.randint(1, 2000) - st = get_test_string()[0:8] - panda0.can_send(at, st, bus) - time.sleep(0.1) - - # check for receive - cans_echo = panda0.can_recv() - cans_loop = panda1.can_recv() - - print("Bus", bus, "echo", cans_echo, "loop", cans_loop) - - assert len(cans_echo) == 1 - assert len(cans_loop) == 1 - - assert cans_echo[0][0] == at - assert cans_loop[0][0] == at - - assert cans_echo[0][2] == st - assert cans_loop[0][2] == st - - assert cans_echo[0][3] == 0x80 | bus - if cans_loop[0][3] != bus: - print("EXPECTED %d GOT %d" % (bus, cans_loop[0][3])) - assert cans_loop[0][3] == bus - - print("CAN pass", bus, ho) - time.sleep(sleep_duration) - -if __name__ == "__main__": - parser = argparse.ArgumentParser() - parser.add_argument("-n", type=int, help="Number of test iterations to run") - parser.add_argument("-sleep", type=int, help="Sleep time between tests", default=0) - args = parser.parse_args() - - if args.n is None: - while True: - run_test(sleep_duration=args.sleep) - else: - for _ in range(args.n): - run_test(sleep_duration=args.sleep) diff --git a/panda/tests/message_drop_test.py b/panda/tests/message_drop_test.py deleted file mode 100755 index bf485e454528c9..00000000000000 --- a/panda/tests/message_drop_test.py +++ /dev/null @@ -1,70 +0,0 @@ -#!/usr/bin/env python3 -import os -import usb1 -import time -import struct -import itertools -import threading -from typing import Any - -from panda import Panda - -JUNGLE = "JUNGLE" in os.environ -if JUNGLE: - from panda import PandaJungle - -# Generate unique messages -NUM_MESSAGES_PER_BUS = 10000 -messages = [bytes(struct.pack("Q", i)) for i in range(NUM_MESSAGES_PER_BUS)] -tx_messages = list(itertools.chain.from_iterable([[0xaa, None, msg, 0], [0xaa, None, msg, 1], [0xaa, None, msg, 2]] for msg in messages)) - -def flood_tx(panda): - print('Sending!') - transferred = 0 - while True: - try: - print(f"Sending block {transferred}-{len(tx_messages)}: ", end="") - panda.can_send_many(tx_messages[transferred:], timeout=10) - print("OK") - break - except usb1.USBErrorTimeout as e: - transferred += (e.transferred // 16) - print("timeout, transferred: ", transferred) - - print(f"Done sending {3*NUM_MESSAGES_PER_BUS} messages!") - -if __name__ == "__main__": - serials = Panda.list() - receiver: Panda | PandaJungle - if JUNGLE: - sender = Panda() - receiver = PandaJungle() - else: - if len(serials) != 2: - raise Exception("Connect two pandas to perform this test!") - sender = Panda(serials[0]) - receiver = Panda(serials[1]) - receiver.set_safety_mode(Panda.SAFETY_ALLOUTPUT) - - sender.set_safety_mode(Panda.SAFETY_ALLOUTPUT) - - # Start transmisson - threading.Thread(target=flood_tx, args=(sender,)).start() - - # Receive as much as we can, and stop when there hasn't been anything for a second - rx: list[Any] = [] - old_len = 0 - last_change = time.monotonic() - while time.monotonic() - last_change < 1: - if old_len < len(rx): - last_change = time.monotonic() - old_len = len(rx) - - rx.extend(receiver.can_recv()) - print(f"Received {len(rx)} messages") - - # Check if we received everything - for bus in range(3): - received_msgs = {bytes(m[2]) for m in filter(lambda m, b=bus: m[3] == b, rx)} # type: ignore - dropped_msgs = set(messages).difference(received_msgs) - print(f"Bus {bus} dropped msgs: {len(list(dropped_msgs))} / {len(messages)}") diff --git a/panda/tests/misra/.gitignore b/panda/tests/misra/.gitignore deleted file mode 100644 index fc9ac228cb0a1a..00000000000000 --- a/panda/tests/misra/.gitignore +++ /dev/null @@ -1,5 +0,0 @@ -*.pdf -*.txt -.output.log -new_table -cppcheck/ diff --git a/panda/tests/misra/checkers.txt b/panda/tests/misra/checkers.txt deleted file mode 100644 index a9cc72173c9560..00000000000000 --- a/panda/tests/misra/checkers.txt +++ /dev/null @@ -1,867 +0,0 @@ -Cppcheck checkers list from test_misra.sh: - - - - - -TEST variant options: ---enable=all --disable=unusedFunction -DPANDA --addon=misra -DSTM32F4 -DSTM32F413xx /board/main.c - - -Critical errors ---------------- -No critical errors, all files were checked. -Important: Analysis is still not guaranteed to be 'complete' it is possible there are false negatives. - - -Open source checkers --------------------- -Yes Check64BitPortability::pointerassignment -Yes CheckAssert::assertWithSideEffects -Yes CheckAutoVariables::assignFunctionArg -Yes CheckAutoVariables::autoVariables -Yes CheckAutoVariables::checkVarLifetime -No CheckBool::checkAssignBoolToFloat require:style,c++ -Yes CheckBool::checkAssignBoolToPointer -No CheckBool::checkBitwiseOnBoolean require:style,inconclusive -Yes CheckBool::checkComparisonOfBoolExpressionWithInt -No CheckBool::checkComparisonOfBoolWithBool require:style,c++ -No CheckBool::checkComparisonOfBoolWithInt require:warning,c++ -No CheckBool::checkComparisonOfFuncReturningBool require:style,c++ -Yes CheckBool::checkIncrementBoolean -Yes CheckBool::pointerArithBool -Yes CheckBool::returnValueOfFunctionReturningBool -No CheckBoost::checkBoostForeachModification -Yes CheckBufferOverrun::analyseWholeProgram -Yes CheckBufferOverrun::argumentSize -Yes CheckBufferOverrun::arrayIndex -Yes CheckBufferOverrun::arrayIndexThenCheck -Yes CheckBufferOverrun::bufferOverflow -Yes CheckBufferOverrun::negativeArraySize -Yes CheckBufferOverrun::objectIndex -Yes CheckBufferOverrun::pointerArithmetic -No CheckBufferOverrun::stringNotZeroTerminated require:warning,inconclusive -Yes CheckClass::analyseWholeProgram -No CheckClass::checkConst require:style,inconclusive -No CheckClass::checkConstructors require:style,warning -No CheckClass::checkCopyConstructors require:warning -No CheckClass::checkDuplInheritedMembers require:warning -No CheckClass::checkExplicitConstructors require:style -No CheckClass::checkMemset -No CheckClass::checkMissingOverride require:style,c++03 -No CheckClass::checkReturnByReference require:performance -No CheckClass::checkSelfInitialization -No CheckClass::checkThisUseAfterFree require:warning -No CheckClass::checkUnsafeClassRefMember require:warning,safeChecks -No CheckClass::checkUselessOverride require:style -No CheckClass::checkVirtualFunctionCallInConstructor require:warning -No CheckClass::initializationListUsage require:performance -No CheckClass::initializerListOrder require:style,inconclusive -No CheckClass::operatorEqRetRefThis require:style -No CheckClass::operatorEqToSelf require:warning -No CheckClass::privateFunctions require:style -No CheckClass::thisSubtraction require:warning -No CheckClass::virtualDestructor -Yes CheckCondition::alwaysTrueFalse -Yes CheckCondition::assignIf -Yes CheckCondition::checkAssignmentInCondition -Yes CheckCondition::checkBadBitmaskCheck -Yes CheckCondition::checkCompareValueOutOfTypeRange -Yes CheckCondition::checkDuplicateConditionalAssign -Yes CheckCondition::checkIncorrectLogicOperator -Yes CheckCondition::checkInvalidTestForOverflow -Yes CheckCondition::checkModuloAlwaysTrueFalse -Yes CheckCondition::checkPointerAdditionResultNotNull -Yes CheckCondition::clarifyCondition -Yes CheckCondition::comparison -Yes CheckCondition::duplicateCondition -Yes CheckCondition::multiCondition -Yes CheckCondition::multiCondition2 -No CheckExceptionSafety::checkCatchExceptionByValue require:style -No CheckExceptionSafety::checkRethrowCopy require:style -No CheckExceptionSafety::deallocThrow require:warning -No CheckExceptionSafety::destructors require:warning -No CheckExceptionSafety::nothrowThrows -No CheckExceptionSafety::rethrowNoCurrentException -No CheckExceptionSafety::unhandledExceptionSpecification require:style,inconclusive -Yes CheckFunctions::checkIgnoredReturnValue -Yes CheckFunctions::checkMathFunctions -Yes CheckFunctions::checkMissingReturn -Yes CheckFunctions::checkProhibitedFunctions -Yes CheckFunctions::invalidFunctionUsage -Yes CheckFunctions::memsetInvalid2ndParam -Yes CheckFunctions::memsetZeroBytes -No CheckFunctions::returnLocalStdMove require:performance,c++11 -Yes CheckFunctions::useStandardLibrary -No CheckIO::checkCoutCerrMisusage require:c -Yes CheckIO::checkFileUsage -Yes CheckIO::checkWrongPrintfScanfArguments -Yes CheckIO::invalidScanf -Yes CheckLeakAutoVar::check -No CheckMemoryLeakInClass::check -Yes CheckMemoryLeakInFunction::checkReallocUsage -Yes CheckMemoryLeakNoVar::check -No CheckMemoryLeakNoVar::checkForUnsafeArgAlloc -Yes CheckMemoryLeakStructMember::check -Yes CheckNullPointer::analyseWholeProgram -Yes CheckNullPointer::arithmetic -Yes CheckNullPointer::nullConstantDereference -Yes CheckNullPointer::nullPointer -No CheckOther::checkAccessOfMovedVariable require:c++11,warning -Yes CheckOther::checkCastIntToCharAndBack -Yes CheckOther::checkCharVariable -Yes CheckOther::checkComparePointers -Yes CheckOther::checkComparisonFunctionIsAlwaysTrueOrFalse -Yes CheckOther::checkConstPointer -No CheckOther::checkConstVariable require:style,c++ -No CheckOther::checkDuplicateBranch require:style,inconclusive -Yes CheckOther::checkDuplicateExpression -Yes CheckOther::checkEvaluationOrder -Yes CheckOther::checkFuncArgNamesDifferent -No CheckOther::checkIncompleteArrayFill require:warning,portability,inconclusive -Yes CheckOther::checkIncompleteStatement -No CheckOther::checkInterlockedDecrement require:windows-platform -Yes CheckOther::checkInvalidFree -Yes CheckOther::checkKnownArgument -Yes CheckOther::checkKnownPointerToBool -No CheckOther::checkMisusedScopedObject require:style,c++ -Yes CheckOther::checkModuloOfOne -Yes CheckOther::checkNanInArithmeticExpression -Yes CheckOther::checkNegativeBitwiseShift -Yes CheckOther::checkOverlappingWrite -No CheckOther::checkPassByReference require:performance,c++ -Yes CheckOther::checkRedundantAssignment -No CheckOther::checkRedundantCopy require:c++,performance,inconclusive -Yes CheckOther::checkRedundantPointerOp -Yes CheckOther::checkShadowVariables -Yes CheckOther::checkSignOfUnsignedVariable -No CheckOther::checkSuspiciousCaseInSwitch require:warning,inconclusive -No CheckOther::checkSuspiciousSemicolon require:warning,inconclusive -Yes CheckOther::checkUnreachableCode -Yes CheckOther::checkUnusedLabel -Yes CheckOther::checkVarFuncNullUB -Yes CheckOther::checkVariableScope -Yes CheckOther::checkZeroDivision -Yes CheckOther::clarifyCalculation -Yes CheckOther::clarifyStatement -Yes CheckOther::invalidPointerCast -Yes CheckOther::redundantBitwiseOperationInSwitch -No CheckOther::warningOldStylePointerCast require:style,c++ -No CheckPostfixOperator::postfixOperator require:performance -Yes CheckSizeof::checkSizeofForArrayParameter -Yes CheckSizeof::checkSizeofForNumericParameter -Yes CheckSizeof::checkSizeofForPointerSize -Yes CheckSizeof::sizeofCalculation -Yes CheckSizeof::sizeofFunction -Yes CheckSizeof::sizeofVoid -Yes CheckSizeof::sizeofsizeof -No CheckSizeof::suspiciousSizeofCalculation require:warning,inconclusive -No CheckStl::checkDereferenceInvalidIterator require:warning -No CheckStl::checkDereferenceInvalidIterator2 -No CheckStl::checkFindInsert require:performance -No CheckStl::checkMutexes require:warning -No CheckStl::erase -No CheckStl::eraseIteratorOutOfBounds -No CheckStl::if_find require:warning,performance -No CheckStl::invalidContainer -No CheckStl::iterators -No CheckStl::knownEmptyContainer require:style -No CheckStl::misMatchingContainerIterator -No CheckStl::misMatchingContainers -No CheckStl::missingComparison require:warning -No CheckStl::negativeIndex -No CheckStl::outOfBounds -No CheckStl::outOfBoundsIndexExpression -No CheckStl::redundantCondition require:style -No CheckStl::size require:performance,c++03 -No CheckStl::stlBoundaries -No CheckStl::stlOutOfBounds -No CheckStl::string_c_str -No CheckStl::useStlAlgorithm require:style -No CheckStl::uselessCalls require:performance,warning -Yes CheckString::checkAlwaysTrueOrFalseStringCompare -Yes CheckString::checkIncorrectStringCompare -Yes CheckString::checkSuspiciousStringCompare -Yes CheckString::overlappingStrcmp -Yes CheckString::sprintfOverlappingData -Yes CheckString::strPlusChar -Yes CheckString::stringLiteralWrite -Yes CheckType::checkFloatToIntegerOverflow -Yes CheckType::checkIntegerOverflow -Yes CheckType::checkLongCast -Yes CheckType::checkSignConversion -Yes CheckType::checkTooBigBitwiseShift -Yes CheckUninitVar::check -Yes CheckUninitVar::valueFlowUninit -No CheckUnusedFunctions::check require:unusedFunction -Yes CheckUnusedVar::checkFunctionVariableUsage -Yes CheckUnusedVar::checkStructMemberUsage -Yes CheckVaarg::va_list_usage -Yes CheckVaarg::va_start_argument - - -Premium checkers ----------------- -Not available, Cppcheck Premium is not used - - -Autosar -------- -Not available, Cppcheck Premium is not used - - -Cert C ------- -Not available, Cppcheck Premium is not used - - -Cert C++ --------- -Not available, Cppcheck Premium is not used - - -Misra C 2012 ------------- -Yes Misra C 2012: 1.1 -Yes Misra C 2012: 1.2 -Yes Misra C 2012: 1.3 -Yes Misra C 2012: 1.4 amendment:2 -No Misra C 2012: 1.5 amendment:3 require:premium -Yes Misra C 2012: 2.1 -Yes Misra C 2012: 2.2 -Yes Misra C 2012: 2.3 -Yes Misra C 2012: 2.4 -Yes Misra C 2012: 2.5 -Yes Misra C 2012: 2.6 -Yes Misra C 2012: 2.7 -Yes Misra C 2012: 2.8 -Yes Misra C 2012: 3.1 -Yes Misra C 2012: 3.2 -Yes Misra C 2012: 4.1 -Yes Misra C 2012: 4.2 -Yes Misra C 2012: 5.1 -Yes Misra C 2012: 5.2 -Yes Misra C 2012: 5.3 -Yes Misra C 2012: 5.4 -Yes Misra C 2012: 5.5 -Yes Misra C 2012: 5.6 -Yes Misra C 2012: 5.7 -Yes Misra C 2012: 5.8 -Yes Misra C 2012: 5.9 -Yes Misra C 2012: 6.1 -Yes Misra C 2012: 6.2 -No Misra C 2012: 6.3 -Yes Misra C 2012: 7.1 -Yes Misra C 2012: 7.2 -Yes Misra C 2012: 7.3 -Yes Misra C 2012: 7.4 -No Misra C 2012: 7.5 -No Misra C 2012: 7.6 -Yes Misra C 2012: 8.1 -Yes Misra C 2012: 8.2 -No Misra C 2012: 8.3 -Yes Misra C 2012: 8.4 -Yes Misra C 2012: 8.5 -Yes Misra C 2012: 8.6 -Yes Misra C 2012: 8.7 -Yes Misra C 2012: 8.8 -Yes Misra C 2012: 8.9 -Yes Misra C 2012: 8.10 -Yes Misra C 2012: 8.11 -Yes Misra C 2012: 8.12 -Yes Misra C 2012: 8.13 -Yes Misra C 2012: 8.14 -No Misra C 2012: 8.15 -No Misra C 2012: 8.16 -No Misra C 2012: 8.17 -Yes Misra C 2012: 9.1 -Yes Misra C 2012: 9.2 -Yes Misra C 2012: 9.3 -Yes Misra C 2012: 9.4 -Yes Misra C 2012: 9.5 -No Misra C 2012: 9.6 -No Misra C 2012: 9.7 -Yes Misra C 2012: 10.1 -Yes Misra C 2012: 10.2 -Yes Misra C 2012: 10.3 -Yes Misra C 2012: 10.4 -Yes Misra C 2012: 10.5 -Yes Misra C 2012: 10.6 -Yes Misra C 2012: 10.7 -Yes Misra C 2012: 10.8 -Yes Misra C 2012: 11.1 -Yes Misra C 2012: 11.2 -Yes Misra C 2012: 11.3 -Yes Misra C 2012: 11.4 -Yes Misra C 2012: 11.5 -Yes Misra C 2012: 11.6 -Yes Misra C 2012: 11.7 -Yes Misra C 2012: 11.8 -Yes Misra C 2012: 11.9 -No Misra C 2012: 11.10 -Yes Misra C 2012: 12.1 -Yes Misra C 2012: 12.2 -Yes Misra C 2012: 12.3 -Yes Misra C 2012: 12.4 -Yes Misra C 2012: 12.5 amendment:1 -No Misra C 2012: 12.6 amendment:4 require:premium -Yes Misra C 2012: 13.1 -No Misra C 2012: 13.2 -Yes Misra C 2012: 13.3 -Yes Misra C 2012: 13.4 -Yes Misra C 2012: 13.5 -Yes Misra C 2012: 13.6 -Yes Misra C 2012: 14.1 -Yes Misra C 2012: 14.2 -Yes Misra C 2012: 14.3 -Yes Misra C 2012: 14.4 -Yes Misra C 2012: 15.1 -Yes Misra C 2012: 15.2 -Yes Misra C 2012: 15.3 -Yes Misra C 2012: 15.4 -Yes Misra C 2012: 15.5 -Yes Misra C 2012: 15.6 -Yes Misra C 2012: 15.7 -Yes Misra C 2012: 16.1 -Yes Misra C 2012: 16.2 -Yes Misra C 2012: 16.3 -Yes Misra C 2012: 16.4 -Yes Misra C 2012: 16.5 -Yes Misra C 2012: 16.6 -Yes Misra C 2012: 16.7 -Yes Misra C 2012: 17.1 -Yes Misra C 2012: 17.2 -Yes Misra C 2012: 17.3 -No Misra C 2012: 17.4 -Yes Misra C 2012: 17.5 -Yes Misra C 2012: 17.6 -Yes Misra C 2012: 17.7 -Yes Misra C 2012: 17.8 -No Misra C 2012: 17.9 -No Misra C 2012: 17.10 -No Misra C 2012: 17.11 -No Misra C 2012: 17.12 -No Misra C 2012: 17.13 -Yes Misra C 2012: 18.1 -Yes Misra C 2012: 18.2 -Yes Misra C 2012: 18.3 -Yes Misra C 2012: 18.4 -Yes Misra C 2012: 18.5 -Yes Misra C 2012: 18.6 -Yes Misra C 2012: 18.7 -Yes Misra C 2012: 18.8 -No Misra C 2012: 18.9 -No Misra C 2012: 18.10 -Yes Misra C 2012: 19.1 -Yes Misra C 2012: 19.2 -Yes Misra C 2012: 20.1 -Yes Misra C 2012: 20.2 -Yes Misra C 2012: 20.3 -Yes Misra C 2012: 20.4 -Yes Misra C 2012: 20.5 -Yes Misra C 2012: 20.6 -Yes Misra C 2012: 20.7 -Yes Misra C 2012: 20.8 -Yes Misra C 2012: 20.9 -Yes Misra C 2012: 20.10 -Yes Misra C 2012: 20.11 -Yes Misra C 2012: 20.12 -Yes Misra C 2012: 20.13 -Yes Misra C 2012: 20.14 -Yes Misra C 2012: 21.1 -Yes Misra C 2012: 21.2 -Yes Misra C 2012: 21.3 -Yes Misra C 2012: 21.4 -Yes Misra C 2012: 21.5 -Yes Misra C 2012: 21.6 -Yes Misra C 2012: 21.7 -Yes Misra C 2012: 21.8 -Yes Misra C 2012: 21.9 -Yes Misra C 2012: 21.10 -Yes Misra C 2012: 21.11 -Yes Misra C 2012: 21.12 -Yes Misra C 2012: 21.13 amendment:1 -Yes Misra C 2012: 21.14 amendment:1 -Yes Misra C 2012: 21.15 amendment:1 -Yes Misra C 2012: 21.16 amendment:1 -Yes Misra C 2012: 21.17 amendment:1 -Yes Misra C 2012: 21.18 amendment:1 -Yes Misra C 2012: 21.19 amendment:1 -Yes Misra C 2012: 21.20 amendment:1 -Yes Misra C 2012: 21.21 amendment:3 -No Misra C 2012: 21.22 amendment:3 require:premium -No Misra C 2012: 21.23 amendment:3 require:premium -No Misra C 2012: 21.24 amendment:3 require:premium -No Misra C 2012: 21.25 amendment:4 require:premium -No Misra C 2012: 21.26 amendment:4 require:premium -Yes Misra C 2012: 22.1 -Yes Misra C 2012: 22.2 -Yes Misra C 2012: 22.3 -Yes Misra C 2012: 22.4 -Yes Misra C 2012: 22.5 -Yes Misra C 2012: 22.6 -Yes Misra C 2012: 22.7 amendment:1 -Yes Misra C 2012: 22.8 amendment:1 -Yes Misra C 2012: 22.9 amendment:1 -Yes Misra C 2012: 22.10 amendment:1 -No Misra C 2012: 22.11 amendment:4 require:premium -No Misra C 2012: 22.12 amendment:4 require:premium -No Misra C 2012: 22.13 amendment:4 require:premium -No Misra C 2012: 22.14 amendment:4 require:premium -No Misra C 2012: 22.15 amendment:4 require:premium -No Misra C 2012: 22.16 amendment:4 require:premium -No Misra C 2012: 22.17 amendment:4 require:premium -No Misra C 2012: 22.18 amendment:4 require:premium -No Misra C 2012: 22.19 amendment:4 require:premium -No Misra C 2012: 22.20 amendment:4 require:premium -No Misra C 2012: 23.1 amendment:3 require:premium -No Misra C 2012: 23.2 amendment:3 require:premium -No Misra C 2012: 23.3 amendment:3 require:premium -No Misra C 2012: 23.4 amendment:3 require:premium -No Misra C 2012: 23.5 amendment:3 require:premium -No Misra C 2012: 23.6 amendment:3 require:premium -No Misra C 2012: 23.7 amendment:3 require:premium -No Misra C 2012: 23.8 amendment:3 require:premium - - -Misra C++ 2008 --------------- -Not available, Cppcheck Premium is not used - - -Misra C++ 2023 --------------- -Not available, Cppcheck Premium is not used - - - - - -TEST variant options: ---enable=all --disable=unusedFunction -DPANDA --addon=misra -DSTM32H7 -DSTM32H725xx /board/main.c - - -Critical errors ---------------- -No critical errors, all files were checked. -Important: Analysis is still not guaranteed to be 'complete' it is possible there are false negatives. - - -Open source checkers --------------------- -Yes Check64BitPortability::pointerassignment -Yes CheckAssert::assertWithSideEffects -Yes CheckAutoVariables::assignFunctionArg -Yes CheckAutoVariables::autoVariables -Yes CheckAutoVariables::checkVarLifetime -No CheckBool::checkAssignBoolToFloat require:style,c++ -Yes CheckBool::checkAssignBoolToPointer -No CheckBool::checkBitwiseOnBoolean require:style,inconclusive -Yes CheckBool::checkComparisonOfBoolExpressionWithInt -No CheckBool::checkComparisonOfBoolWithBool require:style,c++ -No CheckBool::checkComparisonOfBoolWithInt require:warning,c++ -No CheckBool::checkComparisonOfFuncReturningBool require:style,c++ -Yes CheckBool::checkIncrementBoolean -Yes CheckBool::pointerArithBool -Yes CheckBool::returnValueOfFunctionReturningBool -No CheckBoost::checkBoostForeachModification -Yes CheckBufferOverrun::analyseWholeProgram -Yes CheckBufferOverrun::argumentSize -Yes CheckBufferOverrun::arrayIndex -Yes CheckBufferOverrun::arrayIndexThenCheck -Yes CheckBufferOverrun::bufferOverflow -Yes CheckBufferOverrun::negativeArraySize -Yes CheckBufferOverrun::objectIndex -Yes CheckBufferOverrun::pointerArithmetic -No CheckBufferOverrun::stringNotZeroTerminated require:warning,inconclusive -Yes CheckClass::analyseWholeProgram -No CheckClass::checkConst require:style,inconclusive -No CheckClass::checkConstructors require:style,warning -No CheckClass::checkCopyConstructors require:warning -No CheckClass::checkDuplInheritedMembers require:warning -No CheckClass::checkExplicitConstructors require:style -No CheckClass::checkMemset -No CheckClass::checkMissingOverride require:style,c++03 -No CheckClass::checkReturnByReference require:performance -No CheckClass::checkSelfInitialization -No CheckClass::checkThisUseAfterFree require:warning -No CheckClass::checkUnsafeClassRefMember require:warning,safeChecks -No CheckClass::checkUselessOverride require:style -No CheckClass::checkVirtualFunctionCallInConstructor require:warning -No CheckClass::initializationListUsage require:performance -No CheckClass::initializerListOrder require:style,inconclusive -No CheckClass::operatorEqRetRefThis require:style -No CheckClass::operatorEqToSelf require:warning -No CheckClass::privateFunctions require:style -No CheckClass::thisSubtraction require:warning -No CheckClass::virtualDestructor -Yes CheckCondition::alwaysTrueFalse -Yes CheckCondition::assignIf -Yes CheckCondition::checkAssignmentInCondition -Yes CheckCondition::checkBadBitmaskCheck -Yes CheckCondition::checkCompareValueOutOfTypeRange -Yes CheckCondition::checkDuplicateConditionalAssign -Yes CheckCondition::checkIncorrectLogicOperator -Yes CheckCondition::checkInvalidTestForOverflow -Yes CheckCondition::checkModuloAlwaysTrueFalse -Yes CheckCondition::checkPointerAdditionResultNotNull -Yes CheckCondition::clarifyCondition -Yes CheckCondition::comparison -Yes CheckCondition::duplicateCondition -Yes CheckCondition::multiCondition -Yes CheckCondition::multiCondition2 -No CheckExceptionSafety::checkCatchExceptionByValue require:style -No CheckExceptionSafety::checkRethrowCopy require:style -No CheckExceptionSafety::deallocThrow require:warning -No CheckExceptionSafety::destructors require:warning -No CheckExceptionSafety::nothrowThrows -No CheckExceptionSafety::rethrowNoCurrentException -No CheckExceptionSafety::unhandledExceptionSpecification require:style,inconclusive -Yes CheckFunctions::checkIgnoredReturnValue -Yes CheckFunctions::checkMathFunctions -Yes CheckFunctions::checkMissingReturn -Yes CheckFunctions::checkProhibitedFunctions -Yes CheckFunctions::invalidFunctionUsage -Yes CheckFunctions::memsetInvalid2ndParam -Yes CheckFunctions::memsetZeroBytes -No CheckFunctions::returnLocalStdMove require:performance,c++11 -Yes CheckFunctions::useStandardLibrary -No CheckIO::checkCoutCerrMisusage require:c -Yes CheckIO::checkFileUsage -Yes CheckIO::checkWrongPrintfScanfArguments -Yes CheckIO::invalidScanf -Yes CheckLeakAutoVar::check -No CheckMemoryLeakInClass::check -Yes CheckMemoryLeakInFunction::checkReallocUsage -Yes CheckMemoryLeakNoVar::check -No CheckMemoryLeakNoVar::checkForUnsafeArgAlloc -Yes CheckMemoryLeakStructMember::check -Yes CheckNullPointer::analyseWholeProgram -Yes CheckNullPointer::arithmetic -Yes CheckNullPointer::nullConstantDereference -Yes CheckNullPointer::nullPointer -No CheckOther::checkAccessOfMovedVariable require:c++11,warning -Yes CheckOther::checkCastIntToCharAndBack -Yes CheckOther::checkCharVariable -Yes CheckOther::checkComparePointers -Yes CheckOther::checkComparisonFunctionIsAlwaysTrueOrFalse -Yes CheckOther::checkConstPointer -No CheckOther::checkConstVariable require:style,c++ -No CheckOther::checkDuplicateBranch require:style,inconclusive -Yes CheckOther::checkDuplicateExpression -Yes CheckOther::checkEvaluationOrder -Yes CheckOther::checkFuncArgNamesDifferent -No CheckOther::checkIncompleteArrayFill require:warning,portability,inconclusive -Yes CheckOther::checkIncompleteStatement -No CheckOther::checkInterlockedDecrement require:windows-platform -Yes CheckOther::checkInvalidFree -Yes CheckOther::checkKnownArgument -Yes CheckOther::checkKnownPointerToBool -No CheckOther::checkMisusedScopedObject require:style,c++ -Yes CheckOther::checkModuloOfOne -Yes CheckOther::checkNanInArithmeticExpression -Yes CheckOther::checkNegativeBitwiseShift -Yes CheckOther::checkOverlappingWrite -No CheckOther::checkPassByReference require:performance,c++ -Yes CheckOther::checkRedundantAssignment -No CheckOther::checkRedundantCopy require:c++,performance,inconclusive -Yes CheckOther::checkRedundantPointerOp -Yes CheckOther::checkShadowVariables -Yes CheckOther::checkSignOfUnsignedVariable -No CheckOther::checkSuspiciousCaseInSwitch require:warning,inconclusive -No CheckOther::checkSuspiciousSemicolon require:warning,inconclusive -Yes CheckOther::checkUnreachableCode -Yes CheckOther::checkUnusedLabel -Yes CheckOther::checkVarFuncNullUB -Yes CheckOther::checkVariableScope -Yes CheckOther::checkZeroDivision -Yes CheckOther::clarifyCalculation -Yes CheckOther::clarifyStatement -Yes CheckOther::invalidPointerCast -Yes CheckOther::redundantBitwiseOperationInSwitch -No CheckOther::warningOldStylePointerCast require:style,c++ -No CheckPostfixOperator::postfixOperator require:performance -Yes CheckSizeof::checkSizeofForArrayParameter -Yes CheckSizeof::checkSizeofForNumericParameter -Yes CheckSizeof::checkSizeofForPointerSize -Yes CheckSizeof::sizeofCalculation -Yes CheckSizeof::sizeofFunction -Yes CheckSizeof::sizeofVoid -Yes CheckSizeof::sizeofsizeof -No CheckSizeof::suspiciousSizeofCalculation require:warning,inconclusive -No CheckStl::checkDereferenceInvalidIterator require:warning -No CheckStl::checkDereferenceInvalidIterator2 -No CheckStl::checkFindInsert require:performance -No CheckStl::checkMutexes require:warning -No CheckStl::erase -No CheckStl::eraseIteratorOutOfBounds -No CheckStl::if_find require:warning,performance -No CheckStl::invalidContainer -No CheckStl::iterators -No CheckStl::knownEmptyContainer require:style -No CheckStl::misMatchingContainerIterator -No CheckStl::misMatchingContainers -No CheckStl::missingComparison require:warning -No CheckStl::negativeIndex -No CheckStl::outOfBounds -No CheckStl::outOfBoundsIndexExpression -No CheckStl::redundantCondition require:style -No CheckStl::size require:performance,c++03 -No CheckStl::stlBoundaries -No CheckStl::stlOutOfBounds -No CheckStl::string_c_str -No CheckStl::useStlAlgorithm require:style -No CheckStl::uselessCalls require:performance,warning -Yes CheckString::checkAlwaysTrueOrFalseStringCompare -Yes CheckString::checkIncorrectStringCompare -Yes CheckString::checkSuspiciousStringCompare -Yes CheckString::overlappingStrcmp -Yes CheckString::sprintfOverlappingData -Yes CheckString::strPlusChar -Yes CheckString::stringLiteralWrite -Yes CheckType::checkFloatToIntegerOverflow -Yes CheckType::checkIntegerOverflow -Yes CheckType::checkLongCast -Yes CheckType::checkSignConversion -Yes CheckType::checkTooBigBitwiseShift -Yes CheckUninitVar::check -Yes CheckUninitVar::valueFlowUninit -No CheckUnusedFunctions::check require:unusedFunction -Yes CheckUnusedVar::checkFunctionVariableUsage -Yes CheckUnusedVar::checkStructMemberUsage -Yes CheckVaarg::va_list_usage -Yes CheckVaarg::va_start_argument - - -Premium checkers ----------------- -Not available, Cppcheck Premium is not used - - -Autosar -------- -Not available, Cppcheck Premium is not used - - -Cert C ------- -Not available, Cppcheck Premium is not used - - -Cert C++ --------- -Not available, Cppcheck Premium is not used - - -Misra C 2012 ------------- -Yes Misra C 2012: 1.1 -Yes Misra C 2012: 1.2 -Yes Misra C 2012: 1.3 -Yes Misra C 2012: 1.4 amendment:2 -No Misra C 2012: 1.5 amendment:3 require:premium -Yes Misra C 2012: 2.1 -Yes Misra C 2012: 2.2 -Yes Misra C 2012: 2.3 -Yes Misra C 2012: 2.4 -Yes Misra C 2012: 2.5 -Yes Misra C 2012: 2.6 -Yes Misra C 2012: 2.7 -Yes Misra C 2012: 2.8 -Yes Misra C 2012: 3.1 -Yes Misra C 2012: 3.2 -Yes Misra C 2012: 4.1 -Yes Misra C 2012: 4.2 -Yes Misra C 2012: 5.1 -Yes Misra C 2012: 5.2 -Yes Misra C 2012: 5.3 -Yes Misra C 2012: 5.4 -Yes Misra C 2012: 5.5 -Yes Misra C 2012: 5.6 -Yes Misra C 2012: 5.7 -Yes Misra C 2012: 5.8 -Yes Misra C 2012: 5.9 -Yes Misra C 2012: 6.1 -Yes Misra C 2012: 6.2 -No Misra C 2012: 6.3 -Yes Misra C 2012: 7.1 -Yes Misra C 2012: 7.2 -Yes Misra C 2012: 7.3 -Yes Misra C 2012: 7.4 -No Misra C 2012: 7.5 -No Misra C 2012: 7.6 -Yes Misra C 2012: 8.1 -Yes Misra C 2012: 8.2 -No Misra C 2012: 8.3 -Yes Misra C 2012: 8.4 -Yes Misra C 2012: 8.5 -Yes Misra C 2012: 8.6 -Yes Misra C 2012: 8.7 -Yes Misra C 2012: 8.8 -Yes Misra C 2012: 8.9 -Yes Misra C 2012: 8.10 -Yes Misra C 2012: 8.11 -Yes Misra C 2012: 8.12 -Yes Misra C 2012: 8.13 -Yes Misra C 2012: 8.14 -No Misra C 2012: 8.15 -No Misra C 2012: 8.16 -No Misra C 2012: 8.17 -Yes Misra C 2012: 9.1 -Yes Misra C 2012: 9.2 -Yes Misra C 2012: 9.3 -Yes Misra C 2012: 9.4 -Yes Misra C 2012: 9.5 -No Misra C 2012: 9.6 -No Misra C 2012: 9.7 -Yes Misra C 2012: 10.1 -Yes Misra C 2012: 10.2 -Yes Misra C 2012: 10.3 -Yes Misra C 2012: 10.4 -Yes Misra C 2012: 10.5 -Yes Misra C 2012: 10.6 -Yes Misra C 2012: 10.7 -Yes Misra C 2012: 10.8 -Yes Misra C 2012: 11.1 -Yes Misra C 2012: 11.2 -Yes Misra C 2012: 11.3 -Yes Misra C 2012: 11.4 -Yes Misra C 2012: 11.5 -Yes Misra C 2012: 11.6 -Yes Misra C 2012: 11.7 -Yes Misra C 2012: 11.8 -Yes Misra C 2012: 11.9 -No Misra C 2012: 11.10 -Yes Misra C 2012: 12.1 -Yes Misra C 2012: 12.2 -Yes Misra C 2012: 12.3 -Yes Misra C 2012: 12.4 -Yes Misra C 2012: 12.5 amendment:1 -No Misra C 2012: 12.6 amendment:4 require:premium -Yes Misra C 2012: 13.1 -No Misra C 2012: 13.2 -Yes Misra C 2012: 13.3 -Yes Misra C 2012: 13.4 -Yes Misra C 2012: 13.5 -Yes Misra C 2012: 13.6 -Yes Misra C 2012: 14.1 -Yes Misra C 2012: 14.2 -Yes Misra C 2012: 14.3 -Yes Misra C 2012: 14.4 -Yes Misra C 2012: 15.1 -Yes Misra C 2012: 15.2 -Yes Misra C 2012: 15.3 -Yes Misra C 2012: 15.4 -Yes Misra C 2012: 15.5 -Yes Misra C 2012: 15.6 -Yes Misra C 2012: 15.7 -Yes Misra C 2012: 16.1 -Yes Misra C 2012: 16.2 -Yes Misra C 2012: 16.3 -Yes Misra C 2012: 16.4 -Yes Misra C 2012: 16.5 -Yes Misra C 2012: 16.6 -Yes Misra C 2012: 16.7 -Yes Misra C 2012: 17.1 -Yes Misra C 2012: 17.2 -Yes Misra C 2012: 17.3 -No Misra C 2012: 17.4 -Yes Misra C 2012: 17.5 -Yes Misra C 2012: 17.6 -Yes Misra C 2012: 17.7 -Yes Misra C 2012: 17.8 -No Misra C 2012: 17.9 -No Misra C 2012: 17.10 -No Misra C 2012: 17.11 -No Misra C 2012: 17.12 -No Misra C 2012: 17.13 -Yes Misra C 2012: 18.1 -Yes Misra C 2012: 18.2 -Yes Misra C 2012: 18.3 -Yes Misra C 2012: 18.4 -Yes Misra C 2012: 18.5 -Yes Misra C 2012: 18.6 -Yes Misra C 2012: 18.7 -Yes Misra C 2012: 18.8 -No Misra C 2012: 18.9 -No Misra C 2012: 18.10 -Yes Misra C 2012: 19.1 -Yes Misra C 2012: 19.2 -Yes Misra C 2012: 20.1 -Yes Misra C 2012: 20.2 -Yes Misra C 2012: 20.3 -Yes Misra C 2012: 20.4 -Yes Misra C 2012: 20.5 -Yes Misra C 2012: 20.6 -Yes Misra C 2012: 20.7 -Yes Misra C 2012: 20.8 -Yes Misra C 2012: 20.9 -Yes Misra C 2012: 20.10 -Yes Misra C 2012: 20.11 -Yes Misra C 2012: 20.12 -Yes Misra C 2012: 20.13 -Yes Misra C 2012: 20.14 -Yes Misra C 2012: 21.1 -Yes Misra C 2012: 21.2 -Yes Misra C 2012: 21.3 -Yes Misra C 2012: 21.4 -Yes Misra C 2012: 21.5 -Yes Misra C 2012: 21.6 -Yes Misra C 2012: 21.7 -Yes Misra C 2012: 21.8 -Yes Misra C 2012: 21.9 -Yes Misra C 2012: 21.10 -Yes Misra C 2012: 21.11 -Yes Misra C 2012: 21.12 -Yes Misra C 2012: 21.13 amendment:1 -Yes Misra C 2012: 21.14 amendment:1 -Yes Misra C 2012: 21.15 amendment:1 -Yes Misra C 2012: 21.16 amendment:1 -Yes Misra C 2012: 21.17 amendment:1 -Yes Misra C 2012: 21.18 amendment:1 -Yes Misra C 2012: 21.19 amendment:1 -Yes Misra C 2012: 21.20 amendment:1 -Yes Misra C 2012: 21.21 amendment:3 -No Misra C 2012: 21.22 amendment:3 require:premium -No Misra C 2012: 21.23 amendment:3 require:premium -No Misra C 2012: 21.24 amendment:3 require:premium -No Misra C 2012: 21.25 amendment:4 require:premium -No Misra C 2012: 21.26 amendment:4 require:premium -Yes Misra C 2012: 22.1 -Yes Misra C 2012: 22.2 -Yes Misra C 2012: 22.3 -Yes Misra C 2012: 22.4 -Yes Misra C 2012: 22.5 -Yes Misra C 2012: 22.6 -Yes Misra C 2012: 22.7 amendment:1 -Yes Misra C 2012: 22.8 amendment:1 -Yes Misra C 2012: 22.9 amendment:1 -Yes Misra C 2012: 22.10 amendment:1 -No Misra C 2012: 22.11 amendment:4 require:premium -No Misra C 2012: 22.12 amendment:4 require:premium -No Misra C 2012: 22.13 amendment:4 require:premium -No Misra C 2012: 22.14 amendment:4 require:premium -No Misra C 2012: 22.15 amendment:4 require:premium -No Misra C 2012: 22.16 amendment:4 require:premium -No Misra C 2012: 22.17 amendment:4 require:premium -No Misra C 2012: 22.18 amendment:4 require:premium -No Misra C 2012: 22.19 amendment:4 require:premium -No Misra C 2012: 22.20 amendment:4 require:premium -No Misra C 2012: 23.1 amendment:3 require:premium -No Misra C 2012: 23.2 amendment:3 require:premium -No Misra C 2012: 23.3 amendment:3 require:premium -No Misra C 2012: 23.4 amendment:3 require:premium -No Misra C 2012: 23.5 amendment:3 require:premium -No Misra C 2012: 23.6 amendment:3 require:premium -No Misra C 2012: 23.7 amendment:3 require:premium -No Misra C 2012: 23.8 amendment:3 require:premium - - -Misra C++ 2008 --------------- -Not available, Cppcheck Premium is not used - - -Misra C++ 2023 --------------- -Not available, Cppcheck Premium is not used diff --git a/panda/tests/misra/coverage_table b/panda/tests/misra/coverage_table deleted file mode 100644 index 0395aba0d677de..00000000000000 --- a/panda/tests/misra/coverage_table +++ /dev/null @@ -1,156 +0,0 @@ -1.1 -1.2 X (Addon) -1.3 X (Cppcheck) -2.1 X (Cppcheck) -2.2 X (Addon) -2.3 X (Addon) -2.4 X (Addon) -2.5 X (Addon) -2.6 X (Cppcheck) -2.7 X (Addon) -3.1 X (Addon) -3.2 X (Addon) -4.1 X (Addon) -4.2 X (Addon) -5.1 X (Addon) -5.2 X (Addon) -5.3 X (Cppcheck) -5.4 X (Addon) -5.5 X (Addon) -5.6 X (Addon) -5.7 X (Addon) -5.8 X (Addon) -5.9 X (Addon) -6.1 X (Addon) -6.2 X (Addon) -7.1 X (Addon) -7.2 X (Addon) -7.3 X (Addon) -7.4 X (Addon) -8.1 X (Addon) -8.2 X (Addon) -8.3 X (Cppcheck) -8.4 X (Addon) -8.5 X (Addon) -8.6 X (Addon) -8.7 X (Addon) -8.8 X (Addon) -8.9 X (Addon) -8.10 X (Addon) -8.11 X (Addon) -8.12 X (Addon) -8.13 X (Cppcheck) -8.14 X (Addon) -9.1 X (Cppcheck) -9.2 X (Addon) -9.3 X (Addon) -9.4 X (Addon) -9.5 X (Addon) -10.1 X (Addon) -10.2 X (Addon) -10.3 X (Addon) -10.4 X (Addon) -10.5 X (Addon) -10.6 X (Addon) -10.7 X (Addon) -10.8 X (Addon) -11.1 X (Addon) -11.2 X (Addon) -11.3 X (Addon) -11.4 X (Addon) -11.5 X (Addon) -11.6 X (Addon) -11.7 X (Addon) -11.8 X (Addon) -11.9 X (Addon) -12.1 X (Addon) -12.2 X (Addon) -12.3 X (Addon) -12.4 X (Addon) -13.1 X (Addon) -13.2 X (Cppcheck) -13.3 X (Addon) -13.4 X (Addon) -13.5 X (Addon) -13.6 X (Addon) -14.1 X (Addon) -14.2 X (Addon) -14.3 X (Cppcheck) -14.4 X (Addon) -15.1 X (Addon) -15.2 X (Addon) -15.3 X (Addon) -15.4 X (Addon) -15.5 X (Addon) -15.6 X (Addon) -15.7 X (Addon) -16.1 X (Addon) -16.2 X (Addon) -16.3 X (Addon) -16.4 X (Addon) -16.5 X (Addon) -16.6 X (Addon) -16.7 X (Addon) -17.1 X (Addon) -17.2 X (Addon) -17.3 X (Addon) -17.4 X (Cppcheck) -17.5 X (Cppcheck) -17.6 X (Addon) -17.7 X (Addon) -17.8 X (Addon) -18.1 X (Cppcheck) -18.2 X (Cppcheck) -18.3 X (Cppcheck) -18.4 X (Addon) -18.5 X (Addon) -18.6 X (Cppcheck) -18.7 X (Addon) -18.8 X (Addon) -19.1 X (Cppcheck) -19.2 X (Addon) -20.1 X (Addon) -20.2 X (Addon) -20.3 X (Addon) -20.4 X (Addon) -20.5 X (Addon) -20.6 X (Cppcheck) -20.7 X (Addon) -20.8 X (Addon) -20.9 X (Addon) -20.10 X (Addon) -20.11 X (Addon) -20.12 X (Addon) -20.13 X (Addon) -20.14 X (Addon) -21.1 X (Addon) -21.2 X (Addon) -21.3 X (Addon) -21.4 X (Addon) -21.5 X (Addon) -21.6 X (Addon) -21.7 X (Addon) -21.8 X (Addon) -21.9 X (Addon) -21.10 X (Addon) -21.11 X (Addon) -21.12 X (Addon) -21.13 X (Cppcheck) -21.14 X (Addon) -21.15 X (Addon) -21.16 X (Addon) -21.17 X (Cppcheck) -21.18 X (Cppcheck) -21.19 X (Addon) -21.20 X (Addon) -21.21 X (Addon) -22.1 X (Cppcheck) -22.2 X (Cppcheck) -22.3 X (Cppcheck) -22.4 X (Cppcheck) -22.5 X (Addon) -22.6 X (Cppcheck) -22.7 X (Addon) -22.8 X (Addon) -22.9 X (Addon) -22.10 X (Addon) diff --git a/panda/tests/misra/install.sh b/panda/tests/misra/install.sh deleted file mode 100755 index e0a743b72e4972..00000000000000 --- a/panda/tests/misra/install.sh +++ /dev/null @@ -1,18 +0,0 @@ -#!/bin/bash -set -e - -DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )" -: "${CPPCHECK_DIR:=$DIR/cppcheck/}" - -if [ ! -d "$CPPCHECK_DIR" ]; then - git clone https://github.com/danmar/cppcheck.git $CPPCHECK_DIR -fi - -cd $CPPCHECK_DIR - -VERS="2.14.1" -git fetch --all --tags --force -git checkout $VERS - -#make clean -make MATCHCOMPILTER=yes CXXFLAGS="-O2" -j8 diff --git a/panda/tests/misra/suppressions.txt b/panda/tests/misra/suppressions.txt deleted file mode 100644 index 5c0b953b5100c1..00000000000000 --- a/panda/tests/misra/suppressions.txt +++ /dev/null @@ -1,27 +0,0 @@ -# Advisory: casting from void pointer to type pointer is ok. Done by STM libraries as well -misra-c2012-11.4 -# Advisory: casting from void pointer to type pointer is ok. Done by STM libraries as well -misra-c2012-11.5 -# Advisory: as stated in the Misra document, use of goto statements in accordance to 15.2 and 15.3 is ok -misra-c2012-15.1 -# Advisory: union types can be used -misra-c2012-19.2 -# Advisory: The # and ## preprocessor operators should not be used -misra-c2012-20.10 - -# needed since not all of these suppressions are applicable to all builds -unmatchedSuppression - -# All interrupt handlers are defined, including ones we don't use -unusedFunction:*/interrupt_handlers*.h - -# all of the below suppressions are from new checks introduced after updating -# cppcheck from 2.5 -> 2.13. they are listed here to separate the update from -# fixing the violations and all are intended to be removed soon after -misra-c2012-2.5 # unused macros. a few legit, rest aren't common between F4/H7 builds. should we do this in the unusedFunction pass? -misra-c2012-8.7 -misra-c2012-8.4 -misra-c2012-21.15 - -# FIXME: violations are in ST's F4 headers -misra-c2012-12.2 diff --git a/panda/tests/misra/test_misra.sh b/panda/tests/misra/test_misra.sh deleted file mode 100755 index e65f6a5e5ab208..00000000000000 --- a/panda/tests/misra/test_misra.sh +++ /dev/null @@ -1,85 +0,0 @@ -#!/bin/bash -set -e - -DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )" -PANDA_DIR=$(realpath $DIR/../../) - -GREEN="\e[1;32m" -YELLOW="\e[1;33m" -RED="\e[1;31m" -NC='\033[0m' - -: "${CPPCHECK_DIR:=$DIR/cppcheck/}" - -# install cppcheck if missing -if [ -z "${SKIP_CPPCHECK_INSTALL}" ]; then - $DIR/install.sh -fi - -# ensure checked in coverage table is up to date -cd $DIR -if [ -z "$SKIP_TABLES_DIFF" ]; then - python $CPPCHECK_DIR/addons/misra.py -generate-table > coverage_table - if ! git diff --quiet coverage_table; then - echo -e "${YELLOW}MISRA coverage table doesn't match. Update and commit:${NC}" - exit 3 - fi -fi - -cd $PANDA_DIR -if [ -z "${SKIP_BUILD}" ]; then - scons -j8 -fi - -CHECKLIST=$DIR/checkers.txt -echo "Cppcheck checkers list from test_misra.sh:" > $CHECKLIST - -cppcheck() { - # get all gcc defines: arm-none-eabi-gcc -dM -E - < /dev/null - COMMON_DEFINES="-D__GNUC__=9 -UCMSIS_NVIC_VIRTUAL -UCMSIS_VECTAB_VIRTUAL" - - # note that cppcheck build cache results in inconsistent results as of v2.13.0 - OUTPUT=$DIR/.output.log - - echo -e "\n\n\n\n\nTEST variant options:" >> $CHECKLIST - echo -e ""${@//$PANDA_DIR/}"\n\n" >> $CHECKLIST # (absolute path removed) - - $CPPCHECK_DIR/cppcheck --inline-suppr -I $PANDA_DIR/board/ \ - -I "$(arm-none-eabi-gcc -print-file-name=include)" \ - -I $PANDA_DIR/board/stm32f4/inc/ -I $PANDA_DIR/board/stm32h7/inc/ \ - --suppressions-list=$DIR/suppressions.txt --suppress=*:*inc/* \ - --suppress=*:*include/* --error-exitcode=2 --check-level=exhaustive \ - --platform=arm32-wchar_t4 $COMMON_DEFINES --checkers-report=$CHECKLIST.tmp \ - --std=c11 "$@" |& tee $OUTPUT - - cat $CHECKLIST.tmp >> $CHECKLIST - rm $CHECKLIST.tmp - # cppcheck bug: some MISRA errors won't result in the error exit code, - # so check the output (https://trac.cppcheck.net/ticket/12440#no1) - if grep -e "misra violation" -e "error" -e "style: " $OUTPUT > /dev/null; then - printf "${RED}** FAILED: MISRA violations found!${NC}\n" - exit 1 - fi -} - -PANDA_OPTS="--enable=all --disable=unusedFunction -DPANDA --addon=misra" - -printf "\n${GREEN}** PANDA F4 CODE **${NC}\n" -cppcheck $PANDA_OPTS -DSTM32F4 -DSTM32F413xx $PANDA_DIR/board/main.c - -printf "\n${GREEN}** PANDA H7 CODE **${NC}\n" -cppcheck $PANDA_OPTS -DSTM32H7 -DSTM32H725xx $PANDA_DIR/board/main.c - -# unused needs to run globally -#printf "\n${GREEN}** UNUSED ALL CODE **${NC}\n" -#cppcheck --enable=unusedFunction --quiet $PANDA_DIR/board/ - -printf "\n${GREEN}Success!${NC} took $SECONDS seconds\n" - - -# ensure list of checkers is up to date -cd $DIR -if [ -z "$SKIP_TABLES_DIFF" ] && ! git diff --quiet $CHECKLIST; then - echo -e "\n${YELLOW}WARNING: Cppcheck checkers.txt report has changed. Review and commit...${NC}" - exit 4 -fi diff --git a/panda/tests/misra/test_mutation.py b/panda/tests/misra/test_mutation.py deleted file mode 100755 index 796b93dd27016c..00000000000000 --- a/panda/tests/misra/test_mutation.py +++ /dev/null @@ -1,82 +0,0 @@ -#!/usr/bin/env python3 -import os -import glob -import pytest -import shutil -import subprocess -import tempfile -import random - -HERE = os.path.abspath(os.path.dirname(__file__)) -ROOT = os.path.join(HERE, "../../") - -IGNORED_PATHS = ( - 'board/obj', - 'board/jungle', - 'board/stm32h7/inc', - 'board/stm32f4/inc', - 'board/fake_stm.h', - - # bootstub only files - 'board/flasher.h', - 'board/bootstub.c', - 'board/bootstub_declarations.h', - 'board/stm32h7/llflash.h', - 'board/stm32f4/llflash.h', -) - -mutations = [ - # default - (None, None, False), - # F4 only - ("board/stm32f4/llbxcan.h", "s/1U/1/g", True), - # H7 only - ("board/stm32h7/llfdcan.h", "s/return ret;/if (true) { return ret; } else { return false; }/g", True), - # general safety - ("board/safety/safety_toyota.h", "s/is_lkas_msg =.*;/is_lkas_msg = addr == 1 || addr == 2;/g", True), -] - -patterns = [ - # misra-c2012-13.3 - "$a void test(int tmp) { int tmp2 = tmp++ + 2; if (tmp2) {;}}", - # misra-c2012-13.4 - "$a int test(int x, int y) { return (x=2) && (y=2); }", - # misra-c2012-13.5 - "$a void test(int tmp) { if (true && tmp++) {;} }", - # misra-c2012-13.6 - "$a void test(int tmp) { if (sizeof(tmp++)) {;} }", - # misra-c2012-14.1 - "$a void test(float len) { for (float j = 0; j < len; j++) {;} }", - # misra-c2012-14.4 - "$a void test(int len) { if (len - 8) {;} }", - # misra-c2012-16.4 - r"$a void test(int temp) {switch (temp) { case 1: ; }}\n", - # misra-c2012-17.8 - "$a void test(int cnt) { for (cnt=0;;cnt++) {;} }", - # misra-c2012-20.4 - r"$a #define auto 1\n", - # misra-c2012-20.5 - r"$a #define TEST 1\n#undef TEST\n", -] - -all_files = glob.glob('board/**', root_dir=ROOT, recursive=True) -files = [f for f in all_files if f.endswith(('.c', '.h')) and not f.startswith(IGNORED_PATHS)] -assert len(files) > 70, all(d in files for d in ('board/main.c', 'board/stm32f4/llbxcan.h', 'board/stm32h7/llfdcan.h', 'board/safety/safety_toyota.h')) - -for p in patterns: - mutations.append((random.choice(files), p, True)) - -@pytest.mark.parametrize("fn, patch, should_fail", mutations) -def test_misra_mutation(fn, patch, should_fail): - with tempfile.TemporaryDirectory() as tmp: - shutil.copytree(ROOT, tmp, dirs_exist_ok=True) - - # apply patch - if fn is not None: - r = os.system(f"cd {tmp} && sed -i '{patch}' {fn}") - assert r == 0 - - # run test - r = subprocess.run("SKIP_TABLES_DIFF=1 tests/misra/test_misra.sh", cwd=tmp, shell=True) - failed = r.returncode != 0 - assert failed == should_fail diff --git a/panda/tests/read_flash_spi.py b/panda/tests/read_flash_spi.py deleted file mode 100755 index 133062be71d05f..00000000000000 --- a/panda/tests/read_flash_spi.py +++ /dev/null @@ -1,32 +0,0 @@ -#!/usr/bin/env python3 -from panda import Panda, PandaDFU - -if __name__ == "__main__": - try: - from openpilot.system.hardware import HARDWARE - HARDWARE.recover_internal_panda() - Panda.wait_for_dfu(None, 5) - except Exception: - pass - - p = PandaDFU(None) - cfg = p.get_mcu_type().config - - def readmem(addr, length, fn): - print(f"reading {hex(addr)} {hex(length)} bytes to {fn}") - max_size = 255 - with open(fn, "wb") as f: - to_read = length - while to_read > 0: - l = min(to_read, max_size) - dat = p._handle.read(addr, l) - assert len(dat) == l - f.write(dat) - - to_read -= len(dat) - addr += len(dat) - - addr = cfg.bootstub_address - for i, sector_size in enumerate(cfg.sector_sizes): - readmem(addr, sector_size, f"sector_{i}.bin") - addr += sector_size diff --git a/panda/tests/read_st_flash.sh b/panda/tests/read_st_flash.sh deleted file mode 100755 index ffcfd7bbfe725b..00000000000000 --- a/panda/tests/read_st_flash.sh +++ /dev/null @@ -1,6 +0,0 @@ -#!/bin/bash -rm -f /tmp/dump_bootstub -rm -f /tmp/dump_main -dfu-util -a 0 -s 0x08000000 -U /tmp/dump_bootstub -dfu-util -a 0 -s 0x08004000 -U /tmp/dump_main - diff --git a/panda/tests/read_winusb_descriptors.py b/panda/tests/read_winusb_descriptors.py deleted file mode 100755 index 5d311c9ea9440d..00000000000000 --- a/panda/tests/read_winusb_descriptors.py +++ /dev/null @@ -1,34 +0,0 @@ -#!/usr/bin/env python3 -# type: ignore -from panda import Panda -from hexdump import hexdump - -DEBUG = False - -if __name__ == "__main__": - p = Panda() - - length = p._handle.controlRead(Panda.REQUEST_IN, 0x06, 3 << 8 | 238, 0, 1) - print('Microsoft OS String Descriptor') - dat = p._handle.controlRead(Panda.REQUEST_IN, 0x06, 3 << 8 | 238, 0, length[0]) - if DEBUG: - print(f'LEN: {hex(length[0])}') - hexdump("".join(map(chr, dat))) - - ms_vendor_code = dat[16] - if DEBUG: - print(f'MS_VENDOR_CODE: {hex(length[0])}') - - print('\nMicrosoft Compatible ID Feature Descriptor') - length = p._handle.controlRead(Panda.REQUEST_IN, ms_vendor_code, 0, 4, 1) - if DEBUG: - print(f'LEN: {hex(length[0])}') - dat = p._handle.controlRead(Panda.REQUEST_IN, ms_vendor_code, 0, 4, length[0]) - hexdump("".join(map(chr, dat))) - - print('\nMicrosoft Extended Properties Feature Descriptor') - length = p._handle.controlRead(Panda.REQUEST_IN, ms_vendor_code, 0, 5, 1) - if DEBUG: - print(f'LEN: {hex(length[0])}') - dat = p._handle.controlRead(Panda.REQUEST_IN, ms_vendor_code, 0, 5, length[0]) - hexdump("".join(map(chr, dat))) diff --git a/panda/tests/reflash_internal_panda.py b/panda/tests/reflash_internal_panda.py deleted file mode 100755 index c2ad9f89640e53..00000000000000 --- a/panda/tests/reflash_internal_panda.py +++ /dev/null @@ -1,49 +0,0 @@ -#!/usr/bin/env python3 -import time -from panda import Panda, PandaDFU - -class GPIO: - STM_RST_N = 124 - STM_BOOT0 = 134 - HUB_RST_N = 30 - - -def gpio_init(pin, output): - with open(f"/sys/class/gpio/gpio{pin}/direction", 'wb') as f: - f.write(b"out" if output else b"in") - -def gpio_set(pin, high): - with open(f"/sys/class/gpio/gpio{pin}/value", 'wb') as f: - f.write(b"1" if high else b"0") - - -if __name__ == "__main__": - for pin in (GPIO.STM_RST_N, GPIO.STM_BOOT0, GPIO.HUB_RST_N): - gpio_init(pin, True) - - # reset USB hub - gpio_set(GPIO.HUB_RST_N, 0) - time.sleep(0.5) - gpio_set(GPIO.HUB_RST_N, 1) - - # flash bootstub - print("resetting into DFU") - gpio_set(GPIO.STM_RST_N, 1) - gpio_set(GPIO.STM_BOOT0, 1) - time.sleep(1) - gpio_set(GPIO.STM_RST_N, 0) - gpio_set(GPIO.STM_BOOT0, 0) - time.sleep(1) - - print("flashing bootstub") - PandaDFU(None).recover() - - gpio_set(GPIO.STM_RST_N, 1) - time.sleep(0.5) - gpio_set(GPIO.STM_RST_N, 0) - time.sleep(1) - - print("flashing app") - p = Panda() - assert p.bootstub - p.flash() diff --git a/panda/tests/relay_test.py b/panda/tests/relay_test.py deleted file mode 100755 index 68789b17c8b253..00000000000000 --- a/panda/tests/relay_test.py +++ /dev/null @@ -1,16 +0,0 @@ -#!/usr/bin/env python -import time -from panda import Panda - -p = Panda() - -while True: - p.set_safety_mode(Panda.SAFETY_TOYOTA) - p.send_heartbeat() - print("ON") - time.sleep(1) - p.set_safety_mode(Panda.SAFETY_NOOUTPUT) - p.send_heartbeat() - print("OFF") - time.sleep(1) - diff --git a/panda/tests/restore_flash_spi.py b/panda/tests/restore_flash_spi.py deleted file mode 100755 index c23b2982899e76..00000000000000 --- a/panda/tests/restore_flash_spi.py +++ /dev/null @@ -1,27 +0,0 @@ -#!/usr/bin/env python3 -from panda import Panda, PandaDFU, STBootloaderSPIHandle - -if __name__ == "__main__": - try: - from openpilot.system.hardware import HARDWARE - HARDWARE.recover_internal_panda() - Panda.wait_for_dfu(None, 5) - except Exception: - pass - - p = PandaDFU(None) - assert isinstance(p._handle, STBootloaderSPIHandle) - cfg = p.get_mcu_type().config - - print("restoring from backup...") - addr = cfg.bootstub_address - for i, sector_size in enumerate(cfg.sector_sizes): - print(f"- sector #{i}") - p._handle.erase_sector(i) - with open(f"sector_{i}.bin", "rb") as f: - dat = f.read() - assert len(dat) == sector_size - p._handle.program(addr, dat) - addr += len(dat) - - p.reset() diff --git a/panda/tests/safety/__init__.py b/panda/tests/safety/__init__.py deleted file mode 100644 index e69de29bb2d1d6..00000000000000 diff --git a/panda/tests/safety/common.py b/panda/tests/safety/common.py deleted file mode 100644 index f381f212640bb7..00000000000000 --- a/panda/tests/safety/common.py +++ /dev/null @@ -1,1070 +0,0 @@ -import os -import abc -import unittest -import importlib -import numpy as np -from collections.abc import Callable - -from opendbc.can.packer import CANPacker # pylint: disable=import-error -from panda import ALTERNATIVE_EXPERIENCE -from panda.tests.libpanda import libpanda_py - -MAX_WRONG_COUNTERS = 5 -MAX_SAMPLE_VALS = 6 -VEHICLE_SPEED_FACTOR = 100 - -MessageFunction = Callable[[float], libpanda_py.CANPacket] - -def sign_of(a): - return 1 if a > 0 else -1 - - -def make_msg(bus, addr, length=8, dat=None): - if dat is None: - dat = b'\x00' * length - return libpanda_py.make_CANPacket(addr, bus, dat) - - -class CANPackerPanda(CANPacker): - def make_can_msg_panda(self, name_or_addr, bus, values, fix_checksum=None): - msg = self.make_can_msg(name_or_addr, bus, values) - if fix_checksum is not None: - msg = fix_checksum(msg) - addr, _, dat, bus = msg - return libpanda_py.make_CANPacket(addr, bus, dat) - - -def add_regen_tests(cls): - """Dynamically adds regen tests for all user brake tests.""" - - # only rx/user brake tests, not brake command - found_tests = [func for func in dir(cls) if func.startswith("test_") and "user_brake" in func] - assert len(found_tests) >= 3, "Failed to detect known brake tests" - - for test in found_tests: - def _make_regen_test(brake_func): - def _regen_test(self): - # only for safety modes with a regen message - if self._user_regen_msg(0) is None: - raise unittest.SkipTest("Safety mode implements no _user_regen_msg") - - getattr(self, brake_func)(self._user_regen_msg, self.safety.get_regen_braking_prev) - return _regen_test - - setattr(cls, test.replace("brake", "regen"), _make_regen_test(test)) - - return cls - - -class PandaSafetyTestBase(unittest.TestCase): - safety: libpanda_py.Panda - - @classmethod - def setUpClass(cls): - if cls.__name__ == "PandaSafetyTestBase": - cls.safety = None - raise unittest.SkipTest - - def _reset_safety_hooks(self): - self.safety.set_safety_hooks(self.safety.get_current_safety_mode(), - self.safety.get_current_safety_param()) - - def _rx(self, msg): - return self.safety.safety_rx_hook(msg) - - def _tx(self, msg): - return self.safety.safety_tx_hook(msg) - - def _generic_limit_safety_check(self, msg_function: MessageFunction, min_allowed_value: float, max_allowed_value: float, - min_possible_value: float, max_possible_value: float, test_delta: float = 1, inactive_value: float = 0, - msg_allowed = True, additional_setup: Callable[[float], None] | None = None): - """ - Enforces that a signal within a message is only allowed to be sent within a specific range, min_allowed_value -> max_allowed_value. - Tests the range of min_possible_value -> max_possible_value with a delta of test_delta. - Message is also only allowed to be sent when controls_allowed is true, unless the value is equal to inactive_value. - Message is never allowed if msg_allowed is false, for example when stock longitudinal is enabled and you are sending acceleration requests. - additional_setup is used for extra setup before each _tx, ex: for setting the previous torque for rate limits - """ - - # Ensure that we at least test the allowed_value range - self.assertGreater(max_possible_value, max_allowed_value) - self.assertLessEqual(min_possible_value, min_allowed_value) - - for controls_allowed in [False, True]: - # enforce we don't skip over 0 or inactive - for v in np.concatenate((np.arange(min_possible_value, max_possible_value, test_delta), np.array([0, inactive_value]))): - v = round(v, 2) # floats might not hit exact boundary conditions without rounding - self.safety.set_controls_allowed(controls_allowed) - if additional_setup is not None: - additional_setup(v) - should_tx = controls_allowed and min_allowed_value <= v <= max_allowed_value - should_tx = (should_tx or v == inactive_value) and msg_allowed - self.assertEqual(self._tx(msg_function(v)), should_tx, (controls_allowed, should_tx, v)) - - def _common_measurement_test(self, msg_func: Callable, min_value: float, max_value: float, factor: float, - meas_min_func: Callable[[], int], meas_max_func: Callable[[], int]): - """Tests accurate measurement parsing, and that the struct is reset on safety mode init""" - for val in np.arange(min_value, max_value, 0.5): - for i in range(MAX_SAMPLE_VALS): - self.assertTrue(self._rx(msg_func(val + i * 0.1))) - - # assert close by one decimal place - self.assertAlmostEqual(meas_min_func() / factor, val, delta=0.1) - self.assertAlmostEqual(meas_max_func() / factor - 0.5, val, delta=0.1) - - # ensure sample_t is reset on safety init - self._reset_safety_hooks() - self.assertEqual(meas_min_func(), 0) - self.assertEqual(meas_max_func(), 0) - - -class GasInterceptorSafetyTest(PandaSafetyTestBase): - - INTERCEPTOR_THRESHOLD = 0 - - cnt_gas_cmd = 0 - cnt_user_gas = 0 - - packer: CANPackerPanda - - @classmethod - def setUpClass(cls): - if cls.__name__ == "GasInterceptorSafetyTest" or cls.__name__.endswith("Base"): - cls.safety = None - raise unittest.SkipTest - - def _interceptor_gas_cmd(self, gas: int): - values: dict[str, float | int] = {"COUNTER_PEDAL": self.__class__.cnt_gas_cmd & 0xF} - if gas > 0: - values["GAS_COMMAND"] = gas * 255. - values["GAS_COMMAND2"] = gas * 255. - self.__class__.cnt_gas_cmd += 1 - return self.packer.make_can_msg_panda("GAS_COMMAND", 0, values) - - def _interceptor_user_gas(self, gas: int): - values = {"INTERCEPTOR_GAS": gas, "INTERCEPTOR_GAS2": gas, - "COUNTER_PEDAL": self.__class__.cnt_user_gas} - self.__class__.cnt_user_gas += 1 - return self.packer.make_can_msg_panda("GAS_SENSOR", 0, values) - - # Skip non-interceptor user gas tests - def test_prev_gas(self): - pass - - def test_disengage_on_gas(self): - pass - - def test_alternative_experience_no_disengage_on_gas(self): - pass - - def test_prev_gas_interceptor(self): - self._rx(self._interceptor_user_gas(0x0)) - self.assertFalse(self.safety.get_gas_interceptor_prev()) - self._rx(self._interceptor_user_gas(0x1000)) - self.assertTrue(self.safety.get_gas_interceptor_prev()) - self._rx(self._interceptor_user_gas(0x0)) - - def test_disengage_on_gas_interceptor(self): - for g in range(0x1000): - self._rx(self._interceptor_user_gas(0)) - self.safety.set_controls_allowed(True) - self._rx(self._interceptor_user_gas(g)) - remain_enabled = g <= self.INTERCEPTOR_THRESHOLD - self.assertEqual(remain_enabled, self.safety.get_controls_allowed()) - self._rx(self._interceptor_user_gas(0)) - - def test_alternative_experience_no_disengage_on_gas_interceptor(self): - self.safety.set_controls_allowed(True) - self.safety.set_alternative_experience(ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS) - for g in range(0x1000): - self._rx(self._interceptor_user_gas(g)) - # Test we allow lateral, but not longitudinal - self.assertTrue(self.safety.get_controls_allowed()) - self.assertEqual(g <= self.INTERCEPTOR_THRESHOLD, self.safety.get_longitudinal_allowed()) - # Make sure we can re-gain longitudinal actuation - self._rx(self._interceptor_user_gas(0)) - self.assertTrue(self.safety.get_longitudinal_allowed()) - - def test_allow_engage_with_gas_interceptor_pressed(self): - self._rx(self._interceptor_user_gas(0x1000)) - self.safety.set_controls_allowed(1) - self._rx(self._interceptor_user_gas(0x1000)) - self.assertTrue(self.safety.get_controls_allowed()) - self._rx(self._interceptor_user_gas(0)) - - def test_gas_interceptor_safety_check(self): - for gas in np.arange(0, 4000, 100): - for controls_allowed in [True, False]: - self.safety.set_controls_allowed(controls_allowed) - if controls_allowed: - send = True - else: - send = gas == 0 - self.assertEqual(send, self._tx(self._interceptor_gas_cmd(gas))) - - -class LongitudinalAccelSafetyTest(PandaSafetyTestBase, abc.ABC): - - MAX_ACCEL: float = 2.0 - MIN_ACCEL: float = -3.5 - INACTIVE_ACCEL: float = 0.0 - - @classmethod - def setUpClass(cls): - if cls.__name__ == "LongitudinalAccelSafetyTest": - cls.safety = None - raise unittest.SkipTest - - @abc.abstractmethod - def _accel_msg(self, accel: float): - pass - - def test_accel_limits_correct(self): - self.assertGreater(self.MAX_ACCEL, 0) - self.assertLess(self.MIN_ACCEL, 0) - - def test_accel_actuation_limits(self, stock_longitudinal=False): - limits = ((self.MIN_ACCEL, self.MAX_ACCEL, ALTERNATIVE_EXPERIENCE.DEFAULT), - (self.MIN_ACCEL, self.MAX_ACCEL, ALTERNATIVE_EXPERIENCE.RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX)) - - for min_accel, max_accel, alternative_experience in limits: - # enforce we don't skip over 0 or inactive accel - for accel in np.concatenate((np.arange(min_accel - 1, max_accel + 1, 0.05), [0, self.INACTIVE_ACCEL])): - accel = round(accel, 2) # floats might not hit exact boundary conditions without rounding - for controls_allowed in [True, False]: - self.safety.set_controls_allowed(controls_allowed) - self.safety.set_alternative_experience(alternative_experience) - if stock_longitudinal: - should_tx = False - else: - should_tx = controls_allowed and min_accel <= accel <= max_accel - should_tx = should_tx or accel == self.INACTIVE_ACCEL - self.assertEqual(should_tx, self._tx(self._accel_msg(accel))) - - -class LongitudinalGasBrakeSafetyTest(PandaSafetyTestBase, abc.ABC): - - MIN_BRAKE: int = 0 - MAX_BRAKE: int | None = None - MAX_POSSIBLE_BRAKE: int | None = None - - MIN_GAS: int = 0 - MAX_GAS: int | None = None - INACTIVE_GAS = 0 - MAX_POSSIBLE_GAS: int | None = None - - def test_gas_brake_limits_correct(self): - self.assertIsNotNone(self.MAX_POSSIBLE_BRAKE) - self.assertIsNotNone(self.MAX_POSSIBLE_GAS) - - self.assertGreater(self.MAX_BRAKE, self.MIN_BRAKE) - self.assertGreater(self.MAX_GAS, self.MIN_GAS) - - @abc.abstractmethod - def _send_gas_msg(self, gas: int): - pass - - @abc.abstractmethod - def _send_brake_msg(self, brake: int): - pass - - def test_brake_safety_check(self): - self._generic_limit_safety_check(self._send_brake_msg, self.MIN_BRAKE, self.MAX_BRAKE, 0, self.MAX_POSSIBLE_BRAKE, 1) - - def test_gas_safety_check(self): - self._generic_limit_safety_check(self._send_gas_msg, self.MIN_GAS, self.MAX_GAS, 0, self.MAX_POSSIBLE_GAS, 1, self.INACTIVE_GAS) - - -class TorqueSteeringSafetyTestBase(PandaSafetyTestBase, abc.ABC): - - MAX_RATE_UP = 0 - MAX_RATE_DOWN = 0 - MAX_TORQUE = 0 - MAX_RT_DELTA = 0 - RT_INTERVAL = 0 - - NO_STEER_REQ_BIT = False - - @classmethod - def setUpClass(cls): - if cls.__name__ == "TorqueSteeringSafetyTestBase": - cls.safety = None - raise unittest.SkipTest - - @abc.abstractmethod - def _torque_cmd_msg(self, torque, steer_req=1): - pass - - def _set_prev_torque(self, t): - self.safety.set_desired_torque_last(t) - self.safety.set_rt_torque_last(t) - - def test_steer_safety_check(self): - for enabled in [0, 1]: - for t in range(int(-self.MAX_TORQUE * 1.5), int(self.MAX_TORQUE * 1.5)): - self.safety.set_controls_allowed(enabled) - self._set_prev_torque(t) - if abs(t) > self.MAX_TORQUE or (not enabled and abs(t) > 0): - self.assertFalse(self._tx(self._torque_cmd_msg(t))) - else: - self.assertTrue(self._tx(self._torque_cmd_msg(t))) - - def test_non_realtime_limit_up(self): - self.safety.set_controls_allowed(True) - - self._set_prev_torque(0) - self.assertTrue(self._tx(self._torque_cmd_msg(self.MAX_RATE_UP))) - self._set_prev_torque(0) - self.assertTrue(self._tx(self._torque_cmd_msg(-self.MAX_RATE_UP))) - - self._set_prev_torque(0) - self.assertFalse(self._tx(self._torque_cmd_msg(self.MAX_RATE_UP + 1))) - self.safety.set_controls_allowed(True) - self._set_prev_torque(0) - self.assertFalse(self._tx(self._torque_cmd_msg(-self.MAX_RATE_UP - 1))) - - def test_steer_req_bit(self): - """Asserts all torque safety modes check the steering request bit""" - if self.NO_STEER_REQ_BIT: - raise unittest.SkipTest("No steering request bit") - - self.safety.set_controls_allowed(True) - self._set_prev_torque(self.MAX_TORQUE) - - # Send torque successfully, then only drop the request bit and ensure it stays blocked - for _ in range(10): - self.assertTrue(self._tx(self._torque_cmd_msg(self.MAX_TORQUE, 1))) - - self.assertFalse(self._tx(self._torque_cmd_msg(self.MAX_TORQUE, 0))) - for _ in range(10): - self.assertFalse(self._tx(self._torque_cmd_msg(self.MAX_TORQUE, 1))) - - -class SteerRequestCutSafetyTest(TorqueSteeringSafetyTestBase, abc.ABC): - - @classmethod - def setUpClass(cls): - if cls.__name__ == "SteerRequestCutSafetyTest": - cls.safety = None - raise unittest.SkipTest - - # Safety around steering request bit mismatch tolerance - MIN_VALID_STEERING_FRAMES: int - MAX_INVALID_STEERING_FRAMES: int - MIN_VALID_STEERING_RT_INTERVAL: int - - def test_steer_req_bit_frames(self): - """ - Certain safety modes implement some tolerance on their steer request bits matching the - requested torque to avoid a steering fault or lockout and maintain torque. This tests: - - We can't cut torque for more than one frame - - We can't cut torque until at least the minimum number of matching steer_req messages - - We can always recover from violations if steer_req=1 - """ - - for min_valid_steer_frames in range(self.MIN_VALID_STEERING_FRAMES * 2): - # Reset match count and rt timer to allow cut (valid_steer_req_count, ts_steer_req_mismatch_last) - self.safety.init_tests() - self.safety.set_timer(self.MIN_VALID_STEERING_RT_INTERVAL) - - # Allow torque cut - self.safety.set_controls_allowed(True) - self._set_prev_torque(self.MAX_TORQUE) - for _ in range(min_valid_steer_frames): - self.assertTrue(self._tx(self._torque_cmd_msg(self.MAX_TORQUE, steer_req=1))) - - # should tx if we've sent enough valid frames, and we're not cutting torque for too many frames consecutively - should_tx = min_valid_steer_frames >= self.MIN_VALID_STEERING_FRAMES - for idx in range(self.MAX_INVALID_STEERING_FRAMES * 2): - tx = self._tx(self._torque_cmd_msg(self.MAX_TORQUE, steer_req=0)) - self.assertEqual(should_tx and idx < self.MAX_INVALID_STEERING_FRAMES, tx) - - # Keep blocking after one steer_req mismatch - for _ in range(100): - self.assertFalse(self._tx(self._torque_cmd_msg(self.MAX_TORQUE, steer_req=0))) - - # Make sure we can recover - self.assertTrue(self._tx(self._torque_cmd_msg(0, steer_req=1))) - self._set_prev_torque(self.MAX_TORQUE) - self.assertTrue(self._tx(self._torque_cmd_msg(self.MAX_TORQUE, steer_req=1))) - - def test_steer_req_bit_multi_invalid(self): - """ - For safety modes allowing multiple consecutive invalid frames, this ensures that once a valid frame - is sent after an invalid frame (even without sending the max number of allowed invalid frames), - all counters are reset. - """ - for max_invalid_steer_frames in range(1, self.MAX_INVALID_STEERING_FRAMES * 2): - self.safety.init_tests() - self.safety.set_timer(self.MIN_VALID_STEERING_RT_INTERVAL) - - # Allow torque cut - self.safety.set_controls_allowed(True) - self._set_prev_torque(self.MAX_TORQUE) - for _ in range(self.MIN_VALID_STEERING_FRAMES): - self.assertTrue(self._tx(self._torque_cmd_msg(self.MAX_TORQUE, steer_req=1))) - - # Send partial amount of allowed invalid frames - for idx in range(max_invalid_steer_frames): - should_tx = idx < self.MAX_INVALID_STEERING_FRAMES - self.assertEqual(should_tx, self._tx(self._torque_cmd_msg(self.MAX_TORQUE, steer_req=0))) - - # Send one valid frame, and subsequent invalid should now be blocked - self._set_prev_torque(self.MAX_TORQUE) - self.assertTrue(self._tx(self._torque_cmd_msg(self.MAX_TORQUE, steer_req=1))) - for _ in range(self.MIN_VALID_STEERING_FRAMES + 1): - self.assertFalse(self._tx(self._torque_cmd_msg(self.MAX_TORQUE, steer_req=0))) - - def test_steer_req_bit_realtime(self): - """ - Realtime safety for cutting steer request bit. This tests: - - That we allow messages with mismatching steer request bit if time from last is >= MIN_VALID_STEERING_RT_INTERVAL - - That frame mismatch safety does not interfere with this test - """ - for rt_us in np.arange(self.MIN_VALID_STEERING_RT_INTERVAL - 50000, self.MIN_VALID_STEERING_RT_INTERVAL + 50000, 10000): - # Reset match count and rt timer (valid_steer_req_count, ts_steer_req_mismatch_last) - self.safety.init_tests() - - # Make sure valid_steer_req_count doesn't affect this test - self.safety.set_controls_allowed(True) - self._set_prev_torque(self.MAX_TORQUE) - for _ in range(self.MIN_VALID_STEERING_FRAMES): - self.assertTrue(self._tx(self._torque_cmd_msg(self.MAX_TORQUE, steer_req=1))) - - # Normally, sending MIN_VALID_STEERING_FRAMES valid frames should always allow - self.safety.set_timer(max(rt_us, 0)) - should_tx = rt_us >= self.MIN_VALID_STEERING_RT_INTERVAL - for _ in range(self.MAX_INVALID_STEERING_FRAMES): - self.assertEqual(should_tx, self._tx(self._torque_cmd_msg(self.MAX_TORQUE, steer_req=0))) - - # Keep blocking after one steer_req mismatch - for _ in range(100): - self.assertFalse(self._tx(self._torque_cmd_msg(self.MAX_TORQUE, steer_req=0))) - - # Make sure we can recover - self.assertTrue(self._tx(self._torque_cmd_msg(0, steer_req=1))) - self._set_prev_torque(self.MAX_TORQUE) - self.assertTrue(self._tx(self._torque_cmd_msg(self.MAX_TORQUE, steer_req=1))) - - -class DriverTorqueSteeringSafetyTest(TorqueSteeringSafetyTestBase, abc.ABC): - - DRIVER_TORQUE_ALLOWANCE = 0 - DRIVER_TORQUE_FACTOR = 0 - - @classmethod - def setUpClass(cls): - if cls.__name__ == "DriverTorqueSteeringSafetyTest": - cls.safety = None - raise unittest.SkipTest - - @abc.abstractmethod - def _torque_driver_msg(self, torque): - pass - - def _reset_torque_driver_measurement(self, torque): - for _ in range(MAX_SAMPLE_VALS): - self._rx(self._torque_driver_msg(torque)) - - def test_non_realtime_limit_up(self): - self._reset_torque_driver_measurement(0) - super().test_non_realtime_limit_up() - - def test_against_torque_driver(self): - # Tests down limits and driver torque blending - self.safety.set_controls_allowed(True) - - # Cannot stay at MAX_TORQUE if above DRIVER_TORQUE_ALLOWANCE - for sign in [-1, 1]: - for driver_torque in np.arange(0, self.DRIVER_TORQUE_ALLOWANCE * 2, 1): - self._reset_torque_driver_measurement(-driver_torque * sign) - self._set_prev_torque(self.MAX_TORQUE * sign) - should_tx = abs(driver_torque) <= self.DRIVER_TORQUE_ALLOWANCE - self.assertEqual(should_tx, self._tx(self._torque_cmd_msg(self.MAX_TORQUE * sign))) - - # arbitrary high driver torque to ensure max steer torque is allowed - max_driver_torque = int(self.MAX_TORQUE / self.DRIVER_TORQUE_FACTOR + self.DRIVER_TORQUE_ALLOWANCE + 1) - - # spot check some individual cases - for sign in [-1, 1]: - # Ensure we wind down factor units for every unit above allowance - driver_torque = (self.DRIVER_TORQUE_ALLOWANCE + 10) * sign - torque_desired = (self.MAX_TORQUE - 10 * self.DRIVER_TORQUE_FACTOR) * sign - delta = 1 * sign - self._set_prev_torque(torque_desired) - self._reset_torque_driver_measurement(-driver_torque) - self.assertTrue(self._tx(self._torque_cmd_msg(torque_desired))) - self._set_prev_torque(torque_desired + delta) - self._reset_torque_driver_measurement(-driver_torque) - self.assertFalse(self._tx(self._torque_cmd_msg(torque_desired + delta))) - - # If we're well past the allowance, minimum wind down is MAX_RATE_DOWN - self._set_prev_torque(self.MAX_TORQUE * sign) - self._reset_torque_driver_measurement(-max_driver_torque * sign) - self.assertTrue(self._tx(self._torque_cmd_msg((self.MAX_TORQUE - self.MAX_RATE_DOWN) * sign))) - self._set_prev_torque(self.MAX_TORQUE * sign) - self._reset_torque_driver_measurement(-max_driver_torque * sign) - self.assertTrue(self._tx(self._torque_cmd_msg(0))) - self._set_prev_torque(self.MAX_TORQUE * sign) - self._reset_torque_driver_measurement(-max_driver_torque * sign) - self.assertFalse(self._tx(self._torque_cmd_msg((self.MAX_TORQUE - self.MAX_RATE_DOWN + 1) * sign))) - - def test_realtime_limits(self): - self.safety.set_controls_allowed(True) - - for sign in [-1, 1]: - self.safety.init_tests() - self._set_prev_torque(0) - self._reset_torque_driver_measurement(0) - for t in np.arange(0, self.MAX_RT_DELTA, 1): - t *= sign - self.assertTrue(self._tx(self._torque_cmd_msg(t))) - self.assertFalse(self._tx(self._torque_cmd_msg(sign * (self.MAX_RT_DELTA + 1)))) - - self._set_prev_torque(0) - for t in np.arange(0, self.MAX_RT_DELTA, 1): - t *= sign - self.assertTrue(self._tx(self._torque_cmd_msg(t))) - - # Increase timer to update rt_torque_last - self.safety.set_timer(self.RT_INTERVAL + 1) - self.assertTrue(self._tx(self._torque_cmd_msg(sign * (self.MAX_RT_DELTA - 1)))) - self.assertTrue(self._tx(self._torque_cmd_msg(sign * (self.MAX_RT_DELTA + 1)))) - - def test_reset_driver_torque_measurements(self): - # Tests that the driver torque measurement sample_t is reset on safety mode init - for t in np.linspace(-self.MAX_TORQUE, self.MAX_TORQUE, MAX_SAMPLE_VALS): - self.assertTrue(self._rx(self._torque_driver_msg(t))) - - self.assertNotEqual(self.safety.get_torque_driver_min(), 0) - self.assertNotEqual(self.safety.get_torque_driver_max(), 0) - - self._reset_safety_hooks() - self.assertEqual(self.safety.get_torque_driver_min(), 0) - self.assertEqual(self.safety.get_torque_driver_max(), 0) - - -class MotorTorqueSteeringSafetyTest(TorqueSteeringSafetyTestBase, abc.ABC): - - MAX_TORQUE_ERROR = 0 - TORQUE_MEAS_TOLERANCE = 0 - - @classmethod - def setUpClass(cls): - if cls.__name__ == "MotorTorqueSteeringSafetyTest": - cls.safety = None - raise unittest.SkipTest - - @abc.abstractmethod - def _torque_meas_msg(self, torque): - pass - - def _set_prev_torque(self, t): - super()._set_prev_torque(t) - self.safety.set_torque_meas(t, t) - - def test_torque_absolute_limits(self): - for controls_allowed in [True, False]: - for torque in np.arange(-self.MAX_TORQUE - 1000, self.MAX_TORQUE + 1000, self.MAX_RATE_UP): - self.safety.set_controls_allowed(controls_allowed) - self.safety.set_rt_torque_last(torque) - self.safety.set_torque_meas(torque, torque) - self.safety.set_desired_torque_last(torque - self.MAX_RATE_UP) - - if controls_allowed: - send = (-self.MAX_TORQUE <= torque <= self.MAX_TORQUE) - else: - send = torque == 0 - - self.assertEqual(send, self._tx(self._torque_cmd_msg(torque))) - - def test_non_realtime_limit_down(self): - self.safety.set_controls_allowed(True) - - torque_meas = self.MAX_TORQUE - self.MAX_TORQUE_ERROR - 50 - - self.safety.set_rt_torque_last(self.MAX_TORQUE) - self.safety.set_torque_meas(torque_meas, torque_meas) - self.safety.set_desired_torque_last(self.MAX_TORQUE) - self.assertTrue(self._tx(self._torque_cmd_msg(self.MAX_TORQUE - self.MAX_RATE_DOWN))) - - self.safety.set_rt_torque_last(self.MAX_TORQUE) - self.safety.set_torque_meas(torque_meas, torque_meas) - self.safety.set_desired_torque_last(self.MAX_TORQUE) - self.assertFalse(self._tx(self._torque_cmd_msg(self.MAX_TORQUE - self.MAX_RATE_DOWN + 1))) - - def test_exceed_torque_sensor(self): - self.safety.set_controls_allowed(True) - - for sign in [-1, 1]: - self._set_prev_torque(0) - for t in np.arange(0, self.MAX_TORQUE_ERROR + 2, 2): # step needs to be smaller than MAX_TORQUE_ERROR - t *= sign - self.assertTrue(self._tx(self._torque_cmd_msg(t))) - - self.assertFalse(self._tx(self._torque_cmd_msg(sign * (self.MAX_TORQUE_ERROR + 2)))) - - def test_realtime_limit_up(self): - self.safety.set_controls_allowed(True) - - for sign in [-1, 1]: - self.safety.init_tests() - self._set_prev_torque(0) - for t in np.arange(0, self.MAX_RT_DELTA + 1, 1): - t *= sign - self.safety.set_torque_meas(t, t) - self.assertTrue(self._tx(self._torque_cmd_msg(t))) - self.assertFalse(self._tx(self._torque_cmd_msg(sign * (self.MAX_RT_DELTA + 1)))) - - self._set_prev_torque(0) - for t in np.arange(0, self.MAX_RT_DELTA + 1, 1): - t *= sign - self.safety.set_torque_meas(t, t) - self.assertTrue(self._tx(self._torque_cmd_msg(t))) - - # Increase timer to update rt_torque_last - self.safety.set_timer(self.RT_INTERVAL + 1) - self.assertTrue(self._tx(self._torque_cmd_msg(sign * self.MAX_RT_DELTA))) - self.assertTrue(self._tx(self._torque_cmd_msg(sign * (self.MAX_RT_DELTA + 1)))) - - def test_torque_measurements(self): - trq = 50 - for t in [trq, -trq, 0, 0, 0, 0]: - self._rx(self._torque_meas_msg(t)) - - max_range = range(trq, trq + self.TORQUE_MEAS_TOLERANCE + 1) - min_range = range(-(trq + self.TORQUE_MEAS_TOLERANCE), -trq + 1) - self.assertTrue(self.safety.get_torque_meas_min() in min_range) - self.assertTrue(self.safety.get_torque_meas_max() in max_range) - - max_range = range(self.TORQUE_MEAS_TOLERANCE + 1) - min_range = range(-(trq + self.TORQUE_MEAS_TOLERANCE), -trq + 1) - self._rx(self._torque_meas_msg(0)) - self.assertTrue(self.safety.get_torque_meas_min() in min_range) - self.assertTrue(self.safety.get_torque_meas_max() in max_range) - - max_range = range(self.TORQUE_MEAS_TOLERANCE + 1) - min_range = range(-self.TORQUE_MEAS_TOLERANCE, 0 + 1) - self._rx(self._torque_meas_msg(0)) - self.assertTrue(self.safety.get_torque_meas_min() in min_range) - self.assertTrue(self.safety.get_torque_meas_max() in max_range) - - def test_reset_torque_measurements(self): - # Tests that the torque measurement sample_t is reset on safety mode init - for t in np.linspace(-self.MAX_TORQUE, self.MAX_TORQUE, MAX_SAMPLE_VALS): - self.assertTrue(self._rx(self._torque_meas_msg(t))) - - self.assertNotEqual(self.safety.get_torque_meas_min(), 0) - self.assertNotEqual(self.safety.get_torque_meas_max(), 0) - - self._reset_safety_hooks() - self.assertEqual(self.safety.get_torque_meas_min(), 0) - self.assertEqual(self.safety.get_torque_meas_max(), 0) - - -class AngleSteeringSafetyTest(PandaSafetyTestBase): - - DEG_TO_CAN: float - ANGLE_RATE_BP: list[float] - ANGLE_RATE_UP: list[float] # windup limit - ANGLE_RATE_DOWN: list[float] # unwind limit - - @classmethod - def setUpClass(cls): - if cls.__name__ == "AngleSteeringSafetyTest": - cls.safety = None - raise unittest.SkipTest - - @abc.abstractmethod - def _speed_msg(self, speed): - pass - - @abc.abstractmethod - def _angle_cmd_msg(self, angle: float, enabled: bool): - pass - - @abc.abstractmethod - def _angle_meas_msg(self, angle: float): - pass - - def _set_prev_desired_angle(self, t): - t = round(t * self.DEG_TO_CAN) - self.safety.set_desired_angle_last(t) - - def _reset_angle_measurement(self, angle): - for _ in range(MAX_SAMPLE_VALS): - self._rx(self._angle_meas_msg(angle)) - - def _reset_speed_measurement(self, speed): - for _ in range(MAX_SAMPLE_VALS): - self._rx(self._speed_msg(speed)) - - def test_vehicle_speed_measurements(self): - self._common_measurement_test(self._speed_msg, 0, 80, VEHICLE_SPEED_FACTOR, self.safety.get_vehicle_speed_min, self.safety.get_vehicle_speed_max) - - def test_steering_angle_measurements(self, max_angle=300): - self._common_measurement_test(self._angle_meas_msg, -max_angle, max_angle, self.DEG_TO_CAN, self.safety.get_angle_meas_min, self.safety.get_angle_meas_max) - - def test_angle_cmd_when_enabled(self, max_angle=300): - # when controls are allowed, angle cmd rate limit is enforced - speeds = [0., 1., 5., 10., 15., 50.] - angles = np.concatenate((np.arange(-max_angle, max_angle, 5), [0])) - for a in angles: - for s in speeds: - max_delta_up = np.interp(s, self.ANGLE_RATE_BP, self.ANGLE_RATE_UP) - max_delta_down = np.interp(s, self.ANGLE_RATE_BP, self.ANGLE_RATE_DOWN) - - # first test against false positives - self._reset_angle_measurement(a) - self._reset_speed_measurement(s) - - self._set_prev_desired_angle(a) - self.safety.set_controls_allowed(1) - - # Stay within limits - # Up - self.assertTrue(self._tx(self._angle_cmd_msg(a + sign_of(a) * max_delta_up, True))) - self.assertTrue(self.safety.get_controls_allowed()) - - # Don't change - self.assertTrue(self._tx(self._angle_cmd_msg(a, True))) - self.assertTrue(self.safety.get_controls_allowed()) - - # Down - self.assertTrue(self._tx(self._angle_cmd_msg(a - sign_of(a) * max_delta_down, True))) - self.assertTrue(self.safety.get_controls_allowed()) - - # Inject too high rates - # Up - self.assertFalse(self._tx(self._angle_cmd_msg(a + sign_of(a) * (max_delta_up + 1.1), True))) - - # Don't change - self.safety.set_controls_allowed(1) - self._set_prev_desired_angle(a) - self.assertTrue(self.safety.get_controls_allowed()) - self.assertTrue(self._tx(self._angle_cmd_msg(a, True))) - self.assertTrue(self.safety.get_controls_allowed()) - - # Down - self.assertFalse(self._tx(self._angle_cmd_msg(a - sign_of(a) * (max_delta_down + 1.1), True))) - - # Check desired steer should be the same as steer angle when controls are off - self.safety.set_controls_allowed(0) - self.assertTrue(self._tx(self._angle_cmd_msg(a, False))) - - def test_angle_cmd_when_disabled(self): - # Tests that only angles close to the meas are allowed while - # steer actuation bit is 0, regardless of controls allowed. - for controls_allowed in (True, False): - self.safety.set_controls_allowed(controls_allowed) - - for steer_control_enabled in (True, False): - for angle_meas in np.arange(-90, 91, 10): - self._reset_angle_measurement(angle_meas) - - for angle_cmd in np.arange(-90, 91, 10): - self._set_prev_desired_angle(angle_cmd) - - # controls_allowed is checked if actuation bit is 1, else the angle must be close to meas (inactive) - should_tx = controls_allowed if steer_control_enabled else angle_cmd == angle_meas - self.assertEqual(should_tx, self._tx(self._angle_cmd_msg(angle_cmd, steer_control_enabled))) - - -class PandaSafetyTest(PandaSafetyTestBase): - TX_MSGS: list[list[int]] | None = None - SCANNED_ADDRS = [*range(0x800), # Entire 11-bit CAN address space - *range(0x18DA00F1, 0x18DB00F1, 0x100), # 29-bit UDS physical addressing - *range(0x18DB00F1, 0x18DC00F1, 0x100), # 29-bit UDS functional addressing - *range(0x3300, 0x3400)] # Honda - FWD_BLACKLISTED_ADDRS: dict[int, list[int]] = {} # {bus: [addr]} - FWD_BUS_LOOKUP: dict[int, int] = {} - - @classmethod - def setUpClass(cls): - if cls.__name__ == "PandaSafetyTest" or cls.__name__.endswith('Base'): - cls.safety = None - raise unittest.SkipTest - - # ***** standard tests for all safety modes ***** - - def test_tx_msg_in_scanned_range(self): - # the relay malfunction, fwd hook, and spam can tests don't exhaustively - # scan the entire 29-bit address space, only some known important ranges - # make sure SCANNED_ADDRS stays up to date with car port TX_MSGS; new - # model ports should expand the range if needed - for msg in self.TX_MSGS: - self.assertTrue(msg[0] in self.SCANNED_ADDRS, f"{msg[0]=:#x}") - - def test_fwd_hook(self): - # some safety modes don't forward anything, while others blacklist msgs - for bus in range(3): - for addr in self.SCANNED_ADDRS: - # assume len 8 - fwd_bus = self.FWD_BUS_LOOKUP.get(bus, -1) - if bus in self.FWD_BLACKLISTED_ADDRS and addr in self.FWD_BLACKLISTED_ADDRS[bus]: - fwd_bus = -1 - self.assertEqual(fwd_bus, self.safety.safety_fwd_hook(bus, addr), f"{addr=:#x} from {bus=} to {fwd_bus=}") - - def test_spam_can_buses(self): - for bus in range(4): - for addr in self.SCANNED_ADDRS: - if [addr, bus] not in self.TX_MSGS: - self.assertFalse(self._tx(make_msg(bus, addr, 8)), f"allowed TX {addr=} {bus=}") - - def test_default_controls_not_allowed(self): - self.assertFalse(self.safety.get_controls_allowed()) - - def test_manually_enable_controls_allowed(self): - self.safety.set_controls_allowed(1) - self.assertTrue(self.safety.get_controls_allowed()) - self.safety.set_controls_allowed(0) - self.assertFalse(self.safety.get_controls_allowed()) - - def test_tx_hook_on_wrong_safety_mode(self): - files = os.listdir(os.path.dirname(os.path.realpath(__file__))) - test_files = [f for f in files if f.startswith("test_") and f.endswith(".py")] - - current_test = self.__class__.__name__ - - all_tx = [] - for tf in test_files: - test = importlib.import_module("panda.tests.safety."+tf[:-3]) - for attr in dir(test): - if attr.startswith("Test") and attr != current_test: - tc = getattr(test, attr) - tx = tc.TX_MSGS - if tx is not None and not attr.endswith('Base'): - # No point in comparing different Tesla safety modes - if 'Tesla' in attr and 'Tesla' in current_test: - continue - # No point in comparing to ALLOUTPUT which allows all messages - if attr.startswith('TestAllOutput'): - continue - if attr.startswith('TestToyota') and current_test.startswith('TestToyota'): - continue - if attr.startswith('TestSubaruGen') and current_test.startswith('TestSubaruGen'): - continue - if attr.startswith('TestSubaruPreglobal') and current_test.startswith('TestSubaruPreglobal'): - continue - if {attr, current_test}.issubset({'TestVolkswagenPqSafety', 'TestVolkswagenPqStockSafety', 'TestVolkswagenPqLongSafety'}): - continue - if {attr, current_test}.issubset({'TestGmCameraSafety', 'TestGmCameraLongitudinalSafety', 'TestGmSdgmSafety', 'TestGmInterceptorSafety', 'TestGmCcLongitudinalSafety'}): - continue - if attr.startswith('TestFord') and current_test.startswith('TestFord'): - continue - if attr.startswith('TestHyundaiCanfd') and current_test.startswith('TestHyundaiCanfd'): - continue - if {attr, current_test}.issubset({'TestVolkswagenMqbSafety', 'TestVolkswagenMqbStockSafety', 'TestVolkswagenMqbLongSafety'}): - continue - - # overlapping TX addrs, but they're not actuating messages for either car - if attr == 'TestHyundaiCanfdHDA2LongEV' and current_test.startswith('TestToyota'): - tx = list(filter(lambda m: m[0] not in [0x160, ], tx)) - - # Volkswagen MQB longitudinal actuating message overlaps with the Subaru lateral actuating message - if attr == 'TestVolkswagenMqbLongSafety' and current_test.startswith('TestSubaru'): - tx = list(filter(lambda m: m[0] not in [0x122, ], tx)) - - # Volkswagen MQB and Honda Nidec ACC HUD messages overlap - if attr == 'TestVolkswagenMqbLongSafety' and current_test.startswith('TestHondaNidec'): - tx = list(filter(lambda m: m[0] not in [0x30c, ], tx)) - - # Volkswagen MQB and Honda Bosch Radarless ACC HUD messages overlap - if attr == 'TestVolkswagenMqbLongSafety' and current_test.startswith('TestHondaBoschRadarless'): - tx = list(filter(lambda m: m[0] not in [0x30c, ], tx)) - - # TODO: Temporary, should be fixed in panda firmware, safety_honda.h - if attr.startswith('TestHonda'): - # exceptions for common msgs across different hondas - tx = list(filter(lambda m: m[0] not in [0x1FA, 0x30C, 0x33D, 0x33DB], tx)) - all_tx.append([[m[0], m[1], attr] for m in tx]) - - # make sure we got all the msgs - self.assertTrue(len(all_tx) >= len(test_files)-1) - - for tx_msgs in all_tx: - for addr, bus, test_name in tx_msgs: - msg = make_msg(bus, addr) - self.safety.set_controls_allowed(1) - # TODO: this should be blocked - if current_test in ["TestNissanSafety", "TestNissanSafetyAltEpsBus", "TestNissanLeafSafety"] and [addr, bus] in self.TX_MSGS: - continue - self.assertFalse(self._tx(msg), f"transmit of {addr=:#x} {bus=} from {test_name} during {current_test} was allowed") - - -@add_regen_tests -class PandaCarSafetyTest(PandaSafetyTest): - STANDSTILL_THRESHOLD: float | None = None - GAS_PRESSED_THRESHOLD = 0 - RELAY_MALFUNCTION_ADDRS: dict[int, tuple[int, ...]] | None = None - - @classmethod - def setUpClass(cls): - if cls.__name__ == "PandaCarSafetyTest" or cls.__name__.endswith('Base'): - cls.safety = None - raise unittest.SkipTest - - @abc.abstractmethod - def _user_brake_msg(self, brake): - pass - - def _user_regen_msg(self, regen): - pass - - @abc.abstractmethod - def _speed_msg(self, speed): - pass - - # Safety modes can override if vehicle_moving is driven by a different message - def _vehicle_moving_msg(self, speed: float): - return self._speed_msg(speed) - - @abc.abstractmethod - def _user_gas_msg(self, gas): - pass - - @abc.abstractmethod - def _pcm_status_msg(self, enable): - pass - - # ***** standard tests for all car-specific safety modes ***** - - def test_relay_malfunction(self): - # each car has an addr that is used to detect relay malfunction - # if that addr is seen on specified bus, triggers the relay malfunction - # protection logic: both tx_hook and fwd_hook are expected to return failure - self.assertFalse(self.safety.get_relay_malfunction()) - for bus in range(3): - for addr in self.SCANNED_ADDRS: - self.safety.set_relay_malfunction(False) - self._rx(make_msg(bus, addr, 8)) - should_relay_malfunction = addr in self.RELAY_MALFUNCTION_ADDRS.get(bus, ()) - self.assertEqual(should_relay_malfunction, self.safety.get_relay_malfunction(), (bus, addr)) - - # test relay malfunction protection logic - self.safety.set_relay_malfunction(True) - for bus in range(3): - for addr in self.SCANNED_ADDRS: - self.assertFalse(self._tx(make_msg(bus, addr, 8))) - self.assertEqual(-1, self.safety.safety_fwd_hook(bus, addr)) - - def test_prev_gas(self): - self.assertFalse(self.safety.get_gas_pressed_prev()) - for pressed in [self.GAS_PRESSED_THRESHOLD + 1, 0]: - self._rx(self._user_gas_msg(pressed)) - self.assertEqual(bool(pressed), self.safety.get_gas_pressed_prev()) - - def test_allow_engage_with_gas_pressed(self): - self._rx(self._user_gas_msg(1)) - self.safety.set_controls_allowed(True) - self._rx(self._user_gas_msg(1)) - self.assertTrue(self.safety.get_controls_allowed()) - self._rx(self._user_gas_msg(1)) - self.assertTrue(self.safety.get_controls_allowed()) - - def test_disengage_on_gas(self): - self._rx(self._user_gas_msg(0)) - self.safety.set_controls_allowed(True) - self._rx(self._user_gas_msg(self.GAS_PRESSED_THRESHOLD + 1)) - self.assertFalse(self.safety.get_controls_allowed()) - - def test_alternative_experience_no_disengage_on_gas(self): - self._rx(self._user_gas_msg(0)) - self.safety.set_controls_allowed(True) - self.safety.set_alternative_experience(ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS) - self._rx(self._user_gas_msg(self.GAS_PRESSED_THRESHOLD + 1)) - # Test we allow lateral, but not longitudinal - self.assertTrue(self.safety.get_controls_allowed()) - self.assertFalse(self.safety.get_longitudinal_allowed()) - # Make sure we can re-gain longitudinal actuation - self._rx(self._user_gas_msg(0)) - self.assertTrue(self.safety.get_longitudinal_allowed()) - - def test_prev_user_brake(self, _user_brake_msg=None, get_brake_pressed_prev=None): - if _user_brake_msg is None: - _user_brake_msg = self._user_brake_msg - get_brake_pressed_prev = self.safety.get_brake_pressed_prev - - self.assertFalse(get_brake_pressed_prev()) - for pressed in [True, False]: - self._rx(_user_brake_msg(not pressed)) - self.assertEqual(not pressed, get_brake_pressed_prev()) - self._rx(_user_brake_msg(pressed)) - self.assertEqual(pressed, get_brake_pressed_prev()) - - def test_enable_control_allowed_from_cruise(self): - self._rx(self._pcm_status_msg(False)) - self.assertFalse(self.safety.get_controls_allowed()) - self._rx(self._pcm_status_msg(True)) - self.assertTrue(self.safety.get_controls_allowed()) - - def test_disable_control_allowed_from_cruise(self): - self.safety.set_controls_allowed(1) - self._rx(self._pcm_status_msg(False)) - self.assertFalse(self.safety.get_controls_allowed()) - - def test_cruise_engaged_prev(self): - for engaged in [True, False]: - self._rx(self._pcm_status_msg(engaged)) - self.assertEqual(engaged, self.safety.get_cruise_engaged_prev()) - self._rx(self._pcm_status_msg(not engaged)) - self.assertEqual(not engaged, self.safety.get_cruise_engaged_prev()) - - def test_allow_user_brake_at_zero_speed(self, _user_brake_msg=None, get_brake_pressed_prev=None): - if _user_brake_msg is None: - _user_brake_msg = self._user_brake_msg - - # Brake was already pressed - self._rx(self._vehicle_moving_msg(0)) - self._rx(_user_brake_msg(1)) - self.safety.set_controls_allowed(1) - self._rx(_user_brake_msg(1)) - self.assertTrue(self.safety.get_controls_allowed()) - self.assertTrue(self.safety.get_longitudinal_allowed()) - self._rx(_user_brake_msg(0)) - self.assertTrue(self.safety.get_controls_allowed()) - self.assertTrue(self.safety.get_longitudinal_allowed()) - # rising edge of brake should disengage - self._rx(_user_brake_msg(1)) - self.assertFalse(self.safety.get_controls_allowed()) - self.assertFalse(self.safety.get_longitudinal_allowed()) - self._rx(_user_brake_msg(0)) # reset no brakes - - def test_not_allow_user_brake_when_moving(self, _user_brake_msg=None, get_brake_pressed_prev=None): - if _user_brake_msg is None: - _user_brake_msg = self._user_brake_msg - - # Brake was already pressed - self._rx(_user_brake_msg(1)) - self.safety.set_controls_allowed(1) - self._rx(self._vehicle_moving_msg(self.STANDSTILL_THRESHOLD)) - self._rx(_user_brake_msg(1)) - self.assertTrue(self.safety.get_controls_allowed()) - self.assertTrue(self.safety.get_longitudinal_allowed()) - self._rx(self._vehicle_moving_msg(self.STANDSTILL_THRESHOLD + 1)) - self._rx(_user_brake_msg(1)) - self.assertFalse(self.safety.get_controls_allowed()) - self.assertFalse(self.safety.get_longitudinal_allowed()) - self._rx(self._vehicle_moving_msg(0)) - - def test_vehicle_moving(self): - self.assertFalse(self.safety.get_vehicle_moving()) - - # not moving - self._rx(self._vehicle_moving_msg(0)) - self.assertFalse(self.safety.get_vehicle_moving()) - - # speed is at threshold - self._rx(self._vehicle_moving_msg(self.STANDSTILL_THRESHOLD)) - self.assertFalse(self.safety.get_vehicle_moving()) - - # past threshold - self._rx(self._vehicle_moving_msg(self.STANDSTILL_THRESHOLD + 1)) - self.assertTrue(self.safety.get_vehicle_moving()) - - def test_safety_tick(self): - self.safety.set_timer(int(2e6)) - self.safety.set_controls_allowed(True) - self.safety.safety_tick_current_safety_config() - self.assertFalse(self.safety.get_controls_allowed()) - self.assertFalse(self.safety.safety_config_valid()) diff --git a/panda/tests/safety/hyundai_common.py b/panda/tests/safety/hyundai_common.py deleted file mode 100644 index da18671af57ea3..00000000000000 --- a/panda/tests/safety/hyundai_common.py +++ /dev/null @@ -1,157 +0,0 @@ -import unittest - -import panda.tests.safety.common as common -from panda.tests.libpanda import libpanda_py -from panda.tests.safety.common import make_msg - - -class Buttons: - NONE = 0 - RESUME = 1 - SET = 2 - CANCEL = 4 - - -PREV_BUTTON_SAMPLES = 8 -ENABLE_BUTTONS = (Buttons.RESUME, Buttons.SET, Buttons.CANCEL) - - -class HyundaiButtonBase: - # pylint: disable=no-member,abstract-method - BUTTONS_TX_BUS = 0 # tx on this bus, rx on 0 - SCC_BUS = 0 # rx on this bus - - def test_button_sends(self): - """ - Only RES and CANCEL buttons are allowed - - RES allowed while controls allowed - - CANCEL allowed while cruise is enabled - """ - self.safety.set_controls_allowed(0) - self.assertFalse(self._tx(self._button_msg(Buttons.RESUME, bus=self.BUTTONS_TX_BUS))) - self.assertFalse(self._tx(self._button_msg(Buttons.SET, bus=self.BUTTONS_TX_BUS))) - - self.safety.set_controls_allowed(1) - self.assertTrue(self._tx(self._button_msg(Buttons.RESUME, bus=self.BUTTONS_TX_BUS))) - self.assertFalse(self._tx(self._button_msg(Buttons.SET, bus=self.BUTTONS_TX_BUS))) - - for enabled in (True, False): - self._rx(self._pcm_status_msg(enabled)) - self.assertEqual(enabled, self._tx(self._button_msg(Buttons.CANCEL, bus=self.BUTTONS_TX_BUS))) - - def test_enable_control_allowed_from_cruise(self): - """ - Hyundai non-longitudinal only enables on PCM rising edge and recent button press. Tests PCM enabling with: - - disallowed: No buttons - - disallowed: Buttons that don't enable cruise - - allowed: Buttons that do enable cruise - - allowed: Main button with all above combinations - """ - for main_button in (0, 1): - for btn in range(8): - for _ in range(PREV_BUTTON_SAMPLES): # reset - self._rx(self._button_msg(Buttons.NONE)) - - self._rx(self._pcm_status_msg(False)) - self.assertFalse(self.safety.get_controls_allowed()) - self._rx(self._button_msg(btn, main_button=main_button)) - self._rx(self._pcm_status_msg(True)) - controls_allowed = btn in ENABLE_BUTTONS or main_button - self.assertEqual(controls_allowed, self.safety.get_controls_allowed()) - - def test_sampling_cruise_buttons(self): - """ - Test that we allow controls on recent button press, but not as button leaves sliding window - """ - self._rx(self._button_msg(Buttons.SET)) - for i in range(2 * PREV_BUTTON_SAMPLES): - self._rx(self._pcm_status_msg(False)) - self.assertFalse(self.safety.get_controls_allowed()) - self._rx(self._pcm_status_msg(True)) - controls_allowed = i < PREV_BUTTON_SAMPLES - self.assertEqual(controls_allowed, self.safety.get_controls_allowed()) - self._rx(self._button_msg(Buttons.NONE)) - - -class HyundaiLongitudinalBase(common.LongitudinalAccelSafetyTest): - # pylint: disable=no-member,abstract-method - - DISABLED_ECU_UDS_MSG: tuple[int, int] - DISABLED_ECU_ACTUATION_MSG: tuple[int, int] - - @classmethod - def setUpClass(cls): - if cls.__name__ == "HyundaiLongitudinalBase": - cls.safety = None - raise unittest.SkipTest - - # override these tests from PandaCarSafetyTest, hyundai longitudinal uses button enable - def test_disable_control_allowed_from_cruise(self): - pass - - def test_enable_control_allowed_from_cruise(self): - pass - - def test_sampling_cruise_buttons(self): - pass - - def test_cruise_engaged_prev(self): - pass - - def test_button_sends(self): - pass - - def _pcm_status_msg(self, enable): - raise Exception - - def _accel_msg(self, accel, aeb_req=False, aeb_decel=0): - raise NotImplementedError - - def test_set_resume_buttons(self): - """ - SET and RESUME enter controls allowed on their falling edge. - """ - for btn_prev in range(8): - for btn_cur in range(8): - self._rx(self._button_msg(Buttons.NONE)) - self.safety.set_controls_allowed(0) - for _ in range(10): - self._rx(self._button_msg(btn_prev)) - self.assertFalse(self.safety.get_controls_allowed()) - - # should enter controls allowed on falling edge and not transitioning to cancel - should_enable = btn_cur != btn_prev and \ - btn_cur != Buttons.CANCEL and \ - btn_prev in (Buttons.RESUME, Buttons.SET) - - self._rx(self._button_msg(btn_cur)) - self.assertEqual(should_enable, self.safety.get_controls_allowed()) - - def test_cancel_button(self): - self.safety.set_controls_allowed(1) - self._rx(self._button_msg(Buttons.CANCEL)) - self.assertFalse(self.safety.get_controls_allowed()) - - def test_tester_present_allowed(self): - """ - Ensure tester present diagnostic message is allowed to keep ECU knocked out - for longitudinal control. - """ - - addr, bus = self.DISABLED_ECU_UDS_MSG - tester_present = libpanda_py.make_CANPacket(addr, bus, b"\x02\x3E\x80\x00\x00\x00\x00\x00") - self.assertTrue(self._tx(tester_present)) - - not_tester_present = libpanda_py.make_CANPacket(addr, bus, b"\x03\xAA\xAA\x00\x00\x00\x00\x00") - self.assertFalse(self._tx(not_tester_present)) - - def test_disabled_ecu_alive(self): - """ - If the ECU knockout failed, make sure the relay malfunction is shown - """ - - addr, bus = self.DISABLED_ECU_ACTUATION_MSG - self.assertFalse(self.safety.get_relay_malfunction()) - self._rx(make_msg(bus, addr, 8)) - self.assertTrue(self.safety.get_relay_malfunction()) - diff --git a/panda/tests/safety/test.sh b/panda/tests/safety/test.sh deleted file mode 100644 index 13703b26a3ff04..00000000000000 --- a/panda/tests/safety/test.sh +++ /dev/null @@ -1,34 +0,0 @@ -#!/usr/bin/env bash -set -e - -DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)" -cd $DIR - -# reset coverage data and generate gcc note file -rm -f ../libpanda/*.gcda -scons -j$(nproc) -D --coverage - -# run safety tests and generate coverage data -HW_TYPES=( 6 9 ) -for hw_type in "${HW_TYPES[@]}"; do - echo "Testing HW_TYPE: $hw_type" - HW_TYPE=$hw_type pytest test_*.py -done - -# generate and open report -if [ "$1" == "--report" ]; then - geninfo ../libpanda/ -o coverage.info - genhtml coverage.info -o coverage-out - sensible-browser coverage-out/index.html -fi - -# test coverage -GCOV_OUTPUT=$(gcov -n ../libpanda/panda.c) -INCOMPLETE_COVERAGE=$(echo "$GCOV_OUTPUT" | paste -s -d' \n' | grep -E "File.*(safety\/safety_.*)|(safety)\.h" | grep -v "100.00%" || true) -if [ -n "$INCOMPLETE_COVERAGE" ]; then - echo "FAILED: Some files have less than 100% coverage:" - echo "$INCOMPLETE_COVERAGE" - exit 1 -else - echo "SUCCESS: All checked files have 100% coverage!" -fi diff --git a/panda/tests/safety/test_body.py b/panda/tests/safety/test_body.py deleted file mode 100644 index d23c09f98cfc1b..00000000000000 --- a/panda/tests/safety/test_body.py +++ /dev/null @@ -1,70 +0,0 @@ -#!/usr/bin/env python3 -import unittest - -import panda.tests.safety.common as common - -from panda import Panda -from panda.tests.libpanda import libpanda_py -from panda.tests.safety.common import CANPackerPanda - - -class TestBody(common.PandaSafetyTest): - TX_MSGS = [[0x250, 0], [0x251, 0], [0x350, 0], [0x351, 0], - [0x1, 0], [0x1, 1], [0x1, 2], [0x1, 3]] - - def setUp(self): - self.packer = CANPackerPanda("comma_body") - self.safety = libpanda_py.libpanda - self.safety.set_safety_hooks(Panda.SAFETY_BODY, 0) - self.safety.init_tests() - - def _motors_data_msg(self, speed_l, speed_r): - values = {"SPEED_L": speed_l, "SPEED_R": speed_r} - return self.packer.make_can_msg_panda("MOTORS_DATA", 0, values) - - def _torque_cmd_msg(self, torque_l, torque_r): - values = {"TORQUE_L": torque_l, "TORQUE_R": torque_r} - return self.packer.make_can_msg_panda("TORQUE_CMD", 0, values) - - def _knee_torque_cmd_msg(self, torque_l, torque_r): - values = {"TORQUE_L": torque_l, "TORQUE_R": torque_r} - return self.packer.make_can_msg_panda("KNEE_TORQUE_CMD", 0, values) - - def _max_motor_rpm_cmd_msg(self, max_rpm_l, max_rpm_r): - values = {"MAX_RPM_L": max_rpm_l, "MAX_RPM_R": max_rpm_r} - return self.packer.make_can_msg_panda("MAX_MOTOR_RPM_CMD", 0, values) - - def test_rx_hook(self): - self.assertFalse(self.safety.get_controls_allowed()) - self.assertFalse(self.safety.get_vehicle_moving()) - - # controls allowed when we get MOTORS_DATA message - self.assertTrue(self._rx(self._torque_cmd_msg(0, 0))) - self.assertTrue(self.safety.get_vehicle_moving()) # always moving - self.assertFalse(self.safety.get_controls_allowed()) - - self.assertTrue(self._rx(self._motors_data_msg(0, 0))) - self.assertTrue(self.safety.get_vehicle_moving()) # always moving - self.assertTrue(self.safety.get_controls_allowed()) - - def test_tx_hook(self): - self.assertFalse(self._tx(self._torque_cmd_msg(0, 0))) - self.assertFalse(self._tx(self._knee_torque_cmd_msg(0, 0))) - self.safety.set_controls_allowed(True) - self.assertTrue(self._tx(self._torque_cmd_msg(0, 0))) - self.assertTrue(self._tx(self._knee_torque_cmd_msg(0, 0))) - - def test_can_flasher(self): - # CAN flasher always allowed - self.safety.set_controls_allowed(False) - self.assertTrue(self._tx(common.make_msg(0, 0x1, 8))) - - # 0xdeadfaceU enters CAN flashing mode for base & knee - for addr in (0x250, 0x350): - self.assertTrue(self._tx(common.make_msg(0, addr, dat=b'\xce\xfa\xad\xde\x1e\x0b\xb0\x0a'))) - self.assertFalse(self._tx(common.make_msg(0, addr, dat=b'\xce\xfa\xad\xde\x1e\x0b\xb0'))) # not correct data/len - self.assertFalse(self._tx(common.make_msg(0, addr + 1, dat=b'\xce\xfa\xad\xde\x1e\x0b\xb0\x0a'))) # wrong address - - -if __name__ == "__main__": - unittest.main() diff --git a/panda/tests/safety/test_chrysler.py b/panda/tests/safety/test_chrysler.py deleted file mode 100644 index 5bbb6dd10306f1..00000000000000 --- a/panda/tests/safety/test_chrysler.py +++ /dev/null @@ -1,125 +0,0 @@ -#!/usr/bin/env python3 -import unittest -from panda import Panda -from panda.tests.libpanda import libpanda_py -import panda.tests.safety.common as common -from panda.tests.safety.common import CANPackerPanda - - -class TestChryslerSafety(common.PandaCarSafetyTest, common.MotorTorqueSteeringSafetyTest): - TX_MSGS = [[0x23B, 0], [0x292, 0], [0x2A6, 0]] - STANDSTILL_THRESHOLD = 0 - RELAY_MALFUNCTION_ADDRS = {0: (0x292,)} - FWD_BLACKLISTED_ADDRS = {2: [0x292, 0x2A6]} - FWD_BUS_LOOKUP = {0: 2, 2: 0} - - MAX_RATE_UP = 3 - MAX_RATE_DOWN = 3 - MAX_TORQUE = 261 - MAX_RT_DELTA = 112 - RT_INTERVAL = 250000 - MAX_TORQUE_ERROR = 80 - - LKAS_ACTIVE_VALUE = 1 - - DAS_BUS = 0 - - def setUp(self): - self.packer = CANPackerPanda("chrysler_pacifica_2017_hybrid_generated") - self.safety = libpanda_py.libpanda - self.safety.set_safety_hooks(Panda.SAFETY_CHRYSLER, 0) - self.safety.init_tests() - - def _button_msg(self, cancel=False, resume=False): - values = {"ACC_Cancel": cancel, "ACC_Resume": resume} - return self.packer.make_can_msg_panda("CRUISE_BUTTONS", self.DAS_BUS, values) - - def _pcm_status_msg(self, enable): - values = {"ACC_ACTIVE": enable} - return self.packer.make_can_msg_panda("DAS_3", self.DAS_BUS, values) - - def _speed_msg(self, speed): - values = {"SPEED_LEFT": speed, "SPEED_RIGHT": speed} - return self.packer.make_can_msg_panda("SPEED_1", 0, values) - - def _user_gas_msg(self, gas): - values = {"Accelerator_Position": gas} - return self.packer.make_can_msg_panda("ECM_5", 0, values) - - def _user_brake_msg(self, brake): - values = {"Brake_Pedal_State": 1 if brake else 0} - return self.packer.make_can_msg_panda("ESP_1", 0, values) - - def _torque_meas_msg(self, torque): - values = {"EPS_TORQUE_MOTOR": torque} - return self.packer.make_can_msg_panda("EPS_2", 0, values) - - def _torque_cmd_msg(self, torque, steer_req=1): - values = {"STEERING_TORQUE": torque, "LKAS_CONTROL_BIT": self.LKAS_ACTIVE_VALUE if steer_req else 0} - return self.packer.make_can_msg_panda("LKAS_COMMAND", 0, values) - - def test_buttons(self): - for controls_allowed in (True, False): - self.safety.set_controls_allowed(controls_allowed) - - # resume only while controls allowed - self.assertEqual(controls_allowed, self._tx(self._button_msg(resume=True))) - - # can always cancel - self.assertTrue(self._tx(self._button_msg(cancel=True))) - - # only one button at a time - self.assertFalse(self._tx(self._button_msg(cancel=True, resume=True))) - self.assertFalse(self._tx(self._button_msg(cancel=False, resume=False))) - - -class TestChryslerRamDTSafety(TestChryslerSafety): - TX_MSGS = [[0xB1, 2], [0xA6, 0], [0xFA, 0]] - RELAY_MALFUNCTION_ADDRS = {0: (0xA6,)} - FWD_BLACKLISTED_ADDRS = {2: [0xA6, 0xFA]} - - MAX_RATE_UP = 6 - MAX_RATE_DOWN = 6 - MAX_TORQUE = 350 - - DAS_BUS = 2 - - LKAS_ACTIVE_VALUE = 2 - - def setUp(self): - self.packer = CANPackerPanda("chrysler_ram_dt_generated") - self.safety = libpanda_py.libpanda - self.safety.set_safety_hooks(Panda.SAFETY_CHRYSLER, Panda.FLAG_CHRYSLER_RAM_DT) - self.safety.init_tests() - - def _speed_msg(self, speed): - values = {"Vehicle_Speed": speed} - return self.packer.make_can_msg_panda("ESP_8", 0, values) - -class TestChryslerRamHDSafety(TestChryslerSafety): - TX_MSGS = [[0x275, 0], [0x276, 0], [0x23A, 2]] - RELAY_MALFUNCTION_ADDRS = {0: (0x276,)} - FWD_BLACKLISTED_ADDRS = {2: [0x275, 0x276]} - - MAX_TORQUE = 361 - MAX_RATE_UP = 14 - MAX_RATE_DOWN = 14 - MAX_RT_DELTA = 182 - - DAS_BUS = 2 - - LKAS_ACTIVE_VALUE = 2 - - def setUp(self): - self.packer = CANPackerPanda("chrysler_ram_hd_generated") - self.safety = libpanda_py.libpanda - self.safety.set_safety_hooks(Panda.SAFETY_CHRYSLER, Panda.FLAG_CHRYSLER_RAM_HD) - self.safety.init_tests() - - def _speed_msg(self, speed): - values = {"Vehicle_Speed": speed} - return self.packer.make_can_msg_panda("ESP_8", 0, values) - - -if __name__ == "__main__": - unittest.main() diff --git a/panda/tests/safety/test_defaults.py b/panda/tests/safety/test_defaults.py deleted file mode 100644 index 81bafeefcde923..00000000000000 --- a/panda/tests/safety/test_defaults.py +++ /dev/null @@ -1,73 +0,0 @@ -#!/usr/bin/env python3 -import unittest - -import panda.tests.safety.common as common - -from panda import Panda -from panda.tests.libpanda import libpanda_py - - -class TestDefaultRxHookBase(common.PandaSafetyTest): - def test_rx_hook(self): - # default rx hook allows all msgs - for bus in range(4): - for addr in self.SCANNED_ADDRS: - self.assertTrue(self._rx(common.make_msg(bus, addr, 8)), f"failed RX {addr=}") - - -class TestNoOutput(TestDefaultRxHookBase): - TX_MSGS = [] - - def setUp(self): - self.safety = libpanda_py.libpanda - self.safety.set_safety_hooks(Panda.SAFETY_NOOUTPUT, 0) - self.safety.init_tests() - - -class TestSilent(TestNoOutput): - """SILENT uses same hooks as NOOUTPUT""" - - def setUp(self): - self.safety = libpanda_py.libpanda - self.safety.set_safety_hooks(Panda.SAFETY_SILENT, 0) - self.safety.init_tests() - - -class TestAllOutput(TestDefaultRxHookBase): - # Allow all messages - TX_MSGS = [[addr, bus] for addr in common.PandaSafetyTest.SCANNED_ADDRS - for bus in range(4)] - - def setUp(self): - self.safety = libpanda_py.libpanda - self.safety.set_safety_hooks(Panda.SAFETY_ALLOUTPUT, 0) - self.safety.init_tests() - - def test_spam_can_buses(self): - # asserts tx allowed for all scanned addrs - for bus in range(4): - for addr in self.SCANNED_ADDRS: - should_tx = [addr, bus] in self.TX_MSGS - self.assertEqual(should_tx, self._tx(common.make_msg(bus, addr, 8)), f"allowed TX {addr=} {bus=}") - - def test_default_controls_not_allowed(self): - # controls always allowed - self.assertTrue(self.safety.get_controls_allowed()) - - def test_tx_hook_on_wrong_safety_mode(self): - # No point, since we allow all messages - pass - - -class TestAllOutputPassthrough(TestAllOutput): - FWD_BLACKLISTED_ADDRS = {} - FWD_BUS_LOOKUP = {0: 2, 2: 0} - - def setUp(self): - self.safety = libpanda_py.libpanda - self.safety.set_safety_hooks(Panda.SAFETY_ALLOUTPUT, 1) - self.safety.init_tests() - - -if __name__ == "__main__": - unittest.main() diff --git a/panda/tests/safety/test_elm327.py b/panda/tests/safety/test_elm327.py deleted file mode 100644 index f133b2ead9c3a7..00000000000000 --- a/panda/tests/safety/test_elm327.py +++ /dev/null @@ -1,48 +0,0 @@ -#!/usr/bin/env python3 -import unittest - -import panda.tests.safety.common as common - -from panda import DLC_TO_LEN, Panda -from panda.tests.libpanda import libpanda_py -from panda.tests.safety.test_defaults import TestDefaultRxHookBase - -GM_CAMERA_DIAG_ADDR = 0x24B - - -class TestElm327(TestDefaultRxHookBase): - TX_MSGS = [[addr, bus] for addr in [GM_CAMERA_DIAG_ADDR, *range(0x600, 0x800), - *range(0x18DA00F1, 0x18DB00F1, 0x100), # 29-bit UDS physical addressing - *[0x18DB33F1], # 29-bit UDS functional address - ] for bus in range(4)] - - def setUp(self): - self.safety = libpanda_py.libpanda - self.safety.set_safety_hooks(Panda.SAFETY_ELM327, 0) - self.safety.init_tests() - - def test_tx_hook(self): - # ensure we can transmit arbitrary data on allowed addresses - for bus in range(4): - for addr in self.SCANNED_ADDRS: - should_tx = [addr, bus] in self.TX_MSGS - self.assertEqual(should_tx, self._tx(common.make_msg(bus, addr, 8))) - - # ELM only allows 8 byte UDS/KWP messages under ISO 15765-4 - for msg_len in DLC_TO_LEN: - should_tx = msg_len == 8 - self.assertEqual(should_tx, self._tx(common.make_msg(0, 0x700, msg_len))) - - # TODO: perform this check for all addresses - # 4 to 15 are reserved ISO-TP frame types (https://en.wikipedia.org/wiki/ISO_15765-2) - for byte in range(0xff): - should_tx = (byte >> 4) <= 3 - self.assertEqual(should_tx, self._tx(common.make_msg(0, GM_CAMERA_DIAG_ADDR, dat=bytes([byte] * 8)))) - - def test_tx_hook_on_wrong_safety_mode(self): - # No point, since we allow many diagnostic addresses - pass - - -if __name__ == "__main__": - unittest.main() diff --git a/panda/tests/safety/test_ford.py b/panda/tests/safety/test_ford.py deleted file mode 100644 index 1be3a273cc04e7..00000000000000 --- a/panda/tests/safety/test_ford.py +++ /dev/null @@ -1,476 +0,0 @@ -#!/usr/bin/env python3 -import numpy as np -import random -import unittest - -import panda.tests.safety.common as common - -from panda import Panda -from panda.tests.libpanda import libpanda_py -from panda.tests.safety.common import CANPackerPanda - -MSG_EngBrakeData = 0x165 # RX from PCM, for driver brake pedal and cruise state -MSG_EngVehicleSpThrottle = 0x204 # RX from PCM, for driver throttle input -MSG_BrakeSysFeatures = 0x415 # RX from ABS, for vehicle speed -MSG_EngVehicleSpThrottle2 = 0x202 # RX from PCM, for second vehicle speed -MSG_Yaw_Data_FD1 = 0x91 # RX from RCM, for yaw rate -MSG_Steering_Data_FD1 = 0x083 # TX by OP, various driver switches and LKAS/CC buttons -MSG_ACCDATA = 0x186 # TX by OP, ACC controls -MSG_ACCDATA_3 = 0x18A # TX by OP, ACC/TJA user interface -MSG_Lane_Assist_Data1 = 0x3CA # TX by OP, Lane Keep Assist -MSG_LateralMotionControl = 0x3D3 # TX by OP, Lateral Control message -MSG_LateralMotionControl2 = 0x3D6 # TX by OP, alternate Lateral Control message -MSG_IPMA_Data = 0x3D8 # TX by OP, IPMA and LKAS user interface - - -def checksum(msg): - addr, t, dat, bus = msg - ret = bytearray(dat) - - if addr == MSG_Yaw_Data_FD1: - chksum = dat[0] + dat[1] # VehRol_W_Actl - chksum += dat[2] + dat[3] # VehYaw_W_Actl - chksum += dat[5] # VehRollYaw_No_Cnt - chksum += dat[6] >> 6 # VehRolWActl_D_Qf - chksum += (dat[6] >> 4) & 0x3 # VehYawWActl_D_Qf - chksum = 0xff - (chksum & 0xff) - ret[4] = chksum - - elif addr == MSG_BrakeSysFeatures: - chksum = dat[0] + dat[1] # Veh_V_ActlBrk - chksum += (dat[2] >> 2) & 0xf # VehVActlBrk_No_Cnt - chksum += dat[2] >> 6 # VehVActlBrk_D_Qf - chksum = 0xff - (chksum & 0xff) - ret[3] = chksum - - elif addr == MSG_EngVehicleSpThrottle2: - chksum = (dat[2] >> 3) & 0xf # VehVActlEng_No_Cnt - chksum += (dat[4] >> 5) & 0x3 # VehVActlEng_D_Qf - chksum += dat[6] + dat[7] # Veh_V_ActlEng - chksum = 0xff - (chksum & 0xff) - ret[1] = chksum - - return addr, t, ret, bus - - -class Buttons: - CANCEL = 0 - RESUME = 1 - TJA_TOGGLE = 2 - - -# Ford safety has four different configurations tested here: -# * CAN with stock longitudinal -# * CAN with openpilot longitudinal -# * CAN FD with stock longitudinal -# * CAN FD with openpilot longitudinal - -class TestFordSafetyBase(common.PandaCarSafetyTest): - STANDSTILL_THRESHOLD = 1 - RELAY_MALFUNCTION_ADDRS = {0: (MSG_ACCDATA_3, MSG_Lane_Assist_Data1, MSG_LateralMotionControl, - MSG_LateralMotionControl2, MSG_IPMA_Data)} - - FWD_BLACKLISTED_ADDRS = {2: [MSG_ACCDATA_3, MSG_Lane_Assist_Data1, MSG_LateralMotionControl, - MSG_LateralMotionControl2, MSG_IPMA_Data]} - FWD_BUS_LOOKUP = {0: 2, 2: 0} - - # Max allowed delta between car speeds - MAX_SPEED_DELTA = 2.0 # m/s - - STEER_MESSAGE = 0 - - # Curvature control limits - DEG_TO_CAN = 50000 # 1 / (2e-5) rad to can - MAX_CURVATURE = 0.02 - MAX_CURVATURE_ERROR = 0.002 - CURVATURE_ERROR_MIN_SPEED = 10.0 # m/s - - ANGLE_RATE_BP = [5., 25., 25.] - ANGLE_RATE_UP = [0.0002, 0.0001, 0.0001] # windup limit - ANGLE_RATE_DOWN = [0.000225, 0.00015, 0.00015] # unwind limit - - cnt_speed = 0 - cnt_speed_2 = 0 - cnt_yaw_rate = 0 - - packer: CANPackerPanda - safety: libpanda_py.Panda - - @classmethod - def setUpClass(cls): - if cls.__name__ == "TestFordSafetyBase": - raise unittest.SkipTest - - def _set_prev_desired_angle(self, t): - t = round(t * self.DEG_TO_CAN) - self.safety.set_desired_angle_last(t) - - def _reset_curvature_measurement(self, curvature, speed): - for _ in range(6): - self._rx(self._speed_msg(speed)) - self._rx(self._yaw_rate_msg(curvature, speed)) - - # Driver brake pedal - def _user_brake_msg(self, brake: bool): - # brake pedal and cruise state share same message, so we have to send - # the other signal too - enable = self.safety.get_controls_allowed() - values = { - "BpedDrvAppl_D_Actl": 2 if brake else 1, - "CcStat_D_Actl": 5 if enable else 0, - } - return self.packer.make_can_msg_panda("EngBrakeData", 0, values) - - # ABS vehicle speed - def _speed_msg(self, speed: float, quality_flag=True): - values = {"Veh_V_ActlBrk": speed * 3.6, "VehVActlBrk_D_Qf": 3 if quality_flag else 0, "VehVActlBrk_No_Cnt": self.cnt_speed % 16} - self.__class__.cnt_speed += 1 - return self.packer.make_can_msg_panda("BrakeSysFeatures", 0, values, fix_checksum=checksum) - - # PCM vehicle speed - def _speed_msg_2(self, speed: float, quality_flag=True): - values = {"Veh_V_ActlEng": speed * 3.6, "VehVActlEng_D_Qf": 3 if quality_flag else 0, "VehVActlEng_No_Cnt": self.cnt_speed_2 % 16} - self.__class__.cnt_speed_2 += 1 - return self.packer.make_can_msg_panda("EngVehicleSpThrottle2", 0, values, fix_checksum=checksum) - - # Standstill state - def _vehicle_moving_msg(self, speed: float): - values = {"VehStop_D_Stat": 1 if speed <= self.STANDSTILL_THRESHOLD else random.choice((0, 2, 3))} - return self.packer.make_can_msg_panda("DesiredTorqBrk", 0, values) - - # Current curvature - def _yaw_rate_msg(self, curvature: float, speed: float, quality_flag=True): - values = {"VehYaw_W_Actl": curvature * speed, "VehYawWActl_D_Qf": 3 if quality_flag else 0, - "VehRollYaw_No_Cnt": self.cnt_yaw_rate % 256} - self.__class__.cnt_yaw_rate += 1 - return self.packer.make_can_msg_panda("Yaw_Data_FD1", 0, values, fix_checksum=checksum) - - # Drive throttle input - def _user_gas_msg(self, gas: float): - values = {"ApedPos_Pc_ActlArb": gas} - return self.packer.make_can_msg_panda("EngVehicleSpThrottle", 0, values) - - # Cruise status - def _pcm_status_msg(self, enable: bool): - # brake pedal and cruise state share same message, so we have to send - # the other signal too - brake = self.safety.get_brake_pressed_prev() - values = { - "BpedDrvAppl_D_Actl": 2 if brake else 1, - "CcStat_D_Actl": 5 if enable else 0, - } - return self.packer.make_can_msg_panda("EngBrakeData", 0, values) - - # LKAS command - def _lkas_command_msg(self, action: int): - values = { - "LkaActvStats_D2_Req": action, - } - return self.packer.make_can_msg_panda("Lane_Assist_Data1", 0, values) - - # LCA command - def _lat_ctl_msg(self, enabled: bool, path_offset: float, path_angle: float, curvature: float, curvature_rate: float): - if self.STEER_MESSAGE == MSG_LateralMotionControl: - values = { - "LatCtl_D_Rq": 1 if enabled else 0, - "LatCtlPathOffst_L_Actl": path_offset, # Path offset [-5.12|5.11] meter - "LatCtlPath_An_Actl": path_angle, # Path angle [-0.5|0.5235] radians - "LatCtlCurv_NoRate_Actl": curvature_rate, # Curvature rate [-0.001024|0.00102375] 1/meter^2 - "LatCtlCurv_No_Actl": curvature, # Curvature [-0.02|0.02094] 1/meter - } - return self.packer.make_can_msg_panda("LateralMotionControl", 0, values) - elif self.STEER_MESSAGE == MSG_LateralMotionControl2: - values = { - "LatCtl_D2_Rq": 1 if enabled else 0, - "LatCtlPathOffst_L_Actl": path_offset, # Path offset [-5.12|5.11] meter - "LatCtlPath_An_Actl": path_angle, # Path angle [-0.5|0.5235] radians - "LatCtlCrv_NoRate2_Actl": curvature_rate, # Curvature rate [-0.001024|0.001023] 1/meter^2 - "LatCtlCurv_No_Actl": curvature, # Curvature [-0.02|0.02094] 1/meter - } - return self.packer.make_can_msg_panda("LateralMotionControl2", 0, values) - - # Cruise control buttons - def _acc_button_msg(self, button: int, bus: int): - values = { - "CcAslButtnCnclPress": 1 if button == Buttons.CANCEL else 0, - "CcAsllButtnResPress": 1 if button == Buttons.RESUME else 0, - "TjaButtnOnOffPress": 1 if button == Buttons.TJA_TOGGLE else 0, - } - return self.packer.make_can_msg_panda("Steering_Data_FD1", bus, values) - - def test_rx_hook(self): - # checksum, counter, and quality flag checks - for quality_flag in [True, False]: - for msg in ["speed", "speed_2", "yaw"]: - self.safety.set_controls_allowed(True) - # send multiple times to verify counter checks - for _ in range(10): - if msg == "speed": - to_push = self._speed_msg(0, quality_flag=quality_flag) - elif msg == "speed_2": - to_push = self._speed_msg_2(0, quality_flag=quality_flag) - elif msg == "yaw": - to_push = self._yaw_rate_msg(0, 0, quality_flag=quality_flag) - - self.assertEqual(quality_flag, self._rx(to_push)) - self.assertEqual(quality_flag, self.safety.get_controls_allowed()) - - # Mess with checksum to make it fail, checksum is not checked for 2nd speed - to_push[0].data[3] = 0 # Speed checksum & half of yaw signal - should_rx = msg == "speed_2" and quality_flag - self.assertEqual(should_rx, self._rx(to_push)) - self.assertEqual(should_rx, self.safety.get_controls_allowed()) - - def test_rx_hook_speed_mismatch(self): - # Ford relies on speed for driver curvature limiting, so it checks two sources - for speed in np.arange(0, 40, 0.5): - for speed_delta in np.arange(-5, 5, 0.1): - speed_2 = round(max(speed + speed_delta, 0), 1) - # Set controls allowed in between rx since first message can reset it - self._rx(self._speed_msg(speed)) - self.safety.set_controls_allowed(True) - self._rx(self._speed_msg_2(speed_2)) - - within_delta = abs(speed - speed_2) <= self.MAX_SPEED_DELTA - self.assertEqual(self.safety.get_controls_allowed(), within_delta) - - def test_angle_measurements(self): - """Tests rx hook correctly parses the curvature measurement from the vehicle speed and yaw rate""" - for speed in np.arange(0.5, 40, 0.5): - for curvature in np.arange(0, self.MAX_CURVATURE * 2, 2e-3): - self._rx(self._speed_msg(speed)) - for c in (curvature, -curvature, 0, 0, 0, 0): - self._rx(self._yaw_rate_msg(c, speed)) - - self.assertEqual(self.safety.get_angle_meas_min(), round(-curvature * self.DEG_TO_CAN)) - self.assertEqual(self.safety.get_angle_meas_max(), round(curvature * self.DEG_TO_CAN)) - - self._rx(self._yaw_rate_msg(0, speed)) - self.assertEqual(self.safety.get_angle_meas_min(), round(-curvature * self.DEG_TO_CAN)) - self.assertEqual(self.safety.get_angle_meas_max(), 0) - - self._rx(self._yaw_rate_msg(0, speed)) - self.assertEqual(self.safety.get_angle_meas_min(), 0) - self.assertEqual(self.safety.get_angle_meas_max(), 0) - - def test_steer_allowed(self): - path_offsets = np.arange(-5.12, 5.11, 1).round() - path_angles = np.arange(-0.5, 0.5235, 0.1).round(1) - curvature_rates = np.arange(-0.001024, 0.00102375, 0.001).round(3) - curvatures = np.arange(-0.02, 0.02094, 0.01).round(2) - - for speed in (self.CURVATURE_ERROR_MIN_SPEED - 1, - self.CURVATURE_ERROR_MIN_SPEED + 1): - for controls_allowed in (True, False): - for steer_control_enabled in (True, False): - for path_offset in path_offsets: - for path_angle in path_angles: - for curvature_rate in curvature_rates: - for curvature in curvatures: - self.safety.set_controls_allowed(controls_allowed) - self._set_prev_desired_angle(curvature) - self._reset_curvature_measurement(curvature, speed) - - should_tx = path_offset == 0 and path_angle == 0 and curvature_rate == 0 - # when request bit is 0, only allow curvature of 0 since the signal range - # is not large enough to enforce it tracking measured - should_tx = should_tx and (controls_allowed if steer_control_enabled else curvature == 0) - with self.subTest(controls_allowed=controls_allowed, steer_control_enabled=steer_control_enabled, - path_offset=path_offset, path_angle=path_angle, curvature_rate=curvature_rate, - curvature=curvature): - self.assertEqual(should_tx, self._tx(self._lat_ctl_msg(steer_control_enabled, path_offset, path_angle, curvature, curvature_rate))) - - def test_curvature_rate_limit_up(self): - """ - When the curvature error is exceeded, commanded curvature must start moving towards meas respecting rate limits. - Since panda allows higher rate limits to avoid false positives, we need to allow a lower rate to move towards meas. - """ - self.safety.set_controls_allowed(True) - small_curvature = 2 / self.DEG_TO_CAN # significant small amount of curvature to cross boundary - - for speed in np.arange(0, 40, 0.5): - limit_command = speed > self.CURVATURE_ERROR_MIN_SPEED - max_delta_up = np.interp(speed, self.ANGLE_RATE_BP, self.ANGLE_RATE_UP) - max_delta_up_lower = np.interp(speed + 1, self.ANGLE_RATE_BP, self.ANGLE_RATE_UP) - - cases = [ - (not limit_command, 0), - (not limit_command, max_delta_up_lower - small_curvature), - (True, max_delta_up_lower), - (True, max_delta_up), - (False, max_delta_up + small_curvature), - ] - - for sign in (-1, 1): - self._reset_curvature_measurement(sign * (self.MAX_CURVATURE_ERROR + 1e-3), speed) - for should_tx, curvature in cases: - self._set_prev_desired_angle(sign * small_curvature) - self.assertEqual(should_tx, self._tx(self._lat_ctl_msg(True, 0, 0, sign * (small_curvature + curvature), 0))) - - def test_curvature_rate_limit_down(self): - self.safety.set_controls_allowed(True) - small_curvature = 2 / self.DEG_TO_CAN # significant small amount of curvature to cross boundary - - for speed in np.arange(0, 40, 0.5): - limit_command = speed > self.CURVATURE_ERROR_MIN_SPEED - max_delta_down = np.interp(speed, self.ANGLE_RATE_BP, self.ANGLE_RATE_DOWN) - max_delta_down_lower = np.interp(speed + 1, self.ANGLE_RATE_BP, self.ANGLE_RATE_DOWN) - - cases = [ - (not limit_command, self.MAX_CURVATURE), - (not limit_command, self.MAX_CURVATURE - max_delta_down_lower + small_curvature), - (True, self.MAX_CURVATURE - max_delta_down_lower), - (True, self.MAX_CURVATURE - max_delta_down), - (False, self.MAX_CURVATURE - max_delta_down - small_curvature), - ] - - for sign in (-1, 1): - self._reset_curvature_measurement(sign * (self.MAX_CURVATURE - self.MAX_CURVATURE_ERROR - 1e-3), speed) - for should_tx, curvature in cases: - self._set_prev_desired_angle(sign * self.MAX_CURVATURE) - self.assertEqual(should_tx, self._tx(self._lat_ctl_msg(True, 0, 0, sign * curvature, 0))) - - def test_prevent_lkas_action(self): - self.safety.set_controls_allowed(1) - self.assertFalse(self._tx(self._lkas_command_msg(1))) - - self.safety.set_controls_allowed(0) - self.assertFalse(self._tx(self._lkas_command_msg(1))) - - def test_acc_buttons(self): - for allowed in (0, 1): - self.safety.set_controls_allowed(allowed) - for enabled in (True, False): - self._rx(self._pcm_status_msg(enabled)) - self.assertTrue(self._tx(self._acc_button_msg(Buttons.TJA_TOGGLE, 2))) - - for allowed in (0, 1): - self.safety.set_controls_allowed(allowed) - for bus in (0, 2): - self.assertEqual(allowed, self._tx(self._acc_button_msg(Buttons.RESUME, bus))) - - for enabled in (True, False): - self._rx(self._pcm_status_msg(enabled)) - for bus in (0, 2): - self.assertEqual(enabled, self._tx(self._acc_button_msg(Buttons.CANCEL, bus))) - - -class TestFordStockSafety(TestFordSafetyBase): - STEER_MESSAGE = MSG_LateralMotionControl - - TX_MSGS = [ - [MSG_Steering_Data_FD1, 0], [MSG_Steering_Data_FD1, 2], [MSG_ACCDATA_3, 0], [MSG_Lane_Assist_Data1, 0], - [MSG_LateralMotionControl, 0], [MSG_IPMA_Data, 0], - ] - - def setUp(self): - self.packer = CANPackerPanda("ford_lincoln_base_pt") - self.safety = libpanda_py.libpanda - self.safety.set_safety_hooks(Panda.SAFETY_FORD, 0) - self.safety.init_tests() - - -class TestFordCANFDStockSafety(TestFordSafetyBase): - STEER_MESSAGE = MSG_LateralMotionControl2 - - TX_MSGS = [ - [MSG_Steering_Data_FD1, 0], [MSG_Steering_Data_FD1, 2], [MSG_ACCDATA_3, 0], [MSG_Lane_Assist_Data1, 0], - [MSG_LateralMotionControl2, 0], [MSG_IPMA_Data, 0], - ] - - def setUp(self): - self.packer = CANPackerPanda("ford_lincoln_base_pt") - self.safety = libpanda_py.libpanda - self.safety.set_safety_hooks(Panda.SAFETY_FORD, Panda.FLAG_FORD_CANFD) - self.safety.init_tests() - - -class TestFordLongitudinalSafetyBase(TestFordSafetyBase): - RELAY_MALFUNCTION_ADDRS = {0: (MSG_ACCDATA, MSG_ACCDATA_3, MSG_Lane_Assist_Data1, MSG_LateralMotionControl, - MSG_LateralMotionControl2, MSG_IPMA_Data)} - - FWD_BLACKLISTED_ADDRS = {2: [MSG_ACCDATA, MSG_ACCDATA_3, MSG_Lane_Assist_Data1, MSG_LateralMotionControl, - MSG_LateralMotionControl2, MSG_IPMA_Data]} - - MAX_ACCEL = 2.0 # accel is used for brakes, but openpilot can set positive values - MIN_ACCEL = -3.5 - INACTIVE_ACCEL = 0.0 - - MAX_GAS = 2.0 - MIN_GAS = -0.5 - INACTIVE_GAS = -5.0 - - @classmethod - def setUpClass(cls): - if cls.__name__ == "TestFordLongitudinalSafetyBase": - raise unittest.SkipTest - - # ACC command - def _acc_command_msg(self, gas: float, brake: float, cmbb_deny: bool = False): - values = { - "AccPrpl_A_Rq": gas, # [-5|5.23] m/s^2 - "AccPrpl_A_Pred": gas, # [-5|5.23] m/s^2 - "AccBrkTot_A_Rq": brake, # [-20|11.9449] m/s^2 - "CmbbDeny_B_Actl": 1 if cmbb_deny else 0, # [0|1] deny AEB actuation - } - return self.packer.make_can_msg_panda("ACCDATA", 0, values) - - def test_stock_aeb(self): - # Test that CmbbDeny_B_Actl is never 1, it prevents the ABS module from actuating AEB requests from ACCDATA_2 - for controls_allowed in (True, False): - self.safety.set_controls_allowed(controls_allowed) - for cmbb_deny in (True, False): - should_tx = not cmbb_deny - self.assertEqual(should_tx, self._tx(self._acc_command_msg(self.INACTIVE_GAS, self.INACTIVE_ACCEL, cmbb_deny))) - should_tx = controls_allowed and not cmbb_deny - self.assertEqual(should_tx, self._tx(self._acc_command_msg(self.MAX_GAS, self.MAX_ACCEL, cmbb_deny))) - - def test_gas_safety_check(self): - for controls_allowed in (True, False): - self.safety.set_controls_allowed(controls_allowed) - for gas in np.concatenate((np.arange(self.MIN_GAS - 2, self.MAX_GAS + 2, 0.05), [self.INACTIVE_GAS])): - gas = round(gas, 2) # floats might not hit exact boundary conditions without rounding - should_tx = (controls_allowed and self.MIN_GAS <= gas <= self.MAX_GAS) or gas == self.INACTIVE_GAS - self.assertEqual(should_tx, self._tx(self._acc_command_msg(gas, self.INACTIVE_ACCEL))) - - def test_brake_safety_check(self): - for controls_allowed in (True, False): - self.safety.set_controls_allowed(controls_allowed) - for brake in np.arange(self.MIN_ACCEL - 2, self.MAX_ACCEL + 2, 0.05): - brake = round(brake, 2) # floats might not hit exact boundary conditions without rounding - should_tx = (controls_allowed and self.MIN_ACCEL <= brake <= self.MAX_ACCEL) or brake == self.INACTIVE_ACCEL - self.assertEqual(should_tx, self._tx(self._acc_command_msg(self.INACTIVE_GAS, brake))) - - -class TestFordLongitudinalSafety(TestFordLongitudinalSafetyBase): - STEER_MESSAGE = MSG_LateralMotionControl - - TX_MSGS = [ - [MSG_Steering_Data_FD1, 0], [MSG_Steering_Data_FD1, 2], [MSG_ACCDATA, 0], [MSG_ACCDATA_3, 0], [MSG_Lane_Assist_Data1, 0], - [MSG_LateralMotionControl, 0], [MSG_IPMA_Data, 0], - ] - - def setUp(self): - self.packer = CANPackerPanda("ford_lincoln_base_pt") - self.safety = libpanda_py.libpanda - self.safety.set_safety_hooks(Panda.SAFETY_FORD, Panda.FLAG_FORD_LONG_CONTROL) - self.safety.init_tests() - - -class TestFordCANFDLongitudinalSafety(TestFordLongitudinalSafetyBase): - STEER_MESSAGE = MSG_LateralMotionControl2 - - TX_MSGS = [ - [MSG_Steering_Data_FD1, 0], [MSG_Steering_Data_FD1, 2], [MSG_ACCDATA, 0], [MSG_ACCDATA_3, 0], [MSG_Lane_Assist_Data1, 0], - [MSG_LateralMotionControl2, 0], [MSG_IPMA_Data, 0], - ] - - def setUp(self): - self.packer = CANPackerPanda("ford_lincoln_base_pt") - self.safety = libpanda_py.libpanda - self.safety.set_safety_hooks(Panda.SAFETY_FORD, Panda.FLAG_FORD_LONG_CONTROL | Panda.FLAG_FORD_CANFD) - self.safety.init_tests() - - -if __name__ == "__main__": - unittest.main() diff --git a/panda/tests/safety/test_gm.py b/panda/tests/safety/test_gm.py deleted file mode 100644 index 860519825db560..00000000000000 --- a/panda/tests/safety/test_gm.py +++ /dev/null @@ -1,382 +0,0 @@ -#!/usr/bin/env python3 -import unittest -from panda import Panda -from panda.tests.libpanda import libpanda_py -import panda.tests.safety.common as common -from panda.tests.safety.common import CANPackerPanda - - -class Buttons: - UNPRESS = 1 - RES_ACCEL = 2 - DECEL_SET = 3 - CANCEL = 6 - - -class GmLongitudinalBase(common.PandaCarSafetyTest, common.LongitudinalGasBrakeSafetyTest): - # pylint: disable=no-member,abstract-method - - RELAY_MALFUNCTION_ADDRS = {0: (0x180, 0x2CB)} # ASCMLKASteeringCmd, ASCMGasRegenCmd - - MAX_POSSIBLE_BRAKE = 2 ** 12 - MAX_BRAKE = 400 - - MAX_POSSIBLE_GAS = 2 ** 12 - - PCM_CRUISE = False # openpilot can control the PCM state if longitudinal - - def _send_brake_msg(self, brake): - values = {"FrictionBrakeCmd": -brake} - return self.packer_chassis.make_can_msg_panda("EBCMFrictionBrakeCmd", self.BRAKE_BUS, values) - - def _send_gas_msg(self, gas): - values = {"GasRegenCmd": gas} - return self.packer.make_can_msg_panda("ASCMGasRegenCmd", 0, values) - - # override these tests from PandaCarSafetyTest, GM longitudinal uses button enable - def _pcm_status_msg(self, enable): - raise NotImplementedError - - def test_disable_control_allowed_from_cruise(self): - pass - - def test_enable_control_allowed_from_cruise(self): - pass - - def test_cruise_engaged_prev(self): - pass - - def test_set_resume_buttons(self): - """ - SET and RESUME enter controls allowed on their falling and rising edges, respectively. - """ - for btn_prev in range(8): - for btn_cur in range(8): - with self.subTest(btn_prev=btn_prev, btn_cur=btn_cur): - self._rx(self._button_msg(btn_prev)) - self.safety.set_controls_allowed(0) - for _ in range(10): - self._rx(self._button_msg(btn_cur)) - - should_enable = btn_cur != Buttons.DECEL_SET and btn_prev == Buttons.DECEL_SET - should_enable = should_enable or (btn_cur == Buttons.RES_ACCEL and btn_prev != Buttons.RES_ACCEL) - should_enable = should_enable and btn_cur != Buttons.CANCEL - self.assertEqual(should_enable, self.safety.get_controls_allowed()) - - def test_cancel_button(self): - self.safety.set_controls_allowed(1) - self._rx(self._button_msg(Buttons.CANCEL)) - self.assertFalse(self.safety.get_controls_allowed()) - - -class TestGmSafetyBase(common.PandaCarSafetyTest, common.DriverTorqueSteeringSafetyTest): - STANDSTILL_THRESHOLD = 10 * 0.0311 - # Ensures ASCM is off on ASCM cars, and relay is not malfunctioning for camera-ACC cars - RELAY_MALFUNCTION_ADDRS = {0: (0x180,)} # ASCMLKASteeringCmd - BUTTONS_BUS = 0 # rx or tx - BRAKE_BUS = 0 # tx only - - MAX_RATE_UP = 10 - MAX_RATE_DOWN = 15 - MAX_TORQUE = 300 - MAX_RT_DELTA = 128 - RT_INTERVAL = 250000 - DRIVER_TORQUE_ALLOWANCE = 65 - DRIVER_TORQUE_FACTOR = 4 - - PCM_CRUISE = True # openpilot is tied to the PCM state if not longitudinal - - @classmethod - def setUpClass(cls): - if cls.__name__ == "TestGmSafetyBase": - cls.packer = None - cls.safety = None - raise unittest.SkipTest - - def setUp(self): - self.packer = CANPackerPanda("gm_global_a_powertrain_generated") - self.packer_chassis = CANPackerPanda("gm_global_a_chassis") - self.safety = libpanda_py.libpanda - self.safety.set_safety_hooks(Panda.SAFETY_GM, 0) - self.safety.init_tests() - - def _pcm_status_msg(self, enable): - if self.PCM_CRUISE: - values = {"CruiseState": enable} - return self.packer.make_can_msg_panda("AcceleratorPedal2", 0, values) - else: - raise NotImplementedError - - def _speed_msg(self, speed): - values = {"%sWheelSpd" % s: speed for s in ["RL", "RR"]} - return self.packer.make_can_msg_panda("EBCMWheelSpdRear", 0, values) - - def _user_brake_msg(self, brake): - # GM safety has a brake threshold of 8 - values = {"BrakePedalPos": 8 if brake else 0} - return self.packer.make_can_msg_panda("ECMAcceleratorPos", 0, values) - - def _user_regen_msg(self, regen): - values = {"RegenPaddle": 2 if regen else 0} - return self.packer.make_can_msg_panda("EBCMRegenPaddle", 0, values) - - def _user_gas_msg(self, gas): - values = {"AcceleratorPedal2": 1 if gas else 0} - if self.PCM_CRUISE: - # Fill CruiseState with expected value if the safety mode reads cruise state from gas msg - values["CruiseState"] = self.safety.get_controls_allowed() - return self.packer.make_can_msg_panda("AcceleratorPedal2", 0, values) - - def _torque_driver_msg(self, torque): - # Safety tests assume driver torque is an int, use DBC factor - values = {"LKADriverAppldTrq": torque * 0.01} - return self.packer.make_can_msg_panda("PSCMStatus", 0, values) - - def _torque_cmd_msg(self, torque, steer_req=1): - values = {"LKASteeringCmd": torque, "LKASteeringCmdActive": steer_req} - return self.packer.make_can_msg_panda("ASCMLKASteeringCmd", 0, values) - - def _button_msg(self, buttons): - values = {"ACCButtons": buttons} - return self.packer.make_can_msg_panda("ASCMSteeringButton", self.BUTTONS_BUS, values) - - -class TestGmAscmSafety(GmLongitudinalBase, TestGmSafetyBase): - TX_MSGS = [[0x180, 0], [0x409, 0], [0x40A, 0], [0x2CB, 0], [0x370, 0], # pt bus - [0xA1, 1], [0x306, 1], [0x308, 1], [0x310, 1], # obs bus - [0x315, 2]] # ch bus - FWD_BLACKLISTED_ADDRS: dict[int, list[int]] = {} - FWD_BUS_LOOKUP: dict[int, int] = {} - BRAKE_BUS = 2 - - MAX_GAS = 3072 - MIN_GAS = 1404 # maximum regen - INACTIVE_GAS = 1404 - - def setUp(self): - self.packer = CANPackerPanda("gm_global_a_powertrain_generated") - self.packer_chassis = CANPackerPanda("gm_global_a_chassis") - self.safety = libpanda_py.libpanda - self.safety.set_safety_hooks(Panda.SAFETY_GM, 0) - self.safety.init_tests() - - -class TestGmCameraSafetyBase(TestGmSafetyBase): - - FWD_BUS_LOOKUP = {0: 2, 2: 0} - - @classmethod - def setUpClass(cls): - if cls.__name__ == "TestGmCameraSafetyBase": - cls.packer = None - cls.safety = None - raise unittest.SkipTest - - def _user_brake_msg(self, brake): - values = {"BrakePressed": brake} - return self.packer.make_can_msg_panda("ECMEngineStatus", 0, values) - - -class TestGmCameraSafety(TestGmCameraSafetyBase): - TX_MSGS = [[0x180, 0], # pt bus - [0x184, 2]] # camera bus - FWD_BLACKLISTED_ADDRS = {2: [0x180], 0: [0x184]} # block LKAS message and PSCMStatus - BUTTONS_BUS = 2 # tx only - - def setUp(self): - self.packer = CANPackerPanda("gm_global_a_powertrain_generated") - self.packer_chassis = CANPackerPanda("gm_global_a_chassis") - self.safety = libpanda_py.libpanda - self.safety.set_safety_hooks(Panda.SAFETY_GM, Panda.FLAG_GM_HW_CAM) - self.safety.init_tests() - - def test_buttons(self): - # Only CANCEL button is allowed while cruise is enabled - self.safety.set_controls_allowed(0) - for btn in range(8): - self.assertFalse(self._tx(self._button_msg(btn))) - - self.safety.set_controls_allowed(1) - for btn in range(8): - self.assertFalse(self._tx(self._button_msg(btn))) - - for enabled in (True, False): - self._rx(self._pcm_status_msg(enabled)) - self.assertEqual(enabled, self._tx(self._button_msg(Buttons.CANCEL))) - - -class TestGmCameraLongitudinalSafety(GmLongitudinalBase, TestGmCameraSafetyBase): - TX_MSGS = [[0x180, 0], [0x315, 0], [0x2CB, 0], [0x370, 0], # pt bus - [0x184, 2]] # camera bus - FWD_BLACKLISTED_ADDRS = {2: [0x180, 0x2CB, 0x370, 0x315], 0: [0x184]} # block LKAS, ACC messages and PSCMStatus - BUTTONS_BUS = 0 # rx only - - MAX_GAS = 3400 - MIN_GAS = 1514 # maximum regen - INACTIVE_GAS = 1554 - - def setUp(self): - self.packer = CANPackerPanda("gm_global_a_powertrain_generated") - self.packer_chassis = CANPackerPanda("gm_global_a_chassis") - self.safety = libpanda_py.libpanda - self.safety.set_safety_hooks(Panda.SAFETY_GM, Panda.FLAG_GM_HW_CAM | Panda.FLAG_GM_HW_CAM_LONG) - self.safety.init_tests() - -class TestGmSdgmSafety(TestGmSafetyBase): - FWD_BUS_LOOKUP = {0: 2, 2: 0} - TX_MSGS = [[0x180, 0], [0x1E1, 0], # pt bus - [0x184, 2]] # obj bus - FWD_BLACKLISTED_ADDRS = {2: [0x180], 0: [0x184]} # block LKAS message and PSCMStatus - BUTTONS_BUS = 0 # tx - - def setUp(self): - self.packer = CANPackerPanda("gm_global_a_powertrain_generated") - self.packer_chassis = CANPackerPanda("gm_global_a_chassis") - self.safety = libpanda_py.libpanda - self.safety.set_safety_hooks(Panda.SAFETY_GM, Panda.FLAG_GM_HW_SDGM) - self.safety.init_tests() - - def _user_brake_msg(self, brake): - values = {"BrakePressed": brake} - return self.packer.make_can_msg_panda("ECMEngineStatus", 0, values) - - def test_buttons(self): - # Only CANCEL button is allowed while cruise is enabled - self.safety.set_controls_allowed(0) - for btn in range(8): - self.assertFalse(self._tx(self._button_msg(btn))) - - self.safety.set_controls_allowed(1) - for btn in range(8): - self.assertFalse(self._tx(self._button_msg(btn))) - - for enabled in (True, False): - self._rx(self._pcm_status_msg(enabled)) - self.assertEqual(enabled, self._tx(self._button_msg(Buttons.CANCEL))) - -##### OPGM TESTS ##### - -def interceptor_msg(gas, addr): - to_send = common.make_msg(0, addr, 6) - to_send[0].data[0] = (gas & 0xFF00) >> 8 - to_send[0].data[1] = gas & 0xFF - to_send[0].data[2] = (gas & 0xFF00) >> 8 - to_send[0].data[3] = gas & 0xFF - return to_send - - -class TestGmInterceptorSafety(common.GasInterceptorSafetyTest, TestGmCameraSafety): - INTERCEPTOR_THRESHOLD = 515 - - def setUp(self): - self.packer = CANPackerPanda("gm_global_a_powertrain_generated") - self.packer_chassis = CANPackerPanda("gm_global_a_chassis") - self.safety = libpanda_py.libpanda - self.safety.set_safety_hooks( - Panda.SAFETY_GM, - Panda.FLAG_GM_HW_CAM | Panda.FLAG_GM_NO_ACC | Panda.FLAG_GM_PEDAL_LONG | Panda.FLAG_GM_GAS_INTERCEPTOR) - self.safety.init_tests() - - def test_pcm_sets_cruise_engaged(self): - for enabled in [True, False]: - self._rx(self._pcm_status_msg(enabled)) - self.assertEqual(enabled, self.safety.get_cruise_engaged_prev()) - - def test_no_pcm_enable(self): - self._rx(self._interceptor_user_gas(0)) - self.safety.set_controls_allowed(0) - self.assertFalse(self.safety.get_controls_allowed()) - self._rx(self._pcm_status_msg(True)) - self.assertFalse(self.safety.get_controls_allowed()) - self.assertTrue(self.safety.get_cruise_engaged_prev()) - - def test_no_response_to_acc_pcm_message(self): - self._rx(self._interceptor_user_gas(0)) - def _acc_pcm_msg(enable): - values = {"CruiseState": enable} - return self.packer.make_can_msg_panda("AcceleratorPedal2", 0, values) - for enable in [True, False]: - self.safety.set_controls_allowed(enable) - self._rx(_acc_pcm_msg(True)) - self.assertEqual(enable, self.safety.get_controls_allowed()) - self._rx(_acc_pcm_msg(False)) - self.assertEqual(enable, self.safety.get_controls_allowed()) - - def test_buttons(self): - self._rx(self._interceptor_user_gas(0)) - # Only CANCEL button is allowed while cruise is enabled - self.safety.set_controls_allowed(0) - for btn in range(8): - self.assertFalse(self._tx(self._button_msg(btn))) - - self.safety.set_controls_allowed(1) - for btn in range(8): - self.assertFalse(self._tx(self._button_msg(btn))) - - self.safety.set_controls_allowed(1) - for enabled in (True, False): - self._rx(self._pcm_status_msg(enabled)) - self.assertEqual(enabled, self._tx(self._button_msg(Buttons.CANCEL))) - self.assertTrue(self.safety.get_controls_allowed()) - - def test_fwd_hook(self): - pass - - def test_disable_control_allowed_from_cruise(self): - pass - - def test_enable_control_allowed_from_cruise(self): - pass - - def _interceptor_gas_cmd(self, gas): - return interceptor_msg(gas, 0x200) - - def _interceptor_user_gas(self, gas): - return interceptor_msg(gas, 0x201) - - def _pcm_status_msg(self, enable): - values = {"CruiseActive": enable} - return self.packer.make_can_msg_panda("ECMCruiseControl", 0, values) - - -class TestGmCcLongitudinalSafety(TestGmCameraSafety): - TX_MSGS = [[384, 0], [481, 0], [388, 2]] - FWD_BLACKLISTED_ADDRS = {2: [384], 0: [388]} # block LKAS message and PSCMStatus - BUTTONS_BUS = 0 # tx only - - MAX_GAS = 3400 - MAX_REGEN = 1514 - INACTIVE_REGEN = 1554 - MAX_BRAKE = 400 - - def setUp(self): - self.packer = CANPackerPanda("gm_global_a_powertrain_generated") - self.packer_chassis = CANPackerPanda("gm_global_a_chassis") - self.safety = libpanda_py.libpanda - self.safety.set_safety_hooks(Panda.SAFETY_GM, Panda.FLAG_GM_HW_CAM | Panda.FLAG_GM_NO_ACC | Panda.FLAG_GM_CC_LONG) - self.safety.init_tests() - - def _pcm_status_msg(self, enable): - values = {"CruiseActive": enable} - return self.packer.make_can_msg_panda("ECMCruiseControl", 0, values) - - def test_fwd_hook(self): - pass - - def test_buttons(self): - self.safety.set_controls_allowed(0) - for btn in range(8): - self.assertFalse(self._tx(self._button_msg(btn))) - - self.safety.set_controls_allowed(1) - for btn in range(8): - self.assertFalse(self._tx(self._button_msg(btn))) - - for enabled in (True, False): - for btn in (Buttons.RES_ACCEL, Buttons.DECEL_SET, Buttons.CANCEL): - self._rx(self._pcm_status_msg(enabled)) - self.assertEqual(enabled, self._tx(self._button_msg(btn))) - - -if __name__ == "__main__": - unittest.main() diff --git a/panda/tests/safety/test_honda.py b/panda/tests/safety/test_honda.py deleted file mode 100644 index 8262b525663415..00000000000000 --- a/panda/tests/safety/test_honda.py +++ /dev/null @@ -1,616 +0,0 @@ -#!/usr/bin/env python3 -import unittest -import numpy as np - -from panda import Panda -from panda.tests.libpanda import libpanda_py -import panda.tests.safety.common as common -from panda.tests.safety.common import CANPackerPanda, MAX_WRONG_COUNTERS - -HONDA_N_COMMON_TX_MSGS = [[0xE4, 0], [0x194, 0], [0x1FA, 0], [0x30C, 0], [0x33D, 0]] - -class Btn: - NONE = 0 - MAIN = 1 - CANCEL = 2 - SET = 3 - RESUME = 4 - -HONDA_NIDEC = 0 -HONDA_BOSCH = 1 - - -# Honda safety has several different configurations tested here: -# * Nidec -# * normal (PCM-enable) -# * alt SCM messages (PCM-enable) -# * Bosch -# * Bosch with Longitudinal Support -# * Bosch Radarless -# * Bosch Radarless with Longitudinal Support - - -class HondaButtonEnableBase(common.PandaCarSafetyTest): - # pylint: disable=no-member,abstract-method - - # override these inherited tests since we're using button enable - def test_disable_control_allowed_from_cruise(self): - pass - - def test_enable_control_allowed_from_cruise(self): - pass - - def test_cruise_engaged_prev(self): - pass - - def test_buttons_with_main_off(self): - for btn in (Btn.SET, Btn.RESUME, Btn.CANCEL): - self.safety.set_controls_allowed(1) - self._rx(self._acc_state_msg(False)) - self._rx(self._button_msg(btn, main_on=False)) - self.assertFalse(self.safety.get_controls_allowed()) - - def test_set_resume_buttons(self): - """ - Both SET and RES should enter controls allowed on their falling edge. - """ - for main_on in (True, False): - self._rx(self._acc_state_msg(main_on)) - for btn_prev in range(8): - for btn_cur in range(8): - self._rx(self._button_msg(Btn.NONE)) - self.safety.set_controls_allowed(0) - for _ in range(10): - self._rx(self._button_msg(btn_prev)) - self.assertFalse(self.safety.get_controls_allowed()) - - # should enter controls allowed on falling edge and not transitioning to cancel or main - should_enable = (main_on and - btn_cur != btn_prev and - btn_prev in (Btn.RESUME, Btn.SET) and - btn_cur not in (Btn.CANCEL, Btn.MAIN)) - - self._rx(self._button_msg(btn_cur, main_on=main_on)) - self.assertEqual(should_enable, self.safety.get_controls_allowed(), msg=f"{main_on=} {btn_prev=} {btn_cur=}") - - def test_main_cancel_buttons(self): - """ - Both MAIN and CANCEL should exit controls immediately. - """ - for btn in (Btn.MAIN, Btn.CANCEL): - self.safety.set_controls_allowed(1) - self._rx(self._button_msg(btn, main_on=True)) - self.assertFalse(self.safety.get_controls_allowed()) - - def test_disengage_on_main(self): - self.safety.set_controls_allowed(1) - self._rx(self._acc_state_msg(True)) - self.assertTrue(self.safety.get_controls_allowed()) - self._rx(self._acc_state_msg(False)) - self.assertFalse(self.safety.get_controls_allowed()) - - def test_rx_hook(self): - - # TODO: move this test to common - # checksum checks - for msg in ["btn", "gas", "speed"]: - self.safety.set_controls_allowed(1) - if msg == "btn": - to_push = self._button_msg(Btn.SET) - if msg == "gas": - to_push = self._user_gas_msg(0) - if msg == "speed": - to_push = self._speed_msg(0) - self.assertTrue(self._rx(to_push)) - if msg != "btn": - to_push[0].data[4] = 0 # invalidate checksum - to_push[0].data[5] = 0 - to_push[0].data[6] = 0 - to_push[0].data[7] = 0 - self.assertFalse(self._rx(to_push)) - self.assertFalse(self.safety.get_controls_allowed()) - - # counter - # reset wrong_counters to zero by sending valid messages - for i in range(MAX_WRONG_COUNTERS + 1): - self.__class__.cnt_speed += 1 - self.__class__.cnt_button += 1 - self.__class__.cnt_powertrain_data += 1 - if i < MAX_WRONG_COUNTERS: - self.safety.set_controls_allowed(1) - self._rx(self._button_msg(Btn.SET)) - self._rx(self._speed_msg(0)) - self._rx(self._user_gas_msg(0)) - else: - self.assertFalse(self._rx(self._button_msg(Btn.SET))) - self.assertFalse(self._rx(self._speed_msg(0))) - self.assertFalse(self._rx(self._user_gas_msg(0))) - self.assertFalse(self.safety.get_controls_allowed()) - - # restore counters for future tests with a couple of good messages - for _ in range(2): - self.safety.set_controls_allowed(1) - self._rx(self._button_msg(Btn.SET, main_on=True)) - self._rx(self._speed_msg(0)) - self._rx(self._user_gas_msg(0)) - self._rx(self._button_msg(Btn.SET, main_on=True)) - self.assertTrue(self.safety.get_controls_allowed()) - - -class HondaPcmEnableBase(common.PandaCarSafetyTest): - # pylint: disable=no-member,abstract-method - - def test_buttons(self): - """ - Buttons should only cancel in this configuration, - since our state is tied to the PCM's cruise state. - """ - for controls_allowed in (True, False): - for main_on in (True, False): - # not a valid state - if controls_allowed and not main_on: - continue - - for btn in (Btn.SET, Btn.RESUME, Btn.CANCEL): - self.safety.set_controls_allowed(controls_allowed) - self._rx(self._acc_state_msg(main_on)) - - # btn + none for falling edge - self._rx(self._button_msg(btn, main_on=main_on)) - self._rx(self._button_msg(Btn.NONE, main_on=main_on)) - - if btn == Btn.CANCEL: - self.assertFalse(self.safety.get_controls_allowed()) - else: - self.assertEqual(controls_allowed, self.safety.get_controls_allowed()) - - -class HondaBase(common.PandaCarSafetyTest): - MAX_BRAKE = 255 - PT_BUS: int | None = None # must be set when inherited - STEER_BUS: int | None = None # must be set when inherited - BUTTONS_BUS: int | None = None # must be set when inherited, tx on this bus, rx on PT_BUS - - STANDSTILL_THRESHOLD = 0 - RELAY_MALFUNCTION_ADDRS = {0: (0xE4, 0x194)} # STEERING_CONTROL - FWD_BUS_LOOKUP = {0: 2, 2: 0} - - cnt_speed = 0 - cnt_button = 0 - cnt_brake = 0 - cnt_powertrain_data = 0 - cnt_acc_state = 0 - - @classmethod - def setUpClass(cls): - if cls.__name__.endswith("Base"): - cls.packer = None - cls.safety = None - raise unittest.SkipTest - - def _powertrain_data_msg(self, cruise_on=None, brake_pressed=None, gas_pressed=None): - # preserve the state - if cruise_on is None: - # or'd with controls allowed since the tests use it to "enable" cruise - cruise_on = self.safety.get_cruise_engaged_prev() or self.safety.get_controls_allowed() - if brake_pressed is None: - brake_pressed = self.safety.get_brake_pressed_prev() - if gas_pressed is None: - gas_pressed = self.safety.get_gas_pressed_prev() - - values = { - "ACC_STATUS": cruise_on, - "BRAKE_PRESSED": brake_pressed, - "PEDAL_GAS": gas_pressed, - "COUNTER": self.cnt_powertrain_data % 4 - } - self.__class__.cnt_powertrain_data += 1 - return self.packer.make_can_msg_panda("POWERTRAIN_DATA", self.PT_BUS, values) - - def _pcm_status_msg(self, enable): - return self._powertrain_data_msg(cruise_on=enable) - - def _speed_msg(self, speed): - values = {"XMISSION_SPEED": speed, "COUNTER": self.cnt_speed % 4} - self.__class__.cnt_speed += 1 - return self.packer.make_can_msg_panda("ENGINE_DATA", self.PT_BUS, values) - - def _acc_state_msg(self, main_on): - values = {"MAIN_ON": main_on, "COUNTER": self.cnt_acc_state % 4} - self.__class__.cnt_acc_state += 1 - return self.packer.make_can_msg_panda("SCM_FEEDBACK", self.PT_BUS, values) - - def _button_msg(self, buttons, main_on=False, bus=None): - bus = self.PT_BUS if bus is None else bus - values = {"CRUISE_BUTTONS": buttons, "COUNTER": self.cnt_button % 4} - self.__class__.cnt_button += 1 - return self.packer.make_can_msg_panda("SCM_BUTTONS", bus, values) - - def _user_brake_msg(self, brake): - return self._powertrain_data_msg(brake_pressed=brake) - - def _user_gas_msg(self, gas): - return self._powertrain_data_msg(gas_pressed=gas) - - def _send_steer_msg(self, steer): - values = {"STEER_TORQUE": steer} - return self.packer.make_can_msg_panda("STEERING_CONTROL", self.STEER_BUS, values) - - def _send_brake_msg(self, brake): - # must be implemented when inherited - raise NotImplementedError - - def test_disengage_on_brake(self): - self.safety.set_controls_allowed(1) - self._rx(self._user_brake_msg(1)) - self.assertFalse(self.safety.get_controls_allowed()) - - def test_steer_safety_check(self): - self.safety.set_controls_allowed(0) - self.assertTrue(self._tx(self._send_steer_msg(0x0000))) - self.assertFalse(self._tx(self._send_steer_msg(0x1000))) - - -# ********************* Honda Nidec ********************** - - -class TestHondaNidecSafetyBase(HondaBase): - TX_MSGS = HONDA_N_COMMON_TX_MSGS - FWD_BLACKLISTED_ADDRS = {2: [0xE4, 0x194, 0x33D, 0x30C]} - - PT_BUS = 0 - STEER_BUS = 0 - BUTTONS_BUS = 0 - - MAX_GAS = 198 - - def setUp(self): - self.packer = CANPackerPanda("honda_civic_touring_2016_can_generated") - self.safety = libpanda_py.libpanda - self.safety.set_safety_hooks(Panda.SAFETY_HONDA_NIDEC, 0) - self.safety.init_tests() - - def _send_brake_msg(self, brake, aeb_req=0, bus=0): - values = {"COMPUTER_BRAKE": brake, "AEB_REQ_1": aeb_req} - return self.packer.make_can_msg_panda("BRAKE_COMMAND", bus, values) - - def _rx_brake_msg(self, brake, aeb_req=0): - return self._send_brake_msg(brake, aeb_req, bus=2) - - def _send_acc_hud_msg(self, pcm_gas, pcm_speed): - # Used to control ACC on Nidec without pedal - values = {"PCM_GAS": pcm_gas, "PCM_SPEED": pcm_speed} - return self.packer.make_can_msg_panda("ACC_HUD", 0, values) - - def test_acc_hud_safety_check(self): - for controls_allowed in [True, False]: - self.safety.set_controls_allowed(controls_allowed) - for pcm_gas in range(255): - for pcm_speed in range(100): - send = (controls_allowed and pcm_gas <= self.MAX_GAS) or (pcm_gas == 0 and pcm_speed == 0) - self.assertEqual(send, self._tx(self._send_acc_hud_msg(pcm_gas, pcm_speed))) - - def test_fwd_hook(self): - # normal operation, not forwarding AEB - self.FWD_BLACKLISTED_ADDRS[2].append(0x1FA) - self.safety.set_honda_fwd_brake(False) - super().test_fwd_hook() - - # forwarding AEB brake signal - self.FWD_BLACKLISTED_ADDRS = {2: [0xE4, 0x194, 0x33D, 0x30C]} - self.safety.set_honda_fwd_brake(True) - super().test_fwd_hook() - - def test_honda_fwd_brake_latching(self): - # Shouldn't fwd stock Honda requesting brake without AEB - self.assertTrue(self._rx(self._rx_brake_msg(self.MAX_BRAKE, aeb_req=0))) - self.assertFalse(self.safety.get_honda_fwd_brake()) - - # Now allow controls and request some brake - openpilot_brake = round(self.MAX_BRAKE / 2.0) - self.safety.set_controls_allowed(True) - self.assertTrue(self._tx(self._send_brake_msg(openpilot_brake))) - - # Still shouldn't fwd stock Honda brake until it's more than openpilot's - for stock_honda_brake in range(self.MAX_BRAKE + 1): - self.assertTrue(self._rx(self._rx_brake_msg(stock_honda_brake, aeb_req=1))) - should_fwd_brake = stock_honda_brake >= openpilot_brake - self.assertEqual(should_fwd_brake, self.safety.get_honda_fwd_brake()) - - # Shouldn't stop fwding until AEB event is over - for stock_honda_brake in range(self.MAX_BRAKE + 1)[::-1]: - self.assertTrue(self._rx(self._rx_brake_msg(stock_honda_brake, aeb_req=1))) - self.assertTrue(self.safety.get_honda_fwd_brake()) - - self.assertTrue(self._rx(self._rx_brake_msg(0, aeb_req=0))) - self.assertFalse(self.safety.get_honda_fwd_brake()) - - def test_brake_safety_check(self): - for fwd_brake in [False, True]: - self.safety.set_honda_fwd_brake(fwd_brake) - for brake in np.arange(0, self.MAX_BRAKE + 10, 1): - for controls_allowed in [True, False]: - self.safety.set_controls_allowed(controls_allowed) - if fwd_brake: - send = False # block openpilot brake msg when fwd'ing stock msg - elif controls_allowed: - send = self.MAX_BRAKE >= brake >= 0 - else: - send = brake == 0 - self.assertEqual(send, self._tx(self._send_brake_msg(brake))) - - -class TestHondaNidecPcmSafety(HondaPcmEnableBase, TestHondaNidecSafetyBase): - """ - Covers the Honda Nidec safety mode - """ - - # Nidec doesn't disengage on falling edge of cruise. See comment in safety_honda.h - def test_disable_control_allowed_from_cruise(self): - pass - - -class TestHondaNidecGasInterceptorSafety(common.GasInterceptorSafetyTest, HondaButtonEnableBase, TestHondaNidecSafetyBase): - """ - Covers the Honda Nidec safety mode with a gas interceptor, switches to a button-enable car - """ - - TX_MSGS = HONDA_N_COMMON_TX_MSGS + [[0x200, 0]] - INTERCEPTOR_THRESHOLD = 492 - - def setUp(self): - self.packer = CANPackerPanda("honda_civic_touring_2016_can_generated") - self.safety = libpanda_py.libpanda - self.safety.set_safety_hooks(Panda.SAFETY_HONDA_NIDEC, Panda.FLAG_HONDA_GAS_INTERCEPTOR) - self.safety.init_tests() - - -class TestHondaNidecPcmAltSafety(TestHondaNidecPcmSafety): - """ - Covers the Honda Nidec safety mode with alt SCM messages - """ - def setUp(self): - self.packer = CANPackerPanda("acura_ilx_2016_can_generated") - self.safety = libpanda_py.libpanda - self.safety.set_safety_hooks(Panda.SAFETY_HONDA_NIDEC, Panda.FLAG_HONDA_NIDEC_ALT) - self.safety.init_tests() - - def _acc_state_msg(self, main_on): - values = {"MAIN_ON": main_on, "COUNTER": self.cnt_acc_state % 4} - self.__class__.cnt_acc_state += 1 - return self.packer.make_can_msg_panda("SCM_BUTTONS", self.PT_BUS, values) - - def _button_msg(self, buttons, main_on=False, bus=None): - bus = self.PT_BUS if bus is None else bus - values = {"CRUISE_BUTTONS": buttons, "MAIN_ON": main_on, "COUNTER": self.cnt_button % 4} - self.__class__.cnt_button += 1 - return self.packer.make_can_msg_panda("SCM_BUTTONS", bus, values) - - -class TestHondaNidecAltGasInterceptorSafety(common.GasInterceptorSafetyTest, HondaButtonEnableBase, TestHondaNidecSafetyBase): - """ - Covers the Honda Nidec safety mode with alt SCM messages and gas interceptor, switches to a button-enable car - """ - - TX_MSGS = HONDA_N_COMMON_TX_MSGS + [[0x200, 0]] - INTERCEPTOR_THRESHOLD = 492 - - def setUp(self): - self.packer = CANPackerPanda("acura_ilx_2016_can_generated") - self.safety = libpanda_py.libpanda - self.safety.set_safety_hooks(Panda.SAFETY_HONDA_NIDEC, Panda.FLAG_HONDA_NIDEC_ALT | Panda.FLAG_HONDA_GAS_INTERCEPTOR) - self.safety.init_tests() - - def _acc_state_msg(self, main_on): - values = {"MAIN_ON": main_on, "COUNTER": self.cnt_acc_state % 4} - self.__class__.cnt_acc_state += 1 - return self.packer.make_can_msg_panda("SCM_BUTTONS", self.PT_BUS, values) - - def _button_msg(self, buttons, main_on=False, bus=None): - bus = self.PT_BUS if bus is None else bus - values = {"CRUISE_BUTTONS": buttons, "MAIN_ON": main_on, "COUNTER": self.cnt_button % 4} - self.__class__.cnt_button += 1 - return self.packer.make_can_msg_panda("SCM_BUTTONS", bus, values) - - - -# ********************* Honda Bosch ********************** - - -class TestHondaBoschSafetyBase(HondaBase): - PT_BUS = 1 - STEER_BUS = 0 - BUTTONS_BUS = 1 - - TX_MSGS = [[0xE4, 0], [0xE5, 0], [0x296, 1], [0x33D, 0], [0x33DA, 0], [0x33DB, 0]] - FWD_BLACKLISTED_ADDRS = {2: [0xE4, 0xE5, 0x33D, 0x33DA, 0x33DB]} - - def setUp(self): - self.packer = CANPackerPanda("honda_accord_2018_can_generated") - self.safety = libpanda_py.libpanda - - def _alt_brake_msg(self, brake): - values = {"BRAKE_PRESSED": brake, "COUNTER": self.cnt_brake % 4} - self.__class__.cnt_brake += 1 - return self.packer.make_can_msg_panda("BRAKE_MODULE", self.PT_BUS, values) - - def _send_brake_msg(self, brake): - pass - - def test_alt_disengage_on_brake(self): - self.safety.set_honda_alt_brake_msg(1) - self.safety.set_controls_allowed(1) - self._rx(self._alt_brake_msg(1)) - self.assertFalse(self.safety.get_controls_allowed()) - - self.safety.set_honda_alt_brake_msg(0) - self.safety.set_controls_allowed(1) - self._rx(self._alt_brake_msg(1)) - self.assertTrue(self.safety.get_controls_allowed()) - - def test_spam_cancel_safety_check(self): - self.safety.set_controls_allowed(0) - self.assertTrue(self._tx(self._button_msg(Btn.CANCEL, bus=self.BUTTONS_BUS))) - self.assertFalse(self._tx(self._button_msg(Btn.RESUME, bus=self.BUTTONS_BUS))) - self.assertFalse(self._tx(self._button_msg(Btn.SET, bus=self.BUTTONS_BUS))) - # do not block resume if we are engaged already - self.safety.set_controls_allowed(1) - self.assertTrue(self._tx(self._button_msg(Btn.RESUME, bus=self.BUTTONS_BUS))) - - -class TestHondaBoschAltBrakeSafetyBase(TestHondaBoschSafetyBase): - """ - Base Bosch safety test class with an alternate brake message - """ - def setUp(self): - super().setUp() - self.safety.set_safety_hooks(Panda.SAFETY_HONDA_BOSCH, Panda.FLAG_HONDA_ALT_BRAKE) - self.safety.init_tests() - - def _user_brake_msg(self, brake): - return self._alt_brake_msg(brake) - - def test_alt_brake_rx_hook(self): - self.safety.set_honda_alt_brake_msg(1) - self.safety.set_controls_allowed(1) - to_push = self._alt_brake_msg(0) - self.assertTrue(self._rx(to_push)) - to_push[0].data[2] = to_push[0].data[2] & 0xF0 # invalidate checksum - self.assertFalse(self._rx(to_push)) - self.assertFalse(self.safety.get_controls_allowed()) - - -class TestHondaBoschSafety(HondaPcmEnableBase, TestHondaBoschSafetyBase): - """ - Covers the Honda Bosch safety mode with stock longitudinal - """ - def setUp(self): - super().setUp() - self.safety.set_safety_hooks(Panda.SAFETY_HONDA_BOSCH, 0) - self.safety.init_tests() - - -class TestHondaBoschAltBrakeSafety(HondaPcmEnableBase, TestHondaBoschAltBrakeSafetyBase): - """ - Covers the Honda Bosch safety mode with stock longitudinal and an alternate brake message - """ - - -class TestHondaBoschLongSafety(HondaButtonEnableBase, TestHondaBoschSafetyBase): - """ - Covers the Honda Bosch safety mode with longitudinal control - """ - NO_GAS = -30000 - MAX_GAS = 2000 - MAX_ACCEL = 2.0 # accel is used for brakes, but openpilot can set positive values - MIN_ACCEL = -3.5 - - STEER_BUS = 1 - TX_MSGS = [[0xE4, 1], [0x1DF, 1], [0x1EF, 1], [0x1FA, 1], [0x30C, 1], [0x33D, 1], [0x33DA, 1], [0x33DB, 1], [0x39F, 1], [0x18DAB0F1, 1]] - FWD_BLACKLISTED_ADDRS = {2: [0xE4, 0xE5, 0x33D, 0x33DA, 0x33DB]} - # 0x1DF is to test that radar is disabled - RELAY_MALFUNCTION_ADDRS = {0: (0xE4, 0x194), 1: (0x1DF,)} # STEERING_CONTROL, ACC_CONTROL - - def setUp(self): - super().setUp() - self.safety.set_safety_hooks(Panda.SAFETY_HONDA_BOSCH, Panda.FLAG_HONDA_BOSCH_LONG) - self.safety.init_tests() - - def _send_gas_brake_msg(self, gas, accel): - values = { - "GAS_COMMAND": gas, - "ACCEL_COMMAND": accel, - "BRAKE_REQUEST": accel < 0, - } - return self.packer.make_can_msg_panda("ACC_CONTROL", self.PT_BUS, values) - - # Longitudinal doesn't need to send buttons - def test_spam_cancel_safety_check(self): - pass - - def test_diagnostics(self): - tester_present = libpanda_py.make_CANPacket(0x18DAB0F1, self.PT_BUS, b"\x02\x3E\x80\x00\x00\x00\x00\x00") - self.assertTrue(self._tx(tester_present)) - - not_tester_present = libpanda_py.make_CANPacket(0x18DAB0F1, self.PT_BUS, b"\x03\xAA\xAA\x00\x00\x00\x00\x00") - self.assertFalse(self._tx(not_tester_present)) - - def test_gas_safety_check(self): - for controls_allowed in [True, False]: - for gas in np.arange(self.NO_GAS, self.MAX_GAS + 2000, 100): - accel = 0 if gas < 0 else gas / 1000 - self.safety.set_controls_allowed(controls_allowed) - send = (controls_allowed and 0 <= gas <= self.MAX_GAS) or gas == self.NO_GAS - self.assertEqual(send, self._tx(self._send_gas_brake_msg(gas, accel)), (controls_allowed, gas, accel)) - - def test_brake_safety_check(self): - for controls_allowed in [True, False]: - for accel in np.arange(self.MIN_ACCEL - 1, self.MAX_ACCEL + 1, 0.01): - accel = round(accel, 2) # floats might not hit exact boundary conditions without rounding - self.safety.set_controls_allowed(controls_allowed) - send = self.MIN_ACCEL <= accel <= self.MAX_ACCEL if controls_allowed else accel == 0 - self.assertEqual(send, self._tx(self._send_gas_brake_msg(self.NO_GAS, accel)), (controls_allowed, accel)) - - -class TestHondaBoschRadarlessSafetyBase(TestHondaBoschSafetyBase): - """Base class for radarless Honda Bosch""" - PT_BUS = 0 - STEER_BUS = 0 - BUTTONS_BUS = 2 # camera controls ACC, need to send buttons on bus 2 - - TX_MSGS = [[0xE4, 0], [0x296, 2], [0x33D, 0]] - FWD_BLACKLISTED_ADDRS = {2: [0xE4, 0xE5, 0x33D, 0x33DA, 0x33DB]} - - def setUp(self): - self.packer = CANPackerPanda("honda_civic_ex_2022_can_generated") - self.safety = libpanda_py.libpanda - - -class TestHondaBoschRadarlessSafety(HondaPcmEnableBase, TestHondaBoschRadarlessSafetyBase): - """ - Covers the Honda Bosch Radarless safety mode with stock longitudinal - """ - - def setUp(self): - super().setUp() - self.safety.set_safety_hooks(Panda.SAFETY_HONDA_BOSCH, Panda.FLAG_HONDA_RADARLESS) - self.safety.init_tests() - - -class TestHondaBoschRadarlessAltBrakeSafety(HondaPcmEnableBase, TestHondaBoschRadarlessSafetyBase, TestHondaBoschAltBrakeSafetyBase): - """ - Covers the Honda Bosch Radarless safety mode with stock longitudinal and an alternate brake message - """ - - def setUp(self): - super().setUp() - self.safety.set_safety_hooks(Panda.SAFETY_HONDA_BOSCH, Panda.FLAG_HONDA_RADARLESS | Panda.FLAG_HONDA_ALT_BRAKE) - self.safety.init_tests() - - -class TestHondaBoschRadarlessLongSafety(common.LongitudinalAccelSafetyTest, HondaButtonEnableBase, - TestHondaBoschRadarlessSafetyBase): - """ - Covers the Honda Bosch Radarless safety mode with longitudinal control - """ - TX_MSGS = [[0xE4, 0], [0x33D, 0], [0x1C8, 0], [0x30C, 0]] - FWD_BLACKLISTED_ADDRS = {2: [0xE4, 0xE5, 0x33D, 0x33DA, 0x33DB, 0x1C8, 0x30C]} - - def setUp(self): - super().setUp() - self.safety.set_safety_hooks(Panda.SAFETY_HONDA_BOSCH, Panda.FLAG_HONDA_RADARLESS | Panda.FLAG_HONDA_BOSCH_LONG) - self.safety.init_tests() - - def _accel_msg(self, accel): - values = { - "ACCEL_COMMAND": accel, - } - return self.packer.make_can_msg_panda("ACC_CONTROL", self.PT_BUS, values) - - # Longitudinal doesn't need to send buttons - def test_spam_cancel_safety_check(self): - pass - - -if __name__ == "__main__": - unittest.main() diff --git a/panda/tests/safety/test_hyundai.py b/panda/tests/safety/test_hyundai.py deleted file mode 100644 index fbe7d1032f803d..00000000000000 --- a/panda/tests/safety/test_hyundai.py +++ /dev/null @@ -1,216 +0,0 @@ -#!/usr/bin/env python3 -import random -import unittest -from panda import Panda -from panda.tests.libpanda import libpanda_py -import panda.tests.safety.common as common -from panda.tests.safety.common import CANPackerPanda -from panda.tests.safety.hyundai_common import HyundaiButtonBase, HyundaiLongitudinalBase - - -# 4 bit checkusm used in some hyundai messages -# lives outside the can packer because we never send this msg -def checksum(msg): - addr, t, dat, bus = msg - - chksum = 0 - if addr == 0x386: - for i, b in enumerate(dat): - for j in range(8): - # exclude checksum and counter bits - if (i != 1 or j < 6) and (i != 3 or j < 6) and (i != 5 or j < 6) and (i != 7 or j < 6): - bit = (b >> j) & 1 - else: - bit = 0 - chksum += bit - chksum = (chksum ^ 9) & 0xF - ret = bytearray(dat) - ret[5] |= (chksum & 0x3) << 6 - ret[7] |= (chksum & 0xc) << 4 - else: - for i, b in enumerate(dat): - if addr in [0x260, 0x421] and i == 7: - b &= 0x0F if addr == 0x421 else 0xF0 - elif addr == 0x394 and i == 6: - b &= 0xF0 - elif addr == 0x394 and i == 7: - continue - chksum += sum(divmod(b, 16)) - chksum = (16 - chksum) % 16 - ret = bytearray(dat) - ret[6 if addr == 0x394 else 7] |= chksum << (4 if addr == 0x421 else 0) - - return addr, t, ret, bus - - -class TestHyundaiSafety(HyundaiButtonBase, common.PandaCarSafetyTest, common.DriverTorqueSteeringSafetyTest, common.SteerRequestCutSafetyTest): - TX_MSGS = [[0x340, 0], [0x4F1, 0], [0x485, 0]] - STANDSTILL_THRESHOLD = 12 # 0.375 kph - RELAY_MALFUNCTION_ADDRS = {0: (0x340,)} # LKAS11 - FWD_BLACKLISTED_ADDRS = {2: [0x340, 0x485]} - FWD_BUS_LOOKUP = {0: 2, 2: 0} - - MAX_RATE_UP = 3 - MAX_RATE_DOWN = 7 - MAX_TORQUE = 384 - MAX_RT_DELTA = 112 - RT_INTERVAL = 250000 - DRIVER_TORQUE_ALLOWANCE = 50 - DRIVER_TORQUE_FACTOR = 2 - - # Safety around steering req bit - MIN_VALID_STEERING_FRAMES = 89 - MAX_INVALID_STEERING_FRAMES = 2 - MIN_VALID_STEERING_RT_INTERVAL = 810000 # a ~10% buffer, can send steer up to 110Hz - - cnt_gas = 0 - cnt_speed = 0 - cnt_brake = 0 - cnt_cruise = 0 - cnt_button = 0 - - def setUp(self): - self.packer = CANPackerPanda("hyundai_kia_generic") - self.safety = libpanda_py.libpanda - self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI, 0) - self.safety.init_tests() - - def _button_msg(self, buttons, main_button=0, bus=0): - values = {"CF_Clu_CruiseSwState": buttons, "CF_Clu_CruiseSwMain": main_button, "CF_Clu_AliveCnt1": self.cnt_button} - self.__class__.cnt_button += 1 - return self.packer.make_can_msg_panda("CLU11", bus, values) - - def _user_gas_msg(self, gas): - values = {"CF_Ems_AclAct": gas, "AliveCounter": self.cnt_gas % 4} - self.__class__.cnt_gas += 1 - return self.packer.make_can_msg_panda("EMS16", 0, values, fix_checksum=checksum) - - def _user_brake_msg(self, brake): - values = {"DriverOverride": 2 if brake else random.choice((0, 1, 3)), - "AliveCounterTCS": self.cnt_brake % 8} - self.__class__.cnt_brake += 1 - return self.packer.make_can_msg_panda("TCS13", 0, values, fix_checksum=checksum) - - def _speed_msg(self, speed): - # panda safety doesn't scale, so undo the scaling - values = {"WHL_SPD_%s" % s: speed * 0.03125 for s in ["FL", "FR", "RL", "RR"]} - values["WHL_SPD_AliveCounter_LSB"] = (self.cnt_speed % 16) & 0x3 - values["WHL_SPD_AliveCounter_MSB"] = (self.cnt_speed % 16) >> 2 - self.__class__.cnt_speed += 1 - return self.packer.make_can_msg_panda("WHL_SPD11", 0, values, fix_checksum=checksum) - - def _pcm_status_msg(self, enable): - values = {"ACCMode": enable, "CR_VSM_Alive": self.cnt_cruise % 16} - self.__class__.cnt_cruise += 1 - return self.packer.make_can_msg_panda("SCC12", self.SCC_BUS, values, fix_checksum=checksum) - - def _torque_driver_msg(self, torque): - values = {"CR_Mdps_StrColTq": torque} - return self.packer.make_can_msg_panda("MDPS12", 0, values) - - def _torque_cmd_msg(self, torque, steer_req=1): - values = {"CR_Lkas_StrToqReq": torque, "CF_Lkas_ActToi": steer_req} - return self.packer.make_can_msg_panda("LKAS11", 0, values) - - -class TestHyundaiSafetyAltLimits(TestHyundaiSafety): - MAX_RATE_UP = 2 - MAX_RATE_DOWN = 3 - MAX_TORQUE = 270 - - def setUp(self): - self.packer = CANPackerPanda("hyundai_kia_generic") - self.safety = libpanda_py.libpanda - self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI, Panda.FLAG_HYUNDAI_ALT_LIMITS) - self.safety.init_tests() - - -class TestHyundaiSafetyCameraSCC(TestHyundaiSafety): - BUTTONS_TX_BUS = 2 # tx on 2, rx on 0 - SCC_BUS = 2 # rx on 2 - - def setUp(self): - self.packer = CANPackerPanda("hyundai_kia_generic") - self.safety = libpanda_py.libpanda - self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI, Panda.FLAG_HYUNDAI_CAMERA_SCC) - self.safety.init_tests() - - -class TestHyundaiLegacySafety(TestHyundaiSafety): - def setUp(self): - self.packer = CANPackerPanda("hyundai_kia_generic") - self.safety = libpanda_py.libpanda - self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_LEGACY, 0) - self.safety.init_tests() - - -class TestHyundaiLegacySafetyEV(TestHyundaiSafety): - def setUp(self): - self.packer = CANPackerPanda("hyundai_kia_generic") - self.safety = libpanda_py.libpanda - self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_LEGACY, 1) - self.safety.init_tests() - - def _user_gas_msg(self, gas): - values = {"Accel_Pedal_Pos": gas} - return self.packer.make_can_msg_panda("E_EMS11", 0, values, fix_checksum=checksum) - - -class TestHyundaiLegacySafetyHEV(TestHyundaiSafety): - def setUp(self): - self.packer = CANPackerPanda("hyundai_kia_generic") - self.safety = libpanda_py.libpanda - self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_LEGACY, 2) - self.safety.init_tests() - - def _user_gas_msg(self, gas): - values = {"CR_Vcu_AccPedDep_Pos": gas} - return self.packer.make_can_msg_panda("E_EMS11", 0, values, fix_checksum=checksum) - -class TestHyundaiLongitudinalSafety(HyundaiLongitudinalBase, TestHyundaiSafety): - TX_MSGS = [[0x340, 0], [0x4F1, 0], [0x485, 0], [0x420, 0], [0x421, 0], [0x50A, 0], [0x389, 0], [0x4A2, 0], [0x38D, 0], [0x483, 0], [0x7D0, 0]] - - RELAY_MALFUNCTION_ADDRS = {0: (0x340, 0x421)} # LKAS11, SCC12 - - DISABLED_ECU_UDS_MSG = (0x7D0, 0) - DISABLED_ECU_ACTUATION_MSG = (0x421, 0) - - def setUp(self): - self.packer = CANPackerPanda("hyundai_kia_generic") - self.safety = libpanda_py.libpanda - self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI, Panda.FLAG_HYUNDAI_LONG) - self.safety.init_tests() - - def _accel_msg(self, accel, aeb_req=False, aeb_decel=0): - values = { - "aReqRaw": accel, - "aReqValue": accel, - "AEB_CmdAct": int(aeb_req), - "CR_VSM_DecCmd": aeb_decel, - } - return self.packer.make_can_msg_panda("SCC12", self.SCC_BUS, values) - - def _fca11_msg(self, idx=0, vsm_aeb_req=False, fca_aeb_req=False, aeb_decel=0): - values = { - "CR_FCA_Alive": idx % 0xF, - "FCA_Status": 2, - "CR_VSM_DecCmd": aeb_decel, - "CF_VSM_DecCmdAct": int(vsm_aeb_req), - "FCA_CmdAct": int(fca_aeb_req), - } - return self.packer.make_can_msg_panda("FCA11", 0, values) - - def test_no_aeb_fca11(self): - self.assertTrue(self._tx(self._fca11_msg())) - self.assertFalse(self._tx(self._fca11_msg(vsm_aeb_req=True))) - self.assertFalse(self._tx(self._fca11_msg(fca_aeb_req=True))) - self.assertFalse(self._tx(self._fca11_msg(aeb_decel=1.0))) - - def test_no_aeb_scc12(self): - self.assertTrue(self._tx(self._accel_msg(0))) - self.assertFalse(self._tx(self._accel_msg(0, aeb_req=True))) - self.assertFalse(self._tx(self._accel_msg(0, aeb_decel=1.0))) - - -if __name__ == "__main__": - unittest.main() diff --git a/panda/tests/safety/test_hyundai_canfd.py b/panda/tests/safety/test_hyundai_canfd.py deleted file mode 100644 index 7f280b631949fd..00000000000000 --- a/panda/tests/safety/test_hyundai_canfd.py +++ /dev/null @@ -1,272 +0,0 @@ -#!/usr/bin/env python3 -from parameterized import parameterized_class -import unittest -from panda import Panda -from panda.tests.libpanda import libpanda_py -import panda.tests.safety.common as common -from panda.tests.safety.common import CANPackerPanda -from panda.tests.safety.hyundai_common import HyundaiButtonBase, HyundaiLongitudinalBase - - -class TestHyundaiCanfdBase(HyundaiButtonBase, common.PandaCarSafetyTest, common.DriverTorqueSteeringSafetyTest, common.SteerRequestCutSafetyTest): - - TX_MSGS = [[0x50, 0], [0x1CF, 1], [0x2A4, 0]] - STANDSTILL_THRESHOLD = 12 # 0.375 kph - FWD_BLACKLISTED_ADDRS = {2: [0x50, 0x2a4]} - FWD_BUS_LOOKUP = {0: 2, 2: 0} - - MAX_RATE_UP = 2 - MAX_RATE_DOWN = 3 - MAX_TORQUE = 270 - - MAX_RT_DELTA = 112 - RT_INTERVAL = 250000 - - DRIVER_TORQUE_ALLOWANCE = 250 - DRIVER_TORQUE_FACTOR = 2 - - # Safety around steering req bit - MIN_VALID_STEERING_FRAMES = 89 - MAX_INVALID_STEERING_FRAMES = 2 - MIN_VALID_STEERING_RT_INTERVAL = 810000 # a ~10% buffer, can send steer up to 110Hz - - PT_BUS = 0 - SCC_BUS = 2 - STEER_BUS = 0 - STEER_MSG = "" - GAS_MSG = ("", "") - BUTTONS_TX_BUS = 1 - - @classmethod - def setUpClass(cls): - super().setUpClass() - if cls.__name__ == "TestHyundaiCanfdBase": - cls.packer = None - cls.safety = None - raise unittest.SkipTest - - def _torque_driver_msg(self, torque): - values = {"STEERING_COL_TORQUE": torque} - return self.packer.make_can_msg_panda("MDPS", self.PT_BUS, values) - - def _torque_cmd_msg(self, torque, steer_req=1): - values = {"TORQUE_REQUEST": torque, "STEER_REQ": steer_req} - return self.packer.make_can_msg_panda(self.STEER_MSG, self.STEER_BUS, values) - - def _speed_msg(self, speed): - values = {f"WHEEL_SPEED_{i}": speed * 0.03125 for i in range(1, 5)} - return self.packer.make_can_msg_panda("WHEEL_SPEEDS", self.PT_BUS, values) - - def _user_brake_msg(self, brake): - values = {"DriverBraking": brake} - return self.packer.make_can_msg_panda("TCS", self.PT_BUS, values) - - def _user_gas_msg(self, gas): - values = {self.GAS_MSG[1]: gas} - return self.packer.make_can_msg_panda(self.GAS_MSG[0], self.PT_BUS, values) - - def _pcm_status_msg(self, enable): - values = {"ACCMode": 1 if enable else 0} - return self.packer.make_can_msg_panda("SCC_CONTROL", self.SCC_BUS, values) - - def _button_msg(self, buttons, main_button=0, bus=None): - if bus is None: - bus = self.PT_BUS - values = { - "CRUISE_BUTTONS": buttons, - "ADAPTIVE_CRUISE_MAIN_BTN": main_button, - } - return self.packer.make_can_msg_panda("CRUISE_BUTTONS", bus, values) - - -class TestHyundaiCanfdHDA1Base(TestHyundaiCanfdBase): - - TX_MSGS = [[0x12A, 0], [0x1A0, 1], [0x1CF, 0], [0x1E0, 0]] - RELAY_MALFUNCTION_ADDRS = {0: (0x12A,)} # LFA - FWD_BLACKLISTED_ADDRS = {2: [0x12A, 0x1E0]} - FWD_BUS_LOOKUP = {0: 2, 2: 0} - - STEER_MSG = "LFA" - BUTTONS_TX_BUS = 2 - SAFETY_PARAM: int - - @classmethod - def setUpClass(cls): - super().setUpClass() - if cls.__name__ in ("TestHyundaiCanfdHDA1", "TestHyundaiCanfdHDA1AltButtons"): - cls.packer = None - cls.safety = None - raise unittest.SkipTest - - def setUp(self): - self.packer = CANPackerPanda("hyundai_canfd") - self.safety = libpanda_py.libpanda - self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, self.SAFETY_PARAM) - self.safety.init_tests() - - -@parameterized_class([ - # Radar SCC, test with long flag to ensure flag is not respected until it is supported - {"GAS_MSG": ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED"), "SCC_BUS": 0, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_LONG}, - {"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SCC_BUS": 0, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_EV_GAS | Panda.FLAG_HYUNDAI_LONG}, - {"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SCC_BUS": 0, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_HYBRID_GAS | Panda.FLAG_HYUNDAI_LONG}, - # Camera SCC - {"GAS_MSG": ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED"), "SCC_BUS": 2, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_CAMERA_SCC}, - {"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SCC_BUS": 2, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_EV_GAS | Panda.FLAG_HYUNDAI_CAMERA_SCC}, - {"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SCC_BUS": 2, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_HYBRID_GAS | Panda.FLAG_HYUNDAI_CAMERA_SCC}, -]) -class TestHyundaiCanfdHDA1(TestHyundaiCanfdHDA1Base): - pass - - -@parameterized_class([ - # Radar SCC, test with long flag to ensure flag is not respected until it is supported - {"GAS_MSG": ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED"), "SCC_BUS": 0, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_LONG}, - {"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SCC_BUS": 0, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_EV_GAS | Panda.FLAG_HYUNDAI_LONG}, - {"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SCC_BUS": 0, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_HYBRID_GAS | Panda.FLAG_HYUNDAI_LONG}, - # Camera SCC - {"GAS_MSG": ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED"), "SCC_BUS": 2, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_CAMERA_SCC}, - {"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SCC_BUS": 2, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_EV_GAS | Panda.FLAG_HYUNDAI_CAMERA_SCC}, - {"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SCC_BUS": 2, "SAFETY_PARAM": Panda.FLAG_HYUNDAI_HYBRID_GAS | Panda.FLAG_HYUNDAI_CAMERA_SCC}, -]) -class TestHyundaiCanfdHDA1AltButtons(TestHyundaiCanfdHDA1Base): - - SAFETY_PARAM: int - - def setUp(self): - self.packer = CANPackerPanda("hyundai_canfd") - self.safety = libpanda_py.libpanda - self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, Panda.FLAG_HYUNDAI_CANFD_ALT_BUTTONS | self.SAFETY_PARAM) - self.safety.init_tests() - - def _button_msg(self, buttons, main_button=0, bus=1): - values = { - "CRUISE_BUTTONS": buttons, - "ADAPTIVE_CRUISE_MAIN_BTN": main_button, - } - return self.packer.make_can_msg_panda("CRUISE_BUTTONS_ALT", self.PT_BUS, values) - - def test_button_sends(self): - """ - No button send allowed with alt buttons. - """ - for enabled in (True, False): - for btn in range(8): - self.safety.set_controls_allowed(enabled) - self.assertFalse(self._tx(self._button_msg(btn))) - - -class TestHyundaiCanfdHDA2EV(TestHyundaiCanfdBase): - - TX_MSGS = [[0x50, 0], [0x1CF, 1], [0x2A4, 0]] - RELAY_MALFUNCTION_ADDRS = {0: (0x50,)} # LKAS - FWD_BLACKLISTED_ADDRS = {2: [0x50, 0x2a4]} - FWD_BUS_LOOKUP = {0: 2, 2: 0} - - PT_BUS = 1 - SCC_BUS = 1 - STEER_MSG = "LKAS" - GAS_MSG = ("ACCELERATOR", "ACCELERATOR_PEDAL") - - def setUp(self): - self.packer = CANPackerPanda("hyundai_canfd") - self.safety = libpanda_py.libpanda - self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, Panda.FLAG_HYUNDAI_CANFD_HDA2 | Panda.FLAG_HYUNDAI_EV_GAS) - self.safety.init_tests() - - -# TODO: Handle ICE and HEV configurations once we see cars that use the new messages -class TestHyundaiCanfdHDA2EVAltSteering(TestHyundaiCanfdBase): - - TX_MSGS = [[0x110, 0], [0x1CF, 1], [0x362, 0]] - RELAY_MALFUNCTION_ADDRS = {0: (0x110,)} # LKAS_ALT - FWD_BLACKLISTED_ADDRS = {2: [0x110, 0x362]} - FWD_BUS_LOOKUP = {0: 2, 2: 0} - - PT_BUS = 1 - SCC_BUS = 1 - STEER_MSG = "LKAS_ALT" - GAS_MSG = ("ACCELERATOR", "ACCELERATOR_PEDAL") - - def setUp(self): - self.packer = CANPackerPanda("hyundai_canfd") - self.safety = libpanda_py.libpanda - self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, Panda.FLAG_HYUNDAI_CANFD_HDA2 | Panda.FLAG_HYUNDAI_EV_GAS | - Panda.FLAG_HYUNDAI_CANFD_HDA2_ALT_STEERING) - self.safety.init_tests() - - -class TestHyundaiCanfdHDA2LongEV(HyundaiLongitudinalBase, TestHyundaiCanfdHDA2EV): - - TX_MSGS = [[0x50, 0], [0x1CF, 1], [0x2A4, 0], [0x51, 0], [0x730, 1], [0x12a, 1], [0x160, 1], - [0x1e0, 1], [0x1a0, 1], [0x1ea, 1], [0x200, 1], [0x345, 1], [0x1da, 1]] - - RELAY_MALFUNCTION_ADDRS = {0: (0x50,), 1: (0x1a0,)} # LKAS, SCC_CONTROL - - DISABLED_ECU_UDS_MSG = (0x730, 1) - DISABLED_ECU_ACTUATION_MSG = (0x1a0, 1) - - STEER_MSG = "LFA" - GAS_MSG = ("ACCELERATOR", "ACCELERATOR_PEDAL") - STEER_BUS = 1 - - def setUp(self): - self.packer = CANPackerPanda("hyundai_canfd") - self.safety = libpanda_py.libpanda - self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, Panda.FLAG_HYUNDAI_CANFD_HDA2 | Panda.FLAG_HYUNDAI_LONG | Panda.FLAG_HYUNDAI_EV_GAS) - self.safety.init_tests() - - def _accel_msg(self, accel, aeb_req=False, aeb_decel=0): - values = { - "aReqRaw": accel, - "aReqValue": accel, - } - return self.packer.make_can_msg_panda("SCC_CONTROL", 1, values) - - -# Tests HDA1 longitudinal for ICE, hybrid, EV -@parameterized_class([ - # Camera SCC is the only supported configuration for HDA1 longitudinal, TODO: allow radar SCC - {"GAS_MSG": ("ACCELERATOR_BRAKE_ALT", "ACCELERATOR_PEDAL_PRESSED"), "SAFETY_PARAM": Panda.FLAG_HYUNDAI_LONG}, - {"GAS_MSG": ("ACCELERATOR", "ACCELERATOR_PEDAL"), "SAFETY_PARAM": Panda.FLAG_HYUNDAI_LONG | Panda.FLAG_HYUNDAI_EV_GAS}, - {"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SAFETY_PARAM": Panda.FLAG_HYUNDAI_LONG | Panda.FLAG_HYUNDAI_HYBRID_GAS}, -]) -class TestHyundaiCanfdHDA1Long(HyundaiLongitudinalBase, TestHyundaiCanfdHDA1Base): - - FWD_BLACKLISTED_ADDRS = {2: [0x12a, 0x1e0, 0x1a0]} - - RELAY_MALFUNCTION_ADDRS = {0: (0x12A, 0x1a0)} # LFA, SCC_CONTROL - - DISABLED_ECU_UDS_MSG = (0x730, 1) - DISABLED_ECU_ACTUATION_MSG = (0x1a0, 0) - - STEER_MSG = "LFA" - STEER_BUS = 0 - SCC_BUS = 2 - - @classmethod - def setUpClass(cls): - if cls.__name__ == "TestHyundaiCanfdHDA1Long": - cls.safety = None - raise unittest.SkipTest - - def setUp(self): - self.packer = CANPackerPanda("hyundai_canfd") - self.safety = libpanda_py.libpanda - self.safety.set_safety_hooks(Panda.SAFETY_HYUNDAI_CANFD, Panda.FLAG_HYUNDAI_CAMERA_SCC | self.SAFETY_PARAM) - self.safety.init_tests() - - def _accel_msg(self, accel, aeb_req=False, aeb_decel=0): - values = { - "aReqRaw": accel, - "aReqValue": accel, - } - return self.packer.make_can_msg_panda("SCC_CONTROL", 0, values) - - # no knockout - def test_tester_present_allowed(self): - pass - - -if __name__ == "__main__": - unittest.main() diff --git a/panda/tests/safety/test_mazda.py b/panda/tests/safety/test_mazda.py deleted file mode 100644 index 9d2fb8988504f7..00000000000000 --- a/panda/tests/safety/test_mazda.py +++ /dev/null @@ -1,86 +0,0 @@ -#!/usr/bin/env python3 -import unittest -from panda import Panda -from panda.tests.libpanda import libpanda_py -import panda.tests.safety.common as common -from panda.tests.safety.common import CANPackerPanda - - -class TestMazdaSafety(common.PandaCarSafetyTest, common.DriverTorqueSteeringSafetyTest): - - TX_MSGS = [[0x243, 0], [0x09d, 0], [0x440, 0]] - STANDSTILL_THRESHOLD = .1 - RELAY_MALFUNCTION_ADDRS = {0: (0x243,)} - FWD_BLACKLISTED_ADDRS = {2: [0x243, 0x440]} - FWD_BUS_LOOKUP = {0: 2, 2: 0} - - MAX_RATE_UP = 10 - MAX_RATE_DOWN = 25 - MAX_TORQUE = 800 - - MAX_RT_DELTA = 300 - RT_INTERVAL = 250000 - - DRIVER_TORQUE_ALLOWANCE = 15 - DRIVER_TORQUE_FACTOR = 1 - - # Mazda actually does not set any bit when requesting torque - NO_STEER_REQ_BIT = True - - def setUp(self): - self.packer = CANPackerPanda("mazda_2017") - self.safety = libpanda_py.libpanda - self.safety.set_safety_hooks(Panda.SAFETY_MAZDA, 0) - self.safety.init_tests() - - def _torque_meas_msg(self, torque): - values = {"STEER_TORQUE_MOTOR": torque} - return self.packer.make_can_msg_panda("STEER_TORQUE", 0, values) - - def _torque_driver_msg(self, torque): - values = {"STEER_TORQUE_SENSOR": torque} - return self.packer.make_can_msg_panda("STEER_TORQUE", 0, values) - - def _torque_cmd_msg(self, torque, steer_req=1): - values = {"LKAS_REQUEST": torque} - return self.packer.make_can_msg_panda("CAM_LKAS", 0, values) - - def _speed_msg(self, speed): - values = {"SPEED": speed} - return self.packer.make_can_msg_panda("ENGINE_DATA", 0, values) - - def _user_brake_msg(self, brake): - values = {"BRAKE_ON": brake} - return self.packer.make_can_msg_panda("PEDALS", 0, values) - - def _user_gas_msg(self, gas): - values = {"PEDAL_GAS": gas} - return self.packer.make_can_msg_panda("ENGINE_DATA", 0, values) - - def _pcm_status_msg(self, enable): - values = {"CRZ_ACTIVE": enable} - return self.packer.make_can_msg_panda("CRZ_CTRL", 0, values) - - def _button_msg(self, resume=False, cancel=False): - values = { - "CAN_OFF": cancel, - "CAN_OFF_INV": (cancel + 1) % 2, - "RES": resume, - "RES_INV": (resume + 1) % 2, - } - return self.packer.make_can_msg_panda("CRZ_BTNS", 0, values) - - def test_buttons(self): - # only cancel allows while controls not allowed - self.safety.set_controls_allowed(0) - self.assertTrue(self._tx(self._button_msg(cancel=True))) - self.assertFalse(self._tx(self._button_msg(resume=True))) - - # do not block resume if we are engaged already - self.safety.set_controls_allowed(1) - self.assertTrue(self._tx(self._button_msg(cancel=True))) - self.assertTrue(self._tx(self._button_msg(resume=True))) - - -if __name__ == "__main__": - unittest.main() diff --git a/panda/tests/safety/test_nissan.py b/panda/tests/safety/test_nissan.py deleted file mode 100644 index 4c83ca329e2d81..00000000000000 --- a/panda/tests/safety/test_nissan.py +++ /dev/null @@ -1,117 +0,0 @@ -#!/usr/bin/env python3 -import unittest -from panda import Panda -from panda.tests.libpanda import libpanda_py -import panda.tests.safety.common as common -from panda.tests.safety.common import CANPackerPanda - - -class TestNissanSafety(common.PandaCarSafetyTest, common.AngleSteeringSafetyTest): - - TX_MSGS = [[0x169, 0], [0x2b1, 0], [0x4cc, 0], [0x20b, 2], [0x280, 2]] - STANDSTILL_THRESHOLD = 0 - GAS_PRESSED_THRESHOLD = 3 - RELAY_MALFUNCTION_ADDRS = {0: (0x169,)} - FWD_BLACKLISTED_ADDRS = {0: [0x280], 2: [0x169, 0x2b1, 0x4cc]} - FWD_BUS_LOOKUP = {0: 2, 2: 0} - - EPS_BUS = 0 - CRUISE_BUS = 2 - - # Angle control limits - DEG_TO_CAN = 100 - - ANGLE_RATE_BP = [0., 5., 15.] - ANGLE_RATE_UP = [5., .8, .15] # windup limit - ANGLE_RATE_DOWN = [5., 3.5, .4] # unwind limit - - def setUp(self): - self.packer = CANPackerPanda("nissan_x_trail_2017_generated") - self.safety = libpanda_py.libpanda - self.safety.set_safety_hooks(Panda.SAFETY_NISSAN, 0) - self.safety.init_tests() - - def _angle_cmd_msg(self, angle: float, enabled: bool): - values = {"DESIRED_ANGLE": angle, "LKA_ACTIVE": 1 if enabled else 0} - return self.packer.make_can_msg_panda("LKAS", 0, values) - - def _angle_meas_msg(self, angle: float): - values = {"STEER_ANGLE": angle} - return self.packer.make_can_msg_panda("STEER_ANGLE_SENSOR", self.EPS_BUS, values) - - def _pcm_status_msg(self, enable): - values = {"CRUISE_ENABLED": enable} - return self.packer.make_can_msg_panda("CRUISE_STATE", self.CRUISE_BUS, values) - - def _speed_msg(self, speed): - values = {"WHEEL_SPEED_%s" % s: speed * 3.6 for s in ["RR", "RL"]} - return self.packer.make_can_msg_panda("WHEEL_SPEEDS_REAR", self.EPS_BUS, values) - - def _user_brake_msg(self, brake): - values = {"USER_BRAKE_PRESSED": brake} - return self.packer.make_can_msg_panda("DOORS_LIGHTS", self.EPS_BUS, values) - - def _user_gas_msg(self, gas): - values = {"GAS_PEDAL": gas} - return self.packer.make_can_msg_panda("GAS_PEDAL", self.EPS_BUS, values) - - def _acc_button_cmd(self, cancel=0, propilot=0, flw_dist=0, _set=0, res=0): - no_button = not any([cancel, propilot, flw_dist, _set, res]) - values = {"CANCEL_BUTTON": cancel, "PROPILOT_BUTTON": propilot, - "FOLLOW_DISTANCE_BUTTON": flw_dist, "SET_BUTTON": _set, - "RES_BUTTON": res, "NO_BUTTON_PRESSED": no_button} - return self.packer.make_can_msg_panda("CRUISE_THROTTLE", 2, values) - - def test_acc_buttons(self): - btns = [ - ("cancel", True), - ("propilot", False), - ("flw_dist", False), - ("_set", False), - ("res", False), - (None, False), - ] - for controls_allowed in (True, False): - for btn, should_tx in btns: - self.safety.set_controls_allowed(controls_allowed) - args = {} if btn is None else {btn: 1} - tx = self._tx(self._acc_button_cmd(**args)) - self.assertEqual(tx, should_tx) - - -class TestNissanSafetyAltEpsBus(TestNissanSafety): - """Altima uses different buses""" - - EPS_BUS = 1 - CRUISE_BUS = 1 - - def setUp(self): - self.packer = CANPackerPanda("nissan_x_trail_2017_generated") - self.safety = libpanda_py.libpanda - self.safety.set_safety_hooks(Panda.SAFETY_NISSAN, Panda.FLAG_NISSAN_ALT_EPS_BUS) - self.safety.init_tests() - - -class TestNissanLeafSafety(TestNissanSafety): - - def setUp(self): - self.packer = CANPackerPanda("nissan_leaf_2018_generated") - self.safety = libpanda_py.libpanda - self.safety.set_safety_hooks(Panda.SAFETY_NISSAN, 0) - self.safety.init_tests() - - def _user_brake_msg(self, brake): - values = {"USER_BRAKE_PRESSED": brake} - return self.packer.make_can_msg_panda("CRUISE_THROTTLE", 0, values) - - def _user_gas_msg(self, gas): - values = {"GAS_PEDAL": gas} - return self.packer.make_can_msg_panda("CRUISE_THROTTLE", 0, values) - - # TODO: leaf should use its own safety param - def test_acc_buttons(self): - pass - - -if __name__ == "__main__": - unittest.main() diff --git a/panda/tests/safety/test_subaru.py b/panda/tests/safety/test_subaru.py deleted file mode 100644 index 7d07f79aaf8381..00000000000000 --- a/panda/tests/safety/test_subaru.py +++ /dev/null @@ -1,228 +0,0 @@ -#!/usr/bin/env python3 -import enum -import unittest -from panda import Panda -from panda.tests.libpanda import libpanda_py -import panda.tests.safety.common as common -from panda.tests.safety.common import CANPackerPanda -from functools import partial - -class SubaruMsg(enum.IntEnum): - Brake_Status = 0x13c - CruiseControl = 0x240 - Throttle = 0x40 - Steering_Torque = 0x119 - Wheel_Speeds = 0x13a - ES_LKAS = 0x122 - ES_LKAS_ANGLE = 0x124 - ES_Brake = 0x220 - ES_Distance = 0x221 - ES_Status = 0x222 - ES_DashStatus = 0x321 - ES_LKAS_State = 0x322 - ES_Infotainment = 0x323 - ES_UDS_Request = 0x787 - ES_HighBeamAssist = 0x121 - ES_STATIC_1 = 0x22a - ES_STATIC_2 = 0x325 - - -SUBARU_MAIN_BUS = 0 -SUBARU_ALT_BUS = 1 -SUBARU_CAM_BUS = 2 - - -def lkas_tx_msgs(alt_bus, lkas_msg=SubaruMsg.ES_LKAS): - return [[lkas_msg, SUBARU_MAIN_BUS], - [SubaruMsg.ES_Distance, alt_bus], - [SubaruMsg.ES_DashStatus, SUBARU_MAIN_BUS], - [SubaruMsg.ES_LKAS_State, SUBARU_MAIN_BUS], - [SubaruMsg.ES_Infotainment, SUBARU_MAIN_BUS]] - -def long_tx_msgs(alt_bus): - return [[SubaruMsg.ES_Brake, alt_bus], - [SubaruMsg.ES_Status, alt_bus]] - -def gen2_long_additional_tx_msgs(): - return [[SubaruMsg.ES_UDS_Request, SUBARU_CAM_BUS], - [SubaruMsg.ES_HighBeamAssist, SUBARU_MAIN_BUS], - [SubaruMsg.ES_STATIC_1, SUBARU_MAIN_BUS], - [SubaruMsg.ES_STATIC_2, SUBARU_MAIN_BUS]] - -def fwd_blacklisted_addr(lkas_msg=SubaruMsg.ES_LKAS): - return {SUBARU_CAM_BUS: [lkas_msg, SubaruMsg.ES_DashStatus, SubaruMsg.ES_LKAS_State, SubaruMsg.ES_Infotainment]} - -class TestSubaruSafetyBase(common.PandaCarSafetyTest): - FLAGS = 0 - STANDSTILL_THRESHOLD = 0 # kph - RELAY_MALFUNCTION_ADDRS = {SUBARU_MAIN_BUS: (SubaruMsg.ES_LKAS,)} - FWD_BUS_LOOKUP = {SUBARU_MAIN_BUS: SUBARU_CAM_BUS, SUBARU_CAM_BUS: SUBARU_MAIN_BUS} - FWD_BLACKLISTED_ADDRS = fwd_blacklisted_addr() - - MAX_RT_DELTA = 940 - RT_INTERVAL = 250000 - - DRIVER_TORQUE_ALLOWANCE = 60 - DRIVER_TORQUE_FACTOR = 50 - - ALT_MAIN_BUS = SUBARU_MAIN_BUS - ALT_CAM_BUS = SUBARU_CAM_BUS - - DEG_TO_CAN = 100 - - INACTIVE_GAS = 1818 - - def setUp(self): - self.packer = CANPackerPanda("subaru_global_2017_generated") - self.safety = libpanda_py.libpanda - self.safety.set_safety_hooks(Panda.SAFETY_SUBARU, self.FLAGS) - self.safety.init_tests() - - def _set_prev_torque(self, t): - self.safety.set_desired_torque_last(t) - self.safety.set_rt_torque_last(t) - - def _torque_driver_msg(self, torque): - values = {"Steer_Torque_Sensor": torque} - return self.packer.make_can_msg_panda("Steering_Torque", 0, values) - - def _speed_msg(self, speed): - values = {s: speed for s in ["FR", "FL", "RR", "RL"]} - return self.packer.make_can_msg_panda("Wheel_Speeds", self.ALT_MAIN_BUS, values) - - def _angle_meas_msg(self, angle): - values = {"Steering_Angle": angle} - return self.packer.make_can_msg_panda("Steering_Torque", 0, values) - - def _user_brake_msg(self, brake): - values = {"Brake": brake} - return self.packer.make_can_msg_panda("Brake_Status", self.ALT_MAIN_BUS, values) - - def _user_gas_msg(self, gas): - values = {"Throttle_Pedal": gas} - return self.packer.make_can_msg_panda("Throttle", 0, values) - - def _pcm_status_msg(self, enable): - values = {"Cruise_Activated": enable} - return self.packer.make_can_msg_panda("CruiseControl", self.ALT_MAIN_BUS, values) - - -class TestSubaruStockLongitudinalSafetyBase(TestSubaruSafetyBase): - def _cancel_msg(self, cancel, cruise_throttle=0): - values = {"Cruise_Cancel": cancel, "Cruise_Throttle": cruise_throttle} - return self.packer.make_can_msg_panda("ES_Distance", self.ALT_MAIN_BUS, values) - - def test_cancel_message(self): - # test that we can only send the cancel message (ES_Distance) with inactive throttle (1818) and Cruise_Cancel=1 - for cancel in [True, False]: - self._generic_limit_safety_check(partial(self._cancel_msg, cancel), self.INACTIVE_GAS, self.INACTIVE_GAS, 0, 2**12, 1, self.INACTIVE_GAS, cancel) - - -class TestSubaruLongitudinalSafetyBase(TestSubaruSafetyBase, common.LongitudinalGasBrakeSafetyTest): - MIN_GAS = 808 - MAX_GAS = 3400 - INACTIVE_GAS = 1818 - MAX_POSSIBLE_GAS = 2**13 - - MIN_BRAKE = 0 - MAX_BRAKE = 600 - MAX_POSSIBLE_BRAKE = 2**16 - - MIN_RPM = 0 - MAX_RPM = 3600 - MAX_POSSIBLE_RPM = 2**13 - - FWD_BLACKLISTED_ADDRS = {2: [SubaruMsg.ES_LKAS, SubaruMsg.ES_Brake, SubaruMsg.ES_Distance, - SubaruMsg.ES_Status, SubaruMsg.ES_DashStatus, - SubaruMsg.ES_LKAS_State, SubaruMsg.ES_Infotainment]} - - def test_rpm_safety_check(self): - self._generic_limit_safety_check(self._send_rpm_msg, self.MIN_RPM, self.MAX_RPM, 0, self.MAX_POSSIBLE_RPM, 1) - - def _send_brake_msg(self, brake): - values = {"Brake_Pressure": brake} - return self.packer.make_can_msg_panda("ES_Brake", self.ALT_MAIN_BUS, values) - - def _send_gas_msg(self, gas): - values = {"Cruise_Throttle": gas} - return self.packer.make_can_msg_panda("ES_Distance", self.ALT_MAIN_BUS, values) - - def _send_rpm_msg(self, rpm): - values = {"Cruise_RPM": rpm} - return self.packer.make_can_msg_panda("ES_Status", self.ALT_MAIN_BUS, values) - - -class TestSubaruTorqueSafetyBase(TestSubaruSafetyBase, common.DriverTorqueSteeringSafetyTest, common.SteerRequestCutSafetyTest): - MAX_RATE_UP = 50 - MAX_RATE_DOWN = 70 - MAX_TORQUE = 2047 - - # Safety around steering req bit - MIN_VALID_STEERING_FRAMES = 7 - MAX_INVALID_STEERING_FRAMES = 1 - MIN_VALID_STEERING_RT_INTERVAL = 144000 - - def _torque_cmd_msg(self, torque, steer_req=1): - values = {"LKAS_Output": torque, "LKAS_Request": steer_req} - return self.packer.make_can_msg_panda("ES_LKAS", SUBARU_MAIN_BUS, values) - - -class TestSubaruGen1TorqueStockLongitudinalSafety(TestSubaruStockLongitudinalSafetyBase, TestSubaruTorqueSafetyBase): - FLAGS = 0 - TX_MSGS = lkas_tx_msgs(SUBARU_MAIN_BUS) - - -class TestSubaruGen2TorqueSafetyBase(TestSubaruTorqueSafetyBase): - ALT_MAIN_BUS = SUBARU_ALT_BUS - ALT_CAM_BUS = SUBARU_ALT_BUS - - MAX_RATE_UP = 40 - MAX_RATE_DOWN = 40 - MAX_TORQUE = 1000 - - -class TestSubaruGen2TorqueStockLongitudinalSafety(TestSubaruStockLongitudinalSafetyBase, TestSubaruGen2TorqueSafetyBase): - FLAGS = Panda.FLAG_SUBARU_GEN2 - TX_MSGS = lkas_tx_msgs(SUBARU_ALT_BUS) - - -class TestSubaruGen1LongitudinalSafety(TestSubaruLongitudinalSafetyBase, TestSubaruTorqueSafetyBase): - FLAGS = Panda.FLAG_SUBARU_LONG - TX_MSGS = lkas_tx_msgs(SUBARU_MAIN_BUS) + long_tx_msgs(SUBARU_MAIN_BUS) - - -class TestSubaruGen2LongitudinalSafety(TestSubaruLongitudinalSafetyBase, TestSubaruGen2TorqueSafetyBase): - FLAGS = Panda.FLAG_SUBARU_LONG | Panda.FLAG_SUBARU_GEN2 - TX_MSGS = lkas_tx_msgs(SUBARU_ALT_BUS) + long_tx_msgs(SUBARU_ALT_BUS) + gen2_long_additional_tx_msgs() - - def _rdbi_msg(self, did: int): - return b'\x03\x22' + did.to_bytes(2) + b'\x00\x00\x00\x00' - - def _es_uds_msg(self, msg: bytes): - return libpanda_py.make_CANPacket(SubaruMsg.ES_UDS_Request, 2, msg) - - def test_es_uds_message(self): - tester_present = b'\x02\x3E\x80\x00\x00\x00\x00\x00' - not_tester_present = b"\x03\xAA\xAA\x00\x00\x00\x00\x00" - - button_did = 0x1130 - - # Tester present is allowed for gen2 long to keep eyesight disabled - self.assertTrue(self._tx(self._es_uds_msg(tester_present))) - - # Non-Tester present is not allowed - self.assertFalse(self._tx(self._es_uds_msg(not_tester_present))) - - # Only button_did is allowed to be read via UDS - for did in range(0xFFFF): - should_tx = (did == button_did) - self.assertEqual(self._tx(self._es_uds_msg(self._rdbi_msg(did))), should_tx) - - # any other msg is not allowed - for sid in range(0xFF): - msg = b'\x03' + sid.to_bytes(1) + b'\x00' * 6 - self.assertFalse(self._tx(self._es_uds_msg(msg))) - - -if __name__ == "__main__": - unittest.main() diff --git a/panda/tests/safety/test_subaru_preglobal.py b/panda/tests/safety/test_subaru_preglobal.py deleted file mode 100644 index 06c4cdefc86273..00000000000000 --- a/panda/tests/safety/test_subaru_preglobal.py +++ /dev/null @@ -1,70 +0,0 @@ -#!/usr/bin/env python3 -import unittest -from panda import Panda -from panda.tests.libpanda import libpanda_py -import panda.tests.safety.common as common -from panda.tests.safety.common import CANPackerPanda - - -class TestSubaruPreglobalSafety(common.PandaCarSafetyTest, common.DriverTorqueSteeringSafetyTest): - FLAGS = 0 - DBC = "subaru_outback_2015_generated" - TX_MSGS = [[0x161, 0], [0x164, 0]] - STANDSTILL_THRESHOLD = 0 # kph - RELAY_MALFUNCTION_ADDRS = {0: (0x164,)} - FWD_BLACKLISTED_ADDRS = {2: [0x161, 0x164]} - FWD_BUS_LOOKUP = {0: 2, 2: 0} - - MAX_RATE_UP = 50 - MAX_RATE_DOWN = 70 - MAX_TORQUE = 2047 - - MAX_RT_DELTA = 940 - RT_INTERVAL = 250000 - - DRIVER_TORQUE_ALLOWANCE = 75 - DRIVER_TORQUE_FACTOR = 10 - - def setUp(self): - self.packer = CANPackerPanda(self.DBC) - self.safety = libpanda_py.libpanda - self.safety.set_safety_hooks(Panda.SAFETY_SUBARU_PREGLOBAL, self.FLAGS) - self.safety.init_tests() - - def _set_prev_torque(self, t): - self.safety.set_desired_torque_last(t) - self.safety.set_rt_torque_last(t) - - def _torque_driver_msg(self, torque): - values = {"Steer_Torque_Sensor": torque} - return self.packer.make_can_msg_panda("Steering_Torque", 0, values) - - def _speed_msg(self, speed): - # subaru safety doesn't use the scaled value, so undo the scaling - values = {s: speed*0.0592 for s in ["FR", "FL", "RR", "RL"]} - return self.packer.make_can_msg_panda("Wheel_Speeds", 0, values) - - def _user_brake_msg(self, brake): - values = {"Brake_Pedal": brake} - return self.packer.make_can_msg_panda("Brake_Pedal", 0, values) - - def _torque_cmd_msg(self, torque, steer_req=1): - values = {"LKAS_Command": torque, "LKAS_Active": steer_req} - return self.packer.make_can_msg_panda("ES_LKAS", 0, values) - - def _user_gas_msg(self, gas): - values = {"Throttle_Pedal": gas} - return self.packer.make_can_msg_panda("Throttle", 0, values) - - def _pcm_status_msg(self, enable): - values = {"Cruise_Activated": enable} - return self.packer.make_can_msg_panda("CruiseControl", 0, values) - - -class TestSubaruPreglobalReversedDriverTorqueSafety(TestSubaruPreglobalSafety): - FLAGS = Panda.FLAG_SUBARU_PREGLOBAL_REVERSED_DRIVER_TORQUE - DBC = "subaru_outback_2019_generated" - - -if __name__ == "__main__": - unittest.main() diff --git a/panda/tests/safety/test_tesla.py b/panda/tests/safety/test_tesla.py deleted file mode 100644 index 9461ff68f9da36..00000000000000 --- a/panda/tests/safety/test_tesla.py +++ /dev/null @@ -1,185 +0,0 @@ -#!/usr/bin/env python3 -import unittest -import numpy as np -from panda import Panda -import panda.tests.safety.common as common -from panda.tests.libpanda import libpanda_py -from panda.tests.safety.common import CANPackerPanda - -MAX_ACCEL = 2.0 -MIN_ACCEL = -3.5 - - -class CONTROL_LEVER_STATE: - DN_1ST = 32 - UP_1ST = 16 - DN_2ND = 8 - UP_2ND = 4 - RWD = 2 - FWD = 1 - IDLE = 0 - - -class TestTeslaSafety(common.PandaCarSafetyTest): - STANDSTILL_THRESHOLD = 0 - GAS_PRESSED_THRESHOLD = 3 - FWD_BUS_LOOKUP = {0: 2, 2: 0} - - def setUp(self): - self.packer = None - raise unittest.SkipTest - - def _speed_msg(self, speed): - values = {"DI_vehicleSpeed": speed / 0.447} - return self.packer.make_can_msg_panda("DI_torque2", 0, values) - - def _user_brake_msg(self, brake): - values = {"driverBrakeStatus": 2 if brake else 1} - return self.packer.make_can_msg_panda("BrakeMessage", 0, values) - - def _user_gas_msg(self, gas): - values = {"DI_pedalPos": gas} - return self.packer.make_can_msg_panda("DI_torque1", 0, values) - - def _control_lever_cmd(self, command): - values = {"SpdCtrlLvr_Stat": command} - return self.packer.make_can_msg_panda("STW_ACTN_RQ", 0, values) - - def _pcm_status_msg(self, enable): - values = {"DI_cruiseState": 2 if enable else 0} - return self.packer.make_can_msg_panda("DI_state", 0, values) - - def _long_control_msg(self, set_speed, acc_val=0, jerk_limits=(0, 0), accel_limits=(0, 0), aeb_event=0, bus=0): - values = { - "DAS_setSpeed": set_speed, - "DAS_accState": acc_val, - "DAS_aebEvent": aeb_event, - "DAS_jerkMin": jerk_limits[0], - "DAS_jerkMax": jerk_limits[1], - "DAS_accelMin": accel_limits[0], - "DAS_accelMax": accel_limits[1], - } - return self.packer.make_can_msg_panda("DAS_control", bus, values) - - -class TestTeslaSteeringSafety(TestTeslaSafety, common.AngleSteeringSafetyTest): - TX_MSGS = [[0x488, 0], [0x45, 0], [0x45, 2]] - RELAY_MALFUNCTION_ADDRS = {0: (0x488,)} - FWD_BLACKLISTED_ADDRS = {2: [0x488]} - - # Angle control limits - DEG_TO_CAN = 10 - - ANGLE_RATE_BP = [0., 5., 15.] - ANGLE_RATE_UP = [10., 1.6, .3] # windup limit - ANGLE_RATE_DOWN = [10., 7.0, .8] # unwind limit - - def setUp(self): - self.packer = CANPackerPanda("tesla_can") - self.safety = libpanda_py.libpanda - self.safety.set_safety_hooks(Panda.SAFETY_TESLA, 0) - self.safety.init_tests() - - def _angle_cmd_msg(self, angle: float, enabled: bool): - values = {"DAS_steeringAngleRequest": angle, "DAS_steeringControlType": 1 if enabled else 0} - return self.packer.make_can_msg_panda("DAS_steeringControl", 0, values) - - def _angle_meas_msg(self, angle: float): - values = {"EPAS_internalSAS": angle} - return self.packer.make_can_msg_panda("EPAS_sysStatus", 0, values) - - def test_acc_buttons(self): - """ - FWD (cancel) always allowed. - """ - btns = [ - (CONTROL_LEVER_STATE.FWD, True), - (CONTROL_LEVER_STATE.RWD, False), - (CONTROL_LEVER_STATE.UP_1ST, False), - (CONTROL_LEVER_STATE.UP_2ND, False), - (CONTROL_LEVER_STATE.DN_1ST, False), - (CONTROL_LEVER_STATE.DN_2ND, False), - (CONTROL_LEVER_STATE.IDLE, False), - ] - for btn, should_tx in btns: - for controls_allowed in (True, False): - self.safety.set_controls_allowed(controls_allowed) - tx = self._tx(self._control_lever_cmd(btn)) - self.assertEqual(tx, should_tx) - - -class TestTeslaRavenSteeringSafety(TestTeslaSteeringSafety): - def setUp(self): - self.packer = CANPackerPanda("tesla_can") - self.safety = libpanda_py.libpanda - self.safety.set_safety_hooks(Panda.SAFETY_TESLA, Panda.FLAG_TESLA_RAVEN) - self.safety.init_tests() - - def _angle_meas_msg(self, angle: float): - values = {"EPAS_internalSAS": angle} - return self.packer.make_can_msg_panda("EPAS3P_sysStatus", 2, values) - -class TestTeslaLongitudinalSafety(TestTeslaSafety): - def setUp(self): - raise unittest.SkipTest - - def test_no_aeb(self): - for aeb_event in range(4): - self.assertEqual(self._tx(self._long_control_msg(10, aeb_event=aeb_event)), aeb_event == 0) - - def test_stock_aeb_passthrough(self): - no_aeb_msg = self._long_control_msg(10, aeb_event=0) - no_aeb_msg_cam = self._long_control_msg(10, aeb_event=0, bus=2) - aeb_msg_cam = self._long_control_msg(10, aeb_event=1, bus=2) - - # stock system sends no AEB -> no forwarding, and OP is allowed to TX - self.assertEqual(1, self._rx(no_aeb_msg_cam)) - self.assertEqual(-1, self.safety.safety_fwd_hook(2, no_aeb_msg_cam.addr)) - self.assertEqual(True, self._tx(no_aeb_msg)) - - # stock system sends AEB -> forwarding, and OP is not allowed to TX - self.assertEqual(1, self._rx(aeb_msg_cam)) - self.assertEqual(0, self.safety.safety_fwd_hook(2, aeb_msg_cam.addr)) - self.assertEqual(False, self._tx(no_aeb_msg)) - - def test_acc_accel_limits(self): - for controls_allowed in [True, False]: - self.safety.set_controls_allowed(controls_allowed) - for min_accel in np.arange(MIN_ACCEL - 1, MAX_ACCEL + 1, 0.1): - for max_accel in np.arange(MIN_ACCEL - 1, MAX_ACCEL + 1, 0.1): - # floats might not hit exact boundary conditions without rounding - min_accel = round(min_accel, 2) - max_accel = round(max_accel, 2) - if controls_allowed: - send = (MIN_ACCEL <= min_accel <= MAX_ACCEL) and (MIN_ACCEL <= max_accel <= MAX_ACCEL) - else: - send = np.all(np.isclose([min_accel, max_accel], 0, atol=0.0001)) - self.assertEqual(send, self._tx(self._long_control_msg(10, acc_val=4, accel_limits=[min_accel, max_accel]))) - - -class TestTeslaChassisLongitudinalSafety(TestTeslaLongitudinalSafety): - TX_MSGS = [[0x488, 0], [0x45, 0], [0x45, 2], [0x2B9, 0]] - RELAY_MALFUNCTION_ADDRS = {0: (0x488,)} - FWD_BLACKLISTED_ADDRS = {2: [0x2B9, 0x488]} - - def setUp(self): - self.packer = CANPackerPanda("tesla_can") - self.safety = libpanda_py.libpanda - self.safety.set_safety_hooks(Panda.SAFETY_TESLA, Panda.FLAG_TESLA_LONG_CONTROL) - self.safety.init_tests() - - -class TestTeslaPTLongitudinalSafety(TestTeslaLongitudinalSafety): - TX_MSGS = [[0x2BF, 0]] - RELAY_MALFUNCTION_ADDRS = {0: (0x2BF,)} - FWD_BLACKLISTED_ADDRS = {2: [0x2BF]} - - def setUp(self): - self.packer = CANPackerPanda("tesla_powertrain") - self.safety = libpanda_py.libpanda - self.safety.set_safety_hooks(Panda.SAFETY_TESLA, Panda.FLAG_TESLA_LONG_CONTROL | Panda.FLAG_TESLA_POWERTRAIN) - self.safety.init_tests() - - -if __name__ == "__main__": - unittest.main() diff --git a/panda/tests/safety/test_toyota.py b/panda/tests/safety/test_toyota.py deleted file mode 100644 index 0743c67e83f529..00000000000000 --- a/panda/tests/safety/test_toyota.py +++ /dev/null @@ -1,367 +0,0 @@ -#!/usr/bin/env python3 -import numpy as np -import random -import unittest -import itertools - -from panda import Panda -from panda.tests.libpanda import libpanda_py -import panda.tests.safety.common as common -from panda.tests.safety.common import CANPackerPanda - -TOYOTA_COMMON_TX_MSGS = [[0x2E4, 0], [0x191, 0], [0x412, 0], [0x343, 0], [0x1D2, 0]] # LKAS + LTA + ACC & PCM cancel cmds -TOYOTA_COMMON_LONG_TX_MSGS = [[0x283, 0], [0x2E6, 0], [0x2E7, 0], [0x33E, 0], [0x344, 0], [0x365, 0], [0x366, 0], [0x4CB, 0], # DSU bus 0 - [0x128, 1], [0x141, 1], [0x160, 1], [0x161, 1], [0x470, 1], # DSU bus 1 - [0x411, 0], # PCS_HUD - [0x750, 0]] # radar diagnostic address -GAS_INTERCEPTOR_TX_MSGS = [[0x200, 0]] - - -class TestToyotaSafetyBase(common.PandaCarSafetyTest, common.LongitudinalAccelSafetyTest): - - TX_MSGS = TOYOTA_COMMON_TX_MSGS + TOYOTA_COMMON_LONG_TX_MSGS - STANDSTILL_THRESHOLD = 0 # kph - RELAY_MALFUNCTION_ADDRS = {0: (0x2E4, 0x343)} - FWD_BLACKLISTED_ADDRS = {2: [0x2E4, 0x412, 0x191, 0x343]} - FWD_BUS_LOOKUP = {0: 2, 2: 0} - EPS_SCALE = 73 - - packer: CANPackerPanda - safety: libpanda_py.Panda - - @classmethod - def setUpClass(cls): - if cls.__name__.endswith("Base"): - cls.packer = None - cls.safety = None - raise unittest.SkipTest - - def _torque_meas_msg(self, torque: int, driver_torque: int | None = None): - values = {"STEER_TORQUE_EPS": (torque / self.EPS_SCALE) * 100.} - if driver_torque is not None: - values["STEER_TORQUE_DRIVER"] = driver_torque - return self.packer.make_can_msg_panda("STEER_TORQUE_SENSOR", 0, values) - - # Both torque and angle safety modes test with each other's steering commands - def _torque_cmd_msg(self, torque, steer_req=1): - values = {"STEER_TORQUE_CMD": torque, "STEER_REQUEST": steer_req} - return self.packer.make_can_msg_panda("STEERING_LKA", 0, values) - - def _angle_meas_msg(self, angle: float, steer_angle_initializing: bool = False): - # This creates a steering torque angle message. Not set on all platforms, - # relative to init angle on some older TSS2 platforms. Only to be used with LTA - values = {"STEER_ANGLE": angle, "STEER_ANGLE_INITIALIZING": int(steer_angle_initializing)} - return self.packer.make_can_msg_panda("STEER_TORQUE_SENSOR", 0, values) - - def _angle_cmd_msg(self, angle: float, enabled: bool): - return self._lta_msg(int(enabled), int(enabled), angle, torque_wind_down=100 if enabled else 0) - - def _lta_msg(self, req, req2, angle_cmd, torque_wind_down=100): - values = {"STEER_REQUEST": req, "STEER_REQUEST_2": req2, "STEER_ANGLE_CMD": angle_cmd, "TORQUE_WIND_DOWN": torque_wind_down} - return self.packer.make_can_msg_panda("STEERING_LTA", 0, values) - - def _accel_msg(self, accel, cancel_req=0): - values = {"ACCEL_CMD": accel, "CANCEL_REQ": cancel_req} - return self.packer.make_can_msg_panda("ACC_CONTROL", 0, values) - - def _speed_msg(self, speed): - values = {("WHEEL_SPEED_%s" % n): speed * 3.6 for n in ["FR", "FL", "RR", "RL"]} - return self.packer.make_can_msg_panda("WHEEL_SPEEDS", 0, values) - - def _user_brake_msg(self, brake): - values = {"BRAKE_PRESSED": brake} - return self.packer.make_can_msg_panda("BRAKE_MODULE", 0, values) - - def _user_gas_msg(self, gas): - cruise_active = self.safety.get_controls_allowed() - values = {"GAS_RELEASED": not gas, "CRUISE_ACTIVE": cruise_active} - return self.packer.make_can_msg_panda("PCM_CRUISE", 0, values) - - def _pcm_status_msg(self, enable): - values = {"CRUISE_ACTIVE": enable} - return self.packer.make_can_msg_panda("PCM_CRUISE", 0, values) - - def test_diagnostics(self, stock_longitudinal: bool = False): - for should_tx, msg in ((False, b"\x6D\x02\x3E\x00\x00\x00\x00\x00"), # fwdCamera tester present - (False, b"\x0F\x03\xAA\xAA\x00\x00\x00\x00"), # non-tester present - (True, b"\x0F\x02\x3E\x00\x00\x00\x00\x00")): - tester_present = libpanda_py.make_CANPacket(0x750, 0, msg) - self.assertEqual(should_tx and not stock_longitudinal, self._tx(tester_present)) - - def test_block_aeb(self, stock_longitudinal: bool = False): - for controls_allowed in (True, False): - for bad in (True, False): - for _ in range(10): - self.safety.set_controls_allowed(controls_allowed) - dat = [random.randint(1, 255) for _ in range(7)] - if not bad: - dat = [0]*6 + dat[-1:] - msg = libpanda_py.make_CANPacket(0x283, 0, bytes(dat)) - self.assertEqual(not bad and not stock_longitudinal, self._tx(msg)) - - # Only allow LTA msgs with no actuation - def test_lta_steer_cmd(self): - for engaged, req, req2, torque_wind_down, angle in itertools.product([True, False], - [0, 1], [0, 1], - [0, 50, 100], - np.linspace(-20, 20, 5)): - self.safety.set_controls_allowed(engaged) - - should_tx = not req and not req2 and angle == 0 and torque_wind_down == 0 - self.assertEqual(should_tx, self._tx(self._lta_msg(req, req2, angle, torque_wind_down))) - - def test_rx_hook(self): - # checksum checks - for msg in ["trq", "pcm"]: - self.safety.set_controls_allowed(1) - if msg == "trq": - to_push = self._torque_meas_msg(0) - if msg == "pcm": - to_push = self._pcm_status_msg(True) - self.assertTrue(self._rx(to_push)) - to_push[0].data[4] = 0 - to_push[0].data[5] = 0 - to_push[0].data[6] = 0 - to_push[0].data[7] = 0 - self.assertFalse(self._rx(to_push)) - self.assertFalse(self.safety.get_controls_allowed()) - - -class TestToyotaSafetyGasInterceptorBase(common.GasInterceptorSafetyTest, TestToyotaSafetyBase): - - TX_MSGS = TOYOTA_COMMON_TX_MSGS + TOYOTA_COMMON_LONG_TX_MSGS + GAS_INTERCEPTOR_TX_MSGS - INTERCEPTOR_THRESHOLD = 805 - - def setUp(self): - super().setUp() - self.safety.set_safety_hooks(Panda.SAFETY_TOYOTA, self.safety.get_current_safety_param() | - Panda.FLAG_TOYOTA_GAS_INTERCEPTOR) - self.safety.init_tests() - - def test_stock_longitudinal(self): - # If stock longitudinal is set, the gas interceptor safety param should not be respected - self.safety.set_safety_hooks(Panda.SAFETY_TOYOTA, self.safety.get_current_safety_param() | - Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL) - self.safety.init_tests() - - # Spot check a few gas interceptor tests: (1) reading interceptor, - # (2) behavior around interceptor, and (3) txing interceptor msgs - for test in (self.test_prev_gas_interceptor, self.test_disengage_on_gas_interceptor, - self.test_gas_interceptor_safety_check): - with self.subTest(test=test.__name__): - with self.assertRaises(AssertionError): - test() - - -class TestToyotaSafetyTorque(TestToyotaSafetyBase, common.MotorTorqueSteeringSafetyTest, common.SteerRequestCutSafetyTest): - - MAX_RATE_UP = 15 - MAX_RATE_DOWN = 25 - MAX_TORQUE = 1500 - MAX_RT_DELTA = 450 - RT_INTERVAL = 250000 - MAX_TORQUE_ERROR = 350 - TORQUE_MEAS_TOLERANCE = 1 # toyota safety adds one to be conservative for rounding - - # Safety around steering req bit - MIN_VALID_STEERING_FRAMES = 18 - MAX_INVALID_STEERING_FRAMES = 1 - MIN_VALID_STEERING_RT_INTERVAL = 170000 # a ~10% buffer, can send steer up to 110Hz - - def setUp(self): - self.packer = CANPackerPanda("toyota_nodsu_pt_generated") - self.safety = libpanda_py.libpanda - self.safety.set_safety_hooks(Panda.SAFETY_TOYOTA, self.EPS_SCALE) - self.safety.init_tests() - - -class TestToyotaSafetyTorqueGasInterceptor(TestToyotaSafetyGasInterceptorBase, TestToyotaSafetyTorque): - pass - - -class TestToyotaSafetyAngle(TestToyotaSafetyBase, common.AngleSteeringSafetyTest): - - # Angle control limits - DEG_TO_CAN = 17.452007 # 1 / 0.0573 deg to can - - ANGLE_RATE_BP = [5., 25., 25.] - ANGLE_RATE_UP = [0.3, 0.15, 0.15] # windup limit - ANGLE_RATE_DOWN = [0.36, 0.26, 0.26] # unwind limit - - MAX_LTA_ANGLE = 94.9461 # PCS faults if commanding above this, deg - MAX_MEAS_TORQUE = 1500 # max allowed measured EPS torque before wind down - MAX_LTA_DRIVER_TORQUE = 150 # max allowed driver torque before wind down - - def setUp(self): - self.packer = CANPackerPanda("toyota_nodsu_pt_generated") - self.safety = libpanda_py.libpanda - self.safety.set_safety_hooks(Panda.SAFETY_TOYOTA, self.EPS_SCALE | Panda.FLAG_TOYOTA_LTA) - self.safety.init_tests() - - # Only allow LKA msgs with no actuation - def test_lka_steer_cmd(self): - for engaged, steer_req, torque in itertools.product([True, False], - [0, 1], - np.linspace(-1500, 1500, 7)): - self.safety.set_controls_allowed(engaged) - torque = int(torque) - self.safety.set_rt_torque_last(torque) - self.safety.set_torque_meas(torque, torque) - self.safety.set_desired_torque_last(torque) - - should_tx = not steer_req and torque == 0 - self.assertEqual(should_tx, self._tx(self._torque_cmd_msg(torque, steer_req))) - - def test_lta_steer_cmd(self): - """ - Tests the LTA steering command message - controls_allowed: - * STEER_REQUEST and STEER_REQUEST_2 do not mismatch - * TORQUE_WIND_DOWN is only set to 0 or 100 when STEER_REQUEST and STEER_REQUEST_2 are both 1 - * Full torque messages are blocked if either EPS torque or driver torque is above the threshold - - not controls_allowed: - * STEER_REQUEST, STEER_REQUEST_2, and TORQUE_WIND_DOWN are all 0 - """ - for controls_allowed in (True, False): - for angle in np.arange(-90, 90, 1): - self.safety.set_controls_allowed(controls_allowed) - self._reset_angle_measurement(angle) - self._set_prev_desired_angle(angle) - - self.assertTrue(self._tx(self._lta_msg(0, 0, angle, 0))) - if controls_allowed: - # Test the two steer request bits and TORQUE_WIND_DOWN torque wind down signal - for req, req2, torque_wind_down in itertools.product([0, 1], [0, 1], [0, 50, 100]): - mismatch = not (req or req2) and torque_wind_down != 0 - should_tx = req == req2 and (torque_wind_down in (0, 100)) and not mismatch - self.assertEqual(should_tx, self._tx(self._lta_msg(req, req2, angle, torque_wind_down))) - - # Test max EPS torque and driver override thresholds - cases = itertools.product( - (0, self.MAX_MEAS_TORQUE - 1, self.MAX_MEAS_TORQUE, self.MAX_MEAS_TORQUE + 1, self.MAX_MEAS_TORQUE * 2), - (0, self.MAX_LTA_DRIVER_TORQUE - 1, self.MAX_LTA_DRIVER_TORQUE, self.MAX_LTA_DRIVER_TORQUE + 1, self.MAX_LTA_DRIVER_TORQUE * 2) - ) - - for eps_torque, driver_torque in cases: - for sign in (-1, 1): - for _ in range(6): - self._rx(self._torque_meas_msg(sign * eps_torque, sign * driver_torque)) - - # Toyota adds 1 to EPS torque since it is rounded after EPS factor - should_tx = (eps_torque - 1) <= self.MAX_MEAS_TORQUE and driver_torque <= self.MAX_LTA_DRIVER_TORQUE - self.assertEqual(should_tx, self._tx(self._lta_msg(1, 1, angle, 100))) - self.assertTrue(self._tx(self._lta_msg(1, 1, angle, 0))) # should tx if we wind down torque - - else: - # Controls not allowed - for req, req2, torque_wind_down in itertools.product([0, 1], [0, 1], [0, 50, 100]): - should_tx = not (req or req2) and torque_wind_down == 0 - self.assertEqual(should_tx, self._tx(self._lta_msg(req, req2, angle, torque_wind_down))) - - def test_steering_angle_measurements(self, max_angle=None): - # Measurement test tests max angle + 0.5 which will fail - super().test_steering_angle_measurements(max_angle=self.MAX_LTA_ANGLE - 0.5) - - def test_angle_cmd_when_enabled(self, max_angle=None): - super().test_angle_cmd_when_enabled(max_angle=self.MAX_LTA_ANGLE) - - def test_angle_measurements(self): - """ - * Tests angle meas quality flag dictates whether angle measurement is parsed, and if rx is valid - * Tests rx hook correctly clips the angle measurement, since it is to be compared to LTA cmd when inactive - """ - for steer_angle_initializing in (True, False): - for angle in np.arange(0, self.MAX_LTA_ANGLE * 2, 1): - # If init flag is set, do not rx or parse any angle measurements - for a in (angle, -angle, 0, 0, 0, 0): - self.assertEqual(not steer_angle_initializing, - self._rx(self._angle_meas_msg(a, steer_angle_initializing))) - - final_angle = (0 if steer_angle_initializing else - round(min(angle, self.MAX_LTA_ANGLE) * self.DEG_TO_CAN)) - self.assertEqual(self.safety.get_angle_meas_min(), -final_angle) - self.assertEqual(self.safety.get_angle_meas_max(), final_angle) - - self._rx(self._angle_meas_msg(0)) - self.assertEqual(self.safety.get_angle_meas_min(), -final_angle) - self.assertEqual(self.safety.get_angle_meas_max(), 0) - - self._rx(self._angle_meas_msg(0)) - self.assertEqual(self.safety.get_angle_meas_min(), 0) - self.assertEqual(self.safety.get_angle_meas_max(), 0) - - -class TestToyotaSafetyAngleGasInterceptor(TestToyotaSafetyGasInterceptorBase, TestToyotaSafetyAngle): - pass - - -class TestToyotaAltBrakeSafety(TestToyotaSafetyTorque): - - def setUp(self): - self.packer = CANPackerPanda("toyota_new_mc_pt_generated") - self.safety = libpanda_py.libpanda - self.safety.set_safety_hooks(Panda.SAFETY_TOYOTA, self.EPS_SCALE | Panda.FLAG_TOYOTA_ALT_BRAKE) - self.safety.init_tests() - - def _user_brake_msg(self, brake): - values = {"BRAKE_PRESSED": brake} - return self.packer.make_can_msg_panda("BRAKE_MODULE", 0, values) - - # No LTA message in the DBC - def test_lta_steer_cmd(self): - pass - - -class TestToyotaAltBrakeSafetyGasInterceptor(TestToyotaSafetyGasInterceptorBase, TestToyotaAltBrakeSafety): - pass - - -class TestToyotaStockLongitudinalBase(TestToyotaSafetyBase): - - TX_MSGS = TOYOTA_COMMON_TX_MSGS - # Base addresses minus ACC_CONTROL (0x343) - RELAY_MALFUNCTION_ADDRS = {0: (0x2E4,)} - FWD_BLACKLISTED_ADDRS = {2: [0x2E4, 0x412, 0x191]} - - def test_diagnostics(self, stock_longitudinal: bool = True): - super().test_diagnostics(stock_longitudinal=stock_longitudinal) - - def test_block_aeb(self, stock_longitudinal: bool = True): - super().test_block_aeb(stock_longitudinal=stock_longitudinal) - - def test_accel_actuation_limits(self, stock_longitudinal=True): - super().test_accel_actuation_limits(stock_longitudinal=stock_longitudinal) - - def test_acc_cancel(self): - """ - Regardless of controls allowed, never allow ACC_CONTROL if cancel bit isn't set - """ - for controls_allowed in [True, False]: - self.safety.set_controls_allowed(controls_allowed) - for accel in np.arange(self.MIN_ACCEL - 1, self.MAX_ACCEL + 1, 0.1): - self.assertFalse(self._tx(self._accel_msg(accel))) - should_tx = np.isclose(accel, 0, atol=0.0001) - self.assertEqual(should_tx, self._tx(self._accel_msg(accel, cancel_req=1))) - - -class TestToyotaStockLongitudinalTorque(TestToyotaStockLongitudinalBase, TestToyotaSafetyTorque): - - def setUp(self): - self.packer = CANPackerPanda("toyota_nodsu_pt_generated") - self.safety = libpanda_py.libpanda - self.safety.set_safety_hooks(Panda.SAFETY_TOYOTA, self.EPS_SCALE | Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL) - self.safety.init_tests() - - -class TestToyotaStockLongitudinalAngle(TestToyotaStockLongitudinalBase, TestToyotaSafetyAngle): - - def setUp(self): - self.packer = CANPackerPanda("toyota_nodsu_pt_generated") - self.safety = libpanda_py.libpanda - self.safety.set_safety_hooks(Panda.SAFETY_TOYOTA, self.EPS_SCALE | Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL | Panda.FLAG_TOYOTA_LTA) - self.safety.init_tests() - - -if __name__ == "__main__": - unittest.main() diff --git a/panda/tests/safety/test_volkswagen_mqb.py b/panda/tests/safety/test_volkswagen_mqb.py deleted file mode 100644 index 276ee6c27d7196..00000000000000 --- a/panda/tests/safety/test_volkswagen_mqb.py +++ /dev/null @@ -1,225 +0,0 @@ -#!/usr/bin/env python3 -import unittest -import numpy as np -from panda import Panda -from panda.tests.libpanda import libpanda_py -import panda.tests.safety.common as common -from panda.tests.safety.common import CANPackerPanda - -MAX_ACCEL = 2.0 -MIN_ACCEL = -3.5 - -MSG_ESP_19 = 0xB2 # RX from ABS, for wheel speeds -MSG_LH_EPS_03 = 0x9F # RX from EPS, for driver steering torque -MSG_ESP_05 = 0x106 # RX from ABS, for brake light state -MSG_TSK_06 = 0x120 # RX from ECU, for ACC status from drivetrain coordinator -MSG_MOTOR_20 = 0x121 # RX from ECU, for driver throttle input -MSG_ACC_06 = 0x122 # TX by OP, ACC control instructions to the drivetrain coordinator -MSG_HCA_01 = 0x126 # TX by OP, Heading Control Assist steering torque -MSG_GRA_ACC_01 = 0x12B # TX by OP, ACC control buttons for cancel/resume -MSG_ACC_07 = 0x12E # TX by OP, ACC control instructions to the drivetrain coordinator -MSG_ACC_02 = 0x30C # TX by OP, ACC HUD data to the instrument cluster -MSG_LDW_02 = 0x397 # TX by OP, Lane line recognition and text alerts - - -class TestVolkswagenMqbSafety(common.PandaCarSafetyTest, common.DriverTorqueSteeringSafetyTest): - STANDSTILL_THRESHOLD = 0 - RELAY_MALFUNCTION_ADDRS = {0: (MSG_HCA_01,)} - - MAX_RATE_UP = 4 - MAX_RATE_DOWN = 10 - MAX_TORQUE = 300 - MAX_RT_DELTA = 75 - RT_INTERVAL = 250000 - - DRIVER_TORQUE_ALLOWANCE = 80 - DRIVER_TORQUE_FACTOR = 3 - - @classmethod - def setUpClass(cls): - if cls.__name__ == "TestVolkswagenMqbSafety": - cls.packer = None - cls.safety = None - raise unittest.SkipTest - - # Wheel speeds _esp_19_msg - def _speed_msg(self, speed): - values = {"ESP_%s_Radgeschw_02" % s: speed for s in ["HL", "HR", "VL", "VR"]} - return self.packer.make_can_msg_panda("ESP_19", 0, values) - - # Driver brake pressure over threshold - def _esp_05_msg(self, brake): - values = {"ESP_Fahrer_bremst": brake} - return self.packer.make_can_msg_panda("ESP_05", 0, values) - - # Brake pedal switch - def _motor_14_msg(self, brake): - values = {"MO_Fahrer_bremst": brake} - return self.packer.make_can_msg_panda("Motor_14", 0, values) - - def _user_brake_msg(self, brake): - return self._motor_14_msg(brake) - - # Driver throttle input - def _user_gas_msg(self, gas): - values = {"MO_Fahrpedalrohwert_01": gas} - return self.packer.make_can_msg_panda("Motor_20", 0, values) - - # ACC engagement status - def _tsk_status_msg(self, enable, main_switch=True): - if main_switch: - tsk_status = 3 if enable else 2 - else: - tsk_status = 0 - values = {"TSK_Status": tsk_status} - return self.packer.make_can_msg_panda("TSK_06", 0, values) - - def _pcm_status_msg(self, enable): - return self._tsk_status_msg(enable) - - # Driver steering input torque - def _torque_driver_msg(self, torque): - values = {"EPS_Lenkmoment": abs(torque), "EPS_VZ_Lenkmoment": torque < 0} - return self.packer.make_can_msg_panda("LH_EPS_03", 0, values) - - # openpilot steering output torque - def _torque_cmd_msg(self, torque, steer_req=1): - values = {"HCA_01_LM_Offset": abs(torque), "HCA_01_LM_OffSign": torque < 0, "HCA_01_Sendestatus": steer_req} - return self.packer.make_can_msg_panda("HCA_01", 0, values) - - # Cruise control buttons - def _gra_acc_01_msg(self, cancel=0, resume=0, _set=0, bus=2): - values = {"GRA_Abbrechen": cancel, "GRA_Tip_Setzen": _set, "GRA_Tip_Wiederaufnahme": resume} - return self.packer.make_can_msg_panda("GRA_ACC_01", bus, values) - - # Acceleration request to drivetrain coordinator - def _acc_06_msg(self, accel): - values = {"ACC_Sollbeschleunigung_02": accel} - return self.packer.make_can_msg_panda("ACC_06", 0, values) - - # Acceleration request to drivetrain coordinator - def _acc_07_msg(self, accel, secondary_accel=3.02): - values = {"ACC_Sollbeschleunigung_02": accel, "ACC_Folgebeschl": secondary_accel} - return self.packer.make_can_msg_panda("ACC_07", 0, values) - - # Verify brake_pressed is true if either the switch or pressure threshold signals are true - def test_redundant_brake_signals(self): - test_combinations = [(True, True, True), (True, True, False), (True, False, True), (False, False, False)] - for brake_pressed, motor_14_signal, esp_05_signal in test_combinations: - self._rx(self._motor_14_msg(False)) - self._rx(self._esp_05_msg(False)) - self.assertFalse(self.safety.get_brake_pressed_prev()) - self._rx(self._motor_14_msg(motor_14_signal)) - self._rx(self._esp_05_msg(esp_05_signal)) - self.assertEqual(brake_pressed, self.safety.get_brake_pressed_prev(), - f"expected {brake_pressed=} with {motor_14_signal=} and {esp_05_signal=}") - - def test_torque_measurements(self): - # TODO: make this test work with all cars - self._rx(self._torque_driver_msg(50)) - self._rx(self._torque_driver_msg(-50)) - self._rx(self._torque_driver_msg(0)) - self._rx(self._torque_driver_msg(0)) - self._rx(self._torque_driver_msg(0)) - self._rx(self._torque_driver_msg(0)) - - self.assertEqual(-50, self.safety.get_torque_driver_min()) - self.assertEqual(50, self.safety.get_torque_driver_max()) - - self._rx(self._torque_driver_msg(0)) - self.assertEqual(0, self.safety.get_torque_driver_max()) - self.assertEqual(-50, self.safety.get_torque_driver_min()) - - self._rx(self._torque_driver_msg(0)) - self.assertEqual(0, self.safety.get_torque_driver_max()) - self.assertEqual(0, self.safety.get_torque_driver_min()) - - -class TestVolkswagenMqbStockSafety(TestVolkswagenMqbSafety): - TX_MSGS = [[MSG_HCA_01, 0], [MSG_LDW_02, 0], [MSG_LH_EPS_03, 2], [MSG_GRA_ACC_01, 0], [MSG_GRA_ACC_01, 2]] - FWD_BLACKLISTED_ADDRS = {0: [MSG_LH_EPS_03], 2: [MSG_HCA_01, MSG_LDW_02]} - FWD_BUS_LOOKUP = {0: 2, 2: 0} - - def setUp(self): - self.packer = CANPackerPanda("vw_mqb_2010") - self.safety = libpanda_py.libpanda - self.safety.set_safety_hooks(Panda.SAFETY_VOLKSWAGEN_MQB, 0) - self.safety.init_tests() - - def test_spam_cancel_safety_check(self): - self.safety.set_controls_allowed(0) - self.assertTrue(self._tx(self._gra_acc_01_msg(cancel=1))) - self.assertFalse(self._tx(self._gra_acc_01_msg(resume=1))) - self.assertFalse(self._tx(self._gra_acc_01_msg(_set=1))) - # do not block resume if we are engaged already - self.safety.set_controls_allowed(1) - self.assertTrue(self._tx(self._gra_acc_01_msg(resume=1))) - - -class TestVolkswagenMqbLongSafety(TestVolkswagenMqbSafety): - TX_MSGS = [[MSG_HCA_01, 0], [MSG_LDW_02, 0], [MSG_LH_EPS_03, 2], [MSG_ACC_02, 0], [MSG_ACC_06, 0], [MSG_ACC_07, 0]] - FWD_BLACKLISTED_ADDRS = {0: [MSG_LH_EPS_03], 2: [MSG_HCA_01, MSG_LDW_02, MSG_ACC_02, MSG_ACC_06, MSG_ACC_07]} - FWD_BUS_LOOKUP = {0: 2, 2: 0} - INACTIVE_ACCEL = 3.01 - - def setUp(self): - self.packer = CANPackerPanda("vw_mqb_2010") - self.safety = libpanda_py.libpanda - self.safety.set_safety_hooks(Panda.SAFETY_VOLKSWAGEN_MQB, Panda.FLAG_VOLKSWAGEN_LONG_CONTROL) - self.safety.init_tests() - - # stock cruise controls are entirely bypassed under openpilot longitudinal control - def test_disable_control_allowed_from_cruise(self): - pass - - def test_enable_control_allowed_from_cruise(self): - pass - - def test_cruise_engaged_prev(self): - pass - - def test_set_and_resume_buttons(self): - for button in ["set", "resume"]: - # ACC main switch must be on, engage on falling edge - self.safety.set_controls_allowed(0) - self._rx(self._tsk_status_msg(False, main_switch=False)) - self._rx(self._gra_acc_01_msg(_set=(button == "set"), resume=(button == "resume"), bus=0)) - self.assertFalse(self.safety.get_controls_allowed(), f"controls allowed on {button} with main switch off") - self._rx(self._tsk_status_msg(False, main_switch=True)) - self._rx(self._gra_acc_01_msg(_set=(button == "set"), resume=(button == "resume"), bus=0)) - self.assertFalse(self.safety.get_controls_allowed(), f"controls allowed on {button} rising edge") - self._rx(self._gra_acc_01_msg(bus=0)) - self.assertTrue(self.safety.get_controls_allowed(), f"controls not allowed on {button} falling edge") - - def test_cancel_button(self): - # Disable on rising edge of cancel button - self._rx(self._tsk_status_msg(False, main_switch=True)) - self.safety.set_controls_allowed(1) - self._rx(self._gra_acc_01_msg(cancel=True, bus=0)) - self.assertFalse(self.safety.get_controls_allowed(), "controls allowed after cancel") - - def test_main_switch(self): - # Disable as soon as main switch turns off - self._rx(self._tsk_status_msg(False, main_switch=True)) - self.safety.set_controls_allowed(1) - self._rx(self._tsk_status_msg(False, main_switch=False)) - self.assertFalse(self.safety.get_controls_allowed(), "controls allowed after ACC main switch off") - - def test_accel_safety_check(self): - for controls_allowed in [True, False]: - # enforce we don't skip over 0 or inactive accel - for accel in np.concatenate((np.arange(MIN_ACCEL - 2, MAX_ACCEL + 2, 0.03), [0, self.INACTIVE_ACCEL])): - accel = round(accel, 2) # floats might not hit exact boundary conditions without rounding - is_inactive_accel = accel == self.INACTIVE_ACCEL - send = (controls_allowed and MIN_ACCEL <= accel <= MAX_ACCEL) or is_inactive_accel - self.safety.set_controls_allowed(controls_allowed) - # primary accel request used by ECU - self.assertEqual(send, self._tx(self._acc_06_msg(accel)), (controls_allowed, accel)) - # additional accel request used by ABS/ESP - self.assertEqual(send, self._tx(self._acc_07_msg(accel)), (controls_allowed, accel)) - # ensure the optional secondary accel field remains inactive for now - self.assertEqual(is_inactive_accel, self._tx(self._acc_07_msg(accel, secondary_accel=accel)), (controls_allowed, accel)) - - -if __name__ == "__main__": - unittest.main() diff --git a/panda/tests/safety/test_volkswagen_pq.py b/panda/tests/safety/test_volkswagen_pq.py deleted file mode 100644 index f2bc31786808e4..00000000000000 --- a/panda/tests/safety/test_volkswagen_pq.py +++ /dev/null @@ -1,199 +0,0 @@ -#!/usr/bin/env python3 -import unittest -from panda import Panda -from panda.tests.libpanda import libpanda_py -import panda.tests.safety.common as common -from panda.tests.safety.common import CANPackerPanda - -MSG_LENKHILFE_3 = 0x0D0 # RX from EPS, for steering angle and driver steering torque -MSG_HCA_1 = 0x0D2 # TX by OP, Heading Control Assist steering torque -MSG_BREMSE_1 = 0x1A0 # RX from ABS, for ego speed -MSG_MOTOR_2 = 0x288 # RX from ECU, for CC state and brake switch state -MSG_ACC_SYSTEM = 0x368 # TX by OP, longitudinal acceleration controls -MSG_MOTOR_3 = 0x380 # RX from ECU, for driver throttle input -MSG_GRA_NEU = 0x38A # TX by OP, ACC control buttons for cancel/resume -MSG_MOTOR_5 = 0x480 # RX from ECU, for ACC main switch state -MSG_ACC_GRA_ANZEIGE = 0x56A # TX by OP, ACC HUD -MSG_LDW_1 = 0x5BE # TX by OP, Lane line recognition and text alerts - - -class TestVolkswagenPqSafety(common.PandaCarSafetyTest, common.DriverTorqueSteeringSafetyTest): - cruise_engaged = False - - STANDSTILL_THRESHOLD = 0 - RELAY_MALFUNCTION_ADDRS = {0: (MSG_HCA_1,)} - - MAX_RATE_UP = 6 - MAX_RATE_DOWN = 10 - MAX_TORQUE = 300 - MAX_RT_DELTA = 113 - RT_INTERVAL = 250000 - - DRIVER_TORQUE_ALLOWANCE = 80 - DRIVER_TORQUE_FACTOR = 3 - - @classmethod - def setUpClass(cls): - if cls.__name__ == "TestVolkswagenPqSafety": - cls.packer = None - cls.safety = None - raise unittest.SkipTest - - def _set_prev_torque(self, t): - self.safety.set_desired_torque_last(t) - self.safety.set_rt_torque_last(t) - - # Ego speed (Bremse_1) - def _speed_msg(self, speed): - values = {"Geschwindigkeit_neu__Bremse_1_": speed} - return self.packer.make_can_msg_panda("Bremse_1", 0, values) - - # Brake light switch (shared message Motor_2) - def _user_brake_msg(self, brake): - # since this signal is used for engagement status, preserve current state - return self._motor_2_msg(brake_pressed=brake, cruise_engaged=self.safety.get_controls_allowed()) - - # ACC engaged status (shared message Motor_2) - def _pcm_status_msg(self, enable): - self.__class__.cruise_engaged = enable - return self._motor_2_msg(cruise_engaged=enable) - - # Acceleration request to drivetrain coordinator - def _accel_msg(self, accel): - values = {"ACS_Sollbeschl": accel} - return self.packer.make_can_msg_panda("ACC_System", 0, values) - - # Driver steering input torque - def _torque_driver_msg(self, torque): - values = {"LH3_LM": abs(torque), "LH3_LMSign": torque < 0} - return self.packer.make_can_msg_panda("Lenkhilfe_3", 0, values) - - # openpilot steering output torque - def _torque_cmd_msg(self, torque, steer_req=1, hca_status=5): - values = {"LM_Offset": abs(torque), "LM_OffSign": torque < 0, "HCA_Status": hca_status if steer_req else 3} - return self.packer.make_can_msg_panda("HCA_1", 0, values) - - # ACC engagement and brake light switch status - # Called indirectly for compatibility with common.py tests - def _motor_2_msg(self, brake_pressed=False, cruise_engaged=False): - values = {"Bremslichtschalter": brake_pressed, - "GRA_Status": cruise_engaged} - return self.packer.make_can_msg_panda("Motor_2", 0, values) - - # ACC main switch status - def _motor_5_msg(self, main_switch=False): - values = {"GRA_Hauptschalter": main_switch} - return self.packer.make_can_msg_panda("Motor_5", 0, values) - - # Driver throttle input (Motor_3) - def _user_gas_msg(self, gas): - values = {"Fahrpedal_Rohsignal": gas} - return self.packer.make_can_msg_panda("Motor_3", 0, values) - - # Cruise control buttons (GRA_Neu) - def _button_msg(self, _set=False, resume=False, cancel=False, bus=2): - values = {"GRA_Neu_Setzen": _set, "GRA_Recall": resume, "GRA_Abbrechen": cancel} - return self.packer.make_can_msg_panda("GRA_Neu", bus, values) - - def test_torque_measurements(self): - # TODO: make this test work with all cars - self._rx(self._torque_driver_msg(50)) - self._rx(self._torque_driver_msg(-50)) - self._rx(self._torque_driver_msg(0)) - self._rx(self._torque_driver_msg(0)) - self._rx(self._torque_driver_msg(0)) - self._rx(self._torque_driver_msg(0)) - - self.assertEqual(-50, self.safety.get_torque_driver_min()) - self.assertEqual(50, self.safety.get_torque_driver_max()) - - self._rx(self._torque_driver_msg(0)) - self.assertEqual(0, self.safety.get_torque_driver_max()) - self.assertEqual(-50, self.safety.get_torque_driver_min()) - - self._rx(self._torque_driver_msg(0)) - self.assertEqual(0, self.safety.get_torque_driver_max()) - self.assertEqual(0, self.safety.get_torque_driver_min()) - - -class TestVolkswagenPqStockSafety(TestVolkswagenPqSafety): - # Transmit of GRA_Neu is allowed on bus 0 and 2 to keep compatibility with gateway and camera integration - TX_MSGS = [[MSG_HCA_1, 0], [MSG_GRA_NEU, 0], [MSG_GRA_NEU, 2], [MSG_LDW_1, 0]] - FWD_BLACKLISTED_ADDRS = {2: [MSG_HCA_1, MSG_LDW_1]} - FWD_BUS_LOOKUP = {0: 2, 2: 0} - - def setUp(self): - self.packer = CANPackerPanda("vw_golf_mk4") - self.safety = libpanda_py.libpanda - self.safety.set_safety_hooks(Panda.SAFETY_VOLKSWAGEN_PQ, 0) - self.safety.init_tests() - - def test_spam_cancel_safety_check(self): - self.safety.set_controls_allowed(0) - self.assertTrue(self._tx(self._button_msg(cancel=True))) - self.assertFalse(self._tx(self._button_msg(resume=True))) - self.assertFalse(self._tx(self._button_msg(_set=True))) - # do not block resume if we are engaged already - self.safety.set_controls_allowed(1) - self.assertTrue(self._tx(self._button_msg(resume=True))) - - -class TestVolkswagenPqLongSafety(TestVolkswagenPqSafety, common.LongitudinalAccelSafetyTest): - TX_MSGS = [[MSG_HCA_1, 0], [MSG_LDW_1, 0], [MSG_ACC_SYSTEM, 0], [MSG_ACC_GRA_ANZEIGE, 0]] - FWD_BLACKLISTED_ADDRS = {2: [MSG_HCA_1, MSG_LDW_1, MSG_ACC_SYSTEM, MSG_ACC_GRA_ANZEIGE]} - FWD_BUS_LOOKUP = {0: 2, 2: 0} - INACTIVE_ACCEL = 3.01 - - def setUp(self): - self.packer = CANPackerPanda("vw_golf_mk4") - self.safety = libpanda_py.libpanda - self.safety.set_safety_hooks(Panda.SAFETY_VOLKSWAGEN_PQ, Panda.FLAG_VOLKSWAGEN_LONG_CONTROL) - self.safety.init_tests() - - # stock cruise controls are entirely bypassed under openpilot longitudinal control - def test_disable_control_allowed_from_cruise(self): - pass - - def test_enable_control_allowed_from_cruise(self): - pass - - def test_cruise_engaged_prev(self): - pass - - def test_set_and_resume_buttons(self): - for button in ["set", "resume"]: - # ACC main switch must be on, engage on falling edge - self.safety.set_controls_allowed(0) - self._rx(self._motor_5_msg(main_switch=False)) - self._rx(self._button_msg(_set=(button == "set"), resume=(button == "resume"), bus=0)) - self._rx(self._button_msg(bus=0)) - self.assertFalse(self.safety.get_controls_allowed(), f"controls allowed on {button} with main switch off") - self._rx(self._motor_5_msg(main_switch=True)) - self._rx(self._button_msg(_set=(button == "set"), resume=(button == "resume"), bus=0)) - self.assertFalse(self.safety.get_controls_allowed(), f"controls allowed on {button} rising edge") - self._rx(self._button_msg(bus=0)) - self.assertTrue(self.safety.get_controls_allowed(), f"controls not allowed on {button} falling edge") - - def test_cancel_button(self): - # Disable on rising edge of cancel button - self._rx(self._motor_5_msg(main_switch=True)) - self.safety.set_controls_allowed(1) - self._rx(self._button_msg(cancel=True, bus=0)) - self.assertFalse(self.safety.get_controls_allowed(), "controls allowed after cancel") - - def test_main_switch(self): - # Disable as soon as main switch turns off - self._rx(self._motor_5_msg(main_switch=True)) - self.safety.set_controls_allowed(1) - self._rx(self._motor_5_msg(main_switch=False)) - self.assertFalse(self.safety.get_controls_allowed(), "controls allowed after ACC main switch off") - - def test_torque_cmd_enable_variants(self): - # The EPS rack accepts either 5 or 7 for an enabled status, with different low speed tuning behavior - self.safety.set_controls_allowed(1) - for enabled_status in (5, 7): - self.assertTrue(self._tx(self._torque_cmd_msg(self.MAX_RATE_UP, steer_req=1, hca_status=enabled_status)), - f"torque cmd rejected with {enabled_status=}") - -if __name__ == "__main__": - unittest.main() diff --git a/panda/tests/safety_replay/.gitignore b/panda/tests/safety_replay/.gitignore deleted file mode 100644 index 192fb0945ec5b3..00000000000000 --- a/panda/tests/safety_replay/.gitignore +++ /dev/null @@ -1 +0,0 @@ -*.bz2 diff --git a/panda/tests/safety_replay/__init__.py b/panda/tests/safety_replay/__init__.py deleted file mode 100644 index e69de29bb2d1d6..00000000000000 diff --git a/panda/tests/safety_replay/helpers.py b/panda/tests/safety_replay/helpers.py deleted file mode 100644 index a1a6cd3a596e10..00000000000000 --- a/panda/tests/safety_replay/helpers.py +++ /dev/null @@ -1,80 +0,0 @@ -import panda.tests.libpanda.libpanda_py as libpanda_py -from panda import Panda - -def to_signed(d, bits): - ret = d - if d >= (1 << (bits - 1)): - ret = d - (1 << bits) - return ret - -def is_steering_msg(mode, param, addr): - ret = False - if mode in (Panda.SAFETY_HONDA_NIDEC, Panda.SAFETY_HONDA_BOSCH): - ret = (addr == 0xE4) or (addr == 0x194) or (addr == 0x33D) or (addr == 0x33DA) or (addr == 0x33DB) - elif mode == Panda.SAFETY_TOYOTA: - ret = addr == (0x191 if param & Panda.FLAG_TOYOTA_LTA else 0x2E4) - elif mode == Panda.SAFETY_GM: - ret = addr == 384 - elif mode == Panda.SAFETY_HYUNDAI: - ret = addr == 832 - elif mode == Panda.SAFETY_CHRYSLER: - ret = addr == 0x292 - elif mode == Panda.SAFETY_SUBARU: - ret = addr == 0x122 - elif mode == Panda.SAFETY_FORD: - ret = addr == 0x3d3 - elif mode == Panda.SAFETY_NISSAN: - ret = addr == 0x169 - return ret - -def get_steer_value(mode, param, to_send): - torque, angle = 0, 0 - if mode in (Panda.SAFETY_HONDA_NIDEC, Panda.SAFETY_HONDA_BOSCH): - torque = (to_send.data[0] << 8) | to_send.data[1] - torque = to_signed(torque, 16) - elif mode == Panda.SAFETY_TOYOTA: - if param & Panda.FLAG_TOYOTA_LTA: - angle = (to_send.data[1] << 8) | to_send.data[2] - angle = to_signed(angle, 16) - else: - torque = (to_send.data[1] << 8) | (to_send.data[2]) - torque = to_signed(torque, 16) - elif mode == Panda.SAFETY_GM: - torque = ((to_send.data[0] & 0x7) << 8) | to_send.data[1] - torque = to_signed(torque, 11) - elif mode == Panda.SAFETY_HYUNDAI: - torque = (((to_send.data[3] & 0x7) << 8) | to_send.data[2]) - 1024 - elif mode == Panda.SAFETY_CHRYSLER: - torque = (((to_send.data[0] & 0x7) << 8) | to_send.data[1]) - 1024 - elif mode == Panda.SAFETY_SUBARU: - torque = ((to_send.data[3] & 0x1F) << 8) | to_send.data[2] - torque = -to_signed(torque, 13) - elif mode == Panda.SAFETY_FORD: - angle = ((to_send.data[0] << 3) | (to_send.data[1] >> 5)) - 1000 - elif mode == Panda.SAFETY_NISSAN: - angle = (to_send.data[0] << 10) | (to_send.data[1] << 2) | (to_send.data[2] >> 6) - angle = -angle + (1310 * 100) - return torque, angle - -def package_can_msg(msg): - return libpanda_py.make_CANPacket(msg.address, msg.src % 4, msg.dat) - -def init_segment(safety, lr, mode, param): - sendcan = (msg for msg in lr if msg.which() == 'sendcan') - steering_msgs = (can for msg in sendcan for can in msg.sendcan if is_steering_msg(mode, param, can.address)) - - msg = next(steering_msgs, None) - if msg is None: - # no steering msgs - return - - to_send = package_can_msg(msg) - torque, angle = get_steer_value(mode, param, to_send) - if torque != 0: - safety.set_controls_allowed(1) - safety.set_desired_torque_last(torque) - elif angle != 0: - safety.set_controls_allowed(1) - safety.set_desired_angle_last(angle) - safety.set_angle_meas(angle, angle) - assert safety.safety_tx_hook(to_send), "failed to initialize panda safety for segment" diff --git a/panda/tests/safety_replay/replay_drive.py b/panda/tests/safety_replay/replay_drive.py deleted file mode 100755 index df3e0554f64ddc..00000000000000 --- a/panda/tests/safety_replay/replay_drive.py +++ /dev/null @@ -1,103 +0,0 @@ -#!/usr/bin/env python3 -import argparse -import os -from collections import Counter - -from panda.tests.libpanda import libpanda_py -from panda.tests.safety_replay.helpers import package_can_msg, init_segment - -# replay a drive to check for safety violations -def replay_drive(lr, safety_mode, param, alternative_experience, segment=False): - safety = libpanda_py.libpanda - - err = safety.set_safety_hooks(safety_mode, param) - assert err == 0, "invalid safety mode: %d" % safety_mode - safety.set_alternative_experience(alternative_experience) - - if segment: - init_segment(safety, lr, safety_mode, param) - lr.reset() - - rx_tot, rx_invalid, tx_tot, tx_blocked, tx_controls, tx_controls_blocked = 0, 0, 0, 0, 0, 0 - safety_tick_rx_invalid = False - blocked_addrs = Counter() - invalid_addrs = set() - - can_msgs = [m for m in lr if m.which() in ('can', 'sendcan')] - start_t = can_msgs[0].logMonoTime - end_t = can_msgs[-1].logMonoTime - for msg in can_msgs: - safety.set_timer((msg.logMonoTime // 1000) % 0xFFFFFFFF) - - # skip start and end of route, warm up/down period - if msg.logMonoTime - start_t > 1e9 and end_t - msg.logMonoTime > 1e9: - safety.safety_tick_current_safety_config() - safety_tick_rx_invalid |= not safety.safety_config_valid() or safety_tick_rx_invalid - - if msg.which() == 'sendcan': - for canmsg in msg.sendcan: - to_send = package_can_msg(canmsg) - sent = safety.safety_tx_hook(to_send) - if not sent: - tx_blocked += 1 - tx_controls_blocked += safety.get_controls_allowed() - blocked_addrs[canmsg.address] += 1 - - if "DEBUG" in os.environ: - print("blocked bus %d msg %d at %f" % (canmsg.src, canmsg.address, (msg.logMonoTime - start_t) / 1e9)) - tx_controls += safety.get_controls_allowed() - tx_tot += 1 - elif msg.which() == 'can': - # ignore msgs we sent - for canmsg in filter(lambda m: m.src < 128, msg.can): - to_push = package_can_msg(canmsg) - recv = safety.safety_rx_hook(to_push) - if not recv: - rx_invalid += 1 - invalid_addrs.add(canmsg.address) - rx_tot += 1 - - print("\nRX") - print("total rx msgs:", rx_tot) - print("invalid rx msgs:", rx_invalid) - print("safety tick rx invalid:", safety_tick_rx_invalid) - print("invalid addrs:", invalid_addrs) - print("\nTX") - print("total openpilot msgs:", tx_tot) - print("total msgs with controls allowed:", tx_controls) - print("blocked msgs:", tx_blocked) - print("blocked with controls allowed:", tx_controls_blocked) - print("blocked addrs:", blocked_addrs) - - return tx_controls_blocked == 0 and rx_invalid == 0 and not safety_tick_rx_invalid - -if __name__ == "__main__": - from openpilot.tools.lib.logreader import LogReader - - parser = argparse.ArgumentParser(description="Replay CAN messages from a route or segment through a safety mode", - formatter_class=argparse.ArgumentDefaultsHelpFormatter) - parser.add_argument("route_or_segment_name", nargs='+') - parser.add_argument("--mode", type=int, help="Override the safety mode from the log") - parser.add_argument("--param", type=int, help="Override the safety param from the log") - parser.add_argument("--alternative-experience", type=int, help="Override the alternative experience from the log") - args = parser.parse_args() - - lr = LogReader(args.route_or_segment_name[0]) - - if None in (args.mode, args.param, args.alternative_experience): - for msg in lr: - if msg.which() == 'carParams': - if args.mode is None: - args.mode = msg.carParams.safetyConfigs[-1].safetyModel.raw - if args.param is None: - args.param = msg.carParams.safetyConfigs[-1].safetyParam - if args.alternative_experience is None: - args.alternative_experience = msg.carParams.alternativeExperience - break - else: - raise Exception("carParams not found in log. Set safety mode and param manually.") - - lr.reset() - - print(f"replaying {args.route_or_segment_name[0]} with safety mode {args.mode}, param {args.param}, alternative experience {args.alternative_experience}") - replay_drive(lr, args.mode, args.param, args.alternative_experience, segment=len(lr.logreader_identifiers) == 1) diff --git a/panda/tests/setup_device_ci.sh b/panda/tests/setup_device_ci.sh deleted file mode 100755 index b45c6b466b2c58..00000000000000 --- a/panda/tests/setup_device_ci.sh +++ /dev/null @@ -1,74 +0,0 @@ -#!/usr/bin/bash - -set -e - -if [ -z "$SOURCE_DIR" ]; then - echo "SOURCE_DIR must be set" - exit 1 -fi - -if [ -z "$GIT_COMMIT" ]; then - echo "GIT_COMMIT must be set" - exit 1 -fi - -if [ -z "$TEST_DIR" ]; then - echo "TEST_DIR must be set" - exit 1 -fi - -CONTINUE_PATH="/data/continue.sh" -tee $CONTINUE_PATH << EOF -#!/usr/bin/bash - -sudo abctl --set_success - -# patch sshd config -sudo mount -o rw,remount / -sudo sed -i "s,/data/params/d/GithubSshKeys,/usr/comma/setup_keys," /etc/ssh/sshd_config -sudo systemctl daemon-reload -sudo systemctl restart ssh -sudo systemctl disable ssh-param-watcher.path -sudo systemctl disable ssh-param-watcher.service -sudo mount -o ro,remount / - -while true; do - if ! sudo systemctl is-active -q ssh; then - sudo systemctl start ssh - fi - sleep 5s -done - -sleep infinity -EOF -chmod +x $CONTINUE_PATH - - -# set up environment -if [ ! -d "$SOURCE_DIR" ]; then - git clone https://github.com/commaai/panda.git $SOURCE_DIR -fi - -# setup device/SOM state -SOM_ST_IO=49 -echo $SOM_ST_IO > /sys/class/gpio/export || true -echo out > /sys/class/gpio/gpio${SOM_ST_IO}/direction -echo 1 > /sys/class/gpio/gpio${SOM_ST_IO}/value - -# checkout panda commit -cd $SOURCE_DIR - -rm -f .git/index.lock -git reset --hard -git fetch --no-tags --no-recurse-submodules -j4 --verbose --depth 1 origin $GIT_COMMIT -find . -maxdepth 1 -not -path './.git' -not -name '.' -not -name '..' -exec rm -rf '{}' \; -git reset --hard $GIT_COMMIT -git checkout $GIT_COMMIT -git clean -xdff - -echo "git checkout done, t=$SECONDS" -du -hs $SOURCE_DIR $SOURCE_DIR/.git - -rsync -a --delete $SOURCE_DIR $TEST_DIR - -echo "$TEST_DIR synced with $GIT_COMMIT, t=$SECONDS" diff --git a/panda/tests/som/on-device.py b/panda/tests/som/on-device.py deleted file mode 100755 index 421271d6a8681f..00000000000000 --- a/panda/tests/som/on-device.py +++ /dev/null @@ -1,24 +0,0 @@ -#!/usr/bin/env python3 -import os -import time - -from panda import Panda - - -if __name__ == "__main__": - flag_set = False - while True: - try: - with Panda(disable_checks=False) as p: - if not flag_set: - p.set_heartbeat_disabled() - p.set_safety_mode(Panda.SAFETY_ELM327, 30) - flag_set = True - - # shutdown when told - ch = p.can_health(0) - if ch['can_data_speed'] == 1000: - os.system("sudo poweroff") - except Exception as e: - print(str(e)) - time.sleep(0.5) diff --git a/panda/tests/som/test_bootkick.py b/panda/tests/som/test_bootkick.py deleted file mode 100644 index 324d249293948a..00000000000000 --- a/panda/tests/som/test_bootkick.py +++ /dev/null @@ -1,153 +0,0 @@ -import time -import pytest - -from panda import Panda, PandaJungle - -PANDA_SERIAL = "28002d000451323431333839" -JUNGLE_SERIAL = "26001c001451313236343430" - -OBDC_PORT = 1 - -@pytest.fixture(autouse=True, scope="function") -def pj(): - jungle = PandaJungle(JUNGLE_SERIAL) - jungle.flash() - - jungle.reset() - jungle.set_ignition(False) - - yield jungle - - #jungle.set_panda_power(False) - jungle.close() - -@pytest.fixture(scope="function") -def p(pj): - # note that the 3X's panda lib isn't updated, which - # shold be fine since it only uses stable APIs - pj.set_panda_power(True) - assert Panda.wait_for_panda(PANDA_SERIAL, 10) - p = Panda(PANDA_SERIAL) - p.flash() - p.reset() - yield p - p.close() - -def setup_state(panda, jungle, state): - jungle.set_panda_power(0) - - if state == "off": - wait_for_full_poweroff(jungle) - elif state == "normal boot": - jungle.set_panda_individual_power(OBDC_PORT, 1) - elif state == "QDL": - time.sleep(0.5) - jungle.set_panda_individual_power(OBDC_PORT, 1) - elif state == "ready to bootkick": - wait_for_full_poweroff(jungle) - jungle.set_panda_individual_power(OBDC_PORT, 1) - wait_for_boot(panda, jungle) - set_som_shutdown_flag(panda) - panda.set_safety_mode(Panda.SAFETY_SILENT) - panda.send_heartbeat() - wait_for_som_shutdown(panda, jungle) - else: - raise ValueError(f"unkown state: {state}") - - -def wait_for_som_shutdown(panda, jungle): - st = time.monotonic() - while panda.read_som_gpio(): - # can take a while for the SOM to fully shutdown - if time.monotonic() - st > 120: - raise Exception("SOM didn't shutdown in time") - if check_som_boot_flag(panda): - raise Exception(f"SOM rebooted instead of shutdown: {time.monotonic() - st}s") - time.sleep(0.5) - dt = time.monotonic() - st - print("waiting for shutdown", round(dt)) - dt = time.monotonic() - st - print(f"took {dt:.2f}s for SOM to shutdown") - -def wait_for_full_poweroff(jungle, timeout=30): - st = time.monotonic() - - time.sleep(15) - while PANDA_SERIAL in Panda.list(): - if time.monotonic() - st > timeout: - raise Exception("took too long for device to turn off") - - health = jungle.health() - assert all(health[f"ch{i}_power"] < 0.1 for i in range(1, 7)) - -def check_som_boot_flag(panda): - h = panda.health() - return h['safety_mode'] == Panda.SAFETY_ELM327 and h['safety_param'] == 30 - -def set_som_shutdown_flag(panda): - panda.set_can_data_speed_kbps(0, 1000) - -def wait_for_boot(panda, jungle, reset_expected=False, bootkick=False, timeout=120): - st = time.monotonic() - - Panda.wait_for_panda(PANDA_SERIAL, timeout) - panda.reconnect() - if bootkick: - assert panda.health()['uptime'] > 20 - else: - assert panda.health()['uptime'] < 3 - - for i in range(3): - assert not check_som_boot_flag(panda) - time.sleep(1) - - # wait for SOM to bootup - while not check_som_boot_flag(panda): - if time.monotonic() - st > timeout: - raise Exception("SOM didn't boot in time") - time.sleep(1.0) - - assert panda.health()['som_reset_triggered'] == reset_expected - -def test_cold_boot(p, pj): - setup_state(p, pj, "off") - setup_state(p, pj, "normal boot") - wait_for_boot(p, pj) - -def test_bootkick_ignition_line(p, pj): - setup_state(p, pj, "ready to bootkick") - pj.set_ignition(True) - wait_for_boot(p, pj, bootkick=True) - -@pytest.mark.skip("test isn't reliable yet") -def test_bootkick_can_ignition(p, pj): - setup_state(p, pj, "ready to bootkick") - for _ in range(10): - # Mazda ignition signal - pj.can_send(0x9E, b'\xc0\x00\x00\x00\x00\x00\x00\x00', 0) - time.sleep(0.5) - wait_for_boot(p, pj, bootkick=True) - -def test_recovery_from_qdl(p, pj): - setup_state(p, pj, "ready to bootkick") - - # put into QDL using the FORCE_USB_BOOT pin - for i in range(10): - pj.set_header_pin(i, 1) - - # try to boot - time.sleep(1) - pj.set_ignition(True) - time.sleep(3) - - # release FORCE_USB_BOOT - for i in range(10): - pj.set_header_pin(i, 0) - - # normally, this GPIO is set immediately since it's first enabled in the ABL - for i in range(17): - assert not p.read_som_gpio() - time.sleep(1) - - # should boot after 45s - wait_for_boot(p, pj, reset_expected=True, bootkick=True, timeout=120) diff --git a/panda/tests/som_debug.sh b/panda/tests/som_debug.sh deleted file mode 100755 index 9bb4219713e907..00000000000000 --- a/panda/tests/som_debug.sh +++ /dev/null @@ -1,7 +0,0 @@ -#!/usr/bin/bash -set -e - -DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)" -cd $DIR - -PYTHONUNBUFFERED=1 NO_COLOR=1 CLAIM=1 PORT=4 ./debug_console.py diff --git a/panda/tests/spam_can.py b/panda/tests/spam_can.py deleted file mode 100755 index 3154cc046325ed..00000000000000 --- a/panda/tests/spam_can.py +++ /dev/null @@ -1,20 +0,0 @@ -#!/usr/bin/env python3 -import os -import random - -from panda import Panda - -def get_test_string(): - return b"test" + os.urandom(10) - -if __name__ == "__main__": - p = Panda() - p.set_safety_mode(Panda.SAFETY_ALLOUTPUT) - - print("Spamming all buses...") - while True: - at = random.randint(1, 2000) - st = get_test_string()[0:8] - bus = random.randint(0, 2) - p.can_send(at, st, bus) - # print("Sent message on bus: ", bus) diff --git a/panda/tests/standalone_test.py b/panda/tests/standalone_test.py deleted file mode 100755 index 7ec5559697bae8..00000000000000 --- a/panda/tests/standalone_test.py +++ /dev/null @@ -1,32 +0,0 @@ -#!/usr/bin/env python3 -import struct -import time - -from panda import Panda - -if __name__ == "__main__": - p = Panda() - print(p.get_serial()) - print(p.health()) - - t1 = time.time() - for _ in range(100): - p.get_serial() - t2 = time.time() - print("100 requests took %.2f ms" % ((t2 - t1) * 1000)) - - p.set_safety_mode(Panda.SAFETY_ALLOUTPUT) - - a = 0 - while True: - # flood - msg = b"\xaa" * 4 + struct.pack("I", a) - p.can_send(0xaa, msg, 0) - p.can_send(0xaa, msg, 1) - p.can_send(0xaa, msg, 4) - time.sleep(0.01) - - dat = p.can_recv() - if len(dat) > 0: - print(dat) - a += 1 diff --git a/panda/tests/test_rsa.c b/panda/tests/test_rsa.c deleted file mode 100644 index 5c784e23a4e834..00000000000000 --- a/panda/tests/test_rsa.c +++ /dev/null @@ -1,34 +0,0 @@ -/* -gcc -DTEST_RSA test_rsa.c ../crypto/rsa.c ../crypto/sha.c && ./a.out -*/ - -#include -#include - -#define MAX_LEN 0x40000 -char buf[MAX_LEN]; - -#include "../crypto/sha.h" -#include "../crypto/rsa.h" -#include "../obj/cert.h" - -int main() { - FILE *f = fopen("../obj/panda.bin", "rb"); - int tlen = fread(buf, 1, MAX_LEN, f); - fclose(f); - printf("read %d\n", tlen); - uint32_t *_app_start = (uint32_t *)buf; - - int len = _app_start[0]; - char digest[SHA_DIGEST_SIZE]; - SHA_hash(&_app_start[1], len-4, digest); - printf("SHA hash done\n"); - - if (!RSA_verify(&rsa_key, ((void*)&_app_start[0]) + len, RSANUMBYTES, digest, SHA_DIGEST_SIZE)) { - printf("RSA fail\n"); - } else { - printf("RSA match!!!\n"); - } - - return 0; -} diff --git a/panda/tests/usbprotocol/test.sh b/panda/tests/usbprotocol/test.sh deleted file mode 100755 index 8e3886da7d54d2..00000000000000 --- a/panda/tests/usbprotocol/test.sh +++ /dev/null @@ -1,8 +0,0 @@ -#!/usr/bin/env bash -set -e - -# Loops over all HW_TYPEs, see board/boards/board_declarations.h -for hw_type in {0..7}; do - echo "Testing HW_TYPE: $hw_type" - HW_TYPE=$hw_type python -m unittest discover . -done diff --git a/panda/tests/usbprotocol/test_comms.py b/panda/tests/usbprotocol/test_comms.py deleted file mode 100755 index 8efefef7ca75b2..00000000000000 --- a/panda/tests/usbprotocol/test_comms.py +++ /dev/null @@ -1,160 +0,0 @@ -#!/usr/bin/env python3 -import random -import unittest - -from panda import Panda, DLC_TO_LEN, USBPACKET_MAX_SIZE, pack_can_buffer, unpack_can_buffer -from panda.tests.libpanda import libpanda_py - -lpp = libpanda_py.libpanda - -CHUNK_SIZE = USBPACKET_MAX_SIZE -TX_QUEUES = (lpp.tx1_q, lpp.tx2_q, lpp.tx3_q) - - -def unpackage_can_msg(pkt): - dat_len = DLC_TO_LEN[pkt[0].data_len_code] - dat = bytes(pkt[0].data[0:dat_len]) - return pkt[0].addr, 0, dat, pkt[0].bus - - -def random_can_messages(n, bus=None): - msgs = [] - for _ in range(n): - if bus is None: - bus = random.randint(0, 3) - address = random.randint(1, (1 << 29) - 1) - data = bytes([random.getrandbits(8) for _ in range(DLC_TO_LEN[random.randrange(0, len(DLC_TO_LEN))])]) - msgs.append((address, 0, data, bus)) - return msgs - - -class TestPandaComms(unittest.TestCase): - def setUp(self): - lpp.comms_can_reset() - - def test_tx_queues(self): - for bus in range(len(TX_QUEUES)): - message = (0x100, 0, b"test", bus) - - can_pkt_tx = libpanda_py.make_CANPacket(message[0], message[3], message[2]) - can_pkt_rx = libpanda_py.ffi.new('CANPacket_t *') - - assert lpp.can_push(TX_QUEUES[bus], can_pkt_tx), "CAN push failed" - assert lpp.can_pop(TX_QUEUES[bus], can_pkt_rx), "CAN pop failed" - - assert unpackage_can_msg(can_pkt_rx) == message - - def test_comms_reset_rx(self): - # store some test messages in the queue - test_msg = (0x100, 0, b"test", 0) - for _ in range(100): - can_pkt_tx = libpanda_py.make_CANPacket(test_msg[0], test_msg[3], test_msg[2]) - lpp.can_push(lpp.rx_q, can_pkt_tx) - - # read a small chunk such that we have some overflow - TINY_CHUNK_SIZE = 6 - dat = libpanda_py.ffi.new(f"uint8_t[{TINY_CHUNK_SIZE}]") - rx_len = lpp.comms_can_read(dat, TINY_CHUNK_SIZE) - assert rx_len == TINY_CHUNK_SIZE, "comms_can_read returned too little data" - - _, overflow = unpack_can_buffer(bytes(dat)) - assert len(overflow) > 0, "overflow buffer should not be empty" - - # reset the comms to clear the overflow buffer on the panda side - lpp.comms_can_reset() - - # read a large chunk, which should now contain valid messages - LARGE_CHUNK_SIZE = 512 - dat = libpanda_py.ffi.new(f"uint8_t[{LARGE_CHUNK_SIZE}]") - rx_len = lpp.comms_can_read(dat, LARGE_CHUNK_SIZE) - assert rx_len == LARGE_CHUNK_SIZE, "comms_can_read returned too little data" - - msgs, _ = unpack_can_buffer(bytes(dat)) - assert len(msgs) > 0, "message buffer should not be empty" - for m in msgs: - assert m == test_msg, "message buffer should contain valid test messages" - - def test_comms_reset_tx(self): - # store some test messages in the queue - test_msg = (0x100, 0, b"test", 0) - packed = pack_can_buffer([test_msg for _ in range(100)]) - - # write a small chunk such that we have some overflow - TINY_CHUNK_SIZE = 6 - lpp.comms_can_write(packed[0][:TINY_CHUNK_SIZE], TINY_CHUNK_SIZE) - - # reset the comms to clear the overflow buffer on the panda side - lpp.comms_can_reset() - - # write a full valid chunk, which should now contain valid messages - lpp.comms_can_write(packed[1], len(packed[1])) - - # read the messages from the queue and make sure they're valid - queue_msgs = [] - pkt = libpanda_py.ffi.new('CANPacket_t *') - while lpp.can_pop(TX_QUEUES[0], pkt): - queue_msgs.append(unpackage_can_msg(pkt)) - - assert len(queue_msgs) > 0, "message buffer should not be empty" - for m in queue_msgs: - assert m == test_msg, "message buffer should contain valid test messages" - - - def test_can_send_usb(self): - lpp.set_safety_hooks(Panda.SAFETY_ALLOUTPUT, 0) - - for bus in range(3): - with self.subTest(bus=bus): - for _ in range(100): - msgs = random_can_messages(200, bus=bus) - packed = pack_can_buffer(msgs) - - # Simulate USB bulk chunks - for buf in packed: - for i in range(0, len(buf), CHUNK_SIZE): - chunk_len = min(CHUNK_SIZE, len(buf) - i) - lpp.comms_can_write(buf[i:i+chunk_len], chunk_len) - - # Check that they ended up in the right buffers - queue_msgs = [] - pkt = libpanda_py.ffi.new('CANPacket_t *') - while lpp.can_pop(TX_QUEUES[bus], pkt): - queue_msgs.append(unpackage_can_msg(pkt)) - - self.assertEqual(len(queue_msgs), len(msgs)) - self.assertEqual(queue_msgs, msgs) - - def test_can_receive_usb(self): - msgs = random_can_messages(50000) - packets = [libpanda_py.make_CANPacket(m[0], m[3], m[2]) for m in msgs] - - rx_msgs = [] - overflow_buf = b"" - while len(packets) > 0: - # Push into queue - while lpp.can_slots_empty(lpp.rx_q) > 0 and len(packets) > 0: - lpp.can_push(lpp.rx_q, packets.pop(0)) - - # Simulate USB bulk IN chunks - MAX_TRANSFER_SIZE = 16384 - dat = libpanda_py.ffi.new(f"uint8_t[{CHUNK_SIZE}]") - while True: - buf = b"" - while len(buf) < MAX_TRANSFER_SIZE: - max_size = min(CHUNK_SIZE, MAX_TRANSFER_SIZE - len(buf)) - rx_len = lpp.comms_can_read(dat, max_size) - buf += bytes(dat[0:rx_len]) - if rx_len < max_size: - break - - if len(buf) == 0: - break - unpacked_msgs, overflow_buf = unpack_can_buffer(overflow_buf + buf) - rx_msgs.extend(unpacked_msgs) - - self.assertEqual(len(rx_msgs), len(msgs)) - self.assertEqual(rx_msgs, msgs) - - -if __name__ == "__main__": - unittest.main() diff --git a/panda/tests/usbprotocol/test_pandalib.py b/panda/tests/usbprotocol/test_pandalib.py deleted file mode 100755 index c03f246f318e4a..00000000000000 --- a/panda/tests/usbprotocol/test_pandalib.py +++ /dev/null @@ -1,26 +0,0 @@ -#!/usr/bin/env python3 -import random -import unittest - 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-[project.urls] -Homepage = "https://comma.ai" - -[tool.pytest.ini_options] -minversion = "6.0" -addopts = "--ignore=openpilot/ --ignore=cereal/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=teleoprtc_repo/ -Werror --strict-config --strict-markers --durations=10 -n auto --dist=loadgroup" -cpp_files = "test_*" -cpp_harness = "selfdrive/test/cpp_harness.py" -python_files = "test_*.py" -#timeout = "30" # you get this long by default -markers = [ - "slow: tests that take awhile to run and can be skipped with -m 'not slow'", - "tici: tests that are only meant to run on the C3/C3X", -] -testpaths = [ - "common", - "selfdrive/pandad", - "selfdrive/car", - "selfdrive/controls", - "selfdrive/locationd", - "selfdrive/monitoring", - "selfdrive/navd/tests", - "selfdrive/test/longitudinal_maneuvers", - "selfdrive/test/process_replay/test_fuzzy.py", - "system/updated", - "system/athena", - "system/camerad", - "system/hardware", - "system/loggerd", - "system/proclogd", - "system/tests", - "system/ubloxd", - "system/webrtc", - "tools/lib/tests", - "tools/replay", - "tools/cabana", - "cereal/messaging/tests", -] - -[tool.mypy] -python_version = "3.11" -plugins = [ - "numpy.typing.mypy_plugin", -] -exclude = [ - "body/", - "cereal/", - "opendbc/", - "panda/", - "rednose/", - "rednose_repo/", - "tinygrad/", - "tinygrad_repo/", - "teleoprtc/", - "teleoprtc_repo/", - "third_party/", -] - -# third-party packages -ignore_missing_imports=true - -# helpful warnings -warn_redundant_casts=true -warn_unreachable=true -warn_unused_ignores=true - -# restrict dynamic typing -warn_return_any=true - -# allow implicit optionals for default args -implicit_optional = true - - -[tool.poetry] -name = "openpilot" -version = "0.1.0" -description = "an open source driver assistance system" -authors = ["Vehicle Researcher "] -license = "MIT" -readme = "README.md" -repository = "https://github.com/commaai/openpilot" -documentation = "https://docs.comma.ai" - -[tool.poetry.dependencies] -python = "~3.11" - -# multiple users -sounddevice = "*" # micd + soundd -pyserial = "*" # pigeond + qcomgpsd -requests = "*" # many one-off uses -sympy = "*" # rednose + friends -crcmod = "*" # cars + qcomgpsd - -# hardwared -smbus2 = "*" # configuring amp - -# core -cffi = "*" -scons = "*" -pycapnp = "*" -Cython = "*" -numpy = "*" - -# body / webrtcd -aiohttp = "*" -aiortc = "*" -pyaudio = "*" - -# panda -libusb1 = "*" -spidev = { version = "*", platform = "linux" } - -# modeld -onnx = ">=1.14.0" -onnxruntime = { version = ">=1.16.3", platform = "linux", markers = "platform_machine == 'aarch64'" } -onnxruntime-gpu = { version = ">=1.16.3", platform = "linux", markers = "platform_machine == 'x86_64'" } - -# logging -pyzmq = "*" -sentry-sdk = "*" - -# athena -PyJWT = "*" -json-rpc = "*" -websocket_client = "*" - -# acados deps -casadi = "*" -future-fstrings = "*" - -# these should be removed -psutil = "*" -timezonefinder = "*" # just used for nav ETA -setproctitle = "*" -pycryptodome = "*" # used in updated/casync, panda, body, and a test - -[tool.poetry.group.dev.dependencies] -av = "*" -azure-identity = "*" -azure-storage-blob = "*" -breathe = "*" -control = "*" -coverage = "*" -dictdiffer = "*" -flaky = "*" -hypothesis = "~6.47" -inputs = "*" -Jinja2 = "*" -lru-dict = "*" -matplotlib = "*" -# No release for this fix https://github.com/metadriverse/metadrive/issues/632. Pinned to this commit until next release -metadrive-simulator = {git = "https://github.com/metadriverse/metadrive.git", rev ="233a3a1698be7038ec3dd050ca10b547b4b3324c", markers = "platform_machine != 'aarch64'" } # no linux/aarch64 wheels for certain dependencies -mpld3 = "*" -mypy = "*" -myst-parser = "*" -natsort = "*" -opencv-python-headless = "*" -parameterized = "^0.8" -pprofile = "*" -polyline = "*" -pre-commit = "*" -pyautogui = "*" -pytools = "<=2024.1.3" # our pinned version of pyopencl use a broken version of pytools -pyopencl = "==2023.1.4" # 2024.1 is broken on arm64 -pygame = "*" -pywinctl = "*" -pyprof2calltree = "*" -pytest = "*" -pytest-cov = "*" -pytest-cpp = "*" -pytest-subtests = "*" -pytest-xdist = "*" -pytest-timeout = "*" -pytest-randomly = "*" -pytest-asyncio = "*" -pytest-mock = "*" -pytest-repeat = "*" -rerun-sdk = "*" -ruff = "*" -sphinx = "*" -sphinx-rtd-theme = "*" -sphinx-sitemap = "*" -tabulate = "*" -types-requests = "*" -types-tabulate = "*" -tqdm = "*" - -# this is only pinned since 5.15.11 is broken -pyqt5 = { version = "==5.15.2", markers = "platform_machine == 'x86_64'" } # no aarch64 wheels for macOS/linux - -[build-system] -requires = ["poetry-core"] -build-backend = "poetry.core.masonry.api" - -# https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml -[tool.ruff] -indent-width = 2 -lint.select = [ - "E", "F", "W", "PIE", "C4", "ISC", "A", "B", - "NPY", # numpy - "UP", # pyupgrade - "TRY302", "TRY400", "TRY401", # try/excepts - "RUF008", "RUF100", - "TID251" -] -lint.ignore = [ - "E741", - "E402", - "C408", - "ISC003", - "B027", - "B024", - "NPY002", # new numpy random syntax is worse - "UP038", # (x, y) -> x|y for isinstance -] -line-length = 160 -target-version="py311" -exclude = [ - "body", - "cereal", - "panda", - "opendbc", - "rednose_repo", - "tinygrad_repo", - "teleoprtc", - "teleoprtc_repo", - "third_party", -] -lint.flake8-implicit-str-concat.allow-multiline=false -[tool.ruff.lint.flake8-tidy-imports.banned-api] -"selfdrive".msg = "Use openpilot.selfdrive" -"common".msg = "Use openpilot.common" -"system".msg = "Use openpilot.system" -"third_party".msg = "Use openpilot.third_party" -"tools".msg = "Use openpilot.tools" -"pytest.main".msg = "pytest.main requires special handling that is easy to mess up!" -"unittest".msg = "Use pytest" - -[tool.coverage.run] -concurrency = ["multiprocessing", "thread"] -[tool.ruff.format] -quote-style = "preserve" diff --git a/rednose_repo/.dockerignore b/rednose_repo/.dockerignore deleted file mode 100644 index 5b2d46270d8cc8..00000000000000 --- a/rednose_repo/.dockerignore +++ /dev/null @@ -1 +0,0 @@ -.sconsign.dblite diff --git a/rednose_repo/.editorconfig b/rednose_repo/.editorconfig deleted file mode 100644 index e0da06102589de..00000000000000 --- a/rednose_repo/.editorconfig +++ /dev/null @@ -1,11 +0,0 @@ -root = true - -[*] -end_of_line = lf -insert_final_newline = true -trim_trailing_whitespace = true - -[{*.py, *.pyx, *pxd}] -charset = utf-8 -indent_style = space -indent_size = 2 diff --git a/rednose_repo/.github/workflows/tests.yml b/rednose_repo/.github/workflows/tests.yml deleted file mode 100644 index 0e09120969fe3b..00000000000000 --- a/rednose_repo/.github/workflows/tests.yml +++ /dev/null @@ -1,34 +0,0 @@ -name: tests - -on: [push, pull_request] - -env: - REGISTRY: ghcr.io/commaai - BUILD: docker buildx build --pull --load --cache-to type=inline --cache-from $REGISTRY/rednose:latest -t rednose -f Dockerfile . - RUN: docker run rednose bash -c - -jobs: - test: - runs-on: ubuntu-latest - steps: - - uses: actions/checkout@v4 - - name: Build docker image - run: eval ${{ env.BUILD }} - - name: Static analysis - run: ${{ env.RUN }} "git init && git add -A && pre-commit run --all" - - name: Unit Tests - run: ${{ env.RUN }} "cd /project/examples; python -m unittest discover" - - docker_push: - name: docker push - runs-on: ubuntu-latest - if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/rednose' - steps: - - uses: actions/checkout@v4 - - name: Build Docker image - run: eval ${{ env.BUILD }} - - name: Push to dockerhub - run: | - docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }} - docker tag rednose ${{ env.REGISTRY }}/rednose:latest - docker push ${{ env.REGISTRY }}/rednose:latest diff --git a/rednose_repo/.pre-commit-config.yaml b/rednose_repo/.pre-commit-config.yaml deleted file mode 100644 index 89976333acb5f8..00000000000000 --- a/rednose_repo/.pre-commit-config.yaml +++ /dev/null @@ -1,21 +0,0 @@ -repos: -- repo: https://github.com/pre-commit/pre-commit-hooks - rev: v4.0.1 - hooks: - - id: check-ast - - id: check-json - - id: check-xml - - id: check-yaml - - id: check-merge-conflict - - id: check-symlinks - - id: check-executables-have-shebangs - - id: check-shebang-scripts-are-executable -- repo: https://github.com/pre-commit/mirrors-mypy - rev: v1.4.0 - hooks: - - id: mypy - additional_dependencies: ['git+https://github.com/numpy/numpy-stubs'] -- repo: https://github.com/astral-sh/ruff-pre-commit - rev: v0.2.2 - hooks: - - id: ruff diff --git a/rednose_repo/Dockerfile b/rednose_repo/Dockerfile deleted file mode 100644 index 57bd4c1ea46531..00000000000000 --- a/rednose_repo/Dockerfile +++ /dev/null @@ -1,14 +0,0 @@ -FROM ubuntu:24.04 - -ENV DEBIAN_FRONTEND=noninteractive -RUN apt-get update && apt-get install -y capnproto libcapnp-dev clang wget git autoconf libtool curl make build-essential libssl-dev zlib1g-dev libbz2-dev libreadline-dev libsqlite3-dev llvm libncurses5-dev libncursesw5-dev xz-utils tk-dev libffi-dev liblzma-dev python3-openssl libeigen3-dev python3-pip python3-dev - -WORKDIR /project - -ENV PYTHONPATH=/project - -COPY . . -RUN rm -rf .git -RUN pip3 install --break-system-packages --no-cache-dir -r requirements.txt -RUN python3 setup.py install -RUN scons -c && scons -j$(nproc) diff --git a/rednose_repo/LICENSE b/rednose_repo/LICENSE deleted file mode 100644 index 6f1774f1d9b406..00000000000000 --- a/rednose_repo/LICENSE +++ /dev/null @@ -1,21 +0,0 @@ -MIT License - -Copyright (c) 2020 comma.ai - -Permission is hereby granted, free of charge, to any person obtaining a copy -of this software and associated documentation files (the "Software"), to deal -in the Software without restriction, including without limitation the rights -to use, copy, modify, merge, publish, distribute, sublicense, and/or sell -copies of the Software, and to permit persons to whom the Software is -furnished to do so, subject to the following conditions: - -The above copyright notice and this permission notice shall be included in all -copies or substantial portions of the Software. - -THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR -IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, -FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE -AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER -LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, -OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE -SOFTWARE. diff --git a/rednose_repo/README.md b/rednose_repo/README.md deleted file mode 100644 index 264958bfcd45f8..00000000000000 --- a/rednose_repo/README.md +++ /dev/null @@ -1,51 +0,0 @@ -## Introduction -The kalman filter framework described here is an incredibly powerful tool for any optimization problem, -but particularly for visual odometry, sensor fusion localization or SLAM. It is designed to provide very -accurate results, work online or offline, be fairly computationally efficient, be easy to design filters with in -python. - -![](examples/kinematic_kf.png) - - -## Feature walkthrough - -### Extended Kalman Filter with symbolic Jacobian computation -Most dynamic systems can be described as a Hidden Markov Process. To estimate the state of such a system with noisy -measurements one can use a Recursive Bayesian estimator. For a linear Markov Process a regular linear Kalman filter is optimal. -Unfortunately, a lot of systems are non-linear. Extended Kalman Filters can model systems by linearizing the non-linear -system at every step, this provides a close to optimal estimator when the linearization is good enough. If the linearization -introduces too much noise, one can use an Iterated Extended Kalman Filter, Unscented Kalman Filter or a Particle Filter. For -most applications those estimators are overkill. They add a lot of complexity and require a lot of additional compute. - -Conventionally Extended Kalman Filters are implemented by writing the system's dynamic equations and then manually symbolically -calculating the Jacobians for the linearization. For complex systems this is time consuming and very prone to calculation errors. -This library symbolically computes the Jacobians using sympy to simplify the system's definition and remove the possibility of introducing calculation errors. - -### Error State Kalman Filter -3D localization algorithms usually also require estimating orientation of an object in 3D. Orientation is generally represented -with euler angles or quaternions. - -Euler angles have several problems, there are multiple ways to represent the same orientation, -gimbal lock can cause the loss of a degree of freedom and lastly their behaviour is very non-linear when errors are large. -Quaternions with one strictly positive dimension don't suffer from these issues, but have another set of problems. -Quaternions need to be normalized otherwise they will grow unbounded, but this cannot be cleanly enforced in a kalman filter. -Most importantly though a quaternion has 4 dimensions, but only represents 3 degrees of freedom, so there is one redundant dimension. - -Kalman filters are designed to minimize the error of the system's state. It is possible to have a kalman filter where state and the error of the state are represented in a different space. As long as there is an error function that can compute the error based on the true state and estimated state. It is problematic to have redundant dimensions in the error of the kalman filter, but not in the state. A good compromise then, is to use the quaternion to represent the system's attitude state and use euler angles to describe the error in attitude. This library supports and defining an arbitrary error that is in a different space than the state. [Joan Solà](https://arxiv.org/abs/1711.02508) has written a comprehensive description of using ESKFs for robust 3D orientation estimation. - -### Multi-State Constraint Kalman Filter -How do you integrate feature-based visual odometry with a Kalman filter? The problem is that one cannot write an observation equation for 2D feature observations in image space for a localization kalman filter. One needs to give the feature observation a depth so it has a 3D position, then one can write an obvervation equation in the kalman filter. This is possible by tracking the feature across frames and then estimating the depth. However, the solution is not that simple, the depth estimated by tracking the feature across frames depends on the location of the camera at those frames, and thus the state of the kalman filter. This creates a positive feedback loop where the kalman filter wrongly gains confidence in it's position because the feature position updates reinforce it. - -The solution is to use an [MSCKF](http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.437.1085&rep=rep1&type=pdf), which this library fully supports. - -### Rauch–Tung–Striebel smoothing -When doing offline estimation with a kalman filter there can be an initialization period where states are badly estimated. -Global estimators don't suffer from this, to make our kalman filter competitive with global optimizers we can run the filter -backwards using an RTS smoother. Those combined with potentially multiple forward and backwards passes of the data should make -performance very close to global optimization. - -### Mahalanobis distance outlier rejector -A lot of measurements do not come from a Gaussian distribution and as such have outliers that do not fit the statistical model -of the Kalman filter. This can cause a lot of performance issues if not dealt with. This library allows the use of a mahalanobis -distance statistical test on the incoming measurements to deal with this. Note that good initialization is critical to prevent -good measurements from being rejected. diff --git a/rednose_repo/examples/test_compare.py b/rednose_repo/examples/test_compare.py deleted file mode 100755 index 0b2cdd3e6acd64..00000000000000 --- a/rednose_repo/examples/test_compare.py +++ /dev/null @@ -1,125 +0,0 @@ -#!/usr/bin/env python3 -import os -import sys -import sympy as sp -import numpy as np -import unittest - -if __name__ == '__main__': # generating sympy code - from rednose.helpers.ekf_sym import gen_code -else: - from rednose.helpers.ekf_sym_pyx import EKF_sym_pyx # pylint: disable=no-name-in-module - from rednose.helpers.ekf_sym import EKF_sym as EKF_sym2 - - -GENERATED_DIR = os.path.abspath(os.path.join(os.path.dirname(__file__), 'generated')) - - -class ObservationKind: - UNKNOWN = 0 - NO_OBSERVATION = 1 - POSITION = 1 - - names = [ - 'Unknown', - 'No observation', - 'Position' - ] - - @classmethod - def to_string(cls, kind): - return cls.names[kind] - - -class States: - POSITION = slice(0, 1) - VELOCITY = slice(1, 2) - - -class CompareFilter: - name = "compare" - - initial_x = np.array([0.5, 0.0]) - initial_P_diag = np.array([1.0**2, 1.0**2]) - Q = np.diag([0.1**2, 2.0**2]) - obs_noise = {ObservationKind.POSITION: np.atleast_2d(0.1**2)} - - @staticmethod - def generate_code(generated_dir): - name = CompareFilter.name - dim_state = CompareFilter.initial_x.shape[0] - - state_sym = sp.MatrixSymbol('state', dim_state, 1) - state = sp.Matrix(state_sym) - - position = state[States.POSITION, :][0,:] - velocity = state[States.VELOCITY, :][0,:] - - dt = sp.Symbol('dt') - state_dot = sp.Matrix(np.zeros((dim_state, 1))) - state_dot[States.POSITION.start, 0] = velocity - f_sym = state + dt * state_dot - - obs_eqs = [ - [sp.Matrix([position]), ObservationKind.POSITION, None], - ] - - gen_code(generated_dir, name, f_sym, dt, state_sym, obs_eqs, dim_state, dim_state) - - def __init__(self, generated_dir): - dim_state = self.initial_x.shape[0] - dim_state_err = self.initial_P_diag.shape[0] - - # init filter - self.filter_py = EKF_sym_pyx(generated_dir, self.name, self.Q, self.initial_x, np.diag(self.initial_P_diag), dim_state, dim_state_err) - self.filter_pyx = EKF_sym2(generated_dir, self.name, self.Q, self.initial_x, np.diag(self.initial_P_diag), dim_state, dim_state_err) - - def get_R(self, kind, n): - obs_noise = self.obs_noise[kind] - dim = obs_noise.shape[0] - R = np.zeros((n, dim, dim)) - for i in range(n): - R[i, :, :] = obs_noise - return R - - -class TestCompare(unittest.TestCase): - def test_compare(self): - np.random.seed(0) - - kf = CompareFilter(GENERATED_DIR) - - # Simple simulation - dt = 0.01 - ts = np.arange(0, 5, step=dt) - xs = np.empty(ts.shape) - - # Simulate - x = 0.0 - for i, v in enumerate(np.sin(ts * 5)): - xs[i] = x - x += v * dt - - # insert late observation - switch = (20, 40) - ts[switch[0]], ts[switch[1]] = ts[switch[1]], ts[switch[0]] - xs[switch[0]], xs[switch[1]] = xs[switch[1]], xs[switch[0]] - - for t, x in zip(ts, xs): - # get measurement - meas = np.random.normal(x, 0.1) - z = np.array([[meas]]) - R = kf.get_R(ObservationKind.POSITION, 1) - - # Update kf - kf.filter_py.predict_and_update_batch(t, ObservationKind.POSITION, z, R) - kf.filter_pyx.predict_and_update_batch(t, ObservationKind.POSITION, z, R) - - self.assertAlmostEqual(kf.filter_py.get_filter_time(), kf.filter_pyx.get_filter_time()) - self.assertTrue(np.allclose(kf.filter_py.state(), kf.filter_pyx.state())) - self.assertTrue(np.allclose(kf.filter_py.covs(), kf.filter_pyx.covs())) - - -if __name__ == "__main__": - generated_dir = sys.argv[2] - CompareFilter.generate_code(generated_dir) diff --git a/rednose_repo/examples/test_kinematic_kf.py b/rednose_repo/examples/test_kinematic_kf.py deleted file mode 100644 index 749eaf04f4737c..00000000000000 --- a/rednose_repo/examples/test_kinematic_kf.py +++ /dev/null @@ -1,86 +0,0 @@ -import os -import numpy as np -import unittest - -from kinematic_kf import KinematicKalman, ObservationKind, States # pylint: disable=import-error - -GENERATED_DIR = os.path.abspath(os.path.join(os.path.dirname(__file__), 'generated')) - -class TestKinematic(unittest.TestCase): - def test_kinematic_kf(self): - np.random.seed(0) - - kf = KinematicKalman(GENERATED_DIR) - - # Simple simulation - dt = 0.01 - ts = np.arange(0, 5, step=dt) - vs = np.sin(ts * 5) - - x = 0.0 - xs = [] - - xs_meas = [] - - xs_kf = [] - vs_kf = [] - - xs_kf_std = [] - vs_kf_std = [] - - for t, v in zip(ts, vs): - xs.append(x) - - # Update kf - meas = np.random.normal(x, 0.1) - xs_meas.append(meas) - kf.predict_and_observe(t, ObservationKind.POSITION, [meas]) - - # Retrieve kf values - state = kf.x - xs_kf.append(float(state[States.POSITION].item())) - vs_kf.append(float(state[States.VELOCITY].item())) - std = np.sqrt(kf.P) - xs_kf_std.append(float(std[States.POSITION, States.POSITION].item())) - vs_kf_std.append(float(std[States.VELOCITY, States.VELOCITY].item())) - - # Update simulation - x += v * dt - - xs, xs_meas, xs_kf, vs_kf, xs_kf_std, vs_kf_std = (np.asarray(a) for a in (xs, xs_meas, xs_kf, vs_kf, xs_kf_std, vs_kf_std)) - - self.assertAlmostEqual(xs_kf[-1], -0.010866289677966417) - self.assertAlmostEqual(xs_kf_std[-1], 0.04477103863330089) - self.assertAlmostEqual(vs_kf[-1], -0.8553720537261753) - self.assertAlmostEqual(vs_kf_std[-1], 0.6695762270974388) - - if "PLOT" in os.environ: - import matplotlib.pyplot as plt # pylint: disable=import-error - plt.figure() - plt.subplot(2, 1, 1) - plt.plot(ts, xs, 'k', label='Simulation') - plt.plot(ts, xs_meas, 'k.', label='Measurements') - plt.plot(ts, xs_kf, label='KF') - ax = plt.gca() - ax.fill_between(ts, xs_kf - xs_kf_std, xs_kf + xs_kf_std, alpha=.2, color='C0') - - plt.xlabel("Time [s]") - plt.ylabel("Position [m]") - plt.legend() - - plt.subplot(2, 1, 2) - plt.plot(ts, vs, 'k', label='Simulation') - plt.plot(ts, vs_kf, label='KF') - - ax = plt.gca() - ax.fill_between(ts, vs_kf - vs_kf_std, vs_kf + vs_kf_std, alpha=.2, color='C0') - - plt.xlabel("Time [s]") - plt.ylabel("Velocity [m/s]") - plt.legend() - - plt.show() - - -if __name__ == "__main__": - unittest.main() diff --git a/rednose_repo/pyproject.toml b/rednose_repo/pyproject.toml deleted file mode 100644 index b417c708cfbb5f..00000000000000 --- a/rednose_repo/pyproject.toml +++ /dev/null @@ -1,9 +0,0 @@ -# https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml -[tool.ruff] -line-length = 160 -target-version="py311" - -[tool.ruff.lint] -select = ["E", "F", "W", "PIE", "C4", "ISC", "RUF100", "A"] -ignore = ["W292", "E741", "E402", "C408", "ISC003"] -flake8-implicit-str-concat.allow-multiline=false diff --git a/rednose_repo/rednose/helpers/chi2_lookup_table.npy b/rednose_repo/rednose/helpers/chi2_lookup_table.npy deleted file mode 100644 index 6f1bd959c194cb..00000000000000 Binary files a/rednose_repo/rednose/helpers/chi2_lookup_table.npy and /dev/null differ diff --git a/rednose_repo/rednose/helpers/ekf.h b/rednose_repo/rednose/helpers/ekf.h deleted file mode 100644 index 2afe6dd2b69990..00000000000000 --- a/rednose_repo/rednose/helpers/ekf.h +++ /dev/null @@ -1,42 +0,0 @@ -#pragma once - -#include -#include -#include -#include -#include -#include -#include -#include - -#include - -typedef void (*extra_routine_t)(double *, double *); - -struct EKF { - std::string name; - std::vector kinds; - std::vector feature_kinds; - - void (*f_fun)(double *, double, double *); - void (*F_fun)(double *, double, double *); - void (*err_fun)(double *, double *, double *); - void (*inv_err_fun)(double *, double *, double *); - void (*H_mod_fun)(double *, double *); - void (*predict)(double *, double *, double *, double); - std::unordered_map hs = {}; - std::unordered_map Hs = {}; - std::unordered_map updates = {}; - std::unordered_map Hes = {}; - std::unordered_map sets = {}; - std::unordered_map extra_routines = {}; -}; - -#define ekf_lib_init(ekf) \ -extern "C" void* ekf_get() { \ - return (void*) &ekf; \ -} \ -extern void __attribute__((weak)) ekf_register(const EKF* ptr); \ -static void __attribute__((constructor)) do_ekf_init_ ## ekf(void) { \ - if (ekf_register) ekf_register(&ekf); \ -} diff --git a/rednose_repo/rednose/helpers/ekf_load.cc b/rednose_repo/rednose/helpers/ekf_load.cc deleted file mode 100644 index 882b0b4a616b30..00000000000000 --- a/rednose_repo/rednose/helpers/ekf_load.cc +++ /dev/null @@ -1,39 +0,0 @@ -#include "ekf_load.h" -#include - -std::vector& ekf_get_all() { - static std::vector vec; - return vec; -} - -void ekf_register(const EKF* ekf) { - ekf_get_all().push_back(ekf); -} - -const EKF* ekf_lookup(const std::string& ekf_name) { - for (const auto& ekfi : ekf_get_all()) { - if (ekf_name == ekfi->name) { - return ekfi; - } - } - return NULL; -} - -void ekf_load_and_register(const std::string& ekf_directory, const std::string& ekf_name) { - if (ekf_lookup(ekf_name)) { - return; - } - -#ifdef __APPLE__ - std::string dylib_ext = ".dylib"; -#else - std::string dylib_ext = ".so"; -#endif - std::string ekf_path = ekf_directory + "/lib" + ekf_name + dylib_ext; - void* handle = dlopen(ekf_path.c_str(), RTLD_NOW); - assert(handle); - void* (*ekf_get)() = (void*(*)())dlsym(handle, "ekf_get"); - assert(ekf_get != NULL); - const EKF* ekf = (const EKF*)ekf_get(); - ekf_register(ekf); -} diff --git a/rednose_repo/rednose/helpers/ekf_load.h b/rednose_repo/rednose/helpers/ekf_load.h deleted file mode 100644 index 89180b80280efa..00000000000000 --- a/rednose_repo/rednose/helpers/ekf_load.h +++ /dev/null @@ -1,9 +0,0 @@ -#include -#include - -#include "ekf.h" - -std::vector& ekf_get_all(); -const EKF* ekf_lookup(const std::string& ekf_name); -void ekf_register(const EKF* ekf); -void ekf_load_and_register(const std::string& ekf_directory, const std::string& ekf_name); diff --git a/rednose_repo/rednose/helpers/ekf_sym.cc b/rednose_repo/rednose/helpers/ekf_sym.cc deleted file mode 100644 index 38d419d07f2c99..00000000000000 --- a/rednose_repo/rednose/helpers/ekf_sym.cc +++ /dev/null @@ -1,223 +0,0 @@ -#include "ekf_sym.h" -#include "logger/logger.h" - -using namespace EKFS; -using namespace Eigen; - -EKFSym::EKFSym(std::string name, Map Q, Map x_initial, Map P_initial, int dim_main, - int dim_main_err, int N, int dim_augment, int dim_augment_err, std::vector maha_test_kinds, - std::vector quaternion_idxs, std::vector global_vars, double max_rewind_age) -{ - // TODO: add logger - this->ekf = ekf_lookup(name); - assert(this->ekf); - - this->msckf = N > 0; - this->N = N; - this->dim_augment = dim_augment; - this->dim_augment_err = dim_augment_err; - this->dim_main = dim_main; - this->dim_main_err = dim_main_err; - - this->dim_x = x_initial.rows(); - this->dim_err = P_initial.rows(); - - assert(dim_main + dim_augment * N == dim_x); - assert(dim_main_err + dim_augment_err * N == this->dim_err); - assert(Q.rows() == P_initial.rows() && Q.cols() == P_initial.cols()); - - // kinds that should get mahalanobis distance - // tested for outlier rejection - this->maha_test_kinds = maha_test_kinds; - - // quaternions need normalization - this->quaternion_idxs = quaternion_idxs; - - this->global_vars = global_vars; - - // Process noise - this->Q = Q; - - this->max_rewind_age = max_rewind_age; - this->init_state(x_initial, P_initial, NAN); -} - -void EKFSym::init_state(Map state, Map covs, double init_filter_time) { - this->x = state; - this->P = covs; - this->filter_time = init_filter_time; - this->augment_times = VectorXd::Zero(this->N); - this->reset_rewind(); -} - -VectorXd EKFSym::state() { - return this->x; -} - -MatrixXdr EKFSym::covs() { - return this->P; -} - -void EKFSym::set_filter_time(double t) { - this->filter_time = t; -} - -double EKFSym::get_filter_time() { - return this->filter_time; -} - -void EKFSym::normalize_quaternions() { - for(std::size_t i = 0; i < this->quaternion_idxs.size(); ++i) { - this->normalize_slice(this->quaternion_idxs[i], this->quaternion_idxs[i] + 4); - } -} - -void EKFSym::normalize_slice(int slice_start, int slice_end_ex) { - this->x.block(slice_start, 0, slice_end_ex - slice_start, this->x.cols()).normalize(); -} - -void EKFSym::set_global(std::string global_var, double val) { - this->ekf->sets.at(global_var)(val); -} - -std::optional EKFSym::predict_and_update_batch(double t, int kind, std::vector> z_map, - std::vector> R_map, std::vector> extra_args, bool augment) -{ - // TODO handle rewinding at this level - - std::deque rewound; - if (!std::isnan(this->filter_time) && t < this->filter_time) { - if (this->rewind_t.empty() || t < this->rewind_t.front() || t < this->rewind_t.back() - this->max_rewind_age) { - LOGD("observation too old at %f with filter at %f, ignoring!", t, this->filter_time); - return std::nullopt; - } - rewound = this->rewind(t); - } - - Observation obs; - obs.t = t; - obs.kind = kind; - obs.extra_args = extra_args; - for (Map zi : z_map) { - obs.z.push_back(zi); - } - for (Map Ri : R_map) { - obs.R.push_back(Ri); - } - - std::optional res = std::make_optional(this->predict_and_update_batch(obs, augment)); - - // optional fast forward - while (!rewound.empty()) { - this->predict_and_update_batch(rewound.front(), false); - rewound.pop_front(); - } - - return res; -} - -void EKFSym::reset_rewind() { - this->rewind_obscache.clear(); - this->rewind_t.clear(); - this->rewind_states.clear(); -} - -std::deque EKFSym::rewind(double t) { - std::deque rewound; - - // rewind observations until t is after previous observation - while (this->rewind_t.back() > t) { - rewound.push_front(this->rewind_obscache.back()); - this->rewind_t.pop_back(); - this->rewind_states.pop_back(); - this->rewind_obscache.pop_back(); - } - - // set the state to the time right before that - this->filter_time = this->rewind_t.back(); - this->x = this->rewind_states.back().first; - this->P = this->rewind_states.back().second; - - return rewound; -} - -void EKFSym::checkpoint(Observation& obs) { - // push to rewinder - this->rewind_t.push_back(this->filter_time); - this->rewind_states.push_back(std::make_pair(this->x, this->P)); - this->rewind_obscache.push_back(obs); - - // only keep a certain number around - if (this->rewind_t.size() > REWIND_TO_KEEP) { - this->rewind_t.pop_front(); - this->rewind_states.pop_front(); - this->rewind_obscache.pop_front(); - } -} - -Estimate EKFSym::predict_and_update_batch(Observation& obs, bool augment) { - assert(obs.z.size() == obs.R.size()); - assert(obs.z.size() == obs.extra_args.size()); - - this->predict(obs.t); - - Estimate res; - res.t = obs.t; - res.kind = obs.kind; - res.z = obs.z; - res.extra_args = obs.extra_args; - res.xk1 = this->x; - res.Pk1 = this->P; - - // update batch - std::vector y; - for (int i = 0; i < obs.z.size(); i++) { - assert(obs.z[i].rows() == obs.R[i].rows()); - assert(obs.z[i].rows() == obs.R[i].cols()); - - // update state - y.push_back(this->update(obs.kind, obs.z[i], obs.R[i], obs.extra_args[i])); - } - - res.xk = this->x; - res.Pk = this->P; - res.y = y; - - assert(!augment); // TODO - // if (augment) { - // this->augment(); - // } - - this->checkpoint(obs); - - return res; -} - -void EKFSym::predict(double t) { - // initialize time - if (std::isnan(this->filter_time)) { - this->filter_time = t; - } - - // predict - double dt = t - this->filter_time; - assert(dt >= 0.0); - - this->ekf->predict(this->x.data(), this->P.data(), this->Q.data(), dt); - this->normalize_quaternions(); - this->filter_time = t; -} - -VectorXd EKFSym::update(int kind, VectorXd z, MatrixXdr R, std::vector extra_args) { - this->ekf->updates.at(kind)(this->x.data(), this->P.data(), z.data(), R.data(), extra_args.data()); - this->normalize_quaternions(); - - if (this->msckf && std::find(this->feature_track_kinds.begin(), this->feature_track_kinds.end(), kind) != this->feature_track_kinds.end()) { - return z.head(z.rows() - extra_args.size()); - } - return z; -} - -extra_routine_t EKFSym::get_extra_routine(const std::string& routine) { - return this->ekf->extra_routines.at(routine); -} diff --git a/rednose_repo/rednose/helpers/ekf_sym.h b/rednose_repo/rednose/helpers/ekf_sym.h deleted file mode 100644 index b83d7f3a12f3b2..00000000000000 --- a/rednose_repo/rednose/helpers/ekf_sym.h +++ /dev/null @@ -1,113 +0,0 @@ -#pragma once - -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include - -#include "ekf.h" -#include "ekf_load.h" - -#define REWIND_TO_KEEP 512 - -namespace EKFS { - -typedef Eigen::Matrix MatrixXdr; - -typedef struct Observation { - double t; - int kind; - std::vector z; - std::vector R; - std::vector> extra_args; -} Observation; - -typedef struct Estimate { - Eigen::VectorXd xk1; - Eigen::VectorXd xk; - MatrixXdr Pk1; - MatrixXdr Pk; - double t; - int kind; - std::vector y; - std::vector z; - std::vector> extra_args; -} Estimate; - -class EKFSym { -public: - EKFSym(std::string name, Eigen::Map Q, Eigen::Map x_initial, - Eigen::Map P_initial, int dim_main, int dim_main_err, int N = 0, int dim_augment = 0, - int dim_augment_err = 0, std::vector maha_test_kinds = std::vector(), - std::vector quaternion_idxs = std::vector(), - std::vector global_vars = std::vector(), double max_rewind_age = 1.0); - void init_state(Eigen::Map state, Eigen::Map covs, double filter_time); - - Eigen::VectorXd state(); - MatrixXdr covs(); - void set_filter_time(double t); - double get_filter_time(); - void normalize_quaternions(); - void normalize_slice(int slice_start, int slice_end_ex); - void set_global(std::string global_var, double val); - void reset_rewind(); - - void predict(double t); - std::optional predict_and_update_batch(double t, int kind, std::vector> z, - std::vector> R, std::vector> extra_args = {{}}, bool augment = false); - - extra_routine_t get_extra_routine(const std::string& routine); - -private: - std::deque rewind(double t); - void checkpoint(Observation& obs); - - Estimate predict_and_update_batch(Observation& obs, bool augment); - Eigen::VectorXd update(int kind, Eigen::VectorXd z, MatrixXdr R, std::vector extra_args); - - // stuct with linked sympy generated functions - const EKF *ekf = NULL; - - Eigen::VectorXd x; // state - MatrixXdr P; // covs - - bool msckf; - int N; - int dim_augment; - int dim_augment_err; - int dim_main; - int dim_main_err; - - // state - int dim_x; - int dim_err; - - double filter_time; - - std::vector maha_test_kinds; - std::vector quaternion_idxs; - - std::vector global_vars; - - // process noise - MatrixXdr Q; - - // rewind stuff - double max_rewind_age; - std::deque rewind_t; - std::deque> rewind_states; - std::deque rewind_obscache; - - Eigen::VectorXd augment_times; - - std::vector feature_track_kinds; -}; - -} diff --git a/rednose_repo/rednose/helpers/ekf_sym_pyx.cpp b/rednose_repo/rednose/helpers/ekf_sym_pyx.cpp new file mode 100644 index 00000000000000..de77e6b0ff54b5 --- /dev/null +++ b/rednose_repo/rednose/helpers/ekf_sym_pyx.cpp @@ -0,0 +1,35816 @@ +/* Generated by Cython 3.0.8 */ + +/* BEGIN: Cython Metadata +{ + "distutils": { + "depends": [ + "rednose/helpers/ekf_load.h", + "rednose/helpers/ekf_sym.h" + ], + "language": "c++", + "name": "rednose.helpers.ekf_sym_pyx", + "sources": [ + "/data/openpilot/rednose/helpers/ekf_sym_pyx.pyx" + ] + }, + "module_name": "rednose.helpers.ekf_sym_pyx" +} +END: Cython Metadata */ + +#ifndef PY_SSIZE_T_CLEAN +#define PY_SSIZE_T_CLEAN +#endif /* PY_SSIZE_T_CLEAN */ +#if defined(CYTHON_LIMITED_API) && 0 + #ifndef Py_LIMITED_API + #if CYTHON_LIMITED_API+0 > 0x03030000 + #define Py_LIMITED_API CYTHON_LIMITED_API + #else + #define Py_LIMITED_API 0x03030000 + #endif + #endif +#endif + +#include "Python.h" +#ifndef Py_PYTHON_H + #error Python headers needed to compile C extensions, please install development version of Python. +#elif PY_VERSION_HEX < 0x02070000 || (0x03000000 <= PY_VERSION_HEX && PY_VERSION_HEX < 0x03030000) + #error Cython requires Python 2.7+ or Python 3.3+. +#else +#if defined(CYTHON_LIMITED_API) && CYTHON_LIMITED_API +#define __PYX_EXTRA_ABI_MODULE_NAME "limited" +#else +#define __PYX_EXTRA_ABI_MODULE_NAME "" +#endif +#define CYTHON_ABI "3_0_8" __PYX_EXTRA_ABI_MODULE_NAME +#define __PYX_ABI_MODULE_NAME "_cython_" CYTHON_ABI +#define __PYX_TYPE_MODULE_PREFIX __PYX_ABI_MODULE_NAME "." +#define CYTHON_HEX_VERSION 0x030008F0 +#define CYTHON_FUTURE_DIVISION 1 +#include +#ifndef offsetof + #define offsetof(type, member) ( (size_t) & ((type*)0) -> member ) +#endif +#if !defined(_WIN32) && !defined(WIN32) && !defined(MS_WINDOWS) + #ifndef __stdcall + #define __stdcall + #endif + #ifndef __cdecl + #define __cdecl + #endif + #ifndef __fastcall + #define __fastcall + #endif +#endif +#ifndef DL_IMPORT + #define DL_IMPORT(t) t +#endif +#ifndef DL_EXPORT + #define DL_EXPORT(t) t +#endif +#define __PYX_COMMA , +#ifndef HAVE_LONG_LONG + #define HAVE_LONG_LONG +#endif +#ifndef PY_LONG_LONG + #define PY_LONG_LONG LONG_LONG +#endif +#ifndef Py_HUGE_VAL + #define Py_HUGE_VAL HUGE_VAL +#endif +#define __PYX_LIMITED_VERSION_HEX PY_VERSION_HEX +#if defined(GRAALVM_PYTHON) + /* For very preliminary testing purposes. Most variables are set the same as PyPy. + The existence of this section does not imply that anything works or is even tested */ + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 1 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #undef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #undef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 1 + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS (PY_MAJOR_VERSION >= 3) + #endif + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(PYPY_VERSION) + #define CYTHON_COMPILING_IN_PYPY 1 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #ifndef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #endif + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #undef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 1 + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS (PY_MAJOR_VERSION >= 3) + #endif + #if PY_VERSION_HEX < 0x03090000 + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #elif !defined(CYTHON_PEP489_MULTI_PHASE_INIT) + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE (PY_VERSION_HEX >= 0x030400a1 && PYPY_VERSION_NUM >= 0x07030C00) + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(CYTHON_LIMITED_API) + #ifdef Py_LIMITED_API + #undef __PYX_LIMITED_VERSION_HEX + #define __PYX_LIMITED_VERSION_HEX Py_LIMITED_API + #endif + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 1 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_CLINE_IN_TRACEBACK + #define CYTHON_CLINE_IN_TRACEBACK 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #undef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 1 + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #ifndef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #endif + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS 1 + #endif + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 1 + #ifndef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #endif + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(Py_GIL_DISABLED) || defined(Py_NOGIL) + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 1 + #ifndef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 1 + #endif + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #ifndef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #ifndef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 1 + #endif + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #ifndef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 1 + #endif + #ifndef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 1 + #endif + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #ifndef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 1 + #endif + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 +#else + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 1 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #ifndef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 1 + #endif + #ifndef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #endif + #ifndef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 1 + #endif + #if PY_MAJOR_VERSION < 3 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #ifndef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 1 + #endif + #ifndef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 1 + #endif + #ifndef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 1 + #endif + #if PY_VERSION_HEX < 0x030300F0 || PY_VERSION_HEX >= 0x030B00A2 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #elif !defined(CYTHON_USE_UNICODE_WRITER) + #define CYTHON_USE_UNICODE_WRITER 1 + #endif + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #ifndef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 1 + #endif + #ifndef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 1 + #endif + #ifndef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 1 + #endif + #ifndef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL (PY_MAJOR_VERSION < 3 || PY_VERSION_HEX >= 0x03060000 && PY_VERSION_HEX < 0x030C00A6) + #endif + #ifndef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL (PY_VERSION_HEX >= 0x030700A1) + #endif + #ifndef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 1 + #endif + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS 1 + #endif + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #elif !defined(CYTHON_PEP489_MULTI_PHASE_INIT) + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #ifndef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #endif + #if PY_VERSION_HEX < 0x030400a1 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #elif !defined(CYTHON_USE_TP_FINALIZE) + #define CYTHON_USE_TP_FINALIZE 1 + #endif + #if PY_VERSION_HEX < 0x030600B1 + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #elif !defined(CYTHON_USE_DICT_VERSIONS) + #define CYTHON_USE_DICT_VERSIONS (PY_VERSION_HEX < 0x030C00A5) + #endif + #if PY_VERSION_HEX < 0x030700A3 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #elif !defined(CYTHON_USE_EXC_INFO_STACK) + #define CYTHON_USE_EXC_INFO_STACK 1 + #endif + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 1 + #endif +#endif +#if !defined(CYTHON_FAST_PYCCALL) +#define CYTHON_FAST_PYCCALL (CYTHON_FAST_PYCALL && PY_VERSION_HEX >= 0x030600B1) +#endif +#if !defined(CYTHON_VECTORCALL) +#define CYTHON_VECTORCALL (CYTHON_FAST_PYCCALL && PY_VERSION_HEX >= 0x030800B1) +#endif +#define CYTHON_BACKPORT_VECTORCALL (CYTHON_METH_FASTCALL && PY_VERSION_HEX < 0x030800B1) +#if CYTHON_USE_PYLONG_INTERNALS + #if PY_MAJOR_VERSION < 3 + #include "longintrepr.h" + #endif + #undef SHIFT + #undef BASE + #undef MASK + #ifdef SIZEOF_VOID_P + enum { __pyx_check_sizeof_voidp = 1 / (int)(SIZEOF_VOID_P == sizeof(void*)) }; + #endif +#endif +#ifndef __has_attribute + #define __has_attribute(x) 0 +#endif +#ifndef __has_cpp_attribute + #define __has_cpp_attribute(x) 0 +#endif +#ifndef CYTHON_RESTRICT + #if defined(__GNUC__) + #define CYTHON_RESTRICT __restrict__ + #elif defined(_MSC_VER) && _MSC_VER >= 1400 + #define CYTHON_RESTRICT __restrict + #elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define CYTHON_RESTRICT restrict + #else + #define CYTHON_RESTRICT + #endif +#endif +#ifndef CYTHON_UNUSED + #if defined(__cplusplus) + /* for clang __has_cpp_attribute(maybe_unused) is true even before C++17 + * but leads to warnings with -pedantic, since it is a C++17 feature */ + #if ((defined(_MSVC_LANG) && _MSVC_LANG >= 201703L) || __cplusplus >= 201703L) + #if __has_cpp_attribute(maybe_unused) + #define CYTHON_UNUSED [[maybe_unused]] + #endif + #endif + #endif +#endif +#ifndef CYTHON_UNUSED +# if defined(__GNUC__) +# if !(defined(__cplusplus)) || (__GNUC__ > 3 || (__GNUC__ == 3 && __GNUC_MINOR__ >= 4)) +# define CYTHON_UNUSED __attribute__ ((__unused__)) +# else +# define CYTHON_UNUSED +# endif +# elif defined(__ICC) || (defined(__INTEL_COMPILER) && !defined(_MSC_VER)) +# define CYTHON_UNUSED __attribute__ ((__unused__)) +# else +# define CYTHON_UNUSED +# endif +#endif +#ifndef CYTHON_UNUSED_VAR +# if defined(__cplusplus) + template void CYTHON_UNUSED_VAR( const T& ) { } +# else +# define CYTHON_UNUSED_VAR(x) (void)(x) +# endif +#endif +#ifndef CYTHON_MAYBE_UNUSED_VAR + #define CYTHON_MAYBE_UNUSED_VAR(x) CYTHON_UNUSED_VAR(x) +#endif +#ifndef CYTHON_NCP_UNUSED +# if CYTHON_COMPILING_IN_CPYTHON +# define CYTHON_NCP_UNUSED +# else +# define CYTHON_NCP_UNUSED CYTHON_UNUSED +# endif +#endif +#ifndef CYTHON_USE_CPP_STD_MOVE + #if defined(__cplusplus) && (\ + __cplusplus >= 201103L || (defined(_MSC_VER) && _MSC_VER >= 1600)) + #define CYTHON_USE_CPP_STD_MOVE 1 + #else + #define CYTHON_USE_CPP_STD_MOVE 0 + #endif +#endif +#define __Pyx_void_to_None(void_result) ((void)(void_result), Py_INCREF(Py_None), Py_None) +#ifdef _MSC_VER + #ifndef _MSC_STDINT_H_ + #if _MSC_VER < 1300 + typedef unsigned char uint8_t; + typedef unsigned short uint16_t; + typedef unsigned int uint32_t; + #else + typedef unsigned __int8 uint8_t; + typedef unsigned __int16 uint16_t; + typedef unsigned __int32 uint32_t; + #endif + #endif + #if _MSC_VER < 1300 + #ifdef _WIN64 + typedef unsigned long long __pyx_uintptr_t; + #else + typedef unsigned int __pyx_uintptr_t; + #endif + #else + #ifdef _WIN64 + typedef unsigned __int64 __pyx_uintptr_t; + #else + typedef unsigned __int32 __pyx_uintptr_t; + #endif + #endif +#else + #include + typedef uintptr_t __pyx_uintptr_t; +#endif +#ifndef CYTHON_FALLTHROUGH + #if defined(__cplusplus) + /* for clang __has_cpp_attribute(fallthrough) is true even before C++17 + * but leads to warnings with -pedantic, since it is a C++17 feature */ + #if ((defined(_MSVC_LANG) && _MSVC_LANG >= 201703L) || __cplusplus >= 201703L) + #if __has_cpp_attribute(fallthrough) + #define CYTHON_FALLTHROUGH [[fallthrough]] + #endif + #endif + #ifndef CYTHON_FALLTHROUGH + #if __has_cpp_attribute(clang::fallthrough) + #define CYTHON_FALLTHROUGH [[clang::fallthrough]] + #elif __has_cpp_attribute(gnu::fallthrough) + #define CYTHON_FALLTHROUGH [[gnu::fallthrough]] + #endif + #endif + #endif + #ifndef CYTHON_FALLTHROUGH + #if __has_attribute(fallthrough) + #define CYTHON_FALLTHROUGH __attribute__((fallthrough)) + #else + #define CYTHON_FALLTHROUGH + #endif + #endif + #if defined(__clang__) && defined(__apple_build_version__) + #if __apple_build_version__ < 7000000 + #undef CYTHON_FALLTHROUGH + #define CYTHON_FALLTHROUGH + #endif + #endif +#endif +#ifdef __cplusplus + template + struct __PYX_IS_UNSIGNED_IMPL {static const bool value = T(0) < T(-1);}; + #define __PYX_IS_UNSIGNED(type) (__PYX_IS_UNSIGNED_IMPL::value) +#else + #define __PYX_IS_UNSIGNED(type) (((type)-1) > 0) +#endif +#if CYTHON_COMPILING_IN_PYPY == 1 + #define __PYX_NEED_TP_PRINT_SLOT (PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x030A0000) +#else + #define __PYX_NEED_TP_PRINT_SLOT (PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000) +#endif +#define __PYX_REINTERPRET_FUNCION(func_pointer, other_pointer) ((func_pointer)(void(*)(void))(other_pointer)) + +#ifndef __cplusplus + #error "Cython files generated with the C++ option must be compiled with a C++ compiler." +#endif +#ifndef CYTHON_INLINE + #if defined(__clang__) + #define CYTHON_INLINE __inline__ __attribute__ ((__unused__)) + #else + #define CYTHON_INLINE inline + #endif +#endif +template +void __Pyx_call_destructor(T& x) { + x.~T(); +} +template +class __Pyx_FakeReference { + public: + __Pyx_FakeReference() : ptr(NULL) { } + __Pyx_FakeReference(const T& ref) : ptr(const_cast(&ref)) { } + T *operator->() { return ptr; } + T *operator&() { return ptr; } + operator T&() { return *ptr; } + template bool operator ==(const U& other) const { return *ptr == other; } + template bool operator !=(const U& other) const { return *ptr != other; } + template bool operator==(const __Pyx_FakeReference& other) const { return *ptr == *other.ptr; } + template bool operator!=(const __Pyx_FakeReference& other) const { return *ptr != *other.ptr; } + private: + T *ptr; +}; + +#define __PYX_BUILD_PY_SSIZE_T "n" +#define CYTHON_FORMAT_SSIZE_T "z" +#if PY_MAJOR_VERSION < 3 + #define __Pyx_BUILTIN_MODULE_NAME "__builtin__" + #define __Pyx_DefaultClassType PyClass_Type + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_New(a+k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#else + #define __Pyx_BUILTIN_MODULE_NAME "builtins" + #define __Pyx_DefaultClassType PyType_Type +#if CYTHON_COMPILING_IN_LIMITED_API + static CYTHON_INLINE PyObject* __Pyx_PyCode_New(int a, int p, int k, int l, int s, int f, + PyObject *code, PyObject *c, PyObject* n, PyObject *v, + PyObject *fv, PyObject *cell, PyObject* fn, + PyObject *name, int fline, PyObject *lnos) { + PyObject *exception_table = NULL; + PyObject *types_module=NULL, *code_type=NULL, *result=NULL; + #if __PYX_LIMITED_VERSION_HEX < 0x030B0000 + PyObject *version_info; + PyObject *py_minor_version = NULL; + #endif + long minor_version = 0; + PyObject *type, *value, *traceback; + PyErr_Fetch(&type, &value, &traceback); + #if __PYX_LIMITED_VERSION_HEX >= 0x030B0000 + minor_version = 11; + #else + if (!(version_info = PySys_GetObject("version_info"))) goto end; + if (!(py_minor_version = PySequence_GetItem(version_info, 1))) goto end; + minor_version = PyLong_AsLong(py_minor_version); + Py_DECREF(py_minor_version); + if (minor_version == -1 && PyErr_Occurred()) goto end; + #endif + if (!(types_module = PyImport_ImportModule("types"))) goto end; + if (!(code_type = PyObject_GetAttrString(types_module, "CodeType"))) goto end; + if (minor_version <= 7) { + (void)p; + result = PyObject_CallFunction(code_type, "iiiiiOOOOOOiOO", a, k, l, s, f, code, + c, n, v, fn, name, fline, lnos, fv, cell); + } else if (minor_version <= 10) { + result = PyObject_CallFunction(code_type, "iiiiiiOOOOOOiOO", a,p, k, l, s, f, code, + c, n, v, fn, name, fline, lnos, fv, cell); + } else { + if (!(exception_table = PyBytes_FromStringAndSize(NULL, 0))) goto end; + result = PyObject_CallFunction(code_type, "iiiiiiOOOOOOOiOO", a,p, k, l, s, f, code, + c, n, v, fn, name, name, fline, lnos, exception_table, fv, cell); + } + end: + Py_XDECREF(code_type); + Py_XDECREF(exception_table); + Py_XDECREF(types_module); + if (type) { + PyErr_Restore(type, value, traceback); + } + return result; + } + #ifndef CO_OPTIMIZED + #define CO_OPTIMIZED 0x0001 + #endif + #ifndef CO_NEWLOCALS + #define CO_NEWLOCALS 0x0002 + #endif + #ifndef CO_VARARGS + #define CO_VARARGS 0x0004 + #endif + #ifndef CO_VARKEYWORDS + #define CO_VARKEYWORDS 0x0008 + #endif + #ifndef CO_ASYNC_GENERATOR + #define CO_ASYNC_GENERATOR 0x0200 + #endif + #ifndef CO_GENERATOR + #define CO_GENERATOR 0x0020 + #endif + #ifndef CO_COROUTINE + #define CO_COROUTINE 0x0080 + #endif +#elif PY_VERSION_HEX >= 0x030B0000 + static CYTHON_INLINE PyCodeObject* __Pyx_PyCode_New(int a, int p, int k, int l, int s, int f, + PyObject *code, PyObject *c, PyObject* n, PyObject *v, + PyObject *fv, PyObject *cell, PyObject* fn, + PyObject *name, int fline, PyObject *lnos) { + PyCodeObject *result; + PyObject *empty_bytes = PyBytes_FromStringAndSize("", 0); + if (!empty_bytes) return NULL; + result = + #if PY_VERSION_HEX >= 0x030C0000 + PyUnstable_Code_NewWithPosOnlyArgs + #else + PyCode_NewWithPosOnlyArgs + #endif + (a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, name, fline, lnos, empty_bytes); + Py_DECREF(empty_bytes); + return result; + } +#elif PY_VERSION_HEX >= 0x030800B2 && !CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_NewWithPosOnlyArgs(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#else + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#endif +#endif +#if PY_VERSION_HEX >= 0x030900A4 || defined(Py_IS_TYPE) + #define __Pyx_IS_TYPE(ob, type) Py_IS_TYPE(ob, type) +#else + #define __Pyx_IS_TYPE(ob, type) (((const PyObject*)ob)->ob_type == (type)) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_Is) + #define __Pyx_Py_Is(x, y) Py_Is(x, y) +#else + #define __Pyx_Py_Is(x, y) ((x) == (y)) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsNone) + #define __Pyx_Py_IsNone(ob) Py_IsNone(ob) +#else + #define __Pyx_Py_IsNone(ob) __Pyx_Py_Is((ob), Py_None) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsTrue) + #define __Pyx_Py_IsTrue(ob) Py_IsTrue(ob) +#else + #define __Pyx_Py_IsTrue(ob) __Pyx_Py_Is((ob), Py_True) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsFalse) + #define __Pyx_Py_IsFalse(ob) Py_IsFalse(ob) +#else + #define __Pyx_Py_IsFalse(ob) __Pyx_Py_Is((ob), Py_False) +#endif +#define __Pyx_NoneAsNull(obj) (__Pyx_Py_IsNone(obj) ? NULL : (obj)) +#if PY_VERSION_HEX >= 0x030900F0 && !CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyObject_GC_IsFinalized(o) PyObject_GC_IsFinalized(o) +#else + #define __Pyx_PyObject_GC_IsFinalized(o) _PyGC_FINALIZED(o) +#endif +#ifndef CO_COROUTINE + #define CO_COROUTINE 0x80 +#endif +#ifndef CO_ASYNC_GENERATOR + #define CO_ASYNC_GENERATOR 0x200 +#endif +#ifndef Py_TPFLAGS_CHECKTYPES + #define Py_TPFLAGS_CHECKTYPES 0 +#endif +#ifndef Py_TPFLAGS_HAVE_INDEX + #define Py_TPFLAGS_HAVE_INDEX 0 +#endif +#ifndef Py_TPFLAGS_HAVE_NEWBUFFER + #define Py_TPFLAGS_HAVE_NEWBUFFER 0 +#endif +#ifndef Py_TPFLAGS_HAVE_FINALIZE + #define Py_TPFLAGS_HAVE_FINALIZE 0 +#endif +#ifndef Py_TPFLAGS_SEQUENCE + #define Py_TPFLAGS_SEQUENCE 0 +#endif +#ifndef Py_TPFLAGS_MAPPING + #define Py_TPFLAGS_MAPPING 0 +#endif +#ifndef METH_STACKLESS + #define METH_STACKLESS 0 +#endif +#if PY_VERSION_HEX <= 0x030700A3 || !defined(METH_FASTCALL) + #ifndef METH_FASTCALL + #define METH_FASTCALL 0x80 + #endif + typedef PyObject *(*__Pyx_PyCFunctionFast) (PyObject *self, PyObject *const *args, Py_ssize_t nargs); + typedef PyObject *(*__Pyx_PyCFunctionFastWithKeywords) (PyObject *self, PyObject *const *args, + Py_ssize_t nargs, PyObject *kwnames); +#else + #define __Pyx_PyCFunctionFast _PyCFunctionFast + #define __Pyx_PyCFunctionFastWithKeywords _PyCFunctionFastWithKeywords +#endif +#if CYTHON_METH_FASTCALL + #define __Pyx_METH_FASTCALL METH_FASTCALL + #define __Pyx_PyCFunction_FastCall __Pyx_PyCFunctionFast + #define __Pyx_PyCFunction_FastCallWithKeywords __Pyx_PyCFunctionFastWithKeywords +#else + #define __Pyx_METH_FASTCALL METH_VARARGS + #define __Pyx_PyCFunction_FastCall PyCFunction + #define __Pyx_PyCFunction_FastCallWithKeywords PyCFunctionWithKeywords +#endif +#if CYTHON_VECTORCALL + #define __pyx_vectorcallfunc vectorcallfunc + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET PY_VECTORCALL_ARGUMENTS_OFFSET + #define __Pyx_PyVectorcall_NARGS(n) PyVectorcall_NARGS((size_t)(n)) +#elif CYTHON_BACKPORT_VECTORCALL + typedef PyObject *(*__pyx_vectorcallfunc)(PyObject *callable, PyObject *const *args, + size_t nargsf, PyObject *kwnames); + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET ((size_t)1 << (8 * sizeof(size_t) - 1)) + #define __Pyx_PyVectorcall_NARGS(n) ((Py_ssize_t)(((size_t)(n)) & ~__Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET)) +#else + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET 0 + #define __Pyx_PyVectorcall_NARGS(n) ((Py_ssize_t)(n)) +#endif +#if PY_MAJOR_VERSION >= 0x030900B1 +#define __Pyx_PyCFunction_CheckExact(func) PyCFunction_CheckExact(func) +#else +#define __Pyx_PyCFunction_CheckExact(func) PyCFunction_Check(func) +#endif +#define __Pyx_CyOrPyCFunction_Check(func) PyCFunction_Check(func) +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_CyOrPyCFunction_GET_FUNCTION(func) (((PyCFunctionObject*)(func))->m_ml->ml_meth) +#elif !CYTHON_COMPILING_IN_LIMITED_API +#define __Pyx_CyOrPyCFunction_GET_FUNCTION(func) PyCFunction_GET_FUNCTION(func) +#endif +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_CyOrPyCFunction_GET_FLAGS(func) (((PyCFunctionObject*)(func))->m_ml->ml_flags) +static CYTHON_INLINE PyObject* __Pyx_CyOrPyCFunction_GET_SELF(PyObject *func) { + return (__Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_STATIC) ? NULL : ((PyCFunctionObject*)func)->m_self; +} +#endif +static CYTHON_INLINE int __Pyx__IsSameCFunction(PyObject *func, void *cfunc) { +#if CYTHON_COMPILING_IN_LIMITED_API + return PyCFunction_Check(func) && PyCFunction_GetFunction(func) == (PyCFunction) cfunc; +#else + return PyCFunction_Check(func) && PyCFunction_GET_FUNCTION(func) == (PyCFunction) cfunc; +#endif +} +#define __Pyx_IsSameCFunction(func, cfunc) __Pyx__IsSameCFunction(func, cfunc) +#if __PYX_LIMITED_VERSION_HEX < 0x030900B1 + #define __Pyx_PyType_FromModuleAndSpec(m, s, b) ((void)m, PyType_FromSpecWithBases(s, b)) + typedef PyObject *(*__Pyx_PyCMethod)(PyObject *, PyTypeObject *, PyObject *const *, size_t, PyObject *); +#else + #define __Pyx_PyType_FromModuleAndSpec(m, s, b) PyType_FromModuleAndSpec(m, s, b) + #define __Pyx_PyCMethod PyCMethod +#endif +#ifndef METH_METHOD + #define METH_METHOD 0x200 +#endif +#if CYTHON_COMPILING_IN_PYPY && !defined(PyObject_Malloc) + #define PyObject_Malloc(s) PyMem_Malloc(s) + #define PyObject_Free(p) PyMem_Free(p) + #define PyObject_Realloc(p) PyMem_Realloc(p) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0) + #define __Pyx_PyFrame_SetLineNumber(frame, lineno) +#else + #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0) + #define __Pyx_PyFrame_SetLineNumber(frame, lineno) (frame)->f_lineno = (lineno) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyThreadState_Current PyThreadState_Get() +#elif !CYTHON_FAST_THREAD_STATE + #define __Pyx_PyThreadState_Current PyThreadState_GET() +#elif PY_VERSION_HEX >= 0x030d00A1 + #define __Pyx_PyThreadState_Current PyThreadState_GetUnchecked() +#elif PY_VERSION_HEX >= 0x03060000 + #define __Pyx_PyThreadState_Current _PyThreadState_UncheckedGet() +#elif PY_VERSION_HEX >= 0x03000000 + #define __Pyx_PyThreadState_Current PyThreadState_GET() +#else + #define __Pyx_PyThreadState_Current _PyThreadState_Current +#endif +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE void *__Pyx_PyModule_GetState(PyObject *op) +{ + void *result; + result = PyModule_GetState(op); + if (!result) + Py_FatalError("Couldn't find the module state"); + return result; +} +#endif +#define __Pyx_PyObject_GetSlot(obj, name, func_ctype) __Pyx_PyType_GetSlot(Py_TYPE(obj), name, func_ctype) +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyType_GetSlot(type, name, func_ctype) ((func_ctype) PyType_GetSlot((type), Py_##name)) +#else + #define __Pyx_PyType_GetSlot(type, name, func_ctype) ((type)->name) +#endif +#if PY_VERSION_HEX < 0x030700A2 && !defined(PyThread_tss_create) && !defined(Py_tss_NEEDS_INIT) +#include "pythread.h" +#define Py_tss_NEEDS_INIT 0 +typedef int Py_tss_t; +static CYTHON_INLINE int PyThread_tss_create(Py_tss_t *key) { + *key = PyThread_create_key(); + return 0; +} +static CYTHON_INLINE Py_tss_t * PyThread_tss_alloc(void) { + Py_tss_t *key = (Py_tss_t *)PyObject_Malloc(sizeof(Py_tss_t)); + *key = Py_tss_NEEDS_INIT; + return key; +} +static CYTHON_INLINE void PyThread_tss_free(Py_tss_t *key) { + PyObject_Free(key); +} +static CYTHON_INLINE int PyThread_tss_is_created(Py_tss_t *key) { + return *key != Py_tss_NEEDS_INIT; +} +static CYTHON_INLINE void PyThread_tss_delete(Py_tss_t *key) { + PyThread_delete_key(*key); + *key = Py_tss_NEEDS_INIT; +} +static CYTHON_INLINE int PyThread_tss_set(Py_tss_t *key, void *value) { + return PyThread_set_key_value(*key, value); +} +static CYTHON_INLINE void * PyThread_tss_get(Py_tss_t *key) { + return PyThread_get_key_value(*key); +} +#endif +#if PY_MAJOR_VERSION < 3 + #if CYTHON_COMPILING_IN_PYPY + #if PYPY_VERSION_NUM < 0x07030600 + #if defined(__cplusplus) && __cplusplus >= 201402L + [[deprecated("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6")]] + #elif defined(__GNUC__) || defined(__clang__) + __attribute__ ((__deprecated__("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6"))) + #elif defined(_MSC_VER) + __declspec(deprecated("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6")) + #endif + static CYTHON_INLINE int PyGILState_Check(void) { + return 0; + } + #else // PYPY_VERSION_NUM < 0x07030600 + #endif // PYPY_VERSION_NUM < 0x07030600 + #else + static CYTHON_INLINE int PyGILState_Check(void) { + PyThreadState * tstate = _PyThreadState_Current; + return tstate && (tstate == PyGILState_GetThisThreadState()); + } + #endif +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030d0000 || defined(_PyDict_NewPresized) +#define __Pyx_PyDict_NewPresized(n) ((n <= 8) ? PyDict_New() : _PyDict_NewPresized(n)) +#else +#define __Pyx_PyDict_NewPresized(n) PyDict_New() +#endif +#if PY_MAJOR_VERSION >= 3 || CYTHON_FUTURE_DIVISION + #define __Pyx_PyNumber_Divide(x,y) PyNumber_TrueDivide(x,y) + #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceTrueDivide(x,y) +#else + #define __Pyx_PyNumber_Divide(x,y) PyNumber_Divide(x,y) + #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceDivide(x,y) +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX > 0x030600B4 && PY_VERSION_HEX < 0x030d0000 && CYTHON_USE_UNICODE_INTERNALS +#define __Pyx_PyDict_GetItemStrWithError(dict, name) _PyDict_GetItem_KnownHash(dict, name, ((PyASCIIObject *) name)->hash) +static CYTHON_INLINE PyObject * __Pyx_PyDict_GetItemStr(PyObject *dict, PyObject *name) { + PyObject *res = __Pyx_PyDict_GetItemStrWithError(dict, name); + if (res == NULL) PyErr_Clear(); + return res; +} +#elif PY_MAJOR_VERSION >= 3 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07020000) +#define __Pyx_PyDict_GetItemStrWithError PyDict_GetItemWithError +#define __Pyx_PyDict_GetItemStr PyDict_GetItem +#else +static CYTHON_INLINE PyObject * __Pyx_PyDict_GetItemStrWithError(PyObject *dict, PyObject *name) { +#if CYTHON_COMPILING_IN_PYPY + return PyDict_GetItem(dict, name); +#else + PyDictEntry *ep; + PyDictObject *mp = (PyDictObject*) dict; + long hash = ((PyStringObject *) name)->ob_shash; + assert(hash != -1); + ep = (mp->ma_lookup)(mp, name, hash); + if (ep == NULL) { + return NULL; + } + return ep->me_value; +#endif +} +#define __Pyx_PyDict_GetItemStr PyDict_GetItem +#endif +#if CYTHON_USE_TYPE_SLOTS + #define __Pyx_PyType_GetFlags(tp) (((PyTypeObject *)tp)->tp_flags) + #define __Pyx_PyType_HasFeature(type, feature) ((__Pyx_PyType_GetFlags(type) & (feature)) != 0) + #define __Pyx_PyObject_GetIterNextFunc(obj) (Py_TYPE(obj)->tp_iternext) +#else + #define __Pyx_PyType_GetFlags(tp) (PyType_GetFlags((PyTypeObject *)tp)) + #define __Pyx_PyType_HasFeature(type, feature) PyType_HasFeature(type, feature) + #define __Pyx_PyObject_GetIterNextFunc(obj) PyIter_Next +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_SetItemOnTypeDict(tp, k, v) PyObject_GenericSetAttr((PyObject*)tp, k, v) +#else + #define __Pyx_SetItemOnTypeDict(tp, k, v) PyDict_SetItem(tp->tp_dict, k, v) +#endif +#if CYTHON_USE_TYPE_SPECS && PY_VERSION_HEX >= 0x03080000 +#define __Pyx_PyHeapTypeObject_GC_Del(obj) {\ + PyTypeObject *type = Py_TYPE((PyObject*)obj);\ + assert(__Pyx_PyType_HasFeature(type, Py_TPFLAGS_HEAPTYPE));\ + PyObject_GC_Del(obj);\ + Py_DECREF(type);\ +} +#else +#define __Pyx_PyHeapTypeObject_GC_Del(obj) PyObject_GC_Del(obj) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define CYTHON_PEP393_ENABLED 1 + #define __Pyx_PyUnicode_READY(op) (0) + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GetLength(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) PyUnicode_ReadChar(u, i) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) ((void)u, 1114111U) + #define __Pyx_PyUnicode_KIND(u) ((void)u, (0)) + #define __Pyx_PyUnicode_DATA(u) ((void*)u) + #define __Pyx_PyUnicode_READ(k, d, i) ((void)k, PyUnicode_ReadChar((PyObject*)(d), i)) + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GetLength(u)) +#elif PY_VERSION_HEX > 0x03030000 && defined(PyUnicode_KIND) + #define CYTHON_PEP393_ENABLED 1 + #if PY_VERSION_HEX >= 0x030C0000 + #define __Pyx_PyUnicode_READY(op) (0) + #else + #define __Pyx_PyUnicode_READY(op) (likely(PyUnicode_IS_READY(op)) ?\ + 0 : _PyUnicode_Ready((PyObject *)(op))) + #endif + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_LENGTH(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) PyUnicode_READ_CHAR(u, i) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) PyUnicode_MAX_CHAR_VALUE(u) + #define __Pyx_PyUnicode_KIND(u) ((int)PyUnicode_KIND(u)) + #define __Pyx_PyUnicode_DATA(u) PyUnicode_DATA(u) + #define __Pyx_PyUnicode_READ(k, d, i) PyUnicode_READ(k, d, i) + #define __Pyx_PyUnicode_WRITE(k, d, i, ch) PyUnicode_WRITE(k, d, i, (Py_UCS4) ch) + #if PY_VERSION_HEX >= 0x030C0000 + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_LENGTH(u)) + #else + #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x03090000 + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : ((PyCompactUnicodeObject *)(u))->wstr_length)) + #else + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : PyUnicode_GET_SIZE(u))) + #endif + #endif +#else + #define CYTHON_PEP393_ENABLED 0 + #define PyUnicode_1BYTE_KIND 1 + #define PyUnicode_2BYTE_KIND 2 + #define PyUnicode_4BYTE_KIND 4 + #define __Pyx_PyUnicode_READY(op) (0) + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_SIZE(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) ((Py_UCS4)(PyUnicode_AS_UNICODE(u)[i])) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) ((sizeof(Py_UNICODE) == 2) ? 65535U : 1114111U) + #define __Pyx_PyUnicode_KIND(u) ((int)sizeof(Py_UNICODE)) + #define __Pyx_PyUnicode_DATA(u) ((void*)PyUnicode_AS_UNICODE(u)) + #define __Pyx_PyUnicode_READ(k, d, i) ((void)(k), (Py_UCS4)(((Py_UNICODE*)d)[i])) + #define __Pyx_PyUnicode_WRITE(k, d, i, ch) (((void)(k)), ((Py_UNICODE*)d)[i] = (Py_UNICODE) ch) + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_SIZE(u)) +#endif +#if CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyUnicode_Concat(a, b) PyNumber_Add(a, b) + #define __Pyx_PyUnicode_ConcatSafe(a, b) PyNumber_Add(a, b) +#else + #define __Pyx_PyUnicode_Concat(a, b) PyUnicode_Concat(a, b) + #define __Pyx_PyUnicode_ConcatSafe(a, b) ((unlikely((a) == Py_None) || unlikely((b) == Py_None)) ?\ + PyNumber_Add(a, b) : __Pyx_PyUnicode_Concat(a, b)) +#endif +#if CYTHON_COMPILING_IN_PYPY + #if !defined(PyUnicode_DecodeUnicodeEscape) + #define PyUnicode_DecodeUnicodeEscape(s, size, errors) PyUnicode_Decode(s, size, "unicode_escape", errors) + #endif + #if !defined(PyUnicode_Contains) || (PY_MAJOR_VERSION == 2 && PYPY_VERSION_NUM < 0x07030500) + #undef PyUnicode_Contains + #define PyUnicode_Contains(u, s) PySequence_Contains(u, s) + #endif + #if !defined(PyByteArray_Check) + #define PyByteArray_Check(obj) PyObject_TypeCheck(obj, &PyByteArray_Type) + #endif + #if !defined(PyObject_Format) + #define PyObject_Format(obj, fmt) PyObject_CallMethod(obj, "__format__", "O", fmt) + #endif +#endif +#define __Pyx_PyString_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyString_Check(b) && !PyString_CheckExact(b)))) ? PyNumber_Remainder(a, b) : __Pyx_PyString_Format(a, b)) +#define __Pyx_PyUnicode_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyUnicode_Check(b) && !PyUnicode_CheckExact(b)))) ? PyNumber_Remainder(a, b) : PyUnicode_Format(a, b)) +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyString_Format(a, b) PyUnicode_Format(a, b) +#else + #define __Pyx_PyString_Format(a, b) PyString_Format(a, b) +#endif +#if PY_MAJOR_VERSION < 3 && !defined(PyObject_ASCII) + #define PyObject_ASCII(o) PyObject_Repr(o) +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyBaseString_Type PyUnicode_Type + #define PyStringObject PyUnicodeObject + #define PyString_Type PyUnicode_Type + #define PyString_Check PyUnicode_Check + #define PyString_CheckExact PyUnicode_CheckExact +#ifndef PyObject_Unicode + #define PyObject_Unicode PyObject_Str +#endif +#endif +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyBaseString_Check(obj) PyUnicode_Check(obj) + #define __Pyx_PyBaseString_CheckExact(obj) PyUnicode_CheckExact(obj) +#else + #define __Pyx_PyBaseString_Check(obj) (PyString_Check(obj) || PyUnicode_Check(obj)) + #define __Pyx_PyBaseString_CheckExact(obj) (PyString_CheckExact(obj) || PyUnicode_CheckExact(obj)) +#endif +#if CYTHON_COMPILING_IN_CPYTHON + #define __Pyx_PySequence_ListKeepNew(obj)\ + (likely(PyList_CheckExact(obj) && Py_REFCNT(obj) == 1) ? __Pyx_NewRef(obj) : PySequence_List(obj)) +#else + #define __Pyx_PySequence_ListKeepNew(obj) PySequence_List(obj) +#endif +#ifndef PySet_CheckExact + #define PySet_CheckExact(obj) __Pyx_IS_TYPE(obj, &PySet_Type) +#endif +#if PY_VERSION_HEX >= 0x030900A4 + #define __Pyx_SET_REFCNT(obj, refcnt) Py_SET_REFCNT(obj, refcnt) + #define __Pyx_SET_SIZE(obj, size) Py_SET_SIZE(obj, size) +#else + #define __Pyx_SET_REFCNT(obj, refcnt) Py_REFCNT(obj) = (refcnt) + #define __Pyx_SET_SIZE(obj, size) Py_SIZE(obj) = (size) +#endif +#if CYTHON_ASSUME_SAFE_MACROS + #define __Pyx_PySequence_ITEM(o, i) PySequence_ITEM(o, i) + #define __Pyx_PySequence_SIZE(seq) Py_SIZE(seq) + #define __Pyx_PyTuple_SET_ITEM(o, i, v) (PyTuple_SET_ITEM(o, i, v), (0)) + #define __Pyx_PyList_SET_ITEM(o, i, v) (PyList_SET_ITEM(o, i, v), (0)) + #define __Pyx_PyTuple_GET_SIZE(o) PyTuple_GET_SIZE(o) + #define __Pyx_PyList_GET_SIZE(o) PyList_GET_SIZE(o) + #define __Pyx_PySet_GET_SIZE(o) PySet_GET_SIZE(o) + #define __Pyx_PyBytes_GET_SIZE(o) PyBytes_GET_SIZE(o) + #define __Pyx_PyByteArray_GET_SIZE(o) PyByteArray_GET_SIZE(o) +#else + #define __Pyx_PySequence_ITEM(o, i) PySequence_GetItem(o, i) + #define __Pyx_PySequence_SIZE(seq) PySequence_Size(seq) + #define __Pyx_PyTuple_SET_ITEM(o, i, v) PyTuple_SetItem(o, i, v) + #define __Pyx_PyList_SET_ITEM(o, i, v) PyList_SetItem(o, i, v) + #define __Pyx_PyTuple_GET_SIZE(o) PyTuple_Size(o) + #define __Pyx_PyList_GET_SIZE(o) PyList_Size(o) + #define __Pyx_PySet_GET_SIZE(o) PySet_Size(o) + #define __Pyx_PyBytes_GET_SIZE(o) PyBytes_Size(o) + #define __Pyx_PyByteArray_GET_SIZE(o) PyByteArray_Size(o) +#endif +#if PY_VERSION_HEX >= 0x030d00A1 + #define __Pyx_PyImport_AddModuleRef(name) PyImport_AddModuleRef(name) +#else + static CYTHON_INLINE PyObject *__Pyx_PyImport_AddModuleRef(const char *name) { + PyObject *module = PyImport_AddModule(name); + Py_XINCREF(module); + return module; + } +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyIntObject PyLongObject + #define PyInt_Type PyLong_Type + #define PyInt_Check(op) PyLong_Check(op) + #define PyInt_CheckExact(op) PyLong_CheckExact(op) + #define __Pyx_Py3Int_Check(op) PyLong_Check(op) + #define __Pyx_Py3Int_CheckExact(op) PyLong_CheckExact(op) + #define PyInt_FromString PyLong_FromString + #define PyInt_FromUnicode PyLong_FromUnicode + #define PyInt_FromLong PyLong_FromLong + #define PyInt_FromSize_t PyLong_FromSize_t + #define PyInt_FromSsize_t PyLong_FromSsize_t + #define PyInt_AsLong PyLong_AsLong + #define PyInt_AS_LONG PyLong_AS_LONG + #define PyInt_AsSsize_t PyLong_AsSsize_t + #define PyInt_AsUnsignedLongMask PyLong_AsUnsignedLongMask + #define PyInt_AsUnsignedLongLongMask PyLong_AsUnsignedLongLongMask + #define PyNumber_Int PyNumber_Long +#else + #define __Pyx_Py3Int_Check(op) (PyLong_Check(op) || PyInt_Check(op)) + #define __Pyx_Py3Int_CheckExact(op) (PyLong_CheckExact(op) || PyInt_CheckExact(op)) +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyBoolObject PyLongObject +#endif +#if PY_MAJOR_VERSION >= 3 && CYTHON_COMPILING_IN_PYPY + #ifndef PyUnicode_InternFromString + #define PyUnicode_InternFromString(s) PyUnicode_FromString(s) + #endif +#endif +#if PY_VERSION_HEX < 0x030200A4 + typedef long Py_hash_t; + #define __Pyx_PyInt_FromHash_t PyInt_FromLong + #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsHash_t +#else + #define __Pyx_PyInt_FromHash_t PyInt_FromSsize_t + #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsSsize_t +#endif +#if CYTHON_USE_ASYNC_SLOTS + #if PY_VERSION_HEX >= 0x030500B1 + #define __Pyx_PyAsyncMethodsStruct PyAsyncMethods + #define __Pyx_PyType_AsAsync(obj) (Py_TYPE(obj)->tp_as_async) + #else + #define __Pyx_PyType_AsAsync(obj) ((__Pyx_PyAsyncMethodsStruct*) (Py_TYPE(obj)->tp_reserved)) + #endif +#else + #define __Pyx_PyType_AsAsync(obj) NULL +#endif +#ifndef __Pyx_PyAsyncMethodsStruct + typedef struct { + unaryfunc am_await; + unaryfunc am_aiter; + unaryfunc am_anext; + } __Pyx_PyAsyncMethodsStruct; +#endif + +#if defined(_WIN32) || defined(WIN32) || defined(MS_WINDOWS) + #if !defined(_USE_MATH_DEFINES) + #define _USE_MATH_DEFINES + #endif +#endif +#include +#ifdef NAN +#define __PYX_NAN() ((float) NAN) +#else +static CYTHON_INLINE float __PYX_NAN() { + float value; + memset(&value, 0xFF, sizeof(value)); + return value; +} +#endif +#if defined(__CYGWIN__) && defined(_LDBL_EQ_DBL) +#define __Pyx_truncl trunc +#else +#define __Pyx_truncl truncl +#endif + +#define __PYX_MARK_ERR_POS(f_index, lineno) \ + { __pyx_filename = __pyx_f[f_index]; (void)__pyx_filename; __pyx_lineno = lineno; (void)__pyx_lineno; __pyx_clineno = __LINE__; (void)__pyx_clineno; } +#define __PYX_ERR(f_index, lineno, Ln_error) \ + { __PYX_MARK_ERR_POS(f_index, lineno) goto Ln_error; } + +#ifdef CYTHON_EXTERN_C + #undef __PYX_EXTERN_C + #define __PYX_EXTERN_C CYTHON_EXTERN_C +#elif defined(__PYX_EXTERN_C) + #ifdef _MSC_VER + #pragma message ("Please do not define the '__PYX_EXTERN_C' macro externally. Use 'CYTHON_EXTERN_C' instead.") + #else + #warning Please do not define the '__PYX_EXTERN_C' macro externally. Use 'CYTHON_EXTERN_C' instead. + #endif +#else + #define __PYX_EXTERN_C extern "C++" +#endif + +#define __PYX_HAVE__rednose__helpers__ekf_sym_pyx +#define __PYX_HAVE_API__rednose__helpers__ekf_sym_pyx +/* Early includes */ +#include +#include +#include "ios" +#include "new" +#include "stdexcept" +#include "typeinfo" +#include +#include + + /* Using NumPy API declarations from "numpy/__init__.cython-30.pxd" */ + +#include "numpy/arrayobject.h" +#include "numpy/ndarrayobject.h" +#include "numpy/ndarraytypes.h" +#include "numpy/arrayscalars.h" +#include "numpy/ufuncobject.h" +#include +#include "rednose/helpers/ekf_load.h" +#include "rednose/helpers/ekf_sym.h" +#include "pythread.h" +#include +#ifdef _OPENMP +#include +#endif /* _OPENMP */ + +#if defined(PYREX_WITHOUT_ASSERTIONS) && !defined(CYTHON_WITHOUT_ASSERTIONS) +#define CYTHON_WITHOUT_ASSERTIONS +#endif + +typedef struct {PyObject **p; const char *s; const Py_ssize_t n; const char* encoding; + const char is_unicode; const char is_str; const char intern; } __Pyx_StringTabEntry; + +#define __PYX_DEFAULT_STRING_ENCODING_IS_ASCII 0 +#define __PYX_DEFAULT_STRING_ENCODING_IS_UTF8 0 +#define __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT (PY_MAJOR_VERSION >= 3 && __PYX_DEFAULT_STRING_ENCODING_IS_UTF8) +#define __PYX_DEFAULT_STRING_ENCODING "" +#define __Pyx_PyObject_FromString __Pyx_PyBytes_FromString +#define __Pyx_PyObject_FromStringAndSize __Pyx_PyBytes_FromStringAndSize +#define __Pyx_uchar_cast(c) ((unsigned char)c) +#define __Pyx_long_cast(x) ((long)x) +#define __Pyx_fits_Py_ssize_t(v, type, is_signed) (\ + (sizeof(type) < sizeof(Py_ssize_t)) ||\ + (sizeof(type) > sizeof(Py_ssize_t) &&\ + likely(v < (type)PY_SSIZE_T_MAX ||\ + v == (type)PY_SSIZE_T_MAX) &&\ + (!is_signed || likely(v > (type)PY_SSIZE_T_MIN ||\ + v == (type)PY_SSIZE_T_MIN))) ||\ + (sizeof(type) == sizeof(Py_ssize_t) &&\ + (is_signed || likely(v < (type)PY_SSIZE_T_MAX ||\ + v == (type)PY_SSIZE_T_MAX))) ) +static CYTHON_INLINE int __Pyx_is_valid_index(Py_ssize_t i, Py_ssize_t limit) { + return (size_t) i < (size_t) limit; +} +#if defined (__cplusplus) && __cplusplus >= 201103L + #include + #define __Pyx_sst_abs(value) std::abs(value) +#elif SIZEOF_INT >= SIZEOF_SIZE_T + #define __Pyx_sst_abs(value) abs(value) +#elif SIZEOF_LONG >= SIZEOF_SIZE_T + #define __Pyx_sst_abs(value) labs(value) +#elif defined (_MSC_VER) + #define __Pyx_sst_abs(value) ((Py_ssize_t)_abs64(value)) +#elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define __Pyx_sst_abs(value) llabs(value) +#elif defined (__GNUC__) + #define __Pyx_sst_abs(value) __builtin_llabs(value) +#else + #define __Pyx_sst_abs(value) ((value<0) ? -value : value) +#endif +static CYTHON_INLINE Py_ssize_t __Pyx_ssize_strlen(const char *s); +static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject*); +static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject*, Py_ssize_t* length); +static CYTHON_INLINE PyObject* __Pyx_PyByteArray_FromString(const char*); +#define __Pyx_PyByteArray_FromStringAndSize(s, l) PyByteArray_FromStringAndSize((const char*)s, l) +#define __Pyx_PyBytes_FromString PyBytes_FromString +#define __Pyx_PyBytes_FromStringAndSize PyBytes_FromStringAndSize +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char*); +#if PY_MAJOR_VERSION < 3 + #define __Pyx_PyStr_FromString __Pyx_PyBytes_FromString + #define __Pyx_PyStr_FromStringAndSize __Pyx_PyBytes_FromStringAndSize +#else + #define __Pyx_PyStr_FromString __Pyx_PyUnicode_FromString + #define __Pyx_PyStr_FromStringAndSize __Pyx_PyUnicode_FromStringAndSize +#endif +#define __Pyx_PyBytes_AsWritableString(s) ((char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsWritableSString(s) ((signed char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsWritableUString(s) ((unsigned char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsString(s) ((const char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsSString(s) ((const signed char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsUString(s) ((const unsigned char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyObject_AsWritableString(s) ((char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsWritableSString(s) ((signed char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsWritableUString(s) ((unsigned char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsSString(s) ((const signed char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsUString(s) ((const unsigned char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_FromCString(s) __Pyx_PyObject_FromString((const char*)s) +#define __Pyx_PyBytes_FromCString(s) __Pyx_PyBytes_FromString((const char*)s) +#define __Pyx_PyByteArray_FromCString(s) __Pyx_PyByteArray_FromString((const char*)s) +#define __Pyx_PyStr_FromCString(s) __Pyx_PyStr_FromString((const char*)s) +#define __Pyx_PyUnicode_FromCString(s) __Pyx_PyUnicode_FromString((const char*)s) +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE size_t __Pyx_Py_UNICODE_strlen(const wchar_t *u) +{ + const wchar_t *u_end = u; + while (*u_end++) ; + return (size_t)(u_end - u - 1); +} +#else +static CYTHON_INLINE size_t __Pyx_Py_UNICODE_strlen(const Py_UNICODE *u) +{ + const Py_UNICODE *u_end = u; + while (*u_end++) ; + return (size_t)(u_end - u - 1); +} +#endif +#define __Pyx_PyUnicode_FromOrdinal(o) PyUnicode_FromOrdinal((int)o) +#define __Pyx_PyUnicode_FromUnicode(u) PyUnicode_FromUnicode(u, __Pyx_Py_UNICODE_strlen(u)) +#define __Pyx_PyUnicode_FromUnicodeAndLength PyUnicode_FromUnicode +#define __Pyx_PyUnicode_AsUnicode PyUnicode_AsUnicode +#define __Pyx_NewRef(obj) (Py_INCREF(obj), obj) +#define __Pyx_Owned_Py_None(b) __Pyx_NewRef(Py_None) +static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b); +static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject*); +static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject*); +static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x); +#define __Pyx_PySequence_Tuple(obj)\ + (likely(PyTuple_CheckExact(obj)) ? __Pyx_NewRef(obj) : PySequence_Tuple(obj)) +static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject*); +static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t); +static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject*); +#if CYTHON_ASSUME_SAFE_MACROS +#define __pyx_PyFloat_AsDouble(x) (PyFloat_CheckExact(x) ? PyFloat_AS_DOUBLE(x) : PyFloat_AsDouble(x)) +#else +#define __pyx_PyFloat_AsDouble(x) PyFloat_AsDouble(x) +#endif +#define __pyx_PyFloat_AsFloat(x) ((float) __pyx_PyFloat_AsDouble(x)) +#if PY_MAJOR_VERSION >= 3 +#define __Pyx_PyNumber_Int(x) (PyLong_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Long(x)) +#else +#define __Pyx_PyNumber_Int(x) (PyInt_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Int(x)) +#endif +#if CYTHON_USE_PYLONG_INTERNALS + #if PY_VERSION_HEX >= 0x030C00A7 + #ifndef _PyLong_SIGN_MASK + #define _PyLong_SIGN_MASK 3 + #endif + #ifndef _PyLong_NON_SIZE_BITS + #define _PyLong_NON_SIZE_BITS 3 + #endif + #define __Pyx_PyLong_Sign(x) (((PyLongObject*)x)->long_value.lv_tag & _PyLong_SIGN_MASK) + #define __Pyx_PyLong_IsNeg(x) ((__Pyx_PyLong_Sign(x) & 2) != 0) + #define __Pyx_PyLong_IsNonNeg(x) (!__Pyx_PyLong_IsNeg(x)) + #define __Pyx_PyLong_IsZero(x) (__Pyx_PyLong_Sign(x) & 1) + #define __Pyx_PyLong_IsPos(x) (__Pyx_PyLong_Sign(x) == 0) + #define __Pyx_PyLong_CompactValueUnsigned(x) (__Pyx_PyLong_Digits(x)[0]) + #define __Pyx_PyLong_DigitCount(x) ((Py_ssize_t) (((PyLongObject*)x)->long_value.lv_tag >> _PyLong_NON_SIZE_BITS)) + #define __Pyx_PyLong_SignedDigitCount(x)\ + ((1 - (Py_ssize_t) __Pyx_PyLong_Sign(x)) * __Pyx_PyLong_DigitCount(x)) + #if defined(PyUnstable_Long_IsCompact) && defined(PyUnstable_Long_CompactValue) + #define __Pyx_PyLong_IsCompact(x) PyUnstable_Long_IsCompact((PyLongObject*) x) + #define __Pyx_PyLong_CompactValue(x) PyUnstable_Long_CompactValue((PyLongObject*) x) + #else + #define __Pyx_PyLong_IsCompact(x) (((PyLongObject*)x)->long_value.lv_tag < (2 << _PyLong_NON_SIZE_BITS)) + #define __Pyx_PyLong_CompactValue(x) ((1 - (Py_ssize_t) __Pyx_PyLong_Sign(x)) * (Py_ssize_t) __Pyx_PyLong_Digits(x)[0]) + #endif + typedef Py_ssize_t __Pyx_compact_pylong; + typedef size_t __Pyx_compact_upylong; + #else + #define __Pyx_PyLong_IsNeg(x) (Py_SIZE(x) < 0) + #define __Pyx_PyLong_IsNonNeg(x) (Py_SIZE(x) >= 0) + #define __Pyx_PyLong_IsZero(x) (Py_SIZE(x) == 0) + #define __Pyx_PyLong_IsPos(x) (Py_SIZE(x) > 0) + #define __Pyx_PyLong_CompactValueUnsigned(x) ((Py_SIZE(x) == 0) ? 0 : __Pyx_PyLong_Digits(x)[0]) + #define __Pyx_PyLong_DigitCount(x) __Pyx_sst_abs(Py_SIZE(x)) + #define __Pyx_PyLong_SignedDigitCount(x) Py_SIZE(x) + #define __Pyx_PyLong_IsCompact(x) (Py_SIZE(x) == 0 || Py_SIZE(x) == 1 || Py_SIZE(x) == -1) + #define __Pyx_PyLong_CompactValue(x)\ + ((Py_SIZE(x) == 0) ? (sdigit) 0 : ((Py_SIZE(x) < 0) ? -(sdigit)__Pyx_PyLong_Digits(x)[0] : (sdigit)__Pyx_PyLong_Digits(x)[0])) + typedef sdigit __Pyx_compact_pylong; + typedef digit __Pyx_compact_upylong; + #endif + #if PY_VERSION_HEX >= 0x030C00A5 + #define __Pyx_PyLong_Digits(x) (((PyLongObject*)x)->long_value.ob_digit) + #else + #define __Pyx_PyLong_Digits(x) (((PyLongObject*)x)->ob_digit) + #endif +#endif +#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII +#include +static int __Pyx_sys_getdefaultencoding_not_ascii; +static int __Pyx_init_sys_getdefaultencoding_params(void) { + PyObject* sys; + PyObject* default_encoding = NULL; + PyObject* ascii_chars_u = NULL; + PyObject* ascii_chars_b = NULL; + const char* default_encoding_c; + sys = PyImport_ImportModule("sys"); + if (!sys) goto bad; + default_encoding = PyObject_CallMethod(sys, (char*) "getdefaultencoding", NULL); + Py_DECREF(sys); + if (!default_encoding) goto bad; + default_encoding_c = PyBytes_AsString(default_encoding); + if (!default_encoding_c) goto bad; + if (strcmp(default_encoding_c, "ascii") == 0) { + __Pyx_sys_getdefaultencoding_not_ascii = 0; + } else { + char ascii_chars[128]; + int c; + for (c = 0; c < 128; c++) { + ascii_chars[c] = (char) c; + } + __Pyx_sys_getdefaultencoding_not_ascii = 1; + ascii_chars_u = PyUnicode_DecodeASCII(ascii_chars, 128, NULL); + if (!ascii_chars_u) goto bad; + ascii_chars_b = PyUnicode_AsEncodedString(ascii_chars_u, default_encoding_c, NULL); + if (!ascii_chars_b || !PyBytes_Check(ascii_chars_b) || memcmp(ascii_chars, PyBytes_AS_STRING(ascii_chars_b), 128) != 0) { + PyErr_Format( + PyExc_ValueError, + "This module compiled with c_string_encoding=ascii, but default encoding '%.200s' is not a superset of ascii.", + default_encoding_c); + goto bad; + } + Py_DECREF(ascii_chars_u); + Py_DECREF(ascii_chars_b); + } + Py_DECREF(default_encoding); + return 0; +bad: + Py_XDECREF(default_encoding); + Py_XDECREF(ascii_chars_u); + Py_XDECREF(ascii_chars_b); + return -1; +} +#endif +#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT && PY_MAJOR_VERSION >= 3 +#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_DecodeUTF8(c_str, size, NULL) +#else +#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_Decode(c_str, size, __PYX_DEFAULT_STRING_ENCODING, NULL) +#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT +#include +static char* __PYX_DEFAULT_STRING_ENCODING; +static int __Pyx_init_sys_getdefaultencoding_params(void) { + PyObject* sys; + PyObject* default_encoding = NULL; + char* default_encoding_c; + sys = PyImport_ImportModule("sys"); + if (!sys) goto bad; + default_encoding = PyObject_CallMethod(sys, (char*) (const char*) "getdefaultencoding", NULL); + Py_DECREF(sys); + if (!default_encoding) goto bad; + default_encoding_c = PyBytes_AsString(default_encoding); + if (!default_encoding_c) goto bad; + __PYX_DEFAULT_STRING_ENCODING = (char*) malloc(strlen(default_encoding_c) + 1); + if (!__PYX_DEFAULT_STRING_ENCODING) goto bad; + strcpy(__PYX_DEFAULT_STRING_ENCODING, default_encoding_c); + Py_DECREF(default_encoding); + return 0; +bad: + Py_XDECREF(default_encoding); + return -1; +} +#endif +#endif + + +/* Test for GCC > 2.95 */ +#if defined(__GNUC__) && (__GNUC__ > 2 || (__GNUC__ == 2 && (__GNUC_MINOR__ > 95))) + #define likely(x) __builtin_expect(!!(x), 1) + #define unlikely(x) __builtin_expect(!!(x), 0) +#else /* !__GNUC__ or GCC < 2.95 */ + #define likely(x) (x) + #define unlikely(x) (x) +#endif /* __GNUC__ */ +static CYTHON_INLINE void __Pyx_pretend_to_initialize(void* ptr) { (void)ptr; } + +#if !CYTHON_USE_MODULE_STATE +static PyObject *__pyx_m = NULL; +#endif +static int __pyx_lineno; +static int __pyx_clineno = 0; +static const char * __pyx_cfilenm = __FILE__; +static const char *__pyx_filename; + +/* Header.proto */ +#if !defined(CYTHON_CCOMPLEX) + #if defined(__cplusplus) + #define CYTHON_CCOMPLEX 1 + #elif (defined(_Complex_I) && !defined(_MSC_VER)) || ((defined (__STDC_VERSION__) && __STDC_VERSION__ >= 201112L) && !defined(__STDC_NO_COMPLEX__) && !defined(_MSC_VER)) + #define CYTHON_CCOMPLEX 1 + #else + #define CYTHON_CCOMPLEX 0 + #endif +#endif +#if CYTHON_CCOMPLEX + #ifdef __cplusplus + #include + #else + #include + #endif +#endif +#if CYTHON_CCOMPLEX && !defined(__cplusplus) && defined(__sun__) && defined(__GNUC__) + #undef _Complex_I + #define _Complex_I 1.0fj +#endif + +/* #### Code section: filename_table ### */ + +static const char *__pyx_f[] = { + "rednose/helpers/ekf_sym_pyx.pyx", + "", + "__init__.cython-30.pxd", + "type.pxd", +}; +/* #### Code section: utility_code_proto_before_types ### */ +/* ForceInitThreads.proto */ +#ifndef __PYX_FORCE_INIT_THREADS + #define __PYX_FORCE_INIT_THREADS 0 +#endif + +/* NoFastGil.proto */ +#define __Pyx_PyGILState_Ensure PyGILState_Ensure +#define __Pyx_PyGILState_Release PyGILState_Release +#define __Pyx_FastGIL_Remember() +#define __Pyx_FastGIL_Forget() +#define __Pyx_FastGilFuncInit() + +/* BufferFormatStructs.proto */ +struct __Pyx_StructField_; +#define __PYX_BUF_FLAGS_PACKED_STRUCT (1 << 0) +typedef struct { + const char* name; + struct __Pyx_StructField_* fields; + size_t size; + size_t arraysize[8]; + int ndim; + char typegroup; + char is_unsigned; + int flags; +} __Pyx_TypeInfo; +typedef struct __Pyx_StructField_ { + __Pyx_TypeInfo* type; + const char* name; + size_t offset; +} __Pyx_StructField; +typedef struct { + __Pyx_StructField* field; + size_t parent_offset; +} __Pyx_BufFmt_StackElem; +typedef struct { + __Pyx_StructField root; + __Pyx_BufFmt_StackElem* head; + size_t fmt_offset; + size_t new_count, enc_count; + size_t struct_alignment; + int is_complex; + char enc_type; + char new_packmode; + char enc_packmode; + char is_valid_array; +} __Pyx_BufFmt_Context; + +/* Atomics.proto */ +#include +#ifndef CYTHON_ATOMICS + #define CYTHON_ATOMICS 1 +#endif +#define __PYX_CYTHON_ATOMICS_ENABLED() CYTHON_ATOMICS +#define __pyx_atomic_int_type int +#define __pyx_nonatomic_int_type int +#if CYTHON_ATOMICS && (defined(__STDC_VERSION__) &&\ + (__STDC_VERSION__ >= 201112L) &&\ + !defined(__STDC_NO_ATOMICS__)) + #include +#elif CYTHON_ATOMICS && (defined(__cplusplus) && (\ + (__cplusplus >= 201103L) ||\ + (defined(_MSC_VER) && _MSC_VER >= 1700))) + #include +#endif +#if CYTHON_ATOMICS && (defined(__STDC_VERSION__) &&\ + (__STDC_VERSION__ >= 201112L) &&\ + !defined(__STDC_NO_ATOMICS__) &&\ + ATOMIC_INT_LOCK_FREE == 2) + #undef __pyx_atomic_int_type + #define __pyx_atomic_int_type atomic_int + #define __pyx_atomic_incr_aligned(value) atomic_fetch_add_explicit(value, 1, memory_order_relaxed) + #define __pyx_atomic_decr_aligned(value) atomic_fetch_sub_explicit(value, 1, memory_order_acq_rel) + #if defined(__PYX_DEBUG_ATOMICS) && defined(_MSC_VER) + #pragma message ("Using standard C atomics") + #elif defined(__PYX_DEBUG_ATOMICS) + #warning "Using standard C atomics" + #endif +#elif CYTHON_ATOMICS && (defined(__cplusplus) && (\ + (__cplusplus >= 201103L) ||\ +\ + (defined(_MSC_VER) && _MSC_VER >= 1700)) &&\ + ATOMIC_INT_LOCK_FREE == 2) + #undef __pyx_atomic_int_type + #define __pyx_atomic_int_type std::atomic_int + #define __pyx_atomic_incr_aligned(value) std::atomic_fetch_add_explicit(value, 1, std::memory_order_relaxed) + #define __pyx_atomic_decr_aligned(value) std::atomic_fetch_sub_explicit(value, 1, std::memory_order_acq_rel) + #if defined(__PYX_DEBUG_ATOMICS) && defined(_MSC_VER) + #pragma message ("Using standard C++ atomics") + #elif defined(__PYX_DEBUG_ATOMICS) + #warning "Using standard C++ atomics" + #endif +#elif CYTHON_ATOMICS && (__GNUC__ >= 5 || (__GNUC__ == 4 &&\ + (__GNUC_MINOR__ > 1 ||\ + (__GNUC_MINOR__ == 1 && __GNUC_PATCHLEVEL__ >= 2)))) + #define __pyx_atomic_incr_aligned(value) __sync_fetch_and_add(value, 1) + #define __pyx_atomic_decr_aligned(value) __sync_fetch_and_sub(value, 1) + #ifdef __PYX_DEBUG_ATOMICS + #warning "Using GNU atomics" + #endif +#elif CYTHON_ATOMICS && defined(_MSC_VER) + #include + #undef __pyx_atomic_int_type + #define __pyx_atomic_int_type long + #undef __pyx_nonatomic_int_type + #define __pyx_nonatomic_int_type long + #pragma intrinsic (_InterlockedExchangeAdd) + #define __pyx_atomic_incr_aligned(value) _InterlockedExchangeAdd(value, 1) + #define __pyx_atomic_decr_aligned(value) _InterlockedExchangeAdd(value, -1) + #ifdef __PYX_DEBUG_ATOMICS + #pragma message ("Using MSVC atomics") + #endif +#else + #undef CYTHON_ATOMICS + #define CYTHON_ATOMICS 0 + #ifdef __PYX_DEBUG_ATOMICS + #warning "Not using atomics" + #endif +#endif +#if CYTHON_ATOMICS + #define __pyx_add_acquisition_count(memview)\ + __pyx_atomic_incr_aligned(__pyx_get_slice_count_pointer(memview)) + #define __pyx_sub_acquisition_count(memview)\ + __pyx_atomic_decr_aligned(__pyx_get_slice_count_pointer(memview)) +#else + #define __pyx_add_acquisition_count(memview)\ + __pyx_add_acquisition_count_locked(__pyx_get_slice_count_pointer(memview), memview->lock) + #define __pyx_sub_acquisition_count(memview)\ + __pyx_sub_acquisition_count_locked(__pyx_get_slice_count_pointer(memview), memview->lock) +#endif + +/* MemviewSliceStruct.proto */ +struct __pyx_memoryview_obj; +typedef struct { + struct __pyx_memoryview_obj *memview; + char *data; + Py_ssize_t shape[8]; + Py_ssize_t strides[8]; + Py_ssize_t suboffsets[8]; +} __Pyx_memviewslice; +#define __Pyx_MemoryView_Len(m) (m.shape[0]) + +/* #### Code section: numeric_typedefs ### */ + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":730 + * # in Cython to enable them only on the right systems. + * + * ctypedef npy_int8 int8_t # <<<<<<<<<<<<<< + * ctypedef npy_int16 int16_t + * ctypedef npy_int32 int32_t + */ +typedef npy_int8 __pyx_t_5numpy_int8_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":731 + * + * ctypedef npy_int8 int8_t + * ctypedef npy_int16 int16_t # <<<<<<<<<<<<<< + * ctypedef npy_int32 int32_t + * ctypedef npy_int64 int64_t + */ +typedef npy_int16 __pyx_t_5numpy_int16_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":732 + * ctypedef npy_int8 int8_t + * ctypedef npy_int16 int16_t + * ctypedef npy_int32 int32_t # <<<<<<<<<<<<<< + * ctypedef npy_int64 int64_t + * #ctypedef npy_int96 int96_t + */ +typedef npy_int32 __pyx_t_5numpy_int32_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":733 + * ctypedef npy_int16 int16_t + * ctypedef npy_int32 int32_t + * ctypedef npy_int64 int64_t # <<<<<<<<<<<<<< + * #ctypedef npy_int96 int96_t + * #ctypedef npy_int128 int128_t + */ +typedef npy_int64 __pyx_t_5numpy_int64_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":737 + * #ctypedef npy_int128 int128_t + * + * ctypedef npy_uint8 uint8_t # <<<<<<<<<<<<<< + * ctypedef npy_uint16 uint16_t + * ctypedef npy_uint32 uint32_t + */ +typedef npy_uint8 __pyx_t_5numpy_uint8_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":738 + * + * ctypedef npy_uint8 uint8_t + * ctypedef npy_uint16 uint16_t # <<<<<<<<<<<<<< + * ctypedef npy_uint32 uint32_t + * ctypedef npy_uint64 uint64_t + */ +typedef npy_uint16 __pyx_t_5numpy_uint16_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":739 + * ctypedef npy_uint8 uint8_t + * ctypedef npy_uint16 uint16_t + * ctypedef npy_uint32 uint32_t # <<<<<<<<<<<<<< + * ctypedef npy_uint64 uint64_t + * #ctypedef npy_uint96 uint96_t + */ +typedef npy_uint32 __pyx_t_5numpy_uint32_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":740 + * ctypedef npy_uint16 uint16_t + * ctypedef npy_uint32 uint32_t + * ctypedef npy_uint64 uint64_t # <<<<<<<<<<<<<< + * #ctypedef npy_uint96 uint96_t + * #ctypedef npy_uint128 uint128_t + */ +typedef npy_uint64 __pyx_t_5numpy_uint64_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":744 + * #ctypedef npy_uint128 uint128_t + * + * ctypedef npy_float32 float32_t # <<<<<<<<<<<<<< + * ctypedef npy_float64 float64_t + * #ctypedef npy_float80 float80_t + */ +typedef npy_float32 __pyx_t_5numpy_float32_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":745 + * + * ctypedef npy_float32 float32_t + * ctypedef npy_float64 float64_t # <<<<<<<<<<<<<< + * #ctypedef npy_float80 float80_t + * #ctypedef npy_float128 float128_t + */ +typedef npy_float64 __pyx_t_5numpy_float64_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":754 + * # The int types are mapped a bit surprising -- + * # numpy.int corresponds to 'l' and numpy.long to 'q' + * ctypedef npy_long int_t # <<<<<<<<<<<<<< + * ctypedef npy_longlong longlong_t + * + */ +typedef npy_long __pyx_t_5numpy_int_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":755 + * # numpy.int corresponds to 'l' and numpy.long to 'q' + * ctypedef npy_long int_t + * ctypedef npy_longlong longlong_t # <<<<<<<<<<<<<< + * + * ctypedef npy_ulong uint_t + */ +typedef npy_longlong __pyx_t_5numpy_longlong_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":757 + * ctypedef npy_longlong longlong_t + * + * ctypedef npy_ulong uint_t # <<<<<<<<<<<<<< + * ctypedef npy_ulonglong ulonglong_t + * + */ +typedef npy_ulong __pyx_t_5numpy_uint_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":758 + * + * ctypedef npy_ulong uint_t + * ctypedef npy_ulonglong ulonglong_t # <<<<<<<<<<<<<< + * + * ctypedef npy_intp intp_t + */ +typedef npy_ulonglong __pyx_t_5numpy_ulonglong_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":760 + * ctypedef npy_ulonglong ulonglong_t + * + * ctypedef npy_intp intp_t # <<<<<<<<<<<<<< + * ctypedef npy_uintp uintp_t + * + */ +typedef npy_intp __pyx_t_5numpy_intp_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":761 + * + * ctypedef npy_intp intp_t + * ctypedef npy_uintp uintp_t # <<<<<<<<<<<<<< + * + * ctypedef npy_double float_t + */ +typedef npy_uintp __pyx_t_5numpy_uintp_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":763 + * ctypedef npy_uintp uintp_t + * + * ctypedef npy_double float_t # <<<<<<<<<<<<<< + * ctypedef npy_double double_t + * ctypedef npy_longdouble longdouble_t + */ +typedef npy_double __pyx_t_5numpy_float_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":764 + * + * ctypedef npy_double float_t + * ctypedef npy_double double_t # <<<<<<<<<<<<<< + * ctypedef npy_longdouble longdouble_t + * + */ +typedef npy_double __pyx_t_5numpy_double_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":765 + * ctypedef npy_double float_t + * ctypedef npy_double double_t + * ctypedef npy_longdouble longdouble_t # <<<<<<<<<<<<<< + * + * ctypedef npy_cfloat cfloat_t + */ +typedef npy_longdouble __pyx_t_5numpy_longdouble_t; 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__Pyx_DECREF(tmp);\ + } while (0) +#define __Pyx_CLEAR(r) do { PyObject* tmp = ((PyObject*)(r)); r = NULL; __Pyx_DECREF(tmp);} while(0) +#define __Pyx_XCLEAR(r) do { if((r) != NULL) {PyObject* tmp = ((PyObject*)(r)); r = NULL; __Pyx_DECREF(tmp);}} while(0) + +/* PyErrExceptionMatches.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyErr_ExceptionMatches(err) __Pyx_PyErr_ExceptionMatchesInState(__pyx_tstate, err) +static CYTHON_INLINE int __Pyx_PyErr_ExceptionMatchesInState(PyThreadState* tstate, PyObject* err); +#else +#define __Pyx_PyErr_ExceptionMatches(err) PyErr_ExceptionMatches(err) +#endif + +/* PyThreadStateGet.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyThreadState_declare PyThreadState *__pyx_tstate; +#define __Pyx_PyThreadState_assign __pyx_tstate = __Pyx_PyThreadState_Current; +#if PY_VERSION_HEX >= 0x030C00A6 +#define __Pyx_PyErr_Occurred() (__pyx_tstate->current_exception != NULL) +#define __Pyx_PyErr_CurrentExceptionType() (__pyx_tstate->current_exception ? 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+static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A6 +#define __Pyx_PyErr_SetNone(exc) (Py_INCREF(exc), __Pyx_ErrRestore((exc), NULL, NULL)) +#else +#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc) +#endif +#else +#define __Pyx_PyErr_Clear() PyErr_Clear() +#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc) +#define __Pyx_ErrRestoreWithState(type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetchWithState(type, value, tb) PyErr_Fetch(type, value, tb) +#define __Pyx_ErrRestoreInState(tstate, type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetchInState(tstate, type, value, tb) PyErr_Fetch(type, value, tb) +#define __Pyx_ErrRestore(type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetch(type, value, tb) PyErr_Fetch(type, value, tb) +#endif + +/* PyObjectGetAttrStr.proto */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStr(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GetAttrStr(o,n) PyObject_GetAttr(o,n) +#endif + +/* PyObjectGetAttrStrNoError.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name); + +/* GetBuiltinName.proto */ +static PyObject *__Pyx_GetBuiltinName(PyObject *name); + +/* TupleAndListFromArray.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyList_FromArray(PyObject *const *src, Py_ssize_t n); +static CYTHON_INLINE PyObject* __Pyx_PyTuple_FromArray(PyObject *const *src, Py_ssize_t n); +#endif + +/* IncludeStringH.proto */ +#include + +/* BytesEquals.proto */ +static CYTHON_INLINE int __Pyx_PyBytes_Equals(PyObject* s1, PyObject* s2, int equals); + +/* UnicodeEquals.proto */ +static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int equals); + +/* fastcall.proto */ +#if CYTHON_AVOID_BORROWED_REFS + #define __Pyx_Arg_VARARGS(args, i) PySequence_GetItem(args, i) +#elif CYTHON_ASSUME_SAFE_MACROS + #define __Pyx_Arg_VARARGS(args, i) PyTuple_GET_ITEM(args, i) +#else + #define __Pyx_Arg_VARARGS(args, i) PyTuple_GetItem(args, i) +#endif +#if CYTHON_AVOID_BORROWED_REFS + #define __Pyx_Arg_NewRef_VARARGS(arg) __Pyx_NewRef(arg) + #define __Pyx_Arg_XDECREF_VARARGS(arg) Py_XDECREF(arg) +#else + #define __Pyx_Arg_NewRef_VARARGS(arg) arg + #define __Pyx_Arg_XDECREF_VARARGS(arg) +#endif +#define __Pyx_NumKwargs_VARARGS(kwds) PyDict_Size(kwds) +#define __Pyx_KwValues_VARARGS(args, nargs) NULL +#define __Pyx_GetKwValue_VARARGS(kw, kwvalues, s) __Pyx_PyDict_GetItemStrWithError(kw, s) +#define __Pyx_KwargsAsDict_VARARGS(kw, kwvalues) PyDict_Copy(kw) +#if CYTHON_METH_FASTCALL + #define __Pyx_Arg_FASTCALL(args, i) args[i] + #define __Pyx_NumKwargs_FASTCALL(kwds) PyTuple_GET_SIZE(kwds) + #define __Pyx_KwValues_FASTCALL(args, nargs) ((args) + (nargs)) + static CYTHON_INLINE PyObject * __Pyx_GetKwValue_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues, PyObject *s); +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 + CYTHON_UNUSED static PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues); + #else + #define __Pyx_KwargsAsDict_FASTCALL(kw, kwvalues) _PyStack_AsDict(kwvalues, kw) + #endif + #define __Pyx_Arg_NewRef_FASTCALL(arg) arg /* no-op, __Pyx_Arg_FASTCALL is direct and this needs + to have the same reference counting */ + #define __Pyx_Arg_XDECREF_FASTCALL(arg) +#else + #define __Pyx_Arg_FASTCALL __Pyx_Arg_VARARGS + #define __Pyx_NumKwargs_FASTCALL __Pyx_NumKwargs_VARARGS + #define __Pyx_KwValues_FASTCALL __Pyx_KwValues_VARARGS + #define __Pyx_GetKwValue_FASTCALL __Pyx_GetKwValue_VARARGS + #define __Pyx_KwargsAsDict_FASTCALL __Pyx_KwargsAsDict_VARARGS + #define __Pyx_Arg_NewRef_FASTCALL(arg) __Pyx_Arg_NewRef_VARARGS(arg) + #define __Pyx_Arg_XDECREF_FASTCALL(arg) __Pyx_Arg_XDECREF_VARARGS(arg) +#endif +#if CYTHON_COMPILING_IN_CPYTHON && CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS +#define __Pyx_ArgsSlice_VARARGS(args, start, stop) __Pyx_PyTuple_FromArray(&__Pyx_Arg_VARARGS(args, start), stop - start) +#define __Pyx_ArgsSlice_FASTCALL(args, start, stop) __Pyx_PyTuple_FromArray(&__Pyx_Arg_FASTCALL(args, start), stop - start) +#else +#define __Pyx_ArgsSlice_VARARGS(args, start, stop) PyTuple_GetSlice(args, start, stop) +#define __Pyx_ArgsSlice_FASTCALL(args, start, stop) PyTuple_GetSlice(args, start, stop) +#endif + +/* RaiseArgTupleInvalid.proto */ +static void __Pyx_RaiseArgtupleInvalid(const char* func_name, int exact, + Py_ssize_t num_min, Py_ssize_t num_max, Py_ssize_t num_found); + +/* RaiseDoubleKeywords.proto */ +static void __Pyx_RaiseDoubleKeywordsError(const char* func_name, PyObject* kw_name); + +/* ParseKeywords.proto */ +static int __Pyx_ParseOptionalKeywords(PyObject *kwds, PyObject *const *kwvalues, + PyObject **argnames[], + PyObject *kwds2, PyObject *values[], Py_ssize_t num_pos_args, + const char* function_name); + +/* ArgTypeTest.proto */ +#define __Pyx_ArgTypeTest(obj, type, none_allowed, name, exact)\ + ((likely(__Pyx_IS_TYPE(obj, type) | (none_allowed && (obj == Py_None)))) ? 1 :\ + __Pyx__ArgTypeTest(obj, type, name, exact)) +static int __Pyx__ArgTypeTest(PyObject *obj, PyTypeObject *type, const char *name, int exact); + +/* RaiseException.proto */ +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause); + +/* PyFunctionFastCall.proto */ +#if CYTHON_FAST_PYCALL +#if !CYTHON_VECTORCALL +#define __Pyx_PyFunction_FastCall(func, args, nargs)\ + __Pyx_PyFunction_FastCallDict((func), (args), (nargs), NULL) +static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs); +#endif +#define __Pyx_BUILD_ASSERT_EXPR(cond)\ + (sizeof(char [1 - 2*!(cond)]) - 1) +#ifndef Py_MEMBER_SIZE +#define Py_MEMBER_SIZE(type, member) sizeof(((type *)0)->member) +#endif +#if !CYTHON_VECTORCALL +#if PY_VERSION_HEX >= 0x03080000 + #include "frameobject.h" +#if PY_VERSION_HEX >= 0x030b00a6 && !CYTHON_COMPILING_IN_LIMITED_API + #ifndef Py_BUILD_CORE + #define Py_BUILD_CORE 1 + #endif + #include "internal/pycore_frame.h" +#endif + #define __Pxy_PyFrame_Initialize_Offsets() + #define __Pyx_PyFrame_GetLocalsplus(frame) ((frame)->f_localsplus) +#else + static size_t __pyx_pyframe_localsplus_offset = 0; + #include "frameobject.h" + #define __Pxy_PyFrame_Initialize_Offsets()\ + ((void)__Pyx_BUILD_ASSERT_EXPR(sizeof(PyFrameObject) == offsetof(PyFrameObject, f_localsplus) + Py_MEMBER_SIZE(PyFrameObject, f_localsplus)),\ + (void)(__pyx_pyframe_localsplus_offset = ((size_t)PyFrame_Type.tp_basicsize) - Py_MEMBER_SIZE(PyFrameObject, f_localsplus))) + #define __Pyx_PyFrame_GetLocalsplus(frame)\ + (assert(__pyx_pyframe_localsplus_offset), (PyObject **)(((char *)(frame)) + __pyx_pyframe_localsplus_offset)) +#endif +#endif +#endif + +/* PyObjectCall.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw); +#else +#define __Pyx_PyObject_Call(func, arg, kw) PyObject_Call(func, arg, kw) +#endif + +/* PyObjectCallMethO.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg); +#endif + +/* PyObjectFastCall.proto */ +#define __Pyx_PyObject_FastCall(func, args, nargs) __Pyx_PyObject_FastCallDict(func, args, (size_t)(nargs), NULL) +static CYTHON_INLINE PyObject* __Pyx_PyObject_FastCallDict(PyObject *func, PyObject **args, size_t nargs, PyObject *kwargs); + +/* RaiseUnexpectedTypeError.proto */ +static int __Pyx_RaiseUnexpectedTypeError(const char *expected, PyObject *obj); + +/* GCCDiagnostics.proto */ +#if !defined(__INTEL_COMPILER) && defined(__GNUC__) && (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 6)) +#define __Pyx_HAS_GCC_DIAGNOSTIC +#endif + +/* BuildPyUnicode.proto */ +static PyObject* __Pyx_PyUnicode_BuildFromAscii(Py_ssize_t ulength, char* chars, int clength, + int prepend_sign, char padding_char); + +/* CIntToPyUnicode.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_int(int value, Py_ssize_t width, char padding_char, char format_char); + +/* CIntToPyUnicode.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_Py_ssize_t(Py_ssize_t value, Py_ssize_t width, char padding_char, char format_char); + +/* JoinPyUnicode.proto */ +static PyObject* __Pyx_PyUnicode_Join(PyObject* value_tuple, Py_ssize_t value_count, Py_ssize_t result_ulength, + Py_UCS4 max_char); + +/* StrEquals.proto */ +#if PY_MAJOR_VERSION >= 3 +#define __Pyx_PyString_Equals __Pyx_PyUnicode_Equals +#else +#define __Pyx_PyString_Equals __Pyx_PyBytes_Equals +#endif + +/* PyObjectFormatSimple.proto */ +#if CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + PyObject_Format(s, f)) +#elif PY_MAJOR_VERSION < 3 + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + likely(PyString_CheckExact(s)) ? PyUnicode_FromEncodedObject(s, NULL, "strict") :\ + PyObject_Format(s, f)) +#elif CYTHON_USE_TYPE_SLOTS + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + likely(PyLong_CheckExact(s)) ? PyLong_Type.tp_repr(s) :\ + likely(PyFloat_CheckExact(s)) ? PyFloat_Type.tp_repr(s) :\ + PyObject_Format(s, f)) +#else + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + PyObject_Format(s, f)) +#endif + +CYTHON_UNUSED static int __pyx_array_getbuffer(PyObject *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /*proto*/ +static PyObject *__pyx_array_get_memview(struct __pyx_array_obj *); /*proto*/ +/* GetAttr.proto */ +static CYTHON_INLINE PyObject *__Pyx_GetAttr(PyObject *, PyObject *); + +/* GetItemInt.proto */ +#define __Pyx_GetItemInt(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_Fast(o, (Py_ssize_t)i, is_list, wraparound, boundscheck) :\ + (is_list ? (PyErr_SetString(PyExc_IndexError, "list index out of range"), (PyObject*)NULL) :\ + __Pyx_GetItemInt_Generic(o, to_py_func(i)))) +#define __Pyx_GetItemInt_List(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_List_Fast(o, (Py_ssize_t)i, wraparound, boundscheck) :\ + (PyErr_SetString(PyExc_IndexError, "list index out of range"), (PyObject*)NULL)) +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, + int wraparound, int boundscheck); +#define __Pyx_GetItemInt_Tuple(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_Tuple_Fast(o, (Py_ssize_t)i, wraparound, boundscheck) :\ + (PyErr_SetString(PyExc_IndexError, "tuple index out of range"), (PyObject*)NULL)) +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i, + int wraparound, int boundscheck); +static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j); +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, + int is_list, int wraparound, int boundscheck); + +/* PyObjectCallOneArg.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg); + +/* ObjectGetItem.proto */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject *__Pyx_PyObject_GetItem(PyObject *obj, PyObject *key); +#else +#define __Pyx_PyObject_GetItem(obj, key) PyObject_GetItem(obj, key) +#endif + +/* KeywordStringCheck.proto */ +static int __Pyx_CheckKeywordStrings(PyObject *kw, const char* function_name, int kw_allowed); + +/* DivInt[Py_ssize_t].proto */ +static CYTHON_INLINE Py_ssize_t __Pyx_div_Py_ssize_t(Py_ssize_t, Py_ssize_t); + +/* UnaryNegOverflows.proto */ +#define __Pyx_UNARY_NEG_WOULD_OVERFLOW(x)\ + (((x) < 0) & ((unsigned long)(x) == 0-(unsigned long)(x))) + +/* GetAttr3.proto */ +static CYTHON_INLINE PyObject *__Pyx_GetAttr3(PyObject *, PyObject *, PyObject *); + +/* PyDictVersioning.proto */ +#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS +#define __PYX_DICT_VERSION_INIT ((PY_UINT64_T) -1) +#define __PYX_GET_DICT_VERSION(dict) (((PyDictObject*)(dict))->ma_version_tag) +#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var)\ + (version_var) = __PYX_GET_DICT_VERSION(dict);\ + (cache_var) = (value); +#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) {\ + static PY_UINT64_T __pyx_dict_version = 0;\ + static PyObject *__pyx_dict_cached_value = NULL;\ + if (likely(__PYX_GET_DICT_VERSION(DICT) == __pyx_dict_version)) {\ + (VAR) = __pyx_dict_cached_value;\ + } else {\ + (VAR) = __pyx_dict_cached_value = (LOOKUP);\ + __pyx_dict_version = __PYX_GET_DICT_VERSION(DICT);\ + }\ +} +static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj); +static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj); +static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version); +#else +#define __PYX_GET_DICT_VERSION(dict) (0) +#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var) +#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) (VAR) = (LOOKUP); +#endif + +/* GetModuleGlobalName.proto */ +#if CYTHON_USE_DICT_VERSIONS +#define __Pyx_GetModuleGlobalName(var, name) do {\ + static PY_UINT64_T __pyx_dict_version = 0;\ + static PyObject *__pyx_dict_cached_value = NULL;\ + (var) = (likely(__pyx_dict_version == __PYX_GET_DICT_VERSION(__pyx_d))) ?\ + (likely(__pyx_dict_cached_value) ? __Pyx_NewRef(__pyx_dict_cached_value) : __Pyx_GetBuiltinName(name)) :\ + __Pyx__GetModuleGlobalName(name, &__pyx_dict_version, &__pyx_dict_cached_value);\ +} while(0) +#define __Pyx_GetModuleGlobalNameUncached(var, name) do {\ + PY_UINT64_T __pyx_dict_version;\ + PyObject *__pyx_dict_cached_value;\ + (var) = __Pyx__GetModuleGlobalName(name, &__pyx_dict_version, &__pyx_dict_cached_value);\ +} while(0) +static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value); +#else +#define __Pyx_GetModuleGlobalName(var, name) (var) = __Pyx__GetModuleGlobalName(name) +#define __Pyx_GetModuleGlobalNameUncached(var, name) (var) = __Pyx__GetModuleGlobalName(name) +static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name); +#endif + +/* AssertionsEnabled.proto */ +#if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX < 0x02070600 && !defined(Py_OptimizeFlag) + #define __Pyx_init_assertions_enabled() (0) + #define __pyx_assertions_enabled() (1) +#elif CYTHON_COMPILING_IN_LIMITED_API || (CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030C0000) + static int __pyx_assertions_enabled_flag; + #define __pyx_assertions_enabled() (__pyx_assertions_enabled_flag) + static int __Pyx_init_assertions_enabled(void) { + PyObject *builtins, *debug, *debug_str; + int flag; + builtins = PyEval_GetBuiltins(); + if (!builtins) goto bad; + debug_str = PyUnicode_FromStringAndSize("__debug__", 9); + if (!debug_str) goto bad; + debug = PyObject_GetItem(builtins, debug_str); + Py_DECREF(debug_str); + if (!debug) goto bad; + flag = PyObject_IsTrue(debug); + Py_DECREF(debug); + if (flag == -1) goto bad; + __pyx_assertions_enabled_flag = flag; + return 0; + bad: + __pyx_assertions_enabled_flag = 1; + return -1; + } +#else + #define __Pyx_init_assertions_enabled() (0) + #define __pyx_assertions_enabled() (!Py_OptimizeFlag) +#endif + +/* RaiseTooManyValuesToUnpack.proto */ +static CYTHON_INLINE void __Pyx_RaiseTooManyValuesError(Py_ssize_t expected); + +/* RaiseNeedMoreValuesToUnpack.proto */ +static CYTHON_INLINE void __Pyx_RaiseNeedMoreValuesError(Py_ssize_t index); + +/* RaiseNoneIterError.proto */ +static CYTHON_INLINE void __Pyx_RaiseNoneNotIterableError(void); + +/* ExtTypeTest.proto */ +static CYTHON_INLINE int __Pyx_TypeTest(PyObject *obj, PyTypeObject *type); + +/* GetTopmostException.proto */ +#if CYTHON_USE_EXC_INFO_STACK && CYTHON_FAST_THREAD_STATE +static _PyErr_StackItem * __Pyx_PyErr_GetTopmostException(PyThreadState *tstate); +#endif + +/* SaveResetException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_ExceptionSave(type, value, tb) __Pyx__ExceptionSave(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionSave(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#define __Pyx_ExceptionReset(type, value, tb) __Pyx__ExceptionReset(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionReset(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb); +#else +#define __Pyx_ExceptionSave(type, value, tb) PyErr_GetExcInfo(type, value, tb) +#define __Pyx_ExceptionReset(type, value, tb) PyErr_SetExcInfo(type, value, tb) +#endif + +/* GetException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_GetException(type, value, tb) __Pyx__GetException(__pyx_tstate, type, value, tb) +static int __Pyx__GetException(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#else +static int __Pyx_GetException(PyObject **type, PyObject **value, PyObject **tb); +#endif + +/* SwapException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_ExceptionSwap(type, value, tb) __Pyx__ExceptionSwap(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionSwap(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#else +static CYTHON_INLINE void __Pyx_ExceptionSwap(PyObject **type, PyObject **value, PyObject **tb); +#endif + +/* Import.proto */ +static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level); + +/* ImportDottedModule.proto */ +static PyObject *__Pyx_ImportDottedModule(PyObject *name, PyObject *parts_tuple); +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx_ImportDottedModule_WalkParts(PyObject *module, PyObject *name, PyObject *parts_tuple); +#endif + +/* FastTypeChecks.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_TypeCheck(obj, type) __Pyx_IsSubtype(Py_TYPE(obj), (PyTypeObject *)type) +#define __Pyx_TypeCheck2(obj, type1, type2) __Pyx_IsAnySubtype2(Py_TYPE(obj), (PyTypeObject *)type1, (PyTypeObject *)type2) +static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b); +static CYTHON_INLINE int __Pyx_IsAnySubtype2(PyTypeObject *cls, PyTypeObject *a, PyTypeObject *b); +static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches(PyObject *err, PyObject *type); +static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches2(PyObject *err, PyObject *type1, PyObject *type2); +#else +#define __Pyx_TypeCheck(obj, type) PyObject_TypeCheck(obj, (PyTypeObject *)type) +#define __Pyx_TypeCheck2(obj, type1, type2) (PyObject_TypeCheck(obj, (PyTypeObject *)type1) || PyObject_TypeCheck(obj, (PyTypeObject *)type2)) +#define __Pyx_PyErr_GivenExceptionMatches(err, type) PyErr_GivenExceptionMatches(err, type) +#define __Pyx_PyErr_GivenExceptionMatches2(err, type1, type2) (PyErr_GivenExceptionMatches(err, type1) || PyErr_GivenExceptionMatches(err, type2)) +#endif +#define __Pyx_PyErr_ExceptionMatches2(err1, err2) __Pyx_PyErr_GivenExceptionMatches2(__Pyx_PyErr_CurrentExceptionType(), err1, err2) +#define __Pyx_PyException_Check(obj) __Pyx_TypeCheck(obj, PyExc_Exception) + +CYTHON_UNUSED static int __pyx_memoryview_getbuffer(PyObject *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /*proto*/ +/* ListCompAppend.proto */ +#if CYTHON_USE_PYLIST_INTERNALS && CYTHON_ASSUME_SAFE_MACROS +static CYTHON_INLINE int __Pyx_ListComp_Append(PyObject* list, PyObject* x) { + PyListObject* L = (PyListObject*) list; + Py_ssize_t len = Py_SIZE(list); + if (likely(L->allocated > len)) { + Py_INCREF(x); + #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 + L->ob_item[len] = x; + #else + PyList_SET_ITEM(list, len, x); + #endif + __Pyx_SET_SIZE(list, len + 1); + return 0; + } + return PyList_Append(list, x); +} +#else +#define __Pyx_ListComp_Append(L,x) PyList_Append(L,x) +#endif + +/* PySequenceMultiply.proto */ +#define __Pyx_PySequence_Multiply_Left(mul, seq) __Pyx_PySequence_Multiply(seq, mul) +static CYTHON_INLINE PyObject* __Pyx_PySequence_Multiply(PyObject *seq, Py_ssize_t mul); + +/* SetItemInt.proto */ +#define __Pyx_SetItemInt(o, i, v, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_SetItemInt_Fast(o, (Py_ssize_t)i, v, is_list, wraparound, boundscheck) :\ + (is_list ? (PyErr_SetString(PyExc_IndexError, "list assignment index out of range"), -1) :\ + __Pyx_SetItemInt_Generic(o, to_py_func(i), v))) +static int __Pyx_SetItemInt_Generic(PyObject *o, PyObject *j, PyObject *v); +static CYTHON_INLINE int __Pyx_SetItemInt_Fast(PyObject *o, Py_ssize_t i, PyObject *v, + int is_list, int wraparound, int boundscheck); + +/* RaiseUnboundLocalError.proto */ +static CYTHON_INLINE void __Pyx_RaiseUnboundLocalError(const char *varname); + +/* DivInt[long].proto */ +static CYTHON_INLINE long __Pyx_div_long(long, long); + +/* PySequenceContains.proto */ +static CYTHON_INLINE int __Pyx_PySequence_ContainsTF(PyObject* item, PyObject* seq, int eq) { + int result = PySequence_Contains(seq, item); + return unlikely(result < 0) ? result : (result == (eq == Py_EQ)); +} + +/* ImportFrom.proto */ +static PyObject* __Pyx_ImportFrom(PyObject* module, PyObject* name); + +/* HasAttr.proto */ +#if __PYX_LIMITED_VERSION_HEX >= 0x030d00A1 +#define __Pyx_HasAttr(o, n) PyObject_HasAttrWithError(o, n) +#else +static CYTHON_INLINE int __Pyx_HasAttr(PyObject *, PyObject *); +#endif + +/* ListAppend.proto */ +#if CYTHON_USE_PYLIST_INTERNALS && CYTHON_ASSUME_SAFE_MACROS +static CYTHON_INLINE int __Pyx_PyList_Append(PyObject* list, PyObject* x) { + PyListObject* L = (PyListObject*) list; + Py_ssize_t len = Py_SIZE(list); + if (likely(L->allocated > len) & likely(len > (L->allocated >> 1))) { + Py_INCREF(x); + #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 + L->ob_item[len] = x; + #else + PyList_SET_ITEM(list, len, x); + #endif + __Pyx_SET_SIZE(list, len + 1); + return 0; + } + return PyList_Append(list, x); +} +#else +#define __Pyx_PyList_Append(L,x) PyList_Append(L,x) +#endif + +/* PyObjectCall2Args.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call2Args(PyObject* function, PyObject* arg1, PyObject* arg2); + +/* PyObjectGetMethod.proto */ +static int __Pyx_PyObject_GetMethod(PyObject *obj, PyObject *name, PyObject **method); + +/* PyObjectCallMethod1.proto */ +static PyObject* __Pyx_PyObject_CallMethod1(PyObject* obj, PyObject* method_name, PyObject* arg); + +/* StringJoin.proto */ +#if PY_MAJOR_VERSION < 3 +#define __Pyx_PyString_Join __Pyx_PyBytes_Join +#define __Pyx_PyBaseString_Join(s, v) (PyUnicode_CheckExact(s) ? PyUnicode_Join(s, v) : __Pyx_PyBytes_Join(s, v)) +#else +#define __Pyx_PyString_Join PyUnicode_Join +#define __Pyx_PyBaseString_Join PyUnicode_Join +#endif +static CYTHON_INLINE PyObject* __Pyx_PyBytes_Join(PyObject* sep, PyObject* values); + +/* CIntToPyUnicode.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_size_t(size_t value, Py_ssize_t width, char padding_char, char format_char); + +/* Profile.proto */ +#ifndef CYTHON_PROFILE +#if CYTHON_COMPILING_IN_LIMITED_API || CYTHON_COMPILING_IN_PYPY + #define CYTHON_PROFILE 0 +#else + #define CYTHON_PROFILE 1 +#endif +#endif +#ifndef CYTHON_TRACE_NOGIL + #define CYTHON_TRACE_NOGIL 0 +#else + #if CYTHON_TRACE_NOGIL && !defined(CYTHON_TRACE) + #define CYTHON_TRACE 1 + #endif +#endif +#ifndef CYTHON_TRACE + #define CYTHON_TRACE 0 +#endif +#if CYTHON_TRACE + #undef CYTHON_PROFILE_REUSE_FRAME +#endif +#ifndef CYTHON_PROFILE_REUSE_FRAME + #define CYTHON_PROFILE_REUSE_FRAME 0 +#endif +#if CYTHON_PROFILE || CYTHON_TRACE + #include "compile.h" + #include "frameobject.h" + #include "traceback.h" +#if PY_VERSION_HEX >= 0x030b00a6 + #ifndef Py_BUILD_CORE + #define Py_BUILD_CORE 1 + #endif + #include "internal/pycore_frame.h" +#endif + #if CYTHON_PROFILE_REUSE_FRAME + #define CYTHON_FRAME_MODIFIER static + #define CYTHON_FRAME_DEL(frame) + #else + #define CYTHON_FRAME_MODIFIER + #define CYTHON_FRAME_DEL(frame) Py_CLEAR(frame) + #endif + #define __Pyx_TraceDeclarations\ + static PyCodeObject *__pyx_frame_code = NULL;\ + CYTHON_FRAME_MODIFIER PyFrameObject *__pyx_frame = NULL;\ + int __Pyx_use_tracing = 0; + #define __Pyx_TraceFrameInit(codeobj)\ + if (codeobj) __pyx_frame_code = (PyCodeObject*) codeobj; +#if PY_VERSION_HEX >= 0x030b00a2 + #if PY_VERSION_HEX >= 0x030C00b1 + #define __Pyx_IsTracing(tstate, check_tracing, check_funcs)\ + ((!(check_tracing) || !(tstate)->tracing) &&\ + (!(check_funcs) || (tstate)->c_profilefunc || (CYTHON_TRACE && (tstate)->c_tracefunc))) + #else + #define __Pyx_IsTracing(tstate, check_tracing, check_funcs)\ + (unlikely((tstate)->cframe->use_tracing) &&\ + (!(check_tracing) || !(tstate)->tracing) &&\ + (!(check_funcs) || (tstate)->c_profilefunc || (CYTHON_TRACE && (tstate)->c_tracefunc))) + #endif + #define __Pyx_EnterTracing(tstate) PyThreadState_EnterTracing(tstate) + #define __Pyx_LeaveTracing(tstate) PyThreadState_LeaveTracing(tstate) +#elif PY_VERSION_HEX >= 0x030a00b1 + #define __Pyx_IsTracing(tstate, check_tracing, check_funcs)\ + (unlikely((tstate)->cframe->use_tracing) &&\ + (!(check_tracing) || !(tstate)->tracing) &&\ + (!(check_funcs) || (tstate)->c_profilefunc || (CYTHON_TRACE && (tstate)->c_tracefunc))) + #define __Pyx_EnterTracing(tstate)\ + do { tstate->tracing++; tstate->cframe->use_tracing = 0; } while (0) + #define __Pyx_LeaveTracing(tstate)\ + do {\ + tstate->tracing--;\ + tstate->cframe->use_tracing = ((CYTHON_TRACE && tstate->c_tracefunc != NULL)\ + || tstate->c_profilefunc != NULL);\ + } while (0) +#else + #define __Pyx_IsTracing(tstate, check_tracing, check_funcs)\ + (unlikely((tstate)->use_tracing) &&\ + (!(check_tracing) || !(tstate)->tracing) &&\ + (!(check_funcs) || (tstate)->c_profilefunc || (CYTHON_TRACE && (tstate)->c_tracefunc))) + #define __Pyx_EnterTracing(tstate)\ + do { tstate->tracing++; tstate->use_tracing = 0; } while (0) + #define __Pyx_LeaveTracing(tstate)\ + do {\ + tstate->tracing--;\ + tstate->use_tracing = ((CYTHON_TRACE && tstate->c_tracefunc != NULL)\ + || tstate->c_profilefunc != NULL);\ + } while (0) +#endif + #ifdef WITH_THREAD + #define __Pyx_TraceCall(funcname, srcfile, firstlineno, nogil, goto_error)\ + if (nogil) {\ + if (CYTHON_TRACE_NOGIL) {\ + PyThreadState *tstate;\ + PyGILState_STATE state = PyGILState_Ensure();\ + tstate = __Pyx_PyThreadState_Current;\ + if (__Pyx_IsTracing(tstate, 1, 1)) {\ + __Pyx_use_tracing = __Pyx_TraceSetupAndCall(&__pyx_frame_code, &__pyx_frame, tstate, funcname, srcfile, firstlineno);\ + }\ + PyGILState_Release(state);\ + if (unlikely(__Pyx_use_tracing < 0)) goto_error;\ + }\ + } else {\ + PyThreadState* tstate = PyThreadState_GET();\ + if (__Pyx_IsTracing(tstate, 1, 1)) {\ + __Pyx_use_tracing = __Pyx_TraceSetupAndCall(&__pyx_frame_code, &__pyx_frame, tstate, funcname, srcfile, firstlineno);\ + if (unlikely(__Pyx_use_tracing < 0)) goto_error;\ + }\ + } + #else + #define __Pyx_TraceCall(funcname, srcfile, firstlineno, nogil, goto_error)\ + { PyThreadState* tstate = PyThreadState_GET();\ + if (__Pyx_IsTracing(tstate, 1, 1)) {\ + __Pyx_use_tracing = __Pyx_TraceSetupAndCall(&__pyx_frame_code, &__pyx_frame, tstate, funcname, srcfile, firstlineno);\ + if (unlikely(__Pyx_use_tracing < 0)) goto_error;\ + }\ + } + #endif + #define __Pyx_TraceException()\ + if (likely(!__Pyx_use_tracing)); else {\ + PyThreadState* tstate = __Pyx_PyThreadState_Current;\ + if (__Pyx_IsTracing(tstate, 0, 1)) {\ + __Pyx_EnterTracing(tstate);\ + PyObject *exc_info = __Pyx_GetExceptionTuple(tstate);\ + if (exc_info) {\ + if (CYTHON_TRACE && tstate->c_tracefunc)\ + tstate->c_tracefunc(\ + tstate->c_traceobj, __pyx_frame, PyTrace_EXCEPTION, exc_info);\ + tstate->c_profilefunc(\ + tstate->c_profileobj, __pyx_frame, PyTrace_EXCEPTION, exc_info);\ + Py_DECREF(exc_info);\ + }\ + __Pyx_LeaveTracing(tstate);\ + }\ + } + static void __Pyx_call_return_trace_func(PyThreadState *tstate, PyFrameObject *frame, PyObject *result) { + PyObject *type, *value, *traceback; + __Pyx_ErrFetchInState(tstate, &type, &value, &traceback); + __Pyx_EnterTracing(tstate); + if (CYTHON_TRACE && tstate->c_tracefunc) + tstate->c_tracefunc(tstate->c_traceobj, frame, PyTrace_RETURN, result); + if (tstate->c_profilefunc) + tstate->c_profilefunc(tstate->c_profileobj, frame, PyTrace_RETURN, result); + CYTHON_FRAME_DEL(frame); + __Pyx_LeaveTracing(tstate); + __Pyx_ErrRestoreInState(tstate, type, value, traceback); + } + #ifdef WITH_THREAD + #define __Pyx_TraceReturn(result, nogil)\ + if (likely(!__Pyx_use_tracing)); else {\ + if (nogil) {\ + if (CYTHON_TRACE_NOGIL) {\ + PyThreadState *tstate;\ + PyGILState_STATE state = PyGILState_Ensure();\ + tstate = __Pyx_PyThreadState_Current;\ + if (__Pyx_IsTracing(tstate, 0, 0)) {\ + __Pyx_call_return_trace_func(tstate, __pyx_frame, (PyObject*)result);\ + }\ + PyGILState_Release(state);\ + }\ + } else {\ + PyThreadState* tstate = __Pyx_PyThreadState_Current;\ + if (__Pyx_IsTracing(tstate, 0, 0)) {\ + __Pyx_call_return_trace_func(tstate, __pyx_frame, (PyObject*)result);\ + }\ + }\ + } + #else + #define __Pyx_TraceReturn(result, nogil)\ + if (likely(!__Pyx_use_tracing)); else {\ + PyThreadState* tstate = __Pyx_PyThreadState_Current;\ + if (__Pyx_IsTracing(tstate, 0, 0)) {\ + __Pyx_call_return_trace_func(tstate, __pyx_frame, (PyObject*)result);\ + }\ + } + #endif + static PyCodeObject *__Pyx_createFrameCodeObject(const char *funcname, const char *srcfile, int firstlineno); + static int __Pyx_TraceSetupAndCall(PyCodeObject** code, PyFrameObject** frame, PyThreadState* tstate, const char *funcname, const char *srcfile, int firstlineno); +#else + #define __Pyx_TraceDeclarations + #define __Pyx_TraceFrameInit(codeobj) + #define __Pyx_TraceCall(funcname, srcfile, firstlineno, nogil, goto_error) if ((1)); else goto_error; + #define __Pyx_TraceException() + #define __Pyx_TraceReturn(result, nogil) +#endif +#if CYTHON_TRACE + static int __Pyx_call_line_trace_func(PyThreadState *tstate, PyFrameObject *frame, int lineno) { + int ret; + PyObject *type, *value, *traceback; + __Pyx_ErrFetchInState(tstate, &type, &value, &traceback); + __Pyx_PyFrame_SetLineNumber(frame, lineno); + __Pyx_EnterTracing(tstate); + ret = tstate->c_tracefunc(tstate->c_traceobj, frame, PyTrace_LINE, NULL); + __Pyx_LeaveTracing(tstate); + if (likely(!ret)) { + __Pyx_ErrRestoreInState(tstate, type, value, traceback); + } else { + Py_XDECREF(type); + Py_XDECREF(value); + Py_XDECREF(traceback); + } + return ret; + } + #ifdef WITH_THREAD + #define __Pyx_TraceLine(lineno, nogil, goto_error)\ + if (likely(!__Pyx_use_tracing)); else {\ + if (nogil) {\ + if (CYTHON_TRACE_NOGIL) {\ + int ret = 0;\ + PyThreadState *tstate;\ + PyGILState_STATE state = __Pyx_PyGILState_Ensure();\ + tstate = __Pyx_PyThreadState_Current;\ + if (__Pyx_IsTracing(tstate, 0, 0) && tstate->c_tracefunc && __pyx_frame->f_trace) {\ + ret = __Pyx_call_line_trace_func(tstate, __pyx_frame, lineno);\ + }\ + __Pyx_PyGILState_Release(state);\ + if (unlikely(ret)) goto_error;\ + }\ + } else {\ + PyThreadState* tstate = __Pyx_PyThreadState_Current;\ + if (__Pyx_IsTracing(tstate, 0, 0) && tstate->c_tracefunc && __pyx_frame->f_trace) {\ + int ret = __Pyx_call_line_trace_func(tstate, __pyx_frame, lineno);\ + if (unlikely(ret)) goto_error;\ + }\ + }\ + } + #else + #define __Pyx_TraceLine(lineno, nogil, goto_error)\ + if (likely(!__Pyx_use_tracing)); else {\ + PyThreadState* tstate = __Pyx_PyThreadState_Current;\ + if (__Pyx_IsTracing(tstate, 0, 0) && tstate->c_tracefunc && __pyx_frame->f_trace) {\ + int ret = __Pyx_call_line_trace_func(tstate, __pyx_frame, lineno);\ + if (unlikely(ret)) goto_error;\ + }\ + } + #endif +#else + #define __Pyx_TraceLine(lineno, nogil, goto_error) if ((1)); else goto_error; +#endif + +/* IsLittleEndian.proto */ +static CYTHON_INLINE int __Pyx_Is_Little_Endian(void); + +/* BufferFormatCheck.proto */ +static const char* __Pyx_BufFmt_CheckString(__Pyx_BufFmt_Context* ctx, const char* ts); +static void __Pyx_BufFmt_Init(__Pyx_BufFmt_Context* ctx, + __Pyx_BufFmt_StackElem* stack, + __Pyx_TypeInfo* type); + +/* BufferGetAndValidate.proto */ +#define __Pyx_GetBufferAndValidate(buf, obj, dtype, flags, nd, cast, stack)\ + ((obj == Py_None || obj == NULL) ?\ + (__Pyx_ZeroBuffer(buf), 0) :\ + __Pyx__GetBufferAndValidate(buf, obj, dtype, flags, nd, cast, stack)) +static int __Pyx__GetBufferAndValidate(Py_buffer* buf, PyObject* obj, + __Pyx_TypeInfo* dtype, int flags, int nd, int cast, __Pyx_BufFmt_StackElem* stack); +static void __Pyx_ZeroBuffer(Py_buffer* buf); +static CYTHON_INLINE void __Pyx_SafeReleaseBuffer(Py_buffer* info); +static Py_ssize_t __Pyx_minusones[] = { -1, -1, -1, -1, -1, -1, -1, -1 }; +static Py_ssize_t __Pyx_zeros[] = { 0, 0, 0, 0, 0, 0, 0, 0 }; + +/* MoveIfSupported.proto */ +#if CYTHON_USE_CPP_STD_MOVE + #include + #define __PYX_STD_MOVE_IF_SUPPORTED(x) std::move(x) +#else + #define __PYX_STD_MOVE_IF_SUPPORTED(x) x +#endif + +/* BufferFallbackError.proto */ +static void __Pyx_RaiseBufferFallbackError(void); + +/* PyObjectCallNoArg.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func); + +/* WriteUnraisableException.proto */ +static void __Pyx_WriteUnraisable(const char *name, int clineno, + int lineno, const char *filename, + int full_traceback, int nogil); + +/* PyObject_GenericGetAttrNoDict.proto */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GenericGetAttrNoDict PyObject_GenericGetAttr +#endif + +/* PyObject_GenericGetAttr.proto */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GenericGetAttr PyObject_GenericGetAttr +#endif + +/* IncludeStructmemberH.proto */ +#include + +/* FixUpExtensionType.proto */ +#if CYTHON_USE_TYPE_SPECS +static int __Pyx_fix_up_extension_type_from_spec(PyType_Spec *spec, PyTypeObject *type); +#endif + +/* PyObjectCallMethod0.proto */ +static PyObject* __Pyx_PyObject_CallMethod0(PyObject* obj, PyObject* method_name); + +/* ValidateBasesTuple.proto */ +#if CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API || CYTHON_USE_TYPE_SPECS +static int __Pyx_validate_bases_tuple(const char *type_name, Py_ssize_t dictoffset, PyObject *bases); +#endif + +/* PyType_Ready.proto */ +CYTHON_UNUSED static int __Pyx_PyType_Ready(PyTypeObject *t); + +/* SetupReduce.proto */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_setup_reduce(PyObject* type_obj); +#endif + +/* SetVTable.proto */ +static int __Pyx_SetVtable(PyTypeObject* typeptr , void* vtable); + +/* GetVTable.proto */ +static void* __Pyx_GetVtable(PyTypeObject *type); + +/* MergeVTables.proto */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_MergeVtables(PyTypeObject *type); +#endif + +/* TypeImport.proto */ +#ifndef __PYX_HAVE_RT_ImportType_proto_3_0_8 +#define __PYX_HAVE_RT_ImportType_proto_3_0_8 +#if defined (__STDC_VERSION__) && __STDC_VERSION__ >= 201112L +#include +#endif +#if (defined (__STDC_VERSION__) && __STDC_VERSION__ >= 201112L) || __cplusplus >= 201103L +#define __PYX_GET_STRUCT_ALIGNMENT_3_0_8(s) alignof(s) +#else +#define __PYX_GET_STRUCT_ALIGNMENT_3_0_8(s) sizeof(void*) +#endif +enum __Pyx_ImportType_CheckSize_3_0_8 { + __Pyx_ImportType_CheckSize_Error_3_0_8 = 0, + __Pyx_ImportType_CheckSize_Warn_3_0_8 = 1, + __Pyx_ImportType_CheckSize_Ignore_3_0_8 = 2 +}; +static PyTypeObject *__Pyx_ImportType_3_0_8(PyObject* module, const char *module_name, const char *class_name, size_t size, size_t alignment, enum __Pyx_ImportType_CheckSize_3_0_8 check_size); +#endif + +/* FetchSharedCythonModule.proto */ +static PyObject *__Pyx_FetchSharedCythonABIModule(void); + +/* FetchCommonType.proto */ +#if !CYTHON_USE_TYPE_SPECS +static PyTypeObject* __Pyx_FetchCommonType(PyTypeObject* type); +#else +static PyTypeObject* __Pyx_FetchCommonTypeFromSpec(PyObject *module, PyType_Spec *spec, PyObject *bases); +#endif + +/* PyMethodNew.proto */ +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject *__Pyx_PyMethod_New(PyObject *func, PyObject *self, PyObject *typ) { + PyObject *typesModule=NULL, *methodType=NULL, *result=NULL; + CYTHON_UNUSED_VAR(typ); + if (!self) + return __Pyx_NewRef(func); + typesModule = PyImport_ImportModule("types"); + if (!typesModule) return NULL; + methodType = PyObject_GetAttrString(typesModule, "MethodType"); + Py_DECREF(typesModule); + if (!methodType) return NULL; + result = PyObject_CallFunctionObjArgs(methodType, func, self, NULL); + Py_DECREF(methodType); + return result; +} +#elif PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx_PyMethod_New(PyObject *func, PyObject *self, PyObject *typ) { + CYTHON_UNUSED_VAR(typ); + if (!self) + return __Pyx_NewRef(func); + return PyMethod_New(func, self); +} +#else + #define __Pyx_PyMethod_New PyMethod_New +#endif + +/* PyVectorcallFastCallDict.proto */ +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE PyObject *__Pyx_PyVectorcall_FastCallDict(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw); +#endif + +/* CythonFunctionShared.proto */ +#define __Pyx_CyFunction_USED +#define __Pyx_CYFUNCTION_STATICMETHOD 0x01 +#define __Pyx_CYFUNCTION_CLASSMETHOD 0x02 +#define __Pyx_CYFUNCTION_CCLASS 0x04 +#define __Pyx_CYFUNCTION_COROUTINE 0x08 +#define __Pyx_CyFunction_GetClosure(f)\ + (((__pyx_CyFunctionObject *) (f))->func_closure) +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_CyFunction_GetClassObj(f)\ + (((__pyx_CyFunctionObject *) (f))->func_classobj) +#else + #define __Pyx_CyFunction_GetClassObj(f)\ + ((PyObject*) ((PyCMethodObject *) (f))->mm_class) +#endif +#define __Pyx_CyFunction_SetClassObj(f, classobj)\ + __Pyx__CyFunction_SetClassObj((__pyx_CyFunctionObject *) (f), (classobj)) +#define __Pyx_CyFunction_Defaults(type, f)\ + ((type *)(((__pyx_CyFunctionObject *) (f))->defaults)) +#define __Pyx_CyFunction_SetDefaultsGetter(f, g)\ + ((__pyx_CyFunctionObject *) (f))->defaults_getter = (g) +typedef struct { +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject_HEAD + PyObject *func; +#elif PY_VERSION_HEX < 0x030900B1 + PyCFunctionObject func; +#else + PyCMethodObject func; +#endif +#if CYTHON_BACKPORT_VECTORCALL + __pyx_vectorcallfunc func_vectorcall; +#endif +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API + PyObject *func_weakreflist; +#endif + PyObject *func_dict; + PyObject *func_name; + PyObject *func_qualname; + PyObject *func_doc; + PyObject *func_globals; + PyObject *func_code; + PyObject *func_closure; +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + PyObject *func_classobj; +#endif + void *defaults; + int defaults_pyobjects; + size_t defaults_size; + int flags; + PyObject *defaults_tuple; + PyObject *defaults_kwdict; + PyObject *(*defaults_getter)(PyObject *); + PyObject *func_annotations; + PyObject *func_is_coroutine; +} __pyx_CyFunctionObject; +#undef __Pyx_CyOrPyCFunction_Check +#define __Pyx_CyFunction_Check(obj) __Pyx_TypeCheck(obj, __pyx_CyFunctionType) +#define __Pyx_CyOrPyCFunction_Check(obj) __Pyx_TypeCheck2(obj, __pyx_CyFunctionType, &PyCFunction_Type) +#define __Pyx_CyFunction_CheckExact(obj) __Pyx_IS_TYPE(obj, __pyx_CyFunctionType) +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc); +#undef __Pyx_IsSameCFunction +#define __Pyx_IsSameCFunction(func, cfunc) __Pyx__IsSameCyOrCFunction(func, cfunc) +static PyObject *__Pyx_CyFunction_Init(__pyx_CyFunctionObject* op, PyMethodDef *ml, + int flags, PyObject* qualname, + PyObject *closure, + PyObject *module, PyObject *globals, + PyObject* code); +static CYTHON_INLINE void __Pyx__CyFunction_SetClassObj(__pyx_CyFunctionObject* f, PyObject* classobj); +static CYTHON_INLINE void *__Pyx_CyFunction_InitDefaults(PyObject *m, + size_t size, + int pyobjects); +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsTuple(PyObject *m, + PyObject *tuple); +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsKwDict(PyObject *m, + PyObject *dict); +static CYTHON_INLINE void __Pyx_CyFunction_SetAnnotationsDict(PyObject *m, + PyObject *dict); +static int __pyx_CyFunction_init(PyObject *module); +#if CYTHON_METH_FASTCALL +static PyObject * __Pyx_CyFunction_Vectorcall_NOARGS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_O(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +#if CYTHON_BACKPORT_VECTORCALL +#define __Pyx_CyFunction_func_vectorcall(f) (((__pyx_CyFunctionObject*)f)->func_vectorcall) +#else +#define __Pyx_CyFunction_func_vectorcall(f) (((PyCFunctionObject*)f)->vectorcall) +#endif +#endif + +/* CythonFunction.proto */ +static PyObject *__Pyx_CyFunction_New(PyMethodDef *ml, + int flags, PyObject* qualname, + PyObject *closure, + PyObject *module, PyObject *globals, + PyObject* code); + +/* CLineInTraceback.proto */ +#ifdef CYTHON_CLINE_IN_TRACEBACK +#define __Pyx_CLineForTraceback(tstate, c_line) (((CYTHON_CLINE_IN_TRACEBACK)) ? c_line : 0) +#else +static int __Pyx_CLineForTraceback(PyThreadState *tstate, int c_line); +#endif + +/* CodeObjectCache.proto */ +#if !CYTHON_COMPILING_IN_LIMITED_API +typedef struct { + PyCodeObject* code_object; + int code_line; +} __Pyx_CodeObjectCacheEntry; +struct __Pyx_CodeObjectCache { + int count; + int max_count; + __Pyx_CodeObjectCacheEntry* entries; +}; +static struct __Pyx_CodeObjectCache __pyx_code_cache = {0,0,NULL}; +static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line); +static PyCodeObject *__pyx_find_code_object(int code_line); +static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object); +#endif + +/* AddTraceback.proto */ +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename); + +#if PY_MAJOR_VERSION < 3 + static int __Pyx_GetBuffer(PyObject *obj, Py_buffer *view, int flags); + static void __Pyx_ReleaseBuffer(Py_buffer *view); +#else + #define __Pyx_GetBuffer PyObject_GetBuffer + #define __Pyx_ReleaseBuffer PyBuffer_Release +#endif + + +/* BufferStructDeclare.proto */ +typedef struct { + Py_ssize_t shape, strides, suboffsets; +} __Pyx_Buf_DimInfo; +typedef struct { + size_t refcount; + Py_buffer pybuffer; +} __Pyx_Buffer; +typedef struct { + __Pyx_Buffer *rcbuffer; + char *data; + __Pyx_Buf_DimInfo diminfo[8]; +} __Pyx_LocalBuf_ND; + +/* MemviewSliceIsContig.proto */ +static int __pyx_memviewslice_is_contig(const __Pyx_memviewslice mvs, char order, int ndim); + +/* OverlappingSlices.proto */ +static int __pyx_slices_overlap(__Pyx_memviewslice *slice1, + __Pyx_memviewslice *slice2, + int ndim, size_t itemsize); + +/* TypeInfoCompare.proto */ +static int __pyx_typeinfo_cmp(__Pyx_TypeInfo *a, __Pyx_TypeInfo *b); + +/* MemviewSliceValidateAndInit.proto */ +static int __Pyx_ValidateAndInit_memviewslice( + int *axes_specs, + int c_or_f_flag, + int buf_flags, + int ndim, + __Pyx_TypeInfo *dtype, + __Pyx_BufFmt_StackElem stack[], + __Pyx_memviewslice *memviewslice, + PyObject *original_obj); + +/* ObjectToMemviewSlice.proto */ +static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_dsds_double(PyObject *, int writable_flag); + +/* MemviewDtypeToObject.proto */ +static CYTHON_INLINE PyObject *__pyx_memview_get_double(const char *itemp); +static CYTHON_INLINE int __pyx_memview_set_double(const char *itemp, PyObject *obj); + +/* ObjectToMemviewSlice.proto */ +static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_ds_double(PyObject *, int writable_flag); + +/* CppExceptionConversion.proto */ +#ifndef __Pyx_CppExn2PyErr +#include +#include +#include +#include +static void __Pyx_CppExn2PyErr() { + try { + if (PyErr_Occurred()) + ; // let the latest Python exn pass through and ignore the current one + else + throw; + } catch (const std::bad_alloc& exn) { + PyErr_SetString(PyExc_MemoryError, exn.what()); + } catch (const std::bad_cast& exn) { + PyErr_SetString(PyExc_TypeError, exn.what()); + } catch (const std::bad_typeid& exn) { + PyErr_SetString(PyExc_TypeError, exn.what()); + } catch (const std::domain_error& exn) { + PyErr_SetString(PyExc_ValueError, exn.what()); + } catch (const std::invalid_argument& exn) { + PyErr_SetString(PyExc_ValueError, exn.what()); + } catch (const std::ios_base::failure& exn) { + PyErr_SetString(PyExc_IOError, exn.what()); + } catch (const std::out_of_range& exn) { + PyErr_SetString(PyExc_IndexError, exn.what()); + } catch (const std::overflow_error& exn) { + PyErr_SetString(PyExc_OverflowError, exn.what()); + } catch (const std::range_error& exn) { + PyErr_SetString(PyExc_ArithmeticError, exn.what()); + } catch (const std::underflow_error& exn) { + PyErr_SetString(PyExc_ArithmeticError, exn.what()); + } catch (const std::exception& exn) { + PyErr_SetString(PyExc_RuntimeError, exn.what()); + } + catch (...) + { + PyErr_SetString(PyExc_RuntimeError, "Unknown exception"); + } +} +#endif + +/* RealImag.proto */ +#if CYTHON_CCOMPLEX + #ifdef __cplusplus + #define __Pyx_CREAL(z) ((z).real()) + #define __Pyx_CIMAG(z) ((z).imag()) + #else + #define __Pyx_CREAL(z) (__real__(z)) + #define __Pyx_CIMAG(z) (__imag__(z)) + #endif +#else + #define __Pyx_CREAL(z) ((z).real) + #define __Pyx_CIMAG(z) ((z).imag) +#endif +#if defined(__cplusplus) && CYTHON_CCOMPLEX\ + && (defined(_WIN32) || defined(__clang__) || (defined(__GNUC__) && (__GNUC__ >= 5 || __GNUC__ == 4 && __GNUC_MINOR__ >= 4 )) || __cplusplus >= 201103) + #define __Pyx_SET_CREAL(z,x) ((z).real(x)) + #define __Pyx_SET_CIMAG(z,y) ((z).imag(y)) +#else + #define __Pyx_SET_CREAL(z,x) __Pyx_CREAL(z) = (x) + #define __Pyx_SET_CIMAG(z,y) __Pyx_CIMAG(z) = (y) +#endif + +/* Arithmetic.proto */ +#if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) + #define __Pyx_c_eq_float(a, b) ((a)==(b)) + #define __Pyx_c_sum_float(a, b) ((a)+(b)) + #define __Pyx_c_diff_float(a, b) ((a)-(b)) + #define __Pyx_c_prod_float(a, b) ((a)*(b)) + #define __Pyx_c_quot_float(a, b) ((a)/(b)) + #define __Pyx_c_neg_float(a) (-(a)) + #ifdef __cplusplus + #define __Pyx_c_is_zero_float(z) ((z)==(float)0) + #define __Pyx_c_conj_float(z) (::std::conj(z)) + #if 1 + #define __Pyx_c_abs_float(z) (::std::abs(z)) + #define __Pyx_c_pow_float(a, b) (::std::pow(a, b)) + #endif + #else + #define __Pyx_c_is_zero_float(z) ((z)==0) + #define __Pyx_c_conj_float(z) (conjf(z)) + #if 1 + #define __Pyx_c_abs_float(z) (cabsf(z)) + #define __Pyx_c_pow_float(a, b) (cpowf(a, b)) + #endif + #endif +#else + static CYTHON_INLINE int __Pyx_c_eq_float(__pyx_t_float_complex, __pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_sum_float(__pyx_t_float_complex, __pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_diff_float(__pyx_t_float_complex, __pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_prod_float(__pyx_t_float_complex, __pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_quot_float(__pyx_t_float_complex, __pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_neg_float(__pyx_t_float_complex); + static CYTHON_INLINE int __Pyx_c_is_zero_float(__pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_conj_float(__pyx_t_float_complex); + #if 1 + static CYTHON_INLINE float __Pyx_c_abs_float(__pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_pow_float(__pyx_t_float_complex, __pyx_t_float_complex); + #endif +#endif + +/* Arithmetic.proto */ +#if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) + #define __Pyx_c_eq_double(a, b) ((a)==(b)) + #define __Pyx_c_sum_double(a, b) ((a)+(b)) + #define __Pyx_c_diff_double(a, b) ((a)-(b)) + #define __Pyx_c_prod_double(a, b) ((a)*(b)) + #define __Pyx_c_quot_double(a, b) ((a)/(b)) + #define __Pyx_c_neg_double(a) (-(a)) + #ifdef __cplusplus + #define __Pyx_c_is_zero_double(z) ((z)==(double)0) + #define __Pyx_c_conj_double(z) (::std::conj(z)) + #if 1 + #define __Pyx_c_abs_double(z) (::std::abs(z)) + #define __Pyx_c_pow_double(a, b) (::std::pow(a, b)) + #endif + #else + #define __Pyx_c_is_zero_double(z) ((z)==0) + #define __Pyx_c_conj_double(z) (conj(z)) + #if 1 + #define __Pyx_c_abs_double(z) (cabs(z)) + #define __Pyx_c_pow_double(a, b) (cpow(a, b)) + #endif + #endif +#else + static CYTHON_INLINE int __Pyx_c_eq_double(__pyx_t_double_complex, __pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_sum_double(__pyx_t_double_complex, __pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_diff_double(__pyx_t_double_complex, __pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_prod_double(__pyx_t_double_complex, __pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_quot_double(__pyx_t_double_complex, __pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_neg_double(__pyx_t_double_complex); + static CYTHON_INLINE int __Pyx_c_is_zero_double(__pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_conj_double(__pyx_t_double_complex); + #if 1 + static CYTHON_INLINE double __Pyx_c_abs_double(__pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_pow_double(__pyx_t_double_complex, __pyx_t_double_complex); + #endif +#endif + +/* MemviewSliceCopyTemplate.proto */ +static __Pyx_memviewslice +__pyx_memoryview_copy_new_contig(const __Pyx_memviewslice *from_mvs, + const char *mode, int ndim, + size_t sizeof_dtype, int contig_flag, + int dtype_is_object); + +/* MemviewSliceInit.proto */ +#define __Pyx_BUF_MAX_NDIMS %(BUF_MAX_NDIMS)d +#define __Pyx_MEMVIEW_DIRECT 1 +#define __Pyx_MEMVIEW_PTR 2 +#define __Pyx_MEMVIEW_FULL 4 +#define __Pyx_MEMVIEW_CONTIG 8 +#define __Pyx_MEMVIEW_STRIDED 16 +#define __Pyx_MEMVIEW_FOLLOW 32 +#define __Pyx_IS_C_CONTIG 1 +#define __Pyx_IS_F_CONTIG 2 +static int __Pyx_init_memviewslice( + struct __pyx_memoryview_obj *memview, + int ndim, + __Pyx_memviewslice *memviewslice, + int memview_is_new_reference); +static CYTHON_INLINE int __pyx_add_acquisition_count_locked( + __pyx_atomic_int_type *acquisition_count, PyThread_type_lock lock); +static CYTHON_INLINE int __pyx_sub_acquisition_count_locked( + __pyx_atomic_int_type *acquisition_count, PyThread_type_lock lock); +#define __pyx_get_slice_count_pointer(memview) (&memview->acquisition_count) +#define __PYX_INC_MEMVIEW(slice, have_gil) __Pyx_INC_MEMVIEW(slice, have_gil, __LINE__) +#define __PYX_XCLEAR_MEMVIEW(slice, have_gil) __Pyx_XCLEAR_MEMVIEW(slice, have_gil, __LINE__) +static CYTHON_INLINE void __Pyx_INC_MEMVIEW(__Pyx_memviewslice *, int, int); +static CYTHON_INLINE void __Pyx_XCLEAR_MEMVIEW(__Pyx_memviewslice *, int, int); + +/* TypeInfoToFormat.proto */ +struct __pyx_typeinfo_string { + char string[3]; +}; +static struct __pyx_typeinfo_string __Pyx_TypeInfoToFormat(__Pyx_TypeInfo *type); + +/* CIntFromPy.proto */ +static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *); + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value); + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value); + +/* None.proto */ +#include + +/* CIntFromPy.proto */ +static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *); + +/* CIntFromPy.proto */ +static CYTHON_INLINE char __Pyx_PyInt_As_char(PyObject *); + +/* FormatTypeName.proto */ +#if CYTHON_COMPILING_IN_LIMITED_API +typedef PyObject *__Pyx_TypeName; +#define __Pyx_FMT_TYPENAME "%U" +static __Pyx_TypeName __Pyx_PyType_GetName(PyTypeObject* tp); +#define __Pyx_DECREF_TypeName(obj) Py_XDECREF(obj) +#else +typedef const char *__Pyx_TypeName; +#define __Pyx_FMT_TYPENAME "%.200s" +#define __Pyx_PyType_GetName(tp) ((tp)->tp_name) +#define __Pyx_DECREF_TypeName(obj) +#endif + +/* CheckBinaryVersion.proto */ +static unsigned long __Pyx_get_runtime_version(void); +static int __Pyx_check_binary_version(unsigned long ct_version, unsigned long rt_version, int allow_newer); + +/* InitStrings.proto */ +static int __Pyx_InitStrings(__Pyx_StringTabEntry *t); + +/* #### Code section: module_declarations ### */ +static PyObject *__pyx_array_get_memview(struct __pyx_array_obj *__pyx_v_self); /* proto*/ +static char *__pyx_memoryview_get_item_pointer(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index); /* proto*/ +static PyObject *__pyx_memoryview_is_slice(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_obj); /* proto*/ +static PyObject *__pyx_memoryview_setitem_slice_assignment(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_dst, PyObject *__pyx_v_src); /* proto*/ +static PyObject *__pyx_memoryview_setitem_slice_assign_scalar(struct __pyx_memoryview_obj *__pyx_v_self, struct __pyx_memoryview_obj *__pyx_v_dst, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryview_setitem_indexed(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryview_convert_item_to_object(struct __pyx_memoryview_obj *__pyx_v_self, char *__pyx_v_itemp); /* proto*/ +static PyObject *__pyx_memoryview_assign_item_from_object(struct __pyx_memoryview_obj *__pyx_v_self, char *__pyx_v_itemp, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryview__get_base(struct __pyx_memoryview_obj *__pyx_v_self); /* proto*/ +static PyObject *__pyx_memoryviewslice_convert_item_to_object(struct __pyx_memoryviewslice_obj *__pyx_v_self, char *__pyx_v_itemp); /* proto*/ +static PyObject *__pyx_memoryviewslice_assign_item_from_object(struct __pyx_memoryviewslice_obj *__pyx_v_self, char *__pyx_v_itemp, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryviewslice__get_base(struct __pyx_memoryviewslice_obj *__pyx_v_self); /* proto*/ +static CYTHON_INLINE PyObject *__pyx_f_5numpy_7ndarray_4base_base(PyArrayObject *__pyx_v_self); /* proto*/ +static CYTHON_INLINE PyArray_Descr *__pyx_f_5numpy_7ndarray_5descr_descr(PyArrayObject *__pyx_v_self); /* proto*/ +static CYTHON_INLINE int __pyx_f_5numpy_7ndarray_4ndim_ndim(PyArrayObject *__pyx_v_self); /* proto*/ +static CYTHON_INLINE npy_intp *__pyx_f_5numpy_7ndarray_5shape_shape(PyArrayObject *__pyx_v_self); /* proto*/ +static CYTHON_INLINE npy_intp *__pyx_f_5numpy_7ndarray_7strides_strides(PyArrayObject *__pyx_v_self); /* proto*/ +static CYTHON_INLINE npy_intp __pyx_f_5numpy_7ndarray_4size_size(PyArrayObject *__pyx_v_self); /* proto*/ +static CYTHON_INLINE char *__pyx_f_5numpy_7ndarray_4data_data(PyArrayObject *__pyx_v_self); /* proto*/ + +/* Module declarations from "cython.view" */ +static struct __pyx_array_obj *__pyx_array_new(PyObject *, Py_ssize_t, char *, char *, char *); /*proto*/ + +/* Module declarations from "cython.dataclasses" */ + +/* Module declarations from "cython" */ + +/* Module declarations from "libc.string" */ + +/* Module declarations from "libcpp.string" */ + +/* Module declarations from "libcpp.vector" */ + +/* Module declarations from "libcpp" */ + +/* Module declarations from "libc.stdio" */ + +/* Module declarations from "__builtin__" */ + +/* Module declarations from "cpython.type" */ + +/* Module declarations from "cpython" */ + +/* Module declarations from "cpython.object" */ + +/* Module declarations from "cpython.ref" */ + +/* Module declarations from "numpy" */ + +/* Module declarations from "numpy" */ + +/* Module declarations from "rednose.helpers.ekf_sym_pyx" */ +static PyObject *__pyx_collections_abc_Sequence = 0; +static PyObject *generic = 0; +static PyObject *strided = 0; +static PyObject *indirect = 0; +static PyObject *contiguous = 0; +static PyObject *indirect_contiguous = 0; +static int __pyx_memoryview_thread_locks_used; +static PyThread_type_lock __pyx_memoryview_thread_locks[8]; +static PyArrayObject *__pyx_f_7rednose_7helpers_11ekf_sym_pyx_matrix_to_numpy(Eigen::Matrix); /*proto*/ +static PyArrayObject *__pyx_f_7rednose_7helpers_11ekf_sym_pyx_vector_to_numpy(Eigen::VectorXd); /*proto*/ +static std::string __pyx_convert_string_from_py_std__in_string(PyObject *); /*proto*/ +static std::vector __pyx_convert_vector_from_py_int(PyObject *); /*proto*/ +static std::vector __pyx_convert_vector_from_py_std_3a__3a_string(PyObject *); /*proto*/ +static int __pyx_array_allocate_buffer(struct __pyx_array_obj *); /*proto*/ +static struct __pyx_array_obj *__pyx_array_new(PyObject *, Py_ssize_t, char *, char *, char *); /*proto*/ +static PyObject *__pyx_memoryview_new(PyObject *, int, int, __Pyx_TypeInfo *); /*proto*/ +static CYTHON_INLINE int __pyx_memoryview_check(PyObject *); /*proto*/ +static PyObject *_unellipsify(PyObject *, int); /*proto*/ +static int assert_direct_dimensions(Py_ssize_t *, int); /*proto*/ +static struct __pyx_memoryview_obj *__pyx_memview_slice(struct __pyx_memoryview_obj *, PyObject *); /*proto*/ +static int __pyx_memoryview_slice_memviewslice(__Pyx_memviewslice *, Py_ssize_t, Py_ssize_t, Py_ssize_t, int, int, int *, Py_ssize_t, Py_ssize_t, Py_ssize_t, int, int, int, int); /*proto*/ +static char *__pyx_pybuffer_index(Py_buffer *, char *, Py_ssize_t, Py_ssize_t); /*proto*/ +static int __pyx_memslice_transpose(__Pyx_memviewslice *); /*proto*/ +static PyObject *__pyx_memoryview_fromslice(__Pyx_memviewslice, int, PyObject *(*)(char *), int (*)(char *, PyObject *), int); /*proto*/ +static __Pyx_memviewslice *__pyx_memoryview_get_slice_from_memoryview(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/ +static void __pyx_memoryview_slice_copy(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/ +static PyObject *__pyx_memoryview_copy_object(struct __pyx_memoryview_obj *); /*proto*/ +static PyObject *__pyx_memoryview_copy_object_from_slice(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/ +static Py_ssize_t abs_py_ssize_t(Py_ssize_t); /*proto*/ +static char __pyx_get_best_slice_order(__Pyx_memviewslice *, int); /*proto*/ +static void _copy_strided_to_strided(char *, Py_ssize_t *, char *, Py_ssize_t *, Py_ssize_t *, Py_ssize_t *, int, size_t); /*proto*/ +static void copy_strided_to_strided(__Pyx_memviewslice *, __Pyx_memviewslice *, int, size_t); /*proto*/ +static Py_ssize_t __pyx_memoryview_slice_get_size(__Pyx_memviewslice *, int); /*proto*/ +static Py_ssize_t __pyx_fill_contig_strides_array(Py_ssize_t *, Py_ssize_t *, Py_ssize_t, int, char); /*proto*/ +static void *__pyx_memoryview_copy_data_to_temp(__Pyx_memviewslice *, __Pyx_memviewslice *, char, int); /*proto*/ +static int __pyx_memoryview_err_extents(int, Py_ssize_t, Py_ssize_t); /*proto*/ +static int __pyx_memoryview_err_dim(PyObject *, PyObject *, int); /*proto*/ +static int __pyx_memoryview_err(PyObject *, PyObject *); /*proto*/ +static int __pyx_memoryview_err_no_memory(void); /*proto*/ +static int __pyx_memoryview_copy_contents(__Pyx_memviewslice, __Pyx_memviewslice, int, int, int); /*proto*/ +static void __pyx_memoryview_broadcast_leading(__Pyx_memviewslice *, int, int); /*proto*/ +static void __pyx_memoryview_refcount_copying(__Pyx_memviewslice *, int, int, int); /*proto*/ +static void __pyx_memoryview_refcount_objects_in_slice_with_gil(char *, Py_ssize_t *, Py_ssize_t *, int, int); /*proto*/ +static void __pyx_memoryview_refcount_objects_in_slice(char *, Py_ssize_t *, Py_ssize_t *, int, int); /*proto*/ +static void __pyx_memoryview_slice_assign_scalar(__Pyx_memviewslice *, int, size_t, void *, int); /*proto*/ +static void __pyx_memoryview__slice_assign_scalar(char *, Py_ssize_t *, Py_ssize_t *, int, size_t, void *); /*proto*/ +static PyObject *__pyx_unpickle_Enum__set_state(struct __pyx_MemviewEnum_obj *, PyObject *); /*proto*/ +static PyObject *__pyx_format_from_typeinfo(__Pyx_TypeInfo *); /*proto*/ +/* #### Code section: typeinfo ### */ +static __Pyx_TypeInfo __Pyx_TypeInfo_double = { "double", NULL, sizeof(double), { 0 }, 0, 'R', 0, 0 }; +static __Pyx_TypeInfo __Pyx_TypeInfo_nn___pyx_t_5numpy_float64_t = { "float64_t", NULL, sizeof(__pyx_t_5numpy_float64_t), { 0 }, 0, 'R', 0, 0 }; +/* #### Code section: before_global_var ### */ +#define __Pyx_MODULE_NAME "rednose.helpers.ekf_sym_pyx" +extern int __pyx_module_is_main_rednose__helpers__ekf_sym_pyx; +int __pyx_module_is_main_rednose__helpers__ekf_sym_pyx = 0; + +/* Implementation of "rednose.helpers.ekf_sym_pyx" */ +/* #### Code section: global_var ### */ +static PyObject *__pyx_builtin_NotImplementedError; +static PyObject *__pyx_builtin_TypeError; +static PyObject *__pyx_builtin___import__; +static PyObject *__pyx_builtin_ValueError; +static PyObject *__pyx_builtin_MemoryError; +static PyObject *__pyx_builtin_enumerate; +static PyObject *__pyx_builtin_range; +static PyObject *__pyx_builtin_AssertionError; +static PyObject *__pyx_builtin_Ellipsis; +static PyObject *__pyx_builtin_id; +static PyObject *__pyx_builtin_IndexError; +static PyObject *__pyx_builtin_ImportError; +/* #### Code section: string_decls ### */ +static const char __pyx_k_[] = ": "; +static const char __pyx_k_C[] = "C"; +static const char __pyx_k_N[] = "N"; +static const char __pyx_k_O[] = "O"; +static const char __pyx_k_P[] = "P"; +static const char __pyx_k_Q[] = "Q"; +static const char __pyx_k_R[] = "R"; +static const char __pyx_k_T[] = "T{"; + static const char __pyx_k_a[] = "a"; + static const char __pyx_k_c[] = "c"; + static const char __pyx_k_t[] = "t"; + static const char __pyx_k_x[] = "x"; + static const char __pyx_k_z[] = "z"; + static const char __pyx_k_Ri[] = "Ri"; + static const char __pyx_k__2[] = "."; + static const char __pyx_k__3[] = "*"; + static const char __pyx_k__6[] = "'"; + static const char __pyx_k__7[] = ")"; + static const char __pyx_k__9[] = "^"; + static const char __pyx_k_gc[] = "gc"; + static const char __pyx_k_id[] = "id"; + static const char __pyx_k_np[] = "np"; + static const char __pyx_k_zi[] = "zi"; + static const char __pyx_k__10[] = ""; + static const char __pyx_k__11[] = ":"; +static const char __pyx_k__12[] = "}"; +static const char __pyx_k__13[] = "("; +static const char __pyx_k__14[] = ","; +static const char __pyx_k__58[] = "?"; +static const char __pyx_k_abc[] = "abc"; +static const char __pyx_k_and[] = " and "; +static const char __pyx_k_got[] = " (got "; +static const char __pyx_k_nan[] = "nan"; +static const char __pyx_k_new[] = "__new__"; +static const char __pyx_k_obj[] = "obj"; +static const char __pyx_k_res[] = "res"; +static const char __pyx_k_sys[] = "sys"; +static const char __pyx_k_val[] = "val"; +static const char __pyx_k_Ri_b[] = "Ri_b"; +static const char __pyx_k_args[] = "args"; +static const char __pyx_k_base[] = "base"; +static const char __pyx_k_copy[] = "copy"; +static const char __pyx_k_covs[] = "covs"; +static const char __pyx_k_dict[] = "__dict__"; +static const char __pyx_k_join[] = "join"; +static const char __pyx_k_kind[] = "kind"; +static const char __pyx_k_main[] = "__main__"; +static const char __pyx_k_mode[] = "mode"; +static const char __pyx_k_name[] = "name"; +static const char __pyx_k_ndim[] = "ndim"; +static const char __pyx_k_pack[] = "pack"; +static const char __pyx_k_self[] = "self"; +static const char __pyx_k_size[] = "size"; +static const char __pyx_k_spec[] = "__spec__"; +static const char __pyx_k_step[] = "step"; +static const char __pyx_k_stop[] = "stop"; +static const char __pyx_k_test[] = "__test__"; +static const char __pyx_k_utf8[] = "utf8"; +static const char __pyx_k_zi_b[] = "zi_b"; +static const char __pyx_k_ASCII[] = "ASCII"; +static const char __pyx_k_R_map[] = "R_map"; +static const char __pyx_k_class[] = "__class__"; +static const char __pyx_k_count[] = "count"; +static const char __pyx_k_dtype[] = "dtype"; +static const char __pyx_k_error[] = "error"; +static const char __pyx_k_flags[] = "flags"; +static const char __pyx_k_index[] = "index"; +static const char __pyx_k_numpy[] = "numpy"; +static const char __pyx_k_order[] = "order"; +static const char __pyx_k_range[] = "range"; +static const char __pyx_k_shape[] = "shape"; +static const char __pyx_k_start[] = "start"; +static const char __pyx_k_state[] = "state"; +static const char __pyx_k_z_map[] = "z_map"; +static const char __pyx_k_covs_b[] = "covs_b"; +static const char __pyx_k_double[] = "double"; +static const char __pyx_k_enable[] = "enable"; +static const char __pyx_k_encode[] = "encode"; +static const char __pyx_k_format[] = "format"; +static const char __pyx_k_import[] = "__import__"; +static const char __pyx_k_logger[] = "logger"; +static const char __pyx_k_name_2[] = "__name__"; +static const char __pyx_k_pickle[] = "pickle"; +static const char __pyx_k_reduce[] = "__reduce__"; +static const char __pyx_k_struct[] = "struct"; +static const char __pyx_k_tmpvec[] = "tmpvec"; +static const char __pyx_k_unpack[] = "unpack"; +static const char __pyx_k_update[] = "update"; +static const char __pyx_k_asarray[] = "asarray"; +static const char __pyx_k_augment[] = "augment"; +static const char __pyx_k_disable[] = "disable"; +static const char __pyx_k_fortran[] = "fortran"; +static const char __pyx_k_gen_dir[] = "gen_dir"; +static const char __pyx_k_memview[] = "memview"; +static const char __pyx_k_predict[] = "predict"; +static const char __pyx_k_state_b[] = "state_b"; +static const char __pyx_k_Ellipsis[] = "Ellipsis"; +static const char __pyx_k_Sequence[] = "Sequence"; +static const char __pyx_k_args_map[] = "args_map"; +static const char __pyx_k_dim_main[] = "dim_main"; +static const char __pyx_k_getstate[] = "__getstate__"; +static const char __pyx_k_itemsize[] = "itemsize"; +static const char __pyx_k_pyx_type[] = "__pyx_type"; +static const char __pyx_k_register[] = "register"; +static const char __pyx_k_setstate[] = "__setstate__"; +static const char __pyx_k_P_initial[] = "P_initial"; +static const char __pyx_k_TypeError[] = "TypeError"; +static const char __pyx_k_enumerate[] = "enumerate"; +static const char __pyx_k_estimates[] = "estimates"; +static const char __pyx_k_isenabled[] = "isenabled"; +static const char __pyx_k_maha_test[] = "maha_test"; +static const char __pyx_k_pyx_state[] = "__pyx_state"; +static const char __pyx_k_reduce_ex[] = "__reduce_ex__"; +static const char __pyx_k_x_initial[] = "x_initial"; +static const char __pyx_k_IndexError[] = "IndexError"; +static const char __pyx_k_ValueError[] = "ValueError"; +static const char __pyx_k_extra_args[] = "extra_args"; +static const char __pyx_k_global_var[] = "global_var"; +static const char __pyx_k_init_state[] = "init_state"; +static const char __pyx_k_norm_quats[] = "norm_quats"; +static const char __pyx_k_pyx_result[] = "__pyx_result"; +static const char __pyx_k_pyx_vtable[] = "__pyx_vtable__"; +static const char __pyx_k_rts_smooth[] = "rts_smooth"; +static const char __pyx_k_set_global[] = "set_global"; +static const char __pyx_k_EKF_sym_pyx[] = "EKF_sym_pyx"; +static const char __pyx_k_ImportError[] = "ImportError"; +static const char __pyx_k_MemoryError[] = "MemoryError"; +static const char __pyx_k_PickleError[] = "PickleError"; +static const char __pyx_k_collections[] = "collections"; +static const char __pyx_k_dim_augment[] = "dim_augment"; +static const char __pyx_k_filter_time[] = "filter_time"; +static const char __pyx_k_global_vars[] = "global_vars"; +static const char __pyx_k_maha_thresh[] = "maha_thresh"; +static const char __pyx_k_dim_main_err[] = "dim_main_err"; +static const char __pyx_k_initializing[] = "_initializing"; +static const char __pyx_k_is_coroutine[] = "_is_coroutine"; +static const char __pyx_k_pyx_checksum[] = "__pyx_checksum"; +static const char __pyx_k_reset_rewind[] = "reset_rewind"; +static const char __pyx_k_stringsource[] = ""; +static const char __pyx_k_version_info[] = "version_info"; +static const char __pyx_k_class_getitem[] = "__class_getitem__"; +static const char __pyx_k_reduce_cython[] = "__reduce_cython__"; +static const char __pyx_k_AssertionError[] = "AssertionError"; +static const char __pyx_k_extra_args_map[] = "extra_args_map"; +static const char __pyx_k_max_rewind_age[] = "max_rewind_age"; +static const char __pyx_k_View_MemoryView[] = "View.MemoryView"; +static const char __pyx_k_allocate_buffer[] = "allocate_buffer"; +static const char __pyx_k_collections_abc[] = "collections.abc"; +static const char __pyx_k_dim_augment_err[] = "dim_augment_err"; +static const char __pyx_k_dtype_is_object[] = "dtype_is_object"; +static const char __pyx_k_get_filter_time[] = "get_filter_time"; +static const char __pyx_k_maha_test_kinds[] = "maha_test_kinds"; +static const char __pyx_k_pyx_PickleError[] = "__pyx_PickleError"; +static const char __pyx_k_quaternion_idxs[] = "quaternion_idxs"; +static const char __pyx_k_set_filter_time[] = "set_filter_time"; +static const char __pyx_k_setstate_cython[] = "__setstate_cython__"; +static const char __pyx_k_EKF_sym_pyx_covs[] = "EKF_sym_pyx.covs"; +static const char __pyx_k_EKF_sym_pyx_state[] = "EKF_sym_pyx.state"; +static const char __pyx_k_ascontiguousarray[] = "ascontiguousarray"; +static const char __pyx_k_get_augment_times[] = "get_augment_times"; +static const char __pyx_k_pyx_unpickle_Enum[] = "__pyx_unpickle_Enum"; +static const char __pyx_k_asyncio_coroutines[] = "asyncio.coroutines"; +static const char __pyx_k_cline_in_traceback[] = "cline_in_traceback"; +static const char __pyx_k_strided_and_direct[] = ""; +static const char __pyx_k_EKF_sym_pyx_augment[] = "EKF_sym_pyx.augment"; +static const char __pyx_k_EKF_sym_pyx_predict[] = "EKF_sym_pyx.predict"; +static const char __pyx_k_NotImplementedError[] = "NotImplementedError"; +static const char __pyx_k_strided_and_indirect[] = ""; +static const char __pyx_k_EKF_sym_pyx_maha_test[] = "EKF_sym_pyx.maha_test"; +static const char __pyx_k_Invalid_shape_in_axis[] = "Invalid shape in axis "; +static const char __pyx_k_contiguous_and_direct[] = ""; +static const char __pyx_k_Cannot_index_with_type[] = "Cannot index with type '"; +static const char __pyx_k_EKF_sym_pyx_init_state[] = "EKF_sym_pyx.init_state"; +static const char __pyx_k_EKF_sym_pyx_rts_smooth[] = "EKF_sym_pyx.rts_smooth"; +static const char __pyx_k_EKF_sym_pyx_set_global[] = "EKF_sym_pyx.set_global"; +static const char __pyx_k_MemoryView_of_r_object[] = ""; +static const char __pyx_k_MemoryView_of_r_at_0x_x[] = ""; +static const char __pyx_k_contiguous_and_indirect[] = ""; +static const char __pyx_k_EKF_sym_pyx_reset_rewind[] = "EKF_sym_pyx.reset_rewind"; +static const char __pyx_k_predict_and_update_batch[] = "predict_and_update_batch"; +static const char __pyx_k_Dimension_d_is_not_direct[] = "Dimension %d is not direct"; +static const char __pyx_k_Index_out_of_bounds_axis_d[] = "Index out of bounds (axis %d)"; +static const char __pyx_k_EKF_sym_pyx___reduce_cython[] = "EKF_sym_pyx.__reduce_cython__"; +static const char __pyx_k_EKF_sym_pyx_get_filter_time[] = "EKF_sym_pyx.get_filter_time"; +static const char __pyx_k_EKF_sym_pyx_set_filter_time[] = "EKF_sym_pyx.set_filter_time"; +static const char __pyx_k_Step_may_not_be_zero_axis_d[] = "Step may not be zero (axis %d)"; +static const char __pyx_k_itemsize_0_for_cython_array[] = "itemsize <= 0 for cython.array"; +static const char __pyx_k_rednose_helpers_ekf_sym_pyx[] = "rednose.helpers.ekf_sym_pyx"; +static const char __pyx_k_EKF_sym_pyx___setstate_cython[] = "EKF_sym_pyx.__setstate_cython__"; +static const char __pyx_k_EKF_sym_pyx_get_augment_times[] = "EKF_sym_pyx.get_augment_times"; +static const char __pyx_k_unable_to_allocate_array_data[] = "unable to allocate array data."; +static const char __pyx_k_strided_and_direct_or_indirect[] = ""; +static const char __pyx_k_numpy_core_multiarray_failed_to[] = "numpy.core.multiarray failed to import"; +static const char __pyx_k_rednose_helpers_ekf_sym_pyx_pyx[] = "rednose/helpers/ekf_sym_pyx.pyx"; +static const char __pyx_k_All_dimensions_preceding_dimensi[] = "All dimensions preceding dimension %d must be indexed and not sliced"; +static const char __pyx_k_Buffer_view_does_not_expose_stri[] = "Buffer view does not expose strides"; +static const char __pyx_k_Can_only_create_a_buffer_that_is[] = "Can only create a buffer that is contiguous in memory."; +static const char __pyx_k_Cannot_assign_to_read_only_memor[] = "Cannot assign to read-only memoryview"; +static const char __pyx_k_Cannot_create_writable_memory_vi[] = "Cannot create writable memory view from read-only memoryview"; +static const char __pyx_k_Cannot_transpose_memoryview_with[] = "Cannot transpose memoryview with indirect dimensions"; +static const char __pyx_k_EKF_sym_pyx_predict_and_update_b[] = "EKF_sym_pyx.predict_and_update_batch"; +static const char __pyx_k_Empty_shape_tuple_for_cython_arr[] = "Empty shape tuple for cython.array"; +static const char __pyx_k_Incompatible_checksums_0x_x_vs_0[] = "Incompatible checksums (0x%x vs (0x82a3537, 0x6ae9995, 0xb068931) = (name))"; +static const char __pyx_k_Indirect_dimensions_not_supporte[] = "Indirect dimensions not supported"; +static const char __pyx_k_Invalid_mode_expected_c_or_fortr[] = "Invalid mode, expected 'c' or 'fortran', got "; +static const char __pyx_k_Out_of_bounds_on_buffer_access_a[] = "Out of bounds on buffer access (axis "; +static const char __pyx_k_Unable_to_convert_item_to_object[] = "Unable to convert item to object"; +static const char __pyx_k_got_differing_extents_in_dimensi[] = "got differing extents in dimension "; +static const char __pyx_k_no_default___reduce___due_to_non[] = "no default __reduce__ due to non-trivial __cinit__"; +static const char __pyx_k_numpy_core_umath_failed_to_impor[] = "numpy.core.umath failed to import"; +static const char __pyx_k_unable_to_allocate_shape_and_str[] = "unable to allocate shape and strides."; +/* #### Code section: decls ### */ +static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array___cinit__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_shape, Py_ssize_t __pyx_v_itemsize, PyObject *__pyx_v_format, PyObject *__pyx_v_mode, int __pyx_v_allocate_buffer); /* proto */ +static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array_2__getbuffer__(struct __pyx_array_obj *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /* proto */ +static void __pyx_array___pyx_pf_15View_dot_MemoryView_5array_4__dealloc__(struct __pyx_array_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_5array_7memview___get__(struct __pyx_array_obj *__pyx_v_self); /* proto */ +static Py_ssize_t __pyx_array___pyx_pf_15View_dot_MemoryView_5array_6__len__(struct __pyx_array_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_array___pyx_pf_15View_dot_MemoryView_5array_8__getattr__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_attr); /* proto */ +static PyObject *__pyx_array___pyx_pf_15View_dot_MemoryView_5array_10__getitem__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_item); /* proto */ +static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array_12__setitem__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_item, PyObject *__pyx_v_value); /* proto */ +static PyObject *__pyx_pf___pyx_array___reduce_cython__(CYTHON_UNUSED struct __pyx_array_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_array_2__setstate_cython__(CYTHON_UNUSED struct __pyx_array_obj *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_MemviewEnum___pyx_pf_15View_dot_MemoryView_4Enum___init__(struct __pyx_MemviewEnum_obj *__pyx_v_self, PyObject *__pyx_v_name); /* proto */ +static PyObject *__pyx_MemviewEnum___pyx_pf_15View_dot_MemoryView_4Enum_2__repr__(struct __pyx_MemviewEnum_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_MemviewEnum___reduce_cython__(struct __pyx_MemviewEnum_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_MemviewEnum_2__setstate_cython__(struct __pyx_MemviewEnum_obj *__pyx_v_self, PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview___cinit__(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_obj, int __pyx_v_flags, int __pyx_v_dtype_is_object); /* proto */ +static void __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_2__dealloc__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_4__getitem__(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index); /* proto */ +static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_6__setitem__(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index, PyObject *__pyx_v_value); /* proto */ +static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_8__getbuffer__(struct __pyx_memoryview_obj *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_1T___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_4base___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_5shape___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_7strides___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_10suboffsets___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_4ndim___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_8itemsize___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_6nbytes___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_4size___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static Py_ssize_t __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_10__len__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_12__repr__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_14__str__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_16is_c_contig(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_18is_f_contig(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_20copy(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_22copy_fortran(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryview___reduce_cython__(CYTHON_UNUSED struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryview_2__setstate_cython__(CYTHON_UNUSED struct __pyx_memoryview_obj *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static void __pyx_memoryviewslice___pyx_pf_15View_dot_MemoryView_16_memoryviewslice___dealloc__(struct __pyx_memoryviewslice_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryviewslice___reduce_cython__(CYTHON_UNUSED struct __pyx_memoryviewslice_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryviewslice_2__setstate_cython__(CYTHON_UNUSED struct __pyx_memoryviewslice_obj *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView___pyx_unpickle_Enum(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v___pyx_type, long __pyx_v___pyx_checksum, PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_pf_7rednose_7helpers_11ekf_sym_pyx_11EKF_sym_pyx___cinit__(struct __pyx_obj_7rednose_7helpers_11ekf_sym_pyx_EKF_sym_pyx *__pyx_v_self, PyObject *__pyx_v_gen_dir, PyObject *__pyx_v_name, PyArrayObject *__pyx_v_Q, PyArrayObject *__pyx_v_x_initial, PyArrayObject *__pyx_v_P_initial, int __pyx_v_dim_main, int __pyx_v_dim_main_err, int __pyx_v_N, int __pyx_v_dim_augment, int __pyx_v_dim_augment_err, PyObject *__pyx_v_maha_test_kinds, PyObject *__pyx_v_quaternion_idxs, PyObject *__pyx_v_global_vars, double __pyx_v_max_rewind_age, CYTHON_UNUSED PyObject *__pyx_v_logger); /* proto */ +static PyObject *__pyx_pf_7rednose_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_2init_state(struct __pyx_obj_7rednose_7helpers_11ekf_sym_pyx_EKF_sym_pyx *__pyx_v_self, PyArrayObject *__pyx_v_state, PyArrayObject *__pyx_v_covs, PyObject *__pyx_v_filter_time); /* proto */ +static PyObject *__pyx_pf_7rednose_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_4state(struct __pyx_obj_7rednose_7helpers_11ekf_sym_pyx_EKF_sym_pyx *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_7rednose_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_6covs(struct __pyx_obj_7rednose_7helpers_11ekf_sym_pyx_EKF_sym_pyx *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_7rednose_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_8set_filter_time(struct __pyx_obj_7rednose_7helpers_11ekf_sym_pyx_EKF_sym_pyx *__pyx_v_self, double __pyx_v_t); /* proto */ +static PyObject *__pyx_pf_7rednose_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_10get_filter_time(struct __pyx_obj_7rednose_7helpers_11ekf_sym_pyx_EKF_sym_pyx *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_7rednose_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_12set_global(struct __pyx_obj_7rednose_7helpers_11ekf_sym_pyx_EKF_sym_pyx *__pyx_v_self, PyObject *__pyx_v_global_var, double __pyx_v_val); /* proto */ +static PyObject *__pyx_pf_7rednose_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_14reset_rewind(struct __pyx_obj_7rednose_7helpers_11ekf_sym_pyx_EKF_sym_pyx *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_7rednose_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_16predict(struct __pyx_obj_7rednose_7helpers_11ekf_sym_pyx_EKF_sym_pyx *__pyx_v_self, double __pyx_v_t); /* proto */ +static PyObject *__pyx_pf_7rednose_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_18predict_and_update_batch(struct __pyx_obj_7rednose_7helpers_11ekf_sym_pyx_EKF_sym_pyx *__pyx_v_self, double __pyx_v_t, int __pyx_v_kind, PyObject *__pyx_v_z, PyObject *__pyx_v_R, PyObject *__pyx_v_extra_args, bool __pyx_v_augment); /* proto */ +static PyObject *__pyx_pf_7rednose_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_20augment(CYTHON_UNUSED struct __pyx_obj_7rednose_7helpers_11ekf_sym_pyx_EKF_sym_pyx *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_7rednose_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_22get_augment_times(CYTHON_UNUSED struct __pyx_obj_7rednose_7helpers_11ekf_sym_pyx_EKF_sym_pyx *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_7rednose_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_24rts_smooth(CYTHON_UNUSED struct __pyx_obj_7rednose_7helpers_11ekf_sym_pyx_EKF_sym_pyx *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v_estimates, CYTHON_UNUSED PyObject *__pyx_v_norm_quats); /* proto */ +static PyObject *__pyx_pf_7rednose_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_26maha_test(CYTHON_UNUSED struct __pyx_obj_7rednose_7helpers_11ekf_sym_pyx_EKF_sym_pyx *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v_x, CYTHON_UNUSED PyObject *__pyx_v_P, CYTHON_UNUSED PyObject *__pyx_v_kind, CYTHON_UNUSED PyObject *__pyx_v_z, CYTHON_UNUSED PyObject *__pyx_v_R, CYTHON_UNUSED PyObject *__pyx_v_extra_args, CYTHON_UNUSED PyObject *__pyx_v_maha_thresh); /* proto */ +static void __pyx_pf_7rednose_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_28__dealloc__(struct __pyx_obj_7rednose_7helpers_11ekf_sym_pyx_EKF_sym_pyx *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_7rednose_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_30__reduce_cython__(CYTHON_UNUSED struct __pyx_obj_7rednose_7helpers_11ekf_sym_pyx_EKF_sym_pyx *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_7rednose_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_32__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_7rednose_7helpers_11ekf_sym_pyx_EKF_sym_pyx *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static PyObject *__pyx_tp_new_7rednose_7helpers_11ekf_sym_pyx_EKF_sym_pyx(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_array(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_Enum(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_memoryview(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new__memoryviewslice(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +/* #### Code section: late_includes ### */ +/* #### Code section: module_state ### */ +typedef struct { + PyObject *__pyx_d; + PyObject *__pyx_b; + PyObject *__pyx_cython_runtime; + PyObject *__pyx_empty_tuple; + PyObject *__pyx_empty_bytes; + PyObject *__pyx_empty_unicode; + #ifdef __Pyx_CyFunction_USED + PyTypeObject *__pyx_CyFunctionType; + #endif + #ifdef __Pyx_FusedFunction_USED + PyTypeObject *__pyx_FusedFunctionType; + #endif + #ifdef __Pyx_Generator_USED + PyTypeObject *__pyx_GeneratorType; + #endif + #ifdef __Pyx_IterableCoroutine_USED + PyTypeObject *__pyx_IterableCoroutineType; + #endif + #ifdef __Pyx_Coroutine_USED + PyTypeObject *__pyx_CoroutineAwaitType; + #endif + #ifdef __Pyx_Coroutine_USED + PyTypeObject *__pyx_CoroutineType; + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + PyTypeObject *__pyx_ptype_7cpython_4type_type; + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + PyTypeObject *__pyx_ptype_5numpy_dtype; + PyTypeObject *__pyx_ptype_5numpy_flatiter; + PyTypeObject *__pyx_ptype_5numpy_broadcast; + PyTypeObject *__pyx_ptype_5numpy_ndarray; + PyTypeObject *__pyx_ptype_5numpy_generic; + PyTypeObject *__pyx_ptype_5numpy_number; + PyTypeObject *__pyx_ptype_5numpy_integer; + PyTypeObject *__pyx_ptype_5numpy_signedinteger; + PyTypeObject *__pyx_ptype_5numpy_unsignedinteger; + PyTypeObject *__pyx_ptype_5numpy_inexact; + PyTypeObject *__pyx_ptype_5numpy_floating; + PyTypeObject *__pyx_ptype_5numpy_complexfloating; + PyTypeObject *__pyx_ptype_5numpy_flexible; + PyTypeObject *__pyx_ptype_5numpy_character; + PyTypeObject *__pyx_ptype_5numpy_ufunc; + #if CYTHON_USE_MODULE_STATE + PyObject *__pyx_type_7rednose_7helpers_11ekf_sym_pyx_EKF_sym_pyx; + PyObject *__pyx_type___pyx_array; + PyObject *__pyx_type___pyx_MemviewEnum; + PyObject *__pyx_type___pyx_memoryview; + PyObject *__pyx_type___pyx_memoryviewslice; + #endif + PyTypeObject *__pyx_ptype_7rednose_7helpers_11ekf_sym_pyx_EKF_sym_pyx; + PyTypeObject *__pyx_array_type; + PyTypeObject *__pyx_MemviewEnum_type; + PyTypeObject *__pyx_memoryview_type; + PyTypeObject *__pyx_memoryviewslice_type; + PyObject *__pyx_kp_u_; + PyObject *__pyx_n_s_ASCII; + PyObject *__pyx_kp_s_All_dimensions_preceding_dimensi; + PyObject *__pyx_n_s_AssertionError; + PyObject *__pyx_kp_s_Buffer_view_does_not_expose_stri; + PyObject *__pyx_n_u_C; + PyObject *__pyx_kp_s_Can_only_create_a_buffer_that_is; + PyObject *__pyx_kp_s_Cannot_assign_to_read_only_memor; + PyObject *__pyx_kp_s_Cannot_create_writable_memory_vi; + PyObject *__pyx_kp_u_Cannot_index_with_type; + PyObject *__pyx_kp_s_Cannot_transpose_memoryview_with; + PyObject *__pyx_kp_s_Dimension_d_is_not_direct; + PyObject *__pyx_n_s_EKF_sym_pyx; + PyObject *__pyx_n_s_EKF_sym_pyx___reduce_cython; + PyObject *__pyx_n_s_EKF_sym_pyx___setstate_cython; + PyObject *__pyx_n_s_EKF_sym_pyx_augment; + PyObject *__pyx_n_s_EKF_sym_pyx_covs; + PyObject *__pyx_n_s_EKF_sym_pyx_get_augment_times; + PyObject *__pyx_n_s_EKF_sym_pyx_get_filter_time; + PyObject *__pyx_n_s_EKF_sym_pyx_init_state; + PyObject *__pyx_n_s_EKF_sym_pyx_maha_test; + PyObject *__pyx_n_s_EKF_sym_pyx_predict; + PyObject *__pyx_n_s_EKF_sym_pyx_predict_and_update_b; + PyObject *__pyx_n_s_EKF_sym_pyx_reset_rewind; + PyObject *__pyx_n_s_EKF_sym_pyx_rts_smooth; + PyObject *__pyx_n_s_EKF_sym_pyx_set_filter_time; + PyObject *__pyx_n_s_EKF_sym_pyx_set_global; + PyObject *__pyx_n_s_EKF_sym_pyx_state; + PyObject *__pyx_n_s_Ellipsis; + PyObject *__pyx_kp_s_Empty_shape_tuple_for_cython_arr; + PyObject *__pyx_n_s_ImportError; + PyObject *__pyx_kp_s_Incompatible_checksums_0x_x_vs_0; + PyObject *__pyx_n_s_IndexError; + PyObject *__pyx_kp_s_Index_out_of_bounds_axis_d; + PyObject *__pyx_kp_s_Indirect_dimensions_not_supporte; + PyObject *__pyx_kp_u_Invalid_mode_expected_c_or_fortr; + PyObject *__pyx_kp_u_Invalid_shape_in_axis; + PyObject *__pyx_n_s_MemoryError; + PyObject *__pyx_kp_s_MemoryView_of_r_at_0x_x; + PyObject *__pyx_kp_s_MemoryView_of_r_object; + PyObject *__pyx_n_s_N; + PyObject *__pyx_n_s_NotImplementedError; + PyObject *__pyx_n_b_O; + PyObject *__pyx_kp_u_Out_of_bounds_on_buffer_access_a; + PyObject *__pyx_n_s_P; + PyObject *__pyx_n_s_P_initial; + PyObject *__pyx_n_s_PickleError; + PyObject *__pyx_n_s_Q; + PyObject *__pyx_n_s_R; + PyObject *__pyx_n_s_R_map; + PyObject *__pyx_n_s_Ri; + PyObject *__pyx_n_s_Ri_b; + PyObject *__pyx_n_s_Sequence; + PyObject *__pyx_kp_s_Step_may_not_be_zero_axis_d; + PyObject *__pyx_kp_b_T; + PyObject *__pyx_n_s_TypeError; + PyObject *__pyx_kp_s_Unable_to_convert_item_to_object; + PyObject *__pyx_n_s_ValueError; + PyObject *__pyx_n_s_View_MemoryView; + PyObject *__pyx_kp_b__10; + PyObject *__pyx_kp_b__11; + PyObject *__pyx_kp_b__12; + PyObject *__pyx_kp_u__13; + PyObject *__pyx_kp_u__14; + PyObject *__pyx_kp_u__2; + PyObject *__pyx_n_s__3; + PyObject *__pyx_n_s__58; + PyObject *__pyx_kp_u__6; + PyObject *__pyx_kp_u__7; + PyObject *__pyx_kp_b__9; + PyObject *__pyx_n_s_a; + PyObject *__pyx_n_s_abc; + PyObject *__pyx_n_s_allocate_buffer; + PyObject *__pyx_kp_u_and; + PyObject *__pyx_n_s_args; + PyObject *__pyx_n_s_args_map; + PyObject *__pyx_n_s_asarray; + PyObject *__pyx_n_s_ascontiguousarray; + PyObject *__pyx_n_s_asyncio_coroutines; + PyObject *__pyx_n_s_augment; + PyObject *__pyx_n_s_base; + PyObject *__pyx_n_s_c; + PyObject *__pyx_n_u_c; + PyObject *__pyx_n_s_class; + PyObject *__pyx_n_s_class_getitem; + PyObject *__pyx_n_s_cline_in_traceback; + PyObject *__pyx_n_s_collections; + PyObject *__pyx_kp_s_collections_abc; + PyObject *__pyx_kp_s_contiguous_and_direct; + PyObject *__pyx_kp_s_contiguous_and_indirect; + PyObject *__pyx_n_s_copy; + PyObject *__pyx_n_s_count; + PyObject *__pyx_n_s_covs; + PyObject *__pyx_n_s_covs_b; + PyObject *__pyx_n_s_dict; + PyObject *__pyx_n_s_dim_augment; + PyObject *__pyx_n_s_dim_augment_err; + PyObject *__pyx_n_s_dim_main; + PyObject *__pyx_n_s_dim_main_err; + PyObject *__pyx_kp_u_disable; + PyObject *__pyx_n_s_double; + PyObject *__pyx_n_s_dtype; + PyObject *__pyx_n_s_dtype_is_object; + PyObject *__pyx_kp_u_enable; + PyObject *__pyx_n_s_encode; + PyObject *__pyx_n_s_enumerate; + PyObject *__pyx_n_s_error; + PyObject *__pyx_n_s_estimates; + PyObject *__pyx_n_s_extra_args; + PyObject *__pyx_n_s_extra_args_map; + PyObject *__pyx_n_s_filter_time; + PyObject *__pyx_n_s_flags; + PyObject *__pyx_n_s_format; + PyObject *__pyx_n_s_fortran; + PyObject *__pyx_n_u_fortran; + PyObject *__pyx_kp_u_gc; + PyObject *__pyx_n_s_gen_dir; + PyObject *__pyx_n_s_get_augment_times; + PyObject *__pyx_n_s_get_filter_time; + PyObject *__pyx_n_s_getstate; + PyObject *__pyx_n_s_global_var; + PyObject *__pyx_n_s_global_vars; + PyObject *__pyx_kp_u_got; + PyObject *__pyx_kp_u_got_differing_extents_in_dimensi; + PyObject *__pyx_n_s_id; + PyObject *__pyx_n_s_import; + PyObject *__pyx_n_s_index; + PyObject *__pyx_n_s_init_state; + PyObject *__pyx_n_s_initializing; + PyObject *__pyx_n_s_is_coroutine; + PyObject *__pyx_kp_u_isenabled; + PyObject *__pyx_n_s_itemsize; + PyObject *__pyx_kp_s_itemsize_0_for_cython_array; + PyObject *__pyx_n_s_join; + PyObject *__pyx_n_s_kind; + PyObject *__pyx_n_s_logger; + PyObject *__pyx_n_s_maha_test; + PyObject *__pyx_n_s_maha_test_kinds; + PyObject *__pyx_n_s_maha_thresh; + PyObject *__pyx_n_s_main; + PyObject *__pyx_n_s_max_rewind_age; + PyObject *__pyx_n_s_memview; + PyObject *__pyx_n_s_mode; + PyObject *__pyx_n_s_name; + PyObject *__pyx_n_s_name_2; + PyObject *__pyx_n_s_nan; + PyObject *__pyx_n_s_ndim; + PyObject *__pyx_n_s_new; + PyObject *__pyx_kp_s_no_default___reduce___due_to_non; + PyObject *__pyx_n_s_norm_quats; + PyObject *__pyx_n_s_np; + PyObject *__pyx_n_s_numpy; + PyObject *__pyx_kp_u_numpy_core_multiarray_failed_to; + PyObject *__pyx_kp_u_numpy_core_umath_failed_to_impor; + PyObject *__pyx_n_s_obj; + PyObject *__pyx_n_s_order; + PyObject *__pyx_n_s_pack; + PyObject *__pyx_n_s_pickle; + PyObject *__pyx_n_s_predict; + PyObject *__pyx_n_s_predict_and_update_batch; + PyObject *__pyx_n_s_pyx_PickleError; + PyObject *__pyx_n_s_pyx_checksum; + PyObject *__pyx_n_s_pyx_result; + PyObject *__pyx_n_s_pyx_state; + PyObject *__pyx_n_s_pyx_type; + PyObject *__pyx_n_s_pyx_unpickle_Enum; + PyObject *__pyx_n_s_pyx_vtable; + PyObject *__pyx_n_s_quaternion_idxs; + PyObject *__pyx_n_s_range; + PyObject *__pyx_n_s_rednose_helpers_ekf_sym_pyx; + PyObject *__pyx_kp_s_rednose_helpers_ekf_sym_pyx_pyx; + PyObject *__pyx_n_s_reduce; + PyObject *__pyx_n_s_reduce_cython; + PyObject *__pyx_n_s_reduce_ex; + PyObject *__pyx_n_s_register; + PyObject *__pyx_n_s_res; + PyObject *__pyx_n_s_reset_rewind; + PyObject *__pyx_n_s_rts_smooth; + PyObject *__pyx_n_s_self; + PyObject *__pyx_n_s_set_filter_time; + PyObject *__pyx_n_s_set_global; + PyObject *__pyx_n_s_setstate; + PyObject *__pyx_n_s_setstate_cython; + PyObject *__pyx_n_s_shape; + PyObject *__pyx_n_s_size; + PyObject *__pyx_n_s_spec; + PyObject *__pyx_n_s_start; + PyObject *__pyx_n_s_state; + PyObject *__pyx_n_s_state_b; + PyObject *__pyx_n_s_step; + PyObject *__pyx_n_s_stop; + PyObject *__pyx_kp_s_strided_and_direct; + PyObject *__pyx_kp_s_strided_and_direct_or_indirect; + PyObject *__pyx_kp_s_strided_and_indirect; + PyObject *__pyx_kp_s_stringsource; + PyObject *__pyx_n_s_struct; + PyObject *__pyx_n_s_sys; + PyObject *__pyx_n_s_t; + PyObject *__pyx_n_s_test; + PyObject *__pyx_n_s_tmpvec; + PyObject *__pyx_kp_s_unable_to_allocate_array_data; + PyObject *__pyx_kp_s_unable_to_allocate_shape_and_str; + PyObject *__pyx_n_s_unpack; + PyObject *__pyx_n_s_update; + PyObject *__pyx_n_u_utf8; + PyObject *__pyx_n_s_val; + PyObject *__pyx_n_s_version_info; + PyObject *__pyx_n_s_x; + PyObject *__pyx_n_s_x_initial; + PyObject *__pyx_n_s_z; + PyObject *__pyx_n_s_z_map; + PyObject *__pyx_n_s_zi; + PyObject *__pyx_n_s_zi_b; + PyObject *__pyx_float_0_95; + PyObject *__pyx_int_0; + PyObject *__pyx_int_1; + PyObject *__pyx_int_3; + PyObject *__pyx_int_112105877; + PyObject *__pyx_int_136983863; + PyObject *__pyx_int_184977713; + PyObject *__pyx_int_neg_1; + PyObject *__pyx_k__17; + PyObject *__pyx_k__18; + PyObject *__pyx_k__19; + PyObject *__pyx_k__28; + PyObject *__pyx_k__33; + PyObject *__pyx_slice__5; + PyObject *__pyx_tuple__4; + PyObject *__pyx_tuple__8; + PyObject *__pyx_tuple__15; + PyObject *__pyx_tuple__16; + PyObject *__pyx_tuple__37; + PyObject *__pyx_tuple__38; + PyObject *__pyx_tuple__39; + PyObject *__pyx_tuple__40; + PyObject *__pyx_tuple__41; + PyObject *__pyx_tuple__42; + PyObject *__pyx_tuple__43; + PyObject *__pyx_tuple__44; + PyObject *__pyx_tuple__45; + PyObject *__pyx_tuple__46; + PyObject *__pyx_tuple__48; + PyObject *__pyx_tuple__49; + PyObject *__pyx_tuple__50; + PyObject *__pyx_tuple__51; + PyObject *__pyx_tuple__52; + PyObject *__pyx_tuple__53; + PyObject *__pyx_tuple__54; + PyObject *__pyx_tuple__55; + PyObject *__pyx_tuple__56; + PyObject *__pyx_tuple__57; + PyObject *__pyx_codeobj__20; + PyObject *__pyx_codeobj__21; + PyObject *__pyx_codeobj__22; + PyObject *__pyx_codeobj__23; + PyObject *__pyx_codeobj__24; + PyObject *__pyx_codeobj__25; + PyObject *__pyx_codeobj__26; + PyObject *__pyx_codeobj__27; + PyObject *__pyx_codeobj__29; + PyObject *__pyx_codeobj__30; + PyObject *__pyx_codeobj__31; + PyObject *__pyx_codeobj__32; + PyObject *__pyx_codeobj__34; + PyObject *__pyx_codeobj__35; + PyObject *__pyx_codeobj__36; + PyObject *__pyx_codeobj__47; +} __pyx_mstate; + +#if CYTHON_USE_MODULE_STATE +#ifdef __cplusplus +namespace { + extern struct PyModuleDef __pyx_moduledef; +} /* anonymous namespace */ +#else +static struct PyModuleDef __pyx_moduledef; +#endif + +#define __pyx_mstate(o) ((__pyx_mstate *)__Pyx_PyModule_GetState(o)) + +#define __pyx_mstate_global (__pyx_mstate(PyState_FindModule(&__pyx_moduledef))) + +#define __pyx_m (PyState_FindModule(&__pyx_moduledef)) +#else +static __pyx_mstate __pyx_mstate_global_static = +#ifdef __cplusplus + {}; +#else + {0}; +#endif +static __pyx_mstate *__pyx_mstate_global = &__pyx_mstate_global_static; +#endif +/* #### Code section: module_state_clear ### */ +#if CYTHON_USE_MODULE_STATE +static int __pyx_m_clear(PyObject *m) { + __pyx_mstate *clear_module_state = __pyx_mstate(m); + if (!clear_module_state) return 0; + Py_CLEAR(clear_module_state->__pyx_d); + Py_CLEAR(clear_module_state->__pyx_b); + Py_CLEAR(clear_module_state->__pyx_cython_runtime); + Py_CLEAR(clear_module_state->__pyx_empty_tuple); + Py_CLEAR(clear_module_state->__pyx_empty_bytes); + Py_CLEAR(clear_module_state->__pyx_empty_unicode); + #ifdef __Pyx_CyFunction_USED + Py_CLEAR(clear_module_state->__pyx_CyFunctionType); + #endif + #ifdef __Pyx_FusedFunction_USED + Py_CLEAR(clear_module_state->__pyx_FusedFunctionType); + #endif + Py_CLEAR(clear_module_state->__pyx_ptype_7cpython_4type_type); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_dtype); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_flatiter); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_broadcast); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_ndarray); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_generic); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_number); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_integer); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_signedinteger); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_unsignedinteger); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_inexact); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_floating); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_complexfloating); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_flexible); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_character); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_ufunc); + Py_CLEAR(clear_module_state->__pyx_ptype_7rednose_7helpers_11ekf_sym_pyx_EKF_sym_pyx); + Py_CLEAR(clear_module_state->__pyx_type_7rednose_7helpers_11ekf_sym_pyx_EKF_sym_pyx); + Py_CLEAR(clear_module_state->__pyx_array_type); + Py_CLEAR(clear_module_state->__pyx_type___pyx_array); + Py_CLEAR(clear_module_state->__pyx_MemviewEnum_type); + Py_CLEAR(clear_module_state->__pyx_type___pyx_MemviewEnum); + Py_CLEAR(clear_module_state->__pyx_memoryview_type); + Py_CLEAR(clear_module_state->__pyx_type___pyx_memoryview); + Py_CLEAR(clear_module_state->__pyx_memoryviewslice_type); + Py_CLEAR(clear_module_state->__pyx_type___pyx_memoryviewslice); + Py_CLEAR(clear_module_state->__pyx_kp_u_); + Py_CLEAR(clear_module_state->__pyx_n_s_ASCII); + Py_CLEAR(clear_module_state->__pyx_kp_s_All_dimensions_preceding_dimensi); + Py_CLEAR(clear_module_state->__pyx_n_s_AssertionError); + Py_CLEAR(clear_module_state->__pyx_kp_s_Buffer_view_does_not_expose_stri); + Py_CLEAR(clear_module_state->__pyx_n_u_C); + Py_CLEAR(clear_module_state->__pyx_kp_s_Can_only_create_a_buffer_that_is); + Py_CLEAR(clear_module_state->__pyx_kp_s_Cannot_assign_to_read_only_memor); + Py_CLEAR(clear_module_state->__pyx_kp_s_Cannot_create_writable_memory_vi); + Py_CLEAR(clear_module_state->__pyx_kp_u_Cannot_index_with_type); + Py_CLEAR(clear_module_state->__pyx_kp_s_Cannot_transpose_memoryview_with); + Py_CLEAR(clear_module_state->__pyx_kp_s_Dimension_d_is_not_direct); + Py_CLEAR(clear_module_state->__pyx_n_s_EKF_sym_pyx); + Py_CLEAR(clear_module_state->__pyx_n_s_EKF_sym_pyx___reduce_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_EKF_sym_pyx___setstate_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_EKF_sym_pyx_augment); + Py_CLEAR(clear_module_state->__pyx_n_s_EKF_sym_pyx_covs); + Py_CLEAR(clear_module_state->__pyx_n_s_EKF_sym_pyx_get_augment_times); + Py_CLEAR(clear_module_state->__pyx_n_s_EKF_sym_pyx_get_filter_time); + Py_CLEAR(clear_module_state->__pyx_n_s_EKF_sym_pyx_init_state); + Py_CLEAR(clear_module_state->__pyx_n_s_EKF_sym_pyx_maha_test); + Py_CLEAR(clear_module_state->__pyx_n_s_EKF_sym_pyx_predict); + Py_CLEAR(clear_module_state->__pyx_n_s_EKF_sym_pyx_predict_and_update_b); + Py_CLEAR(clear_module_state->__pyx_n_s_EKF_sym_pyx_reset_rewind); + Py_CLEAR(clear_module_state->__pyx_n_s_EKF_sym_pyx_rts_smooth); + Py_CLEAR(clear_module_state->__pyx_n_s_EKF_sym_pyx_set_filter_time); + Py_CLEAR(clear_module_state->__pyx_n_s_EKF_sym_pyx_set_global); + Py_CLEAR(clear_module_state->__pyx_n_s_EKF_sym_pyx_state); + Py_CLEAR(clear_module_state->__pyx_n_s_Ellipsis); + Py_CLEAR(clear_module_state->__pyx_kp_s_Empty_shape_tuple_for_cython_arr); + Py_CLEAR(clear_module_state->__pyx_n_s_ImportError); + Py_CLEAR(clear_module_state->__pyx_kp_s_Incompatible_checksums_0x_x_vs_0); + Py_CLEAR(clear_module_state->__pyx_n_s_IndexError); + Py_CLEAR(clear_module_state->__pyx_kp_s_Index_out_of_bounds_axis_d); + Py_CLEAR(clear_module_state->__pyx_kp_s_Indirect_dimensions_not_supporte); + Py_CLEAR(clear_module_state->__pyx_kp_u_Invalid_mode_expected_c_or_fortr); + Py_CLEAR(clear_module_state->__pyx_kp_u_Invalid_shape_in_axis); + Py_CLEAR(clear_module_state->__pyx_n_s_MemoryError); + Py_CLEAR(clear_module_state->__pyx_kp_s_MemoryView_of_r_at_0x_x); + Py_CLEAR(clear_module_state->__pyx_kp_s_MemoryView_of_r_object); + Py_CLEAR(clear_module_state->__pyx_n_s_N); + Py_CLEAR(clear_module_state->__pyx_n_s_NotImplementedError); + Py_CLEAR(clear_module_state->__pyx_n_b_O); + Py_CLEAR(clear_module_state->__pyx_kp_u_Out_of_bounds_on_buffer_access_a); + Py_CLEAR(clear_module_state->__pyx_n_s_P); + Py_CLEAR(clear_module_state->__pyx_n_s_P_initial); + Py_CLEAR(clear_module_state->__pyx_n_s_PickleError); + Py_CLEAR(clear_module_state->__pyx_n_s_Q); + Py_CLEAR(clear_module_state->__pyx_n_s_R); + Py_CLEAR(clear_module_state->__pyx_n_s_R_map); + Py_CLEAR(clear_module_state->__pyx_n_s_Ri); + Py_CLEAR(clear_module_state->__pyx_n_s_Ri_b); + Py_CLEAR(clear_module_state->__pyx_n_s_Sequence); + Py_CLEAR(clear_module_state->__pyx_kp_s_Step_may_not_be_zero_axis_d); + Py_CLEAR(clear_module_state->__pyx_kp_b_T); + Py_CLEAR(clear_module_state->__pyx_n_s_TypeError); + Py_CLEAR(clear_module_state->__pyx_kp_s_Unable_to_convert_item_to_object); + Py_CLEAR(clear_module_state->__pyx_n_s_ValueError); + Py_CLEAR(clear_module_state->__pyx_n_s_View_MemoryView); + Py_CLEAR(clear_module_state->__pyx_kp_b__10); + Py_CLEAR(clear_module_state->__pyx_kp_b__11); + Py_CLEAR(clear_module_state->__pyx_kp_b__12); + Py_CLEAR(clear_module_state->__pyx_kp_u__13); + Py_CLEAR(clear_module_state->__pyx_kp_u__14); + Py_CLEAR(clear_module_state->__pyx_kp_u__2); + Py_CLEAR(clear_module_state->__pyx_n_s__3); + Py_CLEAR(clear_module_state->__pyx_n_s__58); + Py_CLEAR(clear_module_state->__pyx_kp_u__6); + Py_CLEAR(clear_module_state->__pyx_kp_u__7); + Py_CLEAR(clear_module_state->__pyx_kp_b__9); + Py_CLEAR(clear_module_state->__pyx_n_s_a); + Py_CLEAR(clear_module_state->__pyx_n_s_abc); + Py_CLEAR(clear_module_state->__pyx_n_s_allocate_buffer); + Py_CLEAR(clear_module_state->__pyx_kp_u_and); + Py_CLEAR(clear_module_state->__pyx_n_s_args); + Py_CLEAR(clear_module_state->__pyx_n_s_args_map); + Py_CLEAR(clear_module_state->__pyx_n_s_asarray); + Py_CLEAR(clear_module_state->__pyx_n_s_ascontiguousarray); + Py_CLEAR(clear_module_state->__pyx_n_s_asyncio_coroutines); + Py_CLEAR(clear_module_state->__pyx_n_s_augment); + Py_CLEAR(clear_module_state->__pyx_n_s_base); + Py_CLEAR(clear_module_state->__pyx_n_s_c); + Py_CLEAR(clear_module_state->__pyx_n_u_c); + Py_CLEAR(clear_module_state->__pyx_n_s_class); + Py_CLEAR(clear_module_state->__pyx_n_s_class_getitem); + Py_CLEAR(clear_module_state->__pyx_n_s_cline_in_traceback); + Py_CLEAR(clear_module_state->__pyx_n_s_collections); + Py_CLEAR(clear_module_state->__pyx_kp_s_collections_abc); + Py_CLEAR(clear_module_state->__pyx_kp_s_contiguous_and_direct); + Py_CLEAR(clear_module_state->__pyx_kp_s_contiguous_and_indirect); + Py_CLEAR(clear_module_state->__pyx_n_s_copy); + Py_CLEAR(clear_module_state->__pyx_n_s_count); + Py_CLEAR(clear_module_state->__pyx_n_s_covs); + Py_CLEAR(clear_module_state->__pyx_n_s_covs_b); + Py_CLEAR(clear_module_state->__pyx_n_s_dict); + Py_CLEAR(clear_module_state->__pyx_n_s_dim_augment); + Py_CLEAR(clear_module_state->__pyx_n_s_dim_augment_err); + Py_CLEAR(clear_module_state->__pyx_n_s_dim_main); + Py_CLEAR(clear_module_state->__pyx_n_s_dim_main_err); + Py_CLEAR(clear_module_state->__pyx_kp_u_disable); + Py_CLEAR(clear_module_state->__pyx_n_s_double); + Py_CLEAR(clear_module_state->__pyx_n_s_dtype); + Py_CLEAR(clear_module_state->__pyx_n_s_dtype_is_object); + Py_CLEAR(clear_module_state->__pyx_kp_u_enable); + Py_CLEAR(clear_module_state->__pyx_n_s_encode); + Py_CLEAR(clear_module_state->__pyx_n_s_enumerate); + Py_CLEAR(clear_module_state->__pyx_n_s_error); + Py_CLEAR(clear_module_state->__pyx_n_s_estimates); + Py_CLEAR(clear_module_state->__pyx_n_s_extra_args); + Py_CLEAR(clear_module_state->__pyx_n_s_extra_args_map); + Py_CLEAR(clear_module_state->__pyx_n_s_filter_time); + Py_CLEAR(clear_module_state->__pyx_n_s_flags); + Py_CLEAR(clear_module_state->__pyx_n_s_format); + Py_CLEAR(clear_module_state->__pyx_n_s_fortran); + Py_CLEAR(clear_module_state->__pyx_n_u_fortran); + Py_CLEAR(clear_module_state->__pyx_kp_u_gc); + Py_CLEAR(clear_module_state->__pyx_n_s_gen_dir); + Py_CLEAR(clear_module_state->__pyx_n_s_get_augment_times); + Py_CLEAR(clear_module_state->__pyx_n_s_get_filter_time); + Py_CLEAR(clear_module_state->__pyx_n_s_getstate); + Py_CLEAR(clear_module_state->__pyx_n_s_global_var); + Py_CLEAR(clear_module_state->__pyx_n_s_global_vars); + Py_CLEAR(clear_module_state->__pyx_kp_u_got); + Py_CLEAR(clear_module_state->__pyx_kp_u_got_differing_extents_in_dimensi); + Py_CLEAR(clear_module_state->__pyx_n_s_id); + Py_CLEAR(clear_module_state->__pyx_n_s_import); + Py_CLEAR(clear_module_state->__pyx_n_s_index); + Py_CLEAR(clear_module_state->__pyx_n_s_init_state); + Py_CLEAR(clear_module_state->__pyx_n_s_initializing); + Py_CLEAR(clear_module_state->__pyx_n_s_is_coroutine); + Py_CLEAR(clear_module_state->__pyx_kp_u_isenabled); + Py_CLEAR(clear_module_state->__pyx_n_s_itemsize); + Py_CLEAR(clear_module_state->__pyx_kp_s_itemsize_0_for_cython_array); + Py_CLEAR(clear_module_state->__pyx_n_s_join); + Py_CLEAR(clear_module_state->__pyx_n_s_kind); + Py_CLEAR(clear_module_state->__pyx_n_s_logger); + Py_CLEAR(clear_module_state->__pyx_n_s_maha_test); + Py_CLEAR(clear_module_state->__pyx_n_s_maha_test_kinds); + Py_CLEAR(clear_module_state->__pyx_n_s_maha_thresh); + Py_CLEAR(clear_module_state->__pyx_n_s_main); + Py_CLEAR(clear_module_state->__pyx_n_s_max_rewind_age); + Py_CLEAR(clear_module_state->__pyx_n_s_memview); + Py_CLEAR(clear_module_state->__pyx_n_s_mode); + Py_CLEAR(clear_module_state->__pyx_n_s_name); + Py_CLEAR(clear_module_state->__pyx_n_s_name_2); + Py_CLEAR(clear_module_state->__pyx_n_s_nan); + Py_CLEAR(clear_module_state->__pyx_n_s_ndim); + Py_CLEAR(clear_module_state->__pyx_n_s_new); + Py_CLEAR(clear_module_state->__pyx_kp_s_no_default___reduce___due_to_non); + Py_CLEAR(clear_module_state->__pyx_n_s_norm_quats); + Py_CLEAR(clear_module_state->__pyx_n_s_np); + Py_CLEAR(clear_module_state->__pyx_n_s_numpy); + Py_CLEAR(clear_module_state->__pyx_kp_u_numpy_core_multiarray_failed_to); + Py_CLEAR(clear_module_state->__pyx_kp_u_numpy_core_umath_failed_to_impor); + Py_CLEAR(clear_module_state->__pyx_n_s_obj); + Py_CLEAR(clear_module_state->__pyx_n_s_order); + Py_CLEAR(clear_module_state->__pyx_n_s_pack); + Py_CLEAR(clear_module_state->__pyx_n_s_pickle); + Py_CLEAR(clear_module_state->__pyx_n_s_predict); + Py_CLEAR(clear_module_state->__pyx_n_s_predict_and_update_batch); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_PickleError); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_checksum); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_result); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_state); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_type); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_unpickle_Enum); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_vtable); + Py_CLEAR(clear_module_state->__pyx_n_s_quaternion_idxs); + Py_CLEAR(clear_module_state->__pyx_n_s_range); + Py_CLEAR(clear_module_state->__pyx_n_s_rednose_helpers_ekf_sym_pyx); + Py_CLEAR(clear_module_state->__pyx_kp_s_rednose_helpers_ekf_sym_pyx_pyx); + Py_CLEAR(clear_module_state->__pyx_n_s_reduce); + Py_CLEAR(clear_module_state->__pyx_n_s_reduce_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_reduce_ex); + Py_CLEAR(clear_module_state->__pyx_n_s_register); + Py_CLEAR(clear_module_state->__pyx_n_s_res); + Py_CLEAR(clear_module_state->__pyx_n_s_reset_rewind); + Py_CLEAR(clear_module_state->__pyx_n_s_rts_smooth); + Py_CLEAR(clear_module_state->__pyx_n_s_self); + Py_CLEAR(clear_module_state->__pyx_n_s_set_filter_time); + Py_CLEAR(clear_module_state->__pyx_n_s_set_global); + Py_CLEAR(clear_module_state->__pyx_n_s_setstate); + Py_CLEAR(clear_module_state->__pyx_n_s_setstate_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_shape); + Py_CLEAR(clear_module_state->__pyx_n_s_size); + Py_CLEAR(clear_module_state->__pyx_n_s_spec); + Py_CLEAR(clear_module_state->__pyx_n_s_start); + Py_CLEAR(clear_module_state->__pyx_n_s_state); + Py_CLEAR(clear_module_state->__pyx_n_s_state_b); + Py_CLEAR(clear_module_state->__pyx_n_s_step); + Py_CLEAR(clear_module_state->__pyx_n_s_stop); + Py_CLEAR(clear_module_state->__pyx_kp_s_strided_and_direct); + Py_CLEAR(clear_module_state->__pyx_kp_s_strided_and_direct_or_indirect); + Py_CLEAR(clear_module_state->__pyx_kp_s_strided_and_indirect); + Py_CLEAR(clear_module_state->__pyx_kp_s_stringsource); + Py_CLEAR(clear_module_state->__pyx_n_s_struct); + Py_CLEAR(clear_module_state->__pyx_n_s_sys); + Py_CLEAR(clear_module_state->__pyx_n_s_t); + Py_CLEAR(clear_module_state->__pyx_n_s_test); + Py_CLEAR(clear_module_state->__pyx_n_s_tmpvec); + Py_CLEAR(clear_module_state->__pyx_kp_s_unable_to_allocate_array_data); + Py_CLEAR(clear_module_state->__pyx_kp_s_unable_to_allocate_shape_and_str); + Py_CLEAR(clear_module_state->__pyx_n_s_unpack); + Py_CLEAR(clear_module_state->__pyx_n_s_update); + Py_CLEAR(clear_module_state->__pyx_n_u_utf8); + Py_CLEAR(clear_module_state->__pyx_n_s_val); + Py_CLEAR(clear_module_state->__pyx_n_s_version_info); + Py_CLEAR(clear_module_state->__pyx_n_s_x); + Py_CLEAR(clear_module_state->__pyx_n_s_x_initial); + Py_CLEAR(clear_module_state->__pyx_n_s_z); + Py_CLEAR(clear_module_state->__pyx_n_s_z_map); + Py_CLEAR(clear_module_state->__pyx_n_s_zi); + Py_CLEAR(clear_module_state->__pyx_n_s_zi_b); + Py_CLEAR(clear_module_state->__pyx_float_0_95); + Py_CLEAR(clear_module_state->__pyx_int_0); + Py_CLEAR(clear_module_state->__pyx_int_1); + Py_CLEAR(clear_module_state->__pyx_int_3); + Py_CLEAR(clear_module_state->__pyx_int_112105877); + Py_CLEAR(clear_module_state->__pyx_int_136983863); + Py_CLEAR(clear_module_state->__pyx_int_184977713); + Py_CLEAR(clear_module_state->__pyx_int_neg_1); + Py_CLEAR(clear_module_state->__pyx_k__17); + Py_CLEAR(clear_module_state->__pyx_k__18); + Py_CLEAR(clear_module_state->__pyx_k__19); + Py_CLEAR(clear_module_state->__pyx_k__28); + Py_CLEAR(clear_module_state->__pyx_k__33); + Py_CLEAR(clear_module_state->__pyx_slice__5); + Py_CLEAR(clear_module_state->__pyx_tuple__4); + Py_CLEAR(clear_module_state->__pyx_tuple__8); + Py_CLEAR(clear_module_state->__pyx_tuple__15); + Py_CLEAR(clear_module_state->__pyx_tuple__16); + Py_CLEAR(clear_module_state->__pyx_tuple__37); + Py_CLEAR(clear_module_state->__pyx_tuple__38); + Py_CLEAR(clear_module_state->__pyx_tuple__39); + Py_CLEAR(clear_module_state->__pyx_tuple__40); + Py_CLEAR(clear_module_state->__pyx_tuple__41); + Py_CLEAR(clear_module_state->__pyx_tuple__42); + Py_CLEAR(clear_module_state->__pyx_tuple__43); + Py_CLEAR(clear_module_state->__pyx_tuple__44); + Py_CLEAR(clear_module_state->__pyx_tuple__45); + Py_CLEAR(clear_module_state->__pyx_tuple__46); + Py_CLEAR(clear_module_state->__pyx_tuple__48); + Py_CLEAR(clear_module_state->__pyx_tuple__49); + Py_CLEAR(clear_module_state->__pyx_tuple__50); + Py_CLEAR(clear_module_state->__pyx_tuple__51); + Py_CLEAR(clear_module_state->__pyx_tuple__52); + Py_CLEAR(clear_module_state->__pyx_tuple__53); + Py_CLEAR(clear_module_state->__pyx_tuple__54); + Py_CLEAR(clear_module_state->__pyx_tuple__55); + Py_CLEAR(clear_module_state->__pyx_tuple__56); + Py_CLEAR(clear_module_state->__pyx_tuple__57); + Py_CLEAR(clear_module_state->__pyx_codeobj__20); + Py_CLEAR(clear_module_state->__pyx_codeobj__21); + Py_CLEAR(clear_module_state->__pyx_codeobj__22); + Py_CLEAR(clear_module_state->__pyx_codeobj__23); + Py_CLEAR(clear_module_state->__pyx_codeobj__24); + Py_CLEAR(clear_module_state->__pyx_codeobj__25); + Py_CLEAR(clear_module_state->__pyx_codeobj__26); + Py_CLEAR(clear_module_state->__pyx_codeobj__27); + Py_CLEAR(clear_module_state->__pyx_codeobj__29); + Py_CLEAR(clear_module_state->__pyx_codeobj__30); + Py_CLEAR(clear_module_state->__pyx_codeobj__31); + Py_CLEAR(clear_module_state->__pyx_codeobj__32); + Py_CLEAR(clear_module_state->__pyx_codeobj__34); + Py_CLEAR(clear_module_state->__pyx_codeobj__35); + Py_CLEAR(clear_module_state->__pyx_codeobj__36); + Py_CLEAR(clear_module_state->__pyx_codeobj__47); + return 0; +} +#endif +/* #### Code section: module_state_traverse ### */ +#if CYTHON_USE_MODULE_STATE +static int __pyx_m_traverse(PyObject *m, visitproc visit, void *arg) { + __pyx_mstate *traverse_module_state = __pyx_mstate(m); + if (!traverse_module_state) return 0; + Py_VISIT(traverse_module_state->__pyx_d); + Py_VISIT(traverse_module_state->__pyx_b); + Py_VISIT(traverse_module_state->__pyx_cython_runtime); + Py_VISIT(traverse_module_state->__pyx_empty_tuple); + Py_VISIT(traverse_module_state->__pyx_empty_bytes); + Py_VISIT(traverse_module_state->__pyx_empty_unicode); + #ifdef __Pyx_CyFunction_USED + Py_VISIT(traverse_module_state->__pyx_CyFunctionType); + #endif + #ifdef __Pyx_FusedFunction_USED + Py_VISIT(traverse_module_state->__pyx_FusedFunctionType); + #endif + Py_VISIT(traverse_module_state->__pyx_ptype_7cpython_4type_type); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_dtype); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_flatiter); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_broadcast); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_ndarray); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_generic); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_number); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_integer); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_signedinteger); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_unsignedinteger); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_inexact); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_floating); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_complexfloating); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_flexible); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_character); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_ufunc); + Py_VISIT(traverse_module_state->__pyx_ptype_7rednose_7helpers_11ekf_sym_pyx_EKF_sym_pyx); + Py_VISIT(traverse_module_state->__pyx_type_7rednose_7helpers_11ekf_sym_pyx_EKF_sym_pyx); + Py_VISIT(traverse_module_state->__pyx_array_type); + Py_VISIT(traverse_module_state->__pyx_type___pyx_array); + Py_VISIT(traverse_module_state->__pyx_MemviewEnum_type); + Py_VISIT(traverse_module_state->__pyx_type___pyx_MemviewEnum); + Py_VISIT(traverse_module_state->__pyx_memoryview_type); + Py_VISIT(traverse_module_state->__pyx_type___pyx_memoryview); + Py_VISIT(traverse_module_state->__pyx_memoryviewslice_type); + Py_VISIT(traverse_module_state->__pyx_type___pyx_memoryviewslice); + Py_VISIT(traverse_module_state->__pyx_kp_u_); + Py_VISIT(traverse_module_state->__pyx_n_s_ASCII); + Py_VISIT(traverse_module_state->__pyx_kp_s_All_dimensions_preceding_dimensi); + Py_VISIT(traverse_module_state->__pyx_n_s_AssertionError); + Py_VISIT(traverse_module_state->__pyx_kp_s_Buffer_view_does_not_expose_stri); + Py_VISIT(traverse_module_state->__pyx_n_u_C); + Py_VISIT(traverse_module_state->__pyx_kp_s_Can_only_create_a_buffer_that_is); + Py_VISIT(traverse_module_state->__pyx_kp_s_Cannot_assign_to_read_only_memor); + Py_VISIT(traverse_module_state->__pyx_kp_s_Cannot_create_writable_memory_vi); + Py_VISIT(traverse_module_state->__pyx_kp_u_Cannot_index_with_type); + Py_VISIT(traverse_module_state->__pyx_kp_s_Cannot_transpose_memoryview_with); + Py_VISIT(traverse_module_state->__pyx_kp_s_Dimension_d_is_not_direct); + Py_VISIT(traverse_module_state->__pyx_n_s_EKF_sym_pyx); + Py_VISIT(traverse_module_state->__pyx_n_s_EKF_sym_pyx___reduce_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_EKF_sym_pyx___setstate_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_EKF_sym_pyx_augment); + Py_VISIT(traverse_module_state->__pyx_n_s_EKF_sym_pyx_covs); + Py_VISIT(traverse_module_state->__pyx_n_s_EKF_sym_pyx_get_augment_times); + Py_VISIT(traverse_module_state->__pyx_n_s_EKF_sym_pyx_get_filter_time); + Py_VISIT(traverse_module_state->__pyx_n_s_EKF_sym_pyx_init_state); + Py_VISIT(traverse_module_state->__pyx_n_s_EKF_sym_pyx_maha_test); + Py_VISIT(traverse_module_state->__pyx_n_s_EKF_sym_pyx_predict); + Py_VISIT(traverse_module_state->__pyx_n_s_EKF_sym_pyx_predict_and_update_b); + Py_VISIT(traverse_module_state->__pyx_n_s_EKF_sym_pyx_reset_rewind); + Py_VISIT(traverse_module_state->__pyx_n_s_EKF_sym_pyx_rts_smooth); + Py_VISIT(traverse_module_state->__pyx_n_s_EKF_sym_pyx_set_filter_time); + Py_VISIT(traverse_module_state->__pyx_n_s_EKF_sym_pyx_set_global); + Py_VISIT(traverse_module_state->__pyx_n_s_EKF_sym_pyx_state); + Py_VISIT(traverse_module_state->__pyx_n_s_Ellipsis); + Py_VISIT(traverse_module_state->__pyx_kp_s_Empty_shape_tuple_for_cython_arr); + Py_VISIT(traverse_module_state->__pyx_n_s_ImportError); + Py_VISIT(traverse_module_state->__pyx_kp_s_Incompatible_checksums_0x_x_vs_0); + Py_VISIT(traverse_module_state->__pyx_n_s_IndexError); + Py_VISIT(traverse_module_state->__pyx_kp_s_Index_out_of_bounds_axis_d); + Py_VISIT(traverse_module_state->__pyx_kp_s_Indirect_dimensions_not_supporte); + Py_VISIT(traverse_module_state->__pyx_kp_u_Invalid_mode_expected_c_or_fortr); + Py_VISIT(traverse_module_state->__pyx_kp_u_Invalid_shape_in_axis); + Py_VISIT(traverse_module_state->__pyx_n_s_MemoryError); + Py_VISIT(traverse_module_state->__pyx_kp_s_MemoryView_of_r_at_0x_x); + Py_VISIT(traverse_module_state->__pyx_kp_s_MemoryView_of_r_object); + Py_VISIT(traverse_module_state->__pyx_n_s_N); + Py_VISIT(traverse_module_state->__pyx_n_s_NotImplementedError); + Py_VISIT(traverse_module_state->__pyx_n_b_O); + Py_VISIT(traverse_module_state->__pyx_kp_u_Out_of_bounds_on_buffer_access_a); + Py_VISIT(traverse_module_state->__pyx_n_s_P); + Py_VISIT(traverse_module_state->__pyx_n_s_P_initial); + Py_VISIT(traverse_module_state->__pyx_n_s_PickleError); + Py_VISIT(traverse_module_state->__pyx_n_s_Q); + Py_VISIT(traverse_module_state->__pyx_n_s_R); + Py_VISIT(traverse_module_state->__pyx_n_s_R_map); + Py_VISIT(traverse_module_state->__pyx_n_s_Ri); + Py_VISIT(traverse_module_state->__pyx_n_s_Ri_b); + Py_VISIT(traverse_module_state->__pyx_n_s_Sequence); + Py_VISIT(traverse_module_state->__pyx_kp_s_Step_may_not_be_zero_axis_d); + Py_VISIT(traverse_module_state->__pyx_kp_b_T); + Py_VISIT(traverse_module_state->__pyx_n_s_TypeError); + Py_VISIT(traverse_module_state->__pyx_kp_s_Unable_to_convert_item_to_object); + Py_VISIT(traverse_module_state->__pyx_n_s_ValueError); + Py_VISIT(traverse_module_state->__pyx_n_s_View_MemoryView); + Py_VISIT(traverse_module_state->__pyx_kp_b__10); + Py_VISIT(traverse_module_state->__pyx_kp_b__11); + Py_VISIT(traverse_module_state->__pyx_kp_b__12); + Py_VISIT(traverse_module_state->__pyx_kp_u__13); + Py_VISIT(traverse_module_state->__pyx_kp_u__14); + Py_VISIT(traverse_module_state->__pyx_kp_u__2); + Py_VISIT(traverse_module_state->__pyx_n_s__3); + Py_VISIT(traverse_module_state->__pyx_n_s__58); + Py_VISIT(traverse_module_state->__pyx_kp_u__6); + Py_VISIT(traverse_module_state->__pyx_kp_u__7); + Py_VISIT(traverse_module_state->__pyx_kp_b__9); + Py_VISIT(traverse_module_state->__pyx_n_s_a); + Py_VISIT(traverse_module_state->__pyx_n_s_abc); + Py_VISIT(traverse_module_state->__pyx_n_s_allocate_buffer); + Py_VISIT(traverse_module_state->__pyx_kp_u_and); + Py_VISIT(traverse_module_state->__pyx_n_s_args); + Py_VISIT(traverse_module_state->__pyx_n_s_args_map); + Py_VISIT(traverse_module_state->__pyx_n_s_asarray); + Py_VISIT(traverse_module_state->__pyx_n_s_ascontiguousarray); + Py_VISIT(traverse_module_state->__pyx_n_s_asyncio_coroutines); + Py_VISIT(traverse_module_state->__pyx_n_s_augment); + Py_VISIT(traverse_module_state->__pyx_n_s_base); + Py_VISIT(traverse_module_state->__pyx_n_s_c); + Py_VISIT(traverse_module_state->__pyx_n_u_c); + Py_VISIT(traverse_module_state->__pyx_n_s_class); + Py_VISIT(traverse_module_state->__pyx_n_s_class_getitem); + Py_VISIT(traverse_module_state->__pyx_n_s_cline_in_traceback); + Py_VISIT(traverse_module_state->__pyx_n_s_collections); + Py_VISIT(traverse_module_state->__pyx_kp_s_collections_abc); + Py_VISIT(traverse_module_state->__pyx_kp_s_contiguous_and_direct); + Py_VISIT(traverse_module_state->__pyx_kp_s_contiguous_and_indirect); + Py_VISIT(traverse_module_state->__pyx_n_s_copy); + Py_VISIT(traverse_module_state->__pyx_n_s_count); + Py_VISIT(traverse_module_state->__pyx_n_s_covs); + Py_VISIT(traverse_module_state->__pyx_n_s_covs_b); + Py_VISIT(traverse_module_state->__pyx_n_s_dict); + Py_VISIT(traverse_module_state->__pyx_n_s_dim_augment); + Py_VISIT(traverse_module_state->__pyx_n_s_dim_augment_err); + Py_VISIT(traverse_module_state->__pyx_n_s_dim_main); + Py_VISIT(traverse_module_state->__pyx_n_s_dim_main_err); + Py_VISIT(traverse_module_state->__pyx_kp_u_disable); + Py_VISIT(traverse_module_state->__pyx_n_s_double); + Py_VISIT(traverse_module_state->__pyx_n_s_dtype); + Py_VISIT(traverse_module_state->__pyx_n_s_dtype_is_object); + Py_VISIT(traverse_module_state->__pyx_kp_u_enable); + Py_VISIT(traverse_module_state->__pyx_n_s_encode); + Py_VISIT(traverse_module_state->__pyx_n_s_enumerate); + Py_VISIT(traverse_module_state->__pyx_n_s_error); + Py_VISIT(traverse_module_state->__pyx_n_s_estimates); + Py_VISIT(traverse_module_state->__pyx_n_s_extra_args); + Py_VISIT(traverse_module_state->__pyx_n_s_extra_args_map); + Py_VISIT(traverse_module_state->__pyx_n_s_filter_time); + Py_VISIT(traverse_module_state->__pyx_n_s_flags); + Py_VISIT(traverse_module_state->__pyx_n_s_format); + Py_VISIT(traverse_module_state->__pyx_n_s_fortran); + Py_VISIT(traverse_module_state->__pyx_n_u_fortran); + Py_VISIT(traverse_module_state->__pyx_kp_u_gc); + Py_VISIT(traverse_module_state->__pyx_n_s_gen_dir); + Py_VISIT(traverse_module_state->__pyx_n_s_get_augment_times); + Py_VISIT(traverse_module_state->__pyx_n_s_get_filter_time); + Py_VISIT(traverse_module_state->__pyx_n_s_getstate); + Py_VISIT(traverse_module_state->__pyx_n_s_global_var); + Py_VISIT(traverse_module_state->__pyx_n_s_global_vars); + Py_VISIT(traverse_module_state->__pyx_kp_u_got); + Py_VISIT(traverse_module_state->__pyx_kp_u_got_differing_extents_in_dimensi); + Py_VISIT(traverse_module_state->__pyx_n_s_id); + Py_VISIT(traverse_module_state->__pyx_n_s_import); + Py_VISIT(traverse_module_state->__pyx_n_s_index); + Py_VISIT(traverse_module_state->__pyx_n_s_init_state); + Py_VISIT(traverse_module_state->__pyx_n_s_initializing); + Py_VISIT(traverse_module_state->__pyx_n_s_is_coroutine); + Py_VISIT(traverse_module_state->__pyx_kp_u_isenabled); + Py_VISIT(traverse_module_state->__pyx_n_s_itemsize); + Py_VISIT(traverse_module_state->__pyx_kp_s_itemsize_0_for_cython_array); + Py_VISIT(traverse_module_state->__pyx_n_s_join); + Py_VISIT(traverse_module_state->__pyx_n_s_kind); + Py_VISIT(traverse_module_state->__pyx_n_s_logger); + Py_VISIT(traverse_module_state->__pyx_n_s_maha_test); + Py_VISIT(traverse_module_state->__pyx_n_s_maha_test_kinds); + Py_VISIT(traverse_module_state->__pyx_n_s_maha_thresh); + Py_VISIT(traverse_module_state->__pyx_n_s_main); + Py_VISIT(traverse_module_state->__pyx_n_s_max_rewind_age); + Py_VISIT(traverse_module_state->__pyx_n_s_memview); + Py_VISIT(traverse_module_state->__pyx_n_s_mode); + Py_VISIT(traverse_module_state->__pyx_n_s_name); + Py_VISIT(traverse_module_state->__pyx_n_s_name_2); + Py_VISIT(traverse_module_state->__pyx_n_s_nan); + Py_VISIT(traverse_module_state->__pyx_n_s_ndim); + Py_VISIT(traverse_module_state->__pyx_n_s_new); + Py_VISIT(traverse_module_state->__pyx_kp_s_no_default___reduce___due_to_non); + Py_VISIT(traverse_module_state->__pyx_n_s_norm_quats); + Py_VISIT(traverse_module_state->__pyx_n_s_np); + Py_VISIT(traverse_module_state->__pyx_n_s_numpy); + Py_VISIT(traverse_module_state->__pyx_kp_u_numpy_core_multiarray_failed_to); + 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Py_VISIT(traverse_module_state->__pyx_n_s_start); + Py_VISIT(traverse_module_state->__pyx_n_s_state); + Py_VISIT(traverse_module_state->__pyx_n_s_state_b); + Py_VISIT(traverse_module_state->__pyx_n_s_step); + Py_VISIT(traverse_module_state->__pyx_n_s_stop); + Py_VISIT(traverse_module_state->__pyx_kp_s_strided_and_direct); + Py_VISIT(traverse_module_state->__pyx_kp_s_strided_and_direct_or_indirect); + Py_VISIT(traverse_module_state->__pyx_kp_s_strided_and_indirect); + Py_VISIT(traverse_module_state->__pyx_kp_s_stringsource); + Py_VISIT(traverse_module_state->__pyx_n_s_struct); + Py_VISIT(traverse_module_state->__pyx_n_s_sys); + Py_VISIT(traverse_module_state->__pyx_n_s_t); + Py_VISIT(traverse_module_state->__pyx_n_s_test); + Py_VISIT(traverse_module_state->__pyx_n_s_tmpvec); + Py_VISIT(traverse_module_state->__pyx_kp_s_unable_to_allocate_array_data); + Py_VISIT(traverse_module_state->__pyx_kp_s_unable_to_allocate_shape_and_str); + Py_VISIT(traverse_module_state->__pyx_n_s_unpack); + Py_VISIT(traverse_module_state->__pyx_n_s_update); + Py_VISIT(traverse_module_state->__pyx_n_u_utf8); + Py_VISIT(traverse_module_state->__pyx_n_s_val); + Py_VISIT(traverse_module_state->__pyx_n_s_version_info); + Py_VISIT(traverse_module_state->__pyx_n_s_x); + Py_VISIT(traverse_module_state->__pyx_n_s_x_initial); + Py_VISIT(traverse_module_state->__pyx_n_s_z); + Py_VISIT(traverse_module_state->__pyx_n_s_z_map); + Py_VISIT(traverse_module_state->__pyx_n_s_zi); + Py_VISIT(traverse_module_state->__pyx_n_s_zi_b); + Py_VISIT(traverse_module_state->__pyx_float_0_95); + Py_VISIT(traverse_module_state->__pyx_int_0); + Py_VISIT(traverse_module_state->__pyx_int_1); + Py_VISIT(traverse_module_state->__pyx_int_3); + Py_VISIT(traverse_module_state->__pyx_int_112105877); + Py_VISIT(traverse_module_state->__pyx_int_136983863); + Py_VISIT(traverse_module_state->__pyx_int_184977713); + Py_VISIT(traverse_module_state->__pyx_int_neg_1); + Py_VISIT(traverse_module_state->__pyx_k__17); + Py_VISIT(traverse_module_state->__pyx_k__18); + Py_VISIT(traverse_module_state->__pyx_k__19); + Py_VISIT(traverse_module_state->__pyx_k__28); + Py_VISIT(traverse_module_state->__pyx_k__33); + Py_VISIT(traverse_module_state->__pyx_slice__5); + Py_VISIT(traverse_module_state->__pyx_tuple__4); + Py_VISIT(traverse_module_state->__pyx_tuple__8); + Py_VISIT(traverse_module_state->__pyx_tuple__15); + Py_VISIT(traverse_module_state->__pyx_tuple__16); + Py_VISIT(traverse_module_state->__pyx_tuple__37); + Py_VISIT(traverse_module_state->__pyx_tuple__38); + Py_VISIT(traverse_module_state->__pyx_tuple__39); + Py_VISIT(traverse_module_state->__pyx_tuple__40); + Py_VISIT(traverse_module_state->__pyx_tuple__41); + Py_VISIT(traverse_module_state->__pyx_tuple__42); + Py_VISIT(traverse_module_state->__pyx_tuple__43); + Py_VISIT(traverse_module_state->__pyx_tuple__44); + Py_VISIT(traverse_module_state->__pyx_tuple__45); + Py_VISIT(traverse_module_state->__pyx_tuple__46); + Py_VISIT(traverse_module_state->__pyx_tuple__48); + Py_VISIT(traverse_module_state->__pyx_tuple__49); + Py_VISIT(traverse_module_state->__pyx_tuple__50); + Py_VISIT(traverse_module_state->__pyx_tuple__51); + Py_VISIT(traverse_module_state->__pyx_tuple__52); + Py_VISIT(traverse_module_state->__pyx_tuple__53); + Py_VISIT(traverse_module_state->__pyx_tuple__54); + Py_VISIT(traverse_module_state->__pyx_tuple__55); + Py_VISIT(traverse_module_state->__pyx_tuple__56); + Py_VISIT(traverse_module_state->__pyx_tuple__57); + Py_VISIT(traverse_module_state->__pyx_codeobj__20); + Py_VISIT(traverse_module_state->__pyx_codeobj__21); + Py_VISIT(traverse_module_state->__pyx_codeobj__22); + Py_VISIT(traverse_module_state->__pyx_codeobj__23); + Py_VISIT(traverse_module_state->__pyx_codeobj__24); + Py_VISIT(traverse_module_state->__pyx_codeobj__25); + Py_VISIT(traverse_module_state->__pyx_codeobj__26); + Py_VISIT(traverse_module_state->__pyx_codeobj__27); + Py_VISIT(traverse_module_state->__pyx_codeobj__29); + Py_VISIT(traverse_module_state->__pyx_codeobj__30); + Py_VISIT(traverse_module_state->__pyx_codeobj__31); + Py_VISIT(traverse_module_state->__pyx_codeobj__32); + Py_VISIT(traverse_module_state->__pyx_codeobj__34); + Py_VISIT(traverse_module_state->__pyx_codeobj__35); + Py_VISIT(traverse_module_state->__pyx_codeobj__36); + Py_VISIT(traverse_module_state->__pyx_codeobj__47); + return 0; +} +#endif +/* #### Code section: module_state_defines ### */ +#define __pyx_d __pyx_mstate_global->__pyx_d +#define __pyx_b __pyx_mstate_global->__pyx_b +#define __pyx_cython_runtime __pyx_mstate_global->__pyx_cython_runtime +#define __pyx_empty_tuple __pyx_mstate_global->__pyx_empty_tuple +#define __pyx_empty_bytes __pyx_mstate_global->__pyx_empty_bytes +#define __pyx_empty_unicode __pyx_mstate_global->__pyx_empty_unicode +#ifdef __Pyx_CyFunction_USED +#define __pyx_CyFunctionType __pyx_mstate_global->__pyx_CyFunctionType +#endif +#ifdef __Pyx_FusedFunction_USED +#define __pyx_FusedFunctionType __pyx_mstate_global->__pyx_FusedFunctionType +#endif +#ifdef __Pyx_Generator_USED +#define __pyx_GeneratorType __pyx_mstate_global->__pyx_GeneratorType +#endif +#ifdef __Pyx_IterableCoroutine_USED +#define __pyx_IterableCoroutineType __pyx_mstate_global->__pyx_IterableCoroutineType +#endif +#ifdef __Pyx_Coroutine_USED +#define __pyx_CoroutineAwaitType __pyx_mstate_global->__pyx_CoroutineAwaitType +#endif +#ifdef __Pyx_Coroutine_USED +#define __pyx_CoroutineType __pyx_mstate_global->__pyx_CoroutineType +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#define __pyx_ptype_7cpython_4type_type __pyx_mstate_global->__pyx_ptype_7cpython_4type_type +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#define __pyx_ptype_5numpy_dtype __pyx_mstate_global->__pyx_ptype_5numpy_dtype +#define __pyx_ptype_5numpy_flatiter __pyx_mstate_global->__pyx_ptype_5numpy_flatiter +#define __pyx_ptype_5numpy_broadcast __pyx_mstate_global->__pyx_ptype_5numpy_broadcast +#define __pyx_ptype_5numpy_ndarray __pyx_mstate_global->__pyx_ptype_5numpy_ndarray +#define __pyx_ptype_5numpy_generic __pyx_mstate_global->__pyx_ptype_5numpy_generic +#define __pyx_ptype_5numpy_number __pyx_mstate_global->__pyx_ptype_5numpy_number +#define __pyx_ptype_5numpy_integer __pyx_mstate_global->__pyx_ptype_5numpy_integer +#define __pyx_ptype_5numpy_signedinteger __pyx_mstate_global->__pyx_ptype_5numpy_signedinteger +#define __pyx_ptype_5numpy_unsignedinteger __pyx_mstate_global->__pyx_ptype_5numpy_unsignedinteger +#define __pyx_ptype_5numpy_inexact __pyx_mstate_global->__pyx_ptype_5numpy_inexact +#define __pyx_ptype_5numpy_floating __pyx_mstate_global->__pyx_ptype_5numpy_floating +#define __pyx_ptype_5numpy_complexfloating __pyx_mstate_global->__pyx_ptype_5numpy_complexfloating +#define __pyx_ptype_5numpy_flexible __pyx_mstate_global->__pyx_ptype_5numpy_flexible +#define __pyx_ptype_5numpy_character __pyx_mstate_global->__pyx_ptype_5numpy_character +#define __pyx_ptype_5numpy_ufunc __pyx_mstate_global->__pyx_ptype_5numpy_ufunc +#if CYTHON_USE_MODULE_STATE +#define __pyx_type_7rednose_7helpers_11ekf_sym_pyx_EKF_sym_pyx __pyx_mstate_global->__pyx_type_7rednose_7helpers_11ekf_sym_pyx_EKF_sym_pyx +#define __pyx_type___pyx_array __pyx_mstate_global->__pyx_type___pyx_array +#define __pyx_type___pyx_MemviewEnum __pyx_mstate_global->__pyx_type___pyx_MemviewEnum +#define __pyx_type___pyx_memoryview __pyx_mstate_global->__pyx_type___pyx_memoryview +#define __pyx_type___pyx_memoryviewslice __pyx_mstate_global->__pyx_type___pyx_memoryviewslice +#endif +#define __pyx_ptype_7rednose_7helpers_11ekf_sym_pyx_EKF_sym_pyx __pyx_mstate_global->__pyx_ptype_7rednose_7helpers_11ekf_sym_pyx_EKF_sym_pyx +#define __pyx_array_type __pyx_mstate_global->__pyx_array_type +#define __pyx_MemviewEnum_type __pyx_mstate_global->__pyx_MemviewEnum_type +#define __pyx_memoryview_type __pyx_mstate_global->__pyx_memoryview_type +#define __pyx_memoryviewslice_type __pyx_mstate_global->__pyx_memoryviewslice_type +#define __pyx_kp_u_ __pyx_mstate_global->__pyx_kp_u_ +#define __pyx_n_s_ASCII __pyx_mstate_global->__pyx_n_s_ASCII +#define __pyx_kp_s_All_dimensions_preceding_dimensi __pyx_mstate_global->__pyx_kp_s_All_dimensions_preceding_dimensi +#define __pyx_n_s_AssertionError __pyx_mstate_global->__pyx_n_s_AssertionError +#define __pyx_kp_s_Buffer_view_does_not_expose_stri __pyx_mstate_global->__pyx_kp_s_Buffer_view_does_not_expose_stri +#define __pyx_n_u_C __pyx_mstate_global->__pyx_n_u_C +#define __pyx_kp_s_Can_only_create_a_buffer_that_is __pyx_mstate_global->__pyx_kp_s_Can_only_create_a_buffer_that_is +#define __pyx_kp_s_Cannot_assign_to_read_only_memor __pyx_mstate_global->__pyx_kp_s_Cannot_assign_to_read_only_memor +#define __pyx_kp_s_Cannot_create_writable_memory_vi __pyx_mstate_global->__pyx_kp_s_Cannot_create_writable_memory_vi +#define __pyx_kp_u_Cannot_index_with_type __pyx_mstate_global->__pyx_kp_u_Cannot_index_with_type +#define __pyx_kp_s_Cannot_transpose_memoryview_with __pyx_mstate_global->__pyx_kp_s_Cannot_transpose_memoryview_with +#define __pyx_kp_s_Dimension_d_is_not_direct __pyx_mstate_global->__pyx_kp_s_Dimension_d_is_not_direct +#define __pyx_n_s_EKF_sym_pyx __pyx_mstate_global->__pyx_n_s_EKF_sym_pyx +#define __pyx_n_s_EKF_sym_pyx___reduce_cython __pyx_mstate_global->__pyx_n_s_EKF_sym_pyx___reduce_cython +#define __pyx_n_s_EKF_sym_pyx___setstate_cython __pyx_mstate_global->__pyx_n_s_EKF_sym_pyx___setstate_cython +#define __pyx_n_s_EKF_sym_pyx_augment __pyx_mstate_global->__pyx_n_s_EKF_sym_pyx_augment +#define __pyx_n_s_EKF_sym_pyx_covs __pyx_mstate_global->__pyx_n_s_EKF_sym_pyx_covs +#define __pyx_n_s_EKF_sym_pyx_get_augment_times __pyx_mstate_global->__pyx_n_s_EKF_sym_pyx_get_augment_times +#define __pyx_n_s_EKF_sym_pyx_get_filter_time __pyx_mstate_global->__pyx_n_s_EKF_sym_pyx_get_filter_time +#define __pyx_n_s_EKF_sym_pyx_init_state __pyx_mstate_global->__pyx_n_s_EKF_sym_pyx_init_state +#define __pyx_n_s_EKF_sym_pyx_maha_test __pyx_mstate_global->__pyx_n_s_EKF_sym_pyx_maha_test +#define __pyx_n_s_EKF_sym_pyx_predict __pyx_mstate_global->__pyx_n_s_EKF_sym_pyx_predict +#define __pyx_n_s_EKF_sym_pyx_predict_and_update_b __pyx_mstate_global->__pyx_n_s_EKF_sym_pyx_predict_and_update_b +#define __pyx_n_s_EKF_sym_pyx_reset_rewind __pyx_mstate_global->__pyx_n_s_EKF_sym_pyx_reset_rewind +#define __pyx_n_s_EKF_sym_pyx_rts_smooth __pyx_mstate_global->__pyx_n_s_EKF_sym_pyx_rts_smooth +#define __pyx_n_s_EKF_sym_pyx_set_filter_time __pyx_mstate_global->__pyx_n_s_EKF_sym_pyx_set_filter_time +#define __pyx_n_s_EKF_sym_pyx_set_global __pyx_mstate_global->__pyx_n_s_EKF_sym_pyx_set_global +#define __pyx_n_s_EKF_sym_pyx_state __pyx_mstate_global->__pyx_n_s_EKF_sym_pyx_state +#define __pyx_n_s_Ellipsis __pyx_mstate_global->__pyx_n_s_Ellipsis +#define __pyx_kp_s_Empty_shape_tuple_for_cython_arr __pyx_mstate_global->__pyx_kp_s_Empty_shape_tuple_for_cython_arr +#define __pyx_n_s_ImportError __pyx_mstate_global->__pyx_n_s_ImportError +#define __pyx_kp_s_Incompatible_checksums_0x_x_vs_0 __pyx_mstate_global->__pyx_kp_s_Incompatible_checksums_0x_x_vs_0 +#define __pyx_n_s_IndexError __pyx_mstate_global->__pyx_n_s_IndexError +#define __pyx_kp_s_Index_out_of_bounds_axis_d __pyx_mstate_global->__pyx_kp_s_Index_out_of_bounds_axis_d +#define __pyx_kp_s_Indirect_dimensions_not_supporte __pyx_mstate_global->__pyx_kp_s_Indirect_dimensions_not_supporte +#define __pyx_kp_u_Invalid_mode_expected_c_or_fortr __pyx_mstate_global->__pyx_kp_u_Invalid_mode_expected_c_or_fortr +#define __pyx_kp_u_Invalid_shape_in_axis __pyx_mstate_global->__pyx_kp_u_Invalid_shape_in_axis +#define __pyx_n_s_MemoryError __pyx_mstate_global->__pyx_n_s_MemoryError +#define __pyx_kp_s_MemoryView_of_r_at_0x_x __pyx_mstate_global->__pyx_kp_s_MemoryView_of_r_at_0x_x +#define __pyx_kp_s_MemoryView_of_r_object __pyx_mstate_global->__pyx_kp_s_MemoryView_of_r_object +#define __pyx_n_s_N __pyx_mstate_global->__pyx_n_s_N +#define __pyx_n_s_NotImplementedError __pyx_mstate_global->__pyx_n_s_NotImplementedError +#define __pyx_n_b_O __pyx_mstate_global->__pyx_n_b_O +#define __pyx_kp_u_Out_of_bounds_on_buffer_access_a __pyx_mstate_global->__pyx_kp_u_Out_of_bounds_on_buffer_access_a +#define __pyx_n_s_P __pyx_mstate_global->__pyx_n_s_P +#define __pyx_n_s_P_initial __pyx_mstate_global->__pyx_n_s_P_initial +#define __pyx_n_s_PickleError __pyx_mstate_global->__pyx_n_s_PickleError +#define __pyx_n_s_Q __pyx_mstate_global->__pyx_n_s_Q +#define __pyx_n_s_R __pyx_mstate_global->__pyx_n_s_R +#define __pyx_n_s_R_map __pyx_mstate_global->__pyx_n_s_R_map +#define __pyx_n_s_Ri __pyx_mstate_global->__pyx_n_s_Ri +#define __pyx_n_s_Ri_b __pyx_mstate_global->__pyx_n_s_Ri_b +#define __pyx_n_s_Sequence __pyx_mstate_global->__pyx_n_s_Sequence +#define __pyx_kp_s_Step_may_not_be_zero_axis_d __pyx_mstate_global->__pyx_kp_s_Step_may_not_be_zero_axis_d +#define __pyx_kp_b_T __pyx_mstate_global->__pyx_kp_b_T +#define __pyx_n_s_TypeError __pyx_mstate_global->__pyx_n_s_TypeError +#define __pyx_kp_s_Unable_to_convert_item_to_object __pyx_mstate_global->__pyx_kp_s_Unable_to_convert_item_to_object +#define __pyx_n_s_ValueError __pyx_mstate_global->__pyx_n_s_ValueError +#define __pyx_n_s_View_MemoryView __pyx_mstate_global->__pyx_n_s_View_MemoryView +#define __pyx_kp_b__10 __pyx_mstate_global->__pyx_kp_b__10 +#define __pyx_kp_b__11 __pyx_mstate_global->__pyx_kp_b__11 +#define __pyx_kp_b__12 __pyx_mstate_global->__pyx_kp_b__12 +#define __pyx_kp_u__13 __pyx_mstate_global->__pyx_kp_u__13 +#define __pyx_kp_u__14 __pyx_mstate_global->__pyx_kp_u__14 +#define __pyx_kp_u__2 __pyx_mstate_global->__pyx_kp_u__2 +#define __pyx_n_s__3 __pyx_mstate_global->__pyx_n_s__3 +#define __pyx_n_s__58 __pyx_mstate_global->__pyx_n_s__58 +#define __pyx_kp_u__6 __pyx_mstate_global->__pyx_kp_u__6 +#define __pyx_kp_u__7 __pyx_mstate_global->__pyx_kp_u__7 +#define __pyx_kp_b__9 __pyx_mstate_global->__pyx_kp_b__9 +#define __pyx_n_s_a __pyx_mstate_global->__pyx_n_s_a +#define __pyx_n_s_abc __pyx_mstate_global->__pyx_n_s_abc +#define __pyx_n_s_allocate_buffer __pyx_mstate_global->__pyx_n_s_allocate_buffer +#define __pyx_kp_u_and __pyx_mstate_global->__pyx_kp_u_and +#define __pyx_n_s_args __pyx_mstate_global->__pyx_n_s_args +#define __pyx_n_s_args_map __pyx_mstate_global->__pyx_n_s_args_map +#define __pyx_n_s_asarray __pyx_mstate_global->__pyx_n_s_asarray +#define __pyx_n_s_ascontiguousarray __pyx_mstate_global->__pyx_n_s_ascontiguousarray +#define __pyx_n_s_asyncio_coroutines __pyx_mstate_global->__pyx_n_s_asyncio_coroutines +#define __pyx_n_s_augment __pyx_mstate_global->__pyx_n_s_augment +#define __pyx_n_s_base __pyx_mstate_global->__pyx_n_s_base +#define __pyx_n_s_c __pyx_mstate_global->__pyx_n_s_c +#define __pyx_n_u_c __pyx_mstate_global->__pyx_n_u_c +#define __pyx_n_s_class __pyx_mstate_global->__pyx_n_s_class +#define __pyx_n_s_class_getitem __pyx_mstate_global->__pyx_n_s_class_getitem +#define __pyx_n_s_cline_in_traceback __pyx_mstate_global->__pyx_n_s_cline_in_traceback +#define __pyx_n_s_collections __pyx_mstate_global->__pyx_n_s_collections +#define __pyx_kp_s_collections_abc __pyx_mstate_global->__pyx_kp_s_collections_abc +#define __pyx_kp_s_contiguous_and_direct __pyx_mstate_global->__pyx_kp_s_contiguous_and_direct +#define __pyx_kp_s_contiguous_and_indirect __pyx_mstate_global->__pyx_kp_s_contiguous_and_indirect +#define __pyx_n_s_copy __pyx_mstate_global->__pyx_n_s_copy +#define __pyx_n_s_count __pyx_mstate_global->__pyx_n_s_count +#define __pyx_n_s_covs __pyx_mstate_global->__pyx_n_s_covs +#define __pyx_n_s_covs_b __pyx_mstate_global->__pyx_n_s_covs_b +#define __pyx_n_s_dict __pyx_mstate_global->__pyx_n_s_dict +#define __pyx_n_s_dim_augment __pyx_mstate_global->__pyx_n_s_dim_augment +#define __pyx_n_s_dim_augment_err __pyx_mstate_global->__pyx_n_s_dim_augment_err +#define __pyx_n_s_dim_main __pyx_mstate_global->__pyx_n_s_dim_main +#define __pyx_n_s_dim_main_err __pyx_mstate_global->__pyx_n_s_dim_main_err +#define __pyx_kp_u_disable __pyx_mstate_global->__pyx_kp_u_disable +#define __pyx_n_s_double __pyx_mstate_global->__pyx_n_s_double +#define __pyx_n_s_dtype __pyx_mstate_global->__pyx_n_s_dtype +#define __pyx_n_s_dtype_is_object __pyx_mstate_global->__pyx_n_s_dtype_is_object +#define __pyx_kp_u_enable __pyx_mstate_global->__pyx_kp_u_enable +#define __pyx_n_s_encode __pyx_mstate_global->__pyx_n_s_encode +#define __pyx_n_s_enumerate __pyx_mstate_global->__pyx_n_s_enumerate +#define __pyx_n_s_error __pyx_mstate_global->__pyx_n_s_error +#define __pyx_n_s_estimates __pyx_mstate_global->__pyx_n_s_estimates +#define __pyx_n_s_extra_args __pyx_mstate_global->__pyx_n_s_extra_args +#define __pyx_n_s_extra_args_map __pyx_mstate_global->__pyx_n_s_extra_args_map +#define __pyx_n_s_filter_time __pyx_mstate_global->__pyx_n_s_filter_time +#define __pyx_n_s_flags __pyx_mstate_global->__pyx_n_s_flags +#define __pyx_n_s_format __pyx_mstate_global->__pyx_n_s_format +#define __pyx_n_s_fortran __pyx_mstate_global->__pyx_n_s_fortran +#define __pyx_n_u_fortran __pyx_mstate_global->__pyx_n_u_fortran +#define __pyx_kp_u_gc __pyx_mstate_global->__pyx_kp_u_gc +#define __pyx_n_s_gen_dir __pyx_mstate_global->__pyx_n_s_gen_dir +#define __pyx_n_s_get_augment_times __pyx_mstate_global->__pyx_n_s_get_augment_times +#define __pyx_n_s_get_filter_time __pyx_mstate_global->__pyx_n_s_get_filter_time +#define __pyx_n_s_getstate __pyx_mstate_global->__pyx_n_s_getstate +#define __pyx_n_s_global_var __pyx_mstate_global->__pyx_n_s_global_var +#define __pyx_n_s_global_vars __pyx_mstate_global->__pyx_n_s_global_vars +#define __pyx_kp_u_got __pyx_mstate_global->__pyx_kp_u_got +#define __pyx_kp_u_got_differing_extents_in_dimensi __pyx_mstate_global->__pyx_kp_u_got_differing_extents_in_dimensi +#define __pyx_n_s_id __pyx_mstate_global->__pyx_n_s_id +#define __pyx_n_s_import __pyx_mstate_global->__pyx_n_s_import +#define __pyx_n_s_index __pyx_mstate_global->__pyx_n_s_index +#define __pyx_n_s_init_state __pyx_mstate_global->__pyx_n_s_init_state +#define __pyx_n_s_initializing __pyx_mstate_global->__pyx_n_s_initializing +#define __pyx_n_s_is_coroutine __pyx_mstate_global->__pyx_n_s_is_coroutine +#define __pyx_kp_u_isenabled __pyx_mstate_global->__pyx_kp_u_isenabled +#define __pyx_n_s_itemsize __pyx_mstate_global->__pyx_n_s_itemsize +#define __pyx_kp_s_itemsize_0_for_cython_array __pyx_mstate_global->__pyx_kp_s_itemsize_0_for_cython_array +#define __pyx_n_s_join __pyx_mstate_global->__pyx_n_s_join +#define __pyx_n_s_kind __pyx_mstate_global->__pyx_n_s_kind +#define __pyx_n_s_logger __pyx_mstate_global->__pyx_n_s_logger +#define __pyx_n_s_maha_test __pyx_mstate_global->__pyx_n_s_maha_test +#define __pyx_n_s_maha_test_kinds __pyx_mstate_global->__pyx_n_s_maha_test_kinds +#define __pyx_n_s_maha_thresh __pyx_mstate_global->__pyx_n_s_maha_thresh +#define __pyx_n_s_main __pyx_mstate_global->__pyx_n_s_main +#define __pyx_n_s_max_rewind_age __pyx_mstate_global->__pyx_n_s_max_rewind_age +#define __pyx_n_s_memview __pyx_mstate_global->__pyx_n_s_memview +#define __pyx_n_s_mode __pyx_mstate_global->__pyx_n_s_mode +#define __pyx_n_s_name __pyx_mstate_global->__pyx_n_s_name +#define __pyx_n_s_name_2 __pyx_mstate_global->__pyx_n_s_name_2 +#define __pyx_n_s_nan __pyx_mstate_global->__pyx_n_s_nan +#define __pyx_n_s_ndim __pyx_mstate_global->__pyx_n_s_ndim +#define __pyx_n_s_new __pyx_mstate_global->__pyx_n_s_new +#define __pyx_kp_s_no_default___reduce___due_to_non __pyx_mstate_global->__pyx_kp_s_no_default___reduce___due_to_non +#define __pyx_n_s_norm_quats __pyx_mstate_global->__pyx_n_s_norm_quats +#define __pyx_n_s_np __pyx_mstate_global->__pyx_n_s_np +#define __pyx_n_s_numpy __pyx_mstate_global->__pyx_n_s_numpy +#define __pyx_kp_u_numpy_core_multiarray_failed_to __pyx_mstate_global->__pyx_kp_u_numpy_core_multiarray_failed_to +#define __pyx_kp_u_numpy_core_umath_failed_to_impor __pyx_mstate_global->__pyx_kp_u_numpy_core_umath_failed_to_impor +#define __pyx_n_s_obj __pyx_mstate_global->__pyx_n_s_obj +#define __pyx_n_s_order __pyx_mstate_global->__pyx_n_s_order +#define __pyx_n_s_pack __pyx_mstate_global->__pyx_n_s_pack +#define __pyx_n_s_pickle __pyx_mstate_global->__pyx_n_s_pickle +#define __pyx_n_s_predict __pyx_mstate_global->__pyx_n_s_predict +#define __pyx_n_s_predict_and_update_batch __pyx_mstate_global->__pyx_n_s_predict_and_update_batch +#define __pyx_n_s_pyx_PickleError __pyx_mstate_global->__pyx_n_s_pyx_PickleError +#define __pyx_n_s_pyx_checksum __pyx_mstate_global->__pyx_n_s_pyx_checksum +#define __pyx_n_s_pyx_result __pyx_mstate_global->__pyx_n_s_pyx_result +#define __pyx_n_s_pyx_state __pyx_mstate_global->__pyx_n_s_pyx_state +#define __pyx_n_s_pyx_type __pyx_mstate_global->__pyx_n_s_pyx_type +#define __pyx_n_s_pyx_unpickle_Enum __pyx_mstate_global->__pyx_n_s_pyx_unpickle_Enum +#define __pyx_n_s_pyx_vtable __pyx_mstate_global->__pyx_n_s_pyx_vtable +#define __pyx_n_s_quaternion_idxs __pyx_mstate_global->__pyx_n_s_quaternion_idxs +#define __pyx_n_s_range __pyx_mstate_global->__pyx_n_s_range +#define __pyx_n_s_rednose_helpers_ekf_sym_pyx __pyx_mstate_global->__pyx_n_s_rednose_helpers_ekf_sym_pyx +#define __pyx_kp_s_rednose_helpers_ekf_sym_pyx_pyx __pyx_mstate_global->__pyx_kp_s_rednose_helpers_ekf_sym_pyx_pyx +#define __pyx_n_s_reduce __pyx_mstate_global->__pyx_n_s_reduce +#define __pyx_n_s_reduce_cython __pyx_mstate_global->__pyx_n_s_reduce_cython +#define __pyx_n_s_reduce_ex __pyx_mstate_global->__pyx_n_s_reduce_ex +#define __pyx_n_s_register __pyx_mstate_global->__pyx_n_s_register +#define __pyx_n_s_res __pyx_mstate_global->__pyx_n_s_res +#define __pyx_n_s_reset_rewind __pyx_mstate_global->__pyx_n_s_reset_rewind +#define __pyx_n_s_rts_smooth __pyx_mstate_global->__pyx_n_s_rts_smooth +#define __pyx_n_s_self __pyx_mstate_global->__pyx_n_s_self +#define __pyx_n_s_set_filter_time __pyx_mstate_global->__pyx_n_s_set_filter_time +#define __pyx_n_s_set_global __pyx_mstate_global->__pyx_n_s_set_global +#define __pyx_n_s_setstate __pyx_mstate_global->__pyx_n_s_setstate +#define __pyx_n_s_setstate_cython __pyx_mstate_global->__pyx_n_s_setstate_cython +#define __pyx_n_s_shape __pyx_mstate_global->__pyx_n_s_shape +#define __pyx_n_s_size __pyx_mstate_global->__pyx_n_s_size +#define __pyx_n_s_spec __pyx_mstate_global->__pyx_n_s_spec +#define __pyx_n_s_start __pyx_mstate_global->__pyx_n_s_start +#define __pyx_n_s_state __pyx_mstate_global->__pyx_n_s_state +#define __pyx_n_s_state_b __pyx_mstate_global->__pyx_n_s_state_b +#define __pyx_n_s_step __pyx_mstate_global->__pyx_n_s_step +#define __pyx_n_s_stop __pyx_mstate_global->__pyx_n_s_stop +#define __pyx_kp_s_strided_and_direct __pyx_mstate_global->__pyx_kp_s_strided_and_direct +#define __pyx_kp_s_strided_and_direct_or_indirect __pyx_mstate_global->__pyx_kp_s_strided_and_direct_or_indirect +#define __pyx_kp_s_strided_and_indirect __pyx_mstate_global->__pyx_kp_s_strided_and_indirect +#define __pyx_kp_s_stringsource __pyx_mstate_global->__pyx_kp_s_stringsource +#define __pyx_n_s_struct __pyx_mstate_global->__pyx_n_s_struct +#define __pyx_n_s_sys __pyx_mstate_global->__pyx_n_s_sys +#define __pyx_n_s_t __pyx_mstate_global->__pyx_n_s_t +#define __pyx_n_s_test __pyx_mstate_global->__pyx_n_s_test +#define __pyx_n_s_tmpvec __pyx_mstate_global->__pyx_n_s_tmpvec +#define __pyx_kp_s_unable_to_allocate_array_data __pyx_mstate_global->__pyx_kp_s_unable_to_allocate_array_data +#define __pyx_kp_s_unable_to_allocate_shape_and_str __pyx_mstate_global->__pyx_kp_s_unable_to_allocate_shape_and_str +#define __pyx_n_s_unpack __pyx_mstate_global->__pyx_n_s_unpack +#define __pyx_n_s_update __pyx_mstate_global->__pyx_n_s_update +#define __pyx_n_u_utf8 __pyx_mstate_global->__pyx_n_u_utf8 +#define __pyx_n_s_val __pyx_mstate_global->__pyx_n_s_val +#define __pyx_n_s_version_info __pyx_mstate_global->__pyx_n_s_version_info +#define __pyx_n_s_x __pyx_mstate_global->__pyx_n_s_x +#define __pyx_n_s_x_initial __pyx_mstate_global->__pyx_n_s_x_initial +#define __pyx_n_s_z __pyx_mstate_global->__pyx_n_s_z +#define __pyx_n_s_z_map __pyx_mstate_global->__pyx_n_s_z_map +#define __pyx_n_s_zi __pyx_mstate_global->__pyx_n_s_zi +#define __pyx_n_s_zi_b __pyx_mstate_global->__pyx_n_s_zi_b +#define __pyx_float_0_95 __pyx_mstate_global->__pyx_float_0_95 +#define __pyx_int_0 __pyx_mstate_global->__pyx_int_0 +#define __pyx_int_1 __pyx_mstate_global->__pyx_int_1 +#define __pyx_int_3 __pyx_mstate_global->__pyx_int_3 +#define __pyx_int_112105877 __pyx_mstate_global->__pyx_int_112105877 +#define __pyx_int_136983863 __pyx_mstate_global->__pyx_int_136983863 +#define __pyx_int_184977713 __pyx_mstate_global->__pyx_int_184977713 +#define __pyx_int_neg_1 __pyx_mstate_global->__pyx_int_neg_1 +#define __pyx_k__17 __pyx_mstate_global->__pyx_k__17 +#define __pyx_k__18 __pyx_mstate_global->__pyx_k__18 +#define __pyx_k__19 __pyx_mstate_global->__pyx_k__19 +#define __pyx_k__28 __pyx_mstate_global->__pyx_k__28 +#define __pyx_k__33 __pyx_mstate_global->__pyx_k__33 +#define __pyx_slice__5 __pyx_mstate_global->__pyx_slice__5 +#define __pyx_tuple__4 __pyx_mstate_global->__pyx_tuple__4 +#define __pyx_tuple__8 __pyx_mstate_global->__pyx_tuple__8 +#define __pyx_tuple__15 __pyx_mstate_global->__pyx_tuple__15 +#define __pyx_tuple__16 __pyx_mstate_global->__pyx_tuple__16 +#define __pyx_tuple__37 __pyx_mstate_global->__pyx_tuple__37 +#define __pyx_tuple__38 __pyx_mstate_global->__pyx_tuple__38 +#define __pyx_tuple__39 __pyx_mstate_global->__pyx_tuple__39 +#define __pyx_tuple__40 __pyx_mstate_global->__pyx_tuple__40 +#define __pyx_tuple__41 __pyx_mstate_global->__pyx_tuple__41 +#define __pyx_tuple__42 __pyx_mstate_global->__pyx_tuple__42 +#define __pyx_tuple__43 __pyx_mstate_global->__pyx_tuple__43 +#define __pyx_tuple__44 __pyx_mstate_global->__pyx_tuple__44 +#define __pyx_tuple__45 __pyx_mstate_global->__pyx_tuple__45 +#define __pyx_tuple__46 __pyx_mstate_global->__pyx_tuple__46 +#define __pyx_tuple__48 __pyx_mstate_global->__pyx_tuple__48 +#define __pyx_tuple__49 __pyx_mstate_global->__pyx_tuple__49 +#define __pyx_tuple__50 __pyx_mstate_global->__pyx_tuple__50 +#define __pyx_tuple__51 __pyx_mstate_global->__pyx_tuple__51 +#define __pyx_tuple__52 __pyx_mstate_global->__pyx_tuple__52 +#define __pyx_tuple__53 __pyx_mstate_global->__pyx_tuple__53 +#define __pyx_tuple__54 __pyx_mstate_global->__pyx_tuple__54 +#define __pyx_tuple__55 __pyx_mstate_global->__pyx_tuple__55 +#define __pyx_tuple__56 __pyx_mstate_global->__pyx_tuple__56 +#define __pyx_tuple__57 __pyx_mstate_global->__pyx_tuple__57 +#define __pyx_codeobj__20 __pyx_mstate_global->__pyx_codeobj__20 +#define __pyx_codeobj__21 __pyx_mstate_global->__pyx_codeobj__21 +#define __pyx_codeobj__22 __pyx_mstate_global->__pyx_codeobj__22 +#define __pyx_codeobj__23 __pyx_mstate_global->__pyx_codeobj__23 +#define __pyx_codeobj__24 __pyx_mstate_global->__pyx_codeobj__24 +#define __pyx_codeobj__25 __pyx_mstate_global->__pyx_codeobj__25 +#define __pyx_codeobj__26 __pyx_mstate_global->__pyx_codeobj__26 +#define __pyx_codeobj__27 __pyx_mstate_global->__pyx_codeobj__27 +#define __pyx_codeobj__29 __pyx_mstate_global->__pyx_codeobj__29 +#define __pyx_codeobj__30 __pyx_mstate_global->__pyx_codeobj__30 +#define __pyx_codeobj__31 __pyx_mstate_global->__pyx_codeobj__31 +#define __pyx_codeobj__32 __pyx_mstate_global->__pyx_codeobj__32 +#define __pyx_codeobj__34 __pyx_mstate_global->__pyx_codeobj__34 +#define __pyx_codeobj__35 __pyx_mstate_global->__pyx_codeobj__35 +#define __pyx_codeobj__36 __pyx_mstate_global->__pyx_codeobj__36 +#define __pyx_codeobj__47 __pyx_mstate_global->__pyx_codeobj__47 +/* #### Code section: module_code ### */ + +/* "string.from_py":13 + * + * @cname("__pyx_convert_string_from_py_std__in_string") + * cdef string __pyx_convert_string_from_py_std__in_string(object o) except *: # <<<<<<<<<<<<<< + * cdef Py_ssize_t length = 0 + * cdef const char* data = __Pyx_PyObject_AsStringAndSize(o, &length) + */ + +static std::string __pyx_convert_string_from_py_std__in_string(PyObject *__pyx_v_o) { + Py_ssize_t __pyx_v_length; + char const *__pyx_v_data; + std::string __pyx_r; + char const *__pyx_t_1; + std::string __pyx_t_2; + int __pyx_lineno = 0; + const char *__pyx_filename = NULL; + int __pyx_clineno = 0; + + /* "string.from_py":14 + * @cname("__pyx_convert_string_from_py_std__in_string") + * cdef string 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__pyx_memoryview_obj *)__pyx_t_2); + __pyx_t_2 = 0; + goto __pyx_L0; + } + + /* "View.MemoryView":711 + * + * @cname('__pyx_memview_slice') + * cdef memoryview memview_slice(memoryview memview, object indices): # <<<<<<<<<<<<<< + * cdef int new_ndim = 0, suboffset_dim = -1, dim + * cdef bint negative_step + */ + + /* function exit code */ + __pyx_L1_error:; + __Pyx_XDECREF(__pyx_t_2); + __Pyx_XDECREF(__pyx_t_8); + __Pyx_AddTraceback("View.MemoryView.memview_slice", __pyx_clineno, __pyx_lineno, __pyx_filename); + __pyx_r = 0; + __pyx_L0:; + __Pyx_XDECREF((PyObject *)__pyx_v_memviewsliceobj); + __Pyx_XDECREF(__pyx_v_index); + __Pyx_XGIVEREF((PyObject *)__pyx_r); + __Pyx_RefNannyFinishContext(); + return __pyx_r; +} + +/* "View.MemoryView":793 + * + * @cname('__pyx_memoryview_slice_memviewslice') + * cdef int slice_memviewslice( # <<<<<<<<<<<<<< + * __Pyx_memviewslice *dst, + * Py_ssize_t shape, Py_ssize_t stride, Py_ssize_t suboffset, + */ + +static int __pyx_memoryview_slice_memviewslice(__Pyx_memviewslice *__pyx_v_dst, Py_ssize_t __pyx_v_shape, Py_ssize_t __pyx_v_stride, Py_ssize_t __pyx_v_suboffset, int __pyx_v_dim, int __pyx_v_new_ndim, int *__pyx_v_suboffset_dim, Py_ssize_t __pyx_v_start, Py_ssize_t __pyx_v_stop, Py_ssize_t __pyx_v_step, int __pyx_v_have_start, int __pyx_v_have_stop, int __pyx_v_have_step, int __pyx_v_is_slice) { + Py_ssize_t __pyx_v_new_shape; + int __pyx_v_negative_step; + int __pyx_r; + int __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + int __pyx_lineno = 0; + const char *__pyx_filename = NULL; + int __pyx_clineno = 0; + #ifdef WITH_THREAD + PyGILState_STATE __pyx_gilstate_save; + #endif + + /* "View.MemoryView":813 + * cdef bint negative_step + * + * if not is_slice: # <<<<<<<<<<<<<< + * + * if start < 0: + */ + __pyx_t_1 = (!__pyx_v_is_slice); + if (__pyx_t_1) { + + /* "View.MemoryView":815 + * if not is_slice: + * + * if start < 0: # <<<<<<<<<<<<<< + * start += shape + * if not 0 <= start < shape: + */ + __pyx_t_1 = (__pyx_v_start < 0); + if (__pyx_t_1) { + + /* "View.MemoryView":816 + * + * if start < 0: + * start += shape # <<<<<<<<<<<<<< + * if not 0 <= start < shape: + * _err_dim(PyExc_IndexError, "Index out of bounds (axis %d)", dim) + */ + __pyx_v_start = (__pyx_v_start + __pyx_v_shape); + + /* "View.MemoryView":815 + * if not is_slice: + * + * if start < 0: # <<<<<<<<<<<<<< + * start += shape + * if not 0 <= start < shape: + */ + } + + /* "View.MemoryView":817 + * if start < 0: + * start += shape + * if not 0 <= start < shape: # <<<<<<<<<<<<<< + * _err_dim(PyExc_IndexError, "Index out of bounds (axis %d)", dim) + * else: + */ + __pyx_t_1 = (0 <= __pyx_v_start); + if (__pyx_t_1) { + __pyx_t_1 = (__pyx_v_start < __pyx_v_shape); + } + __pyx_t_2 = (!__pyx_t_1); + if (__pyx_t_2) { + + /* "View.MemoryView":818 + * start += shape + * if not 0 <= start < shape: + * _err_dim(PyExc_IndexError, "Index out of bounds (axis %d)", dim) # <<<<<<<<<<<<<< + * else: + * + */ + __pyx_t_3 = __pyx_memoryview_err_dim(PyExc_IndexError, __pyx_kp_s_Index_out_of_bounds_axis_d, __pyx_v_dim); if (unlikely(__pyx_t_3 == ((int)-1))) __PYX_ERR(1, 818, __pyx_L1_error) + + /* "View.MemoryView":817 + * if start < 0: + * start += shape + * if not 0 <= start < shape: # <<<<<<<<<<<<<< + * _err_dim(PyExc_IndexError, "Index out of bounds (axis %d)", dim) + * else: + */ + } + + /* "View.MemoryView":813 + * cdef bint negative_step + * + * if not is_slice: # <<<<<<<<<<<<<< + * + * if start < 0: + */ + goto __pyx_L3; + } + + /* "View.MemoryView":821 + * else: + * + * if have_step: # <<<<<<<<<<<<<< + * negative_step = step < 0 + * if step == 0: + */ + /*else*/ { + __pyx_t_2 = (__pyx_v_have_step != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":822 + * + * if have_step: + * negative_step = step < 0 # <<<<<<<<<<<<<< + * if step == 0: + * _err_dim(PyExc_ValueError, "Step may not be zero (axis %d)", dim) + */ + __pyx_v_negative_step = (__pyx_v_step < 0); + + /* "View.MemoryView":823 + * if have_step: + * negative_step = step < 0 + * if step == 0: # <<<<<<<<<<<<<< + * _err_dim(PyExc_ValueError, "Step may not be zero (axis %d)", dim) + * else: + */ + __pyx_t_2 = (__pyx_v_step == 0); + if (__pyx_t_2) { + + /* "View.MemoryView":824 + * negative_step = step < 0 + * if step == 0: + * _err_dim(PyExc_ValueError, "Step may not be zero (axis %d)", dim) # <<<<<<<<<<<<<< + * else: + * negative_step = False + */ + __pyx_t_3 = __pyx_memoryview_err_dim(PyExc_ValueError, __pyx_kp_s_Step_may_not_be_zero_axis_d, __pyx_v_dim); if (unlikely(__pyx_t_3 == ((int)-1))) __PYX_ERR(1, 824, __pyx_L1_error) + + /* "View.MemoryView":823 + * if have_step: + * negative_step = step < 0 + * if step == 0: # <<<<<<<<<<<<<< + * _err_dim(PyExc_ValueError, "Step may not be zero (axis %d)", dim) + * else: + */ + } + + /* "View.MemoryView":821 + * else: + * + * if have_step: # <<<<<<<<<<<<<< + * negative_step = step < 0 + * if step == 0: + */ + goto __pyx_L6; + } + + /* "View.MemoryView":826 + * _err_dim(PyExc_ValueError, "Step may not be zero (axis %d)", dim) + * else: + * negative_step = False # <<<<<<<<<<<<<< + * step = 1 + * + */ + /*else*/ { + __pyx_v_negative_step = 0; + + /* "View.MemoryView":827 + * else: + * negative_step = False + * step = 1 # <<<<<<<<<<<<<< + * + * + */ + __pyx_v_step = 1; + } + __pyx_L6:; + + /* "View.MemoryView":830 + * + * + * if have_start: # <<<<<<<<<<<<<< + * if start < 0: + * start += shape + */ + __pyx_t_2 = (__pyx_v_have_start != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":831 + * + * if have_start: + * if start < 0: # <<<<<<<<<<<<<< + * start += shape + * if start < 0: + */ + __pyx_t_2 = (__pyx_v_start < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":832 + * if have_start: + * if start < 0: + * start += shape # <<<<<<<<<<<<<< + * if start < 0: + * start = 0 + */ + __pyx_v_start = (__pyx_v_start + __pyx_v_shape); + + /* "View.MemoryView":833 + * if start < 0: + * start += shape + * if start < 0: # <<<<<<<<<<<<<< + * start = 0 + * elif start >= shape: + */ + __pyx_t_2 = (__pyx_v_start < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":834 + * start += shape + * if start < 0: + * start = 0 # <<<<<<<<<<<<<< + * elif start >= shape: + * if negative_step: + */ + __pyx_v_start = 0; + + /* "View.MemoryView":833 + * if start < 0: + * start += shape + * if start < 0: # <<<<<<<<<<<<<< + * start = 0 + * elif start >= shape: + */ + } + + /* "View.MemoryView":831 + * + * if have_start: + * if start < 0: # <<<<<<<<<<<<<< + * start += shape + * if start < 0: + */ + goto __pyx_L9; + } + + /* "View.MemoryView":835 + * if start < 0: + * start = 0 + * elif start >= shape: # <<<<<<<<<<<<<< + * if negative_step: + * start = shape - 1 + */ + __pyx_t_2 = (__pyx_v_start >= __pyx_v_shape); + if (__pyx_t_2) { + + /* "View.MemoryView":836 + * start = 0 + * elif start >= shape: + * if negative_step: # <<<<<<<<<<<<<< + * start = shape - 1 + * else: + */ + if (__pyx_v_negative_step) { + + /* "View.MemoryView":837 + * elif start >= shape: + * if negative_step: + * start = shape - 1 # <<<<<<<<<<<<<< + * else: + * start = shape + */ + __pyx_v_start = (__pyx_v_shape - 1); + + /* "View.MemoryView":836 + * start = 0 + * elif start >= shape: + * if negative_step: # <<<<<<<<<<<<<< + * start = shape - 1 + * else: + */ + goto __pyx_L11; + } + + /* "View.MemoryView":839 + * start = shape - 1 + * else: + * start = shape # <<<<<<<<<<<<<< + * else: + * if negative_step: + */ + /*else*/ { + __pyx_v_start = __pyx_v_shape; + } + __pyx_L11:; + + /* "View.MemoryView":835 + * if start < 0: + * start = 0 + * elif start >= shape: # <<<<<<<<<<<<<< + * if negative_step: + * start = shape - 1 + */ + } + __pyx_L9:; + + /* "View.MemoryView":830 + * + * + * if have_start: # <<<<<<<<<<<<<< + * if start < 0: + * start += shape + */ + goto __pyx_L8; + } + + /* "View.MemoryView":841 + * start = shape + * else: + * if negative_step: # <<<<<<<<<<<<<< + * start = shape - 1 + * else: + */ + /*else*/ { + if (__pyx_v_negative_step) { + + /* "View.MemoryView":842 + * else: + * if negative_step: + * start = shape - 1 # <<<<<<<<<<<<<< + * else: + * start = 0 + */ + __pyx_v_start = (__pyx_v_shape - 1); + + /* "View.MemoryView":841 + * start = shape + * else: + * if negative_step: # <<<<<<<<<<<<<< + * start = shape - 1 + * else: + */ + goto __pyx_L12; + } + + /* "View.MemoryView":844 + * start = shape - 1 + * else: + * start = 0 # <<<<<<<<<<<<<< + * + * if have_stop: + */ + /*else*/ { + __pyx_v_start = 0; + } + __pyx_L12:; + } + __pyx_L8:; + + /* "View.MemoryView":846 + * start = 0 + * + * if have_stop: # <<<<<<<<<<<<<< + * if stop < 0: + * stop += shape + */ + __pyx_t_2 = (__pyx_v_have_stop != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":847 + * + * if have_stop: + * if stop < 0: # <<<<<<<<<<<<<< + * stop += shape + * if stop < 0: + */ + __pyx_t_2 = (__pyx_v_stop < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":848 + * if have_stop: + * if stop < 0: + * stop += shape # <<<<<<<<<<<<<< + * if stop < 0: + * stop = 0 + */ + __pyx_v_stop = (__pyx_v_stop + __pyx_v_shape); + + /* "View.MemoryView":849 + * if stop < 0: + * stop += shape + * if stop < 0: # <<<<<<<<<<<<<< + * stop = 0 + * elif stop > shape: + */ + __pyx_t_2 = (__pyx_v_stop < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":850 + * stop += shape + * if stop < 0: + * stop = 0 # <<<<<<<<<<<<<< + * elif stop > shape: + * stop = shape + */ + __pyx_v_stop = 0; + + /* "View.MemoryView":849 + * if stop < 0: + * stop += shape + * if stop < 0: # <<<<<<<<<<<<<< + * stop = 0 + * elif stop > shape: + */ + } + + /* "View.MemoryView":847 + * + * if have_stop: + * if stop < 0: # <<<<<<<<<<<<<< + * stop += shape + * if stop < 0: + */ + goto __pyx_L14; + } + + /* "View.MemoryView":851 + * if stop < 0: + * stop = 0 + * elif stop > shape: # <<<<<<<<<<<<<< + * stop = shape + * else: + */ + __pyx_t_2 = (__pyx_v_stop > __pyx_v_shape); + if (__pyx_t_2) { + + /* "View.MemoryView":852 + * stop = 0 + * elif stop > shape: + * stop = shape # <<<<<<<<<<<<<< + * else: + * if negative_step: + */ + __pyx_v_stop = __pyx_v_shape; + + /* "View.MemoryView":851 + * if stop < 0: + * stop = 0 + * elif stop > shape: # <<<<<<<<<<<<<< + * stop = shape + * else: + */ + } + __pyx_L14:; + + /* "View.MemoryView":846 + * start = 0 + * + * if have_stop: # <<<<<<<<<<<<<< + * if stop < 0: + * stop += shape + */ + goto __pyx_L13; + } + + /* "View.MemoryView":854 + * stop = shape + * else: + * if negative_step: # <<<<<<<<<<<<<< + * stop = -1 + * else: + */ + /*else*/ { + if (__pyx_v_negative_step) { + + /* "View.MemoryView":855 + * else: + * if negative_step: + * stop = -1 # <<<<<<<<<<<<<< + * else: + * stop = shape + */ + __pyx_v_stop = -1L; + + /* "View.MemoryView":854 + * stop = shape + * else: + * if negative_step: # <<<<<<<<<<<<<< + * stop = -1 + * else: + */ + goto __pyx_L16; + } + + /* "View.MemoryView":857 + * stop = -1 + * else: + * stop = shape # <<<<<<<<<<<<<< + * + * + */ + /*else*/ { + __pyx_v_stop = __pyx_v_shape; + } + __pyx_L16:; + } + __pyx_L13:; + + /* "View.MemoryView":861 + * + * with cython.cdivision(True): + * new_shape = (stop - start) // step # <<<<<<<<<<<<<< + * + * if (stop - start) - step * new_shape: + */ + __pyx_v_new_shape = ((__pyx_v_stop - __pyx_v_start) / __pyx_v_step); + + /* "View.MemoryView":863 + * new_shape = (stop - start) // step + * + * if (stop - start) - step * new_shape: # <<<<<<<<<<<<<< + * new_shape += 1 + * + */ + __pyx_t_2 = (((__pyx_v_stop - __pyx_v_start) - (__pyx_v_step * __pyx_v_new_shape)) != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":864 + * + * if (stop - start) - step * new_shape: + * new_shape += 1 # <<<<<<<<<<<<<< + * + * if new_shape < 0: + */ + __pyx_v_new_shape = (__pyx_v_new_shape + 1); + + /* "View.MemoryView":863 + * new_shape = (stop - start) // step + * + * if (stop - start) - step * new_shape: # <<<<<<<<<<<<<< + * new_shape += 1 + * + */ + } + + /* "View.MemoryView":866 + * new_shape += 1 + * + * if new_shape < 0: # <<<<<<<<<<<<<< + * new_shape = 0 + * + */ + __pyx_t_2 = (__pyx_v_new_shape < 0); + if 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Py_ssize_t *dst_shape, + */ + +static void _copy_strided_to_strided(char *__pyx_v_src_data, Py_ssize_t *__pyx_v_src_strides, char *__pyx_v_dst_data, Py_ssize_t *__pyx_v_dst_strides, Py_ssize_t *__pyx_v_src_shape, Py_ssize_t *__pyx_v_dst_shape, int __pyx_v_ndim, size_t __pyx_v_itemsize) { + CYTHON_UNUSED Py_ssize_t __pyx_v_i; + CYTHON_UNUSED Py_ssize_t __pyx_v_src_extent; + Py_ssize_t __pyx_v_dst_extent; + Py_ssize_t __pyx_v_src_stride; + Py_ssize_t __pyx_v_dst_stride; + int __pyx_t_1; + int __pyx_t_2; + Py_ssize_t __pyx_t_3; + Py_ssize_t __pyx_t_4; + Py_ssize_t __pyx_t_5; + + /* "View.MemoryView":1144 + * + * cdef Py_ssize_t i + * cdef Py_ssize_t src_extent = src_shape[0] # <<<<<<<<<<<<<< + * cdef Py_ssize_t dst_extent = dst_shape[0] + * cdef Py_ssize_t src_stride = src_strides[0] + */ + __pyx_v_src_extent = (__pyx_v_src_shape[0]); + + /* "View.MemoryView":1145 + * cdef Py_ssize_t i + * cdef Py_ssize_t src_extent = src_shape[0] + * cdef Py_ssize_t dst_extent = dst_shape[0] # <<<<<<<<<<<<<< + * cdef Py_ssize_t src_stride = src_strides[0] + * cdef Py_ssize_t dst_stride = dst_strides[0] + */ + __pyx_v_dst_extent = (__pyx_v_dst_shape[0]); + + /* "View.MemoryView":1146 + * cdef Py_ssize_t src_extent = src_shape[0] + * cdef Py_ssize_t dst_extent = dst_shape[0] + * cdef Py_ssize_t src_stride = src_strides[0] # <<<<<<<<<<<<<< + * cdef Py_ssize_t dst_stride = dst_strides[0] + * + */ + __pyx_v_src_stride = (__pyx_v_src_strides[0]); + + /* "View.MemoryView":1147 + * cdef Py_ssize_t dst_extent = dst_shape[0] + * cdef Py_ssize_t src_stride = src_strides[0] + * cdef Py_ssize_t dst_stride = dst_strides[0] # <<<<<<<<<<<<<< + * + * if ndim == 1: + */ + __pyx_v_dst_stride = (__pyx_v_dst_strides[0]); + + /* "View.MemoryView":1149 + * cdef Py_ssize_t dst_stride = dst_strides[0] + * + * if ndim == 1: # <<<<<<<<<<<<<< + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): + */ + __pyx_t_1 = (__pyx_v_ndim == 1); + if (__pyx_t_1) { + + /* "View.MemoryView":1150 + * + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and # <<<<<<<<<<<<<< + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) + */ + __pyx_t_2 = (__pyx_v_src_stride > 0); + if (__pyx_t_2) { + } else { + __pyx_t_1 = __pyx_t_2; + goto __pyx_L5_bool_binop_done; + } + __pyx_t_2 = (__pyx_v_dst_stride > 0); + if (__pyx_t_2) { + } else { + __pyx_t_1 = __pyx_t_2; + goto __pyx_L5_bool_binop_done; + } + + /* "View.MemoryView":1151 + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): # <<<<<<<<<<<<<< + * memcpy(dst_data, src_data, itemsize * dst_extent) + * else: + */ + __pyx_t_2 = (((size_t)__pyx_v_src_stride) == __pyx_v_itemsize); + if (__pyx_t_2) { + __pyx_t_2 = (__pyx_v_itemsize == ((size_t)__pyx_v_dst_stride)); + } + __pyx_t_1 = __pyx_t_2; + __pyx_L5_bool_binop_done:; + + /* "View.MemoryView":1150 + * + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and # <<<<<<<<<<<<<< + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) + */ + if (__pyx_t_1) { + + /* "View.MemoryView":1152 + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) # <<<<<<<<<<<<<< + * else: + * for i in range(dst_extent): + */ + (void)(memcpy(__pyx_v_dst_data, __pyx_v_src_data, (__pyx_v_itemsize * __pyx_v_dst_extent))); + + /* "View.MemoryView":1150 + * + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and # <<<<<<<<<<<<<< + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) + */ + goto __pyx_L4; + } + + /* "View.MemoryView":1154 + * memcpy(dst_data, src_data, itemsize * dst_extent) + * else: + * for i in range(dst_extent): # <<<<<<<<<<<<<< + * memcpy(dst_data, src_data, itemsize) + * src_data += src_stride + */ + /*else*/ { + __pyx_t_3 = __pyx_v_dst_extent; + __pyx_t_4 = __pyx_t_3; + for (__pyx_t_5 = 0; __pyx_t_5 < __pyx_t_4; __pyx_t_5+=1) { + __pyx_v_i = __pyx_t_5; + + /* "View.MemoryView":1155 + * else: + * for i in range(dst_extent): + * memcpy(dst_data, src_data, itemsize) # <<<<<<<<<<<<<< + * src_data += src_stride + * dst_data += dst_stride + */ + (void)(memcpy(__pyx_v_dst_data, __pyx_v_src_data, __pyx_v_itemsize)); + + /* "View.MemoryView":1156 + * for i in range(dst_extent): + * memcpy(dst_data, src_data, itemsize) + * src_data += src_stride # <<<<<<<<<<<<<< + * dst_data += dst_stride + * else: + */ + __pyx_v_src_data = (__pyx_v_src_data + __pyx_v_src_stride); + + /* "View.MemoryView":1157 + * memcpy(dst_data, src_data, itemsize) + * src_data += src_stride + * dst_data += dst_stride # <<<<<<<<<<<<<< + * else: + * for i in range(dst_extent): + */ + __pyx_v_dst_data = (__pyx_v_dst_data + __pyx_v_dst_stride); + } + } + __pyx_L4:; + + /* "View.MemoryView":1149 + * cdef Py_ssize_t dst_stride = dst_strides[0] + * + * if ndim == 1: # <<<<<<<<<<<<<< + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): + */ + goto __pyx_L3; + } + + /* "View.MemoryView":1159 + * dst_data += dst_stride + * else: + * for i in range(dst_extent): # <<<<<<<<<<<<<< + * _copy_strided_to_strided(src_data, src_strides + 1, + * dst_data, dst_strides + 1, + */ + /*else*/ { + __pyx_t_3 = __pyx_v_dst_extent; + __pyx_t_4 = __pyx_t_3; + for (__pyx_t_5 = 0; __pyx_t_5 < __pyx_t_4; __pyx_t_5+=1) { + __pyx_v_i = __pyx_t_5; + + /* "View.MemoryView":1160 + * else: + * for i in range(dst_extent): + * _copy_strided_to_strided(src_data, src_strides + 1, # <<<<<<<<<<<<<< + * dst_data, dst_strides + 1, + * src_shape + 1, dst_shape + 1, + */ + _copy_strided_to_strided(__pyx_v_src_data, (__pyx_v_src_strides + 1), __pyx_v_dst_data, (__pyx_v_dst_strides + 1), (__pyx_v_src_shape + 1), (__pyx_v_dst_shape + 1), (__pyx_v_ndim - 1), __pyx_v_itemsize); + + /* "View.MemoryView":1164 + * src_shape + 1, dst_shape + 1, + * ndim - 1, itemsize) + * src_data += src_stride # <<<<<<<<<<<<<< + * dst_data += dst_stride + * + */ + __pyx_v_src_data = (__pyx_v_src_data + __pyx_v_src_stride); + + /* "View.MemoryView":1165 + * ndim - 1, itemsize) + * src_data += src_stride + * dst_data += dst_stride # <<<<<<<<<<<<<< + * + * cdef void copy_strided_to_strided(__Pyx_memviewslice *src, + */ + __pyx_v_dst_data = (__pyx_v_dst_data + __pyx_v_dst_stride); + } + } + __pyx_L3:; + + /* "View.MemoryView":1137 + * + * @cython.cdivision(True) + * cdef void _copy_strided_to_strided(char *src_data, Py_ssize_t *src_strides, # <<<<<<<<<<<<<< + * char *dst_data, Py_ssize_t *dst_strides, + * Py_ssize_t *src_shape, Py_ssize_t *dst_shape, + */ + + /* function exit code */ +} + +/* "View.MemoryView":1167 + * dst_data += dst_stride + * + * cdef void copy_strided_to_strided(__Pyx_memviewslice *src, # <<<<<<<<<<<<<< + * __Pyx_memviewslice *dst, + * int ndim, size_t itemsize) noexcept nogil: + */ + +static void copy_strided_to_strided(__Pyx_memviewslice *__pyx_v_src, __Pyx_memviewslice *__pyx_v_dst, int __pyx_v_ndim, size_t __pyx_v_itemsize) { + + /* "View.MemoryView":1170 + * __Pyx_memviewslice *dst, + * int ndim, size_t itemsize) noexcept nogil: + * _copy_strided_to_strided(src.data, src.strides, dst.data, dst.strides, # <<<<<<<<<<<<<< + * src.shape, dst.shape, ndim, itemsize) + * + */ + _copy_strided_to_strided(__pyx_v_src->data, __pyx_v_src->strides, __pyx_v_dst->data, __pyx_v_dst->strides, __pyx_v_src->shape, __pyx_v_dst->shape, __pyx_v_ndim, __pyx_v_itemsize); + + /* "View.MemoryView":1167 + * dst_data += dst_stride + * + * cdef void copy_strided_to_strided(__Pyx_memviewslice *src, # <<<<<<<<<<<<<< + * __Pyx_memviewslice *dst, + * int ndim, size_t itemsize) noexcept nogil: + */ + + /* function exit code */ +} + +/* "View.MemoryView":1174 + * + * @cname('__pyx_memoryview_slice_get_size') + * cdef Py_ssize_t slice_get_size(__Pyx_memviewslice *src, int ndim) noexcept nogil: # <<<<<<<<<<<<<< + * "Return the size of the memory occupied by the slice in number of bytes" + * cdef Py_ssize_t shape, size = src.memview.view.itemsize + */ + +static Py_ssize_t __pyx_memoryview_slice_get_size(__Pyx_memviewslice *__pyx_v_src, int __pyx_v_ndim) { + Py_ssize_t __pyx_v_shape; + Py_ssize_t __pyx_v_size; + Py_ssize_t __pyx_r; + Py_ssize_t __pyx_t_1; + Py_ssize_t *__pyx_t_2; + Py_ssize_t *__pyx_t_3; + Py_ssize_t *__pyx_t_4; + + /* "View.MemoryView":1176 + * cdef Py_ssize_t slice_get_size(__Pyx_memviewslice *src, int ndim) noexcept nogil: + * "Return the size of the memory occupied by the slice in number of bytes" + * cdef Py_ssize_t shape, size = src.memview.view.itemsize # <<<<<<<<<<<<<< + * + * for shape in src.shape[:ndim]: + */ + __pyx_t_1 = __pyx_v_src->memview->view.itemsize; + __pyx_v_size = __pyx_t_1; + + /* "View.MemoryView":1178 + * cdef Py_ssize_t shape, size = src.memview.view.itemsize + * + * for shape in src.shape[:ndim]: # <<<<<<<<<<<<<< + * size *= shape + * + */ + __pyx_t_3 = (__pyx_v_src->shape + __pyx_v_ndim); + for (__pyx_t_4 = __pyx_v_src->shape; __pyx_t_4 < __pyx_t_3; __pyx_t_4++) { + __pyx_t_2 = __pyx_t_4; + __pyx_v_shape = (__pyx_t_2[0]); + + /* "View.MemoryView":1179 + * + * for shape in src.shape[:ndim]: + * size *= shape # <<<<<<<<<<<<<< + * + * return size + */ + __pyx_v_size = (__pyx_v_size * __pyx_v_shape); + } + + /* "View.MemoryView":1181 + * size *= shape + * + * return size # <<<<<<<<<<<<<< + * + * @cname('__pyx_fill_contig_strides_array') + */ + __pyx_r = __pyx_v_size; + goto __pyx_L0; + + /* "View.MemoryView":1174 + * + * @cname('__pyx_memoryview_slice_get_size') + * cdef Py_ssize_t slice_get_size(__Pyx_memviewslice *src, int ndim) noexcept nogil: # <<<<<<<<<<<<<< + * "Return the size of the memory occupied by the slice in number of bytes" + * cdef Py_ssize_t shape, size = src.memview.view.itemsize + */ + + /* function exit code */ + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":1184 + * + * @cname('__pyx_fill_contig_strides_array') + * cdef Py_ssize_t fill_contig_strides_array( # <<<<<<<<<<<<<< + * Py_ssize_t *shape, Py_ssize_t *strides, Py_ssize_t stride, + * int ndim, char order) noexcept nogil: + */ + +static Py_ssize_t __pyx_fill_contig_strides_array(Py_ssize_t *__pyx_v_shape, Py_ssize_t *__pyx_v_strides, Py_ssize_t __pyx_v_stride, int __pyx_v_ndim, char __pyx_v_order) { + int __pyx_v_idx; + Py_ssize_t __pyx_r; + int __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + int __pyx_t_4; + + /* "View.MemoryView":1193 + * cdef int idx + * + * if order == 'F': # <<<<<<<<<<<<<< + * for idx in range(ndim): + * strides[idx] = stride + */ + __pyx_t_1 = (__pyx_v_order == 'F'); + if (__pyx_t_1) { + + /* "View.MemoryView":1194 + * + * if order == 'F': + * for idx in range(ndim): # <<<<<<<<<<<<<< + * strides[idx] = stride + * stride *= shape[idx] + */ + __pyx_t_2 = __pyx_v_ndim; + __pyx_t_3 = __pyx_t_2; + for (__pyx_t_4 = 0; __pyx_t_4 < __pyx_t_3; __pyx_t_4+=1) { + __pyx_v_idx = __pyx_t_4; + + /* "View.MemoryView":1195 + * if order == 'F': + * for idx in range(ndim): + * strides[idx] = stride # <<<<<<<<<<<<<< + * stride *= shape[idx] + * else: + */ + (__pyx_v_strides[__pyx_v_idx]) = __pyx_v_stride; + + /* "View.MemoryView":1196 + * for idx in range(ndim): + * strides[idx] = stride + * stride *= shape[idx] # <<<<<<<<<<<<<< + * else: + * for idx in range(ndim - 1, -1, -1): + */ + __pyx_v_stride = (__pyx_v_stride * (__pyx_v_shape[__pyx_v_idx])); + } + + /* "View.MemoryView":1193 + * cdef int idx + * + * if order == 'F': # <<<<<<<<<<<<<< + * for idx in range(ndim): + * strides[idx] = stride + */ + goto __pyx_L3; + } + + /* "View.MemoryView":1198 + * stride *= shape[idx] + * else: + * for idx in range(ndim - 1, -1, -1): # <<<<<<<<<<<<<< + * strides[idx] = stride + * stride *= shape[idx] + */ + /*else*/ { + for (__pyx_t_2 = (__pyx_v_ndim - 1); __pyx_t_2 > -1; __pyx_t_2-=1) { + __pyx_v_idx = __pyx_t_2; + + /* "View.MemoryView":1199 + * else: + * for idx in range(ndim - 1, -1, -1): + * strides[idx] = stride # <<<<<<<<<<<<<< + * stride *= shape[idx] + * + */ + (__pyx_v_strides[__pyx_v_idx]) = __pyx_v_stride; + + /* "View.MemoryView":1200 + * for idx in range(ndim - 1, -1, -1): + * strides[idx] = stride + * stride *= shape[idx] # <<<<<<<<<<<<<< + * + * return stride + */ + __pyx_v_stride = (__pyx_v_stride * (__pyx_v_shape[__pyx_v_idx])); + } + } + __pyx_L3:; + + /* "View.MemoryView":1202 + * stride *= shape[idx] + * + * return stride # <<<<<<<<<<<<<< + * + * @cname('__pyx_memoryview_copy_data_to_temp') + */ + __pyx_r = __pyx_v_stride; + goto __pyx_L0; + + /* "View.MemoryView":1184 + * + * @cname('__pyx_fill_contig_strides_array') + * cdef Py_ssize_t fill_contig_strides_array( # <<<<<<<<<<<<<< + * Py_ssize_t *shape, Py_ssize_t *strides, Py_ssize_t stride, + * int ndim, char order) noexcept nogil: + */ + + /* function exit code */ + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":1205 + * + * @cname('__pyx_memoryview_copy_data_to_temp') + * cdef void *copy_data_to_temp(__Pyx_memviewslice *src, # <<<<<<<<<<<<<< + * __Pyx_memviewslice *tmpslice, + * char order, + */ + +static void *__pyx_memoryview_copy_data_to_temp(__Pyx_memviewslice *__pyx_v_src, __Pyx_memviewslice *__pyx_v_tmpslice, char __pyx_v_order, int __pyx_v_ndim) { + int __pyx_v_i; + void *__pyx_v_result; + size_t __pyx_v_itemsize; + size_t __pyx_v_size; + void *__pyx_r; + Py_ssize_t __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + struct __pyx_memoryview_obj *__pyx_t_4; + int __pyx_t_5; + int __pyx_t_6; + int __pyx_lineno = 0; + const char *__pyx_filename = NULL; + int __pyx_clineno = 0; + #ifdef WITH_THREAD + PyGILState_STATE __pyx_gilstate_save; + #endif + + /* "View.MemoryView":1216 + * cdef void *result + * + * cdef size_t itemsize = src.memview.view.itemsize # <<<<<<<<<<<<<< + * cdef size_t size = slice_get_size(src, ndim) + * + */ + __pyx_t_1 = __pyx_v_src->memview->view.itemsize; + __pyx_v_itemsize = __pyx_t_1; + + /* "View.MemoryView":1217 + * + * cdef size_t itemsize = src.memview.view.itemsize + * cdef size_t size = slice_get_size(src, ndim) # <<<<<<<<<<<<<< + * + * result = malloc(size) + */ + __pyx_v_size = __pyx_memoryview_slice_get_size(__pyx_v_src, __pyx_v_ndim); + + /* "View.MemoryView":1219 + * cdef size_t size = slice_get_size(src, ndim) + * + * result = malloc(size) # <<<<<<<<<<<<<< + * if not result: + * _err_no_memory() + */ + __pyx_v_result = malloc(__pyx_v_size); + + /* "View.MemoryView":1220 + * + * result = malloc(size) + * if not result: # <<<<<<<<<<<<<< + * _err_no_memory() + * + */ + __pyx_t_2 = (!(__pyx_v_result != 0)); + if (__pyx_t_2) { + + /* "View.MemoryView":1221 + * result = malloc(size) + * if not result: + * _err_no_memory() # <<<<<<<<<<<<<< + * + * + */ + __pyx_t_3 = __pyx_memoryview_err_no_memory(); if (unlikely(__pyx_t_3 == ((int)-1))) __PYX_ERR(1, 1221, __pyx_L1_error) + + /* "View.MemoryView":1220 + * + * result = malloc(size) + * if not result: # <<<<<<<<<<<<<< + * _err_no_memory() + * + */ + } + + /* "View.MemoryView":1224 + * + * + * tmpslice.data = result # <<<<<<<<<<<<<< + * tmpslice.memview = src.memview + * for i in range(ndim): + */ + __pyx_v_tmpslice->data = ((char *)__pyx_v_result); + + /* "View.MemoryView":1225 + * + * tmpslice.data = result + * tmpslice.memview = src.memview # <<<<<<<<<<<<<< + * for i in range(ndim): + * tmpslice.shape[i] = src.shape[i] + */ + __pyx_t_4 = __pyx_v_src->memview; + __pyx_v_tmpslice->memview = __pyx_t_4; + + /* "View.MemoryView":1226 + * tmpslice.data = result + * tmpslice.memview = src.memview + * for i in range(ndim): # <<<<<<<<<<<<<< + * tmpslice.shape[i] = src.shape[i] + * tmpslice.suboffsets[i] = -1 + */ + __pyx_t_3 = __pyx_v_ndim; + __pyx_t_5 = __pyx_t_3; + for (__pyx_t_6 = 0; __pyx_t_6 < __pyx_t_5; __pyx_t_6+=1) { + __pyx_v_i = __pyx_t_6; + + /* "View.MemoryView":1227 + * tmpslice.memview = src.memview + * for i in range(ndim): + * tmpslice.shape[i] = src.shape[i] # <<<<<<<<<<<<<< + * tmpslice.suboffsets[i] = -1 + * + */ + (__pyx_v_tmpslice->shape[__pyx_v_i]) = (__pyx_v_src->shape[__pyx_v_i]); + + /* "View.MemoryView":1228 + * for i in range(ndim): + * tmpslice.shape[i] = src.shape[i] + * tmpslice.suboffsets[i] = -1 # <<<<<<<<<<<<<< + * + * fill_contig_strides_array(&tmpslice.shape[0], &tmpslice.strides[0], itemsize, ndim, order) + */ + (__pyx_v_tmpslice->suboffsets[__pyx_v_i]) = -1L; + } + + /* "View.MemoryView":1230 + * tmpslice.suboffsets[i] = -1 + * + * fill_contig_strides_array(&tmpslice.shape[0], &tmpslice.strides[0], itemsize, ndim, order) # <<<<<<<<<<<<<< + * + * + */ + (void)(__pyx_fill_contig_strides_array((&(__pyx_v_tmpslice->shape[0])), (&(__pyx_v_tmpslice->strides[0])), __pyx_v_itemsize, __pyx_v_ndim, __pyx_v_order)); + + /* "View.MemoryView":1233 + * + * + * for i in range(ndim): # <<<<<<<<<<<<<< + * if tmpslice.shape[i] == 1: + * tmpslice.strides[i] = 0 + */ + __pyx_t_3 = __pyx_v_ndim; + __pyx_t_5 = __pyx_t_3; + for (__pyx_t_6 = 0; __pyx_t_6 < __pyx_t_5; __pyx_t_6+=1) { + __pyx_v_i = __pyx_t_6; + + /* "View.MemoryView":1234 + * + * for i in range(ndim): + * if tmpslice.shape[i] == 1: # <<<<<<<<<<<<<< + * tmpslice.strides[i] = 0 + * + */ + __pyx_t_2 = ((__pyx_v_tmpslice->shape[__pyx_v_i]) == 1); + if (__pyx_t_2) { + + /* "View.MemoryView":1235 + * for i in range(ndim): + * if tmpslice.shape[i] == 1: + * tmpslice.strides[i] = 0 # <<<<<<<<<<<<<< + * + * if slice_is_contig(src[0], order, ndim): + */ + (__pyx_v_tmpslice->strides[__pyx_v_i]) = 0; + + /* "View.MemoryView":1234 + * + * for i in range(ndim): + * if tmpslice.shape[i] == 1: # <<<<<<<<<<<<<< + * tmpslice.strides[i] = 0 + * + */ + } + } + + /* "View.MemoryView":1237 + * tmpslice.strides[i] = 0 + * + * if slice_is_contig(src[0], order, ndim): # <<<<<<<<<<<<<< + * memcpy(result, src.data, size) + * else: + */ + __pyx_t_2 = __pyx_memviewslice_is_contig((__pyx_v_src[0]), __pyx_v_order, __pyx_v_ndim); + if (__pyx_t_2) { + + /* "View.MemoryView":1238 + * + * if slice_is_contig(src[0], order, ndim): + * memcpy(result, src.data, size) # <<<<<<<<<<<<<< + * else: + * copy_strided_to_strided(src, 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if src.shape[i] == 1: + */ + __pyx_t_5 = __pyx_v_ndim; + __pyx_t_3 = __pyx_t_5; + for (__pyx_t_4 = 0; __pyx_t_4 < __pyx_t_3; __pyx_t_4+=1) { + __pyx_v_i = __pyx_t_4; + + /* "View.MemoryView":1289 + * + * for i in range(ndim): + * if src.shape[i] != dst.shape[i]: # <<<<<<<<<<<<<< + * if src.shape[i] == 1: + * broadcasting = True + */ + __pyx_t_2 = ((__pyx_v_src.shape[__pyx_v_i]) != (__pyx_v_dst.shape[__pyx_v_i])); + if (__pyx_t_2) { + + /* "View.MemoryView":1290 + * for i in range(ndim): + * if src.shape[i] != dst.shape[i]: + * if src.shape[i] == 1: # <<<<<<<<<<<<<< + * broadcasting = True + * src.strides[i] = 0 + */ + __pyx_t_2 = ((__pyx_v_src.shape[__pyx_v_i]) == 1); + if (__pyx_t_2) { + + /* "View.MemoryView":1291 + * if src.shape[i] != dst.shape[i]: + * if src.shape[i] == 1: + * broadcasting = True # <<<<<<<<<<<<<< + * src.strides[i] = 0 + * else: + */ + __pyx_v_broadcasting = 1; + + /* "View.MemoryView":1292 + * if src.shape[i] == 1: + * broadcasting = True + * src.strides[i] = 0 # <<<<<<<<<<<<<< + * else: + * _err_extents(i, dst.shape[i], src.shape[i]) + */ + (__pyx_v_src.strides[__pyx_v_i]) = 0; + + /* "View.MemoryView":1290 + * for i in range(ndim): + * if src.shape[i] != dst.shape[i]: + * if src.shape[i] == 1: # <<<<<<<<<<<<<< + * broadcasting = True + * src.strides[i] = 0 + */ + goto __pyx_L7; + } + + /* "View.MemoryView":1294 + * src.strides[i] = 0 + * else: + * _err_extents(i, dst.shape[i], src.shape[i]) # <<<<<<<<<<<<<< + * + * if src.suboffsets[i] >= 0: + */ + /*else*/ { + __pyx_t_6 = __pyx_memoryview_err_extents(__pyx_v_i, (__pyx_v_dst.shape[__pyx_v_i]), (__pyx_v_src.shape[__pyx_v_i])); if (unlikely(__pyx_t_6 == ((int)-1))) __PYX_ERR(1, 1294, __pyx_L1_error) + } + __pyx_L7:; + + /* "View.MemoryView":1289 + * + * for i in range(ndim): + * if src.shape[i] != dst.shape[i]: # <<<<<<<<<<<<<< + * if src.shape[i] == 1: + * broadcasting = True + */ + } + + /* "View.MemoryView":1296 + * _err_extents(i, dst.shape[i], src.shape[i]) + * + * if src.suboffsets[i] >= 0: # <<<<<<<<<<<<<< + * _err_dim(PyExc_ValueError, "Dimension %d is not direct", i) + * + */ + __pyx_t_2 = ((__pyx_v_src.suboffsets[__pyx_v_i]) >= 0); + if (__pyx_t_2) { + + /* "View.MemoryView":1297 + * + * if src.suboffsets[i] >= 0: + * _err_dim(PyExc_ValueError, "Dimension %d is not direct", i) # <<<<<<<<<<<<<< + * + * if slices_overlap(&src, &dst, ndim, itemsize): + */ + __pyx_t_6 = __pyx_memoryview_err_dim(PyExc_ValueError, __pyx_kp_s_Dimension_d_is_not_direct, __pyx_v_i); if (unlikely(__pyx_t_6 == ((int)-1))) __PYX_ERR(1, 1297, __pyx_L1_error) + + /* "View.MemoryView":1296 + * _err_extents(i, dst.shape[i], src.shape[i]) + * + * if src.suboffsets[i] >= 0: # <<<<<<<<<<<<<< + * _err_dim(PyExc_ValueError, "Dimension %d is not direct", i) + * + */ + } + } + + /* "View.MemoryView":1299 + * _err_dim(PyExc_ValueError, "Dimension %d is not direct", i) + * + * if slices_overlap(&src, &dst, ndim, itemsize): # <<<<<<<<<<<<<< + * + * if not slice_is_contig(src, order, ndim): + */ + __pyx_t_2 = __pyx_slices_overlap((&__pyx_v_src), (&__pyx_v_dst), __pyx_v_ndim, __pyx_v_itemsize); + if (__pyx_t_2) { + + /* "View.MemoryView":1301 + * if slices_overlap(&src, &dst, ndim, itemsize): + * + * if not slice_is_contig(src, order, ndim): # <<<<<<<<<<<<<< + * order = get_best_order(&dst, ndim) + * + */ + __pyx_t_2 = (!__pyx_memviewslice_is_contig(__pyx_v_src, __pyx_v_order, __pyx_v_ndim)); + if (__pyx_t_2) { + + /* "View.MemoryView":1302 + * + * if not slice_is_contig(src, order, ndim): + * order = get_best_order(&dst, ndim) # <<<<<<<<<<<<<< + * + * tmpdata = copy_data_to_temp(&src, &tmp, order, ndim) + */ + __pyx_v_order = __pyx_get_best_slice_order((&__pyx_v_dst), __pyx_v_ndim); + + /* "View.MemoryView":1301 + * if slices_overlap(&src, &dst, ndim, itemsize): + * + * if not slice_is_contig(src, order, ndim): # <<<<<<<<<<<<<< + * order = get_best_order(&dst, ndim) + * + */ + } + + /* "View.MemoryView":1304 + * order = get_best_order(&dst, ndim) + * + * tmpdata = copy_data_to_temp(&src, &tmp, order, ndim) # <<<<<<<<<<<<<< + * src = tmp + * + */ + __pyx_t_7 = __pyx_memoryview_copy_data_to_temp((&__pyx_v_src), (&__pyx_v_tmp), __pyx_v_order, __pyx_v_ndim); if (unlikely(__pyx_t_7 == ((void *)NULL))) __PYX_ERR(1, 1304, __pyx_L1_error) + __pyx_v_tmpdata = __pyx_t_7; + + /* "View.MemoryView":1305 + * + * tmpdata = copy_data_to_temp(&src, &tmp, order, ndim) + * src = tmp # <<<<<<<<<<<<<< + * + * if not broadcasting: + */ + __pyx_v_src = __pyx_v_tmp; + + /* "View.MemoryView":1299 + * _err_dim(PyExc_ValueError, "Dimension %d is not direct", i) + * + * if slices_overlap(&src, &dst, ndim, itemsize): # <<<<<<<<<<<<<< + * + * if not slice_is_contig(src, order, ndim): + */ + } + + /* "View.MemoryView":1307 + * src = tmp + * + * if not broadcasting: # <<<<<<<<<<<<<< + * + * + */ + __pyx_t_2 = (!__pyx_v_broadcasting); + if (__pyx_t_2) { + + /* "View.MemoryView":1310 + * + * + * if slice_is_contig(src, 'C', ndim): # <<<<<<<<<<<<<< + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): + */ + __pyx_t_2 = __pyx_memviewslice_is_contig(__pyx_v_src, 'C', __pyx_v_ndim); + if (__pyx_t_2) { + + /* "View.MemoryView":1311 + * + * if slice_is_contig(src, 'C', ndim): + * direct_copy = slice_is_contig(dst, 'C', ndim) # <<<<<<<<<<<<<< + * elif slice_is_contig(src, 'F', ndim): + * direct_copy = slice_is_contig(dst, 'F', ndim) + */ + __pyx_v_direct_copy = __pyx_memviewslice_is_contig(__pyx_v_dst, 'C', __pyx_v_ndim); + + /* "View.MemoryView":1310 + * + * + * if slice_is_contig(src, 'C', ndim): # <<<<<<<<<<<<<< + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): + */ + goto __pyx_L12; + } + + /* "View.MemoryView":1312 + * if slice_is_contig(src, 'C', ndim): + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): # <<<<<<<<<<<<<< + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + */ + __pyx_t_2 = __pyx_memviewslice_is_contig(__pyx_v_src, 'F', __pyx_v_ndim); + if (__pyx_t_2) { + + /* "View.MemoryView":1313 + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): + * direct_copy = slice_is_contig(dst, 'F', ndim) # <<<<<<<<<<<<<< + * + * if direct_copy: + */ + __pyx_v_direct_copy = __pyx_memviewslice_is_contig(__pyx_v_dst, 'F', __pyx_v_ndim); + + /* "View.MemoryView":1312 + * if slice_is_contig(src, 'C', ndim): + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): # <<<<<<<<<<<<<< + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + */ + } + __pyx_L12:; + + /* "View.MemoryView":1315 + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + * if direct_copy: # <<<<<<<<<<<<<< + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + */ + if (__pyx_v_direct_copy) { + + /* "View.MemoryView":1317 + * if direct_copy: + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) # <<<<<<<<<<<<<< + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 0); + + /* "View.MemoryView":1318 + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) # <<<<<<<<<<<<<< + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * free(tmpdata) + */ + (void)(memcpy(__pyx_v_dst.data, __pyx_v_src.data, __pyx_memoryview_slice_get_size((&__pyx_v_src), __pyx_v_ndim))); + + /* "View.MemoryView":1319 + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) # <<<<<<<<<<<<<< + * free(tmpdata) + * return 0 + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 1); + + /* "View.MemoryView":1320 + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * free(tmpdata) # <<<<<<<<<<<<<< + * return 0 + * + */ + free(__pyx_v_tmpdata); + + /* "View.MemoryView":1321 + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * free(tmpdata) + * return 0 # <<<<<<<<<<<<<< + * + * if order == 'F' == get_best_order(&dst, ndim): + */ + __pyx_r = 0; + goto __pyx_L0; + + /* "View.MemoryView":1315 + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + * if direct_copy: # <<<<<<<<<<<<<< + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + */ + } + + /* "View.MemoryView":1307 + * src = tmp + * + * if not broadcasting: # <<<<<<<<<<<<<< + * + * + */ + } + + /* "View.MemoryView":1323 + * return 0 + * + * if order == 'F' == get_best_order(&dst, ndim): # <<<<<<<<<<<<<< + * + * + */ + __pyx_t_2 = (__pyx_v_order == 'F'); + if (__pyx_t_2) { + __pyx_t_2 = ('F' == __pyx_get_best_slice_order((&__pyx_v_dst), __pyx_v_ndim)); + } + if (__pyx_t_2) { + + /* "View.MemoryView":1326 + * + * + * transpose_memslice(&src) # <<<<<<<<<<<<<< + * transpose_memslice(&dst) + * + */ + __pyx_t_5 = __pyx_memslice_transpose((&__pyx_v_src)); if (unlikely(__pyx_t_5 == ((int)-1))) __PYX_ERR(1, 1326, __pyx_L1_error) + + /* "View.MemoryView":1327 + * + * transpose_memslice(&src) + * transpose_memslice(&dst) # <<<<<<<<<<<<<< + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + */ + __pyx_t_5 = __pyx_memslice_transpose((&__pyx_v_dst)); if (unlikely(__pyx_t_5 == ((int)-1))) __PYX_ERR(1, 1327, __pyx_L1_error) + + /* "View.MemoryView":1323 + * return 0 + * + * if order == 'F' == get_best_order(&dst, ndim): # <<<<<<<<<<<<<< + * + * + */ + } + + /* "View.MemoryView":1329 + * transpose_memslice(&dst) + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) # <<<<<<<<<<<<<< + * copy_strided_to_strided(&src, &dst, ndim, itemsize) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 0); + + /* "View.MemoryView":1330 + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + * copy_strided_to_strided(&src, &dst, ndim, itemsize) # <<<<<<<<<<<<<< + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * + */ + copy_strided_to_strided((&__pyx_v_src), (&__pyx_v_dst), __pyx_v_ndim, __pyx_v_itemsize); + + /* "View.MemoryView":1331 + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + * copy_strided_to_strided(&src, &dst, ndim, itemsize) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) # <<<<<<<<<<<<<< + * + * free(tmpdata) + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 1); + + /* "View.MemoryView":1333 + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * + * free(tmpdata) # <<<<<<<<<<<<<< + * return 0 + * + */ + free(__pyx_v_tmpdata); + + /* "View.MemoryView":1334 + * + * free(tmpdata) + * return 0 # <<<<<<<<<<<<<< + * + * @cname('__pyx_memoryview_broadcast_leading') + */ + __pyx_r = 0; + goto __pyx_L0; + + /* "View.MemoryView":1265 + * + * @cname('__pyx_memoryview_copy_contents') + * cdef int memoryview_copy_contents(__Pyx_memviewslice src, # <<<<<<<<<<<<<< + * __Pyx_memviewslice dst, + * int src_ndim, int dst_ndim, + */ + + /* function exit code */ + __pyx_L1_error:; + #ifdef WITH_THREAD + __pyx_gilstate_save = __Pyx_PyGILState_Ensure(); + #endif + __Pyx_AddTraceback("View.MemoryView.memoryview_copy_contents", __pyx_clineno, __pyx_lineno, __pyx_filename); + __pyx_r = -1; + #ifdef WITH_THREAD + __Pyx_PyGILState_Release(__pyx_gilstate_save); + #endif + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":1337 + * + * @cname('__pyx_memoryview_broadcast_leading') + * cdef void broadcast_leading(__Pyx_memviewslice *mslice, # <<<<<<<<<<<<<< + * int ndim, + * int ndim_other) noexcept nogil: + */ + +static void __pyx_memoryview_broadcast_leading(__Pyx_memviewslice *__pyx_v_mslice, int __pyx_v_ndim, int __pyx_v_ndim_other) { + int __pyx_v_i; + int __pyx_v_offset; + int __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + + /* "View.MemoryView":1341 + * int ndim_other) noexcept nogil: + * cdef int i + * cdef int offset = ndim_other - ndim # <<<<<<<<<<<<<< + * + * for i in range(ndim - 1, -1, -1): + */ + __pyx_v_offset = (__pyx_v_ndim_other - __pyx_v_ndim); + + /* "View.MemoryView":1343 + * cdef int offset = ndim_other - ndim + * + * for i in range(ndim - 1, -1, -1): # <<<<<<<<<<<<<< + * mslice.shape[i + offset] = mslice.shape[i] + * mslice.strides[i + offset] = mslice.strides[i] + */ + for (__pyx_t_1 = (__pyx_v_ndim - 1); __pyx_t_1 > -1; __pyx_t_1-=1) { + __pyx_v_i = __pyx_t_1; + + /* "View.MemoryView":1344 + * + * for i in range(ndim - 1, -1, -1): + * mslice.shape[i + offset] = mslice.shape[i] # <<<<<<<<<<<<<< + * mslice.strides[i + offset] = mslice.strides[i] + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] + */ + (__pyx_v_mslice->shape[(__pyx_v_i + __pyx_v_offset)]) = (__pyx_v_mslice->shape[__pyx_v_i]); + + /* "View.MemoryView":1345 + * for i in range(ndim - 1, -1, -1): + * mslice.shape[i + offset] = mslice.shape[i] + * mslice.strides[i + offset] = mslice.strides[i] # <<<<<<<<<<<<<< + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] + * + */ + (__pyx_v_mslice->strides[(__pyx_v_i + __pyx_v_offset)]) = (__pyx_v_mslice->strides[__pyx_v_i]); + + /* "View.MemoryView":1346 + * mslice.shape[i + offset] = mslice.shape[i] + * mslice.strides[i + offset] = mslice.strides[i] + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] # <<<<<<<<<<<<<< + * + * for i in range(offset): + */ + (__pyx_v_mslice->suboffsets[(__pyx_v_i + __pyx_v_offset)]) = (__pyx_v_mslice->suboffsets[__pyx_v_i]); + } + + /* "View.MemoryView":1348 + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] + * + * for i in range(offset): # <<<<<<<<<<<<<< + * mslice.shape[i] = 1 + * mslice.strides[i] = mslice.strides[0] + */ + __pyx_t_1 = __pyx_v_offset; + __pyx_t_2 = __pyx_t_1; + for (__pyx_t_3 = 0; __pyx_t_3 < __pyx_t_2; __pyx_t_3+=1) { + __pyx_v_i = __pyx_t_3; + + /* "View.MemoryView":1349 + * + * for i in range(offset): + * mslice.shape[i] = 1 # <<<<<<<<<<<<<< + * mslice.strides[i] = mslice.strides[0] + * mslice.suboffsets[i] = -1 + */ + (__pyx_v_mslice->shape[__pyx_v_i]) = 1; + + /* "View.MemoryView":1350 + * for i in range(offset): + * mslice.shape[i] = 1 + * mslice.strides[i] = mslice.strides[0] # <<<<<<<<<<<<<< + * mslice.suboffsets[i] = -1 + * + */ + (__pyx_v_mslice->strides[__pyx_v_i]) = (__pyx_v_mslice->strides[0]); + + /* "View.MemoryView":1351 + * mslice.shape[i] = 1 + * mslice.strides[i] = mslice.strides[0] + * mslice.suboffsets[i] = -1 # <<<<<<<<<<<<<< + * + * + */ + (__pyx_v_mslice->suboffsets[__pyx_v_i]) = -1L; + } + + /* "View.MemoryView":1337 + * + * @cname('__pyx_memoryview_broadcast_leading') + * cdef void broadcast_leading(__Pyx_memviewslice *mslice, # <<<<<<<<<<<<<< + * int ndim, + * int ndim_other) noexcept nogil: + */ + + /* function exit code */ +} + +/* "View.MemoryView":1359 + * + * @cname('__pyx_memoryview_refcount_copying') + * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object, int ndim, bint inc) noexcept nogil: # <<<<<<<<<<<<<< + * + * if dtype_is_object: + */ + +static void __pyx_memoryview_refcount_copying(__Pyx_memviewslice *__pyx_v_dst, int __pyx_v_dtype_is_object, int __pyx_v_ndim, int __pyx_v_inc) { + + /* "View.MemoryView":1361 + * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object, int ndim, bint inc) noexcept nogil: + * + * if dtype_is_object: # <<<<<<<<<<<<<< + * refcount_objects_in_slice_with_gil(dst.data, dst.shape, dst.strides, ndim, inc) + * + */ + if (__pyx_v_dtype_is_object) { + + /* "View.MemoryView":1362 + * + * if dtype_is_object: + * refcount_objects_in_slice_with_gil(dst.data, dst.shape, dst.strides, ndim, inc) # <<<<<<<<<<<<<< + * + * @cname('__pyx_memoryview_refcount_objects_in_slice_with_gil') + */ + __pyx_memoryview_refcount_objects_in_slice_with_gil(__pyx_v_dst->data, __pyx_v_dst->shape, __pyx_v_dst->strides, __pyx_v_ndim, __pyx_v_inc); + + /* "View.MemoryView":1361 + * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object, int ndim, bint inc) noexcept nogil: + * + * if dtype_is_object: # <<<<<<<<<<<<<< + * refcount_objects_in_slice_with_gil(dst.data, dst.shape, dst.strides, ndim, inc) + * + */ + } + + /* "View.MemoryView":1359 + * + * @cname('__pyx_memoryview_refcount_copying') + * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object, int ndim, bint inc) noexcept nogil: # <<<<<<<<<<<<<< + * + * if dtype_is_object: + */ + + /* function exit code */ +} + +/* "View.MemoryView":1365 + * + * @cname('__pyx_memoryview_refcount_objects_in_slice_with_gil') + * cdef void refcount_objects_in_slice_with_gil(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, + * bint inc) noexcept with gil: + */ + +static void __pyx_memoryview_refcount_objects_in_slice_with_gil(char *__pyx_v_data, Py_ssize_t *__pyx_v_shape, Py_ssize_t *__pyx_v_strides, int __pyx_v_ndim, int __pyx_v_inc) { + #ifdef WITH_THREAD + PyGILState_STATE __pyx_gilstate_save = __Pyx_PyGILState_Ensure(); + #endif + + /* "View.MemoryView":1368 + * Py_ssize_t *strides, int ndim, + * bint inc) noexcept with gil: + * refcount_objects_in_slice(data, shape, strides, ndim, inc) # <<<<<<<<<<<<<< + * + * @cname('__pyx_memoryview_refcount_objects_in_slice') + */ + __pyx_memoryview_refcount_objects_in_slice(__pyx_v_data, __pyx_v_shape, __pyx_v_strides, __pyx_v_ndim, __pyx_v_inc); + + /* "View.MemoryView":1365 + * + * @cname('__pyx_memoryview_refcount_objects_in_slice_with_gil') + * cdef void refcount_objects_in_slice_with_gil(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, + * bint inc) noexcept with gil: + */ + + /* function exit code */ + #ifdef WITH_THREAD + __Pyx_PyGILState_Release(__pyx_gilstate_save); + 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__reduce_cython__(self): + * raise TypeError, "no default __reduce__ due to non-trivial __cinit__" + * def __setstate_cython__(self, __pyx_state): # <<<<<<<<<<<<<< + * raise TypeError, "no default __reduce__ due to non-trivial __cinit__" + */ + + /* function exit code */ + __pyx_L1_error:; + __Pyx_AddTraceback("rednose.helpers.ekf_sym_pyx.EKF_sym_pyx.__setstate_cython__", __pyx_clineno, __pyx_lineno, __pyx_filename); + __pyx_r = NULL; + __Pyx_XGIVEREF(__pyx_r); + __Pyx_TraceReturn(__pyx_r, 0); + __Pyx_RefNannyFinishContext(); + return __pyx_r; +} + +static PyObject *__pyx_tp_new_7rednose_7helpers_11ekf_sym_pyx_EKF_sym_pyx(PyTypeObject *t, PyObject *a, PyObject *k) { + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + if (unlikely(__pyx_pw_7rednose_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_1__cinit__(o, a, k) < 0)) goto bad; + return o; + bad: + Py_DECREF(o); o = 0; + return NULL; +} + +static void __pyx_tp_dealloc_7rednose_7helpers_11ekf_sym_pyx_EKF_sym_pyx(PyObject *o) { + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && (!PyType_IS_GC(Py_TYPE(o)) || !__Pyx_PyObject_GC_IsFinalized(o))) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_7rednose_7helpers_11ekf_sym_pyx_EKF_sym_pyx) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_pw_7rednose_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_29__dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} + +static PyMethodDef __pyx_methods_7rednose_7helpers_11ekf_sym_pyx_EKF_sym_pyx[] = { + {"init_state", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_7rednose_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_3init_state, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"state", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_7rednose_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_5state, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"covs", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_7rednose_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_7covs, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"set_filter_time", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_7rednose_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_9set_filter_time, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"get_filter_time", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_7rednose_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_11get_filter_time, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"set_global", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_7rednose_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_13set_global, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"reset_rewind", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_7rednose_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_15reset_rewind, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"predict", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_7rednose_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_17predict, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"predict_and_update_batch", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_7rednose_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_19predict_and_update_batch, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"augment", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_7rednose_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_21augment, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"get_augment_times", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_7rednose_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_23get_augment_times, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"rts_smooth", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_7rednose_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_25rts_smooth, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"maha_test", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_7rednose_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_27maha_test, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_7rednose_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_31__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_7rednose_7helpers_11ekf_sym_pyx_11EKF_sym_pyx_33__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type_7rednose_7helpers_11ekf_sym_pyx_EKF_sym_pyx_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_7rednose_7helpers_11ekf_sym_pyx_EKF_sym_pyx}, + {Py_tp_methods, (void *)__pyx_methods_7rednose_7helpers_11ekf_sym_pyx_EKF_sym_pyx}, + {Py_tp_new, (void *)__pyx_tp_new_7rednose_7helpers_11ekf_sym_pyx_EKF_sym_pyx}, + {0, 0}, +}; +static PyType_Spec __pyx_type_7rednose_7helpers_11ekf_sym_pyx_EKF_sym_pyx_spec = { + "rednose.helpers.ekf_sym_pyx.EKF_sym_pyx", + sizeof(struct __pyx_obj_7rednose_7helpers_11ekf_sym_pyx_EKF_sym_pyx), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE, + __pyx_type_7rednose_7helpers_11ekf_sym_pyx_EKF_sym_pyx_slots, +}; +#else + +static PyTypeObject __pyx_type_7rednose_7helpers_11ekf_sym_pyx_EKF_sym_pyx = { + PyVarObject_HEAD_INIT(0, 0) + "rednose.helpers.ekf_sym_pyx.""EKF_sym_pyx", /*tp_name*/ + sizeof(struct __pyx_obj_7rednose_7helpers_11ekf_sym_pyx_EKF_sym_pyx), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_7rednose_7helpers_11ekf_sym_pyx_EKF_sym_pyx, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + 0, /*tp_repr*/ + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE, /*tp_flags*/ + 0, /*tp_doc*/ + 0, /*tp_traverse*/ + 0, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_7rednose_7helpers_11ekf_sym_pyx_EKF_sym_pyx, /*tp_methods*/ + 0, /*tp_members*/ + 0, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_7rednose_7helpers_11ekf_sym_pyx_EKF_sym_pyx, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif +static struct __pyx_vtabstruct_array __pyx_vtable_array; + +static PyObject *__pyx_tp_new_array(PyTypeObject *t, PyObject *a, PyObject *k) { + struct __pyx_array_obj *p; + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + p = ((struct __pyx_array_obj *)o); + p->__pyx_vtab = __pyx_vtabptr_array; + p->mode = ((PyObject*)Py_None); Py_INCREF(Py_None); + p->_format = ((PyObject*)Py_None); Py_INCREF(Py_None); + if (unlikely(__pyx_array___cinit__(o, a, k) < 0)) goto bad; + return o; + bad: + Py_DECREF(o); o = 0; + return NULL; +} + +static void __pyx_tp_dealloc_array(PyObject *o) { + struct __pyx_array_obj *p = (struct __pyx_array_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && (!PyType_IS_GC(Py_TYPE(o)) || !__Pyx_PyObject_GC_IsFinalized(o))) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_array) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_array___dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + Py_CLEAR(p->mode); + Py_CLEAR(p->_format); + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} +static PyObject *__pyx_sq_item_array(PyObject *o, Py_ssize_t i) { + PyObject *r; + PyObject *x = PyInt_FromSsize_t(i); if(!x) return 0; + r = Py_TYPE(o)->tp_as_mapping->mp_subscript(o, x); + Py_DECREF(x); + return r; +} + +static int __pyx_mp_ass_subscript_array(PyObject *o, PyObject *i, PyObject *v) { + if (v) { + return __pyx_array___setitem__(o, i, v); + } + else { + __Pyx_TypeName o_type_name; + o_type_name = __Pyx_PyType_GetName(Py_TYPE(o)); + PyErr_Format(PyExc_NotImplementedError, + "Subscript deletion not supported by " __Pyx_FMT_TYPENAME, o_type_name); + __Pyx_DECREF_TypeName(o_type_name); + return -1; + } +} + +static PyObject *__pyx_tp_getattro_array(PyObject *o, PyObject *n) { + PyObject *v = __Pyx_PyObject_GenericGetAttr(o, n); + if (!v && PyErr_ExceptionMatches(PyExc_AttributeError)) { + PyErr_Clear(); + v = __pyx_array___getattr__(o, n); + } + return v; +} + +static PyObject *__pyx_getprop___pyx_array_memview(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_5array_7memview_1__get__(o); +} + +static PyMethodDef __pyx_methods_array[] = { + {"__getattr__", (PyCFunction)__pyx_array___getattr__, METH_O|METH_COEXIST, 0}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_array_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_array_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; + +static struct PyGetSetDef __pyx_getsets_array[] = { + {(char *)"memview", __pyx_getprop___pyx_array_memview, 0, (char *)0, 0}, + {0, 0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +#if !CYTHON_COMPILING_IN_LIMITED_API + +static PyBufferProcs __pyx_tp_as_buffer_array = { + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getreadbuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getwritebuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getsegcount*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getcharbuffer*/ + #endif + __pyx_array_getbuffer, /*bf_getbuffer*/ + 0, /*bf_releasebuffer*/ +}; +#endif +static PyType_Slot __pyx_type___pyx_array_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_array}, + {Py_sq_length, (void *)__pyx_array___len__}, + {Py_sq_item, (void *)__pyx_sq_item_array}, + {Py_mp_length, (void *)__pyx_array___len__}, + {Py_mp_subscript, (void *)__pyx_array___getitem__}, + {Py_mp_ass_subscript, (void *)__pyx_mp_ass_subscript_array}, + {Py_tp_getattro, (void *)__pyx_tp_getattro_array}, + #if defined(Py_bf_getbuffer) + {Py_bf_getbuffer, (void *)__pyx_array_getbuffer}, + #endif + {Py_tp_methods, (void *)__pyx_methods_array}, + {Py_tp_getset, (void *)__pyx_getsets_array}, + {Py_tp_new, (void *)__pyx_tp_new_array}, + {0, 0}, +}; +static PyType_Spec __pyx_type___pyx_array_spec = { + "rednose.helpers.ekf_sym_pyx.array", + sizeof(struct __pyx_array_obj), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_SEQUENCE, + __pyx_type___pyx_array_slots, +}; +#else + +static PySequenceMethods __pyx_tp_as_sequence_array = { + __pyx_array___len__, /*sq_length*/ + 0, /*sq_concat*/ + 0, /*sq_repeat*/ + __pyx_sq_item_array, /*sq_item*/ + 0, /*sq_slice*/ + 0, /*sq_ass_item*/ + 0, /*sq_ass_slice*/ + 0, /*sq_contains*/ + 0, /*sq_inplace_concat*/ + 0, /*sq_inplace_repeat*/ +}; + +static PyMappingMethods __pyx_tp_as_mapping_array = { + __pyx_array___len__, /*mp_length*/ + __pyx_array___getitem__, /*mp_subscript*/ + __pyx_mp_ass_subscript_array, /*mp_ass_subscript*/ +}; + +static PyBufferProcs __pyx_tp_as_buffer_array = { + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getreadbuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getwritebuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getsegcount*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getcharbuffer*/ + #endif + __pyx_array_getbuffer, /*bf_getbuffer*/ + 0, /*bf_releasebuffer*/ +}; + +static PyTypeObject __pyx_type___pyx_array = { + PyVarObject_HEAD_INIT(0, 0) + "rednose.helpers.ekf_sym_pyx.""array", /*tp_name*/ + sizeof(struct __pyx_array_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_array, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + 0, /*tp_repr*/ + 0, /*tp_as_number*/ + &__pyx_tp_as_sequence_array, /*tp_as_sequence*/ + &__pyx_tp_as_mapping_array, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + __pyx_tp_getattro_array, /*tp_getattro*/ + 0, /*tp_setattro*/ + &__pyx_tp_as_buffer_array, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_SEQUENCE, /*tp_flags*/ + 0, /*tp_doc*/ + 0, /*tp_traverse*/ + 0, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_array, /*tp_methods*/ + 0, /*tp_members*/ + __pyx_getsets_array, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_array, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif + +static PyObject *__pyx_tp_new_Enum(PyTypeObject *t, CYTHON_UNUSED PyObject *a, CYTHON_UNUSED PyObject *k) { + struct __pyx_MemviewEnum_obj *p; + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + p = ((struct __pyx_MemviewEnum_obj *)o); + p->name = Py_None; Py_INCREF(Py_None); + return o; +} + +static void __pyx_tp_dealloc_Enum(PyObject *o) { + struct __pyx_MemviewEnum_obj *p = (struct __pyx_MemviewEnum_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && !__Pyx_PyObject_GC_IsFinalized(o)) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_Enum) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + PyObject_GC_UnTrack(o); + Py_CLEAR(p->name); + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} + +static int __pyx_tp_traverse_Enum(PyObject *o, visitproc v, void *a) { + int e; + struct __pyx_MemviewEnum_obj *p = (struct __pyx_MemviewEnum_obj *)o; + if (p->name) { + e = (*v)(p->name, a); if (e) return e; + } + return 0; +} + +static int __pyx_tp_clear_Enum(PyObject *o) { + PyObject* tmp; + struct __pyx_MemviewEnum_obj *p = (struct __pyx_MemviewEnum_obj *)o; + tmp = ((PyObject*)p->name); + p->name = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + return 0; +} + +static PyObject *__pyx_specialmethod___pyx_MemviewEnum___repr__(PyObject *self, CYTHON_UNUSED PyObject *arg) { + return __pyx_MemviewEnum___repr__(self); +} + +static PyMethodDef __pyx_methods_Enum[] = { + {"__repr__", (PyCFunction)__pyx_specialmethod___pyx_MemviewEnum___repr__, METH_NOARGS|METH_COEXIST, 0}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_MemviewEnum_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_MemviewEnum_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type___pyx_MemviewEnum_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_Enum}, + {Py_tp_repr, (void *)__pyx_MemviewEnum___repr__}, + {Py_tp_traverse, (void *)__pyx_tp_traverse_Enum}, + {Py_tp_clear, (void *)__pyx_tp_clear_Enum}, + {Py_tp_methods, (void *)__pyx_methods_Enum}, + {Py_tp_init, (void *)__pyx_MemviewEnum___init__}, + {Py_tp_new, (void *)__pyx_tp_new_Enum}, + {0, 0}, +}; +static PyType_Spec __pyx_type___pyx_MemviewEnum_spec = { + "rednose.helpers.ekf_sym_pyx.Enum", + sizeof(struct __pyx_MemviewEnum_obj), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, + __pyx_type___pyx_MemviewEnum_slots, +}; +#else + +static PyTypeObject __pyx_type___pyx_MemviewEnum = { + PyVarObject_HEAD_INIT(0, 0) + "rednose.helpers.ekf_sym_pyx.""Enum", /*tp_name*/ + sizeof(struct __pyx_MemviewEnum_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_Enum, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + __pyx_MemviewEnum___repr__, /*tp_repr*/ + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, /*tp_flags*/ + 0, /*tp_doc*/ + __pyx_tp_traverse_Enum, /*tp_traverse*/ + __pyx_tp_clear_Enum, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_Enum, /*tp_methods*/ + 0, /*tp_members*/ + 0, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + __pyx_MemviewEnum___init__, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_Enum, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif +static struct __pyx_vtabstruct_memoryview __pyx_vtable_memoryview; + +static PyObject *__pyx_tp_new_memoryview(PyTypeObject *t, PyObject *a, PyObject *k) { + struct __pyx_memoryview_obj *p; + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + p = ((struct __pyx_memoryview_obj *)o); + p->__pyx_vtab = __pyx_vtabptr_memoryview; + p->obj = Py_None; Py_INCREF(Py_None); + p->_size = Py_None; Py_INCREF(Py_None); + p->_array_interface = Py_None; Py_INCREF(Py_None); + p->view.obj = NULL; + if (unlikely(__pyx_memoryview___cinit__(o, a, k) < 0)) goto bad; + return o; + bad: + Py_DECREF(o); o = 0; + return NULL; +} + +static void __pyx_tp_dealloc_memoryview(PyObject *o) { + struct __pyx_memoryview_obj *p = (struct __pyx_memoryview_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && !__Pyx_PyObject_GC_IsFinalized(o)) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_memoryview) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + PyObject_GC_UnTrack(o); + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_memoryview___dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + Py_CLEAR(p->obj); + Py_CLEAR(p->_size); + Py_CLEAR(p->_array_interface); + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} + +static int __pyx_tp_traverse_memoryview(PyObject *o, visitproc v, void *a) { + int e; + struct __pyx_memoryview_obj *p = (struct __pyx_memoryview_obj *)o; + if (p->obj) { + e = (*v)(p->obj, a); if (e) return e; + } + if (p->_size) { + e = (*v)(p->_size, a); if (e) return e; + } + if (p->_array_interface) { + e = (*v)(p->_array_interface, a); if (e) return e; + } + if (p->view.obj) { + e = (*v)(p->view.obj, a); if (e) return e; + } + return 0; +} + +static int __pyx_tp_clear_memoryview(PyObject *o) { + PyObject* tmp; + struct __pyx_memoryview_obj *p = (struct __pyx_memoryview_obj *)o; + tmp = ((PyObject*)p->obj); + p->obj = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + tmp = ((PyObject*)p->_size); + p->_size = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + tmp = ((PyObject*)p->_array_interface); + p->_array_interface = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + Py_CLEAR(p->view.obj); + return 0; +} +static PyObject *__pyx_sq_item_memoryview(PyObject *o, Py_ssize_t i) { + PyObject *r; + PyObject *x = PyInt_FromSsize_t(i); if(!x) return 0; + r = Py_TYPE(o)->tp_as_mapping->mp_subscript(o, x); + Py_DECREF(x); + return r; +} + +static int __pyx_mp_ass_subscript_memoryview(PyObject *o, PyObject *i, PyObject *v) { + if (v) { + return __pyx_memoryview___setitem__(o, i, v); + } + else { + __Pyx_TypeName o_type_name; + o_type_name = __Pyx_PyType_GetName(Py_TYPE(o)); + PyErr_Format(PyExc_NotImplementedError, + "Subscript deletion not supported by " __Pyx_FMT_TYPENAME, o_type_name); + __Pyx_DECREF_TypeName(o_type_name); + return -1; + } +} + +static PyObject *__pyx_getprop___pyx_memoryview_T(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_1T_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_base(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_4base_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_shape(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_5shape_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_strides(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_7strides_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_suboffsets(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_10suboffsets_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_ndim(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_4ndim_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_itemsize(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_8itemsize_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_nbytes(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_6nbytes_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_size(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_4size_1__get__(o); +} + +static PyObject *__pyx_specialmethod___pyx_memoryview___repr__(PyObject *self, CYTHON_UNUSED PyObject *arg) { + return __pyx_memoryview___repr__(self); +} + +static PyMethodDef __pyx_methods_memoryview[] = { + {"__repr__", (PyCFunction)__pyx_specialmethod___pyx_memoryview___repr__, METH_NOARGS|METH_COEXIST, 0}, + {"is_c_contig", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_memoryview_is_c_contig, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"is_f_contig", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_memoryview_is_f_contig, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"copy", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_memoryview_copy, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"copy_fortran", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_memoryview_copy_fortran, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_memoryview_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_memoryview_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; + +static struct PyGetSetDef __pyx_getsets_memoryview[] = { + {(char *)"T", __pyx_getprop___pyx_memoryview_T, 0, (char *)0, 0}, + {(char *)"base", __pyx_getprop___pyx_memoryview_base, 0, (char *)0, 0}, + {(char *)"shape", __pyx_getprop___pyx_memoryview_shape, 0, (char *)0, 0}, + {(char *)"strides", __pyx_getprop___pyx_memoryview_strides, 0, (char *)0, 0}, + {(char *)"suboffsets", __pyx_getprop___pyx_memoryview_suboffsets, 0, (char *)0, 0}, + {(char *)"ndim", __pyx_getprop___pyx_memoryview_ndim, 0, (char *)0, 0}, + {(char *)"itemsize", __pyx_getprop___pyx_memoryview_itemsize, 0, (char *)0, 0}, + {(char *)"nbytes", __pyx_getprop___pyx_memoryview_nbytes, 0, (char *)0, 0}, + {(char *)"size", __pyx_getprop___pyx_memoryview_size, 0, (char *)0, 0}, + {0, 0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +#if !CYTHON_COMPILING_IN_LIMITED_API + +static PyBufferProcs __pyx_tp_as_buffer_memoryview = { + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getreadbuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getwritebuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getsegcount*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getcharbuffer*/ + #endif + __pyx_memoryview_getbuffer, /*bf_getbuffer*/ + 0, /*bf_releasebuffer*/ +}; +#endif +static PyType_Slot __pyx_type___pyx_memoryview_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_memoryview}, + {Py_tp_repr, (void *)__pyx_memoryview___repr__}, + {Py_sq_length, (void *)__pyx_memoryview___len__}, + {Py_sq_item, (void *)__pyx_sq_item_memoryview}, + {Py_mp_length, (void *)__pyx_memoryview___len__}, + {Py_mp_subscript, (void *)__pyx_memoryview___getitem__}, + {Py_mp_ass_subscript, (void *)__pyx_mp_ass_subscript_memoryview}, + {Py_tp_str, (void *)__pyx_memoryview___str__}, + #if defined(Py_bf_getbuffer) + {Py_bf_getbuffer, (void *)__pyx_memoryview_getbuffer}, + #endif + {Py_tp_traverse, (void *)__pyx_tp_traverse_memoryview}, + {Py_tp_clear, (void *)__pyx_tp_clear_memoryview}, + {Py_tp_methods, (void *)__pyx_methods_memoryview}, + {Py_tp_getset, (void *)__pyx_getsets_memoryview}, + {Py_tp_new, (void *)__pyx_tp_new_memoryview}, + {0, 0}, +}; +static PyType_Spec __pyx_type___pyx_memoryview_spec = { + "rednose.helpers.ekf_sym_pyx.memoryview", + sizeof(struct __pyx_memoryview_obj), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, + __pyx_type___pyx_memoryview_slots, +}; +#else + +static PySequenceMethods __pyx_tp_as_sequence_memoryview = { + __pyx_memoryview___len__, /*sq_length*/ + 0, /*sq_concat*/ + 0, /*sq_repeat*/ + __pyx_sq_item_memoryview, /*sq_item*/ + 0, /*sq_slice*/ + 0, /*sq_ass_item*/ + 0, /*sq_ass_slice*/ + 0, /*sq_contains*/ + 0, /*sq_inplace_concat*/ + 0, /*sq_inplace_repeat*/ +}; + +static PyMappingMethods __pyx_tp_as_mapping_memoryview = { + __pyx_memoryview___len__, /*mp_length*/ + __pyx_memoryview___getitem__, /*mp_subscript*/ + __pyx_mp_ass_subscript_memoryview, /*mp_ass_subscript*/ +}; + +static PyBufferProcs __pyx_tp_as_buffer_memoryview = { + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getreadbuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getwritebuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getsegcount*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getcharbuffer*/ + #endif + __pyx_memoryview_getbuffer, /*bf_getbuffer*/ + 0, /*bf_releasebuffer*/ +}; + +static PyTypeObject __pyx_type___pyx_memoryview = { + PyVarObject_HEAD_INIT(0, 0) + "rednose.helpers.ekf_sym_pyx.""memoryview", /*tp_name*/ + sizeof(struct __pyx_memoryview_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_memoryview, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + __pyx_memoryview___repr__, /*tp_repr*/ + 0, /*tp_as_number*/ + &__pyx_tp_as_sequence_memoryview, /*tp_as_sequence*/ + &__pyx_tp_as_mapping_memoryview, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + __pyx_memoryview___str__, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + &__pyx_tp_as_buffer_memoryview, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, /*tp_flags*/ + 0, /*tp_doc*/ + __pyx_tp_traverse_memoryview, /*tp_traverse*/ + __pyx_tp_clear_memoryview, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_memoryview, /*tp_methods*/ + 0, /*tp_members*/ + __pyx_getsets_memoryview, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_memoryview, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif +static struct __pyx_vtabstruct__memoryviewslice __pyx_vtable__memoryviewslice; + +static PyObject *__pyx_tp_new__memoryviewslice(PyTypeObject *t, PyObject *a, PyObject *k) { + struct __pyx_memoryviewslice_obj *p; + PyObject *o = __pyx_tp_new_memoryview(t, a, k); + if (unlikely(!o)) return 0; + p = ((struct __pyx_memoryviewslice_obj *)o); + p->__pyx_base.__pyx_vtab = (struct __pyx_vtabstruct_memoryview*)__pyx_vtabptr__memoryviewslice; + new((void*)&(p->from_slice)) __Pyx_memviewslice(); + p->from_object = Py_None; Py_INCREF(Py_None); + p->from_slice.memview = NULL; + return o; +} + +static void __pyx_tp_dealloc__memoryviewslice(PyObject *o) { + struct __pyx_memoryviewslice_obj *p = (struct __pyx_memoryviewslice_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && !__Pyx_PyObject_GC_IsFinalized(o)) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc__memoryviewslice) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + PyObject_GC_UnTrack(o); + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_memoryviewslice___dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + __Pyx_call_destructor(p->from_slice); + Py_CLEAR(p->from_object); + PyObject_GC_Track(o); + __pyx_tp_dealloc_memoryview(o); +} + +static int __pyx_tp_traverse__memoryviewslice(PyObject *o, visitproc v, void *a) { + int e; + struct __pyx_memoryviewslice_obj *p = (struct __pyx_memoryviewslice_obj *)o; + e = __pyx_tp_traverse_memoryview(o, v, a); if (e) return e; + if (p->from_object) { + e = (*v)(p->from_object, a); if (e) return e; + } + return 0; +} + +static int __pyx_tp_clear__memoryviewslice(PyObject *o) { + PyObject* tmp; + struct __pyx_memoryviewslice_obj *p = (struct __pyx_memoryviewslice_obj *)o; + __pyx_tp_clear_memoryview(o); + tmp = ((PyObject*)p->from_object); + p->from_object = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + __PYX_XCLEAR_MEMVIEW(&p->from_slice, 1); + return 0; +} + +static PyMethodDef __pyx_methods__memoryviewslice[] = { + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_memoryviewslice_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_memoryviewslice_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type___pyx_memoryviewslice_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc__memoryviewslice}, + {Py_tp_doc, (void *)PyDoc_STR("Internal class for passing memoryview slices to Python")}, + {Py_tp_traverse, (void *)__pyx_tp_traverse__memoryviewslice}, + {Py_tp_clear, (void *)__pyx_tp_clear__memoryviewslice}, + {Py_tp_methods, (void *)__pyx_methods__memoryviewslice}, + {Py_tp_new, (void *)__pyx_tp_new__memoryviewslice}, + {0, 0}, +}; +static PyType_Spec __pyx_type___pyx_memoryviewslice_spec = { + "rednose.helpers.ekf_sym_pyx._memoryviewslice", + sizeof(struct __pyx_memoryviewslice_obj), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC|Py_TPFLAGS_SEQUENCE, + __pyx_type___pyx_memoryviewslice_slots, +}; +#else + +static PyTypeObject __pyx_type___pyx_memoryviewslice = { + PyVarObject_HEAD_INIT(0, 0) + "rednose.helpers.ekf_sym_pyx.""_memoryviewslice", /*tp_name*/ + sizeof(struct __pyx_memoryviewslice_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc__memoryviewslice, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + #if CYTHON_COMPILING_IN_PYPY || 0 + __pyx_memoryview___repr__, /*tp_repr*/ + #else + 0, /*tp_repr*/ + #endif + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + #if CYTHON_COMPILING_IN_PYPY || 0 + __pyx_memoryview___str__, /*tp_str*/ + #else + 0, /*tp_str*/ + #endif + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC|Py_TPFLAGS_SEQUENCE, /*tp_flags*/ + PyDoc_STR("Internal class for passing memoryview slices to Python"), /*tp_doc*/ + __pyx_tp_traverse__memoryviewslice, /*tp_traverse*/ + __pyx_tp_clear__memoryviewslice, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods__memoryviewslice, /*tp_methods*/ + 0, /*tp_members*/ + 0, /*tp_getset*/ + 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+ if (n <= 0) { + Py_INCREF(__pyx_empty_tuple); + return __pyx_empty_tuple; + } + res = PyTuple_New(n); + if (unlikely(res == NULL)) return NULL; + __Pyx_copy_object_array(src, ((PyTupleObject*)res)->ob_item, n); + return res; +} +static CYTHON_INLINE PyObject * +__Pyx_PyList_FromArray(PyObject *const *src, Py_ssize_t n) +{ + PyObject *res; + if (n <= 0) { + return PyList_New(0); + } + res = PyList_New(n); + if (unlikely(res == NULL)) return NULL; + __Pyx_copy_object_array(src, ((PyListObject*)res)->ob_item, n); + return res; +} +#endif + +/* BytesEquals */ +static CYTHON_INLINE int __Pyx_PyBytes_Equals(PyObject* s1, PyObject* s2, int equals) { +#if CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API + return PyObject_RichCompareBool(s1, s2, equals); +#else + if (s1 == s2) { + return (equals == Py_EQ); + } else if (PyBytes_CheckExact(s1) & PyBytes_CheckExact(s2)) { + const char *ps1, *ps2; + Py_ssize_t length = PyBytes_GET_SIZE(s1); + if (length != PyBytes_GET_SIZE(s2)) + return (equals == Py_NE); + ps1 = PyBytes_AS_STRING(s1); + ps2 = PyBytes_AS_STRING(s2); + if (ps1[0] != ps2[0]) { + return (equals == Py_NE); + } else if (length == 1) { + return (equals == Py_EQ); + } else { + int result; +#if CYTHON_USE_UNICODE_INTERNALS && (PY_VERSION_HEX < 0x030B0000) + Py_hash_t hash1, hash2; + hash1 = ((PyBytesObject*)s1)->ob_shash; + hash2 = ((PyBytesObject*)s2)->ob_shash; + if (hash1 != hash2 && hash1 != -1 && hash2 != -1) { + return (equals == Py_NE); + } +#endif + result = memcmp(ps1, ps2, (size_t)length); + return (equals == Py_EQ) ? (result == 0) : (result != 0); + } + } else if ((s1 == Py_None) & PyBytes_CheckExact(s2)) { + return (equals == Py_NE); + } else if ((s2 == Py_None) & PyBytes_CheckExact(s1)) { + return (equals == Py_NE); + } else { + int result; + PyObject* py_result = PyObject_RichCompare(s1, s2, equals); + if (!py_result) + return -1; + result = __Pyx_PyObject_IsTrue(py_result); + Py_DECREF(py_result); + return result; + } +#endif +} + +/* UnicodeEquals */ +static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int equals) { +#if CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API + return PyObject_RichCompareBool(s1, s2, equals); +#else +#if PY_MAJOR_VERSION < 3 + PyObject* owned_ref = NULL; +#endif + int s1_is_unicode, s2_is_unicode; + if (s1 == s2) { + goto return_eq; + } + s1_is_unicode = PyUnicode_CheckExact(s1); + s2_is_unicode = PyUnicode_CheckExact(s2); +#if PY_MAJOR_VERSION < 3 + if ((s1_is_unicode & (!s2_is_unicode)) && PyString_CheckExact(s2)) { + owned_ref = PyUnicode_FromObject(s2); + if (unlikely(!owned_ref)) + return -1; + s2 = owned_ref; + s2_is_unicode = 1; + } else if ((s2_is_unicode & (!s1_is_unicode)) && PyString_CheckExact(s1)) { + owned_ref = PyUnicode_FromObject(s1); + if (unlikely(!owned_ref)) + return -1; + s1 = owned_ref; + s1_is_unicode = 1; + } else if (((!s2_is_unicode) & (!s1_is_unicode))) { + return __Pyx_PyBytes_Equals(s1, s2, equals); + } +#endif + if (s1_is_unicode & s2_is_unicode) { + Py_ssize_t length; + int kind; + void *data1, *data2; + if (unlikely(__Pyx_PyUnicode_READY(s1) < 0) || unlikely(__Pyx_PyUnicode_READY(s2) < 0)) + return -1; + length = __Pyx_PyUnicode_GET_LENGTH(s1); + if (length != __Pyx_PyUnicode_GET_LENGTH(s2)) { + goto return_ne; + } +#if CYTHON_USE_UNICODE_INTERNALS + { + Py_hash_t hash1, hash2; + #if CYTHON_PEP393_ENABLED + hash1 = ((PyASCIIObject*)s1)->hash; + hash2 = ((PyASCIIObject*)s2)->hash; + #else + hash1 = ((PyUnicodeObject*)s1)->hash; + hash2 = ((PyUnicodeObject*)s2)->hash; + #endif + if (hash1 != hash2 && hash1 != -1 && hash2 != -1) { + goto return_ne; + } + } +#endif + kind = __Pyx_PyUnicode_KIND(s1); + if (kind != __Pyx_PyUnicode_KIND(s2)) { + goto return_ne; + } + data1 = __Pyx_PyUnicode_DATA(s1); + data2 = __Pyx_PyUnicode_DATA(s2); + if (__Pyx_PyUnicode_READ(kind, data1, 0) != __Pyx_PyUnicode_READ(kind, data2, 0)) { + goto return_ne; + } else if (length == 1) { + goto return_eq; + } else { + int result = memcmp(data1, data2, (size_t)(length * kind)); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_EQ) ? (result == 0) : (result != 0); + } + } else if ((s1 == Py_None) & s2_is_unicode) { + goto return_ne; + } else if ((s2 == Py_None) & s1_is_unicode) { + goto return_ne; + } else { + int result; + PyObject* py_result = PyObject_RichCompare(s1, s2, equals); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + if (!py_result) + return -1; + result = __Pyx_PyObject_IsTrue(py_result); + Py_DECREF(py_result); + return result; + } +return_eq: + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_EQ); +return_ne: + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_NE); +#endif +} + +/* fastcall */ +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE PyObject * __Pyx_GetKwValue_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues, PyObject *s) +{ + Py_ssize_t i, n = PyTuple_GET_SIZE(kwnames); + for (i = 0; i < n; i++) + { + if (s == PyTuple_GET_ITEM(kwnames, i)) return kwvalues[i]; + } + for (i = 0; i < n; i++) + { + int eq = __Pyx_PyUnicode_Equals(s, PyTuple_GET_ITEM(kwnames, i), Py_EQ); + if (unlikely(eq != 0)) { + if (unlikely(eq < 0)) return NULL; + return kwvalues[i]; + } + } + return NULL; +} +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 +CYTHON_UNUSED static PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues) { + Py_ssize_t i, nkwargs = PyTuple_GET_SIZE(kwnames); + PyObject *dict; + dict = PyDict_New(); + if (unlikely(!dict)) + return NULL; + for (i=0; i= 3 + "%s() got multiple values for keyword argument '%U'", func_name, kw_name); + #else + "%s() got multiple values for keyword argument '%s'", func_name, + PyString_AsString(kw_name)); + #endif +} + +/* ParseKeywords */ +static int __Pyx_ParseOptionalKeywords( + PyObject *kwds, + PyObject *const *kwvalues, + PyObject **argnames[], + PyObject *kwds2, + PyObject *values[], + Py_ssize_t num_pos_args, + const char* function_name) +{ + PyObject *key = 0, *value = 0; + Py_ssize_t pos = 0; + PyObject*** name; + PyObject*** first_kw_arg = argnames + num_pos_args; + int kwds_is_tuple = CYTHON_METH_FASTCALL && likely(PyTuple_Check(kwds)); + while (1) { + Py_XDECREF(key); key = NULL; + Py_XDECREF(value); value = NULL; + if (kwds_is_tuple) { + Py_ssize_t size; +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(kwds); +#else + size = PyTuple_Size(kwds); + if (size < 0) goto bad; +#endif + if (pos >= size) break; +#if CYTHON_AVOID_BORROWED_REFS + key = __Pyx_PySequence_ITEM(kwds, pos); + if (!key) goto bad; +#elif CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kwds, pos); +#else + key = PyTuple_GetItem(kwds, pos); + if (!key) goto bad; +#endif + value = kwvalues[pos]; + pos++; + } + else + { + if (!PyDict_Next(kwds, &pos, &key, &value)) break; +#if CYTHON_AVOID_BORROWED_REFS + Py_INCREF(key); +#endif + } + name = first_kw_arg; + while (*name && (**name != key)) name++; + if (*name) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + Py_INCREF(value); + Py_DECREF(key); +#endif + key = NULL; + value = NULL; + continue; + } +#if !CYTHON_AVOID_BORROWED_REFS + Py_INCREF(key); +#endif + Py_INCREF(value); + name = first_kw_arg; + #if PY_MAJOR_VERSION < 3 + if (likely(PyString_Check(key))) { + while (*name) { + if ((CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**name) == PyString_GET_SIZE(key)) + && _PyString_Eq(**name, key)) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + value = NULL; +#endif + break; + } + name++; + } + if (*name) continue; + else { + PyObject*** argname = argnames; + while (argname != first_kw_arg) { + if ((**argname == key) || ( + (CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**argname) == PyString_GET_SIZE(key)) + && _PyString_Eq(**argname, key))) { + goto arg_passed_twice; + } + argname++; + } + } + } else + #endif + if (likely(PyUnicode_Check(key))) { + while (*name) { + int cmp = ( + #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 + (__Pyx_PyUnicode_GET_LENGTH(**name) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : + #endif + PyUnicode_Compare(**name, key) + ); + if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; + if (cmp == 0) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + value = NULL; +#endif + break; + } + name++; + } + if (*name) continue; + else { + PyObject*** argname = argnames; + while (argname != first_kw_arg) { + int cmp = (**argname == key) ? 0 : + #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 + (__Pyx_PyUnicode_GET_LENGTH(**argname) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : + #endif + PyUnicode_Compare(**argname, key); + if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; + if (cmp == 0) goto arg_passed_twice; + argname++; + } + } + } else + goto invalid_keyword_type; + if (kwds2) { + if (unlikely(PyDict_SetItem(kwds2, key, value))) goto bad; + } else { + goto invalid_keyword; + } + } + Py_XDECREF(key); + Py_XDECREF(value); + return 0; +arg_passed_twice: + __Pyx_RaiseDoubleKeywordsError(function_name, key); + goto bad; +invalid_keyword_type: + PyErr_Format(PyExc_TypeError, + "%.200s() keywords must be strings", function_name); + goto bad; +invalid_keyword: + #if PY_MAJOR_VERSION < 3 + PyErr_Format(PyExc_TypeError, + "%.200s() got an unexpected keyword argument '%.200s'", + function_name, PyString_AsString(key)); + #else + PyErr_Format(PyExc_TypeError, + "%s() got an unexpected keyword argument '%U'", + function_name, key); + #endif +bad: + Py_XDECREF(key); + Py_XDECREF(value); + return -1; +} + +/* ArgTypeTest */ +static int __Pyx__ArgTypeTest(PyObject *obj, PyTypeObject *type, const char *name, int exact) +{ + __Pyx_TypeName type_name; + __Pyx_TypeName obj_type_name; + if (unlikely(!type)) { + PyErr_SetString(PyExc_SystemError, "Missing type object"); + return 0; + } + else if (exact) { + #if PY_MAJOR_VERSION == 2 + if ((type == &PyBaseString_Type) && likely(__Pyx_PyBaseString_CheckExact(obj))) return 1; + #endif + } + else { + if (likely(__Pyx_TypeCheck(obj, type))) return 1; + } + type_name = __Pyx_PyType_GetName(type); + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, + "Argument '%.200s' has incorrect type (expected " __Pyx_FMT_TYPENAME + ", got " __Pyx_FMT_TYPENAME ")", name, type_name, obj_type_name); + __Pyx_DECREF_TypeName(type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return 0; +} + +/* RaiseException */ +#if PY_MAJOR_VERSION < 3 +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) { + __Pyx_PyThreadState_declare + CYTHON_UNUSED_VAR(cause); + Py_XINCREF(type); + if (!value || value == Py_None) + value = NULL; + else + Py_INCREF(value); + if (!tb || tb == Py_None) + tb = NULL; + else { + Py_INCREF(tb); + if (!PyTraceBack_Check(tb)) { + PyErr_SetString(PyExc_TypeError, + "raise: arg 3 must be a traceback or None"); + goto raise_error; + } + } + if (PyType_Check(type)) { +#if CYTHON_COMPILING_IN_PYPY + if (!value) { + Py_INCREF(Py_None); + value = Py_None; + } +#endif + PyErr_NormalizeException(&type, &value, &tb); + } else { + if (value) { + PyErr_SetString(PyExc_TypeError, + "instance exception may not have a separate value"); + goto raise_error; + } + value = type; + type = (PyObject*) Py_TYPE(type); + Py_INCREF(type); + if (!PyType_IsSubtype((PyTypeObject *)type, (PyTypeObject *)PyExc_BaseException)) { + PyErr_SetString(PyExc_TypeError, + "raise: exception class must be a subclass of BaseException"); + goto raise_error; + } + } + __Pyx_PyThreadState_assign + __Pyx_ErrRestore(type, value, tb); + return; +raise_error: + Py_XDECREF(value); + Py_XDECREF(type); + Py_XDECREF(tb); + return; +} +#else +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) { + PyObject* owned_instance = NULL; + if (tb == Py_None) { + tb = 0; + } else if (tb && !PyTraceBack_Check(tb)) { + PyErr_SetString(PyExc_TypeError, + "raise: arg 3 must be a traceback or None"); + goto bad; + } + if (value == Py_None) + value = 0; + if (PyExceptionInstance_Check(type)) { + if (value) { + PyErr_SetString(PyExc_TypeError, + "instance exception may not have a separate value"); + goto bad; + } + value = type; + type = (PyObject*) Py_TYPE(value); + } else if (PyExceptionClass_Check(type)) { + PyObject *instance_class = NULL; + if (value && PyExceptionInstance_Check(value)) { + instance_class = (PyObject*) Py_TYPE(value); + if (instance_class != type) { + int is_subclass = PyObject_IsSubclass(instance_class, type); + if (!is_subclass) { + instance_class = NULL; + } else if (unlikely(is_subclass == -1)) { + goto bad; + } else { + type = instance_class; + } + } + } + if (!instance_class) { + PyObject *args; + if (!value) + args = PyTuple_New(0); + else if (PyTuple_Check(value)) { + Py_INCREF(value); + args = value; + } else + args = PyTuple_Pack(1, value); + if (!args) + goto bad; + owned_instance = PyObject_Call(type, args, NULL); + Py_DECREF(args); + if (!owned_instance) + goto bad; + value = owned_instance; + if (!PyExceptionInstance_Check(value)) { + PyErr_Format(PyExc_TypeError, + "calling %R should have returned an instance of " + "BaseException, not %R", + type, Py_TYPE(value)); + goto bad; + } + } + } else { + PyErr_SetString(PyExc_TypeError, + "raise: exception class must be a subclass of BaseException"); + goto bad; + } + if (cause) { + PyObject *fixed_cause; + if (cause == Py_None) { + fixed_cause = NULL; + } else if (PyExceptionClass_Check(cause)) { + fixed_cause = PyObject_CallObject(cause, NULL); + if (fixed_cause == NULL) + goto bad; + } else if (PyExceptionInstance_Check(cause)) { + fixed_cause = cause; + Py_INCREF(fixed_cause); + } else { + PyErr_SetString(PyExc_TypeError, + "exception causes must derive from " + "BaseException"); + goto bad; + } + PyException_SetCause(value, fixed_cause); + } + PyErr_SetObject(type, value); + if (tb) { + #if PY_VERSION_HEX >= 0x030C00A6 + PyException_SetTraceback(value, tb); + #elif CYTHON_FAST_THREAD_STATE + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject* tmp_tb = tstate->curexc_traceback; + if (tb != tmp_tb) { + Py_INCREF(tb); + tstate->curexc_traceback = tb; + Py_XDECREF(tmp_tb); + } +#else + PyObject *tmp_type, *tmp_value, *tmp_tb; + PyErr_Fetch(&tmp_type, &tmp_value, &tmp_tb); + Py_INCREF(tb); + PyErr_Restore(tmp_type, tmp_value, tb); + Py_XDECREF(tmp_tb); +#endif + } +bad: + Py_XDECREF(owned_instance); + return; +} +#endif + +/* PyFunctionFastCall */ +#if CYTHON_FAST_PYCALL && !CYTHON_VECTORCALL +static PyObject* __Pyx_PyFunction_FastCallNoKw(PyCodeObject *co, PyObject **args, Py_ssize_t na, + PyObject *globals) { + PyFrameObject *f; + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject **fastlocals; + Py_ssize_t i; + PyObject *result; + assert(globals != NULL); + /* XXX Perhaps we should create a specialized + PyFrame_New() that doesn't take locals, but does + take builtins without sanity checking them. + */ + assert(tstate != NULL); + f = PyFrame_New(tstate, co, globals, NULL); + if (f == NULL) { + return NULL; + } + fastlocals = __Pyx_PyFrame_GetLocalsplus(f); + for (i = 0; i < na; i++) { + Py_INCREF(*args); + fastlocals[i] = *args++; + } + result = PyEval_EvalFrameEx(f,0); + ++tstate->recursion_depth; + Py_DECREF(f); + --tstate->recursion_depth; + return result; +} +static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs) { + PyCodeObject *co = (PyCodeObject *)PyFunction_GET_CODE(func); + PyObject *globals = PyFunction_GET_GLOBALS(func); + PyObject *argdefs = PyFunction_GET_DEFAULTS(func); + PyObject *closure; +#if PY_MAJOR_VERSION >= 3 + PyObject *kwdefs; +#endif + PyObject *kwtuple, **k; + PyObject **d; + Py_ssize_t nd; + Py_ssize_t nk; + PyObject *result; + assert(kwargs == NULL || PyDict_Check(kwargs)); + nk = kwargs ? PyDict_Size(kwargs) : 0; + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) { + return NULL; + } + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) { + return NULL; + } + #endif + if ( +#if PY_MAJOR_VERSION >= 3 + co->co_kwonlyargcount == 0 && +#endif + likely(kwargs == NULL || nk == 0) && + co->co_flags == (CO_OPTIMIZED | CO_NEWLOCALS | CO_NOFREE)) { + if (argdefs == NULL && co->co_argcount == nargs) { + result = __Pyx_PyFunction_FastCallNoKw(co, args, nargs, globals); + goto done; + } + else if (nargs == 0 && argdefs != NULL + && co->co_argcount == Py_SIZE(argdefs)) { + /* function called with no arguments, but all parameters have + a default value: use default values as arguments .*/ + args = &PyTuple_GET_ITEM(argdefs, 0); + result =__Pyx_PyFunction_FastCallNoKw(co, args, Py_SIZE(argdefs), globals); + goto done; + } + } + if (kwargs != NULL) { + Py_ssize_t pos, i; + kwtuple = PyTuple_New(2 * nk); + if (kwtuple == NULL) { + result = NULL; + goto done; + } + k = &PyTuple_GET_ITEM(kwtuple, 0); + pos = i = 0; + while (PyDict_Next(kwargs, &pos, &k[i], &k[i+1])) { + Py_INCREF(k[i]); + Py_INCREF(k[i+1]); + i += 2; + } + nk = i / 2; + } + else { + kwtuple = NULL; + k = NULL; + } + closure = PyFunction_GET_CLOSURE(func); +#if PY_MAJOR_VERSION >= 3 + kwdefs = PyFunction_GET_KW_DEFAULTS(func); +#endif + if (argdefs != NULL) { + d = &PyTuple_GET_ITEM(argdefs, 0); + nd = Py_SIZE(argdefs); + } + else { + d = NULL; + nd = 0; + } +#if PY_MAJOR_VERSION >= 3 + result = PyEval_EvalCodeEx((PyObject*)co, globals, (PyObject *)NULL, + args, (int)nargs, + k, (int)nk, + d, (int)nd, kwdefs, closure); +#else + result = PyEval_EvalCodeEx(co, globals, (PyObject *)NULL, + args, (int)nargs, + k, (int)nk, + d, (int)nd, closure); +#endif + Py_XDECREF(kwtuple); +done: + Py_LeaveRecursiveCall(); + return result; +} +#endif + +/* PyObjectCall */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw) { + PyObject *result; + ternaryfunc call = Py_TYPE(func)->tp_call; + if (unlikely(!call)) + return PyObject_Call(func, arg, kw); + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) + return NULL; + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) + return NULL; + #endif + result = (*call)(func, arg, kw); + Py_LeaveRecursiveCall(); + if (unlikely(!result) && unlikely(!PyErr_Occurred())) { + PyErr_SetString( + PyExc_SystemError, + "NULL result without error in PyObject_Call"); + } + return result; +} +#endif + +/* PyObjectCallMethO */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg) { + PyObject *self, *result; + PyCFunction cfunc; + cfunc = __Pyx_CyOrPyCFunction_GET_FUNCTION(func); + self = __Pyx_CyOrPyCFunction_GET_SELF(func); + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) + return NULL; + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) + return NULL; + #endif + result = cfunc(self, arg); + Py_LeaveRecursiveCall(); + if (unlikely(!result) && unlikely(!PyErr_Occurred())) { + PyErr_SetString( + PyExc_SystemError, + "NULL result without error in PyObject_Call"); + } + return result; +} +#endif + +/* PyObjectFastCall */ +#if PY_VERSION_HEX < 0x03090000 || CYTHON_COMPILING_IN_LIMITED_API +static PyObject* __Pyx_PyObject_FastCall_fallback(PyObject *func, PyObject **args, size_t nargs, PyObject *kwargs) { + PyObject *argstuple; + PyObject *result = 0; + size_t i; + argstuple = PyTuple_New((Py_ssize_t)nargs); + if (unlikely(!argstuple)) return NULL; + for (i = 0; i < nargs; i++) { + Py_INCREF(args[i]); + if (__Pyx_PyTuple_SET_ITEM(argstuple, (Py_ssize_t)i, args[i]) < 0) goto bad; + } + result = __Pyx_PyObject_Call(func, argstuple, kwargs); + bad: + Py_DECREF(argstuple); + return result; +} +#endif +static CYTHON_INLINE PyObject* __Pyx_PyObject_FastCallDict(PyObject *func, PyObject **args, size_t _nargs, PyObject *kwargs) { + Py_ssize_t nargs = __Pyx_PyVectorcall_NARGS(_nargs); +#if CYTHON_COMPILING_IN_CPYTHON + if (nargs == 0 && kwargs == NULL) { + if (__Pyx_CyOrPyCFunction_Check(func) && likely( __Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_NOARGS)) + return __Pyx_PyObject_CallMethO(func, NULL); + } + else if (nargs == 1 && kwargs == NULL) { + if (__Pyx_CyOrPyCFunction_Check(func) && likely( __Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_O)) + return __Pyx_PyObject_CallMethO(func, args[0]); + } +#endif + #if PY_VERSION_HEX < 0x030800B1 + #if CYTHON_FAST_PYCCALL + if (PyCFunction_Check(func)) { + if (kwargs) { + return _PyCFunction_FastCallDict(func, args, nargs, kwargs); + } else { + return _PyCFunction_FastCallKeywords(func, args, nargs, NULL); + } + } + #if PY_VERSION_HEX >= 0x030700A1 + if (!kwargs && __Pyx_IS_TYPE(func, &PyMethodDescr_Type)) { + return _PyMethodDescr_FastCallKeywords(func, args, nargs, NULL); + } + #endif + #endif + #if CYTHON_FAST_PYCALL + if (PyFunction_Check(func)) { + return __Pyx_PyFunction_FastCallDict(func, args, nargs, kwargs); + } + #endif + #endif + if (kwargs == NULL) { + #if CYTHON_VECTORCALL + #if PY_VERSION_HEX < 0x03090000 + vectorcallfunc f = _PyVectorcall_Function(func); + #else + vectorcallfunc f = PyVectorcall_Function(func); + #endif + if (f) { + return f(func, args, (size_t)nargs, NULL); + } + #elif defined(__Pyx_CyFunction_USED) && CYTHON_BACKPORT_VECTORCALL + if (__Pyx_CyFunction_CheckExact(func)) { + __pyx_vectorcallfunc f = __Pyx_CyFunction_func_vectorcall(func); + if (f) return f(func, args, (size_t)nargs, NULL); + } + #endif + } + if (nargs == 0) { + return __Pyx_PyObject_Call(func, __pyx_empty_tuple, kwargs); + } + #if PY_VERSION_HEX >= 0x03090000 && !CYTHON_COMPILING_IN_LIMITED_API + return PyObject_VectorcallDict(func, args, (size_t)nargs, kwargs); + #else + return __Pyx_PyObject_FastCall_fallback(func, args, (size_t)nargs, kwargs); + #endif +} + +/* RaiseUnexpectedTypeError */ +static int +__Pyx_RaiseUnexpectedTypeError(const char *expected, PyObject *obj) +{ + __Pyx_TypeName obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, "Expected %s, got " __Pyx_FMT_TYPENAME, + expected, obj_type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return 0; +} + +/* CIntToDigits */ +static const char DIGIT_PAIRS_10[2*10*10+1] = { + "00010203040506070809" + "10111213141516171819" + "20212223242526272829" + "30313233343536373839" + "40414243444546474849" + "50515253545556575859" + "60616263646566676869" + "70717273747576777879" + "80818283848586878889" + "90919293949596979899" +}; +static const char DIGIT_PAIRS_8[2*8*8+1] = { + "0001020304050607" + "1011121314151617" + "2021222324252627" + "3031323334353637" + "4041424344454647" + "5051525354555657" + "6061626364656667" + "7071727374757677" +}; +static const char DIGITS_HEX[2*16+1] = { + "0123456789abcdef" + "0123456789ABCDEF" +}; + +/* BuildPyUnicode */ +static PyObject* __Pyx_PyUnicode_BuildFromAscii(Py_ssize_t ulength, char* chars, int clength, + int prepend_sign, char padding_char) { + PyObject *uval; + Py_ssize_t uoffset = ulength - clength; +#if CYTHON_USE_UNICODE_INTERNALS + Py_ssize_t i; +#if CYTHON_PEP393_ENABLED + void *udata; + uval = PyUnicode_New(ulength, 127); + if (unlikely(!uval)) return NULL; + udata = PyUnicode_DATA(uval); +#else + Py_UNICODE *udata; + uval = PyUnicode_FromUnicode(NULL, ulength); + if (unlikely(!uval)) return NULL; + udata = PyUnicode_AS_UNICODE(uval); +#endif + if (uoffset > 0) { + i = 0; + if (prepend_sign) { + __Pyx_PyUnicode_WRITE(PyUnicode_1BYTE_KIND, udata, 0, '-'); + i++; + } + for (; i < uoffset; i++) { + __Pyx_PyUnicode_WRITE(PyUnicode_1BYTE_KIND, udata, i, padding_char); + } + } + for (i=0; i < clength; i++) { + __Pyx_PyUnicode_WRITE(PyUnicode_1BYTE_KIND, udata, uoffset+i, chars[i]); + } +#else + { + PyObject *sign = NULL, *padding = NULL; + uval = NULL; + if (uoffset > 0) { + prepend_sign = !!prepend_sign; + if (uoffset > prepend_sign) { + padding = PyUnicode_FromOrdinal(padding_char); + if (likely(padding) && uoffset > prepend_sign + 1) { + PyObject *tmp; + PyObject *repeat = PyInt_FromSsize_t(uoffset - prepend_sign); + if (unlikely(!repeat)) goto done_or_error; + tmp = PyNumber_Multiply(padding, repeat); + Py_DECREF(repeat); + Py_DECREF(padding); + padding = tmp; + } + if (unlikely(!padding)) goto done_or_error; + } + if (prepend_sign) { + sign = PyUnicode_FromOrdinal('-'); + if (unlikely(!sign)) goto done_or_error; + } + } + uval = PyUnicode_DecodeASCII(chars, clength, NULL); + if (likely(uval) && padding) { + PyObject *tmp = PyNumber_Add(padding, uval); + Py_DECREF(uval); + uval = tmp; + } + if (likely(uval) && sign) { + PyObject *tmp = PyNumber_Add(sign, uval); + Py_DECREF(uval); + uval = tmp; + } +done_or_error: + Py_XDECREF(padding); + Py_XDECREF(sign); + } +#endif + return uval; +} + +/* CIntToPyUnicode */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_int(int value, Py_ssize_t width, char padding_char, char format_char) { + char digits[sizeof(int)*3+2]; + char *dpos, *end = digits + sizeof(int)*3+2; + const char *hex_digits = DIGITS_HEX; + Py_ssize_t length, ulength; + int prepend_sign, last_one_off; + int remaining; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (format_char == 'X') { + hex_digits += 16; + format_char = 'x'; + } + remaining = value; + last_one_off = 0; + dpos = end; + do { + int digit_pos; + switch (format_char) { + case 'o': + digit_pos = abs((int)(remaining % (8*8))); + remaining = (int) (remaining / (8*8)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_8 + digit_pos * 2, 2); + last_one_off = (digit_pos < 8); + break; + case 'd': + digit_pos = abs((int)(remaining % (10*10))); + remaining = (int) (remaining / (10*10)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_10 + digit_pos * 2, 2); + last_one_off = (digit_pos < 10); + break; + case 'x': + *(--dpos) = hex_digits[abs((int)(remaining % 16))]; + remaining = (int) (remaining / 16); + break; + default: + assert(0); + break; + } + } while (unlikely(remaining != 0)); + assert(!last_one_off || *dpos == '0'); + dpos += last_one_off; + length = end - dpos; + ulength = length; + prepend_sign = 0; + if (!is_unsigned && value <= neg_one) { + if (padding_char == ' ' || width <= length + 1) { + *(--dpos) = '-'; + ++length; + } else { + prepend_sign = 1; + } + ++ulength; + } + if (width > ulength) { + ulength = width; + } + if (ulength == 1) { + return PyUnicode_FromOrdinal(*dpos); + } + return __Pyx_PyUnicode_BuildFromAscii(ulength, dpos, (int) length, prepend_sign, padding_char); +} + +/* CIntToPyUnicode */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_Py_ssize_t(Py_ssize_t value, Py_ssize_t width, char padding_char, char format_char) { + char digits[sizeof(Py_ssize_t)*3+2]; + char *dpos, *end = digits + sizeof(Py_ssize_t)*3+2; + const char *hex_digits = DIGITS_HEX; + Py_ssize_t length, ulength; + int prepend_sign, last_one_off; + Py_ssize_t remaining; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const Py_ssize_t neg_one = (Py_ssize_t) -1, const_zero = (Py_ssize_t) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (format_char == 'X') { + hex_digits += 16; + format_char = 'x'; + } + remaining = value; + last_one_off = 0; + dpos = end; + do { + int digit_pos; + switch (format_char) { + case 'o': + digit_pos = abs((int)(remaining % (8*8))); + remaining = (Py_ssize_t) (remaining / (8*8)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_8 + digit_pos * 2, 2); + last_one_off = (digit_pos < 8); + break; + case 'd': + digit_pos = abs((int)(remaining % (10*10))); + remaining = (Py_ssize_t) (remaining / (10*10)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_10 + digit_pos * 2, 2); + last_one_off = (digit_pos < 10); + break; + case 'x': + *(--dpos) = hex_digits[abs((int)(remaining % 16))]; + remaining = (Py_ssize_t) (remaining / 16); + break; + default: + assert(0); + break; + } + } while (unlikely(remaining != 0)); + assert(!last_one_off || *dpos == '0'); + dpos += last_one_off; + length = end - dpos; + ulength = length; + prepend_sign = 0; + if (!is_unsigned && value <= neg_one) { + if (padding_char == ' ' || width <= length + 1) { + *(--dpos) = '-'; + ++length; + } else { + prepend_sign = 1; + } + ++ulength; + } + if (width > ulength) { + ulength = width; + } + if (ulength == 1) { + return PyUnicode_FromOrdinal(*dpos); + } + return __Pyx_PyUnicode_BuildFromAscii(ulength, dpos, (int) length, prepend_sign, padding_char); +} + +/* JoinPyUnicode */ +static PyObject* __Pyx_PyUnicode_Join(PyObject* value_tuple, Py_ssize_t value_count, Py_ssize_t result_ulength, + Py_UCS4 max_char) { +#if CYTHON_USE_UNICODE_INTERNALS && CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + PyObject *result_uval; + int result_ukind, kind_shift; + Py_ssize_t i, char_pos; + void *result_udata; + CYTHON_MAYBE_UNUSED_VAR(max_char); +#if CYTHON_PEP393_ENABLED + result_uval = PyUnicode_New(result_ulength, max_char); + if (unlikely(!result_uval)) return NULL; + result_ukind = (max_char <= 255) ? PyUnicode_1BYTE_KIND : (max_char <= 65535) ? PyUnicode_2BYTE_KIND : PyUnicode_4BYTE_KIND; + kind_shift = (result_ukind == PyUnicode_4BYTE_KIND) ? 2 : result_ukind - 1; + result_udata = PyUnicode_DATA(result_uval); +#else + result_uval = PyUnicode_FromUnicode(NULL, result_ulength); + if (unlikely(!result_uval)) return NULL; + result_ukind = sizeof(Py_UNICODE); + kind_shift = (result_ukind == 4) ? 2 : result_ukind - 1; + result_udata = PyUnicode_AS_UNICODE(result_uval); +#endif + assert(kind_shift == 2 || kind_shift == 1 || kind_shift == 0); + char_pos = 0; + for (i=0; i < value_count; i++) { + int ukind; + Py_ssize_t ulength; + void *udata; + PyObject *uval = PyTuple_GET_ITEM(value_tuple, i); + if (unlikely(__Pyx_PyUnicode_READY(uval))) + goto bad; + ulength = __Pyx_PyUnicode_GET_LENGTH(uval); + if (unlikely(!ulength)) + continue; + if (unlikely((PY_SSIZE_T_MAX >> kind_shift) - ulength < char_pos)) + goto overflow; + ukind = __Pyx_PyUnicode_KIND(uval); + udata = __Pyx_PyUnicode_DATA(uval); + if (!CYTHON_PEP393_ENABLED || ukind == result_ukind) { + memcpy((char *)result_udata + (char_pos << kind_shift), udata, (size_t) (ulength << kind_shift)); + } else { + #if PY_VERSION_HEX >= 0x030d0000 + if (unlikely(PyUnicode_CopyCharacters(result_uval, char_pos, uval, 0, ulength) < 0)) goto bad; + #elif CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030300F0 || defined(_PyUnicode_FastCopyCharacters) + _PyUnicode_FastCopyCharacters(result_uval, char_pos, uval, 0, ulength); + #else + Py_ssize_t j; + for (j=0; j < ulength; j++) { + Py_UCS4 uchar = __Pyx_PyUnicode_READ(ukind, udata, j); + __Pyx_PyUnicode_WRITE(result_ukind, result_udata, char_pos+j, uchar); + } + #endif + } + char_pos += ulength; + } + return result_uval; +overflow: + PyErr_SetString(PyExc_OverflowError, "join() result is too long for a Python string"); +bad: + Py_DECREF(result_uval); + return NULL; +#else + CYTHON_UNUSED_VAR(max_char); + CYTHON_UNUSED_VAR(result_ulength); + CYTHON_UNUSED_VAR(value_count); + return PyUnicode_Join(__pyx_empty_unicode, value_tuple); +#endif +} + +/* GetAttr */ +static CYTHON_INLINE PyObject *__Pyx_GetAttr(PyObject *o, PyObject *n) { +#if CYTHON_USE_TYPE_SLOTS +#if PY_MAJOR_VERSION >= 3 + if (likely(PyUnicode_Check(n))) +#else + if (likely(PyString_Check(n))) +#endif + return __Pyx_PyObject_GetAttrStr(o, n); +#endif + return PyObject_GetAttr(o, n); +} + +/* GetItemInt */ +static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j) { + PyObject *r; + if (unlikely(!j)) return NULL; + r = PyObject_GetItem(o, j); + Py_DECREF(j); + return r; +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + Py_ssize_t wrapped_i = i; + if (wraparound & unlikely(i < 0)) { + wrapped_i += PyList_GET_SIZE(o); + } + if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyList_GET_SIZE(o)))) { + PyObject *r = PyList_GET_ITEM(o, wrapped_i); + Py_INCREF(r); + return r; + } + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +#else + return PySequence_GetItem(o, i); +#endif +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + Py_ssize_t wrapped_i = i; + if (wraparound & unlikely(i < 0)) { + wrapped_i += PyTuple_GET_SIZE(o); + } + if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyTuple_GET_SIZE(o)))) { + PyObject *r = PyTuple_GET_ITEM(o, wrapped_i); + Py_INCREF(r); + return r; + } + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +#else + return PySequence_GetItem(o, i); +#endif +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, int is_list, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS && CYTHON_USE_TYPE_SLOTS + if (is_list || PyList_CheckExact(o)) { + Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyList_GET_SIZE(o); + if ((!boundscheck) || (likely(__Pyx_is_valid_index(n, PyList_GET_SIZE(o))))) { + PyObject *r = PyList_GET_ITEM(o, n); + Py_INCREF(r); + return r; + } + } + else if (PyTuple_CheckExact(o)) { + Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyTuple_GET_SIZE(o); + if ((!boundscheck) || likely(__Pyx_is_valid_index(n, PyTuple_GET_SIZE(o)))) { + PyObject *r = PyTuple_GET_ITEM(o, n); + Py_INCREF(r); + return r; + } + } else { + PyMappingMethods *mm = Py_TYPE(o)->tp_as_mapping; + PySequenceMethods *sm = Py_TYPE(o)->tp_as_sequence; + if (mm && mm->mp_subscript) { + PyObject *r, *key = PyInt_FromSsize_t(i); + if (unlikely(!key)) return NULL; + r = mm->mp_subscript(o, key); + Py_DECREF(key); + return r; + } + if (likely(sm && sm->sq_item)) { + if (wraparound && unlikely(i < 0) && likely(sm->sq_length)) { + Py_ssize_t l = sm->sq_length(o); + if (likely(l >= 0)) { + i += l; + } else { + if (!PyErr_ExceptionMatches(PyExc_OverflowError)) + return NULL; + PyErr_Clear(); + } + } + return sm->sq_item(o, i); + } + } +#else + if (is_list || !PyMapping_Check(o)) { + return PySequence_GetItem(o, i); + } +#endif + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +} + +/* PyObjectCallOneArg */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg) { + PyObject *args[2] = {NULL, arg}; + return __Pyx_PyObject_FastCall(func, args+1, 1 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET); +} + +/* ObjectGetItem */ +#if CYTHON_USE_TYPE_SLOTS +static PyObject *__Pyx_PyObject_GetIndex(PyObject *obj, PyObject *index) { + PyObject *runerr = NULL; + Py_ssize_t key_value; + key_value = __Pyx_PyIndex_AsSsize_t(index); + if (likely(key_value != -1 || !(runerr = PyErr_Occurred()))) { + return __Pyx_GetItemInt_Fast(obj, key_value, 0, 1, 1); + } + if (PyErr_GivenExceptionMatches(runerr, PyExc_OverflowError)) { + __Pyx_TypeName index_type_name = __Pyx_PyType_GetName(Py_TYPE(index)); + PyErr_Clear(); + PyErr_Format(PyExc_IndexError, + "cannot fit '" __Pyx_FMT_TYPENAME "' into an index-sized integer", index_type_name); + __Pyx_DECREF_TypeName(index_type_name); + } + return NULL; +} +static PyObject *__Pyx_PyObject_GetItem_Slow(PyObject *obj, PyObject *key) { + __Pyx_TypeName obj_type_name; + if (likely(PyType_Check(obj))) { + PyObject *meth = __Pyx_PyObject_GetAttrStrNoError(obj, __pyx_n_s_class_getitem); + if (!meth) { + PyErr_Clear(); + } else { + PyObject *result = __Pyx_PyObject_CallOneArg(meth, key); + Py_DECREF(meth); + return result; + } + } + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, + "'" __Pyx_FMT_TYPENAME "' object is not subscriptable", obj_type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return NULL; +} +static PyObject *__Pyx_PyObject_GetItem(PyObject *obj, PyObject *key) { + PyTypeObject *tp = Py_TYPE(obj); + PyMappingMethods *mm = tp->tp_as_mapping; + PySequenceMethods *sm = tp->tp_as_sequence; + if (likely(mm && mm->mp_subscript)) { + return mm->mp_subscript(obj, key); + } + if (likely(sm && sm->sq_item)) { + return __Pyx_PyObject_GetIndex(obj, key); + } + return __Pyx_PyObject_GetItem_Slow(obj, key); +} +#endif + +/* KeywordStringCheck */ +static int __Pyx_CheckKeywordStrings( + PyObject *kw, + const char* function_name, + int kw_allowed) +{ + PyObject* key = 0; + Py_ssize_t pos = 0; +#if CYTHON_COMPILING_IN_PYPY + if (!kw_allowed && PyDict_Next(kw, &pos, &key, 0)) + goto invalid_keyword; + return 1; +#else + if (CYTHON_METH_FASTCALL && likely(PyTuple_Check(kw))) { + Py_ssize_t kwsize; +#if CYTHON_ASSUME_SAFE_MACROS + kwsize = PyTuple_GET_SIZE(kw); +#else + kwsize = PyTuple_Size(kw); + if (kwsize < 0) return 0; +#endif + if (unlikely(kwsize == 0)) + return 1; + if (!kw_allowed) { +#if CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kw, 0); +#else + key = PyTuple_GetItem(kw, pos); + if (!key) return 0; +#endif + goto invalid_keyword; + } +#if PY_VERSION_HEX < 0x03090000 + for (pos = 0; pos < kwsize; pos++) { +#if CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kw, pos); +#else + key = PyTuple_GetItem(kw, pos); + if (!key) return 0; +#endif + if (unlikely(!PyUnicode_Check(key))) + goto invalid_keyword_type; + } +#endif + return 1; + } + while (PyDict_Next(kw, &pos, &key, 0)) { + #if PY_MAJOR_VERSION < 3 + if (unlikely(!PyString_Check(key))) + #endif + if (unlikely(!PyUnicode_Check(key))) + goto invalid_keyword_type; + } + if (!kw_allowed && unlikely(key)) + goto invalid_keyword; + return 1; +invalid_keyword_type: + PyErr_Format(PyExc_TypeError, + "%.200s() keywords must be strings", function_name); + return 0; +#endif +invalid_keyword: + #if PY_MAJOR_VERSION < 3 + PyErr_Format(PyExc_TypeError, + "%.200s() got an unexpected keyword argument '%.200s'", + function_name, PyString_AsString(key)); + #else + PyErr_Format(PyExc_TypeError, + "%s() got an unexpected keyword argument '%U'", + function_name, key); + #endif + return 0; +} + +/* DivInt[Py_ssize_t] */ +static CYTHON_INLINE Py_ssize_t __Pyx_div_Py_ssize_t(Py_ssize_t a, Py_ssize_t b) { + Py_ssize_t q = a / b; + Py_ssize_t r = a - q*b; + q -= ((r != 0) & ((r ^ b) < 0)); + return q; +} + +/* GetAttr3 */ +#if __PYX_LIMITED_VERSION_HEX < 0x030d00A1 +static PyObject *__Pyx_GetAttr3Default(PyObject *d) { + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + if (unlikely(!__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) + return NULL; + __Pyx_PyErr_Clear(); + Py_INCREF(d); + return d; +} +#endif +static CYTHON_INLINE PyObject *__Pyx_GetAttr3(PyObject *o, PyObject *n, PyObject *d) { + PyObject *r; +#if __PYX_LIMITED_VERSION_HEX >= 0x030d00A1 + int res = PyObject_GetOptionalAttr(o, n, &r); + return (res != 0) ? r : __Pyx_NewRef(d); +#else + #if CYTHON_USE_TYPE_SLOTS + if (likely(PyString_Check(n))) { + r = __Pyx_PyObject_GetAttrStrNoError(o, n); + if (unlikely(!r) && likely(!PyErr_Occurred())) { + r = __Pyx_NewRef(d); + } + return r; + } + #endif + r = PyObject_GetAttr(o, n); + return (likely(r)) ? r : __Pyx_GetAttr3Default(d); +#endif +} + +/* PyDictVersioning */ +#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj) { + PyObject *dict = Py_TYPE(obj)->tp_dict; + return likely(dict) ? __PYX_GET_DICT_VERSION(dict) : 0; +} +static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj) { + PyObject **dictptr = NULL; + Py_ssize_t offset = Py_TYPE(obj)->tp_dictoffset; + if (offset) { +#if CYTHON_COMPILING_IN_CPYTHON + dictptr = (likely(offset > 0)) ? (PyObject **) ((char *)obj + offset) : _PyObject_GetDictPtr(obj); +#else + dictptr = _PyObject_GetDictPtr(obj); +#endif + } + return (dictptr && *dictptr) ? __PYX_GET_DICT_VERSION(*dictptr) : 0; +} +static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version) { + PyObject *dict = Py_TYPE(obj)->tp_dict; + if (unlikely(!dict) || unlikely(tp_dict_version != __PYX_GET_DICT_VERSION(dict))) + return 0; + return obj_dict_version == __Pyx_get_object_dict_version(obj); +} +#endif + +/* GetModuleGlobalName */ +#if CYTHON_USE_DICT_VERSIONS +static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value) +#else +static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name) +#endif +{ + PyObject *result; +#if !CYTHON_AVOID_BORROWED_REFS +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030500A1 && PY_VERSION_HEX < 0x030d0000 + result = _PyDict_GetItem_KnownHash(__pyx_d, name, ((PyASCIIObject *) name)->hash); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } else if (unlikely(PyErr_Occurred())) { + return NULL; + } +#elif CYTHON_COMPILING_IN_LIMITED_API + if (unlikely(!__pyx_m)) { + return NULL; + } + result = PyObject_GetAttr(__pyx_m, name); + if (likely(result)) { + return result; + } +#else + result = PyDict_GetItem(__pyx_d, name); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } +#endif +#else + result = PyObject_GetItem(__pyx_d, name); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } + PyErr_Clear(); +#endif + return __Pyx_GetBuiltinName(name); +} + +/* RaiseTooManyValuesToUnpack */ +static CYTHON_INLINE void __Pyx_RaiseTooManyValuesError(Py_ssize_t expected) { + PyErr_Format(PyExc_ValueError, + "too many values to unpack (expected %" CYTHON_FORMAT_SSIZE_T "d)", expected); +} + +/* RaiseNeedMoreValuesToUnpack */ +static CYTHON_INLINE void __Pyx_RaiseNeedMoreValuesError(Py_ssize_t index) { + PyErr_Format(PyExc_ValueError, + "need more than %" CYTHON_FORMAT_SSIZE_T "d value%.1s to unpack", + index, (index == 1) ? "" : "s"); +} + +/* RaiseNoneIterError */ +static CYTHON_INLINE void __Pyx_RaiseNoneNotIterableError(void) { + PyErr_SetString(PyExc_TypeError, "'NoneType' object is not iterable"); +} + +/* ExtTypeTest */ +static CYTHON_INLINE int __Pyx_TypeTest(PyObject *obj, PyTypeObject *type) { + __Pyx_TypeName obj_type_name; + __Pyx_TypeName type_name; + if (unlikely(!type)) { + PyErr_SetString(PyExc_SystemError, "Missing type object"); + return 0; + } + if (likely(__Pyx_TypeCheck(obj, type))) + return 1; + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + type_name = __Pyx_PyType_GetName(type); + PyErr_Format(PyExc_TypeError, + "Cannot convert " __Pyx_FMT_TYPENAME " to " __Pyx_FMT_TYPENAME, + obj_type_name, type_name); + __Pyx_DECREF_TypeName(obj_type_name); + __Pyx_DECREF_TypeName(type_name); + return 0; +} + +/* GetTopmostException */ +#if CYTHON_USE_EXC_INFO_STACK && CYTHON_FAST_THREAD_STATE +static _PyErr_StackItem * +__Pyx_PyErr_GetTopmostException(PyThreadState *tstate) +{ + _PyErr_StackItem *exc_info = tstate->exc_info; + while ((exc_info->exc_value == NULL || exc_info->exc_value == Py_None) && + exc_info->previous_item != NULL) + { + exc_info = exc_info->previous_item; + } + return exc_info; +} +#endif + +/* SaveResetException */ +#if CYTHON_FAST_THREAD_STATE +static CYTHON_INLINE void __Pyx__ExceptionSave(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { + #if CYTHON_USE_EXC_INFO_STACK && PY_VERSION_HEX >= 0x030B00a4 + _PyErr_StackItem *exc_info = __Pyx_PyErr_GetTopmostException(tstate); + PyObject *exc_value = exc_info->exc_value; + if (exc_value == NULL || exc_value == Py_None) { + *value = NULL; + *type = NULL; + *tb = NULL; + } else { + *value = exc_value; + Py_INCREF(*value); + *type = (PyObject*) Py_TYPE(exc_value); + Py_INCREF(*type); + *tb = PyException_GetTraceback(exc_value); + } + #elif CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = __Pyx_PyErr_GetTopmostException(tstate); + *type = exc_info->exc_type; + *value = exc_info->exc_value; + *tb = exc_info->exc_traceback; + Py_XINCREF(*type); + Py_XINCREF(*value); + Py_XINCREF(*tb); + #else + *type = tstate->exc_type; + *value = tstate->exc_value; + *tb = tstate->exc_traceback; + Py_XINCREF(*type); + Py_XINCREF(*value); + Py_XINCREF(*tb); + #endif +} +static CYTHON_INLINE void __Pyx__ExceptionReset(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb) { + #if CYTHON_USE_EXC_INFO_STACK && PY_VERSION_HEX >= 0x030B00a4 + _PyErr_StackItem *exc_info = tstate->exc_info; + PyObject *tmp_value = exc_info->exc_value; + exc_info->exc_value = value; + Py_XDECREF(tmp_value); + Py_XDECREF(type); + Py_XDECREF(tb); + #else + PyObject *tmp_type, *tmp_value, *tmp_tb; + #if CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = tstate->exc_info; + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = type; + exc_info->exc_value = value; + exc_info->exc_traceback = tb; + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = type; + tstate->exc_value = value; + tstate->exc_traceback = tb; + #endif + Py_XDECREF(tmp_type); + Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); + #endif +} +#endif + +/* GetException */ +#if CYTHON_FAST_THREAD_STATE +static int __Pyx__GetException(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) +#else +static int __Pyx_GetException(PyObject **type, PyObject **value, PyObject **tb) +#endif +{ + PyObject *local_type = NULL, *local_value, *local_tb = NULL; +#if CYTHON_FAST_THREAD_STATE + PyObject *tmp_type, *tmp_value, *tmp_tb; + #if PY_VERSION_HEX >= 0x030C00A6 + local_value = tstate->current_exception; + tstate->current_exception = 0; + if (likely(local_value)) { + local_type = (PyObject*) Py_TYPE(local_value); + Py_INCREF(local_type); + local_tb = PyException_GetTraceback(local_value); + } + #else + local_type = tstate->curexc_type; + local_value = tstate->curexc_value; + local_tb = tstate->curexc_traceback; + tstate->curexc_type = 0; + tstate->curexc_value = 0; + tstate->curexc_traceback = 0; + #endif +#else + PyErr_Fetch(&local_type, &local_value, &local_tb); +#endif + PyErr_NormalizeException(&local_type, &local_value, &local_tb); +#if CYTHON_FAST_THREAD_STATE && PY_VERSION_HEX >= 0x030C00A6 + if (unlikely(tstate->current_exception)) +#elif CYTHON_FAST_THREAD_STATE + if (unlikely(tstate->curexc_type)) +#else + if (unlikely(PyErr_Occurred())) +#endif + goto bad; + #if PY_MAJOR_VERSION >= 3 + if (local_tb) { + if (unlikely(PyException_SetTraceback(local_value, local_tb) < 0)) + goto bad; + } + #endif + Py_XINCREF(local_tb); + Py_XINCREF(local_type); + Py_XINCREF(local_value); + *type = local_type; + *value = local_value; + *tb = local_tb; +#if CYTHON_FAST_THREAD_STATE + #if CYTHON_USE_EXC_INFO_STACK + { + _PyErr_StackItem *exc_info = tstate->exc_info; + #if PY_VERSION_HEX >= 0x030B00a4 + tmp_value = exc_info->exc_value; + exc_info->exc_value = local_value; + tmp_type = NULL; + tmp_tb = NULL; + Py_XDECREF(local_type); + Py_XDECREF(local_tb); + #else + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = local_type; + exc_info->exc_value = local_value; + exc_info->exc_traceback = local_tb; + #endif + } + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = local_type; + tstate->exc_value = local_value; + tstate->exc_traceback = local_tb; + #endif + Py_XDECREF(tmp_type); + Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); +#else + PyErr_SetExcInfo(local_type, local_value, local_tb); +#endif + return 0; +bad: + *type = 0; + *value = 0; + *tb = 0; + Py_XDECREF(local_type); + Py_XDECREF(local_value); + Py_XDECREF(local_tb); + return -1; +} + +/* SwapException */ +#if CYTHON_FAST_THREAD_STATE +static CYTHON_INLINE void __Pyx__ExceptionSwap(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { + PyObject *tmp_type, *tmp_value, *tmp_tb; + #if CYTHON_USE_EXC_INFO_STACK && PY_VERSION_HEX >= 0x030B00a4 + _PyErr_StackItem *exc_info = tstate->exc_info; + tmp_value = exc_info->exc_value; + exc_info->exc_value = *value; + if (tmp_value == NULL || tmp_value == Py_None) { + Py_XDECREF(tmp_value); + tmp_value = NULL; + tmp_type = NULL; + tmp_tb = NULL; + } else { + tmp_type = (PyObject*) Py_TYPE(tmp_value); + Py_INCREF(tmp_type); + #if CYTHON_COMPILING_IN_CPYTHON + tmp_tb = ((PyBaseExceptionObject*) tmp_value)->traceback; + Py_XINCREF(tmp_tb); + #else + tmp_tb = PyException_GetTraceback(tmp_value); + #endif + } + #elif CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = tstate->exc_info; + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = *type; + exc_info->exc_value = *value; + exc_info->exc_traceback = *tb; + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = *type; + tstate->exc_value = *value; + tstate->exc_traceback = *tb; + #endif + *type = tmp_type; + *value = tmp_value; + *tb = tmp_tb; +} +#else +static CYTHON_INLINE void __Pyx_ExceptionSwap(PyObject **type, PyObject **value, PyObject **tb) { + PyObject *tmp_type, *tmp_value, *tmp_tb; + PyErr_GetExcInfo(&tmp_type, &tmp_value, &tmp_tb); + PyErr_SetExcInfo(*type, *value, *tb); + *type = tmp_type; + *value = tmp_value; + *tb = tmp_tb; +} +#endif + +/* Import */ +static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level) { + PyObject *module = 0; + PyObject *empty_dict = 0; + PyObject *empty_list = 0; + #if PY_MAJOR_VERSION < 3 + PyObject *py_import; + py_import = __Pyx_PyObject_GetAttrStr(__pyx_b, __pyx_n_s_import); + if (unlikely(!py_import)) + goto bad; + if (!from_list) { + empty_list = PyList_New(0); + if (unlikely(!empty_list)) + goto bad; + from_list = empty_list; + } + #endif + empty_dict = PyDict_New(); + if (unlikely(!empty_dict)) + goto bad; + { + #if PY_MAJOR_VERSION >= 3 + if (level == -1) { + if (strchr(__Pyx_MODULE_NAME, '.') != NULL) { + module = PyImport_ImportModuleLevelObject( + name, __pyx_d, empty_dict, from_list, 1); + if (unlikely(!module)) { + if (unlikely(!PyErr_ExceptionMatches(PyExc_ImportError))) + goto bad; + PyErr_Clear(); + } + } + level = 0; + } + #endif + if (!module) { + #if PY_MAJOR_VERSION < 3 + PyObject *py_level = PyInt_FromLong(level); + if (unlikely(!py_level)) + goto bad; + module = PyObject_CallFunctionObjArgs(py_import, + name, __pyx_d, empty_dict, from_list, py_level, (PyObject *)NULL); + Py_DECREF(py_level); + #else + module = PyImport_ImportModuleLevelObject( + name, __pyx_d, empty_dict, from_list, level); + #endif + } + } +bad: + Py_XDECREF(empty_dict); + Py_XDECREF(empty_list); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(py_import); + #endif + return module; +} + +/* ImportDottedModule */ +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx__ImportDottedModule_Error(PyObject *name, PyObject *parts_tuple, Py_ssize_t count) { + PyObject *partial_name = NULL, *slice = NULL, *sep = NULL; + if (unlikely(PyErr_Occurred())) { + PyErr_Clear(); + } + if (likely(PyTuple_GET_SIZE(parts_tuple) == count)) { + partial_name = name; + } else { + slice = PySequence_GetSlice(parts_tuple, 0, count); + if (unlikely(!slice)) + goto bad; + sep = PyUnicode_FromStringAndSize(".", 1); + if (unlikely(!sep)) + goto bad; + partial_name = PyUnicode_Join(sep, slice); + } + PyErr_Format( +#if PY_MAJOR_VERSION < 3 + PyExc_ImportError, + "No module named '%s'", PyString_AS_STRING(partial_name)); +#else +#if PY_VERSION_HEX >= 0x030600B1 + PyExc_ModuleNotFoundError, +#else + PyExc_ImportError, +#endif + "No module named '%U'", partial_name); +#endif +bad: + Py_XDECREF(sep); + Py_XDECREF(slice); + Py_XDECREF(partial_name); + return NULL; +} +#endif +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx__ImportDottedModule_Lookup(PyObject *name) { + PyObject *imported_module; +#if PY_VERSION_HEX < 0x030700A1 || (CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM < 0x07030400) + PyObject *modules = PyImport_GetModuleDict(); + if (unlikely(!modules)) + return NULL; + imported_module = __Pyx_PyDict_GetItemStr(modules, name); + Py_XINCREF(imported_module); +#else + imported_module = PyImport_GetModule(name); +#endif + return imported_module; +} +#endif +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx_ImportDottedModule_WalkParts(PyObject *module, PyObject *name, PyObject *parts_tuple) { + Py_ssize_t i, nparts; + nparts = PyTuple_GET_SIZE(parts_tuple); + for (i=1; i < nparts && module; i++) { + PyObject *part, *submodule; +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + part = PyTuple_GET_ITEM(parts_tuple, i); +#else + part = PySequence_ITEM(parts_tuple, i); +#endif + submodule = __Pyx_PyObject_GetAttrStrNoError(module, part); +#if !(CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS) + Py_DECREF(part); +#endif + Py_DECREF(module); + module = submodule; + } + if (unlikely(!module)) { + return __Pyx__ImportDottedModule_Error(name, parts_tuple, i); + } + return module; +} +#endif +static PyObject *__Pyx__ImportDottedModule(PyObject *name, PyObject *parts_tuple) { +#if PY_MAJOR_VERSION < 3 + PyObject *module, *from_list, *star = __pyx_n_s__3; + CYTHON_UNUSED_VAR(parts_tuple); + from_list = PyList_New(1); + if (unlikely(!from_list)) + return NULL; + Py_INCREF(star); + PyList_SET_ITEM(from_list, 0, star); + module = __Pyx_Import(name, from_list, 0); + Py_DECREF(from_list); + return module; +#else + PyObject *imported_module; + PyObject *module = __Pyx_Import(name, NULL, 0); + if (!parts_tuple || unlikely(!module)) + return module; + imported_module = __Pyx__ImportDottedModule_Lookup(name); + if (likely(imported_module)) { + Py_DECREF(module); + return imported_module; + } + PyErr_Clear(); + return __Pyx_ImportDottedModule_WalkParts(module, name, parts_tuple); +#endif +} +static PyObject *__Pyx_ImportDottedModule(PyObject *name, PyObject *parts_tuple) { +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030400B1 + PyObject *module = __Pyx__ImportDottedModule_Lookup(name); + if (likely(module)) { + PyObject *spec = __Pyx_PyObject_GetAttrStrNoError(module, __pyx_n_s_spec); + if (likely(spec)) { + PyObject *unsafe = __Pyx_PyObject_GetAttrStrNoError(spec, __pyx_n_s_initializing); + if (likely(!unsafe || !__Pyx_PyObject_IsTrue(unsafe))) { + Py_DECREF(spec); + spec = NULL; + } + Py_XDECREF(unsafe); + } + if (likely(!spec)) { + PyErr_Clear(); + return module; + } + Py_DECREF(spec); + Py_DECREF(module); + } else if (PyErr_Occurred()) { + PyErr_Clear(); + } +#endif + return __Pyx__ImportDottedModule(name, parts_tuple); +} + +/* FastTypeChecks */ +#if CYTHON_COMPILING_IN_CPYTHON +static int __Pyx_InBases(PyTypeObject *a, PyTypeObject *b) { + while (a) { + a = __Pyx_PyType_GetSlot(a, tp_base, PyTypeObject*); + if (a == b) + return 1; + } + return b == &PyBaseObject_Type; +} +static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b) { + PyObject *mro; + if (a == b) return 1; + mro = a->tp_mro; + if (likely(mro)) { + Py_ssize_t i, n; + n = PyTuple_GET_SIZE(mro); + for (i = 0; i < n; i++) { + if (PyTuple_GET_ITEM(mro, i) == (PyObject *)b) + return 1; + } + return 0; + } + return __Pyx_InBases(a, b); +} +static CYTHON_INLINE int __Pyx_IsAnySubtype2(PyTypeObject *cls, PyTypeObject *a, PyTypeObject *b) { + PyObject *mro; + if (cls == a || cls == b) return 1; + mro = cls->tp_mro; + if (likely(mro)) { + Py_ssize_t i, n; + n = PyTuple_GET_SIZE(mro); + for (i = 0; i < n; i++) { + PyObject *base = PyTuple_GET_ITEM(mro, i); + if (base == (PyObject *)a || base == (PyObject *)b) + return 1; + } + return 0; + } + return __Pyx_InBases(cls, a) || __Pyx_InBases(cls, b); +} +#if PY_MAJOR_VERSION == 2 +static int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject* exc_type2) { + PyObject *exception, *value, *tb; + int res; + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + __Pyx_ErrFetch(&exception, &value, &tb); + res = exc_type1 ? PyObject_IsSubclass(err, exc_type1) : 0; + if (unlikely(res == -1)) { + PyErr_WriteUnraisable(err); + res = 0; + } + if (!res) { + res = PyObject_IsSubclass(err, exc_type2); + if (unlikely(res == -1)) { + PyErr_WriteUnraisable(err); + res = 0; + } + } + __Pyx_ErrRestore(exception, value, tb); + return res; +} +#else +static CYTHON_INLINE int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject *exc_type2) { + if (exc_type1) { + return __Pyx_IsAnySubtype2((PyTypeObject*)err, (PyTypeObject*)exc_type1, (PyTypeObject*)exc_type2); + } else { + return __Pyx_IsSubtype((PyTypeObject*)err, (PyTypeObject*)exc_type2); + } +} +#endif +static int __Pyx_PyErr_GivenExceptionMatchesTuple(PyObject *exc_type, PyObject *tuple) { + Py_ssize_t i, n; + assert(PyExceptionClass_Check(exc_type)); + n = PyTuple_GET_SIZE(tuple); +#if PY_MAJOR_VERSION >= 3 + for (i=0; itp_as_sequence && type->tp_as_sequence->sq_repeat)) { + return type->tp_as_sequence->sq_repeat(seq, mul); + } else +#endif + { + return __Pyx_PySequence_Multiply_Generic(seq, mul); + } +} + +/* SetItemInt */ +static int __Pyx_SetItemInt_Generic(PyObject *o, PyObject *j, PyObject *v) { + int r; + if (unlikely(!j)) return -1; + r = PyObject_SetItem(o, j, v); + Py_DECREF(j); + return r; +} +static CYTHON_INLINE int __Pyx_SetItemInt_Fast(PyObject *o, Py_ssize_t i, PyObject *v, int is_list, + CYTHON_NCP_UNUSED int wraparound, CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS && CYTHON_USE_TYPE_SLOTS + if (is_list || PyList_CheckExact(o)) { + Py_ssize_t n = (!wraparound) ? i : ((likely(i >= 0)) ? i : i + PyList_GET_SIZE(o)); + if ((!boundscheck) || likely(__Pyx_is_valid_index(n, PyList_GET_SIZE(o)))) { + PyObject* old = PyList_GET_ITEM(o, n); + Py_INCREF(v); + PyList_SET_ITEM(o, n, v); + Py_DECREF(old); + return 1; + } + } else { + PyMappingMethods *mm = Py_TYPE(o)->tp_as_mapping; + PySequenceMethods *sm = Py_TYPE(o)->tp_as_sequence; + if (mm && mm->mp_ass_subscript) { + int r; + PyObject *key = PyInt_FromSsize_t(i); + if (unlikely(!key)) return -1; + r = mm->mp_ass_subscript(o, key, v); + Py_DECREF(key); + return r; + } + if (likely(sm && sm->sq_ass_item)) { + if (wraparound && unlikely(i < 0) && likely(sm->sq_length)) { + Py_ssize_t l = sm->sq_length(o); + if (likely(l >= 0)) { + i += l; + } else { + if (!PyErr_ExceptionMatches(PyExc_OverflowError)) + return -1; + PyErr_Clear(); + } + } + return sm->sq_ass_item(o, i, v); + } + } +#else + if (is_list || !PyMapping_Check(o)) + { + return PySequence_SetItem(o, i, v); + } +#endif + return __Pyx_SetItemInt_Generic(o, PyInt_FromSsize_t(i), v); +} + +/* RaiseUnboundLocalError */ +static CYTHON_INLINE void __Pyx_RaiseUnboundLocalError(const char *varname) { + PyErr_Format(PyExc_UnboundLocalError, "local variable '%s' referenced before assignment", varname); +} + +/* DivInt[long] */ +static CYTHON_INLINE long __Pyx_div_long(long a, long b) { + long q = a / b; + long r = a - q*b; + q -= ((r != 0) & ((r ^ b) < 0)); + return q; +} + +/* ImportFrom */ +static PyObject* __Pyx_ImportFrom(PyObject* module, PyObject* name) { + PyObject* value = __Pyx_PyObject_GetAttrStr(module, name); + if (unlikely(!value) && PyErr_ExceptionMatches(PyExc_AttributeError)) { + const char* module_name_str = 0; + PyObject* module_name = 0; + PyObject* module_dot = 0; + PyObject* full_name = 0; + PyErr_Clear(); + module_name_str = PyModule_GetName(module); + if (unlikely(!module_name_str)) { goto modbad; } + module_name = PyUnicode_FromString(module_name_str); + if (unlikely(!module_name)) { goto modbad; } + module_dot = PyUnicode_Concat(module_name, __pyx_kp_u__2); + if (unlikely(!module_dot)) { goto modbad; } + full_name = PyUnicode_Concat(module_dot, name); + if (unlikely(!full_name)) { goto modbad; } + #if PY_VERSION_HEX < 0x030700A1 || (CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM < 0x07030400) + { + PyObject *modules = PyImport_GetModuleDict(); + if (unlikely(!modules)) + goto modbad; + value = PyObject_GetItem(modules, full_name); + } + #else + value = PyImport_GetModule(full_name); + #endif + modbad: + Py_XDECREF(full_name); + Py_XDECREF(module_dot); + Py_XDECREF(module_name); + } + if (unlikely(!value)) { + PyErr_Format(PyExc_ImportError, + #if PY_MAJOR_VERSION < 3 + "cannot import name %.230s", PyString_AS_STRING(name)); + #else + "cannot import name %S", name); + #endif + } + return value; +} + +/* HasAttr */ +#if __PYX_LIMITED_VERSION_HEX < 0x030d00A1 +static CYTHON_INLINE int __Pyx_HasAttr(PyObject *o, PyObject *n) { + PyObject *r; + if (unlikely(!__Pyx_PyBaseString_Check(n))) { + PyErr_SetString(PyExc_TypeError, + "hasattr(): attribute name must be string"); + return -1; + } + r = __Pyx_GetAttr(o, n); + if (!r) { + PyErr_Clear(); + return 0; + } else { + Py_DECREF(r); + return 1; + } +} +#endif + +/* PyObjectCall2Args */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call2Args(PyObject* function, PyObject* arg1, PyObject* arg2) { + PyObject *args[3] = {NULL, arg1, arg2}; + return __Pyx_PyObject_FastCall(function, args+1, 2 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET); +} + +/* PyObjectGetMethod */ +static int __Pyx_PyObject_GetMethod(PyObject *obj, PyObject *name, PyObject **method) { + PyObject *attr; +#if CYTHON_UNPACK_METHODS && CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_PYTYPE_LOOKUP + __Pyx_TypeName type_name; + PyTypeObject *tp = Py_TYPE(obj); + PyObject *descr; + descrgetfunc f = NULL; + PyObject **dictptr, *dict; + int meth_found = 0; + assert (*method == NULL); + if (unlikely(tp->tp_getattro != PyObject_GenericGetAttr)) { + attr = __Pyx_PyObject_GetAttrStr(obj, name); + goto try_unpack; + } + if (unlikely(tp->tp_dict == NULL) && unlikely(PyType_Ready(tp) < 0)) { + return 0; + } + descr = _PyType_Lookup(tp, name); + if (likely(descr != NULL)) { + Py_INCREF(descr); +#if defined(Py_TPFLAGS_METHOD_DESCRIPTOR) && Py_TPFLAGS_METHOD_DESCRIPTOR + if (__Pyx_PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_METHOD_DESCRIPTOR)) +#elif PY_MAJOR_VERSION >= 3 + #ifdef __Pyx_CyFunction_USED + if (likely(PyFunction_Check(descr) || __Pyx_IS_TYPE(descr, &PyMethodDescr_Type) || __Pyx_CyFunction_Check(descr))) + #else + if (likely(PyFunction_Check(descr) || __Pyx_IS_TYPE(descr, &PyMethodDescr_Type))) + #endif +#else + #ifdef __Pyx_CyFunction_USED + if (likely(PyFunction_Check(descr) || __Pyx_CyFunction_Check(descr))) + #else + if (likely(PyFunction_Check(descr))) + #endif +#endif + { + meth_found = 1; + } else { + f = Py_TYPE(descr)->tp_descr_get; + if (f != NULL && PyDescr_IsData(descr)) { + attr = f(descr, obj, (PyObject *)Py_TYPE(obj)); + Py_DECREF(descr); + goto try_unpack; + } + } + } + dictptr = _PyObject_GetDictPtr(obj); + if (dictptr != NULL && (dict = *dictptr) != NULL) { + Py_INCREF(dict); + attr = __Pyx_PyDict_GetItemStr(dict, name); + if (attr != NULL) { + Py_INCREF(attr); + Py_DECREF(dict); + Py_XDECREF(descr); + goto try_unpack; + } + Py_DECREF(dict); + } + if (meth_found) { + *method = descr; + return 1; + } + if (f != NULL) { + attr = f(descr, obj, (PyObject *)Py_TYPE(obj)); + Py_DECREF(descr); + goto try_unpack; + } + if (likely(descr != NULL)) { + *method = descr; + return 0; + } + type_name = __Pyx_PyType_GetName(tp); + PyErr_Format(PyExc_AttributeError, +#if PY_MAJOR_VERSION >= 3 + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%U'", + type_name, name); +#else + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%.400s'", + type_name, PyString_AS_STRING(name)); +#endif + __Pyx_DECREF_TypeName(type_name); + return 0; +#else + attr = __Pyx_PyObject_GetAttrStr(obj, name); + goto try_unpack; +#endif +try_unpack: +#if CYTHON_UNPACK_METHODS + if (likely(attr) && PyMethod_Check(attr) && likely(PyMethod_GET_SELF(attr) == obj)) { + PyObject *function = PyMethod_GET_FUNCTION(attr); + Py_INCREF(function); + Py_DECREF(attr); + *method = function; + return 1; + } +#endif + *method = attr; + return 0; +} + +/* PyObjectCallMethod1 */ +#if !(CYTHON_VECTORCALL && __PYX_LIMITED_VERSION_HEX >= 0x030C00A2) +static PyObject* __Pyx__PyObject_CallMethod1(PyObject* method, PyObject* arg) { + PyObject *result = __Pyx_PyObject_CallOneArg(method, arg); + Py_DECREF(method); + return result; +} +#endif +static PyObject* __Pyx_PyObject_CallMethod1(PyObject* obj, PyObject* method_name, PyObject* arg) { +#if CYTHON_VECTORCALL && __PYX_LIMITED_VERSION_HEX >= 0x030C00A2 + PyObject *args[2] = {obj, arg}; + (void) __Pyx_PyObject_GetMethod; + (void) __Pyx_PyObject_CallOneArg; + (void) __Pyx_PyObject_Call2Args; + return PyObject_VectorcallMethod(method_name, args, 2 | PY_VECTORCALL_ARGUMENTS_OFFSET, NULL); +#else + PyObject *method = NULL, *result; + int is_method = __Pyx_PyObject_GetMethod(obj, method_name, &method); + if (likely(is_method)) { + result = __Pyx_PyObject_Call2Args(method, obj, arg); + Py_DECREF(method); + return result; + } + if (unlikely(!method)) return NULL; + return __Pyx__PyObject_CallMethod1(method, arg); +#endif +} + +/* StringJoin */ +static CYTHON_INLINE PyObject* __Pyx_PyBytes_Join(PyObject* sep, PyObject* values) { + (void) __Pyx_PyObject_CallMethod1; +#if CYTHON_COMPILING_IN_CPYTHON && PY_MAJOR_VERSION < 3 + return _PyString_Join(sep, values); +#elif CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030d0000 + return _PyBytes_Join(sep, values); +#else + return __Pyx_PyObject_CallMethod1(sep, __pyx_n_s_join, values); +#endif +} + +/* CIntToPyUnicode */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_size_t(size_t value, Py_ssize_t width, char padding_char, char format_char) { + char digits[sizeof(size_t)*3+2]; + char *dpos, *end = digits + sizeof(size_t)*3+2; + const char *hex_digits = DIGITS_HEX; + Py_ssize_t length, ulength; + int prepend_sign, last_one_off; + size_t remaining; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const size_t neg_one = (size_t) -1, const_zero = (size_t) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (format_char == 'X') { + hex_digits += 16; + format_char = 'x'; + } + remaining = value; + last_one_off = 0; + dpos = end; + do { + int digit_pos; + switch (format_char) { + case 'o': + digit_pos = abs((int)(remaining % (8*8))); + remaining = (size_t) (remaining / (8*8)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_8 + digit_pos * 2, 2); + last_one_off = (digit_pos < 8); + break; + case 'd': + digit_pos = abs((int)(remaining % (10*10))); + remaining = (size_t) (remaining / (10*10)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_10 + digit_pos * 2, 2); + last_one_off = (digit_pos < 10); + break; + case 'x': + *(--dpos) = hex_digits[abs((int)(remaining % 16))]; + remaining = (size_t) (remaining / 16); + break; + default: + assert(0); + break; + } + } while (unlikely(remaining != 0)); + assert(!last_one_off || *dpos == '0'); + dpos += last_one_off; + length = end - dpos; + ulength = length; + prepend_sign = 0; + if (!is_unsigned && value <= neg_one) { + if (padding_char == ' ' || width <= length + 1) { + *(--dpos) = '-'; + ++length; + } else { + prepend_sign = 1; + } + ++ulength; + } + if (width > ulength) { + ulength = width; + } + if (ulength == 1) { + return PyUnicode_FromOrdinal(*dpos); + } + return __Pyx_PyUnicode_BuildFromAscii(ulength, dpos, (int) length, prepend_sign, padding_char); +} + +/* Profile */ +#if CYTHON_PROFILE +static int __Pyx_TraceSetupAndCall(PyCodeObject** code, + PyFrameObject** frame, + PyThreadState* tstate, + const char *funcname, + const char *srcfile, + int firstlineno) { + PyObject *type, *value, *traceback; + int retval; + if (*frame == NULL || !CYTHON_PROFILE_REUSE_FRAME) { + if (*code == NULL) { + *code = __Pyx_createFrameCodeObject(funcname, srcfile, firstlineno); + if (*code == NULL) return 0; + } + *frame = PyFrame_New( + tstate, /*PyThreadState *tstate*/ + *code, /*PyCodeObject *code*/ + __pyx_d, /*PyObject *globals*/ + 0 /*PyObject *locals*/ + ); + if (*frame == NULL) return 0; + if (CYTHON_TRACE && (*frame)->f_trace == NULL) { + Py_INCREF(Py_None); + (*frame)->f_trace = Py_None; + } +#if PY_VERSION_HEX < 0x030400B1 + } else { + (*frame)->f_tstate = tstate; +#endif + } + __Pyx_PyFrame_SetLineNumber(*frame, firstlineno); + retval = 1; + __Pyx_EnterTracing(tstate); + __Pyx_ErrFetchInState(tstate, &type, &value, &traceback); + #if CYTHON_TRACE + if (tstate->c_tracefunc) + retval = tstate->c_tracefunc(tstate->c_traceobj, *frame, PyTrace_CALL, NULL) == 0; + if (retval && tstate->c_profilefunc) + #endif + retval = tstate->c_profilefunc(tstate->c_profileobj, *frame, PyTrace_CALL, NULL) == 0; + __Pyx_LeaveTracing(tstate); + if (retval) { + __Pyx_ErrRestoreInState(tstate, type, value, traceback); + return __Pyx_IsTracing(tstate, 0, 0) && retval; + } else { + Py_XDECREF(type); + Py_XDECREF(value); + Py_XDECREF(traceback); + return -1; + } +} +static PyCodeObject *__Pyx_createFrameCodeObject(const char *funcname, const char *srcfile, int firstlineno) { + PyCodeObject *py_code = 0; +#if PY_MAJOR_VERSION >= 3 + py_code = PyCode_NewEmpty(srcfile, funcname, firstlineno); + if (likely(py_code)) { + py_code->co_flags |= CO_OPTIMIZED | CO_NEWLOCALS; + } +#else + PyObject *py_srcfile = 0; + PyObject *py_funcname = 0; + py_funcname = PyString_FromString(funcname); + if (unlikely(!py_funcname)) goto bad; + py_srcfile = PyString_FromString(srcfile); + if (unlikely(!py_srcfile)) goto bad; + py_code = PyCode_New( + 0, + 0, + 0, + CO_OPTIMIZED | CO_NEWLOCALS, + __pyx_empty_bytes, /*PyObject *code,*/ + __pyx_empty_tuple, /*PyObject *consts,*/ + __pyx_empty_tuple, /*PyObject *names,*/ + __pyx_empty_tuple, /*PyObject *varnames,*/ + __pyx_empty_tuple, /*PyObject *freevars,*/ + __pyx_empty_tuple, /*PyObject *cellvars,*/ + py_srcfile, /*PyObject *filename,*/ + py_funcname, /*PyObject *name,*/ + firstlineno, + __pyx_empty_bytes /*PyObject *lnotab*/ + ); +bad: + Py_XDECREF(py_srcfile); + Py_XDECREF(py_funcname); +#endif + return py_code; +} +#endif + +/* IsLittleEndian */ +static CYTHON_INLINE int __Pyx_Is_Little_Endian(void) +{ + union { + uint32_t u32; + uint8_t u8[4]; + } S; + S.u32 = 0x01020304; + return S.u8[0] == 4; +} + +/* BufferFormatCheck */ +static void __Pyx_BufFmt_Init(__Pyx_BufFmt_Context* ctx, + __Pyx_BufFmt_StackElem* stack, + __Pyx_TypeInfo* type) { + stack[0].field = &ctx->root; + stack[0].parent_offset = 0; + ctx->root.type = type; + ctx->root.name = "buffer dtype"; + ctx->root.offset = 0; + ctx->head = stack; + ctx->head->field = &ctx->root; + ctx->fmt_offset = 0; + ctx->head->parent_offset = 0; + ctx->new_packmode = '@'; + ctx->enc_packmode = '@'; + ctx->new_count = 1; + ctx->enc_count = 0; + ctx->enc_type = 0; + ctx->is_complex = 0; + ctx->is_valid_array = 0; + ctx->struct_alignment = 0; + while (type->typegroup == 'S') { + ++ctx->head; + ctx->head->field = type->fields; + ctx->head->parent_offset = 0; + type = type->fields->type; + } +} +static int __Pyx_BufFmt_ParseNumber(const char** ts) { + int count; + const char* t = *ts; + if (*t < '0' || *t > '9') { + return -1; + } else { + count = *t++ - '0'; + while (*t >= '0' && *t <= '9') { + count *= 10; + count += *t++ - '0'; + } + } + *ts = t; + return count; +} +static int __Pyx_BufFmt_ExpectNumber(const char **ts) { + int number = __Pyx_BufFmt_ParseNumber(ts); + if (number == -1) + PyErr_Format(PyExc_ValueError,\ + "Does not understand character buffer dtype format string ('%c')", **ts); + return number; +} +static void __Pyx_BufFmt_RaiseUnexpectedChar(char ch) { + PyErr_Format(PyExc_ValueError, + "Unexpected format string character: '%c'", ch); +} +static const char* __Pyx_BufFmt_DescribeTypeChar(char ch, int is_complex) { + switch (ch) { + case '?': return "'bool'"; + case 'c': return "'char'"; + case 'b': return "'signed char'"; + case 'B': return "'unsigned char'"; + case 'h': return "'short'"; + case 'H': return "'unsigned short'"; + case 'i': return "'int'"; + case 'I': return "'unsigned int'"; + case 'l': return "'long'"; + case 'L': return "'unsigned long'"; + case 'q': return "'long long'"; + case 'Q': return "'unsigned long long'"; + case 'f': return (is_complex ? "'complex float'" : "'float'"); + case 'd': return (is_complex ? "'complex double'" : "'double'"); + case 'g': return (is_complex ? "'complex long double'" : "'long double'"); + case 'T': return "a struct"; + case 'O': return "Python object"; + case 'P': return "a pointer"; + case 's': case 'p': return "a string"; + case 0: return "end"; + default: return "unparsable format string"; + } +} +static size_t __Pyx_BufFmt_TypeCharToStandardSize(char ch, int is_complex) { + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return 2; + case 'i': case 'I': case 'l': case 'L': return 4; + case 'q': case 'Q': return 8; + case 'f': return (is_complex ? 8 : 4); + case 'd': return (is_complex ? 16 : 8); + case 'g': { + PyErr_SetString(PyExc_ValueError, "Python does not define a standard format string size for long double ('g').."); + return 0; + } + case 'O': case 'P': return sizeof(void*); + default: + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } +} +static size_t __Pyx_BufFmt_TypeCharToNativeSize(char ch, int is_complex) { + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return sizeof(short); + case 'i': case 'I': return sizeof(int); + case 'l': case 'L': return sizeof(long); + #ifdef HAVE_LONG_LONG + case 'q': case 'Q': return sizeof(PY_LONG_LONG); + #endif + case 'f': return sizeof(float) * (is_complex ? 2 : 1); + case 'd': return sizeof(double) * (is_complex ? 2 : 1); + case 'g': return sizeof(long double) * (is_complex ? 2 : 1); + case 'O': case 'P': return sizeof(void*); + default: { + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } + } +} +typedef struct { char c; short x; } __Pyx_st_short; +typedef struct { char c; int x; } __Pyx_st_int; +typedef struct { char c; long x; } __Pyx_st_long; +typedef struct { char c; float x; } __Pyx_st_float; +typedef struct { char c; double x; } __Pyx_st_double; +typedef struct { char c; long double x; } __Pyx_st_longdouble; +typedef struct { char c; void *x; } __Pyx_st_void_p; +#ifdef HAVE_LONG_LONG +typedef struct { char c; PY_LONG_LONG x; } __Pyx_st_longlong; +#endif +static size_t __Pyx_BufFmt_TypeCharToAlignment(char ch, int is_complex) { + CYTHON_UNUSED_VAR(is_complex); + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return sizeof(__Pyx_st_short) - sizeof(short); + case 'i': case 'I': return sizeof(__Pyx_st_int) - sizeof(int); + case 'l': case 'L': return sizeof(__Pyx_st_long) - sizeof(long); +#ifdef HAVE_LONG_LONG + case 'q': case 'Q': return sizeof(__Pyx_st_longlong) - sizeof(PY_LONG_LONG); +#endif + case 'f': return sizeof(__Pyx_st_float) - sizeof(float); + case 'd': return sizeof(__Pyx_st_double) - sizeof(double); + case 'g': return sizeof(__Pyx_st_longdouble) - sizeof(long double); + case 'P': case 'O': return sizeof(__Pyx_st_void_p) - sizeof(void*); + default: + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } +} +/* These are for computing the padding at the end of the struct to align + on the first member of the struct. This will probably the same as above, + but we don't have any guarantees. + */ +typedef struct { short x; char c; } __Pyx_pad_short; +typedef struct { int x; char c; } __Pyx_pad_int; +typedef struct { long x; char c; } __Pyx_pad_long; +typedef struct { float x; char c; } __Pyx_pad_float; +typedef struct { double x; char c; } __Pyx_pad_double; +typedef struct { long double x; char c; } __Pyx_pad_longdouble; +typedef struct { void *x; char c; } __Pyx_pad_void_p; +#ifdef HAVE_LONG_LONG +typedef struct { PY_LONG_LONG x; char c; } __Pyx_pad_longlong; +#endif +static size_t __Pyx_BufFmt_TypeCharToPadding(char ch, int is_complex) { + CYTHON_UNUSED_VAR(is_complex); + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return sizeof(__Pyx_pad_short) - sizeof(short); + case 'i': case 'I': return sizeof(__Pyx_pad_int) - sizeof(int); + case 'l': case 'L': return sizeof(__Pyx_pad_long) - sizeof(long); +#ifdef HAVE_LONG_LONG + case 'q': case 'Q': return sizeof(__Pyx_pad_longlong) - sizeof(PY_LONG_LONG); +#endif + case 'f': return sizeof(__Pyx_pad_float) - sizeof(float); + case 'd': return sizeof(__Pyx_pad_double) - sizeof(double); + case 'g': return sizeof(__Pyx_pad_longdouble) - sizeof(long double); + case 'P': case 'O': return sizeof(__Pyx_pad_void_p) - sizeof(void*); + default: + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } +} +static char __Pyx_BufFmt_TypeCharToGroup(char ch, int is_complex) { + switch (ch) { + case 'c': + return 'H'; + case 'b': case 'h': case 'i': + case 'l': case 'q': case 's': case 'p': + return 'I'; + case '?': case 'B': case 'H': case 'I': case 'L': case 'Q': + return 'U'; + case 'f': case 'd': case 'g': + return (is_complex ? 'C' : 'R'); + case 'O': + return 'O'; + case 'P': + return 'P'; + default: { + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } + } +} +static void __Pyx_BufFmt_RaiseExpected(__Pyx_BufFmt_Context* ctx) { + if (ctx->head == NULL || ctx->head->field == &ctx->root) { + const char* expected; + const char* quote; + if (ctx->head == NULL) { + expected = "end"; + quote = ""; + } else { + expected = ctx->head->field->type->name; + quote = "'"; + } + PyErr_Format(PyExc_ValueError, + "Buffer dtype mismatch, expected %s%s%s but got %s", + quote, expected, quote, + __Pyx_BufFmt_DescribeTypeChar(ctx->enc_type, ctx->is_complex)); + } else { + __Pyx_StructField* field = ctx->head->field; + __Pyx_StructField* parent = (ctx->head - 1)->field; + PyErr_Format(PyExc_ValueError, + "Buffer dtype mismatch, expected '%s' but got %s in '%s.%s'", + field->type->name, __Pyx_BufFmt_DescribeTypeChar(ctx->enc_type, ctx->is_complex), + parent->type->name, field->name); + } +} +static int __Pyx_BufFmt_ProcessTypeChunk(__Pyx_BufFmt_Context* ctx) { + char group; + size_t size, offset, arraysize = 1; + if (ctx->enc_type == 0) return 0; + if (ctx->head->field->type->arraysize[0]) { + int i, ndim = 0; + if (ctx->enc_type == 's' || ctx->enc_type == 'p') { + ctx->is_valid_array = ctx->head->field->type->ndim == 1; + ndim = 1; + if (ctx->enc_count != ctx->head->field->type->arraysize[0]) { + PyErr_Format(PyExc_ValueError, + "Expected a dimension of size %zu, got %zu", + ctx->head->field->type->arraysize[0], ctx->enc_count); + return -1; + } + } + if (!ctx->is_valid_array) { + PyErr_Format(PyExc_ValueError, "Expected %d dimensions, got %d", + ctx->head->field->type->ndim, ndim); + return -1; + } + for (i = 0; i < ctx->head->field->type->ndim; i++) { + arraysize *= ctx->head->field->type->arraysize[i]; + } + ctx->is_valid_array = 0; + ctx->enc_count = 1; + } + group = __Pyx_BufFmt_TypeCharToGroup(ctx->enc_type, ctx->is_complex); + do { + __Pyx_StructField* field = ctx->head->field; + __Pyx_TypeInfo* type = field->type; + if (ctx->enc_packmode == '@' || ctx->enc_packmode == '^') { + size = __Pyx_BufFmt_TypeCharToNativeSize(ctx->enc_type, ctx->is_complex); + } else { + size = __Pyx_BufFmt_TypeCharToStandardSize(ctx->enc_type, ctx->is_complex); + } + if (ctx->enc_packmode == '@') { + size_t align_at = __Pyx_BufFmt_TypeCharToAlignment(ctx->enc_type, ctx->is_complex); + size_t align_mod_offset; + if (align_at == 0) return -1; + align_mod_offset = ctx->fmt_offset % align_at; + if (align_mod_offset > 0) ctx->fmt_offset += align_at - align_mod_offset; + if (ctx->struct_alignment == 0) + ctx->struct_alignment = __Pyx_BufFmt_TypeCharToPadding(ctx->enc_type, + ctx->is_complex); + } + if (type->size != size || type->typegroup != group) { + if (type->typegroup == 'C' && type->fields != NULL) { + size_t parent_offset = ctx->head->parent_offset + field->offset; + ++ctx->head; + ctx->head->field = type->fields; + ctx->head->parent_offset = parent_offset; + continue; + } + if ((type->typegroup == 'H' || group == 'H') && type->size == size) { + } else { + __Pyx_BufFmt_RaiseExpected(ctx); + return -1; + } + } + offset = ctx->head->parent_offset + field->offset; + if (ctx->fmt_offset != offset) { + PyErr_Format(PyExc_ValueError, + "Buffer dtype mismatch; next field is at offset %" CYTHON_FORMAT_SSIZE_T "d but %" CYTHON_FORMAT_SSIZE_T "d expected", + (Py_ssize_t)ctx->fmt_offset, (Py_ssize_t)offset); + return -1; + } + ctx->fmt_offset += size; + if (arraysize) + ctx->fmt_offset += (arraysize - 1) * size; + --ctx->enc_count; + while (1) { + if (field == &ctx->root) { + ctx->head = NULL; + if (ctx->enc_count != 0) { + __Pyx_BufFmt_RaiseExpected(ctx); + return -1; + } + break; + } + ctx->head->field = ++field; + if (field->type == NULL) { + --ctx->head; + field = ctx->head->field; + continue; + } else if (field->type->typegroup == 'S') { + size_t parent_offset = ctx->head->parent_offset + field->offset; + if (field->type->fields->type == NULL) continue; + field = field->type->fields; + ++ctx->head; + ctx->head->field = field; + ctx->head->parent_offset = parent_offset; + break; + } else { + break; + } + } + } while (ctx->enc_count); + ctx->enc_type = 0; + ctx->is_complex = 0; + return 0; +} +static int +__pyx_buffmt_parse_array(__Pyx_BufFmt_Context* ctx, const char** tsp) +{ + const char *ts = *tsp; + int i = 0, number, ndim; + ++ts; + if (ctx->new_count != 1) { + PyErr_SetString(PyExc_ValueError, + "Cannot handle repeated arrays in format string"); + return -1; + } + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return -1; + ndim = ctx->head->field->type->ndim; + while (*ts && *ts != ')') { + switch (*ts) { + case ' ': case '\f': case '\r': case '\n': case '\t': case '\v': continue; + default: break; + } + number = __Pyx_BufFmt_ExpectNumber(&ts); + if (number == -1) return -1; + if (i < ndim && (size_t) number != ctx->head->field->type->arraysize[i]) { + PyErr_Format(PyExc_ValueError, + "Expected a dimension of size %zu, got %d", + ctx->head->field->type->arraysize[i], number); + return -1; + } + if (*ts != ',' && *ts != ')') { + PyErr_Format(PyExc_ValueError, + "Expected a comma in format string, got '%c'", *ts); + return -1; + } + if (*ts == ',') ts++; + i++; + } + if (i != ndim) { + PyErr_Format(PyExc_ValueError, "Expected %d dimension(s), got %d", + ctx->head->field->type->ndim, i); + return -1; + } + if (!*ts) { + PyErr_SetString(PyExc_ValueError, + "Unexpected end of format string, expected ')'"); + return -1; + } + ctx->is_valid_array = 1; + ctx->new_count = 1; + *tsp = ++ts; + return 0; +} +static const char* __Pyx_BufFmt_CheckString(__Pyx_BufFmt_Context* ctx, const char* ts) { + int got_Z = 0; + while (1) { + switch(*ts) { + case 0: + if (ctx->enc_type != 0 && ctx->head == NULL) { + __Pyx_BufFmt_RaiseExpected(ctx); + return NULL; + } + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + if (ctx->head != NULL) { + __Pyx_BufFmt_RaiseExpected(ctx); + return NULL; + } + return ts; + case ' ': + case '\r': + case '\n': + ++ts; + break; + case '<': + if (!__Pyx_Is_Little_Endian()) { + PyErr_SetString(PyExc_ValueError, "Little-endian buffer not supported on big-endian compiler"); + return NULL; + } + ctx->new_packmode = '='; + ++ts; + break; + case '>': + case '!': + if (__Pyx_Is_Little_Endian()) { + PyErr_SetString(PyExc_ValueError, "Big-endian buffer not supported on little-endian compiler"); + return NULL; + } + ctx->new_packmode = '='; + ++ts; + break; + case '=': + case '@': + case '^': + ctx->new_packmode = *ts++; + break; + case 'T': + { + const char* ts_after_sub; + size_t i, struct_count = ctx->new_count; + size_t struct_alignment = ctx->struct_alignment; + ctx->new_count = 1; + ++ts; + if (*ts != '{') { + PyErr_SetString(PyExc_ValueError, "Buffer acquisition: Expected '{' after 'T'"); + return NULL; + } + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->enc_type = 0; + ctx->enc_count = 0; + ctx->struct_alignment = 0; + ++ts; + ts_after_sub = ts; + for (i = 0; i != struct_count; ++i) { + ts_after_sub = __Pyx_BufFmt_CheckString(ctx, ts); + if (!ts_after_sub) return NULL; + } + ts = ts_after_sub; + if (struct_alignment) ctx->struct_alignment = struct_alignment; + } + break; + case '}': + { + size_t alignment = ctx->struct_alignment; + ++ts; + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->enc_type = 0; + if (alignment && ctx->fmt_offset % alignment) { + ctx->fmt_offset += alignment - (ctx->fmt_offset % alignment); + } + } + return ts; + case 'x': + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->fmt_offset += ctx->new_count; + ctx->new_count = 1; + ctx->enc_count = 0; + ctx->enc_type = 0; + ctx->enc_packmode = ctx->new_packmode; + ++ts; + break; + case 'Z': + got_Z = 1; + ++ts; + if (*ts != 'f' && *ts != 'd' && *ts != 'g') { + __Pyx_BufFmt_RaiseUnexpectedChar('Z'); + return NULL; + } + CYTHON_FALLTHROUGH; + case '?': case 'c': case 'b': case 'B': case 'h': case 'H': case 'i': case 'I': + case 'l': case 'L': case 'q': case 'Q': + case 'f': case 'd': case 'g': + case 'O': case 'p': + if ((ctx->enc_type == *ts) && (got_Z == ctx->is_complex) && + (ctx->enc_packmode == ctx->new_packmode) && (!ctx->is_valid_array)) { + ctx->enc_count += ctx->new_count; + ctx->new_count = 1; + got_Z = 0; + ++ts; + break; + } + CYTHON_FALLTHROUGH; + case 's': + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->enc_count = ctx->new_count; + ctx->enc_packmode = ctx->new_packmode; + ctx->enc_type = *ts; + ctx->is_complex = got_Z; + ++ts; + ctx->new_count = 1; + got_Z = 0; + break; + case ':': + ++ts; + while(*ts != ':') ++ts; + ++ts; + break; + case '(': + if (__pyx_buffmt_parse_array(ctx, &ts) < 0) return NULL; + break; + default: + { + int number = __Pyx_BufFmt_ExpectNumber(&ts); + if (number == -1) return NULL; + ctx->new_count = (size_t)number; + } + } + } +} + +/* BufferGetAndValidate */ + static CYTHON_INLINE void __Pyx_SafeReleaseBuffer(Py_buffer* info) { + if (unlikely(info->buf == NULL)) return; + if (info->suboffsets == __Pyx_minusones) info->suboffsets = NULL; + __Pyx_ReleaseBuffer(info); +} +static void __Pyx_ZeroBuffer(Py_buffer* buf) { + buf->buf = NULL; + buf->obj = NULL; + buf->strides = __Pyx_zeros; + buf->shape = __Pyx_zeros; + buf->suboffsets = __Pyx_minusones; +} +static int __Pyx__GetBufferAndValidate( + Py_buffer* buf, PyObject* obj, __Pyx_TypeInfo* dtype, int flags, + int nd, int cast, __Pyx_BufFmt_StackElem* stack) +{ + buf->buf = NULL; + if (unlikely(__Pyx_GetBuffer(obj, buf, flags) == -1)) { + __Pyx_ZeroBuffer(buf); + return -1; + } + if (unlikely(buf->ndim != nd)) { + PyErr_Format(PyExc_ValueError, + "Buffer has wrong number of dimensions (expected %d, got %d)", + nd, buf->ndim); + goto fail; + } + if (!cast) { + __Pyx_BufFmt_Context ctx; + __Pyx_BufFmt_Init(&ctx, stack, dtype); + if (!__Pyx_BufFmt_CheckString(&ctx, buf->format)) goto fail; + } + if (unlikely((size_t)buf->itemsize != dtype->size)) { + PyErr_Format(PyExc_ValueError, + "Item size of buffer (%" CYTHON_FORMAT_SSIZE_T "d byte%s) does not match size of '%s' (%" CYTHON_FORMAT_SSIZE_T "d byte%s)", + buf->itemsize, (buf->itemsize > 1) ? "s" : "", + dtype->name, (Py_ssize_t)dtype->size, (dtype->size > 1) ? "s" : ""); + goto fail; + } + if (buf->suboffsets == NULL) buf->suboffsets = __Pyx_minusones; + return 0; +fail:; + __Pyx_SafeReleaseBuffer(buf); + return -1; +} + +/* BufferFallbackError */ + static void __Pyx_RaiseBufferFallbackError(void) { + PyErr_SetString(PyExc_ValueError, + "Buffer acquisition failed on assignment; and then reacquiring the old buffer failed too!"); +} + +/* PyObjectCallNoArg */ + static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func) { + PyObject *arg[2] = {NULL, NULL}; + return __Pyx_PyObject_FastCall(func, arg + 1, 0 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET); +} + +/* WriteUnraisableException */ + static void __Pyx_WriteUnraisable(const char *name, int clineno, + int lineno, const char *filename, + int full_traceback, int nogil) { + PyObject *old_exc, *old_val, *old_tb; + PyObject *ctx; + __Pyx_PyThreadState_declare +#ifdef WITH_THREAD + PyGILState_STATE state; + if (nogil) + state = PyGILState_Ensure(); + else state = (PyGILState_STATE)0; +#endif + CYTHON_UNUSED_VAR(clineno); + CYTHON_UNUSED_VAR(lineno); + CYTHON_UNUSED_VAR(filename); + CYTHON_MAYBE_UNUSED_VAR(nogil); + __Pyx_PyThreadState_assign + __Pyx_ErrFetch(&old_exc, &old_val, &old_tb); + if (full_traceback) { + Py_XINCREF(old_exc); + Py_XINCREF(old_val); + Py_XINCREF(old_tb); + __Pyx_ErrRestore(old_exc, old_val, old_tb); + PyErr_PrintEx(1); + } + #if PY_MAJOR_VERSION < 3 + ctx = PyString_FromString(name); + #else + ctx = PyUnicode_FromString(name); + #endif + __Pyx_ErrRestore(old_exc, old_val, old_tb); + if (!ctx) { + PyErr_WriteUnraisable(Py_None); + } else { + PyErr_WriteUnraisable(ctx); + Py_DECREF(ctx); + } +#ifdef WITH_THREAD + if (nogil) + PyGILState_Release(state); +#endif +} + +/* PyObject_GenericGetAttrNoDict */ + #if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject *__Pyx_RaiseGenericGetAttributeError(PyTypeObject *tp, PyObject *attr_name) { + __Pyx_TypeName type_name = __Pyx_PyType_GetName(tp); + PyErr_Format(PyExc_AttributeError, +#if PY_MAJOR_VERSION >= 3 + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%U'", + type_name, attr_name); +#else + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%.400s'", + type_name, PyString_AS_STRING(attr_name)); +#endif + __Pyx_DECREF_TypeName(type_name); + return NULL; +} +static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name) { + PyObject *descr; + PyTypeObject *tp = Py_TYPE(obj); + if (unlikely(!PyString_Check(attr_name))) { + return PyObject_GenericGetAttr(obj, attr_name); + } + assert(!tp->tp_dictoffset); + descr = _PyType_Lookup(tp, attr_name); + if (unlikely(!descr)) { + return __Pyx_RaiseGenericGetAttributeError(tp, attr_name); + } + Py_INCREF(descr); + #if PY_MAJOR_VERSION < 3 + if (likely(PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_HAVE_CLASS))) + #endif + { + descrgetfunc f = Py_TYPE(descr)->tp_descr_get; + if (unlikely(f)) { + PyObject *res = f(descr, obj, (PyObject *)tp); + Py_DECREF(descr); + return res; + } + } + return descr; +} +#endif + +/* PyObject_GenericGetAttr */ + #if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name) { + if (unlikely(Py_TYPE(obj)->tp_dictoffset)) { + return PyObject_GenericGetAttr(obj, attr_name); + } + return __Pyx_PyObject_GenericGetAttrNoDict(obj, attr_name); +} +#endif + +/* FixUpExtensionType */ + #if CYTHON_USE_TYPE_SPECS +static int __Pyx_fix_up_extension_type_from_spec(PyType_Spec *spec, PyTypeObject *type) { +#if PY_VERSION_HEX > 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + CYTHON_UNUSED_VAR(spec); + CYTHON_UNUSED_VAR(type); +#else + const PyType_Slot *slot = spec->slots; + while (slot && slot->slot && slot->slot != Py_tp_members) + slot++; + if (slot && slot->slot == Py_tp_members) { + int changed = 0; +#if !(PY_VERSION_HEX <= 0x030900b1 && CYTHON_COMPILING_IN_CPYTHON) + const +#endif + PyMemberDef *memb = (PyMemberDef*) slot->pfunc; + while (memb && memb->name) { + if (memb->name[0] == '_' && memb->name[1] == '_') { +#if PY_VERSION_HEX < 0x030900b1 + if (strcmp(memb->name, "__weaklistoffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); + type->tp_weaklistoffset = memb->offset; + changed = 1; + } + else if (strcmp(memb->name, "__dictoffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); + type->tp_dictoffset = memb->offset; + changed = 1; + } +#if CYTHON_METH_FASTCALL + else if (strcmp(memb->name, "__vectorcalloffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); +#if PY_VERSION_HEX >= 0x030800b4 + type->tp_vectorcall_offset = memb->offset; +#else + type->tp_print = (printfunc) memb->offset; +#endif + changed = 1; + } +#endif +#else + if ((0)); +#endif +#if PY_VERSION_HEX <= 0x030900b1 && CYTHON_COMPILING_IN_CPYTHON + else if (strcmp(memb->name, "__module__") == 0) { + PyObject *descr; + assert(memb->type == T_OBJECT); + assert(memb->flags == 0 || memb->flags == READONLY); + descr = PyDescr_NewMember(type, memb); + if (unlikely(!descr)) + return -1; + if (unlikely(PyDict_SetItem(type->tp_dict, PyDescr_NAME(descr), descr) < 0)) { + Py_DECREF(descr); + return -1; + } + Py_DECREF(descr); + changed = 1; + } +#endif + } + memb++; + } + if (changed) + PyType_Modified(type); + } +#endif + return 0; +} +#endif + +/* PyObjectCallMethod0 */ + static PyObject* __Pyx_PyObject_CallMethod0(PyObject* obj, PyObject* method_name) { + PyObject *method = NULL, *result = NULL; + int is_method = __Pyx_PyObject_GetMethod(obj, method_name, &method); + if (likely(is_method)) { + result = __Pyx_PyObject_CallOneArg(method, obj); + Py_DECREF(method); + return result; + } + if (unlikely(!method)) goto bad; + result = __Pyx_PyObject_CallNoArg(method); + Py_DECREF(method); +bad: + return result; +} + +/* ValidateBasesTuple */ + #if CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API || CYTHON_USE_TYPE_SPECS +static int __Pyx_validate_bases_tuple(const char *type_name, Py_ssize_t dictoffset, PyObject *bases) { + Py_ssize_t i, n; +#if CYTHON_ASSUME_SAFE_MACROS + n = PyTuple_GET_SIZE(bases); +#else + n = PyTuple_Size(bases); + if (n < 0) return -1; +#endif + for (i = 1; i < n; i++) + { +#if CYTHON_AVOID_BORROWED_REFS + PyObject *b0 = PySequence_GetItem(bases, i); + if (!b0) return -1; +#elif CYTHON_ASSUME_SAFE_MACROS + PyObject *b0 = PyTuple_GET_ITEM(bases, i); +#else + PyObject *b0 = PyTuple_GetItem(bases, i); + if (!b0) return -1; +#endif + PyTypeObject *b; +#if PY_MAJOR_VERSION < 3 + if (PyClass_Check(b0)) + { + PyErr_Format(PyExc_TypeError, "base class '%.200s' is an old-style class", + PyString_AS_STRING(((PyClassObject*)b0)->cl_name)); +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } +#endif + b = (PyTypeObject*) b0; + if (!__Pyx_PyType_HasFeature(b, Py_TPFLAGS_HEAPTYPE)) + { + __Pyx_TypeName b_name = __Pyx_PyType_GetName(b); + PyErr_Format(PyExc_TypeError, + "base class '" __Pyx_FMT_TYPENAME "' is not a heap type", b_name); + __Pyx_DECREF_TypeName(b_name); +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } + if (dictoffset == 0) + { + Py_ssize_t b_dictoffset = 0; +#if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + b_dictoffset = b->tp_dictoffset; +#else + PyObject *py_b_dictoffset = PyObject_GetAttrString((PyObject*)b, "__dictoffset__"); + if (!py_b_dictoffset) goto dictoffset_return; + b_dictoffset = PyLong_AsSsize_t(py_b_dictoffset); + Py_DECREF(py_b_dictoffset); + if (b_dictoffset == -1 && PyErr_Occurred()) goto dictoffset_return; +#endif + if (b_dictoffset) { + { + __Pyx_TypeName b_name = __Pyx_PyType_GetName(b); + PyErr_Format(PyExc_TypeError, + "extension type '%.200s' has no __dict__ slot, " + "but base type '" __Pyx_FMT_TYPENAME "' has: " + "either add 'cdef dict __dict__' to the extension type " + "or add '__slots__ = [...]' to the base type", + type_name, b_name); + __Pyx_DECREF_TypeName(b_name); + } +#if !(CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY) + dictoffset_return: +#endif +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } + } +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + } + return 0; +} +#endif + +/* PyType_Ready */ + static int __Pyx_PyType_Ready(PyTypeObject *t) { +#if CYTHON_USE_TYPE_SPECS || !(CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API) || defined(PYSTON_MAJOR_VERSION) + (void)__Pyx_PyObject_CallMethod0; +#if CYTHON_USE_TYPE_SPECS + (void)__Pyx_validate_bases_tuple; +#endif + return PyType_Ready(t); +#else + int r; + PyObject *bases = __Pyx_PyType_GetSlot(t, tp_bases, PyObject*); + if (bases && unlikely(__Pyx_validate_bases_tuple(t->tp_name, t->tp_dictoffset, bases) == -1)) + return -1; +#if PY_VERSION_HEX >= 0x03050000 && !defined(PYSTON_MAJOR_VERSION) + { + int gc_was_enabled; + #if PY_VERSION_HEX >= 0x030A00b1 + gc_was_enabled = PyGC_Disable(); + (void)__Pyx_PyObject_CallMethod0; + #else + PyObject *ret, *py_status; + PyObject *gc = NULL; + #if PY_VERSION_HEX >= 0x030700a1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM+0 >= 0x07030400) + gc = PyImport_GetModule(__pyx_kp_u_gc); + #endif + if (unlikely(!gc)) gc = PyImport_Import(__pyx_kp_u_gc); + if (unlikely(!gc)) return -1; + py_status = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_isenabled); + if (unlikely(!py_status)) { + Py_DECREF(gc); + return -1; + } + gc_was_enabled = __Pyx_PyObject_IsTrue(py_status); + Py_DECREF(py_status); + if (gc_was_enabled > 0) { + ret = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_disable); + if (unlikely(!ret)) { + Py_DECREF(gc); + return -1; + } + Py_DECREF(ret); + } else if (unlikely(gc_was_enabled == -1)) { + Py_DECREF(gc); + return -1; + } + #endif + t->tp_flags |= Py_TPFLAGS_HEAPTYPE; +#if PY_VERSION_HEX >= 0x030A0000 + t->tp_flags |= Py_TPFLAGS_IMMUTABLETYPE; +#endif +#else + (void)__Pyx_PyObject_CallMethod0; +#endif + r = PyType_Ready(t); +#if PY_VERSION_HEX >= 0x03050000 && !defined(PYSTON_MAJOR_VERSION) + t->tp_flags &= ~Py_TPFLAGS_HEAPTYPE; + #if PY_VERSION_HEX >= 0x030A00b1 + if (gc_was_enabled) + PyGC_Enable(); + #else + if (gc_was_enabled) { + PyObject *tp, *v, *tb; + PyErr_Fetch(&tp, &v, &tb); + ret = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_enable); + if (likely(ret || r == -1)) { + Py_XDECREF(ret); + PyErr_Restore(tp, v, tb); + } else { + Py_XDECREF(tp); + Py_XDECREF(v); + Py_XDECREF(tb); + r = -1; + } + } + Py_DECREF(gc); + #endif + } +#endif + return r; +#endif +} + +/* SetupReduce */ + #if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_setup_reduce_is_named(PyObject* meth, PyObject* name) { + int ret; + PyObject *name_attr; + name_attr = __Pyx_PyObject_GetAttrStrNoError(meth, __pyx_n_s_name_2); + if (likely(name_attr)) { + ret = PyObject_RichCompareBool(name_attr, name, Py_EQ); + } else { + ret = -1; + } + if (unlikely(ret < 0)) { + PyErr_Clear(); + ret = 0; + } + Py_XDECREF(name_attr); + return ret; +} +static int __Pyx_setup_reduce(PyObject* type_obj) { + int ret = 0; + PyObject *object_reduce = NULL; + PyObject *object_getstate = NULL; + PyObject *object_reduce_ex = NULL; + PyObject *reduce = NULL; + PyObject *reduce_ex = NULL; + PyObject *reduce_cython = NULL; + PyObject *setstate = NULL; + PyObject *setstate_cython = NULL; + PyObject *getstate = NULL; +#if CYTHON_USE_PYTYPE_LOOKUP + getstate = _PyType_Lookup((PyTypeObject*)type_obj, __pyx_n_s_getstate); +#else + getstate = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_getstate); + if (!getstate && PyErr_Occurred()) { + goto __PYX_BAD; + } +#endif + if (getstate) { +#if CYTHON_USE_PYTYPE_LOOKUP + object_getstate = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_getstate); +#else + object_getstate = __Pyx_PyObject_GetAttrStrNoError((PyObject*)&PyBaseObject_Type, __pyx_n_s_getstate); + if (!object_getstate && PyErr_Occurred()) { + goto __PYX_BAD; + } +#endif + if (object_getstate != getstate) { + goto __PYX_GOOD; + } + } +#if CYTHON_USE_PYTYPE_LOOKUP + object_reduce_ex = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; +#else + object_reduce_ex = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; +#endif + reduce_ex = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce_ex); if (unlikely(!reduce_ex)) goto __PYX_BAD; + if (reduce_ex == object_reduce_ex) { +#if CYTHON_USE_PYTYPE_LOOKUP + object_reduce = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; +#else + object_reduce = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; +#endif + reduce = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce); if (unlikely(!reduce)) goto __PYX_BAD; + if (reduce == object_reduce || __Pyx_setup_reduce_is_named(reduce, __pyx_n_s_reduce_cython)) { + reduce_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_reduce_cython); + if (likely(reduce_cython)) { + ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce, reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + } else if (reduce == object_reduce || PyErr_Occurred()) { + goto __PYX_BAD; + } + setstate = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_setstate); + if (!setstate) PyErr_Clear(); + if (!setstate || __Pyx_setup_reduce_is_named(setstate, __pyx_n_s_setstate_cython)) { + setstate_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_setstate_cython); + if (likely(setstate_cython)) { + ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate, setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + } else if (!setstate || PyErr_Occurred()) { + goto __PYX_BAD; + } + } + PyType_Modified((PyTypeObject*)type_obj); + } + } + goto __PYX_GOOD; +__PYX_BAD: + if (!PyErr_Occurred()) { + __Pyx_TypeName type_obj_name = + __Pyx_PyType_GetName((PyTypeObject*)type_obj); + PyErr_Format(PyExc_RuntimeError, + "Unable to initialize pickling for " __Pyx_FMT_TYPENAME, type_obj_name); + __Pyx_DECREF_TypeName(type_obj_name); + } + ret = -1; +__PYX_GOOD: +#if !CYTHON_USE_PYTYPE_LOOKUP + Py_XDECREF(object_reduce); + Py_XDECREF(object_reduce_ex); + Py_XDECREF(object_getstate); + Py_XDECREF(getstate); +#endif + Py_XDECREF(reduce); + Py_XDECREF(reduce_ex); + Py_XDECREF(reduce_cython); + Py_XDECREF(setstate); + Py_XDECREF(setstate_cython); + return ret; +} +#endif + +/* SetVTable */ + static int __Pyx_SetVtable(PyTypeObject *type, void *vtable) { + PyObject *ob = PyCapsule_New(vtable, 0, 0); + if (unlikely(!ob)) + goto bad; +#if CYTHON_COMPILING_IN_LIMITED_API + if (unlikely(PyObject_SetAttr((PyObject *) type, __pyx_n_s_pyx_vtable, ob) < 0)) +#else + if (unlikely(PyDict_SetItem(type->tp_dict, __pyx_n_s_pyx_vtable, ob) < 0)) +#endif + goto bad; + Py_DECREF(ob); + return 0; +bad: + Py_XDECREF(ob); + return -1; +} + +/* GetVTable */ + static void* __Pyx_GetVtable(PyTypeObject *type) { + void* ptr; +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *ob = PyObject_GetAttr((PyObject *)type, __pyx_n_s_pyx_vtable); +#else + PyObject *ob = PyObject_GetItem(type->tp_dict, __pyx_n_s_pyx_vtable); +#endif + if (!ob) + goto bad; + ptr = PyCapsule_GetPointer(ob, 0); + if (!ptr && !PyErr_Occurred()) + PyErr_SetString(PyExc_RuntimeError, "invalid vtable found for imported type"); + Py_DECREF(ob); + return ptr; +bad: + Py_XDECREF(ob); + return NULL; +} + +/* MergeVTables */ + #if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_MergeVtables(PyTypeObject *type) { + int i; + void** base_vtables; + __Pyx_TypeName tp_base_name; + __Pyx_TypeName base_name; + void* unknown = (void*)-1; + PyObject* bases = type->tp_bases; + int base_depth = 0; + { + PyTypeObject* base = type->tp_base; + while (base) { + base_depth += 1; + base = base->tp_base; + } + } + base_vtables = (void**) malloc(sizeof(void*) * (size_t)(base_depth + 1)); + base_vtables[0] = unknown; + for (i = 1; i < PyTuple_GET_SIZE(bases); i++) { + void* base_vtable = __Pyx_GetVtable(((PyTypeObject*)PyTuple_GET_ITEM(bases, i))); + if (base_vtable != NULL) { + int j; + PyTypeObject* base = type->tp_base; + for (j = 0; j < base_depth; j++) { + if (base_vtables[j] == unknown) { + base_vtables[j] = __Pyx_GetVtable(base); + base_vtables[j + 1] = unknown; + } + if (base_vtables[j] == base_vtable) { + break; + } else if (base_vtables[j] == NULL) { + goto bad; + } + base = base->tp_base; + } + } + } + PyErr_Clear(); + free(base_vtables); + return 0; +bad: + tp_base_name = __Pyx_PyType_GetName(type->tp_base); + base_name = __Pyx_PyType_GetName((PyTypeObject*)PyTuple_GET_ITEM(bases, i)); + PyErr_Format(PyExc_TypeError, + "multiple bases have vtable conflict: '" __Pyx_FMT_TYPENAME "' and '" __Pyx_FMT_TYPENAME "'", tp_base_name, base_name); + __Pyx_DECREF_TypeName(tp_base_name); + __Pyx_DECREF_TypeName(base_name); + free(base_vtables); + return -1; +} +#endif + +/* TypeImport */ + #ifndef __PYX_HAVE_RT_ImportType_3_0_8 +#define __PYX_HAVE_RT_ImportType_3_0_8 +static PyTypeObject *__Pyx_ImportType_3_0_8(PyObject *module, const char *module_name, const char *class_name, + size_t size, size_t alignment, enum __Pyx_ImportType_CheckSize_3_0_8 check_size) +{ + PyObject *result = 0; + char warning[200]; + Py_ssize_t basicsize; + Py_ssize_t itemsize; +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *py_basicsize; + PyObject *py_itemsize; +#endif + result = PyObject_GetAttrString(module, class_name); + if (!result) + goto bad; + if (!PyType_Check(result)) { + PyErr_Format(PyExc_TypeError, + "%.200s.%.200s is not a type object", + module_name, class_name); + goto bad; + } +#if !CYTHON_COMPILING_IN_LIMITED_API + basicsize = ((PyTypeObject *)result)->tp_basicsize; + itemsize = ((PyTypeObject *)result)->tp_itemsize; +#else + py_basicsize = PyObject_GetAttrString(result, "__basicsize__"); + if (!py_basicsize) + goto bad; + basicsize = PyLong_AsSsize_t(py_basicsize); + Py_DECREF(py_basicsize); + py_basicsize = 0; + if (basicsize == (Py_ssize_t)-1 && PyErr_Occurred()) + goto bad; + py_itemsize = PyObject_GetAttrString(result, "__itemsize__"); + if (!py_itemsize) + goto bad; + itemsize = PyLong_AsSsize_t(py_itemsize); + Py_DECREF(py_itemsize); + py_itemsize = 0; + if (itemsize == (Py_ssize_t)-1 && PyErr_Occurred()) + goto bad; +#endif + if (itemsize) { + if (size % alignment) { + alignment = size % alignment; + } + if (itemsize < (Py_ssize_t)alignment) + itemsize = (Py_ssize_t)alignment; + } + if ((size_t)(basicsize + itemsize) < size) { + PyErr_Format(PyExc_ValueError, + "%.200s.%.200s size changed, may indicate binary incompatibility. " + "Expected %zd from C header, got %zd from PyObject", + module_name, class_name, size, basicsize+itemsize); + goto bad; + } + if (check_size == __Pyx_ImportType_CheckSize_Error_3_0_8 && + ((size_t)basicsize > size || (size_t)(basicsize + itemsize) < size)) { + PyErr_Format(PyExc_ValueError, + "%.200s.%.200s size changed, may indicate binary incompatibility. " + "Expected %zd from C header, got %zd-%zd from PyObject", + module_name, class_name, size, basicsize, basicsize+itemsize); + goto bad; + } + else if (check_size == __Pyx_ImportType_CheckSize_Warn_3_0_8 && (size_t)basicsize > size) { + PyOS_snprintf(warning, sizeof(warning), + "%s.%s size changed, may indicate binary incompatibility. " + "Expected %zd from C header, got %zd from PyObject", + module_name, class_name, size, basicsize); + if (PyErr_WarnEx(NULL, warning, 0) < 0) goto bad; + } + return (PyTypeObject *)result; +bad: + Py_XDECREF(result); + return NULL; +} +#endif + +/* FetchSharedCythonModule */ + static PyObject *__Pyx_FetchSharedCythonABIModule(void) { + return __Pyx_PyImport_AddModuleRef((char*) __PYX_ABI_MODULE_NAME); +} + +/* FetchCommonType */ + static int __Pyx_VerifyCachedType(PyObject *cached_type, + const char *name, + Py_ssize_t basicsize, + Py_ssize_t expected_basicsize) { + if (!PyType_Check(cached_type)) { + PyErr_Format(PyExc_TypeError, + "Shared Cython type %.200s is not a type object", name); + return -1; + } + if (basicsize != expected_basicsize) { + PyErr_Format(PyExc_TypeError, + "Shared Cython type %.200s has the wrong size, try recompiling", + name); + return -1; + } + return 0; +} +#if !CYTHON_USE_TYPE_SPECS +static PyTypeObject* __Pyx_FetchCommonType(PyTypeObject* type) { + PyObject* abi_module; + const char* object_name; + PyTypeObject *cached_type = NULL; + abi_module = __Pyx_FetchSharedCythonABIModule(); + if (!abi_module) return NULL; + object_name = strrchr(type->tp_name, '.'); + object_name = object_name ? object_name+1 : type->tp_name; + cached_type = (PyTypeObject*) PyObject_GetAttrString(abi_module, object_name); + if (cached_type) { + if (__Pyx_VerifyCachedType( + (PyObject *)cached_type, + object_name, + cached_type->tp_basicsize, + type->tp_basicsize) < 0) { + goto bad; + } + goto done; + } + if (!PyErr_ExceptionMatches(PyExc_AttributeError)) goto bad; + PyErr_Clear(); + if (PyType_Ready(type) < 0) goto bad; + if (PyObject_SetAttrString(abi_module, object_name, (PyObject *)type) < 0) + goto bad; + Py_INCREF(type); + cached_type = type; +done: + Py_DECREF(abi_module); + return cached_type; +bad: + Py_XDECREF(cached_type); + cached_type = NULL; + goto done; +} +#else +static PyTypeObject *__Pyx_FetchCommonTypeFromSpec(PyObject *module, PyType_Spec *spec, PyObject *bases) { + PyObject *abi_module, *cached_type = NULL; + const char* object_name = strrchr(spec->name, '.'); + object_name = object_name ? object_name+1 : spec->name; + abi_module = __Pyx_FetchSharedCythonABIModule(); + if (!abi_module) return NULL; + cached_type = PyObject_GetAttrString(abi_module, object_name); + if (cached_type) { + Py_ssize_t basicsize; +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *py_basicsize; + py_basicsize = PyObject_GetAttrString(cached_type, "__basicsize__"); + if (unlikely(!py_basicsize)) goto bad; + basicsize = PyLong_AsSsize_t(py_basicsize); + Py_DECREF(py_basicsize); + py_basicsize = 0; + if (unlikely(basicsize == (Py_ssize_t)-1) && PyErr_Occurred()) goto bad; +#else + basicsize = likely(PyType_Check(cached_type)) ? ((PyTypeObject*) cached_type)->tp_basicsize : -1; +#endif + if (__Pyx_VerifyCachedType( + cached_type, + object_name, + basicsize, + spec->basicsize) < 0) { + goto bad; + } + goto done; + } + if (!PyErr_ExceptionMatches(PyExc_AttributeError)) goto bad; + PyErr_Clear(); + CYTHON_UNUSED_VAR(module); + cached_type = __Pyx_PyType_FromModuleAndSpec(abi_module, spec, bases); + if (unlikely(!cached_type)) goto bad; + if (unlikely(__Pyx_fix_up_extension_type_from_spec(spec, (PyTypeObject *) cached_type) < 0)) goto bad; + if (PyObject_SetAttrString(abi_module, object_name, cached_type) < 0) goto bad; +done: + Py_DECREF(abi_module); + assert(cached_type == NULL || PyType_Check(cached_type)); + return (PyTypeObject *) cached_type; +bad: + Py_XDECREF(cached_type); + cached_type = NULL; + goto done; +} +#endif + +/* PyVectorcallFastCallDict */ + #if CYTHON_METH_FASTCALL +static PyObject *__Pyx_PyVectorcall_FastCallDict_kw(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw) +{ + PyObject *res = NULL; + PyObject *kwnames; + PyObject **newargs; + PyObject **kwvalues; + Py_ssize_t i, pos; + size_t j; + PyObject *key, *value; + unsigned long keys_are_strings; + Py_ssize_t nkw = PyDict_GET_SIZE(kw); + newargs = (PyObject **)PyMem_Malloc((nargs + (size_t)nkw) * sizeof(args[0])); + if (unlikely(newargs == NULL)) { + PyErr_NoMemory(); + return NULL; + } + for (j = 0; j < nargs; j++) newargs[j] = args[j]; + kwnames = PyTuple_New(nkw); + if (unlikely(kwnames == NULL)) { + PyMem_Free(newargs); + return NULL; + } + kwvalues = newargs + nargs; + pos = i = 0; + keys_are_strings = Py_TPFLAGS_UNICODE_SUBCLASS; + while (PyDict_Next(kw, &pos, &key, &value)) { + keys_are_strings &= Py_TYPE(key)->tp_flags; + Py_INCREF(key); + Py_INCREF(value); + PyTuple_SET_ITEM(kwnames, i, key); + kwvalues[i] = value; + i++; + } + if (unlikely(!keys_are_strings)) { + PyErr_SetString(PyExc_TypeError, "keywords must be strings"); + goto cleanup; + } + res = vc(func, newargs, nargs, kwnames); +cleanup: + Py_DECREF(kwnames); + for (i = 0; i < nkw; i++) + Py_DECREF(kwvalues[i]); + PyMem_Free(newargs); + return res; +} +static CYTHON_INLINE PyObject *__Pyx_PyVectorcall_FastCallDict(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw) +{ + if (likely(kw == NULL) || PyDict_GET_SIZE(kw) == 0) { + return vc(func, args, nargs, NULL); + } + return __Pyx_PyVectorcall_FastCallDict_kw(func, vc, args, nargs, kw); +} +#endif + +/* CythonFunctionShared */ + #if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc) { + if (__Pyx_CyFunction_Check(func)) { + return PyCFunction_GetFunction(((__pyx_CyFunctionObject*)func)->func) == (PyCFunction) cfunc; + } else if (PyCFunction_Check(func)) { + return PyCFunction_GetFunction(func) == (PyCFunction) cfunc; + } + return 0; +} +#else +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc) { + return __Pyx_CyOrPyCFunction_Check(func) && __Pyx_CyOrPyCFunction_GET_FUNCTION(func) == (PyCFunction) cfunc; +} +#endif +static CYTHON_INLINE void __Pyx__CyFunction_SetClassObj(__pyx_CyFunctionObject* f, PyObject* classobj) { +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + __Pyx_Py_XDECREF_SET( + __Pyx_CyFunction_GetClassObj(f), + ((classobj) ? __Pyx_NewRef(classobj) : NULL)); +#else + __Pyx_Py_XDECREF_SET( + ((PyCMethodObject *) (f))->mm_class, + (PyTypeObject*)((classobj) ? __Pyx_NewRef(classobj) : NULL)); +#endif +} +static PyObject * +__Pyx_CyFunction_get_doc(__pyx_CyFunctionObject *op, void *closure) +{ + CYTHON_UNUSED_VAR(closure); + if (unlikely(op->func_doc == NULL)) { +#if CYTHON_COMPILING_IN_LIMITED_API + op->func_doc = PyObject_GetAttrString(op->func, "__doc__"); + if (unlikely(!op->func_doc)) return NULL; +#else + if (((PyCFunctionObject*)op)->m_ml->ml_doc) { +#if PY_MAJOR_VERSION >= 3 + op->func_doc = PyUnicode_FromString(((PyCFunctionObject*)op)->m_ml->ml_doc); +#else + op->func_doc = PyString_FromString(((PyCFunctionObject*)op)->m_ml->ml_doc); +#endif + if (unlikely(op->func_doc == NULL)) + return NULL; + } else { + Py_INCREF(Py_None); + return Py_None; + } +#endif + } + Py_INCREF(op->func_doc); + return op->func_doc; +} +static int +__Pyx_CyFunction_set_doc(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (value == NULL) { + value = Py_None; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_doc, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_name(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(op->func_name == NULL)) { +#if CYTHON_COMPILING_IN_LIMITED_API + op->func_name = PyObject_GetAttrString(op->func, "__name__"); +#elif PY_MAJOR_VERSION >= 3 + op->func_name = PyUnicode_InternFromString(((PyCFunctionObject*)op)->m_ml->ml_name); +#else + op->func_name = PyString_InternFromString(((PyCFunctionObject*)op)->m_ml->ml_name); +#endif + if (unlikely(op->func_name == NULL)) + return NULL; + } + Py_INCREF(op->func_name); + return op->func_name; +} +static int +__Pyx_CyFunction_set_name(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); +#if PY_MAJOR_VERSION >= 3 + if (unlikely(value == NULL || !PyUnicode_Check(value))) +#else + if (unlikely(value == NULL || !PyString_Check(value))) +#endif + { + PyErr_SetString(PyExc_TypeError, + "__name__ must be set to a string object"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_name, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_qualname(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + Py_INCREF(op->func_qualname); + return op->func_qualname; +} +static int +__Pyx_CyFunction_set_qualname(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); +#if PY_MAJOR_VERSION >= 3 + if (unlikely(value == NULL || !PyUnicode_Check(value))) +#else + if (unlikely(value == NULL || !PyString_Check(value))) +#endif + { + PyErr_SetString(PyExc_TypeError, + "__qualname__ must be set to a string object"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_qualname, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_dict(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(op->func_dict == NULL)) { + op->func_dict = PyDict_New(); + if (unlikely(op->func_dict == NULL)) + return NULL; + } + Py_INCREF(op->func_dict); + return op->func_dict; +} +static int +__Pyx_CyFunction_set_dict(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(value == NULL)) { + PyErr_SetString(PyExc_TypeError, + "function's dictionary may not be deleted"); + return -1; + } + if (unlikely(!PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "setting function's dictionary to a non-dict"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_dict, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_globals(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + Py_INCREF(op->func_globals); + return op->func_globals; +} +static PyObject * +__Pyx_CyFunction_get_closure(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(op); + CYTHON_UNUSED_VAR(context); + Py_INCREF(Py_None); + return Py_None; +} +static PyObject * +__Pyx_CyFunction_get_code(__pyx_CyFunctionObject *op, void *context) +{ + PyObject* result = (op->func_code) ? op->func_code : Py_None; + CYTHON_UNUSED_VAR(context); + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_init_defaults(__pyx_CyFunctionObject *op) { + int result = 0; + PyObject *res = op->defaults_getter((PyObject *) op); + if (unlikely(!res)) + return -1; + #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + op->defaults_tuple = PyTuple_GET_ITEM(res, 0); + Py_INCREF(op->defaults_tuple); + op->defaults_kwdict = PyTuple_GET_ITEM(res, 1); + Py_INCREF(op->defaults_kwdict); + #else + op->defaults_tuple = __Pyx_PySequence_ITEM(res, 0); + if (unlikely(!op->defaults_tuple)) result = -1; + else { + op->defaults_kwdict = __Pyx_PySequence_ITEM(res, 1); + if (unlikely(!op->defaults_kwdict)) result = -1; + } + #endif + Py_DECREF(res); + return result; +} +static int +__Pyx_CyFunction_set_defaults(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value) { + value = Py_None; + } else if (unlikely(value != Py_None && !PyTuple_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__defaults__ must be set to a tuple object"); + return -1; + } + PyErr_WarnEx(PyExc_RuntimeWarning, "changes to cyfunction.__defaults__ will not " + "currently affect the values used in function calls", 1); + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->defaults_tuple, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_defaults(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->defaults_tuple; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + if (op->defaults_getter) { + if (unlikely(__Pyx_CyFunction_init_defaults(op) < 0)) return NULL; + result = op->defaults_tuple; + } else { + result = Py_None; + } + } + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_set_kwdefaults(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value) { + value = Py_None; + } else if (unlikely(value != Py_None && !PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__kwdefaults__ must be set to a dict object"); + return -1; + } + PyErr_WarnEx(PyExc_RuntimeWarning, "changes to cyfunction.__kwdefaults__ will not " + "currently affect the values used in function calls", 1); + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->defaults_kwdict, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_kwdefaults(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->defaults_kwdict; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + if (op->defaults_getter) { + if (unlikely(__Pyx_CyFunction_init_defaults(op) < 0)) return NULL; + result = op->defaults_kwdict; + } else { + result = Py_None; + } + } + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_set_annotations(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value || value == Py_None) { + value = NULL; + } else if (unlikely(!PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__annotations__ must be set to a dict object"); + return -1; + } + Py_XINCREF(value); + __Pyx_Py_XDECREF_SET(op->func_annotations, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_annotations(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->func_annotations; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + result = PyDict_New(); + if (unlikely(!result)) return NULL; + op->func_annotations = result; + } + Py_INCREF(result); + return result; +} +static PyObject * +__Pyx_CyFunction_get_is_coroutine(__pyx_CyFunctionObject *op, void *context) { + int is_coroutine; + CYTHON_UNUSED_VAR(context); + if (op->func_is_coroutine) { + return __Pyx_NewRef(op->func_is_coroutine); + } + is_coroutine = op->flags & __Pyx_CYFUNCTION_COROUTINE; +#if PY_VERSION_HEX >= 0x03050000 + if (is_coroutine) { + PyObject *module, *fromlist, *marker = __pyx_n_s_is_coroutine; + fromlist = PyList_New(1); + if (unlikely(!fromlist)) return NULL; + Py_INCREF(marker); +#if CYTHON_ASSUME_SAFE_MACROS + PyList_SET_ITEM(fromlist, 0, marker); +#else + if (unlikely(PyList_SetItem(fromlist, 0, marker) < 0)) { + Py_DECREF(marker); + Py_DECREF(fromlist); + return NULL; + } +#endif + module = PyImport_ImportModuleLevelObject(__pyx_n_s_asyncio_coroutines, NULL, NULL, fromlist, 0); + Py_DECREF(fromlist); + if (unlikely(!module)) goto ignore; + op->func_is_coroutine = __Pyx_PyObject_GetAttrStr(module, marker); + Py_DECREF(module); + if (likely(op->func_is_coroutine)) { + return __Pyx_NewRef(op->func_is_coroutine); + } +ignore: + PyErr_Clear(); + } +#endif + op->func_is_coroutine = __Pyx_PyBool_FromLong(is_coroutine); + return __Pyx_NewRef(op->func_is_coroutine); +} +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject * +__Pyx_CyFunction_get_module(__pyx_CyFunctionObject *op, void *context) { + CYTHON_UNUSED_VAR(context); + return PyObject_GetAttrString(op->func, "__module__"); +} +static int +__Pyx_CyFunction_set_module(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + return PyObject_SetAttrString(op->func, "__module__", value); +} +#endif +static PyGetSetDef __pyx_CyFunction_getsets[] = { + {(char *) "func_doc", (getter)__Pyx_CyFunction_get_doc, (setter)__Pyx_CyFunction_set_doc, 0, 0}, + {(char *) "__doc__", (getter)__Pyx_CyFunction_get_doc, (setter)__Pyx_CyFunction_set_doc, 0, 0}, + {(char *) "func_name", (getter)__Pyx_CyFunction_get_name, (setter)__Pyx_CyFunction_set_name, 0, 0}, + {(char *) "__name__", (getter)__Pyx_CyFunction_get_name, (setter)__Pyx_CyFunction_set_name, 0, 0}, + {(char *) "__qualname__", (getter)__Pyx_CyFunction_get_qualname, (setter)__Pyx_CyFunction_set_qualname, 0, 0}, + {(char *) "func_dict", (getter)__Pyx_CyFunction_get_dict, (setter)__Pyx_CyFunction_set_dict, 0, 0}, + {(char *) "__dict__", (getter)__Pyx_CyFunction_get_dict, (setter)__Pyx_CyFunction_set_dict, 0, 0}, + {(char *) "func_globals", (getter)__Pyx_CyFunction_get_globals, 0, 0, 0}, + {(char *) "__globals__", (getter)__Pyx_CyFunction_get_globals, 0, 0, 0}, + {(char *) "func_closure", (getter)__Pyx_CyFunction_get_closure, 0, 0, 0}, + {(char *) "__closure__", (getter)__Pyx_CyFunction_get_closure, 0, 0, 0}, + {(char *) "func_code", (getter)__Pyx_CyFunction_get_code, 0, 0, 0}, + {(char *) "__code__", (getter)__Pyx_CyFunction_get_code, 0, 0, 0}, + {(char *) "func_defaults", (getter)__Pyx_CyFunction_get_defaults, (setter)__Pyx_CyFunction_set_defaults, 0, 0}, + {(char *) "__defaults__", (getter)__Pyx_CyFunction_get_defaults, (setter)__Pyx_CyFunction_set_defaults, 0, 0}, + {(char *) "__kwdefaults__", (getter)__Pyx_CyFunction_get_kwdefaults, (setter)__Pyx_CyFunction_set_kwdefaults, 0, 0}, + {(char *) "__annotations__", (getter)__Pyx_CyFunction_get_annotations, (setter)__Pyx_CyFunction_set_annotations, 0, 0}, + {(char *) "_is_coroutine", (getter)__Pyx_CyFunction_get_is_coroutine, 0, 0, 0}, +#if CYTHON_COMPILING_IN_LIMITED_API + {"__module__", (getter)__Pyx_CyFunction_get_module, (setter)__Pyx_CyFunction_set_module, 0, 0}, +#endif + {0, 0, 0, 0, 0} +}; +static PyMemberDef __pyx_CyFunction_members[] = { +#if !CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__module__", T_OBJECT, offsetof(PyCFunctionObject, m_module), 0, 0}, +#endif +#if CYTHON_USE_TYPE_SPECS + {(char *) "__dictoffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_dict), READONLY, 0}, +#if CYTHON_METH_FASTCALL +#if CYTHON_BACKPORT_VECTORCALL + {(char *) "__vectorcalloffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_vectorcall), READONLY, 0}, +#else +#if !CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__vectorcalloffset__", T_PYSSIZET, offsetof(PyCFunctionObject, vectorcall), READONLY, 0}, +#endif +#endif +#endif +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__weaklistoffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_weakreflist), READONLY, 0}, +#else + {(char *) "__weaklistoffset__", T_PYSSIZET, offsetof(PyCFunctionObject, m_weakreflist), READONLY, 0}, +#endif +#endif + {0, 0, 0, 0, 0} +}; +static PyObject * +__Pyx_CyFunction_reduce(__pyx_CyFunctionObject *m, PyObject *args) +{ + CYTHON_UNUSED_VAR(args); +#if PY_MAJOR_VERSION >= 3 + Py_INCREF(m->func_qualname); + return m->func_qualname; +#else + return PyString_FromString(((PyCFunctionObject*)m)->m_ml->ml_name); +#endif +} +static PyMethodDef __pyx_CyFunction_methods[] = { + {"__reduce__", (PyCFunction)__Pyx_CyFunction_reduce, METH_VARARGS, 0}, + {0, 0, 0, 0} +}; +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API +#define __Pyx_CyFunction_weakreflist(cyfunc) ((cyfunc)->func_weakreflist) +#else +#define __Pyx_CyFunction_weakreflist(cyfunc) (((PyCFunctionObject*)cyfunc)->m_weakreflist) +#endif +static PyObject *__Pyx_CyFunction_Init(__pyx_CyFunctionObject *op, PyMethodDef *ml, int flags, PyObject* qualname, + PyObject *closure, PyObject *module, PyObject* globals, PyObject* code) { +#if !CYTHON_COMPILING_IN_LIMITED_API + PyCFunctionObject *cf = (PyCFunctionObject*) op; +#endif + if (unlikely(op == NULL)) + return NULL; +#if CYTHON_COMPILING_IN_LIMITED_API + op->func = PyCFunction_NewEx(ml, (PyObject*)op, module); + if (unlikely(!op->func)) return NULL; +#endif + op->flags = flags; + __Pyx_CyFunction_weakreflist(op) = NULL; +#if !CYTHON_COMPILING_IN_LIMITED_API + cf->m_ml = ml; + cf->m_self = (PyObject *) op; +#endif + Py_XINCREF(closure); + op->func_closure = closure; +#if !CYTHON_COMPILING_IN_LIMITED_API + Py_XINCREF(module); + cf->m_module = module; +#endif + op->func_dict = NULL; + op->func_name = NULL; + Py_INCREF(qualname); + op->func_qualname = qualname; + op->func_doc = NULL; +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + op->func_classobj = NULL; +#else + ((PyCMethodObject*)op)->mm_class = NULL; +#endif + op->func_globals = globals; + Py_INCREF(op->func_globals); + Py_XINCREF(code); + op->func_code = code; + op->defaults_pyobjects = 0; + op->defaults_size = 0; + op->defaults = NULL; + op->defaults_tuple = NULL; + op->defaults_kwdict = NULL; + op->defaults_getter = NULL; + op->func_annotations = NULL; + op->func_is_coroutine = NULL; +#if CYTHON_METH_FASTCALL + switch (ml->ml_flags & (METH_VARARGS | METH_FASTCALL | METH_NOARGS | METH_O | METH_KEYWORDS | METH_METHOD)) { + case METH_NOARGS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_NOARGS; + break; + case METH_O: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_O; + break; + case METH_METHOD | METH_FASTCALL | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD; + break; + case METH_FASTCALL | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS; + break; + case METH_VARARGS | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = NULL; + break; + default: + PyErr_SetString(PyExc_SystemError, "Bad call flags for CyFunction"); + Py_DECREF(op); + return NULL; + } +#endif + return (PyObject *) op; +} +static int +__Pyx_CyFunction_clear(__pyx_CyFunctionObject *m) +{ + Py_CLEAR(m->func_closure); +#if CYTHON_COMPILING_IN_LIMITED_API + Py_CLEAR(m->func); +#else + Py_CLEAR(((PyCFunctionObject*)m)->m_module); +#endif + Py_CLEAR(m->func_dict); + Py_CLEAR(m->func_name); + Py_CLEAR(m->func_qualname); + Py_CLEAR(m->func_doc); + Py_CLEAR(m->func_globals); + Py_CLEAR(m->func_code); +#if !CYTHON_COMPILING_IN_LIMITED_API +#if PY_VERSION_HEX < 0x030900B1 + Py_CLEAR(__Pyx_CyFunction_GetClassObj(m)); +#else + { + PyObject *cls = (PyObject*) ((PyCMethodObject *) (m))->mm_class; + ((PyCMethodObject *) (m))->mm_class = NULL; + Py_XDECREF(cls); + } +#endif +#endif + Py_CLEAR(m->defaults_tuple); + Py_CLEAR(m->defaults_kwdict); + Py_CLEAR(m->func_annotations); + Py_CLEAR(m->func_is_coroutine); + if (m->defaults) { + PyObject **pydefaults = __Pyx_CyFunction_Defaults(PyObject *, m); + int i; + for (i = 0; i < m->defaults_pyobjects; i++) + Py_XDECREF(pydefaults[i]); + PyObject_Free(m->defaults); + m->defaults = NULL; + } + return 0; +} +static void __Pyx__CyFunction_dealloc(__pyx_CyFunctionObject *m) +{ + if (__Pyx_CyFunction_weakreflist(m) != NULL) + PyObject_ClearWeakRefs((PyObject *) m); + __Pyx_CyFunction_clear(m); + __Pyx_PyHeapTypeObject_GC_Del(m); +} +static void __Pyx_CyFunction_dealloc(__pyx_CyFunctionObject *m) +{ + PyObject_GC_UnTrack(m); + __Pyx__CyFunction_dealloc(m); +} +static int __Pyx_CyFunction_traverse(__pyx_CyFunctionObject *m, visitproc visit, void *arg) +{ + Py_VISIT(m->func_closure); +#if CYTHON_COMPILING_IN_LIMITED_API + Py_VISIT(m->func); +#else + Py_VISIT(((PyCFunctionObject*)m)->m_module); +#endif + Py_VISIT(m->func_dict); + Py_VISIT(m->func_name); + Py_VISIT(m->func_qualname); + Py_VISIT(m->func_doc); + Py_VISIT(m->func_globals); + Py_VISIT(m->func_code); +#if !CYTHON_COMPILING_IN_LIMITED_API + Py_VISIT(__Pyx_CyFunction_GetClassObj(m)); +#endif + Py_VISIT(m->defaults_tuple); + Py_VISIT(m->defaults_kwdict); + Py_VISIT(m->func_is_coroutine); + if (m->defaults) { + PyObject **pydefaults = __Pyx_CyFunction_Defaults(PyObject *, m); + int i; + for (i = 0; i < m->defaults_pyobjects; i++) + Py_VISIT(pydefaults[i]); + } + return 0; +} +static PyObject* +__Pyx_CyFunction_repr(__pyx_CyFunctionObject *op) +{ +#if PY_MAJOR_VERSION >= 3 + return PyUnicode_FromFormat("", + op->func_qualname, (void *)op); +#else + return PyString_FromFormat("", + PyString_AsString(op->func_qualname), (void *)op); +#endif +} +static PyObject * __Pyx_CyFunction_CallMethod(PyObject *func, PyObject *self, PyObject *arg, PyObject *kw) { +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *f = ((__pyx_CyFunctionObject*)func)->func; + PyObject *py_name = NULL; + PyCFunction meth; + int flags; + meth = PyCFunction_GetFunction(f); + if (unlikely(!meth)) return NULL; + flags = PyCFunction_GetFlags(f); + if (unlikely(flags < 0)) return NULL; +#else + PyCFunctionObject* f = (PyCFunctionObject*)func; + PyCFunction meth = f->m_ml->ml_meth; + int flags = f->m_ml->ml_flags; +#endif + Py_ssize_t size; + switch (flags & (METH_VARARGS | METH_KEYWORDS | METH_NOARGS | METH_O)) { + case METH_VARARGS: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) + return (*meth)(self, arg); + break; + case METH_VARARGS | METH_KEYWORDS: + return (*(PyCFunctionWithKeywords)(void*)meth)(self, arg, kw); + case METH_NOARGS: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) { +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(arg); +#else + size = PyTuple_Size(arg); + if (unlikely(size < 0)) return NULL; +#endif + if (likely(size == 0)) + return (*meth)(self, NULL); +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, + "%.200S() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + py_name, size); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, + "%.200s() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + f->m_ml->ml_name, size); +#endif + return NULL; + } + break; + case METH_O: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) { +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(arg); +#else + size = PyTuple_Size(arg); + if (unlikely(size < 0)) return NULL; +#endif + if (likely(size == 1)) { + PyObject *result, *arg0; + #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + arg0 = PyTuple_GET_ITEM(arg, 0); + #else + arg0 = __Pyx_PySequence_ITEM(arg, 0); if (unlikely(!arg0)) return NULL; + #endif + result = (*meth)(self, arg0); + #if !(CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS) + Py_DECREF(arg0); + #endif + return result; + } +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, + "%.200S() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + py_name, size); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, + "%.200s() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + f->m_ml->ml_name, size); +#endif + return NULL; + } + break; + default: + PyErr_SetString(PyExc_SystemError, "Bad call flags for CyFunction"); + return NULL; + } +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, "%.200S() takes no keyword arguments", + py_name); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, "%.200s() takes no keyword arguments", + f->m_ml->ml_name); +#endif + return NULL; +} +static CYTHON_INLINE PyObject *__Pyx_CyFunction_Call(PyObject *func, PyObject *arg, PyObject *kw) { + PyObject *self, *result; +#if CYTHON_COMPILING_IN_LIMITED_API + self = PyCFunction_GetSelf(((__pyx_CyFunctionObject*)func)->func); + if (unlikely(!self) && PyErr_Occurred()) return NULL; +#else + self = ((PyCFunctionObject*)func)->m_self; +#endif + result = __Pyx_CyFunction_CallMethod(func, self, arg, kw); + return result; +} +static PyObject *__Pyx_CyFunction_CallAsMethod(PyObject *func, PyObject *args, PyObject *kw) { + PyObject *result; + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *) func; +#if CYTHON_METH_FASTCALL + __pyx_vectorcallfunc vc = __Pyx_CyFunction_func_vectorcall(cyfunc); + if (vc) { +#if CYTHON_ASSUME_SAFE_MACROS + return __Pyx_PyVectorcall_FastCallDict(func, vc, &PyTuple_GET_ITEM(args, 0), (size_t)PyTuple_GET_SIZE(args), kw); +#else + (void) &__Pyx_PyVectorcall_FastCallDict; + return PyVectorcall_Call(func, args, kw); +#endif + } +#endif + if ((cyfunc->flags & __Pyx_CYFUNCTION_CCLASS) && !(cyfunc->flags & __Pyx_CYFUNCTION_STATICMETHOD)) { + Py_ssize_t argc; + PyObject *new_args; + PyObject *self; +#if CYTHON_ASSUME_SAFE_MACROS + argc = PyTuple_GET_SIZE(args); +#else + argc = PyTuple_Size(args); + if (unlikely(!argc) < 0) return NULL; +#endif + new_args = PyTuple_GetSlice(args, 1, argc); + if (unlikely(!new_args)) + return NULL; + self = PyTuple_GetItem(args, 0); + if (unlikely(!self)) { + Py_DECREF(new_args); +#if PY_MAJOR_VERSION > 2 + PyErr_Format(PyExc_TypeError, + "unbound method %.200S() needs an argument", + cyfunc->func_qualname); +#else + PyErr_SetString(PyExc_TypeError, + "unbound method needs an argument"); +#endif + return NULL; + } + result = __Pyx_CyFunction_CallMethod(func, self, new_args, kw); + Py_DECREF(new_args); + } else { + result = __Pyx_CyFunction_Call(func, args, kw); + } + return result; +} +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE int __Pyx_CyFunction_Vectorcall_CheckArgs(__pyx_CyFunctionObject *cyfunc, Py_ssize_t nargs, PyObject *kwnames) +{ + int ret = 0; + if ((cyfunc->flags & __Pyx_CYFUNCTION_CCLASS) && !(cyfunc->flags & __Pyx_CYFUNCTION_STATICMETHOD)) { + if (unlikely(nargs < 1)) { + PyErr_Format(PyExc_TypeError, "%.200s() needs an argument", + ((PyCFunctionObject*)cyfunc)->m_ml->ml_name); + return -1; + } + ret = 1; + } + if (unlikely(kwnames) && unlikely(PyTuple_GET_SIZE(kwnames))) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes no keyword arguments", ((PyCFunctionObject*)cyfunc)->m_ml->ml_name); + return -1; + } + return ret; +} +static PyObject * __Pyx_CyFunction_Vectorcall_NOARGS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, kwnames)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + if (unlikely(nargs != 0)) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + def->ml_name, nargs); + return NULL; + } + return def->ml_meth(self, NULL); +} +static PyObject * __Pyx_CyFunction_Vectorcall_O(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, kwnames)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + if (unlikely(nargs != 1)) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + def->ml_name, nargs); + return NULL; + } + return def->ml_meth(self, args[0]); +} +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, NULL)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + return ((_PyCFunctionFastWithKeywords)(void(*)(void))def->ml_meth)(self, args, nargs, kwnames); +} +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; + PyTypeObject *cls = (PyTypeObject *) __Pyx_CyFunction_GetClassObj(cyfunc); +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, NULL)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + return ((__Pyx_PyCMethod)(void(*)(void))def->ml_meth)(self, cls, args, (size_t)nargs, kwnames); +} +#endif +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_CyFunctionType_slots[] = { + {Py_tp_dealloc, (void *)__Pyx_CyFunction_dealloc}, + {Py_tp_repr, (void *)__Pyx_CyFunction_repr}, + {Py_tp_call, (void *)__Pyx_CyFunction_CallAsMethod}, + {Py_tp_traverse, (void *)__Pyx_CyFunction_traverse}, + {Py_tp_clear, (void *)__Pyx_CyFunction_clear}, + {Py_tp_methods, (void *)__pyx_CyFunction_methods}, + {Py_tp_members, (void *)__pyx_CyFunction_members}, + {Py_tp_getset, (void *)__pyx_CyFunction_getsets}, + {Py_tp_descr_get, (void *)__Pyx_PyMethod_New}, + {0, 0}, +}; +static PyType_Spec __pyx_CyFunctionType_spec = { + __PYX_TYPE_MODULE_PREFIX "cython_function_or_method", + sizeof(__pyx_CyFunctionObject), + 0, +#ifdef Py_TPFLAGS_METHOD_DESCRIPTOR + Py_TPFLAGS_METHOD_DESCRIPTOR | +#endif +#if (defined(_Py_TPFLAGS_HAVE_VECTORCALL) && CYTHON_METH_FASTCALL) + _Py_TPFLAGS_HAVE_VECTORCALL | +#endif + Py_TPFLAGS_DEFAULT | Py_TPFLAGS_HAVE_GC | Py_TPFLAGS_BASETYPE, + __pyx_CyFunctionType_slots +}; +#else +static PyTypeObject __pyx_CyFunctionType_type = { + PyVarObject_HEAD_INIT(0, 0) + __PYX_TYPE_MODULE_PREFIX "cython_function_or_method", + sizeof(__pyx_CyFunctionObject), + 0, + (destructor) __Pyx_CyFunction_dealloc, +#if !CYTHON_METH_FASTCALL + 0, +#elif CYTHON_BACKPORT_VECTORCALL + (printfunc)offsetof(__pyx_CyFunctionObject, func_vectorcall), +#else + offsetof(PyCFunctionObject, vectorcall), +#endif + 0, + 0, +#if PY_MAJOR_VERSION < 3 + 0, +#else + 0, +#endif + (reprfunc) __Pyx_CyFunction_repr, + 0, + 0, + 0, + 0, + __Pyx_CyFunction_CallAsMethod, + 0, + 0, + 0, + 0, +#ifdef Py_TPFLAGS_METHOD_DESCRIPTOR + Py_TPFLAGS_METHOD_DESCRIPTOR | +#endif +#if defined(_Py_TPFLAGS_HAVE_VECTORCALL) && CYTHON_METH_FASTCALL + _Py_TPFLAGS_HAVE_VECTORCALL | +#endif + Py_TPFLAGS_DEFAULT | Py_TPFLAGS_HAVE_GC | Py_TPFLAGS_BASETYPE, + 0, + (traverseproc) __Pyx_CyFunction_traverse, + (inquiry) __Pyx_CyFunction_clear, + 0, +#if PY_VERSION_HEX < 0x030500A0 + offsetof(__pyx_CyFunctionObject, func_weakreflist), +#else + offsetof(PyCFunctionObject, m_weakreflist), +#endif + 0, + 0, + __pyx_CyFunction_methods, + __pyx_CyFunction_members, + __pyx_CyFunction_getsets, + 0, + 0, + __Pyx_PyMethod_New, + 0, + offsetof(__pyx_CyFunctionObject, func_dict), + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, +#if PY_VERSION_HEX >= 0x030400a1 + 0, +#endif +#if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, +#endif +#if __PYX_NEED_TP_PRINT_SLOT + 0, +#endif +#if PY_VERSION_HEX >= 0x030C0000 + 0, +#endif +#if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, +#endif +}; +#endif +static int __pyx_CyFunction_init(PyObject *module) { +#if CYTHON_USE_TYPE_SPECS + __pyx_CyFunctionType = __Pyx_FetchCommonTypeFromSpec(module, &__pyx_CyFunctionType_spec, NULL); +#else + CYTHON_UNUSED_VAR(module); + __pyx_CyFunctionType = __Pyx_FetchCommonType(&__pyx_CyFunctionType_type); +#endif + if (unlikely(__pyx_CyFunctionType == NULL)) { + return -1; + } + return 0; +} +static CYTHON_INLINE void *__Pyx_CyFunction_InitDefaults(PyObject *func, size_t size, int pyobjects) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults = PyObject_Malloc(size); + if (unlikely(!m->defaults)) + return PyErr_NoMemory(); + memset(m->defaults, 0, size); + m->defaults_pyobjects = pyobjects; + m->defaults_size = size; + return m->defaults; +} +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsTuple(PyObject *func, PyObject *tuple) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults_tuple = tuple; + Py_INCREF(tuple); +} +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsKwDict(PyObject *func, PyObject *dict) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults_kwdict = dict; + Py_INCREF(dict); +} +static CYTHON_INLINE void __Pyx_CyFunction_SetAnnotationsDict(PyObject *func, PyObject *dict) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->func_annotations = dict; + Py_INCREF(dict); +} + +/* CythonFunction */ + static PyObject *__Pyx_CyFunction_New(PyMethodDef *ml, int flags, PyObject* qualname, + PyObject *closure, PyObject *module, PyObject* globals, PyObject* code) { + PyObject *op = __Pyx_CyFunction_Init( + PyObject_GC_New(__pyx_CyFunctionObject, __pyx_CyFunctionType), + ml, flags, qualname, closure, module, globals, code + ); + if (likely(op)) { + PyObject_GC_Track(op); + } + return op; +} + +/* CLineInTraceback */ + #ifndef CYTHON_CLINE_IN_TRACEBACK +static int __Pyx_CLineForTraceback(PyThreadState *tstate, int c_line) { + PyObject *use_cline; + PyObject *ptype, *pvalue, *ptraceback; +#if CYTHON_COMPILING_IN_CPYTHON + PyObject **cython_runtime_dict; +#endif + CYTHON_MAYBE_UNUSED_VAR(tstate); + if (unlikely(!__pyx_cython_runtime)) { + return c_line; + } + __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); +#if CYTHON_COMPILING_IN_CPYTHON + cython_runtime_dict = _PyObject_GetDictPtr(__pyx_cython_runtime); + if (likely(cython_runtime_dict)) { + __PYX_PY_DICT_LOOKUP_IF_MODIFIED( + use_cline, *cython_runtime_dict, + __Pyx_PyDict_GetItemStr(*cython_runtime_dict, __pyx_n_s_cline_in_traceback)) + } else +#endif + { + PyObject *use_cline_obj = __Pyx_PyObject_GetAttrStrNoError(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback); + if (use_cline_obj) { + use_cline = PyObject_Not(use_cline_obj) ? Py_False : Py_True; + Py_DECREF(use_cline_obj); + } else { + PyErr_Clear(); + use_cline = NULL; + } + } + if (!use_cline) { + c_line = 0; + (void) PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False); + } + else if (use_cline == Py_False || (use_cline != Py_True && PyObject_Not(use_cline) != 0)) { + c_line = 0; + } + __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); + return c_line; +} +#endif + +/* CodeObjectCache */ + #if !CYTHON_COMPILING_IN_LIMITED_API +static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line) { + int start = 0, mid = 0, end = count - 1; + if (end >= 0 && code_line > entries[end].code_line) { + return count; + } + while (start < end) { + mid = start + (end - start) / 2; + if (code_line < entries[mid].code_line) { + end = mid; + } else if (code_line > entries[mid].code_line) { + start = mid + 1; + } else { + return mid; + } + } + if (code_line <= entries[mid].code_line) { + return mid; + } else { + return mid + 1; + } +} +static PyCodeObject *__pyx_find_code_object(int code_line) { + PyCodeObject* code_object; + int pos; + if (unlikely(!code_line) || unlikely(!__pyx_code_cache.entries)) { + return NULL; + } + pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); + if (unlikely(pos >= __pyx_code_cache.count) || unlikely(__pyx_code_cache.entries[pos].code_line != code_line)) { + return NULL; + } + code_object = __pyx_code_cache.entries[pos].code_object; + Py_INCREF(code_object); + return code_object; +} +static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object) { + int pos, i; + __Pyx_CodeObjectCacheEntry* entries = __pyx_code_cache.entries; + if (unlikely(!code_line)) { + return; + } + if (unlikely(!entries)) { + entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Malloc(64*sizeof(__Pyx_CodeObjectCacheEntry)); + if (likely(entries)) { + __pyx_code_cache.entries = entries; + __pyx_code_cache.max_count = 64; + __pyx_code_cache.count = 1; + entries[0].code_line = code_line; + entries[0].code_object = code_object; + Py_INCREF(code_object); + } + return; + } + pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); + if ((pos < __pyx_code_cache.count) && unlikely(__pyx_code_cache.entries[pos].code_line == code_line)) { + PyCodeObject* tmp = entries[pos].code_object; + entries[pos].code_object = code_object; + Py_DECREF(tmp); + return; + } + if (__pyx_code_cache.count == __pyx_code_cache.max_count) { + int new_max = __pyx_code_cache.max_count + 64; + entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Realloc( + __pyx_code_cache.entries, ((size_t)new_max) * sizeof(__Pyx_CodeObjectCacheEntry)); + if (unlikely(!entries)) { + return; + } + __pyx_code_cache.entries = entries; + __pyx_code_cache.max_count = new_max; + } + for (i=__pyx_code_cache.count; i>pos; i--) { + entries[i] = entries[i-1]; + } + entries[pos].code_line = code_line; + entries[pos].code_object = code_object; + __pyx_code_cache.count++; + Py_INCREF(code_object); +} +#endif + +/* AddTraceback */ + #include "compile.h" +#include "frameobject.h" +#include "traceback.h" +#if PY_VERSION_HEX >= 0x030b00a6 && !CYTHON_COMPILING_IN_LIMITED_API + #ifndef Py_BUILD_CORE + #define Py_BUILD_CORE 1 + #endif + #include "internal/pycore_frame.h" +#endif +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject *__Pyx_PyCode_Replace_For_AddTraceback(PyObject *code, PyObject *scratch_dict, + PyObject *firstlineno, PyObject *name) { + PyObject *replace = NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "co_firstlineno", firstlineno))) return NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "co_name", name))) return NULL; + replace = PyObject_GetAttrString(code, "replace"); + if (likely(replace)) { + PyObject *result; + result = PyObject_Call(replace, __pyx_empty_tuple, scratch_dict); + Py_DECREF(replace); + return result; + } + PyErr_Clear(); + #if __PYX_LIMITED_VERSION_HEX < 0x030780000 + { + PyObject *compiled = NULL, *result = NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "code", code))) return NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "type", (PyObject*)(&PyType_Type)))) return NULL; + compiled = Py_CompileString( + "out = type(code)(\n" + " code.co_argcount, code.co_kwonlyargcount, code.co_nlocals, code.co_stacksize,\n" + " code.co_flags, code.co_code, code.co_consts, code.co_names,\n" + " code.co_varnames, code.co_filename, co_name, co_firstlineno,\n" + " code.co_lnotab)\n", "", Py_file_input); + if (!compiled) return NULL; + result = PyEval_EvalCode(compiled, scratch_dict, scratch_dict); + Py_DECREF(compiled); + if (!result) PyErr_Print(); + Py_DECREF(result); + result = PyDict_GetItemString(scratch_dict, "out"); + if (result) Py_INCREF(result); + return result; + } + #else + return NULL; + #endif +} +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename) { + PyObject *code_object = NULL, *py_py_line = NULL, *py_funcname = NULL, *dict = NULL; + PyObject *replace = NULL, *getframe = NULL, *frame = NULL; + PyObject *exc_type, *exc_value, *exc_traceback; + int success = 0; + if (c_line) { + (void) __pyx_cfilenm; + (void) __Pyx_CLineForTraceback(__Pyx_PyThreadState_Current, c_line); + } + PyErr_Fetch(&exc_type, &exc_value, &exc_traceback); + code_object = Py_CompileString("_getframe()", filename, Py_eval_input); + if (unlikely(!code_object)) goto bad; + py_py_line = PyLong_FromLong(py_line); + if (unlikely(!py_py_line)) goto bad; + py_funcname = PyUnicode_FromString(funcname); + if (unlikely(!py_funcname)) goto bad; + dict = PyDict_New(); + if (unlikely(!dict)) goto bad; + { + PyObject *old_code_object = code_object; + code_object = __Pyx_PyCode_Replace_For_AddTraceback(code_object, dict, py_py_line, py_funcname); + Py_DECREF(old_code_object); + } + if (unlikely(!code_object)) goto bad; + getframe = PySys_GetObject("_getframe"); + if (unlikely(!getframe)) goto bad; + if (unlikely(PyDict_SetItemString(dict, "_getframe", getframe))) goto bad; + frame = PyEval_EvalCode(code_object, dict, dict); + if (unlikely(!frame) || frame == Py_None) goto bad; + success = 1; + bad: + PyErr_Restore(exc_type, exc_value, exc_traceback); + Py_XDECREF(code_object); + Py_XDECREF(py_py_line); + Py_XDECREF(py_funcname); + Py_XDECREF(dict); + Py_XDECREF(replace); + if (success) { + PyTraceBack_Here( + (struct _frame*)frame); + } + Py_XDECREF(frame); +} +#else +static PyCodeObject* __Pyx_CreateCodeObjectForTraceback( + const char *funcname, int c_line, + int py_line, const char *filename) { + PyCodeObject *py_code = NULL; + PyObject *py_funcname = NULL; + #if PY_MAJOR_VERSION < 3 + PyObject *py_srcfile = NULL; + py_srcfile = PyString_FromString(filename); + if (!py_srcfile) goto bad; + #endif + if (c_line) { + #if PY_MAJOR_VERSION < 3 + py_funcname = PyString_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); + if (!py_funcname) goto bad; + #else + py_funcname = PyUnicode_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); + if (!py_funcname) goto bad; + funcname = PyUnicode_AsUTF8(py_funcname); + if (!funcname) goto bad; + #endif + } + else { + #if PY_MAJOR_VERSION < 3 + py_funcname = PyString_FromString(funcname); + if (!py_funcname) goto bad; + #endif + } + #if PY_MAJOR_VERSION < 3 + py_code = __Pyx_PyCode_New( + 0, + 0, + 0, + 0, + 0, + 0, + __pyx_empty_bytes, /*PyObject *code,*/ + __pyx_empty_tuple, /*PyObject *consts,*/ + __pyx_empty_tuple, /*PyObject *names,*/ + __pyx_empty_tuple, /*PyObject *varnames,*/ + __pyx_empty_tuple, /*PyObject *freevars,*/ + __pyx_empty_tuple, /*PyObject *cellvars,*/ + py_srcfile, /*PyObject *filename,*/ + py_funcname, /*PyObject *name,*/ + py_line, + __pyx_empty_bytes /*PyObject *lnotab*/ + ); + Py_DECREF(py_srcfile); + #else + py_code = PyCode_NewEmpty(filename, funcname, py_line); + #endif + Py_XDECREF(py_funcname); + return py_code; +bad: + Py_XDECREF(py_funcname); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(py_srcfile); + #endif + return NULL; +} +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename) { + PyCodeObject *py_code = 0; + PyFrameObject *py_frame = 0; + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject *ptype, *pvalue, *ptraceback; + if (c_line) { + c_line = __Pyx_CLineForTraceback(tstate, c_line); + } + py_code = __pyx_find_code_object(c_line ? -c_line : py_line); + if (!py_code) { + __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); + py_code = __Pyx_CreateCodeObjectForTraceback( + funcname, c_line, py_line, filename); + if (!py_code) { + /* If the code object creation fails, then we should clear the + fetched exception references and propagate the new exception */ + Py_XDECREF(ptype); + Py_XDECREF(pvalue); + Py_XDECREF(ptraceback); + goto bad; + } + __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); + __pyx_insert_code_object(c_line ? -c_line : py_line, py_code); + } + py_frame = PyFrame_New( + tstate, /*PyThreadState *tstate,*/ + py_code, /*PyCodeObject *code,*/ + __pyx_d, /*PyObject *globals,*/ + 0 /*PyObject *locals*/ + ); + if (!py_frame) goto bad; + __Pyx_PyFrame_SetLineNumber(py_frame, py_line); + PyTraceBack_Here(py_frame); +bad: + Py_XDECREF(py_code); + Py_XDECREF(py_frame); +} +#endif + +#if PY_MAJOR_VERSION < 3 +static int __Pyx_GetBuffer(PyObject *obj, Py_buffer *view, int flags) { + __Pyx_TypeName obj_type_name; + if (PyObject_CheckBuffer(obj)) return PyObject_GetBuffer(obj, view, flags); + if (__Pyx_TypeCheck(obj, __pyx_array_type)) return __pyx_array_getbuffer(obj, view, flags); + if (__Pyx_TypeCheck(obj, __pyx_memoryview_type)) return __pyx_memoryview_getbuffer(obj, view, flags); + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, + "'" __Pyx_FMT_TYPENAME "' does not have the buffer interface", + obj_type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return -1; +} +static void __Pyx_ReleaseBuffer(Py_buffer *view) { + PyObject *obj = view->obj; + if (!obj) return; + if (PyObject_CheckBuffer(obj)) { + PyBuffer_Release(view); + return; + } + if ((0)) {} + view->obj = NULL; + Py_DECREF(obj); +} +#endif + + + /* MemviewSliceIsContig */ + static int +__pyx_memviewslice_is_contig(const __Pyx_memviewslice mvs, char order, int ndim) +{ + int i, index, step, start; + Py_ssize_t itemsize = mvs.memview->view.itemsize; + if (order == 'F') { + step = 1; + start = 0; + } else { + step = -1; + start = ndim - 1; + } + for (i = 0; i < ndim; i++) { + index = start + step * i; + if (mvs.suboffsets[index] >= 0 || mvs.strides[index] != itemsize) + return 0; + itemsize *= mvs.shape[index]; + } + return 1; +} + +/* OverlappingSlices */ + static void +__pyx_get_array_memory_extents(__Pyx_memviewslice *slice, + void **out_start, void **out_end, + int ndim, size_t itemsize) +{ + char *start, *end; + int i; + start = end = slice->data; + for (i = 0; i < ndim; i++) { + Py_ssize_t stride = slice->strides[i]; + Py_ssize_t extent = slice->shape[i]; + if (extent == 0) { + *out_start = *out_end = start; + return; + } else { + if (stride > 0) + end += stride * (extent - 1); + else + start += stride * (extent - 1); + } + } + *out_start = start; + *out_end = end + itemsize; +} +static int +__pyx_slices_overlap(__Pyx_memviewslice *slice1, + __Pyx_memviewslice *slice2, + int ndim, size_t itemsize) +{ + void *start1, *end1, *start2, *end2; + __pyx_get_array_memory_extents(slice1, &start1, &end1, ndim, itemsize); + __pyx_get_array_memory_extents(slice2, &start2, &end2, ndim, itemsize); + return (start1 < end2) && (start2 < end1); +} + +/* CIntFromPyVerify */ + #define __PYX_VERIFY_RETURN_INT(target_type, func_type, func_value)\ + __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 0) +#define __PYX_VERIFY_RETURN_INT_EXC(target_type, func_type, func_value)\ + __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 1) +#define __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, exc)\ + {\ + func_type value = func_value;\ + if (sizeof(target_type) < sizeof(func_type)) {\ + if (unlikely(value != (func_type) (target_type) value)) {\ + func_type zero = 0;\ + if (exc && unlikely(value == (func_type)-1 && PyErr_Occurred()))\ + return (target_type) -1;\ + if (is_unsigned && unlikely(value < zero))\ + goto raise_neg_overflow;\ + else\ + goto raise_overflow;\ + }\ + }\ + return (target_type) value;\ + } + +/* TypeInfoCompare */ + static int +__pyx_typeinfo_cmp(__Pyx_TypeInfo *a, __Pyx_TypeInfo *b) +{ + int i; + if (!a || !b) + return 0; + if (a == b) + return 1; + if (a->size != b->size || a->typegroup != b->typegroup || + a->is_unsigned != b->is_unsigned || a->ndim != b->ndim) { + if (a->typegroup == 'H' || b->typegroup == 'H') { + return a->size == b->size; + } else { + return 0; + } + } + if (a->ndim) { + for (i = 0; i < a->ndim; i++) + if (a->arraysize[i] != b->arraysize[i]) + return 0; + } + if (a->typegroup == 'S') { + if (a->flags != b->flags) + return 0; + if (a->fields || b->fields) { + if (!(a->fields && b->fields)) + return 0; + for (i = 0; a->fields[i].type && b->fields[i].type; i++) { + __Pyx_StructField *field_a = a->fields + i; + __Pyx_StructField *field_b = b->fields + i; + if (field_a->offset != field_b->offset || + !__pyx_typeinfo_cmp(field_a->type, field_b->type)) + return 0; + } + return !a->fields[i].type && !b->fields[i].type; + } + } + return 1; +} + +/* MemviewSliceValidateAndInit */ + static int +__pyx_check_strides(Py_buffer *buf, int dim, int ndim, int spec) +{ + if (buf->shape[dim] <= 1) + return 1; + if (buf->strides) { + if (spec & __Pyx_MEMVIEW_CONTIG) { + if (spec & (__Pyx_MEMVIEW_PTR|__Pyx_MEMVIEW_FULL)) { + if (unlikely(buf->strides[dim] != sizeof(void *))) { + PyErr_Format(PyExc_ValueError, + "Buffer is not indirectly contiguous " + "in dimension %d.", dim); + goto fail; + } + } else if (unlikely(buf->strides[dim] != buf->itemsize)) { + PyErr_SetString(PyExc_ValueError, + "Buffer and memoryview are not contiguous " + "in the same dimension."); + goto fail; + } + } + if (spec & __Pyx_MEMVIEW_FOLLOW) { + Py_ssize_t stride = buf->strides[dim]; + if (stride < 0) + stride = -stride; + if (unlikely(stride < buf->itemsize)) { + PyErr_SetString(PyExc_ValueError, + "Buffer and memoryview are not contiguous " + "in the same dimension."); + goto fail; + } + } + } else { + if (unlikely(spec & __Pyx_MEMVIEW_CONTIG && dim != ndim - 1)) { + PyErr_Format(PyExc_ValueError, + "C-contiguous buffer is not contiguous in " + "dimension %d", dim); + goto fail; + } else if (unlikely(spec & (__Pyx_MEMVIEW_PTR))) { + PyErr_Format(PyExc_ValueError, + "C-contiguous buffer is not indirect in " + "dimension %d", dim); + goto fail; + } else if (unlikely(buf->suboffsets)) { + PyErr_SetString(PyExc_ValueError, + "Buffer exposes suboffsets but no strides"); + goto fail; + } + } + return 1; +fail: + return 0; +} +static int +__pyx_check_suboffsets(Py_buffer *buf, int dim, int ndim, int spec) +{ + CYTHON_UNUSED_VAR(ndim); + if (spec & __Pyx_MEMVIEW_DIRECT) { + if (unlikely(buf->suboffsets && buf->suboffsets[dim] >= 0)) { + PyErr_Format(PyExc_ValueError, + "Buffer not compatible with direct access " + "in dimension %d.", dim); + goto fail; + } + } + if (spec & __Pyx_MEMVIEW_PTR) { + if (unlikely(!buf->suboffsets || (buf->suboffsets[dim] < 0))) { + PyErr_Format(PyExc_ValueError, + "Buffer is not indirectly accessible " + "in dimension %d.", dim); + goto fail; + } + } + return 1; +fail: + return 0; +} +static int +__pyx_verify_contig(Py_buffer *buf, int ndim, int c_or_f_flag) +{ + int i; + if (c_or_f_flag & __Pyx_IS_F_CONTIG) { + Py_ssize_t stride = 1; + for (i = 0; i < ndim; i++) { + if (unlikely(stride * buf->itemsize != buf->strides[i] && buf->shape[i] > 1)) { + PyErr_SetString(PyExc_ValueError, + "Buffer not fortran contiguous."); + goto fail; + } + stride = stride * buf->shape[i]; + } + } else if (c_or_f_flag & __Pyx_IS_C_CONTIG) { + Py_ssize_t stride = 1; + for (i = ndim - 1; i >- 1; i--) { + if (unlikely(stride * buf->itemsize != buf->strides[i] && buf->shape[i] > 1)) { + PyErr_SetString(PyExc_ValueError, + "Buffer not C contiguous."); + goto fail; + } + stride = stride * buf->shape[i]; + } + } + return 1; +fail: + return 0; +} +static int __Pyx_ValidateAndInit_memviewslice( + int *axes_specs, + int c_or_f_flag, + int buf_flags, + int ndim, + __Pyx_TypeInfo *dtype, + __Pyx_BufFmt_StackElem stack[], + __Pyx_memviewslice *memviewslice, + PyObject *original_obj) +{ + struct __pyx_memoryview_obj *memview, *new_memview; + __Pyx_RefNannyDeclarations + Py_buffer *buf; + int i, spec = 0, retval = -1; + __Pyx_BufFmt_Context ctx; + int from_memoryview = __pyx_memoryview_check(original_obj); + __Pyx_RefNannySetupContext("ValidateAndInit_memviewslice", 0); + if (from_memoryview && __pyx_typeinfo_cmp(dtype, ((struct __pyx_memoryview_obj *) + original_obj)->typeinfo)) { + memview = (struct __pyx_memoryview_obj *) original_obj; + new_memview = NULL; + } else { + memview = (struct __pyx_memoryview_obj *) __pyx_memoryview_new( + original_obj, buf_flags, 0, dtype); + new_memview = memview; + if (unlikely(!memview)) + goto fail; + } + buf = &memview->view; + if (unlikely(buf->ndim != ndim)) { + PyErr_Format(PyExc_ValueError, + "Buffer has wrong number of dimensions (expected %d, got %d)", + ndim, buf->ndim); + goto fail; + } + if (new_memview) { + __Pyx_BufFmt_Init(&ctx, stack, dtype); + if (unlikely(!__Pyx_BufFmt_CheckString(&ctx, buf->format))) goto fail; + } + if (unlikely((unsigned) buf->itemsize != dtype->size)) { + PyErr_Format(PyExc_ValueError, + "Item size of buffer (%" CYTHON_FORMAT_SSIZE_T "u byte%s) " + "does not match size of '%s' (%" CYTHON_FORMAT_SSIZE_T "u byte%s)", + buf->itemsize, + (buf->itemsize > 1) ? "s" : "", + dtype->name, + dtype->size, + (dtype->size > 1) ? "s" : ""); + goto fail; + } + if (buf->len > 0) { + for (i = 0; i < ndim; i++) { + spec = axes_specs[i]; + if (unlikely(!__pyx_check_strides(buf, i, ndim, spec))) + goto fail; + if (unlikely(!__pyx_check_suboffsets(buf, i, ndim, spec))) + goto fail; + } + if (unlikely(buf->strides && !__pyx_verify_contig(buf, ndim, c_or_f_flag))) + goto fail; + } + if (unlikely(__Pyx_init_memviewslice(memview, ndim, memviewslice, + new_memview != NULL) == -1)) { + goto fail; + } + retval = 0; + goto no_fail; +fail: + Py_XDECREF(new_memview); + retval = -1; +no_fail: + __Pyx_RefNannyFinishContext(); + return retval; +} + +/* ObjectToMemviewSlice */ + static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_dsds_double(PyObject *obj, int writable_flag) { + __Pyx_memviewslice result = { 0, 0, { 0 }, { 0 }, { 0 } }; + __Pyx_BufFmt_StackElem stack[1]; + int axes_specs[] = { (__Pyx_MEMVIEW_DIRECT | __Pyx_MEMVIEW_STRIDED), (__Pyx_MEMVIEW_DIRECT | __Pyx_MEMVIEW_STRIDED) }; + int retcode; + if (obj == Py_None) { + result.memview = (struct __pyx_memoryview_obj *) Py_None; + return result; + } + retcode = __Pyx_ValidateAndInit_memviewslice(axes_specs, 0, + PyBUF_RECORDS_RO | writable_flag, 2, + &__Pyx_TypeInfo_double, stack, + &result, obj); + if (unlikely(retcode == -1)) + goto __pyx_fail; + return result; +__pyx_fail: + result.memview = NULL; + result.data = NULL; + return result; +} + +/* MemviewDtypeToObject */ + static CYTHON_INLINE PyObject *__pyx_memview_get_double(const char *itemp) { + return (PyObject *) PyFloat_FromDouble(*(double *) itemp); +} +static CYTHON_INLINE int __pyx_memview_set_double(const char *itemp, PyObject *obj) { + double value = __pyx_PyFloat_AsDouble(obj); + if (unlikely((value == (double)-1) && PyErr_Occurred())) + return 0; + *(double *) itemp = value; + return 1; +} + +/* ObjectToMemviewSlice */ + static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_ds_double(PyObject *obj, int writable_flag) { + __Pyx_memviewslice result = { 0, 0, { 0 }, { 0 }, { 0 } }; + __Pyx_BufFmt_StackElem stack[1]; + int axes_specs[] = { (__Pyx_MEMVIEW_DIRECT | __Pyx_MEMVIEW_STRIDED) }; + int retcode; + if (obj == Py_None) { + result.memview = (struct __pyx_memoryview_obj *) Py_None; + return result; + } + retcode = __Pyx_ValidateAndInit_memviewslice(axes_specs, 0, + PyBUF_RECORDS_RO | writable_flag, 1, + &__Pyx_TypeInfo_double, stack, + &result, obj); + if (unlikely(retcode == -1)) + goto __pyx_fail; + return result; +__pyx_fail: + result.memview = NULL; + result.data = NULL; + return result; +} + +/* Declarations */ + #if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) + #ifdef __cplusplus + static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float x, float y) { + return ::std::complex< float >(x, y); + } + #else + static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float x, float y) { + return x + y*(__pyx_t_float_complex)_Complex_I; + } + #endif +#else + static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float x, float y) { + __pyx_t_float_complex z; + z.real = x; + z.imag = y; + return z; + } +#endif + +/* Arithmetic */ + #if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) +#else + static CYTHON_INLINE int __Pyx_c_eq_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + return (a.real == b.real) && (a.imag == b.imag); + } + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_sum_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + __pyx_t_float_complex z; + z.real = a.real + b.real; + z.imag = a.imag + b.imag; + return z; + } + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_diff_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + __pyx_t_float_complex z; + z.real = a.real - b.real; + z.imag = a.imag - b.imag; + return z; + } + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_prod_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + __pyx_t_float_complex z; + z.real = a.real * b.real - a.imag * b.imag; + z.imag = a.real * b.imag + a.imag * b.real; + return z; + } + #if 1 + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_quot_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + if (b.imag == 0) { + return __pyx_t_float_complex_from_parts(a.real / b.real, a.imag / b.real); + } else if (fabsf(b.real) >= fabsf(b.imag)) { + if (b.real == 0 && b.imag == 0) { + return __pyx_t_float_complex_from_parts(a.real / b.real, a.imag / b.imag); + } else { + float r = b.imag / b.real; + float s = (float)(1.0) / (b.real + b.imag * r); + return __pyx_t_float_complex_from_parts( + (a.real + a.imag * r) * s, (a.imag - a.real * r) * s); + } + } else { + float r = b.real / b.imag; + float s = (float)(1.0) / (b.imag + b.real * r); + return __pyx_t_float_complex_from_parts( + (a.real * r + a.imag) * s, (a.imag * r - a.real) * s); + } + } + #else + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_quot_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + if (b.imag == 0) { + return __pyx_t_float_complex_from_parts(a.real / b.real, a.imag / b.real); + } else { + float denom = b.real * b.real + b.imag * b.imag; + return __pyx_t_float_complex_from_parts( + (a.real * b.real + a.imag * b.imag) / denom, + (a.imag * b.real - a.real * b.imag) / denom); + } + } + #endif + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_neg_float(__pyx_t_float_complex a) { + __pyx_t_float_complex z; + z.real = -a.real; + z.imag = -a.imag; + return z; + } + static CYTHON_INLINE int __Pyx_c_is_zero_float(__pyx_t_float_complex a) { + return (a.real == 0) && (a.imag == 0); + } + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_conj_float(__pyx_t_float_complex a) { + __pyx_t_float_complex z; + z.real = a.real; + z.imag = -a.imag; + return z; + } + #if 1 + static CYTHON_INLINE float __Pyx_c_abs_float(__pyx_t_float_complex z) { + #if !defined(HAVE_HYPOT) || defined(_MSC_VER) + return sqrtf(z.real*z.real + z.imag*z.imag); + #else + return hypotf(z.real, z.imag); + #endif + } + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_pow_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + __pyx_t_float_complex z; + float r, lnr, theta, z_r, z_theta; + if (b.imag == 0 && b.real == (int)b.real) { + if (b.real < 0) { + float denom = a.real * a.real + a.imag * a.imag; + a.real = a.real / denom; + a.imag = -a.imag / denom; + b.real = -b.real; + } + switch ((int)b.real) { + case 0: + z.real = 1; + z.imag = 0; + return z; + case 1: + return a; + case 2: + return __Pyx_c_prod_float(a, a); + case 3: + z = __Pyx_c_prod_float(a, a); + return __Pyx_c_prod_float(z, a); + case 4: + z = __Pyx_c_prod_float(a, a); + return __Pyx_c_prod_float(z, z); + } + } + if (a.imag == 0) { + if (a.real == 0) { + return a; + } else if ((b.imag == 0) && (a.real >= 0)) { + z.real = powf(a.real, b.real); + z.imag = 0; + return z; + } else if (a.real > 0) { + r = a.real; + theta = 0; + } else { + r = -a.real; + theta = atan2f(0.0, -1.0); + } + } else { + r = __Pyx_c_abs_float(a); + theta = atan2f(a.imag, a.real); + } + lnr = logf(r); + z_r = expf(lnr * b.real - theta * b.imag); + z_theta = theta * b.real + lnr * b.imag; + z.real = z_r * cosf(z_theta); + z.imag = z_r * sinf(z_theta); + return z; + } + #endif +#endif + +/* Declarations */ + #if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) + #ifdef __cplusplus + static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double x, double y) { + return ::std::complex< double >(x, y); + } + #else + static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double x, double y) { + return x + y*(__pyx_t_double_complex)_Complex_I; + } + #endif +#else + static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double x, double y) { + __pyx_t_double_complex z; + z.real = x; + z.imag = y; + return z; + } +#endif + +/* Arithmetic */ + #if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) +#else + static CYTHON_INLINE int __Pyx_c_eq_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + return (a.real == b.real) && (a.imag == b.imag); + } + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_sum_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + __pyx_t_double_complex z; + z.real = a.real + b.real; + z.imag = a.imag + b.imag; + return z; + } + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_diff_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + __pyx_t_double_complex z; + z.real = a.real - b.real; + z.imag = a.imag - b.imag; + return z; + } + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_prod_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + __pyx_t_double_complex z; + z.real = a.real * b.real - a.imag * b.imag; + z.imag = a.real * b.imag + a.imag * b.real; + return z; + } + #if 1 + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_quot_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + if (b.imag == 0) { + return __pyx_t_double_complex_from_parts(a.real / b.real, a.imag / b.real); + } else if (fabs(b.real) >= fabs(b.imag)) { + if (b.real == 0 && b.imag == 0) { + return __pyx_t_double_complex_from_parts(a.real / b.real, a.imag / b.imag); + } else { + double r = b.imag / b.real; + double s = (double)(1.0) / (b.real + b.imag * r); + return __pyx_t_double_complex_from_parts( + (a.real + a.imag * r) * s, (a.imag - a.real * r) * s); + } + } else { + double r = b.real / b.imag; + double s = (double)(1.0) / (b.imag + b.real * r); + return __pyx_t_double_complex_from_parts( + (a.real * r + a.imag) * s, (a.imag * r - a.real) * s); + } + } + #else + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_quot_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + if (b.imag == 0) { + return __pyx_t_double_complex_from_parts(a.real / b.real, a.imag / b.real); + } else { + double denom = b.real * b.real + b.imag * b.imag; + return __pyx_t_double_complex_from_parts( + (a.real * b.real + a.imag * b.imag) / denom, + (a.imag * b.real - a.real * b.imag) / denom); + } + } + #endif + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_neg_double(__pyx_t_double_complex a) { + __pyx_t_double_complex z; + z.real = -a.real; + z.imag = -a.imag; + return z; + } + static CYTHON_INLINE int __Pyx_c_is_zero_double(__pyx_t_double_complex a) { + return (a.real == 0) && (a.imag == 0); + } + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_conj_double(__pyx_t_double_complex a) { + __pyx_t_double_complex z; + z.real = a.real; + z.imag = -a.imag; + return z; + } + #if 1 + static CYTHON_INLINE double __Pyx_c_abs_double(__pyx_t_double_complex z) { + #if !defined(HAVE_HYPOT) || defined(_MSC_VER) + return sqrt(z.real*z.real + z.imag*z.imag); + #else + return hypot(z.real, z.imag); + #endif + } + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_pow_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + __pyx_t_double_complex z; + double r, lnr, theta, z_r, z_theta; + if (b.imag == 0 && b.real == (int)b.real) { + if (b.real < 0) { + double denom = a.real * a.real + a.imag * a.imag; + a.real = a.real / denom; + a.imag = -a.imag / denom; + b.real = -b.real; + } + switch ((int)b.real) { + case 0: + z.real = 1; + z.imag = 0; + return z; + case 1: + return a; + case 2: + return __Pyx_c_prod_double(a, a); + case 3: + z = __Pyx_c_prod_double(a, a); + return __Pyx_c_prod_double(z, a); + case 4: + z = __Pyx_c_prod_double(a, a); + return __Pyx_c_prod_double(z, z); + } + } + if (a.imag == 0) { + if (a.real == 0) { + return a; + } else if ((b.imag == 0) && (a.real >= 0)) { + z.real = pow(a.real, b.real); + z.imag = 0; + return z; + } else if (a.real > 0) { + r = a.real; + theta = 0; + } else { + r = -a.real; + theta = atan2(0.0, -1.0); + } + } else { + r = __Pyx_c_abs_double(a); + theta = atan2(a.imag, a.real); + } + lnr = log(r); + z_r = exp(lnr * b.real - theta * b.imag); + z_theta = theta * b.real + lnr * b.imag; + z.real = z_r * cos(z_theta); + z.imag = z_r * sin(z_theta); + return z; + } + #endif +#endif + +/* MemviewSliceCopyTemplate */ + static __Pyx_memviewslice +__pyx_memoryview_copy_new_contig(const __Pyx_memviewslice *from_mvs, + const char *mode, int ndim, + size_t sizeof_dtype, int contig_flag, + int dtype_is_object) +{ + __Pyx_RefNannyDeclarations + int i; + __Pyx_memviewslice new_mvs = { 0, 0, { 0 }, { 0 }, { 0 } }; + struct __pyx_memoryview_obj *from_memview = from_mvs->memview; + Py_buffer *buf = &from_memview->view; + PyObject *shape_tuple = NULL; + PyObject *temp_int = NULL; + struct __pyx_array_obj *array_obj = NULL; + struct __pyx_memoryview_obj *memview_obj = NULL; + __Pyx_RefNannySetupContext("__pyx_memoryview_copy_new_contig", 0); + for (i = 0; i < ndim; i++) { + if (unlikely(from_mvs->suboffsets[i] >= 0)) { + PyErr_Format(PyExc_ValueError, "Cannot copy memoryview slice with " + "indirect dimensions (axis %d)", i); + goto fail; + } + } + shape_tuple = PyTuple_New(ndim); + if (unlikely(!shape_tuple)) { + goto fail; + } + __Pyx_GOTREF(shape_tuple); + for(i = 0; i < ndim; i++) { + temp_int = PyInt_FromSsize_t(from_mvs->shape[i]); + if(unlikely(!temp_int)) { + goto fail; + } else { + PyTuple_SET_ITEM(shape_tuple, i, temp_int); + temp_int = NULL; + } + } + array_obj = __pyx_array_new(shape_tuple, sizeof_dtype, buf->format, (char *) mode, NULL); + if (unlikely(!array_obj)) { + goto fail; + } + __Pyx_GOTREF(array_obj); + memview_obj = (struct __pyx_memoryview_obj *) __pyx_memoryview_new( + (PyObject *) array_obj, contig_flag, + dtype_is_object, + from_mvs->memview->typeinfo); + if (unlikely(!memview_obj)) + goto fail; + if (unlikely(__Pyx_init_memviewslice(memview_obj, ndim, &new_mvs, 1) < 0)) + goto fail; + if (unlikely(__pyx_memoryview_copy_contents(*from_mvs, new_mvs, ndim, ndim, + dtype_is_object) < 0)) + goto fail; + goto no_fail; +fail: + __Pyx_XDECREF(new_mvs.memview); + new_mvs.memview = NULL; + new_mvs.data = NULL; +no_fail: + __Pyx_XDECREF(shape_tuple); + __Pyx_XDECREF(temp_int); + __Pyx_XDECREF(array_obj); + __Pyx_RefNannyFinishContext(); + return new_mvs; +} + +/* MemviewSliceInit */ + static int +__Pyx_init_memviewslice(struct __pyx_memoryview_obj *memview, + int ndim, + __Pyx_memviewslice *memviewslice, + int memview_is_new_reference) +{ + __Pyx_RefNannyDeclarations + int i, retval=-1; + Py_buffer *buf = &memview->view; + __Pyx_RefNannySetupContext("init_memviewslice", 0); + if (unlikely(memviewslice->memview || memviewslice->data)) { + PyErr_SetString(PyExc_ValueError, + "memviewslice is already initialized!"); + goto fail; + } + if (buf->strides) { + for (i = 0; i < ndim; i++) { + memviewslice->strides[i] = buf->strides[i]; + } + } else { + Py_ssize_t stride = buf->itemsize; + for (i = ndim - 1; i >= 0; i--) { + memviewslice->strides[i] = stride; + stride *= buf->shape[i]; + } + } + for (i = 0; i < ndim; i++) { + memviewslice->shape[i] = buf->shape[i]; + if (buf->suboffsets) { + memviewslice->suboffsets[i] = buf->suboffsets[i]; + } else { + memviewslice->suboffsets[i] = -1; + } + } + memviewslice->memview = memview; + memviewslice->data = (char *)buf->buf; + if (__pyx_add_acquisition_count(memview) == 0 && !memview_is_new_reference) { + Py_INCREF(memview); + } + retval = 0; + goto no_fail; +fail: + memviewslice->memview = 0; + memviewslice->data = 0; + retval = -1; +no_fail: + __Pyx_RefNannyFinishContext(); + return retval; +} +#ifndef Py_NO_RETURN +#define Py_NO_RETURN +#endif +static void __pyx_fatalerror(const char *fmt, ...) Py_NO_RETURN { + va_list vargs; + char msg[200]; +#if PY_VERSION_HEX >= 0x030A0000 || defined(HAVE_STDARG_PROTOTYPES) + va_start(vargs, fmt); +#else + va_start(vargs); +#endif + vsnprintf(msg, 200, fmt, vargs); + va_end(vargs); + Py_FatalError(msg); +} +static CYTHON_INLINE int +__pyx_add_acquisition_count_locked(__pyx_atomic_int_type *acquisition_count, + PyThread_type_lock lock) +{ + int result; + PyThread_acquire_lock(lock, 1); + result = (*acquisition_count)++; + PyThread_release_lock(lock); + return result; +} +static CYTHON_INLINE int +__pyx_sub_acquisition_count_locked(__pyx_atomic_int_type *acquisition_count, + PyThread_type_lock lock) +{ + int result; + PyThread_acquire_lock(lock, 1); + result = (*acquisition_count)--; + PyThread_release_lock(lock); + return result; +} +static CYTHON_INLINE void +__Pyx_INC_MEMVIEW(__Pyx_memviewslice *memslice, int have_gil, int lineno) +{ + __pyx_nonatomic_int_type old_acquisition_count; + struct __pyx_memoryview_obj *memview = memslice->memview; + if (unlikely(!memview || (PyObject *) memview == Py_None)) { + return; + } + old_acquisition_count = __pyx_add_acquisition_count(memview); + if (unlikely(old_acquisition_count <= 0)) { + if (likely(old_acquisition_count == 0)) { + if (have_gil) { + Py_INCREF((PyObject *) memview); + } else { + PyGILState_STATE _gilstate = PyGILState_Ensure(); + Py_INCREF((PyObject *) memview); + PyGILState_Release(_gilstate); + } + } else { + __pyx_fatalerror("Acquisition count is %d (line %d)", + old_acquisition_count+1, lineno); + } + } +} +static CYTHON_INLINE void __Pyx_XCLEAR_MEMVIEW(__Pyx_memviewslice *memslice, + int have_gil, int lineno) { + __pyx_nonatomic_int_type old_acquisition_count; + struct __pyx_memoryview_obj *memview = memslice->memview; + if (unlikely(!memview || (PyObject *) memview == Py_None)) { + memslice->memview = NULL; + return; + } + old_acquisition_count = __pyx_sub_acquisition_count(memview); + memslice->data = NULL; + if (likely(old_acquisition_count > 1)) { + memslice->memview = NULL; + } else if (likely(old_acquisition_count == 1)) { + if (have_gil) { + Py_CLEAR(memslice->memview); + } else { + PyGILState_STATE _gilstate = PyGILState_Ensure(); + Py_CLEAR(memslice->memview); + PyGILState_Release(_gilstate); + } + } else { + __pyx_fatalerror("Acquisition count is %d (line %d)", + old_acquisition_count-1, lineno); + } +} + +/* TypeInfoToFormat */ + static struct __pyx_typeinfo_string __Pyx_TypeInfoToFormat(__Pyx_TypeInfo *type) { + struct __pyx_typeinfo_string result = { {0} }; + char *buf = (char *) result.string; + size_t size = type->size; + switch (type->typegroup) { + case 'H': + *buf = 'c'; + break; + case 'I': + case 'U': + if (size == 1) + *buf = (type->is_unsigned) ? 'B' : 'b'; + else if (size == 2) + *buf = (type->is_unsigned) ? 'H' : 'h'; + else if (size == 4) + *buf = (type->is_unsigned) ? 'I' : 'i'; + else if (size == 8) + *buf = (type->is_unsigned) ? 'Q' : 'q'; + break; + case 'P': + *buf = 'P'; + break; + case 'C': + { + __Pyx_TypeInfo complex_type = *type; + complex_type.typegroup = 'R'; + complex_type.size /= 2; + *buf++ = 'Z'; + *buf = __Pyx_TypeInfoToFormat(&complex_type).string[0]; + break; + } + case 'R': + if (size == 4) + *buf = 'f'; + else if (size == 8) + *buf = 'd'; + else + *buf = 'g'; + break; + } + return result; +} + +/* CIntFromPy */ + static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(int) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(int, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (int) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(int, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(int) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 2 * PyLong_SHIFT)) { + return (int) (((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(int) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 3 * PyLong_SHIFT)) { + return (int) (((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(int) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 4 * PyLong_SHIFT)) { + return (int) (((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (int) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(int) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(int, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(int) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(int, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(int, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(int) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(int) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + return (int) ((((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(int) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + return (int) ((((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 4 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(int) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 4 * PyLong_SHIFT)) { + return (int) ((((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(int) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(int, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(int) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(int, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + int val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (int) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (int) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (int) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (int) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (int) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(int) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((int) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(int) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((int) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((int) 1) << (sizeof(int) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (int) -1; + } + } else { + int val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (int) -1; + val = __Pyx_PyInt_As_int(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to int"); + return (int) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to int"); + return (int) -1; +} + +/* CIntToPy */ + static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const long neg_one = (long) -1, const_zero = (long) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(long) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(long) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(long) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; +#if !CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030d0000 + return _PyLong_FromByteArray(bytes, sizeof(long), + little, !is_unsigned); +#else + PyObject *from_bytes, *result = NULL; + PyObject *py_bytes = NULL, *arg_tuple = NULL, *kwds = NULL, *order_str = NULL; + from_bytes = PyObject_GetAttrString((PyObject*)&PyLong_Type, "from_bytes"); + if (!from_bytes) return NULL; + py_bytes = PyBytes_FromStringAndSize((char*)bytes, sizeof(long)); + if (!py_bytes) goto limited_bad; + order_str = PyUnicode_FromString(little ? "little" : "big"); + if (!order_str) goto limited_bad; + arg_tuple = PyTuple_Pack(2, py_bytes, order_str); + if (!arg_tuple) goto limited_bad; + if (!is_unsigned) { + kwds = PyDict_New(); + if (!kwds) goto limited_bad; + if (PyDict_SetItemString(kwds, "signed", __Pyx_NewRef(Py_True))) goto limited_bad; + } + result = PyObject_Call(from_bytes, arg_tuple, kwds); + limited_bad: + Py_XDECREF(kwds); + Py_XDECREF(arg_tuple); + Py_XDECREF(order_str); + Py_XDECREF(py_bytes); + Py_XDECREF(from_bytes); + return result; +#endif + } +} + +/* CIntToPy */ + static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(int) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(int) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(int) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(int) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(int) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; +#if !CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030d0000 + return _PyLong_FromByteArray(bytes, sizeof(int), + little, !is_unsigned); +#else + PyObject *from_bytes, *result = NULL; + PyObject *py_bytes = NULL, *arg_tuple = NULL, *kwds = NULL, *order_str = NULL; + from_bytes = PyObject_GetAttrString((PyObject*)&PyLong_Type, "from_bytes"); + if (!from_bytes) return NULL; + py_bytes = PyBytes_FromStringAndSize((char*)bytes, sizeof(int)); + if (!py_bytes) goto limited_bad; + order_str = PyUnicode_FromString(little ? "little" : "big"); + if (!order_str) goto limited_bad; + arg_tuple = PyTuple_Pack(2, py_bytes, order_str); + if (!arg_tuple) goto limited_bad; + if (!is_unsigned) { + kwds = PyDict_New(); + if (!kwds) goto limited_bad; + if (PyDict_SetItemString(kwds, "signed", __Pyx_NewRef(Py_True))) goto limited_bad; + } + result = PyObject_Call(from_bytes, arg_tuple, kwds); + limited_bad: + Py_XDECREF(kwds); + Py_XDECREF(arg_tuple); + Py_XDECREF(order_str); + Py_XDECREF(py_bytes); + Py_XDECREF(from_bytes); + return result; +#endif + } +} + +/* CIntFromPy */ + static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const long neg_one = (long) -1, const_zero = (long) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(long) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(long, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (long) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(long, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(long) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 2 * PyLong_SHIFT)) { + return (long) (((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(long) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 3 * PyLong_SHIFT)) { + return (long) (((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(long) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 4 * PyLong_SHIFT)) { + return (long) (((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (long) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(long) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(long, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(long) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(long, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(long, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(long) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(long) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + return (long) ((((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(long) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + return (long) ((((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 4 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(long) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 4 * PyLong_SHIFT)) { + return (long) ((((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(long) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(long, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(long) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(long, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + long val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (long) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (long) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (long) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (long) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (long) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(long) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((long) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(long) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((long) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((long) 1) << (sizeof(long) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (long) -1; + } + } else { + long val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (long) -1; + val = __Pyx_PyInt_As_long(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to long"); + return (long) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to long"); + return (long) -1; +} + +/* CIntFromPy */ + static CYTHON_INLINE char __Pyx_PyInt_As_char(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const char neg_one = (char) -1, const_zero = (char) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(char) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(char, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (char) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(char, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(char) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) >= 2 * PyLong_SHIFT)) { + return (char) (((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(char) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) >= 3 * PyLong_SHIFT)) { + return (char) (((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(char) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) >= 4 * PyLong_SHIFT)) { + return (char) (((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (char) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(char) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(char, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(char) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(char, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(char, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(char) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 2 * PyLong_SHIFT)) { + return (char) (((char)-1)*(((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(char) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 2 * PyLong_SHIFT)) { + return (char) ((((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(char) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 3 * PyLong_SHIFT)) { + return (char) (((char)-1)*(((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(char) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 3 * PyLong_SHIFT)) { + return (char) ((((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(char) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 4 * PyLong_SHIFT)) { + return (char) (((char)-1)*(((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(char) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 4 * PyLong_SHIFT)) { + return (char) ((((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(char) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(char, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(char) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(char, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + char val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (char) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (char) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (char) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (char) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (char) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(char) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((char) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(char) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((char) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((char) 1) << (sizeof(char) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (char) -1; + } + } else { + char val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (char) -1; + val = __Pyx_PyInt_As_char(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to char"); + return (char) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to char"); + return (char) -1; +} + +/* FormatTypeName */ + #if CYTHON_COMPILING_IN_LIMITED_API +static __Pyx_TypeName +__Pyx_PyType_GetName(PyTypeObject* tp) +{ + PyObject *name = __Pyx_PyObject_GetAttrStr((PyObject *)tp, + __pyx_n_s_name_2); + if (unlikely(name == NULL) || unlikely(!PyUnicode_Check(name))) { + PyErr_Clear(); + Py_XDECREF(name); + name = __Pyx_NewRef(__pyx_n_s__58); + } + return name; +} +#endif + +/* CheckBinaryVersion */ + static unsigned long __Pyx_get_runtime_version(void) { +#if __PYX_LIMITED_VERSION_HEX >= 0x030B00A4 + return Py_Version & ~0xFFUL; +#else + const char* rt_version = Py_GetVersion(); + unsigned long version = 0; + unsigned long factor = 0x01000000UL; + unsigned int digit = 0; + int i = 0; + while (factor) { + while ('0' <= rt_version[i] && rt_version[i] <= '9') { + digit = digit * 10 + (unsigned int) (rt_version[i] - '0'); + ++i; + } + version += factor * digit; + if (rt_version[i] != '.') + break; + digit = 0; + factor >>= 8; + ++i; + } + return version; +#endif +} +static int __Pyx_check_binary_version(unsigned long ct_version, unsigned long rt_version, int allow_newer) { + const unsigned long MAJOR_MINOR = 0xFFFF0000UL; + if ((rt_version & MAJOR_MINOR) == (ct_version & MAJOR_MINOR)) + return 0; + if (likely(allow_newer && (rt_version & MAJOR_MINOR) > (ct_version & MAJOR_MINOR))) + return 1; + { + char message[200]; + PyOS_snprintf(message, sizeof(message), + "compile time Python version %d.%d " + "of module '%.100s' " + "%s " + "runtime version %d.%d", + (int) (ct_version >> 24), (int) ((ct_version >> 16) & 0xFF), + __Pyx_MODULE_NAME, + (allow_newer) ? "was newer than" : "does not match", + (int) (rt_version >> 24), (int) ((rt_version >> 16) & 0xFF) + ); + return PyErr_WarnEx(NULL, message, 1); + } +} + +/* InitStrings */ + #if PY_MAJOR_VERSION >= 3 +static int __Pyx_InitString(__Pyx_StringTabEntry t, PyObject **str) { + if (t.is_unicode | t.is_str) { + if (t.intern) { + *str = PyUnicode_InternFromString(t.s); + } else if (t.encoding) { + *str = PyUnicode_Decode(t.s, t.n - 1, t.encoding, NULL); + } else { + *str = PyUnicode_FromStringAndSize(t.s, t.n - 1); + } + } else { + *str = PyBytes_FromStringAndSize(t.s, t.n - 1); + } + if (!*str) + return -1; + if (PyObject_Hash(*str) == -1) + return -1; + return 0; +} +#endif +static int __Pyx_InitStrings(__Pyx_StringTabEntry *t) { + while (t->p) { + #if PY_MAJOR_VERSION >= 3 + __Pyx_InitString(*t, t->p); + #else + if (t->is_unicode) { + *t->p = PyUnicode_DecodeUTF8(t->s, t->n - 1, NULL); + } else if (t->intern) { + *t->p = PyString_InternFromString(t->s); + } else { + *t->p = PyString_FromStringAndSize(t->s, t->n - 1); + } + if (!*t->p) + return -1; + if (PyObject_Hash(*t->p) == -1) + return -1; + #endif + ++t; + } + return 0; +} + +#include +static CYTHON_INLINE Py_ssize_t __Pyx_ssize_strlen(const char *s) { + size_t len = strlen(s); + if (unlikely(len > (size_t) PY_SSIZE_T_MAX)) { + PyErr_SetString(PyExc_OverflowError, "byte string is too long"); + return -1; + } + return (Py_ssize_t) len; +} +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char* c_str) { + Py_ssize_t len = __Pyx_ssize_strlen(c_str); + if (unlikely(len < 0)) return NULL; + return __Pyx_PyUnicode_FromStringAndSize(c_str, len); +} +static CYTHON_INLINE PyObject* __Pyx_PyByteArray_FromString(const char* c_str) { + Py_ssize_t len = __Pyx_ssize_strlen(c_str); + if (unlikely(len < 0)) return NULL; + return PyByteArray_FromStringAndSize(c_str, len); +} +static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject* o) { + Py_ssize_t ignore; + return __Pyx_PyObject_AsStringAndSize(o, &ignore); +} +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT +#if !CYTHON_PEP393_ENABLED +static const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { + char* defenc_c; + PyObject* defenc = _PyUnicode_AsDefaultEncodedString(o, NULL); + if (!defenc) return NULL; + defenc_c = PyBytes_AS_STRING(defenc); +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + { + char* end = defenc_c + PyBytes_GET_SIZE(defenc); + char* c; + for (c = defenc_c; c < end; c++) { + if ((unsigned char) (*c) >= 128) { + PyUnicode_AsASCIIString(o); + return NULL; + } + } + } +#endif + *length = PyBytes_GET_SIZE(defenc); + return defenc_c; +} +#else +static CYTHON_INLINE const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { + if (unlikely(__Pyx_PyUnicode_READY(o) == -1)) return NULL; +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + if (likely(PyUnicode_IS_ASCII(o))) { + *length = PyUnicode_GET_LENGTH(o); + return PyUnicode_AsUTF8(o); + } else { + PyUnicode_AsASCIIString(o); + return NULL; + } +#else + return PyUnicode_AsUTF8AndSize(o, length); +#endif +} +#endif +#endif +static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject* o, Py_ssize_t *length) { +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT + if ( +#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + __Pyx_sys_getdefaultencoding_not_ascii && +#endif + PyUnicode_Check(o)) { + return __Pyx_PyUnicode_AsStringAndSize(o, length); + } else +#endif +#if (!CYTHON_COMPILING_IN_PYPY && !CYTHON_COMPILING_IN_LIMITED_API) || (defined(PyByteArray_AS_STRING) && defined(PyByteArray_GET_SIZE)) + if (PyByteArray_Check(o)) { + *length = PyByteArray_GET_SIZE(o); + return PyByteArray_AS_STRING(o); + } else +#endif + { + char* result; + int r = PyBytes_AsStringAndSize(o, &result, length); + if (unlikely(r < 0)) { + return NULL; + } else { + return result; + } + } +} +static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject* x) { + int is_true = x == Py_True; + if (is_true | (x == Py_False) | (x == Py_None)) return is_true; + else return PyObject_IsTrue(x); +} +static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject* x) { + int retval; + if (unlikely(!x)) return -1; + retval = __Pyx_PyObject_IsTrue(x); + Py_DECREF(x); + return retval; +} +static PyObject* __Pyx_PyNumber_IntOrLongWrongResultType(PyObject* result, const char* type_name) { + __Pyx_TypeName result_type_name = __Pyx_PyType_GetName(Py_TYPE(result)); +#if PY_MAJOR_VERSION >= 3 + if (PyLong_Check(result)) { + if (PyErr_WarnFormat(PyExc_DeprecationWarning, 1, + "__int__ returned non-int (type " __Pyx_FMT_TYPENAME "). " + "The ability to return an instance of a strict subclass of int is deprecated, " + "and may be removed in a future version of Python.", + result_type_name)) { + __Pyx_DECREF_TypeName(result_type_name); + Py_DECREF(result); + return NULL; + } + __Pyx_DECREF_TypeName(result_type_name); + return result; + } +#endif + PyErr_Format(PyExc_TypeError, + "__%.4s__ returned non-%.4s (type " __Pyx_FMT_TYPENAME ")", + type_name, type_name, result_type_name); + __Pyx_DECREF_TypeName(result_type_name); + Py_DECREF(result); + return NULL; +} +static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x) { +#if CYTHON_USE_TYPE_SLOTS + PyNumberMethods *m; +#endif + const char *name = NULL; + PyObject *res = NULL; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x) || PyLong_Check(x))) +#else + if (likely(PyLong_Check(x))) +#endif + return __Pyx_NewRef(x); +#if CYTHON_USE_TYPE_SLOTS + m = Py_TYPE(x)->tp_as_number; + #if PY_MAJOR_VERSION < 3 + if (m && m->nb_int) { + name = "int"; + res = m->nb_int(x); + } + else if (m && m->nb_long) { + name = "long"; + res = m->nb_long(x); + } + #else + if (likely(m && m->nb_int)) { + name = "int"; + res = m->nb_int(x); + } + #endif +#else + if (!PyBytes_CheckExact(x) && !PyUnicode_CheckExact(x)) { + res = PyNumber_Int(x); + } +#endif + if (likely(res)) { +#if PY_MAJOR_VERSION < 3 + if (unlikely(!PyInt_Check(res) && !PyLong_Check(res))) { +#else + if (unlikely(!PyLong_CheckExact(res))) { +#endif + return __Pyx_PyNumber_IntOrLongWrongResultType(res, name); + } + } + else if (!PyErr_Occurred()) { + PyErr_SetString(PyExc_TypeError, + "an integer is required"); + } + return res; +} +static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject* b) { + Py_ssize_t ival; + PyObject *x; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_CheckExact(b))) { + if (sizeof(Py_ssize_t) >= sizeof(long)) + return PyInt_AS_LONG(b); + else + return PyInt_AsSsize_t(b); + } +#endif + if (likely(PyLong_CheckExact(b))) { + #if CYTHON_USE_PYLONG_INTERNALS + if (likely(__Pyx_PyLong_IsCompact(b))) { + return __Pyx_PyLong_CompactValue(b); + } else { + const digit* digits = __Pyx_PyLong_Digits(b); + const Py_ssize_t size = __Pyx_PyLong_SignedDigitCount(b); + switch (size) { + case 2: + if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { + return (Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -2: + if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case 3: + if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { + return (Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -3: + if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case 4: + if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { + return (Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -4: + if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + } + } + #endif + return PyLong_AsSsize_t(b); + } + x = PyNumber_Index(b); + if (!x) return -1; + ival = PyInt_AsSsize_t(x); + Py_DECREF(x); + return ival; +} +static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject* o) { + if (sizeof(Py_hash_t) == sizeof(Py_ssize_t)) { + return (Py_hash_t) __Pyx_PyIndex_AsSsize_t(o); +#if PY_MAJOR_VERSION < 3 + } else if (likely(PyInt_CheckExact(o))) { + return PyInt_AS_LONG(o); +#endif + } else { + Py_ssize_t ival; + PyObject *x; + x = PyNumber_Index(o); + if (!x) return -1; + ival = PyInt_AsLong(x); + Py_DECREF(x); + return ival; + } +} +static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b) { + return b ? __Pyx_NewRef(Py_True) : __Pyx_NewRef(Py_False); +} +static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t ival) { + return PyInt_FromSize_t(ival); +} + + +/* #### Code section: utility_code_pragmas_end ### */ +#ifdef _MSC_VER +#pragma warning( pop ) +#endif + + + +/* #### Code section: end ### */ +#endif /* Py_PYTHON_H */ diff --git a/rednose_repo/rednose/helpers/ekf_sym_pyx.so b/rednose_repo/rednose/helpers/ekf_sym_pyx.so new file mode 100644 index 00000000000000..7495b922d546ce Binary files /dev/null and b/rednose_repo/rednose/helpers/ekf_sym_pyx.so differ diff --git a/rednose_repo/rednose/logger/logger.h b/rednose_repo/rednose/logger/logger.h deleted file mode 100644 index 8f541a2b44d488..00000000000000 --- a/rednose_repo/rednose/logger/logger.h +++ /dev/null @@ -1,20 +0,0 @@ -#pragma once - -#ifdef SWAGLOG -#include SWAGLOG -#else - -#define CLOUDLOG_DEBUG 10 -#define CLOUDLOG_INFO 20 -#define CLOUDLOG_WARNING 30 -#define CLOUDLOG_ERROR 40 -#define CLOUDLOG_CRITICAL 50 - -#define cloudlog(lvl, fmt, ...) printf(fmt "\n", ## __VA_ARGS__) - -#define LOGD(fmt, ...) cloudlog(CLOUDLOG_DEBUG, fmt, ## __VA_ARGS__) -#define LOG(fmt, ...) cloudlog(CLOUDLOG_INFO, fmt, ## __VA_ARGS__) -#define LOGW(fmt, ...) cloudlog(CLOUDLOG_WARNING, fmt, ## __VA_ARGS__) -#define LOGE(fmt, ...) cloudlog(CLOUDLOG_ERROR, fmt, ## __VA_ARGS__) - -#endif diff --git a/rednose_repo/rednose/templates/compute_pos.c b/rednose_repo/rednose/templates/compute_pos.c deleted file mode 100644 index 742c7d618701f4..00000000000000 --- a/rednose_repo/rednose/templates/compute_pos.c +++ /dev/null @@ -1,52 +0,0 @@ -#include -#include -#include - -typedef Eigen::Matrix R3M; -typedef Eigen::Matrix R1M; -typedef Eigen::Matrix O1M; -typedef Eigen::Matrix M3D; - -void gauss_newton(double *in_x, double *in_poses, double *in_img_positions) { - - double res[KDIM*2] = {0}; - double jac[KDIM*6] = {0}; - - O1M x(in_x); - O1M delta; - int counter = 0; - while ((delta.squaredNorm() > 0.0001 and counter < 30) or counter == 0){ - res_fun(in_x, in_poses, in_img_positions, res); - jac_fun(in_x, in_poses, in_img_positions, jac); - R1M E(res); R3M J(jac); - delta = (J.transpose()*J).inverse() * J.transpose() * E; - x = x - delta; - memcpy(in_x, x.data(), 3 * sizeof(double)); - counter = counter + 1; - } -} - - -void compute_pos(double *to_c, double *poses, double *img_positions, double *param, double *pos) { - param[0] = img_positions[KDIM*2-2]; - param[1] = img_positions[KDIM*2-1]; - param[2] = 0.1; - gauss_newton(param, poses, img_positions); - - Eigen::Quaterniond q; - q.w() = poses[KDIM*7-4]; - q.x() = poses[KDIM*7-3]; - q.y() = poses[KDIM*7-2]; - q.z() = poses[KDIM*7-1]; - M3D RC(to_c); - Eigen::Matrix3d R = q.normalized().toRotationMatrix(); - Eigen::Matrix3d rot = R * RC.transpose(); - - pos[0] = param[0]/param[2]; - pos[1] = param[1]/param[2]; - pos[2] = 1.0/param[2]; - O1M ecef_offset(poses + KDIM*7-7); - O1M ecef_output(pos); - ecef_output = rot*ecef_output + ecef_offset; - memcpy(pos, ecef_output.data(), 3 * sizeof(double)); -} diff --git a/rednose_repo/rednose/templates/ekf_c.c b/rednose_repo/rednose/templates/ekf_c.c deleted file mode 100644 index 3b4acdfe3cfa48..00000000000000 --- a/rednose_repo/rednose/templates/ekf_c.c +++ /dev/null @@ -1,123 +0,0 @@ -#include -#include - -typedef Eigen::Matrix DDM; -typedef Eigen::Matrix EEM; -typedef Eigen::Matrix DEM; - -void predict(double *in_x, double *in_P, double *in_Q, double dt) { - typedef Eigen::Matrix RRM; - - double nx[DIM] = {0}; - double in_F[EDIM*EDIM] = {0}; - - // functions from sympy - f_fun(in_x, dt, nx); - F_fun(in_x, dt, in_F); - - - EEM F(in_F); - EEM P(in_P); - EEM Q(in_Q); - - RRM F_main = F.topLeftCorner(MEDIM, MEDIM); - P.topLeftCorner(MEDIM, MEDIM) = (F_main * P.topLeftCorner(MEDIM, MEDIM)) * F_main.transpose(); - P.topRightCorner(MEDIM, EDIM - MEDIM) = F_main * P.topRightCorner(MEDIM, EDIM - MEDIM); - P.bottomLeftCorner(EDIM - MEDIM, MEDIM) = P.bottomLeftCorner(EDIM - MEDIM, MEDIM) * F_main.transpose(); - - P = P + dt*Q; - - // copy out state - memcpy(in_x, nx, DIM * sizeof(double)); - memcpy(in_P, P.data(), EDIM * EDIM * sizeof(double)); -} - -// note: extra_args dim only correct when null space projecting -// otherwise 1 -template -void update(double *in_x, double *in_P, Hfun h_fun, Hfun H_fun, Hfun Hea_fun, double *in_z, double *in_R, double *in_ea, double MAHA_THRESHOLD) { - typedef Eigen::Matrix ZZM; - typedef Eigen::Matrix ZDM; - typedef Eigen::Matrix XEM; - //typedef Eigen::Matrix EZM; - typedef Eigen::Matrix X1M; - typedef Eigen::Matrix XXM; - - double in_hx[ZDIM] = {0}; - double in_H[ZDIM * DIM] = {0}; - double in_H_mod[EDIM * DIM] = {0}; - double delta_x[EDIM] = {0}; - double x_new[DIM] = {0}; - - - // state x, P - Eigen::Matrix z(in_z); - EEM P(in_P); - ZZM pre_R(in_R); - - // functions from sympy - h_fun(in_x, in_ea, in_hx); - H_fun(in_x, in_ea, in_H); - ZDM pre_H(in_H); - - // get y (y = z - hx) - Eigen::Matrix pre_y(in_hx); pre_y = z - pre_y; - X1M y; XXM H; XXM R; - if (Hea_fun){ - typedef Eigen::Matrix ZAM; - double in_Hea[ZDIM * EADIM] = {0}; - Hea_fun(in_x, in_ea, in_Hea); - ZAM Hea(in_Hea); - XXM A = Hea.transpose().fullPivLu().kernel(); - - - y = A.transpose() * pre_y; - H = A.transpose() * pre_H; - R = A.transpose() * pre_R * A; - } else { - y = pre_y; - H = pre_H; - R = pre_R; - } - // get modified H - H_mod_fun(in_x, in_H_mod); - DEM H_mod(in_H_mod); - XEM H_err = H * H_mod; - - // Do mahalobis distance test - if (MAHA_TEST){ - XXM a = (H_err * P * H_err.transpose() + R).inverse(); - double maha_dist = y.transpose() * a * y; - if (maha_dist > MAHA_THRESHOLD){ - R = 1.0e16 * R; - } - } - - // Outlier resilient weighting - double weight = 1;//(1.5)/(1 + y.squaredNorm()/R.sum()); - - // kalman gains and I_KH - XXM S = ((H_err * P) * H_err.transpose()) + R/weight; - XEM KT = S.fullPivLu().solve(H_err * P.transpose()); - //EZM K = KT.transpose(); TODO: WHY DOES THIS NOT COMPILE? - //EZM K = S.fullPivLu().solve(H_err * P.transpose()).transpose(); - //std::cout << "Here is the matrix rot:\n" << K << std::endl; - EEM I_KH = Eigen::Matrix::Identity() - (KT.transpose() * H_err); - - // update state by injecting dx - Eigen::Matrix dx(delta_x); - dx = (KT.transpose() * y); - memcpy(delta_x, dx.data(), EDIM * sizeof(double)); - err_fun(in_x, delta_x, x_new); - Eigen::Matrix x(x_new); - - // update cov - P = ((I_KH * P) * I_KH.transpose()) + ((KT.transpose() * R) * KT); - - // copy out state - memcpy(in_x, x.data(), DIM * sizeof(double)); - memcpy(in_P, P.data(), EDIM * EDIM * sizeof(double)); - memcpy(in_z, y.data(), y.rows() * sizeof(double)); -} - - diff --git a/rednose_repo/rednose/templates/feature_handler.c b/rednose_repo/rednose/templates/feature_handler.c deleted file mode 100644 index 9c580c2eac6d56..00000000000000 --- a/rednose_repo/rednose/templates/feature_handler.c +++ /dev/null @@ -1,56 +0,0 @@ -bool sane(double track [K + 1][5]) { - double diffs_x [K-1]; - double diffs_y [K-1]; - int i; - for (i = 0; i < K-1; i++) { - diffs_x[i] = fabs(track[i+2][2] - track[i+1][2]); - diffs_y[i] = fabs(track[i+2][3] - track[i+1][3]); - } - for (i = 1; i < K-1; i++) { - if (((diffs_x[i] > 0.05 or diffs_x[i-1] > 0.05) and - (diffs_x[i] > 2*diffs_x[i-1] or - diffs_x[i] < .5*diffs_x[i-1])) or - ((diffs_y[i] > 0.05 or diffs_y[i-1] > 0.05) and - (diffs_y[i] > 2*diffs_y[i-1] or - diffs_y[i] < .5*diffs_y[i-1]))){ - return false; - } - } - return true; -} - -void merge_features(double *tracks, double *features, long long *empty_idxs) { - double feature_arr [3000][5]; - memcpy(feature_arr, features, 3000 * 5 * sizeof(double)); - double track_arr [6000][K + 1][5]; - memcpy(track_arr, tracks, (K+1) * 6000 * 5 * sizeof(double)); - int match; - int empty_idx = 0; - int idx; - for (int i = 0; i < 3000; i++) { - match = feature_arr[i][4]; - if (track_arr[match][0][1] == match and track_arr[match][0][2] == 0){ - track_arr[match][0][0] = track_arr[match][0][0] + 1; - track_arr[match][0][1] = feature_arr[i][1]; - track_arr[match][0][2] = 1; - idx = track_arr[match][0][0]; - memcpy(track_arr[match][idx], feature_arr[i], 5 * sizeof(double)); - if (idx == K){ - // label complete - track_arr[match][0][3] = 1; - if (sane(track_arr[match])){ - // label valid - track_arr[match][0][4] = 1; - } - } - } else { - // gen new track with this feature - track_arr[empty_idxs[empty_idx]][0][0] = 1; - track_arr[empty_idxs[empty_idx]][0][1] = feature_arr[i][1]; - track_arr[empty_idxs[empty_idx]][0][2] = 1; - memcpy(track_arr[empty_idxs[empty_idx]][1], feature_arr[i], 5 * sizeof(double)); - empty_idx = empty_idx + 1; - } - } - memcpy(tracks, track_arr, (K+1) * 6000 * 5 * sizeof(double)); -} diff --git a/release/build_devel.sh b/release/build_devel.sh deleted file mode 100755 index 7fce11ca729147..00000000000000 --- a/release/build_devel.sh +++ /dev/null @@ -1,87 +0,0 @@ -#!/usr/bin/bash -set -ex - -DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)" - -SOURCE_DIR="$(git -C $DIR rev-parse --show-toplevel)" -if [ -z "$TARGET_DIR" ]; then - TARGET_DIR="$(mktemp -d)" -fi - -# set git identity -source $DIR/identity.sh - -echo "[-] Setting up target repo T=$SECONDS" - -rm -rf $TARGET_DIR -mkdir -p $TARGET_DIR -cd $TARGET_DIR -cp -r $SOURCE_DIR/.git $TARGET_DIR -pre-commit uninstall || true - -echo "[-] bringing master-ci and devel in sync T=$SECONDS" -cd $TARGET_DIR - -git fetch --depth 1 origin master-ci -git fetch --depth 1 origin devel - -git checkout -f --track origin/master-ci -git reset --hard master-ci -git checkout master-ci -git reset --hard origin/devel -git clean -xdff -git lfs uninstall - -# remove everything except .git -echo "[-] erasing old openpilot T=$SECONDS" -find . -maxdepth 1 -not -path './.git' -not -name '.' -not -name '..' -exec rm -rf '{}' \; - -# reset source tree -cd $SOURCE_DIR -git clean -xdff - -# do the files copy -echo "[-] copying files T=$SECONDS" -cd $SOURCE_DIR -cp -pR --parents $(./release/release_files.py) $TARGET_DIR/ - -# in the directory -cd $TARGET_DIR -rm -f panda/board/obj/panda.bin.signed - -# include source commit hash and build date in commit -GIT_HASH=$(git --git-dir=$SOURCE_DIR/.git rev-parse HEAD) -DATETIME=$(date '+%Y-%m-%dT%H:%M:%S') -VERSION=$(cat $SOURCE_DIR/common/version.h | awk -F\" '{print $2}') - -echo "[-] committing version $VERSION T=$SECONDS" -git add -f . -git status -git commit -a -m "openpilot v$VERSION release - -date: $DATETIME -master commit: $GIT_HASH -" - -# should be no submodules or LFS files -git submodule status -if [ ! -z "$(git lfs ls-files)" ]; then - echo "LFS files detected!" - exit 1 -fi - -# ensure files are within GitHub's limit -BIG_FILES="$(find . -type f -not -path './.git/*' -size +95M)" -if [ ! -z "$BIG_FILES" ]; then - printf '\n\n\n' - echo "Found files exceeding GitHub's 100MB limit:" - echo "$BIG_FILES" - exit 1 -fi - -if [ ! -z "$BRANCH" ]; then - echo "[-] Pushing to $BRANCH T=$SECONDS" - git push -f origin master-ci:$BRANCH -fi - -echo "[-] done T=$SECONDS, ready at $TARGET_DIR" diff --git a/release/build_release.sh b/release/build_release.sh deleted file mode 100755 index a9e00d583da9b3..00000000000000 --- a/release/build_release.sh +++ /dev/null @@ -1,103 +0,0 @@ -#!/usr/bin/bash -set -e -set -x - -# git diff --name-status origin/release3-staging | grep "^A" | less - -DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)" - -cd $DIR - -BUILD_DIR=/data/openpilot -SOURCE_DIR="$(git rev-parse --show-toplevel)" - -if [ -z "$RELEASE_BRANCH" ]; then - echo "RELEASE_BRANCH is not set" - exit 1 -fi - - -# set git identity -source $DIR/identity.sh - -echo "[-] Setting up repo T=$SECONDS" -rm -rf $BUILD_DIR -mkdir -p $BUILD_DIR -cd $BUILD_DIR -git init -git remote add origin git@github.com:commaai/openpilot.git -git checkout --orphan $RELEASE_BRANCH - -# do the files copy -echo "[-] copying files T=$SECONDS" -cd $SOURCE_DIR -cp -pR --parents $(./release/release_files.py) $BUILD_DIR/ - -# in the directory -cd $BUILD_DIR - -rm -f panda/board/obj/panda.bin.signed -rm -f panda/board/obj/panda_h7.bin.signed - -VERSION=$(cat common/version.h | awk -F[\"-] '{print $2}') -echo "#define COMMA_VERSION \"$VERSION-release\"" > common/version.h - -echo "[-] committing version $VERSION T=$SECONDS" -git add -f . -git commit -a -m "openpilot v$VERSION release" - -# Build -export PYTHONPATH="$BUILD_DIR" -scons -j$(nproc) --minimal - -# release panda fw -CERT=/data/pandaextra/certs/release RELEASE=1 scons -j$(nproc) panda/ - -# Ensure no submodules in release -if test "$(git submodule--helper list | wc -l)" -gt "0"; then - echo "submodules found:" - git submodule--helper list - exit 1 -fi -git submodule status - -# Cleanup -find . -name '*.a' -delete -find . -name '*.o' -delete -find . -name '*.os' -delete -find . -name '*.pyc' -delete -find . -name 'moc_*' -delete -find . -name '__pycache__' -delete -rm -rf .sconsign.dblite Jenkinsfile release/ -rm selfdrive/modeld/models/supercombo.onnx - -find third_party/ -name '*x86*' -exec rm -r {} + -find third_party/ -name '*Darwin*' -exec rm -r {} + - - -# Restore third_party -git checkout third_party/ - -# Mark as prebuilt release -touch prebuilt - -# Add built files to git -git add -f . -git commit --amend -m "openpilot v$VERSION" - -# Run tests -TEST_FILES="tools/" -cd $SOURCE_DIR -cp -pR -n --parents $TEST_FILES $BUILD_DIR/ -cd $BUILD_DIR -RELEASE=1 pytest -n0 -s selfdrive/test/test_onroad.py -#system/manager/test/test_manager.py -#pytest selfdrive/car/tests/test_car_interfaces.py -rm -rf $TEST_FILES - -if [ ! -z "$RELEASE_BRANCH" ]; then - echo "[-] pushing release T=$SECONDS" - git push -f origin $RELEASE_BRANCH:$RELEASE_BRANCH -fi - -echo "[-] done T=$SECONDS" diff --git a/release/check-dirty.sh b/release/check-dirty.sh deleted file mode 100755 index 9c6389f3801ac6..00000000000000 --- a/release/check-dirty.sh +++ /dev/null @@ -1,11 +0,0 @@ -#!/usr/bin/bash -set -e - -DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)" -cd $DIR - -if [ ! -z "$(git status --porcelain)" ]; then - echo "Dirty working tree after build:" - git status --porcelain - exit 1 -fi diff --git a/release/check-submodules.sh b/release/check-submodules.sh deleted file mode 100755 index bff8d7a28fe301..00000000000000 --- a/release/check-submodules.sh +++ /dev/null @@ -1,12 +0,0 @@ -#!/bin/bash - -while read hash submodule ref; do - git -C $submodule fetch --depth 2000 origin master - git -C $submodule branch -r --contains $hash | grep "origin/master" - if [ "$?" -eq 0 ]; then - echo "$submodule ok" - else - echo "$submodule: $hash is not on master" - exit 1 - fi -done <<< $(git submodule status --recursive) diff --git a/release/identity.sh b/release/identity.sh deleted file mode 100644 index c699c94650fed0..00000000000000 --- a/release/identity.sh +++ /dev/null @@ -1,4 +0,0 @@ -export GIT_COMMITTER_NAME="Vehicle Researcher" -export GIT_COMMITTER_EMAIL="user@comma.ai" -export GIT_AUTHOR_NAME="Vehicle Researcher" -export GIT_AUTHOR_EMAIL="user@comma.ai" diff --git a/release/release_files.py b/release/release_files.py deleted file mode 100755 index 031b51737d7656..00000000000000 --- a/release/release_files.py +++ /dev/null @@ -1,142 +0,0 @@ -#!/usr/bin/env python3 -import os -import re -from pathlib import Path - -HERE = os.path.abspath(os.path.dirname(__file__)) -ROOT = HERE + "/.." - -# blacklisting is for two purposes: -# - minimizing release download size -# - keeping the diff readable -blacklist = [ - "body/STL/", - - "panda/drivers/", - "panda/examples/", - "panda/tests/safety/", - - "opendbc/.*.dbc$", - "opendbc/generator/", - - "cereal/.*test.*", - "^common/tests/", - - # particularly large text files - "poetry.lock", - "third_party/catch2", - "selfdrive/car/tests/test_models.*", - - "^tools/", - "^scripts/", - "^tinygrad_repo/", - - "matlab.*.md", - - ".git/", - ".github/", - ".devcontainer/", - "Darwin/", - ".vscode", - - # common things - "LICENSE", - "Dockerfile", - ".pre-commit", - - # no LFS or submodules in release - ".lfsconfig", - ".gitattributes", - ".git$", - ".gitmodules", -] - -# gets you through the blacklist -whitelist = [ - "tools/lib/", - "tools/bodyteleop/", - - "tinygrad_repo/openpilot/compile2.py", - "tinygrad_repo/extra/onnx.py", - "tinygrad_repo/extra/onnx_ops.py", - "tinygrad_repo/extra/thneed.py", - "tinygrad_repo/extra/utils.py", - "tinygrad_repo/tinygrad/codegen/kernel.py", - "tinygrad_repo/tinygrad/codegen/linearizer.py", - "tinygrad_repo/tinygrad/features/image.py", - "tinygrad_repo/tinygrad/features/search.py", - "tinygrad_repo/tinygrad/nn/*", - "tinygrad_repo/tinygrad/renderer/cstyle.py", - "tinygrad_repo/tinygrad/renderer/opencl.py", - "tinygrad_repo/tinygrad/runtime/lib.py", - "tinygrad_repo/tinygrad/runtime/ops_cpu.py", - "tinygrad_repo/tinygrad/runtime/ops_disk.py", - "tinygrad_repo/tinygrad/runtime/ops_gpu.py", - "tinygrad_repo/tinygrad/shape/*", - "tinygrad_repo/tinygrad/.*.py", - - # TODO: do this automatically - "opendbc/comma_body.dbc", - "opendbc/chrysler_ram_hd_generated.dbc", - "opendbc/chrysler_ram_dt_generated.dbc", - "opendbc/chrysler_pacifica_2017_hybrid_generated.dbc", - "opendbc/chrysler_pacifica_2017_hybrid_private_fusion.dbc", - "opendbc/gm_global_a_powertrain_generated.dbc", - "opendbc/gm_global_a_object.dbc", - "opendbc/gm_global_a_chassis.dbc", - "opendbc/FORD_CADS.dbc", - "opendbc/ford_fusion_2018_adas.dbc", - "opendbc/ford_lincoln_base_pt.dbc", - "opendbc/honda_accord_2018_can_generated.dbc", - "opendbc/acura_ilx_2016_can_generated.dbc", - "opendbc/acura_rdx_2018_can_generated.dbc", - "opendbc/acura_rdx_2020_can_generated.dbc", - "opendbc/honda_civic_touring_2016_can_generated.dbc", - "opendbc/honda_civic_hatchback_ex_2017_can_generated.dbc", - "opendbc/honda_crv_touring_2016_can_generated.dbc", - "opendbc/honda_crv_ex_2017_can_generated.dbc", - "opendbc/honda_crv_ex_2017_body_generated.dbc", - "opendbc/honda_crv_executive_2016_can_generated.dbc", - "opendbc/honda_fit_ex_2018_can_generated.dbc", - "opendbc/honda_odyssey_exl_2018_generated.dbc", - "opendbc/honda_odyssey_extreme_edition_2018_china_can_generated.dbc", - "opendbc/honda_insight_ex_2019_can_generated.dbc", - "opendbc/acura_ilx_2016_nidec.dbc", - "opendbc/honda_civic_ex_2022_can_generated.dbc", - "opendbc/hyundai_canfd.dbc", - "opendbc/hyundai_kia_generic.dbc", - "opendbc/hyundai_kia_mando_front_radar_generated.dbc", - "opendbc/mazda_2017.dbc", - "opendbc/nissan_x_trail_2017_generated.dbc", - "opendbc/nissan_leaf_2018_generated.dbc", - "opendbc/subaru_global_2017_generated.dbc", - "opendbc/subaru_global_2020_hybrid_generated.dbc", - "opendbc/subaru_outback_2015_generated.dbc", - "opendbc/subaru_outback_2019_generated.dbc", - "opendbc/subaru_forester_2017_generated.dbc", - "opendbc/toyota_tnga_k_pt_generated.dbc", - "opendbc/toyota_new_mc_pt_generated.dbc", - "opendbc/toyota_nodsu_pt_generated.dbc", - "opendbc/toyota_adas.dbc", - "opendbc/toyota_tss2_adas.dbc", - "opendbc/vw_golf_mk4.dbc", - "opendbc/vw_mqb_2010.dbc", - "opendbc/tesla_can.dbc", - "opendbc/tesla_radar_bosch_generated.dbc", - "opendbc/tesla_radar_continental_generated.dbc", - "opendbc/tesla_powertrain.dbc", -] - - -if __name__ == "__main__": - for f in Path(ROOT).rglob("**/*"): - if not (f.is_file() or f.is_symlink()): - continue - - rf = str(f.relative_to(ROOT)) - blacklisted = any(re.search(p, rf) for p in blacklist) - whitelisted = any(re.search(p, rf) for p in whitelist) - if blacklisted and not whitelisted: - continue - - print(rf) diff --git a/scripts/__init__.py b/scripts/__init__.py deleted file mode 100644 index e69de29bb2d1d6..00000000000000 diff --git a/scripts/apply-pr.sh b/scripts/apply-pr.sh deleted file mode 100644 index 74f765391a35de..00000000000000 --- a/scripts/apply-pr.sh +++ /dev/null @@ -1,11 +0,0 @@ -#!/bin/bash - -if [ $# -eq 0 ]; then - echo "usage: $0 " - exit 1 -fi - -BASE="https://github.com/commaai/openpilot/pull/" -PR_NUM="$(echo $1 | grep -o -E '[0-9]+')" - -curl -L $BASE/$PR_NUM.patch | git apply -3 diff --git a/scripts/build_small.sh b/scripts/build_small.sh deleted file mode 100644 index 90f55373e249f2..00000000000000 --- a/scripts/build_small.sh +++ /dev/null @@ -1,39 +0,0 @@ -#!/bin/bash -set -ex - -DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)" -cd $DIR - -# git clone --mirror -SRC=/tmp/openpilot.git/ -OUT=/tmp/smallpilot/ - -echo "starting size $(du -hs .git/)" - -rm -rf $OUT - -cd $SRC -git remote update - -# copy contents -#rsync -a --exclude='.git/' $DIR $OUT - -cp -r $SRC $OUT - -cd $OUT - -# remove all tags -git tag -l | xargs git tag -d - -# remove non-master branches -BRANCHES="release2 release3 devel master-ci nightly" -for branch in $BRANCHES; do - git branch -D $branch - git branch -D ${branch}-staging || true -done - -#git gc -git reflog expire --expire=now --all -git gc --prune=now -git gc --aggressive --prune=now -echo "new one is $(du -hs .)" diff --git a/scripts/cell.sh b/scripts/cell.sh deleted file mode 100644 index 4ba007a532eae3..00000000000000 --- a/scripts/cell.sh +++ /dev/null @@ -1,3 +0,0 @@ -#!/usr/bin/bash -nmcli connection modify --temporary esim ipv4.route-metric 1 ipv6.route-metric 1 -nmcli con up esim diff --git a/scripts/checkout-pr.sh b/scripts/checkout-pr.sh deleted file mode 100644 index 43f658befff302..00000000000000 --- a/scripts/checkout-pr.sh +++ /dev/null @@ -1,16 +0,0 @@ -#!/bin/bash -set -e - -if [ $# -eq 0 ]; then - echo "usage: $0 " - exit 1 -fi - -BASE="https://github.com/commaai/openpilot/pull/" -PR_NUM="$(echo $1 | grep -o -E '[0-9]+')" -BRANCH=tmp-pr${PR_NUM} - -git branch -D -f $BRANCH || true -git fetch -u -f origin pull/$PR_NUM/head:$BRANCH -git switch $BRANCH -git reset --hard FETCH_HEAD diff --git a/scripts/code_stats.py b/scripts/code_stats.py deleted file mode 100644 index 3189cd7cc1bd20..00000000000000 --- a/scripts/code_stats.py +++ /dev/null @@ -1,54 +0,0 @@ -#!/usr/bin/env python3 -import os -import ast -import stat -import subprocess - -fouts = {x.decode('utf-8') for x in subprocess.check_output(['git', 'ls-files']).strip().split()} - -pyf = [] -for d in ["cereal", "common", "scripts", "selfdrive", "tools"]: - for root, _, files in os.walk(d): - for f in files: - if f.endswith(".py"): - pyf.append(os.path.join(root, f)) - -imps: set[str] = set() - -class Analyzer(ast.NodeVisitor): - def visit_Import(self, node): - for alias in node.names: - imps.add(alias.name) - self.generic_visit(node) - - def visit_ImportFrom(self, node): - imps.add(node.module) - self.generic_visit(node) - -tlns = 0 -carlns = 0 -scriptlns = 0 -testlns = 0 -for f in sorted(pyf): - if f not in fouts: - continue - xbit = bool(os.stat(f)[stat.ST_MODE] & stat.S_IXUSR) - src = open(f).read() - lns = len(src.split("\n")) - tree = ast.parse(src) - Analyzer().visit(tree) - print("%5d %s %s" % (lns, f, xbit)) - if 'test' in f: - testlns += lns - elif f.startswith(('tools/', 'scripts/', 'selfdrive/debug')): - scriptlns += lns - elif f.startswith('selfdrive/car'): - carlns += lns - else: - tlns += lns - -print("%d lines of openpilot python" % tlns) -print("%d lines of car ports" % carlns) -print("%d lines of tools/scripts/debug" % scriptlns) -print("%d lines of tests" % testlns) -#print(sorted(list(imps))) diff --git a/scripts/count_cars.py b/scripts/count_cars.py deleted file mode 100644 index 28057ddb04da3c..00000000000000 --- a/scripts/count_cars.py +++ /dev/null @@ -1,11 +0,0 @@ -#!/usr/bin/env python3 -from collections import Counter -from pprint import pprint - -from openpilot.selfdrive.car.docs import get_all_car_docs - -if __name__ == "__main__": - cars = get_all_car_docs() - make_count = Counter(l.make for l in cars) - print("\n", "*" * 20, len(cars), "total", "*" * 20, "\n") - pprint(make_count) diff --git a/scripts/disable-powersave.py b/scripts/disable-powersave.py deleted file mode 100644 index 367b4108b0d28b..00000000000000 --- a/scripts/disable-powersave.py +++ /dev/null @@ -1,5 +0,0 @@ -#!/usr/bin/env python3 -from openpilot.system.hardware import HARDWARE - -if __name__ == "__main__": - HARDWARE.set_power_save(False) diff --git a/scripts/launch_corolla.sh b/scripts/launch_corolla.sh deleted file mode 100644 index 4e5bca6ce5e6d1..00000000000000 --- a/scripts/launch_corolla.sh +++ /dev/null @@ -1,7 +0,0 @@ -#!/usr/bin/bash - -DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)" - -export FINGERPRINT="TOYOTA_COROLLA_TSS2" -export SKIP_FW_QUERY="1" -$DIR/../launch_openpilot.sh diff --git a/scripts/pyqt_demo.py b/scripts/pyqt_demo.py deleted file mode 100644 index 783728bdb88e37..00000000000000 --- a/scripts/pyqt_demo.py +++ /dev/null @@ -1,14 +0,0 @@ -#!/usr/bin/env python3 - -from PyQt5.QtWidgets import QApplication, QLabel -from openpilot.selfdrive.ui.qt.python_helpers import set_main_window - - -if __name__ == "__main__": - app = QApplication([]) - label = QLabel('Hello World!') - - # Set full screen and rotate - set_main_window(label) - - app.exec_() diff --git a/scripts/pyupgrade.sh b/scripts/pyupgrade.sh deleted file mode 100644 index 19aac4b5e23d5c..00000000000000 --- a/scripts/pyupgrade.sh +++ /dev/null @@ -1,7 +0,0 @@ -#!/usr/bin/env bash - -set -e - -pip install --upgrade pyupgrade - -git ls-files '*.py' | grep -v 'third_party/' | xargs pyupgrade --py311-plus diff --git a/scripts/retry.sh b/scripts/retry.sh deleted file mode 100644 index 4861748e557dbf..00000000000000 --- a/scripts/retry.sh +++ /dev/null @@ -1,27 +0,0 @@ -#!/bin/bash - -function fail { - echo $1 >&2 - exit 1 -} - -function retry { - local n=1 - local max=3 # 3 retries before failure - local delay=5 # delay between retries, 5 seconds - while true; do - echo "Running command '$@' with retry, attempt $n/$max" - "$@" && break || { - if [[ $n -lt $max ]]; then - ((n++)) - sleep $delay; - else - fail "The command has failed after $n attempts." - fi - } - done -} - -if [[ "${BASH_SOURCE[0]}" == "${0}" ]]; then - retry "$@" -fi diff --git a/scripts/stop_updater.sh b/scripts/stop_updater.sh deleted file mode 100644 index 703b3639282a48..00000000000000 --- a/scripts/stop_updater.sh +++ /dev/null @@ -1,7 +0,0 @@ -#!/usr/bin/env sh - -# Stop updater -pkill -2 -f system.updated.updated - -# Remove pending update -rm -f /data/safe_staging/finalized/.overlay_consistent diff --git a/scripts/update_now.sh b/scripts/update_now.sh deleted file mode 100644 index c34228976a54e0..00000000000000 --- a/scripts/update_now.sh +++ /dev/null @@ -1,4 +0,0 @@ -#!/usr/bin/env sh - -# Send SIGHUP to updater -pkill -1 -f system.updated diff --git a/scripts/waste.c b/scripts/waste.c deleted file mode 100644 index 2e492916a73a89..00000000000000 --- a/scripts/waste.c +++ /dev/null @@ -1,89 +0,0 @@ -// gcc -O2 waste.c -lpthread -owaste -// gcc -O2 waste.c -lpthread -owaste -DMEM - -#define _GNU_SOURCE -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include "../common/timing.h" - -int get_nprocs(void); -double *ttime, *oout; - -void waste(int pid) { - cpu_set_t my_set; - CPU_ZERO(&my_set); - CPU_SET(pid, &my_set); - int ret = sched_setaffinity(0, sizeof(cpu_set_t), &my_set); - printf("set affinity to %d: %d\n", pid, ret); - - // 128 MB - float32x4_t *tmp = (float32x4_t *)malloc(0x800000*sizeof(float32x4_t)); - - // comment out the memset for CPU only and not RAM - // otherwise we need this to avoid the zero page -#ifdef MEM - memset(tmp, 0xaa, 0x800000*sizeof(float32x4_t)); -#endif - - float32x4_t out; - - double sec = seconds_since_boot(); - while (1) { - for (int i = 0; i < 0x10; i++) { - for (int j = 0; j < 0x800000; j+=0x20) { - out = vmlaq_f32(out, tmp[j+0], tmp[j+1]); - out = vmlaq_f32(out, tmp[j+2], tmp[j+3]); - out = vmlaq_f32(out, tmp[j+4], tmp[j+5]); - out = vmlaq_f32(out, tmp[j+6], tmp[j+7]); - out = vmlaq_f32(out, tmp[j+8], tmp[j+9]); - out = vmlaq_f32(out, tmp[j+10], tmp[j+11]); - out = vmlaq_f32(out, tmp[j+12], tmp[j+13]); - out = vmlaq_f32(out, tmp[j+14], tmp[j+15]); - out = vmlaq_f32(out, tmp[j+16], tmp[j+17]); - out = vmlaq_f32(out, tmp[j+18], tmp[j+19]); - out = vmlaq_f32(out, tmp[j+20], tmp[j+21]); - out = vmlaq_f32(out, tmp[j+22], tmp[j+23]); - out = vmlaq_f32(out, tmp[j+24], tmp[j+25]); - out = vmlaq_f32(out, tmp[j+26], tmp[j+27]); - out = vmlaq_f32(out, tmp[j+28], tmp[j+29]); - out = vmlaq_f32(out, tmp[j+30], tmp[j+31]); - } - } - double nsec = seconds_since_boot(); - ttime[pid] = nsec-sec; - oout[pid] = out[0] + out[1] + out[2] + out[3]; - sec = nsec; - } -} - -int main() { - int CORES = get_nprocs(); - ttime = (double *)malloc(CORES*sizeof(double)); - oout = (double *)malloc(CORES*sizeof(double)); - - pthread_t waster[CORES]; - for (long i = 0; i < CORES; i++) { - ttime[i] = NAN; - pthread_create(&waster[i], NULL, (void *(*)(void *))waste, (void*)i); - } - while (1) { - double avg = 0.0; - double iavg = 0.0; - for (int i = 0; i < CORES; i++) { - avg += ttime[i]; - iavg += 1/ttime[i]; - printf("%4.2f ", ttime[i]); - } - double mb_per_sec = (16.*0x800000/(1024*1024))*sizeof(float32x4_t)*iavg; - printf("-- %4.2f -- %.2f MB/s \n", avg/CORES, mb_per_sec); - sleep(1); - } -} - diff --git a/scripts/waste.py b/scripts/waste.py deleted file mode 100644 index 0764ff77c37cb6..00000000000000 --- a/scripts/waste.py +++ /dev/null @@ -1,33 +0,0 @@ -#!/usr/bin/env python3 -import os -import time -import numpy as np -from multiprocessing import Process -from setproctitle import setproctitle - -def waste(core): - os.sched_setaffinity(0, [core,]) - - m1 = np.zeros((200, 200)) + 0.8 - m2 = np.zeros((200, 200)) + 1.2 - - i = 1 - st = time.monotonic() - j = 0 - while 1: - if (i % 100) == 0: - setproctitle("%3d: %8d" % (core, i)) - lt = time.monotonic() - print("%3d: %8d %f %.2f" % (core, i, lt-st, j)) - st = lt - i += 1 - j = np.sum(np.matmul(m1, m2)) - -def main(gctx=None): - print("1-2 seconds is baseline") - for i in range(os.cpu_count()): - p = Process(target=waste, args=(i,)) - p.start() - -if __name__ == "__main__": - main() diff --git a/selfdrive/assets/assets.qrc b/selfdrive/assets/assets.qrc deleted file mode 100644 index 6d8d8df334ccc8..00000000000000 --- a/selfdrive/assets/assets.qrc +++ /dev/null @@ -1,20 +0,0 @@ - - - ../../third_party/bootstrap/bootstrap-icons.svg - img_continue_triangle.svg - img_circled_check.svg - img_circled_slash.svg - img_eye_open.svg - img_eye_closed.svg - icons/close.svg - offroad/icon_lock_closed.svg - offroad/icon_checkmark.svg - offroad/icon_warning.png - offroad/icon_wifi_strength_low.svg - offroad/icon_wifi_strength_medium.svg - offroad/icon_wifi_strength_high.svg - offroad/icon_wifi_strength_full.svg - - ../ui/translations/languages.json - - diff --git a/selfdrive/assets/body/awake.gif b/selfdrive/assets/body/awake.gif deleted file mode 100644 index 7ec67055ddbc5e..00000000000000 Binary files a/selfdrive/assets/body/awake.gif and /dev/null differ diff --git a/selfdrive/assets/body/sleep.gif b/selfdrive/assets/body/sleep.gif deleted file mode 100644 index 469cc803389e7b..00000000000000 Binary files a/selfdrive/assets/body/sleep.gif and /dev/null differ diff --git a/selfdrive/car/README.md b/selfdrive/car/README.md deleted file mode 100644 index 2c49cf20511cc4..00000000000000 --- a/selfdrive/car/README.md +++ /dev/null @@ -1,19 +0,0 @@ -## Car port structure - -### interface.py -Generic interface to send and receive messages from CAN (controlsd uses this to communicate with car) - -### fingerprints.py -Fingerprints for matching to a specific car - -### carcontroller.py -Builds CAN messages to send to car - -##### carstate.py -Reads CAN from car and builds openpilot CarState message - -##### values.py -Limits for actuation, general constants for cars, and supported car documentation - -##### radar_interface.py -Interface for parsing radar points from the car diff --git a/selfdrive/car/ford/tests/__init__.py b/selfdrive/car/ford/tests/__init__.py deleted file mode 100644 index e69de29bb2d1d6..00000000000000 diff --git a/selfdrive/car/ford/tests/print_platform_codes.py b/selfdrive/car/ford/tests/print_platform_codes.py deleted file mode 100755 index 670199980a6838..00000000000000 --- a/selfdrive/car/ford/tests/print_platform_codes.py +++ /dev/null @@ -1,30 +0,0 @@ -#!/usr/bin/env python3 -from collections import defaultdict - -from cereal import car -from openpilot.selfdrive.car.ford.values import get_platform_codes -from openpilot.selfdrive.car.ford.fingerprints import FW_VERSIONS - -Ecu = car.CarParams.Ecu -ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()} - - -if __name__ == "__main__": - cars_for_code: defaultdict = defaultdict(lambda: defaultdict(set)) - - for car_model, ecus in FW_VERSIONS.items(): - print(car_model) - for ecu in sorted(ecus, key=lambda x: int(x[0])): - platform_codes = get_platform_codes(ecus[ecu]) - for code in platform_codes: - cars_for_code[ecu][code].add(car_model) - - print(f' (Ecu.{ECU_NAME[ecu[0]]}, {hex(ecu[1])}, {ecu[2]}):') - print(f' Codes: {sorted(platform_codes)}') - print() - - print('\nCar models vs. platform codes:') - for ecu, codes in cars_for_code.items(): - print(f' (Ecu.{ECU_NAME[ecu[0]]}, {hex(ecu[1])}, {ecu[2]}):') - for code, cars in codes.items(): - print(f' {code!r}: {sorted(map(str, cars))}') diff --git a/selfdrive/car/ford/tests/test_ford.py b/selfdrive/car/ford/tests/test_ford.py deleted file mode 100644 index b1a19017d401b0..00000000000000 --- a/selfdrive/car/ford/tests/test_ford.py +++ /dev/null @@ -1,143 +0,0 @@ -import random -from collections.abc import Iterable - -import capnp -from hypothesis import settings, given, strategies as st -from parameterized import parameterized - -from cereal import car -from openpilot.selfdrive.car.fw_versions import build_fw_dict -from openpilot.selfdrive.car.ford.values import CAR, FW_QUERY_CONFIG, FW_PATTERN, get_platform_codes -from openpilot.selfdrive.car.ford.fingerprints import FW_VERSIONS - -Ecu = car.CarParams.Ecu - - -ECU_ADDRESSES = { - Ecu.eps: 0x730, # Power Steering Control Module (PSCM) - Ecu.abs: 0x760, # Anti-Lock Brake System (ABS) - Ecu.fwdRadar: 0x764, # Cruise Control Module (CCM) - Ecu.fwdCamera: 0x706, # Image Processing Module A (IPMA) - Ecu.engine: 0x7E0, # Powertrain Control Module (PCM) - Ecu.shiftByWire: 0x732, # Gear Shift Module (GSM) - Ecu.debug: 0x7D0, # Accessory Protocol Interface Module (APIM) -} - - -ECU_PART_NUMBER = { - Ecu.eps: [ - b"14D003", - ], - Ecu.abs: [ - b"2D053", - ], - Ecu.fwdRadar: [ - b"14D049", - ], - Ecu.fwdCamera: [ - b"14F397", # Ford Q3 - b"14H102", # Ford Q4 - ], -} - - -class TestFordFW: - def test_fw_query_config(self): - for (ecu, addr, subaddr) in FW_QUERY_CONFIG.extra_ecus: - assert ecu in ECU_ADDRESSES, "Unknown ECU" - assert addr == ECU_ADDRESSES[ecu], "ECU address mismatch" - assert subaddr is None, "Unexpected ECU subaddress" - - @parameterized.expand(FW_VERSIONS.items()) - def test_fw_versions(self, car_model: str, fw_versions: dict[tuple[capnp.lib.capnp._EnumModule, int, int | None], Iterable[bytes]]): - for (ecu, addr, subaddr), fws in fw_versions.items(): - assert ecu in ECU_PART_NUMBER, "Unexpected ECU" - assert addr == ECU_ADDRESSES[ecu], "ECU address mismatch" - assert subaddr is None, "Unexpected ECU subaddress" - - for fw in fws: - assert len(fw) == 24, "Expected ECU response to be 24 bytes" - - match = FW_PATTERN.match(fw) - assert match is not None, f"Unable to parse FW: {fw!r}" - if match: - part_number = match.group("part_number") - assert part_number in ECU_PART_NUMBER[ecu], f"Unexpected part number for {fw!r}" - - codes = get_platform_codes([fw]) - assert 1 == len(codes), f"Unable to parse FW: {fw!r}" - - @settings(max_examples=100) - @given(data=st.data()) - def test_platform_codes_fuzzy_fw(self, data): - """Ensure function doesn't raise an exception""" - fw_strategy = st.lists(st.binary()) - fws = data.draw(fw_strategy) - get_platform_codes(fws) - - def test_platform_codes_spot_check(self): - # Asserts basic platform code parsing behavior for a few cases - results = get_platform_codes([ - b"JX6A-14C204-BPL\x00\x00\x00\x00\x00\x00\x00\x00\x00", - b"NZ6T-14F397-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00", - b"PJ6T-14H102-ABJ\x00\x00\x00\x00\x00\x00\x00\x00\x00", - b"LB5A-14C204-EAC\x00\x00\x00\x00\x00\x00\x00\x00\x00", - ]) - assert results == {(b"X6A", b"J"), (b"Z6T", b"N"), (b"J6T", b"P"), (b"B5A", b"L")} - - def test_fuzzy_match(self): - for platform, fw_by_addr in FW_VERSIONS.items(): - # Ensure there's no overlaps in platform codes - for _ in range(20): - car_fw = [] - for ecu, fw_versions in fw_by_addr.items(): - ecu_name, addr, sub_addr = ecu - fw = random.choice(fw_versions) - car_fw.append({"ecu": ecu_name, "fwVersion": fw, "address": addr, - "subAddress": 0 if sub_addr is None else sub_addr}) - - CP = car.CarParams.new_message(carFw=car_fw) - matches = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(build_fw_dict(CP.carFw), CP.carVin, FW_VERSIONS) - assert matches == {platform} - - def test_match_fw_fuzzy(self): - offline_fw = { - (Ecu.eps, 0x730, None): [ - b"L1MC-14D003-AJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00", - b"L1MC-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00", - ], - (Ecu.abs, 0x760, None): [ - b"L1MC-2D053-BA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00", - b"L1MC-2D053-BD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00", - ], - (Ecu.fwdRadar, 0x764, None): [ - b"LB5T-14D049-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00", - b"LB5T-14D049-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00", - ], - # We consider all model year hints for ECU, even with different platform codes - (Ecu.fwdCamera, 0x706, None): [ - b"LB5T-14F397-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00", - b"NC5T-14F397-AF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00", - ], - } - expected_fingerprint = CAR.FORD_EXPLORER_MK6 - - # ensure that we fuzzy match on all non-exact FW with changed revisions - live_fw = { - (0x730, None): {b"L1MC-14D003-XX\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00"}, - (0x760, None): {b"L1MC-2D053-XX\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00"}, - (0x764, None): {b"LB5T-14D049-XX\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00"}, - (0x706, None): {b"LB5T-14F397-XX\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00"}, - } - candidates = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(live_fw, '', {expected_fingerprint: offline_fw}) - assert candidates == {expected_fingerprint} - - # model year hint in between the range should match - live_fw[(0x706, None)] = {b"MB5T-14F397-XX\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00"} - candidates = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(live_fw, '', {expected_fingerprint: offline_fw,}) - assert candidates == {expected_fingerprint} - - # unseen model year hint should not match - live_fw[(0x760, None)] = {b"M1MC-2D053-XX\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00"} - candidates = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(live_fw, '', {expected_fingerprint: offline_fw}) - assert len(candidates) == 0, "Should not match new model year hint" diff --git a/selfdrive/car/gm/tests/__init__.py b/selfdrive/car/gm/tests/__init__.py deleted file mode 100644 index e69de29bb2d1d6..00000000000000 diff --git a/selfdrive/car/gm/tests/test_gm.py b/selfdrive/car/gm/tests/test_gm.py deleted file mode 100644 index a0a4a94ffa0455..00000000000000 --- a/selfdrive/car/gm/tests/test_gm.py +++ /dev/null @@ -1,20 +0,0 @@ -from parameterized import parameterized - -from openpilot.selfdrive.car.gm.fingerprints import FINGERPRINTS -from openpilot.selfdrive.car.gm.values import CAMERA_ACC_CAR, GM_RX_OFFSET - -CAMERA_DIAGNOSTIC_ADDRESS = 0x24b - - -class TestGMFingerprint: - @parameterized.expand(FINGERPRINTS.items()) - def test_can_fingerprints(self, car_model, fingerprints): - assert len(fingerprints) > 0 - - assert all(len(finger) for finger in fingerprints) - - # The camera can sometimes be communicating on startup - if car_model in CAMERA_ACC_CAR: - for finger in fingerprints: - for required_addr in (CAMERA_DIAGNOSTIC_ADDRESS, CAMERA_DIAGNOSTIC_ADDRESS + GM_RX_OFFSET): - assert finger.get(required_addr) == 8, required_addr diff --git a/selfdrive/car/honda/tests/__init__.py b/selfdrive/car/honda/tests/__init__.py deleted file mode 100644 index e69de29bb2d1d6..00000000000000 diff --git a/selfdrive/car/honda/tests/test_honda.py b/selfdrive/car/honda/tests/test_honda.py deleted file mode 100644 index b8ad7872b29fa3..00000000000000 --- a/selfdrive/car/honda/tests/test_honda.py +++ /dev/null @@ -1,14 +0,0 @@ -import re - -from openpilot.selfdrive.car.honda.fingerprints import FW_VERSIONS - -HONDA_FW_VERSION_RE = br"[A-Z0-9]{5}-[A-Z0-9]{3}(-|,)[A-Z0-9]{4}(\x00){2}$" - - -class TestHondaFingerprint: - def test_fw_version_format(self): - # Asserts all FW versions follow an expected format - for fw_by_ecu in FW_VERSIONS.values(): - for fws in fw_by_ecu.values(): - for fw in fws: - assert re.match(HONDA_FW_VERSION_RE, fw) is not None, fw diff --git a/selfdrive/car/hyundai/tests/__init__.py b/selfdrive/car/hyundai/tests/__init__.py deleted file mode 100644 index e69de29bb2d1d6..00000000000000 diff --git a/selfdrive/car/hyundai/tests/print_platform_codes.py b/selfdrive/car/hyundai/tests/print_platform_codes.py deleted file mode 100755 index f641535678c22f..00000000000000 --- a/selfdrive/car/hyundai/tests/print_platform_codes.py +++ /dev/null @@ -1,22 +0,0 @@ -#!/usr/bin/env python3 -from cereal import car -from openpilot.selfdrive.car.hyundai.values import PLATFORM_CODE_ECUS, get_platform_codes -from openpilot.selfdrive.car.hyundai.fingerprints import FW_VERSIONS - -Ecu = car.CarParams.Ecu -ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()} - -if __name__ == "__main__": - for car_model, ecus in FW_VERSIONS.items(): - print() - print(car_model) - for ecu in sorted(ecus, key=lambda x: int(x[0])): - if ecu[0] not in PLATFORM_CODE_ECUS: - continue - - platform_codes = get_platform_codes(ecus[ecu]) - codes = {code for code, _ in platform_codes} - dates = {date for _, date in platform_codes if date is not None} - print(f' (Ecu.{ECU_NAME[ecu[0]]}, {hex(ecu[1])}, {ecu[2]}):') - print(f' Codes: {codes}') - print(f' Dates: {dates}') diff --git a/selfdrive/car/hyundai/tests/test_hyundai.py b/selfdrive/car/hyundai/tests/test_hyundai.py deleted file mode 100644 index 4d31d7d15e8c68..00000000000000 --- a/selfdrive/car/hyundai/tests/test_hyundai.py +++ /dev/null @@ -1,218 +0,0 @@ -from hypothesis import settings, given, strategies as st - -import pytest - -from cereal import car -from openpilot.selfdrive.car.fw_versions import build_fw_dict -from openpilot.selfdrive.car.hyundai.values import CAMERA_SCC_CAR, CANFD_CAR, CAN_GEARS, CAR, CHECKSUM, DATE_FW_ECUS, \ - HYBRID_CAR, EV_CAR, FW_QUERY_CONFIG, LEGACY_SAFETY_MODE_CAR, CANFD_FUZZY_WHITELIST, \ - UNSUPPORTED_LONGITUDINAL_CAR, PLATFORM_CODE_ECUS, HYUNDAI_VERSION_REQUEST_LONG, \ - get_platform_codes -from openpilot.selfdrive.car.hyundai.fingerprints import FW_VERSIONS - -Ecu = car.CarParams.Ecu -ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()} - -# Some platforms have date codes in a different format we don't yet parse (or are missing). -# For now, assert list of expected missing date cars -NO_DATES_PLATFORMS = { - # CAN FD - CAR.KIA_SPORTAGE_5TH_GEN, - CAR.HYUNDAI_SANTA_CRUZ_1ST_GEN, - CAR.HYUNDAI_TUCSON_4TH_GEN, - # CAN - CAR.HYUNDAI_ELANTRA, - CAR.HYUNDAI_ELANTRA_GT_I30, - CAR.KIA_CEED, - CAR.KIA_FORTE, - CAR.KIA_OPTIMA_G4, - CAR.KIA_OPTIMA_G4_FL, - CAR.KIA_SORENTO, - CAR.HYUNDAI_KONA, - CAR.HYUNDAI_KONA_EV, - CAR.HYUNDAI_KONA_EV_2022, - CAR.HYUNDAI_KONA_HEV, - CAR.HYUNDAI_SONATA_LF, - CAR.HYUNDAI_VELOSTER, -} - -CANFD_EXPECTED_ECUS = {Ecu.fwdCamera, Ecu.fwdRadar} - - -class TestHyundaiFingerprint: - def test_can_features(self): - # Test no EV/HEV in any gear lists (should all use ELECT_GEAR) - assert set.union(*CAN_GEARS.values()) & (HYBRID_CAR | EV_CAR) == set() - - # Test CAN FD car not in CAN feature lists - can_specific_feature_list = set.union(*CAN_GEARS.values(), *CHECKSUM.values(), LEGACY_SAFETY_MODE_CAR, UNSUPPORTED_LONGITUDINAL_CAR, CAMERA_SCC_CAR) - for car_model in CANFD_CAR: - assert car_model not in can_specific_feature_list, "CAN FD car unexpectedly found in a CAN feature list" - - def test_hybrid_ev_sets(self): - assert HYBRID_CAR & EV_CAR == set(), "Shared cars between hybrid and EV" - assert CANFD_CAR & HYBRID_CAR == set(), "Hard coding CAN FD cars as hybrid is no longer supported" - - def test_canfd_ecu_whitelist(self): - # Asserts only expected Ecus can exist in database for CAN-FD cars - for car_model in CANFD_CAR: - ecus = {fw[0] for fw in FW_VERSIONS[car_model].keys()} - ecus_not_in_whitelist = ecus - CANFD_EXPECTED_ECUS - ecu_strings = ", ".join([f"Ecu.{ECU_NAME[ecu]}" for ecu in ecus_not_in_whitelist]) - assert len(ecus_not_in_whitelist) == 0, \ - f"{car_model}: Car model has unexpected ECUs: {ecu_strings}" - - def test_blacklisted_parts(self, subtests): - # Asserts no ECUs known to be shared across platforms exist in the database. - # Tucson having Santa Cruz camera and EPS for example - for car_model, ecus in FW_VERSIONS.items(): - with subtests.test(car_model=car_model.value): - if car_model == CAR.HYUNDAI_SANTA_CRUZ_1ST_GEN: - pytest.skip("Skip checking Santa Cruz for its parts") - - for code, _ in get_platform_codes(ecus[(Ecu.fwdCamera, 0x7c4, None)]): - if b"-" not in code: - continue - part = code.split(b"-")[1] - assert not part.startswith(b'CW'), "Car has bad part number" - - def test_correct_ecu_response_database(self, subtests): - """ - Assert standard responses for certain ECUs, since they can - respond to multiple queries with different data - """ - expected_fw_prefix = HYUNDAI_VERSION_REQUEST_LONG[1:] - for car_model, ecus in FW_VERSIONS.items(): - with subtests.test(car_model=car_model.value): - for ecu, fws in ecus.items(): - assert all(fw.startswith(expected_fw_prefix) for fw in fws), \ - f"FW from unexpected request in database: {(ecu, fws)}" - - @settings(max_examples=100) - @given(data=st.data()) - def test_platform_codes_fuzzy_fw(self, data): - """Ensure function doesn't raise an exception""" - fw_strategy = st.lists(st.binary()) - fws = data.draw(fw_strategy) - get_platform_codes(fws) - - def test_expected_platform_codes(self, subtests): - # Ensures we don't accidentally add multiple platform codes for a car unless it is intentional - for car_model, ecus in FW_VERSIONS.items(): - with subtests.test(car_model=car_model.value): - for ecu, fws in ecus.items(): - if ecu[0] not in PLATFORM_CODE_ECUS: - continue - - # Third and fourth character are usually EV/hybrid identifiers - codes = {code.split(b"-")[0][:2] for code, _ in get_platform_codes(fws)} - if car_model == CAR.HYUNDAI_PALISADE: - assert codes == {b"LX", b"ON"}, f"Car has unexpected platform codes: {car_model} {codes}" - elif car_model == CAR.HYUNDAI_KONA_EV and ecu[0] == Ecu.fwdCamera: - assert codes == {b"OE", b"OS"}, f"Car has unexpected platform codes: {car_model} {codes}" - else: - assert len(codes) == 1, f"Car has multiple platform codes: {car_model} {codes}" - - # Tests for platform codes, part numbers, and FW dates which Hyundai will use to fuzzy - # fingerprint in the absence of full FW matches: - def test_platform_code_ecus_available(self, subtests): - # TODO: add queries for these non-CAN FD cars to get EPS - no_eps_platforms = CANFD_CAR | {CAR.KIA_SORENTO, CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.KIA_OPTIMA_H, - CAR.KIA_OPTIMA_H_G4_FL, CAR.HYUNDAI_SONATA_LF, CAR.HYUNDAI_TUCSON, CAR.GENESIS_G90, CAR.GENESIS_G80, CAR.HYUNDAI_ELANTRA} - - # Asserts ECU keys essential for fuzzy fingerprinting are available on all platforms - for car_model, ecus in FW_VERSIONS.items(): - with subtests.test(car_model=car_model.value): - for platform_code_ecu in PLATFORM_CODE_ECUS: - if platform_code_ecu in (Ecu.fwdRadar, Ecu.eps) and car_model == CAR.HYUNDAI_GENESIS: - continue - if platform_code_ecu == Ecu.eps and car_model in no_eps_platforms: - continue - assert platform_code_ecu in [e[0] for e in ecus] - - def test_fw_format(self, subtests): - # Asserts: - # - every supported ECU FW version returns one platform code - # - every supported ECU FW version has a part number - # - expected parsing of ECU FW dates - - for car_model, ecus in FW_VERSIONS.items(): - with subtests.test(car_model=car_model.value): - for ecu, fws in ecus.items(): - if ecu[0] not in PLATFORM_CODE_ECUS: - continue - - codes = set() - for fw in fws: - result = get_platform_codes([fw]) - assert 1 == len(result), f"Unable to parse FW: {fw}" - codes |= result - - if ecu[0] not in DATE_FW_ECUS or car_model in NO_DATES_PLATFORMS: - assert all(date is None for _, date in codes) - else: - assert all(date is not None for _, date in codes) - - if car_model == CAR.HYUNDAI_GENESIS: - pytest.skip("No part numbers for car model") - - # Hyundai places the ECU part number in their FW versions, assert all parsable - # Some examples of valid formats: b"56310-L0010", b"56310L0010", b"56310/M6300" - assert all(b"-" in code for code, _ in codes), \ - f"FW does not have part number: {fw}" - - def test_platform_codes_spot_check(self): - # Asserts basic platform code parsing behavior for a few cases - results = get_platform_codes([b"\xf1\x00DH LKAS 1.1 -150210"]) - assert results == {(b"DH", b"150210")} - - # Some cameras and all radars do not have dates - results = get_platform_codes([b"\xf1\x00AEhe SCC H-CUP 1.01 1.01 96400-G2000 "]) - assert results == {(b"AEhe-G2000", None)} - - results = get_platform_codes([b"\xf1\x00CV1_ RDR ----- 1.00 1.01 99110-CV000 "]) - assert results == {(b"CV1-CV000", None)} - - results = get_platform_codes([ - b"\xf1\x00DH LKAS 1.1 -150210", - b"\xf1\x00AEhe SCC H-CUP 1.01 1.01 96400-G2000 ", - b"\xf1\x00CV1_ RDR ----- 1.00 1.01 99110-CV000 ", - ]) - assert results == {(b"DH", b"150210"), (b"AEhe-G2000", None), (b"CV1-CV000", None)} - - results = get_platform_codes([ - b"\xf1\x00LX2 MFC AT USA LHD 1.00 1.07 99211-S8100 220222", - b"\xf1\x00LX2 MFC AT USA LHD 1.00 1.08 99211-S8100 211103", - b"\xf1\x00ON MFC AT USA LHD 1.00 1.01 99211-S9100 190405", - b"\xf1\x00ON MFC AT USA LHD 1.00 1.03 99211-S9100 190720", - ]) - assert results == {(b"LX2-S8100", b"220222"), (b"LX2-S8100", b"211103"), - (b"ON-S9100", b"190405"), (b"ON-S9100", b"190720")} - - def test_fuzzy_excluded_platforms(self): - # Asserts a list of platforms that will not fuzzy fingerprint with platform codes due to them being shared. - # This list can be shrunk as we combine platforms and detect features - excluded_platforms = { - CAR.GENESIS_G70, # shared platform code, part number, and date - CAR.GENESIS_G70_2020, - } - excluded_platforms |= CANFD_CAR - EV_CAR - CANFD_FUZZY_WHITELIST # shared platform codes - excluded_platforms |= NO_DATES_PLATFORMS # date codes are required to match - - platforms_with_shared_codes = set() - for platform, fw_by_addr in FW_VERSIONS.items(): - car_fw = [] - for ecu, fw_versions in fw_by_addr.items(): - ecu_name, addr, sub_addr = ecu - for fw in fw_versions: - car_fw.append({"ecu": ecu_name, "fwVersion": fw, "address": addr, - "subAddress": 0 if sub_addr is None else sub_addr}) - - CP = car.CarParams.new_message(carFw=car_fw) - matches = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(build_fw_dict(CP.carFw), CP.carVin, FW_VERSIONS) - if len(matches) == 1: - assert list(matches)[0] == platform - else: - platforms_with_shared_codes.add(platform) - - assert platforms_with_shared_codes == excluded_platforms diff --git a/selfdrive/car/subaru/tests/test_subaru.py b/selfdrive/car/subaru/tests/test_subaru.py deleted file mode 100644 index 33040442b69778..00000000000000 --- a/selfdrive/car/subaru/tests/test_subaru.py +++ /dev/null @@ -1,16 +0,0 @@ -from cereal import car -from openpilot.selfdrive.car.subaru.fingerprints import FW_VERSIONS - -Ecu = car.CarParams.Ecu - -ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()} - - -class TestSubaruFingerprint: - def test_fw_version_format(self): - for platform, fws_per_ecu in FW_VERSIONS.items(): - for (ecu, _, _), fws in fws_per_ecu.items(): - fw_size = len(fws[0]) - for fw in fws: - assert len(fw) == fw_size, f"{platform} {ecu}: {len(fw)} {fw_size}" - diff --git a/selfdrive/car/tests/.gitignore b/selfdrive/car/tests/.gitignore deleted file mode 100644 index 192fb0945ec5b3..00000000000000 --- a/selfdrive/car/tests/.gitignore +++ /dev/null @@ -1 +0,0 @@ -*.bz2 diff --git a/selfdrive/car/tests/__init__.py b/selfdrive/car/tests/__init__.py deleted file mode 100644 index e69de29bb2d1d6..00000000000000 diff --git a/selfdrive/car/tests/big_cars_test.sh b/selfdrive/car/tests/big_cars_test.sh deleted file mode 100755 index af45c9cd1488ad..00000000000000 --- a/selfdrive/car/tests/big_cars_test.sh +++ /dev/null @@ -1,12 +0,0 @@ -#!/bin/bash - -SCRIPT_DIR=$(dirname "$0") -BASEDIR=$(realpath "$SCRIPT_DIR/../../../") -cd $BASEDIR - -MAX_EXAMPLES=300 -INTERNAL_SEG_CNT=300 -FILEREADER_CACHE=1 -INTERNAL_SEG_LIST=selfdrive/car/tests/test_models_segs.txt - -cd selfdrive/car/tests && pytest test_models.py test_car_interfaces.py \ No newline at end of file diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py deleted file mode 100755 index 3ab4047c77b9bf..00000000000000 --- a/selfdrive/car/tests/routes.py +++ /dev/null @@ -1,302 +0,0 @@ -#!/usr/bin/env python3 -from typing import NamedTuple - -from openpilot.selfdrive.car.chrysler.values import CAR as CHRYSLER -from openpilot.selfdrive.car.gm.values import CAR as GM -from openpilot.selfdrive.car.ford.values import CAR as FORD -from openpilot.selfdrive.car.honda.values import CAR as HONDA -from openpilot.selfdrive.car.hyundai.values import CAR as HYUNDAI -from openpilot.selfdrive.car.nissan.values import CAR as NISSAN -from openpilot.selfdrive.car.mazda.values import CAR as MAZDA -from openpilot.selfdrive.car.subaru.values import CAR as SUBARU -from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA -from openpilot.selfdrive.car.values import Platform -from openpilot.selfdrive.car.volkswagen.values import CAR as VOLKSWAGEN -from openpilot.selfdrive.car.tesla.values import CAR as TESLA -from openpilot.selfdrive.car.body.values import CAR as COMMA - -# TODO: add routes for these cars -non_tested_cars = [ - FORD.FORD_F_150_MK14, - GM.CADILLAC_ATS, - GM.HOLDEN_ASTRA, - GM.CHEVROLET_MALIBU, - HYUNDAI.GENESIS_G90, - HONDA.HONDA_ODYSSEY_CHN, - VOLKSWAGEN.VOLKSWAGEN_CRAFTER_MK2, # need a route from an ACC-equipped Crafter - SUBARU.SUBARU_FORESTER_HYBRID, -] - - -class CarTestRoute(NamedTuple): - route: str - car_model: Platform | None - segment: int | None = None - - -routes = [ - CarTestRoute("efdf9af95e71cd84|2022-05-13--19-03-31", COMMA.COMMA_BODY), - - CarTestRoute("0c94aa1e1296d7c6|2021-05-05--19-48-37", CHRYSLER.JEEP_GRAND_CHEROKEE), - CarTestRoute("91dfedae61d7bd75|2021-05-22--20-07-52", CHRYSLER.JEEP_GRAND_CHEROKEE_2019), - CarTestRoute("420a8e183f1aed48|2020-03-05--07-15-29", CHRYSLER.CHRYSLER_PACIFICA_2017_HYBRID), - CarTestRoute("43a685a66291579b|2021-05-27--19-47-29", CHRYSLER.CHRYSLER_PACIFICA_2018), - CarTestRoute("378472f830ee7395|2021-05-28--07-38-43", CHRYSLER.CHRYSLER_PACIFICA_2018_HYBRID), - CarTestRoute("8190c7275a24557b|2020-01-29--08-33-58", CHRYSLER.CHRYSLER_PACIFICA_2019_HYBRID), - CarTestRoute("3d84727705fecd04|2021-05-25--08-38-56", CHRYSLER.CHRYSLER_PACIFICA_2020), - CarTestRoute("221c253375af4ee9|2022-06-15--18-38-24", CHRYSLER.RAM_1500_5TH_GEN), - CarTestRoute("8fb5eabf914632ae|2022-08-04--17-28-53", CHRYSLER.RAM_HD_5TH_GEN, segment=6), - CarTestRoute("3379c85aeedc8285|2023-12-07--17-49-39", CHRYSLER.DODGE_DURANGO), - - CarTestRoute("54827bf84c38b14f|2023-01-25--14-14-11", FORD.FORD_BRONCO_SPORT_MK1), - CarTestRoute("f8eaaccd2a90aef8|2023-05-04--15-10-09", FORD.FORD_ESCAPE_MK4), - CarTestRoute("62241b0c7fea4589|2022-09-01--15-32-49", FORD.FORD_EXPLORER_MK6), - CarTestRoute("e886087f430e7fe7|2023-06-16--23-06-36", FORD.FORD_FOCUS_MK4), - CarTestRoute("bd37e43731e5964b|2023-04-30--10-42-26", FORD.FORD_MAVERICK_MK1), - CarTestRoute("112e4d6e0cad05e1|2023-11-14--08-21-43", FORD.FORD_F_150_LIGHTNING_MK1), - CarTestRoute("83a4e056c7072678|2023-11-13--16-51-33", FORD.FORD_MUSTANG_MACH_E_MK1), - CarTestRoute("37998aa0fade36ab/00000000--48f927c4f5", FORD.FORD_RANGER_MK2), - #TestRoute("f1b4c567731f4a1b|2018-04-30--10-15-35", FORD.FUSION), - - CarTestRoute("7cc2a8365b4dd8a9|2018-12-02--12-10-44", GM.GMC_ACADIA), - CarTestRoute("aa20e335f61ba898|2019-02-05--16-59-04", GM.BUICK_REGAL), - CarTestRoute("75a6bcb9b8b40373|2023-03-11--22-47-33", GM.BUICK_LACROSSE), - CarTestRoute("e746f59bc96fd789|2024-01-31--22-25-58", GM.CHEVROLET_EQUINOX), - CarTestRoute("ef8f2185104d862e|2023-02-09--18-37-13", GM.CADILLAC_ESCALADE), - CarTestRoute("46460f0da08e621e|2021-10-26--07-21-46", GM.CADILLAC_ESCALADE_ESV), - CarTestRoute("168f8b3be57f66ae|2023-09-12--21-44-42", GM.CADILLAC_ESCALADE_ESV_2019), - CarTestRoute("c950e28c26b5b168|2018-05-30--22-03-41", GM.CHEVROLET_VOLT), - CarTestRoute("f08912a233c1584f|2022-08-11--18-02-41", GM.CHEVROLET_BOLT_EUV, segment=1), - CarTestRoute("555d4087cf86aa91|2022-12-02--12-15-07", GM.CHEVROLET_BOLT_EUV, segment=14), # Bolt EV - CarTestRoute("38aa7da107d5d252|2022-08-15--16-01-12", GM.CHEVROLET_SILVERADO), - CarTestRoute("5085c761395d1fe6|2023-04-07--18-20-06", GM.CHEVROLET_TRAILBLAZER), - - CarTestRoute("0e7a2ba168465df5|2020-10-18--14-14-22", HONDA.ACURA_RDX_3G), - CarTestRoute("a74b011b32b51b56|2020-07-26--17-09-36", HONDA.HONDA_CIVIC), - CarTestRoute("a859a044a447c2b0|2020-03-03--18-42-45", HONDA.HONDA_CRV_EU), - CarTestRoute("68aac44ad69f838e|2021-05-18--20-40-52", HONDA.HONDA_CRV), - CarTestRoute("14fed2e5fa0aa1a5|2021-05-25--14-59-42", HONDA.HONDA_CRV_HYBRID), - CarTestRoute("52f3e9ae60c0d886|2021-05-23--15-59-43", HONDA.HONDA_FIT), - CarTestRoute("2c4292a5cd10536c|2021-08-19--21-32-15", HONDA.HONDA_FREED), - CarTestRoute("03be5f2fd5c508d1|2020-04-19--18-44-15", HONDA.HONDA_HRV), - CarTestRoute("320098ff6c5e4730|2023-04-13--17-47-46", HONDA.HONDA_HRV_3G), - CarTestRoute("147613502316e718/00000001--dd141a3140", HONDA.HONDA_HRV_3G), # Brazilian model - CarTestRoute("917b074700869333|2021-05-24--20-40-20", HONDA.ACURA_ILX), - CarTestRoute("08a3deb07573f157|2020-03-06--16-11-19", HONDA.HONDA_ACCORD), # 1.5T - CarTestRoute("1da5847ac2488106|2021-05-24--19-31-50", HONDA.HONDA_ACCORD), # 2.0T - CarTestRoute("085ac1d942c35910|2021-03-25--20-11-15", HONDA.HONDA_ACCORD), # 2021 with new style HUD msgs - CarTestRoute("07585b0da3c88459|2021-05-26--18-52-04", HONDA.HONDA_ACCORD), # hybrid - CarTestRoute("f29e2b57a55e7ad5|2021-03-24--20-52-38", HONDA.HONDA_ACCORD), # hybrid, 2021 with new style HUD msgs - CarTestRoute("1ad763dd22ef1a0e|2020-02-29--18-37-03", HONDA.HONDA_CRV_5G), - CarTestRoute("0a96f86fcfe35964|2020-02-05--07-25-51", HONDA.HONDA_ODYSSEY), - CarTestRoute("d83f36766f8012a5|2020-02-05--18-42-21", HONDA.HONDA_CIVIC_BOSCH_DIESEL), - CarTestRoute("f0890d16a07a236b|2021-05-25--17-27-22", HONDA.HONDA_INSIGHT), - CarTestRoute("07d37d27996096b6|2020-03-04--21-57-27", HONDA.HONDA_PILOT), - CarTestRoute("684e8f96bd491a0e|2021-11-03--11-08-42", HONDA.HONDA_PILOT), # Passport - CarTestRoute("0a78dfbacc8504ef|2020-03-04--13-29-55", HONDA.HONDA_CIVIC_BOSCH), - CarTestRoute("f34a60d68d83b1e5|2020-10-06--14-35-55", HONDA.ACURA_RDX), - CarTestRoute("54fd8451b3974762|2021-04-01--14-50-10", HONDA.HONDA_RIDGELINE), - CarTestRoute("2d5808fae0b38ac6|2021-09-01--17-14-11", HONDA.HONDA_E), - CarTestRoute("f44aa96ace22f34a|2021-12-22--06-22-31", HONDA.HONDA_CIVIC_2022), - - CarTestRoute("87d7f06ade479c2e|2023-09-11--23-30-11", HYUNDAI.HYUNDAI_AZERA_6TH_GEN), - CarTestRoute("66189dd8ec7b50e6|2023-09-20--07-02-12", HYUNDAI.HYUNDAI_AZERA_HEV_6TH_GEN), - CarTestRoute("6fe86b4e410e4c37|2020-07-22--16-27-13", HYUNDAI.HYUNDAI_GENESIS), - CarTestRoute("b5d6dc830ad63071|2022-12-12--21-28-25", HYUNDAI.GENESIS_GV60_EV_1ST_GEN, segment=12), - CarTestRoute("70c5bec28ec8e345|2020-08-08--12-22-23", HYUNDAI.GENESIS_G70), - CarTestRoute("ca4de5b12321bd98|2022-10-18--21-15-59", HYUNDAI.GENESIS_GV70_1ST_GEN), - CarTestRoute("6b301bf83f10aa90|2020-11-22--16-45-07", HYUNDAI.GENESIS_G80), - CarTestRoute("0bbe367c98fa1538|2023-09-16--00-16-49", HYUNDAI.HYUNDAI_CUSTIN_1ST_GEN), - CarTestRoute("f0709d2bc6ca451f|2022-10-15--08-13-54", HYUNDAI.HYUNDAI_SANTA_CRUZ_1ST_GEN), - CarTestRoute("4dbd55df87507948|2022-03-01--09-45-38", HYUNDAI.HYUNDAI_SANTA_FE), - CarTestRoute("bf43d9df2b660eb0|2021-09-23--14-16-37", HYUNDAI.HYUNDAI_SANTA_FE_2022), - CarTestRoute("37398f32561a23ad|2021-11-18--00-11-35", HYUNDAI.HYUNDAI_SANTA_FE_HEV_2022), - CarTestRoute("656ac0d830792fcc|2021-12-28--14-45-56", HYUNDAI.HYUNDAI_SANTA_FE_PHEV_2022, segment=1), - CarTestRoute("de59124955b921d8|2023-06-24--00-12-50", HYUNDAI.KIA_CARNIVAL_4TH_GEN), - CarTestRoute("409c9409979a8abc|2023-07-11--09-06-44", HYUNDAI.KIA_CARNIVAL_4TH_GEN), # Chinese model - CarTestRoute("e0e98335f3ebc58f|2021-03-07--16-38-29", HYUNDAI.KIA_CEED), - CarTestRoute("7653b2bce7bcfdaa|2020-03-04--15-34-32", HYUNDAI.KIA_OPTIMA_G4), - CarTestRoute("018654717bc93d7d|2022-09-19--23-11-10", HYUNDAI.KIA_OPTIMA_G4_FL, segment=0), - CarTestRoute("f9716670b2481438|2023-08-23--14-49-50", HYUNDAI.KIA_OPTIMA_H), - CarTestRoute("6a42c1197b2a8179|2023-09-21--10-23-44", HYUNDAI.KIA_OPTIMA_H_G4_FL), - CarTestRoute("c75a59efa0ecd502|2021-03-11--20-52-55", HYUNDAI.KIA_SELTOS), - CarTestRoute("5b7c365c50084530|2020-04-15--16-13-24", HYUNDAI.HYUNDAI_SONATA), - CarTestRoute("b2a38c712dcf90bd|2020-05-18--18-12-48", HYUNDAI.HYUNDAI_SONATA_LF), - CarTestRoute("c344fd2492c7a9d2|2023-12-11--09-03-23", HYUNDAI.HYUNDAI_STARIA_4TH_GEN), - CarTestRoute("fb3fd42f0baaa2f8|2022-03-30--15-25-05", HYUNDAI.HYUNDAI_TUCSON), - CarTestRoute("db68bbe12250812c|2022-12-05--00-54-12", HYUNDAI.HYUNDAI_TUCSON_4TH_GEN), # 2023 - CarTestRoute("36e10531feea61a4|2022-07-25--13-37-42", HYUNDAI.HYUNDAI_TUCSON_4TH_GEN), # hybrid - CarTestRoute("5875672fc1d4bf57|2020-07-23--21-33-28", HYUNDAI.KIA_SORENTO), - CarTestRoute("1d0d000db3370fd0|2023-01-04--22-28-42", HYUNDAI.KIA_SORENTO_4TH_GEN, segment=5), - CarTestRoute("fc19648042eb6896|2023-08-16--11-43-27", HYUNDAI.KIA_SORENTO_HEV_4TH_GEN, segment=14), - CarTestRoute("628935d7d3e5f4f7|2022-11-30--01-12-46", HYUNDAI.KIA_SORENTO_HEV_4TH_GEN), # plug-in hybrid - CarTestRoute("9c917ba0d42ffe78|2020-04-17--12-43-19", HYUNDAI.HYUNDAI_PALISADE), - CarTestRoute("05a8f0197fdac372|2022-10-19--14-14-09", HYUNDAI.HYUNDAI_IONIQ_5), # HDA2 - CarTestRoute("eb4eae1476647463|2023-08-26--18-07-04", HYUNDAI.HYUNDAI_IONIQ_6, segment=6), # HDA2 - CarTestRoute("3f29334d6134fcd4|2022-03-30--22-00-50", HYUNDAI.HYUNDAI_IONIQ_PHEV_2019), - CarTestRoute("fa8db5869167f821|2021-06-10--22-50-10", HYUNDAI.HYUNDAI_IONIQ_PHEV), - CarTestRoute("e1107f9d04dfb1e2|2023-09-05--22-32-12", HYUNDAI.HYUNDAI_IONIQ_PHEV), # openpilot longitudinal enabled - CarTestRoute("2c5cf2dd6102e5da|2020-12-17--16-06-44", HYUNDAI.HYUNDAI_IONIQ_EV_2020), - CarTestRoute("610ebb9faaad6b43|2020-06-13--15-28-36", HYUNDAI.HYUNDAI_IONIQ_EV_LTD), - CarTestRoute("2c5cf2dd6102e5da|2020-06-26--16-00-08", HYUNDAI.HYUNDAI_IONIQ), - CarTestRoute("012c95f06918eca4|2023-01-15--11-19-36", HYUNDAI.HYUNDAI_IONIQ), # openpilot longitudinal enabled - CarTestRoute("ab59fe909f626921|2021-10-18--18-34-28", HYUNDAI.HYUNDAI_IONIQ_HEV_2022), - CarTestRoute("22d955b2cd499c22|2020-08-10--19-58-21", HYUNDAI.HYUNDAI_KONA), - CarTestRoute("efc48acf44b1e64d|2021-05-28--21-05-04", HYUNDAI.HYUNDAI_KONA_EV), - CarTestRoute("f90d3cd06caeb6fa|2023-09-06--17-15-47", HYUNDAI.HYUNDAI_KONA_EV), # openpilot longitudinal enabled - CarTestRoute("ff973b941a69366f|2022-07-28--22-01-19", HYUNDAI.HYUNDAI_KONA_EV_2022, segment=11), - CarTestRoute("1618132d68afc876|2023-08-27--09-32-14", HYUNDAI.HYUNDAI_KONA_EV_2ND_GEN, segment=13), - CarTestRoute("49f3c13141b6bc87|2021-07-28--08-05-13", HYUNDAI.HYUNDAI_KONA_HEV), - CarTestRoute("5dddcbca6eb66c62|2020-07-26--13-24-19", HYUNDAI.KIA_STINGER), - CarTestRoute("5b50b883a4259afb|2022-11-09--15-00-42", HYUNDAI.KIA_STINGER_2022), - CarTestRoute("d624b3d19adce635|2020-08-01--14-59-12", HYUNDAI.HYUNDAI_VELOSTER), - CarTestRoute("d545129f3ca90f28|2022-10-19--09-22-54", HYUNDAI.KIA_EV6), # HDA2 - CarTestRoute("68d6a96e703c00c9|2022-09-10--16-09-39", HYUNDAI.KIA_EV6), # HDA1 - CarTestRoute("9b25e8c1484a1b67|2023-04-13--10-41-45", HYUNDAI.KIA_EV6), - CarTestRoute("007d5e4ad9f86d13|2021-09-30--15-09-23", HYUNDAI.KIA_K5_2021), - CarTestRoute("c58dfc9fc16590e0|2023-01-14--13-51-48", HYUNDAI.KIA_K5_HEV_2020), - CarTestRoute("78ad5150de133637|2023-09-13--16-15-57", HYUNDAI.KIA_K8_HEV_1ST_GEN), - CarTestRoute("50c6c9b85fd1ff03|2020-10-26--17-56-06", HYUNDAI.KIA_NIRO_EV), - CarTestRoute("b153671049a867b3|2023-04-05--10-00-30", HYUNDAI.KIA_NIRO_EV_2ND_GEN), - CarTestRoute("173219cf50acdd7b|2021-07-05--10-27-41", HYUNDAI.KIA_NIRO_PHEV), - CarTestRoute("23349923ba5c4e3b|2023-12-02--08-51-54", HYUNDAI.KIA_NIRO_PHEV_2022), - CarTestRoute("34a875f29f69841a|2021-07-29--13-02-09", HYUNDAI.KIA_NIRO_HEV_2021), - CarTestRoute("db04d2c63990e3ba|2023-02-08--16-52-39", HYUNDAI.KIA_NIRO_HEV_2ND_GEN), - CarTestRoute("50a2212c41f65c7b|2021-05-24--16-22-06", HYUNDAI.KIA_FORTE), - CarTestRoute("192283cdbb7a58c2|2022-10-15--01-43-18", HYUNDAI.KIA_SPORTAGE_5TH_GEN), - CarTestRoute("09559f1fcaed4704|2023-11-16--02-24-57", HYUNDAI.KIA_SPORTAGE_5TH_GEN), # openpilot longitudinal - CarTestRoute("b3537035ffe6a7d6|2022-10-17--15-23-49", HYUNDAI.KIA_SPORTAGE_5TH_GEN), # hybrid - CarTestRoute("c5ac319aa9583f83|2021-06-01--18-18-31", HYUNDAI.HYUNDAI_ELANTRA), - CarTestRoute("734ef96182ddf940|2022-10-02--16-41-44", HYUNDAI.HYUNDAI_ELANTRA_GT_I30), - CarTestRoute("82e9cdd3f43bf83e|2021-05-15--02-42-51", HYUNDAI.HYUNDAI_ELANTRA_2021), - CarTestRoute("715ac05b594e9c59|2021-06-20--16-21-07", HYUNDAI.HYUNDAI_ELANTRA_HEV_2021), - CarTestRoute("7120aa90bbc3add7|2021-08-02--07-12-31", HYUNDAI.HYUNDAI_SONATA_HYBRID), - CarTestRoute("715ac05b594e9c59|2021-10-27--23-24-56", HYUNDAI.GENESIS_G70_2020), - CarTestRoute("6b0d44d22df18134|2023-05-06--10-36-55", HYUNDAI.GENESIS_GV80), - - CarTestRoute("00c829b1b7613dea|2021-06-24--09-10-10", TOYOTA.TOYOTA_ALPHARD_TSS2), - CarTestRoute("912119ebd02c7a42|2022-03-19--07-24-50", TOYOTA.TOYOTA_ALPHARD_TSS2), # hybrid - CarTestRoute("000cf3730200c71c|2021-05-24--10-42-05", TOYOTA.TOYOTA_AVALON), - CarTestRoute("0bb588106852abb7|2021-05-26--12-22-01", TOYOTA.TOYOTA_AVALON_2019), - CarTestRoute("87bef2930af86592|2021-05-30--09-40-54", TOYOTA.TOYOTA_AVALON_2019), # hybrid - CarTestRoute("e9966711cfb04ce3|2022-01-11--07-59-43", TOYOTA.TOYOTA_AVALON_TSS2), - CarTestRoute("eca1080a91720a54|2022-03-17--13-32-29", TOYOTA.TOYOTA_AVALON_TSS2), # hybrid - CarTestRoute("6cdecc4728d4af37|2020-02-23--15-44-18", TOYOTA.TOYOTA_CAMRY), - CarTestRoute("2f37c007683e85ba|2023-09-02--14-39-44", TOYOTA.TOYOTA_CAMRY), # openpilot longitudinal, with radar CAN filter - CarTestRoute("54034823d30962f5|2021-05-24--06-37-34", TOYOTA.TOYOTA_CAMRY), # hybrid - CarTestRoute("3456ad0cd7281b24|2020-12-13--17-45-56", TOYOTA.TOYOTA_CAMRY_TSS2), - CarTestRoute("ffccc77938ddbc44|2021-01-04--16-55-41", TOYOTA.TOYOTA_CAMRY_TSS2), # hybrid - CarTestRoute("4e45c89c38e8ec4d|2021-05-02--02-49-28", TOYOTA.TOYOTA_COROLLA), - CarTestRoute("5f5afb36036506e4|2019-05-14--02-09-54", TOYOTA.TOYOTA_COROLLA_TSS2), - CarTestRoute("5ceff72287a5c86c|2019-10-19--10-59-02", TOYOTA.TOYOTA_COROLLA_TSS2), # hybrid - CarTestRoute("d2525c22173da58b|2021-04-25--16-47-04", TOYOTA.TOYOTA_PRIUS), - CarTestRoute("b14c5b4742e6fc85|2020-07-28--19-50-11", TOYOTA.TOYOTA_RAV4), - CarTestRoute("32a7df20486b0f70|2020-02-06--16-06-50", TOYOTA.TOYOTA_RAV4H), - CarTestRoute("cdf2f7de565d40ae|2019-04-25--03-53-41", TOYOTA.TOYOTA_RAV4_TSS2), - CarTestRoute("a5c341bb250ca2f0|2022-05-18--16-05-17", TOYOTA.TOYOTA_RAV4_TSS2_2022), - CarTestRoute("ad5a3fa719bc2f83|2023-10-17--19-48-42", TOYOTA.TOYOTA_RAV4_TSS2_2023), - CarTestRoute("7e34a988419b5307|2019-12-18--19-13-30", TOYOTA.TOYOTA_RAV4_TSS2), # hybrid - CarTestRoute("2475fb3eb2ffcc2e|2022-04-29--12-46-23", TOYOTA.TOYOTA_RAV4_TSS2_2022), # hybrid - CarTestRoute("7a31f030957b9c85|2023-04-01--14-12-51", TOYOTA.LEXUS_ES), - CarTestRoute("37041c500fd30100|2020-12-30--12-17-24", TOYOTA.LEXUS_ES), # hybrid - CarTestRoute("e6a24be49a6cd46e|2019-10-29--10-52-42", TOYOTA.LEXUS_ES_TSS2), - CarTestRoute("f49e8041283f2939|2019-05-30--11-51-51", TOYOTA.LEXUS_ES_TSS2), # hybrid - CarTestRoute("da23c367491f53e2|2021-05-21--09-09-11", TOYOTA.LEXUS_CTH, segment=3), - CarTestRoute("32696cea52831b02|2021-11-19--18-13-30", TOYOTA.LEXUS_RC), - CarTestRoute("ab9b64a5e5960cba|2023-10-24--17-32-08", TOYOTA.LEXUS_GS_F), - CarTestRoute("886fcd8408d570e9|2020-01-29--02-18-55", TOYOTA.LEXUS_RX), - CarTestRoute("d27ad752e9b08d4f|2021-05-26--19-39-51", TOYOTA.LEXUS_RX), # hybrid - CarTestRoute("01b22eb2ed121565|2020-02-02--11-25-51", TOYOTA.LEXUS_RX_TSS2), - CarTestRoute("b74758c690a49668|2020-05-20--15-58-57", TOYOTA.LEXUS_RX_TSS2), # hybrid - CarTestRoute("964c09eb11ca8089|2020-11-03--22-04-00", TOYOTA.LEXUS_NX), - CarTestRoute("ec429c0f37564e3c|2020-02-01--17-28-12", TOYOTA.LEXUS_NX), # hybrid - CarTestRoute("3fd5305f8b6ca765|2021-04-28--19-26-49", TOYOTA.LEXUS_NX_TSS2), - CarTestRoute("09ae96064ed85a14|2022-06-09--12-22-31", TOYOTA.LEXUS_NX_TSS2), # hybrid - CarTestRoute("4765fbbf59e3cd88|2024-02-06--17-45-32", TOYOTA.LEXUS_LC_TSS2), - CarTestRoute("0a302ffddbb3e3d3|2020-02-08--16-19-08", TOYOTA.TOYOTA_HIGHLANDER_TSS2), - CarTestRoute("437e4d2402abf524|2021-05-25--07-58-50", TOYOTA.TOYOTA_HIGHLANDER_TSS2), # hybrid - CarTestRoute("3183cd9b021e89ce|2021-05-25--10-34-44", TOYOTA.TOYOTA_HIGHLANDER), - CarTestRoute("80d16a262e33d57f|2021-05-23--20-01-43", TOYOTA.TOYOTA_HIGHLANDER), # hybrid - CarTestRoute("eb6acd681135480d|2019-06-20--20-00-00", TOYOTA.TOYOTA_SIENNA), - CarTestRoute("2e07163a1ba9a780|2019-08-25--13-15-13", TOYOTA.LEXUS_IS), - CarTestRoute("649bf2997ada6e3a|2023-08-08--18-04-22", TOYOTA.LEXUS_IS_TSS2), - CarTestRoute("0a0de17a1e6a2d15|2020-09-21--21-24-41", TOYOTA.TOYOTA_PRIUS_TSS2), - CarTestRoute("9b36accae406390e|2021-03-30--10-41-38", TOYOTA.TOYOTA_MIRAI), - CarTestRoute("cd9cff4b0b26c435|2021-05-13--15-12-39", TOYOTA.TOYOTA_CHR), - CarTestRoute("57858ede0369a261|2021-05-18--20-34-20", TOYOTA.TOYOTA_CHR), # hybrid - CarTestRoute("ea8fbe72b96a185c|2023-02-08--15-11-46", TOYOTA.TOYOTA_CHR_TSS2), - CarTestRoute("ea8fbe72b96a185c|2023-02-22--09-20-34", TOYOTA.TOYOTA_CHR_TSS2), # openpilot longitudinal, with smartDSU - CarTestRoute("6719965b0e1d1737|2023-02-09--22-44-05", TOYOTA.TOYOTA_CHR_TSS2), # hybrid - CarTestRoute("6719965b0e1d1737|2023-08-29--06-40-05", TOYOTA.TOYOTA_CHR_TSS2), # hybrid, openpilot longitudinal, radar disabled - CarTestRoute("14623aae37e549f3|2021-10-24--01-20-49", TOYOTA.TOYOTA_PRIUS_V), - - CarTestRoute("202c40641158a6e5|2021-09-21--09-43-24", VOLKSWAGEN.VOLKSWAGEN_ARTEON_MK1), - CarTestRoute("2c68dda277d887ac|2021-05-11--15-22-20", VOLKSWAGEN.VOLKSWAGEN_ATLAS_MK1), - CarTestRoute("ffcd23abbbd02219|2024-02-28--14-59-38", VOLKSWAGEN.VOLKSWAGEN_CADDY_MK3), - CarTestRoute("cae14e88932eb364|2021-03-26--14-43-28", VOLKSWAGEN.VOLKSWAGEN_GOLF_MK7), # Stock ACC - CarTestRoute("3cfdec54aa035f3f|2022-10-13--14-58-58", VOLKSWAGEN.VOLKSWAGEN_GOLF_MK7), # openpilot longitudinal - CarTestRoute("58a7d3b707987d65|2021-03-25--17-26-37", VOLKSWAGEN.VOLKSWAGEN_JETTA_MK7), - CarTestRoute("4d134e099430fba2|2021-03-26--00-26-06", VOLKSWAGEN.VOLKSWAGEN_PASSAT_MK8), - CarTestRoute("3cfdec54aa035f3f|2022-07-19--23-45-10", VOLKSWAGEN.VOLKSWAGEN_PASSAT_NMS), - CarTestRoute("0cd0b7f7e31a3853|2021-11-03--19-30-22", VOLKSWAGEN.VOLKSWAGEN_POLO_MK6), - CarTestRoute("064d1816e448f8eb|2022-09-29--15-32-34", VOLKSWAGEN.VOLKSWAGEN_SHARAN_MK2), - CarTestRoute("7d82b2f3a9115f1f|2021-10-21--15-39-42", VOLKSWAGEN.VOLKSWAGEN_TAOS_MK1), - CarTestRoute("2744c89a8dda9a51|2021-07-24--21-28-06", VOLKSWAGEN.VOLKSWAGEN_TCROSS_MK1), - CarTestRoute("2cef8a0b898f331a|2021-03-25--20-13-57", VOLKSWAGEN.VOLKSWAGEN_TIGUAN_MK2), - CarTestRoute("a589dcc642fdb10a|2021-06-14--20-54-26", VOLKSWAGEN.VOLKSWAGEN_TOURAN_MK2), - CarTestRoute("a459f4556782eba1|2021-09-19--09-48-00", VOLKSWAGEN.VOLKSWAGEN_TRANSPORTER_T61), - CarTestRoute("0cd0b7f7e31a3853|2021-11-18--00-38-32", VOLKSWAGEN.VOLKSWAGEN_TROC_MK1), - CarTestRoute("07667b885add75fd|2021-01-23--19-48-42", VOLKSWAGEN.AUDI_A3_MK3), - CarTestRoute("6c6b466346192818|2021-06-06--14-17-47", VOLKSWAGEN.AUDI_Q2_MK1), - CarTestRoute("0cd0b7f7e31a3853|2021-12-03--03-12-05", VOLKSWAGEN.AUDI_Q3_MK2), - CarTestRoute("8f205bdd11bcbb65|2021-03-26--01-00-17", VOLKSWAGEN.SEAT_ATECA_MK1), - CarTestRoute("fc6b6c9a3471c846|2021-05-27--13-39-56", VOLKSWAGEN.SEAT_ATECA_MK1), # Leon - CarTestRoute("0bbe367c98fa1538|2023-03-04--17-46-11", VOLKSWAGEN.SKODA_FABIA_MK4), - CarTestRoute("12d6ae3057c04b0d|2021-09-15--00-04-07", VOLKSWAGEN.SKODA_KAMIQ_MK1), - CarTestRoute("12d6ae3057c04b0d|2021-09-04--21-21-21", VOLKSWAGEN.SKODA_KAROQ_MK1), - CarTestRoute("90434ff5d7c8d603|2021-03-15--12-07-31", VOLKSWAGEN.SKODA_KODIAQ_MK1), - CarTestRoute("66e5edc3a16459c5|2021-05-25--19-00-29", VOLKSWAGEN.SKODA_OCTAVIA_MK3), - CarTestRoute("026b6d18fba6417f|2021-03-26--09-17-04", VOLKSWAGEN.SKODA_KAMIQ_MK1), # Scala - CarTestRoute("b2e9858e29db492b|2021-03-26--16-58-42", VOLKSWAGEN.SKODA_SUPERB_MK3), - - CarTestRoute("3c8f0c502e119c1c|2020-06-30--12-58-02", SUBARU.SUBARU_ASCENT), - CarTestRoute("c321c6b697c5a5ff|2020-06-23--11-04-33", SUBARU.SUBARU_FORESTER), - CarTestRoute("791340bc01ed993d|2019-03-10--16-28-08", SUBARU.SUBARU_IMPREZA), - CarTestRoute("8bf7e79a3ce64055|2021-05-24--09-36-27", SUBARU.SUBARU_IMPREZA_2020), - CarTestRoute("8de015561e1ea4a0|2023-08-29--17-08-31", SUBARU.SUBARU_IMPREZA), # openpilot longitudinal - # CarTestRoute("c3d1ccb52f5f9d65|2023-07-22--01-23-20", SUBARU.OUTBACK, segment=9), # gen2 longitudinal, eyesight disabled - CarTestRoute("1bbe6bf2d62f58a8|2022-07-14--17-11-43", SUBARU.SUBARU_OUTBACK, segment=10), - CarTestRoute("c56e69bbc74b8fad|2022-08-18--09-43-51", SUBARU.SUBARU_LEGACY, segment=3), - CarTestRoute("f4e3a0c511a076f4|2022-08-04--16-16-48", SUBARU.SUBARU_CROSSTREK_HYBRID, segment=2), - CarTestRoute("7fd1e4f3a33c1673|2022-12-04--15-09-53", SUBARU.SUBARU_FORESTER_2022, segment=4), - CarTestRoute("f3b34c0d2632aa83|2023-07-23--20-43-25", SUBARU.SUBARU_OUTBACK_2023, segment=7), - CarTestRoute("99437cef6d5ff2ee|2023-03-13--21-21-38", SUBARU.SUBARU_ASCENT_2023, segment=7), - # Pre-global, dashcam - CarTestRoute("95441c38ae8c130e|2020-06-08--12-10-17", SUBARU.SUBARU_FORESTER_PREGLOBAL), - CarTestRoute("df5ca7660000fba8|2020-06-16--17-37-19", SUBARU.SUBARU_LEGACY_PREGLOBAL), - CarTestRoute("5ab784f361e19b78|2020-06-08--16-30-41", SUBARU.SUBARU_OUTBACK_PREGLOBAL), - CarTestRoute("e19eb5d5353b1ac1|2020-08-09--14-37-56", SUBARU.SUBARU_OUTBACK_PREGLOBAL_2018), - - CarTestRoute("fbbfa6af821552b9|2020-03-03--08-09-43", NISSAN.NISSAN_XTRAIL), - CarTestRoute("5b7c365c50084530|2020-03-25--22-10-13", NISSAN.NISSAN_LEAF), - CarTestRoute("22c3dcce2dd627eb|2020-12-30--16-38-48", NISSAN.NISSAN_LEAF_IC), - CarTestRoute("059ab9162e23198e|2020-05-30--09-41-01", NISSAN.NISSAN_ROGUE), - CarTestRoute("b72d3ec617c0a90f|2020-12-11--15-38-17", NISSAN.NISSAN_ALTIMA), - - CarTestRoute("32a319f057902bb3|2020-04-27--15-18-58", MAZDA.MAZDA_CX5), - CarTestRoute("10b5a4b380434151|2020-08-26--17-11-45", MAZDA.MAZDA_CX9), - CarTestRoute("74f1038827005090|2020-08-26--20-05-50", MAZDA.MAZDA_3), - CarTestRoute("fb53c640f499b73d|2021-06-01--04-17-56", MAZDA.MAZDA_6), - CarTestRoute("f6d5b1a9d7a1c92e|2021-07-08--06-56-59", MAZDA.MAZDA_CX9_2021), - CarTestRoute("a4af1602d8e668ac|2022-02-03--12-17-07", MAZDA.MAZDA_CX5_2022), - - CarTestRoute("6c14ee12b74823ce|2021-06-30--11-49-02", TESLA.TESLA_AP1_MODELS), - CarTestRoute("bb50caf5f0945ab1|2021-06-19--17-20-18", TESLA.TESLA_AP2_MODELS), - CarTestRoute("66c1699b7697267d/2024-03-03--13-09-53", TESLA.TESLA_MODELS_RAVEN), - - # Segments that test specific issues - # Controls mismatch due to interceptor threshold - CarTestRoute("cfb32f0fb91b173b|2022-04-06--14-54-45", HONDA.CIVIC, segment=21), - # Controls mismatch due to standstill threshold - CarTestRoute("bec2dcfde6a64235|2022-04-08--14-21-32", HONDA.HONDA_CRV_HYBRID, segment=22), -] diff --git a/selfdrive/car/tests/test_can_fingerprint.py b/selfdrive/car/tests/test_can_fingerprint.py deleted file mode 100644 index f236986d8e58b3..00000000000000 --- a/selfdrive/car/tests/test_can_fingerprint.py +++ /dev/null @@ -1,61 +0,0 @@ -from parameterized import parameterized - -from cereal import log, messaging -from openpilot.selfdrive.car.car_helpers import FRAME_FINGERPRINT, can_fingerprint -from openpilot.selfdrive.car.fingerprints import _FINGERPRINTS as FINGERPRINTS - - -class TestCanFingerprint: - @parameterized.expand(list(FINGERPRINTS.items())) - def test_can_fingerprint(self, car_model, fingerprints): - """Tests online fingerprinting function on offline fingerprints""" - - for fingerprint in fingerprints: # can have multiple fingerprints for each platform - can = messaging.new_message('can', 1) - can.can = [log.CanData(address=address, dat=b'\x00' * length, src=src) - for address, length in fingerprint.items() for src in (0, 1)] - - fingerprint_iter = iter([can]) - empty_can = messaging.new_message('can', 0) - car_fingerprint, finger = can_fingerprint(lambda: next(fingerprint_iter, empty_can)) # noqa: B023 - - assert car_fingerprint == car_model - assert finger[0] == fingerprint - assert finger[1] == fingerprint - assert finger[2] == {} - - def test_timing(self, subtests): - # just pick any CAN fingerprinting car - car_model = "CHEVROLET_BOLT_EUV" - fingerprint = FINGERPRINTS[car_model][0] - - cases = [] - - # case 1 - one match, make sure we keep going for 100 frames - can = messaging.new_message('can', 1) - can.can = [log.CanData(address=address, dat=b'\x00' * length, src=src) - for address, length in fingerprint.items() for src in (0, 1)] - cases.append((FRAME_FINGERPRINT, car_model, can)) - - # case 2 - no matches, make sure we keep going for 100 frames - can = messaging.new_message('can', 1) - can.can = [log.CanData(address=1, dat=b'\x00' * 1, src=src) for src in (0, 1)] # uncommon address - cases.append((FRAME_FINGERPRINT, None, can)) - - # case 3 - multiple matches, make sure we keep going for 200 frames to try to eliminate some - can = messaging.new_message('can', 1) - can.can = [log.CanData(address=2016, dat=b'\x00' * 8, src=src) for src in (0, 1)] # common address - cases.append((FRAME_FINGERPRINT * 2, None, can)) - - for expected_frames, car_model, can in cases: - with subtests.test(expected_frames=expected_frames, car_model=car_model): - frames = 0 - - def test(): - nonlocal frames - frames += 1 - return can # noqa: B023 - - car_fingerprint, _ = can_fingerprint(test) - assert car_fingerprint == car_model - assert frames == expected_frames + 2# TODO: fix extra frames diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py deleted file mode 100644 index f20a56bfe7811f..00000000000000 --- a/selfdrive/car/tests/test_car_interfaces.py +++ /dev/null @@ -1,162 +0,0 @@ -import os -import math -import hypothesis.strategies as st -from hypothesis import Phase, given, settings -import importlib -from parameterized import parameterized - -from cereal import car, messaging -from openpilot.common.realtime import DT_CTRL -from openpilot.selfdrive.car import gen_empty_fingerprint -from openpilot.selfdrive.car.car_helpers import interfaces -from openpilot.selfdrive.car.fingerprints import all_known_cars -from openpilot.selfdrive.car.fw_versions import FW_VERSIONS, FW_QUERY_CONFIGS -from openpilot.selfdrive.car.interfaces import get_interface_attr -from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle -from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID -from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque -from openpilot.selfdrive.controls.lib.longcontrol import LongControl -from openpilot.selfdrive.test.fuzzy_generation import DrawType, FuzzyGenerator - -ALL_ECUS = {ecu for ecus in FW_VERSIONS.values() for ecu in ecus.keys()} -ALL_ECUS |= {ecu for config in FW_QUERY_CONFIGS.values() for ecu in config.extra_ecus} - -ALL_REQUESTS = {tuple(r.request) for config in FW_QUERY_CONFIGS.values() for r in config.requests} - -MAX_EXAMPLES = int(os.environ.get('MAX_EXAMPLES', '40')) - - -def get_fuzzy_car_interface_args(draw: DrawType) -> dict: - # Fuzzy CAN fingerprints and FW versions to test more states of the CarInterface - fingerprint_strategy = st.fixed_dictionaries({key: st.dictionaries(st.integers(min_value=0, max_value=0x800), - st.integers(min_value=0, max_value=64)) for key in - gen_empty_fingerprint()}) - - # only pick from possible ecus to reduce search space - car_fw_strategy = st.lists(st.sampled_from(sorted(ALL_ECUS))) - - params_strategy = st.fixed_dictionaries({ - 'fingerprints': fingerprint_strategy, - 'car_fw': car_fw_strategy, - 'experimental_long': st.booleans(), - }) - - params: dict = draw(params_strategy) - params['car_fw'] = [car.CarParams.CarFw(ecu=fw[0], address=fw[1], subAddress=fw[2] or 0, - request=draw(st.sampled_from(sorted(ALL_REQUESTS)))) - for fw in params['car_fw']] - return params - - -class TestCarInterfaces: - # FIXME: Due to the lists used in carParams, Phase.target is very slow and will cause - # many generated examples to overrun when max_examples > ~20, don't use it - @parameterized.expand([(car,) for car in sorted(all_known_cars())]) - @settings(max_examples=MAX_EXAMPLES, deadline=None, - phases=(Phase.reuse, Phase.generate, Phase.shrink)) - @given(data=st.data()) - def test_car_interfaces(self, car_name, data): - CarInterface, CarController, CarState = interfaces[car_name] - - args = get_fuzzy_car_interface_args(data.draw) - - car_params = CarInterface.get_params(car_name, args['fingerprints'], args['car_fw'], - experimental_long=args['experimental_long'], docs=False) - car_interface = CarInterface(car_params, CarController, CarState) - assert car_params - assert car_interface - - assert car_params.mass > 1 - assert car_params.wheelbase > 0 - # centerToFront is center of gravity to front wheels, assert a reasonable range - assert car_params.wheelbase * 0.3 < car_params.centerToFront < car_params.wheelbase * 0.7 - assert car_params.maxLateralAccel > 0 - - # Longitudinal sanity checks - assert len(car_params.longitudinalTuning.kpV) == len(car_params.longitudinalTuning.kpBP) - assert len(car_params.longitudinalTuning.kiV) == len(car_params.longitudinalTuning.kiBP) - - # If we're using the interceptor for gasPressed, we should be commanding gas with it - if car_params.enableGasInterceptor: - self.assertTrue(car_params.openpilotLongitudinalControl) - - # Lateral sanity checks - if car_params.steerControlType != car.CarParams.SteerControlType.angle: - tune = car_params.lateralTuning - if tune.which() == 'pid': - assert not math.isnan(tune.pid.kf) and tune.pid.kf > 0 - assert len(tune.pid.kpV) > 0 and len(tune.pid.kpV) == len(tune.pid.kpBP) - assert len(tune.pid.kiV) > 0 and len(tune.pid.kiV) == len(tune.pid.kiBP) - - elif tune.which() == 'torque': - assert not math.isnan(tune.torque.kf) and tune.torque.kf > 0 - assert not math.isnan(tune.torque.friction) and tune.torque.friction > 0 - - cc_msg = FuzzyGenerator.get_random_msg(data.draw, car.CarControl, real_floats=True) - # Run car interface - now_nanos = 0 - CC = car.CarControl.new_message(**cc_msg) - for _ in range(10): - car_interface.update(CC, []) - car_interface.apply(CC.as_reader(), now_nanos) - now_nanos += DT_CTRL * 1e9 # 10 ms - - CC = car.CarControl.new_message(**cc_msg) - CC.enabled = True - for _ in range(10): - car_interface.update(CC, []) - car_interface.apply(CC.as_reader(), now_nanos) - now_nanos += DT_CTRL * 1e9 # 10ms - - # Test controller initialization - # TODO: wait until card refactor is merged to run controller a few times, - # hypothesis also slows down significantly with just one more message draw - LongControl(car_params) - if car_params.steerControlType == car.CarParams.SteerControlType.angle: - LatControlAngle(car_params, car_interface) - elif car_params.lateralTuning.which() == 'pid': - LatControlPID(car_params, car_interface) - elif car_params.lateralTuning.which() == 'torque': - LatControlTorque(car_params, car_interface) - - # Test radar interface - RadarInterface = importlib.import_module(f'selfdrive.car.{car_params.carName}.radar_interface').RadarInterface - radar_interface = RadarInterface(car_params) - assert radar_interface - - # Run radar interface once - radar_interface.update([]) - if not car_params.radarUnavailable and radar_interface.rcp is not None and \ - hasattr(radar_interface, '_update') and hasattr(radar_interface, 'trigger_msg'): - radar_interface._update([radar_interface.trigger_msg]) - - # Test radar fault - if not car_params.radarUnavailable and radar_interface.rcp is not None: - cans = [messaging.new_message('can', 1).to_bytes() for _ in range(5)] - rr = radar_interface.update(cans) - assert rr is None or len(rr.errors) > 0 - - def test_interface_attrs(self): - """Asserts basic behavior of interface attribute getter""" - num_brands = len(get_interface_attr('CAR')) - assert num_brands >= 13 - - # Should return value for all brands when not combining, even if attribute doesn't exist - ret = get_interface_attr('FAKE_ATTR') - assert len(ret) == num_brands - - # Make sure we can combine dicts - ret = get_interface_attr('DBC', combine_brands=True) - assert len(ret) >= 160 - - # We don't support combining non-dicts - ret = get_interface_attr('CAR', combine_brands=True) - assert len(ret) == 0 - - # If brand has None value, it shouldn't return when ignore_none=True is specified - none_brands = {b for b, v in get_interface_attr('FINGERPRINTS').items() if v is None} - assert len(none_brands) >= 1 - - ret = get_interface_attr('FINGERPRINTS', ignore_none=True) - none_brands_in_ret = none_brands.intersection(ret) - assert len(none_brands_in_ret) == 0, f'Brands with None values in ignore_none=True result: {none_brands_in_ret}' diff --git a/selfdrive/car/tests/test_docs.py b/selfdrive/car/tests/test_docs.py deleted file mode 100644 index 40ad07b2837644..00000000000000 --- a/selfdrive/car/tests/test_docs.py +++ /dev/null @@ -1,91 +0,0 @@ -from collections import defaultdict -import os -import pytest -import re - -from openpilot.common.basedir import BASEDIR -from openpilot.selfdrive.car.car_helpers import interfaces -from openpilot.selfdrive.car.docs import CARS_MD_OUT, CARS_MD_TEMPLATE, generate_cars_md, get_all_car_docs -from openpilot.selfdrive.car.docs_definitions import Cable, Column, PartType, Star -from openpilot.selfdrive.car.honda.values import CAR as HONDA -from openpilot.selfdrive.car.values import PLATFORMS -from openpilot.selfdrive.debug.dump_car_docs import dump_car_docs -from openpilot.selfdrive.debug.print_docs_diff import print_car_docs_diff - - -class TestCarDocs: - @classmethod - def setup_class(cls): - cls.all_cars = get_all_car_docs() - - def test_generator(self): - generated_cars_md = generate_cars_md(self.all_cars, CARS_MD_TEMPLATE) - with open(CARS_MD_OUT) as f: - current_cars_md = f.read() - - assert generated_cars_md == current_cars_md, "Run selfdrive/car/docs.py to update the compatibility documentation" - - def test_docs_diff(self): - dump_path = os.path.join(BASEDIR, "selfdrive", "car", "tests", "cars_dump") - dump_car_docs(dump_path) - print_car_docs_diff(dump_path) - os.remove(dump_path) - - def test_duplicate_years(self, subtests): - make_model_years = defaultdict(list) - for car in self.all_cars: - with subtests.test(car_docs_name=car.name): - make_model = (car.make, car.model) - for year in car.year_list: - assert year not in make_model_years[make_model], f"{car.name}: Duplicate model year" - make_model_years[make_model].append(year) - - def test_missing_car_docs(self, subtests): - all_car_docs_platforms = [name for name, config in PLATFORMS.items()] - for platform in sorted(interfaces.keys()): - with subtests.test(platform=platform): - assert platform in all_car_docs_platforms, f"Platform: {platform} doesn't have a CarDocs entry" - - def test_naming_conventions(self, subtests): - # Asserts market-standard car naming conventions by brand - for car in self.all_cars: - with subtests.test(car=car.name): - tokens = car.model.lower().split(" ") - if car.car_name == "hyundai": - assert "phev" not in tokens, "Use `Plug-in Hybrid`" - assert "hev" not in tokens, "Use `Hybrid`" - if "plug-in hybrid" in car.model.lower(): - assert "Plug-in Hybrid" in car.model, "Use correct capitalization" - if car.make != "Kia": - assert "ev" not in tokens, "Use `Electric`" - elif car.car_name == "toyota": - if "rav4" in tokens: - assert "RAV4" in car.model, "Use correct capitalization" - - def test_torque_star(self, subtests): - # Asserts brand-specific assumptions around steering torque star - for car in self.all_cars: - with subtests.test(car=car.name): - # honda sanity check, it's the definition of a no torque star - if car.car_fingerprint in (HONDA.HONDA_ACCORD, HONDA.HONDA_CIVIC, HONDA.HONDA_CRV, HONDA.HONDA_ODYSSEY, HONDA.HONDA_PILOT): - assert car.row[Column.STEERING_TORQUE] == Star.EMPTY, f"{car.name} has full torque star" - elif car.car_name in ("toyota", "hyundai"): - assert car.row[Column.STEERING_TORQUE] != Star.EMPTY, f"{car.name} has no torque star" - - def test_year_format(self, subtests): - for car in self.all_cars: - with subtests.test(car=car.name): - assert re.search(r"\d{4}-\d{4}", car.name) is None, f"Format years correctly: {car.name}" - - def test_harnesses(self, subtests): - for car in self.all_cars: - with subtests.test(car=car.name): - if car.name == "comma body": - pytest.skip() - - car_part_type = [p.part_type for p in car.car_parts.all_parts()] - car_parts = list(car.car_parts.all_parts()) - assert len(car_parts) > 0, f"Need to specify car parts: {car.name}" - assert car_part_type.count(PartType.connector) == 1, f"Need to specify one harness connector: {car.name}" - assert car_part_type.count(PartType.mount) == 1, f"Need to specify one mount: {car.name}" - assert Cable.right_angle_obd_c_cable_1_5ft in car_parts, f"Need to specify a right angle OBD-C cable (1.5ft): {car.name}" diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py deleted file mode 100644 index f8729725422507..00000000000000 --- a/selfdrive/car/tests/test_fw_fingerprint.py +++ /dev/null @@ -1,315 +0,0 @@ -import pytest -import random -import time -from collections import defaultdict -from parameterized import parameterized - -from cereal import car -from openpilot.selfdrive.car.car_helpers import interfaces -from openpilot.selfdrive.car.fingerprints import FW_VERSIONS -from openpilot.selfdrive.car.fw_versions import ESSENTIAL_ECUS, FW_QUERY_CONFIGS, FUZZY_EXCLUDE_ECUS, VERSIONS, build_fw_dict, \ - match_fw_to_car, get_brand_ecu_matches, get_fw_versions, get_present_ecus -from openpilot.selfdrive.car.vin import get_vin - -CarFw = car.CarParams.CarFw -Ecu = car.CarParams.Ecu - -ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()} - - -class FakeSocket: - def receive(self, non_blocking=False): - pass - - def send(self, msg): - pass - - -class TestFwFingerprint: - def assertFingerprints(self, candidates, expected): - candidates = list(candidates) - assert len(candidates) == 1, f"got more than one candidate: {candidates}" - assert candidates[0] == expected - - @parameterized.expand([(b, c, e[c], n) for b, e in VERSIONS.items() for c in e for n in (True, False)]) - def test_exact_match(self, brand, car_model, ecus, test_non_essential): - config = FW_QUERY_CONFIGS[brand] - CP = car.CarParams.new_message() - for _ in range(100): - fw = [] - for ecu, fw_versions in ecus.items(): - # Assume non-essential ECUs apply to all cars, so we catch cases where Car A with - # missing ECUs won't match to Car B where only Car B has labeled non-essential ECUs - if ecu[0] in config.non_essential_ecus and test_non_essential: - continue - - ecu_name, addr, sub_addr = ecu - fw.append({"ecu": ecu_name, "fwVersion": random.choice(fw_versions), 'brand': brand, - "address": addr, "subAddress": 0 if sub_addr is None else sub_addr}) - CP.carFw = fw - _, matches = match_fw_to_car(CP.carFw, CP.carVin, allow_fuzzy=False) - if not test_non_essential: - self.assertFingerprints(matches, car_model) - else: - # if we're removing ECUs we expect some match loss, but it shouldn't mismatch - if len(matches) != 0: - self.assertFingerprints(matches, car_model) - - @parameterized.expand([(b, c, e[c]) for b, e in VERSIONS.items() for c in e]) - def test_custom_fuzzy_match(self, brand, car_model, ecus): - # Assert brand-specific fuzzy fingerprinting function doesn't disagree with standard fuzzy function - config = FW_QUERY_CONFIGS[brand] - if config.match_fw_to_car_fuzzy is None: - pytest.skip("Brand does not implement custom fuzzy fingerprinting function") - - CP = car.CarParams.new_message() - for _ in range(5): - fw = [] - for ecu, fw_versions in ecus.items(): - ecu_name, addr, sub_addr = ecu - fw.append({"ecu": ecu_name, "fwVersion": random.choice(fw_versions), 'brand': brand, - "address": addr, "subAddress": 0 if sub_addr is None else sub_addr}) - CP.carFw = fw - _, matches = match_fw_to_car(CP.carFw, CP.carVin, allow_exact=False, log=False) - brand_matches = config.match_fw_to_car_fuzzy(build_fw_dict(CP.carFw), CP.carVin, VERSIONS[brand]) - - # If both have matches, they must agree - if len(matches) == 1 and len(brand_matches) == 1: - assert matches == brand_matches - - @parameterized.expand([(b, c, e[c]) for b, e in VERSIONS.items() for c in e]) - def test_fuzzy_match_ecu_count(self, brand, car_model, ecus): - # Asserts that fuzzy matching does not count matching FW, but ECU address keys - valid_ecus = [e for e in ecus if e[0] not in FUZZY_EXCLUDE_ECUS] - if not len(valid_ecus): - pytest.skip("Car model has no compatible ECUs for fuzzy matching") - - fw = [] - for ecu in valid_ecus: - ecu_name, addr, sub_addr = ecu - for _ in range(5): - # Add multiple FW versions to simulate ECU returning to multiple queries in a brand - fw.append({"ecu": ecu_name, "fwVersion": random.choice(ecus[ecu]), 'brand': brand, - "address": addr, "subAddress": 0 if sub_addr is None else sub_addr}) - CP = car.CarParams.new_message(carFw=fw) - _, matches = match_fw_to_car(CP.carFw, CP.carVin, allow_exact=False, log=False) - - # Assert no match if there are not enough unique ECUs - unique_ecus = {(f['address'], f['subAddress']) for f in fw} - if len(unique_ecus) < 2: - assert len(matches) == 0, car_model - # There won't always be a match due to shared FW, but if there is it should be correct - elif len(matches): - self.assertFingerprints(matches, car_model) - - def test_fw_version_lists(self, subtests): - for car_model, ecus in FW_VERSIONS.items(): - with subtests.test(car_model=car_model.value): - for ecu, ecu_fw in ecus.items(): - with subtests.test(ecu): - duplicates = {fw for fw in ecu_fw if ecu_fw.count(fw) > 1} - assert not len(duplicates), f'{car_model}: Duplicate FW versions: Ecu.{ECU_NAME[ecu[0]]}, {duplicates}' - assert len(ecu_fw) > 0, f'{car_model}: No FW versions: Ecu.{ECU_NAME[ecu[0]]}' - - def test_all_addrs_map_to_one_ecu(self): - for brand, cars in VERSIONS.items(): - addr_to_ecu = defaultdict(set) - for ecus in cars.values(): - for ecu_type, addr, sub_addr in ecus.keys(): - addr_to_ecu[(addr, sub_addr)].add(ecu_type) - ecus_for_addr = addr_to_ecu[(addr, sub_addr)] - ecu_strings = ", ".join([f'Ecu.{ECU_NAME[ecu]}' for ecu in ecus_for_addr]) - assert len(ecus_for_addr) <= 1, f"{brand} has multiple ECUs that map to one address: {ecu_strings} -> ({hex(addr)}, {sub_addr})" - - def test_data_collection_ecus(self, subtests): - # Asserts no extra ECUs are in the fingerprinting database - for brand, config in FW_QUERY_CONFIGS.items(): - for car_model, ecus in VERSIONS[brand].items(): - bad_ecus = set(ecus).intersection(config.extra_ecus) - with subtests.test(car_model=car_model.value): - assert not len(bad_ecus), f'{car_model}: Fingerprints contain ECUs added for data collection: {bad_ecus}' - - def test_blacklisted_ecus(self, subtests): - blacklisted_addrs = (0x7c4, 0x7d0) # includes A/C ecu and an unknown ecu - for car_model, ecus in FW_VERSIONS.items(): - with subtests.test(car_model=car_model.value): - CP = interfaces[car_model][0].get_non_essential_params(car_model) - if CP.carName == 'subaru': - for ecu in ecus.keys(): - assert ecu[1] not in blacklisted_addrs, f'{car_model}: Blacklisted ecu: (Ecu.{ECU_NAME[ecu[0]]}, {hex(ecu[1])})' - - elif CP.carName == "chrysler": - # Some HD trucks have a combined TCM and ECM - if CP.carFingerprint.startswith("RAM HD"): - for ecu in ecus.keys(): - assert ecu[0] != Ecu.transmission, f"{car_model}: Blacklisted ecu: (Ecu.{ECU_NAME[ecu[0]]}, {hex(ecu[1])})" - - def test_non_essential_ecus(self, subtests): - for brand, config in FW_QUERY_CONFIGS.items(): - with subtests.test(brand): - # These ECUs are already not in ESSENTIAL_ECUS which the fingerprint functions give a pass if missing - unnecessary_non_essential_ecus = set(config.non_essential_ecus) - set(ESSENTIAL_ECUS) - assert unnecessary_non_essential_ecus == set(), "Declaring non-essential ECUs non-essential is not required: " + \ - f"{', '.join([f'Ecu.{ECU_NAME[ecu]}' for ecu in unnecessary_non_essential_ecus])}" - - def test_missing_versions_and_configs(self, subtests): - brand_versions = set(VERSIONS.keys()) - brand_configs = set(FW_QUERY_CONFIGS.keys()) - if len(brand_configs - brand_versions): - with subtests.test(): - pytest.fail(f"Brands do not implement FW_VERSIONS: {brand_configs - brand_versions}") - - if len(brand_versions - brand_configs): - with subtests.test(): - pytest.fail(f"Brands do not implement FW_QUERY_CONFIG: {brand_versions - brand_configs}") - - # Ensure each brand has at least 1 ECU to query, and extra ECU retrieval - for brand, config in FW_QUERY_CONFIGS.items(): - assert len(config.get_all_ecus({}, include_extra_ecus=False)) == 0 - assert config.get_all_ecus({}) == set(config.extra_ecus) - assert len(config.get_all_ecus(VERSIONS[brand])) > 0 - - def test_fw_request_ecu_whitelist(self, subtests): - for brand, config in FW_QUERY_CONFIGS.items(): - with subtests.test(brand=brand): - whitelisted_ecus = {ecu for r in config.requests for ecu in r.whitelist_ecus} - brand_ecus = {fw[0] for car_fw in VERSIONS[brand].values() for fw in car_fw} - brand_ecus |= {ecu[0] for ecu in config.extra_ecus} - - # each ecu in brand's fw versions + extra ecus needs to be whitelisted at least once - ecus_not_whitelisted = brand_ecus - whitelisted_ecus - - ecu_strings = ", ".join([f'Ecu.{ECU_NAME[ecu]}' for ecu in ecus_not_whitelisted]) - assert not (len(whitelisted_ecus) and len(ecus_not_whitelisted)), \ - f'{brand.title()}: ECUs not in any FW query whitelists: {ecu_strings}' - - def test_fw_requests(self, subtests): - # Asserts equal length request and response lists - for brand, config in FW_QUERY_CONFIGS.items(): - with subtests.test(brand=brand): - for request_obj in config.requests: - assert len(request_obj.request) == len(request_obj.response) - - # No request on the OBD port (bus 1, multiplexed) should be run on an aux panda - assert not (request_obj.auxiliary and request_obj.bus == 1 and request_obj.obd_multiplexing), \ - f"{brand.title()}: OBD multiplexed request is marked auxiliary: {request_obj}" - - def test_brand_ecu_matches(self): - empty_response = {brand: set() for brand in FW_QUERY_CONFIGS} - assert get_brand_ecu_matches(set()) == empty_response - - # we ignore bus - expected_response = empty_response | {'toyota': {(0x750, 0xf)}} - assert get_brand_ecu_matches({(0x758, 0xf, 99)}) == expected_response - - -class TestFwFingerprintTiming: - N: int = 5 - TOL: float = 0.05 - - # for patched functions - current_obd_multiplexing: bool - total_time: float - - def fake_set_obd_multiplexing(self, _, obd_multiplexing): - """The 10Hz blocking params loop adds on average 50ms to the query time for each OBD multiplexing change""" - if obd_multiplexing != self.current_obd_multiplexing: - self.current_obd_multiplexing = obd_multiplexing - self.total_time += 0.1 / 2 - - def fake_get_data(self, timeout): - self.total_time += timeout - return {} - - def _benchmark_brand(self, brand, num_pandas, mocker): - fake_socket = FakeSocket() - self.total_time = 0 - mocker.patch("openpilot.selfdrive.car.fw_versions.set_obd_multiplexing", self.fake_set_obd_multiplexing) - mocker.patch("openpilot.selfdrive.car.isotp_parallel_query.IsoTpParallelQuery.get_data", self.fake_get_data) - for _ in range(self.N): - # Treat each brand as the most likely (aka, the first) brand with OBD multiplexing initially on - self.current_obd_multiplexing = True - - t = time.perf_counter() - get_fw_versions(fake_socket, fake_socket, brand, num_pandas=num_pandas) - self.total_time += time.perf_counter() - t - - return self.total_time / self.N - - def _assert_timing(self, avg_time, ref_time): - assert avg_time < ref_time + self.TOL - assert avg_time > ref_time - self.TOL, "Performance seems to have improved, update test refs." - - def test_startup_timing(self, subtests, mocker): - # Tests worse-case VIN query time and typical present ECU query time - vin_ref_times = {'worst': 1.4, 'best': 0.7} # best assumes we go through all queries to get a match - present_ecu_ref_time = 0.45 - - def fake_get_ecu_addrs(*_, timeout): - self.total_time += timeout - return set() - - fake_socket = FakeSocket() - self.total_time = 0.0 - mocker.patch("openpilot.selfdrive.car.fw_versions.set_obd_multiplexing", self.fake_set_obd_multiplexing) - mocker.patch("openpilot.selfdrive.car.fw_versions.get_ecu_addrs", fake_get_ecu_addrs) - for _ in range(self.N): - self.current_obd_multiplexing = True - get_present_ecus(fake_socket, fake_socket, num_pandas=2) - self._assert_timing(self.total_time / self.N, present_ecu_ref_time) - print(f'get_present_ecus, query time={self.total_time / self.N} seconds') - - for name, args in (('worst', {}), ('best', {'retry': 1})): - with subtests.test(name=name): - self.total_time = 0.0 - mocker.patch("openpilot.selfdrive.car.isotp_parallel_query.IsoTpParallelQuery.get_data", self.fake_get_data) - for _ in range(self.N): - get_vin(fake_socket, fake_socket, (0, 1), **args) - self._assert_timing(self.total_time / self.N, vin_ref_times[name]) - print(f'get_vin {name} case, query time={self.total_time / self.N} seconds') - - def test_fw_query_timing(self, subtests, mocker): - total_ref_time = {1: 7.2, 2: 7.8} - brand_ref_times = { - 1: { - 'gm': 1.0, - 'body': 0.1, - 'chrysler': 0.3, - 'ford': 1.5, - 'honda': 0.45, - 'hyundai': 0.65, - 'mazda': 0.1, - 'nissan': 0.8, - 'subaru': 0.65, - 'tesla': 0.3, - 'toyota': 0.7, - 'volkswagen': 0.65, - }, - 2: { - 'ford': 1.6, - 'hyundai': 1.15, - 'tesla': 0.3, - } - } - - total_times = {1: 0.0, 2: 0.0} - for num_pandas in (1, 2): - for brand, config in FW_QUERY_CONFIGS.items(): - with subtests.test(brand=brand, num_pandas=num_pandas): - avg_time = self._benchmark_brand(brand, num_pandas, mocker) - total_times[num_pandas] += avg_time - avg_time = round(avg_time, 2) - - ref_time = brand_ref_times[num_pandas].get(brand) - if ref_time is None: - # ref time should be same as 1 panda if no aux queries - ref_time = brand_ref_times[num_pandas - 1][brand] - - self._assert_timing(avg_time, ref_time) - print(f'{brand=}, {num_pandas=}, {len(config.requests)=}, avg FW query time={avg_time} seconds') - - for num_pandas in (1, 2): - with subtests.test(brand='all_brands', num_pandas=num_pandas): - total_time = round(total_times[num_pandas], 2) - self._assert_timing(total_time, total_ref_time[num_pandas]) - print(f'all brands, total FW query time={total_time} seconds') diff --git a/selfdrive/car/tests/test_lateral_limits.py b/selfdrive/car/tests/test_lateral_limits.py deleted file mode 100755 index e61d197f4b7085..00000000000000 --- a/selfdrive/car/tests/test_lateral_limits.py +++ /dev/null @@ -1,98 +0,0 @@ -#!/usr/bin/env python3 -from collections import defaultdict -import importlib -from parameterized import parameterized_class -import pytest -import sys - -from openpilot.common.realtime import DT_CTRL -from openpilot.selfdrive.car.car_helpers import interfaces -from openpilot.selfdrive.car.fingerprints import all_known_cars -from openpilot.selfdrive.car.interfaces import get_torque_params - -CAR_MODELS = all_known_cars() - -# ISO 11270 - allowed up jerk is strictly lower than recommended limits -MAX_LAT_ACCEL = 3.0 # m/s^2 -MAX_LAT_JERK_UP = 2.5 # m/s^3 -MAX_LAT_JERK_DOWN = 5.0 # m/s^3 -MAX_LAT_JERK_UP_TOLERANCE = 0.5 # m/s^3 - -# jerk is measured over half a second -JERK_MEAS_T = 0.5 - - -@parameterized_class('car_model', [(c,) for c in sorted(CAR_MODELS)]) -class TestLateralLimits: - car_model: str - - @classmethod - def setup_class(cls): - CarInterface, _, _ = interfaces[cls.car_model] - CP = CarInterface.get_non_essential_params(cls.car_model) - - if CP.dashcamOnly: - pytest.skip("Platform is behind dashcamOnly") - - # TODO: test all platforms - if CP.lateralTuning.which() != 'torque': - pytest.skip() - - if CP.notCar: - pytest.skip() - - CarControllerParams = importlib.import_module(f'selfdrive.car.{CP.carName}.values').CarControllerParams - cls.control_params = CarControllerParams(CP) - cls.torque_params = get_torque_params()[cls.car_model] - - @staticmethod - def calculate_0_5s_jerk(control_params, torque_params): - steer_step = control_params.STEER_STEP - max_lat_accel = torque_params['MAX_LAT_ACCEL_MEASURED'] - - # Steer up/down delta per 10ms frame, in percentage of max torque - steer_up_per_frame = control_params.STEER_DELTA_UP / control_params.STEER_MAX / steer_step - steer_down_per_frame = control_params.STEER_DELTA_DOWN / control_params.STEER_MAX / steer_step - - # Lateral acceleration reached in 0.5 seconds, clipping to max torque - accel_up_0_5_sec = min(steer_up_per_frame * JERK_MEAS_T / DT_CTRL, 1.0) * max_lat_accel - accel_down_0_5_sec = min(steer_down_per_frame * JERK_MEAS_T / DT_CTRL, 1.0) * max_lat_accel - - # Convert to m/s^3 - return accel_up_0_5_sec / JERK_MEAS_T, accel_down_0_5_sec / JERK_MEAS_T - - def test_jerk_limits(self): - up_jerk, down_jerk = self.calculate_0_5s_jerk(self.control_params, self.torque_params) - assert up_jerk <= MAX_LAT_JERK_UP + MAX_LAT_JERK_UP_TOLERANCE - assert down_jerk <= MAX_LAT_JERK_DOWN - - def test_max_lateral_accel(self): - assert self.torque_params["MAX_LAT_ACCEL_MEASURED"] <= MAX_LAT_ACCEL - - -class LatAccelReport: - car_model_jerks: defaultdict[str, dict[str, float]] = defaultdict(dict) - - def pytest_sessionfinish(self): - print(f"\n\n---- Lateral limit report ({len(CAR_MODELS)} cars) ----\n") - - max_car_model_len = max([len(car_model) for car_model in self.car_model_jerks]) - for car_model, _jerks in sorted(self.car_model_jerks.items(), key=lambda i: i[1]['up_jerk'], reverse=True): - violation = _jerks["up_jerk"] > MAX_LAT_JERK_UP + MAX_LAT_JERK_UP_TOLERANCE or \ - _jerks["down_jerk"] > MAX_LAT_JERK_DOWN - violation_str = " - VIOLATION" if violation else "" - - print(f"{car_model:{max_car_model_len}} - up jerk: {round(_jerks['up_jerk'], 2):5} " + - f"m/s^3, down jerk: {round(_jerks['down_jerk'], 2):5} m/s^3{violation_str}") - - @pytest.fixture(scope="class", autouse=True) - def class_setup(self, request): - yield - cls = request.cls - if hasattr(cls, "control_params"): - up_jerk, down_jerk = TestLateralLimits.calculate_0_5s_jerk(cls.control_params, cls.torque_params) - self.car_model_jerks[cls.car_model] = {"up_jerk": up_jerk, "down_jerk": down_jerk} - - -if __name__ == '__main__': - sys.exit(pytest.main([__file__, '-n0', '--no-summary'], plugins=[LatAccelReport()])) # noqa: TID251 diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py deleted file mode 100644 index b5d75e665b0582..00000000000000 --- a/selfdrive/car/tests/test_models.py +++ /dev/null @@ -1,484 +0,0 @@ -import capnp -import os -import importlib -import pytest -import random -import unittest # noqa: TID251 -from collections import defaultdict, Counter -import hypothesis.strategies as st -from hypothesis import Phase, given, settings -from parameterized import parameterized_class - -from cereal import messaging, log, car -from openpilot.common.basedir import BASEDIR -from openpilot.common.params import Params -from openpilot.common.realtime import DT_CTRL -from openpilot.selfdrive.car import gen_empty_fingerprint -from openpilot.selfdrive.car.card import Car -from openpilot.selfdrive.car.fingerprints import all_known_cars, MIGRATION -from openpilot.selfdrive.car.car_helpers import FRAME_FINGERPRINT, interfaces -from openpilot.selfdrive.car.honda.values import CAR as HONDA, HondaFlags -from openpilot.selfdrive.car.tests.routes import non_tested_cars, routes, CarTestRoute -from openpilot.selfdrive.car.values import Platform -from openpilot.selfdrive.test.helpers import read_segment_list -from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT -from openpilot.tools.lib.logreader import LogReader, internal_source, openpilotci_source -from openpilot.tools.lib.route import SegmentName - -from panda.tests.libpanda import libpanda_py - -EventName = car.CarEvent.EventName -PandaType = log.PandaState.PandaType -SafetyModel = car.CarParams.SafetyModel - -NUM_JOBS = int(os.environ.get("NUM_JOBS", "1")) -JOB_ID = int(os.environ.get("JOB_ID", "0")) -INTERNAL_SEG_LIST = os.environ.get("INTERNAL_SEG_LIST", "") -INTERNAL_SEG_CNT = int(os.environ.get("INTERNAL_SEG_CNT", "0")) -MAX_EXAMPLES = int(os.environ.get("MAX_EXAMPLES", "300")) -CI = os.environ.get("CI", None) is not None - - -def get_test_cases() -> list[tuple[str, CarTestRoute | None]]: - # build list of test cases - test_cases = [] - if not len(INTERNAL_SEG_LIST): - routes_by_car = defaultdict(set) - for r in routes: - routes_by_car[r.car_model].add(r) - - for i, c in enumerate(sorted(all_known_cars())): - if i % NUM_JOBS == JOB_ID: - test_cases.extend(sorted((c, r) for r in routes_by_car.get(c, (None,)))) - - else: - segment_list = read_segment_list(os.path.join(BASEDIR, INTERNAL_SEG_LIST)) - segment_list = random.sample(segment_list, INTERNAL_SEG_CNT or len(segment_list)) - for platform, segment in segment_list: - segment_name = SegmentName(segment) - test_cases.append((platform, CarTestRoute(segment_name.route_name.canonical_name, platform, - segment=segment_name.segment_num))) - return test_cases - - -@pytest.mark.slow -@pytest.mark.shared_download_cache -class TestCarModelBase(unittest.TestCase): - platform: Platform | None = None - test_route: CarTestRoute | None = None - test_route_on_bucket: bool = True # whether the route is on the preserved CI bucket - - can_msgs: list[capnp.lib.capnp._DynamicStructReader] - fingerprint: dict[int, dict[int, int]] - elm_frame: int | None - car_safety_mode_frame: int | None - - @classmethod - def get_testing_data_from_logreader(cls, lr): - car_fw = [] - can_msgs = [] - cls.elm_frame = None - cls.car_safety_mode_frame = None - cls.fingerprint = gen_empty_fingerprint() - experimental_long = False - for msg in lr: - if msg.which() == "can": - can_msgs.append(msg) - if len(can_msgs) <= FRAME_FINGERPRINT: - for m in msg.can: - if m.src < 64: - cls.fingerprint[m.src][m.address] = len(m.dat) - - elif msg.which() == "carParams": - car_fw = msg.carParams.carFw - if msg.carParams.openpilotLongitudinalControl: - experimental_long = True - if cls.platform is None and not cls.test_route_on_bucket: - live_fingerprint = msg.carParams.carFingerprint - cls.platform = MIGRATION.get(live_fingerprint, live_fingerprint) - - # Log which can frame the panda safety mode left ELM327, for CAN validity checks - elif msg.which() == 'pandaStates': - for ps in msg.pandaStates: - if cls.elm_frame is None and ps.safetyModel != SafetyModel.elm327: - cls.elm_frame = len(can_msgs) - if cls.car_safety_mode_frame is None and ps.safetyModel not in \ - (SafetyModel.elm327, SafetyModel.noOutput): - cls.car_safety_mode_frame = len(can_msgs) - - elif msg.which() == 'pandaStateDEPRECATED': - if cls.elm_frame is None and msg.pandaStateDEPRECATED.safetyModel != SafetyModel.elm327: - cls.elm_frame = len(can_msgs) - if cls.car_safety_mode_frame is None and msg.pandaStateDEPRECATED.safetyModel not in \ - (SafetyModel.elm327, SafetyModel.noOutput): - cls.car_safety_mode_frame = len(can_msgs) - - if len(can_msgs) > int(50 / DT_CTRL): - return car_fw, can_msgs, experimental_long - - raise Exception("no can data found") - - @classmethod - def get_testing_data(cls): - test_segs = (2, 1, 0) - if cls.test_route.segment is not None: - test_segs = (cls.test_route.segment,) - - is_internal = len(INTERNAL_SEG_LIST) - - for seg in test_segs: - segment_range = f"{cls.test_route.route}/{seg}" - - try: - lr = LogReader(segment_range, default_source=internal_source if is_internal else openpilotci_source) - return cls.get_testing_data_from_logreader(lr) - except Exception: - pass - - # Route is not in CI bucket, assume either user has access (private), or it is public - # test_route_on_ci_bucket will fail when running in CI - if not is_internal: - cls.test_route_on_bucket = False - - for seg in test_segs: - segment_range = f"{cls.test_route.route}/{seg}" - try: - lr = LogReader(segment_range) - return cls.get_testing_data_from_logreader(lr) - except Exception: - pass - - raise Exception(f"Route: {repr(cls.test_route.route)} with segments: {test_segs} not found or no CAN msgs found. Is it uploaded and public?") - - - @classmethod - def setUpClass(cls): - if cls.__name__ == 'TestCarModel' or cls.__name__.endswith('Base'): - raise unittest.SkipTest - - if cls.test_route is None: - if cls.platform in non_tested_cars: - print(f"Skipping tests for {cls.platform}: missing route") - raise unittest.SkipTest - raise Exception(f"missing test route for {cls.platform}") - - car_fw, can_msgs, experimental_long = cls.get_testing_data() - - # if relay is expected to be open in the route - cls.openpilot_enabled = cls.car_safety_mode_frame is not None - - cls.can_msgs = sorted(can_msgs, key=lambda msg: msg.logMonoTime) - - cls.CarInterface, cls.CarController, cls.CarState = interfaces[cls.platform] - cls.CP = cls.CarInterface.get_params(cls.platform, cls.fingerprint, car_fw, experimental_long, docs=False) - assert cls.CP - assert cls.CP.carFingerprint == cls.platform - - os.environ["COMMA_CACHE"] = DEFAULT_DOWNLOAD_CACHE_ROOT - - @classmethod - def tearDownClass(cls): - del cls.can_msgs - - def setUp(self): - self.CI = self.CarInterface(self.CP.copy(), self.CarController, self.CarState) - assert self.CI - - Params().put_bool("OpenpilotEnabledToggle", self.openpilot_enabled) - - # TODO: check safetyModel is in release panda build - self.safety = libpanda_py.libpanda - - cfg = self.CP.safetyConfigs[-1] - set_status = self.safety.set_safety_hooks(cfg.safetyModel.raw, cfg.safetyParam) - self.assertEqual(0, set_status, f"failed to set safetyModel {cfg}") - self.safety.init_tests() - - def test_car_params(self): - if self.CP.dashcamOnly: - self.skipTest("no need to check carParams for dashcamOnly") - - # make sure car params are within a valid range - self.assertGreater(self.CP.mass, 1) - - if self.CP.steerControlType != car.CarParams.SteerControlType.angle: - tuning = self.CP.lateralTuning.which() - if tuning == 'pid': - self.assertTrue(len(self.CP.lateralTuning.pid.kpV)) - elif tuning == 'torque': - self.assertTrue(self.CP.lateralTuning.torque.kf > 0) - else: - raise Exception("unknown tuning") - - def test_car_interface(self): - # TODO: also check for checksum violations from can parser - can_invalid_cnt = 0 - can_valid = False - CC = car.CarControl.new_message().as_reader() - - for i, msg in enumerate(self.can_msgs): - CS = self.CI.update(CC, (msg.as_builder().to_bytes(),)) - self.CI.apply(CC, msg.logMonoTime) - - if CS.canValid: - can_valid = True - - # wait max of 2s for low frequency msgs to be seen - if i > 200 or can_valid: - can_invalid_cnt += not CS.canValid - - self.assertEqual(can_invalid_cnt, 0) - - def test_radar_interface(self): - RadarInterface = importlib.import_module(f'selfdrive.car.{self.CP.carName}.radar_interface').RadarInterface - RI = RadarInterface(self.CP) - assert RI - - # Since OBD port is multiplexed to bus 1 (commonly radar bus) while fingerprinting, - # start parsing CAN messages after we've left ELM mode and can expect CAN traffic - error_cnt = 0 - for i, msg in enumerate(self.can_msgs[self.elm_frame:]): - rr = RI.update((msg.as_builder().to_bytes(),)) - if rr is not None and i > 50: - error_cnt += car.RadarData.Error.canError in rr.errors - self.assertEqual(error_cnt, 0) - - def test_panda_safety_rx_checks(self): - if self.CP.dashcamOnly: - self.skipTest("no need to check panda safety for dashcamOnly") - - start_ts = self.can_msgs[0].logMonoTime - - failed_addrs = Counter() - for can in self.can_msgs: - # update panda timer - t = (can.logMonoTime - start_ts) / 1e3 - self.safety.set_timer(int(t)) - - # run all msgs through the safety RX hook - for msg in can.can: - if msg.src >= 64: - continue - - to_send = libpanda_py.make_CANPacket(msg.address, msg.src % 4, msg.dat) - if self.safety.safety_rx_hook(to_send) != 1: - failed_addrs[hex(msg.address)] += 1 - - # ensure all msgs defined in the addr checks are valid - self.safety.safety_tick_current_safety_config() - if t > 1e6: - self.assertTrue(self.safety.safety_config_valid()) - - # Don't check relay malfunction on disabled routes (relay closed), - # or before fingerprinting is done (elm327 and noOutput) - if self.openpilot_enabled and t / 1e4 > self.car_safety_mode_frame: - self.assertFalse(self.safety.get_relay_malfunction()) - else: - self.safety.set_relay_malfunction(False) - - self.assertFalse(len(failed_addrs), f"panda safety RX check failed: {failed_addrs}") - - # ensure RX checks go invalid after small time with no traffic - self.safety.set_timer(int(t + (2*1e6))) - self.safety.safety_tick_current_safety_config() - self.assertFalse(self.safety.safety_config_valid()) - - def test_panda_safety_tx_cases(self, data=None): - """Asserts we can tx common messages""" - if self.CP.notCar: - self.skipTest("Skipping test for notCar") - - def test_car_controller(car_control): - now_nanos = 0 - msgs_sent = 0 - CI = self.CarInterface(self.CP, self.CarController, self.CarState) - for _ in range(round(10.0 / DT_CTRL)): # make sure we hit the slowest messages - CI.update(car_control, []) - _, sendcan = CI.apply(car_control, now_nanos) - - now_nanos += DT_CTRL * 1e9 - msgs_sent += len(sendcan) - for addr, _, dat, bus in sendcan: - to_send = libpanda_py.make_CANPacket(addr, bus % 4, dat) - self.assertTrue(self.safety.safety_tx_hook(to_send), (addr, dat, bus)) - - # Make sure we attempted to send messages - self.assertGreater(msgs_sent, 50) - - # Make sure we can send all messages while inactive - CC = car.CarControl.new_message() - test_car_controller(CC.as_reader()) - - # Test cancel + general messages (controls_allowed=False & cruise_engaged=True) - self.safety.set_cruise_engaged_prev(True) - CC = car.CarControl.new_message(cruiseControl={'cancel': True}) - test_car_controller(CC.as_reader()) - - # Test resume + general messages (controls_allowed=True & cruise_engaged=True) - self.safety.set_controls_allowed(True) - CC = car.CarControl.new_message(cruiseControl={'resume': True}) - test_car_controller(CC.as_reader()) - - # Skip stdout/stderr capture with pytest, causes elevated memory usage - @pytest.mark.nocapture - @settings(max_examples=MAX_EXAMPLES, deadline=None, - phases=(Phase.reuse, Phase.generate, Phase.shrink)) - @given(data=st.data()) - def test_panda_safety_carstate_fuzzy(self, data): - """ - For each example, pick a random CAN message on the bus and fuzz its data, - checking for panda state mismatches. - """ - - if self.CP.dashcamOnly: - self.skipTest("no need to check panda safety for dashcamOnly") - - valid_addrs = [(addr, bus, size) for bus, addrs in self.fingerprint.items() for addr, size in addrs.items()] - address, bus, size = data.draw(st.sampled_from(valid_addrs)) - - msg_strategy = st.binary(min_size=size, max_size=size) - msgs = data.draw(st.lists(msg_strategy, min_size=20)) - - CC = car.CarControl.new_message() - - for dat in msgs: - # due to panda updating state selectively, only edges are expected to match - # TODO: warm up CarState with real CAN messages to check edge of both sources - # (eg. toyota's gasPressed is the inverse of a signal being set) - prev_panda_gas = self.safety.get_gas_pressed_prev() - prev_panda_brake = self.safety.get_brake_pressed_prev() - prev_panda_regen_braking = self.safety.get_regen_braking_prev() - prev_panda_vehicle_moving = self.safety.get_vehicle_moving() - prev_panda_cruise_engaged = self.safety.get_cruise_engaged_prev() - prev_panda_acc_main_on = self.safety.get_acc_main_on() - - to_send = libpanda_py.make_CANPacket(address, bus, dat) - self.safety.safety_rx_hook(to_send) - - can = messaging.new_message('can', 1) - can.can = [log.CanData(address=address, dat=dat, src=bus)] - - CS = self.CI.update(CC, (can.to_bytes(),)) - - if self.safety.get_gas_pressed_prev() != prev_panda_gas: - self.assertEqual(CS.gasPressed, self.safety.get_gas_pressed_prev()) - - if self.safety.get_brake_pressed_prev() != prev_panda_brake: - # TODO: remove this exception once this mismatch is resolved - brake_pressed = CS.brakePressed - if CS.brakePressed and not self.safety.get_brake_pressed_prev(): - if self.CP.carFingerprint in (HONDA.HONDA_PILOT, HONDA.HONDA_RIDGELINE) and CS.brake > 0.05: - brake_pressed = False - - self.assertEqual(brake_pressed, self.safety.get_brake_pressed_prev()) - - if self.safety.get_regen_braking_prev() != prev_panda_regen_braking: - self.assertEqual(CS.regenBraking, self.safety.get_regen_braking_prev()) - - if self.safety.get_vehicle_moving() != prev_panda_vehicle_moving: - self.assertEqual(not CS.standstill, self.safety.get_vehicle_moving()) - - if not (self.CP.carName == "honda" and not (self.CP.flags & HondaFlags.BOSCH)): - if self.safety.get_cruise_engaged_prev() != prev_panda_cruise_engaged: - self.assertEqual(CS.cruiseState.enabled, self.safety.get_cruise_engaged_prev()) - - if self.CP.carName == "honda": - if self.safety.get_acc_main_on() != prev_panda_acc_main_on: - self.assertEqual(CS.cruiseState.available, self.safety.get_acc_main_on()) - - def test_panda_safety_carstate(self): - """ - Assert that panda safety matches openpilot's carState - """ - if self.CP.dashcamOnly: - self.skipTest("no need to check panda safety for dashcamOnly") - - CC = car.CarControl.new_message() - - # warm up pass, as initial states may be different - for can in self.can_msgs[:300]: - self.CI.update(CC, (can.as_builder().to_bytes(), )) - for msg in filter(lambda m: m.src in range(64), can.can): - to_send = libpanda_py.make_CANPacket(msg.address, msg.src % 4, msg.dat) - self.safety.safety_rx_hook(to_send) - - controls_allowed_prev = False - CS_prev = car.CarState.new_message() - checks = defaultdict(int) - card = Car(CI=self.CI) - for idx, can in enumerate(self.can_msgs): - CS = self.CI.update(CC, (can.as_builder().to_bytes(), )) - for msg in filter(lambda m: m.src in range(64), can.can): - to_send = libpanda_py.make_CANPacket(msg.address, msg.src % 4, msg.dat) - ret = self.safety.safety_rx_hook(to_send) - self.assertEqual(1, ret, f"safety rx failed ({ret=}): {to_send}") - - # Skip first frame so CS_prev is properly initialized - if idx == 0: - CS_prev = CS - # Button may be left pressed in warm up period - if not self.CP.pcmCruise: - self.safety.set_controls_allowed(0) - continue - - # TODO: check rest of panda's carstate (steering, ACC main on, etc.) - - checks['gasPressed'] += CS.gasPressed != self.safety.get_gas_pressed_prev() - checks['standstill'] += CS.standstill == self.safety.get_vehicle_moving() - - # TODO: remove this exception once this mismatch is resolved - brake_pressed = CS.brakePressed - if CS.brakePressed and not self.safety.get_brake_pressed_prev(): - if self.CP.carFingerprint in (HONDA.HONDA_PILOT, HONDA.HONDA_RIDGELINE) and CS.brake > 0.05: - brake_pressed = False - checks['brakePressed'] += brake_pressed != self.safety.get_brake_pressed_prev() - checks['regenBraking'] += CS.regenBraking != self.safety.get_regen_braking_prev() - - if self.CP.pcmCruise: - # On most pcmCruise cars, openpilot's state is always tied to the PCM's cruise state. - # On Honda Nidec, we always engage on the rising edge of the PCM cruise state, but - # openpilot brakes to zero even if the min ACC speed is non-zero (i.e. the PCM disengages). - if self.CP.carName == "honda" and not (self.CP.flags & HondaFlags.BOSCH): - # only the rising edges are expected to match - if CS.cruiseState.enabled and not CS_prev.cruiseState.enabled: - checks['controlsAllowed'] += not self.safety.get_controls_allowed() - else: - checks['controlsAllowed'] += not CS.cruiseState.enabled and self.safety.get_controls_allowed() - - # TODO: fix notCar mismatch - if not self.CP.notCar: - checks['cruiseState'] += CS.cruiseState.enabled != self.safety.get_cruise_engaged_prev() - else: - # Check for enable events on rising edge of controls allowed - card.update_events(CS) - card.CS_prev = CS - button_enable = (any(evt.enable for evt in CS.events) and - not any(evt == EventName.pedalPressed for evt in card.events.names)) - mismatch = button_enable != (self.safety.get_controls_allowed() and not controls_allowed_prev) - checks['controlsAllowed'] += mismatch - controls_allowed_prev = self.safety.get_controls_allowed() - if button_enable and not mismatch: - self.safety.set_controls_allowed(False) - - if self.CP.carName == "honda": - checks['mainOn'] += CS.cruiseState.available != self.safety.get_acc_main_on() - - CS_prev = CS - - failed_checks = {k: v for k, v in checks.items() if v > 0} - self.assertFalse(len(failed_checks), f"panda safety doesn't agree with openpilot: {failed_checks}") - - @unittest.skipIf(not CI, "Accessing non CI-bucket routes is allowed only when not in CI") - def test_route_on_ci_bucket(self): - self.assertTrue(self.test_route_on_bucket, "Route not on CI bucket. " + - "This is fine to fail for WIP car ports, just let us know and we can upload your routes to the CI bucket.") - - -@parameterized_class(('platform', 'test_route'), get_test_cases()) -@pytest.mark.xdist_group_class_property('test_route') -class TestCarModel(TestCarModelBase): - pass - - -if __name__ == "__main__": - unittest.main() diff --git a/selfdrive/car/tests/test_models_segs.txt b/selfdrive/car/tests/test_models_segs.txt deleted file mode 100644 index d805ce7d83650d..00000000000000 --- a/selfdrive/car/tests/test_models_segs.txt +++ /dev/null @@ -1,3884 +0,0 @@ -# HONDA ODYSSEY 2018 -0ffff9faf2699ebc|2023-06-15--14-19-40--3 -# HONDA ODYSSEY 2018 -0c21c391abd382af|2023-07-17--19-49-46--12 -# HONDA ODYSSEY 2018 -0c23034a3a1e7bf4|2023-07-22--12-15-36--37 -# HONDA ODYSSEY 2018 -1b83b62ce1e15374|2023-07-24--16-56-02--166 -# HONDA ODYSSEY 2018 -0494ab1688baf0d1|2023-07-12--12-59-45--18 -# HONDA ODYSSEY 2018 -10702b68bb2db4f7|2023-07-12--09-09-08--24 -# HONDA ODYSSEY 2018 -349a10da75da84b3|2023-07-12--05-20-10--17 -# HONDA ODYSSEY 2018 -3eb25233bf8777b2|2023-08-03--12-55-23--19 -# HONDA ODYSSEY 2018 -4480efadd4e5e9b0|2023-07-31--18-14-01--20 -# HONDA ODYSSEY 2018 -568f8a1ce998fe8c|2023-05-15--18-09-35--3 -# HONDA ODYSSEY 2018 -564e1c4005971631|2023-07-15--21-26-58--9 -# HONDA ODYSSEY 2018 -5a28fb7518234651|2023-07-16--10-05-04--20 -# HONDA ODYSSEY 2018 -5de06f504727ef4e|2023-05-16--13-44-26--76 -# HONDA ODYSSEY 2018 -6da2ceb7bf6a818c|2023-05-24--16-27-24--38 -# HONDA ODYSSEY 2018 -6d3b5e3ce824a6be|2023-07-21--09-19-25--2 -# HONDA ODYSSEY 2018 -7074dfeeffbb7f3b|2023-08-07--08-42-57--3 -# HONDA ODYSSEY 2018 -761e1503448b32d5|2023-07-04--15-25-15--9 -# HONDA ODYSSEY 2018 -76b6bcf9925e9293|2023-07-15--10-36-05--31 -# HONDA ODYSSEY 2018 -7a7eba6f9ce36254|2023-07-16--16-28-27--7 -# HONDA ODYSSEY 2018 -772b833c28f493b5|2023-06-04--10-39-28--23 -# HONDA ODYSSEY 2018 -8906faebfc695953|2023-07-01--10-35-06--1 -# HONDA ODYSSEY 2018 -89ae461c07c586a3|2023-07-21--12-55-44--4 -# HONDA ODYSSEY 2018 -8eb3d1f10274ac44|2023-05-10--05-26-26--28 -# HONDA ODYSSEY 2018 -9954025f3a2aec2d|2023-06-16--14-15-08--2 -# HONDA ODYSSEY 2018 -a3636d74d9353700|2023-08-05--11-59-10--56 -# HONDA ODYSSEY 2018 -a27fe4e91d6e73c8|2023-05-31--20-34-59--2 -# HONDA ODYSSEY 2018 -aa7176d108cb2f97|2023-05-17--11-01-55--1 -# HONDA ODYSSEY 2018 -b288b21f47092c68|2023-06-23--21-09-10--7 -# HONDA ODYSSEY 2018 -b95acf45b72e104d|2023-07-10--08-01-29--11 -# HONDA ODYSSEY 2018 -b83fc39362bdde40|2023-05-15--09-42-06--9 -# HONDA ODYSSEY 2018 -bdc4ffbeb0ae5239|2023-05-11--17-52-21--3 -# HONDA ODYSSEY 2018 -c57d8a1adaecd30e|2023-07-09--21-29-19--70 -# HONDA ODYSSEY 2018 -c7fa6fb6f4d42407|2023-07-30--21-31-47--3 -# HONDA ODYSSEY 2018 -d0d197a10408c839|2023-05-13--16-17-45--67 -# HONDA ODYSSEY 2018 -e1aa4eae17f7b626|2023-06-06--16-12-33--1 -# HONDA ODYSSEY 2018 -e462034ac9e0c71d|2023-07-28--16-31-10--37 -# HONDA ODYSSEY 2018 -e67fa35fcc6db9d5|2023-07-22--17-19-19--28 -# HONDA ODYSSEY 2018 -f30eee173ffa893d|2023-05-16--19-43-43--31 -# HONDA ODYSSEY 2018 -f77dffd74248543d|2023-06-05--21-15-01--39 -# HONDA ODYSSEY 2018 -fa0bfc645891d426|2023-06-19--15-41-01--10 -# SUBARU FORESTER 2019 -1589151a309c433c|2023-05-24--17-23-34--51 -# SUBARU FORESTER 2019 -2caa16bfdc10557f|2023-07-17--06-33-02--17 -# SUBARU FORESTER 2019 -382f4ac8109f707f|2023-06-02--17-38-42--2 -# SUBARU FORESTER 2019 -8fc4e96c0d82e152|2023-08-03--07-28-17--6 -# SUBARU FORESTER 2019 -9227902ca7eb7bba|2023-07-31--13-51-49--118 -# SUBARU FORESTER 2019 -9a3079fb5c491ea5|2023-07-24--06-10-15--22 -# SUBARU FORESTER 2019 -a447729c1d15ff89|2023-07-31--06-59-17--2 -# SUBARU FORESTER 2019 -a752a19628873b10|2023-06-23--06-07-53--7 -# SUBARU FORESTER 2019 -ace607260543d257|2023-06-25--16-30-06--38 -# SUBARU FORESTER 2019 -fe3d890194b380ae|2023-06-01--19-39-37--120 -# TOYOTA RAV4 2019 -2308c55920b6c000|2023-07-01--18-34-43--21 -# TOYOTA RAV4 2019 -23562c9692a54321|2023-06-26--20-58-17--5 -# TOYOTA RAV4 2019 -1df2464a11c3caa7|2023-07-27--11-55-45--2 -# TOYOTA RAV4 2019 -1da6142d55922568|2023-05-21--19-08-27--17 -# TOYOTA RAV4 2019 -1930f57e827a5277|2023-06-18--09-30-23--7 -# TOYOTA RAV4 2019 -1c05783affe6641f|2023-05-28--09-51-01--28 -# TOYOTA RAV4 2019 -12913b66ea1ba32c|2023-08-02--12-35-55--14 -# TOYOTA RAV4 2019 -17e30e35ce70aa27|2023-06-12--05-53-27--13 -# TOYOTA RAV4 2019 -0559b34634b98e40|2023-05-26--19-07-54--10 -# TOYOTA RAV4 2019 -1523b70b49465492|2023-07-07--15-35-52--26 -# TOYOTA RAV4 2019 -131b0198e811cbaf|2023-05-10--19-45-30--1 -# TOYOTA RAV4 2019 -1aa9f62e2da571ae|2023-06-06--16-15-53--12 -# TOYOTA RAV4 2019 -06c6a866f247ccd3|2023-07-11--17-20-33--1 -# TOYOTA RAV4 2019 -1ca69541b8d83867|2023-07-18--13-20-11--63 -# TOYOTA RAV4 2019 -1c063541db21a08a|2023-05-18--20-01-46--158 -# TOYOTA RAV4 2019 -222b4aa34efc150b|2023-07-06--07-11-01--18 -# TOYOTA RAV4 2019 -25c96345c4ae0f5f|2023-05-28--13-48-48--44 -# TOYOTA RAV4 2019 -183ed80ffd5de6df|2023-05-19--09-54-02--108 -# TOYOTA RAV4 2019 -0835a20d4c688b4b|2023-05-21--21-06-46--101 -# TOYOTA RAV4 2019 -294c4257370dcd7f|2023-07-16--22-03-45--55 -# TOYOTA RAV4 2019 -013d89e3119a61fa|2023-07-27--19-28-55--1 -# TOYOTA RAV4 2019 -0111bbc17b5fc829|2023-07-22--15-33-17--3 -# TOYOTA RAV4 2019 -27fbf8f57ad1ed35|2023-07-25--03-04-13--5 -# TOYOTA RAV4 2019 -11e905ad4a26f7cf|2023-07-19--17-16-34--2 -# TOYOTA RAV4 2019 -076e5dea58433d1b|2023-05-30--14-28-07--99 -# TOYOTA RAV4 2019 -2d76c29b8aa236f4|2023-05-10--20-14-29--5 -# TOYOTA RAV4 2019 -31a0911d03035419|2023-06-11--16-24-31--3 -# TOYOTA RAV4 2019 -33c48660a967984c|2023-07-15--12-09-46--27 -# TOYOTA RAV4 2019 -334cffe17908547f|2023-07-05--19-08-58--175 -# TOYOTA RAV4 2019 -3550e1127d042e0c|2023-05-20--07-41-42--17 -# TOYOTA RAV4 2019 -3d77767f8c063017|2023-07-26--08-07-41--3 -# TOYOTA RAV4 2019 -3ecc8a00642fb457|2023-07-07--15-00-35--1 -# TOYOTA RAV4 2019 -4031a71d2f2bbf41|2023-06-24--21-44-33--19 -# TOYOTA RAV4 2019 -3dc04fa00e9b54d4|2023-07-10--20-45-54--20 -# TOYOTA RAV4 2019 -41f0e37bcb089214|2023-05-15--16-06-13--7 -# TOYOTA RAV4 2019 -4501ab837e09a1c6|2023-07-29--10-06-44--27 -# TOYOTA RAV4 2019 -430cfb7ed591a94b|2023-05-11--09-51-06--4 -# TOYOTA RAV4 2019 -43d464c559ee7b80|2023-08-02--09-27-58--26 -# TOYOTA RAV4 2019 -45bd1475c3f373bf|2023-07-17--07-09-41--42 -# TOYOTA RAV4 2019 -4d059401f47cf0b3|2023-05-13--12-01-17--9 -# TOYOTA RAV4 2019 -59e0e393764bc46b|2023-07-02--13-33-24--40 -# TOYOTA RAV4 2019 -595291c68fb8e6ea|2023-06-08--09-48-19--28 -# TOYOTA RAV4 2019 -5a62b93c7f9af2c9|2023-06-14--20-12-16--5 -# TOYOTA RAV4 2019 -5a9c05e4b4e221ba|2023-06-30--07-08-38--33 -# TOYOTA RAV4 2019 -5ac3d4195844832a|2023-05-11--08-10-51--15 -# TOYOTA RAV4 2019 -5ce8412c1359aee9|2023-06-04--01-23-21--11 -# TOYOTA RAV4 2019 -628fd36bec15e0fb|2023-06-27--07-40-01--6 -# TOYOTA RAV4 2019 -66ec82e487f41877|2023-06-08--07-57-18--2 -# TOYOTA RAV4 2019 -643e2c33f76301ed|2023-07-13--11-28-53--1 -# TOYOTA RAV4 2019 -734696450d800618|2023-08-04--23-17-18--8 -# TOYOTA RAV4 2019 -7ca260f9516f6b11|2023-05-28--11-43-26--193 -# TOYOTA RAV4 2019 -80c09a7a12eeea03|2023-05-27--12-27-44--10 -# TOYOTA RAV4 2019 -81ef68582345921f|2023-06-18--14-19-57--13 -# TOYOTA RAV4 2019 -7a6d59eb02cb9e4f|2023-08-04--07-49-50--2 -# TOYOTA RAV4 2019 -87d791b5f816cb1a|2023-07-17--12-47-30--6 -# TOYOTA RAV4 2019 -850119b3a36f6308|2023-05-28--16-46-06--10 -# TOYOTA RAV4 2019 -8a111c9611f505e8|2023-05-14--17-09-37--3 -# TOYOTA RAV4 2019 -8a7d3987605d80d7|2023-07-11--22-11-11--98 -# TOYOTA RAV4 2019 -904ef86637af3549|2023-06-29--21-07-54--12 -# TOYOTA RAV4 2019 -8bb58ef0f2d612b7|2023-07-24--05-57-12--18 -# TOYOTA RAV4 2019 -9145fe2119f27d86|2023-05-31--08-42-48--13 -# TOYOTA RAV4 2019 -9508cd0cab46a905|2023-06-14--16-43-42--10 -# TOYOTA RAV4 2019 -95768af0ae83525e|2023-07-21--15-19-36--83 -# TOYOTA RAV4 2019 -96a8957593166ea1|2023-06-19--12-15-04--6 -# TOYOTA RAV4 2019 -973311a7d6c7d753|2023-06-13--14-17-32--108 -# TOYOTA RAV4 2019 -9c52118646f93f97|2023-07-04--23-02-46--17 -# TOYOTA RAV4 2019 -9cbbc22dbfb7be88|2023-05-30--17-24-35--18 -# TOYOTA RAV4 2019 -9b6a2386fd03ae08|2023-07-13--12-22-52--3 -# TOYOTA RAV4 2019 -9a2bcd25135b821b|2023-07-08--10-55-13--13 -# TOYOTA RAV4 2019 -97799676cedffbe5|2023-06-14--18-24-55--19 -# TOYOTA RAV4 2019 -a08761c412401005|2023-05-23--19-01-36--12 -# TOYOTA RAV4 2019 -a27c12e2a2a70e31|2023-05-16--07-59-59--4 -# TOYOTA RAV4 2019 -9d5333455b91ee89|2023-07-07--19-32-53--2 -# TOYOTA RAV4 2019 -a158f766c4caa342|2023-05-13--12-27-56--97 -# TOYOTA RAV4 2019 -a8e906dda0b7438b|2023-06-08--11-06-31--14 -# TOYOTA RAV4 2019 -a919bd078978c0ab|2023-07-28--07-52-04--11 -# TOYOTA RAV4 2019 -a9aa5c6455c86571|2023-06-20--13-48-37--9 -# TOYOTA RAV4 2019 -ad00cbe5074c4fab|2023-07-26--15-06-11--76 -# TOYOTA RAV4 2019 -a7f1bfccea36b5eb|2023-07-14--15-30-38--5 -# TOYOTA RAV4 2019 -aeeec17f13cb4cef|2023-05-30--13-12-13--23 -# TOYOTA RAV4 2019 -af355970e532a9db|2023-06-11--15-19-23--60 -# TOYOTA RAV4 2019 -b303e820b96a73e9|2023-07-19--13-45-57--11 -# TOYOTA RAV4 2019 -b86cfd7190536fee|2023-06-04--19-32-09--1 -# TOYOTA RAV4 2019 -bc0ebfc25d121b5b|2023-07-08--17-31-57--3 -# TOYOTA RAV4 2019 -b740f7b3cb9bce43|2023-07-17--07-37-05--63 -# TOYOTA RAV4 2019 -c0a876c347ffbbe9|2023-05-11--08-40-32--7 -# TOYOTA RAV4 2019 -c98b94fb47ef8195|2023-07-21--16-10-23--62 -# TOYOTA RAV4 2019 -cea26252c5847413|2023-06-19--21-03-38--21 -# TOYOTA RAV4 2019 -ccc74bf50752879f|2023-06-16--15-04-07--14 -# TOYOTA RAV4 2019 -cd79e21eac267227|2023-05-28--19-05-31--24 -# TOYOTA RAV4 2019 -ce997a6490dec120|2023-05-24--10-21-17--28 -# TOYOTA RAV4 2019 -d3cd2946dfd5c271|2023-07-10--18-33-33--17 -# TOYOTA RAV4 2019 -d66e301c2c7277e1|2023-05-10--19-31-45--2 -# TOYOTA RAV4 2019 -dc49ffbba8a3b9dc|2023-06-08--18-18-49--24 -# TOYOTA RAV4 2019 -dc25f84f7b307cc9|2023-06-17--11-51-25--13 -# TOYOTA RAV4 2019 -df79933372901026|2023-07-06--18-03-06--16 -# TOYOTA RAV4 2019 -e15949cf8f8d7249|2023-07-31--22-54-31--10 -# TOYOTA RAV4 2019 -e1f6a3b4e19955a7|2023-07-09--17-04-05--15 -# TOYOTA RAV4 2019 -e461efc72ee56215|2023-07-01--11-14-35--138 -# TOYOTA RAV4 2019 -e87a90b4e7d2cbf6|2023-05-24--14-38-43--13 -# TOYOTA RAV4 2019 -e4bc15da1e30e125|2023-06-19--14-52-41--2 -# TOYOTA RAV4 2019 -e999ea6601c35fad|2023-06-06--21-56-30--1 -# TOYOTA RAV4 2019 -eb04174d0d305a32|2023-06-14--18-34-40--2 -# TOYOTA RAV4 2019 -e2fac89340529432|2023-05-12--21-16-54--33 -# TOYOTA RAV4 2019 -edb8ec2edf00089e|2023-07-11--14-36-05--31 -# TOYOTA RAV4 2019 -e9a117016fec049d|2023-07-23--10-19-20--2 -# TOYOTA RAV4 2019 -ed70a3fe1c252cfa|2023-07-03--11-18-29--6 -# TOYOTA RAV4 2019 -f0c3362708e50e2d|2023-07-29--17-46-22--5 -# TOYOTA RAV4 2019 -f3384252b57fdfe9|2023-08-08--01-57-06--18 -# TOYOTA RAV4 2019 -ef69d3afc3c6db45|2023-07-04--12-23-05--8 -# TOYOTA RAV4 2019 -f3b7f7fe759fbfee|2023-07-09--18-08-17--1 -# TOYOTA RAV4 2019 -f43f8cf5f35d1c68|2023-05-15--12-02-55--19 -# TOYOTA RAV4 2019 -f9fcd2ad910e89db|2023-08-06--11-26-36--12 -# TOYOTA RAV4 2019 -f7fb88eece6ec686|2023-06-29--13-16-55--8 -# TOYOTA RAV4 2019 -fe70bc78933fe382|2023-06-26--13-08-03--243 -# TOYOTA RAV4 HYBRID 2017 -260738525c081f84|2023-06-07--15-56-35--13 -# TOYOTA RAV4 HYBRID 2017 -0fd770798a15a939|2023-06-29--07-57-15--19 -# TOYOTA RAV4 HYBRID 2017 -054808dce11e7aa0|2023-08-01--18-13-07--8 -# TOYOTA RAV4 HYBRID 2017 -0ae1be4d5f71ec38|2023-05-17--17-16-12--1 -# TOYOTA RAV4 HYBRID 2017 -39e928c1da9fa3d5|2023-06-15--11-58-12--24 -# TOYOTA RAV4 HYBRID 2017 -5c556eaf4a001e29|2023-06-06--08-53-51--17 -# TOYOTA RAV4 HYBRID 2017 -602b5e96b65d4762|2023-07-10--17-55-55--150 -# TOYOTA RAV4 HYBRID 2017 -694d657526334832|2023-06-11--18-18-58--9 -# TOYOTA RAV4 HYBRID 2017 -6967b97d12f377fc|2023-07-29--14-23-52--19 -# TOYOTA RAV4 HYBRID 2017 -731520c68c728363|2023-06-27--19-28-08--5 -# TOYOTA RAV4 HYBRID 2017 -76654637ecd7a147|2023-05-10--20-08-10--59 -# TOYOTA RAV4 HYBRID 2017 -71f1afdb4ec3b211|2023-05-12--09-32-27--15 -# TOYOTA RAV4 HYBRID 2017 -8db44088260c7e81|2023-08-02--19-23-22--5 -# TOYOTA RAV4 HYBRID 2017 -a809df548b49a68b|2023-07-09--18-05-37--9 -# TOYOTA RAV4 HYBRID 2017 -b4069565beef1091|2023-07-12--09-05-40--1 -# TOYOTA RAV4 HYBRID 2017 -c0ca616eaa24d73b|2023-07-21--17-29-37--65 -# TOYOTA RAV4 HYBRID 2017 -d243dcf7caee6052|2023-06-25--17-19-26--1 -# TOYOTA RAV4 HYBRID 2017 -d32dd4e182d86a39|2023-05-15--18-11-23--18 -# TOYOTA RAV4 HYBRID 2017 -fa0e4850a023f361|2023-06-14--07-46-06--19 -# HONDA ACCORD 2018 -0750f87f2b569f15|2023-07-21--22-10-13--6 -# HONDA ACCORD 2018 -2911ec305fa73239|2023-05-16--13-29-47--27 -# HONDA ACCORD 2018 -1ada25c684c79c9f|2023-06-23--19-30-03--7 -# HONDA ACCORD 2018 -03ae79f182fff0a3|2023-05-17--20-02-41--10 -# HONDA ACCORD 2018 -0c871d574e333eeb|2023-06-02--09-32-01--21 -# HONDA ACCORD 2018 -24207e2d7868334c|2023-06-29--17-12-39--9 -# HONDA ACCORD 2018 -1a74e8bc1353f9eb|2023-06-01--00-25-52--7 -# HONDA ACCORD 2018 -20761ff63dc0e2c1|2023-05-10--19-03-20--1 -# HONDA ACCORD 2018 -066f9f7cf3c7c459|2023-07-17--17-13-44--5 -# HONDA ACCORD 2018 -21c578cf98555ce9|2023-05-11--13-46-23--58 -# HONDA ACCORD 2018 -69689c771ec57486|2023-07-11--11-36-10--27 -# HONDA ACCORD 2018 -80e02967896fde0a|2023-07-23--12-04-28--20 -# HONDA ACCORD 2018 -abcb019b84d10680|2023-05-26--20-13-32--16 -# HONDA ACCORD 2018 -bbcdb91eec4efb11|2023-08-04--10-51-09--24 -# HONDA ACCORD 2018 -c40b5785213bcb5d|2023-07-07--12-22-36--15 -# HONDA ACCORD 2018 -c7d2ba6fdcf69eef|2023-07-28--14-53-45--55 -# HONDA ACCORD 2018 -e3ddeba86ad8eb59|2023-05-11--12-48-12--3 -# HONDA ACCORD 2018 -e84b9e1ed3e077d2|2023-06-15--17-59-02--30 -# HONDA ACCORD 2018 -e961d6edc8ee01d7|2023-05-26--15-23-15--10 -# HONDA ACCORD 2018 -f54b4ab5f24eb9d7|2023-07-31--10-38-00--22 -# HONDA ACCORD 2018 -f4696dfe648b7d20|2023-06-26--07-31-46--7 -# HONDA ACCORD 2018 -f68a86aa6ba710d5|2023-07-13--19-29-03--53 -# HYUNDAI SONATA 2020 -145908dabb729ad9|2023-05-14--09-50-20--3 -# HYUNDAI SONATA 2020 -053bf385cdad1079|2023-06-02--15-48-36--24 -# HYUNDAI SONATA 2020 -10b8dcf2fb80bf56|2023-08-06--02-07-08--86 -# HYUNDAI SONATA 2020 -026e1eb462c28560|2023-07-29--09-58-52--430 -# HYUNDAI SONATA 2020 -14118dc2aced6462|2023-05-15--21-05-33--13 -# HYUNDAI SONATA 2020 -12f39c1bf68b56eb|2023-07-27--17-00-21--1 -# HYUNDAI SONATA 2020 -1edd7a8340016f2c|2023-05-26--10-01-21--1 -# HYUNDAI SONATA 2020 -310cf131d28b30d8|2023-06-08--10-57-46--24 -# HYUNDAI SONATA 2020 -3f796d94e84349fd|2023-06-10--14-30-13--5 -# HYUNDAI SONATA 2020 -40812bc457628b70|2023-07-01--12-06-20--38 -# HYUNDAI SONATA 2020 -4df896aa825bd9b3|2023-08-01--19-18-48--15 -# HYUNDAI SONATA 2020 -4a612c47eb83412a|2023-05-30--18-36-08--53 -# HYUNDAI SONATA 2020 -4960a9f1dd71aad1|2023-06-07--08-42-19--2 -# HYUNDAI SONATA 2020 -4b157737c2154617|2023-07-04--12-35-21--22 -# HYUNDAI SONATA 2020 -5c49984c8efb9c9c|2023-07-21--21-41-27--22 -# HYUNDAI SONATA 2020 -5b337c203559c300|2023-07-29--15-56-17--28 -# HYUNDAI SONATA 2020 -63f7cda2244f2338|2023-06-20--10-53-16--10 -# HYUNDAI SONATA 2020 -67cafbae8ee7f156|2023-05-15--21-35-53--57 -# HYUNDAI SONATA 2020 -67cc68f0290328c2|2023-07-25--01-33-25--14 -# HYUNDAI SONATA 2020 -700d37ccd12315cf|2023-06-01--16-13-43--68 -# HYUNDAI SONATA 2020 -7dd1f8f7f731715a|2023-05-29--20-33-34--28 -# HYUNDAI SONATA 2020 -7ef7d92481ec0ace|2023-05-20--11-58-25--6 -# HYUNDAI SONATA 2020 -89f56aec25cccf29|2023-05-31--16-32-32--12 -# HYUNDAI SONATA 2020 -895ddc214c42abea|2023-07-02--18-54-14--96 -# HYUNDAI SONATA 2020 -87aed74d45ea588f|2023-07-12--10-02-13--1 -# HYUNDAI SONATA 2020 -8d162f50f95b7128|2023-08-06--22-34-03--67 -# HYUNDAI SONATA 2020 -9ea4578ee2b1abcb|2023-05-26--07-04-55--18 -# HYUNDAI SONATA 2020 -a15bf814a6e3acc1|2023-07-26--14-52-00--4 -# HYUNDAI SONATA 2020 -a8078ee810ef83d6|2023-08-06--14-35-34--6 -# HYUNDAI SONATA 2020 -aaf2f8e95bfb437f|2023-08-05--23-38-18--38 -# HYUNDAI SONATA 2020 -ad68728bc42b1357|2023-07-10--22-22-02--27 -# HYUNDAI SONATA 2020 -b0af2fff166d80fe|2023-06-10--11-51-40--1 -# HYUNDAI SONATA 2020 -c86ea37c4a66ea6e|2023-07-27--12-27-23--22 -# HYUNDAI SONATA 2020 -cb7eee5264754a21|2023-08-07--09-30-49--3 -# HYUNDAI SONATA 2020 -c22d16eacdaf890d|2023-07-16--18-51-06--49 -# HYUNDAI SONATA 2020 -d9855ccd97606ca8|2023-05-28--12-12-29--1 -# HYUNDAI SONATA 2020 -d63936f7ce28d591|2023-05-24--16-36-34--63 -# HYUNDAI SONATA 2020 -d4958b8ee5ef5cb3|2023-06-02--16-39-43--2 -# HYUNDAI SONATA 2020 -e7369387e5ed2414|2023-05-11--08-24-27--74 -# HYUNDAI SONATA 2020 -e5904ea020532291|2023-07-22--12-16-02--17 -# HYUNDAI SONATA 2020 -e8b1f9ef35c46678|2023-07-27--17-16-47--5 -# HYUNDAI SONATA 2020 -ffce4a1d578827ee|2023-06-28--06-38-06--12 -# LEXUS RX 2020 -06a5dec26667d10e|2023-07-25--17-17-48--6 -# LEXUS RX 2020 -09ca5f224952b7f6|2023-07-19--19-40-11--12 -# LEXUS RX 2020 -08c881f7590e2420|2023-07-30--13-09-14--10 -# LEXUS RX 2020 -cc988c4ab06633fb|2023-05-12--21-16-33--41 -# TOYOTA PRIUS 2017 -167e954cba293640|2023-05-21--13-46-18--149 -# TOYOTA PRIUS 2017 -0c84cb73d1fb3a8b|2023-07-26--07-13-06--13 -# TOYOTA PRIUS 2017 -07387c2cc03c9b81|2023-06-22--16-56-50--5 -# TOYOTA PRIUS 2017 -0069f91b2663b892|2023-07-22--00-39-50--24 -# TOYOTA PRIUS 2017 -201dc5bb0067f5f2|2023-05-19--12-48-00--25 -# TOYOTA PRIUS 2017 -1e5629342e716c0a|2023-07-17--06-38-37--3 -# TOYOTA PRIUS 2017 -17c6857c5789af97|2023-07-21--19-51-17--6 -# TOYOTA PRIUS 2017 -232dd0fe26a73c53|2023-05-30--18-12-34--10 -# TOYOTA PRIUS 2017 -25d5c0772e79f4db|2023-08-03--13-54-36--17 -# TOYOTA PRIUS 2017 -0028c4ef0c8f6c30|2023-05-30--09-22-40--10 -# TOYOTA PRIUS 2017 -19e0a2420a8751bf|2023-07-16--09-41-33--9 -# TOYOTA PRIUS 2017 -1f5701894610dcd1|2023-05-13--09-02-34--6 -# TOYOTA PRIUS 2017 -15b5e12b452a992e|2023-06-13--00-02-42--12 -# TOYOTA PRIUS 2017 -0cb8c50b9ee4f5ea|2023-05-12--21-04-13--3 -# TOYOTA PRIUS 2017 -0ef0d6b0644cd7a6|2023-06-09--14-40-33--1 -# TOYOTA PRIUS 2017 -21dfd2256ee0a693|2023-07-20--13-06-55--36 -# TOYOTA PRIUS 2017 -26805bfeb242559b|2023-05-14--17-59-27--12 -# TOYOTA PRIUS 2017 -2f8790e5ac2b13e0|2023-07-22--11-03-25--5 -# TOYOTA PRIUS 2017 -2f155ba65825554f|2023-07-02--11-55-59--1 -# TOYOTA PRIUS 2017 -2eab2aa4530e03ba|2023-05-13--08-48-32--3 -# TOYOTA PRIUS 2017 -2ff4529579d6e1dc|2023-06-25--21-06-34--17 -# TOYOTA PRIUS 2017 -34faeeba08c3cc97|2023-07-30--13-22-33--14 -# TOYOTA PRIUS 2017 -3684fea792cff931|2023-08-01--20-59-40--20 -# TOYOTA PRIUS 2017 -39d749cf71d12a8e|2023-08-04--22-54-18--1 -# TOYOTA PRIUS 2017 -3f559b9878a7ccad|2023-06-21--07-22-48--15 -# TOYOTA PRIUS 2017 -457cc6df3c5f2ee1|2023-07-09--12-28-54--22 -# TOYOTA PRIUS 2017 -46b651928e9cda0f|2023-07-12--17-19-44--3 -# TOYOTA PRIUS 2017 -451e03ec9ff02db4|2023-05-27--11-30-37--8 -# TOYOTA PRIUS 2017 -4ae18286107b36b0|2023-06-07--14-03-47--2 -# TOYOTA PRIUS 2017 -4617eff9ed63ea3f|2023-07-19--17-39-20--36 -# TOYOTA PRIUS 2017 -4e36531fa34978a9|2023-05-31--15-32-40--2 -# TOYOTA PRIUS 2017 -4aa5341890583ca0|2023-05-29--11-13-49--92 -# TOYOTA PRIUS 2017 -4f2e3cebc8f3c715|2023-06-01--11-51-40--21 -# TOYOTA PRIUS 2017 -4eb29c14f8b26ba3|2023-07-25--14-09-36--8 -# TOYOTA PRIUS 2017 -52f69098ec1f801b|2023-05-16--16-10-28--3 -# TOYOTA PRIUS 2017 -51898c9b8a83d1d9|2023-07-30--23-27-13--22 -# TOYOTA PRIUS 2017 -5548e173b952a76b|2023-07-28--20-16-50--14 -# TOYOTA PRIUS 2017 -55cbd4260394fa17|2023-06-25--13-33-59--11 -# TOYOTA PRIUS 2017 -553ad02d6e7fa60e|2023-07-31--17-43-57--7 -# TOYOTA PRIUS 2017 -5e5d69c771e74940|2023-06-07--12-21-34--13 -# TOYOTA PRIUS 2017 -5a466bb77d1d0050|2023-05-12--11-49-47--9 -# TOYOTA PRIUS 2017 -5f4043fdfdd41dd5|2023-05-15--16-56-34--31 -# TOYOTA PRIUS 2017 -6318c59fa2535f38|2023-06-04--08-04-19--1 -# TOYOTA PRIUS 2017 -6371ff697bb4c045|2023-08-07--03-18-49--28 -# TOYOTA PRIUS 2017 -667087bd361ef7b1|2023-06-09--13-28-53--15 -# TOYOTA PRIUS 2017 -675c0d0c13fea348|2023-07-30--21-42-40--14 -# TOYOTA PRIUS 2017 -6925b5e1f713c09a|2023-05-19--12-25-25--4 -# TOYOTA PRIUS 2017 -754d115c7e89ca90|2023-07-07--16-40-57--4 -# TOYOTA PRIUS 2017 -718c2708b8bc1078|2023-07-18--08-32-40--14 -# TOYOTA PRIUS 2017 -748cc5e00e00d2f8|2023-07-14--11-13-29--122 -# TOYOTA PRIUS 2017 -7897d61fcfd64f73|2023-08-04--22-00-59--19 -# TOYOTA PRIUS 2017 -771fcc78f0aa53f0|2023-07-05--15-37-38--35 -# TOYOTA PRIUS 2017 -7ff274e2d6e08599|2023-08-04--20-03-11--4 -# TOYOTA PRIUS 2017 -7efdefad37338f74|2023-06-21--11-35-24--6 -# TOYOTA PRIUS 2017 -8347883441d02d13|2023-07-31--09-57-00--16 -# TOYOTA PRIUS 2017 -823d9d53d4e86649|2023-07-18--11-02-27--10 -# TOYOTA PRIUS 2017 -88f9ec172917bb98|2023-07-14--05-46-09--87 -# TOYOTA PRIUS 2017 -8df89195cd79c215|2023-06-23--13-51-00--12 -# TOYOTA PRIUS 2017 -84e716ed147ae3d7|2023-07-23--13-26-35--3 -# TOYOTA PRIUS 2017 -8c753fb54c2ad8d8|2023-07-27--17-51-39--39 -# TOYOTA PRIUS 2017 -903ac8da1aa52026|2023-08-01--17-00-11--20 -# TOYOTA PRIUS 2017 -973137405a15dccb|2023-06-04--11-13-45--13 -# TOYOTA PRIUS 2017 -9ad0cccf33247e18|2023-06-22--20-29-34--2 -# TOYOTA PRIUS 2017 -982b88e8363dc93b|2023-06-04--11-23-29--34 -# TOYOTA PRIUS 2017 -a074a62144234949|2023-07-08--18-35-42--1 -# TOYOTA PRIUS 2017 -a1206dd4a0d4d083|2023-07-19--12-54-21--52 -# TOYOTA PRIUS 2017 -a0ca4450fae65c5e|2023-06-08--07-07-25--29 -# TOYOTA PRIUS 2017 -a3b7335f488f53c2|2023-05-14--12-06-21--6 -# TOYOTA PRIUS 2017 -9f913ea6594100bf|2023-06-09--10-21-06--2 -# TOYOTA PRIUS 2017 -a55e88a02483439c|2023-07-19--12-11-58--57 -# TOYOTA PRIUS 2017 -a750926c99e2b60b|2023-05-31--15-00-56--5 -# TOYOTA PRIUS 2017 -ac11bb2bc0f2a7f7|2023-08-06--16-12-30--23 -# TOYOTA PRIUS 2017 -b222271cbe10254d|2023-07-03--10-37-50--17 -# TOYOTA PRIUS 2017 -b54d8a1ef1c820d3|2023-07-05--10-17-32--7 -# TOYOTA PRIUS 2017 -afc64e738cb8a1be|2023-06-11--16-26-28--28 -# TOYOTA PRIUS 2017 -b0b65204fa492a96|2023-05-13--11-31-33--18 -# TOYOTA PRIUS 2017 -bb94f981f4431981|2023-07-03--03-15-39--2 -# TOYOTA PRIUS 2017 -ba01e1864cd4ac61|2023-07-31--19-28-56--4 -# TOYOTA PRIUS 2017 -b68db0665d641d74|2023-07-08--16-56-57--123 -# TOYOTA PRIUS 2017 -ba94ba717fccb2f0|2023-07-11--07-47-11--1 -# TOYOTA PRIUS 2017 -bb5708908e46bcba|2023-07-12--09-08-55--10 -# TOYOTA PRIUS 2017 -bef5f54503850405|2023-06-04--10-32-31--66 -# TOYOTA PRIUS 2017 -c0c02897f03b7c7b|2023-06-23--08-31-50--10 -# TOYOTA PRIUS 2017 -c155b927e07113ad|2023-07-14--20-14-18--103 -# TOYOTA PRIUS 2017 -c38f860d281bcc5e|2023-06-09--20-09-02--17 -# TOYOTA PRIUS 2017 -c67dbd0e8b4cc29d|2023-06-05--20-53-34--9 -# TOYOTA PRIUS 2017 -c02c848a64d5177c|2023-07-06--08-45-28--13 -# TOYOTA PRIUS 2017 -cc2b9c9f221f1812|2023-07-31--17-15-47--11 -# TOYOTA PRIUS 2017 -cd0e6154e0cb0484|2023-08-05--15-28-19--1 -# TOYOTA PRIUS 2017 -c848c39dfb2de30f|2023-06-23--22-44-03--1 -# TOYOTA PRIUS 2017 -d68f8916cb7adfdf|2023-06-21--06-37-56--11 -# TOYOTA PRIUS 2017 -d67f123a82aaf50e|2023-05-12--13-49-59--2 -# TOYOTA PRIUS 2017 -e057838a043251cf|2023-07-27--14-13-22--5 -# TOYOTA PRIUS 2017 -e15020c852627a0a|2023-07-26--20-49-08--4 -# TOYOTA PRIUS 2017 -e206ddb85e53cc0d|2023-07-31--11-28-07--10 -# TOYOTA PRIUS 2017 -dd311669c55d1ccf|2023-06-25--16-57-05--1 -# TOYOTA PRIUS 2017 -e31072835e1cdc73|2023-05-20--21-59-30--69 -# TOYOTA PRIUS 2017 -ea43e1e2911e37e5|2023-07-07--03-34-54--1 -# TOYOTA PRIUS 2017 -e8cb87d767f608dd|2023-07-14--19-23-30--16 -# TOYOTA PRIUS 2017 -f1c69863517027e8|2023-07-29--12-47-02--17 -# TOYOTA PRIUS 2017 -f4b656c4aaf63360|2023-06-28--18-52-46--99 -# TOYOTA PRIUS 2017 -f8046cede9c720b1|2023-08-06--18-46-48--4 -# TOYOTA PRIUS 2017 -f8e3dfca6df16c7e|2023-05-15--11-33-42--7 -# TOYOTA PRIUS 2017 -f921646c299a6d36|2023-07-01--17-16-09--119 -# TOYOTA PRIUS 2017 -ff634b088ec2db2d|2023-06-16--15-14-04--39 -# HONDA RIDGELINE 2017 -0ddc5f974851a022|2023-06-11--18-08-25--104 -# HONDA RIDGELINE 2017 -1551280de648df83|2023-06-27--19-23-19--5 -# HONDA RIDGELINE 2017 -24187316e568f2ec|2023-07-25--10-57-53--1 -# HONDA RIDGELINE 2017 -1ce42f7a69e4b11c|2023-07-03--13-09-36--28 -# HONDA RIDGELINE 2017 -263d65b0fd18f5c4|2023-07-18--16-42-57--44 -# HONDA RIDGELINE 2017 -19fe0c3f46444eeb|2023-06-12--20-07-52--1 -# HONDA RIDGELINE 2017 -3aa992e52b91bf8f|2023-07-28--15-22-10--5 -# HONDA RIDGELINE 2017 -6acf79c245a32eb3|2023-07-08--17-40-23--17 -# HONDA RIDGELINE 2017 -6e2f19b5263c9d65|2023-07-16--09-56-19--23 -# HONDA RIDGELINE 2017 -701b7d276e45a7bf|2023-07-31--15-17-26--28 -# HONDA RIDGELINE 2017 -715416e4439e555e|2023-08-03--14-53-14--1 -# HONDA RIDGELINE 2017 -732c29f8108b54a9|2023-07-30--10-59-07--35 -# HONDA RIDGELINE 2017 -758cfd09da38d125|2023-07-24--11-45-13--1 -# HONDA RIDGELINE 2017 -7fe0389b26adfb30|2023-05-12--13-55-02--3 -# HONDA RIDGELINE 2017 -7f498d0d7b378766|2023-06-08--15-18-05--47 -# HONDA RIDGELINE 2017 -805f226ab2a8b1d7|2023-07-05--14-03-54--10 -# HONDA RIDGELINE 2017 -9824e24dd1574abc|2023-06-09--19-55-12--14 -# HONDA RIDGELINE 2017 -9b29873dd03e9357|2023-05-30--10-10-24--4 -# HONDA RIDGELINE 2017 -9bdc08e34137d504|2023-05-28--13-07-50--10 -# HONDA RIDGELINE 2017 -a9648fa1431cf7a8|2023-05-13--18-40-53--33 -# HONDA RIDGELINE 2017 -aaa226a738d37659|2023-05-19--11-59-08--5 -# HONDA RIDGELINE 2017 -a7252f38a01fc213|2023-06-20--16-17-58--2 -# HONDA RIDGELINE 2017 -adbbce5339634eae|2023-08-03--17-35-47--8 -# HONDA RIDGELINE 2017 -ac97f88de8b23b6b|2023-06-26--11-44-14--6 -# HONDA RIDGELINE 2017 -b3c88ee6c378a66e|2023-07-24--08-47-23--6 -# HONDA RIDGELINE 2017 -bf0fac55013ab937|2023-07-10--10-23-24--17 -# HONDA RIDGELINE 2017 -c5e0d17adaaefd82|2023-07-22--16-12-30--58 -# HONDA RIDGELINE 2017 -d169250d735e1346|2023-06-08--16-35-51--9 -# HONDA RIDGELINE 2017 -d084ea2309575a71|2023-05-18--17-25-07--14 -# HONDA RIDGELINE 2017 -d5dd26679a932af9|2023-07-04--09-39-08--18 -# HONDA RIDGELINE 2017 -e52c055a77cac84c|2023-06-05--17-27-17--17 -# HONDA RIDGELINE 2017 -e51512df42d845d0|2023-06-05--14-27-56--53 -# HONDA RIDGELINE 2017 -e4bcdeea7c6f1fd3|2023-07-10--11-47-50--17 -# HONDA RIDGELINE 2017 -f53658bd0c1ccf07|2023-07-28--19-28-13--12 -# TOYOTA RAV4 2019 -135e1e376668a393|2023-06-25--19-00-07--36 -# TOYOTA RAV4 2019 -0de4f23a490a8502|2023-07-19--17-54-03--7 -# TOYOTA RAV4 2019 -01a8bd5caab4a678|2023-06-15--10-36-38--2 -# TOYOTA RAV4 2019 -0dcc1daec4a26b89|2023-06-12--12-15-52--4 -# TOYOTA RAV4 2019 -180ea5df0f0b4db9|2023-07-18--22-50-24--6 -# TOYOTA RAV4 2019 -28de01246b5d6401|2023-06-19--16-24-29--8 -# TOYOTA RAV4 2019 -166ed2b12f634fb7|2023-06-05--19-15-04--13 -# TOYOTA RAV4 2019 -1f623af84e701b2a|2023-06-29--16-42-01--3 -# TOYOTA RAV4 2019 -1ccd70c07ff29d9f|2023-05-17--20-26-06--5 -# TOYOTA RAV4 2019 -1199c1d31bb3a214|2023-06-13--14-23-39--16 -# TOYOTA RAV4 2019 -24b7eef92acb725c|2023-06-25--14-09-20--9 -# TOYOTA RAV4 2019 -1ab6dacda17ac28a|2023-05-22--18-38-12--11 -# TOYOTA RAV4 2019 -1da1a0519b1669c3|2023-07-01--22-29-45--18 -# TOYOTA RAV4 2019 -0f8a92e2122ea309|2023-07-26--10-46-14--3 -# TOYOTA RAV4 2019 -0f60d680150676d0|2023-06-27--05-57-53--2 -# TOYOTA RAV4 2019 -166a8fc9c484866b|2023-07-26--08-14-07--12 -# TOYOTA RAV4 2019 -2a2249f498ddc22c|2023-07-04--13-41-52--3 -# TOYOTA RAV4 2019 -28947140cc79e4cf|2023-08-05--12-17-34--41 -# TOYOTA RAV4 2019 -028a208d08a11420|2023-07-22--15-41-34--60 -# TOYOTA RAV4 2019 -336f33d84fa8d5db|2023-07-29--16-59-09--6 -# TOYOTA RAV4 2019 -3ae010558239929d|2023-05-31--19-06-35--19 -# TOYOTA RAV4 2019 -395fe23cc0a51896|2023-06-25--10-15-45--48 -# TOYOTA RAV4 2019 -3f3a48346848df21|2023-07-26--16-15-13--1 -# TOYOTA RAV4 2019 -40f6907c6b554368|2023-06-17--05-51-38--66 -# TOYOTA RAV4 2019 -41f4ae6d3b79a9b1|2023-08-03--09-20-24--6 -# TOYOTA RAV4 2019 -45edf064d369bff9|2023-06-09--12-21-08--11 -# TOYOTA RAV4 2019 -4a389c94e0a137cc|2023-05-17--17-52-33--4 -# TOYOTA RAV4 2019 -4dfda86b67cad08f|2023-08-01--12-25-44--1 -# TOYOTA RAV4 2019 -4d0c6516a05013a1|2023-05-10--17-14-40--59 -# TOYOTA RAV4 2019 -4e4a768f20ae1e96|2023-06-06--10-43-02--36 -# TOYOTA RAV4 2019 -5175d97daef0d2ce|2023-07-02--12-18-55--8 -# TOYOTA RAV4 2019 -4a4e7f053b5730d9|2023-05-31--17-00-07--20 -# TOYOTA RAV4 2019 -523a062b170f5402|2023-05-24--15-37-42--23 -# TOYOTA RAV4 2019 -4857e763b605484d|2023-07-12--15-33-09--27 -# TOYOTA RAV4 2019 -601862be98f8db50|2023-08-06--01-03-26--37 -# TOYOTA RAV4 2019 -615671030be02e4e|2023-05-23--15-20-04--21 -# TOYOTA RAV4 2019 -5f70a3bed42b7932|2023-08-06--19-00-39--2 -# TOYOTA RAV4 2019 -628ea5913838ecc2|2023-05-23--21-38-48--3 -# TOYOTA RAV4 2019 -60093534d6d04cd2|2023-06-14--12-21-58--40 -# TOYOTA RAV4 2019 -6adb1b2f007ef2e0|2023-08-03--15-57-43--8 -# TOYOTA RAV4 2019 -672d2d359ba20275|2023-08-05--22-39-34--84 -# TOYOTA RAV4 2019 -666f3e6d7f7f02ab|2023-07-21--05-45-19--3 -# TOYOTA RAV4 2019 -6b0a418312ab1345|2023-08-07--06-41-16--1 -# TOYOTA RAV4 2019 -6f74e02218e61a6d|2023-07-22--09-59-20--8 -# TOYOTA RAV4 2019 -715bdc3654d57eb0|2023-07-23--19-41-44--8 -# TOYOTA RAV4 2019 -74ef295ef2f668fd|2023-06-14--22-25-34--27 -# TOYOTA RAV4 2019 -82d5f13f2a583c11|2023-07-01--09-18-28--21 -# TOYOTA RAV4 2019 -8074c8663302e56c|2023-06-08--20-59-32--61 -# TOYOTA RAV4 2019 -8610459df75c5ac1|2023-05-20--10-16-13--14 -# TOYOTA RAV4 2019 -890069284dace3bf|2023-07-22--11-08-46--45 -# TOYOTA RAV4 2019 -8da230f47b0fef44|2023-06-09--20-19-37--27 -# TOYOTA RAV4 2019 -8aad58f199ab2bed|2023-06-08--13-17-02--3 -# TOYOTA RAV4 2019 -8e29ec646f62a1d2|2023-08-04--14-40-06--2 -# TOYOTA RAV4 2019 -84e20ddfaf4c56d8|2023-07-25--07-10-21--12 -# TOYOTA RAV4 2019 -8d99fb063bc66a26|2023-06-02--19-49-30--27 -# TOYOTA RAV4 2019 -91f940f4a03e5406|2023-08-02--12-44-05--3 -# TOYOTA RAV4 2019 -8efd4729c72a4da9|2023-06-02--16-40-33--8 -# TOYOTA RAV4 2019 -9837fffee4d677f5|2023-06-16--21-35-16--30 -# TOYOTA RAV4 2019 -96b6b95903a330a4|2023-07-08--15-45-40--19 -# TOYOTA RAV4 2019 -9d96018bfdd9ac61|2023-06-13--15-55-43--10 -# TOYOTA RAV4 2019 -9d3747d13e211f85|2023-07-04--17-51-45--1 -# TOYOTA RAV4 2019 -a28a6e3882c1cdf1|2023-05-19--12-34-50--19 -# TOYOTA RAV4 2019 -a61651a726f6bf4d|2023-06-23--12-49-05--47 -# TOYOTA RAV4 2019 -b18225558cb35a1e|2023-07-17--15-46-21--14 -# TOYOTA RAV4 2019 -add7bff9cfb270ba|2023-05-18--22-26-57--11 -# TOYOTA RAV4 2019 -b6508eacf6f008df|2023-05-21--17-31-08--3 -# TOYOTA RAV4 2019 -b97486b552c1f5e3|2023-07-30--15-17-31--26 -# TOYOTA RAV4 2019 -be98421ae126bf91|2023-06-02--16-52-56--13 -# TOYOTA RAV4 2019 -c49a105de4a54ea1|2023-07-07--21-29-40--199 -# TOYOTA RAV4 2019 -d05aaa4d42d7c441|2023-06-05--22-11-24--3 -# TOYOTA RAV4 2019 -ca9194f601494b20|2023-05-24--17-40-49--23 -# TOYOTA RAV4 2019 -d3d6397ff2e7052e|2023-05-29--15-57-39--24 -# TOYOTA RAV4 2019 -cca5f152e7f637f0|2023-05-22--11-01-03--43 -# TOYOTA RAV4 2019 -d3e27ee09a40d1fd|2023-08-02--18-21-22--7 -# TOYOTA RAV4 2019 -d935e25b7e6c725f|2023-07-15--07-36-42--45 -# TOYOTA RAV4 2019 -e1905174a6abbc3c|2023-07-18--07-13-51--2 -# TOYOTA RAV4 2019 -e7cd4ae3bee72b52|2023-07-05--20-45-50--29 -# TOYOTA RAV4 2019 -e7571e0b3674d663|2023-06-23--21-10-27--1 -# TOYOTA RAV4 2019 -e712b42b94578404|2023-05-24--11-21-11--2 -# TOYOTA RAV4 2019 -ebe4b1a7667f231a|2023-06-27--15-23-46--3 -# TOYOTA RAV4 2019 -f30a29d40aa4a4f9|2023-05-17--16-55-57--66 -# TOYOTA RAV4 2019 -f6695ef06f916f23|2023-06-09--17-44-36--14 -# TOYOTA RAV4 2019 -fbff49b354d8a801|2023-07-21--13-52-37--2 -# TOYOTA RAV4 2019 -fc6c359e0e92884f|2023-05-14--13-50-56--9 -# TOYOTA RAV4 2017 -204be5d78daf7006|2023-06-15--07-35-31--11 -# TOYOTA RAV4 2017 -1cbdc1fbae86b49f|2023-06-09--16-31-47--10 -# TOYOTA RAV4 2017 -0655a3f86baf711f|2023-05-17--18-09-14--5 -# TOYOTA RAV4 2017 -28ca2ff434583ddc|2023-06-03--10-49-10--3 -# TOYOTA RAV4 2017 -23940cdb2383e639|2023-07-07--13-06-17--19 -# TOYOTA RAV4 2017 -3932cd29d3fe4a4b|2023-07-27--13-26-25--1 -# TOYOTA RAV4 2017 -2e5de09806977462|2023-07-01--02-13-50--2 -# TOYOTA RAV4 2017 -4a0de7e463e259ef|2023-08-03--14-16-49--2 -# TOYOTA RAV4 2017 -5e9be1efcd6ca25c|2023-07-19--15-05-58--38 -# TOYOTA RAV4 2017 -5d76166971f7ee03|2023-05-22--21-51-32--24 -# TOYOTA RAV4 2017 -6c5718d5c35b6aa8|2023-07-14--23-33-06--40 -# TOYOTA RAV4 2017 -6cd3f6f236b89cbb|2023-06-04--20-29-13--1 -# TOYOTA RAV4 2017 -829a18f6611a0593|2023-07-19--17-06-18--25 -# TOYOTA RAV4 2017 -8ab2027f3c00b364|2023-07-03--15-21-24--114 -# TOYOTA RAV4 2017 -8bf48c046a7750ec|2023-06-08--13-30-25--2 -# TOYOTA RAV4 2017 -98f88292bbae4624|2023-07-21--15-07-11--90 -# TOYOTA RAV4 2017 -a099e968ef197bc0|2023-05-24--06-36-30--2 -# TOYOTA RAV4 2017 -aa332893d92ff60a|2023-07-04--22-48-05--7 -# TOYOTA RAV4 2017 -ade7b7b6f44ba9ea|2023-08-04--16-52-21--34 -# TOYOTA RAV4 2017 -c62d83d70a8ae2b3|2023-06-06--21-39-21--43 -# TOYOTA RAV4 2017 -c9d0e3690e929c02|2023-07-06--20-22-25--25 -# TOYOTA RAV4 2017 -ceacc4d097850b24|2023-05-19--00-11-34--2 -# TOYOTA RAV4 2017 -c84e969db16a7821|2023-07-04--18-50-40--1 -# TOYOTA RAV4 2017 -dccc846a6d7f0198|2023-08-04--13-38-05--6 -# TOYOTA RAV4 2017 -e54de504cefdd500|2023-05-26--13-30-47--14 -# TOYOTA RAV4 2017 -fbc6e1316bac1a40|2023-07-30--18-48-20--18 -# CHRYSLER PACIFICA HYBRID 2018 -00d247a9bb1f9196|2023-06-25--00-50-52--16 -# CHRYSLER PACIFICA HYBRID 2018 -0f53b336851e1384|2023-07-06--20-48-35--28 -# CHRYSLER PACIFICA HYBRID 2018 -19657d9411ef4f1c|2023-06-19--15-37-12--16 -# CHRYSLER PACIFICA HYBRID 2018 -05a30afc5c891372|2023-07-29--13-14-28--1 -# CHRYSLER PACIFICA HYBRID 2018 -268be6212ca01164|2023-05-26--10-55-29--20 -# CHRYSLER PACIFICA HYBRID 2018 -2fc676162569f5f0|2023-05-27--21-30-31--6 -# CHRYSLER PACIFICA HYBRID 2018 -34a660c3c3aa6310|2023-06-09--16-51-25--7 -# CHRYSLER PACIFICA HYBRID 2018 -6480130cc87ac628|2023-07-30--19-17-09--13 -# CHRYSLER PACIFICA HYBRID 2018 -796aba999d046d7d|2023-07-12--14-19-33--5 -# CHRYSLER PACIFICA HYBRID 2018 -7620ad20d3cefc64|2023-05-19--08-49-37--5 -# CHRYSLER PACIFICA HYBRID 2018 -80d3ea3484ea9cfd|2023-05-27--15-01-03--101 -# CHRYSLER PACIFICA HYBRID 2018 -ba0a98377680c14d|2023-07-19--19-00-32--2 -# CHRYSLER PACIFICA HYBRID 2018 -f87ec6de63679cb6|2023-05-29--13-01-37--1 -# LEXUS NX 2018 -21b5c2189fb5972e|2023-07-12--12-15-44--4 -# LEXUS NX 2018 -22feb9142bcc73c9|2023-08-01--17-37-30--60 -# LEXUS NX 2018 -6bd8524bfd558e75|2023-06-30--14-15-54--4 -# LEXUS NX 2018 -83ae8304745fad7e|2023-05-17--20-16-52--148 -# JEEP GRAND CHEROKEE V6 2018 -15afba6e8f2a793d|2023-07-02--09-47-25--36 -# JEEP GRAND CHEROKEE V6 2018 -0448d4c7552b98c6|2023-07-15--14-01-58--1 -# JEEP GRAND CHEROKEE V6 2018 -044cbaf7278c5761|2023-05-15--18-58-25--11 -# JEEP GRAND CHEROKEE V6 2018 -326edad388d0a5e2|2023-07-01--19-19-08--2 -# JEEP GRAND CHEROKEE V6 2018 -37f25823e3b0d3e2|2023-07-08--15-07-03--8 -# JEEP GRAND CHEROKEE V6 2018 -5ec00346ae32f57f|2023-08-01--05-39-55--26 -# JEEP GRAND CHEROKEE V6 2018 -641d9bfd161cccd7|2023-06-29--17-52-45--7 -# JEEP GRAND CHEROKEE V6 2018 -900dfa83b4addfe6|2023-05-11--15-01-42--45 -# JEEP GRAND CHEROKEE V6 2018 -9db428338427dec2|2023-07-12--21-25-15--26 -# JEEP GRAND CHEROKEE V6 2018 -aed0854cefa55533|2023-07-07--21-01-07--4 -# JEEP GRAND CHEROKEE V6 2018 -c692ccc84342a478|2023-06-24--16-40-17--14 -# JEEP GRAND CHEROKEE V6 2018 -d50ada8ee55a5e74|2023-07-03--19-45-11--9 -# JEEP GRAND CHEROKEE V6 2018 -e56b1d3147b6a8f0|2023-07-30--12-51-42--38 -# KIA NIRO EV 2020 -05b1a2556c5bc638|2023-08-07--12-47-27--7 -# KIA NIRO EV 2020 -180ead4c4c126f9d|2023-06-08--20-02-58--6 -# KIA NIRO EV 2020 -36abc44c4f296c7a|2023-05-19--16-15-28--3 -# KIA NIRO EV 2020 -400c0f76b5a1aa90|2023-06-03--21-47-52--15 -# KIA NIRO EV 2020 -561e5f3991916e4b|2023-08-05--15-06-08--15 -# KIA NIRO EV 2020 -6d2b75c2e67bf314|2023-07-29--10-55-10--16 -# KIA NIRO EV 2020 -70a73b2fbd820de4|2023-07-31--16-50-14--17 -# KIA NIRO EV 2020 -89c7460182ce76eb|2023-06-07--22-19-13--63 -# KIA NIRO EV 2020 -9b052af2986bbe3c|2023-08-07--20-11-53--9 -# KIA NIRO EV 2020 -b382b3c7a6e6c4a3|2023-05-14--12-40-13--2 -# KIA NIRO EV 2020 -b576d2ff8a193b4a|2023-07-30--17-49-23--16 -# KIA NIRO EV 2020 -b5cebe8c56d710c5|2023-05-10--20-26-44--26 -# KIA NIRO EV 2020 -c04b1653edb84818|2023-05-16--23-20-13--17 -# KIA NIRO EV 2020 -c8f86b163152d2c5|2023-05-28--10-13-22--2 -# KIA NIRO EV 2020 -d5f923604b1b2f75|2023-05-24--07-29-50--14 -# KIA NIRO EV 2020 -dbda33c67462b907|2023-05-13--12-03-22--21 -# KIA NIRO EV 2020 -e81862333a36d2f7|2023-07-13--09-59-47--19 -# KIA NIRO EV 2020 -fc4cfe20b331a575|2023-07-31--10-34-38--1 -# HONDA CIVIC 2016 -0d922f5798ae65ed|2023-08-01--14-56-54--14 -# HONDA CIVIC 2016 -20994bc5331f98c0|2023-07-26--19-09-06--4 -# HONDA CIVIC 2016 -123dce2cbb7370cd|2023-06-08--20-14-38--19 -# HONDA CIVIC 2016 -1230ef5ea53311d6|2023-05-16--22-44-05--2 -# HONDA CIVIC 2016 -242b33685ed4e03a|2023-08-02--09-29-10--7 -# HONDA CIVIC 2016 -35ca75966798efba|2023-05-23--18-42-57--18 -# HONDA CIVIC 2016 -3e1e2b62f3f2ac3d|2023-07-12--18-23-44--5 -# HONDA CIVIC 2016 -429b106d0b800755|2023-06-03--22-13-41--2 -# HONDA CIVIC 2016 -4a080fe908e25eb2|2023-05-12--20-21-48--18 -# HONDA CIVIC 2016 -52534ebb0e145937|2023-07-14--11-40-16--5 -# HONDA CIVIC 2016 -5cfa1ad8f35779d0|2023-05-10--13-31-39--7 -# HONDA CIVIC 2016 -5dfdb608ac9bc838|2023-05-22--16-58-36--43 -# HONDA CIVIC 2016 -5dedd0807e354b45|2023-08-03--16-29-27--32 -# HONDA CIVIC 2016 -675bf95ba0ce21b7|2023-06-25--12-39-50--1 -# HONDA CIVIC 2016 -7528525a29a9d9e6|2023-07-23--01-21-59--24 -# HONDA CIVIC 2016 -7496d76ba25de13f|2023-07-22--10-48-35--5 -# HONDA CIVIC 2016 -79b03b378a603ec8|2023-05-23--05-02-29--8 -# HONDA CIVIC 2016 -8d80c16a8485aaf3|2023-05-18--21-35-54--75 -# HONDA CIVIC 2016 -9098b6df85df4bab|2023-07-12--19-32-41--22 -# HONDA CIVIC 2016 -a182b0586ed5197f|2023-07-27--19-50-29--3 -# HONDA CIVIC 2016 -a3f025079c99dde7|2023-06-11--19-51-19--6 -# HONDA CIVIC 2016 -ae5111c66432dc8d|2023-07-24--14-16-50--4 -# HONDA CIVIC 2016 -b029c0f4cf2064e7|2023-07-19--07-02-46--37 -# HONDA CIVIC 2016 -b1c832ad56b6bc9d|2023-05-28--19-00-21--6 -# HONDA CIVIC 2016 -b7107213450829d2|2023-07-25--19-57-40--42 -# HONDA CIVIC 2016 -d313e54d1691a342|2023-06-20--16-22-23--37 -# HONDA CIVIC 2016 -dfae8f89bc63acf4|2023-05-21--18-14-46--6 -# VOLKSWAGEN GOLF 7TH GEN -1f032f5173c8ad99|2023-07-25--07-06-28--2 -# VOLKSWAGEN GOLF 7TH GEN -063f36154faa4921|2023-07-04--13-42-41--69 -# VOLKSWAGEN GOLF 7TH GEN -2cdded3a5da75b6a|2023-07-29--16-03-09--21 -# VOLKSWAGEN GOLF 7TH GEN -3a12e8c9983fb961|2023-06-29--16-29-48--21 -# VOLKSWAGEN GOLF 7TH GEN -3cfdec54aa035f3f|2023-07-30--16-55-43--25 -# VOLKSWAGEN GOLF 7TH GEN -434df3000c5d36ff|2023-08-07--08-16-23--15 -# VOLKSWAGEN GOLF 7TH GEN -4aa5d874f367adbc|2023-05-12--17-55-23--3 -# VOLKSWAGEN GOLF 7TH GEN -59658f79475526e4|2023-05-10--14-12-23--21 -# VOLKSWAGEN GOLF 7TH GEN -77db91ca5676dfd9|2023-05-11--12-32-36--18 -# VOLKSWAGEN GOLF 7TH GEN -7b6a4fdf7c484d0c|2023-06-02--20-28-47--1 -# VOLKSWAGEN GOLF 7TH GEN -8906f6f8c8052728|2023-07-30--17-49-47--16 -# VOLKSWAGEN GOLF 7TH GEN -8fe9ced03c94e256|2023-05-16--09-40-38--11 -# VOLKSWAGEN GOLF 7TH GEN -9806e7635acbfc4e|2023-07-30--08-52-18--4 -# VOLKSWAGEN GOLF 7TH GEN -9dfef26e8c734ff1|2023-07-21--21-17-53--12 -# VOLKSWAGEN GOLF 7TH GEN -a5ca9217d833ec9f|2023-06-03--12-07-06--1 -# VOLKSWAGEN GOLF 7TH GEN -a61c85c75dbf1c22|2023-07-03--10-14-01--9 -# VOLKSWAGEN GOLF 7TH GEN -ba232e71d028199a|2023-06-19--15-48-13--83 -# VOLKSWAGEN GOLF 7TH GEN -c2317d8d52490584|2023-05-20--15-01-59--4 -# VOLKSWAGEN GOLF 7TH GEN -dd154b34dc4d8c52|2023-07-03--20-13-03--63 -# VOLKSWAGEN GOLF 7TH GEN -e4221d4d60b6d43e|2023-05-11--18-57-30--33 -# VOLKSWAGEN GOLF 7TH GEN -e55f210ede806fde|2023-06-09--21-52-53--21 -# TOYOTA COROLLA TSS2 2019 -2526d4fd82f82868|2023-06-16--18-16-26--14 -# TOYOTA COROLLA TSS2 2019 -01febfaac7572f25|2023-06-06--19-08-52--2 -# TOYOTA COROLLA TSS2 2019 -0ba864f7f238934a|2023-07-07--15-45-46--3 -# TOYOTA COROLLA TSS2 2019 -13aa844538f5f3ea|2023-07-28--20-37-12--12 -# TOYOTA COROLLA TSS2 2019 -117fd309156bb38b|2023-07-08--19-26-59--3 -# TOYOTA COROLLA TSS2 2019 -08a1ee03695f6a19|2023-07-12--06-56-22--37 -# TOYOTA COROLLA TSS2 2019 -1febe902238e07e7|2023-07-04--11-40-53--19 -# TOYOTA COROLLA TSS2 2019 -0976603847a63139|2023-05-24--13-04-43--69 -# TOYOTA COROLLA TSS2 2019 -1d430ad170e95d66|2023-05-10--13-47-49--3 -# TOYOTA COROLLA TSS2 2019 -10f64136dcc9e6cf|2023-07-22--12-54-01--1 -# TOYOTA COROLLA TSS2 2019 -066f132fea612a43|2023-06-18--20-06-31--9 -# TOYOTA COROLLA TSS2 2019 -230649810f83e032|2023-07-24--22-23-09--21 -# TOYOTA COROLLA TSS2 2019 -13a296d002fe988d|2023-08-05--16-55-23--10 -# TOYOTA COROLLA TSS2 2019 -0ffb338268a7f57b|2023-07-08--17-15-25--71 -# TOYOTA COROLLA TSS2 2019 -2edc2c12fbb3cc34|2023-06-12--16-21-43--15 -# TOYOTA COROLLA TSS2 2019 -2653b4b309780e1a|2023-05-15--12-33-26--32 -# TOYOTA COROLLA TSS2 2019 -2ea9a9a47b4d658b|2023-08-03--17-08-37--18 -# TOYOTA COROLLA TSS2 2019 -2cd916ec939a0cdb|2023-07-29--20-09-03--29 -# TOYOTA COROLLA TSS2 2019 -36f5b57e4202d677|2023-07-19--16-07-41--20 -# TOYOTA COROLLA TSS2 2019 -375f6b7dcfa712bb|2023-07-29--00-25-41--3 -# TOYOTA COROLLA TSS2 2019 -3cb092b934c1321a|2023-07-12--14-19-10--1 -# TOYOTA COROLLA TSS2 2019 -42ff158c63048ad3|2023-06-19--12-40-18--12 -# TOYOTA COROLLA TSS2 2019 -3c755ae77207f5e6|2023-07-07--06-56-53--26 -# TOYOTA COROLLA TSS2 2019 -479477500279ec91|2023-07-15--15-08-01--13 -# TOYOTA COROLLA TSS2 2019 -4955b33f42f814ec|2023-06-19--18-19-33--10 -# TOYOTA COROLLA TSS2 2019 -4f871d414c69c6ba|2023-05-26--01-44-47--1 -# TOYOTA COROLLA TSS2 2019 -4ecfcac756318cbf|2023-05-26--09-11-43--16 -# TOYOTA COROLLA TSS2 2019 -51e32fb50a64250a|2023-07-07--20-50-11--51 -# TOYOTA COROLLA TSS2 2019 -48590e272587fc49|2023-06-02--08-36-54--48 -# TOYOTA COROLLA TSS2 2019 -4ccbc0d42d611d6e|2023-06-06--19-48-02--3 -# TOYOTA COROLLA TSS2 2019 -50c35b8d29fd7574|2023-07-12--19-36-54--2 -# TOYOTA COROLLA TSS2 2019 -51b1e5305ed717c2|2023-07-04--08-50-02--3 -# TOYOTA COROLLA TSS2 2019 -4c833174af1f11d9|2023-06-27--21-28-20--36 -# TOYOTA COROLLA TSS2 2019 -575626d3c2c61bc3|2023-07-18--17-06-03--46 -# TOYOTA COROLLA TSS2 2019 -59bbf0ec138e1bc4|2023-07-30--19-20-22--8 -# TOYOTA COROLLA TSS2 2019 -567e47e503b36408|2023-05-11--13-24-46--8 -# TOYOTA COROLLA TSS2 2019 -5d2be9f6c9bb6d59|2023-07-14--18-20-52--31 -# TOYOTA COROLLA TSS2 2019 -636f850472924d8b|2023-07-27--05-38-09--139 -# TOYOTA COROLLA TSS2 2019 -66235d23ccedf22b|2023-06-19--15-16-34--3 -# TOYOTA COROLLA TSS2 2019 -6c15cf37ba9e13af|2023-05-10--07-18-08--33 -# TOYOTA COROLLA TSS2 2019 -6439fb08910d24cb|2023-06-15--14-26-45--42 -# TOYOTA COROLLA TSS2 2019 -7472c18ac7ee970a|2023-07-30--01-05-28--2 -# TOYOTA COROLLA TSS2 2019 -7065b7a287ca6bfd|2023-06-21--16-08-50--4 -# TOYOTA COROLLA TSS2 2019 -7037f9c72bc6f964|2023-06-12--16-02-49--2 -# TOYOTA COROLLA TSS2 2019 -75e2a892240ca11a|2023-07-22--09-18-55--5 -# TOYOTA COROLLA TSS2 2019 -796a1c5804476c3f|2023-06-26--19-24-19--7 -# TOYOTA COROLLA TSS2 2019 -7848680077bfdcdc|2023-07-24--18-38-50--3 -# TOYOTA COROLLA TSS2 2019 -742af4a6e6eaa03a|2023-06-27--13-07-41--44 -# TOYOTA COROLLA TSS2 2019 -744a7144504b6e2e|2023-08-02--13-28-51--7 -# TOYOTA COROLLA TSS2 2019 -7a2f01307609c158|2023-08-06--17-30-48--12 -# TOYOTA COROLLA TSS2 2019 -772e65c4f149b380|2023-05-20--04-14-17--1 -# TOYOTA COROLLA TSS2 2019 -86d675e9d797d210|2023-05-21--21-53-30--21 -# TOYOTA COROLLA TSS2 2019 -8730608053a8d3af|2023-06-26--17-05-48--18 -# TOYOTA COROLLA TSS2 2019 -89d53004921bd239|2023-07-22--15-00-53--38 -# TOYOTA COROLLA TSS2 2019 -90a0f4e5ad469fb7|2023-08-04--11-48-13--1 -# TOYOTA COROLLA TSS2 2019 -927ee6ce294e2f25|2023-07-29--08-22-53--1 -# TOYOTA COROLLA TSS2 2019 -9285a03a79895178|2023-07-04--23-14-40--16 -# TOYOTA COROLLA TSS2 2019 -9670ceb56ecf4d79|2023-07-10--07-55-49--14 -# TOYOTA COROLLA TSS2 2019 -99846616e03e1162|2023-07-30--12-59-13--2 -# TOYOTA COROLLA TSS2 2019 -98d3152d30060750|2023-05-20--15-57-05--17 -# TOYOTA COROLLA TSS2 2019 -990a1b5f50ca3d5c|2023-05-17--10-17-05--1 -# TOYOTA COROLLA TSS2 2019 -9afac539f787a200|2023-06-30--15-05-48--14 -# TOYOTA COROLLA TSS2 2019 -9a2505595b2a3554|2023-08-07--14-46-21--59 -# TOYOTA COROLLA TSS2 2019 -a1459329fb4cd970|2023-06-28--15-44-03--19 -# TOYOTA COROLLA TSS2 2019 -a2a0ccea32023010|2023-07-26--17-19-33--11 -# TOYOTA COROLLA TSS2 2019 -9f65d75230c64fb4|2023-06-19--12-28-55--95 -# TOYOTA COROLLA TSS2 2019 -a43409b966c53d15|2023-06-29--10-11-49--4 -# TOYOTA COROLLA TSS2 2019 -a4446d3a8ae1e324|2023-06-06--11-49-40--17 -# TOYOTA COROLLA TSS2 2019 -9d5c10b6f66f736a|2023-06-18--10-48-03--191 -# TOYOTA COROLLA TSS2 2019 -a2804476419fd4f3|2023-05-30--14-13-10--2 -# TOYOTA COROLLA TSS2 2019 -ac7fa8ccceee8fe4|2023-07-21--13-50-12--14 -# TOYOTA COROLLA TSS2 2019 -ad27b5fb54426e8a|2023-07-12--16-32-18--9 -# TOYOTA COROLLA TSS2 2019 -b46ac14e96fa047d|2023-05-26--13-10-23--9 -# TOYOTA COROLLA TSS2 2019 -b292d45117041581|2023-06-22--20-59-15--34 -# TOYOTA COROLLA TSS2 2019 -b135d4bbc0ace012|2023-07-28--08-46-43--5 -# TOYOTA COROLLA TSS2 2019 -b2a420a551c95f61|2023-06-10--13-52-14--2 -# TOYOTA COROLLA TSS2 2019 -b27aabf96cf81189|2023-07-20--17-59-53--9 -# TOYOTA COROLLA TSS2 2019 -ba2c31fbceccf0a2|2023-05-26--08-28-50--19 -# TOYOTA COROLLA TSS2 2019 -b8e73c4b855918a4|2023-06-23--22-09-47--5 -# TOYOTA COROLLA TSS2 2019 -b4cce6e306466c3a|2023-06-09--13-01-32--3 -# TOYOTA COROLLA TSS2 2019 -bc30537149678ec5|2023-07-16--09-33-33--4 -# TOYOTA COROLLA TSS2 2019 -bcb2e59018be5f0e|2023-05-22--14-41-32--295 -# TOYOTA COROLLA TSS2 2019 -bb6bc8e6ac2190dc|2023-05-31--16-10-00--53 -# TOYOTA COROLLA TSS2 2019 -b7440708a5e2c796|2023-06-21--19-37-36--9 -# TOYOTA COROLLA TSS2 2019 -c0023418edc8ed7b|2023-06-04--21-14-16--36 -# TOYOTA COROLLA TSS2 2019 -c33e7ea5e01511d3|2023-07-13--12-05-30--1 -# TOYOTA COROLLA TSS2 2019 -c9315a5b08fabfb4|2023-05-17--15-45-13--7 -# TOYOTA COROLLA TSS2 2019 -d02240bb0738ae9d|2023-07-04--19-59-49--37 -# TOYOTA COROLLA TSS2 2019 -d0bef3e100712fce|2023-05-23--07-58-05--3 -# TOYOTA COROLLA TSS2 2019 -d1830450c4c43463|2023-06-24--21-57-32--2 -# TOYOTA COROLLA TSS2 2019 -cf0bbb6c86836b73|2023-07-08--18-37-43--28 -# TOYOTA COROLLA TSS2 2019 -d2a3925946654cd3|2023-06-12--16-19-24--3 -# TOYOTA COROLLA TSS2 2019 -da803e391542cb10|2023-05-29--13-49-28--35 -# TOYOTA COROLLA TSS2 2019 -dcefbc5933b0e410|2023-06-14--19-00-09--3 -# TOYOTA COROLLA TSS2 2019 -e0601ce36770a765|2023-07-25--09-12-36--55 -# TOYOTA COROLLA TSS2 2019 -dfb993cc43ba69dc|2023-06-06--06-52-08--2 -# TOYOTA COROLLA TSS2 2019 -e5bbae6d1c740ba1|2023-06-19--12-57-23--14 -# TOYOTA COROLLA TSS2 2019 -e5bfe3f909216ef6|2023-07-25--18-03-22--7 -# TOYOTA COROLLA TSS2 2019 -e514e647fc5e28d0|2023-07-10--16-11-35--1 -# TOYOTA COROLLA TSS2 2019 -e01d990b9fafc7c7|2023-06-26--04-53-20--24 -# TOYOTA COROLLA TSS2 2019 -ead14b5ba31cdb4d|2023-08-05--21-07-24--107 -# TOYOTA COROLLA TSS2 2019 -e9b1885ec511d838|2023-05-15--09-35-44--42 -# TOYOTA COROLLA TSS2 2019 -e305dea90c599b82|2023-06-20--19-39-01--6 -# TOYOTA COROLLA TSS2 2019 -e8d19bce0da0148f|2023-07-28--16-53-43--13 -# TOYOTA COROLLA TSS2 2019 -f1c4e2a016e4de93|2023-07-19--21-27-01--3 -# TOYOTA COROLLA TSS2 2019 -f1b3bb0340f9b560|2023-07-26--09-19-02--22 -# TOYOTA COROLLA TSS2 2019 -eb7ac6daa55e0823|2023-06-10--19-14-01--4 -# TOYOTA COROLLA TSS2 2019 -f5695afee48c4efe|2023-05-12--08-12-59--21 -# TOYOTA COROLLA TSS2 2019 -feee8fadcb368355|2023-07-22--21-12-52--25 -# TOYOTA COROLLA TSS2 2019 -f82bb7e095cdd66f|2023-05-10--05-19-59--9 -# TOYOTA COROLLA TSS2 2019 -fe18f736cb0d7813|2023-05-24--19-43-43--10 -# CHRYSLER PACIFICA HYBRID 2019 -0e99ed1796cf0796|2023-07-01--13-12-55--14 -# CHRYSLER PACIFICA HYBRID 2019 -1943b3d682b7f11d|2023-07-09--13-56-25--20 -# CHRYSLER PACIFICA HYBRID 2019 -120a432f63cb0de2|2023-06-24--13-48-30--7 -# CHRYSLER PACIFICA HYBRID 2019 -1a10807c60c127fd|2023-06-05--18-28-54--44 -# CHRYSLER PACIFICA HYBRID 2019 -2b964a897363fb8d|2023-07-07--16-03-35--35 -# CHRYSLER PACIFICA HYBRID 2019 -2f6f39e4b14298b8|2023-05-28--18-25-37--43 -# CHRYSLER PACIFICA HYBRID 2019 -35176353a674cbdc|2023-06-04--18-26-00--52 -# CHRYSLER PACIFICA HYBRID 2019 -37004be1e4d06893|2023-08-04--00-57-55--1 -# CHRYSLER PACIFICA HYBRID 2019 -3e5d2ea720b2ade6|2023-05-18--20-54-26--14 -# CHRYSLER PACIFICA HYBRID 2019 -4395faadf0a373f2|2023-05-13--16-36-01--12 -# CHRYSLER PACIFICA HYBRID 2019 -4b17c71e7787e92f|2023-05-16--21-51-11--12 -# CHRYSLER PACIFICA HYBRID 2019 -63b6ad8d485e56a3|2023-07-17--09-57-27--20 -# CHRYSLER PACIFICA HYBRID 2019 -644df7356b2e465d|2023-06-10--21-35-04--90 -# CHRYSLER PACIFICA HYBRID 2019 -6244bf059e173e99|2023-07-30--09-14-03--15 -# CHRYSLER PACIFICA HYBRID 2019 -6d3ff8fbb8417635|2023-07-11--18-41-27--2 -# CHRYSLER PACIFICA HYBRID 2019 -7251ba2e0f80add1|2023-05-21--20-49-01--94 -# CHRYSLER PACIFICA HYBRID 2019 -7494bdf484b714e7|2023-05-15--22-44-48--48 -# CHRYSLER PACIFICA HYBRID 2019 -86deeb65f10c3129|2023-06-08--09-04-59--1 -# CHRYSLER PACIFICA HYBRID 2019 -8b4a62384ce1dbda|2023-07-10--20-20-58--8 -# CHRYSLER PACIFICA HYBRID 2019 -91190f5999463dd8|2023-06-12--11-38-07--3 -# CHRYSLER PACIFICA HYBRID 2019 -94586e8449ef012b|2023-06-08--14-38-27--5 -# CHRYSLER PACIFICA HYBRID 2019 -a3b4d4b4cb18bdad|2023-06-11--16-20-07--62 -# CHRYSLER PACIFICA HYBRID 2019 -aadbd1a661fb4da3|2023-08-03--13-56-56--2 -# CHRYSLER PACIFICA HYBRID 2019 -acb4cd444864d759|2023-05-12--22-57-05--9 -# CHRYSLER PACIFICA HYBRID 2019 -b398a1af9eea479f|2023-06-11--19-48-36--36 -# CHRYSLER PACIFICA HYBRID 2019 -cf10bbff2c1d2c6b|2023-07-10--08-53-44--2 -# CHRYSLER PACIFICA HYBRID 2019 -d8c9e6bde1d2900f|2023-06-15--10-51-56--3 -# CHRYSLER PACIFICA HYBRID 2019 -de666a40633d13fe|2023-07-28--14-19-44--12 -# CHRYSLER PACIFICA HYBRID 2019 -e51816839229e7c6|2023-07-08--13-44-57--1 -# CHRYSLER PACIFICA HYBRID 2019 -ec62067436775681|2023-07-19--18-28-32--26 -# CHRYSLER PACIFICA HYBRID 2019 -ed624dae6fed0e6b|2023-07-16--09-21-32--35 -# CHRYSLER PACIFICA HYBRID 2019 -ef47e9b061fba593|2023-05-13--21-59-33--5 -# CHRYSLER PACIFICA HYBRID 2019 -ede4a914fcc6fb6d|2023-08-02--14-13-23--3 -# CHRYSLER PACIFICA HYBRID 2019 -f421e8c2744fed7f|2023-06-30--13-10-52--24 -# CHRYSLER PACIFICA HYBRID 2019 -f6f46c9092a35916|2023-07-15--16-38-00--3 -# CHRYSLER PACIFICA HYBRID 2019 -f800ed88a5f7fa19|2023-07-11--11-16-38--5 -# CHRYSLER PACIFICA HYBRID 2019 -fe0f36c1b6573659|2023-07-19--15-06-52--7 -# CHEVROLET BOLT EUV 2022 -2334b466b5ba9cab|2023-05-31--17-06-45--9 -# CHEVROLET BOLT EUV 2022 -276dfdea5c6a45e0|2023-05-16--11-15-03--5 -# CHEVROLET BOLT EUV 2022 -186ece45c5f7730a|2023-06-05--12-57-13--5 -# CHEVROLET BOLT EUV 2022 -0def4a390f6fe5c0|2023-06-07--20-34-57--34 -# CHEVROLET BOLT EUV 2022 -161c32b370ac8d0f|2023-07-23--09-03-44--2 -# CHEVROLET BOLT EUV 2022 -1829f1c500a2c163|2023-07-27--16-07-15--11 -# CHEVROLET BOLT EUV 2022 -0ff88cd04a49e0b8|2023-06-06--21-03-24--4 -# CHEVROLET BOLT EUV 2022 -1ad81494603f8450|2023-06-15--16-34-30--8 -# CHEVROLET BOLT EUV 2022 -10b00eb757360a96|2023-06-30--10-31-18--19 -# CHEVROLET BOLT EUV 2022 -135b91dcfd6b31b1|2023-06-17--21-01-23--3 -# CHEVROLET BOLT EUV 2022 -297302e607039e23|2023-06-06--20-28-40--9 -# CHEVROLET BOLT EUV 2022 -18dbdce81b2402b0|2023-08-07--07-34-34--7 -# CHEVROLET BOLT EUV 2022 -2b4118b61e62995e|2023-07-15--15-17-08--10 -# CHEVROLET BOLT EUV 2022 -2d6490f23b2f8592|2023-08-07--10-00-17--12 -# CHEVROLET BOLT EUV 2022 -2fd7f5f47f793c9c|2023-05-21--12-19-26--15 -# CHEVROLET BOLT EUV 2022 -3140e1c6195c880e|2023-05-10--00-08-11--8 -# CHEVROLET BOLT EUV 2022 -36abd7f7160a9a75|2023-07-05--14-20-25--13 -# CHEVROLET BOLT EUV 2022 -3b68b660a77fd80e|2023-07-16--01-08-43--11 -# CHEVROLET BOLT EUV 2022 -446478f0404c86d3|2023-07-30--11-24-22--14 -# CHEVROLET BOLT EUV 2022 -43f2df44eba11325|2023-07-02--18-10-34--1 -# CHEVROLET BOLT EUV 2022 -43d44eef740e247b|2023-07-30--16-49-25--7 -# CHEVROLET BOLT EUV 2022 -45bcfa6a1dab12b2|2023-07-03--16-44-59--1 -# CHEVROLET BOLT EUV 2022 -4fe3129b0fc9aed8|2023-06-24--12-06-07--2 -# CHEVROLET BOLT EUV 2022 -50d49a7246b883d5|2023-06-20--09-05-14--47 -# CHEVROLET BOLT EUV 2022 -4c85a75ef10f7a6a|2023-07-31--11-57-04--42 -# CHEVROLET BOLT EUV 2022 -555d4087cf86aa91|2023-05-12--15-16-07--34 -# CHEVROLET BOLT EUV 2022 -583b1612bef234ed|2023-07-22--14-24-44--10 -# CHEVROLET BOLT EUV 2022 -63a62077852a6194|2023-07-31--12-11-15--14 -# CHEVROLET BOLT EUV 2022 -63cd6284b07989a9|2023-07-07--19-48-05--7 -# CHEVROLET BOLT EUV 2022 -6b654cb3eaade30b|2023-08-01--08-12-37--16 -# CHEVROLET BOLT EUV 2022 -6afbe9126b0b488e|2023-07-29--15-32-54--1 -# CHEVROLET BOLT EUV 2022 -715792adb472e791|2023-08-07--16-02-30--19 -# CHEVROLET BOLT EUV 2022 -77360d8b4b0aa355|2023-06-09--17-54-25--24 -# CHEVROLET BOLT EUV 2022 -79c2ed37b4345620|2023-07-08--22-23-27--4 -# CHEVROLET BOLT EUV 2022 -80c623f72cae73bb|2023-06-01--21-46-15--3 -# CHEVROLET BOLT EUV 2022 -82a90d8103afed98|2023-06-12--07-52-31--23 -# CHEVROLET BOLT EUV 2022 -8490e1e599660163|2023-05-15--06-17-33--1 -# CHEVROLET BOLT EUV 2022 -894c916ba5d876c1|2023-06-06--06-55-07--15 -# CHEVROLET BOLT EUV 2022 -8ed03d21b3c15090|2023-06-22--22-10-54--33 -# CHEVROLET BOLT EUV 2022 -93fbf2642ce58ddf|2023-06-27--15-39-36--5 -# CHEVROLET BOLT EUV 2022 -988fdc2a62b72489|2023-06-29--22-43-31--15 -# CHEVROLET BOLT EUV 2022 -986c6ba7f7118db8|2023-07-03--15-12-47--7 -# CHEVROLET BOLT EUV 2022 -989d9a23ae4cbc76|2023-06-03--21-50-50--4 -# CHEVROLET BOLT EUV 2022 -9e27a5ad608f9b5d|2023-07-28--19-22-22--5 -# CHEVROLET BOLT EUV 2022 -9d07b85adb1c7959|2023-07-24--19-16-41--12 -# CHEVROLET BOLT EUV 2022 -a1c6fc5f9e1c0641|2023-07-26--18-20-50--2 -# CHEVROLET BOLT EUV 2022 -a40f0130fa3d0aaf|2023-07-25--10-57-51--89 -# CHEVROLET BOLT EUV 2022 -a8632896bc8c451f|2023-05-21--10-22-51--3 -# CHEVROLET BOLT EUV 2022 -aea39a07b9a7343f|2023-07-09--17-06-28--8 -# CHEVROLET BOLT EUV 2022 -b7709c9bd2bb88fd|2023-06-18--12-43-53--46 -# CHEVROLET BOLT EUV 2022 -b79a39df75584415|2023-07-04--22-01-28--21 -# CHEVROLET BOLT EUV 2022 -bd059400a5cde994|2023-07-04--16-14-42--4 -# CHEVROLET BOLT EUV 2022 -bf073985dfe87f7a|2023-08-04--14-12-05--11 -# CHEVROLET BOLT EUV 2022 -be4060e17a23ffdd|2023-05-20--14-36-48--3 -# CHEVROLET BOLT EUV 2022 -c401b4043ba9000a|2023-08-03--14-48-07--29 -# CHEVROLET BOLT EUV 2022 -b9a4ef3d6f3df97b|2023-08-03--05-45-23--35 -# CHEVROLET BOLT EUV 2022 -c6d15839fd14a490|2023-05-12--07-40-52--16 -# CHEVROLET BOLT EUV 2022 -d061de08f31aeed7|2023-05-30--14-22-41--75 -# CHEVROLET BOLT EUV 2022 -d1f071678ccb1920|2023-07-11--15-10-34--2 -# CHEVROLET BOLT EUV 2022 -d08af0cf79acfd74|2023-07-19--05-13-02--2 -# CHEVROLET BOLT EUV 2022 -d4dfed34943b6c7e|2023-07-20--08-10-21--20 -# CHEVROLET BOLT EUV 2022 -dbc1d04685612ecc|2023-05-15--17-57-58--3 -# CHEVROLET BOLT EUV 2022 -da4d62ee196295d4|2023-07-28--19-30-36--29 -# CHEVROLET BOLT EUV 2022 -da4f7891ae804737|2023-07-06--14-28-22--12 -# CHEVROLET BOLT EUV 2022 -dc50076c39d4257c|2023-06-01--20-16-39--1 -# CHEVROLET BOLT EUV 2022 -dda7599351b213bc|2023-06-13--05-36-42--5 -# CHEVROLET BOLT EUV 2022 -dc2696502990ee07|2023-08-05--06-27-00--8 -# CHEVROLET BOLT EUV 2022 -e340670ab48ba88a|2023-07-29--21-21-49--8 -# CHEVROLET BOLT EUV 2022 -ea4cb0f25db44a80|2023-06-14--05-18-10--19 -# CHEVROLET BOLT EUV 2022 -ed9dc2d827252019|2023-07-27--06-22-48--42 -# CHEVROLET BOLT EUV 2022 -f1ed193b05fe93b0|2023-05-11--18-47-03--3 -# CHEVROLET BOLT EUV 2022 -ef91b5c6792c0a7a|2023-07-31--20-36-50--1 -# CHEVROLET BOLT EUV 2022 -f89a0a966e54f7ff|2023-07-15--20-44-12--8 -# CHEVROLET BOLT EUV 2022 -fc55aed7a9efb49c|2023-06-08--08-01-19--23 -# TOYOTA CAMRY 2021 -093be653a841c345|2023-05-10--19-37-55--15 -# TOYOTA CAMRY 2021 -0a7615a819224eab|2023-05-18--17-00-34--181 -# TOYOTA CAMRY 2021 -1f9891d5a64661ef|2023-06-02--17-00-36--19 -# TOYOTA CAMRY 2021 -2307361bfeefee69|2023-06-08--17-48-28--70 -# TOYOTA CAMRY 2021 -06a5dbcee3ab12f1|2023-07-26--07-57-11--1 -# TOYOTA CAMRY 2021 -037c07a9b40d78a2|2023-05-18--22-31-50--21 -# TOYOTA CAMRY 2021 -3cf34a46abd8addd|2023-07-25--10-03-16--16 -# TOYOTA CAMRY 2021 -470698275bafef42|2023-07-31--06-34-13--8 -# TOYOTA CAMRY 2021 -5231cc88de0139ab|2023-06-14--13-33-32--7 -# TOYOTA CAMRY 2021 -528789e4391481cf|2023-07-27--15-16-03--16 -# TOYOTA CAMRY 2021 -552129078b970cd3|2023-07-25--09-41-30--20 -# TOYOTA CAMRY 2021 -5d4b81649a4bce56|2023-08-01--12-01-18--2 -# TOYOTA CAMRY 2021 -6f26453738f35634|2023-05-21--13-32-12--13 -# TOYOTA CAMRY 2021 -73088e067b2fb9d4|2023-05-12--08-24-31--25 -# TOYOTA CAMRY 2021 -8acd130e9e5d0cf8|2023-06-13--12-05-18--35 -# TOYOTA CAMRY 2021 -8c8ab5e2b14c51c9|2023-05-26--18-37-04--33 -# TOYOTA CAMRY 2021 -876a156a1191834d|2023-07-13--18-37-18--7 -# TOYOTA CAMRY 2021 -a092c3532573731f|2023-08-02--14-19-03--2 -# TOYOTA CAMRY 2021 -a7244a988251077d|2023-05-20--08-40-16--2 -# TOYOTA CAMRY 2021 -b7f21591ba459403|2023-06-02--18-32-59--20 -# TOYOTA CAMRY 2021 -b4f83330b2d59205|2023-05-16--18-20-35--9 -# TOYOTA CAMRY 2021 -bae56b301710cdf0|2023-05-30--07-44-31--23 -# TOYOTA CAMRY 2021 -c70d69b11bfb697d|2023-06-17--18-51-02--8 -# TOYOTA CAMRY 2021 -cc7c8c846c338570|2023-07-10--08-37-46--26 -# TOYOTA CAMRY 2021 -c4e9230919b74f75|2023-06-20--17-57-36--20 -# TOYOTA CAMRY 2021 -d45c4dcf8ea2f5d4|2023-07-18--12-10-14--71 -# TOYOTA CAMRY 2021 -d9d5a5d9f4ae2ad6|2023-05-27--10-56-51--7 -# TOYOTA CAMRY 2021 -f47661feccc29204|2023-05-13--19-57-58--11 -# TOYOTA CAMRY 2018 -043c1d59829f98e1|2023-05-15--16-39-19--18 -# TOYOTA CAMRY 2018 -2f37fc0d2ebb8cfe|2023-07-28--10-38-40--40 -# TOYOTA CAMRY 2018 -67f3731c5f3afaa2|2023-06-05--20-19-00--15 -# TOYOTA CAMRY 2018 -8dd5cd20feef7daf|2023-05-31--15-48-11--2 -# TOYOTA CAMRY 2018 -8eb7ff2f26051984|2023-05-17--10-07-44--23 -# TOYOTA CAMRY 2018 -aae51b841b955820|2023-05-21--00-01-38--3 -# TOYOTA CAMRY 2018 -b00f418d2b66cfa2|2023-05-27--16-36-37--129 -# TOYOTA CAMRY 2018 -b711d49263f20146|2023-06-23--17-30-14--137 -# TOYOTA CAMRY 2018 -c5827e54d59bdcc2|2023-08-03--18-40-21--1 -# TOYOTA CAMRY 2018 -c6503f6534bf811a|2023-08-07--14-05-15--1 -# TOYOTA CAMRY 2018 -eddf8030d2c0fbd8|2023-05-17--07-20-36--18 -# TOYOTA CAMRY 2018 -ef6bd990e34920b1|2023-07-25--08-53-09--1 -# CHEVROLET SILVERADO 1500 2020 -1092d371df987f78|2023-07-11--08-18-42--1 -# CHEVROLET SILVERADO 1500 2020 -2a3958b34246e3b7|2023-07-09--16-52-48--23 -# CHEVROLET SILVERADO 1500 2020 -25a42ae6068112ed|2023-07-19--08-46-57--6 -# CHEVROLET SILVERADO 1500 2020 -34d4e668268e0cc8|2023-06-24--18-00-35--12 -# CHEVROLET SILVERADO 1500 2020 -38aa7da107d5d252|2023-06-03--23-00-13--7 -# CHEVROLET SILVERADO 1500 2020 -3c760901e7b30fe2|2023-07-24--10-35-18--2 -# CHEVROLET SILVERADO 1500 2020 -5085c761395d1fe6|2023-05-26--18-54-08--17 -# CHEVROLET SILVERADO 1500 2020 -602051db17fb6945|2023-06-11--14-11-45--16 -# CHEVROLET SILVERADO 1500 2020 -b83dd25fd69d185a|2023-07-09--11-11-25--13 -# CHEVROLET SILVERADO 1500 2020 -c5762c796866f52b|2023-06-01--11-09-58--40 -# CHEVROLET SILVERADO 1500 2020 -cc2c095689982e90|2023-06-16--15-19-12--15 -# CHEVROLET SILVERADO 1500 2020 -d89ba4ef9ca61255|2023-06-05--20-19-55--1 -# CHEVROLET SILVERADO 1500 2020 -f04339ee7d0a4f4f|2023-07-06--12-12-45--1 -# CHEVROLET SILVERADO 1500 2020 -f1a814b2d113041b|2023-06-14--20-39-56--46 -# CHEVROLET SILVERADO 1500 2020 -f4ff60e509c0efad|2023-07-17--08-45-55--10 -# CHEVROLET SILVERADO 1500 2020 -fe80a4e1cedec853|2023-07-26--19-16-06--9 -# CHRYSLER PACIFICA 2018 -2137b01aa0ca63f9|2023-06-19--16-31-25--12 -# CHRYSLER PACIFICA 2018 -0a3e89f78b1d0071|2023-07-04--13-44-33--37 -# CHRYSLER PACIFICA 2018 -2900033dd47fa445|2023-07-19--10-02-00--5 -# CHRYSLER PACIFICA 2018 -0d67197945512e16|2023-06-02--18-33-08--186 -# CHRYSLER PACIFICA 2018 -454c31a132f2c003|2023-06-24--19-40-37--208 -# CHRYSLER PACIFICA 2018 -53f2206925c37581|2023-05-20--11-40-22--4 -# CHRYSLER PACIFICA 2018 -6732a0b0508ffc0e|2023-05-11--09-02-51--1 -# CHRYSLER PACIFICA 2018 -8363f866866f25e7|2023-05-10--06-55-11--26 -# CHRYSLER PACIFICA 2018 -87caf137ebd1c6f6|2023-07-05--12-13-27--4 -# CHRYSLER PACIFICA 2018 -89e4d9d4b8ec175c|2023-08-07--13-07-13--128 -# CHRYSLER PACIFICA 2018 -8fc6a1b72c8b1357|2023-07-31--06-08-43--18 -# CHRYSLER PACIFICA 2018 -e13cd4efc12b3ed9|2023-06-02--23-27-54--10 -# HYUNDAI SANTA FE 2019 -124457b31149107e|2023-06-11--17-33-36--39 -# HYUNDAI SANTA FE 2019 -0b2b36cf5a0789db|2023-05-30--21-15-07--17 -# HYUNDAI SANTA FE 2019 -2febc4fb44b77feb|2023-06-19--10-18-04--12 -# HYUNDAI SANTA FE 2019 -45a8ffd448481ce2|2023-06-11--11-43-42--69 -# HYUNDAI SANTA FE 2019 -47ba5e6f0490d659|2023-05-19--13-11-38--21 -# HYUNDAI SANTA FE 2019 -6af67ee8ad45b46d|2023-06-09--12-43-30--3 -# HYUNDAI SANTA FE 2019 -7effea3e618a7eff|2023-07-02--14-51-45--20 -# HYUNDAI SANTA FE 2019 -9ebc35731309da40|2023-05-15--20-55-46--5 -# HYUNDAI SANTA FE 2019 -ac34a01eff94e7d2|2023-06-09--11-20-45--1 -# HYUNDAI SANTA FE 2019 -dae9868756e02256|2023-05-24--21-02-45--14 -# HYUNDAI SANTA FE 2019 -e8a6a6776c51a45c|2023-05-14--14-07-00--6 -# HYUNDAI SANTA FE 2019 -ea9d3b13a4799604|2023-05-19--19-43-27--31 -# HYUNDAI SANTA FE 2019 -fddc8d2cbb48ec6f|2023-06-02--17-35-08--16 -# HONDA ACCORD 2018 -190b11018a714a28|2023-07-12--17-54-06--29 -# HONDA ACCORD 2018 -17a3b6806ff8e041|2023-05-19--16-04-06--24 -# HONDA ACCORD 2018 -0dacabc563f7e7d7|2023-06-04--21-45-33--4 -# HONDA ACCORD 2018 -10d6a69109431519|2023-05-28--14-21-19--19 -# HONDA ACCORD 2018 -05bcd2ee65199207|2023-07-19--18-22-21--6 -# HONDA ACCORD 2018 -0c676e287b251a20|2023-07-28--06-19-37--105 -# HONDA ACCORD 2018 -0793ebd391c355da|2023-07-20--06-35-32--19 -# HONDA ACCORD 2018 -005d4e7ceb089cfd|2023-07-13--07-22-49--18 -# HONDA ACCORD 2018 -214a25adc54636fc|2023-05-18--10-45-47--1 -# HONDA ACCORD 2018 -1ebe446c9f466f50|2023-05-16--03-37-24--1 -# HONDA ACCORD 2018 -0bbb933eda8ae17c|2023-07-01--20-27-36--179 -# HONDA ACCORD 2018 -2e08aac41ed464a6|2023-07-31--14-35-02--3 -# HONDA ACCORD 2018 -2ca8270fc59b50f3|2023-06-23--07-59-23--5 -# HONDA ACCORD 2018 -39ac3639fcffc102|2023-07-20--21-06-28--268 -# HONDA ACCORD 2018 -37b721607b521682|2023-07-20--15-09-59--25 -# HONDA ACCORD 2018 -3d151bec9fd04d09|2023-07-25--16-06-41--8 -# HONDA ACCORD 2018 -3b417dee7be1d8dd|2023-07-06--06-11-05--26 -# HONDA ACCORD 2018 -49c7b83d348197ed|2023-07-24--21-19-42--2 -# HONDA ACCORD 2018 -4ff67da1be2f4f43|2023-05-12--21-10-12--12 -# HONDA ACCORD 2018 -5e7e1a7c1d61b456|2023-06-19--19-36-24--60 -# HONDA ACCORD 2018 -69db8ee3bf677945|2023-07-24--21-17-32--74 -# HONDA ACCORD 2018 -73dbd685214c0e03|2023-06-01--12-47-34--67 -# HONDA ACCORD 2018 -7dde4489ff0a6c80|2023-06-07--20-10-09--6 -# HONDA ACCORD 2018 -82d1e3d3c754bf2a|2023-05-16--08-21-26--2 -# HONDA ACCORD 2018 -80d45cf838f8c716|2023-07-17--16-29-49--6 -# HONDA ACCORD 2018 -889163fc61871a68|2023-05-16--17-18-58--5 -# HONDA ACCORD 2018 -8b22d387ab08c5db|2023-07-15--21-35-09--2 -# HONDA ACCORD 2018 -8aaa7ccc2fc68822|2023-07-09--20-09-02--1 -# HONDA ACCORD 2018 -90d95c7fd3fa748a|2023-06-16--14-04-08--61 -# HONDA ACCORD 2018 -9d8f86b8b11b65c9|2023-06-30--19-33-48--156 -# HONDA ACCORD 2018 -a33e427bbd337300|2023-07-12--09-54-45--12 -# HONDA ACCORD 2018 -a3669d37d7fe28c2|2023-06-01--17-08-16--2 -# HONDA ACCORD 2018 -a85202e1dca5afaf|2023-06-21--11-46-10--20 -# HONDA ACCORD 2018 -a454b11d7910c242|2023-06-14--16-11-49--25 -# HONDA ACCORD 2018 -aca10b5acd89289d|2023-07-12--20-03-23--4 -# HONDA ACCORD 2018 -b3a1a214664b7d31|2023-07-28--16-21-31--23 -# HONDA ACCORD 2018 -b9028def8e733ee6|2023-05-16--18-34-52--7 -# HONDA ACCORD 2018 -bf887c016d27cca5|2023-07-31--12-34-34--1 -# HONDA ACCORD 2018 -c642bd29f2858d75|2023-06-27--08-21-19--9 -# HONDA ACCORD 2018 -c2143a4f3723576c|2023-06-21--12-51-06--16 -# HONDA ACCORD 2018 -cfb71d30183708f8|2023-07-30--12-40-33--6 -# HONDA ACCORD 2018 -d09c814b908913a2|2023-06-13--19-19-07--16 -# HONDA ACCORD 2018 -d37dc158651867ca|2023-06-03--16-03-15--2 -# HONDA ACCORD 2018 -d83010e83c7f87ea|2023-05-24--15-15-58--20 -# HONDA ACCORD 2018 -d8f44985fa82e7f5|2023-05-10--22-40-13--4 -# HONDA ACCORD 2018 -eb6f3ff143d0fac5|2023-05-23--10-51-44--7 -# HONDA ACCORD 2018 -ee1874709eb8b485|2023-05-11--17-10-40--183 -# HONDA ACCORD 2018 -ef6f577d770521e4|2023-05-10--07-44-14--32 -# TOYOTA COROLLA 2017 -00acf2e4c8c6b549|2023-07-01--20-25-46--8 -# TOYOTA COROLLA 2017 -053f594b05527a80|2023-07-26--01-47-44--33 -# TOYOTA COROLLA 2017 -16a9664d939d9efe|2023-06-24--20-10-27--5 -# TOYOTA COROLLA 2017 -364bb492aa33d7df|2023-06-06--07-47-54--23 -# TOYOTA COROLLA 2017 -39932c340e596ead|2023-06-29--21-47-38--11 -# TOYOTA COROLLA 2017 -3c3ea5134c90308a|2023-06-22--22-11-10--4 -# TOYOTA COROLLA 2017 -5a596be432c5fe53|2023-06-11--17-10-36--38 -# TOYOTA COROLLA 2017 -728c59e1123e2cf7|2023-05-16--16-05-22--9 -# TOYOTA COROLLA 2017 -718042f01647e90e|2023-06-21--22-29-28--10 -# TOYOTA COROLLA 2017 -7d48b40fb8782bda|2023-08-05--13-16-29--23 -# TOYOTA COROLLA 2017 -7ec9410b593c7d5a|2023-06-29--17-29-56--19 -# TOYOTA COROLLA 2017 -869558002728e30b|2023-08-02--14-19-46--6 -# TOYOTA COROLLA 2017 -887e76d536c1841e|2023-07-06--07-17-09--12 -# TOYOTA COROLLA 2017 -993aa9f1c1e81499|2023-07-14--19-08-45--10 -# TOYOTA COROLLA 2017 -975cdde87029652a|2023-07-04--17-39-43--4 -# TOYOTA COROLLA 2017 -a152dad3c3368320|2023-05-19--14-16-10--47 -# TOYOTA COROLLA 2017 -a61d43139939b1ac|2023-05-29--11-20-51--3 -# TOYOTA COROLLA 2017 -adb85c50d47ac0a9|2023-05-14--20-29-11--1 -# TOYOTA COROLLA 2017 -b86a9aad74db6ec7|2023-07-14--16-25-56--7 -# TOYOTA COROLLA 2017 -b9fc453e3021b7ff|2023-05-23--15-16-18--3 -# TOYOTA COROLLA 2017 -bc7a33f454ca54e8|2023-06-13--22-23-55--10 -# TOYOTA COROLLA 2017 -d29979b337e5381c|2023-06-22--21-45-44--6 -# TOYOTA COROLLA 2017 -d3faefc00d1e3660|2023-06-02--19-59-19--30 -# TOYOTA COROLLA 2017 -d1e714006749bfa5|2023-06-02--14-50-02--2 -# TOYOTA COROLLA 2017 -cf700d069c05bba8|2023-07-13--16-25-32--1 -# TOYOTA COROLLA 2017 -d9abb1b68b7289ae|2023-07-21--18-47-15--1 -# TOYOTA COROLLA 2017 -d4c10d06c1bb7800|2023-07-16--21-41-26--54 -# TOYOTA COROLLA 2017 -d89badbe085c52c1|2023-05-13--22-32-35--16 -# TOYOTA COROLLA 2017 -ea53462ef36d4315|2023-05-13--10-56-42--8 -# TOYOTA COROLLA 2017 -e831c4e62fba9a0f|2023-07-16--18-27-58--109 -# TOYOTA COROLLA 2017 -f74a24ad37ed9773|2023-06-02--17-56-50--2 -# TOYOTA COROLLA 2017 -f467e0cd91910513|2023-07-12--14-53-24--7 -# TOYOTA COROLLA 2017 -fb0d04ba394c06f2|2023-05-21--17-58-49--9 -# NISSAN LEAF 2018 -0b17985326a570c4|2023-07-24--17-13-53--44 -# NISSAN LEAF 2018 -1dd434bd0ea8aaa4|2023-05-17--06-25-44--11 -# NISSAN LEAF 2018 -29a1b6293b68f2a9|2023-05-28--14-39-04--3 -# NISSAN LEAF 2018 -02cd1b196ec17045|2023-07-25--10-07-20--55 -# NISSAN LEAF 2018 -289d318fded3221a|2023-06-18--09-36-51--109 -# NISSAN LEAF 2018 -39bf496887ea52e5|2023-05-12--07-00-53--34 -# NISSAN LEAF 2018 -4a9d0cf499314bec|2023-05-25--08-01-49--6 -# NISSAN LEAF 2018 -4ed383d0670d4b71|2023-06-18--13-09-17--29 -# NISSAN LEAF 2018 -6b51011199473e01|2023-08-04--14-10-11--7 -# NISSAN LEAF 2018 -7605de164f235364|2023-07-10--16-02-26--2 -# NISSAN LEAF 2018 -9299dd7dadb9007e|2023-06-22--14-05-43--71 -# NISSAN LEAF 2018 -962c4e8ab4396060|2023-06-24--10-43-41--5 -# NISSAN LEAF 2018 -969dd380d52937c6|2023-07-18--21-02-34--1 -# NISSAN LEAF 2018 -ba9225dd390fe75e|2023-05-27--14-19-20--12 -# NISSAN LEAF 2018 -bc12abb1f8ec2243|2023-05-23--16-17-37--4 -# NISSAN LEAF 2018 -c0516da831df9eaf|2023-07-14--16-54-04--3 -# NISSAN LEAF 2018 -bd349df2aad3c6fc|2023-07-11--08-00-00--25 -# NISSAN LEAF 2018 -b9a45053d2ded48b|2023-07-27--05-17-46--16 -# NISSAN LEAF 2018 -d045889f89a2b9a5|2023-07-21--12-27-36--13 -# ACURA RDX 2020 -1943107bbdc1070e|2023-05-14--20-02-24--108 -# ACURA RDX 2020 -23846edb2f7988e3|2023-06-09--21-02-00--65 -# ACURA RDX 2020 -9d3a5a3049d6c50d|2023-05-23--14-03-48--4 -# ACURA RDX 2020 -f8d72ec3768bc1f1|2023-07-19--19-05-48--11 -# ACURA RDX 2020 -fd5000ecde671462|2023-06-06--18-03-06--19 -# TOYOTA HIGHLANDER 2020 -144a496ccff4a0b4|2023-07-25--16-51-08--13 -# TOYOTA HIGHLANDER 2020 -0d44dc6722628b26|2023-06-19--09-17-31--8 -# TOYOTA HIGHLANDER 2020 -29e4d80dc9a37da5|2023-07-14--08-52-21--6 -# TOYOTA HIGHLANDER 2020 -2378eb8397a2b782|2023-05-13--18-10-35--48 -# TOYOTA HIGHLANDER 2020 -24bef3a2265d4af2|2023-06-05--08-39-30--4 -# TOYOTA HIGHLANDER 2020 -004e41c4761b3bf6|2023-05-11--16-02-55--15 -# TOYOTA HIGHLANDER 2020 -343e82c046c8f6dc|2023-05-30--16-07-55--21 -# TOYOTA HIGHLANDER 2020 -3ffc7b8fd385a504|2023-06-18--13-55-18--3 -# TOYOTA HIGHLANDER 2020 -41860f9bcb6f44b8|2023-07-09--12-52-21--24 -# TOYOTA HIGHLANDER 2020 -3d51bfc7ff880232|2023-05-11--17-34-52--13 -# TOYOTA HIGHLANDER 2020 -4d9d41e34fd9dd71|2023-06-18--13-21-37--15 -# TOYOTA HIGHLANDER 2020 -521a0922e3a04935|2023-05-13--18-45-20--44 -# TOYOTA HIGHLANDER 2020 -55c9f8b884d1db87|2023-06-24--09-58-10--4 -# TOYOTA HIGHLANDER 2020 -5c87f40f937ed46e|2023-06-17--23-40-13--16 -# TOYOTA HIGHLANDER 2020 -5fe239629c1a6cc6|2023-05-25--10-35-55--5 -# TOYOTA HIGHLANDER 2020 -597a8b0eb0c8853b|2023-07-12--12-38-41--2 -# TOYOTA HIGHLANDER 2020 -68863076c79b6e46|2023-07-18--18-27-05--2 -# TOYOTA HIGHLANDER 2020 -68dfa9ee803399d1|2023-06-16--16-12-34--62 -# TOYOTA HIGHLANDER 2020 -6c4eb3920653c33f|2023-06-11--17-26-48--38 -# TOYOTA HIGHLANDER 2020 -709398cb20ec2c8d|2023-07-31--11-04-29--1 -# TOYOTA HIGHLANDER 2020 -702527f5122b8600|2023-07-04--21-51-58--32 -# TOYOTA HIGHLANDER 2020 -71b0f13abdc777f0|2023-06-25--12-30-46--1 -# TOYOTA HIGHLANDER 2020 -75157fa04b7760e2|2023-06-18--14-13-08--8 -# TOYOTA HIGHLANDER 2020 -7332469da3c215b9|2023-06-30--16-06-09--23 -# TOYOTA HIGHLANDER 2020 -7a8dc1b623ec968b|2023-06-26--13-19-39--46 -# TOYOTA HIGHLANDER 2020 -7aead72b15132868|2023-08-07--15-32-55--22 -# TOYOTA HIGHLANDER 2020 -82d9c4c8a45c33d3|2023-07-16--10-29-19--6 -# TOYOTA HIGHLANDER 2020 -85f0cc9d2a7783e5|2023-07-06--15-06-13--2 -# TOYOTA HIGHLANDER 2020 -8527a913671bf82b|2023-07-29--11-52-54--36 -# TOYOTA HIGHLANDER 2020 -84050035bc8a4693|2023-06-14--09-20-16--27 -# TOYOTA HIGHLANDER 2020 -878a25353867b7e1|2023-06-04--19-13-19--5 -# TOYOTA HIGHLANDER 2020 -91eefbd00e06a375|2023-05-21--13-02-56--149 -# TOYOTA HIGHLANDER 2020 -8efd012fc8bc01ed|2023-05-13--13-33-26--16 -# TOYOTA HIGHLANDER 2020 -962482e363d8db53|2023-06-13--15-07-46--189 -# TOYOTA HIGHLANDER 2020 -9ef0941be9f8057d|2023-07-11--17-55-34--1 -# TOYOTA HIGHLANDER 2020 -a2c22070a4a86296|2023-05-17--20-50-51--1 -# TOYOTA HIGHLANDER 2020 -9dce1db48e723a7d|2023-05-22--20-05-34--4 -# TOYOTA HIGHLANDER 2020 -b39c8956c329f098|2023-07-01--15-32-06--8 -# TOYOTA HIGHLANDER 2020 -b67488601fc02963|2023-06-09--13-23-41--20 -# TOYOTA HIGHLANDER 2020 -b75bae9b9bde6210|2023-07-30--08-16-42--46 -# TOYOTA HIGHLANDER 2020 -ba14fa06ffd18df7|2023-06-10--21-16-42--6 -# TOYOTA HIGHLANDER 2020 -bf17b81eba9bf96e|2023-06-09--12-08-11--4 -# TOYOTA HIGHLANDER 2020 -b42bff5ee5d24c72|2023-08-07--17-03-15--29 -# TOYOTA HIGHLANDER 2020 -c006eb73d0b11b29|2023-07-30--12-03-27--62 -# TOYOTA HIGHLANDER 2020 -ce24faef3afe2803|2023-05-17--14-50-24--31 -# TOYOTA HIGHLANDER 2020 -d45a24d7a5a78a2f|2023-05-18--19-16-17--42 -# TOYOTA HIGHLANDER 2020 -d13b3d6d7d5529cf|2023-06-02--17-59-00--7 -# TOYOTA HIGHLANDER 2020 -e0001dc12a80b287|2023-07-05--08-10-47--31 -# TOYOTA HIGHLANDER 2020 -ec46c46b25ceac9c|2023-05-17--09-09-32--10 -# TOYOTA HIGHLANDER 2020 -eda8da0edd1c99c9|2023-07-23--13-03-07--9 -# TOYOTA HIGHLANDER 2020 -f2a06f696f9517b3|2023-07-06--13-58-37--7 -# TOYOTA HIGHLANDER 2020 -f5e4b280d1756282|2023-07-18--09-58-12--7 -# TOYOTA HIGHLANDER 2020 -f50cf090ee700251|2023-08-02--15-21-29--5 -# TOYOTA HIGHLANDER 2020 -f96a58a51695b2ce|2023-06-23--20-54-30--18 -# TOYOTA HIGHLANDER 2020 -f60c2e0e7fd95935|2023-05-15--10-15-08--2 -# TOYOTA HIGHLANDER 2020 -f9ea0ffa53d5759a|2023-06-28--10-59-17--5 -# TOYOTA HIGHLANDER 2020 -fd23445cb8537751|2023-07-30--13-32-59--17 -# TOYOTA COROLLA TSS2 2019 -09469776862f3ab8|2023-07-16--15-55-22--17 -# TOYOTA COROLLA TSS2 2019 -075b133b6181e058|2023-07-28--20-07-44--3 -# TOYOTA COROLLA TSS2 2019 -0fbfcf01e4882a83|2023-05-30--15-16-34--6 -# TOYOTA COROLLA TSS2 2019 -0e12554bfe8687d3|2023-07-04--11-36-31--2 -# TOYOTA COROLLA TSS2 2019 -0921b5e7de3ae0b5|2023-05-24--11-51-14--13 -# TOYOTA COROLLA TSS2 2019 -14a8b23f850f4d11|2023-06-12--15-23-21--34 -# TOYOTA COROLLA TSS2 2019 -0fe5135182d67910|2023-05-19--15-08-54--9 -# TOYOTA COROLLA TSS2 2019 -213b44717a9bc58e|2023-07-18--17-09-13--17 -# TOYOTA COROLLA TSS2 2019 -08d7726c5efb3caa|2023-08-01--09-27-21--20 -# TOYOTA COROLLA TSS2 2019 -182caf5dcf20ca16|2023-05-21--15-13-55--226 -# TOYOTA COROLLA TSS2 2019 -0a4445a705516261|2023-06-23--19-18-06--1 -# TOYOTA COROLLA TSS2 2019 -1d0e096df3cecedd|2023-05-31--17-44-20--25 -# TOYOTA COROLLA TSS2 2019 -21788d8d115dfff4|2023-06-02--21-11-27--18 -# TOYOTA COROLLA TSS2 2019 -2b967c9ee4146686|2023-07-04--12-18-13--76 -# TOYOTA COROLLA TSS2 2019 -2ddc8f97834a7e52|2023-06-17--13-56-27--150 -# TOYOTA COROLLA TSS2 2019 -376abd6a7d6c6fa0|2023-08-05--22-10-41--14 -# TOYOTA COROLLA TSS2 2019 -33833d235dea00c8|2023-05-10--15-37-53--27 -# TOYOTA COROLLA TSS2 2019 -39977e9eacdfebb6|2023-07-31--13-31-52--4 -# TOYOTA COROLLA TSS2 2019 -3eb4c34a2a663c37|2023-07-20--11-54-00--36 -# TOYOTA COROLLA TSS2 2019 -3d9c00d3509fd1a5|2023-05-17--12-46-23--1 -# TOYOTA COROLLA TSS2 2019 -3d2b038d1276f564|2023-07-09--12-35-09--14 -# TOYOTA COROLLA TSS2 2019 -421d8e266db99689|2023-08-07--21-14-05--17 -# TOYOTA COROLLA TSS2 2019 -4f50e44908cc46b8|2023-07-28--11-21-40--6 -# TOYOTA COROLLA TSS2 2019 -54a0066de4f6aa53|2023-05-11--07-56-38--15 -# TOYOTA COROLLA TSS2 2019 -60dcd78f23ffcb45|2023-05-31--20-57-42--216 -# TOYOTA COROLLA TSS2 2019 -669372fc0cdbad34|2023-06-22--16-48-24--69 -# TOYOTA COROLLA TSS2 2019 -6ca6cd014b18339b|2023-06-09--20-14-34--30 -# TOYOTA COROLLA TSS2 2019 -6c7b3c70cde5154a|2023-08-08--08-49-34--8 -# TOYOTA COROLLA TSS2 2019 -77bc3a1ef88b0f8c|2023-05-10--13-34-25--3 -# TOYOTA COROLLA TSS2 2019 -7fa981d6c0f04ab5|2023-05-11--07-24-47--15 -# TOYOTA COROLLA TSS2 2019 -80e58d853114e409|2023-06-21--18-02-42--11 -# TOYOTA COROLLA TSS2 2019 -8d23badbf0a9ea4b|2023-07-08--16-39-30--11 -# TOYOTA COROLLA TSS2 2019 -885386596e3eeb9d|2023-08-01--12-35-23--329 -# TOYOTA COROLLA TSS2 2019 -9d7fa9fa4e27966b|2023-07-09--06-25-37--20 -# TOYOTA COROLLA TSS2 2019 -a9e171cea6aa8261|2023-08-04--19-47-40--278 -# TOYOTA COROLLA TSS2 2019 -acd2094a4e29a830|2023-05-23--07-47-56--1 -# TOYOTA COROLLA TSS2 2019 -b4776f404cd487b0|2023-06-30--19-23-05--54 -# TOYOTA COROLLA TSS2 2019 -b0a7a22dea55a1cd|2023-05-28--12-39-18--29 -# TOYOTA COROLLA TSS2 2019 -b49892b434816269|2023-05-16--06-38-31--74 -# TOYOTA COROLLA TSS2 2019 -b41c77a268a0a16f|2023-06-11--11-51-19--2 -# TOYOTA COROLLA TSS2 2019 -bf8377a19ba31955|2023-06-10--16-34-28--28 -# TOYOTA COROLLA TSS2 2019 -c188b4341879aa18|2023-07-12--19-49-05--19 -# TOYOTA COROLLA TSS2 2019 -c1c8b3b7eaef25cc|2023-05-30--16-59-41--5 -# TOYOTA COROLLA TSS2 2019 -bb3106a9271328e3|2023-07-05--10-13-36--2 -# TOYOTA COROLLA TSS2 2019 -c7400d04331ac3ee|2023-05-26--18-06-31--74 -# TOYOTA COROLLA TSS2 2019 -c8aa3fdad5cec446|2023-05-16--12-07-55--12 -# TOYOTA COROLLA TSS2 2019 -cc379727a2ad9378|2023-07-22--19-16-50--38 -# TOYOTA COROLLA TSS2 2019 -cd34344665bc1a4a|2023-05-17--15-03-28--11 -# TOYOTA COROLLA TSS2 2019 -d20ec114453feac2|2023-05-16--17-39-43--7 -# TOYOTA COROLLA TSS2 2019 -e0aaaef2be9cd155|2023-05-25--21-22-33--63 -# TOYOTA COROLLA TSS2 2019 -edf29b3d6d15be9a|2023-06-12--20-14-03--5 -# TOYOTA COROLLA TSS2 2019 -ecebb0b63434e2f2|2023-07-06--12-35-59--76 -# TOYOTA COROLLA TSS2 2019 -f4d4cc62cc517acd|2023-06-17--12-14-02--3 -# TOYOTA RAV4 2022 -1e0487c8a03931a1|2023-07-17--17-11-07--14 -# TOYOTA RAV4 2022 -1c16ee70deee2972|2023-07-30--07-37-27--18 -# TOYOTA RAV4 2022 -23e0360acaefab4d|2023-06-22--08-05-05--44 -# TOYOTA RAV4 2022 -34fd9fa52bd9065f|2023-07-24--03-59-34--30 -# TOYOTA RAV4 2022 -3ab818cfeff024c4|2023-07-01--13-12-38--75 -# TOYOTA RAV4 2022 -3af132f650bd6b72|2023-06-02--17-34-32--33 -# TOYOTA RAV4 2022 -4d13f4feeb6a3d94|2023-07-01--11-24-38--34 -# TOYOTA RAV4 2022 -6228706487b4b0ea|2023-06-10--21-21-52--23 -# TOYOTA RAV4 2022 -6a2f4f5164a97fcd|2023-08-06--13-16-57--9 -# TOYOTA RAV4 2022 -7ac1ec97ce175121|2023-06-20--17-31-53--11 -# TOYOTA RAV4 2022 -868f770ac624c5dd|2023-06-27--09-15-06--67 -# TOYOTA RAV4 2022 -a5c341bb250ca2f0|2023-06-29--20-25-11--20 -# TOYOTA RAV4 2022 -dfb11f122b6fa282|2023-06-12--18-21-56--11 -# TOYOTA RAV4 2022 -f0a34b105563fa46|2023-08-01--15-32-05--14 -# TOYOTA RAV4 2022 -fa92d93019ed70bd|2023-07-07--01-12-37--17 -# HYUNDAI SANTA FE HYBRID 2022 -129db7c75bce8445|2023-08-05--17-41-16--24 -# HYUNDAI SANTA FE HYBRID 2022 -34397231b0958def|2023-06-10--12-21-46--18 -# HYUNDAI SANTA FE HYBRID 2022 -826b9eb4ac54a1c2|2023-07-08--19-03-34--4 -# TOYOTA HIGHLANDER 2020 -15af9b43bd0c5c76|2023-05-31--09-50-40--92 -# TOYOTA HIGHLANDER 2020 -0bf0ea192bb9cb3c|2023-07-19--13-04-59--24 -# TOYOTA HIGHLANDER 2020 -1c7b969c6660a3dd|2023-05-17--08-13-27--12 -# TOYOTA HIGHLANDER 2020 -29320b5f71353a26|2023-05-14--14-02-25--172 -# TOYOTA HIGHLANDER 2020 -2194b752a88786ac|2023-06-28--09-49-00--9 -# TOYOTA HIGHLANDER 2020 -0e9cc31bf324bed7|2023-07-16--15-18-39--110 -# TOYOTA HIGHLANDER 2020 -27444eac005fc311|2023-08-06--10-13-53--30 -# TOYOTA HIGHLANDER 2020 -2d823e45e0ba7a60|2023-07-11--17-55-38--4 -# TOYOTA HIGHLANDER 2020 -2f831f2ea3eff892|2023-07-17--18-59-16--21 -# TOYOTA HIGHLANDER 2020 -2ee40dc08b5c8680|2023-06-30--18-47-36--52 -# TOYOTA HIGHLANDER 2020 -2f475f484c7e48a4|2023-08-02--09-30-22--2 -# TOYOTA HIGHLANDER 2020 -333605df930e96c4|2023-05-27--12-18-04--1 -# TOYOTA HIGHLANDER 2020 -339a81aefecd3618|2023-08-02--07-10-36--28 -# TOYOTA HIGHLANDER 2020 -368455a0f08f4fec|2023-06-12--16-57-54--4 -# TOYOTA HIGHLANDER 2020 -3dca779f9f65c640|2023-07-26--17-31-54--19 -# TOYOTA HIGHLANDER 2020 -4868775dfada5a32|2023-06-07--09-36-34--4 -# TOYOTA HIGHLANDER 2020 -4a90db58c3f57afa|2023-07-29--17-34-55--42 -# TOYOTA HIGHLANDER 2020 -4e4e4789d5691a95|2023-07-28--18-47-17--8 -# TOYOTA HIGHLANDER 2020 -5647a5fa25085f0d|2023-08-07--14-10-54--13 -# TOYOTA HIGHLANDER 2020 -5f040438a009d6cb|2023-06-22--16-24-51--4 -# TOYOTA HIGHLANDER 2020 -6f6f526b4932d88b|2023-07-02--16-24-30--58 -# TOYOTA HIGHLANDER 2020 -6d0254ba44b664b0|2023-07-08--14-38-16--6 -# TOYOTA HIGHLANDER 2020 -76ced8f2f99250a6|2023-06-02--10-26-47--6 -# TOYOTA HIGHLANDER 2020 -8c1b23fe1568c036|2023-05-19--08-29-02--17 -# TOYOTA HIGHLANDER 2020 -9179d81377e52625|2023-06-30--16-49-47--109 -# TOYOTA HIGHLANDER 2020 -a474346bf635c3de|2023-06-10--17-49-02--17 -# TOYOTA HIGHLANDER 2020 -a023b41cc944b482|2023-06-25--08-55-36--4 -# TOYOTA HIGHLANDER 2020 -b557c584db633c06|2023-08-02--18-49-35--2 -# TOYOTA HIGHLANDER 2020 -b60de7fd1272d92c|2023-06-18--09-59-29--18 -# TOYOTA HIGHLANDER 2020 -b5e1be1336e936f9|2023-08-07--17-15-34--11 -# TOYOTA HIGHLANDER 2020 -caef64381b29fb3d|2023-07-19--17-27-45--3 -# TOYOTA HIGHLANDER 2020 -c21d5b4c2d8ac085|2023-06-29--07-51-21--1 -# TOYOTA HIGHLANDER 2020 -c7ae3dc86bba4525|2023-08-03--07-29-09--7 -# TOYOTA HIGHLANDER 2020 -ce3075423a164945|2023-05-27--10-28-48--4 -# TOYOTA HIGHLANDER 2020 -d173f04200e837a9|2023-05-13--12-34-10--4 -# TOYOTA HIGHLANDER 2020 -cf748e7031d411c8|2023-05-26--12-43-40--9 -# TOYOTA HIGHLANDER 2020 -d1fd12becb0bf3e2|2023-07-24--16-10-54--96 -# TOYOTA HIGHLANDER 2020 -d5d0b683a9a2ddf2|2023-07-24--18-36-30--9 -# TOYOTA HIGHLANDER 2020 -dc11867167a958d8|2023-06-09--18-49-38--50 -# TOYOTA HIGHLANDER 2020 -dc0f8f4f52442d48|2023-08-01--23-46-46--75 -# TOYOTA HIGHLANDER 2020 -df6ed1e430d585cc|2023-05-15--09-23-49--1 -# TOYOTA HIGHLANDER 2020 -e2ac4cd64bc32dd3|2023-07-31--20-24-01--27 -# TOYOTA HIGHLANDER 2020 -e3cf2794859fd8ea|2023-08-06--10-07-23--28 -# TOYOTA HIGHLANDER 2020 -e6f4a2f13554c77d|2023-05-19--14-17-11--3 -# TOYOTA HIGHLANDER 2020 -e01d0ee44be108b3|2023-05-16--12-17-48--9 -# TOYOTA HIGHLANDER 2020 -e8805c57d88ac65c|2023-06-26--15-03-36--47 -# TOYOTA HIGHLANDER 2020 -ea1b20c0286cb3e4|2023-07-12--09-14-26--34 -# TOYOTA HIGHLANDER 2020 -f20c2d8da930c25a|2023-07-02--16-03-24--33 -# TOYOTA HIGHLANDER 2020 -f57250843256cc1a|2023-05-24--18-01-00--2 -# TOYOTA HIGHLANDER 2020 -f5f17136be17692e|2023-05-30--14-50-39--6 -# TOYOTA HIGHLANDER 2020 -f7edb4b24e3b7321|2023-07-11--11-56-56--3 -# TOYOTA HIGHLANDER 2020 -ffe6475c53d1e78c|2023-07-11--17-56-32--55 -# TOYOTA HIGHLANDER 2020 -fe9f9a84fe26591c|2023-07-06--12-31-05--1 -# MAZDA CX-5 2022 -066b8ed7a80184fb|2023-06-13--23-33-37--62 -# MAZDA CX-5 2022 -1e11e59030d4757d|2023-07-17--12-16-44--1 -# MAZDA CX-5 2022 -05012d5566bf5275|2023-07-29--21-00-17--99 -# MAZDA CX-5 2022 -42ff4de626f8559b|2023-08-01--10-29-15--12 -# MAZDA CX-5 2022 -3b44bbb84058328a|2023-07-16--09-32-09--65 -# MAZDA CX-5 2022 -4ed535dd3ff18b2a|2023-06-05--16-36-49--3 -# MAZDA CX-5 2022 -76c17043c9df3064|2023-07-27--13-58-55--6 -# MAZDA CX-5 2022 -8c807f60018507d4|2023-07-26--09-20-15--16 -# MAZDA CX-5 2022 -8a9dac95d24c4e8d|2023-08-04--09-40-07--7 -# MAZDA CX-5 2022 -aa38b396675f5215|2023-06-28--08-47-57--8 -# MAZDA CX-5 2022 -b36f9b30a01c8521|2023-07-24--17-51-06--5 -# MAZDA CX-5 2022 -bdbbb819d8dc38ac|2023-06-09--07-48-08--63 -# MAZDA CX-5 2022 -c3ab14088c43bdf8|2023-06-30--21-42-12--1 -# MAZDA CX-5 2022 -c76c695d1b0485fe|2023-07-14--18-14-34--37 -# SUBARU IMPREZA SPORT 2020 -17250a2717728fb9|2023-07-20--07-38-29--18 -# SUBARU IMPREZA SPORT 2020 -22f2f49bcbecd829|2023-05-30--21-25-08--5 -# SUBARU IMPREZA SPORT 2020 -59755a6574d9ac67|2023-05-30--16-37-55--7 -# SUBARU IMPREZA SPORT 2020 -6024cc6844765678|2023-07-27--15-11-43--16 -# SUBARU IMPREZA SPORT 2020 -7be3f6b12cd49e4b|2023-06-20--13-50-03--93 -# SUBARU IMPREZA SPORT 2020 -d9df6f87e8feff94|2023-07-04--19-58-51--18 -# SUBARU IMPREZA SPORT 2020 -f900fccd457f495a|2023-05-26--20-18-12--36 -# HYUNDAI PALISADE 2020 -0cc137ccd450204c|2023-06-22--11-38-48--3 -# HYUNDAI PALISADE 2020 -1c5b0ef6f666062d|2023-06-02--08-57-58--2 -# HYUNDAI PALISADE 2020 -1336b7c61f4fba8b|2023-07-27--07-31-12--1 -# HYUNDAI PALISADE 2020 -2c63cbbbba450ba0|2023-06-18--23-59-14--24 -# HYUNDAI PALISADE 2020 -2f1f45af65b7b314|2023-05-30--19-30-46--12 -# HYUNDAI PALISADE 2020 -34ea9dfc9b0f9bbe|2023-05-21--12-38-47--7 -# HYUNDAI PALISADE 2020 -39070cb41aafdfc1|2023-07-05--23-15-41--2 -# HYUNDAI PALISADE 2020 -4c6b27a2c49c555e|2023-06-18--09-37-44--7 -# HYUNDAI PALISADE 2020 -4e5d75a1f3df3ae2|2023-06-09--02-25-39--74 -# HYUNDAI PALISADE 2020 -562a098bb9c7b922|2023-07-12--16-46-17--1 -# HYUNDAI PALISADE 2020 -628935d7d3e5f4f7|2023-05-24--19-48-58--8 -# HYUNDAI PALISADE 2020 -67a711f176acbbbf|2023-08-03--09-05-39--8 -# HYUNDAI PALISADE 2020 -7272d111d521a7bc|2023-05-22--09-21-09--1 -# HYUNDAI PALISADE 2020 -7b5a53e99b76e8d9|2023-06-14--14-55-32--15 -# HYUNDAI PALISADE 2020 -829fc01ecb03f524|2023-08-06--12-29-40--71 -# HYUNDAI PALISADE 2020 -7a6617bb650ac5f3|2023-06-02--14-13-59--31 -# HYUNDAI PALISADE 2020 -967360f5aae838e5|2023-05-18--23-59-21--1 -# HYUNDAI PALISADE 2020 -98025ffdb4d0d3ea|2023-06-03--02-55-53--33 -# HYUNDAI PALISADE 2020 -9a22857aff5535d8|2023-06-20--17-40-57--4 -# HYUNDAI PALISADE 2020 -9e7951200bd89ca3|2023-06-07--20-31-01--3 -# HYUNDAI PALISADE 2020 -a6e13aa41cb46ac4|2023-07-18--10-56-20--7 -# HYUNDAI PALISADE 2020 -c5f915f8d3049fd4|2023-07-15--09-57-02--1 -# HYUNDAI PALISADE 2020 -c502b178b93bcc57|2023-06-08--16-22-33--12 -# HYUNDAI PALISADE 2020 -c7d0d7dde77d49ce|2023-07-15--17-08-23--35 -# HYUNDAI PALISADE 2020 -d3bd16e6fc80062c|2023-05-11--10-24-46--4 -# HYUNDAI PALISADE 2020 -e0c6f1daf613f27e|2023-06-19--17-55-55--15 -# HYUNDAI PALISADE 2020 -ebdfcd4184611cfd|2023-08-04--12-56-10--1 -# HYUNDAI PALISADE 2020 -f4132dc91ccfa36a|2023-05-21--06-05-05--2 -# HYUNDAI PALISADE 2020 -fb3784f688906f36|2023-05-12--17-22-59--32 -# HONDA CR-V 2017 -1dd5f02533643f14|2023-06-03--12-17-36--8 -# HONDA CR-V 2017 -008d92ddb9798681|2023-06-18--12-41-21--8 -# HONDA CR-V 2017 -1b7349c28512586d|2023-07-14--18-42-54--26 -# HONDA CR-V 2017 -272caf9f22b2c59b|2023-06-18--12-51-26--22 -# HONDA CR-V 2017 -1069cd145e996003|2023-05-17--22-53-14--7 -# HONDA CR-V 2017 -2d03366246293eae|2023-05-31--17-40-01--9 -# HONDA CR-V 2017 -365b09442064886e|2023-07-24--10-34-12--9 -# HONDA CR-V 2017 -3bf8dc045bc9e677|2023-07-27--19-14-11--8 -# HONDA CR-V 2017 -40c808560e92c311|2023-07-19--17-39-48--5 -# HONDA CR-V 2017 -43e1963f8d94b15a|2023-07-15--18-32-25--8 -# HONDA CR-V 2017 -45fa8a98dc3bc264|2023-07-11--08-22-54--7 -# HONDA CR-V 2017 -50b4e56518f71489|2023-07-31--05-28-30--14 -# HONDA CR-V 2017 -562834cee8a360c0|2023-07-08--08-56-37--53 -# HONDA CR-V 2017 -5a3959d85bbde304|2023-07-18--17-04-29--31 -# HONDA CR-V 2017 -6b185836ee698c26|2023-07-07--20-52-24--7 -# HONDA CR-V 2017 -84b8b497d5e13b6a|2023-07-30--13-30-24--17 -# HONDA CR-V 2017 -846e6ba1cb8c5f85|2023-07-04--11-51-25--35 -# HONDA CR-V 2017 -89583b784eacd386|2023-06-24--23-32-36--1 -# HONDA CR-V 2017 -8faf799674fa044b|2023-07-18--19-49-14--15 -# HONDA CR-V 2017 -9732dc4fef24cf7a|2023-08-04--18-18-13--9 -# HONDA CR-V 2017 -a3fc26a4da829bb9|2023-05-28--14-21-54--39 -# HONDA CR-V 2017 -a9a580bdb154bb4d|2023-06-29--16-21-57--17 -# HONDA CR-V 2017 -b4f79d4e97360586|2023-07-29--16-32-40--16 -# HONDA CR-V 2017 -c40202b70807d4aa|2023-07-01--16-09-28--15 -# HONDA CR-V 2017 -c3d7cef4d9450951|2023-07-29--11-39-57--72 -# HONDA CR-V 2017 -c390b60ad96d2ff2|2023-07-10--16-40-16--5 -# HONDA CR-V 2017 -d33bc6acf39eb0d5|2023-08-04--10-30-07--18 -# HONDA CR-V 2017 -d360e36bf258dcd8|2023-07-20--18-11-51--29 -# HONDA CR-V 2017 -d26e907f37fcd37d|2023-06-29--07-04-20--2 -# HONDA CR-V 2017 -dcb2ee34f8c4c2be|2023-05-14--16-35-57--7 -# HONDA CR-V 2017 -e22ac98f691884e1|2023-08-02--17-22-36--3 -# HONDA CR-V 2017 -e69f2a903ed82e49|2023-06-27--19-39-46--8 -# HONDA CR-V 2017 -e8a630b87b2b0b7c|2023-07-21--16-31-16--12 -# HONDA CR-V 2017 -f1d6758277a8e2c3|2023-06-23--17-38-10--2 -# HONDA CR-V 2017 -f369374ecb30d9ad|2023-06-02--13-22-03--1 -# HONDA CR-V 2017 -ffa76986ec8e871e|2023-06-08--17-30-25--31 -# TOYOTA SIENNA 2018 -15141c10c47e840c|2023-08-06--19-46-46--2 -# TOYOTA SIENNA 2018 -033adba45e0f9e9e|2023-06-22--17-20-48--17 -# TOYOTA SIENNA 2018 -08aee1fd12dbcec9|2023-07-08--11-52-25--1 -# TOYOTA SIENNA 2018 -0401ca905fe1e3c9|2023-06-30--08-37-39--8 -# TOYOTA SIENNA 2018 -1bbce2b3aadea8fc|2023-07-04--21-48-31--12 -# TOYOTA SIENNA 2018 -13fbff4f559b022f|2023-07-28--12-53-45--76 -# TOYOTA SIENNA 2018 -336f30f83810c50a|2023-07-03--10-36-11--16 -# TOYOTA SIENNA 2018 -40a8bdeaeef71f2e|2023-07-12--09-25-54--4 -# TOYOTA SIENNA 2018 -4bd71e1011d03cb0|2023-07-31--15-09-23--8 -# TOYOTA SIENNA 2018 -5a2b996389025b8b|2023-07-09--20-07-13--168 -# TOYOTA SIENNA 2018 -66253de0fd139602|2023-08-03--17-10-18--12 -# TOYOTA SIENNA 2018 -6aa41b3f53b8dfbb|2023-07-16--11-13-32--15 -# TOYOTA SIENNA 2018 -6c4a3e1fb283f169|2023-06-15--16-59-16--2 -# TOYOTA SIENNA 2018 -78c139899b6152e7|2023-06-29--22-20-41--1 -# TOYOTA SIENNA 2018 -8624c343dda64ca1|2023-07-15--16-06-24--68 -# TOYOTA SIENNA 2018 -8c995b0a7884acaa|2023-06-01--12-29-57--40 -# TOYOTA SIENNA 2018 -96f32ba699f695d0|2023-08-02--13-17-17--9 -# TOYOTA SIENNA 2018 -a001f23b71be2971|2023-07-14--12-10-15--14 -# TOYOTA SIENNA 2018 -a5b340427848f1e3|2023-05-31--17-33-24--14 -# TOYOTA SIENNA 2018 -a8d3b0c452c29da7|2023-07-01--22-59-20--40 -# TOYOTA SIENNA 2018 -a7fde1302557afb0|2023-05-24--10-07-00--1 -# TOYOTA SIENNA 2018 -bd1e8f178842c492|2023-07-15--15-33-04--19 -# TOYOTA SIENNA 2018 -c793f2377f82673d|2023-06-10--15-19-02--5 -# TOYOTA SIENNA 2018 -ce728cfb301d0987|2023-07-23--16-23-48--38 -# TOYOTA SIENNA 2018 -dc352a2d23789b45|2023-07-19--14-12-21--106 -# TOYOTA SIENNA 2018 -e77aa024ac711986|2023-07-29--18-37-34--1 -# TOYOTA SIENNA 2018 -e7ada7e863132190|2023-06-07--11-54-54--25 -# TOYOTA SIENNA 2018 -e7831e2f6a8a1279|2023-07-18--20-20-56--10 -# TOYOTA SIENNA 2018 -efa518043b8f287e|2023-08-06--19-55-03--156 -# TOYOTA SIENNA 2018 -f258933135d07fc2|2023-07-08--12-05-44--5 -# TOYOTA SIENNA 2018 -f2a49af4f4758050|2023-08-06--08-52-58--22 -# TOYOTA SIENNA 2018 -ff4fdad9a9b183c2|2023-07-30--20-55-31--39 -# FORD EXPLORER 6TH GEN -0b91b433b9332780|2023-07-13--14-51-21--126 -# FORD EXPLORER 6TH GEN -4458bd61cf193dab|2023-07-28--12-22-12--435 -# FORD EXPLORER 6TH GEN -8e1bab39e558e773|2023-06-30--18-11-15--11 -# FORD EXPLORER 6TH GEN -f0709d2bc6ca451f|2023-05-24--12-29-22--31 -# FORD EXPLORER 6TH GEN -f166567f78fad32f|2023-06-23--22-48-43--23 -# TOYOTA HIGHLANDER 2017 -0a140f06ff5e5751|2023-06-22--17-41-43--18 -# TOYOTA HIGHLANDER 2017 -0e6f1a230ecf5dc9|2023-05-22--15-16-37--1 -# TOYOTA HIGHLANDER 2017 -1213650a719d1429|2023-08-06--16-21-48--16 -# TOYOTA HIGHLANDER 2017 -297518c3eb259e70|2023-05-15--13-27-34--2 -# TOYOTA HIGHLANDER 2017 -3a2ae9ef81244966|2023-07-20--15-56-17--65 -# TOYOTA HIGHLANDER 2017 -467419fc069b553e|2023-05-23--13-38-56--6 -# TOYOTA HIGHLANDER 2017 -4814b507cb35653c|2023-06-28--17-59-25--4 -# TOYOTA HIGHLANDER 2017 -4829a5573c5de536|2023-08-01--21-06-48--13 -# TOYOTA HIGHLANDER 2017 -4c486ce35e8dd3b4|2023-05-30--18-52-10--46 -# TOYOTA HIGHLANDER 2017 -6dabe682c1a8d437|2023-07-07--14-25-46--9 -# TOYOTA HIGHLANDER 2017 -7c8bb6201903618b|2023-07-08--08-18-26--22 -# TOYOTA HIGHLANDER 2017 -7bd25a6c7427cd3c|2023-08-06--10-56-19--20 -# TOYOTA HIGHLANDER 2017 -832d14f92ad84eb6|2023-05-17--10-51-58--18 -# TOYOTA HIGHLANDER 2017 -8a2f77d0f2d45965|2023-06-14--16-51-15--52 -# TOYOTA HIGHLANDER 2017 -8b9d7d2d35e6118c|2023-08-04--15-19-14--2 -# TOYOTA HIGHLANDER 2017 -92e13d6c269f512d|2023-05-13--19-58-04--1 -# TOYOTA HIGHLANDER 2017 -9cea9d0468eb3e96|2023-06-22--22-20-21--6 -# TOYOTA HIGHLANDER 2017 -9a6357ba59f0bc3d|2023-06-10--09-52-06--4 -# TOYOTA HIGHLANDER 2017 -a6f5c094b5b7fb33|2023-06-16--07-29-15--1 -# TOYOTA HIGHLANDER 2017 -ad8f2bf6b31dce85|2023-07-29--17-39-45--16 -# TOYOTA HIGHLANDER 2017 -aa7ed46cc8131f89|2023-05-29--07-13-22--9 -# TOYOTA HIGHLANDER 2017 -d886ae895cef77ef|2023-08-02--12-36-12--19 -# TOYOTA HIGHLANDER 2017 -d481bf9699bde1ee|2023-07-06--01-52-18--2 -# TOYOTA HIGHLANDER 2017 -dca9566a6850e4bf|2023-05-14--17-12-55--5 -# TOYOTA HIGHLANDER 2017 -dfe7ead74bb47dc8|2023-08-07--10-26-51--6 -# TOYOTA HIGHLANDER 2017 -e521d97f331b2e34|2023-07-12--13-42-10--33 -# TOYOTA HIGHLANDER 2017 -f01b5b7d7f4c5309|2023-07-01--01-34-34--23 -# TOYOTA HIGHLANDER 2017 -fe99b3a8c9ab61b9|2023-06-18--14-21-37--5 -# TOYOTA PRIUS TSS2 2021 -10a42f77b05a401f|2023-06-23--17-30-35--8 -# TOYOTA PRIUS TSS2 2021 -1a35342c8a1b558e|2023-06-26--21-28-43--18 -# TOYOTA PRIUS TSS2 2021 -0377091bf159038d|2023-06-18--17-04-20--23 -# TOYOTA PRIUS TSS2 2021 -135321a6baf43ec3|2023-07-19--06-07-57--21 -# TOYOTA PRIUS TSS2 2021 -0e511ea80aaf4931|2023-06-05--05-54-38--3 -# TOYOTA PRIUS TSS2 2021 -2061c2bef508176e|2023-06-20--17-00-45--2 -# TOYOTA PRIUS TSS2 2021 -1128edc391bf47c1|2023-05-19--18-10-40--14 -# TOYOTA PRIUS TSS2 2021 -233ef9dcd57e63d9|2023-07-27--15-19-23--10 -# TOYOTA PRIUS TSS2 2021 -1531d4305c9ebbf0|2023-05-18--14-52-53--31 -# TOYOTA PRIUS TSS2 2021 -115345214029cb8b|2023-06-25--14-58-20--2 -# TOYOTA PRIUS TSS2 2021 -283695e2bd4b03db|2023-07-18--22-52-41--5 -# TOYOTA PRIUS TSS2 2021 -305006f2b633be2d|2023-07-16--12-48-12--4 -# TOYOTA PRIUS TSS2 2021 -39a1e6521e802f2f|2023-05-24--17-16-54--1 -# TOYOTA PRIUS TSS2 2021 -3aea2f5376c16768|2023-07-17--05-21-08--25 -# TOYOTA PRIUS TSS2 2021 -449ac093304ba731|2023-05-11--11-14-03--40 -# TOYOTA PRIUS TSS2 2021 -451be4fe585fdac0|2023-06-16--16-08-55--5 -# TOYOTA PRIUS TSS2 2021 -45937213b62ce5ed|2023-05-23--15-56-35--166 -# TOYOTA PRIUS TSS2 2021 -53ecc962c9d86d50|2023-07-30--10-26-25--2 -# TOYOTA PRIUS TSS2 2021 -5b12a3ea4e95c4a5|2023-06-22--17-16-55--37 -# TOYOTA PRIUS TSS2 2021 -656a02ec772a7a4d|2023-06-30--01-33-46--34 -# TOYOTA PRIUS TSS2 2021 -60f3f8039fafd263|2023-05-18--17-30-08--16 -# TOYOTA PRIUS TSS2 2021 -698cf41e2173752f|2023-06-30--12-01-37--12 -# TOYOTA PRIUS TSS2 2021 -67344e48576a3ac2|2023-07-21--14-44-32--18 -# TOYOTA PRIUS TSS2 2021 -6ba67d5a83d831a8|2023-06-06--18-34-35--1 -# TOYOTA PRIUS TSS2 2021 -714dd3f9e708f73c|2023-06-14--14-51-51--6 -# TOYOTA PRIUS TSS2 2021 -716a982c6d0c5547|2023-07-25--11-17-26--30 -# TOYOTA PRIUS TSS2 2021 -6e90fb55f908940a|2023-05-10--17-32-34--3 -# TOYOTA PRIUS TSS2 2021 -8550ea8a4e07f761|2023-06-24--06-29-29--4 -# TOYOTA PRIUS TSS2 2021 -868ec8b032712e8c|2023-05-17--10-32-22--36 -# TOYOTA PRIUS TSS2 2021 -9048498ebc1297b3|2023-05-22--20-36-01--6 -# TOYOTA PRIUS TSS2 2021 -91ec51ef841d0fe5|2023-08-01--09-03-49--4 -# TOYOTA PRIUS TSS2 2021 -a0adc8b389da9563|2023-07-16--17-39-14--1 -# TOYOTA PRIUS TSS2 2021 -a2e5f1439e2cdf9e|2023-05-26--08-13-31--13 -# TOYOTA PRIUS TSS2 2021 -a8fec02c41697f7c|2023-07-12--16-54-45--7 -# TOYOTA PRIUS TSS2 2021 -a883325ac00c65f9|2023-05-28--18-17-32--18 -# TOYOTA PRIUS TSS2 2021 -aaf71ff1348f4b42|2023-06-09--09-09-07--4 -# TOYOTA PRIUS TSS2 2021 -a74cb70b7a19e427|2023-06-11--13-12-21--62 -# TOYOTA PRIUS TSS2 2021 -ac1a320cbefd424a|2023-06-20--15-09-25--12 -# TOYOTA PRIUS TSS2 2021 -aedf9ebed7828264|2023-05-16--18-52-09--5 -# TOYOTA PRIUS TSS2 2021 -b8622cf559d979f9|2023-06-09--14-40-58--2 -# TOYOTA PRIUS TSS2 2021 -b4ce4d1721db5c94|2023-06-18--13-33-24--32 -# TOYOTA PRIUS TSS2 2021 -bf3057bccc689886|2023-05-10--14-25-33--4 -# TOYOTA PRIUS TSS2 2021 -c1a2ba00c8f7e9d8|2023-07-31--14-06-34--2 -# TOYOTA PRIUS TSS2 2021 -ba7f87150ae0bbeb|2023-06-21--13-33-28--12 -# TOYOTA PRIUS TSS2 2021 -c363f25afff8d58e|2023-05-16--14-35-12--8 -# TOYOTA PRIUS TSS2 2021 -c3834a2fe82b632b|2023-07-18--18-50-19--8 -# TOYOTA PRIUS TSS2 2021 -cbe57b408a885627|2023-07-09--11-00-32--5 -# TOYOTA PRIUS TSS2 2021 -ccda673780fb737f|2023-05-21--12-39-40--2 -# TOYOTA PRIUS TSS2 2021 -c4e58bbe953ef5c9|2023-07-27--10-23-32--13 -# TOYOTA PRIUS TSS2 2021 -cf8446aa9d2793e8|2023-06-04--22-02-12--14 -# TOYOTA PRIUS TSS2 2021 -d2bfce9a4caff67f|2023-07-12--15-21-04--55 -# TOYOTA PRIUS TSS2 2021 -d083dc54dae836f0|2023-05-23--05-01-18--24 -# TOYOTA PRIUS TSS2 2021 -d653e1fe9aced0bb|2023-05-19--16-19-28--10 -# TOYOTA PRIUS TSS2 2021 -d67fb9ab2b635dc9|2023-05-12--21-49-32--13 -# TOYOTA PRIUS TSS2 2021 -dd39308405abab68|2023-06-03--08-04-58--51 -# TOYOTA PRIUS TSS2 2021 -e65253687b3999e0|2023-07-02--08-32-02--2 -# TOYOTA PRIUS TSS2 2021 -e921feb7a05eb6b2|2023-08-06--14-08-10--53 -# TOYOTA PRIUS TSS2 2021 -ef4fae77e5d45d9d|2023-07-23--13-18-02--4 -# TOYOTA PRIUS TSS2 2021 -f0a29b63232a3fbd|2023-07-20--07-10-56--30 -# TOYOTA PRIUS TSS2 2021 -faf6d8bcab5ae3a1|2023-07-05--16-00-03--6 -# TOYOTA PRIUS TSS2 2021 -fe2feb102f0b3824|2023-07-31--15-55-42--88 -# TOYOTA PRIUS TSS2 2021 -fed47dc1d49625ca|2023-06-11--13-37-17--5 -# TOYOTA RAV4 2022 -170e10c2cb0432dd|2023-05-17--11-35-52--52 -# TOYOTA RAV4 2022 -0dbef6854d19f908|2023-05-14--16-48-10--34 -# TOYOTA RAV4 2022 -2475fb3eb2ffcc2e|2023-08-05--15-20-42--48 -# TOYOTA RAV4 2022 -08583cb7cd02965d|2023-07-13--14-00-59--23 -# TOYOTA RAV4 2022 -255d0a53069b33c7|2023-05-16--07-12-07--33 -# TOYOTA RAV4 2022 -3507bf7e7573d50b|2023-08-05--15-18-07--44 -# TOYOTA RAV4 2022 -4c7c30edb6dffa5f|2023-08-04--18-14-42--46 -# TOYOTA RAV4 2022 -4e9c8dcbfedefc48|2023-08-07--19-19-04--1 -# TOYOTA RAV4 2022 -58138d1ad389f4d0|2023-07-24--19-33-45--11 -# TOYOTA RAV4 2022 -5374d1774eac5197|2023-06-14--11-26-16--3 -# TOYOTA RAV4 2022 -558928e2034bcef7|2023-06-09--14-26-37--14 -# TOYOTA RAV4 2022 -5bf05f6701c98d32|2023-06-30--13-01-19--22 -# TOYOTA RAV4 2022 -617492c124a692ef|2023-07-20--14-19-10--6 -# TOYOTA RAV4 2022 -6bd14dfc84131769|2023-06-22--13-55-05--82 -# TOYOTA RAV4 2022 -6fe3baa907616d50|2023-05-22--17-36-04--9 -# TOYOTA RAV4 2022 -73f49c9e89a98ff9|2023-06-03--21-51-04--5 -# TOYOTA RAV4 2022 -77f07def1eec9d4e|2023-05-20--12-35-38--58 -# TOYOTA RAV4 2022 -773c6c0313a36828|2023-08-01--12-10-22--4 -# TOYOTA RAV4 2022 -825c2be1679633af|2023-06-08--14-27-04--24 -# TOYOTA RAV4 2022 -8547882d5a9638ed|2023-05-20--16-46-23--40 -# TOYOTA RAV4 2022 -8a6df5e317cdb0f1|2023-06-22--11-48-00--7 -# TOYOTA RAV4 2022 -8c3afba96b7a5db6|2023-05-20--15-33-13--12 -# TOYOTA RAV4 2022 -91a5f9bc5181e3ba|2023-07-17--13-12-48--3 -# TOYOTA RAV4 2022 -932fa1fa23f936dd|2023-07-03--14-05-29--29 -# TOYOTA RAV4 2022 -98b8395bda1abb3d|2023-07-15--15-39-42--1 -# TOYOTA RAV4 2022 -9af9456fb41cefdc|2023-06-08--16-48-49--25 -# TOYOTA RAV4 2022 -9f7a308d4490eb77|2023-05-11--16-59-21--3 -# TOYOTA RAV4 2022 -9fd2e1d2322620c1|2023-06-22--08-20-30--149 -# TOYOTA RAV4 2022 -bc1fe643a3929103|2023-07-17--19-45-52--8 -# TOYOTA RAV4 2022 -d8117083fe3d623d|2023-07-29--18-25-35--2 -# TOYOTA RAV4 2022 -dd2ff62df396c1fc|2023-05-21--18-40-13--120 -# TOYOTA RAV4 2022 -e16e4f4ef04a4ab3|2023-07-06--07-30-04--15 -# TOYOTA RAV4 2022 -eee593d3239d7c3c|2023-07-20--07-09-40--2 -# TOYOTA RAV4 2022 -f5a63eb328699685|2023-07-02--19-58-47--1 -# TOYOTA RAV4 2022 -f2188129ca0904e2|2023-05-21--17-35-49--8 -# TOYOTA RAV4 2022 -f60772e6acef55c4|2023-06-22--20-18-39--47 -# TOYOTA RAV4 2022 -fa323424d809e22a|2023-05-13--20-15-51--24 -# TOYOTA CAMRY 2018 -06362e6a7f0b400b|2023-07-17--15-01-53--27 -# TOYOTA CAMRY 2018 -0066f60689e612ed|2023-07-26--10-32-30--15 -# TOYOTA CAMRY 2018 -098b070a8ea9766b|2023-06-16--15-23-49--11 -# TOYOTA CAMRY 2018 -02a10fdbba41d6c4|2023-05-11--05-10-43--4 -# TOYOTA CAMRY 2018 -22331374d2858074|2023-06-15--11-27-50--2 -# TOYOTA CAMRY 2018 -071f13e1cf591bd8|2023-06-09--21-07-21--30 -# TOYOTA CAMRY 2018 -1b07ad9af1629f61|2023-05-18--11-54-09--41 -# TOYOTA CAMRY 2018 -27f66d238e2daff2|2023-07-26--13-16-24--8 -# TOYOTA CAMRY 2018 -30d4248ac12fd57c|2023-05-25--11-28-46--3 -# TOYOTA CAMRY 2018 -2f37c007683e85ba|2023-05-10--18-35-29--12 -# TOYOTA CAMRY 2018 -36ad47227a8b6e0d|2023-07-11--15-03-35--16 -# TOYOTA CAMRY 2018 -3b69a15335041c72|2023-05-14--01-32-08--4 -# TOYOTA CAMRY 2018 -3cc72445faf2b595|2023-06-23--13-50-08--20 -# TOYOTA CAMRY 2018 -3f4d8c6e1329405c|2023-07-24--20-49-51--5 -# TOYOTA CAMRY 2018 -5a518984e4caef1d|2023-08-01--19-47-13--1 -# TOYOTA CAMRY 2018 -7ebcdd800f653ec4|2023-07-23--14-28-06--4 -# TOYOTA CAMRY 2018 -9a052d2d382b6896|2023-07-12--21-24-54--9 -# TOYOTA CAMRY 2018 -9c86ed5c7284733c|2023-07-29--17-35-37--8 -# TOYOTA CAMRY 2018 -a000cb5ab7ef5223|2023-05-31--21-24-48--10 -# TOYOTA CAMRY 2018 -b34be3bf345f0f5e|2023-07-12--23-12-39--124 -# TOYOTA CAMRY 2018 -b4057b71f56d1191|2023-07-31--16-16-57--4 -# TOYOTA CAMRY 2018 -b7b58a594926fa23|2023-07-27--23-28-50--4 -# TOYOTA CAMRY 2018 -ba0844983cdec847|2023-08-04--11-47-17--7 -# TOYOTA CAMRY 2018 -ba4a94169bf12f32|2023-05-11--16-50-56--4 -# TOYOTA CAMRY 2018 -be8ed458ac4879c8|2023-07-10--20-19-35--10 -# TOYOTA CAMRY 2018 -c2c9a0e4f71e20e6|2023-05-30--14-48-23--38 -# TOYOTA CAMRY 2018 -ce4328694fa2cca9|2023-05-13--02-19-59--4 -# TOYOTA CAMRY 2018 -cd42d2594be938f7|2023-07-25--07-06-01--16 -# TOYOTA CAMRY 2018 -cca80b7bda70c17a|2023-05-25--17-06-27--34 -# TOYOTA CAMRY 2018 -d76803d2dfa3a00e|2023-07-17--00-53-09--7 -# TOYOTA CAMRY 2018 -e27a03030a436e84|2023-06-20--09-23-41--117 -# TOYOTA CAMRY 2018 -ebc7fb7dfd3839d9|2023-06-14--06-06-07--10 -# TOYOTA CAMRY 2018 -ec7de7d250fdcd1d|2023-07-31--17-55-49--1 -# TOYOTA CAMRY 2018 -f71b4f559fb531ad|2023-05-10--16-47-20--31 -# AUDI A3 3RD GEN -200c952f826a6447|2023-07-02--11-55-50--7 -# AUDI A3 3RD GEN -359bcd3ea48092f6|2023-06-03--07-32-15--3 -# AUDI A3 3RD GEN -3ac7029f79711ca5|2023-06-30--07-41-35--5 -# AUDI A3 3RD GEN -76b48b05df10f05e|2023-07-08--16-05-11--4 -# AUDI A3 3RD GEN -a973e9182bc96a2c|2023-06-28--11-02-10--11 -# VOLKSWAGEN ATLAS 1ST GEN -16758e226aa2f747|2023-07-28--15-30-42--3 -# VOLKSWAGEN ATLAS 1ST GEN -16e8546287ecaada|2023-06-26--17-34-08--3 -# VOLKSWAGEN ATLAS 1ST GEN -2bbad62414dc6d9b|2023-08-05--18-02-38--9 -# VOLKSWAGEN ATLAS 1ST GEN -3174d252cec3bf6f|2023-07-04--09-24-03--11 -# VOLKSWAGEN ATLAS 1ST GEN -3737f89a2e0db063|2023-07-19--08-01-06--7 -# VOLKSWAGEN ATLAS 1ST GEN -4048de296d5207fb|2023-07-28--23-35-13--9 -# VOLKSWAGEN ATLAS 1ST GEN -58d4dfb7f4fee11d|2023-08-06--15-55-59--11 -# VOLKSWAGEN ATLAS 1ST GEN -793830b37089fe1d|2023-07-19--17-08-52--1 -# VOLKSWAGEN ATLAS 1ST GEN -d8e893cc7739f7d5|2023-06-20--09-35-18--10 -# VOLKSWAGEN ATLAS 1ST GEN -d7251ede344ff957|2023-07-21--16-32-02--61 -# VOLKSWAGEN ATLAS 1ST GEN -e415c44c77c17e15|2023-05-10--07-55-50--2 -# VOLKSWAGEN ATLAS 1ST GEN -e80066d826c705a9|2023-08-07--15-23-13--7 -# VOLKSWAGEN ATLAS 1ST GEN -f4971592598fa9a3|2023-06-10--11-08-36--7 -# VOLKSWAGEN ATLAS 1ST GEN -ffdd12beb96d5b54|2023-07-30--19-09-47--62 -# LEXUS RX 2016 -1786eaa4cc844889|2023-06-30--13-53-39--91 -# LEXUS RX 2016 -0cf857b1b13bd7cd|2023-07-28--22-10-53--3 -# LEXUS RX 2016 -0229eb43387cef7a|2023-06-15--18-47-25--11 -# LEXUS RX 2016 -2a566b7f69eb2a77|2023-05-18--18-12-09--12 -# LEXUS RX 2016 -592ae47bcb1a6658|2023-06-28--03-11-52--3 -# LEXUS RX 2016 -62b4af07ac90a8e5|2023-07-30--18-53-41--116 -# LEXUS RX 2016 -80ea6c1ff7648289|2023-07-25--18-31-23--9 -# LEXUS RX 2016 -8b196fa003fe55c9|2023-07-06--13-59-02--1 -# LEXUS RX 2016 -b04a5e7ac1c97127|2023-06-11--21-03-22--14 -# LEXUS RX 2016 -bba0a7d99d07b4d0|2023-07-17--10-47-12--16 -# LEXUS RX 2016 -c318581fb51199e6|2023-06-21--09-08-17--47 -# LEXUS RX 2016 -c8d3dd7cfe3c2bef|2023-05-16--07-49-03--21 -# LEXUS RX 2016 -d93ff944f9757e06|2023-07-04--00-28-00--4 -# LEXUS RX 2016 -e3792885a81edc65|2023-05-10--08-26-43--30 -# LEXUS RX 2016 -ea93dc40fbf84c96|2023-06-10--18-26-40--5 -# LEXUS ES 2019 -24f960aeabdd0b45|2023-07-22--22-56-58--9 -# LEXUS ES 2019 -221780419969efb8|2023-06-03--14-00-10--24 -# LEXUS ES 2019 -43000f0e5e058b22|2023-08-03--16-55-17--56 -# LEXUS ES 2019 -47724a191e0f4d9e|2023-06-24--20-39-39--28 -# LEXUS ES 2019 -5aa51c7df8ce288d|2023-07-14--07-31-51--14 -# LEXUS ES 2019 -5c0038031497257b|2023-07-11--16-58-54--45 -# LEXUS ES 2019 -5ad3c8116ceedf0e|2023-06-09--10-48-08--4 -# LEXUS ES 2019 -6d867424dc48c01b|2023-07-21--20-19-27--19 -# LEXUS ES 2019 -89c10c27e1a41814|2023-06-05--21-45-17--47 -# LEXUS ES 2019 -b9c9b1d4e4277fec|2023-07-09--10-55-55--3 -# LEXUS ES 2019 -eebb9787e66670b1|2023-06-09--13-43-21--22 -# HYUNDAI SANTA FE 2022 -1ad7728ce54a161d|2023-06-27--16-42-41--38 -# HYUNDAI SANTA FE 2022 -2d394786f239cd0d|2023-07-16--12-34-58--17 -# HYUNDAI SANTA FE 2022 -305cf2a0bda0e51c|2023-07-20--17-07-34--1 -# HYUNDAI SANTA FE 2022 -2fcc9a43453b10de|2023-06-30--10-25-43--12 -# HYUNDAI SANTA FE 2022 -782fcdb3a42ca1fa|2023-05-26--02-02-12--1 -# HYUNDAI SANTA FE 2022 -7a6ba99ba49954c0|2023-06-01--11-46-54--55 -# HYUNDAI SANTA FE 2022 -cc2f3c4ab6d7758b|2023-07-17--10-14-06--18 -# HYUNDAI SANTA FE 2022 -e37432b18654a7cc|2023-06-29--15-51-04--50 -# TOYOTA CAMRY 2021 -080fffcdcdf847e2|2023-06-17--22-09-54--16 -# TOYOTA CAMRY 2021 -256b964e662f0e39|2023-08-02--15-53-58--33 -# TOYOTA CAMRY 2021 -2422760916ecd3ed|2023-07-30--00-10-14--43 -# TOYOTA CAMRY 2021 -017772face80c94f|2023-06-22--17-04-43--15 -# TOYOTA CAMRY 2021 -1916f6660fdef56b|2023-05-22--16-31-45--50 -# TOYOTA CAMRY 2021 -171516dbc8965a98|2023-08-08--11-12-03--7 -# TOYOTA CAMRY 2021 -289cbd8c4e814c92|2023-07-24--16-08-08--60 -# TOYOTA CAMRY 2021 -2ec957d01038234b|2023-07-19--18-44-13--28 -# TOYOTA CAMRY 2021 -3ba061cbb7a708c3|2023-07-11--11-36-38--4 -# TOYOTA CAMRY 2021 -3ff411160b72e90e|2023-06-11--17-08-09--13 -# TOYOTA CAMRY 2021 -52682dee0263bc9e|2023-07-11--21-46-17--2 -# TOYOTA CAMRY 2021 -51f386982b6e8a77|2023-07-08--20-11-27--27 -# TOYOTA CAMRY 2021 -542e88ffeabefde6|2023-07-13--15-57-13--4 -# TOYOTA CAMRY 2021 -893ae4414cc33177|2023-07-17--16-27-47--44 -# TOYOTA CAMRY 2021 -914f01e43165ff12|2023-06-16--15-13-48--15 -# TOYOTA CAMRY 2021 -b8c0e1ef3bae2ae8|2023-07-06--15-56-32--1 -# TOYOTA CAMRY 2021 -bfd59919af7a9183|2023-05-22--17-06-38--3 -# TOYOTA CAMRY 2021 -c152e86589f67fa8|2023-06-09--11-26-31--8 -# TOYOTA CAMRY 2021 -ec21b3b2491e1d5b|2023-05-21--20-10-40--54 -# TOYOTA CAMRY 2021 -f56e1b6b8d3d4326|2023-06-16--16-40-59--19 -# LEXUS RX 2020 -14bae1f3b3778de2|2023-07-29--08-59-05--1 -# LEXUS RX 2020 -221bc8e55b068d8c|2023-07-22--14-09-28--5 -# LEXUS RX 2020 -284aa7812f549210|2023-07-17--13-43-52--15 -# LEXUS RX 2020 -02b50dc00776ca3c|2023-06-04--21-14-16--6 -# LEXUS RX 2020 -12f5389d0abdd2b0|2023-07-16--03-22-06--191 -# LEXUS RX 2020 -34091e43a35e6b0c|2023-07-28--15-25-20--9 -# LEXUS RX 2020 -4adbcf7b0056b7eb|2023-07-28--19-57-42--1 -# LEXUS RX 2020 -5706cbe0f8b82a15|2023-05-21--09-36-28--7 -# LEXUS RX 2020 -5eaac34b077defa9|2023-07-03--09-52-29--17 -# LEXUS RX 2020 -75b3f01a07557b7d|2023-06-14--18-57-50--7 -# LEXUS RX 2020 -b32bbd31c710d41c|2023-06-30--13-28-18--5 -# LEXUS RX 2020 -b0d686668fb49a0b|2023-07-08--14-38-02--30 -# LEXUS RX 2020 -c5c8fc431bbe68e5|2023-08-07--19-45-43--8 -# LEXUS RX 2020 -d61540bf6f3ff5fd|2023-05-26--11-18-58--4 -# TOYOTA AVALON 2022 -14f1b241a8c4e210|2023-05-14--17-14-36--75 -# TOYOTA AVALON 2022 -5cee358519141338|2023-07-31--14-50-56--15 -# TOYOTA AVALON 2022 -c417be6e8e4be4c6|2023-07-11--13-17-09--19 -# KIA EV6 2022 -2466dbded40ee302|2023-07-19--07-57-59--5 -# KIA EV6 2022 -150033b3d34ddfa3|2023-08-08--12-23-52--18 -# KIA EV6 2022 -21bbb80f61096b25|2023-05-21--05-23-18--24 -# KIA EV6 2022 -83cd83d9569526f1|2023-06-30--00-21-30--7 -# KIA EV6 2022 -879ccc014c30dbf9|2023-07-23--18-45-39--24 -# KIA EV6 2022 -b3a670efbd147ef7|2023-06-15--13-26-07--30 -# KIA EV6 2022 -cb06ac355b38798f|2023-06-11--20-29-07--30 -# KIA EV6 2022 -ff07367edd52b0d0|2023-08-06--01-47-15--51 -# CHRYSLER PACIFICA 2020 -12208e5acdc97eb3|2023-06-15--14-42-11--5 -# CHRYSLER PACIFICA 2020 -20665f9a424ada41|2023-07-31--17-11-31--8 -# CHRYSLER PACIFICA 2020 -1d59b9e6ca471788|2023-06-11--16-36-39--1 -# CHRYSLER PACIFICA 2020 -42ccfd732446a8e3|2023-05-18--08-53-58--1 -# CHRYSLER PACIFICA 2020 -5fc1717be83fc0da|2023-07-27--13-49-58--50 -# CHRYSLER PACIFICA 2020 -75564b71f403c136|2023-06-25--14-16-12--8 -# CHRYSLER PACIFICA 2020 -9cad19e0efce3650|2023-06-07--20-40-39--25 -# CHRYSLER PACIFICA 2020 -af014367f8fd3384|2023-06-04--08-57-55--5 -# CHRYSLER PACIFICA 2020 -c1feb10d20626c65|2023-06-11--15-14-18--64 -# CHRYSLER PACIFICA 2020 -f0b1085e8e45dc63|2023-05-31--17-25-38--7 -# LEXUS ES 2019 -1678ac13bc9877c8|2023-07-09--20-07-48--29 -# LEXUS ES 2019 -2844efe905d33fbd|2023-07-02--12-10-43--44 -# LEXUS ES 2019 -6ed275339186a130|2023-07-21--06-40-44--32 -# LEXUS ES 2019 -7a63be41f9cead58|2023-05-11--09-03-37--14 -# LEXUS ES 2019 -a0dc5a8ca1a5786a|2023-07-04--09-29-52--7 -# LEXUS ES 2019 -cf071db973993448|2023-07-29--18-58-05--13 -# LEXUS ES 2019 -db1c55738e630599|2023-06-09--21-03-38--3 -# LEXUS ES 2019 -ea4add78b3d29a5f|2023-05-25--06-41-18--50 -# TOYOTA AVALON 2019 -1cdab90d23115dc2|2023-05-27--21-27-46--9 -# TOYOTA AVALON 2019 -2aeb6689ee609d86|2023-05-25--17-51-03--14 -# TOYOTA AVALON 2019 -57ea94b88445973c|2023-05-24--18-27-06--7 -# TOYOTA AVALON 2019 -dfe129aad2e701b6|2023-05-11--21-08-54--3 -# TOYOTA AVALON 2019 -f02bf3c0f2ec038e|2023-07-17--12-52-56--4 -# TOYOTA AVALON 2019 -f7d1a944dc6e8789|2023-06-02--15-00-46--64 -# VOLKSWAGEN TIGUAN 2ND GEN -07ddd23c582b8e2a|2023-06-10--13-32-49--1 -# VOLKSWAGEN TIGUAN 2ND GEN -4aadfdcf6846d356|2023-07-10--20-22-59--1 -# VOLKSWAGEN TIGUAN 2ND GEN -4e144f64a2535890|2023-05-27--15-30-51--3 -# VOLKSWAGEN TIGUAN 2ND GEN -88b9fa8e179f87d8|2023-07-12--17-01-50--11 -# VOLKSWAGEN TIGUAN 2ND GEN -b08418a961021457|2023-05-15--10-51-25--4 -# VOLKSWAGEN TIGUAN 2ND GEN -c78c1972adfa10df|2023-05-20--13-11-13--8 -# VOLKSWAGEN TIGUAN 2ND GEN -d5eb604aa6ae46b7|2023-08-01--16-13-48--5 -# VOLKSWAGEN TIGUAN 2ND GEN -deb9a2546658c0ec|2023-08-07--14-53-50--1 -# VOLKSWAGEN TIGUAN 2ND GEN -f3dfef1528797a29|2023-05-25--20-36-07--8 -# HYUNDAI SONATA HYBRID 2021 -01d4ba35f8288743|2023-07-30--11-19-09--14 -# HYUNDAI SONATA HYBRID 2021 -1d08ecde44f58620|2023-06-08--19-12-14--2 -# HYUNDAI SONATA HYBRID 2021 -077309a26bf98013|2023-07-01--14-11-42--1 -# HYUNDAI SONATA HYBRID 2021 -2fdb3b00e818dfd7|2023-07-31--02-50-23--12 -# HYUNDAI SONATA HYBRID 2021 -49734429dda9bbe7|2023-07-10--14-53-29--38 -# HYUNDAI SONATA HYBRID 2021 -61ef897671a29f5c|2023-07-18--10-19-18--10 -# HYUNDAI SONATA HYBRID 2021 -6f322e987d684501|2023-07-27--17-11-53--14 -# HYUNDAI SONATA HYBRID 2021 -7a629f5c75f83fa7|2023-05-20--22-20-36--7 -# HYUNDAI SONATA HYBRID 2021 -a6c2adb491991166|2023-07-16--09-55-40--4 -# HYUNDAI SONATA HYBRID 2021 -b5374bdeea21f5ce|2023-07-15--19-31-57--13 -# HYUNDAI SONATA HYBRID 2021 -be44434f27731ff8|2023-07-02--08-00-08--240 -# HYUNDAI SONATA HYBRID 2021 -cc820fd0720354e1|2023-06-08--14-57-24--37 -# HYUNDAI SONATA HYBRID 2021 -df2433ef9f6dcaa5|2023-07-27--20-19-04--2 -# VOLKSWAGEN POLO 6TH GEN -0bbe367c98fa1538|2023-07-01--19-42-26--7 -# LEXUS NX 2020 -14f9b413ca9c2962|2023-06-30--12-09-53--5 -# LEXUS NX 2020 -436b3762e7406d9d|2023-05-28--19-54-45--18 -# LEXUS NX 2020 -9b42a9940cfd5fda|2023-06-17--19-17-40--53 -# LEXUS NX 2020 -c7a06a775d4a0b29|2023-05-16--10-36-19--1 -# LEXUS NX 2020 -e4b558dc139f76e1|2023-06-26--17-19-48--5 -# LEXUS NX 2018 -09d58cd27c493c29|2023-05-26--07-56-26--9 -# LEXUS NX 2018 -6179fc02b5ed871f|2023-06-26--15-38-35--4 -# LEXUS NX 2018 -b8dd7a23d04c522f|2023-06-15--15-43-11--33 -# HONDA CR-V HYBRID 2019 -11fa019479471a0a|2023-06-19--16-40-40--18 -# HONDA CR-V HYBRID 2019 -8f3f4683d7cfda74|2023-05-27--15-40-52--4 -# HONDA CR-V HYBRID 2019 -d6c98b1ebf9916b9|2023-07-20--09-04-29--20 -# SUBARU IMPREZA LIMITED 2019 -0744286ead2fbb96|2023-05-19--20-52-49--110 -# SUBARU IMPREZA LIMITED 2019 -283bc259f3c0fec9|2023-06-23--18-44-24--2 -# SUBARU IMPREZA LIMITED 2019 -45d40901dd17481d|2023-06-30--19-57-56--20 -# SUBARU IMPREZA LIMITED 2019 -5c3a4dc9bd0b2eaa|2023-05-16--16-43-44--22 -# SUBARU IMPREZA LIMITED 2019 -6f35adacf2529520|2023-08-01--09-20-18--12 -# SUBARU IMPREZA LIMITED 2019 -7a4ef9e9f44480ee|2023-06-17--09-29-32--3 -# SUBARU IMPREZA LIMITED 2019 -7d1607ec8698af97|2023-06-21--20-38-47--2 -# SUBARU IMPREZA LIMITED 2019 -8de015561e1ea4a0|2023-05-15--17-20-39--2 -# SUBARU IMPREZA LIMITED 2019 -9dedbd672d57fd88|2023-07-27--14-29-54--6 -# SUBARU IMPREZA LIMITED 2019 -d96660307a3000e2|2023-06-17--20-29-31--43 -# HYUNDAI IONIQ HYBRID 2017-2019 -0e13ee2b821302f4|2023-07-09--15-44-35--3 -# HYUNDAI IONIQ HYBRID 2017-2019 -8dc7b1ff3d3ce73d|2023-07-13--21-49-58--3 -# HYUNDAI GENESIS 2015-2016 -06353521b1f136dd|2023-05-12--19-40-35--48 -# HYUNDAI GENESIS 2015-2016 -61b3de3cce404316|2023-07-05--19-47-46--17 -# HYUNDAI GENESIS 2015-2016 -b6bb1d6e9e76d5c0|2023-06-26--06-28-25--4 -# KIA NIRO HYBRID 2021 -1ea7eb816544f6c0|2023-07-31--19-13-44--1 -# KIA NIRO HYBRID 2021 -92daf576a7eab465|2023-07-18--12-15-16--63 -# HONDA PILOT 2017 -11bfdda7cffeb882|2023-05-26--13-25-27--7 -# HONDA PILOT 2017 -1c8910b52e443f18|2023-05-21--20-31-29--44 -# HONDA PILOT 2017 -18bbbb7606cddb6a|2023-05-21--13-13-06--110 -# HONDA PILOT 2017 -30bdd852020fbd54|2023-06-07--09-05-51--22 -# HONDA PILOT 2017 -31e47fc2fc02c165|2023-06-02--13-31-29--13 -# HONDA PILOT 2017 -35b4e5307cce2504|2023-05-20--10-05-14--2 -# HONDA PILOT 2017 -34ff4137044da8fa|2023-05-10--22-40-43--12 -# HONDA PILOT 2017 -695826b02fd8fe16|2023-06-21--13-30-12--9 -# HONDA PILOT 2017 -83ccc4c48741b67a|2023-05-25--15-12-07--15 -# HONDA PILOT 2017 -8a9bfee29c5a277a|2023-06-01--09-20-21--70 -# HONDA PILOT 2017 -9cb432f9376cfa89|2023-05-16--16-25-22--6 -# HONDA PILOT 2017 -9bac7575fac62395|2023-05-17--06-24-54--11 -# HONDA PILOT 2017 -ad1b9150af890d9e|2023-07-31--09-13-55--15 -# HONDA PILOT 2017 -b4f429568ea81f21|2023-06-17--11-05-51--112 -# HONDA PILOT 2017 -bd80a1c23664b3b7|2023-06-12--16-44-33--4 -# HONDA PILOT 2017 -d53a9253d19264e5|2023-07-03--00-53-05--3 -# HONDA PILOT 2017 -da7d4c7c00a25e08|2023-06-22--19-20-41--15 -# HONDA PILOT 2017 -d9c43a383a53494b|2023-07-25--09-03-56--2 -# HONDA PILOT 2017 -f4e5206d7968b785|2023-06-24--22-50-01--1 -# HONDA PILOT 2017 -fff9af2c280cebe7|2023-07-15--09-10-37--5 -# HONDA CIVIC (BOSCH) 2019 -220bd1ec52459628|2023-05-14--13-38-23--117 -# HONDA CIVIC (BOSCH) 2019 -1cea7c17bf903d1d|2023-06-05--17-05-26--41 -# HONDA CIVIC (BOSCH) 2019 -2872a60fdd6a85a5|2023-06-07--23-37-19--139 -# HONDA CIVIC (BOSCH) 2019 -5123f2e42bc5c2fb|2023-07-04--17-34-47--16 -# HONDA CIVIC (BOSCH) 2019 -4ea994afc80a04cf|2023-07-01--19-47-55--2 -# HONDA CIVIC (BOSCH) 2019 -8506a4cbf74a6519|2023-06-30--12-05-04--14 -# HONDA CIVIC (BOSCH) 2019 -8c63e6150f08c5cc|2023-07-30--20-05-40--62 -# HONDA CIVIC (BOSCH) 2019 -90d56ac785678835|2023-05-28--17-28-04--1 -# HONDA CIVIC (BOSCH) 2019 -930ad2d3aa9a7438|2023-07-10--15-57-07--5 -# HONDA CIVIC (BOSCH) 2019 -9c9e7b7cb9a2d507|2023-06-16--22-18-46--8 -# HONDA CIVIC (BOSCH) 2019 -a341d8f71913b7c6|2023-07-03--11-08-08--9 -# HONDA CIVIC (BOSCH) 2019 -a9a11ee77c895117|2023-05-31--20-56-14--1 -# HONDA CIVIC (BOSCH) 2019 -addf4f63ee4758f3|2023-06-12--13-17-03--10 -# HONDA CIVIC (BOSCH) 2019 -c6d9941315763063|2023-05-26--18-06-58--47 -# HONDA CIVIC (BOSCH) 2019 -ced18df2ecb5eccd|2023-06-26--16-09-36--15 -# HONDA CIVIC (BOSCH) 2019 -d4c8df785ce7f3c5|2023-07-14--15-46-41--12 -# HONDA CIVIC (BOSCH) 2019 -dbd8a2d9977de5f5|2023-06-14--07-23-48--17 -# HONDA CIVIC (BOSCH) 2019 -e4f4282867c6a6b9|2023-07-21--11-37-55--7 -# HONDA CIVIC (BOSCH) 2019 -ee87fe694c837822|2023-07-22--10-02-27--10 -# HONDA CIVIC (BOSCH) 2019 -f27a5518b5be94da|2023-07-21--18-09-53--4 -# HONDA CIVIC (BOSCH) 2019 -f1c58b2efb96589f|2023-07-20--09-38-55--107 -# HONDA CIVIC (BOSCH) 2019 -f99ab12043ad3219|2023-07-19--17-07-43--2 -# HYUNDAI KONA ELECTRIC 2019 -15e5d08be3f89aeb|2023-05-10--05-05-16--1 -# HYUNDAI KONA ELECTRIC 2019 -39ff090a42469a72|2023-05-15--16-18-09--6 -# HYUNDAI KONA ELECTRIC 2019 -c9508b688d2009f6|2023-05-23--12-24-07--21 -# LEXUS RX 2016 -1124e8ae07941ba9|2023-06-05--15-45-48--9 -# LEXUS RX 2016 -2daa07741d66050b|2023-05-21--15-59-39--3 -# LEXUS RX 2016 -4424ddad7f805c10|2023-05-14--13-50-39--147 -# LEXUS RX 2016 -42132726c7467377|2023-07-08--17-03-46--83 -# LEXUS RX 2016 -6ecec1e8fd327774|2023-07-26--10-46-54--13 -# LEXUS RX 2016 -77cb7310f7b0e1d1|2023-05-28--20-12-02--95 -# LEXUS RX 2016 -89ee528b1eb135ed|2023-05-12--20-05-25--5 -# LEXUS RX 2016 -9cd71f2c46d99533|2023-08-02--20-53-42--17 -# LEXUS RX 2016 -ca71d21f2c04ff8e|2023-07-17--08-16-56--83 -# LEXUS RX 2016 -f4c7fca20721d4c1|2023-07-25--18-15-24--18 -# LEXUS RX 2016 -f2defa60d751d031|2023-05-17--15-27-40--91 -# JEEP GRAND CHEROKEE 2019 -06d01b4518df02ff|2023-07-05--06-29-47--46 -# JEEP GRAND CHEROKEE 2019 -2d9b6425552c52c1|2023-05-14--18-18-54--20 -# JEEP GRAND CHEROKEE 2019 -2f123609bbddbe0c|2023-07-18--17-46-35--16 -# JEEP GRAND CHEROKEE 2019 -626791454319848b|2023-07-06--02-13-50--169 -# JEEP GRAND CHEROKEE 2019 -76ec661ac0d18569|2023-08-05--16-58-53--42 -# JEEP GRAND CHEROKEE 2019 -e1dfba62a4e33f7b|2023-05-10--14-17-59--4 -# JEEP GRAND CHEROKEE 2019 -fdcd19f4434cea9d|2023-05-10--17-10-38--2 -# CHEVROLET VOLT PREMIER 2017 -20cb801701fc8237|2023-06-07--17-41-26--12 -# CHEVROLET VOLT PREMIER 2017 -08924d6a5ba4ab32|2023-07-04--06-56-44--30 -# CHEVROLET VOLT PREMIER 2017 -216776dc641516cc|2023-07-23--16-40-47--76 -# CHEVROLET VOLT PREMIER 2017 -255403b2bd0acb75|2023-05-12--08-44-56--19 -# CHEVROLET VOLT PREMIER 2017 -3189708ff522bc3a|2023-06-08--11-42-29--37 -# CHEVROLET VOLT PREMIER 2017 -3725c590ce069e78|2023-06-25--07-44-44--18 -# CHEVROLET VOLT PREMIER 2017 -3ddd64a934be4c23|2023-06-27--07-52-32--5 -# CHEVROLET VOLT PREMIER 2017 -4bd7be56a56eecaf|2023-05-10--18-17-26--7 -# CHEVROLET VOLT PREMIER 2017 -524ca9dc97ddd9a3|2023-07-25--21-32-28--5 -# CHEVROLET VOLT PREMIER 2017 -5617d19d0841b38c|2023-05-24--12-29-35--113 -# CHEVROLET VOLT PREMIER 2017 -67b9beb7b4d31cf8|2023-05-23--12-50-32--15 -# CHEVROLET VOLT PREMIER 2017 -73a06f3c204cb47a|2023-05-21--15-37-47--6 -# CHEVROLET VOLT PREMIER 2017 -90678d1470cad364|2023-06-03--14-10-34--15 -# CHEVROLET VOLT PREMIER 2017 -a3e8ad84037083ca|2023-06-02--17-10-25--13 -# CHEVROLET VOLT PREMIER 2017 -af9fc6047bf1dae2|2023-08-01--05-28-32--25 -# CHEVROLET VOLT PREMIER 2017 -b24f78641f62dd3c|2023-06-06--18-18-45--13 -# CHEVROLET VOLT PREMIER 2017 -c12c0f43a6c65515|2023-05-23--10-31-56--6 -# CHEVROLET VOLT PREMIER 2017 -d0aa4a8f195675a9|2023-06-20--19-35-14--33 -# CHEVROLET VOLT PREMIER 2017 -d44c5c17d2380d53|2023-07-27--20-23-18--9 -# CHEVROLET VOLT PREMIER 2017 -d2ccdcf33e62cfa0|2023-06-01--20-42-39--58 -# CHEVROLET VOLT PREMIER 2017 -dcaf04bb53a1f9df|2023-06-02--10-08-55--1 -# CHEVROLET VOLT PREMIER 2017 -e69bcbc2c84de4d2|2023-06-27--17-12-00--14 -# CHEVROLET VOLT PREMIER 2017 -e2b25f39da040caa|2023-07-23--12-59-47--49 -# CHEVROLET VOLT PREMIER 2017 -e4b91b0282619c79|2023-07-30--15-57-39--1 -# TOYOTA ALPHARD 2020 -09c50095f46f96cd|2023-05-21--10-27-44--20 -# TOYOTA ALPHARD 2020 -5ffe5d6678eaefb2|2023-07-04--17-18-33--96 -# HYUNDAI IONIQ PHEV 2020 -201c5aaced09a24a|2023-05-20--12-39-01--15 -# HYUNDAI IONIQ PHEV 2020 -4bcc377663bc541a|2023-05-24--14-59-59--219 -# HYUNDAI IONIQ PHEV 2020 -78fdfacf4a805561|2023-07-17--11-54-45--73 -# HYUNDAI IONIQ PHEV 2020 -93882bc7bea8b476|2023-07-30--19-56-22--7 -# HYUNDAI IONIQ PHEV 2020 -b28e9dbe4004e915|2023-06-11--19-55-28--2 -# HYUNDAI IONIQ PHEV 2020 -c447f3983314c453|2023-05-14--17-17-24--158 -# RAM 1500 5TH GEN -17fc16d840fe9d21|2023-05-18--19-28-17--11 -# VOLKSWAGEN ARTEON 1ST GEN -0662797832aac2eb|2023-07-13--09-33-52--73 -# VOLKSWAGEN ARTEON 1ST GEN -5ac586afbb236b5d|2023-07-17--22-52-19--5 -# VOLKSWAGEN ARTEON 1ST GEN -c34ef43981b6d888|2023-06-01--07-50-41--7 -# HONDA INSIGHT 2019 -0ac79efcae392b39|2023-06-29--10-57-45--8 -# HONDA INSIGHT 2019 -acdb227003c7aee1|2023-05-30--17-06-35--9 -# HONDA INSIGHT 2019 -baeb84fd6ad76707|2023-07-26--06-13-05--45 -# HONDA INSIGHT 2019 -ba9a88a070809873|2023-05-14--13-34-35--32 -# HONDA INSIGHT 2019 -bfde60a60008c36d|2023-05-24--16-51-16--24 -# HONDA INSIGHT 2019 -f7d92a003486dc37|2023-06-10--16-17-23--48 -# TOYOTA MIRAI 2021 -2611ca299b6b5939|2023-07-12--19-27-34--1 -# TOYOTA MIRAI 2021 -390a85b0f0d7a93b|2023-07-02--17-09-06--13 -# TOYOTA MIRAI 2021 -d2bd3cb8241c253c|2023-05-30--18-34-40--2 -# TOYOTA MIRAI 2021 -f4ee9d3ae1d656fb|2023-08-03--17-47-32--15 -# TOYOTA AVALON 2019 -1cf68ce8c78d6246|2023-07-02--22-42-04--9 -# TOYOTA AVALON 2019 -3e1100294929fd5f|2023-06-19--20-05-45--6 -# TOYOTA AVALON 2019 -7879897f0af9ed09|2023-07-21--12-35-20--1 -# LEXUS NX 2020 -01f31237627e0cc3|2023-08-08--09-32-39--10 -# KIA STINGER GT2 2018 -2ba5946fb25bfc1f|2023-07-29--22-48-54--40 -# KIA STINGER GT2 2018 -5ccb50cda9fba8b7|2023-07-02--12-59-48--2 -# KIA STINGER GT2 2018 -724f06bcdb81bc8e|2023-07-01--08-24-30--25 -# KIA STINGER GT2 2018 -8efe830da0568792|2023-07-07--12-21-04--14 -# KIA STINGER GT2 2018 -b5768b7348113531|2023-07-29--20-29-19--1 -# SKODA KODIAQ 1ST GEN -2696aa4107f3a534|2023-06-12--17-35-02--1 -# SKODA KODIAQ 1ST GEN -2ca49a03c8084514|2023-08-04--07-24-41--13 -# SKODA KODIAQ 1ST GEN -89b596c5edcb6dba|2023-07-15--15-38-29--1 -# SKODA KODIAQ 1ST GEN -8a5da7c1d1783730|2023-06-08--17-33-34--2 -# SKODA KODIAQ 1ST GEN -cd4c3e2031f01e61|2023-07-03--11-19-29--1 -# SKODA KODIAQ 1ST GEN -dafb0cb9e28e0249|2023-05-31--15-55-44--1 -# HONDA HRV 2019 -09c457a021a641e7|2023-07-24--20-02-45--3 -# HONDA HRV 2019 -6e9442a1c18f2abd|2023-05-26--12-52-43--4 -# HONDA HRV 2019 -78edb6a9a06e891d|2023-06-25--19-42-26--2 -# HONDA HRV 2019 -7c72f43a732e77ce|2023-07-26--21-44-12--10 -# HONDA HRV 2019 -a9203d77468a98a3|2023-05-11--21-05-37--10 -# GENESIS G80 2017 -2dcea2872df6d423|2023-06-06--19-13-28--50 -# GENESIS G80 2017 -450774a9a3ffe4c8|2023-08-05--15-07-10--11 -# GENESIS G80 2017 -a99d0d0edbedad89|2023-07-04--21-21-06--4 -# VOLKSWAGEN PASSAT 8TH GEN -2d7d87433a67c925|2023-05-14--17-05-12--21 -# VOLKSWAGEN PASSAT 8TH GEN -37e3253d2ac7c823|2023-05-30--16-09-30--26 -# VOLKSWAGEN PASSAT 8TH GEN -40443218782e5709|2023-07-11--10-44-37--14 -# VOLKSWAGEN PASSAT 8TH GEN -5405cac0c9d58c3d|2023-06-13--18-00-38--5 -# VOLKSWAGEN PASSAT 8TH GEN -7e069ec96c2da3a2|2023-07-08--14-06-11--23 -# VOLKSWAGEN PASSAT 8TH GEN -fd81eb7cc97ce831|2023-05-13--14-22-35--55 -# AUDI Q3 2ND GEN -2a7eeed5627fe50f|2023-05-26--16-00-32--42 -# AUDI Q3 2ND GEN -cdc1627feb1c82d3|2023-07-23--16-49-24--6 -# TOYOTA HIGHLANDER 2017 -30f476405b31e063|2023-07-23--11-27-50--4 -# TOYOTA HIGHLANDER 2017 -335da7758ecaf9b8|2023-06-07--06-45-19--6 -# TOYOTA HIGHLANDER 2017 -3dfa699819714d88|2023-05-23--10-21-28--15 -# TOYOTA HIGHLANDER 2017 -443fc6ac84d80c7e|2023-06-09--10-38-02--5 -# TOYOTA HIGHLANDER 2017 -69310bd073c5381d|2023-05-25--11-21-15--7 -# TOYOTA HIGHLANDER 2017 -7ebef57bc42d0ffd|2023-05-15--09-33-53--32 -# TOYOTA HIGHLANDER 2017 -90e19871a5f0753d|2023-05-30--19-41-28--30 -# TOYOTA HIGHLANDER 2017 -a2153ee04e30ac3c|2023-05-28--15-46-53--20 -# TOYOTA HIGHLANDER 2017 -a68647f2ba7092a3|2023-06-09--11-50-44--12 -# TOYOTA HIGHLANDER 2017 -d4f786dae36655f1|2023-07-08--11-46-59--31 -# TOYOTA HIGHLANDER 2017 -eb3a11981a924f0f|2023-07-29--12-16-21--12 -# CHRYSLER PACIFICA HYBRID 2017 -328eb791948dc4c4|2023-07-28--20-13-00--12 -# CHRYSLER PACIFICA HYBRID 2017 -57409982aa4a348b|2023-07-17--19-19-22--13 -# CHRYSLER PACIFICA HYBRID 2017 -62bde7c16381d8b2|2023-05-21--20-35-27--17 -# CHRYSLER PACIFICA HYBRID 2017 -949ce31b8c38095a|2023-07-11--19-03-33--37 -# TOYOTA AVALON 2022 -301800decccd6669|2023-06-10--12-18-42--12 -# TOYOTA AVALON 2022 -caa859705cd01362|2023-07-20--08-41-27--1 -# SUBARU OUTBACK 6TH GEN -33f86ddb06a656dd|2023-07-30--19-36-09--38 -# SUBARU OUTBACK 6TH GEN -46009c83d4595279|2023-07-10--18-04-48--49 -# SUBARU OUTBACK 6TH GEN -781b0068b313214f|2023-07-24--09-46-42--1 -# SUBARU OUTBACK 6TH GEN -83ce0f0dcdc42a2d|2023-07-12--11-37-21--5 -# SUBARU OUTBACK 6TH GEN -8a0a42036c8cd285|2023-07-15--12-20-41--251 -# SUBARU OUTBACK 6TH GEN -a0a54ab26674dbb9|2023-05-10--17-52-42--11 -# SUBARU OUTBACK 6TH GEN -bad6ae3584ece5b5|2023-06-06--20-47-16--1 -# SUBARU OUTBACK 6TH GEN -c726b2698bd24c5e|2023-07-22--11-45-38--2 -# SUBARU OUTBACK 6TH GEN -db94c35b2fc49a1d|2023-06-29--15-34-53--3 -# SUBARU OUTBACK 6TH GEN -eac0312bb7d371ef|2023-06-23--09-53-10--3 -# VOLKSWAGEN PASSAT NMS -398d43ca7e0c8e34|2023-06-07--21-05-24--3 -# LEXUS IS 2018 -3776c9b10eb2ab37|2023-07-17--19-38-03--12 -# LEXUS IS 2018 -5d64b83564cf5d9a|2023-07-23--15-00-46--12 -# LEXUS IS 2018 -a52787c41eced8a8|2023-07-28--00-12-38--4 -# LEXUS IS 2018 -c8c2f75d1782de03|2023-06-26--23-05-18--17 -# KIA SORENTO 4TH GEN -3c492c4530c6ad7f|2023-07-25--12-52-04--8 -# KIA SORENTO 4TH GEN -fd067a3a06f7bb3f|2023-07-18--19-05-41--2 -# HONDA CIVIC 2022 -35c004509e3057f2|2023-05-22--06-15-04--15 -# HONDA CIVIC 2022 -5130484aa8069bad|2023-05-20--17-37-41--2 -# HONDA CIVIC 2022 -8fcafab4167b8c6c|2023-06-24--15-42-50--55 -# KIA OPTIMA 4TH GEN FACELIFT -3d96bd05b5513638|2023-06-09--16-14-40--8 -# KIA OPTIMA 4TH GEN FACELIFT -fec0d754d02e943e|2023-06-19--14-54-54--144 -# HYUNDAI ELANTRA 2021 -3ea622c3c0ec3055|2023-06-22--18-40-28--15 -# HYUNDAI ELANTRA 2021 -449474d0a79c14aa|2023-07-30--15-41-03--10 -# HYUNDAI ELANTRA 2021 -5c9daa3b70d6f706|2023-08-05--15-56-10--2 -# HYUNDAI ELANTRA 2021 -5a4405495d2750ef|2023-05-13--21-13-20--16 -# HYUNDAI ELANTRA 2021 -be0bb3add22aeed0|2023-07-12--16-05-59--8 -# HYUNDAI ELANTRA 2021 -d8cd6e5e3998d306|2023-06-26--20-55-03--7 -# SKODA OCTAVIA 3RD GEN -3fa7570f2fcace3d|2023-08-02--14-13-00--2 -# SKODA OCTAVIA 3RD GEN -f5392228324cda8d|2023-07-19--09-22-26--1 -# KIA CARNIVAL 4TH GEN -409c9409979a8abc|2023-07-30--17-05-09--41 -# HYUNDAI IONIQ HYBRID 2020-2022 -452f244b23a48e9b|2023-07-19--18-49-50--5 -# KIA STINGER 2022 -47d09720bb2ccdf9|2023-06-05--20-25-36--6 -# COMMA BODY -4ae6d7a23dc12ee9|2023-07-22--18-04-32--2 -# COMMA BODY -8fb3c185d81fc85e|2023-08-06--14-57-51--5 -# COMMA BODY -efdf9af95e71cd84|2023-06-28--17-25-55--12 -# TOYOTA C-HR 2018 -482ce47555b39e90|2023-07-14--18-51-41--7 -# TOYOTA C-HR 2018 -4ff60f3f7178368b|2023-05-11--08-32-46--13 -# TOYOTA C-HR 2018 -fdf1eae234f98180|2023-05-24--09-19-26--1 -# TOYOTA AVALON 2016 -4bc88417168295f0|2023-07-28--18-04-07--71 -# TOYOTA AVALON 2016 -fe56ef3e908ceadc|2023-08-01--13-17-58--29 -# HONDA FIT 2018 -48536bafa6cabe3e|2023-06-14--14-50-06--6 -# HONDA FIT 2018 -8085a4d3c9416184|2023-07-27--15-31-59--9 -# HONDA FIT 2018 -a6883439bbd3d975|2023-05-30--17-28-13--26 -# HONDA FIT 2018 -e56002a2b1eeed4d|2023-07-04--13-32-44--4 -# MAZDA CX-9 2021 -51ffb2084fa16e13|2023-06-27--18-32-54--1 -# MAZDA CX-9 2021 -629c4aced073d15a|2023-06-13--12-03-56--5 -# MAZDA CX-9 2021 -ab2ef769ce18b0b2|2023-05-10--16-48-57--21 -# MAZDA CX-9 2021 -f04622e57618f6b8|2023-06-08--17-14-27--32 -# FORD BRONCO SPORT 1ST GEN -54827bf84c38b14f|2023-05-10--22-15-37--2 -# HYUNDAI IONIQ 5 2022 -5608f42aaece1463|2023-07-08--12-56-57--10 -# HYUNDAI IONIQ 5 2022 -57f8e21bb63728ed|2023-07-17--17-56-04--20 -# HYUNDAI IONIQ 5 2022 -534e3360c3936247|2023-08-03--10-30-38--6 -# HYUNDAI IONIQ 5 2022 -6c5e2106ca45c09f|2023-05-29--20-39-58--57 -# HYUNDAI IONIQ 5 2022 -8014970252341f77|2023-08-01--19-53-30--21 -# HYUNDAI IONIQ 5 2022 -81817870e9d2dc12|2023-06-24--21-37-09--23 -# HYUNDAI IONIQ 5 2022 -8379b28e51ceb3b1|2023-05-13--21-53-54--5 -# HYUNDAI IONIQ 5 2022 -8a53aa70d88313f1|2023-07-14--16-06-11--34 -# HYUNDAI IONIQ 5 2022 -94fb5be27a4b67b0|2023-07-02--21-38-55--55 -# HYUNDAI IONIQ 5 2022 -9a8af592c6b6b617|2023-05-18--07-24-13--121 -# HYUNDAI IONIQ 5 2022 -b70b56b76a6217f2|2023-06-02--14-53-42--63 -# HYUNDAI IONIQ 5 2022 -cb8f2450d9bc2438|2023-07-07--14-26-13--22 -# HYUNDAI IONIQ 5 2022 -cdc004f72f0192de|2023-06-20--17-46-52--10 -# HYUNDAI IONIQ 5 2022 -d172a844d3da91a4|2023-05-22--16-14-11--4 -# HYUNDAI IONIQ 5 2022 -dab2ee943375ae1f|2023-07-29--13-07-45--11 -# HYUNDAI IONIQ 5 2022 -db2f545ea314b36d|2023-07-05--16-54-15--19 -# HYUNDAI IONIQ 5 2022 -e42931599f753d96|2023-05-24--20-20-26--13 -# HYUNDAI IONIQ 5 2022 -f2a5efadd1dbf33f|2023-05-22--17-54-44--3 -# GENESIS GV70 1ST GEN -573d0052724c316d|2023-07-04--11-33-32--1 -# GENESIS GV70 1ST GEN -5d327dec6ec07b6e|2023-06-16--15-56-30--5 -# GENESIS GV70 1ST GEN -60c76f368ee05a23|2023-06-07--13-34-57--22 -# GENESIS GV70 1ST GEN -ca4de5b12321bd98|2023-05-10--08-48-48--7 -# KIA SPORTAGE 5TH GEN -5780f2cf75339e9f|2023-05-26--23-35-00--8 -# KIA SPORTAGE 5TH GEN -ce72415f25bcbf6f|2023-07-15--10-04-48--6 -# VOLKSWAGEN JETTA 7TH GEN -632ceb5cc1d7e3f3|2023-07-11--17-49-31--53 -# VOLKSWAGEN JETTA 7TH GEN -cf3717f55f9ff6bb|2023-05-21--23-17-16--13 -# TOYOTA C-HR 2021 -6719965b0e1d1737|2023-07-29--17-09-47--4 -# SKODA SUPERB 3RD GEN -6a6d9303aecc1e97|2023-07-12--09-56-43--13 -# SKODA SUPERB 3RD GEN -a7adec1fdbb46a1c|2023-07-31--22-39-06--2 -# SKODA SUPERB 3RD GEN -cd047d573cc78c34|2023-06-29--13-39-09--7 -# SKODA SUPERB 3RD GEN -d22f3f42780f2874|2023-07-11--17-43-18--45 -# NISSAN ALTIMA 2020 -62b0735d47268ec7|2023-06-23--18-44-12--11 -# NISSAN ALTIMA 2020 -742442ec7a49776d|2023-07-07--09-12-19--43 -# NISSAN ALTIMA 2020 -78daf6341d75cffb|2023-06-19--16-00-54--12 -# NISSAN ALTIMA 2020 -894145c25ba0328a|2023-06-24--14-39-55--18 -# NISSAN ALTIMA 2020 -92511c3b877c7215|2023-06-18--14-47-27--26 -# KIA SORENTO GT LINE 2018 -6b111e8e45cc2d07|2023-06-07--22-09-58--6 -# KIA SORENTO GT LINE 2018 -b78a19b557b991ab|2023-05-10--20-56-53--33 -# HYUNDAI TUCSON 4TH GEN -7173fdb19bf459f5|2023-06-02--20-50-49--14 -# HYUNDAI TUCSON 4TH GEN -8426de28ebdc65a2|2023-05-27--14-51-28--13 -# HYUNDAI TUCSON 4TH GEN -f7f6cc634ee443a9|2023-05-23--20-33-04--2 -# HYUNDAI ELANTRA 2017 -734ef96182ddf940|2023-07-12--14-31-45--34 -# SUBARU ASCENT LIMITED 2019 -72df1a0f641d5d4f|2023-06-30--17-17-26--7 -# SUBARU ASCENT LIMITED 2019 -91192c3ff5b51b64|2023-08-06--15-20-27--3 -# SUBARU ASCENT LIMITED 2019 -9936b4bbf75a5fe4|2023-05-12--14-23-02--16 -# SUBARU ASCENT LIMITED 2019 -cb9e6a98fd925948|2023-06-07--09-49-57--32 -# TESLA AP2 MODEL S -7277bddf4748e615|2023-05-10--10-30-06--11 -# HYUNDAI ELANTRA HYBRID 2021 -786fc028c014be71|2023-06-13--10-49-03--2 -# HYUNDAI ELANTRA HYBRID 2021 -8d49af2b041f8c5c|2023-07-06--17-34-04--36 -# HYUNDAI ELANTRA HYBRID 2021 -9b1bd7e1e54c6a37|2023-05-26--08-29-15--1 -# HYUNDAI ELANTRA HYBRID 2021 -d66b12aeb4ac1750|2023-08-04--14-14-48--5 -# HYUNDAI ELANTRA HYBRID 2021 -e33e369bf0cac9f5|2023-06-08--21-38-37--1 -# HYUNDAI ELANTRA HYBRID 2021 -eb5a50f9e98f50b9|2023-06-22--14-06-36--106 -# HYUNDAI ELANTRA HYBRID 2021 -f22818fb0dbd850d|2023-06-07--16-37-27--6 -# HYUNDAI SONATA 2019 -7ae1c131629d96e5|2023-06-01--18-40-26--18 -# HYUNDAI SONATA 2019 -c1fc13c1b806e536|2023-05-24--19-57-19--17 -# HYUNDAI SONATA 2019 -e3500498d01af116|2023-07-19--13-08-43--85 -# HYUNDAI TUCSON 4TH GEN -8afcf4c5d5b6d061|2023-05-14--20-29-14--9 -# HYUNDAI TUCSON 4TH GEN -a1f50efb97003e30|2023-05-17--20-13-07--1 -# HYUNDAI TUCSON 4TH GEN -c5956193b4fde1a3|2023-07-06--20-47-58--24 -# GENESIS GV60 ELECTRIC 1ST GEN -94542b2d06f7a9a6|2023-07-21--11-23-43--28 -# GENESIS GV60 ELECTRIC 1ST GEN -c9ccc00f8d7e00d2|2023-05-18--16-29-54--33 -# GENESIS G70 2018 -9238d5ce084d695e|2023-06-23--19-26-28--12 -# KIA SPORTAGE 5TH GEN -965a780ebeeed150|2023-07-25--07-16-08--40 -# KIA K5 2021 -9d4fa1c83653b90b|2023-07-10--07-30-25--14 -# ACURA RDX 2018 -a00bae406fe65d1c|2023-06-01--21-30-27--11 -# ACURA RDX 2018 -9f98fcb1aa88d319|2023-05-10--12-35-18--17 -# ACURA RDX 2018 -f41a6f453a4beb95|2023-06-25--07-00-46--23 -# FORD ESCAPE 4TH GEN -a4218e6416dfd978|2023-08-02--12-04-45--22 -# SEAT ATECA 1ST GEN -a4455cb22fa944d9|2023-05-19--16-54-51--6 -# VOLKSWAGEN TRANSPORTER T6.1 -a459f4556782eba1|2023-06-05--13-08-21--1 -# NISSAN ROGUE 2019 -ae2babeed1fe011f|2023-08-02--21-28-28--20 -# NISSAN ROGUE 2019 -b7287535e2a23992|2023-07-20--20-17-53--1 -# NISSAN ROGUE 2019 -dff9db8e8d8601f8|2023-05-14--18-00-16--30 -# KIA NIRO EV 2ND GEN -b153671049a867b3|2023-07-12--19-25-18--6 -# KIA NIRO HYBRID 2ND GEN -b1b094b91c2ceafd|2023-06-15--20-30-37--18 -# KIA NIRO HYBRID 2ND GEN -d250f6ef680e703d|2023-07-07--13-31-18--30 -# KIA NIRO HYBRID 2ND GEN -de8fc10be8a79842|2023-06-09--00-59-50--10 -# KIA NIRO HYBRID 2ND GEN -df54ba658aedc57c|2023-06-01--05-27-17--48 -# SEAT LEON 3RD GEN -aef9c04d6ec5cd57|2023-07-15--16-49-38--12 -# HYUNDAI SANTA CRUZ 1ST GEN -c00a40383605f531|2023-05-21--13-08-03--11 -# HONDA CR-V 2016 -bd96755604115d4c|2023-06-27--10-34-55--33 -# TOYOTA RAV4 2023 -c5e5740d799f017f|2023-08-08--13-23-41--7 -# FORD MAVERICK 1ST GEN -c72c220ce1de786f|2023-07-17--15-49-45--5 -# FORD MAVERICK 1ST GEN -c845bd8c366e6f3d|2023-06-29--19-03-50--12 -# CADILLAC ESCALADE 2017 -defd7f8491ad9254|2023-06-18--02-03-57--5 -# CADILLAC ESCALADE 2017 -ef8f2185104d862e|2023-07-29--18-02-25--18 -# TOYOTA C-HR 2021 -ea8fbe72b96a185c|2023-06-08--12-35-07--3 -# HYUNDAI KONA ELECTRIC 2022 -ecb854b94fdfa4d5|2023-05-27--00-04-01--45 -# KIA SORENTO HYBRID 4TH GEN -e8c813df1056766a|2023-05-26--19-01-03--34 -# NISSAN X-TRAIL 2017 -fa9224be239005c7|2023-07-30--14-28-52--18 -# NISSAN LEAF 2018 Instrument Cluster -fc10e0bf7dc6c892|2023-07-09--18-47-05--50 diff --git a/selfdrive/car/tests/test_platform_configs.py b/selfdrive/car/tests/test_platform_configs.py deleted file mode 100644 index 31e4be4fe6b0e2..00000000000000 --- a/selfdrive/car/tests/test_platform_configs.py +++ /dev/null @@ -1,17 +0,0 @@ -from openpilot.selfdrive.car.values import PLATFORMS - - -class TestPlatformConfigs: - def test_configs(self, subtests): - - for name, platform in PLATFORMS.items(): - with subtests.test(platform=str(platform)): - assert platform.config._frozen - - if platform != "MOCK": - assert "pt" in platform.config.dbc_dict - assert len(platform.config.platform_str) > 0 - - assert name == platform.config.platform_str - - assert platform.config.specs is not None diff --git a/selfdrive/car/toyota/tests/__init__.py b/selfdrive/car/toyota/tests/__init__.py deleted file mode 100644 index e69de29bb2d1d6..00000000000000 diff --git a/selfdrive/car/toyota/tests/print_platform_codes.py b/selfdrive/car/toyota/tests/print_platform_codes.py deleted file mode 100755 index 9ec7a14cd3eed0..00000000000000 --- a/selfdrive/car/toyota/tests/print_platform_codes.py +++ /dev/null @@ -1,35 +0,0 @@ -#!/usr/bin/env python3 -from collections import defaultdict -from cereal import car -from openpilot.selfdrive.car.toyota.values import PLATFORM_CODE_ECUS, get_platform_codes -from openpilot.selfdrive.car.toyota.fingerprints import FW_VERSIONS - -Ecu = car.CarParams.Ecu -ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()} - -if __name__ == "__main__": - parts_for_ecu: dict = defaultdict(set) - cars_for_code: dict = defaultdict(lambda: defaultdict(set)) - for car_model, ecus in FW_VERSIONS.items(): - print() - print(car_model) - for ecu in sorted(ecus, key=lambda x: int(x[0])): - if ecu[0] not in PLATFORM_CODE_ECUS: - continue - - platform_codes = get_platform_codes(ecus[ecu]) - parts_for_ecu[ecu] |= {code.split(b'-')[0] for code in platform_codes if code.count(b'-') > 1} - for code in platform_codes: - cars_for_code[ecu][b'-'.join(code.split(b'-')[:2])] |= {car_model} - print(f' (Ecu.{ECU_NAME[ecu[0]]}, {hex(ecu[1])}, {ecu[2]}):') - print(f' Codes: {platform_codes}') - - print('\nECU parts:') - for ecu, parts in parts_for_ecu.items(): - print(f' (Ecu.{ECU_NAME[ecu[0]]}, {hex(ecu[1])}, {ecu[2]}): {parts}') - - print('\nCar models vs. platform codes (no major versions):') - for ecu, codes in cars_for_code.items(): - print(f' (Ecu.{ECU_NAME[ecu[0]]}, {hex(ecu[1])}, {ecu[2]}):') - for code, cars in codes.items(): - print(f' {code!r}: {sorted(cars)}') diff --git a/selfdrive/car/toyota/tests/test_toyota.py b/selfdrive/car/toyota/tests/test_toyota.py deleted file mode 100644 index 0217a0fbc1957c..00000000000000 --- a/selfdrive/car/toyota/tests/test_toyota.py +++ /dev/null @@ -1,166 +0,0 @@ -from hypothesis import given, settings, strategies as st - -from cereal import car -from openpilot.selfdrive.car.fw_versions import build_fw_dict -from openpilot.selfdrive.car.toyota.fingerprints import FW_VERSIONS -from openpilot.selfdrive.car.toyota.values import CAR, DBC, TSS2_CAR, ANGLE_CONTROL_CAR, RADAR_ACC_CAR, \ - FW_QUERY_CONFIG, PLATFORM_CODE_ECUS, FUZZY_EXCLUDED_PLATFORMS, \ - get_platform_codes - -Ecu = car.CarParams.Ecu -ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()} - - -def check_fw_version(fw_version: bytes) -> bool: - return b'?' not in fw_version - - -class TestToyotaInterfaces: - def test_car_sets(self): - assert len(ANGLE_CONTROL_CAR - TSS2_CAR) == 0 - assert len(RADAR_ACC_CAR - TSS2_CAR) == 0 - - def test_lta_platforms(self): - # At this time, only RAV4 2023 is expected to use LTA/angle control - assert ANGLE_CONTROL_CAR == {CAR.TOYOTA_RAV4_TSS2_2023} - - def test_tss2_dbc(self): - # We make some assumptions about TSS2 platforms, - # like looking up certain signals only in this DBC - for car_model, dbc in DBC.items(): - if car_model in TSS2_CAR: - assert dbc["pt"] == "toyota_nodsu_pt_generated" - - def test_essential_ecus(self, subtests): - # Asserts standard ECUs exist for each platform - common_ecus = {Ecu.fwdRadar, Ecu.fwdCamera} - for car_model, ecus in FW_VERSIONS.items(): - with subtests.test(car_model=car_model.value): - present_ecus = {ecu[0] for ecu in ecus} - missing_ecus = common_ecus - present_ecus - assert len(missing_ecus) == 0 - - # Some exceptions for other common ECUs - if car_model not in (CAR.TOYOTA_ALPHARD_TSS2,): - assert Ecu.abs in present_ecus - - if car_model not in (CAR.TOYOTA_MIRAI,): - assert Ecu.engine in present_ecus - - if car_model not in (CAR.TOYOTA_PRIUS_V, CAR.LEXUS_CTH): - assert Ecu.eps in present_ecus - - -class TestToyotaFingerprint: - def test_non_essential_ecus(self, subtests): - # Ensures only the cars that have multiple engine ECUs are in the engine non-essential ECU list - for car_model, ecus in FW_VERSIONS.items(): - with subtests.test(car_model=car_model.value): - engine_ecus = {ecu for ecu in ecus if ecu[0] == Ecu.engine} - assert (len(engine_ecus) > 1) == (car_model in FW_QUERY_CONFIG.non_essential_ecus[Ecu.engine]), \ - f"Car model unexpectedly {'not ' if len(engine_ecus) > 1 else ''}in non-essential list" - - def test_valid_fw_versions(self, subtests): - # Asserts all FW versions are valid - for car_model, ecus in FW_VERSIONS.items(): - with subtests.test(car_model=car_model.value): - for fws in ecus.values(): - for fw in fws: - assert check_fw_version(fw), fw - - # Tests for part numbers, platform codes, and sub-versions which Toyota will use to fuzzy - # fingerprint in the absence of full FW matches: - @settings(max_examples=100) - @given(data=st.data()) - def test_platform_codes_fuzzy_fw(self, data): - fw_strategy = st.lists(st.binary()) - fws = data.draw(fw_strategy) - get_platform_codes(fws) - - def test_platform_code_ecus_available(self, subtests): - # Asserts ECU keys essential for fuzzy fingerprinting are available on all platforms - for car_model, ecus in FW_VERSIONS.items(): - with subtests.test(car_model=car_model.value): - for platform_code_ecu in PLATFORM_CODE_ECUS: - if platform_code_ecu == Ecu.eps and car_model in (CAR.TOYOTA_PRIUS_V, CAR.LEXUS_CTH,): - continue - if platform_code_ecu == Ecu.abs and car_model in (CAR.TOYOTA_ALPHARD_TSS2,): - continue - assert platform_code_ecu in [e[0] for e in ecus] - - def test_fw_format(self, subtests): - # Asserts: - # - every supported ECU FW version returns one platform code - # - every supported ECU FW version has a part number - # - expected parsing of ECU sub-versions - - for car_model, ecus in FW_VERSIONS.items(): - with subtests.test(car_model=car_model.value): - for ecu, fws in ecus.items(): - if ecu[0] not in PLATFORM_CODE_ECUS: - continue - - codes = dict() - for fw in fws: - result = get_platform_codes([fw]) - # Check only one platform code and sub-version - assert 1 == len(result), f"Unable to parse FW: {fw}" - assert 1 == len(list(result.values())[0]), f"Unable to parse FW: {fw}" - codes |= result - - # Toyota places the ECU part number in their FW versions, assert all parsable - # Note that there is only one unique part number per ECU across the fleet, so this - # is not important for identification, just a sanity check. - assert all(code.count(b"-") > 1 for code in codes), f"FW does not have part number: {fw} {codes}" - - def test_platform_codes_spot_check(self): - # Asserts basic platform code parsing behavior for a few cases - results = get_platform_codes([ - b"F152607140\x00\x00\x00\x00\x00\x00", - b"F152607171\x00\x00\x00\x00\x00\x00", - b"F152607110\x00\x00\x00\x00\x00\x00", - b"F152607180\x00\x00\x00\x00\x00\x00", - ]) - assert results == {b"F1526-07-1": {b"10", b"40", b"71", b"80"}} - - results = get_platform_codes([ - b"\x028646F4104100\x00\x00\x00\x008646G5301200\x00\x00\x00\x00", - b"\x028646F4104100\x00\x00\x00\x008646G3304000\x00\x00\x00\x00", - ]) - assert results == {b"8646F-41-04": {b"100"}} - - # Short version has no part number - results = get_platform_codes([ - b"\x0235870000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00", - b"\x0235883000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00", - ]) - assert results == {b"58-70": {b"000"}, b"58-83": {b"000"}} - - results = get_platform_codes([ - b"F152607110\x00\x00\x00\x00\x00\x00", - b"F152607140\x00\x00\x00\x00\x00\x00", - b"\x028646F4104100\x00\x00\x00\x008646G5301200\x00\x00\x00\x00", - b"\x0235879000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00", - ]) - assert results == {b"F1526-07-1": {b"10", b"40"}, b"8646F-41-04": {b"100"}, b"58-79": {b"000"}} - - def test_fuzzy_excluded_platforms(self): - # Asserts a list of platforms that will not fuzzy fingerprint with platform codes due to them being shared. - platforms_with_shared_codes = set() - for platform, fw_by_addr in FW_VERSIONS.items(): - car_fw = [] - for ecu, fw_versions in fw_by_addr.items(): - ecu_name, addr, sub_addr = ecu - for fw in fw_versions: - car_fw.append({"ecu": ecu_name, "fwVersion": fw, "address": addr, - "subAddress": 0 if sub_addr is None else sub_addr}) - - CP = car.CarParams.new_message(carFw=car_fw) - matches = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(build_fw_dict(CP.carFw), CP.carVin, FW_VERSIONS) - if len(matches) == 1: - assert list(matches)[0] == platform - else: - # If a platform has multiple matches, add it and its matches - platforms_with_shared_codes |= {str(platform), *matches} - - assert platforms_with_shared_codes == FUZZY_EXCLUDED_PLATFORMS, (len(platforms_with_shared_codes), len(FW_VERSIONS)) diff --git a/selfdrive/car/volkswagen/tests/test_volkswagen.py b/selfdrive/car/volkswagen/tests/test_volkswagen.py deleted file mode 100644 index 00025781057324..00000000000000 --- a/selfdrive/car/volkswagen/tests/test_volkswagen.py +++ /dev/null @@ -1,60 +0,0 @@ -import random -import re - -from cereal import car -from openpilot.selfdrive.car.volkswagen.values import CAR, FW_QUERY_CONFIG, WMI -from openpilot.selfdrive.car.volkswagen.fingerprints import FW_VERSIONS - -Ecu = car.CarParams.Ecu - -CHASSIS_CODE_PATTERN = re.compile('[A-Z0-9]{2}') -# TODO: determine the unknown groups -SPARE_PART_FW_PATTERN = re.compile(b'\xf1\x87(?P[0-9][0-9A-Z]{2})(?P[0-9][0-9A-Z][0-9])(?P[0-9A-Z]{2}[0-9])([A-Z0-9]| )') - - -class TestVolkswagenPlatformConfigs: - def test_spare_part_fw_pattern(self, subtests): - # Relied on for determining if a FW is likely VW - for platform, ecus in FW_VERSIONS.items(): - with subtests.test(platform=platform.value): - for fws in ecus.values(): - for fw in fws: - assert SPARE_PART_FW_PATTERN.match(fw) is not None, f"Bad FW: {fw}" - - def test_chassis_codes(self, subtests): - for platform in CAR: - with subtests.test(platform=platform.value): - assert len(platform.config.wmis) > 0, "WMIs not set" - assert len(platform.config.chassis_codes) > 0, "Chassis codes not set" - assert all(CHASSIS_CODE_PATTERN.match(cc) for cc in \ - platform.config.chassis_codes), "Bad chassis codes" - - # No two platforms should share chassis codes - for comp in CAR: - if platform == comp: - continue - assert set() == platform.config.chassis_codes & comp.config.chassis_codes, \ - f"Shared chassis codes: {comp}" - - def test_custom_fuzzy_fingerprinting(self, subtests): - all_radar_fw = list({fw for ecus in FW_VERSIONS.values() for fw in ecus[Ecu.fwdRadar, 0x757, None]}) - - for platform in CAR: - with subtests.test(platform=platform.name): - for wmi in WMI: - for chassis_code in platform.config.chassis_codes | {"00"}: - vin = ["0"] * 17 - vin[0:3] = wmi - vin[6:8] = chassis_code - vin = "".join(vin) - - # Check a few FW cases - expected, unexpected - for radar_fw in random.sample(all_radar_fw, 5) + [b'\xf1\x875Q0907572G \xf1\x890571', b'\xf1\x877H9907572AA\xf1\x890396']: - should_match = ((wmi in platform.config.wmis and chassis_code in platform.config.chassis_codes) and - radar_fw in all_radar_fw) - - live_fws = {(0x757, None): [radar_fw]} - matches = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(live_fws, vin, FW_VERSIONS) - - expected_matches = {platform} if should_match else set() - assert expected_matches == matches, "Bad match" diff --git a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/Makefile b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/Makefile new file mode 100644 index 00000000000000..7520bcda10334b --- /dev/null +++ b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/Makefile @@ -0,0 +1,211 @@ +# +# Copyright (c) The acados authors. +# +# This file is part of acados. +# +# The 2-Clause BSD License +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# 1. Redistributions of source code must retain the above copyright notice, +# this list of conditions and the following disclaimer. +# +# 2. Redistributions in binary form must reproduce the above copyright notice, +# this list of conditions and the following disclaimer in the documentation +# and/or other materials provided with the distribution. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE.; +# + + + + + +# define sources and use make's implicit rules to generate object files (*.o) + +# model +MODEL_SRC= +MODEL_SRC+= lat_model/lat_expl_ode_fun.c +MODEL_SRC+= lat_model/lat_expl_vde_forw.c +MODEL_SRC+= lat_model/lat_expl_vde_adj.c +MODEL_OBJ := $(MODEL_SRC:.c=.o) + +# optimal control problem - mostly CasADi exports +OCP_SRC= +OCP_SRC+= lat_cost/lat_cost_y_0_fun.c +OCP_SRC+= lat_cost/lat_cost_y_0_fun_jac_ut_xt.c +OCP_SRC+= lat_cost/lat_cost_y_0_hess.c +OCP_SRC+= lat_cost/lat_cost_y_fun.c +OCP_SRC+= lat_cost/lat_cost_y_fun_jac_ut_xt.c +OCP_SRC+= lat_cost/lat_cost_y_hess.c +OCP_SRC+= lat_cost/lat_cost_y_e_fun.c +OCP_SRC+= lat_cost/lat_cost_y_e_fun_jac_ut_xt.c +OCP_SRC+= lat_cost/lat_cost_y_e_hess.c + +OCP_SRC+= acados_solver_lat.c +OCP_OBJ := $(OCP_SRC:.c=.o) + +# for sim solver +SIM_SRC= acados_sim_solver_lat.c +SIM_OBJ := $(SIM_SRC:.c=.o) + +# for target example +EX_SRC= main_lat.c +EX_OBJ := $(EX_SRC:.c=.o) +EX_EXE := $(EX_SRC:.c=) + +# for target example_sim +EX_SIM_SRC= main_sim_lat.c +EX_SIM_OBJ := $(EX_SIM_SRC:.c=.o) +EX_SIM_EXE := $(EX_SIM_SRC:.c=) + +# combine model, sim and ocp object files +OBJ= +OBJ+= $(MODEL_OBJ) +OBJ+= $(SIM_OBJ) +OBJ+= $(OCP_OBJ) + +EXTERNAL_DIR= +EXTERNAL_LIB= + +INCLUDE_PATH = /data/openpilot/third_party/acados/include +LIB_PATH = /data/openpilot/third_party/acados/lib + +# preprocessor flags for make's implicit rules +CPPFLAGS+= -I$(INCLUDE_PATH) +CPPFLAGS+= -I$(INCLUDE_PATH)/acados +CPPFLAGS+= -I$(INCLUDE_PATH)/blasfeo/include +CPPFLAGS+= -I$(INCLUDE_PATH)/hpipm/include + + +# define the c-compiler flags for make's implicit rules +CFLAGS = -fPIC -std=c99 -O2#-fno-diagnostics-show-line-numbers -g +# # Debugging +# CFLAGS += -g3 + +# linker flags +LDFLAGS+= -L$(LIB_PATH) + +# link to libraries +LDLIBS+= -lacados +LDLIBS+= -lhpipm +LDLIBS+= -lblasfeo +LDLIBS+= -lm +LDLIBS+= + +# libraries +LIBACADOS_SOLVER=libacados_solver_lat.so +LIBACADOS_OCP_SOLVER=libacados_ocp_solver_lat.so +LIBACADOS_SIM_SOLVER=lib$(SIM_SRC:.c=.so) + +# virtual targets +.PHONY : all clean + +#all: clean example_sim example shared_lib + +all: clean example_sim example +shared_lib: bundled_shared_lib ocp_shared_lib sim_shared_lib + +# some linker targets +example: $(EX_OBJ) $(OBJ) + $(CC) $^ -o $(EX_EXE) $(LDFLAGS) $(LDLIBS) + +example_sim: $(EX_SIM_OBJ) $(MODEL_OBJ) $(SIM_OBJ) + $(CC) $^ -o $(EX_SIM_EXE) $(LDFLAGS) $(LDLIBS) + +bundled_shared_lib: $(OBJ) + $(CC) -shared $^ -o $(LIBACADOS_SOLVER) $(LDFLAGS) $(LDLIBS) + +ocp_shared_lib: $(OCP_OBJ) $(MODEL_OBJ) + $(CC) -shared $^ -o $(LIBACADOS_OCP_SOLVER) $(LDFLAGS) $(LDLIBS) \ + -L$(EXTERNAL_DIR) -l$(EXTERNAL_LIB) + +sim_shared_lib: $(SIM_OBJ) $(MODEL_OBJ) + $(CC) -shared $^ -o $(LIBACADOS_SIM_SOLVER) $(LDFLAGS) $(LDLIBS) + + +# Cython targets +ocp_cython_c: ocp_shared_lib + cython \ + -o acados_ocp_solver_pyx.c \ + -I $(INCLUDE_PATH)/../interfaces/acados_template/acados_template \ + $(INCLUDE_PATH)/../interfaces/acados_template/acados_template/acados_ocp_solver_pyx.pyx \ + -I /data/openpilot/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code \ + +ocp_cython_o: ocp_cython_c + $(CC) $(ACADOS_FLAGS) -c -O2 \ + -fPIC \ + -o acados_ocp_solver_pyx.o \ + -I $(INCLUDE_PATH)/blasfeo/include/ \ + -I $(INCLUDE_PATH)/hpipm/include/ \ + -I $(INCLUDE_PATH) \ + -I /usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/core/include \ + -I /usr/local/pyenv/versions/3.11.4/include/python3.11 \ + acados_ocp_solver_pyx.c \ + +ocp_cython: ocp_cython_o + $(CC) $(ACADOS_FLAGS) -shared \ + -o acados_ocp_solver_pyx.so \ + -Wl,-rpath=$(LIB_PATH) \ + acados_ocp_solver_pyx.o \ + $(abspath .)/libacados_ocp_solver_lat.so \ + $(LDFLAGS) $(LDLIBS) + +# Sim Cython targets +sim_cython_c: sim_shared_lib + cython \ + -o acados_sim_solver_pyx.c \ + -I $(INCLUDE_PATH)/../interfaces/acados_template/acados_template \ + $(INCLUDE_PATH)/../interfaces/acados_template/acados_template/acados_sim_solver_pyx.pyx \ + -I /data/openpilot/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code \ + +sim_cython_o: sim_cython_c + $(CC) $(ACADOS_FLAGS) -c -O2 \ + -fPIC \ + -o acados_sim_solver_pyx.o \ + -I $(INCLUDE_PATH)/blasfeo/include/ \ + -I $(INCLUDE_PATH)/hpipm/include/ \ + -I $(INCLUDE_PATH) \ + -I /usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/core/include \ + -I /usr/local/pyenv/versions/3.11.4/include/python3.11 \ + acados_sim_solver_pyx.c \ + +sim_cython: sim_cython_o + $(CC) $(ACADOS_FLAGS) -shared \ + -o acados_sim_solver_pyx.so \ + -Wl,-rpath=$(LIB_PATH) \ + acados_sim_solver_pyx.o \ + $(abspath .)/libacados_sim_solver_lat.so \ + $(LDFLAGS) $(LDLIBS) + +clean: + $(RM) $(OBJ) $(EX_OBJ) $(EX_SIM_OBJ) + $(RM) $(LIBACADOS_SOLVER) $(LIBACADOS_OCP_SOLVER) $(LIBACADOS_SIM_SOLVER) + $(RM) $(EX_EXE) $(EX_SIM_EXE) + +clean_ocp_shared_lib: + $(RM) $(LIBACADOS_OCP_SOLVER) + $(RM) $(OCP_OBJ) + +clean_ocp_cython: + $(RM) libacados_ocp_solver_lat.so + $(RM) acados_solver_lat.o + $(RM) acados_ocp_solver_pyx.so + $(RM) acados_ocp_solver_pyx.o + +clean_sim_cython: + $(RM) libacados_sim_solver_lat.so + $(RM) acados_sim_solver_lat.o + $(RM) acados_sim_solver_pyx.so + $(RM) acados_sim_solver_pyx.o diff --git a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so new file mode 100644 index 00000000000000..6f6f3e8baf3b26 Binary files /dev/null and b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so differ diff --git a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_solver.pxd b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_solver.pxd new file mode 100644 index 00000000000000..208a515cc1d76d --- /dev/null +++ b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_solver.pxd @@ -0,0 +1,62 @@ +# +# Copyright (c) The acados authors. +# +# This file is part of acados. +# +# The 2-Clause BSD License +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# 1. Redistributions of source code must retain the above copyright notice, +# this list of conditions and the following disclaimer. +# +# 2. Redistributions in binary form must reproduce the above copyright notice, +# this list of conditions and the following disclaimer in the documentation +# and/or other materials provided with the distribution. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE.; +# + +cimport acados_solver_common + +cdef extern from "acados_solver_lat.h": + ctypedef struct nlp_solver_capsule "lat_solver_capsule": + pass + + nlp_solver_capsule * acados_create_capsule "lat_acados_create_capsule"() + int acados_free_capsule "lat_acados_free_capsule"(nlp_solver_capsule *capsule) + + int acados_create "lat_acados_create"(nlp_solver_capsule * capsule) + + int acados_create_with_discretization "lat_acados_create_with_discretization"(nlp_solver_capsule * capsule, int n_time_steps, double* new_time_steps) + int acados_update_time_steps "lat_acados_update_time_steps"(nlp_solver_capsule * capsule, int N, double* new_time_steps) + int acados_update_qp_solver_cond_N "lat_acados_update_qp_solver_cond_N"(nlp_solver_capsule * capsule, int qp_solver_cond_N) + + int acados_update_params "lat_acados_update_params"(nlp_solver_capsule * capsule, int stage, double *value, int np_) + int acados_update_params_sparse "lat_acados_update_params_sparse"(nlp_solver_capsule * capsule, int stage, int *idx, double *p, int n_update) + int acados_solve "lat_acados_solve"(nlp_solver_capsule * capsule) + int acados_reset "lat_acados_reset"(nlp_solver_capsule * capsule, int reset_qp_solver_mem) + int acados_free "lat_acados_free"(nlp_solver_capsule * capsule) + void acados_print_stats "lat_acados_print_stats"(nlp_solver_capsule * capsule) + + int acados_custom_update "lat_acados_custom_update"(nlp_solver_capsule* capsule, double * data, int data_len) + + acados_solver_common.ocp_nlp_in *acados_get_nlp_in "lat_acados_get_nlp_in"(nlp_solver_capsule * capsule) + acados_solver_common.ocp_nlp_out *acados_get_nlp_out "lat_acados_get_nlp_out"(nlp_solver_capsule * capsule) + acados_solver_common.ocp_nlp_out *acados_get_sens_out "lat_acados_get_sens_out"(nlp_solver_capsule * capsule) + acados_solver_common.ocp_nlp_solver *acados_get_nlp_solver "lat_acados_get_nlp_solver"(nlp_solver_capsule * capsule) + acados_solver_common.ocp_nlp_config *acados_get_nlp_config "lat_acados_get_nlp_config"(nlp_solver_capsule * capsule) + void *acados_get_nlp_opts "lat_acados_get_nlp_opts"(nlp_solver_capsule * capsule) + acados_solver_common.ocp_nlp_dims *acados_get_nlp_dims "lat_acados_get_nlp_dims"(nlp_solver_capsule * capsule) + acados_solver_common.ocp_nlp_plan *acados_get_nlp_plan "lat_acados_get_nlp_plan"(nlp_solver_capsule * capsule) diff --git a/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/libacados_ocp_solver_lat.so b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/libacados_ocp_solver_lat.so new file mode 100644 index 00000000000000..7ed2658ac29fb5 Binary files /dev/null and b/selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/libacados_ocp_solver_lat.so differ diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/Makefile b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/Makefile new file mode 100644 index 00000000000000..411a77be76824f --- /dev/null +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/Makefile @@ -0,0 +1,213 @@ +# +# Copyright (c) The acados authors. +# +# This file is part of acados. +# +# The 2-Clause BSD License +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# 1. Redistributions of source code must retain the above copyright notice, +# this list of conditions and the following disclaimer. +# +# 2. Redistributions in binary form must reproduce the above copyright notice, +# this list of conditions and the following disclaimer in the documentation +# and/or other materials provided with the distribution. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE.; +# + + + + + +# define sources and use make's implicit rules to generate object files (*.o) + +# model +MODEL_SRC= +MODEL_SRC+= long_model/long_expl_ode_fun.c +MODEL_SRC+= long_model/long_expl_vde_forw.c +MODEL_SRC+= long_model/long_expl_vde_adj.c +MODEL_OBJ := $(MODEL_SRC:.c=.o) + +# optimal control problem - mostly CasADi exports +OCP_SRC= +OCP_SRC+= long_constraints/long_constr_h_fun_jac_uxt_zt.c +OCP_SRC+= long_constraints/long_constr_h_fun.c +OCP_SRC+= long_cost/long_cost_y_0_fun.c +OCP_SRC+= long_cost/long_cost_y_0_fun_jac_ut_xt.c +OCP_SRC+= long_cost/long_cost_y_0_hess.c +OCP_SRC+= long_cost/long_cost_y_fun.c +OCP_SRC+= long_cost/long_cost_y_fun_jac_ut_xt.c +OCP_SRC+= long_cost/long_cost_y_hess.c +OCP_SRC+= long_cost/long_cost_y_e_fun.c +OCP_SRC+= long_cost/long_cost_y_e_fun_jac_ut_xt.c +OCP_SRC+= long_cost/long_cost_y_e_hess.c + +OCP_SRC+= acados_solver_long.c +OCP_OBJ := $(OCP_SRC:.c=.o) + +# for sim solver +SIM_SRC= acados_sim_solver_long.c +SIM_OBJ := $(SIM_SRC:.c=.o) + +# for target example +EX_SRC= main_long.c +EX_OBJ := $(EX_SRC:.c=.o) +EX_EXE := $(EX_SRC:.c=) + +# for target example_sim +EX_SIM_SRC= main_sim_long.c +EX_SIM_OBJ := $(EX_SIM_SRC:.c=.o) +EX_SIM_EXE := $(EX_SIM_SRC:.c=) + +# combine model, sim and ocp object files +OBJ= +OBJ+= $(MODEL_OBJ) +OBJ+= $(SIM_OBJ) +OBJ+= $(OCP_OBJ) + +EXTERNAL_DIR= +EXTERNAL_LIB= + +INCLUDE_PATH = /data/openpilot/third_party/acados/include +LIB_PATH = /data/openpilot/third_party/acados/lib + +# preprocessor flags for make's implicit rules +CPPFLAGS+= -I$(INCLUDE_PATH) +CPPFLAGS+= -I$(INCLUDE_PATH)/acados +CPPFLAGS+= -I$(INCLUDE_PATH)/blasfeo/include +CPPFLAGS+= -I$(INCLUDE_PATH)/hpipm/include + + +# define the c-compiler flags for make's implicit rules +CFLAGS = -fPIC -std=c99 -O2#-fno-diagnostics-show-line-numbers -g +# # Debugging +# CFLAGS += -g3 + +# linker flags +LDFLAGS+= -L$(LIB_PATH) + +# link to libraries +LDLIBS+= -lacados +LDLIBS+= -lhpipm +LDLIBS+= -lblasfeo +LDLIBS+= -lm +LDLIBS+= + +# libraries +LIBACADOS_SOLVER=libacados_solver_long.so +LIBACADOS_OCP_SOLVER=libacados_ocp_solver_long.so +LIBACADOS_SIM_SOLVER=lib$(SIM_SRC:.c=.so) + +# virtual targets +.PHONY : all clean + +#all: clean example_sim example shared_lib + +all: clean example_sim example +shared_lib: bundled_shared_lib ocp_shared_lib sim_shared_lib + +# some linker targets +example: $(EX_OBJ) $(OBJ) + $(CC) $^ -o $(EX_EXE) $(LDFLAGS) $(LDLIBS) + +example_sim: $(EX_SIM_OBJ) $(MODEL_OBJ) $(SIM_OBJ) + $(CC) $^ -o $(EX_SIM_EXE) $(LDFLAGS) $(LDLIBS) + +bundled_shared_lib: $(OBJ) + $(CC) -shared $^ -o $(LIBACADOS_SOLVER) $(LDFLAGS) $(LDLIBS) + +ocp_shared_lib: $(OCP_OBJ) $(MODEL_OBJ) + $(CC) -shared $^ -o $(LIBACADOS_OCP_SOLVER) $(LDFLAGS) $(LDLIBS) \ + -L$(EXTERNAL_DIR) -l$(EXTERNAL_LIB) + +sim_shared_lib: $(SIM_OBJ) $(MODEL_OBJ) + $(CC) -shared $^ -o $(LIBACADOS_SIM_SOLVER) $(LDFLAGS) $(LDLIBS) + + +# Cython targets +ocp_cython_c: ocp_shared_lib + cython \ + -o acados_ocp_solver_pyx.c \ + -I $(INCLUDE_PATH)/../interfaces/acados_template/acados_template \ + $(INCLUDE_PATH)/../interfaces/acados_template/acados_template/acados_ocp_solver_pyx.pyx \ + -I /data/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code \ + +ocp_cython_o: ocp_cython_c + $(CC) $(ACADOS_FLAGS) -c -O2 \ + -fPIC \ + -o acados_ocp_solver_pyx.o \ + -I $(INCLUDE_PATH)/blasfeo/include/ \ + -I $(INCLUDE_PATH)/hpipm/include/ \ + -I $(INCLUDE_PATH) \ + -I /usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/core/include \ + -I /usr/local/pyenv/versions/3.11.4/include/python3.11 \ + acados_ocp_solver_pyx.c \ + +ocp_cython: ocp_cython_o + $(CC) $(ACADOS_FLAGS) -shared \ + -o acados_ocp_solver_pyx.so \ + -Wl,-rpath=$(LIB_PATH) \ + acados_ocp_solver_pyx.o \ + $(abspath .)/libacados_ocp_solver_long.so \ + $(LDFLAGS) $(LDLIBS) + +# Sim Cython targets +sim_cython_c: sim_shared_lib + cython \ + -o acados_sim_solver_pyx.c \ + -I $(INCLUDE_PATH)/../interfaces/acados_template/acados_template \ + $(INCLUDE_PATH)/../interfaces/acados_template/acados_template/acados_sim_solver_pyx.pyx \ + -I /data/openpilot/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code \ + +sim_cython_o: sim_cython_c + $(CC) $(ACADOS_FLAGS) -c -O2 \ + -fPIC \ + -o acados_sim_solver_pyx.o \ + -I $(INCLUDE_PATH)/blasfeo/include/ \ + -I $(INCLUDE_PATH)/hpipm/include/ \ + -I $(INCLUDE_PATH) \ + -I /usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/core/include \ + -I /usr/local/pyenv/versions/3.11.4/include/python3.11 \ + acados_sim_solver_pyx.c \ + +sim_cython: sim_cython_o + $(CC) $(ACADOS_FLAGS) -shared \ + -o acados_sim_solver_pyx.so \ + -Wl,-rpath=$(LIB_PATH) \ + acados_sim_solver_pyx.o \ + $(abspath .)/libacados_sim_solver_long.so \ + $(LDFLAGS) $(LDLIBS) + +clean: + $(RM) $(OBJ) $(EX_OBJ) $(EX_SIM_OBJ) + $(RM) $(LIBACADOS_SOLVER) $(LIBACADOS_OCP_SOLVER) $(LIBACADOS_SIM_SOLVER) + $(RM) $(EX_EXE) $(EX_SIM_EXE) + +clean_ocp_shared_lib: + $(RM) $(LIBACADOS_OCP_SOLVER) + $(RM) $(OCP_OBJ) + +clean_ocp_cython: + $(RM) libacados_ocp_solver_long.so + $(RM) acados_solver_long.o + $(RM) acados_ocp_solver_pyx.so + $(RM) acados_ocp_solver_pyx.o + +clean_sim_cython: + $(RM) libacados_sim_solver_long.so + $(RM) acados_sim_solver_long.o + $(RM) acados_sim_solver_pyx.so + $(RM) acados_sim_solver_pyx.o diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_ocp_solver_pyx.c b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_ocp_solver_pyx.c new file mode 100644 index 00000000000000..82838e86042aca --- /dev/null +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_ocp_solver_pyx.c @@ -0,0 +1,44066 @@ +/* Generated by Cython 3.0.8 */ + +#ifndef PY_SSIZE_T_CLEAN +#define PY_SSIZE_T_CLEAN +#endif /* PY_SSIZE_T_CLEAN */ +#if defined(CYTHON_LIMITED_API) && 0 + #ifndef Py_LIMITED_API + #if CYTHON_LIMITED_API+0 > 0x03030000 + #define Py_LIMITED_API CYTHON_LIMITED_API + #else + #define Py_LIMITED_API 0x03030000 + #endif + #endif +#endif + +#include "Python.h" +#ifndef Py_PYTHON_H + #error Python headers needed to compile C extensions, please install development version of Python. +#elif PY_VERSION_HEX < 0x02070000 || (0x03000000 <= PY_VERSION_HEX && PY_VERSION_HEX < 0x03030000) + #error Cython requires Python 2.7+ or Python 3.3+. +#else +#if defined(CYTHON_LIMITED_API) && CYTHON_LIMITED_API +#define __PYX_EXTRA_ABI_MODULE_NAME "limited" +#else +#define __PYX_EXTRA_ABI_MODULE_NAME "" +#endif +#define CYTHON_ABI "3_0_8" __PYX_EXTRA_ABI_MODULE_NAME +#define __PYX_ABI_MODULE_NAME "_cython_" CYTHON_ABI +#define __PYX_TYPE_MODULE_PREFIX __PYX_ABI_MODULE_NAME "." +#define CYTHON_HEX_VERSION 0x030008F0 +#define CYTHON_FUTURE_DIVISION 1 +#include +#ifndef offsetof + #define offsetof(type, member) ( (size_t) & ((type*)0) -> member ) +#endif +#if !defined(_WIN32) && !defined(WIN32) && !defined(MS_WINDOWS) + #ifndef __stdcall + #define __stdcall + #endif + #ifndef __cdecl + #define __cdecl + #endif + #ifndef __fastcall + #define __fastcall + #endif +#endif +#ifndef DL_IMPORT + #define DL_IMPORT(t) t +#endif +#ifndef DL_EXPORT + #define DL_EXPORT(t) t +#endif +#define __PYX_COMMA , +#ifndef HAVE_LONG_LONG + #define HAVE_LONG_LONG +#endif +#ifndef PY_LONG_LONG + #define PY_LONG_LONG LONG_LONG +#endif +#ifndef Py_HUGE_VAL + #define Py_HUGE_VAL HUGE_VAL +#endif +#define __PYX_LIMITED_VERSION_HEX PY_VERSION_HEX +#if defined(GRAALVM_PYTHON) + /* For very preliminary testing purposes. Most variables are set the same as PyPy. + The existence of this section does not imply that anything works or is even tested */ + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 1 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #undef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #undef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 1 + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS (PY_MAJOR_VERSION >= 3) + #endif + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(PYPY_VERSION) + #define CYTHON_COMPILING_IN_PYPY 1 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #ifndef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #endif + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #undef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 1 + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS (PY_MAJOR_VERSION >= 3) + #endif + #if PY_VERSION_HEX < 0x03090000 + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #elif !defined(CYTHON_PEP489_MULTI_PHASE_INIT) + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE (PY_VERSION_HEX >= 0x030400a1 && PYPY_VERSION_NUM >= 0x07030C00) + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(CYTHON_LIMITED_API) + #ifdef Py_LIMITED_API + #undef __PYX_LIMITED_VERSION_HEX + #define __PYX_LIMITED_VERSION_HEX Py_LIMITED_API + #endif + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 1 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_CLINE_IN_TRACEBACK + #define CYTHON_CLINE_IN_TRACEBACK 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #undef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 1 + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #ifndef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #endif + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS 1 + #endif + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 1 + #ifndef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #endif + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(Py_GIL_DISABLED) || defined(Py_NOGIL) + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 1 + #ifndef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 1 + #endif + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #ifndef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #ifndef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 1 + #endif + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #ifndef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 1 + #endif + #ifndef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 1 + #endif + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #ifndef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 1 + #endif + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 +#else + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 1 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #ifndef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 1 + #endif + #ifndef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #endif + #ifndef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 1 + #endif + #if PY_MAJOR_VERSION < 3 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #ifndef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 1 + #endif + #ifndef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 1 + #endif + #ifndef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 1 + #endif + #if PY_VERSION_HEX < 0x030300F0 || PY_VERSION_HEX >= 0x030B00A2 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #elif !defined(CYTHON_USE_UNICODE_WRITER) + #define CYTHON_USE_UNICODE_WRITER 1 + #endif + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #ifndef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 1 + #endif + #ifndef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 1 + #endif + #ifndef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 1 + #endif + #ifndef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL (PY_MAJOR_VERSION < 3 || PY_VERSION_HEX >= 0x03060000 && PY_VERSION_HEX < 0x030C00A6) + #endif + #ifndef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL (PY_VERSION_HEX >= 0x030700A1) + #endif + #ifndef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 1 + #endif + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS 1 + #endif + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #elif !defined(CYTHON_PEP489_MULTI_PHASE_INIT) + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #ifndef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #endif + #if PY_VERSION_HEX < 0x030400a1 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #elif !defined(CYTHON_USE_TP_FINALIZE) + #define CYTHON_USE_TP_FINALIZE 1 + #endif + #if PY_VERSION_HEX < 0x030600B1 + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #elif !defined(CYTHON_USE_DICT_VERSIONS) + #define CYTHON_USE_DICT_VERSIONS (PY_VERSION_HEX < 0x030C00A5) + #endif + #if PY_VERSION_HEX < 0x030700A3 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #elif !defined(CYTHON_USE_EXC_INFO_STACK) + #define CYTHON_USE_EXC_INFO_STACK 1 + #endif + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 1 + #endif +#endif +#if !defined(CYTHON_FAST_PYCCALL) +#define CYTHON_FAST_PYCCALL (CYTHON_FAST_PYCALL && PY_VERSION_HEX >= 0x030600B1) +#endif +#if !defined(CYTHON_VECTORCALL) +#define CYTHON_VECTORCALL (CYTHON_FAST_PYCCALL && PY_VERSION_HEX >= 0x030800B1) +#endif +#define CYTHON_BACKPORT_VECTORCALL (CYTHON_METH_FASTCALL && PY_VERSION_HEX < 0x030800B1) +#if CYTHON_USE_PYLONG_INTERNALS + #if PY_MAJOR_VERSION < 3 + #include "longintrepr.h" + #endif + #undef SHIFT + #undef BASE + #undef MASK + #ifdef SIZEOF_VOID_P + enum { __pyx_check_sizeof_voidp = 1 / (int)(SIZEOF_VOID_P == sizeof(void*)) }; + #endif +#endif +#ifndef __has_attribute + #define __has_attribute(x) 0 +#endif +#ifndef __has_cpp_attribute + #define __has_cpp_attribute(x) 0 +#endif +#ifndef CYTHON_RESTRICT + #if defined(__GNUC__) + #define CYTHON_RESTRICT __restrict__ + #elif defined(_MSC_VER) && _MSC_VER >= 1400 + #define CYTHON_RESTRICT __restrict + #elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define CYTHON_RESTRICT restrict + #else + #define CYTHON_RESTRICT + #endif +#endif +#ifndef CYTHON_UNUSED + #if defined(__cplusplus) + /* for clang __has_cpp_attribute(maybe_unused) is true even before C++17 + * but leads to warnings with -pedantic, since it is a C++17 feature */ + #if ((defined(_MSVC_LANG) && _MSVC_LANG >= 201703L) || __cplusplus >= 201703L) + #if __has_cpp_attribute(maybe_unused) + #define CYTHON_UNUSED [[maybe_unused]] + #endif + #endif + #endif +#endif +#ifndef CYTHON_UNUSED +# if defined(__GNUC__) +# if !(defined(__cplusplus)) || (__GNUC__ > 3 || (__GNUC__ == 3 && __GNUC_MINOR__ >= 4)) +# define CYTHON_UNUSED __attribute__ ((__unused__)) +# else +# define CYTHON_UNUSED +# endif +# elif defined(__ICC) || (defined(__INTEL_COMPILER) && !defined(_MSC_VER)) +# define CYTHON_UNUSED __attribute__ ((__unused__)) +# else +# define CYTHON_UNUSED +# endif +#endif +#ifndef CYTHON_UNUSED_VAR +# if defined(__cplusplus) + template void CYTHON_UNUSED_VAR( const T& ) { } +# else +# define CYTHON_UNUSED_VAR(x) (void)(x) +# endif +#endif +#ifndef CYTHON_MAYBE_UNUSED_VAR + #define CYTHON_MAYBE_UNUSED_VAR(x) CYTHON_UNUSED_VAR(x) +#endif +#ifndef CYTHON_NCP_UNUSED +# if CYTHON_COMPILING_IN_CPYTHON +# define CYTHON_NCP_UNUSED +# else +# define CYTHON_NCP_UNUSED CYTHON_UNUSED +# endif +#endif +#ifndef CYTHON_USE_CPP_STD_MOVE + #if defined(__cplusplus) && (\ + __cplusplus >= 201103L || (defined(_MSC_VER) && _MSC_VER >= 1600)) + #define CYTHON_USE_CPP_STD_MOVE 1 + #else + #define CYTHON_USE_CPP_STD_MOVE 0 + #endif +#endif +#define __Pyx_void_to_None(void_result) ((void)(void_result), Py_INCREF(Py_None), Py_None) +#ifdef _MSC_VER + #ifndef _MSC_STDINT_H_ + #if _MSC_VER < 1300 + typedef unsigned char uint8_t; + typedef unsigned short uint16_t; + typedef unsigned int uint32_t; + #else + typedef unsigned __int8 uint8_t; + typedef unsigned __int16 uint16_t; + typedef unsigned __int32 uint32_t; + #endif + #endif + #if _MSC_VER < 1300 + #ifdef _WIN64 + typedef unsigned long long __pyx_uintptr_t; + #else + typedef unsigned int __pyx_uintptr_t; + #endif + #else + #ifdef _WIN64 + typedef unsigned __int64 __pyx_uintptr_t; + #else + typedef unsigned __int32 __pyx_uintptr_t; + #endif + #endif +#else + #include + typedef uintptr_t __pyx_uintptr_t; +#endif +#ifndef CYTHON_FALLTHROUGH + #if defined(__cplusplus) + /* for clang __has_cpp_attribute(fallthrough) is true even before C++17 + * but leads to warnings with -pedantic, since it is a C++17 feature */ + #if ((defined(_MSVC_LANG) && _MSVC_LANG >= 201703L) || __cplusplus >= 201703L) + #if __has_cpp_attribute(fallthrough) + #define CYTHON_FALLTHROUGH [[fallthrough]] + #endif + #endif + #ifndef CYTHON_FALLTHROUGH + #if __has_cpp_attribute(clang::fallthrough) + #define CYTHON_FALLTHROUGH [[clang::fallthrough]] + #elif __has_cpp_attribute(gnu::fallthrough) + #define CYTHON_FALLTHROUGH [[gnu::fallthrough]] + #endif + #endif + #endif + #ifndef CYTHON_FALLTHROUGH + #if __has_attribute(fallthrough) + #define CYTHON_FALLTHROUGH __attribute__((fallthrough)) + #else + #define CYTHON_FALLTHROUGH + #endif + #endif + #if defined(__clang__) && defined(__apple_build_version__) + #if __apple_build_version__ < 7000000 + #undef CYTHON_FALLTHROUGH + #define CYTHON_FALLTHROUGH + #endif + #endif +#endif +#ifdef __cplusplus + template + struct __PYX_IS_UNSIGNED_IMPL {static const bool value = T(0) < T(-1);}; + #define __PYX_IS_UNSIGNED(type) (__PYX_IS_UNSIGNED_IMPL::value) +#else + #define __PYX_IS_UNSIGNED(type) (((type)-1) > 0) +#endif +#if CYTHON_COMPILING_IN_PYPY == 1 + #define __PYX_NEED_TP_PRINT_SLOT (PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x030A0000) +#else + #define __PYX_NEED_TP_PRINT_SLOT (PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000) +#endif +#define __PYX_REINTERPRET_FUNCION(func_pointer, other_pointer) ((func_pointer)(void(*)(void))(other_pointer)) + +#ifndef CYTHON_INLINE + #if defined(__clang__) + #define CYTHON_INLINE __inline__ __attribute__ ((__unused__)) + #elif defined(__GNUC__) + #define CYTHON_INLINE __inline__ + #elif defined(_MSC_VER) + #define CYTHON_INLINE __inline + #elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define CYTHON_INLINE inline + #else + #define CYTHON_INLINE + #endif +#endif + +#define __PYX_BUILD_PY_SSIZE_T "n" +#define CYTHON_FORMAT_SSIZE_T "z" +#if PY_MAJOR_VERSION < 3 + #define __Pyx_BUILTIN_MODULE_NAME "__builtin__" + #define __Pyx_DefaultClassType PyClass_Type + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_New(a+k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#else + #define __Pyx_BUILTIN_MODULE_NAME "builtins" + #define __Pyx_DefaultClassType PyType_Type +#if CYTHON_COMPILING_IN_LIMITED_API + static CYTHON_INLINE PyObject* __Pyx_PyCode_New(int a, int p, int k, int l, int s, int f, + PyObject *code, PyObject *c, PyObject* n, PyObject *v, + PyObject *fv, PyObject *cell, PyObject* fn, + PyObject *name, int fline, PyObject *lnos) { + PyObject *exception_table = NULL; + PyObject *types_module=NULL, *code_type=NULL, *result=NULL; + #if __PYX_LIMITED_VERSION_HEX < 0x030B0000 + PyObject *version_info; + PyObject *py_minor_version = NULL; + #endif + long minor_version = 0; + PyObject *type, *value, *traceback; + PyErr_Fetch(&type, &value, &traceback); + #if __PYX_LIMITED_VERSION_HEX >= 0x030B0000 + minor_version = 11; + #else + if (!(version_info = PySys_GetObject("version_info"))) goto end; + if (!(py_minor_version = PySequence_GetItem(version_info, 1))) goto end; + minor_version = PyLong_AsLong(py_minor_version); + Py_DECREF(py_minor_version); + if (minor_version == -1 && PyErr_Occurred()) goto end; + #endif + if (!(types_module = PyImport_ImportModule("types"))) goto end; + if (!(code_type = PyObject_GetAttrString(types_module, "CodeType"))) goto end; + if (minor_version <= 7) { + (void)p; + result = PyObject_CallFunction(code_type, "iiiiiOOOOOOiOO", a, k, l, s, f, code, + c, n, v, fn, name, fline, lnos, fv, cell); + } else if (minor_version <= 10) { + result = PyObject_CallFunction(code_type, "iiiiiiOOOOOOiOO", a,p, k, l, s, f, code, + c, n, v, fn, name, fline, lnos, fv, cell); + } else { + if (!(exception_table = PyBytes_FromStringAndSize(NULL, 0))) goto end; + result = PyObject_CallFunction(code_type, "iiiiiiOOOOOOOiOO", a,p, k, l, s, f, code, + c, n, v, fn, name, name, fline, lnos, exception_table, fv, cell); + } + end: + Py_XDECREF(code_type); + Py_XDECREF(exception_table); + Py_XDECREF(types_module); + if (type) { + PyErr_Restore(type, value, traceback); + } + return result; + } + #ifndef CO_OPTIMIZED + #define CO_OPTIMIZED 0x0001 + #endif + #ifndef CO_NEWLOCALS + #define CO_NEWLOCALS 0x0002 + #endif + #ifndef CO_VARARGS + #define CO_VARARGS 0x0004 + #endif + #ifndef CO_VARKEYWORDS + #define CO_VARKEYWORDS 0x0008 + #endif + #ifndef CO_ASYNC_GENERATOR + #define CO_ASYNC_GENERATOR 0x0200 + #endif + #ifndef CO_GENERATOR + #define CO_GENERATOR 0x0020 + #endif + #ifndef CO_COROUTINE + #define CO_COROUTINE 0x0080 + #endif +#elif PY_VERSION_HEX >= 0x030B0000 + static CYTHON_INLINE PyCodeObject* __Pyx_PyCode_New(int a, int p, int k, int l, int s, int f, + PyObject *code, PyObject *c, PyObject* n, PyObject *v, + PyObject *fv, PyObject *cell, PyObject* fn, + PyObject *name, int fline, PyObject *lnos) { + PyCodeObject *result; + PyObject *empty_bytes = PyBytes_FromStringAndSize("", 0); + if (!empty_bytes) return NULL; + result = + #if PY_VERSION_HEX >= 0x030C0000 + PyUnstable_Code_NewWithPosOnlyArgs + #else + PyCode_NewWithPosOnlyArgs + #endif + (a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, name, fline, lnos, empty_bytes); + Py_DECREF(empty_bytes); + return result; + } +#elif PY_VERSION_HEX >= 0x030800B2 && !CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_NewWithPosOnlyArgs(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#else + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#endif +#endif +#if PY_VERSION_HEX >= 0x030900A4 || defined(Py_IS_TYPE) + #define __Pyx_IS_TYPE(ob, type) Py_IS_TYPE(ob, type) +#else + #define __Pyx_IS_TYPE(ob, type) (((const PyObject*)ob)->ob_type == (type)) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_Is) + #define __Pyx_Py_Is(x, y) Py_Is(x, y) +#else + #define __Pyx_Py_Is(x, y) ((x) == (y)) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsNone) + #define __Pyx_Py_IsNone(ob) Py_IsNone(ob) +#else + #define __Pyx_Py_IsNone(ob) __Pyx_Py_Is((ob), Py_None) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsTrue) + #define __Pyx_Py_IsTrue(ob) Py_IsTrue(ob) +#else + #define __Pyx_Py_IsTrue(ob) __Pyx_Py_Is((ob), Py_True) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsFalse) + #define __Pyx_Py_IsFalse(ob) Py_IsFalse(ob) +#else + #define __Pyx_Py_IsFalse(ob) __Pyx_Py_Is((ob), Py_False) +#endif +#define __Pyx_NoneAsNull(obj) (__Pyx_Py_IsNone(obj) ? NULL : (obj)) +#if PY_VERSION_HEX >= 0x030900F0 && !CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyObject_GC_IsFinalized(o) PyObject_GC_IsFinalized(o) +#else + #define __Pyx_PyObject_GC_IsFinalized(o) _PyGC_FINALIZED(o) +#endif +#ifndef CO_COROUTINE + #define CO_COROUTINE 0x80 +#endif +#ifndef CO_ASYNC_GENERATOR + #define CO_ASYNC_GENERATOR 0x200 +#endif +#ifndef Py_TPFLAGS_CHECKTYPES + #define Py_TPFLAGS_CHECKTYPES 0 +#endif +#ifndef Py_TPFLAGS_HAVE_INDEX + #define Py_TPFLAGS_HAVE_INDEX 0 +#endif +#ifndef Py_TPFLAGS_HAVE_NEWBUFFER + #define Py_TPFLAGS_HAVE_NEWBUFFER 0 +#endif +#ifndef Py_TPFLAGS_HAVE_FINALIZE + #define Py_TPFLAGS_HAVE_FINALIZE 0 +#endif +#ifndef Py_TPFLAGS_SEQUENCE + #define Py_TPFLAGS_SEQUENCE 0 +#endif +#ifndef Py_TPFLAGS_MAPPING + #define Py_TPFLAGS_MAPPING 0 +#endif +#ifndef METH_STACKLESS + #define METH_STACKLESS 0 +#endif +#if PY_VERSION_HEX <= 0x030700A3 || !defined(METH_FASTCALL) + #ifndef METH_FASTCALL + #define METH_FASTCALL 0x80 + #endif + typedef PyObject *(*__Pyx_PyCFunctionFast) (PyObject *self, PyObject *const *args, Py_ssize_t nargs); + typedef PyObject *(*__Pyx_PyCFunctionFastWithKeywords) (PyObject *self, PyObject *const *args, + Py_ssize_t nargs, PyObject *kwnames); +#else + #define __Pyx_PyCFunctionFast _PyCFunctionFast + #define __Pyx_PyCFunctionFastWithKeywords _PyCFunctionFastWithKeywords +#endif +#if CYTHON_METH_FASTCALL + #define __Pyx_METH_FASTCALL METH_FASTCALL + #define __Pyx_PyCFunction_FastCall __Pyx_PyCFunctionFast + #define __Pyx_PyCFunction_FastCallWithKeywords __Pyx_PyCFunctionFastWithKeywords +#else + #define __Pyx_METH_FASTCALL METH_VARARGS + #define __Pyx_PyCFunction_FastCall PyCFunction + #define __Pyx_PyCFunction_FastCallWithKeywords PyCFunctionWithKeywords +#endif +#if CYTHON_VECTORCALL + #define __pyx_vectorcallfunc vectorcallfunc + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET PY_VECTORCALL_ARGUMENTS_OFFSET + #define __Pyx_PyVectorcall_NARGS(n) PyVectorcall_NARGS((size_t)(n)) +#elif CYTHON_BACKPORT_VECTORCALL + typedef PyObject *(*__pyx_vectorcallfunc)(PyObject *callable, PyObject *const *args, + size_t nargsf, PyObject *kwnames); + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET ((size_t)1 << (8 * sizeof(size_t) - 1)) + #define __Pyx_PyVectorcall_NARGS(n) ((Py_ssize_t)(((size_t)(n)) & ~__Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET)) +#else + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET 0 + #define __Pyx_PyVectorcall_NARGS(n) ((Py_ssize_t)(n)) +#endif +#if PY_MAJOR_VERSION >= 0x030900B1 +#define __Pyx_PyCFunction_CheckExact(func) PyCFunction_CheckExact(func) +#else +#define __Pyx_PyCFunction_CheckExact(func) PyCFunction_Check(func) +#endif +#define __Pyx_CyOrPyCFunction_Check(func) PyCFunction_Check(func) +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_CyOrPyCFunction_GET_FUNCTION(func) (((PyCFunctionObject*)(func))->m_ml->ml_meth) +#elif !CYTHON_COMPILING_IN_LIMITED_API +#define __Pyx_CyOrPyCFunction_GET_FUNCTION(func) PyCFunction_GET_FUNCTION(func) +#endif +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_CyOrPyCFunction_GET_FLAGS(func) (((PyCFunctionObject*)(func))->m_ml->ml_flags) +static CYTHON_INLINE PyObject* __Pyx_CyOrPyCFunction_GET_SELF(PyObject *func) { + return (__Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_STATIC) ? NULL : ((PyCFunctionObject*)func)->m_self; +} +#endif +static CYTHON_INLINE int __Pyx__IsSameCFunction(PyObject *func, void *cfunc) { +#if CYTHON_COMPILING_IN_LIMITED_API + return PyCFunction_Check(func) && PyCFunction_GetFunction(func) == (PyCFunction) cfunc; +#else + return PyCFunction_Check(func) && PyCFunction_GET_FUNCTION(func) == (PyCFunction) cfunc; +#endif +} +#define __Pyx_IsSameCFunction(func, cfunc) __Pyx__IsSameCFunction(func, cfunc) +#if __PYX_LIMITED_VERSION_HEX < 0x030900B1 + #define __Pyx_PyType_FromModuleAndSpec(m, s, b) ((void)m, PyType_FromSpecWithBases(s, b)) + typedef PyObject *(*__Pyx_PyCMethod)(PyObject *, PyTypeObject *, PyObject *const *, size_t, PyObject *); +#else + #define __Pyx_PyType_FromModuleAndSpec(m, s, b) PyType_FromModuleAndSpec(m, s, b) + #define __Pyx_PyCMethod PyCMethod +#endif +#ifndef METH_METHOD + #define METH_METHOD 0x200 +#endif +#if CYTHON_COMPILING_IN_PYPY && !defined(PyObject_Malloc) + #define PyObject_Malloc(s) PyMem_Malloc(s) + #define PyObject_Free(p) PyMem_Free(p) + #define PyObject_Realloc(p) PyMem_Realloc(p) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0) + #define __Pyx_PyFrame_SetLineNumber(frame, lineno) +#else + #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0) + #define __Pyx_PyFrame_SetLineNumber(frame, lineno) (frame)->f_lineno = (lineno) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyThreadState_Current PyThreadState_Get() +#elif !CYTHON_FAST_THREAD_STATE + #define __Pyx_PyThreadState_Current PyThreadState_GET() +#elif PY_VERSION_HEX >= 0x030d00A1 + #define __Pyx_PyThreadState_Current PyThreadState_GetUnchecked() +#elif PY_VERSION_HEX >= 0x03060000 + #define __Pyx_PyThreadState_Current _PyThreadState_UncheckedGet() +#elif PY_VERSION_HEX >= 0x03000000 + #define __Pyx_PyThreadState_Current PyThreadState_GET() +#else + #define __Pyx_PyThreadState_Current _PyThreadState_Current +#endif +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE void *__Pyx_PyModule_GetState(PyObject *op) +{ + void *result; + result = PyModule_GetState(op); + if (!result) + Py_FatalError("Couldn't find the module state"); + return result; +} +#endif +#define __Pyx_PyObject_GetSlot(obj, name, func_ctype) __Pyx_PyType_GetSlot(Py_TYPE(obj), name, func_ctype) +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyType_GetSlot(type, name, func_ctype) ((func_ctype) PyType_GetSlot((type), Py_##name)) +#else + #define __Pyx_PyType_GetSlot(type, name, func_ctype) ((type)->name) +#endif +#if PY_VERSION_HEX < 0x030700A2 && !defined(PyThread_tss_create) && !defined(Py_tss_NEEDS_INIT) +#include "pythread.h" +#define Py_tss_NEEDS_INIT 0 +typedef int Py_tss_t; +static CYTHON_INLINE int PyThread_tss_create(Py_tss_t *key) { + *key = PyThread_create_key(); + return 0; +} +static CYTHON_INLINE Py_tss_t * PyThread_tss_alloc(void) { + Py_tss_t *key = (Py_tss_t *)PyObject_Malloc(sizeof(Py_tss_t)); + *key = Py_tss_NEEDS_INIT; + return key; +} +static CYTHON_INLINE void PyThread_tss_free(Py_tss_t *key) { + PyObject_Free(key); +} +static CYTHON_INLINE int PyThread_tss_is_created(Py_tss_t *key) { + return *key != Py_tss_NEEDS_INIT; +} +static CYTHON_INLINE void PyThread_tss_delete(Py_tss_t *key) { + PyThread_delete_key(*key); + *key = Py_tss_NEEDS_INIT; +} +static CYTHON_INLINE int PyThread_tss_set(Py_tss_t *key, void *value) { + return PyThread_set_key_value(*key, value); +} +static CYTHON_INLINE void * PyThread_tss_get(Py_tss_t *key) { + return PyThread_get_key_value(*key); +} +#endif +#if PY_MAJOR_VERSION < 3 + #if CYTHON_COMPILING_IN_PYPY + #if PYPY_VERSION_NUM < 0x07030600 + #if defined(__cplusplus) && __cplusplus >= 201402L + [[deprecated("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6")]] + #elif defined(__GNUC__) || defined(__clang__) + __attribute__ ((__deprecated__("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6"))) + #elif defined(_MSC_VER) + __declspec(deprecated("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6")) + #endif + static CYTHON_INLINE int PyGILState_Check(void) { + return 0; + } + #else // PYPY_VERSION_NUM < 0x07030600 + #endif // PYPY_VERSION_NUM < 0x07030600 + #else + static CYTHON_INLINE int PyGILState_Check(void) { + PyThreadState * tstate = _PyThreadState_Current; + return tstate && (tstate == PyGILState_GetThisThreadState()); + } + #endif +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030d0000 || defined(_PyDict_NewPresized) +#define __Pyx_PyDict_NewPresized(n) ((n <= 8) ? PyDict_New() : _PyDict_NewPresized(n)) +#else +#define __Pyx_PyDict_NewPresized(n) PyDict_New() +#endif +#if PY_MAJOR_VERSION >= 3 || CYTHON_FUTURE_DIVISION + #define __Pyx_PyNumber_Divide(x,y) PyNumber_TrueDivide(x,y) + #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceTrueDivide(x,y) +#else + #define __Pyx_PyNumber_Divide(x,y) PyNumber_Divide(x,y) + #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceDivide(x,y) +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX > 0x030600B4 && PY_VERSION_HEX < 0x030d0000 && CYTHON_USE_UNICODE_INTERNALS +#define __Pyx_PyDict_GetItemStrWithError(dict, name) _PyDict_GetItem_KnownHash(dict, name, ((PyASCIIObject *) name)->hash) +static CYTHON_INLINE PyObject * __Pyx_PyDict_GetItemStr(PyObject *dict, PyObject *name) { + PyObject *res = __Pyx_PyDict_GetItemStrWithError(dict, name); + if (res == NULL) PyErr_Clear(); + return res; +} +#elif PY_MAJOR_VERSION >= 3 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07020000) +#define __Pyx_PyDict_GetItemStrWithError PyDict_GetItemWithError +#define __Pyx_PyDict_GetItemStr PyDict_GetItem +#else +static CYTHON_INLINE PyObject * __Pyx_PyDict_GetItemStrWithError(PyObject *dict, PyObject *name) { +#if CYTHON_COMPILING_IN_PYPY + return PyDict_GetItem(dict, name); +#else + PyDictEntry *ep; + PyDictObject *mp = (PyDictObject*) dict; + long hash = ((PyStringObject *) name)->ob_shash; + assert(hash != -1); + ep = (mp->ma_lookup)(mp, name, hash); + if (ep == NULL) { + return NULL; + } + return ep->me_value; +#endif +} +#define __Pyx_PyDict_GetItemStr PyDict_GetItem +#endif +#if CYTHON_USE_TYPE_SLOTS + #define __Pyx_PyType_GetFlags(tp) (((PyTypeObject *)tp)->tp_flags) + #define __Pyx_PyType_HasFeature(type, feature) ((__Pyx_PyType_GetFlags(type) & (feature)) != 0) + #define __Pyx_PyObject_GetIterNextFunc(obj) (Py_TYPE(obj)->tp_iternext) +#else + #define __Pyx_PyType_GetFlags(tp) (PyType_GetFlags((PyTypeObject *)tp)) + #define __Pyx_PyType_HasFeature(type, feature) PyType_HasFeature(type, feature) + #define __Pyx_PyObject_GetIterNextFunc(obj) PyIter_Next +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_SetItemOnTypeDict(tp, k, v) PyObject_GenericSetAttr((PyObject*)tp, k, v) +#else + #define __Pyx_SetItemOnTypeDict(tp, k, v) PyDict_SetItem(tp->tp_dict, k, v) +#endif +#if CYTHON_USE_TYPE_SPECS && PY_VERSION_HEX >= 0x03080000 +#define __Pyx_PyHeapTypeObject_GC_Del(obj) {\ + PyTypeObject *type = Py_TYPE((PyObject*)obj);\ + assert(__Pyx_PyType_HasFeature(type, Py_TPFLAGS_HEAPTYPE));\ + PyObject_GC_Del(obj);\ + Py_DECREF(type);\ +} +#else +#define __Pyx_PyHeapTypeObject_GC_Del(obj) PyObject_GC_Del(obj) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define CYTHON_PEP393_ENABLED 1 + #define __Pyx_PyUnicode_READY(op) (0) + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GetLength(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) PyUnicode_ReadChar(u, i) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) ((void)u, 1114111U) + #define __Pyx_PyUnicode_KIND(u) ((void)u, (0)) + #define __Pyx_PyUnicode_DATA(u) ((void*)u) + #define __Pyx_PyUnicode_READ(k, d, i) ((void)k, PyUnicode_ReadChar((PyObject*)(d), i)) + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GetLength(u)) +#elif PY_VERSION_HEX > 0x03030000 && defined(PyUnicode_KIND) + #define CYTHON_PEP393_ENABLED 1 + #if PY_VERSION_HEX >= 0x030C0000 + #define __Pyx_PyUnicode_READY(op) (0) + #else + #define __Pyx_PyUnicode_READY(op) (likely(PyUnicode_IS_READY(op)) ?\ + 0 : _PyUnicode_Ready((PyObject *)(op))) + #endif + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_LENGTH(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) PyUnicode_READ_CHAR(u, i) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) PyUnicode_MAX_CHAR_VALUE(u) + #define __Pyx_PyUnicode_KIND(u) ((int)PyUnicode_KIND(u)) + #define __Pyx_PyUnicode_DATA(u) PyUnicode_DATA(u) + #define __Pyx_PyUnicode_READ(k, d, i) PyUnicode_READ(k, d, i) + #define __Pyx_PyUnicode_WRITE(k, d, i, ch) PyUnicode_WRITE(k, d, i, (Py_UCS4) ch) + #if PY_VERSION_HEX >= 0x030C0000 + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_LENGTH(u)) + #else + #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x03090000 + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : ((PyCompactUnicodeObject *)(u))->wstr_length)) + #else + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : PyUnicode_GET_SIZE(u))) + #endif + #endif +#else + #define CYTHON_PEP393_ENABLED 0 + #define PyUnicode_1BYTE_KIND 1 + #define PyUnicode_2BYTE_KIND 2 + #define PyUnicode_4BYTE_KIND 4 + #define __Pyx_PyUnicode_READY(op) (0) + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_SIZE(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) ((Py_UCS4)(PyUnicode_AS_UNICODE(u)[i])) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) ((sizeof(Py_UNICODE) == 2) ? 65535U : 1114111U) + #define __Pyx_PyUnicode_KIND(u) ((int)sizeof(Py_UNICODE)) + #define __Pyx_PyUnicode_DATA(u) ((void*)PyUnicode_AS_UNICODE(u)) + #define __Pyx_PyUnicode_READ(k, d, i) ((void)(k), (Py_UCS4)(((Py_UNICODE*)d)[i])) + #define __Pyx_PyUnicode_WRITE(k, d, i, ch) (((void)(k)), ((Py_UNICODE*)d)[i] = (Py_UNICODE) ch) + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_SIZE(u)) +#endif +#if CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyUnicode_Concat(a, b) PyNumber_Add(a, b) + #define __Pyx_PyUnicode_ConcatSafe(a, b) PyNumber_Add(a, b) +#else + #define __Pyx_PyUnicode_Concat(a, b) PyUnicode_Concat(a, b) + #define __Pyx_PyUnicode_ConcatSafe(a, b) ((unlikely((a) == Py_None) || unlikely((b) == Py_None)) ?\ + PyNumber_Add(a, b) : __Pyx_PyUnicode_Concat(a, b)) +#endif +#if CYTHON_COMPILING_IN_PYPY + #if !defined(PyUnicode_DecodeUnicodeEscape) + #define PyUnicode_DecodeUnicodeEscape(s, size, errors) PyUnicode_Decode(s, size, "unicode_escape", errors) + #endif + #if !defined(PyUnicode_Contains) || (PY_MAJOR_VERSION == 2 && PYPY_VERSION_NUM < 0x07030500) + #undef PyUnicode_Contains + #define PyUnicode_Contains(u, s) PySequence_Contains(u, s) + #endif + #if !defined(PyByteArray_Check) + #define PyByteArray_Check(obj) PyObject_TypeCheck(obj, &PyByteArray_Type) + #endif + #if !defined(PyObject_Format) + #define PyObject_Format(obj, fmt) PyObject_CallMethod(obj, "__format__", "O", fmt) + #endif +#endif +#define __Pyx_PyString_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyString_Check(b) && !PyString_CheckExact(b)))) ? PyNumber_Remainder(a, b) : __Pyx_PyString_Format(a, b)) +#define __Pyx_PyUnicode_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyUnicode_Check(b) && !PyUnicode_CheckExact(b)))) ? PyNumber_Remainder(a, b) : PyUnicode_Format(a, b)) +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyString_Format(a, b) PyUnicode_Format(a, b) +#else + #define __Pyx_PyString_Format(a, b) PyString_Format(a, b) +#endif +#if PY_MAJOR_VERSION < 3 && !defined(PyObject_ASCII) + #define PyObject_ASCII(o) PyObject_Repr(o) +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyBaseString_Type PyUnicode_Type + #define PyStringObject PyUnicodeObject + #define PyString_Type PyUnicode_Type + #define PyString_Check PyUnicode_Check + #define PyString_CheckExact PyUnicode_CheckExact +#ifndef PyObject_Unicode + #define PyObject_Unicode PyObject_Str +#endif +#endif +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyBaseString_Check(obj) PyUnicode_Check(obj) + #define __Pyx_PyBaseString_CheckExact(obj) PyUnicode_CheckExact(obj) +#else + #define __Pyx_PyBaseString_Check(obj) (PyString_Check(obj) || PyUnicode_Check(obj)) + #define __Pyx_PyBaseString_CheckExact(obj) (PyString_CheckExact(obj) || PyUnicode_CheckExact(obj)) +#endif +#if CYTHON_COMPILING_IN_CPYTHON + #define __Pyx_PySequence_ListKeepNew(obj)\ + (likely(PyList_CheckExact(obj) && Py_REFCNT(obj) == 1) ? __Pyx_NewRef(obj) : PySequence_List(obj)) +#else + #define __Pyx_PySequence_ListKeepNew(obj) PySequence_List(obj) +#endif +#ifndef PySet_CheckExact + #define PySet_CheckExact(obj) __Pyx_IS_TYPE(obj, &PySet_Type) +#endif +#if PY_VERSION_HEX >= 0x030900A4 + #define __Pyx_SET_REFCNT(obj, refcnt) Py_SET_REFCNT(obj, refcnt) + #define __Pyx_SET_SIZE(obj, size) Py_SET_SIZE(obj, size) +#else + #define __Pyx_SET_REFCNT(obj, refcnt) Py_REFCNT(obj) = (refcnt) + #define __Pyx_SET_SIZE(obj, size) Py_SIZE(obj) = (size) +#endif +#if CYTHON_ASSUME_SAFE_MACROS + #define __Pyx_PySequence_ITEM(o, i) PySequence_ITEM(o, i) + #define __Pyx_PySequence_SIZE(seq) Py_SIZE(seq) + #define __Pyx_PyTuple_SET_ITEM(o, i, v) (PyTuple_SET_ITEM(o, i, v), (0)) + #define __Pyx_PyList_SET_ITEM(o, i, v) (PyList_SET_ITEM(o, i, v), (0)) + #define __Pyx_PyTuple_GET_SIZE(o) PyTuple_GET_SIZE(o) + #define __Pyx_PyList_GET_SIZE(o) PyList_GET_SIZE(o) + #define __Pyx_PySet_GET_SIZE(o) PySet_GET_SIZE(o) + #define __Pyx_PyBytes_GET_SIZE(o) PyBytes_GET_SIZE(o) + #define __Pyx_PyByteArray_GET_SIZE(o) PyByteArray_GET_SIZE(o) +#else + #define __Pyx_PySequence_ITEM(o, i) PySequence_GetItem(o, i) + #define __Pyx_PySequence_SIZE(seq) PySequence_Size(seq) + #define __Pyx_PyTuple_SET_ITEM(o, i, v) PyTuple_SetItem(o, i, v) + #define __Pyx_PyList_SET_ITEM(o, i, v) PyList_SetItem(o, i, v) + #define __Pyx_PyTuple_GET_SIZE(o) PyTuple_Size(o) + #define __Pyx_PyList_GET_SIZE(o) PyList_Size(o) + #define __Pyx_PySet_GET_SIZE(o) PySet_Size(o) + #define __Pyx_PyBytes_GET_SIZE(o) PyBytes_Size(o) + #define __Pyx_PyByteArray_GET_SIZE(o) PyByteArray_Size(o) +#endif +#if PY_VERSION_HEX >= 0x030d00A1 + #define __Pyx_PyImport_AddModuleRef(name) PyImport_AddModuleRef(name) +#else + static CYTHON_INLINE PyObject *__Pyx_PyImport_AddModuleRef(const char *name) { + PyObject *module = PyImport_AddModule(name); + Py_XINCREF(module); + return module; + } +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyIntObject PyLongObject + #define PyInt_Type PyLong_Type + #define PyInt_Check(op) PyLong_Check(op) + #define PyInt_CheckExact(op) PyLong_CheckExact(op) + #define __Pyx_Py3Int_Check(op) PyLong_Check(op) + #define __Pyx_Py3Int_CheckExact(op) PyLong_CheckExact(op) + #define PyInt_FromString PyLong_FromString + #define PyInt_FromUnicode PyLong_FromUnicode + #define PyInt_FromLong PyLong_FromLong + #define PyInt_FromSize_t PyLong_FromSize_t + #define PyInt_FromSsize_t PyLong_FromSsize_t + #define PyInt_AsLong PyLong_AsLong + #define PyInt_AS_LONG PyLong_AS_LONG + #define PyInt_AsSsize_t PyLong_AsSsize_t + #define PyInt_AsUnsignedLongMask PyLong_AsUnsignedLongMask + #define PyInt_AsUnsignedLongLongMask PyLong_AsUnsignedLongLongMask + #define PyNumber_Int PyNumber_Long +#else + #define __Pyx_Py3Int_Check(op) (PyLong_Check(op) || PyInt_Check(op)) + #define __Pyx_Py3Int_CheckExact(op) (PyLong_CheckExact(op) || PyInt_CheckExact(op)) +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyBoolObject PyLongObject +#endif +#if PY_MAJOR_VERSION >= 3 && CYTHON_COMPILING_IN_PYPY + #ifndef PyUnicode_InternFromString + #define PyUnicode_InternFromString(s) PyUnicode_FromString(s) + #endif +#endif +#if PY_VERSION_HEX < 0x030200A4 + typedef long Py_hash_t; + #define __Pyx_PyInt_FromHash_t PyInt_FromLong + #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsHash_t +#else + #define __Pyx_PyInt_FromHash_t PyInt_FromSsize_t + #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsSsize_t +#endif +#if CYTHON_USE_ASYNC_SLOTS + #if PY_VERSION_HEX >= 0x030500B1 + #define __Pyx_PyAsyncMethodsStruct PyAsyncMethods + #define __Pyx_PyType_AsAsync(obj) (Py_TYPE(obj)->tp_as_async) + #else + #define __Pyx_PyType_AsAsync(obj) ((__Pyx_PyAsyncMethodsStruct*) (Py_TYPE(obj)->tp_reserved)) + #endif +#else + #define __Pyx_PyType_AsAsync(obj) NULL +#endif +#ifndef __Pyx_PyAsyncMethodsStruct + typedef struct { + unaryfunc am_await; + unaryfunc am_aiter; + unaryfunc am_anext; + } __Pyx_PyAsyncMethodsStruct; +#endif + +#if defined(_WIN32) || defined(WIN32) || defined(MS_WINDOWS) + #if !defined(_USE_MATH_DEFINES) + #define _USE_MATH_DEFINES + #endif +#endif +#include +#ifdef NAN +#define __PYX_NAN() ((float) NAN) +#else +static CYTHON_INLINE float __PYX_NAN() { + float value; + memset(&value, 0xFF, sizeof(value)); + return value; +} +#endif +#if defined(__CYGWIN__) && defined(_LDBL_EQ_DBL) +#define __Pyx_truncl trunc +#else +#define __Pyx_truncl truncl +#endif + +#define __PYX_MARK_ERR_POS(f_index, lineno) \ + { __pyx_filename = __pyx_f[f_index]; (void)__pyx_filename; __pyx_lineno = lineno; (void)__pyx_lineno; __pyx_clineno = __LINE__; (void)__pyx_clineno; } +#define __PYX_ERR(f_index, lineno, Ln_error) \ + { __PYX_MARK_ERR_POS(f_index, lineno) goto Ln_error; } + +#ifdef CYTHON_EXTERN_C + #undef __PYX_EXTERN_C + #define __PYX_EXTERN_C CYTHON_EXTERN_C +#elif defined(__PYX_EXTERN_C) + #ifdef _MSC_VER + #pragma message ("Please do not define the '__PYX_EXTERN_C' macro externally. Use 'CYTHON_EXTERN_C' instead.") + #else + #warning Please do not define the '__PYX_EXTERN_C' macro externally. Use 'CYTHON_EXTERN_C' instead. + #endif +#else + #ifdef __cplusplus + #define __PYX_EXTERN_C extern "C" + #else + #define __PYX_EXTERN_C extern + #endif +#endif + +#define __PYX_HAVE__acados_template__acados_ocp_solver_pyx +#define __PYX_HAVE_API__acados_template__acados_ocp_solver_pyx +/* Early includes */ +#include +#include "acados/ocp_nlp/ocp_nlp_common.h" +#include "acados_c/ocp_nlp_interface.h" +#include "acados_solver_long.h" +#include + + /* Using NumPy API declarations from "numpy/__init__.cython-30.pxd" */ + +#include "numpy/arrayobject.h" +#include "numpy/ndarrayobject.h" +#include "numpy/ndarraytypes.h" +#include "numpy/arrayscalars.h" +#include "numpy/ufuncobject.h" +#include "pythread.h" +#include +#ifdef _OPENMP +#include +#endif /* _OPENMP */ + +#if defined(PYREX_WITHOUT_ASSERTIONS) && !defined(CYTHON_WITHOUT_ASSERTIONS) +#define CYTHON_WITHOUT_ASSERTIONS +#endif + +typedef struct {PyObject **p; const char *s; const Py_ssize_t n; const char* encoding; + const char is_unicode; const char is_str; const char intern; } __Pyx_StringTabEntry; + +#define __PYX_DEFAULT_STRING_ENCODING_IS_ASCII 0 +#define __PYX_DEFAULT_STRING_ENCODING_IS_UTF8 0 +#define __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT (PY_MAJOR_VERSION >= 3 && __PYX_DEFAULT_STRING_ENCODING_IS_UTF8) +#define __PYX_DEFAULT_STRING_ENCODING "" +#define __Pyx_PyObject_FromString __Pyx_PyBytes_FromString +#define __Pyx_PyObject_FromStringAndSize __Pyx_PyBytes_FromStringAndSize +#define __Pyx_uchar_cast(c) ((unsigned char)c) +#define __Pyx_long_cast(x) ((long)x) +#define __Pyx_fits_Py_ssize_t(v, type, is_signed) (\ + (sizeof(type) < sizeof(Py_ssize_t)) ||\ + (sizeof(type) > sizeof(Py_ssize_t) &&\ + likely(v < (type)PY_SSIZE_T_MAX ||\ + v == (type)PY_SSIZE_T_MAX) &&\ + (!is_signed || likely(v > (type)PY_SSIZE_T_MIN ||\ + v == (type)PY_SSIZE_T_MIN))) ||\ + (sizeof(type) == sizeof(Py_ssize_t) &&\ + (is_signed || likely(v < (type)PY_SSIZE_T_MAX ||\ + v == (type)PY_SSIZE_T_MAX))) ) +static CYTHON_INLINE int __Pyx_is_valid_index(Py_ssize_t i, Py_ssize_t limit) { + return (size_t) i < (size_t) limit; +} +#if defined (__cplusplus) && __cplusplus >= 201103L + #include + #define __Pyx_sst_abs(value) std::abs(value) +#elif SIZEOF_INT >= SIZEOF_SIZE_T + #define __Pyx_sst_abs(value) abs(value) +#elif SIZEOF_LONG >= SIZEOF_SIZE_T + #define __Pyx_sst_abs(value) labs(value) +#elif defined (_MSC_VER) + #define __Pyx_sst_abs(value) ((Py_ssize_t)_abs64(value)) +#elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define __Pyx_sst_abs(value) llabs(value) +#elif defined (__GNUC__) + #define __Pyx_sst_abs(value) __builtin_llabs(value) +#else + #define __Pyx_sst_abs(value) ((value<0) ? -value : value) +#endif +static CYTHON_INLINE Py_ssize_t __Pyx_ssize_strlen(const char *s); +static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject*); +static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject*, Py_ssize_t* length); +static CYTHON_INLINE PyObject* __Pyx_PyByteArray_FromString(const char*); +#define __Pyx_PyByteArray_FromStringAndSize(s, l) PyByteArray_FromStringAndSize((const char*)s, l) +#define __Pyx_PyBytes_FromString PyBytes_FromString +#define __Pyx_PyBytes_FromStringAndSize PyBytes_FromStringAndSize +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char*); +#if PY_MAJOR_VERSION < 3 + #define __Pyx_PyStr_FromString __Pyx_PyBytes_FromString + #define __Pyx_PyStr_FromStringAndSize __Pyx_PyBytes_FromStringAndSize +#else + #define __Pyx_PyStr_FromString __Pyx_PyUnicode_FromString + #define __Pyx_PyStr_FromStringAndSize __Pyx_PyUnicode_FromStringAndSize +#endif +#define __Pyx_PyBytes_AsWritableString(s) ((char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsWritableSString(s) ((signed char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsWritableUString(s) ((unsigned char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsString(s) ((const char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsSString(s) ((const signed char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsUString(s) ((const unsigned char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyObject_AsWritableString(s) ((char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsWritableSString(s) ((signed char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsWritableUString(s) ((unsigned char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsSString(s) ((const signed char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsUString(s) ((const unsigned char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_FromCString(s) __Pyx_PyObject_FromString((const char*)s) +#define __Pyx_PyBytes_FromCString(s) __Pyx_PyBytes_FromString((const char*)s) +#define __Pyx_PyByteArray_FromCString(s) __Pyx_PyByteArray_FromString((const char*)s) +#define __Pyx_PyStr_FromCString(s) __Pyx_PyStr_FromString((const char*)s) +#define __Pyx_PyUnicode_FromCString(s) __Pyx_PyUnicode_FromString((const char*)s) +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE size_t __Pyx_Py_UNICODE_strlen(const wchar_t *u) +{ + const wchar_t *u_end = u; + while (*u_end++) ; + return (size_t)(u_end - u - 1); +} +#else +static CYTHON_INLINE size_t __Pyx_Py_UNICODE_strlen(const Py_UNICODE *u) +{ + const Py_UNICODE *u_end = u; + while (*u_end++) ; + return (size_t)(u_end - u - 1); +} +#endif +#define __Pyx_PyUnicode_FromOrdinal(o) PyUnicode_FromOrdinal((int)o) +#define __Pyx_PyUnicode_FromUnicode(u) PyUnicode_FromUnicode(u, __Pyx_Py_UNICODE_strlen(u)) +#define __Pyx_PyUnicode_FromUnicodeAndLength PyUnicode_FromUnicode +#define __Pyx_PyUnicode_AsUnicode PyUnicode_AsUnicode +#define __Pyx_NewRef(obj) (Py_INCREF(obj), obj) +#define __Pyx_Owned_Py_None(b) __Pyx_NewRef(Py_None) +static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b); +static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject*); +static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject*); +static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x); +#define __Pyx_PySequence_Tuple(obj)\ + (likely(PyTuple_CheckExact(obj)) ? __Pyx_NewRef(obj) : PySequence_Tuple(obj)) +static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject*); +static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t); +static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject*); +#if CYTHON_ASSUME_SAFE_MACROS +#define __pyx_PyFloat_AsDouble(x) (PyFloat_CheckExact(x) ? PyFloat_AS_DOUBLE(x) : PyFloat_AsDouble(x)) +#else +#define __pyx_PyFloat_AsDouble(x) PyFloat_AsDouble(x) +#endif +#define __pyx_PyFloat_AsFloat(x) ((float) __pyx_PyFloat_AsDouble(x)) +#if PY_MAJOR_VERSION >= 3 +#define __Pyx_PyNumber_Int(x) (PyLong_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Long(x)) +#else +#define __Pyx_PyNumber_Int(x) (PyInt_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Int(x)) +#endif +#if CYTHON_USE_PYLONG_INTERNALS + #if PY_VERSION_HEX >= 0x030C00A7 + #ifndef _PyLong_SIGN_MASK + #define _PyLong_SIGN_MASK 3 + #endif + #ifndef _PyLong_NON_SIZE_BITS + #define _PyLong_NON_SIZE_BITS 3 + #endif + #define __Pyx_PyLong_Sign(x) (((PyLongObject*)x)->long_value.lv_tag & _PyLong_SIGN_MASK) + #define __Pyx_PyLong_IsNeg(x) ((__Pyx_PyLong_Sign(x) & 2) != 0) + #define __Pyx_PyLong_IsNonNeg(x) (!__Pyx_PyLong_IsNeg(x)) + #define __Pyx_PyLong_IsZero(x) (__Pyx_PyLong_Sign(x) & 1) + #define __Pyx_PyLong_IsPos(x) (__Pyx_PyLong_Sign(x) == 0) + #define __Pyx_PyLong_CompactValueUnsigned(x) (__Pyx_PyLong_Digits(x)[0]) + #define __Pyx_PyLong_DigitCount(x) ((Py_ssize_t) (((PyLongObject*)x)->long_value.lv_tag >> _PyLong_NON_SIZE_BITS)) + #define __Pyx_PyLong_SignedDigitCount(x)\ + ((1 - (Py_ssize_t) __Pyx_PyLong_Sign(x)) * __Pyx_PyLong_DigitCount(x)) + #if defined(PyUnstable_Long_IsCompact) && defined(PyUnstable_Long_CompactValue) + #define __Pyx_PyLong_IsCompact(x) PyUnstable_Long_IsCompact((PyLongObject*) x) + #define __Pyx_PyLong_CompactValue(x) PyUnstable_Long_CompactValue((PyLongObject*) x) + #else + #define __Pyx_PyLong_IsCompact(x) (((PyLongObject*)x)->long_value.lv_tag < (2 << _PyLong_NON_SIZE_BITS)) + #define __Pyx_PyLong_CompactValue(x) ((1 - (Py_ssize_t) __Pyx_PyLong_Sign(x)) * (Py_ssize_t) __Pyx_PyLong_Digits(x)[0]) + #endif + typedef Py_ssize_t __Pyx_compact_pylong; + typedef size_t __Pyx_compact_upylong; + #else + #define __Pyx_PyLong_IsNeg(x) (Py_SIZE(x) < 0) + #define __Pyx_PyLong_IsNonNeg(x) (Py_SIZE(x) >= 0) + #define __Pyx_PyLong_IsZero(x) (Py_SIZE(x) == 0) + #define __Pyx_PyLong_IsPos(x) (Py_SIZE(x) > 0) + #define __Pyx_PyLong_CompactValueUnsigned(x) ((Py_SIZE(x) == 0) ? 0 : __Pyx_PyLong_Digits(x)[0]) + #define __Pyx_PyLong_DigitCount(x) __Pyx_sst_abs(Py_SIZE(x)) + #define __Pyx_PyLong_SignedDigitCount(x) Py_SIZE(x) + #define __Pyx_PyLong_IsCompact(x) (Py_SIZE(x) == 0 || Py_SIZE(x) == 1 || Py_SIZE(x) == -1) + #define __Pyx_PyLong_CompactValue(x)\ + ((Py_SIZE(x) == 0) ? (sdigit) 0 : ((Py_SIZE(x) < 0) ? -(sdigit)__Pyx_PyLong_Digits(x)[0] : (sdigit)__Pyx_PyLong_Digits(x)[0])) + typedef sdigit __Pyx_compact_pylong; + typedef digit __Pyx_compact_upylong; + #endif + #if PY_VERSION_HEX >= 0x030C00A5 + #define __Pyx_PyLong_Digits(x) (((PyLongObject*)x)->long_value.ob_digit) + #else + #define __Pyx_PyLong_Digits(x) (((PyLongObject*)x)->ob_digit) + #endif +#endif +#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII +#include +static int __Pyx_sys_getdefaultencoding_not_ascii; +static int __Pyx_init_sys_getdefaultencoding_params(void) { + PyObject* sys; + PyObject* default_encoding = NULL; + PyObject* ascii_chars_u = NULL; + PyObject* ascii_chars_b = NULL; + const char* default_encoding_c; + sys = PyImport_ImportModule("sys"); + if (!sys) goto bad; + default_encoding = PyObject_CallMethod(sys, (char*) "getdefaultencoding", NULL); + Py_DECREF(sys); + if (!default_encoding) goto bad; + default_encoding_c = PyBytes_AsString(default_encoding); + if (!default_encoding_c) goto bad; + if (strcmp(default_encoding_c, "ascii") == 0) { + __Pyx_sys_getdefaultencoding_not_ascii = 0; + } else { + char ascii_chars[128]; + int c; + for (c = 0; c < 128; c++) { + ascii_chars[c] = (char) c; + } + __Pyx_sys_getdefaultencoding_not_ascii = 1; + ascii_chars_u = PyUnicode_DecodeASCII(ascii_chars, 128, NULL); + if (!ascii_chars_u) goto bad; + ascii_chars_b = PyUnicode_AsEncodedString(ascii_chars_u, default_encoding_c, NULL); + if (!ascii_chars_b || !PyBytes_Check(ascii_chars_b) || memcmp(ascii_chars, PyBytes_AS_STRING(ascii_chars_b), 128) != 0) { + PyErr_Format( + PyExc_ValueError, + "This module compiled with c_string_encoding=ascii, but default encoding '%.200s' is not a superset of ascii.", + default_encoding_c); + goto bad; + } + Py_DECREF(ascii_chars_u); + Py_DECREF(ascii_chars_b); + } + Py_DECREF(default_encoding); + return 0; +bad: + Py_XDECREF(default_encoding); + Py_XDECREF(ascii_chars_u); + Py_XDECREF(ascii_chars_b); + return -1; +} +#endif +#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT && PY_MAJOR_VERSION >= 3 +#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_DecodeUTF8(c_str, size, NULL) +#else +#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_Decode(c_str, size, __PYX_DEFAULT_STRING_ENCODING, NULL) +#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT +#include +static char* __PYX_DEFAULT_STRING_ENCODING; +static int __Pyx_init_sys_getdefaultencoding_params(void) { + PyObject* sys; + PyObject* default_encoding = NULL; + char* default_encoding_c; + sys = PyImport_ImportModule("sys"); + if (!sys) goto bad; + default_encoding = PyObject_CallMethod(sys, (char*) (const char*) "getdefaultencoding", NULL); + Py_DECREF(sys); + if (!default_encoding) goto bad; + default_encoding_c = PyBytes_AsString(default_encoding); + if (!default_encoding_c) goto bad; + __PYX_DEFAULT_STRING_ENCODING = (char*) malloc(strlen(default_encoding_c) + 1); + if (!__PYX_DEFAULT_STRING_ENCODING) goto bad; + strcpy(__PYX_DEFAULT_STRING_ENCODING, default_encoding_c); + Py_DECREF(default_encoding); + return 0; +bad: + Py_XDECREF(default_encoding); + return -1; +} +#endif +#endif + + +/* Test for GCC > 2.95 */ +#if defined(__GNUC__) && (__GNUC__ > 2 || (__GNUC__ == 2 && (__GNUC_MINOR__ > 95))) + #define likely(x) __builtin_expect(!!(x), 1) + #define unlikely(x) __builtin_expect(!!(x), 0) +#else /* !__GNUC__ or GCC < 2.95 */ + #define likely(x) (x) + #define unlikely(x) (x) +#endif /* __GNUC__ */ +static CYTHON_INLINE void __Pyx_pretend_to_initialize(void* ptr) { (void)ptr; } + +#if !CYTHON_USE_MODULE_STATE +static PyObject *__pyx_m = NULL; +#endif +static int __pyx_lineno; +static int __pyx_clineno = 0; +static const char * __pyx_cfilenm = __FILE__; +static const char *__pyx_filename; + +/* Header.proto */ +#if !defined(CYTHON_CCOMPLEX) + #if defined(__cplusplus) + #define CYTHON_CCOMPLEX 1 + #elif (defined(_Complex_I) && !defined(_MSC_VER)) || ((defined (__STDC_VERSION__) && __STDC_VERSION__ >= 201112L) && !defined(__STDC_NO_COMPLEX__) && !defined(_MSC_VER)) + #define CYTHON_CCOMPLEX 1 + #else + #define CYTHON_CCOMPLEX 0 + #endif +#endif +#if CYTHON_CCOMPLEX + #ifdef __cplusplus + #include + #else + #include + #endif +#endif +#if CYTHON_CCOMPLEX && !defined(__cplusplus) && defined(__sun__) && defined(__GNUC__) + #undef _Complex_I + #define _Complex_I 1.0fj +#endif + +/* #### Code section: filename_table ### */ + +static const char *__pyx_f[] = { + "third_party/acados/acados_template/acados_ocp_solver_pyx.pyx", + "", + "__init__.cython-30.pxd", + "type.pxd", +}; +/* #### Code section: utility_code_proto_before_types ### */ +/* ForceInitThreads.proto */ +#ifndef __PYX_FORCE_INIT_THREADS + #define __PYX_FORCE_INIT_THREADS 0 +#endif + +/* NoFastGil.proto */ +#define __Pyx_PyGILState_Ensure PyGILState_Ensure +#define __Pyx_PyGILState_Release PyGILState_Release +#define __Pyx_FastGIL_Remember() +#define __Pyx_FastGIL_Forget() +#define __Pyx_FastGilFuncInit() + +/* BufferFormatStructs.proto */ +struct __Pyx_StructField_; +#define __PYX_BUF_FLAGS_PACKED_STRUCT (1 << 0) +typedef struct { + const char* name; + struct __Pyx_StructField_* fields; + size_t size; + size_t arraysize[8]; + int ndim; + char typegroup; + char is_unsigned; + int flags; +} __Pyx_TypeInfo; +typedef struct __Pyx_StructField_ { + __Pyx_TypeInfo* type; + const char* name; + size_t offset; +} __Pyx_StructField; +typedef struct { + __Pyx_StructField* field; + size_t parent_offset; +} __Pyx_BufFmt_StackElem; +typedef struct { + __Pyx_StructField root; + __Pyx_BufFmt_StackElem* head; + size_t fmt_offset; + size_t new_count, enc_count; + size_t struct_alignment; + int is_complex; + char enc_type; + char new_packmode; + char enc_packmode; + char is_valid_array; +} __Pyx_BufFmt_Context; + +/* Atomics.proto */ +#include +#ifndef CYTHON_ATOMICS + #define CYTHON_ATOMICS 1 +#endif +#define __PYX_CYTHON_ATOMICS_ENABLED() CYTHON_ATOMICS +#define __pyx_atomic_int_type int +#define __pyx_nonatomic_int_type int +#if CYTHON_ATOMICS && (defined(__STDC_VERSION__) &&\ + (__STDC_VERSION__ >= 201112L) &&\ + !defined(__STDC_NO_ATOMICS__)) + #include +#elif CYTHON_ATOMICS && (defined(__cplusplus) && (\ + (__cplusplus >= 201103L) ||\ + (defined(_MSC_VER) && _MSC_VER >= 1700))) + #include +#endif +#if CYTHON_ATOMICS && (defined(__STDC_VERSION__) &&\ + (__STDC_VERSION__ >= 201112L) &&\ + !defined(__STDC_NO_ATOMICS__) &&\ + ATOMIC_INT_LOCK_FREE == 2) + #undef __pyx_atomic_int_type + #define __pyx_atomic_int_type atomic_int + #define __pyx_atomic_incr_aligned(value) atomic_fetch_add_explicit(value, 1, memory_order_relaxed) + #define __pyx_atomic_decr_aligned(value) atomic_fetch_sub_explicit(value, 1, memory_order_acq_rel) + #if defined(__PYX_DEBUG_ATOMICS) && defined(_MSC_VER) + #pragma message ("Using standard C atomics") + #elif defined(__PYX_DEBUG_ATOMICS) + #warning "Using standard C atomics" + #endif +#elif CYTHON_ATOMICS && (defined(__cplusplus) && (\ + (__cplusplus >= 201103L) ||\ +\ + (defined(_MSC_VER) && _MSC_VER >= 1700)) &&\ + ATOMIC_INT_LOCK_FREE == 2) + #undef __pyx_atomic_int_type + #define __pyx_atomic_int_type std::atomic_int + #define __pyx_atomic_incr_aligned(value) std::atomic_fetch_add_explicit(value, 1, std::memory_order_relaxed) + #define __pyx_atomic_decr_aligned(value) std::atomic_fetch_sub_explicit(value, 1, std::memory_order_acq_rel) + #if defined(__PYX_DEBUG_ATOMICS) && defined(_MSC_VER) + #pragma message ("Using standard C++ atomics") + #elif defined(__PYX_DEBUG_ATOMICS) + #warning "Using standard C++ atomics" + #endif +#elif CYTHON_ATOMICS && (__GNUC__ >= 5 || (__GNUC__ == 4 &&\ + (__GNUC_MINOR__ > 1 ||\ + (__GNUC_MINOR__ == 1 && __GNUC_PATCHLEVEL__ >= 2)))) + #define __pyx_atomic_incr_aligned(value) __sync_fetch_and_add(value, 1) + #define __pyx_atomic_decr_aligned(value) __sync_fetch_and_sub(value, 1) + #ifdef __PYX_DEBUG_ATOMICS + #warning "Using GNU atomics" + #endif +#elif CYTHON_ATOMICS && defined(_MSC_VER) + #include + #undef __pyx_atomic_int_type + #define __pyx_atomic_int_type long + #undef __pyx_nonatomic_int_type + #define __pyx_nonatomic_int_type long + #pragma intrinsic (_InterlockedExchangeAdd) + #define __pyx_atomic_incr_aligned(value) _InterlockedExchangeAdd(value, 1) + #define __pyx_atomic_decr_aligned(value) _InterlockedExchangeAdd(value, -1) + #ifdef __PYX_DEBUG_ATOMICS + #pragma message ("Using MSVC atomics") + #endif +#else + #undef CYTHON_ATOMICS + #define CYTHON_ATOMICS 0 + #ifdef __PYX_DEBUG_ATOMICS + #warning "Not using atomics" + #endif +#endif +#if CYTHON_ATOMICS + #define __pyx_add_acquisition_count(memview)\ + __pyx_atomic_incr_aligned(__pyx_get_slice_count_pointer(memview)) + #define __pyx_sub_acquisition_count(memview)\ + __pyx_atomic_decr_aligned(__pyx_get_slice_count_pointer(memview)) +#else + #define __pyx_add_acquisition_count(memview)\ + __pyx_add_acquisition_count_locked(__pyx_get_slice_count_pointer(memview), memview->lock) + #define __pyx_sub_acquisition_count(memview)\ + __pyx_sub_acquisition_count_locked(__pyx_get_slice_count_pointer(memview), memview->lock) +#endif + +/* MemviewSliceStruct.proto */ +struct __pyx_memoryview_obj; +typedef struct { + struct __pyx_memoryview_obj *memview; + char *data; + Py_ssize_t shape[8]; + Py_ssize_t strides[8]; + Py_ssize_t suboffsets[8]; +} __Pyx_memviewslice; +#define __Pyx_MemoryView_Len(m) (m.shape[0]) + +/* #### Code section: numeric_typedefs ### */ + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":730 + * # in Cython to enable them only on the right systems. + * + * ctypedef npy_int8 int8_t # <<<<<<<<<<<<<< + * ctypedef npy_int16 int16_t + * ctypedef npy_int32 int32_t + */ +typedef npy_int8 __pyx_t_5numpy_int8_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":731 + * + * ctypedef npy_int8 int8_t + * ctypedef npy_int16 int16_t # <<<<<<<<<<<<<< + * ctypedef npy_int32 int32_t + * ctypedef npy_int64 int64_t + */ +typedef npy_int16 __pyx_t_5numpy_int16_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":732 + * ctypedef npy_int8 int8_t + * ctypedef npy_int16 int16_t + * ctypedef npy_int32 int32_t # <<<<<<<<<<<<<< + * ctypedef npy_int64 int64_t + * #ctypedef npy_int96 int96_t + */ +typedef npy_int32 __pyx_t_5numpy_int32_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":733 + * ctypedef npy_int16 int16_t + * ctypedef npy_int32 int32_t + * ctypedef npy_int64 int64_t # <<<<<<<<<<<<<< + * #ctypedef npy_int96 int96_t + * #ctypedef npy_int128 int128_t + */ +typedef npy_int64 __pyx_t_5numpy_int64_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":737 + * #ctypedef npy_int128 int128_t + * + * ctypedef npy_uint8 uint8_t # <<<<<<<<<<<<<< + * ctypedef npy_uint16 uint16_t + * ctypedef npy_uint32 uint32_t + */ +typedef npy_uint8 __pyx_t_5numpy_uint8_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":738 + * + * ctypedef npy_uint8 uint8_t + * ctypedef npy_uint16 uint16_t # <<<<<<<<<<<<<< + * ctypedef npy_uint32 uint32_t + * ctypedef npy_uint64 uint64_t + */ +typedef npy_uint16 __pyx_t_5numpy_uint16_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":739 + * ctypedef npy_uint8 uint8_t + * ctypedef npy_uint16 uint16_t + * ctypedef npy_uint32 uint32_t # <<<<<<<<<<<<<< + * ctypedef npy_uint64 uint64_t + * #ctypedef npy_uint96 uint96_t + */ +typedef npy_uint32 __pyx_t_5numpy_uint32_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":740 + * ctypedef npy_uint16 uint16_t + * ctypedef npy_uint32 uint32_t + * ctypedef npy_uint64 uint64_t # <<<<<<<<<<<<<< + * #ctypedef npy_uint96 uint96_t + * #ctypedef npy_uint128 uint128_t + */ +typedef npy_uint64 __pyx_t_5numpy_uint64_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":744 + * #ctypedef npy_uint128 uint128_t + * + * ctypedef npy_float32 float32_t # <<<<<<<<<<<<<< + * ctypedef npy_float64 float64_t + * #ctypedef npy_float80 float80_t + */ +typedef npy_float32 __pyx_t_5numpy_float32_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":745 + * + * ctypedef npy_float32 float32_t + * ctypedef npy_float64 float64_t # <<<<<<<<<<<<<< + * #ctypedef npy_float80 float80_t + * #ctypedef npy_float128 float128_t + */ +typedef npy_float64 __pyx_t_5numpy_float64_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":754 + * # The int types are mapped a bit surprising -- + * # numpy.int corresponds to 'l' and numpy.long to 'q' + * ctypedef npy_long int_t # <<<<<<<<<<<<<< + * ctypedef npy_longlong longlong_t + * + */ +typedef npy_long __pyx_t_5numpy_int_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":755 + * # numpy.int corresponds to 'l' and numpy.long to 'q' + * ctypedef npy_long int_t + * ctypedef npy_longlong longlong_t # <<<<<<<<<<<<<< + * + * ctypedef npy_ulong uint_t + */ +typedef npy_longlong __pyx_t_5numpy_longlong_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":757 + * ctypedef npy_longlong longlong_t + * + * ctypedef npy_ulong uint_t # <<<<<<<<<<<<<< + * ctypedef npy_ulonglong ulonglong_t + * + */ +typedef npy_ulong __pyx_t_5numpy_uint_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":758 + * + * ctypedef npy_ulong uint_t + * ctypedef npy_ulonglong ulonglong_t # <<<<<<<<<<<<<< + * + * ctypedef npy_intp intp_t + */ +typedef npy_ulonglong __pyx_t_5numpy_ulonglong_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":760 + * ctypedef npy_ulonglong ulonglong_t + * + * ctypedef npy_intp intp_t # <<<<<<<<<<<<<< + * ctypedef npy_uintp uintp_t + * + */ +typedef npy_intp __pyx_t_5numpy_intp_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":761 + * + * ctypedef npy_intp intp_t + * ctypedef npy_uintp uintp_t # <<<<<<<<<<<<<< + * + * ctypedef npy_double float_t + */ +typedef npy_uintp __pyx_t_5numpy_uintp_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":763 + * ctypedef npy_uintp uintp_t + * + * ctypedef npy_double float_t # <<<<<<<<<<<<<< + * ctypedef npy_double double_t + * ctypedef npy_longdouble longdouble_t + */ +typedef npy_double __pyx_t_5numpy_float_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":764 + * + * ctypedef npy_double float_t + * ctypedef npy_double double_t # <<<<<<<<<<<<<< + * ctypedef npy_longdouble longdouble_t + * + */ +typedef npy_double __pyx_t_5numpy_double_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":765 + * ctypedef npy_double float_t + * ctypedef npy_double double_t + * ctypedef npy_longdouble longdouble_t # <<<<<<<<<<<<<< + * + * ctypedef npy_cfloat cfloat_t + */ +typedef npy_longdouble __pyx_t_5numpy_longdouble_t; +/* #### Code section: complex_type_declarations ### */ +/* Declarations.proto */ +#if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) + #ifdef __cplusplus + typedef ::std::complex< float > __pyx_t_float_complex; + #else + typedef float _Complex __pyx_t_float_complex; + #endif +#else + typedef struct { float real, imag; } __pyx_t_float_complex; +#endif +static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float, float); + +/* Declarations.proto */ +#if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) + #ifdef __cplusplus + typedef ::std::complex< double > __pyx_t_double_complex; + #else + typedef double _Complex __pyx_t_double_complex; + #endif +#else + typedef struct { double real, imag; } __pyx_t_double_complex; +#endif +static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double, double); + +/* #### Code section: type_declarations ### */ + +/*--- Type declarations ---*/ +struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython; +struct __pyx_array_obj; +struct __pyx_MemviewEnum_obj; +struct __pyx_memoryview_obj; +struct __pyx_memoryviewslice_obj; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":767 + * ctypedef npy_longdouble longdouble_t + * + * ctypedef npy_cfloat cfloat_t # <<<<<<<<<<<<<< + * ctypedef npy_cdouble cdouble_t + * ctypedef npy_clongdouble clongdouble_t + */ +typedef npy_cfloat __pyx_t_5numpy_cfloat_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":768 + * + * ctypedef npy_cfloat cfloat_t + * ctypedef npy_cdouble cdouble_t # <<<<<<<<<<<<<< + * ctypedef npy_clongdouble clongdouble_t + * + */ +typedef npy_cdouble __pyx_t_5numpy_cdouble_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":769 + * ctypedef npy_cfloat cfloat_t + * ctypedef npy_cdouble cdouble_t + * ctypedef npy_clongdouble clongdouble_t # <<<<<<<<<<<<<< + * + * ctypedef npy_cdouble complex_t + */ +typedef npy_clongdouble __pyx_t_5numpy_clongdouble_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":771 + * ctypedef npy_clongdouble clongdouble_t + * + * ctypedef npy_cdouble complex_t # <<<<<<<<<<<<<< + * + * cdef inline object PyArray_MultiIterNew1(a): + */ +typedef npy_cdouble __pyx_t_5numpy_complex_t; + +/* "acados_template/acados_ocp_solver_pyx.pyx":49 + * + * + * cdef class AcadosOcpSolverCython: # <<<<<<<<<<<<<< + * """ + * Class to interact with the acados ocp solver C object. + */ +struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython { + PyObject_HEAD + long_solver_capsule *capsule; + void *nlp_opts; + ocp_nlp_dims *nlp_dims; + ocp_nlp_config *nlp_config; + ocp_nlp_out *nlp_out; + ocp_nlp_out *sens_out; + ocp_nlp_in *nlp_in; + ocp_nlp_solver *nlp_solver; + int solver_created; + PyObject *model_name; + int N; + PyObject *nlp_solver_type; +}; + + +/* "View.MemoryView":114 + * @cython.collection_type("sequence") + * @cname("__pyx_array") + * cdef class array: # <<<<<<<<<<<<<< + * + * cdef: + */ +struct __pyx_array_obj { + PyObject_HEAD + struct __pyx_vtabstruct_array *__pyx_vtab; + char *data; + Py_ssize_t len; + char *format; + int ndim; + Py_ssize_t *_shape; + Py_ssize_t *_strides; + Py_ssize_t itemsize; + PyObject *mode; + PyObject *_format; + void (*callback_free_data)(void *); + int free_data; + int dtype_is_object; +}; + + +/* "View.MemoryView":302 + * + * @cname('__pyx_MemviewEnum') + * cdef class Enum(object): # <<<<<<<<<<<<<< + * cdef object name + * def __init__(self, name): + */ +struct __pyx_MemviewEnum_obj { + PyObject_HEAD + PyObject *name; +}; + + +/* "View.MemoryView":337 + * + * @cname('__pyx_memoryview') + * cdef class memoryview: # <<<<<<<<<<<<<< + * + * cdef object obj + */ +struct __pyx_memoryview_obj { + PyObject_HEAD + struct __pyx_vtabstruct_memoryview *__pyx_vtab; + PyObject *obj; + PyObject *_size; + PyObject *_array_interface; + PyThread_type_lock lock; + __pyx_atomic_int_type acquisition_count; + Py_buffer view; + int flags; + int dtype_is_object; + __Pyx_TypeInfo *typeinfo; +}; + + +/* "View.MemoryView":952 + * @cython.collection_type("sequence") + * @cname('__pyx_memoryviewslice') + * cdef class _memoryviewslice(memoryview): # <<<<<<<<<<<<<< + * "Internal class for passing memoryview slices to Python" + * + */ +struct __pyx_memoryviewslice_obj { + struct __pyx_memoryview_obj __pyx_base; + __Pyx_memviewslice from_slice; + PyObject *from_object; + PyObject *(*to_object_func)(char *); + int (*to_dtype_func)(char *, PyObject *); +}; + + + +/* "View.MemoryView":114 + * @cython.collection_type("sequence") + * @cname("__pyx_array") + * cdef class array: # <<<<<<<<<<<<<< + * + * cdef: + */ + +struct __pyx_vtabstruct_array { + PyObject *(*get_memview)(struct __pyx_array_obj *); +}; +static struct __pyx_vtabstruct_array *__pyx_vtabptr_array; + + +/* "View.MemoryView":337 + * + * @cname('__pyx_memoryview') + * cdef class memoryview: # <<<<<<<<<<<<<< + * + * cdef object obj + */ + +struct __pyx_vtabstruct_memoryview { + char *(*get_item_pointer)(struct __pyx_memoryview_obj *, PyObject *); + PyObject *(*is_slice)(struct __pyx_memoryview_obj *, PyObject *); + PyObject *(*setitem_slice_assignment)(struct __pyx_memoryview_obj *, PyObject *, PyObject *); + PyObject *(*setitem_slice_assign_scalar)(struct __pyx_memoryview_obj *, struct __pyx_memoryview_obj *, PyObject *); + PyObject *(*setitem_indexed)(struct __pyx_memoryview_obj *, PyObject *, PyObject *); + PyObject *(*convert_item_to_object)(struct __pyx_memoryview_obj *, char *); + PyObject *(*assign_item_from_object)(struct __pyx_memoryview_obj *, char *, PyObject *); + PyObject *(*_get_base)(struct __pyx_memoryview_obj *); +}; +static struct __pyx_vtabstruct_memoryview *__pyx_vtabptr_memoryview; + + +/* "View.MemoryView":952 + * @cython.collection_type("sequence") + * @cname('__pyx_memoryviewslice') + * cdef class _memoryviewslice(memoryview): # <<<<<<<<<<<<<< + * "Internal class for passing memoryview slices to Python" + * + */ + +struct __pyx_vtabstruct__memoryviewslice { + struct __pyx_vtabstruct_memoryview __pyx_base; +}; +static struct __pyx_vtabstruct__memoryviewslice *__pyx_vtabptr__memoryviewslice; +/* #### Code section: utility_code_proto ### */ + +/* --- Runtime support code (head) --- */ +/* Refnanny.proto */ +#ifndef CYTHON_REFNANNY + #define CYTHON_REFNANNY 0 +#endif +#if CYTHON_REFNANNY + typedef struct { + void (*INCREF)(void*, PyObject*, Py_ssize_t); + void (*DECREF)(void*, PyObject*, Py_ssize_t); + void (*GOTREF)(void*, PyObject*, Py_ssize_t); + void (*GIVEREF)(void*, PyObject*, Py_ssize_t); + void* (*SetupContext)(const char*, Py_ssize_t, const char*); + void (*FinishContext)(void**); + } __Pyx_RefNannyAPIStruct; + static __Pyx_RefNannyAPIStruct *__Pyx_RefNanny = NULL; + static __Pyx_RefNannyAPIStruct *__Pyx_RefNannyImportAPI(const char *modname); + #define __Pyx_RefNannyDeclarations void *__pyx_refnanny = NULL; +#ifdef WITH_THREAD + #define __Pyx_RefNannySetupContext(name, acquire_gil)\ + if (acquire_gil) {\ + PyGILState_STATE __pyx_gilstate_save = PyGILState_Ensure();\ + __pyx_refnanny = __Pyx_RefNanny->SetupContext((name), (__LINE__), (__FILE__));\ + PyGILState_Release(__pyx_gilstate_save);\ + } else {\ + __pyx_refnanny = __Pyx_RefNanny->SetupContext((name), (__LINE__), (__FILE__));\ + } + #define __Pyx_RefNannyFinishContextNogil() {\ + PyGILState_STATE __pyx_gilstate_save = PyGILState_Ensure();\ + __Pyx_RefNannyFinishContext();\ + PyGILState_Release(__pyx_gilstate_save);\ + } +#else + #define __Pyx_RefNannySetupContext(name, acquire_gil)\ + __pyx_refnanny = __Pyx_RefNanny->SetupContext((name), (__LINE__), (__FILE__)) + #define __Pyx_RefNannyFinishContextNogil() __Pyx_RefNannyFinishContext() +#endif + #define __Pyx_RefNannyFinishContextNogil() {\ + PyGILState_STATE __pyx_gilstate_save = PyGILState_Ensure();\ + __Pyx_RefNannyFinishContext();\ + PyGILState_Release(__pyx_gilstate_save);\ + } + #define __Pyx_RefNannyFinishContext()\ + __Pyx_RefNanny->FinishContext(&__pyx_refnanny) + #define __Pyx_INCREF(r) __Pyx_RefNanny->INCREF(__pyx_refnanny, (PyObject *)(r), (__LINE__)) + #define __Pyx_DECREF(r) __Pyx_RefNanny->DECREF(__pyx_refnanny, (PyObject *)(r), (__LINE__)) + #define __Pyx_GOTREF(r) __Pyx_RefNanny->GOTREF(__pyx_refnanny, (PyObject *)(r), (__LINE__)) + #define __Pyx_GIVEREF(r) __Pyx_RefNanny->GIVEREF(__pyx_refnanny, (PyObject *)(r), (__LINE__)) + #define __Pyx_XINCREF(r) do { if((r) == NULL); else {__Pyx_INCREF(r); }} while(0) + #define __Pyx_XDECREF(r) do { if((r) == NULL); else {__Pyx_DECREF(r); }} while(0) + #define __Pyx_XGOTREF(r) do { if((r) == NULL); else {__Pyx_GOTREF(r); }} while(0) + #define __Pyx_XGIVEREF(r) do { if((r) == NULL); else {__Pyx_GIVEREF(r);}} while(0) +#else + #define __Pyx_RefNannyDeclarations + #define __Pyx_RefNannySetupContext(name, acquire_gil) + #define __Pyx_RefNannyFinishContextNogil() + #define __Pyx_RefNannyFinishContext() + #define __Pyx_INCREF(r) Py_INCREF(r) + #define __Pyx_DECREF(r) Py_DECREF(r) + #define __Pyx_GOTREF(r) + #define __Pyx_GIVEREF(r) + #define __Pyx_XINCREF(r) Py_XINCREF(r) + #define __Pyx_XDECREF(r) Py_XDECREF(r) + #define __Pyx_XGOTREF(r) + #define __Pyx_XGIVEREF(r) +#endif +#define __Pyx_Py_XDECREF_SET(r, v) do {\ + PyObject *tmp = (PyObject *) r;\ + r = v; Py_XDECREF(tmp);\ + } while (0) +#define __Pyx_XDECREF_SET(r, v) do {\ + PyObject *tmp = (PyObject *) r;\ + r = v; __Pyx_XDECREF(tmp);\ + } while (0) +#define __Pyx_DECREF_SET(r, v) do {\ + PyObject *tmp = (PyObject *) r;\ + r = v; __Pyx_DECREF(tmp);\ + } while (0) +#define __Pyx_CLEAR(r) do { PyObject* tmp = ((PyObject*)(r)); r = NULL; __Pyx_DECREF(tmp);} while(0) +#define __Pyx_XCLEAR(r) do { if((r) != NULL) {PyObject* tmp = ((PyObject*)(r)); r = NULL; __Pyx_DECREF(tmp);}} while(0) + +/* PyErrExceptionMatches.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyErr_ExceptionMatches(err) __Pyx_PyErr_ExceptionMatchesInState(__pyx_tstate, err) +static CYTHON_INLINE int __Pyx_PyErr_ExceptionMatchesInState(PyThreadState* tstate, PyObject* err); +#else +#define __Pyx_PyErr_ExceptionMatches(err) PyErr_ExceptionMatches(err) +#endif + +/* PyThreadStateGet.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyThreadState_declare PyThreadState *__pyx_tstate; +#define __Pyx_PyThreadState_assign __pyx_tstate = __Pyx_PyThreadState_Current; +#if PY_VERSION_HEX >= 0x030C00A6 +#define __Pyx_PyErr_Occurred() (__pyx_tstate->current_exception != NULL) +#define __Pyx_PyErr_CurrentExceptionType() (__pyx_tstate->current_exception ? (PyObject*) Py_TYPE(__pyx_tstate->current_exception) : (PyObject*) NULL) +#else +#define __Pyx_PyErr_Occurred() (__pyx_tstate->curexc_type != NULL) +#define __Pyx_PyErr_CurrentExceptionType() (__pyx_tstate->curexc_type) +#endif +#else +#define __Pyx_PyThreadState_declare +#define __Pyx_PyThreadState_assign +#define __Pyx_PyErr_Occurred() (PyErr_Occurred() != NULL) +#define __Pyx_PyErr_CurrentExceptionType() PyErr_Occurred() +#endif + +/* PyErrFetchRestore.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyErr_Clear() __Pyx_ErrRestore(NULL, NULL, NULL) +#define __Pyx_ErrRestoreWithState(type, value, tb) __Pyx_ErrRestoreInState(PyThreadState_GET(), type, value, tb) +#define __Pyx_ErrFetchWithState(type, value, tb) __Pyx_ErrFetchInState(PyThreadState_GET(), type, value, tb) +#define __Pyx_ErrRestore(type, value, tb) __Pyx_ErrRestoreInState(__pyx_tstate, type, value, tb) +#define __Pyx_ErrFetch(type, value, tb) __Pyx_ErrFetchInState(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx_ErrRestoreInState(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb); +static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A6 +#define __Pyx_PyErr_SetNone(exc) (Py_INCREF(exc), __Pyx_ErrRestore((exc), NULL, NULL)) +#else +#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc) +#endif +#else +#define __Pyx_PyErr_Clear() PyErr_Clear() +#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc) +#define __Pyx_ErrRestoreWithState(type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetchWithState(type, value, tb) PyErr_Fetch(type, value, tb) +#define __Pyx_ErrRestoreInState(tstate, type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetchInState(tstate, type, value, tb) PyErr_Fetch(type, value, tb) +#define __Pyx_ErrRestore(type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetch(type, value, tb) PyErr_Fetch(type, value, tb) +#endif + +/* PyObjectGetAttrStr.proto */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStr(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GetAttrStr(o,n) PyObject_GetAttr(o,n) +#endif + +/* PyObjectGetAttrStrNoError.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name); + +/* GetBuiltinName.proto */ +static PyObject *__Pyx_GetBuiltinName(PyObject *name); + +/* TupleAndListFromArray.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyList_FromArray(PyObject *const *src, Py_ssize_t n); +static CYTHON_INLINE PyObject* __Pyx_PyTuple_FromArray(PyObject *const *src, Py_ssize_t n); +#endif + +/* IncludeStringH.proto */ +#include + +/* BytesEquals.proto */ +static CYTHON_INLINE int __Pyx_PyBytes_Equals(PyObject* s1, PyObject* s2, int equals); + +/* UnicodeEquals.proto */ +static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int equals); + +/* fastcall.proto */ +#if CYTHON_AVOID_BORROWED_REFS + #define __Pyx_Arg_VARARGS(args, i) PySequence_GetItem(args, i) +#elif CYTHON_ASSUME_SAFE_MACROS + #define __Pyx_Arg_VARARGS(args, i) PyTuple_GET_ITEM(args, i) +#else + #define __Pyx_Arg_VARARGS(args, i) PyTuple_GetItem(args, i) +#endif +#if CYTHON_AVOID_BORROWED_REFS + #define __Pyx_Arg_NewRef_VARARGS(arg) __Pyx_NewRef(arg) + #define __Pyx_Arg_XDECREF_VARARGS(arg) Py_XDECREF(arg) +#else + #define __Pyx_Arg_NewRef_VARARGS(arg) arg + #define __Pyx_Arg_XDECREF_VARARGS(arg) +#endif +#define __Pyx_NumKwargs_VARARGS(kwds) PyDict_Size(kwds) +#define __Pyx_KwValues_VARARGS(args, nargs) NULL +#define __Pyx_GetKwValue_VARARGS(kw, kwvalues, s) __Pyx_PyDict_GetItemStrWithError(kw, s) +#define __Pyx_KwargsAsDict_VARARGS(kw, kwvalues) PyDict_Copy(kw) +#if CYTHON_METH_FASTCALL + #define __Pyx_Arg_FASTCALL(args, i) args[i] + #define __Pyx_NumKwargs_FASTCALL(kwds) PyTuple_GET_SIZE(kwds) + #define __Pyx_KwValues_FASTCALL(args, nargs) ((args) + (nargs)) + static CYTHON_INLINE PyObject * __Pyx_GetKwValue_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues, PyObject *s); +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 + CYTHON_UNUSED static PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues); + #else + #define __Pyx_KwargsAsDict_FASTCALL(kw, kwvalues) _PyStack_AsDict(kwvalues, kw) + #endif + #define __Pyx_Arg_NewRef_FASTCALL(arg) arg /* no-op, __Pyx_Arg_FASTCALL is direct and this needs + to have the same reference counting */ + #define __Pyx_Arg_XDECREF_FASTCALL(arg) +#else + #define __Pyx_Arg_FASTCALL __Pyx_Arg_VARARGS + #define __Pyx_NumKwargs_FASTCALL __Pyx_NumKwargs_VARARGS + #define __Pyx_KwValues_FASTCALL __Pyx_KwValues_VARARGS + #define __Pyx_GetKwValue_FASTCALL __Pyx_GetKwValue_VARARGS + #define __Pyx_KwargsAsDict_FASTCALL __Pyx_KwargsAsDict_VARARGS + #define __Pyx_Arg_NewRef_FASTCALL(arg) __Pyx_Arg_NewRef_VARARGS(arg) + #define __Pyx_Arg_XDECREF_FASTCALL(arg) __Pyx_Arg_XDECREF_VARARGS(arg) +#endif +#if CYTHON_COMPILING_IN_CPYTHON && CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS +#define __Pyx_ArgsSlice_VARARGS(args, start, stop) __Pyx_PyTuple_FromArray(&__Pyx_Arg_VARARGS(args, start), stop - start) +#define __Pyx_ArgsSlice_FASTCALL(args, start, stop) __Pyx_PyTuple_FromArray(&__Pyx_Arg_FASTCALL(args, start), stop - start) +#else +#define __Pyx_ArgsSlice_VARARGS(args, start, stop) PyTuple_GetSlice(args, start, stop) +#define __Pyx_ArgsSlice_FASTCALL(args, start, stop) PyTuple_GetSlice(args, start, stop) +#endif + +/* RaiseArgTupleInvalid.proto */ +static void __Pyx_RaiseArgtupleInvalid(const char* func_name, int exact, + Py_ssize_t num_min, Py_ssize_t num_max, Py_ssize_t num_found); + +/* RaiseDoubleKeywords.proto */ +static void __Pyx_RaiseDoubleKeywordsError(const char* func_name, PyObject* kw_name); + +/* ParseKeywords.proto */ +static int __Pyx_ParseOptionalKeywords(PyObject *kwds, PyObject *const *kwvalues, + PyObject **argnames[], + PyObject *kwds2, PyObject *values[], Py_ssize_t num_pos_args, + const char* function_name); + +/* ArgTypeTest.proto */ +#define __Pyx_ArgTypeTest(obj, type, none_allowed, name, exact)\ + ((likely(__Pyx_IS_TYPE(obj, type) | (none_allowed && (obj == Py_None)))) ? 1 :\ + __Pyx__ArgTypeTest(obj, type, name, exact)) +static int __Pyx__ArgTypeTest(PyObject *obj, PyTypeObject *type, const char *name, int exact); + +/* RaiseException.proto */ +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause); + +/* PyFunctionFastCall.proto */ +#if CYTHON_FAST_PYCALL +#if !CYTHON_VECTORCALL +#define __Pyx_PyFunction_FastCall(func, args, nargs)\ + __Pyx_PyFunction_FastCallDict((func), (args), (nargs), NULL) +static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs); +#endif +#define __Pyx_BUILD_ASSERT_EXPR(cond)\ + (sizeof(char [1 - 2*!(cond)]) - 1) +#ifndef Py_MEMBER_SIZE +#define Py_MEMBER_SIZE(type, member) sizeof(((type *)0)->member) +#endif +#if !CYTHON_VECTORCALL +#if PY_VERSION_HEX >= 0x03080000 + #include "frameobject.h" +#if PY_VERSION_HEX >= 0x030b00a6 && !CYTHON_COMPILING_IN_LIMITED_API + #ifndef Py_BUILD_CORE + #define Py_BUILD_CORE 1 + #endif + #include "internal/pycore_frame.h" +#endif + #define __Pxy_PyFrame_Initialize_Offsets() + #define __Pyx_PyFrame_GetLocalsplus(frame) ((frame)->f_localsplus) +#else + static size_t __pyx_pyframe_localsplus_offset = 0; + #include "frameobject.h" + #define __Pxy_PyFrame_Initialize_Offsets()\ + ((void)__Pyx_BUILD_ASSERT_EXPR(sizeof(PyFrameObject) == offsetof(PyFrameObject, f_localsplus) + Py_MEMBER_SIZE(PyFrameObject, f_localsplus)),\ + (void)(__pyx_pyframe_localsplus_offset = ((size_t)PyFrame_Type.tp_basicsize) - Py_MEMBER_SIZE(PyFrameObject, f_localsplus))) + #define __Pyx_PyFrame_GetLocalsplus(frame)\ + (assert(__pyx_pyframe_localsplus_offset), (PyObject **)(((char *)(frame)) + __pyx_pyframe_localsplus_offset)) +#endif +#endif +#endif + +/* PyObjectCall.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw); +#else +#define __Pyx_PyObject_Call(func, arg, kw) PyObject_Call(func, arg, kw) +#endif + +/* PyObjectCallMethO.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg); +#endif + +/* PyObjectFastCall.proto */ +#define __Pyx_PyObject_FastCall(func, args, nargs) __Pyx_PyObject_FastCallDict(func, args, (size_t)(nargs), NULL) +static CYTHON_INLINE PyObject* __Pyx_PyObject_FastCallDict(PyObject *func, PyObject **args, size_t nargs, PyObject *kwargs); + +/* RaiseUnexpectedTypeError.proto */ +static int __Pyx_RaiseUnexpectedTypeError(const char *expected, PyObject *obj); + +/* GCCDiagnostics.proto */ +#if !defined(__INTEL_COMPILER) && defined(__GNUC__) && (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 6)) +#define __Pyx_HAS_GCC_DIAGNOSTIC +#endif + +/* BuildPyUnicode.proto */ +static PyObject* __Pyx_PyUnicode_BuildFromAscii(Py_ssize_t ulength, char* chars, int clength, + int prepend_sign, char padding_char); + +/* CIntToPyUnicode.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_int(int value, Py_ssize_t width, char padding_char, char format_char); + +/* CIntToPyUnicode.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_Py_ssize_t(Py_ssize_t value, Py_ssize_t width, char padding_char, char format_char); + +/* JoinPyUnicode.proto */ +static PyObject* __Pyx_PyUnicode_Join(PyObject* value_tuple, Py_ssize_t value_count, Py_ssize_t result_ulength, + Py_UCS4 max_char); + +/* StrEquals.proto */ +#if PY_MAJOR_VERSION >= 3 +#define __Pyx_PyString_Equals __Pyx_PyUnicode_Equals +#else +#define __Pyx_PyString_Equals __Pyx_PyBytes_Equals +#endif + +/* PyObjectFormatSimple.proto */ +#if CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + PyObject_Format(s, f)) +#elif PY_MAJOR_VERSION < 3 + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + likely(PyString_CheckExact(s)) ? PyUnicode_FromEncodedObject(s, NULL, "strict") :\ + PyObject_Format(s, f)) +#elif CYTHON_USE_TYPE_SLOTS + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + likely(PyLong_CheckExact(s)) ? PyLong_Type.tp_repr(s) :\ + likely(PyFloat_CheckExact(s)) ? PyFloat_Type.tp_repr(s) :\ + PyObject_Format(s, f)) +#else + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + PyObject_Format(s, f)) +#endif + +CYTHON_UNUSED static int __pyx_array_getbuffer(PyObject *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /*proto*/ +static PyObject *__pyx_array_get_memview(struct __pyx_array_obj *); /*proto*/ +/* GetAttr.proto */ +static CYTHON_INLINE PyObject *__Pyx_GetAttr(PyObject *, PyObject *); + +/* GetItemInt.proto */ +#define __Pyx_GetItemInt(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_Fast(o, (Py_ssize_t)i, is_list, wraparound, boundscheck) :\ + (is_list ? (PyErr_SetString(PyExc_IndexError, "list index out of range"), (PyObject*)NULL) :\ + __Pyx_GetItemInt_Generic(o, to_py_func(i)))) +#define __Pyx_GetItemInt_List(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_List_Fast(o, (Py_ssize_t)i, wraparound, boundscheck) :\ + (PyErr_SetString(PyExc_IndexError, "list index out of range"), (PyObject*)NULL)) +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, + int wraparound, int boundscheck); +#define __Pyx_GetItemInt_Tuple(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_Tuple_Fast(o, (Py_ssize_t)i, wraparound, boundscheck) :\ + (PyErr_SetString(PyExc_IndexError, "tuple index out of range"), (PyObject*)NULL)) +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i, + int wraparound, int boundscheck); +static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j); +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, + int is_list, int wraparound, int boundscheck); + +/* PyObjectCallOneArg.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg); + +/* ObjectGetItem.proto */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject *__Pyx_PyObject_GetItem(PyObject *obj, PyObject *key); +#else +#define __Pyx_PyObject_GetItem(obj, key) PyObject_GetItem(obj, key) +#endif + +/* KeywordStringCheck.proto */ +static int __Pyx_CheckKeywordStrings(PyObject *kw, const char* function_name, int kw_allowed); + +/* DivInt[Py_ssize_t].proto */ +static CYTHON_INLINE Py_ssize_t __Pyx_div_Py_ssize_t(Py_ssize_t, Py_ssize_t); + +/* UnaryNegOverflows.proto */ +#define __Pyx_UNARY_NEG_WOULD_OVERFLOW(x)\ + (((x) < 0) & ((unsigned long)(x) == 0-(unsigned long)(x))) + +/* GetAttr3.proto */ +static CYTHON_INLINE PyObject *__Pyx_GetAttr3(PyObject *, PyObject *, PyObject *); + +/* PyDictVersioning.proto */ +#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS +#define __PYX_DICT_VERSION_INIT ((PY_UINT64_T) -1) +#define __PYX_GET_DICT_VERSION(dict) (((PyDictObject*)(dict))->ma_version_tag) +#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var)\ + (version_var) = __PYX_GET_DICT_VERSION(dict);\ + (cache_var) = (value); +#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) {\ + static PY_UINT64_T __pyx_dict_version = 0;\ + static PyObject *__pyx_dict_cached_value = NULL;\ + if (likely(__PYX_GET_DICT_VERSION(DICT) == __pyx_dict_version)) {\ + (VAR) = __pyx_dict_cached_value;\ + } else {\ + (VAR) = __pyx_dict_cached_value = (LOOKUP);\ + __pyx_dict_version = __PYX_GET_DICT_VERSION(DICT);\ + }\ +} +static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj); +static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj); +static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version); +#else +#define __PYX_GET_DICT_VERSION(dict) (0) +#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var) +#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) (VAR) = (LOOKUP); +#endif + +/* GetModuleGlobalName.proto */ +#if CYTHON_USE_DICT_VERSIONS +#define __Pyx_GetModuleGlobalName(var, name) do {\ + static PY_UINT64_T __pyx_dict_version = 0;\ + static PyObject *__pyx_dict_cached_value = NULL;\ + (var) = (likely(__pyx_dict_version == __PYX_GET_DICT_VERSION(__pyx_d))) ?\ + (likely(__pyx_dict_cached_value) ? __Pyx_NewRef(__pyx_dict_cached_value) : __Pyx_GetBuiltinName(name)) :\ + __Pyx__GetModuleGlobalName(name, &__pyx_dict_version, &__pyx_dict_cached_value);\ +} while(0) +#define __Pyx_GetModuleGlobalNameUncached(var, name) do {\ + PY_UINT64_T __pyx_dict_version;\ + PyObject *__pyx_dict_cached_value;\ + (var) = __Pyx__GetModuleGlobalName(name, &__pyx_dict_version, &__pyx_dict_cached_value);\ +} while(0) +static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value); +#else +#define __Pyx_GetModuleGlobalName(var, name) (var) = __Pyx__GetModuleGlobalName(name) +#define __Pyx_GetModuleGlobalNameUncached(var, name) (var) = __Pyx__GetModuleGlobalName(name) +static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name); +#endif + +/* AssertionsEnabled.proto */ +#if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX < 0x02070600 && !defined(Py_OptimizeFlag) + #define __Pyx_init_assertions_enabled() (0) + #define __pyx_assertions_enabled() (1) +#elif CYTHON_COMPILING_IN_LIMITED_API || (CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030C0000) + static int __pyx_assertions_enabled_flag; + #define __pyx_assertions_enabled() (__pyx_assertions_enabled_flag) + static int __Pyx_init_assertions_enabled(void) { + PyObject *builtins, *debug, *debug_str; + int flag; + builtins = PyEval_GetBuiltins(); + if (!builtins) goto bad; + debug_str = PyUnicode_FromStringAndSize("__debug__", 9); + if (!debug_str) goto bad; + debug = PyObject_GetItem(builtins, debug_str); + Py_DECREF(debug_str); + if (!debug) goto bad; + flag = PyObject_IsTrue(debug); + Py_DECREF(debug); + if (flag == -1) goto bad; + __pyx_assertions_enabled_flag = flag; + return 0; + bad: + __pyx_assertions_enabled_flag = 1; + return -1; + } +#else + #define __Pyx_init_assertions_enabled() (0) + #define __pyx_assertions_enabled() (!Py_OptimizeFlag) +#endif + +/* RaiseTooManyValuesToUnpack.proto */ +static CYTHON_INLINE void __Pyx_RaiseTooManyValuesError(Py_ssize_t expected); + +/* RaiseNeedMoreValuesToUnpack.proto */ +static CYTHON_INLINE void __Pyx_RaiseNeedMoreValuesError(Py_ssize_t index); + +/* RaiseNoneIterError.proto */ +static CYTHON_INLINE void __Pyx_RaiseNoneNotIterableError(void); + +/* ExtTypeTest.proto */ +static CYTHON_INLINE int __Pyx_TypeTest(PyObject *obj, PyTypeObject *type); + +/* GetTopmostException.proto */ +#if CYTHON_USE_EXC_INFO_STACK && CYTHON_FAST_THREAD_STATE +static _PyErr_StackItem * __Pyx_PyErr_GetTopmostException(PyThreadState *tstate); +#endif + +/* SaveResetException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_ExceptionSave(type, value, tb) __Pyx__ExceptionSave(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionSave(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#define __Pyx_ExceptionReset(type, value, tb) __Pyx__ExceptionReset(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionReset(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb); +#else +#define __Pyx_ExceptionSave(type, value, tb) PyErr_GetExcInfo(type, value, tb) +#define __Pyx_ExceptionReset(type, value, tb) PyErr_SetExcInfo(type, value, tb) +#endif + +/* GetException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_GetException(type, value, tb) __Pyx__GetException(__pyx_tstate, type, value, tb) +static int __Pyx__GetException(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#else +static int __Pyx_GetException(PyObject **type, PyObject **value, PyObject **tb); +#endif + +/* SwapException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_ExceptionSwap(type, value, tb) __Pyx__ExceptionSwap(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionSwap(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#else +static CYTHON_INLINE void __Pyx_ExceptionSwap(PyObject **type, PyObject **value, PyObject **tb); +#endif + +/* Import.proto */ +static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level); + +/* ImportDottedModule.proto */ +static PyObject *__Pyx_ImportDottedModule(PyObject *name, PyObject *parts_tuple); +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx_ImportDottedModule_WalkParts(PyObject *module, PyObject *name, PyObject *parts_tuple); +#endif + +/* FastTypeChecks.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_TypeCheck(obj, type) __Pyx_IsSubtype(Py_TYPE(obj), (PyTypeObject *)type) +#define __Pyx_TypeCheck2(obj, type1, type2) __Pyx_IsAnySubtype2(Py_TYPE(obj), (PyTypeObject *)type1, (PyTypeObject *)type2) +static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b); +static CYTHON_INLINE int __Pyx_IsAnySubtype2(PyTypeObject *cls, PyTypeObject *a, PyTypeObject *b); +static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches(PyObject *err, PyObject *type); +static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches2(PyObject *err, PyObject *type1, PyObject *type2); +#else +#define __Pyx_TypeCheck(obj, type) PyObject_TypeCheck(obj, (PyTypeObject *)type) +#define __Pyx_TypeCheck2(obj, type1, type2) (PyObject_TypeCheck(obj, (PyTypeObject *)type1) || PyObject_TypeCheck(obj, (PyTypeObject *)type2)) +#define __Pyx_PyErr_GivenExceptionMatches(err, type) PyErr_GivenExceptionMatches(err, type) +#define __Pyx_PyErr_GivenExceptionMatches2(err, type1, type2) (PyErr_GivenExceptionMatches(err, type1) || PyErr_GivenExceptionMatches(err, type2)) +#endif +#define __Pyx_PyErr_ExceptionMatches2(err1, err2) __Pyx_PyErr_GivenExceptionMatches2(__Pyx_PyErr_CurrentExceptionType(), err1, err2) +#define __Pyx_PyException_Check(obj) __Pyx_TypeCheck(obj, PyExc_Exception) + +CYTHON_UNUSED static int __pyx_memoryview_getbuffer(PyObject *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /*proto*/ +/* ListCompAppend.proto */ +#if CYTHON_USE_PYLIST_INTERNALS && CYTHON_ASSUME_SAFE_MACROS +static CYTHON_INLINE int __Pyx_ListComp_Append(PyObject* list, PyObject* x) { + PyListObject* L = (PyListObject*) list; + Py_ssize_t len = Py_SIZE(list); + if (likely(L->allocated > len)) { + Py_INCREF(x); + #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 + L->ob_item[len] = x; + #else + PyList_SET_ITEM(list, len, x); + #endif + __Pyx_SET_SIZE(list, len + 1); + return 0; + } + return PyList_Append(list, x); +} +#else +#define __Pyx_ListComp_Append(L,x) PyList_Append(L,x) +#endif + +/* PySequenceMultiply.proto */ +#define __Pyx_PySequence_Multiply_Left(mul, seq) __Pyx_PySequence_Multiply(seq, mul) +static CYTHON_INLINE PyObject* __Pyx_PySequence_Multiply(PyObject *seq, Py_ssize_t mul); + +/* SetItemInt.proto */ +#define __Pyx_SetItemInt(o, i, v, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_SetItemInt_Fast(o, (Py_ssize_t)i, v, is_list, wraparound, boundscheck) :\ + (is_list ? (PyErr_SetString(PyExc_IndexError, "list assignment index out of range"), -1) :\ + __Pyx_SetItemInt_Generic(o, to_py_func(i), v))) +static int __Pyx_SetItemInt_Generic(PyObject *o, PyObject *j, PyObject *v); +static CYTHON_INLINE int __Pyx_SetItemInt_Fast(PyObject *o, Py_ssize_t i, PyObject *v, + int is_list, int wraparound, int boundscheck); + +/* RaiseUnboundLocalError.proto */ +static CYTHON_INLINE void __Pyx_RaiseUnboundLocalError(const char *varname); + +/* DivInt[long].proto */ +static CYTHON_INLINE long __Pyx_div_long(long, long); + +/* PySequenceContains.proto */ +static CYTHON_INLINE int __Pyx_PySequence_ContainsTF(PyObject* item, PyObject* seq, int eq) { + int result = PySequence_Contains(seq, item); + return unlikely(result < 0) ? result : (result == (eq == Py_EQ)); +} + +/* ImportFrom.proto */ +static PyObject* __Pyx_ImportFrom(PyObject* module, PyObject* name); + +/* HasAttr.proto */ +#if __PYX_LIMITED_VERSION_HEX >= 0x030d00A1 +#define __Pyx_HasAttr(o, n) PyObject_HasAttrWithError(o, n) +#else +static CYTHON_INLINE int __Pyx_HasAttr(PyObject *, PyObject *); +#endif + +/* PyIntCompare.proto */ +static CYTHON_INLINE int __Pyx_PyInt_BoolEqObjC(PyObject *op1, PyObject *op2, long intval, long inplace); + +/* PyIntCompare.proto */ +static CYTHON_INLINE int __Pyx_PyInt_BoolNeObjC(PyObject *op1, PyObject *op2, long intval, long inplace); + +/* IsLittleEndian.proto */ +static CYTHON_INLINE int __Pyx_Is_Little_Endian(void); + +/* BufferFormatCheck.proto */ +static const char* __Pyx_BufFmt_CheckString(__Pyx_BufFmt_Context* ctx, const char* ts); +static void __Pyx_BufFmt_Init(__Pyx_BufFmt_Context* ctx, + __Pyx_BufFmt_StackElem* stack, + __Pyx_TypeInfo* type); + +/* BufferGetAndValidate.proto */ +#define __Pyx_GetBufferAndValidate(buf, obj, dtype, flags, nd, cast, stack)\ + ((obj == Py_None || obj == NULL) ?\ + (__Pyx_ZeroBuffer(buf), 0) :\ + __Pyx__GetBufferAndValidate(buf, obj, dtype, flags, nd, cast, stack)) +static int __Pyx__GetBufferAndValidate(Py_buffer* buf, PyObject* obj, + __Pyx_TypeInfo* dtype, int flags, int nd, int cast, __Pyx_BufFmt_StackElem* stack); +static void __Pyx_ZeroBuffer(Py_buffer* buf); +static CYTHON_INLINE void __Pyx_SafeReleaseBuffer(Py_buffer* info); +static Py_ssize_t __Pyx_minusones[] = { -1, -1, -1, -1, -1, -1, -1, -1 }; +static Py_ssize_t __Pyx_zeros[] = { 0, 0, 0, 0, 0, 0, 0, 0 }; + +/* UnicodeConcatInPlace.proto */ +# if CYTHON_COMPILING_IN_CPYTHON && PY_MAJOR_VERSION >= 3 + #if CYTHON_REFNANNY + #define __Pyx_PyUnicode_ConcatInPlace(left, right) __Pyx_PyUnicode_ConcatInPlaceImpl(&left, right, __pyx_refnanny) + #else + #define __Pyx_PyUnicode_ConcatInPlace(left, right) __Pyx_PyUnicode_ConcatInPlaceImpl(&left, right) + #endif + static CYTHON_INLINE PyObject *__Pyx_PyUnicode_ConcatInPlaceImpl(PyObject **p_left, PyObject *right + #if CYTHON_REFNANNY + , void* __pyx_refnanny + #endif + ); +#else +#define __Pyx_PyUnicode_ConcatInPlace __Pyx_PyUnicode_Concat +#endif +#define __Pyx_PyUnicode_ConcatInPlaceSafe(left, right) ((unlikely((left) == Py_None) || unlikely((right) == Py_None)) ?\ + PyNumber_InPlaceAdd(left, right) : __Pyx_PyUnicode_ConcatInPlace(left, right)) + +/* SliceObject.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetSlice( + PyObject* obj, Py_ssize_t cstart, Py_ssize_t cstop, + PyObject** py_start, PyObject** py_stop, PyObject** py_slice, + int has_cstart, int has_cstop, int wraparound); + +/* PyObject_Str.proto */ +#define __Pyx_PyObject_Str(obj)\ + (likely(PyString_CheckExact(obj)) ? __Pyx_NewRef(obj) : PyObject_Str(obj)) + +/* PyObjectFormat.proto */ +#if CYTHON_USE_UNICODE_WRITER +static PyObject* __Pyx_PyObject_Format(PyObject* s, PyObject* f); +#else +#define __Pyx_PyObject_Format(s, f) PyObject_Format(s, f) +#endif + +/* py_dict_keys.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyDict_Keys(PyObject* d); + +/* UnpackUnboundCMethod.proto */ +typedef struct { + PyObject *type; + PyObject **method_name; + PyCFunction func; + PyObject *method; + int flag; +} __Pyx_CachedCFunction; + +/* CallUnboundCMethod0.proto */ +static PyObject* __Pyx__CallUnboundCMethod0(__Pyx_CachedCFunction* cfunc, PyObject* self); +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_CallUnboundCMethod0(cfunc, self)\ + (likely((cfunc)->func) ?\ + (likely((cfunc)->flag == METH_NOARGS) ? (*((cfunc)->func))(self, NULL) :\ + (PY_VERSION_HEX >= 0x030600B1 && likely((cfunc)->flag == METH_FASTCALL) ?\ + (PY_VERSION_HEX >= 0x030700A0 ?\ + (*(__Pyx_PyCFunctionFast)(void*)(PyCFunction)(cfunc)->func)(self, &__pyx_empty_tuple, 0) :\ + (*(__Pyx_PyCFunctionFastWithKeywords)(void*)(PyCFunction)(cfunc)->func)(self, &__pyx_empty_tuple, 0, NULL)) :\ + (PY_VERSION_HEX >= 0x030700A0 && (cfunc)->flag == (METH_FASTCALL | METH_KEYWORDS) ?\ + (*(__Pyx_PyCFunctionFastWithKeywords)(void*)(PyCFunction)(cfunc)->func)(self, &__pyx_empty_tuple, 0, NULL) :\ + (likely((cfunc)->flag == (METH_VARARGS | METH_KEYWORDS)) ? ((*(PyCFunctionWithKeywords)(void*)(PyCFunction)(cfunc)->func)(self, __pyx_empty_tuple, NULL)) :\ + ((cfunc)->flag == METH_VARARGS ? (*((cfunc)->func))(self, __pyx_empty_tuple) :\ + __Pyx__CallUnboundCMethod0(cfunc, self)))))) :\ + __Pyx__CallUnboundCMethod0(cfunc, self)) +#else +#define __Pyx_CallUnboundCMethod0(cfunc, self) __Pyx__CallUnboundCMethod0(cfunc, self) +#endif + +/* DictGetItem.proto */ +#if PY_MAJOR_VERSION >= 3 && !CYTHON_COMPILING_IN_PYPY +static PyObject *__Pyx_PyDict_GetItem(PyObject *d, PyObject* key); +#define __Pyx_PyObject_Dict_GetItem(obj, name)\ + (likely(PyDict_CheckExact(obj)) ?\ + __Pyx_PyDict_GetItem(obj, name) : PyObject_GetItem(obj, name)) +#else +#define __Pyx_PyDict_GetItem(d, key) PyObject_GetItem(d, key) +#define __Pyx_PyObject_Dict_GetItem(obj, name) PyObject_GetItem(obj, name) +#endif + +/* PyObjectLookupSpecial.proto */ +#if CYTHON_USE_PYTYPE_LOOKUP && CYTHON_USE_TYPE_SLOTS +#define __Pyx_PyObject_LookupSpecialNoError(obj, attr_name) __Pyx__PyObject_LookupSpecial(obj, attr_name, 0) +#define __Pyx_PyObject_LookupSpecial(obj, attr_name) __Pyx__PyObject_LookupSpecial(obj, attr_name, 1) +static CYTHON_INLINE PyObject* __Pyx__PyObject_LookupSpecial(PyObject* obj, PyObject* attr_name, int with_error); +#else +#define __Pyx_PyObject_LookupSpecialNoError(o,n) __Pyx_PyObject_GetAttrStrNoError(o,n) +#define __Pyx_PyObject_LookupSpecial(o,n) __Pyx_PyObject_GetAttrStr(o,n) +#endif + +/* IncludeStructmemberH.proto */ +#include + +/* FixUpExtensionType.proto */ +#if CYTHON_USE_TYPE_SPECS +static int __Pyx_fix_up_extension_type_from_spec(PyType_Spec *spec, PyTypeObject *type); +#endif + +/* FetchSharedCythonModule.proto */ +static PyObject *__Pyx_FetchSharedCythonABIModule(void); + +/* FetchCommonType.proto */ +#if !CYTHON_USE_TYPE_SPECS +static PyTypeObject* __Pyx_FetchCommonType(PyTypeObject* type); +#else +static PyTypeObject* __Pyx_FetchCommonTypeFromSpec(PyObject *module, PyType_Spec *spec, PyObject *bases); +#endif + +/* PyMethodNew.proto */ +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject *__Pyx_PyMethod_New(PyObject *func, PyObject *self, PyObject *typ) { + PyObject *typesModule=NULL, *methodType=NULL, *result=NULL; + CYTHON_UNUSED_VAR(typ); + if (!self) + return __Pyx_NewRef(func); + typesModule = PyImport_ImportModule("types"); + if (!typesModule) return NULL; + methodType = PyObject_GetAttrString(typesModule, "MethodType"); + Py_DECREF(typesModule); + if (!methodType) return NULL; + result = PyObject_CallFunctionObjArgs(methodType, func, self, NULL); + Py_DECREF(methodType); + return result; +} +#elif PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx_PyMethod_New(PyObject *func, PyObject *self, PyObject *typ) { + CYTHON_UNUSED_VAR(typ); + if (!self) + return __Pyx_NewRef(func); + return PyMethod_New(func, self); +} +#else + #define __Pyx_PyMethod_New PyMethod_New +#endif + +/* PyVectorcallFastCallDict.proto */ +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE PyObject *__Pyx_PyVectorcall_FastCallDict(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw); +#endif + +/* CythonFunctionShared.proto */ +#define __Pyx_CyFunction_USED +#define __Pyx_CYFUNCTION_STATICMETHOD 0x01 +#define __Pyx_CYFUNCTION_CLASSMETHOD 0x02 +#define __Pyx_CYFUNCTION_CCLASS 0x04 +#define __Pyx_CYFUNCTION_COROUTINE 0x08 +#define __Pyx_CyFunction_GetClosure(f)\ + (((__pyx_CyFunctionObject *) (f))->func_closure) +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_CyFunction_GetClassObj(f)\ + (((__pyx_CyFunctionObject *) (f))->func_classobj) +#else + #define __Pyx_CyFunction_GetClassObj(f)\ + ((PyObject*) ((PyCMethodObject *) (f))->mm_class) +#endif +#define __Pyx_CyFunction_SetClassObj(f, classobj)\ + __Pyx__CyFunction_SetClassObj((__pyx_CyFunctionObject *) (f), (classobj)) +#define __Pyx_CyFunction_Defaults(type, f)\ + ((type *)(((__pyx_CyFunctionObject *) (f))->defaults)) +#define __Pyx_CyFunction_SetDefaultsGetter(f, g)\ + ((__pyx_CyFunctionObject *) (f))->defaults_getter = (g) +typedef struct { +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject_HEAD + PyObject *func; +#elif PY_VERSION_HEX < 0x030900B1 + PyCFunctionObject func; +#else + PyCMethodObject func; +#endif +#if CYTHON_BACKPORT_VECTORCALL + __pyx_vectorcallfunc func_vectorcall; +#endif +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API + PyObject *func_weakreflist; +#endif + PyObject *func_dict; + PyObject *func_name; + PyObject *func_qualname; + PyObject *func_doc; + PyObject *func_globals; + PyObject *func_code; + PyObject *func_closure; +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + PyObject *func_classobj; +#endif + void *defaults; + int defaults_pyobjects; + size_t defaults_size; + int flags; + PyObject *defaults_tuple; + PyObject *defaults_kwdict; + PyObject *(*defaults_getter)(PyObject *); + PyObject *func_annotations; + PyObject *func_is_coroutine; +} __pyx_CyFunctionObject; +#undef __Pyx_CyOrPyCFunction_Check +#define __Pyx_CyFunction_Check(obj) __Pyx_TypeCheck(obj, __pyx_CyFunctionType) +#define __Pyx_CyOrPyCFunction_Check(obj) __Pyx_TypeCheck2(obj, __pyx_CyFunctionType, &PyCFunction_Type) +#define __Pyx_CyFunction_CheckExact(obj) __Pyx_IS_TYPE(obj, __pyx_CyFunctionType) +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc); +#undef __Pyx_IsSameCFunction +#define __Pyx_IsSameCFunction(func, cfunc) __Pyx__IsSameCyOrCFunction(func, cfunc) +static PyObject *__Pyx_CyFunction_Init(__pyx_CyFunctionObject* op, PyMethodDef *ml, + int flags, PyObject* qualname, + PyObject *closure, + PyObject *module, PyObject *globals, + PyObject* code); +static CYTHON_INLINE void __Pyx__CyFunction_SetClassObj(__pyx_CyFunctionObject* f, PyObject* classobj); +static CYTHON_INLINE void *__Pyx_CyFunction_InitDefaults(PyObject *m, + size_t size, + int pyobjects); +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsTuple(PyObject *m, + PyObject *tuple); +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsKwDict(PyObject *m, + PyObject *dict); +static CYTHON_INLINE void __Pyx_CyFunction_SetAnnotationsDict(PyObject *m, + PyObject *dict); +static int __pyx_CyFunction_init(PyObject *module); +#if CYTHON_METH_FASTCALL +static PyObject * __Pyx_CyFunction_Vectorcall_NOARGS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_O(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +#if CYTHON_BACKPORT_VECTORCALL +#define __Pyx_CyFunction_func_vectorcall(f) (((__pyx_CyFunctionObject*)f)->func_vectorcall) +#else +#define __Pyx_CyFunction_func_vectorcall(f) (((PyCFunctionObject*)f)->vectorcall) +#endif +#endif + +/* CythonFunction.proto */ +static PyObject *__Pyx_CyFunction_New(PyMethodDef *ml, + int flags, PyObject* qualname, + PyObject *closure, + PyObject *module, PyObject *globals, + PyObject* code); + +/* IterFinish.proto */ +static CYTHON_INLINE int __Pyx_IterFinish(void); + +/* PyObjectCallNoArg.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func); + +/* PyObjectGetMethod.proto */ +static int __Pyx_PyObject_GetMethod(PyObject *obj, PyObject *name, PyObject **method); + +/* PyObjectCallMethod0.proto */ +static PyObject* __Pyx_PyObject_CallMethod0(PyObject* obj, PyObject* method_name); + +/* UnpackItemEndCheck.proto */ +static int __Pyx_IternextUnpackEndCheck(PyObject *retval, Py_ssize_t expected); + +/* UnpackTupleError.proto */ +static void __Pyx_UnpackTupleError(PyObject *, Py_ssize_t index); + +/* UnpackTuple2.proto */ +#define __Pyx_unpack_tuple2(tuple, value1, value2, is_tuple, has_known_size, decref_tuple)\ + (likely(is_tuple || PyTuple_Check(tuple)) ?\ + (likely(has_known_size || PyTuple_GET_SIZE(tuple) == 2) ?\ + __Pyx_unpack_tuple2_exact(tuple, value1, value2, decref_tuple) :\ + (__Pyx_UnpackTupleError(tuple, 2), -1)) :\ + __Pyx_unpack_tuple2_generic(tuple, value1, value2, has_known_size, decref_tuple)) +static CYTHON_INLINE int __Pyx_unpack_tuple2_exact( + PyObject* tuple, PyObject** value1, PyObject** value2, int decref_tuple); +static int __Pyx_unpack_tuple2_generic( + PyObject* tuple, PyObject** value1, PyObject** value2, int has_known_size, int decref_tuple); + +/* dict_iter.proto */ +static CYTHON_INLINE PyObject* __Pyx_dict_iterator(PyObject* dict, int is_dict, PyObject* method_name, + Py_ssize_t* p_orig_length, int* p_is_dict); +static CYTHON_INLINE int __Pyx_dict_iter_next(PyObject* dict_or_iter, Py_ssize_t orig_length, Py_ssize_t* ppos, + PyObject** pkey, PyObject** pvalue, PyObject** pitem, int is_dict); + +/* PyIntBinop.proto */ +#if !CYTHON_COMPILING_IN_PYPY +static PyObject* __Pyx_PyInt_AddObjC(PyObject *op1, PyObject *op2, long intval, int inplace, int zerodivision_check); +#else +#define __Pyx_PyInt_AddObjC(op1, op2, intval, inplace, zerodivision_check)\ + (inplace ? PyNumber_InPlaceAdd(op1, op2) : PyNumber_Add(op1, op2)) +#endif + +/* BufferIndexError.proto */ +static void __Pyx_RaiseBufferIndexError(int axis); + +#define __Pyx_BufPtrStrided1d(type, buf, i0, s0) (type)((char*)buf + i0 * s0) +/* PyUnicode_Unicode.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_Unicode(PyObject *obj); + +/* PyObject_GenericGetAttrNoDict.proto */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GenericGetAttrNoDict PyObject_GenericGetAttr +#endif + +/* PyObject_GenericGetAttr.proto */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GenericGetAttr PyObject_GenericGetAttr +#endif + +/* ValidateBasesTuple.proto */ +#if CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API || CYTHON_USE_TYPE_SPECS +static int __Pyx_validate_bases_tuple(const char *type_name, Py_ssize_t dictoffset, PyObject *bases); +#endif + +/* PyType_Ready.proto */ +CYTHON_UNUSED static int __Pyx_PyType_Ready(PyTypeObject *t); + +/* SetupReduce.proto */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_setup_reduce(PyObject* type_obj); +#endif + +/* SetVTable.proto */ +static int __Pyx_SetVtable(PyTypeObject* typeptr , void* vtable); + +/* GetVTable.proto */ +static void* __Pyx_GetVtable(PyTypeObject *type); + +/* MergeVTables.proto */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_MergeVtables(PyTypeObject *type); +#endif + +/* TypeImport.proto */ +#ifndef __PYX_HAVE_RT_ImportType_proto_3_0_8 +#define __PYX_HAVE_RT_ImportType_proto_3_0_8 +#if defined (__STDC_VERSION__) && __STDC_VERSION__ >= 201112L +#include +#endif +#if (defined (__STDC_VERSION__) && __STDC_VERSION__ >= 201112L) || __cplusplus >= 201103L +#define __PYX_GET_STRUCT_ALIGNMENT_3_0_8(s) alignof(s) +#else +#define __PYX_GET_STRUCT_ALIGNMENT_3_0_8(s) sizeof(void*) +#endif +enum __Pyx_ImportType_CheckSize_3_0_8 { + __Pyx_ImportType_CheckSize_Error_3_0_8 = 0, + __Pyx_ImportType_CheckSize_Warn_3_0_8 = 1, + __Pyx_ImportType_CheckSize_Ignore_3_0_8 = 2 +}; +static PyTypeObject *__Pyx_ImportType_3_0_8(PyObject* module, const char *module_name, const char *class_name, size_t size, size_t alignment, enum __Pyx_ImportType_CheckSize_3_0_8 check_size); +#endif + +/* CLineInTraceback.proto */ +#ifdef CYTHON_CLINE_IN_TRACEBACK +#define __Pyx_CLineForTraceback(tstate, c_line) (((CYTHON_CLINE_IN_TRACEBACK)) ? c_line : 0) +#else +static int __Pyx_CLineForTraceback(PyThreadState *tstate, int c_line); +#endif + +/* CodeObjectCache.proto */ +#if !CYTHON_COMPILING_IN_LIMITED_API +typedef struct { + PyCodeObject* code_object; + int code_line; +} __Pyx_CodeObjectCacheEntry; +struct __Pyx_CodeObjectCache { + int count; + int max_count; + __Pyx_CodeObjectCacheEntry* entries; +}; +static struct __Pyx_CodeObjectCache __pyx_code_cache = {0,0,NULL}; +static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line); +static PyCodeObject *__pyx_find_code_object(int code_line); +static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object); +#endif + +/* AddTraceback.proto */ +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename); + +#if PY_MAJOR_VERSION < 3 + static int __Pyx_GetBuffer(PyObject *obj, Py_buffer *view, int flags); + static void __Pyx_ReleaseBuffer(Py_buffer *view); +#else + #define __Pyx_GetBuffer PyObject_GetBuffer + #define __Pyx_ReleaseBuffer PyBuffer_Release +#endif + + +/* BufferStructDeclare.proto */ +typedef struct { + Py_ssize_t shape, strides, suboffsets; +} __Pyx_Buf_DimInfo; +typedef struct { + size_t refcount; + Py_buffer pybuffer; +} __Pyx_Buffer; +typedef struct { + __Pyx_Buffer *rcbuffer; + char *data; + __Pyx_Buf_DimInfo diminfo[8]; +} __Pyx_LocalBuf_ND; + +/* MemviewSliceIsContig.proto */ +static int __pyx_memviewslice_is_contig(const __Pyx_memviewslice mvs, char order, int ndim); + +/* OverlappingSlices.proto */ +static int __pyx_slices_overlap(__Pyx_memviewslice *slice1, + __Pyx_memviewslice *slice2, + int ndim, size_t itemsize); + +/* TypeInfoCompare.proto */ +static int __pyx_typeinfo_cmp(__Pyx_TypeInfo *a, __Pyx_TypeInfo *b); + +/* MemviewSliceValidateAndInit.proto */ +static int __Pyx_ValidateAndInit_memviewslice( + int *axes_specs, + int c_or_f_flag, + int buf_flags, + int ndim, + __Pyx_TypeInfo *dtype, + __Pyx_BufFmt_StackElem stack[], + __Pyx_memviewslice *memviewslice, + PyObject *original_obj); + +/* ObjectToMemviewSlice.proto */ +static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_dcd__double(PyObject *, int writable_flag); + +/* ObjectToMemviewSlice.proto */ +static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_dc_unsigned_char(PyObject *, int writable_flag); + +/* RealImag.proto */ +#if CYTHON_CCOMPLEX + #ifdef __cplusplus + #define __Pyx_CREAL(z) ((z).real()) + #define __Pyx_CIMAG(z) ((z).imag()) + #else + #define __Pyx_CREAL(z) (__real__(z)) + #define __Pyx_CIMAG(z) (__imag__(z)) + #endif +#else + #define __Pyx_CREAL(z) ((z).real) + #define __Pyx_CIMAG(z) ((z).imag) +#endif +#if defined(__cplusplus) && CYTHON_CCOMPLEX\ + && (defined(_WIN32) || defined(__clang__) || (defined(__GNUC__) && (__GNUC__ >= 5 || __GNUC__ == 4 && __GNUC_MINOR__ >= 4 )) || __cplusplus >= 201103) + #define __Pyx_SET_CREAL(z,x) ((z).real(x)) + #define __Pyx_SET_CIMAG(z,y) ((z).imag(y)) +#else + #define __Pyx_SET_CREAL(z,x) __Pyx_CREAL(z) = (x) + #define __Pyx_SET_CIMAG(z,y) __Pyx_CIMAG(z) = (y) +#endif + +/* Arithmetic.proto */ +#if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) + #define __Pyx_c_eq_float(a, b) ((a)==(b)) + #define __Pyx_c_sum_float(a, b) ((a)+(b)) + #define __Pyx_c_diff_float(a, b) ((a)-(b)) + #define __Pyx_c_prod_float(a, b) ((a)*(b)) + #define __Pyx_c_quot_float(a, b) ((a)/(b)) + #define __Pyx_c_neg_float(a) (-(a)) + #ifdef __cplusplus + #define __Pyx_c_is_zero_float(z) ((z)==(float)0) + #define __Pyx_c_conj_float(z) (::std::conj(z)) + #if 1 + #define __Pyx_c_abs_float(z) (::std::abs(z)) + #define __Pyx_c_pow_float(a, b) (::std::pow(a, b)) + #endif + #else + #define __Pyx_c_is_zero_float(z) ((z)==0) + #define __Pyx_c_conj_float(z) (conjf(z)) + #if 1 + #define __Pyx_c_abs_float(z) (cabsf(z)) + #define __Pyx_c_pow_float(a, b) (cpowf(a, b)) + #endif + #endif +#else + static CYTHON_INLINE int __Pyx_c_eq_float(__pyx_t_float_complex, __pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_sum_float(__pyx_t_float_complex, __pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_diff_float(__pyx_t_float_complex, __pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_prod_float(__pyx_t_float_complex, __pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_quot_float(__pyx_t_float_complex, __pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_neg_float(__pyx_t_float_complex); + static CYTHON_INLINE int __Pyx_c_is_zero_float(__pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_conj_float(__pyx_t_float_complex); + #if 1 + static CYTHON_INLINE float __Pyx_c_abs_float(__pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_pow_float(__pyx_t_float_complex, __pyx_t_float_complex); + #endif +#endif + +/* Arithmetic.proto */ +#if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) + #define __Pyx_c_eq_double(a, b) ((a)==(b)) + #define __Pyx_c_sum_double(a, b) ((a)+(b)) + #define __Pyx_c_diff_double(a, b) ((a)-(b)) + #define __Pyx_c_prod_double(a, b) ((a)*(b)) + #define __Pyx_c_quot_double(a, b) ((a)/(b)) + #define __Pyx_c_neg_double(a) (-(a)) + #ifdef __cplusplus + #define __Pyx_c_is_zero_double(z) ((z)==(double)0) + #define __Pyx_c_conj_double(z) (::std::conj(z)) + #if 1 + #define __Pyx_c_abs_double(z) (::std::abs(z)) + #define __Pyx_c_pow_double(a, b) (::std::pow(a, b)) + #endif + #else + #define __Pyx_c_is_zero_double(z) ((z)==0) + #define __Pyx_c_conj_double(z) (conj(z)) + #if 1 + #define __Pyx_c_abs_double(z) (cabs(z)) + #define __Pyx_c_pow_double(a, b) (cpow(a, b)) + #endif + #endif +#else + static CYTHON_INLINE int __Pyx_c_eq_double(__pyx_t_double_complex, __pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_sum_double(__pyx_t_double_complex, __pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_diff_double(__pyx_t_double_complex, __pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_prod_double(__pyx_t_double_complex, __pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_quot_double(__pyx_t_double_complex, __pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_neg_double(__pyx_t_double_complex); + static CYTHON_INLINE int __Pyx_c_is_zero_double(__pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_conj_double(__pyx_t_double_complex); + #if 1 + static CYTHON_INLINE double __Pyx_c_abs_double(__pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_pow_double(__pyx_t_double_complex, __pyx_t_double_complex); + #endif +#endif + +/* MemviewSliceCopyTemplate.proto */ +static __Pyx_memviewslice +__pyx_memoryview_copy_new_contig(const __Pyx_memviewslice *from_mvs, + const char *mode, int ndim, + size_t sizeof_dtype, int contig_flag, + int dtype_is_object); + +/* MemviewSliceInit.proto */ +#define __Pyx_BUF_MAX_NDIMS %(BUF_MAX_NDIMS)d +#define __Pyx_MEMVIEW_DIRECT 1 +#define __Pyx_MEMVIEW_PTR 2 +#define __Pyx_MEMVIEW_FULL 4 +#define __Pyx_MEMVIEW_CONTIG 8 +#define __Pyx_MEMVIEW_STRIDED 16 +#define __Pyx_MEMVIEW_FOLLOW 32 +#define __Pyx_IS_C_CONTIG 1 +#define __Pyx_IS_F_CONTIG 2 +static int __Pyx_init_memviewslice( + struct __pyx_memoryview_obj *memview, + int ndim, + __Pyx_memviewslice *memviewslice, + int memview_is_new_reference); +static CYTHON_INLINE int __pyx_add_acquisition_count_locked( + __pyx_atomic_int_type *acquisition_count, PyThread_type_lock lock); +static CYTHON_INLINE int __pyx_sub_acquisition_count_locked( + __pyx_atomic_int_type *acquisition_count, PyThread_type_lock lock); +#define __pyx_get_slice_count_pointer(memview) (&memview->acquisition_count) +#define __PYX_INC_MEMVIEW(slice, have_gil) __Pyx_INC_MEMVIEW(slice, have_gil, __LINE__) +#define __PYX_XCLEAR_MEMVIEW(slice, have_gil) __Pyx_XCLEAR_MEMVIEW(slice, have_gil, __LINE__) +static CYTHON_INLINE void __Pyx_INC_MEMVIEW(__Pyx_memviewslice *, int, int); +static CYTHON_INLINE void __Pyx_XCLEAR_MEMVIEW(__Pyx_memviewslice *, int, int); + +/* CIntFromPy.proto */ +static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *); + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value); + +/* CIntFromPy.proto */ +static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *); + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value); + +/* CIntFromPy.proto */ +static CYTHON_INLINE size_t __Pyx_PyInt_As_size_t(PyObject *); + +/* CIntFromPy.proto */ +static CYTHON_INLINE char __Pyx_PyInt_As_char(PyObject *); + +/* FormatTypeName.proto */ +#if CYTHON_COMPILING_IN_LIMITED_API +typedef PyObject *__Pyx_TypeName; +#define __Pyx_FMT_TYPENAME "%U" +static __Pyx_TypeName __Pyx_PyType_GetName(PyTypeObject* tp); +#define __Pyx_DECREF_TypeName(obj) Py_XDECREF(obj) +#else +typedef const char *__Pyx_TypeName; +#define __Pyx_FMT_TYPENAME "%.200s" +#define __Pyx_PyType_GetName(tp) ((tp)->tp_name) +#define __Pyx_DECREF_TypeName(obj) +#endif + +/* CheckBinaryVersion.proto */ +static unsigned long __Pyx_get_runtime_version(void); +static int __Pyx_check_binary_version(unsigned long ct_version, unsigned long rt_version, int allow_newer); + +/* InitStrings.proto */ +static int __Pyx_InitStrings(__Pyx_StringTabEntry *t); + +/* #### Code section: module_declarations ### */ +static PyObject *__pyx_array_get_memview(struct __pyx_array_obj *__pyx_v_self); /* proto*/ +static char *__pyx_memoryview_get_item_pointer(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index); /* proto*/ +static PyObject *__pyx_memoryview_is_slice(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_obj); /* proto*/ +static PyObject *__pyx_memoryview_setitem_slice_assignment(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_dst, PyObject *__pyx_v_src); /* proto*/ +static PyObject *__pyx_memoryview_setitem_slice_assign_scalar(struct __pyx_memoryview_obj *__pyx_v_self, struct __pyx_memoryview_obj *__pyx_v_dst, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryview_setitem_indexed(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryview_convert_item_to_object(struct __pyx_memoryview_obj *__pyx_v_self, char *__pyx_v_itemp); /* proto*/ +static PyObject *__pyx_memoryview_assign_item_from_object(struct __pyx_memoryview_obj *__pyx_v_self, char *__pyx_v_itemp, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryview__get_base(struct __pyx_memoryview_obj *__pyx_v_self); /* proto*/ +static PyObject *__pyx_memoryviewslice_convert_item_to_object(struct __pyx_memoryviewslice_obj *__pyx_v_self, char *__pyx_v_itemp); /* proto*/ +static PyObject *__pyx_memoryviewslice_assign_item_from_object(struct __pyx_memoryviewslice_obj *__pyx_v_self, char *__pyx_v_itemp, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryviewslice__get_base(struct __pyx_memoryviewslice_obj *__pyx_v_self); /* proto*/ +static CYTHON_INLINE PyObject *__pyx_f_5numpy_7ndarray_4base_base(PyArrayObject *__pyx_v_self); /* proto*/ +static CYTHON_INLINE PyArray_Descr *__pyx_f_5numpy_7ndarray_5descr_descr(PyArrayObject *__pyx_v_self); /* proto*/ +static CYTHON_INLINE int __pyx_f_5numpy_7ndarray_4ndim_ndim(PyArrayObject *__pyx_v_self); /* proto*/ +static CYTHON_INLINE npy_intp *__pyx_f_5numpy_7ndarray_5shape_shape(PyArrayObject *__pyx_v_self); /* proto*/ +static CYTHON_INLINE npy_intp *__pyx_f_5numpy_7ndarray_7strides_strides(PyArrayObject *__pyx_v_self); /* proto*/ +static CYTHON_INLINE npy_intp __pyx_f_5numpy_7ndarray_4size_size(PyArrayObject *__pyx_v_self); /* proto*/ +static CYTHON_INLINE char *__pyx_f_5numpy_7ndarray_4data_data(PyArrayObject *__pyx_v_self); /* proto*/ + +/* Module declarations from "cython.view" */ + +/* Module declarations from "cython.dataclasses" */ + +/* Module declarations from "cython" */ + +/* Module declarations from "libc.string" */ + +/* Module declarations from "libc.stdio" */ + +/* Module declarations from "libc" */ + +/* Module declarations from "acados_solver_common" */ + +/* Module declarations from "acados_solver" */ + +/* Module declarations from "__builtin__" */ + +/* Module declarations from "cpython.type" */ + +/* Module declarations from "cpython" */ + +/* Module declarations from "cpython.object" */ + +/* Module declarations from "cpython.ref" */ + +/* Module declarations from "numpy" */ + +/* Module declarations from "numpy" */ + +/* Module declarations from "acados_template.acados_ocp_solver_pyx" */ +static PyObject *__pyx_collections_abc_Sequence = 0; +static PyObject *generic = 0; +static PyObject *strided = 0; +static PyObject *indirect = 0; +static PyObject *contiguous = 0; +static PyObject *indirect_contiguous = 0; +static int __pyx_memoryview_thread_locks_used; +static PyThread_type_lock __pyx_memoryview_thread_locks[8]; +static CYTHON_INLINE PyObject *__Pyx_carray_to_py_int(int *, Py_ssize_t); /*proto*/ +static CYTHON_INLINE PyObject *__Pyx_carray_to_tuple_int(int *, Py_ssize_t); /*proto*/ +static int __pyx_array_allocate_buffer(struct __pyx_array_obj *); /*proto*/ +static struct __pyx_array_obj *__pyx_array_new(PyObject *, Py_ssize_t, char *, char *, char *); /*proto*/ +static PyObject *__pyx_memoryview_new(PyObject *, int, int, __Pyx_TypeInfo *); /*proto*/ +static CYTHON_INLINE int __pyx_memoryview_check(PyObject *); /*proto*/ +static PyObject *_unellipsify(PyObject *, int); /*proto*/ +static int assert_direct_dimensions(Py_ssize_t *, int); /*proto*/ +static struct __pyx_memoryview_obj *__pyx_memview_slice(struct __pyx_memoryview_obj *, PyObject *); /*proto*/ +static int __pyx_memoryview_slice_memviewslice(__Pyx_memviewslice *, Py_ssize_t, Py_ssize_t, Py_ssize_t, int, int, int *, Py_ssize_t, Py_ssize_t, Py_ssize_t, int, int, int, int); /*proto*/ +static char *__pyx_pybuffer_index(Py_buffer *, char *, Py_ssize_t, Py_ssize_t); /*proto*/ +static int __pyx_memslice_transpose(__Pyx_memviewslice *); /*proto*/ +static PyObject *__pyx_memoryview_fromslice(__Pyx_memviewslice, int, PyObject *(*)(char *), int (*)(char *, PyObject *), int); /*proto*/ +static __Pyx_memviewslice *__pyx_memoryview_get_slice_from_memoryview(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/ +static void __pyx_memoryview_slice_copy(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/ +static PyObject *__pyx_memoryview_copy_object(struct __pyx_memoryview_obj *); /*proto*/ +static PyObject *__pyx_memoryview_copy_object_from_slice(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/ +static Py_ssize_t abs_py_ssize_t(Py_ssize_t); /*proto*/ +static char __pyx_get_best_slice_order(__Pyx_memviewslice *, int); /*proto*/ +static void _copy_strided_to_strided(char *, Py_ssize_t *, char *, Py_ssize_t *, Py_ssize_t *, Py_ssize_t *, int, size_t); /*proto*/ +static void copy_strided_to_strided(__Pyx_memviewslice *, __Pyx_memviewslice *, int, size_t); /*proto*/ +static Py_ssize_t __pyx_memoryview_slice_get_size(__Pyx_memviewslice *, int); /*proto*/ +static Py_ssize_t __pyx_fill_contig_strides_array(Py_ssize_t *, Py_ssize_t *, Py_ssize_t, int, char); /*proto*/ +static void *__pyx_memoryview_copy_data_to_temp(__Pyx_memviewslice *, __Pyx_memviewslice *, char, int); /*proto*/ +static int __pyx_memoryview_err_extents(int, Py_ssize_t, Py_ssize_t); /*proto*/ +static int __pyx_memoryview_err_dim(PyObject *, PyObject *, int); /*proto*/ +static int __pyx_memoryview_err(PyObject *, PyObject *); /*proto*/ +static int __pyx_memoryview_err_no_memory(void); /*proto*/ +static int __pyx_memoryview_copy_contents(__Pyx_memviewslice, __Pyx_memviewslice, int, int, int); /*proto*/ +static void __pyx_memoryview_broadcast_leading(__Pyx_memviewslice *, int, int); /*proto*/ +static void __pyx_memoryview_refcount_copying(__Pyx_memviewslice *, int, int, int); /*proto*/ +static void __pyx_memoryview_refcount_objects_in_slice_with_gil(char *, Py_ssize_t *, Py_ssize_t *, int, int); /*proto*/ +static void __pyx_memoryview_refcount_objects_in_slice(char *, Py_ssize_t *, Py_ssize_t *, int, int); /*proto*/ +static void __pyx_memoryview_slice_assign_scalar(__Pyx_memviewslice *, int, size_t, void *, int); /*proto*/ +static void __pyx_memoryview__slice_assign_scalar(char *, Py_ssize_t *, Py_ssize_t *, int, size_t, void *); /*proto*/ +static PyObject *__pyx_unpickle_Enum__set_state(struct __pyx_MemviewEnum_obj *, PyObject *); /*proto*/ +/* #### Code section: typeinfo ### */ +static __Pyx_TypeInfo __Pyx_TypeInfo_nn___pyx_t_5numpy_float64_t = { "float64_t", NULL, sizeof(__pyx_t_5numpy_float64_t), { 0 }, 0, 'R', 0, 0 }; +static __Pyx_TypeInfo __Pyx_TypeInfo_nn___pyx_t_5numpy_int32_t = { "int32_t", NULL, sizeof(__pyx_t_5numpy_int32_t), { 0 }, 0, __PYX_IS_UNSIGNED(__pyx_t_5numpy_int32_t) ? 'U' : 'I', __PYX_IS_UNSIGNED(__pyx_t_5numpy_int32_t), 0 }; +static __Pyx_TypeInfo __Pyx_TypeInfo_double = { "double", NULL, sizeof(double), { 0 }, 0, 'R', 0, 0 }; +static __Pyx_TypeInfo __Pyx_TypeInfo_unsigned_char = { "unsigned char", NULL, sizeof(unsigned char), { 0 }, 0, __PYX_IS_UNSIGNED(unsigned char) ? 'U' : 'I', __PYX_IS_UNSIGNED(unsigned char), 0 }; +/* #### Code section: before_global_var ### */ +#define __Pyx_MODULE_NAME "acados_template.acados_ocp_solver_pyx" +extern int __pyx_module_is_main_acados_template__acados_ocp_solver_pyx; +int __pyx_module_is_main_acados_template__acados_ocp_solver_pyx = 0; + +/* Implementation of "acados_template.acados_ocp_solver_pyx" */ +/* #### Code section: global_var ### */ +static PyObject *__pyx_builtin_AssertionError; +static PyObject *__pyx_builtin_print; +static PyObject *__pyx_builtin_NotImplementedError; +static PyObject *__pyx_builtin_range; +static PyObject *__pyx_builtin_open; +static PyObject *__pyx_builtin_TypeError; +static PyObject *__pyx_builtin___import__; +static PyObject *__pyx_builtin_ValueError; +static PyObject *__pyx_builtin_MemoryError; +static PyObject *__pyx_builtin_enumerate; +static PyObject *__pyx_builtin_Ellipsis; +static PyObject *__pyx_builtin_id; +static PyObject *__pyx_builtin_IndexError; +static PyObject *__pyx_builtin_ImportError; +/* #### Code section: string_decls ### */ +static const char __pyx_k_[] = ": "; +static const char __pyx_k_0[] = "0"; +static const char __pyx_k_F[] = "F"; +static const char __pyx_k_N[] = "N"; +static const char __pyx_k_O[] = "O"; +static const char __pyx_k_c[] = "c"; +static const char __pyx_k_d[] = "d"; +static const char __pyx_k_f[] = "f"; +static const char __pyx_k_i[] = "i"; +static const char __pyx_k_k[] = "k"; +static const char __pyx_k_m[] = "m"; +static const char __pyx_k_n[] = "n"; +static const char __pyx_k_p[] = "p"; +static const char __pyx_k_r[] = "r"; +static const char __pyx_k_t[] = "t"; +static const char __pyx_k_u[] = "u"; +static const char __pyx_k_w[] = "w"; +static const char __pyx_k_x[] = "x"; +static const char __pyx_k_z[] = "z"; +static const char __pyx_k__2[] = "."; +static const char __pyx_k__3[] = "*"; +static const char __pyx_k__6[] = "'"; +static const char __pyx_k__7[] = ")"; +static const char __pyx_k_ex[] = "ex"; +static const char __pyx_k_gc[] = "gc"; +static const char __pyx_k_id[] = "id"; +static const char __pyx_k_lN[] = "lN"; +static const char __pyx_k_np[] = "np"; +static const char __pyx_k_nx[] = "nx"; +static const char __pyx_k_os[] = "os"; +static const char __pyx_k_pi[] = "pi"; +static const char __pyx_k_sl[] = "sl"; +static const char __pyx_k_su[] = "su"; +static const char __pyx_k_u0[] = "u0"; +static const char __pyx_k_SQP[] = "SQP"; +static const char __pyx_k__16[] = ""; +static const char __pyx_k__17[] = "_"; +static const char __pyx_k__31[] = ", "; +static const char __pyx_k__94[] = "?"; +static const char __pyx_k_abc[] = "abc"; +static const char __pyx_k_and[] = " and "; +static const char __pyx_k_get[] = "get"; +static const char __pyx_k_got[] = " (got "; +static const char __pyx_k_idx[] = "idx"; +static const char __pyx_k_int[] = "int"; +static const char __pyx_k_key[] = "key"; +static const char __pyx_k_lam[] = "lam"; +static const char __pyx_k_lbu[] = "lbu"; +static const char __pyx_k_lbx[] = "lbx"; +static const char __pyx_k_msg[] = "msg"; +static const char __pyx_k_new[] = "__new__"; +static const char __pyx_k_obj[] = "obj"; +static const char __pyx_k_out[] = "out"; +static const char __pyx_k_set[] = "set"; +static const char __pyx_k_sys[] = "sys"; +static const char __pyx_k_t_2[] = "t_"; +static const char __pyx_k_u_2[] = "u_"; +static const char __pyx_k_ubu[] = "ubu"; +static const char __pyx_k_ubx[] = "ubx"; +static const char __pyx_k_x_2[] = "x_"; +static const char __pyx_k_z_2[] = "z_"; +static const char __pyx_k_None[] = "None"; +static const char __pyx_k_TODO[] = "TODO!"; +static const char __pyx_k_base[] = "base"; +static const char __pyx_k_data[] = "data_"; +static const char __pyx_k_dict[] = "__dict__"; +static const char __pyx_k_dims[] = "dims"; +static const char __pyx_k_dump[] = "dump"; +static const char __pyx_k_exit[] = "__exit__"; +static const char __pyx_k_join[] = "join"; +static const char __pyx_k_json[] = "json"; +static const char __pyx_k_keys[] = "keys"; +static const char __pyx_k_load[] = "load"; +static const char __pyx_k_main[] = "__main__"; +static const char __pyx_k_mode[] = "mode"; +static const char __pyx_k_name[] = "name"; +static const char __pyx_k_ndim[] = "ndim"; +static const char __pyx_k_open[] = "open"; +static const char __pyx_k_pack[] = "pack"; +static const char __pyx_k_path[] = "path"; +static const char __pyx_k_pi_2[] = "pi_"; +static const char __pyx_k_self[] = "self"; +static const char __pyx_k_size[] = "size"; +static const char __pyx_k_sl_2[] = "sl_"; +static const char __pyx_k_spec[] = "__spec__"; +static const char __pyx_k_step[] = "step"; +static const char __pyx_k_stop[] = "stop"; +static const char __pyx_k_su_2[] = "su_"; +static const char __pyx_k_test[] = "__test__"; +static const char __pyx_k_yref[] = "yref"; +static const char __pyx_k_ASCII[] = "ASCII"; +static const char __pyx_k_alpha[] = "alpha"; +static const char __pyx_k_array[] = "array"; +static const char __pyx_k_class[] = "__class__"; +static const char __pyx_k_count[] = "count"; +static const char __pyx_k_dtype[] = "dtype"; +static const char __pyx_k_enter[] = "__enter__"; +static const char __pyx_k_error[] = "error"; +static const char __pyx_k_field[] = "field"; +static const char __pyx_k_flags[] = "flags"; +static const char __pyx_k_index[] = "index"; +static const char __pyx_k_int32[] = "int32"; +static const char __pyx_k_lam_2[] = "lam_"; +static const char __pyx_k_numpy[] = "numpy"; +static const char __pyx_k_order[] = "order"; +static const char __pyx_k_print[] = "print"; +static const char __pyx_k_range[] = "range"; +static const char __pyx_k_reset[] = "reset"; +static const char __pyx_k_shape[] = "shape"; +static const char __pyx_k_solve[] = "solve"; +static const char __pyx_k_split[] = "split"; +static const char __pyx_k_stage[] = "stage"; +static const char __pyx_k_start[] = "start"; +static const char __pyx_k_utf_8[] = "utf-8"; +static const char __pyx_k_value[] = "value_"; +static const char __pyx_k_y_ref[] = "y_ref"; +static const char __pyx_k_zeros[] = "zeros"; +static const char __pyx_k_data_2[] = "data"; +static const char __pyx_k_enable[] = "enable"; +static const char __pyx_k_encode[] = "encode"; +static const char __pyx_k_fields[] = "fields"; +static const char __pyx_k_format[] = "format"; +static const char __pyx_k_getcwd[] = "getcwd"; +static const char __pyx_k_import[] = "__import__"; +static const char __pyx_k_indent[] = "indent"; +static const char __pyx_k_isfile[] = "isfile"; +static const char __pyx_k_json_2[] = ".json"; +static const char __pyx_k_name_2[] = "__name__"; +static const char __pyx_k_pickle[] = "pickle"; +static const char __pyx_k_qp_mu0[] = "qp_mu0"; +static const char __pyx_k_reduce[] = "__reduce__"; +static const char __pyx_k_res_eq[] = "res_eq"; +static const char __pyx_k_stat_m[] = "stat_m"; +static const char __pyx_k_stat_n[] = "stat_n"; +static const char __pyx_k_status[] = "status"; +static const char __pyx_k_struct[] = "struct"; +static const char __pyx_k_tol_eq[] = "tol_eq"; +static const char __pyx_k_tolist[] = "tolist"; +static const char __pyx_k_unpack[] = "unpack"; +static const char __pyx_k_update[] = "update"; +static const char __pyx_k_utcnow[] = "utcnow"; +static const char __pyx_k_x0_bar[] = "x0_bar"; +static const char __pyx_k_SQP_RTI[] = "SQP_RTI"; +static const char __pyx_k_default[] = "default"; +static const char __pyx_k_disable[] = "disable"; +static const char __pyx_k_field_2[] = "field_"; +static const char __pyx_k_float64[] = "float64"; +static const char __pyx_k_fortran[] = "fortran"; +static const char __pyx_k_iterate[] = "iterate"; +static const char __pyx_k_memview[] = "memview"; +static const char __pyx_k_ndarray[] = "ndarray"; +static const char __pyx_k_out_mat[] = "out_mat"; +static const char __pyx_k_qp_iter[] = "qp_iter"; +static const char __pyx_k_time_qp[] = "time_qp"; +static const char __pyx_k_value_2[] = "value"; +static const char __pyx_k_z_guess[] = "z_guess"; +static const char __pyx_k_Ellipsis[] = "Ellipsis"; +static const char __pyx_k_Sequence[] = "Sequence"; +static const char __pyx_k_at_stage[] = "\" at stage "; +static const char __pyx_k_cost_set[] = "cost_set"; +static const char __pyx_k_data_len[] = "data_len"; +static const char __pyx_k_datetime[] = "datetime"; +static const char __pyx_k_filename[] = "filename"; +static const char __pyx_k_get_cost[] = "get_cost"; +static const char __pyx_k_getstate[] = "__getstate__"; +static const char __pyx_k_i_string[] = "i_string"; +static const char __pyx_k_itemsize[] = "itemsize"; +static const char __pyx_k_min_size[] = "min_size"; +static const char __pyx_k_n_update[] = "n_update"; +static const char __pyx_k_pyx_type[] = "__pyx_type"; +static const char __pyx_k_register[] = "register"; +static const char __pyx_k_res_comp[] = "res_comp"; +static const char __pyx_k_res_ineq[] = "res_ineq"; +static const char __pyx_k_res_stat[] = "res_stat"; +static const char __pyx_k_setstate[] = "__setstate__"; +static const char __pyx_k_solution[] = "solution"; +static const char __pyx_k_sqp_iter[] = "sqp_iter"; +static const char __pyx_k_strftime[] = "strftime"; +static const char __pyx_k_time_lin[] = "time_lin"; +static const char __pyx_k_time_reg[] = "time_reg"; +static const char __pyx_k_time_sim[] = "time_sim"; +static const char __pyx_k_time_tot[] = "time_tot"; +static const char __pyx_k_tol_comp[] = "tol_comp"; +static const char __pyx_k_tol_ineq[] = "tol_ineq"; +static const char __pyx_k_tol_stat[] = "tol_stat"; +static const char __pyx_k_you_have[] = " (you have "; +static const char __pyx_k_TypeError[] = "TypeError"; +static const char __pyx_k_alpha_min[] = "alpha_min"; +static const char __pyx_k_enumerate[] = "enumerate"; +static const char __pyx_k_for_field[] = " for field \""; +static const char __pyx_k_get_stats[] = "get_stats"; +static const char __pyx_k_int_value[] = "int_value"; +static const char __pyx_k_isenabled[] = "isenabled"; +static const char __pyx_k_overwrite[] = "overwrite"; +static const char __pyx_k_pyx_state[] = "__pyx_state"; +static const char __pyx_k_qp_tol_eq[] = "qp_tol_eq"; +static const char __pyx_k_recompute[] = "recompute"; +static const char __pyx_k_reduce_ex[] = "__reduce_ex__"; +static const char __pyx_k_residuals[] = "residuals"; +static const char __pyx_k_rti_phase[] = "rti_phase"; +static const char __pyx_k_sort_keys[] = "sort_keys"; +static const char __pyx_k_time_glob[] = "time_glob"; +static const char __pyx_k_IndexError[] = "IndexError"; +static const char __pyx_k_ValueError[] = "ValueError"; +static const char __pyx_k_full_stats[] = "full_stats"; +static const char __pyx_k_idx_values[] = "idx_values_"; +static const char __pyx_k_int_fields[] = "int_fields"; +static const char __pyx_k_mem_fields[] = "mem_fields"; +static const char __pyx_k_model_name[] = "model_name"; +static const char __pyx_k_out_fields[] = "out_fields"; +static const char __pyx_k_pyx_result[] = "__pyx_result"; +static const char __pyx_k_pyx_vtable[] = "__pyx_vtable__"; +static const char __pyx_k_qp_tau_min[] = "qp_tau_min"; +static const char __pyx_k_statistics[] = "statistics"; +static const char __pyx_k_xdot_guess[] = "xdot_guess"; +static const char __pyx_k_ImportError[] = "ImportError"; +static const char __pyx_k_MemoryError[] = "MemoryError"; +static const char __pyx_k_PickleError[] = "PickleError"; +static const char __pyx_k_collections[] = "collections"; +static const char __pyx_k_cost_fields[] = "cost_fields"; +static const char __pyx_k_options_set[] = "options_set"; +static const char __pyx_k_print_level[] = "print_level"; +static const char __pyx_k_qp_tol_comp[] = "qp_tol_comp"; +static const char __pyx_k_qp_tol_ineq[] = "qp_tol_ineq"; +static const char __pyx_k_qp_tol_stat[] = "qp_tol_stat"; +static const char __pyx_k_step_length[] = "step_length"; +static const char __pyx_k_time_sim_ad[] = "time_sim_ad"; +static const char __pyx_k_time_sim_la[] = "time_sim_la"; +static const char __pyx_k_value_shape[] = "value_shape"; +static const char __pyx_k_double_value[] = "double_value"; +static const char __pyx_k_get_stat_int[] = "__get_stat_int"; +static const char __pyx_k_initializing[] = "_initializing"; +static const char __pyx_k_is_coroutine[] = "_is_coroutine"; +static const char __pyx_k_load_iterate[] = "load_iterate"; +static const char __pyx_k_param_values[] = "param_values_"; +static const char __pyx_k_pyx_checksum[] = "__pyx_checksum"; +static const char __pyx_k_solve_for_x0[] = "solve_for_x0"; +static const char __pyx_k_string_value[] = "string_value"; +static const char __pyx_k_stringsource[] = ""; +static const char __pyx_k_version_info[] = "version_info"; +static const char __pyx_k_Got_sizes_idx[] = " Got sizes idx "; +static const char __pyx_k_Y_m_d_H_M_S_f[] = "%Y-%m-%d-%H:%M:%S.%f"; +static const char __pyx_k_class_getitem[] = "__class_getitem__"; +static const char __pyx_k_custom_update[] = "custom_update"; +static const char __pyx_k_double_fields[] = "double_fields"; +static const char __pyx_k_get_residuals[] = "get_residuals"; +static const char __pyx_k_globalization[] = "globalization"; +static const char __pyx_k_qp_warm_start[] = "qp_warm_start"; +static const char __pyx_k_reduce_cython[] = "__reduce_cython__"; +static const char __pyx_k_store_iterate[] = "store_iterate"; +static const char __pyx_k_string_fields[] = "string_fields"; +static const char __pyx_k_time_qp_xcond[] = "time_qp_xcond"; +static const char __pyx_k_AssertionError[] = "AssertionError"; +static const char __pyx_k_asfortranarray[] = "asfortranarray"; +static const char __pyx_k_full_step_dual[] = "full_step_dual"; +static const char __pyx_k_get_from_qp_in[] = "get_from_qp_in"; +static const char __pyx_k_new_time_steps[] = "new_time_steps"; +static const char __pyx_k_param_values_2[] = ", param_values "; +static const char __pyx_k_with_dimension[] = " with dimension "; +static const char __pyx_k_View_MemoryView[] = "View.MemoryView"; +static const char __pyx_k_allocate_buffer[] = "allocate_buffer"; +static const char __pyx_k_alpha_reduction[] = "alpha_reduction"; +static const char __pyx_k_collections_abc[] = "collections.abc"; +static const char __pyx_k_constraints_set[] = "constraints_set"; +static const char __pyx_k_dtype_is_object[] = "dtype_is_object"; +static const char __pyx_k_eval_param_sens[] = "eval_param_sens"; +static const char __pyx_k_get_stat_double[] = "__get_stat_double"; +static const char __pyx_k_get_stat_matrix[] = "__get_stat_matrix"; +static const char __pyx_k_nlp_solver_type[] = "nlp_solver_type"; +static const char __pyx_k_pyx_PickleError[] = "__pyx_PickleError"; +static const char __pyx_k_setstate_cython[] = "__setstate_cython__"; +static const char __pyx_k_print_statistics[] = "print_statistics"; +static const char __pyx_k_qp_solver_cond_N[] = "qp_solver_cond_N"; +static const char __pyx_k_ascontiguousarray[] = "ascontiguousarray"; +static const char __pyx_k_pyx_unpickle_Enum[] = "__pyx_unpickle_Enum"; +static const char __pyx_k_set_params_sparse[] = "set_params_sparse"; +static const char __pyx_k_asyncio_coroutines[] = "asyncio.coroutines"; +static const char __pyx_k_cline_in_traceback[] = "cline_in_traceback"; +static const char __pyx_k_constraints_fields[] = "constraints_fields"; +static const char __pyx_k_set_new_time_steps[] = "set_new_time_steps"; +static const char __pyx_k_strided_and_direct[] = ""; +static const char __pyx_k_NotImplementedError[] = "NotImplementedError"; +static const char __pyx_k_get_pointers_solver[] = "__get_pointers_solver"; +static const char __pyx_k_initialize_t_slacks[] = "initialize_t_slacks"; +static const char __pyx_k_reset_qp_solver_mem[] = "reset_qp_solver_mem"; +static const char __pyx_k_time_qp_solver_call[] = "time_qp_solver_call"; +static const char __pyx_k_warm_start_first_qp[] = "warm_start_first_qp"; +static const char __pyx_k_strided_and_indirect[] = ""; +static const char __pyx_k_AcadosOcpSolverCython[] = "AcadosOcpSolverCython"; +static const char __pyx_k_Invalid_shape_in_axis[] = "Invalid shape in axis "; +static const char __pyx_k_contiguous_and_direct[] = ""; +static const char __pyx_k_globalization_use_SOC[] = "globalization_use_SOC"; +static const char __pyx_k_Cannot_index_with_type[] = "Cannot index with type '"; +static const char __pyx_k_MemoryView_of_r_object[] = ""; +static const char __pyx_k_eps_sufficient_descent[] = "eps_sufficient_descent"; +static const char __pyx_k_MemoryView_of_r_at_0x_x[] = ""; +static const char __pyx_k_contiguous_and_indirect[] = ""; +static const char __pyx_k_update_qp_solver_cond_N[] = "update_qp_solver_cond_N"; +static const char __pyx_k_with_dimension_you_have[] = "with dimension {} (you have {})"; +static const char __pyx_k_AcadosOcpSolverCython_get[] = "AcadosOcpSolverCython.get"; +static const char __pyx_k_AcadosOcpSolverCython_set[] = "AcadosOcpSolverCython.set"; +static const char __pyx_k_Dimension_d_is_not_direct[] = "Dimension %d is not direct"; +static const char __pyx_k_stored_current_iterate_in[] = "stored current iterate in "; +static const char __pyx_k_Index_out_of_bounds_axis_d[] = "Index out of bounds (axis %d)"; +static const char __pyx_k_AcadosOcpSolverCython_reset[] = "AcadosOcpSolverCython.reset"; +static const char __pyx_k_AcadosOcpSolverCython_solve[] = "AcadosOcpSolverCython.solve"; +static const char __pyx_k_Step_may_not_be_zero_axis_d[] = "Step may not be zero (axis %d)"; +static const char __pyx_k_itemsize_0_for_cython_array[] = "itemsize <= 0 for cython.array"; +static const char __pyx_k_store_iterate_locals_lambda[] = "store_iterate.."; +static const char __pyx_k_time_solution_sensitivities[] = "time_solution_sensitivities"; +static const char __pyx_k_unable_to_allocate_array_data[] = "unable to allocate array data."; +static const char __pyx_k_AcadosOcpSolverCython_cost_set[] = "AcadosOcpSolverCython.cost_set"; +static const char __pyx_k_AcadosOcpSolverCython_get_cost[] = "AcadosOcpSolverCython.get_cost"; +static const char __pyx_k_param_values__must_be_np_array[] = "param_values_ must be np.array."; +static const char __pyx_k_strided_and_direct_or_indirect[] = ""; +static const char __pyx_k_AcadosOcpSolverCython__get_poin[] = "_AcadosOcpSolverCython__get_pointers_solver"; +static const char __pyx_k_AcadosOcpSolverCython__get_stat[] = "_AcadosOcpSolverCython__get_stat_int"; +static const char __pyx_k_AcadosOcpSolverCython_get_field[] = "AcadosOcpSolverCython.get(): field {} does not exist at final stage {}."; +static const char __pyx_k_AcadosOcpSolverCython_get_is_an[] = "AcadosOcpSolverCython.get(): {} is an invalid argument. \n Possible values are {}."; +static const char __pyx_k_AcadosOcpSolverCython_get_stage[] = "AcadosOcpSolverCython.get(): stage index must be in [0, N], got: {}."; +static const char __pyx_k_AcadosOcpSolverCython_get_stats[] = "AcadosOcpSolverCython.get_stats"; +static const char __pyx_k_AcadosOcpSolverCython_solve_for[] = "AcadosOcpSolverCython.solve_for_x0"; +static const char __pyx_k_AcadosOcpSolverCython_update_qp[] = "AcadosOcpSolverCython.update_qp_solver_cond_N"; +static const char __pyx_k_numpy_core_multiarray_failed_to[] = "numpy.core.multiarray failed to import"; +static const char __pyx_k_AcadosOcpSolverCython___get_poin[] = "AcadosOcpSolverCython.__get_pointers_solver"; +static const char __pyx_k_AcadosOcpSolverCython___get_stat[] = "AcadosOcpSolverCython.__get_stat_int"; +static const char __pyx_k_AcadosOcpSolverCython___reduce_c[] = "AcadosOcpSolverCython.__reduce_cython__"; +static const char __pyx_k_AcadosOcpSolverCython___setstate[] = "AcadosOcpSolverCython.__setstate_cython__"; +static const char __pyx_k_AcadosOcpSolverCython_constraint[] = "AcadosOcpSolverCython.constraints_set(): mismatching dimension"; +static const char __pyx_k_AcadosOcpSolverCython_cost_set_m[] = "AcadosOcpSolverCython.cost_set(): mismatching dimension"; +static const char __pyx_k_AcadosOcpSolverCython_custom_upd[] = "AcadosOcpSolverCython.custom_update"; +static const char __pyx_k_AcadosOcpSolverCython_does_not_s[] = "AcadosOcpSolverCython: does not support set_new_time_steps() since it is only a prototyping feature"; +static const char __pyx_k_AcadosOcpSolverCython_eval_param[] = "AcadosOcpSolverCython.eval_param_sens(): index must be Integer."; +static const char __pyx_k_AcadosOcpSolverCython_get_from_q[] = "AcadosOcpSolverCython.get_from_qp_in"; +static const char __pyx_k_AcadosOcpSolverCython_get_residu[] = "AcadosOcpSolverCython.get_residuals"; +static const char __pyx_k_AcadosOcpSolverCython_load_itera[] = "AcadosOcpSolverCython.load_iterate"; +static const char __pyx_k_AcadosOcpSolverCython_options_se[] = "AcadosOcpSolverCython.options_set() does not support field {}.\n Possible values are {}."; +static const char __pyx_k_AcadosOcpSolverCython_print_stat[] = "AcadosOcpSolverCython.print_statistics"; +static const char __pyx_k_AcadosOcpSolverCython_set_is_not[] = "AcadosOcpSolverCython.set(): {} is not a valid argument. \nPossible values are {}."; +static const char __pyx_k_AcadosOcpSolverCython_set_mismat[] = "AcadosOcpSolverCython.set(): mismatching dimension for field \"{}\" "; +static const char __pyx_k_AcadosOcpSolverCython_set_new_ti[] = "AcadosOcpSolverCython.set_new_time_steps"; +static const char __pyx_k_AcadosOcpSolverCython_set_params[] = "AcadosOcpSolverCython.set_params_sparse"; +static const char __pyx_k_AcadosOcpSolverCython_solve_argu[] = "AcadosOcpSolverCython.solve(): argument 'rti_phase' can take only values 0, 1, 2 for SQP-RTI-type solvers"; +static const char __pyx_k_AcadosOcpSolverCython_store_iter[] = "AcadosOcpSolverCython.store_iterate"; +static const char __pyx_k_All_dimensions_preceding_dimensi[] = "All dimensions preceding dimension %d must be indexed and not sliced"; +static const char __pyx_k_Buffer_view_does_not_expose_stri[] = "Buffer view does not expose strides"; +static const char __pyx_k_Can_only_create_a_buffer_that_is[] = "Can only create a buffer that is contiguous in memory."; +static const char __pyx_k_Cannot_assign_to_read_only_memor[] = "Cannot assign to read-only memoryview"; +static const char __pyx_k_Cannot_create_writable_memory_vi[] = "Cannot create writable memory view from read-only memoryview"; +static const char __pyx_k_Cannot_transpose_memoryview_with[] = "Cannot transpose memoryview with indirect dimensions"; +static const char __pyx_k_Empty_shape_tuple_for_cython_arr[] = "Empty shape tuple for cython.array"; +static const char __pyx_k_Incompatible_checksums_0x_x_vs_0[] = "Incompatible checksums (0x%x vs (0x82a3537, 0x6ae9995, 0xb068931) = (name))"; +static const char __pyx_k_Indirect_dimensions_not_supporte[] = "Indirect dimensions not supported"; +static const char __pyx_k_Invalid_mode_expected_c_or_fortr[] = "Invalid mode, expected 'c' or 'fortran', got "; +static const char __pyx_k_Out_of_bounds_on_buffer_access_a[] = "Out of bounds on buffer access (axis "; +static const char __pyx_k_Unable_to_convert_item_to_object[] = "Unable to convert item to object"; +static const char __pyx_k_Warning_acados_ocp_solver_reache[] = "Warning: acados_ocp_solver reached maximum iterations."; +static const char __pyx_k_acados_acados_ocp_solver_returne[] = "acados acados_ocp_solver returned status "; +static const char __pyx_k_acados_template_acados_ocp_solve[] = "acados_template.acados_ocp_solver_pyx"; +static const char __pyx_k_alpha_values_are_not_available_f[] = "alpha values are not available for SQP_RTI"; +static const char __pyx_k_constraints_set_value_must_be_nu[] = "constraints_set: value must be numpy array, got "; +static const char __pyx_k_cost_set_value_must_be_numpy_arr[] = "cost_set: value must be numpy array, got "; +static const char __pyx_k_got_differing_extents_in_dimensi[] = "got differing extents in dimension "; +static const char __pyx_k_line_search_use_sufficient_desce[] = "line_search_use_sufficient_descent"; +static const char __pyx_k_load_iterate_failed_file_does_no[] = "load_iterate: failed, file does not exist: "; +static const char __pyx_k_no_default___reduce___due_to_non[] = "no default __reduce__ due to non-trivial __cinit__"; +static const char __pyx_k_numpy_core_umath_failed_to_impor[] = "numpy.core.umath failed to import"; +static const char __pyx_k_param_values__and_idx_values__mu[] = "param_values_ and idx_values_ must be of the same size."; +static const char __pyx_k_set_value_must_be_numpy_array_go[] = "set: value must be numpy array, got "; +static const char __pyx_k_solver_option_must_be_of_type_fl[] = "solver option {} must be of type float. You have {}."; +static const char __pyx_k_solver_option_must_be_of_type_in[] = "solver option {} must be of type int. You have {}."; +static const char __pyx_k_solver_option_must_be_of_type_st[] = "solver option {} must be of type str. You have {}."; +static const char __pyx_k_third_party_acados_acados_templa[] = "third_party/acados/acados_template/acados_ocp_solver_pyx.pyx"; +static const char __pyx_k_unable_to_allocate_shape_and_str[] = "unable to allocate shape and strides."; +static const char __pyx_k_AcadosOcpSolverCython__get_stat_2[] = "_AcadosOcpSolverCython__get_stat_double"; +static const char __pyx_k_AcadosOcpSolverCython__get_stat_3[] = "_AcadosOcpSolverCython__get_stat_matrix"; +static const char __pyx_k_AcadosOcpSolverCython___get_stat_2[] = "AcadosOcpSolverCython.__get_stat_double"; +static const char __pyx_k_AcadosOcpSolverCython___get_stat_3[] = "AcadosOcpSolverCython.__get_stat_matrix"; +static const char __pyx_k_AcadosOcpSolverCython_constraint_2[] = "AcadosOcpSolverCython.constraints_set"; +static const char __pyx_k_AcadosOcpSolverCython_does_not_s_2[] = "AcadosOcpSolverCython: does not support update_qp_solver_cond_N() since it is only a prototyping feature"; +static const char __pyx_k_AcadosOcpSolverCython_eval_param_2[] = "AcadosOcpSolverCython.eval_param_sens(): index must be in [0, nx-1], got: "; +static const char __pyx_k_AcadosOcpSolverCython_eval_param_3[] = "AcadosOcpSolverCython.eval_param_sens"; +static const char __pyx_k_AcadosOcpSolverCython_options_se_2[] = "AcadosOcpSolverCython.options_set"; +static const char __pyx_k_AcadosOcpSolverCython_solve_argu_2[] = "AcadosOcpSolverCython.solve(): argument 'rti_phase' can take only value 0 for SQP-type solvers"; +/* #### Code section: decls ### */ +static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array___cinit__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_shape, Py_ssize_t __pyx_v_itemsize, PyObject *__pyx_v_format, PyObject *__pyx_v_mode, int __pyx_v_allocate_buffer); /* proto */ +static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array_2__getbuffer__(struct __pyx_array_obj *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /* proto */ +static void __pyx_array___pyx_pf_15View_dot_MemoryView_5array_4__dealloc__(struct __pyx_array_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_5array_7memview___get__(struct __pyx_array_obj *__pyx_v_self); /* proto */ +static Py_ssize_t __pyx_array___pyx_pf_15View_dot_MemoryView_5array_6__len__(struct __pyx_array_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_array___pyx_pf_15View_dot_MemoryView_5array_8__getattr__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_attr); /* proto */ +static PyObject *__pyx_array___pyx_pf_15View_dot_MemoryView_5array_10__getitem__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_item); /* proto */ +static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array_12__setitem__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_item, PyObject *__pyx_v_value); /* proto */ +static PyObject *__pyx_pf___pyx_array___reduce_cython__(CYTHON_UNUSED struct __pyx_array_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_array_2__setstate_cython__(CYTHON_UNUSED struct __pyx_array_obj *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_MemviewEnum___pyx_pf_15View_dot_MemoryView_4Enum___init__(struct __pyx_MemviewEnum_obj *__pyx_v_self, PyObject *__pyx_v_name); /* proto */ +static PyObject *__pyx_MemviewEnum___pyx_pf_15View_dot_MemoryView_4Enum_2__repr__(struct __pyx_MemviewEnum_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_MemviewEnum___reduce_cython__(struct __pyx_MemviewEnum_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_MemviewEnum_2__setstate_cython__(struct __pyx_MemviewEnum_obj *__pyx_v_self, PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview___cinit__(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_obj, int __pyx_v_flags, int __pyx_v_dtype_is_object); /* proto */ +static void __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_2__dealloc__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_4__getitem__(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index); /* proto */ +static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_6__setitem__(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index, PyObject *__pyx_v_value); /* proto */ +static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_8__getbuffer__(struct __pyx_memoryview_obj *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_1T___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_4base___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_5shape___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_7strides___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_10suboffsets___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_4ndim___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_8itemsize___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_6nbytes___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_4size___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static Py_ssize_t __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_10__len__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_12__repr__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_14__str__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_16is_c_contig(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_18is_f_contig(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_20copy(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_22copy_fortran(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryview___reduce_cython__(CYTHON_UNUSED struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryview_2__setstate_cython__(CYTHON_UNUSED struct __pyx_memoryview_obj *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static void __pyx_memoryviewslice___pyx_pf_15View_dot_MemoryView_16_memoryviewslice___dealloc__(struct __pyx_memoryviewslice_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryviewslice___reduce_cython__(CYTHON_UNUSED struct __pyx_memoryviewslice_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryviewslice_2__setstate_cython__(CYTHON_UNUSED struct __pyx_memoryviewslice_obj *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView___pyx_unpickle_Enum(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v___pyx_type, long __pyx_v___pyx_checksum, PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython___cinit__(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_model_name, PyObject *__pyx_v_nlp_solver_type, PyObject *__pyx_v_N); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_2__get_pointers_solver(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_4solve_for_x0(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_x0_bar); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_6solve(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_8reset(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_reset_qp_solver_mem); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_10custom_update(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_data_); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_12set_new_time_steps(CYTHON_UNUSED struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v_new_time_steps); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_14update_qp_solver_cond_N(CYTHON_UNUSED struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v_qp_solver_cond_N); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_16eval_param_sens(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_index, PyObject *__pyx_v_stage, PyObject *__pyx_v_field); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_18get(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, int __pyx_v_stage, PyObject *__pyx_v_field_); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_20print_statistics(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self); /* proto */ +static PyObject *__pyx_lambda_funcdef_lambda(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_x); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_22store_iterate(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_filename, PyObject *__pyx_v_overwrite); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_24load_iterate(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_filename); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_26get_stats(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_field_); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_28__get_stat_int(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_field); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_30__get_stat_double(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_field); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_32__get_stat_matrix(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_field, PyObject *__pyx_v_n, PyObject *__pyx_v_m); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_34get_cost(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_36get_residuals(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_recompute); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_38set(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, int __pyx_v_stage, PyObject *__pyx_v_field_, PyObject *__pyx_v_value_); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_40cost_set(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, int __pyx_v_stage, PyObject *__pyx_v_field_, PyObject *__pyx_v_value_); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_42constraints_set(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, int __pyx_v_stage, PyObject *__pyx_v_field_, PyObject *__pyx_v_value_); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_44get_from_qp_in(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, int __pyx_v_stage, PyObject *__pyx_v_field_); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_46options_set(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, PyObject *__pyx_v_field_, PyObject *__pyx_v_value_); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_48set_params_sparse(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, int __pyx_v_stage, PyObject *__pyx_v_idx_values_, PyObject *__pyx_v_param_values_); /* proto */ +static void __pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_50__del__(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_52__reduce_cython__(CYTHON_UNUSED struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_54__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static PyObject *__pyx_tp_new_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_array(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_Enum(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_memoryview(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new__memoryviewslice(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static __Pyx_CachedCFunction __pyx_umethod_PyDict_Type_keys = {0, 0, 0, 0, 0}; +/* #### Code section: late_includes ### */ +/* #### Code section: module_state ### */ +typedef struct { + PyObject *__pyx_d; + PyObject *__pyx_b; + PyObject *__pyx_cython_runtime; + PyObject *__pyx_empty_tuple; + PyObject *__pyx_empty_bytes; + PyObject *__pyx_empty_unicode; + #ifdef __Pyx_CyFunction_USED + PyTypeObject *__pyx_CyFunctionType; + #endif + #ifdef __Pyx_FusedFunction_USED + PyTypeObject *__pyx_FusedFunctionType; + #endif + #ifdef __Pyx_Generator_USED + PyTypeObject *__pyx_GeneratorType; + #endif + #ifdef __Pyx_IterableCoroutine_USED + PyTypeObject *__pyx_IterableCoroutineType; + #endif + #ifdef __Pyx_Coroutine_USED + PyTypeObject *__pyx_CoroutineAwaitType; + #endif + #ifdef __Pyx_Coroutine_USED + PyTypeObject *__pyx_CoroutineType; + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + PyTypeObject *__pyx_ptype_7cpython_4type_type; + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + PyTypeObject *__pyx_ptype_5numpy_dtype; + PyTypeObject *__pyx_ptype_5numpy_flatiter; + PyTypeObject *__pyx_ptype_5numpy_broadcast; + PyTypeObject *__pyx_ptype_5numpy_ndarray; + PyTypeObject *__pyx_ptype_5numpy_generic; + PyTypeObject *__pyx_ptype_5numpy_number; + PyTypeObject *__pyx_ptype_5numpy_integer; + PyTypeObject *__pyx_ptype_5numpy_signedinteger; + PyTypeObject *__pyx_ptype_5numpy_unsignedinteger; + PyTypeObject *__pyx_ptype_5numpy_inexact; + PyTypeObject *__pyx_ptype_5numpy_floating; + PyTypeObject *__pyx_ptype_5numpy_complexfloating; + PyTypeObject *__pyx_ptype_5numpy_flexible; + PyTypeObject *__pyx_ptype_5numpy_character; + PyTypeObject *__pyx_ptype_5numpy_ufunc; + #if CYTHON_USE_MODULE_STATE + PyObject *__pyx_type_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython; + PyObject *__pyx_type___pyx_array; + PyObject *__pyx_type___pyx_MemviewEnum; + PyObject *__pyx_type___pyx_memoryview; + PyObject *__pyx_type___pyx_memoryviewslice; + #endif + PyTypeObject *__pyx_ptype_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython; + PyTypeObject *__pyx_array_type; + PyTypeObject *__pyx_MemviewEnum_type; + PyTypeObject *__pyx_memoryview_type; + PyTypeObject *__pyx_memoryviewslice_type; + PyObject *__pyx_kp_u_; + PyObject *__pyx_kp_u_0; + PyObject *__pyx_n_s_ASCII; + PyObject *__pyx_n_s_AcadosOcpSolverCython; + PyObject *__pyx_n_s_AcadosOcpSolverCython___get_poin; + PyObject *__pyx_n_s_AcadosOcpSolverCython___get_stat; + PyObject *__pyx_n_s_AcadosOcpSolverCython___get_stat_2; + PyObject *__pyx_n_s_AcadosOcpSolverCython___get_stat_3; + PyObject *__pyx_n_s_AcadosOcpSolverCython___reduce_c; + PyObject *__pyx_n_s_AcadosOcpSolverCython___setstate; + PyObject *__pyx_n_s_AcadosOcpSolverCython__get_poin; + PyObject *__pyx_n_s_AcadosOcpSolverCython__get_stat; + PyObject *__pyx_n_s_AcadosOcpSolverCython__get_stat_2; + PyObject *__pyx_n_s_AcadosOcpSolverCython__get_stat_3; + PyObject *__pyx_kp_u_AcadosOcpSolverCython_constraint; + PyObject *__pyx_n_s_AcadosOcpSolverCython_constraint_2; + PyObject *__pyx_n_s_AcadosOcpSolverCython_cost_set; + PyObject *__pyx_kp_u_AcadosOcpSolverCython_cost_set_m; + PyObject *__pyx_n_s_AcadosOcpSolverCython_custom_upd; + PyObject *__pyx_kp_u_AcadosOcpSolverCython_does_not_s; + PyObject *__pyx_kp_u_AcadosOcpSolverCython_does_not_s_2; + PyObject *__pyx_kp_u_AcadosOcpSolverCython_eval_param; + PyObject *__pyx_kp_u_AcadosOcpSolverCython_eval_param_2; + PyObject *__pyx_n_s_AcadosOcpSolverCython_eval_param_3; + PyObject *__pyx_n_s_AcadosOcpSolverCython_get; + PyObject *__pyx_n_s_AcadosOcpSolverCython_get_cost; + PyObject *__pyx_kp_u_AcadosOcpSolverCython_get_field; + PyObject *__pyx_n_s_AcadosOcpSolverCython_get_from_q; + PyObject *__pyx_kp_u_AcadosOcpSolverCython_get_is_an; + PyObject *__pyx_n_s_AcadosOcpSolverCython_get_residu; + PyObject *__pyx_kp_u_AcadosOcpSolverCython_get_stage; + PyObject *__pyx_n_s_AcadosOcpSolverCython_get_stats; + PyObject *__pyx_n_s_AcadosOcpSolverCython_load_itera; + PyObject *__pyx_kp_u_AcadosOcpSolverCython_options_se; + PyObject *__pyx_n_s_AcadosOcpSolverCython_options_se_2; + PyObject *__pyx_n_s_AcadosOcpSolverCython_print_stat; + PyObject *__pyx_n_s_AcadosOcpSolverCython_reset; + PyObject *__pyx_n_s_AcadosOcpSolverCython_set; + PyObject *__pyx_kp_u_AcadosOcpSolverCython_set_is_not; + PyObject *__pyx_kp_u_AcadosOcpSolverCython_set_mismat; + PyObject *__pyx_n_s_AcadosOcpSolverCython_set_new_ti; + PyObject *__pyx_n_s_AcadosOcpSolverCython_set_params; + PyObject *__pyx_n_s_AcadosOcpSolverCython_solve; + PyObject *__pyx_kp_u_AcadosOcpSolverCython_solve_argu; + PyObject *__pyx_kp_u_AcadosOcpSolverCython_solve_argu_2; + PyObject *__pyx_n_s_AcadosOcpSolverCython_solve_for; + PyObject *__pyx_n_s_AcadosOcpSolverCython_store_iter; + PyObject *__pyx_n_s_AcadosOcpSolverCython_update_qp; + PyObject *__pyx_kp_s_All_dimensions_preceding_dimensi; + PyObject *__pyx_n_s_AssertionError; + PyObject *__pyx_kp_s_Buffer_view_does_not_expose_stri; + PyObject *__pyx_kp_s_Can_only_create_a_buffer_that_is; + PyObject *__pyx_kp_s_Cannot_assign_to_read_only_memor; + PyObject *__pyx_kp_s_Cannot_create_writable_memory_vi; + PyObject *__pyx_kp_u_Cannot_index_with_type; + PyObject *__pyx_kp_s_Cannot_transpose_memoryview_with; + PyObject *__pyx_kp_s_Dimension_d_is_not_direct; + PyObject *__pyx_n_s_Ellipsis; + PyObject *__pyx_kp_s_Empty_shape_tuple_for_cython_arr; + PyObject *__pyx_n_u_F; + PyObject 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PyObject *__pyx_n_s_get_stat_int; + PyObject *__pyx_n_s_get_stat_matrix; + PyObject *__pyx_n_s_get_stats; + PyObject *__pyx_n_s_getcwd; + PyObject *__pyx_n_s_getstate; + PyObject *__pyx_n_u_globalization; + PyObject *__pyx_n_u_globalization_use_SOC; + PyObject *__pyx_kp_u_got; + PyObject *__pyx_kp_u_got_differing_extents_in_dimensi; + PyObject *__pyx_n_s_i; + PyObject *__pyx_n_s_i_string; + PyObject *__pyx_n_s_id; + PyObject *__pyx_n_s_idx; + PyObject *__pyx_n_s_idx_values; + PyObject *__pyx_n_s_import; + PyObject *__pyx_n_s_indent; + PyObject *__pyx_n_s_index; + PyObject *__pyx_n_u_initialize_t_slacks; + PyObject *__pyx_n_s_initializing; + PyObject *__pyx_n_s_int; + PyObject *__pyx_n_s_int32; + PyObject *__pyx_n_s_int_fields; + PyObject *__pyx_n_s_int_value; + PyObject *__pyx_n_s_is_coroutine; + PyObject *__pyx_kp_u_isenabled; + PyObject *__pyx_n_s_isfile; + PyObject *__pyx_n_s_itemsize; + PyObject *__pyx_kp_s_itemsize_0_for_cython_array; + PyObject *__pyx_n_u_iterate; + PyObject *__pyx_n_s_join; + PyObject *__pyx_n_s_json; + PyObject *__pyx_kp_u_json_2; + PyObject *__pyx_n_s_k; + PyObject *__pyx_n_s_key; + PyObject *__pyx_n_s_keys; + PyObject *__pyx_n_s_lN; + PyObject *__pyx_n_u_lam; + PyObject *__pyx_n_u_lam_2; + PyObject *__pyx_n_u_lbu; + PyObject *__pyx_n_u_lbx; + PyObject *__pyx_n_u_line_search_use_sufficient_desce; + PyObject *__pyx_n_s_load; + PyObject *__pyx_n_s_load_iterate; + PyObject *__pyx_kp_u_load_iterate_failed_file_does_no; + PyObject *__pyx_n_s_m; + PyObject *__pyx_n_s_main; + PyObject *__pyx_n_s_mem_fields; + PyObject *__pyx_n_s_memview; + PyObject *__pyx_n_s_min_size; + PyObject *__pyx_n_s_mode; + PyObject *__pyx_n_s_model_name; + PyObject *__pyx_n_s_msg; + PyObject *__pyx_n_s_n; + PyObject *__pyx_n_s_n_update; + PyObject *__pyx_n_s_name; + PyObject *__pyx_n_s_name_2; + PyObject *__pyx_n_s_ndarray; + PyObject *__pyx_n_s_ndim; + PyObject *__pyx_n_s_new; + PyObject *__pyx_n_s_new_time_steps; + PyObject *__pyx_n_s_nlp_solver_type; + PyObject *__pyx_kp_s_no_default___reduce___due_to_non; + PyObject *__pyx_n_s_np; + PyObject *__pyx_n_s_numpy; + PyObject *__pyx_kp_u_numpy_core_multiarray_failed_to; + PyObject *__pyx_kp_u_numpy_core_umath_failed_to_impor; + PyObject *__pyx_n_s_nx; + PyObject *__pyx_n_s_obj; + PyObject *__pyx_n_s_open; + PyObject *__pyx_n_s_options_set; + PyObject *__pyx_n_s_order; + PyObject *__pyx_n_s_os; + PyObject *__pyx_n_s_out; + PyObject *__pyx_n_s_out_fields; + PyObject *__pyx_n_s_out_mat; + PyObject *__pyx_n_s_overwrite; + PyObject *__pyx_n_u_p; + PyObject *__pyx_n_s_pack; + PyObject *__pyx_n_s_param_values; + PyObject *__pyx_kp_u_param_values_2; + PyObject *__pyx_kp_u_param_values__and_idx_values__mu; + PyObject *__pyx_kp_u_param_values__must_be_np_array; + PyObject *__pyx_n_s_path; + PyObject *__pyx_n_u_pi; + PyObject *__pyx_n_u_pi_2; + PyObject *__pyx_n_s_pickle; + PyObject *__pyx_n_s_print; + PyObject *__pyx_n_u_print_level; + PyObject *__pyx_n_s_print_statistics; + PyObject *__pyx_n_s_pyx_PickleError; + PyObject *__pyx_n_s_pyx_checksum; + PyObject *__pyx_n_s_pyx_result; + PyObject *__pyx_n_s_pyx_state; + PyObject *__pyx_n_s_pyx_type; + PyObject *__pyx_n_s_pyx_unpickle_Enum; + PyObject *__pyx_n_s_pyx_vtable; + PyObject *__pyx_n_u_qp_iter; + PyObject *__pyx_n_u_qp_mu0; + PyObject *__pyx_n_s_qp_solver_cond_N; + PyObject *__pyx_n_u_qp_tau_min; + PyObject *__pyx_n_u_qp_tol_comp; + PyObject *__pyx_n_u_qp_tol_eq; + PyObject *__pyx_n_u_qp_tol_ineq; + PyObject *__pyx_n_u_qp_tol_stat; + PyObject *__pyx_n_u_qp_warm_start; + PyObject *__pyx_n_u_r; + PyObject *__pyx_n_s_range; + PyObject *__pyx_n_s_recompute; + PyObject *__pyx_n_s_reduce; + PyObject *__pyx_n_s_reduce_cython; + PyObject *__pyx_n_s_reduce_ex; + PyObject *__pyx_n_s_register; + PyObject *__pyx_n_b_res_comp; + PyObject *__pyx_n_b_res_eq; + PyObject *__pyx_n_b_res_ineq; + PyObject *__pyx_n_b_res_stat; + PyObject *__pyx_n_s_reset; + PyObject *__pyx_n_s_reset_qp_solver_mem; + PyObject *__pyx_n_u_residuals; + PyObject *__pyx_n_u_rti_phase; + PyObject *__pyx_n_s_self; + PyObject *__pyx_n_s_set; + PyObject *__pyx_n_s_set_new_time_steps; + PyObject *__pyx_n_s_set_params_sparse; + PyObject *__pyx_kp_u_set_value_must_be_numpy_array_go; + PyObject *__pyx_n_s_setstate; + PyObject *__pyx_n_s_setstate_cython; + PyObject *__pyx_n_s_shape; + PyObject *__pyx_n_s_size; + PyObject *__pyx_n_u_sl; + PyObject *__pyx_n_u_sl_2; + PyObject *__pyx_n_s_solution; + PyObject *__pyx_n_s_solve; + PyObject *__pyx_n_s_solve_for_x0; + PyObject *__pyx_kp_u_solver_option_must_be_of_type_fl; + PyObject *__pyx_kp_u_solver_option_must_be_of_type_in; + PyObject *__pyx_kp_u_solver_option_must_be_of_type_st; + PyObject *__pyx_n_s_sort_keys; + PyObject *__pyx_n_s_spec; + PyObject *__pyx_n_s_split; + PyObject *__pyx_n_s_sqp_iter; + PyObject *__pyx_n_u_sqp_iter; + PyObject *__pyx_n_s_stage; + PyObject *__pyx_n_s_start; + PyObject *__pyx_n_s_stat_m; + PyObject *__pyx_n_u_stat_m; + PyObject *__pyx_n_s_stat_n; + PyObject *__pyx_n_u_stat_n; + PyObject *__pyx_n_u_statistics; + PyObject *__pyx_n_s_status; + PyObject *__pyx_n_s_step; + PyObject *__pyx_n_u_step_length; + PyObject *__pyx_n_s_stop; + PyObject *__pyx_n_s_store_iterate; + PyObject *__pyx_n_s_store_iterate_locals_lambda; + PyObject *__pyx_kp_u_stored_current_iterate_in; + PyObject *__pyx_n_s_strftime; + PyObject *__pyx_kp_s_strided_and_direct; + PyObject *__pyx_kp_s_strided_and_direct_or_indirect; + PyObject *__pyx_kp_s_strided_and_indirect; + PyObject *__pyx_n_s_string_fields; + PyObject *__pyx_n_s_string_value; + PyObject *__pyx_kp_s_stringsource; + PyObject *__pyx_n_s_struct; + PyObject *__pyx_n_u_su; + PyObject *__pyx_n_u_su_2; + PyObject *__pyx_n_s_sys; + PyObject *__pyx_n_u_t; + PyObject *__pyx_n_u_t_2; + PyObject *__pyx_n_s_test; + PyObject *__pyx_kp_s_third_party_acados_acados_templa; + PyObject *__pyx_n_u_time_glob; + PyObject *__pyx_n_u_time_lin; + PyObject *__pyx_n_u_time_qp; + PyObject *__pyx_n_u_time_qp_solver_call; + PyObject *__pyx_n_u_time_qp_xcond; + PyObject *__pyx_n_u_time_reg; + PyObject *__pyx_n_u_time_sim; + PyObject *__pyx_n_u_time_sim_ad; + PyObject *__pyx_n_u_time_sim_la; + PyObject *__pyx_n_u_time_solution_sensitivities; + PyObject *__pyx_n_u_time_tot; + PyObject *__pyx_n_u_tol_comp; + PyObject *__pyx_n_u_tol_eq; + PyObject *__pyx_n_u_tol_ineq; + PyObject *__pyx_n_u_tol_stat; + PyObject *__pyx_n_s_tolist; + PyObject *__pyx_n_u_u; + PyObject *__pyx_n_s_u0; + PyObject *__pyx_n_u_u_2; + PyObject *__pyx_n_u_ubu; + PyObject *__pyx_n_u_ubx; + PyObject *__pyx_kp_s_unable_to_allocate_array_data; + PyObject *__pyx_kp_s_unable_to_allocate_shape_and_str; + PyObject *__pyx_n_s_unpack; + PyObject *__pyx_n_s_update; + PyObject *__pyx_n_s_update_qp_solver_cond_N; + PyObject *__pyx_n_s_utcnow; + PyObject *__pyx_kp_u_utf_8; + PyObject *__pyx_n_s_value; + PyObject *__pyx_n_s_value_2; + PyObject *__pyx_n_s_value_shape; + PyObject *__pyx_n_s_version_info; + PyObject *__pyx_n_u_w; + PyObject *__pyx_n_u_warm_start_first_qp; + PyObject *__pyx_kp_u_with_dimension; + PyObject *__pyx_kp_u_with_dimension_you_have; + PyObject *__pyx_n_b_x; + PyObject *__pyx_n_s_x; + PyObject *__pyx_n_u_x; + PyObject *__pyx_n_s_x0_bar; + PyObject *__pyx_n_u_x_2; + PyObject *__pyx_n_u_xdot_guess; + PyObject *__pyx_n_u_y_ref; + PyObject *__pyx_kp_u_you_have; + PyObject *__pyx_n_u_yref; + PyObject *__pyx_n_u_z; + PyObject *__pyx_n_u_z_2; + PyObject *__pyx_n_b_z_guess; + PyObject *__pyx_n_u_z_guess; + PyObject *__pyx_n_s_zeros; + PyObject *__pyx_int_0; + PyObject *__pyx_int_1; + PyObject *__pyx_int_2; + PyObject *__pyx_int_3; + PyObject *__pyx_int_4; + PyObject *__pyx_int_6; + PyObject *__pyx_int_7; + PyObject *__pyx_int_112105877; + PyObject *__pyx_int_136983863; + PyObject *__pyx_int_184977713; + PyObject *__pyx_int_neg_1; + PyObject *__pyx_int_neg_5; + PyObject *__pyx_slice__5; + PyObject *__pyx_tuple__4; + PyObject *__pyx_tuple__8; + PyObject *__pyx_tuple__9; + PyObject *__pyx_slice__18; + PyObject *__pyx_tuple__10; + PyObject *__pyx_tuple__11; + PyObject *__pyx_tuple__12; + PyObject *__pyx_tuple__13; + PyObject *__pyx_tuple__14; + PyObject *__pyx_tuple__15; + PyObject *__pyx_tuple__19; + PyObject *__pyx_tuple__20; + PyObject *__pyx_tuple__21; + PyObject *__pyx_tuple__22; + PyObject *__pyx_tuple__23; + PyObject *__pyx_tuple__24; + PyObject *__pyx_tuple__25; + PyObject *__pyx_tuple__26; + PyObject *__pyx_tuple__27; + PyObject *__pyx_tuple__28; + PyObject *__pyx_tuple__29; + PyObject *__pyx_tuple__30; + PyObject *__pyx_tuple__32; + PyObject *__pyx_tuple__33; + PyObject *__pyx_tuple__34; + PyObject *__pyx_tuple__35; + PyObject *__pyx_tuple__36; + PyObject *__pyx_tuple__37; + PyObject *__pyx_tuple__38; + PyObject *__pyx_tuple__39; + PyObject *__pyx_tuple__40; + PyObject *__pyx_tuple__41; + PyObject *__pyx_tuple__42; + PyObject *__pyx_tuple__44; + PyObject *__pyx_tuple__46; + PyObject *__pyx_tuple__49; + PyObject *__pyx_tuple__51; + PyObject *__pyx_tuple__53; + PyObject *__pyx_tuple__55; + PyObject *__pyx_tuple__57; + PyObject *__pyx_tuple__59; + PyObject *__pyx_tuple__60; + PyObject *__pyx_tuple__63; + PyObject *__pyx_tuple__65; + PyObject *__pyx_tuple__66; + PyObject *__pyx_tuple__68; + PyObject *__pyx_tuple__70; + PyObject *__pyx_tuple__73; + PyObject *__pyx_tuple__75; + PyObject *__pyx_tuple__77; + PyObject *__pyx_tuple__79; + PyObject *__pyx_tuple__80; + PyObject *__pyx_tuple__82; + PyObject *__pyx_tuple__85; + PyObject *__pyx_tuple__87; + PyObject *__pyx_tuple__89; + PyObject *__pyx_tuple__92; + PyObject *__pyx_codeobj__43; + PyObject *__pyx_codeobj__45; + PyObject *__pyx_codeobj__47; + PyObject *__pyx_codeobj__48; + PyObject *__pyx_codeobj__50; + PyObject *__pyx_codeobj__52; + PyObject *__pyx_codeobj__54; + PyObject *__pyx_codeobj__56; + PyObject *__pyx_codeobj__58; + PyObject *__pyx_codeobj__61; + PyObject *__pyx_codeobj__62; + PyObject *__pyx_codeobj__64; + PyObject *__pyx_codeobj__67; + PyObject *__pyx_codeobj__69; + PyObject *__pyx_codeobj__71; + PyObject *__pyx_codeobj__72; + PyObject *__pyx_codeobj__74; + PyObject *__pyx_codeobj__76; + PyObject *__pyx_codeobj__78; + PyObject *__pyx_codeobj__81; + PyObject *__pyx_codeobj__83; + PyObject *__pyx_codeobj__84; + PyObject *__pyx_codeobj__86; + PyObject *__pyx_codeobj__88; + PyObject *__pyx_codeobj__90; + PyObject *__pyx_codeobj__91; + PyObject *__pyx_codeobj__93; +} __pyx_mstate; + +#if CYTHON_USE_MODULE_STATE +#ifdef __cplusplus +namespace { + extern struct PyModuleDef __pyx_moduledef; +} /* anonymous namespace */ +#else +static struct PyModuleDef __pyx_moduledef; +#endif + +#define __pyx_mstate(o) ((__pyx_mstate *)__Pyx_PyModule_GetState(o)) + +#define __pyx_mstate_global (__pyx_mstate(PyState_FindModule(&__pyx_moduledef))) + +#define __pyx_m (PyState_FindModule(&__pyx_moduledef)) +#else +static __pyx_mstate __pyx_mstate_global_static = +#ifdef __cplusplus + {}; +#else + {0}; +#endif +static __pyx_mstate *__pyx_mstate_global = &__pyx_mstate_global_static; +#endif +/* #### Code section: module_state_clear ### */ +#if CYTHON_USE_MODULE_STATE +static int __pyx_m_clear(PyObject *m) { + __pyx_mstate *clear_module_state = __pyx_mstate(m); + if (!clear_module_state) return 0; + Py_CLEAR(clear_module_state->__pyx_d); + Py_CLEAR(clear_module_state->__pyx_b); + Py_CLEAR(clear_module_state->__pyx_cython_runtime); + Py_CLEAR(clear_module_state->__pyx_empty_tuple); + Py_CLEAR(clear_module_state->__pyx_empty_bytes); + Py_CLEAR(clear_module_state->__pyx_empty_unicode); + #ifdef __Pyx_CyFunction_USED + Py_CLEAR(clear_module_state->__pyx_CyFunctionType); + #endif + #ifdef __Pyx_FusedFunction_USED + Py_CLEAR(clear_module_state->__pyx_FusedFunctionType); + #endif + Py_CLEAR(clear_module_state->__pyx_ptype_7cpython_4type_type); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_dtype); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_flatiter); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_broadcast); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_ndarray); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_generic); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_number); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_integer); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_signedinteger); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_unsignedinteger); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_inexact); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_floating); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_complexfloating); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_flexible); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_character); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_ufunc); + Py_CLEAR(clear_module_state->__pyx_ptype_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython); + Py_CLEAR(clear_module_state->__pyx_type_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython); + Py_CLEAR(clear_module_state->__pyx_array_type); + Py_CLEAR(clear_module_state->__pyx_type___pyx_array); + Py_CLEAR(clear_module_state->__pyx_MemviewEnum_type); + Py_CLEAR(clear_module_state->__pyx_type___pyx_MemviewEnum); + Py_CLEAR(clear_module_state->__pyx_memoryview_type); + Py_CLEAR(clear_module_state->__pyx_type___pyx_memoryview); + Py_CLEAR(clear_module_state->__pyx_memoryviewslice_type); + Py_CLEAR(clear_module_state->__pyx_type___pyx_memoryviewslice); + Py_CLEAR(clear_module_state->__pyx_kp_u_); + Py_CLEAR(clear_module_state->__pyx_kp_u_0); + Py_CLEAR(clear_module_state->__pyx_n_s_ASCII); + Py_CLEAR(clear_module_state->__pyx_n_s_AcadosOcpSolverCython); + Py_CLEAR(clear_module_state->__pyx_n_s_AcadosOcpSolverCython___get_poin); + Py_CLEAR(clear_module_state->__pyx_n_s_AcadosOcpSolverCython___get_stat); + Py_CLEAR(clear_module_state->__pyx_n_s_AcadosOcpSolverCython___get_stat_2); + Py_CLEAR(clear_module_state->__pyx_n_s_AcadosOcpSolverCython___get_stat_3); + 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Py_CLEAR(clear_module_state->__pyx_n_u_sqp_iter); + Py_CLEAR(clear_module_state->__pyx_n_s_stage); + Py_CLEAR(clear_module_state->__pyx_n_s_start); + Py_CLEAR(clear_module_state->__pyx_n_s_stat_m); + Py_CLEAR(clear_module_state->__pyx_n_u_stat_m); + Py_CLEAR(clear_module_state->__pyx_n_s_stat_n); + Py_CLEAR(clear_module_state->__pyx_n_u_stat_n); + Py_CLEAR(clear_module_state->__pyx_n_u_statistics); + Py_CLEAR(clear_module_state->__pyx_n_s_status); + Py_CLEAR(clear_module_state->__pyx_n_s_step); + Py_CLEAR(clear_module_state->__pyx_n_u_step_length); + Py_CLEAR(clear_module_state->__pyx_n_s_stop); + Py_CLEAR(clear_module_state->__pyx_n_s_store_iterate); + Py_CLEAR(clear_module_state->__pyx_n_s_store_iterate_locals_lambda); + Py_CLEAR(clear_module_state->__pyx_kp_u_stored_current_iterate_in); + Py_CLEAR(clear_module_state->__pyx_n_s_strftime); + Py_CLEAR(clear_module_state->__pyx_kp_s_strided_and_direct); + Py_CLEAR(clear_module_state->__pyx_kp_s_strided_and_direct_or_indirect); + Py_CLEAR(clear_module_state->__pyx_kp_s_strided_and_indirect); + Py_CLEAR(clear_module_state->__pyx_n_s_string_fields); + Py_CLEAR(clear_module_state->__pyx_n_s_string_value); + Py_CLEAR(clear_module_state->__pyx_kp_s_stringsource); + Py_CLEAR(clear_module_state->__pyx_n_s_struct); + Py_CLEAR(clear_module_state->__pyx_n_u_su); + Py_CLEAR(clear_module_state->__pyx_n_u_su_2); + Py_CLEAR(clear_module_state->__pyx_n_s_sys); + Py_CLEAR(clear_module_state->__pyx_n_u_t); + Py_CLEAR(clear_module_state->__pyx_n_u_t_2); + Py_CLEAR(clear_module_state->__pyx_n_s_test); + Py_CLEAR(clear_module_state->__pyx_kp_s_third_party_acados_acados_templa); + Py_CLEAR(clear_module_state->__pyx_n_u_time_glob); + Py_CLEAR(clear_module_state->__pyx_n_u_time_lin); + Py_CLEAR(clear_module_state->__pyx_n_u_time_qp); + Py_CLEAR(clear_module_state->__pyx_n_u_time_qp_solver_call); + Py_CLEAR(clear_module_state->__pyx_n_u_time_qp_xcond); + Py_CLEAR(clear_module_state->__pyx_n_u_time_reg); + Py_CLEAR(clear_module_state->__pyx_n_u_time_sim); + Py_CLEAR(clear_module_state->__pyx_n_u_time_sim_ad); + Py_CLEAR(clear_module_state->__pyx_n_u_time_sim_la); + Py_CLEAR(clear_module_state->__pyx_n_u_time_solution_sensitivities); + Py_CLEAR(clear_module_state->__pyx_n_u_time_tot); + Py_CLEAR(clear_module_state->__pyx_n_u_tol_comp); + Py_CLEAR(clear_module_state->__pyx_n_u_tol_eq); + Py_CLEAR(clear_module_state->__pyx_n_u_tol_ineq); + Py_CLEAR(clear_module_state->__pyx_n_u_tol_stat); + Py_CLEAR(clear_module_state->__pyx_n_s_tolist); + Py_CLEAR(clear_module_state->__pyx_n_u_u); + Py_CLEAR(clear_module_state->__pyx_n_s_u0); + Py_CLEAR(clear_module_state->__pyx_n_u_u_2); + Py_CLEAR(clear_module_state->__pyx_n_u_ubu); + Py_CLEAR(clear_module_state->__pyx_n_u_ubx); + Py_CLEAR(clear_module_state->__pyx_kp_s_unable_to_allocate_array_data); + Py_CLEAR(clear_module_state->__pyx_kp_s_unable_to_allocate_shape_and_str); + Py_CLEAR(clear_module_state->__pyx_n_s_unpack); + Py_CLEAR(clear_module_state->__pyx_n_s_update); + Py_CLEAR(clear_module_state->__pyx_n_s_update_qp_solver_cond_N); + Py_CLEAR(clear_module_state->__pyx_n_s_utcnow); + Py_CLEAR(clear_module_state->__pyx_kp_u_utf_8); + Py_CLEAR(clear_module_state->__pyx_n_s_value); + Py_CLEAR(clear_module_state->__pyx_n_s_value_2); + Py_CLEAR(clear_module_state->__pyx_n_s_value_shape); + Py_CLEAR(clear_module_state->__pyx_n_s_version_info); + Py_CLEAR(clear_module_state->__pyx_n_u_w); + Py_CLEAR(clear_module_state->__pyx_n_u_warm_start_first_qp); + Py_CLEAR(clear_module_state->__pyx_kp_u_with_dimension); + Py_CLEAR(clear_module_state->__pyx_kp_u_with_dimension_you_have); + Py_CLEAR(clear_module_state->__pyx_n_b_x); + Py_CLEAR(clear_module_state->__pyx_n_s_x); + Py_CLEAR(clear_module_state->__pyx_n_u_x); + Py_CLEAR(clear_module_state->__pyx_n_s_x0_bar); + Py_CLEAR(clear_module_state->__pyx_n_u_x_2); + Py_CLEAR(clear_module_state->__pyx_n_u_xdot_guess); + Py_CLEAR(clear_module_state->__pyx_n_u_y_ref); + Py_CLEAR(clear_module_state->__pyx_kp_u_you_have); + Py_CLEAR(clear_module_state->__pyx_n_u_yref); + Py_CLEAR(clear_module_state->__pyx_n_u_z); + Py_CLEAR(clear_module_state->__pyx_n_u_z_2); + Py_CLEAR(clear_module_state->__pyx_n_b_z_guess); + Py_CLEAR(clear_module_state->__pyx_n_u_z_guess); + Py_CLEAR(clear_module_state->__pyx_n_s_zeros); + Py_CLEAR(clear_module_state->__pyx_int_0); + Py_CLEAR(clear_module_state->__pyx_int_1); + Py_CLEAR(clear_module_state->__pyx_int_2); + Py_CLEAR(clear_module_state->__pyx_int_3); + Py_CLEAR(clear_module_state->__pyx_int_4); + Py_CLEAR(clear_module_state->__pyx_int_6); + Py_CLEAR(clear_module_state->__pyx_int_7); + Py_CLEAR(clear_module_state->__pyx_int_112105877); + Py_CLEAR(clear_module_state->__pyx_int_136983863); + Py_CLEAR(clear_module_state->__pyx_int_184977713); + Py_CLEAR(clear_module_state->__pyx_int_neg_1); + Py_CLEAR(clear_module_state->__pyx_int_neg_5); + Py_CLEAR(clear_module_state->__pyx_slice__5); + Py_CLEAR(clear_module_state->__pyx_tuple__4); + Py_CLEAR(clear_module_state->__pyx_tuple__8); + Py_CLEAR(clear_module_state->__pyx_tuple__9); + Py_CLEAR(clear_module_state->__pyx_slice__18); + Py_CLEAR(clear_module_state->__pyx_tuple__10); + Py_CLEAR(clear_module_state->__pyx_tuple__11); + Py_CLEAR(clear_module_state->__pyx_tuple__12); + Py_CLEAR(clear_module_state->__pyx_tuple__13); + Py_CLEAR(clear_module_state->__pyx_tuple__14); + Py_CLEAR(clear_module_state->__pyx_tuple__15); + Py_CLEAR(clear_module_state->__pyx_tuple__19); + Py_CLEAR(clear_module_state->__pyx_tuple__20); + Py_CLEAR(clear_module_state->__pyx_tuple__21); + Py_CLEAR(clear_module_state->__pyx_tuple__22); + Py_CLEAR(clear_module_state->__pyx_tuple__23); + Py_CLEAR(clear_module_state->__pyx_tuple__24); + Py_CLEAR(clear_module_state->__pyx_tuple__25); + Py_CLEAR(clear_module_state->__pyx_tuple__26); + Py_CLEAR(clear_module_state->__pyx_tuple__27); + Py_CLEAR(clear_module_state->__pyx_tuple__28); + Py_CLEAR(clear_module_state->__pyx_tuple__29); + Py_CLEAR(clear_module_state->__pyx_tuple__30); + Py_CLEAR(clear_module_state->__pyx_tuple__32); + Py_CLEAR(clear_module_state->__pyx_tuple__33); + Py_CLEAR(clear_module_state->__pyx_tuple__34); + Py_CLEAR(clear_module_state->__pyx_tuple__35); + Py_CLEAR(clear_module_state->__pyx_tuple__36); + Py_CLEAR(clear_module_state->__pyx_tuple__37); + Py_CLEAR(clear_module_state->__pyx_tuple__38); + Py_CLEAR(clear_module_state->__pyx_tuple__39); + Py_CLEAR(clear_module_state->__pyx_tuple__40); + Py_CLEAR(clear_module_state->__pyx_tuple__41); + Py_CLEAR(clear_module_state->__pyx_tuple__42); + Py_CLEAR(clear_module_state->__pyx_tuple__44); + Py_CLEAR(clear_module_state->__pyx_tuple__46); + Py_CLEAR(clear_module_state->__pyx_tuple__49); + Py_CLEAR(clear_module_state->__pyx_tuple__51); + Py_CLEAR(clear_module_state->__pyx_tuple__53); + Py_CLEAR(clear_module_state->__pyx_tuple__55); + Py_CLEAR(clear_module_state->__pyx_tuple__57); + Py_CLEAR(clear_module_state->__pyx_tuple__59); + Py_CLEAR(clear_module_state->__pyx_tuple__60); + Py_CLEAR(clear_module_state->__pyx_tuple__63); + Py_CLEAR(clear_module_state->__pyx_tuple__65); + Py_CLEAR(clear_module_state->__pyx_tuple__66); + Py_CLEAR(clear_module_state->__pyx_tuple__68); + Py_CLEAR(clear_module_state->__pyx_tuple__70); + Py_CLEAR(clear_module_state->__pyx_tuple__73); + Py_CLEAR(clear_module_state->__pyx_tuple__75); + Py_CLEAR(clear_module_state->__pyx_tuple__77); + Py_CLEAR(clear_module_state->__pyx_tuple__79); + Py_CLEAR(clear_module_state->__pyx_tuple__80); + Py_CLEAR(clear_module_state->__pyx_tuple__82); + Py_CLEAR(clear_module_state->__pyx_tuple__85); + Py_CLEAR(clear_module_state->__pyx_tuple__87); + Py_CLEAR(clear_module_state->__pyx_tuple__89); + Py_CLEAR(clear_module_state->__pyx_tuple__92); + Py_CLEAR(clear_module_state->__pyx_codeobj__43); + Py_CLEAR(clear_module_state->__pyx_codeobj__45); + Py_CLEAR(clear_module_state->__pyx_codeobj__47); + Py_CLEAR(clear_module_state->__pyx_codeobj__48); + Py_CLEAR(clear_module_state->__pyx_codeobj__50); + Py_CLEAR(clear_module_state->__pyx_codeobj__52); + Py_CLEAR(clear_module_state->__pyx_codeobj__54); + Py_CLEAR(clear_module_state->__pyx_codeobj__56); + Py_CLEAR(clear_module_state->__pyx_codeobj__58); + Py_CLEAR(clear_module_state->__pyx_codeobj__61); + Py_CLEAR(clear_module_state->__pyx_codeobj__62); + Py_CLEAR(clear_module_state->__pyx_codeobj__64); + Py_CLEAR(clear_module_state->__pyx_codeobj__67); + Py_CLEAR(clear_module_state->__pyx_codeobj__69); + Py_CLEAR(clear_module_state->__pyx_codeobj__71); + Py_CLEAR(clear_module_state->__pyx_codeobj__72); + Py_CLEAR(clear_module_state->__pyx_codeobj__74); + Py_CLEAR(clear_module_state->__pyx_codeobj__76); + Py_CLEAR(clear_module_state->__pyx_codeobj__78); + Py_CLEAR(clear_module_state->__pyx_codeobj__81); + Py_CLEAR(clear_module_state->__pyx_codeobj__83); + Py_CLEAR(clear_module_state->__pyx_codeobj__84); + Py_CLEAR(clear_module_state->__pyx_codeobj__86); + Py_CLEAR(clear_module_state->__pyx_codeobj__88); + Py_CLEAR(clear_module_state->__pyx_codeobj__90); + Py_CLEAR(clear_module_state->__pyx_codeobj__91); + Py_CLEAR(clear_module_state->__pyx_codeobj__93); + return 0; +} +#endif +/* #### Code section: module_state_traverse ### */ +#if CYTHON_USE_MODULE_STATE +static int __pyx_m_traverse(PyObject *m, visitproc visit, void *arg) { + __pyx_mstate *traverse_module_state = __pyx_mstate(m); + if (!traverse_module_state) return 0; + Py_VISIT(traverse_module_state->__pyx_d); + Py_VISIT(traverse_module_state->__pyx_b); + Py_VISIT(traverse_module_state->__pyx_cython_runtime); + Py_VISIT(traverse_module_state->__pyx_empty_tuple); + Py_VISIT(traverse_module_state->__pyx_empty_bytes); + Py_VISIT(traverse_module_state->__pyx_empty_unicode); + #ifdef __Pyx_CyFunction_USED + Py_VISIT(traverse_module_state->__pyx_CyFunctionType); + #endif + #ifdef __Pyx_FusedFunction_USED + Py_VISIT(traverse_module_state->__pyx_FusedFunctionType); + #endif + Py_VISIT(traverse_module_state->__pyx_ptype_7cpython_4type_type); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_dtype); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_flatiter); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_broadcast); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_ndarray); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_generic); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_number); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_integer); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_signedinteger); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_unsignedinteger); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_inexact); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_floating); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_complexfloating); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_flexible); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_character); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_ufunc); + Py_VISIT(traverse_module_state->__pyx_ptype_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython); + Py_VISIT(traverse_module_state->__pyx_type_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython); + Py_VISIT(traverse_module_state->__pyx_array_type); + Py_VISIT(traverse_module_state->__pyx_type___pyx_array); + Py_VISIT(traverse_module_state->__pyx_MemviewEnum_type); + Py_VISIT(traverse_module_state->__pyx_type___pyx_MemviewEnum); + Py_VISIT(traverse_module_state->__pyx_memoryview_type); + Py_VISIT(traverse_module_state->__pyx_type___pyx_memoryview); + Py_VISIT(traverse_module_state->__pyx_memoryviewslice_type); + Py_VISIT(traverse_module_state->__pyx_type___pyx_memoryviewslice); + Py_VISIT(traverse_module_state->__pyx_kp_u_); + Py_VISIT(traverse_module_state->__pyx_kp_u_0); + Py_VISIT(traverse_module_state->__pyx_n_s_ASCII); + Py_VISIT(traverse_module_state->__pyx_n_s_AcadosOcpSolverCython); + Py_VISIT(traverse_module_state->__pyx_n_s_AcadosOcpSolverCython___get_poin); + Py_VISIT(traverse_module_state->__pyx_n_s_AcadosOcpSolverCython___get_stat); + Py_VISIT(traverse_module_state->__pyx_n_s_AcadosOcpSolverCython___get_stat_2); + Py_VISIT(traverse_module_state->__pyx_n_s_AcadosOcpSolverCython___get_stat_3); + Py_VISIT(traverse_module_state->__pyx_n_s_AcadosOcpSolverCython___reduce_c); + Py_VISIT(traverse_module_state->__pyx_n_s_AcadosOcpSolverCython___setstate); + Py_VISIT(traverse_module_state->__pyx_n_s_AcadosOcpSolverCython__get_poin); + Py_VISIT(traverse_module_state->__pyx_n_s_AcadosOcpSolverCython__get_stat); + Py_VISIT(traverse_module_state->__pyx_n_s_AcadosOcpSolverCython__get_stat_2); + Py_VISIT(traverse_module_state->__pyx_n_s_AcadosOcpSolverCython__get_stat_3); + Py_VISIT(traverse_module_state->__pyx_kp_u_AcadosOcpSolverCython_constraint); + Py_VISIT(traverse_module_state->__pyx_n_s_AcadosOcpSolverCython_constraint_2); + Py_VISIT(traverse_module_state->__pyx_n_s_AcadosOcpSolverCython_cost_set); + Py_VISIT(traverse_module_state->__pyx_kp_u_AcadosOcpSolverCython_cost_set_m); + Py_VISIT(traverse_module_state->__pyx_n_s_AcadosOcpSolverCython_custom_upd); + Py_VISIT(traverse_module_state->__pyx_kp_u_AcadosOcpSolverCython_does_not_s); + Py_VISIT(traverse_module_state->__pyx_kp_u_AcadosOcpSolverCython_does_not_s_2); + Py_VISIT(traverse_module_state->__pyx_kp_u_AcadosOcpSolverCython_eval_param); + Py_VISIT(traverse_module_state->__pyx_kp_u_AcadosOcpSolverCython_eval_param_2); + Py_VISIT(traverse_module_state->__pyx_n_s_AcadosOcpSolverCython_eval_param_3); + Py_VISIT(traverse_module_state->__pyx_n_s_AcadosOcpSolverCython_get); + Py_VISIT(traverse_module_state->__pyx_n_s_AcadosOcpSolverCython_get_cost); + Py_VISIT(traverse_module_state->__pyx_kp_u_AcadosOcpSolverCython_get_field); + Py_VISIT(traverse_module_state->__pyx_n_s_AcadosOcpSolverCython_get_from_q); + Py_VISIT(traverse_module_state->__pyx_kp_u_AcadosOcpSolverCython_get_is_an); + Py_VISIT(traverse_module_state->__pyx_n_s_AcadosOcpSolverCython_get_residu); + Py_VISIT(traverse_module_state->__pyx_kp_u_AcadosOcpSolverCython_get_stage); + Py_VISIT(traverse_module_state->__pyx_n_s_AcadosOcpSolverCython_get_stats); + Py_VISIT(traverse_module_state->__pyx_n_s_AcadosOcpSolverCython_load_itera); + Py_VISIT(traverse_module_state->__pyx_kp_u_AcadosOcpSolverCython_options_se); + Py_VISIT(traverse_module_state->__pyx_n_s_AcadosOcpSolverCython_options_se_2); + Py_VISIT(traverse_module_state->__pyx_n_s_AcadosOcpSolverCython_print_stat); + Py_VISIT(traverse_module_state->__pyx_n_s_AcadosOcpSolverCython_reset); + Py_VISIT(traverse_module_state->__pyx_n_s_AcadosOcpSolverCython_set); + Py_VISIT(traverse_module_state->__pyx_kp_u_AcadosOcpSolverCython_set_is_not); + 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Py_VISIT(traverse_module_state->__pyx_n_u_su_2); + Py_VISIT(traverse_module_state->__pyx_n_s_sys); + Py_VISIT(traverse_module_state->__pyx_n_u_t); + Py_VISIT(traverse_module_state->__pyx_n_u_t_2); + Py_VISIT(traverse_module_state->__pyx_n_s_test); + Py_VISIT(traverse_module_state->__pyx_kp_s_third_party_acados_acados_templa); + Py_VISIT(traverse_module_state->__pyx_n_u_time_glob); + Py_VISIT(traverse_module_state->__pyx_n_u_time_lin); + Py_VISIT(traverse_module_state->__pyx_n_u_time_qp); + Py_VISIT(traverse_module_state->__pyx_n_u_time_qp_solver_call); + Py_VISIT(traverse_module_state->__pyx_n_u_time_qp_xcond); + Py_VISIT(traverse_module_state->__pyx_n_u_time_reg); + Py_VISIT(traverse_module_state->__pyx_n_u_time_sim); + Py_VISIT(traverse_module_state->__pyx_n_u_time_sim_ad); + Py_VISIT(traverse_module_state->__pyx_n_u_time_sim_la); + Py_VISIT(traverse_module_state->__pyx_n_u_time_solution_sensitivities); + Py_VISIT(traverse_module_state->__pyx_n_u_time_tot); + 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Py_VISIT(traverse_module_state->__pyx_tuple__59); + Py_VISIT(traverse_module_state->__pyx_tuple__60); + Py_VISIT(traverse_module_state->__pyx_tuple__63); + Py_VISIT(traverse_module_state->__pyx_tuple__65); + Py_VISIT(traverse_module_state->__pyx_tuple__66); + Py_VISIT(traverse_module_state->__pyx_tuple__68); + Py_VISIT(traverse_module_state->__pyx_tuple__70); + Py_VISIT(traverse_module_state->__pyx_tuple__73); + Py_VISIT(traverse_module_state->__pyx_tuple__75); + Py_VISIT(traverse_module_state->__pyx_tuple__77); + Py_VISIT(traverse_module_state->__pyx_tuple__79); + Py_VISIT(traverse_module_state->__pyx_tuple__80); + Py_VISIT(traverse_module_state->__pyx_tuple__82); + Py_VISIT(traverse_module_state->__pyx_tuple__85); + Py_VISIT(traverse_module_state->__pyx_tuple__87); + Py_VISIT(traverse_module_state->__pyx_tuple__89); + Py_VISIT(traverse_module_state->__pyx_tuple__92); + Py_VISIT(traverse_module_state->__pyx_codeobj__43); + Py_VISIT(traverse_module_state->__pyx_codeobj__45); + Py_VISIT(traverse_module_state->__pyx_codeobj__47); + Py_VISIT(traverse_module_state->__pyx_codeobj__48); + Py_VISIT(traverse_module_state->__pyx_codeobj__50); + Py_VISIT(traverse_module_state->__pyx_codeobj__52); + Py_VISIT(traverse_module_state->__pyx_codeobj__54); + Py_VISIT(traverse_module_state->__pyx_codeobj__56); + Py_VISIT(traverse_module_state->__pyx_codeobj__58); + Py_VISIT(traverse_module_state->__pyx_codeobj__61); + Py_VISIT(traverse_module_state->__pyx_codeobj__62); + Py_VISIT(traverse_module_state->__pyx_codeobj__64); + Py_VISIT(traverse_module_state->__pyx_codeobj__67); + Py_VISIT(traverse_module_state->__pyx_codeobj__69); + Py_VISIT(traverse_module_state->__pyx_codeobj__71); + Py_VISIT(traverse_module_state->__pyx_codeobj__72); + Py_VISIT(traverse_module_state->__pyx_codeobj__74); + Py_VISIT(traverse_module_state->__pyx_codeobj__76); + Py_VISIT(traverse_module_state->__pyx_codeobj__78); + Py_VISIT(traverse_module_state->__pyx_codeobj__81); + Py_VISIT(traverse_module_state->__pyx_codeobj__83); + Py_VISIT(traverse_module_state->__pyx_codeobj__84); + Py_VISIT(traverse_module_state->__pyx_codeobj__86); + Py_VISIT(traverse_module_state->__pyx_codeobj__88); + Py_VISIT(traverse_module_state->__pyx_codeobj__90); + Py_VISIT(traverse_module_state->__pyx_codeobj__91); + Py_VISIT(traverse_module_state->__pyx_codeobj__93); + return 0; +} +#endif +/* #### Code section: module_state_defines ### */ +#define __pyx_d __pyx_mstate_global->__pyx_d +#define __pyx_b __pyx_mstate_global->__pyx_b +#define __pyx_cython_runtime __pyx_mstate_global->__pyx_cython_runtime +#define __pyx_empty_tuple __pyx_mstate_global->__pyx_empty_tuple +#define __pyx_empty_bytes __pyx_mstate_global->__pyx_empty_bytes +#define __pyx_empty_unicode __pyx_mstate_global->__pyx_empty_unicode +#ifdef __Pyx_CyFunction_USED +#define __pyx_CyFunctionType __pyx_mstate_global->__pyx_CyFunctionType +#endif +#ifdef __Pyx_FusedFunction_USED +#define __pyx_FusedFunctionType __pyx_mstate_global->__pyx_FusedFunctionType +#endif +#ifdef __Pyx_Generator_USED +#define __pyx_GeneratorType __pyx_mstate_global->__pyx_GeneratorType +#endif +#ifdef __Pyx_IterableCoroutine_USED +#define __pyx_IterableCoroutineType __pyx_mstate_global->__pyx_IterableCoroutineType +#endif +#ifdef __Pyx_Coroutine_USED +#define __pyx_CoroutineAwaitType __pyx_mstate_global->__pyx_CoroutineAwaitType +#endif +#ifdef __Pyx_Coroutine_USED +#define __pyx_CoroutineType __pyx_mstate_global->__pyx_CoroutineType +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#define __pyx_ptype_7cpython_4type_type __pyx_mstate_global->__pyx_ptype_7cpython_4type_type +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#define __pyx_ptype_5numpy_dtype __pyx_mstate_global->__pyx_ptype_5numpy_dtype +#define __pyx_ptype_5numpy_flatiter __pyx_mstate_global->__pyx_ptype_5numpy_flatiter +#define __pyx_ptype_5numpy_broadcast __pyx_mstate_global->__pyx_ptype_5numpy_broadcast +#define __pyx_ptype_5numpy_ndarray __pyx_mstate_global->__pyx_ptype_5numpy_ndarray +#define __pyx_ptype_5numpy_generic __pyx_mstate_global->__pyx_ptype_5numpy_generic +#define __pyx_ptype_5numpy_number __pyx_mstate_global->__pyx_ptype_5numpy_number +#define __pyx_ptype_5numpy_integer __pyx_mstate_global->__pyx_ptype_5numpy_integer +#define __pyx_ptype_5numpy_signedinteger __pyx_mstate_global->__pyx_ptype_5numpy_signedinteger +#define __pyx_ptype_5numpy_unsignedinteger __pyx_mstate_global->__pyx_ptype_5numpy_unsignedinteger +#define __pyx_ptype_5numpy_inexact __pyx_mstate_global->__pyx_ptype_5numpy_inexact +#define __pyx_ptype_5numpy_floating __pyx_mstate_global->__pyx_ptype_5numpy_floating +#define __pyx_ptype_5numpy_complexfloating __pyx_mstate_global->__pyx_ptype_5numpy_complexfloating +#define __pyx_ptype_5numpy_flexible __pyx_mstate_global->__pyx_ptype_5numpy_flexible +#define __pyx_ptype_5numpy_character __pyx_mstate_global->__pyx_ptype_5numpy_character +#define __pyx_ptype_5numpy_ufunc __pyx_mstate_global->__pyx_ptype_5numpy_ufunc +#if CYTHON_USE_MODULE_STATE +#define __pyx_type_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython __pyx_mstate_global->__pyx_type_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython +#define __pyx_type___pyx_array __pyx_mstate_global->__pyx_type___pyx_array +#define __pyx_type___pyx_MemviewEnum __pyx_mstate_global->__pyx_type___pyx_MemviewEnum +#define __pyx_type___pyx_memoryview __pyx_mstate_global->__pyx_type___pyx_memoryview +#define __pyx_type___pyx_memoryviewslice __pyx_mstate_global->__pyx_type___pyx_memoryviewslice +#endif +#define __pyx_ptype_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython __pyx_mstate_global->__pyx_ptype_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython +#define __pyx_array_type __pyx_mstate_global->__pyx_array_type +#define __pyx_MemviewEnum_type __pyx_mstate_global->__pyx_MemviewEnum_type +#define __pyx_memoryview_type __pyx_mstate_global->__pyx_memoryview_type +#define __pyx_memoryviewslice_type __pyx_mstate_global->__pyx_memoryviewslice_type +#define __pyx_kp_u_ __pyx_mstate_global->__pyx_kp_u_ +#define __pyx_kp_u_0 __pyx_mstate_global->__pyx_kp_u_0 +#define __pyx_n_s_ASCII __pyx_mstate_global->__pyx_n_s_ASCII +#define __pyx_n_s_AcadosOcpSolverCython __pyx_mstate_global->__pyx_n_s_AcadosOcpSolverCython +#define __pyx_n_s_AcadosOcpSolverCython___get_poin __pyx_mstate_global->__pyx_n_s_AcadosOcpSolverCython___get_poin +#define __pyx_n_s_AcadosOcpSolverCython___get_stat __pyx_mstate_global->__pyx_n_s_AcadosOcpSolverCython___get_stat +#define __pyx_n_s_AcadosOcpSolverCython___get_stat_2 __pyx_mstate_global->__pyx_n_s_AcadosOcpSolverCython___get_stat_2 +#define __pyx_n_s_AcadosOcpSolverCython___get_stat_3 __pyx_mstate_global->__pyx_n_s_AcadosOcpSolverCython___get_stat_3 +#define __pyx_n_s_AcadosOcpSolverCython___reduce_c __pyx_mstate_global->__pyx_n_s_AcadosOcpSolverCython___reduce_c +#define __pyx_n_s_AcadosOcpSolverCython___setstate __pyx_mstate_global->__pyx_n_s_AcadosOcpSolverCython___setstate +#define __pyx_n_s_AcadosOcpSolverCython__get_poin __pyx_mstate_global->__pyx_n_s_AcadosOcpSolverCython__get_poin +#define __pyx_n_s_AcadosOcpSolverCython__get_stat __pyx_mstate_global->__pyx_n_s_AcadosOcpSolverCython__get_stat +#define __pyx_n_s_AcadosOcpSolverCython__get_stat_2 __pyx_mstate_global->__pyx_n_s_AcadosOcpSolverCython__get_stat_2 +#define __pyx_n_s_AcadosOcpSolverCython__get_stat_3 __pyx_mstate_global->__pyx_n_s_AcadosOcpSolverCython__get_stat_3 +#define __pyx_kp_u_AcadosOcpSolverCython_constraint __pyx_mstate_global->__pyx_kp_u_AcadosOcpSolverCython_constraint +#define __pyx_n_s_AcadosOcpSolverCython_constraint_2 __pyx_mstate_global->__pyx_n_s_AcadosOcpSolverCython_constraint_2 +#define __pyx_n_s_AcadosOcpSolverCython_cost_set __pyx_mstate_global->__pyx_n_s_AcadosOcpSolverCython_cost_set +#define __pyx_kp_u_AcadosOcpSolverCython_cost_set_m __pyx_mstate_global->__pyx_kp_u_AcadosOcpSolverCython_cost_set_m +#define __pyx_n_s_AcadosOcpSolverCython_custom_upd __pyx_mstate_global->__pyx_n_s_AcadosOcpSolverCython_custom_upd +#define __pyx_kp_u_AcadosOcpSolverCython_does_not_s __pyx_mstate_global->__pyx_kp_u_AcadosOcpSolverCython_does_not_s +#define __pyx_kp_u_AcadosOcpSolverCython_does_not_s_2 __pyx_mstate_global->__pyx_kp_u_AcadosOcpSolverCython_does_not_s_2 +#define __pyx_kp_u_AcadosOcpSolverCython_eval_param __pyx_mstate_global->__pyx_kp_u_AcadosOcpSolverCython_eval_param +#define __pyx_kp_u_AcadosOcpSolverCython_eval_param_2 __pyx_mstate_global->__pyx_kp_u_AcadosOcpSolverCython_eval_param_2 +#define __pyx_n_s_AcadosOcpSolverCython_eval_param_3 __pyx_mstate_global->__pyx_n_s_AcadosOcpSolverCython_eval_param_3 +#define __pyx_n_s_AcadosOcpSolverCython_get __pyx_mstate_global->__pyx_n_s_AcadosOcpSolverCython_get +#define __pyx_n_s_AcadosOcpSolverCython_get_cost __pyx_mstate_global->__pyx_n_s_AcadosOcpSolverCython_get_cost +#define __pyx_kp_u_AcadosOcpSolverCython_get_field __pyx_mstate_global->__pyx_kp_u_AcadosOcpSolverCython_get_field +#define __pyx_n_s_AcadosOcpSolverCython_get_from_q __pyx_mstate_global->__pyx_n_s_AcadosOcpSolverCython_get_from_q +#define __pyx_kp_u_AcadosOcpSolverCython_get_is_an __pyx_mstate_global->__pyx_kp_u_AcadosOcpSolverCython_get_is_an +#define __pyx_n_s_AcadosOcpSolverCython_get_residu __pyx_mstate_global->__pyx_n_s_AcadosOcpSolverCython_get_residu +#define __pyx_kp_u_AcadosOcpSolverCython_get_stage __pyx_mstate_global->__pyx_kp_u_AcadosOcpSolverCython_get_stage +#define __pyx_n_s_AcadosOcpSolverCython_get_stats __pyx_mstate_global->__pyx_n_s_AcadosOcpSolverCython_get_stats +#define __pyx_n_s_AcadosOcpSolverCython_load_itera __pyx_mstate_global->__pyx_n_s_AcadosOcpSolverCython_load_itera +#define __pyx_kp_u_AcadosOcpSolverCython_options_se __pyx_mstate_global->__pyx_kp_u_AcadosOcpSolverCython_options_se +#define __pyx_n_s_AcadosOcpSolverCython_options_se_2 __pyx_mstate_global->__pyx_n_s_AcadosOcpSolverCython_options_se_2 +#define __pyx_n_s_AcadosOcpSolverCython_print_stat __pyx_mstate_global->__pyx_n_s_AcadosOcpSolverCython_print_stat +#define __pyx_n_s_AcadosOcpSolverCython_reset __pyx_mstate_global->__pyx_n_s_AcadosOcpSolverCython_reset +#define __pyx_n_s_AcadosOcpSolverCython_set __pyx_mstate_global->__pyx_n_s_AcadosOcpSolverCython_set +#define __pyx_kp_u_AcadosOcpSolverCython_set_is_not __pyx_mstate_global->__pyx_kp_u_AcadosOcpSolverCython_set_is_not +#define __pyx_kp_u_AcadosOcpSolverCython_set_mismat __pyx_mstate_global->__pyx_kp_u_AcadosOcpSolverCython_set_mismat +#define __pyx_n_s_AcadosOcpSolverCython_set_new_ti __pyx_mstate_global->__pyx_n_s_AcadosOcpSolverCython_set_new_ti +#define __pyx_n_s_AcadosOcpSolverCython_set_params __pyx_mstate_global->__pyx_n_s_AcadosOcpSolverCython_set_params +#define __pyx_n_s_AcadosOcpSolverCython_solve __pyx_mstate_global->__pyx_n_s_AcadosOcpSolverCython_solve +#define __pyx_kp_u_AcadosOcpSolverCython_solve_argu __pyx_mstate_global->__pyx_kp_u_AcadosOcpSolverCython_solve_argu +#define __pyx_kp_u_AcadosOcpSolverCython_solve_argu_2 __pyx_mstate_global->__pyx_kp_u_AcadosOcpSolverCython_solve_argu_2 +#define __pyx_n_s_AcadosOcpSolverCython_solve_for __pyx_mstate_global->__pyx_n_s_AcadosOcpSolverCython_solve_for +#define __pyx_n_s_AcadosOcpSolverCython_store_iter __pyx_mstate_global->__pyx_n_s_AcadosOcpSolverCython_store_iter +#define __pyx_n_s_AcadosOcpSolverCython_update_qp __pyx_mstate_global->__pyx_n_s_AcadosOcpSolverCython_update_qp +#define __pyx_kp_s_All_dimensions_preceding_dimensi __pyx_mstate_global->__pyx_kp_s_All_dimensions_preceding_dimensi +#define __pyx_n_s_AssertionError __pyx_mstate_global->__pyx_n_s_AssertionError +#define __pyx_kp_s_Buffer_view_does_not_expose_stri __pyx_mstate_global->__pyx_kp_s_Buffer_view_does_not_expose_stri +#define __pyx_kp_s_Can_only_create_a_buffer_that_is __pyx_mstate_global->__pyx_kp_s_Can_only_create_a_buffer_that_is +#define __pyx_kp_s_Cannot_assign_to_read_only_memor __pyx_mstate_global->__pyx_kp_s_Cannot_assign_to_read_only_memor +#define __pyx_kp_s_Cannot_create_writable_memory_vi __pyx_mstate_global->__pyx_kp_s_Cannot_create_writable_memory_vi +#define __pyx_kp_u_Cannot_index_with_type __pyx_mstate_global->__pyx_kp_u_Cannot_index_with_type +#define __pyx_kp_s_Cannot_transpose_memoryview_with __pyx_mstate_global->__pyx_kp_s_Cannot_transpose_memoryview_with +#define __pyx_kp_s_Dimension_d_is_not_direct __pyx_mstate_global->__pyx_kp_s_Dimension_d_is_not_direct +#define __pyx_n_s_Ellipsis __pyx_mstate_global->__pyx_n_s_Ellipsis +#define __pyx_kp_s_Empty_shape_tuple_for_cython_arr __pyx_mstate_global->__pyx_kp_s_Empty_shape_tuple_for_cython_arr +#define __pyx_n_u_F __pyx_mstate_global->__pyx_n_u_F +#define __pyx_kp_u_Got_sizes_idx __pyx_mstate_global->__pyx_kp_u_Got_sizes_idx +#define __pyx_n_s_ImportError __pyx_mstate_global->__pyx_n_s_ImportError +#define __pyx_kp_s_Incompatible_checksums_0x_x_vs_0 __pyx_mstate_global->__pyx_kp_s_Incompatible_checksums_0x_x_vs_0 +#define __pyx_n_s_IndexError __pyx_mstate_global->__pyx_n_s_IndexError +#define __pyx_kp_s_Index_out_of_bounds_axis_d __pyx_mstate_global->__pyx_kp_s_Index_out_of_bounds_axis_d +#define __pyx_kp_s_Indirect_dimensions_not_supporte __pyx_mstate_global->__pyx_kp_s_Indirect_dimensions_not_supporte +#define __pyx_kp_u_Invalid_mode_expected_c_or_fortr __pyx_mstate_global->__pyx_kp_u_Invalid_mode_expected_c_or_fortr +#define __pyx_kp_u_Invalid_shape_in_axis __pyx_mstate_global->__pyx_kp_u_Invalid_shape_in_axis +#define __pyx_n_s_MemoryError __pyx_mstate_global->__pyx_n_s_MemoryError +#define __pyx_kp_s_MemoryView_of_r_at_0x_x __pyx_mstate_global->__pyx_kp_s_MemoryView_of_r_at_0x_x +#define __pyx_kp_s_MemoryView_of_r_object __pyx_mstate_global->__pyx_kp_s_MemoryView_of_r_object +#define __pyx_n_s_N __pyx_mstate_global->__pyx_n_s_N +#define __pyx_kp_u_None __pyx_mstate_global->__pyx_kp_u_None +#define __pyx_n_s_NotImplementedError __pyx_mstate_global->__pyx_n_s_NotImplementedError +#define __pyx_n_b_O __pyx_mstate_global->__pyx_n_b_O +#define __pyx_kp_u_Out_of_bounds_on_buffer_access_a __pyx_mstate_global->__pyx_kp_u_Out_of_bounds_on_buffer_access_a +#define __pyx_n_s_PickleError __pyx_mstate_global->__pyx_n_s_PickleError +#define __pyx_n_u_SQP __pyx_mstate_global->__pyx_n_u_SQP +#define __pyx_n_u_SQP_RTI __pyx_mstate_global->__pyx_n_u_SQP_RTI +#define __pyx_n_s_Sequence __pyx_mstate_global->__pyx_n_s_Sequence +#define __pyx_kp_s_Step_may_not_be_zero_axis_d __pyx_mstate_global->__pyx_kp_s_Step_may_not_be_zero_axis_d +#define __pyx_kp_u_TODO __pyx_mstate_global->__pyx_kp_u_TODO +#define __pyx_n_s_TypeError __pyx_mstate_global->__pyx_n_s_TypeError +#define __pyx_kp_s_Unable_to_convert_item_to_object __pyx_mstate_global->__pyx_kp_s_Unable_to_convert_item_to_object +#define __pyx_n_s_ValueError __pyx_mstate_global->__pyx_n_s_ValueError +#define __pyx_n_s_View_MemoryView __pyx_mstate_global->__pyx_n_s_View_MemoryView +#define __pyx_kp_u_Warning_acados_ocp_solver_reache __pyx_mstate_global->__pyx_kp_u_Warning_acados_ocp_solver_reache +#define __pyx_kp_u_Y_m_d_H_M_S_f __pyx_mstate_global->__pyx_kp_u_Y_m_d_H_M_S_f +#define __pyx_kp_u__16 __pyx_mstate_global->__pyx_kp_u__16 +#define __pyx_n_u__17 __pyx_mstate_global->__pyx_n_u__17 +#define __pyx_kp_u__2 __pyx_mstate_global->__pyx_kp_u__2 +#define __pyx_n_s__3 __pyx_mstate_global->__pyx_n_s__3 +#define __pyx_kp_u__31 __pyx_mstate_global->__pyx_kp_u__31 +#define __pyx_kp_u__6 __pyx_mstate_global->__pyx_kp_u__6 +#define __pyx_kp_u__7 __pyx_mstate_global->__pyx_kp_u__7 +#define __pyx_n_s__94 __pyx_mstate_global->__pyx_n_s__94 +#define __pyx_n_s_abc __pyx_mstate_global->__pyx_n_s_abc +#define __pyx_kp_u_acados_acados_ocp_solver_returne __pyx_mstate_global->__pyx_kp_u_acados_acados_ocp_solver_returne +#define __pyx_n_s_acados_template_acados_ocp_solve __pyx_mstate_global->__pyx_n_s_acados_template_acados_ocp_solve +#define __pyx_n_s_allocate_buffer __pyx_mstate_global->__pyx_n_s_allocate_buffer +#define __pyx_n_u_alpha __pyx_mstate_global->__pyx_n_u_alpha +#define __pyx_n_u_alpha_min __pyx_mstate_global->__pyx_n_u_alpha_min +#define __pyx_n_u_alpha_reduction __pyx_mstate_global->__pyx_n_u_alpha_reduction +#define __pyx_kp_u_alpha_values_are_not_available_f __pyx_mstate_global->__pyx_kp_u_alpha_values_are_not_available_f +#define __pyx_kp_u_and __pyx_mstate_global->__pyx_kp_u_and +#define __pyx_n_s_array __pyx_mstate_global->__pyx_n_s_array +#define __pyx_n_s_ascontiguousarray __pyx_mstate_global->__pyx_n_s_ascontiguousarray +#define __pyx_n_s_asfortranarray __pyx_mstate_global->__pyx_n_s_asfortranarray +#define __pyx_n_s_asyncio_coroutines __pyx_mstate_global->__pyx_n_s_asyncio_coroutines +#define __pyx_kp_u_at_stage __pyx_mstate_global->__pyx_kp_u_at_stage +#define __pyx_n_s_base __pyx_mstate_global->__pyx_n_s_base +#define __pyx_n_s_c __pyx_mstate_global->__pyx_n_s_c +#define __pyx_n_u_c __pyx_mstate_global->__pyx_n_u_c +#define __pyx_n_s_class __pyx_mstate_global->__pyx_n_s_class +#define __pyx_n_s_class_getitem __pyx_mstate_global->__pyx_n_s_class_getitem +#define __pyx_n_s_cline_in_traceback __pyx_mstate_global->__pyx_n_s_cline_in_traceback +#define __pyx_n_s_collections __pyx_mstate_global->__pyx_n_s_collections +#define __pyx_kp_s_collections_abc __pyx_mstate_global->__pyx_kp_s_collections_abc +#define __pyx_n_s_constraints_fields __pyx_mstate_global->__pyx_n_s_constraints_fields +#define __pyx_n_s_constraints_set __pyx_mstate_global->__pyx_n_s_constraints_set +#define __pyx_kp_u_constraints_set_value_must_be_nu __pyx_mstate_global->__pyx_kp_u_constraints_set_value_must_be_nu +#define __pyx_kp_s_contiguous_and_direct __pyx_mstate_global->__pyx_kp_s_contiguous_and_direct +#define __pyx_kp_s_contiguous_and_indirect __pyx_mstate_global->__pyx_kp_s_contiguous_and_indirect +#define __pyx_n_s_cost_fields __pyx_mstate_global->__pyx_n_s_cost_fields +#define __pyx_n_s_cost_set __pyx_mstate_global->__pyx_n_s_cost_set +#define __pyx_kp_u_cost_set_value_must_be_numpy_arr __pyx_mstate_global->__pyx_kp_u_cost_set_value_must_be_numpy_arr +#define __pyx_n_s_count __pyx_mstate_global->__pyx_n_s_count +#define __pyx_n_s_custom_update __pyx_mstate_global->__pyx_n_s_custom_update +#define __pyx_n_u_d __pyx_mstate_global->__pyx_n_u_d +#define __pyx_n_s_data __pyx_mstate_global->__pyx_n_s_data +#define __pyx_n_s_data_2 __pyx_mstate_global->__pyx_n_s_data_2 +#define __pyx_n_s_data_len __pyx_mstate_global->__pyx_n_s_data_len +#define __pyx_n_s_datetime __pyx_mstate_global->__pyx_n_s_datetime +#define __pyx_n_s_default __pyx_mstate_global->__pyx_n_s_default +#define __pyx_n_s_dict __pyx_mstate_global->__pyx_n_s_dict +#define __pyx_n_s_dims __pyx_mstate_global->__pyx_n_s_dims +#define __pyx_kp_u_disable __pyx_mstate_global->__pyx_kp_u_disable +#define __pyx_n_s_double_fields __pyx_mstate_global->__pyx_n_s_double_fields +#define __pyx_n_s_double_value __pyx_mstate_global->__pyx_n_s_double_value +#define __pyx_n_s_dtype __pyx_mstate_global->__pyx_n_s_dtype +#define __pyx_n_s_dtype_is_object __pyx_mstate_global->__pyx_n_s_dtype_is_object +#define __pyx_n_s_dump __pyx_mstate_global->__pyx_n_s_dump +#define __pyx_kp_u_enable __pyx_mstate_global->__pyx_kp_u_enable +#define __pyx_n_s_encode __pyx_mstate_global->__pyx_n_s_encode +#define __pyx_n_s_enter __pyx_mstate_global->__pyx_n_s_enter +#define __pyx_n_s_enumerate __pyx_mstate_global->__pyx_n_s_enumerate +#define __pyx_n_u_eps_sufficient_descent __pyx_mstate_global->__pyx_n_u_eps_sufficient_descent +#define __pyx_n_s_error __pyx_mstate_global->__pyx_n_s_error +#define __pyx_n_s_eval_param_sens __pyx_mstate_global->__pyx_n_s_eval_param_sens +#define __pyx_n_u_ex __pyx_mstate_global->__pyx_n_u_ex +#define __pyx_n_s_exit __pyx_mstate_global->__pyx_n_s_exit +#define __pyx_n_s_f __pyx_mstate_global->__pyx_n_s_f +#define __pyx_n_s_field __pyx_mstate_global->__pyx_n_s_field +#define __pyx_n_s_field_2 __pyx_mstate_global->__pyx_n_s_field_2 +#define __pyx_n_s_fields __pyx_mstate_global->__pyx_n_s_fields +#define __pyx_n_s_filename __pyx_mstate_global->__pyx_n_s_filename +#define __pyx_n_s_flags __pyx_mstate_global->__pyx_n_s_flags +#define __pyx_n_s_float64 __pyx_mstate_global->__pyx_n_s_float64 +#define __pyx_kp_u_for_field __pyx_mstate_global->__pyx_kp_u_for_field +#define __pyx_n_s_format __pyx_mstate_global->__pyx_n_s_format +#define __pyx_n_s_fortran __pyx_mstate_global->__pyx_n_s_fortran +#define __pyx_n_u_fortran __pyx_mstate_global->__pyx_n_u_fortran +#define __pyx_n_s_full_stats __pyx_mstate_global->__pyx_n_s_full_stats +#define __pyx_n_u_full_step_dual __pyx_mstate_global->__pyx_n_u_full_step_dual +#define __pyx_kp_u_gc __pyx_mstate_global->__pyx_kp_u_gc +#define __pyx_n_s_get __pyx_mstate_global->__pyx_n_s_get +#define __pyx_n_s_get_cost __pyx_mstate_global->__pyx_n_s_get_cost +#define __pyx_n_s_get_from_qp_in __pyx_mstate_global->__pyx_n_s_get_from_qp_in +#define __pyx_n_s_get_pointers_solver __pyx_mstate_global->__pyx_n_s_get_pointers_solver +#define __pyx_n_s_get_residuals __pyx_mstate_global->__pyx_n_s_get_residuals +#define __pyx_n_s_get_stat_double __pyx_mstate_global->__pyx_n_s_get_stat_double +#define __pyx_n_s_get_stat_int __pyx_mstate_global->__pyx_n_s_get_stat_int +#define __pyx_n_s_get_stat_matrix __pyx_mstate_global->__pyx_n_s_get_stat_matrix +#define __pyx_n_s_get_stats __pyx_mstate_global->__pyx_n_s_get_stats +#define __pyx_n_s_getcwd __pyx_mstate_global->__pyx_n_s_getcwd +#define __pyx_n_s_getstate __pyx_mstate_global->__pyx_n_s_getstate +#define __pyx_n_u_globalization __pyx_mstate_global->__pyx_n_u_globalization +#define __pyx_n_u_globalization_use_SOC __pyx_mstate_global->__pyx_n_u_globalization_use_SOC +#define __pyx_kp_u_got __pyx_mstate_global->__pyx_kp_u_got +#define __pyx_kp_u_got_differing_extents_in_dimensi __pyx_mstate_global->__pyx_kp_u_got_differing_extents_in_dimensi +#define __pyx_n_s_i __pyx_mstate_global->__pyx_n_s_i +#define __pyx_n_s_i_string __pyx_mstate_global->__pyx_n_s_i_string +#define __pyx_n_s_id __pyx_mstate_global->__pyx_n_s_id +#define __pyx_n_s_idx __pyx_mstate_global->__pyx_n_s_idx +#define __pyx_n_s_idx_values __pyx_mstate_global->__pyx_n_s_idx_values +#define __pyx_n_s_import __pyx_mstate_global->__pyx_n_s_import +#define __pyx_n_s_indent __pyx_mstate_global->__pyx_n_s_indent +#define __pyx_n_s_index __pyx_mstate_global->__pyx_n_s_index +#define __pyx_n_u_initialize_t_slacks __pyx_mstate_global->__pyx_n_u_initialize_t_slacks +#define __pyx_n_s_initializing __pyx_mstate_global->__pyx_n_s_initializing +#define __pyx_n_s_int __pyx_mstate_global->__pyx_n_s_int +#define __pyx_n_s_int32 __pyx_mstate_global->__pyx_n_s_int32 +#define __pyx_n_s_int_fields __pyx_mstate_global->__pyx_n_s_int_fields +#define __pyx_n_s_int_value __pyx_mstate_global->__pyx_n_s_int_value +#define __pyx_n_s_is_coroutine __pyx_mstate_global->__pyx_n_s_is_coroutine +#define __pyx_kp_u_isenabled __pyx_mstate_global->__pyx_kp_u_isenabled +#define __pyx_n_s_isfile __pyx_mstate_global->__pyx_n_s_isfile +#define __pyx_n_s_itemsize __pyx_mstate_global->__pyx_n_s_itemsize +#define __pyx_kp_s_itemsize_0_for_cython_array __pyx_mstate_global->__pyx_kp_s_itemsize_0_for_cython_array +#define __pyx_n_u_iterate __pyx_mstate_global->__pyx_n_u_iterate +#define __pyx_n_s_join __pyx_mstate_global->__pyx_n_s_join +#define __pyx_n_s_json __pyx_mstate_global->__pyx_n_s_json +#define __pyx_kp_u_json_2 __pyx_mstate_global->__pyx_kp_u_json_2 +#define __pyx_n_s_k __pyx_mstate_global->__pyx_n_s_k +#define __pyx_n_s_key __pyx_mstate_global->__pyx_n_s_key +#define __pyx_n_s_keys __pyx_mstate_global->__pyx_n_s_keys +#define __pyx_n_s_lN __pyx_mstate_global->__pyx_n_s_lN +#define __pyx_n_u_lam __pyx_mstate_global->__pyx_n_u_lam +#define __pyx_n_u_lam_2 __pyx_mstate_global->__pyx_n_u_lam_2 +#define __pyx_n_u_lbu __pyx_mstate_global->__pyx_n_u_lbu +#define __pyx_n_u_lbx __pyx_mstate_global->__pyx_n_u_lbx +#define __pyx_n_u_line_search_use_sufficient_desce __pyx_mstate_global->__pyx_n_u_line_search_use_sufficient_desce +#define __pyx_n_s_load __pyx_mstate_global->__pyx_n_s_load +#define __pyx_n_s_load_iterate __pyx_mstate_global->__pyx_n_s_load_iterate +#define __pyx_kp_u_load_iterate_failed_file_does_no __pyx_mstate_global->__pyx_kp_u_load_iterate_failed_file_does_no +#define __pyx_n_s_m __pyx_mstate_global->__pyx_n_s_m +#define __pyx_n_s_main __pyx_mstate_global->__pyx_n_s_main +#define __pyx_n_s_mem_fields __pyx_mstate_global->__pyx_n_s_mem_fields +#define __pyx_n_s_memview __pyx_mstate_global->__pyx_n_s_memview +#define __pyx_n_s_min_size __pyx_mstate_global->__pyx_n_s_min_size +#define __pyx_n_s_mode __pyx_mstate_global->__pyx_n_s_mode +#define __pyx_n_s_model_name __pyx_mstate_global->__pyx_n_s_model_name +#define __pyx_n_s_msg __pyx_mstate_global->__pyx_n_s_msg +#define __pyx_n_s_n __pyx_mstate_global->__pyx_n_s_n +#define __pyx_n_s_n_update __pyx_mstate_global->__pyx_n_s_n_update +#define __pyx_n_s_name __pyx_mstate_global->__pyx_n_s_name +#define __pyx_n_s_name_2 __pyx_mstate_global->__pyx_n_s_name_2 +#define __pyx_n_s_ndarray __pyx_mstate_global->__pyx_n_s_ndarray +#define __pyx_n_s_ndim __pyx_mstate_global->__pyx_n_s_ndim +#define __pyx_n_s_new __pyx_mstate_global->__pyx_n_s_new +#define __pyx_n_s_new_time_steps __pyx_mstate_global->__pyx_n_s_new_time_steps +#define __pyx_n_s_nlp_solver_type __pyx_mstate_global->__pyx_n_s_nlp_solver_type +#define __pyx_kp_s_no_default___reduce___due_to_non __pyx_mstate_global->__pyx_kp_s_no_default___reduce___due_to_non +#define __pyx_n_s_np __pyx_mstate_global->__pyx_n_s_np +#define __pyx_n_s_numpy __pyx_mstate_global->__pyx_n_s_numpy +#define __pyx_kp_u_numpy_core_multiarray_failed_to __pyx_mstate_global->__pyx_kp_u_numpy_core_multiarray_failed_to +#define __pyx_kp_u_numpy_core_umath_failed_to_impor __pyx_mstate_global->__pyx_kp_u_numpy_core_umath_failed_to_impor +#define __pyx_n_s_nx __pyx_mstate_global->__pyx_n_s_nx +#define __pyx_n_s_obj __pyx_mstate_global->__pyx_n_s_obj +#define __pyx_n_s_open __pyx_mstate_global->__pyx_n_s_open +#define __pyx_n_s_options_set __pyx_mstate_global->__pyx_n_s_options_set +#define __pyx_n_s_order __pyx_mstate_global->__pyx_n_s_order +#define __pyx_n_s_os __pyx_mstate_global->__pyx_n_s_os +#define __pyx_n_s_out __pyx_mstate_global->__pyx_n_s_out +#define __pyx_n_s_out_fields __pyx_mstate_global->__pyx_n_s_out_fields +#define __pyx_n_s_out_mat __pyx_mstate_global->__pyx_n_s_out_mat +#define __pyx_n_s_overwrite __pyx_mstate_global->__pyx_n_s_overwrite +#define __pyx_n_u_p __pyx_mstate_global->__pyx_n_u_p +#define __pyx_n_s_pack __pyx_mstate_global->__pyx_n_s_pack +#define __pyx_n_s_param_values __pyx_mstate_global->__pyx_n_s_param_values +#define __pyx_kp_u_param_values_2 __pyx_mstate_global->__pyx_kp_u_param_values_2 +#define __pyx_kp_u_param_values__and_idx_values__mu __pyx_mstate_global->__pyx_kp_u_param_values__and_idx_values__mu +#define __pyx_kp_u_param_values__must_be_np_array __pyx_mstate_global->__pyx_kp_u_param_values__must_be_np_array +#define __pyx_n_s_path __pyx_mstate_global->__pyx_n_s_path +#define __pyx_n_u_pi __pyx_mstate_global->__pyx_n_u_pi +#define __pyx_n_u_pi_2 __pyx_mstate_global->__pyx_n_u_pi_2 +#define __pyx_n_s_pickle __pyx_mstate_global->__pyx_n_s_pickle +#define __pyx_n_s_print __pyx_mstate_global->__pyx_n_s_print +#define __pyx_n_u_print_level __pyx_mstate_global->__pyx_n_u_print_level +#define __pyx_n_s_print_statistics __pyx_mstate_global->__pyx_n_s_print_statistics +#define __pyx_n_s_pyx_PickleError __pyx_mstate_global->__pyx_n_s_pyx_PickleError +#define __pyx_n_s_pyx_checksum __pyx_mstate_global->__pyx_n_s_pyx_checksum +#define __pyx_n_s_pyx_result __pyx_mstate_global->__pyx_n_s_pyx_result +#define __pyx_n_s_pyx_state __pyx_mstate_global->__pyx_n_s_pyx_state +#define __pyx_n_s_pyx_type __pyx_mstate_global->__pyx_n_s_pyx_type +#define __pyx_n_s_pyx_unpickle_Enum __pyx_mstate_global->__pyx_n_s_pyx_unpickle_Enum +#define __pyx_n_s_pyx_vtable __pyx_mstate_global->__pyx_n_s_pyx_vtable +#define __pyx_n_u_qp_iter __pyx_mstate_global->__pyx_n_u_qp_iter +#define __pyx_n_u_qp_mu0 __pyx_mstate_global->__pyx_n_u_qp_mu0 +#define __pyx_n_s_qp_solver_cond_N __pyx_mstate_global->__pyx_n_s_qp_solver_cond_N +#define __pyx_n_u_qp_tau_min __pyx_mstate_global->__pyx_n_u_qp_tau_min +#define __pyx_n_u_qp_tol_comp __pyx_mstate_global->__pyx_n_u_qp_tol_comp +#define __pyx_n_u_qp_tol_eq __pyx_mstate_global->__pyx_n_u_qp_tol_eq +#define __pyx_n_u_qp_tol_ineq __pyx_mstate_global->__pyx_n_u_qp_tol_ineq +#define __pyx_n_u_qp_tol_stat __pyx_mstate_global->__pyx_n_u_qp_tol_stat +#define __pyx_n_u_qp_warm_start __pyx_mstate_global->__pyx_n_u_qp_warm_start +#define __pyx_n_u_r __pyx_mstate_global->__pyx_n_u_r +#define __pyx_n_s_range __pyx_mstate_global->__pyx_n_s_range +#define __pyx_n_s_recompute __pyx_mstate_global->__pyx_n_s_recompute +#define __pyx_n_s_reduce __pyx_mstate_global->__pyx_n_s_reduce +#define __pyx_n_s_reduce_cython __pyx_mstate_global->__pyx_n_s_reduce_cython +#define __pyx_n_s_reduce_ex __pyx_mstate_global->__pyx_n_s_reduce_ex +#define __pyx_n_s_register __pyx_mstate_global->__pyx_n_s_register +#define __pyx_n_b_res_comp __pyx_mstate_global->__pyx_n_b_res_comp +#define __pyx_n_b_res_eq __pyx_mstate_global->__pyx_n_b_res_eq +#define __pyx_n_b_res_ineq __pyx_mstate_global->__pyx_n_b_res_ineq +#define __pyx_n_b_res_stat __pyx_mstate_global->__pyx_n_b_res_stat +#define __pyx_n_s_reset __pyx_mstate_global->__pyx_n_s_reset +#define __pyx_n_s_reset_qp_solver_mem __pyx_mstate_global->__pyx_n_s_reset_qp_solver_mem +#define __pyx_n_u_residuals __pyx_mstate_global->__pyx_n_u_residuals +#define __pyx_n_u_rti_phase __pyx_mstate_global->__pyx_n_u_rti_phase +#define __pyx_n_s_self __pyx_mstate_global->__pyx_n_s_self +#define __pyx_n_s_set __pyx_mstate_global->__pyx_n_s_set +#define __pyx_n_s_set_new_time_steps __pyx_mstate_global->__pyx_n_s_set_new_time_steps +#define __pyx_n_s_set_params_sparse __pyx_mstate_global->__pyx_n_s_set_params_sparse +#define __pyx_kp_u_set_value_must_be_numpy_array_go __pyx_mstate_global->__pyx_kp_u_set_value_must_be_numpy_array_go +#define __pyx_n_s_setstate __pyx_mstate_global->__pyx_n_s_setstate +#define __pyx_n_s_setstate_cython __pyx_mstate_global->__pyx_n_s_setstate_cython +#define __pyx_n_s_shape __pyx_mstate_global->__pyx_n_s_shape +#define __pyx_n_s_size __pyx_mstate_global->__pyx_n_s_size +#define __pyx_n_u_sl __pyx_mstate_global->__pyx_n_u_sl +#define __pyx_n_u_sl_2 __pyx_mstate_global->__pyx_n_u_sl_2 +#define __pyx_n_s_solution __pyx_mstate_global->__pyx_n_s_solution +#define __pyx_n_s_solve __pyx_mstate_global->__pyx_n_s_solve +#define __pyx_n_s_solve_for_x0 __pyx_mstate_global->__pyx_n_s_solve_for_x0 +#define __pyx_kp_u_solver_option_must_be_of_type_fl __pyx_mstate_global->__pyx_kp_u_solver_option_must_be_of_type_fl +#define __pyx_kp_u_solver_option_must_be_of_type_in __pyx_mstate_global->__pyx_kp_u_solver_option_must_be_of_type_in +#define __pyx_kp_u_solver_option_must_be_of_type_st __pyx_mstate_global->__pyx_kp_u_solver_option_must_be_of_type_st +#define __pyx_n_s_sort_keys __pyx_mstate_global->__pyx_n_s_sort_keys +#define __pyx_n_s_spec __pyx_mstate_global->__pyx_n_s_spec +#define __pyx_n_s_split __pyx_mstate_global->__pyx_n_s_split +#define __pyx_n_s_sqp_iter __pyx_mstate_global->__pyx_n_s_sqp_iter +#define __pyx_n_u_sqp_iter __pyx_mstate_global->__pyx_n_u_sqp_iter +#define __pyx_n_s_stage __pyx_mstate_global->__pyx_n_s_stage +#define __pyx_n_s_start __pyx_mstate_global->__pyx_n_s_start +#define __pyx_n_s_stat_m __pyx_mstate_global->__pyx_n_s_stat_m +#define __pyx_n_u_stat_m __pyx_mstate_global->__pyx_n_u_stat_m +#define __pyx_n_s_stat_n __pyx_mstate_global->__pyx_n_s_stat_n +#define __pyx_n_u_stat_n __pyx_mstate_global->__pyx_n_u_stat_n +#define __pyx_n_u_statistics __pyx_mstate_global->__pyx_n_u_statistics +#define __pyx_n_s_status __pyx_mstate_global->__pyx_n_s_status +#define __pyx_n_s_step __pyx_mstate_global->__pyx_n_s_step +#define __pyx_n_u_step_length __pyx_mstate_global->__pyx_n_u_step_length +#define __pyx_n_s_stop __pyx_mstate_global->__pyx_n_s_stop +#define __pyx_n_s_store_iterate __pyx_mstate_global->__pyx_n_s_store_iterate +#define __pyx_n_s_store_iterate_locals_lambda __pyx_mstate_global->__pyx_n_s_store_iterate_locals_lambda +#define __pyx_kp_u_stored_current_iterate_in __pyx_mstate_global->__pyx_kp_u_stored_current_iterate_in +#define __pyx_n_s_strftime __pyx_mstate_global->__pyx_n_s_strftime +#define __pyx_kp_s_strided_and_direct __pyx_mstate_global->__pyx_kp_s_strided_and_direct +#define __pyx_kp_s_strided_and_direct_or_indirect __pyx_mstate_global->__pyx_kp_s_strided_and_direct_or_indirect +#define __pyx_kp_s_strided_and_indirect __pyx_mstate_global->__pyx_kp_s_strided_and_indirect +#define __pyx_n_s_string_fields __pyx_mstate_global->__pyx_n_s_string_fields +#define __pyx_n_s_string_value __pyx_mstate_global->__pyx_n_s_string_value +#define __pyx_kp_s_stringsource __pyx_mstate_global->__pyx_kp_s_stringsource +#define __pyx_n_s_struct __pyx_mstate_global->__pyx_n_s_struct +#define __pyx_n_u_su __pyx_mstate_global->__pyx_n_u_su +#define __pyx_n_u_su_2 __pyx_mstate_global->__pyx_n_u_su_2 +#define __pyx_n_s_sys __pyx_mstate_global->__pyx_n_s_sys +#define __pyx_n_u_t __pyx_mstate_global->__pyx_n_u_t +#define __pyx_n_u_t_2 __pyx_mstate_global->__pyx_n_u_t_2 +#define __pyx_n_s_test __pyx_mstate_global->__pyx_n_s_test +#define __pyx_kp_s_third_party_acados_acados_templa __pyx_mstate_global->__pyx_kp_s_third_party_acados_acados_templa +#define __pyx_n_u_time_glob __pyx_mstate_global->__pyx_n_u_time_glob +#define __pyx_n_u_time_lin __pyx_mstate_global->__pyx_n_u_time_lin +#define __pyx_n_u_time_qp __pyx_mstate_global->__pyx_n_u_time_qp +#define __pyx_n_u_time_qp_solver_call __pyx_mstate_global->__pyx_n_u_time_qp_solver_call +#define __pyx_n_u_time_qp_xcond __pyx_mstate_global->__pyx_n_u_time_qp_xcond +#define __pyx_n_u_time_reg __pyx_mstate_global->__pyx_n_u_time_reg +#define __pyx_n_u_time_sim __pyx_mstate_global->__pyx_n_u_time_sim +#define __pyx_n_u_time_sim_ad __pyx_mstate_global->__pyx_n_u_time_sim_ad +#define __pyx_n_u_time_sim_la __pyx_mstate_global->__pyx_n_u_time_sim_la +#define __pyx_n_u_time_solution_sensitivities __pyx_mstate_global->__pyx_n_u_time_solution_sensitivities +#define __pyx_n_u_time_tot __pyx_mstate_global->__pyx_n_u_time_tot +#define __pyx_n_u_tol_comp __pyx_mstate_global->__pyx_n_u_tol_comp +#define __pyx_n_u_tol_eq __pyx_mstate_global->__pyx_n_u_tol_eq +#define __pyx_n_u_tol_ineq __pyx_mstate_global->__pyx_n_u_tol_ineq +#define __pyx_n_u_tol_stat __pyx_mstate_global->__pyx_n_u_tol_stat +#define __pyx_n_s_tolist __pyx_mstate_global->__pyx_n_s_tolist +#define __pyx_n_u_u __pyx_mstate_global->__pyx_n_u_u +#define __pyx_n_s_u0 __pyx_mstate_global->__pyx_n_s_u0 +#define __pyx_n_u_u_2 __pyx_mstate_global->__pyx_n_u_u_2 +#define __pyx_n_u_ubu __pyx_mstate_global->__pyx_n_u_ubu +#define __pyx_n_u_ubx __pyx_mstate_global->__pyx_n_u_ubx +#define __pyx_kp_s_unable_to_allocate_array_data __pyx_mstate_global->__pyx_kp_s_unable_to_allocate_array_data +#define __pyx_kp_s_unable_to_allocate_shape_and_str __pyx_mstate_global->__pyx_kp_s_unable_to_allocate_shape_and_str +#define __pyx_n_s_unpack __pyx_mstate_global->__pyx_n_s_unpack +#define __pyx_n_s_update __pyx_mstate_global->__pyx_n_s_update +#define __pyx_n_s_update_qp_solver_cond_N __pyx_mstate_global->__pyx_n_s_update_qp_solver_cond_N +#define __pyx_n_s_utcnow __pyx_mstate_global->__pyx_n_s_utcnow +#define __pyx_kp_u_utf_8 __pyx_mstate_global->__pyx_kp_u_utf_8 +#define __pyx_n_s_value __pyx_mstate_global->__pyx_n_s_value +#define __pyx_n_s_value_2 __pyx_mstate_global->__pyx_n_s_value_2 +#define __pyx_n_s_value_shape __pyx_mstate_global->__pyx_n_s_value_shape +#define __pyx_n_s_version_info __pyx_mstate_global->__pyx_n_s_version_info +#define __pyx_n_u_w __pyx_mstate_global->__pyx_n_u_w +#define __pyx_n_u_warm_start_first_qp __pyx_mstate_global->__pyx_n_u_warm_start_first_qp +#define __pyx_kp_u_with_dimension __pyx_mstate_global->__pyx_kp_u_with_dimension +#define __pyx_kp_u_with_dimension_you_have __pyx_mstate_global->__pyx_kp_u_with_dimension_you_have +#define __pyx_n_b_x __pyx_mstate_global->__pyx_n_b_x +#define __pyx_n_s_x __pyx_mstate_global->__pyx_n_s_x +#define __pyx_n_u_x __pyx_mstate_global->__pyx_n_u_x +#define __pyx_n_s_x0_bar __pyx_mstate_global->__pyx_n_s_x0_bar +#define __pyx_n_u_x_2 __pyx_mstate_global->__pyx_n_u_x_2 +#define __pyx_n_u_xdot_guess __pyx_mstate_global->__pyx_n_u_xdot_guess +#define __pyx_n_u_y_ref __pyx_mstate_global->__pyx_n_u_y_ref +#define __pyx_kp_u_you_have __pyx_mstate_global->__pyx_kp_u_you_have +#define __pyx_n_u_yref __pyx_mstate_global->__pyx_n_u_yref +#define __pyx_n_u_z __pyx_mstate_global->__pyx_n_u_z +#define __pyx_n_u_z_2 __pyx_mstate_global->__pyx_n_u_z_2 +#define __pyx_n_b_z_guess __pyx_mstate_global->__pyx_n_b_z_guess +#define __pyx_n_u_z_guess __pyx_mstate_global->__pyx_n_u_z_guess +#define __pyx_n_s_zeros __pyx_mstate_global->__pyx_n_s_zeros +#define __pyx_int_0 __pyx_mstate_global->__pyx_int_0 +#define __pyx_int_1 __pyx_mstate_global->__pyx_int_1 +#define __pyx_int_2 __pyx_mstate_global->__pyx_int_2 +#define __pyx_int_3 __pyx_mstate_global->__pyx_int_3 +#define __pyx_int_4 __pyx_mstate_global->__pyx_int_4 +#define __pyx_int_6 __pyx_mstate_global->__pyx_int_6 +#define __pyx_int_7 __pyx_mstate_global->__pyx_int_7 +#define __pyx_int_112105877 __pyx_mstate_global->__pyx_int_112105877 +#define __pyx_int_136983863 __pyx_mstate_global->__pyx_int_136983863 +#define __pyx_int_184977713 __pyx_mstate_global->__pyx_int_184977713 +#define __pyx_int_neg_1 __pyx_mstate_global->__pyx_int_neg_1 +#define __pyx_int_neg_5 __pyx_mstate_global->__pyx_int_neg_5 +#define __pyx_slice__5 __pyx_mstate_global->__pyx_slice__5 +#define __pyx_tuple__4 __pyx_mstate_global->__pyx_tuple__4 +#define __pyx_tuple__8 __pyx_mstate_global->__pyx_tuple__8 +#define __pyx_tuple__9 __pyx_mstate_global->__pyx_tuple__9 +#define __pyx_slice__18 __pyx_mstate_global->__pyx_slice__18 +#define __pyx_tuple__10 __pyx_mstate_global->__pyx_tuple__10 +#define __pyx_tuple__11 __pyx_mstate_global->__pyx_tuple__11 +#define __pyx_tuple__12 __pyx_mstate_global->__pyx_tuple__12 +#define __pyx_tuple__13 __pyx_mstate_global->__pyx_tuple__13 +#define __pyx_tuple__14 __pyx_mstate_global->__pyx_tuple__14 +#define __pyx_tuple__15 __pyx_mstate_global->__pyx_tuple__15 +#define __pyx_tuple__19 __pyx_mstate_global->__pyx_tuple__19 +#define __pyx_tuple__20 __pyx_mstate_global->__pyx_tuple__20 +#define __pyx_tuple__21 __pyx_mstate_global->__pyx_tuple__21 +#define __pyx_tuple__22 __pyx_mstate_global->__pyx_tuple__22 +#define __pyx_tuple__23 __pyx_mstate_global->__pyx_tuple__23 +#define __pyx_tuple__24 __pyx_mstate_global->__pyx_tuple__24 +#define __pyx_tuple__25 __pyx_mstate_global->__pyx_tuple__25 +#define __pyx_tuple__26 __pyx_mstate_global->__pyx_tuple__26 +#define __pyx_tuple__27 __pyx_mstate_global->__pyx_tuple__27 +#define __pyx_tuple__28 __pyx_mstate_global->__pyx_tuple__28 +#define __pyx_tuple__29 __pyx_mstate_global->__pyx_tuple__29 +#define __pyx_tuple__30 __pyx_mstate_global->__pyx_tuple__30 +#define __pyx_tuple__32 __pyx_mstate_global->__pyx_tuple__32 +#define __pyx_tuple__33 __pyx_mstate_global->__pyx_tuple__33 +#define __pyx_tuple__34 __pyx_mstate_global->__pyx_tuple__34 +#define __pyx_tuple__35 __pyx_mstate_global->__pyx_tuple__35 +#define __pyx_tuple__36 __pyx_mstate_global->__pyx_tuple__36 +#define __pyx_tuple__37 __pyx_mstate_global->__pyx_tuple__37 +#define __pyx_tuple__38 __pyx_mstate_global->__pyx_tuple__38 +#define __pyx_tuple__39 __pyx_mstate_global->__pyx_tuple__39 +#define __pyx_tuple__40 __pyx_mstate_global->__pyx_tuple__40 +#define __pyx_tuple__41 __pyx_mstate_global->__pyx_tuple__41 +#define __pyx_tuple__42 __pyx_mstate_global->__pyx_tuple__42 +#define __pyx_tuple__44 __pyx_mstate_global->__pyx_tuple__44 +#define __pyx_tuple__46 __pyx_mstate_global->__pyx_tuple__46 +#define __pyx_tuple__49 __pyx_mstate_global->__pyx_tuple__49 +#define __pyx_tuple__51 __pyx_mstate_global->__pyx_tuple__51 +#define 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new_ndim = 0, suboffset_dim = -1, dim + * cdef bint negative_step + */ + + /* function exit code */ + __pyx_L1_error:; + __Pyx_XDECREF(__pyx_t_2); + __Pyx_XDECREF(__pyx_t_8); + __Pyx_AddTraceback("View.MemoryView.memview_slice", __pyx_clineno, __pyx_lineno, __pyx_filename); + __pyx_r = 0; + __pyx_L0:; + __Pyx_XDECREF((PyObject *)__pyx_v_memviewsliceobj); + __Pyx_XDECREF(__pyx_v_index); + __Pyx_XGIVEREF((PyObject *)__pyx_r); + __Pyx_RefNannyFinishContext(); + return __pyx_r; +} + +/* "View.MemoryView":793 + * + * @cname('__pyx_memoryview_slice_memviewslice') + * cdef int slice_memviewslice( # <<<<<<<<<<<<<< + * __Pyx_memviewslice *dst, + * Py_ssize_t shape, Py_ssize_t stride, Py_ssize_t suboffset, + */ + +static int __pyx_memoryview_slice_memviewslice(__Pyx_memviewslice *__pyx_v_dst, Py_ssize_t __pyx_v_shape, Py_ssize_t __pyx_v_stride, Py_ssize_t __pyx_v_suboffset, int __pyx_v_dim, int __pyx_v_new_ndim, int *__pyx_v_suboffset_dim, Py_ssize_t __pyx_v_start, Py_ssize_t __pyx_v_stop, Py_ssize_t __pyx_v_step, int __pyx_v_have_start, int __pyx_v_have_stop, int __pyx_v_have_step, int __pyx_v_is_slice) { + Py_ssize_t __pyx_v_new_shape; + int __pyx_v_negative_step; + int __pyx_r; + int __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + int __pyx_lineno = 0; + const char *__pyx_filename = NULL; + int __pyx_clineno = 0; + #ifdef WITH_THREAD + PyGILState_STATE __pyx_gilstate_save; + #endif + + /* "View.MemoryView":813 + * cdef bint negative_step + * + * if not is_slice: # <<<<<<<<<<<<<< + * + * if start < 0: + */ + __pyx_t_1 = (!__pyx_v_is_slice); + if (__pyx_t_1) { + + /* "View.MemoryView":815 + * if not is_slice: + * + * if start < 0: # <<<<<<<<<<<<<< + * start += shape + * if not 0 <= start < shape: + */ + __pyx_t_1 = (__pyx_v_start < 0); + if (__pyx_t_1) { + + /* "View.MemoryView":816 + * + * if start < 0: + * start += shape # <<<<<<<<<<<<<< + * if not 0 <= start < shape: + * _err_dim(PyExc_IndexError, "Index out of bounds (axis %d)", dim) + */ + __pyx_v_start = (__pyx_v_start + __pyx_v_shape); + + /* "View.MemoryView":815 + * if not is_slice: + * + * if start < 0: # <<<<<<<<<<<<<< + * start += shape + * if not 0 <= start < shape: + */ + } + + /* "View.MemoryView":817 + * if start < 0: + * start += shape + * if not 0 <= start < shape: # <<<<<<<<<<<<<< + * _err_dim(PyExc_IndexError, "Index out of bounds (axis %d)", dim) + * else: + */ + __pyx_t_1 = (0 <= __pyx_v_start); + if (__pyx_t_1) { + __pyx_t_1 = (__pyx_v_start < __pyx_v_shape); + } + __pyx_t_2 = (!__pyx_t_1); + if (__pyx_t_2) { + + /* "View.MemoryView":818 + * start += shape + * if not 0 <= start < shape: + * _err_dim(PyExc_IndexError, "Index out of bounds (axis %d)", dim) # <<<<<<<<<<<<<< + * else: + * + */ + __pyx_t_3 = __pyx_memoryview_err_dim(PyExc_IndexError, __pyx_kp_s_Index_out_of_bounds_axis_d, __pyx_v_dim); if (unlikely(__pyx_t_3 == ((int)-1))) __PYX_ERR(1, 818, __pyx_L1_error) + + /* "View.MemoryView":817 + * if start < 0: + * start += shape + * if not 0 <= start < shape: # <<<<<<<<<<<<<< + * _err_dim(PyExc_IndexError, "Index out of bounds (axis %d)", dim) + * else: + */ + } + + /* "View.MemoryView":813 + * cdef bint negative_step + * + * if not is_slice: # <<<<<<<<<<<<<< + * + * if start < 0: + */ + goto __pyx_L3; + } + + /* "View.MemoryView":821 + * else: + * + * if have_step: # <<<<<<<<<<<<<< + * negative_step = step < 0 + * if step == 0: + */ + /*else*/ { + __pyx_t_2 = (__pyx_v_have_step != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":822 + * + * if have_step: + * negative_step = step < 0 # <<<<<<<<<<<<<< + * if step == 0: + * _err_dim(PyExc_ValueError, "Step may not be zero (axis %d)", dim) + */ + __pyx_v_negative_step = (__pyx_v_step < 0); + + /* "View.MemoryView":823 + * if have_step: + * negative_step = step < 0 + * if step == 0: # <<<<<<<<<<<<<< + * _err_dim(PyExc_ValueError, "Step may not be zero (axis %d)", dim) + * else: + */ + __pyx_t_2 = (__pyx_v_step == 0); + if (__pyx_t_2) { + + /* "View.MemoryView":824 + * negative_step = step < 0 + * if step == 0: + * _err_dim(PyExc_ValueError, "Step may not be zero (axis %d)", dim) # <<<<<<<<<<<<<< + * else: + * negative_step = False + */ + __pyx_t_3 = __pyx_memoryview_err_dim(PyExc_ValueError, __pyx_kp_s_Step_may_not_be_zero_axis_d, __pyx_v_dim); if (unlikely(__pyx_t_3 == ((int)-1))) __PYX_ERR(1, 824, __pyx_L1_error) + + /* "View.MemoryView":823 + * if have_step: + * negative_step = step < 0 + * if step == 0: # <<<<<<<<<<<<<< + * _err_dim(PyExc_ValueError, "Step may not be zero (axis %d)", dim) + * else: + */ + } + + /* "View.MemoryView":821 + * else: + * + * if have_step: # <<<<<<<<<<<<<< + * negative_step = step < 0 + * if step == 0: + */ + goto __pyx_L6; + } + + /* "View.MemoryView":826 + * _err_dim(PyExc_ValueError, "Step may not be zero (axis %d)", dim) + * else: + * negative_step = False # <<<<<<<<<<<<<< + * step = 1 + * + */ + /*else*/ { + __pyx_v_negative_step = 0; + + /* "View.MemoryView":827 + * else: + * negative_step = False + * step = 1 # <<<<<<<<<<<<<< + * + * + */ + __pyx_v_step = 1; + } + __pyx_L6:; + + /* "View.MemoryView":830 + * + * + * if have_start: # <<<<<<<<<<<<<< + * if start < 0: + * start += shape + */ + __pyx_t_2 = (__pyx_v_have_start != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":831 + * + * if have_start: + * if start < 0: # <<<<<<<<<<<<<< + * start += shape + * if start < 0: + */ + __pyx_t_2 = (__pyx_v_start < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":832 + * if have_start: + * if start < 0: + * start += shape # <<<<<<<<<<<<<< + * if start < 0: + * start = 0 + */ + __pyx_v_start = (__pyx_v_start + __pyx_v_shape); + + /* "View.MemoryView":833 + * if start < 0: + * start += shape + * if start < 0: # <<<<<<<<<<<<<< + * start = 0 + * elif start >= shape: + */ + __pyx_t_2 = (__pyx_v_start < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":834 + * start += shape + * if start < 0: + * start = 0 # <<<<<<<<<<<<<< + * elif start >= shape: + * if negative_step: + */ + __pyx_v_start = 0; + + /* "View.MemoryView":833 + * if start < 0: + * start += shape + * if start < 0: # <<<<<<<<<<<<<< + * start = 0 + * elif start >= shape: + */ + } + + /* "View.MemoryView":831 + * + * if have_start: + * if start < 0: # <<<<<<<<<<<<<< + * start += shape + * if start < 0: + */ + goto __pyx_L9; + } + + /* "View.MemoryView":835 + * if start < 0: + * start = 0 + * elif start >= shape: # <<<<<<<<<<<<<< + * if negative_step: + * start = shape - 1 + */ + __pyx_t_2 = (__pyx_v_start >= __pyx_v_shape); + if (__pyx_t_2) { + + /* "View.MemoryView":836 + * start = 0 + * elif start >= shape: + * if negative_step: # <<<<<<<<<<<<<< + * start = shape - 1 + * else: + */ + if (__pyx_v_negative_step) { + + /* "View.MemoryView":837 + * elif start >= shape: + * if negative_step: + * start = shape - 1 # <<<<<<<<<<<<<< + * else: + * start = shape + */ + __pyx_v_start = (__pyx_v_shape - 1); + + /* "View.MemoryView":836 + * start = 0 + * elif start >= shape: + * if negative_step: # <<<<<<<<<<<<<< + * start = shape - 1 + * else: + */ + goto __pyx_L11; + } + + /* "View.MemoryView":839 + * start = shape - 1 + * else: + * start = shape # <<<<<<<<<<<<<< + * else: + * if negative_step: + */ + /*else*/ { + __pyx_v_start = __pyx_v_shape; + } + __pyx_L11:; + + /* "View.MemoryView":835 + * if start < 0: + * start = 0 + * elif start >= shape: # <<<<<<<<<<<<<< + * if negative_step: + * start = shape - 1 + */ + } + __pyx_L9:; + + /* "View.MemoryView":830 + * + * + * if have_start: # <<<<<<<<<<<<<< + * if start < 0: + * start += shape + */ + goto __pyx_L8; + } + + /* "View.MemoryView":841 + * start = shape + * else: + * if negative_step: # <<<<<<<<<<<<<< + * start = shape - 1 + * else: + */ + /*else*/ { + if (__pyx_v_negative_step) { + + /* "View.MemoryView":842 + * else: + * if negative_step: + * start = shape - 1 # <<<<<<<<<<<<<< + * else: + * start = 0 + */ + __pyx_v_start = (__pyx_v_shape - 1); + + /* "View.MemoryView":841 + * start = shape + * else: + * if negative_step: # <<<<<<<<<<<<<< + * start = shape - 1 + * else: + */ + goto __pyx_L12; + } + + /* "View.MemoryView":844 + * start = shape - 1 + * else: + * start = 0 # <<<<<<<<<<<<<< + * + * if have_stop: + */ + /*else*/ { + __pyx_v_start = 0; + } + __pyx_L12:; + } + __pyx_L8:; + + /* "View.MemoryView":846 + * start = 0 + * + * if have_stop: # <<<<<<<<<<<<<< + * if stop < 0: + * stop += shape + */ + __pyx_t_2 = (__pyx_v_have_stop != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":847 + * + * if have_stop: + * if stop < 0: # <<<<<<<<<<<<<< + * stop += shape + * if stop < 0: + */ + __pyx_t_2 = (__pyx_v_stop < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":848 + * if have_stop: + * if stop < 0: + * stop += shape # <<<<<<<<<<<<<< + * if stop < 0: + * stop = 0 + */ + __pyx_v_stop = (__pyx_v_stop + __pyx_v_shape); + + /* "View.MemoryView":849 + * if stop < 0: + * stop += shape + * if stop < 0: # <<<<<<<<<<<<<< + * stop = 0 + * elif stop > shape: + */ + __pyx_t_2 = (__pyx_v_stop < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":850 + * stop += shape + * if stop < 0: + * stop = 0 # <<<<<<<<<<<<<< + * elif stop > shape: + * stop = shape + */ + __pyx_v_stop = 0; + + /* "View.MemoryView":849 + * if stop < 0: + * stop += shape + * if stop < 0: # <<<<<<<<<<<<<< + * stop = 0 + * elif stop > shape: + */ + } + + /* "View.MemoryView":847 + * + * if have_stop: + * if stop < 0: # <<<<<<<<<<<<<< + * stop += shape + * if stop < 0: + */ + goto __pyx_L14; + } + + /* "View.MemoryView":851 + * if stop < 0: + * stop = 0 + * elif stop > shape: # <<<<<<<<<<<<<< + * stop = shape + * else: + */ + __pyx_t_2 = (__pyx_v_stop > __pyx_v_shape); + if (__pyx_t_2) { + + /* "View.MemoryView":852 + * stop = 0 + * elif stop > shape: + * stop = shape # <<<<<<<<<<<<<< + * else: + * if negative_step: + */ + __pyx_v_stop = __pyx_v_shape; + + /* "View.MemoryView":851 + * if stop < 0: + * stop = 0 + * elif stop > shape: # <<<<<<<<<<<<<< + * stop = shape + * else: + */ + } + __pyx_L14:; + + /* "View.MemoryView":846 + * start = 0 + * + * if have_stop: # <<<<<<<<<<<<<< + * if stop < 0: + * stop += shape + */ + goto __pyx_L13; + } + + /* "View.MemoryView":854 + * stop = shape + * else: + * if negative_step: # <<<<<<<<<<<<<< + * stop = -1 + * else: + */ + /*else*/ { + if (__pyx_v_negative_step) { + + /* "View.MemoryView":855 + * else: + * if negative_step: + * stop = -1 # <<<<<<<<<<<<<< + * else: + * stop = shape + */ + __pyx_v_stop = -1L; + + /* "View.MemoryView":854 + * stop = shape + * else: + * if negative_step: # <<<<<<<<<<<<<< + * stop = -1 + * else: + */ + goto __pyx_L16; + } + + /* "View.MemoryView":857 + * stop = -1 + * else: + * stop = shape # <<<<<<<<<<<<<< + * + * + */ + /*else*/ { + __pyx_v_stop = __pyx_v_shape; + } + __pyx_L16:; + } + __pyx_L13:; + + /* "View.MemoryView":861 + * + * with cython.cdivision(True): + * new_shape = (stop - start) // step # <<<<<<<<<<<<<< + * + * if (stop - start) - step * new_shape: + */ + __pyx_v_new_shape = ((__pyx_v_stop - __pyx_v_start) / __pyx_v_step); + + /* "View.MemoryView":863 + * new_shape = (stop - start) // step + * + * if (stop - start) - step * new_shape: # <<<<<<<<<<<<<< + * new_shape += 1 + * + */ + __pyx_t_2 = (((__pyx_v_stop - __pyx_v_start) - (__pyx_v_step * __pyx_v_new_shape)) != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":864 + * + * if (stop - start) - step * new_shape: + * new_shape += 1 # <<<<<<<<<<<<<< + * + * if new_shape < 0: + */ + __pyx_v_new_shape = (__pyx_v_new_shape + 1); + + /* "View.MemoryView":863 + * new_shape = (stop - start) // step + * + * if (stop - start) - step * new_shape: # <<<<<<<<<<<<<< + * new_shape += 1 + * + */ + } + + /* "View.MemoryView":866 + * new_shape += 1 + * + * if new_shape < 0: # <<<<<<<<<<<<<< + * new_shape = 0 + * + */ + __pyx_t_2 = (__pyx_v_new_shape < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":867 + * + * if new_shape < 0: + * new_shape = 0 # <<<<<<<<<<<<<< + * + * + */ + __pyx_v_new_shape = 0; + + /* "View.MemoryView":866 + * new_shape += 1 + * + * if new_shape < 0: # <<<<<<<<<<<<<< + * new_shape = 0 + * + */ + } + + /* "View.MemoryView":870 + * + * + * dst.strides[new_ndim] = stride * step # <<<<<<<<<<<<<< + * dst.shape[new_ndim] = new_shape + * dst.suboffsets[new_ndim] = suboffset + */ + (__pyx_v_dst->strides[__pyx_v_new_ndim]) = (__pyx_v_stride * __pyx_v_step); + + /* "View.MemoryView":871 + * + * dst.strides[new_ndim] = stride * step + * dst.shape[new_ndim] = new_shape # <<<<<<<<<<<<<< + * dst.suboffsets[new_ndim] = suboffset + * + */ + (__pyx_v_dst->shape[__pyx_v_new_ndim]) = __pyx_v_new_shape; + + /* "View.MemoryView":872 + * dst.strides[new_ndim] = stride * step + * dst.shape[new_ndim] = new_shape + * dst.suboffsets[new_ndim] = suboffset # <<<<<<<<<<<<<< + * + * + */ + (__pyx_v_dst->suboffsets[__pyx_v_new_ndim]) = __pyx_v_suboffset; + } + __pyx_L3:; + + /* "View.MemoryView":875 + * + * + * if suboffset_dim[0] < 0: # <<<<<<<<<<<<<< + * dst.data += start * stride + * else: + */ + __pyx_t_2 = ((__pyx_v_suboffset_dim[0]) < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":876 + * + * if suboffset_dim[0] < 0: + * dst.data += start * stride # <<<<<<<<<<<<<< + * else: + * dst.suboffsets[suboffset_dim[0]] += start * stride + */ + __pyx_v_dst->data = (__pyx_v_dst->data + (__pyx_v_start * __pyx_v_stride)); + + /* "View.MemoryView":875 + * + * + * if suboffset_dim[0] < 0: # <<<<<<<<<<<<<< + * dst.data += start * stride + * else: + */ + goto __pyx_L19; + } + + /* "View.MemoryView":878 + * dst.data += start * stride + * else: + * dst.suboffsets[suboffset_dim[0]] += start * stride # <<<<<<<<<<<<<< + * + * if suboffset >= 0: + */ + /*else*/ { + __pyx_t_3 = (__pyx_v_suboffset_dim[0]); + (__pyx_v_dst->suboffsets[__pyx_t_3]) = ((__pyx_v_dst->suboffsets[__pyx_t_3]) + (__pyx_v_start * __pyx_v_stride)); + } + __pyx_L19:; + + /* "View.MemoryView":880 + * dst.suboffsets[suboffset_dim[0]] += start * stride + * + * if suboffset >= 0: # <<<<<<<<<<<<<< + * if not is_slice: + * if new_ndim == 0: + */ + __pyx_t_2 = (__pyx_v_suboffset >= 0); + if (__pyx_t_2) { + + /* "View.MemoryView":881 + * + * if suboffset >= 0: + * if not is_slice: # 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= NULL + */ + __pyx_t_3 = ((struct __pyx_memoryviewslice_obj *)__pyx_v_memview)->to_dtype_func; + __pyx_v_to_dtype_func = __pyx_t_3; + + /* "View.MemoryView":1094 + * cdef int (*to_dtype_func)(char *, object) except 0 + * + * if isinstance(memview, _memoryviewslice): # <<<<<<<<<<<<<< + * to_object_func = (<_memoryviewslice> memview).to_object_func + * to_dtype_func = (<_memoryviewslice> memview).to_dtype_func + */ + goto __pyx_L3; + } + + /* "View.MemoryView":1098 + * to_dtype_func = (<_memoryviewslice> memview).to_dtype_func + * else: + * to_object_func = NULL # <<<<<<<<<<<<<< + * to_dtype_func = NULL + * + */ + /*else*/ { + __pyx_v_to_object_func = NULL; + + /* "View.MemoryView":1099 + * else: + * to_object_func = NULL + * to_dtype_func = NULL # <<<<<<<<<<<<<< + * + * return memoryview_fromslice(memviewslice[0], memview.view.ndim, + */ + __pyx_v_to_dtype_func = NULL; + } + __pyx_L3:; + + /* "View.MemoryView":1101 + * to_dtype_func = NULL + * + * return memoryview_fromslice(memviewslice[0], memview.view.ndim, # <<<<<<<<<<<<<< + * to_object_func, to_dtype_func, + * memview.dtype_is_object) + */ + __Pyx_XDECREF(__pyx_r); + + /* "View.MemoryView":1103 + * return memoryview_fromslice(memviewslice[0], memview.view.ndim, + * to_object_func, to_dtype_func, + * memview.dtype_is_object) # <<<<<<<<<<<<<< + * + * + */ + __pyx_t_4 = __pyx_memoryview_fromslice((__pyx_v_memviewslice[0]), __pyx_v_memview->view.ndim, __pyx_v_to_object_func, __pyx_v_to_dtype_func, __pyx_v_memview->dtype_is_object); if (unlikely(!__pyx_t_4)) __PYX_ERR(1, 1101, __pyx_L1_error) + __Pyx_GOTREF(__pyx_t_4); + __pyx_r = __pyx_t_4; + __pyx_t_4 = 0; + goto __pyx_L0; + + /* "View.MemoryView":1087 + * + * @cname('__pyx_memoryview_copy_object_from_slice') + * cdef memoryview_copy_from_slice(memoryview memview, __Pyx_memviewslice *memviewslice): # <<<<<<<<<<<<<< + * """ + * Create a new memoryview object from a given memoryview object and slice. + */ + + /* function exit code */ + __pyx_L1_error:; + __Pyx_XDECREF(__pyx_t_4); + __Pyx_AddTraceback("View.MemoryView.memoryview_copy_from_slice", __pyx_clineno, __pyx_lineno, __pyx_filename); + __pyx_r = 0; + __pyx_L0:; + __Pyx_XGIVEREF(__pyx_r); + __Pyx_RefNannyFinishContext(); + return __pyx_r; +} + +/* "View.MemoryView":1109 + * + * + * cdef Py_ssize_t abs_py_ssize_t(Py_ssize_t arg) noexcept nogil: # <<<<<<<<<<<<<< + * return -arg if arg < 0 else arg + * + */ + +static Py_ssize_t abs_py_ssize_t(Py_ssize_t __pyx_v_arg) { + Py_ssize_t __pyx_r; + Py_ssize_t __pyx_t_1; + int __pyx_t_2; + + /* "View.MemoryView":1110 + * + * cdef Py_ssize_t abs_py_ssize_t(Py_ssize_t arg) noexcept nogil: + * return -arg if arg < 0 else arg # <<<<<<<<<<<<<< + * + * @cname('__pyx_get_best_slice_order') + */ + __pyx_t_2 = (__pyx_v_arg < 0); + if (__pyx_t_2) { + __pyx_t_1 = (-__pyx_v_arg); + } else { + __pyx_t_1 = __pyx_v_arg; + } + __pyx_r = __pyx_t_1; + goto __pyx_L0; + + /* "View.MemoryView":1109 + * + * + * cdef Py_ssize_t abs_py_ssize_t(Py_ssize_t arg) noexcept nogil: # <<<<<<<<<<<<<< + * return -arg if arg < 0 else arg + * + */ + + /* function exit code */ + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":1113 + * + * @cname('__pyx_get_best_slice_order') + * cdef char get_best_order(__Pyx_memviewslice *mslice, int ndim) noexcept nogil: # <<<<<<<<<<<<<< + * """ + * Figure out the best memory access order for a given slice. + */ + +static char __pyx_get_best_slice_order(__Pyx_memviewslice *__pyx_v_mslice, int __pyx_v_ndim) { + int __pyx_v_i; + Py_ssize_t __pyx_v_c_stride; + Py_ssize_t __pyx_v_f_stride; + char __pyx_r; + int __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + int __pyx_t_4; + + /* "View.MemoryView":1118 + * """ + * cdef int i + * cdef Py_ssize_t c_stride = 0 # <<<<<<<<<<<<<< + * cdef Py_ssize_t f_stride = 0 + * + */ + __pyx_v_c_stride = 0; + + /* "View.MemoryView":1119 + * cdef int i + * cdef Py_ssize_t c_stride = 0 + * cdef Py_ssize_t f_stride = 0 # <<<<<<<<<<<<<< + * + * for i in range(ndim - 1, -1, -1): + */ + __pyx_v_f_stride = 0; + + /* "View.MemoryView":1121 + * cdef Py_ssize_t f_stride = 0 + * + * for i in range(ndim - 1, -1, -1): # <<<<<<<<<<<<<< + * if mslice.shape[i] > 1: + * c_stride = mslice.strides[i] + */ + for (__pyx_t_1 = (__pyx_v_ndim - 1); __pyx_t_1 > -1; __pyx_t_1-=1) { + __pyx_v_i = __pyx_t_1; + + /* "View.MemoryView":1122 + * + * for i in range(ndim - 1, -1, -1): + * if mslice.shape[i] > 1: # <<<<<<<<<<<<<< + * c_stride = mslice.strides[i] + * break + */ + __pyx_t_2 = ((__pyx_v_mslice->shape[__pyx_v_i]) > 1); + if (__pyx_t_2) { + + /* "View.MemoryView":1123 + * for i in range(ndim - 1, -1, -1): + * if mslice.shape[i] > 1: + * c_stride = mslice.strides[i] # <<<<<<<<<<<<<< + * break + * + */ + __pyx_v_c_stride = (__pyx_v_mslice->strides[__pyx_v_i]); + + /* "View.MemoryView":1124 + * if mslice.shape[i] > 1: + * c_stride = mslice.strides[i] + * break # <<<<<<<<<<<<<< + * + * for i in range(ndim): + */ + goto __pyx_L4_break; + + /* 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mslice.strides[i] + * break # <<<<<<<<<<<<<< + * + * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): + */ + goto __pyx_L7_break; + + /* "View.MemoryView":1127 + * + * for i in range(ndim): + * if mslice.shape[i] > 1: # <<<<<<<<<<<<<< + * f_stride = mslice.strides[i] + * break + */ + } + } + __pyx_L7_break:; + + /* "View.MemoryView":1131 + * break + * + * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): # <<<<<<<<<<<<<< + * return 'C' + * else: + */ + __pyx_t_2 = (abs_py_ssize_t(__pyx_v_c_stride) <= abs_py_ssize_t(__pyx_v_f_stride)); + if (__pyx_t_2) { + + /* "View.MemoryView":1132 + * + * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): + * return 'C' # <<<<<<<<<<<<<< + * else: + * return 'F' + */ + __pyx_r = 'C'; + goto __pyx_L0; + + /* "View.MemoryView":1131 + * break + * + * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): # <<<<<<<<<<<<<< + * return 'C' + * else: + */ + } + + /* "View.MemoryView":1134 + * return 'C' + * else: + * return 'F' # <<<<<<<<<<<<<< + * + * @cython.cdivision(True) + */ + /*else*/ { + __pyx_r = 'F'; + goto __pyx_L0; + } + + /* "View.MemoryView":1113 + * + * @cname('__pyx_get_best_slice_order') + * cdef char get_best_order(__Pyx_memviewslice *mslice, int ndim) noexcept nogil: # <<<<<<<<<<<<<< + * """ + * Figure out the best memory access order for a given slice. + */ + + /* function exit code */ + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":1137 + * + * @cython.cdivision(True) + * cdef void _copy_strided_to_strided(char *src_data, Py_ssize_t *src_strides, # <<<<<<<<<<<<<< + * char *dst_data, Py_ssize_t *dst_strides, + * Py_ssize_t *src_shape, Py_ssize_t *dst_shape, + */ + +static void _copy_strided_to_strided(char *__pyx_v_src_data, Py_ssize_t *__pyx_v_src_strides, char *__pyx_v_dst_data, Py_ssize_t *__pyx_v_dst_strides, Py_ssize_t *__pyx_v_src_shape, Py_ssize_t *__pyx_v_dst_shape, int __pyx_v_ndim, size_t __pyx_v_itemsize) { + CYTHON_UNUSED Py_ssize_t __pyx_v_i; + CYTHON_UNUSED Py_ssize_t __pyx_v_src_extent; + Py_ssize_t __pyx_v_dst_extent; + Py_ssize_t __pyx_v_src_stride; + Py_ssize_t __pyx_v_dst_stride; + int __pyx_t_1; + int __pyx_t_2; + Py_ssize_t __pyx_t_3; + Py_ssize_t __pyx_t_4; + Py_ssize_t __pyx_t_5; + + /* "View.MemoryView":1144 + * + * cdef Py_ssize_t i + * cdef Py_ssize_t src_extent = src_shape[0] # <<<<<<<<<<<<<< + * cdef Py_ssize_t dst_extent = dst_shape[0] + * cdef Py_ssize_t src_stride = src_strides[0] + */ + __pyx_v_src_extent = (__pyx_v_src_shape[0]); + + /* "View.MemoryView":1145 + * cdef Py_ssize_t i + * cdef Py_ssize_t src_extent = src_shape[0] + * cdef Py_ssize_t dst_extent = dst_shape[0] # <<<<<<<<<<<<<< + * cdef Py_ssize_t src_stride = src_strides[0] + * cdef Py_ssize_t dst_stride = dst_strides[0] + */ + __pyx_v_dst_extent = (__pyx_v_dst_shape[0]); + + /* "View.MemoryView":1146 + * cdef Py_ssize_t src_extent = src_shape[0] + * cdef Py_ssize_t dst_extent = dst_shape[0] + * cdef Py_ssize_t src_stride = src_strides[0] # <<<<<<<<<<<<<< + * cdef Py_ssize_t dst_stride = dst_strides[0] + * + */ + __pyx_v_src_stride = (__pyx_v_src_strides[0]); + + /* "View.MemoryView":1147 + * cdef Py_ssize_t dst_extent = dst_shape[0] + * cdef Py_ssize_t src_stride = src_strides[0] + * cdef Py_ssize_t dst_stride = dst_strides[0] # <<<<<<<<<<<<<< + * + * if ndim == 1: + */ + __pyx_v_dst_stride = (__pyx_v_dst_strides[0]); + + /* "View.MemoryView":1149 + * cdef Py_ssize_t dst_stride = dst_strides[0] + * + * if ndim == 1: # <<<<<<<<<<<<<< + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): + */ + __pyx_t_1 = (__pyx_v_ndim == 1); + if (__pyx_t_1) { + + /* "View.MemoryView":1150 + * + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and # <<<<<<<<<<<<<< + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) + */ + __pyx_t_2 = (__pyx_v_src_stride > 0); + if (__pyx_t_2) { + } else { + __pyx_t_1 = __pyx_t_2; + goto __pyx_L5_bool_binop_done; + } + __pyx_t_2 = (__pyx_v_dst_stride > 0); + if (__pyx_t_2) { + } else { + __pyx_t_1 = __pyx_t_2; + goto __pyx_L5_bool_binop_done; + } + + /* "View.MemoryView":1151 + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): # <<<<<<<<<<<<<< + * memcpy(dst_data, src_data, itemsize * dst_extent) + * else: + */ + __pyx_t_2 = (((size_t)__pyx_v_src_stride) == __pyx_v_itemsize); + if (__pyx_t_2) { + __pyx_t_2 = (__pyx_v_itemsize == ((size_t)__pyx_v_dst_stride)); + } + __pyx_t_1 = __pyx_t_2; + __pyx_L5_bool_binop_done:; + + /* "View.MemoryView":1150 + * + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and # <<<<<<<<<<<<<< + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) + */ + if (__pyx_t_1) { + + /* "View.MemoryView":1152 + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) # <<<<<<<<<<<<<< + * else: + * for i in range(dst_extent): + */ + (void)(memcpy(__pyx_v_dst_data, __pyx_v_src_data, (__pyx_v_itemsize * __pyx_v_dst_extent))); + + /* "View.MemoryView":1150 + * + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and # <<<<<<<<<<<<<< + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) + */ + goto __pyx_L4; + } + + /* "View.MemoryView":1154 + * memcpy(dst_data, src_data, itemsize * dst_extent) + * else: + * for i in range(dst_extent): # <<<<<<<<<<<<<< + * memcpy(dst_data, src_data, itemsize) + * src_data += src_stride + */ + /*else*/ { + __pyx_t_3 = __pyx_v_dst_extent; + __pyx_t_4 = __pyx_t_3; + for (__pyx_t_5 = 0; __pyx_t_5 < __pyx_t_4; __pyx_t_5+=1) { + __pyx_v_i = __pyx_t_5; + + /* "View.MemoryView":1155 + * else: + * for i in range(dst_extent): + * memcpy(dst_data, src_data, itemsize) # <<<<<<<<<<<<<< + * src_data += src_stride + * dst_data += dst_stride + */ + (void)(memcpy(__pyx_v_dst_data, __pyx_v_src_data, __pyx_v_itemsize)); + + /* "View.MemoryView":1156 + * for i in range(dst_extent): + * memcpy(dst_data, src_data, itemsize) + * src_data += src_stride # <<<<<<<<<<<<<< + * dst_data += dst_stride + * else: + */ + __pyx_v_src_data = (__pyx_v_src_data + __pyx_v_src_stride); + + /* "View.MemoryView":1157 + * memcpy(dst_data, src_data, itemsize) + * src_data += src_stride + * dst_data += dst_stride # <<<<<<<<<<<<<< + * else: + * for i in range(dst_extent): + */ + __pyx_v_dst_data = (__pyx_v_dst_data + __pyx_v_dst_stride); + } + } + __pyx_L4:; + + /* "View.MemoryView":1149 + * cdef Py_ssize_t dst_stride = dst_strides[0] + * + * if ndim == 1: # <<<<<<<<<<<<<< + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): + */ + goto __pyx_L3; + } + + /* "View.MemoryView":1159 + * dst_data += dst_stride + * else: + * for i in range(dst_extent): # <<<<<<<<<<<<<< + * _copy_strided_to_strided(src_data, src_strides + 1, + * dst_data, dst_strides + 1, + */ + /*else*/ { + __pyx_t_3 = __pyx_v_dst_extent; + __pyx_t_4 = __pyx_t_3; + for (__pyx_t_5 = 0; __pyx_t_5 < __pyx_t_4; __pyx_t_5+=1) { + __pyx_v_i = __pyx_t_5; + + /* "View.MemoryView":1160 + * else: + * for i in range(dst_extent): + * _copy_strided_to_strided(src_data, src_strides + 1, # <<<<<<<<<<<<<< + * dst_data, dst_strides + 1, + * src_shape + 1, dst_shape + 1, + */ + _copy_strided_to_strided(__pyx_v_src_data, (__pyx_v_src_strides + 1), __pyx_v_dst_data, (__pyx_v_dst_strides + 1), (__pyx_v_src_shape + 1), (__pyx_v_dst_shape + 1), (__pyx_v_ndim - 1), __pyx_v_itemsize); + + /* "View.MemoryView":1164 + * src_shape + 1, dst_shape + 1, + * ndim - 1, itemsize) + * src_data += src_stride # <<<<<<<<<<<<<< + * dst_data += dst_stride + * + */ + __pyx_v_src_data = (__pyx_v_src_data + __pyx_v_src_stride); + + /* "View.MemoryView":1165 + * ndim - 1, itemsize) + * src_data += src_stride + * dst_data += dst_stride # <<<<<<<<<<<<<< + * + * cdef void copy_strided_to_strided(__Pyx_memviewslice *src, + */ + __pyx_v_dst_data = (__pyx_v_dst_data + __pyx_v_dst_stride); + } + } + __pyx_L3:; + + /* "View.MemoryView":1137 + * + * @cython.cdivision(True) + * cdef void _copy_strided_to_strided(char *src_data, Py_ssize_t *src_strides, # <<<<<<<<<<<<<< + * char *dst_data, Py_ssize_t *dst_strides, + * Py_ssize_t *src_shape, Py_ssize_t *dst_shape, + */ + + /* function exit code */ +} + +/* "View.MemoryView":1167 + * dst_data += dst_stride + * + * cdef void copy_strided_to_strided(__Pyx_memviewslice *src, # <<<<<<<<<<<<<< + * __Pyx_memviewslice *dst, + * int ndim, size_t itemsize) noexcept nogil: + */ + +static void copy_strided_to_strided(__Pyx_memviewslice *__pyx_v_src, __Pyx_memviewslice *__pyx_v_dst, int __pyx_v_ndim, size_t __pyx_v_itemsize) { + + /* "View.MemoryView":1170 + * __Pyx_memviewslice *dst, + * int ndim, size_t itemsize) noexcept nogil: + * _copy_strided_to_strided(src.data, src.strides, dst.data, dst.strides, # <<<<<<<<<<<<<< + * src.shape, dst.shape, ndim, itemsize) + * + */ + _copy_strided_to_strided(__pyx_v_src->data, __pyx_v_src->strides, __pyx_v_dst->data, __pyx_v_dst->strides, __pyx_v_src->shape, __pyx_v_dst->shape, __pyx_v_ndim, __pyx_v_itemsize); + + /* "View.MemoryView":1167 + * dst_data += dst_stride + * + * cdef void copy_strided_to_strided(__Pyx_memviewslice *src, # <<<<<<<<<<<<<< + * __Pyx_memviewslice *dst, + * int ndim, size_t itemsize) noexcept nogil: + */ + + /* function exit code */ +} + +/* "View.MemoryView":1174 + * + * @cname('__pyx_memoryview_slice_get_size') + * cdef Py_ssize_t slice_get_size(__Pyx_memviewslice *src, int ndim) noexcept nogil: # <<<<<<<<<<<<<< + * "Return the size of the memory occupied by the slice in number of bytes" + * cdef Py_ssize_t shape, size = src.memview.view.itemsize + */ + +static Py_ssize_t __pyx_memoryview_slice_get_size(__Pyx_memviewslice *__pyx_v_src, int __pyx_v_ndim) { + Py_ssize_t __pyx_v_shape; + Py_ssize_t __pyx_v_size; + Py_ssize_t __pyx_r; + Py_ssize_t __pyx_t_1; + Py_ssize_t *__pyx_t_2; + Py_ssize_t *__pyx_t_3; + Py_ssize_t *__pyx_t_4; + + /* "View.MemoryView":1176 + * cdef Py_ssize_t slice_get_size(__Pyx_memviewslice *src, int ndim) noexcept nogil: + * "Return the size of the memory occupied by the slice in number of bytes" + * cdef Py_ssize_t shape, size = src.memview.view.itemsize # <<<<<<<<<<<<<< + * + * for shape in src.shape[:ndim]: + */ + __pyx_t_1 = __pyx_v_src->memview->view.itemsize; + __pyx_v_size = __pyx_t_1; + + /* "View.MemoryView":1178 + * cdef Py_ssize_t shape, size = src.memview.view.itemsize + * + * for shape in src.shape[:ndim]: # <<<<<<<<<<<<<< + * size *= shape + * + */ + __pyx_t_3 = (__pyx_v_src->shape + __pyx_v_ndim); + for (__pyx_t_4 = __pyx_v_src->shape; __pyx_t_4 < __pyx_t_3; __pyx_t_4++) { + __pyx_t_2 = __pyx_t_4; + __pyx_v_shape = (__pyx_t_2[0]); + + /* "View.MemoryView":1179 + * + * for shape in src.shape[:ndim]: + * size *= shape # <<<<<<<<<<<<<< + * + * return size + */ + __pyx_v_size = (__pyx_v_size * __pyx_v_shape); + } + + /* "View.MemoryView":1181 + * size *= shape + * + * return size # <<<<<<<<<<<<<< + * + * @cname('__pyx_fill_contig_strides_array') + */ + __pyx_r = __pyx_v_size; + goto __pyx_L0; + + /* "View.MemoryView":1174 + * + * @cname('__pyx_memoryview_slice_get_size') + * cdef Py_ssize_t slice_get_size(__Pyx_memviewslice *src, int ndim) noexcept nogil: # <<<<<<<<<<<<<< + * "Return the size of the memory occupied by the slice in number of bytes" + * cdef Py_ssize_t shape, size = src.memview.view.itemsize + */ + + /* function exit code */ + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":1184 + * + * @cname('__pyx_fill_contig_strides_array') + * cdef Py_ssize_t fill_contig_strides_array( # <<<<<<<<<<<<<< + * Py_ssize_t *shape, Py_ssize_t *strides, Py_ssize_t stride, + * int ndim, char order) noexcept nogil: + */ + +static Py_ssize_t __pyx_fill_contig_strides_array(Py_ssize_t *__pyx_v_shape, Py_ssize_t *__pyx_v_strides, Py_ssize_t __pyx_v_stride, int __pyx_v_ndim, char __pyx_v_order) { + int __pyx_v_idx; + Py_ssize_t __pyx_r; + int __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + int __pyx_t_4; + + /* "View.MemoryView":1193 + * cdef int idx + * + * if order == 'F': # <<<<<<<<<<<<<< + * for idx in range(ndim): + * strides[idx] = stride + */ + __pyx_t_1 = (__pyx_v_order == 'F'); + if (__pyx_t_1) { + + /* "View.MemoryView":1194 + * + * if order == 'F': + * for idx in range(ndim): # <<<<<<<<<<<<<< + * strides[idx] = stride + * stride *= shape[idx] + */ + __pyx_t_2 = __pyx_v_ndim; + __pyx_t_3 = __pyx_t_2; + for (__pyx_t_4 = 0; __pyx_t_4 < __pyx_t_3; __pyx_t_4+=1) { + __pyx_v_idx = __pyx_t_4; + + /* "View.MemoryView":1195 + * if order == 'F': + * for idx in range(ndim): + * strides[idx] = stride # <<<<<<<<<<<<<< + * stride *= shape[idx] + * else: + */ + (__pyx_v_strides[__pyx_v_idx]) = __pyx_v_stride; + + /* "View.MemoryView":1196 + * for idx in range(ndim): + * strides[idx] = stride + * stride *= shape[idx] # <<<<<<<<<<<<<< + * else: + * for idx in range(ndim - 1, -1, -1): + */ + __pyx_v_stride = (__pyx_v_stride * (__pyx_v_shape[__pyx_v_idx])); + } + + /* "View.MemoryView":1193 + * cdef int idx + * + * if order == 'F': # <<<<<<<<<<<<<< + * for idx in range(ndim): + * strides[idx] = stride + */ + goto __pyx_L3; + } + + /* "View.MemoryView":1198 + * stride *= shape[idx] + * else: + * for idx in range(ndim - 1, -1, -1): # <<<<<<<<<<<<<< + * strides[idx] = stride + * stride *= shape[idx] + */ + /*else*/ { + for (__pyx_t_2 = (__pyx_v_ndim - 1); __pyx_t_2 > -1; __pyx_t_2-=1) { + __pyx_v_idx = __pyx_t_2; + + /* "View.MemoryView":1199 + * else: + * for idx in range(ndim - 1, -1, -1): + * strides[idx] = stride # <<<<<<<<<<<<<< + * stride *= shape[idx] + * + */ + (__pyx_v_strides[__pyx_v_idx]) = __pyx_v_stride; + + /* "View.MemoryView":1200 + * for idx in range(ndim - 1, -1, -1): + * strides[idx] = stride + * stride *= shape[idx] # <<<<<<<<<<<<<< + * + * return stride + */ + __pyx_v_stride = (__pyx_v_stride * (__pyx_v_shape[__pyx_v_idx])); + } + } + __pyx_L3:; + + /* 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<<<<<<<<<<<<<< + * order = get_best_order(&dst, ndim) + * + */ + __pyx_t_2 = (!__pyx_memviewslice_is_contig(__pyx_v_src, __pyx_v_order, __pyx_v_ndim)); + if (__pyx_t_2) { + + /* "View.MemoryView":1302 + * + * if not slice_is_contig(src, order, ndim): + * order = get_best_order(&dst, ndim) # <<<<<<<<<<<<<< + * + * tmpdata = copy_data_to_temp(&src, &tmp, order, ndim) + */ + __pyx_v_order = __pyx_get_best_slice_order((&__pyx_v_dst), __pyx_v_ndim); + + /* "View.MemoryView":1301 + * if slices_overlap(&src, &dst, ndim, itemsize): + * + * if not slice_is_contig(src, order, ndim): # <<<<<<<<<<<<<< + * order = get_best_order(&dst, ndim) + * + */ + } + + /* "View.MemoryView":1304 + * order = get_best_order(&dst, ndim) + * + * tmpdata = copy_data_to_temp(&src, &tmp, order, ndim) # <<<<<<<<<<<<<< + * src = tmp + * + */ + __pyx_t_7 = __pyx_memoryview_copy_data_to_temp((&__pyx_v_src), (&__pyx_v_tmp), __pyx_v_order, __pyx_v_ndim); if (unlikely(__pyx_t_7 == ((void *)NULL))) __PYX_ERR(1, 1304, __pyx_L1_error) + __pyx_v_tmpdata = __pyx_t_7; + + /* "View.MemoryView":1305 + * + * tmpdata = copy_data_to_temp(&src, &tmp, order, ndim) + * src = tmp # <<<<<<<<<<<<<< + * + * if not broadcasting: + */ + __pyx_v_src = __pyx_v_tmp; + + /* "View.MemoryView":1299 + * _err_dim(PyExc_ValueError, "Dimension %d is not direct", i) + * + * if slices_overlap(&src, &dst, ndim, itemsize): # <<<<<<<<<<<<<< + * + * if not slice_is_contig(src, order, ndim): + */ + } + + /* "View.MemoryView":1307 + * src = tmp + * + * if not broadcasting: # <<<<<<<<<<<<<< + * + * + */ + __pyx_t_2 = (!__pyx_v_broadcasting); + if (__pyx_t_2) { + + /* "View.MemoryView":1310 + * + * + * if slice_is_contig(src, 'C', ndim): # <<<<<<<<<<<<<< + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): + */ + __pyx_t_2 = __pyx_memviewslice_is_contig(__pyx_v_src, 'C', __pyx_v_ndim); + if (__pyx_t_2) { + + /* "View.MemoryView":1311 + * + * if slice_is_contig(src, 'C', ndim): + * direct_copy = slice_is_contig(dst, 'C', ndim) # <<<<<<<<<<<<<< + * elif slice_is_contig(src, 'F', ndim): + * direct_copy = slice_is_contig(dst, 'F', ndim) + */ + __pyx_v_direct_copy = __pyx_memviewslice_is_contig(__pyx_v_dst, 'C', __pyx_v_ndim); + + /* "View.MemoryView":1310 + * + * + * if slice_is_contig(src, 'C', ndim): # <<<<<<<<<<<<<< + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): + */ + goto __pyx_L12; + } + + /* "View.MemoryView":1312 + * if slice_is_contig(src, 'C', ndim): + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): # <<<<<<<<<<<<<< + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + */ + __pyx_t_2 = __pyx_memviewslice_is_contig(__pyx_v_src, 'F', __pyx_v_ndim); + if (__pyx_t_2) { + + /* "View.MemoryView":1313 + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): + * direct_copy = slice_is_contig(dst, 'F', ndim) # <<<<<<<<<<<<<< + * + * if direct_copy: + */ + __pyx_v_direct_copy = __pyx_memviewslice_is_contig(__pyx_v_dst, 'F', __pyx_v_ndim); + + /* "View.MemoryView":1312 + * if slice_is_contig(src, 'C', ndim): + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): # <<<<<<<<<<<<<< + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + */ + } + __pyx_L12:; + + /* "View.MemoryView":1315 + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + * if direct_copy: # <<<<<<<<<<<<<< + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + */ + if (__pyx_v_direct_copy) { + + /* "View.MemoryView":1317 + * if direct_copy: + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) # <<<<<<<<<<<<<< + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 0); + + /* "View.MemoryView":1318 + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) # <<<<<<<<<<<<<< + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * free(tmpdata) + */ + (void)(memcpy(__pyx_v_dst.data, __pyx_v_src.data, __pyx_memoryview_slice_get_size((&__pyx_v_src), __pyx_v_ndim))); + + /* "View.MemoryView":1319 + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) # <<<<<<<<<<<<<< + * free(tmpdata) + * return 0 + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 1); + + /* "View.MemoryView":1320 + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * free(tmpdata) # <<<<<<<<<<<<<< + * return 0 + * + */ + free(__pyx_v_tmpdata); + + /* "View.MemoryView":1321 + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * free(tmpdata) + * return 0 # <<<<<<<<<<<<<< + * + * if order == 'F' == get_best_order(&dst, ndim): + */ + __pyx_r = 0; + goto __pyx_L0; + + /* "View.MemoryView":1315 + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + * if direct_copy: # <<<<<<<<<<<<<< + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + */ + } + + /* "View.MemoryView":1307 + * src = tmp + * + * if not broadcasting: # <<<<<<<<<<<<<< + * + * + */ + } + + /* "View.MemoryView":1323 + * return 0 + * + * if order == 'F' == get_best_order(&dst, ndim): # <<<<<<<<<<<<<< + * + * + */ + __pyx_t_2 = (__pyx_v_order == 'F'); + if (__pyx_t_2) { + __pyx_t_2 = ('F' == __pyx_get_best_slice_order((&__pyx_v_dst), __pyx_v_ndim)); + } + if (__pyx_t_2) { + + /* "View.MemoryView":1326 + * + * + * transpose_memslice(&src) # <<<<<<<<<<<<<< + * transpose_memslice(&dst) + * + */ + __pyx_t_5 = __pyx_memslice_transpose((&__pyx_v_src)); if (unlikely(__pyx_t_5 == ((int)-1))) __PYX_ERR(1, 1326, __pyx_L1_error) + + /* "View.MemoryView":1327 + * + * transpose_memslice(&src) + * transpose_memslice(&dst) # <<<<<<<<<<<<<< + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + */ + __pyx_t_5 = __pyx_memslice_transpose((&__pyx_v_dst)); if (unlikely(__pyx_t_5 == ((int)-1))) __PYX_ERR(1, 1327, __pyx_L1_error) + + /* "View.MemoryView":1323 + * return 0 + * + * if order == 'F' == get_best_order(&dst, ndim): # <<<<<<<<<<<<<< + * + * + */ + } + + /* "View.MemoryView":1329 + * transpose_memslice(&dst) + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) # <<<<<<<<<<<<<< + * copy_strided_to_strided(&src, &dst, ndim, itemsize) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 0); + + /* "View.MemoryView":1330 + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + * copy_strided_to_strided(&src, &dst, ndim, itemsize) # <<<<<<<<<<<<<< + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * + */ + copy_strided_to_strided((&__pyx_v_src), (&__pyx_v_dst), __pyx_v_ndim, __pyx_v_itemsize); + + /* "View.MemoryView":1331 + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + * copy_strided_to_strided(&src, &dst, ndim, itemsize) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) # <<<<<<<<<<<<<< + * + * free(tmpdata) + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 1); + + /* "View.MemoryView":1333 + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * + * free(tmpdata) # <<<<<<<<<<<<<< + * return 0 + * + */ + free(__pyx_v_tmpdata); + + /* "View.MemoryView":1334 + * + * free(tmpdata) + * return 0 # <<<<<<<<<<<<<< + * + * @cname('__pyx_memoryview_broadcast_leading') + */ + __pyx_r = 0; + goto __pyx_L0; + + /* "View.MemoryView":1265 + * + * @cname('__pyx_memoryview_copy_contents') + * cdef int memoryview_copy_contents(__Pyx_memviewslice src, # <<<<<<<<<<<<<< + * __Pyx_memviewslice dst, + * int src_ndim, int dst_ndim, + */ + + /* function exit code */ + __pyx_L1_error:; + #ifdef WITH_THREAD + __pyx_gilstate_save = __Pyx_PyGILState_Ensure(); + #endif + __Pyx_AddTraceback("View.MemoryView.memoryview_copy_contents", __pyx_clineno, __pyx_lineno, __pyx_filename); + __pyx_r = -1; + #ifdef WITH_THREAD + __Pyx_PyGILState_Release(__pyx_gilstate_save); + #endif + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":1337 + * + * @cname('__pyx_memoryview_broadcast_leading') + * cdef void broadcast_leading(__Pyx_memviewslice *mslice, # <<<<<<<<<<<<<< + * int ndim, + * int ndim_other) noexcept nogil: + */ + +static void __pyx_memoryview_broadcast_leading(__Pyx_memviewslice *__pyx_v_mslice, int __pyx_v_ndim, int __pyx_v_ndim_other) { + int __pyx_v_i; + int __pyx_v_offset; + int __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + + /* "View.MemoryView":1341 + * int ndim_other) noexcept nogil: + * cdef int i + * cdef int offset = ndim_other - ndim # <<<<<<<<<<<<<< + * + * for i in range(ndim - 1, -1, -1): + */ + __pyx_v_offset = (__pyx_v_ndim_other - __pyx_v_ndim); + + /* "View.MemoryView":1343 + * cdef int offset = ndim_other - ndim + * + * for i in range(ndim - 1, -1, -1): # <<<<<<<<<<<<<< + * mslice.shape[i + offset] = mslice.shape[i] + * mslice.strides[i + offset] = mslice.strides[i] + */ + for (__pyx_t_1 = (__pyx_v_ndim - 1); __pyx_t_1 > -1; __pyx_t_1-=1) { + __pyx_v_i = __pyx_t_1; + + /* "View.MemoryView":1344 + * + * for i in range(ndim - 1, -1, -1): + * mslice.shape[i + offset] = mslice.shape[i] # <<<<<<<<<<<<<< + * mslice.strides[i + offset] = mslice.strides[i] + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] + */ + (__pyx_v_mslice->shape[(__pyx_v_i + __pyx_v_offset)]) = (__pyx_v_mslice->shape[__pyx_v_i]); + + /* "View.MemoryView":1345 + * for i in range(ndim - 1, -1, -1): + * mslice.shape[i + offset] = mslice.shape[i] + * mslice.strides[i + offset] = mslice.strides[i] # <<<<<<<<<<<<<< + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] + * + */ + (__pyx_v_mslice->strides[(__pyx_v_i + __pyx_v_offset)]) = (__pyx_v_mslice->strides[__pyx_v_i]); + + /* "View.MemoryView":1346 + * mslice.shape[i + offset] = mslice.shape[i] + * mslice.strides[i + offset] = mslice.strides[i] + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] # <<<<<<<<<<<<<< + * + * for i in range(offset): + */ + (__pyx_v_mslice->suboffsets[(__pyx_v_i + __pyx_v_offset)]) = (__pyx_v_mslice->suboffsets[__pyx_v_i]); + } + + /* "View.MemoryView":1348 + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] + * + * for i in range(offset): # <<<<<<<<<<<<<< + * mslice.shape[i] = 1 + * mslice.strides[i] = mslice.strides[0] + */ + __pyx_t_1 = __pyx_v_offset; + __pyx_t_2 = __pyx_t_1; + for (__pyx_t_3 = 0; __pyx_t_3 < __pyx_t_2; __pyx_t_3+=1) { + __pyx_v_i = __pyx_t_3; + + /* "View.MemoryView":1349 + * + * for i in range(offset): + * mslice.shape[i] = 1 # <<<<<<<<<<<<<< + * mslice.strides[i] = mslice.strides[0] + * mslice.suboffsets[i] = -1 + */ + (__pyx_v_mslice->shape[__pyx_v_i]) = 1; + + /* "View.MemoryView":1350 + * for i in range(offset): + * mslice.shape[i] = 1 + * mslice.strides[i] = mslice.strides[0] # <<<<<<<<<<<<<< + * mslice.suboffsets[i] = -1 + * + */ + (__pyx_v_mslice->strides[__pyx_v_i]) = (__pyx_v_mslice->strides[0]); + + /* "View.MemoryView":1351 + * mslice.shape[i] = 1 + * mslice.strides[i] = mslice.strides[0] + * mslice.suboffsets[i] = -1 # <<<<<<<<<<<<<< + * + * + */ + (__pyx_v_mslice->suboffsets[__pyx_v_i]) = -1L; + } + + /* "View.MemoryView":1337 + * + * @cname('__pyx_memoryview_broadcast_leading') + * cdef void broadcast_leading(__Pyx_memviewslice *mslice, # <<<<<<<<<<<<<< + * int ndim, + * int ndim_other) noexcept nogil: + */ + + /* function exit code */ +} + +/* "View.MemoryView":1359 + * + * @cname('__pyx_memoryview_refcount_copying') + * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object, int ndim, bint inc) noexcept nogil: # <<<<<<<<<<<<<< + * + * if dtype_is_object: + */ + +static void __pyx_memoryview_refcount_copying(__Pyx_memviewslice *__pyx_v_dst, int __pyx_v_dtype_is_object, int __pyx_v_ndim, int __pyx_v_inc) { + + /* "View.MemoryView":1361 + * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object, int ndim, bint inc) noexcept nogil: + * + * if dtype_is_object: # <<<<<<<<<<<<<< + * refcount_objects_in_slice_with_gil(dst.data, dst.shape, dst.strides, ndim, inc) + * + */ + if (__pyx_v_dtype_is_object) { + + /* "View.MemoryView":1362 + * + * if dtype_is_object: + * refcount_objects_in_slice_with_gil(dst.data, dst.shape, dst.strides, ndim, inc) # <<<<<<<<<<<<<< + * + * @cname('__pyx_memoryview_refcount_objects_in_slice_with_gil') + */ + __pyx_memoryview_refcount_objects_in_slice_with_gil(__pyx_v_dst->data, __pyx_v_dst->shape, __pyx_v_dst->strides, __pyx_v_ndim, __pyx_v_inc); + + /* "View.MemoryView":1361 + * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object, int ndim, bint inc) noexcept nogil: + * + * if dtype_is_object: # <<<<<<<<<<<<<< + * refcount_objects_in_slice_with_gil(dst.data, dst.shape, dst.strides, ndim, inc) + * + */ + } + + /* "View.MemoryView":1359 + * + * @cname('__pyx_memoryview_refcount_copying') + * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object, int ndim, bint inc) noexcept nogil: # <<<<<<<<<<<<<< + * + * if dtype_is_object: + */ + + /* function exit code */ +} + +/* "View.MemoryView":1365 + * + * @cname('__pyx_memoryview_refcount_objects_in_slice_with_gil') + * cdef void refcount_objects_in_slice_with_gil(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, + * bint inc) noexcept with gil: + */ + +static void __pyx_memoryview_refcount_objects_in_slice_with_gil(char *__pyx_v_data, Py_ssize_t *__pyx_v_shape, Py_ssize_t *__pyx_v_strides, int __pyx_v_ndim, int __pyx_v_inc) { + #ifdef WITH_THREAD + PyGILState_STATE __pyx_gilstate_save = __Pyx_PyGILState_Ensure(); + #endif + + /* "View.MemoryView":1368 + * Py_ssize_t *strides, int ndim, + * bint inc) noexcept with gil: + * refcount_objects_in_slice(data, shape, strides, ndim, inc) # <<<<<<<<<<<<<< + * + * @cname('__pyx_memoryview_refcount_objects_in_slice') + */ + __pyx_memoryview_refcount_objects_in_slice(__pyx_v_data, __pyx_v_shape, __pyx_v_strides, __pyx_v_ndim, __pyx_v_inc); + + /* "View.MemoryView":1365 + * + * @cname('__pyx_memoryview_refcount_objects_in_slice_with_gil') + * cdef void refcount_objects_in_slice_with_gil(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, + * bint inc) noexcept with gil: + */ + + /* function exit code */ + #ifdef WITH_THREAD + __Pyx_PyGILState_Release(__pyx_gilstate_save); + #endif +} + +/* "View.MemoryView":1371 + * + * @cname('__pyx_memoryview_refcount_objects_in_slice') + * cdef void refcount_objects_in_slice(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, bint inc) noexcept: + * cdef Py_ssize_t i + */ + +static void __pyx_memoryview_refcount_objects_in_slice(char *__pyx_v_data, Py_ssize_t *__pyx_v_shape, Py_ssize_t *__pyx_v_strides, int __pyx_v_ndim, int __pyx_v_inc) { + CYTHON_UNUSED Py_ssize_t __pyx_v_i; + Py_ssize_t __pyx_v_stride; + Py_ssize_t __pyx_t_1; + Py_ssize_t __pyx_t_2; + Py_ssize_t __pyx_t_3; + int __pyx_t_4; + + /* "View.MemoryView":1374 + * Py_ssize_t *strides, int ndim, bint inc) noexcept: + * cdef Py_ssize_t i + * cdef Py_ssize_t stride = strides[0] # <<<<<<<<<<<<<< + * + * for i in range(shape[0]): + */ + __pyx_v_stride = (__pyx_v_strides[0]); + + /* "View.MemoryView":1376 + * cdef Py_ssize_t stride = strides[0] + * + * for i in range(shape[0]): # <<<<<<<<<<<<<< + * if ndim == 1: + * if inc: + */ + __pyx_t_1 = (__pyx_v_shape[0]); + __pyx_t_2 = __pyx_t_1; + for (__pyx_t_3 = 0; __pyx_t_3 < __pyx_t_2; __pyx_t_3+=1) { + __pyx_v_i = __pyx_t_3; + + /* "View.MemoryView":1377 + * + * for i in range(shape[0]): + * if ndim == 1: # <<<<<<<<<<<<<< + * if inc: + * Py_INCREF(( data)[0]) + */ + __pyx_t_4 = (__pyx_v_ndim == 1); + if (__pyx_t_4) { + + /* "View.MemoryView":1378 + * for i in range(shape[0]): + * if ndim == 1: + * if inc: # <<<<<<<<<<<<<< + * Py_INCREF(( data)[0]) + * else: + */ + if (__pyx_v_inc) { + + /* "View.MemoryView":1379 + * if ndim == 1: + * if inc: + * Py_INCREF(( data)[0]) # <<<<<<<<<<<<<< + * else: + * Py_DECREF(( data)[0]) + */ + Py_INCREF((((PyObject **)__pyx_v_data)[0])); + + /* "View.MemoryView":1378 + * for i in range(shape[0]): + * if ndim == 1: + * if inc: # <<<<<<<<<<<<<< + * Py_INCREF(( data)[0]) + * else: + */ + goto __pyx_L6; + } + + /* "View.MemoryView":1381 + * Py_INCREF(( data)[0]) + * else: + * Py_DECREF(( data)[0]) # <<<<<<<<<<<<<< + * else: + * refcount_objects_in_slice(data, shape + 1, strides + 1, ndim - 1, inc) + */ + /*else*/ { + Py_DECREF((((PyObject **)__pyx_v_data)[0])); + } + __pyx_L6:; + + /* "View.MemoryView":1377 + * + * for i in range(shape[0]): + * if ndim == 1: # <<<<<<<<<<<<<< + * if inc: + * Py_INCREF(( data)[0]) + */ + goto __pyx_L5; + } + + /* "View.MemoryView":1383 + * Py_DECREF(( data)[0]) + * else: + * refcount_objects_in_slice(data, shape + 1, strides + 1, ndim - 1, inc) # <<<<<<<<<<<<<< + * + * data += stride + */ + /*else*/ { + __pyx_memoryview_refcount_objects_in_slice(__pyx_v_data, (__pyx_v_shape + 1), (__pyx_v_strides + 1), (__pyx_v_ndim - 1), __pyx_v_inc); + } + __pyx_L5:; + + /* "View.MemoryView":1385 + * refcount_objects_in_slice(data, shape + 1, strides + 1, ndim - 1, inc) + * + * data += stride # <<<<<<<<<<<<<< + * + * + */ + __pyx_v_data = (__pyx_v_data + __pyx_v_stride); + } + + /* "View.MemoryView":1371 + * + * @cname('__pyx_memoryview_refcount_objects_in_slice') + * cdef void refcount_objects_in_slice(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, bint inc) noexcept: + * cdef Py_ssize_t i + */ + + /* function exit code */ +} + +/* "View.MemoryView":1391 + * + * @cname('__pyx_memoryview_slice_assign_scalar') + * cdef void slice_assign_scalar(__Pyx_memviewslice *dst, int ndim, # <<<<<<<<<<<<<< + * size_t itemsize, void *item, + * bint dtype_is_object) noexcept nogil: + */ + +static void __pyx_memoryview_slice_assign_scalar(__Pyx_memviewslice *__pyx_v_dst, int __pyx_v_ndim, size_t __pyx_v_itemsize, void *__pyx_v_item, int __pyx_v_dtype_is_object) { + + /* "View.MemoryView":1394 + * size_t itemsize, void *item, + * bint dtype_is_object) noexcept nogil: + * refcount_copying(dst, dtype_is_object, ndim, inc=False) # <<<<<<<<<<<<<< + * _slice_assign_scalar(dst.data, dst.shape, dst.strides, ndim, itemsize, item) + * refcount_copying(dst, dtype_is_object, ndim, inc=True) + */ + __pyx_memoryview_refcount_copying(__pyx_v_dst, __pyx_v_dtype_is_object, __pyx_v_ndim, 0); + + /* "View.MemoryView":1395 + * bint dtype_is_object) noexcept nogil: + * refcount_copying(dst, dtype_is_object, ndim, inc=False) + * _slice_assign_scalar(dst.data, dst.shape, dst.strides, ndim, itemsize, item) # <<<<<<<<<<<<<< + * 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__pyx_v___pyx_state); + + /* function exit code */ + { + Py_ssize_t __pyx_temp; + for (__pyx_temp=0; __pyx_temp < (Py_ssize_t)(sizeof(values)/sizeof(values[0])); ++__pyx_temp) { + __Pyx_Arg_XDECREF_FASTCALL(values[__pyx_temp]); + } + } + __Pyx_RefNannyFinishContext(); + return __pyx_r; +} + +static PyObject *__pyx_pf_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_54__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state) { + PyObject *__pyx_r = NULL; + __Pyx_RefNannyDeclarations + int __pyx_lineno = 0; + const char *__pyx_filename = NULL; + int __pyx_clineno = 0; + __Pyx_RefNannySetupContext("__setstate_cython__", 1); + + /* "(tree fragment)":4 + * raise TypeError, "no default __reduce__ due to non-trivial __cinit__" + * def __setstate_cython__(self, __pyx_state): + * raise TypeError, "no default __reduce__ due to non-trivial __cinit__" # 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CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + p = ((struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *)o); + p->model_name = ((PyObject*)Py_None); Py_INCREF(Py_None); + p->nlp_solver_type = ((PyObject*)Py_None); Py_INCREF(Py_None); + if (unlikely(__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_1__cinit__(o, a, k) < 0)) goto bad; + return o; + bad: + Py_DECREF(o); o = 0; + return NULL; +} + +#if CYTHON_USE_TP_FINALIZE +static void __pyx_tp_finalize_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython(PyObject *o) { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_51__del__(o); + PyErr_Restore(etype, eval, etb); +} +#endif + +static void __pyx_tp_dealloc_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython(PyObject *o) { + struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *p = (struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && (!PyType_IS_GC(Py_TYPE(o)) || !__Pyx_PyObject_GC_IsFinalized(o))) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + Py_CLEAR(p->model_name); + Py_CLEAR(p->nlp_solver_type); + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} + +static PyMethodDef __pyx_methods_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython[] = { + {"_AcadosOcpSolverCython__get_pointers_solver", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_3_AcadosOcpSolverCython__get_pointers_solver, __Pyx_METH_FASTCALL|METH_KEYWORDS, __pyx_doc_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_2__get_pointers_solver}, + {"solve_for_x0", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_5solve_for_x0, __Pyx_METH_FASTCALL|METH_KEYWORDS, __pyx_doc_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_4solve_for_x0}, + {"solve", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_7solve, __Pyx_METH_FASTCALL|METH_KEYWORDS, __pyx_doc_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_6solve}, + {"reset", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_9reset, __Pyx_METH_FASTCALL|METH_KEYWORDS, __pyx_doc_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_8reset}, + {"custom_update", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_11custom_update, __Pyx_METH_FASTCALL|METH_KEYWORDS, __pyx_doc_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_10custom_update}, + {"set_new_time_steps", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_13set_new_time_steps, __Pyx_METH_FASTCALL|METH_KEYWORDS, __pyx_doc_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_12set_new_time_steps}, + {"update_qp_solver_cond_N", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_15update_qp_solver_cond_N, __Pyx_METH_FASTCALL|METH_KEYWORDS, __pyx_doc_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_14update_qp_solver_cond_N}, + {"eval_param_sens", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_17eval_param_sens, __Pyx_METH_FASTCALL|METH_KEYWORDS, __pyx_doc_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_16eval_param_sens}, + {"get", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_19get, __Pyx_METH_FASTCALL|METH_KEYWORDS, __pyx_doc_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_18get}, + {"print_statistics", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_21print_statistics, __Pyx_METH_FASTCALL|METH_KEYWORDS, __pyx_doc_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_20print_statistics}, + {"store_iterate", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_23store_iterate, __Pyx_METH_FASTCALL|METH_KEYWORDS, __pyx_doc_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_22store_iterate}, + {"load_iterate", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_25load_iterate, __Pyx_METH_FASTCALL|METH_KEYWORDS, __pyx_doc_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_24load_iterate}, + {"get_stats", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_27get_stats, __Pyx_METH_FASTCALL|METH_KEYWORDS, __pyx_doc_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_26get_stats}, + {"_AcadosOcpSolverCython__get_stat_int", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_29_AcadosOcpSolverCython__get_stat_int, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"_AcadosOcpSolverCython__get_stat_double", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_31_AcadosOcpSolverCython__get_stat_double, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"_AcadosOcpSolverCython__get_stat_matrix", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_33_AcadosOcpSolverCython__get_stat_matrix, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"get_cost", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_35get_cost, __Pyx_METH_FASTCALL|METH_KEYWORDS, __pyx_doc_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_34get_cost}, + {"get_residuals", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_37get_residuals, __Pyx_METH_FASTCALL|METH_KEYWORDS, __pyx_doc_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_36get_residuals}, + {"set", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_39set, __Pyx_METH_FASTCALL|METH_KEYWORDS, __pyx_doc_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_38set}, + {"cost_set", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_41cost_set, __Pyx_METH_FASTCALL|METH_KEYWORDS, __pyx_doc_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_40cost_set}, + {"constraints_set", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_43constraints_set, __Pyx_METH_FASTCALL|METH_KEYWORDS, __pyx_doc_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_42constraints_set}, + {"get_from_qp_in", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_45get_from_qp_in, __Pyx_METH_FASTCALL|METH_KEYWORDS, __pyx_doc_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_44get_from_qp_in}, + {"options_set", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_47options_set, __Pyx_METH_FASTCALL|METH_KEYWORDS, __pyx_doc_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_46options_set}, + {"set_params_sparse", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_49set_params_sparse, __Pyx_METH_FASTCALL|METH_KEYWORDS, __pyx_doc_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_48set_params_sparse}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_53__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_15acados_template_21acados_ocp_solver_pyx_21AcadosOcpSolverCython_55__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython}, + {Py_tp_doc, (void *)PyDoc_STR("\n Class to interact with the acados ocp solver C object.\n ")}, + {Py_tp_methods, (void *)__pyx_methods_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython}, + {Py_tp_new, (void *)__pyx_tp_new_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython}, + #if PY_VERSION_HEX >= 0x030400a1 + {Py_tp_finalize, (void *)__pyx_tp_finalize_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython}, + #endif + {0, 0}, +}; +static PyType_Spec __pyx_type_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython_spec = { + "acados_template.acados_ocp_solver_pyx.AcadosOcpSolverCython", + sizeof(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_FINALIZE, + __pyx_type_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython_slots, +}; +#else + +static PyTypeObject __pyx_type_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython = { + PyVarObject_HEAD_INIT(0, 0) + "acados_template.acados_ocp_solver_pyx.""AcadosOcpSolverCython", /*tp_name*/ + sizeof(struct __pyx_obj_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + 0, /*tp_repr*/ + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_FINALIZE, /*tp_flags*/ + PyDoc_STR("\n Class to interact with the acados ocp solver C object.\n "), /*tp_doc*/ + 0, /*tp_traverse*/ + 0, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython, /*tp_methods*/ + 0, /*tp_members*/ + 0, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + __pyx_tp_finalize_15acados_template_21acados_ocp_solver_pyx_AcadosOcpSolverCython, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif +static struct __pyx_vtabstruct_array __pyx_vtable_array; + +static PyObject *__pyx_tp_new_array(PyTypeObject *t, PyObject *a, PyObject *k) { + struct __pyx_array_obj *p; + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + p = ((struct __pyx_array_obj *)o); + p->__pyx_vtab = __pyx_vtabptr_array; + p->mode = ((PyObject*)Py_None); Py_INCREF(Py_None); + p->_format = ((PyObject*)Py_None); Py_INCREF(Py_None); + if (unlikely(__pyx_array___cinit__(o, a, k) < 0)) goto bad; + return o; + bad: + Py_DECREF(o); o = 0; + return NULL; +} + +static void __pyx_tp_dealloc_array(PyObject *o) { + struct __pyx_array_obj *p = (struct __pyx_array_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && (!PyType_IS_GC(Py_TYPE(o)) || !__Pyx_PyObject_GC_IsFinalized(o))) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_array) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_array___dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + Py_CLEAR(p->mode); + Py_CLEAR(p->_format); + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} +static PyObject *__pyx_sq_item_array(PyObject *o, Py_ssize_t i) { + PyObject *r; + PyObject *x = PyInt_FromSsize_t(i); if(!x) return 0; + r = Py_TYPE(o)->tp_as_mapping->mp_subscript(o, x); + Py_DECREF(x); + return r; +} + +static int __pyx_mp_ass_subscript_array(PyObject *o, PyObject *i, PyObject *v) { + if (v) { + return __pyx_array___setitem__(o, i, v); + } + else { + __Pyx_TypeName o_type_name; + o_type_name = __Pyx_PyType_GetName(Py_TYPE(o)); + PyErr_Format(PyExc_NotImplementedError, + "Subscript deletion not supported by " __Pyx_FMT_TYPENAME, o_type_name); + __Pyx_DECREF_TypeName(o_type_name); + return -1; + } +} + +static PyObject *__pyx_tp_getattro_array(PyObject *o, PyObject *n) { + PyObject *v = __Pyx_PyObject_GenericGetAttr(o, n); + if (!v && PyErr_ExceptionMatches(PyExc_AttributeError)) { + PyErr_Clear(); + v = __pyx_array___getattr__(o, n); + } + return v; +} + +static PyObject *__pyx_getprop___pyx_array_memview(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_5array_7memview_1__get__(o); +} + +static PyMethodDef __pyx_methods_array[] = { + {"__getattr__", (PyCFunction)__pyx_array___getattr__, METH_O|METH_COEXIST, 0}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_array_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_array_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; + +static struct PyGetSetDef __pyx_getsets_array[] = { + {(char *)"memview", __pyx_getprop___pyx_array_memview, 0, (char *)0, 0}, + {0, 0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +#if !CYTHON_COMPILING_IN_LIMITED_API + +static PyBufferProcs __pyx_tp_as_buffer_array = { + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getreadbuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getwritebuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getsegcount*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getcharbuffer*/ + #endif + __pyx_array_getbuffer, /*bf_getbuffer*/ + 0, /*bf_releasebuffer*/ +}; +#endif +static PyType_Slot __pyx_type___pyx_array_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_array}, + {Py_sq_length, (void *)__pyx_array___len__}, + {Py_sq_item, (void *)__pyx_sq_item_array}, + {Py_mp_length, (void *)__pyx_array___len__}, + {Py_mp_subscript, (void *)__pyx_array___getitem__}, + {Py_mp_ass_subscript, (void *)__pyx_mp_ass_subscript_array}, + {Py_tp_getattro, (void *)__pyx_tp_getattro_array}, + #if defined(Py_bf_getbuffer) + {Py_bf_getbuffer, (void *)__pyx_array_getbuffer}, + #endif + {Py_tp_methods, (void *)__pyx_methods_array}, + {Py_tp_getset, (void *)__pyx_getsets_array}, + {Py_tp_new, (void *)__pyx_tp_new_array}, + {0, 0}, +}; +static PyType_Spec __pyx_type___pyx_array_spec = { + "acados_template.acados_ocp_solver_pyx.array", + sizeof(struct __pyx_array_obj), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_SEQUENCE, + __pyx_type___pyx_array_slots, +}; +#else + +static PySequenceMethods __pyx_tp_as_sequence_array = { + __pyx_array___len__, /*sq_length*/ + 0, /*sq_concat*/ + 0, /*sq_repeat*/ + __pyx_sq_item_array, /*sq_item*/ + 0, /*sq_slice*/ + 0, /*sq_ass_item*/ + 0, /*sq_ass_slice*/ + 0, /*sq_contains*/ + 0, /*sq_inplace_concat*/ + 0, /*sq_inplace_repeat*/ +}; + +static PyMappingMethods __pyx_tp_as_mapping_array = { + __pyx_array___len__, /*mp_length*/ + __pyx_array___getitem__, /*mp_subscript*/ + __pyx_mp_ass_subscript_array, /*mp_ass_subscript*/ +}; + +static PyBufferProcs __pyx_tp_as_buffer_array = { + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getreadbuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getwritebuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getsegcount*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getcharbuffer*/ + #endif + __pyx_array_getbuffer, /*bf_getbuffer*/ + 0, /*bf_releasebuffer*/ +}; + +static PyTypeObject __pyx_type___pyx_array = { + PyVarObject_HEAD_INIT(0, 0) + "acados_template.acados_ocp_solver_pyx.""array", /*tp_name*/ + sizeof(struct __pyx_array_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_array, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + 0, /*tp_repr*/ + 0, /*tp_as_number*/ + &__pyx_tp_as_sequence_array, /*tp_as_sequence*/ + &__pyx_tp_as_mapping_array, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + __pyx_tp_getattro_array, /*tp_getattro*/ + 0, /*tp_setattro*/ + &__pyx_tp_as_buffer_array, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_SEQUENCE, /*tp_flags*/ + 0, /*tp_doc*/ + 0, /*tp_traverse*/ + 0, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_array, /*tp_methods*/ + 0, /*tp_members*/ + __pyx_getsets_array, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_array, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif + +static PyObject *__pyx_tp_new_Enum(PyTypeObject *t, CYTHON_UNUSED PyObject *a, CYTHON_UNUSED PyObject *k) { + struct __pyx_MemviewEnum_obj *p; + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + p = ((struct __pyx_MemviewEnum_obj *)o); + p->name = Py_None; Py_INCREF(Py_None); + return o; +} + +static void __pyx_tp_dealloc_Enum(PyObject *o) { + struct __pyx_MemviewEnum_obj *p = (struct __pyx_MemviewEnum_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && !__Pyx_PyObject_GC_IsFinalized(o)) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_Enum) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + PyObject_GC_UnTrack(o); + Py_CLEAR(p->name); + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} + +static int __pyx_tp_traverse_Enum(PyObject *o, visitproc v, void *a) { + int e; + struct __pyx_MemviewEnum_obj *p = (struct __pyx_MemviewEnum_obj *)o; + if (p->name) { + e = (*v)(p->name, a); if (e) return e; + } + return 0; +} + +static int __pyx_tp_clear_Enum(PyObject *o) { + PyObject* tmp; + struct __pyx_MemviewEnum_obj *p = (struct __pyx_MemviewEnum_obj *)o; + tmp = ((PyObject*)p->name); + p->name = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + return 0; +} + +static PyObject *__pyx_specialmethod___pyx_MemviewEnum___repr__(PyObject *self, CYTHON_UNUSED PyObject *arg) { + return __pyx_MemviewEnum___repr__(self); +} + +static PyMethodDef __pyx_methods_Enum[] = { + {"__repr__", (PyCFunction)__pyx_specialmethod___pyx_MemviewEnum___repr__, METH_NOARGS|METH_COEXIST, 0}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_MemviewEnum_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_MemviewEnum_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type___pyx_MemviewEnum_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_Enum}, + {Py_tp_repr, (void *)__pyx_MemviewEnum___repr__}, + {Py_tp_traverse, (void *)__pyx_tp_traverse_Enum}, + {Py_tp_clear, (void *)__pyx_tp_clear_Enum}, + {Py_tp_methods, (void *)__pyx_methods_Enum}, + {Py_tp_init, (void *)__pyx_MemviewEnum___init__}, + {Py_tp_new, (void *)__pyx_tp_new_Enum}, + {0, 0}, +}; +static PyType_Spec __pyx_type___pyx_MemviewEnum_spec = { + "acados_template.acados_ocp_solver_pyx.Enum", + sizeof(struct __pyx_MemviewEnum_obj), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, + __pyx_type___pyx_MemviewEnum_slots, +}; +#else + +static PyTypeObject __pyx_type___pyx_MemviewEnum = { + PyVarObject_HEAD_INIT(0, 0) + "acados_template.acados_ocp_solver_pyx.""Enum", /*tp_name*/ + sizeof(struct __pyx_MemviewEnum_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_Enum, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + __pyx_MemviewEnum___repr__, /*tp_repr*/ + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, /*tp_flags*/ + 0, /*tp_doc*/ + __pyx_tp_traverse_Enum, /*tp_traverse*/ + __pyx_tp_clear_Enum, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_Enum, /*tp_methods*/ + 0, /*tp_members*/ + 0, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + __pyx_MemviewEnum___init__, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_Enum, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif +static struct __pyx_vtabstruct_memoryview __pyx_vtable_memoryview; + +static PyObject *__pyx_tp_new_memoryview(PyTypeObject *t, PyObject *a, PyObject *k) { + struct __pyx_memoryview_obj *p; + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + p = ((struct __pyx_memoryview_obj *)o); + p->__pyx_vtab = __pyx_vtabptr_memoryview; + p->obj = Py_None; Py_INCREF(Py_None); + p->_size = Py_None; Py_INCREF(Py_None); + p->_array_interface = Py_None; Py_INCREF(Py_None); + p->view.obj = NULL; + if (unlikely(__pyx_memoryview___cinit__(o, a, k) < 0)) goto bad; + return o; + bad: + Py_DECREF(o); o = 0; + return NULL; +} + +static void __pyx_tp_dealloc_memoryview(PyObject *o) { + struct __pyx_memoryview_obj *p = (struct __pyx_memoryview_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && !__Pyx_PyObject_GC_IsFinalized(o)) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_memoryview) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + PyObject_GC_UnTrack(o); + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_memoryview___dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + Py_CLEAR(p->obj); + Py_CLEAR(p->_size); + Py_CLEAR(p->_array_interface); + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} + +static int __pyx_tp_traverse_memoryview(PyObject *o, visitproc v, void *a) { + int e; + struct __pyx_memoryview_obj *p = (struct __pyx_memoryview_obj *)o; + if (p->obj) { + e = (*v)(p->obj, a); if (e) return e; + } + if (p->_size) { + e = (*v)(p->_size, a); if (e) return e; + } + if (p->_array_interface) { + e = (*v)(p->_array_interface, a); if (e) return e; + } + if (p->view.obj) { + e = (*v)(p->view.obj, a); if (e) return e; + } + return 0; +} + +static int __pyx_tp_clear_memoryview(PyObject *o) { + PyObject* tmp; + struct __pyx_memoryview_obj *p = (struct __pyx_memoryview_obj *)o; + tmp = ((PyObject*)p->obj); + p->obj = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + tmp = ((PyObject*)p->_size); + p->_size = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + tmp = ((PyObject*)p->_array_interface); + p->_array_interface = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + Py_CLEAR(p->view.obj); + return 0; +} +static PyObject *__pyx_sq_item_memoryview(PyObject *o, Py_ssize_t i) { + PyObject *r; + PyObject *x = PyInt_FromSsize_t(i); if(!x) return 0; + r = Py_TYPE(o)->tp_as_mapping->mp_subscript(o, x); + Py_DECREF(x); + return r; +} + +static int __pyx_mp_ass_subscript_memoryview(PyObject *o, PyObject *i, PyObject *v) { + if (v) { + return __pyx_memoryview___setitem__(o, i, v); + } + else { + __Pyx_TypeName o_type_name; + o_type_name = __Pyx_PyType_GetName(Py_TYPE(o)); + PyErr_Format(PyExc_NotImplementedError, + "Subscript deletion not supported by " __Pyx_FMT_TYPENAME, o_type_name); + __Pyx_DECREF_TypeName(o_type_name); + return -1; + } +} + +static PyObject *__pyx_getprop___pyx_memoryview_T(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_1T_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_base(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_4base_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_shape(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_5shape_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_strides(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_7strides_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_suboffsets(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_10suboffsets_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_ndim(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_4ndim_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_itemsize(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_8itemsize_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_nbytes(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_6nbytes_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_size(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_4size_1__get__(o); +} + +static PyObject *__pyx_specialmethod___pyx_memoryview___repr__(PyObject *self, CYTHON_UNUSED PyObject *arg) { + return __pyx_memoryview___repr__(self); +} + +static PyMethodDef __pyx_methods_memoryview[] = { + {"__repr__", (PyCFunction)__pyx_specialmethod___pyx_memoryview___repr__, METH_NOARGS|METH_COEXIST, 0}, + {"is_c_contig", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_memoryview_is_c_contig, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"is_f_contig", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_memoryview_is_f_contig, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"copy", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_memoryview_copy, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"copy_fortran", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_memoryview_copy_fortran, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_memoryview_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_memoryview_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; + +static struct PyGetSetDef __pyx_getsets_memoryview[] = { + {(char *)"T", __pyx_getprop___pyx_memoryview_T, 0, (char *)0, 0}, + {(char *)"base", __pyx_getprop___pyx_memoryview_base, 0, (char *)0, 0}, + {(char *)"shape", __pyx_getprop___pyx_memoryview_shape, 0, (char *)0, 0}, + {(char *)"strides", __pyx_getprop___pyx_memoryview_strides, 0, (char *)0, 0}, + {(char *)"suboffsets", __pyx_getprop___pyx_memoryview_suboffsets, 0, (char *)0, 0}, + {(char *)"ndim", __pyx_getprop___pyx_memoryview_ndim, 0, (char *)0, 0}, + {(char *)"itemsize", __pyx_getprop___pyx_memoryview_itemsize, 0, (char *)0, 0}, + {(char *)"nbytes", __pyx_getprop___pyx_memoryview_nbytes, 0, (char *)0, 0}, + {(char *)"size", __pyx_getprop___pyx_memoryview_size, 0, (char *)0, 0}, + {0, 0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +#if !CYTHON_COMPILING_IN_LIMITED_API + +static PyBufferProcs __pyx_tp_as_buffer_memoryview = { + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getreadbuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getwritebuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getsegcount*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getcharbuffer*/ + #endif + __pyx_memoryview_getbuffer, /*bf_getbuffer*/ + 0, /*bf_releasebuffer*/ +}; +#endif +static PyType_Slot __pyx_type___pyx_memoryview_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_memoryview}, + {Py_tp_repr, (void *)__pyx_memoryview___repr__}, + {Py_sq_length, (void *)__pyx_memoryview___len__}, + {Py_sq_item, (void *)__pyx_sq_item_memoryview}, + {Py_mp_length, (void *)__pyx_memoryview___len__}, + {Py_mp_subscript, (void *)__pyx_memoryview___getitem__}, + {Py_mp_ass_subscript, (void *)__pyx_mp_ass_subscript_memoryview}, + {Py_tp_str, (void *)__pyx_memoryview___str__}, + #if defined(Py_bf_getbuffer) + {Py_bf_getbuffer, (void *)__pyx_memoryview_getbuffer}, + #endif + {Py_tp_traverse, (void *)__pyx_tp_traverse_memoryview}, + {Py_tp_clear, (void *)__pyx_tp_clear_memoryview}, + {Py_tp_methods, (void *)__pyx_methods_memoryview}, + {Py_tp_getset, (void *)__pyx_getsets_memoryview}, + {Py_tp_new, (void *)__pyx_tp_new_memoryview}, + {0, 0}, +}; +static PyType_Spec __pyx_type___pyx_memoryview_spec = { + "acados_template.acados_ocp_solver_pyx.memoryview", + sizeof(struct __pyx_memoryview_obj), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, + __pyx_type___pyx_memoryview_slots, +}; +#else + +static PySequenceMethods __pyx_tp_as_sequence_memoryview = { + __pyx_memoryview___len__, /*sq_length*/ + 0, /*sq_concat*/ + 0, /*sq_repeat*/ + __pyx_sq_item_memoryview, /*sq_item*/ + 0, /*sq_slice*/ + 0, /*sq_ass_item*/ + 0, /*sq_ass_slice*/ + 0, /*sq_contains*/ + 0, /*sq_inplace_concat*/ + 0, /*sq_inplace_repeat*/ +}; + +static PyMappingMethods __pyx_tp_as_mapping_memoryview = { + __pyx_memoryview___len__, /*mp_length*/ + __pyx_memoryview___getitem__, /*mp_subscript*/ + __pyx_mp_ass_subscript_memoryview, /*mp_ass_subscript*/ +}; + +static PyBufferProcs __pyx_tp_as_buffer_memoryview = { + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getreadbuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getwritebuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getsegcount*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getcharbuffer*/ + #endif + __pyx_memoryview_getbuffer, /*bf_getbuffer*/ + 0, /*bf_releasebuffer*/ +}; + +static PyTypeObject __pyx_type___pyx_memoryview = { + PyVarObject_HEAD_INIT(0, 0) + "acados_template.acados_ocp_solver_pyx.""memoryview", /*tp_name*/ + sizeof(struct __pyx_memoryview_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_memoryview, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + __pyx_memoryview___repr__, /*tp_repr*/ + 0, /*tp_as_number*/ + &__pyx_tp_as_sequence_memoryview, /*tp_as_sequence*/ + &__pyx_tp_as_mapping_memoryview, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + __pyx_memoryview___str__, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + &__pyx_tp_as_buffer_memoryview, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, /*tp_flags*/ + 0, /*tp_doc*/ + __pyx_tp_traverse_memoryview, /*tp_traverse*/ + __pyx_tp_clear_memoryview, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_memoryview, /*tp_methods*/ + 0, /*tp_members*/ + __pyx_getsets_memoryview, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_memoryview, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif +static struct __pyx_vtabstruct__memoryviewslice __pyx_vtable__memoryviewslice; + +static PyObject *__pyx_tp_new__memoryviewslice(PyTypeObject *t, PyObject *a, PyObject *k) { + struct __pyx_memoryviewslice_obj *p; + PyObject *o = __pyx_tp_new_memoryview(t, a, k); + if (unlikely(!o)) return 0; + p = ((struct __pyx_memoryviewslice_obj *)o); + p->__pyx_base.__pyx_vtab = (struct __pyx_vtabstruct_memoryview*)__pyx_vtabptr__memoryviewslice; + p->from_object = Py_None; Py_INCREF(Py_None); + p->from_slice.memview = NULL; + return o; +} + +static void __pyx_tp_dealloc__memoryviewslice(PyObject *o) { + struct __pyx_memoryviewslice_obj *p = (struct __pyx_memoryviewslice_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && !__Pyx_PyObject_GC_IsFinalized(o)) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc__memoryviewslice) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + PyObject_GC_UnTrack(o); + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_memoryviewslice___dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + Py_CLEAR(p->from_object); + PyObject_GC_Track(o); + __pyx_tp_dealloc_memoryview(o); +} + +static int __pyx_tp_traverse__memoryviewslice(PyObject *o, visitproc v, void *a) { + int e; + struct __pyx_memoryviewslice_obj *p = (struct __pyx_memoryviewslice_obj *)o; + e = __pyx_tp_traverse_memoryview(o, v, a); if (e) return e; + if (p->from_object) { + e = (*v)(p->from_object, a); if (e) return e; + } + return 0; +} + +static int __pyx_tp_clear__memoryviewslice(PyObject *o) { + PyObject* tmp; + struct __pyx_memoryviewslice_obj *p = (struct __pyx_memoryviewslice_obj *)o; + __pyx_tp_clear_memoryview(o); + tmp = ((PyObject*)p->from_object); + p->from_object = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + __PYX_XCLEAR_MEMVIEW(&p->from_slice, 1); + return 0; +} + +static PyMethodDef __pyx_methods__memoryviewslice[] = { + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_memoryviewslice_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_memoryviewslice_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type___pyx_memoryviewslice_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc__memoryviewslice}, + {Py_tp_doc, (void *)PyDoc_STR("Internal class for passing memoryview slices to Python")}, + {Py_tp_traverse, (void *)__pyx_tp_traverse__memoryviewslice}, + {Py_tp_clear, (void *)__pyx_tp_clear__memoryviewslice}, + {Py_tp_methods, (void *)__pyx_methods__memoryviewslice}, + {Py_tp_new, (void *)__pyx_tp_new__memoryviewslice}, + {0, 0}, +}; +static PyType_Spec __pyx_type___pyx_memoryviewslice_spec = { + "acados_template.acados_ocp_solver_pyx._memoryviewslice", + sizeof(struct __pyx_memoryviewslice_obj), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC|Py_TPFLAGS_SEQUENCE, + __pyx_type___pyx_memoryviewslice_slots, +}; +#else + +static PyTypeObject __pyx_type___pyx_memoryviewslice = { + PyVarObject_HEAD_INIT(0, 0) + "acados_template.acados_ocp_solver_pyx.""_memoryviewslice", /*tp_name*/ + sizeof(struct __pyx_memoryviewslice_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc__memoryviewslice, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + #if CYTHON_COMPILING_IN_PYPY || 0 + __pyx_memoryview___repr__, /*tp_repr*/ + #else + 0, /*tp_repr*/ + #endif + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + #if CYTHON_COMPILING_IN_PYPY || 0 + __pyx_memoryview___str__, /*tp_str*/ + #else + 0, /*tp_str*/ + #endif + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC|Py_TPFLAGS_SEQUENCE, /*tp_flags*/ + PyDoc_STR("Internal class for passing memoryview slices to Python"), /*tp_doc*/ + __pyx_tp_traverse__memoryviewslice, /*tp_traverse*/ + __pyx_tp_clear__memoryviewslice, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods__memoryviewslice, /*tp_methods*/ + 0, /*tp_members*/ + 0, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new__memoryviewslice, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif + +static PyMethodDef __pyx_methods[] = { + {0, 0, 0, 0} +}; +#ifndef CYTHON_SMALL_CODE +#if defined(__clang__) + #define CYTHON_SMALL_CODE +#elif defined(__GNUC__) && (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 3)) + #define CYTHON_SMALL_CODE __attribute__((cold)) +#else + #define CYTHON_SMALL_CODE +#endif +#endif +/* #### Code section: pystring_table ### */ + +static int __Pyx_CreateStringTabAndInitStrings(void) { + __Pyx_StringTabEntry __pyx_string_tab[] = { + {&__pyx_kp_u_, __pyx_k_, sizeof(__pyx_k_), 0, 1, 0, 0}, + {&__pyx_kp_u_0, __pyx_k_0, sizeof(__pyx_k_0), 0, 1, 0, 0}, + {&__pyx_n_s_ASCII, __pyx_k_ASCII, sizeof(__pyx_k_ASCII), 0, 0, 1, 1}, + {&__pyx_n_s_AcadosOcpSolverCython, __pyx_k_AcadosOcpSolverCython, sizeof(__pyx_k_AcadosOcpSolverCython), 0, 0, 1, 1}, + {&__pyx_n_s_AcadosOcpSolverCython___get_poin, __pyx_k_AcadosOcpSolverCython___get_poin, sizeof(__pyx_k_AcadosOcpSolverCython___get_poin), 0, 0, 1, 1}, + {&__pyx_n_s_AcadosOcpSolverCython___get_stat, __pyx_k_AcadosOcpSolverCython___get_stat, sizeof(__pyx_k_AcadosOcpSolverCython___get_stat), 0, 0, 1, 1}, + {&__pyx_n_s_AcadosOcpSolverCython___get_stat_2, __pyx_k_AcadosOcpSolverCython___get_stat_2, sizeof(__pyx_k_AcadosOcpSolverCython___get_stat_2), 0, 0, 1, 1}, + {&__pyx_n_s_AcadosOcpSolverCython___get_stat_3, __pyx_k_AcadosOcpSolverCython___get_stat_3, sizeof(__pyx_k_AcadosOcpSolverCython___get_stat_3), 0, 0, 1, 1}, + {&__pyx_n_s_AcadosOcpSolverCython___reduce_c, __pyx_k_AcadosOcpSolverCython___reduce_c, sizeof(__pyx_k_AcadosOcpSolverCython___reduce_c), 0, 0, 1, 1}, + {&__pyx_n_s_AcadosOcpSolverCython___setstate, __pyx_k_AcadosOcpSolverCython___setstate, sizeof(__pyx_k_AcadosOcpSolverCython___setstate), 0, 0, 1, 1}, + {&__pyx_n_s_AcadosOcpSolverCython__get_poin, __pyx_k_AcadosOcpSolverCython__get_poin, sizeof(__pyx_k_AcadosOcpSolverCython__get_poin), 0, 0, 1, 1}, + {&__pyx_n_s_AcadosOcpSolverCython__get_stat, __pyx_k_AcadosOcpSolverCython__get_stat, sizeof(__pyx_k_AcadosOcpSolverCython__get_stat), 0, 0, 1, 1}, + {&__pyx_n_s_AcadosOcpSolverCython__get_stat_2, __pyx_k_AcadosOcpSolverCython__get_stat_2, sizeof(__pyx_k_AcadosOcpSolverCython__get_stat_2), 0, 0, 1, 1}, + {&__pyx_n_s_AcadosOcpSolverCython__get_stat_3, __pyx_k_AcadosOcpSolverCython__get_stat_3, sizeof(__pyx_k_AcadosOcpSolverCython__get_stat_3), 0, 0, 1, 1}, + {&__pyx_kp_u_AcadosOcpSolverCython_constraint, __pyx_k_AcadosOcpSolverCython_constraint, sizeof(__pyx_k_AcadosOcpSolverCython_constraint), 0, 1, 0, 0}, + {&__pyx_n_s_AcadosOcpSolverCython_constraint_2, __pyx_k_AcadosOcpSolverCython_constraint_2, sizeof(__pyx_k_AcadosOcpSolverCython_constraint_2), 0, 0, 1, 1}, + {&__pyx_n_s_AcadosOcpSolverCython_cost_set, __pyx_k_AcadosOcpSolverCython_cost_set, sizeof(__pyx_k_AcadosOcpSolverCython_cost_set), 0, 0, 1, 1}, + {&__pyx_kp_u_AcadosOcpSolverCython_cost_set_m, __pyx_k_AcadosOcpSolverCython_cost_set_m, sizeof(__pyx_k_AcadosOcpSolverCython_cost_set_m), 0, 1, 0, 0}, + {&__pyx_n_s_AcadosOcpSolverCython_custom_upd, 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+ #else + Py_DECREF(__pyx_m); + if (pystate_addmodule_run) { + PyObject *tp, *value, *tb; + PyErr_Fetch(&tp, &value, &tb); + PyState_RemoveModule(&__pyx_moduledef); + PyErr_Restore(tp, value, tb); + } + #endif + } else if (!PyErr_Occurred()) { + PyErr_SetString(PyExc_ImportError, "init acados_template.acados_ocp_solver_pyx"); + } + __pyx_L0:; + __Pyx_RefNannyFinishContext(); + #if CYTHON_PEP489_MULTI_PHASE_INIT + return (__pyx_m != NULL) ? 0 : -1; + #elif PY_MAJOR_VERSION >= 3 + return __pyx_m; + #else + return; + #endif +} +/* #### Code section: cleanup_globals ### */ +/* #### Code section: cleanup_module ### */ +/* #### Code section: main_method ### */ +/* #### Code section: utility_code_pragmas ### */ +#ifdef _MSC_VER +#pragma warning( push ) +/* Warning 4127: conditional expression is constant + * Cython uses constant conditional expressions to allow in inline functions to be optimized at + * compile-time, so this warning is not useful + */ +#pragma warning( disable : 4127 ) +#endif + + + +/* #### Code section: utility_code_def ### */ + +/* --- Runtime support code --- */ +/* Refnanny */ +#if CYTHON_REFNANNY +static __Pyx_RefNannyAPIStruct *__Pyx_RefNannyImportAPI(const char *modname) { + PyObject *m = NULL, *p = NULL; 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+ Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); +#endif +} +static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { +#if PY_VERSION_HEX >= 0x030C00A6 + PyObject* exc_value; + exc_value = tstate->current_exception; + tstate->current_exception = 0; + *value = exc_value; + *type = NULL; + *tb = NULL; + if (exc_value) { + *type = (PyObject*) Py_TYPE(exc_value); + Py_INCREF(*type); + #if CYTHON_COMPILING_IN_CPYTHON + *tb = ((PyBaseExceptionObject*) exc_value)->traceback; + Py_XINCREF(*tb); + #else + *tb = PyException_GetTraceback(exc_value); + #endif + } +#else + *type = tstate->curexc_type; + *value = tstate->curexc_value; + *tb = tstate->curexc_traceback; + tstate->curexc_type = 0; + tstate->curexc_value = 0; + tstate->curexc_traceback = 0; +#endif +} +#endif + +/* PyObjectGetAttrStr */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStr(PyObject* obj, PyObject* attr_name) { + PyTypeObject* tp = Py_TYPE(obj); + if (likely(tp->tp_getattro)) + return tp->tp_getattro(obj, attr_name); +#if PY_MAJOR_VERSION < 3 + if (likely(tp->tp_getattr)) + return tp->tp_getattr(obj, PyString_AS_STRING(attr_name)); +#endif + return PyObject_GetAttr(obj, attr_name); +} +#endif + +/* PyObjectGetAttrStrNoError */ +#if __PYX_LIMITED_VERSION_HEX < 0x030d00A1 +static void __Pyx_PyObject_GetAttrStr_ClearAttributeError(void) { + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + if (likely(__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) + __Pyx_PyErr_Clear(); +} +#endif +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name) { + PyObject *result; +#if __PYX_LIMITED_VERSION_HEX >= 0x030d00A1 + (void) PyObject_GetOptionalAttr(obj, attr_name, &result); + return result; +#else +#if CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_TYPE_SLOTS && PY_VERSION_HEX >= 0x030700B1 + PyTypeObject* tp = Py_TYPE(obj); + if (likely(tp->tp_getattro == PyObject_GenericGetAttr)) { + return _PyObject_GenericGetAttrWithDict(obj, attr_name, NULL, 1); + } +#endif + result = __Pyx_PyObject_GetAttrStr(obj, attr_name); + if (unlikely(!result)) { + __Pyx_PyObject_GetAttrStr_ClearAttributeError(); + } + return result; +#endif +} + +/* GetBuiltinName */ +static PyObject *__Pyx_GetBuiltinName(PyObject *name) { + PyObject* result = __Pyx_PyObject_GetAttrStrNoError(__pyx_b, name); + if (unlikely(!result) && !PyErr_Occurred()) { + PyErr_Format(PyExc_NameError, +#if PY_MAJOR_VERSION >= 3 + "name '%U' is not defined", name); +#else + "name '%.200s' is not defined", PyString_AS_STRING(name)); +#endif + } + return result; +} + +/* TupleAndListFromArray */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE void __Pyx_copy_object_array(PyObject *const *CYTHON_RESTRICT src, PyObject** CYTHON_RESTRICT dest, Py_ssize_t length) { + PyObject *v; + Py_ssize_t i; + for (i = 0; i < length; i++) { + v = dest[i] = src[i]; + Py_INCREF(v); + } +} +static CYTHON_INLINE PyObject * +__Pyx_PyTuple_FromArray(PyObject *const *src, Py_ssize_t n) +{ + PyObject *res; + if (n <= 0) { + Py_INCREF(__pyx_empty_tuple); + return __pyx_empty_tuple; + } + res = PyTuple_New(n); + if (unlikely(res == NULL)) return NULL; + __Pyx_copy_object_array(src, ((PyTupleObject*)res)->ob_item, n); + return res; +} +static CYTHON_INLINE PyObject * +__Pyx_PyList_FromArray(PyObject *const *src, Py_ssize_t n) +{ + PyObject *res; + if (n <= 0) { + return PyList_New(0); + } + res = PyList_New(n); + if (unlikely(res == NULL)) return NULL; + __Pyx_copy_object_array(src, ((PyListObject*)res)->ob_item, n); + return res; +} +#endif + +/* BytesEquals */ +static CYTHON_INLINE int __Pyx_PyBytes_Equals(PyObject* s1, PyObject* s2, int equals) { +#if CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API + return PyObject_RichCompareBool(s1, s2, equals); +#else + if (s1 == s2) { + return (equals == Py_EQ); + } else if (PyBytes_CheckExact(s1) & PyBytes_CheckExact(s2)) { + const char *ps1, *ps2; + Py_ssize_t length = PyBytes_GET_SIZE(s1); + if (length != PyBytes_GET_SIZE(s2)) + return (equals == Py_NE); + ps1 = PyBytes_AS_STRING(s1); + ps2 = PyBytes_AS_STRING(s2); + if (ps1[0] != ps2[0]) { + return (equals == Py_NE); + } else if (length == 1) { + return (equals == Py_EQ); + } else { + int result; +#if CYTHON_USE_UNICODE_INTERNALS && (PY_VERSION_HEX < 0x030B0000) + Py_hash_t hash1, hash2; + hash1 = ((PyBytesObject*)s1)->ob_shash; + hash2 = ((PyBytesObject*)s2)->ob_shash; + if (hash1 != hash2 && hash1 != -1 && hash2 != -1) { + return (equals == Py_NE); + } +#endif + result = memcmp(ps1, ps2, (size_t)length); + return (equals == Py_EQ) ? (result == 0) : (result != 0); + } + } else if ((s1 == Py_None) & PyBytes_CheckExact(s2)) { + return (equals == Py_NE); + } else if ((s2 == Py_None) & PyBytes_CheckExact(s1)) { + return (equals == Py_NE); + } else { + int result; + PyObject* py_result = PyObject_RichCompare(s1, s2, equals); + if (!py_result) + return -1; + result = __Pyx_PyObject_IsTrue(py_result); + Py_DECREF(py_result); + return result; + } +#endif +} + +/* UnicodeEquals */ +static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int equals) { +#if CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API + return PyObject_RichCompareBool(s1, s2, equals); +#else +#if PY_MAJOR_VERSION < 3 + PyObject* owned_ref = NULL; +#endif + int s1_is_unicode, s2_is_unicode; + if (s1 == s2) { + goto return_eq; + } + s1_is_unicode = PyUnicode_CheckExact(s1); + s2_is_unicode = PyUnicode_CheckExact(s2); +#if PY_MAJOR_VERSION < 3 + if ((s1_is_unicode & (!s2_is_unicode)) && PyString_CheckExact(s2)) { + owned_ref = PyUnicode_FromObject(s2); + if (unlikely(!owned_ref)) + return -1; + s2 = owned_ref; + s2_is_unicode = 1; + } else if ((s2_is_unicode & (!s1_is_unicode)) && PyString_CheckExact(s1)) { + owned_ref = PyUnicode_FromObject(s1); + if (unlikely(!owned_ref)) + return -1; + s1 = owned_ref; + s1_is_unicode = 1; + } else if (((!s2_is_unicode) & (!s1_is_unicode))) { + return __Pyx_PyBytes_Equals(s1, s2, equals); + } +#endif + if (s1_is_unicode & s2_is_unicode) { + Py_ssize_t length; + int kind; + void *data1, *data2; + if (unlikely(__Pyx_PyUnicode_READY(s1) < 0) || unlikely(__Pyx_PyUnicode_READY(s2) < 0)) + return -1; + length = __Pyx_PyUnicode_GET_LENGTH(s1); + if (length != __Pyx_PyUnicode_GET_LENGTH(s2)) { + goto return_ne; + } +#if CYTHON_USE_UNICODE_INTERNALS + { + Py_hash_t hash1, hash2; + #if CYTHON_PEP393_ENABLED + hash1 = ((PyASCIIObject*)s1)->hash; + hash2 = ((PyASCIIObject*)s2)->hash; + #else + hash1 = ((PyUnicodeObject*)s1)->hash; + hash2 = ((PyUnicodeObject*)s2)->hash; + #endif + if (hash1 != hash2 && hash1 != -1 && hash2 != -1) { + goto return_ne; + } + } +#endif + kind = __Pyx_PyUnicode_KIND(s1); + if (kind != __Pyx_PyUnicode_KIND(s2)) { + goto return_ne; + } + data1 = __Pyx_PyUnicode_DATA(s1); + data2 = __Pyx_PyUnicode_DATA(s2); + if (__Pyx_PyUnicode_READ(kind, data1, 0) != __Pyx_PyUnicode_READ(kind, data2, 0)) { + goto return_ne; + } else if (length == 1) { + goto return_eq; + } else { + int result = memcmp(data1, data2, (size_t)(length * kind)); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_EQ) ? (result == 0) : (result != 0); + } + } else if ((s1 == Py_None) & s2_is_unicode) { + goto return_ne; + } else if ((s2 == Py_None) & s1_is_unicode) { + goto return_ne; + } else { + int result; + PyObject* py_result = PyObject_RichCompare(s1, s2, equals); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + if (!py_result) + return -1; + result = __Pyx_PyObject_IsTrue(py_result); + Py_DECREF(py_result); + return result; + } +return_eq: + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_EQ); +return_ne: + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_NE); +#endif +} + +/* fastcall */ +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE PyObject * __Pyx_GetKwValue_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues, PyObject *s) +{ + Py_ssize_t i, n = PyTuple_GET_SIZE(kwnames); + for (i = 0; i < n; i++) + { + if (s == PyTuple_GET_ITEM(kwnames, i)) return kwvalues[i]; + } + for (i = 0; i < n; i++) + { + int eq = __Pyx_PyUnicode_Equals(s, PyTuple_GET_ITEM(kwnames, i), Py_EQ); + if (unlikely(eq != 0)) { + if (unlikely(eq < 0)) return NULL; + return kwvalues[i]; + } + } + return NULL; +} +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 +CYTHON_UNUSED static PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues) { + Py_ssize_t i, nkwargs = PyTuple_GET_SIZE(kwnames); + PyObject *dict; + dict = PyDict_New(); + if (unlikely(!dict)) + return NULL; + for (i=0; i= 3 + "%s() got multiple values for keyword argument '%U'", func_name, kw_name); + #else + "%s() got multiple values for keyword argument '%s'", func_name, + PyString_AsString(kw_name)); + #endif +} + +/* ParseKeywords */ +static int __Pyx_ParseOptionalKeywords( + PyObject *kwds, + PyObject *const *kwvalues, + PyObject **argnames[], + PyObject *kwds2, + PyObject *values[], + Py_ssize_t num_pos_args, + const char* function_name) +{ + PyObject *key = 0, *value = 0; + Py_ssize_t pos = 0; + PyObject*** name; + PyObject*** first_kw_arg = argnames + num_pos_args; + int kwds_is_tuple = CYTHON_METH_FASTCALL && likely(PyTuple_Check(kwds)); + while (1) { + Py_XDECREF(key); key = NULL; + Py_XDECREF(value); value = NULL; + if (kwds_is_tuple) { + Py_ssize_t size; +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(kwds); +#else + size = PyTuple_Size(kwds); + if (size < 0) goto bad; +#endif + if (pos >= size) break; +#if CYTHON_AVOID_BORROWED_REFS + key = __Pyx_PySequence_ITEM(kwds, pos); + if (!key) goto bad; +#elif CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kwds, pos); +#else + key = PyTuple_GetItem(kwds, pos); + if (!key) goto bad; +#endif + value = kwvalues[pos]; + pos++; + } + else + { + if (!PyDict_Next(kwds, &pos, &key, &value)) break; +#if CYTHON_AVOID_BORROWED_REFS + Py_INCREF(key); +#endif + } + name = first_kw_arg; + while (*name && (**name != key)) name++; + if (*name) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + Py_INCREF(value); + Py_DECREF(key); +#endif + key = NULL; + value = NULL; + continue; + } +#if !CYTHON_AVOID_BORROWED_REFS + Py_INCREF(key); +#endif + Py_INCREF(value); + name = first_kw_arg; + #if PY_MAJOR_VERSION < 3 + if (likely(PyString_Check(key))) { + while (*name) { + if ((CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**name) == PyString_GET_SIZE(key)) + && _PyString_Eq(**name, key)) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + value = NULL; +#endif + break; + } + name++; + } + if (*name) continue; + else { + PyObject*** argname = argnames; + while (argname != first_kw_arg) { + if ((**argname == key) || ( + (CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**argname) == PyString_GET_SIZE(key)) + && _PyString_Eq(**argname, key))) { + goto arg_passed_twice; + } + argname++; + } + } + } else + #endif + if (likely(PyUnicode_Check(key))) { + while (*name) { + int cmp = ( + #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 + (__Pyx_PyUnicode_GET_LENGTH(**name) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : + #endif + PyUnicode_Compare(**name, key) + ); + if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; + if (cmp == 0) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + value = NULL; +#endif + break; + } + name++; + } + if (*name) continue; + else { + PyObject*** argname = argnames; + while (argname != first_kw_arg) { + int cmp = (**argname == key) ? 0 : + #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 + (__Pyx_PyUnicode_GET_LENGTH(**argname) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : + #endif + PyUnicode_Compare(**argname, key); + if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; + if (cmp == 0) goto arg_passed_twice; + argname++; + } + } + } else + goto invalid_keyword_type; + if (kwds2) { + if (unlikely(PyDict_SetItem(kwds2, key, value))) goto bad; + } else { + goto invalid_keyword; + } + } + Py_XDECREF(key); + Py_XDECREF(value); + return 0; +arg_passed_twice: + __Pyx_RaiseDoubleKeywordsError(function_name, key); + goto bad; +invalid_keyword_type: + PyErr_Format(PyExc_TypeError, + "%.200s() keywords must be strings", function_name); + goto bad; +invalid_keyword: + #if PY_MAJOR_VERSION < 3 + PyErr_Format(PyExc_TypeError, + "%.200s() got an unexpected keyword argument '%.200s'", + function_name, PyString_AsString(key)); + #else + PyErr_Format(PyExc_TypeError, + "%s() got an unexpected keyword argument '%U'", + function_name, key); + #endif +bad: + Py_XDECREF(key); + Py_XDECREF(value); + return -1; +} + +/* ArgTypeTest */ +static int __Pyx__ArgTypeTest(PyObject *obj, PyTypeObject *type, const char *name, int exact) +{ + __Pyx_TypeName type_name; + __Pyx_TypeName obj_type_name; + if (unlikely(!type)) { + PyErr_SetString(PyExc_SystemError, "Missing type object"); + return 0; + } + else if (exact) { + #if PY_MAJOR_VERSION == 2 + if ((type == &PyBaseString_Type) && likely(__Pyx_PyBaseString_CheckExact(obj))) return 1; + #endif + } + else { + if (likely(__Pyx_TypeCheck(obj, type))) return 1; + } + type_name = __Pyx_PyType_GetName(type); + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, + "Argument '%.200s' has incorrect type (expected " __Pyx_FMT_TYPENAME + ", got " __Pyx_FMT_TYPENAME ")", name, type_name, obj_type_name); + __Pyx_DECREF_TypeName(type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return 0; +} + +/* RaiseException */ +#if PY_MAJOR_VERSION < 3 +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) { + __Pyx_PyThreadState_declare + CYTHON_UNUSED_VAR(cause); + Py_XINCREF(type); + if (!value || value == Py_None) + value = NULL; + else + Py_INCREF(value); + if (!tb || tb == Py_None) + tb = NULL; + else { + Py_INCREF(tb); + if (!PyTraceBack_Check(tb)) { + PyErr_SetString(PyExc_TypeError, + "raise: arg 3 must be a traceback or None"); + goto raise_error; + } + } + if (PyType_Check(type)) { +#if CYTHON_COMPILING_IN_PYPY + if (!value) { + Py_INCREF(Py_None); + value = Py_None; + } +#endif + PyErr_NormalizeException(&type, &value, &tb); + } else { + if (value) { + PyErr_SetString(PyExc_TypeError, + "instance exception may not have a separate value"); + goto raise_error; + } + value = type; + type = (PyObject*) Py_TYPE(type); + Py_INCREF(type); + if (!PyType_IsSubtype((PyTypeObject *)type, (PyTypeObject *)PyExc_BaseException)) { + PyErr_SetString(PyExc_TypeError, + "raise: exception class must be a subclass of BaseException"); + goto raise_error; + } + } + __Pyx_PyThreadState_assign + __Pyx_ErrRestore(type, value, tb); + return; +raise_error: + Py_XDECREF(value); + Py_XDECREF(type); + Py_XDECREF(tb); + return; +} +#else +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) { + PyObject* owned_instance = NULL; + if (tb == Py_None) { + tb = 0; + } else if (tb && !PyTraceBack_Check(tb)) { + PyErr_SetString(PyExc_TypeError, + "raise: arg 3 must be a traceback or None"); + goto bad; + } + if (value == Py_None) + value = 0; + if (PyExceptionInstance_Check(type)) { + if (value) { + PyErr_SetString(PyExc_TypeError, + "instance exception may not have a separate value"); + goto bad; + } + value = type; + type = (PyObject*) Py_TYPE(value); + } else if (PyExceptionClass_Check(type)) { + PyObject *instance_class = NULL; + if (value && PyExceptionInstance_Check(value)) { + instance_class = (PyObject*) Py_TYPE(value); + if (instance_class != type) { + int is_subclass = PyObject_IsSubclass(instance_class, type); + if (!is_subclass) { + instance_class = NULL; + } else if (unlikely(is_subclass == -1)) { + goto bad; + } else { + type = instance_class; + } + } + } + if (!instance_class) { + PyObject *args; + if (!value) + args = PyTuple_New(0); + else if (PyTuple_Check(value)) { + Py_INCREF(value); + args = value; + } else + args = PyTuple_Pack(1, value); + if (!args) + goto bad; + owned_instance = PyObject_Call(type, args, NULL); + Py_DECREF(args); + if (!owned_instance) + goto bad; + value = owned_instance; + if (!PyExceptionInstance_Check(value)) { + PyErr_Format(PyExc_TypeError, + "calling %R should have returned an instance of " + "BaseException, not %R", + type, Py_TYPE(value)); + goto bad; + } + } + } else { + PyErr_SetString(PyExc_TypeError, + "raise: exception class must be a subclass of BaseException"); + goto bad; + } + if (cause) { + PyObject *fixed_cause; + if (cause == Py_None) { + fixed_cause = NULL; + } else if (PyExceptionClass_Check(cause)) { + fixed_cause = PyObject_CallObject(cause, NULL); + if (fixed_cause == NULL) + goto bad; + } else if (PyExceptionInstance_Check(cause)) { + fixed_cause = cause; + Py_INCREF(fixed_cause); + } else { + PyErr_SetString(PyExc_TypeError, + "exception causes must derive from " + "BaseException"); + goto bad; + } + PyException_SetCause(value, fixed_cause); + } + PyErr_SetObject(type, value); + if (tb) { + #if PY_VERSION_HEX >= 0x030C00A6 + PyException_SetTraceback(value, tb); + #elif CYTHON_FAST_THREAD_STATE + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject* tmp_tb = tstate->curexc_traceback; + if (tb != tmp_tb) { + Py_INCREF(tb); + tstate->curexc_traceback = tb; + Py_XDECREF(tmp_tb); + } +#else + PyObject *tmp_type, *tmp_value, *tmp_tb; + PyErr_Fetch(&tmp_type, &tmp_value, &tmp_tb); + Py_INCREF(tb); + PyErr_Restore(tmp_type, tmp_value, tb); + Py_XDECREF(tmp_tb); +#endif + } +bad: + Py_XDECREF(owned_instance); + return; +} +#endif + +/* PyFunctionFastCall */ +#if CYTHON_FAST_PYCALL && !CYTHON_VECTORCALL +static PyObject* __Pyx_PyFunction_FastCallNoKw(PyCodeObject *co, PyObject **args, Py_ssize_t na, + PyObject *globals) { + PyFrameObject *f; + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject **fastlocals; + Py_ssize_t i; + PyObject *result; + assert(globals != NULL); + /* XXX Perhaps we should create a specialized + PyFrame_New() that doesn't take locals, but does + take builtins without sanity checking them. + */ + assert(tstate != NULL); + f = PyFrame_New(tstate, co, globals, NULL); + if (f == NULL) { + return NULL; + } + fastlocals = __Pyx_PyFrame_GetLocalsplus(f); + for (i = 0; i < na; i++) { + Py_INCREF(*args); + fastlocals[i] = *args++; + } + result = PyEval_EvalFrameEx(f,0); + ++tstate->recursion_depth; + Py_DECREF(f); + --tstate->recursion_depth; + return result; +} +static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs) { + PyCodeObject *co = (PyCodeObject *)PyFunction_GET_CODE(func); + PyObject *globals = PyFunction_GET_GLOBALS(func); + PyObject *argdefs = PyFunction_GET_DEFAULTS(func); + PyObject *closure; +#if PY_MAJOR_VERSION >= 3 + PyObject *kwdefs; +#endif + PyObject *kwtuple, **k; + PyObject **d; + Py_ssize_t nd; + Py_ssize_t nk; + PyObject *result; + assert(kwargs == NULL || PyDict_Check(kwargs)); + nk = kwargs ? PyDict_Size(kwargs) : 0; + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) { + return NULL; + } + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) { + return NULL; + } + #endif + if ( +#if PY_MAJOR_VERSION >= 3 + co->co_kwonlyargcount == 0 && +#endif + likely(kwargs == NULL || nk == 0) && + co->co_flags == (CO_OPTIMIZED | CO_NEWLOCALS | CO_NOFREE)) { + if (argdefs == NULL && co->co_argcount == nargs) { + result = __Pyx_PyFunction_FastCallNoKw(co, args, nargs, globals); + goto done; + } + else if (nargs == 0 && argdefs != NULL + && co->co_argcount == Py_SIZE(argdefs)) { + /* function called with no arguments, but all parameters have + a default value: use default values as arguments .*/ + args = &PyTuple_GET_ITEM(argdefs, 0); + result =__Pyx_PyFunction_FastCallNoKw(co, args, Py_SIZE(argdefs), globals); + goto done; + } + } + if (kwargs != NULL) { + Py_ssize_t pos, i; + kwtuple = PyTuple_New(2 * nk); + if (kwtuple == NULL) { + result = NULL; + goto done; + } + k = &PyTuple_GET_ITEM(kwtuple, 0); + pos = i = 0; + while (PyDict_Next(kwargs, &pos, &k[i], &k[i+1])) { + Py_INCREF(k[i]); + Py_INCREF(k[i+1]); + i += 2; + } + nk = i / 2; + } + else { + kwtuple = NULL; + k = NULL; + } + closure = PyFunction_GET_CLOSURE(func); +#if PY_MAJOR_VERSION >= 3 + kwdefs = PyFunction_GET_KW_DEFAULTS(func); +#endif + if (argdefs != NULL) { + d = &PyTuple_GET_ITEM(argdefs, 0); + nd = Py_SIZE(argdefs); + } + else { + d = NULL; + nd = 0; + } +#if PY_MAJOR_VERSION >= 3 + result = PyEval_EvalCodeEx((PyObject*)co, globals, (PyObject *)NULL, + args, (int)nargs, + k, (int)nk, + d, (int)nd, kwdefs, closure); +#else + result = PyEval_EvalCodeEx(co, globals, (PyObject *)NULL, + args, (int)nargs, + k, (int)nk, + d, (int)nd, closure); +#endif + Py_XDECREF(kwtuple); +done: + Py_LeaveRecursiveCall(); + return result; +} +#endif + +/* PyObjectCall */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw) { + PyObject *result; + ternaryfunc call = Py_TYPE(func)->tp_call; + if (unlikely(!call)) + return PyObject_Call(func, arg, kw); + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) + return NULL; + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) + return NULL; + #endif + result = (*call)(func, arg, kw); + Py_LeaveRecursiveCall(); + if (unlikely(!result) && unlikely(!PyErr_Occurred())) { + PyErr_SetString( + PyExc_SystemError, + "NULL result without error in PyObject_Call"); + } + return result; +} +#endif + +/* PyObjectCallMethO */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg) { + PyObject *self, *result; + PyCFunction cfunc; + cfunc = __Pyx_CyOrPyCFunction_GET_FUNCTION(func); + self = __Pyx_CyOrPyCFunction_GET_SELF(func); + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) + return NULL; + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) + return NULL; + #endif + result = cfunc(self, arg); + Py_LeaveRecursiveCall(); + if (unlikely(!result) && unlikely(!PyErr_Occurred())) { + PyErr_SetString( + PyExc_SystemError, + "NULL result without error in PyObject_Call"); + } + return result; +} +#endif + +/* PyObjectFastCall */ +#if PY_VERSION_HEX < 0x03090000 || CYTHON_COMPILING_IN_LIMITED_API +static PyObject* __Pyx_PyObject_FastCall_fallback(PyObject *func, PyObject **args, size_t nargs, PyObject *kwargs) { + PyObject *argstuple; + PyObject *result = 0; + size_t i; + argstuple = PyTuple_New((Py_ssize_t)nargs); + if (unlikely(!argstuple)) return NULL; + for (i = 0; i < nargs; i++) { + Py_INCREF(args[i]); + if (__Pyx_PyTuple_SET_ITEM(argstuple, (Py_ssize_t)i, args[i]) < 0) goto bad; + } + result = __Pyx_PyObject_Call(func, argstuple, kwargs); + bad: + Py_DECREF(argstuple); + return result; +} +#endif +static CYTHON_INLINE PyObject* __Pyx_PyObject_FastCallDict(PyObject *func, PyObject **args, size_t _nargs, PyObject *kwargs) { + Py_ssize_t nargs = __Pyx_PyVectorcall_NARGS(_nargs); +#if CYTHON_COMPILING_IN_CPYTHON + if (nargs == 0 && kwargs == NULL) { + if (__Pyx_CyOrPyCFunction_Check(func) && likely( __Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_NOARGS)) + return __Pyx_PyObject_CallMethO(func, NULL); + } + else if (nargs == 1 && kwargs == NULL) { + if (__Pyx_CyOrPyCFunction_Check(func) && likely( __Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_O)) + return __Pyx_PyObject_CallMethO(func, args[0]); + } +#endif + #if PY_VERSION_HEX < 0x030800B1 + #if CYTHON_FAST_PYCCALL + if (PyCFunction_Check(func)) { + if (kwargs) { + return _PyCFunction_FastCallDict(func, args, nargs, kwargs); + } else { + return _PyCFunction_FastCallKeywords(func, args, nargs, NULL); + } + } + #if PY_VERSION_HEX >= 0x030700A1 + if (!kwargs && __Pyx_IS_TYPE(func, &PyMethodDescr_Type)) { + return _PyMethodDescr_FastCallKeywords(func, args, nargs, NULL); + } + #endif + #endif + #if CYTHON_FAST_PYCALL + if (PyFunction_Check(func)) { + return __Pyx_PyFunction_FastCallDict(func, args, nargs, kwargs); + } + #endif + #endif + if (kwargs == NULL) { + #if CYTHON_VECTORCALL + #if PY_VERSION_HEX < 0x03090000 + vectorcallfunc f = _PyVectorcall_Function(func); + #else + vectorcallfunc f = PyVectorcall_Function(func); + #endif + if (f) { + return f(func, args, (size_t)nargs, NULL); + } + #elif defined(__Pyx_CyFunction_USED) && CYTHON_BACKPORT_VECTORCALL + if (__Pyx_CyFunction_CheckExact(func)) { + __pyx_vectorcallfunc f = __Pyx_CyFunction_func_vectorcall(func); + if (f) return f(func, args, (size_t)nargs, NULL); + } + #endif + } + if (nargs == 0) { + return __Pyx_PyObject_Call(func, __pyx_empty_tuple, kwargs); + } + #if PY_VERSION_HEX >= 0x03090000 && !CYTHON_COMPILING_IN_LIMITED_API + return PyObject_VectorcallDict(func, args, (size_t)nargs, kwargs); + #else + return __Pyx_PyObject_FastCall_fallback(func, args, (size_t)nargs, kwargs); + #endif +} + +/* RaiseUnexpectedTypeError */ +static int +__Pyx_RaiseUnexpectedTypeError(const char *expected, PyObject *obj) +{ + __Pyx_TypeName obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, "Expected %s, got " __Pyx_FMT_TYPENAME, + expected, obj_type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return 0; +} + +/* CIntToDigits */ +static const char DIGIT_PAIRS_10[2*10*10+1] = { + "00010203040506070809" + "10111213141516171819" + "20212223242526272829" + "30313233343536373839" + "40414243444546474849" + "50515253545556575859" + "60616263646566676869" + "70717273747576777879" + "80818283848586878889" + "90919293949596979899" +}; +static const char DIGIT_PAIRS_8[2*8*8+1] = { + "0001020304050607" + "1011121314151617" + "2021222324252627" + "3031323334353637" + "4041424344454647" + "5051525354555657" + "6061626364656667" + "7071727374757677" +}; +static const char DIGITS_HEX[2*16+1] = { + "0123456789abcdef" + "0123456789ABCDEF" +}; + +/* BuildPyUnicode */ +static PyObject* __Pyx_PyUnicode_BuildFromAscii(Py_ssize_t ulength, char* chars, int clength, + int prepend_sign, char padding_char) { + PyObject *uval; + Py_ssize_t uoffset = ulength - clength; +#if CYTHON_USE_UNICODE_INTERNALS + Py_ssize_t i; +#if CYTHON_PEP393_ENABLED + void *udata; + uval = PyUnicode_New(ulength, 127); + if (unlikely(!uval)) return NULL; + udata = PyUnicode_DATA(uval); +#else + Py_UNICODE *udata; + uval = PyUnicode_FromUnicode(NULL, ulength); + if (unlikely(!uval)) return NULL; + udata = PyUnicode_AS_UNICODE(uval); +#endif + if (uoffset > 0) { + i = 0; + if (prepend_sign) { + __Pyx_PyUnicode_WRITE(PyUnicode_1BYTE_KIND, udata, 0, '-'); + i++; + } + for (; i < uoffset; i++) { + __Pyx_PyUnicode_WRITE(PyUnicode_1BYTE_KIND, udata, i, padding_char); + } + } + for (i=0; i < clength; i++) { + __Pyx_PyUnicode_WRITE(PyUnicode_1BYTE_KIND, udata, uoffset+i, chars[i]); + } +#else + { + PyObject *sign = NULL, *padding = NULL; + uval = NULL; + if (uoffset > 0) { + prepend_sign = !!prepend_sign; + if (uoffset > prepend_sign) { + padding = PyUnicode_FromOrdinal(padding_char); + if (likely(padding) && uoffset > prepend_sign + 1) { + PyObject *tmp; + PyObject *repeat = PyInt_FromSsize_t(uoffset - prepend_sign); + if (unlikely(!repeat)) goto done_or_error; + tmp = PyNumber_Multiply(padding, repeat); + Py_DECREF(repeat); + Py_DECREF(padding); + padding = tmp; + } + if (unlikely(!padding)) goto done_or_error; + } + if (prepend_sign) { + sign = PyUnicode_FromOrdinal('-'); + if (unlikely(!sign)) goto done_or_error; + } + } + uval = PyUnicode_DecodeASCII(chars, clength, NULL); + if (likely(uval) && padding) { + PyObject *tmp = PyNumber_Add(padding, uval); + Py_DECREF(uval); + uval = tmp; + } + if (likely(uval) && sign) { + PyObject *tmp = PyNumber_Add(sign, uval); + Py_DECREF(uval); + uval = tmp; + } +done_or_error: + Py_XDECREF(padding); + Py_XDECREF(sign); + } +#endif + return uval; +} + +/* CIntToPyUnicode */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_int(int value, Py_ssize_t width, char padding_char, char format_char) { + char digits[sizeof(int)*3+2]; + char *dpos, *end = digits + sizeof(int)*3+2; + const char *hex_digits = DIGITS_HEX; + Py_ssize_t length, ulength; + int prepend_sign, last_one_off; + int remaining; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (format_char == 'X') { + hex_digits += 16; + format_char = 'x'; + } + remaining = value; + last_one_off = 0; + dpos = end; + do { + int digit_pos; + switch (format_char) { + case 'o': + digit_pos = abs((int)(remaining % (8*8))); + remaining = (int) (remaining / (8*8)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_8 + digit_pos * 2, 2); + last_one_off = (digit_pos < 8); + break; + case 'd': + digit_pos = abs((int)(remaining % (10*10))); + remaining = (int) (remaining / (10*10)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_10 + digit_pos * 2, 2); + last_one_off = (digit_pos < 10); + break; + case 'x': + *(--dpos) = hex_digits[abs((int)(remaining % 16))]; + remaining = (int) (remaining / 16); + break; + default: + assert(0); + break; + } + } while (unlikely(remaining != 0)); + assert(!last_one_off || *dpos == '0'); + dpos += last_one_off; + length = end - dpos; + ulength = length; + prepend_sign = 0; + if (!is_unsigned && value <= neg_one) { + if (padding_char == ' ' || width <= length + 1) { + *(--dpos) = '-'; + ++length; + } else { + prepend_sign = 1; + } + ++ulength; + } + if (width > ulength) { + ulength = width; + } + if (ulength == 1) { + return PyUnicode_FromOrdinal(*dpos); + } + return __Pyx_PyUnicode_BuildFromAscii(ulength, dpos, (int) length, prepend_sign, padding_char); +} + +/* CIntToPyUnicode */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_Py_ssize_t(Py_ssize_t value, Py_ssize_t width, char padding_char, char format_char) { + char digits[sizeof(Py_ssize_t)*3+2]; + char *dpos, *end = digits + sizeof(Py_ssize_t)*3+2; + const char *hex_digits = DIGITS_HEX; + Py_ssize_t length, ulength; + int prepend_sign, last_one_off; + Py_ssize_t remaining; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const Py_ssize_t neg_one = (Py_ssize_t) -1, const_zero = (Py_ssize_t) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (format_char == 'X') { + hex_digits += 16; + format_char = 'x'; + } + remaining = value; + last_one_off = 0; + dpos = end; + do { + int digit_pos; + switch (format_char) { + case 'o': + digit_pos = abs((int)(remaining % (8*8))); + remaining = (Py_ssize_t) (remaining / (8*8)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_8 + digit_pos * 2, 2); + last_one_off = (digit_pos < 8); + break; + case 'd': + digit_pos = abs((int)(remaining % (10*10))); + remaining = (Py_ssize_t) (remaining / (10*10)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_10 + digit_pos * 2, 2); + last_one_off = (digit_pos < 10); + break; + case 'x': + *(--dpos) = hex_digits[abs((int)(remaining % 16))]; + remaining = (Py_ssize_t) (remaining / 16); + break; + default: + assert(0); + break; + } + } while (unlikely(remaining != 0)); + assert(!last_one_off || *dpos == '0'); + dpos += last_one_off; + length = end - dpos; + ulength = length; + prepend_sign = 0; + if (!is_unsigned && value <= neg_one) { + if (padding_char == ' ' || width <= length + 1) { + *(--dpos) = '-'; + ++length; + } else { + prepend_sign = 1; + } + ++ulength; + } + if (width > ulength) { + ulength = width; + } + if (ulength == 1) { + return PyUnicode_FromOrdinal(*dpos); + } + return __Pyx_PyUnicode_BuildFromAscii(ulength, dpos, (int) length, prepend_sign, padding_char); +} + +/* JoinPyUnicode */ +static PyObject* __Pyx_PyUnicode_Join(PyObject* value_tuple, Py_ssize_t value_count, Py_ssize_t result_ulength, + Py_UCS4 max_char) { +#if CYTHON_USE_UNICODE_INTERNALS && CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + PyObject *result_uval; + int result_ukind, kind_shift; + Py_ssize_t i, char_pos; + void *result_udata; + CYTHON_MAYBE_UNUSED_VAR(max_char); +#if CYTHON_PEP393_ENABLED + result_uval = PyUnicode_New(result_ulength, max_char); + if (unlikely(!result_uval)) return NULL; + result_ukind = (max_char <= 255) ? PyUnicode_1BYTE_KIND : (max_char <= 65535) ? PyUnicode_2BYTE_KIND : PyUnicode_4BYTE_KIND; + kind_shift = (result_ukind == PyUnicode_4BYTE_KIND) ? 2 : result_ukind - 1; + result_udata = PyUnicode_DATA(result_uval); +#else + result_uval = PyUnicode_FromUnicode(NULL, result_ulength); + if (unlikely(!result_uval)) return NULL; + result_ukind = sizeof(Py_UNICODE); + kind_shift = (result_ukind == 4) ? 2 : result_ukind - 1; + result_udata = PyUnicode_AS_UNICODE(result_uval); +#endif + assert(kind_shift == 2 || kind_shift == 1 || kind_shift == 0); + char_pos = 0; + for (i=0; i < value_count; i++) { + int ukind; + Py_ssize_t ulength; + void *udata; + PyObject *uval = PyTuple_GET_ITEM(value_tuple, i); + if (unlikely(__Pyx_PyUnicode_READY(uval))) + goto bad; + ulength = __Pyx_PyUnicode_GET_LENGTH(uval); + if (unlikely(!ulength)) + continue; + if (unlikely((PY_SSIZE_T_MAX >> kind_shift) - ulength < char_pos)) + goto overflow; + ukind = __Pyx_PyUnicode_KIND(uval); + udata = __Pyx_PyUnicode_DATA(uval); + if (!CYTHON_PEP393_ENABLED || ukind == result_ukind) { + memcpy((char *)result_udata + (char_pos << kind_shift), udata, (size_t) (ulength << kind_shift)); + } else { + #if PY_VERSION_HEX >= 0x030d0000 + if (unlikely(PyUnicode_CopyCharacters(result_uval, char_pos, uval, 0, ulength) < 0)) goto bad; + #elif CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030300F0 || defined(_PyUnicode_FastCopyCharacters) + _PyUnicode_FastCopyCharacters(result_uval, char_pos, uval, 0, ulength); + #else + Py_ssize_t j; + for (j=0; j < ulength; j++) { + Py_UCS4 uchar = __Pyx_PyUnicode_READ(ukind, udata, j); + __Pyx_PyUnicode_WRITE(result_ukind, result_udata, char_pos+j, uchar); + } + #endif + } + char_pos += ulength; + } + return result_uval; +overflow: + PyErr_SetString(PyExc_OverflowError, "join() result is too long for a Python string"); +bad: + Py_DECREF(result_uval); + return NULL; +#else + CYTHON_UNUSED_VAR(max_char); + CYTHON_UNUSED_VAR(result_ulength); + CYTHON_UNUSED_VAR(value_count); + return PyUnicode_Join(__pyx_empty_unicode, value_tuple); +#endif +} + +/* GetAttr */ +static CYTHON_INLINE PyObject *__Pyx_GetAttr(PyObject *o, PyObject *n) { +#if CYTHON_USE_TYPE_SLOTS +#if PY_MAJOR_VERSION >= 3 + if (likely(PyUnicode_Check(n))) +#else + if (likely(PyString_Check(n))) +#endif + return __Pyx_PyObject_GetAttrStr(o, n); +#endif + return PyObject_GetAttr(o, n); +} + +/* GetItemInt */ +static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j) { + PyObject *r; + if (unlikely(!j)) return NULL; + r = PyObject_GetItem(o, j); + Py_DECREF(j); + return r; +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + Py_ssize_t wrapped_i = i; + if (wraparound & unlikely(i < 0)) { + wrapped_i += PyList_GET_SIZE(o); + } + if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyList_GET_SIZE(o)))) { + PyObject *r = PyList_GET_ITEM(o, wrapped_i); + Py_INCREF(r); + return r; + } + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +#else + return PySequence_GetItem(o, i); +#endif +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + Py_ssize_t wrapped_i = i; + if (wraparound & unlikely(i < 0)) { + wrapped_i += PyTuple_GET_SIZE(o); + } + if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyTuple_GET_SIZE(o)))) { + PyObject *r = PyTuple_GET_ITEM(o, wrapped_i); + Py_INCREF(r); + return r; + } + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +#else + return PySequence_GetItem(o, i); +#endif +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, int is_list, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS && CYTHON_USE_TYPE_SLOTS + if (is_list || PyList_CheckExact(o)) { + Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyList_GET_SIZE(o); + if ((!boundscheck) || (likely(__Pyx_is_valid_index(n, PyList_GET_SIZE(o))))) { + PyObject *r = PyList_GET_ITEM(o, n); + Py_INCREF(r); + return r; + } + } + else if (PyTuple_CheckExact(o)) { + Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyTuple_GET_SIZE(o); + if ((!boundscheck) || likely(__Pyx_is_valid_index(n, PyTuple_GET_SIZE(o)))) { + PyObject *r = PyTuple_GET_ITEM(o, n); + Py_INCREF(r); + return r; + } + } else { + PyMappingMethods *mm = Py_TYPE(o)->tp_as_mapping; + PySequenceMethods *sm = Py_TYPE(o)->tp_as_sequence; + if (mm && mm->mp_subscript) { + PyObject *r, *key = PyInt_FromSsize_t(i); + if (unlikely(!key)) return NULL; + r = mm->mp_subscript(o, key); + Py_DECREF(key); + return r; + } + if (likely(sm && sm->sq_item)) { + if (wraparound && unlikely(i < 0) && likely(sm->sq_length)) { + Py_ssize_t l = sm->sq_length(o); + if (likely(l >= 0)) { + i += l; + } else { + if (!PyErr_ExceptionMatches(PyExc_OverflowError)) + return NULL; + PyErr_Clear(); + } + } + return sm->sq_item(o, i); + } + } +#else + if (is_list || !PyMapping_Check(o)) { + return PySequence_GetItem(o, i); + } +#endif + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +} + +/* PyObjectCallOneArg */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg) { + PyObject *args[2] = {NULL, arg}; + return __Pyx_PyObject_FastCall(func, args+1, 1 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET); +} + +/* ObjectGetItem */ +#if CYTHON_USE_TYPE_SLOTS +static PyObject *__Pyx_PyObject_GetIndex(PyObject *obj, PyObject *index) { + PyObject *runerr = NULL; + Py_ssize_t key_value; + key_value = __Pyx_PyIndex_AsSsize_t(index); + if (likely(key_value != -1 || !(runerr = PyErr_Occurred()))) { + return __Pyx_GetItemInt_Fast(obj, key_value, 0, 1, 1); + } + if (PyErr_GivenExceptionMatches(runerr, PyExc_OverflowError)) { + __Pyx_TypeName index_type_name = __Pyx_PyType_GetName(Py_TYPE(index)); + PyErr_Clear(); + PyErr_Format(PyExc_IndexError, + "cannot fit '" __Pyx_FMT_TYPENAME "' into an index-sized integer", index_type_name); + __Pyx_DECREF_TypeName(index_type_name); + } + return NULL; +} +static PyObject *__Pyx_PyObject_GetItem_Slow(PyObject *obj, PyObject *key) { + __Pyx_TypeName obj_type_name; + if (likely(PyType_Check(obj))) { + PyObject *meth = __Pyx_PyObject_GetAttrStrNoError(obj, __pyx_n_s_class_getitem); + if (!meth) { + PyErr_Clear(); + } else { + PyObject *result = __Pyx_PyObject_CallOneArg(meth, key); + Py_DECREF(meth); + return result; + } + } + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, + "'" __Pyx_FMT_TYPENAME "' object is not subscriptable", obj_type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return NULL; +} +static PyObject *__Pyx_PyObject_GetItem(PyObject *obj, PyObject *key) { + PyTypeObject *tp = Py_TYPE(obj); + PyMappingMethods *mm = tp->tp_as_mapping; + PySequenceMethods *sm = tp->tp_as_sequence; + if (likely(mm && mm->mp_subscript)) { + return mm->mp_subscript(obj, key); + } + if (likely(sm && sm->sq_item)) { + return __Pyx_PyObject_GetIndex(obj, key); + } + return __Pyx_PyObject_GetItem_Slow(obj, key); +} +#endif + +/* KeywordStringCheck */ +static int __Pyx_CheckKeywordStrings( + PyObject *kw, + const char* function_name, + int kw_allowed) +{ + PyObject* key = 0; + Py_ssize_t pos = 0; +#if CYTHON_COMPILING_IN_PYPY + if (!kw_allowed && PyDict_Next(kw, &pos, &key, 0)) + goto invalid_keyword; + return 1; +#else + if (CYTHON_METH_FASTCALL && likely(PyTuple_Check(kw))) { + Py_ssize_t kwsize; +#if CYTHON_ASSUME_SAFE_MACROS + kwsize = PyTuple_GET_SIZE(kw); +#else + kwsize = PyTuple_Size(kw); + if (kwsize < 0) return 0; +#endif + if (unlikely(kwsize == 0)) + return 1; + if (!kw_allowed) { +#if CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kw, 0); +#else + key = PyTuple_GetItem(kw, pos); + if (!key) return 0; +#endif + goto invalid_keyword; + } +#if PY_VERSION_HEX < 0x03090000 + for (pos = 0; pos < kwsize; pos++) { +#if CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kw, pos); +#else + key = PyTuple_GetItem(kw, pos); + if (!key) return 0; +#endif + if (unlikely(!PyUnicode_Check(key))) + goto invalid_keyword_type; + } +#endif + return 1; + } + while (PyDict_Next(kw, &pos, &key, 0)) { + #if PY_MAJOR_VERSION < 3 + if (unlikely(!PyString_Check(key))) + #endif + if (unlikely(!PyUnicode_Check(key))) + goto invalid_keyword_type; + } + if (!kw_allowed && unlikely(key)) + goto invalid_keyword; + return 1; +invalid_keyword_type: + PyErr_Format(PyExc_TypeError, + "%.200s() keywords must be strings", function_name); + return 0; +#endif +invalid_keyword: + #if PY_MAJOR_VERSION < 3 + PyErr_Format(PyExc_TypeError, + "%.200s() got an unexpected keyword argument '%.200s'", + function_name, PyString_AsString(key)); + #else + PyErr_Format(PyExc_TypeError, + "%s() got an unexpected keyword argument '%U'", + function_name, key); + #endif + return 0; +} + +/* DivInt[Py_ssize_t] */ +static CYTHON_INLINE Py_ssize_t __Pyx_div_Py_ssize_t(Py_ssize_t a, Py_ssize_t b) { + Py_ssize_t q = a / b; + Py_ssize_t r = a - q*b; + q -= ((r != 0) & ((r ^ b) < 0)); + return q; +} + +/* GetAttr3 */ +#if __PYX_LIMITED_VERSION_HEX < 0x030d00A1 +static PyObject *__Pyx_GetAttr3Default(PyObject *d) { + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + if (unlikely(!__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) + return NULL; + __Pyx_PyErr_Clear(); + Py_INCREF(d); + return d; +} +#endif +static CYTHON_INLINE PyObject *__Pyx_GetAttr3(PyObject *o, PyObject *n, PyObject *d) { + PyObject *r; +#if __PYX_LIMITED_VERSION_HEX >= 0x030d00A1 + int res = PyObject_GetOptionalAttr(o, n, &r); + return (res != 0) ? r : __Pyx_NewRef(d); +#else + #if CYTHON_USE_TYPE_SLOTS + if (likely(PyString_Check(n))) { + r = __Pyx_PyObject_GetAttrStrNoError(o, n); + if (unlikely(!r) && likely(!PyErr_Occurred())) { + r = __Pyx_NewRef(d); + } + return r; + } + #endif + r = PyObject_GetAttr(o, n); + return (likely(r)) ? r : __Pyx_GetAttr3Default(d); +#endif +} + +/* PyDictVersioning */ +#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj) { + PyObject *dict = Py_TYPE(obj)->tp_dict; + return likely(dict) ? __PYX_GET_DICT_VERSION(dict) : 0; +} +static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj) { + PyObject **dictptr = NULL; + Py_ssize_t offset = Py_TYPE(obj)->tp_dictoffset; + if (offset) { +#if CYTHON_COMPILING_IN_CPYTHON + dictptr = (likely(offset > 0)) ? (PyObject **) ((char *)obj + offset) : _PyObject_GetDictPtr(obj); +#else + dictptr = _PyObject_GetDictPtr(obj); +#endif + } + return (dictptr && *dictptr) ? __PYX_GET_DICT_VERSION(*dictptr) : 0; +} +static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version) { + PyObject *dict = Py_TYPE(obj)->tp_dict; + if (unlikely(!dict) || unlikely(tp_dict_version != __PYX_GET_DICT_VERSION(dict))) + return 0; + return obj_dict_version == __Pyx_get_object_dict_version(obj); +} +#endif + +/* GetModuleGlobalName */ +#if CYTHON_USE_DICT_VERSIONS +static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value) +#else +static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name) +#endif +{ + PyObject *result; +#if !CYTHON_AVOID_BORROWED_REFS +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030500A1 && PY_VERSION_HEX < 0x030d0000 + result = _PyDict_GetItem_KnownHash(__pyx_d, name, ((PyASCIIObject *) name)->hash); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } else if (unlikely(PyErr_Occurred())) { + return NULL; + } +#elif CYTHON_COMPILING_IN_LIMITED_API + if (unlikely(!__pyx_m)) { + return NULL; + } + result = PyObject_GetAttr(__pyx_m, name); + if (likely(result)) { + return result; + } +#else + result = PyDict_GetItem(__pyx_d, name); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } +#endif +#else + result = PyObject_GetItem(__pyx_d, name); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } + PyErr_Clear(); +#endif + return __Pyx_GetBuiltinName(name); +} + +/* RaiseTooManyValuesToUnpack */ +static CYTHON_INLINE void __Pyx_RaiseTooManyValuesError(Py_ssize_t expected) { + PyErr_Format(PyExc_ValueError, + "too many values to unpack (expected %" CYTHON_FORMAT_SSIZE_T "d)", expected); +} + +/* RaiseNeedMoreValuesToUnpack */ +static CYTHON_INLINE void __Pyx_RaiseNeedMoreValuesError(Py_ssize_t index) { + PyErr_Format(PyExc_ValueError, + "need more than %" CYTHON_FORMAT_SSIZE_T "d value%.1s to unpack", + index, (index == 1) ? "" : "s"); +} + +/* RaiseNoneIterError */ +static CYTHON_INLINE void __Pyx_RaiseNoneNotIterableError(void) { + PyErr_SetString(PyExc_TypeError, "'NoneType' object is not iterable"); +} + +/* ExtTypeTest */ +static CYTHON_INLINE int __Pyx_TypeTest(PyObject *obj, PyTypeObject *type) { + __Pyx_TypeName obj_type_name; + __Pyx_TypeName type_name; + if (unlikely(!type)) { + PyErr_SetString(PyExc_SystemError, "Missing type object"); + return 0; + } + if (likely(__Pyx_TypeCheck(obj, type))) + return 1; + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + type_name = __Pyx_PyType_GetName(type); + PyErr_Format(PyExc_TypeError, + "Cannot convert " __Pyx_FMT_TYPENAME " to " __Pyx_FMT_TYPENAME, + obj_type_name, type_name); + __Pyx_DECREF_TypeName(obj_type_name); + __Pyx_DECREF_TypeName(type_name); + return 0; +} + +/* GetTopmostException */ +#if CYTHON_USE_EXC_INFO_STACK && CYTHON_FAST_THREAD_STATE +static _PyErr_StackItem * +__Pyx_PyErr_GetTopmostException(PyThreadState *tstate) +{ + _PyErr_StackItem *exc_info = tstate->exc_info; + while ((exc_info->exc_value == NULL || exc_info->exc_value == Py_None) && + exc_info->previous_item != NULL) + { + exc_info = exc_info->previous_item; + } + return exc_info; +} +#endif + +/* SaveResetException */ +#if CYTHON_FAST_THREAD_STATE +static CYTHON_INLINE void __Pyx__ExceptionSave(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { + #if CYTHON_USE_EXC_INFO_STACK && PY_VERSION_HEX >= 0x030B00a4 + _PyErr_StackItem *exc_info = __Pyx_PyErr_GetTopmostException(tstate); + PyObject *exc_value = exc_info->exc_value; + if (exc_value == NULL || exc_value == Py_None) { + *value = NULL; + *type = NULL; + *tb = NULL; + } else { + *value = exc_value; + Py_INCREF(*value); + *type = (PyObject*) Py_TYPE(exc_value); + Py_INCREF(*type); + *tb = PyException_GetTraceback(exc_value); + } + #elif CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = __Pyx_PyErr_GetTopmostException(tstate); + *type = exc_info->exc_type; + *value = exc_info->exc_value; + *tb = exc_info->exc_traceback; + Py_XINCREF(*type); + Py_XINCREF(*value); + Py_XINCREF(*tb); + #else + *type = tstate->exc_type; + *value = tstate->exc_value; + *tb = tstate->exc_traceback; + Py_XINCREF(*type); + Py_XINCREF(*value); + Py_XINCREF(*tb); + #endif +} +static CYTHON_INLINE void __Pyx__ExceptionReset(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb) { + #if CYTHON_USE_EXC_INFO_STACK && PY_VERSION_HEX >= 0x030B00a4 + _PyErr_StackItem *exc_info = tstate->exc_info; + PyObject *tmp_value = exc_info->exc_value; + exc_info->exc_value = value; + Py_XDECREF(tmp_value); + Py_XDECREF(type); + Py_XDECREF(tb); + #else + PyObject *tmp_type, *tmp_value, *tmp_tb; + #if CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = tstate->exc_info; + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = type; + exc_info->exc_value = value; + exc_info->exc_traceback = tb; + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = type; + tstate->exc_value = value; + tstate->exc_traceback = tb; + #endif + Py_XDECREF(tmp_type); + Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); + #endif +} +#endif + +/* GetException */ +#if CYTHON_FAST_THREAD_STATE +static int __Pyx__GetException(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) +#else +static int __Pyx_GetException(PyObject **type, PyObject **value, PyObject **tb) +#endif +{ + PyObject *local_type = NULL, *local_value, *local_tb = NULL; +#if CYTHON_FAST_THREAD_STATE + PyObject *tmp_type, *tmp_value, *tmp_tb; + #if PY_VERSION_HEX >= 0x030C00A6 + local_value = tstate->current_exception; + tstate->current_exception = 0; + if (likely(local_value)) { + local_type = (PyObject*) Py_TYPE(local_value); + Py_INCREF(local_type); + local_tb = PyException_GetTraceback(local_value); + } + #else + local_type = tstate->curexc_type; + local_value = tstate->curexc_value; + local_tb = tstate->curexc_traceback; + tstate->curexc_type = 0; + tstate->curexc_value = 0; + tstate->curexc_traceback = 0; + #endif +#else + PyErr_Fetch(&local_type, &local_value, &local_tb); +#endif + PyErr_NormalizeException(&local_type, &local_value, &local_tb); +#if CYTHON_FAST_THREAD_STATE && PY_VERSION_HEX >= 0x030C00A6 + if (unlikely(tstate->current_exception)) +#elif CYTHON_FAST_THREAD_STATE + if (unlikely(tstate->curexc_type)) +#else + if (unlikely(PyErr_Occurred())) +#endif + goto bad; + #if PY_MAJOR_VERSION >= 3 + if (local_tb) { + if (unlikely(PyException_SetTraceback(local_value, local_tb) < 0)) + goto bad; + } + #endif + Py_XINCREF(local_tb); + Py_XINCREF(local_type); + Py_XINCREF(local_value); + *type = local_type; + *value = local_value; + *tb = local_tb; +#if CYTHON_FAST_THREAD_STATE + #if CYTHON_USE_EXC_INFO_STACK + { + _PyErr_StackItem *exc_info = tstate->exc_info; + #if PY_VERSION_HEX >= 0x030B00a4 + tmp_value = exc_info->exc_value; + exc_info->exc_value = local_value; + tmp_type = NULL; + tmp_tb = NULL; + Py_XDECREF(local_type); + Py_XDECREF(local_tb); + #else + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = local_type; + exc_info->exc_value = local_value; + exc_info->exc_traceback = local_tb; + #endif + } + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = local_type; + tstate->exc_value = local_value; + tstate->exc_traceback = local_tb; + #endif + Py_XDECREF(tmp_type); + Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); +#else + PyErr_SetExcInfo(local_type, local_value, local_tb); +#endif + return 0; +bad: + *type = 0; + *value = 0; + *tb = 0; + Py_XDECREF(local_type); + Py_XDECREF(local_value); + Py_XDECREF(local_tb); + return -1; +} + +/* SwapException */ +#if CYTHON_FAST_THREAD_STATE +static CYTHON_INLINE void __Pyx__ExceptionSwap(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { + PyObject *tmp_type, *tmp_value, *tmp_tb; + #if CYTHON_USE_EXC_INFO_STACK && PY_VERSION_HEX >= 0x030B00a4 + _PyErr_StackItem *exc_info = tstate->exc_info; + tmp_value = exc_info->exc_value; + exc_info->exc_value = *value; + if (tmp_value == NULL || tmp_value == Py_None) { + Py_XDECREF(tmp_value); + tmp_value = NULL; + tmp_type = NULL; + tmp_tb = NULL; + } else { + tmp_type = (PyObject*) Py_TYPE(tmp_value); + Py_INCREF(tmp_type); + #if CYTHON_COMPILING_IN_CPYTHON + tmp_tb = ((PyBaseExceptionObject*) tmp_value)->traceback; + Py_XINCREF(tmp_tb); + #else + tmp_tb = PyException_GetTraceback(tmp_value); + #endif + } + #elif CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = tstate->exc_info; + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = *type; + exc_info->exc_value = *value; + exc_info->exc_traceback = *tb; + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = *type; + tstate->exc_value = *value; + tstate->exc_traceback = *tb; + #endif + *type = tmp_type; + *value = tmp_value; + *tb = tmp_tb; +} +#else +static CYTHON_INLINE void __Pyx_ExceptionSwap(PyObject **type, PyObject **value, PyObject **tb) { + PyObject *tmp_type, *tmp_value, *tmp_tb; + PyErr_GetExcInfo(&tmp_type, &tmp_value, &tmp_tb); + PyErr_SetExcInfo(*type, *value, *tb); + *type = tmp_type; + *value = tmp_value; + *tb = tmp_tb; +} +#endif + +/* Import */ +static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level) { + PyObject *module = 0; + PyObject *empty_dict = 0; + PyObject *empty_list = 0; + #if PY_MAJOR_VERSION < 3 + PyObject *py_import; + py_import = __Pyx_PyObject_GetAttrStr(__pyx_b, __pyx_n_s_import); + if (unlikely(!py_import)) + goto bad; + if (!from_list) { + empty_list = PyList_New(0); + if (unlikely(!empty_list)) + goto bad; + from_list = empty_list; + } + #endif + empty_dict = PyDict_New(); + if (unlikely(!empty_dict)) + goto bad; + { + #if PY_MAJOR_VERSION >= 3 + if (level == -1) { + if (strchr(__Pyx_MODULE_NAME, '.') != NULL) { + module = PyImport_ImportModuleLevelObject( + name, __pyx_d, empty_dict, from_list, 1); + if (unlikely(!module)) { + if (unlikely(!PyErr_ExceptionMatches(PyExc_ImportError))) + goto bad; + PyErr_Clear(); + } + } + level = 0; + } + #endif + if (!module) { + #if PY_MAJOR_VERSION < 3 + PyObject *py_level = PyInt_FromLong(level); + if (unlikely(!py_level)) + goto bad; + module = PyObject_CallFunctionObjArgs(py_import, + name, __pyx_d, empty_dict, from_list, py_level, (PyObject *)NULL); + Py_DECREF(py_level); + #else + module = PyImport_ImportModuleLevelObject( + name, __pyx_d, empty_dict, from_list, level); + #endif + } + } +bad: + Py_XDECREF(empty_dict); + Py_XDECREF(empty_list); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(py_import); + #endif + return module; +} + +/* ImportDottedModule */ +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx__ImportDottedModule_Error(PyObject *name, PyObject *parts_tuple, Py_ssize_t count) { + PyObject *partial_name = NULL, *slice = NULL, *sep = NULL; + if (unlikely(PyErr_Occurred())) { + PyErr_Clear(); + } + if (likely(PyTuple_GET_SIZE(parts_tuple) == count)) { + partial_name = name; + } else { + slice = PySequence_GetSlice(parts_tuple, 0, count); + if (unlikely(!slice)) + goto bad; + sep = PyUnicode_FromStringAndSize(".", 1); + if (unlikely(!sep)) + goto bad; + partial_name = PyUnicode_Join(sep, slice); + } + PyErr_Format( +#if PY_MAJOR_VERSION < 3 + PyExc_ImportError, + "No module named '%s'", PyString_AS_STRING(partial_name)); +#else +#if PY_VERSION_HEX >= 0x030600B1 + PyExc_ModuleNotFoundError, +#else + PyExc_ImportError, +#endif + "No module named '%U'", partial_name); +#endif +bad: + Py_XDECREF(sep); + Py_XDECREF(slice); + Py_XDECREF(partial_name); + return NULL; +} +#endif +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx__ImportDottedModule_Lookup(PyObject *name) { + PyObject *imported_module; +#if PY_VERSION_HEX < 0x030700A1 || (CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM < 0x07030400) + PyObject *modules = PyImport_GetModuleDict(); + if (unlikely(!modules)) + return NULL; + imported_module = __Pyx_PyDict_GetItemStr(modules, name); + Py_XINCREF(imported_module); +#else + imported_module = PyImport_GetModule(name); +#endif + return imported_module; +} +#endif +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx_ImportDottedModule_WalkParts(PyObject *module, PyObject *name, PyObject *parts_tuple) { + Py_ssize_t i, nparts; + nparts = PyTuple_GET_SIZE(parts_tuple); + for (i=1; i < nparts && module; i++) { + PyObject *part, *submodule; +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + part = PyTuple_GET_ITEM(parts_tuple, i); +#else + part = PySequence_ITEM(parts_tuple, i); +#endif + submodule = __Pyx_PyObject_GetAttrStrNoError(module, part); +#if !(CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS) + Py_DECREF(part); +#endif + Py_DECREF(module); + module = submodule; + } + if (unlikely(!module)) { + return __Pyx__ImportDottedModule_Error(name, parts_tuple, i); + } + return module; +} +#endif +static PyObject *__Pyx__ImportDottedModule(PyObject *name, PyObject *parts_tuple) { +#if PY_MAJOR_VERSION < 3 + PyObject *module, *from_list, *star = __pyx_n_s__3; + CYTHON_UNUSED_VAR(parts_tuple); + from_list = PyList_New(1); + if (unlikely(!from_list)) + return NULL; + Py_INCREF(star); + PyList_SET_ITEM(from_list, 0, star); + module = __Pyx_Import(name, from_list, 0); + Py_DECREF(from_list); + return module; +#else + PyObject *imported_module; + PyObject *module = __Pyx_Import(name, NULL, 0); + if (!parts_tuple || unlikely(!module)) + return module; + imported_module = __Pyx__ImportDottedModule_Lookup(name); + if (likely(imported_module)) { + Py_DECREF(module); + return imported_module; + } + PyErr_Clear(); + return __Pyx_ImportDottedModule_WalkParts(module, name, parts_tuple); +#endif +} +static PyObject *__Pyx_ImportDottedModule(PyObject *name, PyObject *parts_tuple) { +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030400B1 + PyObject *module = __Pyx__ImportDottedModule_Lookup(name); + if (likely(module)) { + PyObject *spec = __Pyx_PyObject_GetAttrStrNoError(module, __pyx_n_s_spec); + if (likely(spec)) { + PyObject *unsafe = __Pyx_PyObject_GetAttrStrNoError(spec, __pyx_n_s_initializing); + if (likely(!unsafe || !__Pyx_PyObject_IsTrue(unsafe))) { + Py_DECREF(spec); + spec = NULL; + } + Py_XDECREF(unsafe); + } + if (likely(!spec)) { + PyErr_Clear(); + return module; + } + Py_DECREF(spec); + Py_DECREF(module); + } else if (PyErr_Occurred()) { + PyErr_Clear(); + } +#endif + return __Pyx__ImportDottedModule(name, parts_tuple); +} + +/* FastTypeChecks */ +#if CYTHON_COMPILING_IN_CPYTHON +static int __Pyx_InBases(PyTypeObject *a, PyTypeObject *b) { + while (a) { + a = __Pyx_PyType_GetSlot(a, tp_base, PyTypeObject*); + if (a == b) + return 1; + } + return b == &PyBaseObject_Type; +} +static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b) { + PyObject *mro; + if (a == b) return 1; + mro = a->tp_mro; + if (likely(mro)) { + Py_ssize_t i, n; + n = PyTuple_GET_SIZE(mro); + for (i = 0; i < n; i++) { + if (PyTuple_GET_ITEM(mro, i) == (PyObject *)b) + return 1; + } + return 0; + } + return __Pyx_InBases(a, b); +} +static CYTHON_INLINE int __Pyx_IsAnySubtype2(PyTypeObject *cls, PyTypeObject *a, PyTypeObject *b) { + PyObject *mro; + if (cls == a || cls == b) return 1; + mro = cls->tp_mro; + if (likely(mro)) { + Py_ssize_t i, n; + n = PyTuple_GET_SIZE(mro); + for (i = 0; i < n; i++) { + PyObject *base = PyTuple_GET_ITEM(mro, i); + if (base == (PyObject *)a || base == (PyObject *)b) + return 1; + } + return 0; + } + return __Pyx_InBases(cls, a) || __Pyx_InBases(cls, b); +} +#if PY_MAJOR_VERSION == 2 +static int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject* exc_type2) { + PyObject *exception, *value, *tb; + int res; + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + __Pyx_ErrFetch(&exception, &value, &tb); + res = exc_type1 ? PyObject_IsSubclass(err, exc_type1) : 0; + if (unlikely(res == -1)) { + PyErr_WriteUnraisable(err); + res = 0; + } + if (!res) { + res = PyObject_IsSubclass(err, exc_type2); + if (unlikely(res == -1)) { + PyErr_WriteUnraisable(err); + res = 0; + } + } + __Pyx_ErrRestore(exception, value, tb); + return res; +} +#else +static CYTHON_INLINE int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject *exc_type2) { + if (exc_type1) { + return __Pyx_IsAnySubtype2((PyTypeObject*)err, (PyTypeObject*)exc_type1, (PyTypeObject*)exc_type2); + } else { + return __Pyx_IsSubtype((PyTypeObject*)err, (PyTypeObject*)exc_type2); + } +} +#endif +static int __Pyx_PyErr_GivenExceptionMatchesTuple(PyObject *exc_type, PyObject *tuple) { + Py_ssize_t i, n; + assert(PyExceptionClass_Check(exc_type)); + n = PyTuple_GET_SIZE(tuple); +#if PY_MAJOR_VERSION >= 3 + for (i=0; itp_as_sequence && type->tp_as_sequence->sq_repeat)) { + return type->tp_as_sequence->sq_repeat(seq, mul); + } else +#endif + { + return __Pyx_PySequence_Multiply_Generic(seq, mul); + } +} + +/* SetItemInt */ +static int __Pyx_SetItemInt_Generic(PyObject *o, PyObject *j, PyObject *v) { + int r; + if (unlikely(!j)) return -1; + r = PyObject_SetItem(o, j, v); + Py_DECREF(j); + return r; +} +static CYTHON_INLINE int __Pyx_SetItemInt_Fast(PyObject *o, Py_ssize_t i, PyObject *v, int is_list, + CYTHON_NCP_UNUSED int wraparound, CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS && CYTHON_USE_TYPE_SLOTS + if (is_list || PyList_CheckExact(o)) { + Py_ssize_t n = (!wraparound) ? i : ((likely(i >= 0)) ? i : i + PyList_GET_SIZE(o)); + if ((!boundscheck) || likely(__Pyx_is_valid_index(n, PyList_GET_SIZE(o)))) { + PyObject* old = PyList_GET_ITEM(o, n); + Py_INCREF(v); + PyList_SET_ITEM(o, n, v); + Py_DECREF(old); + return 1; + } + } else { + PyMappingMethods *mm = Py_TYPE(o)->tp_as_mapping; + PySequenceMethods *sm = Py_TYPE(o)->tp_as_sequence; + if (mm && mm->mp_ass_subscript) { + int r; + PyObject *key = PyInt_FromSsize_t(i); + if (unlikely(!key)) return -1; + r = mm->mp_ass_subscript(o, key, v); + Py_DECREF(key); + return r; + } + if (likely(sm && sm->sq_ass_item)) { + if (wraparound && unlikely(i < 0) && likely(sm->sq_length)) { + Py_ssize_t l = sm->sq_length(o); + if (likely(l >= 0)) { + i += l; + } else { + if (!PyErr_ExceptionMatches(PyExc_OverflowError)) + return -1; + PyErr_Clear(); + } + } + return sm->sq_ass_item(o, i, v); + } + } +#else + if (is_list || !PyMapping_Check(o)) + { + return PySequence_SetItem(o, i, v); + } +#endif + return __Pyx_SetItemInt_Generic(o, PyInt_FromSsize_t(i), v); +} + +/* RaiseUnboundLocalError */ +static CYTHON_INLINE void __Pyx_RaiseUnboundLocalError(const char *varname) { + PyErr_Format(PyExc_UnboundLocalError, "local variable '%s' referenced before assignment", varname); +} + +/* DivInt[long] */ +static CYTHON_INLINE long __Pyx_div_long(long a, long b) { + long q = a / b; + long r = a - q*b; + q -= ((r != 0) & ((r ^ b) < 0)); + return q; +} + +/* ImportFrom */ +static PyObject* __Pyx_ImportFrom(PyObject* module, PyObject* name) { + PyObject* value = __Pyx_PyObject_GetAttrStr(module, name); + if (unlikely(!value) && PyErr_ExceptionMatches(PyExc_AttributeError)) { + const char* module_name_str = 0; + PyObject* module_name = 0; + PyObject* module_dot = 0; + PyObject* full_name = 0; + PyErr_Clear(); + module_name_str = PyModule_GetName(module); + if (unlikely(!module_name_str)) { goto modbad; } + module_name = PyUnicode_FromString(module_name_str); + if (unlikely(!module_name)) { goto modbad; } + module_dot = PyUnicode_Concat(module_name, __pyx_kp_u__2); + if (unlikely(!module_dot)) { goto modbad; } + full_name = PyUnicode_Concat(module_dot, name); + if (unlikely(!full_name)) { goto modbad; } + #if PY_VERSION_HEX < 0x030700A1 || (CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM < 0x07030400) + { + PyObject *modules = PyImport_GetModuleDict(); + if (unlikely(!modules)) + goto modbad; + value = PyObject_GetItem(modules, full_name); + } + #else + value = PyImport_GetModule(full_name); + #endif + modbad: + Py_XDECREF(full_name); + Py_XDECREF(module_dot); + Py_XDECREF(module_name); + } + if (unlikely(!value)) { + PyErr_Format(PyExc_ImportError, + #if PY_MAJOR_VERSION < 3 + "cannot import name %.230s", PyString_AS_STRING(name)); + #else + "cannot import name %S", name); + #endif + } + return value; +} + +/* HasAttr */ +#if __PYX_LIMITED_VERSION_HEX < 0x030d00A1 +static CYTHON_INLINE int __Pyx_HasAttr(PyObject *o, PyObject *n) { + PyObject *r; + if (unlikely(!__Pyx_PyBaseString_Check(n))) { + PyErr_SetString(PyExc_TypeError, + "hasattr(): attribute name must be string"); + return -1; + } + r = __Pyx_GetAttr(o, n); + if (!r) { + PyErr_Clear(); + return 0; + } else { + Py_DECREF(r); + return 1; + } +} +#endif + +/* PyIntCompare */ +static CYTHON_INLINE int __Pyx_PyInt_BoolEqObjC(PyObject *op1, PyObject *op2, long intval, long inplace) { + CYTHON_MAYBE_UNUSED_VAR(intval); + CYTHON_UNUSED_VAR(inplace); + if (op1 == op2) { + return 1; + } + #if PY_MAJOR_VERSION < 3 + if (likely(PyInt_CheckExact(op1))) { + const long b = intval; + long a = PyInt_AS_LONG(op1); + return (a == b); + } + #endif + #if CYTHON_USE_PYLONG_INTERNALS + if (likely(PyLong_CheckExact(op1))) { + int unequal; + unsigned long uintval; + Py_ssize_t size = __Pyx_PyLong_DigitCount(op1); + const digit* digits = __Pyx_PyLong_Digits(op1); + if (intval == 0) { + return (__Pyx_PyLong_IsZero(op1) == 1); + } else if (intval < 0) { + if (__Pyx_PyLong_IsNonNeg(op1)) + return 0; + intval = -intval; + } else { + if (__Pyx_PyLong_IsNeg(op1)) + return 0; + } + uintval = (unsigned long) intval; +#if PyLong_SHIFT * 4 < SIZEOF_LONG*8 + if (uintval >> (PyLong_SHIFT * 4)) { + unequal = (size != 5) || (digits[0] != (uintval & (unsigned long) PyLong_MASK)) + | (digits[1] != ((uintval >> (1 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)) | (digits[2] != ((uintval >> (2 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)) | (digits[3] != ((uintval >> (3 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)) | (digits[4] != ((uintval >> (4 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)); + } else +#endif +#if PyLong_SHIFT * 3 < SIZEOF_LONG*8 + if (uintval >> (PyLong_SHIFT * 3)) { + unequal = (size != 4) || (digits[0] != (uintval & (unsigned long) PyLong_MASK)) + | (digits[1] != ((uintval >> (1 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)) | (digits[2] != ((uintval >> (2 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)) | (digits[3] != ((uintval >> (3 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)); + } else +#endif +#if PyLong_SHIFT * 2 < SIZEOF_LONG*8 + if (uintval >> (PyLong_SHIFT * 2)) { + unequal = (size != 3) || (digits[0] != (uintval & (unsigned long) PyLong_MASK)) + | (digits[1] != ((uintval >> (1 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)) | (digits[2] != ((uintval >> (2 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)); + } else +#endif +#if PyLong_SHIFT * 1 < SIZEOF_LONG*8 + if (uintval >> (PyLong_SHIFT * 1)) { + unequal = (size != 2) || (digits[0] != (uintval & (unsigned long) PyLong_MASK)) + | (digits[1] != ((uintval >> (1 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)); + } else +#endif + unequal = (size != 1) || (((unsigned long) digits[0]) != (uintval & (unsigned long) PyLong_MASK)); + return (unequal == 0); + } + #endif + if (PyFloat_CheckExact(op1)) { + const long b = intval; +#if CYTHON_COMPILING_IN_LIMITED_API + double a = __pyx_PyFloat_AsDouble(op1); +#else + double a = PyFloat_AS_DOUBLE(op1); +#endif + return ((double)a == (double)b); + } + return __Pyx_PyObject_IsTrueAndDecref( + PyObject_RichCompare(op1, op2, Py_EQ)); +} + +/* PyIntCompare */ +static CYTHON_INLINE int __Pyx_PyInt_BoolNeObjC(PyObject *op1, PyObject *op2, long intval, long inplace) { + CYTHON_MAYBE_UNUSED_VAR(intval); + CYTHON_UNUSED_VAR(inplace); + if (op1 == op2) { + return 0; + } + #if PY_MAJOR_VERSION < 3 + if (likely(PyInt_CheckExact(op1))) { + const long b = intval; + long a = PyInt_AS_LONG(op1); + return (a != b); + } + #endif + #if CYTHON_USE_PYLONG_INTERNALS + if (likely(PyLong_CheckExact(op1))) { + int unequal; + unsigned long uintval; + Py_ssize_t size = __Pyx_PyLong_DigitCount(op1); + const digit* digits = __Pyx_PyLong_Digits(op1); + if (intval == 0) { + return (__Pyx_PyLong_IsZero(op1) != 1); + } else if (intval < 0) { + if (__Pyx_PyLong_IsNonNeg(op1)) + return 1; + intval = -intval; + } else { + if (__Pyx_PyLong_IsNeg(op1)) + return 1; + } + uintval = (unsigned long) intval; +#if PyLong_SHIFT * 4 < SIZEOF_LONG*8 + if (uintval >> (PyLong_SHIFT * 4)) { + unequal = (size != 5) || (digits[0] != (uintval & (unsigned long) PyLong_MASK)) + | (digits[1] != ((uintval >> (1 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)) | (digits[2] != ((uintval >> (2 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)) | (digits[3] != ((uintval >> (3 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)) | (digits[4] != ((uintval >> (4 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)); + } else +#endif +#if PyLong_SHIFT * 3 < SIZEOF_LONG*8 + if (uintval >> (PyLong_SHIFT * 3)) { + unequal = (size != 4) || (digits[0] != (uintval & (unsigned long) PyLong_MASK)) + | (digits[1] != ((uintval >> (1 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)) | (digits[2] != ((uintval >> (2 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)) | (digits[3] != ((uintval >> (3 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)); + } else +#endif +#if PyLong_SHIFT * 2 < SIZEOF_LONG*8 + if (uintval >> (PyLong_SHIFT * 2)) { + unequal = (size != 3) || (digits[0] != (uintval & (unsigned long) PyLong_MASK)) + | (digits[1] != ((uintval >> (1 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)) | (digits[2] != ((uintval >> (2 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)); + } else +#endif +#if PyLong_SHIFT * 1 < SIZEOF_LONG*8 + if (uintval >> (PyLong_SHIFT * 1)) { + unequal = (size != 2) || (digits[0] != (uintval & (unsigned long) PyLong_MASK)) + | (digits[1] != ((uintval >> (1 * PyLong_SHIFT)) & (unsigned long) PyLong_MASK)); + } else +#endif + unequal = (size != 1) || (((unsigned long) digits[0]) != (uintval & (unsigned long) PyLong_MASK)); + return (unequal != 0); + } + #endif + if (PyFloat_CheckExact(op1)) { + const long b = intval; +#if CYTHON_COMPILING_IN_LIMITED_API + double a = __pyx_PyFloat_AsDouble(op1); +#else + double a = PyFloat_AS_DOUBLE(op1); +#endif + return ((double)a != (double)b); + } + return __Pyx_PyObject_IsTrueAndDecref( + PyObject_RichCompare(op1, op2, Py_NE)); +} + +/* IsLittleEndian */ +static CYTHON_INLINE int __Pyx_Is_Little_Endian(void) +{ + union { + uint32_t u32; + uint8_t u8[4]; + } S; + S.u32 = 0x01020304; + return S.u8[0] == 4; +} + +/* BufferFormatCheck */ +static void __Pyx_BufFmt_Init(__Pyx_BufFmt_Context* ctx, + __Pyx_BufFmt_StackElem* stack, + __Pyx_TypeInfo* type) { + stack[0].field = &ctx->root; + stack[0].parent_offset = 0; + ctx->root.type = type; + ctx->root.name = "buffer dtype"; + ctx->root.offset = 0; + ctx->head = stack; + ctx->head->field = &ctx->root; + ctx->fmt_offset = 0; + ctx->head->parent_offset = 0; + ctx->new_packmode = '@'; + ctx->enc_packmode = '@'; + ctx->new_count = 1; + ctx->enc_count = 0; + ctx->enc_type = 0; + ctx->is_complex = 0; + ctx->is_valid_array = 0; + ctx->struct_alignment = 0; + while (type->typegroup == 'S') { + ++ctx->head; + ctx->head->field = type->fields; + ctx->head->parent_offset = 0; + type = type->fields->type; + } +} +static int __Pyx_BufFmt_ParseNumber(const char** ts) { + int count; + const char* t = *ts; + if (*t < '0' || *t > '9') { + return -1; + } else { + count = *t++ - '0'; + while (*t >= '0' && *t <= '9') { + count *= 10; + count += *t++ - '0'; + } + } + *ts = t; + return count; +} +static int __Pyx_BufFmt_ExpectNumber(const char **ts) { + int number = __Pyx_BufFmt_ParseNumber(ts); + if (number == -1) + PyErr_Format(PyExc_ValueError,\ + "Does not understand character buffer dtype format string ('%c')", **ts); + return number; +} +static void __Pyx_BufFmt_RaiseUnexpectedChar(char ch) { + PyErr_Format(PyExc_ValueError, + "Unexpected format string character: '%c'", ch); +} +static const char* __Pyx_BufFmt_DescribeTypeChar(char ch, int is_complex) { + switch (ch) { + case '?': return "'bool'"; + case 'c': return "'char'"; + case 'b': return "'signed char'"; + case 'B': return "'unsigned char'"; + case 'h': return "'short'"; + case 'H': return "'unsigned short'"; + case 'i': return "'int'"; + case 'I': return "'unsigned int'"; + case 'l': return "'long'"; + case 'L': return "'unsigned long'"; + case 'q': return "'long long'"; + case 'Q': return "'unsigned long long'"; + case 'f': return (is_complex ? "'complex float'" : "'float'"); + case 'd': return (is_complex ? "'complex double'" : "'double'"); + case 'g': return (is_complex ? "'complex long double'" : "'long double'"); + case 'T': return "a struct"; + case 'O': return "Python object"; + case 'P': return "a pointer"; + case 's': case 'p': return "a string"; + case 0: return "end"; + default: return "unparsable format string"; + } +} +static size_t __Pyx_BufFmt_TypeCharToStandardSize(char ch, int is_complex) { + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return 2; + case 'i': case 'I': case 'l': case 'L': return 4; + case 'q': case 'Q': return 8; + case 'f': return (is_complex ? 8 : 4); + case 'd': return (is_complex ? 16 : 8); + case 'g': { + PyErr_SetString(PyExc_ValueError, "Python does not define a standard format string size for long double ('g').."); + return 0; + } + case 'O': case 'P': return sizeof(void*); + default: + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } +} +static size_t __Pyx_BufFmt_TypeCharToNativeSize(char ch, int is_complex) { + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return sizeof(short); + case 'i': case 'I': return sizeof(int); + case 'l': case 'L': return sizeof(long); + #ifdef HAVE_LONG_LONG + case 'q': case 'Q': return sizeof(PY_LONG_LONG); + #endif + case 'f': return sizeof(float) * (is_complex ? 2 : 1); + case 'd': return sizeof(double) * (is_complex ? 2 : 1); + case 'g': return sizeof(long double) * (is_complex ? 2 : 1); + case 'O': case 'P': return sizeof(void*); + default: { + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } + } +} +typedef struct { char c; short x; } __Pyx_st_short; +typedef struct { char c; int x; } __Pyx_st_int; +typedef struct { char c; long x; } __Pyx_st_long; +typedef struct { char c; float x; } __Pyx_st_float; +typedef struct { char c; double x; } __Pyx_st_double; +typedef struct { char c; long double x; } __Pyx_st_longdouble; +typedef struct { char c; void *x; } __Pyx_st_void_p; +#ifdef HAVE_LONG_LONG +typedef struct { char c; PY_LONG_LONG x; } __Pyx_st_longlong; +#endif +static size_t __Pyx_BufFmt_TypeCharToAlignment(char ch, int is_complex) { + CYTHON_UNUSED_VAR(is_complex); + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return sizeof(__Pyx_st_short) - sizeof(short); + case 'i': case 'I': return sizeof(__Pyx_st_int) - sizeof(int); + case 'l': case 'L': return sizeof(__Pyx_st_long) - sizeof(long); +#ifdef HAVE_LONG_LONG + case 'q': case 'Q': return sizeof(__Pyx_st_longlong) - sizeof(PY_LONG_LONG); +#endif + case 'f': return sizeof(__Pyx_st_float) - sizeof(float); + case 'd': return sizeof(__Pyx_st_double) - sizeof(double); + case 'g': return sizeof(__Pyx_st_longdouble) - sizeof(long double); + case 'P': case 'O': return sizeof(__Pyx_st_void_p) - sizeof(void*); + default: + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } +} +/* These are for computing the padding at the end of the struct to align + on the first member of the struct. This will probably the same as above, + but we don't have any guarantees. + */ +typedef struct { short x; char c; } __Pyx_pad_short; +typedef struct { int x; char c; } __Pyx_pad_int; +typedef struct { long x; char c; } __Pyx_pad_long; +typedef struct { float x; char c; } __Pyx_pad_float; +typedef struct { double x; char c; } __Pyx_pad_double; +typedef struct { long double x; char c; } __Pyx_pad_longdouble; +typedef struct { void *x; char c; } __Pyx_pad_void_p; +#ifdef HAVE_LONG_LONG +typedef struct { PY_LONG_LONG x; char c; } __Pyx_pad_longlong; +#endif +static size_t __Pyx_BufFmt_TypeCharToPadding(char ch, int is_complex) { + CYTHON_UNUSED_VAR(is_complex); + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return sizeof(__Pyx_pad_short) - sizeof(short); + case 'i': case 'I': return sizeof(__Pyx_pad_int) - sizeof(int); + case 'l': case 'L': return sizeof(__Pyx_pad_long) - sizeof(long); +#ifdef HAVE_LONG_LONG + case 'q': case 'Q': return sizeof(__Pyx_pad_longlong) - sizeof(PY_LONG_LONG); +#endif + case 'f': return sizeof(__Pyx_pad_float) - sizeof(float); + case 'd': return sizeof(__Pyx_pad_double) - sizeof(double); + case 'g': return sizeof(__Pyx_pad_longdouble) - sizeof(long double); + case 'P': case 'O': return sizeof(__Pyx_pad_void_p) - sizeof(void*); + default: + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } +} +static char __Pyx_BufFmt_TypeCharToGroup(char ch, int is_complex) { + switch (ch) { + case 'c': + return 'H'; + case 'b': case 'h': case 'i': + case 'l': case 'q': case 's': case 'p': + return 'I'; + case '?': case 'B': case 'H': case 'I': case 'L': case 'Q': + return 'U'; + case 'f': case 'd': case 'g': + return (is_complex ? 'C' : 'R'); + case 'O': + return 'O'; + case 'P': + return 'P'; + default: { + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } + } +} +static void __Pyx_BufFmt_RaiseExpected(__Pyx_BufFmt_Context* ctx) { + if (ctx->head == NULL || ctx->head->field == &ctx->root) { + const char* expected; + const char* quote; + if (ctx->head == NULL) { + expected = "end"; + quote = ""; + } else { + expected = ctx->head->field->type->name; + quote = "'"; + } + PyErr_Format(PyExc_ValueError, + "Buffer dtype mismatch, expected %s%s%s but got %s", + quote, expected, quote, + __Pyx_BufFmt_DescribeTypeChar(ctx->enc_type, ctx->is_complex)); + } else { + __Pyx_StructField* field = ctx->head->field; + __Pyx_StructField* parent = (ctx->head - 1)->field; + PyErr_Format(PyExc_ValueError, + "Buffer dtype mismatch, expected '%s' but got %s in '%s.%s'", + field->type->name, __Pyx_BufFmt_DescribeTypeChar(ctx->enc_type, ctx->is_complex), + parent->type->name, field->name); + } +} +static int __Pyx_BufFmt_ProcessTypeChunk(__Pyx_BufFmt_Context* ctx) { + char group; + size_t size, offset, arraysize = 1; + if (ctx->enc_type == 0) return 0; + if (ctx->head->field->type->arraysize[0]) { + int i, ndim = 0; + if (ctx->enc_type == 's' || ctx->enc_type == 'p') { + ctx->is_valid_array = ctx->head->field->type->ndim == 1; + ndim = 1; + if (ctx->enc_count != ctx->head->field->type->arraysize[0]) { + PyErr_Format(PyExc_ValueError, + "Expected a dimension of size %zu, got %zu", + ctx->head->field->type->arraysize[0], ctx->enc_count); + return -1; + } + } + if (!ctx->is_valid_array) { + PyErr_Format(PyExc_ValueError, "Expected %d dimensions, got %d", + ctx->head->field->type->ndim, ndim); + return -1; + } + for (i = 0; i < ctx->head->field->type->ndim; i++) { + arraysize *= ctx->head->field->type->arraysize[i]; + } + ctx->is_valid_array = 0; + ctx->enc_count = 1; + } + group = __Pyx_BufFmt_TypeCharToGroup(ctx->enc_type, ctx->is_complex); + do { + __Pyx_StructField* field = ctx->head->field; + __Pyx_TypeInfo* type = field->type; + if (ctx->enc_packmode == '@' || ctx->enc_packmode == '^') { + size = __Pyx_BufFmt_TypeCharToNativeSize(ctx->enc_type, ctx->is_complex); + } else { + size = __Pyx_BufFmt_TypeCharToStandardSize(ctx->enc_type, ctx->is_complex); + } + if (ctx->enc_packmode == '@') { + size_t align_at = __Pyx_BufFmt_TypeCharToAlignment(ctx->enc_type, ctx->is_complex); + size_t align_mod_offset; + if (align_at == 0) return -1; + align_mod_offset = ctx->fmt_offset % align_at; + if (align_mod_offset > 0) ctx->fmt_offset += align_at - align_mod_offset; + if (ctx->struct_alignment == 0) + ctx->struct_alignment = __Pyx_BufFmt_TypeCharToPadding(ctx->enc_type, + ctx->is_complex); + } + if (type->size != size || type->typegroup != group) { + if (type->typegroup == 'C' && type->fields != NULL) { + size_t parent_offset = ctx->head->parent_offset + field->offset; + ++ctx->head; + ctx->head->field = type->fields; + ctx->head->parent_offset = parent_offset; + continue; + } + if ((type->typegroup == 'H' || group == 'H') && type->size == size) { + } else { + __Pyx_BufFmt_RaiseExpected(ctx); + return -1; + } + } + offset = ctx->head->parent_offset + field->offset; + if (ctx->fmt_offset != offset) { + PyErr_Format(PyExc_ValueError, + "Buffer dtype mismatch; next field is at offset %" CYTHON_FORMAT_SSIZE_T "d but %" CYTHON_FORMAT_SSIZE_T "d expected", + (Py_ssize_t)ctx->fmt_offset, (Py_ssize_t)offset); + return -1; + } + ctx->fmt_offset += size; + if (arraysize) + ctx->fmt_offset += (arraysize - 1) * size; + --ctx->enc_count; + while (1) { + if (field == &ctx->root) { + ctx->head = NULL; + if (ctx->enc_count != 0) { + __Pyx_BufFmt_RaiseExpected(ctx); + return -1; + } + break; + } + ctx->head->field = ++field; + if (field->type == NULL) { + --ctx->head; + field = ctx->head->field; + continue; + } else if (field->type->typegroup == 'S') { + size_t parent_offset = ctx->head->parent_offset + field->offset; + if (field->type->fields->type == NULL) continue; + field = field->type->fields; + ++ctx->head; + ctx->head->field = field; + ctx->head->parent_offset = parent_offset; + break; + } else { + break; + } + } + } while (ctx->enc_count); + ctx->enc_type = 0; + ctx->is_complex = 0; + return 0; +} +static int +__pyx_buffmt_parse_array(__Pyx_BufFmt_Context* ctx, const char** tsp) +{ + const char *ts = *tsp; + int i = 0, number, ndim; + ++ts; + if (ctx->new_count != 1) { + PyErr_SetString(PyExc_ValueError, + "Cannot handle repeated arrays in format string"); + return -1; + } + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return -1; + ndim = ctx->head->field->type->ndim; + while (*ts && *ts != ')') { + switch (*ts) { + case ' ': case '\f': case '\r': case '\n': case '\t': case '\v': continue; + default: break; + } + number = __Pyx_BufFmt_ExpectNumber(&ts); + if (number == -1) return -1; + if (i < ndim && (size_t) number != ctx->head->field->type->arraysize[i]) { + PyErr_Format(PyExc_ValueError, + "Expected a dimension of size %zu, got %d", + ctx->head->field->type->arraysize[i], number); + return -1; + } + if (*ts != ',' && *ts != ')') { + PyErr_Format(PyExc_ValueError, + "Expected a comma in format string, got '%c'", *ts); + return -1; + } + if (*ts == ',') ts++; + i++; + } + if (i != ndim) { + PyErr_Format(PyExc_ValueError, "Expected %d dimension(s), got %d", + ctx->head->field->type->ndim, i); + return -1; + } + if (!*ts) { + PyErr_SetString(PyExc_ValueError, + "Unexpected end of format string, expected ')'"); + return -1; + } + ctx->is_valid_array = 1; + ctx->new_count = 1; + *tsp = ++ts; + return 0; +} +static const char* __Pyx_BufFmt_CheckString(__Pyx_BufFmt_Context* ctx, const char* ts) { + int got_Z = 0; + while (1) { + switch(*ts) { + case 0: + if (ctx->enc_type != 0 && ctx->head == NULL) { + __Pyx_BufFmt_RaiseExpected(ctx); + return NULL; + } + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + if (ctx->head != NULL) { + __Pyx_BufFmt_RaiseExpected(ctx); + return NULL; + } + return ts; + case ' ': + case '\r': + case '\n': + ++ts; + break; + case '<': + if (!__Pyx_Is_Little_Endian()) { + PyErr_SetString(PyExc_ValueError, "Little-endian buffer not supported on big-endian compiler"); + return NULL; + } + ctx->new_packmode = '='; + ++ts; + break; + case '>': + case '!': + if (__Pyx_Is_Little_Endian()) { + PyErr_SetString(PyExc_ValueError, "Big-endian buffer not supported on little-endian compiler"); + return NULL; + } + ctx->new_packmode = '='; + ++ts; + break; + case '=': + case '@': + case '^': + ctx->new_packmode = *ts++; + break; + case 'T': + { + const char* ts_after_sub; + size_t i, struct_count = ctx->new_count; + size_t struct_alignment = ctx->struct_alignment; + ctx->new_count = 1; + ++ts; + if (*ts != '{') { + PyErr_SetString(PyExc_ValueError, "Buffer acquisition: Expected '{' after 'T'"); + return NULL; + } + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->enc_type = 0; + ctx->enc_count = 0; + ctx->struct_alignment = 0; + ++ts; + ts_after_sub = ts; + for (i = 0; i != struct_count; ++i) { + ts_after_sub = __Pyx_BufFmt_CheckString(ctx, ts); + if (!ts_after_sub) return NULL; + } + ts = ts_after_sub; + if (struct_alignment) ctx->struct_alignment = struct_alignment; + } + break; + case '}': + { + size_t alignment = ctx->struct_alignment; + ++ts; + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->enc_type = 0; + if (alignment && ctx->fmt_offset % alignment) { + ctx->fmt_offset += alignment - (ctx->fmt_offset % alignment); + } + } + return ts; + case 'x': + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->fmt_offset += ctx->new_count; + ctx->new_count = 1; + ctx->enc_count = 0; + ctx->enc_type = 0; + ctx->enc_packmode = ctx->new_packmode; + ++ts; + break; + case 'Z': + got_Z = 1; + ++ts; + if (*ts != 'f' && *ts != 'd' && *ts != 'g') { + __Pyx_BufFmt_RaiseUnexpectedChar('Z'); + return NULL; + } + CYTHON_FALLTHROUGH; + case '?': case 'c': case 'b': case 'B': case 'h': case 'H': case 'i': case 'I': + case 'l': case 'L': case 'q': case 'Q': + case 'f': case 'd': case 'g': + case 'O': case 'p': + if ((ctx->enc_type == *ts) && (got_Z == ctx->is_complex) && + (ctx->enc_packmode == ctx->new_packmode) && (!ctx->is_valid_array)) { + ctx->enc_count += ctx->new_count; + ctx->new_count = 1; + got_Z = 0; + ++ts; + break; + } + CYTHON_FALLTHROUGH; + case 's': + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->enc_count = ctx->new_count; + ctx->enc_packmode = ctx->new_packmode; + ctx->enc_type = *ts; + ctx->is_complex = got_Z; + ++ts; + ctx->new_count = 1; + got_Z = 0; + break; + case ':': + ++ts; + while(*ts != ':') ++ts; + ++ts; + break; + case '(': + if (__pyx_buffmt_parse_array(ctx, &ts) < 0) return NULL; + break; + default: + { + int number = __Pyx_BufFmt_ExpectNumber(&ts); + if (number == -1) return NULL; + ctx->new_count = (size_t)number; + } + } + } +} + +/* BufferGetAndValidate */ + static CYTHON_INLINE void __Pyx_SafeReleaseBuffer(Py_buffer* info) { + if (unlikely(info->buf == NULL)) return; + if (info->suboffsets == __Pyx_minusones) info->suboffsets = NULL; + __Pyx_ReleaseBuffer(info); +} +static void __Pyx_ZeroBuffer(Py_buffer* buf) { + buf->buf = NULL; + buf->obj = NULL; + buf->strides = __Pyx_zeros; + buf->shape = __Pyx_zeros; + buf->suboffsets = __Pyx_minusones; +} +static int __Pyx__GetBufferAndValidate( + Py_buffer* buf, PyObject* obj, __Pyx_TypeInfo* dtype, int flags, + int nd, int cast, __Pyx_BufFmt_StackElem* stack) +{ + buf->buf = NULL; + if (unlikely(__Pyx_GetBuffer(obj, buf, flags) == -1)) { + __Pyx_ZeroBuffer(buf); + return -1; + } + if (unlikely(buf->ndim != nd)) { + PyErr_Format(PyExc_ValueError, + "Buffer has wrong number of dimensions (expected %d, got %d)", + nd, buf->ndim); + goto fail; + } + if (!cast) { + __Pyx_BufFmt_Context ctx; + __Pyx_BufFmt_Init(&ctx, stack, dtype); + if (!__Pyx_BufFmt_CheckString(&ctx, buf->format)) goto fail; + } + if (unlikely((size_t)buf->itemsize != dtype->size)) { + PyErr_Format(PyExc_ValueError, + "Item size of buffer (%" CYTHON_FORMAT_SSIZE_T "d byte%s) does not match size of '%s' (%" CYTHON_FORMAT_SSIZE_T "d byte%s)", + buf->itemsize, (buf->itemsize > 1) ? "s" : "", + dtype->name, (Py_ssize_t)dtype->size, (dtype->size > 1) ? "s" : ""); + goto fail; + } + if (buf->suboffsets == NULL) buf->suboffsets = __Pyx_minusones; + return 0; +fail:; + __Pyx_SafeReleaseBuffer(buf); + return -1; +} + +/* UnicodeConcatInPlace */ + # if CYTHON_COMPILING_IN_CPYTHON && PY_MAJOR_VERSION >= 3 +static int +__Pyx_unicode_modifiable(PyObject *unicode) +{ + if (Py_REFCNT(unicode) != 1) + return 0; + if (!PyUnicode_CheckExact(unicode)) + return 0; + if (PyUnicode_CHECK_INTERNED(unicode)) + return 0; + return 1; +} +static CYTHON_INLINE PyObject *__Pyx_PyUnicode_ConcatInPlaceImpl(PyObject **p_left, PyObject *right + #if CYTHON_REFNANNY + , void* __pyx_refnanny + #endif + ) { + PyObject *left = *p_left; + Py_ssize_t left_len, right_len, new_len; + if (unlikely(__Pyx_PyUnicode_READY(left) == -1)) + return NULL; + if (unlikely(__Pyx_PyUnicode_READY(right) == -1)) + return NULL; + left_len = PyUnicode_GET_LENGTH(left); + if (left_len == 0) { + Py_INCREF(right); + return right; + } + right_len = PyUnicode_GET_LENGTH(right); + if (right_len == 0) { + Py_INCREF(left); + return left; + } + if (unlikely(left_len > PY_SSIZE_T_MAX - right_len)) { + PyErr_SetString(PyExc_OverflowError, + "strings are too large to concat"); + return NULL; + } + new_len = left_len + right_len; + if (__Pyx_unicode_modifiable(left) + && PyUnicode_CheckExact(right) + && PyUnicode_KIND(right) <= PyUnicode_KIND(left) + && !(PyUnicode_IS_ASCII(left) && !PyUnicode_IS_ASCII(right))) { + int ret; + __Pyx_GIVEREF(*p_left); + ret = PyUnicode_Resize(p_left, new_len); + __Pyx_GOTREF(*p_left); + if (unlikely(ret != 0)) + return NULL; + #if PY_VERSION_HEX >= 0x030d0000 + if (unlikely(PyUnicode_CopyCharacters(*p_left, left_len, right, 0, right_len) < 0)) return NULL; + #else + _PyUnicode_FastCopyCharacters(*p_left, left_len, right, 0, right_len); + #endif + __Pyx_INCREF(*p_left); + __Pyx_GIVEREF(*p_left); + return *p_left; + } else { + return __Pyx_PyUnicode_Concat(left, right); + } + } +#endif + +/* SliceObject */ + static CYTHON_INLINE PyObject* __Pyx_PyObject_GetSlice(PyObject* obj, + Py_ssize_t cstart, Py_ssize_t cstop, + PyObject** _py_start, PyObject** _py_stop, PyObject** _py_slice, + int has_cstart, int has_cstop, int wraparound) { + __Pyx_TypeName obj_type_name; +#if CYTHON_USE_TYPE_SLOTS + PyMappingMethods* mp; +#if PY_MAJOR_VERSION < 3 + PySequenceMethods* ms = Py_TYPE(obj)->tp_as_sequence; + if (likely(ms && ms->sq_slice)) { + if (!has_cstart) { + if (_py_start && (*_py_start != Py_None)) { + cstart = __Pyx_PyIndex_AsSsize_t(*_py_start); + if ((cstart == (Py_ssize_t)-1) && PyErr_Occurred()) goto bad; + } else + cstart = 0; + } + if (!has_cstop) { + if (_py_stop && (*_py_stop != Py_None)) { + cstop = __Pyx_PyIndex_AsSsize_t(*_py_stop); + if ((cstop == (Py_ssize_t)-1) && PyErr_Occurred()) goto bad; + } else + cstop = PY_SSIZE_T_MAX; + } + if (wraparound && unlikely((cstart < 0) | (cstop < 0)) && likely(ms->sq_length)) { + Py_ssize_t l = ms->sq_length(obj); + if (likely(l >= 0)) { + if (cstop < 0) { + cstop += l; + if (cstop < 0) cstop = 0; + } + if (cstart < 0) { + cstart += l; + if (cstart < 0) cstart = 0; + } + } else { + if (!PyErr_ExceptionMatches(PyExc_OverflowError)) + goto bad; + PyErr_Clear(); + } + } + return ms->sq_slice(obj, cstart, cstop); + } +#else + CYTHON_UNUSED_VAR(wraparound); +#endif + mp = Py_TYPE(obj)->tp_as_mapping; + if (likely(mp && mp->mp_subscript)) +#else + CYTHON_UNUSED_VAR(wraparound); +#endif + { + PyObject* result; + PyObject *py_slice, *py_start, *py_stop; + if (_py_slice) { + py_slice = *_py_slice; + } else { + PyObject* owned_start = NULL; + PyObject* owned_stop = NULL; + if (_py_start) { + py_start = *_py_start; + } else { + if (has_cstart) { + owned_start = py_start = PyInt_FromSsize_t(cstart); + if (unlikely(!py_start)) goto bad; + } else + py_start = Py_None; + } + if (_py_stop) { + py_stop = *_py_stop; + } else { + if (has_cstop) { + owned_stop = py_stop = PyInt_FromSsize_t(cstop); + if (unlikely(!py_stop)) { + Py_XDECREF(owned_start); + goto bad; + } + } else + py_stop = Py_None; + } + py_slice = PySlice_New(py_start, py_stop, Py_None); + Py_XDECREF(owned_start); + Py_XDECREF(owned_stop); + if (unlikely(!py_slice)) goto bad; + } +#if CYTHON_USE_TYPE_SLOTS + result = mp->mp_subscript(obj, py_slice); +#else + result = PyObject_GetItem(obj, py_slice); +#endif + if (!_py_slice) { + Py_DECREF(py_slice); + } + return result; + } + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, + "'" __Pyx_FMT_TYPENAME "' object is unsliceable", obj_type_name); + __Pyx_DECREF_TypeName(obj_type_name); +bad: + return NULL; +} + +/* PyObjectFormat */ + #if CYTHON_USE_UNICODE_WRITER +static PyObject* __Pyx_PyObject_Format(PyObject* obj, PyObject* format_spec) { + int ret; + _PyUnicodeWriter writer; + if (likely(PyFloat_CheckExact(obj))) { +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x03040000 + _PyUnicodeWriter_Init(&writer, 0); +#else + _PyUnicodeWriter_Init(&writer); +#endif + ret = _PyFloat_FormatAdvancedWriter( + &writer, + obj, + format_spec, 0, PyUnicode_GET_LENGTH(format_spec)); + } else if (likely(PyLong_CheckExact(obj))) { +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x03040000 + _PyUnicodeWriter_Init(&writer, 0); +#else + _PyUnicodeWriter_Init(&writer); +#endif + ret = _PyLong_FormatAdvancedWriter( + &writer, + obj, + format_spec, 0, PyUnicode_GET_LENGTH(format_spec)); + } else { + return PyObject_Format(obj, format_spec); + } + if (unlikely(ret == -1)) { + _PyUnicodeWriter_Dealloc(&writer); + return NULL; + } + return _PyUnicodeWriter_Finish(&writer); +} +#endif + +/* UnpackUnboundCMethod */ + static PyObject *__Pyx_SelflessCall(PyObject *method, PyObject *args, PyObject *kwargs) { + PyObject *result; + PyObject *selfless_args = PyTuple_GetSlice(args, 1, PyTuple_Size(args)); + if (unlikely(!selfless_args)) return NULL; + result = PyObject_Call(method, selfless_args, kwargs); + Py_DECREF(selfless_args); + return result; +} +static PyMethodDef __Pyx_UnboundCMethod_Def = { + "CythonUnboundCMethod", + __PYX_REINTERPRET_FUNCION(PyCFunction, __Pyx_SelflessCall), + METH_VARARGS | METH_KEYWORDS, + NULL +}; +static int __Pyx_TryUnpackUnboundCMethod(__Pyx_CachedCFunction* target) { + PyObject *method; + method = __Pyx_PyObject_GetAttrStr(target->type, *target->method_name); + if (unlikely(!method)) + return -1; + target->method = method; +#if CYTHON_COMPILING_IN_CPYTHON + #if PY_MAJOR_VERSION >= 3 + if (likely(__Pyx_TypeCheck(method, &PyMethodDescr_Type))) + #else + if (likely(!__Pyx_CyOrPyCFunction_Check(method))) + #endif + { + PyMethodDescrObject *descr = (PyMethodDescrObject*) method; + target->func = descr->d_method->ml_meth; + target->flag = descr->d_method->ml_flags & ~(METH_CLASS | METH_STATIC | METH_COEXIST | METH_STACKLESS); + } else +#endif +#if CYTHON_COMPILING_IN_PYPY +#else + if (PyCFunction_Check(method)) +#endif + { + PyObject *self; + int self_found; +#if CYTHON_COMPILING_IN_LIMITED_API || CYTHON_COMPILING_IN_PYPY + self = PyObject_GetAttrString(method, "__self__"); + if (!self) { + PyErr_Clear(); + } +#else + self = PyCFunction_GET_SELF(method); +#endif + self_found = (self && self != Py_None); +#if CYTHON_COMPILING_IN_LIMITED_API || CYTHON_COMPILING_IN_PYPY + Py_XDECREF(self); +#endif + if (self_found) { + PyObject *unbound_method = PyCFunction_New(&__Pyx_UnboundCMethod_Def, method); + if (unlikely(!unbound_method)) return -1; + Py_DECREF(method); + target->method = unbound_method; + } + } + return 0; +} + +/* CallUnboundCMethod0 */ + static PyObject* __Pyx__CallUnboundCMethod0(__Pyx_CachedCFunction* cfunc, PyObject* self) { + PyObject *args, *result = NULL; + if (unlikely(!cfunc->method) && unlikely(__Pyx_TryUnpackUnboundCMethod(cfunc) < 0)) return NULL; +#if CYTHON_ASSUME_SAFE_MACROS + args = PyTuple_New(1); + if (unlikely(!args)) goto bad; + Py_INCREF(self); + PyTuple_SET_ITEM(args, 0, self); +#else + args = PyTuple_Pack(1, self); + if (unlikely(!args)) goto bad; +#endif + result = __Pyx_PyObject_Call(cfunc->method, args, NULL); + Py_DECREF(args); +bad: + return result; +} + +/* py_dict_keys */ + static CYTHON_INLINE PyObject* __Pyx_PyDict_Keys(PyObject* d) { + if (PY_MAJOR_VERSION >= 3) + return __Pyx_CallUnboundCMethod0(&__pyx_umethod_PyDict_Type_keys, d); + else + return PyDict_Keys(d); +} + +/* DictGetItem */ + #if PY_MAJOR_VERSION >= 3 && !CYTHON_COMPILING_IN_PYPY +static PyObject *__Pyx_PyDict_GetItem(PyObject *d, PyObject* key) { + PyObject *value; + value = PyDict_GetItemWithError(d, key); + if (unlikely(!value)) { + if (!PyErr_Occurred()) { + if (unlikely(PyTuple_Check(key))) { + PyObject* args = PyTuple_Pack(1, key); + if (likely(args)) { + PyErr_SetObject(PyExc_KeyError, args); + Py_DECREF(args); + } + } else { + PyErr_SetObject(PyExc_KeyError, key); + } + } + return NULL; + } + Py_INCREF(value); + return value; +} +#endif + +/* PyObjectLookupSpecial */ + #if CYTHON_USE_PYTYPE_LOOKUP && CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject* __Pyx__PyObject_LookupSpecial(PyObject* obj, PyObject* attr_name, int with_error) { + PyObject *res; + PyTypeObject *tp = Py_TYPE(obj); +#if PY_MAJOR_VERSION < 3 + if (unlikely(PyInstance_Check(obj))) + return with_error ? __Pyx_PyObject_GetAttrStr(obj, attr_name) : __Pyx_PyObject_GetAttrStrNoError(obj, attr_name); +#endif + res = _PyType_Lookup(tp, attr_name); + if (likely(res)) { + descrgetfunc f = Py_TYPE(res)->tp_descr_get; + if (!f) { + Py_INCREF(res); + } else { + res = f(res, obj, (PyObject *)tp); + } + } else if (with_error) { + PyErr_SetObject(PyExc_AttributeError, attr_name); + } + return res; +} +#endif + +/* FixUpExtensionType */ + #if CYTHON_USE_TYPE_SPECS +static int __Pyx_fix_up_extension_type_from_spec(PyType_Spec *spec, PyTypeObject *type) { +#if PY_VERSION_HEX > 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + CYTHON_UNUSED_VAR(spec); + CYTHON_UNUSED_VAR(type); +#else + const PyType_Slot *slot = spec->slots; + while (slot && slot->slot && slot->slot != Py_tp_members) + slot++; + if (slot && slot->slot == Py_tp_members) { + int changed = 0; +#if !(PY_VERSION_HEX <= 0x030900b1 && CYTHON_COMPILING_IN_CPYTHON) + const +#endif + PyMemberDef *memb = (PyMemberDef*) slot->pfunc; + while (memb && memb->name) { + if (memb->name[0] == '_' && memb->name[1] == '_') { +#if PY_VERSION_HEX < 0x030900b1 + if (strcmp(memb->name, "__weaklistoffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); + type->tp_weaklistoffset = memb->offset; + changed = 1; + } + else if (strcmp(memb->name, "__dictoffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); + type->tp_dictoffset = memb->offset; + changed = 1; + } +#if CYTHON_METH_FASTCALL + else if (strcmp(memb->name, "__vectorcalloffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); +#if PY_VERSION_HEX >= 0x030800b4 + type->tp_vectorcall_offset = memb->offset; +#else + type->tp_print = (printfunc) memb->offset; +#endif + changed = 1; + } +#endif +#else + if ((0)); +#endif +#if PY_VERSION_HEX <= 0x030900b1 && CYTHON_COMPILING_IN_CPYTHON + else if (strcmp(memb->name, "__module__") == 0) { + PyObject *descr; + assert(memb->type == T_OBJECT); + assert(memb->flags == 0 || memb->flags == READONLY); + descr = PyDescr_NewMember(type, memb); + if (unlikely(!descr)) + return -1; + if (unlikely(PyDict_SetItem(type->tp_dict, PyDescr_NAME(descr), descr) < 0)) { + Py_DECREF(descr); + return -1; + } + Py_DECREF(descr); + changed = 1; + } +#endif + } + memb++; + } + if (changed) + PyType_Modified(type); + } +#endif + return 0; +} +#endif + +/* FetchSharedCythonModule */ + static PyObject *__Pyx_FetchSharedCythonABIModule(void) { + return __Pyx_PyImport_AddModuleRef((char*) __PYX_ABI_MODULE_NAME); +} + +/* FetchCommonType */ + static int __Pyx_VerifyCachedType(PyObject *cached_type, + const char *name, + Py_ssize_t basicsize, + Py_ssize_t expected_basicsize) { + if (!PyType_Check(cached_type)) { + PyErr_Format(PyExc_TypeError, + "Shared Cython type %.200s is not a type object", name); + return -1; + } + if (basicsize != expected_basicsize) { + PyErr_Format(PyExc_TypeError, + "Shared Cython type %.200s has the wrong size, try recompiling", + name); + return -1; + } + return 0; +} +#if !CYTHON_USE_TYPE_SPECS +static PyTypeObject* __Pyx_FetchCommonType(PyTypeObject* type) { + PyObject* abi_module; + const char* object_name; + PyTypeObject *cached_type = NULL; + abi_module = __Pyx_FetchSharedCythonABIModule(); + if (!abi_module) return NULL; + object_name = strrchr(type->tp_name, '.'); + object_name = object_name ? object_name+1 : type->tp_name; + cached_type = (PyTypeObject*) PyObject_GetAttrString(abi_module, object_name); + if (cached_type) { + if (__Pyx_VerifyCachedType( + (PyObject *)cached_type, + object_name, + cached_type->tp_basicsize, + type->tp_basicsize) < 0) { + goto bad; + } + goto done; + } + if (!PyErr_ExceptionMatches(PyExc_AttributeError)) goto bad; + PyErr_Clear(); + if (PyType_Ready(type) < 0) goto bad; + if (PyObject_SetAttrString(abi_module, object_name, (PyObject *)type) < 0) + goto bad; + Py_INCREF(type); + cached_type = type; +done: + Py_DECREF(abi_module); + return cached_type; +bad: + Py_XDECREF(cached_type); + cached_type = NULL; + goto done; +} +#else +static PyTypeObject *__Pyx_FetchCommonTypeFromSpec(PyObject *module, PyType_Spec *spec, PyObject *bases) { + PyObject *abi_module, *cached_type = NULL; + const char* object_name = strrchr(spec->name, '.'); + object_name = object_name ? object_name+1 : spec->name; + abi_module = __Pyx_FetchSharedCythonABIModule(); + if (!abi_module) return NULL; + cached_type = PyObject_GetAttrString(abi_module, object_name); + if (cached_type) { + Py_ssize_t basicsize; +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *py_basicsize; + py_basicsize = PyObject_GetAttrString(cached_type, "__basicsize__"); + if (unlikely(!py_basicsize)) goto bad; + basicsize = PyLong_AsSsize_t(py_basicsize); + Py_DECREF(py_basicsize); + py_basicsize = 0; + if (unlikely(basicsize == (Py_ssize_t)-1) && PyErr_Occurred()) goto bad; +#else + basicsize = likely(PyType_Check(cached_type)) ? ((PyTypeObject*) cached_type)->tp_basicsize : -1; +#endif + if (__Pyx_VerifyCachedType( + cached_type, + object_name, + basicsize, + spec->basicsize) < 0) { + goto bad; + } + goto done; + } + if (!PyErr_ExceptionMatches(PyExc_AttributeError)) goto bad; + PyErr_Clear(); + CYTHON_UNUSED_VAR(module); + cached_type = __Pyx_PyType_FromModuleAndSpec(abi_module, spec, bases); + if (unlikely(!cached_type)) goto bad; + if (unlikely(__Pyx_fix_up_extension_type_from_spec(spec, (PyTypeObject *) cached_type) < 0)) goto bad; + if (PyObject_SetAttrString(abi_module, object_name, cached_type) < 0) goto bad; +done: + Py_DECREF(abi_module); + assert(cached_type == NULL || PyType_Check(cached_type)); + return (PyTypeObject *) cached_type; +bad: + Py_XDECREF(cached_type); + cached_type = NULL; + goto done; +} +#endif + +/* PyVectorcallFastCallDict */ + #if CYTHON_METH_FASTCALL +static PyObject *__Pyx_PyVectorcall_FastCallDict_kw(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw) +{ + PyObject *res = NULL; + PyObject *kwnames; + PyObject **newargs; + PyObject **kwvalues; + Py_ssize_t i, pos; + size_t j; + PyObject *key, *value; + unsigned long keys_are_strings; + Py_ssize_t nkw = PyDict_GET_SIZE(kw); + newargs = (PyObject **)PyMem_Malloc((nargs + (size_t)nkw) * sizeof(args[0])); + if (unlikely(newargs == NULL)) { + PyErr_NoMemory(); + return NULL; + } + for (j = 0; j < nargs; j++) newargs[j] = args[j]; + kwnames = PyTuple_New(nkw); + if (unlikely(kwnames == NULL)) { + PyMem_Free(newargs); + return NULL; + } + kwvalues = newargs + nargs; + pos = i = 0; + keys_are_strings = Py_TPFLAGS_UNICODE_SUBCLASS; + while (PyDict_Next(kw, &pos, &key, &value)) { + keys_are_strings &= Py_TYPE(key)->tp_flags; + Py_INCREF(key); + Py_INCREF(value); + PyTuple_SET_ITEM(kwnames, i, key); + kwvalues[i] = value; + i++; + } + if (unlikely(!keys_are_strings)) { + PyErr_SetString(PyExc_TypeError, "keywords must be strings"); + goto cleanup; + } + res = vc(func, newargs, nargs, kwnames); +cleanup: + Py_DECREF(kwnames); + for (i = 0; i < nkw; i++) + Py_DECREF(kwvalues[i]); + PyMem_Free(newargs); + return res; +} +static CYTHON_INLINE PyObject *__Pyx_PyVectorcall_FastCallDict(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw) +{ + if (likely(kw == NULL) || PyDict_GET_SIZE(kw) == 0) { + return vc(func, args, nargs, NULL); + } + return __Pyx_PyVectorcall_FastCallDict_kw(func, vc, args, nargs, kw); +} +#endif + +/* CythonFunctionShared */ + #if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc) { + if (__Pyx_CyFunction_Check(func)) { + return PyCFunction_GetFunction(((__pyx_CyFunctionObject*)func)->func) == (PyCFunction) cfunc; + } else if (PyCFunction_Check(func)) { + return PyCFunction_GetFunction(func) == (PyCFunction) cfunc; + } + return 0; +} +#else +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc) { + return __Pyx_CyOrPyCFunction_Check(func) && __Pyx_CyOrPyCFunction_GET_FUNCTION(func) == (PyCFunction) cfunc; +} +#endif +static CYTHON_INLINE void __Pyx__CyFunction_SetClassObj(__pyx_CyFunctionObject* f, PyObject* classobj) { +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + __Pyx_Py_XDECREF_SET( + __Pyx_CyFunction_GetClassObj(f), + ((classobj) ? __Pyx_NewRef(classobj) : NULL)); +#else + __Pyx_Py_XDECREF_SET( + ((PyCMethodObject *) (f))->mm_class, + (PyTypeObject*)((classobj) ? __Pyx_NewRef(classobj) : NULL)); +#endif +} +static PyObject * +__Pyx_CyFunction_get_doc(__pyx_CyFunctionObject *op, void *closure) +{ + CYTHON_UNUSED_VAR(closure); + if (unlikely(op->func_doc == NULL)) { +#if CYTHON_COMPILING_IN_LIMITED_API + op->func_doc = PyObject_GetAttrString(op->func, "__doc__"); + if (unlikely(!op->func_doc)) return NULL; +#else + if (((PyCFunctionObject*)op)->m_ml->ml_doc) { +#if PY_MAJOR_VERSION >= 3 + op->func_doc = PyUnicode_FromString(((PyCFunctionObject*)op)->m_ml->ml_doc); +#else + op->func_doc = PyString_FromString(((PyCFunctionObject*)op)->m_ml->ml_doc); +#endif + if (unlikely(op->func_doc == NULL)) + return NULL; + } else { + Py_INCREF(Py_None); + return Py_None; + } +#endif + } + Py_INCREF(op->func_doc); + return op->func_doc; +} +static int +__Pyx_CyFunction_set_doc(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (value == NULL) { + value = Py_None; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_doc, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_name(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(op->func_name == NULL)) { +#if CYTHON_COMPILING_IN_LIMITED_API + op->func_name = PyObject_GetAttrString(op->func, "__name__"); +#elif PY_MAJOR_VERSION >= 3 + op->func_name = PyUnicode_InternFromString(((PyCFunctionObject*)op)->m_ml->ml_name); +#else + op->func_name = PyString_InternFromString(((PyCFunctionObject*)op)->m_ml->ml_name); +#endif + if (unlikely(op->func_name == NULL)) + return NULL; + } + Py_INCREF(op->func_name); + return op->func_name; +} +static int +__Pyx_CyFunction_set_name(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); +#if PY_MAJOR_VERSION >= 3 + if (unlikely(value == NULL || !PyUnicode_Check(value))) +#else + if (unlikely(value == NULL || !PyString_Check(value))) +#endif + { + PyErr_SetString(PyExc_TypeError, + "__name__ must be set to a string object"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_name, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_qualname(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + Py_INCREF(op->func_qualname); + return op->func_qualname; +} +static int +__Pyx_CyFunction_set_qualname(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); +#if PY_MAJOR_VERSION >= 3 + if (unlikely(value == NULL || !PyUnicode_Check(value))) +#else + if (unlikely(value == NULL || !PyString_Check(value))) +#endif + { + PyErr_SetString(PyExc_TypeError, + "__qualname__ must be set to a string object"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_qualname, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_dict(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(op->func_dict == NULL)) { + op->func_dict = PyDict_New(); + if (unlikely(op->func_dict == NULL)) + return NULL; + } + Py_INCREF(op->func_dict); + return op->func_dict; +} +static int +__Pyx_CyFunction_set_dict(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(value == NULL)) { + PyErr_SetString(PyExc_TypeError, + "function's dictionary may not be deleted"); + return -1; + } + if (unlikely(!PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "setting function's dictionary to a non-dict"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_dict, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_globals(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + Py_INCREF(op->func_globals); + return op->func_globals; +} +static PyObject * +__Pyx_CyFunction_get_closure(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(op); + CYTHON_UNUSED_VAR(context); + Py_INCREF(Py_None); + return Py_None; +} +static PyObject * +__Pyx_CyFunction_get_code(__pyx_CyFunctionObject *op, void *context) +{ + PyObject* result = (op->func_code) ? op->func_code : Py_None; + CYTHON_UNUSED_VAR(context); + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_init_defaults(__pyx_CyFunctionObject *op) { + int result = 0; + PyObject *res = op->defaults_getter((PyObject *) op); + if (unlikely(!res)) + return -1; + #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + op->defaults_tuple = PyTuple_GET_ITEM(res, 0); + Py_INCREF(op->defaults_tuple); + op->defaults_kwdict = PyTuple_GET_ITEM(res, 1); + Py_INCREF(op->defaults_kwdict); + #else + op->defaults_tuple = __Pyx_PySequence_ITEM(res, 0); + if (unlikely(!op->defaults_tuple)) result = -1; + else { + op->defaults_kwdict = __Pyx_PySequence_ITEM(res, 1); + if (unlikely(!op->defaults_kwdict)) result = -1; + } + #endif + Py_DECREF(res); + return result; +} +static int +__Pyx_CyFunction_set_defaults(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value) { + value = Py_None; + } else if (unlikely(value != Py_None && !PyTuple_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__defaults__ must be set to a tuple object"); + return -1; + } + PyErr_WarnEx(PyExc_RuntimeWarning, "changes to cyfunction.__defaults__ will not " + "currently affect the values used in function calls", 1); + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->defaults_tuple, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_defaults(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->defaults_tuple; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + if (op->defaults_getter) { + if (unlikely(__Pyx_CyFunction_init_defaults(op) < 0)) return NULL; + result = op->defaults_tuple; + } else { + result = Py_None; + } + } + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_set_kwdefaults(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value) { + value = Py_None; + } else if (unlikely(value != Py_None && !PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__kwdefaults__ must be set to a dict object"); + return -1; + } + PyErr_WarnEx(PyExc_RuntimeWarning, "changes to cyfunction.__kwdefaults__ will not " + "currently affect the values used in function calls", 1); + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->defaults_kwdict, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_kwdefaults(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->defaults_kwdict; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + if (op->defaults_getter) { + if (unlikely(__Pyx_CyFunction_init_defaults(op) < 0)) return NULL; + result = op->defaults_kwdict; + } else { + result = Py_None; + } + } + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_set_annotations(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value || value == Py_None) { + value = NULL; + } else if (unlikely(!PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__annotations__ must be set to a dict object"); + return -1; + } + Py_XINCREF(value); + __Pyx_Py_XDECREF_SET(op->func_annotations, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_annotations(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->func_annotations; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + result = PyDict_New(); + if (unlikely(!result)) return NULL; + op->func_annotations = result; + } + Py_INCREF(result); + return result; +} +static PyObject * +__Pyx_CyFunction_get_is_coroutine(__pyx_CyFunctionObject *op, void *context) { + int is_coroutine; + CYTHON_UNUSED_VAR(context); + if (op->func_is_coroutine) { + return __Pyx_NewRef(op->func_is_coroutine); + } + is_coroutine = op->flags & __Pyx_CYFUNCTION_COROUTINE; +#if PY_VERSION_HEX >= 0x03050000 + if (is_coroutine) { + PyObject *module, *fromlist, *marker = __pyx_n_s_is_coroutine; + fromlist = PyList_New(1); + if (unlikely(!fromlist)) return NULL; + Py_INCREF(marker); +#if CYTHON_ASSUME_SAFE_MACROS + PyList_SET_ITEM(fromlist, 0, marker); +#else + if (unlikely(PyList_SetItem(fromlist, 0, marker) < 0)) { + Py_DECREF(marker); + Py_DECREF(fromlist); + return NULL; + } +#endif + module = PyImport_ImportModuleLevelObject(__pyx_n_s_asyncio_coroutines, NULL, NULL, fromlist, 0); + Py_DECREF(fromlist); + if (unlikely(!module)) goto ignore; + op->func_is_coroutine = __Pyx_PyObject_GetAttrStr(module, marker); + Py_DECREF(module); + if (likely(op->func_is_coroutine)) { + return __Pyx_NewRef(op->func_is_coroutine); + } +ignore: + PyErr_Clear(); + } +#endif + op->func_is_coroutine = __Pyx_PyBool_FromLong(is_coroutine); + return __Pyx_NewRef(op->func_is_coroutine); +} +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject * +__Pyx_CyFunction_get_module(__pyx_CyFunctionObject *op, void *context) { + CYTHON_UNUSED_VAR(context); + return PyObject_GetAttrString(op->func, "__module__"); +} +static int +__Pyx_CyFunction_set_module(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + return PyObject_SetAttrString(op->func, "__module__", value); +} +#endif +static PyGetSetDef __pyx_CyFunction_getsets[] = { + {(char *) "func_doc", (getter)__Pyx_CyFunction_get_doc, (setter)__Pyx_CyFunction_set_doc, 0, 0}, + {(char *) "__doc__", (getter)__Pyx_CyFunction_get_doc, (setter)__Pyx_CyFunction_set_doc, 0, 0}, + {(char *) "func_name", (getter)__Pyx_CyFunction_get_name, (setter)__Pyx_CyFunction_set_name, 0, 0}, + {(char *) "__name__", (getter)__Pyx_CyFunction_get_name, (setter)__Pyx_CyFunction_set_name, 0, 0}, + {(char *) "__qualname__", (getter)__Pyx_CyFunction_get_qualname, (setter)__Pyx_CyFunction_set_qualname, 0, 0}, + {(char *) "func_dict", (getter)__Pyx_CyFunction_get_dict, (setter)__Pyx_CyFunction_set_dict, 0, 0}, + {(char *) "__dict__", (getter)__Pyx_CyFunction_get_dict, (setter)__Pyx_CyFunction_set_dict, 0, 0}, + {(char *) "func_globals", (getter)__Pyx_CyFunction_get_globals, 0, 0, 0}, + {(char *) "__globals__", (getter)__Pyx_CyFunction_get_globals, 0, 0, 0}, + {(char *) "func_closure", (getter)__Pyx_CyFunction_get_closure, 0, 0, 0}, + {(char *) "__closure__", (getter)__Pyx_CyFunction_get_closure, 0, 0, 0}, + {(char *) "func_code", (getter)__Pyx_CyFunction_get_code, 0, 0, 0}, + {(char *) "__code__", (getter)__Pyx_CyFunction_get_code, 0, 0, 0}, + {(char *) "func_defaults", (getter)__Pyx_CyFunction_get_defaults, (setter)__Pyx_CyFunction_set_defaults, 0, 0}, + {(char *) "__defaults__", (getter)__Pyx_CyFunction_get_defaults, (setter)__Pyx_CyFunction_set_defaults, 0, 0}, + {(char *) "__kwdefaults__", (getter)__Pyx_CyFunction_get_kwdefaults, (setter)__Pyx_CyFunction_set_kwdefaults, 0, 0}, + {(char *) "__annotations__", (getter)__Pyx_CyFunction_get_annotations, (setter)__Pyx_CyFunction_set_annotations, 0, 0}, + {(char *) "_is_coroutine", (getter)__Pyx_CyFunction_get_is_coroutine, 0, 0, 0}, +#if CYTHON_COMPILING_IN_LIMITED_API + {"__module__", (getter)__Pyx_CyFunction_get_module, (setter)__Pyx_CyFunction_set_module, 0, 0}, +#endif + {0, 0, 0, 0, 0} +}; +static PyMemberDef __pyx_CyFunction_members[] = { +#if !CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__module__", T_OBJECT, offsetof(PyCFunctionObject, m_module), 0, 0}, +#endif +#if CYTHON_USE_TYPE_SPECS + {(char *) "__dictoffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_dict), READONLY, 0}, +#if CYTHON_METH_FASTCALL +#if CYTHON_BACKPORT_VECTORCALL + {(char *) "__vectorcalloffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_vectorcall), READONLY, 0}, +#else +#if !CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__vectorcalloffset__", T_PYSSIZET, offsetof(PyCFunctionObject, vectorcall), READONLY, 0}, +#endif +#endif +#endif +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__weaklistoffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_weakreflist), READONLY, 0}, +#else + {(char *) "__weaklistoffset__", T_PYSSIZET, offsetof(PyCFunctionObject, m_weakreflist), READONLY, 0}, +#endif +#endif + {0, 0, 0, 0, 0} +}; +static PyObject * +__Pyx_CyFunction_reduce(__pyx_CyFunctionObject *m, PyObject *args) +{ + CYTHON_UNUSED_VAR(args); +#if PY_MAJOR_VERSION >= 3 + Py_INCREF(m->func_qualname); + return m->func_qualname; +#else + return PyString_FromString(((PyCFunctionObject*)m)->m_ml->ml_name); +#endif +} +static PyMethodDef __pyx_CyFunction_methods[] = { + {"__reduce__", (PyCFunction)__Pyx_CyFunction_reduce, METH_VARARGS, 0}, + {0, 0, 0, 0} +}; +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API +#define __Pyx_CyFunction_weakreflist(cyfunc) ((cyfunc)->func_weakreflist) +#else +#define __Pyx_CyFunction_weakreflist(cyfunc) (((PyCFunctionObject*)cyfunc)->m_weakreflist) +#endif +static PyObject *__Pyx_CyFunction_Init(__pyx_CyFunctionObject *op, PyMethodDef *ml, int flags, PyObject* qualname, + PyObject *closure, PyObject *module, PyObject* globals, PyObject* code) { +#if !CYTHON_COMPILING_IN_LIMITED_API + PyCFunctionObject *cf = (PyCFunctionObject*) op; +#endif + if (unlikely(op == NULL)) + return NULL; +#if CYTHON_COMPILING_IN_LIMITED_API + op->func = PyCFunction_NewEx(ml, (PyObject*)op, module); + if (unlikely(!op->func)) return NULL; +#endif + op->flags = flags; + __Pyx_CyFunction_weakreflist(op) = NULL; +#if !CYTHON_COMPILING_IN_LIMITED_API + cf->m_ml = ml; + cf->m_self = (PyObject *) op; +#endif + Py_XINCREF(closure); + op->func_closure = closure; +#if !CYTHON_COMPILING_IN_LIMITED_API + Py_XINCREF(module); + cf->m_module = module; +#endif + op->func_dict = NULL; + op->func_name = NULL; + Py_INCREF(qualname); + op->func_qualname = qualname; + op->func_doc = NULL; +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + op->func_classobj = NULL; +#else + ((PyCMethodObject*)op)->mm_class = NULL; +#endif + op->func_globals = globals; + Py_INCREF(op->func_globals); + Py_XINCREF(code); + op->func_code = code; + op->defaults_pyobjects = 0; + op->defaults_size = 0; + op->defaults = NULL; + op->defaults_tuple = NULL; + op->defaults_kwdict = NULL; + op->defaults_getter = NULL; + op->func_annotations = NULL; + op->func_is_coroutine = NULL; +#if CYTHON_METH_FASTCALL + switch (ml->ml_flags & (METH_VARARGS | METH_FASTCALL | METH_NOARGS | METH_O | METH_KEYWORDS | METH_METHOD)) { + case METH_NOARGS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_NOARGS; + break; + case METH_O: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_O; + break; + case METH_METHOD | METH_FASTCALL | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD; + break; + case METH_FASTCALL | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS; + break; + case METH_VARARGS | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = NULL; + break; + default: + PyErr_SetString(PyExc_SystemError, "Bad call flags for CyFunction"); + Py_DECREF(op); + return NULL; + } +#endif + return (PyObject *) op; +} +static int +__Pyx_CyFunction_clear(__pyx_CyFunctionObject *m) +{ + Py_CLEAR(m->func_closure); +#if CYTHON_COMPILING_IN_LIMITED_API + Py_CLEAR(m->func); +#else + Py_CLEAR(((PyCFunctionObject*)m)->m_module); +#endif + Py_CLEAR(m->func_dict); + Py_CLEAR(m->func_name); + Py_CLEAR(m->func_qualname); + Py_CLEAR(m->func_doc); + Py_CLEAR(m->func_globals); + Py_CLEAR(m->func_code); +#if !CYTHON_COMPILING_IN_LIMITED_API +#if PY_VERSION_HEX < 0x030900B1 + Py_CLEAR(__Pyx_CyFunction_GetClassObj(m)); +#else + { + PyObject *cls = (PyObject*) ((PyCMethodObject *) (m))->mm_class; + ((PyCMethodObject *) (m))->mm_class = NULL; + Py_XDECREF(cls); + } +#endif +#endif + Py_CLEAR(m->defaults_tuple); + Py_CLEAR(m->defaults_kwdict); + Py_CLEAR(m->func_annotations); + Py_CLEAR(m->func_is_coroutine); + if (m->defaults) { + PyObject **pydefaults = __Pyx_CyFunction_Defaults(PyObject *, m); + int i; + for (i = 0; i < m->defaults_pyobjects; i++) + Py_XDECREF(pydefaults[i]); + PyObject_Free(m->defaults); + m->defaults = NULL; + } + return 0; +} +static void __Pyx__CyFunction_dealloc(__pyx_CyFunctionObject *m) +{ + if (__Pyx_CyFunction_weakreflist(m) != NULL) + PyObject_ClearWeakRefs((PyObject *) m); + __Pyx_CyFunction_clear(m); + __Pyx_PyHeapTypeObject_GC_Del(m); +} +static void __Pyx_CyFunction_dealloc(__pyx_CyFunctionObject *m) +{ + PyObject_GC_UnTrack(m); + __Pyx__CyFunction_dealloc(m); +} +static int __Pyx_CyFunction_traverse(__pyx_CyFunctionObject *m, visitproc visit, void *arg) +{ + Py_VISIT(m->func_closure); +#if CYTHON_COMPILING_IN_LIMITED_API + Py_VISIT(m->func); +#else + Py_VISIT(((PyCFunctionObject*)m)->m_module); +#endif + Py_VISIT(m->func_dict); + Py_VISIT(m->func_name); + Py_VISIT(m->func_qualname); + Py_VISIT(m->func_doc); + Py_VISIT(m->func_globals); + Py_VISIT(m->func_code); +#if !CYTHON_COMPILING_IN_LIMITED_API + Py_VISIT(__Pyx_CyFunction_GetClassObj(m)); +#endif + Py_VISIT(m->defaults_tuple); + Py_VISIT(m->defaults_kwdict); + Py_VISIT(m->func_is_coroutine); + if (m->defaults) { + PyObject **pydefaults = __Pyx_CyFunction_Defaults(PyObject *, m); + int i; + for (i = 0; i < m->defaults_pyobjects; i++) + Py_VISIT(pydefaults[i]); + } + return 0; +} +static PyObject* +__Pyx_CyFunction_repr(__pyx_CyFunctionObject *op) +{ +#if PY_MAJOR_VERSION >= 3 + return PyUnicode_FromFormat("", + op->func_qualname, (void *)op); +#else + return PyString_FromFormat("", + PyString_AsString(op->func_qualname), (void *)op); +#endif +} +static PyObject * __Pyx_CyFunction_CallMethod(PyObject *func, PyObject *self, PyObject *arg, PyObject *kw) { +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *f = ((__pyx_CyFunctionObject*)func)->func; + PyObject *py_name = NULL; + PyCFunction meth; + int flags; + meth = PyCFunction_GetFunction(f); + if (unlikely(!meth)) return NULL; + flags = PyCFunction_GetFlags(f); + if (unlikely(flags < 0)) return NULL; +#else + PyCFunctionObject* f = (PyCFunctionObject*)func; + PyCFunction meth = f->m_ml->ml_meth; + int flags = f->m_ml->ml_flags; +#endif + Py_ssize_t size; + switch (flags & (METH_VARARGS | METH_KEYWORDS | METH_NOARGS | METH_O)) { + case METH_VARARGS: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) + return (*meth)(self, arg); + break; + case METH_VARARGS | METH_KEYWORDS: + return (*(PyCFunctionWithKeywords)(void*)meth)(self, arg, kw); + case METH_NOARGS: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) { +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(arg); +#else + size = PyTuple_Size(arg); + if (unlikely(size < 0)) return NULL; +#endif + if (likely(size == 0)) + return (*meth)(self, NULL); +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, + "%.200S() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + py_name, size); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, + "%.200s() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + f->m_ml->ml_name, size); +#endif + return NULL; + } + break; + case METH_O: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) { +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(arg); +#else + size = PyTuple_Size(arg); + if (unlikely(size < 0)) return NULL; +#endif + if (likely(size == 1)) { + PyObject *result, *arg0; + #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + arg0 = PyTuple_GET_ITEM(arg, 0); + #else + arg0 = __Pyx_PySequence_ITEM(arg, 0); if (unlikely(!arg0)) return NULL; + #endif + result = (*meth)(self, arg0); + #if !(CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS) + Py_DECREF(arg0); + #endif + return result; + } +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, + "%.200S() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + py_name, size); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, + "%.200s() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + f->m_ml->ml_name, size); +#endif + return NULL; + } + break; + default: + PyErr_SetString(PyExc_SystemError, "Bad call flags for CyFunction"); + return NULL; + } +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, "%.200S() takes no keyword arguments", + py_name); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, "%.200s() takes no keyword arguments", + f->m_ml->ml_name); +#endif + return NULL; +} +static CYTHON_INLINE PyObject *__Pyx_CyFunction_Call(PyObject *func, PyObject *arg, PyObject *kw) { + PyObject *self, *result; +#if CYTHON_COMPILING_IN_LIMITED_API + self = PyCFunction_GetSelf(((__pyx_CyFunctionObject*)func)->func); + if (unlikely(!self) && PyErr_Occurred()) return NULL; +#else + self = ((PyCFunctionObject*)func)->m_self; +#endif + result = __Pyx_CyFunction_CallMethod(func, self, arg, kw); + return result; +} +static PyObject *__Pyx_CyFunction_CallAsMethod(PyObject *func, PyObject *args, PyObject *kw) { + PyObject *result; + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *) func; +#if CYTHON_METH_FASTCALL + __pyx_vectorcallfunc vc = __Pyx_CyFunction_func_vectorcall(cyfunc); + if (vc) { +#if CYTHON_ASSUME_SAFE_MACROS + return __Pyx_PyVectorcall_FastCallDict(func, vc, &PyTuple_GET_ITEM(args, 0), (size_t)PyTuple_GET_SIZE(args), kw); +#else + (void) &__Pyx_PyVectorcall_FastCallDict; + return PyVectorcall_Call(func, args, kw); +#endif + } +#endif + if ((cyfunc->flags & __Pyx_CYFUNCTION_CCLASS) && !(cyfunc->flags & __Pyx_CYFUNCTION_STATICMETHOD)) { + Py_ssize_t argc; + PyObject *new_args; + PyObject *self; +#if CYTHON_ASSUME_SAFE_MACROS + argc = PyTuple_GET_SIZE(args); +#else + argc = PyTuple_Size(args); + if (unlikely(!argc) < 0) return NULL; +#endif + new_args = PyTuple_GetSlice(args, 1, argc); + if (unlikely(!new_args)) + return NULL; + self = PyTuple_GetItem(args, 0); + if (unlikely(!self)) { + Py_DECREF(new_args); +#if PY_MAJOR_VERSION > 2 + PyErr_Format(PyExc_TypeError, + "unbound method %.200S() needs an argument", + cyfunc->func_qualname); +#else + PyErr_SetString(PyExc_TypeError, + "unbound method needs an argument"); +#endif + return NULL; + } + result = __Pyx_CyFunction_CallMethod(func, self, new_args, kw); + Py_DECREF(new_args); + } else { + result = __Pyx_CyFunction_Call(func, args, kw); + } + return result; +} +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE int __Pyx_CyFunction_Vectorcall_CheckArgs(__pyx_CyFunctionObject *cyfunc, Py_ssize_t nargs, PyObject *kwnames) +{ + int ret = 0; + if ((cyfunc->flags & __Pyx_CYFUNCTION_CCLASS) && !(cyfunc->flags & __Pyx_CYFUNCTION_STATICMETHOD)) { + if (unlikely(nargs < 1)) { + PyErr_Format(PyExc_TypeError, "%.200s() needs an argument", + ((PyCFunctionObject*)cyfunc)->m_ml->ml_name); + return -1; + } + ret = 1; + } + if (unlikely(kwnames) && unlikely(PyTuple_GET_SIZE(kwnames))) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes no keyword arguments", ((PyCFunctionObject*)cyfunc)->m_ml->ml_name); + return -1; + } + return ret; +} +static PyObject * __Pyx_CyFunction_Vectorcall_NOARGS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, kwnames)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + if (unlikely(nargs != 0)) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + def->ml_name, nargs); + return NULL; + } + return def->ml_meth(self, NULL); +} +static PyObject * __Pyx_CyFunction_Vectorcall_O(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, kwnames)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + if (unlikely(nargs != 1)) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + def->ml_name, nargs); + return NULL; + } + return def->ml_meth(self, args[0]); +} +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, NULL)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + return ((_PyCFunctionFastWithKeywords)(void(*)(void))def->ml_meth)(self, args, nargs, kwnames); +} +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; + PyTypeObject *cls = (PyTypeObject *) __Pyx_CyFunction_GetClassObj(cyfunc); +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, NULL)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + return ((__Pyx_PyCMethod)(void(*)(void))def->ml_meth)(self, cls, args, (size_t)nargs, kwnames); +} +#endif +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_CyFunctionType_slots[] = { + {Py_tp_dealloc, (void *)__Pyx_CyFunction_dealloc}, + {Py_tp_repr, (void *)__Pyx_CyFunction_repr}, + {Py_tp_call, (void *)__Pyx_CyFunction_CallAsMethod}, + {Py_tp_traverse, (void *)__Pyx_CyFunction_traverse}, + {Py_tp_clear, (void *)__Pyx_CyFunction_clear}, + {Py_tp_methods, (void *)__pyx_CyFunction_methods}, + {Py_tp_members, (void *)__pyx_CyFunction_members}, + {Py_tp_getset, (void *)__pyx_CyFunction_getsets}, + {Py_tp_descr_get, (void *)__Pyx_PyMethod_New}, + {0, 0}, +}; +static PyType_Spec __pyx_CyFunctionType_spec = { + __PYX_TYPE_MODULE_PREFIX "cython_function_or_method", + sizeof(__pyx_CyFunctionObject), + 0, +#ifdef Py_TPFLAGS_METHOD_DESCRIPTOR + Py_TPFLAGS_METHOD_DESCRIPTOR | +#endif +#if (defined(_Py_TPFLAGS_HAVE_VECTORCALL) && CYTHON_METH_FASTCALL) + _Py_TPFLAGS_HAVE_VECTORCALL | +#endif + Py_TPFLAGS_DEFAULT | Py_TPFLAGS_HAVE_GC | Py_TPFLAGS_BASETYPE, + __pyx_CyFunctionType_slots +}; +#else +static PyTypeObject __pyx_CyFunctionType_type = { + PyVarObject_HEAD_INIT(0, 0) + __PYX_TYPE_MODULE_PREFIX "cython_function_or_method", + sizeof(__pyx_CyFunctionObject), + 0, + (destructor) __Pyx_CyFunction_dealloc, +#if !CYTHON_METH_FASTCALL + 0, +#elif CYTHON_BACKPORT_VECTORCALL + (printfunc)offsetof(__pyx_CyFunctionObject, func_vectorcall), +#else + offsetof(PyCFunctionObject, vectorcall), +#endif + 0, + 0, +#if PY_MAJOR_VERSION < 3 + 0, +#else + 0, +#endif + (reprfunc) __Pyx_CyFunction_repr, + 0, + 0, + 0, + 0, + __Pyx_CyFunction_CallAsMethod, + 0, + 0, + 0, + 0, +#ifdef Py_TPFLAGS_METHOD_DESCRIPTOR + Py_TPFLAGS_METHOD_DESCRIPTOR | +#endif +#if defined(_Py_TPFLAGS_HAVE_VECTORCALL) && CYTHON_METH_FASTCALL + _Py_TPFLAGS_HAVE_VECTORCALL | +#endif + Py_TPFLAGS_DEFAULT | Py_TPFLAGS_HAVE_GC | Py_TPFLAGS_BASETYPE, + 0, + (traverseproc) __Pyx_CyFunction_traverse, + (inquiry) __Pyx_CyFunction_clear, + 0, +#if PY_VERSION_HEX < 0x030500A0 + offsetof(__pyx_CyFunctionObject, func_weakreflist), +#else + offsetof(PyCFunctionObject, m_weakreflist), +#endif + 0, + 0, + __pyx_CyFunction_methods, + __pyx_CyFunction_members, + __pyx_CyFunction_getsets, + 0, + 0, + __Pyx_PyMethod_New, + 0, + offsetof(__pyx_CyFunctionObject, func_dict), + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, +#if PY_VERSION_HEX >= 0x030400a1 + 0, +#endif +#if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, +#endif +#if __PYX_NEED_TP_PRINT_SLOT + 0, +#endif +#if PY_VERSION_HEX >= 0x030C0000 + 0, +#endif +#if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, +#endif +}; +#endif +static int __pyx_CyFunction_init(PyObject *module) { +#if CYTHON_USE_TYPE_SPECS + __pyx_CyFunctionType = __Pyx_FetchCommonTypeFromSpec(module, &__pyx_CyFunctionType_spec, NULL); +#else + CYTHON_UNUSED_VAR(module); + __pyx_CyFunctionType = __Pyx_FetchCommonType(&__pyx_CyFunctionType_type); +#endif + if (unlikely(__pyx_CyFunctionType == NULL)) { + return -1; + } + return 0; +} +static CYTHON_INLINE void *__Pyx_CyFunction_InitDefaults(PyObject *func, size_t size, int pyobjects) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults = PyObject_Malloc(size); + if (unlikely(!m->defaults)) + return PyErr_NoMemory(); + memset(m->defaults, 0, size); + m->defaults_pyobjects = pyobjects; + m->defaults_size = size; + return m->defaults; +} +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsTuple(PyObject *func, PyObject *tuple) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults_tuple = tuple; + Py_INCREF(tuple); +} +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsKwDict(PyObject *func, PyObject *dict) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults_kwdict = dict; + Py_INCREF(dict); +} +static CYTHON_INLINE void __Pyx_CyFunction_SetAnnotationsDict(PyObject *func, PyObject *dict) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->func_annotations = dict; + Py_INCREF(dict); +} + +/* CythonFunction */ + static PyObject *__Pyx_CyFunction_New(PyMethodDef *ml, int flags, PyObject* qualname, + PyObject *closure, PyObject *module, PyObject* globals, PyObject* code) { + PyObject *op = __Pyx_CyFunction_Init( + PyObject_GC_New(__pyx_CyFunctionObject, __pyx_CyFunctionType), + ml, flags, qualname, closure, module, globals, code + ); + if (likely(op)) { + PyObject_GC_Track(op); + } + return op; +} + +/* IterFinish */ + static CYTHON_INLINE int __Pyx_IterFinish(void) { + PyObject* exc_type; + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + exc_type = __Pyx_PyErr_CurrentExceptionType(); + if (unlikely(exc_type)) { + if (unlikely(!__Pyx_PyErr_GivenExceptionMatches(exc_type, PyExc_StopIteration))) + return -1; + __Pyx_PyErr_Clear(); + return 0; + } + return 0; +} + +/* PyObjectCallNoArg */ + static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func) { + PyObject *arg[2] = {NULL, NULL}; + return __Pyx_PyObject_FastCall(func, arg + 1, 0 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET); +} + +/* PyObjectGetMethod */ + static int __Pyx_PyObject_GetMethod(PyObject *obj, PyObject *name, PyObject **method) { + PyObject *attr; +#if CYTHON_UNPACK_METHODS && CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_PYTYPE_LOOKUP + __Pyx_TypeName type_name; + PyTypeObject *tp = Py_TYPE(obj); + PyObject *descr; + descrgetfunc f = NULL; + PyObject **dictptr, *dict; + int meth_found = 0; + assert (*method == NULL); + if (unlikely(tp->tp_getattro != PyObject_GenericGetAttr)) { + attr = __Pyx_PyObject_GetAttrStr(obj, name); + goto try_unpack; + } + if (unlikely(tp->tp_dict == NULL) && unlikely(PyType_Ready(tp) < 0)) { + return 0; + } + descr = _PyType_Lookup(tp, name); + if (likely(descr != NULL)) { + Py_INCREF(descr); +#if defined(Py_TPFLAGS_METHOD_DESCRIPTOR) && Py_TPFLAGS_METHOD_DESCRIPTOR + if (__Pyx_PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_METHOD_DESCRIPTOR)) +#elif PY_MAJOR_VERSION >= 3 + #ifdef __Pyx_CyFunction_USED + if (likely(PyFunction_Check(descr) || __Pyx_IS_TYPE(descr, &PyMethodDescr_Type) || __Pyx_CyFunction_Check(descr))) + #else + if (likely(PyFunction_Check(descr) || __Pyx_IS_TYPE(descr, &PyMethodDescr_Type))) + #endif +#else + #ifdef __Pyx_CyFunction_USED + if (likely(PyFunction_Check(descr) || __Pyx_CyFunction_Check(descr))) + #else + if (likely(PyFunction_Check(descr))) + #endif +#endif + { + meth_found = 1; + } else { + f = Py_TYPE(descr)->tp_descr_get; + if (f != NULL && PyDescr_IsData(descr)) { + attr = f(descr, obj, (PyObject *)Py_TYPE(obj)); + Py_DECREF(descr); + goto try_unpack; + } + } + } + dictptr = _PyObject_GetDictPtr(obj); + if (dictptr != NULL && (dict = *dictptr) != NULL) { + Py_INCREF(dict); + attr = __Pyx_PyDict_GetItemStr(dict, name); + if (attr != NULL) { + Py_INCREF(attr); + Py_DECREF(dict); + Py_XDECREF(descr); + goto try_unpack; + } + Py_DECREF(dict); + } + if (meth_found) { + *method = descr; + return 1; + } + if (f != NULL) { + attr = f(descr, obj, (PyObject *)Py_TYPE(obj)); + Py_DECREF(descr); + goto try_unpack; + } + if (likely(descr != NULL)) { + *method = descr; + return 0; + } + type_name = __Pyx_PyType_GetName(tp); + PyErr_Format(PyExc_AttributeError, +#if PY_MAJOR_VERSION >= 3 + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%U'", + type_name, name); +#else + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%.400s'", + type_name, PyString_AS_STRING(name)); +#endif + __Pyx_DECREF_TypeName(type_name); + return 0; +#else + attr = __Pyx_PyObject_GetAttrStr(obj, name); + goto try_unpack; +#endif +try_unpack: +#if CYTHON_UNPACK_METHODS + if (likely(attr) && PyMethod_Check(attr) && likely(PyMethod_GET_SELF(attr) == obj)) { + PyObject *function = PyMethod_GET_FUNCTION(attr); + Py_INCREF(function); + Py_DECREF(attr); + *method = function; + return 1; + } +#endif + *method = attr; + return 0; +} + +/* PyObjectCallMethod0 */ + static PyObject* __Pyx_PyObject_CallMethod0(PyObject* obj, PyObject* method_name) { + PyObject *method = NULL, *result = NULL; + int is_method = __Pyx_PyObject_GetMethod(obj, method_name, &method); + if (likely(is_method)) { + result = __Pyx_PyObject_CallOneArg(method, obj); + Py_DECREF(method); + return result; + } + if (unlikely(!method)) goto bad; + result = __Pyx_PyObject_CallNoArg(method); + Py_DECREF(method); +bad: + return result; +} + +/* UnpackItemEndCheck */ + static int __Pyx_IternextUnpackEndCheck(PyObject *retval, Py_ssize_t expected) { + if (unlikely(retval)) { + Py_DECREF(retval); + __Pyx_RaiseTooManyValuesError(expected); + return -1; + } + return __Pyx_IterFinish(); +} + +/* UnpackTupleError */ + static void __Pyx_UnpackTupleError(PyObject *t, Py_ssize_t index) { + if (t == Py_None) { + __Pyx_RaiseNoneNotIterableError(); + } else if (PyTuple_GET_SIZE(t) < index) { + __Pyx_RaiseNeedMoreValuesError(PyTuple_GET_SIZE(t)); + } else { + __Pyx_RaiseTooManyValuesError(index); + } +} + +/* UnpackTuple2 */ + static CYTHON_INLINE int __Pyx_unpack_tuple2_exact( + PyObject* tuple, PyObject** pvalue1, PyObject** pvalue2, int decref_tuple) { + PyObject *value1 = NULL, *value2 = NULL; +#if CYTHON_COMPILING_IN_PYPY + value1 = PySequence_ITEM(tuple, 0); if (unlikely(!value1)) goto bad; + value2 = PySequence_ITEM(tuple, 1); if (unlikely(!value2)) goto bad; +#else + value1 = PyTuple_GET_ITEM(tuple, 0); Py_INCREF(value1); + value2 = PyTuple_GET_ITEM(tuple, 1); Py_INCREF(value2); +#endif + if (decref_tuple) { + Py_DECREF(tuple); + } + *pvalue1 = value1; + *pvalue2 = value2; + return 0; +#if CYTHON_COMPILING_IN_PYPY +bad: + Py_XDECREF(value1); + Py_XDECREF(value2); + if (decref_tuple) { Py_XDECREF(tuple); } + return -1; +#endif +} +static int __Pyx_unpack_tuple2_generic(PyObject* tuple, PyObject** pvalue1, PyObject** pvalue2, + int has_known_size, int decref_tuple) { + Py_ssize_t index; + PyObject *value1 = NULL, *value2 = NULL, *iter = NULL; + iternextfunc iternext; + iter = PyObject_GetIter(tuple); + if (unlikely(!iter)) goto bad; + if (decref_tuple) { Py_DECREF(tuple); tuple = NULL; } + iternext = __Pyx_PyObject_GetIterNextFunc(iter); + value1 = iternext(iter); if (unlikely(!value1)) { index = 0; goto unpacking_failed; } + value2 = iternext(iter); if (unlikely(!value2)) { index = 1; goto unpacking_failed; } + if (!has_known_size && unlikely(__Pyx_IternextUnpackEndCheck(iternext(iter), 2))) goto bad; + Py_DECREF(iter); + *pvalue1 = value1; + *pvalue2 = value2; + return 0; +unpacking_failed: + if (!has_known_size && __Pyx_IterFinish() == 0) + __Pyx_RaiseNeedMoreValuesError(index); +bad: + Py_XDECREF(iter); + Py_XDECREF(value1); + Py_XDECREF(value2); + if (decref_tuple) { Py_XDECREF(tuple); } + return -1; +} + +/* dict_iter */ + #if CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 +#include +#endif +static CYTHON_INLINE PyObject* __Pyx_dict_iterator(PyObject* iterable, int is_dict, PyObject* method_name, + Py_ssize_t* p_orig_length, int* p_source_is_dict) { + is_dict = is_dict || likely(PyDict_CheckExact(iterable)); + *p_source_is_dict = is_dict; + if (is_dict) { +#if !CYTHON_COMPILING_IN_PYPY + *p_orig_length = PyDict_Size(iterable); + Py_INCREF(iterable); + return iterable; +#elif PY_MAJOR_VERSION >= 3 + static PyObject *py_items = NULL, *py_keys = NULL, *py_values = NULL; + PyObject **pp = NULL; + if (method_name) { + const char *name = PyUnicode_AsUTF8(method_name); + if (strcmp(name, "iteritems") == 0) pp = &py_items; + else if (strcmp(name, "iterkeys") == 0) pp = &py_keys; + else if (strcmp(name, "itervalues") == 0) pp = &py_values; + if (pp) { + if (!*pp) { + *pp = PyUnicode_FromString(name + 4); + if (!*pp) + return NULL; + } + method_name = *pp; + } + } +#endif + } + *p_orig_length = 0; + if (method_name) { + PyObject* iter; + iterable = __Pyx_PyObject_CallMethod0(iterable, method_name); + if (!iterable) + return NULL; +#if !CYTHON_COMPILING_IN_PYPY + if (PyTuple_CheckExact(iterable) || PyList_CheckExact(iterable)) + return iterable; +#endif + iter = PyObject_GetIter(iterable); + Py_DECREF(iterable); + return iter; + } + return PyObject_GetIter(iterable); +} +static CYTHON_INLINE int __Pyx_dict_iter_next( + PyObject* iter_obj, CYTHON_NCP_UNUSED Py_ssize_t orig_length, CYTHON_NCP_UNUSED Py_ssize_t* ppos, + PyObject** pkey, PyObject** pvalue, PyObject** pitem, int source_is_dict) { + PyObject* next_item; +#if !CYTHON_COMPILING_IN_PYPY + if (source_is_dict) { + PyObject *key, *value; + if (unlikely(orig_length != PyDict_Size(iter_obj))) { + PyErr_SetString(PyExc_RuntimeError, "dictionary changed size during iteration"); + return -1; + } + if (unlikely(!PyDict_Next(iter_obj, ppos, &key, &value))) { + return 0; + } + if (pitem) { + PyObject* tuple = PyTuple_New(2); + if (unlikely(!tuple)) { + return -1; + } + Py_INCREF(key); + Py_INCREF(value); + PyTuple_SET_ITEM(tuple, 0, key); + PyTuple_SET_ITEM(tuple, 1, value); + *pitem = tuple; + } else { + if (pkey) { + Py_INCREF(key); + *pkey = key; + } + if (pvalue) { + Py_INCREF(value); + *pvalue = value; + } + } + return 1; + } else if (PyTuple_CheckExact(iter_obj)) { + Py_ssize_t pos = *ppos; + if (unlikely(pos >= PyTuple_GET_SIZE(iter_obj))) return 0; + *ppos = pos + 1; + next_item = PyTuple_GET_ITEM(iter_obj, pos); + Py_INCREF(next_item); + } else if (PyList_CheckExact(iter_obj)) { + Py_ssize_t pos = *ppos; + if (unlikely(pos >= PyList_GET_SIZE(iter_obj))) return 0; + *ppos = pos + 1; + next_item = PyList_GET_ITEM(iter_obj, pos); + Py_INCREF(next_item); + } else +#endif + { + next_item = PyIter_Next(iter_obj); + if (unlikely(!next_item)) { + return __Pyx_IterFinish(); + } + } + if (pitem) { + *pitem = next_item; + } else if (pkey && pvalue) { + if (__Pyx_unpack_tuple2(next_item, pkey, pvalue, source_is_dict, source_is_dict, 1)) + return -1; + } else if (pkey) { + *pkey = next_item; + } else { + *pvalue = next_item; + } + return 1; +} + +/* PyIntBinop */ + #if !CYTHON_COMPILING_IN_PYPY +static PyObject* __Pyx_PyInt_AddObjC(PyObject *op1, PyObject *op2, long intval, int inplace, int zerodivision_check) { + CYTHON_MAYBE_UNUSED_VAR(intval); + CYTHON_MAYBE_UNUSED_VAR(inplace); + CYTHON_UNUSED_VAR(zerodivision_check); + #if PY_MAJOR_VERSION < 3 + if (likely(PyInt_CheckExact(op1))) { + const long b = intval; + long x; + long a = PyInt_AS_LONG(op1); + + x = (long)((unsigned long)a + (unsigned long)b); + if (likely((x^a) >= 0 || (x^b) >= 0)) + return PyInt_FromLong(x); + return PyLong_Type.tp_as_number->nb_add(op1, op2); + } + #endif + #if CYTHON_USE_PYLONG_INTERNALS + if (likely(PyLong_CheckExact(op1))) { + const long b = intval; + long a, x; +#ifdef HAVE_LONG_LONG + const PY_LONG_LONG llb = intval; + PY_LONG_LONG lla, llx; +#endif + if (unlikely(__Pyx_PyLong_IsZero(op1))) { + return __Pyx_NewRef(op2); + } + if (likely(__Pyx_PyLong_IsCompact(op1))) { + a = __Pyx_PyLong_CompactValue(op1); + } else { + const digit* digits = __Pyx_PyLong_Digits(op1); + const Py_ssize_t size = __Pyx_PyLong_SignedDigitCount(op1); + switch (size) { + case -2: + if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { + a = -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); + break; + #ifdef HAVE_LONG_LONG + } else if (8 * sizeof(PY_LONG_LONG) - 1 > 2 * PyLong_SHIFT) { + lla = -(PY_LONG_LONG) (((((unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0])); + goto long_long; + #endif + } + CYTHON_FALLTHROUGH; + case 2: + if (8 * sizeof(long) - 1 > 2 * PyLong_SHIFT) { + a = (long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); + break; + #ifdef HAVE_LONG_LONG + } else if (8 * sizeof(PY_LONG_LONG) - 1 > 2 * PyLong_SHIFT) { + lla = (PY_LONG_LONG) (((((unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0])); + goto long_long; + #endif + } + CYTHON_FALLTHROUGH; + case -3: + if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { + a = -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); + break; + #ifdef HAVE_LONG_LONG + } else if (8 * sizeof(PY_LONG_LONG) - 1 > 3 * PyLong_SHIFT) { + lla = -(PY_LONG_LONG) (((((((unsigned PY_LONG_LONG)digits[2]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0])); + goto long_long; + #endif + } + CYTHON_FALLTHROUGH; + case 3: + if (8 * sizeof(long) - 1 > 3 * PyLong_SHIFT) { + a = (long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); + break; + #ifdef HAVE_LONG_LONG + } else if (8 * sizeof(PY_LONG_LONG) - 1 > 3 * PyLong_SHIFT) { + lla = (PY_LONG_LONG) (((((((unsigned PY_LONG_LONG)digits[2]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0])); + goto long_long; + #endif + } + CYTHON_FALLTHROUGH; + case -4: + if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) { + a = -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); + break; + #ifdef HAVE_LONG_LONG + } else if (8 * sizeof(PY_LONG_LONG) - 1 > 4 * PyLong_SHIFT) { + lla = -(PY_LONG_LONG) (((((((((unsigned PY_LONG_LONG)digits[3]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[2]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0])); + goto long_long; + #endif + } + CYTHON_FALLTHROUGH; + case 4: + if (8 * sizeof(long) - 1 > 4 * PyLong_SHIFT) { + a = (long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0])); + break; + #ifdef HAVE_LONG_LONG + } else if (8 * sizeof(PY_LONG_LONG) - 1 > 4 * PyLong_SHIFT) { + lla = (PY_LONG_LONG) (((((((((unsigned PY_LONG_LONG)digits[3]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[2]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[1]) << PyLong_SHIFT) | (unsigned PY_LONG_LONG)digits[0])); + goto long_long; + #endif + } + CYTHON_FALLTHROUGH; + default: return PyLong_Type.tp_as_number->nb_add(op1, op2); + } + } + x = a + b; + return PyLong_FromLong(x); +#ifdef HAVE_LONG_LONG + long_long: + llx = lla + llb; + return PyLong_FromLongLong(llx); +#endif + + + } + #endif + if (PyFloat_CheckExact(op1)) { + const long b = intval; +#if CYTHON_COMPILING_IN_LIMITED_API + double a = __pyx_PyFloat_AsDouble(op1); +#else + double a = PyFloat_AS_DOUBLE(op1); +#endif + double result; + + PyFPE_START_PROTECT("add", return NULL) + result = ((double)a) + (double)b; + PyFPE_END_PROTECT(result) + return PyFloat_FromDouble(result); + } + return (inplace ? PyNumber_InPlaceAdd : PyNumber_Add)(op1, op2); +} +#endif + +/* BufferIndexError */ + static void __Pyx_RaiseBufferIndexError(int axis) { + PyErr_Format(PyExc_IndexError, + "Out of bounds on buffer access (axis %d)", axis); +} + +/* PyUnicode_Unicode */ + static CYTHON_INLINE PyObject* __Pyx_PyUnicode_Unicode(PyObject *obj) { + if (unlikely(obj == Py_None)) + obj = __pyx_kp_u_None; + return __Pyx_NewRef(obj); +} + +/* PyObject_GenericGetAttrNoDict */ + #if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject *__Pyx_RaiseGenericGetAttributeError(PyTypeObject *tp, PyObject *attr_name) { + __Pyx_TypeName type_name = __Pyx_PyType_GetName(tp); + PyErr_Format(PyExc_AttributeError, +#if PY_MAJOR_VERSION >= 3 + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%U'", + type_name, attr_name); +#else + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%.400s'", + type_name, PyString_AS_STRING(attr_name)); +#endif + __Pyx_DECREF_TypeName(type_name); + return NULL; +} +static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name) { + PyObject *descr; + PyTypeObject *tp = Py_TYPE(obj); + if (unlikely(!PyString_Check(attr_name))) { + return PyObject_GenericGetAttr(obj, attr_name); + } + assert(!tp->tp_dictoffset); + descr = _PyType_Lookup(tp, attr_name); + if (unlikely(!descr)) { + return __Pyx_RaiseGenericGetAttributeError(tp, attr_name); + } + Py_INCREF(descr); + #if PY_MAJOR_VERSION < 3 + if (likely(PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_HAVE_CLASS))) + #endif + { + descrgetfunc f = Py_TYPE(descr)->tp_descr_get; + if (unlikely(f)) { + PyObject *res = f(descr, obj, (PyObject *)tp); + Py_DECREF(descr); + return res; + } + } + return descr; +} +#endif + +/* PyObject_GenericGetAttr */ + #if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name) { + if (unlikely(Py_TYPE(obj)->tp_dictoffset)) { + return PyObject_GenericGetAttr(obj, attr_name); + } + return __Pyx_PyObject_GenericGetAttrNoDict(obj, attr_name); +} +#endif + +/* ValidateBasesTuple */ + #if CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API || CYTHON_USE_TYPE_SPECS +static int __Pyx_validate_bases_tuple(const char *type_name, Py_ssize_t dictoffset, PyObject *bases) { + Py_ssize_t i, n; +#if CYTHON_ASSUME_SAFE_MACROS + n = PyTuple_GET_SIZE(bases); +#else + n = PyTuple_Size(bases); + if (n < 0) return -1; +#endif + for (i = 1; i < n; i++) + { +#if CYTHON_AVOID_BORROWED_REFS + PyObject *b0 = PySequence_GetItem(bases, i); + if (!b0) return -1; +#elif CYTHON_ASSUME_SAFE_MACROS + PyObject *b0 = PyTuple_GET_ITEM(bases, i); +#else + PyObject *b0 = PyTuple_GetItem(bases, i); + if (!b0) return -1; +#endif + PyTypeObject *b; +#if PY_MAJOR_VERSION < 3 + if (PyClass_Check(b0)) + { + PyErr_Format(PyExc_TypeError, "base class '%.200s' is an old-style class", + PyString_AS_STRING(((PyClassObject*)b0)->cl_name)); +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } +#endif + b = (PyTypeObject*) b0; + if (!__Pyx_PyType_HasFeature(b, Py_TPFLAGS_HEAPTYPE)) + { + __Pyx_TypeName b_name = __Pyx_PyType_GetName(b); + PyErr_Format(PyExc_TypeError, + "base class '" __Pyx_FMT_TYPENAME "' is not a heap type", b_name); + __Pyx_DECREF_TypeName(b_name); +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } + if (dictoffset == 0) + { + Py_ssize_t b_dictoffset = 0; +#if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + b_dictoffset = b->tp_dictoffset; +#else + PyObject *py_b_dictoffset = PyObject_GetAttrString((PyObject*)b, "__dictoffset__"); + if (!py_b_dictoffset) goto dictoffset_return; + b_dictoffset = PyLong_AsSsize_t(py_b_dictoffset); + Py_DECREF(py_b_dictoffset); + if (b_dictoffset == -1 && PyErr_Occurred()) goto dictoffset_return; +#endif + if (b_dictoffset) { + { + __Pyx_TypeName b_name = __Pyx_PyType_GetName(b); + PyErr_Format(PyExc_TypeError, + "extension type '%.200s' has no __dict__ slot, " + "but base type '" __Pyx_FMT_TYPENAME "' has: " + "either add 'cdef dict __dict__' to the extension type " + "or add '__slots__ = [...]' to the base type", + type_name, b_name); + __Pyx_DECREF_TypeName(b_name); + } +#if !(CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY) + dictoffset_return: +#endif +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } + } +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + } + return 0; +} +#endif + +/* PyType_Ready */ + static int __Pyx_PyType_Ready(PyTypeObject *t) { +#if CYTHON_USE_TYPE_SPECS || !(CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API) || defined(PYSTON_MAJOR_VERSION) + (void)__Pyx_PyObject_CallMethod0; +#if CYTHON_USE_TYPE_SPECS + (void)__Pyx_validate_bases_tuple; +#endif + return PyType_Ready(t); +#else + int r; + PyObject *bases = __Pyx_PyType_GetSlot(t, tp_bases, PyObject*); + if (bases && unlikely(__Pyx_validate_bases_tuple(t->tp_name, t->tp_dictoffset, bases) == -1)) + return -1; +#if PY_VERSION_HEX >= 0x03050000 && !defined(PYSTON_MAJOR_VERSION) + { + int gc_was_enabled; + #if PY_VERSION_HEX >= 0x030A00b1 + gc_was_enabled = PyGC_Disable(); + (void)__Pyx_PyObject_CallMethod0; + #else + PyObject *ret, *py_status; + PyObject *gc = NULL; + #if PY_VERSION_HEX >= 0x030700a1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM+0 >= 0x07030400) + gc = PyImport_GetModule(__pyx_kp_u_gc); + #endif + if (unlikely(!gc)) gc = PyImport_Import(__pyx_kp_u_gc); + if (unlikely(!gc)) return -1; + py_status = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_isenabled); + if (unlikely(!py_status)) { + Py_DECREF(gc); + return -1; + } + gc_was_enabled = __Pyx_PyObject_IsTrue(py_status); + Py_DECREF(py_status); + if (gc_was_enabled > 0) { + ret = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_disable); + if (unlikely(!ret)) { + Py_DECREF(gc); + return -1; + } + Py_DECREF(ret); + } else if (unlikely(gc_was_enabled == -1)) { + Py_DECREF(gc); + return -1; + } + #endif + t->tp_flags |= Py_TPFLAGS_HEAPTYPE; +#if PY_VERSION_HEX >= 0x030A0000 + t->tp_flags |= Py_TPFLAGS_IMMUTABLETYPE; +#endif +#else + (void)__Pyx_PyObject_CallMethod0; +#endif + r = PyType_Ready(t); +#if PY_VERSION_HEX >= 0x03050000 && !defined(PYSTON_MAJOR_VERSION) + t->tp_flags &= ~Py_TPFLAGS_HEAPTYPE; + #if PY_VERSION_HEX >= 0x030A00b1 + if (gc_was_enabled) + PyGC_Enable(); + #else + if (gc_was_enabled) { + PyObject *tp, *v, *tb; + PyErr_Fetch(&tp, &v, &tb); + ret = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_enable); + if (likely(ret || r == -1)) { + Py_XDECREF(ret); + PyErr_Restore(tp, v, tb); + } else { + Py_XDECREF(tp); + Py_XDECREF(v); + Py_XDECREF(tb); + r = -1; + } + } + Py_DECREF(gc); + #endif + } +#endif + return r; +#endif +} + +/* SetupReduce */ + #if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_setup_reduce_is_named(PyObject* meth, PyObject* name) { + int ret; + PyObject *name_attr; + name_attr = __Pyx_PyObject_GetAttrStrNoError(meth, __pyx_n_s_name_2); + if (likely(name_attr)) { + ret = PyObject_RichCompareBool(name_attr, name, Py_EQ); + } else { + ret = -1; + } + if (unlikely(ret < 0)) { + PyErr_Clear(); + ret = 0; + } + Py_XDECREF(name_attr); + return ret; +} +static int __Pyx_setup_reduce(PyObject* type_obj) { + int ret = 0; + PyObject *object_reduce = NULL; + PyObject *object_getstate = NULL; + PyObject *object_reduce_ex = NULL; + PyObject *reduce = NULL; + PyObject *reduce_ex = NULL; + PyObject *reduce_cython = NULL; + PyObject *setstate = NULL; + PyObject *setstate_cython = NULL; + PyObject *getstate = NULL; +#if CYTHON_USE_PYTYPE_LOOKUP + getstate = _PyType_Lookup((PyTypeObject*)type_obj, __pyx_n_s_getstate); +#else + getstate = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_getstate); + if (!getstate && PyErr_Occurred()) { + goto __PYX_BAD; + } +#endif + if (getstate) { +#if CYTHON_USE_PYTYPE_LOOKUP + object_getstate = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_getstate); +#else + object_getstate = __Pyx_PyObject_GetAttrStrNoError((PyObject*)&PyBaseObject_Type, __pyx_n_s_getstate); + if (!object_getstate && PyErr_Occurred()) { + goto __PYX_BAD; + } +#endif + if (object_getstate != getstate) { + goto __PYX_GOOD; + } + } +#if CYTHON_USE_PYTYPE_LOOKUP + object_reduce_ex = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; +#else + object_reduce_ex = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; +#endif + reduce_ex = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce_ex); if (unlikely(!reduce_ex)) goto __PYX_BAD; + if (reduce_ex == object_reduce_ex) { +#if CYTHON_USE_PYTYPE_LOOKUP + object_reduce = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; +#else + object_reduce = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; +#endif + reduce = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce); if (unlikely(!reduce)) goto __PYX_BAD; + if (reduce == object_reduce || __Pyx_setup_reduce_is_named(reduce, __pyx_n_s_reduce_cython)) { + reduce_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_reduce_cython); + if (likely(reduce_cython)) { + ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce, reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + } else if (reduce == object_reduce || PyErr_Occurred()) { + goto __PYX_BAD; + } + setstate = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_setstate); + if (!setstate) PyErr_Clear(); + if (!setstate || __Pyx_setup_reduce_is_named(setstate, __pyx_n_s_setstate_cython)) { + setstate_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_setstate_cython); + if (likely(setstate_cython)) { + ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate, setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + } else if (!setstate || PyErr_Occurred()) { + goto __PYX_BAD; + } + } + PyType_Modified((PyTypeObject*)type_obj); + } + } + goto __PYX_GOOD; +__PYX_BAD: + if (!PyErr_Occurred()) { + __Pyx_TypeName type_obj_name = + __Pyx_PyType_GetName((PyTypeObject*)type_obj); + PyErr_Format(PyExc_RuntimeError, + "Unable to initialize pickling for " __Pyx_FMT_TYPENAME, type_obj_name); + __Pyx_DECREF_TypeName(type_obj_name); + } + ret = -1; +__PYX_GOOD: +#if !CYTHON_USE_PYTYPE_LOOKUP + Py_XDECREF(object_reduce); + Py_XDECREF(object_reduce_ex); + Py_XDECREF(object_getstate); + Py_XDECREF(getstate); +#endif + Py_XDECREF(reduce); + Py_XDECREF(reduce_ex); + Py_XDECREF(reduce_cython); + Py_XDECREF(setstate); + Py_XDECREF(setstate_cython); + return ret; +} +#endif + +/* SetVTable */ + static int __Pyx_SetVtable(PyTypeObject *type, void *vtable) { + PyObject *ob = PyCapsule_New(vtable, 0, 0); + if (unlikely(!ob)) + goto bad; +#if CYTHON_COMPILING_IN_LIMITED_API + if (unlikely(PyObject_SetAttr((PyObject *) type, __pyx_n_s_pyx_vtable, ob) < 0)) +#else + if (unlikely(PyDict_SetItem(type->tp_dict, __pyx_n_s_pyx_vtable, ob) < 0)) +#endif + goto bad; + Py_DECREF(ob); + return 0; +bad: + Py_XDECREF(ob); + return -1; +} + +/* GetVTable */ + static void* __Pyx_GetVtable(PyTypeObject *type) { + void* ptr; +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *ob = PyObject_GetAttr((PyObject *)type, __pyx_n_s_pyx_vtable); +#else + PyObject *ob = PyObject_GetItem(type->tp_dict, __pyx_n_s_pyx_vtable); +#endif + if (!ob) + goto bad; + ptr = PyCapsule_GetPointer(ob, 0); + if (!ptr && !PyErr_Occurred()) + PyErr_SetString(PyExc_RuntimeError, "invalid vtable found for imported type"); + Py_DECREF(ob); + return ptr; +bad: + Py_XDECREF(ob); + return NULL; +} + +/* MergeVTables */ + #if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_MergeVtables(PyTypeObject *type) { + int i; + void** base_vtables; + __Pyx_TypeName tp_base_name; + __Pyx_TypeName base_name; + void* unknown = (void*)-1; + PyObject* bases = type->tp_bases; + int base_depth = 0; + { + PyTypeObject* base = type->tp_base; + while (base) { + base_depth += 1; + base = base->tp_base; + } + } + base_vtables = (void**) malloc(sizeof(void*) * (size_t)(base_depth + 1)); + base_vtables[0] = unknown; + for (i = 1; i < PyTuple_GET_SIZE(bases); i++) { + void* base_vtable = __Pyx_GetVtable(((PyTypeObject*)PyTuple_GET_ITEM(bases, i))); + if (base_vtable != NULL) { + int j; + PyTypeObject* base = type->tp_base; + for (j = 0; j < base_depth; j++) { + if (base_vtables[j] == unknown) { + base_vtables[j] = __Pyx_GetVtable(base); + base_vtables[j + 1] = unknown; + } + if (base_vtables[j] == base_vtable) { + break; + } else if (base_vtables[j] == NULL) { + goto bad; + } + base = base->tp_base; + } + } + } + PyErr_Clear(); + free(base_vtables); + return 0; +bad: + tp_base_name = __Pyx_PyType_GetName(type->tp_base); + base_name = __Pyx_PyType_GetName((PyTypeObject*)PyTuple_GET_ITEM(bases, i)); + PyErr_Format(PyExc_TypeError, + "multiple bases have vtable conflict: '" __Pyx_FMT_TYPENAME "' and '" __Pyx_FMT_TYPENAME "'", tp_base_name, base_name); + __Pyx_DECREF_TypeName(tp_base_name); + __Pyx_DECREF_TypeName(base_name); + free(base_vtables); + return -1; +} +#endif + +/* TypeImport */ + #ifndef __PYX_HAVE_RT_ImportType_3_0_8 +#define __PYX_HAVE_RT_ImportType_3_0_8 +static PyTypeObject *__Pyx_ImportType_3_0_8(PyObject *module, const char *module_name, const char *class_name, + size_t size, size_t alignment, enum __Pyx_ImportType_CheckSize_3_0_8 check_size) +{ + PyObject *result = 0; + char warning[200]; + Py_ssize_t basicsize; + Py_ssize_t itemsize; +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *py_basicsize; + PyObject *py_itemsize; +#endif + result = PyObject_GetAttrString(module, class_name); + if (!result) + goto bad; + if (!PyType_Check(result)) { + PyErr_Format(PyExc_TypeError, + "%.200s.%.200s is not a type object", + module_name, class_name); + goto bad; + } +#if !CYTHON_COMPILING_IN_LIMITED_API + basicsize = ((PyTypeObject *)result)->tp_basicsize; + itemsize = ((PyTypeObject *)result)->tp_itemsize; +#else + py_basicsize = PyObject_GetAttrString(result, "__basicsize__"); + if (!py_basicsize) + goto bad; + basicsize = PyLong_AsSsize_t(py_basicsize); + Py_DECREF(py_basicsize); + py_basicsize = 0; + if (basicsize == (Py_ssize_t)-1 && PyErr_Occurred()) + goto bad; + py_itemsize = PyObject_GetAttrString(result, "__itemsize__"); + if (!py_itemsize) + goto bad; + itemsize = PyLong_AsSsize_t(py_itemsize); + Py_DECREF(py_itemsize); + py_itemsize = 0; + if (itemsize == (Py_ssize_t)-1 && PyErr_Occurred()) + goto bad; +#endif + if (itemsize) { + if (size % alignment) { + alignment = size % alignment; + } + if (itemsize < (Py_ssize_t)alignment) + itemsize = (Py_ssize_t)alignment; + } + if ((size_t)(basicsize + itemsize) < size) { + PyErr_Format(PyExc_ValueError, + "%.200s.%.200s size changed, may indicate binary incompatibility. " + "Expected %zd from C header, got %zd from PyObject", + module_name, class_name, size, basicsize+itemsize); + goto bad; + } + if (check_size == __Pyx_ImportType_CheckSize_Error_3_0_8 && + ((size_t)basicsize > size || (size_t)(basicsize + itemsize) < size)) { + PyErr_Format(PyExc_ValueError, + "%.200s.%.200s size changed, may indicate binary incompatibility. " + "Expected %zd from C header, got %zd-%zd from PyObject", + module_name, class_name, size, basicsize, basicsize+itemsize); + goto bad; + } + else if (check_size == __Pyx_ImportType_CheckSize_Warn_3_0_8 && (size_t)basicsize > size) { + PyOS_snprintf(warning, sizeof(warning), + "%s.%s size changed, may indicate binary incompatibility. " + "Expected %zd from C header, got %zd from PyObject", + module_name, class_name, size, basicsize); + if (PyErr_WarnEx(NULL, warning, 0) < 0) goto bad; + } + return (PyTypeObject *)result; +bad: + Py_XDECREF(result); + return NULL; +} +#endif + +/* CLineInTraceback */ + #ifndef CYTHON_CLINE_IN_TRACEBACK +static int __Pyx_CLineForTraceback(PyThreadState *tstate, int c_line) { + PyObject *use_cline; + PyObject *ptype, *pvalue, *ptraceback; +#if CYTHON_COMPILING_IN_CPYTHON + PyObject **cython_runtime_dict; +#endif + CYTHON_MAYBE_UNUSED_VAR(tstate); + if (unlikely(!__pyx_cython_runtime)) { + return c_line; + } + __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); +#if CYTHON_COMPILING_IN_CPYTHON + cython_runtime_dict = _PyObject_GetDictPtr(__pyx_cython_runtime); + if (likely(cython_runtime_dict)) { + __PYX_PY_DICT_LOOKUP_IF_MODIFIED( + use_cline, *cython_runtime_dict, + __Pyx_PyDict_GetItemStr(*cython_runtime_dict, __pyx_n_s_cline_in_traceback)) + } else +#endif + { + PyObject *use_cline_obj = __Pyx_PyObject_GetAttrStrNoError(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback); + if (use_cline_obj) { + use_cline = PyObject_Not(use_cline_obj) ? Py_False : Py_True; + Py_DECREF(use_cline_obj); + } else { + PyErr_Clear(); + use_cline = NULL; + } + } + if (!use_cline) { + c_line = 0; + (void) PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False); + } + else if (use_cline == Py_False || (use_cline != Py_True && PyObject_Not(use_cline) != 0)) { + c_line = 0; + } + __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); + return c_line; +} +#endif + +/* CodeObjectCache */ + #if !CYTHON_COMPILING_IN_LIMITED_API +static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line) { + int start = 0, mid = 0, end = count - 1; + if (end >= 0 && code_line > entries[end].code_line) { + return count; + } + while (start < end) { + mid = start + (end - start) / 2; + if (code_line < entries[mid].code_line) { + end = mid; + } else if (code_line > entries[mid].code_line) { + start = mid + 1; + } else { + return mid; + } + } + if (code_line <= entries[mid].code_line) { + return mid; + } else { + return mid + 1; + } +} +static PyCodeObject *__pyx_find_code_object(int code_line) { + PyCodeObject* code_object; + int pos; + if (unlikely(!code_line) || unlikely(!__pyx_code_cache.entries)) { + return NULL; + } + pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); + if (unlikely(pos >= __pyx_code_cache.count) || unlikely(__pyx_code_cache.entries[pos].code_line != code_line)) { + return NULL; + } + code_object = __pyx_code_cache.entries[pos].code_object; + Py_INCREF(code_object); + return code_object; +} +static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object) { + int pos, i; + __Pyx_CodeObjectCacheEntry* entries = __pyx_code_cache.entries; + if (unlikely(!code_line)) { + return; + } + if (unlikely(!entries)) { + entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Malloc(64*sizeof(__Pyx_CodeObjectCacheEntry)); + if (likely(entries)) { + __pyx_code_cache.entries = entries; + __pyx_code_cache.max_count = 64; + __pyx_code_cache.count = 1; + entries[0].code_line = code_line; + entries[0].code_object = code_object; + Py_INCREF(code_object); + } + return; + } + pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); + if ((pos < __pyx_code_cache.count) && unlikely(__pyx_code_cache.entries[pos].code_line == code_line)) { + PyCodeObject* tmp = entries[pos].code_object; + entries[pos].code_object = code_object; + Py_DECREF(tmp); + return; + } + if (__pyx_code_cache.count == __pyx_code_cache.max_count) { + int new_max = __pyx_code_cache.max_count + 64; + entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Realloc( + __pyx_code_cache.entries, ((size_t)new_max) * sizeof(__Pyx_CodeObjectCacheEntry)); + if (unlikely(!entries)) { + return; + } + __pyx_code_cache.entries = entries; + __pyx_code_cache.max_count = new_max; + } + for (i=__pyx_code_cache.count; i>pos; i--) { + entries[i] = entries[i-1]; + } + entries[pos].code_line = code_line; + entries[pos].code_object = code_object; + __pyx_code_cache.count++; + Py_INCREF(code_object); +} +#endif + +/* AddTraceback */ + #include "compile.h" +#include "frameobject.h" +#include "traceback.h" +#if PY_VERSION_HEX >= 0x030b00a6 && !CYTHON_COMPILING_IN_LIMITED_API + #ifndef Py_BUILD_CORE + #define Py_BUILD_CORE 1 + #endif + #include "internal/pycore_frame.h" +#endif +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject *__Pyx_PyCode_Replace_For_AddTraceback(PyObject *code, PyObject *scratch_dict, + PyObject *firstlineno, PyObject *name) { + PyObject *replace = NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "co_firstlineno", firstlineno))) return NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "co_name", name))) return NULL; + replace = PyObject_GetAttrString(code, "replace"); + if (likely(replace)) { + PyObject *result; + result = PyObject_Call(replace, __pyx_empty_tuple, scratch_dict); + Py_DECREF(replace); + return result; + } + PyErr_Clear(); + #if __PYX_LIMITED_VERSION_HEX < 0x030780000 + { + PyObject *compiled = NULL, *result = NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "code", code))) return NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "type", (PyObject*)(&PyType_Type)))) return NULL; + compiled = Py_CompileString( + "out = type(code)(\n" + " code.co_argcount, code.co_kwonlyargcount, code.co_nlocals, code.co_stacksize,\n" + " code.co_flags, code.co_code, code.co_consts, code.co_names,\n" + " code.co_varnames, code.co_filename, co_name, co_firstlineno,\n" + " code.co_lnotab)\n", "", Py_file_input); + if (!compiled) return NULL; + result = PyEval_EvalCode(compiled, scratch_dict, scratch_dict); + Py_DECREF(compiled); + if (!result) PyErr_Print(); + Py_DECREF(result); + result = PyDict_GetItemString(scratch_dict, "out"); + if (result) Py_INCREF(result); + return result; + } + #else + return NULL; + #endif +} +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename) { + PyObject *code_object = NULL, *py_py_line = NULL, *py_funcname = NULL, *dict = NULL; + PyObject *replace = NULL, *getframe = NULL, *frame = NULL; + PyObject *exc_type, *exc_value, *exc_traceback; + int success = 0; + if (c_line) { + (void) __pyx_cfilenm; + (void) __Pyx_CLineForTraceback(__Pyx_PyThreadState_Current, c_line); + } + PyErr_Fetch(&exc_type, &exc_value, &exc_traceback); + code_object = Py_CompileString("_getframe()", filename, Py_eval_input); + if (unlikely(!code_object)) goto bad; + py_py_line = PyLong_FromLong(py_line); + if (unlikely(!py_py_line)) goto bad; + py_funcname = PyUnicode_FromString(funcname); + if (unlikely(!py_funcname)) goto bad; + dict = PyDict_New(); + if (unlikely(!dict)) goto bad; + { + PyObject *old_code_object = code_object; + code_object = __Pyx_PyCode_Replace_For_AddTraceback(code_object, dict, py_py_line, py_funcname); + Py_DECREF(old_code_object); + } + if (unlikely(!code_object)) goto bad; + getframe = PySys_GetObject("_getframe"); + if (unlikely(!getframe)) goto bad; + if (unlikely(PyDict_SetItemString(dict, "_getframe", getframe))) goto bad; + frame = PyEval_EvalCode(code_object, dict, dict); + if (unlikely(!frame) || frame == Py_None) goto bad; + success = 1; + bad: + PyErr_Restore(exc_type, exc_value, exc_traceback); + Py_XDECREF(code_object); + Py_XDECREF(py_py_line); + Py_XDECREF(py_funcname); + Py_XDECREF(dict); + Py_XDECREF(replace); + if (success) { + PyTraceBack_Here( + (struct _frame*)frame); + } + Py_XDECREF(frame); +} +#else +static PyCodeObject* __Pyx_CreateCodeObjectForTraceback( + const char *funcname, int c_line, + int py_line, const char *filename) { + PyCodeObject *py_code = NULL; + PyObject *py_funcname = NULL; + #if PY_MAJOR_VERSION < 3 + PyObject *py_srcfile = NULL; + py_srcfile = PyString_FromString(filename); + if (!py_srcfile) goto bad; + #endif + if (c_line) { + #if PY_MAJOR_VERSION < 3 + py_funcname = PyString_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); + if (!py_funcname) goto bad; + #else + py_funcname = PyUnicode_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); + if (!py_funcname) goto bad; + funcname = PyUnicode_AsUTF8(py_funcname); + if (!funcname) goto bad; + #endif + } + else { + #if PY_MAJOR_VERSION < 3 + py_funcname = PyString_FromString(funcname); + if (!py_funcname) goto bad; + #endif + } + #if PY_MAJOR_VERSION < 3 + py_code = __Pyx_PyCode_New( + 0, + 0, + 0, + 0, + 0, + 0, + __pyx_empty_bytes, /*PyObject *code,*/ + __pyx_empty_tuple, /*PyObject *consts,*/ + __pyx_empty_tuple, /*PyObject *names,*/ + __pyx_empty_tuple, /*PyObject *varnames,*/ + __pyx_empty_tuple, /*PyObject *freevars,*/ + __pyx_empty_tuple, /*PyObject *cellvars,*/ + py_srcfile, /*PyObject *filename,*/ + py_funcname, /*PyObject *name,*/ + py_line, + __pyx_empty_bytes /*PyObject *lnotab*/ + ); + Py_DECREF(py_srcfile); + #else + py_code = PyCode_NewEmpty(filename, funcname, py_line); + #endif + Py_XDECREF(py_funcname); + return py_code; +bad: + Py_XDECREF(py_funcname); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(py_srcfile); + #endif + return NULL; +} +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename) { + PyCodeObject *py_code = 0; + PyFrameObject *py_frame = 0; + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject *ptype, *pvalue, *ptraceback; + if (c_line) { + c_line = __Pyx_CLineForTraceback(tstate, c_line); + } + py_code = __pyx_find_code_object(c_line ? -c_line : py_line); + if (!py_code) { + __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); + py_code = __Pyx_CreateCodeObjectForTraceback( + funcname, c_line, py_line, filename); + if (!py_code) { + /* If the code object creation fails, then we should clear the + fetched exception references and propagate the new exception */ + Py_XDECREF(ptype); + Py_XDECREF(pvalue); + Py_XDECREF(ptraceback); + goto bad; + } + __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); + __pyx_insert_code_object(c_line ? -c_line : py_line, py_code); + } + py_frame = PyFrame_New( + tstate, /*PyThreadState *tstate,*/ + py_code, /*PyCodeObject *code,*/ + __pyx_d, /*PyObject *globals,*/ + 0 /*PyObject *locals*/ + ); + if (!py_frame) goto bad; + __Pyx_PyFrame_SetLineNumber(py_frame, py_line); + PyTraceBack_Here(py_frame); +bad: + Py_XDECREF(py_code); + Py_XDECREF(py_frame); +} +#endif + +#if PY_MAJOR_VERSION < 3 +static int __Pyx_GetBuffer(PyObject *obj, Py_buffer *view, int flags) { + __Pyx_TypeName obj_type_name; + if (PyObject_CheckBuffer(obj)) return PyObject_GetBuffer(obj, view, flags); + if (__Pyx_TypeCheck(obj, __pyx_array_type)) return __pyx_array_getbuffer(obj, view, flags); + if (__Pyx_TypeCheck(obj, __pyx_memoryview_type)) return __pyx_memoryview_getbuffer(obj, view, flags); + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, + "'" __Pyx_FMT_TYPENAME "' does not have the buffer interface", + obj_type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return -1; +} +static void __Pyx_ReleaseBuffer(Py_buffer *view) { + PyObject *obj = view->obj; + if (!obj) return; + if (PyObject_CheckBuffer(obj)) { + PyBuffer_Release(view); + return; + } + if ((0)) {} + view->obj = NULL; + Py_DECREF(obj); +} +#endif + + + /* MemviewSliceIsContig */ + static int +__pyx_memviewslice_is_contig(const __Pyx_memviewslice mvs, char order, int ndim) +{ + int i, index, step, start; + Py_ssize_t itemsize = mvs.memview->view.itemsize; + if (order == 'F') { + step = 1; + start = 0; + } else { + step = -1; + start = ndim - 1; + } + for (i = 0; i < ndim; i++) { + index = start + step * i; + if (mvs.suboffsets[index] >= 0 || mvs.strides[index] != itemsize) + return 0; + itemsize *= mvs.shape[index]; + } + return 1; +} + +/* OverlappingSlices */ + static void +__pyx_get_array_memory_extents(__Pyx_memviewslice *slice, + void **out_start, void **out_end, + int ndim, size_t itemsize) +{ + char *start, *end; + int i; + start = end = slice->data; + for (i = 0; i < ndim; i++) { + Py_ssize_t stride = slice->strides[i]; + Py_ssize_t extent = slice->shape[i]; + if (extent == 0) { + *out_start = *out_end = start; + return; + } else { + if (stride > 0) + end += stride * (extent - 1); + else + start += stride * (extent - 1); + } + } + *out_start = start; + *out_end = end + itemsize; +} +static int +__pyx_slices_overlap(__Pyx_memviewslice *slice1, + __Pyx_memviewslice *slice2, + int ndim, size_t itemsize) +{ + void *start1, *end1, *start2, *end2; + __pyx_get_array_memory_extents(slice1, &start1, &end1, ndim, itemsize); + __pyx_get_array_memory_extents(slice2, &start2, &end2, ndim, itemsize); + return (start1 < end2) && (start2 < end1); +} + +/* CIntFromPyVerify */ + #define __PYX_VERIFY_RETURN_INT(target_type, func_type, func_value)\ + __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 0) +#define __PYX_VERIFY_RETURN_INT_EXC(target_type, func_type, func_value)\ + __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 1) +#define __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, exc)\ + {\ + func_type value = func_value;\ + if (sizeof(target_type) < sizeof(func_type)) {\ + if (unlikely(value != (func_type) (target_type) value)) {\ + func_type zero = 0;\ + if (exc && unlikely(value == (func_type)-1 && PyErr_Occurred()))\ + return (target_type) -1;\ + if (is_unsigned && unlikely(value < zero))\ + goto raise_neg_overflow;\ + else\ + goto raise_overflow;\ + }\ + }\ + return (target_type) value;\ + } + +/* TypeInfoCompare */ + static int +__pyx_typeinfo_cmp(__Pyx_TypeInfo *a, __Pyx_TypeInfo *b) +{ + int i; + if (!a || !b) + return 0; + if (a == b) + return 1; + if (a->size != b->size || a->typegroup != b->typegroup || + a->is_unsigned != b->is_unsigned || a->ndim != b->ndim) { + if (a->typegroup == 'H' || b->typegroup == 'H') { + return a->size == b->size; + } else { + return 0; + } + } + if (a->ndim) { + for (i = 0; i < a->ndim; i++) + if (a->arraysize[i] != b->arraysize[i]) + return 0; + } + if (a->typegroup == 'S') { + if (a->flags != b->flags) + return 0; + if (a->fields || b->fields) { + if (!(a->fields && b->fields)) + return 0; + for (i = 0; a->fields[i].type && b->fields[i].type; i++) { + __Pyx_StructField *field_a = a->fields + i; + __Pyx_StructField *field_b = b->fields + i; + if (field_a->offset != field_b->offset || + !__pyx_typeinfo_cmp(field_a->type, field_b->type)) + return 0; + } + return !a->fields[i].type && !b->fields[i].type; + } + } + return 1; +} + +/* MemviewSliceValidateAndInit */ + static int +__pyx_check_strides(Py_buffer *buf, int dim, int ndim, int spec) +{ + if (buf->shape[dim] <= 1) + return 1; + if (buf->strides) { + if (spec & __Pyx_MEMVIEW_CONTIG) { + if (spec & (__Pyx_MEMVIEW_PTR|__Pyx_MEMVIEW_FULL)) { + if (unlikely(buf->strides[dim] != sizeof(void *))) { + PyErr_Format(PyExc_ValueError, + "Buffer is not indirectly contiguous " + "in dimension %d.", dim); + goto fail; + } + } else if (unlikely(buf->strides[dim] != buf->itemsize)) { + PyErr_SetString(PyExc_ValueError, + "Buffer and memoryview are not contiguous " + "in the same dimension."); + goto fail; + } + } + if (spec & __Pyx_MEMVIEW_FOLLOW) { + Py_ssize_t stride = buf->strides[dim]; + if (stride < 0) + stride = -stride; + if (unlikely(stride < buf->itemsize)) { + PyErr_SetString(PyExc_ValueError, + "Buffer and memoryview are not contiguous " + "in the same dimension."); + goto fail; + } + } + } else { + if (unlikely(spec & __Pyx_MEMVIEW_CONTIG && dim != ndim - 1)) { + PyErr_Format(PyExc_ValueError, + "C-contiguous buffer is not contiguous in " + "dimension %d", dim); + goto fail; + } else if (unlikely(spec & (__Pyx_MEMVIEW_PTR))) { + PyErr_Format(PyExc_ValueError, + "C-contiguous buffer is not indirect in " + "dimension %d", dim); + goto fail; + } else if (unlikely(buf->suboffsets)) { + PyErr_SetString(PyExc_ValueError, + "Buffer exposes suboffsets but no strides"); + goto fail; + } + } + return 1; +fail: + return 0; +} +static int +__pyx_check_suboffsets(Py_buffer *buf, int dim, int ndim, int spec) +{ + CYTHON_UNUSED_VAR(ndim); + if (spec & __Pyx_MEMVIEW_DIRECT) { + if (unlikely(buf->suboffsets && buf->suboffsets[dim] >= 0)) { + PyErr_Format(PyExc_ValueError, + "Buffer not compatible with direct access " + "in dimension %d.", dim); + goto fail; + } + } + if (spec & __Pyx_MEMVIEW_PTR) { + if (unlikely(!buf->suboffsets || (buf->suboffsets[dim] < 0))) { + PyErr_Format(PyExc_ValueError, + "Buffer is not indirectly accessible " + "in dimension %d.", dim); + goto fail; + } + } + return 1; +fail: + return 0; +} +static int +__pyx_verify_contig(Py_buffer *buf, int ndim, int c_or_f_flag) +{ + int i; + if (c_or_f_flag & __Pyx_IS_F_CONTIG) { + Py_ssize_t stride = 1; + for (i = 0; i < ndim; i++) { + if (unlikely(stride * buf->itemsize != buf->strides[i] && buf->shape[i] > 1)) { + PyErr_SetString(PyExc_ValueError, + "Buffer not fortran contiguous."); + goto fail; + } + stride = stride * buf->shape[i]; + } + } else if (c_or_f_flag & __Pyx_IS_C_CONTIG) { + Py_ssize_t stride = 1; + for (i = ndim - 1; i >- 1; i--) { + if (unlikely(stride * buf->itemsize != buf->strides[i] && buf->shape[i] > 1)) { + PyErr_SetString(PyExc_ValueError, + "Buffer not C contiguous."); + goto fail; + } + stride = stride * buf->shape[i]; + } + } + return 1; +fail: + return 0; +} +static int __Pyx_ValidateAndInit_memviewslice( + int *axes_specs, + int c_or_f_flag, + int buf_flags, + int ndim, + __Pyx_TypeInfo *dtype, + __Pyx_BufFmt_StackElem stack[], + __Pyx_memviewslice *memviewslice, + PyObject *original_obj) +{ + struct __pyx_memoryview_obj *memview, *new_memview; + __Pyx_RefNannyDeclarations + Py_buffer *buf; + int i, spec = 0, retval = -1; + __Pyx_BufFmt_Context ctx; + int from_memoryview = __pyx_memoryview_check(original_obj); + __Pyx_RefNannySetupContext("ValidateAndInit_memviewslice", 0); + if (from_memoryview && __pyx_typeinfo_cmp(dtype, ((struct __pyx_memoryview_obj *) + original_obj)->typeinfo)) { + memview = (struct __pyx_memoryview_obj *) original_obj; + new_memview = NULL; + } else { + memview = (struct __pyx_memoryview_obj *) __pyx_memoryview_new( + original_obj, buf_flags, 0, dtype); + new_memview = memview; + if (unlikely(!memview)) + goto fail; + } + buf = &memview->view; + if (unlikely(buf->ndim != ndim)) { + PyErr_Format(PyExc_ValueError, + "Buffer has wrong number of dimensions (expected %d, got %d)", + ndim, buf->ndim); + goto fail; + } + if (new_memview) { + __Pyx_BufFmt_Init(&ctx, stack, dtype); + if (unlikely(!__Pyx_BufFmt_CheckString(&ctx, buf->format))) goto fail; + } + if (unlikely((unsigned) buf->itemsize != dtype->size)) { + PyErr_Format(PyExc_ValueError, + "Item size of buffer (%" CYTHON_FORMAT_SSIZE_T "u byte%s) " + "does not match size of '%s' (%" CYTHON_FORMAT_SSIZE_T "u byte%s)", + buf->itemsize, + (buf->itemsize > 1) ? "s" : "", + dtype->name, + dtype->size, + (dtype->size > 1) ? "s" : ""); + goto fail; + } + if (buf->len > 0) { + for (i = 0; i < ndim; i++) { + spec = axes_specs[i]; + if (unlikely(!__pyx_check_strides(buf, i, ndim, spec))) + goto fail; + if (unlikely(!__pyx_check_suboffsets(buf, i, ndim, spec))) + goto fail; + } + if (unlikely(buf->strides && !__pyx_verify_contig(buf, ndim, c_or_f_flag))) + goto fail; + } + if (unlikely(__Pyx_init_memviewslice(memview, ndim, memviewslice, + new_memview != NULL) == -1)) { + goto fail; + } + retval = 0; + goto no_fail; +fail: + Py_XDECREF(new_memview); + retval = -1; +no_fail: + __Pyx_RefNannyFinishContext(); + return retval; +} + +/* ObjectToMemviewSlice */ + static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_dcd__double(PyObject *obj, int writable_flag) { + __Pyx_memviewslice result = { 0, 0, { 0 }, { 0 }, { 0 } }; + __Pyx_BufFmt_StackElem stack[1]; + int axes_specs[] = { (__Pyx_MEMVIEW_DIRECT | __Pyx_MEMVIEW_CONTIG), (__Pyx_MEMVIEW_DIRECT | __Pyx_MEMVIEW_FOLLOW) }; + int retcode; + if (obj == Py_None) { + result.memview = (struct __pyx_memoryview_obj *) Py_None; + return result; + } + retcode = __Pyx_ValidateAndInit_memviewslice(axes_specs, __Pyx_IS_F_CONTIG, + (PyBUF_F_CONTIGUOUS | PyBUF_FORMAT) | writable_flag, 2, + &__Pyx_TypeInfo_double, stack, + &result, obj); + if (unlikely(retcode == -1)) + goto __pyx_fail; + return result; +__pyx_fail: + result.memview = NULL; + result.data = NULL; + return result; +} + +/* ObjectToMemviewSlice */ + static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_dc_unsigned_char(PyObject *obj, int writable_flag) { + __Pyx_memviewslice result = { 0, 0, { 0 }, { 0 }, { 0 } }; + __Pyx_BufFmt_StackElem stack[1]; + int axes_specs[] = { (__Pyx_MEMVIEW_DIRECT | __Pyx_MEMVIEW_CONTIG) }; + int retcode; + if (obj == Py_None) { + result.memview = (struct __pyx_memoryview_obj *) Py_None; + return result; + } + retcode = __Pyx_ValidateAndInit_memviewslice(axes_specs, __Pyx_IS_C_CONTIG, + (PyBUF_C_CONTIGUOUS | PyBUF_FORMAT) | writable_flag, 1, + &__Pyx_TypeInfo_unsigned_char, stack, + &result, obj); + if (unlikely(retcode == -1)) + goto __pyx_fail; + return result; +__pyx_fail: + result.memview = NULL; + result.data = NULL; + return result; +} + +/* Declarations */ + #if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) + #ifdef __cplusplus + static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float x, float y) { + return ::std::complex< float >(x, y); + } + #else + static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float x, float y) { + return x + y*(__pyx_t_float_complex)_Complex_I; + } + #endif +#else + static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float x, float y) { + __pyx_t_float_complex z; + z.real = x; + z.imag = y; + return z; + } +#endif + +/* Arithmetic */ + #if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) +#else + static CYTHON_INLINE int __Pyx_c_eq_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + return (a.real == b.real) && (a.imag == b.imag); + } + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_sum_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + __pyx_t_float_complex z; + z.real = a.real + b.real; + z.imag = a.imag + b.imag; + return z; + } + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_diff_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + __pyx_t_float_complex z; + z.real = a.real - b.real; + z.imag = a.imag - b.imag; + return z; + } + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_prod_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + __pyx_t_float_complex z; + z.real = a.real * b.real - a.imag * b.imag; + z.imag = a.real * b.imag + a.imag * b.real; + return z; + } + #if 1 + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_quot_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + if (b.imag == 0) { + return __pyx_t_float_complex_from_parts(a.real / b.real, a.imag / b.real); + } else if (fabsf(b.real) >= fabsf(b.imag)) { + if (b.real == 0 && b.imag == 0) { + return __pyx_t_float_complex_from_parts(a.real / b.real, a.imag / b.imag); + } else { + float r = b.imag / b.real; + float s = (float)(1.0) / (b.real + b.imag * r); + return __pyx_t_float_complex_from_parts( + (a.real + a.imag * r) * s, (a.imag - a.real * r) * s); + } + } else { + float r = b.real / b.imag; + float s = (float)(1.0) / (b.imag + b.real * r); + return __pyx_t_float_complex_from_parts( + (a.real * r + a.imag) * s, (a.imag * r - a.real) * s); + } + } + #else + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_quot_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + if (b.imag == 0) { + return __pyx_t_float_complex_from_parts(a.real / b.real, a.imag / b.real); + } else { + float denom = b.real * b.real + b.imag * b.imag; + return __pyx_t_float_complex_from_parts( + (a.real * b.real + a.imag * b.imag) / denom, + (a.imag * b.real - a.real * b.imag) / denom); + } + } + #endif + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_neg_float(__pyx_t_float_complex a) { + __pyx_t_float_complex z; + z.real = -a.real; + z.imag = -a.imag; + return z; + } + static CYTHON_INLINE int __Pyx_c_is_zero_float(__pyx_t_float_complex a) { + return (a.real == 0) && (a.imag == 0); + } + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_conj_float(__pyx_t_float_complex a) { + __pyx_t_float_complex z; + z.real = a.real; + z.imag = -a.imag; + return z; + } + #if 1 + static CYTHON_INLINE float __Pyx_c_abs_float(__pyx_t_float_complex z) { + #if !defined(HAVE_HYPOT) || defined(_MSC_VER) + return sqrtf(z.real*z.real + z.imag*z.imag); + #else + return hypotf(z.real, z.imag); + #endif + } + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_pow_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + __pyx_t_float_complex z; + float r, lnr, theta, z_r, z_theta; + if (b.imag == 0 && b.real == (int)b.real) { + if (b.real < 0) { + float denom = a.real * a.real + a.imag * a.imag; + a.real = a.real / denom; + a.imag = -a.imag / denom; + b.real = -b.real; + } + switch ((int)b.real) { + case 0: + z.real = 1; + z.imag = 0; + return z; + case 1: + return a; + case 2: + return __Pyx_c_prod_float(a, a); + case 3: + z = __Pyx_c_prod_float(a, a); + return __Pyx_c_prod_float(z, a); + case 4: + z = __Pyx_c_prod_float(a, a); + return __Pyx_c_prod_float(z, z); + } + } + if (a.imag == 0) { + if (a.real == 0) { + return a; + } else if ((b.imag == 0) && (a.real >= 0)) { + z.real = powf(a.real, b.real); + z.imag = 0; + return z; + } else if (a.real > 0) { + r = a.real; + theta = 0; + } else { + r = -a.real; + theta = atan2f(0.0, -1.0); + } + } else { + r = __Pyx_c_abs_float(a); + theta = atan2f(a.imag, a.real); + } + lnr = logf(r); + z_r = expf(lnr * b.real - theta * b.imag); + z_theta = theta * b.real + lnr * b.imag; + z.real = z_r * cosf(z_theta); + z.imag = z_r * sinf(z_theta); + return z; + } + #endif +#endif + +/* Declarations */ + #if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) + #ifdef __cplusplus + static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double x, double y) { + return ::std::complex< double >(x, y); + } + #else + static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double x, double y) { + return x + y*(__pyx_t_double_complex)_Complex_I; + } + #endif +#else + static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double x, double y) { + __pyx_t_double_complex z; + z.real = x; + z.imag = y; + return z; + } +#endif + +/* Arithmetic */ + #if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) +#else + static CYTHON_INLINE int __Pyx_c_eq_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + return (a.real == b.real) && (a.imag == b.imag); + } + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_sum_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + __pyx_t_double_complex z; + z.real = a.real + b.real; + z.imag = a.imag + b.imag; + return z; + } + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_diff_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + __pyx_t_double_complex z; + z.real = a.real - b.real; + z.imag = a.imag - b.imag; + return z; + } + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_prod_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + __pyx_t_double_complex z; + z.real = a.real * b.real - a.imag * b.imag; + z.imag = a.real * b.imag + a.imag * b.real; + return z; + } + #if 1 + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_quot_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + if (b.imag == 0) { + return __pyx_t_double_complex_from_parts(a.real / b.real, a.imag / b.real); + } else if (fabs(b.real) >= fabs(b.imag)) { + if (b.real == 0 && b.imag == 0) { + return __pyx_t_double_complex_from_parts(a.real / b.real, a.imag / b.imag); + } else { + double r = b.imag / b.real; + double s = (double)(1.0) / (b.real + b.imag * r); + return __pyx_t_double_complex_from_parts( + (a.real + a.imag * r) * s, (a.imag - a.real * r) * s); + } + } else { + double r = b.real / b.imag; + double s = (double)(1.0) / (b.imag + b.real * r); + return __pyx_t_double_complex_from_parts( + (a.real * r + a.imag) * s, (a.imag * r - a.real) * s); + } + } + #else + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_quot_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + if (b.imag == 0) { + return __pyx_t_double_complex_from_parts(a.real / b.real, a.imag / b.real); + } else { + double denom = b.real * b.real + b.imag * b.imag; + return __pyx_t_double_complex_from_parts( + (a.real * b.real + a.imag * b.imag) / denom, + (a.imag * b.real - a.real * b.imag) / denom); + } + } + #endif + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_neg_double(__pyx_t_double_complex a) { + __pyx_t_double_complex z; + z.real = -a.real; + z.imag = -a.imag; + return z; + } + static CYTHON_INLINE int __Pyx_c_is_zero_double(__pyx_t_double_complex a) { + return (a.real == 0) && (a.imag == 0); + } + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_conj_double(__pyx_t_double_complex a) { + __pyx_t_double_complex z; + z.real = a.real; + z.imag = -a.imag; + return z; + } + #if 1 + static CYTHON_INLINE double __Pyx_c_abs_double(__pyx_t_double_complex z) { + #if !defined(HAVE_HYPOT) || defined(_MSC_VER) + return sqrt(z.real*z.real + z.imag*z.imag); + #else + return hypot(z.real, z.imag); + #endif + } + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_pow_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + __pyx_t_double_complex z; + double r, lnr, theta, z_r, z_theta; + if (b.imag == 0 && b.real == (int)b.real) { + if (b.real < 0) { + double denom = a.real * a.real + a.imag * a.imag; + a.real = a.real / denom; + a.imag = -a.imag / denom; + b.real = -b.real; + } + switch ((int)b.real) { + case 0: + z.real = 1; + z.imag = 0; + return z; + case 1: + return a; + case 2: + return __Pyx_c_prod_double(a, a); + case 3: + z = __Pyx_c_prod_double(a, a); + return __Pyx_c_prod_double(z, a); + case 4: + z = __Pyx_c_prod_double(a, a); + return __Pyx_c_prod_double(z, z); + } + } + if (a.imag == 0) { + if (a.real == 0) { + return a; + } else if ((b.imag == 0) && (a.real >= 0)) { + z.real = pow(a.real, b.real); + z.imag = 0; + return z; + } else if (a.real > 0) { + r = a.real; + theta = 0; + } else { + r = -a.real; + theta = atan2(0.0, -1.0); + } + } else { + r = __Pyx_c_abs_double(a); + theta = atan2(a.imag, a.real); + } + lnr = log(r); + z_r = exp(lnr * b.real - theta * b.imag); + z_theta = theta * b.real + lnr * b.imag; + z.real = z_r * cos(z_theta); + z.imag = z_r * sin(z_theta); + return z; + } + #endif +#endif + +/* MemviewSliceCopyTemplate */ + static __Pyx_memviewslice +__pyx_memoryview_copy_new_contig(const __Pyx_memviewslice *from_mvs, + const char *mode, int ndim, + size_t sizeof_dtype, int contig_flag, + int dtype_is_object) +{ + __Pyx_RefNannyDeclarations + int i; + __Pyx_memviewslice new_mvs = { 0, 0, { 0 }, { 0 }, { 0 } }; + struct __pyx_memoryview_obj *from_memview = from_mvs->memview; + Py_buffer *buf = &from_memview->view; + PyObject *shape_tuple = NULL; + PyObject *temp_int = NULL; + struct __pyx_array_obj *array_obj = NULL; + struct __pyx_memoryview_obj *memview_obj = NULL; + __Pyx_RefNannySetupContext("__pyx_memoryview_copy_new_contig", 0); + for (i = 0; i < ndim; i++) { + if (unlikely(from_mvs->suboffsets[i] >= 0)) { + PyErr_Format(PyExc_ValueError, "Cannot copy memoryview slice with " + "indirect dimensions (axis %d)", i); + goto fail; + } + } + shape_tuple = PyTuple_New(ndim); + if (unlikely(!shape_tuple)) { + goto fail; + } + __Pyx_GOTREF(shape_tuple); + for(i = 0; i < ndim; i++) { + temp_int = PyInt_FromSsize_t(from_mvs->shape[i]); + if(unlikely(!temp_int)) { + goto fail; + } else { + PyTuple_SET_ITEM(shape_tuple, i, temp_int); + temp_int = NULL; + } + } + array_obj = __pyx_array_new(shape_tuple, sizeof_dtype, buf->format, (char *) mode, NULL); + if (unlikely(!array_obj)) { + goto fail; + } + __Pyx_GOTREF(array_obj); + memview_obj = (struct __pyx_memoryview_obj *) __pyx_memoryview_new( + (PyObject *) array_obj, contig_flag, + dtype_is_object, + from_mvs->memview->typeinfo); + if (unlikely(!memview_obj)) + goto fail; + if (unlikely(__Pyx_init_memviewslice(memview_obj, ndim, &new_mvs, 1) < 0)) + goto fail; + if (unlikely(__pyx_memoryview_copy_contents(*from_mvs, new_mvs, ndim, ndim, + dtype_is_object) < 0)) + goto fail; + goto no_fail; +fail: + __Pyx_XDECREF(new_mvs.memview); + new_mvs.memview = NULL; + new_mvs.data = NULL; +no_fail: + __Pyx_XDECREF(shape_tuple); + __Pyx_XDECREF(temp_int); + __Pyx_XDECREF(array_obj); + __Pyx_RefNannyFinishContext(); + return new_mvs; +} + +/* MemviewSliceInit */ + static int +__Pyx_init_memviewslice(struct __pyx_memoryview_obj *memview, + int ndim, + __Pyx_memviewslice *memviewslice, + int memview_is_new_reference) +{ + __Pyx_RefNannyDeclarations + int i, retval=-1; + Py_buffer *buf = &memview->view; + __Pyx_RefNannySetupContext("init_memviewslice", 0); + if (unlikely(memviewslice->memview || memviewslice->data)) { + PyErr_SetString(PyExc_ValueError, + "memviewslice is already initialized!"); + goto fail; + } + if (buf->strides) { + for (i = 0; i < ndim; i++) { + memviewslice->strides[i] = buf->strides[i]; + } + } else { + Py_ssize_t stride = buf->itemsize; + for (i = ndim - 1; i >= 0; i--) { + memviewslice->strides[i] = stride; + stride *= buf->shape[i]; + } + } + for (i = 0; i < ndim; i++) { + memviewslice->shape[i] = buf->shape[i]; + if (buf->suboffsets) { + memviewslice->suboffsets[i] = buf->suboffsets[i]; + } else { + memviewslice->suboffsets[i] = -1; + } + } + memviewslice->memview = memview; + memviewslice->data = (char *)buf->buf; + if (__pyx_add_acquisition_count(memview) == 0 && !memview_is_new_reference) { + Py_INCREF(memview); + } + retval = 0; + goto no_fail; +fail: + memviewslice->memview = 0; + memviewslice->data = 0; + retval = -1; +no_fail: + __Pyx_RefNannyFinishContext(); + return retval; +} +#ifndef Py_NO_RETURN +#define Py_NO_RETURN +#endif +static void __pyx_fatalerror(const char *fmt, ...) Py_NO_RETURN { + va_list vargs; + char msg[200]; +#if PY_VERSION_HEX >= 0x030A0000 || defined(HAVE_STDARG_PROTOTYPES) + va_start(vargs, fmt); +#else + va_start(vargs); +#endif + vsnprintf(msg, 200, fmt, vargs); + va_end(vargs); + Py_FatalError(msg); +} +static CYTHON_INLINE int +__pyx_add_acquisition_count_locked(__pyx_atomic_int_type *acquisition_count, + PyThread_type_lock lock) +{ + int result; + PyThread_acquire_lock(lock, 1); + result = (*acquisition_count)++; + PyThread_release_lock(lock); + return result; +} +static CYTHON_INLINE int +__pyx_sub_acquisition_count_locked(__pyx_atomic_int_type *acquisition_count, + PyThread_type_lock lock) +{ + int result; + PyThread_acquire_lock(lock, 1); + result = (*acquisition_count)--; + PyThread_release_lock(lock); + return result; +} +static CYTHON_INLINE void +__Pyx_INC_MEMVIEW(__Pyx_memviewslice *memslice, int have_gil, int lineno) +{ + __pyx_nonatomic_int_type old_acquisition_count; + struct __pyx_memoryview_obj *memview = memslice->memview; + if (unlikely(!memview || (PyObject *) memview == Py_None)) { + return; + } + old_acquisition_count = __pyx_add_acquisition_count(memview); + if (unlikely(old_acquisition_count <= 0)) { + if (likely(old_acquisition_count == 0)) { + if (have_gil) { + Py_INCREF((PyObject *) memview); + } else { + PyGILState_STATE _gilstate = PyGILState_Ensure(); + Py_INCREF((PyObject *) memview); + PyGILState_Release(_gilstate); + } + } else { + __pyx_fatalerror("Acquisition count is %d (line %d)", + old_acquisition_count+1, lineno); + } + } +} +static CYTHON_INLINE void __Pyx_XCLEAR_MEMVIEW(__Pyx_memviewslice *memslice, + int have_gil, int lineno) { + __pyx_nonatomic_int_type old_acquisition_count; + struct __pyx_memoryview_obj *memview = memslice->memview; + if (unlikely(!memview || (PyObject *) memview == Py_None)) { + memslice->memview = NULL; + return; + } + old_acquisition_count = __pyx_sub_acquisition_count(memview); + memslice->data = NULL; + if (likely(old_acquisition_count > 1)) { + memslice->memview = NULL; + } else if (likely(old_acquisition_count == 1)) { + if (have_gil) { + Py_CLEAR(memslice->memview); + } else { + PyGILState_STATE _gilstate = PyGILState_Ensure(); + Py_CLEAR(memslice->memview); + PyGILState_Release(_gilstate); + } + } else { + __pyx_fatalerror("Acquisition count is %d (line %d)", + old_acquisition_count-1, lineno); + } +} + +/* CIntFromPy */ + static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(int) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(int, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (int) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(int, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(int) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 2 * PyLong_SHIFT)) { + return (int) (((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(int) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 3 * PyLong_SHIFT)) { + return (int) (((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(int) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 4 * PyLong_SHIFT)) { + return (int) (((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (int) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(int) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(int, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(int) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(int, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(int, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(int) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(int) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + return (int) ((((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(int) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + return (int) ((((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 4 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(int) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 4 * PyLong_SHIFT)) { + return (int) ((((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(int) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(int, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(int) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(int, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + int val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (int) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (int) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (int) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (int) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (int) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(int) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((int) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(int) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((int) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((int) 1) << (sizeof(int) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (int) -1; + } + } else { + int val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (int) -1; + val = __Pyx_PyInt_As_int(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to int"); + return (int) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to int"); + return (int) -1; +} + +/* CIntToPy */ + static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(int) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(int) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(int) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(int) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(int) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; +#if !CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030d0000 + return _PyLong_FromByteArray(bytes, sizeof(int), + little, !is_unsigned); +#else + PyObject *from_bytes, *result = NULL; + PyObject *py_bytes = NULL, *arg_tuple = NULL, *kwds = NULL, *order_str = NULL; + from_bytes = PyObject_GetAttrString((PyObject*)&PyLong_Type, "from_bytes"); + if (!from_bytes) return NULL; + py_bytes = PyBytes_FromStringAndSize((char*)bytes, sizeof(int)); + if (!py_bytes) goto limited_bad; + order_str = PyUnicode_FromString(little ? "little" : "big"); + if (!order_str) goto limited_bad; + arg_tuple = PyTuple_Pack(2, py_bytes, order_str); + if (!arg_tuple) goto limited_bad; + if (!is_unsigned) { + kwds = PyDict_New(); + if (!kwds) goto limited_bad; + if (PyDict_SetItemString(kwds, "signed", __Pyx_NewRef(Py_True))) goto limited_bad; + } + result = PyObject_Call(from_bytes, arg_tuple, kwds); + limited_bad: + Py_XDECREF(kwds); + Py_XDECREF(arg_tuple); + Py_XDECREF(order_str); + Py_XDECREF(py_bytes); + Py_XDECREF(from_bytes); + return result; +#endif + } +} + +/* CIntFromPy */ + static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const long neg_one = (long) -1, const_zero = (long) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(long) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(long, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (long) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(long, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(long) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 2 * PyLong_SHIFT)) { + return (long) (((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(long) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 3 * PyLong_SHIFT)) { + return (long) (((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(long) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 4 * PyLong_SHIFT)) { + return (long) (((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (long) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(long) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(long, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(long) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(long, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(long, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(long) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(long) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + return (long) ((((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(long) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + return (long) ((((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 4 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(long) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 4 * PyLong_SHIFT)) { + return (long) ((((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(long) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(long, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(long) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(long, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + long val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (long) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (long) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (long) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (long) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (long) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(long) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((long) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(long) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((long) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((long) 1) << (sizeof(long) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (long) -1; + } + } else { + long val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (long) -1; + val = __Pyx_PyInt_As_long(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to long"); + return (long) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to long"); + return (long) -1; +} + +/* CIntToPy */ + static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const long neg_one = (long) -1, const_zero = (long) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(long) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(long) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(long) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; +#if !CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030d0000 + return _PyLong_FromByteArray(bytes, sizeof(long), + little, !is_unsigned); +#else + PyObject *from_bytes, *result = NULL; + PyObject *py_bytes = NULL, *arg_tuple = NULL, *kwds = NULL, *order_str = NULL; + from_bytes = PyObject_GetAttrString((PyObject*)&PyLong_Type, "from_bytes"); + if (!from_bytes) return NULL; + py_bytes = PyBytes_FromStringAndSize((char*)bytes, sizeof(long)); + if (!py_bytes) goto limited_bad; + order_str = PyUnicode_FromString(little ? "little" : "big"); + if (!order_str) goto limited_bad; + arg_tuple = PyTuple_Pack(2, py_bytes, order_str); + if (!arg_tuple) goto limited_bad; + if (!is_unsigned) { + kwds = PyDict_New(); + if (!kwds) goto limited_bad; + if (PyDict_SetItemString(kwds, "signed", __Pyx_NewRef(Py_True))) goto limited_bad; + } + result = PyObject_Call(from_bytes, arg_tuple, kwds); + limited_bad: + Py_XDECREF(kwds); + Py_XDECREF(arg_tuple); + Py_XDECREF(order_str); + Py_XDECREF(py_bytes); + Py_XDECREF(from_bytes); + return result; +#endif + } +} + +/* CIntFromPy */ + static CYTHON_INLINE size_t __Pyx_PyInt_As_size_t(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const size_t neg_one = (size_t) -1, const_zero = (size_t) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(size_t) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(size_t, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (size_t) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(size_t, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(size_t) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(size_t) >= 2 * PyLong_SHIFT)) { + return (size_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(size_t) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(size_t) >= 3 * PyLong_SHIFT)) { + return (size_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(size_t) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(size_t) >= 4 * PyLong_SHIFT)) { + return (size_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (size_t) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(size_t) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(size_t, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(size_t) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(size_t, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(size_t, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(size_t) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(size_t, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(size_t) - 1 > 2 * PyLong_SHIFT)) { + return (size_t) (((size_t)-1)*(((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(size_t) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(size_t) - 1 > 2 * PyLong_SHIFT)) { + return (size_t) ((((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(size_t) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(size_t, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(size_t) - 1 > 3 * PyLong_SHIFT)) { + return (size_t) (((size_t)-1)*(((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(size_t) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(size_t) - 1 > 3 * PyLong_SHIFT)) { + return (size_t) ((((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(size_t) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(size_t, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(size_t) - 1 > 4 * PyLong_SHIFT)) { + return (size_t) (((size_t)-1)*(((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(size_t) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(size_t, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(size_t) - 1 > 4 * PyLong_SHIFT)) { + return (size_t) ((((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(size_t) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(size_t, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(size_t) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(size_t, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + size_t val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (size_t) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (size_t) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (size_t) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (size_t) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (size_t) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(size_t) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((size_t) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(size_t) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((size_t) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((size_t) 1) << (sizeof(size_t) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (size_t) -1; + } + } else { + size_t val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (size_t) -1; + val = __Pyx_PyInt_As_size_t(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to size_t"); + return (size_t) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to size_t"); + return (size_t) -1; +} + +/* CIntFromPy */ + static CYTHON_INLINE char __Pyx_PyInt_As_char(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const char neg_one = (char) -1, const_zero = (char) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(char) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(char, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (char) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(char, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(char) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) >= 2 * PyLong_SHIFT)) { + return (char) (((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(char) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) >= 3 * PyLong_SHIFT)) { + return (char) (((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(char) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) >= 4 * PyLong_SHIFT)) { + return (char) (((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (char) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(char) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(char, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(char) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(char, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(char, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(char) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 2 * PyLong_SHIFT)) { + return (char) (((char)-1)*(((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(char) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 2 * PyLong_SHIFT)) { + return (char) ((((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(char) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 3 * PyLong_SHIFT)) { + return (char) (((char)-1)*(((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(char) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 3 * PyLong_SHIFT)) { + return (char) ((((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(char) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 4 * PyLong_SHIFT)) { + return (char) (((char)-1)*(((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(char) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 4 * PyLong_SHIFT)) { + return (char) ((((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(char) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(char, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(char) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(char, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + char val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (char) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (char) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (char) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (char) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (char) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(char) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((char) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(char) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((char) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((char) 1) << (sizeof(char) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (char) -1; + } + } else { + char val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (char) -1; + val = __Pyx_PyInt_As_char(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to char"); + return (char) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to char"); + return (char) -1; +} + +/* FormatTypeName */ + #if CYTHON_COMPILING_IN_LIMITED_API +static __Pyx_TypeName +__Pyx_PyType_GetName(PyTypeObject* tp) +{ + PyObject *name = __Pyx_PyObject_GetAttrStr((PyObject *)tp, + __pyx_n_s_name_2); + if (unlikely(name == NULL) || unlikely(!PyUnicode_Check(name))) { + PyErr_Clear(); + Py_XDECREF(name); + name = __Pyx_NewRef(__pyx_n_s__94); + } + return name; +} +#endif + +/* CheckBinaryVersion */ + static unsigned long __Pyx_get_runtime_version(void) { +#if __PYX_LIMITED_VERSION_HEX >= 0x030B00A4 + return Py_Version & ~0xFFUL; +#else + const char* rt_version = Py_GetVersion(); + unsigned long version = 0; + unsigned long factor = 0x01000000UL; + unsigned int digit = 0; + int i = 0; + while (factor) { + while ('0' <= rt_version[i] && rt_version[i] <= '9') { + digit = digit * 10 + (unsigned int) (rt_version[i] - '0'); + ++i; + } + version += factor * digit; + if (rt_version[i] != '.') + break; + digit = 0; + factor >>= 8; + ++i; + } + return version; +#endif +} +static int __Pyx_check_binary_version(unsigned long ct_version, unsigned long rt_version, int allow_newer) { + const unsigned long MAJOR_MINOR = 0xFFFF0000UL; + if ((rt_version & MAJOR_MINOR) == (ct_version & MAJOR_MINOR)) + return 0; + if (likely(allow_newer && (rt_version & MAJOR_MINOR) > (ct_version & MAJOR_MINOR))) + return 1; + { + char message[200]; + PyOS_snprintf(message, sizeof(message), + "compile time Python version %d.%d " + "of module '%.100s' " + "%s " + "runtime version %d.%d", + (int) (ct_version >> 24), (int) ((ct_version >> 16) & 0xFF), + __Pyx_MODULE_NAME, + (allow_newer) ? "was newer than" : "does not match", + (int) (rt_version >> 24), (int) ((rt_version >> 16) & 0xFF) + ); + return PyErr_WarnEx(NULL, message, 1); + } +} + +/* InitStrings */ + #if PY_MAJOR_VERSION >= 3 +static int __Pyx_InitString(__Pyx_StringTabEntry t, PyObject **str) { + if (t.is_unicode | t.is_str) { + if (t.intern) { + *str = PyUnicode_InternFromString(t.s); + } else if (t.encoding) { + *str = PyUnicode_Decode(t.s, t.n - 1, t.encoding, NULL); + } else { + *str = PyUnicode_FromStringAndSize(t.s, t.n - 1); + } + } else { + *str = PyBytes_FromStringAndSize(t.s, t.n - 1); + } + if (!*str) + return -1; + if (PyObject_Hash(*str) == -1) + return -1; + return 0; +} +#endif +static int __Pyx_InitStrings(__Pyx_StringTabEntry *t) { + while (t->p) { + #if PY_MAJOR_VERSION >= 3 + __Pyx_InitString(*t, t->p); + #else + if (t->is_unicode) { + *t->p = PyUnicode_DecodeUTF8(t->s, t->n - 1, NULL); + } else if (t->intern) { + *t->p = PyString_InternFromString(t->s); + } else { + *t->p = PyString_FromStringAndSize(t->s, t->n - 1); + } + if (!*t->p) + return -1; + if (PyObject_Hash(*t->p) == -1) + return -1; + #endif + ++t; + } + return 0; +} + +#include +static CYTHON_INLINE Py_ssize_t __Pyx_ssize_strlen(const char *s) { + size_t len = strlen(s); + if (unlikely(len > (size_t) PY_SSIZE_T_MAX)) { + PyErr_SetString(PyExc_OverflowError, "byte string is too long"); + return -1; + } + return (Py_ssize_t) len; +} +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char* c_str) { + Py_ssize_t len = __Pyx_ssize_strlen(c_str); + if (unlikely(len < 0)) return NULL; + return __Pyx_PyUnicode_FromStringAndSize(c_str, len); +} +static CYTHON_INLINE PyObject* __Pyx_PyByteArray_FromString(const char* c_str) { + Py_ssize_t len = __Pyx_ssize_strlen(c_str); + if (unlikely(len < 0)) return NULL; + return PyByteArray_FromStringAndSize(c_str, len); +} +static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject* o) { + Py_ssize_t ignore; + return __Pyx_PyObject_AsStringAndSize(o, &ignore); +} +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT +#if !CYTHON_PEP393_ENABLED +static const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { + char* defenc_c; + PyObject* defenc = _PyUnicode_AsDefaultEncodedString(o, NULL); + if (!defenc) return NULL; + defenc_c = PyBytes_AS_STRING(defenc); +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + { + char* end = defenc_c + PyBytes_GET_SIZE(defenc); + char* c; + for (c = defenc_c; c < end; c++) { + if ((unsigned char) (*c) >= 128) { + PyUnicode_AsASCIIString(o); + return NULL; + } + } + } +#endif + *length = PyBytes_GET_SIZE(defenc); + return defenc_c; +} +#else +static CYTHON_INLINE const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { + if (unlikely(__Pyx_PyUnicode_READY(o) == -1)) return NULL; +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + if (likely(PyUnicode_IS_ASCII(o))) { + *length = PyUnicode_GET_LENGTH(o); + return PyUnicode_AsUTF8(o); + } else { + PyUnicode_AsASCIIString(o); + return NULL; + } +#else + return PyUnicode_AsUTF8AndSize(o, length); +#endif +} +#endif +#endif +static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject* o, Py_ssize_t *length) { +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT + if ( +#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + __Pyx_sys_getdefaultencoding_not_ascii && +#endif + PyUnicode_Check(o)) { + return __Pyx_PyUnicode_AsStringAndSize(o, length); + } else +#endif +#if (!CYTHON_COMPILING_IN_PYPY && !CYTHON_COMPILING_IN_LIMITED_API) || (defined(PyByteArray_AS_STRING) && defined(PyByteArray_GET_SIZE)) + if (PyByteArray_Check(o)) { + *length = PyByteArray_GET_SIZE(o); + return PyByteArray_AS_STRING(o); + } else +#endif + { + char* result; + int r = PyBytes_AsStringAndSize(o, &result, length); + if (unlikely(r < 0)) { + return NULL; + } else { + return result; + } + } +} +static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject* x) { + int is_true = x == Py_True; + if (is_true | (x == Py_False) | (x == Py_None)) return is_true; + else return PyObject_IsTrue(x); +} +static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject* x) { + int retval; + if (unlikely(!x)) return -1; + retval = __Pyx_PyObject_IsTrue(x); + Py_DECREF(x); + return retval; +} +static PyObject* __Pyx_PyNumber_IntOrLongWrongResultType(PyObject* result, const char* type_name) { + __Pyx_TypeName result_type_name = __Pyx_PyType_GetName(Py_TYPE(result)); +#if PY_MAJOR_VERSION >= 3 + if (PyLong_Check(result)) { + if (PyErr_WarnFormat(PyExc_DeprecationWarning, 1, + "__int__ returned non-int (type " __Pyx_FMT_TYPENAME "). " + "The ability to return an instance of a strict subclass of int is deprecated, " + "and may be removed in a future version of Python.", + result_type_name)) { + __Pyx_DECREF_TypeName(result_type_name); + Py_DECREF(result); + return NULL; + } + __Pyx_DECREF_TypeName(result_type_name); + return result; + } +#endif + PyErr_Format(PyExc_TypeError, + "__%.4s__ returned non-%.4s (type " __Pyx_FMT_TYPENAME ")", + type_name, type_name, result_type_name); + __Pyx_DECREF_TypeName(result_type_name); + Py_DECREF(result); + return NULL; +} +static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x) { +#if CYTHON_USE_TYPE_SLOTS + PyNumberMethods *m; +#endif + const char *name = NULL; + PyObject *res = NULL; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x) || PyLong_Check(x))) +#else + if (likely(PyLong_Check(x))) +#endif + return __Pyx_NewRef(x); +#if CYTHON_USE_TYPE_SLOTS + m = Py_TYPE(x)->tp_as_number; + #if PY_MAJOR_VERSION < 3 + if (m && m->nb_int) { + name = "int"; + res = m->nb_int(x); + } + else if (m && m->nb_long) { + name = "long"; + res = m->nb_long(x); + } + #else + if (likely(m && m->nb_int)) { + name = "int"; + res = m->nb_int(x); + } + #endif +#else + if (!PyBytes_CheckExact(x) && !PyUnicode_CheckExact(x)) { + res = PyNumber_Int(x); + } +#endif + if (likely(res)) { +#if PY_MAJOR_VERSION < 3 + if (unlikely(!PyInt_Check(res) && !PyLong_Check(res))) { +#else + if (unlikely(!PyLong_CheckExact(res))) { +#endif + return __Pyx_PyNumber_IntOrLongWrongResultType(res, name); + } + } + else if (!PyErr_Occurred()) { + PyErr_SetString(PyExc_TypeError, + "an integer is required"); + } + return res; +} +static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject* b) { + Py_ssize_t ival; + PyObject *x; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_CheckExact(b))) { + if (sizeof(Py_ssize_t) >= sizeof(long)) + return PyInt_AS_LONG(b); + else + return PyInt_AsSsize_t(b); + } +#endif + if (likely(PyLong_CheckExact(b))) { + #if CYTHON_USE_PYLONG_INTERNALS + if (likely(__Pyx_PyLong_IsCompact(b))) { + return __Pyx_PyLong_CompactValue(b); + } else { + const digit* digits = __Pyx_PyLong_Digits(b); + const Py_ssize_t size = __Pyx_PyLong_SignedDigitCount(b); + switch (size) { + case 2: + if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { + return (Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -2: + if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case 3: + if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { + return (Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -3: + if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case 4: + if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { + return (Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -4: + if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + } + } + #endif + return PyLong_AsSsize_t(b); + } + x = PyNumber_Index(b); + if (!x) return -1; + ival = PyInt_AsSsize_t(x); + Py_DECREF(x); + return ival; +} +static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject* o) { + if (sizeof(Py_hash_t) == sizeof(Py_ssize_t)) { + return (Py_hash_t) __Pyx_PyIndex_AsSsize_t(o); +#if PY_MAJOR_VERSION < 3 + } else if (likely(PyInt_CheckExact(o))) { + return PyInt_AS_LONG(o); +#endif + } else { + Py_ssize_t ival; + PyObject *x; + x = PyNumber_Index(o); + if (!x) return -1; + ival = PyInt_AsLong(x); + Py_DECREF(x); + return ival; + } +} +static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b) { + return b ? __Pyx_NewRef(Py_True) : __Pyx_NewRef(Py_False); +} +static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t ival) { + return PyInt_FromSize_t(ival); +} + + +/* #### Code section: utility_code_pragmas_end ### */ +#ifdef _MSC_VER +#pragma warning( pop ) +#endif + + + +/* #### Code section: end ### */ +#endif /* Py_PYTHON_H */ diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so new file mode 100644 index 00000000000000..848eaefac173f7 Binary files /dev/null and b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so differ diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_sim_solver_long.c b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_sim_solver_long.c new file mode 100644 index 00000000000000..d451c5609accd5 --- /dev/null +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_sim_solver_long.c @@ -0,0 +1,294 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ +// standard +#include +#include + +// acados +#include "acados_c/external_function_interface.h" +#include "acados_c/sim_interface.h" +#include "acados_c/external_function_interface.h" + +#include "acados/sim/sim_common.h" +#include "acados/utils/external_function_generic.h" +#include "acados/utils/print.h" + + +// example specific +#include "long_model/long_model.h" +#include "acados_sim_solver_long.h" + + +// ** solver data ** + +sim_solver_capsule * long_acados_sim_solver_create_capsule() +{ + void* capsule_mem = malloc(sizeof(sim_solver_capsule)); + sim_solver_capsule *capsule = (sim_solver_capsule *) capsule_mem; + + return capsule; +} + + +int long_acados_sim_solver_free_capsule(sim_solver_capsule * capsule) +{ + free(capsule); + return 0; +} + + +int long_acados_sim_create(sim_solver_capsule * capsule) +{ + // initialize + const int nx = LONG_NX; + const int nu = LONG_NU; + const int nz = LONG_NZ; + const int np = LONG_NP; + bool tmp_bool; + + + double Tsim = 0.06944444444444445; + + + // explicit ode + capsule->sim_forw_vde_casadi = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)); + capsule->sim_vde_adj_casadi = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)); + capsule->sim_expl_ode_fun_casadi = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)); + + capsule->sim_forw_vde_casadi->casadi_fun = &long_expl_vde_forw; + capsule->sim_forw_vde_casadi->casadi_n_in = &long_expl_vde_forw_n_in; + capsule->sim_forw_vde_casadi->casadi_n_out = &long_expl_vde_forw_n_out; + capsule->sim_forw_vde_casadi->casadi_sparsity_in = &long_expl_vde_forw_sparsity_in; + capsule->sim_forw_vde_casadi->casadi_sparsity_out = &long_expl_vde_forw_sparsity_out; + capsule->sim_forw_vde_casadi->casadi_work = &long_expl_vde_forw_work; + external_function_param_casadi_create(capsule->sim_forw_vde_casadi, np); + + capsule->sim_vde_adj_casadi->casadi_fun = &long_expl_vde_adj; + capsule->sim_vde_adj_casadi->casadi_n_in = &long_expl_vde_adj_n_in; + capsule->sim_vde_adj_casadi->casadi_n_out = &long_expl_vde_adj_n_out; + capsule->sim_vde_adj_casadi->casadi_sparsity_in = &long_expl_vde_adj_sparsity_in; + capsule->sim_vde_adj_casadi->casadi_sparsity_out = &long_expl_vde_adj_sparsity_out; + capsule->sim_vde_adj_casadi->casadi_work = &long_expl_vde_adj_work; + external_function_param_casadi_create(capsule->sim_vde_adj_casadi, np); + + capsule->sim_expl_ode_fun_casadi->casadi_fun = &long_expl_ode_fun; + capsule->sim_expl_ode_fun_casadi->casadi_n_in = &long_expl_ode_fun_n_in; + capsule->sim_expl_ode_fun_casadi->casadi_n_out = &long_expl_ode_fun_n_out; + capsule->sim_expl_ode_fun_casadi->casadi_sparsity_in = &long_expl_ode_fun_sparsity_in; + capsule->sim_expl_ode_fun_casadi->casadi_sparsity_out = &long_expl_ode_fun_sparsity_out; + capsule->sim_expl_ode_fun_casadi->casadi_work = &long_expl_ode_fun_work; + external_function_param_casadi_create(capsule->sim_expl_ode_fun_casadi, np); + + + + // sim plan & config + sim_solver_plan_t plan; + plan.sim_solver = ERK; + + // create correct config based on plan + sim_config * long_sim_config = sim_config_create(plan); + capsule->acados_sim_config = long_sim_config; + + // sim dims + void *long_sim_dims = sim_dims_create(long_sim_config); + capsule->acados_sim_dims = long_sim_dims; + sim_dims_set(long_sim_config, long_sim_dims, "nx", &nx); + sim_dims_set(long_sim_config, long_sim_dims, "nu", &nu); + sim_dims_set(long_sim_config, long_sim_dims, "nz", &nz); + + + // sim opts + sim_opts *long_sim_opts = sim_opts_create(long_sim_config, long_sim_dims); + capsule->acados_sim_opts = long_sim_opts; + int tmp_int = 3; + sim_opts_set(long_sim_config, long_sim_opts, "newton_iter", &tmp_int); + double tmp_double = 0.0; + sim_opts_set(long_sim_config, long_sim_opts, "newton_tol", &tmp_double); + sim_collocation_type collocation_type = GAUSS_LEGENDRE; + sim_opts_set(long_sim_config, long_sim_opts, "collocation_type", &collocation_type); + + + tmp_int = 4; + sim_opts_set(long_sim_config, long_sim_opts, "num_stages", &tmp_int); + tmp_int = 1; + sim_opts_set(long_sim_config, long_sim_opts, "num_steps", &tmp_int); + tmp_bool = 0; + sim_opts_set(long_sim_config, long_sim_opts, "jac_reuse", &tmp_bool); + + + // sim in / out + sim_in *long_sim_in = sim_in_create(long_sim_config, long_sim_dims); + capsule->acados_sim_in = long_sim_in; + sim_out *long_sim_out = sim_out_create(long_sim_config, long_sim_dims); + capsule->acados_sim_out = long_sim_out; + + sim_in_set(long_sim_config, long_sim_dims, + long_sim_in, "T", &Tsim); + + // model functions + long_sim_config->model_set(long_sim_in->model, + "expl_vde_forw", capsule->sim_forw_vde_casadi); + long_sim_config->model_set(long_sim_in->model, + "expl_vde_adj", capsule->sim_vde_adj_casadi); + long_sim_config->model_set(long_sim_in->model, + "expl_ode_fun", capsule->sim_expl_ode_fun_casadi); + + // sim solver + sim_solver *long_sim_solver = sim_solver_create(long_sim_config, + long_sim_dims, long_sim_opts); + capsule->acados_sim_solver = long_sim_solver; + + + /* initialize parameter values */ + double* p = calloc(np, sizeof(double)); + + p[0] = -1.2; + p[1] = 1.2; + p[4] = 1.45; + p[5] = 0.75; + + long_acados_sim_update_params(capsule, p, np); + free(p); + + + /* initialize input */ + // x + double x0[3]; + for (int ii = 0; ii < 3; ii++) + x0[ii] = 0.0; + + sim_in_set(long_sim_config, long_sim_dims, + long_sim_in, "x", x0); + + + // u + double u0[1]; + for (int ii = 0; ii < 1; ii++) + u0[ii] = 0.0; + + sim_in_set(long_sim_config, long_sim_dims, + long_sim_in, "u", u0); + + // S_forw + double S_forw[12]; + for (int ii = 0; ii < 12; ii++) + S_forw[ii] = 0.0; + for (int ii = 0; ii < 3; ii++) + S_forw[ii + ii * 3 ] = 1.0; + + + sim_in_set(long_sim_config, long_sim_dims, + long_sim_in, "S_forw", S_forw); + + int status = sim_precompute(long_sim_solver, long_sim_in, long_sim_out); + + return status; +} + + +int long_acados_sim_solve(sim_solver_capsule *capsule) +{ + // integrate dynamics using acados sim_solver + int status = sim_solve(capsule->acados_sim_solver, + capsule->acados_sim_in, capsule->acados_sim_out); + if (status != 0) + printf("error in long_acados_sim_solve()! Exiting.\n"); + + return status; +} + + +int long_acados_sim_free(sim_solver_capsule *capsule) +{ + // free memory + sim_solver_destroy(capsule->acados_sim_solver); + sim_in_destroy(capsule->acados_sim_in); + sim_out_destroy(capsule->acados_sim_out); + sim_opts_destroy(capsule->acados_sim_opts); + sim_dims_destroy(capsule->acados_sim_dims); + sim_config_destroy(capsule->acados_sim_config); + + // free external function + external_function_param_casadi_free(capsule->sim_forw_vde_casadi); + external_function_param_casadi_free(capsule->sim_vde_adj_casadi); + external_function_param_casadi_free(capsule->sim_expl_ode_fun_casadi); + + return 0; +} + + +int long_acados_sim_update_params(sim_solver_capsule *capsule, double *p, int np) +{ + int status = 0; + int casadi_np = LONG_NP; + + if (casadi_np != np) { + printf("long_acados_sim_update_params: trying to set %i parameters for external functions." + " External function has %i parameters. Exiting.\n", np, casadi_np); + exit(1); + } + capsule->sim_forw_vde_casadi[0].set_param(capsule->sim_forw_vde_casadi, p); + capsule->sim_vde_adj_casadi[0].set_param(capsule->sim_vde_adj_casadi, p); + capsule->sim_expl_ode_fun_casadi[0].set_param(capsule->sim_expl_ode_fun_casadi, p); + + return status; +} + +/* getters pointers to C objects*/ +sim_config * long_acados_get_sim_config(sim_solver_capsule *capsule) +{ + return capsule->acados_sim_config; +}; + +sim_in * long_acados_get_sim_in(sim_solver_capsule *capsule) +{ + return capsule->acados_sim_in; +}; + +sim_out * long_acados_get_sim_out(sim_solver_capsule *capsule) +{ + return capsule->acados_sim_out; +}; + +void * long_acados_get_sim_dims(sim_solver_capsule *capsule) +{ + return capsule->acados_sim_dims; +}; + +sim_opts * long_acados_get_sim_opts(sim_solver_capsule *capsule) +{ + return capsule->acados_sim_opts; +}; + +sim_solver * long_acados_get_sim_solver(sim_solver_capsule *capsule) +{ + return capsule->acados_sim_solver; +}; + diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_solver.pxd b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_solver.pxd new file mode 100644 index 00000000000000..c04a1b20b4233f --- /dev/null +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_solver.pxd @@ -0,0 +1,62 @@ +# +# Copyright (c) The acados authors. +# +# This file is part of acados. +# +# The 2-Clause BSD License +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# 1. Redistributions of source code must retain the above copyright notice, +# this list of conditions and the following disclaimer. +# +# 2. Redistributions in binary form must reproduce the above copyright notice, +# this list of conditions and the following disclaimer in the documentation +# and/or other materials provided with the distribution. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE.; +# + +cimport acados_solver_common + +cdef extern from "acados_solver_long.h": + ctypedef struct nlp_solver_capsule "long_solver_capsule": + pass + + nlp_solver_capsule * acados_create_capsule "long_acados_create_capsule"() + int acados_free_capsule "long_acados_free_capsule"(nlp_solver_capsule *capsule) + + int acados_create "long_acados_create"(nlp_solver_capsule * capsule) + + int acados_create_with_discretization "long_acados_create_with_discretization"(nlp_solver_capsule * capsule, int n_time_steps, double* new_time_steps) + int acados_update_time_steps "long_acados_update_time_steps"(nlp_solver_capsule * capsule, int N, double* new_time_steps) + int acados_update_qp_solver_cond_N "long_acados_update_qp_solver_cond_N"(nlp_solver_capsule * capsule, int qp_solver_cond_N) + + int acados_update_params "long_acados_update_params"(nlp_solver_capsule * capsule, int stage, double *value, int np_) + int acados_update_params_sparse "long_acados_update_params_sparse"(nlp_solver_capsule * capsule, int stage, int *idx, double *p, int n_update) + int acados_solve "long_acados_solve"(nlp_solver_capsule * capsule) + int acados_reset "long_acados_reset"(nlp_solver_capsule * capsule, int reset_qp_solver_mem) + int acados_free "long_acados_free"(nlp_solver_capsule * capsule) + void acados_print_stats "long_acados_print_stats"(nlp_solver_capsule * capsule) + + int acados_custom_update "long_acados_custom_update"(nlp_solver_capsule* capsule, double * data, int data_len) + + acados_solver_common.ocp_nlp_in *acados_get_nlp_in "long_acados_get_nlp_in"(nlp_solver_capsule * capsule) + acados_solver_common.ocp_nlp_out *acados_get_nlp_out "long_acados_get_nlp_out"(nlp_solver_capsule * capsule) + acados_solver_common.ocp_nlp_out *acados_get_sens_out "long_acados_get_sens_out"(nlp_solver_capsule * capsule) + acados_solver_common.ocp_nlp_solver *acados_get_nlp_solver "long_acados_get_nlp_solver"(nlp_solver_capsule * capsule) + acados_solver_common.ocp_nlp_config *acados_get_nlp_config "long_acados_get_nlp_config"(nlp_solver_capsule * capsule) + void *acados_get_nlp_opts "long_acados_get_nlp_opts"(nlp_solver_capsule * capsule) + acados_solver_common.ocp_nlp_dims *acados_get_nlp_dims "long_acados_get_nlp_dims"(nlp_solver_capsule * capsule) + acados_solver_common.ocp_nlp_plan *acados_get_nlp_plan "long_acados_get_nlp_plan"(nlp_solver_capsule * capsule) diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_solver_long.c b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_solver_long.c new file mode 100644 index 00000000000000..bdeec91e94997a --- /dev/null +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_solver_long.c @@ -0,0 +1,1087 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + +// standard +#include +#include +#include +// acados +// #include "acados/utils/print.h" +#include "acados_c/ocp_nlp_interface.h" +#include "acados_c/external_function_interface.h" + +// example specific +#include "long_model/long_model.h" +#include "long_constraints/long_constraints.h" +#include "long_cost/long_cost.h" + + + + +#include "acados_solver_long.h" + +#define NX LONG_NX +#define NZ LONG_NZ +#define NU LONG_NU +#define NP LONG_NP +#define NBX LONG_NBX +#define NBX0 LONG_NBX0 +#define NBU LONG_NBU +#define NSBX LONG_NSBX +#define NSBU LONG_NSBU +#define NSH LONG_NSH +#define NSG LONG_NSG +#define NSPHI LONG_NSPHI +#define NSHN LONG_NSHN +#define NSGN LONG_NSGN +#define NSPHIN LONG_NSPHIN +#define NSBXN LONG_NSBXN +#define NS LONG_NS +#define NSN LONG_NSN +#define NG LONG_NG +#define NBXN LONG_NBXN +#define NGN LONG_NGN +#define NY0 LONG_NY0 +#define NY LONG_NY +#define NYN LONG_NYN +// #define N LONG_N +#define NH LONG_NH +#define NPHI LONG_NPHI +#define NHN LONG_NHN +#define NPHIN LONG_NPHIN +#define NR LONG_NR + + +// ** solver data ** + +long_solver_capsule * long_acados_create_capsule(void) +{ + void* capsule_mem = malloc(sizeof(long_solver_capsule)); + long_solver_capsule *capsule = (long_solver_capsule *) capsule_mem; + + return capsule; +} + + +int long_acados_free_capsule(long_solver_capsule *capsule) +{ + free(capsule); + return 0; +} + + +int long_acados_create(long_solver_capsule* capsule) +{ + int N_shooting_intervals = LONG_N; + double* new_time_steps = NULL; // NULL -> don't alter the code generated time-steps + return long_acados_create_with_discretization(capsule, N_shooting_intervals, new_time_steps); +} + + +int long_acados_update_time_steps(long_solver_capsule* capsule, int N, double* new_time_steps) +{ + if (N != capsule->nlp_solver_plan->N) { + fprintf(stderr, "long_acados_update_time_steps: given number of time steps (= %d) " \ + "differs from the currently allocated number of " \ + "time steps (= %d)!\n" \ + "Please recreate with new discretization and provide a new vector of time_stamps!\n", + N, capsule->nlp_solver_plan->N); + return 1; + } + + ocp_nlp_config * nlp_config = capsule->nlp_config; + ocp_nlp_dims * nlp_dims = capsule->nlp_dims; + ocp_nlp_in * nlp_in = capsule->nlp_in; + + for (int i = 0; i < N; i++) + { + ocp_nlp_in_set(nlp_config, nlp_dims, nlp_in, i, "Ts", &new_time_steps[i]); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "scaling", &new_time_steps[i]); + } + return 0; +} + +/** + * Internal function for long_acados_create: step 1 + */ +void long_acados_create_1_set_plan(ocp_nlp_plan_t* nlp_solver_plan, const int N) +{ + assert(N == nlp_solver_plan->N); + + /************************************************ + * plan + ************************************************/ + nlp_solver_plan->nlp_solver = SQP_RTI; + + nlp_solver_plan->ocp_qp_solver_plan.qp_solver = PARTIAL_CONDENSING_HPIPM; + + nlp_solver_plan->nlp_cost[0] = NONLINEAR_LS; + for (int i = 1; i < N; i++) + nlp_solver_plan->nlp_cost[i] = NONLINEAR_LS; + + nlp_solver_plan->nlp_cost[N] = NONLINEAR_LS; + + for (int i = 0; i < N; i++) + { + nlp_solver_plan->nlp_dynamics[i] = CONTINUOUS_MODEL; + nlp_solver_plan->sim_solver_plan[i].sim_solver = ERK; + } + + for (int i = 0; i < N; i++) + {nlp_solver_plan->nlp_constraints[i] = BGH; + } + nlp_solver_plan->nlp_constraints[N] = BGH; +} + + +/** + * Internal function for long_acados_create: step 2 + */ +ocp_nlp_dims* long_acados_create_2_create_and_set_dimensions(long_solver_capsule* capsule) +{ + ocp_nlp_plan_t* nlp_solver_plan = capsule->nlp_solver_plan; + const int N = nlp_solver_plan->N; + ocp_nlp_config* nlp_config = capsule->nlp_config; + + /************************************************ + * dimensions + ************************************************/ + #define NINTNP1MEMS 17 + int* intNp1mem = (int*)malloc( (N+1)*sizeof(int)*NINTNP1MEMS ); + + int* nx = intNp1mem + (N+1)*0; + int* nu = intNp1mem + (N+1)*1; + int* nbx = intNp1mem + (N+1)*2; + int* nbu = intNp1mem + (N+1)*3; + int* nsbx = intNp1mem + (N+1)*4; + int* nsbu = intNp1mem + (N+1)*5; + int* nsg = intNp1mem + (N+1)*6; + int* nsh = intNp1mem + (N+1)*7; + int* nsphi = intNp1mem + (N+1)*8; + int* ns = intNp1mem + (N+1)*9; + int* ng = intNp1mem + (N+1)*10; + int* nh = intNp1mem + (N+1)*11; + int* nphi = intNp1mem + (N+1)*12; + int* nz = intNp1mem + (N+1)*13; + int* ny = intNp1mem + (N+1)*14; + int* nr = intNp1mem + (N+1)*15; + int* nbxe = intNp1mem + (N+1)*16; + + for (int i = 0; i < N+1; i++) + { + // common + nx[i] = NX; + nu[i] = NU; + nz[i] = NZ; + ns[i] = NS; + // cost + ny[i] = NY; + // constraints + nbx[i] = NBX; + nbu[i] = NBU; + nsbx[i] = NSBX; + nsbu[i] = NSBU; + nsg[i] = NSG; + nsh[i] = NSH; + nsphi[i] = NSPHI; + ng[i] = NG; + nh[i] = NH; + nphi[i] = NPHI; + nr[i] = NR; + nbxe[i] = 0; + } + + // for initial state + nbx[0] = NBX0; + nsbx[0] = 0; + ns[0] = NS - NSBX; + nbxe[0] = 3; + ny[0] = NY0; + + // terminal - common + nu[N] = 0; + nz[N] = 0; + ns[N] = NSN; + // cost + ny[N] = NYN; + // constraint + nbx[N] = NBXN; + nbu[N] = 0; + ng[N] = NGN; + nh[N] = NHN; + nphi[N] = NPHIN; + nr[N] = 0; + + nsbx[N] = NSBXN; + nsbu[N] = 0; + nsg[N] = NSGN; + nsh[N] = NSHN; + nsphi[N] = NSPHIN; + + /* create and set ocp_nlp_dims */ + ocp_nlp_dims * nlp_dims = ocp_nlp_dims_create(nlp_config); + + ocp_nlp_dims_set_opt_vars(nlp_config, nlp_dims, "nx", nx); + ocp_nlp_dims_set_opt_vars(nlp_config, nlp_dims, "nu", nu); + ocp_nlp_dims_set_opt_vars(nlp_config, nlp_dims, "nz", nz); + ocp_nlp_dims_set_opt_vars(nlp_config, nlp_dims, "ns", ns); + + for (int i = 0; i <= N; i++) + { + ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nbx", &nbx[i]); + ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nbu", &nbu[i]); + ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nsbx", &nsbx[i]); + ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nsbu", &nsbu[i]); + ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "ng", &ng[i]); + ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nsg", &nsg[i]); + ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nbxe", &nbxe[i]); + } + ocp_nlp_dims_set_cost(nlp_config, nlp_dims, 0, "ny", &ny[0]); + for (int i = 1; i < N; i++) + ocp_nlp_dims_set_cost(nlp_config, nlp_dims, i, "ny", &ny[i]); + + for (int i = 0; i < N; i++) + { + ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nh", &nh[i]); + ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nsh", &nsh[i]); + } + ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, N, "nh", &nh[N]); + ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, N, "nsh", &nsh[N]); + ocp_nlp_dims_set_cost(nlp_config, nlp_dims, N, "ny", &ny[N]); + free(intNp1mem); +return nlp_dims; +} + + +/** + * Internal function for long_acados_create: step 3 + */ +void long_acados_create_3_create_and_set_functions(long_solver_capsule* capsule) +{ + const int N = capsule->nlp_solver_plan->N; + + /************************************************ + * external functions + ************************************************/ + +#define MAP_CASADI_FNC(__CAPSULE_FNC__, __MODEL_BASE_FNC__) do{ \ + capsule->__CAPSULE_FNC__.casadi_fun = & __MODEL_BASE_FNC__ ;\ + capsule->__CAPSULE_FNC__.casadi_n_in = & __MODEL_BASE_FNC__ ## _n_in; \ + capsule->__CAPSULE_FNC__.casadi_n_out = & __MODEL_BASE_FNC__ ## _n_out; \ + capsule->__CAPSULE_FNC__.casadi_sparsity_in = & __MODEL_BASE_FNC__ ## _sparsity_in; \ + capsule->__CAPSULE_FNC__.casadi_sparsity_out = & __MODEL_BASE_FNC__ ## _sparsity_out; \ + capsule->__CAPSULE_FNC__.casadi_work = & __MODEL_BASE_FNC__ ## _work; \ + external_function_param_casadi_create(&capsule->__CAPSULE_FNC__ , 6); \ + }while(false) + + + // constraints.constr_type == "BGH" and dims.nh > 0 + capsule->nl_constr_h_fun_jac = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); + for (int i = 0; i < N; i++) { + MAP_CASADI_FNC(nl_constr_h_fun_jac[i], long_constr_h_fun_jac_uxt_zt); + } + capsule->nl_constr_h_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); + for (int i = 0; i < N; i++) { + MAP_CASADI_FNC(nl_constr_h_fun[i], long_constr_h_fun); + } + + + + + // explicit ode + capsule->forw_vde_casadi = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); + for (int i = 0; i < N; i++) { + MAP_CASADI_FNC(forw_vde_casadi[i], long_expl_vde_forw); + } + + capsule->expl_ode_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); + for (int i = 0; i < N; i++) { + MAP_CASADI_FNC(expl_ode_fun[i], long_expl_ode_fun); + } + + + // nonlinear least squares function + MAP_CASADI_FNC(cost_y_0_fun, long_cost_y_0_fun); + MAP_CASADI_FNC(cost_y_0_fun_jac_ut_xt, long_cost_y_0_fun_jac_ut_xt); + MAP_CASADI_FNC(cost_y_0_hess, long_cost_y_0_hess); + // nonlinear least squares cost + capsule->cost_y_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); + for (int i = 0; i < N-1; i++) + { + MAP_CASADI_FNC(cost_y_fun[i], long_cost_y_fun); + } + + capsule->cost_y_fun_jac_ut_xt = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); + for (int i = 0; i < N-1; i++) + { + MAP_CASADI_FNC(cost_y_fun_jac_ut_xt[i], long_cost_y_fun_jac_ut_xt); + } + + capsule->cost_y_hess = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); + for (int i = 0; i < N-1; i++) + { + MAP_CASADI_FNC(cost_y_hess[i], long_cost_y_hess); + } + // nonlinear least square function + MAP_CASADI_FNC(cost_y_e_fun, long_cost_y_e_fun); + MAP_CASADI_FNC(cost_y_e_fun_jac_ut_xt, long_cost_y_e_fun_jac_ut_xt); + MAP_CASADI_FNC(cost_y_e_hess, long_cost_y_e_hess); + +#undef MAP_CASADI_FNC +} + + +/** + * Internal function for long_acados_create: step 4 + */ +void long_acados_create_4_set_default_parameters(long_solver_capsule* capsule) { + const int N = capsule->nlp_solver_plan->N; + // initialize parameters to nominal value + double* p = calloc(NP, sizeof(double)); + p[0] = -1.2; + p[1] = 1.2; + p[4] = 1.45; + p[5] = 0.75; + + for (int i = 0; i <= N; i++) { + long_acados_update_params(capsule, i, p, NP); + } + free(p); +} + + +/** + * Internal function for long_acados_create: step 5 + */ +void long_acados_create_5_set_nlp_in(long_solver_capsule* capsule, const int N, double* new_time_steps) +{ + assert(N == capsule->nlp_solver_plan->N); + ocp_nlp_config* nlp_config = capsule->nlp_config; + ocp_nlp_dims* nlp_dims = capsule->nlp_dims; + + /************************************************ + * nlp_in + ************************************************/ +// ocp_nlp_in * nlp_in = ocp_nlp_in_create(nlp_config, nlp_dims); +// capsule->nlp_in = nlp_in; + ocp_nlp_in * nlp_in = capsule->nlp_in; + + // set up time_steps + + + if (new_time_steps) { + long_acados_update_time_steps(capsule, N, new_time_steps); + } else {// time_steps are different + double* time_steps = malloc(N*sizeof(double)); + time_steps[0] = 0.06944444444444445; + time_steps[1] = 0.20833333333333337; + time_steps[2] = 0.3472222222222222; + time_steps[3] = 0.4861111111111112; + time_steps[4] = 0.6250000000000002; + time_steps[5] = 0.7638888888888886; + time_steps[6] = 0.9027777777777786; + time_steps[7] = 1.041666666666666; + time_steps[8] = 1.1805555555555554; + time_steps[9] = 1.3194444444444455; + time_steps[10] = 1.4583333333333313; + time_steps[11] = 1.5972222222222232; + long_acados_update_time_steps(capsule, N, time_steps); + free(time_steps); + } + + /**** Dynamics ****/ + for (int i = 0; i < N; i++) + { + ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "expl_vde_forw", &capsule->forw_vde_casadi[i]); + ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "expl_ode_fun", &capsule->expl_ode_fun[i]); + + } + + /**** Cost ****/ + double* yref_0 = calloc(NY0, sizeof(double)); + // change only the non-zero elements: + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "yref", yref_0); + free(yref_0); + double* yref = calloc(NY, sizeof(double)); + // change only the non-zero elements: + + for (int i = 1; i < N; i++) + { + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "yref", yref); + } + free(yref); + double* yref_e = calloc(NYN, sizeof(double)); + // change only the non-zero elements: + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "yref", yref_e); + free(yref_e); + double* W_0 = calloc(NY0*NY0, sizeof(double)); + // change only the non-zero elements: + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "W", W_0); + free(W_0); + double* W = calloc(NY*NY, sizeof(double)); + // change only the non-zero elements: + + for (int i = 1; i < N; i++) + { + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "W", W); + } + free(W); + double* W_e = calloc(NYN*NYN, sizeof(double)); + // change only the non-zero elements: + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "W", W_e); + free(W_e); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "nls_y_fun", &capsule->cost_y_0_fun); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "nls_y_fun_jac", &capsule->cost_y_0_fun_jac_ut_xt); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "nls_y_hess", &capsule->cost_y_0_hess); + for (int i = 1; i < N; i++) + { + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "nls_y_fun", &capsule->cost_y_fun[i-1]); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "nls_y_fun_jac", &capsule->cost_y_fun_jac_ut_xt[i-1]); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "nls_y_hess", &capsule->cost_y_hess[i-1]); + } + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "nls_y_fun", &capsule->cost_y_e_fun); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "nls_y_fun_jac", &capsule->cost_y_e_fun_jac_ut_xt); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "nls_y_hess", &capsule->cost_y_e_hess); + // slacks + double* zlumem = calloc(4*NS, sizeof(double)); + double* Zl = zlumem+NS*0; + double* Zu = zlumem+NS*1; + double* zl = zlumem+NS*2; + double* zu = zlumem+NS*3; + // change only the non-zero elements: + + for (int i = 0; i < N; i++) + { + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "Zl", Zl); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "Zu", Zu); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "zl", zl); + ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "zu", zu); + } + free(zlumem); + + + + /**** Constraints ****/ + + // bounds for initial stage + // x0 + int* idxbx0 = malloc(NBX0 * sizeof(int)); + idxbx0[0] = 0; + idxbx0[1] = 1; + idxbx0[2] = 2; + + double* lubx0 = calloc(2*NBX0, sizeof(double)); + double* lbx0 = lubx0; + double* ubx0 = lubx0 + NBX0; + // change only the non-zero elements: + + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "idxbx", idxbx0); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "lbx", lbx0); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "ubx", ubx0); + free(idxbx0); + free(lubx0); + // idxbxe_0 + int* idxbxe_0 = malloc(3 * sizeof(int)); + + idxbxe_0[0] = 0; + idxbxe_0[1] = 1; + idxbxe_0[2] = 2; + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "idxbxe", idxbxe_0); + free(idxbxe_0); + + /* constraints that are the same for initial and intermediate */ + + + + + // set up soft bounds for nonlinear constraints + int* idxsh = malloc(NSH * sizeof(int)); + + idxsh[0] = 0; + idxsh[1] = 1; + idxsh[2] = 2; + idxsh[3] = 3; + double* lush = calloc(2*NSH, sizeof(double)); + double* lsh = lush; + double* ush = lush + NSH; + + + for (int i = 0; i < N; i++) + { + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "idxsh", idxsh); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lsh", lsh); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "ush", ush); + } + free(idxsh); + free(lush); + + + + + + + + + // set up nonlinear constraints for stage 0 to N-1 + double* luh = calloc(2*NH, sizeof(double)); + double* lh = luh; + double* uh = luh + NH; + + + + + uh[0] = 10000.0; + uh[1] = 10000.0; + uh[2] = 10000.0; + uh[3] = 10000.0; + + for (int i = 0; i < N; i++) + { + // nonlinear constraints for stages 0 to N-1 + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "nl_constr_h_fun_jac", + &capsule->nl_constr_h_fun_jac[i]); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "nl_constr_h_fun", + &capsule->nl_constr_h_fun[i]); + + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lh", lh); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "uh", uh); + } + free(luh); + + + + /* terminal constraints */ + + + + + + + + + + + + + + + +} + + +/** + * Internal function for long_acados_create: step 6 + */ +void long_acados_create_6_set_opts(long_solver_capsule* capsule) +{ + const int N = capsule->nlp_solver_plan->N; + ocp_nlp_config* nlp_config = capsule->nlp_config; + void *nlp_opts = capsule->nlp_opts; + + /************************************************ + * opts + ************************************************/ + + + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "globalization", "fixed_step");int full_step_dual = 0; + ocp_nlp_solver_opts_set(nlp_config, capsule->nlp_opts, "full_step_dual", &full_step_dual); + + // set collocation type (relevant for implicit integrators) + sim_collocation_type collocation_type = GAUSS_LEGENDRE; + for (int i = 0; i < N; i++) + ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_collocation_type", &collocation_type); + + // set up sim_method_num_steps + // all sim_method_num_steps are identical + int sim_method_num_steps = 1; + for (int i = 0; i < N; i++) + ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_num_steps", &sim_method_num_steps); + + // set up sim_method_num_stages + // all sim_method_num_stages are identical + int sim_method_num_stages = 4; + for (int i = 0; i < N; i++) + ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_num_stages", &sim_method_num_stages); + + int newton_iter_val = 3; + for (int i = 0; i < N; i++) + ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_newton_iter", &newton_iter_val); + + + // set up sim_method_jac_reuse + bool tmp_bool = (bool) 0; + for (int i = 0; i < N; i++) + ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_jac_reuse", &tmp_bool); + + double nlp_solver_step_length = 1.0; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "step_length", &nlp_solver_step_length); + + double levenberg_marquardt = 0.0; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "levenberg_marquardt", &levenberg_marquardt); + + /* options QP solver */ + int qp_solver_cond_N; + + const int qp_solver_cond_N_ori = 1; + qp_solver_cond_N = N < qp_solver_cond_N_ori ? N : qp_solver_cond_N_ori; // use the minimum value here + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_cond_N", &qp_solver_cond_N); + + int nlp_solver_ext_qp_res = 0; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "ext_qp_res", &nlp_solver_ext_qp_res); + // set HPIPM mode: should be done before setting other QP solver options + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_hpipm_mode", "BALANCE"); + + + + int qp_solver_iter_max = 10; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_iter_max", &qp_solver_iter_max); + + + double qp_solver_tol_stat = 0.001; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_tol_stat", &qp_solver_tol_stat); + double qp_solver_tol_eq = 0.001; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_tol_eq", &qp_solver_tol_eq); + double qp_solver_tol_ineq = 0.001; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_tol_ineq", &qp_solver_tol_ineq); + double qp_solver_tol_comp = 0.001; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_tol_comp", &qp_solver_tol_comp);int print_level = 0; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "print_level", &print_level); + int qp_solver_cond_ric_alg = 1; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_cond_ric_alg", &qp_solver_cond_ric_alg); + + int qp_solver_ric_alg = 1; + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_ric_alg", &qp_solver_ric_alg); + + + int ext_cost_num_hess = 0; +} + + +/** + * Internal function for long_acados_create: step 7 + */ +void long_acados_create_7_set_nlp_out(long_solver_capsule* capsule) +{ + const int N = capsule->nlp_solver_plan->N; + ocp_nlp_config* nlp_config = capsule->nlp_config; + ocp_nlp_dims* nlp_dims = capsule->nlp_dims; + ocp_nlp_out* nlp_out = capsule->nlp_out; + + // initialize primal solution + double* xu0 = calloc(NX+NU, sizeof(double)); + double* x0 = xu0; + + // initialize with x0 + + + + double* u0 = xu0 + NX; + + for (int i = 0; i < N; i++) + { + // x0 + ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "x", x0); + // u0 + ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "u", u0); + } + ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, N, "x", x0); + free(xu0); +} + + +/** + * Internal function for long_acados_create: step 8 + */ +//void long_acados_create_8_create_solver(long_solver_capsule* capsule) +//{ +// capsule->nlp_solver = ocp_nlp_solver_create(capsule->nlp_config, capsule->nlp_dims, capsule->nlp_opts); +//} + +/** + * Internal function for long_acados_create: step 9 + */ +int long_acados_create_9_precompute(long_solver_capsule* capsule) { + int status = ocp_nlp_precompute(capsule->nlp_solver, capsule->nlp_in, capsule->nlp_out); + + if (status != ACADOS_SUCCESS) { + printf("\nocp_nlp_precompute failed!\n\n"); + exit(1); + } + + return status; +} + + +int long_acados_create_with_discretization(long_solver_capsule* capsule, int N, double* new_time_steps) +{ + // If N does not match the number of shooting intervals used for code generation, new_time_steps must be given. + if (N != LONG_N && !new_time_steps) { + fprintf(stderr, "long_acados_create_with_discretization: new_time_steps is NULL " \ + "but the number of shooting intervals (= %d) differs from the number of " \ + "shooting intervals (= %d) during code generation! Please provide a new vector of time_stamps!\n", \ + N, LONG_N); + return 1; + } + + // number of expected runtime parameters + capsule->nlp_np = NP; + + // 1) create and set nlp_solver_plan; create nlp_config + capsule->nlp_solver_plan = ocp_nlp_plan_create(N); + long_acados_create_1_set_plan(capsule->nlp_solver_plan, N); + capsule->nlp_config = ocp_nlp_config_create(*capsule->nlp_solver_plan); + + // 3) create and set dimensions + capsule->nlp_dims = long_acados_create_2_create_and_set_dimensions(capsule); + long_acados_create_3_create_and_set_functions(capsule); + + // 4) set default parameters in functions + long_acados_create_4_set_default_parameters(capsule); + + // 5) create and set nlp_in + capsule->nlp_in = ocp_nlp_in_create(capsule->nlp_config, capsule->nlp_dims); + long_acados_create_5_set_nlp_in(capsule, N, new_time_steps); + + // 6) create and set nlp_opts + capsule->nlp_opts = ocp_nlp_solver_opts_create(capsule->nlp_config, capsule->nlp_dims); + long_acados_create_6_set_opts(capsule); + + // 7) create and set nlp_out + // 7.1) nlp_out + capsule->nlp_out = ocp_nlp_out_create(capsule->nlp_config, capsule->nlp_dims); + // 7.2) sens_out + capsule->sens_out = ocp_nlp_out_create(capsule->nlp_config, capsule->nlp_dims); + long_acados_create_7_set_nlp_out(capsule); + + // 8) create solver + capsule->nlp_solver = ocp_nlp_solver_create(capsule->nlp_config, capsule->nlp_dims, capsule->nlp_opts); + //long_acados_create_8_create_solver(capsule); + + // 9) do precomputations + int status = long_acados_create_9_precompute(capsule); + + return status; +} + +/** + * This function is for updating an already initialized solver with a different number of qp_cond_N. It is useful for code reuse after code export. + */ +int long_acados_update_qp_solver_cond_N(long_solver_capsule* capsule, int qp_solver_cond_N) +{ + // 1) destroy solver + ocp_nlp_solver_destroy(capsule->nlp_solver); + + // 2) set new value for "qp_cond_N" + const int N = capsule->nlp_solver_plan->N; + if(qp_solver_cond_N > N) + printf("Warning: qp_solver_cond_N = %d > N = %d\n", qp_solver_cond_N, N); + ocp_nlp_solver_opts_set(capsule->nlp_config, capsule->nlp_opts, "qp_cond_N", &qp_solver_cond_N); + + // 3) continue with the remaining steps from long_acados_create_with_discretization(...): + // -> 8) create solver + capsule->nlp_solver = ocp_nlp_solver_create(capsule->nlp_config, capsule->nlp_dims, capsule->nlp_opts); + + // -> 9) do precomputations + int status = long_acados_create_9_precompute(capsule); + return status; +} + + +int long_acados_reset(long_solver_capsule* capsule, int reset_qp_solver_mem) +{ + + // set initialization to all zeros + + const int N = capsule->nlp_solver_plan->N; + ocp_nlp_config* nlp_config = capsule->nlp_config; + ocp_nlp_dims* nlp_dims = capsule->nlp_dims; + ocp_nlp_out* nlp_out = capsule->nlp_out; + ocp_nlp_in* nlp_in = capsule->nlp_in; + ocp_nlp_solver* nlp_solver = capsule->nlp_solver; + + double* buffer = calloc(NX+NU+NZ+2*NS+2*NSN+NBX+NBU+NG+NH+NPHI+NBX0+NBXN+NHN+NPHIN+NGN, sizeof(double)); + + for(int i=0; i reset memory + int qp_status; + ocp_nlp_get(capsule->nlp_config, capsule->nlp_solver, "qp_status", &qp_status); + if (reset_qp_solver_mem || (qp_status == 3)) + { + // printf("\nin reset qp_status %d -> resetting QP memory\n", qp_status); + ocp_nlp_solver_reset_qp_memory(nlp_solver, nlp_in, nlp_out); + } + + free(buffer); + return 0; +} + + + + +int long_acados_update_params(long_solver_capsule* capsule, int stage, double *p, int np) +{ + int solver_status = 0; + + int casadi_np = 6; + if (casadi_np != np) { + printf("acados_update_params: trying to set %i parameters for external functions." + " External function has %i parameters. Exiting.\n", np, casadi_np); + exit(1); + } + + const int N = capsule->nlp_solver_plan->N; + if (stage < N && stage >= 0) + { + capsule->forw_vde_casadi[stage].set_param(capsule->forw_vde_casadi+stage, p); + capsule->expl_ode_fun[stage].set_param(capsule->expl_ode_fun+stage, p); + + + // constraints + + capsule->nl_constr_h_fun_jac[stage].set_param(capsule->nl_constr_h_fun_jac+stage, p); + capsule->nl_constr_h_fun[stage].set_param(capsule->nl_constr_h_fun+stage, p); + + // cost + if (stage == 0) + { + capsule->cost_y_0_fun.set_param(&capsule->cost_y_0_fun, p); + capsule->cost_y_0_fun_jac_ut_xt.set_param(&capsule->cost_y_0_fun_jac_ut_xt, p); + capsule->cost_y_0_hess.set_param(&capsule->cost_y_0_hess, p); + } + else // 0 < stage < N + { + capsule->cost_y_fun[stage-1].set_param(capsule->cost_y_fun+stage-1, p); + capsule->cost_y_fun_jac_ut_xt[stage-1].set_param(capsule->cost_y_fun_jac_ut_xt+stage-1, p); + capsule->cost_y_hess[stage-1].set_param(capsule->cost_y_hess+stage-1, p); + } + } + + else // stage == N + { + // terminal shooting node has no dynamics + // cost + capsule->cost_y_e_fun.set_param(&capsule->cost_y_e_fun, p); + capsule->cost_y_e_fun_jac_ut_xt.set_param(&capsule->cost_y_e_fun_jac_ut_xt, p); + capsule->cost_y_e_hess.set_param(&capsule->cost_y_e_hess, p); + // constraints + + } + + return solver_status; +} + + +int long_acados_update_params_sparse(long_solver_capsule * capsule, int stage, int *idx, double *p, int n_update) +{ + int solver_status = 0; + + int casadi_np = 6; + if (casadi_np < n_update) { + printf("long_acados_update_params_sparse: trying to set %d parameters for external functions." + " External function has %d parameters. Exiting.\n", n_update, casadi_np); + exit(1); + } + // for (int i = 0; i < n_update; i++) + // { + // if (idx[i] > casadi_np) { + // printf("long_acados_update_params_sparse: attempt to set parameters with index %d, while" + // " external functions only has %d parameters. Exiting.\n", idx[i], casadi_np); + // exit(1); + // } + // printf("param %d value %e\n", idx[i], p[i]); + // } + const int N = capsule->nlp_solver_plan->N; + if (stage < N && stage >= 0) + { + capsule->forw_vde_casadi[stage].set_param_sparse(capsule->forw_vde_casadi+stage, n_update, idx, p); + capsule->expl_ode_fun[stage].set_param_sparse(capsule->expl_ode_fun+stage, n_update, idx, p); + + + // constraints + + capsule->nl_constr_h_fun_jac[stage].set_param_sparse(capsule->nl_constr_h_fun_jac+stage, n_update, idx, p); + capsule->nl_constr_h_fun[stage].set_param_sparse(capsule->nl_constr_h_fun+stage, n_update, idx, p); + + // cost + if (stage == 0) + { + capsule->cost_y_0_fun.set_param_sparse(&capsule->cost_y_0_fun, n_update, idx, p); + capsule->cost_y_0_fun_jac_ut_xt.set_param_sparse(&capsule->cost_y_0_fun_jac_ut_xt, n_update, idx, p); + capsule->cost_y_0_hess.set_param_sparse(&capsule->cost_y_0_hess, n_update, idx, p); + } + else // 0 < stage < N + { + capsule->cost_y_fun[stage-1].set_param_sparse(capsule->cost_y_fun+stage-1, n_update, idx, p); + capsule->cost_y_fun_jac_ut_xt[stage-1].set_param_sparse(capsule->cost_y_fun_jac_ut_xt+stage-1, n_update, idx, p); + capsule->cost_y_hess[stage-1].set_param_sparse(capsule->cost_y_hess+stage-1, n_update, idx, p); + } + } + + else // stage == N + { + // terminal shooting node has no dynamics + // cost + capsule->cost_y_e_fun.set_param_sparse(&capsule->cost_y_e_fun, n_update, idx, p); + capsule->cost_y_e_fun_jac_ut_xt.set_param_sparse(&capsule->cost_y_e_fun_jac_ut_xt, n_update, idx, p); + capsule->cost_y_e_hess.set_param_sparse(&capsule->cost_y_e_hess, n_update, idx, p); + // constraints + + } + + + return solver_status; +} + +int long_acados_solve(long_solver_capsule* capsule) +{ + // solve NLP + int solver_status = ocp_nlp_solve(capsule->nlp_solver, capsule->nlp_in, capsule->nlp_out); + + return solver_status; +} + + +int long_acados_free(long_solver_capsule* capsule) +{ + // before destroying, keep some info + const int N = capsule->nlp_solver_plan->N; + // free memory + ocp_nlp_solver_opts_destroy(capsule->nlp_opts); + ocp_nlp_in_destroy(capsule->nlp_in); + ocp_nlp_out_destroy(capsule->nlp_out); + ocp_nlp_out_destroy(capsule->sens_out); + ocp_nlp_solver_destroy(capsule->nlp_solver); + ocp_nlp_dims_destroy(capsule->nlp_dims); + ocp_nlp_config_destroy(capsule->nlp_config); + ocp_nlp_plan_destroy(capsule->nlp_solver_plan); + + /* free external function */ + // dynamics + for (int i = 0; i < N; i++) + { + external_function_param_casadi_free(&capsule->forw_vde_casadi[i]); + external_function_param_casadi_free(&capsule->expl_ode_fun[i]); + } + free(capsule->forw_vde_casadi); + free(capsule->expl_ode_fun); + + // cost + external_function_param_casadi_free(&capsule->cost_y_0_fun); + external_function_param_casadi_free(&capsule->cost_y_0_fun_jac_ut_xt); + external_function_param_casadi_free(&capsule->cost_y_0_hess); + for (int i = 0; i < N - 1; i++) + { + external_function_param_casadi_free(&capsule->cost_y_fun[i]); + external_function_param_casadi_free(&capsule->cost_y_fun_jac_ut_xt[i]); + external_function_param_casadi_free(&capsule->cost_y_hess[i]); + } + free(capsule->cost_y_fun); + free(capsule->cost_y_fun_jac_ut_xt); + free(capsule->cost_y_hess); + external_function_param_casadi_free(&capsule->cost_y_e_fun); + external_function_param_casadi_free(&capsule->cost_y_e_fun_jac_ut_xt); + external_function_param_casadi_free(&capsule->cost_y_e_hess); + + // constraints + for (int i = 0; i < N; i++) + { + external_function_param_casadi_free(&capsule->nl_constr_h_fun_jac[i]); + external_function_param_casadi_free(&capsule->nl_constr_h_fun[i]); + } + free(capsule->nl_constr_h_fun_jac); + free(capsule->nl_constr_h_fun); + + return 0; +} + + +void long_acados_print_stats(long_solver_capsule* capsule) +{ + int sqp_iter, stat_m, stat_n, tmp_int; + ocp_nlp_get(capsule->nlp_config, capsule->nlp_solver, "sqp_iter", &sqp_iter); + ocp_nlp_get(capsule->nlp_config, capsule->nlp_solver, "stat_n", &stat_n); + ocp_nlp_get(capsule->nlp_config, capsule->nlp_solver, "stat_m", &stat_m); + + + double stat[1200]; + ocp_nlp_get(capsule->nlp_config, capsule->nlp_solver, "statistics", stat); + + int nrow = sqp_iter+1 < stat_m ? sqp_iter+1 : stat_m; + + printf("iter\tres_stat\tres_eq\t\tres_ineq\tres_comp\tqp_stat\tqp_iter\talpha"); + if (stat_n > 8) + printf("\t\tqp_res_stat\tqp_res_eq\tqp_res_ineq\tqp_res_comp"); + printf("\n"); + printf("iter\tqp_stat\tqp_iter\n"); + for (int i = 0; i < nrow; i++) + { + for (int j = 0; j < stat_n + 1; j++) + { + tmp_int = (int) stat[i + j * nrow]; + printf("%d\t", tmp_int); + } + printf("\n"); + } +} + +int long_acados_custom_update(long_solver_capsule* capsule, double* data, int data_len) +{ + (void)capsule; + (void)data; + (void)data_len; + printf("\ndummy function that can be called in between solver calls to update parameters or numerical data efficiently in C.\n"); + printf("nothing set yet..\n"); + return 1; + +} + + + +ocp_nlp_in *long_acados_get_nlp_in(long_solver_capsule* capsule) { return capsule->nlp_in; } +ocp_nlp_out *long_acados_get_nlp_out(long_solver_capsule* capsule) { return capsule->nlp_out; } +ocp_nlp_out *long_acados_get_sens_out(long_solver_capsule* capsule) { return capsule->sens_out; } +ocp_nlp_solver *long_acados_get_nlp_solver(long_solver_capsule* capsule) { return capsule->nlp_solver; } +ocp_nlp_config *long_acados_get_nlp_config(long_solver_capsule* capsule) { return capsule->nlp_config; } +void *long_acados_get_nlp_opts(long_solver_capsule* capsule) { return capsule->nlp_opts; } +ocp_nlp_dims *long_acados_get_nlp_dims(long_solver_capsule* capsule) { return capsule->nlp_dims; } +ocp_nlp_plan_t *long_acados_get_nlp_plan(long_solver_capsule* capsule) { return capsule->nlp_solver_plan; } diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/libacados_ocp_solver_long.so b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/libacados_ocp_solver_long.so new file mode 100644 index 00000000000000..00e02a49a355ae Binary files /dev/null and b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/libacados_ocp_solver_long.so differ diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_constraints/long_constr_h_fun.c b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_constraints/long_constr_h_fun.c new file mode 100644 index 00000000000000..be006b8bf20f4b --- /dev/null +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_constraints/long_constr_h_fun.c @@ -0,0 +1,179 @@ +/* This file was automatically generated by CasADi 3.6.4. + * It consists of: + * 1) content generated by CasADi runtime: not copyrighted + * 2) template code copied from CasADi source: permissively licensed (MIT-0) + * 3) user code: owned by the user + * + */ +#ifdef __cplusplus +extern "C" { +#endif + +/* How to prefix internal symbols */ +#ifdef CASADI_CODEGEN_PREFIX + #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) + #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID + #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) +#else + #define CASADI_PREFIX(ID) long_constr_h_fun_ ## ID +#endif + +#include + +#ifndef casadi_real +#define casadi_real double +#endif + +#ifndef casadi_int +#define casadi_int int +#endif + +/* Add prefix to internal symbols */ +#define casadi_f0 CASADI_PREFIX(f0) +#define casadi_s0 CASADI_PREFIX(s0) +#define casadi_s1 CASADI_PREFIX(s1) +#define casadi_s2 CASADI_PREFIX(s2) +#define casadi_s3 CASADI_PREFIX(s3) +#define casadi_s4 CASADI_PREFIX(s4) +#define casadi_sq CASADI_PREFIX(sq) + +/* Symbol visibility in DLLs */ +#ifndef CASADI_SYMBOL_EXPORT + #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) + #if defined(STATIC_LINKED) + #define CASADI_SYMBOL_EXPORT + #else + #define CASADI_SYMBOL_EXPORT __declspec(dllexport) + #endif + #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) + #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) + #else + #define CASADI_SYMBOL_EXPORT + #endif +#endif + +casadi_real casadi_sq(casadi_real x) { return x*x;} + +static const casadi_int casadi_s0[7] = {3, 1, 0, 3, 0, 1, 2}; +static const casadi_int casadi_s1[5] = {1, 1, 0, 1, 0}; +static const casadi_int casadi_s2[3] = {0, 0, 0}; +static const casadi_int casadi_s3[10] = {6, 1, 0, 6, 0, 1, 2, 3, 4, 5}; +static const casadi_int casadi_s4[8] = {4, 1, 0, 4, 0, 1, 2, 3}; + +/* long_constr_h_fun:(i0[3],i1,i2[],i3[6])->(o0[4]) */ +static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { + casadi_real a0, a1, a2, a3, a4; + a0=arg[0]? arg[0][1] : 0; + if (res[0]!=0) res[0][0]=a0; + a1=arg[0]? arg[0][2] : 0; + a2=arg[3]? arg[3][0] : 0; + a2=(a1-a2); + if (res[0]!=0) res[0][1]=a2; + a2=arg[3]? arg[3][1] : 0; + a2=(a2-a1); + if (res[0]!=0) res[0][2]=a2; + a2=arg[3]? arg[3][2] : 0; + a1=arg[0]? arg[0][0] : 0; + a2=(a2-a1); + a1=arg[3]? arg[3][5] : 0; + a3=casadi_sq(a0); + a4=5.; + a3=(a3/a4); + a4=arg[3]? arg[3][4] : 0; + a4=(a4*a0); + a3=(a3+a4); + a4=6.; + a3=(a3+a4); + a1=(a1*a3); + a2=(a2-a1); + a1=10.; + a0=(a0+a1); + a2=(a2/a0); + if (res[0]!=0) res[0][3]=a2; + return 0; +} + +CASADI_SYMBOL_EXPORT int long_constr_h_fun(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ + return casadi_f0(arg, res, iw, w, mem); +} + +CASADI_SYMBOL_EXPORT int long_constr_h_fun_alloc_mem(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT int long_constr_h_fun_init_mem(int mem) { + return 0; +} + +CASADI_SYMBOL_EXPORT void long_constr_h_fun_free_mem(int mem) { +} + +CASADI_SYMBOL_EXPORT int long_constr_h_fun_checkout(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT void long_constr_h_fun_release(int mem) { +} + +CASADI_SYMBOL_EXPORT void long_constr_h_fun_incref(void) { +} + +CASADI_SYMBOL_EXPORT void long_constr_h_fun_decref(void) { +} + +CASADI_SYMBOL_EXPORT casadi_int long_constr_h_fun_n_in(void) { return 4;} + +CASADI_SYMBOL_EXPORT casadi_int long_constr_h_fun_n_out(void) { return 1;} + +CASADI_SYMBOL_EXPORT casadi_real long_constr_h_fun_default_in(casadi_int i) { + switch (i) { + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* long_constr_h_fun_name_in(casadi_int i) { + switch (i) { + case 0: return "i0"; + case 1: return "i1"; + case 2: return "i2"; + case 3: return "i3"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* long_constr_h_fun_name_out(casadi_int i) { + switch (i) { + case 0: return "o0"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* long_constr_h_fun_sparsity_in(casadi_int i) { + switch (i) { + case 0: return casadi_s0; + case 1: return casadi_s1; + case 2: return casadi_s2; + case 3: return casadi_s3; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* long_constr_h_fun_sparsity_out(casadi_int i) { + switch (i) { + case 0: return casadi_s4; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT int long_constr_h_fun_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { + if (sz_arg) *sz_arg = 4; + if (sz_res) *sz_res = 1; + if (sz_iw) *sz_iw = 0; + if (sz_w) *sz_w = 0; + return 0; +} + + +#ifdef __cplusplus +} /* extern "C" */ +#endif diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_constraints/long_constr_h_fun_jac_uxt_zt.c b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_constraints/long_constr_h_fun_jac_uxt_zt.c new file mode 100644 index 00000000000000..7f78a873fae024 --- /dev/null +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_constraints/long_constr_h_fun_jac_uxt_zt.c @@ -0,0 +1,205 @@ +/* This file was automatically generated by CasADi 3.6.4. + * It consists of: + * 1) content generated by CasADi runtime: not copyrighted + * 2) template code copied from CasADi source: permissively licensed (MIT-0) + * 3) user code: owned by the user + * + */ +#ifdef __cplusplus +extern "C" { +#endif + +/* How to prefix internal symbols */ +#ifdef CASADI_CODEGEN_PREFIX + #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) + #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID + #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) +#else + #define CASADI_PREFIX(ID) long_constr_h_fun_jac_uxt_zt_ ## ID +#endif + +#include + +#ifndef casadi_real +#define casadi_real double +#endif + +#ifndef casadi_int +#define casadi_int int +#endif + +/* Add prefix to internal symbols */ +#define casadi_f0 CASADI_PREFIX(f0) +#define casadi_s0 CASADI_PREFIX(s0) +#define casadi_s1 CASADI_PREFIX(s1) +#define casadi_s2 CASADI_PREFIX(s2) +#define casadi_s3 CASADI_PREFIX(s3) +#define casadi_s4 CASADI_PREFIX(s4) +#define casadi_s5 CASADI_PREFIX(s5) +#define casadi_s6 CASADI_PREFIX(s6) +#define casadi_sq CASADI_PREFIX(sq) + +/* Symbol visibility in DLLs */ +#ifndef CASADI_SYMBOL_EXPORT + #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) + #if defined(STATIC_LINKED) + #define CASADI_SYMBOL_EXPORT + #else + #define CASADI_SYMBOL_EXPORT __declspec(dllexport) + #endif + #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) + #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) + #else + #define CASADI_SYMBOL_EXPORT + #endif +#endif + +casadi_real casadi_sq(casadi_real x) { return x*x;} + +static const casadi_int casadi_s0[7] = {3, 1, 0, 3, 0, 1, 2}; +static const casadi_int casadi_s1[5] = {1, 1, 0, 1, 0}; +static const casadi_int casadi_s2[3] = {0, 0, 0}; +static const casadi_int casadi_s3[10] = {6, 1, 0, 6, 0, 1, 2, 3, 4, 5}; +static const casadi_int casadi_s4[8] = {4, 1, 0, 4, 0, 1, 2, 3}; +static const casadi_int casadi_s5[12] = {4, 4, 0, 1, 2, 3, 5, 2, 3, 3, 1, 2}; +static const casadi_int casadi_s6[3] = {4, 0, 0}; + +/* long_constr_h_fun_jac_uxt_zt:(i0[3],i1,i2[],i3[6])->(o0[4],o1[4x4,5nz],o2[4x0]) */ +static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { + casadi_real a0, a1, a2, a3, a4, a5; + a0=arg[0]? arg[0][1] : 0; + if (res[0]!=0) res[0][0]=a0; + a1=arg[0]? arg[0][2] : 0; + a2=arg[3]? arg[3][0] : 0; + a2=(a1-a2); + if (res[0]!=0) res[0][1]=a2; + a2=arg[3]? arg[3][1] : 0; + a2=(a2-a1); + if (res[0]!=0) res[0][2]=a2; + a2=arg[3]? arg[3][2] : 0; + a1=arg[0]? arg[0][0] : 0; + a2=(a2-a1); + a1=arg[3]? arg[3][5] : 0; + a3=casadi_sq(a0); + a4=5.; + a3=(a3/a4); + a4=arg[3]? arg[3][4] : 0; + a5=(a4*a0); + a3=(a3+a5); + a5=6.; + a3=(a3+a5); + a3=(a1*a3); + a2=(a2-a3); + a3=10.; + a3=(a0+a3); + a2=(a2/a3); + if (res[0]!=0) res[0][3]=a2; + a5=1.; + if (res[1]!=0) res[1][0]=a5; + if (res[1]!=0) res[1][1]=a5; + a5=-1.; + if (res[1]!=0) res[1][2]=a5; + a5=(1./a3); + a5=(-a5); + if (res[1]!=0) res[1][3]=a5; + a5=2.0000000000000001e-01; + a0=(a0+a0); + a5=(a5*a0); + a5=(a5+a4); + a1=(a1*a5); + a1=(a1/a3); + a2=(a2/a3); + a1=(a1+a2); + a1=(-a1); + if (res[1]!=0) res[1][4]=a1; + return 0; +} + +CASADI_SYMBOL_EXPORT int long_constr_h_fun_jac_uxt_zt(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ + return casadi_f0(arg, res, iw, w, mem); +} + +CASADI_SYMBOL_EXPORT int long_constr_h_fun_jac_uxt_zt_alloc_mem(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT int long_constr_h_fun_jac_uxt_zt_init_mem(int mem) { + return 0; +} + +CASADI_SYMBOL_EXPORT void long_constr_h_fun_jac_uxt_zt_free_mem(int mem) { +} + +CASADI_SYMBOL_EXPORT int long_constr_h_fun_jac_uxt_zt_checkout(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT void long_constr_h_fun_jac_uxt_zt_release(int mem) { +} + +CASADI_SYMBOL_EXPORT void long_constr_h_fun_jac_uxt_zt_incref(void) { +} + +CASADI_SYMBOL_EXPORT void long_constr_h_fun_jac_uxt_zt_decref(void) { +} + +CASADI_SYMBOL_EXPORT casadi_int long_constr_h_fun_jac_uxt_zt_n_in(void) { return 4;} + +CASADI_SYMBOL_EXPORT casadi_int long_constr_h_fun_jac_uxt_zt_n_out(void) { return 3;} + +CASADI_SYMBOL_EXPORT casadi_real long_constr_h_fun_jac_uxt_zt_default_in(casadi_int i) { + switch (i) { + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* long_constr_h_fun_jac_uxt_zt_name_in(casadi_int i) { + switch (i) { + case 0: return "i0"; + case 1: return "i1"; + case 2: return "i2"; + case 3: return "i3"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* long_constr_h_fun_jac_uxt_zt_name_out(casadi_int i) { + switch (i) { + case 0: return "o0"; + case 1: return "o1"; + case 2: return "o2"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* long_constr_h_fun_jac_uxt_zt_sparsity_in(casadi_int i) { + switch (i) { + case 0: return casadi_s0; + case 1: return casadi_s1; + case 2: return casadi_s2; + case 3: return casadi_s3; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* long_constr_h_fun_jac_uxt_zt_sparsity_out(casadi_int i) { + switch (i) { + case 0: return casadi_s4; + case 1: return casadi_s5; + case 2: return casadi_s6; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT int long_constr_h_fun_jac_uxt_zt_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { + if (sz_arg) *sz_arg = 4; + if (sz_res) *sz_res = 3; + if (sz_iw) *sz_iw = 0; + if (sz_w) *sz_w = 0; + return 0; +} + + +#ifdef __cplusplus +} /* extern "C" */ +#endif diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_0_fun.c b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_0_fun.c new file mode 100644 index 00000000000000..1189293c22e0e7 --- /dev/null +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_0_fun.c @@ -0,0 +1,176 @@ +/* This file was automatically generated by CasADi 3.6.4. + * It consists of: + * 1) content generated by CasADi runtime: not copyrighted + * 2) template code copied from CasADi source: permissively licensed (MIT-0) + * 3) user code: owned by the user + * + */ +#ifdef __cplusplus +extern "C" { +#endif + +/* How to prefix internal symbols */ +#ifdef CASADI_CODEGEN_PREFIX + #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) + #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID + #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) +#else + #define CASADI_PREFIX(ID) long_cost_y_0_fun_ ## ID +#endif + +#include + +#ifndef casadi_real +#define casadi_real double +#endif + +#ifndef casadi_int +#define casadi_int int +#endif + +/* Add prefix to internal symbols */ +#define casadi_f0 CASADI_PREFIX(f0) +#define casadi_s0 CASADI_PREFIX(s0) +#define casadi_s1 CASADI_PREFIX(s1) +#define casadi_s2 CASADI_PREFIX(s2) +#define casadi_s3 CASADI_PREFIX(s3) +#define casadi_sq CASADI_PREFIX(sq) + +/* Symbol visibility in DLLs */ +#ifndef CASADI_SYMBOL_EXPORT + #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) + #if defined(STATIC_LINKED) + #define CASADI_SYMBOL_EXPORT + #else + #define CASADI_SYMBOL_EXPORT __declspec(dllexport) + #endif + #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) + #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) + #else + #define CASADI_SYMBOL_EXPORT + #endif +#endif + +casadi_real casadi_sq(casadi_real x) { return x*x;} + +static const casadi_int casadi_s0[7] = {3, 1, 0, 3, 0, 1, 2}; +static const casadi_int casadi_s1[5] = {1, 1, 0, 1, 0}; +static const casadi_int casadi_s2[3] = {0, 0, 0}; +static const casadi_int casadi_s3[10] = {6, 1, 0, 6, 0, 1, 2, 3, 4, 5}; + +/* long_cost_y_0_fun:(i0[3],i1,i2[],i3[6])->(o0[6]) */ +static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { + casadi_real a0, a1, a2, a3, a4; + a0=arg[3]? arg[3][2] : 0; + a1=arg[0]? arg[0][0] : 0; + a0=(a0-a1); + a2=arg[0]? arg[0][1] : 0; + a3=casadi_sq(a2); + a4=5.; + a3=(a3/a4); + a4=arg[3]? arg[3][4] : 0; + a4=(a4*a2); + a3=(a3+a4); + a4=6.; + a3=(a3+a4); + a0=(a0-a3); + a3=10.; + a3=(a2+a3); + a0=(a0/a3); + if (res[0]!=0) res[0][0]=a0; + if (res[0]!=0) res[0][1]=a1; + if (res[0]!=0) res[0][2]=a2; + a2=arg[0]? arg[0][2] : 0; + if (res[0]!=0) res[0][3]=a2; + a1=arg[3]? arg[3][3] : 0; + a2=(a2-a1); + if (res[0]!=0) res[0][4]=a2; + a2=arg[1]? arg[1][0] : 0; + if (res[0]!=0) res[0][5]=a2; + return 0; +} + +CASADI_SYMBOL_EXPORT int long_cost_y_0_fun(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ + return casadi_f0(arg, res, iw, w, mem); +} + +CASADI_SYMBOL_EXPORT int long_cost_y_0_fun_alloc_mem(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT int long_cost_y_0_fun_init_mem(int mem) { + return 0; +} + +CASADI_SYMBOL_EXPORT void long_cost_y_0_fun_free_mem(int mem) { +} + +CASADI_SYMBOL_EXPORT int long_cost_y_0_fun_checkout(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT void long_cost_y_0_fun_release(int mem) { +} + +CASADI_SYMBOL_EXPORT void long_cost_y_0_fun_incref(void) { +} + +CASADI_SYMBOL_EXPORT void long_cost_y_0_fun_decref(void) { +} + +CASADI_SYMBOL_EXPORT casadi_int long_cost_y_0_fun_n_in(void) { return 4;} + +CASADI_SYMBOL_EXPORT casadi_int long_cost_y_0_fun_n_out(void) { return 1;} + +CASADI_SYMBOL_EXPORT casadi_real long_cost_y_0_fun_default_in(casadi_int i) { + switch (i) { + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* long_cost_y_0_fun_name_in(casadi_int i) { + switch (i) { + case 0: return "i0"; + case 1: return "i1"; + case 2: return "i2"; + case 3: return "i3"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* long_cost_y_0_fun_name_out(casadi_int i) { + switch (i) { + case 0: return "o0"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* long_cost_y_0_fun_sparsity_in(casadi_int i) { + switch (i) { + case 0: return casadi_s0; + case 1: return casadi_s1; + case 2: return casadi_s2; + case 3: return casadi_s3; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* long_cost_y_0_fun_sparsity_out(casadi_int i) { + switch (i) { + case 0: return casadi_s3; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT int long_cost_y_0_fun_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { + if (sz_arg) *sz_arg = 4; + if (sz_res) *sz_res = 1; + if (sz_iw) *sz_iw = 0; + if (sz_w) *sz_w = 0; + return 0; +} + + +#ifdef __cplusplus +} /* extern "C" */ +#endif diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_0_fun_jac_ut_xt.c b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_0_fun_jac_ut_xt.c new file mode 100644 index 00000000000000..7227e036500d0c --- /dev/null +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_0_fun_jac_ut_xt.c @@ -0,0 +1,202 @@ +/* This file was automatically generated by CasADi 3.6.4. + * It consists of: + * 1) content generated by CasADi runtime: not copyrighted + * 2) template code copied from CasADi source: permissively licensed (MIT-0) + * 3) user code: owned by the user + * + */ +#ifdef __cplusplus +extern "C" { +#endif + +/* How to prefix internal symbols */ +#ifdef CASADI_CODEGEN_PREFIX + #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) + #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID + #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) +#else + #define CASADI_PREFIX(ID) long_cost_y_0_fun_jac_ut_xt_ ## ID +#endif + +#include + +#ifndef casadi_real +#define casadi_real double +#endif + +#ifndef casadi_int +#define casadi_int int +#endif + +/* Add prefix to internal symbols */ +#define casadi_f0 CASADI_PREFIX(f0) +#define casadi_s0 CASADI_PREFIX(s0) +#define casadi_s1 CASADI_PREFIX(s1) +#define casadi_s2 CASADI_PREFIX(s2) +#define casadi_s3 CASADI_PREFIX(s3) +#define casadi_s4 CASADI_PREFIX(s4) +#define casadi_s5 CASADI_PREFIX(s5) +#define casadi_sq CASADI_PREFIX(sq) + +/* Symbol visibility in DLLs */ +#ifndef CASADI_SYMBOL_EXPORT + #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) + #if defined(STATIC_LINKED) + #define CASADI_SYMBOL_EXPORT + #else + #define CASADI_SYMBOL_EXPORT __declspec(dllexport) + #endif + #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) + #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) + #else + #define CASADI_SYMBOL_EXPORT + #endif +#endif + +casadi_real casadi_sq(casadi_real x) { return x*x;} + +static const casadi_int casadi_s0[7] = {3, 1, 0, 3, 0, 1, 2}; +static const casadi_int casadi_s1[5] = {1, 1, 0, 1, 0}; +static const casadi_int casadi_s2[3] = {0, 0, 0}; +static const casadi_int casadi_s3[10] = {6, 1, 0, 6, 0, 1, 2, 3, 4, 5}; +static const casadi_int casadi_s4[16] = {4, 6, 0, 2, 3, 4, 5, 6, 7, 1, 2, 1, 2, 3, 3, 0}; +static const casadi_int casadi_s5[3] = {6, 0, 0}; + +/* long_cost_y_0_fun_jac_ut_xt:(i0[3],i1,i2[],i3[6])->(o0[6],o1[4x6,7nz],o2[6x0]) */ +static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { + casadi_real a0, a1, a2, a3, a4, a5; + a0=arg[3]? arg[3][2] : 0; + a1=arg[0]? arg[0][0] : 0; + a0=(a0-a1); + a2=arg[0]? arg[0][1] : 0; + a3=casadi_sq(a2); + a4=5.; + a3=(a3/a4); + a4=arg[3]? arg[3][4] : 0; + a5=(a4*a2); + a3=(a3+a5); + a5=6.; + a3=(a3+a5); + a0=(a0-a3); + a3=10.; + a3=(a2+a3); + a0=(a0/a3); + if (res[0]!=0) res[0][0]=a0; + if (res[0]!=0) res[0][1]=a1; + if (res[0]!=0) res[0][2]=a2; + a1=arg[0]? arg[0][2] : 0; + if (res[0]!=0) res[0][3]=a1; + a5=arg[3]? arg[3][3] : 0; + a1=(a1-a5); + if (res[0]!=0) res[0][4]=a1; + a1=arg[1]? arg[1][0] : 0; + if (res[0]!=0) res[0][5]=a1; + a1=(1./a3); + a1=(-a1); + if (res[1]!=0) res[1][0]=a1; + a1=2.0000000000000001e-01; + a2=(a2+a2); + a1=(a1*a2); + a1=(a1+a4); + a1=(a1/a3); + a0=(a0/a3); + a1=(a1+a0); + a1=(-a1); + if (res[1]!=0) res[1][1]=a1; + a1=1.; + if (res[1]!=0) res[1][2]=a1; + if (res[1]!=0) res[1][3]=a1; + if (res[1]!=0) res[1][4]=a1; + if (res[1]!=0) res[1][5]=a1; + if (res[1]!=0) res[1][6]=a1; + return 0; +} + +CASADI_SYMBOL_EXPORT int long_cost_y_0_fun_jac_ut_xt(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ + return casadi_f0(arg, res, iw, w, mem); +} + +CASADI_SYMBOL_EXPORT int long_cost_y_0_fun_jac_ut_xt_alloc_mem(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT int long_cost_y_0_fun_jac_ut_xt_init_mem(int mem) { + return 0; +} + +CASADI_SYMBOL_EXPORT void long_cost_y_0_fun_jac_ut_xt_free_mem(int mem) { +} + +CASADI_SYMBOL_EXPORT int long_cost_y_0_fun_jac_ut_xt_checkout(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT void long_cost_y_0_fun_jac_ut_xt_release(int mem) { +} + +CASADI_SYMBOL_EXPORT void long_cost_y_0_fun_jac_ut_xt_incref(void) { +} + +CASADI_SYMBOL_EXPORT void long_cost_y_0_fun_jac_ut_xt_decref(void) { +} + +CASADI_SYMBOL_EXPORT casadi_int long_cost_y_0_fun_jac_ut_xt_n_in(void) { return 4;} + +CASADI_SYMBOL_EXPORT casadi_int long_cost_y_0_fun_jac_ut_xt_n_out(void) { return 3;} + +CASADI_SYMBOL_EXPORT casadi_real long_cost_y_0_fun_jac_ut_xt_default_in(casadi_int i) { + switch (i) { + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* long_cost_y_0_fun_jac_ut_xt_name_in(casadi_int i) { + switch (i) { + case 0: return "i0"; + case 1: return "i1"; + case 2: return "i2"; + case 3: return "i3"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* long_cost_y_0_fun_jac_ut_xt_name_out(casadi_int i) { + switch (i) { + case 0: return "o0"; + case 1: return "o1"; + case 2: return "o2"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* long_cost_y_0_fun_jac_ut_xt_sparsity_in(casadi_int i) { + switch (i) { + case 0: return casadi_s0; + case 1: return casadi_s1; + case 2: return casadi_s2; + case 3: return casadi_s3; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* long_cost_y_0_fun_jac_ut_xt_sparsity_out(casadi_int i) { + switch (i) { + case 0: return casadi_s3; + case 1: return casadi_s4; + case 2: return casadi_s5; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT int long_cost_y_0_fun_jac_ut_xt_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { + if (sz_arg) *sz_arg = 4; + if (sz_res) *sz_res = 3; + if (sz_iw) *sz_iw = 0; + if (sz_w) *sz_w = 0; + return 0; +} + + +#ifdef __cplusplus +} /* extern "C" */ +#endif diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_0_hess.c b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_0_hess.c new file mode 100644 index 00000000000000..74eec0d0cd0303 --- /dev/null +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_0_hess.c @@ -0,0 +1,201 @@ +/* This file was automatically generated by CasADi 3.6.4. + * It consists of: + * 1) content generated by CasADi runtime: not copyrighted + * 2) template code copied from CasADi source: permissively licensed (MIT-0) + * 3) user code: owned by the user + * + */ +#ifdef __cplusplus +extern "C" { +#endif + +/* How to prefix internal symbols */ +#ifdef CASADI_CODEGEN_PREFIX + #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) + #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID + #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) +#else + #define CASADI_PREFIX(ID) long_cost_y_0_hess_ ## ID +#endif + +#include + +#ifndef casadi_real +#define casadi_real double +#endif + +#ifndef casadi_int +#define casadi_int int +#endif + +/* Add prefix to internal symbols */ +#define casadi_f0 CASADI_PREFIX(f0) +#define casadi_s0 CASADI_PREFIX(s0) +#define casadi_s1 CASADI_PREFIX(s1) +#define casadi_s2 CASADI_PREFIX(s2) +#define casadi_s3 CASADI_PREFIX(s3) +#define casadi_s4 CASADI_PREFIX(s4) +#define casadi_sq CASADI_PREFIX(sq) + +/* Symbol visibility in DLLs */ +#ifndef CASADI_SYMBOL_EXPORT + #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) + #if defined(STATIC_LINKED) + #define CASADI_SYMBOL_EXPORT + #else + #define CASADI_SYMBOL_EXPORT __declspec(dllexport) + #endif + #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) + #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) + #else + #define CASADI_SYMBOL_EXPORT + #endif +#endif + +casadi_real casadi_sq(casadi_real x) { return x*x;} + +static const casadi_int casadi_s0[7] = {3, 1, 0, 3, 0, 1, 2}; +static const casadi_int casadi_s1[5] = {1, 1, 0, 1, 0}; +static const casadi_int casadi_s2[3] = {0, 0, 0}; +static const casadi_int casadi_s3[10] = {6, 1, 0, 6, 0, 1, 2, 3, 4, 5}; +static const casadi_int casadi_s4[10] = {4, 4, 0, 0, 1, 3, 3, 2, 1, 2}; + +/* long_cost_y_0_hess:(i0[3],i1,i2[],i3[6],i4[6])->(o0[4x4,3nz]) */ +static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { + casadi_real a0, a1, a10, a2, a3, a4, a5, a6, a7, a8, a9; + a0=arg[3]? arg[3][0] : 0; + a1=arg[0]? arg[0][1] : 0; + a2=10.; + a2=(a1+a2); + a3=(1./a2); + a3=(a3/a2); + a3=(a0*a3); + if (res[0]!=0) res[0][0]=a3; + a3=(a0/a2); + a4=(a3/a2); + if (res[0]!=0) res[0][1]=a4; + a5=2.0000000000000001e-01; + a6=(a1+a1); + a6=(a5*a6); + a7=arg[4]? arg[4][4] : 0; + a6=(a6+a7); + a6=(a6/a2); + a8=arg[4]? arg[4][2] : 0; + a9=arg[0]? arg[0][0] : 0; + a8=(a8-a9); + a9=casadi_sq(a1); + a10=5.; + a9=(a9/a10); + a10=(a7*a1); + a9=(a9+a10); + a10=6.; + a9=(a9+a10); + a8=(a8-a9); + a8=(a8/a2); + a9=(a8/a2); + a6=(a6+a9); + a6=(a6/a2); + a8=(a8/a2); + a8=(a8/a2); + a6=(a6+a8); + a0=(a0*a6); + a7=(a7*a4); + a0=(a0+a7); + a7=2.; + a3=(a5*a3); + a7=(a7*a3); + a1=(a1+a1); + a5=(a5*a4); + a1=(a1*a5); + a7=(a7-a1); + a0=(a0-a7); + if (res[0]!=0) res[0][2]=a0; + return 0; +} + +CASADI_SYMBOL_EXPORT int long_cost_y_0_hess(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ + return casadi_f0(arg, res, iw, w, mem); +} + +CASADI_SYMBOL_EXPORT int long_cost_y_0_hess_alloc_mem(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT int long_cost_y_0_hess_init_mem(int mem) { + return 0; +} + +CASADI_SYMBOL_EXPORT void long_cost_y_0_hess_free_mem(int mem) { +} + +CASADI_SYMBOL_EXPORT int long_cost_y_0_hess_checkout(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT void long_cost_y_0_hess_release(int mem) { +} + +CASADI_SYMBOL_EXPORT void long_cost_y_0_hess_incref(void) { +} + +CASADI_SYMBOL_EXPORT void long_cost_y_0_hess_decref(void) { +} + +CASADI_SYMBOL_EXPORT casadi_int long_cost_y_0_hess_n_in(void) { return 5;} + +CASADI_SYMBOL_EXPORT casadi_int long_cost_y_0_hess_n_out(void) { return 1;} + +CASADI_SYMBOL_EXPORT casadi_real long_cost_y_0_hess_default_in(casadi_int i) { + switch (i) { + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* long_cost_y_0_hess_name_in(casadi_int i) { + switch (i) { + case 0: return "i0"; + case 1: return "i1"; + case 2: return "i2"; + case 3: return "i3"; + case 4: return "i4"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* long_cost_y_0_hess_name_out(casadi_int i) { + switch (i) { + case 0: return "o0"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* long_cost_y_0_hess_sparsity_in(casadi_int i) { + switch (i) { + case 0: return casadi_s0; + case 1: return casadi_s1; + case 2: return casadi_s2; + case 3: return casadi_s3; + case 4: return casadi_s3; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* long_cost_y_0_hess_sparsity_out(casadi_int i) { + switch (i) { + case 0: return casadi_s4; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT int long_cost_y_0_hess_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { + if (sz_arg) *sz_arg = 5; + if (sz_res) *sz_res = 1; + if (sz_iw) *sz_iw = 0; + if (sz_w) *sz_w = 0; + return 0; +} + + +#ifdef __cplusplus +} /* extern "C" */ +#endif diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_e_fun.c b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_e_fun.c new file mode 100644 index 00000000000000..92dcef2cf5a7e6 --- /dev/null +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_e_fun.c @@ -0,0 +1,174 @@ +/* This file was automatically generated by CasADi 3.6.4. + * It consists of: + * 1) content generated by CasADi runtime: not copyrighted + * 2) template code copied from CasADi source: permissively licensed (MIT-0) + * 3) user code: owned by the user + * + */ +#ifdef __cplusplus +extern "C" { +#endif + +/* How to prefix internal symbols */ +#ifdef CASADI_CODEGEN_PREFIX + #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) + #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID + #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) +#else + #define CASADI_PREFIX(ID) long_cost_y_e_fun_ ## ID +#endif + +#include + +#ifndef casadi_real +#define casadi_real double +#endif + +#ifndef casadi_int +#define casadi_int int +#endif + +/* Add prefix to internal symbols */ +#define casadi_f0 CASADI_PREFIX(f0) +#define casadi_s0 CASADI_PREFIX(s0) +#define casadi_s1 CASADI_PREFIX(s1) +#define casadi_s2 CASADI_PREFIX(s2) +#define casadi_s3 CASADI_PREFIX(s3) +#define casadi_sq CASADI_PREFIX(sq) + +/* Symbol visibility in DLLs */ +#ifndef CASADI_SYMBOL_EXPORT + #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) + #if defined(STATIC_LINKED) + #define CASADI_SYMBOL_EXPORT + #else + #define CASADI_SYMBOL_EXPORT __declspec(dllexport) + #endif + #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) + #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) + #else + #define CASADI_SYMBOL_EXPORT + #endif +#endif + +casadi_real casadi_sq(casadi_real x) { return x*x;} + +static const casadi_int casadi_s0[7] = {3, 1, 0, 3, 0, 1, 2}; +static const casadi_int casadi_s1[3] = {0, 0, 0}; +static const casadi_int casadi_s2[10] = {6, 1, 0, 6, 0, 1, 2, 3, 4, 5}; +static const casadi_int casadi_s3[9] = {5, 1, 0, 5, 0, 1, 2, 3, 4}; + +/* long_cost_y_e_fun:(i0[3],i1[],i2[],i3[6])->(o0[5]) */ +static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { + casadi_real a0, a1, a2, a3, a4; + a0=arg[3]? arg[3][2] : 0; + a1=arg[0]? arg[0][0] : 0; + a0=(a0-a1); + a2=arg[0]? arg[0][1] : 0; + a3=casadi_sq(a2); + a4=5.; + a3=(a3/a4); + a4=arg[3]? arg[3][4] : 0; + a4=(a4*a2); + a3=(a3+a4); + a4=6.; + a3=(a3+a4); + a0=(a0-a3); + a3=10.; + a3=(a2+a3); + a0=(a0/a3); + if (res[0]!=0) res[0][0]=a0; + if (res[0]!=0) res[0][1]=a1; + if (res[0]!=0) res[0][2]=a2; + a2=arg[0]? arg[0][2] : 0; + if (res[0]!=0) res[0][3]=a2; + a1=arg[3]? arg[3][3] : 0; + a2=(a2-a1); + if (res[0]!=0) res[0][4]=a2; + return 0; +} + +CASADI_SYMBOL_EXPORT int long_cost_y_e_fun(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ + return casadi_f0(arg, res, iw, w, mem); +} + +CASADI_SYMBOL_EXPORT int long_cost_y_e_fun_alloc_mem(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT int long_cost_y_e_fun_init_mem(int mem) { + return 0; +} + +CASADI_SYMBOL_EXPORT void long_cost_y_e_fun_free_mem(int mem) { +} + +CASADI_SYMBOL_EXPORT int long_cost_y_e_fun_checkout(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT void long_cost_y_e_fun_release(int mem) { +} + +CASADI_SYMBOL_EXPORT void long_cost_y_e_fun_incref(void) { +} + +CASADI_SYMBOL_EXPORT void long_cost_y_e_fun_decref(void) { +} + +CASADI_SYMBOL_EXPORT casadi_int long_cost_y_e_fun_n_in(void) { return 4;} + +CASADI_SYMBOL_EXPORT casadi_int long_cost_y_e_fun_n_out(void) { return 1;} + +CASADI_SYMBOL_EXPORT casadi_real long_cost_y_e_fun_default_in(casadi_int i) { + switch (i) { + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* long_cost_y_e_fun_name_in(casadi_int i) { + switch (i) { + case 0: return "i0"; + case 1: return "i1"; + case 2: return "i2"; + case 3: return "i3"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* long_cost_y_e_fun_name_out(casadi_int i) { + switch (i) { + case 0: return "o0"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* long_cost_y_e_fun_sparsity_in(casadi_int i) { + switch (i) { + case 0: return casadi_s0; + case 1: return casadi_s1; + case 2: return casadi_s1; + case 3: return casadi_s2; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* long_cost_y_e_fun_sparsity_out(casadi_int i) { + switch (i) { + case 0: return casadi_s3; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT int long_cost_y_e_fun_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { + if (sz_arg) *sz_arg = 4; + if (sz_res) *sz_res = 1; + if (sz_iw) *sz_iw = 0; + if (sz_w) *sz_w = 0; + return 0; +} + + +#ifdef __cplusplus +} /* extern "C" */ +#endif diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_e_fun_jac_ut_xt.c b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_e_fun_jac_ut_xt.c new file mode 100644 index 00000000000000..3cef9bbf36da0f --- /dev/null +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_e_fun_jac_ut_xt.c @@ -0,0 +1,199 @@ +/* This file was automatically generated by CasADi 3.6.4. + * It consists of: + * 1) content generated by CasADi runtime: not copyrighted + * 2) template code copied from CasADi source: permissively licensed (MIT-0) + * 3) user code: owned by the user + * + */ +#ifdef __cplusplus +extern "C" { +#endif + +/* How to prefix internal symbols */ +#ifdef CASADI_CODEGEN_PREFIX + #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) + #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID + #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) +#else + #define CASADI_PREFIX(ID) long_cost_y_e_fun_jac_ut_xt_ ## ID +#endif + +#include + +#ifndef casadi_real +#define casadi_real double +#endif + +#ifndef casadi_int +#define casadi_int int +#endif + +/* Add prefix to internal symbols */ +#define casadi_f0 CASADI_PREFIX(f0) +#define casadi_s0 CASADI_PREFIX(s0) +#define casadi_s1 CASADI_PREFIX(s1) +#define casadi_s2 CASADI_PREFIX(s2) +#define casadi_s3 CASADI_PREFIX(s3) +#define casadi_s4 CASADI_PREFIX(s4) +#define casadi_s5 CASADI_PREFIX(s5) +#define casadi_sq CASADI_PREFIX(sq) + +/* Symbol visibility in DLLs */ +#ifndef CASADI_SYMBOL_EXPORT + #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) + #if defined(STATIC_LINKED) + #define CASADI_SYMBOL_EXPORT + #else + #define CASADI_SYMBOL_EXPORT __declspec(dllexport) + #endif + #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) + #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) + #else + #define CASADI_SYMBOL_EXPORT + #endif +#endif + +casadi_real casadi_sq(casadi_real x) { return x*x;} + +static const casadi_int casadi_s0[7] = {3, 1, 0, 3, 0, 1, 2}; +static const casadi_int casadi_s1[3] = {0, 0, 0}; +static const casadi_int casadi_s2[10] = {6, 1, 0, 6, 0, 1, 2, 3, 4, 5}; +static const casadi_int casadi_s3[9] = {5, 1, 0, 5, 0, 1, 2, 3, 4}; +static const casadi_int casadi_s4[14] = {3, 5, 0, 2, 3, 4, 5, 6, 0, 1, 0, 1, 2, 2}; +static const casadi_int casadi_s5[3] = {5, 0, 0}; + +/* long_cost_y_e_fun_jac_ut_xt:(i0[3],i1[],i2[],i3[6])->(o0[5],o1[3x5,6nz],o2[5x0]) */ +static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { + casadi_real a0, a1, a2, a3, a4, a5; + a0=arg[3]? arg[3][2] : 0; + a1=arg[0]? arg[0][0] : 0; + a0=(a0-a1); + a2=arg[0]? arg[0][1] : 0; + a3=casadi_sq(a2); + a4=5.; + a3=(a3/a4); + a4=arg[3]? arg[3][4] : 0; + a5=(a4*a2); + a3=(a3+a5); + a5=6.; + a3=(a3+a5); + a0=(a0-a3); + a3=10.; + a3=(a2+a3); + a0=(a0/a3); + if (res[0]!=0) res[0][0]=a0; + if (res[0]!=0) res[0][1]=a1; + if (res[0]!=0) res[0][2]=a2; + a1=arg[0]? arg[0][2] : 0; + if (res[0]!=0) res[0][3]=a1; + a5=arg[3]? arg[3][3] : 0; + a1=(a1-a5); + if (res[0]!=0) res[0][4]=a1; + a1=(1./a3); + a1=(-a1); + if (res[1]!=0) res[1][0]=a1; + a1=2.0000000000000001e-01; + a2=(a2+a2); + a1=(a1*a2); + a1=(a1+a4); + a1=(a1/a3); + a0=(a0/a3); + a1=(a1+a0); + a1=(-a1); + if (res[1]!=0) res[1][1]=a1; + a1=1.; + if (res[1]!=0) res[1][2]=a1; + if (res[1]!=0) res[1][3]=a1; + if (res[1]!=0) res[1][4]=a1; + if (res[1]!=0) res[1][5]=a1; + return 0; +} + +CASADI_SYMBOL_EXPORT int long_cost_y_e_fun_jac_ut_xt(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ + return casadi_f0(arg, res, iw, w, mem); +} + +CASADI_SYMBOL_EXPORT int long_cost_y_e_fun_jac_ut_xt_alloc_mem(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT int long_cost_y_e_fun_jac_ut_xt_init_mem(int mem) { + return 0; +} + +CASADI_SYMBOL_EXPORT void long_cost_y_e_fun_jac_ut_xt_free_mem(int mem) { +} + +CASADI_SYMBOL_EXPORT int long_cost_y_e_fun_jac_ut_xt_checkout(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT void long_cost_y_e_fun_jac_ut_xt_release(int mem) { +} + +CASADI_SYMBOL_EXPORT void long_cost_y_e_fun_jac_ut_xt_incref(void) { +} + +CASADI_SYMBOL_EXPORT void long_cost_y_e_fun_jac_ut_xt_decref(void) { +} + +CASADI_SYMBOL_EXPORT casadi_int long_cost_y_e_fun_jac_ut_xt_n_in(void) { return 4;} + +CASADI_SYMBOL_EXPORT casadi_int long_cost_y_e_fun_jac_ut_xt_n_out(void) { return 3;} + +CASADI_SYMBOL_EXPORT casadi_real long_cost_y_e_fun_jac_ut_xt_default_in(casadi_int i) { + switch (i) { + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* long_cost_y_e_fun_jac_ut_xt_name_in(casadi_int i) { + switch (i) { + case 0: return "i0"; + case 1: return "i1"; + case 2: return "i2"; + case 3: return "i3"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* long_cost_y_e_fun_jac_ut_xt_name_out(casadi_int i) { + switch (i) { + case 0: return "o0"; + case 1: return "o1"; + case 2: return "o2"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* long_cost_y_e_fun_jac_ut_xt_sparsity_in(casadi_int i) { + switch (i) { + case 0: return casadi_s0; + case 1: return casadi_s1; + case 2: return casadi_s1; + case 3: return casadi_s2; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* long_cost_y_e_fun_jac_ut_xt_sparsity_out(casadi_int i) { + switch (i) { + case 0: return casadi_s3; + case 1: return casadi_s4; + case 2: return casadi_s5; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT int long_cost_y_e_fun_jac_ut_xt_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { + if (sz_arg) *sz_arg = 4; + if (sz_res) *sz_res = 3; + if (sz_iw) *sz_iw = 0; + if (sz_w) *sz_w = 0; + return 0; +} + + +#ifdef __cplusplus +} /* extern "C" */ +#endif diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_e_hess.c b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_e_hess.c new file mode 100644 index 00000000000000..b14ef579e6ffde --- /dev/null +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_e_hess.c @@ -0,0 +1,201 @@ +/* This file was automatically generated by CasADi 3.6.4. + * It consists of: + * 1) content generated by CasADi runtime: not copyrighted + * 2) template code copied from CasADi source: permissively licensed (MIT-0) + * 3) user code: owned by the user + * + */ +#ifdef __cplusplus +extern "C" { +#endif + +/* How to prefix internal symbols */ +#ifdef CASADI_CODEGEN_PREFIX + #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) + #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID + #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) +#else + #define CASADI_PREFIX(ID) long_cost_y_e_hess_ ## ID +#endif + +#include + +#ifndef casadi_real +#define casadi_real double +#endif + +#ifndef casadi_int +#define casadi_int int +#endif + +/* Add prefix to internal symbols */ +#define casadi_f0 CASADI_PREFIX(f0) +#define casadi_s0 CASADI_PREFIX(s0) +#define casadi_s1 CASADI_PREFIX(s1) +#define casadi_s2 CASADI_PREFIX(s2) +#define casadi_s3 CASADI_PREFIX(s3) +#define casadi_s4 CASADI_PREFIX(s4) +#define casadi_sq CASADI_PREFIX(sq) + +/* Symbol visibility in DLLs */ +#ifndef CASADI_SYMBOL_EXPORT + #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) + #if defined(STATIC_LINKED) + #define CASADI_SYMBOL_EXPORT + #else + #define CASADI_SYMBOL_EXPORT __declspec(dllexport) + #endif + #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) + #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) + #else + #define CASADI_SYMBOL_EXPORT + #endif +#endif + +casadi_real casadi_sq(casadi_real x) { return x*x;} + +static const casadi_int casadi_s0[7] = {3, 1, 0, 3, 0, 1, 2}; +static const casadi_int casadi_s1[3] = {0, 0, 0}; +static const casadi_int casadi_s2[9] = {5, 1, 0, 5, 0, 1, 2, 3, 4}; +static const casadi_int casadi_s3[10] = {6, 1, 0, 6, 0, 1, 2, 3, 4, 5}; +static const casadi_int casadi_s4[9] = {3, 3, 0, 1, 3, 3, 1, 0, 1}; + +/* long_cost_y_e_hess:(i0[3],i1[],i2[],i3[5],i4[6])->(o0[3x3,3nz]) */ +static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { + casadi_real a0, a1, a10, a2, a3, a4, a5, a6, a7, a8, a9; + a0=arg[3]? arg[3][0] : 0; + a1=arg[0]? arg[0][1] : 0; + a2=10.; + a2=(a1+a2); + a3=(1./a2); + a3=(a3/a2); + a3=(a0*a3); + if (res[0]!=0) res[0][0]=a3; + a3=(a0/a2); + a4=(a3/a2); + if (res[0]!=0) res[0][1]=a4; + a5=2.0000000000000001e-01; + a6=(a1+a1); + a6=(a5*a6); + a7=arg[4]? arg[4][4] : 0; + a6=(a6+a7); + a6=(a6/a2); + a8=arg[4]? arg[4][2] : 0; + a9=arg[0]? arg[0][0] : 0; + a8=(a8-a9); + a9=casadi_sq(a1); + a10=5.; + a9=(a9/a10); + a10=(a7*a1); + a9=(a9+a10); + a10=6.; + a9=(a9+a10); + a8=(a8-a9); + a8=(a8/a2); + a9=(a8/a2); + a6=(a6+a9); + a6=(a6/a2); + a8=(a8/a2); + a8=(a8/a2); + a6=(a6+a8); + a0=(a0*a6); + a7=(a7*a4); + a0=(a0+a7); + a7=2.; + a3=(a5*a3); + a7=(a7*a3); + a1=(a1+a1); + a5=(a5*a4); + a1=(a1*a5); + a7=(a7-a1); + a0=(a0-a7); + if (res[0]!=0) res[0][2]=a0; + return 0; +} + +CASADI_SYMBOL_EXPORT int long_cost_y_e_hess(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ + return casadi_f0(arg, res, iw, w, mem); +} + +CASADI_SYMBOL_EXPORT int long_cost_y_e_hess_alloc_mem(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT int long_cost_y_e_hess_init_mem(int mem) { + return 0; +} + +CASADI_SYMBOL_EXPORT void long_cost_y_e_hess_free_mem(int mem) { +} + +CASADI_SYMBOL_EXPORT int long_cost_y_e_hess_checkout(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT void long_cost_y_e_hess_release(int mem) { +} + +CASADI_SYMBOL_EXPORT void long_cost_y_e_hess_incref(void) { +} + +CASADI_SYMBOL_EXPORT void long_cost_y_e_hess_decref(void) { +} + +CASADI_SYMBOL_EXPORT casadi_int long_cost_y_e_hess_n_in(void) { return 5;} + +CASADI_SYMBOL_EXPORT casadi_int long_cost_y_e_hess_n_out(void) { return 1;} + +CASADI_SYMBOL_EXPORT casadi_real long_cost_y_e_hess_default_in(casadi_int i) { + switch (i) { + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* long_cost_y_e_hess_name_in(casadi_int i) { + switch (i) { + case 0: return "i0"; + case 1: return "i1"; + case 2: return "i2"; + case 3: return "i3"; + case 4: return "i4"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* long_cost_y_e_hess_name_out(casadi_int i) { + switch (i) { + case 0: return "o0"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* long_cost_y_e_hess_sparsity_in(casadi_int i) { + switch (i) { + case 0: return casadi_s0; + case 1: return casadi_s1; + case 2: return casadi_s1; + case 3: return casadi_s2; + case 4: return casadi_s3; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* long_cost_y_e_hess_sparsity_out(casadi_int i) { + switch (i) { + case 0: return casadi_s4; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT int long_cost_y_e_hess_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { + if (sz_arg) *sz_arg = 5; + if (sz_res) *sz_res = 1; + if (sz_iw) *sz_iw = 0; + if (sz_w) *sz_w = 0; + return 0; +} + + +#ifdef __cplusplus +} /* extern "C" */ +#endif diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_fun.c b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_fun.c new file mode 100644 index 00000000000000..2c5e7d635cd4ad --- /dev/null +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_fun.c @@ -0,0 +1,176 @@ +/* This file was automatically generated by CasADi 3.6.4. + * It consists of: + * 1) content generated by CasADi runtime: not copyrighted + * 2) template code copied from CasADi source: permissively licensed (MIT-0) + * 3) user code: owned by the user + * + */ +#ifdef __cplusplus +extern "C" { +#endif + +/* How to prefix internal symbols */ +#ifdef CASADI_CODEGEN_PREFIX + #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) + #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID + #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) +#else + #define CASADI_PREFIX(ID) long_cost_y_fun_ ## ID +#endif + +#include + +#ifndef casadi_real +#define casadi_real double +#endif + +#ifndef casadi_int +#define casadi_int int +#endif + +/* Add prefix to internal symbols */ +#define casadi_f0 CASADI_PREFIX(f0) +#define casadi_s0 CASADI_PREFIX(s0) +#define casadi_s1 CASADI_PREFIX(s1) +#define casadi_s2 CASADI_PREFIX(s2) +#define casadi_s3 CASADI_PREFIX(s3) +#define casadi_sq CASADI_PREFIX(sq) + +/* Symbol visibility in DLLs */ +#ifndef CASADI_SYMBOL_EXPORT + #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) + #if defined(STATIC_LINKED) + #define CASADI_SYMBOL_EXPORT + #else + #define CASADI_SYMBOL_EXPORT __declspec(dllexport) + #endif + #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) + #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) + #else + #define CASADI_SYMBOL_EXPORT + #endif +#endif + +casadi_real casadi_sq(casadi_real x) { return x*x;} + +static const casadi_int casadi_s0[7] = {3, 1, 0, 3, 0, 1, 2}; +static const casadi_int casadi_s1[5] = {1, 1, 0, 1, 0}; +static const casadi_int casadi_s2[3] = {0, 0, 0}; +static const casadi_int casadi_s3[10] = {6, 1, 0, 6, 0, 1, 2, 3, 4, 5}; + +/* long_cost_y_fun:(i0[3],i1,i2[],i3[6])->(o0[6]) */ +static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { + casadi_real a0, a1, a2, a3, a4; + a0=arg[3]? arg[3][2] : 0; + a1=arg[0]? arg[0][0] : 0; + a0=(a0-a1); + a2=arg[0]? arg[0][1] : 0; + a3=casadi_sq(a2); + a4=5.; + a3=(a3/a4); + a4=arg[3]? arg[3][4] : 0; + a4=(a4*a2); + a3=(a3+a4); + a4=6.; + a3=(a3+a4); + a0=(a0-a3); + a3=10.; + a3=(a2+a3); + a0=(a0/a3); + if (res[0]!=0) res[0][0]=a0; + if (res[0]!=0) res[0][1]=a1; + if (res[0]!=0) res[0][2]=a2; + a2=arg[0]? arg[0][2] : 0; + if (res[0]!=0) res[0][3]=a2; + a1=arg[3]? arg[3][3] : 0; + a2=(a2-a1); + if (res[0]!=0) res[0][4]=a2; + a2=arg[1]? arg[1][0] : 0; + if (res[0]!=0) res[0][5]=a2; + return 0; +} + +CASADI_SYMBOL_EXPORT int long_cost_y_fun(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ + return casadi_f0(arg, res, iw, w, mem); +} + +CASADI_SYMBOL_EXPORT int long_cost_y_fun_alloc_mem(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT int long_cost_y_fun_init_mem(int mem) { + return 0; +} + +CASADI_SYMBOL_EXPORT void long_cost_y_fun_free_mem(int mem) { +} + +CASADI_SYMBOL_EXPORT int long_cost_y_fun_checkout(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT void long_cost_y_fun_release(int mem) { +} + +CASADI_SYMBOL_EXPORT void long_cost_y_fun_incref(void) { +} + +CASADI_SYMBOL_EXPORT void long_cost_y_fun_decref(void) { +} + +CASADI_SYMBOL_EXPORT casadi_int long_cost_y_fun_n_in(void) { return 4;} + +CASADI_SYMBOL_EXPORT casadi_int long_cost_y_fun_n_out(void) { return 1;} + +CASADI_SYMBOL_EXPORT casadi_real long_cost_y_fun_default_in(casadi_int i) { + switch (i) { + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* long_cost_y_fun_name_in(casadi_int i) { + switch (i) { + case 0: return "i0"; + case 1: return "i1"; + case 2: return "i2"; + case 3: return "i3"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* long_cost_y_fun_name_out(casadi_int i) { + switch (i) { + case 0: return "o0"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* long_cost_y_fun_sparsity_in(casadi_int i) { + switch (i) { + case 0: return casadi_s0; + case 1: return casadi_s1; + case 2: return casadi_s2; + case 3: return casadi_s3; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* long_cost_y_fun_sparsity_out(casadi_int i) { + switch (i) { + case 0: return casadi_s3; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT int long_cost_y_fun_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { + if (sz_arg) *sz_arg = 4; + if (sz_res) *sz_res = 1; + if (sz_iw) *sz_iw = 0; + if (sz_w) *sz_w = 0; + return 0; +} + + +#ifdef __cplusplus +} /* extern "C" */ +#endif diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_fun_jac_ut_xt.c b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_fun_jac_ut_xt.c new file mode 100644 index 00000000000000..6d1e496cf10203 --- /dev/null +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_fun_jac_ut_xt.c @@ -0,0 +1,202 @@ +/* This file was automatically generated by CasADi 3.6.4. + * It consists of: + * 1) content generated by CasADi runtime: not copyrighted + * 2) template code copied from CasADi source: permissively licensed (MIT-0) + * 3) user code: owned by the user + * + */ +#ifdef __cplusplus +extern "C" { +#endif + +/* How to prefix internal symbols */ +#ifdef CASADI_CODEGEN_PREFIX + #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) + #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID + #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) +#else + #define CASADI_PREFIX(ID) long_cost_y_fun_jac_ut_xt_ ## ID +#endif + +#include + +#ifndef casadi_real +#define casadi_real double +#endif + +#ifndef casadi_int +#define casadi_int int +#endif + +/* Add prefix to internal symbols */ +#define casadi_f0 CASADI_PREFIX(f0) +#define casadi_s0 CASADI_PREFIX(s0) +#define casadi_s1 CASADI_PREFIX(s1) +#define casadi_s2 CASADI_PREFIX(s2) +#define casadi_s3 CASADI_PREFIX(s3) +#define casadi_s4 CASADI_PREFIX(s4) +#define casadi_s5 CASADI_PREFIX(s5) +#define casadi_sq CASADI_PREFIX(sq) + +/* Symbol visibility in DLLs */ +#ifndef CASADI_SYMBOL_EXPORT + #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) + #if defined(STATIC_LINKED) + #define CASADI_SYMBOL_EXPORT + #else + #define CASADI_SYMBOL_EXPORT __declspec(dllexport) + #endif + #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) + #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) + #else + #define CASADI_SYMBOL_EXPORT + #endif +#endif + +casadi_real casadi_sq(casadi_real x) { return x*x;} + +static const casadi_int casadi_s0[7] = {3, 1, 0, 3, 0, 1, 2}; +static const casadi_int casadi_s1[5] = {1, 1, 0, 1, 0}; +static const casadi_int casadi_s2[3] = {0, 0, 0}; +static const casadi_int casadi_s3[10] = {6, 1, 0, 6, 0, 1, 2, 3, 4, 5}; +static const casadi_int casadi_s4[16] = {4, 6, 0, 2, 3, 4, 5, 6, 7, 1, 2, 1, 2, 3, 3, 0}; +static const casadi_int casadi_s5[3] = {6, 0, 0}; + +/* long_cost_y_fun_jac_ut_xt:(i0[3],i1,i2[],i3[6])->(o0[6],o1[4x6,7nz],o2[6x0]) */ +static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { + casadi_real a0, a1, a2, a3, a4, a5; + a0=arg[3]? arg[3][2] : 0; + a1=arg[0]? arg[0][0] : 0; + a0=(a0-a1); + a2=arg[0]? arg[0][1] : 0; + a3=casadi_sq(a2); + a4=5.; + a3=(a3/a4); + a4=arg[3]? arg[3][4] : 0; + a5=(a4*a2); + a3=(a3+a5); + a5=6.; + a3=(a3+a5); + a0=(a0-a3); + a3=10.; + a3=(a2+a3); + a0=(a0/a3); + if (res[0]!=0) res[0][0]=a0; + if (res[0]!=0) res[0][1]=a1; + if (res[0]!=0) res[0][2]=a2; + a1=arg[0]? arg[0][2] : 0; + if (res[0]!=0) res[0][3]=a1; + a5=arg[3]? arg[3][3] : 0; + a1=(a1-a5); + if (res[0]!=0) res[0][4]=a1; + a1=arg[1]? arg[1][0] : 0; + if (res[0]!=0) res[0][5]=a1; + a1=(1./a3); + a1=(-a1); + if (res[1]!=0) res[1][0]=a1; + a1=2.0000000000000001e-01; + a2=(a2+a2); + a1=(a1*a2); + a1=(a1+a4); + a1=(a1/a3); + a0=(a0/a3); + a1=(a1+a0); + a1=(-a1); + if (res[1]!=0) res[1][1]=a1; + a1=1.; + if (res[1]!=0) res[1][2]=a1; + if (res[1]!=0) res[1][3]=a1; + if (res[1]!=0) res[1][4]=a1; + if (res[1]!=0) res[1][5]=a1; + if (res[1]!=0) res[1][6]=a1; + return 0; +} + +CASADI_SYMBOL_EXPORT int long_cost_y_fun_jac_ut_xt(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ + return casadi_f0(arg, res, iw, w, mem); +} + +CASADI_SYMBOL_EXPORT int long_cost_y_fun_jac_ut_xt_alloc_mem(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT int long_cost_y_fun_jac_ut_xt_init_mem(int mem) { + return 0; +} + +CASADI_SYMBOL_EXPORT void long_cost_y_fun_jac_ut_xt_free_mem(int mem) { +} + +CASADI_SYMBOL_EXPORT int long_cost_y_fun_jac_ut_xt_checkout(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT void long_cost_y_fun_jac_ut_xt_release(int mem) { +} + +CASADI_SYMBOL_EXPORT void long_cost_y_fun_jac_ut_xt_incref(void) { +} + +CASADI_SYMBOL_EXPORT void long_cost_y_fun_jac_ut_xt_decref(void) { +} + +CASADI_SYMBOL_EXPORT casadi_int long_cost_y_fun_jac_ut_xt_n_in(void) { return 4;} + +CASADI_SYMBOL_EXPORT casadi_int long_cost_y_fun_jac_ut_xt_n_out(void) { return 3;} + +CASADI_SYMBOL_EXPORT casadi_real long_cost_y_fun_jac_ut_xt_default_in(casadi_int i) { + switch (i) { + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* long_cost_y_fun_jac_ut_xt_name_in(casadi_int i) { + switch (i) { + case 0: return "i0"; + case 1: return "i1"; + case 2: return "i2"; + case 3: return "i3"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* long_cost_y_fun_jac_ut_xt_name_out(casadi_int i) { + switch (i) { + case 0: return "o0"; + case 1: return "o1"; + case 2: return "o2"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* long_cost_y_fun_jac_ut_xt_sparsity_in(casadi_int i) { + switch (i) { + case 0: return casadi_s0; + case 1: return casadi_s1; + case 2: return casadi_s2; + case 3: return casadi_s3; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* long_cost_y_fun_jac_ut_xt_sparsity_out(casadi_int i) { + switch (i) { + case 0: return casadi_s3; + case 1: return casadi_s4; + case 2: return casadi_s5; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT int long_cost_y_fun_jac_ut_xt_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { + if (sz_arg) *sz_arg = 4; + if (sz_res) *sz_res = 3; + if (sz_iw) *sz_iw = 0; + if (sz_w) *sz_w = 0; + return 0; +} + + +#ifdef __cplusplus +} /* extern "C" */ +#endif diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_hess.c b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_hess.c new file mode 100644 index 00000000000000..fc43b0714db1b6 --- /dev/null +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_cost/long_cost_y_hess.c @@ -0,0 +1,201 @@ +/* This file was automatically generated by CasADi 3.6.4. + * It consists of: + * 1) content generated by CasADi runtime: not copyrighted + * 2) template code copied from CasADi source: permissively licensed (MIT-0) + * 3) user code: owned by the user + * + */ +#ifdef __cplusplus +extern "C" { +#endif + +/* How to prefix internal symbols */ +#ifdef CASADI_CODEGEN_PREFIX + #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) + #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID + #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) +#else + #define CASADI_PREFIX(ID) long_cost_y_hess_ ## ID +#endif + +#include + +#ifndef casadi_real +#define casadi_real double +#endif + +#ifndef casadi_int +#define casadi_int int +#endif + +/* Add prefix to internal symbols */ +#define casadi_f0 CASADI_PREFIX(f0) +#define casadi_s0 CASADI_PREFIX(s0) +#define casadi_s1 CASADI_PREFIX(s1) +#define casadi_s2 CASADI_PREFIX(s2) +#define casadi_s3 CASADI_PREFIX(s3) +#define casadi_s4 CASADI_PREFIX(s4) +#define casadi_sq CASADI_PREFIX(sq) + +/* Symbol visibility in DLLs */ +#ifndef CASADI_SYMBOL_EXPORT + #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) + #if defined(STATIC_LINKED) + #define CASADI_SYMBOL_EXPORT + #else + #define CASADI_SYMBOL_EXPORT __declspec(dllexport) + #endif + #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) + #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) + #else + #define CASADI_SYMBOL_EXPORT + #endif +#endif + +casadi_real casadi_sq(casadi_real x) { return x*x;} + +static const casadi_int casadi_s0[7] = {3, 1, 0, 3, 0, 1, 2}; +static const casadi_int casadi_s1[5] = {1, 1, 0, 1, 0}; +static const casadi_int casadi_s2[3] = {0, 0, 0}; +static const casadi_int casadi_s3[10] = {6, 1, 0, 6, 0, 1, 2, 3, 4, 5}; +static const casadi_int casadi_s4[10] = {4, 4, 0, 0, 1, 3, 3, 2, 1, 2}; + +/* long_cost_y_hess:(i0[3],i1,i2[],i3[6],i4[6])->(o0[4x4,3nz]) */ +static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { + casadi_real a0, a1, a10, a2, a3, a4, a5, a6, a7, a8, a9; + a0=arg[3]? arg[3][0] : 0; + a1=arg[0]? arg[0][1] : 0; + a2=10.; + a2=(a1+a2); + a3=(1./a2); + a3=(a3/a2); + a3=(a0*a3); + if (res[0]!=0) res[0][0]=a3; + a3=(a0/a2); + a4=(a3/a2); + if (res[0]!=0) res[0][1]=a4; + a5=2.0000000000000001e-01; + a6=(a1+a1); + a6=(a5*a6); + a7=arg[4]? arg[4][4] : 0; + a6=(a6+a7); + a6=(a6/a2); + a8=arg[4]? arg[4][2] : 0; + a9=arg[0]? arg[0][0] : 0; + a8=(a8-a9); + a9=casadi_sq(a1); + a10=5.; + a9=(a9/a10); + a10=(a7*a1); + a9=(a9+a10); + a10=6.; + a9=(a9+a10); + a8=(a8-a9); + a8=(a8/a2); + a9=(a8/a2); + a6=(a6+a9); + a6=(a6/a2); + a8=(a8/a2); + a8=(a8/a2); + a6=(a6+a8); + a0=(a0*a6); + a7=(a7*a4); + a0=(a0+a7); + a7=2.; + a3=(a5*a3); + a7=(a7*a3); + a1=(a1+a1); + a5=(a5*a4); + a1=(a1*a5); + a7=(a7-a1); + a0=(a0-a7); + if (res[0]!=0) res[0][2]=a0; + return 0; +} + +CASADI_SYMBOL_EXPORT int long_cost_y_hess(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ + return casadi_f0(arg, res, iw, w, mem); +} + +CASADI_SYMBOL_EXPORT int long_cost_y_hess_alloc_mem(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT int long_cost_y_hess_init_mem(int mem) { + return 0; +} + +CASADI_SYMBOL_EXPORT void long_cost_y_hess_free_mem(int mem) { +} + +CASADI_SYMBOL_EXPORT int long_cost_y_hess_checkout(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT void long_cost_y_hess_release(int mem) { +} + +CASADI_SYMBOL_EXPORT void long_cost_y_hess_incref(void) { +} + +CASADI_SYMBOL_EXPORT void long_cost_y_hess_decref(void) { +} + +CASADI_SYMBOL_EXPORT casadi_int long_cost_y_hess_n_in(void) { return 5;} + +CASADI_SYMBOL_EXPORT casadi_int long_cost_y_hess_n_out(void) { return 1;} + +CASADI_SYMBOL_EXPORT casadi_real long_cost_y_hess_default_in(casadi_int i) { + switch (i) { + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* long_cost_y_hess_name_in(casadi_int i) { + switch (i) { + case 0: return "i0"; + case 1: return "i1"; + case 2: return "i2"; + case 3: return "i3"; + case 4: return "i4"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* long_cost_y_hess_name_out(casadi_int i) { + switch (i) { + case 0: return "o0"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* long_cost_y_hess_sparsity_in(casadi_int i) { + switch (i) { + case 0: return casadi_s0; + case 1: return casadi_s1; + case 2: return casadi_s2; + case 3: return casadi_s3; + case 4: return casadi_s3; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* long_cost_y_hess_sparsity_out(casadi_int i) { + switch (i) { + case 0: return casadi_s4; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT int long_cost_y_hess_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { + if (sz_arg) *sz_arg = 5; + if (sz_res) *sz_res = 1; + if (sz_iw) *sz_iw = 0; + if (sz_w) *sz_w = 0; + return 0; +} + + +#ifdef __cplusplus +} /* extern "C" */ +#endif diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_model/long_expl_ode_fun.c b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_model/long_expl_ode_fun.c new file mode 100644 index 00000000000000..29598d602cbebb --- /dev/null +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_model/long_expl_ode_fun.c @@ -0,0 +1,149 @@ +/* This file was automatically generated by CasADi 3.6.4. + * It consists of: + * 1) content generated by CasADi runtime: not copyrighted + * 2) template code copied from CasADi source: permissively licensed (MIT-0) + * 3) user code: owned by the user + * + */ +#ifdef __cplusplus +extern "C" { +#endif + +/* How to prefix internal symbols */ +#ifdef CASADI_CODEGEN_PREFIX + #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) + #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID + #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) +#else + #define CASADI_PREFIX(ID) long_expl_ode_fun_ ## ID +#endif + +#include + +#ifndef casadi_real +#define casadi_real double +#endif + +#ifndef casadi_int +#define casadi_int int +#endif + +/* Add prefix to internal symbols */ +#define casadi_f0 CASADI_PREFIX(f0) +#define casadi_s0 CASADI_PREFIX(s0) +#define casadi_s1 CASADI_PREFIX(s1) +#define casadi_s2 CASADI_PREFIX(s2) + +/* Symbol visibility in DLLs */ +#ifndef CASADI_SYMBOL_EXPORT + #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) + #if defined(STATIC_LINKED) + #define CASADI_SYMBOL_EXPORT + #else + #define CASADI_SYMBOL_EXPORT __declspec(dllexport) + #endif + #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) + #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) + #else + #define CASADI_SYMBOL_EXPORT + #endif +#endif + +static const casadi_int casadi_s0[7] = {3, 1, 0, 3, 0, 1, 2}; +static const casadi_int casadi_s1[5] = {1, 1, 0, 1, 0}; +static const casadi_int casadi_s2[10] = {6, 1, 0, 6, 0, 1, 2, 3, 4, 5}; + +/* long_expl_ode_fun:(i0[3],i1,i2[6])->(o0[3]) */ +static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { + casadi_real a0; + a0=arg[0]? arg[0][1] : 0; + if (res[0]!=0) res[0][0]=a0; + a0=arg[0]? arg[0][2] : 0; + if (res[0]!=0) res[0][1]=a0; + a0=arg[1]? arg[1][0] : 0; + if (res[0]!=0) res[0][2]=a0; + return 0; +} + +CASADI_SYMBOL_EXPORT int long_expl_ode_fun(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ + return casadi_f0(arg, res, iw, w, mem); +} + +CASADI_SYMBOL_EXPORT int long_expl_ode_fun_alloc_mem(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT int long_expl_ode_fun_init_mem(int mem) { + return 0; +} + +CASADI_SYMBOL_EXPORT void long_expl_ode_fun_free_mem(int mem) { +} + +CASADI_SYMBOL_EXPORT int long_expl_ode_fun_checkout(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT void long_expl_ode_fun_release(int mem) { +} + +CASADI_SYMBOL_EXPORT void long_expl_ode_fun_incref(void) { +} + +CASADI_SYMBOL_EXPORT void long_expl_ode_fun_decref(void) { +} + +CASADI_SYMBOL_EXPORT casadi_int long_expl_ode_fun_n_in(void) { return 3;} + +CASADI_SYMBOL_EXPORT casadi_int long_expl_ode_fun_n_out(void) { return 1;} + +CASADI_SYMBOL_EXPORT casadi_real long_expl_ode_fun_default_in(casadi_int i) { + switch (i) { + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* long_expl_ode_fun_name_in(casadi_int i) { + switch (i) { + case 0: return "i0"; + case 1: return "i1"; + case 2: return "i2"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* long_expl_ode_fun_name_out(casadi_int i) { + switch (i) { + case 0: return "o0"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* long_expl_ode_fun_sparsity_in(casadi_int i) { + switch (i) { + case 0: return casadi_s0; + case 1: return casadi_s1; + case 2: return casadi_s2; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* long_expl_ode_fun_sparsity_out(casadi_int i) { + switch (i) { + case 0: return casadi_s0; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT int long_expl_ode_fun_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { + if (sz_arg) *sz_arg = 3; + if (sz_res) *sz_res = 1; + if (sz_iw) *sz_iw = 0; + if (sz_w) *sz_w = 0; + return 0; +} + + +#ifdef __cplusplus +} /* extern "C" */ +#endif diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_model/long_expl_vde_adj.c b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_model/long_expl_vde_adj.c new file mode 100644 index 00000000000000..d8bd4d0f7dd3be --- /dev/null +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_model/long_expl_vde_adj.c @@ -0,0 +1,155 @@ +/* This file was automatically generated by CasADi 3.6.4. + * It consists of: + * 1) content generated by CasADi runtime: not copyrighted + * 2) template code copied from CasADi source: permissively licensed (MIT-0) + * 3) user code: owned by the user + * + */ +#ifdef __cplusplus +extern "C" { +#endif + +/* How to prefix internal symbols */ +#ifdef CASADI_CODEGEN_PREFIX + #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) + #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID + #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) +#else + #define CASADI_PREFIX(ID) long_expl_vde_adj_ ## ID +#endif + +#include + +#ifndef casadi_real +#define casadi_real double +#endif + +#ifndef casadi_int +#define casadi_int int +#endif + +/* Add prefix to internal symbols */ +#define casadi_f0 CASADI_PREFIX(f0) +#define casadi_s0 CASADI_PREFIX(s0) +#define casadi_s1 CASADI_PREFIX(s1) +#define casadi_s2 CASADI_PREFIX(s2) +#define casadi_s3 CASADI_PREFIX(s3) + +/* Symbol visibility in DLLs */ +#ifndef CASADI_SYMBOL_EXPORT + #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) + #if defined(STATIC_LINKED) + #define CASADI_SYMBOL_EXPORT + #else + #define CASADI_SYMBOL_EXPORT __declspec(dllexport) + #endif + #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) + #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) + #else + #define CASADI_SYMBOL_EXPORT + #endif +#endif + +static const casadi_int casadi_s0[7] = {3, 1, 0, 3, 0, 1, 2}; +static const casadi_int casadi_s1[5] = {1, 1, 0, 1, 0}; +static const casadi_int casadi_s2[10] = {6, 1, 0, 6, 0, 1, 2, 3, 4, 5}; +static const casadi_int casadi_s3[8] = {4, 1, 0, 4, 0, 1, 2, 3}; + +/* long_expl_vde_adj:(i0[3],i1[3],i2,i3[6])->(o0[4]) */ +static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { + casadi_real a0; + a0=0.; + if (res[0]!=0) res[0][0]=a0; + a0=arg[1]? arg[1][0] : 0; + if (res[0]!=0) res[0][1]=a0; + a0=arg[1]? arg[1][1] : 0; + if (res[0]!=0) res[0][2]=a0; + a0=arg[1]? arg[1][2] : 0; + if (res[0]!=0) res[0][3]=a0; + return 0; +} + +CASADI_SYMBOL_EXPORT int long_expl_vde_adj(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ + return casadi_f0(arg, res, iw, w, mem); +} + +CASADI_SYMBOL_EXPORT int long_expl_vde_adj_alloc_mem(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT int long_expl_vde_adj_init_mem(int mem) { + return 0; +} + +CASADI_SYMBOL_EXPORT void long_expl_vde_adj_free_mem(int mem) { +} + +CASADI_SYMBOL_EXPORT int long_expl_vde_adj_checkout(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT void long_expl_vde_adj_release(int mem) { +} + +CASADI_SYMBOL_EXPORT void long_expl_vde_adj_incref(void) { +} + +CASADI_SYMBOL_EXPORT void long_expl_vde_adj_decref(void) { +} + +CASADI_SYMBOL_EXPORT casadi_int long_expl_vde_adj_n_in(void) { return 4;} + +CASADI_SYMBOL_EXPORT casadi_int long_expl_vde_adj_n_out(void) { return 1;} + +CASADI_SYMBOL_EXPORT casadi_real long_expl_vde_adj_default_in(casadi_int i) { + switch (i) { + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* long_expl_vde_adj_name_in(casadi_int i) { + switch (i) { + case 0: return "i0"; + case 1: return "i1"; + case 2: return "i2"; + case 3: return "i3"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* long_expl_vde_adj_name_out(casadi_int i) { + switch (i) { + case 0: return "o0"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* long_expl_vde_adj_sparsity_in(casadi_int i) { + switch (i) { + case 0: return casadi_s0; + case 1: return casadi_s0; + case 2: return casadi_s1; + case 3: return casadi_s2; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* long_expl_vde_adj_sparsity_out(casadi_int i) { + switch (i) { + case 0: return casadi_s3; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT int long_expl_vde_adj_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { + if (sz_arg) *sz_arg = 4; + if (sz_res) *sz_res = 1; + if (sz_iw) *sz_iw = 0; + if (sz_w) *sz_w = 0; + return 0; +} + + +#ifdef __cplusplus +} /* extern "C" */ +#endif diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_model/long_expl_vde_forw.c b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_model/long_expl_vde_forw.c new file mode 100644 index 00000000000000..ecde7cc6d83e7e --- /dev/null +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/long_model/long_expl_vde_forw.c @@ -0,0 +1,181 @@ +/* This file was automatically generated by CasADi 3.6.4. + * It consists of: + * 1) content generated by CasADi runtime: not copyrighted + * 2) template code copied from CasADi source: permissively licensed (MIT-0) + * 3) user code: owned by the user + * + */ +#ifdef __cplusplus +extern "C" { +#endif + +/* How to prefix internal symbols */ +#ifdef CASADI_CODEGEN_PREFIX + #define CASADI_NAMESPACE_CONCAT(NS, ID) _CASADI_NAMESPACE_CONCAT(NS, ID) + #define _CASADI_NAMESPACE_CONCAT(NS, ID) NS ## ID + #define CASADI_PREFIX(ID) CASADI_NAMESPACE_CONCAT(CODEGEN_PREFIX, ID) +#else + #define CASADI_PREFIX(ID) long_expl_vde_forw_ ## ID +#endif + +#include + +#ifndef casadi_real +#define casadi_real double +#endif + +#ifndef casadi_int +#define casadi_int int +#endif + +/* Add prefix to internal symbols */ +#define casadi_f0 CASADI_PREFIX(f0) +#define casadi_s0 CASADI_PREFIX(s0) +#define casadi_s1 CASADI_PREFIX(s1) +#define casadi_s2 CASADI_PREFIX(s2) +#define casadi_s3 CASADI_PREFIX(s3) + +/* Symbol visibility in DLLs */ +#ifndef CASADI_SYMBOL_EXPORT + #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) + #if defined(STATIC_LINKED) + #define CASADI_SYMBOL_EXPORT + #else + #define CASADI_SYMBOL_EXPORT __declspec(dllexport) + #endif + #elif defined(__GNUC__) && defined(GCC_HASCLASSVISIBILITY) + #define CASADI_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) + #else + #define CASADI_SYMBOL_EXPORT + #endif +#endif + +static const casadi_int casadi_s0[7] = {3, 1, 0, 3, 0, 1, 2}; +static const casadi_int casadi_s1[15] = {3, 3, 0, 3, 6, 9, 0, 1, 2, 0, 1, 2, 0, 1, 2}; +static const casadi_int casadi_s2[5] = {1, 1, 0, 1, 0}; +static const casadi_int casadi_s3[10] = {6, 1, 0, 6, 0, 1, 2, 3, 4, 5}; + +/* long_expl_vde_forw:(i0[3],i1[3x3],i2[3],i3,i4[6])->(o0[3],o1[3x3],o2[3]) */ +static int casadi_f0(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem) { + casadi_real a0, a1; + a0=arg[0]? arg[0][1] : 0; + if (res[0]!=0) res[0][0]=a0; + a0=arg[0]? arg[0][2] : 0; + if (res[0]!=0) res[0][1]=a0; + a0=arg[3]? arg[3][0] : 0; + if (res[0]!=0) res[0][2]=a0; + a0=arg[1]? arg[1][1] : 0; + if (res[1]!=0) res[1][0]=a0; + a0=arg[1]? arg[1][2] : 0; + if (res[1]!=0) res[1][1]=a0; + a0=0.; + if (res[1]!=0) res[1][2]=a0; + a1=arg[1]? arg[1][4] : 0; + if (res[1]!=0) res[1][3]=a1; + a1=arg[1]? arg[1][5] : 0; + if (res[1]!=0) res[1][4]=a1; + if (res[1]!=0) res[1][5]=a0; + a1=arg[1]? arg[1][7] : 0; + if (res[1]!=0) res[1][6]=a1; + a1=arg[1]? arg[1][8] : 0; + if (res[1]!=0) res[1][7]=a1; + if (res[1]!=0) res[1][8]=a0; + a0=arg[2]? arg[2][1] : 0; + if (res[2]!=0) res[2][0]=a0; + a0=arg[2]? arg[2][2] : 0; + if (res[2]!=0) res[2][1]=a0; + a0=1.; + if (res[2]!=0) res[2][2]=a0; + return 0; +} + +CASADI_SYMBOL_EXPORT int long_expl_vde_forw(const casadi_real** arg, casadi_real** res, casadi_int* iw, casadi_real* w, int mem){ + return casadi_f0(arg, res, iw, w, mem); +} + +CASADI_SYMBOL_EXPORT int long_expl_vde_forw_alloc_mem(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT int long_expl_vde_forw_init_mem(int mem) { + return 0; +} + +CASADI_SYMBOL_EXPORT void long_expl_vde_forw_free_mem(int mem) { +} + +CASADI_SYMBOL_EXPORT int long_expl_vde_forw_checkout(void) { + return 0; +} + +CASADI_SYMBOL_EXPORT void long_expl_vde_forw_release(int mem) { +} + +CASADI_SYMBOL_EXPORT void long_expl_vde_forw_incref(void) { +} + +CASADI_SYMBOL_EXPORT void long_expl_vde_forw_decref(void) { +} + +CASADI_SYMBOL_EXPORT casadi_int long_expl_vde_forw_n_in(void) { return 5;} + +CASADI_SYMBOL_EXPORT casadi_int long_expl_vde_forw_n_out(void) { return 3;} + +CASADI_SYMBOL_EXPORT casadi_real long_expl_vde_forw_default_in(casadi_int i) { + switch (i) { + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* long_expl_vde_forw_name_in(casadi_int i) { + switch (i) { + case 0: return "i0"; + case 1: return "i1"; + case 2: return "i2"; + case 3: return "i3"; + case 4: return "i4"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const char* long_expl_vde_forw_name_out(casadi_int i) { + switch (i) { + case 0: return "o0"; + case 1: return "o1"; + case 2: return "o2"; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* long_expl_vde_forw_sparsity_in(casadi_int i) { + switch (i) { + case 0: return casadi_s0; + case 1: return casadi_s1; + case 2: return casadi_s0; + case 3: return casadi_s2; + case 4: return casadi_s3; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT const casadi_int* long_expl_vde_forw_sparsity_out(casadi_int i) { + switch (i) { + case 0: return casadi_s0; + case 1: return casadi_s1; + case 2: return casadi_s0; + default: return 0; + } +} + +CASADI_SYMBOL_EXPORT int long_expl_vde_forw_work(casadi_int *sz_arg, casadi_int* sz_res, casadi_int *sz_iw, casadi_int *sz_w) { + if (sz_arg) *sz_arg = 5; + if (sz_res) *sz_res = 3; + if (sz_iw) *sz_iw = 0; + if (sz_w) *sz_w = 0; + return 0; +} + + +#ifdef __cplusplus +} /* extern "C" */ +#endif diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/main_long.c b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/main_long.c new file mode 100644 index 00000000000000..94ff7c1f7a4050 --- /dev/null +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/main_long.c @@ -0,0 +1,216 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + +// standard +#include +#include +// acados +#include "acados/utils/print.h" +#include "acados/utils/math.h" +#include "acados_c/ocp_nlp_interface.h" +#include "acados_c/external_function_interface.h" +#include "acados_solver_long.h" + +// blasfeo +#include "blasfeo/include/blasfeo_d_aux_ext_dep.h" + +#define NX LONG_NX +#define NZ LONG_NZ +#define NU LONG_NU +#define NP LONG_NP +#define NBX LONG_NBX +#define NBX0 LONG_NBX0 +#define NBU LONG_NBU +#define NSBX LONG_NSBX +#define NSBU LONG_NSBU +#define NSH LONG_NSH +#define NSG LONG_NSG +#define NSPHI LONG_NSPHI +#define NSHN LONG_NSHN +#define NSGN LONG_NSGN +#define NSPHIN LONG_NSPHIN +#define NSBXN LONG_NSBXN +#define NS LONG_NS +#define NSN LONG_NSN +#define NG LONG_NG +#define NBXN LONG_NBXN +#define NGN LONG_NGN +#define NY0 LONG_NY0 +#define NY LONG_NY +#define NYN LONG_NYN +#define NH LONG_NH +#define NPHI LONG_NPHI +#define NHN LONG_NHN +#define NPHIN LONG_NPHIN +#define NR LONG_NR + + +int main() +{ + + long_solver_capsule *acados_ocp_capsule = long_acados_create_capsule(); + // there is an opportunity to change the number of shooting intervals in C without new code generation + int N = LONG_N; + // allocate the array and fill it accordingly + double* new_time_steps = NULL; + int status = long_acados_create_with_discretization(acados_ocp_capsule, N, new_time_steps); + + if (status) + { + printf("long_acados_create() returned status %d. Exiting.\n", status); + exit(1); + } + + ocp_nlp_config *nlp_config = long_acados_get_nlp_config(acados_ocp_capsule); + ocp_nlp_dims *nlp_dims = long_acados_get_nlp_dims(acados_ocp_capsule); + ocp_nlp_in *nlp_in = long_acados_get_nlp_in(acados_ocp_capsule); + ocp_nlp_out *nlp_out = long_acados_get_nlp_out(acados_ocp_capsule); + ocp_nlp_solver *nlp_solver = long_acados_get_nlp_solver(acados_ocp_capsule); + void *nlp_opts = long_acados_get_nlp_opts(acados_ocp_capsule); + + // initial condition + int idxbx0[NBX0]; + idxbx0[0] = 0; + idxbx0[1] = 1; + idxbx0[2] = 2; + + double lbx0[NBX0]; + double ubx0[NBX0]; + lbx0[0] = 0.0; + ubx0[0] = 0.0; + lbx0[1] = 0.0; + ubx0[1] = 0.0; + lbx0[2] = 0.0; + ubx0[2] = 0.0; + + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "idxbx", idxbx0); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "lbx", lbx0); + ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "ubx", ubx0); + + // initialization for state values + double x_init[NX]; + x_init[0] = 0.0; + x_init[1] = 0.0; + x_init[2] = 0.0; + + // initial value for control input + double u0[NU]; + u0[0] = 0.0; + // set parameters + double p[NP]; + p[0] = -1.2; + p[1] = 1.2; + p[2] = 0.0; + p[3] = 0.0; + p[4] = 1.45; + p[5] = 0.75; + + for (int ii = 0; ii <= N; ii++) + { + long_acados_update_params(acados_ocp_capsule, ii, p, NP); + } + + + // prepare evaluation + int NTIMINGS = 1; + double min_time = 1e12; + double kkt_norm_inf; + double elapsed_time; + int sqp_iter; + + double xtraj[NX * (N+1)]; + double utraj[NU * N]; + + + // solve ocp in loop + int rti_phase = 0; + + for (int ii = 0; ii < NTIMINGS; ii++) + { + // initialize solution + for (int i = 0; i < N; i++) + { + ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "x", x_init); + ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "u", u0); + } + ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, N, "x", x_init); + ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "rti_phase", &rti_phase); + status = long_acados_solve(acados_ocp_capsule); + ocp_nlp_get(nlp_config, nlp_solver, "time_tot", &elapsed_time); + min_time = MIN(elapsed_time, min_time); + } + + /* print solution and statistics */ + for (int ii = 0; ii <= nlp_dims->N; ii++) + ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, ii, "x", &xtraj[ii*NX]); + for (int ii = 0; ii < nlp_dims->N; ii++) + ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, ii, "u", &utraj[ii*NU]); + + printf("\n--- xtraj ---\n"); + d_print_exp_tran_mat( NX, N+1, xtraj, NX); + printf("\n--- utraj ---\n"); + d_print_exp_tran_mat( NU, N, utraj, NU ); + // ocp_nlp_out_print(nlp_solver->dims, nlp_out); + + printf("\nsolved ocp %d times, solution printed above\n\n", NTIMINGS); + + if (status == ACADOS_SUCCESS) + { + printf("long_acados_solve(): SUCCESS!\n"); + } + else + { + printf("long_acados_solve() failed with status %d.\n", status); + } + + // get solution + ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, 0, "kkt_norm_inf", &kkt_norm_inf); + ocp_nlp_get(nlp_config, nlp_solver, "sqp_iter", &sqp_iter); + + long_acados_print_stats(acados_ocp_capsule); + + printf("\nSolver info:\n"); + printf(" SQP iterations %2d\n minimum time for %d solve %f [ms]\n KKT %e\n", + sqp_iter, NTIMINGS, min_time*1000, kkt_norm_inf); + + // free solver + status = long_acados_free(acados_ocp_capsule); + if (status) { + printf("long_acados_free() returned status %d. \n", status); + } + // free solver capsule + status = long_acados_free_capsule(acados_ocp_capsule); + if (status) { + printf("long_acados_free_capsule() returned status %d. \n", status); + } + + return status; +} diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/main_sim_long.c b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/main_sim_long.c new file mode 100644 index 00000000000000..67fa56069a4ed7 --- /dev/null +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/main_sim_long.c @@ -0,0 +1,127 @@ +/* + * Copyright (c) The acados authors. + * + * This file is part of acados. + * + * The 2-Clause BSD License + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE.; + */ + + +// standard +#include +#include +// acados +#include "acados/utils/print.h" +#include "acados/utils/math.h" +#include "acados_c/sim_interface.h" +#include "acados_sim_solver_long.h" + +#define NX LONG_NX +#define NZ LONG_NZ +#define NU LONG_NU +#define NP LONG_NP + + +int main() +{ + int status = 0; + sim_solver_capsule *capsule = long_acados_sim_solver_create_capsule(); + status = long_acados_sim_create(capsule); + + if (status) + { + printf("acados_create() returned status %d. Exiting.\n", status); + exit(1); + } + + sim_config *acados_sim_config = long_acados_get_sim_config(capsule); + sim_in *acados_sim_in = long_acados_get_sim_in(capsule); + sim_out *acados_sim_out = long_acados_get_sim_out(capsule); + void *acados_sim_dims = long_acados_get_sim_dims(capsule); + + // initial condition + double x_current[NX]; + x_current[0] = 0.0; + x_current[1] = 0.0; + x_current[2] = 0.0; + + + x_current[0] = 0.0; + x_current[1] = 0.0; + x_current[2] = 0.0; + + + + + // initial value for control input + double u0[NU]; + u0[0] = 0.0; + // set parameters + double p[NP]; + p[0] = -1.2; + p[1] = 1.2; + p[2] = 0.0; + p[3] = 0.0; + p[4] = 1.45; + p[5] = 0.75; + + long_acados_sim_update_params(capsule, p, NP); + + + int n_sim_steps = 3; + // solve ocp in loop + for (int ii = 0; ii < n_sim_steps; ii++) + { + sim_in_set(acados_sim_config, acados_sim_dims, + acados_sim_in, "x", x_current); + status = long_acados_sim_solve(capsule); + + if (status != ACADOS_SUCCESS) + { + printf("acados_solve() failed with status %d.\n", status); + } + + sim_out_get(acados_sim_config, acados_sim_dims, + acados_sim_out, "x", x_current); + + printf("\nx_current, %d\n", ii); + for (int jj = 0; jj < NX; jj++) + { + printf("%e\n", x_current[jj]); + } + } + + printf("\nPerformed %d simulation steps with acados integrator successfully.\n\n", n_sim_steps); + + // free solver + status = long_acados_sim_free(capsule); + if (status) { + printf("long_acados_sim_free() returned status %d. \n", status); + } + + long_acados_sim_solver_free_capsule(capsule); + + return status; +} diff --git a/selfdrive/controls/lib/tests/__init__.py b/selfdrive/controls/lib/tests/__init__.py deleted file mode 100644 index e69de29bb2d1d6..00000000000000 diff --git a/selfdrive/controls/lib/tests/test_alertmanager.py b/selfdrive/controls/lib/tests/test_alertmanager.py deleted file mode 100644 index 8b9c18a9d48206..00000000000000 --- a/selfdrive/controls/lib/tests/test_alertmanager.py +++ /dev/null @@ -1,39 +0,0 @@ -import random - -from openpilot.selfdrive.controls.lib.events import Alert, EVENTS -from openpilot.selfdrive.controls.lib.alertmanager import AlertManager - - -class TestAlertManager: - - def test_duration(self): - """ - Enforce that an alert lasts for max(alert duration, duration the alert is added) - """ - for duration in range(1, 100): - alert = None - while not isinstance(alert, Alert): - event = random.choice([e for e in EVENTS.values() if len(e)]) - alert = random.choice(list(event.values())) - - alert.duration = duration - - # check two cases: - # - alert is added to AM for <= the alert's duration - # - alert is added to AM for > alert's duration - for greater in (True, False): - if greater: - add_duration = duration + random.randint(1, 10) - else: - add_duration = random.randint(1, duration) - show_duration = max(duration, add_duration) - - AM = AlertManager() - for frame in range(duration+10): - if frame < add_duration: - AM.add_many(frame, [alert, ]) - current_alert = AM.process_alerts(frame, {}) - - shown = current_alert is not None - should_show = frame <= show_duration - assert shown == should_show, f"{frame=} {add_duration=} {duration=}" diff --git a/selfdrive/controls/lib/tests/test_latcontrol.py b/selfdrive/controls/lib/tests/test_latcontrol.py deleted file mode 100644 index 81411edec1c3d6..00000000000000 --- a/selfdrive/controls/lib/tests/test_latcontrol.py +++ /dev/null @@ -1,36 +0,0 @@ -from parameterized import parameterized - -from cereal import car, log -from openpilot.selfdrive.car.car_helpers import interfaces -from openpilot.selfdrive.car.honda.values import CAR as HONDA -from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA -from openpilot.selfdrive.car.nissan.values import CAR as NISSAN -from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID -from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque -from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle -from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel -from openpilot.common.mock.generators import generate_liveLocationKalman - - -class TestLatControl: - - @parameterized.expand([(HONDA.HONDA_CIVIC, LatControlPID), (TOYOTA.TOYOTA_RAV4, LatControlTorque), (NISSAN.NISSAN_LEAF, LatControlAngle)]) - def test_saturation(self, car_name, controller): - CarInterface, CarController, CarState = interfaces[car_name] - CP = CarInterface.get_non_essential_params(car_name) - CI = CarInterface(CP, CarController, CarState) - VM = VehicleModel(CP) - - controller = controller(CP, CI) - - CS = car.CarState.new_message() - CS.vEgo = 30 - CS.steeringPressed = False - - params = log.LiveParametersData.new_message() - - llk = generate_liveLocationKalman() - for _ in range(1000): - _, _, lac_log = controller.update(True, CS, VM, params, False, 1, llk) - - assert lac_log.saturated diff --git a/selfdrive/controls/lib/tests/test_vehicle_model.py b/selfdrive/controls/lib/tests/test_vehicle_model.py deleted file mode 100644 index 4d0e41805d0933..00000000000000 --- a/selfdrive/controls/lib/tests/test_vehicle_model.py +++ /dev/null @@ -1,64 +0,0 @@ -import pytest -import math - -import numpy as np -from control import StateSpace - -from openpilot.selfdrive.car.honda.interface import CarInterface -from openpilot.selfdrive.car.honda.values import CAR -from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel, dyn_ss_sol, create_dyn_state_matrices - - -class TestVehicleModel: - def setup_method(self): - CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC) - self.VM = VehicleModel(CP) - - def test_round_trip_yaw_rate(self): - # TODO: fix VM to work at zero speed - for u in np.linspace(1, 30, num=10): - for roll in np.linspace(math.radians(-20), math.radians(20), num=11): - for sa in np.linspace(math.radians(-20), math.radians(20), num=11): - yr = self.VM.yaw_rate(sa, u, roll) - new_sa = self.VM.get_steer_from_yaw_rate(yr, u, roll) - - assert sa == pytest.approx(new_sa) - - def test_dyn_ss_sol_against_yaw_rate(self): - """Verify that the yaw_rate helper function matches the results - from the state space model.""" - - for roll in np.linspace(math.radians(-20), math.radians(20), num=11): - for u in np.linspace(1, 30, num=10): - for sa in np.linspace(math.radians(-20), math.radians(20), num=11): - - # Compute yaw rate based on state space model - _, yr1 = dyn_ss_sol(sa, u, roll, self.VM) - - # Compute yaw rate using direct computations - yr2 = self.VM.yaw_rate(sa, u, roll) - assert float(yr1[0]) == pytest.approx(yr2) - - def test_syn_ss_sol_simulate(self): - """Verifies that dyn_ss_sol matches a simulation""" - - for roll in np.linspace(math.radians(-20), math.radians(20), num=11): - for u in np.linspace(1, 30, num=10): - A, B = create_dyn_state_matrices(u, self.VM) - - # Convert to discrete time system - ss = StateSpace(A, B, np.eye(2), np.zeros((2, 2))) - ss = ss.sample(0.01) - - for sa in np.linspace(math.radians(-20), math.radians(20), num=11): - inp = np.array([[sa], [roll]]) - - # Simulate for 1 second - x1 = np.zeros((2, 1)) - for _ in range(100): - x1 = ss.A @ x1 + ss.B @ inp - - # Compute steady state solution directly - x2 = dyn_ss_sol(sa, u, roll, self.VM) - - np.testing.assert_almost_equal(x1, x2, decimal=3) diff --git a/selfdrive/controls/tests/__init__.py b/selfdrive/controls/tests/__init__.py deleted file mode 100644 index e69de29bb2d1d6..00000000000000 diff --git a/selfdrive/controls/tests/test_alerts.py b/selfdrive/controls/tests/test_alerts.py deleted file mode 100644 index 38dc0459499990..00000000000000 --- a/selfdrive/controls/tests/test_alerts.py +++ /dev/null @@ -1,130 +0,0 @@ -import copy -import json -import os -import random -from PIL import Image, ImageDraw, ImageFont - -from cereal import log, car -from cereal.messaging import SubMaster -from openpilot.common.basedir import BASEDIR -from openpilot.common.params import Params -from openpilot.selfdrive.controls.lib.events import Alert, EVENTS, ET -from openpilot.selfdrive.controls.lib.alertmanager import set_offroad_alert -from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS - -AlertSize = log.ControlsState.AlertSize - -OFFROAD_ALERTS_PATH = os.path.join(BASEDIR, "selfdrive/controls/lib/alerts_offroad.json") - -# TODO: add callback alerts -ALERTS = [] -for event_types in EVENTS.values(): - for alert in event_types.values(): - ALERTS.append(alert) - - -class TestAlerts: - - @classmethod - def setup_class(cls): - with open(OFFROAD_ALERTS_PATH) as f: - cls.offroad_alerts = json.loads(f.read()) - - # Create fake objects for callback - cls.CS = car.CarState.new_message() - cls.CP = car.CarParams.new_message() - cfg = [c for c in CONFIGS if c.proc_name == 'controlsd'][0] - cls.sm = SubMaster(cfg.pubs) - - def test_events_defined(self): - # Ensure all events in capnp schema are defined in events.py - events = car.CarEvent.EventName.schema.enumerants - - for name, e in events.items(): - if not name.endswith("DEPRECATED"): - fail_msg = "%s @%d not in EVENTS" % (name, e) - assert e in EVENTS.keys(), fail_msg - - # ensure alert text doesn't exceed allowed width - def test_alert_text_length(self): - font_path = os.path.join(BASEDIR, "selfdrive/assets/fonts") - regular_font_path = os.path.join(font_path, "Inter-SemiBold.ttf") - bold_font_path = os.path.join(font_path, "Inter-Bold.ttf") - semibold_font_path = os.path.join(font_path, "Inter-SemiBold.ttf") - - max_text_width = 2160 - 300 # full screen width is usable, minus sidebar - draw = ImageDraw.Draw(Image.new('RGB', (0, 0))) - - fonts = { - AlertSize.small: [ImageFont.truetype(semibold_font_path, 74)], - AlertSize.mid: [ImageFont.truetype(bold_font_path, 88), - ImageFont.truetype(regular_font_path, 66)], - } - - for alert in ALERTS: - if not isinstance(alert, Alert): - alert = alert(self.CP, self.CS, self.sm, metric=False, soft_disable_time=100) - - # for full size alerts, both text fields wrap the text, - # so it's unlikely that they would go past the max width - if alert.alert_size in (AlertSize.none, AlertSize.full): - continue - - for i, txt in enumerate([alert.alert_text_1, alert.alert_text_2]): - if i >= len(fonts[alert.alert_size]): - break - - font = fonts[alert.alert_size][i] - left, _, right, _ = draw.textbbox((0, 0), txt, font) - width = right - left - msg = f"type: {alert.alert_type} msg: {txt}" - assert width <= max_text_width, msg - - def test_alert_sanity_check(self): - for event_types in EVENTS.values(): - for event_type, a in event_types.items(): - # TODO: add callback alerts - if not isinstance(a, Alert): - continue - - if a.alert_size == AlertSize.none: - assert len(a.alert_text_1) == 0 - assert len(a.alert_text_2) == 0 - elif a.alert_size == AlertSize.small: - assert len(a.alert_text_1) > 0 - assert len(a.alert_text_2) == 0 - elif a.alert_size == AlertSize.mid: - assert len(a.alert_text_1) > 0 - assert len(a.alert_text_2) > 0 - else: - assert len(a.alert_text_1) > 0 - - assert a.duration >= 0. - - if event_type not in (ET.WARNING, ET.PERMANENT, ET.PRE_ENABLE): - assert a.creation_delay == 0. - - def test_offroad_alerts(self): - params = Params() - for a in self.offroad_alerts: - # set the alert - alert = copy.copy(self.offroad_alerts[a]) - set_offroad_alert(a, True) - alert['extra'] = '' - assert json.dumps(alert) == params.get(a, encoding='utf8') - - # then delete it - set_offroad_alert(a, False) - assert params.get(a) is None - - def test_offroad_alerts_extra_text(self): - params = Params() - for i in range(50): - # set the alert - a = random.choice(list(self.offroad_alerts)) - alert = self.offroad_alerts[a] - set_offroad_alert(a, True, extra_text="a"*i) - - written_alert = json.loads(params.get(a, encoding='utf8')) - assert "a"*i == written_alert['extra'] - assert alert["text"] == written_alert['text'] diff --git a/selfdrive/controls/tests/test_cruise_speed.py b/selfdrive/controls/tests/test_cruise_speed.py deleted file mode 100644 index 8f451a49bc1d26..00000000000000 --- a/selfdrive/controls/tests/test_cruise_speed.py +++ /dev/null @@ -1,151 +0,0 @@ -import pytest -import itertools -import numpy as np - -from parameterized import parameterized_class -from cereal import log -from openpilot.selfdrive.controls.lib.drive_helpers import VCruiseHelper, V_CRUISE_MIN, V_CRUISE_MAX, V_CRUISE_INITIAL, IMPERIAL_INCREMENT -from cereal import car -from openpilot.common.conversions import Conversions as CV -from openpilot.selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver - -ButtonEvent = car.CarState.ButtonEvent -ButtonType = car.CarState.ButtonEvent.Type - - -def run_cruise_simulation(cruise, e2e, personality, t_end=20.): - man = Maneuver( - '', - duration=t_end, - initial_speed=max(cruise - 1., 0.0), - lead_relevancy=True, - initial_distance_lead=100, - cruise_values=[cruise], - prob_lead_values=[0.0], - breakpoints=[0.], - e2e=e2e, - personality=personality, - ) - valid, output = man.evaluate() - assert valid - return output[-1, 3] - - -@parameterized_class(("e2e", "personality", "speed"), itertools.product( - [True, False], # e2e - log.LongitudinalPersonality.schema.enumerants, # personality - [5,35])) # speed -class TestCruiseSpeed: - def test_cruise_speed(self): - print(f'Testing {self.speed} m/s') - cruise_speed = float(self.speed) - - simulation_steady_state = run_cruise_simulation(cruise_speed, self.e2e, self.personality) - assert simulation_steady_state == pytest.approx(cruise_speed, abs=.01), f'Did not reach {self.speed} m/s' - - -# TODO: test pcmCruise -@parameterized_class(('pcm_cruise',), [(False,)]) -class TestVCruiseHelper: - def setup_method(self): - self.CP = car.CarParams(pcmCruise=self.pcm_cruise) - self.v_cruise_helper = VCruiseHelper(self.CP) - self.reset_cruise_speed_state() - - def reset_cruise_speed_state(self): - # Two resets previous cruise speed - for _ in range(2): - self.v_cruise_helper.update_v_cruise(car.CarState(cruiseState={"available": False}), enabled=False, is_metric=False) - - def enable(self, v_ego, experimental_mode): - # Simulates user pressing set with a current speed - self.v_cruise_helper.initialize_v_cruise(car.CarState(vEgo=v_ego), experimental_mode) - - def test_adjust_speed(self): - """ - Asserts speed changes on falling edges of buttons. - """ - - self.enable(V_CRUISE_INITIAL * CV.KPH_TO_MS, False) - - for btn in (ButtonType.accelCruise, ButtonType.decelCruise): - for pressed in (True, False): - CS = car.CarState(cruiseState={"available": True}) - CS.buttonEvents = [ButtonEvent(type=btn, pressed=pressed)] - - self.v_cruise_helper.update_v_cruise(CS, enabled=True, is_metric=False) - assert pressed == (self.v_cruise_helper.v_cruise_kph == self.v_cruise_helper.v_cruise_kph_last) - - def test_rising_edge_enable(self): - """ - Some car interfaces may enable on rising edge of a button, - ensure we don't adjust speed if enabled changes mid-press. - """ - - # NOTE: enabled is always one frame behind the result from button press in controlsd - for enabled, pressed in ((False, False), - (False, True), - (True, False)): - CS = car.CarState(cruiseState={"available": True}) - CS.buttonEvents = [ButtonEvent(type=ButtonType.decelCruise, pressed=pressed)] - self.v_cruise_helper.update_v_cruise(CS, enabled=enabled, is_metric=False) - if pressed: - self.enable(V_CRUISE_INITIAL * CV.KPH_TO_MS, False) - - # Expected diff on enabling. Speed should not change on falling edge of pressed - assert not pressed == self.v_cruise_helper.v_cruise_kph == self.v_cruise_helper.v_cruise_kph_last - - def test_resume_in_standstill(self): - """ - Asserts we don't increment set speed if user presses resume/accel to exit cruise standstill. - """ - - self.enable(0, False) - - for standstill in (True, False): - for pressed in (True, False): - CS = car.CarState(cruiseState={"available": True, "standstill": standstill}) - CS.buttonEvents = [ButtonEvent(type=ButtonType.accelCruise, pressed=pressed)] - self.v_cruise_helper.update_v_cruise(CS, enabled=True, is_metric=False) - - # speed should only update if not at standstill and button falling edge - should_equal = standstill or pressed - assert should_equal == (self.v_cruise_helper.v_cruise_kph == self.v_cruise_helper.v_cruise_kph_last) - - def test_set_gas_pressed(self): - """ - Asserts pressing set while enabled with gas pressed sets - the speed to the maximum of vEgo and current cruise speed. - """ - - for v_ego in np.linspace(0, 100, 101): - self.reset_cruise_speed_state() - self.enable(V_CRUISE_INITIAL * CV.KPH_TO_MS, False) - - # first decrement speed, then perform gas pressed logic - expected_v_cruise_kph = self.v_cruise_helper.v_cruise_kph - IMPERIAL_INCREMENT - expected_v_cruise_kph = max(expected_v_cruise_kph, v_ego * CV.MS_TO_KPH) # clip to min of vEgo - expected_v_cruise_kph = float(np.clip(round(expected_v_cruise_kph, 1), V_CRUISE_MIN, V_CRUISE_MAX)) - - CS = car.CarState(vEgo=float(v_ego), gasPressed=True, cruiseState={"available": True}) - CS.buttonEvents = [ButtonEvent(type=ButtonType.decelCruise, pressed=False)] - self.v_cruise_helper.update_v_cruise(CS, enabled=True, is_metric=False) - - # TODO: fix skipping first run due to enabled on rising edge exception - if v_ego == 0.0: - continue - assert expected_v_cruise_kph == self.v_cruise_helper.v_cruise_kph - - def test_initialize_v_cruise(self): - """ - Asserts allowed cruise speeds on enabling with SET. - """ - - for experimental_mode in (True, False): - for v_ego in np.linspace(0, 100, 101): - self.reset_cruise_speed_state() - assert not self.v_cruise_helper.v_cruise_initialized - - self.enable(float(v_ego), experimental_mode) - assert V_CRUISE_INITIAL <= self.v_cruise_helper.v_cruise_kph <= V_CRUISE_MAX - assert self.v_cruise_helper.v_cruise_initialized diff --git a/selfdrive/controls/tests/test_following_distance.py b/selfdrive/controls/tests/test_following_distance.py deleted file mode 100644 index 0fd543dd60568c..00000000000000 --- a/selfdrive/controls/tests/test_following_distance.py +++ /dev/null @@ -1,40 +0,0 @@ -import pytest -import itertools -from parameterized import parameterized_class - -from cereal import log - -from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import desired_follow_distance, get_T_FOLLOW -from openpilot.selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver - - -def run_following_distance_simulation(v_lead, t_end=100.0, e2e=False, personality=0): - man = Maneuver( - '', - duration=t_end, - initial_speed=float(v_lead), - lead_relevancy=True, - initial_distance_lead=100, - speed_lead_values=[v_lead], - breakpoints=[0.], - e2e=e2e, - personality=personality, - ) - valid, output = man.evaluate() - assert valid - return output[-1,2] - output[-1,1] - - -@parameterized_class(("e2e", "personality", "speed"), itertools.product( - [True, False], # e2e - [log.LongitudinalPersonality.relaxed, # personality - log.LongitudinalPersonality.standard, - log.LongitudinalPersonality.aggressive], - [0,10,35])) # speed -class TestFollowingDistance: - def test_following_distance(self): - v_lead = float(self.speed) - simulation_steady_state = run_following_distance_simulation(v_lead, e2e=self.e2e, personality=self.personality) - correct_steady_state = desired_follow_distance(v_lead, v_lead, get_T_FOLLOW(self.personality)) - err_ratio = 0.2 if self.e2e else 0.1 - assert simulation_steady_state == pytest.approx(correct_steady_state, abs=err_ratio * correct_steady_state + .5) diff --git a/selfdrive/controls/tests/test_lateral_mpc.py b/selfdrive/controls/tests/test_lateral_mpc.py deleted file mode 100644 index 3aa0fd1bce4804..00000000000000 --- a/selfdrive/controls/tests/test_lateral_mpc.py +++ /dev/null @@ -1,85 +0,0 @@ -import pytest -import numpy as np -from openpilot.selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import LateralMpc -from openpilot.selfdrive.controls.lib.drive_helpers import CAR_ROTATION_RADIUS -from openpilot.selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import N as LAT_MPC_N - - -def run_mpc(lat_mpc=None, v_ref=30., x_init=0., y_init=0., psi_init=0., curvature_init=0., - lane_width=3.6, poly_shift=0.): - - if lat_mpc is None: - lat_mpc = LateralMpc() - lat_mpc.set_weights(1., .1, 0.0, .05, 800) - - y_pts = poly_shift * np.ones(LAT_MPC_N + 1) - heading_pts = np.zeros(LAT_MPC_N + 1) - curv_rate_pts = np.zeros(LAT_MPC_N + 1) - - x0 = np.array([x_init, y_init, psi_init, curvature_init]) - p = np.column_stack([v_ref * np.ones(LAT_MPC_N + 1), - CAR_ROTATION_RADIUS * np.ones(LAT_MPC_N + 1)]) - - # converge in no more than 10 iterations - for _ in range(10): - lat_mpc.run(x0, p, - y_pts, heading_pts, curv_rate_pts) - return lat_mpc.x_sol - - -class TestLateralMpc: - - def _assert_null(self, sol, curvature=1e-6): - for i in range(len(sol)): - assert sol[0,i,1] == pytest.approx(0, abs=curvature) - assert sol[0,i,2] == pytest.approx(0, abs=curvature) - assert sol[0,i,3] == pytest.approx(0, abs=curvature) - - def _assert_simmetry(self, sol, curvature=1e-6): - for i in range(len(sol)): - assert sol[0,i,1] == pytest.approx(-sol[1,i,1], abs=curvature) - assert sol[0,i,2] == pytest.approx(-sol[1,i,2], abs=curvature) - assert sol[0,i,3] == pytest.approx(-sol[1,i,3], abs=curvature) - assert sol[0,i,0] == pytest.approx(sol[1,i,0], abs=curvature) - - def test_straight(self): - sol = run_mpc() - self._assert_null(np.array([sol])) - - def test_y_symmetry(self): - sol = [] - for y_init in [-0.5, 0.5]: - sol.append(run_mpc(y_init=y_init)) - self._assert_simmetry(np.array(sol)) - - def test_poly_symmetry(self): - sol = [] - for poly_shift in [-1., 1.]: - sol.append(run_mpc(poly_shift=poly_shift)) - self._assert_simmetry(np.array(sol)) - - def test_curvature_symmetry(self): - sol = [] - for curvature_init in [-0.1, 0.1]: - sol.append(run_mpc(curvature_init=curvature_init)) - self._assert_simmetry(np.array(sol)) - - def test_psi_symmetry(self): - sol = [] - for psi_init in [-0.1, 0.1]: - sol.append(run_mpc(psi_init=psi_init)) - self._assert_simmetry(np.array(sol)) - - def test_no_overshoot(self): - y_init = 1. - sol = run_mpc(y_init=y_init) - for y in list(sol[:,1]): - assert y_init >= abs(y) - - def test_switch_convergence(self): - lat_mpc = LateralMpc() - sol = run_mpc(lat_mpc=lat_mpc, poly_shift=3.0, v_ref=7.0) - right_psi_deg = np.degrees(sol[:,2]) - sol = run_mpc(lat_mpc=lat_mpc, poly_shift=-3.0, v_ref=7.0) - left_psi_deg = np.degrees(sol[:,2]) - np.testing.assert_almost_equal(right_psi_deg, -left_psi_deg, decimal=3) diff --git a/selfdrive/controls/tests/test_leads.py b/selfdrive/controls/tests/test_leads.py deleted file mode 100644 index f1f4449afdc4b9..00000000000000 --- a/selfdrive/controls/tests/test_leads.py +++ /dev/null @@ -1,29 +0,0 @@ -import cereal.messaging as messaging - -from openpilot.selfdrive.test.process_replay import replay_process_with_name -from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA - - -class TestLeads: - def test_radar_fault(self): - # if there's no radar-related can traffic, radard should either not respond or respond with an error - # this is tightly coupled with underlying car radar_interface implementation, but it's a good sanity check - def single_iter_pkg(): - # single iter package, with meaningless cans and empty carState/modelV2 - msgs = [] - for _ in range(5): - can = messaging.new_message("can", 1) - cs = messaging.new_message("carState") - msgs.append(can.as_reader()) - msgs.append(cs.as_reader()) - model = messaging.new_message("modelV2") - msgs.append(model.as_reader()) - - return msgs - - msgs = [m for _ in range(3) for m in single_iter_pkg()] - out = replay_process_with_name("radard", msgs, fingerprint=TOYOTA.TOYOTA_COROLLA_TSS2) - states = [m for m in out if m.which() == "radarState"] - failures = [not state.valid and len(state.radarState.radarErrors) for state in states] - - assert len(states) == 0 or all(failures) diff --git a/selfdrive/controls/tests/test_startup.py b/selfdrive/controls/tests/test_startup.py deleted file mode 100644 index 14b0788a3d594c..00000000000000 --- a/selfdrive/controls/tests/test_startup.py +++ /dev/null @@ -1,121 +0,0 @@ -import os -from parameterized import parameterized - -from cereal import log, car -import cereal.messaging as messaging -from openpilot.common.params import Params -from openpilot.selfdrive.pandad.pandad_api_impl import can_list_to_can_capnp -from openpilot.selfdrive.car.fingerprints import _FINGERPRINTS -from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA -from openpilot.selfdrive.car.mazda.values import CAR as MAZDA -from openpilot.selfdrive.controls.lib.events import EVENT_NAME -from openpilot.system.manager.process_config import managed_processes - -EventName = car.CarEvent.EventName -Ecu = car.CarParams.Ecu - -COROLLA_FW_VERSIONS = [ - (Ecu.engine, 0x7e0, None, b'\x0230ZC2000\x00\x00\x00\x00\x00\x00\x00\x0050212000\x00\x00\x00\x00\x00\x00\x00\x00'), - (Ecu.abs, 0x7b0, None, b'F152602190\x00\x00\x00\x00\x00\x00'), - (Ecu.eps, 0x7a1, None, b'8965B02181\x00\x00\x00\x00\x00\x00'), - (Ecu.fwdRadar, 0x750, 0xf, b'8821F4702100\x00\x00\x00\x00'), - (Ecu.fwdCamera, 0x750, 0x6d, b'8646F0201101\x00\x00\x00\x00'), - (Ecu.dsu, 0x791, None, b'881510201100\x00\x00\x00\x00'), -] -COROLLA_FW_VERSIONS_FUZZY = COROLLA_FW_VERSIONS[:-1] + [(Ecu.dsu, 0x791, None, b'xxxxxx')] -COROLLA_FW_VERSIONS_NO_DSU = COROLLA_FW_VERSIONS[:-1] - -CX5_FW_VERSIONS = [ - (Ecu.engine, 0x7e0, None, b'PYNF-188K2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00'), - (Ecu.abs, 0x760, None, b'K123-437K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00'), - (Ecu.eps, 0x730, None, b'KJ01-3210X-G-00\x00\x00\x00\x00\x00\x00\x00\x00\x00'), - (Ecu.fwdRadar, 0x764, None, b'K123-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00'), - (Ecu.fwdCamera, 0x706, None, b'B61L-67XK2-T\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00'), - (Ecu.transmission, 0x7e1, None, b'PYNC-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00'), -] - - -@parameterized.expand([ - # TODO: test EventName.startup for release branches - - # officially supported car - (EventName.startupMaster, TOYOTA.TOYOTA_COROLLA, COROLLA_FW_VERSIONS, "toyota"), - (EventName.startupMaster, TOYOTA.TOYOTA_COROLLA, COROLLA_FW_VERSIONS, "toyota"), - - # dashcamOnly car - (EventName.startupNoControl, MAZDA.MAZDA_CX5, CX5_FW_VERSIONS, "mazda"), - (EventName.startupNoControl, MAZDA.MAZDA_CX5, CX5_FW_VERSIONS, "mazda"), - - # unrecognized car with no fw - (EventName.startupNoFw, None, None, ""), - (EventName.startupNoFw, None, None, ""), - - # unrecognized car - (EventName.startupNoCar, None, COROLLA_FW_VERSIONS[:1], "toyota"), - (EventName.startupNoCar, None, COROLLA_FW_VERSIONS[:1], "toyota"), - - # fuzzy match - (EventName.startupMaster, TOYOTA.TOYOTA_COROLLA, COROLLA_FW_VERSIONS_FUZZY, "toyota"), - (EventName.startupMaster, TOYOTA.TOYOTA_COROLLA, COROLLA_FW_VERSIONS_FUZZY, "toyota"), -]) -def test_startup_alert(expected_event, car_model, fw_versions, brand): - controls_sock = messaging.sub_sock("controlsState") - pm = messaging.PubMaster(['can', 'pandaStates']) - - params = Params() - params.put_bool("OpenpilotEnabledToggle", True) - - # Build capnn version of FW array - if fw_versions is not None: - car_fw = [] - cp = car.CarParams.new_message() - for ecu, addr, subaddress, version in fw_versions: - f = car.CarParams.CarFw.new_message() - f.ecu = ecu - f.address = addr - f.fwVersion = version - f.brand = brand - - if subaddress is not None: - f.subAddress = subaddress - - car_fw.append(f) - cp.carVin = "1" * 17 - cp.carFw = car_fw - params.put("CarParamsCache", cp.to_bytes()) - else: - os.environ['SKIP_FW_QUERY'] = '1' - - managed_processes['controlsd'].start() - managed_processes['card'].start() - - assert pm.wait_for_readers_to_update('can', 5) - pm.send('can', can_list_to_can_capnp([[0, 0, b"", 0]])) - - assert pm.wait_for_readers_to_update('pandaStates', 5) - msg = messaging.new_message('pandaStates', 1) - msg.pandaStates[0].pandaType = log.PandaState.PandaType.uno - pm.send('pandaStates', msg) - - # fingerprint - if (car_model is None) or (fw_versions is not None): - finger = {addr: 1 for addr in range(1, 100)} - else: - finger = _FINGERPRINTS[car_model][0] - - msgs = [[addr, 0, b'\x00'*length, 0] for addr, length in finger.items()] - for _ in range(1000): - # card waits for pandad to echo back that it has changed the multiplexing mode - if not params.get_bool("ObdMultiplexingChanged"): - params.put_bool("ObdMultiplexingChanged", True) - - pm.send('can', can_list_to_can_capnp(msgs)) - assert pm.wait_for_readers_to_update('can', 5, dt=0.001), f"step: {_}" - - ctrls = messaging.drain_sock(controls_sock) - if len(ctrls): - event_name = ctrls[0].controlsState.alertType.split("/")[0] - assert EVENT_NAME[expected_event] == event_name, f"expected {EVENT_NAME[expected_event]} for '{car_model}', got {event_name}" - break - else: - raise Exception(f"failed to fingerprint {car_model}") diff --git a/selfdrive/controls/tests/test_state_machine.py b/selfdrive/controls/tests/test_state_machine.py deleted file mode 100644 index b6ec512dc4ab0a..00000000000000 --- a/selfdrive/controls/tests/test_state_machine.py +++ /dev/null @@ -1,102 +0,0 @@ -from cereal import car, log -from openpilot.common.realtime import DT_CTRL -from openpilot.selfdrive.car.car_helpers import interfaces -from openpilot.selfdrive.controls.controlsd import Controls, SOFT_DISABLE_TIME -from openpilot.selfdrive.controls.lib.events import Events, ET, Alert, Priority, AlertSize, AlertStatus, VisualAlert, \ - AudibleAlert, EVENTS -from openpilot.selfdrive.car.mock.values import CAR as MOCK - -State = log.ControlsState.OpenpilotState - -# The event types that maintain the current state -MAINTAIN_STATES = {State.enabled: (None,), State.disabled: (None,), State.softDisabling: (ET.SOFT_DISABLE,), - State.preEnabled: (ET.PRE_ENABLE,), State.overriding: (ET.OVERRIDE_LATERAL, ET.OVERRIDE_LONGITUDINAL)} -ALL_STATES = tuple(State.schema.enumerants.values()) -# The event types checked in DISABLED section of state machine -ENABLE_EVENT_TYPES = (ET.ENABLE, ET.PRE_ENABLE, ET.OVERRIDE_LATERAL, ET.OVERRIDE_LONGITUDINAL) - - -def make_event(event_types): - event = {} - for ev in event_types: - event[ev] = Alert("", "", AlertStatus.normal, AlertSize.small, Priority.LOW, - VisualAlert.none, AudibleAlert.none, 1.) - EVENTS[0] = event - return 0 - - -class TestStateMachine: - - def setup_method(self): - CarInterface, CarController, CarState = interfaces[MOCK.MOCK] - CP = CarInterface.get_non_essential_params(MOCK.MOCK) - CI = CarInterface(CP, CarController, CarState) - - self.controlsd = Controls(CI=CI) - self.controlsd.events = Events() - self.controlsd.soft_disable_timer = int(SOFT_DISABLE_TIME / DT_CTRL) - self.CS = car.CarState() - - def test_immediate_disable(self): - for state in ALL_STATES: - for et in MAINTAIN_STATES[state]: - self.controlsd.events.add(make_event([et, ET.IMMEDIATE_DISABLE])) - self.controlsd.state = state - self.controlsd.state_transition(self.CS) - assert State.disabled == self.controlsd.state - self.controlsd.events.clear() - - def test_user_disable(self): - for state in ALL_STATES: - for et in MAINTAIN_STATES[state]: - self.controlsd.events.add(make_event([et, ET.USER_DISABLE])) - self.controlsd.state = state - self.controlsd.state_transition(self.CS) - assert State.disabled == self.controlsd.state - self.controlsd.events.clear() - - def test_soft_disable(self): - for state in ALL_STATES: - if state == State.preEnabled: # preEnabled considers NO_ENTRY instead - continue - for et in MAINTAIN_STATES[state]: - self.controlsd.events.add(make_event([et, ET.SOFT_DISABLE])) - self.controlsd.state = state - self.controlsd.state_transition(self.CS) - assert self.controlsd.state == State.disabled if state == State.disabled else State.softDisabling - self.controlsd.events.clear() - - def test_soft_disable_timer(self): - self.controlsd.state = State.enabled - self.controlsd.events.add(make_event([ET.SOFT_DISABLE])) - self.controlsd.state_transition(self.CS) - for _ in range(int(SOFT_DISABLE_TIME / DT_CTRL)): - assert self.controlsd.state == State.softDisabling - self.controlsd.state_transition(self.CS) - - assert self.controlsd.state == State.disabled - - def test_no_entry(self): - # Make sure noEntry keeps us disabled - for et in ENABLE_EVENT_TYPES: - self.controlsd.events.add(make_event([ET.NO_ENTRY, et])) - self.controlsd.state_transition(self.CS) - assert self.controlsd.state == State.disabled - self.controlsd.events.clear() - - def test_no_entry_pre_enable(self): - # preEnabled with noEntry event - self.controlsd.state = State.preEnabled - self.controlsd.events.add(make_event([ET.NO_ENTRY, ET.PRE_ENABLE])) - self.controlsd.state_transition(self.CS) - assert self.controlsd.state == State.preEnabled - - def test_maintain_states(self): - # Given current state's event type, we should maintain state - for state in ALL_STATES: - for et in MAINTAIN_STATES[state]: - self.controlsd.state = state - self.controlsd.events.add(make_event([et])) - self.controlsd.state_transition(self.CS) - assert self.controlsd.state == state - self.controlsd.events.clear() diff --git a/selfdrive/debug/README.md b/selfdrive/debug/README.md deleted file mode 100644 index 83b8a994db1a74..00000000000000 --- a/selfdrive/debug/README.md +++ /dev/null @@ -1,59 +0,0 @@ -# debug scripts - -## [can_printer.py](can_printer.py) - -``` -usage: can_printer.py [-h] [--bus BUS] [--max_msg MAX_MSG] [--addr ADDR] - -simple CAN data viewer - -optional arguments: - -h, --help show this help message and exit - --bus BUS CAN bus to print out (default: 0) - --max_msg MAX_MSG max addr (default: None) - --addr ADDR -``` - -## [dump.py](dump.py) - -``` -usage: dump.py [-h] [--pipe] [--raw] [--json] [--dump-json] [--no-print] [--addr ADDR] [--values VALUES] [socket [socket ...]] - -Dump communication sockets. See cereal/services.py for a complete list of available sockets. - -positional arguments: - socket socket names to dump. defaults to all services defined in cereal - -optional arguments: - -h, --help show this help message and exit - --pipe - --raw - --json - --dump-json - --no-print - --addr ADDR - --values VALUES values to monitor (instead of entire event) -``` - -## [vw_mqb_config.py](vw_mqb_config.py) - -``` -usage: vw_mqb_config.py [-h] [--debug] {enable,show,disable} - -Shows Volkswagen EPS software and coding info, and enables or disables Heading Control -Assist (Lane Assist). Useful for enabling HCA on cars without factory Lane Assist that want -to use openpilot integrated at the CAN gateway (J533). - -positional arguments: - {enable,show,disable} - show or modify current EPS HCA config - -optional arguments: - -h, --help show this help message and exit - --debug enable ISO-TP/UDS stack debugging output - -This tool is meant to run directly on a vehicle-installed comma three, with -the openpilot/tmux processes stopped. It should also work on a separate PC with a USB- -attached comma panda. Vehicle ignition must be on. Recommend engine not be running when -making changes. Must turn ignition off and on again for any changes to take effect. -``` diff --git a/selfdrive/debug/__init__.py b/selfdrive/debug/__init__.py deleted file mode 100644 index e69de29bb2d1d6..00000000000000 diff --git a/selfdrive/debug/adb.sh b/selfdrive/debug/adb.sh deleted file mode 100755 index 919a82fefc726b..00000000000000 --- a/selfdrive/debug/adb.sh +++ /dev/null @@ -1,11 +0,0 @@ -#!/usr/bin/bash -set -e - -PORT=5555 - -setprop service.adb.tcp.port $PORT -sudo systemctl start adbd - -IP=$(echo $SSH_CONNECTION | awk '{ print $3}') -echo "then, connect on your computer:" -echo "adb connect $IP:$PORT" diff --git a/selfdrive/debug/can_print_changes.py b/selfdrive/debug/can_print_changes.py deleted file mode 100755 index 97d60b2b05ed9f..00000000000000 --- a/selfdrive/debug/can_print_changes.py +++ /dev/null @@ -1,109 +0,0 @@ -#!/usr/bin/env python3 -import argparse -import binascii -import time -from collections import defaultdict - -import cereal.messaging as messaging -from openpilot.selfdrive.debug.can_table import can_table -from openpilot.tools.lib.logreader import LogIterable, LogReader - -RED = '\033[91m' -CLEAR = '\033[0m' - -def update(msgs, bus, dat, low_to_high, high_to_low, quiet=False): - for x in msgs: - if x.which() != 'can': - continue - - for y in x.can: - if y.src == bus: - dat[y.address] = y.dat - - i = int.from_bytes(y.dat, byteorder='big') - l_h = low_to_high[y.address] - h_l = high_to_low[y.address] - - change = None - if (i | l_h) != l_h: - low_to_high[y.address] = i | l_h - change = "+" - - if (~i | h_l) != h_l: - high_to_low[y.address] = ~i | h_l - change = "-" - - if change and not quiet: - print(f"{time.monotonic():.2f}\t{hex(y.address)} ({y.address})\t{change}{binascii.hexlify(y.dat)}") - - -def can_printer(bus=0, init_msgs=None, new_msgs=None, table=False): - logcan = messaging.sub_sock('can', timeout=10) - - dat = defaultdict(int) - low_to_high = defaultdict(int) - high_to_low = defaultdict(int) - - if init_msgs is not None: - update(init_msgs, bus, dat, low_to_high, high_to_low, quiet=True) - - low_to_high_init = low_to_high.copy() - high_to_low_init = high_to_low.copy() - - if new_msgs is not None: - update(new_msgs, bus, dat, low_to_high, high_to_low) - else: - # Live mode - print(f"Waiting for messages on bus {bus}") - try: - while 1: - can_recv = messaging.drain_sock(logcan) - update(can_recv, bus, dat, low_to_high, high_to_low) - time.sleep(0.02) - except KeyboardInterrupt: - pass - - print("\n\n") - tables = "" - for addr in sorted(dat.keys()): - init = low_to_high_init[addr] & high_to_low_init[addr] - now = low_to_high[addr] & high_to_low[addr] - d = now & ~init - if d == 0: - continue - b = d.to_bytes(len(dat[addr]), byteorder='big') - - byts = ''.join([(c if c == '0' else f'{RED}{c}{CLEAR}') for c in str(binascii.hexlify(b))[2:-1]]) - header = f"{hex(addr).ljust(6)}({str(addr).ljust(4)})" - print(header, byts) - tables += f"{header}\n" - tables += can_table(b) + "\n\n" - - if table: - print(tables) - -if __name__ == "__main__": - desc = """Collects messages and prints when a new bit transition is observed. - This is very useful to find signals based on user triggered actions, such as blinkers and seatbelt. - Leave the script running until no new transitions are seen, then perform the action.""" - parser = argparse.ArgumentParser(description=desc, - formatter_class=argparse.ArgumentDefaultsHelpFormatter) - parser.add_argument("--bus", type=int, help="CAN bus to print out", default=0) - parser.add_argument("--table", action="store_true", help="Print a cabana-like table") - parser.add_argument("init", type=str, nargs='?', help="Route or segment to initialize with. Use empty quotes to compare against all zeros.") - parser.add_argument("comp", type=str, nargs='?', help="Route or segment to compare against init") - - args = parser.parse_args() - - init_lr: LogIterable | None = None - new_lr: LogIterable | None = None - - if args.init: - if args.init == '': - init_lr = [] - else: - init_lr = LogReader(args.init) - if args.comp: - new_lr = LogReader(args.comp) - - can_printer(args.bus, init_msgs=init_lr, new_msgs=new_lr, table=args.table) diff --git a/selfdrive/debug/can_printer.py b/selfdrive/debug/can_printer.py deleted file mode 100755 index 220008979d1029..00000000000000 --- a/selfdrive/debug/can_printer.py +++ /dev/null @@ -1,45 +0,0 @@ -#!/usr/bin/env python3 -import argparse -import binascii -import time -from collections import defaultdict - -import cereal.messaging as messaging - - -def can_printer(bus, max_msg, addr, ascii_decode): - logcan = messaging.sub_sock('can', addr=addr) - - start = time.monotonic() - lp = time.monotonic() - msgs = defaultdict(list) - while 1: - can_recv = messaging.drain_sock(logcan, wait_for_one=True) - for x in can_recv: - for y in x.can: - if y.src == bus: - msgs[y.address].append(y.dat) - - if time.monotonic() - lp > 0.1: - dd = chr(27) + "[2J" - dd += f"{time.monotonic() - start:5.2f}\n" - for addr in sorted(msgs.keys()): - a = f"\"{msgs[addr][-1].decode('ascii', 'backslashreplace')}\"" if ascii_decode else "" - x = binascii.hexlify(msgs[addr][-1]).decode('ascii') - freq = len(msgs[addr]) / (time.monotonic() - start) - if max_msg is None or addr < max_msg: - dd += "%04X(%4d)(%6d)(%3dHz) %s %s\n" % (addr, addr, len(msgs[addr]), freq, x.ljust(20), a) - print(dd) - lp = time.monotonic() - -if __name__ == "__main__": - parser = argparse.ArgumentParser(description="simple CAN data viewer", - formatter_class=argparse.ArgumentDefaultsHelpFormatter) - - parser.add_argument("--bus", type=int, help="CAN bus to print out", default=0) - parser.add_argument("--max_msg", type=int, help="max addr") - parser.add_argument("--ascii", action='store_true', help="decode as ascii") - parser.add_argument("--addr", default="127.0.0.1") - - args = parser.parse_args() - can_printer(args.bus, args.max_msg, args.addr, args.ascii) diff --git a/selfdrive/debug/can_table.py b/selfdrive/debug/can_table.py deleted file mode 100755 index 11d070e7089d51..00000000000000 --- a/selfdrive/debug/can_table.py +++ /dev/null @@ -1,45 +0,0 @@ -#!/usr/bin/env python3 -import argparse -import pandas as pd - -import cereal.messaging as messaging - - -def can_table(dat): - rows = [] - for b in dat: - r = list(bin(b).lstrip('0b').zfill(8)) - r += [hex(b)] - rows.append(r) - - df = pd.DataFrame(data=rows) - df.columns = [str(n) for n in range(7, -1, -1)] + [' '] - table = df.to_markdown(tablefmt='grid') - return table - - -if __name__ == "__main__": - parser = argparse.ArgumentParser(description="Cabana-like table of bits for your terminal", - formatter_class=argparse.ArgumentDefaultsHelpFormatter) - parser.add_argument("addr", type=str, nargs=1) - parser.add_argument("bus", type=int, default=0, nargs='?') - - args = parser.parse_args() - - addr = int(args.addr[0], 0) - can = messaging.sub_sock('can', conflate=False, timeout=None) - - print(f"waiting for {hex(addr)} ({addr}) on bus {args.bus}...") - - latest = None - while True: - for msg in messaging.drain_sock(can, wait_for_one=True): - for m in msg.can: - if m.address == addr and m.src == args.bus: - latest = m - - if latest is None: - continue - - table = can_table(latest.dat) - print(f"\n\n{hex(addr)} ({addr}) on bus {args.bus}\n{table}") diff --git a/selfdrive/debug/check_can_parser_performance.py b/selfdrive/debug/check_can_parser_performance.py deleted file mode 100755 index 604a1df1248e86..00000000000000 --- a/selfdrive/debug/check_can_parser_performance.py +++ /dev/null @@ -1,38 +0,0 @@ -#!/usr/bin/env python3 -import numpy as np -import time -from tqdm import tqdm - -from cereal import car -from openpilot.selfdrive.car.tests.routes import CarTestRoute -from openpilot.selfdrive.car.tests.test_models import TestCarModelBase -from openpilot.tools.plotjuggler.juggle import DEMO_ROUTE - -N_RUNS = 10 - - -class CarModelTestCase(TestCarModelBase): - test_route = CarTestRoute(DEMO_ROUTE, None) - ci = False - - -if __name__ == '__main__': - # Get CAN messages and parsers - tm = CarModelTestCase() - tm.setUpClass() - tm.setUp() - - CC = car.CarControl.new_message() - ets = [] - for _ in tqdm(range(N_RUNS)): - msgs = [(m.as_builder().to_bytes(),) for m in tm.can_msgs] - start_t = time.process_time_ns() - for msg in msgs: - for cp in tm.CI.can_parsers: - if cp is not None: - cp.update_strings(msg) - ets.append((time.process_time_ns() - start_t) * 1e-6) - - print(f'{len(tm.can_msgs)} CAN packets, {N_RUNS} runs') - print(f'{np.mean(ets):.2f} mean ms, {max(ets):.2f} max ms, {min(ets):.2f} min ms, {np.std(ets):.2f} std ms') - print(f'{np.mean(ets) / len(tm.can_msgs):.4f} mean ms / CAN packet') diff --git a/selfdrive/debug/check_freq.py b/selfdrive/debug/check_freq.py deleted file mode 100755 index 1765aeb86b6752..00000000000000 --- a/selfdrive/debug/check_freq.py +++ /dev/null @@ -1,50 +0,0 @@ -#!/usr/bin/env python3 -import argparse -import numpy as np -import time -from collections import defaultdict, deque -from collections.abc import MutableSequence - -import cereal.messaging as messaging - - -if __name__ == "__main__": - context = messaging.Context() - poller = messaging.Poller() - - parser = argparse.ArgumentParser() - parser.add_argument("socket", type=str, nargs='*', help="socket name") - args = parser.parse_args() - - socket_names = args.socket - sockets = {} - - rcv_times: defaultdict[str, MutableSequence[float]] = defaultdict(lambda: deque(maxlen=100)) - valids: defaultdict[str, deque[bool]] = defaultdict(lambda: deque(maxlen=100)) - - t = time.monotonic() - for name in socket_names: - sock = messaging.sub_sock(name, poller=poller) - sockets[sock] = name - - prev_print = t - while True: - for socket in poller.poll(100): - msg = messaging.recv_one(socket) - if msg is None: - continue - - name = msg.which() - - t = time.monotonic() - rcv_times[name].append(msg.logMonoTime / 1e9) - valids[name].append(msg.valid) - - if t - prev_print > 1: - print() - for name in socket_names: - dts = np.diff(rcv_times[name]) - mean = np.mean(dts) - print(f"{name}: Freq {1.0 / mean:.2f} Hz, Min {np.min(dts) / mean * 100:.2f}%, Max {np.max(dts) / mean * 100:.2f}%, valid ", all(valids[name])) - - prev_print = t diff --git a/selfdrive/debug/check_lag.py b/selfdrive/debug/check_lag.py deleted file mode 100755 index 341ae79c8b5138..00000000000000 --- a/selfdrive/debug/check_lag.py +++ /dev/null @@ -1,27 +0,0 @@ -#!/usr/bin/env python3 - -import cereal.messaging as messaging -from cereal.services import SERVICE_LIST - -TO_CHECK = ['carState'] - - -if __name__ == "__main__": - sm = messaging.SubMaster(TO_CHECK) - - prev_t: dict[str, float] = {} - - while True: - sm.update() - - for s in TO_CHECK: - if sm.updated[s]: - t = sm.logMonoTime[s] / 1e9 - - if s in prev_t: - expected = 1.0 / (SERVICE_LIST[s].frequency) - dt = t - prev_t[s] - if dt > 10 * expected: - print(t, s, dt) - - prev_t[s] = t diff --git a/selfdrive/debug/check_timings.py b/selfdrive/debug/check_timings.py deleted file mode 100755 index fc527cd81b81d7..00000000000000 --- a/selfdrive/debug/check_timings.py +++ /dev/null @@ -1,36 +0,0 @@ -#!/usr/bin/env python3 -import sys -import time -import numpy as np -import datetime -from collections.abc import MutableSequence -from collections import defaultdict - -import cereal.messaging as messaging - - -if __name__ == "__main__": - ts: defaultdict[str, MutableSequence[float]] = defaultdict(list) - socks = {s: messaging.sub_sock(s, conflate=False) for s in sys.argv[1:]} - try: - st = time.monotonic() - while True: - print() - for s, sock in socks.items(): - msgs = messaging.drain_sock(sock) - for m in msgs: - ts[s].append(m.logMonoTime / 1e6) - - if len(ts[s]) > 2: - d = np.diff(ts[s])[-100:] - print(f"{s:25} {np.mean(d):7.2f} {np.std(d):7.2f} {np.max(d):7.2f} {np.min(d):7.2f}") - time.sleep(1) - except KeyboardInterrupt: - print("\n") - print("="*5, "timing summary", "="*5) - for s, sock in socks.items(): - msgs = messaging.drain_sock(sock) - if len(ts[s]) > 2: - d = np.diff(ts[s]) - print(f"{s:25} {np.mean(d):7.2f} {np.std(d):7.2f} {np.max(d):7.2f} {np.min(d):7.2f}") - print("="*5, datetime.timedelta(seconds=time.monotonic()-st), "="*5) diff --git a/selfdrive/debug/clear_dtc.py b/selfdrive/debug/clear_dtc.py deleted file mode 100755 index a931c423a945e3..00000000000000 --- a/selfdrive/debug/clear_dtc.py +++ /dev/null @@ -1,40 +0,0 @@ -#!/usr/bin/env python3 -import sys -import argparse -from subprocess import check_output, CalledProcessError -from panda import Panda -from panda.python.uds import UdsClient, MessageTimeoutError, SESSION_TYPE, DTC_GROUP_TYPE - -parser = argparse.ArgumentParser(description="clear DTC status") -parser.add_argument("addr", type=lambda x: int(x,0), nargs="?", default=0x7DF) # default is functional (broadcast) address -parser.add_argument("--bus", type=int, default=0) -parser.add_argument('--debug', action='store_true') -args = parser.parse_args() - -try: - check_output(["pidof", "pandad"]) - print("pandad is running, please kill openpilot before running this script! (aborted)") - sys.exit(1) -except CalledProcessError as e: - if e.returncode != 1: # 1 == no process found (pandad not running) - raise e - -panda = Panda() -panda.set_safety_mode(Panda.SAFETY_ELM327) -uds_client = UdsClient(panda, args.addr, bus=args.bus, debug=args.debug) -print("extended diagnostic session ...") -try: - uds_client.diagnostic_session_control(SESSION_TYPE.EXTENDED_DIAGNOSTIC) -except MessageTimeoutError: - # functional address isn't properly handled so a timeout occurs - if args.addr != 0x7DF: - raise -print("clear diagnostic info ...") -try: - uds_client.clear_diagnostic_information(DTC_GROUP_TYPE.ALL) -except MessageTimeoutError: - # functional address isn't properly handled so a timeout occurs - if args.addr != 0x7DF: - pass -print("") -print("you may need to power cycle your vehicle now") diff --git a/selfdrive/debug/count_events.py b/selfdrive/debug/count_events.py deleted file mode 100755 index 59420547570b0e..00000000000000 --- a/selfdrive/debug/count_events.py +++ /dev/null @@ -1,76 +0,0 @@ -#!/usr/bin/env python3 -import sys -import math -import datetime -from collections import Counter -from pprint import pprint -from typing import cast - -from cereal.services import SERVICE_LIST -from openpilot.tools.lib.logreader import LogReader, ReadMode - -if __name__ == "__main__": - cnt_events: Counter = Counter() - - cams = [s for s in SERVICE_LIST if s.endswith('CameraState')] - cnt_cameras = dict.fromkeys(cams, 0) - - events: list[tuple[float, set[str]]] = [] - alerts: list[tuple[float, str]] = [] - start_time = math.inf - end_time = -math.inf - ignition_off = None - for msg in LogReader(sys.argv[1], ReadMode.QLOG): - t = (msg.logMonoTime - start_time) / 1e9 - end_time = max(end_time, msg.logMonoTime) - start_time = min(start_time, msg.logMonoTime) - - if msg.which() == 'onroadEvents': - for e in msg.onroadEvents: - cnt_events[e.name] += 1 - - ae = {str(e.name) for e in msg.onroadEvents if e.name not in ('pedalPressed', 'steerOverride', 'gasPressedOverride')} - if len(events) == 0 or ae != events[-1][1]: - events.append((t, ae)) - - elif msg.which() == 'controlsState': - at = msg.controlsState.alertType - if "/override" not in at or "lanechange" in at.lower(): - if len(alerts) == 0 or alerts[-1][1] != at: - alerts.append((t, at)) - elif msg.which() == 'pandaStates': - if ignition_off is None: - ign = any(ps.ignitionLine or ps.ignitionCan for ps in msg.pandaStates) - if not ign: - ignition_off = msg.logMonoTime - break - elif msg.which() in cams: - cnt_cameras[msg.which()] += 1 - - duration = (end_time - start_time) / 1e9 - - print("Events") - pprint(cnt_events) - - print("\n") - print("Events") - for t, evt in events: - print(f"{t:8.2f} {evt}") - - print("\n") - print("Cameras") - for k, v in cnt_cameras.items(): - s = SERVICE_LIST[k] - expected_frames = int(s.frequency * duration / cast(float, s.decimation)) - print(" ", k.ljust(20), f"{v}, {v/expected_frames:.1%} of expected") - - print("\n") - print("Alerts") - for t, a in alerts: - print(f"{t:8.2f} {a}") - - print("\n") - if ignition_off is not None: - ignition_off = round((ignition_off - start_time) / 1e9, 2) - print("Ignition off at", ignition_off) - print("Route duration", datetime.timedelta(seconds=duration)) diff --git a/selfdrive/debug/cpu_usage_stat.py b/selfdrive/debug/cpu_usage_stat.py deleted file mode 100755 index 234dfea3ccf29c..00000000000000 --- a/selfdrive/debug/cpu_usage_stat.py +++ /dev/null @@ -1,123 +0,0 @@ -#!/usr/bin/env python3 -# type: ignore -''' -System tools like top/htop can only show current cpu usage values, so I write this script to do statistics jobs. - Features: - Use psutil library to sample cpu usage(avergage for all cores) of openpilot processes, at a rate of 5 samples/sec. - Do cpu usage statistics periodically, 5 seconds as a cycle. - Calculate the average cpu usage within this cycle. - Calculate minumium/maximum/accumulated_average cpu usage as long term inspections. - Monitor multiple processes simuteneously. - Sample usage: - root@localhost:/data/openpilot$ python selfdrive/debug/cpu_usage_stat.py pandad,ubloxd - ('Add monitored proc:', './pandad') - ('Add monitored proc:', 'python locationd/ubloxd.py') - pandad: 1.96%, min: 1.96%, max: 1.96%, acc: 1.96% - ubloxd.py: 0.39%, min: 0.39%, max: 0.39%, acc: 0.39% -''' -import psutil -import time -import os -import sys -import numpy as np -import argparse -import re -from collections import defaultdict - -from openpilot.system.manager.process_config import managed_processes - -# Do statistics every 5 seconds -PRINT_INTERVAL = 5 -SLEEP_INTERVAL = 0.2 - -monitored_proc_names = [ - # android procs - 'SurfaceFlinger', 'sensors.qcom' -] + list(managed_processes.keys()) - -cpu_time_names = ['user', 'system', 'children_user', 'children_system'] - -timer = getattr(time, 'monotonic', time.time) - - -def get_arg_parser(): - parser = argparse.ArgumentParser(formatter_class=argparse.ArgumentDefaultsHelpFormatter) - - parser.add_argument("proc_names", nargs="?", default='', - help="Process names to be monitored, comma separated") - parser.add_argument("--list_all", action='store_true', - help="Show all running processes' cmdline") - parser.add_argument("--detailed_times", action='store_true', - help="show cpu time details (split by user, system, child user, child system)") - return parser - - -if __name__ == "__main__": - args = get_arg_parser().parse_args(sys.argv[1:]) - if args.list_all: - for p in psutil.process_iter(): - print('cmdline', p.cmdline(), 'name', p.name()) - sys.exit(0) - - if len(args.proc_names) > 0: - monitored_proc_names = args.proc_names.split(',') - monitored_procs = [] - stats = {} - for p in psutil.process_iter(): - if p == psutil.Process(): - continue - matched = any(l for l in p.cmdline() if any(pn for pn in monitored_proc_names if re.match(fr'.*{pn}.*', l, re.M | re.I))) - if matched: - k = ' '.join(p.cmdline()) - print('Add monitored proc:', k) - stats[k] = {'cpu_samples': defaultdict(list), 'min': defaultdict(lambda: None), 'max': defaultdict(lambda: None), - 'avg': defaultdict(float), 'last_cpu_times': None, 'last_sys_time': None} - stats[k]['last_sys_time'] = timer() - stats[k]['last_cpu_times'] = p.cpu_times() - monitored_procs.append(p) - i = 0 - interval_int = int(PRINT_INTERVAL / SLEEP_INTERVAL) - while True: - for p in monitored_procs: - k = ' '.join(p.cmdline()) - cur_sys_time = timer() - cur_cpu_times = p.cpu_times() - cpu_times = np.subtract(cur_cpu_times, stats[k]['last_cpu_times']) / (cur_sys_time - stats[k]['last_sys_time']) - stats[k]['last_sys_time'] = cur_sys_time - stats[k]['last_cpu_times'] = cur_cpu_times - cpu_percent = 0 - for num, name in enumerate(cpu_time_names): - stats[k]['cpu_samples'][name].append(cpu_times[num]) - cpu_percent += cpu_times[num] - stats[k]['cpu_samples']['total'].append(cpu_percent) - time.sleep(SLEEP_INTERVAL) - i += 1 - if i % interval_int == 0: - l = [] - for k, stat in stats.items(): - if len(stat['cpu_samples']) <= 0: - continue - for name, samples in stat['cpu_samples'].items(): - samples = np.array(samples) - avg = samples.mean() - c = samples.size - min_cpu = np.amin(samples) - max_cpu = np.amax(samples) - if stat['min'][name] is None or min_cpu < stat['min'][name]: - stat['min'][name] = min_cpu - if stat['max'][name] is None or max_cpu > stat['max'][name]: - stat['max'][name] = max_cpu - stat['avg'][name] = (stat['avg'][name] * (i - c) + avg * c) / (i) - stat['cpu_samples'][name] = [] - - msg = f"avg: {stat['avg']['total']:.2%}, min: {stat['min']['total']:.2%}, max: {stat['max']['total']:.2%} {os.path.basename(k)}" - if args.detailed_times: - for stat_type in ['avg', 'min', 'max']: - msg += f"\n {stat_type}: {[(name + ':' + str(round(stat[stat_type][name] * 100, 2))) for name in cpu_time_names]}" - l.append((os.path.basename(k), stat['avg']['total'], msg)) - l.sort(key=lambda x: -x[1]) - for x in l: - print(x[2]) - print('avg sum: {:.2%} over {} samples {} seconds\n'.format( - sum(stat['avg']['total'] for k, stat in stats.items()), i, i * SLEEP_INTERVAL - )) diff --git a/selfdrive/debug/cycle_alerts.py b/selfdrive/debug/cycle_alerts.py deleted file mode 100755 index 93b0430c1e0c0f..00000000000000 --- a/selfdrive/debug/cycle_alerts.py +++ /dev/null @@ -1,130 +0,0 @@ -#!/usr/bin/env python3 -import time -import random - -from cereal import car, log -import cereal.messaging as messaging -from openpilot.common.realtime import DT_CTRL -from openpilot.selfdrive.car.honda.interface import CarInterface -from openpilot.selfdrive.controls.lib.events import ET, Events -from openpilot.selfdrive.controls.lib.alertmanager import AlertManager -from openpilot.system.manager.process_config import managed_processes - -EventName = car.CarEvent.EventName - -def randperc() -> float: - return 100. * random.random() - -def cycle_alerts(duration=200, is_metric=False): - # all alerts - #alerts = list(EVENTS.keys()) - - # this plays each type of audible alert - alerts = [ - (EventName.buttonEnable, ET.ENABLE), - (EventName.buttonCancel, ET.USER_DISABLE), - (EventName.wrongGear, ET.NO_ENTRY), - - (EventName.locationdTemporaryError, ET.SOFT_DISABLE), - (EventName.paramsdTemporaryError, ET.SOFT_DISABLE), - (EventName.accFaulted, ET.IMMEDIATE_DISABLE), - - # DM sequence - (EventName.preDriverDistracted, ET.WARNING), - (EventName.promptDriverDistracted, ET.WARNING), - (EventName.driverDistracted, ET.WARNING), - ] - - # debug alerts - alerts = [ - #(EventName.highCpuUsage, ET.NO_ENTRY), - #(EventName.lowMemory, ET.PERMANENT), - #(EventName.overheat, ET.PERMANENT), - #(EventName.outOfSpace, ET.PERMANENT), - #(EventName.modeldLagging, ET.PERMANENT), - #(EventName.processNotRunning, ET.NO_ENTRY), - #(EventName.commIssue, ET.NO_ENTRY), - #(EventName.calibrationInvalid, ET.PERMANENT), - (EventName.cameraMalfunction, ET.PERMANENT), - (EventName.cameraFrameRate, ET.PERMANENT), - ] - - cameras = ['roadCameraState', 'wideRoadCameraState', 'driverCameraState'] - - CS = car.CarState.new_message() - CP = CarInterface.get_non_essential_params("HONDA_CIVIC") - sm = messaging.SubMaster(['deviceState', 'pandaStates', 'roadCameraState', 'modelV2', 'liveCalibration', - 'driverMonitoringState', 'longitudinalPlan', 'liveLocationKalman', - 'managerState'] + cameras) - - pm = messaging.PubMaster(['controlsState', 'pandaStates', 'deviceState']) - - events = Events() - AM = AlertManager() - - frame = 0 - while True: - for alert, et in alerts: - events.clear() - events.add(alert) - - sm['deviceState'].freeSpacePercent = randperc() - sm['deviceState'].memoryUsagePercent = int(randperc()) - sm['deviceState'].cpuTempC = [randperc() for _ in range(3)] - sm['deviceState'].gpuTempC = [randperc() for _ in range(3)] - sm['deviceState'].cpuUsagePercent = [int(randperc()) for _ in range(8)] - sm['modelV2'].frameDropPerc = randperc() - - if random.random() > 0.25: - sm['modelV2'].velocity.x = [random.random(), ] - if random.random() > 0.25: - CS.vEgo = random.random() - - procs = [p.get_process_state_msg() for p in managed_processes.values()] - random.shuffle(procs) - for i in range(random.randint(0, 10)): - procs[i].shouldBeRunning = True - sm['managerState'].processes = procs - - sm['liveCalibration'].rpyCalib = [-1 * random.random() for _ in range(random.randint(0, 3))] - - for s in sm.data.keys(): - prob = 0.3 if s in cameras else 0.08 - sm.alive[s] = random.random() > prob - sm.valid[s] = random.random() > prob - sm.freq_ok[s] = random.random() > prob - - a = events.create_alerts([et, ], [CP, CS, sm, is_metric, 0]) - AM.add_many(frame, a) - alert = AM.process_alerts(frame, []) - print(alert) - for _ in range(duration): - dat = messaging.new_message() - dat.init('controlsState') - dat.controlsState.enabled = False - - if alert: - dat.controlsState.alertText1 = alert.alert_text_1 - dat.controlsState.alertText2 = alert.alert_text_2 - dat.controlsState.alertSize = alert.alert_size - dat.controlsState.alertStatus = alert.alert_status - dat.controlsState.alertBlinkingRate = alert.alert_rate - dat.controlsState.alertType = alert.alert_type - dat.controlsState.alertSound = alert.audible_alert - pm.send('controlsState', dat) - - dat = messaging.new_message() - dat.init('deviceState') - dat.deviceState.started = True - pm.send('deviceState', dat) - - dat = messaging.new_message('pandaStates', 1) - dat.pandaStates[0].ignitionLine = True - dat.pandaStates[0].pandaType = log.PandaState.PandaType.uno - pm.send('pandaStates', dat) - - frame += 1 - time.sleep(DT_CTRL) - -if __name__ == '__main__': - cycle_alerts() diff --git a/selfdrive/debug/debug_fw_fingerprinting_offline.py b/selfdrive/debug/debug_fw_fingerprinting_offline.py deleted file mode 100755 index 3df2924738a9fc..00000000000000 --- a/selfdrive/debug/debug_fw_fingerprinting_offline.py +++ /dev/null @@ -1,50 +0,0 @@ -#!/usr/bin/env python3 -import argparse - -from openpilot.tools.lib.live_logreader import live_logreader -from openpilot.tools.lib.logreader import LogReader, ReadMode -from panda.python import uds - - -def main(route: str | None, addrs: list[int]): - """ - TODO: - - highlight TX vs RX clearly - - disambiguate sendcan and can (useful to know if something sent on sendcan made it to the bus on can->128) - - print as fixed width table, easier to read - """ - - if route is None: - lr = live_logreader() - else: - lr = LogReader(route, default_mode=ReadMode.RLOG, sort_by_time=True) - - start_mono_time = None - prev_mono_time = 0 - - # include rx addresses - addrs = addrs + [uds.get_rx_addr_for_tx_addr(addr) for addr in addrs] - - for msg in lr: - if msg.which() == 'can': - if start_mono_time is None: - start_mono_time = msg.logMonoTime - - if msg.which() in ("can", 'sendcan'): - for can in getattr(msg, msg.which()): - if can.address in addrs or not len(addrs): - if msg.logMonoTime != prev_mono_time: - print() - prev_mono_time = msg.logMonoTime - print(f"{msg.which():>7}: rxaddr={can.address}, bus={can.src}, {round((msg.logMonoTime - start_mono_time) * 1e-6, 2)} ms, " + - f"0x{can.dat.hex()}, {can.dat}, {len(can.dat)=}") - - -if __name__ == "__main__": - parser = argparse.ArgumentParser(description='View back and forth ISO-TP communication between various ECUs given an address') - parser.add_argument('route', nargs='?', help='Route name, live if not specified') - parser.add_argument('--addrs', nargs='*', default=[], help='List of tx address to view (0x7e0 for engine)') - args = parser.parse_args() - - addrs = [int(addr, base=16) if addr.startswith('0x') else int(addr) for addr in args.addrs] - main(args.route, addrs) diff --git a/selfdrive/debug/dump.py b/selfdrive/debug/dump.py deleted file mode 100755 index 787e9bc738b09d..00000000000000 --- a/selfdrive/debug/dump.py +++ /dev/null @@ -1,63 +0,0 @@ -#!/usr/bin/env python3 -import sys -import argparse -import json -import codecs - -from hexdump import hexdump -from cereal import log -from cereal.services import SERVICE_LIST -from openpilot.tools.lib.live_logreader import raw_live_logreader - - -codecs.register_error("strict", codecs.backslashreplace_errors) - -if __name__ == "__main__": - - parser = argparse.ArgumentParser(description='Dump communication sockets. See cereal/services.py for a complete list of available sockets.') - parser.add_argument('--pipe', action='store_true') - parser.add_argument('--raw', action='store_true') - parser.add_argument('--json', action='store_true') - parser.add_argument('--dump-json', action='store_true') - parser.add_argument('--no-print', action='store_true') - parser.add_argument('--addr', default='127.0.0.1') - parser.add_argument('--values', help='values to monitor (instead of entire event)') - parser.add_argument("socket", type=str, nargs='*', default=list(SERVICE_LIST.keys()), help="socket names to dump. defaults to all services defined in cereal") - args = parser.parse_args() - - lr = raw_live_logreader(args.socket, args.addr) - - values = None - if args.values: - values = [s.strip().split(".") for s in args.values.split(",")] - - for msg in lr: - with log.Event.from_bytes(msg) as evt: - if not args.no_print: - if args.pipe: - sys.stdout.write(str(msg)) - sys.stdout.flush() - elif args.raw: - hexdump(msg) - elif args.json: - print(json.loads(msg)) - elif args.dump_json: - print(json.dumps(evt.to_dict())) - elif values: - print(f"logMonotime = {evt.logMonoTime}") - for value in values: - if hasattr(evt, value[0]): - item = evt - for key in value: - item = getattr(item, key) - print(f"{'.'.join(value)} = {item}") - print("") - else: - try: - print(evt) - except UnicodeDecodeError: - w = evt.which() - s = f"( logMonoTime {evt.logMonoTime} \n {w} = " - s += str(evt.__getattr__(w)) - s += f"\n valid = {evt.valid} )" - print(s) diff --git a/selfdrive/debug/dump_car_docs.py b/selfdrive/debug/dump_car_docs.py deleted file mode 100755 index f09c602cffa5a3..00000000000000 --- a/selfdrive/debug/dump_car_docs.py +++ /dev/null @@ -1,18 +0,0 @@ -#!/usr/bin/env python3 -import argparse -import pickle - -from openpilot.selfdrive.car.docs import get_all_car_docs - - -def dump_car_docs(path): - with open(path, 'wb') as f: - pickle.dump(get_all_car_docs(), f) - print(f'Dumping car info to {path}') - - -if __name__ == "__main__": - parser = argparse.ArgumentParser() - parser.add_argument("--path", required=True) - args = parser.parse_args() - dump_car_docs(args.path) diff --git a/selfdrive/debug/filter_log_message.py b/selfdrive/debug/filter_log_message.py deleted file mode 100755 index 9cbab0b41fe1c6..00000000000000 --- a/selfdrive/debug/filter_log_message.py +++ /dev/null @@ -1,79 +0,0 @@ -#!/usr/bin/env python3 -import argparse -import json - -import cereal.messaging as messaging -from openpilot.tools.lib.logreader import LogReader - -LEVELS = { - "DEBUG": 10, - "INFO": 20, - "WARNING": 30, - "ERROR": 40, - "CRITICAL": 50, -} - -ANDROID_LOG_SOURCE = { - 0: "MAIN", - 1: "RADIO", - 2: "EVENTS", - 3: "SYSTEM", - 4: "CRASH", - 5: "KERNEL", -} - - -def print_logmessage(t, msg, min_level): - try: - log = json.loads(msg) - if log['levelnum'] >= min_level: - print(f"[{t / 1e9:.6f}] {log['filename']}:{log.get('lineno', '')} - {log.get('funcname', '')}: {log['msg']}") - if 'exc_info' in log: - print(log['exc_info']) - except json.decoder.JSONDecodeError: - print(f"[{t / 1e9:.6f}] decode error: {msg}") - - -def print_androidlog(t, msg): - source = ANDROID_LOG_SOURCE[msg.id] - try: - m = json.loads(msg.message)['MESSAGE'] - except Exception: - m = msg.message - - print(f"[{t / 1e9:.6f}] {source} {msg.pid} {msg.tag} - {m}") - - -if __name__ == "__main__": - parser = argparse.ArgumentParser() - parser.add_argument('--absolute', action='store_true') - parser.add_argument('--level', default='DEBUG') - parser.add_argument('--addr', default='127.0.0.1') - parser.add_argument("route", type=str, nargs='*', help="route name + segment number for offline usage") - args = parser.parse_args() - - min_level = LEVELS[args.level] - - if args.route: - st = None if not args.absolute else 0 - for route in args.route: - lr = LogReader(route, sort_by_time=True) - for m in lr: - if st is None: - st = m.logMonoTime - if m.which() == 'logMessage': - print_logmessage(m.logMonoTime-st, m.logMessage, min_level) - elif m.which() == 'errorLogMessage': - print_logmessage(m.logMonoTime-st, m.errorLogMessage, min_level) - elif m.which() == 'androidLog': - print_androidlog(m.logMonoTime-st, m.androidLog) - else: - sm = messaging.SubMaster(['logMessage', 'androidLog'], addr=args.addr) - while True: - sm.update() - - if sm.updated['logMessage']: - print_logmessage(sm.logMonoTime['logMessage'], sm['logMessage'], min_level) - - if sm.updated['androidLog']: - print_androidlog(sm.logMonoTime['androidLog'], sm['androidLog']) diff --git a/selfdrive/debug/fingerprint_from_route.py b/selfdrive/debug/fingerprint_from_route.py deleted file mode 100755 index 68308bb62782d5..00000000000000 --- a/selfdrive/debug/fingerprint_from_route.py +++ /dev/null @@ -1,43 +0,0 @@ -#!/usr/bin/env python3 - -import sys -from openpilot.tools.lib.logreader import LogReader, ReadMode - - -def get_fingerprint(lr): - # TODO: make this a nice tool for car ports. should also work with qlogs for FW - - fw = None - msgs = {} - for msg in lr: - if msg.which() == 'carParams': - fw = msg.carParams.carFw - elif msg.which() == 'can': - for c in msg.can: - # read also msgs sent by EON on CAN bus 0x80 and filter out the - # addr with more than 11 bits - if c.src % 0x80 == 0 and c.address < 0x800 and c.address not in (0x7df, 0x7e0, 0x7e8): - msgs[c.address] = len(c.dat) - - # show CAN fingerprint - fingerprint = ', '.join("%d: %d" % v for v in sorted(msgs.items())) - print(f"\nfound {len(msgs)} messages. CAN fingerprint:\n") - print(fingerprint) - - # TODO: also print the fw fingerprint merged with the existing ones - # show FW fingerprint - print("\nFW fingerprint:\n") - for f in fw: - print(f" (Ecu.{f.ecu}, {hex(f.address)}, {None if f.subAddress == 0 else f.subAddress}): [") - print(f" {f.fwVersion},") - print(" ],") - print() - - -if __name__ == "__main__": - if len(sys.argv) < 2: - print("Usage: ./fingerprint_from_route.py ") - sys.exit(1) - - lr = LogReader(sys.argv[1], ReadMode.QLOG) - get_fingerprint(lr) diff --git a/selfdrive/debug/format_fingerprints.py b/selfdrive/debug/format_fingerprints.py deleted file mode 100755 index 2a5e4e60802e5a..00000000000000 --- a/selfdrive/debug/format_fingerprints.py +++ /dev/null @@ -1,81 +0,0 @@ -#!/usr/bin/env python3 -import jinja2 -import os - -from cereal import car -from openpilot.common.basedir import BASEDIR -from openpilot.selfdrive.car.interfaces import get_interface_attr - -Ecu = car.CarParams.Ecu - -CARS = get_interface_attr('CAR') -FW_VERSIONS = get_interface_attr('FW_VERSIONS') -FINGERPRINTS = get_interface_attr('FINGERPRINTS') -ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()} - -FINGERPRINTS_PY_TEMPLATE = jinja2.Template(""" -{%- if FINGERPRINTS[brand] %} -# ruff: noqa: E501 -{% endif %} -{% if FW_VERSIONS[brand] %} -from cereal import car -{% endif %} -from openpilot.selfdrive.car.{{brand}}.values import CAR -{% if FW_VERSIONS[brand] %} - -Ecu = car.CarParams.Ecu -{% endif %} -{% if comments +%} -{{ comments | join() }} -{% endif %} -{% if FINGERPRINTS[brand] %} - -FINGERPRINTS = { -{% for car, fingerprints in FINGERPRINTS[brand].items() %} - CAR.{{car.name}}: [{ -{% for fingerprint in fingerprints %} -{% if not loop.first %} - {{ "{" }} -{% endif %} - {% for key, value in fingerprint.items() %}{{key}}: {{value}}{% if not loop.last %}, {% endif %}{% endfor %} - - }{% if loop.last %}]{% endif %}, -{% endfor %} -{% endfor %} -} -{% endif %} - -FW_VERSIONS{% if not FW_VERSIONS[brand] %}: dict[str, dict[tuple, list[bytes]]]{% endif %} = { -{% for car, _ in FW_VERSIONS[brand].items() %} - CAR.{{car.name}}: { -{% for key, fw_versions in FW_VERSIONS[brand][car].items() %} - (Ecu.{{ECU_NAME[key[0]]}}, 0x{{"%0x" | format(key[1] | int)}}, \ -{% if key[2] %}0x{{"%0x" | format(key[2] | int)}}{% else %}{{key[2]}}{% endif %}): [ - {% for fw_version in (fw_versions + extra_fw_versions.get(car, {}).get(key, [])) | unique | sort %} - {{fw_version}}, - {% endfor %} - ], -{% endfor %} - }, -{% endfor %} -} - -""", trim_blocks=True) - - -def format_brand_fw_versions(brand, extra_fw_versions: None | dict[str, dict[tuple, list[bytes]]] = None): - extra_fw_versions = extra_fw_versions or {} - - fingerprints_file = os.path.join(BASEDIR, f"selfdrive/car/{brand}/fingerprints.py") - with open(fingerprints_file) as f: - comments = [line for line in f.readlines() if line.startswith("#") and "noqa" not in line] - - with open(fingerprints_file, "w") as f: - f.write(FINGERPRINTS_PY_TEMPLATE.render(brand=brand, comments=comments, ECU_NAME=ECU_NAME, - FINGERPRINTS=FINGERPRINTS, FW_VERSIONS=FW_VERSIONS, - extra_fw_versions=extra_fw_versions)) - - -if __name__ == "__main__": - for brand in FW_VERSIONS.keys(): - format_brand_fw_versions(brand) diff --git a/selfdrive/debug/get_fingerprint.py b/selfdrive/debug/get_fingerprint.py deleted file mode 100755 index 14f6c0e33c353f..00000000000000 --- a/selfdrive/debug/get_fingerprint.py +++ /dev/null @@ -1,31 +0,0 @@ -#!/usr/bin/env python3 - -# simple script to get a vehicle fingerprint. - -# Instructions: -# - connect to a Panda -# - run selfdrive/pandad/pandad -# - launching this script -# Note: it's very important that the car is in stock mode, in order to collect a complete fingerprint -# - since some messages are published at low frequency, keep this script running for at least 30s, -# until all messages are received at least once - -import cereal.messaging as messaging - -logcan = messaging.sub_sock('can') -msgs = {} -while True: - lc = messaging.recv_sock(logcan, True) - if lc is None: - continue - - for c in lc.can: - # read also msgs sent by EON on CAN bus 0x80 and filter out the - # addr with more than 11 bits - if c.src % 0x80 == 0 and c.address < 0x800 and c.address not in (0x7df, 0x7e0, 0x7e8): - msgs[c.address] = len(c.dat) - - fingerprint = ', '.join("%d: %d" % v for v in sorted(msgs.items())) - - print(f"number of messages {len(msgs)}:") - print(f"fingerprint {fingerprint}") diff --git a/selfdrive/debug/hyundai_enable_radar_points.py b/selfdrive/debug/hyundai_enable_radar_points.py deleted file mode 100755 index 5e7080ef64c81f..00000000000000 --- a/selfdrive/debug/hyundai_enable_radar_points.py +++ /dev/null @@ -1,131 +0,0 @@ -#!/usr/bin/env python3 -"""Some Hyundai radars can be reconfigured to output (debug) radar points on bus 1. -Reconfiguration is done over UDS by reading/writing to 0x0142 using the Read/Write Data By Identifier -endpoints (0x22 & 0x2E). This script checks your radar firmware version against a list of known -firmware versions. If you want to try on a new radar make sure to note the default config value -in case it's different from the other radars and you need to revert the changes. - -After changing the config the car should not show any faults when openpilot is not running. -These config changes are persistent across car reboots. You need to run this script again -to go back to the default values. - -USE AT YOUR OWN RISK! Safety features, like AEB and FCW, might be affected by these changes.""" - -import sys -import argparse -from typing import NamedTuple -from subprocess import check_output, CalledProcessError - -from panda.python import Panda -from panda.python.uds import UdsClient, SESSION_TYPE, DATA_IDENTIFIER_TYPE - -class ConfigValues(NamedTuple): - default_config: bytes - tracks_enabled: bytes - -# If your radar supports changing data identifier 0x0142 as well make a PR to -# this file to add your firmware version. Make sure to post a drive as proof! -# NOTE: these firmware versions do not match what openpilot uses -# because this script uses a different diagnostic session type -SUPPORTED_FW_VERSIONS = { - # 2020 SONATA - b"DN8_ SCC FHCUP 1.00 1.00 99110-L0000\x19\x08)\x15T ": ConfigValues( - default_config=b"\x00\x00\x00\x01\x00\x00", - tracks_enabled=b"\x00\x00\x00\x01\x00\x01"), - b"DN8_ SCC F-CUP 1.00 1.00 99110-L0000\x19\x08)\x15T ": ConfigValues( - default_config=b"\x00\x00\x00\x01\x00\x00", - tracks_enabled=b"\x00\x00\x00\x01\x00\x01"), - # 2021 SONATA HYBRID - b"DNhe SCC FHCUP 1.00 1.00 99110-L5000\x19\x04&\x13' ": ConfigValues( - default_config=b"\x00\x00\x00\x01\x00\x00", - tracks_enabled=b"\x00\x00\x00\x01\x00\x01"), - b"DNhe SCC FHCUP 1.00 1.02 99110-L5000 \x01#\x15# ": ConfigValues( - default_config=b"\x00\x00\x00\x01\x00\x00", - tracks_enabled=b"\x00\x00\x00\x01\x00\x01"), - # 2020 PALISADE - b"LX2_ SCC FHCUP 1.00 1.04 99110-S8100\x19\x05\x02\x16V ": ConfigValues( - default_config=b"\x00\x00\x00\x01\x00\x00", - tracks_enabled=b"\x00\x00\x00\x01\x00\x01"), - # 2022 PALISADE - b"LX2_ SCC FHCUP 1.00 1.00 99110-S8110!\x04\x05\x17\x01 ": ConfigValues( - default_config=b"\x00\x00\x00\x01\x00\x00", - tracks_enabled=b"\x00\x00\x00\x01\x00\x01"), - # 2020 SANTA FE - b"TM__ SCC F-CUP 1.00 1.03 99110-S2000\x19\x050\x13' ": ConfigValues( - default_config=b"\x00\x00\x00\x01\x00\x00", - tracks_enabled=b"\x00\x00\x00\x01\x00\x01"), - # 2020 GENESIS G70 - b'IK__ SCC F-CUP 1.00 1.02 96400-G9100\x18\x07\x06\x17\x12 ': ConfigValues( - default_config=b"\x00\x00\x00\x01\x00\x00", - tracks_enabled=b"\x00\x00\x00\x01\x00\x01"), - # 2019 SANTA FE - b"TM__ SCC F-CUP 1.00 1.00 99110-S1210\x19\x01%\x168 ": ConfigValues( - default_config=b"\x00\x00\x00\x01\x00\x00", - tracks_enabled=b"\x00\x00\x00\x01\x00\x01"), - b"TM__ SCC F-CUP 1.00 1.02 99110-S2000\x18\x07\x08\x18W ": ConfigValues( - default_config=b"\x00\x00\x00\x01\x00\x00", - tracks_enabled=b"\x00\x00\x00\x01\x00\x01"), - # 2021 K5 HEV - b"DLhe SCC FHCUP 1.00 1.02 99110-L7000 \x01 \x102 ": ConfigValues( - default_config=b"\x00\x00\x00\x01\x00\x00", - tracks_enabled=b"\x00\x00\x00\x01\x00\x01"), -} - -if __name__ == "__main__": - parser = argparse.ArgumentParser(description='configure radar to output points (or reset to default)') - parser.add_argument('--default', action="store_true", default=False, help='reset to default configuration (default: false)') - parser.add_argument('--debug', action="store_true", default=False, help='enable debug output (default: false)') - parser.add_argument('--bus', type=int, default=0, help='can bus to use (default: 0)') - args = parser.parse_args() - - try: - check_output(["pidof", "pandad"]) - print("pandad is running, please kill openpilot before running this script! (aborted)") - sys.exit(1) - except CalledProcessError as e: - if e.returncode != 1: # 1 == no process found (pandad not running) - raise e - - confirm = input("power on the vehicle keeping the engine off (press start button twice) then type OK to continue: ").upper().strip() - if confirm != "OK": - print("\nyou didn't type 'OK! (aborted)") - sys.exit(0) - - panda = Panda() - panda.set_safety_mode(Panda.SAFETY_ELM327) - uds_client = UdsClient(panda, 0x7D0, bus=args.bus, debug=args.debug) - - print("\n[START DIAGNOSTIC SESSION]") - session_type : SESSION_TYPE = 0x07 # type: ignore - uds_client.diagnostic_session_control(session_type) - - print("[HARDWARE/SOFTWARE VERSION]") - fw_version_data_id : DATA_IDENTIFIER_TYPE = 0xf100 # type: ignore - fw_version = uds_client.read_data_by_identifier(fw_version_data_id) - print(fw_version) - if fw_version not in SUPPORTED_FW_VERSIONS.keys(): - print("radar not supported! (aborted)") - sys.exit(1) - - print("[GET CONFIGURATION]") - config_data_id : DATA_IDENTIFIER_TYPE = 0x0142 # type: ignore - current_config = uds_client.read_data_by_identifier(config_data_id) - config_values = SUPPORTED_FW_VERSIONS[fw_version] - new_config = config_values.default_config if args.default else config_values.tracks_enabled - print(f"current config: 0x{current_config.hex()}") - if current_config != new_config: - print("[CHANGE CONFIGURATION]") - print(f"new config: 0x{new_config.hex()}") - uds_client.write_data_by_identifier(config_data_id, new_config) - if not args.default and current_config != SUPPORTED_FW_VERSIONS[fw_version].default_config: - print("\ncurrent config does not match expected default! (aborted)") - sys.exit(1) - - print("[DONE]") - print("\nrestart your vehicle and ensure there are no faults") - if not args.default: - print("you can run this script again with --default to go back to the original (factory) settings") - else: - print("[DONE]") - print("\ncurrent config is already the desired configuration") - sys.exit(0) diff --git a/selfdrive/debug/internal/__init__.py b/selfdrive/debug/internal/__init__.py deleted file mode 100644 index e69de29bb2d1d6..00000000000000 diff --git a/selfdrive/debug/internal/fuzz_fw_fingerprint.py b/selfdrive/debug/internal/fuzz_fw_fingerprint.py deleted file mode 100755 index aedb3ada1dcdd4..00000000000000 --- a/selfdrive/debug/internal/fuzz_fw_fingerprint.py +++ /dev/null @@ -1,52 +0,0 @@ -#!/usr/bin/env python3 -# type: ignore -import random -from collections import defaultdict - -from tqdm import tqdm - -from openpilot.selfdrive.car.fw_versions import match_fw_to_car_fuzzy -from openpilot.selfdrive.car.toyota.values import FW_VERSIONS as TOYOTA_FW_VERSIONS -from openpilot.selfdrive.car.honda.values import FW_VERSIONS as HONDA_FW_VERSIONS -from openpilot.selfdrive.car.hyundai.values import FW_VERSIONS as HYUNDAI_FW_VERSIONS -from openpilot.selfdrive.car.volkswagen.values import FW_VERSIONS as VW_FW_VERSIONS - - -FWS = {} -FWS.update(TOYOTA_FW_VERSIONS) -FWS.update(HONDA_FW_VERSIONS) -FWS.update(HYUNDAI_FW_VERSIONS) -FWS.update(VW_FW_VERSIONS) - -if __name__ == "__main__": - total = 0 - match = 0 - wrong_match = 0 - confusions = defaultdict(set) - - for _ in tqdm(range(1000)): - for candidate, fws in FWS.items(): - fw_dict = {} - for (_, addr, subaddr), fw_list in fws.items(): - fw_dict[(addr, subaddr)] = [random.choice(fw_list)] - - matches = match_fw_to_car_fuzzy(fw_dict, log=False, exclude=candidate) - - total += 1 - if len(matches) == 1: - if list(matches)[0] == candidate: - match += 1 - else: - confusions[candidate] |= matches - wrong_match += 1 - - print() - for candidate, wrong_matches in sorted(confusions.items()): - print(candidate, wrong_matches) - - print() - print(f"Total fuzz cases: {total}") - print(f"Correct matches: {match}") - print(f"Wrong matches: {wrong_match}") - - diff --git a/selfdrive/debug/internal/measure_modeld_packet_drop.py b/selfdrive/debug/internal/measure_modeld_packet_drop.py deleted file mode 100755 index 9814942ce27fc6..00000000000000 --- a/selfdrive/debug/internal/measure_modeld_packet_drop.py +++ /dev/null @@ -1,33 +0,0 @@ -#!/usr/bin/env python3 -import cereal.messaging as messaging - -if __name__ == "__main__": - modeld_sock = messaging.sub_sock("modelV2") - - last_frame_id = None - start_t: int | None = None - frame_cnt = 0 - dropped = 0 - - while True: - m = messaging.recv_one(modeld_sock) - if m is None: - continue - - frame_id = m.modelV2.frameId - t = m.logMonoTime / 1e9 - frame_cnt += 1 - - if start_t is None: - start_t = t - last_frame_id = frame_id - continue - - d_frame = frame_id - last_frame_id - dropped += d_frame - 1 - - expected_num_frames = int((t - start_t) * 20) - frame_drop = 100 * (1 - (expected_num_frames / frame_cnt)) - print(f"Num dropped {dropped}, Drop compared to 20Hz: {frame_drop:.2f}%") - - last_frame_id = frame_id diff --git a/selfdrive/debug/internal/measure_torque_time_to_max.py b/selfdrive/debug/internal/measure_torque_time_to_max.py deleted file mode 100755 index ef3152b50ca379..00000000000000 --- a/selfdrive/debug/internal/measure_torque_time_to_max.py +++ /dev/null @@ -1,59 +0,0 @@ -#!/usr/bin/env python3 -# type: ignore - -import os -import argparse -import struct -from collections import deque -from statistics import mean - -from cereal import log -import cereal.messaging as messaging - -if __name__ == "__main__": - - parser = argparse.ArgumentParser(description='Sniff a communication socket') - parser.add_argument('--addr', default='127.0.0.1') - args = parser.parse_args() - - if args.addr != "127.0.0.1": - os.environ["ZMQ"] = "1" - messaging.context = messaging.Context() - - poller = messaging.Poller() - messaging.sub_sock('can', poller, addr=args.addr) - - active = 0 - start_t = 0 - start_v = 0 - max_v = 0 - max_t = 0 - window = deque(maxlen=10) - avg = 0 - while 1: - polld = poller.poll(1000) - for sock in polld: - msg = sock.receive() - with log.Event.from_bytes(msg) as log_evt: - evt = log_evt - - for item in evt.can: - if item.address == 0xe4 and item.src == 128: - torque_req = struct.unpack('!h', item.dat[0:2])[0] - # print(torque_req) - active = abs(torque_req) > 0 - if abs(torque_req) < 100: - if max_v > 5: - print(f'{start_v} -> {max_v} = {round(max_v - start_v, 2)} over {round(max_t - start_t, 2)}s') - start_t = evt.logMonoTime / 1e9 - start_v = avg - max_t = 0 - max_v = 0 - if item.address == 0x1ab and item.src == 0: - motor_torque = ((item.dat[0] & 0x3) << 8) + item.dat[1] - window.append(motor_torque) - avg = mean(window) - #print(f'{evt.logMonoTime}: {avg}') - if active and avg > max_v + 0.5: - max_v = avg - max_t = evt.logMonoTime / 1e9 diff --git a/selfdrive/debug/internal/qlog_size.py b/selfdrive/debug/internal/qlog_size.py deleted file mode 100755 index b51cb3af2fc145..00000000000000 --- a/selfdrive/debug/internal/qlog_size.py +++ /dev/null @@ -1,62 +0,0 @@ -#!/usr/bin/env python3 -import argparse -import bz2 -from collections import defaultdict - -import matplotlib.pyplot as plt - -from cereal.services import SERVICE_LIST -from openpilot.tools.lib.logreader import LogReader -from openpilot.tools.lib.route import Route - -MIN_SIZE = 0.5 # Percent size of total to show as separate entry - - -def make_pie(msgs, typ): - compressed_length_by_type = {k: len(bz2.compress(b"".join(v))) for k, v in msgs.items()} - - total = sum(compressed_length_by_type.values()) - - sizes = sorted(compressed_length_by_type.items(), key=lambda kv: kv[1]) - - print(f"{typ} - Total {total / 1024:.2f} kB") - for (name, sz) in sizes: - print(f"{name} - {sz / 1024:.2f} kB") - print() - - sizes_large = [(k, sz) for (k, sz) in sizes if sz >= total * MIN_SIZE / 100] - sizes_large += [('other', sum(sz for (_, sz) in sizes if sz < total * MIN_SIZE / 100))] - - labels, sizes = zip(*sizes_large, strict=True) - - plt.figure() - plt.title(f"{typ}") - plt.pie(sizes, labels=labels, autopct='%1.1f%%') - - -if __name__ == "__main__": - parser = argparse.ArgumentParser(description='Check qlog size based on a rlog') - parser.add_argument('route', help='route to use') - parser.add_argument('segment', type=int, help='segment number to use') - args = parser.parse_args() - - r = Route(args.route) - rlog = r.log_paths()[args.segment] - msgs = list(LogReader(rlog)) - - msgs_by_type = defaultdict(list) - for m in msgs: - msgs_by_type[m.which()].append(m.as_builder().to_bytes()) - - qlog_by_type = defaultdict(list) - for name, service in SERVICE_LIST.items(): - if service.decimation is None: - continue - - for i, msg in enumerate(msgs_by_type[name]): - if i % service.decimation == 0: - qlog_by_type[name].append(msg) - - make_pie(msgs_by_type, 'rlog') - make_pie(qlog_by_type, 'qlog') - plt.show() diff --git a/selfdrive/debug/live_cpu_and_temp.py b/selfdrive/debug/live_cpu_and_temp.py deleted file mode 100755 index 8549b92665e6a1..00000000000000 --- a/selfdrive/debug/live_cpu_and_temp.py +++ /dev/null @@ -1,106 +0,0 @@ -#!/usr/bin/env python3 -import argparse -import capnp -from collections import defaultdict - -from cereal.messaging import SubMaster -from openpilot.common.numpy_fast import mean - -def cputime_total(ct): - return ct.user + ct.nice + ct.system + ct.idle + ct.iowait + ct.irq + ct.softirq - - -def cputime_busy(ct): - return ct.user + ct.nice + ct.system + ct.irq + ct.softirq - - -def proc_cputime_total(ct): - return ct.cpuUser + ct.cpuSystem + ct.cpuChildrenUser + ct.cpuChildrenSystem - - -def proc_name(proc): - name = proc.name - if len(proc.cmdline): - name = proc.cmdline[0] - if len(proc.exe): - name = proc.exe + " - " + name - - return name - - -if __name__ == "__main__": - parser = argparse.ArgumentParser() - parser.add_argument('--mem', action='store_true') - parser.add_argument('--cpu', action='store_true') - args = parser.parse_args() - - sm = SubMaster(['deviceState', 'procLog']) - - last_temp = 0.0 - last_mem = 0.0 - total_times = [0.]*8 - busy_times = [0.]*8 - - prev_proclog: capnp._DynamicStructReader | None = None - prev_proclog_t: int | None = None - - while True: - sm.update() - - if sm.updated['deviceState']: - t = sm['deviceState'] - last_temp = mean(t.cpuTempC) - last_mem = t.memoryUsagePercent - - if sm.updated['procLog']: - m = sm['procLog'] - - cores = [0.]*8 - total_times_new = [0.]*8 - busy_times_new = [0.]*8 - - for c in m.cpuTimes: - n = c.cpuNum - total_times_new[n] = cputime_total(c) - busy_times_new[n] = cputime_busy(c) - - for n in range(8): - t_busy = busy_times_new[n] - busy_times[n] - t_total = total_times_new[n] - total_times[n] - cores[n] = t_busy / t_total - - total_times = total_times_new[:] - busy_times = busy_times_new[:] - - print(f"CPU {100.0 * mean(cores):.2f}% - RAM: {last_mem:.2f}% - Temp {last_temp:.2f}C") - - if args.cpu and prev_proclog is not None and prev_proclog_t is not None: - procs: dict[str, float] = defaultdict(float) - dt = (sm.logMonoTime['procLog'] - prev_proclog_t) / 1e9 - for proc in m.procs: - try: - name = proc_name(proc) - prev_proc = [p for p in prev_proclog.procs if proc.pid == p.pid][0] - cpu_time = proc_cputime_total(proc) - proc_cputime_total(prev_proc) - cpu_usage = cpu_time / dt * 100. - procs[name] += cpu_usage - except IndexError: - pass - - print("Top CPU usage:") - for k, v in sorted(procs.items(), key=lambda item: item[1], reverse=True)[:10]: - print(f"{k.rjust(70)} {v:.2f} %") - print() - - if args.mem: - mems = {} - for proc in m.procs: - name = proc_name(proc) - mems[name] = float(proc.memRss) / 1e6 - print("Top memory usage:") - for k, v in sorted(mems.items(), key=lambda item: item[1], reverse=True)[:10]: - print(f"{k.rjust(70)} {v:.2f} MB") - print() - - prev_proclog = m - prev_proclog_t = sm.logMonoTime['procLog'] diff --git a/selfdrive/debug/print_docs_diff.py b/selfdrive/debug/print_docs_diff.py deleted file mode 100755 index 7ef89a6ecae72c..00000000000000 --- a/selfdrive/debug/print_docs_diff.py +++ /dev/null @@ -1,120 +0,0 @@ -#!/usr/bin/env python3 -import argparse -from collections import defaultdict -import difflib -import pickle - -from openpilot.selfdrive.car.docs import get_all_car_docs -from openpilot.selfdrive.car.docs_definitions import Column - -FOOTNOTE_TAG = "{}" -STAR_ICON = '' -VIDEO_ICON = '' + \ - '' -COLUMNS = "|" + "|".join([column.value for column in Column]) + "|" -COLUMN_HEADER = "|---|---|---|{}|".format("|".join([":---:"] * (len(Column) - 3))) -ARROW_SYMBOL = "➡️" - - -def load_base_car_docs(path): - with open(path, "rb") as f: - return pickle.load(f) - - -def match_cars(base_cars, new_cars): - changes = [] - additions = [] - for new in new_cars: - # Addition if no close matches or close match already used - # Change if close match and not already used - matches = difflib.get_close_matches(new.name, [b.name for b in base_cars], cutoff=0.) - if not len(matches) or matches[0] in [c[1].name for c in changes]: - additions.append(new) - else: - changes.append((new, next(car for car in base_cars if car.name == matches[0]))) - - # Removal if base car not in changes - removals = [b for b in base_cars if b.name not in [c[1].name for c in changes]] - return changes, additions, removals - - -def build_column_diff(base_car, new_car): - row_builder = [] - for column in Column: - base_column = base_car.get_column(column, STAR_ICON, VIDEO_ICON, FOOTNOTE_TAG) - new_column = new_car.get_column(column, STAR_ICON, VIDEO_ICON, FOOTNOTE_TAG) - - if base_column != new_column: - row_builder.append(f"{base_column} {ARROW_SYMBOL} {new_column}") - else: - row_builder.append(new_column) - - return format_row(row_builder) - - -def format_row(builder): - return "|" + "|".join(builder) + "|" - - -def print_car_docs_diff(path): - base_car_docs = defaultdict(list) - new_car_docs = defaultdict(list) - - for car in load_base_car_docs(path): - base_car_docs[car.car_fingerprint].append(car) - for car in get_all_car_docs(): - new_car_docs[car.car_fingerprint].append(car) - - # Add new platforms to base cars so we can detect additions and removals in one pass - base_car_docs.update({car: [] for car in new_car_docs if car not in base_car_docs}) - - changes = defaultdict(list) - for base_car_model, base_cars in base_car_docs.items(): - # Match car info changes, and get additions and removals - new_cars = new_car_docs[base_car_model] - car_changes, car_additions, car_removals = match_cars(base_cars, new_cars) - - # Removals - for car_docs in car_removals: - changes["removals"].append(format_row([car_docs.get_column(column, STAR_ICON, VIDEO_ICON, FOOTNOTE_TAG) for column in Column])) - - # Additions - for car_docs in car_additions: - changes["additions"].append(format_row([car_docs.get_column(column, STAR_ICON, VIDEO_ICON, FOOTNOTE_TAG) for column in Column])) - - for new_car, base_car in car_changes: - # Column changes - row_diff = build_column_diff(base_car, new_car) - if ARROW_SYMBOL in row_diff: - changes["column"].append(row_diff) - - # Detail sentence changes - if base_car.detail_sentence != new_car.detail_sentence: - changes["detail"].append(f"- Sentence for {base_car.name} changed!\n" + - " ```diff\n" + - f" - {base_car.detail_sentence}\n" + - f" + {new_car.detail_sentence}\n" + - " ```") - - # Print diff - if any(len(c) for c in changes.values()): - markdown_builder = ["### ⚠️ This PR makes changes to [CARS.md](../blob/master/docs/CARS.md) ⚠️"] - - for title, category in (("## 🔀 Column Changes", "column"), ("## ❌ Removed", "removals"), - ("## ➕ Added", "additions"), ("## 📖 Detail Sentence Changes", "detail")): - if len(changes[category]): - markdown_builder.append(title) - if category not in ("detail",): - markdown_builder.append(COLUMNS) - markdown_builder.append(COLUMN_HEADER) - markdown_builder.extend(changes[category]) - - print("\n".join(markdown_builder)) - - -if __name__ == "__main__": - parser = argparse.ArgumentParser() - parser.add_argument("--path", required=True) - args = parser.parse_args() - print_car_docs_diff(args.path) diff --git a/selfdrive/debug/print_flags.py b/selfdrive/debug/print_flags.py deleted file mode 100755 index c69765550ee497..00000000000000 --- a/selfdrive/debug/print_flags.py +++ /dev/null @@ -1,14 +0,0 @@ -#!/usr/bin/env python3 -from openpilot.selfdrive.car.values import BRANDS - -for brand in BRANDS: - all_flags = set() - for platform in brand: - if platform.config.flags != 0: - all_flags |= set(platform.config.flags) - - if len(all_flags): - print(brand.__module__.split('.')[-2].upper() + ':') - for flag in sorted(all_flags): - print(f' {flag.name:<24}:', {platform.name for platform in brand.with_flags(flag)}) - print() diff --git a/selfdrive/debug/read_dtc_status.py b/selfdrive/debug/read_dtc_status.py deleted file mode 100755 index 2d27dd2bb23eb7..00000000000000 --- a/selfdrive/debug/read_dtc_status.py +++ /dev/null @@ -1,35 +0,0 @@ -#!/usr/bin/env python3 -import sys -import argparse -from subprocess import check_output, CalledProcessError -from panda import Panda -from panda.python.uds import UdsClient, SESSION_TYPE, DTC_REPORT_TYPE, DTC_STATUS_MASK_TYPE -from panda.python.uds import get_dtc_num_as_str, get_dtc_status_names - -parser = argparse.ArgumentParser(description="read DTC status") -parser.add_argument("addr", type=lambda x: int(x,0)) -parser.add_argument("--bus", type=int, default=0) -parser.add_argument('--debug', action='store_true') -args = parser.parse_args() - -try: - check_output(["pidof", "pandad"]) - print("pandad is running, please kill openpilot before running this script! (aborted)") - sys.exit(1) -except CalledProcessError as e: - if e.returncode != 1: # 1 == no process found (pandad not running) - raise e - -panda = Panda() -panda.set_safety_mode(Panda.SAFETY_ELM327) -uds_client = UdsClient(panda, args.addr, bus=args.bus, debug=args.debug) -print("extended diagnostic session ...") -uds_client.diagnostic_session_control(SESSION_TYPE.EXTENDED_DIAGNOSTIC) -print("read diagnostic codes ...") -data = uds_client.read_dtc_information(DTC_REPORT_TYPE.DTC_BY_STATUS_MASK, DTC_STATUS_MASK_TYPE.ALL) -print("status availability:", " ".join(get_dtc_status_names(data[0]))) -print("DTC status:") -for i in range(1, len(data), 4): - dtc_num = get_dtc_num_as_str(data[i:i+3]) - dtc_status = " ".join(get_dtc_status_names(data[i+3])) - print(dtc_num, dtc_status) diff --git a/selfdrive/debug/run_process_on_route.py b/selfdrive/debug/run_process_on_route.py deleted file mode 100755 index 90db14bc9a0dac..00000000000000 --- a/selfdrive/debug/run_process_on_route.py +++ /dev/null @@ -1,31 +0,0 @@ -#!/usr/bin/env python3 - -import argparse - -from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, replay_process -from openpilot.tools.lib.helpers import save_log -from openpilot.tools.lib.logreader import LogReader - -if __name__ == "__main__": - parser = argparse.ArgumentParser(description="Run process on route and create new logs", - formatter_class=argparse.ArgumentDefaultsHelpFormatter) - parser.add_argument("--fingerprint", help="The fingerprint to use") - parser.add_argument("route", help="The route name to use") - parser.add_argument("process", help="The process to run") - args = parser.parse_args() - - cfg = [c for c in CONFIGS if c.proc_name == args.process][0] - - lr = LogReader(args.route) - inputs = list(lr) - - outputs = replay_process(cfg, inputs, fingerprint=args.fingerprint) - - # Remove message generated by the process under test and merge in the new messages - produces = {o.which() for o in outputs} - inputs = [i for i in inputs if i.which() not in produces] - outputs = sorted(inputs + outputs, key=lambda x: x.logMonoTime) - - fn = f"{args.route.replace('/', '_')}_{args.process}.bz2" - print(f"Saved log to {fn}") - save_log(fn, outputs) diff --git a/selfdrive/debug/set_car_params.py b/selfdrive/debug/set_car_params.py deleted file mode 100755 index 6060dfbc36930a..00000000000000 --- a/selfdrive/debug/set_car_params.py +++ /dev/null @@ -1,22 +0,0 @@ -#!/usr/bin/env python3 -import sys - -from cereal import car -from openpilot.common.params import Params -from openpilot.tools.lib.route import Route -from openpilot.tools.lib.logreader import LogReader - -if __name__ == "__main__": - CP = None - if len(sys.argv) > 1: - r = Route(sys.argv[1]) - cps = [m for m in LogReader(r.qlog_paths()[0]) if m.which() == 'carParams'] - CP = cps[0].carParams.as_builder() - else: - CP = car.CarParams.new_message() - CP.openpilotLongitudinalControl = True - CP.experimentalLongitudinalAvailable = False - - cp_bytes = CP.to_bytes() - for p in ("CarParams", "CarParamsCache", "CarParamsPersistent"): - Params().put(p, cp_bytes) diff --git a/selfdrive/debug/show_matching_cars.py b/selfdrive/debug/show_matching_cars.py deleted file mode 100755 index 19144ead7ea6fc..00000000000000 --- a/selfdrive/debug/show_matching_cars.py +++ /dev/null @@ -1,20 +0,0 @@ -#!/usr/bin/env python3 -from openpilot.selfdrive.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars -import cereal.messaging as messaging - - -# rav4 2019 and corolla tss2 -fingerprint = {896: 8, 898: 8, 900: 6, 976: 1, 1541: 8, 902: 6, 905: 8, 810: 2, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1552: 8, 1553: 8, 1556: 8, 1571: 8, 921: 8, 1056: 8, 544: 4, 1570: 8, 1059: 1, 36: 8, 37: 8, 550: 8, 935: 8, 552: 4, 170: 8, 812: 8, 944: 8, 945: 8, 562: 6, 180: 8, 1077: 8, 951: 8, 1592: 8, 1076: 8, 186: 4, 955: 8, 956: 8, 1001: 8, 705: 8, 452: 8, 1788: 8, 464: 8, 824: 8, 466: 8, 467: 8, 761: 8, 728: 8, 1572: 8, 1114: 8, 933: 8, 800: 8, 608: 8, 865: 8, 610: 8, 1595: 8, 934: 8, 998: 5, 1745: 8, 1000: 8, 764: 8, 1002: 8, 999: 7, 1789: 8, 1649: 8, 1779: 8, 1568: 8, 1017: 8, 1786: 8, 1787: 8, 1020: 8, 426: 6, 1279: 8} # noqa: E501 - -candidate_cars = all_legacy_fingerprint_cars() - - -for addr, l in fingerprint.items(): - dat = messaging.new_message('can', 1) - - msg = dat.can[0] - msg.address = addr - msg.dat = " " * l - - candidate_cars = eliminate_incompatible_cars(msg, candidate_cars) - print(candidate_cars) diff --git a/selfdrive/debug/test_fw_query_on_routes.py b/selfdrive/debug/test_fw_query_on_routes.py deleted file mode 100755 index e338110a7dd1fb..00000000000000 --- a/selfdrive/debug/test_fw_query_on_routes.py +++ /dev/null @@ -1,183 +0,0 @@ -#!/usr/bin/env python3 -# type: ignore - -from collections import defaultdict -import argparse -import os -import traceback -from tqdm import tqdm -from openpilot.tools.lib.logreader import LogReader, ReadMode -from openpilot.tools.lib.route import SegmentRange -from openpilot.selfdrive.car.car_helpers import interface_names -from openpilot.selfdrive.car.fingerprints import MIGRATION -from openpilot.selfdrive.car.fw_versions import VERSIONS, match_fw_to_car - - -NO_API = "NO_API" in os.environ -SUPPORTED_BRANDS = VERSIONS.keys() -SUPPORTED_CARS = [brand for brand in SUPPORTED_BRANDS for brand in interface_names[brand]] -UNKNOWN_BRAND = "unknown" - -if __name__ == "__main__": - parser = argparse.ArgumentParser(description='Run FW fingerprint on Qlog of route or list of routes') - parser.add_argument('route', help='Route or file with list of routes') - parser.add_argument('--car', help='Force comparison fingerprint to known car') - args = parser.parse_args() - - if os.path.exists(args.route): - routes = list(open(args.route)) - else: - routes = [args.route] - - mismatches = defaultdict(list) - - not_fingerprinted = 0 - solved_by_fuzzy = 0 - - good_exact = 0 - wrong_fuzzy = 0 - good_fuzzy = 0 - - dongles = [] - for route in tqdm(routes): - sr = SegmentRange(route) - dongle_id = sr.dongle_id - - if dongle_id in dongles: - continue - - if sr.slice == '' and sr.selector is None: - route += '/0' - - lr = LogReader(route, default_mode=ReadMode.QLOG) - - try: - dongles.append(dongle_id) - - CP = None - for msg in lr: - if msg.which() == "pandaStates": - if msg.pandaStates[0].pandaType in ('unknown', 'whitePanda', 'greyPanda', 'pedal'): - print("wrong panda type") - break - - elif msg.which() == "carParams": - CP = msg.carParams - car_fw = [fw for fw in CP.carFw if not fw.logging] - if len(car_fw) == 0: - print("no fw") - break - - live_fingerprint = CP.carFingerprint - live_fingerprint = MIGRATION.get(live_fingerprint, live_fingerprint) - - if args.car is not None: - live_fingerprint = args.car - - if live_fingerprint not in SUPPORTED_CARS: - print("not in supported cars") - break - - _, exact_matches = match_fw_to_car(car_fw, CP.carVin, allow_exact=True, allow_fuzzy=False) - _, fuzzy_matches = match_fw_to_car(car_fw, CP.carVin, allow_exact=False, allow_fuzzy=True) - - if (len(exact_matches) == 1) and (list(exact_matches)[0] == live_fingerprint): - good_exact += 1 - print(f"Correct! Live: {live_fingerprint} - Fuzzy: {fuzzy_matches}") - - # Check if fuzzy match was correct - if len(fuzzy_matches) == 1: - if list(fuzzy_matches)[0] != live_fingerprint: - wrong_fuzzy += 1 - print("Fuzzy match wrong! Fuzzy:", fuzzy_matches, "Live:", live_fingerprint) - else: - good_fuzzy += 1 - break - - print("Old style:", live_fingerprint, "Vin", CP.carVin) - print("New style (exact):", exact_matches) - print("New style (fuzzy):", fuzzy_matches) - - padding = max([len(fw.brand or UNKNOWN_BRAND) for fw in car_fw]) - for version in sorted(car_fw, key=lambda fw: fw.brand): - subaddr = None if version.subAddress == 0 else hex(version.subAddress) - print(f" Brand: {version.brand or UNKNOWN_BRAND:{padding}}, bus: {version.bus} - " + - f"(Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}],") - - print("Mismatches") - found = False - for brand in SUPPORTED_BRANDS: - car_fws = VERSIONS[brand] - if live_fingerprint in car_fws: - found = True - expected = car_fws[live_fingerprint] - for (_, expected_addr, expected_sub_addr), v in expected.items(): - for version in car_fw: - if version.brand != brand and len(version.brand): - continue - sub_addr = None if version.subAddress == 0 else version.subAddress - addr = version.address - - if (addr, sub_addr) == (expected_addr, expected_sub_addr): - if version.fwVersion not in v: - print(f"({hex(addr)}, {'None' if sub_addr is None else hex(sub_addr)}) - {version.fwVersion}") - - # Add to global list of mismatches - mismatch = (addr, sub_addr, version.fwVersion) - if mismatch not in mismatches[live_fingerprint]: - mismatches[live_fingerprint].append(mismatch) - - # No FW versions for this car yet, add them all to mismatch list - if not found: - for version in car_fw: - sub_addr = None if version.subAddress == 0 else version.subAddress - addr = version.address - mismatch = (addr, sub_addr, version.fwVersion) - if mismatch not in mismatches[live_fingerprint]: - mismatches[live_fingerprint].append(mismatch) - - print() - not_fingerprinted += 1 - - if len(fuzzy_matches) == 1: - if list(fuzzy_matches)[0] == live_fingerprint: - solved_by_fuzzy += 1 - else: - wrong_fuzzy += 1 - print("Fuzzy match wrong! Fuzzy:", fuzzy_matches, "Live:", live_fingerprint) - - break - - if CP is None: - print("no CarParams in logs") - except Exception: - traceback.print_exc() - except KeyboardInterrupt: - break - - print() - # Print FW versions that need to be added separated out by car and address - for car, m in sorted(mismatches.items()): - print(car) - addrs = defaultdict(list) - for (addr, sub_addr, version) in m: - addrs[(addr, sub_addr)].append(version) - - for (addr, sub_addr), versions in addrs.items(): - print(f" ({hex(addr)}, {'None' if sub_addr is None else hex(sub_addr)}): [") - for v in versions: - print(f" {v},") - print(" ]") - print() - - print() - print(f"Number of dongle ids checked: {len(dongles)}") - print(f"Fingerprinted: {good_exact}") - print(f"Not fingerprinted: {not_fingerprinted}") - print(f" of which had a fuzzy match: {solved_by_fuzzy}") - - print() - print(f"Correct fuzzy matches: {good_fuzzy}") - print(f"Wrong fuzzy matches: {wrong_fuzzy}") - print() - diff --git a/selfdrive/debug/toyota_eps_factor.py b/selfdrive/debug/toyota_eps_factor.py deleted file mode 100755 index dc83c8f7a443d1..00000000000000 --- a/selfdrive/debug/toyota_eps_factor.py +++ /dev/null @@ -1,62 +0,0 @@ -#!/usr/bin/env python3 -import sys -import numpy as np -import matplotlib.pyplot as plt -from sklearn import linear_model -from openpilot.selfdrive.car.toyota.values import STEER_THRESHOLD - -from openpilot.tools.lib.logreader import LogReader - -MIN_SAMPLES = 30 * 100 - - -def to_signed(n, bits): - if n >= (1 << max((bits - 1), 0)): - n = n - (1 << max(bits, 0)) - return n - - -def get_eps_factor(lr, plot=False): - engaged = False - steering_pressed = False - torque_cmd, eps_torque = None, None - cmds, eps = [], [] - - for msg in lr: - if msg.which() != 'can': - continue - - for m in msg.can: - if m.address == 0x2e4 and m.src == 128: - engaged = bool(m.dat[0] & 1) - torque_cmd = to_signed((m.dat[1] << 8) | m.dat[2], 16) - elif m.address == 0x260 and m.src == 0: - eps_torque = to_signed((m.dat[5] << 8) | m.dat[6], 16) - steering_pressed = abs(to_signed((m.dat[1] << 8) | m.dat[2], 16)) > STEER_THRESHOLD - - if engaged and torque_cmd is not None and eps_torque is not None and not steering_pressed: - cmds.append(torque_cmd) - eps.append(eps_torque) - else: - if len(cmds) > MIN_SAMPLES: - break - cmds, eps = [], [] - - if len(cmds) < MIN_SAMPLES: - raise Exception("too few samples found in route") - - lm = linear_model.LinearRegression(fit_intercept=False) - lm.fit(np.array(cmds).reshape(-1, 1), eps) - scale_factor = 1. / lm.coef_[0] - - if plot: - plt.plot(np.array(eps) * scale_factor) - plt.plot(cmds) - plt.show() - return scale_factor - - -if __name__ == "__main__": - lr = LogReader(sys.argv[1]) - n = get_eps_factor(lr, plot="--plot" in sys.argv) - print("EPS torque factor: ", n) diff --git a/selfdrive/debug/uiview.py b/selfdrive/debug/uiview.py deleted file mode 100755 index 8e75769a85ec64..00000000000000 --- a/selfdrive/debug/uiview.py +++ /dev/null @@ -1,35 +0,0 @@ -#!/usr/bin/env python3 -import time - -from cereal import car, log, messaging -from openpilot.common.params import Params -from openpilot.system.manager.process_config import managed_processes -from openpilot.system.hardware import HARDWARE - -if __name__ == "__main__": - CP = car.CarParams(notCar=True, wheelbase=1, steerRatio=10) - Params().put("CarParams", CP.to_bytes()) - - procs = ['camerad', 'ui', 'modeld', 'calibrationd', 'plannerd', 'dmonitoringmodeld', 'dmonitoringd'] - for p in procs: - managed_processes[p].start() - - pm = messaging.PubMaster(['controlsState', 'deviceState', 'pandaStates', 'carParams']) - - msgs = {s: messaging.new_message(s) for s in ['controlsState', 'deviceState', 'carParams']} - msgs['deviceState'].deviceState.started = True - msgs['deviceState'].deviceState.deviceType = HARDWARE.get_device_type() - msgs['carParams'].carParams.openpilotLongitudinalControl = True - - msgs['pandaStates'] = messaging.new_message('pandaStates', 1) - msgs['pandaStates'].pandaStates[0].ignitionLine = True - msgs['pandaStates'].pandaStates[0].pandaType = log.PandaState.PandaType.uno - - try: - while True: - time.sleep(1 / 100) # continually send, rate doesn't matter - for s in msgs: - pm.send(s, msgs[s]) - except KeyboardInterrupt: - for p in procs: - managed_processes[p].stop() diff --git a/selfdrive/debug/vw_mqb_config.py b/selfdrive/debug/vw_mqb_config.py deleted file mode 100755 index 6df1e57ce318d3..00000000000000 --- a/selfdrive/debug/vw_mqb_config.py +++ /dev/null @@ -1,160 +0,0 @@ -#!/usr/bin/env python3 - -import argparse -import struct -from enum import IntEnum -from panda import Panda -from panda.python.uds import UdsClient, MessageTimeoutError, NegativeResponseError, SESSION_TYPE,\ - DATA_IDENTIFIER_TYPE, ACCESS_TYPE -from datetime import date - -# TODO: extend UDS library to allow custom/vendor-defined data identifiers without ignoring type checks -class VOLKSWAGEN_DATA_IDENTIFIER_TYPE(IntEnum): - CODING = 0x0600 - -# TODO: extend UDS library security_access() to take an access level offset per ISO 14229-1:2020 10.4 and remove this -class ACCESS_TYPE_LEVEL_1(IntEnum): - REQUEST_SEED = ACCESS_TYPE.REQUEST_SEED + 2 - SEND_KEY = ACCESS_TYPE.SEND_KEY + 2 - -MQB_EPS_CAN_ADDR = 0x712 -RX_OFFSET = 0x6a - -if __name__ == "__main__": - desc_text = "Shows Volkswagen EPS software and coding info, and enables or disables Heading Control Assist " + \ - "(Lane Assist). Useful for enabling HCA on cars without factory Lane Assist that want to use " + \ - "openpilot integrated at the CAN gateway (J533)." - epilog_text = "This tool is meant to run directly on a vehicle-installed comma three, with the " + \ - "openpilot/tmux processes stopped. It should also work on a separate PC with a USB-attached comma " + \ - "panda. Vehicle ignition must be on. Recommend engine not be running when making changes. Must " + \ - "turn ignition off and on again for any changes to take effect." - parser = argparse.ArgumentParser(description=desc_text, epilog=epilog_text) - parser.add_argument("--debug", action="store_true", help="enable ISO-TP/UDS stack debugging output") - parser.add_argument("action", choices={"show", "enable", "disable"}, help="show or modify current EPS HCA config") - args = parser.parse_args() - - panda = Panda() - panda.set_safety_mode(Panda.SAFETY_ELM327) - bus = 1 if panda.has_obd() else 0 - uds_client = UdsClient(panda, MQB_EPS_CAN_ADDR, MQB_EPS_CAN_ADDR + RX_OFFSET, bus, timeout=0.2, debug=args.debug) - - try: - uds_client.diagnostic_session_control(SESSION_TYPE.EXTENDED_DIAGNOSTIC) - except MessageTimeoutError: - print("Timeout opening session with EPS") - quit() - - odx_file, current_coding = None, None - try: - hw_pn = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_HARDWARE_NUMBER).decode("utf-8") - sw_pn = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_SPARE_PART_NUMBER).decode("utf-8") - sw_ver = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_VERSION_NUMBER).decode("utf-8") - component = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.SYSTEM_NAME_OR_ENGINE_TYPE).decode("utf-8") - odx_file = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.ODX_FILE).decode("utf-8").rstrip('\x00') - current_coding = uds_client.read_data_by_identifier(VOLKSWAGEN_DATA_IDENTIFIER_TYPE.CODING) # type: ignore - coding_text = current_coding.hex() - - print("\nEPS diagnostic data\n") - print(f" Part No HW: {hw_pn}") - print(f" Part No SW: {sw_pn}") - print(f" SW Version: {sw_ver}") - print(f" Component: {component}") - print(f" Coding: {coding_text}") - print(f" ASAM Dataset: {odx_file}") - except NegativeResponseError: - print("Error fetching data from EPS") - quit() - except MessageTimeoutError: - print("Timeout fetching data from EPS") - quit() - - coding_variant, current_coding_array, coding_byte, coding_bit = None, None, 0, 0 - coding_length = len(current_coding) - - # EPS_MQB_ZFLS - if odx_file in ("EV_SteerAssisMQB", "EV_SteerAssisMNB"): - coding_variant = "ZFLS" - coding_byte = 0 - coding_bit = 4 - - # MQB_PP_APA, MQB_VWBS_GEN2 - elif odx_file in ("EV_SteerAssisVWBSMQBA", "EV_SteerAssisVWBSMQBGen2"): - coding_variant = "APA" - coding_byte = 3 - coding_bit = 0 - - else: - print("Configuration changes not yet supported on this EPS!") - quit() - - current_coding_array = struct.unpack(f"!{coding_length}B", current_coding) - hca_enabled = (current_coding_array[coding_byte] & (1 << coding_bit) != 0) - hca_text = ("DISABLED", "ENABLED")[hca_enabled] - print(f" Lane Assist: {hca_text}") - - try: - params = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.APPLICATION_DATA_IDENTIFICATION).decode("utf-8") - param_version_system_params = params[1:3] - param_vehicle_type = params[3:5] - param_index_char_curve = params[5:7] - param_version_char_values = params[7:9] - param_version_memory_map = params[9:11] - print("\nEPS parameterization (per-vehicle calibration) data\n") - print(f" Version of system parameters: {param_version_system_params}") - print(f" Vehicle type: {param_vehicle_type}") - print(f" Index of characteristic curve: {param_index_char_curve}") - print(f" Version of characteristic values: {param_version_char_values}") - print(f" Version of memory map: {param_version_memory_map}") - except (NegativeResponseError, MessageTimeoutError): - print("Error fetching parameterization data from EPS!") - quit() - - if args.action in ["enable", "disable"]: - print("\nAttempting configuration update") - - assert(coding_variant in ("ZFLS", "APA")) - # ZFLS EPS config coding length can be anywhere from 1 to 4 bytes, but the - # bit we care about is always in the same place in the first byte - if args.action == "enable": - new_byte = current_coding_array[coding_byte] | (1 << coding_bit) - else: - new_byte = current_coding_array[coding_byte] & ~(1 << coding_bit) - new_coding = current_coding[0:coding_byte] + new_byte.to_bytes(1, "little") + current_coding[coding_byte+1:] - - try: - seed = uds_client.security_access(ACCESS_TYPE_LEVEL_1.REQUEST_SEED) # type: ignore - key = struct.unpack("!I", seed)[0] + 28183 # yeah, it's like that - uds_client.security_access(ACCESS_TYPE_LEVEL_1.SEND_KEY, struct.pack("!I", key)) # type: ignore - except (NegativeResponseError, MessageTimeoutError): - print("Security access failed!") - print("Open the hood and retry (disables the \"diagnostic firewall\" on newer vehicles)") - quit() - - try: - # Programming date and tester number must be written before making - # a change, or write to CODING will fail with request sequence error - # Encoding on tester is unclear, it contains the workshop code in the - # last two bytes, but not the VZ/importer or tester serial number - # Can't seem to read it back, but we can read the calibration tester, - # so fib a little and say that same tester did the programming - current_date = date.today() - formatted_date = current_date.strftime('%y-%m-%d') - year, month, day = (int(part) for part in formatted_date.split('-')) - prog_date = bytes([year, month, day]) - uds_client.write_data_by_identifier(DATA_IDENTIFIER_TYPE.PROGRAMMING_DATE, prog_date) - tester_num = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.CALIBRATION_REPAIR_SHOP_CODE_OR_CALIBRATION_EQUIPMENT_SERIAL_NUMBER) - uds_client.write_data_by_identifier(DATA_IDENTIFIER_TYPE.REPAIR_SHOP_CODE_OR_TESTER_SERIAL_NUMBER, tester_num) - uds_client.write_data_by_identifier(VOLKSWAGEN_DATA_IDENTIFIER_TYPE.CODING, new_coding) # type: ignore - except (NegativeResponseError, MessageTimeoutError): - print("Writing new configuration failed!") - print("Make sure the comma processes are stopped: tmux kill-session -t comma") - quit() - - try: - # Read back result just to make 100% sure everything worked - current_coding_text = uds_client.read_data_by_identifier(VOLKSWAGEN_DATA_IDENTIFIER_TYPE.CODING).hex() # type: ignore - print(f" New coding: {current_coding_text}") - except (NegativeResponseError, MessageTimeoutError): - print("Reading back updated coding failed!") - quit() - print("EPS configuration successfully updated") diff --git a/selfdrive/frogpilot/navigation/ui/maps_settings.cc b/selfdrive/frogpilot/navigation/ui/maps_settings.cc deleted file mode 100644 index c67301cce57d64..00000000000000 --- a/selfdrive/frogpilot/navigation/ui/maps_settings.cc +++ /dev/null @@ -1,347 +0,0 @@ -#include -#include - -#include -#include - -#include "selfdrive/frogpilot/navigation/ui/maps_settings.h" - -FrogPilotMapsPanel::FrogPilotMapsPanel(FrogPilotSettingsWindow *parent) : FrogPilotListWidget(parent) { - std::vector scheduleOptions{tr("Manually"), tr("Weekly"), tr("Monthly")}; - preferredSchedule = new ButtonParamControl("PreferredSchedule", tr("Automatically Update Maps"), - tr("Controls the frequency at which maps update with the latest OpenStreetMap (OSM) changes. " - "Weekly updates begin at midnight every Sunday, while monthly updates start at midnight on the 1st of each month."), - "", - scheduleOptions); - addItem(preferredSchedule); - - selectMapsButton = new FrogPilotButtonsControl(tr("Select Map Data Sources"), tr("Map data sources to use with 'Curve Speed Control' and 'Speed Limit Controller'."), {tr("COUNTRIES"), tr("STATES")}); - QObject::connect(selectMapsButton, &FrogPilotButtonsControl::buttonClicked, [this](int id) { - if (id == 0) { - countriesOpen = true; - } - displayMapButtons(); - openMapSelection(); - }); - addItem(selectMapsButton); - - downloadMapsButton = new ButtonControl(tr("Download Maps"), tr("DOWNLOAD"), tr("Downloads the selected maps to use with 'Curve Speed Control' and 'Speed Limit Controller'.")); - QObject::connect(downloadMapsButton, &ButtonControl::clicked, [this] { - if (downloadMapsButton->text() == tr("CANCEL")) { - cancelDownload(); - } else { - downloadMaps(); - } - }); - addItem(downloadMapsButton); - - addItem(mapsSize = new LabelControl(tr("Downloaded Maps Size"), calculateDirectorySize(mapsFolderPath))); - addItem(downloadStatus = new LabelControl(tr("Download Progress"))); - addItem(downloadETA = new LabelControl(tr("Download Completion ETA"))); - addItem(downloadTimeElapsed = new LabelControl(tr("Download Time Elapsed"))); - addItem(lastMapsDownload = new LabelControl(tr("Maps Last Updated"), params.get("LastMapsUpdate").empty() ? "Never" : QString::fromStdString(params.get("LastMapsUpdate")))); - - downloadETA->setVisible(false); - downloadStatus->setVisible(false); - downloadTimeElapsed->setVisible(false); - - removeMapsButton = new ButtonControl(tr("Remove Maps"), tr("REMOVE"), tr("Removes downloaded maps to clear up storage space.")); - QObject::connect(removeMapsButton, &ButtonControl::clicked, [this] { - if (FrogPilotConfirmationDialog::yesorno(tr("Are you sure you want to delete all of your downloaded maps?"), this)) { - std::thread([this] { - lastMapsDownload->setText("Never"); - mapsSize->setText("0 MB"); - - std::system("rm -rf /data/media/0/osm/offline"); - - params.remove("LastMapsUpdate"); - }).detach(); - } - }); - addItem(removeMapsButton); - removeMapsButton->setVisible(QDir(mapsFolderPath).exists()); - - addItem(midwestLabel = new LabelControl(tr("United States - Midwest"), "")); - addItem(midwestMaps = new MapSelectionControl(midwestMap)); - - addItem(northeastLabel = new LabelControl(tr("United States - Northeast"), "")); - addItem(northeastMaps = new MapSelectionControl(northeastMap)); - - addItem(southLabel = new LabelControl(tr("United States - South"), "")); - addItem(southMaps = new MapSelectionControl(southMap)); - - addItem(westLabel = new LabelControl(tr("United States - West"), "")); - addItem(westMaps = new MapSelectionControl(westMap)); - - addItem(territoriesLabel = new LabelControl(tr("United States - Territories"), "")); - addItem(territoriesMaps = new MapSelectionControl(territoriesMap)); - - addItem(africaLabel = new LabelControl(tr("Africa"), "")); - addItem(africaMaps = new MapSelectionControl(africaMap, true)); - - addItem(antarcticaLabel = new LabelControl(tr("Antarctica"), "")); - addItem(antarcticaMaps = new MapSelectionControl(antarcticaMap, true)); - - addItem(asiaLabel = new LabelControl(tr("Asia"), "")); - addItem(asiaMaps = new MapSelectionControl(asiaMap, true)); - - addItem(europeLabel = new LabelControl(tr("Europe"), "")); - addItem(europeMaps = new MapSelectionControl(europeMap, true)); - - addItem(northAmericaLabel = new LabelControl(tr("North America"), "")); - addItem(northAmericaMaps = new MapSelectionControl(northAmericaMap, true)); - - addItem(oceaniaLabel = new LabelControl(tr("Oceania"), "")); - addItem(oceaniaMaps = new MapSelectionControl(oceaniaMap, true)); - - addItem(southAmericaLabel = new LabelControl(tr("South America"), "")); - addItem(southAmericaMaps = new MapSelectionControl(southAmericaMap, true)); - - QObject::connect(parent, &FrogPilotSettingsWindow::closeMapSelection, [this]() { - displayMapButtons(false); - countriesOpen = false; - mapsSelected = QString::fromStdString(params.get("MapsSelected")); - }); - QObject::connect(uiState(), &UIState::uiUpdate, this, &FrogPilotMapsPanel::updateState); - - displayMapButtons(false); -} - -void FrogPilotMapsPanel::showEvent(QShowEvent *event) { - mapsSelected = QString::fromStdString(params.get("MapsSelected")); -} - -void FrogPilotMapsPanel::hideEvent(QHideEvent *event) { - displayMapButtons(false); - countriesOpen = false; -} - -void FrogPilotMapsPanel::updateState(const UIState &s) { - if (!isVisible()) { - return; - } - - if (downloadActive) { - updateDownloadStatusLabels(); - } - - downloadMapsButton->setEnabled(!mapsSelected.isEmpty() && s.scene.online); -} - -void FrogPilotMapsPanel::cancelDownload() { - if (FrogPilotConfirmationDialog::yesorno(tr("Are you sure you want to cancel the download?"), this)) { - std::system("pkill mapd"); - resetDownloadState(); - } -} - -void FrogPilotMapsPanel::downloadMaps() { - params.remove("OSMDownloadProgress"); - - resetDownloadLabels(); - - downloadETA->setVisible(true); - downloadStatus->setVisible(true); - downloadTimeElapsed->setVisible(true); - - lastMapsDownload->setVisible(false); - removeMapsButton->setVisible(false); - - update(); - - int retryCount = 0; - while (!isMapdRunning() && retryCount < 3) { - retryCount++; - std::this_thread::sleep_for(std::chrono::seconds(1)); - } - - if (retryCount >= 3) { - handleDownloadError(); - return; - } - - params_memory.put("OSMDownloadLocations", params.get("MapsSelected")); - - downloadActive = true; - - startTime = QDateTime::currentMSecsSinceEpoch(); -} - -void FrogPilotMapsPanel::updateDownloadStatusLabels() { - static const std::regex fileStatuses(R"("total_files":(\d+),.*"downloaded_files":(\d+))"); - static int previousDownloadedFiles = 0; - static qint64 lastUpdatedTime = QDateTime::currentMSecsSinceEpoch(); - static qint64 lastRemainingTime = 0; - - std::string osmDownloadProgress = params.get("OSMDownloadProgress"); - std::smatch match; - - if (!std::regex_search(osmDownloadProgress, match, fileStatuses)) { - resetDownloadLabels(); - return; - } - - int totalFiles = std::stoi(match[1].str()); - int downloadedFiles = std::stoi(match[2].str()); - - qint64 elapsedMilliseconds = QDateTime::currentMSecsSinceEpoch() - startTime; - qint64 timePerFile = (downloadedFiles > 0) ? (elapsedMilliseconds / downloadedFiles) : 0; - qint64 remainingFiles = totalFiles - downloadedFiles; - qint64 remainingTime = timePerFile * remainingFiles; - - if (downloadedFiles >= totalFiles) { - finalizeDownload(); - return; - } - - if (downloadedFiles != previousDownloadedFiles) { - previousDownloadedFiles = downloadedFiles; - lastUpdatedTime = QDateTime::currentMSecsSinceEpoch(); - lastRemainingTime = remainingTime; - - QtConcurrent::run([this]() { - QString sizeText = calculateDirectorySize(mapsFolderPath); - QMetaObject::invokeMethod(mapsSize, [this, sizeText]() { - mapsSize->setText(sizeText); - }, Qt::QueuedConnection); - }); - } else { - qint64 currentTime = QDateTime::currentMSecsSinceEpoch(); - qint64 timeSinceLastUpdate = (currentTime - lastUpdatedTime) / 1000; - remainingTime = std::max(qint64(0), lastRemainingTime - timeSinceLastUpdate * 1000); - } - - updateDownloadLabels(downloadedFiles, totalFiles, remainingTime, elapsedMilliseconds); -} - -void FrogPilotMapsPanel::resetDownloadState() { - downloadMapsButton->setText(tr("DOWNLOAD")); - - downloadETA->setVisible(false); - downloadStatus->setVisible(false); - downloadTimeElapsed->setVisible(false); - - lastMapsDownload->setVisible(true); - removeMapsButton->setVisible(QDir(mapsFolderPath).exists()); - - downloadActive = false; - - update(); -} - -void FrogPilotMapsPanel::handleDownloadError() { - std::system("pkill mapd"); - - downloadMapsButton->setText(tr("DOWNLOAD")); - downloadStatus->setText("Download error... Please try again!"); - - downloadETA->setVisible(false); - downloadTimeElapsed->setVisible(false); - - downloadMapsButton->setEnabled(false); - - downloadActive = false; - - update(); - - std::this_thread::sleep_for(std::chrono::seconds(3)); - - downloadStatus->setText(""); - - downloadStatus->setVisible(false); - - downloadMapsButton->setEnabled(true); - - update(); -} - -void FrogPilotMapsPanel::finalizeDownload() { - QString formattedDate = formatCurrentDate(); - - params.putNonBlocking("LastMapsUpdate", formattedDate.toStdString()); - params.remove("OSMDownloadProgress"); - - mapsSize->setText(calculateDirectorySize(mapsFolderPath)); - - resetDownloadLabels(); - - downloadMapsButton->setText(tr("DOWNLOAD")); - lastMapsDownload->setText(formattedDate); - - downloadETA->setVisible(false); - downloadStatus->setVisible(false); - downloadTimeElapsed->setVisible(false); - - lastMapsDownload->setVisible(true); - removeMapsButton->setVisible(true); - - downloadActive = false; - - update(); -} - -void FrogPilotMapsPanel::resetDownloadLabels() { - downloadETA->setText("Calculating..."); - downloadMapsButton->setText(tr("CANCEL")); - downloadStatus->setText("Calculating..."); - downloadTimeElapsed->setText("Calculating..."); -} - -void FrogPilotMapsPanel::updateDownloadLabels(int downloadedFiles, int totalFiles, qint64 remainingTime, qint64 elapsedMilliseconds) { - int percentage = (totalFiles > 0) ? (downloadedFiles * 100 / totalFiles) : 0; - downloadStatus->setText(QString("%1 / %2 (%3%)").arg(downloadedFiles).arg(totalFiles).arg(percentage)); - - QDateTime currentDateTime = QDateTime::currentDateTime(); - QDateTime completionTime = currentDateTime.addMSecs(remainingTime); - - QString completionTimeFormatted = completionTime.toString("h:mm AP"); - QString remainingTimeFormatted = QString("%1 (%2)").arg(formatElapsedTime(remainingTime)).arg(completionTimeFormatted); - downloadETA->setText(remainingTimeFormatted); - - downloadTimeElapsed->setText(formatElapsedTime(elapsedMilliseconds)); -} - -void FrogPilotMapsPanel::displayMapButtons(bool visible) { - setUpdatesEnabled(false); - - downloadETA->setVisible(!visible && downloadActive); - downloadMapsButton->setVisible(!visible); - downloadStatus->setVisible(!visible && downloadActive); - downloadTimeElapsed->setVisible(!visible && downloadActive); - lastMapsDownload->setVisible(!visible && !downloadActive); - mapsSize->setVisible(!visible); - preferredSchedule->setVisible(!visible); - removeMapsButton->setVisible(!visible && QDir(mapsFolderPath).exists() && !downloadActive); - selectMapsButton->setVisible(!visible); - - africaMaps->setVisible(visible && countriesOpen); - antarcticaMaps->setVisible(visible && countriesOpen); - asiaMaps->setVisible(visible && countriesOpen); - europeMaps->setVisible(visible && countriesOpen); - northAmericaMaps->setVisible(visible && countriesOpen); - oceaniaMaps->setVisible(visible && countriesOpen); - southAmericaMaps->setVisible(visible && countriesOpen); - - africaLabel->setVisible(visible && countriesOpen); - antarcticaLabel->setVisible(visible && countriesOpen); - asiaLabel->setVisible(visible && countriesOpen); - europeLabel->setVisible(visible && countriesOpen); - northAmericaLabel->setVisible(visible && countriesOpen); - oceaniaLabel->setVisible(visible && countriesOpen); - southAmericaLabel->setVisible(visible && countriesOpen); - - midwestMaps->setVisible(visible && !countriesOpen); - northeastMaps->setVisible(visible && !countriesOpen); - southMaps->setVisible(visible && !countriesOpen); - territoriesMaps->setVisible(visible && !countriesOpen); - westMaps->setVisible(visible && !countriesOpen); - - midwestLabel->setVisible(visible && !countriesOpen); - northeastLabel->setVisible(visible && !countriesOpen); - southLabel->setVisible(visible && !countriesOpen); - territoriesLabel->setVisible(visible && !countriesOpen); - westLabel->setVisible(visible && !countriesOpen); - - setUpdatesEnabled(true); - update(); -} diff --git a/selfdrive/frogpilot/navigation/ui/maps_settings.h b/selfdrive/frogpilot/navigation/ui/maps_settings.h deleted file mode 100644 index ce0b524946745f..00000000000000 --- a/selfdrive/frogpilot/navigation/ui/maps_settings.h +++ /dev/null @@ -1,77 +0,0 @@ -#pragma once - -#include "selfdrive/frogpilot/navigation/ui/navigation_functions.h" -#include "selfdrive/frogpilot/ui/qt/offroad/frogpilot_settings.h" - -class FrogPilotMapsPanel : public FrogPilotListWidget { - Q_OBJECT - -public: - explicit FrogPilotMapsPanel(FrogPilotSettingsWindow *parent); - -signals: - void openMapSelection(); - -private: - void cancelDownload(); - void displayMapButtons(bool visible = true); - void downloadMaps(); - void finalizeDownload(); - void handleDownloadError(); - void hideEvent(QHideEvent *event) override; - void resetDownloadLabels(); - void resetDownloadState(); - void showEvent(QShowEvent *event); - void updateDownloadLabels(int downloadedFiles, int totalFiles, qint64 remainingTime, qint64 elapsedMilliseconds); - void updateDownloadStatusLabels(); - void updateState(const UIState &s); - - ButtonControl *downloadMapsButton; - ButtonControl *removeMapsButton; - - ButtonParamControl *preferredSchedule; - - FrogPilotButtonsControl *selectMapsButton; - - LabelControl *africaLabel; - LabelControl *antarcticaLabel; - LabelControl *asiaLabel; - LabelControl *downloadETA; - LabelControl *downloadStatus; - LabelControl *downloadTimeElapsed; - LabelControl *europeLabel; - LabelControl *lastMapsDownload; - LabelControl *mapsSize; - LabelControl *midwestLabel; - LabelControl *northAmericaLabel; - LabelControl *northeastLabel; - LabelControl *oceaniaLabel; - LabelControl *southAmericaLabel; - LabelControl *southLabel; - LabelControl *territoriesLabel; - LabelControl *westLabel; - - MapSelectionControl *africaMaps; - MapSelectionControl *antarcticaMaps; - MapSelectionControl *asiaMaps; - MapSelectionControl *europeMaps; - MapSelectionControl *midwestMaps; - MapSelectionControl *northAmericaMaps; - MapSelectionControl *northeastMaps; - MapSelectionControl *oceaniaMaps; - MapSelectionControl *southAmericaMaps; - MapSelectionControl *southMaps; - MapSelectionControl *territoriesMaps; - MapSelectionControl *westMaps; - - Params params; - Params params_memory{"/dev/shm/params"}; - - bool countriesOpen; - bool downloadActive; - - qint64 startTime; - - QString mapsFolderPath = "/data/media/0/osm/offline"; - QString mapsSelected; -}; diff --git a/selfdrive/frogpilot/navigation/ui/navigation_functions.cc b/selfdrive/frogpilot/navigation/ui/navigation_functions.cc deleted file mode 100644 index 9d2802ff00f52b..00000000000000 --- a/selfdrive/frogpilot/navigation/ui/navigation_functions.cc +++ /dev/null @@ -1,86 +0,0 @@ -#include -#include -#include - -#include "selfdrive/frogpilot/navigation/ui/navigation_functions.h" - -MapSelectionControl::MapSelectionControl(const QMap &map, bool isCountry, QWidget *parent) - : QWidget(parent), buttonGroup(new QButtonGroup(this)), gridLayout(new QGridLayout(this)), mapData(map), isCountry(isCountry) { - - buttonGroup->setExclusive(false); - - const QList keys = mapData.keys(); - for (int i = 0; i < keys.size(); ++i) { - QPushButton *button = new QPushButton(mapData[keys[i]], this); - button->setCheckable(true); - button->setStyleSheet(buttonStyle); - button->setMinimumWidth(225); - gridLayout->addWidget(button, i / 3, i % 3); - buttonGroup->addButton(button, i); - connect(button, &QPushButton::toggled, this, &MapSelectionControl::updateSelectedMaps); - } - - loadSelectedMaps(); -} - -void MapSelectionControl::loadSelectedMaps() { - QJsonDocument doc = QJsonDocument::fromJson(QByteArray::fromStdString(params.get("MapsSelected"))); - if (!doc.isObject()) { - return; - } - - QJsonArray selectedArray = doc.object().value(isCountry ? "nations" : "states").toArray(); - QList buttons = buttonGroup->buttons(); - - for (int i = 0; i < selectedArray.size(); ++i) { - QString buttonLabel = mapData.value(selectedArray[i].toString()); - if (!buttonLabel.isEmpty()) { - for (int j = 0; j < buttons.size(); ++j) { - if (buttons[j]->text() == buttonLabel) { - buttons[j]->setChecked(true); - break; - } - } - } - } -} - -void MapSelectionControl::updateSelectedMaps() { - QJsonDocument doc = QJsonDocument::fromJson(QByteArray::fromStdString(params.get("MapsSelected"))); - QJsonObject selectionJson = doc.isObject() ? doc.object() : QJsonObject(); - - QString selectionType = isCountry ? "nations" : "states"; - QJsonArray existingSelections = selectionJson.value(selectionType).toArray(); - - QList buttons = buttonGroup->buttons(); - for (int i = 0; i < buttons.size(); ++i) { - QAbstractButton *button = buttons[i]; - QString code = mapData.key(button->text()); - - if (code.isEmpty()) { - continue; - } - - bool alreadySelected = false; - for (int j = 0; j < existingSelections.size(); ++j) { - if (existingSelections[j].toString() == code) { - alreadySelected = true; - break; - } - } - - if (button->isChecked() && !alreadySelected) { - existingSelections.append(code); - } else if (!button->isChecked() && alreadySelected) { - for (int j = 0; j < existingSelections.size(); ++j) { - if (existingSelections[j].toString() == code) { - existingSelections.removeAt(j); - break; - } - } - } - } - - selectionJson[selectionType] = existingSelections; - params.put("MapsSelected", QString::fromUtf8(QJsonDocument(selectionJson).toJson(QJsonDocument::Compact)).toStdString()); -} diff --git a/selfdrive/frogpilot/navigation/ui/navigation_functions.h b/selfdrive/frogpilot/navigation/ui/navigation_functions.h deleted file mode 100644 index 29ef0dc0ac1625..00000000000000 --- a/selfdrive/frogpilot/navigation/ui/navigation_functions.h +++ /dev/null @@ -1,215 +0,0 @@ -#pragma once - -#include -#include - -#include - -#include "selfdrive/frogpilot/ui/qt/widgets/frogpilot_controls.h" - -inline QMap northeastMap = { - {"CT", "Connecticut"}, {"ME", "Maine"}, {"MA", "Massachusetts"}, - {"NH", "New Hampshire"}, {"NJ", "New Jersey"}, {"NY", "New York"}, - {"PA", "Pennsylvania"}, {"RI", "Rhode Island"}, {"VT", "Vermont"} -}; - -inline QMap midwestMap = { - {"IL", "Illinois"}, {"IN", "Indiana"}, {"IA", "Iowa"}, - {"KS", "Kansas"}, {"MI", "Michigan"}, {"MN", "Minnesota"}, - {"MO", "Missouri"}, {"NE", "Nebraska"}, {"ND", "North Dakota"}, - {"OH", "Ohio"}, {"SD", "South Dakota"}, {"WI", "Wisconsin"} -}; - -inline QMap southMap = { - {"AL", "Alabama"}, {"AR", "Arkansas"}, {"DE", "Delaware"}, - {"DC", "District of Columbia"}, {"FL", "Florida"}, {"GA", "Georgia"}, - {"KY", "Kentucky"}, {"LA", "Louisiana"}, {"MD", "Maryland"}, - {"MS", "Mississippi"}, {"NC", "North Carolina"}, {"OK", "Oklahoma"}, - {"SC", "South Carolina"}, {"TN", "Tennessee"}, {"TX", "Texas"}, - {"VA", "Virginia"}, {"WV", "West Virginia"} -}; - -inline QMap westMap = { - {"AK", "Alaska"}, {"AZ", "Arizona"}, {"CA", "California"}, - {"CO", "Colorado"}, {"HI", "Hawaii"}, {"ID", "Idaho"}, - {"MT", "Montana"}, {"NV", "Nevada"}, {"NM", "New Mexico"}, - {"OR", "Oregon"}, {"UT", "Utah"}, {"WA", "Washington"}, - {"WY", "Wyoming"} -}; - -inline QMap territoriesMap = { - {"AS", "American Samoa"}, {"GU", "Guam"}, {"MP", "Northern Mariana Islands"}, - {"PR", "Puerto Rico"}, {"VI", "Virgin Islands"} -}; - -inline QMap africaMap = { - {"DZ", "Algeria"}, {"AO", "Angola"}, {"BJ", "Benin"}, - {"BW", "Botswana"}, {"BF", "Burkina Faso"}, {"BI", "Burundi"}, - {"CM", "Cameroon"}, {"CF", "Central African Republic"}, {"TD", "Chad"}, - {"KM", "Comoros"}, {"CG", "Congo (Brazzaville)"}, {"CD", "Congo (Kinshasa)"}, - {"DJ", "Djibouti"}, {"EG", "Egypt"}, {"GQ", "Equatorial Guinea"}, - {"ER", "Eritrea"}, {"ET", "Ethiopia"}, {"GA", "Gabon"}, - {"GM", "Gambia"}, {"GH", "Ghana"}, {"GN", "Guinea"}, - {"GW", "Guinea-Bissau"}, {"CI", "Ivory Coast"}, {"KE", "Kenya"}, - {"LS", "Lesotho"}, {"LR", "Liberia"}, {"LY", "Libya"}, - {"MG", "Madagascar"}, {"MW", "Malawi"}, {"ML", "Mali"}, - {"MR", "Mauritania"}, {"MA", "Morocco"}, {"MZ", "Mozambique"}, - {"NA", "Namibia"}, {"NE", "Niger"}, {"NG", "Nigeria"}, - {"RW", "Rwanda"}, {"SN", "Senegal"}, {"SL", "Sierra Leone"}, - {"SO", "Somalia"}, {"ZA", "South Africa"}, {"SS", "South Sudan"}, - {"SD", "Sudan"}, {"SZ", "Swaziland"}, {"TZ", "Tanzania"}, - {"TG", "Togo"}, {"TN", "Tunisia"}, {"UG", "Uganda"}, - {"ZM", "Zambia"}, {"ZW", "Zimbabwe"} -}; - -inline QMap antarcticaMap = { - {"AQ", "Antarctica"} -}; - -inline QMap asiaMap = { - {"AF", "Afghanistan"}, {"AM", "Armenia"}, {"AZ", "Azerbaijan"}, - {"BH", "Bahrain"}, {"BD", "Bangladesh"}, {"BT", "Bhutan"}, - {"BN", "Brunei"}, {"KH", "Cambodia"}, {"CN", "China"}, - {"CY", "Cyprus"}, {"TL", "East Timor"}, {"HK", "Hong Kong"}, - {"IN", "India"}, {"ID", "Indonesia"}, {"IR", "Iran"}, - {"IQ", "Iraq"}, {"IL", "Israel"}, {"JP", "Japan"}, - {"JO", "Jordan"}, {"KZ", "Kazakhstan"}, {"KW", "Kuwait"}, - {"KG", "Kyrgyzstan"}, {"LA", "Laos"}, {"LB", "Lebanon"}, - {"MY", "Malaysia"}, {"MV", "Maldives"}, {"MO", "Macao"}, - {"MN", "Mongolia"}, {"MM", "Myanmar"}, {"NP", "Nepal"}, - {"KP", "North Korea"}, {"OM", "Oman"}, {"PK", "Pakistan"}, - {"PS", "Palestine"}, {"PH", "Philippines"}, {"QA", "Qatar"}, - {"RU", "Russia"}, {"SA", "Saudi Arabia"}, {"SG", "Singapore"}, - {"KR", "South Korea"}, {"LK", "Sri Lanka"}, {"SY", "Syria"}, - {"TW", "Taiwan"}, {"TJ", "Tajikistan"}, {"TH", "Thailand"}, - {"TR", "Turkey"}, {"TM", "Turkmenistan"}, {"AE", "United Arab Emirates"}, - {"UZ", "Uzbekistan"}, {"VN", "Vietnam"}, {"YE", "Yemen"} -}; - -inline QMap europeMap = { - {"AL", "Albania"}, {"AT", "Austria"}, {"BY", "Belarus"}, - {"BE", "Belgium"}, {"BA", "Bosnia and Herzegovina"}, {"BG", "Bulgaria"}, - {"HR", "Croatia"}, {"CZ", "Czech Republic"}, {"DK", "Denmark"}, - {"EE", "Estonia"}, {"FI", "Finland"}, {"FR", "France"}, - {"GE", "Georgia"}, {"DE", "Germany"}, {"GR", "Greece"}, - {"HU", "Hungary"}, {"IS", "Iceland"}, {"IE", "Ireland"}, - {"IT", "Italy"}, {"KZ", "Kazakhstan"}, {"LV", "Latvia"}, - {"LT", "Lithuania"}, {"LU", "Luxembourg"}, {"MK", "Macedonia"}, - {"MD", "Moldova"}, {"ME", "Montenegro"}, {"NL", "Netherlands"}, - {"NO", "Norway"}, {"PL", "Poland"}, {"PT", "Portugal"}, - {"RO", "Romania"}, {"RS", "Serbia"}, {"SK", "Slovakia"}, - {"SI", "Slovenia"}, {"ES", "Spain"}, {"SE", "Sweden"}, - {"CH", "Switzerland"}, {"TR", "Turkey"}, {"UA", "Ukraine"}, - {"GB", "United Kingdom"} -}; - -inline QMap northAmericaMap = { - {"BS", "Bahamas"}, {"BZ", "Belize"}, {"CA", "Canada"}, - {"CR", "Costa Rica"}, {"CU", "Cuba"}, {"DO", "Dominican Republic"}, - {"SV", "El Salvador"}, {"GL", "Greenland"}, {"GD", "Grenada"}, - {"GT", "Guatemala"}, {"HT", "Haiti"}, {"HN", "Honduras"}, - {"JM", "Jamaica"}, {"MX", "Mexico"}, {"NI", "Nicaragua"}, - {"PA", "Panama"}, {"TT", "Trinidad and Tobago"}, {"US", "United States"} -}; - -inline QMap oceaniaMap = { - {"AU", "Australia"}, {"FJ", "Fiji"}, {"TF", "French Southern Territories"}, - {"NC", "New Caledonia"}, {"NZ", "New Zealand"}, {"PG", "Papua New Guinea"}, - {"SB", "Solomon Islands"}, {"VU", "Vanuatu"} -}; - -inline QMap southAmericaMap = { - {"AR", "Argentina"}, {"BO", "Bolivia"}, {"BR", "Brazil"}, - {"CL", "Chile"}, {"CO", "Colombia"}, {"EC", "Ecuador"}, - {"FK", "Falkland Islands"}, {"GY", "Guyana"}, {"PY", "Paraguay"}, - {"PE", "Peru"}, {"SR", "Suriname"}, {"UY", "Uruguay"}, - {"VE", "Venezuela"} -}; - -namespace fs = std::filesystem; - -inline bool isMapdRunning() { - return std::system("pgrep mapd > /dev/null 2>&1") == 0; -} - -inline QString calculateDirectorySize(const QString &directoryPath) { - constexpr uintmax_t oneGB = 1024 * 1024 * 1024; - constexpr uintmax_t oneMB = 1024 * 1024; - - uintmax_t totalSize = 0; - fs::path path(directoryPath.toStdString()); - - if (!fs::exists(path) || !fs::is_directory(path)) { - return "0 MB"; - } - - for (fs::recursive_directory_iterator iter(path, fs::directory_options::skip_permission_denied), end; iter != end; ++iter) { - const fs::directory_entry &entry = *iter; - if (entry.is_regular_file()) { - totalSize += entry.file_size(); - } - } - - if (totalSize >= oneGB) { - return QString::number(static_cast(totalSize) / oneGB, 'f', 2) + " GB"; - } else { - return QString::number(static_cast(totalSize) / oneMB, 'f', 2) + " MB"; - } -} - -inline QString formatCurrentDate() { - QDate currentDate = QDate::currentDate(); - QString suffix; - int day = currentDate.day(); - - if (day % 10 == 1 && day != 11) { - suffix = "st"; - } else if (day % 10 == 2 && day != 12) { - suffix = "nd"; - } else if (day % 10 == 3 && day != 13) { - suffix = "rd"; - } else { - suffix = "th"; - } - - return currentDate.toString("MMMM d'") + suffix + QString(", %1").arg(currentDate.year()); -} - -inline QString formatElapsedTime(qint64 elapsedMilliseconds) { - qint64 totalSeconds = elapsedMilliseconds / 1000; - qint64 hours = totalSeconds / 3600; - qint64 minutes = (totalSeconds % 3600) / 60; - qint64 seconds = totalSeconds % 60; - - QString formattedTime; - if (hours > 0) { - formattedTime += QString::number(hours) + (hours == 1 ? " hour " : " hours "); - } - if (minutes > 0) { - formattedTime += QString::number(minutes) + (minutes == 1 ? " minute " : " minutes "); - } - formattedTime += QString::number(seconds) + (seconds == 1 ? " second" : " seconds"); - - return formattedTime; -} - -class MapSelectionControl : public QWidget { - Q_OBJECT - -public: - MapSelectionControl(const QMap &map, bool isCountry = false, QWidget *parent = nullptr); - -private: - void loadSelectedMaps(); - void updateSelectedMaps(); - - Params params; - - QButtonGroup *buttonGroup; - - QGridLayout *gridLayout; - - QMap mapData; - - bool isCountry; -}; diff --git a/selfdrive/frogpilot/navigation/ui/primeless_settings.cc b/selfdrive/frogpilot/navigation/ui/primeless_settings.cc deleted file mode 100644 index 5218500e67eed4..00000000000000 --- a/selfdrive/frogpilot/navigation/ui/primeless_settings.cc +++ /dev/null @@ -1,129 +0,0 @@ -#include "selfdrive/frogpilot/navigation/ui/primeless_settings.h" - -FrogPilotPrimelessPanel::FrogPilotPrimelessPanel(FrogPilotSettingsWindow *parent) : FrogPilotListWidget(parent) { - addItem(ipLabel = new LabelControl(tr("Manage Your Settings At"), tr("Device Offline"))); - - std::vector searchOptions{tr("MapBox"), tr("Amap"), tr("Google")}; - searchInput = new ButtonParamControl("SearchInput", tr("Destination Search Provider"), - tr("The search provider used for destination queries in 'Navigate on Openpilot'. Options include 'MapBox' (recommended), 'Amap', and 'Google Maps'."), - "", searchOptions); - addItem(searchInput); - - createMapboxKeyControl(publicMapboxKeyControl, tr("Public Mapbox Key"), "MapboxPublicKey", "pk."); - createMapboxKeyControl(secretMapboxKeyControl, tr("Secret Mapbox Key"), "MapboxSecretKey", "sk."); - - setupButton = new ButtonControl(tr("MapBox Setup Instructions"), tr("VIEW"), tr("View the instructions to set up 'MapBox' for 'Primeless Navigation'."), this); - QObject::connect(setupButton, &ButtonControl::clicked, [this]() { - displayMapboxInstructions(true); - openMapBoxInstructions(); - updateStep(); - }); - addItem(setupButton); - - imageLabel = new QLabel(this); - addItem(imageLabel); - - QObject::connect(parent, &FrogPilotSettingsWindow::closeMapBoxInstructions, [this]() {displayMapboxInstructions(false);}); - QObject::connect(uiState(), &UIState::uiUpdate, this, &FrogPilotPrimelessPanel::updateState); - - displayMapboxInstructions(false); -} - -void FrogPilotPrimelessPanel::showEvent(QShowEvent *event) { - QString ipAddress = uiState()->wifi->getIp4Address(); - ipLabel->setText(ipAddress.isEmpty() ? tr("Device Offline") : QString("%1:8082").arg(ipAddress)); - - mapboxPublicKeySet = !params.get("MapboxPublicKey").empty(); - mapboxSecretKeySet = !params.get("MapboxSecretKey").empty(); - setupCompleted = mapboxPublicKeySet && mapboxSecretKeySet; - - publicMapboxKeyControl->setText(mapboxPublicKeySet ? tr("REMOVE") : tr("ADD")); - secretMapboxKeyControl->setText(mapboxSecretKeySet ? tr("REMOVE") : tr("ADD")); -} - -void FrogPilotPrimelessPanel::updateState() { - if (!isVisible()) { - return; - } - - if (imageLabel->isVisible()) { - mapboxPublicKeySet = !params.get("MapboxPublicKey").empty(); - mapboxSecretKeySet = !params.get("MapboxSecretKey").empty(); - - updateStep(); - } -} - -void FrogPilotPrimelessPanel::createMapboxKeyControl(ButtonControl *&control, const QString &label, const std::string ¶mKey, const QString &prefix) { - control = new ButtonControl(label, "", tr("Manage your %1.").arg(label)); - - QObject::connect(control, &ButtonControl::clicked, [=] { - if (control->text() == tr("ADD")) { - QString key = InputDialog::getText(tr("Enter your %1").arg(label), this).trimmed(); - - if (!key.startsWith(prefix)) { - key = prefix + key; - } - if (key.length() >= 80) { - params.putNonBlocking(paramKey, key.toStdString()); - } else { - FrogPilotConfirmationDialog::toggleAlert(tr("Inputted key is invalid or too short!"), tr("Okay"), this); - } - } else { - if (FrogPilotConfirmationDialog::yesorno(tr("Are you sure you want to remove your %1?").arg(label), this)) { - control->setText(tr("ADD")); - - params.remove(paramKey); - paramsStorage.remove(paramKey); - - setupCompleted = false; - } - } - }); - - control->setText(params.get(paramKey).empty() ? tr("ADD") : tr("REMOVE")); - addItem(control); -} - -void FrogPilotPrimelessPanel::hideEvent(QHideEvent *event) { - displayMapboxInstructions(false); -} - -void FrogPilotPrimelessPanel::mousePressEvent(QMouseEvent *event) { - closeMapBoxInstructions(); - displayMapboxInstructions(false); -} - -void FrogPilotPrimelessPanel::displayMapboxInstructions(bool visible) { - setUpdatesEnabled(false); - - imageLabel->setVisible(visible); - ipLabel->setVisible(!visible); - publicMapboxKeyControl->setVisible(!visible); - searchInput->setVisible(!visible); - secretMapboxKeyControl->setVisible(!visible); - setupButton->setVisible(!visible); - - setUpdatesEnabled(true); - update(); -} - -void FrogPilotPrimelessPanel::updateStep() { - QString currentStep; - - if (setupCompleted) { - currentStep = "../frogpilot/navigation/navigation_training/setup_completed.png"; - } else if (mapboxPublicKeySet && mapboxSecretKeySet) { - currentStep = "../frogpilot/navigation/navigation_training/both_keys_set.png"; - } else if (mapboxPublicKeySet) { - currentStep = "../frogpilot/navigation/navigation_training/public_key_set.png"; - } else { - currentStep = "../frogpilot/navigation/navigation_training/no_keys_set.png"; - } - - QPixmap pixmap; - pixmap.load(currentStep); - - imageLabel->setPixmap(pixmap.scaledToWidth(1500, Qt::SmoothTransformation)); - update(); -} diff --git a/selfdrive/frogpilot/navigation/ui/primeless_settings.h b/selfdrive/frogpilot/navigation/ui/primeless_settings.h deleted file mode 100644 index a5cd413f3d1278..00000000000000 --- a/selfdrive/frogpilot/navigation/ui/primeless_settings.h +++ /dev/null @@ -1,40 +0,0 @@ -#pragma once - -#include "selfdrive/frogpilot/ui/qt/offroad/frogpilot_settings.h" - -class FrogPilotPrimelessPanel : public FrogPilotListWidget { - Q_OBJECT - -public: - explicit FrogPilotPrimelessPanel(FrogPilotSettingsWindow *parent); - -signals: - void closeMapBoxInstructions(); - void openMapBoxInstructions(); - -private: - void createMapboxKeyControl(ButtonControl *&control, const QString &label, const std::string ¶mKey, const QString &prefix); - void displayMapboxInstructions(bool visible); - void hideEvent(QHideEvent *event); - void mousePressEvent(QMouseEvent *event); - void showEvent(QShowEvent *event); - void updateState(); - void updateStep(); - - ButtonControl *publicMapboxKeyControl; - ButtonControl *secretMapboxKeyControl; - ButtonControl *setupButton; - - ButtonParamControl *searchInput; - - LabelControl *ipLabel; - - Params params; - Params paramsStorage{"/persist/params"}; - - bool mapboxPublicKeySet; - bool mapboxSecretKeySet; - bool setupCompleted; - - QLabel *imageLabel; -}; diff --git a/selfdrive/frogpilot/screenrecorder/blocking_queue.h b/selfdrive/frogpilot/screenrecorder/blocking_queue.h deleted file mode 100644 index 81ca4d5c2e3eb4..00000000000000 --- a/selfdrive/frogpilot/screenrecorder/blocking_queue.h +++ /dev/null @@ -1,89 +0,0 @@ -#pragma once -#include -#include -#include - -template -class BlockingQueue -{ -public: - std::deque content; - size_t capacity; - - std::mutex mutex; - std::condition_variable not_empty; - std::condition_variable not_full; - - BlockingQueue(const BlockingQueue &) = delete; - BlockingQueue(BlockingQueue &&) = delete; - BlockingQueue &operator = (const BlockingQueue &) = delete; - BlockingQueue &operator = (BlockingQueue &&) = delete; - - public: - BlockingQueue(size_t capacity): capacity(capacity) {} - - void clear() { - { - std::unique_lock lk(mutex); - content.clear(); - } - not_full.notify_one(); - } - - void push(T &&item) { - { - std::unique_lock lk(mutex); - not_full.wait(lk, [this]() { return content.size() < capacity; }); - content.push_back(std::move(item)); - } - not_empty.notify_one(); - } - - bool try_push(T &&item) { - { - std::unique_lock lk(mutex); - if (content.size() == capacity) - return false; - content.push_back(std::move(item)); - } - not_empty.notify_one(); - return true; - } - - void pop(T &item) { - { - std::unique_lock lk(mutex); - not_empty.wait(lk, [this]() { return !content.empty(); }); - item = std::move(content.front()); - content.pop_front(); - } - not_full.notify_one(); - } - - bool pop_wait_for(T &item, std::chrono::milliseconds duration) { - { - std::unique_lock lk(mutex); - if(not_empty.wait_for(lk, duration, [this]() { return !content.empty(); })) { - item = std::move(content.front()); - content.pop_front(); - } - else { - return false; - } - } - not_full.notify_one(); - return true; - } - - bool try_pop(T &item) { - { - std::unique_lock lk(mutex); - if (content.empty()) - return false; - item = std::move(content.front()); - content.pop_front(); - } - not_full.notify_one(); - return true; - } -}; \ No newline at end of file diff --git a/selfdrive/frogpilot/screenrecorder/omx_encoder.cc b/selfdrive/frogpilot/screenrecorder/omx_encoder.cc deleted file mode 100644 index 69e3f5c6ec874a..00000000000000 --- a/selfdrive/frogpilot/screenrecorder/omx_encoder.cc +++ /dev/null @@ -1,566 +0,0 @@ -#pragma clang diagnostic ignored "-Wdeprecated-declarations" - -#include "selfdrive/frogpilot/screenrecorder/omx_encoder.h" - -#include -#include -#include - -#include -#include -#include - -#include -#include -#include -#include -#include "libyuv.h" -#include "msm_media_info.h" -#include "common/swaglog.h" -#include "common/util.h" - -ExitHandler do_exit; - -using namespace libyuv; - -LIBYUV_API -int ABGRToNV12(const uint8_t* src_abgr, - int src_stride_abgr, - uint8_t* dst_y, - int dst_stride_y, - uint8_t* dst_uv, - int dst_stride_uv, - int width, - int height) { - int y; - int halfwidth = (width + 1) >> 1; - - void (*ABGRToUVRow)(const uint8_t* src_abgr0, int src_stride_abgr, - uint8_t* dst_u, uint8_t* dst_v, int width) = ABGRToUVRow_NEON; - void (*ABGRToYRow)(const uint8_t* src_abgr, uint8_t* dst_y, int width) = ABGRToYRow_NEON; - void (*MergeUVRow_)(const uint8_t* src_u, const uint8_t* src_v, - uint8_t* dst_uv, int width) = MergeUVRow_NEON; - - if (!src_abgr || !dst_y || !dst_uv || width <= 0 || height == 0) { - return -1; - } - - if (height < 0) { - height = -height; - src_abgr = src_abgr + (height - 1) * src_stride_abgr; - src_stride_abgr = -src_stride_abgr; - } - - align_buffer_64(row_u, ((halfwidth + 31) & ~31) * 2); - uint8_t* row_v = row_u + ((halfwidth + 31) & ~31); - - for (y = 0; y < height - 1; y += 2) { - ABGRToUVRow(src_abgr, src_stride_abgr, row_u, row_v, width); - MergeUVRow_(row_u, row_v, dst_uv, halfwidth); - ABGRToYRow(src_abgr, dst_y, width); - ABGRToYRow(src_abgr + src_stride_abgr, dst_y + dst_stride_y, width); - src_abgr += src_stride_abgr * 2; - dst_y += dst_stride_y * 2; - dst_uv += dst_stride_uv; - } - - if (height & 1) { - ABGRToUVRow(src_abgr, 0, row_u, row_v, width); - MergeUVRow_(row_u, row_v, dst_uv, halfwidth); - ABGRToYRow(src_abgr, dst_y, width); - } - - free_aligned_buffer_64(row_u); - return 0; -} - -// Check the OMX error code and assert if an error occurred. -#define OMX_CHECK(_expr) \ - do { \ - assert(OMX_ErrorNone == (_expr)); \ - } while (0) - -// ***** OMX callback functions ***** - -void OmxEncoder::wait_for_state(OMX_STATETYPE state_) { - std::unique_lock lk(state_lock); - while (state != state_) { - state_cv.wait(lk); - } -} - -static OMX_CALLBACKTYPE omx_callbacks = { - .EventHandler = OmxEncoder::event_handler, - .EmptyBufferDone = OmxEncoder::empty_buffer_done, - .FillBufferDone = OmxEncoder::fill_buffer_done, -}; - -OMX_ERRORTYPE OmxEncoder::event_handler(OMX_HANDLETYPE component, OMX_PTR app_data, OMX_EVENTTYPE event, - OMX_U32 data1, OMX_U32 data2, OMX_PTR event_data) { - OmxEncoder *e = (OmxEncoder*)app_data; - if (event == OMX_EventCmdComplete) { - assert(data1 == OMX_CommandStateSet); - LOG("set state event 0x%x", data2); - { - std::unique_lock lk(e->state_lock); - e->state = (OMX_STATETYPE)data2; - } - e->state_cv.notify_all(); - } else if (event == OMX_EventError) { - LOGE("OMX error 0x%08x", data1); - } else { - LOGE("OMX unhandled event %d", event); - assert(false); - } - - return OMX_ErrorNone; -} - -OMX_ERRORTYPE OmxEncoder::empty_buffer_done(OMX_HANDLETYPE component, OMX_PTR app_data, - OMX_BUFFERHEADERTYPE *buffer) { - OmxEncoder *e = (OmxEncoder*)app_data; - e->free_in.push(buffer); - return OMX_ErrorNone; -} - -OMX_ERRORTYPE OmxEncoder::fill_buffer_done(OMX_HANDLETYPE component, OMX_PTR app_data, - OMX_BUFFERHEADERTYPE *buffer) { - OmxEncoder *e = (OmxEncoder*)app_data; - e->done_out.push(buffer); - return OMX_ErrorNone; -} - -#define PORT_INDEX_IN 0 -#define PORT_INDEX_OUT 1 - -static const char* omx_color_fomat_name(uint32_t format) __attribute__((unused)); -static const char* omx_color_fomat_name(uint32_t format) { - switch (format) { - case OMX_COLOR_FormatUnused: return "OMX_COLOR_FormatUnused"; - case OMX_COLOR_FormatMonochrome: return "OMX_COLOR_FormatMonochrome"; - case OMX_COLOR_Format8bitRGB332: return "OMX_COLOR_Format8bitRGB332"; - case OMX_COLOR_Format12bitRGB444: return "OMX_COLOR_Format12bitRGB444"; - case OMX_COLOR_Format16bitARGB4444: return "OMX_COLOR_Format16bitARGB4444"; - case OMX_COLOR_Format16bitARGB1555: return "OMX_COLOR_Format16bitARGB1555"; - case OMX_COLOR_Format16bitRGB565: return "OMX_COLOR_Format16bitRGB565"; - case OMX_COLOR_Format16bitBGR565: return "OMX_COLOR_Format16bitBGR565"; - case OMX_COLOR_Format18bitRGB666: return "OMX_COLOR_Format18bitRGB666"; - case OMX_COLOR_Format18bitARGB1665: return "OMX_COLOR_Format18bitARGB1665"; - case OMX_COLOR_Format19bitARGB1666: return "OMX_COLOR_Format19bitARGB1666"; - case OMX_COLOR_Format24bitRGB888: return "OMX_COLOR_Format24bitRGB888"; - case OMX_COLOR_Format24bitBGR888: return "OMX_COLOR_Format24bitBGR888"; - case OMX_COLOR_Format24bitARGB1887: return "OMX_COLOR_Format24bitARGB1887"; - case OMX_COLOR_Format25bitARGB1888: return "OMX_COLOR_Format25bitARGB1888"; - case OMX_COLOR_Format32bitBGRA8888: return "OMX_COLOR_Format32bitBGRA8888"; - case OMX_COLOR_Format32bitARGB8888: return "OMX_COLOR_Format32bitARGB8888"; - case OMX_COLOR_FormatYUV411Planar: return "OMX_COLOR_FormatYUV411Planar"; - case OMX_COLOR_FormatYUV411PackedPlanar: return "OMX_COLOR_FormatYUV411PackedPlanar"; - case OMX_COLOR_FormatYUV420Planar: return "OMX_COLOR_FormatYUV420Planar"; - case OMX_COLOR_FormatYUV420PackedPlanar: return "OMX_COLOR_FormatYUV420PackedPlanar"; - case OMX_COLOR_FormatYUV420SemiPlanar: return "OMX_COLOR_FormatYUV420SemiPlanar"; - case OMX_COLOR_FormatYUV422Planar: return "OMX_COLOR_FormatYUV422Planar"; - case OMX_COLOR_FormatYUV422PackedPlanar: return "OMX_COLOR_FormatYUV422PackedPlanar"; - case OMX_COLOR_FormatYUV422SemiPlanar: return "OMX_COLOR_FormatYUV422SemiPlanar"; - case OMX_COLOR_FormatYCbYCr: return "OMX_COLOR_FormatYCbYCr"; - case OMX_COLOR_FormatYCrYCb: return "OMX_COLOR_FormatYCrYCb"; - case OMX_COLOR_FormatCbYCrY: return "OMX_COLOR_FormatCbYCrY"; - case OMX_COLOR_FormatCrYCbY: return "OMX_COLOR_FormatCrYCbY"; - case OMX_COLOR_FormatYUV444Interleaved: return "OMX_COLOR_FormatYUV444Interleaved"; - case OMX_COLOR_FormatRawBayer8bit: return "OMX_COLOR_FormatRawBayer8bit"; - case OMX_COLOR_FormatRawBayer10bit: return "OMX_COLOR_FormatRawBayer10bit"; - case OMX_COLOR_FormatRawBayer8bitcompressed: return "OMX_COLOR_FormatRawBayer8bitcompressed"; - case OMX_COLOR_FormatL2: return "OMX_COLOR_FormatL2"; - case OMX_COLOR_FormatL4: return "OMX_COLOR_FormatL4"; - case OMX_COLOR_FormatL8: return "OMX_COLOR_FormatL8"; - case OMX_COLOR_FormatL16: return "OMX_COLOR_FormatL16"; - case OMX_COLOR_FormatL24: return "OMX_COLOR_FormatL24"; - case OMX_COLOR_FormatL32: return "OMX_COLOR_FormatL32"; - case OMX_COLOR_FormatYUV420PackedSemiPlanar: return "OMX_COLOR_FormatYUV420PackedSemiPlanar"; - case OMX_COLOR_FormatYUV422PackedSemiPlanar: return "OMX_COLOR_FormatYUV422PackedSemiPlanar"; - case OMX_COLOR_Format18BitBGR666: return "OMX_COLOR_Format18BitBGR666"; - case OMX_COLOR_Format24BitARGB6666: return "OMX_COLOR_Format24BitARGB6666"; - case OMX_COLOR_Format24BitABGR6666: return "OMX_COLOR_Format24BitABGR6666"; - - case OMX_COLOR_FormatAndroidOpaque: return "OMX_COLOR_FormatAndroidOpaque"; - case OMX_TI_COLOR_FormatYUV420PackedSemiPlanar: return "OMX_TI_COLOR_FormatYUV420PackedSemiPlanar"; - case OMX_QCOM_COLOR_FormatYVU420SemiPlanar: return "OMX_QCOM_COLOR_FormatYVU420SemiPlanar"; - case OMX_QCOM_COLOR_FormatYUV420PackedSemiPlanar64x32Tile2m8ka: return "OMX_QCOM_COLOR_FormatYUV420PackedSemiPlanar64x32Tile2m8ka"; - case OMX_SEC_COLOR_FormatNV12Tiled: return "OMX_SEC_COLOR_FormatNV12Tiled"; - case OMX_QCOM_COLOR_FormatYUV420PackedSemiPlanar32m: return "OMX_QCOM_COLOR_FormatYUV420PackedSemiPlanar32m"; - - case QOMX_COLOR_FormatYVU420PackedSemiPlanar32m4ka: return "QOMX_COLOR_FormatYVU420PackedSemiPlanar32m4ka"; - case QOMX_COLOR_FormatYUV420PackedSemiPlanar16m2ka: return "QOMX_COLOR_FormatYUV420PackedSemiPlanar16m2ka"; - case QOMX_COLOR_FORMATYUV420PackedSemiPlanar32mMultiView: return "QOMX_COLOR_FORMATYUV420PackedSemiPlanar32mMultiView"; - case QOMX_COLOR_FORMATYUV420PackedSemiPlanar32mCompressed: return "QOMX_COLOR_FORMATYUV420PackedSemiPlanar32mCompressed"; - case QOMX_COLOR_Format32bitRGBA8888: return "QOMX_COLOR_Format32bitRGBA8888"; - case QOMX_COLOR_Format32bitRGBA8888Compressed: return "QOMX_COLOR_Format32bitRGBA8888Compressed"; - - default: - return "unkn"; - } -} - - -// ***** encoder functions ***** - -OmxEncoder::OmxEncoder(const char* path, int width, int height, int fps, int bitrate) { - this->path = path; - this->width = width; - this->height = height; - this->fps = fps; - - OMX_ERRORTYPE err = OMX_Init(); - if (err != OMX_ErrorNone) { - LOGE("OMX_Init failed: %x", err); - return; - } - - OMX_STRING component = (OMX_STRING)("OMX.qcom.video.encoder.avc"); - err = OMX_GetHandle(&handle, component, this, &omx_callbacks); - if (err != OMX_ErrorNone) { - LOGE("Error getting codec: %x", err); - OMX_Deinit(); - return; - } - - // setup input port - OMX_PARAM_PORTDEFINITIONTYPE in_port = {0}; - in_port.nSize = sizeof(in_port); - in_port.nPortIndex = (OMX_U32) PORT_INDEX_IN; - OMX_CHECK(OMX_GetParameter(handle, OMX_IndexParamPortDefinition, (OMX_PTR) &in_port)); - - in_port.format.video.nFrameWidth = width; - in_port.format.video.nFrameHeight = height; - in_port.format.video.nStride = VENUS_Y_STRIDE(COLOR_FMT_NV12, width); - in_port.format.video.nSliceHeight = height; - in_port.nBufferSize = VENUS_BUFFER_SIZE(COLOR_FMT_NV12, width, height); - in_port.format.video.xFramerate = (fps * 65536); - in_port.format.video.eCompressionFormat = OMX_VIDEO_CodingUnused; - in_port.format.video.eColorFormat = (OMX_COLOR_FORMATTYPE)QOMX_COLOR_FORMATYUV420PackedSemiPlanar32m; - - OMX_CHECK(OMX_SetParameter(handle, OMX_IndexParamPortDefinition, (OMX_PTR) &in_port)); - OMX_CHECK(OMX_GetParameter(handle, OMX_IndexParamPortDefinition, (OMX_PTR) &in_port)); - in_buf_headers.resize(in_port.nBufferCountActual); - - // setup output port - OMX_PARAM_PORTDEFINITIONTYPE out_port; - memset(&out_port, 0, sizeof(OMX_PARAM_PORTDEFINITIONTYPE)); - out_port.nSize = sizeof(out_port); - out_port.nVersion.s.nVersionMajor = 1; - out_port.nVersion.s.nVersionMinor = 0; - out_port.nVersion.s.nRevision = 0; - out_port.nVersion.s.nStep = 0; - out_port.nPortIndex = (OMX_U32) PORT_INDEX_OUT; - - OMX_ERRORTYPE error = OMX_GetParameter(handle, OMX_IndexParamPortDefinition, (OMX_PTR)&out_port); - if (error != OMX_ErrorNone) { - LOGE("Error getting output port parameters: 0x%08x", error); - return; - } - - out_port.format.video.nFrameWidth = width; - out_port.format.video.nFrameHeight = height; - out_port.format.video.xFramerate = 0; - out_port.format.video.nBitrate = bitrate; - out_port.format.video.eCompressionFormat = OMX_VIDEO_CodingAVC; - out_port.format.video.eColorFormat = OMX_COLOR_FormatUnused; - - error = OMX_SetParameter(handle, OMX_IndexParamPortDefinition, (OMX_PTR) &out_port); - if (error != OMX_ErrorNone) { - LOGE("Error setting output port parameters: 0x%08x", error); - return; - } - - error = OMX_GetParameter(handle, OMX_IndexParamPortDefinition, (OMX_PTR) &out_port); - if (error != OMX_ErrorNone) { - LOGE("Error getting updated output port parameters: 0x%08x", error); - return; - } - - out_buf_headers.resize(out_port.nBufferCountActual); - - OMX_VIDEO_PARAM_BITRATETYPE bitrate_type = {0}; - bitrate_type.nSize = sizeof(bitrate_type); - bitrate_type.nPortIndex = (OMX_U32) PORT_INDEX_OUT; - OMX_CHECK(OMX_GetParameter(handle, OMX_IndexParamVideoBitrate, (OMX_PTR) &bitrate_type)); - bitrate_type.eControlRate = OMX_Video_ControlRateVariable; - bitrate_type.nTargetBitrate = bitrate; - - OMX_CHECK(OMX_SetParameter(handle, OMX_IndexParamVideoBitrate, (OMX_PTR) &bitrate_type)); - - // setup h264 - OMX_VIDEO_PARAM_AVCTYPE avc = {0}; - avc.nSize = sizeof(avc); - avc.nPortIndex = (OMX_U32) PORT_INDEX_OUT; - OMX_CHECK(OMX_GetParameter(handle, OMX_IndexParamVideoAvc, &avc)); - - avc.nBFrames = 0; - avc.nPFrames = 15; - - avc.eProfile = OMX_VIDEO_AVCProfileHigh; - avc.eLevel = OMX_VIDEO_AVCLevel31; - - avc.nAllowedPictureTypes |= OMX_VIDEO_PictureTypeB; - avc.eLoopFilterMode = OMX_VIDEO_AVCLoopFilterEnable; - - avc.nRefFrames = 1; - avc.bUseHadamard = OMX_TRUE; - avc.bEntropyCodingCABAC = OMX_TRUE; - avc.bWeightedPPrediction = OMX_TRUE; - avc.bconstIpred = OMX_TRUE; - - OMX_CHECK(OMX_SetParameter(handle, OMX_IndexParamVideoAvc, &avc)); - OMX_CHECK(OMX_SendCommand(handle, OMX_CommandStateSet, OMX_StateIdle, NULL)); - - for (OMX_BUFFERHEADERTYPE* &buf : in_buf_headers) { - OMX_CHECK(OMX_AllocateBuffer(handle, &buf, PORT_INDEX_IN, this, in_port.nBufferSize)); - } - - for (OMX_BUFFERHEADERTYPE* &buf : out_buf_headers) { - OMX_CHECK(OMX_AllocateBuffer(handle, &buf, PORT_INDEX_OUT, this, out_port.nBufferSize)); - } - - wait_for_state(OMX_StateIdle); - - OMX_CHECK(OMX_SendCommand(handle, OMX_CommandStateSet, OMX_StateExecuting, NULL)); - - wait_for_state(OMX_StateExecuting); - - // give omx all the output buffers - for (OMX_BUFFERHEADERTYPE* &buf : out_buf_headers) { - OMX_CHECK(OMX_FillThisBuffer(handle, buf)); - } - - // fill the input free queue - for (OMX_BUFFERHEADERTYPE* &buf : in_buf_headers) { - free_in.push(buf); - } -} - -void OmxEncoder::handle_out_buf(OmxEncoder *encoder, OMX_BUFFERHEADERTYPE *out_buf) { - int err; - uint8_t *buf_data = out_buf->pBuffer + out_buf->nOffset; - - if (out_buf->nFlags & OMX_BUFFERFLAG_CODECCONFIG) { - if (encoder->codec_config_len < out_buf->nFilledLen) { - encoder->codec_config = (uint8_t *)realloc(encoder->codec_config, out_buf->nFilledLen); - } - encoder->codec_config_len = out_buf->nFilledLen; - memcpy(encoder->codec_config, buf_data, out_buf->nFilledLen); -#ifdef QCOM2 - out_buf->nTimeStamp = 0; -#endif - } - - if (encoder->of) { - fwrite(buf_data, out_buf->nFilledLen, 1, encoder->of); - } - - if (!encoder->wrote_codec_config && encoder->codec_config_len > 0) { - // extradata will be freed by av_free() in avcodec_free_context() - encoder->codec_ctx->extradata = (uint8_t*)av_mallocz(encoder->codec_config_len + AV_INPUT_BUFFER_PADDING_SIZE); - encoder->codec_ctx->extradata_size = encoder->codec_config_len; - memcpy(encoder->codec_ctx->extradata, encoder->codec_config, encoder->codec_config_len); - - err = avcodec_parameters_from_context(encoder->out_stream->codecpar, encoder->codec_ctx); - assert(err >= 0); - err = avformat_write_header(encoder->ofmt_ctx, NULL); - assert(err >= 0); - - encoder->wrote_codec_config = true; - } - - if (out_buf->nTimeStamp > 0) { - // input timestamps are in microseconds - AVRational in_timebase = {1, 1000000}; - - AVPacket pkt; - av_init_packet(&pkt); - pkt.data = buf_data; - pkt.size = out_buf->nFilledLen; - - enum AVRounding rnd = static_cast(AV_ROUND_NEAR_INF|AV_ROUND_PASS_MINMAX); - pkt.pts = pkt.dts = av_rescale_q_rnd(out_buf->nTimeStamp, in_timebase, encoder->ofmt_ctx->streams[0]->time_base, rnd); - pkt.duration = av_rescale_q(50 * 1000, in_timebase, encoder->ofmt_ctx->streams[0]->time_base); - - if (out_buf->nFlags & OMX_BUFFERFLAG_SYNCFRAME) { - pkt.flags |= AV_PKT_FLAG_KEY; - } - - err = av_write_frame(encoder->ofmt_ctx, &pkt); - if (err < 0) { - LOGW("ts encoder write issue"); - } - - av_free_packet(&pkt); - } - - // give omx back the buffer -#ifdef QCOM2 - if (out_buf->nFlags & OMX_BUFFERFLAG_EOS) { - out_buf->nTimeStamp = 0; - } -#endif - OMX_CHECK(OMX_FillThisBuffer(encoder->handle, out_buf)); -} - -int OmxEncoder::encode_frame_rgba(const uint8_t *ptr, int in_width, int in_height, uint64_t ts) { - if (!is_open) { - return -1; - } - - // this sometimes freezes... put it outside the encoder lock so we can still trigger rotates... - // THIS IS A REALLY BAD IDEA, but apparently the race has to happen 30 times to trigger this - OMX_BUFFERHEADERTYPE* in_buf = nullptr; - while (!free_in.try_pop(in_buf, 20)) { - if (do_exit) { - return -1; - } - } - - int ret = counter; - - uint8_t *in_buf_ptr = in_buf->pBuffer; - - uint8_t *in_y_ptr = in_buf_ptr; - int in_y_stride = VENUS_Y_STRIDE(COLOR_FMT_NV12, width); - int in_uv_stride = VENUS_UV_STRIDE(COLOR_FMT_NV12, width); - uint8_t *in_uv_ptr = in_buf_ptr + (in_y_stride * VENUS_Y_SCANLINES(COLOR_FMT_NV12, height)); - - int err = ABGRToNV12(ptr, width * 4, in_y_ptr, in_y_stride, in_uv_ptr, in_uv_stride, width, height); - assert(err == 0); - - in_buf->nFilledLen = VENUS_BUFFER_SIZE(COLOR_FMT_NV12, width, height); - in_buf->nFlags = OMX_BUFFERFLAG_ENDOFFRAME; - in_buf->nOffset = 0; - in_buf->nTimeStamp = ts / 1000LL; // OMX_TICKS, in microseconds - last_t = in_buf->nTimeStamp; - - OMX_CHECK(OMX_EmptyThisBuffer(handle, in_buf)); - - // pump output - while (true) { - OMX_BUFFERHEADERTYPE *out_buf; - if (!done_out.try_pop(out_buf)) { - break; - } - handle_out_buf(this, out_buf); - } - - dirty = true; - - counter++; - - return ret; -} - -void OmxEncoder::encoder_open(const char* filename) { - struct stat st = {0}; - if (stat(path.c_str(), &st) == -1) { - mkdir(path.c_str(), 0755); - } - - snprintf(vid_path, sizeof(vid_path), "%s/%s", path.c_str(), filename); - - avformat_alloc_output_context2(&ofmt_ctx, NULL, NULL, vid_path); - assert(ofmt_ctx); - - out_stream = avformat_new_stream(ofmt_ctx, NULL); - assert(out_stream); - - // set codec correctly - av_register_all(); - - AVCodec *codec = avcodec_find_encoder(AV_CODEC_ID_H264); - assert(codec); - - codec_ctx = avcodec_alloc_context3(codec); - assert(codec_ctx); - codec_ctx->width = width; - codec_ctx->height = height; - codec_ctx->pix_fmt = AV_PIX_FMT_YUV420P; - codec_ctx->time_base = {1, fps}; - - int err = avio_open(&ofmt_ctx->pb, vid_path, AVIO_FLAG_WRITE); - assert(err >= 0); - - wrote_codec_config = false; - - // create camera lock file - snprintf(lock_path, sizeof(lock_path), "%s/%s.lock", path.c_str(), filename); - int lock_fd = HANDLE_EINTR(open(lock_path, O_RDWR | O_CREAT, 0664)); - assert(lock_fd >= 0); - close(lock_fd); - - is_open = true; - counter = 0; -} - -void OmxEncoder::encoder_close() { - if (is_open) { - if (dirty) { - // drain output only if there could be frames in the encoder - - OMX_BUFFERHEADERTYPE* in_buf = free_in.pop(); - in_buf->nFilledLen = 0; - in_buf->nOffset = 0; - in_buf->nFlags = OMX_BUFFERFLAG_EOS; - in_buf->nTimeStamp = last_t + 1000000LL / fps; - - OMX_CHECK(OMX_EmptyThisBuffer(handle, in_buf)); - - while (true) { - OMX_BUFFERHEADERTYPE *out_buf = done_out.pop(); - - handle_out_buf(this, out_buf); - - if (out_buf->nFlags & OMX_BUFFERFLAG_EOS) { - break; - } - } - dirty = false; - } - - av_write_trailer(ofmt_ctx); - avcodec_free_context(&codec_ctx); - avio_closep(&ofmt_ctx->pb); - avformat_free_context(ofmt_ctx); - unlink(lock_path); - } - is_open = false; -} - -OmxEncoder::~OmxEncoder() { - assert(!is_open); - - OMX_CHECK(OMX_SendCommand(handle, OMX_CommandStateSet, OMX_StateIdle, NULL)); - - wait_for_state(OMX_StateIdle); - - OMX_CHECK(OMX_SendCommand(handle, OMX_CommandStateSet, OMX_StateLoaded, NULL)); - - for (OMX_BUFFERHEADERTYPE* buf : in_buf_headers) { - OMX_CHECK(OMX_FreeBuffer(handle, PORT_INDEX_IN, buf)); - } - - for (OMX_BUFFERHEADERTYPE* buf : out_buf_headers) { - OMX_CHECK(OMX_FreeBuffer(handle, PORT_INDEX_OUT, buf)); - } - - wait_for_state(OMX_StateLoaded); - - OMX_CHECK(OMX_FreeHandle(handle)); - - OMX_ERRORTYPE err = OMX_Deinit(); - if (err != OMX_ErrorNone) { - LOGE("OMX_Deinit failed: %x", err); - } - - OMX_BUFFERHEADERTYPE *out_buf; - while (free_in.try_pop(out_buf)); - while (done_out.try_pop(out_buf)); - - if (codec_config) { - free(codec_config); - } -} diff --git a/selfdrive/frogpilot/screenrecorder/omx_encoder.h b/selfdrive/frogpilot/screenrecorder/omx_encoder.h deleted file mode 100644 index 72db396f392830..00000000000000 --- a/selfdrive/frogpilot/screenrecorder/omx_encoder.h +++ /dev/null @@ -1,68 +0,0 @@ -#pragma once - -#include -#include -#include -#include - -#include -extern "C" { -#include -} - -#include "common/queue.h" - -// OmxEncoder, lossey codec using hardware hevc -class OmxEncoder { -public: - OmxEncoder(const char* path, int width, int height, int fps, int bitrate); - ~OmxEncoder(); - - int encode_frame_rgba(const uint8_t *ptr, int in_width, int in_height, uint64_t ts); - void encoder_open(const char* filename); - void encoder_close(); - - // OMX callbacks - static OMX_ERRORTYPE event_handler(OMX_HANDLETYPE component, OMX_PTR app_data, OMX_EVENTTYPE event, - OMX_U32 data1, OMX_U32 data2, OMX_PTR event_data); - static OMX_ERRORTYPE empty_buffer_done(OMX_HANDLETYPE component, OMX_PTR app_data, - OMX_BUFFERHEADERTYPE *buffer); - static OMX_ERRORTYPE fill_buffer_done(OMX_HANDLETYPE component, OMX_PTR app_data, - OMX_BUFFERHEADERTYPE *buffer); - -private: - void wait_for_state(OMX_STATETYPE state); - static void handle_out_buf(OmxEncoder *e, OMX_BUFFERHEADERTYPE *out_buf); - - int width, height, fps; - char vid_path[1024]; - char lock_path[1024]; - bool is_open = false; - bool dirty = false; - int counter = 0; - - std::string path; - FILE *of; - - size_t codec_config_len; - uint8_t *codec_config = NULL; - bool wrote_codec_config; - - std::mutex state_lock; - std::condition_variable state_cv; - OMX_STATETYPE state = OMX_StateLoaded; - - OMX_HANDLETYPE handle; - - std::vector in_buf_headers; - std::vector out_buf_headers; - - uint64_t last_t; - - SafeQueue free_in; - SafeQueue done_out; - - AVFormatContext *ofmt_ctx; - AVCodecContext *codec_ctx; - AVStream *out_stream; -}; diff --git a/selfdrive/frogpilot/screenrecorder/openmax/include/OMX_Audio.h b/selfdrive/frogpilot/screenrecorder/openmax/include/OMX_Audio.h deleted file mode 100644 index 0d455766c50048..00000000000000 --- a/selfdrive/frogpilot/screenrecorder/openmax/include/OMX_Audio.h +++ /dev/null @@ -1,1312 +0,0 @@ -/* - * Copyright (c) 2008 The Khronos Group Inc. - * - * Permission is hereby granted, free of charge, to any person obtaining - * a copy of this software and associated documentation files (the - * "Software"), to deal in the Software without restriction, including - * without limitation the rights to use, copy, modify, merge, publish, - * distribute, sublicense, and/or sell copies of the Software, and to - * permit persons to whom the Software is furnished to do so, subject - * to the following conditions: - * The above copyright notice and this permission notice shall be included - * in all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS - * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF - * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. - * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY - * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, - * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE - * SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. - * - */ - -/** @file OMX_Audio.h - OpenMax IL version 1.1.2 - * The structures needed by Audio components to exchange - * parameters and configuration data with the componenmilts. - */ - -#ifndef OMX_Audio_h -#define OMX_Audio_h - -#ifdef __cplusplus -extern "C" { -#endif /* __cplusplus */ - - -/* Each OMX header must include all required header files to allow the - * header to compile without errors. The includes below are required - * for this header file to compile successfully - */ - -#include - -/** @defgroup midi MIDI - * @ingroup audio - */ - -/** @defgroup effects Audio effects - * @ingroup audio - */ - -/** @defgroup audio OpenMAX IL Audio Domain - * Structures for OpenMAX IL Audio domain - * @{ - */ - -/** Enumeration used to define the possible audio codings. - * If "OMX_AUDIO_CodingUnused" is selected, the coding selection must - * be done in a vendor specific way. Since this is for an audio - * processing element this enum is relevant. However, for another - * type of component other enums would be in this area. - */ -typedef enum OMX_AUDIO_CODINGTYPE { - OMX_AUDIO_CodingUnused = 0, /**< Placeholder value when coding is N/A */ - OMX_AUDIO_CodingAutoDetect, /**< auto detection of audio format */ - OMX_AUDIO_CodingPCM, /**< Any variant of PCM coding */ - OMX_AUDIO_CodingADPCM, /**< Any variant of ADPCM encoded data */ - OMX_AUDIO_CodingAMR, /**< Any variant of AMR encoded data */ - OMX_AUDIO_CodingGSMFR, /**< Any variant of GSM fullrate (i.e. GSM610) */ - OMX_AUDIO_CodingGSMEFR, /**< Any variant of GSM Enhanced Fullrate encoded data*/ - OMX_AUDIO_CodingGSMHR, /**< Any variant of GSM Halfrate encoded data */ - OMX_AUDIO_CodingPDCFR, /**< Any variant of PDC Fullrate encoded data */ - OMX_AUDIO_CodingPDCEFR, /**< Any variant of PDC Enhanced Fullrate encoded data */ - OMX_AUDIO_CodingPDCHR, /**< Any variant of PDC Halfrate encoded data */ - OMX_AUDIO_CodingTDMAFR, /**< Any variant of TDMA Fullrate encoded data (TIA/EIA-136-420) */ - OMX_AUDIO_CodingTDMAEFR, /**< Any variant of TDMA Enhanced Fullrate encoded data (TIA/EIA-136-410) */ - OMX_AUDIO_CodingQCELP8, /**< Any variant of QCELP 8kbps encoded data */ - OMX_AUDIO_CodingQCELP13, /**< Any variant of QCELP 13kbps encoded data */ - OMX_AUDIO_CodingEVRC, /**< Any variant of EVRC encoded data */ - OMX_AUDIO_CodingSMV, /**< Any variant of SMV encoded data */ - OMX_AUDIO_CodingG711, /**< Any variant of G.711 encoded data */ - OMX_AUDIO_CodingG723, /**< Any variant of G.723 dot 1 encoded data */ - OMX_AUDIO_CodingG726, /**< Any variant of G.726 encoded data */ - OMX_AUDIO_CodingG729, /**< Any variant of G.729 encoded data */ - OMX_AUDIO_CodingAAC, /**< Any variant of AAC encoded data */ - OMX_AUDIO_CodingMP3, /**< Any variant of MP3 encoded data */ - OMX_AUDIO_CodingSBC, /**< Any variant of SBC encoded data */ - OMX_AUDIO_CodingVORBIS, /**< Any variant of VORBIS encoded data */ - OMX_AUDIO_CodingWMA, /**< Any variant of WMA encoded data */ - OMX_AUDIO_CodingRA, /**< Any variant of RA encoded data */ - OMX_AUDIO_CodingMIDI, /**< Any variant of MIDI encoded data */ - OMX_AUDIO_CodingAC3, /**< Any variant of AC3 encoded data */ - OMX_AUDIO_CodingKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ - OMX_AUDIO_CodingVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ - OMX_AUDIO_CodingMax = 0x7FFFFFFF -} OMX_AUDIO_CODINGTYPE; - - -/** The PortDefinition structure is used to define all of the parameters - * necessary for the compliant component to setup an input or an output audio - * path. If additional information is needed to define the parameters of the - * port (such as frequency), additional structures must be sent such as the - * OMX_AUDIO_PARAM_PCMMODETYPE structure to supply the extra parameters for the port. - */ -typedef struct OMX_AUDIO_PORTDEFINITIONTYPE { - OMX_STRING cMIMEType; /**< MIME type of data for the port */ - OMX_NATIVE_DEVICETYPE pNativeRender; /** < platform specific reference - for an output device, - otherwise this field is 0 */ - OMX_BOOL bFlagErrorConcealment; /**< Turns on error concealment if it is - supported by the OMX component */ - OMX_AUDIO_CODINGTYPE eEncoding; /**< Type of data expected for this - port (e.g. PCM, AMR, MP3, etc) */ -} OMX_AUDIO_PORTDEFINITIONTYPE; - - -/** Port format parameter. This structure is used to enumerate - * the various data input/output format supported by the port. - */ -typedef struct OMX_AUDIO_PARAM_PORTFORMATTYPE { - OMX_U32 nSize; /**< size of the structure in bytes */ - OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ - OMX_U32 nPortIndex; /**< Indicates which port to set */ - OMX_U32 nIndex; /**< Indicates the enumeration index for the format from 0x0 to N-1 */ - OMX_AUDIO_CODINGTYPE eEncoding; /**< Type of data expected for this port (e.g. PCM, AMR, MP3, etc) */ -} OMX_AUDIO_PARAM_PORTFORMATTYPE; - - -/** PCM mode type */ -typedef enum OMX_AUDIO_PCMMODETYPE { - OMX_AUDIO_PCMModeLinear = 0, /**< Linear PCM encoded data */ - OMX_AUDIO_PCMModeALaw, /**< A law PCM encoded data (G.711) */ - OMX_AUDIO_PCMModeMULaw, /**< Mu law PCM encoded data (G.711) */ - OMX_AUDIO_PCMModeKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ - OMX_AUDIO_PCMModeVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ - OMX_AUDIO_PCMModeMax = 0x7FFFFFFF -} OMX_AUDIO_PCMMODETYPE; - - -typedef enum OMX_AUDIO_CHANNELTYPE { - OMX_AUDIO_ChannelNone = 0x0, /**< Unused or empty */ - OMX_AUDIO_ChannelLF = 0x1, /**< Left front */ - OMX_AUDIO_ChannelRF = 0x2, /**< Right front */ - OMX_AUDIO_ChannelCF = 0x3, /**< Center front */ - OMX_AUDIO_ChannelLS = 0x4, /**< Left surround */ - OMX_AUDIO_ChannelRS = 0x5, /**< Right surround */ - OMX_AUDIO_ChannelLFE = 0x6, /**< Low frequency effects */ - OMX_AUDIO_ChannelCS = 0x7, /**< Back surround */ - OMX_AUDIO_ChannelLR = 0x8, /**< Left rear. */ - OMX_AUDIO_ChannelRR = 0x9, /**< Right rear. */ - OMX_AUDIO_ChannelKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ - OMX_AUDIO_ChannelVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ - OMX_AUDIO_ChannelMax = 0x7FFFFFFF -} OMX_AUDIO_CHANNELTYPE; - -#define OMX_AUDIO_MAXCHANNELS 16 /**< maximum number distinct audio channels that a buffer may contain */ -#define OMX_MIN_PCMPAYLOAD_MSEC 5 /**< Minimum audio buffer payload size for uncompressed (PCM) audio */ - -/** PCM format description */ -typedef struct OMX_AUDIO_PARAM_PCMMODETYPE { - OMX_U32 nSize; /**< Size of this structure, in Bytes */ - OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ - OMX_U32 nPortIndex; /**< port that this structure applies to */ - OMX_U32 nChannels; /**< Number of channels (e.g. 2 for stereo) */ - OMX_NUMERICALDATATYPE eNumData; /**< indicates PCM data as signed or unsigned */ - OMX_ENDIANTYPE eEndian; /**< indicates PCM data as little or big endian */ - OMX_BOOL bInterleaved; /**< True for normal interleaved data; false for - non-interleaved data (e.g. block data) */ - OMX_U32 nBitPerSample; /**< Bit per sample */ - OMX_U32 nSamplingRate; /**< Sampling rate of the source data. Use 0 for - variable or unknown sampling rate. */ - OMX_AUDIO_PCMMODETYPE ePCMMode; /**< PCM mode enumeration */ - OMX_AUDIO_CHANNELTYPE eChannelMapping[OMX_AUDIO_MAXCHANNELS]; /**< Slot i contains channel defined by eChannelMap[i] */ - -} OMX_AUDIO_PARAM_PCMMODETYPE; - - -/** Audio channel mode. This is used by both AAC and MP3, although the names are more appropriate - * for the MP3. For example, JointStereo for MP3 is CouplingChannels for AAC. - */ -typedef enum OMX_AUDIO_CHANNELMODETYPE { - OMX_AUDIO_ChannelModeStereo = 0, /**< 2 channels, the bitrate allocation between those - two channels changes accordingly to each channel information */ - OMX_AUDIO_ChannelModeJointStereo, /**< mode that takes advantage of what is common between - 2 channels for higher compression gain */ - OMX_AUDIO_ChannelModeDual, /**< 2 mono-channels, each channel is encoded with half - the bitrate of the overall bitrate */ - OMX_AUDIO_ChannelModeMono, /**< Mono channel mode */ - OMX_AUDIO_ChannelModeKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ - OMX_AUDIO_ChannelModeVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ - OMX_AUDIO_ChannelModeMax = 0x7FFFFFFF -} OMX_AUDIO_CHANNELMODETYPE; - - -typedef enum OMX_AUDIO_MP3STREAMFORMATTYPE { - OMX_AUDIO_MP3StreamFormatMP1Layer3 = 0, /**< MP3 Audio MPEG 1 Layer 3 Stream format */ - OMX_AUDIO_MP3StreamFormatMP2Layer3, /**< MP3 Audio MPEG 2 Layer 3 Stream format */ - OMX_AUDIO_MP3StreamFormatMP2_5Layer3, /**< MP3 Audio MPEG2.5 Layer 3 Stream format */ - OMX_AUDIO_MP3StreamFormatKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ - OMX_AUDIO_MP3StreamFormatVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ - OMX_AUDIO_MP3StreamFormatMax = 0x7FFFFFFF -} OMX_AUDIO_MP3STREAMFORMATTYPE; - -/** MP3 params */ -typedef struct OMX_AUDIO_PARAM_MP3TYPE { - OMX_U32 nSize; /**< size of the structure in bytes */ - OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ - OMX_U32 nPortIndex; /**< port that this structure applies to */ - OMX_U32 nChannels; /**< Number of channels */ - OMX_U32 nBitRate; /**< Bit rate of the input data. Use 0 for variable - rate or unknown bit rates */ - OMX_U32 nSampleRate; /**< Sampling rate of the source data. Use 0 for - variable or unknown sampling rate. */ - OMX_U32 nAudioBandWidth; /**< Audio band width (in Hz) to which an encoder should - limit the audio signal. Use 0 to let encoder decide */ - OMX_AUDIO_CHANNELMODETYPE eChannelMode; /**< Channel mode enumeration */ - OMX_AUDIO_MP3STREAMFORMATTYPE eFormat; /**< MP3 stream format */ -} OMX_AUDIO_PARAM_MP3TYPE; - - -typedef enum OMX_AUDIO_AACSTREAMFORMATTYPE { - OMX_AUDIO_AACStreamFormatMP2ADTS = 0, /**< AAC Audio Data Transport Stream 2 format */ - OMX_AUDIO_AACStreamFormatMP4ADTS, /**< AAC Audio Data Transport Stream 4 format */ - OMX_AUDIO_AACStreamFormatMP4LOAS, /**< AAC Low Overhead Audio Stream format */ - OMX_AUDIO_AACStreamFormatMP4LATM, /**< AAC Low overhead Audio Transport Multiplex */ - OMX_AUDIO_AACStreamFormatADIF, /**< AAC Audio Data Interchange Format */ - OMX_AUDIO_AACStreamFormatMP4FF, /**< AAC inside MPEG-4/ISO File Format */ - OMX_AUDIO_AACStreamFormatRAW, /**< AAC Raw Format */ - OMX_AUDIO_AACStreamFormatKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ - OMX_AUDIO_AACStreamFormatVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ - OMX_AUDIO_AACStreamFormatMax = 0x7FFFFFFF -} OMX_AUDIO_AACSTREAMFORMATTYPE; - - -/** AAC mode type. Note that the term profile is used with the MPEG-2 - * standard and the term object type and profile is used with MPEG-4 */ -typedef enum OMX_AUDIO_AACPROFILETYPE{ - OMX_AUDIO_AACObjectNull = 0, /**< Null, not used */ - OMX_AUDIO_AACObjectMain = 1, /**< AAC Main object */ - OMX_AUDIO_AACObjectLC, /**< AAC Low Complexity object (AAC profile) */ - OMX_AUDIO_AACObjectSSR, /**< AAC Scalable Sample Rate object */ - OMX_AUDIO_AACObjectLTP, /**< AAC Long Term Prediction object */ - OMX_AUDIO_AACObjectHE, /**< AAC High Efficiency (object type SBR, HE-AAC profile) */ - OMX_AUDIO_AACObjectScalable, /**< AAC Scalable object */ - OMX_AUDIO_AACObjectERLC = 17, /**< ER AAC Low Complexity object (Error Resilient AAC-LC) */ - OMX_AUDIO_AACObjectLD = 23, /**< AAC Low Delay object (Error Resilient) */ - OMX_AUDIO_AACObjectHE_PS = 29, /**< AAC High Efficiency with Parametric Stereo coding (HE-AAC v2, object type PS) */ - OMX_AUDIO_AACObjectKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ - OMX_AUDIO_AACObjectVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ - OMX_AUDIO_AACObjectMax = 0x7FFFFFFF -} OMX_AUDIO_AACPROFILETYPE; - - -/** AAC tool usage (for nAACtools in OMX_AUDIO_PARAM_AACPROFILETYPE). - * Required for encoder configuration and optional as decoder info output. - * For MP3, OMX_AUDIO_CHANNELMODETYPE is sufficient. */ -#define OMX_AUDIO_AACToolNone 0x00000000 /**< no AAC tools allowed (encoder config) or active (decoder info output) */ -#define OMX_AUDIO_AACToolMS 0x00000001 /**< MS: Mid/side joint coding tool allowed or active */ -#define OMX_AUDIO_AACToolIS 0x00000002 /**< IS: Intensity stereo tool allowed or active */ -#define OMX_AUDIO_AACToolTNS 0x00000004 /**< TNS: Temporal Noise Shaping tool allowed or active */ -#define OMX_AUDIO_AACToolPNS 0x00000008 /**< PNS: MPEG-4 Perceptual Noise substitution tool allowed or active */ -#define OMX_AUDIO_AACToolLTP 0x00000010 /**< LTP: MPEG-4 Long Term Prediction tool allowed or active */ -#define OMX_AUDIO_AACToolAll 0x7FFFFFFF /**< all AAC tools allowed or active (*/ - -/** MPEG-4 AAC error resilience (ER) tool usage (for nAACERtools in OMX_AUDIO_PARAM_AACPROFILETYPE). - * Required for ER encoder configuration and optional as decoder info output */ -#define OMX_AUDIO_AACERNone 0x00000000 /**< no AAC ER tools allowed/used */ -#define OMX_AUDIO_AACERVCB11 0x00000001 /**< VCB11: Virtual Code Books for AAC section data */ -#define OMX_AUDIO_AACERRVLC 0x00000002 /**< RVLC: Reversible Variable Length Coding */ -#define OMX_AUDIO_AACERHCR 0x00000004 /**< HCR: Huffman Codeword Reordering */ -#define OMX_AUDIO_AACERAll 0x7FFFFFFF /**< all AAC ER tools allowed/used */ - - -/** AAC params */ -typedef struct OMX_AUDIO_PARAM_AACPROFILETYPE { - OMX_U32 nSize; /**< Size of this structure, in Bytes */ - OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ - OMX_U32 nPortIndex; /**< Port that this structure applies to */ - OMX_U32 nChannels; /**< Number of channels */ - OMX_U32 nSampleRate; /**< Sampling rate of the source data. Use 0 for - variable or unknown sampling rate. */ - OMX_U32 nBitRate; /**< Bit rate of the input data. Use 0 for variable - rate or unknown bit rates */ - OMX_U32 nAudioBandWidth; /**< Audio band width (in Hz) to which an encoder should - limit the audio signal. Use 0 to let encoder decide */ - OMX_U32 nFrameLength; /**< Frame length (in audio samples per channel) of the codec. - Can be 1024 or 960 (AAC-LC), 2048 (HE-AAC), 480 or 512 (AAC-LD). - Use 0 to let encoder decide */ - OMX_U32 nAACtools; /**< AAC tool usage */ - OMX_U32 nAACERtools; /**< MPEG-4 AAC error resilience tool usage */ - OMX_AUDIO_AACPROFILETYPE eAACProfile; /**< AAC profile enumeration */ - OMX_AUDIO_AACSTREAMFORMATTYPE eAACStreamFormat; /**< AAC stream format enumeration */ - OMX_AUDIO_CHANNELMODETYPE eChannelMode; /**< Channel mode enumeration */ -} OMX_AUDIO_PARAM_AACPROFILETYPE; - - -/** VORBIS params */ -typedef struct OMX_AUDIO_PARAM_VORBISTYPE { - OMX_U32 nSize; /**< size of the structure in bytes */ - OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ - OMX_U32 nPortIndex; /**< port that this structure applies to */ - OMX_U32 nChannels; /**< Number of channels */ - OMX_U32 nBitRate; /**< Bit rate of the encoded data data. Use 0 for variable - rate or unknown bit rates. Encoding is set to the - bitrate closest to specified value (in bps) */ - OMX_U32 nMinBitRate; /**< Sets minimum bitrate (in bps). */ - OMX_U32 nMaxBitRate; /**< Sets maximum bitrate (in bps). */ - - OMX_U32 nSampleRate; /**< Sampling rate of the source data. Use 0 for - variable or unknown sampling rate. */ - OMX_U32 nAudioBandWidth; /**< Audio band width (in Hz) to which an encoder should - limit the audio signal. Use 0 to let encoder decide */ - OMX_S32 nQuality; /**< Sets encoding quality to n, between -1 (low) and 10 (high). - In the default mode of operation, teh quality level is 3. - Normal quality range is 0 - 10. */ - OMX_BOOL bManaged; /**< Set bitrate management mode. This turns off the - normal VBR encoding, but allows hard or soft bitrate - constraints to be enforced by the encoder. This mode can - be slower, and may also be lower quality. It is - primarily useful for streaming. */ - OMX_BOOL bDownmix; /**< Downmix input from stereo to mono (has no effect on - non-stereo streams). Useful for lower-bitrate encoding. */ -} OMX_AUDIO_PARAM_VORBISTYPE; - - -/** WMA Version */ -typedef enum OMX_AUDIO_WMAFORMATTYPE { - OMX_AUDIO_WMAFormatUnused = 0, /**< format unused or unknown */ - OMX_AUDIO_WMAFormat7, /**< Windows Media Audio format 7 */ - OMX_AUDIO_WMAFormat8, /**< Windows Media Audio format 8 */ - OMX_AUDIO_WMAFormat9, /**< Windows Media Audio format 9 */ - OMX_AUDIO_WMAFormatKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ - OMX_AUDIO_WMAFormatVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ - OMX_AUDIO_WMAFormatMax = 0x7FFFFFFF -} OMX_AUDIO_WMAFORMATTYPE; - - -/** WMA Profile */ -typedef enum OMX_AUDIO_WMAPROFILETYPE { - OMX_AUDIO_WMAProfileUnused = 0, /**< profile unused or unknown */ - OMX_AUDIO_WMAProfileL1, /**< Windows Media audio version 9 profile L1 */ - OMX_AUDIO_WMAProfileL2, /**< Windows Media audio version 9 profile L2 */ - OMX_AUDIO_WMAProfileL3, /**< Windows Media audio version 9 profile L3 */ - OMX_AUDIO_WMAProfileKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ - OMX_AUDIO_WMAProfileVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ - OMX_AUDIO_WMAProfileMax = 0x7FFFFFFF -} OMX_AUDIO_WMAPROFILETYPE; - - -/** WMA params */ -typedef struct OMX_AUDIO_PARAM_WMATYPE { - OMX_U32 nSize; /**< size of the structure in bytes */ - OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ - OMX_U32 nPortIndex; /**< port that this structure applies to */ - OMX_U16 nChannels; /**< Number of channels */ - OMX_U32 nBitRate; /**< Bit rate of the input data. Use 0 for variable - rate or unknown bit rates */ - OMX_AUDIO_WMAFORMATTYPE eFormat; /**< Version of WMA stream / data */ - OMX_AUDIO_WMAPROFILETYPE eProfile; /**< Profile of WMA stream / data */ - OMX_U32 nSamplingRate; /**< Sampling rate of the source data */ - OMX_U16 nBlockAlign; /**< is the block alignment, or block size, in bytes of the audio codec */ - OMX_U16 nEncodeOptions; /**< WMA Type-specific data */ - OMX_U32 nSuperBlockAlign; /**< WMA Type-specific data */ -} OMX_AUDIO_PARAM_WMATYPE; - -/** - * RealAudio format - */ -typedef enum OMX_AUDIO_RAFORMATTYPE { - OMX_AUDIO_RAFormatUnused = 0, /**< Format unused or unknown */ - OMX_AUDIO_RA8, /**< RealAudio 8 codec */ - OMX_AUDIO_RA9, /**< RealAudio 9 codec */ - OMX_AUDIO_RA10_AAC, /**< MPEG-4 AAC codec for bitrates of more than 128kbps */ - OMX_AUDIO_RA10_CODEC, /**< RealAudio codec for bitrates less than 128 kbps */ - OMX_AUDIO_RA10_LOSSLESS, /**< RealAudio Lossless */ - OMX_AUDIO_RA10_MULTICHANNEL, /**< RealAudio Multichannel */ - OMX_AUDIO_RA10_VOICE, /**< RealAudio Voice for bitrates below 15 kbps */ - OMX_AUDIO_RAFormatKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ - OMX_AUDIO_RAFormatVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ - OMX_VIDEO_RAFormatMax = 0x7FFFFFFF -} OMX_AUDIO_RAFORMATTYPE; - -/** RA (Real Audio) params */ -typedef struct OMX_AUDIO_PARAM_RATYPE { - OMX_U32 nSize; /**< Size of this structure, in Bytes */ - OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ - OMX_U32 nPortIndex; /**< Port that this structure applies to */ - OMX_U32 nChannels; /**< Number of channels */ - OMX_U32 nSamplingRate; /**< is the sampling rate of the source data */ - OMX_U32 nBitsPerFrame; /**< is the value for bits per frame */ - OMX_U32 nSamplePerFrame; /**< is the value for samples per frame */ - OMX_U32 nCouplingQuantBits; /**< is the number of coupling quantization bits in the stream */ - OMX_U32 nCouplingStartRegion; /**< is the coupling start region in the stream */ - OMX_U32 nNumRegions; /**< is the number of regions value */ - OMX_AUDIO_RAFORMATTYPE eFormat; /**< is the RealAudio audio format */ -} OMX_AUDIO_PARAM_RATYPE; - - -/** SBC Allocation Method Type */ -typedef enum OMX_AUDIO_SBCALLOCMETHODTYPE { - OMX_AUDIO_SBCAllocMethodLoudness, /**< Loudness allocation method */ - OMX_AUDIO_SBCAllocMethodSNR, /**< SNR allocation method */ - OMX_AUDIO_SBCAllocMethodKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ - OMX_AUDIO_SBCAllocMethodVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ - OMX_AUDIO_SBCAllocMethodMax = 0x7FFFFFFF -} OMX_AUDIO_SBCALLOCMETHODTYPE; - - -/** SBC params */ -typedef struct OMX_AUDIO_PARAM_SBCTYPE { - OMX_U32 nSize; /**< size of the structure in bytes */ - OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ - OMX_U32 nPortIndex; /**< port that this structure applies to */ - OMX_U32 nChannels; /**< Number of channels */ - OMX_U32 nBitRate; /**< Bit rate of the input data. Use 0 for variable - rate or unknown bit rates */ - OMX_U32 nSampleRate; /**< Sampling rate of the source data. Use 0 for - variable or unknown sampling rate. */ - OMX_U32 nBlocks; /**< Number of blocks */ - OMX_U32 nSubbands; /**< Number of subbands */ - OMX_U32 nBitPool; /**< Bitpool value */ - OMX_BOOL bEnableBitrate; /**< Use bitrate value instead of bitpool */ - OMX_AUDIO_CHANNELMODETYPE eChannelMode; /**< Channel mode enumeration */ - OMX_AUDIO_SBCALLOCMETHODTYPE eSBCAllocType; /**< SBC Allocation method type */ -} OMX_AUDIO_PARAM_SBCTYPE; - - -/** ADPCM stream format parameters */ -typedef struct OMX_AUDIO_PARAM_ADPCMTYPE { - OMX_U32 nSize; /**< size of the structure in bytes */ - OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ - OMX_U32 nPortIndex; /**< port that this structure applies to */ - OMX_U32 nChannels; /**< Number of channels in the data stream (not - necessarily the same as the number of channels - to be rendered. */ - OMX_U32 nBitsPerSample; /**< Number of bits in each sample */ - OMX_U32 nSampleRate; /**< Sampling rate of the source data. Use 0 for - variable or unknown sampling rate. */ -} OMX_AUDIO_PARAM_ADPCMTYPE; - - -/** G723 rate */ -typedef enum OMX_AUDIO_G723RATE { - OMX_AUDIO_G723ModeUnused = 0, /**< AMRNB Mode unused / unknown */ - OMX_AUDIO_G723ModeLow, /**< 5300 bps */ - OMX_AUDIO_G723ModeHigh, /**< 6300 bps */ - OMX_AUDIO_G723ModeKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ - OMX_AUDIO_G723ModeVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ - OMX_AUDIO_G723ModeMax = 0x7FFFFFFF -} OMX_AUDIO_G723RATE; - - -/** G723 - Sample rate must be 8 KHz */ -typedef struct OMX_AUDIO_PARAM_G723TYPE { - OMX_U32 nSize; /**< size of the structure in bytes */ - OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ - OMX_U32 nPortIndex; /**< port that this structure applies to */ - OMX_U32 nChannels; /**< Number of channels in the data stream (not - necessarily the same as the number of channels - to be rendered. */ - OMX_BOOL bDTX; /**< Enable Discontinuous Transmisssion */ - OMX_AUDIO_G723RATE eBitRate; /**< todo: Should this be moved to a config? */ - OMX_BOOL bHiPassFilter; /**< Enable High Pass Filter */ - OMX_BOOL bPostFilter; /**< Enable Post Filter */ -} OMX_AUDIO_PARAM_G723TYPE; - - -/** ITU G726 (ADPCM) rate */ -typedef enum OMX_AUDIO_G726MODE { - OMX_AUDIO_G726ModeUnused = 0, /**< G726 Mode unused / unknown */ - OMX_AUDIO_G726Mode16, /**< 16 kbps */ - OMX_AUDIO_G726Mode24, /**< 24 kbps */ - OMX_AUDIO_G726Mode32, /**< 32 kbps, most common rate, also G721 */ - OMX_AUDIO_G726Mode40, /**< 40 kbps */ - OMX_AUDIO_G726ModeKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ - OMX_AUDIO_G726ModeVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ - OMX_AUDIO_G726ModeMax = 0x7FFFFFFF -} OMX_AUDIO_G726MODE; - - -/** G.726 stream format parameters - must be at 8KHz */ -typedef struct OMX_AUDIO_PARAM_G726TYPE { - OMX_U32 nSize; /**< size of the structure in bytes */ - OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ - OMX_U32 nPortIndex; /**< port that this structure applies to */ - OMX_U32 nChannels; /**< Number of channels in the data stream (not - necessarily the same as the number of channels - to be rendered. */ - OMX_AUDIO_G726MODE eG726Mode; -} OMX_AUDIO_PARAM_G726TYPE; - - -/** G729 coder type */ -typedef enum OMX_AUDIO_G729TYPE { - OMX_AUDIO_G729 = 0, /**< ITU G.729 encoded data */ - OMX_AUDIO_G729A, /**< ITU G.729 annex A encoded data */ - OMX_AUDIO_G729B, /**< ITU G.729 with annex B encoded data */ - OMX_AUDIO_G729AB, /**< ITU G.729 annexes A and B encoded data */ - OMX_AUDIO_G729KhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ - OMX_AUDIO_G729VendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ - OMX_AUDIO_G729Max = 0x7FFFFFFF -} OMX_AUDIO_G729TYPE; - - -/** G729 stream format parameters - fixed 6KHz sample rate */ -typedef struct OMX_AUDIO_PARAM_G729TYPE { - OMX_U32 nSize; /**< size of the structure in bytes */ - OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ - OMX_U32 nPortIndex; /**< port that this structure applies to */ - OMX_U32 nChannels; /**< Number of channels in the data stream (not - necessarily the same as the number of channels - to be rendered. */ - OMX_BOOL bDTX; /**< Enable Discontinuous Transmisssion */ - OMX_AUDIO_G729TYPE eBitType; -} OMX_AUDIO_PARAM_G729TYPE; - - -/** AMR Frame format */ -typedef enum OMX_AUDIO_AMRFRAMEFORMATTYPE { - OMX_AUDIO_AMRFrameFormatConformance = 0, /**< Frame Format is AMR Conformance - (Standard) Format */ - OMX_AUDIO_AMRFrameFormatIF1, /**< Frame Format is AMR Interface - Format 1 */ - OMX_AUDIO_AMRFrameFormatIF2, /**< Frame Format is AMR Interface - Format 2*/ - OMX_AUDIO_AMRFrameFormatFSF, /**< Frame Format is AMR File Storage - Format */ - OMX_AUDIO_AMRFrameFormatRTPPayload, /**< Frame Format is AMR Real-Time - Transport Protocol Payload Format */ - OMX_AUDIO_AMRFrameFormatITU, /**< Frame Format is ITU Format (added at Motorola request) */ - OMX_AUDIO_AMRFrameFormatKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ - OMX_AUDIO_AMRFrameFormatVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ - OMX_AUDIO_AMRFrameFormatMax = 0x7FFFFFFF -} OMX_AUDIO_AMRFRAMEFORMATTYPE; - - -/** AMR band mode */ -typedef enum OMX_AUDIO_AMRBANDMODETYPE { - OMX_AUDIO_AMRBandModeUnused = 0, /**< AMRNB Mode unused / unknown */ - OMX_AUDIO_AMRBandModeNB0, /**< AMRNB Mode 0 = 4750 bps */ - OMX_AUDIO_AMRBandModeNB1, /**< AMRNB Mode 1 = 5150 bps */ - OMX_AUDIO_AMRBandModeNB2, /**< AMRNB Mode 2 = 5900 bps */ - OMX_AUDIO_AMRBandModeNB3, /**< AMRNB Mode 3 = 6700 bps */ - OMX_AUDIO_AMRBandModeNB4, /**< AMRNB Mode 4 = 7400 bps */ - OMX_AUDIO_AMRBandModeNB5, /**< AMRNB Mode 5 = 7950 bps */ - OMX_AUDIO_AMRBandModeNB6, /**< AMRNB Mode 6 = 10200 bps */ - OMX_AUDIO_AMRBandModeNB7, /**< AMRNB Mode 7 = 12200 bps */ - OMX_AUDIO_AMRBandModeWB0, /**< AMRWB Mode 0 = 6600 bps */ - OMX_AUDIO_AMRBandModeWB1, /**< AMRWB Mode 1 = 8850 bps */ - OMX_AUDIO_AMRBandModeWB2, /**< AMRWB Mode 2 = 12650 bps */ - OMX_AUDIO_AMRBandModeWB3, /**< AMRWB Mode 3 = 14250 bps */ - OMX_AUDIO_AMRBandModeWB4, /**< AMRWB Mode 4 = 15850 bps */ - OMX_AUDIO_AMRBandModeWB5, /**< AMRWB Mode 5 = 18250 bps */ - OMX_AUDIO_AMRBandModeWB6, /**< AMRWB Mode 6 = 19850 bps */ - OMX_AUDIO_AMRBandModeWB7, /**< AMRWB Mode 7 = 23050 bps */ - OMX_AUDIO_AMRBandModeWB8, /**< AMRWB Mode 8 = 23850 bps */ - OMX_AUDIO_AMRBandModeKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ - OMX_AUDIO_AMRBandModeVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ - OMX_AUDIO_AMRBandModeMax = 0x7FFFFFFF -} OMX_AUDIO_AMRBANDMODETYPE; - - -/** AMR Discontinuous Transmission mode */ -typedef enum OMX_AUDIO_AMRDTXMODETYPE { - OMX_AUDIO_AMRDTXModeOff = 0, /**< AMR Discontinuous Transmission Mode is disabled */ - OMX_AUDIO_AMRDTXModeOnVAD1, /**< AMR Discontinuous Transmission Mode using - Voice Activity Detector 1 (VAD1) is enabled */ - OMX_AUDIO_AMRDTXModeOnVAD2, /**< AMR Discontinuous Transmission Mode using - Voice Activity Detector 2 (VAD2) is enabled */ - OMX_AUDIO_AMRDTXModeOnAuto, /**< The codec will automatically select between - Off, VAD1 or VAD2 modes */ - - OMX_AUDIO_AMRDTXasEFR, /**< DTX as EFR instead of AMR standard (3GPP 26.101, frame type =8,9,10) */ - - OMX_AUDIO_AMRDTXModeKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ - OMX_AUDIO_AMRDTXModeVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ - OMX_AUDIO_AMRDTXModeMax = 0x7FFFFFFF -} OMX_AUDIO_AMRDTXMODETYPE; - - -/** AMR params */ -typedef struct OMX_AUDIO_PARAM_AMRTYPE { - OMX_U32 nSize; /**< size of the structure in bytes */ - OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ - OMX_U32 nPortIndex; /**< port that this structure applies to */ - OMX_U32 nChannels; /**< Number of channels */ - OMX_U32 nBitRate; /**< Bit rate read only field */ - OMX_AUDIO_AMRBANDMODETYPE eAMRBandMode; /**< AMR Band Mode enumeration */ - OMX_AUDIO_AMRDTXMODETYPE eAMRDTXMode; /**< AMR DTX Mode enumeration */ - OMX_AUDIO_AMRFRAMEFORMATTYPE eAMRFrameFormat; /**< AMR frame format enumeration */ -} OMX_AUDIO_PARAM_AMRTYPE; - - -/** GSM_FR (ETSI 06.10, 3GPP 46.010) stream format parameters */ -typedef struct OMX_AUDIO_PARAM_GSMFRTYPE { - OMX_U32 nSize; /**< size of the structure in bytes */ - OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ - OMX_U32 nPortIndex; /**< port that this structure applies to */ - OMX_BOOL bDTX; /**< Enable Discontinuous Transmisssion */ - OMX_BOOL bHiPassFilter; /**< Enable High Pass Filter */ -} OMX_AUDIO_PARAM_GSMFRTYPE; - - -/** GSM-HR (ETSI 06.20, 3GPP 46.020) stream format parameters */ -typedef struct OMX_AUDIO_PARAM_GSMHRTYPE { - OMX_U32 nSize; /**< size of the structure in bytes */ - OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ - OMX_U32 nPortIndex; /**< port that this structure applies to */ - OMX_BOOL bDTX; /**< Enable Discontinuous Transmisssion */ - OMX_BOOL bHiPassFilter; /**< Enable High Pass Filter */ -} OMX_AUDIO_PARAM_GSMHRTYPE; - - -/** GSM-EFR (ETSI 06.60, 3GPP 46.060) stream format parameters */ -typedef struct OMX_AUDIO_PARAM_GSMEFRTYPE { - OMX_U32 nSize; /**< size of the structure in bytes */ - OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ - OMX_U32 nPortIndex; /**< port that this structure applies to */ - OMX_BOOL bDTX; /**< Enable Discontinuous Transmisssion */ - OMX_BOOL bHiPassFilter; /**< Enable High Pass Filter */ -} OMX_AUDIO_PARAM_GSMEFRTYPE; - - -/** TDMA FR (TIA/EIA-136-420, VSELP 7.95kbps coder) stream format parameters */ -typedef struct OMX_AUDIO_PARAM_TDMAFRTYPE { - OMX_U32 nSize; /**< size of the structure in bytes */ - OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ - OMX_U32 nPortIndex; /**< port that this structure applies to */ - OMX_U32 nChannels; /**< Number of channels in the data stream (not - necessarily the same as the number of channels - to be rendered. */ - OMX_BOOL bDTX; /**< Enable Discontinuous Transmisssion */ - OMX_BOOL bHiPassFilter; /**< Enable High Pass Filter */ -} OMX_AUDIO_PARAM_TDMAFRTYPE; - - -/** TDMA EFR (TIA/EIA-136-410, ACELP 7.4kbps coder) stream format parameters */ -typedef struct OMX_AUDIO_PARAM_TDMAEFRTYPE { - OMX_U32 nSize; /**< size of the structure in bytes */ - OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ - OMX_U32 nPortIndex; /**< port that this structure applies to */ - OMX_U32 nChannels; /**< Number of channels in the data stream (not - necessarily the same as the number of channels - to be rendered. */ - OMX_BOOL bDTX; /**< Enable Discontinuous Transmisssion */ - OMX_BOOL bHiPassFilter; /**< Enable High Pass Filter */ -} OMX_AUDIO_PARAM_TDMAEFRTYPE; - - -/** PDC FR ( RCR-27, VSELP 6.7kbps coder) stream format parameters */ -typedef struct OMX_AUDIO_PARAM_PDCFRTYPE { - OMX_U32 nSize; /**< size of the structure in bytes */ - OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ - OMX_U32 nPortIndex; /**< port that this structure applies to */ - OMX_U32 nChannels; /**< Number of channels in the data stream (not - necessarily the same as the number of channels - to be rendered. */ - OMX_BOOL bDTX; /**< Enable Discontinuous Transmisssion */ - OMX_BOOL bHiPassFilter; /**< Enable High Pass Filter */ -} OMX_AUDIO_PARAM_PDCFRTYPE; - - -/** PDC EFR ( RCR-27, ACELP 6.7kbps coder) stream format parameters */ -typedef struct OMX_AUDIO_PARAM_PDCEFRTYPE { - OMX_U32 nSize; /**< size of the structure in bytes */ - OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ - OMX_U32 nPortIndex; /**< port that this structure applies to */ - OMX_U32 nChannels; /**< Number of channels in the data stream (not - necessarily the same as the number of channels - to be rendered. */ - OMX_BOOL bDTX; /**< Enable Discontinuous Transmisssion */ - OMX_BOOL bHiPassFilter; /**< Enable High Pass Filter */ -} OMX_AUDIO_PARAM_PDCEFRTYPE; - -/** PDC HR ( RCR-27, PSI-CELP 3.45kbps coder) stream format parameters */ -typedef struct OMX_AUDIO_PARAM_PDCHRTYPE { - OMX_U32 nSize; /**< size of the structure in bytes */ - OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ - OMX_U32 nPortIndex; /**< port that this structure applies to */ - OMX_U32 nChannels; /**< Number of channels in the data stream (not - necessarily the same as the number of channels - to be rendered. */ - OMX_BOOL bDTX; /**< Enable Discontinuous Transmisssion */ - OMX_BOOL bHiPassFilter; /**< Enable High Pass Filter */ -} OMX_AUDIO_PARAM_PDCHRTYPE; - - -/** CDMA Rate types */ -typedef enum OMX_AUDIO_CDMARATETYPE { - OMX_AUDIO_CDMARateBlank = 0, /**< CDMA encoded frame is blank */ - OMX_AUDIO_CDMARateFull, /**< CDMA encoded frame in full rate */ - OMX_AUDIO_CDMARateHalf, /**< CDMA encoded frame in half rate */ - OMX_AUDIO_CDMARateQuarter, /**< CDMA encoded frame in quarter rate */ - OMX_AUDIO_CDMARateEighth, /**< CDMA encoded frame in eighth rate (DTX)*/ - OMX_AUDIO_CDMARateErasure, /**< CDMA erasure frame */ - OMX_AUDIO_CDMARateKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ - OMX_AUDIO_CDMARateVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ - OMX_AUDIO_CDMARateMax = 0x7FFFFFFF -} OMX_AUDIO_CDMARATETYPE; - - -/** QCELP8 (TIA/EIA-96, up to 8kbps coder) stream format parameters */ -typedef struct OMX_AUDIO_PARAM_QCELP8TYPE { - OMX_U32 nSize; /**< size of the structure in bytes */ - OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ - OMX_U32 nPortIndex; /**< port that this structure applies to */ - OMX_U32 nChannels; /**< Number of channels in the data stream (not - necessarily the same as the number of channels - to be rendered. */ - OMX_U32 nBitRate; /**< Bit rate of the input data. Use 0 for variable - rate or unknown bit rates */ - OMX_AUDIO_CDMARATETYPE eCDMARate; /**< Frame rate */ - OMX_U32 nMinBitRate; /**< minmal rate for the encoder = 1,2,3,4, default = 1 */ - OMX_U32 nMaxBitRate; /**< maximal rate for the encoder = 1,2,3,4, default = 4 */ -} OMX_AUDIO_PARAM_QCELP8TYPE; - - -/** QCELP13 ( CDMA, EIA/TIA-733, 13.3kbps coder) stream format parameters */ -typedef struct OMX_AUDIO_PARAM_QCELP13TYPE { - OMX_U32 nSize; /**< size of the structure in bytes */ - OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ - OMX_U32 nPortIndex; /**< port that this structure applies to */ - OMX_U32 nChannels; /**< Number of channels in the data stream (not - necessarily the same as the number of channels - to be rendered. */ - OMX_AUDIO_CDMARATETYPE eCDMARate; /**< Frame rate */ - OMX_U32 nMinBitRate; /**< minmal rate for the encoder = 1,2,3,4, default = 1 */ - OMX_U32 nMaxBitRate; /**< maximal rate for the encoder = 1,2,3,4, default = 4 */ -} OMX_AUDIO_PARAM_QCELP13TYPE; - - -/** EVRC ( CDMA, EIA/TIA-127, RCELP up to 8.55kbps coder) stream format parameters */ -typedef struct OMX_AUDIO_PARAM_EVRCTYPE { - OMX_U32 nSize; /**< size of the structure in bytes */ - OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ - OMX_U32 nPortIndex; /**< port that this structure applies to */ - OMX_U32 nChannels; /**< Number of channels in the data stream (not - necessarily the same as the number of channels - to be rendered. */ - OMX_AUDIO_CDMARATETYPE eCDMARate; /**< actual Frame rate */ - OMX_BOOL bRATE_REDUCon; /**< RATE_REDUCtion is requested for this frame */ - OMX_U32 nMinBitRate; /**< minmal rate for the encoder = 1,2,3,4, default = 1 */ - OMX_U32 nMaxBitRate; /**< maximal rate for the encoder = 1,2,3,4, default = 4 */ - OMX_BOOL bHiPassFilter; /**< Enable encoder's High Pass Filter */ - OMX_BOOL bNoiseSuppressor; /**< Enable encoder's noise suppressor pre-processing */ - OMX_BOOL bPostFilter; /**< Enable decoder's post Filter */ -} OMX_AUDIO_PARAM_EVRCTYPE; - - -/** SMV ( up to 8.55kbps coder) stream format parameters */ -typedef struct OMX_AUDIO_PARAM_SMVTYPE { - OMX_U32 nSize; /**< size of the structure in bytes */ - OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ - OMX_U32 nPortIndex; /**< port that this structure applies to */ - OMX_U32 nChannels; /**< Number of channels in the data stream (not - necessarily the same as the number of channels - to be rendered. */ - OMX_AUDIO_CDMARATETYPE eCDMARate; /**< Frame rate */ - OMX_BOOL bRATE_REDUCon; /**< RATE_REDUCtion is requested for this frame */ - OMX_U32 nMinBitRate; /**< minmal rate for the encoder = 1,2,3,4, default = 1 ??*/ - OMX_U32 nMaxBitRate; /**< maximal rate for the encoder = 1,2,3,4, default = 4 ??*/ - OMX_BOOL bHiPassFilter; /**< Enable encoder's High Pass Filter ??*/ - OMX_BOOL bNoiseSuppressor; /**< Enable encoder's noise suppressor pre-processing */ - OMX_BOOL bPostFilter; /**< Enable decoder's post Filter ??*/ -} OMX_AUDIO_PARAM_SMVTYPE; - - -/** MIDI Format - * @ingroup midi - */ -typedef enum OMX_AUDIO_MIDIFORMATTYPE -{ - OMX_AUDIO_MIDIFormatUnknown = 0, /**< MIDI Format unknown or don't care */ - OMX_AUDIO_MIDIFormatSMF0, /**< Standard MIDI File Type 0 */ - OMX_AUDIO_MIDIFormatSMF1, /**< Standard MIDI File Type 1 */ - OMX_AUDIO_MIDIFormatSMF2, /**< Standard MIDI File Type 2 */ - OMX_AUDIO_MIDIFormatSPMIDI, /**< SP-MIDI */ - OMX_AUDIO_MIDIFormatXMF0, /**< eXtensible Music Format type 0 */ - OMX_AUDIO_MIDIFormatXMF1, /**< eXtensible Music Format type 1 */ - OMX_AUDIO_MIDIFormatMobileXMF, /**< Mobile XMF (eXtensible Music Format type 2) */ - OMX_AUDIO_MIDIFormatKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ - OMX_AUDIO_MIDIFormatVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ - OMX_AUDIO_MIDIFormatMax = 0x7FFFFFFF -} OMX_AUDIO_MIDIFORMATTYPE; - - -/** MIDI params - * @ingroup midi - */ -typedef struct OMX_AUDIO_PARAM_MIDITYPE { - OMX_U32 nSize; /**< size of the structure in bytes */ - OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ - OMX_U32 nPortIndex; /**< port that this structure applies to */ - OMX_U32 nFileSize; /**< size of the MIDI file in bytes, where the entire - MIDI file passed in, otherwise if 0x0, the MIDI data - is merged and streamed (instead of passed as an - entire MIDI file) */ - OMX_BU32 sMaxPolyphony; /**< Specifies the maximum simultaneous polyphonic - voices. A value of zero indicates that the default - polyphony of the device is used */ - OMX_BOOL bLoadDefaultSound; /**< Whether to load default sound - bank at initialization */ - OMX_AUDIO_MIDIFORMATTYPE eMidiFormat; /**< Version of the MIDI file */ -} OMX_AUDIO_PARAM_MIDITYPE; - - -/** Type of the MIDI sound bank - * @ingroup midi - */ -typedef enum OMX_AUDIO_MIDISOUNDBANKTYPE { - OMX_AUDIO_MIDISoundBankUnused = 0, /**< unused/unknown soundbank type */ - OMX_AUDIO_MIDISoundBankDLS1, /**< DLS version 1 */ - OMX_AUDIO_MIDISoundBankDLS2, /**< DLS version 2 */ - OMX_AUDIO_MIDISoundBankMobileDLSBase, /**< Mobile DLS, using the base functionality */ - OMX_AUDIO_MIDISoundBankMobileDLSPlusOptions, /**< Mobile DLS, using the specification-defined optional feature set */ - OMX_AUDIO_MIDISoundBankKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ - OMX_AUDIO_MIDISoundBankVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ - OMX_AUDIO_MIDISoundBankMax = 0x7FFFFFFF -} OMX_AUDIO_MIDISOUNDBANKTYPE; - - -/** Bank Layout describes how bank MSB & LSB are used in the DLS instrument definitions sound bank - * @ingroup midi - */ -typedef enum OMX_AUDIO_MIDISOUNDBANKLAYOUTTYPE { - OMX_AUDIO_MIDISoundBankLayoutUnused = 0, /**< unused/unknown soundbank type */ - OMX_AUDIO_MIDISoundBankLayoutGM, /**< GS layout (based on bank MSB 0x00) */ - OMX_AUDIO_MIDISoundBankLayoutGM2, /**< General MIDI 2 layout (using MSB 0x78/0x79, LSB 0x00) */ - OMX_AUDIO_MIDISoundBankLayoutUser, /**< Does not conform to any bank numbering standards */ - OMX_AUDIO_MIDISoundBankLayoutKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ - OMX_AUDIO_MIDISoundBankLayoutVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ - OMX_AUDIO_MIDISoundBankLayoutMax = 0x7FFFFFFF -} OMX_AUDIO_MIDISOUNDBANKLAYOUTTYPE; - - -/** MIDI params to load/unload user soundbank - * @ingroup midi - */ -typedef struct OMX_AUDIO_PARAM_MIDILOADUSERSOUNDTYPE { - OMX_U32 nSize; /**< size of the structure in bytes */ - OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ - OMX_U32 nPortIndex; /**< port that this structure applies to */ - OMX_U32 nDLSIndex; /**< DLS file index to be loaded */ - OMX_U32 nDLSSize; /**< Size in bytes */ - OMX_PTR pDLSData; /**< Pointer to DLS file data */ - OMX_AUDIO_MIDISOUNDBANKTYPE eMidiSoundBank; /**< Midi sound bank type enumeration */ - OMX_AUDIO_MIDISOUNDBANKLAYOUTTYPE eMidiSoundBankLayout; /**< Midi sound bank layout enumeration */ -} OMX_AUDIO_PARAM_MIDILOADUSERSOUNDTYPE; - - -/** Structure for Live MIDI events and MIP messages. - * (MIP = Maximum Instantaneous Polyphony; part of the SP-MIDI standard.) - * @ingroup midi - */ -typedef struct OMX_AUDIO_CONFIG_MIDIIMMEDIATEEVENTTYPE { - OMX_U32 nSize; /**< size of the structure in bytes */ - OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ - OMX_U32 nPortIndex; /**< Port that this structure applies to */ - OMX_U32 nMidiEventSize; /**< Size of immediate MIDI events or MIP message in bytes */ - OMX_U8 nMidiEvents[1]; /**< MIDI event array to be rendered immediately, or an - array for the MIP message buffer, where the size is - indicated by nMidiEventSize */ -} OMX_AUDIO_CONFIG_MIDIIMMEDIATEEVENTTYPE; - - -/** MIDI sound bank/ program pair in a given channel - * @ingroup midi - */ -typedef struct OMX_AUDIO_CONFIG_MIDISOUNDBANKPROGRAMTYPE { - OMX_U32 nSize; /**< size of the structure in bytes */ - OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ - OMX_U32 nPortIndex; /**< Port that this structure applies to */ - OMX_U32 nChannel; /**< Valid channel values range from 1 to 16 */ - OMX_U16 nIDProgram; /**< Valid program ID range is 1 to 128 */ - OMX_U16 nIDSoundBank; /**< Sound bank ID */ - OMX_U32 nUserSoundBankIndex;/**< User soundbank index, easier to access soundbanks - by index if multiple banks are present */ -} OMX_AUDIO_CONFIG_MIDISOUNDBANKPROGRAMTYPE; - - -/** MIDI control - * @ingroup midi - */ -typedef struct OMX_AUDIO_CONFIG_MIDICONTROLTYPE { - OMX_U32 nSize; /**< size of the structure in bytes */ - OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ - OMX_U32 nPortIndex; /**< port that this structure applies to */ - OMX_BS32 sPitchTransposition; /**< Pitch transposition in semitones, stored as Q22.10 - format based on JAVA MMAPI (JSR-135) requirement */ - OMX_BU32 sPlayBackRate; /**< Relative playback rate, stored as Q14.17 fixed-point - number based on JSR-135 requirement */ - OMX_BU32 sTempo ; /**< Tempo in beats per minute (BPM), stored as Q22.10 - fixed-point number based on JSR-135 requirement */ - OMX_U32 nMaxPolyphony; /**< Specifies the maximum simultaneous polyphonic - voices. A value of zero indicates that the default - polyphony of the device is used */ - OMX_U32 nNumRepeat; /**< Number of times to repeat playback */ - OMX_U32 nStopTime; /**< Time in milliseconds to indicate when playback - will stop automatically. Set to zero if not used */ - OMX_U16 nChannelMuteMask; /**< 16 bit mask for channel mute status */ - OMX_U16 nChannelSoloMask; /**< 16 bit mask for channel solo status */ - OMX_U32 nTrack0031MuteMask; /**< 32 bit mask for track mute status. Note: This is for tracks 0-31 */ - OMX_U32 nTrack3263MuteMask; /**< 32 bit mask for track mute status. Note: This is for tracks 32-63 */ - OMX_U32 nTrack0031SoloMask; /**< 32 bit mask for track solo status. Note: This is for tracks 0-31 */ - OMX_U32 nTrack3263SoloMask; /**< 32 bit mask for track solo status. Note: This is for tracks 32-63 */ - -} OMX_AUDIO_CONFIG_MIDICONTROLTYPE; - - -/** MIDI Playback States - * @ingroup midi - */ -typedef enum OMX_AUDIO_MIDIPLAYBACKSTATETYPE { - OMX_AUDIO_MIDIPlayBackStateUnknown = 0, /**< Unknown state or state does not map to - other defined states */ - OMX_AUDIO_MIDIPlayBackStateClosedEngaged, /**< No MIDI resource is currently open. - The MIDI engine is currently processing - MIDI events. */ - OMX_AUDIO_MIDIPlayBackStateParsing, /**< A MIDI resource is open and is being - primed. The MIDI engine is currently - processing MIDI events. */ - OMX_AUDIO_MIDIPlayBackStateOpenEngaged, /**< A MIDI resource is open and primed but - not playing. The MIDI engine is currently - processing MIDI events. The transition to - this state is only possible from the - OMX_AUDIO_MIDIPlayBackStatePlaying state, - when the 'playback head' reaches the end - of media data or the playback stops due - to stop time set.*/ - OMX_AUDIO_MIDIPlayBackStatePlaying, /**< A MIDI resource is open and currently - playing. The MIDI engine is currently - processing MIDI events.*/ - OMX_AUDIO_MIDIPlayBackStatePlayingPartially, /**< Best-effort playback due to SP-MIDI/DLS - resource constraints */ - OMX_AUDIO_MIDIPlayBackStatePlayingSilently, /**< Due to system resource constraints and - SP-MIDI content constraints, there is - no audible MIDI content during playback - currently. The situation may change if - resources are freed later.*/ - OMX_AUDIO_MIDIPlayBackStateKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ - OMX_AUDIO_MIDIPlayBackStateVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ - OMX_AUDIO_MIDIPlayBackStateMax = 0x7FFFFFFF -} OMX_AUDIO_MIDIPLAYBACKSTATETYPE; - - -/** MIDI status - * @ingroup midi - */ -typedef struct OMX_AUDIO_CONFIG_MIDISTATUSTYPE { - OMX_U32 nSize; /**< size of the structure in bytes */ - OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ - OMX_U32 nPortIndex; /**< port that this structure applies to */ - OMX_U16 nNumTracks; /**< Number of MIDI tracks in the file, read only field. - NOTE: May not return a meaningful value until the entire - file is parsed and buffered. */ - OMX_U32 nDuration; /**< The length of the currently open MIDI resource - in milliseconds. NOTE: May not return a meaningful value - until the entire file is parsed and buffered. */ - OMX_U32 nPosition; /**< Current Position of the MIDI resource being played - in milliseconds */ - OMX_BOOL bVibra; /**< Does Vibra track exist? NOTE: May not return a meaningful - value until the entire file is parsed and buffered. */ - OMX_U32 nNumMetaEvents; /**< Total number of MIDI Meta Events in the currently - open MIDI resource. NOTE: May not return a meaningful value - until the entire file is parsed and buffered. */ - OMX_U32 nNumActiveVoices; /**< Number of active voices in the currently playing - MIDI resource. NOTE: May not return a meaningful value until - the entire file is parsed and buffered. */ - OMX_AUDIO_MIDIPLAYBACKSTATETYPE eMIDIPlayBackState; /**< MIDI playback state enumeration, read only field */ -} OMX_AUDIO_CONFIG_MIDISTATUSTYPE; - - -/** MIDI Meta Event structure one per Meta Event. - * MIDI Meta Events are like audio metadata, except that they are interspersed - * with the MIDI content throughout the file and are not localized in the header. - * As such, it is necessary to retrieve information about these Meta Events from - * the engine, as it encounters these Meta Events within the MIDI content. - * For example, SMF files can have up to 14 types of MIDI Meta Events (copyright, - * author, default tempo, etc.) scattered throughout the file. - * @ingroup midi - */ -typedef struct OMX_AUDIO_CONFIG_MIDIMETAEVENTTYPE{ - OMX_U32 nSize; /**< size of the structure in bytes */ - OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ - OMX_U32 nPortIndex; /**< port that this structure applies to */ - OMX_U32 nIndex; /**< Index of Meta Event */ - OMX_U8 nMetaEventType; /**< Meta Event Type, 7bits (i.e. 0 - 127) */ - OMX_U32 nMetaEventSize; /**< size of the Meta Event in bytes */ - OMX_U32 nTrack; /**< track number for the meta event */ - OMX_U32 nPosition; /**< Position of the meta-event in milliseconds */ -} OMX_AUDIO_CONFIG_MIDIMETAEVENTTYPE; - - -/** MIDI Meta Event Data structure - one per Meta Event. - * @ingroup midi - */ -typedef struct OMX_AUDIO_CONFIG_MIDIMETAEVENTDATATYPE{ - OMX_U32 nSize; /**< size of the structure in bytes */ - OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ - OMX_U32 nPortIndex; /**< port that this structure applies to */ - OMX_U32 nIndex; /**< Index of Meta Event */ - OMX_U32 nMetaEventSize; /**< size of the Meta Event in bytes */ - OMX_U8 nData[1]; /**< array of one or more bytes of meta data - as indicated by the nMetaEventSize field */ -} OMX_AUDIO_CONFIG__MIDIMETAEVENTDATATYPE; - - -/** Audio Volume adjustment for a port */ -typedef struct OMX_AUDIO_CONFIG_VOLUMETYPE { - OMX_U32 nSize; /**< size of the structure in bytes */ - OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ - OMX_U32 nPortIndex; /**< Port index indicating which port to - set. Select the input port to set - just that port's volume. Select the - output port to adjust the master - volume. */ - OMX_BOOL bLinear; /**< Is the volume to be set in linear (0.100) - or logarithmic scale (mB) */ - OMX_BS32 sVolume; /**< Volume linear setting in the 0..100 range, OR - Volume logarithmic setting for this port. The values - for volume are in mB (millibels = 1/100 dB) relative - to a gain of 1 (e.g. the output is the same as the - input level). Values are in mB from nMax - (maximum volume) to nMin mB (typically negative). - Since the volume is "voltage" - and not a "power", it takes a setting of - -600 mB to decrease the volume by 1/2. If - a component cannot accurately set the - volume to the requested value, it must - set the volume to the closest value BELOW - the requested value. When getting the - volume setting, the current actual volume - must be returned. */ -} OMX_AUDIO_CONFIG_VOLUMETYPE; - - -/** Audio Volume adjustment for a channel */ -typedef struct OMX_AUDIO_CONFIG_CHANNELVOLUMETYPE { - OMX_U32 nSize; /**< size of the structure in bytes */ - OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ - OMX_U32 nPortIndex; /**< Port index indicating which port to - set. Select the input port to set - just that port's volume. Select the - output port to adjust the master - volume. */ - OMX_U32 nChannel; /**< channel to select from 0 to N-1, - using OMX_ALL to apply volume settings - to all channels */ - OMX_BOOL bLinear; /**< Is the volume to be set in linear (0.100) or - logarithmic scale (mB) */ - OMX_BS32 sVolume; /**< Volume linear setting in the 0..100 range, OR - Volume logarithmic setting for this port. - The values for volume are in mB - (millibels = 1/100 dB) relative to a gain - of 1 (e.g. the output is the same as the - input level). Values are in mB from nMax - (maximum volume) to nMin mB (typically negative). - Since the volume is "voltage" - and not a "power", it takes a setting of - -600 mB to decrease the volume by 1/2. If - a component cannot accurately set the - volume to the requested value, it must - set the volume to the closest value BELOW - the requested value. When getting the - volume setting, the current actual volume - must be returned. */ - OMX_BOOL bIsMIDI; /**< TRUE if nChannel refers to a MIDI channel, - FALSE otherwise */ -} OMX_AUDIO_CONFIG_CHANNELVOLUMETYPE; - - -/** Audio balance setting */ -typedef struct OMX_AUDIO_CONFIG_BALANCETYPE { - OMX_U32 nSize; /**< size of the structure in bytes */ - OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ - OMX_U32 nPortIndex; /**< Port index indicating which port to - set. Select the input port to set - just that port's balance. Select the - output port to adjust the master - balance. */ - OMX_S32 nBalance; /**< balance setting for this port - (-100 to 100, where -100 indicates - all left, and no right */ -} OMX_AUDIO_CONFIG_BALANCETYPE; - - -/** Audio Port mute */ -typedef struct OMX_AUDIO_CONFIG_MUTETYPE { - OMX_U32 nSize; /**< size of the structure in bytes */ - OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ - OMX_U32 nPortIndex; /**< Port index indicating which port to - set. Select the input port to set - just that port's mute. Select the - output port to adjust the master - mute. */ - OMX_BOOL bMute; /**< Mute setting for this port */ -} OMX_AUDIO_CONFIG_MUTETYPE; - - -/** Audio Channel mute */ -typedef struct OMX_AUDIO_CONFIG_CHANNELMUTETYPE { - OMX_U32 nSize; /**< size of the structure in bytes */ - OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ - OMX_U32 nPortIndex; /**< port that this structure applies to */ - OMX_U32 nChannel; /**< channel to select from 0 to N-1, - using OMX_ALL to apply mute settings - to all channels */ - OMX_BOOL bMute; /**< Mute setting for this channel */ - OMX_BOOL bIsMIDI; /**< TRUE if nChannel refers to a MIDI channel, - FALSE otherwise */ -} OMX_AUDIO_CONFIG_CHANNELMUTETYPE; - - - -/** Enable / Disable for loudness control, which boosts bass and to a - * smaller extent high end frequencies to compensate for hearing - * ability at the extreme ends of the audio spectrum - */ -typedef struct OMX_AUDIO_CONFIG_LOUDNESSTYPE { - OMX_U32 nSize; /**< size of the structure in bytes */ - OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ - OMX_U32 nPortIndex; /**< port that this structure applies to */ - OMX_BOOL bLoudness; /**< Enable/disable for loudness */ -} OMX_AUDIO_CONFIG_LOUDNESSTYPE; - - -/** Enable / Disable for bass, which controls low frequencies - */ -typedef struct OMX_AUDIO_CONFIG_BASSTYPE { - OMX_U32 nSize; /**< size of the structure in bytes */ - OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ - OMX_U32 nPortIndex; /**< port that this structure applies to */ - OMX_BOOL bEnable; /**< Enable/disable for bass control */ - OMX_S32 nBass; /**< bass setting for the port, as a - continuous value from -100 to 100 - (0 means no change in bass level)*/ -} OMX_AUDIO_CONFIG_BASSTYPE; - - -/** Enable / Disable for treble, which controls high frequencies tones - */ -typedef struct OMX_AUDIO_CONFIG_TREBLETYPE { - OMX_U32 nSize; /**< size of the structure in bytes */ - OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ - OMX_U32 nPortIndex; /**< port that this structure applies to */ - OMX_BOOL bEnable; /**< Enable/disable for treble control */ - OMX_S32 nTreble; /**< treble setting for the port, as a - continuous value from -100 to 100 - (0 means no change in treble level) */ -} OMX_AUDIO_CONFIG_TREBLETYPE; - - -/** An equalizer is typically used for two reasons: to compensate for an - * sub-optimal frequency response of a system to make it sound more natural - * or to create intentionally some unnatural coloring to the sound to create - * an effect. - * @ingroup effects - */ -typedef struct OMX_AUDIO_CONFIG_EQUALIZERTYPE { - OMX_U32 nSize; /**< size of the structure in bytes */ - OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ - OMX_U32 nPortIndex; /**< port that this structure applies to */ - OMX_BOOL bEnable; /**< Enable/disable for equalizer */ - OMX_BU32 sBandIndex; /**< Band number to be set. Upper Limit is - N-1, where N is the number of bands, lower limit is 0 */ - OMX_BU32 sCenterFreq; /**< Center frequecies in Hz. This is a - read only element and is used to determine - the lower, center and upper frequency of - this band. */ - OMX_BS32 sBandLevel; /**< band level in millibels */ -} OMX_AUDIO_CONFIG_EQUALIZERTYPE; - - -/** Stereo widening mode type - * @ingroup effects - */ -typedef enum OMX_AUDIO_STEREOWIDENINGTYPE { - OMX_AUDIO_StereoWideningHeadphones, /**< Stereo widening for loudspeakers */ - OMX_AUDIO_StereoWideningLoudspeakers, /**< Stereo widening for closely spaced loudspeakers */ - OMX_AUDIO_StereoWideningKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ - OMX_AUDIO_StereoWideningVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ - OMX_AUDIO_StereoWideningMax = 0x7FFFFFFF -} OMX_AUDIO_STEREOWIDENINGTYPE; - - -/** Control for stereo widening, which is a special 2-channel - * case of the audio virtualizer effect. For example, for 5.1-channel - * output, it translates to virtual surround sound. - * @ingroup effects - */ -typedef struct OMX_AUDIO_CONFIG_STEREOWIDENINGTYPE { - OMX_U32 nSize; /**< size of the structure in bytes */ - OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ - OMX_U32 nPortIndex; /**< port that this structure applies to */ - OMX_BOOL bEnable; /**< Enable/disable for stereo widening control */ - OMX_AUDIO_STEREOWIDENINGTYPE eWideningType; /**< Stereo widening algorithm type */ - OMX_U32 nStereoWidening; /**< stereo widening setting for the port, - as a continuous value from 0 to 100 */ -} OMX_AUDIO_CONFIG_STEREOWIDENINGTYPE; - - -/** The chorus effect (or ``choralizer'') is any signal processor which makes - * one sound source (such as a voice) sound like many such sources singing - * (or playing) in unison. Since performance in unison is never exact, chorus - * effects simulate this by making independently modified copies of the input - * signal. Modifications may include (1) delay, (2) frequency shift, and - * (3) amplitude modulation. - * @ingroup effects - */ -typedef struct OMX_AUDIO_CONFIG_CHORUSTYPE { - OMX_U32 nSize; /**< size of the structure in bytes */ - OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ - OMX_U32 nPortIndex; /**< port that this structure applies to */ - OMX_BOOL bEnable; /**< Enable/disable for chorus */ - OMX_BU32 sDelay; /**< average delay in milliseconds */ - OMX_BU32 sModulationRate; /**< rate of modulation in millihertz */ - OMX_U32 nModulationDepth; /**< depth of modulation as a percentage of - delay (i.e. 0 to 100) */ - OMX_BU32 nFeedback; /**< Feedback from chorus output to input in percentage */ -} OMX_AUDIO_CONFIG_CHORUSTYPE; - - -/** Reverberation is part of the reflected sound that follows the early - * reflections. In a typical room, this consists of a dense succession of - * echoes whose energy decays exponentially. The reverberation effect structure - * as defined here includes both (early) reflections as well as (late) reverberations. - * @ingroup effects - */ -typedef struct OMX_AUDIO_CONFIG_REVERBERATIONTYPE { - OMX_U32 nSize; /**< size of the structure in bytes */ - OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ - OMX_U32 nPortIndex; /**< port that this structure applies to */ - OMX_BOOL bEnable; /**< Enable/disable for reverberation control */ - OMX_BS32 sRoomLevel; /**< Intensity level for the whole room effect - (i.e. both early reflections and late - reverberation) in millibels */ - OMX_BS32 sRoomHighFreqLevel; /**< Attenuation at high frequencies - relative to the intensity at low - frequencies in millibels */ - OMX_BS32 sReflectionsLevel; /**< Intensity level of early reflections - (relative to room value), in millibels */ - OMX_BU32 sReflectionsDelay; /**< Delay time of the first reflection relative - to the direct path, in milliseconds */ - OMX_BS32 sReverbLevel; /**< Intensity level of late reverberation - relative to room level, in millibels */ - OMX_BU32 sReverbDelay; /**< Time delay from the first early reflection - to the beginning of the late reverberation - section, in milliseconds */ - OMX_BU32 sDecayTime; /**< Late reverberation decay time at low - frequencies, in milliseconds */ - OMX_BU32 nDecayHighFreqRatio; /**< Ratio of high frequency decay time relative - to low frequency decay time in percent */ - OMX_U32 nDensity; /**< Modal density in the late reverberation decay, - in percent (i.e. 0 - 100) */ - OMX_U32 nDiffusion; /**< Echo density in the late reverberation decay, - in percent (i.e. 0 - 100) */ - OMX_BU32 sReferenceHighFreq; /**< Reference high frequency in Hertz. This is - the frequency used as the reference for all - the high-frequency settings above */ - -} OMX_AUDIO_CONFIG_REVERBERATIONTYPE; - - -/** Possible settings for the Echo Cancelation structure to use - * @ingroup effects - */ -typedef enum OMX_AUDIO_ECHOCANTYPE { - OMX_AUDIO_EchoCanOff = 0, /**< Echo Cancellation is disabled */ - OMX_AUDIO_EchoCanNormal, /**< Echo Cancellation normal operation - - echo from plastics and face */ - OMX_AUDIO_EchoCanHFree, /**< Echo Cancellation optimized for - Hands Free operation */ - OMX_AUDIO_EchoCanCarKit, /**< Echo Cancellation optimized for - Car Kit (longer echo) */ - OMX_AUDIO_EchoCanKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ - OMX_AUDIO_EchoCanVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ - OMX_AUDIO_EchoCanMax = 0x7FFFFFFF -} OMX_AUDIO_ECHOCANTYPE; - - -/** Enable / Disable for echo cancelation, which removes undesired echo's - * from the audio - * @ingroup effects - */ -typedef struct OMX_AUDIO_CONFIG_ECHOCANCELATIONTYPE { - OMX_U32 nSize; /**< size of the structure in bytes */ - OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ - OMX_U32 nPortIndex; /**< port that this structure applies to */ - OMX_AUDIO_ECHOCANTYPE eEchoCancelation; /**< Echo cancelation settings */ -} OMX_AUDIO_CONFIG_ECHOCANCELATIONTYPE; - - -/** Enable / Disable for noise reduction, which undesired noise from - * the audio - * @ingroup effects - */ -typedef struct OMX_AUDIO_CONFIG_NOISEREDUCTIONTYPE { - OMX_U32 nSize; /**< size of the structure in bytes */ - OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ - OMX_U32 nPortIndex; /**< port that this structure applies to */ - OMX_BOOL bNoiseReduction; /**< Enable/disable for noise reduction */ -} OMX_AUDIO_CONFIG_NOISEREDUCTIONTYPE; - -/** @} */ - -#ifdef __cplusplus -} -#endif /* __cplusplus */ - -#endif -/* File EOF */ - diff --git a/selfdrive/frogpilot/screenrecorder/openmax/include/OMX_Component.h b/selfdrive/frogpilot/screenrecorder/openmax/include/OMX_Component.h deleted file mode 100644 index d5956405e20a1c..00000000000000 --- a/selfdrive/frogpilot/screenrecorder/openmax/include/OMX_Component.h +++ /dev/null @@ -1,579 +0,0 @@ -/* - * Copyright (c) 2008 The Khronos Group Inc. - * - * Permission is hereby granted, free of charge, to any person obtaining - * a copy of this software and associated documentation files (the - * "Software"), to deal in the Software without restriction, including - * without limitation the rights to use, copy, modify, merge, publish, - * distribute, sublicense, and/or sell copies of the Software, and to - * permit persons to whom the Software is furnished to do so, subject - * to the following conditions: - * The above copyright notice and this permission notice shall be included - * in all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS - * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF - * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. - * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY - * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, - * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE - * SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. - * - */ - -/** OMX_Component.h - OpenMax IL version 1.1.2 - * The OMX_Component header file contains the definitions used to define - * the public interface of a component. This header file is intended to - * be used by both the application and the component. - */ - -#ifndef OMX_Component_h -#define OMX_Component_h - -#ifdef __cplusplus -extern "C" { -#endif /* __cplusplus */ - - - -/* Each OMX header must include all required header files to allow the - * header to compile without errors. The includes below are required - * for this header file to compile successfully - */ - -#include -#include -#include -#include - -/** @ingroup comp */ -typedef enum OMX_PORTDOMAINTYPE { - OMX_PortDomainAudio, - OMX_PortDomainVideo, - OMX_PortDomainImage, - OMX_PortDomainOther, - OMX_PortDomainKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ - OMX_PortDomainVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ - OMX_PortDomainMax = 0x7ffffff -} OMX_PORTDOMAINTYPE; - -/** @ingroup comp */ -typedef struct OMX_PARAM_PORTDEFINITIONTYPE { - OMX_U32 nSize; /**< Size of the structure in bytes */ - OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ - OMX_U32 nPortIndex; /**< Port number the structure applies to */ - OMX_DIRTYPE eDir; /**< Direction (input or output) of this port */ - OMX_U32 nBufferCountActual; /**< The actual number of buffers allocated on this port */ - OMX_U32 nBufferCountMin; /**< The minimum number of buffers this port requires */ - OMX_U32 nBufferSize; /**< Size, in bytes, for buffers to be used for this channel */ - OMX_BOOL bEnabled; /**< Ports default to enabled and are enabled/disabled by - OMX_CommandPortEnable/OMX_CommandPortDisable. - When disabled a port is unpopulated. A disabled port - is not populated with buffers on a transition to IDLE. */ - OMX_BOOL bPopulated; /**< Port is populated with all of its buffers as indicated by - nBufferCountActual. A disabled port is always unpopulated. - An enabled port is populated on a transition to OMX_StateIdle - and unpopulated on a transition to loaded. */ - OMX_PORTDOMAINTYPE eDomain; /**< Domain of the port. Determines the contents of metadata below. */ - union { - OMX_AUDIO_PORTDEFINITIONTYPE audio; - OMX_VIDEO_PORTDEFINITIONTYPE video; - OMX_IMAGE_PORTDEFINITIONTYPE image; - OMX_OTHER_PORTDEFINITIONTYPE other; - } format; - OMX_BOOL bBuffersContiguous; - OMX_U32 nBufferAlignment; -} OMX_PARAM_PORTDEFINITIONTYPE; - -/** @ingroup comp */ -typedef struct OMX_PARAM_U32TYPE { - OMX_U32 nSize; /**< Size of this structure, in Bytes */ - OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ - OMX_U32 nPortIndex; /**< port that this structure applies to */ - OMX_U32 nU32; /**< U32 value */ -} OMX_PARAM_U32TYPE; - -/** @ingroup rpm */ -typedef enum OMX_SUSPENSIONPOLICYTYPE { - OMX_SuspensionDisabled, /**< No suspension; v1.0 behavior */ - OMX_SuspensionEnabled, /**< Suspension allowed */ - OMX_SuspensionPolicyKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ - OMX_SuspensionPolicyStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ - OMX_SuspensionPolicyMax = 0x7fffffff -} OMX_SUSPENSIONPOLICYTYPE; - -/** @ingroup rpm */ -typedef struct OMX_PARAM_SUSPENSIONPOLICYTYPE { - OMX_U32 nSize; - OMX_VERSIONTYPE nVersion; - OMX_SUSPENSIONPOLICYTYPE ePolicy; -} OMX_PARAM_SUSPENSIONPOLICYTYPE; - -/** @ingroup rpm */ -typedef enum OMX_SUSPENSIONTYPE { - OMX_NotSuspended, /**< component is not suspended */ - OMX_Suspended, /**< component is suspended */ - OMX_SuspensionKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ - OMX_SuspensionVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ - OMX_SuspendMax = 0x7FFFFFFF -} OMX_SUSPENSIONTYPE; - -/** @ingroup rpm */ -typedef struct OMX_PARAM_SUSPENSIONTYPE { - OMX_U32 nSize; - OMX_VERSIONTYPE nVersion; - OMX_SUSPENSIONTYPE eType; -} OMX_PARAM_SUSPENSIONTYPE ; - -typedef struct OMX_CONFIG_BOOLEANTYPE { - OMX_U32 nSize; - OMX_VERSIONTYPE nVersion; - OMX_BOOL bEnabled; -} OMX_CONFIG_BOOLEANTYPE; - -/* Parameter specifying the content uri to use. */ -/** @ingroup cp */ -typedef struct OMX_PARAM_CONTENTURITYPE -{ - OMX_U32 nSize; /**< size of the structure in bytes, including - actual URI name */ - OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ - OMX_U8 contentURI[1]; /**< The URI name */ -} OMX_PARAM_CONTENTURITYPE; - -/* Parameter specifying the pipe to use. */ -/** @ingroup cp */ -typedef struct OMX_PARAM_CONTENTPIPETYPE -{ - OMX_U32 nSize; /**< size of the structure in bytes */ - OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ - OMX_HANDLETYPE hPipe; /**< The pipe handle*/ -} OMX_PARAM_CONTENTPIPETYPE; - -/** @ingroup rpm */ -typedef struct OMX_RESOURCECONCEALMENTTYPE { - OMX_U32 nSize; /**< size of the structure in bytes */ - OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ - OMX_BOOL bResourceConcealmentForbidden; /**< disallow the use of resource concealment - methods (like degrading algorithm quality to - lower resource consumption or functional bypass) - on a component as a resolution to resource conflicts. */ -} OMX_RESOURCECONCEALMENTTYPE; - - -/** @ingroup metadata */ -typedef enum OMX_METADATACHARSETTYPE { - OMX_MetadataCharsetUnknown = 0, - OMX_MetadataCharsetASCII, - OMX_MetadataCharsetBinary, - OMX_MetadataCharsetCodePage1252, - OMX_MetadataCharsetUTF8, - OMX_MetadataCharsetJavaConformantUTF8, - OMX_MetadataCharsetUTF7, - OMX_MetadataCharsetImapUTF7, - OMX_MetadataCharsetUTF16LE, - OMX_MetadataCharsetUTF16BE, - OMX_MetadataCharsetGB12345, - OMX_MetadataCharsetHZGB2312, - OMX_MetadataCharsetGB2312, - OMX_MetadataCharsetGB18030, - OMX_MetadataCharsetGBK, - OMX_MetadataCharsetBig5, - OMX_MetadataCharsetISO88591, - OMX_MetadataCharsetISO88592, - OMX_MetadataCharsetISO88593, - OMX_MetadataCharsetISO88594, - OMX_MetadataCharsetISO88595, - OMX_MetadataCharsetISO88596, - OMX_MetadataCharsetISO88597, - OMX_MetadataCharsetISO88598, - OMX_MetadataCharsetISO88599, - OMX_MetadataCharsetISO885910, - OMX_MetadataCharsetISO885913, - OMX_MetadataCharsetISO885914, - OMX_MetadataCharsetISO885915, - OMX_MetadataCharsetShiftJIS, - OMX_MetadataCharsetISO2022JP, - OMX_MetadataCharsetISO2022JP1, - OMX_MetadataCharsetISOEUCJP, - OMX_MetadataCharsetSMS7Bit, - OMX_MetadataCharsetKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ - OMX_MetadataCharsetVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ - OMX_MetadataCharsetTypeMax= 0x7FFFFFFF -} OMX_METADATACHARSETTYPE; - -/** @ingroup metadata */ -typedef enum OMX_METADATASCOPETYPE -{ - OMX_MetadataScopeAllLevels, - OMX_MetadataScopeTopLevel, - OMX_MetadataScopePortLevel, - OMX_MetadataScopeNodeLevel, - OMX_MetadataScopeKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ - OMX_MetadataScopeVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ - OMX_MetadataScopeTypeMax = 0x7fffffff -} OMX_METADATASCOPETYPE; - -/** @ingroup metadata */ -typedef enum OMX_METADATASEARCHMODETYPE -{ - OMX_MetadataSearchValueSizeByIndex, - OMX_MetadataSearchItemByIndex, - OMX_MetadataSearchNextItemByKey, - OMX_MetadataSearchKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ - OMX_MetadataSearchVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ - OMX_MetadataSearchTypeMax = 0x7fffffff -} OMX_METADATASEARCHMODETYPE; -/** @ingroup metadata */ -typedef struct OMX_CONFIG_METADATAITEMCOUNTTYPE -{ - OMX_U32 nSize; - OMX_VERSIONTYPE nVersion; - OMX_METADATASCOPETYPE eScopeMode; - OMX_U32 nScopeSpecifier; - OMX_U32 nMetadataItemCount; -} OMX_CONFIG_METADATAITEMCOUNTTYPE; - -/** @ingroup metadata */ -typedef struct OMX_CONFIG_METADATAITEMTYPE -{ - OMX_U32 nSize; - OMX_VERSIONTYPE nVersion; - OMX_METADATASCOPETYPE eScopeMode; - OMX_U32 nScopeSpecifier; - OMX_U32 nMetadataItemIndex; - OMX_METADATASEARCHMODETYPE eSearchMode; - OMX_METADATACHARSETTYPE eKeyCharset; - OMX_U8 nKeySizeUsed; - OMX_U8 nKey[128]; - OMX_METADATACHARSETTYPE eValueCharset; - OMX_STRING sLanguageCountry; - OMX_U32 nValueMaxSize; - OMX_U32 nValueSizeUsed; - OMX_U8 nValue[1]; -} OMX_CONFIG_METADATAITEMTYPE; - -/* @ingroup metadata */ -typedef struct OMX_CONFIG_CONTAINERNODECOUNTTYPE -{ - OMX_U32 nSize; - OMX_VERSIONTYPE nVersion; - OMX_BOOL bAllKeys; - OMX_U32 nParentNodeID; - OMX_U32 nNumNodes; -} OMX_CONFIG_CONTAINERNODECOUNTTYPE; - -/** @ingroup metadata */ -typedef struct OMX_CONFIG_CONTAINERNODEIDTYPE -{ - OMX_U32 nSize; - OMX_VERSIONTYPE nVersion; - OMX_BOOL bAllKeys; - OMX_U32 nParentNodeID; - OMX_U32 nNodeIndex; - OMX_U32 nNodeID; - OMX_STRING cNodeName; - OMX_BOOL bIsLeafType; -} OMX_CONFIG_CONTAINERNODEIDTYPE; - -/** @ingroup metadata */ -typedef struct OMX_PARAM_METADATAFILTERTYPE -{ - OMX_U32 nSize; - OMX_VERSIONTYPE nVersion; - OMX_BOOL bAllKeys; /* if true then this structure refers to all keys and - * the three key fields below are ignored */ - OMX_METADATACHARSETTYPE eKeyCharset; - OMX_U32 nKeySizeUsed; - OMX_U8 nKey [128]; - OMX_U32 nLanguageCountrySizeUsed; - OMX_U8 nLanguageCountry[128]; - OMX_BOOL bEnabled; /* if true then key is part of filter (e.g. - * retained for query later). If false then - * key is not part of filter */ -} OMX_PARAM_METADATAFILTERTYPE; - -/** The OMX_HANDLETYPE structure defines the component handle. The component - * handle is used to access all of the component's public methods and also - * contains pointers to the component's private data area. The component - * handle is initialized by the OMX core (with help from the component) - * during the process of loading the component. After the component is - * successfully loaded, the application can safely access any of the - * component's public functions (although some may return an error because - * the state is inappropriate for the access). - * - * @ingroup comp - */ -typedef struct OMX_COMPONENTTYPE -{ - /** The size of this structure, in bytes. It is the responsibility - of the allocator of this structure to fill in this value. Since - this structure is allocated by the GetHandle function, this - function will fill in this value. */ - OMX_U32 nSize; - - /** nVersion is the version of the OMX specification that the structure - is built against. It is the responsibility of the creator of this - structure to initialize this value and every user of this structure - should verify that it knows how to use the exact version of - this structure found herein. */ - OMX_VERSIONTYPE nVersion; - - /** pComponentPrivate is a pointer to the component private data area. - This member is allocated and initialized by the component when the - component is first loaded. The application should not access this - data area. */ - OMX_PTR pComponentPrivate; - - /** pApplicationPrivate is a pointer that is a parameter to the - OMX_GetHandle method, and contains an application private value - provided by the IL client. This application private data is - returned to the IL Client by OMX in all callbacks */ - OMX_PTR pApplicationPrivate; - - /** refer to OMX_GetComponentVersion in OMX_core.h or the OMX IL - specification for details on the GetComponentVersion method. - */ - OMX_ERRORTYPE (*GetComponentVersion)( - OMX_IN OMX_HANDLETYPE hComponent, - OMX_OUT OMX_STRING pComponentName, - OMX_OUT OMX_VERSIONTYPE* pComponentVersion, - OMX_OUT OMX_VERSIONTYPE* pSpecVersion, - OMX_OUT OMX_UUIDTYPE* pComponentUUID); - - /** refer to OMX_SendCommand in OMX_core.h or the OMX IL - specification for details on the SendCommand method. - */ - OMX_ERRORTYPE (*SendCommand)( - OMX_IN OMX_HANDLETYPE hComponent, - OMX_IN OMX_COMMANDTYPE Cmd, - OMX_IN OMX_U32 nParam1, - OMX_IN OMX_PTR pCmdData); - - /** refer to OMX_GetParameter in OMX_core.h or the OMX IL - specification for details on the GetParameter method. - */ - OMX_ERRORTYPE (*GetParameter)( - OMX_IN OMX_HANDLETYPE hComponent, - OMX_IN OMX_INDEXTYPE nParamIndex, - OMX_INOUT OMX_PTR pComponentParameterStructure); - - - /** refer to OMX_SetParameter in OMX_core.h or the OMX IL - specification for details on the SetParameter method. - */ - OMX_ERRORTYPE (*SetParameter)( - OMX_IN OMX_HANDLETYPE hComponent, - OMX_IN OMX_INDEXTYPE nIndex, - OMX_IN OMX_PTR pComponentParameterStructure); - - - /** refer to OMX_GetConfig in OMX_core.h or the OMX IL - specification for details on the GetConfig method. - */ - OMX_ERRORTYPE (*GetConfig)( - OMX_IN OMX_HANDLETYPE hComponent, - OMX_IN OMX_INDEXTYPE nIndex, - OMX_INOUT OMX_PTR pComponentConfigStructure); - - - /** refer to OMX_SetConfig in OMX_core.h or the OMX IL - specification for details on the SetConfig method. - */ - OMX_ERRORTYPE (*SetConfig)( - OMX_IN OMX_HANDLETYPE hComponent, - OMX_IN OMX_INDEXTYPE nIndex, - OMX_IN OMX_PTR pComponentConfigStructure); - - - /** refer to OMX_GetExtensionIndex in OMX_core.h or the OMX IL - specification for details on the GetExtensionIndex method. - */ - OMX_ERRORTYPE (*GetExtensionIndex)( - OMX_IN OMX_HANDLETYPE hComponent, - OMX_IN OMX_STRING cParameterName, - OMX_OUT OMX_INDEXTYPE* pIndexType); - - - /** refer to OMX_GetState in OMX_core.h or the OMX IL - specification for details on the GetState method. - */ - OMX_ERRORTYPE (*GetState)( - OMX_IN OMX_HANDLETYPE hComponent, - OMX_OUT OMX_STATETYPE* pState); - - - /** The ComponentTunnelRequest method will interact with another OMX - component to determine if tunneling is possible and to setup the - tunneling. The return codes for this method can be used to - determine if tunneling is not possible, or if tunneling is not - supported. - - Base profile components (i.e. non-interop) do not support this - method and should return OMX_ErrorNotImplemented - - The interop profile component MUST support tunneling to another - interop profile component with a compatible port parameters. - A component may also support proprietary communication. - - If proprietary communication is supported the negotiation of - proprietary communication is done outside of OMX in a vendor - specific way. It is only required that the proper result be - returned and the details of how the setup is done is left - to the component implementation. - - When this method is invoked when nPort in an output port, the - component will: - 1. Populate the pTunnelSetup structure with the output port's - requirements and constraints for the tunnel. - - When this method is invoked when nPort in an input port, the - component will: - 1. Query the necessary parameters from the output port to - determine if the ports are compatible for tunneling - 2. If the ports are compatible, the component should store - the tunnel step provided by the output port - 3. Determine which port (either input or output) is the buffer - supplier, and call OMX_SetParameter on the output port to - indicate this selection. - - The component will return from this call within 5 msec. - - @param [in] hComp - Handle of the component to be accessed. This is the component - handle returned by the call to the OMX_GetHandle method. - @param [in] nPort - nPort is used to select the port on the component to be used - for tunneling. - @param [in] hTunneledComp - Handle of the component to tunnel with. This is the component - handle returned by the call to the OMX_GetHandle method. When - this parameter is 0x0 the component should setup the port for - communication with the application / IL Client. - @param [in] nPortOutput - nPortOutput is used indicate the port the component should - tunnel with. - @param [in] pTunnelSetup - Pointer to the tunnel setup structure. When nPort is an output port - the component should populate the fields of this structure. When - When nPort is an input port the component should review the setup - provided by the component with the output port. - @return OMX_ERRORTYPE - If the command successfully executes, the return code will be - OMX_ErrorNone. Otherwise the appropriate OMX error will be returned. - @ingroup tun - */ - - OMX_ERRORTYPE (*ComponentTunnelRequest)( - OMX_IN OMX_HANDLETYPE hComp, - OMX_IN OMX_U32 nPort, - OMX_IN OMX_HANDLETYPE hTunneledComp, - OMX_IN OMX_U32 nTunneledPort, - OMX_INOUT OMX_TUNNELSETUPTYPE* pTunnelSetup); - - /** refer to OMX_UseBuffer in OMX_core.h or the OMX IL - specification for details on the UseBuffer method. - @ingroup buf - */ - OMX_ERRORTYPE (*UseBuffer)( - OMX_IN OMX_HANDLETYPE hComponent, - OMX_INOUT OMX_BUFFERHEADERTYPE** ppBufferHdr, - OMX_IN OMX_U32 nPortIndex, - OMX_IN OMX_PTR pAppPrivate, - OMX_IN OMX_U32 nSizeBytes, - OMX_IN OMX_U8* pBuffer); - - /** refer to OMX_AllocateBuffer in OMX_core.h or the OMX IL - specification for details on the AllocateBuffer method. - @ingroup buf - */ - OMX_ERRORTYPE (*AllocateBuffer)( - OMX_IN OMX_HANDLETYPE hComponent, - OMX_INOUT OMX_BUFFERHEADERTYPE** ppBuffer, - OMX_IN OMX_U32 nPortIndex, - OMX_IN OMX_PTR pAppPrivate, - OMX_IN OMX_U32 nSizeBytes); - - /** refer to OMX_FreeBuffer in OMX_core.h or the OMX IL - specification for details on the FreeBuffer method. - @ingroup buf - */ - OMX_ERRORTYPE (*FreeBuffer)( - OMX_IN OMX_HANDLETYPE hComponent, - OMX_IN OMX_U32 nPortIndex, - OMX_IN OMX_BUFFERHEADERTYPE* pBuffer); - - /** refer to OMX_EmptyThisBuffer in OMX_core.h or the OMX IL - specification for details on the EmptyThisBuffer method. - @ingroup buf - */ - OMX_ERRORTYPE (*EmptyThisBuffer)( - OMX_IN OMX_HANDLETYPE hComponent, - OMX_IN OMX_BUFFERHEADERTYPE* pBuffer); - - /** refer to OMX_FillThisBuffer in OMX_core.h or the OMX IL - specification for details on the FillThisBuffer method. - @ingroup buf - */ - OMX_ERRORTYPE (*FillThisBuffer)( - OMX_IN OMX_HANDLETYPE hComponent, - OMX_IN OMX_BUFFERHEADERTYPE* pBuffer); - - /** The SetCallbacks method is used by the core to specify the callback - structure from the application to the component. This is a blocking - call. The component will return from this call within 5 msec. - @param [in] hComponent - Handle of the component to be accessed. This is the component - handle returned by the call to the GetHandle function. - @param [in] pCallbacks - pointer to an OMX_CALLBACKTYPE structure used to provide the - callback information to the component - @param [in] pAppData - pointer to an application defined value. It is anticipated that - the application will pass a pointer to a data structure or a "this - pointer" in this area to allow the callback (in the application) - to determine the context of the call - @return OMX_ERRORTYPE - If the command successfully executes, the return code will be - OMX_ErrorNone. Otherwise the appropriate OMX error will be returned. - */ - OMX_ERRORTYPE (*SetCallbacks)( - OMX_IN OMX_HANDLETYPE hComponent, - OMX_IN OMX_CALLBACKTYPE* pCallbacks, - OMX_IN OMX_PTR pAppData); - - /** ComponentDeInit method is used to deinitialize the component - providing a means to free any resources allocated at component - initialization. NOTE: After this call the component handle is - not valid for further use. - @param [in] hComponent - Handle of the component to be accessed. This is the component - handle returned by the call to the GetHandle function. - @return OMX_ERRORTYPE - If the command successfully executes, the return code will be - OMX_ErrorNone. Otherwise the appropriate OMX error will be returned. - */ - OMX_ERRORTYPE (*ComponentDeInit)( - OMX_IN OMX_HANDLETYPE hComponent); - - /** @ingroup buf */ - OMX_ERRORTYPE (*UseEGLImage)( - OMX_IN OMX_HANDLETYPE hComponent, - OMX_INOUT OMX_BUFFERHEADERTYPE** ppBufferHdr, - OMX_IN OMX_U32 nPortIndex, - OMX_IN OMX_PTR pAppPrivate, - OMX_IN void* eglImage); - - OMX_ERRORTYPE (*ComponentRoleEnum)( - OMX_IN OMX_HANDLETYPE hComponent, - OMX_OUT OMX_U8 *cRole, - OMX_IN OMX_U32 nIndex); - -} OMX_COMPONENTTYPE; - -#ifdef __cplusplus -} -#endif /* __cplusplus */ - -#endif -/* File EOF */ diff --git a/selfdrive/frogpilot/screenrecorder/openmax/include/OMX_ContentPipe.h b/selfdrive/frogpilot/screenrecorder/openmax/include/OMX_ContentPipe.h deleted file mode 100644 index 5f6310c28a38a2..00000000000000 --- a/selfdrive/frogpilot/screenrecorder/openmax/include/OMX_ContentPipe.h +++ /dev/null @@ -1,195 +0,0 @@ -/* - * Copyright (c) 2008 The Khronos Group Inc. - * - * Permission is hereby granted, free of charge, to any person obtaining - * a copy of this software and associated documentation files (the - * "Software"), to deal in the Software without restriction, including - * without limitation the rights to use, copy, modify, merge, publish, - * distribute, sublicense, and/or sell copies of the Software, and to - * permit persons to whom the Software is furnished to do so, subject - * to the following conditions: - * The above copyright notice and this permission notice shall be included - * in all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS - * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF - * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. - * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY - * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, - * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE - * SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. - * - */ - -/** OMX_ContentPipe.h - OpenMax IL version 1.1.2 - * The OMX_ContentPipe header file contains the definitions used to define - * the public interface for content piples. This header file is intended to - * be used by the component. - */ - -#ifndef OMX_CONTENTPIPE_H -#define OMX_CONTENTPIPE_H - -#ifndef KD_EACCES -/* OpenKODE error codes. CPResult values may be zero (indicating success - or one of the following values) */ -#define KD_EACCES (1) -#define KD_EADDRINUSE (2) -#define KD_EAGAIN (5) -#define KD_EBADF (7) -#define KD_EBUSY (8) -#define KD_ECONNREFUSED (9) -#define KD_ECONNRESET (10) -#define KD_EDEADLK (11) -#define KD_EDESTADDRREQ (12) -#define KD_ERANGE (35) -#define KD_EEXIST (13) -#define KD_EFBIG (14) -#define KD_EHOSTUNREACH (15) -#define KD_EINVAL (17) -#define KD_EIO (18) -#define KD_EISCONN (20) -#define KD_EISDIR (21) -#define KD_EMFILE (22) -#define KD_ENAMETOOLONG (23) -#define KD_ENOENT (24) -#define KD_ENOMEM (25) -#define KD_ENOSPC (26) -#define KD_ENOSYS (27) -#define KD_ENOTCONN (28) -#define KD_EPERM (33) -#define KD_ETIMEDOUT (36) -#define KD_EILSEQ (19) -#endif - -/** Map types from OMX standard types only here so interface is as generic as possible. */ -typedef OMX_U32 CPresult; -typedef char * CPstring; -typedef void * CPhandle; -typedef OMX_U32 CPuint; -typedef OMX_S32 CPint; -typedef char CPbyte; -typedef OMX_BOOL CPbool; - -/** enumeration of origin types used in the CP_PIPETYPE's Seek function - * @ingroup cp - */ -typedef enum CP_ORIGINTYPE { - CP_OriginBegin, - CP_OriginCur, - CP_OriginEnd, - CP_OriginKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ - CP_OriginVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ - CP_OriginMax = 0X7FFFFFFF -} CP_ORIGINTYPE; - -/** enumeration of contact access types used in the CP_PIPETYPE's Open function - * @ingroup cp - */ -typedef enum CP_ACCESSTYPE { - CP_AccessRead, - CP_AccessWrite, - CP_AccessReadWrite , - CP_AccessKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ - CP_AccessVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ - CP_AccessMax = 0X7FFFFFFF -} CP_ACCESSTYPE; - -/** enumeration of results returned by the CP_PIPETYPE's CheckAvailableBytes function - * @ingroup cp - */ -typedef enum CP_CHECKBYTESRESULTTYPE -{ - CP_CheckBytesOk, /**< There are at least the request number - of bytes available */ - CP_CheckBytesNotReady, /**< The pipe is still retrieving bytes - and presently lacks sufficient bytes. - Client will be called when they are - sufficient bytes are available. */ - CP_CheckBytesInsufficientBytes , /**< The pipe has retrieved all bytes - but those available are less than those - requested */ - CP_CheckBytesAtEndOfStream, /**< The pipe has reached the end of stream - and no more bytes are available. */ - CP_CheckBytesOutOfBuffers, /**< All read/write buffers are currently in use. */ - CP_CheckBytesKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ - CP_CheckBytesVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ - CP_CheckBytesMax = 0X7FFFFFFF -} CP_CHECKBYTESRESULTTYPE; - -/** enumeration of content pipe events sent to the client callback. - * @ingroup cp - */ -typedef enum CP_EVENTTYPE{ - CP_BytesAvailable, /** bytes requested in a CheckAvailableBytes call are now available*/ - CP_Overflow, /** enumeration of content pipe events sent to the client callback*/ - CP_PipeDisconnected , /** enumeration of content pipe events sent to the client callback*/ - CP_EventKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ - CP_EventVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ - CP_EventMax = 0X7FFFFFFF -} CP_EVENTTYPE; - -/** content pipe definition - * @ingroup cp - */ -typedef struct CP_PIPETYPE -{ - /** Open a content stream for reading or writing. */ - CPresult (*Open)( CPhandle* hContent, CPstring szURI, CP_ACCESSTYPE eAccess ); - - /** Close a content stream. */ - CPresult (*Close)( CPhandle hContent ); - - /** Create a content source and open it for writing. */ - CPresult (*Create)( CPhandle *hContent, CPstring szURI ); - - /** Check the that specified number of bytes are available for reading or writing (depending on access type).*/ - CPresult (*CheckAvailableBytes)( CPhandle hContent, CPuint nBytesRequested, CP_CHECKBYTESRESULTTYPE *eResult ); - - /** Seek to certain position in the content relative to the specified origin. */ - CPresult (*SetPosition)( CPhandle hContent, CPint nOffset, CP_ORIGINTYPE eOrigin); - - /** Retrieve the current position relative to the start of the content. */ - CPresult (*GetPosition)( CPhandle hContent, CPuint *pPosition); - - /** Retrieve data of the specified size from the content stream (advance content pointer by size of data). - Note: pipe client provides pointer. This function is appropriate for small high frequency reads. */ - CPresult (*Read)( CPhandle hContent, CPbyte *pData, CPuint nSize); - - /** Retrieve a buffer allocated by the pipe that contains the requested number of bytes. - Buffer contains the next block of bytes, as specified by nSize, of the content. nSize also - returns the size of the block actually read. Content pointer advances the by the returned size. - Note: pipe provides pointer. This function is appropriate for large reads. The client must call - ReleaseReadBuffer when done with buffer. - - In some cases the requested block may not reside in contiguous memory within the - pipe implementation. For instance if the pipe leverages a circular buffer then the requested - block may straddle the boundary of the circular buffer. By default a pipe implementation - performs a copy in this case to provide the block to the pipe client in one contiguous buffer. - If, however, the client sets bForbidCopy, then the pipe returns only those bytes preceding the memory - boundary. Here the client may retrieve the data in segments over successive calls. */ - CPresult (*ReadBuffer)( CPhandle hContent, CPbyte **ppBuffer, CPuint *nSize, CPbool bForbidCopy); - - /** Release a buffer obtained by ReadBuffer back to the pipe. */ - CPresult (*ReleaseReadBuffer)(CPhandle hContent, CPbyte *pBuffer); - - /** Write data of the specified size to the content (advance content pointer by size of data). - Note: pipe client provides pointer. This function is appropriate for small high frequency writes. */ - CPresult (*Write)( CPhandle hContent, CPbyte *data, CPuint nSize); - - /** Retrieve a buffer allocated by the pipe used to write data to the content. - Client will fill buffer with output data. Note: pipe provides pointer. This function is appropriate - for large writes. The client must call WriteBuffer when done it has filled the buffer with data.*/ - CPresult (*GetWriteBuffer)( CPhandle hContent, CPbyte **ppBuffer, CPuint nSize); - - /** Deliver a buffer obtained via GetWriteBuffer to the pipe. Pipe will write the - the contents of the buffer to content and advance content pointer by the size of the buffer */ - CPresult (*WriteBuffer)( CPhandle hContent, CPbyte *pBuffer, CPuint nFilledSize); - - /** Register a per-handle client callback with the content pipe. */ - CPresult (*RegisterCallback)( CPhandle hContent, CPresult (*ClientCallback)(CP_EVENTTYPE eEvent, CPuint iParam)); - -} CP_PIPETYPE; - -#endif - diff --git a/selfdrive/frogpilot/screenrecorder/openmax/include/OMX_Core.h b/selfdrive/frogpilot/screenrecorder/openmax/include/OMX_Core.h deleted file mode 100644 index 52d211f0dc3846..00000000000000 --- a/selfdrive/frogpilot/screenrecorder/openmax/include/OMX_Core.h +++ /dev/null @@ -1,1440 +0,0 @@ -/* - * Copyright (c) 2008 The Khronos Group Inc. - * - * Permission is hereby granted, free of charge, to any person obtaining - * a copy of this software and associated documentation files (the - * "Software"), to deal in the Software without restriction, including - * without limitation the rights to use, copy, modify, merge, publish, - * distribute, sublicense, and/or sell copies of the Software, and to - * permit persons to whom the Software is furnished to do so, subject - * to the following conditions: - * The above copyright notice and this permission notice shall be included - * in all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS - * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF - * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. - * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY - * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, - * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE - * SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. - * - */ - -/** OMX_Core.h - OpenMax IL version 1.1.2 - * The OMX_Core header file contains the definitions used by both the - * application and the component to access common items. - */ - -#ifndef OMX_Core_h -#define OMX_Core_h - -#ifdef __cplusplus -extern "C" { -#endif /* __cplusplus */ - - -/* Each OMX header shall include all required header files to allow the - * header to compile without errors. The includes below are required - * for this header file to compile successfully - */ - -#include - - -/** The OMX_COMMANDTYPE enumeration is used to specify the action in the - * OMX_SendCommand macro. - * @ingroup core - */ -typedef enum OMX_COMMANDTYPE -{ - OMX_CommandStateSet, /**< Change the component state */ - OMX_CommandFlush, /**< Flush the data queue(s) of a component */ - OMX_CommandPortDisable, /**< Disable a port on a component. */ - OMX_CommandPortEnable, /**< Enable a port on a component. */ - OMX_CommandMarkBuffer, /**< Mark a component/buffer for observation */ - OMX_CommandKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ - OMX_CommandVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ - OMX_CommandMax = 0X7FFFFFFF -} OMX_COMMANDTYPE; - - - -/** The OMX_STATETYPE enumeration is used to indicate or change the component - * state. This enumeration reflects the current state of the component when - * used with the OMX_GetState macro or becomes the parameter in a state change - * command when used with the OMX_SendCommand macro. - * - * The component will be in the Loaded state after the component is initially - * loaded into memory. In the Loaded state, the component is not allowed to - * allocate or hold resources other than to build it's internal parameter - * and configuration tables. The application will send one or more - * SetParameters/GetParameters and SetConfig/GetConfig commands to the - * component and the component will record each of these parameter and - * configuration changes for use later. When the application sends the - * Idle command, the component will acquire the resources needed for the - * specified configuration and will transition to the idle state if the - * allocation is successful. If the component cannot successfully - * transition to the idle state for any reason, the state of the component - * shall be fully rolled back to the Loaded state (e.g. all allocated - * resources shall be released). When the component receives the command - * to go to the Executing state, it shall begin processing buffers by - * sending all input buffers it holds to the application. While - * the component is in the Idle state, the application may also send the - * Pause command. If the component receives the pause command while in the - * Idle state, the component shall send all input buffers it holds to the - * application, but shall not begin processing buffers. This will allow the - * application to prefill buffers. - * - * @ingroup comp - */ - -typedef enum OMX_STATETYPE -{ - OMX_StateInvalid, /**< component has detected that it's internal data - structures are corrupted to the point that - it cannot determine it's state properly */ - OMX_StateLoaded, /**< component has been loaded but has not completed - initialization. The OMX_SetParameter macro - and the OMX_GetParameter macro are the only - valid macros allowed to be sent to the - component in this state. */ - OMX_StateIdle, /**< component initialization has been completed - successfully and the component is ready to - to start. */ - OMX_StateExecuting, /**< component has accepted the start command and - is processing data (if data is available) */ - OMX_StatePause, /**< component has received pause command */ - OMX_StateWaitForResources, /**< component is waiting for resources, either after - preemption or before it gets the resources requested. - See specification for complete details. */ - OMX_StateKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ - OMX_StateVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ - OMX_StateMax = 0X7FFFFFFF -} OMX_STATETYPE; - -/** The OMX_ERRORTYPE enumeration defines the standard OMX Errors. These - * errors should cover most of the common failure cases. However, - * vendors are free to add additional error messages of their own as - * long as they follow these rules: - * 1. Vendor error messages shall be in the range of 0x90000000 to - * 0x9000FFFF. - * 2. Vendor error messages shall be defined in a header file provided - * with the component. No error messages are allowed that are - * not defined. - */ -typedef enum OMX_ERRORTYPE -{ - OMX_ErrorNone = 0, - - /** There were insufficient resources to perform the requested operation */ - OMX_ErrorInsufficientResources = (OMX_S32) 0x80001000, - - /** There was an error, but the cause of the error could not be determined */ - OMX_ErrorUndefined = (OMX_S32) 0x80001001, - - /** The component name string was not valid */ - OMX_ErrorInvalidComponentName = (OMX_S32) 0x80001002, - - /** No component with the specified name string was found */ - OMX_ErrorComponentNotFound = (OMX_S32) 0x80001003, - - /** The component specified did not have a "OMX_ComponentInit" or - "OMX_ComponentDeInit entry point */ - OMX_ErrorInvalidComponent = (OMX_S32) 0x80001004, - - /** One or more parameters were not valid */ - OMX_ErrorBadParameter = (OMX_S32) 0x80001005, - - /** The requested function is not implemented */ - OMX_ErrorNotImplemented = (OMX_S32) 0x80001006, - - /** The buffer was emptied before the next buffer was ready */ - OMX_ErrorUnderflow = (OMX_S32) 0x80001007, - - /** The buffer was not available when it was needed */ - OMX_ErrorOverflow = (OMX_S32) 0x80001008, - - /** The hardware failed to respond as expected */ - OMX_ErrorHardware = (OMX_S32) 0x80001009, - - /** The component is in the state OMX_StateInvalid */ - OMX_ErrorInvalidState = (OMX_S32) 0x8000100A, - - /** Stream is found to be corrupt */ - OMX_ErrorStreamCorrupt = (OMX_S32) 0x8000100B, - - /** Ports being connected are not compatible */ - OMX_ErrorPortsNotCompatible = (OMX_S32) 0x8000100C, - - /** Resources allocated to an idle component have been - lost resulting in the component returning to the loaded state */ - OMX_ErrorResourcesLost = (OMX_S32) 0x8000100D, - - /** No more indicies can be enumerated */ - OMX_ErrorNoMore = (OMX_S32) 0x8000100E, - - /** The component detected a version mismatch */ - OMX_ErrorVersionMismatch = (OMX_S32) 0x8000100F, - - /** The component is not ready to return data at this time */ - OMX_ErrorNotReady = (OMX_S32) 0x80001010, - - /** There was a timeout that occurred */ - OMX_ErrorTimeout = (OMX_S32) 0x80001011, - - /** This error occurs when trying to transition into the state you are already in */ - OMX_ErrorSameState = (OMX_S32) 0x80001012, - - /** Resources allocated to an executing or paused component have been - preempted, causing the component to return to the idle state */ - OMX_ErrorResourcesPreempted = (OMX_S32) 0x80001013, - - /** A non-supplier port sends this error to the IL client (via the EventHandler callback) - during the allocation of buffers (on a transition from the LOADED to the IDLE state or - on a port restart) when it deems that it has waited an unusually long time for the supplier - to send it an allocated buffer via a UseBuffer call. */ - OMX_ErrorPortUnresponsiveDuringAllocation = (OMX_S32) 0x80001014, - - /** A non-supplier port sends this error to the IL client (via the EventHandler callback) - during the deallocation of buffers (on a transition from the IDLE to LOADED state or - on a port stop) when it deems that it has waited an unusually long time for the supplier - to request the deallocation of a buffer header via a FreeBuffer call. */ - OMX_ErrorPortUnresponsiveDuringDeallocation = (OMX_S32) 0x80001015, - - /** A supplier port sends this error to the IL client (via the EventHandler callback) - during the stopping of a port (either on a transition from the IDLE to LOADED - state or a port stop) when it deems that it has waited an unusually long time for - the non-supplier to return a buffer via an EmptyThisBuffer or FillThisBuffer call. */ - OMX_ErrorPortUnresponsiveDuringStop = (OMX_S32) 0x80001016, - - /** Attempting a state transtion that is not allowed */ - OMX_ErrorIncorrectStateTransition = (OMX_S32) 0x80001017, - - /* Attempting a command that is not allowed during the present state. */ - OMX_ErrorIncorrectStateOperation = (OMX_S32) 0x80001018, - - /** The values encapsulated in the parameter or config structure are not supported. */ - OMX_ErrorUnsupportedSetting = (OMX_S32) 0x80001019, - - /** The parameter or config indicated by the given index is not supported. */ - OMX_ErrorUnsupportedIndex = (OMX_S32) 0x8000101A, - - /** The port index supplied is incorrect. */ - OMX_ErrorBadPortIndex = (OMX_S32) 0x8000101B, - - /** The port has lost one or more of its buffers and it thus unpopulated. */ - OMX_ErrorPortUnpopulated = (OMX_S32) 0x8000101C, - - /** Component suspended due to temporary loss of resources */ - OMX_ErrorComponentSuspended = (OMX_S32) 0x8000101D, - - /** Component suspended due to an inability to acquire dynamic resources */ - OMX_ErrorDynamicResourcesUnavailable = (OMX_S32) 0x8000101E, - - /** When the macroblock error reporting is enabled the component returns new error - for every frame that has errors */ - OMX_ErrorMbErrorsInFrame = (OMX_S32) 0x8000101F, - - /** A component reports this error when it cannot parse or determine the format of an input stream. */ - OMX_ErrorFormatNotDetected = (OMX_S32) 0x80001020, - - /** The content open operation failed. */ - OMX_ErrorContentPipeOpenFailed = (OMX_S32) 0x80001021, - - /** The content creation operation failed. */ - OMX_ErrorContentPipeCreationFailed = (OMX_S32) 0x80001022, - - /** Separate table information is being used */ - OMX_ErrorSeperateTablesUsed = (OMX_S32) 0x80001023, - - /** Tunneling is unsupported by the component*/ - OMX_ErrorTunnelingUnsupported = (OMX_S32) 0x80001024, - - OMX_ErrorKhronosExtensions = (OMX_S32)0x8F000000, /**< Reserved region for introducing Khronos Standard Extensions */ - OMX_ErrorVendorStartUnused = (OMX_S32)0x90000000, /**< Reserved region for introducing Vendor Extensions */ - OMX_ErrorMax = 0x7FFFFFFF -} OMX_ERRORTYPE; - -/** @ingroup core */ -typedef OMX_ERRORTYPE (* OMX_COMPONENTINITTYPE)(OMX_IN OMX_HANDLETYPE hComponent); - -/** @ingroup core */ -typedef struct OMX_COMPONENTREGISTERTYPE -{ - const char * pName; /* Component name, 128 byte limit (including '\0') applies */ - OMX_COMPONENTINITTYPE pInitialize; /* Component instance initialization function */ -} OMX_COMPONENTREGISTERTYPE; - -/** @ingroup core */ -extern OMX_COMPONENTREGISTERTYPE OMX_ComponentRegistered[]; - -/** @ingroup rpm */ -typedef struct OMX_PRIORITYMGMTTYPE { - OMX_U32 nSize; /**< size of the structure in bytes */ - OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ - OMX_U32 nGroupPriority; /**< Priority of the component group */ - OMX_U32 nGroupID; /**< ID of the component group */ -} OMX_PRIORITYMGMTTYPE; - -/* Component name and Role names are limited to 128 characters including the terminating '\0'. */ -#define OMX_MAX_STRINGNAME_SIZE 128 - -/** @ingroup comp */ -typedef struct OMX_PARAM_COMPONENTROLETYPE { - OMX_U32 nSize; /**< size of the structure in bytes */ - OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ - OMX_U8 cRole[OMX_MAX_STRINGNAME_SIZE]; /**< name of standard component which defines component role */ -} OMX_PARAM_COMPONENTROLETYPE; - -/** End of Stream Buffer Flag: - * - * A component sets EOS when it has no more data to emit on a particular - * output port. Thus an output port shall set EOS on the last buffer it - * emits. A component's determination of when an output port should - * cease sending data is implemenation specific. - * @ingroup buf - */ - -#define OMX_BUFFERFLAG_EOS 0x00000001 - -/** Start Time Buffer Flag: - * - * The source of a stream (e.g. a demux component) sets the STARTTIME - * flag on the buffer that contains the starting timestamp for the - * stream. The starting timestamp corresponds to the first data that - * should be displayed at startup or after a seek. - * The first timestamp of the stream is not necessarily the start time. - * For instance, in the case of a seek to a particular video frame, - * the target frame may be an interframe. Thus the first buffer of - * the stream will be the intra-frame preceding the target frame and - * the starttime will occur with the target frame (with any other - * required frames required to reconstruct the target intervening). - * - * The STARTTIME flag is directly associated with the buffer's - * timestamp ' thus its association to buffer data and its - * propagation is identical to the timestamp's. - * - * When a Sync Component client receives a buffer with the - * STARTTIME flag it shall perform a SetConfig on its sync port - * using OMX_ConfigTimeClientStartTime and passing the buffer's - * timestamp. - * - * @ingroup buf - */ - -#define OMX_BUFFERFLAG_STARTTIME 0x00000002 - - - -/** Decode Only Buffer Flag: - * - * The source of a stream (e.g. a demux component) sets the DECODEONLY - * flag on any buffer that should shall be decoded but should not be - * displayed. This flag is used, for instance, when a source seeks to - * a target interframe that requires the decode of frames preceding the - * target to facilitate the target's reconstruction. In this case the - * source would emit the frames preceding the target downstream - * but mark them as decode only. - * - * The DECODEONLY is associated with buffer data and propagated in a - * manner identical to the buffer timestamp. - * - * A component that renders data should ignore all buffers with - * the DECODEONLY flag set. - * - * @ingroup buf - */ - -#define OMX_BUFFERFLAG_DECODEONLY 0x00000004 - - -/* Data Corrupt Flag: This flag is set when the IL client believes the data in the associated buffer is corrupt - * @ingroup buf - */ - -#define OMX_BUFFERFLAG_DATACORRUPT 0x00000008 - -/* End of Frame: The buffer contains exactly one end of frame and no data - * occurs after the end of frame. This flag is an optional hint. The absence - * of this flag does not imply the absence of an end of frame within the buffer. - * @ingroup buf -*/ -#define OMX_BUFFERFLAG_ENDOFFRAME 0x00000010 - -/* Sync Frame Flag: This flag is set when the buffer content contains a coded sync frame ' - * a frame that has no dependency on any other frame information - * @ingroup buf - */ -#define OMX_BUFFERFLAG_SYNCFRAME 0x00000020 - -/* Extra data present flag: there is extra data appended to the data stream - * residing in the buffer - * @ingroup buf - */ -#define OMX_BUFFERFLAG_EXTRADATA 0x00000040 - -/** Codec Config Buffer Flag: -* OMX_BUFFERFLAG_CODECCONFIG is an optional flag that is set by an -* output port when all bytes in the buffer form part or all of a set of -* codec specific configuration data. Examples include SPS/PPS nal units -* for OMX_VIDEO_CodingAVC or AudioSpecificConfig data for -* OMX_AUDIO_CodingAAC. Any component that for a given stream sets -* OMX_BUFFERFLAG_CODECCONFIG shall not mix codec configuration bytes -* with frame data in the same buffer, and shall send all buffers -* containing codec configuration bytes before any buffers containing -* frame data that those configurations bytes describe. -* If the stream format for a particular codec has a frame specific -* header at the start of each frame, for example OMX_AUDIO_CodingMP3 or -* OMX_AUDIO_CodingAAC in ADTS mode, then these shall be presented as -* normal without setting OMX_BUFFERFLAG_CODECCONFIG. - * @ingroup buf - */ -#define OMX_BUFFERFLAG_CODECCONFIG 0x00000080 - -/* -* OMX_BUFFERFLAG_READONLY: This flag is set when a component emitting the -* buffer on an output port or the IL client wishes to identify the buffer -* payload contents to be read-only. An IL client or an input port -* shall not alter the contents of the buffer. This flag shall only be -* cleared by the originator of the buffer when the buffer is returned. -* For tunneled ports, the usage of this flag shall be allowed only if the -* components negotiated a read-only tunnel -*/ -#define OMX_BUFFERFLAG_READONLY 0x00000200 - -/** @ingroup buf */ -typedef struct OMX_BUFFERHEADERTYPE -{ - OMX_U32 nSize; /**< size of the structure in bytes */ - OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ - OMX_U8* pBuffer; /**< Pointer to actual block of memory - that is acting as the buffer */ - OMX_U32 nAllocLen; /**< size of the buffer allocated, in bytes */ - OMX_U32 nFilledLen; /**< number of bytes currently in the - buffer */ - OMX_U32 nOffset; /**< start offset of valid data in bytes from - the start of the buffer */ - OMX_PTR pAppPrivate; /**< pointer to any data the application - wants to associate with this buffer */ - OMX_PTR pPlatformPrivate; /**< pointer to any data the platform - wants to associate with this buffer */ - OMX_PTR pInputPortPrivate; /**< pointer to any data the input port - wants to associate with this buffer */ - OMX_PTR pOutputPortPrivate; /**< pointer to any data the output port - wants to associate with this buffer */ - OMX_HANDLETYPE hMarkTargetComponent; /**< The component that will generate a - mark event upon processing this buffer. */ - OMX_PTR pMarkData; /**< Application specific data associated with - the mark sent on a mark event to disambiguate - this mark from others. */ - OMX_U32 nTickCount; /**< Optional entry that the component and - application can update with a tick count - when they access the component. This - value should be in microseconds. Since - this is a value relative to an arbitrary - starting point, this value cannot be used - to determine absolute time. This is an - optional entry and not all components - will update it.*/ - OMX_TICKS nTimeStamp; /**< Timestamp corresponding to the sample - starting at the first logical sample - boundary in the buffer. Timestamps of - successive samples within the buffer may - be inferred by adding the duration of the - of the preceding buffer to the timestamp - of the preceding buffer.*/ - OMX_U32 nFlags; /**< buffer specific flags */ - OMX_U32 nOutputPortIndex; /**< The index of the output port (if any) using - this buffer */ - OMX_U32 nInputPortIndex; /**< The index of the input port (if any) using - this buffer */ -} OMX_BUFFERHEADERTYPE; - -/** The OMX_EXTRADATATYPE enumeration is used to define the - * possible extra data payload types. - * NB: this enum is binary backwards compatible with the previous - * OMX_EXTRADATA_QUANT define. This should be replaced with - * OMX_ExtraDataQuantization. - */ -typedef enum OMX_EXTRADATATYPE -{ - OMX_ExtraDataNone = 0, /**< Indicates that no more extra data sections follow */ - OMX_ExtraDataQuantization, /**< The data payload contains quantization data */ - OMX_ExtraDataKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ - OMX_ExtraDataVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ - OMX_ExtraDataMax = 0x7FFFFFFF -} OMX_EXTRADATATYPE; - - -typedef struct OMX_OTHER_EXTRADATATYPE { - OMX_U32 nSize; - OMX_VERSIONTYPE nVersion; - OMX_U32 nPortIndex; - OMX_EXTRADATATYPE eType; /* Extra Data type */ - OMX_U32 nDataSize; /* Size of the supporting data to follow */ - OMX_U8 data[1]; /* Supporting data hint */ -} OMX_OTHER_EXTRADATATYPE; - -/** @ingroup comp */ -typedef struct OMX_PORT_PARAM_TYPE { - OMX_U32 nSize; /**< size of the structure in bytes */ - OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ - OMX_U32 nPorts; /**< The number of ports for this component */ - OMX_U32 nStartPortNumber; /** first port number for this type of port */ -} OMX_PORT_PARAM_TYPE; - -/** @ingroup comp */ -typedef enum OMX_EVENTTYPE -{ - OMX_EventCmdComplete, /**< component has sucessfully completed a command */ - OMX_EventError, /**< component has detected an error condition */ - OMX_EventMark, /**< component has detected a buffer mark */ - OMX_EventPortSettingsChanged, /**< component is reported a port settings change */ - OMX_EventBufferFlag, /**< component has detected an EOS */ - OMX_EventResourcesAcquired, /**< component has been granted resources and is - automatically starting the state change from - OMX_StateWaitForResources to OMX_StateIdle. */ - OMX_EventComponentResumed, /**< Component resumed due to reacquisition of resources */ - OMX_EventDynamicResourcesAvailable, /**< Component has acquired previously unavailable dynamic resources */ - OMX_EventPortFormatDetected, /**< Component has detected a supported format. */ - OMX_EventKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ - OMX_EventVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ - OMX_EventMax = 0x7FFFFFFF -} OMX_EVENTTYPE; - -typedef struct OMX_CALLBACKTYPE -{ - /** The EventHandler method is used to notify the application when an - event of interest occurs. Events are defined in the OMX_EVENTTYPE - enumeration. Please see that enumeration for details of what will - be returned for each type of event. Callbacks should not return - an error to the component, so if an error occurs, the application - shall handle it internally. This is a blocking call. - - The application should return from this call within 5 msec to avoid - blocking the component for an excessively long period of time. - - @param hComponent - handle of the component to access. This is the component - handle returned by the call to the GetHandle function. - @param pAppData - pointer to an application defined value that was provided in the - pAppData parameter to the OMX_GetHandle method for the component. - This application defined value is provided so that the application - can have a component specific context when receiving the callback. - @param eEvent - Event that the component wants to notify the application about. - @param nData1 - nData will be the OMX_ERRORTYPE for an error event and will be - an OMX_COMMANDTYPE for a command complete event and OMX_INDEXTYPE for a OMX_PortSettingsChanged event. - @param nData2 - nData2 will hold further information related to the event. Can be OMX_STATETYPE for - a OMX_CommandStateSet command or port index for a OMX_PortSettingsChanged event. - Default value is 0 if not used. ) - @param pEventData - Pointer to additional event-specific data (see spec for meaning). - */ - - OMX_ERRORTYPE (*EventHandler)( - OMX_IN OMX_HANDLETYPE hComponent, - OMX_IN OMX_PTR pAppData, - OMX_IN OMX_EVENTTYPE eEvent, - OMX_IN OMX_U32 nData1, - OMX_IN OMX_U32 nData2, - OMX_IN OMX_PTR pEventData); - - /** The EmptyBufferDone method is used to return emptied buffers from an - input port back to the application for reuse. This is a blocking call - so the application should not attempt to refill the buffers during this - call, but should queue them and refill them in another thread. There - is no error return, so the application shall handle any errors generated - internally. - - The application should return from this call within 5 msec. - - @param hComponent - handle of the component to access. This is the component - handle returned by the call to the GetHandle function. - @param pAppData - pointer to an application defined value that was provided in the - pAppData parameter to the OMX_GetHandle method for the component. - This application defined value is provided so that the application - can have a component specific context when receiving the callback. - @param pBuffer - pointer to an OMX_BUFFERHEADERTYPE structure allocated with UseBuffer - or AllocateBuffer indicating the buffer that was emptied. - @ingroup buf - */ - OMX_ERRORTYPE (*EmptyBufferDone)( - OMX_IN OMX_HANDLETYPE hComponent, - OMX_IN OMX_PTR pAppData, - OMX_IN OMX_BUFFERHEADERTYPE* pBuffer); - - /** The FillBufferDone method is used to return filled buffers from an - output port back to the application for emptying and then reuse. - This is a blocking call so the application should not attempt to - empty the buffers during this call, but should queue the buffers - and empty them in another thread. There is no error return, so - the application shall handle any errors generated internally. The - application shall also update the buffer header to indicate the - number of bytes placed into the buffer. - - The application should return from this call within 5 msec. - - @param hComponent - handle of the component to access. This is the component - handle returned by the call to the GetHandle function. - @param pAppData - pointer to an application defined value that was provided in the - pAppData parameter to the OMX_GetHandle method for the component. - This application defined value is provided so that the application - can have a component specific context when receiving the callback. - @param pBuffer - pointer to an OMX_BUFFERHEADERTYPE structure allocated with UseBuffer - or AllocateBuffer indicating the buffer that was filled. - @ingroup buf - */ - OMX_ERRORTYPE (*FillBufferDone)( - OMX_OUT OMX_HANDLETYPE hComponent, - OMX_OUT OMX_PTR pAppData, - OMX_OUT OMX_BUFFERHEADERTYPE* pBuffer); - -} OMX_CALLBACKTYPE; - -/** The OMX_BUFFERSUPPLIERTYPE enumeration is used to dictate port supplier - preference when tunneling between two ports. - @ingroup tun buf -*/ -typedef enum OMX_BUFFERSUPPLIERTYPE -{ - OMX_BufferSupplyUnspecified = 0x0, /**< port supplying the buffers is unspecified, - or don't care */ - OMX_BufferSupplyInput, /**< input port supplies the buffers */ - OMX_BufferSupplyOutput, /**< output port supplies the buffers */ - OMX_BufferSupplyKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ - OMX_BufferSupplyVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ - OMX_BufferSupplyMax = 0x7FFFFFFF -} OMX_BUFFERSUPPLIERTYPE; - - -/** buffer supplier parameter - * @ingroup tun - */ -typedef struct OMX_PARAM_BUFFERSUPPLIERTYPE { - OMX_U32 nSize; /**< size of the structure in bytes */ - OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ - OMX_U32 nPortIndex; /**< port that this structure applies to */ - OMX_BUFFERSUPPLIERTYPE eBufferSupplier; /**< buffer supplier */ -} OMX_PARAM_BUFFERSUPPLIERTYPE; - - -/**< indicates that buffers received by an input port of a tunnel - may not modify the data in the buffers - @ingroup tun - */ -#define OMX_PORTTUNNELFLAG_READONLY 0x00000001 - - -/** The OMX_TUNNELSETUPTYPE structure is used to pass data from an output - port to an input port as part the two ComponentTunnelRequest calls - resulting from a OMX_SetupTunnel call from the IL Client. - @ingroup tun - */ -typedef struct OMX_TUNNELSETUPTYPE -{ - OMX_U32 nTunnelFlags; /**< bit flags for tunneling */ - OMX_BUFFERSUPPLIERTYPE eSupplier; /**< supplier preference */ -} OMX_TUNNELSETUPTYPE; - -/* OMX Component headers is included to enable the core to use - macros for functions into the component for OMX release 1.0. - Developers should not access any structures or data from within - the component header directly */ -/* TO BE REMOVED - #include */ - -/** GetComponentVersion will return information about the component. - This is a blocking call. This macro will go directly from the - application to the component (via a core macro). The - component will return from this call within 5 msec. - @param [in] hComponent - handle of component to execute the command - @param [out] pComponentName - pointer to an empty string of length 128 bytes. The component - will write its name into this string. The name will be - terminated by a single zero byte. The name of a component will - be 127 bytes or less to leave room for the trailing zero byte. - An example of a valid component name is "OMX.ABC.ChannelMixer\0". - @param [out] pComponentVersion - pointer to an OMX Version structure that the component will fill - in. The component will fill in a value that indicates the - component version. NOTE: the component version is NOT the same - as the OMX Specification version (found in all structures). The - component version is defined by the vendor of the component and - its value is entirely up to the component vendor. - @param [out] pSpecVersion - pointer to an OMX Version structure that the component will fill - in. The SpecVersion is the version of the specification that the - component was built against. Please note that this value may or - may not match the structure's version. For example, if the - component was built against the 2.0 specification, but the - application (which creates the structure is built against the - 1.0 specification the versions would be different. - @param [out] pComponentUUID - pointer to the UUID of the component which will be filled in by - the component. The UUID is a unique identifier that is set at - RUN time for the component and is unique to each instantion of - the component. - @return OMX_ERRORTYPE - If the command successfully executes, the return code will be - OMX_ErrorNone. Otherwise the appropriate OMX error will be returned. - @ingroup comp - */ -#define OMX_GetComponentVersion( \ - hComponent, \ - pComponentName, \ - pComponentVersion, \ - pSpecVersion, \ - pComponentUUID) \ - ((OMX_COMPONENTTYPE*)hComponent)->GetComponentVersion( \ - hComponent, \ - pComponentName, \ - pComponentVersion, \ - pSpecVersion, \ - pComponentUUID) /* Macro End */ - - -/** Send a command to the component. This call is a non-blocking call. - The component should check the parameters and then queue the command - to the component thread to be executed. The component thread shall - send the EventHandler() callback at the conclusion of the command. - This macro will go directly from the application to the component (via - a core macro). The component will return from this call within 5 msec. - - When the command is "OMX_CommandStateSet" the component will queue a - state transition to the new state idenfied in nParam. - - When the command is "OMX_CommandFlush", to flush a port's buffer queues, - the command will force the component to return all buffers NOT CURRENTLY - BEING PROCESSED to the application, in the order in which the buffers - were received. - - When the command is "OMX_CommandPortDisable" or - "OMX_CommandPortEnable", the component's port (given by the value of - nParam) will be stopped or restarted. - - When the command "OMX_CommandMarkBuffer" is used to mark a buffer, the - pCmdData will point to a OMX_MARKTYPE structure containing the component - handle of the component to examine the buffer chain for the mark. nParam1 - contains the index of the port on which the buffer mark is applied. - - Specification text for more details. - - @param [in] hComponent - handle of component to execute the command - @param [in] Cmd - Command for the component to execute - @param [in] nParam - Parameter for the command to be executed. When Cmd has the value - OMX_CommandStateSet, value is a member of OMX_STATETYPE. When Cmd has - the value OMX_CommandFlush, value of nParam indicates which port(s) - to flush. -1 is used to flush all ports a single port index will - only flush that port. When Cmd has the value "OMX_CommandPortDisable" - or "OMX_CommandPortEnable", the component's port is given by - the value of nParam. When Cmd has the value "OMX_CommandMarkBuffer" - the components pot is given by the value of nParam. - @param [in] pCmdData - Parameter pointing to the OMX_MARKTYPE structure when Cmd has the value - "OMX_CommandMarkBuffer". - @return OMX_ERRORTYPE - If the command successfully executes, the return code will be - OMX_ErrorNone. Otherwise the appropriate OMX error will be returned. - @ingroup comp - */ -#define OMX_SendCommand( \ - hComponent, \ - Cmd, \ - nParam, \ - pCmdData) \ - ((OMX_COMPONENTTYPE*)hComponent)->SendCommand( \ - hComponent, \ - Cmd, \ - nParam, \ - pCmdData) /* Macro End */ - - -/** The OMX_GetParameter macro will get one of the current parameter - settings from the component. This macro cannot only be invoked when - the component is in the OMX_StateInvalid state. The nParamIndex - parameter is used to indicate which structure is being requested from - the component. The application shall allocate the correct structure - and shall fill in the structure size and version information before - invoking this macro. When the parameter applies to a port, the - caller shall fill in the appropriate nPortIndex value indicating the - port on which the parameter applies. If the component has not had - any settings changed, then the component should return a set of - valid DEFAULT parameters for the component. This is a blocking - call. - - The component should return from this call within 20 msec. - - @param [in] hComponent - Handle of the component to be accessed. This is the component - handle returned by the call to the OMX_GetHandle function. - @param [in] nParamIndex - Index of the structure to be filled. This value is from the - OMX_INDEXTYPE enumeration. - @param [in,out] pComponentParameterStructure - Pointer to application allocated structure to be filled by the - component. - @return OMX_ERRORTYPE - If the command successfully executes, the return code will be - OMX_ErrorNone. Otherwise the appropriate OMX error will be returned. - @ingroup comp - */ -#define OMX_GetParameter( \ - hComponent, \ - nParamIndex, \ - pComponentParameterStructure) \ - ((OMX_COMPONENTTYPE*)hComponent)->GetParameter( \ - hComponent, \ - nParamIndex, \ - pComponentParameterStructure) /* Macro End */ - - -/** The OMX_SetParameter macro will send an initialization parameter - structure to a component. Each structure shall be sent one at a time, - in a separate invocation of the macro. This macro can only be - invoked when the component is in the OMX_StateLoaded state, or the - port is disabled (when the parameter applies to a port). The - nParamIndex parameter is used to indicate which structure is being - passed to the component. The application shall allocate the - correct structure and shall fill in the structure size and version - information (as well as the actual data) before invoking this macro. - The application is free to dispose of this structure after the call - as the component is required to copy any data it shall retain. This - is a blocking call. - - The component should return from this call within 20 msec. - - @param [in] hComponent - Handle of the component to be accessed. This is the component - handle returned by the call to the OMX_GetHandle function. - @param [in] nIndex - Index of the structure to be sent. This value is from the - OMX_INDEXTYPE enumeration. - @param [in] pComponentParameterStructure - pointer to application allocated structure to be used for - initialization by the component. - @return OMX_ERRORTYPE - If the command successfully executes, the return code will be - OMX_ErrorNone. Otherwise the appropriate OMX error will be returned. - @ingroup comp - */ -#define OMX_SetParameter( \ - hComponent, \ - nParamIndex, \ - pComponentParameterStructure) \ - ((OMX_COMPONENTTYPE*)hComponent)->SetParameter( \ - hComponent, \ - nParamIndex, \ - pComponentParameterStructure) /* Macro End */ - - -/** The OMX_GetConfig macro will get one of the configuration structures - from a component. This macro can be invoked anytime after the - component has been loaded. The nParamIndex call parameter is used to - indicate which structure is being requested from the component. The - application shall allocate the correct structure and shall fill in the - structure size and version information before invoking this macro. - If the component has not had this configuration parameter sent before, - then the component should return a set of valid DEFAULT values for the - component. This is a blocking call. - - The component should return from this call within 5 msec. - - @param [in] hComponent - Handle of the component to be accessed. This is the component - handle returned by the call to the OMX_GetHandle function. - @param [in] nIndex - Index of the structure to be filled. This value is from the - OMX_INDEXTYPE enumeration. - @param [in,out] pComponentConfigStructure - pointer to application allocated structure to be filled by the - component. - @return OMX_ERRORTYPE - If the command successfully executes, the return code will be - OMX_ErrorNone. Otherwise the appropriate OMX error will be returned. - @ingroup comp -*/ -#define OMX_GetConfig( \ - hComponent, \ - nConfigIndex, \ - pComponentConfigStructure) \ - ((OMX_COMPONENTTYPE*)hComponent)->GetConfig( \ - hComponent, \ - nConfigIndex, \ - pComponentConfigStructure) /* Macro End */ - - -/** The OMX_SetConfig macro will send one of the configuration - structures to a component. Each structure shall be sent one at a time, - each in a separate invocation of the macro. This macro can be invoked - anytime after the component has been loaded. The application shall - allocate the correct structure and shall fill in the structure size - and version information (as well as the actual data) before invoking - this macro. The application is free to dispose of this structure after - the call as the component is required to copy any data it shall retain. - This is a blocking call. - - The component should return from this call within 5 msec. - - @param [in] hComponent - Handle of the component to be accessed. This is the component - handle returned by the call to the OMX_GetHandle function. - @param [in] nConfigIndex - Index of the structure to be sent. This value is from the - OMX_INDEXTYPE enumeration above. - @param [in] pComponentConfigStructure - pointer to application allocated structure to be used for - initialization by the component. - @return OMX_ERRORTYPE - If the command successfully executes, the return code will be - OMX_ErrorNone. Otherwise the appropriate OMX error will be returned. - @ingroup comp - */ -#define OMX_SetConfig( \ - hComponent, \ - nConfigIndex, \ - pComponentConfigStructure) \ - ((OMX_COMPONENTTYPE*)hComponent)->SetConfig( \ - hComponent, \ - nConfigIndex, \ - pComponentConfigStructure) /* Macro End */ - - -/** The OMX_GetExtensionIndex macro will invoke a component to translate - a vendor specific configuration or parameter string into an OMX - structure index. There is no requirement for the vendor to support - this command for the indexes already found in the OMX_INDEXTYPE - enumeration (this is done to save space in small components). The - component shall support all vendor supplied extension indexes not found - in the master OMX_INDEXTYPE enumeration. This is a blocking call. - - The component should return from this call within 5 msec. - - @param [in] hComponent - Handle of the component to be accessed. This is the component - handle returned by the call to the GetHandle function. - @param [in] cParameterName - OMX_STRING that shall be less than 128 characters long including - the trailing null byte. This is the string that will get - translated by the component into a configuration index. - @param [out] pIndexType - a pointer to a OMX_INDEXTYPE to receive the index value. - @return OMX_ERRORTYPE - If the command successfully executes, the return code will be - OMX_ErrorNone. Otherwise the appropriate OMX error will be returned. - @ingroup comp - */ -#define OMX_GetExtensionIndex( \ - hComponent, \ - cParameterName, \ - pIndexType) \ - ((OMX_COMPONENTTYPE*)hComponent)->GetExtensionIndex( \ - hComponent, \ - cParameterName, \ - pIndexType) /* Macro End */ - - -/** The OMX_GetState macro will invoke the component to get the current - state of the component and place the state value into the location - pointed to by pState. - - The component should return from this call within 5 msec. - - @param [in] hComponent - Handle of the component to be accessed. This is the component - handle returned by the call to the OMX_GetHandle function. - @param [out] pState - pointer to the location to receive the state. The value returned - is one of the OMX_STATETYPE members - @return OMX_ERRORTYPE - If the command successfully executes, the return code will be - OMX_ErrorNone. Otherwise the appropriate OMX error will be returned. - @ingroup comp - */ -#define OMX_GetState( \ - hComponent, \ - pState) \ - ((OMX_COMPONENTTYPE*)hComponent)->GetState( \ - hComponent, \ - pState) /* Macro End */ - - -/** The OMX_UseBuffer macro will request that the component use - a buffer (and allocate its own buffer header) already allocated - by another component, or by the IL Client. This is a blocking - call. - - The component should return from this call within 20 msec. - - @param [in] hComponent - Handle of the component to be accessed. This is the component - handle returned by the call to the OMX_GetHandle function. - @param [out] ppBuffer - pointer to an OMX_BUFFERHEADERTYPE structure used to receive the - pointer to the buffer header - @return OMX_ERRORTYPE - If the command successfully executes, the return code will be - OMX_ErrorNone. Otherwise the appropriate OMX error will be returned. - @ingroup comp buf - */ - -#define OMX_UseBuffer( \ - hComponent, \ - ppBufferHdr, \ - nPortIndex, \ - pAppPrivate, \ - nSizeBytes, \ - pBuffer) \ - ((OMX_COMPONENTTYPE*)hComponent)->UseBuffer( \ - hComponent, \ - ppBufferHdr, \ - nPortIndex, \ - pAppPrivate, \ - nSizeBytes, \ - pBuffer) - - -/** The OMX_AllocateBuffer macro will request that the component allocate - a new buffer and buffer header. The component will allocate the - buffer and the buffer header and return a pointer to the buffer - header. This is a blocking call. - - The component should return from this call within 5 msec. - - @param [in] hComponent - Handle of the component to be accessed. This is the component - handle returned by the call to the OMX_GetHandle function. - @param [out] ppBuffer - pointer to an OMX_BUFFERHEADERTYPE structure used to receive - the pointer to the buffer header - @param [in] nPortIndex - nPortIndex is used to select the port on the component the buffer will - be used with. The port can be found by using the nPortIndex - value as an index into the Port Definition array of the component. - @param [in] pAppPrivate - pAppPrivate is used to initialize the pAppPrivate member of the - buffer header structure. - @param [in] nSizeBytes - size of the buffer to allocate. Used when bAllocateNew is true. - @return OMX_ERRORTYPE - If the command successfully executes, the return code will be - OMX_ErrorNone. Otherwise the appropriate OMX error will be returned. - @ingroup comp buf - */ -#define OMX_AllocateBuffer( \ - hComponent, \ - ppBuffer, \ - nPortIndex, \ - pAppPrivate, \ - nSizeBytes) \ - ((OMX_COMPONENTTYPE*)hComponent)->AllocateBuffer( \ - hComponent, \ - ppBuffer, \ - nPortIndex, \ - pAppPrivate, \ - nSizeBytes) /* Macro End */ - - -/** The OMX_FreeBuffer macro will release a buffer header from the component - which was allocated using either OMX_AllocateBuffer or OMX_UseBuffer. If - the component allocated the buffer (see the OMX_UseBuffer macro) then - the component shall free the buffer and buffer header. This is a - blocking call. - - The component should return from this call within 20 msec. - - @param [in] hComponent - Handle of the component to be accessed. This is the component - handle returned by the call to the OMX_GetHandle function. - @param [in] nPortIndex - nPortIndex is used to select the port on the component the buffer will - be used with. - @param [in] pBuffer - pointer to an OMX_BUFFERHEADERTYPE structure allocated with UseBuffer - or AllocateBuffer. - @return OMX_ERRORTYPE - If the command successfully executes, the return code will be - OMX_ErrorNone. Otherwise the appropriate OMX error will be returned. - @ingroup comp buf - */ -#define OMX_FreeBuffer( \ - hComponent, \ - nPortIndex, \ - pBuffer) \ - ((OMX_COMPONENTTYPE*)hComponent)->FreeBuffer( \ - hComponent, \ - nPortIndex, \ - pBuffer) /* Macro End */ - - -/** The OMX_EmptyThisBuffer macro will send a buffer full of data to an - input port of a component. The buffer will be emptied by the component - and returned to the application via the EmptyBufferDone call back. - This is a non-blocking call in that the component will record the buffer - and return immediately and then empty the buffer, later, at the proper - time. As expected, this macro may be invoked only while the component - is in the OMX_StateExecuting. If nPortIndex does not specify an input - port, the component shall return an error. - - The component should return from this call within 5 msec. - - @param [in] hComponent - Handle of the component to be accessed. This is the component - handle returned by the call to the OMX_GetHandle function. - @param [in] pBuffer - pointer to an OMX_BUFFERHEADERTYPE structure allocated with UseBuffer - or AllocateBuffer. - @return OMX_ERRORTYPE - If the command successfully executes, the return code will be - OMX_ErrorNone. Otherwise the appropriate OMX error will be returned. - @ingroup comp buf - */ -#define OMX_EmptyThisBuffer( \ - hComponent, \ - pBuffer) \ - ((OMX_COMPONENTTYPE*)hComponent)->EmptyThisBuffer( \ - hComponent, \ - pBuffer) /* Macro End */ - - -/** The OMX_FillThisBuffer macro will send an empty buffer to an - output port of a component. The buffer will be filled by the component - and returned to the application via the FillBufferDone call back. - This is a non-blocking call in that the component will record the buffer - and return immediately and then fill the buffer, later, at the proper - time. As expected, this macro may be invoked only while the component - is in the OMX_ExecutingState. If nPortIndex does not specify an output - port, the component shall return an error. - - The component should return from this call within 5 msec. - - @param [in] hComponent - Handle of the component to be accessed. This is the component - handle returned by the call to the OMX_GetHandle function. - @param [in] pBuffer - pointer to an OMX_BUFFERHEADERTYPE structure allocated with UseBuffer - or AllocateBuffer. - @return OMX_ERRORTYPE - If the command successfully executes, the return code will be - OMX_ErrorNone. Otherwise the appropriate OMX error will be returned. - @ingroup comp buf - */ -#define OMX_FillThisBuffer( \ - hComponent, \ - pBuffer) \ - ((OMX_COMPONENTTYPE*)hComponent)->FillThisBuffer( \ - hComponent, \ - pBuffer) /* Macro End */ - - - -/** The OMX_UseEGLImage macro will request that the component use - a EGLImage provided by EGL (and allocate its own buffer header) - This is a blocking call. - - The component should return from this call within 20 msec. - - @param [in] hComponent - Handle of the component to be accessed. This is the component - handle returned by the call to the OMX_GetHandle function. - @param [out] ppBuffer - pointer to an OMX_BUFFERHEADERTYPE structure used to receive the - pointer to the buffer header. Note that the memory location used - for this buffer is NOT visible to the IL Client. - @param [in] nPortIndex - nPortIndex is used to select the port on the component the buffer will - be used with. The port can be found by using the nPortIndex - value as an index into the Port Definition array of the component. - @param [in] pAppPrivate - pAppPrivate is used to initialize the pAppPrivate member of the - buffer header structure. - @param [in] eglImage - eglImage contains the handle of the EGLImage to use as a buffer on the - specified port. The component is expected to validate properties of - the EGLImage against the configuration of the port to ensure the component - can use the EGLImage as a buffer. - @return OMX_ERRORTYPE - If the command successfully executes, the return code will be - OMX_ErrorNone. Otherwise the appropriate OMX error will be returned. - @ingroup comp buf - */ -#define OMX_UseEGLImage( \ - hComponent, \ - ppBufferHdr, \ - nPortIndex, \ - pAppPrivate, \ - eglImage) \ - ((OMX_COMPONENTTYPE*)hComponent)->UseEGLImage( \ - hComponent, \ - ppBufferHdr, \ - nPortIndex, \ - pAppPrivate, \ - eglImage) - -/** The OMX_Init method is used to initialize the OMX core. It shall be the - first call made into OMX and it should only be executed one time without - an interviening OMX_Deinit call. - - The core should return from this call within 20 msec. - - @return OMX_ERRORTYPE - If the command successfully executes, the return code will be - OMX_ErrorNone. Otherwise the appropriate OMX error will be returned. - @ingroup core - */ -OMX_API OMX_ERRORTYPE OMX_APIENTRY OMX_Init(void); - - -/** The OMX_Deinit method is used to deinitialize the OMX core. It shall be - the last call made into OMX. In the event that the core determines that - thare are components loaded when this call is made, the core may return - with an error rather than try to unload the components. - - The core should return from this call within 20 msec. - - @return OMX_ERRORTYPE - If the command successfully executes, the return code will be - OMX_ErrorNone. Otherwise the appropriate OMX error will be returned. - @ingroup core - */ -OMX_API OMX_ERRORTYPE OMX_APIENTRY OMX_Deinit(void); - - -/** The OMX_ComponentNameEnum method will enumerate through all the names of - recognised valid components in the system. This function is provided - as a means to detect all the components in the system run-time. There is - no strict ordering to the enumeration order of component names, although - each name will only be enumerated once. If the OMX core supports run-time - installation of new components, it is only requried to detect newly - installed components when the first call to enumerate component names - is made (i.e. when nIndex is 0x0). - - The core should return from this call in 20 msec. - - @param [out] cComponentName - pointer to a null terminated string with the component name. The - names of the components are strings less than 127 bytes in length - plus the trailing null for a maximum size of 128 bytes. An example - of a valid component name is "OMX.TI.AUDIO.DSP.MIXER\0". Names are - assigned by the vendor, but shall start with "OMX." and then have - the Vendor designation next. - @param [in] nNameLength - number of characters in the cComponentName string. With all - component name strings restricted to less than 128 characters - (including the trailing null) it is recomended that the caller - provide a input string for the cComponentName of 128 characters. - @param [in] nIndex - number containing the enumeration index for the component. - Multiple calls to OMX_ComponentNameEnum with increasing values - of nIndex will enumerate through the component names in the - system until OMX_ErrorNoMore is returned. The value of nIndex - is 0 to (N-1), where N is the number of valid installed components - in the system. - @return OMX_ERRORTYPE - If the command successfully executes, the return code will be - OMX_ErrorNone. When the value of nIndex exceeds the number of - components in the system minus 1, OMX_ErrorNoMore will be - returned. Otherwise the appropriate OMX error will be returned. - @ingroup core - */ -OMX_API OMX_ERRORTYPE OMX_APIENTRY OMX_ComponentNameEnum( - OMX_OUT OMX_STRING cComponentName, - OMX_IN OMX_U32 nNameLength, - OMX_IN OMX_U32 nIndex); - - -/** The OMX_GetHandle method will locate the component specified by the - component name given, load that component into memory and then invoke - the component's methods to create an instance of the component. - - The core should return from this call within 20 msec. - - @param [out] pHandle - pointer to an OMX_HANDLETYPE pointer to be filled in by this method. - @param [in] cComponentName - pointer to a null terminated string with the component name. The - names of the components are strings less than 127 bytes in length - plus the trailing null for a maximum size of 128 bytes. An example - of a valid component name is "OMX.TI.AUDIO.DSP.MIXER\0". Names are - assigned by the vendor, but shall start with "OMX." and then have - the Vendor designation next. - @param [in] pAppData - pointer to an application defined value that will be returned - during callbacks so that the application can identify the source - of the callback. - @param [in] pCallBacks - pointer to a OMX_CALLBACKTYPE structure that will be passed to the - component to initialize it with. - @return OMX_ERRORTYPE - If the command successfully executes, the return code will be - OMX_ErrorNone. Otherwise the appropriate OMX error will be returned. - @ingroup core - */ -OMX_API OMX_ERRORTYPE OMX_APIENTRY OMX_GetHandle( - OMX_OUT OMX_HANDLETYPE* pHandle, - OMX_IN OMX_STRING cComponentName, - OMX_IN OMX_PTR pAppData, - OMX_IN OMX_CALLBACKTYPE* pCallBacks); - - -/** The OMX_FreeHandle method will free a handle allocated by the OMX_GetHandle - method. If the component reference count goes to zero, the component will - be unloaded from memory. - - The core should return from this call within 20 msec when the component is - in the OMX_StateLoaded state. - - @param [in] hComponent - Handle of the component to be accessed. This is the component - handle returned by the call to the GetHandle function. - @return OMX_ERRORTYPE - If the command successfully executes, the return code will be - OMX_ErrorNone. Otherwise the appropriate OMX error will be returned. - @ingroup core - */ -OMX_API OMX_ERRORTYPE OMX_APIENTRY OMX_FreeHandle( - OMX_IN OMX_HANDLETYPE hComponent); - - - -/** The OMX_SetupTunnel method will handle the necessary calls to the components - to setup the specified tunnel the two components. NOTE: This is - an actual method (not a #define macro). This method will make calls into - the component ComponentTunnelRequest method to do the actual tunnel - connection. - - The ComponentTunnelRequest method on both components will be called. - This method shall not be called unless the component is in the - OMX_StateLoaded state except when the ports used for the tunnel are - disabled. In this case, the component may be in the OMX_StateExecuting, - OMX_StatePause, or OMX_StateIdle states. - - The core should return from this call within 20 msec. - - @param [in] hOutput - Handle of the component to be accessed. Also this is the handle - of the component whose port, specified in the nPortOutput parameter - will be used the source for the tunnel. This is the component handle - returned by the call to the OMX_GetHandle function. There is a - requirement that hOutput be the source for the data when - tunelling (i.e. nPortOutput is an output port). If 0x0, the component - specified in hInput will have it's port specified in nPortInput - setup for communication with the application / IL client. - @param [in] nPortOutput - nPortOutput is used to select the source port on component to be - used in the tunnel. - @param [in] hInput - This is the component to setup the tunnel with. This is the handle - of the component whose port, specified in the nPortInput parameter - will be used the destination for the tunnel. This is the component handle - returned by the call to the OMX_GetHandle function. There is a - requirement that hInput be the destination for the data when - tunelling (i.e. nPortInut is an input port). If 0x0, the component - specified in hOutput will have it's port specified in nPortPOutput - setup for communication with the application / IL client. - @param [in] nPortInput - nPortInput is used to select the destination port on component to be - used in the tunnel. - @return OMX_ERRORTYPE - If the command successfully executes, the return code will be - OMX_ErrorNone. Otherwise the appropriate OMX error will be returned. - When OMX_ErrorNotImplemented is returned, one or both components is - a non-interop component and does not support tunneling. - - On failure, the ports of both components are setup for communication - with the application / IL Client. - @ingroup core tun - */ -OMX_API OMX_ERRORTYPE OMX_APIENTRY OMX_SetupTunnel( - OMX_IN OMX_HANDLETYPE hOutput, - OMX_IN OMX_U32 nPortOutput, - OMX_IN OMX_HANDLETYPE hInput, - OMX_IN OMX_U32 nPortInput); - -/** @ingroup cp */ -OMX_API OMX_ERRORTYPE OMX_GetContentPipe( - OMX_OUT OMX_HANDLETYPE *hPipe, - OMX_IN OMX_STRING szURI); - -/** The OMX_GetComponentsOfRole method will return the number of components that support the given - role and (if the compNames field is non-NULL) the names of those components. The call will fail if - an insufficiently sized array of names is supplied. To ensure the array is sufficiently sized the - client should: - * first call this function with the compNames field NULL to determine the number of component names - * second call this function with the compNames field pointing to an array of names allocated - according to the number returned by the first call. - - The core should return from this call within 5 msec. - - @param [in] role - This is generic standard component name consisting only of component class - name and the type within that class (e.g. 'audio_decoder.aac'). - @param [inout] pNumComps - This is used both as input and output. - - If compNames is NULL, the input is ignored and the output specifies how many components support - the given role. - - If compNames is not NULL, on input it bounds the size of the input structure and - on output, it specifies the number of components string names listed within the compNames parameter. - @param [inout] compNames - If NULL this field is ignored. If non-NULL this points to an array of 128-byte strings which accepts - a list of the names of all physical components that implement the specified standard component name. - Each name is NULL terminated. numComps indicates the number of names. - @ingroup core - */ -OMX_API OMX_ERRORTYPE OMX_GetComponentsOfRole ( - OMX_IN OMX_STRING role, - OMX_INOUT OMX_U32 *pNumComps, - OMX_INOUT OMX_U8 **compNames); - -/** The OMX_GetRolesOfComponent method will return the number of roles supported by the given - component and (if the roles field is non-NULL) the names of those roles. The call will fail if - an insufficiently sized array of names is supplied. To ensure the array is sufficiently sized the - client should: - * first call this function with the roles field NULL to determine the number of role names - * second call this function with the roles field pointing to an array of names allocated - according to the number returned by the first call. - - The core should return from this call within 5 msec. - - @param [in] compName - This is the name of the component being queried about. - @param [inout] pNumRoles - This is used both as input and output. - - If roles is NULL, the input is ignored and the output specifies how many roles the component supports. - - If compNames is not NULL, on input it bounds the size of the input structure and - on output, it specifies the number of roles string names listed within the roles parameter. - @param [out] roles - If NULL this field is ignored. If non-NULL this points to an array of 128-byte strings - which accepts a list of the names of all standard components roles implemented on the - specified component name. numComps indicates the number of names. - @ingroup core - */ -OMX_API OMX_ERRORTYPE OMX_GetRolesOfComponent ( - OMX_IN OMX_STRING compName, - OMX_INOUT OMX_U32 *pNumRoles, - OMX_OUT OMX_U8 **roles); - -#ifdef __cplusplus -} -#endif /* __cplusplus */ - -#endif -/* File EOF */ - diff --git a/selfdrive/frogpilot/screenrecorder/openmax/include/OMX_CoreExt.h b/selfdrive/frogpilot/screenrecorder/openmax/include/OMX_CoreExt.h deleted file mode 100644 index 3ec14b05f323a6..00000000000000 --- a/selfdrive/frogpilot/screenrecorder/openmax/include/OMX_CoreExt.h +++ /dev/null @@ -1,66 +0,0 @@ -/* - * Copyright (c) 2009 The Khronos Group Inc. - * - * Permission is hereby granted, free of charge, to any person obtaining - * a copy of this software and associated documentation files (the - * "Software"), to deal in the Software without restriction, including - * without limitation the rights to use, copy, modify, merge, publish, - * distribute, sublicense, and/or sell copies of the Software, and to - * permit persons to whom the Software is furnished to do so, subject - * to the following conditions: - * The above copyright notice and this permission notice shall be included - * in all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS - * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF - * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. - * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY - * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, - * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE - * SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. - * - */ - -/** OMX_CoreExt.h - OpenMax IL version 1.1.2 - * The OMX_CoreExt header file contains extensions to the definitions used - * by both the application and the component to access common items. - */ - -#ifndef OMX_CoreExt_h -#define OMX_CoreExt_h - -#ifdef __cplusplus -extern "C" { -#endif /* __cplusplus */ - -/* Each OMX header shall include all required header files to allow the - * header to compile without errors. The includes below are required - * for this header file to compile successfully - */ -#include - - -/** Event type extensions. */ -typedef enum OMX_EVENTEXTTYPE -{ - OMX_EventIndexSettingChanged = OMX_EventKhronosExtensions, /**< component signals the IL client of a change - in a param, config, or extension */ - OMX_EventExtMax = 0x7FFFFFFF -} OMX_EVENTEXTTYPE; - - -/** Enable or disable a callback event. */ -typedef struct OMX_CONFIG_CALLBACKREQUESTTYPE { - OMX_U32 nSize; /**< size of the structure in bytes */ - OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ - OMX_U32 nPortIndex; /**< port that this structure applies to */ - OMX_INDEXTYPE nIndex; /**< the index the callback is requested for */ - OMX_BOOL bEnable; /**< enable (OMX_TRUE) or disable (OMX_FALSE) the callback */ -} OMX_CONFIG_CALLBACKREQUESTTYPE; - -#ifdef __cplusplus -} -#endif /* __cplusplus */ - -#endif /* OMX_CoreExt_h */ -/* File EOF */ diff --git a/selfdrive/frogpilot/screenrecorder/openmax/include/OMX_IVCommon.h b/selfdrive/frogpilot/screenrecorder/openmax/include/OMX_IVCommon.h deleted file mode 100644 index ec717565a09929..00000000000000 --- a/selfdrive/frogpilot/screenrecorder/openmax/include/OMX_IVCommon.h +++ /dev/null @@ -1,933 +0,0 @@ -/** - * Copyright (c) 2008 The Khronos Group Inc. - * - * Permission is hereby granted, free of charge, to any person obtaining - * a copy of this software and associated documentation files (the - * "Software"), to deal in the Software without restriction, including - * without limitation the rights to use, copy, modify, merge, publish, - * distribute, sublicense, and/or sell copies of the Software, and to - * permit persons to whom the Software is furnished to do so, subject - * to the following conditions: - * The above copyright notice and this permission notice shall be included - * in all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS - * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF - * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. - * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY - * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, - * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE - * SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. - * - */ - -/** - * @file OMX_IVCommon.h - OpenMax IL version 1.1.2 - * The structures needed by Video and Image components to exchange - * parameters and configuration data with the components. - */ -#ifndef OMX_IVCommon_h -#define OMX_IVCommon_h - -#ifdef __cplusplus -extern "C" { -#endif /* __cplusplus */ - -/** - * Each OMX header must include all required header files to allow the header - * to compile without errors. The includes below are required for this header - * file to compile successfully - */ - -#include - -/** @defgroup iv OpenMAX IL Imaging and Video Domain - * Common structures for OpenMAX IL Imaging and Video domains - * @{ - */ - - -/** - * Enumeration defining possible uncompressed image/video formats. - * - * ENUMS: - * Unused : Placeholder value when format is N/A - * Monochrome : black and white - * 8bitRGB332 : Red 7:5, Green 4:2, Blue 1:0 - * 12bitRGB444 : Red 11:8, Green 7:4, Blue 3:0 - * 16bitARGB4444 : Alpha 15:12, Red 11:8, Green 7:4, Blue 3:0 - * 16bitARGB1555 : Alpha 15, Red 14:10, Green 9:5, Blue 4:0 - * 16bitRGB565 : Red 15:11, Green 10:5, Blue 4:0 - * 16bitBGR565 : Blue 15:11, Green 10:5, Red 4:0 - * 18bitRGB666 : Red 17:12, Green 11:6, Blue 5:0 - * 18bitARGB1665 : Alpha 17, Red 16:11, Green 10:5, Blue 4:0 - * 19bitARGB1666 : Alpha 18, Red 17:12, Green 11:6, Blue 5:0 - * 24bitRGB888 : Red 24:16, Green 15:8, Blue 7:0 - * 24bitBGR888 : Blue 24:16, Green 15:8, Red 7:0 - * 24bitARGB1887 : Alpha 23, Red 22:15, Green 14:7, Blue 6:0 - * 25bitARGB1888 : Alpha 24, Red 23:16, Green 15:8, Blue 7:0 - * 32bitBGRA8888 : Blue 31:24, Green 23:16, Red 15:8, Alpha 7:0 - * 32bitARGB8888 : Alpha 31:24, Red 23:16, Green 15:8, Blue 7:0 - * YUV411Planar : U,Y are subsampled by a factor of 4 horizontally - * YUV411PackedPlanar : packed per payload in planar slices - * YUV420Planar : Three arrays Y,U,V. - * YUV420PackedPlanar : packed per payload in planar slices - * YUV420SemiPlanar : Two arrays, one is all Y, the other is U and V - * YUV422Planar : Three arrays Y,U,V. - * YUV422PackedPlanar : packed per payload in planar slices - * YUV422SemiPlanar : Two arrays, one is all Y, the other is U and V - * YCbYCr : Organized as 16bit YUYV (i.e. YCbYCr) - * YCrYCb : Organized as 16bit YVYU (i.e. YCrYCb) - * CbYCrY : Organized as 16bit UYVY (i.e. CbYCrY) - * CrYCbY : Organized as 16bit VYUY (i.e. CrYCbY) - * YUV444Interleaved : Each pixel contains equal parts YUV - * RawBayer8bit : SMIA camera output format - * RawBayer10bit : SMIA camera output format - * RawBayer8bitcompressed : SMIA camera output format - */ -typedef enum OMX_COLOR_FORMATTYPE { - OMX_COLOR_FormatUnused, - OMX_COLOR_FormatMonochrome, - OMX_COLOR_Format8bitRGB332, - OMX_COLOR_Format12bitRGB444, - OMX_COLOR_Format16bitARGB4444, - OMX_COLOR_Format16bitARGB1555, - OMX_COLOR_Format16bitRGB565, - OMX_COLOR_Format16bitBGR565, - OMX_COLOR_Format18bitRGB666, - OMX_COLOR_Format18bitARGB1665, - OMX_COLOR_Format19bitARGB1666, - OMX_COLOR_Format24bitRGB888, - OMX_COLOR_Format24bitBGR888, - OMX_COLOR_Format24bitARGB1887, - OMX_COLOR_Format25bitARGB1888, - OMX_COLOR_Format32bitBGRA8888, - OMX_COLOR_Format32bitARGB8888, - OMX_COLOR_FormatYUV411Planar, - OMX_COLOR_FormatYUV411PackedPlanar, - OMX_COLOR_FormatYUV420Planar, - OMX_COLOR_FormatYUV420PackedPlanar, - OMX_COLOR_FormatYUV420SemiPlanar, - OMX_COLOR_FormatYUV422Planar, - OMX_COLOR_FormatYUV422PackedPlanar, - OMX_COLOR_FormatYUV422SemiPlanar, - OMX_COLOR_FormatYCbYCr, - OMX_COLOR_FormatYCrYCb, - OMX_COLOR_FormatCbYCrY, - OMX_COLOR_FormatCrYCbY, - OMX_COLOR_FormatYUV444Interleaved, - OMX_COLOR_FormatRawBayer8bit, - OMX_COLOR_FormatRawBayer10bit, - OMX_COLOR_FormatRawBayer8bitcompressed, - OMX_COLOR_FormatL2, - OMX_COLOR_FormatL4, - OMX_COLOR_FormatL8, - OMX_COLOR_FormatL16, - OMX_COLOR_FormatL24, - OMX_COLOR_FormatL32, - OMX_COLOR_FormatYUV420PackedSemiPlanar, - OMX_COLOR_FormatYUV422PackedSemiPlanar, - OMX_COLOR_Format18BitBGR666, - OMX_COLOR_Format24BitARGB6666, - OMX_COLOR_Format24BitABGR6666, - OMX_COLOR_FormatKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ - OMX_COLOR_FormatVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ - /** - -/** @defgroup imaging OpenMAX IL Imaging Domain - * @ingroup iv - * Structures for OpenMAX IL Imaging domain - * @{ - */ - -/** - * Enumeration used to define the possible image compression coding. - */ -typedef enum OMX_IMAGE_CODINGTYPE { - OMX_IMAGE_CodingUnused, /**< Value when format is N/A */ - OMX_IMAGE_CodingAutoDetect, /**< Auto detection of image format */ - OMX_IMAGE_CodingJPEG, /**< JPEG/JFIF image format */ - OMX_IMAGE_CodingJPEG2K, /**< JPEG 2000 image format */ - OMX_IMAGE_CodingEXIF, /**< EXIF image format */ - OMX_IMAGE_CodingTIFF, /**< TIFF image format */ - OMX_IMAGE_CodingGIF, /**< Graphics image format */ - OMX_IMAGE_CodingPNG, /**< PNG image format */ - OMX_IMAGE_CodingLZW, /**< LZW image format */ - OMX_IMAGE_CodingBMP, /**< Windows Bitmap format */ - OMX_IMAGE_CodingKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ - OMX_IMAGE_CodingVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ - OMX_IMAGE_CodingMax = 0x7FFFFFFF -} OMX_IMAGE_CODINGTYPE; - - -/** - * Data structure used to define an image path. The number of image paths - * for input and output will vary by type of the image component. - * - * Input (aka Source) : Zero Inputs, one Output, - * Splitter : One Input, 2 or more Outputs, - * Processing Element : One Input, one output, - * Mixer : 2 or more inputs, one output, - * Output (aka Sink) : One Input, zero outputs. - * - * The PortDefinition structure is used to define all of the parameters - * necessary for the compliant component to setup an input or an output - * image path. If additional vendor specific data is required, it should - * be transmitted to the component using the CustomCommand function. - * Compliant components will prepopulate this structure with optimal - * values during the OMX_GetParameter() command. - * - * STRUCT MEMBERS: - * cMIMEType : MIME type of data for the port - * pNativeRender : Platform specific reference for a display if a - * sync, otherwise this field is 0 - * nFrameWidth : Width of frame to be used on port if - * uncompressed format is used. Use 0 for - * unknown, don't care or variable - * nFrameHeight : Height of frame to be used on port if - * uncompressed format is used. Use 0 for - * unknown, don't care or variable - * nStride : Number of bytes per span of an image (i.e. - * indicates the number of bytes to get from - * span N to span N+1, where negative stride - * indicates the image is bottom up - * nSliceHeight : Height used when encoding in slices - * bFlagErrorConcealment : Turns on error concealment if it is supported by - * the OMX component - * eCompressionFormat : Compression format used in this instance of - * the component. When OMX_IMAGE_CodingUnused is - * specified, eColorFormat is valid - * eColorFormat : Decompressed format used by this component - * pNativeWindow : Platform specific reference for a window object if a - * display sink , otherwise this field is 0x0. - */ -typedef struct OMX_IMAGE_PORTDEFINITIONTYPE { - OMX_STRING cMIMEType; - OMX_NATIVE_DEVICETYPE pNativeRender; - OMX_U32 nFrameWidth; - OMX_U32 nFrameHeight; - OMX_S32 nStride; - OMX_U32 nSliceHeight; - OMX_BOOL bFlagErrorConcealment; - OMX_IMAGE_CODINGTYPE eCompressionFormat; - OMX_COLOR_FORMATTYPE eColorFormat; - OMX_NATIVE_WINDOWTYPE pNativeWindow; -} OMX_IMAGE_PORTDEFINITIONTYPE; - - -/** - * Port format parameter. This structure is used to enumerate the various - * data input/output format supported by the port. - * - * STRUCT MEMBERS: - * nSize : Size of the structure in bytes - * nVersion : OMX specification version information - * nPortIndex : Indicates which port to set - * nIndex : Indicates the enumeration index for the format from - * 0x0 to N-1 - * eCompressionFormat : Compression format used in this instance of the - * component. When OMX_IMAGE_CodingUnused is specified, - * eColorFormat is valid - * eColorFormat : Decompressed format used by this component - */ -typedef struct OMX_IMAGE_PARAM_PORTFORMATTYPE { - OMX_U32 nSize; - OMX_VERSIONTYPE nVersion; - OMX_U32 nPortIndex; - OMX_U32 nIndex; - OMX_IMAGE_CODINGTYPE eCompressionFormat; - OMX_COLOR_FORMATTYPE eColorFormat; -} OMX_IMAGE_PARAM_PORTFORMATTYPE; - - -/** - * Flash control type - * - * ENUMS - * Torch : Flash forced constantly on - */ -typedef enum OMX_IMAGE_FLASHCONTROLTYPE { - OMX_IMAGE_FlashControlOn = 0, - OMX_IMAGE_FlashControlOff, - OMX_IMAGE_FlashControlAuto, - OMX_IMAGE_FlashControlRedEyeReduction, - OMX_IMAGE_FlashControlFillin, - OMX_IMAGE_FlashControlTorch, - OMX_IMAGE_FlashControlKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ - OMX_IMAGE_FlashControlVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ - OMX_IMAGE_FlashControlMax = 0x7FFFFFFF -} OMX_IMAGE_FLASHCONTROLTYPE; - - -/** - * Flash control configuration - * - * STRUCT MEMBERS: - * nSize : Size of the structure in bytes - * nVersion : OMX specification version information - * nPortIndex : Port that this structure applies to - * eFlashControl : Flash control type - */ -typedef struct OMX_IMAGE_PARAM_FLASHCONTROLTYPE { - OMX_U32 nSize; - OMX_VERSIONTYPE nVersion; - OMX_U32 nPortIndex; - OMX_IMAGE_FLASHCONTROLTYPE eFlashControl; -} OMX_IMAGE_PARAM_FLASHCONTROLTYPE; - - -/** - * Focus control type - */ -typedef enum OMX_IMAGE_FOCUSCONTROLTYPE { - OMX_IMAGE_FocusControlOn = 0, - OMX_IMAGE_FocusControlOff, - OMX_IMAGE_FocusControlAuto, - OMX_IMAGE_FocusControlAutoLock, - OMX_IMAGE_FocusControlKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ - OMX_IMAGE_FocusControlVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ - OMX_IMAGE_FocusControlMax = 0x7FFFFFFF -} OMX_IMAGE_FOCUSCONTROLTYPE; - - -/** - * Focus control configuration - * - * STRUCT MEMBERS: - * nSize : Size of the structure in bytes - * nVersion : OMX specification version information - * nPortIndex : Port that this structure applies to - * eFocusControl : Focus control - * nFocusSteps : Focus can take on values from 0 mm to infinity. - * Interest is only in number of steps over this range. - * nFocusStepIndex : Current focus step index - */ -typedef struct OMX_IMAGE_CONFIG_FOCUSCONTROLTYPE { - OMX_U32 nSize; - OMX_VERSIONTYPE nVersion; - OMX_U32 nPortIndex; - OMX_IMAGE_FOCUSCONTROLTYPE eFocusControl; - OMX_U32 nFocusSteps; - OMX_U32 nFocusStepIndex; -} OMX_IMAGE_CONFIG_FOCUSCONTROLTYPE; - - -/** - * Q Factor for JPEG compression, which controls the tradeoff between image - * quality and size. Q Factor provides a more simple means of controlling - * JPEG compression quality, without directly programming Quantization - * tables for chroma and luma - * - * STRUCT MEMBERS: - * nSize : Size of the structure in bytes - * nVersion : OMX specification version information - * nPortIndex : Port that this structure applies to - * nQFactor : JPEG Q factor value in the range of 1-100. A factor of 1 - * produces the smallest, worst quality images, and a factor - * of 100 produces the largest, best quality images. A - * typical default is 75 for small good quality images - */ -typedef struct OMX_IMAGE_PARAM_QFACTORTYPE { - OMX_U32 nSize; - OMX_VERSIONTYPE nVersion; - OMX_U32 nPortIndex; - OMX_U32 nQFactor; -} OMX_IMAGE_PARAM_QFACTORTYPE; - -/** - * Quantization table type - */ - -typedef enum OMX_IMAGE_QUANTIZATIONTABLETYPE { - OMX_IMAGE_QuantizationTableLuma = 0, - OMX_IMAGE_QuantizationTableChroma, - OMX_IMAGE_QuantizationTableChromaCb, - OMX_IMAGE_QuantizationTableChromaCr, - OMX_IMAGE_QuantizationTableKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ - OMX_IMAGE_QuantizationTableVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ - OMX_IMAGE_QuantizationTableMax = 0x7FFFFFFF -} OMX_IMAGE_QUANTIZATIONTABLETYPE; - -/** - * JPEG quantization tables are used to determine DCT compression for - * YUV data, as an alternative to specifying Q factor, providing exact - * control of compression - * - * STRUCT MEMBERS: - * nSize : Size of the structure in bytes - * nVersion : OMX specification version information - * nPortIndex : Port that this structure applies to - * eQuantizationTable : Quantization table type - * nQuantizationMatrix[64] : JPEG quantization table of coefficients stored - * in increasing columns then by rows of data (i.e. - * row 1, ... row 8). Quantization values are in - * the range 0-255 and stored in linear order - * (i.e. the component will zig-zag the - * quantization table data if required internally) - */ -typedef struct OMX_IMAGE_PARAM_QUANTIZATIONTABLETYPE { - OMX_U32 nSize; - OMX_VERSIONTYPE nVersion; - OMX_U32 nPortIndex; - OMX_IMAGE_QUANTIZATIONTABLETYPE eQuantizationTable; - OMX_U8 nQuantizationMatrix[64]; -} OMX_IMAGE_PARAM_QUANTIZATIONTABLETYPE; - - -/** - * Huffman table type, the same Huffman table is applied for chroma and - * luma component - */ -typedef enum OMX_IMAGE_HUFFMANTABLETYPE { - OMX_IMAGE_HuffmanTableAC = 0, - OMX_IMAGE_HuffmanTableDC, - OMX_IMAGE_HuffmanTableACLuma, - OMX_IMAGE_HuffmanTableACChroma, - OMX_IMAGE_HuffmanTableDCLuma, - OMX_IMAGE_HuffmanTableDCChroma, - OMX_IMAGE_HuffmanTableKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ - OMX_IMAGE_HuffmanTableVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ - OMX_IMAGE_HuffmanTableMax = 0x7FFFFFFF -} OMX_IMAGE_HUFFMANTABLETYPE; - -/** - * JPEG Huffman table - * - * STRUCT MEMBERS: - * nSize : Size of the structure in bytes - * nVersion : OMX specification version information - * nPortIndex : Port that this structure applies to - * eHuffmanTable : Huffman table type - * nNumberOfHuffmanCodeOfLength[16] : 0-16, number of Huffman codes of each - * possible length - * nHuffmanTable[256] : 0-255, the size used for AC and DC - * HuffmanTable are 16 and 162 - */ -typedef struct OMX_IMAGE_PARAM_HUFFMANTTABLETYPE { - OMX_U32 nSize; - OMX_VERSIONTYPE nVersion; - OMX_U32 nPortIndex; - OMX_IMAGE_HUFFMANTABLETYPE eHuffmanTable; - OMX_U8 nNumberOfHuffmanCodeOfLength[16]; - OMX_U8 nHuffmanTable[256]; -}OMX_IMAGE_PARAM_HUFFMANTTABLETYPE; - -/** @} */ -#ifdef __cplusplus -} -#endif /* __cplusplus */ - -#endif -/* File EOF */ diff --git a/selfdrive/frogpilot/screenrecorder/openmax/include/OMX_Index.h b/selfdrive/frogpilot/screenrecorder/openmax/include/OMX_Index.h deleted file mode 100644 index a1f17487d3c1e7..00000000000000 --- a/selfdrive/frogpilot/screenrecorder/openmax/include/OMX_Index.h +++ /dev/null @@ -1,259 +0,0 @@ -/* - * Copyright (c) 2008 The Khronos Group Inc. - * - * Permission is hereby granted, free of charge, to any person obtaining - * a copy of this software and associated documentation files (the - * "Software"), to deal in the Software without restriction, including - * without limitation the rights to use, copy, modify, merge, publish, - * distribute, sublicense, and/or sell copies of the Software, and to - * permit persons to whom the Software is furnished to do so, subject - * to the following conditions: - * The above copyright notice and this permission notice shall be included - * in all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS - * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF - * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. - * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY - * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, - * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE - * SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. - * - */ - -/** @file OMX_Index.h - OpenMax IL version 1.1.2 - * The OMX_Index header file contains the definitions for both applications - * and components . - */ - - -#ifndef OMX_Index_h -#define OMX_Index_h - -#ifdef __cplusplus -extern "C" { -#endif /* __cplusplus */ - - -/* Each OMX header must include all required header files to allow the - * header to compile without errors. The includes below are required - * for this header file to compile successfully - */ -#include - - -/** The OMX_INDEXTYPE enumeration is used to select a structure when either - * getting or setting parameters and/or configuration data. Each entry in - * this enumeration maps to an OMX specified structure. When the - * OMX_GetParameter, OMX_SetParameter, OMX_GetConfig or OMX_SetConfig methods - * are used, the second parameter will always be an entry from this enumeration - * and the third entry will be the structure shown in the comments for the entry. - * For example, if the application is initializing a cropping function, the - * OMX_SetConfig command would have OMX_IndexConfigCommonInputCrop as the second parameter - * and would send a pointer to an initialized OMX_RECTTYPE structure as the - * third parameter. - * - * The enumeration entries named with the OMX_Config prefix are sent using - * the OMX_SetConfig command and the enumeration entries named with the - * OMX_PARAM_ prefix are sent using the OMX_SetParameter command. - */ -typedef enum OMX_INDEXTYPE { - - OMX_IndexComponentStartUnused = 0x01000000, - OMX_IndexParamPriorityMgmt, /**< reference: OMX_PRIORITYMGMTTYPE */ - OMX_IndexParamAudioInit, /**< reference: OMX_PORT_PARAM_TYPE */ - OMX_IndexParamImageInit, /**< reference: OMX_PORT_PARAM_TYPE */ - OMX_IndexParamVideoInit, /**< reference: OMX_PORT_PARAM_TYPE */ - OMX_IndexParamOtherInit, /**< reference: OMX_PORT_PARAM_TYPE */ - OMX_IndexParamNumAvailableStreams, /**< reference: OMX_PARAM_U32TYPE */ - OMX_IndexParamActiveStream, /**< reference: OMX_PARAM_U32TYPE */ - OMX_IndexParamSuspensionPolicy, /**< reference: OMX_PARAM_SUSPENSIONPOLICYTYPE */ - OMX_IndexParamComponentSuspended, /**< reference: OMX_PARAM_SUSPENSIONTYPE */ - OMX_IndexConfigCapturing, /**< reference: OMX_CONFIG_BOOLEANTYPE */ - OMX_IndexConfigCaptureMode, /**< reference: OMX_CONFIG_CAPTUREMODETYPE */ - OMX_IndexAutoPauseAfterCapture, /**< reference: OMX_CONFIG_BOOLEANTYPE */ - OMX_IndexParamContentURI, /**< reference: OMX_PARAM_CONTENTURITYPE */ - OMX_IndexParamCustomContentPipe, /**< reference: OMX_PARAM_CONTENTPIPETYPE */ - OMX_IndexParamDisableResourceConcealment, /**< reference: OMX_RESOURCECONCEALMENTTYPE */ - OMX_IndexConfigMetadataItemCount, /**< reference: OMX_CONFIG_METADATAITEMCOUNTTYPE */ - OMX_IndexConfigContainerNodeCount, /**< reference: OMX_CONFIG_CONTAINERNODECOUNTTYPE */ - OMX_IndexConfigMetadataItem, /**< reference: OMX_CONFIG_METADATAITEMTYPE */ - OMX_IndexConfigCounterNodeID, /**< reference: OMX_CONFIG_CONTAINERNODEIDTYPE */ - OMX_IndexParamMetadataFilterType, /**< reference: OMX_PARAM_METADATAFILTERTYPE */ - OMX_IndexParamMetadataKeyFilter, /**< reference: OMX_PARAM_METADATAFILTERTYPE */ - OMX_IndexConfigPriorityMgmt, /**< reference: OMX_PRIORITYMGMTTYPE */ - OMX_IndexParamStandardComponentRole, /**< reference: OMX_PARAM_COMPONENTROLETYPE */ - - OMX_IndexPortStartUnused = 0x02000000, - OMX_IndexParamPortDefinition, /**< reference: OMX_PARAM_PORTDEFINITIONTYPE */ - OMX_IndexParamCompBufferSupplier, /**< reference: OMX_PARAM_BUFFERSUPPLIERTYPE */ - OMX_IndexReservedStartUnused = 0x03000000, - - /* Audio parameters and configurations */ - OMX_IndexAudioStartUnused = 0x04000000, - OMX_IndexParamAudioPortFormat, /**< reference: OMX_AUDIO_PARAM_PORTFORMATTYPE */ - OMX_IndexParamAudioPcm, /**< reference: OMX_AUDIO_PARAM_PCMMODETYPE */ - OMX_IndexParamAudioAac, /**< reference: OMX_AUDIO_PARAM_AACPROFILETYPE */ - OMX_IndexParamAudioRa, /**< reference: OMX_AUDIO_PARAM_RATYPE */ - OMX_IndexParamAudioMp3, /**< reference: OMX_AUDIO_PARAM_MP3TYPE */ - OMX_IndexParamAudioAdpcm, /**< reference: OMX_AUDIO_PARAM_ADPCMTYPE */ - OMX_IndexParamAudioG723, /**< reference: OMX_AUDIO_PARAM_G723TYPE */ - OMX_IndexParamAudioG729, /**< reference: OMX_AUDIO_PARAM_G729TYPE */ - OMX_IndexParamAudioAmr, /**< reference: OMX_AUDIO_PARAM_AMRTYPE */ - OMX_IndexParamAudioWma, /**< reference: OMX_AUDIO_PARAM_WMATYPE */ - OMX_IndexParamAudioSbc, /**< reference: OMX_AUDIO_PARAM_SBCTYPE */ - OMX_IndexParamAudioMidi, /**< reference: OMX_AUDIO_PARAM_MIDITYPE */ - OMX_IndexParamAudioGsm_FR, /**< reference: OMX_AUDIO_PARAM_GSMFRTYPE */ - OMX_IndexParamAudioMidiLoadUserSound, /**< reference: OMX_AUDIO_PARAM_MIDILOADUSERSOUNDTYPE */ - OMX_IndexParamAudioG726, /**< reference: OMX_AUDIO_PARAM_G726TYPE */ - OMX_IndexParamAudioGsm_EFR, /**< reference: OMX_AUDIO_PARAM_GSMEFRTYPE */ - OMX_IndexParamAudioGsm_HR, /**< reference: OMX_AUDIO_PARAM_GSMHRTYPE */ - OMX_IndexParamAudioPdc_FR, /**< reference: OMX_AUDIO_PARAM_PDCFRTYPE */ - OMX_IndexParamAudioPdc_EFR, /**< reference: OMX_AUDIO_PARAM_PDCEFRTYPE */ - OMX_IndexParamAudioPdc_HR, /**< reference: OMX_AUDIO_PARAM_PDCHRTYPE */ - OMX_IndexParamAudioTdma_FR, /**< reference: OMX_AUDIO_PARAM_TDMAFRTYPE */ - OMX_IndexParamAudioTdma_EFR, /**< reference: OMX_AUDIO_PARAM_TDMAEFRTYPE */ - OMX_IndexParamAudioQcelp8, /**< reference: OMX_AUDIO_PARAM_QCELP8TYPE */ - OMX_IndexParamAudioQcelp13, /**< reference: OMX_AUDIO_PARAM_QCELP13TYPE */ - OMX_IndexParamAudioEvrc, /**< reference: OMX_AUDIO_PARAM_EVRCTYPE */ - OMX_IndexParamAudioSmv, /**< reference: OMX_AUDIO_PARAM_SMVTYPE */ - OMX_IndexParamAudioVorbis, /**< reference: OMX_AUDIO_PARAM_VORBISTYPE */ - - OMX_IndexConfigAudioMidiImmediateEvent, /**< reference: OMX_AUDIO_CONFIG_MIDIIMMEDIATEEVENTTYPE */ - OMX_IndexConfigAudioMidiControl, /**< reference: OMX_AUDIO_CONFIG_MIDICONTROLTYPE */ - OMX_IndexConfigAudioMidiSoundBankProgram, /**< reference: OMX_AUDIO_CONFIG_MIDISOUNDBANKPROGRAMTYPE */ - OMX_IndexConfigAudioMidiStatus, /**< reference: OMX_AUDIO_CONFIG_MIDISTATUSTYPE */ - OMX_IndexConfigAudioMidiMetaEvent, /**< reference: OMX_AUDIO_CONFIG_MIDIMETAEVENTTYPE */ - OMX_IndexConfigAudioMidiMetaEventData, /**< reference: OMX_AUDIO_CONFIG_MIDIMETAEVENTDATATYPE */ - OMX_IndexConfigAudioVolume, /**< reference: OMX_AUDIO_CONFIG_VOLUMETYPE */ - OMX_IndexConfigAudioBalance, /**< reference: OMX_AUDIO_CONFIG_BALANCETYPE */ - OMX_IndexConfigAudioChannelMute, /**< reference: OMX_AUDIO_CONFIG_CHANNELMUTETYPE */ - OMX_IndexConfigAudioMute, /**< reference: OMX_AUDIO_CONFIG_MUTETYPE */ - OMX_IndexConfigAudioLoudness, /**< reference: OMX_AUDIO_CONFIG_LOUDNESSTYPE */ - OMX_IndexConfigAudioEchoCancelation, /**< reference: OMX_AUDIO_CONFIG_ECHOCANCELATIONTYPE */ - OMX_IndexConfigAudioNoiseReduction, /**< reference: OMX_AUDIO_CONFIG_NOISEREDUCTIONTYPE */ - OMX_IndexConfigAudioBass, /**< reference: OMX_AUDIO_CONFIG_BASSTYPE */ - OMX_IndexConfigAudioTreble, /**< reference: OMX_AUDIO_CONFIG_TREBLETYPE */ - OMX_IndexConfigAudioStereoWidening, /**< reference: OMX_AUDIO_CONFIG_STEREOWIDENINGTYPE */ - OMX_IndexConfigAudioChorus, /**< reference: OMX_AUDIO_CONFIG_CHORUSTYPE */ - OMX_IndexConfigAudioEqualizer, /**< reference: OMX_AUDIO_CONFIG_EQUALIZERTYPE */ - OMX_IndexConfigAudioReverberation, /**< reference: OMX_AUDIO_CONFIG_REVERBERATIONTYPE */ - OMX_IndexConfigAudioChannelVolume, /**< reference: OMX_AUDIO_CONFIG_CHANNELVOLUMETYPE */ - - /* Image specific parameters and configurations */ - OMX_IndexImageStartUnused = 0x05000000, - OMX_IndexParamImagePortFormat, /**< reference: OMX_IMAGE_PARAM_PORTFORMATTYPE */ - OMX_IndexParamFlashControl, /**< reference: OMX_IMAGE_PARAM_FLASHCONTROLTYPE */ - OMX_IndexConfigFocusControl, /**< reference: OMX_IMAGE_CONFIG_FOCUSCONTROLTYPE */ - OMX_IndexParamQFactor, /**< reference: OMX_IMAGE_PARAM_QFACTORTYPE */ - OMX_IndexParamQuantizationTable, /**< reference: OMX_IMAGE_PARAM_QUANTIZATIONTABLETYPE */ - OMX_IndexParamHuffmanTable, /**< reference: OMX_IMAGE_PARAM_HUFFMANTTABLETYPE */ - OMX_IndexConfigFlashControl, /**< reference: OMX_IMAGE_PARAM_FLASHCONTROLTYPE */ - - /* Video specific parameters and configurations */ - OMX_IndexVideoStartUnused = 0x06000000, - OMX_IndexParamVideoPortFormat, /**< reference: OMX_VIDEO_PARAM_PORTFORMATTYPE */ - OMX_IndexParamVideoQuantization, /**< reference: OMX_VIDEO_PARAM_QUANTIZATIONTYPE */ - OMX_IndexParamVideoFastUpdate, /**< reference: OMX_VIDEO_PARAM_VIDEOFASTUPDATETYPE */ - OMX_IndexParamVideoBitrate, /**< reference: OMX_VIDEO_PARAM_BITRATETYPE */ - OMX_IndexParamVideoMotionVector, /**< reference: OMX_VIDEO_PARAM_MOTIONVECTORTYPE */ - OMX_IndexParamVideoIntraRefresh, /**< reference: OMX_VIDEO_PARAM_INTRAREFRESHTYPE */ - OMX_IndexParamVideoErrorCorrection, /**< reference: OMX_VIDEO_PARAM_ERRORCORRECTIONTYPE */ - OMX_IndexParamVideoVBSMC, /**< reference: OMX_VIDEO_PARAM_VBSMCTYPE */ - OMX_IndexParamVideoMpeg2, /**< reference: OMX_VIDEO_PARAM_MPEG2TYPE */ - OMX_IndexParamVideoMpeg4, /**< reference: OMX_VIDEO_PARAM_MPEG4TYPE */ - OMX_IndexParamVideoWmv, /**< reference: OMX_VIDEO_PARAM_WMVTYPE */ - OMX_IndexParamVideoRv, /**< reference: OMX_VIDEO_PARAM_RVTYPE */ - OMX_IndexParamVideoAvc, /**< reference: OMX_VIDEO_PARAM_AVCTYPE */ - OMX_IndexParamVideoH263, /**< reference: OMX_VIDEO_PARAM_H263TYPE */ - OMX_IndexParamVideoProfileLevelQuerySupported, /**< reference: OMX_VIDEO_PARAM_PROFILELEVELTYPE */ - OMX_IndexParamVideoProfileLevelCurrent, /**< reference: OMX_VIDEO_PARAM_PROFILELEVELTYPE */ - OMX_IndexConfigVideoBitrate, /**< reference: OMX_VIDEO_CONFIG_BITRATETYPE */ - OMX_IndexConfigVideoFramerate, /**< reference: OMX_CONFIG_FRAMERATETYPE */ - OMX_IndexConfigVideoIntraVOPRefresh, /**< reference: OMX_CONFIG_INTRAREFRESHVOPTYPE */ - OMX_IndexConfigVideoIntraMBRefresh, /**< reference: OMX_CONFIG_MACROBLOCKERRORMAPTYPE */ - OMX_IndexConfigVideoMBErrorReporting, /**< reference: OMX_CONFIG_MBERRORREPORTINGTYPE */ - OMX_IndexParamVideoMacroblocksPerFrame, /**< reference: OMX_PARAM_MACROBLOCKSTYPE */ - OMX_IndexConfigVideoMacroBlockErrorMap, /**< reference: OMX_CONFIG_MACROBLOCKERRORMAPTYPE */ - OMX_IndexParamVideoSliceFMO, /**< reference: OMX_VIDEO_PARAM_AVCSLICEFMO */ - OMX_IndexConfigVideoAVCIntraPeriod, /**< reference: OMX_VIDEO_CONFIG_AVCINTRAPERIOD */ - OMX_IndexConfigVideoNalSize, /**< reference: OMX_VIDEO_CONFIG_NALSIZE */ - OMX_IndexConfigCommonDeinterlace, /**< reference: OMX_VIDEO_CONFIG_DEINTERLACE */ - - /* Image & Video common Configurations */ - OMX_IndexCommonStartUnused = 0x07000000, - OMX_IndexParamCommonDeblocking, /**< reference: OMX_PARAM_DEBLOCKINGTYPE */ - OMX_IndexParamCommonSensorMode, /**< reference: OMX_PARAM_SENSORMODETYPE */ - OMX_IndexParamCommonInterleave, /**< reference: OMX_PARAM_INTERLEAVETYPE */ - OMX_IndexConfigCommonColorFormatConversion, /**< reference: OMX_CONFIG_COLORCONVERSIONTYPE */ - OMX_IndexConfigCommonScale, /**< reference: OMX_CONFIG_SCALEFACTORTYPE */ - OMX_IndexConfigCommonImageFilter, /**< reference: OMX_CONFIG_IMAGEFILTERTYPE */ - OMX_IndexConfigCommonColorEnhancement, /**< reference: OMX_CONFIG_COLORENHANCEMENTTYPE */ - OMX_IndexConfigCommonColorKey, /**< reference: OMX_CONFIG_COLORKEYTYPE */ - OMX_IndexConfigCommonColorBlend, /**< reference: OMX_CONFIG_COLORBLENDTYPE */ - OMX_IndexConfigCommonFrameStabilisation,/**< reference: OMX_CONFIG_FRAMESTABTYPE */ - OMX_IndexConfigCommonRotate, /**< reference: OMX_CONFIG_ROTATIONTYPE */ - OMX_IndexConfigCommonMirror, /**< reference: OMX_CONFIG_MIRRORTYPE */ - OMX_IndexConfigCommonOutputPosition, /**< reference: OMX_CONFIG_POINTTYPE */ - OMX_IndexConfigCommonInputCrop, /**< reference: OMX_CONFIG_RECTTYPE */ - OMX_IndexConfigCommonOutputCrop, /**< reference: OMX_CONFIG_RECTTYPE */ - OMX_IndexConfigCommonDigitalZoom, /**< reference: OMX_CONFIG_SCALEFACTORTYPE */ - OMX_IndexConfigCommonOpticalZoom, /**< reference: OMX_CONFIG_SCALEFACTORTYPE*/ - OMX_IndexConfigCommonWhiteBalance, /**< reference: OMX_CONFIG_WHITEBALCONTROLTYPE */ - OMX_IndexConfigCommonExposure, /**< reference: OMX_CONFIG_EXPOSURECONTROLTYPE */ - OMX_IndexConfigCommonContrast, /**< reference: OMX_CONFIG_CONTRASTTYPE */ - OMX_IndexConfigCommonBrightness, /**< reference: OMX_CONFIG_BRIGHTNESSTYPE */ - OMX_IndexConfigCommonBacklight, /**< reference: OMX_CONFIG_BACKLIGHTTYPE */ - OMX_IndexConfigCommonGamma, /**< reference: OMX_CONFIG_GAMMATYPE */ - OMX_IndexConfigCommonSaturation, /**< reference: OMX_CONFIG_SATURATIONTYPE */ - OMX_IndexConfigCommonLightness, /**< reference: OMX_CONFIG_LIGHTNESSTYPE */ - OMX_IndexConfigCommonExclusionRect, /**< reference: OMX_CONFIG_RECTTYPE */ - OMX_IndexConfigCommonDithering, /**< reference: OMX_CONFIG_DITHERTYPE */ - OMX_IndexConfigCommonPlaneBlend, /**< reference: OMX_CONFIG_PLANEBLENDTYPE */ - OMX_IndexConfigCommonExposureValue, /**< reference: OMX_CONFIG_EXPOSUREVALUETYPE */ - OMX_IndexConfigCommonOutputSize, /**< reference: OMX_FRAMESIZETYPE */ - OMX_IndexParamCommonExtraQuantData, /**< reference: OMX_OTHER_EXTRADATATYPE */ - OMX_IndexConfigCommonFocusRegion, /**< reference: OMX_CONFIG_FOCUSREGIONTYPE */ - OMX_IndexConfigCommonFocusStatus, /**< reference: OMX_PARAM_FOCUSSTATUSTYPE */ - OMX_IndexConfigCommonTransitionEffect, /**< reference: OMX_CONFIG_TRANSITIONEFFECTTYPE */ - - /* Reserved Configuration range */ - OMX_IndexOtherStartUnused = 0x08000000, - OMX_IndexParamOtherPortFormat, /**< reference: OMX_OTHER_PARAM_PORTFORMATTYPE */ - OMX_IndexConfigOtherPower, /**< reference: OMX_OTHER_CONFIG_POWERTYPE */ - OMX_IndexConfigOtherStats, /**< reference: OMX_OTHER_CONFIG_STATSTYPE */ - - - /* Reserved Time range */ - OMX_IndexTimeStartUnused = 0x09000000, - OMX_IndexConfigTimeScale, /**< reference: OMX_TIME_CONFIG_SCALETYPE */ - OMX_IndexConfigTimeClockState, /**< reference: OMX_TIME_CONFIG_CLOCKSTATETYPE */ - OMX_IndexConfigTimeActiveRefClock, /**< reference: OMX_TIME_CONFIG_ACTIVEREFCLOCKTYPE */ - OMX_IndexConfigTimeCurrentMediaTime, /**< reference: OMX_TIME_CONFIG_TIMESTAMPTYPE (read only) */ - OMX_IndexConfigTimeCurrentWallTime, /**< reference: OMX_TIME_CONFIG_TIMESTAMPTYPE (read only) */ - OMX_IndexConfigTimeCurrentAudioReference, /**< reference: OMX_TIME_CONFIG_TIMESTAMPTYPE (write only) */ - OMX_IndexConfigTimeCurrentVideoReference, /**< reference: OMX_TIME_CONFIG_TIMESTAMPTYPE (write only) */ - OMX_IndexConfigTimeMediaTimeRequest, /**< reference: OMX_TIME_CONFIG_MEDIATIMEREQUESTTYPE (write only) */ - OMX_IndexConfigTimeClientStartTime, /** - - -/** Khronos standard extension indices. - -This enum lists the current Khronos extension indices to OpenMAX IL. -*/ -typedef enum OMX_INDEXEXTTYPE { - - /* Component parameters and configurations */ - OMX_IndexExtComponentStartUnused = OMX_IndexKhronosExtensions + 0x00100000, - OMX_IndexConfigCallbackRequest, /**< reference: OMX_CONFIG_CALLBACKREQUESTTYPE */ - OMX_IndexConfigCommitMode, /**< reference: OMX_CONFIG_COMMITMODETYPE */ - OMX_IndexConfigCommit, /**< reference: OMX_CONFIG_COMMITTYPE */ - - /* Port parameters and configurations */ - OMX_IndexExtPortStartUnused = OMX_IndexKhronosExtensions + 0x00200000, - - /* Audio parameters and configurations */ - OMX_IndexExtAudioStartUnused = OMX_IndexKhronosExtensions + 0x00400000, - - /* Image parameters and configurations */ - OMX_IndexExtImageStartUnused = OMX_IndexKhronosExtensions + 0x00500000, - - /* Video parameters and configurations */ - OMX_IndexExtVideoStartUnused = OMX_IndexKhronosExtensions + 0x00600000, - OMX_IndexParamNalStreamFormatSupported, /**< reference: OMX_NALSTREAMFORMATTYPE */ - OMX_IndexParamNalStreamFormat, /**< reference: OMX_NALSTREAMFORMATTYPE */ - OMX_IndexParamNalStreamFormatSelect, /**< reference: OMX_NALSTREAMFORMATTYPE */ - OMX_IndexParamVideoVp8, /**< reference: OMX_VIDEO_PARAM_VP8TYPE */ - OMX_IndexConfigVideoVp8ReferenceFrame, /**< reference: OMX_VIDEO_VP8REFERENCEFRAMETYPE */ - OMX_IndexConfigVideoVp8ReferenceFrameType, /**< reference: OMX_VIDEO_VP8REFERENCEFRAMEINFOTYPE */ - OMX_IndexParamVideoReserved, /**< Reserved for future index */ - OMX_IndexParamVideoHevc, /**< reference: OMX_VIDEO_PARAM_HEVCTYPE */ - - /* Image & Video common configurations */ - OMX_IndexExtCommonStartUnused = OMX_IndexKhronosExtensions + 0x00700000, - - /* Other configurations */ - OMX_IndexExtOtherStartUnused = OMX_IndexKhronosExtensions + 0x00800000, - OMX_IndexConfigAutoFramerateConversion, /**< reference: OMX_CONFIG_BOOLEANTYPE */ - OMX_IndexConfigPriority, /**< reference: OMX_PARAM_U32TYPE */ - OMX_IndexConfigOperatingRate, /**< reference: OMX_PARAM_U32TYPE in Q16 format for video and in Hz for audio */ - - /* Time configurations */ - OMX_IndexExtTimeStartUnused = OMX_IndexKhronosExtensions + 0x00900000, - - OMX_IndexExtMax = 0x7FFFFFFF -} OMX_INDEXEXTTYPE; - -#ifdef __cplusplus -} -#endif /* __cplusplus */ - -#endif /* OMX_IndexExt_h */ -/* File EOF */ diff --git a/selfdrive/frogpilot/screenrecorder/openmax/include/OMX_Other.h b/selfdrive/frogpilot/screenrecorder/openmax/include/OMX_Other.h deleted file mode 100644 index caf7f384480844..00000000000000 --- a/selfdrive/frogpilot/screenrecorder/openmax/include/OMX_Other.h +++ /dev/null @@ -1,337 +0,0 @@ -/* - * Copyright (c) 2008 The Khronos Group Inc. - * - * Permission is hereby granted, free of charge, to any person obtaining - * a copy of this software and associated documentation files (the - * "Software"), to deal in the Software without restriction, including - * without limitation the rights to use, copy, modify, merge, publish, - * distribute, sublicense, and/or sell copies of the Software, and to - * permit persons to whom the Software is furnished to do so, subject - * to the following conditions: - * The above copyright notice and this permission notice shall be included - * in all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS - * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF - * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. - * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY - * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, - * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE - * SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. - * - */ - -/** @file OMX_Other.h - OpenMax IL version 1.1.2 - * The structures needed by Other components to exchange - * parameters and configuration data with the components. - */ - -#ifndef OMX_Other_h -#define OMX_Other_h - -#ifdef __cplusplus -extern "C" { -#endif /* __cplusplus */ - - -/* Each OMX header must include all required header files to allow the - * header to compile without errors. The includes below are required - * for this header file to compile successfully - */ - -#include - - -/** - * Enumeration of possible data types which match to multiple domains or no - * domain at all. For types which are vendor specific, a value above - * OMX_OTHER_VENDORTSTART should be used. - */ -typedef enum OMX_OTHER_FORMATTYPE { - OMX_OTHER_FormatTime = 0, /**< Transmission of various timestamps, elapsed time, - time deltas, etc */ - OMX_OTHER_FormatPower, /**< Perhaps used for enabling/disabling power - management, setting clocks? */ - OMX_OTHER_FormatStats, /**< Could be things such as frame rate, frames - dropped, etc */ - OMX_OTHER_FormatBinary, /**< Arbitrary binary data */ - OMX_OTHER_FormatVendorReserved = 1000, /**< Starting value for vendor specific - formats */ - - OMX_OTHER_FormatKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ - OMX_OTHER_FormatVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ - OMX_OTHER_FormatMax = 0x7FFFFFFF -} OMX_OTHER_FORMATTYPE; - -/** - * Enumeration of seek modes. - */ -typedef enum OMX_TIME_SEEKMODETYPE { - OMX_TIME_SeekModeFast = 0, /**< Prefer seeking to an approximation - * of the requested seek position over - * the actual seek position if it - * results in a faster seek. */ - OMX_TIME_SeekModeAccurate, /**< Prefer seeking to the actual seek - * position over an approximation - * of the requested seek position even - * if it results in a slower seek. */ - OMX_TIME_SeekModeKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ - OMX_TIME_SeekModeVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ - OMX_TIME_SeekModeMax = 0x7FFFFFFF -} OMX_TIME_SEEKMODETYPE; - -/* Structure representing the seekmode of the component */ -typedef struct OMX_TIME_CONFIG_SEEKMODETYPE { - OMX_U32 nSize; /**< size of the structure in bytes */ - OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ - OMX_TIME_SEEKMODETYPE eType; /**< The seek mode */ -} OMX_TIME_CONFIG_SEEKMODETYPE; - -/** Structure representing a time stamp used with the following configs - * on the Clock Component (CC): - * - * OMX_IndexConfigTimeCurrentWallTime: query of the CCs current wall - * time - * OMX_IndexConfigTimeCurrentMediaTime: query of the CCs current media - * time - * OMX_IndexConfigTimeCurrentAudioReference and - * OMX_IndexConfigTimeCurrentVideoReference: audio/video reference - * clock sending SC its reference time - * OMX_IndexConfigTimeClientStartTime: a Clock Component client sends - * this structure to the Clock Component via a SetConfig on its - * client port when it receives a buffer with - * OMX_BUFFERFLAG_STARTTIME set. It must use the timestamp - * specified by that buffer for nStartTimestamp. - * - * Its also used with the following config on components in general: - * - * OMX_IndexConfigTimePosition: IL client querying component position - * (GetConfig) or commanding a component to seek to the given location - * (SetConfig) - */ -typedef struct OMX_TIME_CONFIG_TIMESTAMPTYPE { - OMX_U32 nSize; /**< size of the structure in bytes */ - OMX_VERSIONTYPE nVersion; /**< OMX specification version - * information */ - OMX_U32 nPortIndex; /**< port that this structure applies to */ - OMX_TICKS nTimestamp; /**< timestamp .*/ -} OMX_TIME_CONFIG_TIMESTAMPTYPE; - -/** Enumeration of possible reference clocks to the media time. */ -typedef enum OMX_TIME_UPDATETYPE { - OMX_TIME_UpdateRequestFulfillment, /**< Update is the fulfillment of a media time request. */ - OMX_TIME_UpdateScaleChanged, /**< Update was generated because the scale chagned. */ - OMX_TIME_UpdateClockStateChanged, /**< Update was generated because the clock state changed. */ - OMX_TIME_UpdateKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ - OMX_TIME_UpdateVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ - OMX_TIME_UpdateMax = 0x7FFFFFFF -} OMX_TIME_UPDATETYPE; - -/** Enumeration of possible reference clocks to the media time. */ -typedef enum OMX_TIME_REFCLOCKTYPE { - OMX_TIME_RefClockNone, /**< Use no references. */ - OMX_TIME_RefClockAudio, /**< Use references sent through OMX_IndexConfigTimeCurrentAudioReference */ - OMX_TIME_RefClockVideo, /**< Use references sent through OMX_IndexConfigTimeCurrentVideoReference */ - OMX_TIME_RefClockKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ - OMX_TIME_RefClockVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ - OMX_TIME_RefClockMax = 0x7FFFFFFF -} OMX_TIME_REFCLOCKTYPE; - -/** Enumeration of clock states. */ -typedef enum OMX_TIME_CLOCKSTATE { - OMX_TIME_ClockStateRunning, /**< Clock running. */ - OMX_TIME_ClockStateWaitingForStartTime, /**< Clock waiting until the - * prescribed clients emit their - * start time. */ - OMX_TIME_ClockStateStopped, /**< Clock stopped. */ - OMX_TIME_ClockStateKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ - OMX_TIME_ClockStateVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ - OMX_TIME_ClockStateMax = 0x7FFFFFFF -} OMX_TIME_CLOCKSTATE; - -/** Structure representing a media time request to the clock component. - * - * A client component sends this structure to the Clock Component via a SetConfig - * on its client port to specify a media timestamp the Clock Component - * should emit. The Clock Component should fulfill the request by sending a - * OMX_TIME_MEDIATIMETYPE when its media clock matches the requested - * timestamp. - * - * The client may require a media time request be fulfilled slightly - * earlier than the media time specified. In this case the client specifies - * an offset which is equal to the difference between wall time corresponding - * to the requested media time and the wall time when it will be - * fulfilled. - * - * A client component may uses these requests and the OMX_TIME_MEDIATIMETYPE to - * time events according to timestamps. If a client must perform an operation O at - * a time T (e.g. deliver a video frame at its corresponding timestamp), it makes a - * media time request at T (perhaps specifying an offset to ensure the request fulfillment - * is a little early). When the clock component passes the resulting OMX_TIME_MEDIATIMETYPE - * structure back to the client component, the client may perform operation O (perhaps having - * to wait a slight amount more time itself as specified by the return values). - */ - -typedef struct OMX_TIME_CONFIG_MEDIATIMEREQUESTTYPE { - OMX_U32 nSize; /**< size of the structure in bytes */ - OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ - OMX_U32 nPortIndex; /**< port that this structure applies to */ - OMX_PTR pClientPrivate; /**< Client private data to disabiguate this media time - * from others (e.g. the number of the frame to deliver). - * Duplicated in the media time structure that fulfills - * this request. A value of zero is reserved for time scale - * updates. */ - OMX_TICKS nMediaTimestamp; /**< Media timestamp requested.*/ - OMX_TICKS nOffset; /**< Amount of wall clock time by which this - * request should be fulfilled early */ -} OMX_TIME_CONFIG_MEDIATIMEREQUESTTYPE; - -/**< Structure sent from the clock component client either when fulfilling - * a media time request or when the time scale has changed. - * - * In the former case the Clock Component fills this structure and times its emission - * to a client component (via the client port) according to the corresponding media - * time request sent by the client. The Clock Component should time the emission to occur - * when the requested timestamp matches the Clock Component's media time but also the - * prescribed offset early. - * - * Upon scale changes the clock component clears the nClientPrivate data, sends the current - * media time and sets the nScale to the new scale via the client port. It emits a - * OMX_TIME_MEDIATIMETYPE to all clients independent of any requests. This allows clients to - * alter processing to accomodate scaling. For instance a video component might skip inter-frames - * in the case of extreme fastforward. Likewise an audio component might add or remove samples - * from an audio frame to scale audio data. - * - * It is expected that some clock components may not be able to fulfill requests - * at exactly the prescribed time. This is acceptable so long as the request is - * fulfilled at least as early as described and not later. This structure provides - * fields the client may use to wait for the remaining time. - * - * The client may use either the nOffset or nWallTimeAtMedia fields to determine the - * wall time until the nMediaTimestamp actually occurs. In the latter case the - * client can get a more accurate value for offset by getting the current wall - * from the cloc component and subtracting it from nWallTimeAtMedia. - */ - -typedef struct OMX_TIME_MEDIATIMETYPE { - OMX_U32 nSize; /**< size of the structure in bytes */ - OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ - OMX_U32 nClientPrivate; /**< Client private data to disabiguate this media time - * from others. Copied from the media time request. - * A value of zero is reserved for time scale updates. */ - OMX_TIME_UPDATETYPE eUpdateType; /**< Reason for the update */ - OMX_TICKS nMediaTimestamp; /**< Media time requested. If no media time was - * requested then this is the current media time. */ - OMX_TICKS nOffset; /**< Amount of wall clock time by which this - * request was actually fulfilled early */ - - OMX_TICKS nWallTimeAtMediaTime; /**< Wall time corresponding to nMediaTimeStamp. - * A client may compare this value to current - * media time obtained from the Clock Component to determine - * the wall time until the media timestamp is really - * current. */ - OMX_S32 xScale; /**< Current media time scale in Q16 format. */ - OMX_TIME_CLOCKSTATE eState; /* Seeking Change. Added 7/12.*/ - /**< State of the media time. */ -} OMX_TIME_MEDIATIMETYPE; - -/** Structure representing the current media time scale factor. Applicable only to clock - * component, other components see scale changes via OMX_TIME_MEDIATIMETYPE buffers sent via - * the clock component client ports. Upon recieving this config the clock component changes - * the rate by which the media time increases or decreases effectively implementing trick modes. - */ -typedef struct OMX_TIME_CONFIG_SCALETYPE { - OMX_U32 nSize; /**< size of the structure in bytes */ - OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ - OMX_S32 xScale; /**< This is a value in Q16 format which is used for - * scaling the media time */ -} OMX_TIME_CONFIG_SCALETYPE; - -/** Bits used to identify a clock port. Used in OMX_TIME_CONFIG_CLOCKSTATETYPEs nWaitMask field */ -#define OMX_CLOCKPORT0 0x00000001 -#define OMX_CLOCKPORT1 0x00000002 -#define OMX_CLOCKPORT2 0x00000004 -#define OMX_CLOCKPORT3 0x00000008 -#define OMX_CLOCKPORT4 0x00000010 -#define OMX_CLOCKPORT5 0x00000020 -#define OMX_CLOCKPORT6 0x00000040 -#define OMX_CLOCKPORT7 0x00000080 - -/** Structure representing the current mode of the media clock. - * IL Client uses this config to change or query the mode of the - * media clock of the clock component. Applicable only to clock - * component. - * - * On a SetConfig if eState is OMX_TIME_ClockStateRunning media time - * starts immediately at the prescribed start time. If - * OMX_TIME_ClockStateWaitingForStartTime the Clock Component ignores - * the given nStartTime and waits for all clients specified in the - * nWaitMask to send starttimes (via - * OMX_IndexConfigTimeClientStartTime). The Clock Component then starts - * the media clock using the earliest start time supplied. */ -typedef struct OMX_TIME_CONFIG_CLOCKSTATETYPE { - OMX_U32 nSize; /**< size of the structure in bytes */ - OMX_VERSIONTYPE nVersion; /**< OMX specification version - * information */ - OMX_TIME_CLOCKSTATE eState; /**< State of the media time. */ - OMX_TICKS nStartTime; /**< Start time of the media time. */ - OMX_TICKS nOffset; /**< Time to offset the media time by - * (e.g. preroll). Media time will be - * reported to be nOffset ticks earlier. - */ - OMX_U32 nWaitMask; /**< Mask of OMX_CLOCKPORT values. */ -} OMX_TIME_CONFIG_CLOCKSTATETYPE; - -/** Structure representing the reference clock currently being used to - * compute media time. IL client uses this config to change or query the - * clock component's active reference clock */ -typedef struct OMX_TIME_CONFIG_ACTIVEREFCLOCKTYPE { - OMX_U32 nSize; /**< size of the structure in bytes */ - OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ - OMX_TIME_REFCLOCKTYPE eClock; /**< Reference clock used to compute media time */ -} OMX_TIME_CONFIG_ACTIVEREFCLOCKTYPE; - -/** Descriptor for setting specifics of power type. - * Note: this structure is listed for backwards compatibility. */ -typedef struct OMX_OTHER_CONFIG_POWERTYPE { - OMX_U32 nSize; /**< size of the structure in bytes */ - OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ - OMX_BOOL bEnablePM; /**< Flag to enable Power Management */ -} OMX_OTHER_CONFIG_POWERTYPE; - - -/** Descriptor for setting specifics of stats type. - * Note: this structure is listed for backwards compatibility. */ -typedef struct OMX_OTHER_CONFIG_STATSTYPE { - OMX_U32 nSize; /**< size of the structure in bytes */ - OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ - /* what goes here */ -} OMX_OTHER_CONFIG_STATSTYPE; - - -/** - * The PortDefinition structure is used to define all of the parameters - * necessary for the compliant component to setup an input or an output other - * path. - */ -typedef struct OMX_OTHER_PORTDEFINITIONTYPE { - OMX_OTHER_FORMATTYPE eFormat; /**< Type of data expected for this channel */ -} OMX_OTHER_PORTDEFINITIONTYPE; - -/** Port format parameter. This structure is used to enumerate - * the various data input/output format supported by the port. - */ -typedef struct OMX_OTHER_PARAM_PORTFORMATTYPE { - OMX_U32 nSize; /**< size of the structure in bytes */ - OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ - OMX_U32 nPortIndex; /**< Indicates which port to set */ - OMX_U32 nIndex; /**< Indicates the enumeration index for the format from 0x0 to N-1 */ - OMX_OTHER_FORMATTYPE eFormat; /**< Type of data expected for this channel */ -} OMX_OTHER_PARAM_PORTFORMATTYPE; - -#ifdef __cplusplus -} -#endif /* __cplusplus */ - -#endif -/* File EOF */ diff --git a/selfdrive/frogpilot/screenrecorder/openmax/include/OMX_QCOMExtns.h b/selfdrive/frogpilot/screenrecorder/openmax/include/OMX_QCOMExtns.h deleted file mode 100644 index 20917932be1b15..00000000000000 --- a/selfdrive/frogpilot/screenrecorder/openmax/include/OMX_QCOMExtns.h +++ /dev/null @@ -1,1888 +0,0 @@ -/*-------------------------------------------------------------------------- -Copyright (c) 2009-2015, The Linux Foundation. All rights reserved. - -Redistribution and use in source and binary forms, with or without -modification, are permitted provided that the following conditions are met: - * Redistributions of source code must retain the above copyright - notice, this list of conditions and the following disclaimer. - * Redistributions in binary form must reproduce the above copyright - notice, this list of conditions and the following disclaimer in the - documentation and/or other materials provided with the distribution. - * Neither the name of The Linux Foundation nor - the names of its contributors may be used to endorse or promote - products derived from this software without specific prior written - permission. - -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND -NON-INFRINGEMENT ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR -CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, -EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, -PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; -OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, -WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR -OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF -ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. ---------------------------------------------------------------------------*/ -#ifndef __OMX_QCOM_EXTENSIONS_H__ -#define __OMX_QCOM_EXTENSIONS_H__ - -#ifdef __cplusplus -extern "C" { -#endif /* __cplusplus */ - -/*============================================================================ -*//** @file OMX_QCOMExtns.h - This header contains constants and type definitions that specify the - extensions added to the OpenMAX Vendor specific APIs. - -*//*========================================================================*/ - - -/////////////////////////////////////////////////////////////////////////////// -// Include Files -/////////////////////////////////////////////////////////////////////////////// -#include "OMX_Core.h" -#include "OMX_Video.h" - -#define OMX_VIDEO_MAX_HP_LAYERS 6 -/** - * This extension is used to register mapping of a virtual - * address to a physical address. This extension is a parameter - * which can be set using the OMX_SetParameter macro. The data - * pointer corresponding to this extension is - * OMX_QCOM_MemMapEntry. This parameter is a 'write only' - * parameter (Current value cannot be queried using - * OMX_GetParameter macro). - */ -#define OMX_QCOM_EXTN_REGISTER_MMAP "OMX.QCOM.index.param.register_mmap" - -/** - * This structure describes the data pointer corresponding to - * the OMX_QCOM_MMAP_REGISTER_EXTN extension. This parameter - * must be set only 'after' populating a port with a buffer - * using OMX_UseBuffer, wherein the data pointer of the buffer - * corresponds to the virtual address as specified in this - * structure. - */ -struct OMX_QCOM_PARAM_MEMMAPENTRYTYPE -{ - OMX_U32 nSize; /** Size of the structure in bytes */ - OMX_VERSIONTYPE nVersion; /**< OMX specification version information */ - OMX_U32 nPortIndex; /**< Port number the structure applies to */ - - /** - * The virtual address of memory block - */ - OMX_U64 nVirtualAddress; - - /** - * The physical address corresponding to the virtual address. The physical - * address is contiguous for the entire valid range of the virtual - * address. - */ - OMX_U64 nPhysicalAddress; -}; - -#define QOMX_VIDEO_IntraRefreshRandom (OMX_VIDEO_IntraRefreshVendorStartUnused + 0) - -/* This error event is used for H.264 long-term reference (LTR) encoding. - * When IL client specifies an LTR frame with its identifier via - * OMX_QCOM_INDEX_CONFIG_VIDEO_LTRUSE to the encoder, if the specified - * LTR frame can not be located by the encoder in its LTR list, the encoder - * issues this error event to IL client to notify the failure of LTRUse config. - */ -#define QOMX_ErrorLTRUseFailed (OMX_ErrorVendorStartUnused + 1) - -#define QOMX_VIDEO_BUFFERFLAG_BFRAME 0x00100000 - -#define QOMX_VIDEO_BUFFERFLAG_EOSEQ 0x00200000 - -#define QOMX_VIDEO_BUFFERFLAG_MBAFF 0x00400000 - -#define QOMX_VIDEO_BUFFERFLAG_CANCEL 0x00800000 - -#define OMX_QCOM_PORTDEFN_EXTN "OMX.QCOM.index.param.portdefn" -/* Allowed APIs on the above Index: OMX_GetParameter() and OMX_SetParameter() */ - -typedef enum OMX_QCOMMemoryRegion -{ - OMX_QCOM_MemRegionInvalid, - OMX_QCOM_MemRegionEBI1, - OMX_QCOM_MemRegionSMI, - OMX_QCOM_MemRegionMax = 0X7FFFFFFF -} OMX_QCOMMemoryRegion; - -typedef enum OMX_QCOMCacheAttr -{ - OMX_QCOM_CacheAttrNone, - OMX_QCOM_CacheAttrWriteBack, - OMX_QCOM_CacheAttrWriteThrough, - OMX_QCOM_CacheAttrMAX = 0X7FFFFFFF -} OMX_QCOMCacheAttr; - -typedef struct OMX_QCOMRectangle -{ - OMX_S32 x; - OMX_S32 y; - OMX_S32 dx; - OMX_S32 dy; -} OMX_QCOMRectangle; - -/** OMX_QCOMFramePackingFormat - * Input or output buffer format - */ -typedef enum OMX_QCOMFramePackingFormat -{ - /* 0 - unspecified - */ - OMX_QCOM_FramePacking_Unspecified, - - /* 1 - Partial frames may be present OMX IL 1.1.1 Figure 2-10: - * Case 1??Each Buffer Filled In Whole or In Part - */ - OMX_QCOM_FramePacking_Arbitrary, - - /* 2 - Multiple complete frames per buffer (integer number) - * OMX IL 1.1.1 Figure 2-11: Case 2Each Buffer Filled with - * Only Complete Frames of Data - */ - OMX_QCOM_FramePacking_CompleteFrames, - - /* 3 - Only one complete frame per buffer, no partial frame - * OMX IL 1.1.1 Figure 2-12: Case 3Each Buffer Filled with - * Only One Frame of Compressed Data. Usually at least one - * complete unit of data will be delivered in a buffer for - * uncompressed data formats. - */ - OMX_QCOM_FramePacking_OnlyOneCompleteFrame, - - /* 4 - Only one complete subframe per buffer, no partial subframe - * Example: In H264, one complete NAL per buffer, where one frame - * can contatin multiple NAL - */ - OMX_QCOM_FramePacking_OnlyOneCompleteSubFrame, - - OMX_QCOM_FramePacking_MAX = 0X7FFFFFFF -} OMX_QCOMFramePackingFormat; - -typedef struct OMX_QCOM_PARAM_PORTDEFINITIONTYPE { - OMX_U32 nSize; /** Size of the structure in bytes */ - OMX_VERSIONTYPE nVersion;/** OMX specification version information */ - OMX_U32 nPortIndex; /** Portindex which is extended by this structure */ - - /** Platform specific memory region EBI1, SMI, etc.,*/ - OMX_QCOMMemoryRegion nMemRegion; - - OMX_QCOMCacheAttr nCacheAttr; /** Cache attributes */ - - /** Input or output buffer format */ - OMX_U32 nFramePackingFormat; - -} OMX_QCOM_PARAM_PORTDEFINITIONTYPE; - -typedef struct OMX_QCOM_VIDEO_PARAM_QPRANGETYPE { - OMX_U32 nSize; - OMX_VERSIONTYPE nVersion; - OMX_U32 nPortIndex; - OMX_U32 minQP; - OMX_U32 maxQP; -} OMX_QCOM_VIDEO_PARAM_QPRANGETYPE; - -#define OMX_QCOM_PLATFORMPVT_EXTN "OMX.QCOM.index.param.platformprivate" -/** Allowed APIs on the above Index: OMX_SetParameter() */ - -typedef enum OMX_QCOM_PLATFORM_PRIVATE_ENTRY_TYPE -{ - /** Enum for PMEM information */ - OMX_QCOM_PLATFORM_PRIVATE_PMEM = 0x1 -} OMX_QCOM_PLATFORM_PRIVATE_ENTRY_TYPE; - -/** IL client will set the following structure. A failure - * code will be returned if component does not support the - * value provided for 'type'. - */ -struct OMX_QCOM_PLATFORMPRIVATE_EXTN -{ - OMX_U32 nSize; /** Size of the structure in bytes */ - OMX_VERSIONTYPE nVersion; /** OMX spec version information */ - OMX_U32 nPortIndex; /** Port number on which usebuffer extn is applied */ - - /** Type of extensions should match an entry from - OMX_QCOM_PLATFORM_PRIVATE_ENTRY_TYPE - */ - OMX_QCOM_PLATFORM_PRIVATE_ENTRY_TYPE type; -}; - -typedef struct OMX_QCOM_PLATFORM_PRIVATE_PMEM_INFO -{ - /** pmem file descriptor */ - unsigned long pmem_fd; - /** Offset from pmem device base address */ - OMX_U32 offset; - OMX_U32 size; - OMX_U32 mapped_size; - OMX_PTR buffer; -}OMX_QCOM_PLATFORM_PRIVATE_PMEM_INFO; - -typedef struct OMX_QCOM_PLATFORM_PRIVATE_ENTRY -{ - /** Entry type */ - OMX_QCOM_PLATFORM_PRIVATE_ENTRY_TYPE type; - - /** Pointer to platform specific entry */ - OMX_PTR entry; -}OMX_QCOM_PLATFORM_PRIVATE_ENTRY; - -typedef struct OMX_QCOM_PLATFORM_PRIVATE_LIST -{ - /** Number of entries */ - OMX_U32 nEntries; - - /** Pointer to array of platform specific entries * - * Contiguous block of OMX_QCOM_PLATFORM_PRIVATE_ENTRY element - */ - OMX_QCOM_PLATFORM_PRIVATE_ENTRY* entryList; -}OMX_QCOM_PLATFORM_PRIVATE_LIST; - -#define OMX_QCOM_FRAME_PACKING_FORMAT "OMX.QCOM.index.param.framepackfmt" -/* Allowed API call: OMX_GetParameter() */ -/* IL client can use this index to rerieve the list of frame formats * - * supported by the component */ - -typedef struct OMX_QCOM_FRAME_PACKINGFORMAT_TYPE { - OMX_U32 nSize; - OMX_VERSIONTYPE nVersion; - OMX_U32 nPortIndex; - OMX_U32 nIndex; - OMX_QCOMFramePackingFormat eframePackingFormat; -} OMX_QCOM_FRAME_PACKINGFORMAT_TYPE; - - -/** - * Following is the enum for color formats supported on Qualcomm - * MSMs YVU420SemiPlanar color format is not defined in OpenMAX - * 1.1.1 and prior versions of OpenMAX specification. - */ - -enum OMX_QCOM_COLOR_FORMATTYPE -{ - -/** YVU420SemiPlanar: YVU planar format, organized with a first - * plane containing Y pixels, and a second plane containing - * interleaved V and U pixels. V and U pixels are sub-sampled - * by a factor of two both horizontally and vertically. - */ - QOMX_COLOR_FormatYVU420SemiPlanar = 0x7FA30C00, - QOMX_COLOR_FormatYVU420PackedSemiPlanar32m4ka, - QOMX_COLOR_FormatYUV420PackedSemiPlanar16m2ka, - QOMX_COLOR_FormatYUV420PackedSemiPlanar64x32Tile2m8ka, - QOMX_COLOR_FORMATYUV420PackedSemiPlanar32m, - QOMX_COLOR_FORMATYUV420PackedSemiPlanar32mMultiView, - QOMX_COLOR_FORMATYUV420PackedSemiPlanar32mCompressed, - QOMX_COLOR_Format32bitRGBA8888, - QOMX_COLOR_Format32bitRGBA8888Compressed, - QOMX_COLOR_FormatAndroidOpaque = (OMX_COLOR_FORMATTYPE) OMX_COLOR_FormatVendorStartUnused + 0x789, -}; - -enum OMX_QCOM_VIDEO_CODINGTYPE -{ -/** Codecs support by qualcomm which are not listed in OMX 1.1.x - * spec - * */ - OMX_QCOM_VIDEO_CodingVC1 = 0x7FA30C00 , - OMX_QCOM_VIDEO_CodingWMV9 = 0x7FA30C01, - QOMX_VIDEO_CodingDivx = 0x7FA30C02, /**< Value when coding is Divx */ - QOMX_VIDEO_CodingSpark = 0x7FA30C03, /**< Value when coding is Sorenson Spark */ - QOMX_VIDEO_CodingVp = 0x7FA30C04, - QOMX_VIDEO_CodingVp8 = OMX_VIDEO_CodingVP8, /**< keeping old enum for backwards compatibility*/ - QOMX_VIDEO_CodingHevc = OMX_VIDEO_CodingHEVC, /**< keeping old enum for backwards compatibility*/ - QOMX_VIDEO_CodingMVC = 0x7FA30C07, - QOMX_VIDEO_CodingVp9 = OMX_VIDEO_CodingVP9, /**< keeping old enum for backwards compatibility*/ -}; - -enum OMX_QCOM_EXTN_INDEXTYPE -{ - /** Qcom proprietary extension index list */ - - /* "OMX.QCOM.index.param.register_mmap" */ - OMX_QcomIndexRegmmap = 0x7F000000, - - /* "OMX.QCOM.index.param.platformprivate" */ - OMX_QcomIndexPlatformPvt = 0x7F000001, - - /* "OMX.QCOM.index.param.portdefn" */ - OMX_QcomIndexPortDefn = 0x7F000002, - - /* "OMX.QCOM.index.param.framepackingformat" */ - OMX_QcomIndexPortFramePackFmt = 0x7F000003, - - /*"OMX.QCOM.index.param.Interlaced */ - OMX_QcomIndexParamInterlaced = 0x7F000004, - - /*"OMX.QCOM.index.config.interlaceformat */ - OMX_QcomIndexConfigInterlaced = 0x7F000005, - - /*"OMX.QCOM.index.param.syntaxhdr" */ - QOMX_IndexParamVideoSyntaxHdr = 0x7F000006, - - /*"OMX.QCOM.index.config.intraperiod" */ - QOMX_IndexConfigVideoIntraperiod = 0x7F000007, - - /*"OMX.QCOM.index.config.randomIntrarefresh" */ - QOMX_IndexConfigVideoIntraRefresh = 0x7F000008, - - /*"OMX.QCOM.index.config.video.TemporalSpatialTradeOff" */ - QOMX_IndexConfigVideoTemporalSpatialTradeOff = 0x7F000009, - - /*"OMX.QCOM.index.param.video.EncoderMode" */ - QOMX_IndexParamVideoEncoderMode = 0x7F00000A, - - /*"OMX.QCOM.index.param.Divxtype */ - OMX_QcomIndexParamVideoDivx = 0x7F00000B, - - /*"OMX.QCOM.index.param.Sparktype */ - OMX_QcomIndexParamVideoSpark = 0x7F00000C, - - /*"OMX.QCOM.index.param.Vptype */ - OMX_QcomIndexParamVideoVp = 0x7F00000D, - - OMX_QcomIndexQueryNumberOfVideoDecInstance = 0x7F00000E, - - OMX_QcomIndexParamVideoSyncFrameDecodingMode = 0x7F00000F, - - OMX_QcomIndexParamVideoDecoderPictureOrder = 0x7F000010, - - /* "OMX.QCOM.index.config.video.FramePackingInfo" */ - OMX_QcomIndexConfigVideoFramePackingArrangement = 0x7F000011, - - OMX_QcomIndexParamConcealMBMapExtraData = 0x7F000012, - - OMX_QcomIndexParamFrameInfoExtraData = 0x7F000013, - - OMX_QcomIndexParamInterlaceExtraData = 0x7F000014, - - OMX_QcomIndexParamH264TimeInfo = 0x7F000015, - - OMX_QcomIndexParamIndexExtraDataType = 0x7F000016, - - OMX_GoogleAndroidIndexEnableAndroidNativeBuffers = 0x7F000017, - - OMX_GoogleAndroidIndexUseAndroidNativeBuffer = 0x7F000018, - - OMX_GoogleAndroidIndexGetAndroidNativeBufferUsage = 0x7F000019, - - /*"OMX.QCOM.index.config.video.QPRange" */ - OMX_QcomIndexConfigVideoQPRange = 0x7F00001A, - - /*"OMX.QCOM.index.param.EnableTimeStampReoder"*/ - OMX_QcomIndexParamEnableTimeStampReorder = 0x7F00001B, - - /*"OMX.google.android.index.storeMetaDataInBuffers"*/ - OMX_QcomIndexParamVideoMetaBufferMode = 0x7F00001C, - - /*"OMX.google.android.index.useAndroidNativeBuffer2"*/ - OMX_GoogleAndroidIndexUseAndroidNativeBuffer2 = 0x7F00001D, - - /*"OMX.QCOM.index.param.VideoMaxAllowedBitrateCheck"*/ - OMX_QcomIndexParamVideoMaxAllowedBitrateCheck = 0x7F00001E, - - OMX_QcomIndexEnableSliceDeliveryMode = 0x7F00001F, - - /* "OMX.QCOM.index.param.video.ExtnUserExtraData" */ - OMX_QcomIndexEnableExtnUserData = 0x7F000020, - - /*"OMX.QCOM.index.param.video.EnableSmoothStreaming"*/ - OMX_QcomIndexParamEnableSmoothStreaming = 0x7F000021, - - /*"OMX.QCOM.index.param.video.QPRange" */ - OMX_QcomIndexParamVideoQPRange = 0x7F000022, - - OMX_QcomIndexEnableH263PlusPType = 0x7F000023, - - /*"OMX.QCOM.index.param.video.LTRCountRangeSupported"*/ - QOMX_IndexParamVideoLTRCountRangeSupported = 0x7F000024, - - /*"OMX.QCOM.index.param.video.LTRMode"*/ - QOMX_IndexParamVideoLTRMode = 0x7F000025, - - /*"OMX.QCOM.index.param.video.LTRCount"*/ - QOMX_IndexParamVideoLTRCount = 0x7F000026, - - /*"OMX.QCOM.index.config.video.LTRPeriod"*/ - QOMX_IndexConfigVideoLTRPeriod = 0x7F000027, - - /*"OMX.QCOM.index.config.video.LTRUse"*/ - QOMX_IndexConfigVideoLTRUse = 0x7F000028, - - /*"OMX.QCOM.index.config.video.LTRMark"*/ - QOMX_IndexConfigVideoLTRMark = 0x7F000029, - - /* OMX.google.android.index.prependSPSPPSToIDRFrames */ - OMX_QcomIndexParamSequenceHeaderWithIDR = 0x7F00002A, - - OMX_QcomIndexParamH264AUDelimiter = 0x7F00002B, - - OMX_QcomIndexParamVideoDownScalar = 0x7F00002C, - - /* "OMX.QCOM.index.param.video.FramePackingExtradata" */ - OMX_QcomIndexParamVideoFramePackingExtradata = 0x7F00002D, - - /* "OMX.QCOM.index.config.activeregiondetection" */ - OMX_QcomIndexConfigActiveRegionDetection = 0x7F00002E, - - /* "OMX.QCOM.index.config.activeregiondetectionstatus" */ - OMX_QcomIndexConfigActiveRegionDetectionStatus = 0x7F00002F, - - /* "OMX.QCOM.index.config.scalingmode" */ - OMX_QcomIndexConfigScalingMode = 0x7F000030, - - /* "OMX.QCOM.index.config.noisereduction" */ - OMX_QcomIndexConfigNoiseReduction = 0x7F000031, - - /* "OMX.QCOM.index.config.imageenhancement" */ - OMX_QcomIndexConfigImageEnhancement = 0x7F000032, - - /* google smooth-streaming support */ - OMX_QcomIndexParamVideoAdaptivePlaybackMode = 0x7F000033, - - /* H.264 MVC codec index */ - QOMX_IndexParamVideoMvc = 0x7F000034, - - /* "OMX.QCOM.index.param.video.QPExtradata" */ - OMX_QcomIndexParamVideoQPExtraData = 0x7F000035, - - /* "OMX.QCOM.index.param.video.InputBitsInfoExtradata" */ - OMX_QcomIndexParamVideoInputBitsInfoExtraData = 0x7F000036, - - /* VP8 Hierarchical P support */ - OMX_QcomIndexHierarchicalStructure = 0x7F000037, - - OMX_QcomIndexParamPerfLevel = 0x7F000038, - - OMX_QcomIndexParamH264VUITimingInfo = 0x7F000039, - - OMX_QcomIndexParamPeakBitrate = 0x7F00003A, - - /* Enable InitialQP index */ - QOMX_IndexParamVideoInitialQp = 0x7F00003B, - - OMX_QcomIndexParamSetMVSearchrange = 0x7F00003C, - - OMX_QcomIndexConfigPerfLevel = 0x7F00003D, - - /*"OMX.QCOM.index.param.video.LTRCount"*/ - OMX_QcomIndexParamVideoLTRCount = QOMX_IndexParamVideoLTRCount, - - /*"OMX.QCOM.index.config.video.LTRUse"*/ - OMX_QcomIndexConfigVideoLTRUse = QOMX_IndexConfigVideoLTRUse, - - /*"OMX.QCOM.index.config.video.LTRMark"*/ - OMX_QcomIndexConfigVideoLTRMark = QOMX_IndexConfigVideoLTRMark, - - /*"OMX.QCOM.index.param.video.CustomBufferSize"*/ - OMX_QcomIndexParamVideoCustomBufferSize = 0x7F00003E, - - /* Max Hierarchical P layers */ - OMX_QcomIndexMaxHierarchicallayers = 0x7F000041, - - /* Set Encoder Performance Index */ - OMX_QcomIndexConfigVideoVencPerfMode = 0x7F000042, - - /* Set Hybrid Hier-p layers */ - OMX_QcomIndexParamVideoHybridHierpMode = 0x7F000043, - - OMX_QcomIndexFlexibleYUVDescription = 0x7F000044, - - /* Vpp Hqv Control Type */ - OMX_QcomIndexParamVppHqvControl = 0x7F000045, - - /* Enable VPP */ - OMX_QcomIndexParamEnableVpp = 0x7F000046, - - /* MBI statistics mode */ - OMX_QcomIndexParamMBIStatisticsMode = 0x7F000047, - - /* Set PictureTypeDecode */ - OMX_QcomIndexConfigPictureTypeDecode = 0x7F000048, - - OMX_QcomIndexConfigH264EntropyCodingCabac = 0x7F000049, - - /* "OMX.QCOM.index.param.video.InputBatch" */ - OMX_QcomIndexParamBatchSize = 0x7F00004A, - - OMX_QcomIndexConfigNumHierPLayers = 0x7F00004B, - - OMX_QcomIndexConfigRectType = 0x7F00004C, - - OMX_QcomIndexConfigBaseLayerId = 0x7F00004E, - - OMX_QcomIndexParamDriverVersion = 0x7F00004F, - - OMX_QcomIndexConfigQp = 0x7F000050, - - OMX_QcomIndexParamVencAspectRatio = 0x7F000051, - - OMX_QTIIndexParamVQZipSEIExtraData = 0x7F000052, - - /* Enable VQZIP SEI NAL type */ - OMX_QTIIndexParamVQZIPSEIType = 0x7F000053, - - OMX_QTIIndexParamPassInputBufferFd = 0x7F000054, - - /* Set Prefer-adaptive playback*/ - /* "OMX.QTI.index.param.video.PreferAdaptivePlayback" */ - OMX_QTIIndexParamVideoPreferAdaptivePlayback = 0x7F000055, - - /* Set time params */ - OMX_QTIIndexConfigSetTimeData = 0x7F000056, - /* Force Compressed format for DPB when resolution <=1080p - * and OPB is cpu_access */ - /* OMX.QTI.index.param.video.ForceCompressedForDPB */ - OMX_QTIIndexParamForceCompressedForDPB = 0x7F000057, - - /* Enable ROI info */ - OMX_QTIIndexParamVideoEnableRoiInfo = 0x7F000058, - - /* Configure ROI info */ - OMX_QTIIndexConfigVideoRoiInfo = 0x7F000059, - - /* Set Low Latency Mode */ - OMX_QTIIndexParamLowLatencyMode = 0x7F00005A, - - /* Force OPB to UnCompressed mode */ - OMX_QTIIndexParamForceUnCompressedForOPB = 0x7F00005B, - -}; - -/** -* This is custom extension to configure Low Latency Mode. -* -* STRUCT MEMBERS -* -* nSize : Size of Structure in bytes -* nVersion : OpenMAX IL specification version information -* bLowLatencyMode : Enable/Disable Low Latency mode -*/ - -typedef struct QOMX_EXTNINDEX_VIDEO_VENC_LOW_LATENCY_MODE -{ - OMX_U32 nSize; - OMX_VERSIONTYPE nVersion; - OMX_BOOL bLowLatencyMode; -} QOMX_EXTNINDEX_VIDEO_VENC_LOW_LATENCY_MODE; - -/** -* This is custom extension to configure Encoder Aspect Ratio. -* -* STRUCT MEMBERS -* -* nSize : Size of Structure in bytes -* nVersion : OpenMAX IL specification version information -* nSARWidth : Horizontal aspect size -* nSARHeight : Vertical aspect size -*/ - -typedef struct QOMX_EXTNINDEX_VIDEO_VENC_SAR -{ - OMX_U32 nSize; - OMX_U32 nVersion; - OMX_U32 nSARWidth; - OMX_U32 nSARHeight; -} QOMX_EXTNINDEX_VIDEO_VENC_SAR; - -/** -* This is custom extension to configure Hier-p layers. -* This mode configures Hier-p layers dynamically. -* -* STRUCT MEMBERS -* -* nSize : Size of Structure in bytes -* nVersion : OpenMAX IL specification version information -* nNumHierLayers: Set the number of Hier-p layers for the session -* - This should be less than the MAX Hier-P -* layers set for the session. -*/ - -typedef struct QOMX_EXTNINDEX_VIDEO_HIER_P_LAYERS { - OMX_U32 nSize; - OMX_VERSIONTYPE nVersion; - OMX_U32 nNumHierLayers; -} QOMX_EXTNINDEX_VIDEO_HIER_P_LAYERS; - - -/** -* This is custom extension to configure Hybrid Hier-p settings. -* This mode is different from enabling Hier-p mode. This -* property enables Hier-p encoding with LTR referencing in each -* sub-GOP. -* -* STRUCT MEMBERS -* -* nSize : Size of Structure in bytes -* nVersion : OpenMAX IL specification version information -* nKeyFrameInterval : Indicates the I frame interval -* nHpLayers : Set the number of Hier-p layers for the session -* - This should be <= 6. (1 Base layer + -* 5 Enhancement layers) -* nTemporalLayerBitrateRatio[OMX_VIDEO_MAX_HP_LAYERS] : Bitrate to -* be set for each enhancement layer -* nMinQuantizer : minimum session QP -* nMaxQuantizer : Maximun session QP -*/ - -typedef struct QOMX_EXTNINDEX_VIDEO_HYBRID_HP_MODE { - OMX_U32 nSize; - OMX_VERSIONTYPE nVersion; - OMX_U32 nKeyFrameInterval; - OMX_U32 nTemporalLayerBitrateRatio[OMX_VIDEO_MAX_HP_LAYERS]; - OMX_U32 nMinQuantizer; - OMX_U32 nMaxQuantizer; - OMX_U32 nHpLayers; -} QOMX_EXTNINDEX_VIDEO_HYBRID_HP_MODE; - -/** - * Encoder Performance Mode. This structure is used to set - * performance mode or power save mode when encoding. The search - * range is modified to save power or improve quality. - * - * STRUCT MEMBERS: - * OMX_U32 nPerfMode : Performance mode: - * 1: MAX_QUALITY - * 2: POWER_SAVE - */ - -typedef struct QOMX_EXTNINDEX_VIDEO_PERFMODE { - OMX_U32 nSize; - OMX_VERSIONTYPE nVersion; - OMX_U32 nPerfMode; -} QOMX_EXTNINDEX_VIDEO_PERFMODE; - -/** - * Initial QP parameter. This structure is used to enable - * vendor specific extension to let client enable setting - * initial QP values to I P B Frames - * - * STRUCT MEMBERS: - * nSize : Size of Structure in bytes - * nVersion : OpenMAX IL specification version information - * nPortIndex : Index of the port to which this structure applies - * OMX_U32 nQpI : First Iframe QP - * OMX_U32 nQpP : First Pframe QP - * OMX_U32 nQpB : First Bframe QP - * OMX_U32 bEnableInitQp : Bit field indicating which frame type(s) shall - * use the specified initial QP. - * Bit 0: Enable initial QP for I/IDR - * and use value specified in nInitQpI - * Bit 1: Enable initial QP for P - * and use value specified in nInitQpP - * Bit 2: Enable initial QP for B - * and use value specified in nInitQpB - */ - -typedef struct QOMX_EXTNINDEX_VIDEO_INITIALQP { - OMX_U32 nSize; - OMX_VERSIONTYPE nVersion; - OMX_U32 nPortIndex; - OMX_U32 nQpI; - OMX_U32 nQpP; - OMX_U32 nQpB; - OMX_U32 bEnableInitQp; -} QOMX_EXTNINDEX_VIDEO_INITIALQP; - -/** - * Extension index parameter. This structure is used to enable - * vendor specific extension on input/output port and - * to pass the required flags and data, if any. - * The format of flags and data being passed is known to - * the client and component apriori. - * - * STRUCT MEMBERS: - * nSize : Size of Structure plus pData size - * nVersion : OMX specification version information - * nPortIndex : Indicates which port to set - * bEnable : Extension index enable (1) or disable (0) - * nFlags : Extension index flags, if any - * nDataSize : Size of the extension index data to follow - * pData : Extension index data, if present. - */ -typedef struct QOMX_EXTNINDEX_PARAMTYPE { - OMX_U32 nSize; - OMX_VERSIONTYPE nVersion; - OMX_U32 nPortIndex; - OMX_BOOL bEnable; - OMX_U32 nFlags; - OMX_U32 nDataSize; - OMX_PTR pData; -} QOMX_EXTNINDEX_PARAMTYPE; - -/** - * Range index parameter. This structure is used to enable - * vendor specific extension on input/output port and - * to pass the required minimum and maximum values - * - * STRUCT MEMBERS: - * nSize : Size of Structure in bytes - * nVersion : OpenMAX IL specification version information - * nPortIndex : Index of the port to which this structure applies - * nMin : Minimum value - * nMax : Maximum value - * nSteSize : Step size - */ -typedef struct QOMX_EXTNINDEX_RANGETYPE { - OMX_U32 nSize; - OMX_VERSIONTYPE nVersion; - OMX_U32 nPortIndex; - OMX_S32 nMin; - OMX_S32 nMax; - OMX_S32 nStepSize; -} QOMX_EXTNINDEX_RANGETYPE; - -/** - * Specifies LTR mode types. - */ -typedef enum QOMX_VIDEO_LTRMODETYPE -{ - QOMX_VIDEO_LTRMode_Disable = 0x0, /**< LTR encoding is disabled */ - QOMX_VIDEO_LTRMode_Manual = 0x1, /**< In this mode, IL client configures - ** the encoder the LTR count and manually - ** controls the marking and use of LTR - ** frames during video encoding. - */ - QOMX_VIDEO_LTRMode_Auto = 0x2, /**< In this mode, IL client configures - ** the encoder the LTR count and LTR - ** period. The encoder marks LTR frames - ** automatically based on the LTR period - ** during video encoding. IL client controls - ** the use of LTR frames. - */ - QOMX_VIDEO_LTRMode_MAX = 0x7FFFFFFF /** Maximum LTR Mode type */ -} QOMX_VIDEO_LTRMODETYPE; - -/** - * LTR mode index parameter. This structure is used - * to enable vendor specific extension on output port - * to pass the LTR mode information. - * - * STRUCT MEMBERS: - * nSize : Size of Structure in bytes - * nVersion : OpenMAX IL specification version information - * nPortIndex : Index of the port to which this structure applies - * eLTRMode : Specifies the LTR mode used in encoder - */ -typedef struct QOMX_VIDEO_PARAM_LTRMODE_TYPE { - OMX_U32 nSize; - OMX_VERSIONTYPE nVersion; - OMX_U32 nPortIndex; - QOMX_VIDEO_LTRMODETYPE eLTRMode; -} QOMX_VIDEO_PARAM_LTRMODE_TYPE; - -/** - * LTR count index parameter. This structure is used - * to enable vendor specific extension on output port - * to pass the LTR count information. - * - * STRUCT MEMBERS: - * nSize : Size of Structure in bytes - * nVersion : OpenMAX IL specification version information - * nPortIndex : Index of the port to which this structure applies - * nCount : Specifies the number of LTR frames stored in the - * encoder component - */ -typedef struct QOMX_VIDEO_PARAM_LTRCOUNT_TYPE { - OMX_U32 nSize; - OMX_VERSIONTYPE nVersion; - OMX_U32 nPortIndex; - OMX_U32 nCount; -} QOMX_VIDEO_PARAM_LTRCOUNT_TYPE; - - -/** - * This should be used with OMX_QcomIndexParamVideoLTRCount extension. - */ -typedef QOMX_VIDEO_PARAM_LTRCOUNT_TYPE OMX_QCOM_VIDEO_PARAM_LTRCOUNT_TYPE; - -/** - * LTR period index parameter. This structure is used - * to enable vendor specific extension on output port - * to pass the LTR period information. - * - * STRUCT MEMBERS: - * nSize : Size of Structure in bytes - * nVersion : OpenMAX IL specification version information - * nPortIndex : Index of the port to which this structure applies - * nFrames : Specifies the number of frames between two consecutive - * LTR frames. - */ -typedef struct QOMX_VIDEO_CONFIG_LTRPERIOD_TYPE { - OMX_U32 nSize; - OMX_VERSIONTYPE nVersion; - OMX_U32 nPortIndex; - OMX_U32 nFrames; -} QOMX_VIDEO_CONFIG_LTRPERIOD_TYPE; - -/** - * Marks the next encoded frame as an LTR frame. - * STRUCT MEMBERS: - * nSize : Size of Structure in bytes - * nVersion : OpenMAX IL specification version information - * nPortIndex : Index of the port to which this structure applies - * nID : Specifies the identifier of the LTR frame to be marked - * as reference frame for encoding subsequent frames. - */ -typedef struct QOMX_VIDEO_CONFIG_LTRMARK_TYPE { - OMX_U32 nSize; - OMX_VERSIONTYPE nVersion; - OMX_U32 nPortIndex; - OMX_U32 nID; -} QOMX_VIDEO_CONFIG_LTRMARK_TYPE; - -/** - * This should be used with OMX_QcomIndexConfigVideoLTRMark extension. - */ -typedef QOMX_VIDEO_CONFIG_LTRMARK_TYPE OMX_QCOM_VIDEO_CONFIG_LTRMARK_TYPE; - -/** - * Specifies an LTR frame to encode subsequent frames. - * STRUCT MEMBERS: - * nSize : Size of Structure in bytes - * nVersion : OpenMAX IL specification version information - * nPortIndex : Index of the port to which this structure applies - * nID : Specifies the identifier of the LTR frame to be used - as reference frame for encoding subsequent frames. - * nFrames : Specifies the number of subsequent frames to be - encoded using the LTR frame with its identifier - nID as reference frame. Short-term reference frames - will be used thereafter. The value of 0xFFFFFFFF - indicates that all subsequent frames will be - encodedusing this LTR frame as reference frame. - */ -typedef struct QOMX_VIDEO_CONFIG_LTRUSE_TYPE { - OMX_U32 nSize; - OMX_VERSIONTYPE nVersion; - OMX_U32 nPortIndex; - OMX_U32 nID; - OMX_U32 nFrames; -} QOMX_VIDEO_CONFIG_LTRUSE_TYPE; - -/** - * This should be used with OMX_QcomIndexConfigVideoLTRUse extension. - */ -typedef QOMX_VIDEO_CONFIG_LTRUSE_TYPE OMX_QCOM_VIDEO_CONFIG_LTRUSE_TYPE; - -/** - * Enumeration used to define the video encoder modes - * - * ENUMS: - * EncoderModeDefault : Default video recording mode. - * All encoder settings made through - * OMX_SetParameter/OMX_SetConfig are applied. No - * parameter is overridden. - * EncoderModeMMS : Video recording mode for MMS (Multimedia Messaging - * Service). This mode is similar to EncoderModeDefault - * except that here the Rate control mode is overridden - * internally and set as a variant of variable bitrate with - * variable frame rate. After this mode is set if the IL - * client tries to set OMX_VIDEO_CONTROLRATETYPE via - * OMX_IndexParamVideoBitrate that would be rejected. For - * this, client should set mode back to EncoderModeDefault - * first and then change OMX_VIDEO_CONTROLRATETYPE. - */ -typedef enum QOMX_VIDEO_ENCODERMODETYPE -{ - QOMX_VIDEO_EncoderModeDefault = 0x00, - QOMX_VIDEO_EncoderModeMMS = 0x01, - QOMX_VIDEO_EncoderModeMax = 0x7FFFFFFF -} QOMX_VIDEO_ENCODERMODETYPE; - -/** - * This structure is used to set the video encoder mode. - * - * STRUCT MEMBERS: - * nSize : Size of the structure in bytes - * nVersion : OMX specification version info - * nPortIndex : Port that this structure applies to - * nMode : defines the video encoder mode - */ -typedef struct QOMX_VIDEO_PARAM_ENCODERMODETYPE { - OMX_U32 nSize; - OMX_VERSIONTYPE nVersion; - OMX_U32 nPortIndex; - QOMX_VIDEO_ENCODERMODETYPE nMode; -} QOMX_VIDEO_PARAM_ENCODERMODETYPE; - -/** - * This structure describes the parameters corresponding to the - * QOMX_VIDEO_SYNTAXHDRTYPE extension. This parameter can be queried - * during the loaded state. - */ - -typedef struct QOMX_VIDEO_SYNTAXHDRTYPE -{ - OMX_U32 nSize; /** Size of the structure in bytes */ - OMX_VERSIONTYPE nVersion;/** OMX specification version information */ - OMX_U32 nPortIndex; /** Portindex which is extended by this structure */ - OMX_U32 nBytes; /** The number of bytes filled in to the buffer */ - OMX_U8 data[1]; /** Buffer to store the header information */ -} QOMX_VIDEO_SYNTAXHDRTYPE; - -/** - * This structure describes the parameters corresponding to the - * QOMX_VIDEO_TEMPORALSPATIALTYPE extension. This parameter can be set - * dynamically during any state except the state invalid. This is primarily - * used for setting MaxQP from the application. This is set on the out port. - */ - -typedef struct QOMX_VIDEO_TEMPORALSPATIALTYPE -{ - OMX_U32 nSize; /** Size of the structure in bytes */ - OMX_VERSIONTYPE nVersion;/** OMX specification version information */ - OMX_U32 nPortIndex; /** Portindex which is extended by this structure */ - OMX_U32 nTSFactor; /** Temoral spatial tradeoff factor value in 0-100 */ -} QOMX_VIDEO_TEMPORALSPATIALTYPE; - -/** - * This structure describes the parameters corresponding to the - * OMX_QCOM_VIDEO_CONFIG_INTRAPERIODTYPE extension. This parameter can be set - * dynamically during any state except the state invalid. This is set on the out port. - */ - -typedef struct QOMX_VIDEO_INTRAPERIODTYPE -{ - OMX_U32 nSize; /** Size of the structure in bytes */ - OMX_VERSIONTYPE nVersion;/** OMX specification version information */ - OMX_U32 nPortIndex; /** Portindex which is extended by this structure */ - OMX_U32 nIDRPeriod; /** This specifies coding a frame as IDR after every nPFrames - of intra frames. If this parameter is set to 0, only the - first frame of the encode session is an IDR frame. This - field is ignored for non-AVC codecs and is used only for - codecs that support IDR Period */ - OMX_U32 nPFrames; /** The number of "P" frames between two "I" frames */ - OMX_U32 nBFrames; /** The number of "B" frames between two "I" frames */ -} QOMX_VIDEO_INTRAPERIODTYPE; - -/** - * This structure describes the parameters corresponding to the - * OMX_QCOM_VIDEO_CONFIG_ULBUFFEROCCUPANCYTYPE extension. This parameter can be set - * dynamically during any state except the state invalid. This is used for the buffer negotiation - * with other clients. This is set on the out port. - */ -typedef struct OMX_QCOM_VIDEO_CONFIG_ULBUFFEROCCUPANCYTYPE -{ - OMX_U32 nSize; /** Size of the structure in bytes */ - OMX_VERSIONTYPE nVersion; /** OMX specification version information */ - OMX_U32 nPortIndex; /** Portindex which is extended by this structure */ - OMX_U32 nBufferOccupancy; /** The number of bytes to be set for the buffer occupancy */ -} OMX_QCOM_VIDEO_CONFIG_ULBUFFEROCCUPANCYTYPE; - -/** - * This structure describes the parameters corresponding to the - * OMX_QCOM_VIDEO_CONFIG_RANDOMINTRAREFRESHTYPE extension. This parameter can be set - * dynamically during any state except the state invalid. This is primarily used for the dynamic/random - * intrarefresh. This is set on the out port. - */ -typedef struct OMX_QCOM_VIDEO_CONFIG_RANDOMINTRAREFRESHTYPE -{ - OMX_U32 nSize; /** Size of the structure in bytes */ - OMX_VERSIONTYPE nVersion;/** OMX specification version information */ - OMX_U32 nPortIndex; /** Portindex which is extended by this structure */ - OMX_U32 nRirMBs; /** The number of MBs to be set for intrarefresh */ -} OMX_QCOM_VIDEO_CONFIG_RANDOMINTRAREFRESHTYPE; - - -/** - * This structure describes the parameters corresponding to the - * OMX_QCOM_VIDEO_CONFIG_QPRANGE extension. This parameter can be set - * dynamically during any state except the state invalid. This is primarily - * used for the min/max QP to be set from the application. This - * is set on the out port. - */ -typedef struct OMX_QCOM_VIDEO_CONFIG_QPRANGE -{ - OMX_U32 nSize; /** Size of the structure in bytes */ - OMX_VERSIONTYPE nVersion;/** OMX specification version information */ - OMX_U32 nPortIndex; /** Portindex which is extended by this structure */ - OMX_U32 nMinQP; /** The number for minimum quantization parameter */ - OMX_U32 nMaxQP; /** The number for maximum quantization parameter */ -} OMX_QCOM_VIDEO_CONFIG_QPRANGE; - -/** - * This structure describes the parameters for the - * OMX_QcomIndexParamH264AUDelimiter extension. It enables/disables - * the AU delimiters in the H264 stream, which is used by WFD. - */ -typedef struct OMX_QCOM_VIDEO_CONFIG_H264_AUD -{ - OMX_U32 nSize; /** Size of the structure in bytes */ - OMX_VERSIONTYPE nVersion;/** OMX specification version information */ - OMX_BOOL bEnable; /** Enable/disable the setting */ -} OMX_QCOM_VIDEO_CONFIG_H264_AUD; - -typedef enum QOMX_VIDEO_PERF_LEVEL -{ - OMX_QCOM_PerfLevelNominal, - OMX_QCOM_PerfLevelTurbo -} QOMX_VIDEO_PERF_LEVEL; - -/** - * This structure describes the parameters corresponding - * to OMX_QcomIndexParamPerfLevel extension. It will set - * the performance mode specified as QOMX_VIDEO_PERF_LEVEL. - */ -typedef struct OMX_QCOM_VIDEO_PARAM_PERF_LEVEL { - OMX_U32 nSize; /** Size of the structure in bytes */ - OMX_VERSIONTYPE nVersion; /** OMX specification version information */ - QOMX_VIDEO_PERF_LEVEL ePerfLevel; /** Performance level */ -} OMX_QCOM_VIDEO_PARAM_PERF_LEVEL; - -/** - * This structure describes the parameters corresponding - * to OMX_QcomIndexConfigPerfLevel extension. It will set - * the performance mode specified as QOMX_VIDEO_PERF_LEVEL. - */ -typedef struct OMX_QCOM_VIDEO_CONFIG_PERF_LEVEL { - OMX_U32 nSize; /** Size of the structure in bytes */ - OMX_VERSIONTYPE nVersion; /** OMX specification version information */ - QOMX_VIDEO_PERF_LEVEL ePerfLevel; /** Performance level */ -} OMX_QCOM_VIDEO_CONFIG_PERF_LEVEL; - -typedef enum QOMX_VIDEO_PICTURE_TYPE_DECODE -{ - OMX_QCOM_PictypeDecode_IPB, - OMX_QCOM_PictypeDecode_I -} QOMX_VIDEO_PICTURE_TYPE_DECODE; - -/** - * This structure describes the parameters corresponding - * to OMX_QcomIndexConfigPictureTypeDecode extension. It - * will set the picture type decode specified by eDecodeType. - */ -typedef struct OMX_QCOM_VIDEO_CONFIG_PICTURE_TYPE_DECODE { - OMX_U32 nSize; /** Size of the structure in bytes */ - OMX_VERSIONTYPE nVersion; /** OMX specification version information */ - QOMX_VIDEO_PICTURE_TYPE_DECODE eDecodeType; /** Decode type */ -} OMX_QCOM_VIDEO_CONFIG_PICTURE_TYPE_DECODE; - -/** - * This structure describes the parameters corresponding - * to OMX_QcomIndexParamH264VUITimingInfo extension. It - * will enable/disable the VUI timing info. - */ -typedef struct OMX_QCOM_VIDEO_PARAM_VUI_TIMING_INFO { - OMX_U32 nSize; /** Size of the structure in bytes */ - OMX_VERSIONTYPE nVersion; /** OMX specification version information */ - OMX_BOOL bEnable; /** Enable/disable the setting */ -} OMX_QCOM_VIDEO_PARAM_VUI_TIMING_INFO; - -/** - * This structure describes the parameters corresponding - * to OMX_QcomIndexParamVQZIPSEIType extension. It - * will enable/disable the VQZIP SEI info. - */ -typedef struct OMX_QTI_VIDEO_PARAM_VQZIP_SEI_TYPE { - OMX_U32 nSize; /** Size of the structure in bytes */ - OMX_VERSIONTYPE nVersion; /** OMX specification version information */ - OMX_BOOL bEnable; /** Enable/disable the setting */ -} OMX_QTI_VIDEO_PARAM_VQZIP_SEI_TYPE; - -/** - * This structure describes the parameters corresponding - * to OMX_QcomIndexParamPeakBitrate extension. It will - * set the peak bitrate specified by nPeakBitrate. - */ -typedef struct OMX_QCOM_VIDEO_PARAM_PEAK_BITRATE { - OMX_U32 nSize; /** Size of the structure in bytes */ - OMX_VERSIONTYPE nVersion; /** OMX specification version information */ - OMX_U32 nPeakBitrate; /** Peak bitrate value */ -} OMX_QCOM_VIDEO_PARAM_PEAK_BITRATE; - -/** - * This structure describes the parameters corresponding - * to OMX_QTIIndexParamForceCompressedForDPB extension. Enabling - * this extension will force the split mode DPB(compressed)/OPB(Linear) - * for all resolutions.On some chipsets preferred mode would be combined - * Linear for both DPB/OPB to save memory. For example on 8996 preferred mode - * would be combined linear for resolutions <= 1080p . - * Enabling this might save power but with the cost - * of increased memory i.e almost double the number on output YUV buffers. - */ -typedef struct OMX_QTI_VIDEO_PARAM_FORCE_COMPRESSED_FOR_DPB_TYPE { - OMX_U32 nSize; /** Size of the structure in bytes */ - OMX_VERSIONTYPE nVersion; /** OMX specification version information */ - OMX_BOOL bEnable; /** Enable/disable the setting */ -} OMX_QTI_VIDEO_PARAM_FORCE_COMPRESSED_FOR_DPB_TYPE; - -/** - * This structure describes the parameters corresponding - * to OMX_QTIIndexParamForceUnCompressedForOPB extension. Enabling this - * extension will force the OPB to be linear for the current video session. - * If this property is not set, then the OPB will be set to linear or compressed - * based on resolution selected and/or if cpu access is requested on the - * OPB buffer. - */ -typedef struct OMX_QTI_VIDEO_PARAM_FORCE_UNCOMPRESSED_FOR_OPB_TYPE { - OMX_U32 nSize; /** Sizeo f the structure in bytes */ - OMX_VERSIONTYPE nVersion; /** OMX specification version information */ - OMX_BOOL bEnable; /** Enable/disable the setting */ -} OMX_QTI_VIDEO_PARAM_FORCE_UNCOMPRESSED_FOR_OPB_TYPE; - -typedef struct OMX_VENDOR_EXTRADATATYPE { - OMX_U32 nPortIndex; - OMX_U32 nDataSize; - OMX_U8 *pData; // cdata (codec_data/extradata) -} OMX_VENDOR_EXTRADATATYPE; - -/** - * This structure describes the parameters corresponding to the - * OMX_VENDOR_VIDEOFRAMERATE extension. This parameter can be set - * dynamically during any state except the state invalid. This is - * used for frame rate to be set from the application. This - * is set on the in port. - */ -typedef struct OMX_VENDOR_VIDEOFRAMERATE { - OMX_U32 nSize; /** Size of the structure in bytes */ - OMX_VERSIONTYPE nVersion;/** OMX specification version information */ - OMX_U32 nPortIndex; /** Portindex which is extended by this structure */ - OMX_U32 nFps; /** Frame rate value */ - OMX_BOOL bEnabled; /** Flag to enable or disable client's frame rate value */ -} OMX_VENDOR_VIDEOFRAMERATE; - -typedef enum OMX_INDEXVENDORTYPE { - OMX_IndexVendorFileReadInputFilename = 0xFF000001, - OMX_IndexVendorParser3gpInputFilename = 0xFF000002, - OMX_IndexVendorVideoExtraData = 0xFF000003, - OMX_IndexVendorAudioExtraData = 0xFF000004, - OMX_IndexVendorVideoFrameRate = 0xFF000005, -} OMX_INDEXVENDORTYPE; - -typedef enum OMX_QCOM_VC1RESOLUTIONTYPE -{ - OMX_QCOM_VC1_PICTURE_RES_1x1, - OMX_QCOM_VC1_PICTURE_RES_2x1, - OMX_QCOM_VC1_PICTURE_RES_1x2, - OMX_QCOM_VC1_PICTURE_RES_2x2 -} OMX_QCOM_VC1RESOLUTIONTYPE; - -typedef enum OMX_QCOM_INTERLACETYPE -{ - OMX_QCOM_InterlaceFrameProgressive, - OMX_QCOM_InterlaceInterleaveFrameTopFieldFirst, - OMX_QCOM_InterlaceInterleaveFrameBottomFieldFirst, - OMX_QCOM_InterlaceFrameTopFieldFirst, - OMX_QCOM_InterlaceFrameBottomFieldFirst, - OMX_QCOM_InterlaceFieldTop, - OMX_QCOM_InterlaceFieldBottom -}OMX_QCOM_INTERLACETYPE; - -typedef struct OMX_QCOM_PARAM_VIDEO_INTERLACETYPE -{ - OMX_U32 nSize; /** Size of the structure in bytes */ - OMX_VERSIONTYPE nVersion;/** OMX specification version information */ - OMX_U32 nPortIndex; /** Portindex which is extended by this structure */ - OMX_BOOL bInterlace; /** Interlace content **/ -}OMX_QCOM_PARAM_VIDEO_INTERLACETYPE; - -typedef struct OMX_QCOM_CONFIG_INTERLACETYPE -{ - OMX_U32 nSize; - OMX_VERSIONTYPE nVersion; - OMX_U32 nPortIndex; - OMX_U32 nIndex; - OMX_QCOM_INTERLACETYPE eInterlaceType; -}OMX_QCOM_CONFIG_INTERLACETYPE; - -#define MAX_PAN_SCAN_WINDOWS 4 - -typedef struct OMX_QCOM_PANSCAN -{ - OMX_U32 numWindows; - OMX_QCOMRectangle window[MAX_PAN_SCAN_WINDOWS]; -} OMX_QCOM_PANSCAN; - -typedef struct OMX_QCOM_ASPECT_RATIO -{ - OMX_U32 aspectRatioX; - OMX_U32 aspectRatioY; -} OMX_QCOM_ASPECT_RATIO; - -typedef struct OMX_QCOM_DISPLAY_ASPECT_RATIO -{ - OMX_U32 displayVerticalSize; - OMX_U32 displayHorizontalSize; -} OMX_QCOM_DISPLAY_ASPECT_RATIO; - -typedef struct OMX_QCOM_FRAME_PACK_ARRANGEMENT -{ - OMX_U32 nSize; - OMX_VERSIONTYPE nVersion; - OMX_U32 nPortIndex; - OMX_U32 id; - OMX_U32 cancel_flag; - OMX_U32 type; - OMX_U32 quincunx_sampling_flag; - OMX_U32 content_interpretation_type; - OMX_U32 spatial_flipping_flag; - OMX_U32 frame0_flipped_flag; - OMX_U32 field_views_flag; - OMX_U32 current_frame_is_frame0_flag; - OMX_U32 frame0_self_contained_flag; - OMX_U32 frame1_self_contained_flag; - OMX_U32 frame0_grid_position_x; - OMX_U32 frame0_grid_position_y; - OMX_U32 frame1_grid_position_x; - OMX_U32 frame1_grid_position_y; - OMX_U32 reserved_byte; - OMX_U32 repetition_period; - OMX_U32 extension_flag; -} OMX_QCOM_FRAME_PACK_ARRANGEMENT; - -typedef struct OMX_QCOM_EXTRADATA_QP -{ - OMX_U32 nQP; -} OMX_QCOM_EXTRADATA_QP; - -typedef struct OMX_QCOM_EXTRADATA_BITS_INFO -{ - OMX_U32 header_bits; - OMX_U32 frame_bits; -} OMX_QCOM_EXTRADATA_BITS_INFO; - -typedef struct OMX_QCOM_EXTRADATA_USERDATA { - OMX_U32 type; - OMX_U32 data[1]; -} OMX_QCOM_EXTRADATA_USERDATA; - -typedef struct OMX_QCOM_EXTRADATA_FRAMEINFO -{ - // common frame meta data. interlace related info removed - OMX_VIDEO_PICTURETYPE ePicType; - OMX_QCOM_INTERLACETYPE interlaceType; - OMX_QCOM_PANSCAN panScan; - OMX_QCOM_ASPECT_RATIO aspectRatio; - OMX_QCOM_DISPLAY_ASPECT_RATIO displayAspectRatio; - OMX_U32 nConcealedMacroblocks; - OMX_U32 nFrameRate; - OMX_TICKS nTimeStamp; -} OMX_QCOM_EXTRADATA_FRAMEINFO; - -typedef struct OMX_QCOM_EXTRADATA_FRAMEDIMENSION -{ - /** Frame Dimensions added to each YUV buffer */ - OMX_U32 nDecWidth; /** Width rounded to multiple of 16 */ - OMX_U32 nDecHeight; /** Height rounded to multiple of 16 */ - OMX_U32 nActualWidth; /** Actual Frame Width */ - OMX_U32 nActualHeight; /** Actual Frame Height */ - -} OMX_QCOM_EXTRADATA_FRAMEDIMENSION; - -typedef struct OMX_QCOM_H264EXTRADATA -{ - OMX_U64 seiTimeStamp; -} OMX_QCOM_H264EXTRADATA; - -typedef struct OMX_QCOM_VC1EXTRADATA -{ - OMX_U32 nVC1RangeY; - OMX_U32 nVC1RangeUV; - OMX_QCOM_VC1RESOLUTIONTYPE eVC1PicResolution; -} OMX_QCOM_VC1EXTRADATA; - -typedef union OMX_QCOM_EXTRADATA_CODEC_DATA -{ - OMX_QCOM_H264EXTRADATA h264ExtraData; - OMX_QCOM_VC1EXTRADATA vc1ExtraData; -} OMX_QCOM_EXTRADATA_CODEC_DATA; - -typedef struct OMX_QCOM_EXTRADATA_MBINFO -{ - OMX_U32 nFormat; - OMX_U32 nDataSize; - OMX_U8 data[0]; -} OMX_QCOM_EXTRADATA_MBINFO; - -typedef struct OMX_QCOM_EXTRADATA_VQZIPSEI { - OMX_U32 nSize; - OMX_U8 data[0]; -} OMX_QCOM_EXTRADATA_VQZIPSEI; - -typedef struct OMX_QTI_VIDEO_PARAM_ENABLE_ROIINFO { - OMX_U32 nSize; - OMX_VERSIONTYPE nVersion; - OMX_U32 nPortIndex; - OMX_BOOL bEnableRoiInfo; -} OMX_QTI_VIDEO_PARAM_ENABLE_ROIINFO; - -typedef struct OMX_QTI_VIDEO_CONFIG_ROIINFO { - OMX_U32 nSize; - OMX_VERSIONTYPE nVersion; - OMX_U32 nPortIndex; - OMX_S32 nUpperQpOffset; - OMX_S32 nLowerQpOffset; - OMX_BOOL bUseRoiInfo; - OMX_S32 nRoiMBInfoSize; - OMX_PTR pRoiMBInfo; -} OMX_QTI_VIDEO_CONFIG_ROIINFO; - -typedef enum OMX_QCOM_EXTRADATATYPE -{ - OMX_ExtraDataFrameInfo = 0x7F000001, - OMX_ExtraDataH264 = 0x7F000002, - OMX_ExtraDataVC1 = 0x7F000003, - OMX_ExtraDataFrameDimension = 0x7F000004, - OMX_ExtraDataVideoEncoderSliceInfo = 0x7F000005, - OMX_ExtraDataConcealMB = 0x7F000006, - OMX_ExtraDataInterlaceFormat = 0x7F000007, - OMX_ExtraDataPortDef = 0x7F000008, - OMX_ExtraDataMP2ExtnData = 0x7F000009, - OMX_ExtraDataMP2UserData = 0x7F00000a, - OMX_ExtraDataVideoLTRInfo = 0x7F00000b, - OMX_ExtraDataFramePackingArrangement = 0x7F00000c, - OMX_ExtraDataQP = 0x7F00000d, - OMX_ExtraDataInputBitsInfo = 0x7F00000e, - OMX_ExtraDataVideoEncoderMBInfo = 0x7F00000f, - OMX_ExtraDataVQZipSEI = 0x7F000010, -} OMX_QCOM_EXTRADATATYPE; - -typedef struct OMX_STREAMINTERLACEFORMATTYPE { - OMX_U32 nSize; - OMX_VERSIONTYPE nVersion; - OMX_U32 nPortIndex; - OMX_BOOL bInterlaceFormat; - OMX_U32 nInterlaceFormats; -} OMX_STREAMINTERLACEFORMAT; - -typedef enum OMX_INTERLACETYPE -{ - OMX_InterlaceFrameProgressive, - OMX_InterlaceInterleaveFrameTopFieldFirst, - OMX_InterlaceInterleaveFrameBottomFieldFirst, - OMX_InterlaceFrameTopFieldFirst, - OMX_InterlaceFrameBottomFieldFirst -} OMX_INTERLACES; - - -#define OMX_EXTRADATA_HEADER_SIZE 20 - -/** - * AVC profile types, each profile indicates support for various - * performance bounds and different annexes. - */ -typedef enum QOMX_VIDEO_AVCPROFILETYPE { - QOMX_VIDEO_AVCProfileBaseline = OMX_VIDEO_AVCProfileBaseline, - QOMX_VIDEO_AVCProfileMain = OMX_VIDEO_AVCProfileMain, - QOMX_VIDEO_AVCProfileExtended = OMX_VIDEO_AVCProfileExtended, - QOMX_VIDEO_AVCProfileHigh = OMX_VIDEO_AVCProfileHigh, - QOMX_VIDEO_AVCProfileHigh10 = OMX_VIDEO_AVCProfileHigh10, - QOMX_VIDEO_AVCProfileHigh422 = OMX_VIDEO_AVCProfileHigh422, - QOMX_VIDEO_AVCProfileHigh444 = OMX_VIDEO_AVCProfileHigh444, - /* QCom specific profile indexes */ - QOMX_VIDEO_AVCProfileConstrained = OMX_VIDEO_AVCProfileVendorStartUnused, - QOMX_VIDEO_AVCProfileConstrainedBaseline, - QOMX_VIDEO_AVCProfileConstrainedHigh, -} QOMX_VIDEO_AVCPROFILETYPE; - - -/** - * H.264 MVC Profiles - */ -typedef enum QOMX_VIDEO_MVCPROFILETYPE { - QOMX_VIDEO_MVCProfileStereoHigh = 0x1, - QOMX_VIDEO_MVCProfileMultiViewHigh = 0x2, - QOMX_VIDEO_MVCProfileKhronosExtensions = 0x6F000000, - QOMX_VIDEO_MVCProfileVendorStartUnused = 0x7F000000, - QOMX_VIDEO_MVCProfileMax = 0x7FFFFFFF -} QOMX_VIDEO_MVCPROFILETYPE; - -/** - * H.264 MVC Levels - */ -typedef enum QOMX_VIDEO_MVCLEVELTYPE { - QOMX_VIDEO_MVCLevel1 = 0x01, /**< Level 1 */ - QOMX_VIDEO_MVCLevel1b = 0x02, /**< Level 1b */ - QOMX_VIDEO_MVCLevel11 = 0x04, /**< Level 1.1 */ - QOMX_VIDEO_MVCLevel12 = 0x08, /**< Level 1.2 */ - QOMX_VIDEO_MVCLevel13 = 0x10, /**< Level 1.3 */ - QOMX_VIDEO_MVCLevel2 = 0x20, /**< Level 2 */ - QOMX_VIDEO_MVCLevel21 = 0x40, /**< Level 2.1 */ - QOMX_VIDEO_MVCLevel22 = 0x80, /**< Level 2.2 */ - QOMX_VIDEO_MVCLevel3 = 0x100, /**< Level 3 */ - QOMX_VIDEO_MVCLevel31 = 0x200, /**< Level 3.1 */ - QOMX_VIDEO_MVCLevel32 = 0x400, /**< Level 3.2 */ - QOMX_VIDEO_MVCLevel4 = 0x800, /**< Level 4 */ - QOMX_VIDEO_MVCLevel41 = 0x1000, /**< Level 4.1 */ - QOMX_VIDEO_MVCLevel42 = 0x2000, /**< Level 4.2 */ - QOMX_VIDEO_MVCLevel5 = 0x4000, /**< Level 5 */ - QOMX_VIDEO_MVCLevel51 = 0x8000, /**< Level 5.1 */ - QOMX_VIDEO_MVCLevelKhronosExtensions = 0x6F000000, - QOMX_VIDEO_MVCLevelVendorStartUnused = 0x7F000000, - QOMX_VIDEO_MVCLevelMax = 0x7FFFFFFF -} QOMX_VIDEO_MVCLEVELTYPE; - -/** - * DivX Versions - */ -typedef enum QOMX_VIDEO_DIVXFORMATTYPE { - QOMX_VIDEO_DIVXFormatUnused = 0x01, /**< Format unused or unknown */ - QOMX_VIDEO_DIVXFormat311 = 0x02, /**< DivX 3.11 */ - QOMX_VIDEO_DIVXFormat4 = 0x04, /**< DivX 4 */ - QOMX_VIDEO_DIVXFormat5 = 0x08, /**< DivX 5 */ - QOMX_VIDEO_DIVXFormat6 = 0x10, /**< DivX 6 */ - QOMX_VIDEO_DIVXFormatKhronosExtensions = 0x6F000000, - QOMX_VIDEO_DIVXFormatVendorStartUnused = 0x7F000000, - QOMX_VIDEO_DIVXFormatMax = 0x7FFFFFFF -} QOMX_VIDEO_DIVXFORMATTYPE; - -/** - * DivX profile types, each profile indicates support for - * various performance bounds. - */ -typedef enum QOMX_VIDEO_DIVXPROFILETYPE { - QOMX_VIDEO_DivXProfileqMobile = 0x01, /**< qMobile Profile */ - QOMX_VIDEO_DivXProfileMobile = 0x02, /**< Mobile Profile */ - QOMX_VIDEO_DivXProfileMT = 0x04, /**< Mobile Theatre Profile */ - QOMX_VIDEO_DivXProfileHT = 0x08, /**< Home Theatre Profile */ - QOMX_VIDEO_DivXProfileHD = 0x10, /**< High Definition Profile */ - QOMX_VIDEO_DIVXProfileKhronosExtensions = 0x6F000000, - QOMX_VIDEO_DIVXProfileVendorStartUnused = 0x7F000000, - QOMX_VIDEO_DIVXProfileMax = 0x7FFFFFFF -} QOMX_VIDEO_DIVXPROFILETYPE; - -/** - * DivX Video Params - * - * STRUCT MEMBERS: - * nSize : Size of the structure in bytes - * nVersion : OMX specification version information - * nPortIndex : Port that this structure applies to - * eFormat : Version of DivX stream / data - * eProfile : Profile of DivX stream / data - */ -typedef struct QOMX_VIDEO_PARAM_DIVXTYPE { - OMX_U32 nSize; - OMX_VERSIONTYPE nVersion; - OMX_U32 nPortIndex; - QOMX_VIDEO_DIVXFORMATTYPE eFormat; - QOMX_VIDEO_DIVXPROFILETYPE eProfile; -} QOMX_VIDEO_PARAM_DIVXTYPE; - - - -/** - * VP Versions - */ -typedef enum QOMX_VIDEO_VPFORMATTYPE { - QOMX_VIDEO_VPFormatUnused = 0x01, /**< Format unused or unknown */ - QOMX_VIDEO_VPFormat6 = 0x02, /**< VP6 Video Format */ - QOMX_VIDEO_VPFormat7 = 0x04, /**< VP7 Video Format */ - QOMX_VIDEO_VPFormat8 = 0x08, /**< VP8 Video Format */ - QOMX_VIDEO_VPFormat9 = 0x10, /**< VP9 Video Format */ - QOMX_VIDEO_VPFormatKhronosExtensions = 0x6F000000, - QOMX_VIDEO_VPFormatVendorStartUnused = 0x7F000000, - QOMX_VIDEO_VPFormatMax = 0x7FFFFFFF -} QOMX_VIDEO_VPFORMATTYPE; - -/** - * VP profile types, each profile indicates support for various - * encoding tools. - */ -typedef enum QOMX_VIDEO_VPPROFILETYPE { - QOMX_VIDEO_VPProfileSimple = 0x01, /**< Simple Profile, applies to VP6 only */ - QOMX_VIDEO_VPProfileAdvanced = 0x02, /**< Advanced Profile, applies to VP6 only */ - QOMX_VIDEO_VPProfileVersion0 = 0x04, /**< Version 0, applies to VP7 and VP8 */ - QOMX_VIDEO_VPProfileVersion1 = 0x08, /**< Version 1, applies to VP7 and VP8 */ - QOMX_VIDEO_VPProfileVersion2 = 0x10, /**< Version 2, applies to VP8 only */ - QOMX_VIDEO_VPProfileVersion3 = 0x20, /**< Version 3, applies to VP8 only */ - QOMX_VIDEO_VPProfileKhronosExtensions = 0x6F000000, - QOMX_VIDEO_VPProfileVendorStartUnused = 0x7F000000, - QOMX_VIDEO_VPProfileMax = 0x7FFFFFFF -} QOMX_VIDEO_VPPROFILETYPE; - -/** - * VP Video Params - * - * STRUCT MEMBERS: - * nSize : Size of the structure in bytes - * nVersion : OMX specification version information - * nPortIndex : Port that this structure applies to - * eFormat : Format of VP stream / data - * eProfile : Profile or Version of VP stream / data - */ -typedef struct QOMX_VIDEO_PARAM_VPTYPE { - OMX_U32 nSize; - OMX_VERSIONTYPE nVersion; - OMX_U32 nPortIndex; - QOMX_VIDEO_VPFORMATTYPE eFormat; - QOMX_VIDEO_VPPROFILETYPE eProfile; -} QOMX_VIDEO_PARAM_VPTYPE; - -/** - * Spark Versions - */ -typedef enum QOMX_VIDEO_SPARKFORMATTYPE { - QOMX_VIDEO_SparkFormatUnused = 0x01, /**< Format unused or unknown */ - QOMX_VIDEO_SparkFormat0 = 0x02, /**< Video Format Version 0 */ - QOMX_VIDEO_SparkFormat1 = 0x04, /**< Video Format Version 1 */ - QOMX_VIDEO_SparkFormatKhronosExtensions = 0x6F000000, - QOMX_VIDEO_SparkFormatVendorStartUnused = 0x7F000000, - QOMX_VIDEO_SparkFormatMax = 0x7FFFFFFF -} QOMX_VIDEO_SPARKFORMATTYPE; - -/** - * Spark Video Params - * - * STRUCT MEMBERS: - * nSize : Size of the structure in bytes - * nVersion : OMX specification version information - * nPortIndex : Port that this structure applies to - * eFormat : Version of Spark stream / data - */ -typedef struct QOMX_VIDEO_PARAM_SPARKTYPE { - OMX_U32 nSize; - OMX_VERSIONTYPE nVersion; - OMX_U32 nPortIndex; - QOMX_VIDEO_SPARKFORMATTYPE eFormat; -} QOMX_VIDEO_PARAM_SPARKTYPE; - - -typedef struct QOMX_VIDEO_QUERY_DECODER_INSTANCES { - OMX_U32 nSize; - OMX_VERSIONTYPE nVersion; - OMX_U32 nPortIndex; - OMX_U32 nNumOfInstances; -} QOMX_VIDEO_QUERY_DECODER_INSTANCES; - -typedef struct QOMX_ENABLETYPE { - OMX_BOOL bEnable; -} QOMX_ENABLETYPE; - -typedef enum QOMX_VIDEO_EVENTS { - OMX_EventIndexsettingChanged = OMX_EventVendorStartUnused -} QOMX_VIDEO_EVENTS; - -typedef enum QOMX_VIDEO_PICTURE_ORDER { - QOMX_VIDEO_DISPLAY_ORDER = 0x1, - QOMX_VIDEO_DECODE_ORDER = 0x2 -} QOMX_VIDEO_PICTURE_ORDER; - -typedef struct QOMX_VIDEO_DECODER_PICTURE_ORDER { - OMX_U32 nSize; - OMX_VERSIONTYPE nVersion; - OMX_U32 nPortIndex; - QOMX_VIDEO_PICTURE_ORDER eOutputPictureOrder; -} QOMX_VIDEO_DECODER_PICTURE_ORDER; - -typedef struct QOMX_INDEXEXTRADATATYPE { - OMX_U32 nSize; - OMX_VERSIONTYPE nVersion; - OMX_U32 nPortIndex; - OMX_BOOL bEnabled; - OMX_INDEXTYPE nIndex; -} QOMX_INDEXEXTRADATATYPE; - -typedef struct QOMX_INDEXTIMESTAMPREORDER { - OMX_U32 nSize; - OMX_VERSIONTYPE nVersion; - OMX_U32 nPortIndex; - OMX_BOOL bEnable; -} QOMX_INDEXTIMESTAMPREORDER; - -typedef struct QOMX_INDEXDOWNSCALAR { - OMX_U32 nSize; - OMX_VERSIONTYPE nVersion; - OMX_U32 nPortIndex; - OMX_BOOL bEnable; -} QOMX_INDEXDOWNSCALAR; - -typedef struct QOMX_VIDEO_CUSTOM_BUFFERSIZE { - OMX_U32 nSize; - OMX_VERSIONTYPE nVersion; - OMX_U32 nPortIndex; - OMX_U32 nBufferSize; -} QOMX_VIDEO_CUSTOM_BUFFERSIZE; - -#define OMX_QCOM_INDEX_PARAM_VIDEO_SYNCFRAMEDECODINGMODE "OMX.QCOM.index.param.video.SyncFrameDecodingMode" -#define OMX_QCOM_INDEX_PARAM_INDEXEXTRADATA "OMX.QCOM.index.param.IndexExtraData" -#define OMX_QCOM_INDEX_PARAM_VIDEO_SLICEDELIVERYMODE "OMX.QCOM.index.param.SliceDeliveryMode" -#define OMX_QCOM_INDEX_PARAM_VIDEO_FRAMEPACKING_EXTRADATA "OMX.QCOM.index.param.video.FramePackingExtradata" -#define OMX_QCOM_INDEX_PARAM_VIDEO_QP_EXTRADATA "OMX.QCOM.index.param.video.QPExtradata" -#define OMX_QCOM_INDEX_PARAM_VIDEO_INPUTBITSINFO_EXTRADATA "OMX.QCOM.index.param.video.InputBitsInfoExtradata" -#define OMX_QCOM_INDEX_PARAM_VIDEO_EXTNUSER_EXTRADATA "OMX.QCOM.index.param.video.ExtnUserExtraData" -#define OMX_QCOM_INDEX_CONFIG_VIDEO_FRAMEPACKING_INFO "OMX.QCOM.index.config.video.FramePackingInfo" -#define OMX_QCOM_INDEX_PARAM_VIDEO_MPEG2SEQDISP_EXTRADATA "OMX.QCOM.index.param.video.Mpeg2SeqDispExtraData" - -#define OMX_QCOM_INDEX_PARAM_VIDEO_HIERSTRUCTURE "OMX.QCOM.index.param.video.HierStructure" -#define OMX_QCOM_INDEX_PARAM_VIDEO_LTRCOUNT "OMX.QCOM.index.param.video.LTRCount" -#define OMX_QCOM_INDEX_PARAM_VIDEO_LTRPERIOD "OMX.QCOM.index.param.video.LTRPeriod" -#define OMX_QCOM_INDEX_CONFIG_VIDEO_LTRUSE "OMX.QCOM.index.config.video.LTRUse" -#define OMX_QCOM_INDEX_CONFIG_VIDEO_LTRMARK "OMX.QCOM.index.config.video.LTRMark" -#define OMX_QCOM_INDEX_CONFIG_VIDEO_HIER_P_LAYERS "OMX.QCOM.index.config.video.hierplayers" -#define OMX_QCOM_INDEX_CONFIG_RECTANGLE_TYPE "OMX.QCOM.index.config.video.rectangle" -#define OMX_QCOM_INDEX_PARAM_VIDEO_BASE_LAYER_ID "OMX.QCOM.index.param.video.baselayerid" -#define OMX_QCOM_INDEX_CONFIG_VIDEO_QP "OMX.QCOM.index.config.video.qp" -#define OMX_QCOM_INDEX_PARAM_VIDEO_SAR "OMX.QCOM.index.param.video.sar" -#define OMX_QTI_INDEX_PARAM_VIDEO_LOW_LATENCY "OMX.QTI.index.param.video.LowLatency" - -#define OMX_QCOM_INDEX_PARAM_VIDEO_PASSINPUTBUFFERFD "OMX.QCOM.index.param.video.PassInputBufferFd" -#define OMX_QTI_INDEX_PARAM_VIDEO_PREFER_ADAPTIVE_PLAYBACK "OMX.QTI.index.param.video.PreferAdaptivePlayback" -#define OMX_QTI_INDEX_CONFIG_VIDEO_SETTIMEDATA "OMX.QTI.index.config.video.settimedata" -#define OMX_QTI_INDEX_PARAM_VIDEO_FORCE_COMPRESSED_FOR_DPB "OMX.QTI.index.param.video.ForceCompressedForDPB" -#define OMX_QTI_INDEX_PARAM_VIDEO_ENABLE_ROIINFO "OMX.QTI.index.param.enableRoiInfo" -#define OMX_QTI_INDEX_CONFIG_VIDEO_ROIINFO "OMX.QTI.index.config.RoiInfo" - -typedef enum { - QOMX_VIDEO_FRAME_PACKING_CHECKERBOARD = 0, - QOMX_VIDEO_FRAME_PACKING_COLUMN_INTERLEAVE = 1, - QOMX_VIDEO_FRAME_PACKING_ROW_INTERLEAVE = 2, - QOMX_VIDEO_FRAME_PACKING_SIDE_BY_SIDE = 3, - QOMX_VIDEO_FRAME_PACKING_TOP_BOTTOM = 4, - QOMX_VIDEO_FRAME_PACKING_TEMPORAL = 5, -} QOMX_VIDEO_FRAME_PACKING_ARRANGEMENT; - -typedef enum { - QOMX_VIDEO_CONTENT_UNSPECIFIED = 0, - QOMX_VIDEO_CONTENT_LR_VIEW = 1, - QOMX_VIDEO_CONTENT_RL_VIEW = 2, -} QOMX_VIDEO_CONTENT_INTERPRETATION; - -/** - * Specifies the extended picture types. These values should be - * OR'd along with the types defined in OMX_VIDEO_PICTURETYPE to - * signal all pictures types which are allowed. - * - * ENUMS: - * H.264 Specific Picture Types: IDR - */ -typedef enum QOMX_VIDEO_PICTURETYPE { - QOMX_VIDEO_PictureTypeIDR = OMX_VIDEO_PictureTypeVendorStartUnused + 0x1000 -} QOMX_VIDEO_PICTURETYPE; - -#define OMX_QCOM_INDEX_CONFIG_ACTIVE_REGION_DETECTION "OMX.QCOM.index.config.activeregiondetection" -#define OMX_QCOM_INDEX_CONFIG_ACTIVE_REGION_DETECTION_STATUS "OMX.QCOM.index.config.activeregiondetectionstatus" -#define OMX_QCOM_INDEX_CONFIG_SCALING_MODE "OMX.QCOM.index.config.scalingmode" -#define OMX_QCOM_INDEX_CONFIG_NOISEREDUCTION "OMX.QCOM.index.config.noisereduction" -#define OMX_QCOM_INDEX_CONFIG_IMAGEENHANCEMENT "OMX.QCOM.index.config.imageenhancement" -#define OMX_QCOM_INDEX_PARAM_HELDBUFFERCOUNT "OMX.QCOM.index.param.HeldBufferCount" /**< reference: QOMX_HELDBUFFERCOUNTTYPE */ - - -typedef struct QOMX_RECTTYPE { - OMX_S32 nLeft; - OMX_S32 nTop; - OMX_U32 nWidth; - OMX_U32 nHeight; -} QOMX_RECTTYPE; - -typedef struct QOMX_ACTIVEREGIONDETECTIONTYPE { - OMX_U32 nSize; - OMX_VERSIONTYPE nVersion; - OMX_U32 nPortIndex; - OMX_BOOL bEnable; - QOMX_RECTTYPE sROI; - OMX_U32 nNumExclusionRegions; - QOMX_RECTTYPE sExclusionRegions[1]; -} QOMX_ACTIVEREGIONDETECTIONTYPE; - -typedef struct QOMX_ACTIVEREGIONDETECTION_STATUSTYPE { - OMX_U32 nSize; - OMX_VERSIONTYPE nVersion; - OMX_U32 nPortIndex; - OMX_BOOL bDetected; - QOMX_RECTTYPE sDetectedRegion; -} QOMX_ACTIVEREGIONDETECTION_STATUSTYPE; - -typedef enum QOMX_SCALE_MODETYPE { - QOMX_SCALE_MODE_Normal, - QOMX_SCALE_MODE_Anamorphic, - QOMX_SCALE_MODE_Max = 0x7FFFFFFF -} QOMX_SCALE_MODETYPE; - -typedef struct QOMX_SCALINGMODETYPE { - OMX_U32 nSize; - OMX_VERSIONTYPE nVersion; - QOMX_SCALE_MODETYPE eScaleMode; -} QOMX_SCALINGMODETYPE; - -typedef struct QOMX_NOISEREDUCTIONTYPE { - OMX_U32 nSize; - OMX_VERSIONTYPE nVersion; - OMX_U32 nPortIndex; - OMX_BOOL bEnable; - OMX_BOOL bAutoMode; - OMX_S32 nNoiseReduction; -} QOMX_NOISEREDUCTIONTYPE; - -typedef struct QOMX_IMAGEENHANCEMENTTYPE { - OMX_U32 nSize; - OMX_VERSIONTYPE nVersion; - OMX_U32 nPortIndex; - OMX_BOOL bEnable; - OMX_BOOL bAutoMode; - OMX_S32 nImageEnhancement; -} QOMX_IMAGEENHANCEMENTTYPE; - -/* - * these are part of OMX1.2 but JB MR2 branch doesn't have them defined - * OMX_IndexParamInterlaceFormat - * OMX_INTERLACEFORMATTYPE - */ -#ifndef OMX_IndexParamInterlaceFormat -#define OMX_IndexParamInterlaceFormat (0x7FF00000) -typedef struct OMX_INTERLACEFORMATTYPE { - OMX_U32 nSize; - OMX_VERSIONTYPE nVersion; - OMX_U32 nPortIndex; - OMX_U32 nFormat; - OMX_TICKS nTimeStamp; -} OMX_INTERLACEFORMATTYPE; -#endif - -/** - * This structure is used to indicate the maximum number of buffers - * that a port will hold during data flow. - * - * STRUCT MEMBERS: - * nSize : Size of the structure in bytes - * nVersion : OMX specification version info - * nPortIndex : Port that this structure applies to - * nHeldBufferCount : Read-only, maximum number of buffers that will be held - */ -typedef struct QOMX_HELDBUFFERCOUNTTYPE { - OMX_U32 nSize; - OMX_VERSIONTYPE nVersion; - OMX_U32 nPortIndex; - OMX_U32 nHeldBufferCount; -} QOMX_HELDBUFFERCOUNTTYPE; - -typedef enum QOMX_VIDEO_HIERARCHICALCODINGTYPE { - QOMX_HIERARCHICALCODING_P = 0x01, - QOMX_HIERARCHICALCODING_B = 0x02, -} QOMX_VIDEO_HIERARCHICALCODINGTYPE; - -typedef struct QOMX_VIDEO_HIERARCHICALLAYERS { - OMX_U32 nSize; - OMX_VERSIONTYPE nVersion; - OMX_U32 nPortIndex; - OMX_U32 nNumLayers; - QOMX_VIDEO_HIERARCHICALCODINGTYPE eHierarchicalCodingType; -} QOMX_VIDEO_HIERARCHICALLAYERS; - -typedef struct QOMX_VIDEO_H264ENTROPYCODINGTYPE { - OMX_U32 nSize; - OMX_VERSIONTYPE nVersion; - OMX_BOOL bCabac; - OMX_U32 nCabacInitIdc; -} QOMX_VIDEO_H264ENTROPYCODINGTYPE; - - -/* VIDEO POSTPROCESSING CTRLS AND ENUMS */ -#define QOMX_VPP_HQV_CUSTOMPAYLOAD_SZ 256 -#define VPP_HQV_CONTROL_GLOBAL_START (VPP_HQV_CONTROL_CUST + 1) - -typedef enum QOMX_VPP_HQV_MODE { - VPP_HQV_MODE_OFF, - VPP_HQV_MODE_AUTO, - VPP_HQV_MODE_MANUAL, - VPP_HQV_MODE_MAX -} QOMX_VPP_HQV_MODE; - -typedef enum QOMX_VPP_HQVCONTROLTYPE { - VPP_HQV_CONTROL_CADE = 0x1, - VPP_HQV_CONTROL_CNR = 0x04, - VPP_HQV_CONTROL_AIE = 0x05, - VPP_HQV_CONTROL_FRC = 0x06, - VPP_HQV_CONTROL_CUST = 0x07, - VPP_HQV_CONTROL_GLOBAL_DEMO = VPP_HQV_CONTROL_GLOBAL_START, - VPP_HQV_CONTROL_MAX, -} QOMX_VPP_HQVCONTROLTYPE; - -typedef enum QOMX_VPP_HQV_HUE_MODE { - VPP_HQV_HUE_MODE_OFF, - VPP_HQV_HUE_MODE_ON, - VPP_HQV_HUE_MODE_MAX, -} QOMX_VPP_HQV_HUE_MODE; - -typedef enum QOMX_VPP_HQV_FRC_MODE { - VPP_HQV_FRC_MODE_OFF, - VPP_HQV_FRC_MODE_LOW, - VPP_HQV_FRC_MODE_MED, - VPP_HQV_FRC_MODE_HIGH, - VPP_HQV_FRC_MODE_MAX, -} QOMX_VPP_HQV_FRC_MODE; - - -typedef struct QOMX_VPP_HQVCTRL_CADE { - QOMX_VPP_HQV_MODE mode; - OMX_U32 level; - OMX_S32 contrast; - OMX_S32 saturation; -} QOMX_VPP_HQVCTRL_CADE; - -typedef struct QOMX_VPP_HQVCTRL_CNR { - QOMX_VPP_HQV_MODE mode; - OMX_U32 level; -} QOMX_VPP_HQVCTRL_CNR; - -typedef struct QOMX_VPP_HQVCTRL_AIE { - QOMX_VPP_HQV_MODE mode; - QOMX_VPP_HQV_HUE_MODE hue_mode; - OMX_U32 cade_level; - OMX_U32 ltm_level; -} QOMX_VPP_HQVCTRL_AIE; - -typedef struct QOMX_VPP_HQVCTRL_CUSTOM { - OMX_U32 id; - OMX_U32 len; - OMX_U8 data[QOMX_VPP_HQV_CUSTOMPAYLOAD_SZ]; -} QOMX_VPP_HQVCTRL_CUSTOM; - -typedef struct QOMX_VPP_HQVCTRL_GLOBAL_DEMO { - OMX_U32 process_percent; -} QOMX_VPP_HQVCTRL_GLOBAL_DEMO; - -typedef struct QOMX_VPP_HQVCTRL_FRC { - QOMX_VPP_HQV_FRC_MODE mode; -} QOMX_VPP_HQVCTRL_FRC; - -typedef struct QOMX_VPP_HQVCONTROL { - QOMX_VPP_HQV_MODE mode; - QOMX_VPP_HQVCONTROLTYPE ctrl_type; - union { - QOMX_VPP_HQVCTRL_CADE cade; - QOMX_VPP_HQVCTRL_CNR cnr; - QOMX_VPP_HQVCTRL_AIE aie; - QOMX_VPP_HQVCTRL_CUSTOM custom; - QOMX_VPP_HQVCTRL_GLOBAL_DEMO global_demo; - QOMX_VPP_HQVCTRL_FRC frc; - }; -} QOMX_VPP_HQVCONTROL; - -/* STRUCTURE TO TURN VPP ON */ -typedef struct QOMX_VPP_ENABLE { - OMX_BOOL enable_vpp; -} QOMX_VPP_ENABLE; - -typedef enum OMX_QOMX_VIDEO_MBISTATISTICSTYPE { - QOMX_MBI_STATISTICS_MODE_DEFAULT = 0, - QOMX_MBI_STATISTICS_MODE_1 = 0x01, - QOMX_MBI_STATISTICS_MODE_2 = 0x02, -} OMX_QOMX_VIDEO_MBISTATISTICSTYPE; - -typedef struct OMX_QOMX_VIDEO_MBI_STATISTICS { - OMX_U32 nSize; - OMX_VERSIONTYPE nVersion; - OMX_U32 nPortIndex; - OMX_QOMX_VIDEO_MBISTATISTICSTYPE eMBIStatisticsType; -} OMX_QOMX_VIDEO_MBI_STATISTICS; - -typedef struct QOMX_VIDEO_BATCHSIZETYPE { - OMX_U32 nSize; - OMX_VERSIONTYPE nVersion; - OMX_U32 nPortIndex; - OMX_U32 nBatchSize; -} QOMX_VIDEO_BATCHSIZETYPE; - -#ifdef __cplusplus -} -#endif /* __cplusplus */ - -#endif /* __OMX_QCOM_EXTENSIONS_H__ */ diff --git a/selfdrive/frogpilot/screenrecorder/openmax/include/OMX_Skype_VideoExtensions.h b/selfdrive/frogpilot/screenrecorder/openmax/include/OMX_Skype_VideoExtensions.h deleted file mode 100644 index 5cc832930f1801..00000000000000 --- a/selfdrive/frogpilot/screenrecorder/openmax/include/OMX_Skype_VideoExtensions.h +++ /dev/null @@ -1,155 +0,0 @@ -/*@@@+++@@@@****************************************************************** - - Microsoft Skype Engineering - Copyright (C) 2014 Microsoft Corporation. - -MIT License - -Permission is hereby granted, free of charge, to any person obtaining a copy - of this software and associated documentation files (the "Software"), to deal - in the Software without restriction, including without limitation the rights - to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - copies of the Software, and to permit persons to whom the Software is - furnished to do so, subject to the following conditions: - -The above copyright notice and this permission notice shall be included in - all copies or substantial portions of the Software. - -THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN - THE SOFTWARE. - -*@@@---@@@@******************************************************************/ - - -#ifndef __OMX_SKYPE_VIDEOEXTENSIONS_H__ -#define __OMX_SKYPE_VIDEOEXTENSIONS_H__ - -#ifdef __cplusplus -extern "C" -{ -#endif - -#include - -#pragma pack(push, 1) - - -typedef enum OMX_SKYPE_VIDEO_SliceControlMode -{ - OMX_SKYPE_VIDEO_SliceControlModeNone = 0, - OMX_SKYPE_VIDEO_SliceControlModeMB = 1, - OMX_SKYPE_VIDEO_SliceControlModeByte = 2, - OMX_SKYPE_VIDEO_SliceControlModMBRow = 3, -} OMX_SKYPE_VIDEO_SliceControlMode; - - -typedef enum OMX_SKYPE_VIDEO_HierarType -{ - OMX_SKYPE_VIDEO_HierarType_P = 0x01, - OMX_SKYPE_VIDEO_HierarType_B = 0x02, -} OMX_SKYPE_VIDEO_HIERAR_HierarType; - -typedef enum OMX_VIDEO_EXTENSION_AVCPROFILETYPE -{ - OMX_VIDEO_EXT_AVCProfileConstrainedBaseline = 0x01, - OMX_VIDEO_EXT_AVCProfileConstrainedHigh = 0x02, -} OMX_VIDEO_EXTENSION_AVCPROFILETYPE; - -typedef struct OMX_SKYPE_VIDEO_ENCODERPARAMS { - OMX_BOOL bLowLatency; - OMX_BOOL bUseExtendedProfile; - OMX_BOOL bSequenceHeaderWithIDR; - OMX_VIDEO_EXTENSION_AVCPROFILETYPE eProfile; - OMX_U32 nLTRFrames; - OMX_SKYPE_VIDEO_HierarType eHierarType; - OMX_U32 nMaxTemporalLayerCount; - OMX_SKYPE_VIDEO_SliceControlMode eSliceControlMode; - OMX_U32 nSarIndex; - OMX_U32 nSarWidth; - OMX_U32 nSarHeight; -} OMX_SKYPE_VIDEO_ENCODERPARAMS; - -typedef struct OMX_SKYPE_VIDEO_PARAM_ENCODERSETTING { - OMX_U32 nSize; - OMX_VERSIONTYPE nVersion; - OMX_U32 nPortIndex; - OMX_SKYPE_VIDEO_ENCODERPARAMS stEncParam; -} OMX_SKYPE_VIDEO_PARAM_ENCODESETTING; - -typedef struct OMX_SKYPE_VIDEO_ENCODERCAP { - OMX_BOOL bLowLatency; - OMX_U32 nMaxFrameWidth; - OMX_U32 nMaxFrameHeight; - OMX_U32 nMaxInstances; - OMX_U32 nMaxTemporaLayerCount; - OMX_U32 nMaxRefFrames; - OMX_U32 nMaxLTRFrames; - OMX_VIDEO_AVCLEVELTYPE nMaxLevel; - OMX_U32 nSliceControlModesBM; - OMX_U32 nMaxMacroblockProcessingRate; - OMX_U32 xMinScaleFactor; -} OMX_SKYPE_VIDEO_ENCODERCAP; - -typedef struct OMX_SKYPE_VIDEO_PARAM_ENCODERCAP { - OMX_U32 nSize; - OMX_VERSIONTYPE nVersion; - OMX_U32 nPortIndex; - OMX_SKYPE_VIDEO_ENCODERCAP stEncCap; -} OMX_SKYPE_VIDEO_PARAM_ENCODERCAP; - -typedef struct OMX_SKYPE_VIDEO_DECODERCAP { - OMX_BOOL bLowLatency; - OMX_U32 nMaxFrameWidth; - OMX_U32 nMaxFrameHeight; - OMX_U32 nMaxInstances; - OMX_VIDEO_AVCLEVELTYPE nMaxLevel; - OMX_U32 nMaxMacroblockProcessingRate; -} OMX_SKYPE_VIDEO_DECODERCAP; - -typedef struct OMX_SKYPE_VIDEO_PARAM_DECODERCAP { - OMX_U32 nSize; - OMX_VERSIONTYPE nVersion; - OMX_U32 nPortIndex; - OMX_SKYPE_VIDEO_DECODERCAP stDecoderCap; -} OMX_SKYPE_VIDEO_PARAM_DECODERCAP; - -typedef struct OMX_SKYPE_VIDEO_CONFIG_QP { - OMX_U32 nSize; - OMX_VERSIONTYPE nVersion; - OMX_U32 nPortIndex; - OMX_U32 nQP; -} OMX_SKYPE_VIDEO_CONFIG_QP; - -typedef struct OMX_SKYPE_VIDEO_CONFIG_BASELAYERPID{ - OMX_U32 nSize; - OMX_VERSIONTYPE nVersion; - OMX_U32 nPortIndex; - OMX_U32 nPID; -} OMX_SKYPE_VIDEO_CONFIG_BASELAYERPID; - -typedef struct OMX_SKYPE_VIDEO_PARAM_DRIVERVER { - OMX_U32 nSize; - OMX_VERSIONTYPE nVersion; - OMX_U32 nPortIndex; - OMX_U64 nDriverVersion; -} OMX_SKYPE_VIDEO_PARAM_DRIVERVER; - -typedef enum OMX_SKYPE_VIDEO_DownScaleFactor -{ - OMX_SKYPE_VIDEO_DownScaleFactor_1_1 = 0, - OMX_SKYPE_VIDEO_DownScaleFactor_Equal_AR = 1, - OMX_SKYPE_VIDEO_DownScaleFactor_Any = 2, -} OMX_SKYPE_VIDEO_DownScaleFactor; - -#pragma pack(pop) - -#ifdef __cplusplus -} -#endif - -#endif diff --git a/selfdrive/frogpilot/screenrecorder/openmax/include/OMX_Types.h b/selfdrive/frogpilot/screenrecorder/openmax/include/OMX_Types.h deleted file mode 100644 index 3b9fab4fc2e057..00000000000000 --- a/selfdrive/frogpilot/screenrecorder/openmax/include/OMX_Types.h +++ /dev/null @@ -1,359 +0,0 @@ -/* - * Copyright (c) 2008 The Khronos Group Inc. - * - * Permission is hereby granted, free of charge, to any person obtaining - * a copy of this software and associated documentation files (the - * "Software"), to deal in the Software without restriction, including - * without limitation the rights to use, copy, modify, merge, publish, - * distribute, sublicense, and/or sell copies of the Software, and to - * permit persons to whom the Software is furnished to do so, subject - * to the following conditions: - * The above copyright notice and this permission notice shall be included - * in all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS - * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF - * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. - * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY - * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, - * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE - * SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. - * - */ - -/** OMX_Types.h - OpenMax IL version 1.1.2 - * The OMX_Types header file contains the primitive type definitions used by - * the core, the application and the component. This file may need to be - * modified to be used on systems that do not have "char" set to 8 bits, - * "short" set to 16 bits and "long" set to 32 bits. - */ - -#ifndef OMX_Types_h -#define OMX_Types_h - -#ifdef __cplusplus -extern "C" { -#endif /* __cplusplus */ - -/** The OMX_API and OMX_APIENTRY are platform specific definitions used - * to declare OMX function prototypes. They are modified to meet the - * requirements for a particular platform */ -#ifdef __SYMBIAN32__ -# ifdef __OMX_EXPORTS -# define OMX_API __declspec(dllexport) -# else -# ifdef _WIN32 -# define OMX_API __declspec(dllexport) -# else -# define OMX_API __declspec(dllimport) -# endif -# endif -#else -# ifdef _WIN32 -# ifdef __OMX_EXPORTS -# define OMX_API __declspec(dllexport) -# else -# define OMX_API __declspec(dllimport) -# endif -# else -# ifdef __OMX_EXPORTS -# define OMX_API -# else -# define OMX_API extern -# endif -# endif -#endif - -#ifndef OMX_APIENTRY -#define OMX_APIENTRY -#endif - -/** OMX_IN is used to identify inputs to an OMX function. This designation - will also be used in the case of a pointer that points to a parameter - that is used as an output. */ -#ifndef OMX_IN -#define OMX_IN -#endif - -/** OMX_OUT is used to identify outputs from an OMX function. This - designation will also be used in the case of a pointer that points - to a parameter that is used as an input. */ -#ifndef OMX_OUT -#define OMX_OUT -#endif - - -/** OMX_INOUT is used to identify parameters that may be either inputs or - outputs from an OMX function at the same time. This designation will - also be used in the case of a pointer that points to a parameter that - is used both as an input and an output. */ -#ifndef OMX_INOUT -#define OMX_INOUT -#endif - -/** OMX_ALL is used to as a wildcard to select all entities of the same type - * when specifying the index, or referring to a object by an index. (i.e. - * use OMX_ALL to indicate all N channels). When used as a port index - * for a config or parameter this OMX_ALL denotes that the config or - * parameter applies to the entire component not just one port. */ -#define OMX_ALL 0xFFFFFFFF - -/** In the following we define groups that help building doxygen documentation */ - -/** @defgroup core OpenMAX IL core - * Functions and structure related to the OMX IL core - */ - - /** @defgroup comp OpenMAX IL component - * Functions and structure related to the OMX IL component - */ - -/** @defgroup rpm Resource and Policy Management - * Structures for resource and policy management of components - */ - -/** @defgroup buf Buffer Management - * Buffer handling functions and structures - */ - -/** @defgroup tun Tunneling - * @ingroup core comp - * Structures and functions to manage tunnels among component ports - */ - -/** @defgroup cp Content Pipes - * @ingroup core - */ - - /** @defgroup metadata Metadata handling - * - */ - -/** OMX_U8 is an 8 bit unsigned quantity that is byte aligned */ -typedef unsigned char OMX_U8; - -/** OMX_S8 is an 8 bit signed quantity that is byte aligned */ -typedef signed char OMX_S8; - -/** OMX_U16 is a 16 bit unsigned quantity that is 16 bit word aligned */ -typedef unsigned short OMX_U16; - -/** OMX_S16 is a 16 bit signed quantity that is 16 bit word aligned */ -typedef signed short OMX_S16; - -/** OMX_U32 is a 32 bit unsigned quantity that is 32 bit word aligned */ -typedef unsigned int OMX_U32; - -/** OMX_S32 is a 32 bit signed quantity that is 32 bit word aligned */ -typedef signed int OMX_S32; - - -/* Users with compilers that cannot accept the "long long" designation should - define the OMX_SKIP64BIT macro. It should be noted that this may cause - some components to fail to compile if the component was written to require - 64 bit integral types. However, these components would NOT compile anyway - since the compiler does not support the way the component was written. -*/ -#ifndef OMX_SKIP64BIT -#ifdef __SYMBIAN32__ -/** OMX_U64 is a 64 bit unsigned quantity that is 64 bit word aligned */ -typedef unsigned long long OMX_U64; - -/** OMX_S64 is a 64 bit signed quantity that is 64 bit word aligned */ -typedef signed long long OMX_S64; - -#elif defined(WIN32) - -/** OMX_U64 is a 64 bit unsigned quantity that is 64 bit word aligned */ -typedef unsigned __int64 OMX_U64; - -/** OMX_S64 is a 64 bit signed quantity that is 64 bit word aligned */ -typedef signed __int64 OMX_S64; - -#else /* WIN32 */ - -/** OMX_U64 is a 64 bit unsigned quantity that is 64 bit word aligned */ -typedef unsigned long long OMX_U64; - -/** OMX_S64 is a 64 bit signed quantity that is 64 bit word aligned */ -typedef signed long long OMX_S64; - -#endif /* WIN32 */ -#endif - - -/** The OMX_BOOL type is intended to be used to represent a true or a false - value when passing parameters to and from the OMX core and components. The - OMX_BOOL is a 32 bit quantity and is aligned on a 32 bit word boundary. - */ -typedef enum OMX_BOOL { - OMX_FALSE = 0, - OMX_TRUE = !OMX_FALSE, - OMX_BOOL_MAX = 0x7FFFFFFF -} OMX_BOOL; - -#ifdef OMX_ANDROID_COMPILE_AS_32BIT_ON_64BIT_PLATFORMS - -typedef OMX_U32 OMX_PTR; -typedef OMX_PTR OMX_STRING; -typedef OMX_PTR OMX_BYTE; - -#else - -/** The OMX_PTR type is intended to be used to pass pointers between the OMX - applications and the OMX Core and components. This is a 32 bit pointer and - is aligned on a 32 bit boundary. - */ -typedef void* OMX_PTR; - -/** The OMX_STRING type is intended to be used to pass "C" type strings between - the application and the core and component. The OMX_STRING type is a 32 - bit pointer to a zero terminated string. The pointer is word aligned and - the string is byte aligned. - */ -typedef char* OMX_STRING; - -/** The OMX_BYTE type is intended to be used to pass arrays of bytes such as - buffers between the application and the component and core. The OMX_BYTE - type is a 32 bit pointer to a zero terminated string. The pointer is word - aligned and the string is byte aligned. - */ -typedef unsigned char* OMX_BYTE; - -/** OMX_UUIDTYPE is a very long unique identifier to uniquely identify - at runtime. This identifier should be generated by a component in a way - that guarantees that every instance of the identifier running on the system - is unique. */ - - -#endif - -typedef unsigned char OMX_UUIDTYPE[128]; - -/** The OMX_DIRTYPE enumeration is used to indicate if a port is an input or - an output port. This enumeration is common across all component types. - */ -typedef enum OMX_DIRTYPE -{ - OMX_DirInput, /**< Port is an input port */ - OMX_DirOutput, /**< Port is an output port */ - OMX_DirMax = 0x7FFFFFFF -} OMX_DIRTYPE; - -/** The OMX_ENDIANTYPE enumeration is used to indicate the bit ordering - for numerical data (i.e. big endian, or little endian). - */ -typedef enum OMX_ENDIANTYPE -{ - OMX_EndianBig, /**< big endian */ - OMX_EndianLittle, /**< little endian */ - OMX_EndianMax = 0x7FFFFFFF -} OMX_ENDIANTYPE; - - -/** The OMX_NUMERICALDATATYPE enumeration is used to indicate if data - is signed or unsigned - */ -typedef enum OMX_NUMERICALDATATYPE -{ - OMX_NumericalDataSigned, /**< signed data */ - OMX_NumericalDataUnsigned, /**< unsigned data */ - OMX_NumercialDataMax = 0x7FFFFFFF -} OMX_NUMERICALDATATYPE; - - -/** Unsigned bounded value type */ -typedef struct OMX_BU32 { - OMX_U32 nValue; /**< actual value */ - OMX_U32 nMin; /**< minimum for value (i.e. nValue >= nMin) */ - OMX_U32 nMax; /**< maximum for value (i.e. nValue <= nMax) */ -} OMX_BU32; - - -/** Signed bounded value type */ -typedef struct OMX_BS32 { - OMX_S32 nValue; /**< actual value */ - OMX_S32 nMin; /**< minimum for value (i.e. nValue >= nMin) */ - OMX_S32 nMax; /**< maximum for value (i.e. nValue <= nMax) */ -} OMX_BS32; - - -/** Structure representing some time or duration in microseconds. This structure - * must be interpreted as a signed 64 bit value. The quantity is signed to accommodate - * negative deltas and preroll scenarios. The quantity is represented in microseconds - * to accomodate high resolution timestamps (e.g. DVD presentation timestamps based - * on a 90kHz clock) and to allow more accurate and synchronized delivery (e.g. - * individual audio samples delivered at 192 kHz). The quantity is 64 bit to - * accommodate a large dynamic range (signed 32 bit values would allow only for plus - * or minus 35 minutes). - * - * Implementations with limited precision may convert the signed 64 bit value to - * a signed 32 bit value internally but risk loss of precision. - */ -#ifndef OMX_SKIP64BIT -typedef OMX_S64 OMX_TICKS; -#else -typedef struct OMX_TICKS -{ - OMX_U32 nLowPart; /** low bits of the signed 64 bit tick value */ - OMX_U32 nHighPart; /** high bits of the signed 64 bit tick value */ -} OMX_TICKS; -#endif -#define OMX_TICKS_PER_SECOND 1000000 - -/** Define the public interface for the OMX Handle. The core will not use - this value internally, but the application should only use this value. - */ -typedef void* OMX_HANDLETYPE; - -typedef struct OMX_MARKTYPE -{ - OMX_HANDLETYPE hMarkTargetComponent; /**< The component that will - generate a mark event upon - processing the mark. */ - OMX_PTR pMarkData; /**< Application specific data associated with - the mark sent on a mark event to disambiguate - this mark from others. */ -} OMX_MARKTYPE; - - -/** OMX_NATIVE_DEVICETYPE is used to map a OMX video port to the - * platform & operating specific object used to reference the display - * or can be used by a audio port for native audio rendering */ -typedef void* OMX_NATIVE_DEVICETYPE; - -/** OMX_NATIVE_WINDOWTYPE is used to map a OMX video port to the - * platform & operating specific object used to reference the window */ -typedef void* OMX_NATIVE_WINDOWTYPE; - -/** The OMX_VERSIONTYPE union is used to specify the version for - a structure or component. For a component, the version is entirely - specified by the component vendor. Components doing the same function - from different vendors may or may not have the same version. For - structures, the version shall be set by the entity that allocates the - structure. For structures specified in the OMX 1.1 specification, the - value of the version shall be set to 1.1.0.0 in all cases. Access to the - OMX_VERSIONTYPE can be by a single 32 bit access (e.g. by nVersion) or - by accessing one of the structure elements to, for example, check only - the Major revision. - */ -typedef union OMX_VERSIONTYPE -{ - struct - { - OMX_U8 nVersionMajor; /**< Major version accessor element */ - OMX_U8 nVersionMinor; /**< Minor version accessor element */ - OMX_U8 nRevision; /**< Revision version accessor element */ - OMX_U8 nStep; /**< Step version accessor element */ - } s; - OMX_U32 nVersion; /**< 32 bit value to make accessing the - version easily done in a single word - size copy/compare operation */ -} OMX_VERSIONTYPE; - -#ifdef __cplusplus -} -#endif /* __cplusplus */ - -#endif -/* File EOF */ diff --git a/selfdrive/frogpilot/screenrecorder/openmax/include/OMX_Video.h b/selfdrive/frogpilot/screenrecorder/openmax/include/OMX_Video.h deleted file mode 100644 index 64dbe87b4329d1..00000000000000 --- a/selfdrive/frogpilot/screenrecorder/openmax/include/OMX_Video.h +++ /dev/null @@ -1,1082 +0,0 @@ -/** - * Copyright (c) 2008 The Khronos Group Inc. - * - * Permission is hereby granted, free of charge, to any person obtaining - * a copy of this software and associated documentation files (the - * "Software"), to deal in the Software without restriction, including - * without limitation the rights to use, copy, modify, merge, publish, - * distribute, sublicense, and/or sell copies of the Software, and to - * permit persons to whom the Software is furnished to do so, subject - * to the following conditions: - * The above copyright notice and this permission notice shall be included - * in all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS - * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF - * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. - * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY - * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, - * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE - * SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. - * - */ - -/** - * @file OMX_Video.h - OpenMax IL version 1.1.2 - * The structures is needed by Video components to exchange parameters - * and configuration data with OMX components. - */ -#ifndef OMX_Video_h -#define OMX_Video_h - -/** @defgroup video OpenMAX IL Video Domain - * @ingroup iv - * Structures for OpenMAX IL Video domain - * @{ - */ - -#ifdef __cplusplus -extern "C" { -#endif /* __cplusplus */ - - -/** - * Each OMX header must include all required header files to allow the - * header to compile without errors. The includes below are required - * for this header file to compile successfully - */ - -#include - - -/** - * Enumeration used to define the possible video compression codings. - * NOTE: This essentially refers to file extensions. If the coding is - * being used to specify the ENCODE type, then additional work - * must be done to configure the exact flavor of the compression - * to be used. For decode cases where the user application can - * not differentiate between MPEG-4 and H.264 bit streams, it is - * up to the codec to handle this. - */ -typedef enum OMX_VIDEO_CODINGTYPE { - OMX_VIDEO_CodingUnused, /**< Value when coding is N/A */ - OMX_VIDEO_CodingAutoDetect, /**< Autodetection of coding type */ - OMX_VIDEO_CodingMPEG2, /**< AKA: H.262 */ - OMX_VIDEO_CodingH263, /**< H.263 */ - OMX_VIDEO_CodingMPEG4, /**< MPEG-4 */ - OMX_VIDEO_CodingWMV, /**< all versions of Windows Media Video */ - OMX_VIDEO_CodingRV, /**< all versions of Real Video */ - OMX_VIDEO_CodingAVC, /**< H.264/AVC */ - OMX_VIDEO_CodingMJPEG, /**< Motion JPEG */ - OMX_VIDEO_CodingVP8, /**< Google VP8, formerly known as On2 VP8 */ - OMX_VIDEO_CodingVP9, /**< Google VP9 */ - OMX_VIDEO_CodingHEVC, /**< HEVC */ - OMX_VIDEO_CodingKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ - OMX_VIDEO_CodingVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ - OMX_VIDEO_CodingMax = 0x7FFFFFFF -} OMX_VIDEO_CODINGTYPE; - - -/** - * Data structure used to define a video path. The number of Video paths for - * input and output will vary by type of the Video component. - * - * Input (aka Source) : zero Inputs, one Output, - * Splitter : one Input, 2 or more Outputs, - * Processing Element : one Input, one output, - * Mixer : 2 or more inputs, one output, - * Output (aka Sink) : one Input, zero outputs. - * - * The PortDefinition structure is used to define all of the parameters - * necessary for the compliant component to setup an input or an output video - * path. If additional vendor specific data is required, it should be - * transmitted to the component using the CustomCommand function. Compliant - * components will prepopulate this structure with optimal values during the - * GetDefaultInitParams command. - * - * STRUCT MEMBERS: - * cMIMEType : MIME type of data for the port - * pNativeRender : Platform specific reference for a display if a - * sync, otherwise this field is 0 - * nFrameWidth : Width of frame to be used on channel if - * uncompressed format is used. Use 0 for unknown, - * don't care or variable - * nFrameHeight : Height of frame to be used on channel if - * uncompressed format is used. Use 0 for unknown, - * don't care or variable - * nStride : Number of bytes per span of an image - * (i.e. indicates the number of bytes to get - * from span N to span N+1, where negative stride - * indicates the image is bottom up - * nSliceHeight : Height used when encoding in slices - * nBitrate : Bit rate of frame to be used on channel if - * compressed format is used. Use 0 for unknown, - * don't care or variable - * xFramerate : Frame rate to be used on channel if uncompressed - * format is used. Use 0 for unknown, don't care or - * variable. Units are Q16 frames per second. - * bFlagErrorConcealment : Turns on error concealment if it is supported by - * the OMX component - * eCompressionFormat : Compression format used in this instance of the - * component. When OMX_VIDEO_CodingUnused is - * specified, eColorFormat is used - * eColorFormat : Decompressed format used by this component - * pNativeWindow : Platform specific reference for a window object if a - * display sink , otherwise this field is 0x0. - */ -typedef struct OMX_VIDEO_PORTDEFINITIONTYPE { - OMX_STRING cMIMEType; - OMX_NATIVE_DEVICETYPE pNativeRender; - OMX_U32 nFrameWidth; - OMX_U32 nFrameHeight; - OMX_S32 nStride; - OMX_U32 nSliceHeight; - OMX_U32 nBitrate; - OMX_U32 xFramerate; - OMX_BOOL bFlagErrorConcealment; - OMX_VIDEO_CODINGTYPE eCompressionFormat; - OMX_COLOR_FORMATTYPE eColorFormat; - OMX_NATIVE_WINDOWTYPE pNativeWindow; -} OMX_VIDEO_PORTDEFINITIONTYPE; - -/** - * Port format parameter. This structure is used to enumerate the various - * data input/output format supported by the port. - * - * STRUCT MEMBERS: - * nSize : Size of the structure in bytes - * nVersion : OMX specification version information - * nPortIndex : Indicates which port to set - * nIndex : Indicates the enumeration index for the format from - * 0x0 to N-1 - * eCompressionFormat : Compression format used in this instance of the - * component. When OMX_VIDEO_CodingUnused is specified, - * eColorFormat is used - * eColorFormat : Decompressed format used by this component - * xFrameRate : Indicates the video frame rate in Q16 format - */ -typedef struct OMX_VIDEO_PARAM_PORTFORMATTYPE { - OMX_U32 nSize; - OMX_VERSIONTYPE nVersion; - OMX_U32 nPortIndex; - OMX_U32 nIndex; - OMX_VIDEO_CODINGTYPE eCompressionFormat; - OMX_COLOR_FORMATTYPE eColorFormat; - OMX_U32 xFramerate; -} OMX_VIDEO_PARAM_PORTFORMATTYPE; - - -/** - * This is a structure for configuring video compression quantization - * parameter values. Codecs may support different QP values for different - * frame types. - * - * STRUCT MEMBERS: - * nSize : Size of the structure in bytes - * nVersion : OMX specification version info - * nPortIndex : Port that this structure applies to - * nQpI : QP value to use for index frames - * nQpP : QP value to use for P frames - * nQpB : QP values to use for bidirectional frames - */ -typedef struct OMX_VIDEO_PARAM_QUANTIZATIONTYPE { - OMX_U32 nSize; - OMX_VERSIONTYPE nVersion; - OMX_U32 nPortIndex; - OMX_U32 nQpI; - OMX_U32 nQpP; - OMX_U32 nQpB; -} OMX_VIDEO_PARAM_QUANTIZATIONTYPE; - - -/** - * Structure for configuration of video fast update parameters. - * - * STRUCT MEMBERS: - * nSize : Size of the structure in bytes - * nVersion : OMX specification version info - * nPortIndex : Port that this structure applies to - * bEnableVFU : Enable/Disable video fast update - * nFirstGOB : Specifies the number of the first macroblock row - * nFirstMB : specifies the first MB relative to the specified first GOB - * nNumMBs : Specifies the number of MBs to be refreshed from nFirstGOB - * and nFirstMB - */ -typedef struct OMX_VIDEO_PARAM_VIDEOFASTUPDATETYPE { - OMX_U32 nSize; - OMX_VERSIONTYPE nVersion; - OMX_U32 nPortIndex; - OMX_BOOL bEnableVFU; - OMX_U32 nFirstGOB; - OMX_U32 nFirstMB; - OMX_U32 nNumMBs; -} OMX_VIDEO_PARAM_VIDEOFASTUPDATETYPE; - - -/** - * Enumeration of possible bitrate control types - */ -typedef enum OMX_VIDEO_CONTROLRATETYPE { - OMX_Video_ControlRateDisable, - OMX_Video_ControlRateVariable, - OMX_Video_ControlRateConstant, - OMX_Video_ControlRateVariableSkipFrames, - OMX_Video_ControlRateConstantSkipFrames, - OMX_Video_ControlRateKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ - OMX_Video_ControlRateVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ - OMX_Video_ControlRateMax = 0x7FFFFFFF -} OMX_VIDEO_CONTROLRATETYPE; - - -/** - * Structure for configuring bitrate mode of a codec. - * - * STRUCT MEMBERS: - * nSize : Size of the struct in bytes - * nVersion : OMX spec version info - * nPortIndex : Port that this struct applies to - * eControlRate : Control rate type enum - * nTargetBitrate : Target bitrate to encode with - */ -typedef struct OMX_VIDEO_PARAM_BITRATETYPE { - OMX_U32 nSize; - OMX_VERSIONTYPE nVersion; - OMX_U32 nPortIndex; - OMX_VIDEO_CONTROLRATETYPE eControlRate; - OMX_U32 nTargetBitrate; -} OMX_VIDEO_PARAM_BITRATETYPE; - - -/** - * Enumeration of possible motion vector (MV) types - */ -typedef enum OMX_VIDEO_MOTIONVECTORTYPE { - OMX_Video_MotionVectorPixel, - OMX_Video_MotionVectorHalfPel, - OMX_Video_MotionVectorQuarterPel, - OMX_Video_MotionVectorEighthPel, - OMX_Video_MotionVectorKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ - OMX_Video_MotionVectorVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ - OMX_Video_MotionVectorMax = 0x7FFFFFFF -} OMX_VIDEO_MOTIONVECTORTYPE; - - -/** - * Structure for configuring the number of motion vectors used as well - * as their accuracy. - * - * STRUCT MEMBERS: - * nSize : Size of the struct in bytes - * nVersion : OMX spec version info - * nPortIndex : port that this structure applies to - * eAccuracy : Enumerated MV accuracy - * bUnrestrictedMVs : Allow unrestricted MVs - * bFourMV : Allow use of 4 MVs - * sXSearchRange : Search range in horizontal direction for MVs - * sYSearchRange : Search range in vertical direction for MVs - */ -typedef struct OMX_VIDEO_PARAM_MOTIONVECTORTYPE { - OMX_U32 nSize; - OMX_VERSIONTYPE nVersion; - OMX_U32 nPortIndex; - OMX_VIDEO_MOTIONVECTORTYPE eAccuracy; - OMX_BOOL bUnrestrictedMVs; - OMX_BOOL bFourMV; - OMX_S32 sXSearchRange; - OMX_S32 sYSearchRange; -} OMX_VIDEO_PARAM_MOTIONVECTORTYPE; - - -/** - * Enumeration of possible methods to use for Intra Refresh - */ -typedef enum OMX_VIDEO_INTRAREFRESHTYPE { - OMX_VIDEO_IntraRefreshCyclic, - OMX_VIDEO_IntraRefreshAdaptive, - OMX_VIDEO_IntraRefreshBoth, - OMX_VIDEO_IntraRefreshKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ - OMX_VIDEO_IntraRefreshVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ - OMX_VIDEO_IntraRefreshRandom, - OMX_VIDEO_IntraRefreshMax = 0x7FFFFFFF -} OMX_VIDEO_INTRAREFRESHTYPE; - - -/** - * Structure for configuring intra refresh mode - * - * STRUCT MEMBERS: - * nSize : Size of the structure in bytes - * nVersion : OMX specification version information - * nPortIndex : Port that this structure applies to - * eRefreshMode : Cyclic, Adaptive, or Both - * nAirMBs : Number of intra macroblocks to refresh in a frame when - * AIR is enabled - * nAirRef : Number of times a motion marked macroblock has to be - * intra coded - * nCirMBs : Number of consecutive macroblocks to be coded as "intra" - * when CIR is enabled - */ -typedef struct OMX_VIDEO_PARAM_INTRAREFRESHTYPE { - OMX_U32 nSize; - OMX_VERSIONTYPE nVersion; - OMX_U32 nPortIndex; - OMX_VIDEO_INTRAREFRESHTYPE eRefreshMode; - OMX_U32 nAirMBs; - OMX_U32 nAirRef; - OMX_U32 nCirMBs; -} OMX_VIDEO_PARAM_INTRAREFRESHTYPE; - - -/** - * Structure for enabling various error correction methods for video - * compression. - * - * STRUCT MEMBERS: - * nSize : Size of the structure in bytes - * nVersion : OMX specification version information - * nPortIndex : Port that this structure applies to - * bEnableHEC : Enable/disable header extension codes (HEC) - * bEnableResync : Enable/disable resynchronization markers - * nResynchMarkerSpacing : Resynch markers interval (in bits) to be - * applied in the stream - * bEnableDataPartitioning : Enable/disable data partitioning - * bEnableRVLC : Enable/disable reversible variable length - * coding - */ -typedef struct OMX_VIDEO_PARAM_ERRORCORRECTIONTYPE { - OMX_U32 nSize; - OMX_VERSIONTYPE nVersion; - OMX_U32 nPortIndex; - OMX_BOOL bEnableHEC; - OMX_BOOL bEnableResync; - OMX_U32 nResynchMarkerSpacing; - OMX_BOOL bEnableDataPartitioning; - OMX_BOOL bEnableRVLC; -} OMX_VIDEO_PARAM_ERRORCORRECTIONTYPE; - - -/** - * Configuration of variable block-size motion compensation (VBSMC) - * - * STRUCT MEMBERS: - * nSize : Size of the structure in bytes - * nVersion : OMX specification version information - * nPortIndex : Port that this structure applies to - * b16x16 : Enable inter block search 16x16 - * b16x8 : Enable inter block search 16x8 - * b8x16 : Enable inter block search 8x16 - * b8x8 : Enable inter block search 8x8 - * b8x4 : Enable inter block search 8x4 - * b4x8 : Enable inter block search 4x8 - * b4x4 : Enable inter block search 4x4 - */ -typedef struct OMX_VIDEO_PARAM_VBSMCTYPE { - OMX_U32 nSize; - OMX_VERSIONTYPE nVersion; - OMX_U32 nPortIndex; - OMX_BOOL b16x16; - OMX_BOOL b16x8; - OMX_BOOL b8x16; - OMX_BOOL b8x8; - OMX_BOOL b8x4; - OMX_BOOL b4x8; - OMX_BOOL b4x4; -} OMX_VIDEO_PARAM_VBSMCTYPE; - - -/** - * H.263 profile types, each profile indicates support for various - * performance bounds and different annexes. - * - * ENUMS: - * Baseline : Baseline Profile: H.263 (V1), no optional modes - * H320 Coding : H.320 Coding Efficiency Backward Compatibility - * Profile: H.263+ (V2), includes annexes I, J, L.4 - * and T - * BackwardCompatible : Backward Compatibility Profile: H.263 (V1), - * includes annex F - * ISWV2 : Interactive Streaming Wireless Profile: H.263+ - * (V2), includes annexes I, J, K and T - * ISWV3 : Interactive Streaming Wireless Profile: H.263++ - * (V3), includes profile 3 and annexes V and W.6.3.8 - * HighCompression : Conversational High Compression Profile: H.263++ - * (V3), includes profiles 1 & 2 and annexes D and U - * Internet : Conversational Internet Profile: H.263++ (V3), - * includes profile 5 and annex K - * Interlace : Conversational Interlace Profile: H.263++ (V3), - * includes profile 5 and annex W.6.3.11 - * HighLatency : High Latency Profile: H.263++ (V3), includes - * profile 6 and annexes O.1 and P.5 - */ -typedef enum OMX_VIDEO_H263PROFILETYPE { - OMX_VIDEO_H263ProfileBaseline = 0x01, - OMX_VIDEO_H263ProfileH320Coding = 0x02, - OMX_VIDEO_H263ProfileBackwardCompatible = 0x04, - OMX_VIDEO_H263ProfileISWV2 = 0x08, - OMX_VIDEO_H263ProfileISWV3 = 0x10, - OMX_VIDEO_H263ProfileHighCompression = 0x20, - OMX_VIDEO_H263ProfileInternet = 0x40, - OMX_VIDEO_H263ProfileInterlace = 0x80, - OMX_VIDEO_H263ProfileHighLatency = 0x100, - OMX_VIDEO_H263ProfileKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ - OMX_VIDEO_H263ProfileVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ - OMX_VIDEO_H263ProfileMax = 0x7FFFFFFF -} OMX_VIDEO_H263PROFILETYPE; - - -/** - * H.263 level types, each level indicates support for various frame sizes, - * bit rates, decoder frame rates. - */ -typedef enum OMX_VIDEO_H263LEVELTYPE { - OMX_VIDEO_H263Level10 = 0x01, - OMX_VIDEO_H263Level20 = 0x02, - OMX_VIDEO_H263Level30 = 0x04, - OMX_VIDEO_H263Level40 = 0x08, - OMX_VIDEO_H263Level45 = 0x10, - OMX_VIDEO_H263Level50 = 0x20, - OMX_VIDEO_H263Level60 = 0x40, - OMX_VIDEO_H263Level70 = 0x80, - OMX_VIDEO_H263LevelKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ - OMX_VIDEO_H263LevelVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ - OMX_VIDEO_H263LevelMax = 0x7FFFFFFF -} OMX_VIDEO_H263LEVELTYPE; - - -/** - * Specifies the picture type. These values should be OR'd to signal all - * pictures types which are allowed. - * - * ENUMS: - * Generic Picture Types: I, P and B - * H.263 Specific Picture Types: SI and SP - * H.264 Specific Picture Types: EI and EP - * MPEG-4 Specific Picture Types: S - */ -typedef enum OMX_VIDEO_PICTURETYPE { - OMX_VIDEO_PictureTypeI = 0x01, - OMX_VIDEO_PictureTypeP = 0x02, - OMX_VIDEO_PictureTypeB = 0x04, - OMX_VIDEO_PictureTypeSI = 0x08, - OMX_VIDEO_PictureTypeSP = 0x10, - OMX_VIDEO_PictureTypeEI = 0x11, - OMX_VIDEO_PictureTypeEP = 0x12, - OMX_VIDEO_PictureTypeS = 0x14, - OMX_VIDEO_PictureTypeKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ - OMX_VIDEO_PictureTypeVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ - OMX_VIDEO_PictureTypeMax = 0x7FFFFFFF -} OMX_VIDEO_PICTURETYPE; - - -/** - * H.263 Params - * - * STRUCT MEMBERS: - * nSize : Size of the structure in bytes - * nVersion : OMX specification version information - * nPortIndex : Port that this structure applies to - * nPFrames : Number of P frames between each I frame - * nBFrames : Number of B frames between each I frame - * eProfile : H.263 profile(s) to use - * eLevel : H.263 level(s) to use - * bPLUSPTYPEAllowed : Indicating that it is allowed to use PLUSPTYPE - * (specified in the 1998 version of H.263) to - * indicate custom picture sizes or clock - * frequencies - * nAllowedPictureTypes : Specifies the picture types allowed in the - * bitstream - * bForceRoundingTypeToZero : value of the RTYPE bit (bit 6 of MPPTYPE) is - * not constrained. It is recommended to change - * the value of the RTYPE bit for each reference - * picture in error-free communication - * nPictureHeaderRepetition : Specifies the frequency of picture header - * repetition - * nGOBHeaderInterval : Specifies the interval of non-empty GOB - * headers in units of GOBs - */ -typedef struct OMX_VIDEO_PARAM_H263TYPE { - OMX_U32 nSize; - OMX_VERSIONTYPE nVersion; - OMX_U32 nPortIndex; - OMX_U32 nPFrames; - OMX_U32 nBFrames; - OMX_VIDEO_H263PROFILETYPE eProfile; - OMX_VIDEO_H263LEVELTYPE eLevel; - OMX_BOOL bPLUSPTYPEAllowed; - OMX_U32 nAllowedPictureTypes; - OMX_BOOL bForceRoundingTypeToZero; - OMX_U32 nPictureHeaderRepetition; - OMX_U32 nGOBHeaderInterval; -} OMX_VIDEO_PARAM_H263TYPE; - - -/** - * MPEG-2 profile types, each profile indicates support for various - * performance bounds and different annexes. - */ -typedef enum OMX_VIDEO_MPEG2PROFILETYPE { - OMX_VIDEO_MPEG2ProfileSimple = 0, /**< Simple Profile */ - OMX_VIDEO_MPEG2ProfileMain, /**< Main Profile */ - OMX_VIDEO_MPEG2Profile422, /**< 4:2:2 Profile */ - OMX_VIDEO_MPEG2ProfileSNR, /**< SNR Profile */ - OMX_VIDEO_MPEG2ProfileSpatial, /**< Spatial Profile */ - OMX_VIDEO_MPEG2ProfileHigh, /**< High Profile */ - OMX_VIDEO_MPEG2ProfileKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ - OMX_VIDEO_MPEG2ProfileVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ - OMX_VIDEO_MPEG2ProfileMax = 0x7FFFFFFF -} OMX_VIDEO_MPEG2PROFILETYPE; - - -/** - * MPEG-2 level types, each level indicates support for various frame - * sizes, bit rates, decoder frame rates. No need - */ -typedef enum OMX_VIDEO_MPEG2LEVELTYPE { - OMX_VIDEO_MPEG2LevelLL = 0, /**< Low Level */ - OMX_VIDEO_MPEG2LevelML, /**< Main Level */ - OMX_VIDEO_MPEG2LevelH14, /**< High 1440 */ - OMX_VIDEO_MPEG2LevelHL, /**< High Level */ - OMX_VIDEO_MPEG2LevelKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ - OMX_VIDEO_MPEG2LevelVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ - OMX_VIDEO_MPEG2LevelMax = 0x7FFFFFFF -} OMX_VIDEO_MPEG2LEVELTYPE; - - -/** - * MPEG-2 params - * - * STRUCT MEMBERS: - * nSize : Size of the structure in bytes - * nVersion : OMX specification version information - * nPortIndex : Port that this structure applies to - * nPFrames : Number of P frames between each I frame - * nBFrames : Number of B frames between each I frame - * eProfile : MPEG-2 profile(s) to use - * eLevel : MPEG-2 levels(s) to use - */ -typedef struct OMX_VIDEO_PARAM_MPEG2TYPE { - OMX_U32 nSize; - OMX_VERSIONTYPE nVersion; - OMX_U32 nPortIndex; - OMX_U32 nPFrames; - OMX_U32 nBFrames; - OMX_VIDEO_MPEG2PROFILETYPE eProfile; - OMX_VIDEO_MPEG2LEVELTYPE eLevel; -} OMX_VIDEO_PARAM_MPEG2TYPE; - - -/** - * MPEG-4 profile types, each profile indicates support for various - * performance bounds and different annexes. - * - * ENUMS: - * - Simple Profile, Levels 1-3 - * - Simple Scalable Profile, Levels 1-2 - * - Core Profile, Levels 1-2 - * - Main Profile, Levels 2-4 - * - N-bit Profile, Level 2 - * - Scalable Texture Profile, Level 1 - * - Simple Face Animation Profile, Levels 1-2 - * - Simple Face and Body Animation (FBA) Profile, Levels 1-2 - * - Basic Animated Texture Profile, Levels 1-2 - * - Hybrid Profile, Levels 1-2 - * - Advanced Real Time Simple Profiles, Levels 1-4 - * - Core Scalable Profile, Levels 1-3 - * - Advanced Coding Efficiency Profile, Levels 1-4 - * - Advanced Core Profile, Levels 1-2 - * - Advanced Scalable Texture, Levels 2-3 - */ -typedef enum OMX_VIDEO_MPEG4PROFILETYPE { - OMX_VIDEO_MPEG4ProfileSimple = 0x01, - OMX_VIDEO_MPEG4ProfileSimpleScalable = 0x02, - OMX_VIDEO_MPEG4ProfileCore = 0x04, - OMX_VIDEO_MPEG4ProfileMain = 0x08, - OMX_VIDEO_MPEG4ProfileNbit = 0x10, - OMX_VIDEO_MPEG4ProfileScalableTexture = 0x20, - OMX_VIDEO_MPEG4ProfileSimpleFace = 0x40, - OMX_VIDEO_MPEG4ProfileSimpleFBA = 0x80, - OMX_VIDEO_MPEG4ProfileBasicAnimated = 0x100, - OMX_VIDEO_MPEG4ProfileHybrid = 0x200, - OMX_VIDEO_MPEG4ProfileAdvancedRealTime = 0x400, - OMX_VIDEO_MPEG4ProfileCoreScalable = 0x800, - OMX_VIDEO_MPEG4ProfileAdvancedCoding = 0x1000, - OMX_VIDEO_MPEG4ProfileAdvancedCore = 0x2000, - OMX_VIDEO_MPEG4ProfileAdvancedScalable = 0x4000, - OMX_VIDEO_MPEG4ProfileAdvancedSimple = 0x8000, - OMX_VIDEO_MPEG4ProfileKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ - OMX_VIDEO_MPEG4ProfileVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ - OMX_VIDEO_MPEG4ProfileMax = 0x7FFFFFFF -} OMX_VIDEO_MPEG4PROFILETYPE; - - -/** - * MPEG-4 level types, each level indicates support for various frame - * sizes, bit rates, decoder frame rates. No need - */ -typedef enum OMX_VIDEO_MPEG4LEVELTYPE { - OMX_VIDEO_MPEG4Level0 = 0x01, /**< Level 0 */ - OMX_VIDEO_MPEG4Level0b = 0x02, /**< Level 0b */ - OMX_VIDEO_MPEG4Level1 = 0x04, /**< Level 1 */ - OMX_VIDEO_MPEG4Level2 = 0x08, /**< Level 2 */ - OMX_VIDEO_MPEG4Level3 = 0x10, /**< Level 3 */ - OMX_VIDEO_MPEG4Level4 = 0x20, /**< Level 4 */ - OMX_VIDEO_MPEG4Level4a = 0x40, /**< Level 4a */ - OMX_VIDEO_MPEG4Level5 = 0x80, /**< Level 5 */ - OMX_VIDEO_MPEG4LevelKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ - OMX_VIDEO_MPEG4LevelVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ - OMX_VIDEO_MPEG4LevelMax = 0x7FFFFFFF -} OMX_VIDEO_MPEG4LEVELTYPE; - - -/** - * MPEG-4 configuration. This structure handles configuration options - * which are specific to MPEG4 algorithms - * - * STRUCT MEMBERS: - * nSize : Size of the structure in bytes - * nVersion : OMX specification version information - * nPortIndex : Port that this structure applies to - * nSliceHeaderSpacing : Number of macroblocks between slice header (H263+ - * Annex K). Put zero if not used - * bSVH : Enable Short Video Header mode - * bGov : Flag to enable GOV - * nPFrames : Number of P frames between each I frame (also called - * GOV period) - * nBFrames : Number of B frames between each I frame - * nIDCVLCThreshold : Value of intra DC VLC threshold - * bACPred : Flag to use ac prediction - * nMaxPacketSize : Maximum size of packet in bytes. - * nTimeIncRes : Used to pass VOP time increment resolution for MPEG4. - * Interpreted as described in MPEG4 standard. - * eProfile : MPEG-4 profile(s) to use. - * eLevel : MPEG-4 level(s) to use. - * nAllowedPictureTypes : Specifies the picture types allowed in the bitstream - * nHeaderExtension : Specifies the number of consecutive video packet - * headers within a VOP - * bReversibleVLC : Specifies whether reversible variable length coding - * is in use - */ -typedef struct OMX_VIDEO_PARAM_MPEG4TYPE { - OMX_U32 nSize; - OMX_VERSIONTYPE nVersion; - OMX_U32 nPortIndex; - OMX_U32 nSliceHeaderSpacing; - OMX_BOOL bSVH; - OMX_BOOL bGov; - OMX_U32 nPFrames; - OMX_U32 nBFrames; - OMX_U32 nIDCVLCThreshold; - OMX_BOOL bACPred; - OMX_U32 nMaxPacketSize; - OMX_U32 nTimeIncRes; - OMX_VIDEO_MPEG4PROFILETYPE eProfile; - OMX_VIDEO_MPEG4LEVELTYPE eLevel; - OMX_U32 nAllowedPictureTypes; - OMX_U32 nHeaderExtension; - OMX_BOOL bReversibleVLC; -} OMX_VIDEO_PARAM_MPEG4TYPE; - - -/** - * WMV Versions - */ -typedef enum OMX_VIDEO_WMVFORMATTYPE { - OMX_VIDEO_WMVFormatUnused = 0x01, /**< Format unused or unknown */ - OMX_VIDEO_WMVFormat7 = 0x02, /**< Windows Media Video format 7 */ - OMX_VIDEO_WMVFormat8 = 0x04, /**< Windows Media Video format 8 */ - OMX_VIDEO_WMVFormat9 = 0x08, /**< Windows Media Video format 9 */ - OMX_VIDEO_WMFFormatKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ - OMX_VIDEO_WMFFormatVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ - OMX_VIDEO_WMVFormatMax = 0x7FFFFFFF -} OMX_VIDEO_WMVFORMATTYPE; - - -/** - * WMV Params - * - * STRUCT MEMBERS: - * nSize : Size of the structure in bytes - * nVersion : OMX specification version information - * nPortIndex : Port that this structure applies to - * eFormat : Version of WMV stream / data - */ -typedef struct OMX_VIDEO_PARAM_WMVTYPE { - OMX_U32 nSize; - OMX_VERSIONTYPE nVersion; - OMX_U32 nPortIndex; - OMX_VIDEO_WMVFORMATTYPE eFormat; -} OMX_VIDEO_PARAM_WMVTYPE; - - -/** - * Real Video Version - */ -typedef enum OMX_VIDEO_RVFORMATTYPE { - OMX_VIDEO_RVFormatUnused = 0, /**< Format unused or unknown */ - OMX_VIDEO_RVFormat8, /**< Real Video format 8 */ - OMX_VIDEO_RVFormat9, /**< Real Video format 9 */ - OMX_VIDEO_RVFormatG2, /**< Real Video Format G2 */ - OMX_VIDEO_RVFormatKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ - OMX_VIDEO_RVFormatVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ - OMX_VIDEO_RVFormatMax = 0x7FFFFFFF -} OMX_VIDEO_RVFORMATTYPE; - - -/** - * Real Video Params - * - * STUCT MEMBERS: - * nSize : Size of the structure in bytes - * nVersion : OMX specification version information - * nPortIndex : Port that this structure applies to - * eFormat : Version of RV stream / data - * nBitsPerPixel : Bits per pixel coded in the frame - * nPaddedWidth : Padded width in pixel of a video frame - * nPaddedHeight : Padded Height in pixels of a video frame - * nFrameRate : Rate of video in frames per second - * nBitstreamFlags : Flags which internal information about the bitstream - * nBitstreamVersion : Bitstream version - * nMaxEncodeFrameSize: Max encoded frame size - * bEnablePostFilter : Turn on/off post filter - * bEnableTemporalInterpolation : Turn on/off temporal interpolation - * bEnableLatencyMode : When enabled, the decoder does not display a decoded - * frame until it has detected that no enhancement layer - * frames or dependent B frames will be coming. This - * detection usually occurs when a subsequent non-B - * frame is encountered - */ -typedef struct OMX_VIDEO_PARAM_RVTYPE { - OMX_U32 nSize; - OMX_VERSIONTYPE nVersion; - OMX_U32 nPortIndex; - OMX_VIDEO_RVFORMATTYPE eFormat; - OMX_U16 nBitsPerPixel; - OMX_U16 nPaddedWidth; - OMX_U16 nPaddedHeight; - OMX_U32 nFrameRate; - OMX_U32 nBitstreamFlags; - OMX_U32 nBitstreamVersion; - OMX_U32 nMaxEncodeFrameSize; - OMX_BOOL bEnablePostFilter; - OMX_BOOL bEnableTemporalInterpolation; - OMX_BOOL bEnableLatencyMode; -} OMX_VIDEO_PARAM_RVTYPE; - - -/** - * AVC profile types, each profile indicates support for various - * performance bounds and different annexes. - */ -typedef enum OMX_VIDEO_AVCPROFILETYPE { - OMX_VIDEO_AVCProfileBaseline = 0x01, /**< Baseline profile */ - OMX_VIDEO_AVCProfileMain = 0x02, /**< Main profile */ - OMX_VIDEO_AVCProfileExtended = 0x04, /**< Extended profile */ - OMX_VIDEO_AVCProfileHigh = 0x08, /**< High profile */ - OMX_VIDEO_AVCProfileHigh10 = 0x10, /**< High 10 profile */ - OMX_VIDEO_AVCProfileHigh422 = 0x20, /**< High 4:2:2 profile */ - OMX_VIDEO_AVCProfileHigh444 = 0x40, /**< High 4:4:4 profile */ - OMX_VIDEO_AVCProfileKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ - OMX_VIDEO_AVCProfileVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ - OMX_VIDEO_AVCProfileMax = 0x7FFFFFFF -} OMX_VIDEO_AVCPROFILETYPE; - - -/** - * AVC level types, each level indicates support for various frame sizes, - * bit rates, decoder frame rates. No need - */ -typedef enum OMX_VIDEO_AVCLEVELTYPE { - OMX_VIDEO_AVCLevel1 = 0x01, /**< Level 1 */ - OMX_VIDEO_AVCLevel1b = 0x02, /**< Level 1b */ - OMX_VIDEO_AVCLevel11 = 0x04, /**< Level 1.1 */ - OMX_VIDEO_AVCLevel12 = 0x08, /**< Level 1.2 */ - OMX_VIDEO_AVCLevel13 = 0x10, /**< Level 1.3 */ - OMX_VIDEO_AVCLevel2 = 0x20, /**< Level 2 */ - OMX_VIDEO_AVCLevel21 = 0x40, /**< Level 2.1 */ - OMX_VIDEO_AVCLevel22 = 0x80, /**< Level 2.2 */ - OMX_VIDEO_AVCLevel3 = 0x100, /**< Level 3 */ - OMX_VIDEO_AVCLevel31 = 0x200, /**< Level 3.1 */ - OMX_VIDEO_AVCLevel32 = 0x400, /**< Level 3.2 */ - OMX_VIDEO_AVCLevel4 = 0x800, /**< Level 4 */ - OMX_VIDEO_AVCLevel41 = 0x1000, /**< Level 4.1 */ - OMX_VIDEO_AVCLevel42 = 0x2000, /**< Level 4.2 */ - OMX_VIDEO_AVCLevel5 = 0x4000, /**< Level 5 */ - OMX_VIDEO_AVCLevel51 = 0x8000, /**< Level 5.1 */ - OMX_VIDEO_AVCLevel52 = 0x10000, /**< Level 5.2 */ - OMX_VIDEO_AVCLevelKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ - OMX_VIDEO_AVCLevelVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ - OMX_VIDEO_AVCLevelMax = 0x7FFFFFFF -} OMX_VIDEO_AVCLEVELTYPE; - - -/** - * AVC loop filter modes - * - * OMX_VIDEO_AVCLoopFilterEnable : Enable - * OMX_VIDEO_AVCLoopFilterDisable : Disable - * OMX_VIDEO_AVCLoopFilterDisableSliceBoundary : Disabled on slice boundaries - */ -typedef enum OMX_VIDEO_AVCLOOPFILTERTYPE { - OMX_VIDEO_AVCLoopFilterEnable = 0, - OMX_VIDEO_AVCLoopFilterDisable, - OMX_VIDEO_AVCLoopFilterDisableSliceBoundary, - OMX_VIDEO_AVCLoopFilterKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ - OMX_VIDEO_AVCLoopFilterVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ - OMX_VIDEO_AVCLoopFilterMax = 0x7FFFFFFF -} OMX_VIDEO_AVCLOOPFILTERTYPE; - - -/** - * AVC params - * - * STRUCT MEMBERS: - * nSize : Size of the structure in bytes - * nVersion : OMX specification version information - * nPortIndex : Port that this structure applies to - * nSliceHeaderSpacing : Number of macroblocks between slice header, put - * zero if not used - * nPFrames : Number of P frames between each I frame - * nBFrames : Number of B frames between each I frame - * bUseHadamard : Enable/disable Hadamard transform - * nRefFrames : Max number of reference frames to use for inter - * motion search (1-16) - * nRefIdxTrailing : Pic param set ref frame index (index into ref - * frame buffer of trailing frames list), B frame - * support - * nRefIdxForward : Pic param set ref frame index (index into ref - * frame buffer of forward frames list), B frame - * support - * bEnableUEP : Enable/disable unequal error protection. This - * is only valid of data partitioning is enabled. - * bEnableFMO : Enable/disable flexible macroblock ordering - * bEnableASO : Enable/disable arbitrary slice ordering - * bEnableRS : Enable/disable sending of redundant slices - * eProfile : AVC profile(s) to use - * eLevel : AVC level(s) to use - * nAllowedPictureTypes : Specifies the picture types allowed in the - * bitstream - * bFrameMBsOnly : specifies that every coded picture of the - * coded video sequence is a coded frame - * containing only frame macroblocks - * bMBAFF : Enable/disable switching between frame and - * field macroblocks within a picture - * bEntropyCodingCABAC : Entropy decoding method to be applied for the - * syntax elements for which two descriptors appear - * in the syntax tables - * bWeightedPPrediction : Enable/disable weighted prediction shall not - * be applied to P and SP slices - * nWeightedBipredicitonMode : Default weighted prediction is applied to B - * slices - * bconstIpred : Enable/disable intra prediction - * bDirect8x8Inference : Specifies the method used in the derivation - * process for luma motion vectors for B_Skip, - * B_Direct_16x16 and B_Direct_8x8 as specified - * in subclause 8.4.1.2 of the AVC spec - * bDirectSpatialTemporal : Flag indicating spatial or temporal direct - * mode used in B slice coding (related to - * bDirect8x8Inference) . Spatial direct mode is - * more common and should be the default. - * nCabacInitIdx : Index used to init CABAC contexts - * eLoopFilterMode : Enable/disable loop filter - */ -typedef struct OMX_VIDEO_PARAM_AVCTYPE { - OMX_U32 nSize; - OMX_VERSIONTYPE nVersion; - OMX_U32 nPortIndex; - OMX_U32 nSliceHeaderSpacing; - OMX_U32 nPFrames; - OMX_U32 nBFrames; - OMX_BOOL bUseHadamard; - OMX_U32 nRefFrames; - OMX_U32 nRefIdx10ActiveMinus1; - OMX_U32 nRefIdx11ActiveMinus1; - OMX_BOOL bEnableUEP; - OMX_BOOL bEnableFMO; - OMX_BOOL bEnableASO; - OMX_BOOL bEnableRS; - OMX_VIDEO_AVCPROFILETYPE eProfile; - OMX_VIDEO_AVCLEVELTYPE eLevel; - OMX_U32 nAllowedPictureTypes; - OMX_BOOL bFrameMBsOnly; - OMX_BOOL bMBAFF; - OMX_BOOL bEntropyCodingCABAC; - OMX_BOOL bWeightedPPrediction; - OMX_U32 nWeightedBipredicitonMode; - OMX_BOOL bconstIpred ; - OMX_BOOL bDirect8x8Inference; - OMX_BOOL bDirectSpatialTemporal; - OMX_U32 nCabacInitIdc; - OMX_VIDEO_AVCLOOPFILTERTYPE eLoopFilterMode; -} OMX_VIDEO_PARAM_AVCTYPE; - -typedef struct OMX_VIDEO_PARAM_PROFILELEVELTYPE { - OMX_U32 nSize; - OMX_VERSIONTYPE nVersion; - OMX_U32 nPortIndex; - OMX_U32 eProfile; /**< type is OMX_VIDEO_AVCPROFILETYPE, OMX_VIDEO_H263PROFILETYPE, - or OMX_VIDEO_MPEG4PROFILETYPE depending on context */ - OMX_U32 eLevel; /**< type is OMX_VIDEO_AVCLEVELTYPE, OMX_VIDEO_H263LEVELTYPE, - or OMX_VIDEO_MPEG4PROFILETYPE depending on context */ - OMX_U32 nProfileIndex; /**< Used to query for individual profile support information, - This parameter is valid only for - OMX_IndexParamVideoProfileLevelQuerySupported index, - For all other indices this parameter is to be ignored. */ -} OMX_VIDEO_PARAM_PROFILELEVELTYPE; - -/** - * Structure for dynamically configuring bitrate mode of a codec. - * - * STRUCT MEMBERS: - * nSize : Size of the struct in bytes - * nVersion : OMX spec version info - * nPortIndex : Port that this struct applies to - * nEncodeBitrate : Target average bitrate to be generated in bps - */ -typedef struct OMX_VIDEO_CONFIG_BITRATETYPE { - OMX_U32 nSize; - OMX_VERSIONTYPE nVersion; - OMX_U32 nPortIndex; - OMX_U32 nEncodeBitrate; -} OMX_VIDEO_CONFIG_BITRATETYPE; - -/** - * Defines Encoder Frame Rate setting - * - * STRUCT MEMBERS: - * nSize : Size of the structure in bytes - * nVersion : OMX specification version information - * nPortIndex : Port that this structure applies to - * xEncodeFramerate : Encoding framerate represented in Q16 format - */ -typedef struct OMX_CONFIG_FRAMERATETYPE { - OMX_U32 nSize; - OMX_VERSIONTYPE nVersion; - OMX_U32 nPortIndex; - OMX_U32 xEncodeFramerate; /* Q16 format */ -} OMX_CONFIG_FRAMERATETYPE; - -typedef struct OMX_CONFIG_INTRAREFRESHVOPTYPE { - OMX_U32 nSize; - OMX_VERSIONTYPE nVersion; - OMX_U32 nPortIndex; - OMX_BOOL IntraRefreshVOP; -} OMX_CONFIG_INTRAREFRESHVOPTYPE; - -typedef struct OMX_CONFIG_MACROBLOCKERRORMAPTYPE { - OMX_U32 nSize; - OMX_VERSIONTYPE nVersion; - OMX_U32 nPortIndex; - OMX_U32 nErrMapSize; /* Size of the Error Map in bytes */ - OMX_U8 ErrMap[1]; /* Error map hint */ -} OMX_CONFIG_MACROBLOCKERRORMAPTYPE; - -typedef struct OMX_CONFIG_MBERRORREPORTINGTYPE { - OMX_U32 nSize; - OMX_VERSIONTYPE nVersion; - OMX_U32 nPortIndex; - OMX_BOOL bEnabled; -} OMX_CONFIG_MBERRORREPORTINGTYPE; - -typedef struct OMX_PARAM_MACROBLOCKSTYPE { - OMX_U32 nSize; - OMX_VERSIONTYPE nVersion; - OMX_U32 nPortIndex; - OMX_U32 nMacroblocks; -} OMX_PARAM_MACROBLOCKSTYPE; - -/** - * AVC Slice Mode modes - * - * OMX_VIDEO_SLICEMODE_AVCDefault : Normal frame encoding, one slice per frame - * OMX_VIDEO_SLICEMODE_AVCMBSlice : NAL mode, number of MBs per frame - * OMX_VIDEO_SLICEMODE_AVCByteSlice : NAL mode, number of bytes per frame - */ -typedef enum OMX_VIDEO_AVCSLICEMODETYPE { - OMX_VIDEO_SLICEMODE_AVCDefault = 0, - OMX_VIDEO_SLICEMODE_AVCMBSlice, - OMX_VIDEO_SLICEMODE_AVCByteSlice, - OMX_VIDEO_SLICEMODE_AVCKhronosExtensions = 0x6F000000, /**< Reserved region for introducing Khronos Standard Extensions */ - OMX_VIDEO_SLICEMODE_AVCVendorStartUnused = 0x7F000000, /**< Reserved region for introducing Vendor Extensions */ - OMX_VIDEO_SLICEMODE_AVCLevelMax = 0x7FFFFFFF -} OMX_VIDEO_AVCSLICEMODETYPE; - -/** - * AVC FMO Slice Mode Params - * - * STRUCT MEMBERS: - * nSize : Size of the structure in bytes - * nVersion : OMX specification version information - * nPortIndex : Port that this structure applies to - * nNumSliceGroups : Specifies the number of slice groups - * nSliceGroupMapType : Specifies the type of slice groups - * eSliceMode : Specifies the type of slice - */ -typedef struct OMX_VIDEO_PARAM_AVCSLICEFMO { - OMX_U32 nSize; - OMX_VERSIONTYPE nVersion; - OMX_U32 nPortIndex; - OMX_U8 nNumSliceGroups; - OMX_U8 nSliceGroupMapType; - OMX_VIDEO_AVCSLICEMODETYPE eSliceMode; -} OMX_VIDEO_PARAM_AVCSLICEFMO; - -/** - * AVC IDR Period Configs - * - * STRUCT MEMBERS: - * nSize : Size of the structure in bytes - * nVersion : OMX specification version information - * nPortIndex : Port that this structure applies to - * nIDRPeriod : Specifies periodicity of IDR frames - * nPFrames : Specifies internal of coding Intra frames - */ -typedef struct OMX_VIDEO_CONFIG_AVCINTRAPERIOD { - OMX_U32 nSize; - OMX_VERSIONTYPE nVersion; - OMX_U32 nPortIndex; - OMX_U32 nIDRPeriod; - OMX_U32 nPFrames; -} OMX_VIDEO_CONFIG_AVCINTRAPERIOD; - -/** - * AVC NAL Size Configs - * - * STRUCT MEMBERS: - * nSize : Size of the structure in bytes - * nVersion : OMX specification version information - * nPortIndex : Port that this structure applies to - * nNaluBytes : Specifies the NAL unit size - */ -typedef struct OMX_VIDEO_CONFIG_NALSIZE { - OMX_U32 nSize; - OMX_VERSIONTYPE nVersion; - OMX_U32 nPortIndex; - OMX_U32 nNaluBytes; -} OMX_VIDEO_CONFIG_NALSIZE; - - -/** - * Deinterlace Config - * - * STRUCT MEMBERS: - * nSize : Size of the structure in bytes - * nVersion : OMX specification version information - * nPortIndex : Port that this structure applies to - * nEnable : Specifies to enable deinterlace - */ -typedef struct OMX_VIDEO_CONFIG_DEINTERLACE { - OMX_U32 nSize; - OMX_VERSIONTYPE nVersion; - OMX_U32 nPortIndex; - OMX_U32 nEnable; -} OMX_VIDEO_CONFIG_DEINTERLACE; - -/** @} */ - -#ifdef __cplusplus -} -#endif /* __cplusplus */ - -#endif -/* File EOF */ - diff --git a/selfdrive/frogpilot/screenrecorder/openmax/include/OMX_VideoExt.h b/selfdrive/frogpilot/screenrecorder/openmax/include/OMX_VideoExt.h deleted file mode 100644 index 5bf6fd48786405..00000000000000 --- a/selfdrive/frogpilot/screenrecorder/openmax/include/OMX_VideoExt.h +++ /dev/null @@ -1,166 +0,0 @@ -/* - * Copyright (c) 2010 The Khronos Group Inc. - * - * Permission is hereby granted, free of charge, to any person obtaining - * a copy of this software and associated documentation files (the - * "Software"), to deal in the Software without restriction, including - * without limitation the rights to use, copy, modify, merge, publish, - * distribute, sublicense, and/or sell copies of the Software, and to - * permit persons to whom the Software is furnished to do so, subject - * to the following conditions: - * The above copyright notice and this permission notice shall be included - * in all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS - * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF - * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. - * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY - * CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, - * TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE - * SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. - * - */ - -/** OMX_VideoExt.h - OpenMax IL version 1.1.2 - * The OMX_VideoExt header file contains extensions to the - * definitions used by both the application and the component to - * access video items. - */ - -#ifndef OMX_VideoExt_h -#define OMX_VideoExt_h - -#ifdef __cplusplus -extern "C" { -#endif /* __cplusplus */ - -/* Each OMX header shall include all required header files to allow the - * header to compile without errors. The includes below are required - * for this header file to compile successfully - */ -#include - -/** NALU Formats */ -typedef enum OMX_NALUFORMATSTYPE { - OMX_NaluFormatStartCodes = 1, - OMX_NaluFormatOneNaluPerBuffer = 2, - OMX_NaluFormatOneByteInterleaveLength = 4, - OMX_NaluFormatTwoByteInterleaveLength = 8, - OMX_NaluFormatFourByteInterleaveLength = 16, - OMX_NaluFormatCodingMax = 0x7FFFFFFF -} OMX_NALUFORMATSTYPE; - -/** NAL Stream Format */ -typedef struct OMX_NALSTREAMFORMATTYPE{ - OMX_U32 nSize; - OMX_VERSIONTYPE nVersion; - OMX_U32 nPortIndex; - OMX_NALUFORMATSTYPE eNaluFormat; -} OMX_NALSTREAMFORMATTYPE; - -/** VP8 profiles */ -typedef enum OMX_VIDEO_VP8PROFILETYPE { - OMX_VIDEO_VP8ProfileMain = 0x01, - OMX_VIDEO_VP8ProfileUnknown = 0x6EFFFFFF, - OMX_VIDEO_VP8ProfileMax = 0x7FFFFFFF -} OMX_VIDEO_VP8PROFILETYPE; - -/** VP8 levels */ -typedef enum OMX_VIDEO_VP8LEVELTYPE { - OMX_VIDEO_VP8Level_Version0 = 0x01, - OMX_VIDEO_VP8Level_Version1 = 0x02, - OMX_VIDEO_VP8Level_Version2 = 0x04, - OMX_VIDEO_VP8Level_Version3 = 0x08, - OMX_VIDEO_VP8LevelUnknown = 0x6EFFFFFF, - OMX_VIDEO_VP8LevelMax = 0x7FFFFFFF -} OMX_VIDEO_VP8LEVELTYPE; - -/** VP8 Param */ -typedef struct OMX_VIDEO_PARAM_VP8TYPE { - OMX_U32 nSize; - OMX_VERSIONTYPE nVersion; - OMX_U32 nPortIndex; - OMX_VIDEO_VP8PROFILETYPE eProfile; - OMX_VIDEO_VP8LEVELTYPE eLevel; - OMX_U32 nDCTPartitions; - OMX_BOOL bErrorResilientMode; -} OMX_VIDEO_PARAM_VP8TYPE; - -/** Structure for configuring VP8 reference frames */ -typedef struct OMX_VIDEO_VP8REFERENCEFRAMETYPE { - OMX_U32 nSize; - OMX_VERSIONTYPE nVersion; - OMX_U32 nPortIndex; - OMX_BOOL bPreviousFrameRefresh; - OMX_BOOL bGoldenFrameRefresh; - OMX_BOOL bAlternateFrameRefresh; - OMX_BOOL bUsePreviousFrame; - OMX_BOOL bUseGoldenFrame; - OMX_BOOL bUseAlternateFrame; -} OMX_VIDEO_VP8REFERENCEFRAMETYPE; - -/** Structure for querying VP8 reference frame type */ -typedef struct OMX_VIDEO_VP8REFERENCEFRAMEINFOTYPE { - OMX_U32 nSize; - OMX_VERSIONTYPE nVersion; - OMX_U32 nPortIndex; - OMX_BOOL bIsIntraFrame; - OMX_BOOL bIsGoldenOrAlternateFrame; -} OMX_VIDEO_VP8REFERENCEFRAMEINFOTYPE; - -/** HEVC Profiles */ -typedef enum OMX_VIDEO_HEVCPROFILETYPE { - OMX_VIDEO_HEVCProfileMain = 0x01, - OMX_VIDEO_HEVCProfileMain10 = 0x02, - OMX_VIDEO_HEVCProfileUnknown = 0x6EFFFFFF, - OMX_VIDEO_HEVCProfileMax = 0x7FFFFFFF -} OMX_VIDEO_HEVCPROFILETYPE; - -/** HEVC levels */ -typedef enum OMX_VIDEO_HEVCLEVELTYPE { - OMX_VIDEO_HEVCLevel_Version0 = 0x0, - OMX_VIDEO_HEVCMainTierLevel1 = 0x1, - OMX_VIDEO_HEVCHighTierLevel1 = 0x2, - OMX_VIDEO_HEVCMainTierLevel2 = 0x4, - OMX_VIDEO_HEVCHighTierLevel2 = 0x8, - OMX_VIDEO_HEVCMainTierLevel21 = 0x10, - OMX_VIDEO_HEVCHighTierLevel21 = 0x20, - OMX_VIDEO_HEVCMainTierLevel3 = 0x40, - OMX_VIDEO_HEVCHighTierLevel3 = 0x80, - OMX_VIDEO_HEVCMainTierLevel31 = 0x100, - OMX_VIDEO_HEVCHighTierLevel31 = 0x200, - OMX_VIDEO_HEVCMainTierLevel4 = 0x400, - OMX_VIDEO_HEVCHighTierLevel4 = 0x800, - OMX_VIDEO_HEVCMainTierLevel41 = 0x1000, - OMX_VIDEO_HEVCHighTierLevel41 = 0x2000, - OMX_VIDEO_HEVCMainTierLevel5 = 0x4000, - OMX_VIDEO_HEVCHighTierLevel5 = 0x8000, - OMX_VIDEO_HEVCMainTierLevel51 = 0x10000, - OMX_VIDEO_HEVCHighTierLevel51 = 0x20000, - OMX_VIDEO_HEVCMainTierLevel52 = 0x40000, - OMX_VIDEO_HEVCHighTierLevel52 = 0x80000, - OMX_VIDEO_HEVCMainTierLevel6 = 0x100000, - OMX_VIDEO_HEVCHighTierLevel6 = 0x200000, - OMX_VIDEO_HEVCMainTierLevel61 = 0x400000, - OMX_VIDEO_HEVCHighTierLevel61 = 0x800000, - OMX_VIDEO_HEVCMainTierLevel62 = 0x1000000, - OMX_VIDEO_HEVCLevelUnknown = 0x6EFFFFFF, - OMX_VIDEO_HEVCLevelMax = 0x7FFFFFFF -} OMX_VIDEO_HEVCLEVELTYPE; - -/** HEVC Param */ -typedef struct OMX_VIDEO_PARAM_HEVCTYPE { - OMX_U32 nSize; - OMX_VERSIONTYPE nVersion; - OMX_U32 nPortIndex; - OMX_VIDEO_HEVCPROFILETYPE eProfile; - OMX_VIDEO_HEVCLEVELTYPE eLevel; -} OMX_VIDEO_PARAM_HEVCTYPE; - - -#ifdef __cplusplus -} -#endif /* __cplusplus */ - -#endif /* OMX_VideoExt_h */ -/* File EOF */ diff --git a/selfdrive/frogpilot/screenrecorder/screenrecorder.cc b/selfdrive/frogpilot/screenrecorder/screenrecorder.cc deleted file mode 100644 index 8692ede6352eec..00000000000000 --- a/selfdrive/frogpilot/screenrecorder/screenrecorder.cc +++ /dev/null @@ -1,184 +0,0 @@ -#include "libyuv.h" - -#include "selfdrive/ui/qt/util.h" - -#include "selfdrive/frogpilot/screenrecorder/screenrecorder.h" - -namespace { - long long currentMilliseconds() { - return std::chrono::duration_cast(std::chrono::system_clock::now().time_since_epoch()).count(); - } - - uint64_t nanosSinceBoot() { - return std::chrono::duration_cast(std::chrono::steady_clock::now().time_since_epoch()).count(); - } -} - -ScreenRecorder::ScreenRecorder(QWidget *parent) : QPushButton(parent) { - setFixedSize(btn_size, btn_size); - - std::thread encoderInitThread([this]() { - try { - encoder = std::make_unique("/data/media/screen_recordings", screenWidth, screenHeight, UI_FREQ, 8 * 1024 * 1024); - encoderReady = true; - } catch (const std::exception &e) { - std::cerr << "Error initializing OmxEncoder: " << e.what() << std::endl; - } - }); - encoderInitThread.detach(); - - rgbScaleBuffer = std::make_unique(screenWidth * screenHeight * 4); - - QObject::connect(this, &QPushButton::clicked, this, &ScreenRecorder::toggleRecording); -} - -ScreenRecorder::~ScreenRecorder() { - stopRecording(); -} - -void ScreenRecorder::toggleRecording() { - if (recording) { - stopRecording(); - } else { - startRecording(); - } -} - -void ScreenRecorder::startRecording() { - if (recording || !encoderReady) { - std::cerr << "Recording already in progress or encoder not ready." << std::endl; - return; - } - - recording = true; - - rootWidget = this; - while (rootWidget->parentWidget()) { - rootWidget = rootWidget->parentWidget(); - } - - QString filename = QDateTime::currentDateTime().toString("MMMM_dd_yyyy-hh:mmAP") + ".mp4"; - try { - openEncoder(filename.toStdString()); - encodingThread = std::thread(&ScreenRecorder::encodingThreadFunction, this); - } catch (const std::exception &e) { - std::cerr << "Error starting encoder: " << e.what() << std::endl; - recording = false; - } - - startedTime = currentMilliseconds(); -} - -void ScreenRecorder::stopRecording() { - if (!recording) { - return; - } - - recording = false; - - if (encodingThread.joinable()) { - encodingThread.join(); - } - - try { - closeEncoder(); - } catch (const std::exception &e) { - std::cerr << "Error stopping encoder: " << e.what() << std::endl; - } - - imageQueue.clear(); - rgbScaleBuffer = std::make_unique(screenWidth * screenHeight * 4); -} - -void ScreenRecorder::openEncoder(const std::string &filename) { - if (encoder) { - encoder->encoder_open(filename.c_str()); - } -} - -void ScreenRecorder::closeEncoder() { - if (encoder) { - encoder->encoder_close(); - } -} - -void ScreenRecorder::encodingThreadFunction() { - uint64_t startTime = nanosSinceBoot(); - - while (recording) { - QImage image; - if (imageQueue.pop_wait_for(image, std::chrono::milliseconds(10))) { - QImage convertedImage = image.convertToFormat(QImage::Format_RGBA8888); - libyuv::ARGBScale( - convertedImage.bits(), - convertedImage.width() * 4, - convertedImage.width(), - convertedImage.height(), - rgbScaleBuffer.get(), - screenWidth * 4, - screenWidth, - screenHeight, - libyuv::kFilterBilinear - ); - encoder->encode_frame_rgba( - rgbScaleBuffer.get(), - screenWidth, - screenHeight, - nanosSinceBoot() - startTime - ); - } - } -} - -void ScreenRecorder::updateScreen(double fps, bool started) { - if (!recording) { - return; - } - - if (!started) { - stopRecording(); - return; - } - - static long long recordingDurationLimit = 1000 * 60 * 3; - if (currentMilliseconds() - startedTime > recordingDurationLimit) { - stopRecording(); - startRecording(); - return; - } - - if (rootWidget) { - imageQueue.push(rootWidget->grab().toImage()); - } -} - -void ScreenRecorder::paintEvent(QPaintEvent *event) { - QPainter painter(this); - painter.setRenderHint(QPainter::Antialiasing); - - if (recording) { - painter.setPen(QPen(redColor(), 6)); - painter.setBrush(redColor(166)); - - painter.setFont(InterFont(25, QFont::Bold)); - } else { - painter.setPen(QPen(redColor(), 6)); - painter.setBrush(blackColor(166)); - - painter.setFont(InterFont(25, QFont::DemiBold)); - } - - int centeringOffset = 10; - - QRect buttonRect(centeringOffset, btn_size / 3, btn_size - centeringOffset * 2, btn_size / 3); - painter.drawRoundedRect(buttonRect, 24, 24); - - QRect textRect = buttonRect.adjusted(centeringOffset, 0, -centeringOffset, 0); - painter.setPen(QPen(whiteColor(), 6)); - painter.drawText(textRect, Qt::AlignLeft | Qt::AlignVCenter, tr("RECORD")); - - if (recording && ((currentMilliseconds() - startedTime) / 1000) % 2 == 0) { - painter.setPen(Qt::NoPen); - painter.drawEllipse(QPoint(buttonRect.right() - btn_size / 10 - centeringOffset, buttonRect.center().y()), btn_size / 10, btn_size / 10); - } -} diff --git a/selfdrive/frogpilot/screenrecorder/screenrecorder.h b/selfdrive/frogpilot/screenrecorder/screenrecorder.h deleted file mode 100644 index 4747d6269c5759..00000000000000 --- a/selfdrive/frogpilot/screenrecorder/screenrecorder.h +++ /dev/null @@ -1,51 +0,0 @@ -#pragma once - -#include "omx_encoder.h" -#include "blocking_queue.h" - -#include "selfdrive/ui/qt/onroad/buttons.h" - -class ScreenRecorder : public QPushButton { - Q_OBJECT - -public: - explicit ScreenRecorder(QWidget *parent = nullptr); - ~ScreenRecorder() override; - - void updateScreen(double fps, bool started); - -protected: - void paintEvent(QPaintEvent *event) override; - -private slots: - void toggleRecording(); - -private: - void closeEncoder(); - void encodingThreadFunction(); - void openEncoder(const std::string &filename); - void startRecording(); - void stopRecording(); - - BlockingQueue imageQueue{UI_FREQ}; - - inline QColor blackColor(int alpha = 255) { return QColor(0, 0, 0, alpha); } - inline QColor redColor(int alpha = 255) { return QColor(201, 34, 49, alpha); } - inline QColor whiteColor(int alpha = 255) { return QColor(255, 255, 255, alpha); } - - QWidget *rootWidget = nullptr; - - int screenHeight = 1080; - int screenWidth = 2160; - - long long startedTime = 0; - - std::atomic encoderReady{false}; - std::atomic recording{false}; - - std::unique_ptr encoder; - - std::unique_ptr rgbScaleBuffer; - - std::thread encodingThread; -}; diff --git a/selfdrive/frogpilot/ui/qt/offroad/data_settings.cc b/selfdrive/frogpilot/ui/qt/offroad/data_settings.cc deleted file mode 100644 index d296120c4093be..00000000000000 --- a/selfdrive/frogpilot/ui/qt/offroad/data_settings.cc +++ /dev/null @@ -1,432 +0,0 @@ -#include - -#include "selfdrive/frogpilot/ui/qt/offroad/data_settings.h" - -FrogPilotDataPanel::FrogPilotDataPanel(FrogPilotSettingsWindow *parent) : FrogPilotListWidget(parent) { - ButtonControl *deleteDrivingDataBtn = new ButtonControl(tr("Delete Driving Footage and Data"), tr("DELETE"), tr("Permanently deletes all stored driving footage and data from your device. Ideal for maintaining privacy or freeing up space.")); - QObject::connect(deleteDrivingDataBtn, &ButtonControl::clicked, [=]() { - QDir realdataDir("/data/media/0/realdata"); - - if (ConfirmationDialog::confirm(tr("Are you sure you want to permanently delete all of your driving footage and data?"), tr("Delete"), this)) { - std::thread([=]() mutable { - deleteDrivingDataBtn->setEnabled(false); - - deleteDrivingDataBtn->setValue(tr("Deleting...")); - - realdataDir.removeRecursively(); - realdataDir.mkpath("."); - - deleteDrivingDataBtn->setValue(tr("Deleted!")); - - util::sleep_for(2500); - - deleteDrivingDataBtn->setEnabled(true); - - deleteDrivingDataBtn->setValue(""); - }).detach(); - } - }); - addItem(deleteDrivingDataBtn); - - FrogPilotButtonsControl *screenRecordingsBtn = new FrogPilotButtonsControl(tr("Screen Recordings"), tr("Manage your screen recordings."), {tr("DELETE"), tr("DELETE ALL"), tr("RENAME")}); - QObject::connect(screenRecordingsBtn, &FrogPilotButtonsControl::buttonClicked, [=](int id) { - QDir recordingsDir("/data/media/screen_recordings"); - QStringList recordingsNames = recordingsDir.entryList(QDir::Files | QDir::NoDotAndDotDot); - - if (id == 0) { - QString selection = MultiOptionDialog::getSelection(tr("Select a recording to delete"), recordingsNames, "", this); - if (!selection.isEmpty()) { - if (ConfirmationDialog::confirm(tr("Are you sure you want to delete this recording?"), tr("Delete"), this)) { - std::thread([=]() { - screenRecordingsBtn->setEnabled(false); - - screenRecordingsBtn->setValue(tr("Deleting...")); - - screenRecordingsBtn->setVisibleButton(1, false); - screenRecordingsBtn->setVisibleButton(2, false); - - QFile::remove(recordingsDir.absoluteFilePath(selection)); - - screenRecordingsBtn->setValue(tr("Deleted!")); - - util::sleep_for(2500); - - screenRecordingsBtn->setEnabled(true); - - screenRecordingsBtn->setValue(""); - - screenRecordingsBtn->setVisibleButton(1, true); - screenRecordingsBtn->setVisibleButton(2, true); - }).detach(); - } - } - - } else if (id == 1) { - if (ConfirmationDialog::confirm(tr("Are you sure you want to delete all screen recordings?"), tr("Delete All"), this)) { - std::thread([=]() mutable { - screenRecordingsBtn->setEnabled(false); - - screenRecordingsBtn->setValue(tr("Deleting...")); - - screenRecordingsBtn->setVisibleButton(0, false); - screenRecordingsBtn->setVisibleButton(2, false); - - recordingsDir.removeRecursively(); - recordingsDir.mkpath("."); - - screenRecordingsBtn->setValue(tr("Deleted!")); - - util::sleep_for(2500); - - screenRecordingsBtn->setEnabled(true); - - screenRecordingsBtn->setValue(""); - - screenRecordingsBtn->setVisibleButton(0, true); - screenRecordingsBtn->setVisibleButton(2, true); - }).detach(); - } - - } else if (id == 2) { - QString selection = MultiOptionDialog::getSelection(tr("Select a recording to rename"), recordingsNames, "", this); - if (!selection.isEmpty()) { - QString newName = InputDialog::getText(tr("Enter a new name"), this, tr("Rename Recording")).trimmed().replace(" ", "_"); - if (!newName.isEmpty()) { - if (recordingsNames.contains(newName)) { - ConfirmationDialog::alert(tr("A recording with this name already exists. Please choose a different name."), this); - return; - } - std::thread([=]() { - screenRecordingsBtn->setEnabled(false); - - screenRecordingsBtn->setValue(tr("Renaming...")); - - screenRecordingsBtn->setVisibleButton(0, false); - screenRecordingsBtn->setVisibleButton(1, false); - - QString newPath = recordingsDir.absoluteFilePath(newName); - QString oldPath = recordingsDir.absoluteFilePath(selection); - - QFile::rename(oldPath, newPath); - - screenRecordingsBtn->setValue(tr("Renamed!")); - - util::sleep_for(2500); - - screenRecordingsBtn->setEnabled(true); - - screenRecordingsBtn->setValue(""); - - screenRecordingsBtn->setVisibleButton(0, true); - screenRecordingsBtn->setVisibleButton(1, true); - }).detach(); - } - } - } - }); - addItem(screenRecordingsBtn); - - FrogPilotButtonsControl *frogpilotBackupBtn = new FrogPilotButtonsControl(tr("FrogPilot Backups"), tr("Manage your FrogPilot backups."), {tr("BACKUP"), tr("DELETE"), tr("DELETE ALL"), tr("RESTORE")}); - QObject::connect(frogpilotBackupBtn, &FrogPilotButtonsControl::buttonClicked, [=](int id) { - QDir backupDir("/data/backups"); - QStringList backupNames = backupDir.entryList(QDir::Dirs | QDir::Files | QDir::NoDotAndDotDot, QDir::Name).filter(QRegularExpression("^(?!.*_in_progress$).*$")); - - if (id == 0) { - QString nameSelection = InputDialog::getText(tr("Name your backup"), this, "", false, 1).trimmed().replace(" ", "_"); - if (!nameSelection.isEmpty()) { - if (backupNames.contains(nameSelection)) { - ConfirmationDialog::alert(tr("A backup with this name already exists. Please choose a different name."), this); - return; - } - bool compressed = FrogPilotConfirmationDialog::yesorno(tr("Do you want to compress this backup? The final result will be 2.25x smaller and will run in the background, but can take 10+ minutes."), this); - std::thread([=]() { - frogpilotBackupBtn->setEnabled(false); - - frogpilotBackupBtn->setValue(tr("Backing up...")); - - frogpilotBackupBtn->setVisibleButton(1, false); - frogpilotBackupBtn->setVisibleButton(2, false); - frogpilotBackupBtn->setVisibleButton(3, false); - - std::string fullBackupPath = backupDir.filePath(nameSelection).toStdString(); - std::string inProgressBackupPath = fullBackupPath + "_in_progress"; - - std::filesystem::create_directories(inProgressBackupPath); - std::system(("rsync -av /data/openpilot/ " + inProgressBackupPath + "/").c_str()); - - if (compressed) { - frogpilotBackupBtn->setValue(tr("Compressing...")); - - std::system(("tar -czf " + fullBackupPath + "_in_progress.tar.gz -C " + inProgressBackupPath + " .").c_str()); - std::filesystem::remove_all(inProgressBackupPath); - std::filesystem::rename(fullBackupPath + "_in_progress.tar.gz", fullBackupPath + ".tar.gz"); - } else { - std::filesystem::rename(inProgressBackupPath, fullBackupPath); - } - - frogpilotBackupBtn->setValue(tr("Backup created!")); - - util::sleep_for(2500); - - frogpilotBackupBtn->setEnabled(true); - - frogpilotBackupBtn->setValue(""); - - frogpilotBackupBtn->setVisibleButton(1, true); - frogpilotBackupBtn->setVisibleButton(2, true); - frogpilotBackupBtn->setVisibleButton(3, true); - }).detach(); - } - - } else if (id == 1) { - QString selection = MultiOptionDialog::getSelection(tr("Select a backup to delete"), backupNames, "", this); - if (!selection.isEmpty()) { - if (ConfirmationDialog::confirm(tr("Are you sure you want to delete this backup?"), tr("Delete"), this)) { - std::thread([=]() { - frogpilotBackupBtn->setVisibleButton(0, false); - frogpilotBackupBtn->setVisibleButton(2, false); - frogpilotBackupBtn->setVisibleButton(3, false); - - frogpilotBackupBtn->setValue(tr("Deleting...")); - - QDir dirToDelete(backupDir.filePath(selection)); - if (selection.endsWith(".tar.gz")) { - QFile::remove(dirToDelete.absolutePath()); - } else { - dirToDelete.removeRecursively(); - } - - util::sleep_for(2500); - - frogpilotBackupBtn->setValue(""); - - frogpilotBackupBtn->setEnabled(true); - - frogpilotBackupBtn->setVisibleButton(0, true); - frogpilotBackupBtn->setVisibleButton(2, true); - frogpilotBackupBtn->setVisibleButton(3, true); - }).detach(); - } - } - - } else if (id == 2) { - if (ConfirmationDialog::confirm(tr("Are you sure you want to delete all FrogPilot backups?"), tr("Delete All"), this)) { - std::thread([=]() mutable { - frogpilotBackupBtn->setEnabled(false); - - frogpilotBackupBtn->setVisibleButton(0, false); - frogpilotBackupBtn->setVisibleButton(1, false); - frogpilotBackupBtn->setVisibleButton(3, false); - - frogpilotBackupBtn->setValue(tr("Deleting...")); - - backupDir.removeRecursively(); - backupDir.mkpath("."); - - frogpilotBackupBtn->setValue(tr("Deleted!")); - - util::sleep_for(2500); - - frogpilotBackupBtn->setValue(""); - - frogpilotBackupBtn->setEnabled(true); - - frogpilotBackupBtn->setVisibleButton(0, true); - frogpilotBackupBtn->setVisibleButton(1, true); - frogpilotBackupBtn->setVisibleButton(3, true); - }).detach(); - } - - } else if (id == 3) { - QString selection = MultiOptionDialog::getSelection(tr("Select a restore point"), backupNames, "", this); - if (!selection.isEmpty()) { - if (ConfirmationDialog::confirm(tr("Are you sure you want to restore this version of FrogPilot?"), tr("Restore"), this)) { - std::thread([=]() { - frogpilotBackupBtn->setEnabled(false); - - frogpilotBackupBtn->setVisibleButton(0, false); - frogpilotBackupBtn->setVisibleButton(1, false); - frogpilotBackupBtn->setVisibleButton(2, false); - - std::string extractDirectory = "/data/restore_temp"; - std::string sourcePath = backupDir.filePath(selection).toStdString(); - std::string targetPath = "/data/safe_staging/finalized"; - - if (selection.endsWith(".tar.gz")) { - frogpilotBackupBtn->setValue(tr("Extracting...")); - - std::filesystem::create_directories(extractDirectory); - std::system(("tar --strip-components=1 -xzf " + sourcePath + " -C " + extractDirectory).c_str()); - - sourcePath = extractDirectory; - } - - frogpilotBackupBtn->setValue(tr("Restoring...")); - - std::filesystem::create_directories(targetPath); - std::system(("rsync -av --delete -l " + sourcePath + "/ " + targetPath + "/").c_str()); - - std::filesystem::path overlayFile = targetPath + "/.overlay_consistent"; - std::ofstream(overlayFile).close(); - - if (std::filesystem::exists(extractDirectory)) { - std::filesystem::remove_all(extractDirectory); - } - - params.putBool("AutomaticUpdates", false); - - frogpilotBackupBtn->setValue(tr("Restored!")); - - util::sleep_for(2500); - - frogpilotBackupBtn->setValue(tr("Rebooting...")); - - util::sleep_for(2500); - - Hardware::reboot(); - }).detach(); - } - } - } - }); - addItem(frogpilotBackupBtn); - - FrogPilotButtonsControl *toggleBackupBtn = new FrogPilotButtonsControl(tr("Toggle Backups"), tr("Manage your toggle backups."), {tr("BACKUP"), tr("DELETE"), tr("DELETE ALL"), tr("RESTORE")}); - QObject::connect(toggleBackupBtn, &FrogPilotButtonsControl::buttonClicked, [=](int id) { - QDir backupDir("/data/toggle_backups"); - QStringList backupNames = backupDir.entryList(QDir::Dirs | QDir::Files | QDir::NoDotAndDotDot, QDir::Name).filter(QRegularExpression("^(?!.*_in_progress$).*$")); - - if (id == 0) { - QString nameSelection = InputDialog::getText(tr("Name your backup"), this, "", false, 1).trimmed().replace(" ", "_"); - if (!nameSelection.isEmpty()) { - if (backupNames.contains(nameSelection)) { - ConfirmationDialog::alert(tr("A backup with this name already exists. Please choose a different name."), this); - return; - } - std::thread([=]() { - toggleBackupBtn->setEnabled(false); - - toggleBackupBtn->setValue(tr("Backing up...")); - - toggleBackupBtn->setVisibleButton(1, false); - toggleBackupBtn->setVisibleButton(2, false); - toggleBackupBtn->setVisibleButton(3, false); - - std::string fullBackupPath = backupDir.filePath(nameSelection).toStdString(); - std::string inProgressBackupPath = fullBackupPath + "_in_progress"; - - std::filesystem::create_directories(inProgressBackupPath); - - std::system(("rsync -av /data/params/d/ " + inProgressBackupPath + "/").c_str()); - - std::filesystem::rename(inProgressBackupPath, fullBackupPath); - - toggleBackupBtn->setValue(tr("Backup created!")); - - util::sleep_for(2500); - - toggleBackupBtn->setEnabled(true); - - toggleBackupBtn->setValue(""); - - toggleBackupBtn->setVisibleButton(1, true); - toggleBackupBtn->setVisibleButton(2, true); - toggleBackupBtn->setVisibleButton(3, true); - }).detach(); - } - - } else if (id == 1) { - QString selection = MultiOptionDialog::getSelection(tr("Select a backup to delete"), backupNames, "", this); - if (!selection.isEmpty()) { - if (ConfirmationDialog::confirm(tr("Are you sure you want to delete this backup?"), tr("Delete"), this)) { - std::thread([=]() { - toggleBackupBtn->setVisibleButton(0, false); - toggleBackupBtn->setVisibleButton(2, false); - toggleBackupBtn->setVisibleButton(3, false); - - toggleBackupBtn->setValue(tr("Deleting...")); - - QDir dirToDelete(backupDir.filePath(selection)); - dirToDelete.removeRecursively(); - - util::sleep_for(2500); - - toggleBackupBtn->setValue(""); - - toggleBackupBtn->setEnabled(true); - - toggleBackupBtn->setVisibleButton(0, true); - toggleBackupBtn->setVisibleButton(2, true); - toggleBackupBtn->setVisibleButton(3, true); - }).detach(); - } - } - - } else if (id == 2) { - if (ConfirmationDialog::confirm(tr("Are you sure you want to delete all toggle backups?"), tr("Delete All"), this)) { - std::thread([=]() mutable { - toggleBackupBtn->setEnabled(false); - - toggleBackupBtn->setVisibleButton(0, false); - toggleBackupBtn->setVisibleButton(1, false); - toggleBackupBtn->setVisibleButton(3, false); - - toggleBackupBtn->setValue(tr("Deleting...")); - - backupDir.removeRecursively(); - backupDir.mkpath("."); - - toggleBackupBtn->setValue(tr("Deleted!")); - - util::sleep_for(2500); - - toggleBackupBtn->setValue(""); - - toggleBackupBtn->setEnabled(true); - - toggleBackupBtn->setVisibleButton(0, true); - toggleBackupBtn->setVisibleButton(1, true); - toggleBackupBtn->setVisibleButton(3, true); - }).detach(); - } - - } else if (id == 3) { - QString selection = MultiOptionDialog::getSelection(tr("Select a restore point"), backupNames, "", this); - if (!selection.isEmpty()) { - if (ConfirmationDialog::confirm(tr("Are you sure you want to restore this toggle backup?"), tr("Restore"), this)) { - std::thread([=]() { - toggleBackupBtn->setEnabled(false); - - toggleBackupBtn->setVisibleButton(0, false); - toggleBackupBtn->setVisibleButton(1, false); - toggleBackupBtn->setVisibleButton(2, false); - - toggleBackupBtn->setValue(tr("Restoring...")); - - std::string sourcePath = backupDir.filePath(selection).toStdString(); - std::string targetPath = "/data/params/d"; - - std::filesystem::create_directories(targetPath); - - std::system(("rsync -av -l " + sourcePath + "/ " + targetPath + "/").c_str()); - - updateFrogPilotToggles(); - - toggleBackupBtn->setValue(tr("Restored!")); - - util::sleep_for(2500); - - toggleBackupBtn->setValue(""); - - toggleBackupBtn->setEnabled(true); - - toggleBackupBtn->setVisibleButton(0, true); - toggleBackupBtn->setVisibleButton(1, true); - toggleBackupBtn->setVisibleButton(2, true); - }).detach(); - } - } - } - }); - addItem(toggleBackupBtn); -} diff --git a/selfdrive/frogpilot/ui/qt/offroad/data_settings.h b/selfdrive/frogpilot/ui/qt/offroad/data_settings.h deleted file mode 100644 index 76e64a11723126..00000000000000 --- a/selfdrive/frogpilot/ui/qt/offroad/data_settings.h +++ /dev/null @@ -1,13 +0,0 @@ -#pragma once - -#include "selfdrive/frogpilot/ui/qt/offroad/frogpilot_settings.h" - -class FrogPilotDataPanel : public FrogPilotListWidget { - Q_OBJECT - -public: - explicit FrogPilotDataPanel(FrogPilotSettingsWindow *parent); - -private: - Params params; -}; diff --git a/selfdrive/frogpilot/ui/qt/offroad/device_settings.cc b/selfdrive/frogpilot/ui/qt/offroad/device_settings.cc deleted file mode 100644 index f7d7a532b3cadf..00000000000000 --- a/selfdrive/frogpilot/ui/qt/offroad/device_settings.cc +++ /dev/null @@ -1,137 +0,0 @@ -#include "selfdrive/frogpilot/ui/qt/offroad/device_settings.h" - -FrogPilotDevicePanel::FrogPilotDevicePanel(FrogPilotSettingsWindow *parent) : FrogPilotListWidget(parent), parent(parent) { - const std::vector> deviceToggles { - {"DeviceManagement", tr("Device Settings"), tr("Device behavior settings."), "../frogpilot/assets/toggle_icons/icon_device.png"}, - {"DeviceShutdown", tr("Device Shutdown Timer"), tr("Controls how long the device stays on after you stop driving."), ""}, - {"OfflineMode", tr("Disable Internet Requirement"), tr("Allows the device to work without an internet connection."), ""}, - {"IncreaseThermalLimits", tr("Increase Thermal Safety Limit"), QString("%1

%2").arg(tr("WARNING: This can cause premature wear or damage by running the device over comma's recommended temperature limits!")).arg(tr("Allows the device to run at higher temperatures than recommended.")), ""}, - {"LowVoltageShutdown", tr("Low Battery Shutdown Threshold"), tr("Manages the threshold for shutting down the device to protect the car's battery from excessive drain and potential damage."), ""}, - {"NoLogging", tr("Turn Off Data Tracking"), QString("%1

%2").arg(tr("WARNING: This will prevent your drives from being recorded and the data will be unobtainable!")).arg(tr("Disables all data tracking to improve privacy.")), ""}, - {"NoUploads", tr("Turn Off Data Uploads"), QString("%1

%2").arg(tr("WARNING: This will prevent your drives from appearing on comma connect which may impact debugging and support!")).arg(tr("Stops the device from sending any data to the servers.")), ""}, - - {"ScreenManagement", tr("Screen Settings"), tr("Screen behavior settings."), "../frogpilot/assets/toggle_icons/icon_light.png"}, - {"ScreenBrightness", tr("Screen Brightness (Offroad)"), tr("Controls the screen brightness when you're not driving."), ""}, - {"ScreenBrightnessOnroad", tr("Screen Brightness (Onroad)"), tr("Controls the screen brightness while you're driving."), ""}, - {"ScreenRecorder", tr("Screen Recorder"), tr("Enables a button in the onroad UI to record the screen."), ""}, - {"ScreenTimeout", tr("Screen Timeout (Offroad)"), tr("Controls how long it takes for the screen to turn off when you're not driving."), ""}, - {"ScreenTimeoutOnroad", tr("Screen Timeout (Onroad)"), tr("Controls how long it takes for the screen to turn off while you're driving."), ""} - }; - - for (const auto &[param, title, desc, icon] : deviceToggles) { - AbstractControl *deviceToggle; - - if (param == "DeviceManagement") { - FrogPilotParamManageControl *deviceManagementToggle = new FrogPilotParamManageControl(param, title, desc, icon); - QObject::connect(deviceManagementToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() { - showToggles(deviceManagementKeys); - }); - deviceToggle = deviceManagementToggle; - } else if (param == "DeviceShutdown") { - std::map shutdownLabels; - for (int i = 0; i <= 33; ++i) { - shutdownLabels[i] = i == 0 ? tr("5 mins") : i <= 3 ? QString::number(i * 15) + tr(" mins") : QString::number(i - 3) + (i == 4 ? tr(" hour") : tr(" hours")); - } - deviceToggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 33, QString(), shutdownLabels); - } else if (param == "NoUploads") { - std::vector uploadsToggles{"DisableOnroadUploads"}; - std::vector uploadsToggleNames{tr("Only Onroad")}; - deviceToggle = new FrogPilotButtonToggleControl(param, title, desc, uploadsToggles, uploadsToggleNames); - } else if (param == "LowVoltageShutdown") { - deviceToggle = new FrogPilotParamValueControl(param, title, desc, icon, 11.8, 12.5, tr(" volts"), std::map(), 0.01); - - } else if (param == "ScreenManagement") { - FrogPilotParamManageControl *screenToggle = new FrogPilotParamManageControl(param, title, desc, icon); - QObject::connect(screenToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() { - std::set modifiedScreenKeys = screenKeys; - - showToggles(modifiedScreenKeys); - }); - deviceToggle = screenToggle; - } else if (param == "ScreenBrightness" || param == "ScreenBrightnessOnroad") { - std::map brightnessLabels; - int minBrightness = (param == "ScreenBrightnessOnroad") ? 0 : 1; - for (int i = 0; i <= 101; ++i) { - brightnessLabels[i] = i == 101 ? tr("Auto") : i == 0 ? tr("Screen Off") : QString::number(i) + "%"; - } - deviceToggle = new FrogPilotParamValueControl(param, title, desc, icon, minBrightness, 101, QString(), brightnessLabels, 1, false, true); - } else if (param == "ScreenTimeout" || param == "ScreenTimeoutOnroad") { - deviceToggle = new FrogPilotParamValueControl(param, title, desc, icon, 5, 60, tr(" seconds")); - - } else { - deviceToggle = new ParamControl(param, title, desc, icon); - } - - addItem(deviceToggle); - toggles[param] = deviceToggle; - - if (FrogPilotParamManageControl *frogPilotManageToggle = qobject_cast(deviceToggle)) { - QObject::connect(frogPilotManageToggle, &FrogPilotParamManageControl::manageButtonClicked, this, &FrogPilotDevicePanel::openParentToggle); - } - - QObject::connect(deviceToggle, &AbstractControl::showDescriptionEvent, [this]() { - update(); - }); - } - - static_cast(toggles["IncreaseThermalLimits"])->setConfirmation(true, false); - static_cast(toggles["NoLogging"])->setConfirmation(true, false); - static_cast(toggles["NoUploads"])->setConfirmation(true, false); - - - FrogPilotParamValueControl *screenBrightnessToggle = static_cast(toggles["ScreenBrightness"]); - QObject::connect(screenBrightnessToggle, &FrogPilotParamValueControl::valueChanged, [this](int value) { - if (!started) { - uiState()->scene.screen_brightness = value; - } - }); - - FrogPilotParamValueControl *screenBrightnessOnroadToggle = static_cast(toggles["ScreenBrightnessOnroad"]); - QObject::connect(screenBrightnessOnroadToggle, &FrogPilotParamValueControl::valueChanged, [this](int value) { - if (started) { - uiState()->scene.screen_brightness_onroad = value; - } - }); - - QObject::connect(parent, &FrogPilotSettingsWindow::closeParentToggle, this, &FrogPilotDevicePanel::hideToggles); - QObject::connect(uiState(), &UIState::uiUpdate, this, &FrogPilotDevicePanel::updateState); -} - -void FrogPilotDevicePanel::showEvent(QShowEvent *event) { - frogpilotToggleLevels = parent->frogpilotToggleLevels; - tuningLevel = parent->tuningLevel; - - hideToggles(); -} - -void FrogPilotDevicePanel::updateState(const UIState &s) { - if (!isVisible()) { - return; - } - - started = s.scene.started; -} - -void FrogPilotDevicePanel::showToggles(const std::set &keys) { - setUpdatesEnabled(false); - - for (auto &[key, toggle] : toggles) { - toggle->setVisible(keys.find(key) != keys.end() && tuningLevel >= frogpilotToggleLevels[key].toDouble()); - } - - setUpdatesEnabled(true); - update(); -} - -void FrogPilotDevicePanel::hideToggles() { - setUpdatesEnabled(false); - - for (auto &[key, toggle] : toggles) { - bool subToggles = deviceManagementKeys.find(key) != deviceManagementKeys.end() || - screenKeys.find(key) != screenKeys.end(); - toggle->setVisible(!subToggles && tuningLevel >= frogpilotToggleLevels[key].toDouble()); - } - - setUpdatesEnabled(true); - update(); -} diff --git a/selfdrive/frogpilot/ui/qt/offroad/device_settings.h b/selfdrive/frogpilot/ui/qt/offroad/device_settings.h deleted file mode 100644 index a81f984fa41606..00000000000000 --- a/selfdrive/frogpilot/ui/qt/offroad/device_settings.h +++ /dev/null @@ -1,34 +0,0 @@ -#pragma once - -#include - -#include "selfdrive/frogpilot/ui/qt/offroad/frogpilot_settings.h" - -class FrogPilotDevicePanel : public FrogPilotListWidget { - Q_OBJECT - -public: - explicit FrogPilotDevicePanel(FrogPilotSettingsWindow *parent); - -signals: - void openParentToggle(); - -private: - void hideToggles(); - void showEvent(QShowEvent *event) override; - void showToggles(const std::set &keys); - void updateState(const UIState &s); - - FrogPilotSettingsWindow *parent; - - QJsonObject frogpilotToggleLevels; - - bool started; - - int tuningLevel; - - std::map toggles; - - std::set deviceManagementKeys = {"DeviceShutdown", "IncreaseThermalLimits", "LowVoltageShutdown", "NoLogging", "NoUploads", "OfflineMode"}; - std::set screenKeys = {"ScreenBrightness", "ScreenBrightnessOnroad", "ScreenRecorder", "ScreenTimeout", "ScreenTimeoutOnroad"}; -}; diff --git a/selfdrive/frogpilot/ui/qt/offroad/frogpilot_settings.cc b/selfdrive/frogpilot/ui/qt/offroad/frogpilot_settings.cc deleted file mode 100644 index 106a45068a3656..00000000000000 --- a/selfdrive/frogpilot/ui/qt/offroad/frogpilot_settings.cc +++ /dev/null @@ -1,315 +0,0 @@ -#include - -#include "selfdrive/ui/qt/widgets/scrollview.h" - -#include "selfdrive/frogpilot/navigation/ui/maps_settings.h" -#include "selfdrive/frogpilot/navigation/ui/primeless_settings.h" -#include "selfdrive/frogpilot/ui/qt/offroad/data_settings.h" -#include "selfdrive/frogpilot/ui/qt/offroad/device_settings.h" -#include "selfdrive/frogpilot/ui/qt/offroad/frogpilot_settings.h" -#include "selfdrive/frogpilot/ui/qt/offroad/lateral_settings.h" -#include "selfdrive/frogpilot/ui/qt/offroad/longitudinal_settings.h" -#include "selfdrive/frogpilot/ui/qt/offroad/model_settings.h" -#include "selfdrive/frogpilot/ui/qt/offroad/sounds_settings.h" -#include "selfdrive/frogpilot/ui/qt/offroad/theme_settings.h" -#include "selfdrive/frogpilot/ui/qt/offroad/utilities.h" -#include "selfdrive/frogpilot/ui/qt/offroad/vehicle_settings.h" -#include "selfdrive/frogpilot/ui/qt/offroad/visual_settings.h" - -bool checkNNFFLogFileExists(const std::string &carFingerprint) { - static std::vector files; - if (files.empty()) { - for (std::filesystem::directory_entry entry : std::filesystem::directory_iterator("../car/torque_data/lat_models")) { - files.emplace_back(entry.path().filename().stem().string()); - } - } - - for (const std::string &file : files) { - if (file.rfind(carFingerprint, 0) == 0) { - std::cout << "NNFF supports fingerprint: " << file << std::endl; - return true; - } - } - - return false; -} - -FrogPilotSettingsWindow::FrogPilotSettingsWindow(SettingsWindow *parent) : QFrame(parent) { - mainLayout = new QStackedLayout(this); - - frogpilotSettingsWidget = new QWidget(this); - QVBoxLayout *frogpilotSettingsLayout = new QVBoxLayout(frogpilotSettingsWidget); - frogpilotSettingsLayout->setContentsMargins(50, 25, 50, 25); - - FrogPilotListWidget *list = new FrogPilotListWidget(frogpilotSettingsWidget); - - std::vector togglePresets{tr("Minimal"), tr("Standard"), tr("Advanced"), tr("Developer")}; - ButtonParamControl *togglePreset = new ButtonParamControl("TuningLevel", tr("Tuning Level"), - tr("Select the tuning level that best suits your needs. 'Minimal' is ideal for those who prefer simplicity and ease of use, " - "'Standard' is recommended for most users, offering a balanced experience, " - "'Advanced' provides more control for experienced users, " - "while 'Developer' unlocks highly customizable settings designed for seasoned enthusiasts."), - "../frogpilot/assets/toggle_icons/icon_customization.png", - togglePresets); - int timeTo100FPHours = 100 - (paramsTracking.getInt("FrogPilotMinutes") / 60); - int timeTo250OPHours = 250 - (params.getInt("openpilotMinutes") / 60); - togglePreset->setEnabledButtons(3, timeTo100FPHours <= 0 || timeTo250OPHours <= 0); - QObject::connect(togglePreset, &ButtonParamControl::buttonClicked, [=](int id) { - tuningLevel = id; - - if (id == 3) { - FrogPilotConfirmationDialog::toggleAlert( - tr("WARNING: This unlocks some potentially dangerous settings that can DRASTICALLY alter your driving experience!"), - tr("I understand the risks."), this - ); - } - - updateVariables(); - }); - QObject::connect(togglePreset, &ButtonParamControl::disabledButtonClicked, [=](int id) { - if (id == 3) { - FrogPilotConfirmationDialog::toggleAlert( - tr("The 'Developer' preset is only available for users with either over 100 hours on FrogPilot, or 250 hours with openpilot."), - tr("Okay"), this - ); - } - }); - list->addItem(togglePreset); - - FrogPilotDevicePanel *frogpilotDevicePanel = new FrogPilotDevicePanel(this); - QObject::connect(frogpilotDevicePanel, &FrogPilotDevicePanel::openParentToggle, this, &FrogPilotSettingsWindow::openParentToggle); - - FrogPilotLateralPanel *frogpilotLateralPanel = new FrogPilotLateralPanel(this); - QObject::connect(frogpilotLateralPanel, &FrogPilotLateralPanel::openParentToggle, this, &FrogPilotSettingsWindow::openParentToggle); - - FrogPilotLongitudinalPanel *frogpilotLongitudinalPanel = new FrogPilotLongitudinalPanel(this); - QObject::connect(frogpilotLongitudinalPanel, &FrogPilotLongitudinalPanel::openParentToggle, this, &FrogPilotSettingsWindow::openParentToggle); - QObject::connect(frogpilotLongitudinalPanel, &FrogPilotLongitudinalPanel::openSubParentToggle, this, &FrogPilotSettingsWindow::openSubParentToggle); - - FrogPilotModelPanel *frogpilotModelPanel = new FrogPilotModelPanel(this); - QObject::connect(frogpilotModelPanel, &FrogPilotModelPanel::openParentToggle, this, &FrogPilotSettingsWindow::openParentToggle); - QObject::connect(frogpilotModelPanel, &FrogPilotModelPanel::openSubParentToggle, this, &FrogPilotSettingsWindow::openSubParentToggle); - - FrogPilotMapsPanel *frogpilotMapsPanel = new FrogPilotMapsPanel(this); - QObject::connect(frogpilotMapsPanel, &FrogPilotMapsPanel::openMapSelection, this, &FrogPilotSettingsWindow::openMapSelection); - - FrogPilotPrimelessPanel *frogpilotPrimelessPanel = new FrogPilotPrimelessPanel(this); - QObject::connect(frogpilotPrimelessPanel, &FrogPilotPrimelessPanel::closeMapBoxInstructions, this, &FrogPilotSettingsWindow::closeMapBoxInstructions); - QObject::connect(frogpilotPrimelessPanel, &FrogPilotPrimelessPanel::openMapBoxInstructions, this, &FrogPilotSettingsWindow::openMapBoxInstructions); - - FrogPilotSoundsPanel *frogpilotSoundsPanel = new FrogPilotSoundsPanel(this); - QObject::connect(frogpilotSoundsPanel, &FrogPilotSoundsPanel::openParentToggle, this, &FrogPilotSettingsWindow::openParentToggle); - - FrogPilotThemesPanel *frogpilotThemesPanel = new FrogPilotThemesPanel(this); - QObject::connect(frogpilotThemesPanel, &FrogPilotThemesPanel::openParentToggle, this, &FrogPilotSettingsWindow::openParentToggle); - - FrogPilotVisualsPanel *frogpilotVisualsPanel = new FrogPilotVisualsPanel(this); - QObject::connect(frogpilotVisualsPanel, &FrogPilotVisualsPanel::openParentToggle, this, &FrogPilotSettingsWindow::openParentToggle); - - std::vector>> panels = { - {tr("Alerts and Sounds"), {frogpilotSoundsPanel}}, - {tr("Driving Controls"), {frogpilotModelPanel, frogpilotLongitudinalPanel, frogpilotLateralPanel}}, - {tr("Navigation"), {frogpilotMapsPanel, frogpilotPrimelessPanel}}, - {tr("System Management"), {new FrogPilotDataPanel(this), frogpilotDevicePanel, new UtilitiesPanel(this)}}, - {tr("Theme and Appearance"), {frogpilotVisualsPanel, frogpilotThemesPanel}}, - {tr("Vehicle Controls"), {new FrogPilotVehiclesPanel(this)}} - }; - - std::vector icons = { - "../frogpilot/assets/toggle_icons/icon_sound.png", - "../frogpilot/assets/toggle_icons/icon_steering.png", - "../frogpilot/assets/toggle_icons/icon_map.png", - "../frogpilot/assets/toggle_icons/icon_system.png", - "../frogpilot/assets/toggle_icons/icon_display.png", - "../frogpilot/assets/toggle_icons/icon_vehicle.png", - }; - - std::vector descriptions = { - tr("Options to customize FrogPilot's sound alerts and notifications."), - tr("FrogPilot features that impact acceleration, braking, and steering."), - tr("Map data downloader and 'Navigate On openpilot (NOO)' settings."), - tr("Tools and system utilities used to maintain and troubleshoot FrogPilot."), - tr("Options for customizing FrogPilot's themes, UI appearance, and onroad widgets."), - tr("Vehicle-specific settings and configurations for supported makes and models.") - }; - - std::vector> buttonLabels = { - {tr("MANAGE")}, - {tr("DRIVING MODEL"), tr("GAS / BRAKE"), tr("STEERING")}, - {tr("MAP DATA"), tr("PRIMELESS NAVIGATION")}, - {tr("DATA"), tr("DEVICE"), tr("UTILITIES")}, - {tr("APPEARANCE"), tr("THEME")}, - {tr("MANAGE")} - }; - - for (size_t i = 0; i < panels.size(); ++i) { - addPanelControl(list, panels[i].first, descriptions[i], buttonLabels[i], icons[i], panels[i].second, panels[i].first); - } - - frogpilotSettingsLayout->addWidget(new ScrollView(list, frogpilotSettingsWidget)); - frogpilotSettingsLayout->addStretch(1); - - mainLayout->addWidget(frogpilotSettingsWidget); - mainLayout->setCurrentWidget(frogpilotSettingsWidget); - - QObject::connect(parent, &SettingsWindow::closeMapBoxInstructions, this, &FrogPilotSettingsWindow::closeMapBoxInstructions); - QObject::connect(parent, &SettingsWindow::closeMapSelection, this, &FrogPilotSettingsWindow::closeMapSelection); - QObject::connect(parent, &SettingsWindow::closePanel, this, &FrogPilotSettingsWindow::closePanel); - QObject::connect(parent, &SettingsWindow::closePanel, this, &updateFrogPilotToggles); - QObject::connect(parent, &SettingsWindow::closeParentToggle, this, &FrogPilotSettingsWindow::closeParentToggle); - QObject::connect(parent, &SettingsWindow::closeSubParentToggle, this, &FrogPilotSettingsWindow::closeSubParentToggle); - QObject::connect(parent, &SettingsWindow::updateMetric, this, &FrogPilotSettingsWindow::updateMetric); - QObject::connect(uiState(), &UIState::offroadTransition, this, &FrogPilotSettingsWindow::updateVariables); - - frogpilotToggleLevels = QJsonDocument::fromJson(QString::fromStdString(params_memory.get("FrogPilotTuningLevels", true)).toUtf8()).object(); - tuningLevel = params.getInt("TuningLevel"); - - closeParentToggle(); -} - -void FrogPilotSettingsWindow::showEvent(QShowEvent *event) { - updateVariables(); - mainLayout->setCurrentWidget(frogpilotSettingsWidget); -} - -void FrogPilotSettingsWindow::closePanel() { - QWidget *currentWidget = mainLayout->currentWidget(); - if (currentWidget != frogpilotSettingsWidget) { - mainLayout->removeWidget(currentWidget); - } -} - -void FrogPilotSettingsWindow::updateVariables() { - std::string carParams = params.get("CarParamsPersistent"); - if (!carParams.empty()) { - AlignedBuffer aligned_buf; - capnp::FlatArrayMessageReader cmsg(aligned_buf.align(carParams.data(), carParams.size())); - cereal::CarParams::Reader CP = cmsg.getRoot(); - cereal::CarParams::SafetyModel safetyModel = CP.getSafetyConfigs()[0].getSafetyModel(); - - std::string carFingerprint = CP.getCarFingerprint(); - std::string carModel = CP.getCarName(); - - hasAutoTune = (carModel == "hyundai" || carModel == "toyota") && CP.getLateralTuning().which() == cereal::CarParams::LateralTuning::TORQUE; - hasBSM = CP.getEnableBsm(); - hasDashSpeedLimits = carModel == "hyundai" || carModel == "toyota"; - hasExperimentalOpenpilotLongitudinal = CP.getExperimentalLongitudinalAvailable(); - hasNNFFLog = checkNNFFLogFileExists(carFingerprint); - hasOpenpilotLongitudinal = hasLongitudinalControl(CP); - hasPCMCruise = CP.getPcmCruise(); - hasRadar = !CP.getRadarUnavailable(); - hasSNG = CP.getMinEnableSpeed() <= 0; - isBolt = carFingerprint == "CHEVROLET_BOLT_CC" || carFingerprint == "CHEVROLET_BOLT_EUV"; - isGM = carModel == "gm"; - isHKGCanFd = carModel == "hyundai" && safetyModel == cereal::CarParams::SafetyModel::HYUNDAI_CANFD; - isImpreza = carFingerprint == "SUBARU_IMPREZA"; - isPIDCar = CP.getLateralTuning().which() == cereal::CarParams::LateralTuning::PID; - isSubaru = carModel == "subaru"; - isToyota = carModel == "toyota"; - isVolt = carFingerprint == "CHEVROLET_VOLT"; - forcingAutoTune = params.getBool("AdvancedLateralTune") && params.getBool("ForceAutoTune"); - steerFrictionStock = CP.getLateralTuning().getTorque().getFriction(); - steerKPStock = CP.getLateralTuning().getTorque().getKp(); - steerLatAccelStock = CP.getLateralTuning().getTorque().getLatAccelFactor(); - steerRatioStock = CP.getSteerRatio(); - - float currentFrictionStock = params.getFloat("SteerFrictionStock"); - float currentKPStock = params.getFloat("SteerKPStock"); - float currentLatAccelStock = params.getFloat("SteerLatAccelStock"); - float currentRatioStock = params.getFloat("SteerRatioStock"); - - if (currentFrictionStock != steerFrictionStock && steerFrictionStock != 0) { - if (params.getFloat("SteerFriction") == currentFrictionStock || currentFrictionStock == 0) { - params.putFloat("SteerFriction", steerFrictionStock); - } - params.putFloat("SteerFrictionStock", steerFrictionStock); - } - - if (currentKPStock != steerKPStock && currentKPStock != 0) { - if (params.getFloat("SteerKP") == currentKPStock || currentKPStock == 0) { - params.putFloat("SteerKP", steerKPStock); - } - params.putFloat("SteerKPStock", steerKPStock); - } - - if (currentLatAccelStock != steerLatAccelStock && steerLatAccelStock != 0) { - if (params.getFloat("SteerLatAccel") == steerLatAccelStock || steerLatAccelStock == 0) { - params.putFloat("SteerLatAccel", steerLatAccelStock); - } - params.putFloat("SteerLatAccelStock", steerLatAccelStock); - } - - if (currentRatioStock != steerRatioStock && steerRatioStock != 0) { - if (params.getFloat("SteerRatio") == steerRatioStock || steerRatioStock == 0) { - params.putFloat("SteerRatio", steerRatioStock); - } - params.putFloat("SteerRatioStock", steerRatioStock); - } - - if (params.checkKey("LiveTorqueParameters")) { - std::string torqueParams = params.get("LiveTorqueParameters"); - if (!torqueParams.empty()) { - capnp::FlatArrayMessageReader cmsgtp(aligned_buf.align(torqueParams.data(), torqueParams.size())); - cereal::Event::Reader LTP = cmsgtp.getRoot(); - - cereal::LiveTorqueParametersData::Reader liveTorqueParams = LTP.getLiveTorqueParameters(); - - liveValid = liveTorqueParams.getLiveValid(); - } else { - liveValid = false; - } - } else { - liveValid = false; - } - } - - drivingButton->setVisible(hasOpenpilotLongitudinal || tuningLevel >= frogpilotToggleLevels.value("Model").toDouble()); - drivingButton->setVisibleButton(0, tuningLevel >= frogpilotToggleLevels.value("Model").toDouble()); - drivingButton->setVisibleButton(1, hasOpenpilotLongitudinal); - - navigationButton->setVisibleButton(1, !uiState()->hasPrime()); - - systemButton->setVisibleButton(1, tuningLevel >= frogpilotToggleLevels.value("DeviceManagement").toDouble() || tuningLevel >= frogpilotToggleLevels.value("ScreenManagement").toDouble()); - - update(); -} - -void FrogPilotSettingsWindow::addPanelControl(FrogPilotListWidget *list, QString &title, QString &desc, std::vector &button_labels, QString &icon, std::vector &panels, QString ¤tPanel) { - std::vector panelContainers; - panelContainers.reserve(panels.size()); - - for (QWidget *panel : panels) { - QWidget *panelContainer = new QWidget(this); - QVBoxLayout *panelLayout = new QVBoxLayout(panelContainer); - panelLayout->setContentsMargins(50, 25, 50, 25); - panelLayout->addWidget(panel); - panelContainers.push_back(panelContainer); - } - - FrogPilotButtonsControl *button; - if (currentPanel == tr("Driving Controls")) { - drivingButton = new FrogPilotButtonsControl(title, desc, button_labels, false, true, icon); - button = drivingButton; - } else if (currentPanel == tr("Navigation")) { - navigationButton = new FrogPilotButtonsControl(title, desc, button_labels, false, true, icon); - button = navigationButton; - } else if (currentPanel == tr("System Management")) { - systemButton = new FrogPilotButtonsControl(title, desc, button_labels, false, true, icon); - button = systemButton; - } else { - button = new FrogPilotButtonsControl(title, desc, button_labels, false, true, icon); - } - - QObject::connect(button, &FrogPilotButtonsControl::buttonClicked, [this, panelContainers](int buttonId) { - if (buttonId < panelContainers.size()) { - QWidget *selectedPanel = panelContainers[buttonId]; - if (mainLayout->indexOf(selectedPanel) == -1) { - mainLayout->addWidget(selectedPanel); - } - mainLayout->setCurrentWidget(selectedPanel); - } - openPanel(); - }); - - list->addItem(button); -} diff --git a/selfdrive/frogpilot/ui/qt/offroad/frogpilot_settings.h b/selfdrive/frogpilot/ui/qt/offroad/frogpilot_settings.h deleted file mode 100644 index e25be6554076a6..00000000000000 --- a/selfdrive/frogpilot/ui/qt/offroad/frogpilot_settings.h +++ /dev/null @@ -1,71 +0,0 @@ -#pragma once - -#include "selfdrive/ui/qt/offroad/settings.h" - -class FrogPilotSettingsWindow : public QFrame { - Q_OBJECT - -public: - explicit FrogPilotSettingsWindow(SettingsWindow *parent); - - void updateVariables(); - - QJsonObject frogpilotToggleLevels; - - bool forcingAutoTune = false; - bool hasAutoTune = true; - bool hasBSM = true; - bool hasDashSpeedLimits = true; - bool hasExperimentalOpenpilotLongitudinal = false; - bool hasNNFFLog = true; - bool hasOpenpilotLongitudinal = true; - bool hasPCMCruise = false; - bool hasRadar = true; - bool hasSNG = false; - bool isBolt = false; - bool isGM = true; - bool isHKGCanFd = true; - bool isImpreza = true; - bool isPIDCar = false; - bool isSubaru = false; - bool isToyota = true; - bool isVolt = true; - bool liveValid = false; - - float steerFrictionStock; - float steerKPStock; - float steerLatAccelStock; - float steerRatioStock; - - int tuningLevel; - -signals: - void closeMapBoxInstructions(); - void closeMapSelection(); - void closeParentToggle(); - void closeSubParentToggle(); - void openMapBoxInstructions(); - void openMapSelection(); - void openPanel(); - void openParentToggle(); - void openSubParentToggle(); - void updateMetric(); - -private: - void addPanelControl(FrogPilotListWidget *list, QString &title, QString &desc, std::vector &button_labels, QString &icon, std::vector &panels, QString ¤tPanel); - void closePanel(); - void showEvent(QShowEvent *event) override; - void updatePanelVisibility(); - - FrogPilotButtonsControl *drivingButton; - FrogPilotButtonsControl *navigationButton; - FrogPilotButtonsControl *systemButton; - - Params params; - Params params_memory{"/dev/shm/params"}; - Params paramsTracking{"/persist/tracking"}; - - QStackedLayout *mainLayout; - - QWidget *frogpilotSettingsWidget; -}; diff --git a/selfdrive/frogpilot/ui/qt/offroad/lateral_settings.cc b/selfdrive/frogpilot/ui/qt/offroad/lateral_settings.cc deleted file mode 100644 index 2fa30b0e2ce7fb..00000000000000 --- a/selfdrive/frogpilot/ui/qt/offroad/lateral_settings.cc +++ /dev/null @@ -1,351 +0,0 @@ -#include "selfdrive/frogpilot/ui/qt/offroad/lateral_settings.h" - -FrogPilotLateralPanel::FrogPilotLateralPanel(FrogPilotSettingsWindow *parent) : FrogPilotListWidget(parent), parent(parent) { - const std::vector> lateralToggles { - {"AdvancedLateralTune", tr("Advanced Lateral Tuning"), tr("Advanced settings for fine tuning openpilot's lateral controls."), "../frogpilot/assets/toggle_icons/icon_advanced_lateral_tune.png"}, - {"SteerFriction", steerFrictionStock != 0 ? QString(tr("Friction (Default: %1)")).arg(QString::number(steerFrictionStock, 'f', 2)) : tr("Friction"), tr("Adjusts the resistance in steering. Higher values provide more stable steering but can make it feel heavy, while lower values allow lighter steering but may feel too sensitive."), ""}, - {"SteerKP", steerKPStock != 0 ? QString(tr("Kp Factor (Default: %1)")).arg(QString::number(steerKPStock, 'f', 2)) : tr("Kp Factor"), tr("Adjusts how aggressively the car corrects its steering. Higher values offer quicker corrections but may feel jerky, while lower values make steering smoother but slower to respond."), ""}, - {"SteerLatAccel", steerLatAccelStock != 0 ? QString(tr("Lateral Accel (Default: %1)")).arg(QString::number(steerLatAccelStock, 'f', 2)) : tr("Lateral Accel"), tr("Adjusts how fast the car can steer from side to side. Higher values allow quicker lane changes but can feel unstable, while lower values provide smoother steering but may feel sluggish."), ""}, - {"SteerRatio", steerRatioStock != 0 ? QString(tr("Steer Ratio (Default: %1)")).arg(QString::number(steerRatioStock, 'f', 2)) : tr("Steer Ratio"), tr("Adjusts how much openpilot needs to turn the wheel to steer. Higher values feel like driving a truck, more stable at high speeds, but harder to steer quickly at low speeds, while lower values feel like a go-kart, easier to steer in tight spots but more sensitive and less stable at high speeds."), ""}, - {"ForceAutoTune", tr("Force Auto Tune On"), tr("Forces comma's auto lateral tuning for unsupported vehicles."), ""}, - {"ForceAutoTuneOff", tr("Force Auto Tune Off"), tr("Forces comma's auto lateral tuning off for supported vehicles."), ""}, - - {"AlwaysOnLateral", tr("Always on Lateral"), tr("openpilot's steering control stays active even when the brake or gas pedals are pressed.\n\nDeactivate only occurs with the 'Cruise Control' button."), "../frogpilot/assets/toggle_icons/icon_always_on_lateral.png"}, - {"AlwaysOnLateralLKAS", tr("Control with LKAS Button"), tr("Controls the current state of 'Always on Lateral' with the 'LKAS' button."), ""}, - {"AlwaysOnLateralMain", tr("Enable with Cruise Control"), tr("Activates 'Always on Lateral' whenever 'Cruise Control' is active bypassing the requirement to enable openpilot first."), ""}, - {"PauseAOLOnBrake", tr("Pause on Brake Below"), tr("Pauses 'Always on Lateral' when the brake pedal is pressed below the set speed."), ""}, - {"HideAOLStatusBar", tr("Hide the Status Bar"), tr("Hides status bar for 'Always On Lateral'."), ""}, - - {"LaneChangeCustomizations", tr("Lane Change Settings"), tr("How openpilot handles lane changes."), "../frogpilot/assets/toggle_icons/icon_lane.png"}, - {"NudgelessLaneChange", tr("Automatic Lane Changes"), tr("Conducts lane changes without needing to touch the steering wheel upon turn signal activation."), ""}, - {"LaneChangeTime", tr("Lane Change Delay"), tr("Delays lane changes by the set time to prevent sudden changes."), ""}, - {"LaneDetectionWidth", tr("Lane Width Requirement"), tr("Sets the minimum lane width for openpilot to detect a lane as a lane."), ""}, - {"MinimumLaneChangeSpeed", tr("Minimum Speed for Lane Change"), tr("Sets the minimum speed required for openpilot to perform a lane change."), ""}, - {"OneLaneChange", tr("Only One Lane Change Per Signal"), tr("Limits lane changes to one per turn signal activation."), ""}, - - {"LateralTune", tr("Lateral Tuning"), tr("Settings for fine tuning openpilot's lateral controls."), "../frogpilot/assets/toggle_icons/icon_lateral_tune.png"}, - {"TurnDesires", tr("Force Turn Desires Below Lane Change Speed"), tr("Forces the model to use turn desires when driving below the minimum lane change speed to help make left and right turns more precisely."), ""}, - {"NNFF", tr("Neural Network Feedforward (NNFF)"), tr("Uses Twilsonco's 'Neural Network FeedForward' for more precise steering control."), ""}, - {"NNFFLite", tr("Smooth Curve Handling"), tr("Smoothens the steering control when entering and exiting curves by using Twilsonco's torque adjustments."), ""}, - - {"QOLLateral", tr("Quality of Life Improvements"), tr("Miscellaneous lateral focused features to improve your overall openpilot experience."), "../frogpilot/assets/toggle_icons/quality_of_life.png"}, - {"PauseLateralSpeed", tr("Pause Steering Below"), tr("Pauses steering control when driving below the set speed."), ""} - }; - - for (const auto &[param, title, desc, icon] : lateralToggles) { - AbstractControl *lateralToggle; - - if (param == "AdvancedLateralTune") { - FrogPilotParamManageControl *advancedLateralTuneToggle = new FrogPilotParamManageControl(param, title, desc, icon); - QObject::connect(advancedLateralTuneToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() { - std::set modifiedAdvancedLateralTuneKeys = advancedLateralTuneKeys; - - bool forcingAutoTune = params.getBool("ForceAutoTune"); - bool forcingAutoTuneOff = params.getBool("ForceAutoTuneOff"); - if (!hasAutoTune && forcingAutoTune || hasAutoTune && !forcingAutoTuneOff) { - modifiedAdvancedLateralTuneKeys.erase("SteerFriction"); - modifiedAdvancedLateralTuneKeys.erase("SteerKP"); - modifiedAdvancedLateralTuneKeys.erase("SteerLatAccel"); - modifiedAdvancedLateralTuneKeys.erase("SteerRatio"); - } - - if (hasAutoTune) { - modifiedAdvancedLateralTuneKeys.erase("ForceAutoTune"); - } else if (isPIDCar) { - modifiedAdvancedLateralTuneKeys.erase("ForceAutoTuneOff"); - modifiedAdvancedLateralTuneKeys.erase("SteerFriction"); - modifiedAdvancedLateralTuneKeys.erase("SteerKP"); - modifiedAdvancedLateralTuneKeys.erase("SteerLatAccel"); - } else { - modifiedAdvancedLateralTuneKeys.erase("ForceAutoTuneOff"); - } - - bool usingNNFF = hasNNFFLog && params.getBool("LateralTune") && params.getBool("NNFF"); - if (!liveValid || usingNNFF) { - modifiedAdvancedLateralTuneKeys.erase("SteerFriction"); - modifiedAdvancedLateralTuneKeys.erase("SteerLatAccel"); - } - - showToggles(modifiedAdvancedLateralTuneKeys); - }); - lateralToggle = advancedLateralTuneToggle; - } else if (param == "SteerFriction") { - std::vector steerFrictionButton{"Reset"}; - lateralToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, 0.01, 0.25, QString(), std::map(), 0.01, {}, steerFrictionButton, false, false); - } else if (param == "SteerKP") { - std::vector steerKPButton{"Reset"}; - lateralToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, steerKPStock * 0.50, steerKPStock * 1.50, QString(), std::map(), 0.01, {}, steerKPButton, false, false); - } else if (param == "SteerLatAccel") { - std::vector steerLatAccelButton{"Reset"}; - lateralToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, steerLatAccelStock * 0.25, steerLatAccelStock * 1.25, QString(), std::map(), 0.01, {}, steerLatAccelButton, false, false); - } else if (param == "SteerRatio") { - std::vector steerRatioButton{"Reset"}; - lateralToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, steerRatioStock * 0.75, steerRatioStock * 1.25, QString(), std::map(), 0.01, {}, steerRatioButton, false, false); - - } else if (param == "AlwaysOnLateral") { - FrogPilotParamManageControl *aolToggle = new FrogPilotParamManageControl(param, title, desc, icon); - QObject::connect(aolToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() { - std::set modifiedAOLKeys = aolKeys; - - if (isSubaru || (params.getBool("ExperimentalModeActivation") && params.getBool("ExperimentalModeViaLKAS"))) { - modifiedAOLKeys.erase("AlwaysOnLateralLKAS"); - } - - showToggles(modifiedAOLKeys); - }); - lateralToggle = aolToggle; - } else if (param == "PauseAOLOnBrake") { - lateralToggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 99, tr("mph")); - - } else if (param == "LaneChangeCustomizations") { - FrogPilotParamManageControl *laneChangeToggle = new FrogPilotParamManageControl(param, title, desc, icon); - QObject::connect(laneChangeToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() { - showToggles(laneChangeKeys); - }); - lateralToggle = laneChangeToggle; - } else if (param == "LaneChangeTime") { - lateralToggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 5, tr(" seconds"), {{0, "Instant"}, {10, "1.0 second"}}, 0.1); - } else if (param == "LaneDetectionWidth") { - lateralToggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 15, tr(" feet"), std::map(), 0.1); - } else if (param == "MinimumLaneChangeSpeed") { - lateralToggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 99, tr("mph")); - - } else if (param == "LateralTune") { - FrogPilotParamManageControl *lateralTuneToggle = new FrogPilotParamManageControl(param, title, desc, icon); - QObject::connect(lateralTuneToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() { - std::set modifiedLateralTuneKeys = lateralTuneKeys; - - bool usingNNFF = hasNNFFLog && params.getBool("LateralTune") && params.getBool("NNFF"); - if (!hasNNFFLog) { - modifiedLateralTuneKeys.erase("NNFF"); - } else if (usingNNFF) { - modifiedLateralTuneKeys.erase("NNFFLite"); - } - - showToggles(modifiedLateralTuneKeys); - }); - lateralToggle = lateralTuneToggle; - - } else if (param == "QOLLateral") { - FrogPilotParamManageControl *qolLateralToggle = new FrogPilotParamManageControl(param, title, desc, icon); - QObject::connect(qolLateralToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() { - showToggles(qolKeys); - }); - lateralToggle = qolLateralToggle; - } else if (param == "PauseLateralSpeed") { - std::vector pauseLateralToggles{"PauseLateralOnSignal"}; - std::vector pauseLateralToggleNames{"Turn Signal Only"}; - lateralToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, 0, 99, tr("mph"), std::map(), 1, pauseLateralToggles, pauseLateralToggleNames, true); - } else if (param == "PauseLateralOnSignal") { - lateralToggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 99, tr("mph")); - - } else { - lateralToggle = new ParamControl(param, title, desc, icon); - } - - addItem(lateralToggle); - toggles[param] = lateralToggle; - - if (FrogPilotParamManageControl *frogPilotManageToggle = qobject_cast(lateralToggle)) { - QObject::connect(frogPilotManageToggle, &FrogPilotParamManageControl::manageButtonClicked, this, &FrogPilotLateralPanel::openParentToggle); - } - - QObject::connect(lateralToggle, &AbstractControl::showDescriptionEvent, [this]() { - update(); - }); - } - - QObject::connect(static_cast(toggles["AlwaysOnLateralLKAS"]), &ToggleControl::toggleFlipped, [this](bool state) { - if (state && params.getBool("ExperimentalModeViaLKAS")) { - params.putBoolNonBlocking("ExperimentalModeViaLKAS", false); - } - }); - - QObject::connect(static_cast(toggles["ForceAutoTune"]), &ToggleControl::toggleFlipped, [this](bool state) { - std::set modifiedAdvancedLateralTuneKeys = advancedLateralTuneKeys; - - modifiedAdvancedLateralTuneKeys.erase("ForceAutoTuneOff"); - - if (!hasAutoTune && state) { - modifiedAdvancedLateralTuneKeys.erase("SteerFriction"); - modifiedAdvancedLateralTuneKeys.erase("SteerKP"); - modifiedAdvancedLateralTuneKeys.erase("SteerLatAccel"); - modifiedAdvancedLateralTuneKeys.erase("SteerRatio"); - } - - showToggles(modifiedAdvancedLateralTuneKeys); - }); - - QObject::connect(static_cast(toggles["ForceAutoTuneOff"]), &ToggleControl::toggleFlipped, [this](bool state) { - std::set modifiedAdvancedLateralTuneKeys = advancedLateralTuneKeys; - - modifiedAdvancedLateralTuneKeys.erase("ForceAutoTune"); - - if (hasAutoTune && !state) { - modifiedAdvancedLateralTuneKeys.erase("SteerFriction"); - modifiedAdvancedLateralTuneKeys.erase("SteerKP"); - modifiedAdvancedLateralTuneKeys.erase("SteerLatAccel"); - modifiedAdvancedLateralTuneKeys.erase("SteerRatio"); - } - - showToggles(modifiedAdvancedLateralTuneKeys); - }); - - QObject::connect(static_cast(toggles["NNFF"]), &ToggleControl::toggleFlipped, [this](bool state) { - std::set modifiedLateralTuneKeys = lateralTuneKeys; - - bool usingNNFF = hasNNFFLog && state; - if (!hasNNFFLog) { - modifiedLateralTuneKeys.erase("NNFF"); - } else if (usingNNFF) { - modifiedLateralTuneKeys.erase("NNFFLite"); - } - - showToggles(modifiedLateralTuneKeys); - }); - - std::set rebootKeys = {"AlwaysOnLateral", "NNFF", "NNFFLite"}; - for (const QString &key : rebootKeys) { - QObject::connect(static_cast(toggles[key.toStdString().c_str()]), &ToggleControl::toggleFlipped, [this, key](bool state) { - if (started) { - if (key == "AlwaysOnLateral" && state) { - if (FrogPilotConfirmationDialog::toggle(tr("Reboot required to take effect."), tr("Reboot Now"), this)) { - Hardware::reboot(); - } - } else if (key != "AlwaysOnLateral") { - if (FrogPilotConfirmationDialog::toggle(tr("Reboot required to take effect."), tr("Reboot Now"), this)) { - Hardware::reboot(); - } - } - } - }); - } - - steerFrictionToggle = static_cast(toggles["SteerFriction"]); - QObject::connect(steerFrictionToggle, &FrogPilotParamValueButtonControl::buttonClicked, [this]() { - params.putFloat("SteerFriction", steerFrictionStock); - steerFrictionToggle->refresh(); - }); - - steerKPToggle = static_cast(toggles["SteerKP"]); - QObject::connect(steerKPToggle, &FrogPilotParamValueButtonControl::buttonClicked, [this]() { - params.putFloat("SteerKP", steerKPStock); - steerKPToggle->refresh(); - }); - - steerLatAccelToggle = static_cast(toggles["SteerLatAccel"]); - QObject::connect(steerLatAccelToggle, &FrogPilotParamValueButtonControl::buttonClicked, [this]() { - params.putFloat("SteerLatAccel", steerLatAccelStock); - steerLatAccelToggle->refresh(); - }); - - steerRatioToggle = static_cast(toggles["SteerRatio"]); - QObject::connect(steerRatioToggle, &FrogPilotParamValueButtonControl::buttonClicked, [this]() { - params.putFloat("SteerRatio", steerRatioStock); - steerRatioToggle->refresh(); - }); - - QObject::connect(parent, &FrogPilotSettingsWindow::closeParentToggle, this, &FrogPilotLateralPanel::hideToggles); - QObject::connect(parent, &FrogPilotSettingsWindow::updateMetric, this, &FrogPilotLateralPanel::updateMetric); - QObject::connect(uiState(), &UIState::uiUpdate, this, &FrogPilotLateralPanel::updateState); - - updateMetric(); -} - -void FrogPilotLateralPanel::showEvent(QShowEvent *event) { - frogpilotToggleLevels = parent->frogpilotToggleLevels; - hasAutoTune = parent->hasAutoTune; - hasNNFFLog = parent->hasNNFFLog; - isPIDCar = parent->isPIDCar; - isSubaru = parent->isSubaru; - liveValid = parent->liveValid; - steerFrictionStock = parent->steerFrictionStock; - steerKPStock = parent->steerKPStock; - steerLatAccelStock = parent->steerLatAccelStock; - steerRatioStock = parent->steerRatioStock; - tuningLevel = parent->tuningLevel; - - steerFrictionToggle->setTitle(QString(tr("Friction (Default: %1)")).arg(QString::number(steerFrictionStock, 'f', 2))); - steerKPToggle->setTitle(QString(tr("Kp Factor (Default: %1)")).arg(QString::number(steerKPStock, 'f', 2))); - steerKPToggle->updateControl(steerKPStock * 0.50, steerKPStock * 1.50); - steerLatAccelToggle->setTitle(QString(tr("Lateral Accel (Default: %1)")).arg(QString::number(steerLatAccelStock, 'f', 2))); - steerLatAccelToggle->updateControl(steerLatAccelStock * 0.75, steerLatAccelStock * 1.25); - steerRatioToggle->setTitle(QString(tr("Steer Ratio (Default: %1)")).arg(QString::number(steerRatioStock, 'f', 2))); - steerRatioToggle->updateControl(steerRatioStock * 0.75, steerRatioStock * 1.25); - - hideToggles(); -} - -void FrogPilotLateralPanel::updateState(const UIState &s) { - if (!isVisible()) return; - - started = s.scene.started; -} - -void FrogPilotLateralPanel::updateMetric() { - bool previousIsMetric = isMetric; - isMetric = params.getBool("IsMetric"); - - if (isMetric != previousIsMetric) { - double distanceConversion = isMetric ? FOOT_TO_METER : METER_TO_FOOT; - double speedConversion = isMetric ? MILE_TO_KM : KM_TO_MILE; - - params.putFloatNonBlocking("LaneDetectionWidth", params.getFloat("LaneDetectionWidth") * distanceConversion); - - params.putFloatNonBlocking("MinimumLaneChangeSpeed", params.getFloat("MinimumLaneChangeSpeed") * speedConversion); - params.putFloatNonBlocking("PauseAOLOnBrake", params.getFloat("PauseAOLOnBrake") * speedConversion); - params.putFloatNonBlocking("PauseLateralOnSignal", params.getFloat("PauseLateralOnSignal") * speedConversion); - params.putFloatNonBlocking("PauseLateralSpeed", params.getFloat("PauseLateralSpeed") * speedConversion); - } - - FrogPilotParamValueControl *laneWidthToggle = static_cast(toggles["LaneDetectionWidth"]); - FrogPilotParamValueControl *minimumLaneChangeSpeedToggle = static_cast(toggles["MinimumLaneChangeSpeed"]); - FrogPilotParamValueControl *pauseAOLOnBrakeToggle = static_cast(toggles["PauseAOLOnBrake"]); - FrogPilotParamValueControl *pauseLateralToggle = static_cast(toggles["PauseLateralSpeed"]); - - if (isMetric) { - minimumLaneChangeSpeedToggle->updateControl(0, 150, tr("kph")); - pauseAOLOnBrakeToggle->updateControl(0, 99, tr("kph")); - pauseLateralToggle->updateControl(0, 99, tr("kph")); - - laneWidthToggle->updateControl(0, 5, tr(" meters")); - } else { - minimumLaneChangeSpeedToggle->updateControl(0, 99, tr("mph")); - pauseAOLOnBrakeToggle->updateControl(0, 99, tr("mph")); - pauseLateralToggle->updateControl(0, 99, tr("mph")); - - laneWidthToggle->updateControl(0, 15, tr(" feet")); - } -} - -void FrogPilotLateralPanel::showToggles(const std::set &keys) { - setUpdatesEnabled(false); - - for (auto &[key, toggle] : toggles) { - toggle->setVisible(keys.find(key) != keys.end() && tuningLevel >= frogpilotToggleLevels[key].toDouble()); - } - - static_cast(toggles["AlwaysOnLateral"])->setVisibleButton(tuningLevel >= 1); - - setUpdatesEnabled(true); - update(); -} - -void FrogPilotLateralPanel::hideToggles() { - setUpdatesEnabled(false); - - for (auto &[key, toggle] : toggles) { - bool subToggles = advancedLateralTuneKeys.find(key) != advancedLateralTuneKeys.end() || - aolKeys.find(key) != aolKeys.end() || - laneChangeKeys.find(key) != laneChangeKeys.end() || - lateralTuneKeys.find(key) != lateralTuneKeys.end() || - qolKeys.find(key) != qolKeys.end(); - - toggle->setVisible(!subToggles && tuningLevel >= frogpilotToggleLevels[key].toDouble()); - } - - static_cast(toggles["AlwaysOnLateral"])->setVisibleButton(tuningLevel >= 1); - - setUpdatesEnabled(true); - update(); -} diff --git a/selfdrive/frogpilot/ui/qt/offroad/lateral_settings.h b/selfdrive/frogpilot/ui/qt/offroad/lateral_settings.h deleted file mode 100644 index 72fefb0762bc65..00000000000000 --- a/selfdrive/frogpilot/ui/qt/offroad/lateral_settings.h +++ /dev/null @@ -1,56 +0,0 @@ -#pragma once - -#include - -#include "selfdrive/frogpilot/ui/qt/offroad/frogpilot_settings.h" - -class FrogPilotLateralPanel : public FrogPilotListWidget { - Q_OBJECT - -public: - explicit FrogPilotLateralPanel(FrogPilotSettingsWindow *parent); - -signals: - void openParentToggle(); - -private: - void hideToggles(); - void showEvent(QShowEvent *event) override; - void showToggles(const std::set &keys); - void updateMetric(); - void updateState(const UIState &s); - - FrogPilotParamValueButtonControl *steerFrictionToggle; - FrogPilotParamValueButtonControl *steerLatAccelToggle; - FrogPilotParamValueButtonControl *steerKPToggle; - FrogPilotParamValueButtonControl *steerRatioToggle; - - FrogPilotSettingsWindow *parent; - - QJsonObject frogpilotToggleLevels; - - Params params; - - bool hasAutoTune; - bool hasNNFFLog; - bool isMetric = params.getBool("IsMetric"); - bool isPIDCar; - bool isSubaru; - bool liveValid; - bool started; - - float steerFrictionStock; - float steerLatAccelStock; - float steerKPStock; - float steerRatioStock; - - int tuningLevel; - - std::map toggles; - - std::set advancedLateralTuneKeys = {"ForceAutoTune", "ForceAutoTuneOff", "SteerFriction", "SteerLatAccel", "SteerKP", "SteerRatio"}; - std::set aolKeys = {"AlwaysOnLateralLKAS", "AlwaysOnLateralMain", "HideAOLStatusBar", "PauseAOLOnBrake"}; - std::set laneChangeKeys = {"LaneChangeTime", "LaneDetectionWidth", "MinimumLaneChangeSpeed", "NudgelessLaneChange", "OneLaneChange"}; - std::set lateralTuneKeys = {"NNFF", "NNFFLite", "TurnDesires"}; - std::set qolKeys = {"PauseLateralSpeed"}; -}; diff --git a/selfdrive/frogpilot/ui/qt/offroad/longitudinal_settings.cc b/selfdrive/frogpilot/ui/qt/offroad/longitudinal_settings.cc deleted file mode 100644 index f332f1c4817d39..00000000000000 --- a/selfdrive/frogpilot/ui/qt/offroad/longitudinal_settings.cc +++ /dev/null @@ -1,683 +0,0 @@ -#include "selfdrive/frogpilot/ui/qt/offroad/longitudinal_settings.h" - -FrogPilotLongitudinalPanel::FrogPilotLongitudinalPanel(FrogPilotSettingsWindow *parent) : FrogPilotListWidget(parent), parent(parent) { - const std::vector> longitudinalToggles { - {"ConditionalExperimental", tr("Conditional Experimental Mode"), tr("Automatically switch to 'Experimental Mode' when specific conditions are met."), "../frogpilot/assets/toggle_icons/icon_conditional.png"}, - {"CESpeed", tr("Below"), tr("Triggers 'Experimental Mode' when driving below the set speed without a lead vehicle."), ""}, - {"CECurves", tr("Curve Detected Ahead"), tr("Triggers 'Experimental Mode' when a curve is detected in the road ahead."), ""}, - {"CELead", tr("Lead Detected Ahead"), tr("Triggers 'Experimental Mode' when a slower or stopped vehicle is detected ahead."), ""}, - {"CENavigation", tr("Navigation Data"), tr("Triggers 'Experimental Mode' based on navigation data, such as upcoming intersections or turns."), ""}, - {"CEModelStopTime", tr("openpilot Wants to Stop In"), tr("Triggers 'Experimental Mode' when openpilot wants to stop such as for a stop sign or red light."), ""}, - {"CESignalSpeed", tr("Turn Signal Below"), tr("Triggers 'Experimental Mode' when using turn signals below the set speed."), ""}, - {"HideCEMStatusBar", tr("Hide the Status Bar"), tr("Hides status bar for 'Conditional Experimental Mode'."), ""}, - - {"CurveSpeedControl", tr("Curve Speed Control"), tr("Automatically slow down for curves detected ahead or through the downloaded maps."), "../frogpilot/assets/toggle_icons/icon_speed_map.png"}, - {"CurveDetectionMethod", tr("Curve Detection Method"), tr("Uses data from either the downloaded maps or the model to determine where curves are."), ""}, - {"MTSCCurvatureCheck", tr("Curve Detection Failsafe"), tr("Triggers 'Curve Speed Control' only when a curve is detected with the model as well when using the 'Map Based' method."), ""}, - {"CurveSensitivity", tr("Curve Detection Sensitivity"), tr("Controls how sensitive openpilot is to detecting curves. Higher values trigger earlier responses at the risk of triggering too often, while lower values increase confidence at the risk of triggering too infrequently."), ""}, - {"TurnAggressiveness", tr("Speed Aggressiveness"), tr("Controls how aggressive openpilot takes turns. Higher values result in faster turns, while lower values result in slower turns."), ""}, - {"HideCSCUI", tr("Hide Desired Speed Widget From UI"), tr("Hides the desired speed widget from the onroad UI."), ""}, - - {"CustomPersonalities", tr("Customize Driving Personalities"), tr("Customize the personality profiles to suit your driving style."), "../frogpilot/assets/toggle_icons/icon_personality.png"}, - {"TrafficPersonalityProfile", tr("Traffic Personality"), tr("Customizes the 'Traffic' personality profile, tailored for navigating through traffic."), "../frogpilot/assets/stock_theme/distance_icons/traffic.png"}, - {"TrafficFollow", tr("Following Distance"), tr("Controls the minimum following distance in 'Traffic' mode. openpilot will automatically dynamically between this value and the 'Aggressive' profile distance based on your current speed."), ""}, - {"TrafficJerkAcceleration", tr("Acceleration Sensitivity"), tr("Controls how sensitive openpilot is to changes in acceleration in 'Traffic' mode. Higher values result in smoother, more gradual acceleration, while lower values allow for quicker, more responsive changes that may feel abrupt."), ""}, - {"TrafficJerkDeceleration", tr("Deceleration Sensitivity"), tr("Controls how sensitive openpilot is to changes in deceleration in 'Traffic' mode. Higher values result in smoother, more gradual deceleration, while lower values allow for quicker, more responsive changes that may feel abrupt."), ""}, - {"TrafficJerkDanger", tr("Safety Distance Sensitivity"), tr("Adjusts how cautious openpilot is around other vehicles or obstacles in 'Traffic' mode. Higher values increase following distances and prioritize safety, leading to more cautious driving, while lower values allow for closer following but may reduce reaction time."), ""}, - {"TrafficJerkSpeed", tr("Speed Increase Responsiveness"), tr("Controls how quickly openpilot increases speed in 'Traffic' mode. Higher values ensure smoother, more gradual speed changes when accelerating, while lower values allow for quicker, more responsive changes that may feel abrupt."), ""}, - {"TrafficJerkSpeedDecrease", tr("Speed Decrease Responsiveness"), tr("Controls how quickly openpilot decreases speed in 'Traffic' mode. Higher values ensure smoother, more gradual speed changes when slowing down, while lower values allow for quicker, more responsive changes that may feel abrupt."), ""}, - {"ResetTrafficPersonality", tr("Reset Settings"), tr("Restores the 'Traffic Mode' settings to their default values."), ""}, - - {"AggressivePersonalityProfile", tr("Aggressive Personality"), tr("Customize the 'Aggressive' personality profile, designed for a more assertive driving style."), "../frogpilot/assets/stock_theme/distance_icons/aggressive.png"}, - {"AggressiveFollow", tr("Following Distance"), tr("Sets the following distance for 'Aggressive' mode. This determines roughly how many seconds you'll follow behind the car ahead.\n\nDefault: 1.25 seconds."), ""}, - {"AggressiveJerkAcceleration", tr("Acceleration Sensitivity"), tr("Controls how sensitive openpilot is to changes in acceleration in 'Aggressive' mode. Higher values result in smoother, more gradual acceleration, while lower values allow for quicker, more responsive changes that may feel abrupt.\n\nDefault: 0.5."), ""}, - {"AggressiveJerkDeceleration", tr("Deceleration Sensitivity"), tr("Controls how sensitive openpilot is to changes in deceleration in 'Aggressive' mode. Higher values result in smoother, more gradual deceleration, while lower values allow for quicker, more responsive changes that may feel abrupt.\n\nDefault: 0.5."), ""}, - {"AggressiveJerkDanger", tr("Safety Distance Sensitivity"), tr("Adjusts how cautious openpilot is around other vehicles or obstacles in 'Aggressive' mode. Higher values increase following distances and prioritize safety, leading to more cautious driving, while lower values allow for closer following but may reduce reaction time.\n\nDefault: 1.0."), ""}, - {"AggressiveJerkSpeed", tr("Speed Increase Responsiveness"), tr("Controls how quickly openpilot increases speed in 'Aggressive' mode. Higher values ensure smoother, more gradual speed changes when accelerating, while lower values allow for quicker, more responsive changes that may feel abrupt.\n\nDefault: 0.5."), ""}, - {"AggressiveJerkSpeedDecrease", tr("Speed Decrease Responsiveness"), tr("Controls how quickly openpilot decreases speed in 'Aggressive' mode. Higher values ensure smoother, more gradual speed changes when slowing down, while lower values allow for quicker, more responsive changes that may feel abrupt.\n\nDefault: 0.5."), ""}, - {"ResetAggressivePersonality", tr("Reset Settings"), tr("Restores the 'Aggressive' settings to their default values."), ""}, - - {"StandardPersonalityProfile", tr("Standard Personality"), tr("Customize the 'Standard' personality profile, optimized for balanced driving."), "../frogpilot/assets/stock_theme/distance_icons/standard.png"}, - {"StandardFollow", tr("Following Distance"), tr("Set the following distance for 'Standard' mode. This determines roughly how many seconds you'll follow behind the car ahead.\n\nDefault: 1.45 seconds."), ""}, - {"StandardJerkAcceleration", tr("Acceleration Sensitivity"), tr("Controls how sensitive openpilot is to changes in acceleration in 'Standard' mode. Higher values result in smoother, more gradual acceleration, while lower values allow for quicker, more responsive changes that may feel abrupt.\n\nDefault: 1.0."), ""}, - {"StandardJerkDeceleration", tr("Deceleration Sensitivity"), tr("Controls how sensitive openpilot is to changes in deceleration in 'Standard' mode. Higher values result in smoother braking, while lower values allow for quicker, more immediate braking that may feel abrupt.\n\nDefault: 1.0."), ""}, - {"StandardJerkDanger", tr("Safety Distance Sensitivity"), tr("Adjusts how cautious openpilot is around other vehicles or obstacles in 'Standard' mode. Higher values increase following distances and prioritize safety, leading to more cautious driving, while lower values allow for closer following but may reduce reaction time.\n\nDefault: 1.0."), ""}, - {"StandardJerkSpeed", tr("Speed Increase Responsiveness"), tr("Controls how quickly openpilot increases speed in 'Standard' mode. Higher values ensure smoother, more gradual speed changes when accelerating, while lower values allow for quicker, more responsive changes that may feel abrupt.\n\nDefault: 1.0."), ""}, - {"StandardJerkSpeedDecrease", tr("Speed Decrease Responsiveness"), tr("Controls how quickly openpilot decreases speed in 'Standard' mode. Higher values ensure smoother, more gradual speed changes when slowing down, while lower values allow for quicker, more responsive changes that may feel abrupt.\n\nDefault: 1.0."), ""}, - {"ResetStandardPersonality", tr("Reset Settings"), tr("Restores the 'Standard' settings to their default values."), ""}, - - {"RelaxedPersonalityProfile", tr("Relaxed Personality"), tr("Customize the 'Relaxed' personality profile, ideal for a more laid-back driving style."), "../frogpilot/assets/stock_theme/distance_icons/relaxed.png"}, - {"RelaxedFollow", tr("Following Distance"), tr("Set the following distance for 'Relaxed' mode. This determines roughly how many seconds you'll follow behind the car ahead.\n\nDefault: 1.75 seconds."), ""}, - {"RelaxedJerkAcceleration", tr("Acceleration Sensitivity"), tr("Controls how sensitive openpilot is to changes in acceleration in 'Relaxed' mode. Higher values result in smoother, more gradual acceleration, while lower values allow for quicker, more responsive changes that may feel abrupt.\n\nDefault: 1.0."), ""}, - {"RelaxedJerkDeceleration", tr("Deceleration Sensitivity"), tr("Controls how sensitive openpilot is to changes in deceleration in 'Relaxed' mode. Higher values result in smoother braking, while lower values allow for quicker, more immediate braking that may feel abrupt.\n\nDefault: 1.0."), ""}, - {"RelaxedJerkDanger", tr("Safety Distance Sensitivity"), tr("Adjusts how cautious openpilot is around other vehicles or obstacles in 'Relaxed' mode. Higher values increase following distances and prioritize safety, leading to more cautious driving, while lower values allow for closer following but may reduce reaction time.\n\nDefault: 1.0."), ""}, - {"RelaxedJerkSpeed", tr("Speed Increase Responsiveness"), tr("Controls how quickly openpilot increases speed in 'Relaxed' mode. Higher values ensure smoother, more gradual speed changes when accelerating, while lower values allow for quicker, more responsive changes that may feel abrupt.\n\nDefault: 1.0."), ""}, - {"RelaxedJerkSpeedDecrease", tr("Speed Decrease Responsiveness"), tr("Controls how quickly openpilot decreases speed in 'Relaxed' mode. Higher values ensure smoother, more gradual speed changes when slowing down, while lower values allow for quicker, more responsive changes that may feel abrupt.\n\nDefault: 1.0."), ""}, - {"ResetRelaxedPersonality", tr("Reset Settings"), tr("Restores the 'Relaxed' settings to their default values."), ""}, - - {"ExperimentalModeActivation", tr("Experimental Mode Activation"), tr("Toggle 'Experimental Mode' on/off using either the steering wheel buttons or screen.\n\nThis overrides 'Conditional Experimental Mode'."), "../assets/img_experimental_white.svg"}, - {"ExperimentalModeViaLKAS", tr("Click the LKAS Button"), tr("Toggles 'Experimental Mode' by pressing the 'LKAS' button on the steering wheel."), ""}, - {"ExperimentalModeViaTap", tr("Double-Tap the Screen"), tr("Toggles 'Experimental Mode' by double-tapping the onroad UI within a 0.5 second period."), ""}, - {"ExperimentalModeViaDistance", tr("Long Press the Distance Button"), tr("Toggles 'Experimental Mode' by holding down the 'distance' button on the steering wheel for 0.5 seconds."), ""}, - - {"LongitudinalTune", tr("Longitudinal Tuning"), tr("Settings that control how openpilot manages speed and acceleration."), "../frogpilot/assets/toggle_icons/icon_longitudinal_tune.png"}, - {"AccelerationProfile", tr("Acceleration Profile"), tr("Enables either a sporty or eco-friendly acceleration rate. 'Sport+' aims to make openpilot accelerate as fast as possible."), ""}, - {"DecelerationProfile", tr("Deceleration Profile"), tr("Enables either a sporty or eco-friendly deceleration rate."), ""}, - {"HumanAcceleration", tr("Human-Like Acceleration"), tr("Uses the lead's acceleration rate when at a takeoff and ramps off the acceleration rate when approaching the maximum set speed for a more 'human-like' driving experience."), ""}, - {"HumanFollowing", tr("Human-Like Approach Behind Leads"), tr("Dynamically adjusts the following distance when approaching slower or stopped vehicles for a more 'human-like' driving experience."), ""}, - {"LeadDetectionThreshold", tr("Lead Detection Confidence"), tr("Controls how sensitive openpilot is to detecting vehicles ahead. A lower value can help detect vehicles sooner and from farther away, but increases the chance openpilot mistakes other objects for vehicles."), ""}, - {"MaxDesiredAcceleration", tr("Maximum Acceleration Rate"), tr("Sets a cap on how fast openpilot can accelerate."), ""}, - {"TacoTune", tr("'Taco Bell Run' Turn Speed Hack"), tr("Uses comma's speed hack they used to help handle left and right turns more precisely during their 2022 'Taco Bell' drive by reducing the maximum allowed speed and acceleration while turning."), ""}, - - {"QOLLongitudinal", tr("Quality of Life Improvements"), tr("Miscellaneous longitudinal focused features to improve your overall openpilot experience."), "../frogpilot/assets/toggle_icons/quality_of_life.png"}, - {"CustomCruise", tr("Cruise Increase"), tr("Controls the interval used when increasing the cruise control speed."), ""}, - {"CustomCruiseLong", tr("Cruise Increase (Long Press)"), tr("Controls the interval used when increasing the cruise control speed while holding down the button for 0.5+ seconds."), ""}, - {"ForceStandstill", tr("Force Keep openpilot in the Standstill State"), tr("Keeps openpilot in the 'standstill' state until the gas pedal or 'resume' button is pressed."), ""}, - {"ForceStops", tr("Force Stop for 'Detected' Stop Lights/Signs"), tr("Forces a stop whenever openpilot 'detects' a potential red light/stop sign to prevent it from running the red light/stop sign."), ""}, - {"IncreasedStoppedDistance", tr("Increase Stopped Distance"), tr("Increases the distance to stop behind vehicles."), ""}, - {"SetSpeedOffset", tr("Set Speed Offset"), tr("Controls how much higher or lower the set speed should be compared to your current set speed. For example, if you prefer to drive 5 mph above the speed limit, this setting will automatically add that difference when you adjust your set speed."), ""}, - {"MapGears", tr("Map Accel/Decel to Gears"), tr("Maps the acceleration and deceleration profiles to your car's 'Eco' or 'Sport' gear modes."), ""}, - {"ReverseCruise", tr("Reverse Cruise Increase"), tr("Reverses the long press cruise increase feature to increase the max speed by 5 mph instead of 1 on short presses."), ""}, - - {"SpeedLimitController", tr("Speed Limit Controller"), tr("Automatically adjust your max speed to match the speed limit using downloaded 'Open Street Maps' data, 'Navigate on openpilot', or your car's dashboard (Toyota/Lexus/HKG only)."), "../assets/offroad/icon_speed_limit.png"}, - {"SLCConfirmation", tr("Confirm New Speed Limits"), tr("Enables manual confirmations before using a new speed limit."), ""}, - {"SLCFallback", tr("Fallback Method"), tr("Controls what happens when no speed limit data is available."), ""}, - {"SLCOverride", tr("Override Method"), tr("Controls how the current speed limit is overriden.\n\n"), ""}, - {"SLCQOL", tr("Quality of Life Improvements"), tr("Miscellaneous 'Speed Limit Controller' focused features to improve your overall openpilot experience."), ""}, - {"ForceMPHDashboard", tr("Force MPH Readings from Dashboard"), tr("Forces speed limit readings from the dashboard to MPH if it normally displays them in KPH."), ""}, - {"SLCLookaheadHigher", tr("Prepare for Higher Speed Limits"), tr("Sets a lookahead value to prepare for upcoming higher speed limits when using downloaded map data."), ""}, - {"SLCLookaheadLower", tr("Prepare for Lower Speed Limits"), tr("Sets a lookahead value to prepare for upcoming lower speed limits when using downloaded map data."), ""}, - {"SetSpeedLimit", tr("Set Speed to Current Limit"), tr("Sets your max speed to match the current speed limit when enabling openpilot."), ""}, - {"SLCPriority", tr("Speed Limit Source Priority Order"), tr("Sets the order of priority for speed limit data sources."), ""}, - {"SLCOffsets", tr("Speed Limit Offsets"), tr("Set speed limit offsets to drive over the posted speed limit."), ""}, - {"Offset1", tr("Speed Limit Offset (0-34 mph)"), tr("Sets the speed limit offset for speeds between 0 and 34 mph."), ""}, - {"Offset2", tr("Speed Limit Offset (35-54 mph)"), tr("Sets the speed limit offset for speeds between 35 and 54 mph."), ""}, - {"Offset3", tr("Speed Limit Offset (55-64 mph)"), tr("Sets the speed limit offset for speeds between 55 and 64 mph."), ""}, - {"Offset4", tr("Speed Limit Offset (65-99 mph)"), tr("Sets the speed limit offset for speeds between 65 and 99 mph."), ""}, - {"SpeedLimitSources", tr("Show Speed Limit Sources"), tr("Displays the speed limit sources in the onroad UI when using 'Speed Limit Controller'."), ""}, - }; - - for (const auto &[param, title, desc, icon] : longitudinalToggles) { - AbstractControl *longitudinalToggle; - - if (param == "CustomPersonalities") { - FrogPilotParamManageControl *customPersonalitiesToggle = new FrogPilotParamManageControl(param, title, desc, icon); - QObject::connect(customPersonalitiesToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() { - showToggles(customDrivingPersonalityKeys); - }); - longitudinalToggle = customPersonalitiesToggle; - } else if (param == "ResetTrafficPersonality" || param == "ResetAggressivePersonality" || param == "ResetStandardPersonality" || param == "ResetRelaxedPersonality") { - FrogPilotButtonsControl *profileBtn = new FrogPilotButtonsControl(title, desc, {tr("Reset")}); - longitudinalToggle = profileBtn; - } else if (param == "TrafficPersonalityProfile") { - FrogPilotParamManageControl *trafficPersonalityToggle = new FrogPilotParamManageControl(param, title, desc, icon); - QObject::connect(trafficPersonalityToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() { - customPersonalityOpen = true; - openSubParentToggle(); - showToggles(trafficPersonalityKeys); - }); - longitudinalToggle = trafficPersonalityToggle; - } else if (param == "AggressivePersonalityProfile") { - FrogPilotParamManageControl *aggressivePersonalityToggle = new FrogPilotParamManageControl(param, title, desc, icon); - QObject::connect(aggressivePersonalityToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() { - customPersonalityOpen = true; - openSubParentToggle(); - showToggles(aggressivePersonalityKeys); - }); - longitudinalToggle = aggressivePersonalityToggle; - } else if (param == "StandardPersonalityProfile") { - FrogPilotParamManageControl *standardPersonalityToggle = new FrogPilotParamManageControl(param, title, desc, icon); - QObject::connect(standardPersonalityToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() { - customPersonalityOpen = true; - openSubParentToggle(); - showToggles(standardPersonalityKeys); - }); - longitudinalToggle = standardPersonalityToggle; - } else if (param == "RelaxedPersonalityProfile") { - FrogPilotParamManageControl *relaxedPersonalityToggle = new FrogPilotParamManageControl(param, title, desc, icon); - QObject::connect(relaxedPersonalityToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() { - customPersonalityOpen = true; - openSubParentToggle(); - showToggles(relaxedPersonalityKeys); - }); - longitudinalToggle = relaxedPersonalityToggle; - } else if (trafficPersonalityKeys.find(param) != trafficPersonalityKeys.end() || - aggressivePersonalityKeys.find(param) != aggressivePersonalityKeys.end() || - standardPersonalityKeys.find(param) != standardPersonalityKeys.end() || - relaxedPersonalityKeys.find(param) != relaxedPersonalityKeys.end()) { - if (param == "TrafficFollow" || param == "AggressiveFollow" || param == "StandardFollow" || param == "RelaxedFollow") { - if (param == "TrafficFollow") { - longitudinalToggle = new FrogPilotParamValueControl(param, title, desc, icon, 0.5, 5, tr(" seconds"), std::map(), 0.01); - } else { - longitudinalToggle = new FrogPilotParamValueControl(param, title, desc, icon, 1, 5, tr(" seconds"), std::map(), 0.01); - } - } else { - longitudinalToggle = new FrogPilotParamValueControl(param, title, desc, icon, 1, 500, "%"); - } - - } else if (param == "ConditionalExperimental") { - FrogPilotParamManageControl *conditionalExperimentalToggle = new FrogPilotParamManageControl(param, title, desc, icon); - QObject::connect(conditionalExperimentalToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() { - showToggles(conditionalExperimentalKeys); - }); - longitudinalToggle = conditionalExperimentalToggle; - } else if (param == "CESpeed") { - FrogPilotParamValueControl *CESpeed = new FrogPilotParamValueControl(param, title, desc, icon, 0, 99, tr("mph"), std::map(), 1.0, true); - FrogPilotParamValueControl *CESpeedLead = new FrogPilotParamValueControl("CESpeedLead", tr(" With Lead"), tr("Switches to 'Experimental Mode' when driving below the set speed with a lead vehicle."), icon, 0, 99, tr("mph"), std::map(), 1.0, true); - FrogPilotDualParamControl *conditionalSpeeds = new FrogPilotDualParamControl(CESpeed, CESpeedLead); - longitudinalToggle = reinterpret_cast(conditionalSpeeds); - } else if (param == "CECurves") { - std::vector curveToggles{"CECurvesLead"}; - std::vector curveToggleNames{tr("With Lead")}; - longitudinalToggle = new FrogPilotButtonToggleControl(param, title, desc, curveToggles, curveToggleNames); - } else if (param == "CELead") { - std::vector leadToggles{"CESlowerLead", "CEStoppedLead"}; - std::vector leadToggleNames{tr("Slower Lead"), tr("Stopped Lead")}; - longitudinalToggle = new FrogPilotButtonToggleControl(param, title, desc, leadToggles, leadToggleNames); - } else if (param == "CENavigation") { - std::vector navigationToggles{"CENavigationIntersections", "CENavigationTurns", "CENavigationLead"}; - std::vector navigationToggleNames{tr("Intersections"), tr("Turns"), tr("With Lead")}; - longitudinalToggle = new FrogPilotButtonToggleControl(param, title, desc, navigationToggles, navigationToggleNames); - } else if (param == "CEModelStopTime") { - longitudinalToggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 10, tr(" seconds"), {{0, "Off"}}); - } else if (param == "CESignalSpeed") { - std::vector ceSignalToggles{"CESignalLaneDetection"}; - std::vector ceSignalToggleNames{"Only For Detected Lanes"}; - longitudinalToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, 0, 99, tr("mph"), std::map(), 1.0, ceSignalToggles, ceSignalToggleNames, true); - - } else if (param == "CurveSpeedControl") { - FrogPilotParamManageControl *curveControlToggle = new FrogPilotParamManageControl(param, title, desc, icon); - QObject::connect(curveControlToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() { - curveDetectionBtn->setEnabledButtons(0, QDir("/data/media/0/osm/offline").exists()); - curveDetectionBtn->setCheckedButton(0, params.getBool("MTSCEnabled")); - curveDetectionBtn->setCheckedButton(1, params.getBool("VisionTurnControl")); - - std::set modifiedCurveSpeedKeys = curveSpeedKeys; - - if (!params.getBool("MTSCEnabled")) { - modifiedCurveSpeedKeys.erase("MTSCCurvatureCheck"); - } - - showToggles(modifiedCurveSpeedKeys); - }); - longitudinalToggle = curveControlToggle; - } else if (param == "CurveDetectionMethod") { - curveDetectionBtn = new FrogPilotButtonsControl(title, desc, {tr("Map Based"), tr("Vision")}, true, false); - QObject::connect(curveDetectionBtn, &FrogPilotButtonsControl::buttonClicked, [=](int id) { - bool mtscEnabled = params.getBool("MTSCEnabled"); - bool vtscEnabled = params.getBool("VisionTurnControl"); - - if (id == 0) { - if (mtscEnabled && !vtscEnabled) { - curveDetectionBtn->setCheckedButton(0, true); - return; - } - - params.putBool("MTSCEnabled", !mtscEnabled); - curveDetectionBtn->setCheckedButton(0, !mtscEnabled); - - std::set modifiedCurveSpeedKeys = curveSpeedKeys; - - if (mtscEnabled) { - modifiedCurveSpeedKeys.erase("MTSCCurvatureCheck"); - } - - showToggles(modifiedCurveSpeedKeys); - } else if (id == 1) { - if (vtscEnabled && !mtscEnabled) { - curveDetectionBtn->setCheckedButton(1, true); - return; - } - - params.putBool("VisionTurnControl", !vtscEnabled); - curveDetectionBtn->setCheckedButton(1, !vtscEnabled); - } - }); - QObject::connect(curveDetectionBtn, &FrogPilotButtonsControl::disabledButtonClicked, [=](int id) { - if (id == 0) { - FrogPilotConfirmationDialog::toggleAlert( - tr("The 'Map Based' option is only available when some 'Map Data' has been downloaded!"), - tr("Okay"), this - ); - } - }); - longitudinalToggle = curveDetectionBtn; - } else if (param == "CurveSensitivity" || param == "TurnAggressiveness") { - longitudinalToggle = new FrogPilotParamValueControl(param, title, desc, icon, 1, 200, "%"); - - } else if (param == "ExperimentalModeActivation") { - FrogPilotParamManageControl *experimentalModeActivationToggle = new FrogPilotParamManageControl(param, title, desc, icon); - QObject::connect(experimentalModeActivationToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() { - std::set modifiedExperimentalModeActivationKeys = experimentalModeActivationKeys; - - if (isSubaru || (params.getBool("AlwaysOnLateral") && params.getBool("AlwaysOnLateralLKAS"))) { - modifiedExperimentalModeActivationKeys.erase("ExperimentalModeViaLKAS"); - } - - showToggles(modifiedExperimentalModeActivationKeys); - }); - longitudinalToggle = experimentalModeActivationToggle; - - } else if (param == "LongitudinalTune") { - FrogPilotParamManageControl *longitudinalTuneToggle = new FrogPilotParamManageControl(param, title, desc, icon); - QObject::connect(longitudinalTuneToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() { - showToggles(longitudinalTuneKeys); - }); - longitudinalToggle = longitudinalTuneToggle; - } else if (param == "AccelerationProfile") { - std::vector accelerationProfiles{tr("Standard"), tr("Eco"), tr("Sport"), tr("Sport+")}; - ButtonParamControl *accelerationProfileToggle = new ButtonParamControl(param, title, desc, icon, accelerationProfiles); - longitudinalToggle = accelerationProfileToggle; - } else if (param == "DecelerationProfile") { - std::vector decelerationProfiles{tr("Standard"), tr("Eco"), tr("Sport")}; - ButtonParamControl *decelerationProfileToggle = new ButtonParamControl(param, title, desc, icon, decelerationProfiles); - longitudinalToggle = decelerationProfileToggle; - } else if (param == "LeadDetectionThreshold") { - longitudinalToggle = new FrogPilotParamValueControl(param, title, desc, icon, 1, 99, "%"); - } else if (param == "MaxDesiredAcceleration") { - longitudinalToggle = new FrogPilotParamValueControl(param, title, desc, icon, 0.1, 4.0, "m/s", std::map(), 0.1); - - } else if (param == "QOLLongitudinal") { - FrogPilotParamManageControl *qolLongitudinalToggle = new FrogPilotParamManageControl(param, title, desc, icon); - QObject::connect(qolLongitudinalToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() { - std::set modifiedQolKeys = qolKeys; - - if (!hasPCMCruise) { - modifiedQolKeys.erase("ReverseCruise"); - } else { - modifiedQolKeys.erase("CustomCruise"); - modifiedQolKeys.erase("CustomCruiseLong"); - modifiedQolKeys.erase("SetSpeedOffset"); - } - - if (!(isGM || isHKGCanFd || isToyota)) { - modifiedQolKeys.erase("MapGears"); - } - - showToggles(modifiedQolKeys); - }); - longitudinalToggle = qolLongitudinalToggle; - } else if (param == "CustomCruise") { - longitudinalToggle = new FrogPilotParamValueControl(param, title, desc, icon, 1, 99, tr("mph")); - } else if (param == "CustomCruiseLong") { - longitudinalToggle = new FrogPilotParamValueControl(param, title, desc, icon, 1, 99, tr("mph")); - } else if (param == "IncreasedStoppedDistance") { - longitudinalToggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 10, tr(" feet")); - } else if (param == "MapGears") { - std::vector mapGearsToggles{"MapAcceleration", "MapDeceleration"}; - std::vector mapGearsToggleNames{tr("Acceleration"), tr("Deceleration")}; - longitudinalToggle = new FrogPilotButtonToggleControl(param, title, desc, mapGearsToggles, mapGearsToggleNames); - } else if (param == "SetSpeedOffset") { - longitudinalToggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 99, tr("mph")); - - } else if (param == "SpeedLimitController") { - FrogPilotParamManageControl *speedLimitControllerToggle = new FrogPilotParamManageControl(param, title, desc, icon); - QObject::connect(speedLimitControllerToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() { - slcOpen = true; - - showToggles(speedLimitControllerKeys); - }); - longitudinalToggle = speedLimitControllerToggle; - } else if (param == "SLCConfirmation") { - std::vector confirmationToggles{"SLCConfirmationLower", "SLCConfirmationHigher"}; - std::vector confirmationToggleNames{tr("Lower Limits"), tr("Higher Limits")}; - longitudinalToggle = new FrogPilotButtonToggleControl(param, title, desc, confirmationToggles, confirmationToggleNames); - } else if (param == "SLCFallback") { - std::vector fallbackOptions{tr("Set Speed"), tr("Experimental Mode"), tr("Previous Limit")}; - ButtonParamControl *fallbackSelection = new ButtonParamControl(param, title, desc, icon, fallbackOptions); - longitudinalToggle = fallbackSelection; - } else if (param == "SLCOverride") { - std::vector overrideOptions{tr("None"), tr("Set With Gas Pedal"), tr("Max Set Speed")}; - ButtonParamControl *overrideSelection = new ButtonParamControl(param, title, desc, icon, overrideOptions); - longitudinalToggle = overrideSelection; - } else if (param == "SLCPriority") { - ButtonControl *slcPriorityButton = new ButtonControl(title, tr("SELECT"), desc); - QStringList primaryPriorities = {tr("Dashboard"), tr("Map Data"), tr("Navigation"), tr("Highest"), tr("Lowest")}; - QStringList otherPriorities = {tr("None"), tr("Dashboard"), tr("Map Data"), tr("Navigation")}; - QStringList priorityPrompts = {tr("Select your primary priority"), tr("Select your secondary priority"), tr("Select your tertiary priority")}; - - QObject::connect(slcPriorityButton, &ButtonControl::clicked, [=]() { - QStringList selectedPriorities; - - for (int i = 1; i <= 3; ++i) { - QStringList availablePriorities = (i == 1) ? primaryPriorities : otherPriorities; - availablePriorities = availablePriorities.toSet().subtract(selectedPriorities.toSet()).toList(); - - if (!hasDashSpeedLimits) { - availablePriorities.removeAll(tr("Dashboard")); - } - if (availablePriorities.size() == 1 && availablePriorities.contains(tr("None"))) { - break; - } - - QString selection = MultiOptionDialog::getSelection(priorityPrompts[i - 1], availablePriorities, "", this); - if (selection.isEmpty()) { - break; - } - - params.put(QString("SLCPriority%1").arg(i).toStdString(), selection.toStdString()); - selectedPriorities.append(selection); - - if (selection == tr("None")) { - for (int j = i + 1; j <= 3; ++j) { - params.put(QString("SLCPriority%1").arg(j).toStdString(), tr("None").toStdString()); - } - break; - } - - if (selection == tr("Lowest") || selection == tr("Highest")) { - break; - } - } - - selectedPriorities.removeAll(tr("None")); - slcPriorityButton->setValue(selectedPriorities.join(", ")); - }); - - QStringList initialPriorities; - for (int i = 1; i <= 3; ++i) { - QString priority = QString::fromStdString(params.get(QString("SLCPriority%1").arg(i).toStdString())); - if (!priority.isEmpty() && priority != tr("None") && primaryPriorities.contains(priority)) { - initialPriorities.append(priority); - } - } - slcPriorityButton->setValue(initialPriorities.join(", ")); - longitudinalToggle = slcPriorityButton; - } else if (param == "SLCOffsets") { - ButtonControl *manageSLCOffsetsBtn = new ButtonControl(title, tr("MANAGE"), desc); - QObject::connect(manageSLCOffsetsBtn, &ButtonControl::clicked, [this]() { - openSubParentToggle(); - showToggles(speedLimitControllerOffsetsKeys); - }); - longitudinalToggle = manageSLCOffsetsBtn; - } else if (param == "SLCQOL") { - ButtonControl *manageSLCQOLBtn = new ButtonControl(title, tr("MANAGE"), desc); - QObject::connect(manageSLCQOLBtn, &ButtonControl::clicked, [this]() { - openSubParentToggle(); - std::set modifiedSpeedLimitControllerQOLKeys = speedLimitControllerQOLKeys; - - if (hasPCMCruise) { - modifiedSpeedLimitControllerQOLKeys.erase("SetSpeedLimit"); - } - - if (!isToyota) { - modifiedSpeedLimitControllerQOLKeys.erase("ForceMPHDashboard"); - } - - showToggles(modifiedSpeedLimitControllerQOLKeys); - }); - longitudinalToggle = manageSLCQOLBtn; - } else if (param == "SLCLookaheadHigher" || param == "SLCLookaheadLower") { - longitudinalToggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 30, tr(" seconds")); - } else if (param == "Offset1" || param == "Offset2" || param == "Offset3" || param == "Offset4") { - longitudinalToggle = new FrogPilotParamValueControl(param, title, desc, icon, -99, 99, tr("mph")); - - } else { - longitudinalToggle = new ParamControl(param, title, desc, icon); - } - - addItem(longitudinalToggle); - toggles[param] = longitudinalToggle; - - if (FrogPilotParamManageControl *frogPilotManageToggle = qobject_cast(longitudinalToggle)) { - QObject::connect(frogPilotManageToggle, &FrogPilotParamManageControl::manageButtonClicked, this, &FrogPilotLongitudinalPanel::openParentToggle); - } - - QObject::connect(longitudinalToggle, &AbstractControl::showDescriptionEvent, [this]() { - update(); - }); - } - - QObject::connect(static_cast(toggles["ExperimentalModeViaLKAS"]), &ToggleControl::toggleFlipped, [this](bool state) { - if (state && params.getBool("AlwaysOnLateralLKAS")) { - params.putBoolNonBlocking("AlwaysOnLateralLKAS", false); - } - }); - - FrogPilotParamValueControl *trafficFollowToggle = static_cast(toggles["TrafficFollow"]); - FrogPilotParamValueControl *trafficAccelerationToggle = static_cast(toggles["TrafficJerkAcceleration"]); - FrogPilotParamValueControl *trafficDecelerationToggle = static_cast(toggles["TrafficJerkDeceleration"]); - FrogPilotParamValueControl *trafficDangerToggle = static_cast(toggles["TrafficJerkDanger"]); - FrogPilotParamValueControl *trafficSpeedToggle = static_cast(toggles["TrafficJerkSpeed"]); - FrogPilotParamValueControl *trafficSpeedDecreaseToggle = static_cast(toggles["TrafficJerkSpeedDecrease"]); - FrogPilotButtonsControl *trafficResetButton = static_cast(toggles["ResetTrafficPersonality"]); - QObject::connect(trafficResetButton, &FrogPilotButtonsControl::buttonClicked, this, [=]() { - if (FrogPilotConfirmationDialog::yesorno(tr("Are you sure you want to completely reset your settings for 'Traffic Mode'?"), this)) { - params.putFloat("TrafficFollow", params_default.getFloat("TrafficFollow")); - params.putFloat("TrafficJerkAcceleration", params_default.getFloat("TrafficJerkAcceleration")); - params.putFloat("TrafficJerkDeceleration", params_default.getFloat("TrafficJerkDeceleration")); - params.putFloat("TrafficJerkDanger", params_default.getFloat("TrafficJerkDanger")); - params.putFloat("TrafficJerkSpeed", params_default.getFloat("TrafficJerkSpeed")); - params.putFloat("TrafficJerkSpeedDecrease", params_default.getFloat("TrafficJerkSpeedDecrease")); - trafficFollowToggle->refresh(); - trafficAccelerationToggle->refresh(); - trafficDecelerationToggle->refresh(); - trafficDangerToggle->refresh(); - trafficSpeedToggle->refresh(); - trafficSpeedDecreaseToggle->refresh(); - } - }); - - FrogPilotParamValueControl *aggressiveFollowToggle = static_cast(toggles["AggressiveFollow"]); - FrogPilotParamValueControl *aggressiveAccelerationToggle = static_cast(toggles["AggressiveJerkAcceleration"]); - FrogPilotParamValueControl *aggressiveDecelerationToggle = static_cast(toggles["AggressiveJerkDeceleration"]); - FrogPilotParamValueControl *aggressiveDangerToggle = static_cast(toggles["AggressiveJerkDanger"]); - FrogPilotParamValueControl *aggressiveSpeedToggle = static_cast(toggles["AggressiveJerkSpeed"]); - FrogPilotParamValueControl *aggressiveSpeedDecreaseToggle = static_cast(toggles["AggressiveJerkSpeedDecrease"]); - FrogPilotButtonsControl *aggressiveResetButton = static_cast(toggles["ResetAggressivePersonality"]); - QObject::connect(aggressiveResetButton, &FrogPilotButtonsControl::buttonClicked, this, [=]() { - if (FrogPilotConfirmationDialog::yesorno(tr("Are you sure you want to completely reset your settings for the 'Aggressive' personality?"), this)) { - params.putFloat("AggressiveFollow", params_default.getFloat("AggressiveFollow")); - params.putFloat("AggressiveJerkAcceleration", params_default.getFloat("AggressiveJerkAcceleration")); - params.putFloat("AggressiveJerkDeceleration", params_default.getFloat("AggressiveJerkDeceleration")); - params.putFloat("AggressiveJerkDanger", params_default.getFloat("AggressiveJerkDanger")); - params.putFloat("AggressiveJerkSpeed", params_default.getFloat("AggressiveJerkSpeed")); - params.putFloat("AggressiveJerkSpeedDecrease", params_default.getFloat("AggressiveJerkSpeedDecrease")); - aggressiveFollowToggle->refresh(); - aggressiveAccelerationToggle->refresh(); - aggressiveDecelerationToggle->refresh(); - aggressiveDangerToggle->refresh(); - aggressiveSpeedToggle->refresh(); - aggressiveSpeedDecreaseToggle->refresh(); - } - }); - - FrogPilotParamValueControl *standardFollowToggle = static_cast(toggles["StandardFollow"]); - FrogPilotParamValueControl *standardAccelerationToggle = static_cast(toggles["StandardJerkAcceleration"]); - FrogPilotParamValueControl *standardDecelerationToggle = static_cast(toggles["StandardJerkDeceleration"]); - FrogPilotParamValueControl *standardDangerToggle = static_cast(toggles["StandardJerkDanger"]); - FrogPilotParamValueControl *standardSpeedToggle = static_cast(toggles["StandardJerkSpeed"]); - FrogPilotParamValueControl *standardSpeedDecreaseToggle = static_cast(toggles["StandardJerkSpeedDecrease"]); - FrogPilotButtonsControl *standardResetButton = static_cast(toggles["ResetStandardPersonality"]); - QObject::connect(standardResetButton, &FrogPilotButtonsControl::buttonClicked, this, [=]() { - if (FrogPilotConfirmationDialog::yesorno(tr("Are you sure you want to completely reset your settings for the 'Standard' personality?"), this)) { - params.putFloat("StandardFollow", params_default.getFloat("StandardFollow")); - params.putFloat("StandardJerkAcceleration", params_default.getFloat("StandardJerkAcceleration")); - params.putFloat("StandardJerkDeceleration", params_default.getFloat("StandardJerkDeceleration")); - params.putFloat("StandardJerkDanger", params_default.getFloat("StandardJerkDanger")); - params.putFloat("StandardJerkSpeed", params_default.getFloat("StandardJerkSpeed")); - params.putFloat("StandardJerkSpeedDecrease", params_default.getFloat("StandardJerkSpeedDecrease")); - standardFollowToggle->refresh(); - standardAccelerationToggle->refresh(); - standardDecelerationToggle->refresh(); - standardDangerToggle->refresh(); - standardSpeedToggle->refresh(); - standardSpeedDecreaseToggle->refresh(); - } - }); - - FrogPilotParamValueControl *relaxedFollowToggle = static_cast(toggles["RelaxedFollow"]); - FrogPilotParamValueControl *relaxedAccelerationToggle = static_cast(toggles["RelaxedJerkAcceleration"]); - FrogPilotParamValueControl *relaxedDecelerationToggle = static_cast(toggles["RelaxedJerkDeceleration"]); - FrogPilotParamValueControl *relaxedDangerToggle = static_cast(toggles["RelaxedJerkDanger"]); - FrogPilotParamValueControl *relaxedSpeedToggle = static_cast(toggles["RelaxedJerkSpeed"]); - FrogPilotParamValueControl *relaxedSpeedDecreaseToggle = static_cast(toggles["RelaxedJerkSpeedDecrease"]); - FrogPilotButtonsControl *relaxedResetButton = static_cast(toggles["ResetRelaxedPersonality"]); - QObject::connect(relaxedResetButton, &FrogPilotButtonsControl::buttonClicked, this, [=]() { - if (FrogPilotConfirmationDialog::yesorno(tr("Are you sure you want to completely reset your settings for the 'Relaxed' personality?"), this)) { - params.putFloat("RelaxedFollow", params_default.getFloat("RelaxedFollow")); - params.putFloat("RelaxedJerkAcceleration", params_default.getFloat("RelaxedJerkAcceleration")); - params.putFloat("RelaxedJerkDeceleration", params_default.getFloat("RelaxedJerkDeceleration")); - params.putFloat("RelaxedJerkDanger", params_default.getFloat("RelaxedJerkDanger")); - params.putFloat("RelaxedJerkSpeed", params_default.getFloat("RelaxedJerkSpeed")); - params.putFloat("RelaxedJerkSpeedDecrease", params_default.getFloat("RelaxedJerkSpeedDecrease")); - relaxedFollowToggle->refresh(); - relaxedAccelerationToggle->refresh(); - relaxedDecelerationToggle->refresh(); - relaxedDangerToggle->refresh(); - relaxedSpeedToggle->refresh(); - relaxedSpeedDecreaseToggle->refresh(); - } - }); - - QObject::connect(parent, &FrogPilotSettingsWindow::closeParentToggle, this, &FrogPilotLongitudinalPanel::hideToggles); - QObject::connect(parent, &FrogPilotSettingsWindow::closeSubParentToggle, this, &FrogPilotLongitudinalPanel::hideSubToggles); - QObject::connect(parent, &FrogPilotSettingsWindow::updateMetric, this, &FrogPilotLongitudinalPanel::updateMetric); - - updateMetric(); -} - -void FrogPilotLongitudinalPanel::showEvent(QShowEvent *event) { - frogpilotToggleLevels = parent->frogpilotToggleLevels; - hasDashSpeedLimits = parent->hasDashSpeedLimits; - hasPCMCruise = parent->hasPCMCruise; - isGM = parent->isGM; - isHKGCanFd = parent->isHKGCanFd; - isSubaru = parent->isSubaru; - isToyota = parent->isToyota; - tuningLevel = parent->tuningLevel; - - hideToggles(); -} - -void FrogPilotLongitudinalPanel::updateMetric() { - bool previousIsMetric = isMetric; - isMetric = params.getBool("IsMetric"); - - if (isMetric != previousIsMetric) { - double distanceConversion = isMetric ? FOOT_TO_METER : METER_TO_FOOT; - double speedConversion = isMetric ? MILE_TO_KM : KM_TO_MILE; - - params.putFloatNonBlocking("IncreasedStoppedDistance", params.getFloat("IncreasedStoppedDistance") * distanceConversion); - - params.putFloatNonBlocking("CESignalSpeed", params.getFloat("CESignalSpeed") * speedConversion); - params.putFloatNonBlocking("CESpeed", params.getFloat("CESpeed") * speedConversion); - params.putFloatNonBlocking("CESpeedLead", params.getFloat("CESpeedLead") * speedConversion); - params.putFloatNonBlocking("CustomCruise", params.getFloat("CustomCruise") * speedConversion); - params.putFloatNonBlocking("CustomCruiseLong", params.getFloat("CustomCruiseLong") * speedConversion); - params.putFloatNonBlocking("Offset1", params.getFloat("Offset1") * speedConversion); - params.putFloatNonBlocking("Offset2", params.getFloat("Offset2") * speedConversion); - params.putFloatNonBlocking("Offset3", params.getFloat("Offset3") * speedConversion); - params.putFloatNonBlocking("Offset4", params.getFloat("Offset4") * speedConversion); - params.putFloatNonBlocking("SetSpeedOffset", params.getFloat("SetSpeedOffset") * speedConversion); - } - - FrogPilotDualParamControl *ceSpeedToggle = reinterpret_cast(toggles["CESpeed"]); - FrogPilotParamValueButtonControl *ceSignal = static_cast(toggles["CESignalSpeed"]); - FrogPilotParamValueControl *customCruiseToggle = static_cast(toggles["CustomCruise"]); - FrogPilotParamValueControl *customCruiseLongToggle = static_cast(toggles["CustomCruiseLong"]); - FrogPilotParamValueControl *offset1Toggle = static_cast(toggles["Offset1"]); - FrogPilotParamValueControl *offset2Toggle = static_cast(toggles["Offset2"]); - FrogPilotParamValueControl *offset3Toggle = static_cast(toggles["Offset3"]); - FrogPilotParamValueControl *offset4Toggle = static_cast(toggles["Offset4"]); - FrogPilotParamValueControl *increasedStoppedDistanceToggle = static_cast(toggles["IncreasedStoppedDistance"]); - FrogPilotParamValueControl *setSpeedOffsetToggle = static_cast(toggles["SetSpeedOffset"]); - - if (isMetric) { - offset1Toggle->setTitle(tr("Speed Limit Offset (0-34 kph)")); - offset2Toggle->setTitle(tr("Speed Limit Offset (35-54 kph)")); - offset3Toggle->setTitle(tr("Speed Limit Offset (55-64 kph)")); - offset4Toggle->setTitle(tr("Speed Limit Offset (65-99 kph)")); - - offset1Toggle->setDescription(tr("Sets the speed limit offset for speeds between 0-34 kph.")); - offset2Toggle->setDescription(tr("Sets the speed limit offset for speeds between 35-54 kph.")); - offset3Toggle->setDescription(tr("Sets the speed limit offset for speeds between 55-64 kph.")); - offset4Toggle->setDescription(tr("Sets the speed limit offset for speeds between 65-99 kph.")); - - ceSignal->updateControl(0, 150, tr("kph")); - ceSpeedToggle->updateControl(0, 150, tr("kph")); - customCruiseToggle->updateControl(1, 150, tr("kph")); - customCruiseLongToggle->updateControl(1, 150, tr("kph")); - offset1Toggle->updateControl(-99, 99, tr("kph")); - offset2Toggle->updateControl(-99, 99, tr("kph")); - offset3Toggle->updateControl(-99, 99, tr("kph")); - offset4Toggle->updateControl(-99, 99, tr("kph")); - setSpeedOffsetToggle->updateControl(0, 150, tr("kph")); - - increasedStoppedDistanceToggle->updateControl(0, 3, tr(" meters")); - } else { - offset1Toggle->setTitle(tr("Speed Limit Offset (0-34 mph)")); - offset2Toggle->setTitle(tr("Speed Limit Offset (35-54 mph)")); - offset3Toggle->setTitle(tr("Speed Limit Offset (55-64 mph)")); - offset4Toggle->setTitle(tr("Speed Limit Offset (65-99 mph)")); - - offset1Toggle->setDescription(tr("Sets the speed limit offset for speeds between 0-34 mph.")); - offset2Toggle->setDescription(tr("Sets the speed limit offset for speeds between 35-54 mph.")); - offset3Toggle->setDescription(tr("Sets the speed limit offset for speeds between 55-64 mph.")); - offset4Toggle->setDescription(tr("Sets the speed limit offset for speeds between 65-99 mph.")); - - ceSignal->updateControl(0, 99, tr("mph")); - ceSpeedToggle->updateControl(0, 99, tr("mph")); - customCruiseToggle->updateControl(1, 99, tr("mph")); - customCruiseLongToggle->updateControl(1, 99, tr("mph")); - offset1Toggle->updateControl(-99, 99, tr("mph")); - offset2Toggle->updateControl(-99, 99, tr("mph")); - offset3Toggle->updateControl(-99, 99, tr("mph")); - offset4Toggle->updateControl(-99, 99, tr("mph")); - setSpeedOffsetToggle->updateControl(0, 99, tr("mph")); - - increasedStoppedDistanceToggle->updateControl(0, 10, tr(" feet")); - } -} - -void FrogPilotLongitudinalPanel::showToggles(const std::set &keys) { - setUpdatesEnabled(false); - - for (auto &[key, toggle] : toggles) { - toggle->setVisible(keys.find(key) != keys.end() && tuningLevel >= frogpilotToggleLevels[key].toDouble()); - } - - static_cast(toggles["ConditionalExperimental"])->setVisibleButton(tuningLevel >= 1); - - setUpdatesEnabled(true); - update(); -} - -void FrogPilotLongitudinalPanel::hideToggles() { - setUpdatesEnabled(false); - - customPersonalityOpen = false; - slcOpen = false; - - for (auto &[key, toggle] : toggles) { - bool subToggles = aggressivePersonalityKeys.find(key) != aggressivePersonalityKeys.end() || - conditionalExperimentalKeys.find(key) != conditionalExperimentalKeys.end() || - curveSpeedKeys.find(key) != curveSpeedKeys.end() || - customDrivingPersonalityKeys.find(key) != customDrivingPersonalityKeys.end() || - experimentalModeActivationKeys.find(key) != experimentalModeActivationKeys.end() || - longitudinalTuneKeys.find(key) != longitudinalTuneKeys.end() || - qolKeys.find(key) != qolKeys.end() || - relaxedPersonalityKeys.find(key) != relaxedPersonalityKeys.end() || - speedLimitControllerKeys.find(key) != speedLimitControllerKeys.end() || - speedLimitControllerOffsetsKeys.find(key) != speedLimitControllerOffsetsKeys.end() || - speedLimitControllerQOLKeys.find(key) != speedLimitControllerQOLKeys.end() || - standardPersonalityKeys.find(key) != standardPersonalityKeys.end() || - trafficPersonalityKeys.find(key) != trafficPersonalityKeys.end(); - - toggle->setVisible(!subToggles && tuningLevel >= frogpilotToggleLevels[key].toDouble()); - } - - static_cast(toggles["ConditionalExperimental"])->setVisibleButton(tuningLevel >= 1); - - setUpdatesEnabled(true); - update(); -} - -void FrogPilotLongitudinalPanel::hideSubToggles() { - if (customPersonalityOpen) { - customPersonalityOpen = false; - showToggles(customDrivingPersonalityKeys); - } else if (slcOpen) { - showToggles(speedLimitControllerKeys); - } -} diff --git a/selfdrive/frogpilot/ui/qt/offroad/longitudinal_settings.h b/selfdrive/frogpilot/ui/qt/offroad/longitudinal_settings.h deleted file mode 100644 index dc4955a881de69..00000000000000 --- a/selfdrive/frogpilot/ui/qt/offroad/longitudinal_settings.h +++ /dev/null @@ -1,60 +0,0 @@ -#pragma once - -#include - -#include "selfdrive/frogpilot/ui/qt/offroad/frogpilot_settings.h" - -class FrogPilotLongitudinalPanel : public FrogPilotListWidget { - Q_OBJECT - -public: - explicit FrogPilotLongitudinalPanel(FrogPilotSettingsWindow *parent); - -signals: - void openParentToggle(); - void openSubParentToggle(); - -private: - void hideSubToggles(); - void hideToggles(); - void showEvent(QShowEvent *event) override; - void showToggles(const std::set &keys); - void updateMetric(); - - FrogPilotSettingsWindow *parent; - - FrogPilotButtonsControl *curveDetectionBtn; - - QJsonObject frogpilotToggleLevels; - - Params params; - Params params_default{"/data/params_default"}; - - bool customPersonalityOpen; - bool hasPCMCruise; - bool hasDashSpeedLimits; - bool isGM; - bool isHKGCanFd; - bool isMetric = params.getBool("IsMetric"); - bool isSubaru; - bool isToyota; - bool slcOpen; - - int tuningLevel; - - std::map toggles; - - std::set aggressivePersonalityKeys = {"AggressiveFollow", "AggressiveJerkAcceleration", "AggressiveJerkDeceleration", "AggressiveJerkDanger", "AggressiveJerkSpeed", "AggressiveJerkSpeedDecrease", "ResetAggressivePersonality"}; - std::set conditionalExperimentalKeys = {"CESpeed", "CESpeedLead", "CECurves", "CELead", "CEModelStopTime", "CENavigation", "CESignalSpeed", "HideCEMStatusBar"}; - std::set curveSpeedKeys = {"CurveDetectionMethod", "CurveSensitivity", "HideCSCUI", "MTSCCurvatureCheck", "TurnAggressiveness"}; - std::set customDrivingPersonalityKeys = {"AggressivePersonalityProfile", "RelaxedPersonalityProfile", "StandardPersonalityProfile", "TrafficPersonalityProfile"}; - std::set experimentalModeActivationKeys = {"ExperimentalModeViaDistance", "ExperimentalModeViaLKAS", "ExperimentalModeViaTap"}; - std::set longitudinalTuneKeys = {"AccelerationProfile", "DecelerationProfile", "HumanAcceleration", "HumanFollowing", "LeadDetectionThreshold", "MaxDesiredAcceleration", "TacoTune"}; - std::set qolKeys = {"CustomCruise", "CustomCruiseLong", "ForceStandstill", "ForceStops", "IncreasedStoppedDistance", "MapGears", "ReverseCruise", "SetSpeedOffset"}; - std::set relaxedPersonalityKeys = {"RelaxedFollow", "RelaxedJerkAcceleration", "RelaxedJerkDeceleration", "RelaxedJerkDanger", "RelaxedJerkSpeed", "RelaxedJerkSpeedDecrease", "ResetRelaxedPersonality"}; - std::set speedLimitControllerKeys = {"SLCConfirmation", "SLCOffsets", "SLCFallback", "SLCOverride", "SLCPriority", "SLCQOL", "SpeedLimitSources"}; - std::set speedLimitControllerOffsetsKeys = {"Offset1", "Offset2", "Offset3", "Offset4"}; - std::set speedLimitControllerQOLKeys = {"ForceMPHDashboard", "SetSpeedLimit", "SLCLookaheadHigher", "SLCLookaheadLower"}; - std::set standardPersonalityKeys = {"StandardFollow", "StandardJerkAcceleration", "StandardJerkDeceleration", "StandardJerkDanger", "StandardJerkSpeed", "StandardJerkSpeedDecrease", "ResetStandardPersonality"}; - std::set trafficPersonalityKeys = {"TrafficFollow", "TrafficJerkAcceleration", "TrafficJerkDeceleration", "TrafficJerkDanger", "TrafficJerkSpeed", "TrafficJerkSpeedDecrease", "ResetTrafficPersonality"}; -}; diff --git a/selfdrive/frogpilot/ui/qt/offroad/model_settings.cc b/selfdrive/frogpilot/ui/qt/offroad/model_settings.cc deleted file mode 100644 index 0579331250194b..00000000000000 --- a/selfdrive/frogpilot/ui/qt/offroad/model_settings.cc +++ /dev/null @@ -1,403 +0,0 @@ -#include "selfdrive/frogpilot/ui/qt/offroad/model_settings.h" - -FrogPilotModelPanel::FrogPilotModelPanel(FrogPilotSettingsWindow *parent) : FrogPilotListWidget(parent), parent(parent) { - const std::vector> modelToggles { - {"AutomaticallyUpdateModels", tr("Automatically Update and Download Models"), tr("Automatically downloads new models and updates existing ones if needed."), ""}, - - {"ModelRandomizer", tr("Model Randomizer"), tr("Randomly selects a model each drive and brings up a model review prompt at the end to help find your preferred model."), ""}, - {"ManageBlacklistedModels", tr("Manage Model Blacklist"), tr("Manage the blacklisted models that aren't being used with 'Model Randomizer'."), ""}, - {"ResetScores", tr("Reset Model Scores"), tr("Clear the ratings you've given to the driving models."), ""}, - {"ReviewScores", tr("Review Model Scores"), tr("View the ratings you've assigned to the driving models."), ""}, - - {"DeleteModel", tr("Delete Model"), tr("Delete driving models from your device."), ""}, - {"DownloadModel", tr("Download Model"), tr("Download new driving models."), ""}, - {"SelectModel", tr("Select Model"), tr("Select your preferred driving model."), ""}, - }; - - for (const auto &[param, title, desc, icon] : modelToggles) { - AbstractControl *modelToggle; - - if (param == "ModelRandomizer") { - FrogPilotParamManageControl *modelRandomizerToggle = new FrogPilotParamManageControl(param, title, desc, icon); - QObject::connect(modelRandomizerToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() { - modelRandomizerOpen = true; - showToggles(modelRandomizerKeys); - updateModelLabels(); - }); - modelToggle = modelRandomizerToggle; - } else if (param == "ManageBlacklistedModels") { - FrogPilotButtonsControl *blacklistBtn = new FrogPilotButtonsControl(title, desc, {tr("ADD"), tr("REMOVE"), tr("REMOVE ALL")}); - QObject::connect(blacklistBtn, &FrogPilotButtonsControl::buttonClicked, [this](int id) { - QStringList blacklistedModels = QString::fromStdString(params.get("BlacklistedModels")).split(","); - blacklistedModels.removeAll(""); - - if (id == 0) { - QStringList blacklistableModels; - for (const QString &model : modelFileToNameMapProcessed.keys()) { - if (!blacklistedModels.contains(model)) { - blacklistableModels.append(modelFileToNameMapProcessed.value(model)); - } - } - - if (blacklistableModels.size() <= 1) { - FrogPilotConfirmationDialog::toggleAlert(tr("There are no more models to blacklist! The only available model is \"%1\"!").arg(blacklistableModels.first()), tr("OK"), this); - } else { - QString modelToBlacklist = MultiOptionDialog::getSelection(tr("Select a model to add to the blacklist"), blacklistableModels, "", this); - if (!modelToBlacklist.isEmpty()) { - if (ConfirmationDialog::confirm(tr("Are you sure you want to add the '%1' model to the blacklist?").arg(modelToBlacklist), tr("Add"), this)) { - blacklistedModels.append(modelFileToNameMapProcessed.key(modelToBlacklist)); - params.put("BlacklistedModels", blacklistedModels.join(",").toStdString()); - } - } - } - } else if (id == 1) { - QStringList whitelistableModels; - for (const QString &model : blacklistedModels) { - QString modelName = modelFileToNameMapProcessed.value(model); - if (!modelName.isEmpty()) { - whitelistableModels.append(modelName); - } - } - whitelistableModels.sort(); - - QString modelToWhitelist = MultiOptionDialog::getSelection(tr("Select a model to remove from the blacklist"), whitelistableModels, "", this); - if (!modelToWhitelist.isEmpty()) { - if (ConfirmationDialog::confirm(tr("Are you sure you want to remove the '%1' model from the blacklist?").arg(modelToWhitelist), tr("Remove"), this)) { - blacklistedModels.removeAll(modelFileToNameMapProcessed.key(modelToWhitelist)); - params.put("BlacklistedModels", blacklistedModels.join(",").toStdString()); - } - } - } else if (id == 2) { - if (FrogPilotConfirmationDialog::yesorno(tr("Are you sure you want to remove all of your blacklisted models?"), this)) { - params.remove("BlacklistedModels"); - params_storage.remove("BlacklistedModels"); - } - } - }); - modelToggle = blacklistBtn; - } else if (param == "ResetScores") { - ButtonControl *resetScoresBtn = new ButtonControl(title, tr("RESET"), desc); - QObject::connect(resetScoresBtn, &ButtonControl::clicked, [this]() { - if (FrogPilotConfirmationDialog::yesorno(tr("Are you sure you want to reset all of your model drives and scores?"), this)) { - params.remove("ModelDrivesAndScores"); - params_storage.remove("ModelDrivesAndScores"); - updateModelLabels(); - } - }); - modelToggle = resetScoresBtn; - } else if (param == "ReviewScores") { - ButtonControl *reviewScoresBtn = new ButtonControl(title, tr("REVIEW"), desc); - QObject::connect(reviewScoresBtn, &ButtonControl::clicked, [this]() { - openSubParentToggle(); - - for (LabelControl *labels : labelControls) { - labels->setVisible(true); - } - - for (auto &[key, toggle] : toggles) { - toggle->setVisible(false); - } - }); - modelToggle = reviewScoresBtn; - - } else if (param == "DeleteModel") { - deleteModelBtn = new FrogPilotButtonsControl(title, desc, {tr("DELETE"), tr("DELETE ALL")}); - QObject::connect(deleteModelBtn, &FrogPilotButtonsControl::buttonClicked, [this](int id) { - QStringList deletableModels; - for (const QString &file : modelDir.entryList(QDir::Files)) { - QString modelName = modelFileToNameMapProcessed.value(QFileInfo(file).baseName()); - if (!modelName.isEmpty()) { - deletableModels.append(modelName); - } - } - deletableModels.removeAll(processModelName(QString::fromStdString(params.get("ModelName")))); - deletableModels.removeAll(processModelName(QString::fromStdString(params_default.get("ModelName")))); - - if (id == 0) { - QString modelToDelete = MultiOptionDialog::getSelection(tr("Select a driving model to delete"), deletableModels, "", this); - if (!modelToDelete.isEmpty() && ConfirmationDialog::confirm(tr("Are you sure you want to delete the '%1' model?").arg(modelToDelete), tr("Delete"), this)) { - QString modelFile = modelFileToNameMapProcessed.key(modelToDelete); - for (const QString &file : modelDir.entryList(QDir::Files)) { - if (QFileInfo(file).baseName() == modelFile) { - QFile::remove(modelDir.filePath(file)); - break; - } - } - allModelsDownloaded = false; - } - } else if (id == 1) { - if (ConfirmationDialog::confirm(tr("Are you sure you want to delete all of your downloaded driving models?"), tr("Delete"), this)) { - for (const QString &file : modelDir.entryList(QDir::Files)) { - QString modelName = modelFileToNameMapProcessed.value(QFileInfo(file).baseName()); - if (deletableModels.contains(modelName)) { - QFile::remove(modelDir.filePath(file)); - } - } - allModelsDownloaded = false; - noModelsDownloaded = true; - } - } - }); - modelToggle = deleteModelBtn; - } else if (param == "DownloadModel") { - downloadModelBtn = new FrogPilotButtonsControl(title, desc, {tr("DOWNLOAD"), tr("DOWNLOAD ALL")}); - QObject::connect(downloadModelBtn, &FrogPilotButtonsControl::buttonClicked, [this](int id) { - if (id == 0) { - if (modelDownloading) { - cancellingDownload = true; - - params_memory.putBool("CancelModelDownload", true); - } else { - QStringList downloadableModels = availableModelNames; - for (const QString &file : modelDir.entryList(QDir::Files)) { - downloadableModels.removeAll(modelFileToNameMap.value(QFileInfo(file).baseName())); - } - - QString modelToDownload = MultiOptionDialog::getSelection(tr("Select a driving model to download"), downloadableModels, "", this); - if (!modelToDownload.isEmpty()) { - modelDownloading = true; - - params_memory.put("ModelToDownload", modelFileToNameMap.key(modelToDownload).toStdString()); - params_memory.put("ModelDownloadProgress", "Downloading..."); - - downloadModelBtn->setValue("Downloading..."); - } - } - } else if (id == 1) { - if (allModelsDownloading) { - cancellingDownload = true; - - params_memory.putBool("CancelModelDownload", true); - } else { - allModelsDownloading = true; - - params_memory.putBool("DownloadAllModels", true); - params_memory.put("ModelDownloadProgress", "Downloading..."); - - downloadModelBtn->setValue("Downloading..."); - } - } - }); - modelToggle = downloadModelBtn; - } else if (param == "SelectModel") { - selectModelBtn = new ButtonControl(title, tr("SELECT"), desc); - QObject::connect(selectModelBtn, &ButtonControl::clicked, [this]() { - QStringList selectableModels; - for (const QString &file : modelDir.entryList(QDir::Files)) { - QString modelName = modelFileToNameMap.value(QFileInfo(file).baseName()); - if (!modelName.isEmpty() && !modelName.contains("(Default)")) { - selectableModels.append(modelName); - } - } - selectableModels.prepend(QString::fromStdString(params_default.get("ModelName"))); - - QString modelToSelect = MultiOptionDialog::getSelection(tr("Select a model - 🗺️ = Navigation | 📡 = Radar | 👀 = VOACC"), selectableModels, QString::fromStdString(params.get("ModelName")), this); - if (!modelToSelect.isEmpty()) { - params.put("Model", modelFileToNameMap.key(modelToSelect).toStdString()); - params.put("ModelName", modelToSelect.toStdString()); - - if (started) { - if (FrogPilotConfirmationDialog::toggle(tr("Reboot required to take effect."), tr("Reboot Now"), this)) { - Hardware::reboot(); - } - } - selectModelBtn->setValue(modelToSelect); - } - }); - selectModelBtn->setValue(QString::fromStdString(params.get("ModelName"))); - modelToggle = selectModelBtn; - - } else { - modelToggle = new ParamControl(param, title, desc, icon); - } - - addItem(modelToggle); - toggles[param] = modelToggle; - - if (FrogPilotParamManageControl *frogPilotManageToggle = qobject_cast(modelToggle)) { - QObject::connect(frogPilotManageToggle, &FrogPilotParamManageControl::manageButtonClicked, this, &FrogPilotModelPanel::openParentToggle); - } - - QObject::connect(modelToggle, &AbstractControl::showDescriptionEvent, [this]() { - update(); - }); - } - - QObject::connect(static_cast(toggles["ModelRandomizer"]), &ToggleControl::toggleFlipped, [this](bool state) { - if (state && !allModelsDownloaded) { - if (FrogPilotConfirmationDialog::yesorno(tr("The 'Model Randomizer' only works with downloaded models. Do you want to download all the driving models?"), this)) { - allModelsDownloading = true; - - params_memory.putBool("DownloadAllModels", true); - params_memory.put("ModelDownloadProgress", "Downloading..."); - - downloadModelBtn->setValue("Downloading..."); - } - } - }); - - QObject::connect(parent, &FrogPilotSettingsWindow::closeParentToggle, this, &FrogPilotModelPanel::hideToggles); - QObject::connect(parent, &FrogPilotSettingsWindow::closeSubParentToggle, this, &FrogPilotModelPanel::hideSubToggles); - QObject::connect(uiState(), &UIState::uiUpdate, this, &FrogPilotModelPanel::updateState); -} - -void FrogPilotModelPanel::showEvent(QShowEvent *event) { - frogpilotToggleLevels = parent->frogpilotToggleLevels; - tuningLevel = parent->tuningLevel; - - availableModels = QString::fromStdString(params.get("AvailableModels")).split(","); - availableModels.sort(); - availableModelNames = QString::fromStdString(params.get("AvailableModelNames")).split(","); - availableModelNames.sort(); - - int size = qMin(availableModels.size(), availableModelNames.size()); - for (int i = 0; i < size; ++i) { - modelFileToNameMap.insert(availableModels[i], availableModelNames[i]); - modelFileToNameMapProcessed.insert(availableModels[i], processModelName(availableModelNames[i])); - } - - QStringList downloadableModels = availableModelNames; - for (const QString &file : modelDir.entryList(QDir::Files)) { - downloadableModels.removeAll(modelFileToNameMap.value(QFileInfo(file).baseName())); - } - allModelsDownloaded = downloadableModels.isEmpty(); - - QStringList deletableModels; - for (const QString &file : modelDir.entryList(QDir::Files)) { - QString modelName = modelFileToNameMapProcessed.value(QFileInfo(file).baseName()); - if (!modelName.isEmpty()) { - deletableModels.append(modelName); - } - } - deletableModels.removeAll(processModelName(QString::fromStdString(params.get("ModelName")))); - deletableModels.removeAll(processModelName(QString::fromStdString(params_default.get("ModelName")))); - noModelsDownloaded = deletableModels.isEmpty(); - - hideToggles(); -} - -void FrogPilotModelPanel::updateState(const UIState &s) { - if (!isVisible() || finalizingDownload) return; - - if (allModelsDownloading || modelDownloading) { - QString progress = QString::fromStdString(params_memory.get("ModelDownloadProgress")); - bool downloadFailed = progress.contains(QRegularExpression("cancelled|exists|failed|offline", QRegularExpression::CaseInsensitiveOption)); - - if (progress != "Downloading...") { - downloadModelBtn->setValue(progress); - } - - if (progress == "All models downloaded!" && allModelsDownloading || progress == "Downloaded!" && modelDownloading || downloadFailed) { - finalizingDownload = true; - - QTimer::singleShot(2500, [this, progress]() { - allModelsDownloaded = progress == "All models downloaded!"; - allModelsDownloading = false; - cancellingDownload = false; - finalizingDownload = false; - modelDownloading = false; - noModelsDownloaded = false; - - params_memory.remove("CancelModelDownload"); - params_memory.remove("DownloadAllModels"); - params_memory.remove("ModelDownloadProgress"); - params_memory.remove("ModelToDownload"); - - downloadModelBtn->setEnabled(true); - downloadModelBtn->setValue(""); - }); - } - } - - bool parked = !started || s.scene.parked || s.scene.frogs_go_moo; - - deleteModelBtn->setEnabled(!(allModelsDownloading || modelDownloading || noModelsDownloaded)); - - downloadModelBtn->setText(0, modelDownloading ? tr("CANCEL") : tr("DOWNLOAD")); - downloadModelBtn->setText(1, allModelsDownloading ? tr("CANCEL") : tr("DOWNLOAD ALL")); - - downloadModelBtn->setEnabledButtons(0, !allModelsDownloaded && !allModelsDownloading && !cancellingDownload && s.scene.online && parked); - downloadModelBtn->setEnabledButtons(1, !allModelsDownloaded && !modelDownloading && !cancellingDownload && s.scene.online && parked); - - downloadModelBtn->setVisibleButton(0, !allModelsDownloading); - downloadModelBtn->setVisibleButton(1, !modelDownloading); - - started = s.scene.started; -} - -void FrogPilotModelPanel::updateModelLabels() { - QString modelDrivesAndScoresJson = QString::fromStdString(params.get("ModelDrivesAndScores")); - QJsonDocument jsonDoc = QJsonDocument::fromJson(modelDrivesAndScoresJson.toUtf8()); - QJsonObject modelDrivesAndScores = jsonDoc.object(); - - qDeleteAll(labelControls); - labelControls.clear(); - - for (const QString &modelName : availableModelNames) { - QJsonObject modelData = modelDrivesAndScores.value(processModelName(modelName)).toObject(); - - int drives = modelData.value("Drives").toInt(0); - int score = modelData.value("Score").toInt(0); - - QString drivesDisplay = drives == 1 ? QString("%1 Drive") : drives > 0 ? QString("%1 Drives").arg(drives) : "N/A"; - QString scoreDisplay = score > 0 ? QString("Score: %1%").arg(score) : "N/A"; - - QString labelTitle = QStringLiteral("%1").arg(processModelName(modelName)); - QString labelText = QStringLiteral("%1 (%2)").arg(scoreDisplay, drivesDisplay); - - LabelControl *labelControl = new LabelControl(labelTitle, labelText, "", this); - labelControls.append(labelControl); - addItem(labelControl); - } - - for (LabelControl *labels : labelControls) { - labels->setVisible(false); - } -} - -void FrogPilotModelPanel::showToggles(const std::set &keys) { - setUpdatesEnabled(false); - - for (auto &[key, toggle] : toggles) { - toggle->setVisible(keys.find(key) != keys.end() && tuningLevel >= frogpilotToggleLevels[key].toDouble()); - } - - setUpdatesEnabled(true); - update(); -} - -void FrogPilotModelPanel::hideToggles() { - setUpdatesEnabled(false); - - modelRandomizerOpen = false; - - for (auto &[key, toggle] : toggles) { - bool subToggles = modelRandomizerKeys.find(key) != modelRandomizerKeys.end(); - - toggle->setVisible(!subToggles && tuningLevel >= frogpilotToggleLevels[key].toDouble()); - } - - for (LabelControl *labels : labelControls) { - labels->setVisible(false); - } - - setUpdatesEnabled(true); - update(); -} - -void FrogPilotModelPanel::hideSubToggles() { - setUpdatesEnabled(false); - - if (modelRandomizerOpen) { - for (auto &[key, toggle] : toggles) { - toggle->setVisible(modelRandomizerKeys.find(key) != modelRandomizerKeys.end()); - } - - for (LabelControl *labels : labelControls) { - labels->setVisible(false); - } - } - - setUpdatesEnabled(true); - update(); -} diff --git a/selfdrive/frogpilot/ui/qt/offroad/model_settings.h b/selfdrive/frogpilot/ui/qt/offroad/model_settings.h deleted file mode 100644 index fadda7317c1cee..00000000000000 --- a/selfdrive/frogpilot/ui/qt/offroad/model_settings.h +++ /dev/null @@ -1,65 +0,0 @@ -#pragma once - -#include - -#include "selfdrive/frogpilot/ui/qt/offroad/frogpilot_settings.h" - -class FrogPilotModelPanel : public FrogPilotListWidget { - Q_OBJECT - -public: - explicit FrogPilotModelPanel(FrogPilotSettingsWindow *parent); - -signals: - void openParentToggle(); - void openSubParentToggle(); - -protected: - void showEvent(QShowEvent *event) override; - -private: - void hideSubToggles(); - void hideToggles(); - void showToggles(const std::set &keys); - void updateModelLabels(); - void updateState(const UIState &s); - - ButtonControl *selectModelBtn; - - FrogPilotButtonsControl *deleteModelBtn; - FrogPilotButtonsControl *downloadModelBtn; - - FrogPilotSettingsWindow *parent; - - Params params; - Params params_default{"/data/params_default"}; - Params params_memory{"/dev/shm/params"}; - Params params_storage{"/persist/params"}; - - QDir modelDir{"/data/models/"}; - - QJsonObject frogpilotToggleLevels; - - QList labelControls; - - QMap modelFileToNameMap; - QMap modelFileToNameMapProcessed; - - QStringList availableModels; - QStringList availableModelNames; - - bool allModelsDownloaded; - bool allModelsDownloading; - bool cancellingDownload; - bool finalizingDownload; - bool modelDownloading; - bool modelRandomizerOpen; - bool noModelsDownloaded; - bool started; - - int tuningLevel; - - std::map toggles; - - std::set modelRandomizerKeys = {"ManageBlacklistedModels", "ResetScores", "ReviewScores"}; -}; diff --git a/selfdrive/frogpilot/ui/qt/offroad/sounds_settings.cc b/selfdrive/frogpilot/ui/qt/offroad/sounds_settings.cc deleted file mode 100644 index 55c0674029b7a7..00000000000000 --- a/selfdrive/frogpilot/ui/qt/offroad/sounds_settings.cc +++ /dev/null @@ -1,159 +0,0 @@ -#include - -#include "selfdrive/frogpilot/ui/qt/offroad/sounds_settings.h" - -void playSound(const std::string &alert, int volume) { - Params params_memory{"/dev/shm/params"}; - - std::string stockPath = "/data/openpilot/selfdrive/assets/sounds/" + alert + ".wav"; - std::string themePath = "/data/openpilot/selfdrive/frogpilot/assets/active_theme/sounds/" + alert + ".wav"; - - std::string filePath; - if (std::filesystem::exists(themePath)) { - filePath = themePath; - } else if (std::filesystem::exists(stockPath)) { - filePath = stockPath; - } else { - return; - } - - params_memory.putBool("TestingSound", true); - - std::system("pkill -f 'ffplay'"); - - volume = std::clamp(volume, 0, 100); - std::string command = "ffplay -nodisp -autoexit -volume " + std::to_string(volume) + " \"" + filePath + "\""; - std::system(command.c_str()); - - params_memory.putBool("TestingSound", false); -} - -FrogPilotSoundsPanel::FrogPilotSoundsPanel(FrogPilotSettingsWindow *parent) : FrogPilotListWidget(parent), parent(parent) { - const std::vector> soundsToggles { - {"AlertVolumeControl", tr("Alert Volume Controller"), tr("Control the volume level for each individual sound in openpilot."), "../frogpilot/assets/toggle_icons/icon_mute.png"}, - {"DisengageVolume", tr("Disengage Volume"), tr("Related alerts:\n\nAdaptive Cruise Disabled\nParking Brake Engaged\nBrake Pedal Pressed\nSpeed too Low"), ""}, - {"EngageVolume", tr("Engage Volume"), tr("Related alerts:\n\nNNFF Torque Controller loaded\nopenpilot engaged"), ""}, - {"PromptVolume", tr("Prompt Volume"), tr("Related alerts:\n\nCar Detected in Blindspot\nSpeed too Low\nSteer Unavailable Below 'X'\nTake Control, Turn Exceeds Steering Limit"), ""}, - {"PromptDistractedVolume", tr("Prompt Distracted Volume"), tr("Related alerts:\n\nPay Attention, Driver Distracted\nTouch Steering Wheel, Driver Unresponsive"), ""}, - {"RefuseVolume", tr("Refuse Volume"), tr("Related alerts:\n\nopenpilot Unavailable"), ""}, - {"WarningSoftVolume", tr("Warning Soft Volume"), tr("Related alerts:\n\nBRAKE!, Risk of Collision\nTAKE CONTROL IMMEDIATELY"), ""}, - {"WarningImmediateVolume", tr("Warning Immediate Volume"), tr("Related alerts:\n\nDISENGAGE IMMEDIATELY, Driver Distracted\nDISENGAGE IMMEDIATELY, Driver Unresponsive"), ""}, - - {"CustomAlerts", tr("Custom Alerts"), tr("Custom alerts for openpilot events."), "../frogpilot/assets/toggle_icons/icon_green_light.png"}, - {"GoatScream", tr("Goat Scream Steering Saturated Alert"), tr("Enables the famed 'Goat Scream' that has brought both joy and anger to FrogPilot users all around the world!"), ""}, - {"GreenLightAlert", tr("Green Light Alert"), tr("Plays an alert when a traffic light changes from red to green."), ""}, - {"LeadDepartingAlert", tr("Lead Departing Alert"), tr("Plays an alert when the lead vehicle starts starts to depart when at a standstill."), ""}, - {"LoudBlindspotAlert", tr("Loud Blindspot Alert"), tr("Plays a louder alert for when a vehicle is detected in the blindspot when attempting to change lanes."), ""}, - {"SpeedLimitChangedAlert", tr("Speed Limit Changed Alert"), tr("Plays an alert when the speed limit changes."), ""}, - }; - - for (const auto &[param, title, desc, icon] : soundsToggles) { - AbstractControl *soundsToggle; - - if (param == "AlertVolumeControl") { - FrogPilotParamManageControl *alertVolumeControlToggle = new FrogPilotParamManageControl(param, title, desc, icon); - QObject::connect(alertVolumeControlToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() { - showToggles(alertVolumeControlKeys); - }); - soundsToggle = alertVolumeControlToggle; - } else if (alertVolumeControlKeys.find(param) != alertVolumeControlKeys.end()) { - std::map volumeLabels; - for (int i = 0; i <= 101; ++i) { - volumeLabels[i] = i == 101 ? tr("Auto") : i == 0 ? tr("Muted") : QString::number(i) + "%"; - } - std::vector alertButton{"Test"}; - if (param == "WarningImmediateVolume") { - soundsToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, 25, 101, QString(), volumeLabels, 1, {}, alertButton, false, false); - } else { - soundsToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, 0, 101, QString(), volumeLabels, 1, {}, alertButton, false, false); - } - - } else if (param == "CustomAlerts") { - FrogPilotParamManageControl *customAlertsToggle = new FrogPilotParamManageControl(param, title, desc, icon); - QObject::connect(customAlertsToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() { - std::set modifiedCustomAlertsKeys = customAlertsKeys; - - if (!hasBSM) { - modifiedCustomAlertsKeys.erase("LoudBlindspotAlert"); - } - - if (!(params.getBool("ShowSpeedLimits") || hasOpenpilotLongitudinal && params.getBool("SpeedLimitController"))) { - modifiedCustomAlertsKeys.erase("SpeedLimitChangedAlert"); - } - - showToggles(modifiedCustomAlertsKeys); - }); - soundsToggle = customAlertsToggle; - - } else { - soundsToggle = new ParamControl(param, title, desc, icon); - } - - addItem(soundsToggle); - toggles[param] = soundsToggle; - - if (FrogPilotParamManageControl *frogPilotManageToggle = qobject_cast(soundsToggle)) { - QObject::connect(frogPilotManageToggle, &FrogPilotParamManageControl::manageButtonClicked, this, &FrogPilotSoundsPanel::openParentToggle); - } - - QObject::connect(soundsToggle, &AbstractControl::showDescriptionEvent, [this]() { - update(); - }); - } - - for (const QString &key : alertVolumeControlKeys) { - FrogPilotParamValueButtonControl *toggle = static_cast(toggles[key]); - QObject::connect(toggle, &FrogPilotParamValueButtonControl::buttonClicked, [=]() { - QString alertKey = key; - alertKey.remove("Volume"); - QString snakeCaseKey; - for (int i = 0; i < alertKey.size(); ++i) { - QChar c = alertKey[i]; - if (c.isUpper() && i > 0) { - snakeCaseKey += '_'; - } - snakeCaseKey += c.toLower(); - } - - std::thread([=]() { - playSound(snakeCaseKey.toStdString(), params.getInt(key.toStdString())); - }).detach(); - }); - } - - QObject::connect(parent, &FrogPilotSettingsWindow::closeParentToggle, this, &FrogPilotSoundsPanel::hideToggles); -} - -void FrogPilotSoundsPanel::showEvent(QShowEvent *event) { - frogpilotToggleLevels = parent->frogpilotToggleLevels; - hasBSM = parent->hasBSM; - hasOpenpilotLongitudinal = parent->hasOpenpilotLongitudinal; - tuningLevel = parent->tuningLevel; - - hideToggles(); -} - -void FrogPilotSoundsPanel::showToggles(const std::set &keys) { - setUpdatesEnabled(false); - - for (auto &[key, toggle] : toggles) { - toggle->setVisible(keys.find(key) != keys.end() && tuningLevel >= frogpilotToggleLevels[key].toDouble()); - } - - setUpdatesEnabled(true); - update(); -} - -void FrogPilotSoundsPanel::hideToggles() { - setUpdatesEnabled(false); - - for (auto &[key, toggle] : toggles) { - bool subToggles = alertVolumeControlKeys.find(key) != alertVolumeControlKeys.end() || - customAlertsKeys.find(key) != customAlertsKeys.end(); - - toggle->setVisible(!subToggles && tuningLevel >= frogpilotToggleLevels[key].toDouble()); - } - - setUpdatesEnabled(true); - update(); -} diff --git a/selfdrive/frogpilot/ui/qt/offroad/sounds_settings.h b/selfdrive/frogpilot/ui/qt/offroad/sounds_settings.h deleted file mode 100644 index 5663b9ac3c8c43..00000000000000 --- a/selfdrive/frogpilot/ui/qt/offroad/sounds_settings.h +++ /dev/null @@ -1,36 +0,0 @@ -#pragma once - -#include - -#include "selfdrive/frogpilot/ui/qt/offroad/frogpilot_settings.h" - -class FrogPilotSoundsPanel : public FrogPilotListWidget { - Q_OBJECT - -public: - explicit FrogPilotSoundsPanel(FrogPilotSettingsWindow *parent); - -signals: - void openParentToggle(); - -private: - void hideToggles(); - void showEvent(QShowEvent *event) override; - void showToggles(const std::set &keys); - - FrogPilotSettingsWindow *parent; - - QJsonObject frogpilotToggleLevels; - - Params params; - - bool hasBSM; - bool hasOpenpilotLongitudinal; - - int tuningLevel; - - std::map toggles; - - std::set alertVolumeControlKeys = {"DisengageVolume", "EngageVolume", "PromptDistractedVolume", "PromptVolume", "RefuseVolume", "WarningImmediateVolume", "WarningSoftVolume"}; - std::set customAlertsKeys = {"GoatScream", "GreenLightAlert", "LeadDepartingAlert", "LoudBlindspotAlert", "SpeedLimitChangedAlert"}; -}; diff --git a/selfdrive/frogpilot/ui/qt/offroad/theme_settings.cc b/selfdrive/frogpilot/ui/qt/offroad/theme_settings.cc deleted file mode 100644 index a54405366409ec..00000000000000 --- a/selfdrive/frogpilot/ui/qt/offroad/theme_settings.cc +++ /dev/null @@ -1,615 +0,0 @@ -#include "selfdrive/frogpilot/ui/qt/offroad/theme_settings.h" - -void updateAssetParam(const QString &assetParam, Params ¶ms, const QString &value, bool add) { - QStringList assets = QString::fromStdString(params.get(assetParam.toStdString())).split(",", QString::SkipEmptyParts); - - if (add) { - if (!assets.contains(value)) { - assets.append(value); - } - } else { - assets.removeAll(value); - } - - assets.sort(); - params.put(assetParam.toStdString(), assets.join(",").toStdString()); -} - -void deleteThemeAsset(QDir &directory, const QString &subFolder, const QString &assetParam, const QString &themeToDelete, Params ¶ms) { - bool useFiles = subFolder.isEmpty(); - - QString themeName = themeToDelete.toLower().replace(" (", "-").replace(")", "").replace(' ', '-'); - if (useFiles) { - for (const QString &file : directory.entryList(QDir::Files)) { - QString fileName = QFileInfo(file).baseName().toLower().replace('_', '-'); - if (fileName == themeName) { - QFile::remove(directory.filePath(file)); - break; - } - } - } else { - QDir targetDir(directory.filePath(QDir(themeName).filePath(subFolder))); - if (targetDir.exists()) { - targetDir.removeRecursively(); - } - } - - updateAssetParam(assetParam, params, themeToDelete, true); -} - -void downloadThemeAsset(const QString &input, const std::string ¶mKey, const QString &assetParam, Params ¶ms, Params ¶ms_memory) { - QString output = input.toLower().remove('(').remove(')'); - output.replace(' ', input.contains('(') ? '-' : '_'); - params_memory.put(paramKey, output.toStdString()); - - updateAssetParam(assetParam, params, input, false); -} - -QStringList getThemeList(const QDir &themePacksDirectory, const QString &subFolder, const QString &assetParam, Params ¶ms) { - bool useFiles = subFolder.isEmpty(); - - QString currentAsset = QString::fromStdString(params.get(assetParam.toStdString())); - QStringList themeList; - for (const QFileInfo &entry : themePacksDirectory.entryInfoList(QDir::Dirs | QDir::Files | QDir::NoDotAndDotDot)) { - if (entry.baseName() == currentAsset) { - continue; - } - - if (useFiles && entry.isDir()) { - continue; - } - - if (!useFiles) { - QString targetPath = QDir(entry.filePath()).filePath(subFolder); - if (!QFileInfo(targetPath).exists()) { - continue; - } - } - - QChar delimiter = entry.baseName().contains('-') ? '-' : '_'; - QStringList parts = entry.baseName().split(delimiter, QString::SkipEmptyParts); - for (QString &part : parts) { - part[0] = part[0].toUpper(); - } - - themeList.append(parts.size() <= 1 || useFiles ? parts.join(' ') : QString("%1 (%2)").arg(parts[0], parts.mid(1).join(' '))); - } - - return themeList; -} - -QString getThemeName(const std::string ¶mKey, Params ¶ms) { - QString value = QString::fromStdString(params.get(paramKey)); - QChar delimiter = value.contains('-') ? '-' : '_'; - - QStringList parts = value.split(delimiter, QString::SkipEmptyParts); - for (QString &part : parts) { - part[0] = part[0].toUpper(); - } - - if (value.contains('-') && parts.size() > 1) { - return QString("%1 (%2)").arg(parts[0], parts.mid(1).join(' ')); - } - return parts.join(' '); -} - -QString storeThemeName(const QString &input, const std::string ¶mKey, Params ¶ms) { - QString output = input.toLower().remove('(').remove(')'); - output.replace(' ', input.contains('(') ? '-' : '_'); - params.put(paramKey, output.toStdString()); - return getThemeName(paramKey, params); -} - -FrogPilotThemesPanel::FrogPilotThemesPanel(FrogPilotSettingsWindow *parent) : FrogPilotListWidget(parent), parent(parent) { - const std::vector> themeToggles { - {"PersonalizeOpenpilot", tr("Custom Theme"), tr("Custom openpilot themes."), "../frogpilot/assets/toggle_icons/frog.png"}, - {"CustomColors", tr("Color Scheme"), tr("Changes out openpilot's color scheme.\n\nWant to submit your own color scheme? Share it in the 'custom-themes' channel on the FrogPilot Discord!"), ""}, - {"CustomDistanceIcons", "Distance Button", "Changes out openpilot's distance button icons.\n\nWant to submit your own icon pack? Share it in the 'custom-themes' channel on the FrogPilot Discord!", ""}, - {"CustomIcons", tr("Icon Pack"), tr("Changes out openpilot's icon pack.\n\nWant to submit your own icons? Share them in the 'custom-themes' channel on the FrogPilot Discord!"), ""}, - {"CustomSounds", tr("Sound Pack"), tr("Changes out openpilot's sound effects.\n\nWant to submit your own sounds? Share them in the 'custom-themes' channel on the FrogPilot Discord!"), ""}, - {"WheelIcon", tr("Steering Wheel"), tr("Enables a custom steering wheel icon in the top right of the screen."), ""}, - {"CustomSignals", tr("Turn Signal Animation"), tr("Enables themed turn signal animations.\n\nWant to submit your own animations? Share them in the 'custom-themes' channel on the FrogPilot Discord!"), ""}, - {"DownloadStatusLabel", tr("Download Status"), "", ""}, - - {"HolidayThemes", tr("Holiday Themes"), tr("Changes the openpilot theme based on the current holiday. Minor holidays last one day, while major holidays (Easter, Christmas, Halloween, etc.) last the entire week."), "../frogpilot/assets/toggle_icons/icon_calendar.png"}, - - {"RainbowPath", tr("Rainbow Path"), tr("Swap out the path in the onroad UI for a Mario Kart inspired 'Rainbow Path'."), "../frogpilot/assets/toggle_icons/icon_rainbow.png"}, - - {"RandomEvents", tr("Random Events"), tr("Enables random cosmetic events that happen during certain driving conditions. These events are purely for fun and don't affect driving controls!"), "../frogpilot/assets/toggle_icons/icon_random.png"}, - - {"StartupAlert", tr("Startup Alert"), tr("Controls the text of the 'Startup' alert message that appears when you start the drive."), "../frogpilot/assets/toggle_icons/icon_message.png"} - }; - - for (const auto &[param, title, desc, icon] : themeToggles) { - AbstractControl *themeToggle; - - if (param == "PersonalizeOpenpilot") { - FrogPilotParamManageControl *personalizeOpenpilotToggle = new FrogPilotParamManageControl(param, title, desc, icon); - QObject::connect(personalizeOpenpilotToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() { - showToggles(customThemeKeys); - }); - themeToggle = personalizeOpenpilotToggle; - } else if (param == "CustomColors") { - manageCustomColorsBtn = new FrogPilotButtonsControl(title, desc, {tr("DELETE"), tr("DOWNLOAD"), tr("SELECT")}); - QObject::connect(manageCustomColorsBtn, &FrogPilotButtonsControl::buttonClicked, [this](int id) { - QStringList colorSchemes = getThemeList(QDir(themePacksDirectory.path()), "colors", "CustomColors", params); - - if (id == 0) { - QString colorSchemeToDelete = MultiOptionDialog::getSelection(tr("Select a color scheme to delete"), colorSchemes, "", this); - if (!colorSchemeToDelete.isEmpty() && ConfirmationDialog::confirm(tr("Are you sure you want to delete the '%1' color scheme?").arg(colorSchemeToDelete), tr("Delete"), this)) { - colorsDownloaded = false; - - deleteThemeAsset(themePacksDirectory, "colors", "DownloadableColors", colorSchemeToDelete, params); - } - } else if (id == 1) { - if (colorDownloading) { - cancellingDownload = true; - - params_memory.putBool("CancelThemeDownload", true); - - updateAssetParam("DownloadableColors", params, colorSchemeToDownload, true); - - QTimer::singleShot(2500, [this]() { - cancellingDownload = false; - colorDownloading = false; - themeDownloading = false; - - params_memory.putBool("CancelThemeDownload", false); - }); - } else { - QStringList downloadableColorSchemes = QString::fromStdString(params.get("DownloadableColors")).split(","); - colorSchemeToDownload = MultiOptionDialog::getSelection(tr("Select a color scheme to download"), downloadableColorSchemes, "", this); - if (!colorSchemeToDownload.isEmpty()) { - colorDownloading = true; - themeDownloading = true; - - params_memory.put("ThemeDownloadProgress", "Downloading..."); - - downloadThemeAsset(colorSchemeToDownload, "ColorToDownload", "DownloadableColors", params, params_memory); - downloadStatusLabel->setText("Downloading..."); - } - } - } else if (id == 2) { - colorSchemes.append("Stock"); - colorSchemes.sort(); - QString colorSchemeToSelect = MultiOptionDialog::getSelection(tr("Select a color scheme"), colorSchemes, getThemeName("CustomColors", params), this); - if (!colorSchemeToSelect.isEmpty()) { - manageCustomColorsBtn->setValue(storeThemeName(colorSchemeToSelect, "CustomColors", params)); - } - } - }); - manageCustomColorsBtn->setValue(getThemeName(param.toStdString(), params)); - themeToggle = manageCustomColorsBtn; - } else if (param == "CustomDistanceIcons") { - manageDistanceIconsBtn = new FrogPilotButtonsControl(title, desc, {tr("DELETE"), tr("DOWNLOAD"), tr("SELECT")}); - QObject::connect(manageDistanceIconsBtn, &FrogPilotButtonsControl::buttonClicked, [this](int id) { - QStringList distanceIconPacks = getThemeList(QDir(themePacksDirectory.path()), "distance_icons", "CustomDistanceIcons", params); - - if (id == 0) { - QString distanceIconPackToDelete = MultiOptionDialog::getSelection(tr("Select a distance icon pack to delete"), distanceIconPacks, "", this); - if (!distanceIconPackToDelete.isEmpty() && ConfirmationDialog::confirm(tr("Are you sure you want to delete the '%1' distance icon pack?").arg(distanceIconPackToDelete), tr("Delete"), this)) { - distanceIconsDownloaded = false; - - deleteThemeAsset(themePacksDirectory, "distance_icons", "DownloadableDistanceIcons", distanceIconPackToDelete, params); - } - } else if (id == 1) { - if (distanceIconDownloading) { - cancellingDownload = true; - - params_memory.putBool("CancelThemeDownload", true); - - updateAssetParam("DownloadableDistanceIcons", params, distanceIconPackToDownload, true); - - QTimer::singleShot(2500, [this]() { - cancellingDownload = false; - distanceIconDownloading = false; - themeDownloading = false; - - params_memory.putBool("CancelThemeDownload", false); - }); - } else { - QStringList downloadableDistanceIconPacks = QString::fromStdString(params.get("DownloadableDistanceIcons")).split(","); - distanceIconPackToDownload = MultiOptionDialog::getSelection(tr("Select a distance icon pack to download"), downloadableDistanceIconPacks, "", this); - if (!distanceIconPackToDownload.isEmpty()) { - distanceIconDownloading = true; - themeDownloading = true; - - params_memory.put("ThemeDownloadProgress", "Downloading..."); - - downloadThemeAsset(distanceIconPackToDownload, "DistanceIconToDownload", "DownloadableDistanceIcons", params, params_memory); - downloadStatusLabel->setText("Downloading..."); - } - } - } else if (id == 2) { - distanceIconPacks.append("Stock"); - distanceIconPacks.sort(); - QString distanceIconPackToSelect = MultiOptionDialog::getSelection(tr("Select a distance icon pack"), distanceIconPacks, getThemeName("CustomDistanceIcons", params), this); - if (!distanceIconPackToSelect.isEmpty()) { - manageDistanceIconsBtn->setValue(storeThemeName(distanceIconPackToSelect, "CustomDistanceIcons", params)); - } - } - }); - manageDistanceIconsBtn->setValue(getThemeName(param.toStdString(), params)); - themeToggle = manageDistanceIconsBtn; - } else if (param == "CustomIcons") { - manageCustomIconsBtn = new FrogPilotButtonsControl(title, desc, {tr("DELETE"), tr("DOWNLOAD"), tr("SELECT")}); - QObject::connect(manageCustomIconsBtn, &FrogPilotButtonsControl::buttonClicked, [this](int id) { - QStringList iconPacks = getThemeList(QDir(themePacksDirectory.path()), "icons", "CustomIcons", params); - - if (id == 0) { - QString iconPackToDelete = MultiOptionDialog::getSelection(tr("Select an icon pack to delete"), iconPacks, "", this); - if (!iconPackToDelete.isEmpty() && ConfirmationDialog::confirm(tr("Are you sure you want to delete the '%1' icon pack?").arg(iconPackToDelete), tr("Delete"), this)) { - iconsDownloaded = false; - - deleteThemeAsset(themePacksDirectory, "icons", "DownloadableIcons", iconPackToDelete, params); - } - } else if (id == 1) { - if (iconDownloading) { - cancellingDownload = true; - - params_memory.putBool("CancelThemeDownload", true); - - updateAssetParam("DownloadableIcons", params, colorSchemeToDownload, true); - - QTimer::singleShot(2500, [this]() { - cancellingDownload = false; - iconDownloading = false; - themeDownloading = false; - - params_memory.putBool("CancelThemeDownload", false); - }); - } else { - QStringList downloadableIconPacks = QString::fromStdString(params.get("DownloadableIcons")).split(","); - iconPackToDownload = MultiOptionDialog::getSelection(tr("Select an icon pack to download"), downloadableIconPacks, "", this); - if (!iconPackToDownload.isEmpty()) { - iconDownloading = true; - themeDownloading = true; - - params_memory.put("ThemeDownloadProgress", "Downloading..."); - - downloadThemeAsset(iconPackToDownload, "IconToDownload", "DownloadableIcons", params, params_memory); - downloadStatusLabel->setText("Downloading..."); - } - } - } else if (id == 2) { - iconPacks.append("Stock"); - iconPacks.sort(); - QString iconPackToSelect = MultiOptionDialog::getSelection(tr("Select an icon pack"), iconPacks, getThemeName("CustomIcons", params), this); - if (!iconPackToSelect.isEmpty()) { - manageCustomIconsBtn->setValue(storeThemeName(iconPackToSelect, "CustomIcons", params)); - } - } - }); - manageCustomIconsBtn->setValue(getThemeName(param.toStdString(), params)); - themeToggle = manageCustomIconsBtn; - } else if (param == "CustomSignals") { - manageCustomSignalsBtn = new FrogPilotButtonsControl(title, desc, {tr("DELETE"), tr("DOWNLOAD"), tr("SELECT")}); - QObject::connect(manageCustomSignalsBtn, &FrogPilotButtonsControl::buttonClicked, [this](int id) { - QStringList signalAnimations = getThemeList(QDir(themePacksDirectory.path()), "signals", "CustomSignals", params); - - if (id == 0) { - QString signalAnimationToDelete = MultiOptionDialog::getSelection(tr("Select a signal animation to delete"), signalAnimations, "", this); - if (!signalAnimationToDelete.isEmpty() && ConfirmationDialog::confirm(tr("Are you sure you want to delete the '%1' signal animation?").arg(signalAnimationToDelete), tr("Delete"), this)) { - signalsDownloaded = false; - - deleteThemeAsset(themePacksDirectory, "signals", "DownloadableSignals", signalAnimationToDelete, params); - } - } else if (id == 1) { - if (signalDownloading) { - cancellingDownload = true; - - params_memory.putBool("CancelThemeDownload", true); - - updateAssetParam("DownloadableSignals", params, colorSchemeToDownload, true); - - QTimer::singleShot(2500, [this]() { - cancellingDownload = false; - signalDownloading = false; - themeDownloading = false; - - params_memory.putBool("CancelThemeDownload", false); - }); - } else { - QStringList downloadableSignalAnimations = QString::fromStdString(params.get("DownloadableSignals")).split(","); - signalAnimationToDownload = MultiOptionDialog::getSelection(tr("Select a signal animation to download"), downloadableSignalAnimations, "", this); - if (!signalAnimationToDownload.isEmpty()) { - signalDownloading = true; - themeDownloading = true; - - params_memory.put("ThemeDownloadProgress", "Downloading..."); - - downloadThemeAsset(signalAnimationToDownload, "SignalToDownload", "DownloadableSignals", params, params_memory); - downloadStatusLabel->setText("Downloading..."); - } - } - } else if (id == 2) { - signalAnimations.append("None"); - signalAnimations.sort(); - QString signalAnimationToSelect = MultiOptionDialog::getSelection(tr("Select a signal animation"), signalAnimations, getThemeName("CustomSignals", params), this); - if (!signalAnimationToSelect.isEmpty()) { - manageCustomSignalsBtn->setValue(storeThemeName(signalAnimationToSelect, "CustomSignals", params)); - } - } - }); - manageCustomSignalsBtn->setValue(getThemeName(param.toStdString(), params)); - themeToggle = manageCustomSignalsBtn; - } else if (param == "CustomSounds") { - manageCustomSoundsBtn = new FrogPilotButtonsControl(title, desc, {tr("DELETE"), tr("DOWNLOAD"), tr("SELECT")}); - QObject::connect(manageCustomSoundsBtn, &FrogPilotButtonsControl::buttonClicked, [this](int id) { - QStringList soundPacks = getThemeList(QDir(themePacksDirectory.path()), "sounds", "CustomSounds", params); - - if (id == 0) { - QString soundPackToDelete = MultiOptionDialog::getSelection(tr("Select a sound pack to delete"), soundPacks, "", this); - if (!soundPackToDelete.isEmpty() && ConfirmationDialog::confirm(tr("Are you sure you want to delete the '%1' sound pack?").arg(soundPackToDelete), tr("Delete"), this)) { - soundsDownloaded = false; - - deleteThemeAsset(themePacksDirectory, "sounds", "DownloadableSounds", soundPackToDelete, params); - } - } else if (id == 1) { - if (soundDownloading) { - cancellingDownload = true; - - params_memory.putBool("CancelThemeDownload", true); - - updateAssetParam("DownloadableSounds", params, colorSchemeToDownload, true); - - QTimer::singleShot(2500, [this]() { - cancellingDownload = false; - soundDownloading = false; - themeDownloading = false; - - params_memory.putBool("CancelThemeDownload", false); - }); - } else { - QStringList downloadableSoundPacks = QString::fromStdString(params.get("DownloadableSounds")).split(","); - soundPackToDownload = MultiOptionDialog::getSelection(tr("Select a sound pack to download"), downloadableSoundPacks, "", this); - if (!soundPackToDownload.isEmpty()) { - soundDownloading = true; - themeDownloading = true; - - params_memory.put("ThemeDownloadProgress", "Downloading..."); - - downloadThemeAsset(soundPackToDownload, "SoundToDownload", "DownloadableSounds", params, params_memory); - downloadStatusLabel->setText("Downloading..."); - } - } - } else if (id == 2) { - soundPacks.append("Stock"); - soundPacks.sort(); - QString soundPackToSelect = MultiOptionDialog::getSelection(tr("Select a sound pack"), soundPacks, getThemeName("CustomSounds", params), this); - if (!soundPackToSelect.isEmpty()) { - manageCustomSoundsBtn->setValue(storeThemeName(soundPackToSelect, "CustomSounds", params)); - } - } - }); - manageCustomSoundsBtn->setValue(getThemeName(param.toStdString(), params)); - themeToggle = manageCustomSoundsBtn; - } else if (param == "WheelIcon") { - manageWheelIconsBtn = new FrogPilotButtonsControl(title, desc, {tr("DELETE"), tr("DOWNLOAD"), tr("SELECT")}); - QObject::connect(manageWheelIconsBtn, &FrogPilotButtonsControl::buttonClicked, [this](int id) { - QStringList wheelIcons = getThemeList(QDir(wheelsDirectory.path()), "", "WheelIcon", params); - - if (id == 0) { - QString wheelIconToDelete = MultiOptionDialog::getSelection(tr("Select a steering wheel to delete"), wheelIcons, "", this); - if (!wheelIconToDelete.isEmpty() && ConfirmationDialog::confirm(tr("Are you sure you want to delete the '%1' steering wheel?").arg(wheelIconToDelete), tr("Delete"), this)) { - wheelsDownloaded = false; - - deleteThemeAsset(wheelsDirectory, "", "DownloadableWheels", wheelIconToDelete, params); - } - } else if (id == 1) { - if (wheelDownloading) { - cancellingDownload = true; - - params_memory.putBool("CancelThemeDownload", true); - - updateAssetParam("DownloadableWheels", params, colorSchemeToDownload, true); - - QTimer::singleShot(2500, [this]() { - cancellingDownload = false; - wheelDownloading = false; - themeDownloading = false; - - params_memory.putBool("CancelThemeDownload", false); - }); - } else { - QStringList downloadableWheels = QString::fromStdString(params.get("DownloadableWheels")).split(","); - wheelToDownload = MultiOptionDialog::getSelection(tr("Select a steering wheel to download"), downloadableWheels, "", this); - if (!wheelToDownload.isEmpty()) { - wheelDownloading = true; - themeDownloading = true; - - params_memory.put("ThemeDownloadProgress", "Downloading..."); - - downloadThemeAsset(wheelToDownload, "WheelToDownload", "DownloadableWheels", params, params_memory); - downloadStatusLabel->setText("Downloading..."); - } - } - } else if (id == 2) { - wheelIcons.append("None"); - wheelIcons.append("Stock"); - wheelIcons.sort(); - QString steeringWheelToSelect = MultiOptionDialog::getSelection(tr("Select a steering wheel"), wheelIcons, getThemeName("WheelIcon", params), this); - if (!steeringWheelToSelect.isEmpty()) { - manageWheelIconsBtn->setValue(storeThemeName(steeringWheelToSelect, "WheelIcon", params)); - } - } - }); - manageWheelIconsBtn->setValue(getThemeName(param.toStdString(), params)); - themeToggle = manageWheelIconsBtn; - } else if (param == "DownloadStatusLabel") { - downloadStatusLabel = new LabelControl(title, "Idle"); - themeToggle = downloadStatusLabel; - } else if (param == "StartupAlert") { - FrogPilotButtonsControl *startupAlertButton = new FrogPilotButtonsControl(title, desc, {tr("STOCK"), tr("FROGPILOT"), tr("CUSTOM"), tr("CLEAR")}, false, true, icon); - QObject::connect(startupAlertButton, &FrogPilotButtonsControl::buttonClicked, [this](int id) { - int maxLengthTop = 35; - int maxLengthBottom = 45; - - QString stockTop = "Be ready to take over at any time"; - QString stockBottom = "Always keep hands on wheel and eyes on road"; - - QString frogpilotTop = "Hop in and buckle up!"; - QString frogpilotBottom = "Human-tested, frog-approved 🐸"; - - QString currentTop = QString::fromStdString(params.get("StartupMessageTop")); - QString currentBottom = QString::fromStdString(params.get("StartupMessageBottom")); - - if (id == 0) { - params.put("StartupMessageTop", stockTop.toStdString()); - params.put("StartupMessageBottom", stockBottom.toStdString()); - } else if (id == 1) { - params.put("StartupMessageTop", frogpilotTop.toStdString()); - params.put("StartupMessageBottom", frogpilotBottom.toStdString()); - } else if (id == 2) { - QString newTop = InputDialog::getText(tr("Enter the text for the top half"), this, tr("Characters: 0/%1").arg(maxLengthTop), false, -1, currentTop, maxLengthTop).trimmed(); - if (newTop.length() > 0) { - params.put("StartupMessageTop", newTop.toStdString()); - QString newBottom = InputDialog::getText(tr("Enter the text for the bottom half"), this, tr("Characters: 0/%1").arg(maxLengthBottom), false, -1, currentBottom, maxLengthBottom).trimmed(); - if (newBottom.length() > 0) { - params.put("StartupMessageBottom", newBottom.toStdString()); - } - } - } else if (id == 3) { - params.remove("StartupMessageTop"); - params.remove("StartupMessageBottom"); - } - }); - themeToggle = startupAlertButton; - - } else { - themeToggle = new ParamControl(param, title, desc, icon); - } - - addItem(themeToggle); - toggles[param] = themeToggle; - - if (FrogPilotParamManageControl *frogPilotManageToggle = qobject_cast(themeToggle)) { - QObject::connect(frogPilotManageToggle, &FrogPilotParamManageControl::manageButtonClicked, this, &FrogPilotThemesPanel::openParentToggle); - } - - QObject::connect(themeToggle, &AbstractControl::showDescriptionEvent, [this]() { - update(); - }); - } - - QObject::connect(parent, &FrogPilotSettingsWindow::closeParentToggle, this, &FrogPilotThemesPanel::hideToggles); - QObject::connect(uiState(), &UIState::uiUpdate, this, &FrogPilotThemesPanel::updateState); -} - -void FrogPilotThemesPanel::showEvent(QShowEvent *event) { - colorsDownloaded = params.get("DownloadableColors").empty(); - distanceIconsDownloaded = params.get("DownloadableDistanceIcons").empty(); - iconsDownloaded = params.get("DownloadableIcons").empty(); - signalsDownloaded = params.get("DownloadableSignals").empty(); - soundsDownloaded = params.get("DownloadableSounds").empty(); - wheelsDownloaded = params.get("DownloadableWheels").empty(); - - frogpilotToggleLevels = parent->frogpilotToggleLevels; - tuningLevel = parent->tuningLevel; - - hideToggles(); -} - -void FrogPilotThemesPanel::updateState(const UIState &s) { - if (!isVisible() || finalizingDownload) { - return; - } - - if (themeDownloading) { - QString progress = QString::fromStdString(params_memory.get("ThemeDownloadProgress")); - bool downloadFailed = progress.contains(QRegularExpression("cancelled|exists|failed|offline", QRegularExpression::CaseInsensitiveOption)); - - if (progress != "Downloading...") { - downloadStatusLabel->setText(progress); - } - - if (progress == "Downloaded!" || downloadFailed) { - finalizingDownload = true; - - QTimer::singleShot(2500, [this]() { - colorDownloading = false; - distanceIconDownloading = false; - finalizingDownload = false; - iconDownloading = false; - signalDownloading = false; - soundDownloading = false; - themeDownloading = false; - wheelDownloading = false; - - colorsDownloaded = params.get("DownloadableColors").empty(); - distanceIconsDownloaded = params.get("DownloadableDistanceIcons").empty(); - iconsDownloaded = params.get("DownloadableIcons").empty(); - signalsDownloaded = params.get("DownloadableSignals").empty(); - soundsDownloaded = params.get("DownloadableSounds").empty(); - wheelsDownloaded = params.get("DownloadableWheels").empty(); - - params_memory.remove("CancelThemeDownload"); - params_memory.remove("ColorToDownload"); - params_memory.remove("DistanceIconToDownload"); - params_memory.remove("IconToDownload"); - params_memory.remove("SignalToDownload"); - params_memory.remove("SoundToDownload"); - params_memory.remove("ThemeDownloadProgress"); - params_memory.remove("WheelToDownload"); - - downloadStatusLabel->setText("Idle"); - }); - } - } - - bool parked = !s.scene.started || s.scene.parked || s.scene.frogs_go_moo; - - manageCustomColorsBtn->setText(1, colorDownloading ? tr("CANCEL") : tr("DOWNLOAD")); - manageCustomColorsBtn->setEnabledButtons(0, !themeDownloading); - manageCustomColorsBtn->setEnabledButtons(1, s.scene.online && (!themeDownloading || colorDownloading) && !cancellingDownload && !colorsDownloaded && parked); - manageCustomColorsBtn->setEnabledButtons(2, !themeDownloading); - - manageCustomIconsBtn->setText(1, iconDownloading ? tr("CANCEL") : tr("DOWNLOAD")); - manageCustomIconsBtn->setEnabledButtons(0, !themeDownloading); - manageCustomIconsBtn->setEnabledButtons(1, s.scene.online && (!themeDownloading || iconDownloading) && !cancellingDownload && !iconsDownloaded && parked); - manageCustomIconsBtn->setEnabledButtons(2, !themeDownloading); - - manageCustomSignalsBtn->setText(1, signalDownloading ? tr("CANCEL") : tr("DOWNLOAD")); - manageCustomSignalsBtn->setEnabledButtons(0, !themeDownloading); - manageCustomSignalsBtn->setEnabledButtons(1, s.scene.online && (!themeDownloading || signalDownloading) && !cancellingDownload && !signalsDownloaded && parked); - manageCustomSignalsBtn->setEnabledButtons(2, !themeDownloading); - - manageCustomSoundsBtn->setText(1, soundDownloading ? tr("CANCEL") : tr("DOWNLOAD")); - manageCustomSoundsBtn->setEnabledButtons(0, !themeDownloading); - manageCustomSoundsBtn->setEnabledButtons(1, s.scene.online && (!themeDownloading || soundDownloading) && !cancellingDownload && !soundsDownloaded && parked); - manageCustomSoundsBtn->setEnabledButtons(2, !themeDownloading); - - manageDistanceIconsBtn->setText(1, distanceIconDownloading ? tr("CANCEL") : tr("DOWNLOAD")); - manageDistanceIconsBtn->setEnabledButtons(0, !themeDownloading); - manageDistanceIconsBtn->setEnabledButtons(1, s.scene.online && (!themeDownloading || distanceIconDownloading) && !cancellingDownload && !distanceIconsDownloaded && parked); - manageDistanceIconsBtn->setEnabledButtons(2, !themeDownloading); - - manageWheelIconsBtn->setText(1, wheelDownloading ? tr("CANCEL") : tr("DOWNLOAD")); - manageWheelIconsBtn->setEnabledButtons(0, !themeDownloading); - manageWheelIconsBtn->setEnabledButtons(1, s.scene.online && (!themeDownloading || wheelDownloading) && !cancellingDownload && !wheelsDownloaded && parked); - manageWheelIconsBtn->setEnabledButtons(2, !themeDownloading); -} - -void FrogPilotThemesPanel::showToggles(const std::set &keys) { - setUpdatesEnabled(false); - - for (auto &[key, toggle] : toggles) { - toggle->setVisible(keys.find(key) != keys.end() && tuningLevel >= frogpilotToggleLevels[key].toDouble()); - } - - setUpdatesEnabled(true); - update(); -} - -void FrogPilotThemesPanel::hideToggles() { - setUpdatesEnabled(false); - - for (auto &[key, toggle] : toggles) { - bool subToggles = customThemeKeys.find(key) != customThemeKeys.end(); - - toggle->setVisible(!subToggles && tuningLevel >= frogpilotToggleLevels[key].toDouble()); - } - - setUpdatesEnabled(true); - update(); -} diff --git a/selfdrive/frogpilot/ui/qt/offroad/theme_settings.h b/selfdrive/frogpilot/ui/qt/offroad/theme_settings.h deleted file mode 100644 index 467948b4ecb0de..00000000000000 --- a/selfdrive/frogpilot/ui/qt/offroad/theme_settings.h +++ /dev/null @@ -1,71 +0,0 @@ -#pragma once - -#include - -#include "selfdrive/frogpilot/ui/qt/offroad/frogpilot_settings.h" - -class FrogPilotThemesPanel : public FrogPilotListWidget { - Q_OBJECT - -public: - explicit FrogPilotThemesPanel(FrogPilotSettingsWindow *parent); - -protected: - void showEvent(QShowEvent *event) override; - -signals: - void openParentToggle(); - -private: - void hideToggles(); - void showToggles(const std::set &keys); - void updateState(const UIState &s); - - FrogPilotButtonsControl *manageCustomColorsBtn; - FrogPilotButtonsControl *manageCustomIconsBtn; - FrogPilotButtonsControl *manageCustomSignalsBtn; - FrogPilotButtonsControl *manageCustomSoundsBtn; - FrogPilotButtonsControl *manageDistanceIconsBtn; - FrogPilotButtonsControl *manageWheelIconsBtn; - - FrogPilotSettingsWindow *parent; - - LabelControl *downloadStatusLabel; - - QDir themePacksDirectory{"/data/themes/theme_packs/"}; - QDir wheelsDirectory{"/data/themes/steering_wheels/"}; - - QJsonObject frogpilotToggleLevels; - - QString colorSchemeToDownload; - QString distanceIconPackToDownload; - QString iconPackToDownload; - QString signalAnimationToDownload; - QString soundPackToDownload; - QString wheelToDownload; - - Params params; - Params params_memory{"/dev/shm/params"}; - - bool cancellingDownload; - bool colorDownloading; - bool colorsDownloaded; - bool distanceIconDownloading; - bool distanceIconsDownloaded; - bool finalizingDownload; - bool iconDownloading; - bool iconsDownloaded; - bool signalDownloading; - bool signalsDownloaded; - bool soundDownloading; - bool soundsDownloaded; - bool themeDownloading; - bool wheelDownloading; - bool wheelsDownloaded; - - int tuningLevel; - - std::map toggles; - - std::set customThemeKeys = {"CustomColors", "CustomDistanceIcons", "CustomIcons", "CustomSignals", "CustomSounds", "DownloadStatusLabel", "WheelIcon"}; -}; diff --git a/selfdrive/frogpilot/ui/qt/offroad/utilities.cc b/selfdrive/frogpilot/ui/qt/offroad/utilities.cc deleted file mode 100644 index 1199a29d1e475c..00000000000000 --- a/selfdrive/frogpilot/ui/qt/offroad/utilities.cc +++ /dev/null @@ -1,63 +0,0 @@ -#include - -#include "selfdrive/frogpilot/ui/qt/offroad/utilities.h" - -UtilitiesPanel::UtilitiesPanel(FrogPilotSettingsWindow *parent) : FrogPilotListWidget(parent) { - ButtonControl *flashPandaBtn = new ButtonControl(tr("Flash Panda"), tr("FLASH"), tr("Flashes the Panda device's firmware if you're running into issues.")); - QObject::connect(flashPandaBtn, &ButtonControl::clicked, [=]() { - if (ConfirmationDialog::confirm(tr("Are you sure you want to flash the Panda?"), tr("Flash"), this)) { - std::thread([=]() { - flashPandaBtn->setEnabled(false); - flashPandaBtn->setValue(tr("Flashing...")); - - system("python3 /data/openpilot/panda/board/flash.py"); - system("python3 /data/openpilot/panda/board/recover.py"); - - flashPandaBtn->setValue(tr("Flashed!")); - util::sleep_for(2500); - flashPandaBtn->setValue(tr("Rebooting...")); - util::sleep_for(2500); - Hardware::reboot(); - }).detach(); - } - }); - addItem(flashPandaBtn); - - forceStartedBtn = new FrogPilotButtonsControl(tr("Force Started State"), tr("Forces openpilot either offroad or onroad."), {tr("OFFROAD"), tr("ONROAD"), tr("OFF")}, true); - QObject::connect(forceStartedBtn, &FrogPilotButtonsControl::buttonClicked, [=](int id) { - if (id == 0) { - params_memory.putBool("ForceOffroad", true); - params_memory.putBool("ForceOnroad", false); - } else if (id == 1) { - params_memory.putBool("ForceOffroad", false); - params_memory.putBool("ForceOnroad", true); - } else if (id == 2) { - params_memory.putBool("ForceOffroad", false); - params_memory.putBool("ForceOnroad", false); - } - forceStartedBtn->setCheckedButton(id); - }); - forceStartedBtn->setCheckedButton(2); - addItem(forceStartedBtn); - - ButtonControl *resetTogglesBtn = new ButtonControl(tr("Reset Toggles to Default"), tr("RESET"), tr("Reset your toggle settings back to their default settings.")); - QObject::connect(resetTogglesBtn, &ButtonControl::clicked, [=]() { - if (ConfirmationDialog::confirm(tr("Are you sure you want to completely reset all of your toggle settings?"), tr("Reset"), this)) { - std::thread([=]() mutable { - resetTogglesBtn->setEnabled(false); - resetTogglesBtn->setValue(tr("Resetting...")); - - params.putBool("DoToggleReset", true); - - resetTogglesBtn->setValue(tr("Reset!")); - - util::sleep_for(2500); - resetTogglesBtn->setValue(tr("Rebooting...")); - util::sleep_for(2500); - - Hardware::reboot(); - }).detach(); - } - }); - addItem(resetTogglesBtn); -} diff --git a/selfdrive/frogpilot/ui/qt/offroad/utilities.h b/selfdrive/frogpilot/ui/qt/offroad/utilities.h deleted file mode 100644 index 4be541371c7685..00000000000000 --- a/selfdrive/frogpilot/ui/qt/offroad/utilities.h +++ /dev/null @@ -1,16 +0,0 @@ -#pragma once - -#include "selfdrive/frogpilot/ui/qt/offroad/frogpilot_settings.h" - -class UtilitiesPanel : public FrogPilotListWidget { - Q_OBJECT - -public: - explicit UtilitiesPanel(FrogPilotSettingsWindow *parent); - -private: - FrogPilotButtonsControl *forceStartedBtn; - - Params params; - Params params_memory{"/dev/shm/params"}; -}; diff --git a/selfdrive/frogpilot/ui/qt/offroad/vehicle_settings.cc b/selfdrive/frogpilot/ui/qt/offroad/vehicle_settings.cc deleted file mode 100644 index 8de6225ff27cf6..00000000000000 --- a/selfdrive/frogpilot/ui/qt/offroad/vehicle_settings.cc +++ /dev/null @@ -1,298 +0,0 @@ -#include -#include -#include - -#include "selfdrive/frogpilot/ui/qt/offroad/vehicle_settings.h" - -QStringList getCarNames(const QString &carMake, QMap &carModels) { - static const QMap makeMap = { - {"acura", "honda"}, - {"audi", "volkswagen"}, - {"buick", "gm"}, - {"cadillac", "gm"}, - {"chevrolet", "gm"}, - {"chrysler", "chrysler"}, - {"dodge", "chrysler"}, - {"ford", "ford"}, - {"genesis", "hyundai"}, - {"gmc", "gm"}, - {"holden", "gm"}, - {"honda", "honda"}, - {"hyundai", "hyundai"}, - {"jeep", "chrysler"}, - {"kia", "hyundai"}, - {"lexus", "toyota"}, - {"lincoln", "ford"}, - {"man", "volkswagen"}, - {"mazda", "mazda"}, - {"nissan", "nissan"}, - {"ram", "chrysler"}, - {"seat", "volkswagen"}, - {"škoda", "volkswagen"}, - {"subaru", "subaru"}, - {"tesla", "tesla"}, - {"toyota", "toyota"}, - {"volkswagen", "volkswagen"} - }; - - QString targetFolder = makeMap.value(carMake.toLower(), carMake); - QFile file(QString("../car/%1/values.py").arg(targetFolder)); - QStringList names; - QSet uniqueNames; - - if (!file.open(QIODevice::ReadOnly | QIODevice::Text)) { - return names; - } - - QString fileContent = QTextStream(&file).readAll(); - file.close(); - - fileContent.remove(QRegularExpression("#[^\n]*")); - fileContent.remove(QRegularExpression("footnotes=\\[[^\\]]*\\],\\s*")); - - QRegularExpression carModelRegex(R"((\w+)\s*=\s*\w+\s*\(\s*\[([\s\S]*?)\]\s*,)"); - QRegularExpression carDocsRegex("CarDocs\\(\\s*\"([^\"]+)\"[^)]*\\)"); - - QRegularExpressionMatchIterator carModelIt = carModelRegex.globalMatch(fileContent); - while (carModelIt.hasNext()) { - QRegularExpressionMatch carModelMatch = carModelIt.next(); - QString platform = carModelMatch.captured(1); - QString platformSection = carModelMatch.captured(2); - - QRegularExpressionMatchIterator carDocsIt = carDocsRegex.globalMatch(platformSection); - while (carDocsIt.hasNext()) { - QString carName = carDocsIt.next().captured(1); - - if (carName.contains(QRegularExpression("^[A-Za-z0-9 Š.()-]+$")) && carName.count(" ") >= 1) { - QStringList nameParts = carName.split(" "); - if (nameParts.contains(carMake, Qt::CaseInsensitive) && !uniqueNames.contains(carName)) { - uniqueNames.insert(carName); - names << carName; - carModels[carName] = platform; - } - } - } - } - - std::sort(names.begin(), names.end()); - return names; -} - -FrogPilotVehiclesPanel::FrogPilotVehiclesPanel(FrogPilotSettingsWindow *parent) : FrogPilotListWidget(parent), parent(parent) { - QStringList makes = { - "Acura", "Audi", "Buick", "Cadillac", "Chevrolet", "Chrysler", "Dodge", "Ford", "Genesis", - "GMC", "Holden", "Honda", "Hyundai", "Jeep", "Kia", "Lexus", "Lincoln", "MAN", "Mazda", - "Nissan", "Ram", "SEAT", "Škoda", "Subaru", "Tesla", "Toyota", "Volkswagen" - }; - selectMakeButton = new ButtonControl(tr("Select Make"), tr("SELECT")); - QObject::connect(selectMakeButton, &ButtonControl::clicked, [this, makes]() { - QString newMakeSelection = MultiOptionDialog::getSelection(tr("Select a Make"), makes, "", this); - if (!newMakeSelection.isEmpty()) { - carMake = newMakeSelection; - params.putNonBlocking("CarMake", carMake.toStdString()); - selectMakeButton->setValue(newMakeSelection); - setModels(); - } - }); - addItem(selectMakeButton); - - selectModelButton = new ButtonControl(tr("Select Model"), tr("SELECT")); - QObject::connect(selectModelButton, &ButtonControl::clicked, [this]() { - QString newModelSelection = MultiOptionDialog::getSelection(tr("Select a Model"), models, "", this); - if (!newModelSelection.isEmpty()) { - carModel = newModelSelection; - QString modelIdentifier = carModels.value(newModelSelection); - params.putNonBlocking("CarModel", modelIdentifier.toStdString()); - params.putNonBlocking("CarModelName", newModelSelection.toStdString()); - selectModelButton->setValue(newModelSelection); - } - }); - addItem(selectModelButton); - selectModelButton->setVisible(false); - - forceFingerprint = new ParamControl("ForceFingerprint", tr("Disable Automatic Fingerprint Detection"), tr("Forces the selected fingerprint and prevents it from ever changing."), ""); - addItem(forceFingerprint); - - bool disableOpenpilotLongState = params.getBool("DisableOpenpilotLongitudinal"); - disableOpenpilotLong = new ToggleControl(tr("Disable openpilot Longitudinal Control"), tr("Disables openpilot longitudinal control and uses the car's stock ACC instead."), "", disableOpenpilotLongState); - QObject::connect(disableOpenpilotLong, &ToggleControl::toggleFlipped, [this, parent](bool state) { - if (state) { - if (FrogPilotConfirmationDialog::yesorno(tr("Are you sure you want to completely disable openpilot longitudinal control?"), this)) { - params.putBool("DisableOpenpilotLongitudinal", state); - if (started) { - if (FrogPilotConfirmationDialog::toggle(tr("Reboot required to take effect."), tr("Reboot Now"), this)) { - Hardware::reboot(); - } - } - } else { - disableOpenpilotLong->refresh(); - } - } else { - params.putBool("DisableOpenpilotLongitudinal", state); - } - disableOpenpilotLongitudinal = state; - parent->updateVariables(); - }); - addItem(disableOpenpilotLong); - - std::vector> vehicleToggles { - {"VoltSNG", tr("2017 Volt Stop and Go Hack"), tr("Forces stop and go for the 2017 Chevy Volt."), ""}, - {"ExperimentalGMTune", tr("Experimental GM Tune"), tr("Enables FrogsGoMoo's experimental GM tune that is based on nothing but guesswork. Use at your own risk!"), ""}, - {"LongPitch", tr("Uphill/Downhill Smoothing"), tr("Smoothens the gas and brake response when driving on slopes."), ""}, - {"NewLongAPIGM", tr("Use comma's New Longitudinal API"), tr("Enables comma's new control system that has shown great improvement with acceleration and braking, but has a few issues on some GM vehicles."), ""}, - - {"NewLongAPI", tr("Use comma's New Longitudinal API"), tr("Enables comma's new control system that has shown great improvement with acceleration and braking, but has a few issues on Hyundai/Kia/Genesis."), ""}, - - {"CrosstrekTorque", tr("Subaru Crosstrek Torque Increase"), tr("Increases the maximum allowed torque for the Subaru Crosstrek."), ""}, - - {"ToyotaDoors", tr("Automatically Lock/Unlock Doors"), tr("Automatically locks the doors when in drive and unlocks when in park."), ""}, - {"ClusterOffset", tr("Cluster Speed Offset"), tr("Sets the cluster offset openpilot uses to try and match the speed displayed on the dash."), ""}, - {"FrogsGoMoosTweak", tr("FrogsGoMoo's Personal Tweaks"), tr("Enables FrogsGoMoo's personal tweaks to the Toyota tune focused around his 2019 Lexus ES 350 to take off a bit quicker and stop a bit smoother."), ""}, - {"SNGHack", tr("Stop and Go Hack"), tr("Forces stop and go for vehicles without stock stop and go functionality."), ""}, - }; - - for (const auto &[param, title, desc, icon] : vehicleToggles) { - AbstractControl *vehicleToggle; - - if (param == "ToyotaDoors") { - std::vector lockToggles{"LockDoors", "UnlockDoors"}; - std::vector lockToggleNames{tr("Lock"), tr("Unlock")}; - vehicleToggle = new FrogPilotButtonToggleControl(param, title, desc, lockToggles, lockToggleNames); - } else if (param == "ClusterOffset") { - std::vector clusterOffsetButton{"Reset"}; - vehicleToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, 1.000, 1.050, "x", std::map(), 0.001, {}, clusterOffsetButton, false, false); - - } else { - vehicleToggle = new ParamControl(param, title, desc, icon); - } - - vehicleToggle->setVisible(false); - addItem(vehicleToggle); - toggles[param] = vehicleToggle; - - QObject::connect(vehicleToggle, &AbstractControl::showDescriptionEvent, [this]() { - update(); - }); - } - - FrogPilotParamValueButtonControl *clusterOffsetToggle = static_cast(toggles["ClusterOffset"]); - QObject::connect(clusterOffsetToggle, &FrogPilotParamValueButtonControl::buttonClicked, [=]() { - params.putFloat("ClusterOffset", params_default.getFloat("ClusterOffset")); - clusterOffsetToggle->refresh(); - }); - - std::set rebootKeys = {"CrosstrekTorque", "ExperimentalGMTune", "FrogsGoMoosTweak", "NewLongAPI", "NewLongAPIGM"}; - for (const QString &key : rebootKeys) { - QObject::connect(static_cast(toggles[key]), &ToggleControl::toggleFlipped, [this]() { - if (started) { - if (FrogPilotConfirmationDialog::toggle(tr("Reboot required to take effect."), tr("Reboot Now"), this)) { - Hardware::reboot(); - } - } - }); - } - - QObject::connect(uiState(), &UIState::offroadTransition, [this]() { - std::thread([this]() { - while (carMake.isEmpty()) { - util::sleep_for(1000); - carMake = QString::fromStdString(params.get("CarMake")); - carModel = QString::fromStdString(params.get(params.get("CarModelName").empty() ? "CarModel" : "CarModelName")); - } - setModels(); - }).detach(); - }); - - carMake = QString::fromStdString(params.get("CarMake")); - carModel = QString::fromStdString(params.get(params.get("CarModelName").empty() ? "CarModel" : "CarModelName")); - - if (!carMake.isEmpty()) { - setModels(); - } - - QObject::connect(uiState(), &UIState::uiUpdate, this, &FrogPilotVehiclesPanel::updateState); -} - -void FrogPilotVehiclesPanel::showEvent(QShowEvent *event) { - frogpilotToggleLevels = parent->frogpilotToggleLevels; - hasExperimentalOpenpilotLongitudinal = parent->hasExperimentalOpenpilotLongitudinal; - hasOpenpilotLongitudinal = parent->hasOpenpilotLongitudinal; - hasSNG = parent->hasSNG; - isBolt = parent->isBolt; - isImpreza = parent->isImpreza; - isVolt = parent->isVolt; - tuningLevel = parent->tuningLevel; - - updateToggles(); -} - -void FrogPilotVehiclesPanel::updateState(const UIState &s) { - if (!isVisible()) { - return; - } - - started = s.scene.started; -} - -void FrogPilotVehiclesPanel::setModels() { - models = getCarNames(carMake.toLower(), carModels); - updateToggles(); -} - -void FrogPilotVehiclesPanel::updateToggles() { - setUpdatesEnabled(false); - - disableOpenpilotLong->setVisible(hasOpenpilotLongitudinal && !hasExperimentalOpenpilotLongitudinal && tuningLevel >= frogpilotToggleLevels["DisableOpenpilotLongitudinal"].toDouble()); - disableOpenpilotLong->setVisible(disableOpenpilotLong->isVisible() || disableOpenpilotLongitudinal); - forceFingerprint ->setVisible(tuningLevel >= frogpilotToggleLevels["ForceFingerprint"].toDouble() || isBolt); - - selectMakeButton->setValue(carMake); - selectModelButton->setValue(carModel); - selectModelButton->setVisible(!carMake.isEmpty()); - - bool gm = carMake == "Buick" || carMake == "Cadillac" || carMake == "Chevrolet" || carMake == "GM" || carMake == "GMC"; - bool hyundai = carMake == "Genesis" || carMake == "Hyundai" || carMake == "Kia"; - bool subaru = carMake == "Subaru"; - bool toyota = carMake == "Lexus" || carMake == "Toyota"; - - for (auto &[key, toggle] : toggles) { - bool setVisible = false; - - if (gm && gmKeys.find(key) != gmKeys.end()) { - if (voltKeys.find(key) != voltKeys.end()) { - setVisible = isVolt && hasOpenpilotLongitudinal; - } else if (longitudinalKeys.find(key) != longitudinalKeys.end()) { - setVisible = hasOpenpilotLongitudinal; - } else { - setVisible = true; - } - } else if (hyundai && hyundaiKeys.find(key) != hyundaiKeys.end()) { - if (longitudinalKeys.find(key) != longitudinalKeys.end()) { - setVisible = hasOpenpilotLongitudinal; - } else { - setVisible = true; - } - } else if (subaru && subaruKeys.find(key) != subaruKeys.end()) { - if (imprezaKeys.find(key) != imprezaKeys.end()) { - setVisible = isImpreza; - } else if (longitudinalKeys.find(key) != longitudinalKeys.end()) { - setVisible = hasOpenpilotLongitudinal; - } else { - setVisible = true; - } - } else if (toyota && toyotaKeys.find(key) != toyotaKeys.end()) { - if (sngKeys.find(key) != sngKeys.end()) { - setVisible = !hasSNG && hasOpenpilotLongitudinal; - } else if (longitudinalKeys.find(key) != longitudinalKeys.end()) { - setVisible = hasOpenpilotLongitudinal; - } else { - setVisible = true; - } - } - - toggle->setVisible(setVisible && tuningLevel >= frogpilotToggleLevels[key].toDouble()); - } - - setUpdatesEnabled(true); - update(); -} diff --git a/selfdrive/frogpilot/ui/qt/offroad/vehicle_settings.h b/selfdrive/frogpilot/ui/qt/offroad/vehicle_settings.h deleted file mode 100644 index 989a0481d2f6a9..00000000000000 --- a/selfdrive/frogpilot/ui/qt/offroad/vehicle_settings.h +++ /dev/null @@ -1,61 +0,0 @@ -#pragma once - -#include - -#include "selfdrive/frogpilot/ui/qt/offroad/frogpilot_settings.h" - -class FrogPilotVehiclesPanel : public FrogPilotListWidget { - Q_OBJECT - -public: - explicit FrogPilotVehiclesPanel(FrogPilotSettingsWindow *parent); - -private: - void setModels(); - void showEvent(QShowEvent *event) override; - void updateState(const UIState &s); - void updateToggles(); - - ButtonControl *selectMakeButton; - ButtonControl *selectModelButton; - - FrogPilotSettingsWindow *parent; - - QJsonObject frogpilotToggleLevels; - - QMap carModels; - - QString carMake; - QString carModel; - - QStringList models; - - ParamControl *forceFingerprint; - - Params params; - Params params_default{"/data/params_default"}; - - ToggleControl *disableOpenpilotLong; - - bool disableOpenpilotLongitudinal = params.getBool("DisableOpenpilotLongitudinal"); - bool hasExperimentalOpenpilotLongitudinal; - bool hasOpenpilotLongitudinal; - bool hasSNG; - bool isBolt; - bool isImpreza; - bool isVolt; - bool started; - - int tuningLevel; - - std::map toggles; - - std::set gmKeys = {"ExperimentalGMTune", "LongPitch", "NewLongAPIGM", "VoltSNG"}; - std::set hyundaiKeys = {"NewLongAPI"}; - std::set imprezaKeys = {"CrosstrekTorque"}; - std::set longitudinalKeys = {"ExperimentalGMTune", "FrogsGoMoosTweak", "LongPitch", "NewLongAPI", "NewLongAPIGM", "SNGHack", "VoltSNG"}; - std::set sngKeys = {"SNGHack"}; - std::set subaruKeys = {"CrosstrekTorque"}; - std::set toyotaKeys = {"ClusterOffset", "FrogsGoMoosTweak", "SNGHack", "ToyotaDoors"}; - std::set voltKeys = {"VoltSNG"}; -}; diff --git a/selfdrive/frogpilot/ui/qt/offroad/visual_settings.cc b/selfdrive/frogpilot/ui/qt/offroad/visual_settings.cc deleted file mode 100644 index cee6c74d8bf7ac..00000000000000 --- a/selfdrive/frogpilot/ui/qt/offroad/visual_settings.cc +++ /dev/null @@ -1,344 +0,0 @@ -#include "selfdrive/frogpilot/ui/qt/offroad/visual_settings.h" - -FrogPilotVisualsPanel::FrogPilotVisualsPanel(FrogPilotSettingsWindow *parent) : FrogPilotListWidget(parent), parent(parent) { - const std::vector> visualToggles { - {"QOLVisuals", tr("Accessibility"), tr("Visual features to improve your overall openpilot experience."), "../frogpilot/assets/toggle_icons/icon_accessibility.png"}, - {"CameraView", tr("Camera View"), tr("Changes the camera view display. This is purely a visual change and doesn't impact how openpilot drives."), ""}, - {"OnroadDistanceButton", tr("On Screen Personality Button"), tr("Displays the current driving personality on the screen. Tap to switch personalities, or long press for 2.5 seconds to activate 'Traffic' mode."), ""}, - {"DriverCamera", tr("Show Driver Camera When In Reverse"), tr("Displays the driver camera feed when the vehicle is in reverse."), ""}, - {"StandbyMode", tr("Standby Mode"), tr("Turns the screen off when driving and automatically wakes it up if engagement state changes or important alerts occur."), ""}, - {"StoppedTimer", tr("Stopped Timer"), tr("Activates a timer when stopped to indicate how long the vehicle has been stopped for."), ""}, - - {"AdvancedCustomUI", tr("Advanced UI Controls"), tr("Advanced features to fine tune your personalized UI."), "../frogpilot/assets/toggle_icons/icon_advanced_device.png"}, - {"HideSpeed", tr("Hide Current Speed"), tr("Hides the current speed."), ""}, - {"HideLeadMarker", tr("Hide Lead Marker"), tr("Hides the marker for the vehicle ahead."), ""}, - {"HideMapIcon", tr("Hide Map Icon"), tr("Hides the map icon."), ""}, - {"HideMaxSpeed", tr("Hide Max Speed"), tr("Hides the max speed."), ""}, - {"HideAlerts", tr("Hide Non-Critical Alerts"), tr("Hides non-critical alerts."), ""}, - {"HideSpeedLimit", tr("Hide Speed Limits"), tr("Hides the speed limits."), ""}, - {"WheelSpeed", tr("Use Wheel Speed"), tr("Uses the wheel speed instead of the cluster speed. This is purely a visual change and doesn't impact how openpilot drives."), ""}, - - {"DeveloperUI", tr("Developer Metrics"), tr("Show detailed information about openpilot's internal operations."), "../assets/offroad/icon_shell.png"}, - {"BorderMetrics", tr("Border Metrics"), tr("Displays performance metrics around the edge of the screen while driving."), ""}, - {"FPSCounter", tr("FPS Display"), tr("Displays the 'Frames Per Second' (FPS) at the bottom of the screen while driving."), ""}, - {"LateralMetrics", tr("Lateral Metrics"), tr("Displays metrics related to steering control at the top of the screen while driving."), ""}, - {"LongitudinalMetrics", tr("Longitudinal Metrics"), tr("Displays metrics related to acceleration, speed, and desired following distance at the top of the screen while driving."), ""}, - {"NumericalTemp", tr("Numerical Temperature Gauge"), tr("Shows exact temperature readings instead of status labels like 'GOOD', 'OK', or 'HIGH' in the sidebar."), ""}, - {"SidebarMetrics", tr("Sidebar"), tr("Displays system information like CPU, GPU, RAM usage, IP address, and storage space in the sidebar."), ""}, - {"UseSI", tr("Use International System of Units"), tr("Displays measurements using the 'International System of Units' (SI)."), ""}, - - {"ModelUI", tr("Model UI"), tr("Customize the model visualizations on the screen."), "../frogpilot/assets/toggle_icons/icon_vtc.png"}, - {"DynamicPathWidth", tr("Dynamic Path Width"), tr("Automatically adjusts the width of the driving path display based on the current engagement state:\n\nFully engaged = 100%\nAlways On Lateral Active = 75%\nFully disengaged = 50%"), ""}, - {"LaneLinesWidth", tr("Lane Lines Width"), tr("Controls the thickness the lane lines appear on the display.\n\nDefault matches the MUTCD standard of 4 inches."), ""}, - {"PathEdgeWidth", tr("Path Edges Width"), tr("Controls the width of the edges of the driving path to represent different modes and statuses.\n\nDefault is 20% of the total path width.\n\nColor Guide:\n- Blue: Navigation\n- Light Blue: 'Always On Lateral'\n- Green: Default\n- Orange: 'Experimental Mode'\n- Red: 'Traffic Mode'\n- Yellow: 'Conditional Experimental Mode' Overridden"), ""}, - {"PathWidth", tr("Path Width"), tr("Controls how wide the driving path appears on your screen.\n\nDefault (6.1 feet / 1.9 meters) matches the width of a 2019 Lexus ES 350."), ""}, - {"RoadEdgesWidth", tr("Road Edges Width"), tr("Controls how thick the road edges appear on the display.\n\nDefault matches half of the MUTCD standard lane line width of 4 inches."), ""}, - {"ShowStoppingPoint", tr("Stopping Point"), tr("Displays an image on the screen where openpilot is detecting a potential red light/stop sign."), ""}, - {"UnlimitedLength", tr("'Unlimited' Road UI"), tr("Extends the display of the path, lane lines, and road edges as far as the model can see."), ""}, - - {"NavigationUI", tr("Navigation Widgets"), tr("Wwidgets focused around navigation."), "../frogpilot/assets/toggle_icons/icon_map.png"}, - {"BigMap", tr("Larger Map Display"), tr("Increases the size of the map for easier navigation readings."), ""}, - {"MapStyle", tr("Map Style"), tr("Swaps out the stock map style for community created ones."), ""}, - {"RoadNameUI", tr("Road Name"), tr("Displays the current road name at the bottom of the screen using data from 'OpenStreetMap'."), ""}, - {"ShowSLCOffset", tr("Show Speed Limit Offset"), tr("Displays the speed limit offset separately in the onroad UI when using 'Speed Limit Controller'."), ""}, - {"ShowSpeedLimits", tr("Show Speed Limits"), tr("Displays the currently detected speed limit in the top left corner of the onroad UI. Uses data from your car's dashboard (if supported) and data from 'OpenStreetMaps'."), ""}, - {"UseVienna", tr("Use Vienna-Style Speed Signs"), tr("Forces Vienna-style (EU) speed limit signs instead of MUTCD (US)."), ""}, - - {"CustomUI", tr("Onroad Screen Widgets"), tr("Custom FrogPilot widgets used in the onroad user interface."), "../assets/offroad/icon_road.png"}, - {"AccelerationPath", tr("Acceleration Path"), tr("Projects a path based on openpilot's current desired acceleration or deceleration."), ""}, - {"AdjacentPath", tr("Adjacent Lanes"), tr("Projects paths for the adjascent lanes."), ""}, - {"BlindSpotPath", tr("Blind Spot Path"), tr("Projects a red path when vehicles are detected in the blind spot for the respective lane."), ""}, - {"Compass", tr("Compass"), tr("Displays a compass to show the current driving direction."), ""}, - {"PedalsOnUI", tr("Gas / Brake Pedal Indicators"), tr("Displays pedal indicators to indicate when either of the pedals are currently being used."), ""}, - {"RotatingWheel", tr("Rotating Steering Wheel"), tr("Rotates the steering wheel in the onroad UI rotates along with your steering wheel movements."), ""} - }; - - for (const auto &[param, title, desc, icon] : visualToggles) { - AbstractControl *visualToggle; - - if (param == "QOLVisuals") { - FrogPilotParamManageControl *qolToggle = new FrogPilotParamManageControl(param, title, desc, icon); - QObject::connect(qolToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() { - std::set modifiedAccessibilityKeys = accessibilityKeys; - - if (!hasOpenpilotLongitudinal) { - modifiedAccessibilityKeys.erase("OnroadDistanceButton"); - } - - showToggles(modifiedAccessibilityKeys); - }); - visualToggle = qolToggle; - } else if (param == "CameraView") { - std::vector cameraOptions{tr("Auto"), tr("Driver"), tr("Standard"), tr("Wide")}; - ButtonParamControl *preferredCamera = new ButtonParamControl(param, title, desc, icon, cameraOptions); - visualToggle = preferredCamera; - - } else if (param == "AdvancedCustomUI") { - FrogPilotParamManageControl *advancedCustomUIToggle = new FrogPilotParamManageControl(param, title, desc, icon); - QObject::connect(advancedCustomUIToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() { - std::set modifiedAdvancedCustomOnroadUIKeys = advancedCustomOnroadUIKeys; - - if (!hasOpenpilotLongitudinal) { - modifiedAdvancedCustomOnroadUIKeys.erase("HideLeadMarker"); - } - - showToggles(modifiedAdvancedCustomOnroadUIKeys); - }); - visualToggle = advancedCustomUIToggle; - - } else if (param == "DeveloperUI") { - FrogPilotParamManageControl *developerUIToggle = new FrogPilotParamManageControl(param, title, desc, icon); - QObject::connect(developerUIToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() { - borderMetricsBtn->setVisibleButton(0, hasBSM); - lateralMetricsBtn->setVisibleButton(1, hasAutoTune); - longitudinalMetricsBtn->setVisibleButton(0, hasRadar); - - std::set modifiedDeveloperUIKeys = developerUIKeys; - - if (!hasOpenpilotLongitudinal) { - modifiedDeveloperUIKeys.erase("LongitudinalMetrics"); - } - - showToggles(modifiedDeveloperUIKeys); - }); - visualToggle = developerUIToggle; - } else if (param == "BorderMetrics") { - std::vector borderToggles{"BlindSpotMetrics", "ShowSteering", "SignalMetrics"}; - std::vector borderToggleNames{tr("Blind Spot"), tr("Steering Torque"), tr("Turn Signal")}; - borderMetricsBtn = new FrogPilotButtonToggleControl(param, title, desc, borderToggles, borderToggleNames); - visualToggle = borderMetricsBtn; - } else if (param == "LateralMetrics") { - std::vector lateralToggles{"AdjacentPathMetrics", "TuningInfo"}; - std::vector lateralToggleNames{tr("Adjacent Path Metrics"), tr("Auto Tune")}; - lateralMetricsBtn = new FrogPilotButtonToggleControl(param, title, desc, lateralToggles, lateralToggleNames); - visualToggle = lateralMetricsBtn; - } else if (param == "LongitudinalMetrics") { - std::vector longitudinalToggles{"AdjacentLeadsUI", "LeadInfo", "JerkInfo"}; - std::vector longitudinalToggleNames{tr("Adjacent Leads"), tr("Lead Info"), tr("Jerk Values")}; - longitudinalMetricsBtn = new FrogPilotButtonToggleControl(param, title, desc, longitudinalToggles, longitudinalToggleNames); - visualToggle = longitudinalMetricsBtn; - } else if (param == "NumericalTemp") { - std::vector temperatureToggles{"Fahrenheit"}; - std::vector temperatureToggleNames{tr("Fahrenheit")}; - visualToggle = new FrogPilotButtonToggleControl(param, title, desc, temperatureToggles, temperatureToggleNames); - } else if (param == "SidebarMetrics") { - std::vector sidebarMetricsToggles{"ShowCPU", "ShowGPU", "ShowIP", "ShowMemoryUsage", "ShowStorageLeft", "ShowStorageUsed"}; - std::vector sidebarMetricsToggleNames{tr("CPU"), tr("GPU"), tr("IP"), tr("RAM"), tr("SSD Left"), tr("SSD Used")}; - FrogPilotButtonToggleControl *sidebarMetricsToggle = new FrogPilotButtonToggleControl(param, title, desc, sidebarMetricsToggles, sidebarMetricsToggleNames, false, 150); - QObject::connect(sidebarMetricsToggle, &FrogPilotButtonToggleControl::buttonClicked, [sidebarMetricsToggle, this](int index) { - if (index == 0) { - params.putBool("ShowGPU", false); - } else if (index == 1) { - params.putBool("ShowCPU", false); - } else if (index == 3) { - params.putBool("ShowStorageLeft", false); - params.putBool("ShowStorageUsed", false); - } else if (index == 4) { - params.putBool("ShowMemoryUsage", false); - params.putBool("ShowStorageUsed", false); - } else if (index == 5) { - params.putBool("ShowMemoryUsage", false); - params.putBool("ShowStorageLeft", false); - } - sidebarMetricsToggle->refresh(); - }); - visualToggle = sidebarMetricsToggle; - - } else if (param == "ModelUI") { - FrogPilotParamManageControl *modelUIToggle = new FrogPilotParamManageControl(param, title, desc, icon); - QObject::connect(modelUIToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() { - std::set modifiedModelUIKeys = modelUIKeys; - - if (!hasOpenpilotLongitudinal) { - modifiedModelUIKeys.erase("ShowStoppingPoint"); - } - - showToggles(modifiedModelUIKeys); - }); - visualToggle = modelUIToggle; - } else if (param == "LaneLinesWidth" || param == "RoadEdgesWidth") { - visualToggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 24, tr(" inches")); - } else if (param == "PathEdgeWidth") { - visualToggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 100, tr("%")); - } else if (param == "PathWidth") { - visualToggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 10, tr(" feet"), std::map(), 0.1); - } else if (param == "ShowStoppingPoint") { - std::vector stoppingPointToggles{"ShowStoppingPointMetrics"}; - std::vector stoppingPointToggleNames{tr("Show Distance")}; - visualToggle = new FrogPilotButtonToggleControl(param, title, desc, stoppingPointToggles, stoppingPointToggleNames); - - } else if (param == "NavigationUI") { - FrogPilotParamManageControl *customUIToggle = new FrogPilotParamManageControl(param, title, desc, icon); - QObject::connect(customUIToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() { - std::set modifiedNavigationUIKeys = navigationUIKeys; - - if (!hasOpenpilotLongitudinal || !params.getBool("SpeedLimitController")) { - modifiedNavigationUIKeys.erase("ShowSLCOffset"); - } else if (params.getBool("SpeedLimitController")) { - modifiedNavigationUIKeys.erase("ShowSpeedLimits"); - } - - showToggles(modifiedNavigationUIKeys); - }); - visualToggle = customUIToggle; - } else if (param == "BigMap") { - std::vector mapToggles{"FullMap"}; - std::vector mapToggleNames{tr("Full Map")}; - visualToggle = new FrogPilotButtonToggleControl(param, title, desc, mapToggles, mapToggleNames); - } else if (param == "MapStyle") { - QMap styleMap { - {0, tr("Stock")}, - {1, tr("Mapbox Streets")}, - {2, tr("Mapbox Outdoors")}, - {3, tr("Mapbox Light")}, - {4, tr("Mapbox Dark")}, - {5, tr("Mapbox Satellite")}, - {6, tr("Mapbox Satellite Streets")}, - {7, tr("Mapbox Navigation Day")}, - {8, tr("Mapbox Navigation Night")}, - {9, tr("Mapbox Traffic Night")}, - {10, tr("mike854's (Satellite hybrid)")} - }; - - ButtonControl *mapStyleButton = new ButtonControl(title, tr("SELECT"), desc); - QObject::connect(mapStyleButton, &ButtonControl::clicked, [this, mapStyleButton, styleMap]() { - QString selection = MultiOptionDialog::getSelection(tr("Select a map style"), styleMap.values(), "", this); - if (!selection.isEmpty()) { - int selectedStyle = styleMap.key(selection); - params.putInt("MapStyle", selectedStyle); - mapStyleButton->setValue(selection); - } - }); - int currentStyle = params.getInt("MapStyle"); - mapStyleButton->setValue(styleMap[currentStyle]); - - visualToggle = mapStyleButton; - - } else if (param == "CustomUI") { - FrogPilotParamManageControl *customUIToggle = new FrogPilotParamManageControl(param, title, desc, icon); - QObject::connect(customUIToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() { - std::set modifiedCustomOnroadUIKeys = customOnroadUIKeys; - - if (!hasBSM) { - modifiedCustomOnroadUIKeys.erase("BlindSpotPath"); - } - - if (!hasOpenpilotLongitudinal) { - modifiedCustomOnroadUIKeys.erase("AccelerationPath"); - modifiedCustomOnroadUIKeys.erase("PedalsOnUI"); - } - - showToggles(modifiedCustomOnroadUIKeys); - }); - visualToggle = customUIToggle; - } else if (param == "PedalsOnUI") { - std::vector pedalsToggles{"DynamicPedalsOnUI", "StaticPedalsOnUI"}; - std::vector pedalsToggleNames{tr("Dynamic"), tr("Static")}; - FrogPilotButtonToggleControl *pedalsToggle = new FrogPilotButtonToggleControl(param, title, desc, pedalsToggles, pedalsToggleNames, true); - QObject::connect(pedalsToggle, &FrogPilotButtonToggleControl::buttonClicked, [this](int index) { - if (index == 0) { - params.putBool("StaticPedalsOnUI", false); - } else if (index == 1) { - params.putBool("DynamicPedalsOnUI", false); - } - }); - visualToggle = pedalsToggle; - - } else { - visualToggle = new ParamControl(param, title, desc, icon); - } - - addItem(visualToggle); - toggles[param] = visualToggle; - - if (FrogPilotParamManageControl *frogPilotManageToggle = qobject_cast(visualToggle)) { - QObject::connect(frogPilotManageToggle, &FrogPilotParamManageControl::manageButtonClicked, this, &FrogPilotVisualsPanel::openParentToggle); - } - - QObject::connect(visualToggle, &AbstractControl::showDescriptionEvent, [this]() { - update(); - }); - } - - QObject::connect(parent, &FrogPilotSettingsWindow::closeParentToggle, this, &FrogPilotVisualsPanel::hideToggles); - QObject::connect(parent, &FrogPilotSettingsWindow::updateMetric, this, &FrogPilotVisualsPanel::updateMetric); -} - -void FrogPilotVisualsPanel::showEvent(QShowEvent *event) { - frogpilotToggleLevels = parent->frogpilotToggleLevels; - hasAutoTune = parent->hasAutoTune; - hasBSM = parent->hasBSM; - hasOpenpilotLongitudinal = parent->hasOpenpilotLongitudinal; - hasRadar = parent->hasRadar; - tuningLevel = parent->tuningLevel; - - hideToggles(); -} - -void FrogPilotVisualsPanel::updateMetric() { - bool previousIsMetric = isMetric; - isMetric = params.getBool("IsMetric"); - - if (isMetric != previousIsMetric) { - double smallDistanceConversion = isMetric ? INCH_TO_CM : CM_TO_INCH; - double distanceConversion = isMetric ? FOOT_TO_METER : METER_TO_FOOT; - - params.putFloatNonBlocking("LaneLinesWidth", params.getFloat("LaneLinesWidth") * smallDistanceConversion); - params.putFloatNonBlocking("RoadEdgesWidth", params.getFloat("RoadEdgesWidth") * smallDistanceConversion); - - params.putFloatNonBlocking("PathWidth", params.getFloat("PathWidth") * distanceConversion); - } - - FrogPilotParamValueControl *laneLinesWidthToggle = static_cast(toggles["LaneLinesWidth"]); - FrogPilotParamValueControl *pathWidthToggle = static_cast(toggles["PathWidth"]); - FrogPilotParamValueControl *roadEdgesWidthToggle = static_cast(toggles["RoadEdgesWidth"]); - - if (isMetric) { - laneLinesWidthToggle->setDescription(tr("Adjust how thick the lane lines appear on the display.\n\nDefault matches the Vienna standard of 10 centimeters.")); - roadEdgesWidthToggle->setDescription(tr("Adjust how thick the road edges appear on the display.\n\nDefault matches half of the Vienna standard of 10 centimeters.")); - - laneLinesWidthToggle->updateControl(0, 60, tr(" centimeters")); - roadEdgesWidthToggle->updateControl(0, 60, tr(" centimeters")); - - pathWidthToggle->updateControl(0, 3, tr(" meters")); - } else { - laneLinesWidthToggle->setDescription(tr("Adjust how thick the lane lines appear on the display.\n\nDefault matches the MUTCD standard of 4 inches.")); - roadEdgesWidthToggle->setDescription(tr("Adjust how thick the road edges appear on the display.\n\nDefault matches half of the MUTCD standard of 4 inches.")); - - laneLinesWidthToggle->updateControl(0, 24, tr(" inches")); - roadEdgesWidthToggle->updateControl(0, 24, tr(" inches")); - - pathWidthToggle->updateControl(0, 10, tr(" feet")); - } -} - -void FrogPilotVisualsPanel::showToggles(const std::set &keys) { - setUpdatesEnabled(false); - - for (auto &[key, toggle] : toggles) { - toggle->setVisible(keys.find(key) != keys.end() && tuningLevel >= frogpilotToggleLevels[key].toDouble()); - } - - setUpdatesEnabled(true); - update(); -} - -void FrogPilotVisualsPanel::hideToggles() { - setUpdatesEnabled(false); - - for (auto &[key, toggle] : toggles) { - bool subToggles = accessibilityKeys.find(key) != accessibilityKeys.end() || - advancedCustomOnroadUIKeys.find(key) != advancedCustomOnroadUIKeys.end() || - customOnroadUIKeys.find(key) != customOnroadUIKeys.end() || - developerUIKeys.find(key) != developerUIKeys.end() || - modelUIKeys.find(key) != modelUIKeys.end() || - navigationUIKeys.find(key) != navigationUIKeys.end(); - - toggle->setVisible(!subToggles && tuningLevel >= frogpilotToggleLevels[key].toDouble()); - } - - toggles["QOLVisuals"]->setVisible(toggles["QOLVisuals"]->isVisible() || hasOpenpilotLongitudinal); - - setUpdatesEnabled(true); - update(); -} diff --git a/selfdrive/frogpilot/ui/qt/offroad/visual_settings.h b/selfdrive/frogpilot/ui/qt/offroad/visual_settings.h deleted file mode 100644 index 74da95396af91b..00000000000000 --- a/selfdrive/frogpilot/ui/qt/offroad/visual_settings.h +++ /dev/null @@ -1,48 +0,0 @@ -#pragma once - -#include - -#include "selfdrive/frogpilot/ui/qt/offroad/frogpilot_settings.h" - -class FrogPilotVisualsPanel : public FrogPilotListWidget { - Q_OBJECT - -public: - explicit FrogPilotVisualsPanel(FrogPilotSettingsWindow *parent); - -signals: - void openParentToggle(); - -private: - void hideToggles(); - void showEvent(QShowEvent *event) override; - void showToggles(const std::set &keys); - void updateMetric(); - - FrogPilotButtonToggleControl *borderMetricsBtn; - FrogPilotButtonToggleControl *lateralMetricsBtn; - FrogPilotButtonToggleControl *longitudinalMetricsBtn; - - FrogPilotSettingsWindow *parent; - - Params params; - - QJsonObject frogpilotToggleLevels; - - bool hasAutoTune; - bool hasBSM; - bool hasOpenpilotLongitudinal; - bool hasRadar; - bool isMetric = params.getBool("IsMetric"); - - int tuningLevel; - - std::map toggles; - - std::set accessibilityKeys = {"CameraView", "DriverCamera", "OnroadDistanceButton", "StandbyMode", "StoppedTimer"}; - std::set advancedCustomOnroadUIKeys = {"HideAlerts", "HideLeadMarker", "HideMapIcon", "HideMaxSpeed", "HideSpeed", "HideSpeedLimit", "WheelSpeed"}; - std::set customOnroadUIKeys = {"AccelerationPath", "AdjacentPath", "BlindSpotPath", "Compass", "PedalsOnUI", "RotatingWheel"}; - std::set developerUIKeys = {"BorderMetrics", "FPSCounter", "LateralMetrics", "LongitudinalMetrics", "NumericalTemp", "SidebarMetrics", "UseSI"}; - std::set modelUIKeys = {"DynamicPathWidth", "LaneLinesWidth", "PathEdgeWidth", "PathWidth", "RoadEdgesWidth", "ShowStoppingPoint", "UnlimitedLength"}; - std::set navigationUIKeys = {"BigMap", "MapStyle", "RoadNameUI", "ShowSLCOffset", "ShowSpeedLimits", "UseVienna"}; -}; diff --git a/selfdrive/frogpilot/ui/qt/widgets/drive_stats.cc b/selfdrive/frogpilot/ui/qt/widgets/drive_stats.cc deleted file mode 100644 index bcae769226db2a..00000000000000 --- a/selfdrive/frogpilot/ui/qt/widgets/drive_stats.cc +++ /dev/null @@ -1,106 +0,0 @@ -#include "selfdrive/ui/qt/request_repeater.h" -#include "selfdrive/ui/qt/util.h" - -#include "selfdrive/frogpilot/ui/qt/widgets/drive_stats.h" - -static QLabel *newLabel(const QString &text, const QString &type) { - QLabel *label = new QLabel(text); - label->setProperty("type", type); - return label; -} - -DriveStats::DriveStats(QWidget *parent) : QFrame(parent) { - metric = params.getBool("IsMetric"); - - QVBoxLayout *main_layout = new QVBoxLayout(this); - main_layout->setContentsMargins(50, 25, 50, 20); - - addStatsLayouts(tr("ALL TIME"), all); - addStatsLayouts(tr("PAST WEEK"), week); - addStatsLayouts(tr("FROGPILOT"), frogPilot, true); - - std::optional dongleId = getDongleId(); - if (dongleId.has_value()) { - QString url = CommaApi::BASE_URL + "/v1.1/devices/" + dongleId.value() + "/stats"; - RequestRepeater *repeater = new RequestRepeater(this, url, "ApiCache_DriveStats", 30); - QObject::connect(repeater, &RequestRepeater::requestDone, this, &DriveStats::parseResponse); - } - - setStyleSheet(R"( - DriveStats { - background-color: #333333; - border-radius: 10px; - } - - QLabel[type="title"] { font-size: 50px; font-weight: 500; } - QLabel[type="frogpilot_title"] { font-size: 50px; font-weight: 500; color: #178643; } - QLabel[type="number"] { font-size: 65px; font-weight: 400; } - QLabel[type="unit"] { font-size: 50px; font-weight: 300; color: #A0A0A0; } - )"); -} - -void DriveStats::addStatsLayouts(const QString &title, StatsLabels &labels, bool FrogPilot) { - QGridLayout *grid_layout = new QGridLayout; - grid_layout->setVerticalSpacing(10); - grid_layout->setContentsMargins(0, 10, 0, 10); - - int row = 0; - grid_layout->addWidget(newLabel(title, FrogPilot ? "frogpilot_title" : "title"), row++, 0, 1, 3); - grid_layout->addItem(new QSpacerItem(0, 10), row++, 0, 1, 1); - - grid_layout->addWidget(labels.routes = newLabel("0", "number"), row, 0, Qt::AlignLeft); - grid_layout->addWidget(labels.distance = newLabel("0", "number"), row, 1, Qt::AlignLeft); - grid_layout->addWidget(labels.hours = newLabel("0", "number"), row, 2, Qt::AlignLeft); - - grid_layout->addWidget(newLabel(tr("Drives"), "unit"), row + 1, 0, Qt::AlignLeft); - grid_layout->addWidget(labels.distance_unit = newLabel(getDistanceUnit(), "unit"), row + 1, 1, Qt::AlignLeft); - grid_layout->addWidget(newLabel(tr("Hours"), "unit"), row + 1, 2, Qt::AlignLeft); - - QVBoxLayout *main_layout = static_cast(layout()); - main_layout->addLayout(grid_layout); - main_layout->addStretch(1); -} - -void DriveStats::updateStatsForLabel(const QJsonObject &obj, StatsLabels &labels) { - labels.routes->setText(QString::number((int)obj["routes"].toDouble())); - labels.distance->setText(QString::number(int(obj["distance"].toDouble() * (metric ? MILE_TO_KM : 1)))); - labels.distance_unit->setText(getDistanceUnit()); - labels.hours->setText(QString::number((int)(obj["minutes"].toDouble() / 60))); -} - -void DriveStats::updateFrogPilotStats(const QJsonObject &obj, StatsLabels &labels) { - labels.routes->setText(QString::number(paramsTracking.getInt("FrogPilotDrives"))); - labels.distance->setText(QString::number(int(paramsTracking.getFloat("FrogPilotKilometers") * (metric ? 1 : KM_TO_MILE)))); - labels.distance_unit->setText(getDistanceUnit()); - labels.hours->setText(QString::number(int(paramsTracking.getFloat("FrogPilotMinutes") / 60))); -} - -void DriveStats::updateStats() { - QJsonObject json = stats.object(); - - updateFrogPilotStats(json["frogpilot"].toObject(), frogPilot); - updateStatsForLabel(json["all"].toObject(), all); - updateStatsForLabel(json["week"].toObject(), week); - - int all_time_minutes = (int)(json["all"].toObject()["minutes"].toDouble()); - params.put("openpilotMinutes", QString::number(all_time_minutes).toStdString()); -} - -void DriveStats::parseResponse(const QString &response, bool success) { - if (!success) { - return; - } - - QJsonDocument doc = QJsonDocument::fromJson(response.trimmed().toUtf8()); - if (doc.isNull()) { - qDebug() << "JSON Parse failed on getting past drives statistics"; - return; - } - stats = doc; - updateStats(); -} - -void DriveStats::showEvent(QShowEvent *event) { - metric = params.getBool("IsMetric"); - updateStats(); -} diff --git a/selfdrive/frogpilot/ui/qt/widgets/drive_stats.h b/selfdrive/frogpilot/ui/qt/widgets/drive_stats.h deleted file mode 100644 index ee38f1a72865e5..00000000000000 --- a/selfdrive/frogpilot/ui/qt/widgets/drive_stats.h +++ /dev/null @@ -1,38 +0,0 @@ -#pragma once - -#include "selfdrive/ui/ui.h" - -class DriveStats : public QFrame { - Q_OBJECT - -public: - explicit DriveStats(QWidget *parent = 0); - -private: - inline QString getDistanceUnit() const { return metric ? tr("KM") : tr("Miles"); } - - struct StatsLabels { - QLabel *routes; - QLabel *distance; - QLabel *distance_unit; - QLabel *hours; - }; - - void addStatsLayouts(const QString &title, StatsLabels &labels, bool FrogPilot = false); - void showEvent(QShowEvent *event) override; - void updateStats(); - void updateStatsForLabel(const QJsonObject &obj, StatsLabels &labels); - void updateFrogPilotStats(const QJsonObject &obj, StatsLabels &labels); - - Params params; - Params paramsTracking{"/persist/tracking"}; - - bool metric; - - QJsonDocument stats; - - StatsLabels all, week, frogPilot; - -private slots: - void parseResponse(const QString &response, bool success); -}; diff --git a/selfdrive/frogpilot/ui/qt/widgets/frogpilot_controls.cc b/selfdrive/frogpilot/ui/qt/widgets/frogpilot_controls.cc deleted file mode 100644 index 75436a0ebea0d9..00000000000000 --- a/selfdrive/frogpilot/ui/qt/widgets/frogpilot_controls.cc +++ /dev/null @@ -1,55 +0,0 @@ -#include -#include -#include - -#include "selfdrive/ui/ui.h" - -void updateFrogPilotToggles() { - static Params params_memory{"/dev/shm/params"}; - params_memory.putBool("FrogPilotTogglesUpdated", true); -} - -QColor loadThemeColors(const QString &colorKey, bool clearCache) { - static QJsonObject cachedColorData; - - if (clearCache) { - QFile file("../frogpilot/assets/active_theme/colors/colors.json"); - - while (!file.exists()) { - util::sleep_for(100); - } - - if (!file.open(QIODevice::ReadOnly)) { - return QColor(); - } - - cachedColorData = QJsonDocument::fromJson(file.readAll()).object(); - } - - if (cachedColorData.isEmpty()) { - return QColor(); - } - - QJsonObject colorObj = cachedColorData.value(colorKey).toObject(); - return QColor( - colorObj.value("red").toInt(255), - colorObj.value("green").toInt(255), - colorObj.value("blue").toInt(255), - colorObj.value("alpha").toInt(255) - ); -} - -bool FrogPilotConfirmationDialog::toggle(const QString &prompt_text, const QString &confirm_text, QWidget *parent, const bool isLong) { - ConfirmationDialog d(prompt_text, confirm_text, tr("Reboot Later"), false, parent, isLong); - return d.exec(); -} - -bool FrogPilotConfirmationDialog::toggleAlert(const QString &prompt_text, const QString &button_text, QWidget *parent, const bool isLong) { - ConfirmationDialog d(prompt_text, button_text, "", false, parent, isLong); - return d.exec(); -} - -bool FrogPilotConfirmationDialog::yesorno(const QString &prompt_text, QWidget *parent, const bool isLong) { - ConfirmationDialog d(prompt_text, tr("Yes"), tr("No"), false, parent, isLong); - return d.exec(); -} diff --git a/selfdrive/frogpilot/ui/qt/widgets/frogpilot_controls.h b/selfdrive/frogpilot/ui/qt/widgets/frogpilot_controls.h deleted file mode 100644 index 429034280701d4..00000000000000 --- a/selfdrive/frogpilot/ui/qt/widgets/frogpilot_controls.h +++ /dev/null @@ -1,546 +0,0 @@ -#pragma once - -#include - -#include -#include - -#include "selfdrive/ui/qt/widgets/controls.h" - -QColor loadThemeColors(const QString &colorKey, const bool clearCache = false); - -void updateFrogPilotToggles(); - -inline QString processModelName(const QString &modelName) { - QString modelCleaned = modelName; - modelCleaned = modelCleaned.remove(QRegularExpression("[🗺️👀📡]")).simplified(); - modelCleaned = modelCleaned.replace("(Default)", ""); - return modelCleaned; -} - -const QString buttonStyle = R"( - QPushButton { - padding: 0px 25px 0px 25px; - border-radius: 50px; - font-size: 35px; - font-weight: 500; - height: 100px; - color: #E4E4E4; - background-color: #393939; - } - QPushButton:pressed { - background-color: #4a4a4a; - } - QPushButton:checked:enabled { - background-color: #33Ab4C; - } - QPushButton:disabled { - color: #33E4E4E4; - } -)"; - -class FrogPilotConfirmationDialog : public ConfirmationDialog { - Q_OBJECT - -public: - explicit FrogPilotConfirmationDialog(const QString &prompt_text, const QString &confirm_text, - const QString &cancel_text, const bool rich, QWidget *parent); - static bool toggle(const QString &prompt_text, const QString &confirm_text, QWidget *parent, const bool isLong=false); - static bool toggleAlert(const QString &prompt_text, const QString &button_text, QWidget *parent, const bool isLong=false); - static bool yesorno(const QString &prompt_text, QWidget *parent, const bool isLong=false); -}; - -class FrogPilotListWidget : public QWidget { - Q_OBJECT - public: - explicit FrogPilotListWidget(QWidget *parent = 0) : QWidget(parent), outer_layout(this) { - outer_layout.setMargin(0); - outer_layout.setSpacing(0); - outer_layout.addLayout(&inner_layout); - inner_layout.setMargin(0); - inner_layout.setSpacing(25); // default spacing is 25 - outer_layout.addStretch(); - } - inline void addItem(QWidget *w) { - w->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Fixed); - inner_layout.addWidget(w); - } - inline void addItem(QLayout *layout) { inner_layout.addLayout(layout); } - inline void setSpacing(int spacing) { inner_layout.setSpacing(spacing); } - -private: - void paintEvent(QPaintEvent *) override { - QPainter p(this); - p.setPen(Qt::gray); - for (int i = 0; i < inner_layout.count() - 1; ++i) { - QWidget *widget = inner_layout.itemAt(i)->widget(); - - QWidget *nextWidget = nullptr; - for (int j = i + 1; j < inner_layout.count(); ++j) { - nextWidget = inner_layout.itemAt(j)->widget(); - if (nextWidget != nullptr && nextWidget->isVisible()) { - break; - } - } - - if ((widget == nullptr || widget->isVisible()) && nextWidget != nullptr && nextWidget->isVisible()) { - QRect r = inner_layout.itemAt(i)->geometry(); - int bottom = r.bottom() + inner_layout.spacing() / 2; - p.drawLine(r.left() + 40, bottom, r.right() - 40, bottom); - } - } - } - QVBoxLayout outer_layout; - QVBoxLayout inner_layout; -}; - -class FrogPilotButtonsControl : public AbstractControl { - Q_OBJECT - -public: - FrogPilotButtonsControl(const QString &title, const QString &desc, - const std::vector &buttonLabels, - const bool checkable = false, const bool exclusive = true, const QString &icon = "", - const int minimumButtonWidth = 225) - : AbstractControl(title, desc, icon), buttonGroup(new QButtonGroup(this)) { - buttonGroup->setExclusive(exclusive); - for (int i = 0; i < buttonLabels.size(); ++i) { - QPushButton *button = new QPushButton(buttonLabels[i], this); - button->setCheckable(checkable); - button->setStyleSheet(buttonStyle); - button->setMinimumWidth(minimumButtonWidth); - hlayout->addWidget(button); - buttonGroup->addButton(button, i); - button->installEventFilter(this); - } - - QObject::connect(buttonGroup, QOverload::of(&QButtonGroup::buttonClicked), [=](int id) { - emit buttonClicked(id); - }); - } - - void setEnabled(bool enable) { - for (QAbstractButton *btn : buttonGroup->buttons()) { - btn->setEnabled(enable); - } - } - - void setCheckedButton(int id, bool status = true) { - if (QAbstractButton *button = buttonGroup->button(id)) { - button->setChecked(status); - } - } - - void setEnabledButtons(int id, bool enable) { - if (QAbstractButton *button = buttonGroup->button(id)) { - button->setEnabled(enable); - } - } - - void setVisibleButton(int id, bool visible) { - if (QAbstractButton *button = buttonGroup->button(id)) { - button->setVisible(visible); - } - } - - void setText(int id, const QString &text) { - if (QAbstractButton *button = buttonGroup->button(id)) { - button->setText(text); - } - } - -signals: - void buttonClicked(int id); - void disabledButtonClicked(int id); - -protected: - bool eventFilter(QObject *obj, QEvent *event) override { - if (event->type() == QEvent::MouseButtonPress) { - QPushButton *button = qobject_cast(obj); - if (button && !button->isEnabled()) { - emit disabledButtonClicked(buttonGroup->id(button)); - } - } - return AbstractControl::eventFilter(obj, event); - } - -private: - QButtonGroup *buttonGroup; -}; - -class FrogPilotButtonToggleControl : public ParamControl { - Q_OBJECT - -public: - FrogPilotButtonToggleControl(const QString ¶m, const QString &title, const QString &desc, - const std::vector &buttonParams, const std::vector &buttonLabels, - const bool exclusive = false, const int minimumButtonWidth = 225, QWidget *parent = nullptr) - : ParamControl(param, title, desc, "", parent), - key(param.toStdString()), buttonParams(buttonParams), buttonGroup(new QButtonGroup(this)) { - buttonGroup->setExclusive(exclusive); - - for (int i = 0; i < buttonLabels.size(); ++i) { - QPushButton *button = new QPushButton(buttonLabels[i], this); - button->setCheckable(true); - button->setStyleSheet(buttonStyle); - button->setMinimumWidth(minimumButtonWidth); - hlayout->addWidget(button); - buttonGroup->addButton(button, i); - } - - hlayout->addWidget(&toggle); - - QObject::connect(buttonGroup, QOverload::of(&QButtonGroup::buttonClicked), [=](int id) { - bool checked = buttonGroup->button(id)->isChecked(); - params.putBool(buttonParams[id].toStdString(), checked); - emit buttonClicked(id); - }); - - QObject::connect(this, &ToggleControl::toggleFlipped, this, &FrogPilotButtonToggleControl::refresh); - } - - void refresh() { - bool state = params.getBool(key); - if (state != toggle.on) { - toggle.togglePosition(); - } - - const QList buttons = buttonGroup->buttons(); - for (int i = 0; i < buttons.size(); ++i) { - QAbstractButton *button = buttons[i]; - if (button) { - button->setEnabled(state); - button->setChecked(params.getBool(buttonParams[i].toStdString())); - } - } - } - - void setVisibleButton(int id, bool visible) { - if (QAbstractButton *button = buttonGroup->button(id)) { - button->setVisible(visible); - } - } - -signals: - void buttonClicked(int id); - -protected: - void showEvent(QShowEvent *event) override { - refresh(); - QObject::connect(this, &ToggleControl::toggleFlipped, this, &FrogPilotButtonToggleControl::refresh); - } - -private: - Params params; - - QButtonGroup *buttonGroup; - - std::string key; - std::vector buttonParams; -}; - -class FrogPilotParamManageControl : public ParamControl { - Q_OBJECT - -public: - FrogPilotParamManageControl(const QString ¶m, const QString &title, const QString &desc, const QString &icon, QWidget *parent = nullptr) - : ParamControl(param, title, desc, icon, parent), - key(param.toStdString()), - manageButton(new ButtonControl("", tr("MANAGE"))) { - - hlayout->insertWidget(hlayout->indexOf(&toggle) - 1, manageButton); - - QObject::connect(manageButton, &ButtonControl::clicked, this, &FrogPilotParamManageControl::manageButtonClicked); - QObject::connect(this, &ToggleControl::toggleFlipped, this, &FrogPilotParamManageControl::refresh); - } - - void setEnabled(bool enabled) { - manageButton->setEnabled(enabled && params.getBool(key)); - - toggle.setEnabled(enabled); - toggle.update(); - } - - void setVisibleButton(bool visible) { - manageButton->setVisible(visible); - } - - void refresh() { - manageButton->setEnabled(params.getBool(key)); - } - -signals: - void manageButtonClicked(); - -protected: - void showEvent(QShowEvent *event) override { - ParamControl::showEvent(event); - refresh(); - } - -private: - Params params; - - ButtonControl *manageButton; - - std::string key; -}; - -class FrogPilotParamValueControl : public AbstractControl { - Q_OBJECT - -public: - QLabel *valueLabel; - - FrogPilotParamValueControl(const QString ¶m, const QString &title, const QString &desc, const QString &icon, - const float minValue, const float maxValue, const QString &label = "", const std::map &valueLabels = {}, - const float interval = 1.0f, const bool compactSize = false, const bool instantUpdate = false) - : AbstractControl(title, desc, icon), key(param.toStdString()), minValue(minValue), maxValue(maxValue), - labelText(label), interval(interval), valueLabels(valueLabels), - decimalPlaces(std::ceil(-std::log10(interval))), factor(std::pow(10.0f, decimalPlaces)), - instantUpdate(instantUpdate) { - - setupButton(decrementButton, "-"); - setupButton(incrementButton, "+"); - - valueLabel = new QLabel(this); - valueLabel->setAlignment(Qt::AlignRight | Qt::AlignVCenter); - valueLabel->setStyleSheet("QLabel { color: #E0E879; }"); - if (compactSize) { - valueLabel->setFixedSize(175, 100); - } else { - valueLabel->setFixedSize(350, 100); - } - - hlayout->addWidget(valueLabel); - hlayout->addWidget(&decrementButton); - hlayout->addWidget(&incrementButton); - - QObject::connect(&decrementButton, &QPushButton::pressed, this, &FrogPilotParamValueControl::onDecrementPressed); - QObject::connect(&incrementButton, &QPushButton::pressed, this, &FrogPilotParamValueControl::onIncrementPressed); - QObject::connect(&decrementButton, &QPushButton::released, this, &FrogPilotParamValueControl::onButtonReleased); - QObject::connect(&incrementButton, &QPushButton::released, this, &FrogPilotParamValueControl::onButtonReleased); - } - - void updateControl(float newMinValue, float newMaxValue, const QString &newLabel = "") { - minValue = newMinValue; - maxValue = newMaxValue; - labelText = newLabel; - refresh(); - } - - void refresh() { - value = params.getFloat(key); - updateValueDisplay(); - } - -signals: - void valueChanged(float value); - -protected: - void showEvent(QShowEvent *event) override { - refresh(); - } - -private slots: - void onIncrementPressed() { - adjustValue(interval); - } - - void onDecrementPressed() { - adjustValue(-interval); - } - - void onButtonReleased() { - if (instantUpdate) { - params.putFloat(key, value); - } - - float lastValue = value; - QTimer::singleShot(50, this, [this, lastValue]() { - if (lastValue != value) { - return; - } - - previousDelta = false; - if (!instantUpdate) { - params.putFloat(key, value); - emit valueChanged(value); - } - }); - } - -private: - void adjustValue(float delta) { - float modResult = fmod(value, 5.0f * interval); - if (modResult < interval) { - if (previousDelta) { - delta *= 5; - } - previousDelta = true; - } - - value = qBound(minValue, value + delta, maxValue); - value = std::round(value * factor) / factor; - - updateValueDisplay(); - - if (instantUpdate) { - emit valueChanged(value); - } - } - - void updateValueDisplay() { - int intValue = static_cast(value / interval); - if (valueLabels.count(intValue)) { - valueLabel->setText(valueLabels.at(intValue)); - } else { - valueLabel->setText(QString::number(value, 'f', decimalPlaces) + labelText); - } - } - - void setupButton(QPushButton &button, const QString &text) { - button.setFixedSize(150, 100); - button.setText(text); - button.setAutoRepeat(true); - button.setAutoRepeatInterval(150); - button.setAutoRepeatDelay(500); - button.setStyleSheet(R"( - QPushButton { - border-radius: 50px; - font-size: 50px; - font-weight: 500; - height: 100px; - padding: 0 25px; - color: #E4E4E4; - background-color: #393939; - } - QPushButton:pressed { - background-color: #4a4a4a; - } - )"); - } - - Params params; - - QPushButton decrementButton; - QPushButton incrementButton; - - QString labelText; - - bool instantUpdate; - bool previousDelta; - - int decimalPlaces; - - float factor; - float interval; - float minValue; - float maxValue; - float value; - - std::map valueLabels; - - std::string key; -}; - -class FrogPilotParamValueButtonControl : public FrogPilotParamValueControl { - Q_OBJECT - -public: - FrogPilotParamValueButtonControl(const QString ¶m, const QString &title, const QString &desc, const QString &icon, - const float minValue, const float maxValue, const QString &label = "", const std::map &valueLabels = {}, - const float interval = 1.0f, - const std::vector &buttonParams = {}, const std::vector &buttonLabels = {}, - const bool leftButton = false, const bool checkable = true, const int minimumButtonWidth = 225) - : FrogPilotParamValueControl(param, title, desc, icon, minValue, maxValue, label, valueLabels, interval, true), - buttonParams(buttonParams), - buttonGroup(new QButtonGroup(this)), - checkable(checkable) { - buttonGroup->setExclusive(false); - - for (int i = 0; i < buttonLabels.size(); ++i) { - QPushButton *button = new QPushButton(buttonLabels[i], this); - button->setCheckable(checkable); - button->setStyleSheet(buttonStyle); - button->setMinimumWidth(minimumButtonWidth); - - if (leftButton) { - hlayout->insertWidget(hlayout->indexOf(valueLabel) - 1, button); - } else { - hlayout->addWidget(button); - } - buttonGroup->addButton(button, i); - } - - QObject::connect(buttonGroup, QOverload::of(&QButtonGroup::buttonClicked), [=](int id) { - if (checkable) { - bool checked = buttonGroup->button(id)->isChecked(); - params.putBool(buttonParams[id].toStdString(), checked); - } - emit buttonClicked(id); - }); - - QObject::connect(this, &FrogPilotParamValueControl::valueChanged, this, &FrogPilotParamValueButtonControl::refresh); - } - - void refresh() { - if (checkable) { - const QList buttons = buttonGroup->buttons(); - for (int i = 0; i < buttons.size(); ++i) { - QAbstractButton *button = buttons[i]; - if (button) { - button->setChecked(params.getBool(buttonParams[i].toStdString())); - } - } - } - FrogPilotParamValueControl::refresh(); - } - -signals: - void buttonClicked(int id); - -protected: - void showEvent(QShowEvent *event) override { - FrogPilotParamValueControl::showEvent(event); - refresh(); - } - -private: - Params params; - - QButtonGroup *buttonGroup; - - bool checkable; - - std::vector buttonParams; -}; - -class FrogPilotDualParamControl : public QFrame { - Q_OBJECT - -public: - FrogPilotDualParamControl(FrogPilotParamValueControl *control1, FrogPilotParamValueControl *control2, QWidget *parent = nullptr) - : QFrame(parent), control1(control1), control2(control2) { - QHBoxLayout *hlayout = new QHBoxLayout(this); - hlayout->addWidget(control1); - hlayout->addWidget(control2); - - control1->setObjectName("control1"); - control2->setObjectName("control2"); - } - - void updateControl(float newMinValue, float newMaxValue, const QString &newLabel = "") { - control1->updateControl(newMinValue, newMaxValue, newLabel); - control2->updateControl(newMinValue, newMaxValue, newLabel); - } - - void refresh() { - control1->refresh(); - control2->refresh(); - } - -private: - FrogPilotParamValueControl *control1; - FrogPilotParamValueControl *control2; -}; diff --git a/selfdrive/frogpilot/ui/qt/widgets/model_reviewer.cc b/selfdrive/frogpilot/ui/qt/widgets/model_reviewer.cc deleted file mode 100644 index 8b9dedeb797bba..00000000000000 --- a/selfdrive/frogpilot/ui/qt/widgets/model_reviewer.cc +++ /dev/null @@ -1,236 +0,0 @@ -#include -#include - -#include "selfdrive/frogpilot/ui/qt/widgets/model_reviewer.h" - -ModelReview::ModelReview(QWidget *parent) : QFrame(parent) { - mainLayout = new QStackedLayout(this); - - QVBoxLayout *ratingLayout = new QVBoxLayout(); - ratingLayout->setContentsMargins(50, 25, 50, 20); - - questionLabel = addLabel(ratingLayout, "What would you rate that drive?", "question"); - - QHBoxLayout *ratingButtonsLayout = new QHBoxLayout(); - QStringList emojis = {"🤩", "🙂", "🤔", "🙁", "🤕"}; - QList scores = {100, 80, 60, 40, 20}; - - for (int i = 0; i < emojis.size(); ++i) { - QPushButton *ratingButton = createButton(emojis[i], "rating_button", scores[i], 150, 150); - ratingButtonsLayout->addWidget(ratingButton); - QObject::connect(ratingButton, &QPushButton::clicked, this, &ModelReview::onRatingButtonClicked); - } - - ratingLayout->addLayout(ratingButtonsLayout); - - blacklistButton = createButton("Blacklist this model", "blacklist_button", 0, 600, 100); - QObject::connect(blacklistButton, &QPushButton::clicked, this, &ModelReview::onBlacklistButtonClicked); - ratingLayout->addWidget(blacklistButton, 0, Qt::AlignCenter); - - QWidget *ratingWidget = new QWidget(this); - ratingWidget->setLayout(ratingLayout); - mainLayout->addWidget(ratingWidget); - - QVBoxLayout *modelInfoLayout = new QVBoxLayout(); - modelInfoLayout->setContentsMargins(50, 25, 50, 20); - - titleLabel = addLabel(modelInfoLayout, "The model used during that drive was:", "title"); - modelLabel = addLabel(modelInfoLayout, "", "model"); - - modelInfoLayout->addItem(new QSpacerItem(20, 75, QSizePolicy::Minimum, QSizePolicy::Fixed)); - - QVBoxLayout *bottomLayout = new QVBoxLayout(); - modelScoreLabel = addLabel(bottomLayout, "Current Model Score: 0", "score"); - modelRankLabel = addLabel(bottomLayout, "Current Model Rank: 0", "rank"); - totalDrivesLabel = addLabel(bottomLayout, "Total Model Drives: 0", "drives"); - totalOverallDrivesLabel = addLabel(bottomLayout, "Total Overall Model Drives: 0", "drives"); - blacklistMessageLabel = addLabel(bottomLayout, "", "blacklist_message"); - - modelInfoLayout->addLayout(bottomLayout); - - QWidget *modelInfoWidget = new QWidget(this); - modelInfoWidget->setLayout(modelInfoLayout); - mainLayout->addWidget(modelInfoWidget); - - setStyleSheet(R"( - ModelReview { - background-color: #333333; - border-radius: 5px; - } - QLabel[type="drives"], QLabel[type="question"], QLabel[type="rank"], QLabel[type="score"], QLabel[type="title"] { - font-size: 50px; - font-weight: semi-bold; - color: #FFFFFF; - } - QLabel[type="model"] { - font-size: 75px; - font-weight: bold; - color: #FFFFFF; - } - QLabel[type="blacklist_message"] { - font-size: 40px; - font-weight: bold; - color: #C92231; - } - QPushButton[type="rating_button"] { - font-size: 75px; - font-weight: bold; - padding: 10px; - color: #FFFFFF; - background-color: #555555; - border: 2px solid #FFFFFF; - border-radius: 5px; - } - QPushButton[type="rating_button"]:hover { - background-color: #777777; - } - QPushButton[type="blacklist_button"] { - font-size: 50px; - font-weight: bold; - padding: 10px; - color: #C92231; - background-color: #000000; - border: 2px solid #FFFFFF; - border-radius: 5px; - } - )"); -} - -QLabel *ModelReview::addLabel(QVBoxLayout *layout, const QString &text, const QString &type) { - QLabel *label = new QLabel(text, this); - label->setProperty("type", type); - label->setAlignment(Qt::AlignCenter); - layout->addWidget(label); - return label; -} - -QPushButton *ModelReview::createButton(const QString &text, const QString &type, int rating, int width, int height) { - QPushButton *button = new QPushButton(text, this); - button->setProperty("type", type); - button->setProperty("rating", rating); - button->setFixedSize(width, height); - return button; -} - -void ModelReview::showEvent(QShowEvent *event) { - currentModel = uiState()->scene.model_name; - currentModelFiltered = processModelName(currentModel); - - mainLayout->setCurrentIndex(modelRated ? 1 : 0); - - checkBlacklistButtonVisibility(); -} - -void ModelReview::mousePressEvent(QMouseEvent *e) { - if (mainLayout->currentIndex() != 1) { - return; - } - - emit driveRated(); -} - -void ModelReview::updateLabel() { - totalDrivesLabel->setText(QString("Total Model Drives: %1").arg(totalDrives)); - modelLabel->setText(currentModelFiltered); - modelRankLabel->setText(QString("Current Model Rank: %1").arg(getModelRank())); - modelScoreLabel->setText(QString("Current Model Score: %1").arg(finalRating)); - totalOverallDrivesLabel->setText(QString("Total Overall Drives: %1").arg(totalOverallDrives)); - - mainLayout->setCurrentIndex(1); - - QTimer::singleShot(30000, [this]() { - emit driveRated(); - modelRated = false; - }); -} - -void ModelReview::onRatingButtonClicked() { - int newRating = qobject_cast(sender())->property("rating").toInt(); - - QString jsonString = QString::fromStdString(params.get("ModelDrivesAndScores")); - QJsonDocument jsonDoc = QJsonDocument::fromJson(jsonString.toUtf8()); - QJsonObject jsonObject = jsonDoc.isObject() ? jsonDoc.object() : QJsonObject(); - - QJsonObject modelData = jsonObject.value(currentModelFiltered).toObject(); - int modelDrives = modelData.value("Drives").toInt(); - int modelScore = modelData.value("Score").toInt(); - - totalDrives = modelDrives + 1; - finalRating = ((modelScore * modelDrives) + newRating) / totalDrives; - - modelData["Drives"] = totalDrives; - modelData["Score"] = finalRating; - jsonObject[currentModelFiltered] = modelData; - - params.put("ModelDrivesAndScores", QString(QJsonDocument(jsonObject).toJson(QJsonDocument::Compact)).toStdString()); - - modelRated = true; - updateLabel(); -} - -void ModelReview::onBlacklistButtonClicked() { - QString jsonString = QString::fromStdString(params.get("ModelDrivesAndScores")); - QJsonDocument jsonDoc = QJsonDocument::fromJson(jsonString.toUtf8()); - QJsonObject jsonObject = jsonDoc.isObject() ? jsonDoc.object() : QJsonObject(); - - QJsonObject modelData = jsonObject.value(currentModelFiltered).toObject(); - int modelDrives = modelData.value("Drives").toInt(); - - totalDrives = modelDrives + 1; - modelData["Drives"] = totalDrives; - modelData["Score"] = 0; - jsonObject[currentModelFiltered] = modelData; - - if (!blacklistedModels.contains(currentModel)) { - blacklistedModels.append(currentModel); - params.put("BlacklistedModels", blacklistedModels.join(",").toStdString()); - } - - params.put("ModelDrivesAndScores", QString(QJsonDocument(jsonObject).toJson(QJsonDocument::Compact)).toStdString()); - - blacklistMessageLabel->setText("Model successfully blacklisted!"); - updateLabel(); -} - -void ModelReview::checkBlacklistButtonVisibility() { - QStringList availableModels = QString::fromStdString(params.get("AvailableModels")).split(","); - blacklistedModels = QString::fromStdString(params.get("BlacklistedModels")).split(",", QString::SkipEmptyParts); - - blacklistButton->setVisible(availableModels.size() > blacklistedModels.size()); -} - -int ModelReview::getModelRank() { - QString jsonString = QString::fromStdString(params.get("ModelDrivesAndScores")); - QJsonDocument jsonDoc = QJsonDocument::fromJson(jsonString.toUtf8()); - QJsonObject jsonObject = jsonDoc.isObject() ? jsonDoc.object() : QJsonObject(); - - QList> modelScores; - totalOverallDrives = 0; - - QStringList availableModels = QString::fromStdString(params.get("AvailableModelNames")).split(","); - for (const QString &model : availableModels) { - QString processedModel = processModelName(model); - QJsonObject modelData = jsonObject.value(processedModel).toObject(); - - int modelDrives = modelData.value("Drives").toInt(); - int modelScore = modelData.value("Score").toInt(); - - totalOverallDrives += modelDrives; - - if (modelScore > 0) { - modelScores.append(qMakePair(processedModel, modelScore)); - } - } - - std::sort(modelScores.begin(), modelScores.end(), [](QPair &a, QPair &b) { - return a.second > b.second; - }); - - for (int i = 0; i < modelScores.size(); ++i) { - if (modelScores[i].first == currentModelFiltered) { - return i + 1; - } - } - - return 1; -} diff --git a/selfdrive/frogpilot/ui/qt/widgets/model_reviewer.h b/selfdrive/frogpilot/ui/qt/widgets/model_reviewer.h deleted file mode 100644 index f3593d2c00da94..00000000000000 --- a/selfdrive/frogpilot/ui/qt/widgets/model_reviewer.h +++ /dev/null @@ -1,58 +0,0 @@ -#pragma once - -#include "selfdrive/ui/ui.h" - -class ModelReview : public QFrame { - Q_OBJECT - -public: - explicit ModelReview(QWidget *parent = nullptr); - -signals: - void driveRated(); - -protected: - void mousePressEvent(QMouseEvent *e) override; - void showEvent(QShowEvent *event) override; - -private slots: - void onBlacklistButtonClicked(); - void onRatingButtonClicked(); - -private: - int getModelRank(); - - QLabel *addLabel(QVBoxLayout *layout, const QString &text, const QString &type); - - QPushButton *createButton(const QString &text, const QString &type, int rating, int width, int height); - - void checkBlacklistButtonVisibility(); - void updateLabel(); - - QStackedLayout *mainLayout; - - QLabel *blacklistMessageLabel; - QLabel *modelLabel; - QLabel *modelRankLabel; - QLabel *modelScoreLabel; - QLabel *questionLabel; - QLabel *titleLabel; - QLabel *totalDrivesLabel; - QLabel *totalOverallDrivesLabel; - - QPushButton *blacklistButton; - - Params params; - Params params_memory{"/dev/shm/params"}; - - QString currentModel; - QString currentModelFiltered; - - QStringList blacklistedModels; - - bool modelRated; - - int finalRating; - int totalDrives; - int totalOverallDrives; -}; diff --git a/selfdrive/locationd/locationd b/selfdrive/locationd/locationd new file mode 100755 index 00000000000000..765ab6d95f6c87 Binary files /dev/null and b/selfdrive/locationd/locationd differ diff --git a/selfdrive/locationd/locationd.cc b/selfdrive/locationd/locationd.cc deleted file mode 100644 index 2ac392a77893b3..00000000000000 --- a/selfdrive/locationd/locationd.cc +++ /dev/null @@ -1,750 +0,0 @@ -#include "selfdrive/locationd/locationd.h" - -#include -#include - -#include -#include -#include - -using namespace EKFS; -using namespace Eigen; - -ExitHandler do_exit; -const double ACCEL_SANITY_CHECK = 100.0; // m/s^2 -const double ROTATION_SANITY_CHECK = 10.0; // rad/s -const double TRANS_SANITY_CHECK = 200.0; // m/s -const double CALIB_RPY_SANITY_CHECK = 0.5; // rad (+- 30 deg) -const double ALTITUDE_SANITY_CHECK = 10000; // m -const double MIN_STD_SANITY_CHECK = 1e-5; // m or rad -const double VALID_TIME_SINCE_RESET = 1.0; // s -const double VALID_POS_STD = 50.0; // m -const double MAX_RESET_TRACKER = 5.0; -const double SANE_GPS_UNCERTAINTY = 1500.0; // m -const double INPUT_INVALID_THRESHOLD = 0.5; // same as reset tracker -const double RESET_TRACKER_DECAY = 0.99995; -const double DECAY = 0.9993; // ~10 secs to resume after a bad input -const double MAX_FILTER_REWIND_TIME = 0.8; // s -const double YAWRATE_CROSS_ERR_CHECK_FACTOR = 30; - -// TODO: GPS sensor time offsets are empirically calculated -// They should be replaced with synced time from a real clock -const double GPS_QUECTEL_SENSOR_TIME_OFFSET = 0.630; // s -const double GPS_UBLOX_SENSOR_TIME_OFFSET = 0.095; // s -const float GPS_POS_STD_THRESHOLD = 50.0; -const float GPS_VEL_STD_THRESHOLD = 5.0; -const float GPS_POS_ERROR_RESET_THRESHOLD = 300.0; -const float GPS_POS_STD_RESET_THRESHOLD = 2.0; -const float GPS_VEL_STD_RESET_THRESHOLD = 0.5; -const float GPS_ORIENTATION_ERROR_RESET_THRESHOLD = 1.0; -const int GPS_ORIENTATION_ERROR_RESET_CNT = 3; - -const bool DEBUG = getenv("DEBUG") != nullptr && std::string(getenv("DEBUG")) != "0"; - -static VectorXd floatlist2vector(const capnp::List::Reader& floatlist) { - VectorXd res(floatlist.size()); - for (int i = 0; i < floatlist.size(); i++) { - res[i] = floatlist[i]; - } - return res; -} - -static Vector4d quat2vector(const Quaterniond& quat) { - return Vector4d(quat.w(), quat.x(), quat.y(), quat.z()); -} - -static Quaterniond vector2quat(const VectorXd& vec) { - return Quaterniond(vec(0), vec(1), vec(2), vec(3)); -} - -static void init_measurement(cereal::LiveLocationKalman::Measurement::Builder meas, const VectorXd& val, const VectorXd& std, bool valid) { - meas.setValue(kj::arrayPtr(val.data(), val.size())); - meas.setStd(kj::arrayPtr(std.data(), std.size())); - meas.setValid(valid); -} - - -static MatrixXdr rotate_cov(const MatrixXdr& rot_matrix, const MatrixXdr& cov_in) { - // To rotate a covariance matrix, the cov matrix needs to multiplied left and right by the transform matrix - return ((rot_matrix * cov_in) * rot_matrix.transpose()); -} - -static VectorXd rotate_std(const MatrixXdr& rot_matrix, const VectorXd& std_in) { - // Stds cannot be rotated like values, only covariances can be rotated - return rotate_cov(rot_matrix, std_in.array().square().matrix().asDiagonal()).diagonal().array().sqrt(); -} - -Localizer::Localizer(LocalizerGnssSource gnss_source) { - this->kf = std::make_unique(); - this->reset_kalman(); - - this->calib = Vector3d(0.0, 0.0, 0.0); - this->device_from_calib = MatrixXdr::Identity(3, 3); - this->calib_from_device = MatrixXdr::Identity(3, 3); - - for (int i = 0; i < POSENET_STD_HIST_HALF * 2; i++) { - this->posenet_stds.push_back(10.0); - } - - VectorXd ecef_pos = this->kf->get_x().segment(STATE_ECEF_POS_START); - this->converter = std::make_unique((ECEF) { .x = ecef_pos[0], .y = ecef_pos[1], .z = ecef_pos[2] }); - this->configure_gnss_source(gnss_source); -} - -void Localizer::build_live_location(cereal::LiveLocationKalman::Builder& fix) { - VectorXd predicted_state = this->kf->get_x(); - MatrixXdr predicted_cov = this->kf->get_P(); - VectorXd predicted_std = predicted_cov.diagonal().array().sqrt(); - - VectorXd fix_ecef = predicted_state.segment(STATE_ECEF_POS_START); - ECEF fix_ecef_ecef = { .x = fix_ecef(0), .y = fix_ecef(1), .z = fix_ecef(2) }; - VectorXd fix_ecef_std = predicted_std.segment(STATE_ECEF_POS_ERR_START); - VectorXd vel_ecef = predicted_state.segment(STATE_ECEF_VELOCITY_START); - VectorXd vel_ecef_std = predicted_std.segment(STATE_ECEF_VELOCITY_ERR_START); - VectorXd fix_pos_geo_vec = this->get_position_geodetic(); - VectorXd orientation_ecef = quat2euler(vector2quat(predicted_state.segment(STATE_ECEF_ORIENTATION_START))); - VectorXd orientation_ecef_std = predicted_std.segment(STATE_ECEF_ORIENTATION_ERR_START); - MatrixXdr orientation_ecef_cov = predicted_cov.block(STATE_ECEF_ORIENTATION_ERR_START, STATE_ECEF_ORIENTATION_ERR_START); - MatrixXdr device_from_ecef = euler2rot(orientation_ecef).transpose(); - VectorXd calibrated_orientation_ecef = rot2euler((this->calib_from_device * device_from_ecef).transpose()); - - VectorXd acc_calib = this->calib_from_device * predicted_state.segment(STATE_ACCELERATION_START); - MatrixXdr acc_calib_cov = predicted_cov.block(STATE_ACCELERATION_ERR_START, STATE_ACCELERATION_ERR_START); - VectorXd acc_calib_std = rotate_cov(this->calib_from_device, acc_calib_cov).diagonal().array().sqrt(); - VectorXd ang_vel_calib = this->calib_from_device * predicted_state.segment(STATE_ANGULAR_VELOCITY_START); - - MatrixXdr vel_angular_cov = predicted_cov.block(STATE_ANGULAR_VELOCITY_ERR_START, STATE_ANGULAR_VELOCITY_ERR_START); - VectorXd ang_vel_calib_std = rotate_cov(this->calib_from_device, vel_angular_cov).diagonal().array().sqrt(); - - VectorXd vel_device = device_from_ecef * vel_ecef; - VectorXd device_from_ecef_eul = quat2euler(vector2quat(predicted_state.segment(STATE_ECEF_ORIENTATION_START))).transpose(); - MatrixXdr condensed_cov(STATE_ECEF_ORIENTATION_ERR_LEN + STATE_ECEF_VELOCITY_ERR_LEN, STATE_ECEF_ORIENTATION_ERR_LEN + STATE_ECEF_VELOCITY_ERR_LEN); - condensed_cov.topLeftCorner() = - predicted_cov.block(STATE_ECEF_ORIENTATION_ERR_START, STATE_ECEF_ORIENTATION_ERR_START); - condensed_cov.topRightCorner() = - predicted_cov.block(STATE_ECEF_ORIENTATION_ERR_START, STATE_ECEF_VELOCITY_ERR_START); - condensed_cov.bottomRightCorner() = - predicted_cov.block(STATE_ECEF_VELOCITY_ERR_START, STATE_ECEF_VELOCITY_ERR_START); - condensed_cov.bottomLeftCorner() = - predicted_cov.block(STATE_ECEF_VELOCITY_ERR_START, STATE_ECEF_ORIENTATION_ERR_START); - VectorXd H_input(device_from_ecef_eul.size() + vel_ecef.size()); - H_input << device_from_ecef_eul, vel_ecef; - MatrixXdr HH = this->kf->H(H_input); - MatrixXdr vel_device_cov = (HH * condensed_cov) * HH.transpose(); - VectorXd vel_device_std = vel_device_cov.diagonal().array().sqrt(); - - VectorXd vel_calib = this->calib_from_device * vel_device; - VectorXd vel_calib_std = rotate_cov(this->calib_from_device, vel_device_cov).diagonal().array().sqrt(); - - VectorXd orientation_ned = ned_euler_from_ecef(fix_ecef_ecef, orientation_ecef); - VectorXd orientation_ned_std = rotate_cov(this->converter->ecef2ned_matrix, orientation_ecef_cov).diagonal().array().sqrt(); - VectorXd calibrated_orientation_ned = ned_euler_from_ecef(fix_ecef_ecef, calibrated_orientation_ecef); - VectorXd nextfix_ecef = fix_ecef + vel_ecef; - VectorXd ned_vel = this->converter->ecef2ned((ECEF) { .x = nextfix_ecef(0), .y = nextfix_ecef(1), .z = nextfix_ecef(2) }).to_vector() - converter->ecef2ned(fix_ecef_ecef).to_vector(); - - VectorXd accDevice = predicted_state.segment(STATE_ACCELERATION_START); - VectorXd accDeviceErr = predicted_std.segment(STATE_ACCELERATION_ERR_START); - - VectorXd angVelocityDevice = predicted_state.segment(STATE_ANGULAR_VELOCITY_START); - VectorXd angVelocityDeviceErr = predicted_std.segment(STATE_ANGULAR_VELOCITY_ERR_START); - - Vector3d nans = Vector3d(NAN, NAN, NAN); - - // TODO fill in NED and Calibrated stds - // write measurements to msg - init_measurement(fix.initPositionGeodetic(), fix_pos_geo_vec, nans, this->gps_mode); - init_measurement(fix.initPositionECEF(), fix_ecef, fix_ecef_std, this->gps_mode); - init_measurement(fix.initVelocityECEF(), vel_ecef, vel_ecef_std, this->gps_mode); - init_measurement(fix.initVelocityNED(), ned_vel, nans, this->gps_mode); - init_measurement(fix.initVelocityDevice(), vel_device, vel_device_std, true); - init_measurement(fix.initAccelerationDevice(), accDevice, accDeviceErr, true); - init_measurement(fix.initOrientationECEF(), orientation_ecef, orientation_ecef_std, this->gps_mode); - init_measurement(fix.initCalibratedOrientationECEF(), calibrated_orientation_ecef, nans, this->calibrated && this->gps_mode); - init_measurement(fix.initOrientationNED(), orientation_ned, orientation_ned_std, this->gps_mode); - init_measurement(fix.initCalibratedOrientationNED(), calibrated_orientation_ned, nans, this->calibrated && this->gps_mode); - init_measurement(fix.initAngularVelocityDevice(), angVelocityDevice, angVelocityDeviceErr, true); - init_measurement(fix.initVelocityCalibrated(), vel_calib, vel_calib_std, this->calibrated); - init_measurement(fix.initAngularVelocityCalibrated(), ang_vel_calib, ang_vel_calib_std, this->calibrated); - init_measurement(fix.initAccelerationCalibrated(), acc_calib, acc_calib_std, this->calibrated); - if (DEBUG) { - init_measurement(fix.initFilterState(), predicted_state, predicted_std, true); - } - - double old_mean = 0.0, new_mean = 0.0; - int i = 0; - for (double x : this->posenet_stds) { - if (i < POSENET_STD_HIST_HALF) { - old_mean += x; - } else { - new_mean += x; - } - i++; - } - old_mean /= POSENET_STD_HIST_HALF; - new_mean /= POSENET_STD_HIST_HALF; - // experimentally found these values, no false positives in 20k minutes of driving - bool std_spike = (new_mean / old_mean > 4.0 && new_mean > 7.0); - - fix.setPosenetOK(!(std_spike && this->car_speed > 5.0)); - fix.setDeviceStable(!this->device_fell); - fix.setExcessiveResets(this->reset_tracker > MAX_RESET_TRACKER); - fix.setTimeToFirstFix(std::isnan(this->ttff) ? -1. : this->ttff); - this->device_fell = false; - - //fix.setGpsWeek(this->time.week); - //fix.setGpsTimeOfWeek(this->time.tow); - fix.setUnixTimestampMillis(this->unix_timestamp_millis); - - double time_since_reset = this->kf->get_filter_time() - this->last_reset_time; - fix.setTimeSinceReset(time_since_reset); - if (fix_ecef_std.norm() < VALID_POS_STD && this->calibrated && time_since_reset > VALID_TIME_SINCE_RESET) { - fix.setStatus(cereal::LiveLocationKalman::Status::VALID); - } else if (fix_ecef_std.norm() < VALID_POS_STD && time_since_reset > VALID_TIME_SINCE_RESET) { - fix.setStatus(cereal::LiveLocationKalman::Status::UNCALIBRATED); - } else { - fix.setStatus(cereal::LiveLocationKalman::Status::UNINITIALIZED); - } -} - -VectorXd Localizer::get_position_geodetic() { - VectorXd fix_ecef = this->kf->get_x().segment(STATE_ECEF_POS_START); - ECEF fix_ecef_ecef = { .x = fix_ecef(0), .y = fix_ecef(1), .z = fix_ecef(2) }; - Geodetic fix_pos_geo = ecef2geodetic(fix_ecef_ecef); - return Vector3d(fix_pos_geo.lat, fix_pos_geo.lon, fix_pos_geo.alt); -} - -VectorXd Localizer::get_state() { - return this->kf->get_x(); -} - -VectorXd Localizer::get_stdev() { - return this->kf->get_P().diagonal().array().sqrt(); -} - -bool Localizer::are_inputs_ok() { - return this->critical_services_valid(this->observation_values_invalid) && !this->observation_timings_invalid; -} - -void Localizer::observation_timings_invalid_reset(){ - this->observation_timings_invalid = false; -} - -void Localizer::handle_sensor(double current_time, const cereal::SensorEventData::Reader& log) { - // TODO does not yet account for double sensor readings in the log - - // Ignore empty readings (e.g. in case the magnetometer had no data ready) - if (log.getTimestamp() == 0) { - return; - } - - double sensor_time = 1e-9 * log.getTimestamp(); - - // sensor time and log time should be close - if (std::abs(current_time - sensor_time) > 0.1) { - LOGE("Sensor reading ignored, sensor timestamp more than 100ms off from log time"); - this->observation_timings_invalid = true; - return; - } else if (!this->is_timestamp_valid(sensor_time)) { - this->observation_timings_invalid = true; - return; - } - - // TODO: handle messages from two IMUs at the same time - if (log.getSource() == cereal::SensorEventData::SensorSource::BMX055) { - return; - } - - // Gyro Uncalibrated - if (log.getSensor() == SENSOR_GYRO_UNCALIBRATED && log.getType() == SENSOR_TYPE_GYROSCOPE_UNCALIBRATED) { - auto v = log.getGyroUncalibrated().getV(); - auto meas = Vector3d(-v[2], -v[1], -v[0]); - - VectorXd gyro_bias = this->kf->get_x().segment(STATE_GYRO_BIAS_START); - float gyro_camodo_yawrate_err = std::abs((meas[2] - gyro_bias[2]) - this->camodo_yawrate_distribution[0]); - float gyro_camodo_yawrate_err_threshold = YAWRATE_CROSS_ERR_CHECK_FACTOR * this->camodo_yawrate_distribution[1]; - bool gyro_valid = gyro_camodo_yawrate_err < gyro_camodo_yawrate_err_threshold; - - if ((meas.norm() < ROTATION_SANITY_CHECK) && gyro_valid) { - this->kf->predict_and_observe(sensor_time, OBSERVATION_PHONE_GYRO, { meas }); - this->observation_values_invalid["gyroscope"] *= DECAY; - } else { - this->observation_values_invalid["gyroscope"] += 1.0; - } - } - - // Accelerometer - if (log.getSensor() == SENSOR_ACCELEROMETER && log.getType() == SENSOR_TYPE_ACCELEROMETER) { - auto v = log.getAcceleration().getV(); - - // TODO: reduce false positives and re-enable this check - // check if device fell, estimate 10 for g - // 40m/s**2 is a good filter for falling detection, no false positives in 20k minutes of driving - // this->device_fell |= (floatlist2vector(v) - Vector3d(10.0, 0.0, 0.0)).norm() > 40.0; - - auto meas = Vector3d(-v[2], -v[1], -v[0]); - if (meas.norm() < ACCEL_SANITY_CHECK) { - this->kf->predict_and_observe(sensor_time, OBSERVATION_PHONE_ACCEL, { meas }); - this->observation_values_invalid["accelerometer"] *= DECAY; - } else { - this->observation_values_invalid["accelerometer"] += 1.0; - } - } -} - -void Localizer::input_fake_gps_observations(double current_time) { - // This is done to make sure that the error estimate of the position does not blow up - // when the filter is in no-gps mode - // Steps : first predict -> observe current obs with reasonable STD - this->kf->predict(current_time); - - VectorXd current_x = this->kf->get_x(); - VectorXd ecef_pos = current_x.segment(STATE_ECEF_POS_START); - VectorXd ecef_vel = current_x.segment(STATE_ECEF_VELOCITY_START); - const MatrixXdr &ecef_pos_R = this->kf->get_fake_gps_pos_cov(); - const MatrixXdr &ecef_vel_R = this->kf->get_fake_gps_vel_cov(); - - this->kf->predict_and_observe(current_time, OBSERVATION_ECEF_POS, { ecef_pos }, { ecef_pos_R }); - this->kf->predict_and_observe(current_time, OBSERVATION_ECEF_VEL, { ecef_vel }, { ecef_vel_R }); -} - -void Localizer::handle_gps(double current_time, const cereal::GpsLocationData::Reader& log, const double sensor_time_offset) { - bool gps_unreasonable = (Vector2d(log.getHorizontalAccuracy(), log.getVerticalAccuracy()).norm() >= SANE_GPS_UNCERTAINTY); - bool gps_accuracy_insane = ((log.getVerticalAccuracy() <= 0) || (log.getSpeedAccuracy() <= 0) || (log.getBearingAccuracyDeg() <= 0)); - bool gps_lat_lng_alt_insane = ((std::abs(log.getLatitude()) > 90) || (std::abs(log.getLongitude()) > 180) || (std::abs(log.getAltitude()) > ALTITUDE_SANITY_CHECK)); - bool gps_vel_insane = (floatlist2vector(log.getVNED()).norm() > TRANS_SANITY_CHECK); - - if (!log.getHasFix() || gps_unreasonable || gps_accuracy_insane || gps_lat_lng_alt_insane || gps_vel_insane) { - //this->gps_valid = false; - this->determine_gps_mode(current_time); - return; - } - - double sensor_time = current_time - sensor_time_offset; - - // Process message - //this->gps_valid = true; - this->gps_mode = true; - Geodetic geodetic = { log.getLatitude(), log.getLongitude(), log.getAltitude() }; - this->converter = std::make_unique(geodetic); - - VectorXd ecef_pos = this->converter->ned2ecef({ 0.0, 0.0, 0.0 }).to_vector(); - VectorXd ecef_vel = this->converter->ned2ecef({ log.getVNED()[0], log.getVNED()[1], log.getVNED()[2] }).to_vector() - ecef_pos; - float ecef_pos_std = std::sqrt(this->gps_variance_factor * std::pow(log.getHorizontalAccuracy(), 2) + this->gps_vertical_variance_factor * std::pow(log.getVerticalAccuracy(), 2)); - MatrixXdr ecef_pos_R = Vector3d::Constant(std::pow(this->gps_std_factor * ecef_pos_std, 2)).asDiagonal(); - MatrixXdr ecef_vel_R = Vector3d::Constant(std::pow(this->gps_std_factor * log.getSpeedAccuracy(), 2)).asDiagonal(); - - this->unix_timestamp_millis = log.getUnixTimestampMillis(); - double gps_est_error = (this->kf->get_x().segment(STATE_ECEF_POS_START) - ecef_pos).norm(); - - VectorXd orientation_ecef = quat2euler(vector2quat(this->kf->get_x().segment(STATE_ECEF_ORIENTATION_START))); - VectorXd orientation_ned = ned_euler_from_ecef({ ecef_pos(0), ecef_pos(1), ecef_pos(2) }, orientation_ecef); - VectorXd orientation_ned_gps = Vector3d(0.0, 0.0, DEG2RAD(log.getBearingDeg())); - VectorXd orientation_error = (orientation_ned - orientation_ned_gps).array() - M_PI; - for (int i = 0; i < orientation_error.size(); i++) { - orientation_error(i) = std::fmod(orientation_error(i), 2.0 * M_PI); - if (orientation_error(i) < 0.0) { - orientation_error(i) += 2.0 * M_PI; - } - orientation_error(i) -= M_PI; - } - VectorXd initial_pose_ecef_quat = quat2vector(euler2quat(ecef_euler_from_ned({ ecef_pos(0), ecef_pos(1), ecef_pos(2) }, orientation_ned_gps))); - - if (ecef_vel.norm() > 5.0 && orientation_error.norm() > 1.0) { - LOGE("Locationd vs ubloxLocation orientation difference too large, kalman reset"); - this->reset_kalman(NAN, initial_pose_ecef_quat, ecef_pos, ecef_vel, ecef_pos_R, ecef_vel_R); - this->kf->predict_and_observe(sensor_time, OBSERVATION_ECEF_ORIENTATION_FROM_GPS, { initial_pose_ecef_quat }); - } else if (gps_est_error > 100.0) { - LOGE("Locationd vs ubloxLocation position difference too large, kalman reset"); - this->reset_kalman(NAN, initial_pose_ecef_quat, ecef_pos, ecef_vel, ecef_pos_R, ecef_vel_R); - } - - this->last_gps_msg = sensor_time; - this->kf->predict_and_observe(sensor_time, OBSERVATION_ECEF_POS, { ecef_pos }, { ecef_pos_R }); - this->kf->predict_and_observe(sensor_time, OBSERVATION_ECEF_VEL, { ecef_vel }, { ecef_vel_R }); -} - -void Localizer::handle_gnss(double current_time, const cereal::GnssMeasurements::Reader& log) { - - if (!log.getPositionECEF().getValid() || !log.getVelocityECEF().getValid()) { - this->determine_gps_mode(current_time); - return; - } - - double sensor_time = log.getMeasTime() * 1e-9; - sensor_time -= this->gps_time_offset; - - auto ecef_pos_v = log.getPositionECEF().getValue(); - VectorXd ecef_pos = Vector3d(ecef_pos_v[0], ecef_pos_v[1], ecef_pos_v[2]); - - // indexed at 0 cause all std values are the same MAE - auto ecef_pos_std = log.getPositionECEF().getStd()[0]; - MatrixXdr ecef_pos_R = Vector3d::Constant(pow(this->gps_std_factor*ecef_pos_std, 2)).asDiagonal(); - - auto ecef_vel_v = log.getVelocityECEF().getValue(); - VectorXd ecef_vel = Vector3d(ecef_vel_v[0], ecef_vel_v[1], ecef_vel_v[2]); - - // indexed at 0 cause all std values are the same MAE - auto ecef_vel_std = log.getVelocityECEF().getStd()[0]; - MatrixXdr ecef_vel_R = Vector3d::Constant(pow(this->gps_std_factor*ecef_vel_std, 2)).asDiagonal(); - - double gps_est_error = (this->kf->get_x().segment(STATE_ECEF_POS_START) - ecef_pos).norm(); - - VectorXd orientation_ecef = quat2euler(vector2quat(this->kf->get_x().segment(STATE_ECEF_ORIENTATION_START))); - VectorXd orientation_ned = ned_euler_from_ecef({ ecef_pos[0], ecef_pos[1], ecef_pos[2] }, orientation_ecef); - - LocalCoord convs((ECEF){ .x = ecef_pos[0], .y = ecef_pos[1], .z = ecef_pos[2] }); - ECEF next_ecef = {.x = ecef_pos[0] + ecef_vel[0], .y = ecef_pos[1] + ecef_vel[1], .z = ecef_pos[2] + ecef_vel[2]}; - VectorXd ned_vel = convs.ecef2ned(next_ecef).to_vector(); - double bearing_rad = atan2(ned_vel[1], ned_vel[0]); - - VectorXd orientation_ned_gps = Vector3d(0.0, 0.0, bearing_rad); - VectorXd orientation_error = (orientation_ned - orientation_ned_gps).array() - M_PI; - for (int i = 0; i < orientation_error.size(); i++) { - orientation_error(i) = std::fmod(orientation_error(i), 2.0 * M_PI); - if (orientation_error(i) < 0.0) { - orientation_error(i) += 2.0 * M_PI; - } - orientation_error(i) -= M_PI; - } - VectorXd initial_pose_ecef_quat = quat2vector(euler2quat(ecef_euler_from_ned({ ecef_pos(0), ecef_pos(1), ecef_pos(2) }, orientation_ned_gps))); - - if (ecef_pos_std > GPS_POS_STD_THRESHOLD || ecef_vel_std > GPS_VEL_STD_THRESHOLD) { - this->determine_gps_mode(current_time); - return; - } - - // prevent jumping gnss measurements (covered lots, standstill...) - bool orientation_reset = ecef_vel_std < GPS_VEL_STD_RESET_THRESHOLD; - orientation_reset &= orientation_error.norm() > GPS_ORIENTATION_ERROR_RESET_THRESHOLD; - orientation_reset &= !this->standstill; - if (orientation_reset) { - this->orientation_reset_count++; - } else { - this->orientation_reset_count = 0; - } - - if ((gps_est_error > GPS_POS_ERROR_RESET_THRESHOLD && ecef_pos_std < GPS_POS_STD_RESET_THRESHOLD) || this->last_gps_msg == 0) { - // always reset on first gps message and if the location is off but the accuracy is high - LOGE("Locationd vs gnssMeasurement position difference too large, kalman reset"); - this->reset_kalman(NAN, initial_pose_ecef_quat, ecef_pos, ecef_vel, ecef_pos_R, ecef_vel_R); - } else if (orientation_reset_count > GPS_ORIENTATION_ERROR_RESET_CNT) { - LOGE("Locationd vs gnssMeasurement orientation difference too large, kalman reset"); - this->reset_kalman(NAN, initial_pose_ecef_quat, ecef_pos, ecef_vel, ecef_pos_R, ecef_vel_R); - this->kf->predict_and_observe(sensor_time, OBSERVATION_ECEF_ORIENTATION_FROM_GPS, { initial_pose_ecef_quat }); - this->orientation_reset_count = 0; - } - - this->gps_mode = true; - this->last_gps_msg = sensor_time; - this->kf->predict_and_observe(sensor_time, OBSERVATION_ECEF_POS, { ecef_pos }, { ecef_pos_R }); - this->kf->predict_and_observe(sensor_time, OBSERVATION_ECEF_VEL, { ecef_vel }, { ecef_vel_R }); -} - -void Localizer::handle_car_state(double current_time, const cereal::CarState::Reader& log) { - this->car_speed = std::abs(log.getVEgo()); - this->standstill = log.getStandstill(); - if (this->standstill) { - this->kf->predict_and_observe(current_time, OBSERVATION_NO_ROT, { Vector3d(0.0, 0.0, 0.0) }); - this->kf->predict_and_observe(current_time, OBSERVATION_NO_ACCEL, { Vector3d(0.0, 0.0, 0.0) }); - } -} - -void Localizer::handle_cam_odo(double current_time, const cereal::CameraOdometry::Reader& log) { - VectorXd rot_device = this->device_from_calib * floatlist2vector(log.getRot()); - VectorXd trans_device = this->device_from_calib * floatlist2vector(log.getTrans()); - - if (!this->is_timestamp_valid(current_time)) { - this->observation_timings_invalid = true; - return; - } - - if ((rot_device.norm() > ROTATION_SANITY_CHECK) || (trans_device.norm() > TRANS_SANITY_CHECK)) { - this->observation_values_invalid["cameraOdometry"] += 1.0; - return; - } - - VectorXd rot_calib_std = floatlist2vector(log.getRotStd()); - VectorXd trans_calib_std = floatlist2vector(log.getTransStd()); - - if ((rot_calib_std.minCoeff() <= MIN_STD_SANITY_CHECK) || (trans_calib_std.minCoeff() <= MIN_STD_SANITY_CHECK)) { - this->observation_values_invalid["cameraOdometry"] += 1.0; - return; - } - - if ((rot_calib_std.norm() > 10 * ROTATION_SANITY_CHECK) || (trans_calib_std.norm() > 10 * TRANS_SANITY_CHECK)) { - this->observation_values_invalid["cameraOdometry"] += 1.0; - return; - } - - this->posenet_stds.pop_front(); - this->posenet_stds.push_back(trans_calib_std[0]); - - // Multiply by 10 to avoid to high certainty in kalman filter because of temporally correlated noise - trans_calib_std *= 10.0; - rot_calib_std *= 10.0; - MatrixXdr rot_device_cov = rotate_std(this->device_from_calib, rot_calib_std).array().square().matrix().asDiagonal(); - MatrixXdr trans_device_cov = rotate_std(this->device_from_calib, trans_calib_std).array().square().matrix().asDiagonal(); - this->kf->predict_and_observe(current_time, OBSERVATION_CAMERA_ODO_ROTATION, - { rot_device }, { rot_device_cov }); - this->kf->predict_and_observe(current_time, OBSERVATION_CAMERA_ODO_TRANSLATION, - { trans_device }, { trans_device_cov }); - this->observation_values_invalid["cameraOdometry"] *= DECAY; - this->camodo_yawrate_distribution = Vector2d(rot_device[2], rotate_std(this->device_from_calib, rot_calib_std)[2]); -} - -void Localizer::handle_live_calib(double current_time, const cereal::LiveCalibrationData::Reader& log) { - if (!this->is_timestamp_valid(current_time)) { - this->observation_timings_invalid = true; - return; - } - - if (log.getRpyCalib().size() > 0) { - auto live_calib = floatlist2vector(log.getRpyCalib()); - if ((live_calib.minCoeff() < -CALIB_RPY_SANITY_CHECK) || (live_calib.maxCoeff() > CALIB_RPY_SANITY_CHECK)) { - this->observation_values_invalid["liveCalibration"] += 1.0; - return; - } - - this->calib = live_calib; - this->device_from_calib = euler2rot(this->calib); - this->calib_from_device = this->device_from_calib.transpose(); - this->calibrated = log.getCalStatus() == cereal::LiveCalibrationData::Status::CALIBRATED; - this->observation_values_invalid["liveCalibration"] *= DECAY; - } -} - -void Localizer::reset_kalman(double current_time) { - const VectorXd &init_x = this->kf->get_initial_x(); - const MatrixXdr &init_P = this->kf->get_initial_P(); - this->reset_kalman(current_time, init_x, init_P); -} - -void Localizer::finite_check(double current_time) { - bool all_finite = this->kf->get_x().array().isFinite().all() or this->kf->get_P().array().isFinite().all(); - if (!all_finite) { - LOGE("Non-finite values detected, kalman reset"); - this->reset_kalman(current_time); - } -} - -void Localizer::time_check(double current_time) { - if (std::isnan(this->last_reset_time)) { - this->last_reset_time = current_time; - } - if (std::isnan(this->first_valid_log_time)) { - this->first_valid_log_time = current_time; - } - double filter_time = this->kf->get_filter_time(); - bool big_time_gap = !std::isnan(filter_time) && (current_time - filter_time > 10); - if (big_time_gap) { - LOGE("Time gap of over 10s detected, kalman reset"); - this->reset_kalman(current_time); - } -} - -void Localizer::update_reset_tracker() { - // reset tracker is tuned to trigger when over 1reset/10s over 2min period - if (this->is_gps_ok()) { - this->reset_tracker *= RESET_TRACKER_DECAY; - } else { - this->reset_tracker = 0.0; - } -} - -void Localizer::reset_kalman(double current_time, const VectorXd &init_orient, const VectorXd &init_pos, const VectorXd &init_vel, const MatrixXdr &init_pos_R, const MatrixXdr &init_vel_R) { - // too nonlinear to init on completely wrong - VectorXd current_x = this->kf->get_x(); - MatrixXdr current_P = this->kf->get_P(); - MatrixXdr init_P = this->kf->get_initial_P(); - const MatrixXdr &reset_orientation_P = this->kf->get_reset_orientation_P(); - int non_ecef_state_err_len = init_P.rows() - (STATE_ECEF_POS_ERR_LEN + STATE_ECEF_ORIENTATION_ERR_LEN + STATE_ECEF_VELOCITY_ERR_LEN); - - current_x.segment(STATE_ECEF_ORIENTATION_START) = init_orient; - current_x.segment(STATE_ECEF_VELOCITY_START) = init_vel; - current_x.segment(STATE_ECEF_POS_START) = init_pos; - - init_P.block(STATE_ECEF_POS_ERR_START, STATE_ECEF_POS_ERR_START).diagonal() = init_pos_R.diagonal(); - init_P.block(STATE_ECEF_ORIENTATION_ERR_START, STATE_ECEF_ORIENTATION_ERR_START).diagonal() = reset_orientation_P.diagonal(); - init_P.block(STATE_ECEF_VELOCITY_ERR_START, STATE_ECEF_VELOCITY_ERR_START).diagonal() = init_vel_R.diagonal(); - init_P.block(STATE_ANGULAR_VELOCITY_ERR_START, STATE_ANGULAR_VELOCITY_ERR_START, non_ecef_state_err_len, non_ecef_state_err_len).diagonal() = current_P.block(STATE_ANGULAR_VELOCITY_ERR_START, - STATE_ANGULAR_VELOCITY_ERR_START, non_ecef_state_err_len, non_ecef_state_err_len).diagonal(); - - this->reset_kalman(current_time, current_x, init_P); -} - -void Localizer::reset_kalman(double current_time, const VectorXd &init_x, const MatrixXdr &init_P) { - this->kf->init_state(init_x, init_P, current_time); - this->last_reset_time = current_time; - this->reset_tracker += 1.0; -} - -void Localizer::handle_msg_bytes(const char *data, const size_t size) { - AlignedBuffer aligned_buf; - - capnp::FlatArrayMessageReader cmsg(aligned_buf.align(data, size)); - cereal::Event::Reader event = cmsg.getRoot(); - - this->handle_msg(event); -} - -void Localizer::handle_msg(const cereal::Event::Reader& log) { - double t = log.getLogMonoTime() * 1e-9; - this->time_check(t); - if (log.isAccelerometer()) { - this->handle_sensor(t, log.getAccelerometer()); - } else if (log.isGyroscope()) { - this->handle_sensor(t, log.getGyroscope()); - } else if (log.isGpsLocation()) { - this->handle_gps(t, log.getGpsLocation(), GPS_QUECTEL_SENSOR_TIME_OFFSET); - } else if (log.isGpsLocationExternal()) { - this->handle_gps(t, log.getGpsLocationExternal(), GPS_UBLOX_SENSOR_TIME_OFFSET); - //} else if (log.isGnssMeasurements()) { - // this->handle_gnss(t, log.getGnssMeasurements()); - } else if (log.isCarState()) { - this->handle_car_state(t, log.getCarState()); - } else if (log.isCameraOdometry()) { - this->handle_cam_odo(t, log.getCameraOdometry()); - } else if (log.isLiveCalibration()) { - this->handle_live_calib(t, log.getLiveCalibration()); - } - this->finite_check(); - this->update_reset_tracker(); -} - -kj::ArrayPtr Localizer::get_message_bytes(MessageBuilder& msg_builder, bool inputsOK, - bool sensorsOK, bool gpsOK, bool msgValid) { - cereal::Event::Builder evt = msg_builder.initEvent(); - evt.setValid(msgValid); - cereal::LiveLocationKalman::Builder liveLoc = evt.initLiveLocationKalman(); - this->build_live_location(liveLoc); - liveLoc.setSensorsOK(sensorsOK); - liveLoc.setGpsOK(gpsOK); - liveLoc.setInputsOK(inputsOK); - return msg_builder.toBytes(); -} - -bool Localizer::is_gps_ok() { - return (this->kf->get_filter_time() - this->last_gps_msg) < 2.0; -} - -bool Localizer::critical_services_valid(const std::map &critical_services) { - for (auto &kv : critical_services){ - if (kv.second >= INPUT_INVALID_THRESHOLD){ - return false; - } - } - return true; -} - -bool Localizer::is_timestamp_valid(double current_time) { - double filter_time = this->kf->get_filter_time(); - if (!std::isnan(filter_time) && ((filter_time - current_time) > MAX_FILTER_REWIND_TIME)) { - LOGE("Observation timestamp is older than the max rewind threshold of the filter"); - return false; - } - return true; -} - -void Localizer::determine_gps_mode(double current_time) { - // 1. If the pos_std is greater than what's not acceptable and localizer is in gps-mode, reset to no-gps-mode - // 2. If the pos_std is greater than what's not acceptable and localizer is in no-gps-mode, fake obs - // 3. If the pos_std is smaller than what's not acceptable, let gps-mode be whatever it is - VectorXd current_pos_std = this->kf->get_P().block(STATE_ECEF_POS_ERR_START, STATE_ECEF_POS_ERR_START).diagonal().array().sqrt(); - if (current_pos_std.norm() > SANE_GPS_UNCERTAINTY){ - if (this->gps_mode){ - this->gps_mode = false; - this->reset_kalman(current_time); - } else { - this->input_fake_gps_observations(current_time); - } - } -} - -void Localizer::configure_gnss_source(const LocalizerGnssSource &source) { - this->gnss_source = source; - if (source == LocalizerGnssSource::UBLOX) { - this->gps_std_factor = 10.0; - this->gps_variance_factor = 1.0; - this->gps_vertical_variance_factor = 1.0; - this->gps_time_offset = GPS_UBLOX_SENSOR_TIME_OFFSET; - } else { - this->gps_std_factor = 2.0; - this->gps_variance_factor = 0.0; - this->gps_vertical_variance_factor = 3.0; - this->gps_time_offset = GPS_QUECTEL_SENSOR_TIME_OFFSET; - } -} - -int Localizer::locationd_thread() { - Params params; - LocalizerGnssSource source; - const char* gps_location_socket; - if (params.getBool("UbloxAvailable")) { - source = LocalizerGnssSource::UBLOX; - gps_location_socket = "gpsLocationExternal"; - } else { - source = LocalizerGnssSource::QCOM; - gps_location_socket = "gpsLocation"; - } - - this->configure_gnss_source(source); - const std::initializer_list service_list = {gps_location_socket, "cameraOdometry", "liveCalibration", - "carState", "accelerometer", "gyroscope"}; - - SubMaster sm(service_list, {}, nullptr, {gps_location_socket}); - PubMaster pm({"liveLocationKalman"}); - - uint64_t cnt = 0; - bool filterInitialized = false; - const std::vector critical_input_services = {"cameraOdometry", "liveCalibration", "accelerometer", "gyroscope"}; - for (std::string service : critical_input_services) { - this->observation_values_invalid.insert({service, 0.0}); - } - - while (!do_exit) { - sm.update(); - if (filterInitialized){ - this->observation_timings_invalid_reset(); - for (const char* service : service_list) { - if (sm.updated(service) && sm.valid(service)){ - const cereal::Event::Reader log = sm[service]; - this->handle_msg(log); - } - } - } else { - filterInitialized = sm.allAliveAndValid(); - } - - const char* trigger_msg = "cameraOdometry"; - if (sm.updated(trigger_msg)) { - bool inputsOK = sm.allValid() && this->are_inputs_ok(); - bool gpsOK = this->is_gps_ok(); - bool sensorsOK = sm.allAliveAndValid({"accelerometer", "gyroscope"}); - - // Log time to first fix - if (gpsOK && std::isnan(this->ttff) && !std::isnan(this->first_valid_log_time)) { - this->ttff = std::max(1e-3, (sm[trigger_msg].getLogMonoTime() * 1e-9) - this->first_valid_log_time); - } - - MessageBuilder msg_builder; - kj::ArrayPtr bytes = this->get_message_bytes(msg_builder, inputsOK, sensorsOK, gpsOK, filterInitialized); - pm.send("liveLocationKalman", bytes.begin(), bytes.size()); - - if (cnt % 1200 == 0 && gpsOK) { // once a minute - VectorXd posGeo = this->get_position_geodetic(); - std::string lastGPSPosJSON = util::string_format( - "{\"latitude\": %.15f, \"longitude\": %.15f, \"altitude\": %.15f}", posGeo(0), posGeo(1), posGeo(2)); - params.putNonBlocking("LastGPSPosition", lastGPSPosJSON); - } - cnt++; - } - } - return 0; -} - -int main() { - util::set_realtime_priority(5); - - Localizer localizer; - return localizer.locationd_thread(); -} diff --git a/selfdrive/locationd/locationd.h b/selfdrive/locationd/locationd.h deleted file mode 100644 index 47c8bf5627bb60..00000000000000 --- a/selfdrive/locationd/locationd.h +++ /dev/null @@ -1,100 +0,0 @@ -#pragma once - -#include -#include -#include -#include -#include -#include - -#include "cereal/messaging/messaging.h" -#include "common/transformations/coordinates.hpp" -#include "common/transformations/orientation.hpp" -#include "common/params.h" -#include "common/swaglog.h" -#include "common/timing.h" -#include "common/util.h" - -#include "system/sensord/sensors/constants.h" -#define VISION_DECIMATION 2 -#define SENSOR_DECIMATION 10 -#include "selfdrive/locationd/models/live_kf.h" - -#define POSENET_STD_HIST_HALF 20 - -enum LocalizerGnssSource { - UBLOX, QCOM -}; - -class Localizer { -public: - Localizer(LocalizerGnssSource gnss_source = LocalizerGnssSource::UBLOX); - - int locationd_thread(); - - void reset_kalman(double current_time = NAN); - void reset_kalman(double current_time, const Eigen::VectorXd &init_orient, const Eigen::VectorXd &init_pos, const Eigen::VectorXd &init_vel, const MatrixXdr &init_pos_R, const MatrixXdr &init_vel_R); - void reset_kalman(double current_time, const Eigen::VectorXd &init_x, const MatrixXdr &init_P); - void finite_check(double current_time = NAN); - void time_check(double current_time = NAN); - void update_reset_tracker(); - bool is_gps_ok(); - bool critical_services_valid(const std::map &critical_services); - bool is_timestamp_valid(double current_time); - void determine_gps_mode(double current_time); - bool are_inputs_ok(); - void observation_timings_invalid_reset(); - - kj::ArrayPtr get_message_bytes(MessageBuilder& msg_builder, - bool inputsOK, bool sensorsOK, bool gpsOK, bool msgValid); - void build_live_location(cereal::LiveLocationKalman::Builder& fix); - - Eigen::VectorXd get_position_geodetic(); - Eigen::VectorXd get_state(); - Eigen::VectorXd get_stdev(); - - void handle_msg_bytes(const char *data, const size_t size); - void handle_msg(const cereal::Event::Reader& log); - void handle_sensor(double current_time, const cereal::SensorEventData::Reader& log); - void handle_gps(double current_time, const cereal::GpsLocationData::Reader& log, const double sensor_time_offset); - void handle_gnss(double current_time, const cereal::GnssMeasurements::Reader& log); - void handle_car_state(double current_time, const cereal::CarState::Reader& log); - void handle_cam_odo(double current_time, const cereal::CameraOdometry::Reader& log); - void handle_live_calib(double current_time, const cereal::LiveCalibrationData::Reader& log); - - void input_fake_gps_observations(double current_time); - -private: - std::unique_ptr kf; - - Eigen::VectorXd calib; - MatrixXdr device_from_calib; - MatrixXdr calib_from_device; - bool calibrated = false; - - double car_speed = 0.0; - double last_reset_time = NAN; - std::deque posenet_stds; - - std::unique_ptr converter; - - int64_t unix_timestamp_millis = 0; - double reset_tracker = 0.0; - bool device_fell = false; - bool gps_mode = false; - double first_valid_log_time = NAN; - double ttff = NAN; - double last_gps_msg = 0; - LocalizerGnssSource gnss_source; - bool observation_timings_invalid = false; - std::map observation_values_invalid; - bool standstill = true; - int32_t orientation_reset_count = 0; - float gps_std_factor; - float gps_variance_factor; - float gps_vertical_variance_factor; - double gps_time_offset; - Eigen::VectorXd camodo_yawrate_distribution = Eigen::Vector2d(0.0, 10.0); // mean, std - - void configure_gnss_source(const LocalizerGnssSource &source); -}; diff --git a/selfdrive/locationd/models/generated/car.cpp b/selfdrive/locationd/models/generated/car.cpp new file mode 100644 index 00000000000000..4399fa8970a530 --- /dev/null +++ b/selfdrive/locationd/models/generated/car.cpp @@ -0,0 +1,661 @@ +#include "car.h" + +namespace { +#define DIM 9 +#define EDIM 9 +#define MEDIM 9 +typedef void (*Hfun)(double *, double *, double *); + +double mass; + +void set_mass(double x){ mass = x;} + +double rotational_inertia; + +void set_rotational_inertia(double x){ rotational_inertia = x;} + +double center_to_front; + +void set_center_to_front(double x){ center_to_front = x;} + +double center_to_rear; + +void set_center_to_rear(double x){ center_to_rear = x;} + +double stiffness_front; + +void set_stiffness_front(double x){ stiffness_front = x;} + +double stiffness_rear; + +void set_stiffness_rear(double x){ stiffness_rear = x;} +const static double MAHA_THRESH_25 = 3.8414588206941227; +const static double MAHA_THRESH_24 = 5.991464547107981; +const static double MAHA_THRESH_30 = 3.8414588206941227; +const static double MAHA_THRESH_26 = 3.8414588206941227; +const static double MAHA_THRESH_27 = 3.8414588206941227; +const static double MAHA_THRESH_29 = 3.8414588206941227; +const static double MAHA_THRESH_28 = 3.8414588206941227; +const static double MAHA_THRESH_31 = 3.8414588206941227; + +/****************************************************************************** + * Code generated with SymPy 1.12 * + * * + * See http://www.sympy.org/ for more information. * + * * + * This file is part of 'ekf' * + ******************************************************************************/ +void err_fun(double *nom_x, double *delta_x, double *out_6726285173694629968) { + out_6726285173694629968[0] = delta_x[0] + nom_x[0]; + out_6726285173694629968[1] = delta_x[1] + nom_x[1]; + out_6726285173694629968[2] = delta_x[2] + nom_x[2]; + out_6726285173694629968[3] = delta_x[3] + nom_x[3]; + out_6726285173694629968[4] = delta_x[4] + nom_x[4]; + out_6726285173694629968[5] = delta_x[5] + nom_x[5]; + out_6726285173694629968[6] = delta_x[6] + nom_x[6]; + out_6726285173694629968[7] = delta_x[7] + nom_x[7]; + out_6726285173694629968[8] = delta_x[8] + nom_x[8]; +} +void inv_err_fun(double *nom_x, double *true_x, double *out_7057348740940739273) { + out_7057348740940739273[0] = -nom_x[0] + true_x[0]; + out_7057348740940739273[1] = -nom_x[1] + true_x[1]; + out_7057348740940739273[2] = -nom_x[2] + true_x[2]; + out_7057348740940739273[3] = -nom_x[3] + true_x[3]; + out_7057348740940739273[4] = -nom_x[4] + true_x[4]; + out_7057348740940739273[5] = -nom_x[5] + true_x[5]; + out_7057348740940739273[6] = -nom_x[6] + true_x[6]; + out_7057348740940739273[7] = -nom_x[7] + true_x[7]; + out_7057348740940739273[8] = -nom_x[8] + true_x[8]; +} +void H_mod_fun(double *state, double *out_7362917196675134476) { + out_7362917196675134476[0] = 1.0; + out_7362917196675134476[1] = 0; + out_7362917196675134476[2] = 0; + out_7362917196675134476[3] = 0; + out_7362917196675134476[4] = 0; + out_7362917196675134476[5] = 0; + out_7362917196675134476[6] = 0; + out_7362917196675134476[7] = 0; + out_7362917196675134476[8] = 0; + out_7362917196675134476[9] = 0; + out_7362917196675134476[10] = 1.0; + out_7362917196675134476[11] = 0; + out_7362917196675134476[12] = 0; + out_7362917196675134476[13] = 0; + out_7362917196675134476[14] = 0; + out_7362917196675134476[15] = 0; + out_7362917196675134476[16] = 0; + out_7362917196675134476[17] = 0; + out_7362917196675134476[18] = 0; + out_7362917196675134476[19] = 0; + out_7362917196675134476[20] = 1.0; + out_7362917196675134476[21] = 0; + out_7362917196675134476[22] = 0; + out_7362917196675134476[23] = 0; + out_7362917196675134476[24] = 0; + out_7362917196675134476[25] = 0; + out_7362917196675134476[26] = 0; + out_7362917196675134476[27] = 0; + out_7362917196675134476[28] = 0; + out_7362917196675134476[29] = 0; + out_7362917196675134476[30] = 1.0; + out_7362917196675134476[31] = 0; + out_7362917196675134476[32] = 0; + out_7362917196675134476[33] = 0; + out_7362917196675134476[34] = 0; + out_7362917196675134476[35] = 0; + out_7362917196675134476[36] = 0; + out_7362917196675134476[37] = 0; + out_7362917196675134476[38] = 0; + out_7362917196675134476[39] = 0; + out_7362917196675134476[40] = 1.0; + out_7362917196675134476[41] = 0; + out_7362917196675134476[42] = 0; + out_7362917196675134476[43] = 0; + out_7362917196675134476[44] = 0; + out_7362917196675134476[45] = 0; + out_7362917196675134476[46] = 0; + out_7362917196675134476[47] = 0; + out_7362917196675134476[48] = 0; + out_7362917196675134476[49] = 0; + out_7362917196675134476[50] = 1.0; + out_7362917196675134476[51] = 0; + out_7362917196675134476[52] = 0; + out_7362917196675134476[53] = 0; + out_7362917196675134476[54] = 0; + out_7362917196675134476[55] = 0; + out_7362917196675134476[56] = 0; + out_7362917196675134476[57] = 0; + out_7362917196675134476[58] = 0; + out_7362917196675134476[59] = 0; + out_7362917196675134476[60] = 1.0; + out_7362917196675134476[61] = 0; + out_7362917196675134476[62] = 0; + out_7362917196675134476[63] = 0; + out_7362917196675134476[64] = 0; + out_7362917196675134476[65] = 0; + out_7362917196675134476[66] = 0; + out_7362917196675134476[67] = 0; + out_7362917196675134476[68] = 0; + out_7362917196675134476[69] = 0; + out_7362917196675134476[70] = 1.0; + out_7362917196675134476[71] = 0; + out_7362917196675134476[72] = 0; + out_7362917196675134476[73] = 0; + out_7362917196675134476[74] = 0; + out_7362917196675134476[75] = 0; + out_7362917196675134476[76] = 0; + out_7362917196675134476[77] = 0; + out_7362917196675134476[78] = 0; + out_7362917196675134476[79] = 0; + out_7362917196675134476[80] = 1.0; +} +void f_fun(double *state, double dt, double *out_6645521087164499454) { + out_6645521087164499454[0] = state[0]; + out_6645521087164499454[1] = state[1]; + out_6645521087164499454[2] = state[2]; + out_6645521087164499454[3] = state[3]; + out_6645521087164499454[4] = state[4]; + out_6645521087164499454[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8000000000000007*state[8] + stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*state[1]) + (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*state[4])) + state[5]; + out_6645521087164499454[6] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*state[4])) + state[6]; + out_6645521087164499454[7] = state[7]; + out_6645521087164499454[8] = state[8]; +} +void F_fun(double *state, double dt, double *out_5459025659633475373) { + out_5459025659633475373[0] = 1; + out_5459025659633475373[1] = 0; + out_5459025659633475373[2] = 0; + out_5459025659633475373[3] = 0; + out_5459025659633475373[4] = 0; + out_5459025659633475373[5] = 0; + out_5459025659633475373[6] = 0; + out_5459025659633475373[7] = 0; + out_5459025659633475373[8] = 0; + out_5459025659633475373[9] = 0; + out_5459025659633475373[10] = 1; + out_5459025659633475373[11] = 0; + out_5459025659633475373[12] = 0; + out_5459025659633475373[13] = 0; + out_5459025659633475373[14] = 0; + out_5459025659633475373[15] = 0; + out_5459025659633475373[16] = 0; + out_5459025659633475373[17] = 0; + out_5459025659633475373[18] = 0; + out_5459025659633475373[19] = 0; + out_5459025659633475373[20] = 1; + out_5459025659633475373[21] = 0; + out_5459025659633475373[22] = 0; + out_5459025659633475373[23] = 0; + out_5459025659633475373[24] = 0; + out_5459025659633475373[25] = 0; + out_5459025659633475373[26] = 0; + out_5459025659633475373[27] = 0; + out_5459025659633475373[28] = 0; + out_5459025659633475373[29] = 0; + out_5459025659633475373[30] = 1; + out_5459025659633475373[31] = 0; + out_5459025659633475373[32] = 0; + out_5459025659633475373[33] = 0; + out_5459025659633475373[34] = 0; + out_5459025659633475373[35] = 0; + out_5459025659633475373[36] = 0; + out_5459025659633475373[37] = 0; + out_5459025659633475373[38] = 0; + out_5459025659633475373[39] = 0; + out_5459025659633475373[40] = 1; + out_5459025659633475373[41] = 0; + out_5459025659633475373[42] = 0; + out_5459025659633475373[43] = 0; + out_5459025659633475373[44] = 0; + out_5459025659633475373[45] = dt*(stiffness_front*(-state[2] - state[3] + state[7])/(mass*state[1]) + (-stiffness_front - stiffness_rear)*state[5]/(mass*state[4]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[6]/(mass*state[4])); + out_5459025659633475373[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2)); + out_5459025659633475373[47] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_5459025659633475373[48] = -dt*stiffness_front*state[0]/(mass*state[1]); + out_5459025659633475373[49] = dt*((-1 - (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*pow(state[4], 2)))*state[6] - (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*pow(state[4], 2))); + out_5459025659633475373[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1; + out_5459025659633475373[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4])); + out_5459025659633475373[52] = dt*stiffness_front*state[0]/(mass*state[1]); + out_5459025659633475373[53] = -9.8000000000000007*dt; + out_5459025659633475373[54] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front - pow(center_to_rear, 2)*stiffness_rear)*state[6]/(rotational_inertia*state[4])); + out_5459025659633475373[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2)); + out_5459025659633475373[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_5459025659633475373[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_5459025659633475373[58] = dt*(-(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*pow(state[4], 2)) - (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*pow(state[4], 2))); + out_5459025659633475373[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]); + out_5459025659633475373[60] = dt*(-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])/(rotational_inertia*state[4]) + 1; + out_5459025659633475373[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]); + out_5459025659633475373[62] = 0; + out_5459025659633475373[63] = 0; + out_5459025659633475373[64] = 0; + out_5459025659633475373[65] = 0; + out_5459025659633475373[66] = 0; + out_5459025659633475373[67] = 0; + out_5459025659633475373[68] = 0; + out_5459025659633475373[69] = 0; + out_5459025659633475373[70] = 1; + out_5459025659633475373[71] = 0; + out_5459025659633475373[72] = 0; + out_5459025659633475373[73] = 0; + out_5459025659633475373[74] = 0; + out_5459025659633475373[75] = 0; + out_5459025659633475373[76] = 0; + out_5459025659633475373[77] = 0; + out_5459025659633475373[78] = 0; + out_5459025659633475373[79] = 0; + out_5459025659633475373[80] = 1; +} +void h_25(double *state, double *unused, double *out_4207101755320993023) { + out_4207101755320993023[0] = state[6]; +} +void H_25(double *state, double *unused, double *out_3227402766452543794) { + out_3227402766452543794[0] = 0; + out_3227402766452543794[1] = 0; + out_3227402766452543794[2] = 0; + out_3227402766452543794[3] = 0; + out_3227402766452543794[4] = 0; + out_3227402766452543794[5] = 0; + out_3227402766452543794[6] = 1; + out_3227402766452543794[7] = 0; + out_3227402766452543794[8] = 0; +} +void h_24(double *state, double *unused, double *out_3608371447971603596) { + out_3608371447971603596[0] = state[4]; + out_3608371447971603596[1] = state[5]; +} +void H_24(double *state, double *unused, double *out_1498539647275229725) { + out_1498539647275229725[0] = 0; + out_1498539647275229725[1] = 0; + out_1498539647275229725[2] = 0; + out_1498539647275229725[3] = 0; + out_1498539647275229725[4] = 1; + out_1498539647275229725[5] = 0; + out_1498539647275229725[6] = 0; + out_1498539647275229725[7] = 0; + out_1498539647275229725[8] = 0; + out_1498539647275229725[9] = 0; + out_1498539647275229725[10] = 0; + out_1498539647275229725[11] = 0; + out_1498539647275229725[12] = 0; + out_1498539647275229725[13] = 0; + out_1498539647275229725[14] = 1; + out_1498539647275229725[15] = 0; + out_1498539647275229725[16] = 0; + out_1498539647275229725[17] = 0; +} +void h_30(double *state, double *unused, double *out_6032145572305651743) { + out_6032145572305651743[0] = state[4]; +} +void H_30(double *state, double *unused, double *out_8302650965765391067) { + out_8302650965765391067[0] = 0; + out_8302650965765391067[1] = 0; + out_8302650965765391067[2] = 0; + out_8302650965765391067[3] = 0; + out_8302650965765391067[4] = 1; + out_8302650965765391067[5] = 0; + out_8302650965765391067[6] = 0; + out_8302650965765391067[7] = 0; + out_8302650965765391067[8] = 0; +} +void h_26(double *state, double *unused, double *out_8412316944939870092) { + out_8412316944939870092[0] = state[7]; +} +void H_26(double *state, double *unused, double *out_3884256830562855698) { + out_3884256830562855698[0] = 0; + out_3884256830562855698[1] = 0; + out_3884256830562855698[2] = 0; + out_3884256830562855698[3] = 0; + out_3884256830562855698[4] = 0; + out_3884256830562855698[5] = 0; + out_3884256830562855698[6] = 0; + out_3884256830562855698[7] = 1; + out_3884256830562855698[8] = 0; +} +void h_27(double *state, double *unused, double *out_7236879614595492814) { + out_7236879614595492814[0] = state[3]; +} +void H_27(double *state, double *unused, double *out_7969329796143735638) { + out_7969329796143735638[0] = 0; + out_7969329796143735638[1] = 0; + out_7969329796143735638[2] = 0; + out_7969329796143735638[3] = 1; + out_7969329796143735638[4] = 0; + out_7969329796143735638[5] = 0; + out_7969329796143735638[6] = 0; + out_7969329796143735638[7] = 0; + out_7969329796143735638[8] = 0; +} +void h_29(double *state, double *unused, double *out_6968693744480819819) { + out_6968693744480819819[0] = state[1]; +} +void H_29(double *state, double *unused, double *out_7792419621450998883) { + out_7792419621450998883[0] = 0; + out_7792419621450998883[1] = 1; + out_7792419621450998883[2] = 0; + out_7792419621450998883[3] = 0; + out_7792419621450998883[4] = 0; + out_7792419621450998883[5] = 0; + out_7792419621450998883[6] = 0; + out_7792419621450998883[7] = 0; + out_7792419621450998883[8] = 0; +} +void h_28(double *state, double *unused, double *out_6208191191453213157) { + out_6208191191453213157[0] = state[0]; +} +void H_28(double *state, double *unused, double *out_5571925435189022159) { + out_5571925435189022159[0] = 1; + out_5571925435189022159[1] = 0; + out_5571925435189022159[2] = 0; + out_5571925435189022159[3] = 0; + out_5571925435189022159[4] = 0; + out_5571925435189022159[5] = 0; + out_5571925435189022159[6] = 0; + out_5571925435189022159[7] = 0; + out_5571925435189022159[8] = 0; +} +void h_31(double *state, double *unused, double *out_3685837739563530336) { + out_3685837739563530336[0] = state[8]; +} +void H_31(double *state, double *unused, double *out_3258048728329504222) { + out_3258048728329504222[0] = 0; + out_3258048728329504222[1] = 0; + out_3258048728329504222[2] = 0; + out_3258048728329504222[3] = 0; + out_3258048728329504222[4] = 0; + out_3258048728329504222[5] = 0; + out_3258048728329504222[6] = 0; + out_3258048728329504222[7] = 0; + out_3258048728329504222[8] = 1; +} +#include +#include + +typedef Eigen::Matrix DDM; +typedef Eigen::Matrix EEM; +typedef Eigen::Matrix DEM; + +void predict(double *in_x, double *in_P, double *in_Q, double dt) { + typedef Eigen::Matrix RRM; + + double nx[DIM] = {0}; + double in_F[EDIM*EDIM] = {0}; + + // functions from sympy + f_fun(in_x, dt, nx); + F_fun(in_x, dt, in_F); + + + EEM F(in_F); + EEM P(in_P); + EEM Q(in_Q); + + RRM F_main = F.topLeftCorner(MEDIM, MEDIM); + P.topLeftCorner(MEDIM, MEDIM) = (F_main * P.topLeftCorner(MEDIM, MEDIM)) * F_main.transpose(); + P.topRightCorner(MEDIM, EDIM - MEDIM) = F_main * P.topRightCorner(MEDIM, EDIM - MEDIM); + P.bottomLeftCorner(EDIM - MEDIM, MEDIM) = P.bottomLeftCorner(EDIM - MEDIM, MEDIM) * F_main.transpose(); + + P = P + dt*Q; + + // copy out state + memcpy(in_x, nx, DIM * sizeof(double)); + memcpy(in_P, P.data(), EDIM * EDIM * sizeof(double)); +} + +// note: extra_args dim only correct when null space projecting +// otherwise 1 +template +void update(double *in_x, double *in_P, Hfun h_fun, Hfun H_fun, Hfun Hea_fun, double *in_z, double *in_R, double *in_ea, double MAHA_THRESHOLD) { + typedef Eigen::Matrix ZZM; + typedef Eigen::Matrix ZDM; + typedef Eigen::Matrix XEM; + //typedef Eigen::Matrix EZM; + typedef Eigen::Matrix X1M; + typedef Eigen::Matrix XXM; + + double in_hx[ZDIM] = {0}; + double in_H[ZDIM * DIM] = {0}; + double in_H_mod[EDIM * DIM] = {0}; + double delta_x[EDIM] = {0}; + double x_new[DIM] = {0}; + + + // state x, P + Eigen::Matrix z(in_z); + EEM P(in_P); + ZZM pre_R(in_R); + + // functions from sympy + h_fun(in_x, in_ea, in_hx); + H_fun(in_x, in_ea, in_H); + ZDM pre_H(in_H); + + // get y (y = z - hx) + Eigen::Matrix pre_y(in_hx); pre_y = z - pre_y; + X1M y; XXM H; XXM R; + if (Hea_fun){ + typedef Eigen::Matrix ZAM; + double in_Hea[ZDIM * EADIM] = {0}; + Hea_fun(in_x, in_ea, in_Hea); + ZAM Hea(in_Hea); + XXM A = Hea.transpose().fullPivLu().kernel(); + + + y = A.transpose() * pre_y; + H = A.transpose() * pre_H; + R = A.transpose() * pre_R * A; + } else { + y = pre_y; + H = pre_H; + R = pre_R; + } + // get modified H + H_mod_fun(in_x, in_H_mod); + DEM H_mod(in_H_mod); + XEM H_err = H * H_mod; + + // Do mahalobis distance test + if (MAHA_TEST){ + XXM a = (H_err * P * H_err.transpose() + R).inverse(); + double maha_dist = y.transpose() * a * y; + if (maha_dist > MAHA_THRESHOLD){ + R = 1.0e16 * R; + } + } + + // Outlier resilient weighting + double weight = 1;//(1.5)/(1 + y.squaredNorm()/R.sum()); + + // kalman gains and I_KH + XXM S = ((H_err * P) * H_err.transpose()) + R/weight; + XEM KT = S.fullPivLu().solve(H_err * P.transpose()); + //EZM K = KT.transpose(); TODO: WHY DOES THIS NOT COMPILE? + //EZM K = S.fullPivLu().solve(H_err * P.transpose()).transpose(); + //std::cout << "Here is the matrix rot:\n" << K << std::endl; + EEM I_KH = Eigen::Matrix::Identity() - (KT.transpose() * H_err); + + // update state by injecting dx + Eigen::Matrix dx(delta_x); + dx = (KT.transpose() * y); + memcpy(delta_x, dx.data(), EDIM * sizeof(double)); + err_fun(in_x, delta_x, x_new); + Eigen::Matrix x(x_new); + + // update cov + P = ((I_KH * P) * I_KH.transpose()) + ((KT.transpose() * R) * KT); + + // copy out state + memcpy(in_x, x.data(), DIM * sizeof(double)); + memcpy(in_P, P.data(), EDIM * EDIM * sizeof(double)); + memcpy(in_z, y.data(), y.rows() * sizeof(double)); +} + + + + +} +extern "C" { + +void car_update_25(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) { + update<1, 3, 0>(in_x, in_P, h_25, H_25, NULL, in_z, in_R, in_ea, MAHA_THRESH_25); +} +void car_update_24(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) { + update<2, 3, 0>(in_x, in_P, h_24, H_24, NULL, in_z, in_R, in_ea, MAHA_THRESH_24); +} +void car_update_30(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) { + update<1, 3, 0>(in_x, in_P, h_30, H_30, NULL, in_z, in_R, in_ea, MAHA_THRESH_30); +} +void car_update_26(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) { + update<1, 3, 0>(in_x, in_P, h_26, H_26, NULL, in_z, in_R, in_ea, MAHA_THRESH_26); +} +void car_update_27(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) { + update<1, 3, 0>(in_x, in_P, h_27, H_27, NULL, in_z, in_R, in_ea, MAHA_THRESH_27); +} +void car_update_29(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) { + update<1, 3, 0>(in_x, in_P, h_29, H_29, NULL, in_z, in_R, in_ea, MAHA_THRESH_29); +} +void car_update_28(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) { + update<1, 3, 0>(in_x, in_P, h_28, H_28, NULL, in_z, in_R, in_ea, MAHA_THRESH_28); +} +void car_update_31(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) { + update<1, 3, 0>(in_x, in_P, h_31, H_31, NULL, in_z, in_R, in_ea, MAHA_THRESH_31); +} +void car_err_fun(double *nom_x, double *delta_x, double *out_6726285173694629968) { + err_fun(nom_x, delta_x, out_6726285173694629968); +} +void car_inv_err_fun(double *nom_x, double *true_x, double *out_7057348740940739273) { + inv_err_fun(nom_x, true_x, out_7057348740940739273); +} +void car_H_mod_fun(double *state, double *out_7362917196675134476) { + H_mod_fun(state, out_7362917196675134476); +} +void car_f_fun(double *state, double dt, double *out_6645521087164499454) { + f_fun(state, dt, out_6645521087164499454); +} +void car_F_fun(double *state, double dt, double *out_5459025659633475373) { + F_fun(state, dt, out_5459025659633475373); +} +void car_h_25(double *state, double *unused, double *out_4207101755320993023) { + h_25(state, unused, out_4207101755320993023); +} +void car_H_25(double *state, double *unused, double *out_3227402766452543794) { + H_25(state, unused, out_3227402766452543794); +} +void car_h_24(double *state, double *unused, double *out_3608371447971603596) { + h_24(state, unused, out_3608371447971603596); +} +void car_H_24(double *state, double *unused, double *out_1498539647275229725) { + H_24(state, unused, out_1498539647275229725); +} +void car_h_30(double *state, double *unused, double *out_6032145572305651743) { + h_30(state, unused, out_6032145572305651743); +} +void car_H_30(double *state, double *unused, double *out_8302650965765391067) { + H_30(state, unused, out_8302650965765391067); +} +void car_h_26(double *state, double *unused, double *out_8412316944939870092) { + h_26(state, unused, out_8412316944939870092); +} +void car_H_26(double *state, double *unused, double *out_3884256830562855698) { + H_26(state, unused, out_3884256830562855698); +} +void car_h_27(double *state, double *unused, double *out_7236879614595492814) { + h_27(state, unused, out_7236879614595492814); +} +void car_H_27(double *state, double *unused, double *out_7969329796143735638) { + H_27(state, unused, out_7969329796143735638); +} +void car_h_29(double *state, double *unused, double *out_6968693744480819819) { + h_29(state, unused, out_6968693744480819819); +} +void car_H_29(double *state, double *unused, double *out_7792419621450998883) { + H_29(state, unused, out_7792419621450998883); +} +void car_h_28(double *state, double *unused, double *out_6208191191453213157) { + h_28(state, unused, out_6208191191453213157); +} +void car_H_28(double *state, double *unused, double *out_5571925435189022159) { + H_28(state, unused, out_5571925435189022159); +} +void car_h_31(double *state, double *unused, double *out_3685837739563530336) { + h_31(state, unused, out_3685837739563530336); +} +void car_H_31(double *state, double *unused, double *out_3258048728329504222) { + H_31(state, unused, out_3258048728329504222); +} +void car_predict(double *in_x, double *in_P, double *in_Q, double dt) { + predict(in_x, in_P, in_Q, dt); +} +void car_set_mass(double x) { + set_mass(x); +} +void car_set_rotational_inertia(double x) { + set_rotational_inertia(x); +} +void car_set_center_to_front(double x) { + set_center_to_front(x); +} +void car_set_center_to_rear(double x) { + set_center_to_rear(x); +} +void car_set_stiffness_front(double x) { + set_stiffness_front(x); +} +void car_set_stiffness_rear(double x) { + set_stiffness_rear(x); +} +} + +const EKF car = { + .name = "car", + .kinds = { 25, 24, 30, 26, 27, 29, 28, 31 }, + .feature_kinds = { }, + .f_fun = car_f_fun, + .F_fun = car_F_fun, + .err_fun = car_err_fun, + .inv_err_fun = car_inv_err_fun, + .H_mod_fun = car_H_mod_fun, + .predict = car_predict, + .hs = { + { 25, car_h_25 }, + { 24, car_h_24 }, + { 30, car_h_30 }, + { 26, car_h_26 }, + { 27, car_h_27 }, + { 29, car_h_29 }, + { 28, car_h_28 }, + { 31, car_h_31 }, + }, + .Hs = { + { 25, car_H_25 }, + { 24, car_H_24 }, + { 30, car_H_30 }, + { 26, car_H_26 }, + { 27, car_H_27 }, + { 29, car_H_29 }, + { 28, car_H_28 }, + { 31, car_H_31 }, + }, + .updates = { + { 25, car_update_25 }, + { 24, car_update_24 }, + { 30, car_update_30 }, + { 26, car_update_26 }, + { 27, car_update_27 }, + { 29, car_update_29 }, + { 28, car_update_28 }, + { 31, car_update_31 }, + }, + .Hes = { + }, + .sets = { + { "mass", car_set_mass }, + { "rotational_inertia", car_set_rotational_inertia }, + { "center_to_front", car_set_center_to_front }, + { "center_to_rear", car_set_center_to_rear }, + { "stiffness_front", car_set_stiffness_front }, + { "stiffness_rear", car_set_stiffness_rear }, + }, + .extra_routines = { + }, +}; + +ekf_lib_init(car) diff --git a/selfdrive/locationd/models/generated/libcar.so b/selfdrive/locationd/models/generated/libcar.so new file mode 100644 index 00000000000000..ec6bab64f9ca7d Binary files /dev/null and b/selfdrive/locationd/models/generated/libcar.so differ diff --git a/selfdrive/locationd/models/generated/liblive.so b/selfdrive/locationd/models/generated/liblive.so new file mode 100644 index 00000000000000..b70cd7b0652aae Binary files /dev/null and b/selfdrive/locationd/models/generated/liblive.so differ diff --git a/selfdrive/locationd/models/generated/live.cpp b/selfdrive/locationd/models/generated/live.cpp new file mode 100644 index 00000000000000..7a77234ee5693e --- /dev/null +++ b/selfdrive/locationd/models/generated/live.cpp @@ -0,0 +1,1987 @@ +#include "live.h" + +namespace { +#define DIM 22 +#define EDIM 21 +#define MEDIM 21 +typedef void (*Hfun)(double *, double *, double *); +const static double MAHA_THRESH_4 = 7.814727903251177; +const static double MAHA_THRESH_9 = 7.814727903251177; +const static double MAHA_THRESH_10 = 7.814727903251177; +const static double MAHA_THRESH_12 = 7.814727903251177; +const static double MAHA_THRESH_35 = 7.814727903251177; +const static double MAHA_THRESH_32 = 9.487729036781154; +const static double MAHA_THRESH_13 = 7.814727903251177; +const static double MAHA_THRESH_14 = 7.814727903251177; +const static double MAHA_THRESH_33 = 7.814727903251177; + +/****************************************************************************** + * Code generated with SymPy 1.12 * + * * + * See http://www.sympy.org/ for more information. * + * * + * This file is part of 'ekf' * + ******************************************************************************/ +void H(double *in_vec, double *out_4397279444210295073) { + out_4397279444210295073[0] = 0; + out_4397279444210295073[1] = -sin(in_vec[1])*sin(in_vec[2])*in_vec[4] - sin(in_vec[1])*cos(in_vec[2])*in_vec[3] - cos(in_vec[1])*in_vec[5]; + out_4397279444210295073[2] = -sin(in_vec[2])*cos(in_vec[1])*in_vec[3] + cos(in_vec[1])*cos(in_vec[2])*in_vec[4]; + out_4397279444210295073[3] = cos(in_vec[1])*cos(in_vec[2]); + out_4397279444210295073[4] = sin(in_vec[2])*cos(in_vec[1]); + out_4397279444210295073[5] = -sin(in_vec[1]); + out_4397279444210295073[6] = (sin(in_vec[0])*sin(in_vec[2]) + sin(in_vec[1])*cos(in_vec[0])*cos(in_vec[2]))*in_vec[3] + (-sin(in_vec[0])*cos(in_vec[2]) + sin(in_vec[1])*sin(in_vec[2])*cos(in_vec[0]))*in_vec[4] + cos(in_vec[0])*cos(in_vec[1])*in_vec[5]; + out_4397279444210295073[7] = -sin(in_vec[0])*sin(in_vec[1])*in_vec[5] + sin(in_vec[0])*sin(in_vec[2])*cos(in_vec[1])*in_vec[4] + sin(in_vec[0])*cos(in_vec[1])*cos(in_vec[2])*in_vec[3]; + out_4397279444210295073[8] = (-sin(in_vec[0])*sin(in_vec[1])*sin(in_vec[2]) - cos(in_vec[0])*cos(in_vec[2]))*in_vec[3] + (sin(in_vec[0])*sin(in_vec[1])*cos(in_vec[2]) - sin(in_vec[2])*cos(in_vec[0]))*in_vec[4]; + out_4397279444210295073[9] = sin(in_vec[0])*sin(in_vec[1])*cos(in_vec[2]) - sin(in_vec[2])*cos(in_vec[0]); + out_4397279444210295073[10] = sin(in_vec[0])*sin(in_vec[1])*sin(in_vec[2]) + cos(in_vec[0])*cos(in_vec[2]); + out_4397279444210295073[11] = sin(in_vec[0])*cos(in_vec[1]); + out_4397279444210295073[12] = (-sin(in_vec[0])*sin(in_vec[1])*sin(in_vec[2]) - cos(in_vec[0])*cos(in_vec[2]))*in_vec[4] + (-sin(in_vec[0])*sin(in_vec[1])*cos(in_vec[2]) + sin(in_vec[2])*cos(in_vec[0]))*in_vec[3] - sin(in_vec[0])*cos(in_vec[1])*in_vec[5]; + out_4397279444210295073[13] = -sin(in_vec[1])*cos(in_vec[0])*in_vec[5] + sin(in_vec[2])*cos(in_vec[0])*cos(in_vec[1])*in_vec[4] + cos(in_vec[0])*cos(in_vec[1])*cos(in_vec[2])*in_vec[3]; + out_4397279444210295073[14] = (sin(in_vec[0])*sin(in_vec[2]) + sin(in_vec[1])*cos(in_vec[0])*cos(in_vec[2]))*in_vec[4] + (sin(in_vec[0])*cos(in_vec[2]) - sin(in_vec[1])*sin(in_vec[2])*cos(in_vec[0]))*in_vec[3]; + out_4397279444210295073[15] = sin(in_vec[0])*sin(in_vec[2]) + sin(in_vec[1])*cos(in_vec[0])*cos(in_vec[2]); + out_4397279444210295073[16] = -sin(in_vec[0])*cos(in_vec[2]) + sin(in_vec[1])*sin(in_vec[2])*cos(in_vec[0]); + out_4397279444210295073[17] = cos(in_vec[0])*cos(in_vec[1]); +} +void err_fun(double *nom_x, double *delta_x, double *out_8221799322445609485) { + out_8221799322445609485[0] = delta_x[0] + nom_x[0]; + out_8221799322445609485[1] = delta_x[1] + nom_x[1]; + out_8221799322445609485[2] = delta_x[2] + nom_x[2]; + out_8221799322445609485[3] = -0.5*delta_x[3]*nom_x[4] - 0.5*delta_x[4]*nom_x[5] - 0.5*delta_x[5]*nom_x[6] + 1.0*nom_x[3]; + out_8221799322445609485[4] = 0.5*delta_x[3]*nom_x[3] + 0.5*delta_x[4]*nom_x[6] - 0.5*delta_x[5]*nom_x[5] + 1.0*nom_x[4]; + out_8221799322445609485[5] = -0.5*delta_x[3]*nom_x[6] + 0.5*delta_x[4]*nom_x[3] + 0.5*delta_x[5]*nom_x[4] + 1.0*nom_x[5]; + out_8221799322445609485[6] = 0.5*delta_x[3]*nom_x[5] - 0.5*delta_x[4]*nom_x[4] + 0.5*delta_x[5]*nom_x[3] + 1.0*nom_x[6]; + out_8221799322445609485[7] = delta_x[6] + nom_x[7]; + out_8221799322445609485[8] = delta_x[7] + nom_x[8]; + out_8221799322445609485[9] = delta_x[8] + nom_x[9]; + out_8221799322445609485[10] = delta_x[9] + nom_x[10]; + out_8221799322445609485[11] = delta_x[10] + nom_x[11]; + out_8221799322445609485[12] = delta_x[11] + nom_x[12]; + out_8221799322445609485[13] = delta_x[12] + nom_x[13]; + out_8221799322445609485[14] = delta_x[13] + nom_x[14]; + out_8221799322445609485[15] = delta_x[14] + nom_x[15]; + out_8221799322445609485[16] = delta_x[15] + nom_x[16]; + out_8221799322445609485[17] = delta_x[16] + nom_x[17]; + out_8221799322445609485[18] = delta_x[17] + nom_x[18]; + out_8221799322445609485[19] = delta_x[18] + nom_x[19]; + out_8221799322445609485[20] = delta_x[19] + nom_x[20]; + out_8221799322445609485[21] = delta_x[20] + nom_x[21]; +} +void inv_err_fun(double *nom_x, double *true_x, double *out_550428634626954902) { + out_550428634626954902[0] = -nom_x[0] + true_x[0]; + out_550428634626954902[1] = -nom_x[1] + true_x[1]; + out_550428634626954902[2] = -nom_x[2] + true_x[2]; + out_550428634626954902[3] = 2*nom_x[3]*true_x[4] - 2*nom_x[4]*true_x[3] + 2*nom_x[5]*true_x[6] - 2*nom_x[6]*true_x[5]; + out_550428634626954902[4] = 2*nom_x[3]*true_x[5] - 2*nom_x[4]*true_x[6] - 2*nom_x[5]*true_x[3] + 2*nom_x[6]*true_x[4]; + out_550428634626954902[5] = 2*nom_x[3]*true_x[6] + 2*nom_x[4]*true_x[5] - 2*nom_x[5]*true_x[4] - 2*nom_x[6]*true_x[3]; + out_550428634626954902[6] = -nom_x[7] + true_x[7]; + out_550428634626954902[7] = -nom_x[8] + true_x[8]; + out_550428634626954902[8] = -nom_x[9] + true_x[9]; + out_550428634626954902[9] = -nom_x[10] + true_x[10]; + out_550428634626954902[10] = -nom_x[11] + true_x[11]; + out_550428634626954902[11] = -nom_x[12] + true_x[12]; + out_550428634626954902[12] = -nom_x[13] + true_x[13]; + out_550428634626954902[13] = -nom_x[14] + true_x[14]; + out_550428634626954902[14] = -nom_x[15] + true_x[15]; + out_550428634626954902[15] = -nom_x[16] + true_x[16]; + out_550428634626954902[16] = -nom_x[17] + true_x[17]; + out_550428634626954902[17] = -nom_x[18] + true_x[18]; + out_550428634626954902[18] = -nom_x[19] + true_x[19]; + out_550428634626954902[19] = -nom_x[20] + true_x[20]; + out_550428634626954902[20] = -nom_x[21] + true_x[21]; +} +void H_mod_fun(double *state, double *out_3934776849663753965) { + out_3934776849663753965[0] = 1.0; + out_3934776849663753965[1] = 0; + out_3934776849663753965[2] = 0; + out_3934776849663753965[3] = 0; + out_3934776849663753965[4] = 0; + out_3934776849663753965[5] = 0; + out_3934776849663753965[6] = 0; + out_3934776849663753965[7] = 0; + out_3934776849663753965[8] = 0; + out_3934776849663753965[9] = 0; + out_3934776849663753965[10] = 0; + out_3934776849663753965[11] = 0; + out_3934776849663753965[12] = 0; + out_3934776849663753965[13] = 0; + out_3934776849663753965[14] = 0; + out_3934776849663753965[15] = 0; + out_3934776849663753965[16] = 0; + out_3934776849663753965[17] = 0; + out_3934776849663753965[18] = 0; + out_3934776849663753965[19] = 0; + out_3934776849663753965[20] = 0; + out_3934776849663753965[21] = 0; + out_3934776849663753965[22] = 1.0; + out_3934776849663753965[23] = 0; + out_3934776849663753965[24] = 0; + out_3934776849663753965[25] = 0; + out_3934776849663753965[26] = 0; + out_3934776849663753965[27] = 0; + out_3934776849663753965[28] = 0; + out_3934776849663753965[29] = 0; + out_3934776849663753965[30] = 0; + out_3934776849663753965[31] = 0; + out_3934776849663753965[32] = 0; + out_3934776849663753965[33] = 0; + out_3934776849663753965[34] = 0; + out_3934776849663753965[35] = 0; + out_3934776849663753965[36] = 0; + out_3934776849663753965[37] = 0; + out_3934776849663753965[38] = 0; + out_3934776849663753965[39] = 0; + out_3934776849663753965[40] = 0; + out_3934776849663753965[41] = 0; + out_3934776849663753965[42] = 0; + out_3934776849663753965[43] = 0; + out_3934776849663753965[44] = 1.0; + out_3934776849663753965[45] = 0; + out_3934776849663753965[46] = 0; + out_3934776849663753965[47] = 0; + out_3934776849663753965[48] = 0; + out_3934776849663753965[49] = 0; + out_3934776849663753965[50] = 0; + out_3934776849663753965[51] = 0; + out_3934776849663753965[52] = 0; + out_3934776849663753965[53] = 0; + out_3934776849663753965[54] = 0; + out_3934776849663753965[55] = 0; + out_3934776849663753965[56] = 0; + out_3934776849663753965[57] = 0; + out_3934776849663753965[58] = 0; + out_3934776849663753965[59] = 0; + out_3934776849663753965[60] = 0; + out_3934776849663753965[61] = 0; + out_3934776849663753965[62] = 0; + out_3934776849663753965[63] = 0; + out_3934776849663753965[64] = 0; + out_3934776849663753965[65] = 0; + out_3934776849663753965[66] = -0.5*state[4]; + out_3934776849663753965[67] = -0.5*state[5]; + out_3934776849663753965[68] = -0.5*state[6]; + out_3934776849663753965[69] = 0; + out_3934776849663753965[70] = 0; + out_3934776849663753965[71] = 0; + out_3934776849663753965[72] = 0; + out_3934776849663753965[73] = 0; + out_3934776849663753965[74] = 0; + out_3934776849663753965[75] = 0; + out_3934776849663753965[76] = 0; + out_3934776849663753965[77] = 0; + out_3934776849663753965[78] = 0; + out_3934776849663753965[79] = 0; + out_3934776849663753965[80] = 0; + out_3934776849663753965[81] = 0; + out_3934776849663753965[82] = 0; + out_3934776849663753965[83] = 0; + out_3934776849663753965[84] = 0; + out_3934776849663753965[85] = 0; + out_3934776849663753965[86] = 0; + out_3934776849663753965[87] = 0.5*state[3]; + out_3934776849663753965[88] = 0.5*state[6]; + out_3934776849663753965[89] = -0.5*state[5]; + out_3934776849663753965[90] = 0; + out_3934776849663753965[91] = 0; + out_3934776849663753965[92] = 0; + out_3934776849663753965[93] = 0; + out_3934776849663753965[94] = 0; + out_3934776849663753965[95] = 0; + out_3934776849663753965[96] = 0; + out_3934776849663753965[97] = 0; + out_3934776849663753965[98] = 0; + out_3934776849663753965[99] = 0; + out_3934776849663753965[100] = 0; + out_3934776849663753965[101] = 0; + out_3934776849663753965[102] = 0; + out_3934776849663753965[103] = 0; + out_3934776849663753965[104] = 0; + out_3934776849663753965[105] = 0; + out_3934776849663753965[106] = 0; + out_3934776849663753965[107] = 0; + out_3934776849663753965[108] = -0.5*state[6]; + out_3934776849663753965[109] = 0.5*state[3]; + out_3934776849663753965[110] = 0.5*state[4]; + out_3934776849663753965[111] = 0; + out_3934776849663753965[112] = 0; + out_3934776849663753965[113] = 0; + out_3934776849663753965[114] = 0; + out_3934776849663753965[115] = 0; + out_3934776849663753965[116] = 0; + out_3934776849663753965[117] = 0; + out_3934776849663753965[118] = 0; + out_3934776849663753965[119] = 0; + out_3934776849663753965[120] = 0; + out_3934776849663753965[121] = 0; + out_3934776849663753965[122] = 0; + out_3934776849663753965[123] = 0; + out_3934776849663753965[124] = 0; + out_3934776849663753965[125] = 0; + out_3934776849663753965[126] = 0; + out_3934776849663753965[127] = 0; + out_3934776849663753965[128] = 0; + out_3934776849663753965[129] = 0.5*state[5]; + out_3934776849663753965[130] = -0.5*state[4]; + out_3934776849663753965[131] = 0.5*state[3]; + out_3934776849663753965[132] = 0; + out_3934776849663753965[133] = 0; + out_3934776849663753965[134] = 0; + out_3934776849663753965[135] = 0; + out_3934776849663753965[136] = 0; + out_3934776849663753965[137] = 0; + out_3934776849663753965[138] = 0; + out_3934776849663753965[139] = 0; + out_3934776849663753965[140] = 0; + out_3934776849663753965[141] = 0; + out_3934776849663753965[142] = 0; + out_3934776849663753965[143] = 0; + out_3934776849663753965[144] = 0; + out_3934776849663753965[145] = 0; + out_3934776849663753965[146] = 0; + out_3934776849663753965[147] = 0; + out_3934776849663753965[148] = 0; + out_3934776849663753965[149] = 0; + out_3934776849663753965[150] = 0; + out_3934776849663753965[151] = 0; + out_3934776849663753965[152] = 0; + out_3934776849663753965[153] = 1.0; + out_3934776849663753965[154] = 0; + out_3934776849663753965[155] = 0; + out_3934776849663753965[156] = 0; + out_3934776849663753965[157] = 0; + out_3934776849663753965[158] = 0; + out_3934776849663753965[159] = 0; + out_3934776849663753965[160] = 0; + out_3934776849663753965[161] = 0; + out_3934776849663753965[162] = 0; + out_3934776849663753965[163] = 0; + out_3934776849663753965[164] = 0; + out_3934776849663753965[165] = 0; + out_3934776849663753965[166] = 0; + out_3934776849663753965[167] = 0; + out_3934776849663753965[168] = 0; + out_3934776849663753965[169] = 0; + out_3934776849663753965[170] = 0; + out_3934776849663753965[171] = 0; + out_3934776849663753965[172] = 0; + out_3934776849663753965[173] = 0; + out_3934776849663753965[174] = 0; + out_3934776849663753965[175] = 1.0; + out_3934776849663753965[176] = 0; + out_3934776849663753965[177] = 0; + out_3934776849663753965[178] = 0; + out_3934776849663753965[179] = 0; + out_3934776849663753965[180] = 0; + out_3934776849663753965[181] = 0; + out_3934776849663753965[182] = 0; + out_3934776849663753965[183] = 0; + out_3934776849663753965[184] = 0; + out_3934776849663753965[185] = 0; + out_3934776849663753965[186] = 0; + out_3934776849663753965[187] = 0; + out_3934776849663753965[188] = 0; + out_3934776849663753965[189] = 0; + out_3934776849663753965[190] = 0; + out_3934776849663753965[191] = 0; + out_3934776849663753965[192] = 0; + out_3934776849663753965[193] = 0; + out_3934776849663753965[194] = 0; + out_3934776849663753965[195] = 0; + out_3934776849663753965[196] = 0; + out_3934776849663753965[197] = 1.0; + out_3934776849663753965[198] = 0; + out_3934776849663753965[199] = 0; + out_3934776849663753965[200] = 0; + out_3934776849663753965[201] = 0; + out_3934776849663753965[202] = 0; + out_3934776849663753965[203] = 0; + out_3934776849663753965[204] = 0; + out_3934776849663753965[205] = 0; + out_3934776849663753965[206] = 0; + out_3934776849663753965[207] = 0; + out_3934776849663753965[208] = 0; + out_3934776849663753965[209] = 0; + out_3934776849663753965[210] = 0; + out_3934776849663753965[211] = 0; + out_3934776849663753965[212] = 0; + out_3934776849663753965[213] = 0; + out_3934776849663753965[214] = 0; + out_3934776849663753965[215] = 0; + out_3934776849663753965[216] = 0; + out_3934776849663753965[217] = 0; + out_3934776849663753965[218] = 0; + out_3934776849663753965[219] = 1.0; + out_3934776849663753965[220] = 0; + out_3934776849663753965[221] = 0; + out_3934776849663753965[222] = 0; + out_3934776849663753965[223] = 0; + out_3934776849663753965[224] = 0; + out_3934776849663753965[225] = 0; + out_3934776849663753965[226] = 0; + out_3934776849663753965[227] = 0; + out_3934776849663753965[228] = 0; + out_3934776849663753965[229] = 0; + out_3934776849663753965[230] = 0; + out_3934776849663753965[231] = 0; + out_3934776849663753965[232] = 0; + out_3934776849663753965[233] = 0; + out_3934776849663753965[234] = 0; + out_3934776849663753965[235] = 0; + out_3934776849663753965[236] = 0; + out_3934776849663753965[237] = 0; + out_3934776849663753965[238] = 0; + out_3934776849663753965[239] = 0; + out_3934776849663753965[240] = 0; + out_3934776849663753965[241] = 1.0; + out_3934776849663753965[242] = 0; + out_3934776849663753965[243] = 0; + out_3934776849663753965[244] = 0; + out_3934776849663753965[245] = 0; + out_3934776849663753965[246] = 0; + out_3934776849663753965[247] = 0; + out_3934776849663753965[248] = 0; + out_3934776849663753965[249] = 0; + out_3934776849663753965[250] = 0; + out_3934776849663753965[251] = 0; + out_3934776849663753965[252] = 0; + out_3934776849663753965[253] = 0; + out_3934776849663753965[254] = 0; + out_3934776849663753965[255] = 0; + out_3934776849663753965[256] = 0; + out_3934776849663753965[257] = 0; + out_3934776849663753965[258] = 0; + out_3934776849663753965[259] = 0; + out_3934776849663753965[260] = 0; + out_3934776849663753965[261] = 0; + out_3934776849663753965[262] = 0; + out_3934776849663753965[263] = 1.0; + out_3934776849663753965[264] = 0; + out_3934776849663753965[265] = 0; + out_3934776849663753965[266] = 0; + out_3934776849663753965[267] = 0; + out_3934776849663753965[268] = 0; + out_3934776849663753965[269] = 0; + out_3934776849663753965[270] = 0; + out_3934776849663753965[271] = 0; + out_3934776849663753965[272] = 0; + out_3934776849663753965[273] = 0; + out_3934776849663753965[274] = 0; + out_3934776849663753965[275] = 0; + out_3934776849663753965[276] = 0; + out_3934776849663753965[277] = 0; + out_3934776849663753965[278] = 0; + out_3934776849663753965[279] = 0; + out_3934776849663753965[280] = 0; + out_3934776849663753965[281] = 0; + out_3934776849663753965[282] = 0; + out_3934776849663753965[283] = 0; + out_3934776849663753965[284] = 0; + out_3934776849663753965[285] = 1.0; + out_3934776849663753965[286] = 0; + out_3934776849663753965[287] = 0; + out_3934776849663753965[288] = 0; + out_3934776849663753965[289] = 0; + out_3934776849663753965[290] = 0; + out_3934776849663753965[291] = 0; + out_3934776849663753965[292] = 0; + out_3934776849663753965[293] = 0; + out_3934776849663753965[294] = 0; + out_3934776849663753965[295] = 0; + out_3934776849663753965[296] = 0; + out_3934776849663753965[297] = 0; + out_3934776849663753965[298] = 0; + out_3934776849663753965[299] = 0; + out_3934776849663753965[300] = 0; + out_3934776849663753965[301] = 0; + out_3934776849663753965[302] = 0; + out_3934776849663753965[303] = 0; + out_3934776849663753965[304] = 0; + out_3934776849663753965[305] = 0; + out_3934776849663753965[306] = 0; + out_3934776849663753965[307] = 1.0; + out_3934776849663753965[308] = 0; + out_3934776849663753965[309] = 0; + out_3934776849663753965[310] = 0; + out_3934776849663753965[311] = 0; + out_3934776849663753965[312] = 0; + out_3934776849663753965[313] = 0; + out_3934776849663753965[314] = 0; + out_3934776849663753965[315] = 0; + out_3934776849663753965[316] = 0; + out_3934776849663753965[317] = 0; + out_3934776849663753965[318] = 0; + out_3934776849663753965[319] = 0; + out_3934776849663753965[320] = 0; + out_3934776849663753965[321] = 0; + out_3934776849663753965[322] = 0; + out_3934776849663753965[323] = 0; + out_3934776849663753965[324] = 0; + out_3934776849663753965[325] = 0; + out_3934776849663753965[326] = 0; + out_3934776849663753965[327] = 0; + out_3934776849663753965[328] = 0; + out_3934776849663753965[329] = 1.0; + out_3934776849663753965[330] = 0; + out_3934776849663753965[331] = 0; + out_3934776849663753965[332] = 0; + out_3934776849663753965[333] = 0; + out_3934776849663753965[334] = 0; + out_3934776849663753965[335] = 0; + out_3934776849663753965[336] = 0; + out_3934776849663753965[337] = 0; + out_3934776849663753965[338] = 0; + out_3934776849663753965[339] = 0; + out_3934776849663753965[340] = 0; + out_3934776849663753965[341] = 0; + out_3934776849663753965[342] = 0; + out_3934776849663753965[343] = 0; + out_3934776849663753965[344] = 0; + out_3934776849663753965[345] = 0; + out_3934776849663753965[346] = 0; + out_3934776849663753965[347] = 0; + out_3934776849663753965[348] = 0; + out_3934776849663753965[349] = 0; + out_3934776849663753965[350] = 0; + out_3934776849663753965[351] = 1.0; + out_3934776849663753965[352] = 0; + out_3934776849663753965[353] = 0; + out_3934776849663753965[354] = 0; + out_3934776849663753965[355] = 0; + out_3934776849663753965[356] = 0; + out_3934776849663753965[357] = 0; + out_3934776849663753965[358] = 0; + out_3934776849663753965[359] = 0; + out_3934776849663753965[360] = 0; + out_3934776849663753965[361] = 0; + out_3934776849663753965[362] = 0; + out_3934776849663753965[363] = 0; + out_3934776849663753965[364] = 0; + out_3934776849663753965[365] = 0; + out_3934776849663753965[366] = 0; + out_3934776849663753965[367] = 0; + out_3934776849663753965[368] = 0; + out_3934776849663753965[369] = 0; + out_3934776849663753965[370] = 0; + out_3934776849663753965[371] = 0; + out_3934776849663753965[372] = 0; + out_3934776849663753965[373] = 1.0; + out_3934776849663753965[374] = 0; + out_3934776849663753965[375] = 0; + out_3934776849663753965[376] = 0; + out_3934776849663753965[377] = 0; + out_3934776849663753965[378] = 0; + out_3934776849663753965[379] = 0; + out_3934776849663753965[380] = 0; + out_3934776849663753965[381] = 0; + out_3934776849663753965[382] = 0; + out_3934776849663753965[383] = 0; + out_3934776849663753965[384] = 0; + out_3934776849663753965[385] = 0; + out_3934776849663753965[386] = 0; + out_3934776849663753965[387] = 0; + out_3934776849663753965[388] = 0; + out_3934776849663753965[389] = 0; + out_3934776849663753965[390] = 0; + out_3934776849663753965[391] = 0; + out_3934776849663753965[392] = 0; + out_3934776849663753965[393] = 0; + out_3934776849663753965[394] = 0; + out_3934776849663753965[395] = 1.0; + out_3934776849663753965[396] = 0; + out_3934776849663753965[397] = 0; + out_3934776849663753965[398] = 0; + out_3934776849663753965[399] = 0; + out_3934776849663753965[400] = 0; + out_3934776849663753965[401] = 0; + out_3934776849663753965[402] = 0; + out_3934776849663753965[403] = 0; + out_3934776849663753965[404] = 0; + out_3934776849663753965[405] = 0; + out_3934776849663753965[406] = 0; + out_3934776849663753965[407] = 0; + out_3934776849663753965[408] = 0; + out_3934776849663753965[409] = 0; + out_3934776849663753965[410] = 0; + out_3934776849663753965[411] = 0; + out_3934776849663753965[412] = 0; + out_3934776849663753965[413] = 0; + out_3934776849663753965[414] = 0; + out_3934776849663753965[415] = 0; + out_3934776849663753965[416] = 0; + out_3934776849663753965[417] = 1.0; + out_3934776849663753965[418] = 0; + out_3934776849663753965[419] = 0; + out_3934776849663753965[420] = 0; + out_3934776849663753965[421] = 0; + out_3934776849663753965[422] = 0; + out_3934776849663753965[423] = 0; + out_3934776849663753965[424] = 0; + out_3934776849663753965[425] = 0; + out_3934776849663753965[426] = 0; + out_3934776849663753965[427] = 0; + out_3934776849663753965[428] = 0; + out_3934776849663753965[429] = 0; + out_3934776849663753965[430] = 0; + out_3934776849663753965[431] = 0; + out_3934776849663753965[432] = 0; + out_3934776849663753965[433] = 0; + out_3934776849663753965[434] = 0; + out_3934776849663753965[435] = 0; + out_3934776849663753965[436] = 0; + out_3934776849663753965[437] = 0; + out_3934776849663753965[438] = 0; + out_3934776849663753965[439] = 1.0; + out_3934776849663753965[440] = 0; + out_3934776849663753965[441] = 0; + out_3934776849663753965[442] = 0; + out_3934776849663753965[443] = 0; + out_3934776849663753965[444] = 0; + out_3934776849663753965[445] = 0; + out_3934776849663753965[446] = 0; + out_3934776849663753965[447] = 0; + out_3934776849663753965[448] = 0; + out_3934776849663753965[449] = 0; + out_3934776849663753965[450] = 0; + out_3934776849663753965[451] = 0; + out_3934776849663753965[452] = 0; + out_3934776849663753965[453] = 0; + out_3934776849663753965[454] = 0; + out_3934776849663753965[455] = 0; + out_3934776849663753965[456] = 0; + out_3934776849663753965[457] = 0; + out_3934776849663753965[458] = 0; + out_3934776849663753965[459] = 0; + out_3934776849663753965[460] = 0; + out_3934776849663753965[461] = 1.0; +} +void f_fun(double *state, double dt, double *out_1623848693376701833) { + out_1623848693376701833[0] = dt*state[7] + state[0]; + out_1623848693376701833[1] = dt*state[8] + state[1]; + out_1623848693376701833[2] = dt*state[9] + state[2]; + out_1623848693376701833[3] = dt*(-0.5*state[4]*state[10] - 0.5*state[5]*state[11] - 0.5*state[6]*state[12]) + state[3]; + out_1623848693376701833[4] = dt*(0.5*state[3]*state[10] + 0.5*state[5]*state[12] - 0.5*state[6]*state[11]) + state[4]; + out_1623848693376701833[5] = dt*(0.5*state[3]*state[11] - 0.5*state[4]*state[12] + 0.5*state[6]*state[10]) + state[5]; + out_1623848693376701833[6] = dt*(0.5*state[3]*state[12] + 0.5*state[4]*state[11] - 0.5*state[5]*state[10]) + state[6]; + out_1623848693376701833[7] = dt*((2*state[3]*state[5] + 2*state[4]*state[6])*state[18] + (-2*state[3]*state[6] + 2*state[4]*state[5])*state[17] + (pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2))*state[16]) + state[7]; + out_1623848693376701833[8] = dt*((-2*state[3]*state[4] + 2*state[5]*state[6])*state[18] + (2*state[3]*state[6] + 2*state[4]*state[5])*state[16] + (pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2))*state[17]) + state[8]; + out_1623848693376701833[9] = dt*((2*state[3]*state[4] + 2*state[5]*state[6])*state[17] + (-2*state[3]*state[5] + 2*state[4]*state[6])*state[16] + (pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2))*state[18]) + state[9]; + out_1623848693376701833[10] = state[10]; + out_1623848693376701833[11] = state[11]; + out_1623848693376701833[12] = state[12]; + out_1623848693376701833[13] = state[13]; + out_1623848693376701833[14] = state[14]; + out_1623848693376701833[15] = state[15]; + out_1623848693376701833[16] = state[16]; + out_1623848693376701833[17] = state[17]; + out_1623848693376701833[18] = state[18]; + out_1623848693376701833[19] = state[19]; + out_1623848693376701833[20] = state[20]; + out_1623848693376701833[21] = state[21]; +} +void F_fun(double *state, double dt, double *out_2375859083810452730) { + out_2375859083810452730[0] = 1; + out_2375859083810452730[1] = 0; + out_2375859083810452730[2] = 0; + out_2375859083810452730[3] = 0; + out_2375859083810452730[4] = 0; + out_2375859083810452730[5] = 0; + out_2375859083810452730[6] = dt; + out_2375859083810452730[7] = 0; + out_2375859083810452730[8] = 0; + out_2375859083810452730[9] = 0; + out_2375859083810452730[10] = 0; + out_2375859083810452730[11] = 0; + out_2375859083810452730[12] = 0; + out_2375859083810452730[13] = 0; + out_2375859083810452730[14] = 0; + out_2375859083810452730[15] = 0; + out_2375859083810452730[16] = 0; + out_2375859083810452730[17] = 0; + out_2375859083810452730[18] = 0; + out_2375859083810452730[19] = 0; + out_2375859083810452730[20] = 0; + out_2375859083810452730[21] = 0; + out_2375859083810452730[22] = 1; + out_2375859083810452730[23] = 0; + out_2375859083810452730[24] = 0; + out_2375859083810452730[25] = 0; + out_2375859083810452730[26] = 0; + out_2375859083810452730[27] = 0; + out_2375859083810452730[28] = dt; + out_2375859083810452730[29] = 0; + out_2375859083810452730[30] = 0; + out_2375859083810452730[31] = 0; + out_2375859083810452730[32] = 0; + out_2375859083810452730[33] = 0; + out_2375859083810452730[34] = 0; + out_2375859083810452730[35] = 0; + out_2375859083810452730[36] = 0; + out_2375859083810452730[37] = 0; + out_2375859083810452730[38] = 0; + out_2375859083810452730[39] = 0; + out_2375859083810452730[40] = 0; + out_2375859083810452730[41] = 0; + out_2375859083810452730[42] = 0; + out_2375859083810452730[43] = 0; + out_2375859083810452730[44] = 1; + out_2375859083810452730[45] = 0; + out_2375859083810452730[46] = 0; + out_2375859083810452730[47] = 0; + out_2375859083810452730[48] = 0; + out_2375859083810452730[49] = 0; + out_2375859083810452730[50] = dt; + out_2375859083810452730[51] = 0; + out_2375859083810452730[52] = 0; + out_2375859083810452730[53] = 0; + out_2375859083810452730[54] = 0; + out_2375859083810452730[55] = 0; + out_2375859083810452730[56] = 0; + out_2375859083810452730[57] = 0; + out_2375859083810452730[58] = 0; + out_2375859083810452730[59] = 0; + out_2375859083810452730[60] = 0; + out_2375859083810452730[61] = 0; + out_2375859083810452730[62] = 0; + out_2375859083810452730[63] = 0; + out_2375859083810452730[64] = 0; + out_2375859083810452730[65] = 0; + out_2375859083810452730[66] = 1; + out_2375859083810452730[67] = dt*((2*state[3]*state[4] + 2*state[5]*state[6])*state[11] + (-2*state[3]*state[5] + 2*state[4]*state[6])*state[10] + (pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2))*state[12]); + out_2375859083810452730[68] = dt*((2*state[3]*state[4] - 2*state[5]*state[6])*state[12] + (-2*state[3]*state[6] - 2*state[4]*state[5])*state[10] + (-pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2))*state[11]); + out_2375859083810452730[69] = 0; + out_2375859083810452730[70] = 0; + out_2375859083810452730[71] = 0; + out_2375859083810452730[72] = dt*(pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2)); + out_2375859083810452730[73] = dt*(-2*state[3]*state[6] + 2*state[4]*state[5]); + out_2375859083810452730[74] = dt*(2*state[3]*state[5] + 2*state[4]*state[6]); + out_2375859083810452730[75] = 0; + out_2375859083810452730[76] = 0; + out_2375859083810452730[77] = 0; + out_2375859083810452730[78] = 0; + out_2375859083810452730[79] = 0; + out_2375859083810452730[80] = 0; + out_2375859083810452730[81] = 0; + out_2375859083810452730[82] = 0; + out_2375859083810452730[83] = 0; + out_2375859083810452730[84] = 0; + out_2375859083810452730[85] = 0; + out_2375859083810452730[86] = 0; + out_2375859083810452730[87] = dt*(-(2*state[3]*state[4] + 2*state[5]*state[6])*state[11] - (-2*state[3]*state[5] + 2*state[4]*state[6])*state[10] - (pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2))*state[12]); + out_2375859083810452730[88] = 1; + out_2375859083810452730[89] = dt*((2*state[3]*state[5] + 2*state[4]*state[6])*state[12] + (-2*state[3]*state[6] + 2*state[4]*state[5])*state[11] + (pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2))*state[10]); + out_2375859083810452730[90] = 0; + out_2375859083810452730[91] = 0; + out_2375859083810452730[92] = 0; + out_2375859083810452730[93] = dt*(2*state[3]*state[6] + 2*state[4]*state[5]); + out_2375859083810452730[94] = dt*(pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2)); + out_2375859083810452730[95] = dt*(-2*state[3]*state[4] + 2*state[5]*state[6]); + out_2375859083810452730[96] = 0; + out_2375859083810452730[97] = 0; + out_2375859083810452730[98] = 0; + out_2375859083810452730[99] = 0; + out_2375859083810452730[100] = 0; + out_2375859083810452730[101] = 0; + out_2375859083810452730[102] = 0; + out_2375859083810452730[103] = 0; + out_2375859083810452730[104] = 0; + out_2375859083810452730[105] = 0; + out_2375859083810452730[106] = 0; + out_2375859083810452730[107] = 0; + out_2375859083810452730[108] = dt*((-2*state[3]*state[4] + 2*state[5]*state[6])*state[12] + (2*state[3]*state[6] + 2*state[4]*state[5])*state[10] + (pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2))*state[11]); + out_2375859083810452730[109] = dt*((-2*state[3]*state[5] - 2*state[4]*state[6])*state[12] + (2*state[3]*state[6] - 2*state[4]*state[5])*state[11] + (-pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) + pow(state[6], 2))*state[10]); + out_2375859083810452730[110] = 1; + out_2375859083810452730[111] = 0; + out_2375859083810452730[112] = 0; + out_2375859083810452730[113] = 0; + out_2375859083810452730[114] = dt*(-2*state[3]*state[5] + 2*state[4]*state[6]); + out_2375859083810452730[115] = dt*(2*state[3]*state[4] + 2*state[5]*state[6]); + out_2375859083810452730[116] = dt*(pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2)); + out_2375859083810452730[117] = 0; + out_2375859083810452730[118] = 0; + out_2375859083810452730[119] = 0; + out_2375859083810452730[120] = 0; + out_2375859083810452730[121] = 0; + out_2375859083810452730[122] = 0; + out_2375859083810452730[123] = 0; + out_2375859083810452730[124] = 0; + out_2375859083810452730[125] = 0; + out_2375859083810452730[126] = 0; + out_2375859083810452730[127] = 0; + out_2375859083810452730[128] = 0; + out_2375859083810452730[129] = 0; + out_2375859083810452730[130] = dt*((2*state[3]*state[4] + 2*state[5]*state[6])*state[17] + (-2*state[3]*state[5] + 2*state[4]*state[6])*state[16] + (pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2))*state[18]); + out_2375859083810452730[131] = dt*((2*state[3]*state[4] - 2*state[5]*state[6])*state[18] + (-2*state[3]*state[6] - 2*state[4]*state[5])*state[16] + (-pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2))*state[17]); + out_2375859083810452730[132] = 1; + out_2375859083810452730[133] = 0; + out_2375859083810452730[134] = 0; + out_2375859083810452730[135] = 0; + out_2375859083810452730[136] = 0; + out_2375859083810452730[137] = 0; + out_2375859083810452730[138] = 0; + out_2375859083810452730[139] = 0; + out_2375859083810452730[140] = 0; + out_2375859083810452730[141] = dt*(pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2)); + out_2375859083810452730[142] = dt*(-2*state[3]*state[6] + 2*state[4]*state[5]); + out_2375859083810452730[143] = dt*(2*state[3]*state[5] + 2*state[4]*state[6]); + out_2375859083810452730[144] = 0; + out_2375859083810452730[145] = 0; + out_2375859083810452730[146] = 0; + out_2375859083810452730[147] = 0; + out_2375859083810452730[148] = 0; + out_2375859083810452730[149] = 0; + out_2375859083810452730[150] = dt*(-(2*state[3]*state[4] + 2*state[5]*state[6])*state[17] - (-2*state[3]*state[5] + 2*state[4]*state[6])*state[16] - (pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2))*state[18]); + out_2375859083810452730[151] = 0; + out_2375859083810452730[152] = dt*((2*state[3]*state[5] + 2*state[4]*state[6])*state[18] + (-2*state[3]*state[6] + 2*state[4]*state[5])*state[17] + (pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2))*state[16]); + out_2375859083810452730[153] = 0; + out_2375859083810452730[154] = 1; + out_2375859083810452730[155] = 0; + out_2375859083810452730[156] = 0; + out_2375859083810452730[157] = 0; + out_2375859083810452730[158] = 0; + out_2375859083810452730[159] = 0; + out_2375859083810452730[160] = 0; + out_2375859083810452730[161] = 0; + out_2375859083810452730[162] = dt*(2*state[3]*state[6] + 2*state[4]*state[5]); + out_2375859083810452730[163] = dt*(pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2)); + out_2375859083810452730[164] = dt*(-2*state[3]*state[4] + 2*state[5]*state[6]); + out_2375859083810452730[165] = 0; + out_2375859083810452730[166] = 0; + out_2375859083810452730[167] = 0; + out_2375859083810452730[168] = 0; + out_2375859083810452730[169] = 0; + out_2375859083810452730[170] = 0; + out_2375859083810452730[171] = dt*((-2*state[3]*state[4] + 2*state[5]*state[6])*state[18] + (2*state[3]*state[6] + 2*state[4]*state[5])*state[16] + (pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2))*state[17]); + out_2375859083810452730[172] = dt*((-2*state[3]*state[5] - 2*state[4]*state[6])*state[18] + (2*state[3]*state[6] - 2*state[4]*state[5])*state[17] + (-pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) + pow(state[6], 2))*state[16]); + out_2375859083810452730[173] = 0; + out_2375859083810452730[174] = 0; + out_2375859083810452730[175] = 0; + out_2375859083810452730[176] = 1; + out_2375859083810452730[177] = 0; + out_2375859083810452730[178] = 0; + out_2375859083810452730[179] = 0; + out_2375859083810452730[180] = 0; + out_2375859083810452730[181] = 0; + out_2375859083810452730[182] = 0; + out_2375859083810452730[183] = dt*(-2*state[3]*state[5] + 2*state[4]*state[6]); + out_2375859083810452730[184] = dt*(2*state[3]*state[4] + 2*state[5]*state[6]); + out_2375859083810452730[185] = dt*(pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2)); + out_2375859083810452730[186] = 0; + out_2375859083810452730[187] = 0; + out_2375859083810452730[188] = 0; + out_2375859083810452730[189] = 0; + out_2375859083810452730[190] = 0; + out_2375859083810452730[191] = 0; + out_2375859083810452730[192] = 0; + out_2375859083810452730[193] = 0; + out_2375859083810452730[194] = 0; + out_2375859083810452730[195] = 0; + out_2375859083810452730[196] = 0; + out_2375859083810452730[197] = 0; + out_2375859083810452730[198] = 1; + out_2375859083810452730[199] = 0; + out_2375859083810452730[200] = 0; + out_2375859083810452730[201] = 0; + out_2375859083810452730[202] = 0; + out_2375859083810452730[203] = 0; + out_2375859083810452730[204] = 0; + out_2375859083810452730[205] = 0; + out_2375859083810452730[206] = 0; + out_2375859083810452730[207] = 0; + out_2375859083810452730[208] = 0; + out_2375859083810452730[209] = 0; + out_2375859083810452730[210] = 0; + out_2375859083810452730[211] = 0; + out_2375859083810452730[212] = 0; + out_2375859083810452730[213] = 0; + out_2375859083810452730[214] = 0; + out_2375859083810452730[215] = 0; + out_2375859083810452730[216] = 0; + out_2375859083810452730[217] = 0; + out_2375859083810452730[218] = 0; + out_2375859083810452730[219] = 0; + out_2375859083810452730[220] = 1; + out_2375859083810452730[221] = 0; + out_2375859083810452730[222] = 0; + out_2375859083810452730[223] = 0; + out_2375859083810452730[224] = 0; + out_2375859083810452730[225] = 0; + out_2375859083810452730[226] = 0; + out_2375859083810452730[227] = 0; + out_2375859083810452730[228] = 0; + out_2375859083810452730[229] = 0; + out_2375859083810452730[230] = 0; + out_2375859083810452730[231] = 0; + out_2375859083810452730[232] = 0; + out_2375859083810452730[233] = 0; + out_2375859083810452730[234] = 0; + out_2375859083810452730[235] = 0; + out_2375859083810452730[236] = 0; + out_2375859083810452730[237] = 0; + out_2375859083810452730[238] = 0; + out_2375859083810452730[239] = 0; + out_2375859083810452730[240] = 0; + out_2375859083810452730[241] = 0; + out_2375859083810452730[242] = 1; + out_2375859083810452730[243] = 0; + out_2375859083810452730[244] = 0; + out_2375859083810452730[245] = 0; + out_2375859083810452730[246] = 0; + out_2375859083810452730[247] = 0; + out_2375859083810452730[248] = 0; + out_2375859083810452730[249] = 0; + out_2375859083810452730[250] = 0; + out_2375859083810452730[251] = 0; + out_2375859083810452730[252] = 0; + out_2375859083810452730[253] = 0; + out_2375859083810452730[254] = 0; + out_2375859083810452730[255] = 0; + out_2375859083810452730[256] = 0; + out_2375859083810452730[257] = 0; + out_2375859083810452730[258] = 0; + out_2375859083810452730[259] = 0; + out_2375859083810452730[260] = 0; + out_2375859083810452730[261] = 0; + out_2375859083810452730[262] = 0; + out_2375859083810452730[263] = 0; + out_2375859083810452730[264] = 1; + out_2375859083810452730[265] = 0; + out_2375859083810452730[266] = 0; + out_2375859083810452730[267] = 0; + out_2375859083810452730[268] = 0; + out_2375859083810452730[269] = 0; + out_2375859083810452730[270] = 0; + out_2375859083810452730[271] = 0; + out_2375859083810452730[272] = 0; + out_2375859083810452730[273] = 0; + out_2375859083810452730[274] = 0; + out_2375859083810452730[275] = 0; + out_2375859083810452730[276] = 0; + out_2375859083810452730[277] = 0; + out_2375859083810452730[278] = 0; + out_2375859083810452730[279] = 0; + out_2375859083810452730[280] = 0; + out_2375859083810452730[281] = 0; + out_2375859083810452730[282] = 0; + out_2375859083810452730[283] = 0; + out_2375859083810452730[284] = 0; + out_2375859083810452730[285] = 0; + out_2375859083810452730[286] = 1; + out_2375859083810452730[287] = 0; + out_2375859083810452730[288] = 0; + out_2375859083810452730[289] = 0; + out_2375859083810452730[290] = 0; + out_2375859083810452730[291] = 0; + out_2375859083810452730[292] = 0; + out_2375859083810452730[293] = 0; + out_2375859083810452730[294] = 0; + out_2375859083810452730[295] = 0; + out_2375859083810452730[296] = 0; + out_2375859083810452730[297] = 0; + out_2375859083810452730[298] = 0; + out_2375859083810452730[299] = 0; + out_2375859083810452730[300] = 0; + out_2375859083810452730[301] = 0; + out_2375859083810452730[302] = 0; + out_2375859083810452730[303] = 0; + out_2375859083810452730[304] = 0; + out_2375859083810452730[305] = 0; + out_2375859083810452730[306] = 0; + out_2375859083810452730[307] = 0; + out_2375859083810452730[308] = 1; + out_2375859083810452730[309] = 0; + out_2375859083810452730[310] = 0; + out_2375859083810452730[311] = 0; + out_2375859083810452730[312] = 0; + out_2375859083810452730[313] = 0; + out_2375859083810452730[314] = 0; + out_2375859083810452730[315] = 0; + out_2375859083810452730[316] = 0; + out_2375859083810452730[317] = 0; + out_2375859083810452730[318] = 0; + out_2375859083810452730[319] = 0; + out_2375859083810452730[320] = 0; + out_2375859083810452730[321] = 0; + out_2375859083810452730[322] = 0; + out_2375859083810452730[323] = 0; + out_2375859083810452730[324] = 0; + out_2375859083810452730[325] = 0; + out_2375859083810452730[326] = 0; + out_2375859083810452730[327] = 0; + out_2375859083810452730[328] = 0; + out_2375859083810452730[329] = 0; + out_2375859083810452730[330] = 1; + out_2375859083810452730[331] = 0; + out_2375859083810452730[332] = 0; + out_2375859083810452730[333] = 0; + out_2375859083810452730[334] = 0; + out_2375859083810452730[335] = 0; + out_2375859083810452730[336] = 0; + out_2375859083810452730[337] = 0; + out_2375859083810452730[338] = 0; + out_2375859083810452730[339] = 0; + out_2375859083810452730[340] = 0; + out_2375859083810452730[341] = 0; + out_2375859083810452730[342] = 0; + out_2375859083810452730[343] = 0; + out_2375859083810452730[344] = 0; + out_2375859083810452730[345] = 0; + out_2375859083810452730[346] = 0; + out_2375859083810452730[347] = 0; + out_2375859083810452730[348] = 0; + out_2375859083810452730[349] = 0; + out_2375859083810452730[350] = 0; + out_2375859083810452730[351] = 0; + out_2375859083810452730[352] = 1; + out_2375859083810452730[353] = 0; + out_2375859083810452730[354] = 0; + out_2375859083810452730[355] = 0; + out_2375859083810452730[356] = 0; + out_2375859083810452730[357] = 0; + out_2375859083810452730[358] = 0; + out_2375859083810452730[359] = 0; + out_2375859083810452730[360] = 0; + out_2375859083810452730[361] = 0; + out_2375859083810452730[362] = 0; + out_2375859083810452730[363] = 0; + out_2375859083810452730[364] = 0; + out_2375859083810452730[365] = 0; + out_2375859083810452730[366] = 0; + out_2375859083810452730[367] = 0; + out_2375859083810452730[368] = 0; + out_2375859083810452730[369] = 0; + out_2375859083810452730[370] = 0; + out_2375859083810452730[371] = 0; + out_2375859083810452730[372] = 0; + out_2375859083810452730[373] = 0; + out_2375859083810452730[374] = 1; + out_2375859083810452730[375] = 0; + out_2375859083810452730[376] = 0; + out_2375859083810452730[377] = 0; + out_2375859083810452730[378] = 0; + out_2375859083810452730[379] = 0; + out_2375859083810452730[380] = 0; + out_2375859083810452730[381] = 0; + out_2375859083810452730[382] = 0; + out_2375859083810452730[383] = 0; + out_2375859083810452730[384] = 0; + out_2375859083810452730[385] = 0; + out_2375859083810452730[386] = 0; + out_2375859083810452730[387] = 0; + out_2375859083810452730[388] = 0; + out_2375859083810452730[389] = 0; + out_2375859083810452730[390] = 0; + out_2375859083810452730[391] = 0; + out_2375859083810452730[392] = 0; + out_2375859083810452730[393] = 0; + out_2375859083810452730[394] = 0; + out_2375859083810452730[395] = 0; + out_2375859083810452730[396] = 1; + out_2375859083810452730[397] = 0; + out_2375859083810452730[398] = 0; + out_2375859083810452730[399] = 0; + out_2375859083810452730[400] = 0; + out_2375859083810452730[401] = 0; + out_2375859083810452730[402] = 0; + out_2375859083810452730[403] = 0; + out_2375859083810452730[404] = 0; + out_2375859083810452730[405] = 0; + out_2375859083810452730[406] = 0; + out_2375859083810452730[407] = 0; + out_2375859083810452730[408] = 0; + out_2375859083810452730[409] = 0; + out_2375859083810452730[410] = 0; + out_2375859083810452730[411] = 0; + out_2375859083810452730[412] = 0; + out_2375859083810452730[413] = 0; + out_2375859083810452730[414] = 0; + out_2375859083810452730[415] = 0; + out_2375859083810452730[416] = 0; + out_2375859083810452730[417] = 0; + out_2375859083810452730[418] = 1; + out_2375859083810452730[419] = 0; + out_2375859083810452730[420] = 0; + out_2375859083810452730[421] = 0; + out_2375859083810452730[422] = 0; + out_2375859083810452730[423] = 0; + out_2375859083810452730[424] = 0; + out_2375859083810452730[425] = 0; + out_2375859083810452730[426] = 0; + out_2375859083810452730[427] = 0; + out_2375859083810452730[428] = 0; + out_2375859083810452730[429] = 0; + out_2375859083810452730[430] = 0; + out_2375859083810452730[431] = 0; + out_2375859083810452730[432] = 0; + out_2375859083810452730[433] = 0; + out_2375859083810452730[434] = 0; + out_2375859083810452730[435] = 0; + out_2375859083810452730[436] = 0; + out_2375859083810452730[437] = 0; + out_2375859083810452730[438] = 0; + out_2375859083810452730[439] = 0; + out_2375859083810452730[440] = 1; +} +void h_4(double *state, double *unused, double *out_366738616292829801) { + out_366738616292829801[0] = state[10] + state[13]; + out_366738616292829801[1] = state[11] + state[14]; + out_366738616292829801[2] = state[12] + state[15]; +} +void H_4(double *state, double *unused, double *out_6286413836273038141) { + out_6286413836273038141[0] = 0; + out_6286413836273038141[1] = 0; + out_6286413836273038141[2] = 0; + out_6286413836273038141[3] = 0; + out_6286413836273038141[4] = 0; + out_6286413836273038141[5] = 0; + out_6286413836273038141[6] = 0; + out_6286413836273038141[7] = 0; + out_6286413836273038141[8] = 0; + out_6286413836273038141[9] = 0; + out_6286413836273038141[10] = 1; + out_6286413836273038141[11] = 0; + out_6286413836273038141[12] = 0; + out_6286413836273038141[13] = 1; + out_6286413836273038141[14] = 0; + out_6286413836273038141[15] = 0; + out_6286413836273038141[16] = 0; + out_6286413836273038141[17] = 0; + out_6286413836273038141[18] = 0; + out_6286413836273038141[19] = 0; + out_6286413836273038141[20] = 0; + out_6286413836273038141[21] = 0; + out_6286413836273038141[22] = 0; + out_6286413836273038141[23] = 0; + out_6286413836273038141[24] = 0; + out_6286413836273038141[25] = 0; + out_6286413836273038141[26] = 0; + out_6286413836273038141[27] = 0; + out_6286413836273038141[28] = 0; + out_6286413836273038141[29] = 0; + out_6286413836273038141[30] = 0; + out_6286413836273038141[31] = 0; + out_6286413836273038141[32] = 0; + out_6286413836273038141[33] = 1; + out_6286413836273038141[34] = 0; + out_6286413836273038141[35] = 0; + out_6286413836273038141[36] = 1; + out_6286413836273038141[37] = 0; + out_6286413836273038141[38] = 0; + out_6286413836273038141[39] = 0; + out_6286413836273038141[40] = 0; + out_6286413836273038141[41] = 0; + out_6286413836273038141[42] = 0; + out_6286413836273038141[43] = 0; + out_6286413836273038141[44] = 0; + out_6286413836273038141[45] = 0; + out_6286413836273038141[46] = 0; + out_6286413836273038141[47] = 0; + out_6286413836273038141[48] = 0; + out_6286413836273038141[49] = 0; + out_6286413836273038141[50] = 0; + out_6286413836273038141[51] = 0; + out_6286413836273038141[52] = 0; + out_6286413836273038141[53] = 0; + out_6286413836273038141[54] = 0; + out_6286413836273038141[55] = 0; + out_6286413836273038141[56] = 1; + out_6286413836273038141[57] = 0; + out_6286413836273038141[58] = 0; + out_6286413836273038141[59] = 1; + out_6286413836273038141[60] = 0; + out_6286413836273038141[61] = 0; + out_6286413836273038141[62] = 0; + out_6286413836273038141[63] = 0; + out_6286413836273038141[64] = 0; + out_6286413836273038141[65] = 0; +} +void h_9(double *state, double *unused, double *out_1714599387767933236) { + out_1714599387767933236[0] = state[10]; + out_1714599387767933236[1] = state[11]; + out_1714599387767933236[2] = state[12]; +} +void H_9(double *state, double *unused, double *out_6045224189643447496) { + out_6045224189643447496[0] = 0; + out_6045224189643447496[1] = 0; + out_6045224189643447496[2] = 0; + out_6045224189643447496[3] = 0; + out_6045224189643447496[4] = 0; + out_6045224189643447496[5] = 0; + out_6045224189643447496[6] = 0; + out_6045224189643447496[7] = 0; + out_6045224189643447496[8] = 0; + out_6045224189643447496[9] = 0; + out_6045224189643447496[10] = 1; + out_6045224189643447496[11] = 0; + out_6045224189643447496[12] = 0; + out_6045224189643447496[13] = 0; + out_6045224189643447496[14] = 0; + out_6045224189643447496[15] = 0; + out_6045224189643447496[16] = 0; + out_6045224189643447496[17] = 0; + out_6045224189643447496[18] = 0; + out_6045224189643447496[19] = 0; + out_6045224189643447496[20] = 0; + out_6045224189643447496[21] = 0; + out_6045224189643447496[22] = 0; + out_6045224189643447496[23] = 0; + out_6045224189643447496[24] = 0; + out_6045224189643447496[25] = 0; + out_6045224189643447496[26] = 0; + out_6045224189643447496[27] = 0; + out_6045224189643447496[28] = 0; + out_6045224189643447496[29] = 0; + out_6045224189643447496[30] = 0; + out_6045224189643447496[31] = 0; + out_6045224189643447496[32] = 0; + out_6045224189643447496[33] = 1; + out_6045224189643447496[34] = 0; + out_6045224189643447496[35] = 0; + out_6045224189643447496[36] = 0; + out_6045224189643447496[37] = 0; + out_6045224189643447496[38] = 0; + out_6045224189643447496[39] = 0; + out_6045224189643447496[40] = 0; + out_6045224189643447496[41] = 0; + out_6045224189643447496[42] = 0; + out_6045224189643447496[43] = 0; + out_6045224189643447496[44] = 0; + out_6045224189643447496[45] = 0; + out_6045224189643447496[46] = 0; + out_6045224189643447496[47] = 0; + out_6045224189643447496[48] = 0; + out_6045224189643447496[49] = 0; + out_6045224189643447496[50] = 0; + out_6045224189643447496[51] = 0; + out_6045224189643447496[52] = 0; + out_6045224189643447496[53] = 0; + out_6045224189643447496[54] = 0; + out_6045224189643447496[55] = 0; + out_6045224189643447496[56] = 1; + out_6045224189643447496[57] = 0; + out_6045224189643447496[58] = 0; + out_6045224189643447496[59] = 0; + out_6045224189643447496[60] = 0; + out_6045224189643447496[61] = 0; + out_6045224189643447496[62] = 0; + out_6045224189643447496[63] = 0; + out_6045224189643447496[64] = 0; + out_6045224189643447496[65] = 0; +} +void h_10(double *state, double *unused, double *out_5210603776479947403) { + out_5210603776479947403[0] = 398600500000000.0*(-2*state[3]*state[5] + 2*state[4]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2] + 398600500000000.0*(2*state[3]*state[6] + 2*state[4]*state[5])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1] + 398600500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*(pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2))*state[0] + state[16] + state[19]; + out_5210603776479947403[1] = 398600500000000.0*(2*state[3]*state[4] + 2*state[5]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2] + 398600500000000.0*(-2*state[3]*state[6] + 2*state[4]*state[5])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0] + 398600500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*(pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2))*state[1] + state[17] + state[20]; + out_5210603776479947403[2] = 398600500000000.0*(-2*state[3]*state[4] + 2*state[5]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1] + 398600500000000.0*(2*state[3]*state[5] + 2*state[4]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0] + 398600500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*(pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2))*state[2] + state[18] + state[21]; +} +void H_10(double *state, double *unused, double *out_3971190802176886451) { + out_3971190802176886451[0] = -1195801500000000.0*(-2*state[3]*state[5] + 2*state[4]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*state[0]*state[2] - 1195801500000000.0*(2*state[3]*state[6] + 2*state[4]*state[5])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*state[0]*state[1] - 1195801500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*(pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2))*pow(state[0], 2) + 398600500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*(pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2)); + out_3971190802176886451[1] = -1195801500000000.0*(-2*state[3]*state[5] + 2*state[4]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*state[1]*state[2] - 1195801500000000.0*(2*state[3]*state[6] + 2*state[4]*state[5])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*pow(state[1], 2) + 398600500000000.0*(2*state[3]*state[6] + 2*state[4]*state[5])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5) - 1195801500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*(pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2))*state[0]*state[1]; + out_3971190802176886451[2] = -1195801500000000.0*(-2*state[3]*state[5] + 2*state[4]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*pow(state[2], 2) + 398600500000000.0*(-2*state[3]*state[5] + 2*state[4]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5) - 1195801500000000.0*(2*state[3]*state[6] + 2*state[4]*state[5])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*state[1]*state[2] - 1195801500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*(pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2))*state[0]*state[2]; + out_3971190802176886451[3] = 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0]*state[3] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1]*state[6] - 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2]*state[5]; + out_3971190802176886451[4] = 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0]*state[4] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1]*state[5] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2]*state[6]; + out_3971190802176886451[5] = -797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0]*state[5] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1]*state[4] - 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2]*state[3]; + out_3971190802176886451[6] = -797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0]*state[6] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1]*state[3] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2]*state[4]; + out_3971190802176886451[7] = 0; + out_3971190802176886451[8] = 0; + out_3971190802176886451[9] = 0; + out_3971190802176886451[10] = 0; + out_3971190802176886451[11] = 0; + out_3971190802176886451[12] = 0; + out_3971190802176886451[13] = 0; + out_3971190802176886451[14] = 0; + out_3971190802176886451[15] = 0; + out_3971190802176886451[16] = 1; + out_3971190802176886451[17] = 0; + out_3971190802176886451[18] = 0; + out_3971190802176886451[19] = 1; + out_3971190802176886451[20] = 0; + out_3971190802176886451[21] = 0; + out_3971190802176886451[22] = -1195801500000000.0*(2*state[3]*state[4] + 2*state[5]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*state[0]*state[2] - 1195801500000000.0*(-2*state[3]*state[6] + 2*state[4]*state[5])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*pow(state[0], 2) + 398600500000000.0*(-2*state[3]*state[6] + 2*state[4]*state[5])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5) - 1195801500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*(pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2))*state[0]*state[1]; + out_3971190802176886451[23] = -1195801500000000.0*(2*state[3]*state[4] + 2*state[5]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*state[1]*state[2] - 1195801500000000.0*(-2*state[3]*state[6] + 2*state[4]*state[5])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*state[0]*state[1] - 1195801500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*(pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2))*pow(state[1], 2) + 398600500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*(pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2)); + out_3971190802176886451[24] = -1195801500000000.0*(2*state[3]*state[4] + 2*state[5]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*pow(state[2], 2) + 398600500000000.0*(2*state[3]*state[4] + 2*state[5]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5) - 1195801500000000.0*(-2*state[3]*state[6] + 2*state[4]*state[5])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*state[0]*state[2] - 1195801500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*(pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2))*state[1]*state[2]; + out_3971190802176886451[25] = -797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0]*state[6] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1]*state[3] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2]*state[4]; + out_3971190802176886451[26] = 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0]*state[5] - 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1]*state[4] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2]*state[3]; + out_3971190802176886451[27] = 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0]*state[4] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1]*state[5] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2]*state[6]; + out_3971190802176886451[28] = -797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0]*state[3] - 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1]*state[6] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2]*state[5]; + out_3971190802176886451[29] = 0; + out_3971190802176886451[30] = 0; + out_3971190802176886451[31] = 0; + out_3971190802176886451[32] = 0; + out_3971190802176886451[33] = 0; + out_3971190802176886451[34] = 0; + out_3971190802176886451[35] = 0; + out_3971190802176886451[36] = 0; + out_3971190802176886451[37] = 0; + out_3971190802176886451[38] = 0; + out_3971190802176886451[39] = 1; + out_3971190802176886451[40] = 0; + out_3971190802176886451[41] = 0; + out_3971190802176886451[42] = 1; + out_3971190802176886451[43] = 0; + out_3971190802176886451[44] = -1195801500000000.0*(-2*state[3]*state[4] + 2*state[5]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*state[0]*state[1] - 1195801500000000.0*(2*state[3]*state[5] + 2*state[4]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*pow(state[0], 2) + 398600500000000.0*(2*state[3]*state[5] + 2*state[4]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5) - 1195801500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*(pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2))*state[0]*state[2]; + out_3971190802176886451[45] = -1195801500000000.0*(-2*state[3]*state[4] + 2*state[5]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*pow(state[1], 2) + 398600500000000.0*(-2*state[3]*state[4] + 2*state[5]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5) - 1195801500000000.0*(2*state[3]*state[5] + 2*state[4]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*state[0]*state[1] - 1195801500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*(pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2))*state[1]*state[2]; + out_3971190802176886451[46] = -1195801500000000.0*(-2*state[3]*state[4] + 2*state[5]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*state[1]*state[2] - 1195801500000000.0*(2*state[3]*state[5] + 2*state[4]*state[6])*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*state[0]*state[2] - 1195801500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -2.5)*(pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2))*pow(state[2], 2) + 398600500000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*(pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2)); + out_3971190802176886451[47] = 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0]*state[5] - 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1]*state[4] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2]*state[3]; + out_3971190802176886451[48] = 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0]*state[6] - 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1]*state[3] - 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2]*state[4]; + out_3971190802176886451[49] = 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0]*state[3] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1]*state[6] - 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2]*state[5]; + out_3971190802176886451[50] = 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[0]*state[4] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[1]*state[5] + 797201000000000.0*pow(pow(state[0], 2) + pow(state[1], 2) + pow(state[2], 2), -1.5)*state[2]*state[6]; + out_3971190802176886451[51] = 0; + out_3971190802176886451[52] = 0; + out_3971190802176886451[53] = 0; + out_3971190802176886451[54] = 0; + out_3971190802176886451[55] = 0; + out_3971190802176886451[56] = 0; + out_3971190802176886451[57] = 0; + out_3971190802176886451[58] = 0; + out_3971190802176886451[59] = 0; + out_3971190802176886451[60] = 0; + out_3971190802176886451[61] = 0; + out_3971190802176886451[62] = 1; + out_3971190802176886451[63] = 0; + out_3971190802176886451[64] = 0; + out_3971190802176886451[65] = 1; +} +void h_12(double *state, double *unused, double *out_657887856910587215) { + out_657887856910587215[0] = state[0]; + out_657887856910587215[1] = state[1]; + out_657887856910587215[2] = state[2]; +} +void H_12(double *state, double *unused, double *out_1266957428241076346) { + out_1266957428241076346[0] = 1; + out_1266957428241076346[1] = 0; + out_1266957428241076346[2] = 0; + out_1266957428241076346[3] = 0; + out_1266957428241076346[4] = 0; + out_1266957428241076346[5] = 0; + out_1266957428241076346[6] = 0; + out_1266957428241076346[7] = 0; + out_1266957428241076346[8] = 0; + out_1266957428241076346[9] = 0; + out_1266957428241076346[10] = 0; + out_1266957428241076346[11] = 0; + out_1266957428241076346[12] = 0; + out_1266957428241076346[13] = 0; + out_1266957428241076346[14] = 0; + out_1266957428241076346[15] = 0; + out_1266957428241076346[16] = 0; + out_1266957428241076346[17] = 0; + out_1266957428241076346[18] = 0; + out_1266957428241076346[19] = 0; + out_1266957428241076346[20] = 0; + out_1266957428241076346[21] = 0; + out_1266957428241076346[22] = 0; + out_1266957428241076346[23] = 1; + out_1266957428241076346[24] = 0; + out_1266957428241076346[25] = 0; + out_1266957428241076346[26] = 0; + out_1266957428241076346[27] = 0; + out_1266957428241076346[28] = 0; + out_1266957428241076346[29] = 0; + out_1266957428241076346[30] = 0; + out_1266957428241076346[31] = 0; + out_1266957428241076346[32] = 0; + out_1266957428241076346[33] = 0; + out_1266957428241076346[34] = 0; + out_1266957428241076346[35] = 0; + out_1266957428241076346[36] = 0; + out_1266957428241076346[37] = 0; + out_1266957428241076346[38] = 0; + out_1266957428241076346[39] = 0; + out_1266957428241076346[40] = 0; + out_1266957428241076346[41] = 0; + out_1266957428241076346[42] = 0; + out_1266957428241076346[43] = 0; + out_1266957428241076346[44] = 0; + out_1266957428241076346[45] = 0; + out_1266957428241076346[46] = 1; + out_1266957428241076346[47] = 0; + out_1266957428241076346[48] = 0; + out_1266957428241076346[49] = 0; + out_1266957428241076346[50] = 0; + out_1266957428241076346[51] = 0; + out_1266957428241076346[52] = 0; + out_1266957428241076346[53] = 0; + out_1266957428241076346[54] = 0; + out_1266957428241076346[55] = 0; + out_1266957428241076346[56] = 0; + out_1266957428241076346[57] = 0; + out_1266957428241076346[58] = 0; + out_1266957428241076346[59] = 0; + out_1266957428241076346[60] = 0; + out_1266957428241076346[61] = 0; + out_1266957428241076346[62] = 0; + out_1266957428241076346[63] = 0; + out_1266957428241076346[64] = 0; + out_1266957428241076346[65] = 0; +} +void h_35(double *state, double *unused, double *out_5537828271794543578) { + out_5537828271794543578[0] = state[7]; + out_5537828271794543578[1] = state[8]; + out_5537828271794543578[2] = state[9]; +} +void H_35(double *state, double *unused, double *out_2919751778900430765) { + out_2919751778900430765[0] = 0; + out_2919751778900430765[1] = 0; + out_2919751778900430765[2] = 0; + out_2919751778900430765[3] = 0; + out_2919751778900430765[4] = 0; + out_2919751778900430765[5] = 0; + out_2919751778900430765[6] = 0; + out_2919751778900430765[7] = 1; + out_2919751778900430765[8] = 0; + out_2919751778900430765[9] = 0; + out_2919751778900430765[10] = 0; + out_2919751778900430765[11] = 0; + out_2919751778900430765[12] = 0; + out_2919751778900430765[13] = 0; + out_2919751778900430765[14] = 0; + out_2919751778900430765[15] = 0; + out_2919751778900430765[16] = 0; + out_2919751778900430765[17] = 0; + out_2919751778900430765[18] = 0; + out_2919751778900430765[19] = 0; + out_2919751778900430765[20] = 0; + out_2919751778900430765[21] = 0; + out_2919751778900430765[22] = 0; + out_2919751778900430765[23] = 0; + out_2919751778900430765[24] = 0; + out_2919751778900430765[25] = 0; + out_2919751778900430765[26] = 0; + out_2919751778900430765[27] = 0; + out_2919751778900430765[28] = 0; + out_2919751778900430765[29] = 0; + out_2919751778900430765[30] = 1; + out_2919751778900430765[31] = 0; + out_2919751778900430765[32] = 0; + out_2919751778900430765[33] = 0; + out_2919751778900430765[34] = 0; + out_2919751778900430765[35] = 0; + out_2919751778900430765[36] = 0; + out_2919751778900430765[37] = 0; + out_2919751778900430765[38] = 0; + out_2919751778900430765[39] = 0; + out_2919751778900430765[40] = 0; + out_2919751778900430765[41] = 0; + out_2919751778900430765[42] = 0; + out_2919751778900430765[43] = 0; + out_2919751778900430765[44] = 0; + out_2919751778900430765[45] = 0; + out_2919751778900430765[46] = 0; + out_2919751778900430765[47] = 0; + out_2919751778900430765[48] = 0; + out_2919751778900430765[49] = 0; + out_2919751778900430765[50] = 0; + out_2919751778900430765[51] = 0; + out_2919751778900430765[52] = 0; + out_2919751778900430765[53] = 1; + out_2919751778900430765[54] = 0; + out_2919751778900430765[55] = 0; + out_2919751778900430765[56] = 0; + out_2919751778900430765[57] = 0; + out_2919751778900430765[58] = 0; + out_2919751778900430765[59] = 0; + out_2919751778900430765[60] = 0; + out_2919751778900430765[61] = 0; + out_2919751778900430765[62] = 0; + out_2919751778900430765[63] = 0; + out_2919751778900430765[64] = 0; + out_2919751778900430765[65] = 0; +} +void h_32(double *state, double *unused, double *out_2344260771142018595) { + out_2344260771142018595[0] = state[3]; + out_2344260771142018595[1] = state[4]; + out_2344260771142018595[2] = state[5]; + out_2344260771142018595[3] = state[6]; +} +void H_32(double *state, double *unused, double *out_7260756554633537653) { + out_7260756554633537653[0] = 0; + out_7260756554633537653[1] = 0; + out_7260756554633537653[2] = 0; + out_7260756554633537653[3] = 1; + out_7260756554633537653[4] = 0; + out_7260756554633537653[5] = 0; + out_7260756554633537653[6] = 0; + out_7260756554633537653[7] = 0; + out_7260756554633537653[8] = 0; + out_7260756554633537653[9] = 0; + out_7260756554633537653[10] = 0; + out_7260756554633537653[11] = 0; + out_7260756554633537653[12] = 0; + out_7260756554633537653[13] = 0; + out_7260756554633537653[14] = 0; + out_7260756554633537653[15] = 0; + out_7260756554633537653[16] = 0; + out_7260756554633537653[17] = 0; + out_7260756554633537653[18] = 0; + out_7260756554633537653[19] = 0; + out_7260756554633537653[20] = 0; + out_7260756554633537653[21] = 0; + out_7260756554633537653[22] = 0; + out_7260756554633537653[23] = 0; + out_7260756554633537653[24] = 0; + out_7260756554633537653[25] = 0; + out_7260756554633537653[26] = 1; + out_7260756554633537653[27] = 0; + out_7260756554633537653[28] = 0; + out_7260756554633537653[29] = 0; + out_7260756554633537653[30] = 0; + out_7260756554633537653[31] = 0; + out_7260756554633537653[32] = 0; + out_7260756554633537653[33] = 0; + out_7260756554633537653[34] = 0; + out_7260756554633537653[35] = 0; + out_7260756554633537653[36] = 0; + out_7260756554633537653[37] = 0; + out_7260756554633537653[38] = 0; + out_7260756554633537653[39] = 0; + out_7260756554633537653[40] = 0; + out_7260756554633537653[41] = 0; + out_7260756554633537653[42] = 0; + out_7260756554633537653[43] = 0; + out_7260756554633537653[44] = 0; + out_7260756554633537653[45] = 0; + out_7260756554633537653[46] = 0; + out_7260756554633537653[47] = 0; + out_7260756554633537653[48] = 0; + out_7260756554633537653[49] = 1; + out_7260756554633537653[50] = 0; + out_7260756554633537653[51] = 0; + out_7260756554633537653[52] = 0; + out_7260756554633537653[53] = 0; + out_7260756554633537653[54] = 0; + out_7260756554633537653[55] = 0; + out_7260756554633537653[56] = 0; + out_7260756554633537653[57] = 0; + out_7260756554633537653[58] = 0; + out_7260756554633537653[59] = 0; + out_7260756554633537653[60] = 0; + out_7260756554633537653[61] = 0; + out_7260756554633537653[62] = 0; + out_7260756554633537653[63] = 0; + out_7260756554633537653[64] = 0; + out_7260756554633537653[65] = 0; + out_7260756554633537653[66] = 0; + out_7260756554633537653[67] = 0; + out_7260756554633537653[68] = 0; + out_7260756554633537653[69] = 0; + out_7260756554633537653[70] = 0; + out_7260756554633537653[71] = 0; + out_7260756554633537653[72] = 1; + out_7260756554633537653[73] = 0; + out_7260756554633537653[74] = 0; + out_7260756554633537653[75] = 0; + out_7260756554633537653[76] = 0; + out_7260756554633537653[77] = 0; + out_7260756554633537653[78] = 0; + out_7260756554633537653[79] = 0; + out_7260756554633537653[80] = 0; + out_7260756554633537653[81] = 0; + out_7260756554633537653[82] = 0; + out_7260756554633537653[83] = 0; + out_7260756554633537653[84] = 0; + out_7260756554633537653[85] = 0; + out_7260756554633537653[86] = 0; + out_7260756554633537653[87] = 0; +} +void h_13(double *state, double *unused, double *out_7959492413368281896) { + out_7959492413368281896[0] = (-2*state[3]*state[5] + 2*state[4]*state[6])*state[9] + (2*state[3]*state[6] + 2*state[4]*state[5])*state[8] + (pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2))*state[7]; + out_7959492413368281896[1] = (2*state[3]*state[4] + 2*state[5]*state[6])*state[9] + (-2*state[3]*state[6] + 2*state[4]*state[5])*state[7] + (pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2))*state[8]; + out_7959492413368281896[2] = (-2*state[3]*state[4] + 2*state[5]*state[6])*state[8] + (2*state[3]*state[5] + 2*state[4]*state[6])*state[7] + (pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2))*state[9]; +} +void H_13(double *state, double *unused, double *out_2883293896485175748) { + out_2883293896485175748[0] = 0; + out_2883293896485175748[1] = 0; + out_2883293896485175748[2] = 0; + out_2883293896485175748[3] = 2*state[3]*state[7] - 2*state[5]*state[9] + 2*state[6]*state[8]; + out_2883293896485175748[4] = 2*state[4]*state[7] + 2*state[5]*state[8] + 2*state[6]*state[9]; + out_2883293896485175748[5] = -2*state[3]*state[9] + 2*state[4]*state[8] - 2*state[5]*state[7]; + out_2883293896485175748[6] = 2*state[3]*state[8] + 2*state[4]*state[9] - 2*state[6]*state[7]; + out_2883293896485175748[7] = pow(state[3], 2) + pow(state[4], 2) - pow(state[5], 2) - pow(state[6], 2); + out_2883293896485175748[8] = 2*state[3]*state[6] + 2*state[4]*state[5]; + out_2883293896485175748[9] = -2*state[3]*state[5] + 2*state[4]*state[6]; + out_2883293896485175748[10] = 0; + out_2883293896485175748[11] = 0; + out_2883293896485175748[12] = 0; + out_2883293896485175748[13] = 0; + out_2883293896485175748[14] = 0; + out_2883293896485175748[15] = 0; + out_2883293896485175748[16] = 0; + out_2883293896485175748[17] = 0; + out_2883293896485175748[18] = 0; + out_2883293896485175748[19] = 0; + out_2883293896485175748[20] = 0; + out_2883293896485175748[21] = 0; + out_2883293896485175748[22] = 0; + out_2883293896485175748[23] = 0; + out_2883293896485175748[24] = 0; + out_2883293896485175748[25] = 2*state[3]*state[8] + 2*state[4]*state[9] - 2*state[6]*state[7]; + out_2883293896485175748[26] = 2*state[3]*state[9] - 2*state[4]*state[8] + 2*state[5]*state[7]; + out_2883293896485175748[27] = 2*state[4]*state[7] + 2*state[5]*state[8] + 2*state[6]*state[9]; + out_2883293896485175748[28] = -2*state[3]*state[7] + 2*state[5]*state[9] - 2*state[6]*state[8]; + out_2883293896485175748[29] = -2*state[3]*state[6] + 2*state[4]*state[5]; + out_2883293896485175748[30] = pow(state[3], 2) - pow(state[4], 2) + pow(state[5], 2) - pow(state[6], 2); + out_2883293896485175748[31] = 2*state[3]*state[4] + 2*state[5]*state[6]; + out_2883293896485175748[32] = 0; + out_2883293896485175748[33] = 0; + out_2883293896485175748[34] = 0; + out_2883293896485175748[35] = 0; + out_2883293896485175748[36] = 0; + out_2883293896485175748[37] = 0; + out_2883293896485175748[38] = 0; + out_2883293896485175748[39] = 0; + out_2883293896485175748[40] = 0; + out_2883293896485175748[41] = 0; + out_2883293896485175748[42] = 0; + out_2883293896485175748[43] = 0; + out_2883293896485175748[44] = 0; + out_2883293896485175748[45] = 0; + out_2883293896485175748[46] = 0; + out_2883293896485175748[47] = 2*state[3]*state[9] - 2*state[4]*state[8] + 2*state[5]*state[7]; + out_2883293896485175748[48] = -2*state[3]*state[8] - 2*state[4]*state[9] + 2*state[6]*state[7]; + out_2883293896485175748[49] = 2*state[3]*state[7] - 2*state[5]*state[9] + 2*state[6]*state[8]; + out_2883293896485175748[50] = 2*state[4]*state[7] + 2*state[5]*state[8] + 2*state[6]*state[9]; + out_2883293896485175748[51] = 2*state[3]*state[5] + 2*state[4]*state[6]; + out_2883293896485175748[52] = -2*state[3]*state[4] + 2*state[5]*state[6]; + out_2883293896485175748[53] = pow(state[3], 2) - pow(state[4], 2) - pow(state[5], 2) + pow(state[6], 2); + out_2883293896485175748[54] = 0; + out_2883293896485175748[55] = 0; + out_2883293896485175748[56] = 0; + out_2883293896485175748[57] = 0; + out_2883293896485175748[58] = 0; + out_2883293896485175748[59] = 0; + out_2883293896485175748[60] = 0; + out_2883293896485175748[61] = 0; + out_2883293896485175748[62] = 0; + out_2883293896485175748[63] = 0; + out_2883293896485175748[64] = 0; + out_2883293896485175748[65] = 0; +} +void h_14(double *state, double *unused, double *out_1714599387767933236) { + out_1714599387767933236[0] = state[10]; + out_1714599387767933236[1] = state[11]; + out_1714599387767933236[2] = state[12]; +} +void H_14(double *state, double *unused, double *out_6045224189643447496) { + out_6045224189643447496[0] = 0; + out_6045224189643447496[1] = 0; + out_6045224189643447496[2] = 0; + out_6045224189643447496[3] = 0; + out_6045224189643447496[4] = 0; + out_6045224189643447496[5] = 0; + out_6045224189643447496[6] = 0; + out_6045224189643447496[7] = 0; + out_6045224189643447496[8] = 0; + out_6045224189643447496[9] = 0; + out_6045224189643447496[10] = 1; + out_6045224189643447496[11] = 0; + out_6045224189643447496[12] = 0; + out_6045224189643447496[13] = 0; + out_6045224189643447496[14] = 0; + out_6045224189643447496[15] = 0; + out_6045224189643447496[16] = 0; + out_6045224189643447496[17] = 0; + out_6045224189643447496[18] = 0; + out_6045224189643447496[19] = 0; + out_6045224189643447496[20] = 0; + out_6045224189643447496[21] = 0; + out_6045224189643447496[22] = 0; + out_6045224189643447496[23] = 0; + out_6045224189643447496[24] = 0; + out_6045224189643447496[25] = 0; + out_6045224189643447496[26] = 0; + out_6045224189643447496[27] = 0; + out_6045224189643447496[28] = 0; + out_6045224189643447496[29] = 0; + out_6045224189643447496[30] = 0; + out_6045224189643447496[31] = 0; + out_6045224189643447496[32] = 0; + out_6045224189643447496[33] = 1; + out_6045224189643447496[34] = 0; + out_6045224189643447496[35] = 0; + out_6045224189643447496[36] = 0; + out_6045224189643447496[37] = 0; + out_6045224189643447496[38] = 0; + out_6045224189643447496[39] = 0; + out_6045224189643447496[40] = 0; + out_6045224189643447496[41] = 0; + out_6045224189643447496[42] = 0; + out_6045224189643447496[43] = 0; + out_6045224189643447496[44] = 0; + out_6045224189643447496[45] = 0; + out_6045224189643447496[46] = 0; + out_6045224189643447496[47] = 0; + out_6045224189643447496[48] = 0; + out_6045224189643447496[49] = 0; + out_6045224189643447496[50] = 0; + out_6045224189643447496[51] = 0; + out_6045224189643447496[52] = 0; + out_6045224189643447496[53] = 0; + out_6045224189643447496[54] = 0; + out_6045224189643447496[55] = 0; + out_6045224189643447496[56] = 1; + out_6045224189643447496[57] = 0; + out_6045224189643447496[58] = 0; + out_6045224189643447496[59] = 0; + out_6045224189643447496[60] = 0; + out_6045224189643447496[61] = 0; + out_6045224189643447496[62] = 0; + out_6045224189643447496[63] = 0; + out_6045224189643447496[64] = 0; + out_6045224189643447496[65] = 0; +} +void h_33(double *state, double *unused, double *out_6487100742526349590) { + out_6487100742526349590[0] = state[16]; + out_6487100742526349590[1] = state[17]; + out_6487100742526349590[2] = state[18]; +} +void H_33(double *state, double *unused, double *out_230805225738426839) { + out_230805225738426839[0] = 0; + out_230805225738426839[1] = 0; + out_230805225738426839[2] = 0; + out_230805225738426839[3] = 0; + out_230805225738426839[4] = 0; + out_230805225738426839[5] = 0; + out_230805225738426839[6] = 0; + out_230805225738426839[7] = 0; + out_230805225738426839[8] = 0; + out_230805225738426839[9] = 0; + out_230805225738426839[10] = 0; + out_230805225738426839[11] = 0; + out_230805225738426839[12] = 0; + out_230805225738426839[13] = 0; + out_230805225738426839[14] = 0; + out_230805225738426839[15] = 0; + out_230805225738426839[16] = 1; + out_230805225738426839[17] = 0; + out_230805225738426839[18] = 0; + out_230805225738426839[19] = 0; + out_230805225738426839[20] = 0; + out_230805225738426839[21] = 0; + out_230805225738426839[22] = 0; + out_230805225738426839[23] = 0; + out_230805225738426839[24] = 0; + out_230805225738426839[25] = 0; + out_230805225738426839[26] = 0; + out_230805225738426839[27] = 0; + out_230805225738426839[28] = 0; + out_230805225738426839[29] = 0; + out_230805225738426839[30] = 0; + out_230805225738426839[31] = 0; + out_230805225738426839[32] = 0; + out_230805225738426839[33] = 0; + out_230805225738426839[34] = 0; + out_230805225738426839[35] = 0; + out_230805225738426839[36] = 0; + out_230805225738426839[37] = 0; + out_230805225738426839[38] = 0; + out_230805225738426839[39] = 1; + out_230805225738426839[40] = 0; + out_230805225738426839[41] = 0; + out_230805225738426839[42] = 0; + out_230805225738426839[43] = 0; + out_230805225738426839[44] = 0; + out_230805225738426839[45] = 0; + out_230805225738426839[46] = 0; + out_230805225738426839[47] = 0; + out_230805225738426839[48] = 0; + out_230805225738426839[49] = 0; + out_230805225738426839[50] = 0; + out_230805225738426839[51] = 0; + out_230805225738426839[52] = 0; + out_230805225738426839[53] = 0; + out_230805225738426839[54] = 0; + out_230805225738426839[55] = 0; + out_230805225738426839[56] = 0; + out_230805225738426839[57] = 0; + out_230805225738426839[58] = 0; + out_230805225738426839[59] = 0; + out_230805225738426839[60] = 0; + out_230805225738426839[61] = 0; + out_230805225738426839[62] = 1; + out_230805225738426839[63] = 0; + out_230805225738426839[64] = 0; + out_230805225738426839[65] = 0; +} +#include +#include + +typedef Eigen::Matrix DDM; +typedef Eigen::Matrix EEM; +typedef Eigen::Matrix DEM; + +void predict(double *in_x, double *in_P, double *in_Q, double dt) { + typedef Eigen::Matrix RRM; + + double nx[DIM] = {0}; + double in_F[EDIM*EDIM] = {0}; + + // functions from sympy + f_fun(in_x, dt, nx); + F_fun(in_x, dt, in_F); + + + EEM F(in_F); + EEM P(in_P); + EEM Q(in_Q); + + RRM F_main = F.topLeftCorner(MEDIM, MEDIM); + P.topLeftCorner(MEDIM, MEDIM) = (F_main * P.topLeftCorner(MEDIM, MEDIM)) * F_main.transpose(); + P.topRightCorner(MEDIM, EDIM - MEDIM) = F_main * P.topRightCorner(MEDIM, EDIM - MEDIM); + P.bottomLeftCorner(EDIM - MEDIM, MEDIM) = P.bottomLeftCorner(EDIM - MEDIM, MEDIM) * F_main.transpose(); + + P = P + dt*Q; + + // copy out state + memcpy(in_x, nx, DIM * sizeof(double)); + memcpy(in_P, P.data(), EDIM * EDIM * sizeof(double)); +} + +// note: extra_args dim only correct when null space projecting +// otherwise 1 +template +void update(double *in_x, double *in_P, Hfun h_fun, Hfun H_fun, Hfun Hea_fun, double *in_z, double *in_R, double *in_ea, double MAHA_THRESHOLD) { + typedef Eigen::Matrix ZZM; + typedef Eigen::Matrix ZDM; + typedef Eigen::Matrix XEM; + //typedef Eigen::Matrix EZM; + typedef Eigen::Matrix X1M; + typedef Eigen::Matrix XXM; + + double in_hx[ZDIM] = {0}; + double in_H[ZDIM * DIM] = {0}; + double in_H_mod[EDIM * DIM] = {0}; + double delta_x[EDIM] = {0}; + double x_new[DIM] = {0}; + + + // state x, P + Eigen::Matrix z(in_z); + EEM P(in_P); + ZZM pre_R(in_R); + + // functions from sympy + h_fun(in_x, in_ea, in_hx); + H_fun(in_x, in_ea, in_H); + ZDM pre_H(in_H); + + // get y (y = z - hx) + Eigen::Matrix pre_y(in_hx); pre_y = z - pre_y; + X1M y; XXM H; XXM R; + if (Hea_fun){ + typedef Eigen::Matrix ZAM; + double in_Hea[ZDIM * EADIM] = {0}; + Hea_fun(in_x, in_ea, in_Hea); + ZAM Hea(in_Hea); + XXM A = Hea.transpose().fullPivLu().kernel(); + + + y = A.transpose() * pre_y; + H = A.transpose() * pre_H; + R = A.transpose() * pre_R * A; + } else { + y = pre_y; + H = pre_H; + R = pre_R; + } + // get modified H + H_mod_fun(in_x, in_H_mod); + DEM H_mod(in_H_mod); + XEM H_err = H * H_mod; + + // Do mahalobis distance test + if (MAHA_TEST){ + XXM a = (H_err * P * H_err.transpose() + R).inverse(); + double maha_dist = y.transpose() * a * y; + if (maha_dist > MAHA_THRESHOLD){ + R = 1.0e16 * R; + } + } + + // Outlier resilient weighting + double weight = 1;//(1.5)/(1 + y.squaredNorm()/R.sum()); + + // kalman gains and I_KH + XXM S = ((H_err * P) * H_err.transpose()) + R/weight; + XEM KT = S.fullPivLu().solve(H_err * P.transpose()); + //EZM K = KT.transpose(); TODO: WHY DOES THIS NOT COMPILE? + //EZM K = S.fullPivLu().solve(H_err * P.transpose()).transpose(); + //std::cout << "Here is the matrix rot:\n" << K << std::endl; + EEM I_KH = Eigen::Matrix::Identity() - (KT.transpose() * H_err); + + // update state by injecting dx + Eigen::Matrix dx(delta_x); + dx = (KT.transpose() * y); + memcpy(delta_x, dx.data(), EDIM * sizeof(double)); + err_fun(in_x, delta_x, x_new); + Eigen::Matrix x(x_new); + + // update cov + P = ((I_KH * P) * I_KH.transpose()) + ((KT.transpose() * R) * KT); + + // copy out state + memcpy(in_x, x.data(), DIM * sizeof(double)); + memcpy(in_P, P.data(), EDIM * EDIM * sizeof(double)); + memcpy(in_z, y.data(), y.rows() * sizeof(double)); +} + + + + +} +extern "C" { + +void live_update_4(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) { + update<3, 3, 0>(in_x, in_P, h_4, H_4, NULL, in_z, in_R, in_ea, MAHA_THRESH_4); +} +void live_update_9(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) { + update<3, 3, 0>(in_x, in_P, h_9, H_9, NULL, in_z, in_R, in_ea, MAHA_THRESH_9); +} +void live_update_10(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) { + update<3, 3, 0>(in_x, in_P, h_10, H_10, NULL, in_z, in_R, in_ea, MAHA_THRESH_10); +} +void live_update_12(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) { + update<3, 3, 0>(in_x, in_P, h_12, H_12, NULL, in_z, in_R, in_ea, MAHA_THRESH_12); +} +void live_update_35(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) { + update<3, 3, 0>(in_x, in_P, h_35, H_35, NULL, in_z, in_R, in_ea, MAHA_THRESH_35); +} +void live_update_32(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) { + update<4, 3, 0>(in_x, in_P, h_32, H_32, NULL, in_z, in_R, in_ea, MAHA_THRESH_32); +} +void live_update_13(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) { + update<3, 3, 0>(in_x, in_P, h_13, H_13, NULL, in_z, in_R, in_ea, MAHA_THRESH_13); +} +void live_update_14(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) { + update<3, 3, 0>(in_x, in_P, h_14, H_14, NULL, in_z, in_R, in_ea, MAHA_THRESH_14); +} +void live_update_33(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) { + update<3, 3, 0>(in_x, in_P, h_33, H_33, NULL, in_z, in_R, in_ea, MAHA_THRESH_33); +} +void live_H(double *in_vec, double *out_4397279444210295073) { + H(in_vec, out_4397279444210295073); +} +void live_err_fun(double *nom_x, double *delta_x, double *out_8221799322445609485) { + err_fun(nom_x, delta_x, out_8221799322445609485); +} +void live_inv_err_fun(double *nom_x, double *true_x, double *out_550428634626954902) { + inv_err_fun(nom_x, true_x, out_550428634626954902); +} +void live_H_mod_fun(double *state, double *out_3934776849663753965) { + H_mod_fun(state, out_3934776849663753965); +} +void live_f_fun(double *state, double dt, double *out_1623848693376701833) { + f_fun(state, dt, out_1623848693376701833); +} +void live_F_fun(double *state, double dt, double *out_2375859083810452730) { + F_fun(state, dt, out_2375859083810452730); +} +void live_h_4(double *state, double *unused, double *out_366738616292829801) { + h_4(state, unused, out_366738616292829801); +} +void live_H_4(double *state, double *unused, double *out_6286413836273038141) { + H_4(state, unused, out_6286413836273038141); +} +void live_h_9(double *state, double *unused, double *out_1714599387767933236) { + h_9(state, unused, out_1714599387767933236); +} +void live_H_9(double *state, double *unused, double *out_6045224189643447496) { + H_9(state, unused, out_6045224189643447496); +} +void live_h_10(double *state, double *unused, double *out_5210603776479947403) { + h_10(state, unused, out_5210603776479947403); +} +void live_H_10(double *state, double *unused, double *out_3971190802176886451) { + H_10(state, unused, out_3971190802176886451); +} +void live_h_12(double *state, double *unused, double *out_657887856910587215) { + h_12(state, unused, out_657887856910587215); +} +void live_H_12(double *state, double *unused, double *out_1266957428241076346) { + H_12(state, unused, out_1266957428241076346); +} +void live_h_35(double *state, double *unused, double *out_5537828271794543578) { + h_35(state, unused, out_5537828271794543578); +} +void live_H_35(double *state, double *unused, double *out_2919751778900430765) { + H_35(state, unused, out_2919751778900430765); +} +void live_h_32(double *state, double *unused, double *out_2344260771142018595) { + h_32(state, unused, out_2344260771142018595); +} +void live_H_32(double *state, double *unused, double *out_7260756554633537653) { + H_32(state, unused, out_7260756554633537653); +} +void live_h_13(double *state, double *unused, double *out_7959492413368281896) { + h_13(state, unused, out_7959492413368281896); +} +void live_H_13(double *state, double *unused, double *out_2883293896485175748) { + H_13(state, unused, out_2883293896485175748); +} +void live_h_14(double *state, double *unused, double *out_1714599387767933236) { + h_14(state, unused, out_1714599387767933236); +} +void live_H_14(double *state, double *unused, double *out_6045224189643447496) { + H_14(state, unused, out_6045224189643447496); +} +void live_h_33(double *state, double *unused, double *out_6487100742526349590) { + h_33(state, unused, out_6487100742526349590); +} +void live_H_33(double *state, double *unused, double *out_230805225738426839) { + H_33(state, unused, out_230805225738426839); +} +void live_predict(double *in_x, double *in_P, double *in_Q, double dt) { + predict(in_x, in_P, in_Q, dt); +} +} + +const EKF live = { + .name = "live", + .kinds = { 4, 9, 10, 12, 35, 32, 13, 14, 33 }, + .feature_kinds = { }, + .f_fun = live_f_fun, + .F_fun = live_F_fun, + .err_fun = live_err_fun, + .inv_err_fun = live_inv_err_fun, + .H_mod_fun = live_H_mod_fun, + .predict = live_predict, + .hs = { + { 4, live_h_4 }, + { 9, live_h_9 }, + { 10, live_h_10 }, + { 12, live_h_12 }, + { 35, live_h_35 }, + { 32, live_h_32 }, + { 13, live_h_13 }, + { 14, live_h_14 }, + { 33, live_h_33 }, + }, + .Hs = { + { 4, live_H_4 }, + { 9, live_H_9 }, + { 10, live_H_10 }, + { 12, live_H_12 }, + { 35, live_H_35 }, + { 32, live_H_32 }, + { 13, live_H_13 }, + { 14, live_H_14 }, + { 33, live_H_33 }, + }, + .updates = { + { 4, live_update_4 }, + { 9, live_update_9 }, + { 10, live_update_10 }, + { 12, live_update_12 }, + { 35, live_update_35 }, + { 32, live_update_32 }, + { 13, live_update_13 }, + { 14, live_update_14 }, + { 33, live_update_33 }, + }, + .Hes = { + }, + .sets = { + }, + .extra_routines = { + { "H", live_H }, + }, +}; + +ekf_lib_init(live) diff --git a/selfdrive/locationd/models/live_kf.cc b/selfdrive/locationd/models/live_kf.cc deleted file mode 100644 index fc3bfb72461697..00000000000000 --- a/selfdrive/locationd/models/live_kf.cc +++ /dev/null @@ -1,122 +0,0 @@ -#include "selfdrive/locationd/models/live_kf.h" - -using namespace EKFS; -using namespace Eigen; - -Eigen::Map get_mapvec(const Eigen::VectorXd &vec) { - return Eigen::Map((double*)vec.data(), vec.rows(), vec.cols()); -} - -Eigen::Map get_mapmat(const MatrixXdr &mat) { - return Eigen::Map((double*)mat.data(), mat.rows(), mat.cols()); -} - -std::vector> get_vec_mapvec(const std::vector &vec_vec) { - std::vector> res; - for (const Eigen::VectorXd &vec : vec_vec) { - res.push_back(get_mapvec(vec)); - } - return res; -} - -std::vector> get_vec_mapmat(const std::vector &mat_vec) { - std::vector> res; - for (const MatrixXdr &mat : mat_vec) { - res.push_back(get_mapmat(mat)); - } - return res; -} - -LiveKalman::LiveKalman() { - this->dim_state = live_initial_x.rows(); - this->dim_state_err = live_initial_P_diag.rows(); - - this->initial_x = live_initial_x; - this->initial_P = live_initial_P_diag.asDiagonal(); - this->fake_gps_pos_cov = live_fake_gps_pos_cov_diag.asDiagonal(); - this->fake_gps_vel_cov = live_fake_gps_vel_cov_diag.asDiagonal(); - this->reset_orientation_P = live_reset_orientation_diag.asDiagonal(); - this->Q = live_Q_diag.asDiagonal(); - for (auto& pair : live_obs_noise_diag) { - this->obs_noise[pair.first] = pair.second.asDiagonal(); - } - - // init filter - this->filter = std::make_shared(this->name, get_mapmat(this->Q), get_mapvec(this->initial_x), - get_mapmat(initial_P), this->dim_state, this->dim_state_err, 0, 0, 0, std::vector(), - std::vector{3}, std::vector(), 0.8); -} - -void LiveKalman::init_state(const VectorXd &state, const VectorXd &covs_diag, double filter_time) { - MatrixXdr covs = covs_diag.asDiagonal(); - this->filter->init_state(get_mapvec(state), get_mapmat(covs), filter_time); -} - -void LiveKalman::init_state(const VectorXd &state, const MatrixXdr &covs, double filter_time) { - this->filter->init_state(get_mapvec(state), get_mapmat(covs), filter_time); -} - -void LiveKalman::init_state(const VectorXd &state, double filter_time) { - MatrixXdr covs = this->filter->covs(); - this->filter->init_state(get_mapvec(state), get_mapmat(covs), filter_time); -} - -VectorXd LiveKalman::get_x() { - return this->filter->state(); -} - -MatrixXdr LiveKalman::get_P() { - return this->filter->covs(); -} - -double LiveKalman::get_filter_time() { - return this->filter->get_filter_time(); -} - -std::vector LiveKalman::get_R(int kind, int n) { - std::vector R; - for (int i = 0; i < n; i++) { - R.push_back(this->obs_noise[kind]); - } - return R; -} - -std::optional LiveKalman::predict_and_observe(double t, int kind, const std::vector &meas, std::vector R) { - std::optional r; - if (R.size() == 0) { - R = this->get_R(kind, meas.size()); - } - r = this->filter->predict_and_update_batch(t, kind, get_vec_mapvec(meas), get_vec_mapmat(R)); - return r; -} - -void LiveKalman::predict(double t) { - this->filter->predict(t); -} - -const Eigen::VectorXd &LiveKalman::get_initial_x() { - return this->initial_x; -} - -const MatrixXdr &LiveKalman::get_initial_P() { - return this->initial_P; -} - -const MatrixXdr &LiveKalman::get_fake_gps_pos_cov() { - return this->fake_gps_pos_cov; -} - -const MatrixXdr &LiveKalman::get_fake_gps_vel_cov() { - return this->fake_gps_vel_cov; -} - -const MatrixXdr &LiveKalman::get_reset_orientation_P() { - return this->reset_orientation_P; -} - -MatrixXdr LiveKalman::H(const VectorXd &in) { - assert(in.size() == 6); - Matrix res; - this->filter->get_extra_routine("H")((double*)in.data(), res.data()); - return res; -} diff --git a/selfdrive/locationd/models/live_kf.h b/selfdrive/locationd/models/live_kf.h deleted file mode 100644 index e4b3e326b3c614..00000000000000 --- a/selfdrive/locationd/models/live_kf.h +++ /dev/null @@ -1,66 +0,0 @@ -#pragma once - -#include -#include -#include -#include -#include - -#include -#include - -#include "generated/live_kf_constants.h" -#include "rednose/helpers/ekf_sym.h" - -#define EARTH_GM 3.986005e14 // m^3/s^2 (gravitational constant * mass of earth) - -using namespace EKFS; - -Eigen::Map get_mapvec(const Eigen::VectorXd &vec); -Eigen::Map get_mapmat(const MatrixXdr &mat); -std::vector> get_vec_mapvec(const std::vector &vec_vec); -std::vector> get_vec_mapmat(const std::vector &mat_vec); - -class LiveKalman { -public: - LiveKalman(); - - void init_state(const Eigen::VectorXd &state, const Eigen::VectorXd &covs_diag, double filter_time); - void init_state(const Eigen::VectorXd &state, const MatrixXdr &covs, double filter_time); - void init_state(const Eigen::VectorXd &state, double filter_time); - - Eigen::VectorXd get_x(); - MatrixXdr get_P(); - double get_filter_time(); - std::vector get_R(int kind, int n); - - std::optional predict_and_observe(double t, int kind, const std::vector &meas, std::vector R = {}); - std::optional predict_and_update_odo_speed(std::vector speed, double t, int kind); - std::optional predict_and_update_odo_trans(std::vector trans, double t, int kind); - std::optional predict_and_update_odo_rot(std::vector rot, double t, int kind); - void predict(double t); - - const Eigen::VectorXd &get_initial_x(); - const MatrixXdr &get_initial_P(); - const MatrixXdr &get_fake_gps_pos_cov(); - const MatrixXdr &get_fake_gps_vel_cov(); - const MatrixXdr &get_reset_orientation_P(); - - MatrixXdr H(const Eigen::VectorXd &in); - -private: - std::string name = "live"; - - std::shared_ptr filter; - - int dim_state; - int dim_state_err; - - Eigen::VectorXd initial_x; - MatrixXdr initial_P; - MatrixXdr fake_gps_pos_cov; - MatrixXdr fake_gps_vel_cov; - MatrixXdr reset_orientation_P; - MatrixXdr Q; // process noise - std::unordered_map obs_noise; -}; diff --git a/selfdrive/locationd/test/.gitignore b/selfdrive/locationd/test/.gitignore deleted file mode 100644 index 89f9ac04aac6c8..00000000000000 --- a/selfdrive/locationd/test/.gitignore +++ /dev/null @@ -1 +0,0 @@ -out/ diff --git a/selfdrive/locationd/test/__init__.py b/selfdrive/locationd/test/__init__.py deleted file mode 100644 index e69de29bb2d1d6..00000000000000 diff --git a/selfdrive/locationd/test/test_calibrationd.py b/selfdrive/locationd/test/test_calibrationd.py deleted file mode 100644 index df61b6a7c7e3ef..00000000000000 --- a/selfdrive/locationd/test/test_calibrationd.py +++ /dev/null @@ -1,112 +0,0 @@ -import random - -import numpy as np - -import cereal.messaging as messaging -from cereal import log -from openpilot.common.params import Params -from openpilot.selfdrive.locationd.calibrationd import Calibrator, INPUTS_NEEDED, INPUTS_WANTED, BLOCK_SIZE, MIN_SPEED_FILTER, \ - MAX_YAW_RATE_FILTER, SMOOTH_CYCLES, HEIGHT_INIT, MAX_ALLOWED_PITCH_SPREAD, MAX_ALLOWED_YAW_SPREAD - - -def process_messages(c, cam_odo_calib, cycles, - cam_odo_speed=MIN_SPEED_FILTER + 1, - carstate_speed=MIN_SPEED_FILTER + 1, - cam_odo_yr=0.0, - cam_odo_speed_std=1e-3, - cam_odo_height_std=1e-3): - old_rpy_weight_prev = 0.0 - for _ in range(cycles): - assert (old_rpy_weight_prev - c.old_rpy_weight < 1/SMOOTH_CYCLES + 1e-3) - old_rpy_weight_prev = c.old_rpy_weight - c.handle_v_ego(carstate_speed) - c.handle_cam_odom([cam_odo_speed, - np.sin(cam_odo_calib[2]) * cam_odo_speed, - -np.sin(cam_odo_calib[1]) * cam_odo_speed], - [0.0, 0.0, cam_odo_yr], - [0.0, 0.0, 0.0], - [cam_odo_speed_std, cam_odo_speed_std, cam_odo_speed_std], - [0.0, 0.0, HEIGHT_INIT.item()], - [cam_odo_height_std, cam_odo_height_std, cam_odo_height_std]) - -class TestCalibrationd: - - def test_read_saved_params(self): - msg = messaging.new_message('liveCalibration') - msg.liveCalibration.validBlocks = random.randint(1, 10) - msg.liveCalibration.rpyCalib = [random.random() for _ in range(3)] - msg.liveCalibration.height = [random.random() for _ in range(1)] - Params().put("CalibrationParams", msg.to_bytes()) - c = Calibrator(param_put=True) - - np.testing.assert_allclose(msg.liveCalibration.rpyCalib, c.rpy) - np.testing.assert_allclose(msg.liveCalibration.height, c.height) - assert msg.liveCalibration.validBlocks == c.valid_blocks - - - def test_calibration_basics(self): - c = Calibrator(param_put=False) - process_messages(c, [0.0, 0.0, 0.0], BLOCK_SIZE * INPUTS_WANTED) - assert c.valid_blocks == INPUTS_WANTED - np.testing.assert_allclose(c.rpy, np.zeros(3)) - np.testing.assert_allclose(c.height, HEIGHT_INIT) - c.reset() - - - def test_calibration_low_speed_reject(self): - c = Calibrator(param_put=False) - process_messages(c, [0.0, 0.0, 0.0], BLOCK_SIZE * INPUTS_WANTED, cam_odo_speed=MIN_SPEED_FILTER - 1) - process_messages(c, [0.0, 0.0, 0.0], BLOCK_SIZE * INPUTS_WANTED, carstate_speed=MIN_SPEED_FILTER - 1) - assert c.valid_blocks == 0 - np.testing.assert_allclose(c.rpy, np.zeros(3)) - np.testing.assert_allclose(c.height, HEIGHT_INIT) - - - def test_calibration_yaw_rate_reject(self): - c = Calibrator(param_put=False) - process_messages(c, [0.0, 0.0, 0.0], BLOCK_SIZE * INPUTS_WANTED, cam_odo_yr=MAX_YAW_RATE_FILTER) - assert c.valid_blocks == 0 - np.testing.assert_allclose(c.rpy, np.zeros(3)) - np.testing.assert_allclose(c.height, HEIGHT_INIT) - - - def test_calibration_speed_std_reject(self): - c = Calibrator(param_put=False) - process_messages(c, [0.0, 0.0, 0.0], BLOCK_SIZE * INPUTS_WANTED, cam_odo_speed_std=1e3) - assert c.valid_blocks == INPUTS_NEEDED - np.testing.assert_allclose(c.rpy, np.zeros(3)) - - - def test_calibration_speed_std_height_reject(self): - c = Calibrator(param_put=False) - process_messages(c, [0.0, 0.0, 0.0], BLOCK_SIZE * INPUTS_WANTED, cam_odo_height_std=1e3) - assert c.valid_blocks == INPUTS_NEEDED - np.testing.assert_allclose(c.rpy, np.zeros(3)) - - - def test_calibration_auto_reset(self): - c = Calibrator(param_put=False) - process_messages(c, [0.0, 0.0, 0.0], BLOCK_SIZE * INPUTS_NEEDED) - assert c.valid_blocks == INPUTS_NEEDED - np.testing.assert_allclose(c.rpy, [0.0, 0.0, 0.0], atol=1e-3) - process_messages(c, [0.0, MAX_ALLOWED_PITCH_SPREAD*0.9, MAX_ALLOWED_YAW_SPREAD*0.9], BLOCK_SIZE + 10) - assert c.valid_blocks == INPUTS_NEEDED + 1 - assert c.cal_status == log.LiveCalibrationData.Status.calibrated - - c = Calibrator(param_put=False) - process_messages(c, [0.0, 0.0, 0.0], BLOCK_SIZE * INPUTS_NEEDED) - assert c.valid_blocks == INPUTS_NEEDED - np.testing.assert_allclose(c.rpy, [0.0, 0.0, 0.0]) - process_messages(c, [0.0, MAX_ALLOWED_PITCH_SPREAD*1.1, 0.0], BLOCK_SIZE + 10) - assert c.valid_blocks == 1 - assert c.cal_status == log.LiveCalibrationData.Status.recalibrating - np.testing.assert_allclose(c.rpy, [0.0, MAX_ALLOWED_PITCH_SPREAD*1.1, 0.0], atol=1e-2) - - c = Calibrator(param_put=False) - process_messages(c, [0.0, 0.0, 0.0], BLOCK_SIZE * INPUTS_NEEDED) - assert c.valid_blocks == INPUTS_NEEDED - np.testing.assert_allclose(c.rpy, [0.0, 0.0, 0.0]) - process_messages(c, [0.0, 0.0, MAX_ALLOWED_YAW_SPREAD*1.1], BLOCK_SIZE + 10) - assert c.valid_blocks == 1 - assert c.cal_status == log.LiveCalibrationData.Status.recalibrating - np.testing.assert_allclose(c.rpy, [0.0, 0.0, MAX_ALLOWED_YAW_SPREAD*1.1], atol=1e-2) diff --git a/selfdrive/locationd/test/test_locationd.py b/selfdrive/locationd/test/test_locationd.py deleted file mode 100644 index 74ac7d2962de6d..00000000000000 --- a/selfdrive/locationd/test/test_locationd.py +++ /dev/null @@ -1,89 +0,0 @@ -import pytest -import json -import random -import time -import capnp - -import cereal.messaging as messaging -from cereal.services import SERVICE_LIST -from openpilot.common.params import Params -from openpilot.common.transformations.coordinates import ecef2geodetic - -from openpilot.system.manager.process_config import managed_processes - - -class TestLocationdProc: - LLD_MSGS = ['gpsLocationExternal', 'cameraOdometry', 'carState', 'liveCalibration', - 'accelerometer', 'gyroscope', 'magnetometer'] - - def setup_method(self): - self.pm = messaging.PubMaster(self.LLD_MSGS) - - self.params = Params() - self.params.put_bool("UbloxAvailable", True) - managed_processes['locationd'].prepare() - managed_processes['locationd'].start() - - def teardown_method(self): - managed_processes['locationd'].stop() - - def get_msg(self, name, t): - try: - msg = messaging.new_message(name) - except capnp.lib.capnp.KjException: - msg = messaging.new_message(name, 0) - - if name == "gpsLocationExternal": - msg.gpsLocationExternal.flags = 1 - msg.gpsLocationExternal.hasFix = True - msg.gpsLocationExternal.verticalAccuracy = 1.0 - msg.gpsLocationExternal.speedAccuracy = 1.0 - msg.gpsLocationExternal.bearingAccuracyDeg = 1.0 - msg.gpsLocationExternal.vNED = [0.0, 0.0, 0.0] - msg.gpsLocationExternal.latitude = float(self.lat) - msg.gpsLocationExternal.longitude = float(self.lon) - msg.gpsLocationExternal.unixTimestampMillis = t * 1e6 - msg.gpsLocationExternal.altitude = float(self.alt) - #if name == "gnssMeasurements": - # msg.gnssMeasurements.measTime = t - # msg.gnssMeasurements.positionECEF.value = [self.x , self.y, self.z] - # msg.gnssMeasurements.positionECEF.std = [0,0,0] - # msg.gnssMeasurements.positionECEF.valid = True - # msg.gnssMeasurements.velocityECEF.value = [] - # msg.gnssMeasurements.velocityECEF.std = [0,0,0] - # msg.gnssMeasurements.velocityECEF.valid = True - elif name == 'cameraOdometry': - msg.cameraOdometry.rot = [0.0, 0.0, 0.0] - msg.cameraOdometry.rotStd = [0.0, 0.0, 0.0] - msg.cameraOdometry.trans = [0.0, 0.0, 0.0] - msg.cameraOdometry.transStd = [0.0, 0.0, 0.0] - msg.logMonoTime = t - msg.valid = True - return msg - - def test_params_gps(self): - random.seed(123489234) - self.params.remove('LastGPSPosition') - - self.x = -2710700 + (random.random() * 1e5) - self.y = -4280600 + (random.random() * 1e5) - self.z = 3850300 + (random.random() * 1e5) - self.lat, self.lon, self.alt = ecef2geodetic([self.x, self.y, self.z]) - - # get fake messages at the correct frequency, listed in services.py - msgs = [] - for sec in range(65): - for name in self.LLD_MSGS: - for j in range(int(SERVICE_LIST[name].frequency)): - msgs.append(self.get_msg(name, int((sec + j / SERVICE_LIST[name].frequency) * 1e9))) - - for msg in sorted(msgs, key=lambda x: x.logMonoTime): - self.pm.send(msg.which(), msg) - if msg.which() == "cameraOdometry": - self.pm.wait_for_readers_to_update(msg.which(), 0.1, dt=0.005) - time.sleep(1) # wait for async params write - - lastGPS = json.loads(self.params.get('LastGPSPosition')) - assert lastGPS['latitude'] == pytest.approx(self.lat, abs=0.001) - assert lastGPS['longitude'] == pytest.approx(self.lon, abs=0.001) - assert lastGPS['altitude'] == pytest.approx(self.alt, abs=0.001) diff --git a/selfdrive/locationd/test/test_locationd_scenarios.py b/selfdrive/locationd/test/test_locationd_scenarios.py deleted file mode 100644 index ca52bffeea3742..00000000000000 --- a/selfdrive/locationd/test/test_locationd_scenarios.py +++ /dev/null @@ -1,223 +0,0 @@ -import pytest -import numpy as np -from collections import defaultdict -from enum import Enum - -from openpilot.tools.lib.logreader import LogReader -from openpilot.selfdrive.test.process_replay.migration import migrate_all -from openpilot.selfdrive.test.process_replay.process_replay import replay_process_with_name - -TEST_ROUTE = "ff2bd20623fcaeaa|2023-09-05--10-14-54/4" -GPS_MESSAGES = ['gpsLocationExternal', 'gpsLocation'] -SELECT_COMPARE_FIELDS = { - 'yaw_rate': ['angularVelocityCalibrated', 'value', 2], - 'roll': ['orientationNED', 'value', 0], - 'gps_flag': ['gpsOK'], - 'inputs_flag': ['inputsOK'], - 'sensors_flag': ['sensorsOK'], -} -JUNK_IDX = 100 - - -class Scenario(Enum): - BASE = 'base' - GPS_OFF = 'gps_off' - GPS_OFF_MIDWAY = 'gps_off_midway' - GPS_ON_MIDWAY = 'gps_on_midway' - GPS_TUNNEL = 'gps_tunnel' - GYRO_OFF = 'gyro_off' - GYRO_SPIKE_MIDWAY = 'gyro_spike_midway' - ACCEL_OFF = 'accel_off' - ACCEL_SPIKE_MIDWAY = 'accel_spike_midway' - - -def get_select_fields_data(logs): - def get_nested_keys(msg, keys): - val = None - for key in keys: - val = getattr(msg if val is None else val, key) if isinstance(key, str) else val[key] - return val - llk = [x.liveLocationKalman for x in logs if x.which() == 'liveLocationKalman'] - data = defaultdict(list) - for msg in llk: - for key, fields in SELECT_COMPARE_FIELDS.items(): - data[key].append(get_nested_keys(msg, fields)) - for key in data: - data[key] = np.array(data[key][JUNK_IDX:], dtype=float) - return data - - -def run_scenarios(scenario, logs): - if scenario == Scenario.BASE: - pass - - elif scenario == Scenario.GPS_OFF: - logs = sorted([x for x in logs if x.which() not in GPS_MESSAGES], key=lambda x: x.logMonoTime) - - elif scenario == Scenario.GPS_OFF_MIDWAY: - non_gps = [x for x in logs if x.which() not in GPS_MESSAGES] - gps = [x for x in logs if x.which() in GPS_MESSAGES] - logs = sorted(non_gps + gps[: len(gps) // 2], key=lambda x: x.logMonoTime) - - elif scenario == Scenario.GPS_ON_MIDWAY: - non_gps = [x for x in logs if x.which() not in GPS_MESSAGES] - gps = [x for x in logs if x.which() in GPS_MESSAGES] - logs = sorted(non_gps + gps[len(gps) // 2:], key=lambda x: x.logMonoTime) - - elif scenario == Scenario.GPS_TUNNEL: - non_gps = [x for x in logs if x.which() not in GPS_MESSAGES] - gps = [x for x in logs if x.which() in GPS_MESSAGES] - logs = sorted(non_gps + gps[:len(gps) // 4] + gps[-len(gps) // 4:], key=lambda x: x.logMonoTime) - - elif scenario == Scenario.GYRO_OFF: - logs = sorted([x for x in logs if x.which() != 'gyroscope'], key=lambda x: x.logMonoTime) - - elif scenario == Scenario.GYRO_SPIKE_MIDWAY: - non_gyro = [x for x in logs if x.which() not in 'gyroscope'] - gyro = [x for x in logs if x.which() in 'gyroscope'] - temp = gyro[len(gyro) // 2].as_builder() - temp.gyroscope.gyroUncalibrated.v[0] += 3.0 - gyro[len(gyro) // 2] = temp.as_reader() - logs = sorted(non_gyro + gyro, key=lambda x: x.logMonoTime) - - elif scenario == Scenario.ACCEL_OFF: - logs = sorted([x for x in logs if x.which() != 'accelerometer'], key=lambda x: x.logMonoTime) - - elif scenario == Scenario.ACCEL_SPIKE_MIDWAY: - non_accel = [x for x in logs if x.which() not in 'accelerometer'] - accel = [x for x in logs if x.which() in 'accelerometer'] - temp = accel[len(accel) // 2].as_builder() - temp.accelerometer.acceleration.v[0] += 10.0 - accel[len(accel) // 2] = temp.as_reader() - logs = sorted(non_accel + accel, key=lambda x: x.logMonoTime) - - replayed_logs = replay_process_with_name(name='locationd', lr=logs) - return get_select_fields_data(logs), get_select_fields_data(replayed_logs) - - -@pytest.mark.xdist_group("test_locationd_scenarios") -@pytest.mark.shared_download_cache -class TestLocationdScenarios: - """ - Test locationd with different scenarios. In all these scenarios, we expect the following: - - locationd kalman filter should never go unstable (we care mostly about yaw_rate, roll, gpsOK, inputsOK, sensorsOK) - - faulty values should be ignored, with appropriate flags set - """ - - @classmethod - def setup_class(cls): - cls.logs = migrate_all(LogReader(TEST_ROUTE)) - - def test_base(self): - """ - Test: unchanged log - Expected Result: - - yaw_rate: unchanged - - roll: unchanged - """ - orig_data, replayed_data = run_scenarios(Scenario.BASE, self.logs) - assert np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2)) - assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5)) - - def test_gps_off(self): - """ - Test: no GPS message for the entire segment - Expected Result: - - yaw_rate: unchanged - - roll: - - gpsOK: False - """ - orig_data, replayed_data = run_scenarios(Scenario.GPS_OFF, self.logs) - assert np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2)) - assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5)) - assert np.all(replayed_data['gps_flag'] == 0.0) - - def test_gps_off_midway(self): - """ - Test: no GPS message for the second half of the segment - Expected Result: - - yaw_rate: unchanged - - roll: - - gpsOK: True for the first half, False for the second half - """ - orig_data, replayed_data = run_scenarios(Scenario.GPS_OFF_MIDWAY, self.logs) - assert np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2)) - assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5)) - assert np.diff(replayed_data['gps_flag'])[512] == -1.0 - - def test_gps_on_midway(self): - """ - Test: no GPS message for the first half of the segment - Expected Result: - - yaw_rate: unchanged - - roll: - - gpsOK: False for the first half, True for the second half - """ - orig_data, replayed_data = run_scenarios(Scenario.GPS_ON_MIDWAY, self.logs) - assert np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2)) - assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(1.5)) - assert np.diff(replayed_data['gps_flag'])[505] == 1.0 - - def test_gps_tunnel(self): - """ - Test: no GPS message for the middle section of the segment - Expected Result: - - yaw_rate: unchanged - - roll: - - gpsOK: False for the middle section, True for the rest - """ - orig_data, replayed_data = run_scenarios(Scenario.GPS_TUNNEL, self.logs) - assert np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2)) - assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5)) - assert np.diff(replayed_data['gps_flag'])[213] == -1.0 - assert np.diff(replayed_data['gps_flag'])[805] == 1.0 - - def test_gyro_off(self): - """ - Test: no gyroscope message for the entire segment - Expected Result: - - yaw_rate: 0 - - roll: 0 - - sensorsOK: False - """ - _, replayed_data = run_scenarios(Scenario.GYRO_OFF, self.logs) - assert np.allclose(replayed_data['yaw_rate'], 0.0) - assert np.allclose(replayed_data['roll'], 0.0) - assert np.all(replayed_data['sensors_flag'] == 0.0) - - def test_gyro_spikes(self): - """ - Test: a gyroscope spike in the middle of the segment - Expected Result: - - yaw_rate: unchanged - - roll: unchanged - - inputsOK: False for some time after the spike, True for the rest - """ - orig_data, replayed_data = run_scenarios(Scenario.GYRO_SPIKE_MIDWAY, self.logs) - assert np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2)) - assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5)) - assert np.diff(replayed_data['inputs_flag'])[500] == -1.0 - assert np.diff(replayed_data['inputs_flag'])[694] == 1.0 - - def test_accel_off(self): - """ - Test: no accelerometer message for the entire segment - Expected Result: - - yaw_rate: 0 - - roll: 0 - - sensorsOK: False - """ - _, replayed_data = run_scenarios(Scenario.ACCEL_OFF, self.logs) - assert np.allclose(replayed_data['yaw_rate'], 0.0) - assert np.allclose(replayed_data['roll'], 0.0) - assert np.all(replayed_data['sensors_flag'] == 0.0) - - def test_accel_spikes(self): - """ - ToDo: - Test: an accelerometer spike in the middle of the segment - Expected Result: Right now, the kalman filter is not robust to small spikes like it is to gyroscope spikes. - """ - orig_data, replayed_data = run_scenarios(Scenario.ACCEL_SPIKE_MIDWAY, self.logs) - assert np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2)) - assert np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5)) diff --git a/selfdrive/modeld/libthneed.so b/selfdrive/modeld/libthneed.so new file mode 100644 index 00000000000000..e2366d7ed79291 Binary files /dev/null and b/selfdrive/modeld/libthneed.so differ diff --git a/selfdrive/modeld/models/README.md b/selfdrive/modeld/models/README.md deleted file mode 100644 index 9e11ca82550c52..00000000000000 --- a/selfdrive/modeld/models/README.md +++ /dev/null @@ -1,62 +0,0 @@ -## Neural networks in openpilot -To view the architecture of the ONNX networks, you can use [netron](https://netron.app/) - -## Supercombo -### Supercombo input format (Full size: 799906 x float32) -* **image stream** - * Two consecutive images (256 * 512 * 3 in RGB) recorded at 20 Hz : 393216 = 2 * 6 * 128 * 256 - * Each 256 * 512 image is represented in YUV420 with 6 channels : 6 * 128 * 256 - * Channels 0,1,2,3 represent the full-res Y channel and are represented in numpy as Y[::2, ::2], Y[::2, 1::2], Y[1::2, ::2], and Y[1::2, 1::2] - * Channel 4 represents the half-res U channel - * Channel 5 represents the half-res V channel -* **wide image stream** - * Two consecutive images (256 * 512 * 3 in RGB) recorded at 20 Hz : 393216 = 2 * 6 * 128 * 256 - * Each 256 * 512 image is represented in YUV420 with 6 channels : 6 * 128 * 256 - * Channels 0,1,2,3 represent the full-res Y channel and are represented in numpy as Y[::2, ::2], Y[::2, 1::2], Y[1::2, ::2], and Y[1::2, 1::2] - * Channel 4 represents the half-res U channel - * Channel 5 represents the half-res V channel -* **desire** - * one-hot encoded buffer to command model to execute certain actions, bit needs to be sent for the past 5 seconds (at 20FPS) : 100 * 8 -* **traffic convention** - * one-hot encoded vector to tell model whether traffic is right-hand or left-hand traffic : 2 -* **feature buffer** - * A buffer of intermediate features that gets appended to the current feature to form a 5 seconds temporal context (at 20FPS) : 99 * 512 - - -### Supercombo output format (Full size: XXX x float32) -Read [here](https://github.com/commaai/openpilot/blob/90af436a121164a51da9fa48d093c29f738adf6a/selfdrive/modeld/models/driving.h#L236) for more. - - -## Driver Monitoring Model -* .onnx model can be run with onnx runtimes -* .dlc file is a pre-quantized model and only runs on qualcomm DSPs - -### input format -* single image W = 1440 H = 960 luminance channel (Y) from the planar YUV420 format: - * full input size is 1440 * 960 = 1382400 - * normalized ranging from 0.0 to 1.0 in float32 (onnx runner) or ranging from 0 to 255 in uint8 (snpe runner) -* camera calibration angles (roll, pitch, yaw) from liveCalibration: 3 x float32 inputs - -### output format -* 84 x float32 outputs = 2 + 41 * 2 ([parsing example](https://github.com/commaai/openpilot/blob/22ce4e17ba0d3bfcf37f8255a4dd1dc683fe0c38/selfdrive/modeld/models/dmonitoring.cc#L33)) - * for each person in the front seats (2 * 41) - * face pose: 12 = 6 + 6 - * face orientation [pitch, yaw, roll] in camera frame: 3 - * face position [dx, dy] relative to image center: 2 - * normalized face size: 1 - * standard deviations for above outputs: 6 - * face visible probability: 1 - * eyes: 20 = (8 + 1) + (8 + 1) + 1 + 1 - * eye position and size, and their standard deviations: 8 - * eye visible probability: 1 - * eye closed probability: 1 - * wearing sunglasses probability: 1 - * face occluded probability: 1 - * touching wheel probability: 1 - * paying attention probability: 1 - * (deprecated) distracted probabilities: 2 - * using phone probability: 1 - * distracted probability: 1 - * common outputs 2 - * poor camera vision probability: 1 - * left hand drive probability: 1 diff --git a/selfdrive/modeld/models/commonmodel.cc b/selfdrive/modeld/models/commonmodel.cc deleted file mode 100644 index e8a5a7ed52a55e..00000000000000 --- a/selfdrive/modeld/models/commonmodel.cc +++ /dev/null @@ -1,58 +0,0 @@ -#include "selfdrive/modeld/models/commonmodel.h" - -#include -#include -#include - -#include "common/clutil.h" - -ModelFrame::ModelFrame(cl_device_id device_id, cl_context context) { - input_frames = std::make_unique(buf_size); - - q = CL_CHECK_ERR(clCreateCommandQueue(context, device_id, 0, &err)); - y_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, MODEL_WIDTH * MODEL_HEIGHT, NULL, &err)); - u_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (MODEL_WIDTH / 2) * (MODEL_HEIGHT / 2), NULL, &err)); - v_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (MODEL_WIDTH / 2) * (MODEL_HEIGHT / 2), NULL, &err)); - img_buffer_20hz_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, 5*frame_size_bytes, NULL, &err)); - region.origin = 4 * frame_size_bytes; - region.size = frame_size_bytes; - last_img_cl = CL_CHECK_ERR(clCreateSubBuffer(img_buffer_20hz_cl, CL_MEM_READ_WRITE, CL_BUFFER_CREATE_TYPE_REGION, ®ion, &err)); - - transform_init(&transform, context, device_id); - loadyuv_init(&loadyuv, context, device_id, MODEL_WIDTH, MODEL_HEIGHT); -} - -uint8_t* ModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3 &projection, cl_mem *output) { - transform_queue(&this->transform, q, - yuv_cl, frame_width, frame_height, frame_stride, frame_uv_offset, - y_cl, u_cl, v_cl, MODEL_WIDTH, MODEL_HEIGHT, projection); - - for (int i = 0; i < 4; i++) { - CL_CHECK(clEnqueueCopyBuffer(q, img_buffer_20hz_cl, img_buffer_20hz_cl, (i+1)*frame_size_bytes, i*frame_size_bytes, frame_size_bytes, 0, nullptr, nullptr)); - } - loadyuv_queue(&loadyuv, q, y_cl, u_cl, v_cl, last_img_cl); - if (output == NULL) { - CL_CHECK(clEnqueueReadBuffer(q, img_buffer_20hz_cl, CL_TRUE, 0, frame_size_bytes, &input_frames[0], 0, nullptr, nullptr)); - CL_CHECK(clEnqueueReadBuffer(q, last_img_cl, CL_TRUE, 0, frame_size_bytes, &input_frames[MODEL_FRAME_SIZE], 0, nullptr, nullptr)); - clFinish(q); - return &input_frames[0]; - } else { - copy_queue(&loadyuv, q, img_buffer_20hz_cl, *output, 0, 0, frame_size_bytes); - copy_queue(&loadyuv, q, last_img_cl, *output, 0, frame_size_bytes, frame_size_bytes); - - // NOTE: Since thneed is using a different command queue, this clFinish is needed to ensure the image is ready. - clFinish(q); - return NULL; - } -} - -ModelFrame::~ModelFrame() { - transform_destroy(&transform); - loadyuv_destroy(&loadyuv); - CL_CHECK(clReleaseMemObject(img_buffer_20hz_cl)); - CL_CHECK(clReleaseMemObject(last_img_cl)); - CL_CHECK(clReleaseMemObject(v_cl)); - CL_CHECK(clReleaseMemObject(u_cl)); - CL_CHECK(clReleaseMemObject(y_cl)); - CL_CHECK(clReleaseCommandQueue(q)); -} \ No newline at end of file diff --git a/selfdrive/modeld/models/commonmodel.h b/selfdrive/modeld/models/commonmodel.h deleted file mode 100644 index 1c7360f1596b87..00000000000000 --- a/selfdrive/modeld/models/commonmodel.h +++ /dev/null @@ -1,38 +0,0 @@ -#pragma once - -#include -#include - -#include - -#define CL_USE_DEPRECATED_OPENCL_1_2_APIS -#ifdef __APPLE__ -#include -#else -#include -#endif - -#include "common/mat.h" -#include "selfdrive/modeld/transforms/loadyuv.h" -#include "selfdrive/modeld/transforms/transform.h" - -class ModelFrame { -public: - ModelFrame(cl_device_id device_id, cl_context context); - ~ModelFrame(); - uint8_t* prepare(cl_mem yuv_cl, int width, int height, int frame_stride, int frame_uv_offset, const mat3& transform, cl_mem *output); - - const int MODEL_WIDTH = 512; - const int MODEL_HEIGHT = 256; - const int MODEL_FRAME_SIZE = MODEL_WIDTH * MODEL_HEIGHT * 3 / 2; - const int buf_size = MODEL_FRAME_SIZE * 2; - const size_t frame_size_bytes = MODEL_FRAME_SIZE * sizeof(uint8_t); - -private: - Transform transform; - LoadYUVState loadyuv; - cl_command_queue q; - cl_mem y_cl, u_cl, v_cl, img_buffer_20hz_cl, last_img_cl; - cl_buffer_region region; - std::unique_ptr input_frames; -}; \ No newline at end of file diff --git a/selfdrive/modeld/models/commonmodel_pyx.cpp b/selfdrive/modeld/models/commonmodel_pyx.cpp new file mode 100644 index 00000000000000..77a67c31ce5e86 --- /dev/null +++ b/selfdrive/modeld/models/commonmodel_pyx.cpp @@ -0,0 +1,32208 @@ +/* Generated by Cython 3.0.8 */ + +/* BEGIN: Cython Metadata +{ + "distutils": { + "depends": [ + "common/clutil.h", + "common/mat.h", + "msgq/visionipc/visionbuf.h", + "msgq/visionipc/visionipc.h", + "msgq/visionipc/visionipc_client.h", + "msgq/visionipc/visionipc_server.h", + "selfdrive/modeld/models/commonmodel.h" + ], + "language": "c++", + "name": "selfdrive.modeld.models.commonmodel_pyx", + "sources": [ + "/data/openpilot/selfdrive/modeld/models/commonmodel_pyx.pyx" + ] + }, + "module_name": "selfdrive.modeld.models.commonmodel_pyx" +} +END: Cython Metadata */ + +#ifndef PY_SSIZE_T_CLEAN +#define PY_SSIZE_T_CLEAN +#endif /* PY_SSIZE_T_CLEAN */ +#if defined(CYTHON_LIMITED_API) && 0 + #ifndef Py_LIMITED_API + #if CYTHON_LIMITED_API+0 > 0x03030000 + #define Py_LIMITED_API CYTHON_LIMITED_API + #else + #define Py_LIMITED_API 0x03030000 + #endif + #endif +#endif + +#include "Python.h" +#ifndef Py_PYTHON_H + #error Python headers needed to compile C extensions, please install development version of Python. +#elif PY_VERSION_HEX < 0x02070000 || (0x03000000 <= PY_VERSION_HEX && PY_VERSION_HEX < 0x03030000) + #error Cython requires Python 2.7+ or Python 3.3+. +#else +#if defined(CYTHON_LIMITED_API) && CYTHON_LIMITED_API +#define __PYX_EXTRA_ABI_MODULE_NAME "limited" +#else +#define __PYX_EXTRA_ABI_MODULE_NAME "" +#endif +#define CYTHON_ABI "3_0_8" __PYX_EXTRA_ABI_MODULE_NAME +#define __PYX_ABI_MODULE_NAME "_cython_" CYTHON_ABI +#define __PYX_TYPE_MODULE_PREFIX __PYX_ABI_MODULE_NAME "." +#define CYTHON_HEX_VERSION 0x030008F0 +#define CYTHON_FUTURE_DIVISION 1 +#include +#ifndef offsetof + #define offsetof(type, member) ( (size_t) & ((type*)0) -> member ) +#endif +#if !defined(_WIN32) && !defined(WIN32) && !defined(MS_WINDOWS) + #ifndef __stdcall + #define __stdcall + #endif + #ifndef __cdecl + #define __cdecl + #endif + #ifndef __fastcall + #define __fastcall + #endif +#endif +#ifndef DL_IMPORT + #define DL_IMPORT(t) t +#endif +#ifndef DL_EXPORT + #define DL_EXPORT(t) t +#endif +#define __PYX_COMMA , +#ifndef HAVE_LONG_LONG + #define HAVE_LONG_LONG +#endif +#ifndef PY_LONG_LONG + #define PY_LONG_LONG LONG_LONG +#endif +#ifndef Py_HUGE_VAL + #define Py_HUGE_VAL HUGE_VAL +#endif +#define __PYX_LIMITED_VERSION_HEX PY_VERSION_HEX +#if defined(GRAALVM_PYTHON) + /* For very preliminary testing purposes. Most variables are set the same as PyPy. + The existence of this section does not imply that anything works or is even tested */ + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 1 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #undef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #undef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 1 + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS (PY_MAJOR_VERSION >= 3) + #endif + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(PYPY_VERSION) + #define CYTHON_COMPILING_IN_PYPY 1 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #ifndef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #endif + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #undef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 1 + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS (PY_MAJOR_VERSION >= 3) + #endif + #if PY_VERSION_HEX < 0x03090000 + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #elif !defined(CYTHON_PEP489_MULTI_PHASE_INIT) + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE (PY_VERSION_HEX >= 0x030400a1 && PYPY_VERSION_NUM >= 0x07030C00) + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(CYTHON_LIMITED_API) + #ifdef Py_LIMITED_API + #undef __PYX_LIMITED_VERSION_HEX + #define __PYX_LIMITED_VERSION_HEX Py_LIMITED_API + #endif + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 1 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_CLINE_IN_TRACEBACK + #define CYTHON_CLINE_IN_TRACEBACK 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #undef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 1 + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #ifndef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #endif + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS 1 + #endif + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 1 + #ifndef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #endif + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(Py_GIL_DISABLED) || defined(Py_NOGIL) + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 1 + #ifndef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 1 + #endif + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #ifndef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #ifndef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 1 + #endif + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #ifndef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 1 + #endif + #ifndef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 1 + #endif + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #ifndef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 1 + #endif + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 +#else + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 1 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #ifndef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 1 + #endif + #ifndef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #endif + #ifndef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 1 + #endif + #if PY_MAJOR_VERSION < 3 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #ifndef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 1 + #endif + #ifndef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 1 + #endif + #ifndef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 1 + #endif + #if PY_VERSION_HEX < 0x030300F0 || PY_VERSION_HEX >= 0x030B00A2 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #elif !defined(CYTHON_USE_UNICODE_WRITER) + #define CYTHON_USE_UNICODE_WRITER 1 + #endif + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #ifndef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 1 + #endif + #ifndef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 1 + #endif + #ifndef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 1 + #endif + #ifndef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL (PY_MAJOR_VERSION < 3 || PY_VERSION_HEX >= 0x03060000 && PY_VERSION_HEX < 0x030C00A6) + #endif + #ifndef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL (PY_VERSION_HEX >= 0x030700A1) + #endif + #ifndef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 1 + #endif + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS 1 + #endif + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #elif !defined(CYTHON_PEP489_MULTI_PHASE_INIT) + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #ifndef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #endif + #if PY_VERSION_HEX < 0x030400a1 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #elif !defined(CYTHON_USE_TP_FINALIZE) + #define CYTHON_USE_TP_FINALIZE 1 + #endif + #if PY_VERSION_HEX < 0x030600B1 + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #elif !defined(CYTHON_USE_DICT_VERSIONS) + #define CYTHON_USE_DICT_VERSIONS (PY_VERSION_HEX < 0x030C00A5) + #endif + #if PY_VERSION_HEX < 0x030700A3 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #elif !defined(CYTHON_USE_EXC_INFO_STACK) + #define CYTHON_USE_EXC_INFO_STACK 1 + #endif + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 1 + #endif +#endif +#if !defined(CYTHON_FAST_PYCCALL) +#define CYTHON_FAST_PYCCALL (CYTHON_FAST_PYCALL && PY_VERSION_HEX >= 0x030600B1) +#endif +#if !defined(CYTHON_VECTORCALL) +#define CYTHON_VECTORCALL (CYTHON_FAST_PYCCALL && PY_VERSION_HEX >= 0x030800B1) +#endif +#define CYTHON_BACKPORT_VECTORCALL (CYTHON_METH_FASTCALL && PY_VERSION_HEX < 0x030800B1) +#if CYTHON_USE_PYLONG_INTERNALS + #if PY_MAJOR_VERSION < 3 + #include "longintrepr.h" + #endif + #undef SHIFT + #undef BASE + #undef MASK + #ifdef SIZEOF_VOID_P + enum { __pyx_check_sizeof_voidp = 1 / (int)(SIZEOF_VOID_P == sizeof(void*)) }; + #endif +#endif +#ifndef __has_attribute + #define __has_attribute(x) 0 +#endif +#ifndef __has_cpp_attribute + #define __has_cpp_attribute(x) 0 +#endif +#ifndef CYTHON_RESTRICT + #if defined(__GNUC__) + #define CYTHON_RESTRICT __restrict__ + #elif defined(_MSC_VER) && _MSC_VER >= 1400 + #define CYTHON_RESTRICT __restrict + #elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define CYTHON_RESTRICT restrict + #else + #define CYTHON_RESTRICT + #endif +#endif +#ifndef CYTHON_UNUSED + #if defined(__cplusplus) + /* for clang __has_cpp_attribute(maybe_unused) is true even before C++17 + * but leads to warnings with -pedantic, since it is a C++17 feature */ + #if ((defined(_MSVC_LANG) && _MSVC_LANG >= 201703L) || __cplusplus >= 201703L) + #if __has_cpp_attribute(maybe_unused) + #define CYTHON_UNUSED [[maybe_unused]] + #endif + #endif + #endif +#endif +#ifndef CYTHON_UNUSED +# if defined(__GNUC__) +# if !(defined(__cplusplus)) || (__GNUC__ > 3 || (__GNUC__ == 3 && __GNUC_MINOR__ >= 4)) +# define CYTHON_UNUSED __attribute__ ((__unused__)) +# else +# define CYTHON_UNUSED +# endif +# elif defined(__ICC) || (defined(__INTEL_COMPILER) && !defined(_MSC_VER)) +# define CYTHON_UNUSED __attribute__ ((__unused__)) +# else +# define CYTHON_UNUSED +# endif +#endif +#ifndef CYTHON_UNUSED_VAR +# if defined(__cplusplus) + template void CYTHON_UNUSED_VAR( const T& ) { } +# else +# define CYTHON_UNUSED_VAR(x) (void)(x) +# endif +#endif +#ifndef CYTHON_MAYBE_UNUSED_VAR + #define CYTHON_MAYBE_UNUSED_VAR(x) CYTHON_UNUSED_VAR(x) +#endif +#ifndef CYTHON_NCP_UNUSED +# if CYTHON_COMPILING_IN_CPYTHON +# define CYTHON_NCP_UNUSED +# else +# define CYTHON_NCP_UNUSED CYTHON_UNUSED +# endif +#endif +#ifndef CYTHON_USE_CPP_STD_MOVE + #if defined(__cplusplus) && (\ + __cplusplus >= 201103L || (defined(_MSC_VER) && _MSC_VER >= 1600)) + #define CYTHON_USE_CPP_STD_MOVE 1 + #else + #define CYTHON_USE_CPP_STD_MOVE 0 + #endif +#endif +#define __Pyx_void_to_None(void_result) ((void)(void_result), Py_INCREF(Py_None), Py_None) +#ifdef _MSC_VER + #ifndef _MSC_STDINT_H_ + #if _MSC_VER < 1300 + typedef unsigned char uint8_t; + typedef unsigned short uint16_t; + typedef unsigned int uint32_t; + #else + typedef unsigned __int8 uint8_t; + typedef unsigned __int16 uint16_t; + typedef unsigned __int32 uint32_t; + #endif + #endif + #if _MSC_VER < 1300 + #ifdef _WIN64 + typedef unsigned long long __pyx_uintptr_t; + #else + typedef unsigned int __pyx_uintptr_t; + #endif + #else + #ifdef _WIN64 + typedef unsigned __int64 __pyx_uintptr_t; + #else + typedef unsigned __int32 __pyx_uintptr_t; + #endif + #endif +#else + #include + typedef uintptr_t __pyx_uintptr_t; +#endif +#ifndef CYTHON_FALLTHROUGH + #if defined(__cplusplus) + /* for clang __has_cpp_attribute(fallthrough) is true even before C++17 + * but leads to warnings with -pedantic, since it is a C++17 feature */ + #if ((defined(_MSVC_LANG) && _MSVC_LANG >= 201703L) || __cplusplus >= 201703L) + #if __has_cpp_attribute(fallthrough) + #define CYTHON_FALLTHROUGH [[fallthrough]] + #endif + #endif + #ifndef CYTHON_FALLTHROUGH + #if __has_cpp_attribute(clang::fallthrough) + #define CYTHON_FALLTHROUGH [[clang::fallthrough]] + #elif __has_cpp_attribute(gnu::fallthrough) + #define CYTHON_FALLTHROUGH [[gnu::fallthrough]] + #endif + #endif + #endif + #ifndef CYTHON_FALLTHROUGH + #if __has_attribute(fallthrough) + #define CYTHON_FALLTHROUGH __attribute__((fallthrough)) + #else + #define CYTHON_FALLTHROUGH + #endif + #endif + #if defined(__clang__) && defined(__apple_build_version__) + #if __apple_build_version__ < 7000000 + #undef CYTHON_FALLTHROUGH + #define CYTHON_FALLTHROUGH + #endif + #endif +#endif +#ifdef __cplusplus + template + struct __PYX_IS_UNSIGNED_IMPL {static const bool value = T(0) < T(-1);}; + #define __PYX_IS_UNSIGNED(type) (__PYX_IS_UNSIGNED_IMPL::value) +#else + #define __PYX_IS_UNSIGNED(type) (((type)-1) > 0) +#endif +#if CYTHON_COMPILING_IN_PYPY == 1 + #define __PYX_NEED_TP_PRINT_SLOT (PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x030A0000) +#else + #define __PYX_NEED_TP_PRINT_SLOT (PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000) +#endif +#define __PYX_REINTERPRET_FUNCION(func_pointer, other_pointer) ((func_pointer)(void(*)(void))(other_pointer)) + +#ifndef __cplusplus + #error "Cython files generated with the C++ option must be compiled with a C++ compiler." +#endif +#ifndef CYTHON_INLINE + #if defined(__clang__) + #define CYTHON_INLINE __inline__ __attribute__ ((__unused__)) + #else + #define CYTHON_INLINE inline + #endif +#endif +template +void __Pyx_call_destructor(T& x) { + x.~T(); +} +template +class __Pyx_FakeReference { + public: + __Pyx_FakeReference() : ptr(NULL) { } + __Pyx_FakeReference(const T& ref) : ptr(const_cast(&ref)) { } + T *operator->() { return ptr; } + T *operator&() { return ptr; } + operator T&() { return *ptr; } + template bool operator ==(const U& other) const { return *ptr == other; } + template bool operator !=(const U& other) const { return *ptr != other; } + template bool operator==(const __Pyx_FakeReference& other) const { return *ptr == *other.ptr; } + template bool operator!=(const __Pyx_FakeReference& other) const { return *ptr != *other.ptr; } + private: + T *ptr; +}; + +#define __PYX_BUILD_PY_SSIZE_T "n" +#define CYTHON_FORMAT_SSIZE_T "z" +#if PY_MAJOR_VERSION < 3 + #define __Pyx_BUILTIN_MODULE_NAME "__builtin__" + #define __Pyx_DefaultClassType PyClass_Type + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_New(a+k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#else + #define __Pyx_BUILTIN_MODULE_NAME "builtins" + #define __Pyx_DefaultClassType PyType_Type +#if CYTHON_COMPILING_IN_LIMITED_API + static CYTHON_INLINE PyObject* __Pyx_PyCode_New(int a, int p, int k, int l, int s, int f, + PyObject *code, PyObject *c, PyObject* n, PyObject *v, + PyObject *fv, PyObject *cell, PyObject* fn, + PyObject *name, int fline, PyObject *lnos) { + PyObject *exception_table = NULL; + PyObject *types_module=NULL, *code_type=NULL, *result=NULL; + #if __PYX_LIMITED_VERSION_HEX < 0x030B0000 + PyObject *version_info; + PyObject *py_minor_version = NULL; + #endif + long minor_version = 0; + PyObject *type, *value, *traceback; + PyErr_Fetch(&type, &value, &traceback); + #if __PYX_LIMITED_VERSION_HEX >= 0x030B0000 + minor_version = 11; + #else + if (!(version_info = PySys_GetObject("version_info"))) goto end; + if (!(py_minor_version = PySequence_GetItem(version_info, 1))) goto end; + minor_version = PyLong_AsLong(py_minor_version); + Py_DECREF(py_minor_version); + if (minor_version == -1 && PyErr_Occurred()) goto end; + #endif + if (!(types_module = PyImport_ImportModule("types"))) goto end; + if (!(code_type = PyObject_GetAttrString(types_module, "CodeType"))) goto end; + if (minor_version <= 7) { + (void)p; + result = PyObject_CallFunction(code_type, "iiiiiOOOOOOiOO", a, k, l, s, f, code, + c, n, v, fn, name, fline, lnos, fv, cell); + } else if (minor_version <= 10) { + result = PyObject_CallFunction(code_type, "iiiiiiOOOOOOiOO", a,p, k, l, s, f, code, + c, n, v, fn, name, fline, lnos, fv, cell); + } else { + if (!(exception_table = PyBytes_FromStringAndSize(NULL, 0))) goto end; + result = PyObject_CallFunction(code_type, "iiiiiiOOOOOOOiOO", a,p, k, l, s, f, code, + c, n, v, fn, name, name, fline, lnos, exception_table, fv, cell); + } + end: + Py_XDECREF(code_type); + Py_XDECREF(exception_table); + Py_XDECREF(types_module); + if (type) { + PyErr_Restore(type, value, traceback); + } + return result; + } + #ifndef CO_OPTIMIZED + #define CO_OPTIMIZED 0x0001 + #endif + #ifndef CO_NEWLOCALS + #define CO_NEWLOCALS 0x0002 + #endif + #ifndef CO_VARARGS + #define CO_VARARGS 0x0004 + #endif + #ifndef CO_VARKEYWORDS + #define CO_VARKEYWORDS 0x0008 + #endif + #ifndef CO_ASYNC_GENERATOR + #define CO_ASYNC_GENERATOR 0x0200 + #endif + #ifndef CO_GENERATOR + #define CO_GENERATOR 0x0020 + #endif + #ifndef CO_COROUTINE + #define CO_COROUTINE 0x0080 + #endif +#elif PY_VERSION_HEX >= 0x030B0000 + static CYTHON_INLINE PyCodeObject* __Pyx_PyCode_New(int a, int p, int k, int l, int s, int f, + PyObject *code, PyObject *c, PyObject* n, PyObject *v, + PyObject *fv, PyObject *cell, PyObject* fn, + PyObject *name, int fline, PyObject *lnos) { + PyCodeObject *result; + PyObject *empty_bytes = PyBytes_FromStringAndSize("", 0); + if (!empty_bytes) return NULL; + result = + #if PY_VERSION_HEX >= 0x030C0000 + PyUnstable_Code_NewWithPosOnlyArgs + #else + PyCode_NewWithPosOnlyArgs + #endif + (a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, name, fline, lnos, empty_bytes); + Py_DECREF(empty_bytes); + return result; + } +#elif PY_VERSION_HEX >= 0x030800B2 && !CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_NewWithPosOnlyArgs(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#else + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#endif +#endif +#if PY_VERSION_HEX >= 0x030900A4 || defined(Py_IS_TYPE) + #define __Pyx_IS_TYPE(ob, type) Py_IS_TYPE(ob, type) +#else + #define __Pyx_IS_TYPE(ob, type) (((const PyObject*)ob)->ob_type == (type)) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_Is) + #define __Pyx_Py_Is(x, y) Py_Is(x, y) +#else + #define __Pyx_Py_Is(x, y) ((x) == (y)) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsNone) + #define __Pyx_Py_IsNone(ob) Py_IsNone(ob) +#else + #define __Pyx_Py_IsNone(ob) __Pyx_Py_Is((ob), Py_None) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsTrue) + #define __Pyx_Py_IsTrue(ob) Py_IsTrue(ob) +#else + #define __Pyx_Py_IsTrue(ob) __Pyx_Py_Is((ob), Py_True) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsFalse) + #define __Pyx_Py_IsFalse(ob) Py_IsFalse(ob) +#else + #define __Pyx_Py_IsFalse(ob) __Pyx_Py_Is((ob), Py_False) +#endif +#define __Pyx_NoneAsNull(obj) (__Pyx_Py_IsNone(obj) ? NULL : (obj)) +#if PY_VERSION_HEX >= 0x030900F0 && !CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyObject_GC_IsFinalized(o) PyObject_GC_IsFinalized(o) +#else + #define __Pyx_PyObject_GC_IsFinalized(o) _PyGC_FINALIZED(o) +#endif +#ifndef CO_COROUTINE + #define CO_COROUTINE 0x80 +#endif +#ifndef CO_ASYNC_GENERATOR + #define CO_ASYNC_GENERATOR 0x200 +#endif +#ifndef Py_TPFLAGS_CHECKTYPES + #define Py_TPFLAGS_CHECKTYPES 0 +#endif +#ifndef Py_TPFLAGS_HAVE_INDEX + #define Py_TPFLAGS_HAVE_INDEX 0 +#endif +#ifndef Py_TPFLAGS_HAVE_NEWBUFFER + #define Py_TPFLAGS_HAVE_NEWBUFFER 0 +#endif +#ifndef Py_TPFLAGS_HAVE_FINALIZE + #define Py_TPFLAGS_HAVE_FINALIZE 0 +#endif +#ifndef Py_TPFLAGS_SEQUENCE + #define Py_TPFLAGS_SEQUENCE 0 +#endif +#ifndef Py_TPFLAGS_MAPPING + #define Py_TPFLAGS_MAPPING 0 +#endif +#ifndef METH_STACKLESS + #define METH_STACKLESS 0 +#endif +#if PY_VERSION_HEX <= 0x030700A3 || !defined(METH_FASTCALL) + #ifndef METH_FASTCALL + #define METH_FASTCALL 0x80 + #endif + typedef PyObject *(*__Pyx_PyCFunctionFast) (PyObject *self, PyObject *const *args, Py_ssize_t nargs); + typedef PyObject *(*__Pyx_PyCFunctionFastWithKeywords) (PyObject *self, PyObject *const *args, + Py_ssize_t nargs, PyObject *kwnames); +#else + #define __Pyx_PyCFunctionFast _PyCFunctionFast + #define __Pyx_PyCFunctionFastWithKeywords _PyCFunctionFastWithKeywords +#endif +#if CYTHON_METH_FASTCALL + #define __Pyx_METH_FASTCALL METH_FASTCALL + #define __Pyx_PyCFunction_FastCall __Pyx_PyCFunctionFast + #define __Pyx_PyCFunction_FastCallWithKeywords __Pyx_PyCFunctionFastWithKeywords +#else + #define __Pyx_METH_FASTCALL METH_VARARGS + #define __Pyx_PyCFunction_FastCall PyCFunction + #define __Pyx_PyCFunction_FastCallWithKeywords PyCFunctionWithKeywords +#endif +#if CYTHON_VECTORCALL + #define __pyx_vectorcallfunc vectorcallfunc + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET PY_VECTORCALL_ARGUMENTS_OFFSET + #define __Pyx_PyVectorcall_NARGS(n) PyVectorcall_NARGS((size_t)(n)) +#elif CYTHON_BACKPORT_VECTORCALL + typedef PyObject *(*__pyx_vectorcallfunc)(PyObject *callable, PyObject *const *args, + size_t nargsf, PyObject *kwnames); + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET ((size_t)1 << (8 * sizeof(size_t) - 1)) + #define __Pyx_PyVectorcall_NARGS(n) ((Py_ssize_t)(((size_t)(n)) & ~__Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET)) +#else + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET 0 + #define __Pyx_PyVectorcall_NARGS(n) ((Py_ssize_t)(n)) +#endif +#if PY_MAJOR_VERSION >= 0x030900B1 +#define __Pyx_PyCFunction_CheckExact(func) PyCFunction_CheckExact(func) +#else +#define __Pyx_PyCFunction_CheckExact(func) PyCFunction_Check(func) +#endif +#define __Pyx_CyOrPyCFunction_Check(func) PyCFunction_Check(func) +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_CyOrPyCFunction_GET_FUNCTION(func) (((PyCFunctionObject*)(func))->m_ml->ml_meth) +#elif !CYTHON_COMPILING_IN_LIMITED_API +#define __Pyx_CyOrPyCFunction_GET_FUNCTION(func) PyCFunction_GET_FUNCTION(func) +#endif +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_CyOrPyCFunction_GET_FLAGS(func) (((PyCFunctionObject*)(func))->m_ml->ml_flags) +static CYTHON_INLINE PyObject* __Pyx_CyOrPyCFunction_GET_SELF(PyObject *func) { + return (__Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_STATIC) ? NULL : ((PyCFunctionObject*)func)->m_self; +} +#endif +static CYTHON_INLINE int __Pyx__IsSameCFunction(PyObject *func, void *cfunc) { +#if CYTHON_COMPILING_IN_LIMITED_API + return PyCFunction_Check(func) && PyCFunction_GetFunction(func) == (PyCFunction) cfunc; +#else + return PyCFunction_Check(func) && PyCFunction_GET_FUNCTION(func) == (PyCFunction) cfunc; +#endif +} +#define __Pyx_IsSameCFunction(func, cfunc) __Pyx__IsSameCFunction(func, cfunc) +#if __PYX_LIMITED_VERSION_HEX < 0x030900B1 + #define __Pyx_PyType_FromModuleAndSpec(m, s, b) ((void)m, PyType_FromSpecWithBases(s, b)) + typedef PyObject *(*__Pyx_PyCMethod)(PyObject *, PyTypeObject *, PyObject *const *, size_t, PyObject *); +#else + #define __Pyx_PyType_FromModuleAndSpec(m, s, b) PyType_FromModuleAndSpec(m, s, b) + #define __Pyx_PyCMethod PyCMethod +#endif +#ifndef METH_METHOD + #define METH_METHOD 0x200 +#endif +#if CYTHON_COMPILING_IN_PYPY && !defined(PyObject_Malloc) + #define PyObject_Malloc(s) PyMem_Malloc(s) + #define PyObject_Free(p) PyMem_Free(p) + #define PyObject_Realloc(p) PyMem_Realloc(p) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0) + #define __Pyx_PyFrame_SetLineNumber(frame, lineno) +#else + #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0) + #define __Pyx_PyFrame_SetLineNumber(frame, lineno) (frame)->f_lineno = (lineno) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyThreadState_Current PyThreadState_Get() +#elif !CYTHON_FAST_THREAD_STATE + #define __Pyx_PyThreadState_Current PyThreadState_GET() +#elif PY_VERSION_HEX >= 0x030d00A1 + #define __Pyx_PyThreadState_Current PyThreadState_GetUnchecked() +#elif PY_VERSION_HEX >= 0x03060000 + #define __Pyx_PyThreadState_Current _PyThreadState_UncheckedGet() +#elif PY_VERSION_HEX >= 0x03000000 + #define __Pyx_PyThreadState_Current PyThreadState_GET() +#else + #define __Pyx_PyThreadState_Current _PyThreadState_Current +#endif +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE void *__Pyx_PyModule_GetState(PyObject *op) +{ + void *result; + result = PyModule_GetState(op); + if (!result) + Py_FatalError("Couldn't find the module state"); + return result; +} +#endif +#define __Pyx_PyObject_GetSlot(obj, name, func_ctype) __Pyx_PyType_GetSlot(Py_TYPE(obj), name, func_ctype) +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyType_GetSlot(type, name, func_ctype) ((func_ctype) PyType_GetSlot((type), Py_##name)) +#else + #define __Pyx_PyType_GetSlot(type, name, func_ctype) ((type)->name) +#endif +#if PY_VERSION_HEX < 0x030700A2 && !defined(PyThread_tss_create) && !defined(Py_tss_NEEDS_INIT) +#include "pythread.h" +#define Py_tss_NEEDS_INIT 0 +typedef int Py_tss_t; +static CYTHON_INLINE int PyThread_tss_create(Py_tss_t *key) { + *key = PyThread_create_key(); + return 0; +} +static CYTHON_INLINE Py_tss_t * PyThread_tss_alloc(void) { + Py_tss_t *key = (Py_tss_t *)PyObject_Malloc(sizeof(Py_tss_t)); + *key = Py_tss_NEEDS_INIT; + return key; +} +static CYTHON_INLINE void PyThread_tss_free(Py_tss_t *key) { + PyObject_Free(key); +} +static CYTHON_INLINE int PyThread_tss_is_created(Py_tss_t *key) { + return *key != Py_tss_NEEDS_INIT; +} +static CYTHON_INLINE void PyThread_tss_delete(Py_tss_t *key) { + PyThread_delete_key(*key); + *key = Py_tss_NEEDS_INIT; +} +static CYTHON_INLINE int PyThread_tss_set(Py_tss_t *key, void *value) { + return PyThread_set_key_value(*key, value); +} +static CYTHON_INLINE void * PyThread_tss_get(Py_tss_t *key) { + return PyThread_get_key_value(*key); +} +#endif +#if PY_MAJOR_VERSION < 3 + #if CYTHON_COMPILING_IN_PYPY + #if PYPY_VERSION_NUM < 0x07030600 + #if defined(__cplusplus) && __cplusplus >= 201402L + [[deprecated("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6")]] + #elif defined(__GNUC__) || defined(__clang__) + __attribute__ ((__deprecated__("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6"))) + #elif defined(_MSC_VER) + __declspec(deprecated("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6")) + #endif + static CYTHON_INLINE int PyGILState_Check(void) { + return 0; + } + #else // PYPY_VERSION_NUM < 0x07030600 + #endif // PYPY_VERSION_NUM < 0x07030600 + #else + static CYTHON_INLINE int PyGILState_Check(void) { + PyThreadState * tstate = _PyThreadState_Current; + return tstate && (tstate == PyGILState_GetThisThreadState()); + } + #endif +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030d0000 || defined(_PyDict_NewPresized) +#define __Pyx_PyDict_NewPresized(n) ((n <= 8) ? PyDict_New() : _PyDict_NewPresized(n)) +#else +#define __Pyx_PyDict_NewPresized(n) PyDict_New() +#endif +#if PY_MAJOR_VERSION >= 3 || CYTHON_FUTURE_DIVISION + #define __Pyx_PyNumber_Divide(x,y) PyNumber_TrueDivide(x,y) + #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceTrueDivide(x,y) +#else + #define __Pyx_PyNumber_Divide(x,y) PyNumber_Divide(x,y) + #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceDivide(x,y) +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX > 0x030600B4 && PY_VERSION_HEX < 0x030d0000 && CYTHON_USE_UNICODE_INTERNALS +#define __Pyx_PyDict_GetItemStrWithError(dict, name) _PyDict_GetItem_KnownHash(dict, name, ((PyASCIIObject *) name)->hash) +static CYTHON_INLINE PyObject * __Pyx_PyDict_GetItemStr(PyObject *dict, PyObject *name) { + PyObject *res = __Pyx_PyDict_GetItemStrWithError(dict, name); + if (res == NULL) PyErr_Clear(); + return res; +} +#elif PY_MAJOR_VERSION >= 3 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07020000) +#define __Pyx_PyDict_GetItemStrWithError PyDict_GetItemWithError +#define __Pyx_PyDict_GetItemStr PyDict_GetItem +#else +static CYTHON_INLINE PyObject * __Pyx_PyDict_GetItemStrWithError(PyObject *dict, PyObject *name) { +#if CYTHON_COMPILING_IN_PYPY + return PyDict_GetItem(dict, name); +#else + PyDictEntry *ep; + PyDictObject *mp = (PyDictObject*) dict; + long hash = ((PyStringObject *) name)->ob_shash; + assert(hash != -1); + ep = (mp->ma_lookup)(mp, name, hash); + if (ep == NULL) { + return NULL; + } + return ep->me_value; +#endif +} +#define __Pyx_PyDict_GetItemStr PyDict_GetItem +#endif +#if CYTHON_USE_TYPE_SLOTS + #define __Pyx_PyType_GetFlags(tp) (((PyTypeObject *)tp)->tp_flags) + #define __Pyx_PyType_HasFeature(type, feature) ((__Pyx_PyType_GetFlags(type) & (feature)) != 0) + #define __Pyx_PyObject_GetIterNextFunc(obj) (Py_TYPE(obj)->tp_iternext) +#else + #define __Pyx_PyType_GetFlags(tp) (PyType_GetFlags((PyTypeObject *)tp)) + #define __Pyx_PyType_HasFeature(type, feature) PyType_HasFeature(type, feature) + #define __Pyx_PyObject_GetIterNextFunc(obj) PyIter_Next +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_SetItemOnTypeDict(tp, k, v) PyObject_GenericSetAttr((PyObject*)tp, k, v) +#else + #define __Pyx_SetItemOnTypeDict(tp, k, v) PyDict_SetItem(tp->tp_dict, k, v) +#endif +#if CYTHON_USE_TYPE_SPECS && PY_VERSION_HEX >= 0x03080000 +#define __Pyx_PyHeapTypeObject_GC_Del(obj) {\ + PyTypeObject *type = Py_TYPE((PyObject*)obj);\ + assert(__Pyx_PyType_HasFeature(type, Py_TPFLAGS_HEAPTYPE));\ + PyObject_GC_Del(obj);\ + Py_DECREF(type);\ +} +#else +#define __Pyx_PyHeapTypeObject_GC_Del(obj) PyObject_GC_Del(obj) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define CYTHON_PEP393_ENABLED 1 + #define __Pyx_PyUnicode_READY(op) (0) + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GetLength(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) PyUnicode_ReadChar(u, i) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) ((void)u, 1114111U) + #define __Pyx_PyUnicode_KIND(u) ((void)u, (0)) + #define __Pyx_PyUnicode_DATA(u) ((void*)u) + #define __Pyx_PyUnicode_READ(k, d, i) ((void)k, PyUnicode_ReadChar((PyObject*)(d), i)) + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GetLength(u)) +#elif PY_VERSION_HEX > 0x03030000 && defined(PyUnicode_KIND) + #define CYTHON_PEP393_ENABLED 1 + #if PY_VERSION_HEX >= 0x030C0000 + #define __Pyx_PyUnicode_READY(op) (0) + #else + #define __Pyx_PyUnicode_READY(op) (likely(PyUnicode_IS_READY(op)) ?\ + 0 : _PyUnicode_Ready((PyObject *)(op))) + #endif + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_LENGTH(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) PyUnicode_READ_CHAR(u, i) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) PyUnicode_MAX_CHAR_VALUE(u) + #define __Pyx_PyUnicode_KIND(u) ((int)PyUnicode_KIND(u)) + #define __Pyx_PyUnicode_DATA(u) PyUnicode_DATA(u) + #define __Pyx_PyUnicode_READ(k, d, i) PyUnicode_READ(k, d, i) + #define __Pyx_PyUnicode_WRITE(k, d, i, ch) PyUnicode_WRITE(k, d, i, (Py_UCS4) ch) + #if PY_VERSION_HEX >= 0x030C0000 + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_LENGTH(u)) + #else + #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x03090000 + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : ((PyCompactUnicodeObject *)(u))->wstr_length)) + #else + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : PyUnicode_GET_SIZE(u))) + #endif + #endif +#else + #define CYTHON_PEP393_ENABLED 0 + #define PyUnicode_1BYTE_KIND 1 + #define PyUnicode_2BYTE_KIND 2 + #define PyUnicode_4BYTE_KIND 4 + #define __Pyx_PyUnicode_READY(op) (0) + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_SIZE(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) ((Py_UCS4)(PyUnicode_AS_UNICODE(u)[i])) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) ((sizeof(Py_UNICODE) == 2) ? 65535U : 1114111U) + #define __Pyx_PyUnicode_KIND(u) ((int)sizeof(Py_UNICODE)) + #define __Pyx_PyUnicode_DATA(u) ((void*)PyUnicode_AS_UNICODE(u)) + #define __Pyx_PyUnicode_READ(k, d, i) ((void)(k), (Py_UCS4)(((Py_UNICODE*)d)[i])) + #define __Pyx_PyUnicode_WRITE(k, d, i, ch) (((void)(k)), ((Py_UNICODE*)d)[i] = (Py_UNICODE) ch) + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_SIZE(u)) +#endif +#if CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyUnicode_Concat(a, b) PyNumber_Add(a, b) + #define __Pyx_PyUnicode_ConcatSafe(a, b) PyNumber_Add(a, b) +#else + #define __Pyx_PyUnicode_Concat(a, b) PyUnicode_Concat(a, b) + #define __Pyx_PyUnicode_ConcatSafe(a, b) ((unlikely((a) == Py_None) || unlikely((b) == Py_None)) ?\ + PyNumber_Add(a, b) : __Pyx_PyUnicode_Concat(a, b)) +#endif +#if CYTHON_COMPILING_IN_PYPY + #if !defined(PyUnicode_DecodeUnicodeEscape) + #define PyUnicode_DecodeUnicodeEscape(s, size, errors) PyUnicode_Decode(s, size, "unicode_escape", errors) + #endif + #if !defined(PyUnicode_Contains) || (PY_MAJOR_VERSION == 2 && PYPY_VERSION_NUM < 0x07030500) + #undef PyUnicode_Contains + #define PyUnicode_Contains(u, s) PySequence_Contains(u, s) + #endif + #if !defined(PyByteArray_Check) + #define PyByteArray_Check(obj) PyObject_TypeCheck(obj, &PyByteArray_Type) + #endif + #if !defined(PyObject_Format) + #define PyObject_Format(obj, fmt) PyObject_CallMethod(obj, "__format__", "O", fmt) + #endif +#endif +#define __Pyx_PyString_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyString_Check(b) && !PyString_CheckExact(b)))) ? PyNumber_Remainder(a, b) : __Pyx_PyString_Format(a, b)) +#define __Pyx_PyUnicode_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyUnicode_Check(b) && !PyUnicode_CheckExact(b)))) ? PyNumber_Remainder(a, b) : PyUnicode_Format(a, b)) +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyString_Format(a, b) PyUnicode_Format(a, b) +#else + #define __Pyx_PyString_Format(a, b) PyString_Format(a, b) +#endif +#if PY_MAJOR_VERSION < 3 && !defined(PyObject_ASCII) + #define PyObject_ASCII(o) PyObject_Repr(o) +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyBaseString_Type PyUnicode_Type + #define PyStringObject PyUnicodeObject + #define PyString_Type PyUnicode_Type + #define PyString_Check PyUnicode_Check + #define PyString_CheckExact PyUnicode_CheckExact +#ifndef PyObject_Unicode + #define PyObject_Unicode PyObject_Str +#endif +#endif +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyBaseString_Check(obj) PyUnicode_Check(obj) + #define __Pyx_PyBaseString_CheckExact(obj) PyUnicode_CheckExact(obj) +#else + #define __Pyx_PyBaseString_Check(obj) (PyString_Check(obj) || PyUnicode_Check(obj)) + #define __Pyx_PyBaseString_CheckExact(obj) (PyString_CheckExact(obj) || PyUnicode_CheckExact(obj)) +#endif +#if CYTHON_COMPILING_IN_CPYTHON + #define __Pyx_PySequence_ListKeepNew(obj)\ + (likely(PyList_CheckExact(obj) && Py_REFCNT(obj) == 1) ? __Pyx_NewRef(obj) : PySequence_List(obj)) +#else + #define __Pyx_PySequence_ListKeepNew(obj) PySequence_List(obj) +#endif +#ifndef PySet_CheckExact + #define PySet_CheckExact(obj) __Pyx_IS_TYPE(obj, &PySet_Type) +#endif +#if PY_VERSION_HEX >= 0x030900A4 + #define __Pyx_SET_REFCNT(obj, refcnt) Py_SET_REFCNT(obj, refcnt) + #define __Pyx_SET_SIZE(obj, size) Py_SET_SIZE(obj, size) +#else + #define __Pyx_SET_REFCNT(obj, refcnt) Py_REFCNT(obj) = (refcnt) + #define __Pyx_SET_SIZE(obj, size) Py_SIZE(obj) = (size) +#endif +#if CYTHON_ASSUME_SAFE_MACROS + #define __Pyx_PySequence_ITEM(o, i) PySequence_ITEM(o, i) + #define __Pyx_PySequence_SIZE(seq) Py_SIZE(seq) + #define __Pyx_PyTuple_SET_ITEM(o, i, v) (PyTuple_SET_ITEM(o, i, v), (0)) + #define __Pyx_PyList_SET_ITEM(o, i, v) (PyList_SET_ITEM(o, i, v), (0)) + #define __Pyx_PyTuple_GET_SIZE(o) PyTuple_GET_SIZE(o) + #define __Pyx_PyList_GET_SIZE(o) PyList_GET_SIZE(o) + #define __Pyx_PySet_GET_SIZE(o) PySet_GET_SIZE(o) + #define __Pyx_PyBytes_GET_SIZE(o) PyBytes_GET_SIZE(o) + #define __Pyx_PyByteArray_GET_SIZE(o) PyByteArray_GET_SIZE(o) +#else + #define __Pyx_PySequence_ITEM(o, i) PySequence_GetItem(o, i) + #define __Pyx_PySequence_SIZE(seq) PySequence_Size(seq) + #define __Pyx_PyTuple_SET_ITEM(o, i, v) PyTuple_SetItem(o, i, v) + #define __Pyx_PyList_SET_ITEM(o, i, v) PyList_SetItem(o, i, v) + #define __Pyx_PyTuple_GET_SIZE(o) PyTuple_Size(o) + #define __Pyx_PyList_GET_SIZE(o) PyList_Size(o) + #define __Pyx_PySet_GET_SIZE(o) PySet_Size(o) + #define __Pyx_PyBytes_GET_SIZE(o) PyBytes_Size(o) + #define __Pyx_PyByteArray_GET_SIZE(o) PyByteArray_Size(o) +#endif +#if PY_VERSION_HEX >= 0x030d00A1 + #define __Pyx_PyImport_AddModuleRef(name) PyImport_AddModuleRef(name) +#else + static CYTHON_INLINE PyObject *__Pyx_PyImport_AddModuleRef(const char *name) { + PyObject *module = PyImport_AddModule(name); + Py_XINCREF(module); + return module; + } +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyIntObject PyLongObject + #define PyInt_Type PyLong_Type + #define PyInt_Check(op) PyLong_Check(op) + #define PyInt_CheckExact(op) PyLong_CheckExact(op) + #define __Pyx_Py3Int_Check(op) PyLong_Check(op) + #define __Pyx_Py3Int_CheckExact(op) PyLong_CheckExact(op) + #define PyInt_FromString PyLong_FromString + #define PyInt_FromUnicode PyLong_FromUnicode + #define PyInt_FromLong PyLong_FromLong + #define PyInt_FromSize_t PyLong_FromSize_t + #define PyInt_FromSsize_t PyLong_FromSsize_t + #define PyInt_AsLong PyLong_AsLong + #define PyInt_AS_LONG PyLong_AS_LONG + #define PyInt_AsSsize_t PyLong_AsSsize_t + #define PyInt_AsUnsignedLongMask PyLong_AsUnsignedLongMask + #define PyInt_AsUnsignedLongLongMask PyLong_AsUnsignedLongLongMask + #define PyNumber_Int PyNumber_Long +#else + #define __Pyx_Py3Int_Check(op) (PyLong_Check(op) || PyInt_Check(op)) + #define __Pyx_Py3Int_CheckExact(op) (PyLong_CheckExact(op) || PyInt_CheckExact(op)) +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyBoolObject PyLongObject +#endif +#if PY_MAJOR_VERSION >= 3 && CYTHON_COMPILING_IN_PYPY + #ifndef PyUnicode_InternFromString + #define PyUnicode_InternFromString(s) PyUnicode_FromString(s) + #endif +#endif +#if PY_VERSION_HEX < 0x030200A4 + typedef long Py_hash_t; + #define __Pyx_PyInt_FromHash_t PyInt_FromLong + #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsHash_t +#else + #define __Pyx_PyInt_FromHash_t PyInt_FromSsize_t + #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsSsize_t +#endif +#if CYTHON_USE_ASYNC_SLOTS + #if PY_VERSION_HEX >= 0x030500B1 + #define __Pyx_PyAsyncMethodsStruct PyAsyncMethods + #define __Pyx_PyType_AsAsync(obj) (Py_TYPE(obj)->tp_as_async) + #else + #define __Pyx_PyType_AsAsync(obj) ((__Pyx_PyAsyncMethodsStruct*) (Py_TYPE(obj)->tp_reserved)) + #endif +#else + #define __Pyx_PyType_AsAsync(obj) NULL +#endif +#ifndef __Pyx_PyAsyncMethodsStruct + typedef struct { + unaryfunc am_await; + unaryfunc am_aiter; + unaryfunc am_anext; + } __Pyx_PyAsyncMethodsStruct; +#endif + +#if defined(_WIN32) || defined(WIN32) || defined(MS_WINDOWS) + #if !defined(_USE_MATH_DEFINES) + #define _USE_MATH_DEFINES + #endif +#endif +#include +#ifdef NAN +#define __PYX_NAN() ((float) NAN) +#else +static CYTHON_INLINE float __PYX_NAN() { + float value; + memset(&value, 0xFF, sizeof(value)); + return value; +} +#endif +#if defined(__CYGWIN__) && defined(_LDBL_EQ_DBL) +#define __Pyx_truncl trunc +#else +#define __Pyx_truncl truncl +#endif + +#define __PYX_MARK_ERR_POS(f_index, lineno) \ + { __pyx_filename = __pyx_f[f_index]; (void)__pyx_filename; __pyx_lineno = lineno; (void)__pyx_lineno; __pyx_clineno = __LINE__; (void)__pyx_clineno; } +#define __PYX_ERR(f_index, lineno, Ln_error) \ + { __PYX_MARK_ERR_POS(f_index, lineno) goto Ln_error; } + +#ifdef CYTHON_EXTERN_C + #undef __PYX_EXTERN_C + #define __PYX_EXTERN_C CYTHON_EXTERN_C +#elif defined(__PYX_EXTERN_C) + #ifdef _MSC_VER + #pragma message ("Please do not define the '__PYX_EXTERN_C' macro externally. Use 'CYTHON_EXTERN_C' instead.") + #else + #warning Please do not define the '__PYX_EXTERN_C' macro externally. Use 'CYTHON_EXTERN_C' instead. + #endif +#else + #define __PYX_EXTERN_C extern "C++" +#endif + +#define __PYX_HAVE__selfdrive__modeld__models__commonmodel_pyx +#define __PYX_HAVE_API__selfdrive__modeld__models__commonmodel_pyx +/* Early includes */ +#include +#include +#include "ios" +#include "new" +#include "stdexcept" +#include "typeinfo" +#include +#include + + #if __cplusplus >= 201103L || (defined(_MSC_VER) && _MSC_VER >= 1600) + // move should be defined for these versions of MSVC, but __cplusplus isn't set usefully + #include + + namespace cython_std { + template typename std::remove_reference::type&& move(T& t) noexcept { return std::move(t); } + template typename std::remove_reference::type&& move(T&& t) noexcept { return std::move(t); } + } + + #endif + +#include +#include +#include "msgq/visionipc/visionbuf.h" +#include "msgq/visionipc/visionipc.h" +#include "msgq/visionipc/visionipc_server.h" +#include "msgq/visionipc/visionipc_client.h" +#include + + /* Using NumPy API declarations from "numpy/__init__.cython-30.pxd" */ + +#include "numpy/arrayobject.h" +#include "numpy/ndarrayobject.h" +#include "numpy/ndarraytypes.h" +#include "numpy/arrayscalars.h" +#include "numpy/ufuncobject.h" +#include "common/mat.h" +#include "common/clutil.h" +#include "selfdrive/modeld/models/commonmodel.h" +#include "pythread.h" +#include +#ifdef _OPENMP +#include +#endif /* _OPENMP */ + +#if defined(PYREX_WITHOUT_ASSERTIONS) && !defined(CYTHON_WITHOUT_ASSERTIONS) +#define CYTHON_WITHOUT_ASSERTIONS +#endif + +typedef struct {PyObject **p; const char *s; const Py_ssize_t n; const char* encoding; + const char is_unicode; const char is_str; const char intern; } __Pyx_StringTabEntry; + +#define __PYX_DEFAULT_STRING_ENCODING_IS_ASCII 1 +#define __PYX_DEFAULT_STRING_ENCODING_IS_UTF8 0 +#define __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT (PY_MAJOR_VERSION >= 3 && __PYX_DEFAULT_STRING_ENCODING_IS_UTF8) +#define __PYX_DEFAULT_STRING_ENCODING "ascii" +#define __Pyx_PyObject_FromString __Pyx_PyBytes_FromString +#define __Pyx_PyObject_FromStringAndSize __Pyx_PyBytes_FromStringAndSize +#define __Pyx_uchar_cast(c) ((unsigned char)c) +#define __Pyx_long_cast(x) ((long)x) +#define __Pyx_fits_Py_ssize_t(v, type, is_signed) (\ + (sizeof(type) < sizeof(Py_ssize_t)) ||\ + (sizeof(type) > sizeof(Py_ssize_t) &&\ + likely(v < (type)PY_SSIZE_T_MAX ||\ + v == (type)PY_SSIZE_T_MAX) &&\ + (!is_signed || likely(v > (type)PY_SSIZE_T_MIN ||\ + v == (type)PY_SSIZE_T_MIN))) ||\ + (sizeof(type) == sizeof(Py_ssize_t) &&\ + (is_signed || likely(v < (type)PY_SSIZE_T_MAX ||\ + v == (type)PY_SSIZE_T_MAX))) ) +static CYTHON_INLINE int __Pyx_is_valid_index(Py_ssize_t i, Py_ssize_t limit) { + return (size_t) i < (size_t) limit; +} +#if defined (__cplusplus) && __cplusplus >= 201103L + #include + #define __Pyx_sst_abs(value) std::abs(value) +#elif SIZEOF_INT >= SIZEOF_SIZE_T + #define __Pyx_sst_abs(value) abs(value) +#elif SIZEOF_LONG >= SIZEOF_SIZE_T + #define __Pyx_sst_abs(value) labs(value) +#elif defined (_MSC_VER) + #define __Pyx_sst_abs(value) ((Py_ssize_t)_abs64(value)) +#elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define __Pyx_sst_abs(value) llabs(value) +#elif defined (__GNUC__) + #define __Pyx_sst_abs(value) __builtin_llabs(value) +#else + #define __Pyx_sst_abs(value) ((value<0) ? -value : value) +#endif +static CYTHON_INLINE Py_ssize_t __Pyx_ssize_strlen(const char *s); +static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject*); +static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject*, Py_ssize_t* length); +static CYTHON_INLINE PyObject* __Pyx_PyByteArray_FromString(const char*); +#define __Pyx_PyByteArray_FromStringAndSize(s, l) PyByteArray_FromStringAndSize((const char*)s, l) +#define __Pyx_PyBytes_FromString PyBytes_FromString +#define __Pyx_PyBytes_FromStringAndSize PyBytes_FromStringAndSize +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char*); +#if PY_MAJOR_VERSION < 3 + #define __Pyx_PyStr_FromString __Pyx_PyBytes_FromString + #define __Pyx_PyStr_FromStringAndSize __Pyx_PyBytes_FromStringAndSize +#else + #define __Pyx_PyStr_FromString __Pyx_PyUnicode_FromString + #define __Pyx_PyStr_FromStringAndSize __Pyx_PyUnicode_FromStringAndSize +#endif +#define __Pyx_PyBytes_AsWritableString(s) ((char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsWritableSString(s) ((signed char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsWritableUString(s) ((unsigned char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsString(s) ((const char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsSString(s) ((const signed char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsUString(s) ((const unsigned char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyObject_AsWritableString(s) ((char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsWritableSString(s) ((signed char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsWritableUString(s) ((unsigned char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsSString(s) ((const signed char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsUString(s) ((const unsigned char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_FromCString(s) __Pyx_PyObject_FromString((const char*)s) +#define __Pyx_PyBytes_FromCString(s) __Pyx_PyBytes_FromString((const char*)s) +#define __Pyx_PyByteArray_FromCString(s) __Pyx_PyByteArray_FromString((const char*)s) +#define __Pyx_PyStr_FromCString(s) __Pyx_PyStr_FromString((const char*)s) +#define __Pyx_PyUnicode_FromCString(s) __Pyx_PyUnicode_FromString((const char*)s) +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE size_t __Pyx_Py_UNICODE_strlen(const wchar_t *u) +{ + const wchar_t *u_end = u; + while (*u_end++) ; + return (size_t)(u_end - u - 1); +} +#else +static CYTHON_INLINE size_t __Pyx_Py_UNICODE_strlen(const Py_UNICODE *u) +{ + const Py_UNICODE *u_end = u; + while (*u_end++) ; + return (size_t)(u_end - u - 1); +} +#endif +#define __Pyx_PyUnicode_FromOrdinal(o) PyUnicode_FromOrdinal((int)o) +#define __Pyx_PyUnicode_FromUnicode(u) PyUnicode_FromUnicode(u, __Pyx_Py_UNICODE_strlen(u)) +#define __Pyx_PyUnicode_FromUnicodeAndLength PyUnicode_FromUnicode +#define __Pyx_PyUnicode_AsUnicode PyUnicode_AsUnicode +#define __Pyx_NewRef(obj) (Py_INCREF(obj), obj) +#define __Pyx_Owned_Py_None(b) __Pyx_NewRef(Py_None) +static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b); +static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject*); +static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject*); +static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x); +#define __Pyx_PySequence_Tuple(obj)\ + (likely(PyTuple_CheckExact(obj)) ? __Pyx_NewRef(obj) : PySequence_Tuple(obj)) +static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject*); +static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t); +static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject*); +#if CYTHON_ASSUME_SAFE_MACROS +#define __pyx_PyFloat_AsDouble(x) (PyFloat_CheckExact(x) ? PyFloat_AS_DOUBLE(x) : PyFloat_AsDouble(x)) +#else +#define __pyx_PyFloat_AsDouble(x) PyFloat_AsDouble(x) +#endif +#define __pyx_PyFloat_AsFloat(x) ((float) __pyx_PyFloat_AsDouble(x)) +#if PY_MAJOR_VERSION >= 3 +#define __Pyx_PyNumber_Int(x) (PyLong_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Long(x)) +#else +#define __Pyx_PyNumber_Int(x) (PyInt_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Int(x)) +#endif +#if CYTHON_USE_PYLONG_INTERNALS + #if PY_VERSION_HEX >= 0x030C00A7 + #ifndef _PyLong_SIGN_MASK + #define _PyLong_SIGN_MASK 3 + #endif + #ifndef _PyLong_NON_SIZE_BITS + #define _PyLong_NON_SIZE_BITS 3 + #endif + #define __Pyx_PyLong_Sign(x) (((PyLongObject*)x)->long_value.lv_tag & _PyLong_SIGN_MASK) + #define __Pyx_PyLong_IsNeg(x) ((__Pyx_PyLong_Sign(x) & 2) != 0) + #define __Pyx_PyLong_IsNonNeg(x) (!__Pyx_PyLong_IsNeg(x)) + #define __Pyx_PyLong_IsZero(x) (__Pyx_PyLong_Sign(x) & 1) + #define __Pyx_PyLong_IsPos(x) (__Pyx_PyLong_Sign(x) == 0) + #define __Pyx_PyLong_CompactValueUnsigned(x) (__Pyx_PyLong_Digits(x)[0]) + #define __Pyx_PyLong_DigitCount(x) ((Py_ssize_t) (((PyLongObject*)x)->long_value.lv_tag >> _PyLong_NON_SIZE_BITS)) + #define __Pyx_PyLong_SignedDigitCount(x)\ + ((1 - (Py_ssize_t) __Pyx_PyLong_Sign(x)) * __Pyx_PyLong_DigitCount(x)) + #if defined(PyUnstable_Long_IsCompact) && defined(PyUnstable_Long_CompactValue) + #define __Pyx_PyLong_IsCompact(x) PyUnstable_Long_IsCompact((PyLongObject*) x) + #define __Pyx_PyLong_CompactValue(x) PyUnstable_Long_CompactValue((PyLongObject*) x) + #else + #define __Pyx_PyLong_IsCompact(x) (((PyLongObject*)x)->long_value.lv_tag < (2 << _PyLong_NON_SIZE_BITS)) + #define __Pyx_PyLong_CompactValue(x) ((1 - (Py_ssize_t) __Pyx_PyLong_Sign(x)) * (Py_ssize_t) __Pyx_PyLong_Digits(x)[0]) + #endif + typedef Py_ssize_t __Pyx_compact_pylong; + typedef size_t __Pyx_compact_upylong; + #else + #define __Pyx_PyLong_IsNeg(x) (Py_SIZE(x) < 0) + #define __Pyx_PyLong_IsNonNeg(x) (Py_SIZE(x) >= 0) + #define __Pyx_PyLong_IsZero(x) (Py_SIZE(x) == 0) + #define __Pyx_PyLong_IsPos(x) (Py_SIZE(x) > 0) + #define __Pyx_PyLong_CompactValueUnsigned(x) ((Py_SIZE(x) == 0) ? 0 : __Pyx_PyLong_Digits(x)[0]) + #define __Pyx_PyLong_DigitCount(x) __Pyx_sst_abs(Py_SIZE(x)) + #define __Pyx_PyLong_SignedDigitCount(x) Py_SIZE(x) + #define __Pyx_PyLong_IsCompact(x) (Py_SIZE(x) == 0 || Py_SIZE(x) == 1 || Py_SIZE(x) == -1) + #define __Pyx_PyLong_CompactValue(x)\ + ((Py_SIZE(x) == 0) ? (sdigit) 0 : ((Py_SIZE(x) < 0) ? -(sdigit)__Pyx_PyLong_Digits(x)[0] : (sdigit)__Pyx_PyLong_Digits(x)[0])) + typedef sdigit __Pyx_compact_pylong; + typedef digit __Pyx_compact_upylong; + #endif + #if PY_VERSION_HEX >= 0x030C00A5 + #define __Pyx_PyLong_Digits(x) (((PyLongObject*)x)->long_value.ob_digit) + #else + #define __Pyx_PyLong_Digits(x) (((PyLongObject*)x)->ob_digit) + #endif +#endif +#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII +#include +static int __Pyx_sys_getdefaultencoding_not_ascii; +static int __Pyx_init_sys_getdefaultencoding_params(void) { + PyObject* sys; + PyObject* default_encoding = NULL; + PyObject* ascii_chars_u = NULL; + PyObject* ascii_chars_b = NULL; + const char* default_encoding_c; + sys = PyImport_ImportModule("sys"); + if (!sys) goto bad; + default_encoding = PyObject_CallMethod(sys, (char*) "getdefaultencoding", NULL); + Py_DECREF(sys); + if (!default_encoding) goto bad; + default_encoding_c = PyBytes_AsString(default_encoding); + if (!default_encoding_c) goto bad; + if (strcmp(default_encoding_c, "ascii") == 0) { + __Pyx_sys_getdefaultencoding_not_ascii = 0; + } else { + char ascii_chars[128]; + int c; + for (c = 0; c < 128; c++) { + ascii_chars[c] = (char) c; + } + __Pyx_sys_getdefaultencoding_not_ascii = 1; + ascii_chars_u = PyUnicode_DecodeASCII(ascii_chars, 128, NULL); + if (!ascii_chars_u) goto bad; + ascii_chars_b = PyUnicode_AsEncodedString(ascii_chars_u, default_encoding_c, NULL); + if (!ascii_chars_b || !PyBytes_Check(ascii_chars_b) || memcmp(ascii_chars, PyBytes_AS_STRING(ascii_chars_b), 128) != 0) { + PyErr_Format( + PyExc_ValueError, + "This module compiled with c_string_encoding=ascii, but default encoding '%.200s' is not a superset of ascii.", + default_encoding_c); + goto bad; + } + Py_DECREF(ascii_chars_u); + Py_DECREF(ascii_chars_b); + } + Py_DECREF(default_encoding); + return 0; +bad: + Py_XDECREF(default_encoding); + Py_XDECREF(ascii_chars_u); + Py_XDECREF(ascii_chars_b); + return -1; +} +#endif +#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT && PY_MAJOR_VERSION >= 3 +#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_DecodeUTF8(c_str, size, NULL) +#else +#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_Decode(c_str, size, __PYX_DEFAULT_STRING_ENCODING, NULL) +#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT +#include +static char* __PYX_DEFAULT_STRING_ENCODING; +static int __Pyx_init_sys_getdefaultencoding_params(void) { + PyObject* sys; + PyObject* default_encoding = NULL; + char* default_encoding_c; + sys = PyImport_ImportModule("sys"); + if (!sys) goto bad; + default_encoding = PyObject_CallMethod(sys, (char*) (const char*) "getdefaultencoding", NULL); + Py_DECREF(sys); + if (!default_encoding) goto bad; + default_encoding_c = PyBytes_AsString(default_encoding); + if (!default_encoding_c) goto bad; + __PYX_DEFAULT_STRING_ENCODING = (char*) malloc(strlen(default_encoding_c) + 1); + if (!__PYX_DEFAULT_STRING_ENCODING) goto bad; + strcpy(__PYX_DEFAULT_STRING_ENCODING, default_encoding_c); + Py_DECREF(default_encoding); + return 0; +bad: + Py_XDECREF(default_encoding); + return -1; +} +#endif +#endif + + +/* Test for GCC > 2.95 */ +#if defined(__GNUC__) && (__GNUC__ > 2 || (__GNUC__ == 2 && (__GNUC_MINOR__ > 95))) + #define likely(x) __builtin_expect(!!(x), 1) + #define unlikely(x) __builtin_expect(!!(x), 0) +#else /* !__GNUC__ or GCC < 2.95 */ + #define likely(x) (x) + #define unlikely(x) (x) +#endif /* __GNUC__ */ +static CYTHON_INLINE void __Pyx_pretend_to_initialize(void* ptr) { (void)ptr; } + +#if !CYTHON_USE_MODULE_STATE +static PyObject *__pyx_m = NULL; +#endif +static int __pyx_lineno; +static int __pyx_clineno = 0; +static const char * __pyx_cfilenm = __FILE__; +static const char *__pyx_filename; + +/* Header.proto */ +#if !defined(CYTHON_CCOMPLEX) + #if defined(__cplusplus) + #define CYTHON_CCOMPLEX 1 + #elif (defined(_Complex_I) && !defined(_MSC_VER)) || ((defined (__STDC_VERSION__) && __STDC_VERSION__ >= 201112L) && !defined(__STDC_NO_COMPLEX__) && !defined(_MSC_VER)) + #define CYTHON_CCOMPLEX 1 + #else + #define CYTHON_CCOMPLEX 0 + #endif +#endif +#if CYTHON_CCOMPLEX + #ifdef __cplusplus + #include + #else + #include + #endif +#endif +#if CYTHON_CCOMPLEX && !defined(__cplusplus) && defined(__sun__) && defined(__GNUC__) + #undef _Complex_I + #define _Complex_I 1.0fj +#endif + +/* #### Code section: filename_table ### */ + +static const char *__pyx_f[] = { + "", + "selfdrive/modeld/models/commonmodel_pyx.pyx", + "__init__.cython-30.pxd", + "msgq/visionipc/visionipc_pyx.pxd", + "type.pxd", +}; +/* #### Code section: utility_code_proto_before_types ### */ +/* ForceInitThreads.proto */ +#ifndef __PYX_FORCE_INIT_THREADS + #define __PYX_FORCE_INIT_THREADS 0 +#endif + +/* NoFastGil.proto */ +#define __Pyx_PyGILState_Ensure PyGILState_Ensure +#define __Pyx_PyGILState_Release PyGILState_Release +#define __Pyx_FastGIL_Remember() +#define __Pyx_FastGIL_Forget() +#define __Pyx_FastGilFuncInit() + +/* BufferFormatStructs.proto */ +struct __Pyx_StructField_; +#define __PYX_BUF_FLAGS_PACKED_STRUCT (1 << 0) +typedef struct { + const char* name; + struct __Pyx_StructField_* fields; + size_t size; + size_t arraysize[8]; + int ndim; + char typegroup; + char is_unsigned; + int flags; +} __Pyx_TypeInfo; +typedef struct __Pyx_StructField_ { + __Pyx_TypeInfo* type; + const char* name; + size_t offset; +} __Pyx_StructField; +typedef struct { + __Pyx_StructField* field; + size_t parent_offset; +} __Pyx_BufFmt_StackElem; +typedef struct { + __Pyx_StructField root; + __Pyx_BufFmt_StackElem* head; + size_t fmt_offset; + size_t new_count, enc_count; + size_t struct_alignment; + int is_complex; + char enc_type; + char new_packmode; + char enc_packmode; + char is_valid_array; +} __Pyx_BufFmt_Context; + +/* Atomics.proto */ +#include +#ifndef CYTHON_ATOMICS + #define CYTHON_ATOMICS 1 +#endif +#define __PYX_CYTHON_ATOMICS_ENABLED() CYTHON_ATOMICS +#define __pyx_atomic_int_type int +#define __pyx_nonatomic_int_type int +#if CYTHON_ATOMICS && (defined(__STDC_VERSION__) &&\ + (__STDC_VERSION__ >= 201112L) &&\ + !defined(__STDC_NO_ATOMICS__)) + #include +#elif CYTHON_ATOMICS && (defined(__cplusplus) && (\ + (__cplusplus >= 201103L) ||\ + (defined(_MSC_VER) && _MSC_VER >= 1700))) + #include +#endif +#if CYTHON_ATOMICS && (defined(__STDC_VERSION__) &&\ + (__STDC_VERSION__ >= 201112L) &&\ + !defined(__STDC_NO_ATOMICS__) &&\ + ATOMIC_INT_LOCK_FREE == 2) + #undef __pyx_atomic_int_type + #define __pyx_atomic_int_type atomic_int + #define __pyx_atomic_incr_aligned(value) atomic_fetch_add_explicit(value, 1, memory_order_relaxed) + #define __pyx_atomic_decr_aligned(value) atomic_fetch_sub_explicit(value, 1, memory_order_acq_rel) + #if defined(__PYX_DEBUG_ATOMICS) && defined(_MSC_VER) + #pragma message ("Using standard C atomics") + #elif defined(__PYX_DEBUG_ATOMICS) + #warning "Using standard C atomics" + #endif +#elif CYTHON_ATOMICS && (defined(__cplusplus) && (\ + (__cplusplus >= 201103L) ||\ +\ + (defined(_MSC_VER) && _MSC_VER >= 1700)) &&\ + ATOMIC_INT_LOCK_FREE == 2) + #undef __pyx_atomic_int_type + #define __pyx_atomic_int_type std::atomic_int + #define __pyx_atomic_incr_aligned(value) std::atomic_fetch_add_explicit(value, 1, std::memory_order_relaxed) + #define __pyx_atomic_decr_aligned(value) std::atomic_fetch_sub_explicit(value, 1, std::memory_order_acq_rel) + #if defined(__PYX_DEBUG_ATOMICS) && defined(_MSC_VER) + #pragma message ("Using standard C++ atomics") + #elif defined(__PYX_DEBUG_ATOMICS) + #warning "Using standard C++ atomics" + #endif +#elif CYTHON_ATOMICS && (__GNUC__ >= 5 || (__GNUC__ == 4 &&\ + (__GNUC_MINOR__ > 1 ||\ + (__GNUC_MINOR__ == 1 && __GNUC_PATCHLEVEL__ >= 2)))) + #define __pyx_atomic_incr_aligned(value) __sync_fetch_and_add(value, 1) + #define __pyx_atomic_decr_aligned(value) __sync_fetch_and_sub(value, 1) + #ifdef __PYX_DEBUG_ATOMICS + #warning "Using GNU atomics" + #endif +#elif CYTHON_ATOMICS && defined(_MSC_VER) + #include + #undef __pyx_atomic_int_type + #define __pyx_atomic_int_type long + #undef __pyx_nonatomic_int_type + #define __pyx_nonatomic_int_type long + #pragma intrinsic (_InterlockedExchangeAdd) + #define __pyx_atomic_incr_aligned(value) _InterlockedExchangeAdd(value, 1) + #define __pyx_atomic_decr_aligned(value) _InterlockedExchangeAdd(value, -1) + #ifdef __PYX_DEBUG_ATOMICS + #pragma message ("Using MSVC atomics") + #endif +#else + #undef CYTHON_ATOMICS + #define CYTHON_ATOMICS 0 + #ifdef __PYX_DEBUG_ATOMICS + #warning "Not using atomics" + #endif +#endif +#if CYTHON_ATOMICS + #define __pyx_add_acquisition_count(memview)\ + __pyx_atomic_incr_aligned(__pyx_get_slice_count_pointer(memview)) + #define __pyx_sub_acquisition_count(memview)\ + __pyx_atomic_decr_aligned(__pyx_get_slice_count_pointer(memview)) +#else + #define __pyx_add_acquisition_count(memview)\ + __pyx_add_acquisition_count_locked(__pyx_get_slice_count_pointer(memview), memview->lock) + #define __pyx_sub_acquisition_count(memview)\ + __pyx_sub_acquisition_count_locked(__pyx_get_slice_count_pointer(memview), memview->lock) +#endif + +/* MemviewSliceStruct.proto */ +struct __pyx_memoryview_obj; +typedef struct { + struct __pyx_memoryview_obj *memview; + char *data; + Py_ssize_t shape[8]; + Py_ssize_t strides[8]; + Py_ssize_t suboffsets[8]; +} __Pyx_memviewslice; +#define __Pyx_MemoryView_Len(m) (m.shape[0]) + +/* #### Code section: numeric_typedefs ### */ + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":730 + * # in Cython to enable them only on the right systems. + * + * ctypedef npy_int8 int8_t # <<<<<<<<<<<<<< + * ctypedef npy_int16 int16_t + * ctypedef npy_int32 int32_t + */ +typedef npy_int8 __pyx_t_5numpy_int8_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":731 + * + * ctypedef npy_int8 int8_t + * ctypedef npy_int16 int16_t # <<<<<<<<<<<<<< + * ctypedef npy_int32 int32_t + * ctypedef npy_int64 int64_t + */ +typedef npy_int16 __pyx_t_5numpy_int16_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":732 + * ctypedef npy_int8 int8_t + * ctypedef npy_int16 int16_t + * ctypedef npy_int32 int32_t # <<<<<<<<<<<<<< + * ctypedef npy_int64 int64_t + * #ctypedef npy_int96 int96_t + */ +typedef npy_int32 __pyx_t_5numpy_int32_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":733 + * ctypedef npy_int16 int16_t + * ctypedef npy_int32 int32_t + * ctypedef npy_int64 int64_t # <<<<<<<<<<<<<< + * #ctypedef npy_int96 int96_t + * #ctypedef npy_int128 int128_t + */ +typedef npy_int64 __pyx_t_5numpy_int64_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":737 + * #ctypedef npy_int128 int128_t + * + * ctypedef npy_uint8 uint8_t # <<<<<<<<<<<<<< + * ctypedef npy_uint16 uint16_t + * ctypedef npy_uint32 uint32_t + */ +typedef npy_uint8 __pyx_t_5numpy_uint8_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":738 + * + * ctypedef npy_uint8 uint8_t + * ctypedef npy_uint16 uint16_t # <<<<<<<<<<<<<< + * ctypedef npy_uint32 uint32_t + * ctypedef npy_uint64 uint64_t + */ +typedef npy_uint16 __pyx_t_5numpy_uint16_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":739 + * ctypedef npy_uint8 uint8_t + * ctypedef npy_uint16 uint16_t + * ctypedef npy_uint32 uint32_t # <<<<<<<<<<<<<< + * ctypedef npy_uint64 uint64_t + * #ctypedef npy_uint96 uint96_t + */ +typedef npy_uint32 __pyx_t_5numpy_uint32_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":740 + * ctypedef npy_uint16 uint16_t + * ctypedef npy_uint32 uint32_t + * ctypedef npy_uint64 uint64_t # <<<<<<<<<<<<<< + * #ctypedef npy_uint96 uint96_t + * #ctypedef npy_uint128 uint128_t + */ +typedef npy_uint64 __pyx_t_5numpy_uint64_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":744 + * #ctypedef npy_uint128 uint128_t + * + * ctypedef npy_float32 float32_t # <<<<<<<<<<<<<< + * ctypedef npy_float64 float64_t + * #ctypedef npy_float80 float80_t + */ +typedef npy_float32 __pyx_t_5numpy_float32_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":745 + * + * ctypedef npy_float32 float32_t + * ctypedef npy_float64 float64_t # <<<<<<<<<<<<<< + * #ctypedef npy_float80 float80_t + * #ctypedef npy_float128 float128_t + */ +typedef npy_float64 __pyx_t_5numpy_float64_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":754 + * # The int types are mapped a bit surprising -- + * # numpy.int corresponds to 'l' and numpy.long to 'q' + * ctypedef npy_long int_t # <<<<<<<<<<<<<< + * ctypedef npy_longlong longlong_t + * + */ +typedef npy_long __pyx_t_5numpy_int_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":755 + * # numpy.int corresponds to 'l' and numpy.long to 'q' + * ctypedef npy_long int_t + * ctypedef npy_longlong longlong_t # <<<<<<<<<<<<<< + * + * ctypedef npy_ulong uint_t + */ +typedef npy_longlong __pyx_t_5numpy_longlong_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":757 + * ctypedef npy_longlong longlong_t + * + * ctypedef npy_ulong uint_t # <<<<<<<<<<<<<< + * ctypedef npy_ulonglong ulonglong_t + * + */ +typedef npy_ulong __pyx_t_5numpy_uint_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":758 + * + * ctypedef npy_ulong uint_t + * ctypedef npy_ulonglong ulonglong_t # <<<<<<<<<<<<<< + * + * ctypedef npy_intp intp_t + */ +typedef npy_ulonglong __pyx_t_5numpy_ulonglong_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":760 + * ctypedef npy_ulonglong ulonglong_t + * + * ctypedef npy_intp intp_t # <<<<<<<<<<<<<< + * ctypedef npy_uintp uintp_t + * + */ +typedef npy_intp __pyx_t_5numpy_intp_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":761 + * + * ctypedef npy_intp intp_t + * ctypedef npy_uintp uintp_t # <<<<<<<<<<<<<< + * + * ctypedef npy_double float_t + */ +typedef npy_uintp __pyx_t_5numpy_uintp_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":763 + * ctypedef npy_uintp uintp_t + * + * ctypedef npy_double float_t # <<<<<<<<<<<<<< + * ctypedef npy_double double_t + * ctypedef npy_longdouble longdouble_t + */ +typedef npy_double __pyx_t_5numpy_float_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":764 + * + * ctypedef npy_double float_t + * ctypedef npy_double double_t # <<<<<<<<<<<<<< + * ctypedef npy_longdouble longdouble_t + * + */ +typedef npy_double __pyx_t_5numpy_double_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":765 + * ctypedef npy_double float_t + * ctypedef npy_double double_t + * ctypedef npy_longdouble longdouble_t # <<<<<<<<<<<<<< + * + * ctypedef npy_cfloat cfloat_t + */ +typedef npy_longdouble __pyx_t_5numpy_longdouble_t; +/* #### Code section: complex_type_declarations ### */ +/* Declarations.proto */ +#if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) + #ifdef __cplusplus + typedef ::std::complex< float > __pyx_t_float_complex; + #else + typedef float _Complex __pyx_t_float_complex; + #endif +#else + typedef struct { float real, imag; } __pyx_t_float_complex; +#endif +static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float, float); + +/* Declarations.proto */ +#if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) + #ifdef __cplusplus + typedef ::std::complex< double > __pyx_t_double_complex; + #else + typedef double _Complex __pyx_t_double_complex; + #endif +#else + typedef struct { double real, imag; } __pyx_t_double_complex; +#endif +static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double, double); + +/* #### Code section: type_declarations ### */ + +/*--- Type declarations ---*/ +struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_CLContext; +struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionBuf; +struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext; +struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem; +struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_ModelFrame; +struct __pyx_array_obj; +struct __pyx_MemviewEnum_obj; +struct __pyx_memoryview_obj; +struct __pyx_memoryviewslice_obj; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":767 + * ctypedef npy_longdouble longdouble_t + * + * ctypedef npy_cfloat cfloat_t # <<<<<<<<<<<<<< + * ctypedef npy_cdouble cdouble_t + * ctypedef npy_clongdouble clongdouble_t + */ +typedef npy_cfloat __pyx_t_5numpy_cfloat_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":768 + * + * ctypedef npy_cfloat cfloat_t + * ctypedef npy_cdouble cdouble_t # <<<<<<<<<<<<<< + * ctypedef npy_clongdouble clongdouble_t + * + */ +typedef npy_cdouble __pyx_t_5numpy_cdouble_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":769 + * ctypedef npy_cfloat cfloat_t + * ctypedef npy_cdouble cdouble_t + * ctypedef npy_clongdouble clongdouble_t # <<<<<<<<<<<<<< + * + * ctypedef npy_cdouble complex_t + */ +typedef npy_clongdouble __pyx_t_5numpy_clongdouble_t; + +/* "../../usr/local/pyenv/versions/3.11.4/lib/python3.11/site-packages/numpy/__init__.cython-30.pxd":771 + * ctypedef npy_clongdouble clongdouble_t + * + * ctypedef npy_cdouble complex_t # <<<<<<<<<<<<<< + * + * cdef inline object PyArray_MultiIterNew1(a): + */ +typedef npy_cdouble __pyx_t_5numpy_complex_t; + +/* "msgq/visionipc/visionipc_pyx.pxd":7 + * from .visionipc cimport cl_device_id, cl_context + * + * cdef class CLContext: # <<<<<<<<<<<<<< + * cdef cl_device_id device_id + * cdef cl_context context + */ +struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_CLContext { + PyObject_HEAD + cl_device_id device_id; + cl_context context; +}; + + +/* "msgq/visionipc/visionipc_pyx.pxd":11 + * cdef cl_context context + * + * cdef class VisionBuf: # <<<<<<<<<<<<<< + * cdef cppVisionBuf * buf + * + */ +struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionBuf { + PyObject_HEAD + struct __pyx_vtabstruct_4msgq_9visionipc_13visionipc_pyx_VisionBuf *__pyx_vtab; + VisionBuf *buf; +}; + + +/* "selfdrive/modeld/models/commonmodel_pyx.pxd":6 + * from msgq.visionipc.visionipc_pyx cimport CLContext as BaseCLContext + * + * cdef class CLContext(BaseCLContext): # <<<<<<<<<<<<<< + * pass + * + */ +struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext { + struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_CLContext __pyx_base; +}; + + +/* "selfdrive/modeld/models/commonmodel_pyx.pxd":9 + * pass + * + * cdef class CLMem: # <<<<<<<<<<<<<< + * cdef cl_mem * mem + * + */ +struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem { + PyObject_HEAD + struct __pyx_vtabstruct_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem *__pyx_vtab; + cl_mem *mem; +}; + + +/* "selfdrive/modeld/models/commonmodel_pyx.pyx":26 + * return mem + * + * cdef class ModelFrame: # <<<<<<<<<<<<<< + * cdef cppModelFrame * frame + * + */ +struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_ModelFrame { + PyObject_HEAD + ModelFrame *frame; +}; + + +/* "View.MemoryView":114 + * @cython.collection_type("sequence") + * @cname("__pyx_array") + * cdef class array: # <<<<<<<<<<<<<< + * + * cdef: + */ +struct __pyx_array_obj { + PyObject_HEAD + struct __pyx_vtabstruct_array *__pyx_vtab; + char *data; + Py_ssize_t len; + char *format; + int ndim; + Py_ssize_t *_shape; + Py_ssize_t *_strides; + Py_ssize_t itemsize; + PyObject *mode; + PyObject *_format; + void (*callback_free_data)(void *); + int free_data; + int dtype_is_object; +}; + + +/* "View.MemoryView":302 + * + * @cname('__pyx_MemviewEnum') + * cdef class Enum(object): # <<<<<<<<<<<<<< + * cdef object name + * def __init__(self, name): + */ +struct __pyx_MemviewEnum_obj { + PyObject_HEAD + PyObject *name; +}; + + +/* "View.MemoryView":337 + * + * @cname('__pyx_memoryview') + * cdef class memoryview: # <<<<<<<<<<<<<< + * + * cdef object obj + */ +struct __pyx_memoryview_obj { + PyObject_HEAD + struct __pyx_vtabstruct_memoryview *__pyx_vtab; + PyObject *obj; + PyObject *_size; + PyObject *_array_interface; + PyThread_type_lock lock; + __pyx_atomic_int_type acquisition_count; + Py_buffer view; + int flags; + int dtype_is_object; + __Pyx_TypeInfo *typeinfo; +}; + + +/* "View.MemoryView":952 + * @cython.collection_type("sequence") + * @cname('__pyx_memoryviewslice') + * cdef class _memoryviewslice(memoryview): # <<<<<<<<<<<<<< + * "Internal class for passing memoryview slices to Python" + * + */ +struct __pyx_memoryviewslice_obj { + struct __pyx_memoryview_obj __pyx_base; + __Pyx_memviewslice from_slice; + PyObject *from_object; + PyObject *(*to_object_func)(char *); + int (*to_dtype_func)(char *, PyObject *); +}; + + + +/* "msgq/visionipc/visionipc_pyx.pxd":11 + * cdef cl_context context + * + * cdef class VisionBuf: # <<<<<<<<<<<<<< + * cdef cppVisionBuf * buf + * + */ + +struct __pyx_vtabstruct_4msgq_9visionipc_13visionipc_pyx_VisionBuf { + PyObject *(*create)(VisionBuf *); +}; +static struct __pyx_vtabstruct_4msgq_9visionipc_13visionipc_pyx_VisionBuf *__pyx_vtabptr_4msgq_9visionipc_13visionipc_pyx_VisionBuf; + + +/* "selfdrive/modeld/models/commonmodel_pyx.pyx":19 + * self.context = cl_create_context(self.device_id) + * + * cdef class CLMem: # <<<<<<<<<<<<<< + * @staticmethod + * cdef create(void * cmem): + */ + +struct __pyx_vtabstruct_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem { + PyObject *(*create)(void *); +}; +static struct __pyx_vtabstruct_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem *__pyx_vtabptr_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem; + + +/* "View.MemoryView":114 + * @cython.collection_type("sequence") + * @cname("__pyx_array") + * cdef class array: # <<<<<<<<<<<<<< + * + * cdef: + */ + +struct __pyx_vtabstruct_array { + PyObject *(*get_memview)(struct __pyx_array_obj *); +}; +static struct __pyx_vtabstruct_array *__pyx_vtabptr_array; + + +/* "View.MemoryView":337 + * + * @cname('__pyx_memoryview') + * cdef class memoryview: # <<<<<<<<<<<<<< + * + * cdef object obj + */ + +struct __pyx_vtabstruct_memoryview { + char *(*get_item_pointer)(struct __pyx_memoryview_obj *, PyObject *); + PyObject *(*is_slice)(struct __pyx_memoryview_obj *, PyObject *); + PyObject *(*setitem_slice_assignment)(struct __pyx_memoryview_obj *, PyObject *, PyObject *); + PyObject *(*setitem_slice_assign_scalar)(struct __pyx_memoryview_obj *, struct __pyx_memoryview_obj *, PyObject *); + PyObject *(*setitem_indexed)(struct __pyx_memoryview_obj *, PyObject *, PyObject *); + PyObject *(*convert_item_to_object)(struct __pyx_memoryview_obj *, char *); + PyObject *(*assign_item_from_object)(struct __pyx_memoryview_obj *, char *, PyObject *); + PyObject *(*_get_base)(struct __pyx_memoryview_obj *); +}; +static struct __pyx_vtabstruct_memoryview *__pyx_vtabptr_memoryview; + + +/* "View.MemoryView":952 + * @cython.collection_type("sequence") + * @cname('__pyx_memoryviewslice') + * cdef class _memoryviewslice(memoryview): # <<<<<<<<<<<<<< + * "Internal class for passing memoryview slices to Python" + * + */ + +struct __pyx_vtabstruct__memoryviewslice { + struct __pyx_vtabstruct_memoryview __pyx_base; +}; +static struct __pyx_vtabstruct__memoryviewslice *__pyx_vtabptr__memoryviewslice; +/* #### Code section: utility_code_proto ### */ + +/* --- Runtime support code (head) --- */ +/* Refnanny.proto */ +#ifndef CYTHON_REFNANNY + #define CYTHON_REFNANNY 0 +#endif +#if CYTHON_REFNANNY + typedef struct { + void (*INCREF)(void*, PyObject*, Py_ssize_t); + void (*DECREF)(void*, PyObject*, Py_ssize_t); + void (*GOTREF)(void*, PyObject*, Py_ssize_t); 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else {__Pyx_INCREF(r); }} while(0) + #define __Pyx_XDECREF(r) do { if((r) == NULL); else {__Pyx_DECREF(r); }} while(0) + #define __Pyx_XGOTREF(r) do { if((r) == NULL); else {__Pyx_GOTREF(r); }} while(0) + #define __Pyx_XGIVEREF(r) do { if((r) == NULL); else {__Pyx_GIVEREF(r);}} while(0) +#else + #define __Pyx_RefNannyDeclarations + #define __Pyx_RefNannySetupContext(name, acquire_gil) + #define __Pyx_RefNannyFinishContextNogil() + #define __Pyx_RefNannyFinishContext() + #define __Pyx_INCREF(r) Py_INCREF(r) + #define __Pyx_DECREF(r) Py_DECREF(r) + #define __Pyx_GOTREF(r) + #define __Pyx_GIVEREF(r) + #define __Pyx_XINCREF(r) Py_XINCREF(r) + #define __Pyx_XDECREF(r) Py_XDECREF(r) + #define __Pyx_XGOTREF(r) + #define __Pyx_XGIVEREF(r) +#endif +#define __Pyx_Py_XDECREF_SET(r, v) do {\ + PyObject *tmp = (PyObject *) r;\ + r = v; Py_XDECREF(tmp);\ + } while (0) +#define __Pyx_XDECREF_SET(r, v) do {\ + PyObject *tmp = (PyObject *) r;\ + r = v; __Pyx_XDECREF(tmp);\ + } while (0) +#define __Pyx_DECREF_SET(r, v) do {\ + PyObject *tmp = (PyObject *) r;\ + r = v; __Pyx_DECREF(tmp);\ + } while (0) +#define __Pyx_CLEAR(r) do { PyObject* tmp = ((PyObject*)(r)); r = NULL; __Pyx_DECREF(tmp);} while(0) +#define __Pyx_XCLEAR(r) do { if((r) != NULL) {PyObject* tmp = ((PyObject*)(r)); r = NULL; __Pyx_DECREF(tmp);}} while(0) + +/* PyErrExceptionMatches.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyErr_ExceptionMatches(err) __Pyx_PyErr_ExceptionMatchesInState(__pyx_tstate, err) +static CYTHON_INLINE int __Pyx_PyErr_ExceptionMatchesInState(PyThreadState* tstate, PyObject* err); +#else +#define __Pyx_PyErr_ExceptionMatches(err) PyErr_ExceptionMatches(err) +#endif + +/* PyThreadStateGet.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyThreadState_declare PyThreadState *__pyx_tstate; +#define __Pyx_PyThreadState_assign __pyx_tstate = __Pyx_PyThreadState_Current; +#if PY_VERSION_HEX >= 0x030C00A6 +#define __Pyx_PyErr_Occurred() (__pyx_tstate->current_exception != NULL) +#define __Pyx_PyErr_CurrentExceptionType() (__pyx_tstate->current_exception ? (PyObject*) Py_TYPE(__pyx_tstate->current_exception) : (PyObject*) NULL) +#else +#define __Pyx_PyErr_Occurred() (__pyx_tstate->curexc_type != NULL) +#define __Pyx_PyErr_CurrentExceptionType() (__pyx_tstate->curexc_type) +#endif +#else +#define __Pyx_PyThreadState_declare +#define __Pyx_PyThreadState_assign +#define __Pyx_PyErr_Occurred() (PyErr_Occurred() != NULL) +#define __Pyx_PyErr_CurrentExceptionType() PyErr_Occurred() +#endif + +/* PyErrFetchRestore.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyErr_Clear() __Pyx_ErrRestore(NULL, NULL, NULL) +#define __Pyx_ErrRestoreWithState(type, value, tb) __Pyx_ErrRestoreInState(PyThreadState_GET(), type, value, tb) +#define __Pyx_ErrFetchWithState(type, value, tb) __Pyx_ErrFetchInState(PyThreadState_GET(), type, value, tb) +#define __Pyx_ErrRestore(type, value, tb) __Pyx_ErrRestoreInState(__pyx_tstate, type, value, tb) +#define __Pyx_ErrFetch(type, value, tb) __Pyx_ErrFetchInState(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx_ErrRestoreInState(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb); +static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A6 +#define __Pyx_PyErr_SetNone(exc) (Py_INCREF(exc), __Pyx_ErrRestore((exc), NULL, NULL)) +#else +#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc) +#endif +#else +#define __Pyx_PyErr_Clear() PyErr_Clear() +#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc) +#define __Pyx_ErrRestoreWithState(type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetchWithState(type, value, tb) PyErr_Fetch(type, value, tb) +#define __Pyx_ErrRestoreInState(tstate, type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetchInState(tstate, type, value, tb) PyErr_Fetch(type, value, tb) +#define __Pyx_ErrRestore(type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetch(type, value, tb) PyErr_Fetch(type, value, tb) +#endif + +/* PyObjectGetAttrStr.proto */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStr(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GetAttrStr(o,n) PyObject_GetAttr(o,n) +#endif + +/* PyObjectGetAttrStrNoError.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name); + +/* GetBuiltinName.proto */ +static PyObject *__Pyx_GetBuiltinName(PyObject *name); + +/* TupleAndListFromArray.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyList_FromArray(PyObject *const *src, Py_ssize_t n); +static CYTHON_INLINE PyObject* __Pyx_PyTuple_FromArray(PyObject *const *src, Py_ssize_t n); +#endif + +/* IncludeStringH.proto */ +#include + +/* BytesEquals.proto */ +static CYTHON_INLINE int __Pyx_PyBytes_Equals(PyObject* s1, PyObject* s2, int equals); + +/* UnicodeEquals.proto */ +static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int equals); + +/* fastcall.proto */ +#if CYTHON_AVOID_BORROWED_REFS + #define __Pyx_Arg_VARARGS(args, i) PySequence_GetItem(args, i) +#elif CYTHON_ASSUME_SAFE_MACROS + #define __Pyx_Arg_VARARGS(args, i) PyTuple_GET_ITEM(args, i) +#else + #define __Pyx_Arg_VARARGS(args, i) PyTuple_GetItem(args, i) +#endif +#if CYTHON_AVOID_BORROWED_REFS + #define __Pyx_Arg_NewRef_VARARGS(arg) __Pyx_NewRef(arg) + #define __Pyx_Arg_XDECREF_VARARGS(arg) Py_XDECREF(arg) +#else + #define __Pyx_Arg_NewRef_VARARGS(arg) arg + #define __Pyx_Arg_XDECREF_VARARGS(arg) +#endif +#define __Pyx_NumKwargs_VARARGS(kwds) PyDict_Size(kwds) +#define __Pyx_KwValues_VARARGS(args, nargs) NULL +#define __Pyx_GetKwValue_VARARGS(kw, kwvalues, s) __Pyx_PyDict_GetItemStrWithError(kw, s) +#define __Pyx_KwargsAsDict_VARARGS(kw, kwvalues) PyDict_Copy(kw) +#if CYTHON_METH_FASTCALL + #define __Pyx_Arg_FASTCALL(args, i) args[i] + #define __Pyx_NumKwargs_FASTCALL(kwds) PyTuple_GET_SIZE(kwds) + #define __Pyx_KwValues_FASTCALL(args, nargs) ((args) + (nargs)) + static CYTHON_INLINE PyObject * __Pyx_GetKwValue_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues, PyObject *s); +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 + CYTHON_UNUSED static PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues); + #else + #define __Pyx_KwargsAsDict_FASTCALL(kw, kwvalues) _PyStack_AsDict(kwvalues, kw) + #endif + #define __Pyx_Arg_NewRef_FASTCALL(arg) arg /* no-op, __Pyx_Arg_FASTCALL is direct and this needs + to have the same reference counting */ + #define __Pyx_Arg_XDECREF_FASTCALL(arg) +#else + #define __Pyx_Arg_FASTCALL __Pyx_Arg_VARARGS + #define __Pyx_NumKwargs_FASTCALL __Pyx_NumKwargs_VARARGS + #define __Pyx_KwValues_FASTCALL __Pyx_KwValues_VARARGS + #define __Pyx_GetKwValue_FASTCALL __Pyx_GetKwValue_VARARGS + #define __Pyx_KwargsAsDict_FASTCALL __Pyx_KwargsAsDict_VARARGS + #define __Pyx_Arg_NewRef_FASTCALL(arg) __Pyx_Arg_NewRef_VARARGS(arg) + #define __Pyx_Arg_XDECREF_FASTCALL(arg) __Pyx_Arg_XDECREF_VARARGS(arg) +#endif +#if CYTHON_COMPILING_IN_CPYTHON && CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS +#define __Pyx_ArgsSlice_VARARGS(args, start, stop) __Pyx_PyTuple_FromArray(&__Pyx_Arg_VARARGS(args, start), stop - start) +#define __Pyx_ArgsSlice_FASTCALL(args, start, stop) __Pyx_PyTuple_FromArray(&__Pyx_Arg_FASTCALL(args, start), stop - start) +#else +#define __Pyx_ArgsSlice_VARARGS(args, start, stop) PyTuple_GetSlice(args, start, stop) +#define __Pyx_ArgsSlice_FASTCALL(args, start, stop) PyTuple_GetSlice(args, start, stop) +#endif + +/* RaiseArgTupleInvalid.proto */ +static void __Pyx_RaiseArgtupleInvalid(const char* func_name, int exact, + Py_ssize_t num_min, Py_ssize_t num_max, Py_ssize_t num_found); + +/* RaiseDoubleKeywords.proto */ +static void __Pyx_RaiseDoubleKeywordsError(const char* func_name, PyObject* kw_name); + +/* ParseKeywords.proto */ +static int __Pyx_ParseOptionalKeywords(PyObject *kwds, PyObject *const *kwvalues, + PyObject **argnames[], + PyObject *kwds2, PyObject *values[], Py_ssize_t num_pos_args, + const char* function_name); + +/* ArgTypeTest.proto */ +#define __Pyx_ArgTypeTest(obj, type, none_allowed, name, exact)\ + ((likely(__Pyx_IS_TYPE(obj, type) | (none_allowed && (obj == Py_None)))) ? 1 :\ + __Pyx__ArgTypeTest(obj, type, name, exact)) +static int __Pyx__ArgTypeTest(PyObject *obj, PyTypeObject *type, const char *name, int exact); + +/* RaiseException.proto */ +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause); + +/* PyFunctionFastCall.proto */ +#if CYTHON_FAST_PYCALL +#if !CYTHON_VECTORCALL +#define __Pyx_PyFunction_FastCall(func, args, nargs)\ + __Pyx_PyFunction_FastCallDict((func), (args), (nargs), NULL) +static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs); +#endif +#define __Pyx_BUILD_ASSERT_EXPR(cond)\ + (sizeof(char [1 - 2*!(cond)]) - 1) +#ifndef Py_MEMBER_SIZE +#define Py_MEMBER_SIZE(type, member) sizeof(((type *)0)->member) +#endif +#if !CYTHON_VECTORCALL +#if PY_VERSION_HEX >= 0x03080000 + #include "frameobject.h" +#if PY_VERSION_HEX >= 0x030b00a6 && !CYTHON_COMPILING_IN_LIMITED_API + #ifndef Py_BUILD_CORE + #define Py_BUILD_CORE 1 + #endif + #include "internal/pycore_frame.h" +#endif + #define __Pxy_PyFrame_Initialize_Offsets() + #define __Pyx_PyFrame_GetLocalsplus(frame) ((frame)->f_localsplus) +#else + static size_t __pyx_pyframe_localsplus_offset = 0; + #include "frameobject.h" + #define __Pxy_PyFrame_Initialize_Offsets()\ + ((void)__Pyx_BUILD_ASSERT_EXPR(sizeof(PyFrameObject) == offsetof(PyFrameObject, f_localsplus) + Py_MEMBER_SIZE(PyFrameObject, f_localsplus)),\ + (void)(__pyx_pyframe_localsplus_offset = ((size_t)PyFrame_Type.tp_basicsize) - Py_MEMBER_SIZE(PyFrameObject, f_localsplus))) + #define __Pyx_PyFrame_GetLocalsplus(frame)\ + (assert(__pyx_pyframe_localsplus_offset), (PyObject **)(((char *)(frame)) + __pyx_pyframe_localsplus_offset)) +#endif +#endif +#endif + +/* PyObjectCall.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw); +#else +#define __Pyx_PyObject_Call(func, arg, kw) PyObject_Call(func, arg, kw) +#endif + +/* PyObjectCallMethO.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg); +#endif + +/* PyObjectFastCall.proto */ +#define __Pyx_PyObject_FastCall(func, args, nargs) __Pyx_PyObject_FastCallDict(func, args, (size_t)(nargs), NULL) +static CYTHON_INLINE PyObject* __Pyx_PyObject_FastCallDict(PyObject *func, PyObject **args, size_t nargs, PyObject *kwargs); + +/* RaiseUnexpectedTypeError.proto */ +static int __Pyx_RaiseUnexpectedTypeError(const char *expected, PyObject *obj); + +/* GCCDiagnostics.proto */ +#if !defined(__INTEL_COMPILER) && defined(__GNUC__) && (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 6)) +#define __Pyx_HAS_GCC_DIAGNOSTIC +#endif + +/* BuildPyUnicode.proto */ +static PyObject* __Pyx_PyUnicode_BuildFromAscii(Py_ssize_t ulength, char* chars, int clength, + int prepend_sign, char padding_char); + +/* CIntToPyUnicode.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_int(int value, Py_ssize_t width, char padding_char, char format_char); + +/* CIntToPyUnicode.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_Py_ssize_t(Py_ssize_t value, Py_ssize_t width, char padding_char, char format_char); + +/* JoinPyUnicode.proto */ +static PyObject* __Pyx_PyUnicode_Join(PyObject* value_tuple, Py_ssize_t value_count, Py_ssize_t result_ulength, + Py_UCS4 max_char); + +/* StrEquals.proto */ +#if PY_MAJOR_VERSION >= 3 +#define __Pyx_PyString_Equals __Pyx_PyUnicode_Equals +#else +#define __Pyx_PyString_Equals __Pyx_PyBytes_Equals +#endif + +/* PyObjectFormatSimple.proto */ +#if CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + PyObject_Format(s, f)) +#elif PY_MAJOR_VERSION < 3 + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + likely(PyString_CheckExact(s)) ? PyUnicode_FromEncodedObject(s, NULL, "strict") :\ + PyObject_Format(s, f)) +#elif CYTHON_USE_TYPE_SLOTS + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + likely(PyLong_CheckExact(s)) ? PyLong_Type.tp_repr(s) :\ + likely(PyFloat_CheckExact(s)) ? PyFloat_Type.tp_repr(s) :\ + PyObject_Format(s, f)) +#else + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + PyObject_Format(s, f)) +#endif + +CYTHON_UNUSED static int __pyx_array_getbuffer(PyObject *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /*proto*/ +static PyObject *__pyx_array_get_memview(struct __pyx_array_obj *); /*proto*/ +/* GetAttr.proto */ +static CYTHON_INLINE PyObject *__Pyx_GetAttr(PyObject *, PyObject *); + +/* GetItemInt.proto */ +#define __Pyx_GetItemInt(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_Fast(o, (Py_ssize_t)i, is_list, wraparound, boundscheck) :\ + (is_list ? (PyErr_SetString(PyExc_IndexError, "list index out of range"), (PyObject*)NULL) :\ + __Pyx_GetItemInt_Generic(o, to_py_func(i)))) +#define __Pyx_GetItemInt_List(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_List_Fast(o, (Py_ssize_t)i, wraparound, boundscheck) :\ + (PyErr_SetString(PyExc_IndexError, "list index out of range"), (PyObject*)NULL)) +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, + int wraparound, int boundscheck); +#define __Pyx_GetItemInt_Tuple(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_Tuple_Fast(o, (Py_ssize_t)i, wraparound, boundscheck) :\ + (PyErr_SetString(PyExc_IndexError, "tuple index out of range"), (PyObject*)NULL)) +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i, + int wraparound, int boundscheck); +static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j); +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, + int is_list, int wraparound, int boundscheck); + +/* PyObjectCallOneArg.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg); + +/* ObjectGetItem.proto */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject *__Pyx_PyObject_GetItem(PyObject *obj, PyObject *key); +#else +#define __Pyx_PyObject_GetItem(obj, key) PyObject_GetItem(obj, key) +#endif + +/* KeywordStringCheck.proto */ +static int __Pyx_CheckKeywordStrings(PyObject *kw, const char* function_name, int kw_allowed); + +/* DivInt[Py_ssize_t].proto */ +static CYTHON_INLINE Py_ssize_t __Pyx_div_Py_ssize_t(Py_ssize_t, Py_ssize_t); + +/* UnaryNegOverflows.proto */ +#define __Pyx_UNARY_NEG_WOULD_OVERFLOW(x)\ + (((x) < 0) & ((unsigned long)(x) == 0-(unsigned long)(x))) + +/* GetAttr3.proto */ +static CYTHON_INLINE PyObject *__Pyx_GetAttr3(PyObject *, PyObject *, PyObject *); + +/* PyDictVersioning.proto */ +#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS +#define __PYX_DICT_VERSION_INIT ((PY_UINT64_T) -1) +#define __PYX_GET_DICT_VERSION(dict) (((PyDictObject*)(dict))->ma_version_tag) +#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var)\ + (version_var) = __PYX_GET_DICT_VERSION(dict);\ + (cache_var) = (value); +#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) {\ + static PY_UINT64_T __pyx_dict_version = 0;\ + static PyObject *__pyx_dict_cached_value = NULL;\ + if (likely(__PYX_GET_DICT_VERSION(DICT) == __pyx_dict_version)) {\ + (VAR) = __pyx_dict_cached_value;\ + } else {\ + (VAR) = __pyx_dict_cached_value = (LOOKUP);\ + __pyx_dict_version = __PYX_GET_DICT_VERSION(DICT);\ + }\ +} +static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj); +static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj); +static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version); +#else +#define __PYX_GET_DICT_VERSION(dict) (0) +#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var) +#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) (VAR) = (LOOKUP); +#endif + +/* GetModuleGlobalName.proto */ +#if CYTHON_USE_DICT_VERSIONS +#define __Pyx_GetModuleGlobalName(var, name) do {\ + static PY_UINT64_T __pyx_dict_version = 0;\ + static PyObject *__pyx_dict_cached_value = NULL;\ + (var) = (likely(__pyx_dict_version == __PYX_GET_DICT_VERSION(__pyx_d))) ?\ + (likely(__pyx_dict_cached_value) ? __Pyx_NewRef(__pyx_dict_cached_value) : __Pyx_GetBuiltinName(name)) :\ + __Pyx__GetModuleGlobalName(name, &__pyx_dict_version, &__pyx_dict_cached_value);\ +} while(0) +#define __Pyx_GetModuleGlobalNameUncached(var, name) do {\ + PY_UINT64_T __pyx_dict_version;\ + PyObject *__pyx_dict_cached_value;\ + (var) = __Pyx__GetModuleGlobalName(name, &__pyx_dict_version, &__pyx_dict_cached_value);\ +} while(0) +static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value); +#else +#define __Pyx_GetModuleGlobalName(var, name) (var) = __Pyx__GetModuleGlobalName(name) +#define __Pyx_GetModuleGlobalNameUncached(var, name) (var) = __Pyx__GetModuleGlobalName(name) +static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name); +#endif + +/* AssertionsEnabled.proto */ +#if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX < 0x02070600 && !defined(Py_OptimizeFlag) + #define __Pyx_init_assertions_enabled() (0) + #define __pyx_assertions_enabled() (1) +#elif CYTHON_COMPILING_IN_LIMITED_API || (CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030C0000) + static int __pyx_assertions_enabled_flag; + #define __pyx_assertions_enabled() (__pyx_assertions_enabled_flag) + static int __Pyx_init_assertions_enabled(void) { + PyObject *builtins, *debug, *debug_str; + int flag; + builtins = PyEval_GetBuiltins(); + if (!builtins) goto bad; + debug_str = PyUnicode_FromStringAndSize("__debug__", 9); + if (!debug_str) goto bad; + debug = PyObject_GetItem(builtins, debug_str); + Py_DECREF(debug_str); + if (!debug) goto bad; + flag = PyObject_IsTrue(debug); + Py_DECREF(debug); + if (flag == -1) goto bad; + __pyx_assertions_enabled_flag = flag; + return 0; + bad: + __pyx_assertions_enabled_flag = 1; + return -1; + } +#else + #define __Pyx_init_assertions_enabled() (0) + #define __pyx_assertions_enabled() (!Py_OptimizeFlag) +#endif + +/* RaiseTooManyValuesToUnpack.proto */ +static CYTHON_INLINE void __Pyx_RaiseTooManyValuesError(Py_ssize_t expected); + +/* RaiseNeedMoreValuesToUnpack.proto */ +static CYTHON_INLINE void __Pyx_RaiseNeedMoreValuesError(Py_ssize_t index); + +/* RaiseNoneIterError.proto */ +static CYTHON_INLINE void __Pyx_RaiseNoneNotIterableError(void); + +/* ExtTypeTest.proto */ +static CYTHON_INLINE int __Pyx_TypeTest(PyObject *obj, PyTypeObject *type); + +/* GetTopmostException.proto */ +#if CYTHON_USE_EXC_INFO_STACK && CYTHON_FAST_THREAD_STATE +static _PyErr_StackItem * __Pyx_PyErr_GetTopmostException(PyThreadState *tstate); +#endif + +/* SaveResetException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_ExceptionSave(type, value, tb) __Pyx__ExceptionSave(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionSave(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#define __Pyx_ExceptionReset(type, value, tb) __Pyx__ExceptionReset(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionReset(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb); +#else +#define __Pyx_ExceptionSave(type, value, tb) PyErr_GetExcInfo(type, value, tb) +#define __Pyx_ExceptionReset(type, value, tb) PyErr_SetExcInfo(type, value, tb) +#endif + +/* GetException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_GetException(type, value, tb) __Pyx__GetException(__pyx_tstate, type, value, tb) +static int __Pyx__GetException(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#else +static int __Pyx_GetException(PyObject **type, PyObject **value, PyObject **tb); +#endif + +/* SwapException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_ExceptionSwap(type, value, tb) __Pyx__ExceptionSwap(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionSwap(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#else +static CYTHON_INLINE void __Pyx_ExceptionSwap(PyObject **type, PyObject **value, PyObject **tb); +#endif + +/* Import.proto */ +static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level); + +/* ImportDottedModule.proto */ +static PyObject *__Pyx_ImportDottedModule(PyObject *name, PyObject *parts_tuple); +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx_ImportDottedModule_WalkParts(PyObject *module, PyObject *name, PyObject *parts_tuple); +#endif + +/* FastTypeChecks.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_TypeCheck(obj, type) __Pyx_IsSubtype(Py_TYPE(obj), (PyTypeObject *)type) +#define __Pyx_TypeCheck2(obj, type1, type2) __Pyx_IsAnySubtype2(Py_TYPE(obj), (PyTypeObject *)type1, (PyTypeObject *)type2) +static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b); +static CYTHON_INLINE int __Pyx_IsAnySubtype2(PyTypeObject *cls, PyTypeObject *a, PyTypeObject *b); +static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches(PyObject *err, PyObject *type); +static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches2(PyObject *err, PyObject *type1, PyObject *type2); +#else +#define __Pyx_TypeCheck(obj, type) PyObject_TypeCheck(obj, (PyTypeObject *)type) +#define __Pyx_TypeCheck2(obj, type1, type2) (PyObject_TypeCheck(obj, (PyTypeObject *)type1) || PyObject_TypeCheck(obj, (PyTypeObject *)type2)) +#define __Pyx_PyErr_GivenExceptionMatches(err, type) PyErr_GivenExceptionMatches(err, type) +#define __Pyx_PyErr_GivenExceptionMatches2(err, type1, type2) (PyErr_GivenExceptionMatches(err, type1) || PyErr_GivenExceptionMatches(err, type2)) +#endif +#define __Pyx_PyErr_ExceptionMatches2(err1, err2) __Pyx_PyErr_GivenExceptionMatches2(__Pyx_PyErr_CurrentExceptionType(), err1, err2) +#define __Pyx_PyException_Check(obj) __Pyx_TypeCheck(obj, PyExc_Exception) + +CYTHON_UNUSED static int __pyx_memoryview_getbuffer(PyObject *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /*proto*/ +/* ListCompAppend.proto */ +#if CYTHON_USE_PYLIST_INTERNALS && CYTHON_ASSUME_SAFE_MACROS +static CYTHON_INLINE int __Pyx_ListComp_Append(PyObject* list, PyObject* x) { + PyListObject* L = (PyListObject*) list; + Py_ssize_t len = Py_SIZE(list); + if (likely(L->allocated > len)) { + Py_INCREF(x); + #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 + L->ob_item[len] = x; + #else + PyList_SET_ITEM(list, len, x); + #endif + __Pyx_SET_SIZE(list, len + 1); + return 0; + } + return PyList_Append(list, x); +} +#else +#define __Pyx_ListComp_Append(L,x) PyList_Append(L,x) +#endif + +/* PySequenceMultiply.proto */ +#define __Pyx_PySequence_Multiply_Left(mul, seq) __Pyx_PySequence_Multiply(seq, mul) +static CYTHON_INLINE PyObject* __Pyx_PySequence_Multiply(PyObject *seq, Py_ssize_t mul); + +/* SetItemInt.proto */ +#define __Pyx_SetItemInt(o, i, v, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_SetItemInt_Fast(o, (Py_ssize_t)i, v, is_list, wraparound, boundscheck) :\ + (is_list ? (PyErr_SetString(PyExc_IndexError, "list assignment index out of range"), -1) :\ + __Pyx_SetItemInt_Generic(o, to_py_func(i), v))) +static int __Pyx_SetItemInt_Generic(PyObject *o, PyObject *j, PyObject *v); +static CYTHON_INLINE int __Pyx_SetItemInt_Fast(PyObject *o, Py_ssize_t i, PyObject *v, + int is_list, int wraparound, int boundscheck); + +/* RaiseUnboundLocalError.proto */ +static CYTHON_INLINE void __Pyx_RaiseUnboundLocalError(const char *varname); + +/* DivInt[long].proto */ +static CYTHON_INLINE long __Pyx_div_long(long, long); + +/* PySequenceContains.proto */ +static CYTHON_INLINE int __Pyx_PySequence_ContainsTF(PyObject* item, PyObject* seq, int eq) { + int result = PySequence_Contains(seq, item); + return unlikely(result < 0) ? result : (result == (eq == Py_EQ)); +} + +/* ImportFrom.proto */ +static PyObject* __Pyx_ImportFrom(PyObject* module, PyObject* name); + +/* HasAttr.proto */ +#if __PYX_LIMITED_VERSION_HEX >= 0x030d00A1 +#define __Pyx_HasAttr(o, n) PyObject_HasAttrWithError(o, n) +#else +static CYTHON_INLINE int __Pyx_HasAttr(PyObject *, PyObject *); +#endif + +/* ListAppend.proto */ +#if CYTHON_USE_PYLIST_INTERNALS && CYTHON_ASSUME_SAFE_MACROS +static CYTHON_INLINE int __Pyx_PyList_Append(PyObject* list, PyObject* x) { + PyListObject* L = (PyListObject*) list; + Py_ssize_t len = Py_SIZE(list); + if (likely(L->allocated > len) & likely(len > (L->allocated >> 1))) { + Py_INCREF(x); + #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 + L->ob_item[len] = x; + #else + PyList_SET_ITEM(list, len, x); + #endif + __Pyx_SET_SIZE(list, len + 1); + return 0; + } + return PyList_Append(list, x); +} +#else +#define __Pyx_PyList_Append(L,x) PyList_Append(L,x) +#endif + +/* PyObjectCall2Args.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call2Args(PyObject* function, PyObject* arg1, PyObject* arg2); + +/* PyObjectGetMethod.proto */ +static int __Pyx_PyObject_GetMethod(PyObject *obj, PyObject *name, PyObject **method); + +/* PyObjectCallMethod1.proto */ +static PyObject* __Pyx_PyObject_CallMethod1(PyObject* obj, PyObject* method_name, PyObject* arg); + +/* StringJoin.proto */ +#if PY_MAJOR_VERSION < 3 +#define __Pyx_PyString_Join __Pyx_PyBytes_Join +#define __Pyx_PyBaseString_Join(s, v) (PyUnicode_CheckExact(s) ? PyUnicode_Join(s, v) : __Pyx_PyBytes_Join(s, v)) +#else +#define __Pyx_PyString_Join PyUnicode_Join +#define __Pyx_PyBaseString_Join PyUnicode_Join +#endif +static CYTHON_INLINE PyObject* __Pyx_PyBytes_Join(PyObject* sep, PyObject* values); + +/* CIntToPyUnicode.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_size_t(size_t value, Py_ssize_t width, char padding_char, char format_char); + +/* PyObjectCallNoArg.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func); + +/* BufferIndexError.proto */ +static void __Pyx_RaiseBufferIndexError(int axis); + +/* PyObject_GenericGetAttrNoDict.proto */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GenericGetAttrNoDict PyObject_GenericGetAttr +#endif + +/* PyObject_GenericGetAttr.proto */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GenericGetAttr PyObject_GenericGetAttr +#endif + +/* TypeImport.proto */ +#ifndef __PYX_HAVE_RT_ImportType_proto_3_0_8 +#define __PYX_HAVE_RT_ImportType_proto_3_0_8 +#if defined (__STDC_VERSION__) && __STDC_VERSION__ >= 201112L +#include +#endif +#if (defined (__STDC_VERSION__) && __STDC_VERSION__ >= 201112L) || __cplusplus >= 201103L +#define __PYX_GET_STRUCT_ALIGNMENT_3_0_8(s) alignof(s) +#else +#define __PYX_GET_STRUCT_ALIGNMENT_3_0_8(s) sizeof(void*) +#endif +enum __Pyx_ImportType_CheckSize_3_0_8 { + __Pyx_ImportType_CheckSize_Error_3_0_8 = 0, + __Pyx_ImportType_CheckSize_Warn_3_0_8 = 1, + __Pyx_ImportType_CheckSize_Ignore_3_0_8 = 2 +}; +static PyTypeObject *__Pyx_ImportType_3_0_8(PyObject* module, const char *module_name, const char *class_name, size_t size, size_t alignment, enum __Pyx_ImportType_CheckSize_3_0_8 check_size); +#endif + +/* IncludeStructmemberH.proto */ +#include + +/* FixUpExtensionType.proto */ +#if CYTHON_USE_TYPE_SPECS +static int __Pyx_fix_up_extension_type_from_spec(PyType_Spec *spec, PyTypeObject *type); +#endif + +/* PyObjectCallMethod0.proto */ +static PyObject* __Pyx_PyObject_CallMethod0(PyObject* obj, PyObject* method_name); + +/* ValidateBasesTuple.proto */ +#if CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API || CYTHON_USE_TYPE_SPECS +static int __Pyx_validate_bases_tuple(const char *type_name, Py_ssize_t dictoffset, PyObject *bases); +#endif + +/* PyType_Ready.proto */ +CYTHON_UNUSED static int __Pyx_PyType_Ready(PyTypeObject *t); + +/* SetupReduce.proto */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_setup_reduce(PyObject* type_obj); +#endif + +/* SetVTable.proto */ +static int __Pyx_SetVtable(PyTypeObject* typeptr , void* vtable); + +/* GetVTable.proto */ +static void* __Pyx_GetVtable(PyTypeObject *type); + +/* MergeVTables.proto */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_MergeVtables(PyTypeObject *type); +#endif + +/* FetchSharedCythonModule.proto */ +static PyObject *__Pyx_FetchSharedCythonABIModule(void); + +/* FetchCommonType.proto */ +#if !CYTHON_USE_TYPE_SPECS +static PyTypeObject* __Pyx_FetchCommonType(PyTypeObject* type); +#else +static PyTypeObject* __Pyx_FetchCommonTypeFromSpec(PyObject *module, PyType_Spec *spec, PyObject *bases); +#endif + +/* PyMethodNew.proto */ +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject *__Pyx_PyMethod_New(PyObject *func, PyObject *self, PyObject *typ) { + PyObject *typesModule=NULL, *methodType=NULL, *result=NULL; + CYTHON_UNUSED_VAR(typ); + if (!self) + return __Pyx_NewRef(func); + typesModule = PyImport_ImportModule("types"); + if (!typesModule) return NULL; + methodType = PyObject_GetAttrString(typesModule, "MethodType"); + Py_DECREF(typesModule); + if (!methodType) return NULL; + result = PyObject_CallFunctionObjArgs(methodType, func, self, NULL); + Py_DECREF(methodType); + return result; +} +#elif PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx_PyMethod_New(PyObject *func, PyObject *self, PyObject *typ) { + CYTHON_UNUSED_VAR(typ); + if (!self) + return __Pyx_NewRef(func); + return PyMethod_New(func, self); +} +#else + #define __Pyx_PyMethod_New PyMethod_New +#endif + +/* PyVectorcallFastCallDict.proto */ +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE PyObject *__Pyx_PyVectorcall_FastCallDict(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw); +#endif + +/* CythonFunctionShared.proto */ +#define __Pyx_CyFunction_USED +#define __Pyx_CYFUNCTION_STATICMETHOD 0x01 +#define __Pyx_CYFUNCTION_CLASSMETHOD 0x02 +#define __Pyx_CYFUNCTION_CCLASS 0x04 +#define __Pyx_CYFUNCTION_COROUTINE 0x08 +#define __Pyx_CyFunction_GetClosure(f)\ + (((__pyx_CyFunctionObject *) (f))->func_closure) +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_CyFunction_GetClassObj(f)\ + (((__pyx_CyFunctionObject *) (f))->func_classobj) +#else + #define __Pyx_CyFunction_GetClassObj(f)\ + ((PyObject*) ((PyCMethodObject *) (f))->mm_class) +#endif +#define __Pyx_CyFunction_SetClassObj(f, classobj)\ + __Pyx__CyFunction_SetClassObj((__pyx_CyFunctionObject *) (f), (classobj)) +#define __Pyx_CyFunction_Defaults(type, f)\ + ((type *)(((__pyx_CyFunctionObject *) (f))->defaults)) +#define __Pyx_CyFunction_SetDefaultsGetter(f, g)\ + ((__pyx_CyFunctionObject *) (f))->defaults_getter = (g) +typedef struct { +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject_HEAD + PyObject *func; +#elif PY_VERSION_HEX < 0x030900B1 + PyCFunctionObject func; +#else + PyCMethodObject func; +#endif +#if CYTHON_BACKPORT_VECTORCALL + __pyx_vectorcallfunc func_vectorcall; +#endif +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API + PyObject *func_weakreflist; +#endif + PyObject *func_dict; + PyObject *func_name; + PyObject *func_qualname; + PyObject *func_doc; + PyObject *func_globals; + PyObject *func_code; + PyObject *func_closure; +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + PyObject *func_classobj; +#endif + void *defaults; + int defaults_pyobjects; + size_t defaults_size; + int flags; + PyObject *defaults_tuple; + PyObject *defaults_kwdict; + PyObject *(*defaults_getter)(PyObject *); + PyObject *func_annotations; + PyObject *func_is_coroutine; +} __pyx_CyFunctionObject; +#undef __Pyx_CyOrPyCFunction_Check +#define __Pyx_CyFunction_Check(obj) __Pyx_TypeCheck(obj, __pyx_CyFunctionType) +#define __Pyx_CyOrPyCFunction_Check(obj) __Pyx_TypeCheck2(obj, __pyx_CyFunctionType, &PyCFunction_Type) +#define __Pyx_CyFunction_CheckExact(obj) __Pyx_IS_TYPE(obj, __pyx_CyFunctionType) +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc); +#undef __Pyx_IsSameCFunction +#define __Pyx_IsSameCFunction(func, cfunc) __Pyx__IsSameCyOrCFunction(func, cfunc) +static PyObject *__Pyx_CyFunction_Init(__pyx_CyFunctionObject* op, PyMethodDef *ml, + int flags, PyObject* qualname, + PyObject *closure, + PyObject *module, PyObject *globals, + PyObject* code); +static CYTHON_INLINE void __Pyx__CyFunction_SetClassObj(__pyx_CyFunctionObject* f, PyObject* classobj); +static CYTHON_INLINE void *__Pyx_CyFunction_InitDefaults(PyObject *m, + size_t size, + int pyobjects); +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsTuple(PyObject *m, + PyObject *tuple); +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsKwDict(PyObject *m, + PyObject *dict); +static CYTHON_INLINE void __Pyx_CyFunction_SetAnnotationsDict(PyObject *m, + PyObject *dict); +static int __pyx_CyFunction_init(PyObject *module); +#if CYTHON_METH_FASTCALL +static PyObject * __Pyx_CyFunction_Vectorcall_NOARGS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_O(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +#if CYTHON_BACKPORT_VECTORCALL +#define __Pyx_CyFunction_func_vectorcall(f) (((__pyx_CyFunctionObject*)f)->func_vectorcall) +#else +#define __Pyx_CyFunction_func_vectorcall(f) (((PyCFunctionObject*)f)->vectorcall) +#endif +#endif + +/* CythonFunction.proto */ +static PyObject *__Pyx_CyFunction_New(PyMethodDef *ml, + int flags, PyObject* qualname, + PyObject *closure, + PyObject *module, PyObject *globals, + PyObject* code); + +/* CLineInTraceback.proto */ +#ifdef CYTHON_CLINE_IN_TRACEBACK +#define __Pyx_CLineForTraceback(tstate, c_line) (((CYTHON_CLINE_IN_TRACEBACK)) ? c_line : 0) +#else +static int __Pyx_CLineForTraceback(PyThreadState *tstate, int c_line); +#endif + +/* CodeObjectCache.proto */ +#if !CYTHON_COMPILING_IN_LIMITED_API +typedef struct { + PyCodeObject* code_object; + int code_line; +} __Pyx_CodeObjectCacheEntry; +struct __Pyx_CodeObjectCache { + int count; + int max_count; + __Pyx_CodeObjectCacheEntry* entries; +}; +static struct __Pyx_CodeObjectCache __pyx_code_cache = {0,0,NULL}; +static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line); +static PyCodeObject *__pyx_find_code_object(int code_line); +static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object); +#endif + +/* AddTraceback.proto */ +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename); + +#if PY_MAJOR_VERSION < 3 + static int __Pyx_GetBuffer(PyObject *obj, Py_buffer *view, int flags); + static void __Pyx_ReleaseBuffer(Py_buffer *view); +#else + #define __Pyx_GetBuffer PyObject_GetBuffer + #define __Pyx_ReleaseBuffer PyBuffer_Release +#endif + + +/* BufferStructDeclare.proto */ +typedef struct { + Py_ssize_t shape, strides, suboffsets; +} __Pyx_Buf_DimInfo; +typedef struct { + size_t refcount; + Py_buffer pybuffer; +} __Pyx_Buffer; +typedef struct { + __Pyx_Buffer *rcbuffer; + char *data; + __Pyx_Buf_DimInfo diminfo[8]; +} __Pyx_LocalBuf_ND; + +/* MemviewSliceIsContig.proto */ +static int __pyx_memviewslice_is_contig(const __Pyx_memviewslice mvs, char order, int ndim); + +/* OverlappingSlices.proto */ +static int __pyx_slices_overlap(__Pyx_memviewslice *slice1, + __Pyx_memviewslice *slice2, + int ndim, size_t itemsize); + +/* IsLittleEndian.proto */ +static CYTHON_INLINE int __Pyx_Is_Little_Endian(void); + +/* BufferFormatCheck.proto */ +static const char* __Pyx_BufFmt_CheckString(__Pyx_BufFmt_Context* ctx, const char* ts); +static void __Pyx_BufFmt_Init(__Pyx_BufFmt_Context* ctx, + __Pyx_BufFmt_StackElem* stack, + __Pyx_TypeInfo* type); + +/* TypeInfoCompare.proto */ +static int __pyx_typeinfo_cmp(__Pyx_TypeInfo *a, __Pyx_TypeInfo *b); + +/* MemviewSliceValidateAndInit.proto */ +static int __Pyx_ValidateAndInit_memviewslice( + int *axes_specs, + int c_or_f_flag, + int buf_flags, + int ndim, + __Pyx_TypeInfo *dtype, + __Pyx_BufFmt_StackElem stack[], + __Pyx_memviewslice *memviewslice, + PyObject *original_obj); + +/* ObjectToMemviewSlice.proto */ +static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_ds_float(PyObject *, int writable_flag); + +/* MemviewDtypeToObject.proto */ +static CYTHON_INLINE PyObject *__pyx_memview_get_nn___pyx_t_5numpy_uint8_t(const char *itemp); +static CYTHON_INLINE int __pyx_memview_set_nn___pyx_t_5numpy_uint8_t(const char *itemp, PyObject *obj); + +/* RealImag.proto */ +#if CYTHON_CCOMPLEX + #ifdef __cplusplus + #define __Pyx_CREAL(z) ((z).real()) + #define __Pyx_CIMAG(z) ((z).imag()) + #else + #define __Pyx_CREAL(z) (__real__(z)) + #define __Pyx_CIMAG(z) (__imag__(z)) + #endif +#else + #define __Pyx_CREAL(z) ((z).real) + #define __Pyx_CIMAG(z) ((z).imag) +#endif +#if defined(__cplusplus) && CYTHON_CCOMPLEX\ + && (defined(_WIN32) || defined(__clang__) || (defined(__GNUC__) && (__GNUC__ >= 5 || __GNUC__ == 4 && __GNUC_MINOR__ >= 4 )) || __cplusplus >= 201103) + #define __Pyx_SET_CREAL(z,x) ((z).real(x)) + #define __Pyx_SET_CIMAG(z,y) ((z).imag(y)) +#else + #define __Pyx_SET_CREAL(z,x) __Pyx_CREAL(z) = (x) + #define __Pyx_SET_CIMAG(z,y) __Pyx_CIMAG(z) = (y) +#endif + +/* Arithmetic.proto */ +#if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) + #define __Pyx_c_eq_float(a, b) ((a)==(b)) + #define __Pyx_c_sum_float(a, b) ((a)+(b)) + #define __Pyx_c_diff_float(a, b) ((a)-(b)) + #define __Pyx_c_prod_float(a, b) ((a)*(b)) + #define __Pyx_c_quot_float(a, b) ((a)/(b)) + #define __Pyx_c_neg_float(a) (-(a)) + #ifdef __cplusplus + #define __Pyx_c_is_zero_float(z) ((z)==(float)0) + #define __Pyx_c_conj_float(z) (::std::conj(z)) + #if 1 + #define __Pyx_c_abs_float(z) (::std::abs(z)) + #define __Pyx_c_pow_float(a, b) (::std::pow(a, b)) + #endif + #else + #define __Pyx_c_is_zero_float(z) ((z)==0) + #define __Pyx_c_conj_float(z) (conjf(z)) + #if 1 + #define __Pyx_c_abs_float(z) (cabsf(z)) + #define __Pyx_c_pow_float(a, b) (cpowf(a, b)) + #endif + #endif +#else + static CYTHON_INLINE int __Pyx_c_eq_float(__pyx_t_float_complex, __pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_sum_float(__pyx_t_float_complex, __pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_diff_float(__pyx_t_float_complex, __pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_prod_float(__pyx_t_float_complex, __pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_quot_float(__pyx_t_float_complex, __pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_neg_float(__pyx_t_float_complex); + static CYTHON_INLINE int __Pyx_c_is_zero_float(__pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_conj_float(__pyx_t_float_complex); + #if 1 + static CYTHON_INLINE float __Pyx_c_abs_float(__pyx_t_float_complex); + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_pow_float(__pyx_t_float_complex, __pyx_t_float_complex); + #endif +#endif + +/* Arithmetic.proto */ +#if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) + #define __Pyx_c_eq_double(a, b) ((a)==(b)) + #define __Pyx_c_sum_double(a, b) ((a)+(b)) + #define __Pyx_c_diff_double(a, b) ((a)-(b)) + #define __Pyx_c_prod_double(a, b) ((a)*(b)) + #define __Pyx_c_quot_double(a, b) ((a)/(b)) + #define __Pyx_c_neg_double(a) (-(a)) + #ifdef __cplusplus + #define __Pyx_c_is_zero_double(z) ((z)==(double)0) + #define __Pyx_c_conj_double(z) (::std::conj(z)) + #if 1 + #define __Pyx_c_abs_double(z) (::std::abs(z)) + #define __Pyx_c_pow_double(a, b) (::std::pow(a, b)) + #endif + #else + #define __Pyx_c_is_zero_double(z) ((z)==0) + #define __Pyx_c_conj_double(z) (conj(z)) + #if 1 + #define __Pyx_c_abs_double(z) (cabs(z)) + #define __Pyx_c_pow_double(a, b) (cpow(a, b)) + #endif + #endif +#else + static CYTHON_INLINE int __Pyx_c_eq_double(__pyx_t_double_complex, __pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_sum_double(__pyx_t_double_complex, __pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_diff_double(__pyx_t_double_complex, __pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_prod_double(__pyx_t_double_complex, __pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_quot_double(__pyx_t_double_complex, __pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_neg_double(__pyx_t_double_complex); + static CYTHON_INLINE int __Pyx_c_is_zero_double(__pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_conj_double(__pyx_t_double_complex); + #if 1 + static CYTHON_INLINE double __Pyx_c_abs_double(__pyx_t_double_complex); + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_pow_double(__pyx_t_double_complex, __pyx_t_double_complex); + #endif +#endif + +/* MemviewSliceCopyTemplate.proto */ +static __Pyx_memviewslice +__pyx_memoryview_copy_new_contig(const __Pyx_memviewslice *from_mvs, + const char *mode, int ndim, + size_t sizeof_dtype, int contig_flag, + int dtype_is_object); + +/* MemviewSliceInit.proto */ +#define __Pyx_BUF_MAX_NDIMS %(BUF_MAX_NDIMS)d +#define __Pyx_MEMVIEW_DIRECT 1 +#define __Pyx_MEMVIEW_PTR 2 +#define __Pyx_MEMVIEW_FULL 4 +#define __Pyx_MEMVIEW_CONTIG 8 +#define __Pyx_MEMVIEW_STRIDED 16 +#define __Pyx_MEMVIEW_FOLLOW 32 +#define __Pyx_IS_C_CONTIG 1 +#define __Pyx_IS_F_CONTIG 2 +static int __Pyx_init_memviewslice( + struct __pyx_memoryview_obj *memview, + int ndim, + __Pyx_memviewslice *memviewslice, + int memview_is_new_reference); +static CYTHON_INLINE int __pyx_add_acquisition_count_locked( + __pyx_atomic_int_type *acquisition_count, PyThread_type_lock lock); +static CYTHON_INLINE int __pyx_sub_acquisition_count_locked( + __pyx_atomic_int_type *acquisition_count, PyThread_type_lock lock); +#define __pyx_get_slice_count_pointer(memview) (&memview->acquisition_count) +#define __PYX_INC_MEMVIEW(slice, have_gil) __Pyx_INC_MEMVIEW(slice, have_gil, __LINE__) +#define __PYX_XCLEAR_MEMVIEW(slice, have_gil) __Pyx_XCLEAR_MEMVIEW(slice, have_gil, __LINE__) +static CYTHON_INLINE void __Pyx_INC_MEMVIEW(__Pyx_memviewslice *, int, int); +static CYTHON_INLINE void __Pyx_XCLEAR_MEMVIEW(__Pyx_memviewslice *, int, int); + +/* TypeInfoToFormat.proto */ +struct __pyx_typeinfo_string { + char string[3]; +}; +static struct __pyx_typeinfo_string __Pyx_TypeInfoToFormat(__Pyx_TypeInfo *type); + +/* CIntFromPy.proto */ +static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *); + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_npy_uint8(npy_uint8 value); + +/* CIntFromPy.proto */ +static CYTHON_INLINE npy_uint8 __Pyx_PyInt_As_npy_uint8(PyObject *); + +/* None.proto */ +#include + +/* CIntFromPy.proto */ +static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *); + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value); + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value); + +/* CIntFromPy.proto */ +static CYTHON_INLINE char __Pyx_PyInt_As_char(PyObject *); + +/* FormatTypeName.proto */ +#if CYTHON_COMPILING_IN_LIMITED_API +typedef PyObject *__Pyx_TypeName; +#define __Pyx_FMT_TYPENAME "%U" +static __Pyx_TypeName __Pyx_PyType_GetName(PyTypeObject* tp); +#define __Pyx_DECREF_TypeName(obj) Py_XDECREF(obj) +#else +typedef const char *__Pyx_TypeName; +#define __Pyx_FMT_TYPENAME "%.200s" +#define __Pyx_PyType_GetName(tp) ((tp)->tp_name) +#define __Pyx_DECREF_TypeName(obj) +#endif + +/* CheckBinaryVersion.proto */ +static unsigned long __Pyx_get_runtime_version(void); +static int __Pyx_check_binary_version(unsigned long ct_version, unsigned long rt_version, int allow_newer); + +/* InitStrings.proto */ +static int __Pyx_InitStrings(__Pyx_StringTabEntry *t); + +/* #### Code section: module_declarations ### */ +static PyObject *__pyx_array_get_memview(struct __pyx_array_obj *__pyx_v_self); /* proto*/ +static char *__pyx_memoryview_get_item_pointer(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index); /* proto*/ +static PyObject *__pyx_memoryview_is_slice(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_obj); /* proto*/ +static PyObject *__pyx_memoryview_setitem_slice_assignment(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_dst, PyObject *__pyx_v_src); /* proto*/ +static PyObject *__pyx_memoryview_setitem_slice_assign_scalar(struct __pyx_memoryview_obj *__pyx_v_self, struct __pyx_memoryview_obj *__pyx_v_dst, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryview_setitem_indexed(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryview_convert_item_to_object(struct __pyx_memoryview_obj *__pyx_v_self, char *__pyx_v_itemp); /* proto*/ +static PyObject *__pyx_memoryview_assign_item_from_object(struct __pyx_memoryview_obj *__pyx_v_self, char *__pyx_v_itemp, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryview__get_base(struct __pyx_memoryview_obj *__pyx_v_self); /* proto*/ +static PyObject *__pyx_memoryviewslice_convert_item_to_object(struct __pyx_memoryviewslice_obj *__pyx_v_self, char *__pyx_v_itemp); /* proto*/ +static PyObject *__pyx_memoryviewslice_assign_item_from_object(struct __pyx_memoryviewslice_obj *__pyx_v_self, char *__pyx_v_itemp, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryviewslice__get_base(struct __pyx_memoryviewslice_obj *__pyx_v_self); /* proto*/ +static CYTHON_INLINE PyObject *__pyx_f_5numpy_7ndarray_4base_base(PyArrayObject *__pyx_v_self); /* proto*/ +static CYTHON_INLINE PyArray_Descr *__pyx_f_5numpy_7ndarray_5descr_descr(PyArrayObject *__pyx_v_self); /* proto*/ +static CYTHON_INLINE int __pyx_f_5numpy_7ndarray_4ndim_ndim(PyArrayObject *__pyx_v_self); /* proto*/ +static CYTHON_INLINE npy_intp *__pyx_f_5numpy_7ndarray_5shape_shape(PyArrayObject *__pyx_v_self); /* proto*/ +static CYTHON_INLINE npy_intp *__pyx_f_5numpy_7ndarray_7strides_strides(PyArrayObject *__pyx_v_self); /* proto*/ +static CYTHON_INLINE npy_intp __pyx_f_5numpy_7ndarray_4size_size(PyArrayObject *__pyx_v_self); /* proto*/ +static CYTHON_INLINE char *__pyx_f_5numpy_7ndarray_4data_data(PyArrayObject *__pyx_v_self); /* proto*/ +static PyObject *__pyx_f_9selfdrive_6modeld_6models_15commonmodel_pyx_5CLMem_create(void *__pyx_v_cmem); /* proto*/ + +/* Module declarations from "libc.string" */ + +/* Module declarations from "libcpp.string" */ + +/* Module declarations from "libcpp.vector" */ + +/* Module declarations from "libcpp.utility" */ + +/* Module declarations from "libcpp.set" */ + +/* Module declarations from "libc.stdint" */ + +/* Module declarations from "libcpp" */ + +/* Module declarations from "msgq.visionipc.visionipc" */ + +/* Module declarations from "msgq.visionipc.visionipc_pyx" */ + +/* Module declarations from "libc.stdio" */ + +/* Module declarations from "__builtin__" */ + +/* Module declarations from "cpython.type" */ + +/* Module declarations from "cpython" */ + +/* Module declarations from "cpython.object" */ + +/* Module declarations from "cpython.ref" */ + +/* Module declarations from "numpy" */ + +/* Module declarations from "numpy" */ + +/* Module declarations from "selfdrive.modeld.models.commonmodel" */ + +/* Module declarations from "selfdrive.modeld.models.commonmodel_pyx" */ +static PyObject *__pyx_collections_abc_Sequence = 0; +static PyObject *generic = 0; +static PyObject *strided = 0; +static PyObject *indirect = 0; +static PyObject *contiguous = 0; +static PyObject *indirect_contiguous = 0; +static int __pyx_memoryview_thread_locks_used; +static PyThread_type_lock __pyx_memoryview_thread_locks[8]; +static int __pyx_array_allocate_buffer(struct __pyx_array_obj *); /*proto*/ +static struct __pyx_array_obj *__pyx_array_new(PyObject *, Py_ssize_t, char *, char *, char *); /*proto*/ +static PyObject *__pyx_memoryview_new(PyObject *, int, int, __Pyx_TypeInfo *); /*proto*/ +static CYTHON_INLINE int __pyx_memoryview_check(PyObject *); /*proto*/ +static PyObject *_unellipsify(PyObject *, int); /*proto*/ +static int assert_direct_dimensions(Py_ssize_t *, int); /*proto*/ +static struct __pyx_memoryview_obj *__pyx_memview_slice(struct __pyx_memoryview_obj *, PyObject *); /*proto*/ +static int __pyx_memoryview_slice_memviewslice(__Pyx_memviewslice *, Py_ssize_t, Py_ssize_t, Py_ssize_t, int, int, int *, Py_ssize_t, Py_ssize_t, Py_ssize_t, int, int, int, int); /*proto*/ +static char *__pyx_pybuffer_index(Py_buffer *, char *, Py_ssize_t, Py_ssize_t); /*proto*/ +static int __pyx_memslice_transpose(__Pyx_memviewslice *); /*proto*/ +static PyObject *__pyx_memoryview_fromslice(__Pyx_memviewslice, int, PyObject *(*)(char *), int (*)(char *, PyObject *), int); /*proto*/ +static __Pyx_memviewslice *__pyx_memoryview_get_slice_from_memoryview(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/ +static void __pyx_memoryview_slice_copy(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/ +static PyObject *__pyx_memoryview_copy_object(struct __pyx_memoryview_obj *); /*proto*/ +static PyObject *__pyx_memoryview_copy_object_from_slice(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/ +static Py_ssize_t abs_py_ssize_t(Py_ssize_t); /*proto*/ +static char __pyx_get_best_slice_order(__Pyx_memviewslice *, int); /*proto*/ +static void _copy_strided_to_strided(char *, Py_ssize_t *, char *, Py_ssize_t *, Py_ssize_t *, Py_ssize_t *, int, size_t); /*proto*/ +static void copy_strided_to_strided(__Pyx_memviewslice *, __Pyx_memviewslice *, int, size_t); /*proto*/ +static Py_ssize_t __pyx_memoryview_slice_get_size(__Pyx_memviewslice *, int); /*proto*/ +static Py_ssize_t __pyx_fill_contig_strides_array(Py_ssize_t *, Py_ssize_t *, Py_ssize_t, int, char); /*proto*/ +static void *__pyx_memoryview_copy_data_to_temp(__Pyx_memviewslice *, __Pyx_memviewslice *, char, int); /*proto*/ +static int __pyx_memoryview_err_extents(int, Py_ssize_t, Py_ssize_t); /*proto*/ +static int __pyx_memoryview_err_dim(PyObject *, PyObject *, int); /*proto*/ +static int __pyx_memoryview_err(PyObject *, PyObject *); /*proto*/ +static int __pyx_memoryview_err_no_memory(void); /*proto*/ +static int __pyx_memoryview_copy_contents(__Pyx_memviewslice, __Pyx_memviewslice, int, int, int); /*proto*/ +static void __pyx_memoryview_broadcast_leading(__Pyx_memviewslice *, int, int); /*proto*/ +static void __pyx_memoryview_refcount_copying(__Pyx_memviewslice *, int, int, int); /*proto*/ +static void __pyx_memoryview_refcount_objects_in_slice_with_gil(char *, Py_ssize_t *, Py_ssize_t *, int, int); /*proto*/ +static void __pyx_memoryview_refcount_objects_in_slice(char *, Py_ssize_t *, Py_ssize_t *, int, int); /*proto*/ +static void __pyx_memoryview_slice_assign_scalar(__Pyx_memviewslice *, int, size_t, void *, int); /*proto*/ +static void __pyx_memoryview__slice_assign_scalar(char *, Py_ssize_t *, Py_ssize_t *, int, size_t, void *); /*proto*/ +static PyObject *__pyx_unpickle_Enum__set_state(struct __pyx_MemviewEnum_obj *, PyObject *); /*proto*/ +static PyObject *__pyx_format_from_typeinfo(__Pyx_TypeInfo *); /*proto*/ +/* #### Code section: typeinfo ### */ +static __Pyx_TypeInfo __Pyx_TypeInfo_nn___pyx_t_5numpy_uint8_t = { "uint8_t", NULL, sizeof(__pyx_t_5numpy_uint8_t), { 0 }, 0, __PYX_IS_UNSIGNED(__pyx_t_5numpy_uint8_t) ? 'U' : 'I', __PYX_IS_UNSIGNED(__pyx_t_5numpy_uint8_t), 0 }; +static __Pyx_TypeInfo __Pyx_TypeInfo_float = { "float", NULL, sizeof(float), { 0 }, 0, 'R', 0, 0 }; +/* #### Code section: before_global_var ### */ +#define __Pyx_MODULE_NAME "selfdrive.modeld.models.commonmodel_pyx" +extern int __pyx_module_is_main_selfdrive__modeld__models__commonmodel_pyx; +int __pyx_module_is_main_selfdrive__modeld__models__commonmodel_pyx = 0; + +/* Implementation of "selfdrive.modeld.models.commonmodel_pyx" */ +/* #### Code section: global_var ### */ +static PyObject *__pyx_builtin_TypeError; +static PyObject *__pyx_builtin___import__; +static PyObject *__pyx_builtin_ValueError; +static PyObject *__pyx_builtin_MemoryError; +static PyObject *__pyx_builtin_enumerate; +static PyObject *__pyx_builtin_range; +static PyObject *__pyx_builtin_AssertionError; +static PyObject *__pyx_builtin_Ellipsis; +static PyObject *__pyx_builtin_id; +static PyObject *__pyx_builtin_IndexError; +static PyObject *__pyx_builtin_ImportError; +/* #### Code section: string_decls ### */ +static const char __pyx_k_[] = ": "; +static const char __pyx_k_O[] = "O"; +static const char __pyx_k_T[] = "T{"; + static const char __pyx_k_c[] = "c"; + static const char __pyx_k__2[] = "."; + static const char __pyx_k__3[] = "*"; + static const char __pyx_k__6[] = "'"; + static const char __pyx_k__7[] = ")"; + static const char __pyx_k__9[] = "^"; + static const char __pyx_k_gc[] = "gc"; + static const char __pyx_k_id[] = "id"; + static const char __pyx_k_np[] = "np"; + static const char __pyx_k__10[] = ""; + static const char __pyx_k__11[] = ":"; +static const char __pyx_k__12[] = "}"; +static const char __pyx_k__13[] = "("; +static const char __pyx_k__14[] = ","; +static const char __pyx_k__38[] = "?"; +static const char __pyx_k_abc[] = "abc"; +static const char __pyx_k_and[] = " and "; +static const char __pyx_k_buf[] = "buf"; +static const char __pyx_k_got[] = " (got "; +static const char __pyx_k_new[] = "__new__"; +static const char __pyx_k_obj[] = "obj"; +static const char __pyx_k_sys[] = "sys"; +static const char __pyx_k_base[] = "base"; +static const char __pyx_k_data[] = "data"; +static const char __pyx_k_dict[] = "__dict__"; +static const char __pyx_k_join[] = "join"; +static const char __pyx_k_main[] = "__main__"; +static const char __pyx_k_mode[] = "mode"; +static const char __pyx_k_name[] = "name"; +static const char __pyx_k_ndim[] = "ndim"; +static const char __pyx_k_pack[] = "pack"; +static const char __pyx_k_self[] = "self"; +static const char __pyx_k_size[] = "size"; +static const char __pyx_k_spec[] = "__spec__"; +static const char __pyx_k_step[] = "step"; +static const char __pyx_k_stop[] = "stop"; +static const char __pyx_k_test[] = "__test__"; +static const char __pyx_k_ASCII[] = "ASCII"; +static const char __pyx_k_CLMem[] = "CLMem"; +static const char __pyx_k_class[] = "__class__"; +static const char __pyx_k_count[] = "count"; +static const char __pyx_k_error[] = "error"; +static const char __pyx_k_flags[] = "flags"; +static const char __pyx_k_index[] = "index"; +static const char __pyx_k_numpy[] = "numpy"; +static const char __pyx_k_range[] = "range"; +static const char __pyx_k_shape[] = "shape"; +static const char __pyx_k_start[] = "start"; +static const char __pyx_k_width[] = "width"; +static const char __pyx_k_enable[] = "enable"; +static const char __pyx_k_encode[] = "encode"; +static const char __pyx_k_format[] = "format"; +static const char __pyx_k_height[] = "height"; +static const char __pyx_k_import[] = "__import__"; +static const char __pyx_k_name_2[] = "__name__"; +static const char __pyx_k_output[] = "output"; +static const char __pyx_k_pickle[] = "pickle"; +static const char __pyx_k_reduce[] = "__reduce__"; +static const char __pyx_k_stride[] = "stride"; +static const char __pyx_k_struct[] = "struct"; +static const char __pyx_k_unpack[] = "unpack"; +static const char __pyx_k_update[] = "update"; +static const char __pyx_k_asarray[] = "asarray"; +static const char __pyx_k_context[] = "context"; +static const char __pyx_k_disable[] = "disable"; +static const char __pyx_k_fortran[] = "fortran"; +static const char __pyx_k_memview[] = "memview"; +static const char __pyx_k_prepare[] = "prepare"; +static const char __pyx_k_Ellipsis[] = "Ellipsis"; +static const char __pyx_k_Sequence[] = "Sequence"; +static const char __pyx_k_getstate[] = "__getstate__"; +static const char __pyx_k_itemsize[] = "itemsize"; +static const char __pyx_k_pyx_type[] = "__pyx_type"; +static const char __pyx_k_register[] = "register"; +static const char __pyx_k_setstate[] = "__setstate__"; +static const char __pyx_k_CLContext[] = "CLContext"; +static const char __pyx_k_TypeError[] = "TypeError"; +static const char __pyx_k_enumerate[] = "enumerate"; +static const char __pyx_k_isenabled[] = "isenabled"; +static const char __pyx_k_pyx_state[] = "__pyx_state"; +static const char __pyx_k_reduce_ex[] = "__reduce_ex__"; +static const char __pyx_k_uv_offset[] = "uv_offset"; +static const char __pyx_k_IndexError[] = "IndexError"; +static const char __pyx_k_ModelFrame[] = "ModelFrame"; +static const char __pyx_k_ValueError[] = "ValueError"; +static const char __pyx_k_projection[] = "projection"; +static const char __pyx_k_pyx_result[] = "__pyx_result"; +static const char __pyx_k_pyx_vtable[] = "__pyx_vtable__"; +static const char __pyx_k_ImportError[] = "ImportError"; +static const char __pyx_k_MemoryError[] = "MemoryError"; +static const char __pyx_k_PickleError[] = "PickleError"; +static const char __pyx_k_collections[] = "collections"; +static const char __pyx_k_cprojection[] = "cprojection"; +static const char __pyx_k_initializing[] = "_initializing"; +static const char __pyx_k_is_coroutine[] = "_is_coroutine"; +static const char __pyx_k_pyx_checksum[] = "__pyx_checksum"; +static const char __pyx_k_stringsource[] = ""; +static const char __pyx_k_version_info[] = "version_info"; +static const char __pyx_k_class_getitem[] = "__class_getitem__"; +static const char __pyx_k_reduce_cython[] = "__reduce_cython__"; +static const char __pyx_k_AssertionError[] = "AssertionError"; +static const char __pyx_k_View_MemoryView[] = "View.MemoryView"; +static const char __pyx_k_allocate_buffer[] = "allocate_buffer"; +static const char __pyx_k_collections_abc[] = "collections.abc"; +static const char __pyx_k_dtype_is_object[] = "dtype_is_object"; +static const char __pyx_k_pyx_PickleError[] = "__pyx_PickleError"; +static const char __pyx_k_setstate_cython[] = "__setstate_cython__"; +static const char __pyx_k_pyx_unpickle_Enum[] = "__pyx_unpickle_Enum"; +static const char __pyx_k_ModelFrame_prepare[] = "ModelFrame.prepare"; +static const char __pyx_k_asyncio_coroutines[] = "asyncio.coroutines"; +static const char __pyx_k_cline_in_traceback[] = "cline_in_traceback"; +static const char __pyx_k_strided_and_direct[] = ""; +static const char __pyx_k_strided_and_indirect[] = ""; +static const char __pyx_k_CLMem___reduce_cython[] = "CLMem.__reduce_cython__"; +static const char __pyx_k_Invalid_shape_in_axis[] = "Invalid shape in axis "; +static const char __pyx_k_contiguous_and_direct[] = ""; +static const char __pyx_k_Cannot_index_with_type[] = "Cannot index with type '"; +static const char __pyx_k_MemoryView_of_r_object[] = ""; +static const char __pyx_k_CLMem___setstate_cython[] = "CLMem.__setstate_cython__"; +static const char __pyx_k_MemoryView_of_r_at_0x_x[] = ""; +static const char __pyx_k_contiguous_and_indirect[] = ""; +static const char __pyx_k_CLContext___reduce_cython[] = "CLContext.__reduce_cython__"; +static const char __pyx_k_Dimension_d_is_not_direct[] = "Dimension %d is not direct"; +static const char __pyx_k_Index_out_of_bounds_axis_d[] = "Index out of bounds (axis %d)"; +static const char __pyx_k_ModelFrame___reduce_cython[] = "ModelFrame.__reduce_cython__"; +static const char __pyx_k_CLContext___setstate_cython[] = "CLContext.__setstate_cython__"; +static const char __pyx_k_Step_may_not_be_zero_axis_d[] = "Step may not be zero (axis %d)"; +static const char __pyx_k_itemsize_0_for_cython_array[] = "itemsize <= 0 for cython.array"; +static const char __pyx_k_ModelFrame___setstate_cython[] = "ModelFrame.__setstate_cython__"; +static const char __pyx_k_unable_to_allocate_array_data[] = "unable to allocate array data."; +static const char __pyx_k_strided_and_direct_or_indirect[] = ""; +static const char __pyx_k_numpy_core_multiarray_failed_to[] = "numpy.core.multiarray failed to import"; +static const char __pyx_k_self_mem_cannot_be_converted_to[] = "self.mem cannot be converted to a Python object for pickling"; +static const char __pyx_k_All_dimensions_preceding_dimensi[] = "All dimensions preceding dimension %d must be indexed and not sliced"; +static const char __pyx_k_Buffer_view_does_not_expose_stri[] = "Buffer view does not expose strides"; +static const char __pyx_k_Can_only_create_a_buffer_that_is[] = "Can only create a buffer that is contiguous in memory."; +static const char __pyx_k_Cannot_assign_to_read_only_memor[] = "Cannot assign to read-only memoryview"; +static const char __pyx_k_Cannot_create_writable_memory_vi[] = "Cannot create writable memory view from read-only memoryview"; +static const char __pyx_k_Cannot_transpose_memoryview_with[] = "Cannot transpose memoryview with indirect dimensions"; +static const char __pyx_k_Empty_shape_tuple_for_cython_arr[] = "Empty shape tuple for cython.array"; +static const char __pyx_k_Incompatible_checksums_0x_x_vs_0[] = "Incompatible checksums (0x%x vs (0x82a3537, 0x6ae9995, 0xb068931) = (name))"; +static const char __pyx_k_Indirect_dimensions_not_supporte[] = "Indirect dimensions not supported"; +static const char __pyx_k_Invalid_mode_expected_c_or_fortr[] = "Invalid mode, expected 'c' or 'fortran', got "; +static const char __pyx_k_Out_of_bounds_on_buffer_access_a[] = "Out of bounds on buffer access (axis "; +static const char __pyx_k_Unable_to_convert_item_to_object[] = "Unable to convert item to object"; +static const char __pyx_k_got_differing_extents_in_dimensi[] = "got differing extents in dimension "; +static const char __pyx_k_no_default___reduce___due_to_non[] = "no default __reduce__ due to non-trivial __cinit__"; +static const char __pyx_k_numpy_core_umath_failed_to_impor[] = "numpy.core.umath failed to import"; +static const char __pyx_k_selfdrive_modeld_models_commonmo[] = "selfdrive.modeld.models.commonmodel_pyx"; +static const char __pyx_k_unable_to_allocate_shape_and_str[] = "unable to allocate shape and strides."; +static const char __pyx_k_selfdrive_modeld_models_commonmo_2[] = "selfdrive/modeld/models/commonmodel_pyx.pyx"; +/* #### Code section: decls ### */ +static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array___cinit__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_shape, Py_ssize_t __pyx_v_itemsize, PyObject *__pyx_v_format, PyObject *__pyx_v_mode, int __pyx_v_allocate_buffer); /* proto */ +static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array_2__getbuffer__(struct __pyx_array_obj *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /* proto */ +static void __pyx_array___pyx_pf_15View_dot_MemoryView_5array_4__dealloc__(struct __pyx_array_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_5array_7memview___get__(struct __pyx_array_obj *__pyx_v_self); /* proto */ +static Py_ssize_t __pyx_array___pyx_pf_15View_dot_MemoryView_5array_6__len__(struct __pyx_array_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_array___pyx_pf_15View_dot_MemoryView_5array_8__getattr__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_attr); /* proto */ +static PyObject *__pyx_array___pyx_pf_15View_dot_MemoryView_5array_10__getitem__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_item); /* proto */ +static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array_12__setitem__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_item, PyObject *__pyx_v_value); /* proto */ +static PyObject *__pyx_pf___pyx_array___reduce_cython__(CYTHON_UNUSED struct __pyx_array_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_array_2__setstate_cython__(CYTHON_UNUSED struct __pyx_array_obj *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_MemviewEnum___pyx_pf_15View_dot_MemoryView_4Enum___init__(struct __pyx_MemviewEnum_obj *__pyx_v_self, PyObject *__pyx_v_name); /* proto */ +static PyObject *__pyx_MemviewEnum___pyx_pf_15View_dot_MemoryView_4Enum_2__repr__(struct __pyx_MemviewEnum_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_MemviewEnum___reduce_cython__(struct __pyx_MemviewEnum_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_MemviewEnum_2__setstate_cython__(struct __pyx_MemviewEnum_obj *__pyx_v_self, PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview___cinit__(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_obj, int __pyx_v_flags, int __pyx_v_dtype_is_object); /* proto */ +static void __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_2__dealloc__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_4__getitem__(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index); /* proto */ +static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_6__setitem__(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index, PyObject *__pyx_v_value); /* proto */ +static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_8__getbuffer__(struct __pyx_memoryview_obj *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_1T___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_4base___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_5shape___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_7strides___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_10suboffsets___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_4ndim___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_8itemsize___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_6nbytes___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_4size___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static Py_ssize_t __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_10__len__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_12__repr__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_14__str__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_16is_c_contig(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_18is_f_contig(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_20copy(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_22copy_fortran(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryview___reduce_cython__(CYTHON_UNUSED struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryview_2__setstate_cython__(CYTHON_UNUSED struct __pyx_memoryview_obj *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static void __pyx_memoryviewslice___pyx_pf_15View_dot_MemoryView_16_memoryviewslice___dealloc__(struct __pyx_memoryviewslice_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryviewslice___reduce_cython__(CYTHON_UNUSED struct __pyx_memoryviewslice_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryviewslice_2__setstate_cython__(CYTHON_UNUSED struct __pyx_memoryviewslice_obj *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView___pyx_unpickle_Enum(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v___pyx_type, long __pyx_v___pyx_checksum, PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_pf_9selfdrive_6modeld_6models_15commonmodel_pyx_9CLContext___cinit__(struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_9selfdrive_6modeld_6models_15commonmodel_pyx_9CLContext_2__reduce_cython__(CYTHON_UNUSED struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_9selfdrive_6modeld_6models_15commonmodel_pyx_9CLContext_4__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static PyObject *__pyx_pf_9selfdrive_6modeld_6models_15commonmodel_pyx_5CLMem___reduce_cython__(CYTHON_UNUSED struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_9selfdrive_6modeld_6models_15commonmodel_pyx_5CLMem_2__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_pf_9selfdrive_6modeld_6models_15commonmodel_pyx_10ModelFrame___cinit__(struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_ModelFrame *__pyx_v_self, struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext *__pyx_v_context); /* proto */ +static void __pyx_pf_9selfdrive_6modeld_6models_15commonmodel_pyx_10ModelFrame_2__dealloc__(struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_ModelFrame *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_9selfdrive_6modeld_6models_15commonmodel_pyx_10ModelFrame_4prepare(struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_ModelFrame *__pyx_v_self, struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionBuf *__pyx_v_buf, __Pyx_memviewslice __pyx_v_projection, struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem *__pyx_v_output); /* proto */ +static PyObject *__pyx_pf_9selfdrive_6modeld_6models_15commonmodel_pyx_10ModelFrame_6__reduce_cython__(CYTHON_UNUSED struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_ModelFrame *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_9selfdrive_6modeld_6models_15commonmodel_pyx_10ModelFrame_8__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_ModelFrame *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static PyObject *__pyx_tp_new_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_9selfdrive_6modeld_6models_15commonmodel_pyx_ModelFrame(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_array(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_Enum(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_memoryview(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new__memoryviewslice(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +/* #### Code section: late_includes ### */ +/* #### Code section: module_state ### */ +typedef struct { + PyObject *__pyx_d; + PyObject *__pyx_b; + PyObject *__pyx_cython_runtime; + PyObject *__pyx_empty_tuple; + PyObject *__pyx_empty_bytes; + PyObject *__pyx_empty_unicode; + #ifdef __Pyx_CyFunction_USED + PyTypeObject *__pyx_CyFunctionType; + #endif + #ifdef __Pyx_FusedFunction_USED + PyTypeObject *__pyx_FusedFunctionType; + #endif + #ifdef __Pyx_Generator_USED + PyTypeObject *__pyx_GeneratorType; + #endif + #ifdef __Pyx_IterableCoroutine_USED + PyTypeObject *__pyx_IterableCoroutineType; + #endif + #ifdef __Pyx_Coroutine_USED + PyTypeObject *__pyx_CoroutineAwaitType; + #endif + #ifdef __Pyx_Coroutine_USED + PyTypeObject *__pyx_CoroutineType; + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + PyTypeObject *__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_CLContext; + PyTypeObject *__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionBuf; + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + PyTypeObject *__pyx_ptype_7cpython_4type_type; + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + PyTypeObject *__pyx_ptype_5numpy_dtype; + PyTypeObject *__pyx_ptype_5numpy_flatiter; + PyTypeObject *__pyx_ptype_5numpy_broadcast; + PyTypeObject *__pyx_ptype_5numpy_ndarray; + PyTypeObject *__pyx_ptype_5numpy_generic; + PyTypeObject *__pyx_ptype_5numpy_number; + PyTypeObject *__pyx_ptype_5numpy_integer; + PyTypeObject *__pyx_ptype_5numpy_signedinteger; + PyTypeObject *__pyx_ptype_5numpy_unsignedinteger; + PyTypeObject *__pyx_ptype_5numpy_inexact; + PyTypeObject *__pyx_ptype_5numpy_floating; + PyTypeObject *__pyx_ptype_5numpy_complexfloating; + PyTypeObject *__pyx_ptype_5numpy_flexible; + PyTypeObject *__pyx_ptype_5numpy_character; + PyTypeObject *__pyx_ptype_5numpy_ufunc; + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + PyObject *__pyx_type_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext; + PyObject *__pyx_type_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem; + PyObject *__pyx_type_9selfdrive_6modeld_6models_15commonmodel_pyx_ModelFrame; + PyObject *__pyx_type___pyx_array; + PyObject *__pyx_type___pyx_MemviewEnum; + PyObject *__pyx_type___pyx_memoryview; + PyObject *__pyx_type___pyx_memoryviewslice; + #endif + PyTypeObject *__pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext; + PyTypeObject *__pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem; + PyTypeObject *__pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_ModelFrame; + PyTypeObject *__pyx_array_type; + PyTypeObject *__pyx_MemviewEnum_type; + PyTypeObject *__pyx_memoryview_type; + PyTypeObject *__pyx_memoryviewslice_type; + PyObject *__pyx_kp_u_; + PyObject *__pyx_n_s_ASCII; + PyObject *__pyx_kp_s_All_dimensions_preceding_dimensi; + PyObject *__pyx_n_s_AssertionError; + PyObject *__pyx_kp_s_Buffer_view_does_not_expose_stri; + PyObject *__pyx_n_s_CLContext; + PyObject *__pyx_n_s_CLContext___reduce_cython; + PyObject *__pyx_n_s_CLContext___setstate_cython; + PyObject *__pyx_n_s_CLMem; + PyObject *__pyx_n_s_CLMem___reduce_cython; + PyObject *__pyx_n_s_CLMem___setstate_cython; + PyObject *__pyx_kp_s_Can_only_create_a_buffer_that_is; + PyObject *__pyx_kp_s_Cannot_assign_to_read_only_memor; + PyObject *__pyx_kp_s_Cannot_create_writable_memory_vi; + PyObject *__pyx_kp_u_Cannot_index_with_type; + PyObject *__pyx_kp_s_Cannot_transpose_memoryview_with; + PyObject *__pyx_kp_s_Dimension_d_is_not_direct; + PyObject *__pyx_n_s_Ellipsis; + PyObject *__pyx_kp_s_Empty_shape_tuple_for_cython_arr; + PyObject *__pyx_n_s_ImportError; + PyObject *__pyx_kp_s_Incompatible_checksums_0x_x_vs_0; + PyObject *__pyx_n_s_IndexError; + PyObject *__pyx_kp_s_Index_out_of_bounds_axis_d; + PyObject *__pyx_kp_s_Indirect_dimensions_not_supporte; + PyObject *__pyx_kp_u_Invalid_mode_expected_c_or_fortr; + PyObject *__pyx_kp_u_Invalid_shape_in_axis; + PyObject *__pyx_n_s_MemoryError; + PyObject *__pyx_kp_s_MemoryView_of_r_at_0x_x; + PyObject *__pyx_kp_s_MemoryView_of_r_object; + PyObject *__pyx_n_s_ModelFrame; + PyObject *__pyx_n_s_ModelFrame___reduce_cython; + PyObject *__pyx_n_s_ModelFrame___setstate_cython; + PyObject *__pyx_n_s_ModelFrame_prepare; + PyObject *__pyx_n_b_O; + PyObject *__pyx_kp_u_Out_of_bounds_on_buffer_access_a; + PyObject *__pyx_n_s_PickleError; + PyObject *__pyx_n_s_Sequence; + PyObject *__pyx_kp_s_Step_may_not_be_zero_axis_d; + PyObject *__pyx_kp_b_T; + PyObject *__pyx_n_s_TypeError; + PyObject *__pyx_kp_s_Unable_to_convert_item_to_object; + PyObject *__pyx_n_s_ValueError; + PyObject *__pyx_n_s_View_MemoryView; + PyObject *__pyx_kp_b__10; + PyObject *__pyx_kp_b__11; + PyObject *__pyx_kp_b__12; + PyObject *__pyx_kp_u__13; + PyObject *__pyx_kp_u__14; + PyObject *__pyx_kp_u__2; + PyObject *__pyx_n_s__3; + PyObject *__pyx_n_s__38; + PyObject *__pyx_kp_u__6; + PyObject *__pyx_kp_u__7; + PyObject *__pyx_kp_b__9; + PyObject *__pyx_n_s_abc; + PyObject *__pyx_n_s_allocate_buffer; + PyObject *__pyx_kp_u_and; + PyObject *__pyx_n_s_asarray; + PyObject *__pyx_n_s_asyncio_coroutines; + PyObject *__pyx_n_s_base; + PyObject *__pyx_n_s_buf; + PyObject *__pyx_n_s_c; + PyObject *__pyx_n_u_c; + PyObject *__pyx_n_s_class; + PyObject *__pyx_n_s_class_getitem; + PyObject *__pyx_n_s_cline_in_traceback; + PyObject *__pyx_n_s_collections; + PyObject *__pyx_kp_s_collections_abc; + PyObject *__pyx_n_s_context; + PyObject *__pyx_kp_s_contiguous_and_direct; + PyObject *__pyx_kp_s_contiguous_and_indirect; + PyObject *__pyx_n_s_count; + PyObject *__pyx_n_s_cprojection; + PyObject *__pyx_n_s_data; + PyObject *__pyx_n_s_dict; + PyObject *__pyx_kp_u_disable; + PyObject *__pyx_n_s_dtype_is_object; + PyObject *__pyx_kp_u_enable; + PyObject *__pyx_n_s_encode; + PyObject *__pyx_n_s_enumerate; + PyObject *__pyx_n_s_error; + PyObject *__pyx_n_s_flags; + PyObject *__pyx_n_s_format; + PyObject *__pyx_n_s_fortran; + PyObject *__pyx_n_u_fortran; + PyObject *__pyx_kp_u_gc; + PyObject *__pyx_n_s_getstate; + PyObject *__pyx_kp_u_got; + PyObject *__pyx_kp_u_got_differing_extents_in_dimensi; + PyObject *__pyx_n_s_height; + PyObject *__pyx_n_s_id; + PyObject *__pyx_n_s_import; + PyObject *__pyx_n_s_index; + PyObject *__pyx_n_s_initializing; + PyObject *__pyx_n_s_is_coroutine; + PyObject *__pyx_kp_u_isenabled; + PyObject *__pyx_n_s_itemsize; + PyObject *__pyx_kp_s_itemsize_0_for_cython_array; + PyObject *__pyx_n_s_join; + PyObject *__pyx_n_s_main; + PyObject *__pyx_n_s_memview; + PyObject *__pyx_n_s_mode; + PyObject *__pyx_n_s_name; + PyObject *__pyx_n_s_name_2; + PyObject *__pyx_n_s_ndim; + PyObject *__pyx_n_s_new; + PyObject *__pyx_kp_s_no_default___reduce___due_to_non; + PyObject *__pyx_n_s_np; + PyObject *__pyx_n_s_numpy; + PyObject *__pyx_kp_u_numpy_core_multiarray_failed_to; + PyObject *__pyx_kp_u_numpy_core_umath_failed_to_impor; + PyObject *__pyx_n_s_obj; + PyObject *__pyx_n_s_output; + PyObject *__pyx_n_s_pack; + PyObject *__pyx_n_s_pickle; + PyObject *__pyx_n_s_prepare; + PyObject *__pyx_n_s_projection; + PyObject *__pyx_n_s_pyx_PickleError; + PyObject *__pyx_n_s_pyx_checksum; + PyObject *__pyx_n_s_pyx_result; + PyObject *__pyx_n_s_pyx_state; + PyObject *__pyx_n_s_pyx_type; + PyObject *__pyx_n_s_pyx_unpickle_Enum; + PyObject *__pyx_n_s_pyx_vtable; + PyObject *__pyx_n_s_range; + PyObject *__pyx_n_s_reduce; + PyObject *__pyx_n_s_reduce_cython; + PyObject *__pyx_n_s_reduce_ex; + PyObject *__pyx_n_s_register; + PyObject *__pyx_n_s_self; + PyObject *__pyx_kp_s_self_mem_cannot_be_converted_to; + PyObject *__pyx_n_s_selfdrive_modeld_models_commonmo; + PyObject *__pyx_kp_s_selfdrive_modeld_models_commonmo_2; + PyObject *__pyx_n_s_setstate; + PyObject *__pyx_n_s_setstate_cython; + PyObject *__pyx_n_s_shape; + PyObject *__pyx_n_s_size; + PyObject *__pyx_n_s_spec; + PyObject *__pyx_n_s_start; + PyObject *__pyx_n_s_step; + PyObject *__pyx_n_s_stop; + PyObject *__pyx_n_s_stride; + PyObject *__pyx_kp_s_strided_and_direct; + PyObject *__pyx_kp_s_strided_and_direct_or_indirect; + PyObject *__pyx_kp_s_strided_and_indirect; + PyObject *__pyx_kp_s_stringsource; + PyObject *__pyx_n_s_struct; + PyObject *__pyx_n_s_sys; + PyObject *__pyx_n_s_test; + PyObject *__pyx_kp_s_unable_to_allocate_array_data; + PyObject *__pyx_kp_s_unable_to_allocate_shape_and_str; + PyObject *__pyx_n_s_unpack; + PyObject *__pyx_n_s_update; + PyObject *__pyx_n_s_uv_offset; + PyObject *__pyx_n_s_version_info; + PyObject *__pyx_n_s_width; + PyObject *__pyx_int_0; + PyObject *__pyx_int_1; + PyObject *__pyx_int_3; + PyObject *__pyx_int_112105877; + PyObject *__pyx_int_136983863; + PyObject *__pyx_int_184977713; + PyObject *__pyx_int_neg_1; + PyObject *__pyx_slice__5; + PyObject *__pyx_tuple__4; + PyObject *__pyx_tuple__8; + PyObject *__pyx_tuple__15; + PyObject *__pyx_tuple__16; + PyObject *__pyx_tuple__17; + PyObject *__pyx_tuple__18; + PyObject *__pyx_tuple__19; + PyObject *__pyx_tuple__20; + PyObject *__pyx_tuple__21; + PyObject *__pyx_tuple__22; + PyObject *__pyx_tuple__23; + PyObject *__pyx_tuple__24; + PyObject *__pyx_tuple__25; + PyObject *__pyx_tuple__26; + PyObject *__pyx_tuple__28; + PyObject *__pyx_tuple__30; + PyObject *__pyx_tuple__34; + PyObject *__pyx_codeobj__27; + PyObject *__pyx_codeobj__29; + PyObject *__pyx_codeobj__31; + PyObject *__pyx_codeobj__32; + PyObject *__pyx_codeobj__33; + PyObject *__pyx_codeobj__35; + PyObject *__pyx_codeobj__36; + PyObject *__pyx_codeobj__37; +} __pyx_mstate; + +#if CYTHON_USE_MODULE_STATE +#ifdef __cplusplus +namespace { + extern struct PyModuleDef __pyx_moduledef; +} /* anonymous namespace */ +#else +static struct PyModuleDef __pyx_moduledef; +#endif + +#define __pyx_mstate(o) ((__pyx_mstate *)__Pyx_PyModule_GetState(o)) + +#define __pyx_mstate_global (__pyx_mstate(PyState_FindModule(&__pyx_moduledef))) + +#define __pyx_m (PyState_FindModule(&__pyx_moduledef)) +#else +static __pyx_mstate __pyx_mstate_global_static = +#ifdef __cplusplus + {}; +#else + {0}; +#endif +static __pyx_mstate *__pyx_mstate_global = &__pyx_mstate_global_static; +#endif +/* #### Code section: module_state_clear ### */ +#if CYTHON_USE_MODULE_STATE +static int __pyx_m_clear(PyObject *m) { + __pyx_mstate *clear_module_state = __pyx_mstate(m); + if (!clear_module_state) return 0; + Py_CLEAR(clear_module_state->__pyx_d); + Py_CLEAR(clear_module_state->__pyx_b); + Py_CLEAR(clear_module_state->__pyx_cython_runtime); + Py_CLEAR(clear_module_state->__pyx_empty_tuple); + Py_CLEAR(clear_module_state->__pyx_empty_bytes); + Py_CLEAR(clear_module_state->__pyx_empty_unicode); + #ifdef __Pyx_CyFunction_USED + Py_CLEAR(clear_module_state->__pyx_CyFunctionType); + #endif + #ifdef __Pyx_FusedFunction_USED + Py_CLEAR(clear_module_state->__pyx_FusedFunctionType); + #endif + Py_CLEAR(clear_module_state->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_CLContext); + Py_CLEAR(clear_module_state->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionBuf); + Py_CLEAR(clear_module_state->__pyx_ptype_7cpython_4type_type); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_dtype); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_flatiter); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_broadcast); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_ndarray); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_generic); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_number); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_integer); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_signedinteger); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_unsignedinteger); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_inexact); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_floating); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_complexfloating); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_flexible); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_character); + Py_CLEAR(clear_module_state->__pyx_ptype_5numpy_ufunc); + Py_CLEAR(clear_module_state->__pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext); + Py_CLEAR(clear_module_state->__pyx_type_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext); + Py_CLEAR(clear_module_state->__pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem); + Py_CLEAR(clear_module_state->__pyx_type_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem); + Py_CLEAR(clear_module_state->__pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_ModelFrame); + Py_CLEAR(clear_module_state->__pyx_type_9selfdrive_6modeld_6models_15commonmodel_pyx_ModelFrame); + Py_CLEAR(clear_module_state->__pyx_array_type); + Py_CLEAR(clear_module_state->__pyx_type___pyx_array); + Py_CLEAR(clear_module_state->__pyx_MemviewEnum_type); + Py_CLEAR(clear_module_state->__pyx_type___pyx_MemviewEnum); + Py_CLEAR(clear_module_state->__pyx_memoryview_type); + Py_CLEAR(clear_module_state->__pyx_type___pyx_memoryview); + Py_CLEAR(clear_module_state->__pyx_memoryviewslice_type); + Py_CLEAR(clear_module_state->__pyx_type___pyx_memoryviewslice); + Py_CLEAR(clear_module_state->__pyx_kp_u_); + Py_CLEAR(clear_module_state->__pyx_n_s_ASCII); + Py_CLEAR(clear_module_state->__pyx_kp_s_All_dimensions_preceding_dimensi); + Py_CLEAR(clear_module_state->__pyx_n_s_AssertionError); + Py_CLEAR(clear_module_state->__pyx_kp_s_Buffer_view_does_not_expose_stri); + Py_CLEAR(clear_module_state->__pyx_n_s_CLContext); + Py_CLEAR(clear_module_state->__pyx_n_s_CLContext___reduce_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_CLContext___setstate_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_CLMem); + Py_CLEAR(clear_module_state->__pyx_n_s_CLMem___reduce_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_CLMem___setstate_cython); + Py_CLEAR(clear_module_state->__pyx_kp_s_Can_only_create_a_buffer_that_is); + Py_CLEAR(clear_module_state->__pyx_kp_s_Cannot_assign_to_read_only_memor); + Py_CLEAR(clear_module_state->__pyx_kp_s_Cannot_create_writable_memory_vi); + Py_CLEAR(clear_module_state->__pyx_kp_u_Cannot_index_with_type); + Py_CLEAR(clear_module_state->__pyx_kp_s_Cannot_transpose_memoryview_with); + Py_CLEAR(clear_module_state->__pyx_kp_s_Dimension_d_is_not_direct); + Py_CLEAR(clear_module_state->__pyx_n_s_Ellipsis); + Py_CLEAR(clear_module_state->__pyx_kp_s_Empty_shape_tuple_for_cython_arr); + Py_CLEAR(clear_module_state->__pyx_n_s_ImportError); + Py_CLEAR(clear_module_state->__pyx_kp_s_Incompatible_checksums_0x_x_vs_0); + Py_CLEAR(clear_module_state->__pyx_n_s_IndexError); + Py_CLEAR(clear_module_state->__pyx_kp_s_Index_out_of_bounds_axis_d); + Py_CLEAR(clear_module_state->__pyx_kp_s_Indirect_dimensions_not_supporte); + Py_CLEAR(clear_module_state->__pyx_kp_u_Invalid_mode_expected_c_or_fortr); + Py_CLEAR(clear_module_state->__pyx_kp_u_Invalid_shape_in_axis); + Py_CLEAR(clear_module_state->__pyx_n_s_MemoryError); + Py_CLEAR(clear_module_state->__pyx_kp_s_MemoryView_of_r_at_0x_x); + Py_CLEAR(clear_module_state->__pyx_kp_s_MemoryView_of_r_object); + Py_CLEAR(clear_module_state->__pyx_n_s_ModelFrame); + Py_CLEAR(clear_module_state->__pyx_n_s_ModelFrame___reduce_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_ModelFrame___setstate_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_ModelFrame_prepare); + Py_CLEAR(clear_module_state->__pyx_n_b_O); + Py_CLEAR(clear_module_state->__pyx_kp_u_Out_of_bounds_on_buffer_access_a); + Py_CLEAR(clear_module_state->__pyx_n_s_PickleError); + Py_CLEAR(clear_module_state->__pyx_n_s_Sequence); + Py_CLEAR(clear_module_state->__pyx_kp_s_Step_may_not_be_zero_axis_d); + Py_CLEAR(clear_module_state->__pyx_kp_b_T); + Py_CLEAR(clear_module_state->__pyx_n_s_TypeError); + Py_CLEAR(clear_module_state->__pyx_kp_s_Unable_to_convert_item_to_object); + Py_CLEAR(clear_module_state->__pyx_n_s_ValueError); + Py_CLEAR(clear_module_state->__pyx_n_s_View_MemoryView); + Py_CLEAR(clear_module_state->__pyx_kp_b__10); + Py_CLEAR(clear_module_state->__pyx_kp_b__11); + Py_CLEAR(clear_module_state->__pyx_kp_b__12); + Py_CLEAR(clear_module_state->__pyx_kp_u__13); + Py_CLEAR(clear_module_state->__pyx_kp_u__14); + Py_CLEAR(clear_module_state->__pyx_kp_u__2); + Py_CLEAR(clear_module_state->__pyx_n_s__3); + Py_CLEAR(clear_module_state->__pyx_n_s__38); + Py_CLEAR(clear_module_state->__pyx_kp_u__6); + Py_CLEAR(clear_module_state->__pyx_kp_u__7); + Py_CLEAR(clear_module_state->__pyx_kp_b__9); + Py_CLEAR(clear_module_state->__pyx_n_s_abc); + Py_CLEAR(clear_module_state->__pyx_n_s_allocate_buffer); + Py_CLEAR(clear_module_state->__pyx_kp_u_and); + Py_CLEAR(clear_module_state->__pyx_n_s_asarray); + Py_CLEAR(clear_module_state->__pyx_n_s_asyncio_coroutines); + Py_CLEAR(clear_module_state->__pyx_n_s_base); + Py_CLEAR(clear_module_state->__pyx_n_s_buf); + Py_CLEAR(clear_module_state->__pyx_n_s_c); + Py_CLEAR(clear_module_state->__pyx_n_u_c); + Py_CLEAR(clear_module_state->__pyx_n_s_class); + Py_CLEAR(clear_module_state->__pyx_n_s_class_getitem); + Py_CLEAR(clear_module_state->__pyx_n_s_cline_in_traceback); + Py_CLEAR(clear_module_state->__pyx_n_s_collections); + Py_CLEAR(clear_module_state->__pyx_kp_s_collections_abc); + Py_CLEAR(clear_module_state->__pyx_n_s_context); + Py_CLEAR(clear_module_state->__pyx_kp_s_contiguous_and_direct); + Py_CLEAR(clear_module_state->__pyx_kp_s_contiguous_and_indirect); + Py_CLEAR(clear_module_state->__pyx_n_s_count); + Py_CLEAR(clear_module_state->__pyx_n_s_cprojection); + Py_CLEAR(clear_module_state->__pyx_n_s_data); + Py_CLEAR(clear_module_state->__pyx_n_s_dict); + Py_CLEAR(clear_module_state->__pyx_kp_u_disable); + Py_CLEAR(clear_module_state->__pyx_n_s_dtype_is_object); + Py_CLEAR(clear_module_state->__pyx_kp_u_enable); + Py_CLEAR(clear_module_state->__pyx_n_s_encode); + Py_CLEAR(clear_module_state->__pyx_n_s_enumerate); + Py_CLEAR(clear_module_state->__pyx_n_s_error); + Py_CLEAR(clear_module_state->__pyx_n_s_flags); + Py_CLEAR(clear_module_state->__pyx_n_s_format); + Py_CLEAR(clear_module_state->__pyx_n_s_fortran); + Py_CLEAR(clear_module_state->__pyx_n_u_fortran); + Py_CLEAR(clear_module_state->__pyx_kp_u_gc); + Py_CLEAR(clear_module_state->__pyx_n_s_getstate); + Py_CLEAR(clear_module_state->__pyx_kp_u_got); + Py_CLEAR(clear_module_state->__pyx_kp_u_got_differing_extents_in_dimensi); + Py_CLEAR(clear_module_state->__pyx_n_s_height); + Py_CLEAR(clear_module_state->__pyx_n_s_id); + Py_CLEAR(clear_module_state->__pyx_n_s_import); + Py_CLEAR(clear_module_state->__pyx_n_s_index); + Py_CLEAR(clear_module_state->__pyx_n_s_initializing); + Py_CLEAR(clear_module_state->__pyx_n_s_is_coroutine); + Py_CLEAR(clear_module_state->__pyx_kp_u_isenabled); + Py_CLEAR(clear_module_state->__pyx_n_s_itemsize); + Py_CLEAR(clear_module_state->__pyx_kp_s_itemsize_0_for_cython_array); + Py_CLEAR(clear_module_state->__pyx_n_s_join); + Py_CLEAR(clear_module_state->__pyx_n_s_main); + Py_CLEAR(clear_module_state->__pyx_n_s_memview); + Py_CLEAR(clear_module_state->__pyx_n_s_mode); + Py_CLEAR(clear_module_state->__pyx_n_s_name); + Py_CLEAR(clear_module_state->__pyx_n_s_name_2); + Py_CLEAR(clear_module_state->__pyx_n_s_ndim); + Py_CLEAR(clear_module_state->__pyx_n_s_new); + Py_CLEAR(clear_module_state->__pyx_kp_s_no_default___reduce___due_to_non); + Py_CLEAR(clear_module_state->__pyx_n_s_np); + Py_CLEAR(clear_module_state->__pyx_n_s_numpy); + Py_CLEAR(clear_module_state->__pyx_kp_u_numpy_core_multiarray_failed_to); + Py_CLEAR(clear_module_state->__pyx_kp_u_numpy_core_umath_failed_to_impor); + Py_CLEAR(clear_module_state->__pyx_n_s_obj); + Py_CLEAR(clear_module_state->__pyx_n_s_output); + Py_CLEAR(clear_module_state->__pyx_n_s_pack); + Py_CLEAR(clear_module_state->__pyx_n_s_pickle); + Py_CLEAR(clear_module_state->__pyx_n_s_prepare); + Py_CLEAR(clear_module_state->__pyx_n_s_projection); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_PickleError); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_checksum); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_result); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_state); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_type); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_unpickle_Enum); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_vtable); + Py_CLEAR(clear_module_state->__pyx_n_s_range); + Py_CLEAR(clear_module_state->__pyx_n_s_reduce); + Py_CLEAR(clear_module_state->__pyx_n_s_reduce_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_reduce_ex); + Py_CLEAR(clear_module_state->__pyx_n_s_register); + Py_CLEAR(clear_module_state->__pyx_n_s_self); + Py_CLEAR(clear_module_state->__pyx_kp_s_self_mem_cannot_be_converted_to); + Py_CLEAR(clear_module_state->__pyx_n_s_selfdrive_modeld_models_commonmo); + Py_CLEAR(clear_module_state->__pyx_kp_s_selfdrive_modeld_models_commonmo_2); + Py_CLEAR(clear_module_state->__pyx_n_s_setstate); + Py_CLEAR(clear_module_state->__pyx_n_s_setstate_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_shape); + Py_CLEAR(clear_module_state->__pyx_n_s_size); + Py_CLEAR(clear_module_state->__pyx_n_s_spec); + Py_CLEAR(clear_module_state->__pyx_n_s_start); + Py_CLEAR(clear_module_state->__pyx_n_s_step); + Py_CLEAR(clear_module_state->__pyx_n_s_stop); + Py_CLEAR(clear_module_state->__pyx_n_s_stride); + Py_CLEAR(clear_module_state->__pyx_kp_s_strided_and_direct); + Py_CLEAR(clear_module_state->__pyx_kp_s_strided_and_direct_or_indirect); + Py_CLEAR(clear_module_state->__pyx_kp_s_strided_and_indirect); + Py_CLEAR(clear_module_state->__pyx_kp_s_stringsource); + Py_CLEAR(clear_module_state->__pyx_n_s_struct); + Py_CLEAR(clear_module_state->__pyx_n_s_sys); + Py_CLEAR(clear_module_state->__pyx_n_s_test); + Py_CLEAR(clear_module_state->__pyx_kp_s_unable_to_allocate_array_data); + Py_CLEAR(clear_module_state->__pyx_kp_s_unable_to_allocate_shape_and_str); + Py_CLEAR(clear_module_state->__pyx_n_s_unpack); + Py_CLEAR(clear_module_state->__pyx_n_s_update); + Py_CLEAR(clear_module_state->__pyx_n_s_uv_offset); + Py_CLEAR(clear_module_state->__pyx_n_s_version_info); + Py_CLEAR(clear_module_state->__pyx_n_s_width); + Py_CLEAR(clear_module_state->__pyx_int_0); + Py_CLEAR(clear_module_state->__pyx_int_1); + Py_CLEAR(clear_module_state->__pyx_int_3); + Py_CLEAR(clear_module_state->__pyx_int_112105877); + Py_CLEAR(clear_module_state->__pyx_int_136983863); + Py_CLEAR(clear_module_state->__pyx_int_184977713); + Py_CLEAR(clear_module_state->__pyx_int_neg_1); + Py_CLEAR(clear_module_state->__pyx_slice__5); + Py_CLEAR(clear_module_state->__pyx_tuple__4); + Py_CLEAR(clear_module_state->__pyx_tuple__8); + Py_CLEAR(clear_module_state->__pyx_tuple__15); + Py_CLEAR(clear_module_state->__pyx_tuple__16); + Py_CLEAR(clear_module_state->__pyx_tuple__17); + Py_CLEAR(clear_module_state->__pyx_tuple__18); + Py_CLEAR(clear_module_state->__pyx_tuple__19); + Py_CLEAR(clear_module_state->__pyx_tuple__20); + Py_CLEAR(clear_module_state->__pyx_tuple__21); + Py_CLEAR(clear_module_state->__pyx_tuple__22); + Py_CLEAR(clear_module_state->__pyx_tuple__23); + Py_CLEAR(clear_module_state->__pyx_tuple__24); + Py_CLEAR(clear_module_state->__pyx_tuple__25); + Py_CLEAR(clear_module_state->__pyx_tuple__26); + Py_CLEAR(clear_module_state->__pyx_tuple__28); + Py_CLEAR(clear_module_state->__pyx_tuple__30); + Py_CLEAR(clear_module_state->__pyx_tuple__34); + Py_CLEAR(clear_module_state->__pyx_codeobj__27); + Py_CLEAR(clear_module_state->__pyx_codeobj__29); + Py_CLEAR(clear_module_state->__pyx_codeobj__31); + Py_CLEAR(clear_module_state->__pyx_codeobj__32); + Py_CLEAR(clear_module_state->__pyx_codeobj__33); + Py_CLEAR(clear_module_state->__pyx_codeobj__35); + Py_CLEAR(clear_module_state->__pyx_codeobj__36); + Py_CLEAR(clear_module_state->__pyx_codeobj__37); + return 0; +} +#endif +/* #### Code section: module_state_traverse ### */ +#if CYTHON_USE_MODULE_STATE +static int __pyx_m_traverse(PyObject *m, visitproc visit, void *arg) { + __pyx_mstate *traverse_module_state = __pyx_mstate(m); + if (!traverse_module_state) return 0; + Py_VISIT(traverse_module_state->__pyx_d); + Py_VISIT(traverse_module_state->__pyx_b); + Py_VISIT(traverse_module_state->__pyx_cython_runtime); + Py_VISIT(traverse_module_state->__pyx_empty_tuple); + Py_VISIT(traverse_module_state->__pyx_empty_bytes); + Py_VISIT(traverse_module_state->__pyx_empty_unicode); + #ifdef __Pyx_CyFunction_USED + Py_VISIT(traverse_module_state->__pyx_CyFunctionType); + #endif + #ifdef __Pyx_FusedFunction_USED + Py_VISIT(traverse_module_state->__pyx_FusedFunctionType); + #endif + Py_VISIT(traverse_module_state->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_CLContext); + Py_VISIT(traverse_module_state->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionBuf); + Py_VISIT(traverse_module_state->__pyx_ptype_7cpython_4type_type); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_dtype); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_flatiter); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_broadcast); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_ndarray); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_generic); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_number); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_integer); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_signedinteger); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_unsignedinteger); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_inexact); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_floating); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_complexfloating); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_flexible); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_character); + Py_VISIT(traverse_module_state->__pyx_ptype_5numpy_ufunc); + Py_VISIT(traverse_module_state->__pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext); + Py_VISIT(traverse_module_state->__pyx_type_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext); + Py_VISIT(traverse_module_state->__pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem); + Py_VISIT(traverse_module_state->__pyx_type_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem); + Py_VISIT(traverse_module_state->__pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_ModelFrame); + Py_VISIT(traverse_module_state->__pyx_type_9selfdrive_6modeld_6models_15commonmodel_pyx_ModelFrame); + Py_VISIT(traverse_module_state->__pyx_array_type); + Py_VISIT(traverse_module_state->__pyx_type___pyx_array); + Py_VISIT(traverse_module_state->__pyx_MemviewEnum_type); + Py_VISIT(traverse_module_state->__pyx_type___pyx_MemviewEnum); + Py_VISIT(traverse_module_state->__pyx_memoryview_type); + Py_VISIT(traverse_module_state->__pyx_type___pyx_memoryview); + Py_VISIT(traverse_module_state->__pyx_memoryviewslice_type); + Py_VISIT(traverse_module_state->__pyx_type___pyx_memoryviewslice); + Py_VISIT(traverse_module_state->__pyx_kp_u_); + Py_VISIT(traverse_module_state->__pyx_n_s_ASCII); + Py_VISIT(traverse_module_state->__pyx_kp_s_All_dimensions_preceding_dimensi); + Py_VISIT(traverse_module_state->__pyx_n_s_AssertionError); + Py_VISIT(traverse_module_state->__pyx_kp_s_Buffer_view_does_not_expose_stri); + Py_VISIT(traverse_module_state->__pyx_n_s_CLContext); + Py_VISIT(traverse_module_state->__pyx_n_s_CLContext___reduce_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_CLContext___setstate_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_CLMem); + Py_VISIT(traverse_module_state->__pyx_n_s_CLMem___reduce_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_CLMem___setstate_cython); + Py_VISIT(traverse_module_state->__pyx_kp_s_Can_only_create_a_buffer_that_is); + Py_VISIT(traverse_module_state->__pyx_kp_s_Cannot_assign_to_read_only_memor); + Py_VISIT(traverse_module_state->__pyx_kp_s_Cannot_create_writable_memory_vi); + Py_VISIT(traverse_module_state->__pyx_kp_u_Cannot_index_with_type); + Py_VISIT(traverse_module_state->__pyx_kp_s_Cannot_transpose_memoryview_with); + Py_VISIT(traverse_module_state->__pyx_kp_s_Dimension_d_is_not_direct); + Py_VISIT(traverse_module_state->__pyx_n_s_Ellipsis); + Py_VISIT(traverse_module_state->__pyx_kp_s_Empty_shape_tuple_for_cython_arr); + Py_VISIT(traverse_module_state->__pyx_n_s_ImportError); + Py_VISIT(traverse_module_state->__pyx_kp_s_Incompatible_checksums_0x_x_vs_0); + Py_VISIT(traverse_module_state->__pyx_n_s_IndexError); + Py_VISIT(traverse_module_state->__pyx_kp_s_Index_out_of_bounds_axis_d); + Py_VISIT(traverse_module_state->__pyx_kp_s_Indirect_dimensions_not_supporte); + Py_VISIT(traverse_module_state->__pyx_kp_u_Invalid_mode_expected_c_or_fortr); + Py_VISIT(traverse_module_state->__pyx_kp_u_Invalid_shape_in_axis); + Py_VISIT(traverse_module_state->__pyx_n_s_MemoryError); + Py_VISIT(traverse_module_state->__pyx_kp_s_MemoryView_of_r_at_0x_x); + Py_VISIT(traverse_module_state->__pyx_kp_s_MemoryView_of_r_object); + Py_VISIT(traverse_module_state->__pyx_n_s_ModelFrame); + Py_VISIT(traverse_module_state->__pyx_n_s_ModelFrame___reduce_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_ModelFrame___setstate_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_ModelFrame_prepare); + Py_VISIT(traverse_module_state->__pyx_n_b_O); + Py_VISIT(traverse_module_state->__pyx_kp_u_Out_of_bounds_on_buffer_access_a); + Py_VISIT(traverse_module_state->__pyx_n_s_PickleError); + Py_VISIT(traverse_module_state->__pyx_n_s_Sequence); + Py_VISIT(traverse_module_state->__pyx_kp_s_Step_may_not_be_zero_axis_d); + Py_VISIT(traverse_module_state->__pyx_kp_b_T); + Py_VISIT(traverse_module_state->__pyx_n_s_TypeError); + Py_VISIT(traverse_module_state->__pyx_kp_s_Unable_to_convert_item_to_object); + Py_VISIT(traverse_module_state->__pyx_n_s_ValueError); + Py_VISIT(traverse_module_state->__pyx_n_s_View_MemoryView); + Py_VISIT(traverse_module_state->__pyx_kp_b__10); + Py_VISIT(traverse_module_state->__pyx_kp_b__11); + Py_VISIT(traverse_module_state->__pyx_kp_b__12); + Py_VISIT(traverse_module_state->__pyx_kp_u__13); + Py_VISIT(traverse_module_state->__pyx_kp_u__14); + Py_VISIT(traverse_module_state->__pyx_kp_u__2); + Py_VISIT(traverse_module_state->__pyx_n_s__3); + Py_VISIT(traverse_module_state->__pyx_n_s__38); + Py_VISIT(traverse_module_state->__pyx_kp_u__6); + Py_VISIT(traverse_module_state->__pyx_kp_u__7); + Py_VISIT(traverse_module_state->__pyx_kp_b__9); + Py_VISIT(traverse_module_state->__pyx_n_s_abc); + Py_VISIT(traverse_module_state->__pyx_n_s_allocate_buffer); + Py_VISIT(traverse_module_state->__pyx_kp_u_and); + Py_VISIT(traverse_module_state->__pyx_n_s_asarray); + Py_VISIT(traverse_module_state->__pyx_n_s_asyncio_coroutines); + Py_VISIT(traverse_module_state->__pyx_n_s_base); + Py_VISIT(traverse_module_state->__pyx_n_s_buf); + Py_VISIT(traverse_module_state->__pyx_n_s_c); + Py_VISIT(traverse_module_state->__pyx_n_u_c); + Py_VISIT(traverse_module_state->__pyx_n_s_class); + Py_VISIT(traverse_module_state->__pyx_n_s_class_getitem); + Py_VISIT(traverse_module_state->__pyx_n_s_cline_in_traceback); + Py_VISIT(traverse_module_state->__pyx_n_s_collections); + Py_VISIT(traverse_module_state->__pyx_kp_s_collections_abc); + Py_VISIT(traverse_module_state->__pyx_n_s_context); + Py_VISIT(traverse_module_state->__pyx_kp_s_contiguous_and_direct); + Py_VISIT(traverse_module_state->__pyx_kp_s_contiguous_and_indirect); + Py_VISIT(traverse_module_state->__pyx_n_s_count); + Py_VISIT(traverse_module_state->__pyx_n_s_cprojection); + Py_VISIT(traverse_module_state->__pyx_n_s_data); + Py_VISIT(traverse_module_state->__pyx_n_s_dict); + Py_VISIT(traverse_module_state->__pyx_kp_u_disable); + Py_VISIT(traverse_module_state->__pyx_n_s_dtype_is_object); + Py_VISIT(traverse_module_state->__pyx_kp_u_enable); + Py_VISIT(traverse_module_state->__pyx_n_s_encode); + Py_VISIT(traverse_module_state->__pyx_n_s_enumerate); + Py_VISIT(traverse_module_state->__pyx_n_s_error); + Py_VISIT(traverse_module_state->__pyx_n_s_flags); + Py_VISIT(traverse_module_state->__pyx_n_s_format); + Py_VISIT(traverse_module_state->__pyx_n_s_fortran); + Py_VISIT(traverse_module_state->__pyx_n_u_fortran); + Py_VISIT(traverse_module_state->__pyx_kp_u_gc); + Py_VISIT(traverse_module_state->__pyx_n_s_getstate); + Py_VISIT(traverse_module_state->__pyx_kp_u_got); + Py_VISIT(traverse_module_state->__pyx_kp_u_got_differing_extents_in_dimensi); + Py_VISIT(traverse_module_state->__pyx_n_s_height); + Py_VISIT(traverse_module_state->__pyx_n_s_id); + Py_VISIT(traverse_module_state->__pyx_n_s_import); + Py_VISIT(traverse_module_state->__pyx_n_s_index); + Py_VISIT(traverse_module_state->__pyx_n_s_initializing); + Py_VISIT(traverse_module_state->__pyx_n_s_is_coroutine); + Py_VISIT(traverse_module_state->__pyx_kp_u_isenabled); + Py_VISIT(traverse_module_state->__pyx_n_s_itemsize); + Py_VISIT(traverse_module_state->__pyx_kp_s_itemsize_0_for_cython_array); + Py_VISIT(traverse_module_state->__pyx_n_s_join); + Py_VISIT(traverse_module_state->__pyx_n_s_main); + Py_VISIT(traverse_module_state->__pyx_n_s_memview); + Py_VISIT(traverse_module_state->__pyx_n_s_mode); + Py_VISIT(traverse_module_state->__pyx_n_s_name); + Py_VISIT(traverse_module_state->__pyx_n_s_name_2); + Py_VISIT(traverse_module_state->__pyx_n_s_ndim); + Py_VISIT(traverse_module_state->__pyx_n_s_new); + Py_VISIT(traverse_module_state->__pyx_kp_s_no_default___reduce___due_to_non); + Py_VISIT(traverse_module_state->__pyx_n_s_np); + Py_VISIT(traverse_module_state->__pyx_n_s_numpy); + Py_VISIT(traverse_module_state->__pyx_kp_u_numpy_core_multiarray_failed_to); + Py_VISIT(traverse_module_state->__pyx_kp_u_numpy_core_umath_failed_to_impor); + Py_VISIT(traverse_module_state->__pyx_n_s_obj); + Py_VISIT(traverse_module_state->__pyx_n_s_output); + Py_VISIT(traverse_module_state->__pyx_n_s_pack); + Py_VISIT(traverse_module_state->__pyx_n_s_pickle); + Py_VISIT(traverse_module_state->__pyx_n_s_prepare); + Py_VISIT(traverse_module_state->__pyx_n_s_projection); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_PickleError); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_checksum); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_result); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_state); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_type); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_unpickle_Enum); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_vtable); + Py_VISIT(traverse_module_state->__pyx_n_s_range); + Py_VISIT(traverse_module_state->__pyx_n_s_reduce); + Py_VISIT(traverse_module_state->__pyx_n_s_reduce_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_reduce_ex); + Py_VISIT(traverse_module_state->__pyx_n_s_register); + Py_VISIT(traverse_module_state->__pyx_n_s_self); + Py_VISIT(traverse_module_state->__pyx_kp_s_self_mem_cannot_be_converted_to); + Py_VISIT(traverse_module_state->__pyx_n_s_selfdrive_modeld_models_commonmo); + Py_VISIT(traverse_module_state->__pyx_kp_s_selfdrive_modeld_models_commonmo_2); + Py_VISIT(traverse_module_state->__pyx_n_s_setstate); + Py_VISIT(traverse_module_state->__pyx_n_s_setstate_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_shape); + Py_VISIT(traverse_module_state->__pyx_n_s_size); + Py_VISIT(traverse_module_state->__pyx_n_s_spec); + Py_VISIT(traverse_module_state->__pyx_n_s_start); + Py_VISIT(traverse_module_state->__pyx_n_s_step); + Py_VISIT(traverse_module_state->__pyx_n_s_stop); + Py_VISIT(traverse_module_state->__pyx_n_s_stride); + Py_VISIT(traverse_module_state->__pyx_kp_s_strided_and_direct); + Py_VISIT(traverse_module_state->__pyx_kp_s_strided_and_direct_or_indirect); + Py_VISIT(traverse_module_state->__pyx_kp_s_strided_and_indirect); + Py_VISIT(traverse_module_state->__pyx_kp_s_stringsource); + Py_VISIT(traverse_module_state->__pyx_n_s_struct); + Py_VISIT(traverse_module_state->__pyx_n_s_sys); + Py_VISIT(traverse_module_state->__pyx_n_s_test); + Py_VISIT(traverse_module_state->__pyx_kp_s_unable_to_allocate_array_data); + Py_VISIT(traverse_module_state->__pyx_kp_s_unable_to_allocate_shape_and_str); + Py_VISIT(traverse_module_state->__pyx_n_s_unpack); + Py_VISIT(traverse_module_state->__pyx_n_s_update); + Py_VISIT(traverse_module_state->__pyx_n_s_uv_offset); + Py_VISIT(traverse_module_state->__pyx_n_s_version_info); + Py_VISIT(traverse_module_state->__pyx_n_s_width); + Py_VISIT(traverse_module_state->__pyx_int_0); + Py_VISIT(traverse_module_state->__pyx_int_1); + Py_VISIT(traverse_module_state->__pyx_int_3); + Py_VISIT(traverse_module_state->__pyx_int_112105877); + Py_VISIT(traverse_module_state->__pyx_int_136983863); + Py_VISIT(traverse_module_state->__pyx_int_184977713); + Py_VISIT(traverse_module_state->__pyx_int_neg_1); + Py_VISIT(traverse_module_state->__pyx_slice__5); + Py_VISIT(traverse_module_state->__pyx_tuple__4); + Py_VISIT(traverse_module_state->__pyx_tuple__8); + Py_VISIT(traverse_module_state->__pyx_tuple__15); + Py_VISIT(traverse_module_state->__pyx_tuple__16); + Py_VISIT(traverse_module_state->__pyx_tuple__17); + Py_VISIT(traverse_module_state->__pyx_tuple__18); + Py_VISIT(traverse_module_state->__pyx_tuple__19); + Py_VISIT(traverse_module_state->__pyx_tuple__20); + Py_VISIT(traverse_module_state->__pyx_tuple__21); + Py_VISIT(traverse_module_state->__pyx_tuple__22); + Py_VISIT(traverse_module_state->__pyx_tuple__23); + Py_VISIT(traverse_module_state->__pyx_tuple__24); + Py_VISIT(traverse_module_state->__pyx_tuple__25); + Py_VISIT(traverse_module_state->__pyx_tuple__26); + Py_VISIT(traverse_module_state->__pyx_tuple__28); + Py_VISIT(traverse_module_state->__pyx_tuple__30); + Py_VISIT(traverse_module_state->__pyx_tuple__34); + Py_VISIT(traverse_module_state->__pyx_codeobj__27); + Py_VISIT(traverse_module_state->__pyx_codeobj__29); + Py_VISIT(traverse_module_state->__pyx_codeobj__31); + Py_VISIT(traverse_module_state->__pyx_codeobj__32); + Py_VISIT(traverse_module_state->__pyx_codeobj__33); + Py_VISIT(traverse_module_state->__pyx_codeobj__35); + Py_VISIT(traverse_module_state->__pyx_codeobj__36); + Py_VISIT(traverse_module_state->__pyx_codeobj__37); + return 0; +} +#endif +/* #### Code section: module_state_defines ### */ +#define __pyx_d __pyx_mstate_global->__pyx_d +#define __pyx_b __pyx_mstate_global->__pyx_b +#define __pyx_cython_runtime __pyx_mstate_global->__pyx_cython_runtime +#define __pyx_empty_tuple __pyx_mstate_global->__pyx_empty_tuple +#define __pyx_empty_bytes __pyx_mstate_global->__pyx_empty_bytes +#define __pyx_empty_unicode __pyx_mstate_global->__pyx_empty_unicode +#ifdef __Pyx_CyFunction_USED +#define __pyx_CyFunctionType __pyx_mstate_global->__pyx_CyFunctionType +#endif +#ifdef __Pyx_FusedFunction_USED +#define __pyx_FusedFunctionType __pyx_mstate_global->__pyx_FusedFunctionType +#endif +#ifdef __Pyx_Generator_USED +#define __pyx_GeneratorType __pyx_mstate_global->__pyx_GeneratorType +#endif +#ifdef __Pyx_IterableCoroutine_USED +#define __pyx_IterableCoroutineType __pyx_mstate_global->__pyx_IterableCoroutineType +#endif +#ifdef __Pyx_Coroutine_USED +#define __pyx_CoroutineAwaitType __pyx_mstate_global->__pyx_CoroutineAwaitType +#endif +#ifdef __Pyx_Coroutine_USED +#define __pyx_CoroutineType __pyx_mstate_global->__pyx_CoroutineType +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#define __pyx_ptype_4msgq_9visionipc_13visionipc_pyx_CLContext __pyx_mstate_global->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_CLContext +#define __pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionBuf __pyx_mstate_global->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionBuf +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#define __pyx_ptype_7cpython_4type_type __pyx_mstate_global->__pyx_ptype_7cpython_4type_type +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#define __pyx_ptype_5numpy_dtype __pyx_mstate_global->__pyx_ptype_5numpy_dtype +#define __pyx_ptype_5numpy_flatiter __pyx_mstate_global->__pyx_ptype_5numpy_flatiter +#define __pyx_ptype_5numpy_broadcast __pyx_mstate_global->__pyx_ptype_5numpy_broadcast +#define __pyx_ptype_5numpy_ndarray __pyx_mstate_global->__pyx_ptype_5numpy_ndarray +#define __pyx_ptype_5numpy_generic __pyx_mstate_global->__pyx_ptype_5numpy_generic +#define __pyx_ptype_5numpy_number __pyx_mstate_global->__pyx_ptype_5numpy_number +#define __pyx_ptype_5numpy_integer __pyx_mstate_global->__pyx_ptype_5numpy_integer +#define __pyx_ptype_5numpy_signedinteger __pyx_mstate_global->__pyx_ptype_5numpy_signedinteger +#define __pyx_ptype_5numpy_unsignedinteger __pyx_mstate_global->__pyx_ptype_5numpy_unsignedinteger +#define __pyx_ptype_5numpy_inexact __pyx_mstate_global->__pyx_ptype_5numpy_inexact +#define __pyx_ptype_5numpy_floating __pyx_mstate_global->__pyx_ptype_5numpy_floating +#define __pyx_ptype_5numpy_complexfloating __pyx_mstate_global->__pyx_ptype_5numpy_complexfloating +#define __pyx_ptype_5numpy_flexible __pyx_mstate_global->__pyx_ptype_5numpy_flexible +#define __pyx_ptype_5numpy_character __pyx_mstate_global->__pyx_ptype_5numpy_character +#define __pyx_ptype_5numpy_ufunc __pyx_mstate_global->__pyx_ptype_5numpy_ufunc +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#define __pyx_type_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext __pyx_mstate_global->__pyx_type_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext +#define __pyx_type_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem __pyx_mstate_global->__pyx_type_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem +#define __pyx_type_9selfdrive_6modeld_6models_15commonmodel_pyx_ModelFrame __pyx_mstate_global->__pyx_type_9selfdrive_6modeld_6models_15commonmodel_pyx_ModelFrame +#define __pyx_type___pyx_array __pyx_mstate_global->__pyx_type___pyx_array +#define __pyx_type___pyx_MemviewEnum __pyx_mstate_global->__pyx_type___pyx_MemviewEnum +#define __pyx_type___pyx_memoryview __pyx_mstate_global->__pyx_type___pyx_memoryview +#define __pyx_type___pyx_memoryviewslice __pyx_mstate_global->__pyx_type___pyx_memoryviewslice +#endif +#define __pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext __pyx_mstate_global->__pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext +#define __pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem __pyx_mstate_global->__pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem +#define __pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_ModelFrame __pyx_mstate_global->__pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_ModelFrame +#define __pyx_array_type __pyx_mstate_global->__pyx_array_type +#define __pyx_MemviewEnum_type __pyx_mstate_global->__pyx_MemviewEnum_type +#define __pyx_memoryview_type __pyx_mstate_global->__pyx_memoryview_type +#define __pyx_memoryviewslice_type __pyx_mstate_global->__pyx_memoryviewslice_type +#define __pyx_kp_u_ __pyx_mstate_global->__pyx_kp_u_ +#define __pyx_n_s_ASCII __pyx_mstate_global->__pyx_n_s_ASCII +#define __pyx_kp_s_All_dimensions_preceding_dimensi __pyx_mstate_global->__pyx_kp_s_All_dimensions_preceding_dimensi +#define __pyx_n_s_AssertionError __pyx_mstate_global->__pyx_n_s_AssertionError +#define __pyx_kp_s_Buffer_view_does_not_expose_stri __pyx_mstate_global->__pyx_kp_s_Buffer_view_does_not_expose_stri +#define __pyx_n_s_CLContext __pyx_mstate_global->__pyx_n_s_CLContext +#define __pyx_n_s_CLContext___reduce_cython __pyx_mstate_global->__pyx_n_s_CLContext___reduce_cython +#define __pyx_n_s_CLContext___setstate_cython __pyx_mstate_global->__pyx_n_s_CLContext___setstate_cython +#define __pyx_n_s_CLMem __pyx_mstate_global->__pyx_n_s_CLMem +#define __pyx_n_s_CLMem___reduce_cython __pyx_mstate_global->__pyx_n_s_CLMem___reduce_cython +#define __pyx_n_s_CLMem___setstate_cython __pyx_mstate_global->__pyx_n_s_CLMem___setstate_cython +#define __pyx_kp_s_Can_only_create_a_buffer_that_is __pyx_mstate_global->__pyx_kp_s_Can_only_create_a_buffer_that_is +#define __pyx_kp_s_Cannot_assign_to_read_only_memor __pyx_mstate_global->__pyx_kp_s_Cannot_assign_to_read_only_memor +#define __pyx_kp_s_Cannot_create_writable_memory_vi __pyx_mstate_global->__pyx_kp_s_Cannot_create_writable_memory_vi +#define __pyx_kp_u_Cannot_index_with_type __pyx_mstate_global->__pyx_kp_u_Cannot_index_with_type +#define __pyx_kp_s_Cannot_transpose_memoryview_with __pyx_mstate_global->__pyx_kp_s_Cannot_transpose_memoryview_with +#define __pyx_kp_s_Dimension_d_is_not_direct __pyx_mstate_global->__pyx_kp_s_Dimension_d_is_not_direct +#define __pyx_n_s_Ellipsis __pyx_mstate_global->__pyx_n_s_Ellipsis +#define __pyx_kp_s_Empty_shape_tuple_for_cython_arr __pyx_mstate_global->__pyx_kp_s_Empty_shape_tuple_for_cython_arr +#define __pyx_n_s_ImportError __pyx_mstate_global->__pyx_n_s_ImportError +#define __pyx_kp_s_Incompatible_checksums_0x_x_vs_0 __pyx_mstate_global->__pyx_kp_s_Incompatible_checksums_0x_x_vs_0 +#define __pyx_n_s_IndexError __pyx_mstate_global->__pyx_n_s_IndexError +#define __pyx_kp_s_Index_out_of_bounds_axis_d __pyx_mstate_global->__pyx_kp_s_Index_out_of_bounds_axis_d +#define __pyx_kp_s_Indirect_dimensions_not_supporte __pyx_mstate_global->__pyx_kp_s_Indirect_dimensions_not_supporte +#define __pyx_kp_u_Invalid_mode_expected_c_or_fortr __pyx_mstate_global->__pyx_kp_u_Invalid_mode_expected_c_or_fortr +#define __pyx_kp_u_Invalid_shape_in_axis __pyx_mstate_global->__pyx_kp_u_Invalid_shape_in_axis +#define __pyx_n_s_MemoryError __pyx_mstate_global->__pyx_n_s_MemoryError +#define __pyx_kp_s_MemoryView_of_r_at_0x_x __pyx_mstate_global->__pyx_kp_s_MemoryView_of_r_at_0x_x +#define __pyx_kp_s_MemoryView_of_r_object __pyx_mstate_global->__pyx_kp_s_MemoryView_of_r_object +#define __pyx_n_s_ModelFrame __pyx_mstate_global->__pyx_n_s_ModelFrame +#define __pyx_n_s_ModelFrame___reduce_cython __pyx_mstate_global->__pyx_n_s_ModelFrame___reduce_cython +#define __pyx_n_s_ModelFrame___setstate_cython __pyx_mstate_global->__pyx_n_s_ModelFrame___setstate_cython +#define __pyx_n_s_ModelFrame_prepare __pyx_mstate_global->__pyx_n_s_ModelFrame_prepare +#define __pyx_n_b_O __pyx_mstate_global->__pyx_n_b_O +#define __pyx_kp_u_Out_of_bounds_on_buffer_access_a __pyx_mstate_global->__pyx_kp_u_Out_of_bounds_on_buffer_access_a +#define __pyx_n_s_PickleError __pyx_mstate_global->__pyx_n_s_PickleError +#define __pyx_n_s_Sequence __pyx_mstate_global->__pyx_n_s_Sequence +#define __pyx_kp_s_Step_may_not_be_zero_axis_d __pyx_mstate_global->__pyx_kp_s_Step_may_not_be_zero_axis_d +#define __pyx_kp_b_T __pyx_mstate_global->__pyx_kp_b_T +#define __pyx_n_s_TypeError __pyx_mstate_global->__pyx_n_s_TypeError +#define __pyx_kp_s_Unable_to_convert_item_to_object __pyx_mstate_global->__pyx_kp_s_Unable_to_convert_item_to_object +#define __pyx_n_s_ValueError __pyx_mstate_global->__pyx_n_s_ValueError +#define __pyx_n_s_View_MemoryView __pyx_mstate_global->__pyx_n_s_View_MemoryView +#define __pyx_kp_b__10 __pyx_mstate_global->__pyx_kp_b__10 +#define __pyx_kp_b__11 __pyx_mstate_global->__pyx_kp_b__11 +#define __pyx_kp_b__12 __pyx_mstate_global->__pyx_kp_b__12 +#define __pyx_kp_u__13 __pyx_mstate_global->__pyx_kp_u__13 +#define __pyx_kp_u__14 __pyx_mstate_global->__pyx_kp_u__14 +#define __pyx_kp_u__2 __pyx_mstate_global->__pyx_kp_u__2 +#define __pyx_n_s__3 __pyx_mstate_global->__pyx_n_s__3 +#define __pyx_n_s__38 __pyx_mstate_global->__pyx_n_s__38 +#define __pyx_kp_u__6 __pyx_mstate_global->__pyx_kp_u__6 +#define __pyx_kp_u__7 __pyx_mstate_global->__pyx_kp_u__7 +#define __pyx_kp_b__9 __pyx_mstate_global->__pyx_kp_b__9 +#define __pyx_n_s_abc __pyx_mstate_global->__pyx_n_s_abc +#define __pyx_n_s_allocate_buffer __pyx_mstate_global->__pyx_n_s_allocate_buffer +#define __pyx_kp_u_and __pyx_mstate_global->__pyx_kp_u_and +#define __pyx_n_s_asarray __pyx_mstate_global->__pyx_n_s_asarray +#define __pyx_n_s_asyncio_coroutines __pyx_mstate_global->__pyx_n_s_asyncio_coroutines +#define __pyx_n_s_base __pyx_mstate_global->__pyx_n_s_base +#define __pyx_n_s_buf __pyx_mstate_global->__pyx_n_s_buf +#define __pyx_n_s_c __pyx_mstate_global->__pyx_n_s_c +#define __pyx_n_u_c __pyx_mstate_global->__pyx_n_u_c +#define __pyx_n_s_class __pyx_mstate_global->__pyx_n_s_class +#define __pyx_n_s_class_getitem __pyx_mstate_global->__pyx_n_s_class_getitem +#define __pyx_n_s_cline_in_traceback __pyx_mstate_global->__pyx_n_s_cline_in_traceback +#define __pyx_n_s_collections __pyx_mstate_global->__pyx_n_s_collections +#define __pyx_kp_s_collections_abc __pyx_mstate_global->__pyx_kp_s_collections_abc +#define __pyx_n_s_context __pyx_mstate_global->__pyx_n_s_context +#define __pyx_kp_s_contiguous_and_direct __pyx_mstate_global->__pyx_kp_s_contiguous_and_direct +#define __pyx_kp_s_contiguous_and_indirect __pyx_mstate_global->__pyx_kp_s_contiguous_and_indirect +#define __pyx_n_s_count __pyx_mstate_global->__pyx_n_s_count +#define __pyx_n_s_cprojection __pyx_mstate_global->__pyx_n_s_cprojection +#define __pyx_n_s_data __pyx_mstate_global->__pyx_n_s_data +#define __pyx_n_s_dict __pyx_mstate_global->__pyx_n_s_dict +#define __pyx_kp_u_disable __pyx_mstate_global->__pyx_kp_u_disable +#define __pyx_n_s_dtype_is_object __pyx_mstate_global->__pyx_n_s_dtype_is_object +#define __pyx_kp_u_enable __pyx_mstate_global->__pyx_kp_u_enable +#define __pyx_n_s_encode __pyx_mstate_global->__pyx_n_s_encode +#define __pyx_n_s_enumerate __pyx_mstate_global->__pyx_n_s_enumerate +#define __pyx_n_s_error __pyx_mstate_global->__pyx_n_s_error +#define __pyx_n_s_flags __pyx_mstate_global->__pyx_n_s_flags +#define __pyx_n_s_format __pyx_mstate_global->__pyx_n_s_format +#define __pyx_n_s_fortran __pyx_mstate_global->__pyx_n_s_fortran +#define __pyx_n_u_fortran __pyx_mstate_global->__pyx_n_u_fortran +#define __pyx_kp_u_gc __pyx_mstate_global->__pyx_kp_u_gc +#define __pyx_n_s_getstate __pyx_mstate_global->__pyx_n_s_getstate +#define __pyx_kp_u_got __pyx_mstate_global->__pyx_kp_u_got +#define __pyx_kp_u_got_differing_extents_in_dimensi __pyx_mstate_global->__pyx_kp_u_got_differing_extents_in_dimensi +#define __pyx_n_s_height __pyx_mstate_global->__pyx_n_s_height +#define __pyx_n_s_id __pyx_mstate_global->__pyx_n_s_id +#define __pyx_n_s_import __pyx_mstate_global->__pyx_n_s_import +#define __pyx_n_s_index __pyx_mstate_global->__pyx_n_s_index +#define __pyx_n_s_initializing __pyx_mstate_global->__pyx_n_s_initializing +#define __pyx_n_s_is_coroutine __pyx_mstate_global->__pyx_n_s_is_coroutine +#define __pyx_kp_u_isenabled __pyx_mstate_global->__pyx_kp_u_isenabled +#define __pyx_n_s_itemsize __pyx_mstate_global->__pyx_n_s_itemsize +#define __pyx_kp_s_itemsize_0_for_cython_array __pyx_mstate_global->__pyx_kp_s_itemsize_0_for_cython_array +#define __pyx_n_s_join __pyx_mstate_global->__pyx_n_s_join +#define __pyx_n_s_main __pyx_mstate_global->__pyx_n_s_main +#define __pyx_n_s_memview __pyx_mstate_global->__pyx_n_s_memview +#define __pyx_n_s_mode __pyx_mstate_global->__pyx_n_s_mode +#define __pyx_n_s_name __pyx_mstate_global->__pyx_n_s_name +#define __pyx_n_s_name_2 __pyx_mstate_global->__pyx_n_s_name_2 +#define __pyx_n_s_ndim __pyx_mstate_global->__pyx_n_s_ndim +#define __pyx_n_s_new __pyx_mstate_global->__pyx_n_s_new +#define __pyx_kp_s_no_default___reduce___due_to_non __pyx_mstate_global->__pyx_kp_s_no_default___reduce___due_to_non +#define __pyx_n_s_np __pyx_mstate_global->__pyx_n_s_np +#define __pyx_n_s_numpy __pyx_mstate_global->__pyx_n_s_numpy +#define __pyx_kp_u_numpy_core_multiarray_failed_to __pyx_mstate_global->__pyx_kp_u_numpy_core_multiarray_failed_to +#define __pyx_kp_u_numpy_core_umath_failed_to_impor __pyx_mstate_global->__pyx_kp_u_numpy_core_umath_failed_to_impor +#define __pyx_n_s_obj __pyx_mstate_global->__pyx_n_s_obj +#define __pyx_n_s_output __pyx_mstate_global->__pyx_n_s_output +#define __pyx_n_s_pack __pyx_mstate_global->__pyx_n_s_pack +#define __pyx_n_s_pickle __pyx_mstate_global->__pyx_n_s_pickle +#define __pyx_n_s_prepare __pyx_mstate_global->__pyx_n_s_prepare +#define __pyx_n_s_projection __pyx_mstate_global->__pyx_n_s_projection +#define __pyx_n_s_pyx_PickleError __pyx_mstate_global->__pyx_n_s_pyx_PickleError +#define __pyx_n_s_pyx_checksum __pyx_mstate_global->__pyx_n_s_pyx_checksum +#define __pyx_n_s_pyx_result __pyx_mstate_global->__pyx_n_s_pyx_result +#define __pyx_n_s_pyx_state __pyx_mstate_global->__pyx_n_s_pyx_state +#define __pyx_n_s_pyx_type __pyx_mstate_global->__pyx_n_s_pyx_type +#define __pyx_n_s_pyx_unpickle_Enum __pyx_mstate_global->__pyx_n_s_pyx_unpickle_Enum +#define __pyx_n_s_pyx_vtable __pyx_mstate_global->__pyx_n_s_pyx_vtable +#define __pyx_n_s_range __pyx_mstate_global->__pyx_n_s_range +#define __pyx_n_s_reduce __pyx_mstate_global->__pyx_n_s_reduce +#define __pyx_n_s_reduce_cython __pyx_mstate_global->__pyx_n_s_reduce_cython +#define __pyx_n_s_reduce_ex __pyx_mstate_global->__pyx_n_s_reduce_ex +#define __pyx_n_s_register __pyx_mstate_global->__pyx_n_s_register +#define __pyx_n_s_self __pyx_mstate_global->__pyx_n_s_self +#define __pyx_kp_s_self_mem_cannot_be_converted_to __pyx_mstate_global->__pyx_kp_s_self_mem_cannot_be_converted_to +#define __pyx_n_s_selfdrive_modeld_models_commonmo __pyx_mstate_global->__pyx_n_s_selfdrive_modeld_models_commonmo +#define __pyx_kp_s_selfdrive_modeld_models_commonmo_2 __pyx_mstate_global->__pyx_kp_s_selfdrive_modeld_models_commonmo_2 +#define __pyx_n_s_setstate __pyx_mstate_global->__pyx_n_s_setstate +#define __pyx_n_s_setstate_cython __pyx_mstate_global->__pyx_n_s_setstate_cython +#define __pyx_n_s_shape __pyx_mstate_global->__pyx_n_s_shape +#define __pyx_n_s_size __pyx_mstate_global->__pyx_n_s_size +#define __pyx_n_s_spec __pyx_mstate_global->__pyx_n_s_spec +#define __pyx_n_s_start __pyx_mstate_global->__pyx_n_s_start +#define __pyx_n_s_step __pyx_mstate_global->__pyx_n_s_step +#define __pyx_n_s_stop __pyx_mstate_global->__pyx_n_s_stop +#define __pyx_n_s_stride __pyx_mstate_global->__pyx_n_s_stride +#define __pyx_kp_s_strided_and_direct __pyx_mstate_global->__pyx_kp_s_strided_and_direct +#define __pyx_kp_s_strided_and_direct_or_indirect __pyx_mstate_global->__pyx_kp_s_strided_and_direct_or_indirect +#define __pyx_kp_s_strided_and_indirect __pyx_mstate_global->__pyx_kp_s_strided_and_indirect +#define __pyx_kp_s_stringsource __pyx_mstate_global->__pyx_kp_s_stringsource +#define __pyx_n_s_struct __pyx_mstate_global->__pyx_n_s_struct +#define __pyx_n_s_sys __pyx_mstate_global->__pyx_n_s_sys +#define __pyx_n_s_test __pyx_mstate_global->__pyx_n_s_test +#define __pyx_kp_s_unable_to_allocate_array_data __pyx_mstate_global->__pyx_kp_s_unable_to_allocate_array_data +#define __pyx_kp_s_unable_to_allocate_shape_and_str __pyx_mstate_global->__pyx_kp_s_unable_to_allocate_shape_and_str +#define __pyx_n_s_unpack __pyx_mstate_global->__pyx_n_s_unpack +#define __pyx_n_s_update __pyx_mstate_global->__pyx_n_s_update +#define __pyx_n_s_uv_offset __pyx_mstate_global->__pyx_n_s_uv_offset +#define __pyx_n_s_version_info __pyx_mstate_global->__pyx_n_s_version_info +#define __pyx_n_s_width __pyx_mstate_global->__pyx_n_s_width +#define __pyx_int_0 __pyx_mstate_global->__pyx_int_0 +#define __pyx_int_1 __pyx_mstate_global->__pyx_int_1 +#define __pyx_int_3 __pyx_mstate_global->__pyx_int_3 +#define __pyx_int_112105877 __pyx_mstate_global->__pyx_int_112105877 +#define __pyx_int_136983863 __pyx_mstate_global->__pyx_int_136983863 +#define __pyx_int_184977713 __pyx_mstate_global->__pyx_int_184977713 +#define __pyx_int_neg_1 __pyx_mstate_global->__pyx_int_neg_1 +#define __pyx_slice__5 __pyx_mstate_global->__pyx_slice__5 +#define __pyx_tuple__4 __pyx_mstate_global->__pyx_tuple__4 +#define __pyx_tuple__8 __pyx_mstate_global->__pyx_tuple__8 +#define __pyx_tuple__15 __pyx_mstate_global->__pyx_tuple__15 +#define __pyx_tuple__16 __pyx_mstate_global->__pyx_tuple__16 +#define __pyx_tuple__17 __pyx_mstate_global->__pyx_tuple__17 +#define __pyx_tuple__18 __pyx_mstate_global->__pyx_tuple__18 +#define __pyx_tuple__19 __pyx_mstate_global->__pyx_tuple__19 +#define __pyx_tuple__20 __pyx_mstate_global->__pyx_tuple__20 +#define __pyx_tuple__21 __pyx_mstate_global->__pyx_tuple__21 +#define __pyx_tuple__22 __pyx_mstate_global->__pyx_tuple__22 +#define __pyx_tuple__23 __pyx_mstate_global->__pyx_tuple__23 +#define __pyx_tuple__24 __pyx_mstate_global->__pyx_tuple__24 +#define __pyx_tuple__25 __pyx_mstate_global->__pyx_tuple__25 +#define __pyx_tuple__26 __pyx_mstate_global->__pyx_tuple__26 +#define __pyx_tuple__28 __pyx_mstate_global->__pyx_tuple__28 +#define __pyx_tuple__30 __pyx_mstate_global->__pyx_tuple__30 +#define __pyx_tuple__34 __pyx_mstate_global->__pyx_tuple__34 +#define __pyx_codeobj__27 __pyx_mstate_global->__pyx_codeobj__27 +#define __pyx_codeobj__29 __pyx_mstate_global->__pyx_codeobj__29 +#define __pyx_codeobj__31 __pyx_mstate_global->__pyx_codeobj__31 +#define __pyx_codeobj__32 __pyx_mstate_global->__pyx_codeobj__32 +#define __pyx_codeobj__33 __pyx_mstate_global->__pyx_codeobj__33 +#define __pyx_codeobj__35 __pyx_mstate_global->__pyx_codeobj__35 +#define __pyx_codeobj__36 __pyx_mstate_global->__pyx_codeobj__36 +#define __pyx_codeobj__37 __pyx_mstate_global->__pyx_codeobj__37 +/* #### Code section: module_code ### */ + +/* "View.MemoryView":131 + * cdef bint dtype_is_object 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(unlikely(__pyx_nargs < 0)) return -1; + #endif + __pyx_kwvalues = __Pyx_KwValues_VARARGS(__pyx_args, __pyx_nargs); + { + PyObject **__pyx_pyargnames[] = {&__pyx_n_s_shape,&__pyx_n_s_itemsize,&__pyx_n_s_format,&__pyx_n_s_mode,&__pyx_n_s_allocate_buffer,0}; + values[3] = __Pyx_Arg_NewRef_VARARGS(((PyObject *)__pyx_n_s_c)); + if (__pyx_kwds) { + Py_ssize_t kw_args; + switch (__pyx_nargs) { + case 5: values[4] = __Pyx_Arg_VARARGS(__pyx_args, 4); + CYTHON_FALLTHROUGH; + case 4: values[3] = __Pyx_Arg_VARARGS(__pyx_args, 3); + CYTHON_FALLTHROUGH; + case 3: values[2] = __Pyx_Arg_VARARGS(__pyx_args, 2); + CYTHON_FALLTHROUGH; + case 2: values[1] = __Pyx_Arg_VARARGS(__pyx_args, 1); + CYTHON_FALLTHROUGH; + case 1: values[0] = __Pyx_Arg_VARARGS(__pyx_args, 0); + CYTHON_FALLTHROUGH; + case 0: break; + default: goto __pyx_L5_argtuple_error; + } + kw_args = __Pyx_NumKwargs_VARARGS(__pyx_kwds); + switch (__pyx_nargs) { + case 0: + if (likely((values[0] = __Pyx_GetKwValue_VARARGS(__pyx_kwds, __pyx_kwvalues, __pyx_n_s_shape)) != 0)) { + (void)__Pyx_Arg_NewRef_VARARGS(values[0]); + kw_args--; + } + else if (unlikely(PyErr_Occurred())) __PYX_ERR(0, 131, __pyx_L3_error) + else goto __pyx_L5_argtuple_error; + CYTHON_FALLTHROUGH; + case 1: + if (likely((values[1] = __Pyx_GetKwValue_VARARGS(__pyx_kwds, __pyx_kwvalues, __pyx_n_s_itemsize)) != 0)) { + (void)__Pyx_Arg_NewRef_VARARGS(values[1]); + kw_args--; + } + else if (unlikely(PyErr_Occurred())) __PYX_ERR(0, 131, __pyx_L3_error) + else { + __Pyx_RaiseArgtupleInvalid("__cinit__", 0, 3, 5, 1); __PYX_ERR(0, 131, __pyx_L3_error) + } + CYTHON_FALLTHROUGH; + case 2: + if (likely((values[2] = __Pyx_GetKwValue_VARARGS(__pyx_kwds, __pyx_kwvalues, __pyx_n_s_format)) != 0)) { + (void)__Pyx_Arg_NewRef_VARARGS(values[2]); + kw_args--; + } + else if (unlikely(PyErr_Occurred())) __PYX_ERR(0, 131, __pyx_L3_error) + else { + __Pyx_RaiseArgtupleInvalid("__cinit__", 0, 3, 5, 2); __PYX_ERR(0, 131, __pyx_L3_error) + } + CYTHON_FALLTHROUGH; + case 3: 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new_ndim = 0, suboffset_dim = -1, dim + * cdef bint negative_step + */ + + /* function exit code */ + __pyx_L1_error:; + __Pyx_XDECREF(__pyx_t_2); + __Pyx_XDECREF(__pyx_t_8); + __Pyx_AddTraceback("View.MemoryView.memview_slice", __pyx_clineno, __pyx_lineno, __pyx_filename); + __pyx_r = 0; + __pyx_L0:; + __Pyx_XDECREF((PyObject *)__pyx_v_memviewsliceobj); + __Pyx_XDECREF(__pyx_v_index); + __Pyx_XGIVEREF((PyObject *)__pyx_r); + __Pyx_RefNannyFinishContext(); + return __pyx_r; +} + +/* "View.MemoryView":793 + * + * @cname('__pyx_memoryview_slice_memviewslice') + * cdef int slice_memviewslice( # <<<<<<<<<<<<<< + * __Pyx_memviewslice *dst, + * Py_ssize_t shape, Py_ssize_t stride, Py_ssize_t suboffset, + */ + +static int __pyx_memoryview_slice_memviewslice(__Pyx_memviewslice *__pyx_v_dst, Py_ssize_t __pyx_v_shape, Py_ssize_t __pyx_v_stride, Py_ssize_t __pyx_v_suboffset, int __pyx_v_dim, int __pyx_v_new_ndim, int *__pyx_v_suboffset_dim, Py_ssize_t __pyx_v_start, Py_ssize_t __pyx_v_stop, Py_ssize_t __pyx_v_step, int __pyx_v_have_start, int __pyx_v_have_stop, int __pyx_v_have_step, int __pyx_v_is_slice) { + Py_ssize_t __pyx_v_new_shape; + int __pyx_v_negative_step; + int __pyx_r; + int __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + int __pyx_lineno = 0; + const char *__pyx_filename = NULL; + int __pyx_clineno = 0; + #ifdef WITH_THREAD + PyGILState_STATE __pyx_gilstate_save; + #endif + + /* "View.MemoryView":813 + * cdef bint negative_step + * + * if not is_slice: # <<<<<<<<<<<<<< + * + * if start < 0: + */ + __pyx_t_1 = (!__pyx_v_is_slice); + if (__pyx_t_1) { + + /* "View.MemoryView":815 + * if not is_slice: + * + * if start < 0: # <<<<<<<<<<<<<< + * start += shape + * if not 0 <= start < shape: + */ + __pyx_t_1 = (__pyx_v_start < 0); + if (__pyx_t_1) { + + /* "View.MemoryView":816 + * + * if start < 0: + * start += shape # <<<<<<<<<<<<<< + * if not 0 <= start < shape: + * _err_dim(PyExc_IndexError, "Index out of bounds (axis %d)", dim) + */ + __pyx_v_start = (__pyx_v_start + __pyx_v_shape); + + /* "View.MemoryView":815 + * if not is_slice: + * + * if start < 0: # <<<<<<<<<<<<<< + * start += shape + * if not 0 <= start < shape: + */ + } + + /* "View.MemoryView":817 + * if start < 0: + * start += shape + * if not 0 <= start < shape: # <<<<<<<<<<<<<< + * _err_dim(PyExc_IndexError, "Index out of bounds (axis %d)", dim) + * else: + */ + __pyx_t_1 = (0 <= __pyx_v_start); + if (__pyx_t_1) { + __pyx_t_1 = (__pyx_v_start < __pyx_v_shape); + } + __pyx_t_2 = (!__pyx_t_1); + if (__pyx_t_2) { + + /* "View.MemoryView":818 + * start += shape + * if not 0 <= start < shape: + * _err_dim(PyExc_IndexError, "Index out of bounds (axis %d)", dim) # <<<<<<<<<<<<<< + * else: + * + */ + __pyx_t_3 = __pyx_memoryview_err_dim(PyExc_IndexError, __pyx_kp_s_Index_out_of_bounds_axis_d, __pyx_v_dim); if (unlikely(__pyx_t_3 == ((int)-1))) __PYX_ERR(0, 818, __pyx_L1_error) + + /* "View.MemoryView":817 + * if start < 0: + * start += shape + * if not 0 <= start < shape: # <<<<<<<<<<<<<< + * _err_dim(PyExc_IndexError, "Index out of bounds (axis %d)", dim) + * else: + */ + } + + /* "View.MemoryView":813 + * cdef bint negative_step + * + * if not is_slice: # <<<<<<<<<<<<<< + * + * if start < 0: + */ + goto __pyx_L3; + } + + /* "View.MemoryView":821 + * else: + * + * if have_step: # <<<<<<<<<<<<<< + * negative_step = step < 0 + * if step == 0: + */ + /*else*/ { + __pyx_t_2 = (__pyx_v_have_step != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":822 + * + * if have_step: + * negative_step = step < 0 # <<<<<<<<<<<<<< + * if step == 0: + * _err_dim(PyExc_ValueError, "Step may not be zero (axis %d)", dim) + */ + __pyx_v_negative_step = (__pyx_v_step < 0); + + /* "View.MemoryView":823 + * if have_step: + * negative_step = step < 0 + * if step == 0: # <<<<<<<<<<<<<< + * _err_dim(PyExc_ValueError, "Step may not be zero (axis %d)", dim) + * else: + */ + __pyx_t_2 = (__pyx_v_step == 0); + if (__pyx_t_2) { + + /* "View.MemoryView":824 + * negative_step = step < 0 + * if step == 0: + * _err_dim(PyExc_ValueError, "Step may not be zero (axis %d)", dim) # <<<<<<<<<<<<<< + * else: + * negative_step = False + */ + __pyx_t_3 = __pyx_memoryview_err_dim(PyExc_ValueError, __pyx_kp_s_Step_may_not_be_zero_axis_d, __pyx_v_dim); if (unlikely(__pyx_t_3 == ((int)-1))) __PYX_ERR(0, 824, __pyx_L1_error) + + /* "View.MemoryView":823 + * if have_step: + * negative_step = step < 0 + * if step == 0: # <<<<<<<<<<<<<< + * _err_dim(PyExc_ValueError, "Step may not be zero (axis %d)", dim) + * else: + */ + } + + /* "View.MemoryView":821 + * else: + * + * if have_step: # <<<<<<<<<<<<<< + * negative_step = step < 0 + * if step == 0: + */ + goto __pyx_L6; + } + + /* "View.MemoryView":826 + * _err_dim(PyExc_ValueError, "Step may not be zero (axis %d)", dim) + * else: + * negative_step = False # <<<<<<<<<<<<<< + * step = 1 + * + */ + /*else*/ { + __pyx_v_negative_step = 0; + + /* "View.MemoryView":827 + * else: + * negative_step = False + * step = 1 # <<<<<<<<<<<<<< + * + * + */ + __pyx_v_step = 1; + } + __pyx_L6:; + + /* "View.MemoryView":830 + * + * + * if have_start: # <<<<<<<<<<<<<< + * if start < 0: + * start += shape + */ + __pyx_t_2 = (__pyx_v_have_start != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":831 + * + * if have_start: + * if start < 0: # <<<<<<<<<<<<<< + * start += shape + * if start < 0: + */ + __pyx_t_2 = (__pyx_v_start < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":832 + * if have_start: + * if start < 0: + * start += shape # <<<<<<<<<<<<<< + * if start < 0: + * start = 0 + */ + __pyx_v_start = (__pyx_v_start + __pyx_v_shape); + + /* "View.MemoryView":833 + * if start < 0: + * start += shape + * if start < 0: # <<<<<<<<<<<<<< + * start = 0 + * elif start >= shape: + */ + __pyx_t_2 = (__pyx_v_start < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":834 + * start += shape + * if start < 0: + * start = 0 # <<<<<<<<<<<<<< + * elif start >= shape: + * if negative_step: + */ + __pyx_v_start = 0; + + /* "View.MemoryView":833 + * if start < 0: + * start += shape + * if start < 0: # <<<<<<<<<<<<<< + * start = 0 + * elif start >= shape: + */ + } + + /* "View.MemoryView":831 + * + * if have_start: + * if start < 0: # <<<<<<<<<<<<<< + * start += shape + * if start < 0: + */ + goto __pyx_L9; + } + + /* "View.MemoryView":835 + * if start < 0: + * start = 0 + * elif start >= shape: # <<<<<<<<<<<<<< + * if negative_step: + * start = shape - 1 + */ + __pyx_t_2 = (__pyx_v_start >= __pyx_v_shape); + if (__pyx_t_2) { + + /* "View.MemoryView":836 + * start = 0 + * elif start >= shape: + * if negative_step: # <<<<<<<<<<<<<< + * start = shape - 1 + * else: + */ + if (__pyx_v_negative_step) { + + /* "View.MemoryView":837 + * elif start >= shape: + * if negative_step: + * start = shape - 1 # <<<<<<<<<<<<<< + * else: + * start = shape + */ + __pyx_v_start = (__pyx_v_shape - 1); + + /* "View.MemoryView":836 + * start = 0 + * elif start >= shape: + * if negative_step: # <<<<<<<<<<<<<< + * start = shape - 1 + * else: + */ + goto __pyx_L11; + } + + /* "View.MemoryView":839 + * start = shape - 1 + * else: + * start = shape # <<<<<<<<<<<<<< + * else: + * if negative_step: + */ + /*else*/ { + __pyx_v_start = __pyx_v_shape; + } + __pyx_L11:; + + /* "View.MemoryView":835 + * if start < 0: + * start = 0 + * elif start >= shape: # <<<<<<<<<<<<<< + * if negative_step: + * start = shape - 1 + */ + } + __pyx_L9:; + + /* "View.MemoryView":830 + * + * + * if have_start: # <<<<<<<<<<<<<< + * if start < 0: + * start += shape + */ + goto __pyx_L8; + } + + /* "View.MemoryView":841 + * start = shape + * else: + * if negative_step: # <<<<<<<<<<<<<< + * start = shape - 1 + * else: + */ + /*else*/ { + if (__pyx_v_negative_step) { + + /* "View.MemoryView":842 + * else: + * if negative_step: + * start = shape - 1 # <<<<<<<<<<<<<< + * else: + * start = 0 + */ + __pyx_v_start = (__pyx_v_shape - 1); + + /* "View.MemoryView":841 + * start = shape + * else: + * if negative_step: # <<<<<<<<<<<<<< + * start = shape - 1 + * else: + */ + goto __pyx_L12; + } + + /* "View.MemoryView":844 + * start = shape - 1 + * else: + * start = 0 # <<<<<<<<<<<<<< + * + * if have_stop: + */ + /*else*/ { + __pyx_v_start = 0; + } + __pyx_L12:; + } + __pyx_L8:; + + /* "View.MemoryView":846 + * start = 0 + * + * if have_stop: # <<<<<<<<<<<<<< + * if stop < 0: + * stop += shape + */ + __pyx_t_2 = (__pyx_v_have_stop != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":847 + * + * if have_stop: + * if stop < 0: # <<<<<<<<<<<<<< + * stop += shape + * if stop < 0: + */ + __pyx_t_2 = (__pyx_v_stop < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":848 + * if have_stop: + * if stop < 0: + * stop += shape # <<<<<<<<<<<<<< + * if stop < 0: + * stop = 0 + */ + __pyx_v_stop = (__pyx_v_stop + __pyx_v_shape); + + /* "View.MemoryView":849 + * if stop < 0: + * stop += shape + * if stop < 0: # <<<<<<<<<<<<<< + * stop = 0 + * elif stop > shape: + */ + __pyx_t_2 = (__pyx_v_stop < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":850 + * stop += shape + * if stop < 0: + * stop = 0 # <<<<<<<<<<<<<< + * elif stop > shape: + * stop = shape + */ + __pyx_v_stop = 0; + + /* "View.MemoryView":849 + * if stop < 0: + * stop += shape + * if stop < 0: # <<<<<<<<<<<<<< + * stop = 0 + * elif stop > shape: + */ + } + + /* "View.MemoryView":847 + * + * if have_stop: + * if stop < 0: # <<<<<<<<<<<<<< + * stop += shape + * if stop < 0: + */ + goto __pyx_L14; + } + + /* "View.MemoryView":851 + * if stop < 0: + * stop = 0 + * elif stop > shape: # <<<<<<<<<<<<<< + * stop = shape + * else: + */ + __pyx_t_2 = (__pyx_v_stop > __pyx_v_shape); + if (__pyx_t_2) { + + /* "View.MemoryView":852 + * stop = 0 + * elif stop > shape: + * stop = shape # <<<<<<<<<<<<<< + * else: + * if negative_step: + */ + __pyx_v_stop = __pyx_v_shape; + + /* "View.MemoryView":851 + * if stop < 0: + * stop = 0 + * elif stop > shape: # <<<<<<<<<<<<<< + * stop = shape + * else: + */ + } + __pyx_L14:; + + /* "View.MemoryView":846 + * start = 0 + * + * if have_stop: # <<<<<<<<<<<<<< + * if stop < 0: + * stop += shape + */ + goto __pyx_L13; + } + + /* "View.MemoryView":854 + * stop = shape + * else: + * if negative_step: # <<<<<<<<<<<<<< + * stop = -1 + * else: + */ + /*else*/ { + if (__pyx_v_negative_step) { + + /* "View.MemoryView":855 + * else: + * if negative_step: + * stop = -1 # <<<<<<<<<<<<<< + * else: + * stop = shape + */ + __pyx_v_stop = -1L; + + /* "View.MemoryView":854 + * stop = shape + * else: + * if negative_step: # <<<<<<<<<<<<<< + * stop = -1 + * else: + */ + goto __pyx_L16; + } + + /* "View.MemoryView":857 + * stop = -1 + * else: + * stop = shape # <<<<<<<<<<<<<< + * + * + */ + /*else*/ { + __pyx_v_stop = __pyx_v_shape; + } + __pyx_L16:; + } + __pyx_L13:; + + /* "View.MemoryView":861 + * + * with cython.cdivision(True): + * new_shape = (stop - start) // step # <<<<<<<<<<<<<< + * + * if (stop - start) - step * new_shape: + */ + __pyx_v_new_shape = ((__pyx_v_stop - __pyx_v_start) / __pyx_v_step); + + /* "View.MemoryView":863 + * new_shape = (stop - start) // step + * + * if (stop - start) - step * new_shape: # <<<<<<<<<<<<<< + * new_shape += 1 + * + */ + __pyx_t_2 = (((__pyx_v_stop - __pyx_v_start) - (__pyx_v_step * __pyx_v_new_shape)) != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":864 + * + * if (stop - start) - step * new_shape: + * new_shape += 1 # <<<<<<<<<<<<<< + * + * if new_shape < 0: + */ + __pyx_v_new_shape = (__pyx_v_new_shape + 1); + + /* "View.MemoryView":863 + * new_shape = (stop - start) // step + * + * if (stop - start) - step * new_shape: # <<<<<<<<<<<<<< + * new_shape += 1 + * + */ + } + + /* "View.MemoryView":866 + * new_shape += 1 + * + * if new_shape < 0: # <<<<<<<<<<<<<< + * new_shape = 0 + * + */ + __pyx_t_2 = (__pyx_v_new_shape < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":867 + * + * if new_shape < 0: + * new_shape = 0 # <<<<<<<<<<<<<< + * + * + */ + __pyx_v_new_shape = 0; + + /* "View.MemoryView":866 + * new_shape += 1 + * + * if new_shape < 0: # <<<<<<<<<<<<<< + * new_shape = 0 + * + */ + } + + /* "View.MemoryView":870 + * + * + * dst.strides[new_ndim] = stride * step # <<<<<<<<<<<<<< + * dst.shape[new_ndim] = new_shape + * dst.suboffsets[new_ndim] = suboffset + */ + (__pyx_v_dst->strides[__pyx_v_new_ndim]) = (__pyx_v_stride * __pyx_v_step); + + /* "View.MemoryView":871 + * + * dst.strides[new_ndim] = stride * step + * dst.shape[new_ndim] = new_shape # <<<<<<<<<<<<<< + * dst.suboffsets[new_ndim] = suboffset + * + */ + (__pyx_v_dst->shape[__pyx_v_new_ndim]) = __pyx_v_new_shape; + + /* "View.MemoryView":872 + * dst.strides[new_ndim] = stride * step + * dst.shape[new_ndim] = new_shape + * dst.suboffsets[new_ndim] = suboffset # <<<<<<<<<<<<<< + * + * + */ + (__pyx_v_dst->suboffsets[__pyx_v_new_ndim]) = __pyx_v_suboffset; + } + __pyx_L3:; + + /* "View.MemoryView":875 + * + * + * if suboffset_dim[0] < 0: # <<<<<<<<<<<<<< + * dst.data += start * stride + * else: + */ + __pyx_t_2 = ((__pyx_v_suboffset_dim[0]) < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":876 + * + * if suboffset_dim[0] < 0: + * dst.data += start * stride # <<<<<<<<<<<<<< + * else: + * dst.suboffsets[suboffset_dim[0]] += start * stride + */ + __pyx_v_dst->data = (__pyx_v_dst->data + (__pyx_v_start * __pyx_v_stride)); + + /* "View.MemoryView":875 + * + * + * if suboffset_dim[0] < 0: # <<<<<<<<<<<<<< + * dst.data += start * stride + * else: + */ + goto __pyx_L19; + } + + /* "View.MemoryView":878 + * dst.data += start * stride + * else: + * dst.suboffsets[suboffset_dim[0]] += start * stride # <<<<<<<<<<<<<< + * + * if suboffset >= 0: + */ + /*else*/ { + __pyx_t_3 = (__pyx_v_suboffset_dim[0]); + (__pyx_v_dst->suboffsets[__pyx_t_3]) = ((__pyx_v_dst->suboffsets[__pyx_t_3]) + (__pyx_v_start * __pyx_v_stride)); + } + __pyx_L19:; + + /* "View.MemoryView":880 + * dst.suboffsets[suboffset_dim[0]] += start * stride + * + * if suboffset >= 0: # <<<<<<<<<<<<<< + * if not is_slice: + * if new_ndim == 0: + */ + __pyx_t_2 = (__pyx_v_suboffset >= 0); + if (__pyx_t_2) { + + /* "View.MemoryView":881 + * + * if suboffset >= 0: + * if not is_slice: # <<<<<<<<<<<<<< + * if new_ndim == 0: + * dst.data = ( dst.data)[0] + suboffset + */ + __pyx_t_2 = (!__pyx_v_is_slice); + if (__pyx_t_2) { + + /* "View.MemoryView":882 + * if suboffset >= 0: + * if not is_slice: + * if new_ndim == 0: # <<<<<<<<<<<<<< + * dst.data = ( dst.data)[0] + suboffset + * else: + */ + __pyx_t_2 = (__pyx_v_new_ndim == 0); + if (__pyx_t_2) { + + /* "View.MemoryView":883 + * if not is_slice: + * if new_ndim == 0: + * dst.data = ( dst.data)[0] + suboffset # <<<<<<<<<<<<<< + * else: + * _err_dim(PyExc_IndexError, "All dimensions preceding dimension %d " + */ + __pyx_v_dst->data = ((((char **)__pyx_v_dst->data)[0]) + __pyx_v_suboffset); + + /* "View.MemoryView":882 + * if suboffset >= 0: + * if not is_slice: + * if new_ndim == 0: # <<<<<<<<<<<<<< + * dst.data = ( dst.data)[0] + suboffset + * else: + */ + goto __pyx_L22; + } + + /* "View.MemoryView":885 + * dst.data = ( dst.data)[0] + suboffset + * else: + * _err_dim(PyExc_IndexError, "All dimensions preceding dimension 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range(ndim - 1, -1, -1): + */ + __pyx_v_f_stride = 0; + + /* "View.MemoryView":1121 + * cdef Py_ssize_t f_stride = 0 + * + * for i in range(ndim - 1, -1, -1): # <<<<<<<<<<<<<< + * if mslice.shape[i] > 1: + * c_stride = mslice.strides[i] + */ + for (__pyx_t_1 = (__pyx_v_ndim - 1); __pyx_t_1 > -1; __pyx_t_1-=1) { + __pyx_v_i = __pyx_t_1; + + /* "View.MemoryView":1122 + * + * for i in range(ndim - 1, -1, -1): + * if mslice.shape[i] > 1: # <<<<<<<<<<<<<< + * c_stride = mslice.strides[i] + * break + */ + __pyx_t_2 = ((__pyx_v_mslice->shape[__pyx_v_i]) > 1); + if (__pyx_t_2) { + + /* "View.MemoryView":1123 + * for i in range(ndim - 1, -1, -1): + * if mslice.shape[i] > 1: + * c_stride = mslice.strides[i] # <<<<<<<<<<<<<< + * break + * + */ + __pyx_v_c_stride = (__pyx_v_mslice->strides[__pyx_v_i]); + + /* "View.MemoryView":1124 + * if mslice.shape[i] > 1: + * c_stride = mslice.strides[i] + * break # <<<<<<<<<<<<<< + * + * for i in range(ndim): + */ + goto __pyx_L4_break; + + /* 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mslice.strides[i] + * break # <<<<<<<<<<<<<< + * + * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): + */ + goto __pyx_L7_break; + + /* "View.MemoryView":1127 + * + * for i in range(ndim): + * if mslice.shape[i] > 1: # <<<<<<<<<<<<<< + * f_stride = mslice.strides[i] + * break + */ + } + } + __pyx_L7_break:; + + /* "View.MemoryView":1131 + * break + * + * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): # <<<<<<<<<<<<<< + * return 'C' + * else: + */ + __pyx_t_2 = (abs_py_ssize_t(__pyx_v_c_stride) <= abs_py_ssize_t(__pyx_v_f_stride)); + if (__pyx_t_2) { + + /* "View.MemoryView":1132 + * + * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): + * return 'C' # <<<<<<<<<<<<<< + * else: + * return 'F' + */ + __pyx_r = 'C'; + goto __pyx_L0; + + /* "View.MemoryView":1131 + * break + * + * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): # <<<<<<<<<<<<<< + * return 'C' + * else: + */ + } + + /* "View.MemoryView":1134 + * return 'C' + * else: + * return 'F' # <<<<<<<<<<<<<< + * + * @cython.cdivision(True) + */ + /*else*/ { + __pyx_r = 'F'; + goto __pyx_L0; + } + + /* "View.MemoryView":1113 + * + * @cname('__pyx_get_best_slice_order') + * cdef char get_best_order(__Pyx_memviewslice *mslice, int ndim) noexcept nogil: # <<<<<<<<<<<<<< + * """ + * Figure out the best memory access order for a given slice. + */ + + /* function exit code */ + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":1137 + * + * @cython.cdivision(True) + * cdef void _copy_strided_to_strided(char *src_data, Py_ssize_t *src_strides, # <<<<<<<<<<<<<< + * char *dst_data, Py_ssize_t *dst_strides, + * Py_ssize_t *src_shape, Py_ssize_t *dst_shape, + */ + +static void _copy_strided_to_strided(char *__pyx_v_src_data, Py_ssize_t *__pyx_v_src_strides, char *__pyx_v_dst_data, Py_ssize_t *__pyx_v_dst_strides, Py_ssize_t *__pyx_v_src_shape, Py_ssize_t *__pyx_v_dst_shape, int __pyx_v_ndim, size_t __pyx_v_itemsize) { + CYTHON_UNUSED Py_ssize_t __pyx_v_i; + CYTHON_UNUSED Py_ssize_t __pyx_v_src_extent; + Py_ssize_t __pyx_v_dst_extent; + Py_ssize_t __pyx_v_src_stride; + Py_ssize_t __pyx_v_dst_stride; + int __pyx_t_1; + int __pyx_t_2; + Py_ssize_t __pyx_t_3; + Py_ssize_t __pyx_t_4; + Py_ssize_t __pyx_t_5; + + /* "View.MemoryView":1144 + * + * cdef Py_ssize_t i + * cdef Py_ssize_t src_extent = src_shape[0] # <<<<<<<<<<<<<< + * cdef Py_ssize_t dst_extent = dst_shape[0] + * cdef Py_ssize_t src_stride = src_strides[0] + */ + __pyx_v_src_extent = (__pyx_v_src_shape[0]); + + /* "View.MemoryView":1145 + * cdef Py_ssize_t i + * cdef Py_ssize_t src_extent = src_shape[0] + * cdef Py_ssize_t dst_extent = dst_shape[0] # <<<<<<<<<<<<<< + * cdef Py_ssize_t src_stride = src_strides[0] + * cdef Py_ssize_t dst_stride = dst_strides[0] + */ + __pyx_v_dst_extent = (__pyx_v_dst_shape[0]); + + /* "View.MemoryView":1146 + * cdef Py_ssize_t src_extent = src_shape[0] + * cdef Py_ssize_t dst_extent = dst_shape[0] + * cdef Py_ssize_t src_stride = src_strides[0] # <<<<<<<<<<<<<< + * cdef 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(__pyx_v_dst_stride > 0); + if (__pyx_t_2) { + } else { + __pyx_t_1 = __pyx_t_2; + goto __pyx_L5_bool_binop_done; + } + + /* "View.MemoryView":1151 + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): # <<<<<<<<<<<<<< + * memcpy(dst_data, src_data, itemsize * dst_extent) + * else: + */ + __pyx_t_2 = (((size_t)__pyx_v_src_stride) == __pyx_v_itemsize); + if (__pyx_t_2) { + __pyx_t_2 = (__pyx_v_itemsize == ((size_t)__pyx_v_dst_stride)); + } + __pyx_t_1 = __pyx_t_2; + __pyx_L5_bool_binop_done:; + + /* "View.MemoryView":1150 + * + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and # <<<<<<<<<<<<<< + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) + */ + if (__pyx_t_1) { + + /* "View.MemoryView":1152 + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) # <<<<<<<<<<<<<< + * else: + * for i in range(dst_extent): + */ + (void)(memcpy(__pyx_v_dst_data, __pyx_v_src_data, (__pyx_v_itemsize * __pyx_v_dst_extent))); + + /* "View.MemoryView":1150 + * + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and # <<<<<<<<<<<<<< + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) + */ + goto __pyx_L4; + } + + /* "View.MemoryView":1154 + * memcpy(dst_data, src_data, itemsize * dst_extent) + * else: + * for i in range(dst_extent): # <<<<<<<<<<<<<< + * memcpy(dst_data, src_data, itemsize) + * src_data += src_stride + */ + /*else*/ { + __pyx_t_3 = __pyx_v_dst_extent; + __pyx_t_4 = __pyx_t_3; + for (__pyx_t_5 = 0; __pyx_t_5 < __pyx_t_4; __pyx_t_5+=1) { + __pyx_v_i = __pyx_t_5; + + /* "View.MemoryView":1155 + * else: + * for i in range(dst_extent): + * memcpy(dst_data, src_data, itemsize) # <<<<<<<<<<<<<< + * src_data += src_stride + * dst_data += dst_stride + */ + (void)(memcpy(__pyx_v_dst_data, __pyx_v_src_data, __pyx_v_itemsize)); + + /* "View.MemoryView":1156 + * for i in range(dst_extent): + * memcpy(dst_data, src_data, itemsize) + * src_data += src_stride # <<<<<<<<<<<<<< + * dst_data += dst_stride + * else: + */ + __pyx_v_src_data = (__pyx_v_src_data + __pyx_v_src_stride); + + /* "View.MemoryView":1157 + * memcpy(dst_data, src_data, itemsize) + * src_data += src_stride + * dst_data += dst_stride # <<<<<<<<<<<<<< + * else: + * for i in range(dst_extent): + */ + __pyx_v_dst_data = (__pyx_v_dst_data + __pyx_v_dst_stride); + } + } + __pyx_L4:; + + /* "View.MemoryView":1149 + * cdef Py_ssize_t dst_stride = dst_strides[0] + * + * if ndim == 1: # <<<<<<<<<<<<<< + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): + */ + goto __pyx_L3; + } + + /* "View.MemoryView":1159 + * dst_data += dst_stride + * else: + * for i in range(dst_extent): # <<<<<<<<<<<<<< + * _copy_strided_to_strided(src_data, src_strides + 1, + * dst_data, dst_strides + 1, + */ + /*else*/ { + __pyx_t_3 = __pyx_v_dst_extent; + __pyx_t_4 = __pyx_t_3; + for (__pyx_t_5 = 0; __pyx_t_5 < __pyx_t_4; __pyx_t_5+=1) { + __pyx_v_i = __pyx_t_5; + + /* "View.MemoryView":1160 + * else: + * for i in range(dst_extent): + * _copy_strided_to_strided(src_data, src_strides + 1, # <<<<<<<<<<<<<< + * dst_data, dst_strides + 1, + * src_shape + 1, dst_shape + 1, + */ + _copy_strided_to_strided(__pyx_v_src_data, (__pyx_v_src_strides + 1), __pyx_v_dst_data, (__pyx_v_dst_strides + 1), (__pyx_v_src_shape + 1), (__pyx_v_dst_shape + 1), (__pyx_v_ndim - 1), __pyx_v_itemsize); + + /* "View.MemoryView":1164 + * src_shape + 1, dst_shape + 1, + * ndim - 1, itemsize) + * src_data += src_stride # <<<<<<<<<<<<<< + * dst_data += dst_stride + * + */ + __pyx_v_src_data = (__pyx_v_src_data + __pyx_v_src_stride); + + /* "View.MemoryView":1165 + * ndim - 1, itemsize) + * src_data += src_stride + * dst_data += dst_stride # <<<<<<<<<<<<<< + * + * cdef void copy_strided_to_strided(__Pyx_memviewslice *src, + */ + __pyx_v_dst_data = (__pyx_v_dst_data + __pyx_v_dst_stride); + } + } + __pyx_L3:; + + /* "View.MemoryView":1137 + * + * @cython.cdivision(True) + * cdef void _copy_strided_to_strided(char *src_data, Py_ssize_t *src_strides, # <<<<<<<<<<<<<< + * char *dst_data, Py_ssize_t *dst_strides, + * Py_ssize_t *src_shape, Py_ssize_t *dst_shape, + */ + + /* function exit code */ +} + +/* "View.MemoryView":1167 + * dst_data += dst_stride + * + * cdef void copy_strided_to_strided(__Pyx_memviewslice *src, # <<<<<<<<<<<<<< + * __Pyx_memviewslice *dst, + * int ndim, size_t itemsize) noexcept nogil: + */ + +static void copy_strided_to_strided(__Pyx_memviewslice *__pyx_v_src, __Pyx_memviewslice *__pyx_v_dst, int __pyx_v_ndim, size_t __pyx_v_itemsize) { + + /* "View.MemoryView":1170 + * __Pyx_memviewslice *dst, + * int ndim, size_t itemsize) noexcept nogil: + * _copy_strided_to_strided(src.data, src.strides, dst.data, dst.strides, # <<<<<<<<<<<<<< + * src.shape, dst.shape, ndim, itemsize) + * + */ + _copy_strided_to_strided(__pyx_v_src->data, __pyx_v_src->strides, __pyx_v_dst->data, __pyx_v_dst->strides, __pyx_v_src->shape, __pyx_v_dst->shape, __pyx_v_ndim, __pyx_v_itemsize); + + /* "View.MemoryView":1167 + * dst_data += dst_stride + * + * cdef void copy_strided_to_strided(__Pyx_memviewslice *src, # <<<<<<<<<<<<<< + * __Pyx_memviewslice *dst, + * int ndim, size_t itemsize) noexcept nogil: + */ + + /* function exit code */ +} + +/* "View.MemoryView":1174 + * + * @cname('__pyx_memoryview_slice_get_size') + * cdef Py_ssize_t slice_get_size(__Pyx_memviewslice *src, int ndim) noexcept nogil: # <<<<<<<<<<<<<< + * "Return the size of the memory occupied by the slice in number of bytes" + * cdef Py_ssize_t shape, size = src.memview.view.itemsize + */ + +static Py_ssize_t __pyx_memoryview_slice_get_size(__Pyx_memviewslice *__pyx_v_src, int __pyx_v_ndim) { + Py_ssize_t __pyx_v_shape; + Py_ssize_t __pyx_v_size; + Py_ssize_t __pyx_r; + Py_ssize_t __pyx_t_1; + Py_ssize_t *__pyx_t_2; + Py_ssize_t *__pyx_t_3; + Py_ssize_t *__pyx_t_4; + + /* "View.MemoryView":1176 + * cdef Py_ssize_t slice_get_size(__Pyx_memviewslice *src, int ndim) noexcept nogil: + * "Return the size of the memory occupied by the slice in number of bytes" + * cdef Py_ssize_t shape, size = src.memview.view.itemsize # <<<<<<<<<<<<<< + * + * for shape in src.shape[:ndim]: + */ + __pyx_t_1 = __pyx_v_src->memview->view.itemsize; + __pyx_v_size = __pyx_t_1; + + /* "View.MemoryView":1178 + * cdef Py_ssize_t shape, size = src.memview.view.itemsize + * + * for shape in src.shape[:ndim]: # <<<<<<<<<<<<<< + * size *= shape + * + */ + __pyx_t_3 = (__pyx_v_src->shape + __pyx_v_ndim); + for (__pyx_t_4 = __pyx_v_src->shape; __pyx_t_4 < __pyx_t_3; __pyx_t_4++) { + __pyx_t_2 = __pyx_t_4; + __pyx_v_shape = (__pyx_t_2[0]); + + /* "View.MemoryView":1179 + * + * for shape in src.shape[:ndim]: + * size *= shape # <<<<<<<<<<<<<< + * + * return size + */ + __pyx_v_size = (__pyx_v_size * __pyx_v_shape); + } + + /* "View.MemoryView":1181 + * size *= shape + * + * return size # <<<<<<<<<<<<<< + * + * @cname('__pyx_fill_contig_strides_array') + */ + __pyx_r = __pyx_v_size; + goto __pyx_L0; + + /* "View.MemoryView":1174 + * + * @cname('__pyx_memoryview_slice_get_size') + * cdef Py_ssize_t slice_get_size(__Pyx_memviewslice *src, int ndim) noexcept nogil: # <<<<<<<<<<<<<< + * "Return the size of the memory occupied by the slice in number of bytes" + * cdef Py_ssize_t shape, size = src.memview.view.itemsize + */ + + /* function exit code */ + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":1184 + * + * @cname('__pyx_fill_contig_strides_array') + * cdef Py_ssize_t fill_contig_strides_array( # <<<<<<<<<<<<<< + * Py_ssize_t *shape, Py_ssize_t *strides, Py_ssize_t stride, + * int ndim, char order) noexcept nogil: + */ + +static Py_ssize_t __pyx_fill_contig_strides_array(Py_ssize_t *__pyx_v_shape, Py_ssize_t *__pyx_v_strides, Py_ssize_t __pyx_v_stride, int __pyx_v_ndim, char __pyx_v_order) { + int __pyx_v_idx; + Py_ssize_t __pyx_r; + int __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + int __pyx_t_4; + + /* "View.MemoryView":1193 + * cdef int idx + * + * if order == 'F': # <<<<<<<<<<<<<< + * for idx in range(ndim): + * strides[idx] = stride + */ + __pyx_t_1 = (__pyx_v_order == 'F'); + if (__pyx_t_1) { + + /* "View.MemoryView":1194 + * + * if order == 'F': + * for idx in range(ndim): # <<<<<<<<<<<<<< + * strides[idx] = stride + * stride *= shape[idx] + */ + __pyx_t_2 = __pyx_v_ndim; + __pyx_t_3 = __pyx_t_2; + for (__pyx_t_4 = 0; __pyx_t_4 < __pyx_t_3; __pyx_t_4+=1) { + __pyx_v_idx = __pyx_t_4; + + /* "View.MemoryView":1195 + * if order == 'F': + * for idx in range(ndim): + * strides[idx] = stride # <<<<<<<<<<<<<< + * stride *= shape[idx] + * else: + */ + (__pyx_v_strides[__pyx_v_idx]) = __pyx_v_stride; + + /* "View.MemoryView":1196 + * for idx in range(ndim): + * strides[idx] = stride + * stride *= shape[idx] # <<<<<<<<<<<<<< + * else: + * for idx in range(ndim - 1, -1, -1): + */ + __pyx_v_stride = (__pyx_v_stride * (__pyx_v_shape[__pyx_v_idx])); + } + + /* "View.MemoryView":1193 + * cdef int idx + * + * if order == 'F': # <<<<<<<<<<<<<< + * for idx in range(ndim): + * strides[idx] = stride + */ + goto __pyx_L3; + } + + /* "View.MemoryView":1198 + * stride *= shape[idx] + * else: + * for idx in range(ndim - 1, -1, -1): # <<<<<<<<<<<<<< + * strides[idx] = stride + * stride *= shape[idx] + */ + /*else*/ { + for (__pyx_t_2 = (__pyx_v_ndim - 1); __pyx_t_2 > -1; __pyx_t_2-=1) { + __pyx_v_idx = __pyx_t_2; + + /* "View.MemoryView":1199 + * else: + * for idx in range(ndim - 1, -1, -1): + * strides[idx] = stride # <<<<<<<<<<<<<< + * stride *= shape[idx] + * + */ + (__pyx_v_strides[__pyx_v_idx]) = __pyx_v_stride; + + /* "View.MemoryView":1200 + * for idx in range(ndim - 1, -1, -1): + * strides[idx] = stride + * stride *= shape[idx] # <<<<<<<<<<<<<< + * + * return stride + */ + __pyx_v_stride = (__pyx_v_stride * (__pyx_v_shape[__pyx_v_idx])); + } + } + __pyx_L3:; + + /* 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<<<<<<<<<<<<<< + * order = get_best_order(&dst, ndim) + * + */ + __pyx_t_2 = (!__pyx_memviewslice_is_contig(__pyx_v_src, __pyx_v_order, __pyx_v_ndim)); + if (__pyx_t_2) { + + /* "View.MemoryView":1302 + * + * if not slice_is_contig(src, order, ndim): + * order = get_best_order(&dst, ndim) # <<<<<<<<<<<<<< + * + * tmpdata = copy_data_to_temp(&src, &tmp, order, ndim) + */ + __pyx_v_order = __pyx_get_best_slice_order((&__pyx_v_dst), __pyx_v_ndim); + + /* "View.MemoryView":1301 + * if slices_overlap(&src, &dst, ndim, itemsize): + * + * if not slice_is_contig(src, order, ndim): # <<<<<<<<<<<<<< + * order = get_best_order(&dst, ndim) + * + */ + } + + /* "View.MemoryView":1304 + * order = get_best_order(&dst, ndim) + * + * tmpdata = copy_data_to_temp(&src, &tmp, order, ndim) # <<<<<<<<<<<<<< + * src = tmp + * + */ + __pyx_t_7 = __pyx_memoryview_copy_data_to_temp((&__pyx_v_src), (&__pyx_v_tmp), __pyx_v_order, __pyx_v_ndim); if (unlikely(__pyx_t_7 == ((void *)NULL))) __PYX_ERR(0, 1304, __pyx_L1_error) + __pyx_v_tmpdata = __pyx_t_7; + + /* "View.MemoryView":1305 + * + * tmpdata = copy_data_to_temp(&src, &tmp, order, ndim) + * src = tmp # <<<<<<<<<<<<<< + * + * if not broadcasting: + */ + __pyx_v_src = __pyx_v_tmp; + + /* "View.MemoryView":1299 + * _err_dim(PyExc_ValueError, "Dimension %d is not direct", i) + * + * if slices_overlap(&src, &dst, ndim, itemsize): # <<<<<<<<<<<<<< + * + * if not slice_is_contig(src, order, ndim): + */ + } + + /* "View.MemoryView":1307 + * src = tmp + * + * if not broadcasting: # <<<<<<<<<<<<<< + * + * + */ + __pyx_t_2 = (!__pyx_v_broadcasting); + if (__pyx_t_2) { + + /* "View.MemoryView":1310 + * + * + * if slice_is_contig(src, 'C', ndim): # <<<<<<<<<<<<<< + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): + */ + __pyx_t_2 = __pyx_memviewslice_is_contig(__pyx_v_src, 'C', __pyx_v_ndim); + if (__pyx_t_2) { + + /* "View.MemoryView":1311 + * + * if slice_is_contig(src, 'C', ndim): + * direct_copy = slice_is_contig(dst, 'C', ndim) # <<<<<<<<<<<<<< + * elif slice_is_contig(src, 'F', ndim): + * direct_copy = slice_is_contig(dst, 'F', ndim) + */ + __pyx_v_direct_copy = __pyx_memviewslice_is_contig(__pyx_v_dst, 'C', __pyx_v_ndim); + + /* "View.MemoryView":1310 + * + * + * if slice_is_contig(src, 'C', ndim): # <<<<<<<<<<<<<< + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): + */ + goto __pyx_L12; + } + + /* "View.MemoryView":1312 + * if slice_is_contig(src, 'C', ndim): + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): # <<<<<<<<<<<<<< + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + */ + __pyx_t_2 = __pyx_memviewslice_is_contig(__pyx_v_src, 'F', __pyx_v_ndim); + if (__pyx_t_2) { + + /* "View.MemoryView":1313 + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): + * direct_copy = slice_is_contig(dst, 'F', ndim) # <<<<<<<<<<<<<< + * + * if direct_copy: + */ + __pyx_v_direct_copy = __pyx_memviewslice_is_contig(__pyx_v_dst, 'F', __pyx_v_ndim); + + /* "View.MemoryView":1312 + * if slice_is_contig(src, 'C', ndim): + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): # <<<<<<<<<<<<<< + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + */ + } + __pyx_L12:; + + /* "View.MemoryView":1315 + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + * if direct_copy: # <<<<<<<<<<<<<< + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + */ + if (__pyx_v_direct_copy) { + + /* "View.MemoryView":1317 + * if direct_copy: + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) # <<<<<<<<<<<<<< + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 0); + + /* "View.MemoryView":1318 + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) # <<<<<<<<<<<<<< + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * free(tmpdata) + */ + (void)(memcpy(__pyx_v_dst.data, __pyx_v_src.data, __pyx_memoryview_slice_get_size((&__pyx_v_src), __pyx_v_ndim))); + + /* "View.MemoryView":1319 + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) # <<<<<<<<<<<<<< + * free(tmpdata) + * return 0 + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 1); + + /* "View.MemoryView":1320 + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * free(tmpdata) # <<<<<<<<<<<<<< + * return 0 + * + */ + free(__pyx_v_tmpdata); + + /* "View.MemoryView":1321 + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * free(tmpdata) + * return 0 # <<<<<<<<<<<<<< + * + * if order == 'F' == get_best_order(&dst, ndim): + */ + __pyx_r = 0; + goto __pyx_L0; + + /* "View.MemoryView":1315 + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + * if direct_copy: # <<<<<<<<<<<<<< + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + */ + } + + /* "View.MemoryView":1307 + * src = tmp + * + * if not broadcasting: # <<<<<<<<<<<<<< + * + * + */ + } + + /* "View.MemoryView":1323 + * return 0 + * + * if order == 'F' == get_best_order(&dst, ndim): # <<<<<<<<<<<<<< + * + * + */ + __pyx_t_2 = (__pyx_v_order == 'F'); + if (__pyx_t_2) { + __pyx_t_2 = ('F' == __pyx_get_best_slice_order((&__pyx_v_dst), __pyx_v_ndim)); + } + if (__pyx_t_2) { + + /* "View.MemoryView":1326 + * + * + * transpose_memslice(&src) # <<<<<<<<<<<<<< + * transpose_memslice(&dst) + * + */ + __pyx_t_5 = __pyx_memslice_transpose((&__pyx_v_src)); if (unlikely(__pyx_t_5 == ((int)-1))) __PYX_ERR(0, 1326, __pyx_L1_error) + + /* "View.MemoryView":1327 + * + * transpose_memslice(&src) + * transpose_memslice(&dst) # <<<<<<<<<<<<<< + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + */ + __pyx_t_5 = __pyx_memslice_transpose((&__pyx_v_dst)); if (unlikely(__pyx_t_5 == ((int)-1))) __PYX_ERR(0, 1327, __pyx_L1_error) + + /* "View.MemoryView":1323 + * return 0 + * + * if order == 'F' == get_best_order(&dst, ndim): # <<<<<<<<<<<<<< + * + * + */ + } + + /* "View.MemoryView":1329 + * transpose_memslice(&dst) + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) # <<<<<<<<<<<<<< + * copy_strided_to_strided(&src, &dst, ndim, itemsize) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 0); + + /* "View.MemoryView":1330 + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + * copy_strided_to_strided(&src, &dst, ndim, itemsize) # <<<<<<<<<<<<<< + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * + */ + copy_strided_to_strided((&__pyx_v_src), (&__pyx_v_dst), __pyx_v_ndim, __pyx_v_itemsize); + + /* "View.MemoryView":1331 + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + * copy_strided_to_strided(&src, &dst, ndim, itemsize) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) # <<<<<<<<<<<<<< + * + * free(tmpdata) + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 1); + + /* "View.MemoryView":1333 + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * + * free(tmpdata) # <<<<<<<<<<<<<< + * return 0 + * + */ + free(__pyx_v_tmpdata); + + /* "View.MemoryView":1334 + * + * free(tmpdata) + * return 0 # <<<<<<<<<<<<<< + * + * @cname('__pyx_memoryview_broadcast_leading') + */ + __pyx_r = 0; + goto __pyx_L0; + + /* "View.MemoryView":1265 + * + * @cname('__pyx_memoryview_copy_contents') + * cdef int memoryview_copy_contents(__Pyx_memviewslice src, # <<<<<<<<<<<<<< + * __Pyx_memviewslice dst, + * int src_ndim, int dst_ndim, + */ + + /* function exit code */ + __pyx_L1_error:; + #ifdef WITH_THREAD + __pyx_gilstate_save = __Pyx_PyGILState_Ensure(); + #endif + __Pyx_AddTraceback("View.MemoryView.memoryview_copy_contents", __pyx_clineno, __pyx_lineno, __pyx_filename); + __pyx_r = -1; + #ifdef WITH_THREAD + __Pyx_PyGILState_Release(__pyx_gilstate_save); + #endif + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":1337 + * + * @cname('__pyx_memoryview_broadcast_leading') + * cdef void broadcast_leading(__Pyx_memviewslice *mslice, # <<<<<<<<<<<<<< + * int ndim, + * int ndim_other) noexcept nogil: + */ + +static void __pyx_memoryview_broadcast_leading(__Pyx_memviewslice *__pyx_v_mslice, int __pyx_v_ndim, int __pyx_v_ndim_other) { + int __pyx_v_i; + int __pyx_v_offset; + int __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + + /* "View.MemoryView":1341 + * int ndim_other) noexcept nogil: + * cdef int i + * cdef int offset = ndim_other - ndim # <<<<<<<<<<<<<< + * + * for i in range(ndim - 1, -1, -1): + */ + __pyx_v_offset = (__pyx_v_ndim_other - __pyx_v_ndim); + + /* "View.MemoryView":1343 + * cdef int offset = ndim_other - ndim + * + * for i in range(ndim - 1, -1, -1): # <<<<<<<<<<<<<< + * mslice.shape[i + offset] = mslice.shape[i] + * mslice.strides[i + offset] = mslice.strides[i] + */ + for (__pyx_t_1 = (__pyx_v_ndim - 1); __pyx_t_1 > -1; __pyx_t_1-=1) { + __pyx_v_i = __pyx_t_1; + + /* "View.MemoryView":1344 + * + * for i in range(ndim - 1, -1, -1): + * mslice.shape[i + offset] = mslice.shape[i] # <<<<<<<<<<<<<< + * mslice.strides[i + offset] = mslice.strides[i] + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] + */ + (__pyx_v_mslice->shape[(__pyx_v_i + __pyx_v_offset)]) = (__pyx_v_mslice->shape[__pyx_v_i]); + + /* "View.MemoryView":1345 + * for i in range(ndim - 1, -1, -1): + * mslice.shape[i + offset] = mslice.shape[i] + * mslice.strides[i + offset] = mslice.strides[i] # <<<<<<<<<<<<<< + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] + * + */ + (__pyx_v_mslice->strides[(__pyx_v_i + __pyx_v_offset)]) = (__pyx_v_mslice->strides[__pyx_v_i]); + + /* "View.MemoryView":1346 + * mslice.shape[i + offset] = mslice.shape[i] + * mslice.strides[i + offset] = mslice.strides[i] + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] # <<<<<<<<<<<<<< + * + * for i in range(offset): + */ + (__pyx_v_mslice->suboffsets[(__pyx_v_i + __pyx_v_offset)]) = (__pyx_v_mslice->suboffsets[__pyx_v_i]); + } + + /* "View.MemoryView":1348 + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] + * + * for i in range(offset): # <<<<<<<<<<<<<< + * mslice.shape[i] = 1 + * mslice.strides[i] = mslice.strides[0] + */ + __pyx_t_1 = __pyx_v_offset; + __pyx_t_2 = __pyx_t_1; + for (__pyx_t_3 = 0; __pyx_t_3 < __pyx_t_2; __pyx_t_3+=1) { + __pyx_v_i = __pyx_t_3; + + /* "View.MemoryView":1349 + * + * for i in range(offset): + * mslice.shape[i] = 1 # <<<<<<<<<<<<<< + * mslice.strides[i] = mslice.strides[0] + * mslice.suboffsets[i] = -1 + */ + (__pyx_v_mslice->shape[__pyx_v_i]) = 1; + + /* "View.MemoryView":1350 + * for i in range(offset): + * mslice.shape[i] = 1 + * mslice.strides[i] = mslice.strides[0] # <<<<<<<<<<<<<< + * mslice.suboffsets[i] = -1 + * + */ + (__pyx_v_mslice->strides[__pyx_v_i]) = (__pyx_v_mslice->strides[0]); + + /* "View.MemoryView":1351 + * mslice.shape[i] = 1 + * mslice.strides[i] = mslice.strides[0] + * mslice.suboffsets[i] = -1 # <<<<<<<<<<<<<< + * + * + */ + (__pyx_v_mslice->suboffsets[__pyx_v_i]) = -1L; + } + + /* "View.MemoryView":1337 + * + * @cname('__pyx_memoryview_broadcast_leading') + * cdef void broadcast_leading(__Pyx_memviewslice *mslice, # <<<<<<<<<<<<<< + * int ndim, + * int ndim_other) noexcept nogil: + */ + + /* function exit code */ +} + +/* "View.MemoryView":1359 + * + * @cname('__pyx_memoryview_refcount_copying') + * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object, int ndim, bint inc) noexcept nogil: # <<<<<<<<<<<<<< + * + * if dtype_is_object: + */ + +static void __pyx_memoryview_refcount_copying(__Pyx_memviewslice *__pyx_v_dst, int __pyx_v_dtype_is_object, int __pyx_v_ndim, int __pyx_v_inc) { + + /* "View.MemoryView":1361 + * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object, int ndim, bint inc) noexcept nogil: + * + * if dtype_is_object: # <<<<<<<<<<<<<< + * refcount_objects_in_slice_with_gil(dst.data, dst.shape, dst.strides, ndim, inc) + * + */ + if (__pyx_v_dtype_is_object) { + + /* "View.MemoryView":1362 + * + * if dtype_is_object: + * refcount_objects_in_slice_with_gil(dst.data, dst.shape, dst.strides, ndim, inc) # <<<<<<<<<<<<<< + * + * @cname('__pyx_memoryview_refcount_objects_in_slice_with_gil') + */ + __pyx_memoryview_refcount_objects_in_slice_with_gil(__pyx_v_dst->data, __pyx_v_dst->shape, __pyx_v_dst->strides, __pyx_v_ndim, __pyx_v_inc); + + /* "View.MemoryView":1361 + * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object, int ndim, bint inc) noexcept nogil: + * + * if dtype_is_object: # <<<<<<<<<<<<<< + * refcount_objects_in_slice_with_gil(dst.data, dst.shape, dst.strides, ndim, inc) + * + */ + } + + /* "View.MemoryView":1359 + * + * @cname('__pyx_memoryview_refcount_copying') + * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object, int ndim, bint inc) noexcept nogil: # <<<<<<<<<<<<<< + * + * if dtype_is_object: + */ + + /* function exit code */ +} + +/* "View.MemoryView":1365 + * + * @cname('__pyx_memoryview_refcount_objects_in_slice_with_gil') + * cdef void refcount_objects_in_slice_with_gil(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, + * bint inc) noexcept with gil: + */ + +static void __pyx_memoryview_refcount_objects_in_slice_with_gil(char *__pyx_v_data, Py_ssize_t *__pyx_v_shape, Py_ssize_t *__pyx_v_strides, int __pyx_v_ndim, int __pyx_v_inc) { + #ifdef WITH_THREAD + PyGILState_STATE __pyx_gilstate_save = __Pyx_PyGILState_Ensure(); + #endif + + /* "View.MemoryView":1368 + * Py_ssize_t *strides, int ndim, + * bint inc) noexcept with gil: + * refcount_objects_in_slice(data, shape, strides, ndim, inc) # <<<<<<<<<<<<<< + * + * @cname('__pyx_memoryview_refcount_objects_in_slice') + */ + __pyx_memoryview_refcount_objects_in_slice(__pyx_v_data, __pyx_v_shape, __pyx_v_strides, __pyx_v_ndim, __pyx_v_inc); + + /* "View.MemoryView":1365 + * + * @cname('__pyx_memoryview_refcount_objects_in_slice_with_gil') + * cdef void refcount_objects_in_slice_with_gil(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, + * bint inc) noexcept with gil: + */ + + /* function exit code */ + #ifdef WITH_THREAD + __Pyx_PyGILState_Release(__pyx_gilstate_save); + #endif +} + +/* "View.MemoryView":1371 + * + * @cname('__pyx_memoryview_refcount_objects_in_slice') + * cdef void refcount_objects_in_slice(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, bint inc) noexcept: + * cdef Py_ssize_t i + */ + +static void __pyx_memoryview_refcount_objects_in_slice(char *__pyx_v_data, Py_ssize_t *__pyx_v_shape, Py_ssize_t *__pyx_v_strides, int __pyx_v_ndim, int __pyx_v_inc) { + CYTHON_UNUSED Py_ssize_t __pyx_v_i; + Py_ssize_t __pyx_v_stride; + Py_ssize_t __pyx_t_1; + Py_ssize_t __pyx_t_2; + Py_ssize_t __pyx_t_3; + int __pyx_t_4; + + /* "View.MemoryView":1374 + * Py_ssize_t *strides, int ndim, bint inc) noexcept: + * cdef Py_ssize_t i + * cdef Py_ssize_t stride = strides[0] # <<<<<<<<<<<<<< + * + * for i in range(shape[0]): + */ + __pyx_v_stride = (__pyx_v_strides[0]); + + /* "View.MemoryView":1376 + * cdef Py_ssize_t stride = strides[0] + * + * for i in range(shape[0]): # <<<<<<<<<<<<<< + * if ndim == 1: + * if inc: + */ + __pyx_t_1 = (__pyx_v_shape[0]); + __pyx_t_2 = __pyx_t_1; + for (__pyx_t_3 = 0; __pyx_t_3 < __pyx_t_2; __pyx_t_3+=1) { + __pyx_v_i = __pyx_t_3; + + /* "View.MemoryView":1377 + * + * for i in range(shape[0]): + * if ndim == 1: # <<<<<<<<<<<<<< + * if inc: + * Py_INCREF(( data)[0]) + */ + __pyx_t_4 = (__pyx_v_ndim == 1); + if (__pyx_t_4) { + + /* "View.MemoryView":1378 + * for i in range(shape[0]): + * if ndim == 1: + * if inc: # <<<<<<<<<<<<<< + * Py_INCREF(( data)[0]) + * else: + */ + if (__pyx_v_inc) { + + /* "View.MemoryView":1379 + * if ndim == 1: + * if inc: + * Py_INCREF(( data)[0]) # <<<<<<<<<<<<<< + * else: + * Py_DECREF(( data)[0]) + */ + Py_INCREF((((PyObject **)__pyx_v_data)[0])); + + /* "View.MemoryView":1378 + * for i in range(shape[0]): + * if ndim == 1: + * if inc: # <<<<<<<<<<<<<< + * Py_INCREF(( data)[0]) + * else: + */ + goto __pyx_L6; + } + + /* "View.MemoryView":1381 + * Py_INCREF(( data)[0]) + * else: + * Py_DECREF(( data)[0]) # <<<<<<<<<<<<<< + * else: + * refcount_objects_in_slice(data, shape + 1, strides + 1, ndim - 1, inc) + */ + /*else*/ { + Py_DECREF((((PyObject **)__pyx_v_data)[0])); + } + __pyx_L6:; + + /* "View.MemoryView":1377 + * + * for i in range(shape[0]): + * if ndim == 1: # <<<<<<<<<<<<<< + * if inc: + * Py_INCREF(( data)[0]) + */ + goto __pyx_L5; + } + + /* "View.MemoryView":1383 + * Py_DECREF(( data)[0]) + * else: + * refcount_objects_in_slice(data, shape + 1, strides + 1, ndim - 1, inc) # <<<<<<<<<<<<<< + * + * data += stride + */ + /*else*/ { + __pyx_memoryview_refcount_objects_in_slice(__pyx_v_data, (__pyx_v_shape + 1), (__pyx_v_strides + 1), (__pyx_v_ndim - 1), __pyx_v_inc); + } + __pyx_L5:; + + /* "View.MemoryView":1385 + * refcount_objects_in_slice(data, shape + 1, strides + 1, ndim - 1, inc) + * + * data += stride # <<<<<<<<<<<<<< + * + * + */ + __pyx_v_data = (__pyx_v_data + __pyx_v_stride); + } + + /* "View.MemoryView":1371 + * + * @cname('__pyx_memoryview_refcount_objects_in_slice') + * cdef void refcount_objects_in_slice(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, bint inc) noexcept: + * cdef Py_ssize_t i + */ + + /* function exit code */ +} + +/* "View.MemoryView":1391 + * + * @cname('__pyx_memoryview_slice_assign_scalar') + * cdef void slice_assign_scalar(__Pyx_memviewslice *dst, int ndim, # <<<<<<<<<<<<<< + * size_t itemsize, void *item, + * bint dtype_is_object) noexcept nogil: + */ + +static void __pyx_memoryview_slice_assign_scalar(__Pyx_memviewslice *__pyx_v_dst, int __pyx_v_ndim, size_t __pyx_v_itemsize, void *__pyx_v_item, int __pyx_v_dtype_is_object) { + + /* "View.MemoryView":1394 + * size_t itemsize, void *item, + * bint dtype_is_object) noexcept nogil: + * refcount_copying(dst, dtype_is_object, ndim, inc=False) # <<<<<<<<<<<<<< + * _slice_assign_scalar(dst.data, dst.shape, dst.strides, ndim, itemsize, item) + * refcount_copying(dst, dtype_is_object, ndim, inc=True) + */ + __pyx_memoryview_refcount_copying(__pyx_v_dst, __pyx_v_dtype_is_object, __pyx_v_ndim, 0); + + /* "View.MemoryView":1395 + * bint dtype_is_object) noexcept nogil: + * refcount_copying(dst, dtype_is_object, ndim, inc=False) + * _slice_assign_scalar(dst.data, dst.shape, dst.strides, ndim, itemsize, item) # <<<<<<<<<<<<<< + * 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PyObject *o = __Pyx_PyType_GetSlot(__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_CLContext, tp_new, newfunc)(t, a, k); + if (unlikely(!o)) return 0; + if (unlikely(__pyx_pw_9selfdrive_6modeld_6models_15commonmodel_pyx_9CLContext_1__cinit__(o, __pyx_empty_tuple, NULL) < 0)) goto bad; + return o; + bad: + Py_DECREF(o); o = 0; + return NULL; +} + +static PyMethodDef __pyx_methods_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext[] = { + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_9selfdrive_6modeld_6models_15commonmodel_pyx_9CLContext_3__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_9selfdrive_6modeld_6models_15commonmodel_pyx_9CLContext_5__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext_slots[] = { + {Py_tp_methods, (void *)__pyx_methods_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext}, + {Py_tp_new, (void *)__pyx_tp_new_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext}, + {0, 0}, +}; +static PyType_Spec __pyx_type_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext_spec = { + "selfdrive.modeld.models.commonmodel_pyx.CLContext", + sizeof(struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_FINALIZE, + __pyx_type_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext_slots, +}; +#else + +static PyTypeObject __pyx_type_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext = { + PyVarObject_HEAD_INIT(0, 0) + "selfdrive.modeld.models.commonmodel_pyx.""CLContext", /*tp_name*/ + sizeof(struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + 0, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + 0, /*tp_repr*/ + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_FINALIZE, /*tp_flags*/ + 0, /*tp_doc*/ + 0, /*tp_traverse*/ + 0, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext, /*tp_methods*/ + 0, /*tp_members*/ + 0, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif +static struct __pyx_vtabstruct_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem __pyx_vtable_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem; + +static PyObject *__pyx_tp_new_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem(PyTypeObject *t, CYTHON_UNUSED PyObject *a, CYTHON_UNUSED PyObject *k) { + struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem *p; + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + p = ((struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem *)o); + p->__pyx_vtab = __pyx_vtabptr_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem; + return o; +} + +static void __pyx_tp_dealloc_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem(PyObject *o) { + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && (!PyType_IS_GC(Py_TYPE(o)) || !__Pyx_PyObject_GC_IsFinalized(o))) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} + +static PyMethodDef __pyx_methods_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem[] = { + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_9selfdrive_6modeld_6models_15commonmodel_pyx_5CLMem_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_9selfdrive_6modeld_6models_15commonmodel_pyx_5CLMem_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem}, + {Py_tp_methods, (void *)__pyx_methods_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem}, + {Py_tp_new, (void *)__pyx_tp_new_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem}, + {0, 0}, +}; +static PyType_Spec __pyx_type_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem_spec = { + "selfdrive.modeld.models.commonmodel_pyx.CLMem", + sizeof(struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE, + __pyx_type_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem_slots, +}; +#else + +static PyTypeObject __pyx_type_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem = { + PyVarObject_HEAD_INIT(0, 0) + "selfdrive.modeld.models.commonmodel_pyx.""CLMem", /*tp_name*/ + sizeof(struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + 0, /*tp_repr*/ + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE, /*tp_flags*/ + 0, /*tp_doc*/ + 0, /*tp_traverse*/ + 0, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem, /*tp_methods*/ + 0, /*tp_members*/ + 0, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif + +static PyObject *__pyx_tp_new_9selfdrive_6modeld_6models_15commonmodel_pyx_ModelFrame(PyTypeObject *t, PyObject *a, PyObject *k) { + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + if (unlikely(__pyx_pw_9selfdrive_6modeld_6models_15commonmodel_pyx_10ModelFrame_1__cinit__(o, a, k) < 0)) goto bad; + return o; + bad: + Py_DECREF(o); o = 0; + return NULL; +} + +static void __pyx_tp_dealloc_9selfdrive_6modeld_6models_15commonmodel_pyx_ModelFrame(PyObject *o) { + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && (!PyType_IS_GC(Py_TYPE(o)) || !__Pyx_PyObject_GC_IsFinalized(o))) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_9selfdrive_6modeld_6models_15commonmodel_pyx_ModelFrame) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_pw_9selfdrive_6modeld_6models_15commonmodel_pyx_10ModelFrame_3__dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} + +static PyMethodDef __pyx_methods_9selfdrive_6modeld_6models_15commonmodel_pyx_ModelFrame[] = { + {"prepare", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_9selfdrive_6modeld_6models_15commonmodel_pyx_10ModelFrame_5prepare, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_9selfdrive_6modeld_6models_15commonmodel_pyx_10ModelFrame_7__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_9selfdrive_6modeld_6models_15commonmodel_pyx_10ModelFrame_9__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type_9selfdrive_6modeld_6models_15commonmodel_pyx_ModelFrame_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_9selfdrive_6modeld_6models_15commonmodel_pyx_ModelFrame}, + {Py_tp_methods, (void *)__pyx_methods_9selfdrive_6modeld_6models_15commonmodel_pyx_ModelFrame}, + {Py_tp_new, (void *)__pyx_tp_new_9selfdrive_6modeld_6models_15commonmodel_pyx_ModelFrame}, + {0, 0}, +}; +static PyType_Spec __pyx_type_9selfdrive_6modeld_6models_15commonmodel_pyx_ModelFrame_spec = { + "selfdrive.modeld.models.commonmodel_pyx.ModelFrame", + sizeof(struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_ModelFrame), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE, + __pyx_type_9selfdrive_6modeld_6models_15commonmodel_pyx_ModelFrame_slots, +}; +#else + +static PyTypeObject __pyx_type_9selfdrive_6modeld_6models_15commonmodel_pyx_ModelFrame = { + PyVarObject_HEAD_INIT(0, 0) + "selfdrive.modeld.models.commonmodel_pyx.""ModelFrame", /*tp_name*/ + sizeof(struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_ModelFrame), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_9selfdrive_6modeld_6models_15commonmodel_pyx_ModelFrame, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + 0, /*tp_repr*/ + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE, /*tp_flags*/ + 0, /*tp_doc*/ + 0, /*tp_traverse*/ + 0, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_9selfdrive_6modeld_6models_15commonmodel_pyx_ModelFrame, /*tp_methods*/ + 0, /*tp_members*/ + 0, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_9selfdrive_6modeld_6models_15commonmodel_pyx_ModelFrame, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif +static struct __pyx_vtabstruct_array __pyx_vtable_array; + +static PyObject *__pyx_tp_new_array(PyTypeObject *t, PyObject *a, PyObject *k) { + struct __pyx_array_obj *p; + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + p = ((struct __pyx_array_obj *)o); + p->__pyx_vtab = __pyx_vtabptr_array; + p->mode = ((PyObject*)Py_None); Py_INCREF(Py_None); + p->_format = ((PyObject*)Py_None); Py_INCREF(Py_None); + if (unlikely(__pyx_array___cinit__(o, a, k) < 0)) goto bad; + return o; + bad: + Py_DECREF(o); o = 0; + return NULL; +} + +static void __pyx_tp_dealloc_array(PyObject *o) { + struct __pyx_array_obj *p = (struct __pyx_array_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && (!PyType_IS_GC(Py_TYPE(o)) || !__Pyx_PyObject_GC_IsFinalized(o))) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_array) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_array___dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + Py_CLEAR(p->mode); + Py_CLEAR(p->_format); + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} +static PyObject *__pyx_sq_item_array(PyObject *o, Py_ssize_t i) { + PyObject *r; + PyObject *x = PyInt_FromSsize_t(i); if(!x) return 0; + r = Py_TYPE(o)->tp_as_mapping->mp_subscript(o, x); + Py_DECREF(x); + return r; +} + +static int __pyx_mp_ass_subscript_array(PyObject *o, PyObject *i, PyObject *v) { + if (v) { + return __pyx_array___setitem__(o, i, v); + } + else { + __Pyx_TypeName o_type_name; + o_type_name = __Pyx_PyType_GetName(Py_TYPE(o)); + PyErr_Format(PyExc_NotImplementedError, + "Subscript deletion not supported by " __Pyx_FMT_TYPENAME, o_type_name); + __Pyx_DECREF_TypeName(o_type_name); + return -1; + } +} + +static PyObject *__pyx_tp_getattro_array(PyObject *o, PyObject *n) { + PyObject *v = __Pyx_PyObject_GenericGetAttr(o, n); + if (!v && PyErr_ExceptionMatches(PyExc_AttributeError)) { + PyErr_Clear(); + v = __pyx_array___getattr__(o, n); + } + return v; +} + +static PyObject *__pyx_getprop___pyx_array_memview(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_5array_7memview_1__get__(o); +} + +static PyMethodDef __pyx_methods_array[] = { + {"__getattr__", (PyCFunction)__pyx_array___getattr__, METH_O|METH_COEXIST, 0}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_array_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_array_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; + +static struct PyGetSetDef __pyx_getsets_array[] = { + {(char *)"memview", __pyx_getprop___pyx_array_memview, 0, (char *)0, 0}, + {0, 0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +#if !CYTHON_COMPILING_IN_LIMITED_API + +static PyBufferProcs __pyx_tp_as_buffer_array = { + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getreadbuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getwritebuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getsegcount*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getcharbuffer*/ + #endif + __pyx_array_getbuffer, /*bf_getbuffer*/ + 0, /*bf_releasebuffer*/ +}; +#endif +static PyType_Slot __pyx_type___pyx_array_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_array}, + {Py_sq_length, (void *)__pyx_array___len__}, + {Py_sq_item, (void *)__pyx_sq_item_array}, + {Py_mp_length, (void *)__pyx_array___len__}, + {Py_mp_subscript, (void *)__pyx_array___getitem__}, + {Py_mp_ass_subscript, (void *)__pyx_mp_ass_subscript_array}, + {Py_tp_getattro, (void *)__pyx_tp_getattro_array}, + #if defined(Py_bf_getbuffer) + {Py_bf_getbuffer, (void *)__pyx_array_getbuffer}, + #endif + {Py_tp_methods, (void *)__pyx_methods_array}, + {Py_tp_getset, (void *)__pyx_getsets_array}, + {Py_tp_new, (void *)__pyx_tp_new_array}, + {0, 0}, +}; +static PyType_Spec __pyx_type___pyx_array_spec = { + "selfdrive.modeld.models.commonmodel_pyx.array", + sizeof(struct __pyx_array_obj), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_SEQUENCE, + __pyx_type___pyx_array_slots, +}; +#else + +static PySequenceMethods __pyx_tp_as_sequence_array = { + __pyx_array___len__, /*sq_length*/ + 0, /*sq_concat*/ + 0, /*sq_repeat*/ + __pyx_sq_item_array, /*sq_item*/ + 0, /*sq_slice*/ + 0, /*sq_ass_item*/ + 0, /*sq_ass_slice*/ + 0, /*sq_contains*/ + 0, /*sq_inplace_concat*/ + 0, /*sq_inplace_repeat*/ +}; + +static PyMappingMethods __pyx_tp_as_mapping_array = { + __pyx_array___len__, /*mp_length*/ + __pyx_array___getitem__, /*mp_subscript*/ + __pyx_mp_ass_subscript_array, /*mp_ass_subscript*/ +}; + +static PyBufferProcs __pyx_tp_as_buffer_array = { + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getreadbuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getwritebuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getsegcount*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getcharbuffer*/ + #endif + __pyx_array_getbuffer, /*bf_getbuffer*/ + 0, /*bf_releasebuffer*/ +}; + +static PyTypeObject __pyx_type___pyx_array = { + PyVarObject_HEAD_INIT(0, 0) + "selfdrive.modeld.models.commonmodel_pyx.""array", /*tp_name*/ + sizeof(struct __pyx_array_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_array, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + 0, /*tp_repr*/ + 0, /*tp_as_number*/ + &__pyx_tp_as_sequence_array, /*tp_as_sequence*/ + &__pyx_tp_as_mapping_array, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + __pyx_tp_getattro_array, /*tp_getattro*/ + 0, /*tp_setattro*/ + &__pyx_tp_as_buffer_array, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_SEQUENCE, /*tp_flags*/ + 0, /*tp_doc*/ + 0, /*tp_traverse*/ + 0, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_array, /*tp_methods*/ + 0, /*tp_members*/ + __pyx_getsets_array, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_array, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif + +static PyObject *__pyx_tp_new_Enum(PyTypeObject *t, CYTHON_UNUSED PyObject *a, CYTHON_UNUSED PyObject *k) { + struct __pyx_MemviewEnum_obj *p; + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + p = ((struct __pyx_MemviewEnum_obj *)o); + p->name = Py_None; Py_INCREF(Py_None); + return o; +} + +static void __pyx_tp_dealloc_Enum(PyObject *o) { + struct __pyx_MemviewEnum_obj *p = (struct __pyx_MemviewEnum_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && !__Pyx_PyObject_GC_IsFinalized(o)) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_Enum) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + PyObject_GC_UnTrack(o); + Py_CLEAR(p->name); + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} + +static int __pyx_tp_traverse_Enum(PyObject *o, visitproc v, void *a) { + int e; + struct __pyx_MemviewEnum_obj *p = (struct __pyx_MemviewEnum_obj *)o; + if (p->name) { + e = (*v)(p->name, a); if (e) return e; + } + return 0; +} + +static int __pyx_tp_clear_Enum(PyObject *o) { + PyObject* tmp; + struct __pyx_MemviewEnum_obj *p = (struct __pyx_MemviewEnum_obj *)o; + tmp = ((PyObject*)p->name); + p->name = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + return 0; +} + +static PyObject *__pyx_specialmethod___pyx_MemviewEnum___repr__(PyObject *self, CYTHON_UNUSED PyObject *arg) { + return __pyx_MemviewEnum___repr__(self); +} + +static PyMethodDef __pyx_methods_Enum[] = { + {"__repr__", (PyCFunction)__pyx_specialmethod___pyx_MemviewEnum___repr__, METH_NOARGS|METH_COEXIST, 0}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_MemviewEnum_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_MemviewEnum_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type___pyx_MemviewEnum_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_Enum}, + {Py_tp_repr, (void *)__pyx_MemviewEnum___repr__}, + {Py_tp_traverse, (void *)__pyx_tp_traverse_Enum}, + {Py_tp_clear, (void *)__pyx_tp_clear_Enum}, + {Py_tp_methods, (void *)__pyx_methods_Enum}, + {Py_tp_init, (void *)__pyx_MemviewEnum___init__}, + {Py_tp_new, (void *)__pyx_tp_new_Enum}, + {0, 0}, +}; +static PyType_Spec __pyx_type___pyx_MemviewEnum_spec = { + "selfdrive.modeld.models.commonmodel_pyx.Enum", + sizeof(struct __pyx_MemviewEnum_obj), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, + __pyx_type___pyx_MemviewEnum_slots, +}; +#else + +static PyTypeObject __pyx_type___pyx_MemviewEnum = { + PyVarObject_HEAD_INIT(0, 0) + "selfdrive.modeld.models.commonmodel_pyx.""Enum", /*tp_name*/ + sizeof(struct __pyx_MemviewEnum_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_Enum, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + __pyx_MemviewEnum___repr__, /*tp_repr*/ + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, /*tp_flags*/ + 0, /*tp_doc*/ + __pyx_tp_traverse_Enum, /*tp_traverse*/ + __pyx_tp_clear_Enum, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_Enum, /*tp_methods*/ + 0, /*tp_members*/ + 0, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + __pyx_MemviewEnum___init__, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_Enum, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif +static struct __pyx_vtabstruct_memoryview __pyx_vtable_memoryview; + +static PyObject *__pyx_tp_new_memoryview(PyTypeObject *t, PyObject *a, PyObject *k) { + struct __pyx_memoryview_obj *p; + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + p = ((struct __pyx_memoryview_obj *)o); + p->__pyx_vtab = __pyx_vtabptr_memoryview; + p->obj = Py_None; Py_INCREF(Py_None); + p->_size = Py_None; Py_INCREF(Py_None); + p->_array_interface = Py_None; Py_INCREF(Py_None); + p->view.obj = NULL; + if (unlikely(__pyx_memoryview___cinit__(o, a, k) < 0)) goto bad; + return o; + bad: + Py_DECREF(o); o = 0; + return NULL; +} + +static void __pyx_tp_dealloc_memoryview(PyObject *o) { + struct __pyx_memoryview_obj *p = (struct __pyx_memoryview_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && !__Pyx_PyObject_GC_IsFinalized(o)) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_memoryview) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + PyObject_GC_UnTrack(o); + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_memoryview___dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + Py_CLEAR(p->obj); + Py_CLEAR(p->_size); + Py_CLEAR(p->_array_interface); + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} + +static int __pyx_tp_traverse_memoryview(PyObject *o, visitproc v, void *a) { + int e; + struct __pyx_memoryview_obj *p = (struct __pyx_memoryview_obj *)o; + if (p->obj) { + e = (*v)(p->obj, a); if (e) return e; + } + if (p->_size) { + e = (*v)(p->_size, a); if (e) return e; + } + if (p->_array_interface) { + e = (*v)(p->_array_interface, a); if (e) return e; + } + if (p->view.obj) { + e = (*v)(p->view.obj, a); if (e) return e; + } + return 0; +} + +static int __pyx_tp_clear_memoryview(PyObject *o) { + PyObject* tmp; + struct __pyx_memoryview_obj *p = (struct __pyx_memoryview_obj *)o; + tmp = ((PyObject*)p->obj); + p->obj = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + tmp = ((PyObject*)p->_size); + p->_size = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + tmp = ((PyObject*)p->_array_interface); + p->_array_interface = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + Py_CLEAR(p->view.obj); + return 0; +} +static PyObject *__pyx_sq_item_memoryview(PyObject *o, Py_ssize_t i) { + PyObject *r; + PyObject *x = PyInt_FromSsize_t(i); if(!x) return 0; + r = Py_TYPE(o)->tp_as_mapping->mp_subscript(o, x); + Py_DECREF(x); + return r; +} + +static int __pyx_mp_ass_subscript_memoryview(PyObject *o, PyObject *i, PyObject *v) { + if (v) { + return __pyx_memoryview___setitem__(o, i, v); + } + else { + __Pyx_TypeName o_type_name; + o_type_name = __Pyx_PyType_GetName(Py_TYPE(o)); + PyErr_Format(PyExc_NotImplementedError, + "Subscript deletion not supported by " __Pyx_FMT_TYPENAME, o_type_name); + __Pyx_DECREF_TypeName(o_type_name); + return -1; + } +} + +static PyObject *__pyx_getprop___pyx_memoryview_T(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_1T_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_base(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_4base_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_shape(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_5shape_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_strides(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_7strides_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_suboffsets(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_10suboffsets_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_ndim(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_4ndim_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_itemsize(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_8itemsize_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_nbytes(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_6nbytes_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_size(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_4size_1__get__(o); +} + +static PyObject *__pyx_specialmethod___pyx_memoryview___repr__(PyObject *self, CYTHON_UNUSED PyObject *arg) { + return __pyx_memoryview___repr__(self); +} + +static PyMethodDef __pyx_methods_memoryview[] = { + {"__repr__", (PyCFunction)__pyx_specialmethod___pyx_memoryview___repr__, METH_NOARGS|METH_COEXIST, 0}, + {"is_c_contig", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_memoryview_is_c_contig, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"is_f_contig", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_memoryview_is_f_contig, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"copy", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_memoryview_copy, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"copy_fortran", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_memoryview_copy_fortran, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_memoryview_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_memoryview_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; + +static struct PyGetSetDef __pyx_getsets_memoryview[] = { + {(char *)"T", __pyx_getprop___pyx_memoryview_T, 0, (char *)0, 0}, + {(char *)"base", __pyx_getprop___pyx_memoryview_base, 0, (char *)0, 0}, + {(char *)"shape", __pyx_getprop___pyx_memoryview_shape, 0, (char *)0, 0}, + {(char *)"strides", __pyx_getprop___pyx_memoryview_strides, 0, (char *)0, 0}, + {(char *)"suboffsets", __pyx_getprop___pyx_memoryview_suboffsets, 0, (char *)0, 0}, + {(char *)"ndim", __pyx_getprop___pyx_memoryview_ndim, 0, (char *)0, 0}, + {(char *)"itemsize", __pyx_getprop___pyx_memoryview_itemsize, 0, (char *)0, 0}, + {(char *)"nbytes", __pyx_getprop___pyx_memoryview_nbytes, 0, (char *)0, 0}, + {(char *)"size", __pyx_getprop___pyx_memoryview_size, 0, (char *)0, 0}, + {0, 0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +#if !CYTHON_COMPILING_IN_LIMITED_API + +static PyBufferProcs __pyx_tp_as_buffer_memoryview = { + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getreadbuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getwritebuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getsegcount*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getcharbuffer*/ + #endif + __pyx_memoryview_getbuffer, /*bf_getbuffer*/ + 0, /*bf_releasebuffer*/ +}; +#endif +static PyType_Slot __pyx_type___pyx_memoryview_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_memoryview}, + {Py_tp_repr, (void *)__pyx_memoryview___repr__}, + {Py_sq_length, (void *)__pyx_memoryview___len__}, + {Py_sq_item, (void *)__pyx_sq_item_memoryview}, + {Py_mp_length, (void *)__pyx_memoryview___len__}, + {Py_mp_subscript, (void *)__pyx_memoryview___getitem__}, + {Py_mp_ass_subscript, (void *)__pyx_mp_ass_subscript_memoryview}, + {Py_tp_str, (void *)__pyx_memoryview___str__}, + #if defined(Py_bf_getbuffer) + {Py_bf_getbuffer, (void *)__pyx_memoryview_getbuffer}, + #endif + {Py_tp_traverse, (void *)__pyx_tp_traverse_memoryview}, + {Py_tp_clear, (void *)__pyx_tp_clear_memoryview}, + {Py_tp_methods, (void *)__pyx_methods_memoryview}, + {Py_tp_getset, (void *)__pyx_getsets_memoryview}, + {Py_tp_new, (void *)__pyx_tp_new_memoryview}, + {0, 0}, +}; +static PyType_Spec __pyx_type___pyx_memoryview_spec = { + "selfdrive.modeld.models.commonmodel_pyx.memoryview", + sizeof(struct __pyx_memoryview_obj), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, + __pyx_type___pyx_memoryview_slots, +}; +#else + +static PySequenceMethods __pyx_tp_as_sequence_memoryview = { + __pyx_memoryview___len__, /*sq_length*/ + 0, /*sq_concat*/ + 0, /*sq_repeat*/ + __pyx_sq_item_memoryview, /*sq_item*/ + 0, /*sq_slice*/ + 0, /*sq_ass_item*/ + 0, /*sq_ass_slice*/ + 0, /*sq_contains*/ + 0, /*sq_inplace_concat*/ + 0, /*sq_inplace_repeat*/ +}; + +static PyMappingMethods __pyx_tp_as_mapping_memoryview = { + __pyx_memoryview___len__, /*mp_length*/ + __pyx_memoryview___getitem__, /*mp_subscript*/ + __pyx_mp_ass_subscript_memoryview, /*mp_ass_subscript*/ +}; + +static PyBufferProcs __pyx_tp_as_buffer_memoryview = { + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getreadbuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getwritebuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getsegcount*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getcharbuffer*/ + #endif + __pyx_memoryview_getbuffer, /*bf_getbuffer*/ + 0, /*bf_releasebuffer*/ +}; + +static PyTypeObject __pyx_type___pyx_memoryview = { + PyVarObject_HEAD_INIT(0, 0) + "selfdrive.modeld.models.commonmodel_pyx.""memoryview", /*tp_name*/ + sizeof(struct __pyx_memoryview_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_memoryview, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + __pyx_memoryview___repr__, /*tp_repr*/ + 0, /*tp_as_number*/ + &__pyx_tp_as_sequence_memoryview, /*tp_as_sequence*/ + &__pyx_tp_as_mapping_memoryview, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + __pyx_memoryview___str__, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + &__pyx_tp_as_buffer_memoryview, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, /*tp_flags*/ + 0, /*tp_doc*/ + __pyx_tp_traverse_memoryview, /*tp_traverse*/ + __pyx_tp_clear_memoryview, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_memoryview, /*tp_methods*/ + 0, /*tp_members*/ + __pyx_getsets_memoryview, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_memoryview, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif +static struct __pyx_vtabstruct__memoryviewslice __pyx_vtable__memoryviewslice; + +static PyObject *__pyx_tp_new__memoryviewslice(PyTypeObject *t, PyObject *a, PyObject *k) { + struct __pyx_memoryviewslice_obj *p; + PyObject *o = __pyx_tp_new_memoryview(t, a, k); + if (unlikely(!o)) return 0; + p = ((struct __pyx_memoryviewslice_obj *)o); + p->__pyx_base.__pyx_vtab = (struct __pyx_vtabstruct_memoryview*)__pyx_vtabptr__memoryviewslice; + new((void*)&(p->from_slice)) __Pyx_memviewslice(); + p->from_object = Py_None; Py_INCREF(Py_None); + p->from_slice.memview = NULL; + return o; +} + +static void __pyx_tp_dealloc__memoryviewslice(PyObject *o) { + struct __pyx_memoryviewslice_obj *p = (struct __pyx_memoryviewslice_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && !__Pyx_PyObject_GC_IsFinalized(o)) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc__memoryviewslice) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + PyObject_GC_UnTrack(o); + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_memoryviewslice___dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + __Pyx_call_destructor(p->from_slice); + Py_CLEAR(p->from_object); + PyObject_GC_Track(o); + __pyx_tp_dealloc_memoryview(o); +} + +static int __pyx_tp_traverse__memoryviewslice(PyObject *o, visitproc v, void *a) { + int e; + struct __pyx_memoryviewslice_obj *p = (struct __pyx_memoryviewslice_obj *)o; + e = __pyx_tp_traverse_memoryview(o, v, a); if (e) return e; + if (p->from_object) { + e = (*v)(p->from_object, a); if (e) return e; + } + return 0; +} + +static int __pyx_tp_clear__memoryviewslice(PyObject *o) { + PyObject* tmp; + struct __pyx_memoryviewslice_obj *p = (struct __pyx_memoryviewslice_obj *)o; + __pyx_tp_clear_memoryview(o); + tmp = ((PyObject*)p->from_object); + p->from_object = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + __PYX_XCLEAR_MEMVIEW(&p->from_slice, 1); + return 0; +} + +static PyMethodDef __pyx_methods__memoryviewslice[] = { + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_memoryviewslice_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_memoryviewslice_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type___pyx_memoryviewslice_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc__memoryviewslice}, + {Py_tp_doc, (void *)PyDoc_STR("Internal class for passing memoryview slices to Python")}, + {Py_tp_traverse, (void *)__pyx_tp_traverse__memoryviewslice}, + {Py_tp_clear, (void *)__pyx_tp_clear__memoryviewslice}, + {Py_tp_methods, (void *)__pyx_methods__memoryviewslice}, + {Py_tp_new, (void *)__pyx_tp_new__memoryviewslice}, + {0, 0}, +}; +static PyType_Spec __pyx_type___pyx_memoryviewslice_spec = { + "selfdrive.modeld.models.commonmodel_pyx._memoryviewslice", + sizeof(struct __pyx_memoryviewslice_obj), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC|Py_TPFLAGS_SEQUENCE, + __pyx_type___pyx_memoryviewslice_slots, +}; +#else + +static PyTypeObject __pyx_type___pyx_memoryviewslice = { + PyVarObject_HEAD_INIT(0, 0) + "selfdrive.modeld.models.commonmodel_pyx.""_memoryviewslice", /*tp_name*/ + sizeof(struct __pyx_memoryviewslice_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc__memoryviewslice, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + #if CYTHON_COMPILING_IN_PYPY || 0 + __pyx_memoryview___repr__, /*tp_repr*/ + #else + 0, /*tp_repr*/ + #endif + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + #if CYTHON_COMPILING_IN_PYPY || 0 + __pyx_memoryview___str__, /*tp_str*/ + #else + 0, /*tp_str*/ + #endif + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC|Py_TPFLAGS_SEQUENCE, /*tp_flags*/ + PyDoc_STR("Internal class for passing memoryview slices to Python"), /*tp_doc*/ + __pyx_tp_traverse__memoryviewslice, /*tp_traverse*/ + __pyx_tp_clear__memoryviewslice, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods__memoryviewslice, /*tp_methods*/ + 0, /*tp_members*/ + 0, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new__memoryviewslice, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif + +static PyMethodDef __pyx_methods[] = { + {0, 0, 0, 0} +}; +#ifndef CYTHON_SMALL_CODE +#if defined(__clang__) + #define CYTHON_SMALL_CODE +#elif defined(__GNUC__) && (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 3)) + #define CYTHON_SMALL_CODE __attribute__((cold)) +#else + #define CYTHON_SMALL_CODE +#endif +#endif +/* #### Code section: pystring_table ### */ + +static int __Pyx_CreateStringTabAndInitStrings(void) { + __Pyx_StringTabEntry __pyx_string_tab[] = { + {&__pyx_kp_u_, __pyx_k_, sizeof(__pyx_k_), 0, 1, 0, 0}, + {&__pyx_n_s_ASCII, __pyx_k_ASCII, sizeof(__pyx_k_ASCII), 0, 0, 1, 1}, + {&__pyx_kp_s_All_dimensions_preceding_dimensi, __pyx_k_All_dimensions_preceding_dimensi, sizeof(__pyx_k_All_dimensions_preceding_dimensi), 0, 0, 1, 0}, + {&__pyx_n_s_AssertionError, __pyx_k_AssertionError, sizeof(__pyx_k_AssertionError), 0, 0, 1, 1}, + {&__pyx_kp_s_Buffer_view_does_not_expose_stri, __pyx_k_Buffer_view_does_not_expose_stri, sizeof(__pyx_k_Buffer_view_does_not_expose_stri), 0, 0, 1, 0}, + {&__pyx_n_s_CLContext, __pyx_k_CLContext, sizeof(__pyx_k_CLContext), 0, 0, 1, 1}, + {&__pyx_n_s_CLContext___reduce_cython, __pyx_k_CLContext___reduce_cython, sizeof(__pyx_k_CLContext___reduce_cython), 0, 0, 1, 1}, + {&__pyx_n_s_CLContext___setstate_cython, __pyx_k_CLContext___setstate_cython, sizeof(__pyx_k_CLContext___setstate_cython), 0, 0, 1, 1}, + {&__pyx_n_s_CLMem, __pyx_k_CLMem, sizeof(__pyx_k_CLMem), 0, 0, 1, 1}, + {&__pyx_n_s_CLMem___reduce_cython, __pyx_k_CLMem___reduce_cython, sizeof(__pyx_k_CLMem___reduce_cython), 0, 0, 1, 1}, + {&__pyx_n_s_CLMem___setstate_cython, __pyx_k_CLMem___setstate_cython, sizeof(__pyx_k_CLMem___setstate_cython), 0, 0, 1, 1}, + {&__pyx_kp_s_Can_only_create_a_buffer_that_is, __pyx_k_Can_only_create_a_buffer_that_is, sizeof(__pyx_k_Can_only_create_a_buffer_that_is), 0, 0, 1, 0}, + {&__pyx_kp_s_Cannot_assign_to_read_only_memor, __pyx_k_Cannot_assign_to_read_only_memor, sizeof(__pyx_k_Cannot_assign_to_read_only_memor), 0, 0, 1, 0}, + {&__pyx_kp_s_Cannot_create_writable_memory_vi, __pyx_k_Cannot_create_writable_memory_vi, sizeof(__pyx_k_Cannot_create_writable_memory_vi), 0, 0, 1, 0}, + {&__pyx_kp_u_Cannot_index_with_type, __pyx_k_Cannot_index_with_type, sizeof(__pyx_k_Cannot_index_with_type), 0, 1, 0, 0}, + {&__pyx_kp_s_Cannot_transpose_memoryview_with, __pyx_k_Cannot_transpose_memoryview_with, sizeof(__pyx_k_Cannot_transpose_memoryview_with), 0, 0, 1, 0}, + {&__pyx_kp_s_Dimension_d_is_not_direct, __pyx_k_Dimension_d_is_not_direct, sizeof(__pyx_k_Dimension_d_is_not_direct), 0, 0, 1, 0}, + {&__pyx_n_s_Ellipsis, __pyx_k_Ellipsis, sizeof(__pyx_k_Ellipsis), 0, 0, 1, 1}, + {&__pyx_kp_s_Empty_shape_tuple_for_cython_arr, __pyx_k_Empty_shape_tuple_for_cython_arr, sizeof(__pyx_k_Empty_shape_tuple_for_cython_arr), 0, 0, 1, 0}, + {&__pyx_n_s_ImportError, __pyx_k_ImportError, sizeof(__pyx_k_ImportError), 0, 0, 1, 1}, + {&__pyx_kp_s_Incompatible_checksums_0x_x_vs_0, __pyx_k_Incompatible_checksums_0x_x_vs_0, 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+ ps1 = PyBytes_AS_STRING(s1); + ps2 = PyBytes_AS_STRING(s2); + if (ps1[0] != ps2[0]) { + return (equals == Py_NE); + } else if (length == 1) { + return (equals == Py_EQ); + } else { + int result; +#if CYTHON_USE_UNICODE_INTERNALS && (PY_VERSION_HEX < 0x030B0000) + Py_hash_t hash1, hash2; + hash1 = ((PyBytesObject*)s1)->ob_shash; + hash2 = ((PyBytesObject*)s2)->ob_shash; + if (hash1 != hash2 && hash1 != -1 && hash2 != -1) { + return (equals == Py_NE); + } +#endif + result = memcmp(ps1, ps2, (size_t)length); + return (equals == Py_EQ) ? (result == 0) : (result != 0); + } + } else if ((s1 == Py_None) & PyBytes_CheckExact(s2)) { + return (equals == Py_NE); + } else if ((s2 == Py_None) & PyBytes_CheckExact(s1)) { + return (equals == Py_NE); + } else { + int result; + PyObject* py_result = PyObject_RichCompare(s1, s2, equals); + if (!py_result) + return -1; + result = __Pyx_PyObject_IsTrue(py_result); + Py_DECREF(py_result); + return result; + } +#endif +} + +/* UnicodeEquals */ +static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int equals) { +#if CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API + return PyObject_RichCompareBool(s1, s2, equals); +#else +#if PY_MAJOR_VERSION < 3 + PyObject* owned_ref = NULL; +#endif + int s1_is_unicode, s2_is_unicode; + if (s1 == s2) { + goto return_eq; + } + s1_is_unicode = PyUnicode_CheckExact(s1); + s2_is_unicode = PyUnicode_CheckExact(s2); +#if PY_MAJOR_VERSION < 3 + if ((s1_is_unicode & (!s2_is_unicode)) && PyString_CheckExact(s2)) { + owned_ref = PyUnicode_FromObject(s2); + if (unlikely(!owned_ref)) + return -1; + s2 = owned_ref; + s2_is_unicode = 1; + } else if ((s2_is_unicode & (!s1_is_unicode)) && PyString_CheckExact(s1)) { + owned_ref = PyUnicode_FromObject(s1); + if (unlikely(!owned_ref)) + return -1; + s1 = owned_ref; + s1_is_unicode = 1; + } else if (((!s2_is_unicode) & (!s1_is_unicode))) { + return __Pyx_PyBytes_Equals(s1, s2, equals); + } +#endif + if (s1_is_unicode & s2_is_unicode) { + Py_ssize_t length; + int kind; + void *data1, *data2; + if (unlikely(__Pyx_PyUnicode_READY(s1) < 0) || unlikely(__Pyx_PyUnicode_READY(s2) < 0)) + return -1; + length = __Pyx_PyUnicode_GET_LENGTH(s1); + if (length != __Pyx_PyUnicode_GET_LENGTH(s2)) { + goto return_ne; + } +#if CYTHON_USE_UNICODE_INTERNALS + { + Py_hash_t hash1, hash2; + #if CYTHON_PEP393_ENABLED + hash1 = ((PyASCIIObject*)s1)->hash; + hash2 = ((PyASCIIObject*)s2)->hash; + #else + hash1 = ((PyUnicodeObject*)s1)->hash; + hash2 = ((PyUnicodeObject*)s2)->hash; + #endif + if (hash1 != hash2 && hash1 != -1 && hash2 != -1) { + goto return_ne; + } + } +#endif + kind = __Pyx_PyUnicode_KIND(s1); + if (kind != __Pyx_PyUnicode_KIND(s2)) { + goto return_ne; + } + data1 = __Pyx_PyUnicode_DATA(s1); + data2 = __Pyx_PyUnicode_DATA(s2); + if (__Pyx_PyUnicode_READ(kind, data1, 0) != __Pyx_PyUnicode_READ(kind, data2, 0)) { + goto return_ne; + } else if (length == 1) { + goto return_eq; + } else { + int result = memcmp(data1, data2, (size_t)(length * kind)); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_EQ) ? (result == 0) : (result != 0); + } + } else if ((s1 == Py_None) & s2_is_unicode) { + goto return_ne; + } else if ((s2 == Py_None) & s1_is_unicode) { + goto return_ne; + } else { + int result; + PyObject* py_result = PyObject_RichCompare(s1, s2, equals); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + if (!py_result) + return -1; + result = __Pyx_PyObject_IsTrue(py_result); + Py_DECREF(py_result); + return result; + } +return_eq: + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_EQ); +return_ne: + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_NE); +#endif +} + +/* fastcall */ +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE PyObject * __Pyx_GetKwValue_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues, PyObject *s) +{ + Py_ssize_t i, n = PyTuple_GET_SIZE(kwnames); + for (i = 0; i < n; i++) + { + if (s == PyTuple_GET_ITEM(kwnames, i)) return kwvalues[i]; + } + for (i = 0; i < n; i++) + { + int eq = __Pyx_PyUnicode_Equals(s, PyTuple_GET_ITEM(kwnames, i), Py_EQ); + if (unlikely(eq != 0)) { + if (unlikely(eq < 0)) return NULL; + return kwvalues[i]; + } + } + return NULL; +} +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 +CYTHON_UNUSED static PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues) { + Py_ssize_t i, nkwargs = PyTuple_GET_SIZE(kwnames); + PyObject *dict; + dict = PyDict_New(); + if (unlikely(!dict)) + return NULL; + for (i=0; i= 3 + "%s() got multiple values for keyword argument '%U'", func_name, kw_name); + #else + "%s() got multiple values for keyword argument '%s'", func_name, + PyString_AsString(kw_name)); + #endif +} + +/* ParseKeywords */ +static int __Pyx_ParseOptionalKeywords( + PyObject *kwds, + PyObject *const *kwvalues, + PyObject **argnames[], + PyObject *kwds2, + PyObject *values[], + Py_ssize_t num_pos_args, + const char* function_name) +{ + PyObject *key = 0, *value = 0; + Py_ssize_t pos = 0; + PyObject*** name; + PyObject*** first_kw_arg = argnames + num_pos_args; + int kwds_is_tuple = CYTHON_METH_FASTCALL && likely(PyTuple_Check(kwds)); + while (1) { + Py_XDECREF(key); key = NULL; + Py_XDECREF(value); value = NULL; + if (kwds_is_tuple) { + Py_ssize_t size; +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(kwds); +#else + size = PyTuple_Size(kwds); + if (size < 0) goto bad; +#endif + if (pos >= size) break; +#if CYTHON_AVOID_BORROWED_REFS + key = __Pyx_PySequence_ITEM(kwds, pos); + if (!key) goto bad; +#elif CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kwds, pos); +#else + key = PyTuple_GetItem(kwds, pos); + if (!key) goto bad; +#endif + value = kwvalues[pos]; + pos++; + } + else + { + if (!PyDict_Next(kwds, &pos, &key, &value)) break; +#if CYTHON_AVOID_BORROWED_REFS + Py_INCREF(key); +#endif + } + name = first_kw_arg; + while (*name && (**name != key)) name++; + if (*name) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + Py_INCREF(value); + Py_DECREF(key); +#endif + key = NULL; + value = NULL; + continue; + } +#if !CYTHON_AVOID_BORROWED_REFS + Py_INCREF(key); +#endif + Py_INCREF(value); + name = first_kw_arg; + #if PY_MAJOR_VERSION < 3 + if (likely(PyString_Check(key))) { + while (*name) { + if ((CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**name) == PyString_GET_SIZE(key)) + && _PyString_Eq(**name, key)) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + value = NULL; +#endif + break; + } + name++; + } + if (*name) continue; + else { + PyObject*** argname = argnames; + while (argname != first_kw_arg) { + if ((**argname == key) || ( + (CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**argname) == PyString_GET_SIZE(key)) + && _PyString_Eq(**argname, key))) { + goto arg_passed_twice; + } + argname++; + } + } + } else + #endif + if (likely(PyUnicode_Check(key))) { + while (*name) { + int cmp = ( + #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 + (__Pyx_PyUnicode_GET_LENGTH(**name) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : + #endif + PyUnicode_Compare(**name, key) + ); + if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; + if (cmp == 0) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + value = NULL; +#endif + break; + } + name++; + } + if (*name) continue; + else { + PyObject*** argname = argnames; + while (argname != first_kw_arg) { + int cmp = (**argname == key) ? 0 : + #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 + (__Pyx_PyUnicode_GET_LENGTH(**argname) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : + #endif + PyUnicode_Compare(**argname, key); + if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; + if (cmp == 0) goto arg_passed_twice; + argname++; + } + } + } else + goto invalid_keyword_type; + if (kwds2) { + if (unlikely(PyDict_SetItem(kwds2, key, value))) goto bad; + } else { + goto invalid_keyword; + } + } + Py_XDECREF(key); + Py_XDECREF(value); + return 0; +arg_passed_twice: + __Pyx_RaiseDoubleKeywordsError(function_name, key); + goto bad; +invalid_keyword_type: + PyErr_Format(PyExc_TypeError, + "%.200s() keywords must be strings", function_name); + goto bad; +invalid_keyword: + #if PY_MAJOR_VERSION < 3 + PyErr_Format(PyExc_TypeError, + "%.200s() got an unexpected keyword argument '%.200s'", + function_name, PyString_AsString(key)); + #else + PyErr_Format(PyExc_TypeError, + "%s() got an unexpected keyword argument '%U'", + function_name, key); + #endif +bad: + Py_XDECREF(key); + Py_XDECREF(value); + return -1; +} + +/* ArgTypeTest */ +static int __Pyx__ArgTypeTest(PyObject *obj, PyTypeObject *type, const char *name, int exact) +{ + __Pyx_TypeName type_name; + __Pyx_TypeName obj_type_name; + if (unlikely(!type)) { + PyErr_SetString(PyExc_SystemError, "Missing type object"); + return 0; + } + else if (exact) { + #if PY_MAJOR_VERSION == 2 + if ((type == &PyBaseString_Type) && likely(__Pyx_PyBaseString_CheckExact(obj))) return 1; + #endif + } + else { + if (likely(__Pyx_TypeCheck(obj, type))) return 1; + } + type_name = __Pyx_PyType_GetName(type); + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, + "Argument '%.200s' has incorrect type (expected " __Pyx_FMT_TYPENAME + ", got " __Pyx_FMT_TYPENAME ")", name, type_name, obj_type_name); + __Pyx_DECREF_TypeName(type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return 0; +} + +/* RaiseException */ +#if PY_MAJOR_VERSION < 3 +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) { + __Pyx_PyThreadState_declare + CYTHON_UNUSED_VAR(cause); + Py_XINCREF(type); + if (!value || value == Py_None) + value = NULL; + else + Py_INCREF(value); + if (!tb || tb == Py_None) + tb = NULL; + else { + Py_INCREF(tb); + if (!PyTraceBack_Check(tb)) { + PyErr_SetString(PyExc_TypeError, + "raise: arg 3 must be a traceback or None"); + goto raise_error; + } + } + if (PyType_Check(type)) { +#if CYTHON_COMPILING_IN_PYPY + if (!value) { + Py_INCREF(Py_None); + value = Py_None; + } +#endif + PyErr_NormalizeException(&type, &value, &tb); + } else { + if (value) { + PyErr_SetString(PyExc_TypeError, + "instance exception may not have a separate value"); + goto raise_error; + } + value = type; + type = (PyObject*) Py_TYPE(type); + Py_INCREF(type); + if (!PyType_IsSubtype((PyTypeObject *)type, (PyTypeObject *)PyExc_BaseException)) { + PyErr_SetString(PyExc_TypeError, + "raise: exception class must be a subclass of BaseException"); + goto raise_error; + } + } + __Pyx_PyThreadState_assign + __Pyx_ErrRestore(type, value, tb); + return; +raise_error: + Py_XDECREF(value); + Py_XDECREF(type); + Py_XDECREF(tb); + return; +} +#else +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) { + PyObject* owned_instance = NULL; + if (tb == Py_None) { + tb = 0; + } else if (tb && !PyTraceBack_Check(tb)) { + PyErr_SetString(PyExc_TypeError, + "raise: arg 3 must be a traceback or None"); + goto bad; + } + if (value == Py_None) + value = 0; + if (PyExceptionInstance_Check(type)) { + if (value) { + PyErr_SetString(PyExc_TypeError, + "instance exception may not have a separate value"); + goto bad; + } + value = type; + type = (PyObject*) Py_TYPE(value); + } else if (PyExceptionClass_Check(type)) { + PyObject *instance_class = NULL; + if (value && PyExceptionInstance_Check(value)) { + instance_class = (PyObject*) Py_TYPE(value); + if (instance_class != type) { + int is_subclass = PyObject_IsSubclass(instance_class, type); + if (!is_subclass) { + instance_class = NULL; + } else if (unlikely(is_subclass == -1)) { + goto bad; + } else { + type = instance_class; + } + } + } + if (!instance_class) { + PyObject *args; + if (!value) + args = PyTuple_New(0); + else if (PyTuple_Check(value)) { + Py_INCREF(value); + args = value; + } else + args = PyTuple_Pack(1, value); + if (!args) + goto bad; + owned_instance = PyObject_Call(type, args, NULL); + Py_DECREF(args); + if (!owned_instance) + goto bad; + value = owned_instance; + if (!PyExceptionInstance_Check(value)) { + PyErr_Format(PyExc_TypeError, + "calling %R should have returned an instance of " + "BaseException, not %R", + type, Py_TYPE(value)); + goto bad; + } + } + } else { + PyErr_SetString(PyExc_TypeError, + "raise: exception class must be a subclass of BaseException"); + goto bad; + } + if (cause) { + PyObject *fixed_cause; + if (cause == Py_None) { + fixed_cause = NULL; + } else if (PyExceptionClass_Check(cause)) { + fixed_cause = PyObject_CallObject(cause, NULL); + if (fixed_cause == NULL) + goto bad; + } else if (PyExceptionInstance_Check(cause)) { + fixed_cause = cause; + Py_INCREF(fixed_cause); + } else { + PyErr_SetString(PyExc_TypeError, + "exception causes must derive from " + "BaseException"); + goto bad; + } + PyException_SetCause(value, fixed_cause); + } + PyErr_SetObject(type, value); + if (tb) { + #if PY_VERSION_HEX >= 0x030C00A6 + PyException_SetTraceback(value, tb); + #elif CYTHON_FAST_THREAD_STATE + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject* tmp_tb = tstate->curexc_traceback; + if (tb != tmp_tb) { + Py_INCREF(tb); + tstate->curexc_traceback = tb; + Py_XDECREF(tmp_tb); + } +#else + PyObject *tmp_type, *tmp_value, *tmp_tb; + PyErr_Fetch(&tmp_type, &tmp_value, &tmp_tb); + Py_INCREF(tb); + PyErr_Restore(tmp_type, tmp_value, tb); + Py_XDECREF(tmp_tb); +#endif + } +bad: + Py_XDECREF(owned_instance); + return; +} +#endif + +/* PyFunctionFastCall */ +#if CYTHON_FAST_PYCALL && !CYTHON_VECTORCALL +static PyObject* __Pyx_PyFunction_FastCallNoKw(PyCodeObject *co, PyObject **args, Py_ssize_t na, + PyObject *globals) { + PyFrameObject *f; + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject **fastlocals; + Py_ssize_t i; + PyObject *result; + assert(globals != NULL); + /* XXX Perhaps we should create a specialized + PyFrame_New() that doesn't take locals, but does + take builtins without sanity checking them. + */ + assert(tstate != NULL); + f = PyFrame_New(tstate, co, globals, NULL); + if (f == NULL) { + return NULL; + } + fastlocals = __Pyx_PyFrame_GetLocalsplus(f); + for (i = 0; i < na; i++) { + Py_INCREF(*args); + fastlocals[i] = *args++; + } + result = PyEval_EvalFrameEx(f,0); + ++tstate->recursion_depth; + Py_DECREF(f); + --tstate->recursion_depth; + return result; +} +static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs) { + PyCodeObject *co = (PyCodeObject *)PyFunction_GET_CODE(func); + PyObject *globals = PyFunction_GET_GLOBALS(func); + PyObject *argdefs = PyFunction_GET_DEFAULTS(func); + PyObject *closure; +#if PY_MAJOR_VERSION >= 3 + PyObject *kwdefs; +#endif + PyObject *kwtuple, **k; + PyObject **d; + Py_ssize_t nd; + Py_ssize_t nk; + PyObject *result; + assert(kwargs == NULL || PyDict_Check(kwargs)); + nk = kwargs ? PyDict_Size(kwargs) : 0; + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) { + return NULL; + } + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) { + return NULL; + } + #endif + if ( +#if PY_MAJOR_VERSION >= 3 + co->co_kwonlyargcount == 0 && +#endif + likely(kwargs == NULL || nk == 0) && + co->co_flags == (CO_OPTIMIZED | CO_NEWLOCALS | CO_NOFREE)) { + if (argdefs == NULL && co->co_argcount == nargs) { + result = __Pyx_PyFunction_FastCallNoKw(co, args, nargs, globals); + goto done; + } + else if (nargs == 0 && argdefs != NULL + && co->co_argcount == Py_SIZE(argdefs)) { + /* function called with no arguments, but all parameters have + a default value: use default values as arguments .*/ + args = &PyTuple_GET_ITEM(argdefs, 0); + result =__Pyx_PyFunction_FastCallNoKw(co, args, Py_SIZE(argdefs), globals); + goto done; + } + } + if (kwargs != NULL) { + Py_ssize_t pos, i; + kwtuple = PyTuple_New(2 * nk); + if (kwtuple == NULL) { + result = NULL; + goto done; + } + k = &PyTuple_GET_ITEM(kwtuple, 0); + pos = i = 0; + while (PyDict_Next(kwargs, &pos, &k[i], &k[i+1])) { + Py_INCREF(k[i]); + Py_INCREF(k[i+1]); + i += 2; + } + nk = i / 2; + } + else { + kwtuple = NULL; + k = NULL; + } + closure = PyFunction_GET_CLOSURE(func); +#if PY_MAJOR_VERSION >= 3 + kwdefs = PyFunction_GET_KW_DEFAULTS(func); +#endif + if (argdefs != NULL) { + d = &PyTuple_GET_ITEM(argdefs, 0); + nd = Py_SIZE(argdefs); + } + else { + d = NULL; + nd = 0; + } +#if PY_MAJOR_VERSION >= 3 + result = PyEval_EvalCodeEx((PyObject*)co, globals, (PyObject *)NULL, + args, (int)nargs, + k, (int)nk, + d, (int)nd, kwdefs, closure); +#else + result = PyEval_EvalCodeEx(co, globals, (PyObject *)NULL, + args, (int)nargs, + k, (int)nk, + d, (int)nd, closure); +#endif + Py_XDECREF(kwtuple); +done: + Py_LeaveRecursiveCall(); + return result; +} +#endif + +/* PyObjectCall */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw) { + PyObject *result; + ternaryfunc call = Py_TYPE(func)->tp_call; + if (unlikely(!call)) + return PyObject_Call(func, arg, kw); + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) + return NULL; + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) + return NULL; + #endif + result = (*call)(func, arg, kw); + Py_LeaveRecursiveCall(); + if (unlikely(!result) && unlikely(!PyErr_Occurred())) { + PyErr_SetString( + PyExc_SystemError, + "NULL result without error in PyObject_Call"); + } + return result; +} +#endif + +/* PyObjectCallMethO */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg) { + PyObject *self, *result; + PyCFunction cfunc; + cfunc = __Pyx_CyOrPyCFunction_GET_FUNCTION(func); + self = __Pyx_CyOrPyCFunction_GET_SELF(func); + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) + return NULL; + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) + return NULL; + #endif + result = cfunc(self, arg); + Py_LeaveRecursiveCall(); + if (unlikely(!result) && unlikely(!PyErr_Occurred())) { + PyErr_SetString( + PyExc_SystemError, + "NULL result without error in PyObject_Call"); + } + return result; +} +#endif + +/* PyObjectFastCall */ +#if PY_VERSION_HEX < 0x03090000 || CYTHON_COMPILING_IN_LIMITED_API +static PyObject* __Pyx_PyObject_FastCall_fallback(PyObject *func, PyObject **args, size_t nargs, PyObject *kwargs) { + PyObject *argstuple; + PyObject *result = 0; + size_t i; + argstuple = PyTuple_New((Py_ssize_t)nargs); + if (unlikely(!argstuple)) return NULL; + for (i = 0; i < nargs; i++) { + Py_INCREF(args[i]); + if (__Pyx_PyTuple_SET_ITEM(argstuple, (Py_ssize_t)i, args[i]) < 0) goto bad; + } + result = __Pyx_PyObject_Call(func, argstuple, kwargs); + bad: + Py_DECREF(argstuple); + return result; +} +#endif +static CYTHON_INLINE PyObject* __Pyx_PyObject_FastCallDict(PyObject *func, PyObject **args, size_t _nargs, PyObject *kwargs) { + Py_ssize_t nargs = __Pyx_PyVectorcall_NARGS(_nargs); +#if CYTHON_COMPILING_IN_CPYTHON + if (nargs == 0 && kwargs == NULL) { + if (__Pyx_CyOrPyCFunction_Check(func) && likely( __Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_NOARGS)) + return __Pyx_PyObject_CallMethO(func, NULL); + } + else if (nargs == 1 && kwargs == NULL) { + if (__Pyx_CyOrPyCFunction_Check(func) && likely( __Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_O)) + return __Pyx_PyObject_CallMethO(func, args[0]); + } +#endif + #if PY_VERSION_HEX < 0x030800B1 + #if CYTHON_FAST_PYCCALL + if (PyCFunction_Check(func)) { + if (kwargs) { + return _PyCFunction_FastCallDict(func, args, nargs, kwargs); + } else { + return _PyCFunction_FastCallKeywords(func, args, nargs, NULL); + } + } + #if PY_VERSION_HEX >= 0x030700A1 + if (!kwargs && __Pyx_IS_TYPE(func, &PyMethodDescr_Type)) { + return _PyMethodDescr_FastCallKeywords(func, args, nargs, NULL); + } + #endif + #endif + #if CYTHON_FAST_PYCALL + if (PyFunction_Check(func)) { + return __Pyx_PyFunction_FastCallDict(func, args, nargs, kwargs); + } + #endif + #endif + if (kwargs == NULL) { + #if CYTHON_VECTORCALL + #if PY_VERSION_HEX < 0x03090000 + vectorcallfunc f = _PyVectorcall_Function(func); + #else + vectorcallfunc f = PyVectorcall_Function(func); + #endif + if (f) { + return f(func, args, (size_t)nargs, NULL); + } + #elif defined(__Pyx_CyFunction_USED) && CYTHON_BACKPORT_VECTORCALL + if (__Pyx_CyFunction_CheckExact(func)) { + __pyx_vectorcallfunc f = __Pyx_CyFunction_func_vectorcall(func); + if (f) return f(func, args, (size_t)nargs, NULL); + } + #endif + } + if (nargs == 0) { + return __Pyx_PyObject_Call(func, __pyx_empty_tuple, kwargs); + } + #if PY_VERSION_HEX >= 0x03090000 && !CYTHON_COMPILING_IN_LIMITED_API + return PyObject_VectorcallDict(func, args, (size_t)nargs, kwargs); + #else + return __Pyx_PyObject_FastCall_fallback(func, args, (size_t)nargs, kwargs); + #endif +} + +/* RaiseUnexpectedTypeError */ +static int +__Pyx_RaiseUnexpectedTypeError(const char *expected, PyObject *obj) +{ + __Pyx_TypeName obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, "Expected %s, got " __Pyx_FMT_TYPENAME, + expected, obj_type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return 0; +} + +/* CIntToDigits */ +static const char DIGIT_PAIRS_10[2*10*10+1] = { + "00010203040506070809" + "10111213141516171819" + "20212223242526272829" + "30313233343536373839" + "40414243444546474849" + "50515253545556575859" + "60616263646566676869" + "70717273747576777879" + "80818283848586878889" + "90919293949596979899" +}; +static const char DIGIT_PAIRS_8[2*8*8+1] = { + "0001020304050607" + "1011121314151617" + "2021222324252627" + "3031323334353637" + "4041424344454647" + "5051525354555657" + "6061626364656667" + "7071727374757677" +}; +static const char DIGITS_HEX[2*16+1] = { + "0123456789abcdef" + "0123456789ABCDEF" +}; + +/* BuildPyUnicode */ +static PyObject* __Pyx_PyUnicode_BuildFromAscii(Py_ssize_t ulength, char* chars, int clength, + int prepend_sign, char padding_char) { + PyObject *uval; + Py_ssize_t uoffset = ulength - clength; +#if CYTHON_USE_UNICODE_INTERNALS + Py_ssize_t i; +#if CYTHON_PEP393_ENABLED + void *udata; + uval = PyUnicode_New(ulength, 127); + if (unlikely(!uval)) return NULL; + udata = PyUnicode_DATA(uval); +#else + Py_UNICODE *udata; + uval = PyUnicode_FromUnicode(NULL, ulength); + if (unlikely(!uval)) return NULL; + udata = PyUnicode_AS_UNICODE(uval); +#endif + if (uoffset > 0) { + i = 0; + if (prepend_sign) { + __Pyx_PyUnicode_WRITE(PyUnicode_1BYTE_KIND, udata, 0, '-'); + i++; + } + for (; i < uoffset; i++) { + __Pyx_PyUnicode_WRITE(PyUnicode_1BYTE_KIND, udata, i, padding_char); + } + } + for (i=0; i < clength; i++) { + __Pyx_PyUnicode_WRITE(PyUnicode_1BYTE_KIND, udata, uoffset+i, chars[i]); + } +#else + { + PyObject *sign = NULL, *padding = NULL; + uval = NULL; + if (uoffset > 0) { + prepend_sign = !!prepend_sign; + if (uoffset > prepend_sign) { + padding = PyUnicode_FromOrdinal(padding_char); + if (likely(padding) && uoffset > prepend_sign + 1) { + PyObject *tmp; + PyObject *repeat = PyInt_FromSsize_t(uoffset - prepend_sign); + if (unlikely(!repeat)) goto done_or_error; + tmp = PyNumber_Multiply(padding, repeat); + Py_DECREF(repeat); + Py_DECREF(padding); + padding = tmp; + } + if (unlikely(!padding)) goto done_or_error; + } + if (prepend_sign) { + sign = PyUnicode_FromOrdinal('-'); + if (unlikely(!sign)) goto done_or_error; + } + } + uval = PyUnicode_DecodeASCII(chars, clength, NULL); + if (likely(uval) && padding) { + PyObject *tmp = PyNumber_Add(padding, uval); + Py_DECREF(uval); + uval = tmp; + } + if (likely(uval) && sign) { + PyObject *tmp = PyNumber_Add(sign, uval); + Py_DECREF(uval); + uval = tmp; + } +done_or_error: + Py_XDECREF(padding); + Py_XDECREF(sign); + } +#endif + return uval; +} + +/* CIntToPyUnicode */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_int(int value, Py_ssize_t width, char padding_char, char format_char) { + char digits[sizeof(int)*3+2]; + char *dpos, *end = digits + sizeof(int)*3+2; + const char *hex_digits = DIGITS_HEX; + Py_ssize_t length, ulength; + int prepend_sign, last_one_off; + int remaining; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (format_char == 'X') { + hex_digits += 16; + format_char = 'x'; + } + remaining = value; + last_one_off = 0; + dpos = end; + do { + int digit_pos; + switch (format_char) { + case 'o': + digit_pos = abs((int)(remaining % (8*8))); + remaining = (int) (remaining / (8*8)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_8 + digit_pos * 2, 2); + last_one_off = (digit_pos < 8); + break; + case 'd': + digit_pos = abs((int)(remaining % (10*10))); + remaining = (int) (remaining / (10*10)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_10 + digit_pos * 2, 2); + last_one_off = (digit_pos < 10); + break; + case 'x': + *(--dpos) = hex_digits[abs((int)(remaining % 16))]; + remaining = (int) (remaining / 16); + break; + default: + assert(0); + break; + } + } while (unlikely(remaining != 0)); + assert(!last_one_off || *dpos == '0'); + dpos += last_one_off; + length = end - dpos; + ulength = length; + prepend_sign = 0; + if (!is_unsigned && value <= neg_one) { + if (padding_char == ' ' || width <= length + 1) { + *(--dpos) = '-'; + ++length; + } else { + prepend_sign = 1; + } + ++ulength; + } + if (width > ulength) { + ulength = width; + } + if (ulength == 1) { + return PyUnicode_FromOrdinal(*dpos); + } + return __Pyx_PyUnicode_BuildFromAscii(ulength, dpos, (int) length, prepend_sign, padding_char); +} + +/* CIntToPyUnicode */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_Py_ssize_t(Py_ssize_t value, Py_ssize_t width, char padding_char, char format_char) { + char digits[sizeof(Py_ssize_t)*3+2]; + char *dpos, *end = digits + sizeof(Py_ssize_t)*3+2; + const char *hex_digits = DIGITS_HEX; + Py_ssize_t length, ulength; + int prepend_sign, last_one_off; + Py_ssize_t remaining; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const Py_ssize_t neg_one = (Py_ssize_t) -1, const_zero = (Py_ssize_t) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (format_char == 'X') { + hex_digits += 16; + format_char = 'x'; + } + remaining = value; + last_one_off = 0; + dpos = end; + do { + int digit_pos; + switch (format_char) { + case 'o': + digit_pos = abs((int)(remaining % (8*8))); + remaining = (Py_ssize_t) (remaining / (8*8)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_8 + digit_pos * 2, 2); + last_one_off = (digit_pos < 8); + break; + case 'd': + digit_pos = abs((int)(remaining % (10*10))); + remaining = (Py_ssize_t) (remaining / (10*10)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_10 + digit_pos * 2, 2); + last_one_off = (digit_pos < 10); + break; + case 'x': + *(--dpos) = hex_digits[abs((int)(remaining % 16))]; + remaining = (Py_ssize_t) (remaining / 16); + break; + default: + assert(0); + break; + } + } while (unlikely(remaining != 0)); + assert(!last_one_off || *dpos == '0'); + dpos += last_one_off; + length = end - dpos; + ulength = length; + prepend_sign = 0; + if (!is_unsigned && value <= neg_one) { + if (padding_char == ' ' || width <= length + 1) { + *(--dpos) = '-'; + ++length; + } else { + prepend_sign = 1; + } + ++ulength; + } + if (width > ulength) { + ulength = width; + } + if (ulength == 1) { + return PyUnicode_FromOrdinal(*dpos); + } + return __Pyx_PyUnicode_BuildFromAscii(ulength, dpos, (int) length, prepend_sign, padding_char); +} + +/* JoinPyUnicode */ +static PyObject* __Pyx_PyUnicode_Join(PyObject* value_tuple, Py_ssize_t value_count, Py_ssize_t result_ulength, + Py_UCS4 max_char) { +#if CYTHON_USE_UNICODE_INTERNALS && CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + PyObject *result_uval; + int result_ukind, kind_shift; + Py_ssize_t i, char_pos; + void *result_udata; + CYTHON_MAYBE_UNUSED_VAR(max_char); +#if CYTHON_PEP393_ENABLED + result_uval = PyUnicode_New(result_ulength, max_char); + if (unlikely(!result_uval)) return NULL; + result_ukind = (max_char <= 255) ? PyUnicode_1BYTE_KIND : (max_char <= 65535) ? PyUnicode_2BYTE_KIND : PyUnicode_4BYTE_KIND; + kind_shift = (result_ukind == PyUnicode_4BYTE_KIND) ? 2 : result_ukind - 1; + result_udata = PyUnicode_DATA(result_uval); +#else + result_uval = PyUnicode_FromUnicode(NULL, result_ulength); + if (unlikely(!result_uval)) return NULL; + result_ukind = sizeof(Py_UNICODE); + kind_shift = (result_ukind == 4) ? 2 : result_ukind - 1; + result_udata = PyUnicode_AS_UNICODE(result_uval); +#endif + assert(kind_shift == 2 || kind_shift == 1 || kind_shift == 0); + char_pos = 0; + for (i=0; i < value_count; i++) { + int ukind; + Py_ssize_t ulength; + void *udata; + PyObject *uval = PyTuple_GET_ITEM(value_tuple, i); + if (unlikely(__Pyx_PyUnicode_READY(uval))) + goto bad; + ulength = __Pyx_PyUnicode_GET_LENGTH(uval); + if (unlikely(!ulength)) + continue; + if (unlikely((PY_SSIZE_T_MAX >> kind_shift) - ulength < char_pos)) + goto overflow; + ukind = __Pyx_PyUnicode_KIND(uval); + udata = __Pyx_PyUnicode_DATA(uval); + if (!CYTHON_PEP393_ENABLED || ukind == result_ukind) { + memcpy((char *)result_udata + (char_pos << kind_shift), udata, (size_t) (ulength << kind_shift)); + } else { + #if PY_VERSION_HEX >= 0x030d0000 + if (unlikely(PyUnicode_CopyCharacters(result_uval, char_pos, uval, 0, ulength) < 0)) goto bad; + #elif CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030300F0 || defined(_PyUnicode_FastCopyCharacters) + _PyUnicode_FastCopyCharacters(result_uval, char_pos, uval, 0, ulength); + #else + Py_ssize_t j; + for (j=0; j < ulength; j++) { + Py_UCS4 uchar = __Pyx_PyUnicode_READ(ukind, udata, j); + __Pyx_PyUnicode_WRITE(result_ukind, result_udata, char_pos+j, uchar); + } + #endif + } + char_pos += ulength; + } + return result_uval; +overflow: + PyErr_SetString(PyExc_OverflowError, "join() result is too long for a Python string"); +bad: + Py_DECREF(result_uval); + return NULL; +#else + CYTHON_UNUSED_VAR(max_char); + CYTHON_UNUSED_VAR(result_ulength); + CYTHON_UNUSED_VAR(value_count); + return PyUnicode_Join(__pyx_empty_unicode, value_tuple); +#endif +} + +/* GetAttr */ +static CYTHON_INLINE PyObject *__Pyx_GetAttr(PyObject *o, PyObject *n) { +#if CYTHON_USE_TYPE_SLOTS +#if PY_MAJOR_VERSION >= 3 + if (likely(PyUnicode_Check(n))) +#else + if (likely(PyString_Check(n))) +#endif + return __Pyx_PyObject_GetAttrStr(o, n); +#endif + return PyObject_GetAttr(o, n); +} + +/* GetItemInt */ +static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j) { + PyObject *r; + if (unlikely(!j)) return NULL; + r = PyObject_GetItem(o, j); + Py_DECREF(j); + return r; +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + Py_ssize_t wrapped_i = i; + if (wraparound & unlikely(i < 0)) { + wrapped_i += PyList_GET_SIZE(o); + } + if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyList_GET_SIZE(o)))) { + PyObject *r = PyList_GET_ITEM(o, wrapped_i); + Py_INCREF(r); + return r; + } + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +#else + return PySequence_GetItem(o, i); +#endif +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + Py_ssize_t wrapped_i = i; + if (wraparound & unlikely(i < 0)) { + wrapped_i += PyTuple_GET_SIZE(o); + } + if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyTuple_GET_SIZE(o)))) { + PyObject *r = PyTuple_GET_ITEM(o, wrapped_i); + Py_INCREF(r); + return r; + } + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +#else + return PySequence_GetItem(o, i); +#endif +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, int is_list, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS && CYTHON_USE_TYPE_SLOTS + if (is_list || PyList_CheckExact(o)) { + Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyList_GET_SIZE(o); + if ((!boundscheck) || (likely(__Pyx_is_valid_index(n, PyList_GET_SIZE(o))))) { + PyObject *r = PyList_GET_ITEM(o, n); + Py_INCREF(r); + return r; + } + } + else if (PyTuple_CheckExact(o)) { + Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyTuple_GET_SIZE(o); + if ((!boundscheck) || likely(__Pyx_is_valid_index(n, PyTuple_GET_SIZE(o)))) { + PyObject *r = PyTuple_GET_ITEM(o, n); + Py_INCREF(r); + return r; + } + } else { + PyMappingMethods *mm = Py_TYPE(o)->tp_as_mapping; + PySequenceMethods *sm = Py_TYPE(o)->tp_as_sequence; + if (mm && mm->mp_subscript) { + PyObject *r, *key = PyInt_FromSsize_t(i); + if (unlikely(!key)) return NULL; + r = mm->mp_subscript(o, key); + Py_DECREF(key); + return r; + } + if (likely(sm && sm->sq_item)) { + if (wraparound && unlikely(i < 0) && likely(sm->sq_length)) { + Py_ssize_t l = sm->sq_length(o); + if (likely(l >= 0)) { + i += l; + } else { + if (!PyErr_ExceptionMatches(PyExc_OverflowError)) + return NULL; + PyErr_Clear(); + } + } + return sm->sq_item(o, i); + } + } +#else + if (is_list || !PyMapping_Check(o)) { + return PySequence_GetItem(o, i); + } +#endif + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +} + +/* PyObjectCallOneArg */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg) { + PyObject *args[2] = {NULL, arg}; + return __Pyx_PyObject_FastCall(func, args+1, 1 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET); +} + +/* ObjectGetItem */ +#if CYTHON_USE_TYPE_SLOTS +static PyObject *__Pyx_PyObject_GetIndex(PyObject *obj, PyObject *index) { + PyObject *runerr = NULL; + Py_ssize_t key_value; + key_value = __Pyx_PyIndex_AsSsize_t(index); + if (likely(key_value != -1 || !(runerr = PyErr_Occurred()))) { + return __Pyx_GetItemInt_Fast(obj, key_value, 0, 1, 1); + } + if (PyErr_GivenExceptionMatches(runerr, PyExc_OverflowError)) { + __Pyx_TypeName index_type_name = __Pyx_PyType_GetName(Py_TYPE(index)); + PyErr_Clear(); + PyErr_Format(PyExc_IndexError, + "cannot fit '" __Pyx_FMT_TYPENAME "' into an index-sized integer", index_type_name); + __Pyx_DECREF_TypeName(index_type_name); + } + return NULL; +} +static PyObject *__Pyx_PyObject_GetItem_Slow(PyObject *obj, PyObject *key) { + __Pyx_TypeName obj_type_name; + if (likely(PyType_Check(obj))) { + PyObject *meth = __Pyx_PyObject_GetAttrStrNoError(obj, __pyx_n_s_class_getitem); + if (!meth) { + PyErr_Clear(); + } else { + PyObject *result = __Pyx_PyObject_CallOneArg(meth, key); + Py_DECREF(meth); + return result; + } + } + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, + "'" __Pyx_FMT_TYPENAME "' object is not subscriptable", obj_type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return NULL; +} +static PyObject *__Pyx_PyObject_GetItem(PyObject *obj, PyObject *key) { + PyTypeObject *tp = Py_TYPE(obj); + PyMappingMethods *mm = tp->tp_as_mapping; + PySequenceMethods *sm = tp->tp_as_sequence; + if (likely(mm && mm->mp_subscript)) { + return mm->mp_subscript(obj, key); + } + if (likely(sm && sm->sq_item)) { + return __Pyx_PyObject_GetIndex(obj, key); + } + return __Pyx_PyObject_GetItem_Slow(obj, key); +} +#endif + +/* KeywordStringCheck */ +static int __Pyx_CheckKeywordStrings( + PyObject *kw, + const char* function_name, + int kw_allowed) +{ + PyObject* key = 0; + Py_ssize_t pos = 0; +#if CYTHON_COMPILING_IN_PYPY + if (!kw_allowed && PyDict_Next(kw, &pos, &key, 0)) + goto invalid_keyword; + return 1; +#else + if (CYTHON_METH_FASTCALL && likely(PyTuple_Check(kw))) { + Py_ssize_t kwsize; +#if CYTHON_ASSUME_SAFE_MACROS + kwsize = PyTuple_GET_SIZE(kw); +#else + kwsize = PyTuple_Size(kw); + if (kwsize < 0) return 0; +#endif + if (unlikely(kwsize == 0)) + return 1; + if (!kw_allowed) { +#if CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kw, 0); +#else + key = PyTuple_GetItem(kw, pos); + if (!key) return 0; +#endif + goto invalid_keyword; + } +#if PY_VERSION_HEX < 0x03090000 + for (pos = 0; pos < kwsize; pos++) { +#if CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kw, pos); +#else + key = PyTuple_GetItem(kw, pos); + if (!key) return 0; +#endif + if (unlikely(!PyUnicode_Check(key))) + goto invalid_keyword_type; + } +#endif + return 1; + } + while (PyDict_Next(kw, &pos, &key, 0)) { + #if PY_MAJOR_VERSION < 3 + if (unlikely(!PyString_Check(key))) + #endif + if (unlikely(!PyUnicode_Check(key))) + goto invalid_keyword_type; + } + if (!kw_allowed && unlikely(key)) + goto invalid_keyword; + return 1; +invalid_keyword_type: + PyErr_Format(PyExc_TypeError, + "%.200s() keywords must be strings", function_name); + return 0; +#endif +invalid_keyword: + #if PY_MAJOR_VERSION < 3 + PyErr_Format(PyExc_TypeError, + "%.200s() got an unexpected keyword argument '%.200s'", + function_name, PyString_AsString(key)); + #else + PyErr_Format(PyExc_TypeError, + "%s() got an unexpected keyword argument '%U'", + function_name, key); + #endif + return 0; +} + +/* DivInt[Py_ssize_t] */ +static CYTHON_INLINE Py_ssize_t __Pyx_div_Py_ssize_t(Py_ssize_t a, Py_ssize_t b) { + Py_ssize_t q = a / b; + Py_ssize_t r = a - q*b; + q -= ((r != 0) & ((r ^ b) < 0)); + return q; +} + +/* GetAttr3 */ +#if __PYX_LIMITED_VERSION_HEX < 0x030d00A1 +static PyObject *__Pyx_GetAttr3Default(PyObject *d) { + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + if (unlikely(!__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) + return NULL; + __Pyx_PyErr_Clear(); + Py_INCREF(d); + return d; +} +#endif +static CYTHON_INLINE PyObject *__Pyx_GetAttr3(PyObject *o, PyObject *n, PyObject *d) { + PyObject *r; +#if __PYX_LIMITED_VERSION_HEX >= 0x030d00A1 + int res = PyObject_GetOptionalAttr(o, n, &r); + return (res != 0) ? r : __Pyx_NewRef(d); +#else + #if CYTHON_USE_TYPE_SLOTS + if (likely(PyString_Check(n))) { + r = __Pyx_PyObject_GetAttrStrNoError(o, n); + if (unlikely(!r) && likely(!PyErr_Occurred())) { + r = __Pyx_NewRef(d); + } + return r; + } + #endif + r = PyObject_GetAttr(o, n); + return (likely(r)) ? r : __Pyx_GetAttr3Default(d); +#endif +} + +/* PyDictVersioning */ +#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj) { + PyObject *dict = Py_TYPE(obj)->tp_dict; + return likely(dict) ? __PYX_GET_DICT_VERSION(dict) : 0; +} +static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj) { + PyObject **dictptr = NULL; + Py_ssize_t offset = Py_TYPE(obj)->tp_dictoffset; + if (offset) { +#if CYTHON_COMPILING_IN_CPYTHON + dictptr = (likely(offset > 0)) ? (PyObject **) ((char *)obj + offset) : _PyObject_GetDictPtr(obj); +#else + dictptr = _PyObject_GetDictPtr(obj); +#endif + } + return (dictptr && *dictptr) ? __PYX_GET_DICT_VERSION(*dictptr) : 0; +} +static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version) { + PyObject *dict = Py_TYPE(obj)->tp_dict; + if (unlikely(!dict) || unlikely(tp_dict_version != __PYX_GET_DICT_VERSION(dict))) + return 0; + return obj_dict_version == __Pyx_get_object_dict_version(obj); +} +#endif + +/* GetModuleGlobalName */ +#if CYTHON_USE_DICT_VERSIONS +static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value) +#else +static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name) +#endif +{ + PyObject *result; +#if !CYTHON_AVOID_BORROWED_REFS +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030500A1 && PY_VERSION_HEX < 0x030d0000 + result = _PyDict_GetItem_KnownHash(__pyx_d, name, ((PyASCIIObject *) name)->hash); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } else if (unlikely(PyErr_Occurred())) { + return NULL; + } +#elif CYTHON_COMPILING_IN_LIMITED_API + if (unlikely(!__pyx_m)) { + return NULL; + } + result = PyObject_GetAttr(__pyx_m, name); + if (likely(result)) { + return result; + } +#else + result = PyDict_GetItem(__pyx_d, name); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } +#endif +#else + result = PyObject_GetItem(__pyx_d, name); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } + PyErr_Clear(); +#endif + return __Pyx_GetBuiltinName(name); +} + +/* RaiseTooManyValuesToUnpack */ +static CYTHON_INLINE void __Pyx_RaiseTooManyValuesError(Py_ssize_t expected) { + PyErr_Format(PyExc_ValueError, + "too many values to unpack (expected %" CYTHON_FORMAT_SSIZE_T "d)", expected); +} + +/* RaiseNeedMoreValuesToUnpack */ +static CYTHON_INLINE void __Pyx_RaiseNeedMoreValuesError(Py_ssize_t index) { + PyErr_Format(PyExc_ValueError, + "need more than %" CYTHON_FORMAT_SSIZE_T "d value%.1s to unpack", + index, (index == 1) ? "" : "s"); +} + +/* RaiseNoneIterError */ +static CYTHON_INLINE void __Pyx_RaiseNoneNotIterableError(void) { + PyErr_SetString(PyExc_TypeError, "'NoneType' object is not iterable"); +} + +/* ExtTypeTest */ +static CYTHON_INLINE int __Pyx_TypeTest(PyObject *obj, PyTypeObject *type) { + __Pyx_TypeName obj_type_name; + __Pyx_TypeName type_name; + if (unlikely(!type)) { + PyErr_SetString(PyExc_SystemError, "Missing type object"); + return 0; + } + if (likely(__Pyx_TypeCheck(obj, type))) + return 1; + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + type_name = __Pyx_PyType_GetName(type); + PyErr_Format(PyExc_TypeError, + "Cannot convert " __Pyx_FMT_TYPENAME " to " __Pyx_FMT_TYPENAME, + obj_type_name, type_name); + __Pyx_DECREF_TypeName(obj_type_name); + __Pyx_DECREF_TypeName(type_name); + return 0; +} + +/* GetTopmostException */ +#if CYTHON_USE_EXC_INFO_STACK && CYTHON_FAST_THREAD_STATE +static _PyErr_StackItem * +__Pyx_PyErr_GetTopmostException(PyThreadState *tstate) +{ + _PyErr_StackItem *exc_info = tstate->exc_info; + while ((exc_info->exc_value == NULL || exc_info->exc_value == Py_None) && + exc_info->previous_item != NULL) + { + exc_info = exc_info->previous_item; + } + return exc_info; +} +#endif + +/* SaveResetException */ +#if CYTHON_FAST_THREAD_STATE +static CYTHON_INLINE void __Pyx__ExceptionSave(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { + #if CYTHON_USE_EXC_INFO_STACK && PY_VERSION_HEX >= 0x030B00a4 + _PyErr_StackItem *exc_info = __Pyx_PyErr_GetTopmostException(tstate); + PyObject *exc_value = exc_info->exc_value; + if (exc_value == NULL || exc_value == Py_None) { + *value = NULL; + *type = NULL; + *tb = NULL; + } else { + *value = exc_value; + Py_INCREF(*value); + *type = (PyObject*) Py_TYPE(exc_value); + Py_INCREF(*type); + *tb = PyException_GetTraceback(exc_value); + } + #elif CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = __Pyx_PyErr_GetTopmostException(tstate); + *type = exc_info->exc_type; + *value = exc_info->exc_value; + *tb = exc_info->exc_traceback; + Py_XINCREF(*type); + Py_XINCREF(*value); + Py_XINCREF(*tb); + #else + *type = tstate->exc_type; + *value = tstate->exc_value; + *tb = tstate->exc_traceback; + Py_XINCREF(*type); + Py_XINCREF(*value); + Py_XINCREF(*tb); + #endif +} +static CYTHON_INLINE void __Pyx__ExceptionReset(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb) { + #if CYTHON_USE_EXC_INFO_STACK && PY_VERSION_HEX >= 0x030B00a4 + _PyErr_StackItem *exc_info = tstate->exc_info; + PyObject *tmp_value = exc_info->exc_value; + exc_info->exc_value = value; + Py_XDECREF(tmp_value); + Py_XDECREF(type); + Py_XDECREF(tb); + #else + PyObject *tmp_type, *tmp_value, *tmp_tb; + #if CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = tstate->exc_info; + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = type; + exc_info->exc_value = value; + exc_info->exc_traceback = tb; + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = type; + tstate->exc_value = value; + tstate->exc_traceback = tb; + #endif + Py_XDECREF(tmp_type); + Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); + #endif +} +#endif + +/* GetException */ +#if CYTHON_FAST_THREAD_STATE +static int __Pyx__GetException(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) +#else +static int __Pyx_GetException(PyObject **type, PyObject **value, PyObject **tb) +#endif +{ + PyObject *local_type = NULL, *local_value, *local_tb = NULL; +#if CYTHON_FAST_THREAD_STATE + PyObject *tmp_type, *tmp_value, *tmp_tb; + #if PY_VERSION_HEX >= 0x030C00A6 + local_value = tstate->current_exception; + tstate->current_exception = 0; + if (likely(local_value)) { + local_type = (PyObject*) Py_TYPE(local_value); + Py_INCREF(local_type); + local_tb = PyException_GetTraceback(local_value); + } + #else + local_type = tstate->curexc_type; + local_value = tstate->curexc_value; + local_tb = tstate->curexc_traceback; + tstate->curexc_type = 0; + tstate->curexc_value = 0; + tstate->curexc_traceback = 0; + #endif +#else + PyErr_Fetch(&local_type, &local_value, &local_tb); +#endif + PyErr_NormalizeException(&local_type, &local_value, &local_tb); +#if CYTHON_FAST_THREAD_STATE && PY_VERSION_HEX >= 0x030C00A6 + if (unlikely(tstate->current_exception)) +#elif CYTHON_FAST_THREAD_STATE + if (unlikely(tstate->curexc_type)) +#else + if (unlikely(PyErr_Occurred())) +#endif + goto bad; + #if PY_MAJOR_VERSION >= 3 + if (local_tb) { + if (unlikely(PyException_SetTraceback(local_value, local_tb) < 0)) + goto bad; + } + #endif + Py_XINCREF(local_tb); + Py_XINCREF(local_type); + Py_XINCREF(local_value); + *type = local_type; + *value = local_value; + *tb = local_tb; +#if CYTHON_FAST_THREAD_STATE + #if CYTHON_USE_EXC_INFO_STACK + { + _PyErr_StackItem *exc_info = tstate->exc_info; + #if PY_VERSION_HEX >= 0x030B00a4 + tmp_value = exc_info->exc_value; + exc_info->exc_value = local_value; + tmp_type = NULL; + tmp_tb = NULL; + Py_XDECREF(local_type); + Py_XDECREF(local_tb); + #else + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = local_type; + exc_info->exc_value = local_value; + exc_info->exc_traceback = local_tb; + #endif + } + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = local_type; + tstate->exc_value = local_value; + tstate->exc_traceback = local_tb; + #endif + Py_XDECREF(tmp_type); + Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); +#else + PyErr_SetExcInfo(local_type, local_value, local_tb); +#endif + return 0; +bad: + *type = 0; + *value = 0; + *tb = 0; + Py_XDECREF(local_type); + Py_XDECREF(local_value); + Py_XDECREF(local_tb); + return -1; +} + +/* SwapException */ +#if CYTHON_FAST_THREAD_STATE +static CYTHON_INLINE void __Pyx__ExceptionSwap(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { + PyObject *tmp_type, *tmp_value, *tmp_tb; + #if CYTHON_USE_EXC_INFO_STACK && PY_VERSION_HEX >= 0x030B00a4 + _PyErr_StackItem *exc_info = tstate->exc_info; + tmp_value = exc_info->exc_value; + exc_info->exc_value = *value; + if (tmp_value == NULL || tmp_value == Py_None) { + Py_XDECREF(tmp_value); + tmp_value = NULL; + tmp_type = NULL; + tmp_tb = NULL; + } else { + tmp_type = (PyObject*) Py_TYPE(tmp_value); + Py_INCREF(tmp_type); + #if CYTHON_COMPILING_IN_CPYTHON + tmp_tb = ((PyBaseExceptionObject*) tmp_value)->traceback; + Py_XINCREF(tmp_tb); + #else + tmp_tb = PyException_GetTraceback(tmp_value); + #endif + } + #elif CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = tstate->exc_info; + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = *type; + exc_info->exc_value = *value; + exc_info->exc_traceback = *tb; + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = *type; + tstate->exc_value = *value; + tstate->exc_traceback = *tb; + #endif + *type = tmp_type; + *value = tmp_value; + *tb = tmp_tb; +} +#else +static CYTHON_INLINE void __Pyx_ExceptionSwap(PyObject **type, PyObject **value, PyObject **tb) { + PyObject *tmp_type, *tmp_value, *tmp_tb; + PyErr_GetExcInfo(&tmp_type, &tmp_value, &tmp_tb); + PyErr_SetExcInfo(*type, *value, *tb); + *type = tmp_type; + *value = tmp_value; + *tb = tmp_tb; +} +#endif + +/* Import */ +static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level) { + PyObject *module = 0; + PyObject *empty_dict = 0; + PyObject *empty_list = 0; + #if PY_MAJOR_VERSION < 3 + PyObject *py_import; + py_import = __Pyx_PyObject_GetAttrStr(__pyx_b, __pyx_n_s_import); + if (unlikely(!py_import)) + goto bad; + if (!from_list) { + empty_list = PyList_New(0); + if (unlikely(!empty_list)) + goto bad; + from_list = empty_list; + } + #endif + empty_dict = PyDict_New(); + if (unlikely(!empty_dict)) + goto bad; + { + #if PY_MAJOR_VERSION >= 3 + if (level == -1) { + if (strchr(__Pyx_MODULE_NAME, '.') != NULL) { + module = PyImport_ImportModuleLevelObject( + name, __pyx_d, empty_dict, from_list, 1); + if (unlikely(!module)) { + if (unlikely(!PyErr_ExceptionMatches(PyExc_ImportError))) + goto bad; + PyErr_Clear(); + } + } + level = 0; + } + #endif + if (!module) { + #if PY_MAJOR_VERSION < 3 + PyObject *py_level = PyInt_FromLong(level); + if (unlikely(!py_level)) + goto bad; + module = PyObject_CallFunctionObjArgs(py_import, + name, __pyx_d, empty_dict, from_list, py_level, (PyObject *)NULL); + Py_DECREF(py_level); + #else + module = PyImport_ImportModuleLevelObject( + name, __pyx_d, empty_dict, from_list, level); + #endif + } + } +bad: + Py_XDECREF(empty_dict); + Py_XDECREF(empty_list); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(py_import); + #endif + return module; +} + +/* ImportDottedModule */ +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx__ImportDottedModule_Error(PyObject *name, PyObject *parts_tuple, Py_ssize_t count) { + PyObject *partial_name = NULL, *slice = NULL, *sep = NULL; + if (unlikely(PyErr_Occurred())) { + PyErr_Clear(); + } + if (likely(PyTuple_GET_SIZE(parts_tuple) == count)) { + partial_name = name; + } else { + slice = PySequence_GetSlice(parts_tuple, 0, count); + if (unlikely(!slice)) + goto bad; + sep = PyUnicode_FromStringAndSize(".", 1); + if (unlikely(!sep)) + goto bad; + partial_name = PyUnicode_Join(sep, slice); + } + PyErr_Format( +#if PY_MAJOR_VERSION < 3 + PyExc_ImportError, + "No module named '%s'", PyString_AS_STRING(partial_name)); +#else +#if PY_VERSION_HEX >= 0x030600B1 + PyExc_ModuleNotFoundError, +#else + PyExc_ImportError, +#endif + "No module named '%U'", partial_name); +#endif +bad: + Py_XDECREF(sep); + Py_XDECREF(slice); + Py_XDECREF(partial_name); + return NULL; +} +#endif +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx__ImportDottedModule_Lookup(PyObject *name) { + PyObject *imported_module; +#if PY_VERSION_HEX < 0x030700A1 || (CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM < 0x07030400) + PyObject *modules = PyImport_GetModuleDict(); + if (unlikely(!modules)) + return NULL; + imported_module = __Pyx_PyDict_GetItemStr(modules, name); + Py_XINCREF(imported_module); +#else + imported_module = PyImport_GetModule(name); +#endif + return imported_module; +} +#endif +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx_ImportDottedModule_WalkParts(PyObject *module, PyObject *name, PyObject *parts_tuple) { + Py_ssize_t i, nparts; + nparts = PyTuple_GET_SIZE(parts_tuple); + for (i=1; i < nparts && module; i++) { + PyObject *part, *submodule; +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + part = PyTuple_GET_ITEM(parts_tuple, i); +#else + part = PySequence_ITEM(parts_tuple, i); +#endif + submodule = __Pyx_PyObject_GetAttrStrNoError(module, part); +#if !(CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS) + Py_DECREF(part); +#endif + Py_DECREF(module); + module = submodule; + } + if (unlikely(!module)) { + return __Pyx__ImportDottedModule_Error(name, parts_tuple, i); + } + return module; +} +#endif +static PyObject *__Pyx__ImportDottedModule(PyObject *name, PyObject *parts_tuple) { +#if PY_MAJOR_VERSION < 3 + PyObject *module, *from_list, *star = __pyx_n_s__3; + CYTHON_UNUSED_VAR(parts_tuple); + from_list = PyList_New(1); + if (unlikely(!from_list)) + return NULL; + Py_INCREF(star); + PyList_SET_ITEM(from_list, 0, star); + module = __Pyx_Import(name, from_list, 0); + Py_DECREF(from_list); + return module; +#else + PyObject *imported_module; + PyObject *module = __Pyx_Import(name, NULL, 0); + if (!parts_tuple || unlikely(!module)) + return module; + imported_module = __Pyx__ImportDottedModule_Lookup(name); + if (likely(imported_module)) { + Py_DECREF(module); + return imported_module; + } + PyErr_Clear(); + return __Pyx_ImportDottedModule_WalkParts(module, name, parts_tuple); +#endif +} +static PyObject *__Pyx_ImportDottedModule(PyObject *name, PyObject *parts_tuple) { +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030400B1 + PyObject *module = __Pyx__ImportDottedModule_Lookup(name); + if (likely(module)) { + PyObject *spec = __Pyx_PyObject_GetAttrStrNoError(module, __pyx_n_s_spec); + if (likely(spec)) { + PyObject *unsafe = __Pyx_PyObject_GetAttrStrNoError(spec, __pyx_n_s_initializing); + if (likely(!unsafe || !__Pyx_PyObject_IsTrue(unsafe))) { + Py_DECREF(spec); + spec = NULL; + } + Py_XDECREF(unsafe); + } + if (likely(!spec)) { + PyErr_Clear(); + return module; + } + Py_DECREF(spec); + Py_DECREF(module); + } else if (PyErr_Occurred()) { + PyErr_Clear(); + } +#endif + return __Pyx__ImportDottedModule(name, parts_tuple); +} + +/* FastTypeChecks */ +#if CYTHON_COMPILING_IN_CPYTHON +static int __Pyx_InBases(PyTypeObject *a, PyTypeObject *b) { + while (a) { + a = __Pyx_PyType_GetSlot(a, tp_base, PyTypeObject*); + if (a == b) + return 1; + } + return b == &PyBaseObject_Type; +} +static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b) { + PyObject *mro; + if (a == b) return 1; + mro = a->tp_mro; + if (likely(mro)) { + Py_ssize_t i, n; + n = PyTuple_GET_SIZE(mro); + for (i = 0; i < n; i++) { + if (PyTuple_GET_ITEM(mro, i) == (PyObject *)b) + return 1; + } + return 0; + } + return __Pyx_InBases(a, b); +} +static CYTHON_INLINE int __Pyx_IsAnySubtype2(PyTypeObject *cls, PyTypeObject *a, PyTypeObject *b) { + PyObject *mro; + if (cls == a || cls == b) return 1; + mro = cls->tp_mro; + if (likely(mro)) { + Py_ssize_t i, n; + n = PyTuple_GET_SIZE(mro); + for (i = 0; i < n; i++) { + PyObject *base = PyTuple_GET_ITEM(mro, i); + if (base == (PyObject *)a || base == (PyObject *)b) + return 1; + } + return 0; + } + return __Pyx_InBases(cls, a) || __Pyx_InBases(cls, b); +} +#if PY_MAJOR_VERSION == 2 +static int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject* exc_type2) { + PyObject *exception, *value, *tb; + int res; + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + __Pyx_ErrFetch(&exception, &value, &tb); + res = exc_type1 ? PyObject_IsSubclass(err, exc_type1) : 0; + if (unlikely(res == -1)) { + PyErr_WriteUnraisable(err); + res = 0; + } + if (!res) { + res = PyObject_IsSubclass(err, exc_type2); + if (unlikely(res == -1)) { + PyErr_WriteUnraisable(err); + res = 0; + } + } + __Pyx_ErrRestore(exception, value, tb); + return res; +} +#else +static CYTHON_INLINE int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject *exc_type2) { + if (exc_type1) { + return __Pyx_IsAnySubtype2((PyTypeObject*)err, (PyTypeObject*)exc_type1, (PyTypeObject*)exc_type2); + } else { + return __Pyx_IsSubtype((PyTypeObject*)err, (PyTypeObject*)exc_type2); + } +} +#endif +static int __Pyx_PyErr_GivenExceptionMatchesTuple(PyObject *exc_type, PyObject *tuple) { + Py_ssize_t i, n; + assert(PyExceptionClass_Check(exc_type)); + n = PyTuple_GET_SIZE(tuple); +#if PY_MAJOR_VERSION >= 3 + for (i=0; itp_as_sequence && type->tp_as_sequence->sq_repeat)) { + return type->tp_as_sequence->sq_repeat(seq, mul); + } else +#endif + { + return __Pyx_PySequence_Multiply_Generic(seq, mul); + } +} + +/* SetItemInt */ +static int __Pyx_SetItemInt_Generic(PyObject *o, PyObject *j, PyObject *v) { + int r; + if (unlikely(!j)) return -1; + r = PyObject_SetItem(o, j, v); + Py_DECREF(j); + return r; +} +static CYTHON_INLINE int __Pyx_SetItemInt_Fast(PyObject *o, Py_ssize_t i, PyObject *v, int is_list, + CYTHON_NCP_UNUSED int wraparound, CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS && CYTHON_USE_TYPE_SLOTS + if (is_list || PyList_CheckExact(o)) { + Py_ssize_t n = (!wraparound) ? i : ((likely(i >= 0)) ? i : i + PyList_GET_SIZE(o)); + if ((!boundscheck) || likely(__Pyx_is_valid_index(n, PyList_GET_SIZE(o)))) { + PyObject* old = PyList_GET_ITEM(o, n); + Py_INCREF(v); + PyList_SET_ITEM(o, n, v); + Py_DECREF(old); + return 1; + } + } else { + PyMappingMethods *mm = Py_TYPE(o)->tp_as_mapping; + PySequenceMethods *sm = Py_TYPE(o)->tp_as_sequence; + if (mm && mm->mp_ass_subscript) { + int r; + PyObject *key = PyInt_FromSsize_t(i); + if (unlikely(!key)) return -1; + r = mm->mp_ass_subscript(o, key, v); + Py_DECREF(key); + return r; + } + if (likely(sm && sm->sq_ass_item)) { + if (wraparound && unlikely(i < 0) && likely(sm->sq_length)) { + Py_ssize_t l = sm->sq_length(o); + if (likely(l >= 0)) { + i += l; + } else { + if (!PyErr_ExceptionMatches(PyExc_OverflowError)) + return -1; + PyErr_Clear(); + } + } + return sm->sq_ass_item(o, i, v); + } + } +#else + if (is_list || !PyMapping_Check(o)) + { + return PySequence_SetItem(o, i, v); + } +#endif + return __Pyx_SetItemInt_Generic(o, PyInt_FromSsize_t(i), v); +} + +/* RaiseUnboundLocalError */ +static CYTHON_INLINE void __Pyx_RaiseUnboundLocalError(const char *varname) { + PyErr_Format(PyExc_UnboundLocalError, "local variable '%s' referenced before assignment", varname); +} + +/* DivInt[long] */ +static CYTHON_INLINE long __Pyx_div_long(long a, long b) { + long q = a / b; + long r = a - q*b; + q -= ((r != 0) & ((r ^ b) < 0)); + return q; +} + +/* ImportFrom */ +static PyObject* __Pyx_ImportFrom(PyObject* module, PyObject* name) { + PyObject* value = __Pyx_PyObject_GetAttrStr(module, name); + if (unlikely(!value) && PyErr_ExceptionMatches(PyExc_AttributeError)) { + const char* module_name_str = 0; + PyObject* module_name = 0; + PyObject* module_dot = 0; + PyObject* full_name = 0; + PyErr_Clear(); + module_name_str = PyModule_GetName(module); + if (unlikely(!module_name_str)) { goto modbad; } + module_name = PyUnicode_FromString(module_name_str); + if (unlikely(!module_name)) { goto modbad; } + module_dot = PyUnicode_Concat(module_name, __pyx_kp_u__2); + if (unlikely(!module_dot)) { goto modbad; } + full_name = PyUnicode_Concat(module_dot, name); + if (unlikely(!full_name)) { goto modbad; } + #if PY_VERSION_HEX < 0x030700A1 || (CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM < 0x07030400) + { + PyObject *modules = PyImport_GetModuleDict(); + if (unlikely(!modules)) + goto modbad; + value = PyObject_GetItem(modules, full_name); + } + #else + value = PyImport_GetModule(full_name); + #endif + modbad: + Py_XDECREF(full_name); + Py_XDECREF(module_dot); + Py_XDECREF(module_name); + } + if (unlikely(!value)) { + PyErr_Format(PyExc_ImportError, + #if PY_MAJOR_VERSION < 3 + "cannot import name %.230s", PyString_AS_STRING(name)); + #else + "cannot import name %S", name); + #endif + } + return value; +} + +/* HasAttr */ +#if __PYX_LIMITED_VERSION_HEX < 0x030d00A1 +static CYTHON_INLINE int __Pyx_HasAttr(PyObject *o, PyObject *n) { + PyObject *r; + if (unlikely(!__Pyx_PyBaseString_Check(n))) { + PyErr_SetString(PyExc_TypeError, + "hasattr(): attribute name must be string"); + return -1; + } + r = __Pyx_GetAttr(o, n); + if (!r) { + PyErr_Clear(); + return 0; + } else { + Py_DECREF(r); + return 1; + } +} +#endif + +/* PyObjectCall2Args */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call2Args(PyObject* function, PyObject* arg1, PyObject* arg2) { + PyObject *args[3] = {NULL, arg1, arg2}; + return __Pyx_PyObject_FastCall(function, args+1, 2 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET); +} + +/* PyObjectGetMethod */ +static int __Pyx_PyObject_GetMethod(PyObject *obj, PyObject *name, PyObject **method) { + PyObject *attr; +#if CYTHON_UNPACK_METHODS && CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_PYTYPE_LOOKUP + __Pyx_TypeName type_name; + PyTypeObject *tp = Py_TYPE(obj); + PyObject *descr; + descrgetfunc f = NULL; + PyObject **dictptr, *dict; + int meth_found = 0; + assert (*method == NULL); + if (unlikely(tp->tp_getattro != PyObject_GenericGetAttr)) { + attr = __Pyx_PyObject_GetAttrStr(obj, name); + goto try_unpack; + } + if (unlikely(tp->tp_dict == NULL) && unlikely(PyType_Ready(tp) < 0)) { + return 0; + } + descr = _PyType_Lookup(tp, name); + if (likely(descr != NULL)) { + Py_INCREF(descr); +#if defined(Py_TPFLAGS_METHOD_DESCRIPTOR) && Py_TPFLAGS_METHOD_DESCRIPTOR + if (__Pyx_PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_METHOD_DESCRIPTOR)) +#elif PY_MAJOR_VERSION >= 3 + #ifdef __Pyx_CyFunction_USED + if (likely(PyFunction_Check(descr) || __Pyx_IS_TYPE(descr, &PyMethodDescr_Type) || __Pyx_CyFunction_Check(descr))) + #else + if (likely(PyFunction_Check(descr) || __Pyx_IS_TYPE(descr, &PyMethodDescr_Type))) + #endif +#else + #ifdef __Pyx_CyFunction_USED + if (likely(PyFunction_Check(descr) || __Pyx_CyFunction_Check(descr))) + #else + if (likely(PyFunction_Check(descr))) + #endif +#endif + { + meth_found = 1; + } else { + f = Py_TYPE(descr)->tp_descr_get; + if (f != NULL && PyDescr_IsData(descr)) { + attr = f(descr, obj, (PyObject *)Py_TYPE(obj)); + Py_DECREF(descr); + goto try_unpack; + } + } + } + dictptr = _PyObject_GetDictPtr(obj); + if (dictptr != NULL && (dict = *dictptr) != NULL) { + Py_INCREF(dict); + attr = __Pyx_PyDict_GetItemStr(dict, name); + if (attr != NULL) { + Py_INCREF(attr); + Py_DECREF(dict); + Py_XDECREF(descr); + goto try_unpack; + } + Py_DECREF(dict); + } + if (meth_found) { + *method = descr; + return 1; + } + if (f != NULL) { + attr = f(descr, obj, (PyObject *)Py_TYPE(obj)); + Py_DECREF(descr); + goto try_unpack; + } + if (likely(descr != NULL)) { + *method = descr; + return 0; + } + type_name = __Pyx_PyType_GetName(tp); + PyErr_Format(PyExc_AttributeError, +#if PY_MAJOR_VERSION >= 3 + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%U'", + type_name, name); +#else + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%.400s'", + type_name, PyString_AS_STRING(name)); +#endif + __Pyx_DECREF_TypeName(type_name); + return 0; +#else + attr = __Pyx_PyObject_GetAttrStr(obj, name); + goto try_unpack; +#endif +try_unpack: +#if CYTHON_UNPACK_METHODS + if (likely(attr) && PyMethod_Check(attr) && likely(PyMethod_GET_SELF(attr) == obj)) { + PyObject *function = PyMethod_GET_FUNCTION(attr); + Py_INCREF(function); + Py_DECREF(attr); + *method = function; + return 1; + } +#endif + *method = attr; + return 0; +} + +/* PyObjectCallMethod1 */ +#if !(CYTHON_VECTORCALL && __PYX_LIMITED_VERSION_HEX >= 0x030C00A2) +static PyObject* __Pyx__PyObject_CallMethod1(PyObject* method, PyObject* arg) { + PyObject *result = __Pyx_PyObject_CallOneArg(method, arg); + Py_DECREF(method); + return result; +} +#endif +static PyObject* __Pyx_PyObject_CallMethod1(PyObject* obj, PyObject* method_name, PyObject* arg) { +#if CYTHON_VECTORCALL && __PYX_LIMITED_VERSION_HEX >= 0x030C00A2 + PyObject *args[2] = {obj, arg}; + (void) __Pyx_PyObject_GetMethod; + (void) __Pyx_PyObject_CallOneArg; + (void) __Pyx_PyObject_Call2Args; + return PyObject_VectorcallMethod(method_name, args, 2 | PY_VECTORCALL_ARGUMENTS_OFFSET, NULL); +#else + PyObject *method = NULL, *result; + int is_method = __Pyx_PyObject_GetMethod(obj, method_name, &method); + if (likely(is_method)) { + result = __Pyx_PyObject_Call2Args(method, obj, arg); + Py_DECREF(method); + return result; + } + if (unlikely(!method)) return NULL; + return __Pyx__PyObject_CallMethod1(method, arg); +#endif +} + +/* StringJoin */ +static CYTHON_INLINE PyObject* __Pyx_PyBytes_Join(PyObject* sep, PyObject* values) { + (void) __Pyx_PyObject_CallMethod1; +#if CYTHON_COMPILING_IN_CPYTHON && PY_MAJOR_VERSION < 3 + return _PyString_Join(sep, values); +#elif CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030d0000 + return _PyBytes_Join(sep, values); +#else + return __Pyx_PyObject_CallMethod1(sep, __pyx_n_s_join, values); +#endif +} + +/* CIntToPyUnicode */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_size_t(size_t value, Py_ssize_t width, char padding_char, char format_char) { + char digits[sizeof(size_t)*3+2]; + char *dpos, *end = digits + sizeof(size_t)*3+2; + const char *hex_digits = DIGITS_HEX; + Py_ssize_t length, ulength; + int prepend_sign, last_one_off; + size_t remaining; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const size_t neg_one = (size_t) -1, const_zero = (size_t) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (format_char == 'X') { + hex_digits += 16; + format_char = 'x'; + } + remaining = value; + last_one_off = 0; + dpos = end; + do { + int digit_pos; + switch (format_char) { + case 'o': + digit_pos = abs((int)(remaining % (8*8))); + remaining = (size_t) (remaining / (8*8)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_8 + digit_pos * 2, 2); + last_one_off = (digit_pos < 8); + break; + case 'd': + digit_pos = abs((int)(remaining % (10*10))); + remaining = (size_t) (remaining / (10*10)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_10 + digit_pos * 2, 2); + last_one_off = (digit_pos < 10); + break; + case 'x': + *(--dpos) = hex_digits[abs((int)(remaining % 16))]; + remaining = (size_t) (remaining / 16); + break; + default: + assert(0); + break; + } + } while (unlikely(remaining != 0)); + assert(!last_one_off || *dpos == '0'); + dpos += last_one_off; + length = end - dpos; + ulength = length; + prepend_sign = 0; + if (!is_unsigned && value <= neg_one) { + if (padding_char == ' ' || width <= length + 1) { + *(--dpos) = '-'; + ++length; + } else { + prepend_sign = 1; + } + ++ulength; + } + if (width > ulength) { + ulength = width; + } + if (ulength == 1) { + return PyUnicode_FromOrdinal(*dpos); + } + return __Pyx_PyUnicode_BuildFromAscii(ulength, dpos, (int) length, prepend_sign, padding_char); +} + +/* PyObjectCallNoArg */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func) { + PyObject *arg[2] = {NULL, NULL}; + return __Pyx_PyObject_FastCall(func, arg + 1, 0 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET); +} + +/* BufferIndexError */ +static void __Pyx_RaiseBufferIndexError(int axis) { + PyErr_Format(PyExc_IndexError, + "Out of bounds on buffer access (axis %d)", axis); +} + +/* PyObject_GenericGetAttrNoDict */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject *__Pyx_RaiseGenericGetAttributeError(PyTypeObject *tp, PyObject *attr_name) { + __Pyx_TypeName type_name = __Pyx_PyType_GetName(tp); + PyErr_Format(PyExc_AttributeError, +#if PY_MAJOR_VERSION >= 3 + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%U'", + type_name, attr_name); +#else + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%.400s'", + type_name, PyString_AS_STRING(attr_name)); +#endif + __Pyx_DECREF_TypeName(type_name); + return NULL; +} +static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name) { + PyObject *descr; + PyTypeObject *tp = Py_TYPE(obj); + if (unlikely(!PyString_Check(attr_name))) { + return PyObject_GenericGetAttr(obj, attr_name); + } + assert(!tp->tp_dictoffset); + descr = _PyType_Lookup(tp, attr_name); + if (unlikely(!descr)) { + return __Pyx_RaiseGenericGetAttributeError(tp, attr_name); + } + Py_INCREF(descr); + #if PY_MAJOR_VERSION < 3 + if (likely(PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_HAVE_CLASS))) + #endif + { + descrgetfunc f = Py_TYPE(descr)->tp_descr_get; + if (unlikely(f)) { + PyObject *res = f(descr, obj, (PyObject *)tp); + Py_DECREF(descr); + return res; + } + } + return descr; +} +#endif + +/* PyObject_GenericGetAttr */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name) { + if (unlikely(Py_TYPE(obj)->tp_dictoffset)) { + return PyObject_GenericGetAttr(obj, attr_name); + } + return __Pyx_PyObject_GenericGetAttrNoDict(obj, attr_name); +} +#endif + +/* TypeImport */ +#ifndef __PYX_HAVE_RT_ImportType_3_0_8 +#define __PYX_HAVE_RT_ImportType_3_0_8 +static PyTypeObject *__Pyx_ImportType_3_0_8(PyObject *module, const char *module_name, const char *class_name, + size_t size, size_t alignment, enum __Pyx_ImportType_CheckSize_3_0_8 check_size) +{ + PyObject *result = 0; + char warning[200]; + Py_ssize_t basicsize; + Py_ssize_t itemsize; +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *py_basicsize; + PyObject *py_itemsize; +#endif + result = PyObject_GetAttrString(module, class_name); + if (!result) + goto bad; + if (!PyType_Check(result)) { + PyErr_Format(PyExc_TypeError, + "%.200s.%.200s is not a type object", + module_name, class_name); + goto bad; + } +#if !CYTHON_COMPILING_IN_LIMITED_API + basicsize = ((PyTypeObject *)result)->tp_basicsize; + itemsize = ((PyTypeObject *)result)->tp_itemsize; +#else + py_basicsize = PyObject_GetAttrString(result, "__basicsize__"); + if (!py_basicsize) + goto bad; + basicsize = PyLong_AsSsize_t(py_basicsize); + Py_DECREF(py_basicsize); + py_basicsize = 0; + if (basicsize == (Py_ssize_t)-1 && PyErr_Occurred()) + goto bad; + py_itemsize = PyObject_GetAttrString(result, "__itemsize__"); + if (!py_itemsize) + goto bad; + itemsize = PyLong_AsSsize_t(py_itemsize); + Py_DECREF(py_itemsize); + py_itemsize = 0; + if (itemsize == (Py_ssize_t)-1 && PyErr_Occurred()) + goto bad; +#endif + if (itemsize) { + if (size % alignment) { + alignment = size % alignment; + } + if (itemsize < (Py_ssize_t)alignment) + itemsize = (Py_ssize_t)alignment; + } + if ((size_t)(basicsize + itemsize) < size) { + PyErr_Format(PyExc_ValueError, + "%.200s.%.200s size changed, may indicate binary incompatibility. " + "Expected %zd from C header, got %zd from PyObject", + module_name, class_name, size, basicsize+itemsize); + goto bad; + } + if (check_size == __Pyx_ImportType_CheckSize_Error_3_0_8 && + ((size_t)basicsize > size || (size_t)(basicsize + itemsize) < size)) { + PyErr_Format(PyExc_ValueError, + "%.200s.%.200s size changed, may indicate binary incompatibility. " + "Expected %zd from C header, got %zd-%zd from PyObject", + module_name, class_name, size, basicsize, basicsize+itemsize); + goto bad; + } + else if (check_size == __Pyx_ImportType_CheckSize_Warn_3_0_8 && (size_t)basicsize > size) { + PyOS_snprintf(warning, sizeof(warning), + "%s.%s size changed, may indicate binary incompatibility. " + "Expected %zd from C header, got %zd from PyObject", + module_name, class_name, size, basicsize); + if (PyErr_WarnEx(NULL, warning, 0) < 0) goto bad; + } + return (PyTypeObject *)result; +bad: + Py_XDECREF(result); + return NULL; +} +#endif + +/* FixUpExtensionType */ +#if CYTHON_USE_TYPE_SPECS +static int __Pyx_fix_up_extension_type_from_spec(PyType_Spec *spec, PyTypeObject *type) { +#if PY_VERSION_HEX > 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + CYTHON_UNUSED_VAR(spec); + CYTHON_UNUSED_VAR(type); +#else + const PyType_Slot *slot = spec->slots; + while (slot && slot->slot && slot->slot != Py_tp_members) + slot++; + if (slot && slot->slot == Py_tp_members) { + int changed = 0; +#if !(PY_VERSION_HEX <= 0x030900b1 && CYTHON_COMPILING_IN_CPYTHON) + const +#endif + PyMemberDef *memb = (PyMemberDef*) slot->pfunc; + while (memb && memb->name) { + if (memb->name[0] == '_' && memb->name[1] == '_') { +#if PY_VERSION_HEX < 0x030900b1 + if (strcmp(memb->name, "__weaklistoffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); + type->tp_weaklistoffset = memb->offset; + changed = 1; + } + else if (strcmp(memb->name, "__dictoffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); + type->tp_dictoffset = memb->offset; + changed = 1; + } +#if CYTHON_METH_FASTCALL + else if (strcmp(memb->name, "__vectorcalloffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); +#if PY_VERSION_HEX >= 0x030800b4 + type->tp_vectorcall_offset = memb->offset; +#else + type->tp_print = (printfunc) memb->offset; +#endif + changed = 1; + } +#endif +#else + if ((0)); +#endif +#if PY_VERSION_HEX <= 0x030900b1 && CYTHON_COMPILING_IN_CPYTHON + else if (strcmp(memb->name, "__module__") == 0) { + PyObject *descr; + assert(memb->type == T_OBJECT); + assert(memb->flags == 0 || memb->flags == READONLY); + descr = PyDescr_NewMember(type, memb); + if (unlikely(!descr)) + return -1; + if (unlikely(PyDict_SetItem(type->tp_dict, PyDescr_NAME(descr), descr) < 0)) { + Py_DECREF(descr); + return -1; + } + Py_DECREF(descr); + changed = 1; + } +#endif + } + memb++; + } + if (changed) + PyType_Modified(type); + } +#endif + return 0; +} +#endif + +/* PyObjectCallMethod0 */ +static PyObject* __Pyx_PyObject_CallMethod0(PyObject* obj, PyObject* method_name) { + PyObject *method = NULL, *result = NULL; + int is_method = __Pyx_PyObject_GetMethod(obj, method_name, &method); + if (likely(is_method)) { + result = __Pyx_PyObject_CallOneArg(method, obj); + Py_DECREF(method); + return result; + } + if (unlikely(!method)) goto bad; + result = __Pyx_PyObject_CallNoArg(method); + Py_DECREF(method); +bad: + return result; +} + +/* ValidateBasesTuple */ +#if CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API || CYTHON_USE_TYPE_SPECS +static int __Pyx_validate_bases_tuple(const char *type_name, Py_ssize_t dictoffset, PyObject *bases) { + Py_ssize_t i, n; +#if CYTHON_ASSUME_SAFE_MACROS + n = PyTuple_GET_SIZE(bases); +#else + n = PyTuple_Size(bases); + if (n < 0) return -1; +#endif + for (i = 1; i < n; i++) + { +#if CYTHON_AVOID_BORROWED_REFS + PyObject *b0 = PySequence_GetItem(bases, i); + if (!b0) return -1; +#elif CYTHON_ASSUME_SAFE_MACROS + PyObject *b0 = PyTuple_GET_ITEM(bases, i); +#else + PyObject *b0 = PyTuple_GetItem(bases, i); + if (!b0) return -1; +#endif + PyTypeObject *b; +#if PY_MAJOR_VERSION < 3 + if (PyClass_Check(b0)) + { + PyErr_Format(PyExc_TypeError, "base class '%.200s' is an old-style class", + PyString_AS_STRING(((PyClassObject*)b0)->cl_name)); +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } +#endif + b = (PyTypeObject*) b0; + if (!__Pyx_PyType_HasFeature(b, Py_TPFLAGS_HEAPTYPE)) + { + __Pyx_TypeName b_name = __Pyx_PyType_GetName(b); + PyErr_Format(PyExc_TypeError, + "base class '" __Pyx_FMT_TYPENAME "' is not a heap type", b_name); + __Pyx_DECREF_TypeName(b_name); +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } + if (dictoffset == 0) + { + Py_ssize_t b_dictoffset = 0; +#if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + b_dictoffset = b->tp_dictoffset; +#else + PyObject *py_b_dictoffset = PyObject_GetAttrString((PyObject*)b, "__dictoffset__"); + if (!py_b_dictoffset) goto dictoffset_return; + b_dictoffset = PyLong_AsSsize_t(py_b_dictoffset); + Py_DECREF(py_b_dictoffset); + if (b_dictoffset == -1 && PyErr_Occurred()) goto dictoffset_return; +#endif + if (b_dictoffset) { + { + __Pyx_TypeName b_name = __Pyx_PyType_GetName(b); + PyErr_Format(PyExc_TypeError, + "extension type '%.200s' has no __dict__ slot, " + "but base type '" __Pyx_FMT_TYPENAME "' has: " + "either add 'cdef dict __dict__' to the extension type " + "or add '__slots__ = [...]' to the base type", + type_name, b_name); + __Pyx_DECREF_TypeName(b_name); + } +#if !(CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY) + dictoffset_return: +#endif +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } + } +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + } + return 0; +} +#endif + +/* PyType_Ready */ +static int __Pyx_PyType_Ready(PyTypeObject *t) { +#if CYTHON_USE_TYPE_SPECS || !(CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API) || defined(PYSTON_MAJOR_VERSION) + (void)__Pyx_PyObject_CallMethod0; +#if CYTHON_USE_TYPE_SPECS + (void)__Pyx_validate_bases_tuple; +#endif + return PyType_Ready(t); +#else + int r; + PyObject *bases = __Pyx_PyType_GetSlot(t, tp_bases, PyObject*); + if (bases && unlikely(__Pyx_validate_bases_tuple(t->tp_name, t->tp_dictoffset, bases) == -1)) + return -1; +#if PY_VERSION_HEX >= 0x03050000 && !defined(PYSTON_MAJOR_VERSION) + { + int gc_was_enabled; + #if PY_VERSION_HEX >= 0x030A00b1 + gc_was_enabled = PyGC_Disable(); + (void)__Pyx_PyObject_CallMethod0; + #else + PyObject *ret, *py_status; + PyObject *gc = NULL; + #if PY_VERSION_HEX >= 0x030700a1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM+0 >= 0x07030400) + gc = PyImport_GetModule(__pyx_kp_u_gc); + #endif + if (unlikely(!gc)) gc = PyImport_Import(__pyx_kp_u_gc); + if (unlikely(!gc)) return -1; + py_status = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_isenabled); + if (unlikely(!py_status)) { + Py_DECREF(gc); + return -1; + } + gc_was_enabled = __Pyx_PyObject_IsTrue(py_status); + Py_DECREF(py_status); + if (gc_was_enabled > 0) { + ret = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_disable); + if (unlikely(!ret)) { + Py_DECREF(gc); + return -1; + } + Py_DECREF(ret); + } else if (unlikely(gc_was_enabled == -1)) { + Py_DECREF(gc); + return -1; + } + #endif + t->tp_flags |= Py_TPFLAGS_HEAPTYPE; +#if PY_VERSION_HEX >= 0x030A0000 + t->tp_flags |= Py_TPFLAGS_IMMUTABLETYPE; +#endif +#else + (void)__Pyx_PyObject_CallMethod0; +#endif + r = PyType_Ready(t); +#if PY_VERSION_HEX >= 0x03050000 && !defined(PYSTON_MAJOR_VERSION) + t->tp_flags &= ~Py_TPFLAGS_HEAPTYPE; + #if PY_VERSION_HEX >= 0x030A00b1 + if (gc_was_enabled) + PyGC_Enable(); + #else + if (gc_was_enabled) { + PyObject *tp, *v, *tb; + PyErr_Fetch(&tp, &v, &tb); + ret = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_enable); + if (likely(ret || r == -1)) { + Py_XDECREF(ret); + PyErr_Restore(tp, v, tb); + } else { + Py_XDECREF(tp); + Py_XDECREF(v); + Py_XDECREF(tb); + r = -1; + } + } + Py_DECREF(gc); + #endif + } +#endif + return r; +#endif +} + +/* SetupReduce */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_setup_reduce_is_named(PyObject* meth, PyObject* name) { + int ret; + PyObject *name_attr; + name_attr = __Pyx_PyObject_GetAttrStrNoError(meth, __pyx_n_s_name_2); + if (likely(name_attr)) { + ret = PyObject_RichCompareBool(name_attr, name, Py_EQ); + } else { + ret = -1; + } + if (unlikely(ret < 0)) { + PyErr_Clear(); + ret = 0; + } + Py_XDECREF(name_attr); + return ret; +} +static int __Pyx_setup_reduce(PyObject* type_obj) { + int ret = 0; + PyObject *object_reduce = NULL; + PyObject *object_getstate = NULL; + PyObject *object_reduce_ex = NULL; + PyObject *reduce = NULL; + PyObject *reduce_ex = NULL; + PyObject *reduce_cython = NULL; + PyObject *setstate = NULL; + PyObject *setstate_cython = NULL; + PyObject *getstate = NULL; +#if CYTHON_USE_PYTYPE_LOOKUP + getstate = _PyType_Lookup((PyTypeObject*)type_obj, __pyx_n_s_getstate); +#else + getstate = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_getstate); + if (!getstate && PyErr_Occurred()) { + goto __PYX_BAD; + } +#endif + if (getstate) { +#if CYTHON_USE_PYTYPE_LOOKUP + object_getstate = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_getstate); +#else + object_getstate = __Pyx_PyObject_GetAttrStrNoError((PyObject*)&PyBaseObject_Type, __pyx_n_s_getstate); + if (!object_getstate && PyErr_Occurred()) { + goto __PYX_BAD; + } +#endif + if (object_getstate != getstate) { + goto __PYX_GOOD; + } + } +#if CYTHON_USE_PYTYPE_LOOKUP + object_reduce_ex = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; +#else + object_reduce_ex = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; +#endif + reduce_ex = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce_ex); if (unlikely(!reduce_ex)) goto __PYX_BAD; + if (reduce_ex == object_reduce_ex) { +#if CYTHON_USE_PYTYPE_LOOKUP + object_reduce = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; +#else + object_reduce = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; +#endif + reduce = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce); if (unlikely(!reduce)) goto __PYX_BAD; + if (reduce == object_reduce || __Pyx_setup_reduce_is_named(reduce, __pyx_n_s_reduce_cython)) { + reduce_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_reduce_cython); + if (likely(reduce_cython)) { + ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce, reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + } else if (reduce == object_reduce || PyErr_Occurred()) { + goto __PYX_BAD; + } + setstate = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_setstate); + if (!setstate) PyErr_Clear(); + if (!setstate || __Pyx_setup_reduce_is_named(setstate, __pyx_n_s_setstate_cython)) { + setstate_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_setstate_cython); + if (likely(setstate_cython)) { + ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate, setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + } else if (!setstate || PyErr_Occurred()) { + goto __PYX_BAD; + } + } + PyType_Modified((PyTypeObject*)type_obj); + } + } + goto __PYX_GOOD; +__PYX_BAD: + if (!PyErr_Occurred()) { + __Pyx_TypeName type_obj_name = + __Pyx_PyType_GetName((PyTypeObject*)type_obj); + PyErr_Format(PyExc_RuntimeError, + "Unable to initialize pickling for " __Pyx_FMT_TYPENAME, type_obj_name); + __Pyx_DECREF_TypeName(type_obj_name); + } + ret = -1; +__PYX_GOOD: +#if !CYTHON_USE_PYTYPE_LOOKUP + Py_XDECREF(object_reduce); + Py_XDECREF(object_reduce_ex); + Py_XDECREF(object_getstate); + Py_XDECREF(getstate); +#endif + Py_XDECREF(reduce); + Py_XDECREF(reduce_ex); + Py_XDECREF(reduce_cython); + Py_XDECREF(setstate); + Py_XDECREF(setstate_cython); + return ret; +} +#endif + +/* SetVTable */ +static int __Pyx_SetVtable(PyTypeObject *type, void *vtable) { + PyObject *ob = PyCapsule_New(vtable, 0, 0); + if (unlikely(!ob)) + goto bad; +#if CYTHON_COMPILING_IN_LIMITED_API + if (unlikely(PyObject_SetAttr((PyObject *) type, __pyx_n_s_pyx_vtable, ob) < 0)) +#else + if (unlikely(PyDict_SetItem(type->tp_dict, __pyx_n_s_pyx_vtable, ob) < 0)) +#endif + goto bad; + Py_DECREF(ob); + return 0; +bad: + Py_XDECREF(ob); + return -1; +} + +/* GetVTable */ +static void* __Pyx_GetVtable(PyTypeObject *type) { + void* ptr; +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *ob = PyObject_GetAttr((PyObject *)type, __pyx_n_s_pyx_vtable); +#else + PyObject *ob = PyObject_GetItem(type->tp_dict, __pyx_n_s_pyx_vtable); +#endif + if (!ob) + goto bad; + ptr = PyCapsule_GetPointer(ob, 0); + if (!ptr && !PyErr_Occurred()) + PyErr_SetString(PyExc_RuntimeError, "invalid vtable found for imported type"); + Py_DECREF(ob); + return ptr; +bad: + Py_XDECREF(ob); + return NULL; +} + +/* MergeVTables */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_MergeVtables(PyTypeObject *type) { + int i; + void** base_vtables; + __Pyx_TypeName tp_base_name; + __Pyx_TypeName base_name; + void* unknown = (void*)-1; + PyObject* bases = type->tp_bases; + int base_depth = 0; + { + PyTypeObject* base = type->tp_base; + while (base) { + base_depth += 1; + base = base->tp_base; + } + } + base_vtables = (void**) malloc(sizeof(void*) * (size_t)(base_depth + 1)); + base_vtables[0] = unknown; + for (i = 1; i < PyTuple_GET_SIZE(bases); i++) { + void* base_vtable = __Pyx_GetVtable(((PyTypeObject*)PyTuple_GET_ITEM(bases, i))); + if (base_vtable != NULL) { + int j; + PyTypeObject* base = type->tp_base; + for (j = 0; j < base_depth; j++) { + if (base_vtables[j] == unknown) { + base_vtables[j] = __Pyx_GetVtable(base); + base_vtables[j + 1] = unknown; + } + if (base_vtables[j] == base_vtable) { + break; + } else if (base_vtables[j] == NULL) { + goto bad; + } + base = base->tp_base; + } + } + } + PyErr_Clear(); + free(base_vtables); + return 0; +bad: + tp_base_name = __Pyx_PyType_GetName(type->tp_base); + base_name = __Pyx_PyType_GetName((PyTypeObject*)PyTuple_GET_ITEM(bases, i)); + PyErr_Format(PyExc_TypeError, + "multiple bases have vtable conflict: '" __Pyx_FMT_TYPENAME "' and '" __Pyx_FMT_TYPENAME "'", tp_base_name, base_name); + __Pyx_DECREF_TypeName(tp_base_name); + __Pyx_DECREF_TypeName(base_name); + free(base_vtables); + return -1; +} +#endif + +/* FetchSharedCythonModule */ +static PyObject *__Pyx_FetchSharedCythonABIModule(void) { + return __Pyx_PyImport_AddModuleRef((char*) __PYX_ABI_MODULE_NAME); +} + +/* FetchCommonType */ +static int __Pyx_VerifyCachedType(PyObject *cached_type, + const char *name, + Py_ssize_t basicsize, + Py_ssize_t expected_basicsize) { + if (!PyType_Check(cached_type)) { + PyErr_Format(PyExc_TypeError, + "Shared Cython type %.200s is not a type object", name); + return -1; + } + if (basicsize != expected_basicsize) { + PyErr_Format(PyExc_TypeError, + "Shared Cython type %.200s has the wrong size, try recompiling", + name); + return -1; + } + return 0; +} +#if !CYTHON_USE_TYPE_SPECS +static PyTypeObject* __Pyx_FetchCommonType(PyTypeObject* type) { + PyObject* abi_module; + const char* object_name; + PyTypeObject *cached_type = NULL; + abi_module = __Pyx_FetchSharedCythonABIModule(); + if (!abi_module) return NULL; + object_name = strrchr(type->tp_name, '.'); + object_name = object_name ? object_name+1 : type->tp_name; + cached_type = (PyTypeObject*) PyObject_GetAttrString(abi_module, object_name); + if (cached_type) { + if (__Pyx_VerifyCachedType( + (PyObject *)cached_type, + object_name, + cached_type->tp_basicsize, + type->tp_basicsize) < 0) { + goto bad; + } + goto done; + } + if (!PyErr_ExceptionMatches(PyExc_AttributeError)) goto bad; + PyErr_Clear(); + if (PyType_Ready(type) < 0) goto bad; + if (PyObject_SetAttrString(abi_module, object_name, (PyObject *)type) < 0) + goto bad; + Py_INCREF(type); + cached_type = type; +done: + Py_DECREF(abi_module); + return cached_type; +bad: + Py_XDECREF(cached_type); + cached_type = NULL; + goto done; +} +#else +static PyTypeObject *__Pyx_FetchCommonTypeFromSpec(PyObject *module, PyType_Spec *spec, PyObject *bases) { + PyObject *abi_module, *cached_type = NULL; + const char* object_name = strrchr(spec->name, '.'); + object_name = object_name ? object_name+1 : spec->name; + abi_module = __Pyx_FetchSharedCythonABIModule(); + if (!abi_module) return NULL; + cached_type = PyObject_GetAttrString(abi_module, object_name); + if (cached_type) { + Py_ssize_t basicsize; +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *py_basicsize; + py_basicsize = PyObject_GetAttrString(cached_type, "__basicsize__"); + if (unlikely(!py_basicsize)) goto bad; + basicsize = PyLong_AsSsize_t(py_basicsize); + Py_DECREF(py_basicsize); + py_basicsize = 0; + if (unlikely(basicsize == (Py_ssize_t)-1) && PyErr_Occurred()) goto bad; +#else + basicsize = likely(PyType_Check(cached_type)) ? ((PyTypeObject*) cached_type)->tp_basicsize : -1; +#endif + if (__Pyx_VerifyCachedType( + cached_type, + object_name, + basicsize, + spec->basicsize) < 0) { + goto bad; + } + goto done; + } + if (!PyErr_ExceptionMatches(PyExc_AttributeError)) goto bad; + PyErr_Clear(); + CYTHON_UNUSED_VAR(module); + cached_type = __Pyx_PyType_FromModuleAndSpec(abi_module, spec, bases); + if (unlikely(!cached_type)) goto bad; + if (unlikely(__Pyx_fix_up_extension_type_from_spec(spec, (PyTypeObject *) cached_type) < 0)) goto bad; + if (PyObject_SetAttrString(abi_module, object_name, cached_type) < 0) goto bad; +done: + Py_DECREF(abi_module); + assert(cached_type == NULL || PyType_Check(cached_type)); + return (PyTypeObject *) cached_type; +bad: + Py_XDECREF(cached_type); + cached_type = NULL; + goto done; +} +#endif + +/* PyVectorcallFastCallDict */ +#if CYTHON_METH_FASTCALL +static PyObject *__Pyx_PyVectorcall_FastCallDict_kw(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw) +{ + PyObject *res = NULL; + PyObject *kwnames; + PyObject **newargs; + PyObject **kwvalues; + Py_ssize_t i, pos; + size_t j; + PyObject *key, *value; + unsigned long keys_are_strings; + Py_ssize_t nkw = PyDict_GET_SIZE(kw); + newargs = (PyObject **)PyMem_Malloc((nargs + (size_t)nkw) * sizeof(args[0])); + if (unlikely(newargs == NULL)) { + PyErr_NoMemory(); + return NULL; + } + for (j = 0; j < nargs; j++) newargs[j] = args[j]; + kwnames = PyTuple_New(nkw); + if (unlikely(kwnames == NULL)) { + PyMem_Free(newargs); + return NULL; + } + kwvalues = newargs + nargs; + pos = i = 0; + keys_are_strings = Py_TPFLAGS_UNICODE_SUBCLASS; + while (PyDict_Next(kw, &pos, &key, &value)) { + keys_are_strings &= Py_TYPE(key)->tp_flags; + Py_INCREF(key); + Py_INCREF(value); + PyTuple_SET_ITEM(kwnames, i, key); + kwvalues[i] = value; + i++; + } + if (unlikely(!keys_are_strings)) { + PyErr_SetString(PyExc_TypeError, "keywords must be strings"); + goto cleanup; + } + res = vc(func, newargs, nargs, kwnames); +cleanup: + Py_DECREF(kwnames); + for (i = 0; i < nkw; i++) + Py_DECREF(kwvalues[i]); + PyMem_Free(newargs); + return res; +} +static CYTHON_INLINE PyObject *__Pyx_PyVectorcall_FastCallDict(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw) +{ + if (likely(kw == NULL) || PyDict_GET_SIZE(kw) == 0) { + return vc(func, args, nargs, NULL); + } + return __Pyx_PyVectorcall_FastCallDict_kw(func, vc, args, nargs, kw); +} +#endif + +/* CythonFunctionShared */ +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc) { + if (__Pyx_CyFunction_Check(func)) { + return PyCFunction_GetFunction(((__pyx_CyFunctionObject*)func)->func) == (PyCFunction) cfunc; + } else if (PyCFunction_Check(func)) { + return PyCFunction_GetFunction(func) == (PyCFunction) cfunc; + } + return 0; +} +#else +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc) { + return __Pyx_CyOrPyCFunction_Check(func) && __Pyx_CyOrPyCFunction_GET_FUNCTION(func) == (PyCFunction) cfunc; +} +#endif +static CYTHON_INLINE void __Pyx__CyFunction_SetClassObj(__pyx_CyFunctionObject* f, PyObject* classobj) { +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + __Pyx_Py_XDECREF_SET( + __Pyx_CyFunction_GetClassObj(f), + ((classobj) ? __Pyx_NewRef(classobj) : NULL)); +#else + __Pyx_Py_XDECREF_SET( + ((PyCMethodObject *) (f))->mm_class, + (PyTypeObject*)((classobj) ? __Pyx_NewRef(classobj) : NULL)); +#endif +} +static PyObject * +__Pyx_CyFunction_get_doc(__pyx_CyFunctionObject *op, void *closure) +{ + CYTHON_UNUSED_VAR(closure); + if (unlikely(op->func_doc == NULL)) { +#if CYTHON_COMPILING_IN_LIMITED_API + op->func_doc = PyObject_GetAttrString(op->func, "__doc__"); + if (unlikely(!op->func_doc)) return NULL; +#else + if (((PyCFunctionObject*)op)->m_ml->ml_doc) { +#if PY_MAJOR_VERSION >= 3 + op->func_doc = PyUnicode_FromString(((PyCFunctionObject*)op)->m_ml->ml_doc); +#else + op->func_doc = PyString_FromString(((PyCFunctionObject*)op)->m_ml->ml_doc); +#endif + if (unlikely(op->func_doc == NULL)) + return NULL; + } else { + Py_INCREF(Py_None); + return Py_None; + } +#endif + } + Py_INCREF(op->func_doc); + return op->func_doc; +} +static int +__Pyx_CyFunction_set_doc(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (value == NULL) { + value = Py_None; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_doc, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_name(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(op->func_name == NULL)) { +#if CYTHON_COMPILING_IN_LIMITED_API + op->func_name = PyObject_GetAttrString(op->func, "__name__"); +#elif PY_MAJOR_VERSION >= 3 + op->func_name = PyUnicode_InternFromString(((PyCFunctionObject*)op)->m_ml->ml_name); +#else + op->func_name = PyString_InternFromString(((PyCFunctionObject*)op)->m_ml->ml_name); +#endif + if (unlikely(op->func_name == NULL)) + return NULL; + } + Py_INCREF(op->func_name); + return op->func_name; +} +static int +__Pyx_CyFunction_set_name(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); +#if PY_MAJOR_VERSION >= 3 + if (unlikely(value == NULL || !PyUnicode_Check(value))) +#else + if (unlikely(value == NULL || !PyString_Check(value))) +#endif + { + PyErr_SetString(PyExc_TypeError, + "__name__ must be set to a string object"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_name, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_qualname(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + Py_INCREF(op->func_qualname); + return op->func_qualname; +} +static int +__Pyx_CyFunction_set_qualname(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); +#if PY_MAJOR_VERSION >= 3 + if (unlikely(value == NULL || !PyUnicode_Check(value))) +#else + if (unlikely(value == NULL || !PyString_Check(value))) +#endif + { + PyErr_SetString(PyExc_TypeError, + "__qualname__ must be set to a string object"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_qualname, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_dict(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(op->func_dict == NULL)) { + op->func_dict = PyDict_New(); + if (unlikely(op->func_dict == NULL)) + return NULL; + } + Py_INCREF(op->func_dict); + return op->func_dict; +} +static int +__Pyx_CyFunction_set_dict(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(value == NULL)) { + PyErr_SetString(PyExc_TypeError, + "function's dictionary may not be deleted"); + return -1; + } + if (unlikely(!PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "setting function's dictionary to a non-dict"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_dict, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_globals(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + Py_INCREF(op->func_globals); + return op->func_globals; +} +static PyObject * +__Pyx_CyFunction_get_closure(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(op); + CYTHON_UNUSED_VAR(context); + Py_INCREF(Py_None); + return Py_None; +} +static PyObject * +__Pyx_CyFunction_get_code(__pyx_CyFunctionObject *op, void *context) +{ + PyObject* result = (op->func_code) ? op->func_code : Py_None; + CYTHON_UNUSED_VAR(context); + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_init_defaults(__pyx_CyFunctionObject *op) { + int result = 0; + PyObject *res = op->defaults_getter((PyObject *) op); + if (unlikely(!res)) + return -1; + #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + op->defaults_tuple = PyTuple_GET_ITEM(res, 0); + Py_INCREF(op->defaults_tuple); + op->defaults_kwdict = PyTuple_GET_ITEM(res, 1); + Py_INCREF(op->defaults_kwdict); + #else + op->defaults_tuple = __Pyx_PySequence_ITEM(res, 0); + if (unlikely(!op->defaults_tuple)) result = -1; + else { + op->defaults_kwdict = __Pyx_PySequence_ITEM(res, 1); + if (unlikely(!op->defaults_kwdict)) result = -1; + } + #endif + Py_DECREF(res); + return result; +} +static int +__Pyx_CyFunction_set_defaults(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value) { + value = Py_None; + } else if (unlikely(value != Py_None && !PyTuple_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__defaults__ must be set to a tuple object"); + return -1; + } + PyErr_WarnEx(PyExc_RuntimeWarning, "changes to cyfunction.__defaults__ will not " + "currently affect the values used in function calls", 1); + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->defaults_tuple, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_defaults(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->defaults_tuple; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + if (op->defaults_getter) { + if (unlikely(__Pyx_CyFunction_init_defaults(op) < 0)) return NULL; + result = op->defaults_tuple; + } else { + result = Py_None; + } + } + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_set_kwdefaults(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value) { + value = Py_None; + } else if (unlikely(value != Py_None && !PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__kwdefaults__ must be set to a dict object"); + return -1; + } + PyErr_WarnEx(PyExc_RuntimeWarning, "changes to cyfunction.__kwdefaults__ will not " + "currently affect the values used in function calls", 1); + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->defaults_kwdict, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_kwdefaults(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->defaults_kwdict; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + if (op->defaults_getter) { + if (unlikely(__Pyx_CyFunction_init_defaults(op) < 0)) return NULL; + result = op->defaults_kwdict; + } else { + result = Py_None; + } + } + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_set_annotations(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value || value == Py_None) { + value = NULL; + } else if (unlikely(!PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__annotations__ must be set to a dict object"); + return -1; + } + Py_XINCREF(value); + __Pyx_Py_XDECREF_SET(op->func_annotations, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_annotations(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->func_annotations; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + result = PyDict_New(); + if (unlikely(!result)) return NULL; + op->func_annotations = result; + } + Py_INCREF(result); + return result; +} +static PyObject * +__Pyx_CyFunction_get_is_coroutine(__pyx_CyFunctionObject *op, void *context) { + int is_coroutine; + CYTHON_UNUSED_VAR(context); + if (op->func_is_coroutine) { + return __Pyx_NewRef(op->func_is_coroutine); + } + is_coroutine = op->flags & __Pyx_CYFUNCTION_COROUTINE; +#if PY_VERSION_HEX >= 0x03050000 + if (is_coroutine) { + PyObject *module, *fromlist, *marker = __pyx_n_s_is_coroutine; + fromlist = PyList_New(1); + if (unlikely(!fromlist)) return NULL; + Py_INCREF(marker); +#if CYTHON_ASSUME_SAFE_MACROS + PyList_SET_ITEM(fromlist, 0, marker); +#else + if (unlikely(PyList_SetItem(fromlist, 0, marker) < 0)) { + Py_DECREF(marker); + Py_DECREF(fromlist); + return NULL; + } +#endif + module = PyImport_ImportModuleLevelObject(__pyx_n_s_asyncio_coroutines, NULL, NULL, fromlist, 0); + Py_DECREF(fromlist); + if (unlikely(!module)) goto ignore; + op->func_is_coroutine = __Pyx_PyObject_GetAttrStr(module, marker); + Py_DECREF(module); + if (likely(op->func_is_coroutine)) { + return __Pyx_NewRef(op->func_is_coroutine); + } +ignore: + PyErr_Clear(); + } +#endif + op->func_is_coroutine = __Pyx_PyBool_FromLong(is_coroutine); + return __Pyx_NewRef(op->func_is_coroutine); +} +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject * +__Pyx_CyFunction_get_module(__pyx_CyFunctionObject *op, void *context) { + CYTHON_UNUSED_VAR(context); + return PyObject_GetAttrString(op->func, "__module__"); +} +static int +__Pyx_CyFunction_set_module(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + return PyObject_SetAttrString(op->func, "__module__", value); +} +#endif +static PyGetSetDef __pyx_CyFunction_getsets[] = { + {(char *) "func_doc", (getter)__Pyx_CyFunction_get_doc, (setter)__Pyx_CyFunction_set_doc, 0, 0}, + {(char *) "__doc__", (getter)__Pyx_CyFunction_get_doc, (setter)__Pyx_CyFunction_set_doc, 0, 0}, + {(char *) "func_name", (getter)__Pyx_CyFunction_get_name, (setter)__Pyx_CyFunction_set_name, 0, 0}, + {(char *) "__name__", (getter)__Pyx_CyFunction_get_name, (setter)__Pyx_CyFunction_set_name, 0, 0}, + {(char *) "__qualname__", (getter)__Pyx_CyFunction_get_qualname, (setter)__Pyx_CyFunction_set_qualname, 0, 0}, + {(char *) "func_dict", (getter)__Pyx_CyFunction_get_dict, (setter)__Pyx_CyFunction_set_dict, 0, 0}, + {(char *) "__dict__", (getter)__Pyx_CyFunction_get_dict, (setter)__Pyx_CyFunction_set_dict, 0, 0}, + {(char *) "func_globals", (getter)__Pyx_CyFunction_get_globals, 0, 0, 0}, + {(char *) "__globals__", (getter)__Pyx_CyFunction_get_globals, 0, 0, 0}, + {(char *) "func_closure", (getter)__Pyx_CyFunction_get_closure, 0, 0, 0}, + {(char *) "__closure__", (getter)__Pyx_CyFunction_get_closure, 0, 0, 0}, + {(char *) "func_code", (getter)__Pyx_CyFunction_get_code, 0, 0, 0}, + {(char *) "__code__", (getter)__Pyx_CyFunction_get_code, 0, 0, 0}, + {(char *) "func_defaults", (getter)__Pyx_CyFunction_get_defaults, (setter)__Pyx_CyFunction_set_defaults, 0, 0}, + {(char *) "__defaults__", (getter)__Pyx_CyFunction_get_defaults, (setter)__Pyx_CyFunction_set_defaults, 0, 0}, + {(char *) "__kwdefaults__", (getter)__Pyx_CyFunction_get_kwdefaults, (setter)__Pyx_CyFunction_set_kwdefaults, 0, 0}, + {(char *) "__annotations__", (getter)__Pyx_CyFunction_get_annotations, (setter)__Pyx_CyFunction_set_annotations, 0, 0}, + {(char *) "_is_coroutine", (getter)__Pyx_CyFunction_get_is_coroutine, 0, 0, 0}, +#if CYTHON_COMPILING_IN_LIMITED_API + {"__module__", (getter)__Pyx_CyFunction_get_module, (setter)__Pyx_CyFunction_set_module, 0, 0}, +#endif + {0, 0, 0, 0, 0} +}; +static PyMemberDef __pyx_CyFunction_members[] = { +#if !CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__module__", T_OBJECT, offsetof(PyCFunctionObject, m_module), 0, 0}, +#endif +#if CYTHON_USE_TYPE_SPECS + {(char *) "__dictoffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_dict), READONLY, 0}, +#if CYTHON_METH_FASTCALL +#if CYTHON_BACKPORT_VECTORCALL + {(char *) "__vectorcalloffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_vectorcall), READONLY, 0}, +#else +#if !CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__vectorcalloffset__", T_PYSSIZET, offsetof(PyCFunctionObject, vectorcall), READONLY, 0}, +#endif +#endif +#endif +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__weaklistoffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_weakreflist), READONLY, 0}, +#else + {(char *) "__weaklistoffset__", T_PYSSIZET, offsetof(PyCFunctionObject, m_weakreflist), READONLY, 0}, +#endif +#endif + {0, 0, 0, 0, 0} +}; +static PyObject * +__Pyx_CyFunction_reduce(__pyx_CyFunctionObject *m, PyObject *args) +{ + CYTHON_UNUSED_VAR(args); +#if PY_MAJOR_VERSION >= 3 + Py_INCREF(m->func_qualname); + return m->func_qualname; +#else + return PyString_FromString(((PyCFunctionObject*)m)->m_ml->ml_name); +#endif +} +static PyMethodDef __pyx_CyFunction_methods[] = { + {"__reduce__", (PyCFunction)__Pyx_CyFunction_reduce, METH_VARARGS, 0}, + {0, 0, 0, 0} +}; +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API +#define __Pyx_CyFunction_weakreflist(cyfunc) ((cyfunc)->func_weakreflist) +#else +#define __Pyx_CyFunction_weakreflist(cyfunc) (((PyCFunctionObject*)cyfunc)->m_weakreflist) +#endif +static PyObject *__Pyx_CyFunction_Init(__pyx_CyFunctionObject *op, PyMethodDef *ml, int flags, PyObject* qualname, + PyObject *closure, PyObject *module, PyObject* globals, PyObject* code) { +#if !CYTHON_COMPILING_IN_LIMITED_API + PyCFunctionObject *cf = (PyCFunctionObject*) op; +#endif + if (unlikely(op == NULL)) + return NULL; +#if CYTHON_COMPILING_IN_LIMITED_API + op->func = PyCFunction_NewEx(ml, (PyObject*)op, module); + if (unlikely(!op->func)) return NULL; +#endif + op->flags = flags; + __Pyx_CyFunction_weakreflist(op) = NULL; +#if !CYTHON_COMPILING_IN_LIMITED_API + cf->m_ml = ml; + cf->m_self = (PyObject *) op; +#endif + Py_XINCREF(closure); + op->func_closure = closure; +#if !CYTHON_COMPILING_IN_LIMITED_API + Py_XINCREF(module); + cf->m_module = module; +#endif + op->func_dict = NULL; + op->func_name = NULL; + Py_INCREF(qualname); + op->func_qualname = qualname; + op->func_doc = NULL; +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + op->func_classobj = NULL; +#else + ((PyCMethodObject*)op)->mm_class = NULL; +#endif + op->func_globals = globals; + Py_INCREF(op->func_globals); + Py_XINCREF(code); + op->func_code = code; + op->defaults_pyobjects = 0; + op->defaults_size = 0; + op->defaults = NULL; + op->defaults_tuple = NULL; + op->defaults_kwdict = NULL; + op->defaults_getter = NULL; + op->func_annotations = NULL; + op->func_is_coroutine = NULL; +#if CYTHON_METH_FASTCALL + switch (ml->ml_flags & (METH_VARARGS | METH_FASTCALL | METH_NOARGS | METH_O | METH_KEYWORDS | METH_METHOD)) { + case METH_NOARGS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_NOARGS; + break; + case METH_O: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_O; + break; + case METH_METHOD | METH_FASTCALL | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD; + break; + case METH_FASTCALL | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS; + break; + case METH_VARARGS | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = NULL; + break; + default: + PyErr_SetString(PyExc_SystemError, "Bad call flags for CyFunction"); + Py_DECREF(op); + return NULL; + } +#endif + return (PyObject *) op; +} +static int +__Pyx_CyFunction_clear(__pyx_CyFunctionObject *m) +{ + Py_CLEAR(m->func_closure); +#if CYTHON_COMPILING_IN_LIMITED_API + Py_CLEAR(m->func); +#else + Py_CLEAR(((PyCFunctionObject*)m)->m_module); +#endif + Py_CLEAR(m->func_dict); + Py_CLEAR(m->func_name); + Py_CLEAR(m->func_qualname); + Py_CLEAR(m->func_doc); + Py_CLEAR(m->func_globals); + Py_CLEAR(m->func_code); +#if !CYTHON_COMPILING_IN_LIMITED_API +#if PY_VERSION_HEX < 0x030900B1 + Py_CLEAR(__Pyx_CyFunction_GetClassObj(m)); +#else + { + PyObject *cls = (PyObject*) ((PyCMethodObject *) (m))->mm_class; + ((PyCMethodObject *) (m))->mm_class = NULL; + Py_XDECREF(cls); + } +#endif +#endif + Py_CLEAR(m->defaults_tuple); + Py_CLEAR(m->defaults_kwdict); + Py_CLEAR(m->func_annotations); + Py_CLEAR(m->func_is_coroutine); + if (m->defaults) { + PyObject **pydefaults = __Pyx_CyFunction_Defaults(PyObject *, m); + int i; + for (i = 0; i < m->defaults_pyobjects; i++) + Py_XDECREF(pydefaults[i]); + PyObject_Free(m->defaults); + m->defaults = NULL; + } + return 0; +} +static void __Pyx__CyFunction_dealloc(__pyx_CyFunctionObject *m) +{ + if (__Pyx_CyFunction_weakreflist(m) != NULL) + PyObject_ClearWeakRefs((PyObject *) m); + __Pyx_CyFunction_clear(m); + __Pyx_PyHeapTypeObject_GC_Del(m); +} +static void __Pyx_CyFunction_dealloc(__pyx_CyFunctionObject *m) +{ + PyObject_GC_UnTrack(m); + __Pyx__CyFunction_dealloc(m); +} +static int __Pyx_CyFunction_traverse(__pyx_CyFunctionObject *m, visitproc visit, void *arg) +{ + Py_VISIT(m->func_closure); +#if CYTHON_COMPILING_IN_LIMITED_API + Py_VISIT(m->func); +#else + Py_VISIT(((PyCFunctionObject*)m)->m_module); +#endif + Py_VISIT(m->func_dict); + Py_VISIT(m->func_name); + Py_VISIT(m->func_qualname); + Py_VISIT(m->func_doc); + Py_VISIT(m->func_globals); + Py_VISIT(m->func_code); +#if !CYTHON_COMPILING_IN_LIMITED_API + Py_VISIT(__Pyx_CyFunction_GetClassObj(m)); +#endif + Py_VISIT(m->defaults_tuple); + Py_VISIT(m->defaults_kwdict); + Py_VISIT(m->func_is_coroutine); + if (m->defaults) { + PyObject **pydefaults = __Pyx_CyFunction_Defaults(PyObject *, m); + int i; + for (i = 0; i < m->defaults_pyobjects; i++) + Py_VISIT(pydefaults[i]); + } + return 0; +} +static PyObject* +__Pyx_CyFunction_repr(__pyx_CyFunctionObject *op) +{ +#if PY_MAJOR_VERSION >= 3 + return PyUnicode_FromFormat("", + op->func_qualname, (void *)op); +#else + return PyString_FromFormat("", + PyString_AsString(op->func_qualname), (void *)op); +#endif +} +static PyObject * __Pyx_CyFunction_CallMethod(PyObject *func, PyObject *self, PyObject *arg, PyObject *kw) { +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *f = ((__pyx_CyFunctionObject*)func)->func; + PyObject *py_name = NULL; + PyCFunction meth; + int flags; + meth = PyCFunction_GetFunction(f); + if (unlikely(!meth)) return NULL; + flags = PyCFunction_GetFlags(f); + if (unlikely(flags < 0)) return NULL; +#else + PyCFunctionObject* f = (PyCFunctionObject*)func; + PyCFunction meth = f->m_ml->ml_meth; + int flags = f->m_ml->ml_flags; +#endif + Py_ssize_t size; + switch (flags & (METH_VARARGS | METH_KEYWORDS | METH_NOARGS | METH_O)) { + case METH_VARARGS: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) + return (*meth)(self, arg); + break; + case METH_VARARGS | METH_KEYWORDS: + return (*(PyCFunctionWithKeywords)(void*)meth)(self, arg, kw); + case METH_NOARGS: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) { +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(arg); +#else + size = PyTuple_Size(arg); + if (unlikely(size < 0)) return NULL; +#endif + if (likely(size == 0)) + return (*meth)(self, NULL); +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, + "%.200S() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + py_name, size); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, + "%.200s() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + f->m_ml->ml_name, size); +#endif + return NULL; + } + break; + case METH_O: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) { +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(arg); +#else + size = PyTuple_Size(arg); + if (unlikely(size < 0)) return NULL; +#endif + if (likely(size == 1)) { + PyObject *result, *arg0; + #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + arg0 = PyTuple_GET_ITEM(arg, 0); + #else + arg0 = __Pyx_PySequence_ITEM(arg, 0); if (unlikely(!arg0)) return NULL; + #endif + result = (*meth)(self, arg0); + #if !(CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS) + Py_DECREF(arg0); + #endif + return result; + } +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, + "%.200S() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + py_name, size); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, + "%.200s() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + f->m_ml->ml_name, size); +#endif + return NULL; + } + break; + default: + PyErr_SetString(PyExc_SystemError, "Bad call flags for CyFunction"); + return NULL; + } +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, "%.200S() takes no keyword arguments", + py_name); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, "%.200s() takes no keyword arguments", + f->m_ml->ml_name); +#endif + return NULL; +} +static CYTHON_INLINE PyObject *__Pyx_CyFunction_Call(PyObject *func, PyObject *arg, PyObject *kw) { + PyObject *self, *result; +#if CYTHON_COMPILING_IN_LIMITED_API + self = PyCFunction_GetSelf(((__pyx_CyFunctionObject*)func)->func); + if (unlikely(!self) && PyErr_Occurred()) return NULL; +#else + self = ((PyCFunctionObject*)func)->m_self; +#endif + result = __Pyx_CyFunction_CallMethod(func, self, arg, kw); + return result; +} +static PyObject *__Pyx_CyFunction_CallAsMethod(PyObject *func, PyObject *args, PyObject *kw) { + PyObject *result; + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *) func; +#if CYTHON_METH_FASTCALL + __pyx_vectorcallfunc vc = __Pyx_CyFunction_func_vectorcall(cyfunc); + if (vc) { +#if CYTHON_ASSUME_SAFE_MACROS + return __Pyx_PyVectorcall_FastCallDict(func, vc, &PyTuple_GET_ITEM(args, 0), (size_t)PyTuple_GET_SIZE(args), kw); +#else + (void) &__Pyx_PyVectorcall_FastCallDict; + return PyVectorcall_Call(func, args, kw); +#endif + } +#endif + if ((cyfunc->flags & __Pyx_CYFUNCTION_CCLASS) && !(cyfunc->flags & __Pyx_CYFUNCTION_STATICMETHOD)) { + Py_ssize_t argc; + PyObject *new_args; + PyObject *self; +#if CYTHON_ASSUME_SAFE_MACROS + argc = PyTuple_GET_SIZE(args); +#else + argc = PyTuple_Size(args); + if (unlikely(!argc) < 0) return NULL; +#endif + new_args = PyTuple_GetSlice(args, 1, argc); + if (unlikely(!new_args)) + return NULL; + self = PyTuple_GetItem(args, 0); + if (unlikely(!self)) { + Py_DECREF(new_args); +#if PY_MAJOR_VERSION > 2 + PyErr_Format(PyExc_TypeError, + "unbound method %.200S() needs an argument", + cyfunc->func_qualname); +#else + PyErr_SetString(PyExc_TypeError, + "unbound method needs an argument"); +#endif + return NULL; + } + result = __Pyx_CyFunction_CallMethod(func, self, new_args, kw); + Py_DECREF(new_args); + } else { + result = __Pyx_CyFunction_Call(func, args, kw); + } + return result; +} +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE int __Pyx_CyFunction_Vectorcall_CheckArgs(__pyx_CyFunctionObject *cyfunc, Py_ssize_t nargs, PyObject *kwnames) +{ + int ret = 0; + if ((cyfunc->flags & __Pyx_CYFUNCTION_CCLASS) && !(cyfunc->flags & __Pyx_CYFUNCTION_STATICMETHOD)) { + if (unlikely(nargs < 1)) { + PyErr_Format(PyExc_TypeError, "%.200s() needs an argument", + ((PyCFunctionObject*)cyfunc)->m_ml->ml_name); + return -1; + } + ret = 1; + } + if (unlikely(kwnames) && unlikely(PyTuple_GET_SIZE(kwnames))) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes no keyword arguments", ((PyCFunctionObject*)cyfunc)->m_ml->ml_name); + return -1; + } + return ret; +} +static PyObject * __Pyx_CyFunction_Vectorcall_NOARGS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, kwnames)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + if (unlikely(nargs != 0)) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + def->ml_name, nargs); + return NULL; + } + return def->ml_meth(self, NULL); +} +static PyObject * __Pyx_CyFunction_Vectorcall_O(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, kwnames)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + if (unlikely(nargs != 1)) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + def->ml_name, nargs); + return NULL; + } + return def->ml_meth(self, args[0]); +} +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, NULL)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + return ((_PyCFunctionFastWithKeywords)(void(*)(void))def->ml_meth)(self, args, nargs, kwnames); +} +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; + PyTypeObject *cls = (PyTypeObject *) __Pyx_CyFunction_GetClassObj(cyfunc); +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, NULL)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + return ((__Pyx_PyCMethod)(void(*)(void))def->ml_meth)(self, cls, args, (size_t)nargs, kwnames); +} +#endif +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_CyFunctionType_slots[] = { + {Py_tp_dealloc, (void *)__Pyx_CyFunction_dealloc}, + {Py_tp_repr, (void *)__Pyx_CyFunction_repr}, + {Py_tp_call, (void *)__Pyx_CyFunction_CallAsMethod}, + {Py_tp_traverse, (void *)__Pyx_CyFunction_traverse}, + {Py_tp_clear, (void *)__Pyx_CyFunction_clear}, + {Py_tp_methods, (void *)__pyx_CyFunction_methods}, + {Py_tp_members, (void *)__pyx_CyFunction_members}, + {Py_tp_getset, (void *)__pyx_CyFunction_getsets}, + {Py_tp_descr_get, (void *)__Pyx_PyMethod_New}, + {0, 0}, +}; +static PyType_Spec __pyx_CyFunctionType_spec = { + __PYX_TYPE_MODULE_PREFIX "cython_function_or_method", + sizeof(__pyx_CyFunctionObject), + 0, +#ifdef Py_TPFLAGS_METHOD_DESCRIPTOR + Py_TPFLAGS_METHOD_DESCRIPTOR | +#endif +#if (defined(_Py_TPFLAGS_HAVE_VECTORCALL) && CYTHON_METH_FASTCALL) + _Py_TPFLAGS_HAVE_VECTORCALL | +#endif + Py_TPFLAGS_DEFAULT | Py_TPFLAGS_HAVE_GC | Py_TPFLAGS_BASETYPE, + __pyx_CyFunctionType_slots +}; +#else +static PyTypeObject __pyx_CyFunctionType_type = { + PyVarObject_HEAD_INIT(0, 0) + __PYX_TYPE_MODULE_PREFIX "cython_function_or_method", + sizeof(__pyx_CyFunctionObject), + 0, + (destructor) __Pyx_CyFunction_dealloc, +#if !CYTHON_METH_FASTCALL + 0, +#elif CYTHON_BACKPORT_VECTORCALL + (printfunc)offsetof(__pyx_CyFunctionObject, func_vectorcall), +#else + offsetof(PyCFunctionObject, vectorcall), +#endif + 0, + 0, +#if PY_MAJOR_VERSION < 3 + 0, +#else + 0, +#endif + (reprfunc) __Pyx_CyFunction_repr, + 0, + 0, + 0, + 0, + __Pyx_CyFunction_CallAsMethod, + 0, + 0, + 0, + 0, +#ifdef Py_TPFLAGS_METHOD_DESCRIPTOR + Py_TPFLAGS_METHOD_DESCRIPTOR | +#endif +#if defined(_Py_TPFLAGS_HAVE_VECTORCALL) && CYTHON_METH_FASTCALL + _Py_TPFLAGS_HAVE_VECTORCALL | +#endif + Py_TPFLAGS_DEFAULT | Py_TPFLAGS_HAVE_GC | Py_TPFLAGS_BASETYPE, + 0, + (traverseproc) __Pyx_CyFunction_traverse, + (inquiry) __Pyx_CyFunction_clear, + 0, +#if PY_VERSION_HEX < 0x030500A0 + offsetof(__pyx_CyFunctionObject, func_weakreflist), +#else + offsetof(PyCFunctionObject, m_weakreflist), +#endif + 0, + 0, + __pyx_CyFunction_methods, + __pyx_CyFunction_members, + __pyx_CyFunction_getsets, + 0, + 0, + __Pyx_PyMethod_New, + 0, + offsetof(__pyx_CyFunctionObject, func_dict), + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, +#if PY_VERSION_HEX >= 0x030400a1 + 0, +#endif +#if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, +#endif +#if __PYX_NEED_TP_PRINT_SLOT + 0, +#endif +#if PY_VERSION_HEX >= 0x030C0000 + 0, +#endif +#if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, +#endif +}; +#endif +static int __pyx_CyFunction_init(PyObject *module) { +#if CYTHON_USE_TYPE_SPECS + __pyx_CyFunctionType = __Pyx_FetchCommonTypeFromSpec(module, &__pyx_CyFunctionType_spec, NULL); +#else + CYTHON_UNUSED_VAR(module); + __pyx_CyFunctionType = __Pyx_FetchCommonType(&__pyx_CyFunctionType_type); +#endif + if (unlikely(__pyx_CyFunctionType == NULL)) { + return -1; + } + return 0; +} +static CYTHON_INLINE void *__Pyx_CyFunction_InitDefaults(PyObject *func, size_t size, int pyobjects) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults = PyObject_Malloc(size); + if (unlikely(!m->defaults)) + return PyErr_NoMemory(); + memset(m->defaults, 0, size); + m->defaults_pyobjects = pyobjects; + m->defaults_size = size; + return m->defaults; +} +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsTuple(PyObject *func, PyObject *tuple) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults_tuple = tuple; + Py_INCREF(tuple); +} +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsKwDict(PyObject *func, PyObject *dict) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults_kwdict = dict; + Py_INCREF(dict); +} +static CYTHON_INLINE void __Pyx_CyFunction_SetAnnotationsDict(PyObject *func, PyObject *dict) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->func_annotations = dict; + Py_INCREF(dict); +} + +/* CythonFunction */ +static PyObject *__Pyx_CyFunction_New(PyMethodDef *ml, int flags, PyObject* qualname, + PyObject *closure, PyObject *module, PyObject* globals, PyObject* code) { + PyObject *op = __Pyx_CyFunction_Init( + PyObject_GC_New(__pyx_CyFunctionObject, __pyx_CyFunctionType), + ml, flags, qualname, closure, module, globals, code + ); + if (likely(op)) { + PyObject_GC_Track(op); + } + return op; +} + +/* CLineInTraceback */ +#ifndef CYTHON_CLINE_IN_TRACEBACK +static int __Pyx_CLineForTraceback(PyThreadState *tstate, int c_line) { + PyObject *use_cline; + PyObject *ptype, *pvalue, *ptraceback; +#if CYTHON_COMPILING_IN_CPYTHON + PyObject **cython_runtime_dict; +#endif + CYTHON_MAYBE_UNUSED_VAR(tstate); + if (unlikely(!__pyx_cython_runtime)) { + return c_line; + } + __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); +#if CYTHON_COMPILING_IN_CPYTHON + cython_runtime_dict = _PyObject_GetDictPtr(__pyx_cython_runtime); + if (likely(cython_runtime_dict)) { + __PYX_PY_DICT_LOOKUP_IF_MODIFIED( + use_cline, *cython_runtime_dict, + __Pyx_PyDict_GetItemStr(*cython_runtime_dict, __pyx_n_s_cline_in_traceback)) + } else +#endif + { + PyObject *use_cline_obj = __Pyx_PyObject_GetAttrStrNoError(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback); + if (use_cline_obj) { + use_cline = PyObject_Not(use_cline_obj) ? Py_False : Py_True; + Py_DECREF(use_cline_obj); + } else { + PyErr_Clear(); + use_cline = NULL; + } + } + if (!use_cline) { + c_line = 0; + (void) PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False); + } + else if (use_cline == Py_False || (use_cline != Py_True && PyObject_Not(use_cline) != 0)) { + c_line = 0; + } + __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); + return c_line; +} +#endif + +/* CodeObjectCache */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line) { + int start = 0, mid = 0, end = count - 1; + if (end >= 0 && code_line > entries[end].code_line) { + return count; + } + while (start < end) { + mid = start + (end - start) / 2; + if (code_line < entries[mid].code_line) { + end = mid; + } else if (code_line > entries[mid].code_line) { + start = mid + 1; + } else { + return mid; + } + } + if (code_line <= entries[mid].code_line) { + return mid; + } else { + return mid + 1; + } +} +static PyCodeObject *__pyx_find_code_object(int code_line) { + PyCodeObject* code_object; + int pos; + if (unlikely(!code_line) || unlikely(!__pyx_code_cache.entries)) { + return NULL; + } + pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); + if (unlikely(pos >= __pyx_code_cache.count) || unlikely(__pyx_code_cache.entries[pos].code_line != code_line)) { + return NULL; + } + code_object = __pyx_code_cache.entries[pos].code_object; + Py_INCREF(code_object); + return code_object; +} +static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object) { + int pos, i; + __Pyx_CodeObjectCacheEntry* entries = __pyx_code_cache.entries; + if (unlikely(!code_line)) { + return; + } + if (unlikely(!entries)) { + entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Malloc(64*sizeof(__Pyx_CodeObjectCacheEntry)); + if (likely(entries)) { + __pyx_code_cache.entries = entries; + __pyx_code_cache.max_count = 64; + __pyx_code_cache.count = 1; + entries[0].code_line = code_line; + entries[0].code_object = code_object; + Py_INCREF(code_object); + } + return; + } + pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); + if ((pos < __pyx_code_cache.count) && unlikely(__pyx_code_cache.entries[pos].code_line == code_line)) { + PyCodeObject* tmp = entries[pos].code_object; + entries[pos].code_object = code_object; + Py_DECREF(tmp); + return; + } + if (__pyx_code_cache.count == __pyx_code_cache.max_count) { + int new_max = __pyx_code_cache.max_count + 64; + entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Realloc( + __pyx_code_cache.entries, ((size_t)new_max) * sizeof(__Pyx_CodeObjectCacheEntry)); + if (unlikely(!entries)) { + return; + } + __pyx_code_cache.entries = entries; + __pyx_code_cache.max_count = new_max; + } + for (i=__pyx_code_cache.count; i>pos; i--) { + entries[i] = entries[i-1]; + } + entries[pos].code_line = code_line; + entries[pos].code_object = code_object; + __pyx_code_cache.count++; + Py_INCREF(code_object); +} +#endif + +/* AddTraceback */ +#include "compile.h" +#include "frameobject.h" +#include "traceback.h" +#if PY_VERSION_HEX >= 0x030b00a6 && !CYTHON_COMPILING_IN_LIMITED_API + #ifndef Py_BUILD_CORE + #define Py_BUILD_CORE 1 + #endif + #include "internal/pycore_frame.h" +#endif +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject *__Pyx_PyCode_Replace_For_AddTraceback(PyObject *code, PyObject *scratch_dict, + PyObject *firstlineno, PyObject *name) { + PyObject *replace = NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "co_firstlineno", firstlineno))) return NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "co_name", name))) return NULL; + replace = PyObject_GetAttrString(code, "replace"); + if (likely(replace)) { + PyObject *result; + result = PyObject_Call(replace, __pyx_empty_tuple, scratch_dict); + Py_DECREF(replace); + return result; + } + PyErr_Clear(); + #if __PYX_LIMITED_VERSION_HEX < 0x030780000 + { + PyObject *compiled = NULL, *result = NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "code", code))) return NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "type", (PyObject*)(&PyType_Type)))) return NULL; + compiled = Py_CompileString( + "out = type(code)(\n" + " code.co_argcount, code.co_kwonlyargcount, code.co_nlocals, code.co_stacksize,\n" + " code.co_flags, code.co_code, code.co_consts, code.co_names,\n" + " code.co_varnames, code.co_filename, co_name, co_firstlineno,\n" + " code.co_lnotab)\n", "", Py_file_input); + if (!compiled) return NULL; + result = PyEval_EvalCode(compiled, scratch_dict, scratch_dict); + Py_DECREF(compiled); + if (!result) PyErr_Print(); + Py_DECREF(result); + result = PyDict_GetItemString(scratch_dict, "out"); + if (result) Py_INCREF(result); + return result; + } + #else + return NULL; + #endif +} +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename) { + PyObject *code_object = NULL, *py_py_line = NULL, *py_funcname = NULL, *dict = NULL; + PyObject *replace = NULL, *getframe = NULL, *frame = NULL; + PyObject *exc_type, *exc_value, *exc_traceback; + int success = 0; + if (c_line) { + (void) __pyx_cfilenm; + (void) __Pyx_CLineForTraceback(__Pyx_PyThreadState_Current, c_line); + } + PyErr_Fetch(&exc_type, &exc_value, &exc_traceback); + code_object = Py_CompileString("_getframe()", filename, Py_eval_input); + if (unlikely(!code_object)) goto bad; + py_py_line = PyLong_FromLong(py_line); + if (unlikely(!py_py_line)) goto bad; + py_funcname = PyUnicode_FromString(funcname); + if (unlikely(!py_funcname)) goto bad; + dict = PyDict_New(); + if (unlikely(!dict)) goto bad; + { + PyObject *old_code_object = code_object; + code_object = __Pyx_PyCode_Replace_For_AddTraceback(code_object, dict, py_py_line, py_funcname); + Py_DECREF(old_code_object); + } + if (unlikely(!code_object)) goto bad; + getframe = PySys_GetObject("_getframe"); + if (unlikely(!getframe)) goto bad; + if (unlikely(PyDict_SetItemString(dict, "_getframe", getframe))) goto bad; + frame = PyEval_EvalCode(code_object, dict, dict); + if (unlikely(!frame) || frame == Py_None) goto bad; + success = 1; + bad: + PyErr_Restore(exc_type, exc_value, exc_traceback); + Py_XDECREF(code_object); + Py_XDECREF(py_py_line); + Py_XDECREF(py_funcname); + Py_XDECREF(dict); + Py_XDECREF(replace); + if (success) { + PyTraceBack_Here( + (struct _frame*)frame); + } + Py_XDECREF(frame); +} +#else +static PyCodeObject* __Pyx_CreateCodeObjectForTraceback( + const char *funcname, int c_line, + int py_line, const char *filename) { + PyCodeObject *py_code = NULL; + PyObject *py_funcname = NULL; + #if PY_MAJOR_VERSION < 3 + PyObject *py_srcfile = NULL; + py_srcfile = PyString_FromString(filename); + if (!py_srcfile) goto bad; + #endif + if (c_line) { + #if PY_MAJOR_VERSION < 3 + py_funcname = PyString_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); + if (!py_funcname) goto bad; + #else + py_funcname = PyUnicode_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); + if (!py_funcname) goto bad; + funcname = PyUnicode_AsUTF8(py_funcname); + if (!funcname) goto bad; + #endif + } + else { + #if PY_MAJOR_VERSION < 3 + py_funcname = PyString_FromString(funcname); + if (!py_funcname) goto bad; + #endif + } + #if PY_MAJOR_VERSION < 3 + py_code = __Pyx_PyCode_New( + 0, + 0, + 0, + 0, + 0, + 0, + __pyx_empty_bytes, /*PyObject *code,*/ + __pyx_empty_tuple, /*PyObject *consts,*/ + __pyx_empty_tuple, /*PyObject *names,*/ + __pyx_empty_tuple, /*PyObject *varnames,*/ + __pyx_empty_tuple, /*PyObject *freevars,*/ + __pyx_empty_tuple, /*PyObject *cellvars,*/ + py_srcfile, /*PyObject *filename,*/ + py_funcname, /*PyObject *name,*/ + py_line, + __pyx_empty_bytes /*PyObject *lnotab*/ + ); + Py_DECREF(py_srcfile); + #else + py_code = PyCode_NewEmpty(filename, funcname, py_line); + #endif + Py_XDECREF(py_funcname); + return py_code; +bad: + Py_XDECREF(py_funcname); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(py_srcfile); + #endif + return NULL; +} +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename) { + PyCodeObject *py_code = 0; + PyFrameObject *py_frame = 0; + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject *ptype, *pvalue, *ptraceback; + if (c_line) { + c_line = __Pyx_CLineForTraceback(tstate, c_line); + } + py_code = __pyx_find_code_object(c_line ? -c_line : py_line); + if (!py_code) { + __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); + py_code = __Pyx_CreateCodeObjectForTraceback( + funcname, c_line, py_line, filename); + if (!py_code) { + /* If the code object creation fails, then we should clear the + fetched exception references and propagate the new exception */ + Py_XDECREF(ptype); + Py_XDECREF(pvalue); + Py_XDECREF(ptraceback); + goto bad; + } + __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); + __pyx_insert_code_object(c_line ? -c_line : py_line, py_code); + } + py_frame = PyFrame_New( + tstate, /*PyThreadState *tstate,*/ + py_code, /*PyCodeObject *code,*/ + __pyx_d, /*PyObject *globals,*/ + 0 /*PyObject *locals*/ + ); + if (!py_frame) goto bad; + __Pyx_PyFrame_SetLineNumber(py_frame, py_line); + PyTraceBack_Here(py_frame); +bad: + Py_XDECREF(py_code); + Py_XDECREF(py_frame); +} +#endif + +#if PY_MAJOR_VERSION < 3 +static int __Pyx_GetBuffer(PyObject *obj, Py_buffer *view, int flags) { + __Pyx_TypeName obj_type_name; + if (PyObject_CheckBuffer(obj)) return PyObject_GetBuffer(obj, view, flags); + if (__Pyx_TypeCheck(obj, __pyx_array_type)) return __pyx_array_getbuffer(obj, view, flags); + if (__Pyx_TypeCheck(obj, __pyx_memoryview_type)) return __pyx_memoryview_getbuffer(obj, view, flags); + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, + "'" __Pyx_FMT_TYPENAME "' does not have the buffer interface", + obj_type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return -1; +} +static void __Pyx_ReleaseBuffer(Py_buffer *view) { + PyObject *obj = view->obj; + if (!obj) return; + if (PyObject_CheckBuffer(obj)) { + PyBuffer_Release(view); + return; + } + if ((0)) {} + view->obj = NULL; + Py_DECREF(obj); +} +#endif + + +/* MemviewSliceIsContig */ +static int +__pyx_memviewslice_is_contig(const __Pyx_memviewslice mvs, char order, int ndim) +{ + int i, index, step, start; + Py_ssize_t itemsize = mvs.memview->view.itemsize; + if (order == 'F') { + step = 1; + start = 0; + } else { + step = -1; + start = ndim - 1; + } + for (i = 0; i < ndim; i++) { + index = start + step * i; + if (mvs.suboffsets[index] >= 0 || mvs.strides[index] != itemsize) + return 0; + itemsize *= mvs.shape[index]; + } + return 1; +} + +/* OverlappingSlices */ +static void +__pyx_get_array_memory_extents(__Pyx_memviewslice *slice, + void **out_start, void **out_end, + int ndim, size_t itemsize) +{ + char *start, *end; + int i; + start = end = slice->data; + for (i = 0; i < ndim; i++) { + Py_ssize_t stride = slice->strides[i]; + Py_ssize_t extent = slice->shape[i]; + if (extent == 0) { + *out_start = *out_end = start; + return; + } else { + if (stride > 0) + end += stride * (extent - 1); + else + start += stride * (extent - 1); + } + } + *out_start = start; + *out_end = end + itemsize; +} +static int +__pyx_slices_overlap(__Pyx_memviewslice *slice1, + __Pyx_memviewslice *slice2, + int ndim, size_t itemsize) +{ + void *start1, *end1, *start2, *end2; + __pyx_get_array_memory_extents(slice1, &start1, &end1, ndim, itemsize); + __pyx_get_array_memory_extents(slice2, &start2, &end2, ndim, itemsize); + return (start1 < end2) && (start2 < end1); +} + +/* IsLittleEndian */ +static CYTHON_INLINE int __Pyx_Is_Little_Endian(void) +{ + union { + uint32_t u32; + uint8_t u8[4]; + } S; + S.u32 = 0x01020304; + return S.u8[0] == 4; +} + +/* BufferFormatCheck */ +static void __Pyx_BufFmt_Init(__Pyx_BufFmt_Context* ctx, + __Pyx_BufFmt_StackElem* stack, + __Pyx_TypeInfo* type) { + stack[0].field = &ctx->root; + stack[0].parent_offset = 0; + ctx->root.type = type; + ctx->root.name = "buffer dtype"; + ctx->root.offset = 0; + ctx->head = stack; + ctx->head->field = &ctx->root; + ctx->fmt_offset = 0; + ctx->head->parent_offset = 0; + ctx->new_packmode = '@'; + ctx->enc_packmode = '@'; + ctx->new_count = 1; + ctx->enc_count = 0; + ctx->enc_type = 0; + ctx->is_complex = 0; + ctx->is_valid_array = 0; + ctx->struct_alignment = 0; + while (type->typegroup == 'S') { + ++ctx->head; + ctx->head->field = type->fields; + ctx->head->parent_offset = 0; + type = type->fields->type; + } +} +static int __Pyx_BufFmt_ParseNumber(const char** ts) { + int count; + const char* t = *ts; + if (*t < '0' || *t > '9') { + return -1; + } else { + count = *t++ - '0'; + while (*t >= '0' && *t <= '9') { + count *= 10; + count += *t++ - '0'; + } + } + *ts = t; + return count; +} +static int __Pyx_BufFmt_ExpectNumber(const char **ts) { + int number = __Pyx_BufFmt_ParseNumber(ts); + if (number == -1) + PyErr_Format(PyExc_ValueError,\ + "Does not understand character buffer dtype format string ('%c')", **ts); + return number; +} +static void __Pyx_BufFmt_RaiseUnexpectedChar(char ch) { + PyErr_Format(PyExc_ValueError, + "Unexpected format string character: '%c'", ch); +} +static const char* __Pyx_BufFmt_DescribeTypeChar(char ch, int is_complex) { + switch (ch) { + case '?': return "'bool'"; + case 'c': return "'char'"; + case 'b': return "'signed char'"; + case 'B': return "'unsigned char'"; + case 'h': return "'short'"; + case 'H': return "'unsigned short'"; + case 'i': return "'int'"; + case 'I': return "'unsigned int'"; + case 'l': return "'long'"; + case 'L': return "'unsigned long'"; + case 'q': return "'long long'"; + case 'Q': return "'unsigned long long'"; + case 'f': return (is_complex ? "'complex float'" : "'float'"); + case 'd': return (is_complex ? "'complex double'" : "'double'"); + case 'g': return (is_complex ? "'complex long double'" : "'long double'"); + case 'T': return "a struct"; + case 'O': return "Python object"; + case 'P': return "a pointer"; + case 's': case 'p': return "a string"; + case 0: return "end"; + default: return "unparsable format string"; + } +} +static size_t __Pyx_BufFmt_TypeCharToStandardSize(char ch, int is_complex) { + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return 2; + case 'i': case 'I': case 'l': case 'L': return 4; + case 'q': case 'Q': return 8; + case 'f': return (is_complex ? 8 : 4); + case 'd': return (is_complex ? 16 : 8); + case 'g': { + PyErr_SetString(PyExc_ValueError, "Python does not define a standard format string size for long double ('g').."); + return 0; + } + case 'O': case 'P': return sizeof(void*); + default: + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } +} +static size_t __Pyx_BufFmt_TypeCharToNativeSize(char ch, int is_complex) { + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return sizeof(short); + case 'i': case 'I': return sizeof(int); + case 'l': case 'L': return sizeof(long); + #ifdef HAVE_LONG_LONG + case 'q': case 'Q': return sizeof(PY_LONG_LONG); + #endif + case 'f': return sizeof(float) * (is_complex ? 2 : 1); + case 'd': return sizeof(double) * (is_complex ? 2 : 1); + case 'g': return sizeof(long double) * (is_complex ? 2 : 1); + case 'O': case 'P': return sizeof(void*); + default: { + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } + } +} +typedef struct { char c; short x; } __Pyx_st_short; +typedef struct { char c; int x; } __Pyx_st_int; +typedef struct { char c; long x; } __Pyx_st_long; +typedef struct { char c; float x; } __Pyx_st_float; +typedef struct { char c; double x; } __Pyx_st_double; +typedef struct { char c; long double x; } __Pyx_st_longdouble; +typedef struct { char c; void *x; } __Pyx_st_void_p; +#ifdef HAVE_LONG_LONG +typedef struct { char c; PY_LONG_LONG x; } __Pyx_st_longlong; +#endif +static size_t __Pyx_BufFmt_TypeCharToAlignment(char ch, int is_complex) { + CYTHON_UNUSED_VAR(is_complex); + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return sizeof(__Pyx_st_short) - sizeof(short); + case 'i': case 'I': return sizeof(__Pyx_st_int) - sizeof(int); + case 'l': case 'L': return sizeof(__Pyx_st_long) - sizeof(long); +#ifdef HAVE_LONG_LONG + case 'q': case 'Q': return sizeof(__Pyx_st_longlong) - sizeof(PY_LONG_LONG); +#endif + case 'f': return sizeof(__Pyx_st_float) - sizeof(float); + case 'd': return sizeof(__Pyx_st_double) - sizeof(double); + case 'g': return sizeof(__Pyx_st_longdouble) - sizeof(long double); + case 'P': case 'O': return sizeof(__Pyx_st_void_p) - sizeof(void*); + default: + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } +} +/* These are for computing the padding at the end of the struct to align + on the first member of the struct. This will probably the same as above, + but we don't have any guarantees. + */ +typedef struct { short x; char c; } __Pyx_pad_short; +typedef struct { int x; char c; } __Pyx_pad_int; +typedef struct { long x; char c; } __Pyx_pad_long; +typedef struct { float x; char c; } __Pyx_pad_float; +typedef struct { double x; char c; } __Pyx_pad_double; +typedef struct { long double x; char c; } __Pyx_pad_longdouble; +typedef struct { void *x; char c; } __Pyx_pad_void_p; +#ifdef HAVE_LONG_LONG +typedef struct { PY_LONG_LONG x; char c; } __Pyx_pad_longlong; +#endif +static size_t __Pyx_BufFmt_TypeCharToPadding(char ch, int is_complex) { + CYTHON_UNUSED_VAR(is_complex); + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return sizeof(__Pyx_pad_short) - sizeof(short); + case 'i': case 'I': return sizeof(__Pyx_pad_int) - sizeof(int); + case 'l': case 'L': return sizeof(__Pyx_pad_long) - sizeof(long); +#ifdef HAVE_LONG_LONG + case 'q': case 'Q': return sizeof(__Pyx_pad_longlong) - sizeof(PY_LONG_LONG); +#endif + case 'f': return sizeof(__Pyx_pad_float) - sizeof(float); + case 'd': return sizeof(__Pyx_pad_double) - sizeof(double); + case 'g': return sizeof(__Pyx_pad_longdouble) - sizeof(long double); + case 'P': case 'O': return sizeof(__Pyx_pad_void_p) - sizeof(void*); + default: + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } +} +static char __Pyx_BufFmt_TypeCharToGroup(char ch, int is_complex) { + switch (ch) { + case 'c': + return 'H'; + case 'b': case 'h': case 'i': + case 'l': case 'q': case 's': case 'p': + return 'I'; + case '?': case 'B': case 'H': case 'I': case 'L': case 'Q': + return 'U'; + case 'f': case 'd': case 'g': + return (is_complex ? 'C' : 'R'); + case 'O': + return 'O'; + case 'P': + return 'P'; + default: { + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } + } +} +static void __Pyx_BufFmt_RaiseExpected(__Pyx_BufFmt_Context* ctx) { + if (ctx->head == NULL || ctx->head->field == &ctx->root) { + const char* expected; + const char* quote; + if (ctx->head == NULL) { + expected = "end"; + quote = ""; + } else { + expected = ctx->head->field->type->name; + quote = "'"; + } + PyErr_Format(PyExc_ValueError, + "Buffer dtype mismatch, expected %s%s%s but got %s", + quote, expected, quote, + __Pyx_BufFmt_DescribeTypeChar(ctx->enc_type, ctx->is_complex)); + } else { + __Pyx_StructField* field = ctx->head->field; + __Pyx_StructField* parent = (ctx->head - 1)->field; + PyErr_Format(PyExc_ValueError, + "Buffer dtype mismatch, expected '%s' but got %s in '%s.%s'", + field->type->name, __Pyx_BufFmt_DescribeTypeChar(ctx->enc_type, ctx->is_complex), + parent->type->name, field->name); + } +} +static int __Pyx_BufFmt_ProcessTypeChunk(__Pyx_BufFmt_Context* ctx) { + char group; + size_t size, offset, arraysize = 1; + if (ctx->enc_type == 0) return 0; + if (ctx->head->field->type->arraysize[0]) { + int i, ndim = 0; + if (ctx->enc_type == 's' || ctx->enc_type == 'p') { + ctx->is_valid_array = ctx->head->field->type->ndim == 1; + ndim = 1; + if (ctx->enc_count != ctx->head->field->type->arraysize[0]) { + PyErr_Format(PyExc_ValueError, + "Expected a dimension of size %zu, got %zu", + ctx->head->field->type->arraysize[0], ctx->enc_count); + return -1; + } + } + if (!ctx->is_valid_array) { + PyErr_Format(PyExc_ValueError, "Expected %d dimensions, got %d", + ctx->head->field->type->ndim, ndim); + return -1; + } + for (i = 0; i < ctx->head->field->type->ndim; i++) { + arraysize *= ctx->head->field->type->arraysize[i]; + } + ctx->is_valid_array = 0; + ctx->enc_count = 1; + } + group = __Pyx_BufFmt_TypeCharToGroup(ctx->enc_type, ctx->is_complex); + do { + __Pyx_StructField* field = ctx->head->field; + __Pyx_TypeInfo* type = field->type; + if (ctx->enc_packmode == '@' || ctx->enc_packmode == '^') { + size = __Pyx_BufFmt_TypeCharToNativeSize(ctx->enc_type, ctx->is_complex); + } else { + size = __Pyx_BufFmt_TypeCharToStandardSize(ctx->enc_type, ctx->is_complex); + } + if (ctx->enc_packmode == '@') { + size_t align_at = __Pyx_BufFmt_TypeCharToAlignment(ctx->enc_type, ctx->is_complex); + size_t align_mod_offset; + if (align_at == 0) return -1; + align_mod_offset = ctx->fmt_offset % align_at; + if (align_mod_offset > 0) ctx->fmt_offset += align_at - align_mod_offset; + if (ctx->struct_alignment == 0) + ctx->struct_alignment = __Pyx_BufFmt_TypeCharToPadding(ctx->enc_type, + ctx->is_complex); + } + if (type->size != size || type->typegroup != group) { + if (type->typegroup == 'C' && type->fields != NULL) { + size_t parent_offset = ctx->head->parent_offset + field->offset; + ++ctx->head; + ctx->head->field = type->fields; + ctx->head->parent_offset = parent_offset; + continue; + } + if ((type->typegroup == 'H' || group == 'H') && type->size == size) { + } else { + __Pyx_BufFmt_RaiseExpected(ctx); + return -1; + } + } + offset = ctx->head->parent_offset + field->offset; + if (ctx->fmt_offset != offset) { + PyErr_Format(PyExc_ValueError, + "Buffer dtype mismatch; next field is at offset %" CYTHON_FORMAT_SSIZE_T "d but %" CYTHON_FORMAT_SSIZE_T "d expected", + (Py_ssize_t)ctx->fmt_offset, (Py_ssize_t)offset); + return -1; + } + ctx->fmt_offset += size; + if (arraysize) + ctx->fmt_offset += (arraysize - 1) * size; + --ctx->enc_count; + while (1) { + if (field == &ctx->root) { + ctx->head = NULL; + if (ctx->enc_count != 0) { + __Pyx_BufFmt_RaiseExpected(ctx); + return -1; + } + break; + } + ctx->head->field = ++field; + if (field->type == NULL) { + --ctx->head; + field = ctx->head->field; + continue; + } else if (field->type->typegroup == 'S') { + size_t parent_offset = ctx->head->parent_offset + field->offset; + if (field->type->fields->type == NULL) continue; + field = field->type->fields; + ++ctx->head; + ctx->head->field = field; + ctx->head->parent_offset = parent_offset; + break; + } else { + break; + } + } + } while (ctx->enc_count); + ctx->enc_type = 0; + ctx->is_complex = 0; + return 0; +} +static int +__pyx_buffmt_parse_array(__Pyx_BufFmt_Context* ctx, const char** tsp) +{ + const char *ts = *tsp; + int i = 0, number, ndim; + ++ts; + if (ctx->new_count != 1) { + PyErr_SetString(PyExc_ValueError, + "Cannot handle repeated arrays in format string"); + return -1; + } + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return -1; + ndim = ctx->head->field->type->ndim; + while (*ts && *ts != ')') { + switch (*ts) { + case ' ': case '\f': case '\r': case '\n': case '\t': case '\v': continue; + default: break; + } + number = __Pyx_BufFmt_ExpectNumber(&ts); + if (number == -1) return -1; + if (i < ndim && (size_t) number != ctx->head->field->type->arraysize[i]) { + PyErr_Format(PyExc_ValueError, + "Expected a dimension of size %zu, got %d", + ctx->head->field->type->arraysize[i], number); + return -1; + } + if (*ts != ',' && *ts != ')') { + PyErr_Format(PyExc_ValueError, + "Expected a comma in format string, got '%c'", *ts); + return -1; + } + if (*ts == ',') ts++; + i++; + } + if (i != ndim) { + PyErr_Format(PyExc_ValueError, "Expected %d dimension(s), got %d", + ctx->head->field->type->ndim, i); + return -1; + } + if (!*ts) { + PyErr_SetString(PyExc_ValueError, + "Unexpected end of format string, expected ')'"); + return -1; + } + ctx->is_valid_array = 1; + ctx->new_count = 1; + *tsp = ++ts; + return 0; +} +static const char* __Pyx_BufFmt_CheckString(__Pyx_BufFmt_Context* ctx, const char* ts) { + int got_Z = 0; + while (1) { + switch(*ts) { + case 0: + if (ctx->enc_type != 0 && ctx->head == NULL) { + __Pyx_BufFmt_RaiseExpected(ctx); + return NULL; + } + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + if (ctx->head != NULL) { + __Pyx_BufFmt_RaiseExpected(ctx); + return NULL; + } + return ts; + case ' ': + case '\r': + case '\n': + ++ts; + break; + case '<': + if (!__Pyx_Is_Little_Endian()) { + PyErr_SetString(PyExc_ValueError, "Little-endian buffer not supported on big-endian compiler"); + return NULL; + } + ctx->new_packmode = '='; + ++ts; + break; + case '>': + case '!': + if (__Pyx_Is_Little_Endian()) { + PyErr_SetString(PyExc_ValueError, "Big-endian buffer not supported on little-endian compiler"); + return NULL; + } + ctx->new_packmode = '='; + ++ts; + break; + case '=': + case '@': + case '^': + ctx->new_packmode = *ts++; + break; + case 'T': + { + const char* ts_after_sub; + size_t i, struct_count = ctx->new_count; + size_t struct_alignment = ctx->struct_alignment; + ctx->new_count = 1; + ++ts; + if (*ts != '{') { + PyErr_SetString(PyExc_ValueError, "Buffer acquisition: Expected '{' after 'T'"); + return NULL; + } + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->enc_type = 0; + ctx->enc_count = 0; + ctx->struct_alignment = 0; + ++ts; + ts_after_sub = ts; + for (i = 0; i != struct_count; ++i) { + ts_after_sub = __Pyx_BufFmt_CheckString(ctx, ts); + if (!ts_after_sub) return NULL; + } + ts = ts_after_sub; + if (struct_alignment) ctx->struct_alignment = struct_alignment; + } + break; + case '}': + { + size_t alignment = ctx->struct_alignment; + ++ts; + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->enc_type = 0; + if (alignment && ctx->fmt_offset % alignment) { + ctx->fmt_offset += alignment - (ctx->fmt_offset % alignment); + } + } + return ts; + case 'x': + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->fmt_offset += ctx->new_count; + ctx->new_count = 1; + ctx->enc_count = 0; + ctx->enc_type = 0; + ctx->enc_packmode = ctx->new_packmode; + ++ts; + break; + case 'Z': + got_Z = 1; + ++ts; + if (*ts != 'f' && *ts != 'd' && *ts != 'g') { + __Pyx_BufFmt_RaiseUnexpectedChar('Z'); + return NULL; + } + CYTHON_FALLTHROUGH; + case '?': case 'c': case 'b': case 'B': case 'h': case 'H': case 'i': case 'I': + case 'l': case 'L': case 'q': case 'Q': + case 'f': case 'd': case 'g': + case 'O': case 'p': + if ((ctx->enc_type == *ts) && (got_Z == ctx->is_complex) && + (ctx->enc_packmode == ctx->new_packmode) && (!ctx->is_valid_array)) { + ctx->enc_count += ctx->new_count; + ctx->new_count = 1; + got_Z = 0; + ++ts; + break; + } + CYTHON_FALLTHROUGH; + case 's': + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->enc_count = ctx->new_count; + ctx->enc_packmode = ctx->new_packmode; + ctx->enc_type = *ts; + ctx->is_complex = got_Z; + ++ts; + ctx->new_count = 1; + got_Z = 0; + break; + case ':': + ++ts; + while(*ts != ':') ++ts; + ++ts; + break; + case '(': + if (__pyx_buffmt_parse_array(ctx, &ts) < 0) return NULL; + break; + default: + { + int number = __Pyx_BufFmt_ExpectNumber(&ts); + if (number == -1) return NULL; + ctx->new_count = (size_t)number; + } + } + } +} + +/* TypeInfoCompare */ + static int +__pyx_typeinfo_cmp(__Pyx_TypeInfo *a, __Pyx_TypeInfo *b) +{ + int i; + if (!a || !b) + return 0; + if (a == b) + return 1; + if (a->size != b->size || a->typegroup != b->typegroup || + a->is_unsigned != b->is_unsigned || a->ndim != b->ndim) { + if (a->typegroup == 'H' || b->typegroup == 'H') { + return a->size == b->size; + } else { + return 0; + } + } + if (a->ndim) { + for (i = 0; i < a->ndim; i++) + if (a->arraysize[i] != b->arraysize[i]) + return 0; + } + if (a->typegroup == 'S') { + if (a->flags != b->flags) + return 0; + if (a->fields || b->fields) { + if (!(a->fields && b->fields)) + return 0; + for (i = 0; a->fields[i].type && b->fields[i].type; i++) { + __Pyx_StructField *field_a = a->fields + i; + __Pyx_StructField *field_b = b->fields + i; + if (field_a->offset != field_b->offset || + !__pyx_typeinfo_cmp(field_a->type, field_b->type)) + return 0; + } + return !a->fields[i].type && !b->fields[i].type; + } + } + return 1; +} + +/* MemviewSliceValidateAndInit */ + static int +__pyx_check_strides(Py_buffer *buf, int dim, int ndim, int spec) +{ + if (buf->shape[dim] <= 1) + return 1; + if (buf->strides) { + if (spec & __Pyx_MEMVIEW_CONTIG) { + if (spec & (__Pyx_MEMVIEW_PTR|__Pyx_MEMVIEW_FULL)) { + if (unlikely(buf->strides[dim] != sizeof(void *))) { + PyErr_Format(PyExc_ValueError, + "Buffer is not indirectly contiguous " + "in dimension %d.", dim); + goto fail; + } + } else if (unlikely(buf->strides[dim] != buf->itemsize)) { + PyErr_SetString(PyExc_ValueError, + "Buffer and memoryview are not contiguous " + "in the same dimension."); + goto fail; + } + } + if (spec & __Pyx_MEMVIEW_FOLLOW) { + Py_ssize_t stride = buf->strides[dim]; + if (stride < 0) + stride = -stride; + if (unlikely(stride < buf->itemsize)) { + PyErr_SetString(PyExc_ValueError, + "Buffer and memoryview are not contiguous " + "in the same dimension."); + goto fail; + } + } + } else { + if (unlikely(spec & __Pyx_MEMVIEW_CONTIG && dim != ndim - 1)) { + PyErr_Format(PyExc_ValueError, + "C-contiguous buffer is not contiguous in " + "dimension %d", dim); + goto fail; + } else if (unlikely(spec & (__Pyx_MEMVIEW_PTR))) { + PyErr_Format(PyExc_ValueError, + "C-contiguous buffer is not indirect in " + "dimension %d", dim); + goto fail; + } else if (unlikely(buf->suboffsets)) { + PyErr_SetString(PyExc_ValueError, + "Buffer exposes suboffsets but no strides"); + goto fail; + } + } + return 1; +fail: + return 0; +} +static int +__pyx_check_suboffsets(Py_buffer *buf, int dim, int ndim, int spec) +{ + CYTHON_UNUSED_VAR(ndim); + if (spec & __Pyx_MEMVIEW_DIRECT) { + if (unlikely(buf->suboffsets && buf->suboffsets[dim] >= 0)) { + PyErr_Format(PyExc_ValueError, + "Buffer not compatible with direct access " + "in dimension %d.", dim); + goto fail; + } + } + if (spec & __Pyx_MEMVIEW_PTR) { + if (unlikely(!buf->suboffsets || (buf->suboffsets[dim] < 0))) { + PyErr_Format(PyExc_ValueError, + "Buffer is not indirectly accessible " + "in dimension %d.", dim); + goto fail; + } + } + return 1; +fail: + return 0; +} +static int +__pyx_verify_contig(Py_buffer *buf, int ndim, int c_or_f_flag) +{ + int i; + if (c_or_f_flag & __Pyx_IS_F_CONTIG) { + Py_ssize_t stride = 1; + for (i = 0; i < ndim; i++) { + if (unlikely(stride * buf->itemsize != buf->strides[i] && buf->shape[i] > 1)) { + PyErr_SetString(PyExc_ValueError, + "Buffer not fortran contiguous."); + goto fail; + } + stride = stride * buf->shape[i]; + } + } else if (c_or_f_flag & __Pyx_IS_C_CONTIG) { + Py_ssize_t stride = 1; + for (i = ndim - 1; i >- 1; i--) { + if (unlikely(stride * buf->itemsize != buf->strides[i] && buf->shape[i] > 1)) { + PyErr_SetString(PyExc_ValueError, + "Buffer not C contiguous."); + goto fail; + } + stride = stride * buf->shape[i]; + } + } + return 1; +fail: + return 0; +} +static int __Pyx_ValidateAndInit_memviewslice( + int *axes_specs, + int c_or_f_flag, + int buf_flags, + int ndim, + __Pyx_TypeInfo *dtype, + __Pyx_BufFmt_StackElem stack[], + __Pyx_memviewslice *memviewslice, + PyObject *original_obj) +{ + struct __pyx_memoryview_obj *memview, *new_memview; + __Pyx_RefNannyDeclarations + Py_buffer *buf; + int i, spec = 0, retval = -1; + __Pyx_BufFmt_Context ctx; + int from_memoryview = __pyx_memoryview_check(original_obj); + __Pyx_RefNannySetupContext("ValidateAndInit_memviewslice", 0); + if (from_memoryview && __pyx_typeinfo_cmp(dtype, ((struct __pyx_memoryview_obj *) + original_obj)->typeinfo)) { + memview = (struct __pyx_memoryview_obj *) original_obj; + new_memview = NULL; + } else { + memview = (struct __pyx_memoryview_obj *) __pyx_memoryview_new( + original_obj, buf_flags, 0, dtype); + new_memview = memview; + if (unlikely(!memview)) + goto fail; + } + buf = &memview->view; + if (unlikely(buf->ndim != ndim)) { + PyErr_Format(PyExc_ValueError, + "Buffer has wrong number of dimensions (expected %d, got %d)", + ndim, buf->ndim); + goto fail; + } + if (new_memview) { + __Pyx_BufFmt_Init(&ctx, stack, dtype); + if (unlikely(!__Pyx_BufFmt_CheckString(&ctx, buf->format))) goto fail; + } + if (unlikely((unsigned) buf->itemsize != dtype->size)) { + PyErr_Format(PyExc_ValueError, + "Item size of buffer (%" CYTHON_FORMAT_SSIZE_T "u byte%s) " + "does not match size of '%s' (%" CYTHON_FORMAT_SSIZE_T "u byte%s)", + buf->itemsize, + (buf->itemsize > 1) ? "s" : "", + dtype->name, + dtype->size, + (dtype->size > 1) ? "s" : ""); + goto fail; + } + if (buf->len > 0) { + for (i = 0; i < ndim; i++) { + spec = axes_specs[i]; + if (unlikely(!__pyx_check_strides(buf, i, ndim, spec))) + goto fail; + if (unlikely(!__pyx_check_suboffsets(buf, i, ndim, spec))) + goto fail; + } + if (unlikely(buf->strides && !__pyx_verify_contig(buf, ndim, c_or_f_flag))) + goto fail; + } + if (unlikely(__Pyx_init_memviewslice(memview, ndim, memviewslice, + new_memview != NULL) == -1)) { + goto fail; + } + retval = 0; + goto no_fail; +fail: + Py_XDECREF(new_memview); + retval = -1; +no_fail: + __Pyx_RefNannyFinishContext(); + return retval; +} + +/* ObjectToMemviewSlice */ + static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_ds_float(PyObject *obj, int writable_flag) { + __Pyx_memviewslice result = { 0, 0, { 0 }, { 0 }, { 0 } }; + __Pyx_BufFmt_StackElem stack[1]; + int axes_specs[] = { (__Pyx_MEMVIEW_DIRECT | __Pyx_MEMVIEW_STRIDED) }; + int retcode; + if (obj == Py_None) { + result.memview = (struct __pyx_memoryview_obj *) Py_None; + return result; + } + retcode = __Pyx_ValidateAndInit_memviewslice(axes_specs, 0, + PyBUF_RECORDS_RO | writable_flag, 1, + &__Pyx_TypeInfo_float, stack, + &result, obj); + if (unlikely(retcode == -1)) + goto __pyx_fail; + return result; +__pyx_fail: + result.memview = NULL; + result.data = NULL; + return result; +} + +/* CIntFromPyVerify */ + #define __PYX_VERIFY_RETURN_INT(target_type, func_type, func_value)\ + __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 0) +#define __PYX_VERIFY_RETURN_INT_EXC(target_type, func_type, func_value)\ + __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 1) +#define __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, exc)\ + {\ + func_type value = func_value;\ + if (sizeof(target_type) < sizeof(func_type)) {\ + if (unlikely(value != (func_type) (target_type) value)) {\ + func_type zero = 0;\ + if (exc && unlikely(value == (func_type)-1 && PyErr_Occurred()))\ + return (target_type) -1;\ + if (is_unsigned && unlikely(value < zero))\ + goto raise_neg_overflow;\ + else\ + goto raise_overflow;\ + }\ + }\ + return (target_type) value;\ + } + +/* MemviewDtypeToObject */ + static CYTHON_INLINE PyObject *__pyx_memview_get_nn___pyx_t_5numpy_uint8_t(const char *itemp) { + return (PyObject *) __Pyx_PyInt_From_npy_uint8(*(__pyx_t_5numpy_uint8_t *) itemp); +} +static CYTHON_INLINE int __pyx_memview_set_nn___pyx_t_5numpy_uint8_t(const char *itemp, PyObject *obj) { + __pyx_t_5numpy_uint8_t value = __Pyx_PyInt_As_npy_uint8(obj); + if (unlikely((value == ((npy_uint8)-1)) && PyErr_Occurred())) + return 0; + *(__pyx_t_5numpy_uint8_t *) itemp = value; + return 1; +} + +/* Declarations */ + #if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) + #ifdef __cplusplus + static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float x, float y) { + return ::std::complex< float >(x, y); + } + #else + static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float x, float y) { + return x + y*(__pyx_t_float_complex)_Complex_I; + } + #endif +#else + static CYTHON_INLINE __pyx_t_float_complex __pyx_t_float_complex_from_parts(float x, float y) { + __pyx_t_float_complex z; + z.real = x; + z.imag = y; + return z; + } +#endif + +/* Arithmetic */ + #if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) +#else + static CYTHON_INLINE int __Pyx_c_eq_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + return (a.real == b.real) && (a.imag == b.imag); + } + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_sum_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + __pyx_t_float_complex z; + z.real = a.real + b.real; + z.imag = a.imag + b.imag; + return z; + } + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_diff_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + __pyx_t_float_complex z; + z.real = a.real - b.real; + z.imag = a.imag - b.imag; + return z; + } + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_prod_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + __pyx_t_float_complex z; + z.real = a.real * b.real - a.imag * b.imag; + z.imag = a.real * b.imag + a.imag * b.real; + return z; + } + #if 1 + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_quot_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + if (b.imag == 0) { + return __pyx_t_float_complex_from_parts(a.real / b.real, a.imag / b.real); + } else if (fabsf(b.real) >= fabsf(b.imag)) { + if (b.real == 0 && b.imag == 0) { + return __pyx_t_float_complex_from_parts(a.real / b.real, a.imag / b.imag); + } else { + float r = b.imag / b.real; + float s = (float)(1.0) / (b.real + b.imag * r); + return __pyx_t_float_complex_from_parts( + (a.real + a.imag * r) * s, (a.imag - a.real * r) * s); + } + } else { + float r = b.real / b.imag; + float s = (float)(1.0) / (b.imag + b.real * r); + return __pyx_t_float_complex_from_parts( + (a.real * r + a.imag) * s, (a.imag * r - a.real) * s); + } + } + #else + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_quot_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + if (b.imag == 0) { + return __pyx_t_float_complex_from_parts(a.real / b.real, a.imag / b.real); + } else { + float denom = b.real * b.real + b.imag * b.imag; + return __pyx_t_float_complex_from_parts( + (a.real * b.real + a.imag * b.imag) / denom, + (a.imag * b.real - a.real * b.imag) / denom); + } + } + #endif + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_neg_float(__pyx_t_float_complex a) { + __pyx_t_float_complex z; + z.real = -a.real; + z.imag = -a.imag; + return z; + } + static CYTHON_INLINE int __Pyx_c_is_zero_float(__pyx_t_float_complex a) { + return (a.real == 0) && (a.imag == 0); + } + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_conj_float(__pyx_t_float_complex a) { + __pyx_t_float_complex z; + z.real = a.real; + z.imag = -a.imag; + return z; + } + #if 1 + static CYTHON_INLINE float __Pyx_c_abs_float(__pyx_t_float_complex z) { + #if !defined(HAVE_HYPOT) || defined(_MSC_VER) + return sqrtf(z.real*z.real + z.imag*z.imag); + #else + return hypotf(z.real, z.imag); + #endif + } + static CYTHON_INLINE __pyx_t_float_complex __Pyx_c_pow_float(__pyx_t_float_complex a, __pyx_t_float_complex b) { + __pyx_t_float_complex z; + float r, lnr, theta, z_r, z_theta; + if (b.imag == 0 && b.real == (int)b.real) { + if (b.real < 0) { + float denom = a.real * a.real + a.imag * a.imag; + a.real = a.real / denom; + a.imag = -a.imag / denom; + b.real = -b.real; + } + switch ((int)b.real) { + case 0: + z.real = 1; + z.imag = 0; + return z; + case 1: + return a; + case 2: + return __Pyx_c_prod_float(a, a); + case 3: + z = __Pyx_c_prod_float(a, a); + return __Pyx_c_prod_float(z, a); + case 4: + z = __Pyx_c_prod_float(a, a); + return __Pyx_c_prod_float(z, z); + } + } + if (a.imag == 0) { + if (a.real == 0) { + return a; + } else if ((b.imag == 0) && (a.real >= 0)) { + z.real = powf(a.real, b.real); + z.imag = 0; + return z; + } else if (a.real > 0) { + r = a.real; + theta = 0; + } else { + r = -a.real; + theta = atan2f(0.0, -1.0); + } + } else { + r = __Pyx_c_abs_float(a); + theta = atan2f(a.imag, a.real); + } + lnr = logf(r); + z_r = expf(lnr * b.real - theta * b.imag); + z_theta = theta * b.real + lnr * b.imag; + z.real = z_r * cosf(z_theta); + z.imag = z_r * sinf(z_theta); + return z; + } + #endif +#endif + +/* Declarations */ + #if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) + #ifdef __cplusplus + static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double x, double y) { + return ::std::complex< double >(x, y); + } + #else + static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double x, double y) { + return x + y*(__pyx_t_double_complex)_Complex_I; + } + #endif +#else + static CYTHON_INLINE __pyx_t_double_complex __pyx_t_double_complex_from_parts(double x, double y) { + __pyx_t_double_complex z; + z.real = x; + z.imag = y; + return z; + } +#endif + +/* Arithmetic */ + #if CYTHON_CCOMPLEX && (1) && (!0 || __cplusplus) +#else + static CYTHON_INLINE int __Pyx_c_eq_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + return (a.real == b.real) && (a.imag == b.imag); + } + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_sum_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + __pyx_t_double_complex z; + z.real = a.real + b.real; + z.imag = a.imag + b.imag; + return z; + } + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_diff_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + __pyx_t_double_complex z; + z.real = a.real - b.real; + z.imag = a.imag - b.imag; + return z; + } + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_prod_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + __pyx_t_double_complex z; + z.real = a.real * b.real - a.imag * b.imag; + z.imag = a.real * b.imag + a.imag * b.real; + return z; + } + #if 1 + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_quot_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + if (b.imag == 0) { + return __pyx_t_double_complex_from_parts(a.real / b.real, a.imag / b.real); + } else if (fabs(b.real) >= fabs(b.imag)) { + if (b.real == 0 && b.imag == 0) { + return __pyx_t_double_complex_from_parts(a.real / b.real, a.imag / b.imag); + } else { + double r = b.imag / b.real; + double s = (double)(1.0) / (b.real + b.imag * r); + return __pyx_t_double_complex_from_parts( + (a.real + a.imag * r) * s, (a.imag - a.real * r) * s); + } + } else { + double r = b.real / b.imag; + double s = (double)(1.0) / (b.imag + b.real * r); + return __pyx_t_double_complex_from_parts( + (a.real * r + a.imag) * s, (a.imag * r - a.real) * s); + } + } + #else + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_quot_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + if (b.imag == 0) { + return __pyx_t_double_complex_from_parts(a.real / b.real, a.imag / b.real); + } else { + double denom = b.real * b.real + b.imag * b.imag; + return __pyx_t_double_complex_from_parts( + (a.real * b.real + a.imag * b.imag) / denom, + (a.imag * b.real - a.real * b.imag) / denom); + } + } + #endif + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_neg_double(__pyx_t_double_complex a) { + __pyx_t_double_complex z; + z.real = -a.real; + z.imag = -a.imag; + return z; + } + static CYTHON_INLINE int __Pyx_c_is_zero_double(__pyx_t_double_complex a) { + return (a.real == 0) && (a.imag == 0); + } + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_conj_double(__pyx_t_double_complex a) { + __pyx_t_double_complex z; + z.real = a.real; + z.imag = -a.imag; + return z; + } + #if 1 + static CYTHON_INLINE double __Pyx_c_abs_double(__pyx_t_double_complex z) { + #if !defined(HAVE_HYPOT) || defined(_MSC_VER) + return sqrt(z.real*z.real + z.imag*z.imag); + #else + return hypot(z.real, z.imag); + #endif + } + static CYTHON_INLINE __pyx_t_double_complex __Pyx_c_pow_double(__pyx_t_double_complex a, __pyx_t_double_complex b) { + __pyx_t_double_complex z; + double r, lnr, theta, z_r, z_theta; + if (b.imag == 0 && b.real == (int)b.real) { + if (b.real < 0) { + double denom = a.real * a.real + a.imag * a.imag; + a.real = a.real / denom; + a.imag = -a.imag / denom; + b.real = -b.real; + } + switch ((int)b.real) { + case 0: + z.real = 1; + z.imag = 0; + return z; + case 1: + return a; + case 2: + return __Pyx_c_prod_double(a, a); + case 3: + z = __Pyx_c_prod_double(a, a); + return __Pyx_c_prod_double(z, a); + case 4: + z = __Pyx_c_prod_double(a, a); + return __Pyx_c_prod_double(z, z); + } + } + if (a.imag == 0) { + if (a.real == 0) { + return a; + } else if ((b.imag == 0) && (a.real >= 0)) { + z.real = pow(a.real, b.real); + z.imag = 0; + return z; + } else if (a.real > 0) { + r = a.real; + theta = 0; + } else { + r = -a.real; + theta = atan2(0.0, -1.0); + } + } else { + r = __Pyx_c_abs_double(a); + theta = atan2(a.imag, a.real); + } + lnr = log(r); + z_r = exp(lnr * b.real - theta * b.imag); + z_theta = theta * b.real + lnr * b.imag; + z.real = z_r * cos(z_theta); + z.imag = z_r * sin(z_theta); + return z; + } + #endif +#endif + +/* MemviewSliceCopyTemplate */ + static __Pyx_memviewslice +__pyx_memoryview_copy_new_contig(const __Pyx_memviewslice *from_mvs, + const char *mode, int ndim, + size_t sizeof_dtype, int contig_flag, + int dtype_is_object) +{ + __Pyx_RefNannyDeclarations + int i; + __Pyx_memviewslice new_mvs = { 0, 0, { 0 }, { 0 }, { 0 } }; + struct __pyx_memoryview_obj *from_memview = from_mvs->memview; + Py_buffer *buf = &from_memview->view; + PyObject *shape_tuple = NULL; + PyObject *temp_int = NULL; + struct __pyx_array_obj *array_obj = NULL; + struct __pyx_memoryview_obj *memview_obj = NULL; + __Pyx_RefNannySetupContext("__pyx_memoryview_copy_new_contig", 0); + for (i = 0; i < ndim; i++) { + if (unlikely(from_mvs->suboffsets[i] >= 0)) { + PyErr_Format(PyExc_ValueError, "Cannot copy memoryview slice with " + "indirect dimensions (axis %d)", i); + goto fail; + } + } + shape_tuple = PyTuple_New(ndim); + if (unlikely(!shape_tuple)) { + goto fail; + } + __Pyx_GOTREF(shape_tuple); + for(i = 0; i < ndim; i++) { + temp_int = PyInt_FromSsize_t(from_mvs->shape[i]); + if(unlikely(!temp_int)) { + goto fail; + } else { + PyTuple_SET_ITEM(shape_tuple, i, temp_int); + temp_int = NULL; + } + } + array_obj = __pyx_array_new(shape_tuple, sizeof_dtype, buf->format, (char *) mode, NULL); + if (unlikely(!array_obj)) { + goto fail; + } + __Pyx_GOTREF(array_obj); + memview_obj = (struct __pyx_memoryview_obj *) __pyx_memoryview_new( + (PyObject *) array_obj, contig_flag, + dtype_is_object, + from_mvs->memview->typeinfo); + if (unlikely(!memview_obj)) + goto fail; + if (unlikely(__Pyx_init_memviewslice(memview_obj, ndim, &new_mvs, 1) < 0)) + goto fail; + if (unlikely(__pyx_memoryview_copy_contents(*from_mvs, new_mvs, ndim, ndim, + dtype_is_object) < 0)) + goto fail; + goto no_fail; +fail: + __Pyx_XDECREF(new_mvs.memview); + new_mvs.memview = NULL; + new_mvs.data = NULL; +no_fail: + __Pyx_XDECREF(shape_tuple); + __Pyx_XDECREF(temp_int); + __Pyx_XDECREF(array_obj); + __Pyx_RefNannyFinishContext(); + return new_mvs; +} + +/* MemviewSliceInit */ + static int +__Pyx_init_memviewslice(struct __pyx_memoryview_obj *memview, + int ndim, + __Pyx_memviewslice *memviewslice, + int memview_is_new_reference) +{ + __Pyx_RefNannyDeclarations + int i, retval=-1; + Py_buffer *buf = &memview->view; + __Pyx_RefNannySetupContext("init_memviewslice", 0); + if (unlikely(memviewslice->memview || memviewslice->data)) { + PyErr_SetString(PyExc_ValueError, + "memviewslice is already initialized!"); + goto fail; + } + if (buf->strides) { + for (i = 0; i < ndim; i++) { + memviewslice->strides[i] = buf->strides[i]; + } + } else { + Py_ssize_t stride = buf->itemsize; + for (i = ndim - 1; i >= 0; i--) { + memviewslice->strides[i] = stride; + stride *= buf->shape[i]; + } + } + for (i = 0; i < ndim; i++) { + memviewslice->shape[i] = buf->shape[i]; + if (buf->suboffsets) { + memviewslice->suboffsets[i] = buf->suboffsets[i]; + } else { + memviewslice->suboffsets[i] = -1; + } + } + memviewslice->memview = memview; + memviewslice->data = (char *)buf->buf; + if (__pyx_add_acquisition_count(memview) == 0 && !memview_is_new_reference) { + Py_INCREF(memview); + } + retval = 0; + goto no_fail; +fail: + memviewslice->memview = 0; + memviewslice->data = 0; + retval = -1; +no_fail: + __Pyx_RefNannyFinishContext(); + return retval; +} +#ifndef Py_NO_RETURN +#define Py_NO_RETURN +#endif +static void __pyx_fatalerror(const char *fmt, ...) Py_NO_RETURN { + va_list vargs; + char msg[200]; +#if PY_VERSION_HEX >= 0x030A0000 || defined(HAVE_STDARG_PROTOTYPES) + va_start(vargs, fmt); +#else + va_start(vargs); +#endif + vsnprintf(msg, 200, fmt, vargs); + va_end(vargs); + Py_FatalError(msg); +} +static CYTHON_INLINE int +__pyx_add_acquisition_count_locked(__pyx_atomic_int_type *acquisition_count, + PyThread_type_lock lock) +{ + int result; + PyThread_acquire_lock(lock, 1); + result = (*acquisition_count)++; + PyThread_release_lock(lock); + return result; +} +static CYTHON_INLINE int +__pyx_sub_acquisition_count_locked(__pyx_atomic_int_type *acquisition_count, + PyThread_type_lock lock) +{ + int result; + PyThread_acquire_lock(lock, 1); + result = (*acquisition_count)--; + PyThread_release_lock(lock); + return result; +} +static CYTHON_INLINE void +__Pyx_INC_MEMVIEW(__Pyx_memviewslice *memslice, int have_gil, int lineno) +{ + __pyx_nonatomic_int_type old_acquisition_count; + struct __pyx_memoryview_obj *memview = memslice->memview; + if (unlikely(!memview || (PyObject *) memview == Py_None)) { + return; + } + old_acquisition_count = __pyx_add_acquisition_count(memview); + if (unlikely(old_acquisition_count <= 0)) { + if (likely(old_acquisition_count == 0)) { + if (have_gil) { + Py_INCREF((PyObject *) memview); + } else { + PyGILState_STATE _gilstate = PyGILState_Ensure(); + Py_INCREF((PyObject *) memview); + PyGILState_Release(_gilstate); + } + } else { + __pyx_fatalerror("Acquisition count is %d (line %d)", + old_acquisition_count+1, lineno); + } + } +} +static CYTHON_INLINE void __Pyx_XCLEAR_MEMVIEW(__Pyx_memviewslice *memslice, + int have_gil, int lineno) { + __pyx_nonatomic_int_type old_acquisition_count; + struct __pyx_memoryview_obj *memview = memslice->memview; + if (unlikely(!memview || (PyObject *) memview == Py_None)) { + memslice->memview = NULL; + return; + } + old_acquisition_count = __pyx_sub_acquisition_count(memview); + memslice->data = NULL; + if (likely(old_acquisition_count > 1)) { + memslice->memview = NULL; + } else if (likely(old_acquisition_count == 1)) { + if (have_gil) { + Py_CLEAR(memslice->memview); + } else { + PyGILState_STATE _gilstate = PyGILState_Ensure(); + Py_CLEAR(memslice->memview); + PyGILState_Release(_gilstate); + } + } else { + __pyx_fatalerror("Acquisition count is %d (line %d)", + old_acquisition_count-1, lineno); + } +} + +/* TypeInfoToFormat */ + static struct __pyx_typeinfo_string __Pyx_TypeInfoToFormat(__Pyx_TypeInfo *type) { + struct __pyx_typeinfo_string result = { {0} }; + char *buf = (char *) result.string; + size_t size = type->size; + switch (type->typegroup) { + case 'H': + *buf = 'c'; + break; + case 'I': + case 'U': + if (size == 1) + *buf = (type->is_unsigned) ? 'B' : 'b'; + else if (size == 2) + *buf = (type->is_unsigned) ? 'H' : 'h'; + else if (size == 4) + *buf = (type->is_unsigned) ? 'I' : 'i'; + else if (size == 8) + *buf = (type->is_unsigned) ? 'Q' : 'q'; + break; + case 'P': + *buf = 'P'; + break; + case 'C': + { + __Pyx_TypeInfo complex_type = *type; + complex_type.typegroup = 'R'; + complex_type.size /= 2; + *buf++ = 'Z'; + *buf = __Pyx_TypeInfoToFormat(&complex_type).string[0]; + break; + } + case 'R': + if (size == 4) + *buf = 'f'; + else if (size == 8) + *buf = 'd'; + else + *buf = 'g'; + break; + } + return result; +} + +/* CIntFromPy */ + static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(int) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(int, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (int) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(int, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(int) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 2 * PyLong_SHIFT)) { + return (int) (((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(int) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 3 * PyLong_SHIFT)) { + return (int) (((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(int) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 4 * PyLong_SHIFT)) { + return (int) (((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (int) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(int) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(int, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(int) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(int, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(int, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(int) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(int) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + return (int) ((((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(int) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + return (int) ((((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 4 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(int) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 4 * PyLong_SHIFT)) { + return (int) ((((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(int) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(int, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(int) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(int, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + int val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (int) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (int) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (int) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (int) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (int) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(int) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((int) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(int) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((int) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((int) 1) << (sizeof(int) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (int) -1; + } + } else { + int val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (int) -1; + val = __Pyx_PyInt_As_int(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to int"); + return (int) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to int"); + return (int) -1; +} + +/* CIntToPy */ + static CYTHON_INLINE PyObject* __Pyx_PyInt_From_npy_uint8(npy_uint8 value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const npy_uint8 neg_one = (npy_uint8) -1, const_zero = (npy_uint8) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(npy_uint8) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(npy_uint8) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(npy_uint8) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(npy_uint8) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(npy_uint8) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; +#if !CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030d0000 + return _PyLong_FromByteArray(bytes, sizeof(npy_uint8), + little, !is_unsigned); +#else + PyObject *from_bytes, *result = NULL; + PyObject *py_bytes = NULL, *arg_tuple = NULL, *kwds = NULL, *order_str = NULL; + from_bytes = PyObject_GetAttrString((PyObject*)&PyLong_Type, "from_bytes"); + if (!from_bytes) return NULL; + py_bytes = PyBytes_FromStringAndSize((char*)bytes, sizeof(npy_uint8)); + if (!py_bytes) goto limited_bad; + order_str = PyUnicode_FromString(little ? "little" : "big"); + if (!order_str) goto limited_bad; + arg_tuple = PyTuple_Pack(2, py_bytes, order_str); + if (!arg_tuple) goto limited_bad; + if (!is_unsigned) { + kwds = PyDict_New(); + if (!kwds) goto limited_bad; + if (PyDict_SetItemString(kwds, "signed", __Pyx_NewRef(Py_True))) goto limited_bad; + } + result = PyObject_Call(from_bytes, arg_tuple, kwds); + limited_bad: + Py_XDECREF(kwds); + Py_XDECREF(arg_tuple); + Py_XDECREF(order_str); + Py_XDECREF(py_bytes); + Py_XDECREF(from_bytes); + return result; +#endif + } +} + +/* CIntFromPy */ + static CYTHON_INLINE npy_uint8 __Pyx_PyInt_As_npy_uint8(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const npy_uint8 neg_one = (npy_uint8) -1, const_zero = (npy_uint8) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(npy_uint8) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(npy_uint8, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (npy_uint8) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(npy_uint8, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(npy_uint8) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(npy_uint8, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(npy_uint8) >= 2 * PyLong_SHIFT)) { + return (npy_uint8) (((((npy_uint8)digits[1]) << PyLong_SHIFT) | (npy_uint8)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(npy_uint8) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(npy_uint8, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(npy_uint8) >= 3 * PyLong_SHIFT)) { + return (npy_uint8) (((((((npy_uint8)digits[2]) << PyLong_SHIFT) | (npy_uint8)digits[1]) << PyLong_SHIFT) | (npy_uint8)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(npy_uint8) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(npy_uint8, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(npy_uint8) >= 4 * PyLong_SHIFT)) { + return (npy_uint8) (((((((((npy_uint8)digits[3]) << PyLong_SHIFT) | (npy_uint8)digits[2]) << PyLong_SHIFT) | (npy_uint8)digits[1]) << PyLong_SHIFT) | (npy_uint8)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (npy_uint8) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(npy_uint8) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(npy_uint8, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(npy_uint8) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(npy_uint8, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(npy_uint8, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(npy_uint8) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(npy_uint8, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(npy_uint8) - 1 > 2 * PyLong_SHIFT)) { + return (npy_uint8) (((npy_uint8)-1)*(((((npy_uint8)digits[1]) << PyLong_SHIFT) | (npy_uint8)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(npy_uint8) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(npy_uint8, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(npy_uint8) - 1 > 2 * PyLong_SHIFT)) { + return (npy_uint8) ((((((npy_uint8)digits[1]) << PyLong_SHIFT) | (npy_uint8)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(npy_uint8) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(npy_uint8, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(npy_uint8) - 1 > 3 * PyLong_SHIFT)) { + return (npy_uint8) (((npy_uint8)-1)*(((((((npy_uint8)digits[2]) << PyLong_SHIFT) | (npy_uint8)digits[1]) << PyLong_SHIFT) | (npy_uint8)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(npy_uint8) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(npy_uint8, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(npy_uint8) - 1 > 3 * PyLong_SHIFT)) { + return (npy_uint8) ((((((((npy_uint8)digits[2]) << PyLong_SHIFT) | (npy_uint8)digits[1]) << PyLong_SHIFT) | (npy_uint8)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(npy_uint8) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(npy_uint8, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(npy_uint8) - 1 > 4 * PyLong_SHIFT)) { + return (npy_uint8) (((npy_uint8)-1)*(((((((((npy_uint8)digits[3]) << PyLong_SHIFT) | (npy_uint8)digits[2]) << PyLong_SHIFT) | (npy_uint8)digits[1]) << PyLong_SHIFT) | (npy_uint8)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(npy_uint8) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(npy_uint8, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(npy_uint8) - 1 > 4 * PyLong_SHIFT)) { + return (npy_uint8) ((((((((((npy_uint8)digits[3]) << PyLong_SHIFT) | (npy_uint8)digits[2]) << PyLong_SHIFT) | (npy_uint8)digits[1]) << PyLong_SHIFT) | (npy_uint8)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(npy_uint8) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(npy_uint8, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(npy_uint8) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(npy_uint8, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + npy_uint8 val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (npy_uint8) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (npy_uint8) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (npy_uint8) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (npy_uint8) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (npy_uint8) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(npy_uint8) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((npy_uint8) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(npy_uint8) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((npy_uint8) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((npy_uint8) 1) << (sizeof(npy_uint8) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (npy_uint8) -1; + } + } else { + npy_uint8 val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (npy_uint8) -1; + val = __Pyx_PyInt_As_npy_uint8(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to npy_uint8"); + return (npy_uint8) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to npy_uint8"); + return (npy_uint8) -1; +} + +/* CIntFromPy */ + static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const long neg_one = (long) -1, const_zero = (long) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(long) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(long, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (long) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(long, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(long) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 2 * PyLong_SHIFT)) { + return (long) (((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(long) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 3 * PyLong_SHIFT)) { + return (long) (((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(long) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 4 * PyLong_SHIFT)) { + return (long) (((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (long) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(long) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(long, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(long) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(long, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(long, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(long) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(long) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + return (long) ((((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(long) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + return (long) ((((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 4 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(long) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 4 * PyLong_SHIFT)) { + return (long) ((((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(long) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(long, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(long) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(long, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + long val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (long) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (long) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (long) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (long) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (long) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(long) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((long) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(long) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((long) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((long) 1) << (sizeof(long) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (long) -1; + } + } else { + long val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (long) -1; + val = __Pyx_PyInt_As_long(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to long"); + return (long) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to long"); + return (long) -1; +} + +/* CIntToPy */ + static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(int) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(int) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(int) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(int) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(int) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; +#if !CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030d0000 + return _PyLong_FromByteArray(bytes, sizeof(int), + little, !is_unsigned); +#else + PyObject *from_bytes, *result = NULL; + PyObject *py_bytes = NULL, *arg_tuple = NULL, *kwds = NULL, *order_str = NULL; + from_bytes = PyObject_GetAttrString((PyObject*)&PyLong_Type, "from_bytes"); + if (!from_bytes) return NULL; + py_bytes = PyBytes_FromStringAndSize((char*)bytes, sizeof(int)); + if (!py_bytes) goto limited_bad; + order_str = PyUnicode_FromString(little ? "little" : "big"); + if (!order_str) goto limited_bad; + arg_tuple = PyTuple_Pack(2, py_bytes, order_str); + if (!arg_tuple) goto limited_bad; + if (!is_unsigned) { + kwds = PyDict_New(); + if (!kwds) goto limited_bad; + if (PyDict_SetItemString(kwds, "signed", __Pyx_NewRef(Py_True))) goto limited_bad; + } + result = PyObject_Call(from_bytes, arg_tuple, kwds); + limited_bad: + Py_XDECREF(kwds); + Py_XDECREF(arg_tuple); + Py_XDECREF(order_str); + Py_XDECREF(py_bytes); + Py_XDECREF(from_bytes); + return result; +#endif + } +} + +/* CIntToPy */ + static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const long neg_one = (long) -1, const_zero = (long) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(long) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(long) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(long) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; +#if !CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030d0000 + return _PyLong_FromByteArray(bytes, sizeof(long), + little, !is_unsigned); +#else + PyObject *from_bytes, *result = NULL; + PyObject *py_bytes = NULL, *arg_tuple = NULL, *kwds = NULL, *order_str = NULL; + from_bytes = PyObject_GetAttrString((PyObject*)&PyLong_Type, "from_bytes"); + if (!from_bytes) return NULL; + py_bytes = PyBytes_FromStringAndSize((char*)bytes, sizeof(long)); + if (!py_bytes) goto limited_bad; + order_str = PyUnicode_FromString(little ? "little" : "big"); + if (!order_str) goto limited_bad; + arg_tuple = PyTuple_Pack(2, py_bytes, order_str); + if (!arg_tuple) goto limited_bad; + if (!is_unsigned) { + kwds = PyDict_New(); + if (!kwds) goto limited_bad; + if (PyDict_SetItemString(kwds, "signed", __Pyx_NewRef(Py_True))) goto limited_bad; + } + result = PyObject_Call(from_bytes, arg_tuple, kwds); + limited_bad: + Py_XDECREF(kwds); + Py_XDECREF(arg_tuple); + Py_XDECREF(order_str); + Py_XDECREF(py_bytes); + Py_XDECREF(from_bytes); + return result; +#endif + } +} + +/* CIntFromPy */ + static CYTHON_INLINE char __Pyx_PyInt_As_char(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const char neg_one = (char) -1, const_zero = (char) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(char) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(char, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (char) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(char, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(char) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) >= 2 * PyLong_SHIFT)) { + return (char) (((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(char) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) >= 3 * PyLong_SHIFT)) { + return (char) (((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(char) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) >= 4 * PyLong_SHIFT)) { + return (char) (((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (char) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(char) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(char, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(char) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(char, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(char, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(char) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 2 * PyLong_SHIFT)) { + return (char) (((char)-1)*(((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(char) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 2 * PyLong_SHIFT)) { + return (char) ((((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(char) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 3 * PyLong_SHIFT)) { + return (char) (((char)-1)*(((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(char) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 3 * PyLong_SHIFT)) { + return (char) ((((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(char) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 4 * PyLong_SHIFT)) { + return (char) (((char)-1)*(((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(char) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 4 * PyLong_SHIFT)) { + return (char) ((((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(char) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(char, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(char) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(char, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + char val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (char) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (char) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (char) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (char) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (char) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(char) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((char) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(char) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((char) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((char) 1) << (sizeof(char) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (char) -1; + } + } else { + char val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (char) -1; + val = __Pyx_PyInt_As_char(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to char"); + return (char) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to char"); + return (char) -1; +} + +/* FormatTypeName */ + #if CYTHON_COMPILING_IN_LIMITED_API +static __Pyx_TypeName +__Pyx_PyType_GetName(PyTypeObject* tp) +{ + PyObject *name = __Pyx_PyObject_GetAttrStr((PyObject *)tp, + __pyx_n_s_name_2); + if (unlikely(name == NULL) || unlikely(!PyUnicode_Check(name))) { + PyErr_Clear(); + Py_XDECREF(name); + name = __Pyx_NewRef(__pyx_n_s__38); + } + return name; +} +#endif + +/* CheckBinaryVersion */ + static unsigned long __Pyx_get_runtime_version(void) { +#if __PYX_LIMITED_VERSION_HEX >= 0x030B00A4 + return Py_Version & ~0xFFUL; +#else + const char* rt_version = Py_GetVersion(); + unsigned long version = 0; + unsigned long factor = 0x01000000UL; + unsigned int digit = 0; + int i = 0; + while (factor) { + while ('0' <= rt_version[i] && rt_version[i] <= '9') { + digit = digit * 10 + (unsigned int) (rt_version[i] - '0'); + ++i; + } + version += factor * digit; + if (rt_version[i] != '.') + break; + digit = 0; + factor >>= 8; + ++i; + } + return version; +#endif +} +static int __Pyx_check_binary_version(unsigned long ct_version, unsigned long rt_version, int allow_newer) { + const unsigned long MAJOR_MINOR = 0xFFFF0000UL; + if ((rt_version & MAJOR_MINOR) == (ct_version & MAJOR_MINOR)) + return 0; + if (likely(allow_newer && (rt_version & MAJOR_MINOR) > (ct_version & MAJOR_MINOR))) + return 1; + { + char message[200]; + PyOS_snprintf(message, sizeof(message), + "compile time Python version %d.%d " + "of module '%.100s' " + "%s " + "runtime version %d.%d", + (int) (ct_version >> 24), (int) ((ct_version >> 16) & 0xFF), + __Pyx_MODULE_NAME, + (allow_newer) ? "was newer than" : "does not match", + (int) (rt_version >> 24), (int) ((rt_version >> 16) & 0xFF) + ); + return PyErr_WarnEx(NULL, message, 1); + } +} + +/* InitStrings */ + #if PY_MAJOR_VERSION >= 3 +static int __Pyx_InitString(__Pyx_StringTabEntry t, PyObject **str) { + if (t.is_unicode | t.is_str) { + if (t.intern) { + *str = PyUnicode_InternFromString(t.s); + } else if (t.encoding) { + *str = PyUnicode_Decode(t.s, t.n - 1, t.encoding, NULL); + } else { + *str = PyUnicode_FromStringAndSize(t.s, t.n - 1); + } + } else { + *str = PyBytes_FromStringAndSize(t.s, t.n - 1); + } + if (!*str) + return -1; + if (PyObject_Hash(*str) == -1) + return -1; + return 0; +} +#endif +static int __Pyx_InitStrings(__Pyx_StringTabEntry *t) { + while (t->p) { + #if PY_MAJOR_VERSION >= 3 + __Pyx_InitString(*t, t->p); + #else + if (t->is_unicode) { + *t->p = PyUnicode_DecodeUTF8(t->s, t->n - 1, NULL); + } else if (t->intern) { + *t->p = PyString_InternFromString(t->s); + } else { + *t->p = PyString_FromStringAndSize(t->s, t->n - 1); + } + if (!*t->p) + return -1; + if (PyObject_Hash(*t->p) == -1) + return -1; + #endif + ++t; + } + return 0; +} + +#include +static CYTHON_INLINE Py_ssize_t __Pyx_ssize_strlen(const char *s) { + size_t len = strlen(s); + if (unlikely(len > (size_t) PY_SSIZE_T_MAX)) { + PyErr_SetString(PyExc_OverflowError, "byte string is too long"); + return -1; + } + return (Py_ssize_t) len; +} +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char* c_str) { + Py_ssize_t len = __Pyx_ssize_strlen(c_str); + if (unlikely(len < 0)) return NULL; + return __Pyx_PyUnicode_FromStringAndSize(c_str, len); +} +static CYTHON_INLINE PyObject* __Pyx_PyByteArray_FromString(const char* c_str) { + Py_ssize_t len = __Pyx_ssize_strlen(c_str); + if (unlikely(len < 0)) return NULL; + return PyByteArray_FromStringAndSize(c_str, len); +} +static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject* o) { + Py_ssize_t ignore; + return __Pyx_PyObject_AsStringAndSize(o, &ignore); +} +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT +#if !CYTHON_PEP393_ENABLED +static const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { + char* defenc_c; + PyObject* defenc = _PyUnicode_AsDefaultEncodedString(o, NULL); + if (!defenc) return NULL; + defenc_c = PyBytes_AS_STRING(defenc); +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + { + char* end = defenc_c + PyBytes_GET_SIZE(defenc); + char* c; + for (c = defenc_c; c < end; c++) { + if ((unsigned char) (*c) >= 128) { + PyUnicode_AsASCIIString(o); + return NULL; + } + } + } +#endif + *length = PyBytes_GET_SIZE(defenc); + return defenc_c; +} +#else +static CYTHON_INLINE const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { + if (unlikely(__Pyx_PyUnicode_READY(o) == -1)) return NULL; +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + if (likely(PyUnicode_IS_ASCII(o))) { + *length = PyUnicode_GET_LENGTH(o); + return PyUnicode_AsUTF8(o); + } else { + PyUnicode_AsASCIIString(o); + return NULL; + } +#else + return PyUnicode_AsUTF8AndSize(o, length); +#endif +} +#endif +#endif +static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject* o, Py_ssize_t *length) { +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT + if ( +#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + __Pyx_sys_getdefaultencoding_not_ascii && +#endif + PyUnicode_Check(o)) { + return __Pyx_PyUnicode_AsStringAndSize(o, length); + } else +#endif +#if (!CYTHON_COMPILING_IN_PYPY && !CYTHON_COMPILING_IN_LIMITED_API) || (defined(PyByteArray_AS_STRING) && defined(PyByteArray_GET_SIZE)) + if (PyByteArray_Check(o)) { + *length = PyByteArray_GET_SIZE(o); + return PyByteArray_AS_STRING(o); + } else +#endif + { + char* result; + int r = PyBytes_AsStringAndSize(o, &result, length); + if (unlikely(r < 0)) { + return NULL; + } else { + return result; + } + } +} +static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject* x) { + int is_true = x == Py_True; + if (is_true | (x == Py_False) | (x == Py_None)) return is_true; + else return PyObject_IsTrue(x); +} +static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject* x) { + int retval; + if (unlikely(!x)) return -1; + retval = __Pyx_PyObject_IsTrue(x); + Py_DECREF(x); + return retval; +} +static PyObject* __Pyx_PyNumber_IntOrLongWrongResultType(PyObject* result, const char* type_name) { + __Pyx_TypeName result_type_name = __Pyx_PyType_GetName(Py_TYPE(result)); +#if PY_MAJOR_VERSION >= 3 + if (PyLong_Check(result)) { + if (PyErr_WarnFormat(PyExc_DeprecationWarning, 1, + "__int__ returned non-int (type " __Pyx_FMT_TYPENAME "). " + "The ability to return an instance of a strict subclass of int is deprecated, " + "and may be removed in a future version of Python.", + result_type_name)) { + __Pyx_DECREF_TypeName(result_type_name); + Py_DECREF(result); + return NULL; + } + __Pyx_DECREF_TypeName(result_type_name); + return result; + } +#endif + PyErr_Format(PyExc_TypeError, + "__%.4s__ returned non-%.4s (type " __Pyx_FMT_TYPENAME ")", + type_name, type_name, result_type_name); + __Pyx_DECREF_TypeName(result_type_name); + Py_DECREF(result); + return NULL; +} +static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x) { +#if CYTHON_USE_TYPE_SLOTS + PyNumberMethods *m; +#endif + const char *name = NULL; + PyObject *res = NULL; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x) || PyLong_Check(x))) +#else + if (likely(PyLong_Check(x))) +#endif + return __Pyx_NewRef(x); +#if CYTHON_USE_TYPE_SLOTS + m = Py_TYPE(x)->tp_as_number; + #if PY_MAJOR_VERSION < 3 + if (m && m->nb_int) { + name = "int"; + res = m->nb_int(x); + } + else if (m && m->nb_long) { + name = "long"; + res = m->nb_long(x); + } + #else + if (likely(m && m->nb_int)) { + name = "int"; + res = m->nb_int(x); + } + #endif +#else + if (!PyBytes_CheckExact(x) && !PyUnicode_CheckExact(x)) { + res = PyNumber_Int(x); + } +#endif + if (likely(res)) { +#if PY_MAJOR_VERSION < 3 + if (unlikely(!PyInt_Check(res) && !PyLong_Check(res))) { +#else + if (unlikely(!PyLong_CheckExact(res))) { +#endif + return __Pyx_PyNumber_IntOrLongWrongResultType(res, name); + } + } + else if (!PyErr_Occurred()) { + PyErr_SetString(PyExc_TypeError, + "an integer is required"); + } + return res; +} +static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject* b) { + Py_ssize_t ival; + PyObject *x; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_CheckExact(b))) { + if (sizeof(Py_ssize_t) >= sizeof(long)) + return PyInt_AS_LONG(b); + else + return PyInt_AsSsize_t(b); + } +#endif + if (likely(PyLong_CheckExact(b))) { + #if CYTHON_USE_PYLONG_INTERNALS + if (likely(__Pyx_PyLong_IsCompact(b))) { + return __Pyx_PyLong_CompactValue(b); + } else { + const digit* digits = __Pyx_PyLong_Digits(b); + const Py_ssize_t size = __Pyx_PyLong_SignedDigitCount(b); + switch (size) { + case 2: + if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { + return (Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -2: + if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case 3: + if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { + return (Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -3: + if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case 4: + if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { + return (Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -4: + if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + } + } + #endif + return PyLong_AsSsize_t(b); + } + x = PyNumber_Index(b); + if (!x) return -1; + ival = PyInt_AsSsize_t(x); + Py_DECREF(x); + return ival; +} +static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject* o) { + if (sizeof(Py_hash_t) == sizeof(Py_ssize_t)) { + return (Py_hash_t) __Pyx_PyIndex_AsSsize_t(o); +#if PY_MAJOR_VERSION < 3 + } else if (likely(PyInt_CheckExact(o))) { + return PyInt_AS_LONG(o); +#endif + } else { + Py_ssize_t ival; + PyObject *x; + x = PyNumber_Index(o); + if (!x) return -1; + ival = PyInt_AsLong(x); + Py_DECREF(x); + return ival; + } +} +static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b) { + return b ? __Pyx_NewRef(Py_True) : __Pyx_NewRef(Py_False); +} +static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t ival) { + return PyInt_FromSize_t(ival); +} + + +/* #### Code section: utility_code_pragmas_end ### */ +#ifdef _MSC_VER +#pragma warning( pop ) +#endif + + + +/* #### Code section: end ### */ +#endif /* Py_PYTHON_H */ diff --git a/selfdrive/modeld/models/commonmodel_pyx.so b/selfdrive/modeld/models/commonmodel_pyx.so new file mode 100644 index 00000000000000..4a4dba56efcd95 Binary files /dev/null and b/selfdrive/modeld/models/commonmodel_pyx.so differ diff --git a/selfdrive/modeld/models/dmonitoring_model.onnx b/selfdrive/modeld/models/dmonitoring_model.onnx deleted file mode 100644 index a9a1cede31f9e7..00000000000000 Binary files a/selfdrive/modeld/models/dmonitoring_model.onnx and /dev/null differ diff --git a/selfdrive/modeld/models/dmonitoring_model.thneed b/selfdrive/modeld/models/dmonitoring_model.thneed new file mode 100644 index 00000000000000..d245d441b3b218 Binary files /dev/null and b/selfdrive/modeld/models/dmonitoring_model.thneed differ diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx deleted file mode 100644 index e04671c02b9a39..00000000000000 Binary files a/selfdrive/modeld/models/supercombo.onnx and /dev/null differ diff --git a/selfdrive/modeld/models/supercombo.thneed b/selfdrive/modeld/models/supercombo.thneed new file mode 100644 index 00000000000000..4c6a45f41b49a0 Binary files /dev/null and b/selfdrive/modeld/models/supercombo.thneed differ diff --git a/selfdrive/modeld/models/supercombo_metadata.pkl b/selfdrive/modeld/models/supercombo_metadata.pkl new file mode 100644 index 00000000000000..f5a2311b9de74b Binary files /dev/null and b/selfdrive/modeld/models/supercombo_metadata.pkl differ diff --git a/selfdrive/modeld/runners/run.h b/selfdrive/modeld/runners/run.h deleted file mode 100644 index 36ad262a5bc92d..00000000000000 --- a/selfdrive/modeld/runners/run.h +++ /dev/null @@ -1,4 +0,0 @@ -#pragma once - -#include "selfdrive/modeld/runners/runmodel.h" -#include "selfdrive/modeld/runners/snpemodel.h" diff --git a/selfdrive/modeld/runners/runmodel.h b/selfdrive/modeld/runners/runmodel.h deleted file mode 100644 index 18cc180cb7f1d9..00000000000000 --- a/selfdrive/modeld/runners/runmodel.h +++ /dev/null @@ -1,49 +0,0 @@ -#pragma once - -#include -#include -#include -#include - -#include "common/clutil.h" -#include "common/swaglog.h" - -#define USE_CPU_RUNTIME 0 -#define USE_GPU_RUNTIME 1 -#define USE_DSP_RUNTIME 2 - -struct ModelInput { - const std::string name; - float *buffer; - int size; - - ModelInput(const std::string _name, float *_buffer, int _size) : name(_name), buffer(_buffer), size(_size) {} - virtual void setBuffer(float *_buffer, int _size) { - assert(size == _size || size == 0); - buffer = _buffer; - size = _size; - } -}; - -class RunModel { -public: - std::vector> inputs; - - virtual ~RunModel() {} - virtual void execute() {} - virtual void* getCLBuffer(const std::string name) { return nullptr; } - - virtual void addInput(const std::string name, float *buffer, int size) { - inputs.push_back(std::unique_ptr(new ModelInput(name, buffer, size))); - } - virtual void setInputBuffer(const std::string name, float *buffer, int size) { - for (auto &input : inputs) { - if (name == input->name) { - input->setBuffer(buffer, size); - return; - } - } - LOGE("Tried to update input `%s` but no input with this name exists", name.c_str()); - assert(false); - } -}; diff --git a/selfdrive/modeld/runners/runmodel_pyx.cpp b/selfdrive/modeld/runners/runmodel_pyx.cpp new file mode 100644 index 00000000000000..1fa0b3c5229804 --- /dev/null +++ b/selfdrive/modeld/runners/runmodel_pyx.cpp @@ -0,0 +1,28888 @@ +/* Generated by Cython 3.0.8 */ + +/* BEGIN: Cython Metadata +{ + "distutils": { + "depends": [ + "msgq/visionipc/visionbuf.h", + "msgq/visionipc/visionipc.h", + "msgq/visionipc/visionipc_client.h", + "msgq/visionipc/visionipc_server.h", + "selfdrive/modeld/runners/runmodel.h" + ], + "language": "c++", + "name": "selfdrive.modeld.runners.runmodel_pyx", + "sources": [ + "/data/openpilot/selfdrive/modeld/runners/runmodel_pyx.pyx" + ] + }, + "module_name": "selfdrive.modeld.runners.runmodel_pyx" +} +END: Cython Metadata */ + +#ifndef PY_SSIZE_T_CLEAN +#define PY_SSIZE_T_CLEAN +#endif /* PY_SSIZE_T_CLEAN */ +#if defined(CYTHON_LIMITED_API) && 0 + #ifndef Py_LIMITED_API + #if CYTHON_LIMITED_API+0 > 0x03030000 + #define Py_LIMITED_API CYTHON_LIMITED_API + #else + #define Py_LIMITED_API 0x03030000 + #endif + #endif +#endif + +#include "Python.h" +#ifndef Py_PYTHON_H + #error Python headers needed to compile C extensions, please install development version of Python. +#elif PY_VERSION_HEX < 0x02070000 || (0x03000000 <= PY_VERSION_HEX && PY_VERSION_HEX < 0x03030000) + #error Cython requires Python 2.7+ or Python 3.3+. +#else +#if defined(CYTHON_LIMITED_API) && CYTHON_LIMITED_API +#define __PYX_EXTRA_ABI_MODULE_NAME "limited" +#else +#define __PYX_EXTRA_ABI_MODULE_NAME "" +#endif +#define CYTHON_ABI "3_0_8" __PYX_EXTRA_ABI_MODULE_NAME +#define __PYX_ABI_MODULE_NAME "_cython_" CYTHON_ABI +#define __PYX_TYPE_MODULE_PREFIX __PYX_ABI_MODULE_NAME "." +#define CYTHON_HEX_VERSION 0x030008F0 +#define CYTHON_FUTURE_DIVISION 1 +#include +#ifndef offsetof + #define offsetof(type, member) ( (size_t) & ((type*)0) -> member ) +#endif +#if !defined(_WIN32) && !defined(WIN32) && !defined(MS_WINDOWS) + #ifndef __stdcall + #define __stdcall + #endif + #ifndef __cdecl + #define __cdecl + #endif + #ifndef __fastcall + #define __fastcall + #endif +#endif +#ifndef DL_IMPORT + #define DL_IMPORT(t) t +#endif +#ifndef DL_EXPORT + #define DL_EXPORT(t) t +#endif +#define __PYX_COMMA , +#ifndef HAVE_LONG_LONG + #define HAVE_LONG_LONG +#endif +#ifndef PY_LONG_LONG + #define PY_LONG_LONG LONG_LONG +#endif +#ifndef Py_HUGE_VAL + #define Py_HUGE_VAL HUGE_VAL +#endif +#define __PYX_LIMITED_VERSION_HEX PY_VERSION_HEX +#if defined(GRAALVM_PYTHON) + /* For very preliminary testing purposes. Most variables are set the same as PyPy. + The existence of this section does not imply that anything works or is even tested */ + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 1 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #undef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #undef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 1 + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS (PY_MAJOR_VERSION >= 3) + #endif + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(PYPY_VERSION) + #define CYTHON_COMPILING_IN_PYPY 1 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #ifndef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #endif + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #undef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 1 + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS (PY_MAJOR_VERSION >= 3) + #endif + #if PY_VERSION_HEX < 0x03090000 + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #elif !defined(CYTHON_PEP489_MULTI_PHASE_INIT) + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE (PY_VERSION_HEX >= 0x030400a1 && PYPY_VERSION_NUM >= 0x07030C00) + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(CYTHON_LIMITED_API) + #ifdef Py_LIMITED_API + #undef __PYX_LIMITED_VERSION_HEX + #define __PYX_LIMITED_VERSION_HEX Py_LIMITED_API + #endif + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 1 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_CLINE_IN_TRACEBACK + #define CYTHON_CLINE_IN_TRACEBACK 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #undef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 1 + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #ifndef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #endif + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS 1 + #endif + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 1 + #ifndef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #endif + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(Py_GIL_DISABLED) || defined(Py_NOGIL) + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 1 + #ifndef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 1 + #endif + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #ifndef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #ifndef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 1 + #endif + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #ifndef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 1 + #endif + #ifndef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 1 + #endif + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #ifndef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 1 + #endif + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 +#else + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 1 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #ifndef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 1 + #endif + #ifndef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #endif + #ifndef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 1 + #endif + #if PY_MAJOR_VERSION < 3 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #ifndef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 1 + #endif + #ifndef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 1 + #endif + #ifndef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 1 + #endif + #if PY_VERSION_HEX < 0x030300F0 || PY_VERSION_HEX >= 0x030B00A2 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #elif !defined(CYTHON_USE_UNICODE_WRITER) + #define CYTHON_USE_UNICODE_WRITER 1 + #endif + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #ifndef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 1 + #endif + #ifndef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 1 + #endif + #ifndef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 1 + #endif + #ifndef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL (PY_MAJOR_VERSION < 3 || PY_VERSION_HEX >= 0x03060000 && PY_VERSION_HEX < 0x030C00A6) + #endif + #ifndef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL (PY_VERSION_HEX >= 0x030700A1) + #endif + #ifndef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 1 + #endif + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS 1 + #endif + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #elif !defined(CYTHON_PEP489_MULTI_PHASE_INIT) + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #ifndef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #endif + #if PY_VERSION_HEX < 0x030400a1 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #elif !defined(CYTHON_USE_TP_FINALIZE) + #define CYTHON_USE_TP_FINALIZE 1 + #endif + #if PY_VERSION_HEX < 0x030600B1 + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #elif !defined(CYTHON_USE_DICT_VERSIONS) + #define CYTHON_USE_DICT_VERSIONS (PY_VERSION_HEX < 0x030C00A5) + #endif + #if PY_VERSION_HEX < 0x030700A3 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #elif !defined(CYTHON_USE_EXC_INFO_STACK) + #define CYTHON_USE_EXC_INFO_STACK 1 + #endif + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 1 + #endif +#endif +#if !defined(CYTHON_FAST_PYCCALL) +#define CYTHON_FAST_PYCCALL (CYTHON_FAST_PYCALL && PY_VERSION_HEX >= 0x030600B1) +#endif +#if !defined(CYTHON_VECTORCALL) +#define CYTHON_VECTORCALL (CYTHON_FAST_PYCCALL && PY_VERSION_HEX >= 0x030800B1) +#endif +#define CYTHON_BACKPORT_VECTORCALL (CYTHON_METH_FASTCALL && PY_VERSION_HEX < 0x030800B1) +#if CYTHON_USE_PYLONG_INTERNALS + #if PY_MAJOR_VERSION < 3 + #include "longintrepr.h" + #endif + #undef SHIFT + #undef BASE + #undef MASK + #ifdef SIZEOF_VOID_P + enum { __pyx_check_sizeof_voidp = 1 / (int)(SIZEOF_VOID_P == sizeof(void*)) }; + #endif +#endif +#ifndef __has_attribute + #define __has_attribute(x) 0 +#endif +#ifndef __has_cpp_attribute + #define __has_cpp_attribute(x) 0 +#endif +#ifndef CYTHON_RESTRICT + #if defined(__GNUC__) + #define CYTHON_RESTRICT __restrict__ + #elif defined(_MSC_VER) && _MSC_VER >= 1400 + #define CYTHON_RESTRICT __restrict + #elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define CYTHON_RESTRICT restrict + #else + #define CYTHON_RESTRICT + #endif +#endif +#ifndef CYTHON_UNUSED + #if defined(__cplusplus) + /* for clang __has_cpp_attribute(maybe_unused) is true even before C++17 + * but leads to warnings with -pedantic, since it is a C++17 feature */ + #if ((defined(_MSVC_LANG) && _MSVC_LANG >= 201703L) || __cplusplus >= 201703L) + #if __has_cpp_attribute(maybe_unused) + #define CYTHON_UNUSED [[maybe_unused]] + #endif + #endif + #endif +#endif +#ifndef CYTHON_UNUSED +# if defined(__GNUC__) +# if !(defined(__cplusplus)) || (__GNUC__ > 3 || (__GNUC__ == 3 && __GNUC_MINOR__ >= 4)) +# define CYTHON_UNUSED __attribute__ ((__unused__)) +# else +# define CYTHON_UNUSED +# endif +# elif defined(__ICC) || (defined(__INTEL_COMPILER) && !defined(_MSC_VER)) +# define CYTHON_UNUSED __attribute__ ((__unused__)) +# else +# define CYTHON_UNUSED +# endif +#endif +#ifndef CYTHON_UNUSED_VAR +# if defined(__cplusplus) + template void CYTHON_UNUSED_VAR( const T& ) { } +# else +# define CYTHON_UNUSED_VAR(x) (void)(x) +# endif +#endif +#ifndef CYTHON_MAYBE_UNUSED_VAR + #define CYTHON_MAYBE_UNUSED_VAR(x) CYTHON_UNUSED_VAR(x) +#endif +#ifndef CYTHON_NCP_UNUSED +# if CYTHON_COMPILING_IN_CPYTHON +# define CYTHON_NCP_UNUSED +# else +# define CYTHON_NCP_UNUSED CYTHON_UNUSED +# endif +#endif +#ifndef CYTHON_USE_CPP_STD_MOVE + #if defined(__cplusplus) && (\ + __cplusplus >= 201103L || (defined(_MSC_VER) && _MSC_VER >= 1600)) + #define CYTHON_USE_CPP_STD_MOVE 1 + #else + #define CYTHON_USE_CPP_STD_MOVE 0 + #endif +#endif +#define __Pyx_void_to_None(void_result) ((void)(void_result), Py_INCREF(Py_None), Py_None) +#ifdef _MSC_VER + #ifndef _MSC_STDINT_H_ + #if _MSC_VER < 1300 + typedef unsigned char uint8_t; + typedef unsigned short uint16_t; + typedef unsigned int uint32_t; + #else + typedef unsigned __int8 uint8_t; + typedef unsigned __int16 uint16_t; + typedef unsigned __int32 uint32_t; + #endif + #endif + #if _MSC_VER < 1300 + #ifdef _WIN64 + typedef unsigned long long __pyx_uintptr_t; + #else + typedef unsigned int __pyx_uintptr_t; + #endif + #else + #ifdef _WIN64 + typedef unsigned __int64 __pyx_uintptr_t; + #else + typedef unsigned __int32 __pyx_uintptr_t; + #endif + #endif +#else + #include + typedef uintptr_t __pyx_uintptr_t; +#endif +#ifndef CYTHON_FALLTHROUGH + #if defined(__cplusplus) + /* for clang __has_cpp_attribute(fallthrough) is true even before C++17 + * but leads to warnings with -pedantic, since it is a C++17 feature */ + #if ((defined(_MSVC_LANG) && _MSVC_LANG >= 201703L) || __cplusplus >= 201703L) + #if __has_cpp_attribute(fallthrough) + #define CYTHON_FALLTHROUGH [[fallthrough]] + #endif + #endif + #ifndef CYTHON_FALLTHROUGH + #if __has_cpp_attribute(clang::fallthrough) + #define CYTHON_FALLTHROUGH [[clang::fallthrough]] + #elif __has_cpp_attribute(gnu::fallthrough) + #define CYTHON_FALLTHROUGH [[gnu::fallthrough]] + #endif + #endif + #endif + #ifndef CYTHON_FALLTHROUGH + #if __has_attribute(fallthrough) + #define CYTHON_FALLTHROUGH __attribute__((fallthrough)) + #else + #define CYTHON_FALLTHROUGH + #endif + #endif + #if defined(__clang__) && defined(__apple_build_version__) + #if __apple_build_version__ < 7000000 + #undef CYTHON_FALLTHROUGH + #define CYTHON_FALLTHROUGH + #endif + #endif +#endif +#ifdef __cplusplus + template + struct __PYX_IS_UNSIGNED_IMPL {static const bool value = T(0) < T(-1);}; + #define __PYX_IS_UNSIGNED(type) (__PYX_IS_UNSIGNED_IMPL::value) +#else + #define __PYX_IS_UNSIGNED(type) (((type)-1) > 0) +#endif +#if CYTHON_COMPILING_IN_PYPY == 1 + #define __PYX_NEED_TP_PRINT_SLOT (PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x030A0000) +#else + #define __PYX_NEED_TP_PRINT_SLOT (PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000) +#endif +#define __PYX_REINTERPRET_FUNCION(func_pointer, other_pointer) ((func_pointer)(void(*)(void))(other_pointer)) + +#ifndef __cplusplus + #error "Cython files generated with the C++ option must be compiled with a C++ compiler." +#endif +#ifndef CYTHON_INLINE + #if defined(__clang__) + #define CYTHON_INLINE __inline__ __attribute__ ((__unused__)) + #else + #define CYTHON_INLINE inline + #endif +#endif +template +void __Pyx_call_destructor(T& x) { + x.~T(); +} +template +class __Pyx_FakeReference { + public: + __Pyx_FakeReference() : ptr(NULL) { } + __Pyx_FakeReference(const T& ref) : ptr(const_cast(&ref)) { } + T *operator->() { return ptr; } + T *operator&() { return ptr; } + operator T&() { return *ptr; } + template bool operator ==(const U& other) const { return *ptr == other; } + template bool operator !=(const U& other) const { return *ptr != other; } + template bool operator==(const __Pyx_FakeReference& other) const { return *ptr == *other.ptr; } + template bool operator!=(const __Pyx_FakeReference& other) const { return *ptr != *other.ptr; } + private: + T *ptr; +}; + +#define __PYX_BUILD_PY_SSIZE_T "n" +#define CYTHON_FORMAT_SSIZE_T "z" +#if PY_MAJOR_VERSION < 3 + #define __Pyx_BUILTIN_MODULE_NAME "__builtin__" + #define __Pyx_DefaultClassType PyClass_Type + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_New(a+k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#else + #define __Pyx_BUILTIN_MODULE_NAME "builtins" + #define __Pyx_DefaultClassType PyType_Type +#if CYTHON_COMPILING_IN_LIMITED_API + static CYTHON_INLINE PyObject* __Pyx_PyCode_New(int a, int p, int k, int l, int s, int f, + PyObject *code, PyObject *c, PyObject* n, PyObject *v, + PyObject *fv, PyObject *cell, PyObject* fn, + PyObject *name, int fline, PyObject *lnos) { + PyObject *exception_table = NULL; + PyObject *types_module=NULL, *code_type=NULL, *result=NULL; + #if __PYX_LIMITED_VERSION_HEX < 0x030B0000 + PyObject *version_info; + PyObject *py_minor_version = NULL; + #endif + long minor_version = 0; + PyObject *type, *value, *traceback; + PyErr_Fetch(&type, &value, &traceback); + #if __PYX_LIMITED_VERSION_HEX >= 0x030B0000 + minor_version = 11; + #else + if (!(version_info = PySys_GetObject("version_info"))) goto end; + if (!(py_minor_version = PySequence_GetItem(version_info, 1))) goto end; + minor_version = PyLong_AsLong(py_minor_version); + Py_DECREF(py_minor_version); + if (minor_version == -1 && PyErr_Occurred()) goto end; + #endif + if (!(types_module = PyImport_ImportModule("types"))) goto end; + if (!(code_type = PyObject_GetAttrString(types_module, "CodeType"))) goto end; + if (minor_version <= 7) { + (void)p; + result = PyObject_CallFunction(code_type, "iiiiiOOOOOOiOO", a, k, l, s, f, code, + c, n, v, fn, name, fline, lnos, fv, cell); + } else if (minor_version <= 10) { + result = PyObject_CallFunction(code_type, "iiiiiiOOOOOOiOO", a,p, k, l, s, f, code, + c, n, v, fn, name, fline, lnos, fv, cell); + } else { + if (!(exception_table = PyBytes_FromStringAndSize(NULL, 0))) goto end; + result = PyObject_CallFunction(code_type, "iiiiiiOOOOOOOiOO", a,p, k, l, s, f, code, + c, n, v, fn, name, name, fline, lnos, exception_table, fv, cell); + } + end: + Py_XDECREF(code_type); + Py_XDECREF(exception_table); + Py_XDECREF(types_module); + if (type) { + PyErr_Restore(type, value, traceback); + } + return result; + } + #ifndef CO_OPTIMIZED + #define CO_OPTIMIZED 0x0001 + #endif + #ifndef CO_NEWLOCALS + #define CO_NEWLOCALS 0x0002 + #endif + #ifndef CO_VARARGS + #define CO_VARARGS 0x0004 + #endif + #ifndef CO_VARKEYWORDS + #define CO_VARKEYWORDS 0x0008 + #endif + #ifndef CO_ASYNC_GENERATOR + #define CO_ASYNC_GENERATOR 0x0200 + #endif + #ifndef CO_GENERATOR + #define CO_GENERATOR 0x0020 + #endif + #ifndef CO_COROUTINE + #define CO_COROUTINE 0x0080 + #endif +#elif PY_VERSION_HEX >= 0x030B0000 + static CYTHON_INLINE PyCodeObject* __Pyx_PyCode_New(int a, int p, int k, int l, int s, int f, + PyObject *code, PyObject *c, PyObject* n, PyObject *v, + PyObject *fv, PyObject *cell, PyObject* fn, + PyObject *name, int fline, PyObject *lnos) { + PyCodeObject *result; + PyObject *empty_bytes = PyBytes_FromStringAndSize("", 0); + if (!empty_bytes) return NULL; + result = + #if PY_VERSION_HEX >= 0x030C0000 + PyUnstable_Code_NewWithPosOnlyArgs + #else + PyCode_NewWithPosOnlyArgs + #endif + (a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, name, fline, lnos, empty_bytes); + Py_DECREF(empty_bytes); + return result; + } +#elif PY_VERSION_HEX >= 0x030800B2 && !CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_NewWithPosOnlyArgs(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#else + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#endif +#endif +#if PY_VERSION_HEX >= 0x030900A4 || defined(Py_IS_TYPE) + #define __Pyx_IS_TYPE(ob, type) Py_IS_TYPE(ob, type) +#else + #define __Pyx_IS_TYPE(ob, type) (((const PyObject*)ob)->ob_type == (type)) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_Is) + #define __Pyx_Py_Is(x, y) Py_Is(x, y) +#else + #define __Pyx_Py_Is(x, y) ((x) == (y)) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsNone) + #define __Pyx_Py_IsNone(ob) Py_IsNone(ob) +#else + #define __Pyx_Py_IsNone(ob) __Pyx_Py_Is((ob), Py_None) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsTrue) + #define __Pyx_Py_IsTrue(ob) Py_IsTrue(ob) +#else + #define __Pyx_Py_IsTrue(ob) __Pyx_Py_Is((ob), Py_True) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsFalse) + #define __Pyx_Py_IsFalse(ob) Py_IsFalse(ob) +#else + #define __Pyx_Py_IsFalse(ob) __Pyx_Py_Is((ob), Py_False) +#endif +#define __Pyx_NoneAsNull(obj) (__Pyx_Py_IsNone(obj) ? NULL : (obj)) +#if PY_VERSION_HEX >= 0x030900F0 && !CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyObject_GC_IsFinalized(o) PyObject_GC_IsFinalized(o) +#else + #define __Pyx_PyObject_GC_IsFinalized(o) _PyGC_FINALIZED(o) +#endif +#ifndef CO_COROUTINE + #define CO_COROUTINE 0x80 +#endif +#ifndef CO_ASYNC_GENERATOR + #define CO_ASYNC_GENERATOR 0x200 +#endif +#ifndef Py_TPFLAGS_CHECKTYPES + #define Py_TPFLAGS_CHECKTYPES 0 +#endif +#ifndef Py_TPFLAGS_HAVE_INDEX + #define Py_TPFLAGS_HAVE_INDEX 0 +#endif +#ifndef Py_TPFLAGS_HAVE_NEWBUFFER + #define Py_TPFLAGS_HAVE_NEWBUFFER 0 +#endif +#ifndef Py_TPFLAGS_HAVE_FINALIZE + #define Py_TPFLAGS_HAVE_FINALIZE 0 +#endif +#ifndef Py_TPFLAGS_SEQUENCE + #define Py_TPFLAGS_SEQUENCE 0 +#endif +#ifndef Py_TPFLAGS_MAPPING + #define Py_TPFLAGS_MAPPING 0 +#endif +#ifndef METH_STACKLESS + #define METH_STACKLESS 0 +#endif +#if PY_VERSION_HEX <= 0x030700A3 || !defined(METH_FASTCALL) + #ifndef METH_FASTCALL + #define METH_FASTCALL 0x80 + #endif + typedef PyObject *(*__Pyx_PyCFunctionFast) (PyObject *self, PyObject *const *args, Py_ssize_t nargs); + typedef PyObject *(*__Pyx_PyCFunctionFastWithKeywords) (PyObject *self, PyObject *const *args, + Py_ssize_t nargs, PyObject *kwnames); +#else + #define __Pyx_PyCFunctionFast _PyCFunctionFast + #define __Pyx_PyCFunctionFastWithKeywords _PyCFunctionFastWithKeywords +#endif +#if CYTHON_METH_FASTCALL + #define __Pyx_METH_FASTCALL METH_FASTCALL + #define __Pyx_PyCFunction_FastCall __Pyx_PyCFunctionFast + #define __Pyx_PyCFunction_FastCallWithKeywords __Pyx_PyCFunctionFastWithKeywords +#else + #define __Pyx_METH_FASTCALL METH_VARARGS + #define __Pyx_PyCFunction_FastCall PyCFunction + #define __Pyx_PyCFunction_FastCallWithKeywords PyCFunctionWithKeywords +#endif +#if CYTHON_VECTORCALL + #define __pyx_vectorcallfunc vectorcallfunc + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET PY_VECTORCALL_ARGUMENTS_OFFSET + #define __Pyx_PyVectorcall_NARGS(n) PyVectorcall_NARGS((size_t)(n)) +#elif CYTHON_BACKPORT_VECTORCALL + typedef PyObject *(*__pyx_vectorcallfunc)(PyObject *callable, PyObject *const *args, + size_t nargsf, PyObject *kwnames); + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET ((size_t)1 << (8 * sizeof(size_t) - 1)) + #define __Pyx_PyVectorcall_NARGS(n) ((Py_ssize_t)(((size_t)(n)) & ~__Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET)) +#else + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET 0 + #define __Pyx_PyVectorcall_NARGS(n) ((Py_ssize_t)(n)) +#endif +#if PY_MAJOR_VERSION >= 0x030900B1 +#define __Pyx_PyCFunction_CheckExact(func) PyCFunction_CheckExact(func) +#else +#define __Pyx_PyCFunction_CheckExact(func) PyCFunction_Check(func) +#endif +#define __Pyx_CyOrPyCFunction_Check(func) PyCFunction_Check(func) +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_CyOrPyCFunction_GET_FUNCTION(func) (((PyCFunctionObject*)(func))->m_ml->ml_meth) +#elif !CYTHON_COMPILING_IN_LIMITED_API +#define __Pyx_CyOrPyCFunction_GET_FUNCTION(func) PyCFunction_GET_FUNCTION(func) +#endif +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_CyOrPyCFunction_GET_FLAGS(func) (((PyCFunctionObject*)(func))->m_ml->ml_flags) +static CYTHON_INLINE PyObject* __Pyx_CyOrPyCFunction_GET_SELF(PyObject *func) { + return (__Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_STATIC) ? NULL : ((PyCFunctionObject*)func)->m_self; +} +#endif +static CYTHON_INLINE int __Pyx__IsSameCFunction(PyObject *func, void *cfunc) { +#if CYTHON_COMPILING_IN_LIMITED_API + return PyCFunction_Check(func) && PyCFunction_GetFunction(func) == (PyCFunction) cfunc; +#else + return PyCFunction_Check(func) && PyCFunction_GET_FUNCTION(func) == (PyCFunction) cfunc; +#endif +} +#define __Pyx_IsSameCFunction(func, cfunc) __Pyx__IsSameCFunction(func, cfunc) +#if __PYX_LIMITED_VERSION_HEX < 0x030900B1 + #define __Pyx_PyType_FromModuleAndSpec(m, s, b) ((void)m, PyType_FromSpecWithBases(s, b)) + typedef PyObject *(*__Pyx_PyCMethod)(PyObject *, PyTypeObject *, PyObject *const *, size_t, PyObject *); +#else + #define __Pyx_PyType_FromModuleAndSpec(m, s, b) PyType_FromModuleAndSpec(m, s, b) + #define __Pyx_PyCMethod PyCMethod +#endif +#ifndef METH_METHOD + #define METH_METHOD 0x200 +#endif +#if CYTHON_COMPILING_IN_PYPY && !defined(PyObject_Malloc) + #define PyObject_Malloc(s) PyMem_Malloc(s) + #define PyObject_Free(p) PyMem_Free(p) + #define PyObject_Realloc(p) PyMem_Realloc(p) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0) + #define __Pyx_PyFrame_SetLineNumber(frame, lineno) +#else + #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0) + #define __Pyx_PyFrame_SetLineNumber(frame, lineno) (frame)->f_lineno = (lineno) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyThreadState_Current PyThreadState_Get() +#elif !CYTHON_FAST_THREAD_STATE + #define __Pyx_PyThreadState_Current PyThreadState_GET() +#elif PY_VERSION_HEX >= 0x030d00A1 + #define __Pyx_PyThreadState_Current PyThreadState_GetUnchecked() +#elif PY_VERSION_HEX >= 0x03060000 + #define __Pyx_PyThreadState_Current _PyThreadState_UncheckedGet() +#elif PY_VERSION_HEX >= 0x03000000 + #define __Pyx_PyThreadState_Current PyThreadState_GET() +#else + #define __Pyx_PyThreadState_Current _PyThreadState_Current +#endif +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE void *__Pyx_PyModule_GetState(PyObject *op) +{ + void *result; + result = PyModule_GetState(op); + if (!result) + Py_FatalError("Couldn't find the module state"); + return result; +} +#endif +#define __Pyx_PyObject_GetSlot(obj, name, func_ctype) __Pyx_PyType_GetSlot(Py_TYPE(obj), name, func_ctype) +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyType_GetSlot(type, name, func_ctype) ((func_ctype) PyType_GetSlot((type), Py_##name)) +#else + #define __Pyx_PyType_GetSlot(type, name, func_ctype) ((type)->name) +#endif +#if PY_VERSION_HEX < 0x030700A2 && !defined(PyThread_tss_create) && !defined(Py_tss_NEEDS_INIT) +#include "pythread.h" +#define Py_tss_NEEDS_INIT 0 +typedef int Py_tss_t; +static CYTHON_INLINE int PyThread_tss_create(Py_tss_t *key) { + *key = PyThread_create_key(); + return 0; +} +static CYTHON_INLINE Py_tss_t * PyThread_tss_alloc(void) { + Py_tss_t *key = (Py_tss_t *)PyObject_Malloc(sizeof(Py_tss_t)); + *key = Py_tss_NEEDS_INIT; + return key; +} +static CYTHON_INLINE void PyThread_tss_free(Py_tss_t *key) { + PyObject_Free(key); +} +static CYTHON_INLINE int PyThread_tss_is_created(Py_tss_t *key) { + return *key != Py_tss_NEEDS_INIT; +} +static CYTHON_INLINE void PyThread_tss_delete(Py_tss_t *key) { + PyThread_delete_key(*key); + *key = Py_tss_NEEDS_INIT; +} +static CYTHON_INLINE int PyThread_tss_set(Py_tss_t *key, void *value) { + return PyThread_set_key_value(*key, value); +} +static CYTHON_INLINE void * PyThread_tss_get(Py_tss_t *key) { + return PyThread_get_key_value(*key); +} +#endif +#if PY_MAJOR_VERSION < 3 + #if CYTHON_COMPILING_IN_PYPY + #if PYPY_VERSION_NUM < 0x07030600 + #if defined(__cplusplus) && __cplusplus >= 201402L + [[deprecated("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6")]] + #elif defined(__GNUC__) || defined(__clang__) + __attribute__ ((__deprecated__("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6"))) + #elif defined(_MSC_VER) + __declspec(deprecated("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6")) + #endif + static CYTHON_INLINE int PyGILState_Check(void) { + return 0; + } + #else // PYPY_VERSION_NUM < 0x07030600 + #endif // PYPY_VERSION_NUM < 0x07030600 + #else + static CYTHON_INLINE int PyGILState_Check(void) { + PyThreadState * tstate = _PyThreadState_Current; + return tstate && (tstate == PyGILState_GetThisThreadState()); + } + #endif +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030d0000 || defined(_PyDict_NewPresized) +#define __Pyx_PyDict_NewPresized(n) ((n <= 8) ? PyDict_New() : _PyDict_NewPresized(n)) +#else +#define __Pyx_PyDict_NewPresized(n) PyDict_New() +#endif +#if PY_MAJOR_VERSION >= 3 || CYTHON_FUTURE_DIVISION + #define __Pyx_PyNumber_Divide(x,y) PyNumber_TrueDivide(x,y) + #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceTrueDivide(x,y) +#else + #define __Pyx_PyNumber_Divide(x,y) PyNumber_Divide(x,y) + #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceDivide(x,y) +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX > 0x030600B4 && PY_VERSION_HEX < 0x030d0000 && CYTHON_USE_UNICODE_INTERNALS +#define __Pyx_PyDict_GetItemStrWithError(dict, name) _PyDict_GetItem_KnownHash(dict, name, ((PyASCIIObject *) name)->hash) +static CYTHON_INLINE PyObject * __Pyx_PyDict_GetItemStr(PyObject *dict, PyObject *name) { + PyObject *res = __Pyx_PyDict_GetItemStrWithError(dict, name); + if (res == NULL) PyErr_Clear(); + return res; +} +#elif PY_MAJOR_VERSION >= 3 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07020000) +#define __Pyx_PyDict_GetItemStrWithError PyDict_GetItemWithError +#define __Pyx_PyDict_GetItemStr PyDict_GetItem +#else +static CYTHON_INLINE PyObject * __Pyx_PyDict_GetItemStrWithError(PyObject *dict, PyObject *name) { +#if CYTHON_COMPILING_IN_PYPY + return PyDict_GetItem(dict, name); +#else + PyDictEntry *ep; + PyDictObject *mp = (PyDictObject*) dict; + long hash = ((PyStringObject *) name)->ob_shash; + assert(hash != -1); + ep = (mp->ma_lookup)(mp, name, hash); + if (ep == NULL) { + return NULL; + } + return ep->me_value; +#endif +} +#define __Pyx_PyDict_GetItemStr PyDict_GetItem +#endif +#if CYTHON_USE_TYPE_SLOTS + #define __Pyx_PyType_GetFlags(tp) (((PyTypeObject *)tp)->tp_flags) + #define __Pyx_PyType_HasFeature(type, feature) ((__Pyx_PyType_GetFlags(type) & (feature)) != 0) + #define __Pyx_PyObject_GetIterNextFunc(obj) (Py_TYPE(obj)->tp_iternext) +#else + #define __Pyx_PyType_GetFlags(tp) (PyType_GetFlags((PyTypeObject *)tp)) + #define __Pyx_PyType_HasFeature(type, feature) PyType_HasFeature(type, feature) + #define __Pyx_PyObject_GetIterNextFunc(obj) PyIter_Next +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_SetItemOnTypeDict(tp, k, v) PyObject_GenericSetAttr((PyObject*)tp, k, v) +#else + #define __Pyx_SetItemOnTypeDict(tp, k, v) PyDict_SetItem(tp->tp_dict, k, v) +#endif +#if CYTHON_USE_TYPE_SPECS && PY_VERSION_HEX >= 0x03080000 +#define __Pyx_PyHeapTypeObject_GC_Del(obj) {\ + PyTypeObject *type = Py_TYPE((PyObject*)obj);\ + assert(__Pyx_PyType_HasFeature(type, Py_TPFLAGS_HEAPTYPE));\ + PyObject_GC_Del(obj);\ + Py_DECREF(type);\ +} +#else +#define __Pyx_PyHeapTypeObject_GC_Del(obj) PyObject_GC_Del(obj) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define CYTHON_PEP393_ENABLED 1 + #define __Pyx_PyUnicode_READY(op) (0) + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GetLength(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) PyUnicode_ReadChar(u, i) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) ((void)u, 1114111U) + #define __Pyx_PyUnicode_KIND(u) ((void)u, (0)) + #define __Pyx_PyUnicode_DATA(u) ((void*)u) + #define __Pyx_PyUnicode_READ(k, d, i) ((void)k, PyUnicode_ReadChar((PyObject*)(d), i)) + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GetLength(u)) +#elif PY_VERSION_HEX > 0x03030000 && defined(PyUnicode_KIND) + #define CYTHON_PEP393_ENABLED 1 + #if PY_VERSION_HEX >= 0x030C0000 + #define __Pyx_PyUnicode_READY(op) (0) + #else + #define __Pyx_PyUnicode_READY(op) (likely(PyUnicode_IS_READY(op)) ?\ + 0 : _PyUnicode_Ready((PyObject *)(op))) + #endif + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_LENGTH(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) PyUnicode_READ_CHAR(u, i) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) PyUnicode_MAX_CHAR_VALUE(u) + #define __Pyx_PyUnicode_KIND(u) ((int)PyUnicode_KIND(u)) + #define __Pyx_PyUnicode_DATA(u) PyUnicode_DATA(u) + #define __Pyx_PyUnicode_READ(k, d, i) PyUnicode_READ(k, d, i) + #define __Pyx_PyUnicode_WRITE(k, d, i, ch) PyUnicode_WRITE(k, d, i, (Py_UCS4) ch) + #if PY_VERSION_HEX >= 0x030C0000 + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_LENGTH(u)) + #else + #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x03090000 + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : ((PyCompactUnicodeObject *)(u))->wstr_length)) + #else + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : PyUnicode_GET_SIZE(u))) + #endif + #endif +#else + #define CYTHON_PEP393_ENABLED 0 + #define PyUnicode_1BYTE_KIND 1 + #define PyUnicode_2BYTE_KIND 2 + #define PyUnicode_4BYTE_KIND 4 + #define __Pyx_PyUnicode_READY(op) (0) + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_SIZE(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) ((Py_UCS4)(PyUnicode_AS_UNICODE(u)[i])) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) ((sizeof(Py_UNICODE) == 2) ? 65535U : 1114111U) + #define __Pyx_PyUnicode_KIND(u) ((int)sizeof(Py_UNICODE)) + #define __Pyx_PyUnicode_DATA(u) ((void*)PyUnicode_AS_UNICODE(u)) + #define __Pyx_PyUnicode_READ(k, d, i) ((void)(k), (Py_UCS4)(((Py_UNICODE*)d)[i])) + #define __Pyx_PyUnicode_WRITE(k, d, i, ch) (((void)(k)), ((Py_UNICODE*)d)[i] = (Py_UNICODE) ch) + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_SIZE(u)) +#endif +#if CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyUnicode_Concat(a, b) PyNumber_Add(a, b) + #define __Pyx_PyUnicode_ConcatSafe(a, b) PyNumber_Add(a, b) +#else + #define __Pyx_PyUnicode_Concat(a, b) PyUnicode_Concat(a, b) + #define __Pyx_PyUnicode_ConcatSafe(a, b) ((unlikely((a) == Py_None) || unlikely((b) == Py_None)) ?\ + PyNumber_Add(a, b) : __Pyx_PyUnicode_Concat(a, b)) +#endif +#if CYTHON_COMPILING_IN_PYPY + #if !defined(PyUnicode_DecodeUnicodeEscape) + #define PyUnicode_DecodeUnicodeEscape(s, size, errors) PyUnicode_Decode(s, size, "unicode_escape", errors) + #endif + #if !defined(PyUnicode_Contains) || (PY_MAJOR_VERSION == 2 && PYPY_VERSION_NUM < 0x07030500) + #undef PyUnicode_Contains + #define PyUnicode_Contains(u, s) PySequence_Contains(u, s) + #endif + #if !defined(PyByteArray_Check) + #define PyByteArray_Check(obj) PyObject_TypeCheck(obj, &PyByteArray_Type) + #endif + #if !defined(PyObject_Format) + #define PyObject_Format(obj, fmt) PyObject_CallMethod(obj, "__format__", "O", fmt) + #endif +#endif +#define __Pyx_PyString_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyString_Check(b) && !PyString_CheckExact(b)))) ? PyNumber_Remainder(a, b) : __Pyx_PyString_Format(a, b)) +#define __Pyx_PyUnicode_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyUnicode_Check(b) && !PyUnicode_CheckExact(b)))) ? PyNumber_Remainder(a, b) : PyUnicode_Format(a, b)) +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyString_Format(a, b) PyUnicode_Format(a, b) +#else + #define __Pyx_PyString_Format(a, b) PyString_Format(a, b) +#endif +#if PY_MAJOR_VERSION < 3 && !defined(PyObject_ASCII) + #define PyObject_ASCII(o) PyObject_Repr(o) +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyBaseString_Type PyUnicode_Type + #define PyStringObject PyUnicodeObject + #define PyString_Type PyUnicode_Type + #define PyString_Check PyUnicode_Check + #define PyString_CheckExact PyUnicode_CheckExact +#ifndef PyObject_Unicode + #define PyObject_Unicode PyObject_Str +#endif +#endif +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyBaseString_Check(obj) PyUnicode_Check(obj) + #define __Pyx_PyBaseString_CheckExact(obj) PyUnicode_CheckExact(obj) +#else + #define __Pyx_PyBaseString_Check(obj) (PyString_Check(obj) || PyUnicode_Check(obj)) + #define __Pyx_PyBaseString_CheckExact(obj) (PyString_CheckExact(obj) || PyUnicode_CheckExact(obj)) +#endif +#if CYTHON_COMPILING_IN_CPYTHON + #define __Pyx_PySequence_ListKeepNew(obj)\ + (likely(PyList_CheckExact(obj) && Py_REFCNT(obj) == 1) ? __Pyx_NewRef(obj) : PySequence_List(obj)) +#else + #define __Pyx_PySequence_ListKeepNew(obj) PySequence_List(obj) +#endif +#ifndef PySet_CheckExact + #define PySet_CheckExact(obj) __Pyx_IS_TYPE(obj, &PySet_Type) +#endif +#if PY_VERSION_HEX >= 0x030900A4 + #define __Pyx_SET_REFCNT(obj, refcnt) Py_SET_REFCNT(obj, refcnt) + #define __Pyx_SET_SIZE(obj, size) Py_SET_SIZE(obj, size) +#else + #define __Pyx_SET_REFCNT(obj, refcnt) Py_REFCNT(obj) = (refcnt) + #define __Pyx_SET_SIZE(obj, size) Py_SIZE(obj) = (size) +#endif +#if CYTHON_ASSUME_SAFE_MACROS + #define __Pyx_PySequence_ITEM(o, i) PySequence_ITEM(o, i) + #define __Pyx_PySequence_SIZE(seq) Py_SIZE(seq) + #define __Pyx_PyTuple_SET_ITEM(o, i, v) (PyTuple_SET_ITEM(o, i, v), (0)) + #define __Pyx_PyList_SET_ITEM(o, i, v) (PyList_SET_ITEM(o, i, v), (0)) + #define __Pyx_PyTuple_GET_SIZE(o) PyTuple_GET_SIZE(o) + #define __Pyx_PyList_GET_SIZE(o) PyList_GET_SIZE(o) + #define __Pyx_PySet_GET_SIZE(o) PySet_GET_SIZE(o) + #define __Pyx_PyBytes_GET_SIZE(o) PyBytes_GET_SIZE(o) + #define __Pyx_PyByteArray_GET_SIZE(o) PyByteArray_GET_SIZE(o) +#else + #define __Pyx_PySequence_ITEM(o, i) PySequence_GetItem(o, i) + #define __Pyx_PySequence_SIZE(seq) PySequence_Size(seq) + #define __Pyx_PyTuple_SET_ITEM(o, i, v) PyTuple_SetItem(o, i, v) + #define __Pyx_PyList_SET_ITEM(o, i, v) PyList_SetItem(o, i, v) + #define __Pyx_PyTuple_GET_SIZE(o) PyTuple_Size(o) + #define __Pyx_PyList_GET_SIZE(o) PyList_Size(o) + #define __Pyx_PySet_GET_SIZE(o) PySet_Size(o) + #define __Pyx_PyBytes_GET_SIZE(o) PyBytes_Size(o) + #define __Pyx_PyByteArray_GET_SIZE(o) PyByteArray_Size(o) +#endif +#if PY_VERSION_HEX >= 0x030d00A1 + #define __Pyx_PyImport_AddModuleRef(name) PyImport_AddModuleRef(name) +#else + static CYTHON_INLINE PyObject *__Pyx_PyImport_AddModuleRef(const char *name) { + PyObject *module = PyImport_AddModule(name); + Py_XINCREF(module); + return module; + } +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyIntObject PyLongObject + #define PyInt_Type PyLong_Type + #define PyInt_Check(op) PyLong_Check(op) + #define PyInt_CheckExact(op) PyLong_CheckExact(op) + #define __Pyx_Py3Int_Check(op) PyLong_Check(op) + #define __Pyx_Py3Int_CheckExact(op) PyLong_CheckExact(op) + #define PyInt_FromString PyLong_FromString + #define PyInt_FromUnicode PyLong_FromUnicode + #define PyInt_FromLong PyLong_FromLong + #define PyInt_FromSize_t PyLong_FromSize_t + #define PyInt_FromSsize_t PyLong_FromSsize_t + #define PyInt_AsLong PyLong_AsLong + #define PyInt_AS_LONG PyLong_AS_LONG + #define PyInt_AsSsize_t PyLong_AsSsize_t + #define PyInt_AsUnsignedLongMask PyLong_AsUnsignedLongMask + #define PyInt_AsUnsignedLongLongMask PyLong_AsUnsignedLongLongMask + #define PyNumber_Int PyNumber_Long +#else + #define __Pyx_Py3Int_Check(op) (PyLong_Check(op) || PyInt_Check(op)) + #define __Pyx_Py3Int_CheckExact(op) (PyLong_CheckExact(op) || PyInt_CheckExact(op)) +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyBoolObject PyLongObject +#endif +#if PY_MAJOR_VERSION >= 3 && CYTHON_COMPILING_IN_PYPY + #ifndef PyUnicode_InternFromString + #define PyUnicode_InternFromString(s) PyUnicode_FromString(s) + #endif +#endif +#if PY_VERSION_HEX < 0x030200A4 + typedef long Py_hash_t; + #define __Pyx_PyInt_FromHash_t PyInt_FromLong + #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsHash_t +#else + #define __Pyx_PyInt_FromHash_t PyInt_FromSsize_t + #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsSsize_t +#endif +#if CYTHON_USE_ASYNC_SLOTS + #if PY_VERSION_HEX >= 0x030500B1 + #define __Pyx_PyAsyncMethodsStruct PyAsyncMethods + #define __Pyx_PyType_AsAsync(obj) (Py_TYPE(obj)->tp_as_async) + #else + #define __Pyx_PyType_AsAsync(obj) ((__Pyx_PyAsyncMethodsStruct*) (Py_TYPE(obj)->tp_reserved)) + #endif +#else + #define __Pyx_PyType_AsAsync(obj) NULL +#endif +#ifndef __Pyx_PyAsyncMethodsStruct + typedef struct { + unaryfunc am_await; + unaryfunc am_aiter; + unaryfunc am_anext; + } __Pyx_PyAsyncMethodsStruct; +#endif + +#if defined(_WIN32) || defined(WIN32) || defined(MS_WINDOWS) + #if !defined(_USE_MATH_DEFINES) + #define _USE_MATH_DEFINES + #endif +#endif +#include +#ifdef NAN +#define __PYX_NAN() ((float) NAN) +#else +static CYTHON_INLINE float __PYX_NAN() { + float value; + memset(&value, 0xFF, sizeof(value)); + return value; +} +#endif +#if defined(__CYGWIN__) && defined(_LDBL_EQ_DBL) +#define __Pyx_truncl trunc +#else +#define __Pyx_truncl truncl +#endif + +#define __PYX_MARK_ERR_POS(f_index, lineno) \ + { __pyx_filename = __pyx_f[f_index]; (void)__pyx_filename; __pyx_lineno = lineno; (void)__pyx_lineno; __pyx_clineno = __LINE__; (void)__pyx_clineno; } +#define __PYX_ERR(f_index, lineno, Ln_error) \ + { __PYX_MARK_ERR_POS(f_index, lineno) goto Ln_error; } + +#ifdef CYTHON_EXTERN_C + #undef __PYX_EXTERN_C + #define __PYX_EXTERN_C CYTHON_EXTERN_C +#elif defined(__PYX_EXTERN_C) + #ifdef _MSC_VER + #pragma message ("Please do not define the '__PYX_EXTERN_C' macro externally. Use 'CYTHON_EXTERN_C' instead.") + #else + #warning Please do not define the '__PYX_EXTERN_C' macro externally. Use 'CYTHON_EXTERN_C' instead. + #endif +#else + #define __PYX_EXTERN_C extern "C++" +#endif + +#define __PYX_HAVE__selfdrive__modeld__runners__runmodel_pyx +#define __PYX_HAVE_API__selfdrive__modeld__runners__runmodel_pyx +/* Early includes */ +#include +#include +#include "ios" +#include "new" +#include "stdexcept" +#include "typeinfo" +#include "selfdrive/modeld/runners/runmodel.h" +#include +#include + + #if __cplusplus >= 201103L || (defined(_MSC_VER) && _MSC_VER >= 1600) + // move should be defined for these versions of MSVC, but __cplusplus isn't set usefully + #include + + namespace cython_std { + template typename std::remove_reference::type&& move(T& t) noexcept { return std::move(t); } + template typename std::remove_reference::type&& move(T&& t) noexcept { return std::move(t); } + } + + #endif + +#include +#include +#include "msgq/visionipc/visionbuf.h" +#include "msgq/visionipc/visionipc.h" +#include "msgq/visionipc/visionipc_server.h" +#include "msgq/visionipc/visionipc_client.h" +#include "pythread.h" +#include +#ifdef _OPENMP +#include +#endif /* _OPENMP */ + +#if defined(PYREX_WITHOUT_ASSERTIONS) && !defined(CYTHON_WITHOUT_ASSERTIONS) +#define CYTHON_WITHOUT_ASSERTIONS +#endif + +typedef struct {PyObject **p; const char *s; const Py_ssize_t n; const char* encoding; + const char is_unicode; const char is_str; const char intern; } __Pyx_StringTabEntry; + +#define __PYX_DEFAULT_STRING_ENCODING_IS_ASCII 1 +#define __PYX_DEFAULT_STRING_ENCODING_IS_UTF8 0 +#define __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT (PY_MAJOR_VERSION >= 3 && __PYX_DEFAULT_STRING_ENCODING_IS_UTF8) +#define __PYX_DEFAULT_STRING_ENCODING "ascii" +#define __Pyx_PyObject_FromString __Pyx_PyBytes_FromString +#define __Pyx_PyObject_FromStringAndSize __Pyx_PyBytes_FromStringAndSize +#define __Pyx_uchar_cast(c) ((unsigned char)c) +#define __Pyx_long_cast(x) ((long)x) +#define __Pyx_fits_Py_ssize_t(v, type, is_signed) (\ + (sizeof(type) < sizeof(Py_ssize_t)) ||\ + (sizeof(type) > sizeof(Py_ssize_t) &&\ + likely(v < (type)PY_SSIZE_T_MAX ||\ + v == (type)PY_SSIZE_T_MAX) &&\ + (!is_signed || likely(v > (type)PY_SSIZE_T_MIN ||\ + v == (type)PY_SSIZE_T_MIN))) ||\ + (sizeof(type) == sizeof(Py_ssize_t) &&\ + (is_signed || likely(v < (type)PY_SSIZE_T_MAX ||\ + v == (type)PY_SSIZE_T_MAX))) ) +static CYTHON_INLINE int __Pyx_is_valid_index(Py_ssize_t i, Py_ssize_t limit) { + return (size_t) i < (size_t) limit; +} +#if defined (__cplusplus) && __cplusplus >= 201103L + #include + #define __Pyx_sst_abs(value) std::abs(value) +#elif SIZEOF_INT >= SIZEOF_SIZE_T + #define __Pyx_sst_abs(value) abs(value) +#elif SIZEOF_LONG >= SIZEOF_SIZE_T + #define __Pyx_sst_abs(value) labs(value) +#elif defined (_MSC_VER) + #define __Pyx_sst_abs(value) ((Py_ssize_t)_abs64(value)) +#elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define __Pyx_sst_abs(value) llabs(value) +#elif defined (__GNUC__) + #define __Pyx_sst_abs(value) __builtin_llabs(value) +#else + #define __Pyx_sst_abs(value) ((value<0) ? -value : value) +#endif +static CYTHON_INLINE Py_ssize_t __Pyx_ssize_strlen(const char *s); +static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject*); +static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject*, Py_ssize_t* length); +static CYTHON_INLINE PyObject* __Pyx_PyByteArray_FromString(const char*); +#define __Pyx_PyByteArray_FromStringAndSize(s, l) PyByteArray_FromStringAndSize((const char*)s, l) +#define __Pyx_PyBytes_FromString PyBytes_FromString +#define __Pyx_PyBytes_FromStringAndSize PyBytes_FromStringAndSize +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char*); +#if PY_MAJOR_VERSION < 3 + #define __Pyx_PyStr_FromString __Pyx_PyBytes_FromString + #define __Pyx_PyStr_FromStringAndSize __Pyx_PyBytes_FromStringAndSize +#else + #define __Pyx_PyStr_FromString __Pyx_PyUnicode_FromString + #define __Pyx_PyStr_FromStringAndSize __Pyx_PyUnicode_FromStringAndSize +#endif +#define __Pyx_PyBytes_AsWritableString(s) ((char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsWritableSString(s) ((signed char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsWritableUString(s) ((unsigned char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsString(s) ((const char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsSString(s) ((const signed char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsUString(s) ((const unsigned char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyObject_AsWritableString(s) ((char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsWritableSString(s) ((signed char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsWritableUString(s) ((unsigned char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsSString(s) ((const signed char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsUString(s) ((const unsigned char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_FromCString(s) __Pyx_PyObject_FromString((const char*)s) +#define __Pyx_PyBytes_FromCString(s) __Pyx_PyBytes_FromString((const char*)s) +#define __Pyx_PyByteArray_FromCString(s) __Pyx_PyByteArray_FromString((const char*)s) +#define __Pyx_PyStr_FromCString(s) __Pyx_PyStr_FromString((const char*)s) +#define __Pyx_PyUnicode_FromCString(s) __Pyx_PyUnicode_FromString((const char*)s) +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE size_t __Pyx_Py_UNICODE_strlen(const wchar_t *u) +{ + const wchar_t *u_end = u; + while (*u_end++) ; + return (size_t)(u_end - u - 1); +} +#else +static CYTHON_INLINE size_t __Pyx_Py_UNICODE_strlen(const Py_UNICODE *u) +{ + const Py_UNICODE *u_end = u; + while (*u_end++) ; + return (size_t)(u_end - u - 1); +} +#endif +#define __Pyx_PyUnicode_FromOrdinal(o) PyUnicode_FromOrdinal((int)o) +#define __Pyx_PyUnicode_FromUnicode(u) PyUnicode_FromUnicode(u, __Pyx_Py_UNICODE_strlen(u)) +#define __Pyx_PyUnicode_FromUnicodeAndLength PyUnicode_FromUnicode +#define __Pyx_PyUnicode_AsUnicode PyUnicode_AsUnicode +#define __Pyx_NewRef(obj) (Py_INCREF(obj), obj) +#define __Pyx_Owned_Py_None(b) __Pyx_NewRef(Py_None) +static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b); +static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject*); +static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject*); +static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x); +#define __Pyx_PySequence_Tuple(obj)\ + (likely(PyTuple_CheckExact(obj)) ? __Pyx_NewRef(obj) : PySequence_Tuple(obj)) +static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject*); +static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t); +static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject*); +#if CYTHON_ASSUME_SAFE_MACROS +#define __pyx_PyFloat_AsDouble(x) (PyFloat_CheckExact(x) ? PyFloat_AS_DOUBLE(x) : PyFloat_AsDouble(x)) +#else +#define __pyx_PyFloat_AsDouble(x) PyFloat_AsDouble(x) +#endif +#define __pyx_PyFloat_AsFloat(x) ((float) __pyx_PyFloat_AsDouble(x)) +#if PY_MAJOR_VERSION >= 3 +#define __Pyx_PyNumber_Int(x) (PyLong_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Long(x)) +#else +#define __Pyx_PyNumber_Int(x) (PyInt_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Int(x)) +#endif +#if CYTHON_USE_PYLONG_INTERNALS + #if PY_VERSION_HEX >= 0x030C00A7 + #ifndef _PyLong_SIGN_MASK + #define _PyLong_SIGN_MASK 3 + #endif + #ifndef _PyLong_NON_SIZE_BITS + #define _PyLong_NON_SIZE_BITS 3 + #endif + #define __Pyx_PyLong_Sign(x) (((PyLongObject*)x)->long_value.lv_tag & _PyLong_SIGN_MASK) + #define __Pyx_PyLong_IsNeg(x) ((__Pyx_PyLong_Sign(x) & 2) != 0) + #define __Pyx_PyLong_IsNonNeg(x) (!__Pyx_PyLong_IsNeg(x)) + #define __Pyx_PyLong_IsZero(x) (__Pyx_PyLong_Sign(x) & 1) + #define __Pyx_PyLong_IsPos(x) (__Pyx_PyLong_Sign(x) == 0) + #define __Pyx_PyLong_CompactValueUnsigned(x) (__Pyx_PyLong_Digits(x)[0]) + #define __Pyx_PyLong_DigitCount(x) ((Py_ssize_t) (((PyLongObject*)x)->long_value.lv_tag >> _PyLong_NON_SIZE_BITS)) + #define __Pyx_PyLong_SignedDigitCount(x)\ + ((1 - (Py_ssize_t) __Pyx_PyLong_Sign(x)) * __Pyx_PyLong_DigitCount(x)) + #if defined(PyUnstable_Long_IsCompact) && defined(PyUnstable_Long_CompactValue) + #define __Pyx_PyLong_IsCompact(x) PyUnstable_Long_IsCompact((PyLongObject*) x) + #define __Pyx_PyLong_CompactValue(x) PyUnstable_Long_CompactValue((PyLongObject*) x) + #else + #define __Pyx_PyLong_IsCompact(x) (((PyLongObject*)x)->long_value.lv_tag < (2 << _PyLong_NON_SIZE_BITS)) + #define __Pyx_PyLong_CompactValue(x) ((1 - (Py_ssize_t) __Pyx_PyLong_Sign(x)) * (Py_ssize_t) __Pyx_PyLong_Digits(x)[0]) + #endif + typedef Py_ssize_t __Pyx_compact_pylong; + typedef size_t __Pyx_compact_upylong; + #else + #define __Pyx_PyLong_IsNeg(x) (Py_SIZE(x) < 0) + #define __Pyx_PyLong_IsNonNeg(x) (Py_SIZE(x) >= 0) + #define __Pyx_PyLong_IsZero(x) (Py_SIZE(x) == 0) + #define __Pyx_PyLong_IsPos(x) (Py_SIZE(x) > 0) + #define __Pyx_PyLong_CompactValueUnsigned(x) ((Py_SIZE(x) == 0) ? 0 : __Pyx_PyLong_Digits(x)[0]) + #define __Pyx_PyLong_DigitCount(x) __Pyx_sst_abs(Py_SIZE(x)) + #define __Pyx_PyLong_SignedDigitCount(x) Py_SIZE(x) + #define __Pyx_PyLong_IsCompact(x) (Py_SIZE(x) == 0 || Py_SIZE(x) == 1 || Py_SIZE(x) == -1) + #define __Pyx_PyLong_CompactValue(x)\ + ((Py_SIZE(x) == 0) ? (sdigit) 0 : ((Py_SIZE(x) < 0) ? -(sdigit)__Pyx_PyLong_Digits(x)[0] : (sdigit)__Pyx_PyLong_Digits(x)[0])) + typedef sdigit __Pyx_compact_pylong; + typedef digit __Pyx_compact_upylong; + #endif + #if PY_VERSION_HEX >= 0x030C00A5 + #define __Pyx_PyLong_Digits(x) (((PyLongObject*)x)->long_value.ob_digit) + #else + #define __Pyx_PyLong_Digits(x) (((PyLongObject*)x)->ob_digit) + #endif +#endif +#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII +#include +static int __Pyx_sys_getdefaultencoding_not_ascii; +static int __Pyx_init_sys_getdefaultencoding_params(void) { + PyObject* sys; + PyObject* default_encoding = NULL; + PyObject* ascii_chars_u = NULL; + PyObject* ascii_chars_b = NULL; + const char* default_encoding_c; + sys = PyImport_ImportModule("sys"); + if (!sys) goto bad; + default_encoding = PyObject_CallMethod(sys, (char*) "getdefaultencoding", NULL); + Py_DECREF(sys); + if (!default_encoding) goto bad; + default_encoding_c = PyBytes_AsString(default_encoding); + if (!default_encoding_c) goto bad; + if (strcmp(default_encoding_c, "ascii") == 0) { + __Pyx_sys_getdefaultencoding_not_ascii = 0; + } else { + char ascii_chars[128]; + int c; + for (c = 0; c < 128; c++) { + ascii_chars[c] = (char) c; + } + __Pyx_sys_getdefaultencoding_not_ascii = 1; + ascii_chars_u = PyUnicode_DecodeASCII(ascii_chars, 128, NULL); + if (!ascii_chars_u) goto bad; + ascii_chars_b = PyUnicode_AsEncodedString(ascii_chars_u, default_encoding_c, NULL); + if (!ascii_chars_b || !PyBytes_Check(ascii_chars_b) || memcmp(ascii_chars, PyBytes_AS_STRING(ascii_chars_b), 128) != 0) { + PyErr_Format( + PyExc_ValueError, + "This module compiled with c_string_encoding=ascii, but default encoding '%.200s' is not a superset of ascii.", + default_encoding_c); + goto bad; + } + Py_DECREF(ascii_chars_u); + Py_DECREF(ascii_chars_b); + } + Py_DECREF(default_encoding); + return 0; +bad: + Py_XDECREF(default_encoding); + Py_XDECREF(ascii_chars_u); + Py_XDECREF(ascii_chars_b); + return -1; +} +#endif +#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT && PY_MAJOR_VERSION >= 3 +#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_DecodeUTF8(c_str, size, NULL) +#else +#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_Decode(c_str, size, __PYX_DEFAULT_STRING_ENCODING, NULL) +#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT +#include +static char* __PYX_DEFAULT_STRING_ENCODING; +static int __Pyx_init_sys_getdefaultencoding_params(void) { + PyObject* sys; + PyObject* default_encoding = NULL; + char* default_encoding_c; + sys = PyImport_ImportModule("sys"); + if (!sys) goto bad; + default_encoding = PyObject_CallMethod(sys, (char*) (const char*) "getdefaultencoding", NULL); + Py_DECREF(sys); + if (!default_encoding) goto bad; + default_encoding_c = PyBytes_AsString(default_encoding); + if (!default_encoding_c) goto bad; + __PYX_DEFAULT_STRING_ENCODING = (char*) malloc(strlen(default_encoding_c) + 1); + if (!__PYX_DEFAULT_STRING_ENCODING) goto bad; + strcpy(__PYX_DEFAULT_STRING_ENCODING, default_encoding_c); + Py_DECREF(default_encoding); + return 0; +bad: + Py_XDECREF(default_encoding); + return -1; +} +#endif +#endif + + +/* Test for GCC > 2.95 */ +#if defined(__GNUC__) && (__GNUC__ > 2 || (__GNUC__ == 2 && (__GNUC_MINOR__ > 95))) + #define likely(x) __builtin_expect(!!(x), 1) + #define unlikely(x) __builtin_expect(!!(x), 0) +#else /* !__GNUC__ or GCC < 2.95 */ + #define likely(x) (x) + #define unlikely(x) (x) +#endif /* __GNUC__ */ +static CYTHON_INLINE void __Pyx_pretend_to_initialize(void* ptr) { (void)ptr; } + +#if !CYTHON_USE_MODULE_STATE +static PyObject *__pyx_m = NULL; +#endif +static int __pyx_lineno; +static int __pyx_clineno = 0; +static const char * __pyx_cfilenm = __FILE__; +static const char *__pyx_filename; + +/* #### Code section: filename_table ### */ + +static const char *__pyx_f[] = { + "", + "selfdrive/modeld/runners/runmodel_pyx.pyx", + "msgq/visionipc/visionipc_pyx.pxd", + "selfdrive/modeld/models/commonmodel_pyx.pxd", +}; +/* #### Code section: utility_code_proto_before_types ### */ +/* ForceInitThreads.proto */ +#ifndef __PYX_FORCE_INIT_THREADS + #define __PYX_FORCE_INIT_THREADS 0 +#endif + +/* NoFastGil.proto */ +#define __Pyx_PyGILState_Ensure PyGILState_Ensure +#define __Pyx_PyGILState_Release PyGILState_Release +#define __Pyx_FastGIL_Remember() +#define __Pyx_FastGIL_Forget() +#define __Pyx_FastGilFuncInit() + +/* BufferFormatStructs.proto */ +struct __Pyx_StructField_; +#define __PYX_BUF_FLAGS_PACKED_STRUCT (1 << 0) +typedef struct { + const char* name; + struct __Pyx_StructField_* fields; + size_t size; + size_t arraysize[8]; + int ndim; + char typegroup; + char is_unsigned; + int flags; +} __Pyx_TypeInfo; +typedef struct __Pyx_StructField_ { + __Pyx_TypeInfo* type; + const char* name; + size_t offset; +} __Pyx_StructField; +typedef struct { + __Pyx_StructField* field; + size_t parent_offset; +} __Pyx_BufFmt_StackElem; +typedef struct { + __Pyx_StructField root; + __Pyx_BufFmt_StackElem* head; + size_t fmt_offset; + size_t new_count, enc_count; + size_t struct_alignment; + int is_complex; + char enc_type; + char new_packmode; + char enc_packmode; + char is_valid_array; +} __Pyx_BufFmt_Context; + +/* Atomics.proto */ +#include +#ifndef CYTHON_ATOMICS + #define CYTHON_ATOMICS 1 +#endif +#define __PYX_CYTHON_ATOMICS_ENABLED() CYTHON_ATOMICS +#define __pyx_atomic_int_type int +#define __pyx_nonatomic_int_type int +#if CYTHON_ATOMICS && (defined(__STDC_VERSION__) &&\ + (__STDC_VERSION__ >= 201112L) &&\ + !defined(__STDC_NO_ATOMICS__)) + #include +#elif CYTHON_ATOMICS && (defined(__cplusplus) && (\ + (__cplusplus >= 201103L) ||\ + (defined(_MSC_VER) && _MSC_VER >= 1700))) + #include +#endif +#if CYTHON_ATOMICS && (defined(__STDC_VERSION__) &&\ + (__STDC_VERSION__ >= 201112L) &&\ + !defined(__STDC_NO_ATOMICS__) &&\ + ATOMIC_INT_LOCK_FREE == 2) + #undef __pyx_atomic_int_type + #define __pyx_atomic_int_type atomic_int + #define __pyx_atomic_incr_aligned(value) atomic_fetch_add_explicit(value, 1, memory_order_relaxed) + #define __pyx_atomic_decr_aligned(value) atomic_fetch_sub_explicit(value, 1, memory_order_acq_rel) + #if defined(__PYX_DEBUG_ATOMICS) && defined(_MSC_VER) + #pragma message ("Using standard C atomics") + #elif defined(__PYX_DEBUG_ATOMICS) + #warning "Using standard C atomics" + #endif +#elif CYTHON_ATOMICS && (defined(__cplusplus) && (\ + (__cplusplus >= 201103L) ||\ +\ + (defined(_MSC_VER) && _MSC_VER >= 1700)) &&\ + ATOMIC_INT_LOCK_FREE == 2) + #undef __pyx_atomic_int_type + #define __pyx_atomic_int_type std::atomic_int + #define __pyx_atomic_incr_aligned(value) std::atomic_fetch_add_explicit(value, 1, std::memory_order_relaxed) + #define __pyx_atomic_decr_aligned(value) std::atomic_fetch_sub_explicit(value, 1, std::memory_order_acq_rel) + #if defined(__PYX_DEBUG_ATOMICS) && defined(_MSC_VER) + #pragma message ("Using standard C++ atomics") + #elif defined(__PYX_DEBUG_ATOMICS) + #warning "Using standard C++ atomics" + #endif +#elif CYTHON_ATOMICS && (__GNUC__ >= 5 || (__GNUC__ == 4 &&\ + (__GNUC_MINOR__ > 1 ||\ + (__GNUC_MINOR__ == 1 && __GNUC_PATCHLEVEL__ >= 2)))) + #define __pyx_atomic_incr_aligned(value) __sync_fetch_and_add(value, 1) + #define __pyx_atomic_decr_aligned(value) __sync_fetch_and_sub(value, 1) + #ifdef __PYX_DEBUG_ATOMICS + #warning "Using GNU atomics" + #endif +#elif CYTHON_ATOMICS && defined(_MSC_VER) + #include + #undef __pyx_atomic_int_type + #define __pyx_atomic_int_type long + #undef __pyx_nonatomic_int_type + #define __pyx_nonatomic_int_type long + #pragma intrinsic (_InterlockedExchangeAdd) + #define __pyx_atomic_incr_aligned(value) _InterlockedExchangeAdd(value, 1) + #define __pyx_atomic_decr_aligned(value) _InterlockedExchangeAdd(value, -1) + #ifdef __PYX_DEBUG_ATOMICS + #pragma message ("Using MSVC atomics") + #endif +#else + #undef CYTHON_ATOMICS + #define CYTHON_ATOMICS 0 + #ifdef __PYX_DEBUG_ATOMICS + #warning "Not using atomics" + #endif +#endif +#if CYTHON_ATOMICS + #define __pyx_add_acquisition_count(memview)\ + __pyx_atomic_incr_aligned(__pyx_get_slice_count_pointer(memview)) + #define __pyx_sub_acquisition_count(memview)\ + __pyx_atomic_decr_aligned(__pyx_get_slice_count_pointer(memview)) +#else + #define __pyx_add_acquisition_count(memview)\ + __pyx_add_acquisition_count_locked(__pyx_get_slice_count_pointer(memview), memview->lock) + #define __pyx_sub_acquisition_count(memview)\ + __pyx_sub_acquisition_count_locked(__pyx_get_slice_count_pointer(memview), memview->lock) +#endif + +/* MemviewSliceStruct.proto */ +struct __pyx_memoryview_obj; +typedef struct { + struct __pyx_memoryview_obj *memview; + char *data; + Py_ssize_t shape[8]; + Py_ssize_t strides[8]; + Py_ssize_t suboffsets[8]; +} __Pyx_memviewslice; +#define __Pyx_MemoryView_Len(m) (m.shape[0]) + +/* #### Code section: numeric_typedefs ### */ +/* #### Code section: complex_type_declarations ### */ +/* #### Code section: type_declarations ### */ + +/*--- Type declarations ---*/ +struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_CLContext; +struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionBuf; +struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext; +struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem; +struct __pyx_obj_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel; +struct __pyx_array_obj; +struct __pyx_MemviewEnum_obj; +struct __pyx_memoryview_obj; +struct __pyx_memoryviewslice_obj; + +/* "msgq/visionipc/visionipc_pyx.pxd":7 + * from .visionipc cimport cl_device_id, cl_context + * + * cdef class CLContext: # <<<<<<<<<<<<<< + * cdef cl_device_id device_id + * cdef cl_context context + */ +struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_CLContext { + PyObject_HEAD + cl_device_id device_id; + cl_context context; +}; + + +/* "msgq/visionipc/visionipc_pyx.pxd":11 + * cdef cl_context context + * + * cdef class VisionBuf: # <<<<<<<<<<<<<< + * cdef cppVisionBuf * buf + * + */ +struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionBuf { + PyObject_HEAD + struct __pyx_vtabstruct_4msgq_9visionipc_13visionipc_pyx_VisionBuf *__pyx_vtab; + VisionBuf *buf; +}; + + +/* "selfdrive/modeld/models/commonmodel_pyx.pxd":6 + * from msgq.visionipc.visionipc_pyx cimport CLContext as BaseCLContext + * + * cdef class CLContext(BaseCLContext): # <<<<<<<<<<<<<< + * pass + * + */ +struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext { + struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_CLContext __pyx_base; +}; + + +/* "selfdrive/modeld/models/commonmodel_pyx.pxd":9 + * pass + * + * cdef class CLMem: # <<<<<<<<<<<<<< + * cdef cl_mem * mem + * + */ +struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem { + PyObject_HEAD + struct __pyx_vtabstruct_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem *__pyx_vtab; + cl_mem *mem; +}; + + +/* "selfdrive/modeld/runners/runmodel_pyx.pxd":5 + * from .runmodel cimport RunModel as cppRunModel + * + * cdef class RunModel: # <<<<<<<<<<<<<< + * cdef cppRunModel * model + */ +struct __pyx_obj_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel { + PyObject_HEAD + RunModel *model; +}; + + +/* "View.MemoryView":114 + * @cython.collection_type("sequence") + * @cname("__pyx_array") + * cdef class array: # <<<<<<<<<<<<<< + * + * cdef: + */ +struct __pyx_array_obj { + PyObject_HEAD + struct __pyx_vtabstruct_array *__pyx_vtab; + char *data; + Py_ssize_t len; + char *format; + int ndim; + Py_ssize_t *_shape; + Py_ssize_t *_strides; + Py_ssize_t itemsize; + PyObject *mode; + PyObject *_format; + void (*callback_free_data)(void *); + int free_data; + int dtype_is_object; +}; + + +/* "View.MemoryView":302 + * + * @cname('__pyx_MemviewEnum') + * cdef class Enum(object): # <<<<<<<<<<<<<< + * cdef object name + * def __init__(self, name): + */ +struct __pyx_MemviewEnum_obj { + PyObject_HEAD + PyObject *name; +}; + + +/* "View.MemoryView":337 + * + * @cname('__pyx_memoryview') + * cdef class memoryview: # <<<<<<<<<<<<<< + * + * cdef object obj + */ +struct __pyx_memoryview_obj { + PyObject_HEAD + struct __pyx_vtabstruct_memoryview *__pyx_vtab; + PyObject *obj; + PyObject *_size; + PyObject *_array_interface; + PyThread_type_lock lock; + __pyx_atomic_int_type acquisition_count; + Py_buffer view; + int flags; + int dtype_is_object; + __Pyx_TypeInfo *typeinfo; +}; + + +/* "View.MemoryView":952 + * @cython.collection_type("sequence") + * @cname('__pyx_memoryviewslice') + * cdef class _memoryviewslice(memoryview): # <<<<<<<<<<<<<< + * "Internal class for passing memoryview slices to Python" + * + */ +struct __pyx_memoryviewslice_obj { + struct __pyx_memoryview_obj __pyx_base; + __Pyx_memviewslice from_slice; + PyObject *from_object; + PyObject *(*to_object_func)(char *); + int (*to_dtype_func)(char *, PyObject *); +}; + + + +/* "msgq/visionipc/visionipc_pyx.pxd":11 + * cdef cl_context context + * + * cdef class VisionBuf: # <<<<<<<<<<<<<< + * cdef cppVisionBuf * buf + * + */ + +struct __pyx_vtabstruct_4msgq_9visionipc_13visionipc_pyx_VisionBuf { + PyObject *(*create)(VisionBuf *); 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(PyObject*) Py_TYPE(__pyx_tstate->current_exception) : (PyObject*) NULL) +#else +#define __Pyx_PyErr_Occurred() (__pyx_tstate->curexc_type != NULL) +#define __Pyx_PyErr_CurrentExceptionType() (__pyx_tstate->curexc_type) +#endif +#else +#define __Pyx_PyThreadState_declare +#define __Pyx_PyThreadState_assign +#define __Pyx_PyErr_Occurred() (PyErr_Occurred() != NULL) +#define __Pyx_PyErr_CurrentExceptionType() PyErr_Occurred() +#endif + +/* PyErrFetchRestore.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyErr_Clear() __Pyx_ErrRestore(NULL, NULL, NULL) +#define __Pyx_ErrRestoreWithState(type, value, tb) __Pyx_ErrRestoreInState(PyThreadState_GET(), type, value, tb) +#define __Pyx_ErrFetchWithState(type, value, tb) __Pyx_ErrFetchInState(PyThreadState_GET(), type, value, tb) +#define __Pyx_ErrRestore(type, value, tb) __Pyx_ErrRestoreInState(__pyx_tstate, type, value, tb) +#define __Pyx_ErrFetch(type, value, tb) __Pyx_ErrFetchInState(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx_ErrRestoreInState(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb); +static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A6 +#define __Pyx_PyErr_SetNone(exc) (Py_INCREF(exc), __Pyx_ErrRestore((exc), NULL, NULL)) +#else +#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc) +#endif +#else +#define __Pyx_PyErr_Clear() PyErr_Clear() +#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc) +#define __Pyx_ErrRestoreWithState(type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetchWithState(type, value, tb) PyErr_Fetch(type, value, tb) +#define __Pyx_ErrRestoreInState(tstate, type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetchInState(tstate, type, value, tb) PyErr_Fetch(type, value, tb) +#define __Pyx_ErrRestore(type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetch(type, value, tb) PyErr_Fetch(type, value, tb) +#endif + +/* PyObjectGetAttrStr.proto */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStr(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GetAttrStr(o,n) PyObject_GetAttr(o,n) +#endif + +/* PyObjectGetAttrStrNoError.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name); + +/* GetBuiltinName.proto */ +static PyObject *__Pyx_GetBuiltinName(PyObject *name); + +/* TupleAndListFromArray.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyList_FromArray(PyObject *const *src, Py_ssize_t n); +static CYTHON_INLINE PyObject* __Pyx_PyTuple_FromArray(PyObject *const *src, Py_ssize_t n); +#endif + +/* IncludeStringH.proto */ +#include + +/* BytesEquals.proto */ +static CYTHON_INLINE int __Pyx_PyBytes_Equals(PyObject* s1, PyObject* s2, int equals); + +/* UnicodeEquals.proto */ +static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int equals); + +/* fastcall.proto */ +#if CYTHON_AVOID_BORROWED_REFS + #define __Pyx_Arg_VARARGS(args, i) PySequence_GetItem(args, i) +#elif CYTHON_ASSUME_SAFE_MACROS + #define __Pyx_Arg_VARARGS(args, i) PyTuple_GET_ITEM(args, i) +#else + #define __Pyx_Arg_VARARGS(args, i) PyTuple_GetItem(args, i) +#endif +#if CYTHON_AVOID_BORROWED_REFS + #define __Pyx_Arg_NewRef_VARARGS(arg) __Pyx_NewRef(arg) + #define __Pyx_Arg_XDECREF_VARARGS(arg) Py_XDECREF(arg) +#else + #define __Pyx_Arg_NewRef_VARARGS(arg) arg + #define __Pyx_Arg_XDECREF_VARARGS(arg) +#endif +#define __Pyx_NumKwargs_VARARGS(kwds) PyDict_Size(kwds) +#define __Pyx_KwValues_VARARGS(args, nargs) NULL +#define __Pyx_GetKwValue_VARARGS(kw, kwvalues, s) __Pyx_PyDict_GetItemStrWithError(kw, s) +#define __Pyx_KwargsAsDict_VARARGS(kw, kwvalues) PyDict_Copy(kw) +#if CYTHON_METH_FASTCALL + #define __Pyx_Arg_FASTCALL(args, i) args[i] + #define __Pyx_NumKwargs_FASTCALL(kwds) PyTuple_GET_SIZE(kwds) + #define __Pyx_KwValues_FASTCALL(args, nargs) ((args) + (nargs)) + static CYTHON_INLINE PyObject * __Pyx_GetKwValue_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues, PyObject *s); +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 + CYTHON_UNUSED static PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues); + #else + #define __Pyx_KwargsAsDict_FASTCALL(kw, kwvalues) _PyStack_AsDict(kwvalues, kw) + #endif + #define __Pyx_Arg_NewRef_FASTCALL(arg) arg /* no-op, __Pyx_Arg_FASTCALL is direct and this needs + to have the same reference counting */ + #define __Pyx_Arg_XDECREF_FASTCALL(arg) +#else + #define __Pyx_Arg_FASTCALL __Pyx_Arg_VARARGS + #define __Pyx_NumKwargs_FASTCALL __Pyx_NumKwargs_VARARGS + #define __Pyx_KwValues_FASTCALL __Pyx_KwValues_VARARGS + #define __Pyx_GetKwValue_FASTCALL __Pyx_GetKwValue_VARARGS + #define __Pyx_KwargsAsDict_FASTCALL __Pyx_KwargsAsDict_VARARGS + #define __Pyx_Arg_NewRef_FASTCALL(arg) __Pyx_Arg_NewRef_VARARGS(arg) + #define __Pyx_Arg_XDECREF_FASTCALL(arg) __Pyx_Arg_XDECREF_VARARGS(arg) +#endif +#if CYTHON_COMPILING_IN_CPYTHON && CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS +#define __Pyx_ArgsSlice_VARARGS(args, start, stop) __Pyx_PyTuple_FromArray(&__Pyx_Arg_VARARGS(args, start), stop - start) +#define __Pyx_ArgsSlice_FASTCALL(args, start, stop) __Pyx_PyTuple_FromArray(&__Pyx_Arg_FASTCALL(args, start), stop - start) +#else +#define __Pyx_ArgsSlice_VARARGS(args, start, stop) PyTuple_GetSlice(args, start, stop) +#define __Pyx_ArgsSlice_FASTCALL(args, start, stop) PyTuple_GetSlice(args, start, stop) +#endif + +/* RaiseArgTupleInvalid.proto */ +static void __Pyx_RaiseArgtupleInvalid(const char* func_name, int exact, + Py_ssize_t num_min, Py_ssize_t num_max, Py_ssize_t num_found); + +/* RaiseDoubleKeywords.proto */ +static void __Pyx_RaiseDoubleKeywordsError(const char* func_name, PyObject* kw_name); + +/* ParseKeywords.proto */ +static int __Pyx_ParseOptionalKeywords(PyObject *kwds, PyObject *const *kwvalues, + PyObject **argnames[], + PyObject *kwds2, PyObject *values[], Py_ssize_t num_pos_args, + const char* function_name); + +/* ArgTypeTest.proto */ +#define __Pyx_ArgTypeTest(obj, type, none_allowed, name, exact)\ + ((likely(__Pyx_IS_TYPE(obj, type) | (none_allowed && (obj == Py_None)))) ? 1 :\ + __Pyx__ArgTypeTest(obj, type, name, exact)) +static int __Pyx__ArgTypeTest(PyObject *obj, PyTypeObject *type, const char *name, int exact); + +/* RaiseException.proto */ +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause); + +/* PyFunctionFastCall.proto */ +#if CYTHON_FAST_PYCALL +#if !CYTHON_VECTORCALL +#define __Pyx_PyFunction_FastCall(func, args, nargs)\ + __Pyx_PyFunction_FastCallDict((func), (args), (nargs), NULL) +static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs); +#endif +#define __Pyx_BUILD_ASSERT_EXPR(cond)\ + (sizeof(char [1 - 2*!(cond)]) - 1) +#ifndef Py_MEMBER_SIZE +#define Py_MEMBER_SIZE(type, member) sizeof(((type *)0)->member) +#endif +#if !CYTHON_VECTORCALL +#if PY_VERSION_HEX >= 0x03080000 + #include "frameobject.h" +#if PY_VERSION_HEX >= 0x030b00a6 && !CYTHON_COMPILING_IN_LIMITED_API + #ifndef Py_BUILD_CORE + #define Py_BUILD_CORE 1 + #endif + #include "internal/pycore_frame.h" +#endif + #define __Pxy_PyFrame_Initialize_Offsets() + #define __Pyx_PyFrame_GetLocalsplus(frame) ((frame)->f_localsplus) +#else + static size_t __pyx_pyframe_localsplus_offset = 0; + #include "frameobject.h" + #define __Pxy_PyFrame_Initialize_Offsets()\ + ((void)__Pyx_BUILD_ASSERT_EXPR(sizeof(PyFrameObject) == offsetof(PyFrameObject, f_localsplus) + Py_MEMBER_SIZE(PyFrameObject, f_localsplus)),\ + (void)(__pyx_pyframe_localsplus_offset = ((size_t)PyFrame_Type.tp_basicsize) - Py_MEMBER_SIZE(PyFrameObject, f_localsplus))) + #define __Pyx_PyFrame_GetLocalsplus(frame)\ + (assert(__pyx_pyframe_localsplus_offset), (PyObject **)(((char *)(frame)) + __pyx_pyframe_localsplus_offset)) +#endif +#endif +#endif + +/* PyObjectCall.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw); +#else +#define __Pyx_PyObject_Call(func, arg, kw) PyObject_Call(func, arg, kw) +#endif + +/* PyObjectCallMethO.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg); +#endif + +/* PyObjectFastCall.proto */ +#define __Pyx_PyObject_FastCall(func, args, nargs) __Pyx_PyObject_FastCallDict(func, args, (size_t)(nargs), NULL) +static CYTHON_INLINE PyObject* __Pyx_PyObject_FastCallDict(PyObject *func, PyObject **args, size_t nargs, PyObject *kwargs); + +/* RaiseUnexpectedTypeError.proto */ +static int __Pyx_RaiseUnexpectedTypeError(const char *expected, PyObject *obj); + +/* GCCDiagnostics.proto */ +#if !defined(__INTEL_COMPILER) && defined(__GNUC__) && (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 6)) +#define __Pyx_HAS_GCC_DIAGNOSTIC +#endif + +/* BuildPyUnicode.proto */ +static PyObject* __Pyx_PyUnicode_BuildFromAscii(Py_ssize_t ulength, char* chars, int clength, + int prepend_sign, char padding_char); + +/* CIntToPyUnicode.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_int(int value, Py_ssize_t width, char padding_char, char format_char); + +/* CIntToPyUnicode.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_Py_ssize_t(Py_ssize_t value, Py_ssize_t width, char padding_char, char format_char); + +/* JoinPyUnicode.proto */ +static PyObject* __Pyx_PyUnicode_Join(PyObject* value_tuple, Py_ssize_t value_count, Py_ssize_t result_ulength, + Py_UCS4 max_char); + +/* StrEquals.proto */ +#if PY_MAJOR_VERSION >= 3 +#define __Pyx_PyString_Equals __Pyx_PyUnicode_Equals +#else +#define __Pyx_PyString_Equals __Pyx_PyBytes_Equals +#endif + +/* PyObjectFormatSimple.proto */ +#if CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + PyObject_Format(s, f)) +#elif PY_MAJOR_VERSION < 3 + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + likely(PyString_CheckExact(s)) ? PyUnicode_FromEncodedObject(s, NULL, "strict") :\ + PyObject_Format(s, f)) +#elif CYTHON_USE_TYPE_SLOTS + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + likely(PyLong_CheckExact(s)) ? PyLong_Type.tp_repr(s) :\ + likely(PyFloat_CheckExact(s)) ? PyFloat_Type.tp_repr(s) :\ + PyObject_Format(s, f)) +#else + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + PyObject_Format(s, f)) +#endif + +CYTHON_UNUSED static int __pyx_array_getbuffer(PyObject *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /*proto*/ +static PyObject *__pyx_array_get_memview(struct __pyx_array_obj *); /*proto*/ +/* GetAttr.proto */ +static CYTHON_INLINE PyObject *__Pyx_GetAttr(PyObject *, PyObject *); + +/* GetItemInt.proto */ +#define __Pyx_GetItemInt(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_Fast(o, (Py_ssize_t)i, is_list, wraparound, boundscheck) :\ + (is_list ? (PyErr_SetString(PyExc_IndexError, "list index out of range"), (PyObject*)NULL) :\ + __Pyx_GetItemInt_Generic(o, to_py_func(i)))) +#define __Pyx_GetItemInt_List(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_List_Fast(o, (Py_ssize_t)i, wraparound, boundscheck) :\ + (PyErr_SetString(PyExc_IndexError, "list index out of range"), (PyObject*)NULL)) +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, + int wraparound, int boundscheck); +#define __Pyx_GetItemInt_Tuple(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_Tuple_Fast(o, (Py_ssize_t)i, wraparound, boundscheck) :\ + (PyErr_SetString(PyExc_IndexError, "tuple index out of range"), (PyObject*)NULL)) +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i, + int wraparound, int boundscheck); +static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j); +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, + int is_list, int wraparound, int boundscheck); + +/* PyObjectCallOneArg.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg); + +/* ObjectGetItem.proto */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject *__Pyx_PyObject_GetItem(PyObject *obj, PyObject *key); +#else +#define __Pyx_PyObject_GetItem(obj, key) PyObject_GetItem(obj, key) +#endif + +/* KeywordStringCheck.proto */ +static int __Pyx_CheckKeywordStrings(PyObject *kw, const char* function_name, int kw_allowed); + +/* DivInt[Py_ssize_t].proto */ +static CYTHON_INLINE Py_ssize_t __Pyx_div_Py_ssize_t(Py_ssize_t, Py_ssize_t); + +/* UnaryNegOverflows.proto */ +#define __Pyx_UNARY_NEG_WOULD_OVERFLOW(x)\ + (((x) < 0) & ((unsigned long)(x) == 0-(unsigned long)(x))) + +/* GetAttr3.proto */ +static CYTHON_INLINE PyObject *__Pyx_GetAttr3(PyObject *, PyObject *, PyObject *); + +/* PyDictVersioning.proto */ +#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS +#define __PYX_DICT_VERSION_INIT ((PY_UINT64_T) -1) +#define __PYX_GET_DICT_VERSION(dict) (((PyDictObject*)(dict))->ma_version_tag) +#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var)\ + (version_var) = __PYX_GET_DICT_VERSION(dict);\ + (cache_var) = (value); +#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) {\ + static PY_UINT64_T __pyx_dict_version = 0;\ + static PyObject *__pyx_dict_cached_value = NULL;\ + if (likely(__PYX_GET_DICT_VERSION(DICT) == __pyx_dict_version)) {\ + (VAR) = __pyx_dict_cached_value;\ + } else {\ + (VAR) = __pyx_dict_cached_value = (LOOKUP);\ + __pyx_dict_version = __PYX_GET_DICT_VERSION(DICT);\ + }\ +} +static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj); +static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj); +static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version); +#else +#define __PYX_GET_DICT_VERSION(dict) (0) +#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var) +#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) (VAR) = (LOOKUP); +#endif + +/* GetModuleGlobalName.proto */ +#if CYTHON_USE_DICT_VERSIONS +#define __Pyx_GetModuleGlobalName(var, name) do {\ + static PY_UINT64_T __pyx_dict_version = 0;\ + static PyObject *__pyx_dict_cached_value = NULL;\ + (var) = (likely(__pyx_dict_version == __PYX_GET_DICT_VERSION(__pyx_d))) ?\ + (likely(__pyx_dict_cached_value) ? __Pyx_NewRef(__pyx_dict_cached_value) : __Pyx_GetBuiltinName(name)) :\ + __Pyx__GetModuleGlobalName(name, &__pyx_dict_version, &__pyx_dict_cached_value);\ +} while(0) +#define __Pyx_GetModuleGlobalNameUncached(var, name) do {\ + PY_UINT64_T __pyx_dict_version;\ + PyObject *__pyx_dict_cached_value;\ + (var) = __Pyx__GetModuleGlobalName(name, &__pyx_dict_version, &__pyx_dict_cached_value);\ +} while(0) +static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value); +#else +#define __Pyx_GetModuleGlobalName(var, name) (var) = __Pyx__GetModuleGlobalName(name) +#define __Pyx_GetModuleGlobalNameUncached(var, name) (var) = __Pyx__GetModuleGlobalName(name) +static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name); +#endif + +/* AssertionsEnabled.proto */ +#if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX < 0x02070600 && !defined(Py_OptimizeFlag) + #define __Pyx_init_assertions_enabled() (0) + #define __pyx_assertions_enabled() (1) +#elif CYTHON_COMPILING_IN_LIMITED_API || (CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030C0000) + static int __pyx_assertions_enabled_flag; + #define __pyx_assertions_enabled() (__pyx_assertions_enabled_flag) + static int __Pyx_init_assertions_enabled(void) { + PyObject *builtins, *debug, *debug_str; + int flag; + builtins = PyEval_GetBuiltins(); + if (!builtins) goto bad; + debug_str = PyUnicode_FromStringAndSize("__debug__", 9); + if (!debug_str) goto bad; + debug = PyObject_GetItem(builtins, debug_str); + Py_DECREF(debug_str); + if (!debug) goto bad; + flag = PyObject_IsTrue(debug); + Py_DECREF(debug); + if (flag == -1) goto bad; + __pyx_assertions_enabled_flag = flag; + return 0; + bad: + __pyx_assertions_enabled_flag = 1; + return -1; + } +#else + #define __Pyx_init_assertions_enabled() (0) + #define __pyx_assertions_enabled() (!Py_OptimizeFlag) +#endif + +/* RaiseTooManyValuesToUnpack.proto */ +static CYTHON_INLINE void __Pyx_RaiseTooManyValuesError(Py_ssize_t expected); + +/* RaiseNeedMoreValuesToUnpack.proto */ +static CYTHON_INLINE void __Pyx_RaiseNeedMoreValuesError(Py_ssize_t index); + +/* RaiseNoneIterError.proto */ +static CYTHON_INLINE void __Pyx_RaiseNoneNotIterableError(void); + +/* ExtTypeTest.proto */ +static CYTHON_INLINE int __Pyx_TypeTest(PyObject *obj, PyTypeObject *type); + +/* GetTopmostException.proto */ +#if CYTHON_USE_EXC_INFO_STACK && CYTHON_FAST_THREAD_STATE +static _PyErr_StackItem * __Pyx_PyErr_GetTopmostException(PyThreadState *tstate); +#endif + +/* SaveResetException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_ExceptionSave(type, value, tb) __Pyx__ExceptionSave(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionSave(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#define __Pyx_ExceptionReset(type, value, tb) __Pyx__ExceptionReset(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionReset(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb); +#else +#define __Pyx_ExceptionSave(type, value, tb) PyErr_GetExcInfo(type, value, tb) +#define __Pyx_ExceptionReset(type, value, tb) PyErr_SetExcInfo(type, value, tb) +#endif + +/* GetException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_GetException(type, value, tb) __Pyx__GetException(__pyx_tstate, type, value, tb) +static int __Pyx__GetException(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#else +static int __Pyx_GetException(PyObject **type, PyObject **value, PyObject **tb); +#endif + +/* SwapException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_ExceptionSwap(type, value, tb) __Pyx__ExceptionSwap(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionSwap(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#else +static CYTHON_INLINE void __Pyx_ExceptionSwap(PyObject **type, PyObject **value, PyObject **tb); +#endif + +/* Import.proto */ +static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level); + +/* ImportDottedModule.proto */ +static PyObject *__Pyx_ImportDottedModule(PyObject *name, PyObject *parts_tuple); +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx_ImportDottedModule_WalkParts(PyObject *module, PyObject *name, PyObject *parts_tuple); +#endif + +/* FastTypeChecks.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_TypeCheck(obj, type) __Pyx_IsSubtype(Py_TYPE(obj), (PyTypeObject *)type) +#define __Pyx_TypeCheck2(obj, type1, type2) __Pyx_IsAnySubtype2(Py_TYPE(obj), (PyTypeObject *)type1, (PyTypeObject *)type2) +static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b); +static CYTHON_INLINE int __Pyx_IsAnySubtype2(PyTypeObject *cls, PyTypeObject *a, PyTypeObject *b); +static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches(PyObject *err, PyObject *type); +static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches2(PyObject *err, PyObject *type1, PyObject *type2); +#else +#define __Pyx_TypeCheck(obj, type) PyObject_TypeCheck(obj, (PyTypeObject *)type) +#define __Pyx_TypeCheck2(obj, type1, type2) (PyObject_TypeCheck(obj, (PyTypeObject *)type1) || PyObject_TypeCheck(obj, (PyTypeObject *)type2)) +#define __Pyx_PyErr_GivenExceptionMatches(err, type) PyErr_GivenExceptionMatches(err, type) +#define __Pyx_PyErr_GivenExceptionMatches2(err, type1, type2) (PyErr_GivenExceptionMatches(err, type1) || PyErr_GivenExceptionMatches(err, type2)) +#endif +#define __Pyx_PyErr_ExceptionMatches2(err1, err2) __Pyx_PyErr_GivenExceptionMatches2(__Pyx_PyErr_CurrentExceptionType(), err1, err2) +#define __Pyx_PyException_Check(obj) __Pyx_TypeCheck(obj, PyExc_Exception) + +CYTHON_UNUSED static int __pyx_memoryview_getbuffer(PyObject *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /*proto*/ +/* ListCompAppend.proto */ +#if CYTHON_USE_PYLIST_INTERNALS && CYTHON_ASSUME_SAFE_MACROS +static CYTHON_INLINE int __Pyx_ListComp_Append(PyObject* list, PyObject* x) { + PyListObject* L = (PyListObject*) list; + Py_ssize_t len = Py_SIZE(list); + if (likely(L->allocated > len)) { + Py_INCREF(x); + #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 + L->ob_item[len] = x; + #else + PyList_SET_ITEM(list, len, x); + #endif + __Pyx_SET_SIZE(list, len + 1); + return 0; + } + return PyList_Append(list, x); +} +#else +#define __Pyx_ListComp_Append(L,x) PyList_Append(L,x) +#endif + +/* PySequenceMultiply.proto */ +#define __Pyx_PySequence_Multiply_Left(mul, seq) __Pyx_PySequence_Multiply(seq, mul) +static CYTHON_INLINE PyObject* __Pyx_PySequence_Multiply(PyObject *seq, Py_ssize_t mul); + +/* SetItemInt.proto */ +#define __Pyx_SetItemInt(o, i, v, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_SetItemInt_Fast(o, (Py_ssize_t)i, v, is_list, wraparound, boundscheck) :\ + (is_list ? (PyErr_SetString(PyExc_IndexError, "list assignment index out of range"), -1) :\ + __Pyx_SetItemInt_Generic(o, to_py_func(i), v))) +static int __Pyx_SetItemInt_Generic(PyObject *o, PyObject *j, PyObject *v); +static CYTHON_INLINE int __Pyx_SetItemInt_Fast(PyObject *o, Py_ssize_t i, PyObject *v, + int is_list, int wraparound, int boundscheck); + +/* RaiseUnboundLocalError.proto */ +static CYTHON_INLINE void __Pyx_RaiseUnboundLocalError(const char *varname); + +/* DivInt[long].proto */ +static CYTHON_INLINE long __Pyx_div_long(long, long); + +/* PySequenceContains.proto */ +static CYTHON_INLINE int __Pyx_PySequence_ContainsTF(PyObject* item, PyObject* seq, int eq) { + int result = PySequence_Contains(seq, item); + return unlikely(result < 0) ? result : (result == (eq == Py_EQ)); +} + +/* ImportFrom.proto */ +static PyObject* __Pyx_ImportFrom(PyObject* module, PyObject* name); + +/* HasAttr.proto */ +#if __PYX_LIMITED_VERSION_HEX >= 0x030d00A1 +#define __Pyx_HasAttr(o, n) PyObject_HasAttrWithError(o, n) +#else +static CYTHON_INLINE int __Pyx_HasAttr(PyObject *, PyObject *); +#endif + +/* MoveIfSupported.proto */ +#if CYTHON_USE_CPP_STD_MOVE + #include + #define __PYX_STD_MOVE_IF_SUPPORTED(x) std::move(x) +#else + #define __PYX_STD_MOVE_IF_SUPPORTED(x) x +#endif + +/* BufferIndexError.proto */ +static void __Pyx_RaiseBufferIndexError(int axis); + +/* PyObject_GenericGetAttrNoDict.proto */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GenericGetAttrNoDict PyObject_GenericGetAttr +#endif + +/* PyObject_GenericGetAttr.proto */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GenericGetAttr PyObject_GenericGetAttr +#endif + +/* IncludeStructmemberH.proto */ +#include + +/* FixUpExtensionType.proto */ +#if CYTHON_USE_TYPE_SPECS +static int __Pyx_fix_up_extension_type_from_spec(PyType_Spec *spec, PyTypeObject *type); +#endif + +/* PyObjectCallNoArg.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func); + +/* PyObjectGetMethod.proto */ +static int __Pyx_PyObject_GetMethod(PyObject *obj, PyObject *name, PyObject **method); + +/* PyObjectCallMethod0.proto */ +static PyObject* __Pyx_PyObject_CallMethod0(PyObject* obj, PyObject* method_name); + +/* ValidateBasesTuple.proto */ +#if CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API || CYTHON_USE_TYPE_SPECS +static int __Pyx_validate_bases_tuple(const char *type_name, Py_ssize_t dictoffset, PyObject *bases); +#endif + +/* PyType_Ready.proto */ +CYTHON_UNUSED static int __Pyx_PyType_Ready(PyTypeObject *t); + +/* SetupReduce.proto */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_setup_reduce(PyObject* type_obj); +#endif + +/* SetVTable.proto */ +static int __Pyx_SetVtable(PyTypeObject* typeptr , void* vtable); + +/* GetVTable.proto */ +static void* __Pyx_GetVtable(PyTypeObject *type); + +/* MergeVTables.proto */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_MergeVtables(PyTypeObject *type); +#endif + +/* TypeImport.proto */ +#ifndef __PYX_HAVE_RT_ImportType_proto_3_0_8 +#define __PYX_HAVE_RT_ImportType_proto_3_0_8 +#if defined (__STDC_VERSION__) && __STDC_VERSION__ >= 201112L +#include +#endif +#if (defined (__STDC_VERSION__) && __STDC_VERSION__ >= 201112L) || __cplusplus >= 201103L +#define __PYX_GET_STRUCT_ALIGNMENT_3_0_8(s) alignof(s) +#else +#define __PYX_GET_STRUCT_ALIGNMENT_3_0_8(s) sizeof(void*) +#endif +enum __Pyx_ImportType_CheckSize_3_0_8 { + __Pyx_ImportType_CheckSize_Error_3_0_8 = 0, + __Pyx_ImportType_CheckSize_Warn_3_0_8 = 1, + __Pyx_ImportType_CheckSize_Ignore_3_0_8 = 2 +}; +static PyTypeObject *__Pyx_ImportType_3_0_8(PyObject* module, const char *module_name, const char *class_name, size_t size, size_t alignment, enum __Pyx_ImportType_CheckSize_3_0_8 check_size); +#endif + +/* SetNameInClass.proto */ +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030500A1 && PY_VERSION_HEX < 0x030d0000 +#define __Pyx_SetNameInClass(ns, name, value)\ + (likely(PyDict_CheckExact(ns)) ? _PyDict_SetItem_KnownHash(ns, name, value, ((PyASCIIObject *) name)->hash) : PyObject_SetItem(ns, name, value)) +#elif CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_SetNameInClass(ns, name, value)\ + (likely(PyDict_CheckExact(ns)) ? PyDict_SetItem(ns, name, value) : PyObject_SetItem(ns, name, value)) +#else +#define __Pyx_SetNameInClass(ns, name, value) PyObject_SetItem(ns, name, value) +#endif + +/* CalculateMetaclass.proto */ +static PyObject *__Pyx_CalculateMetaclass(PyTypeObject *metaclass, PyObject *bases); + +/* PyObjectCall2Args.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call2Args(PyObject* function, PyObject* arg1, PyObject* arg2); + +/* PyObjectLookupSpecial.proto */ +#if CYTHON_USE_PYTYPE_LOOKUP && CYTHON_USE_TYPE_SLOTS +#define __Pyx_PyObject_LookupSpecialNoError(obj, attr_name) __Pyx__PyObject_LookupSpecial(obj, attr_name, 0) +#define __Pyx_PyObject_LookupSpecial(obj, attr_name) __Pyx__PyObject_LookupSpecial(obj, attr_name, 1) +static CYTHON_INLINE PyObject* __Pyx__PyObject_LookupSpecial(PyObject* obj, PyObject* attr_name, int with_error); +#else +#define __Pyx_PyObject_LookupSpecialNoError(o,n) __Pyx_PyObject_GetAttrStrNoError(o,n) +#define __Pyx_PyObject_LookupSpecial(o,n) __Pyx_PyObject_GetAttrStr(o,n) +#endif + +/* Py3ClassCreate.proto */ +static PyObject *__Pyx_Py3MetaclassPrepare(PyObject *metaclass, PyObject *bases, PyObject *name, PyObject *qualname, + PyObject *mkw, PyObject *modname, PyObject *doc); +static PyObject *__Pyx_Py3ClassCreate(PyObject *metaclass, PyObject *name, PyObject *bases, PyObject *dict, + PyObject *mkw, int calculate_metaclass, int allow_py2_metaclass); + +/* FetchSharedCythonModule.proto */ +static PyObject *__Pyx_FetchSharedCythonABIModule(void); + +/* FetchCommonType.proto */ +#if !CYTHON_USE_TYPE_SPECS +static PyTypeObject* __Pyx_FetchCommonType(PyTypeObject* type); +#else +static PyTypeObject* __Pyx_FetchCommonTypeFromSpec(PyObject *module, PyType_Spec *spec, PyObject *bases); +#endif + +/* PyMethodNew.proto */ +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject *__Pyx_PyMethod_New(PyObject *func, PyObject *self, PyObject *typ) { + PyObject *typesModule=NULL, *methodType=NULL, *result=NULL; + CYTHON_UNUSED_VAR(typ); + if (!self) + return __Pyx_NewRef(func); + typesModule = PyImport_ImportModule("types"); + if (!typesModule) return NULL; + methodType = PyObject_GetAttrString(typesModule, "MethodType"); + Py_DECREF(typesModule); + if (!methodType) return NULL; + result = PyObject_CallFunctionObjArgs(methodType, func, self, NULL); + Py_DECREF(methodType); + return result; +} +#elif PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx_PyMethod_New(PyObject *func, PyObject *self, PyObject *typ) { + CYTHON_UNUSED_VAR(typ); + if (!self) + return __Pyx_NewRef(func); + return PyMethod_New(func, self); +} +#else + #define __Pyx_PyMethod_New PyMethod_New +#endif + +/* PyVectorcallFastCallDict.proto */ +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE PyObject *__Pyx_PyVectorcall_FastCallDict(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw); +#endif + +/* CythonFunctionShared.proto */ +#define __Pyx_CyFunction_USED +#define __Pyx_CYFUNCTION_STATICMETHOD 0x01 +#define __Pyx_CYFUNCTION_CLASSMETHOD 0x02 +#define __Pyx_CYFUNCTION_CCLASS 0x04 +#define __Pyx_CYFUNCTION_COROUTINE 0x08 +#define __Pyx_CyFunction_GetClosure(f)\ + (((__pyx_CyFunctionObject *) (f))->func_closure) +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_CyFunction_GetClassObj(f)\ + (((__pyx_CyFunctionObject *) (f))->func_classobj) +#else + #define __Pyx_CyFunction_GetClassObj(f)\ + ((PyObject*) ((PyCMethodObject *) (f))->mm_class) +#endif +#define __Pyx_CyFunction_SetClassObj(f, classobj)\ + __Pyx__CyFunction_SetClassObj((__pyx_CyFunctionObject *) (f), (classobj)) +#define __Pyx_CyFunction_Defaults(type, f)\ + ((type *)(((__pyx_CyFunctionObject *) (f))->defaults)) +#define __Pyx_CyFunction_SetDefaultsGetter(f, g)\ + ((__pyx_CyFunctionObject *) (f))->defaults_getter = (g) +typedef struct { +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject_HEAD + PyObject *func; +#elif PY_VERSION_HEX < 0x030900B1 + PyCFunctionObject func; +#else + PyCMethodObject func; +#endif +#if CYTHON_BACKPORT_VECTORCALL + __pyx_vectorcallfunc func_vectorcall; +#endif +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API + PyObject *func_weakreflist; +#endif + PyObject *func_dict; + PyObject *func_name; + PyObject *func_qualname; + PyObject *func_doc; + PyObject *func_globals; + PyObject *func_code; + PyObject *func_closure; +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + PyObject *func_classobj; +#endif + void *defaults; + int defaults_pyobjects; + size_t defaults_size; + int flags; + PyObject *defaults_tuple; + PyObject *defaults_kwdict; + PyObject *(*defaults_getter)(PyObject *); + PyObject *func_annotations; + PyObject *func_is_coroutine; +} __pyx_CyFunctionObject; +#undef __Pyx_CyOrPyCFunction_Check +#define __Pyx_CyFunction_Check(obj) __Pyx_TypeCheck(obj, __pyx_CyFunctionType) +#define __Pyx_CyOrPyCFunction_Check(obj) __Pyx_TypeCheck2(obj, __pyx_CyFunctionType, &PyCFunction_Type) +#define __Pyx_CyFunction_CheckExact(obj) __Pyx_IS_TYPE(obj, __pyx_CyFunctionType) +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc); +#undef __Pyx_IsSameCFunction +#define __Pyx_IsSameCFunction(func, cfunc) __Pyx__IsSameCyOrCFunction(func, cfunc) +static PyObject *__Pyx_CyFunction_Init(__pyx_CyFunctionObject* op, PyMethodDef *ml, + int flags, PyObject* qualname, + PyObject *closure, + PyObject *module, PyObject *globals, + PyObject* code); +static CYTHON_INLINE void __Pyx__CyFunction_SetClassObj(__pyx_CyFunctionObject* f, PyObject* classobj); +static CYTHON_INLINE void *__Pyx_CyFunction_InitDefaults(PyObject *m, + size_t size, + int pyobjects); +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsTuple(PyObject *m, + PyObject *tuple); +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsKwDict(PyObject *m, + PyObject *dict); +static CYTHON_INLINE void __Pyx_CyFunction_SetAnnotationsDict(PyObject *m, + PyObject *dict); +static int __pyx_CyFunction_init(PyObject *module); +#if CYTHON_METH_FASTCALL +static PyObject * __Pyx_CyFunction_Vectorcall_NOARGS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_O(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +#if CYTHON_BACKPORT_VECTORCALL +#define __Pyx_CyFunction_func_vectorcall(f) (((__pyx_CyFunctionObject*)f)->func_vectorcall) +#else +#define __Pyx_CyFunction_func_vectorcall(f) (((PyCFunctionObject*)f)->vectorcall) +#endif +#endif + +/* CythonFunction.proto */ +static PyObject *__Pyx_CyFunction_New(PyMethodDef *ml, + int flags, PyObject* qualname, + PyObject *closure, + PyObject *module, PyObject *globals, + PyObject* code); + +/* CLineInTraceback.proto */ +#ifdef CYTHON_CLINE_IN_TRACEBACK +#define __Pyx_CLineForTraceback(tstate, c_line) (((CYTHON_CLINE_IN_TRACEBACK)) ? c_line : 0) +#else +static int __Pyx_CLineForTraceback(PyThreadState *tstate, int c_line); +#endif + +/* CodeObjectCache.proto */ +#if !CYTHON_COMPILING_IN_LIMITED_API +typedef struct { + PyCodeObject* code_object; + int code_line; +} __Pyx_CodeObjectCacheEntry; +struct __Pyx_CodeObjectCache { + int count; + int max_count; + __Pyx_CodeObjectCacheEntry* entries; +}; +static struct __Pyx_CodeObjectCache __pyx_code_cache = {0,0,NULL}; +static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line); +static PyCodeObject *__pyx_find_code_object(int code_line); +static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object); +#endif + +/* AddTraceback.proto */ +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename); + +#if PY_MAJOR_VERSION < 3 + static int __Pyx_GetBuffer(PyObject *obj, Py_buffer *view, int flags); + static void __Pyx_ReleaseBuffer(Py_buffer *view); +#else + #define __Pyx_GetBuffer PyObject_GetBuffer + #define __Pyx_ReleaseBuffer PyBuffer_Release +#endif + + +/* BufferStructDeclare.proto */ +typedef struct { + Py_ssize_t shape, strides, suboffsets; +} __Pyx_Buf_DimInfo; +typedef struct { + size_t refcount; + Py_buffer pybuffer; +} __Pyx_Buffer; +typedef struct { + __Pyx_Buffer *rcbuffer; + char *data; + __Pyx_Buf_DimInfo diminfo[8]; +} __Pyx_LocalBuf_ND; + +/* MemviewSliceIsContig.proto */ +static int __pyx_memviewslice_is_contig(const __Pyx_memviewslice mvs, char order, int ndim); + +/* OverlappingSlices.proto */ +static int __pyx_slices_overlap(__Pyx_memviewslice *slice1, + __Pyx_memviewslice *slice2, + int ndim, size_t itemsize); + +/* IsLittleEndian.proto */ +static CYTHON_INLINE int __Pyx_Is_Little_Endian(void); + +/* BufferFormatCheck.proto */ +static const char* __Pyx_BufFmt_CheckString(__Pyx_BufFmt_Context* ctx, const char* ts); +static void __Pyx_BufFmt_Init(__Pyx_BufFmt_Context* ctx, + __Pyx_BufFmt_StackElem* stack, + __Pyx_TypeInfo* type); + +/* TypeInfoCompare.proto */ +static int __pyx_typeinfo_cmp(__Pyx_TypeInfo *a, __Pyx_TypeInfo *b); + +/* MemviewSliceValidateAndInit.proto */ +static int __Pyx_ValidateAndInit_memviewslice( + int *axes_specs, + int c_or_f_flag, + int buf_flags, + int ndim, + __Pyx_TypeInfo *dtype, + __Pyx_BufFmt_StackElem stack[], + __Pyx_memviewslice *memviewslice, + PyObject *original_obj); + +/* ObjectToMemviewSlice.proto */ +static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_ds_float(PyObject *, int writable_flag); + +/* MemviewDtypeToObject.proto */ +static CYTHON_INLINE PyObject *__pyx_memview_get_float(const char *itemp); +static CYTHON_INLINE int __pyx_memview_set_float(const char *itemp, PyObject *obj); + +/* MemviewSliceCopyTemplate.proto */ +static __Pyx_memviewslice +__pyx_memoryview_copy_new_contig(const __Pyx_memviewslice *from_mvs, + const char *mode, int ndim, + size_t sizeof_dtype, int contig_flag, + int dtype_is_object); + +/* MemviewSliceInit.proto */ +#define __Pyx_BUF_MAX_NDIMS %(BUF_MAX_NDIMS)d +#define __Pyx_MEMVIEW_DIRECT 1 +#define __Pyx_MEMVIEW_PTR 2 +#define __Pyx_MEMVIEW_FULL 4 +#define __Pyx_MEMVIEW_CONTIG 8 +#define __Pyx_MEMVIEW_STRIDED 16 +#define __Pyx_MEMVIEW_FOLLOW 32 +#define __Pyx_IS_C_CONTIG 1 +#define __Pyx_IS_F_CONTIG 2 +static int __Pyx_init_memviewslice( + struct __pyx_memoryview_obj *memview, + int ndim, + __Pyx_memviewslice *memviewslice, + int memview_is_new_reference); +static CYTHON_INLINE int __pyx_add_acquisition_count_locked( + __pyx_atomic_int_type *acquisition_count, PyThread_type_lock lock); +static CYTHON_INLINE int __pyx_sub_acquisition_count_locked( + __pyx_atomic_int_type *acquisition_count, PyThread_type_lock lock); +#define __pyx_get_slice_count_pointer(memview) (&memview->acquisition_count) +#define __PYX_INC_MEMVIEW(slice, have_gil) __Pyx_INC_MEMVIEW(slice, have_gil, __LINE__) +#define __PYX_XCLEAR_MEMVIEW(slice, have_gil) __Pyx_XCLEAR_MEMVIEW(slice, have_gil, __LINE__) +static CYTHON_INLINE void __Pyx_INC_MEMVIEW(__Pyx_memviewslice *, int, int); +static CYTHON_INLINE void __Pyx_XCLEAR_MEMVIEW(__Pyx_memviewslice *, int, int); + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value); + +/* CppExceptionConversion.proto */ +#ifndef __Pyx_CppExn2PyErr +#include +#include +#include +#include +static void __Pyx_CppExn2PyErr() { + try { + if (PyErr_Occurred()) + ; // let the latest Python exn pass through and ignore the current one + else + throw; + } catch (const std::bad_alloc& exn) { + PyErr_SetString(PyExc_MemoryError, exn.what()); + } catch (const std::bad_cast& exn) { + PyErr_SetString(PyExc_TypeError, exn.what()); + } catch (const std::bad_typeid& exn) { + PyErr_SetString(PyExc_TypeError, exn.what()); + } catch (const std::domain_error& exn) { + PyErr_SetString(PyExc_ValueError, exn.what()); + } catch (const std::invalid_argument& exn) { + PyErr_SetString(PyExc_ValueError, exn.what()); + } catch (const std::ios_base::failure& exn) { + PyErr_SetString(PyExc_IOError, exn.what()); + } catch (const std::out_of_range& exn) { + PyErr_SetString(PyExc_IndexError, exn.what()); + } catch (const std::overflow_error& exn) { + PyErr_SetString(PyExc_OverflowError, exn.what()); + } catch (const std::range_error& exn) { + PyErr_SetString(PyExc_ArithmeticError, exn.what()); + } catch (const std::underflow_error& exn) { + PyErr_SetString(PyExc_ArithmeticError, exn.what()); + } catch (const std::exception& exn) { + PyErr_SetString(PyExc_RuntimeError, exn.what()); + } + catch (...) + { + PyErr_SetString(PyExc_RuntimeError, "Unknown exception"); + } +} +#endif + +/* None.proto */ +#include + +/* CIntFromPy.proto */ +static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *); + +/* CIntFromPy.proto */ +static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *); + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value); + +/* CIntFromPy.proto */ +static CYTHON_INLINE char __Pyx_PyInt_As_char(PyObject *); + +/* FormatTypeName.proto */ +#if CYTHON_COMPILING_IN_LIMITED_API +typedef PyObject *__Pyx_TypeName; +#define __Pyx_FMT_TYPENAME "%U" +static __Pyx_TypeName __Pyx_PyType_GetName(PyTypeObject* tp); +#define __Pyx_DECREF_TypeName(obj) Py_XDECREF(obj) +#else +typedef const char *__Pyx_TypeName; +#define __Pyx_FMT_TYPENAME "%.200s" +#define __Pyx_PyType_GetName(tp) ((tp)->tp_name) +#define __Pyx_DECREF_TypeName(obj) +#endif + +/* CheckBinaryVersion.proto */ +static unsigned long __Pyx_get_runtime_version(void); +static int __Pyx_check_binary_version(unsigned long ct_version, unsigned long rt_version, int allow_newer); + +/* InitStrings.proto */ +static int __Pyx_InitStrings(__Pyx_StringTabEntry *t); + +/* #### Code section: module_declarations ### */ +static PyObject *__pyx_array_get_memview(struct __pyx_array_obj *__pyx_v_self); /* proto*/ +static char *__pyx_memoryview_get_item_pointer(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index); /* proto*/ +static PyObject *__pyx_memoryview_is_slice(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_obj); /* proto*/ +static PyObject *__pyx_memoryview_setitem_slice_assignment(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_dst, PyObject *__pyx_v_src); /* proto*/ +static PyObject *__pyx_memoryview_setitem_slice_assign_scalar(struct __pyx_memoryview_obj *__pyx_v_self, struct __pyx_memoryview_obj *__pyx_v_dst, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryview_setitem_indexed(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryview_convert_item_to_object(struct __pyx_memoryview_obj *__pyx_v_self, char *__pyx_v_itemp); /* proto*/ +static PyObject *__pyx_memoryview_assign_item_from_object(struct __pyx_memoryview_obj *__pyx_v_self, char *__pyx_v_itemp, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryview__get_base(struct __pyx_memoryview_obj *__pyx_v_self); /* proto*/ +static PyObject *__pyx_memoryviewslice_convert_item_to_object(struct __pyx_memoryviewslice_obj *__pyx_v_self, char *__pyx_v_itemp); /* proto*/ +static PyObject *__pyx_memoryviewslice_assign_item_from_object(struct __pyx_memoryviewslice_obj *__pyx_v_self, char *__pyx_v_itemp, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryviewslice__get_base(struct __pyx_memoryviewslice_obj *__pyx_v_self); /* proto*/ + +/* Module declarations from "libc.string" */ + +/* Module declarations from "libcpp.string" */ + +/* Module declarations from "selfdrive.modeld.runners.runmodel" */ + +/* Module declarations from "libcpp.vector" */ + +/* Module declarations from "libcpp.utility" */ + +/* Module declarations from "libcpp.set" */ + +/* Module declarations from "libc.stdint" */ + +/* Module declarations from "libcpp" */ + +/* Module declarations from "msgq.visionipc.visionipc" */ + +/* Module declarations from "msgq.visionipc.visionipc_pyx" */ + +/* Module declarations from "selfdrive.modeld.models.commonmodel_pyx" */ + +/* Module declarations from "selfdrive.modeld.runners.runmodel_pyx" */ +static PyObject *__pyx_collections_abc_Sequence = 0; +static PyObject *generic = 0; +static PyObject *strided = 0; +static PyObject *indirect = 0; +static PyObject *contiguous = 0; +static PyObject *indirect_contiguous = 0; +static int __pyx_memoryview_thread_locks_used; +static PyThread_type_lock __pyx_memoryview_thread_locks[8]; +static std::string __pyx_convert_string_from_py_std__in_string(PyObject *); /*proto*/ +static int __pyx_array_allocate_buffer(struct __pyx_array_obj *); /*proto*/ +static struct __pyx_array_obj *__pyx_array_new(PyObject *, Py_ssize_t, char *, char *, char *); /*proto*/ +static PyObject *__pyx_memoryview_new(PyObject *, int, int, __Pyx_TypeInfo *); /*proto*/ +static CYTHON_INLINE int __pyx_memoryview_check(PyObject *); /*proto*/ +static PyObject *_unellipsify(PyObject *, int); /*proto*/ +static int assert_direct_dimensions(Py_ssize_t *, int); /*proto*/ +static struct __pyx_memoryview_obj *__pyx_memview_slice(struct __pyx_memoryview_obj *, PyObject *); /*proto*/ +static int __pyx_memoryview_slice_memviewslice(__Pyx_memviewslice *, Py_ssize_t, Py_ssize_t, Py_ssize_t, int, int, int *, Py_ssize_t, Py_ssize_t, Py_ssize_t, int, int, int, int); /*proto*/ +static char *__pyx_pybuffer_index(Py_buffer *, char *, Py_ssize_t, Py_ssize_t); /*proto*/ +static int __pyx_memslice_transpose(__Pyx_memviewslice *); /*proto*/ +static PyObject *__pyx_memoryview_fromslice(__Pyx_memviewslice, int, PyObject *(*)(char *), int (*)(char *, PyObject *), int); /*proto*/ +static __Pyx_memviewslice *__pyx_memoryview_get_slice_from_memoryview(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/ +static void __pyx_memoryview_slice_copy(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/ +static PyObject *__pyx_memoryview_copy_object(struct __pyx_memoryview_obj *); /*proto*/ +static PyObject *__pyx_memoryview_copy_object_from_slice(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/ +static Py_ssize_t abs_py_ssize_t(Py_ssize_t); /*proto*/ +static char __pyx_get_best_slice_order(__Pyx_memviewslice *, int); /*proto*/ +static void _copy_strided_to_strided(char *, Py_ssize_t *, char *, Py_ssize_t *, Py_ssize_t *, Py_ssize_t *, int, size_t); /*proto*/ +static void copy_strided_to_strided(__Pyx_memviewslice *, __Pyx_memviewslice *, int, size_t); /*proto*/ +static Py_ssize_t __pyx_memoryview_slice_get_size(__Pyx_memviewslice *, int); /*proto*/ +static Py_ssize_t __pyx_fill_contig_strides_array(Py_ssize_t *, Py_ssize_t *, Py_ssize_t, int, char); /*proto*/ +static void *__pyx_memoryview_copy_data_to_temp(__Pyx_memviewslice *, __Pyx_memviewslice *, char, int); /*proto*/ +static int __pyx_memoryview_err_extents(int, Py_ssize_t, Py_ssize_t); /*proto*/ +static int __pyx_memoryview_err_dim(PyObject *, PyObject *, int); /*proto*/ +static int __pyx_memoryview_err(PyObject *, PyObject *); /*proto*/ +static int __pyx_memoryview_err_no_memory(void); /*proto*/ +static int __pyx_memoryview_copy_contents(__Pyx_memviewslice, __Pyx_memviewslice, int, int, int); /*proto*/ +static void __pyx_memoryview_broadcast_leading(__Pyx_memviewslice *, int, int); /*proto*/ +static void __pyx_memoryview_refcount_copying(__Pyx_memviewslice *, int, int, int); /*proto*/ +static void __pyx_memoryview_refcount_objects_in_slice_with_gil(char *, Py_ssize_t *, Py_ssize_t *, int, int); /*proto*/ +static void __pyx_memoryview_refcount_objects_in_slice(char *, Py_ssize_t *, Py_ssize_t *, int, int); /*proto*/ +static void __pyx_memoryview_slice_assign_scalar(__Pyx_memviewslice *, int, size_t, void *, int); /*proto*/ +static void __pyx_memoryview__slice_assign_scalar(char *, Py_ssize_t *, Py_ssize_t *, int, size_t, void *); /*proto*/ +static PyObject *__pyx_unpickle_Enum__set_state(struct __pyx_MemviewEnum_obj *, PyObject *); /*proto*/ +/* #### Code section: typeinfo ### */ +static __Pyx_TypeInfo __Pyx_TypeInfo_float = { "float", NULL, sizeof(float), { 0 }, 0, 'R', 0, 0 }; +/* #### Code section: before_global_var ### */ +#define __Pyx_MODULE_NAME "selfdrive.modeld.runners.runmodel_pyx" +extern int __pyx_module_is_main_selfdrive__modeld__runners__runmodel_pyx; +int __pyx_module_is_main_selfdrive__modeld__runners__runmodel_pyx = 0; + +/* Implementation of "selfdrive.modeld.runners.runmodel_pyx" */ +/* #### Code section: global_var ### */ +static PyObject *__pyx_builtin_TypeError; +static PyObject *__pyx_builtin___import__; +static PyObject *__pyx_builtin_ValueError; +static PyObject *__pyx_builtin_MemoryError; +static PyObject *__pyx_builtin_enumerate; +static PyObject *__pyx_builtin_range; +static PyObject *__pyx_builtin_AssertionError; +static PyObject *__pyx_builtin_Ellipsis; +static PyObject *__pyx_builtin_id; +static PyObject *__pyx_builtin_IndexError; +/* #### Code section: string_decls ### */ +static const char __pyx_k_[] = ": "; +static const char __pyx_k_O[] = "O"; +static const char __pyx_k_c[] = "c"; +static const char __pyx_k__2[] = "."; +static const char __pyx_k__3[] = "*"; +static const char __pyx_k__6[] = "'"; +static const char __pyx_k__7[] = ")"; +static const char __pyx_k_gc[] = "gc"; +static const char __pyx_k_id[] = "id"; +static const char __pyx_k_CPU[] = "CPU"; +static const char __pyx_k_DSP[] = "DSP"; +static const char __pyx_k_GPU[] = "GPU"; +static const char __pyx_k__30[] = "?"; +static const char __pyx_k_abc[] = "abc"; +static const char __pyx_k_and[] = " and "; +static const char __pyx_k_doc[] = "__doc__"; +static const char __pyx_k_got[] = " (got "; +static const char __pyx_k_new[] = "__new__"; +static const char __pyx_k_obj[] = "obj"; +static const char __pyx_k_sys[] = "sys"; +static const char __pyx_k_base[] = "base"; +static const char __pyx_k_dict[] = "__dict__"; +static const char __pyx_k_main[] = "__main__"; +static const char __pyx_k_mode[] = "mode"; +static const char __pyx_k_name[] = "name"; +static const char __pyx_k_ndim[] = "ndim"; +static const char __pyx_k_pack[] = "pack"; +static const char __pyx_k_self[] = "self"; +static const char __pyx_k_size[] = "size"; +static const char __pyx_k_spec[] = "__spec__"; +static const char __pyx_k_step[] = "step"; +static const char __pyx_k_stop[] = "stop"; +static const char __pyx_k_test[] = "__test__"; +static const char __pyx_k_ASCII[] = "ASCII"; +static const char __pyx_k_class[] = "__class__"; +static const char __pyx_k_count[] = "count"; +static const char __pyx_k_error[] = "error"; +static const char __pyx_k_flags[] = "flags"; +static const char __pyx_k_index[] = "index"; +static const char __pyx_k_range[] = "range"; +static const char __pyx_k_shape[] = "shape"; +static const char __pyx_k_start[] = "start"; +static const char __pyx_k_super[] = "super"; +static const char __pyx_k_buffer[] = "buffer"; +static const char __pyx_k_cl_buf[] = "cl_buf"; +static const char __pyx_k_enable[] = "enable"; +static const char __pyx_k_encode[] = "encode"; +static const char __pyx_k_format[] = "format"; +static const char __pyx_k_import[] = "__import__"; +static const char __pyx_k_module[] = "__module__"; +static const char __pyx_k_name_2[] = "__name__"; +static const char __pyx_k_pickle[] = "pickle"; +static const char __pyx_k_reduce[] = "__reduce__"; +static const char __pyx_k_struct[] = "struct"; +static const char __pyx_k_unpack[] = "unpack"; +static const char __pyx_k_update[] = "update"; +static const char __pyx_k_Runtime[] = "Runtime"; +static const char __pyx_k_disable[] = "disable"; +static const char __pyx_k_execute[] = "execute"; +static const char __pyx_k_fortran[] = "fortran"; +static const char __pyx_k_memview[] = "memview"; +static const char __pyx_k_prepare[] = "__prepare__"; +static const char __pyx_k_Ellipsis[] = "Ellipsis"; +static const char __pyx_k_RunModel[] = "RunModel"; +static const char __pyx_k_Sequence[] = "Sequence"; +static const char __pyx_k_addInput[] = "addInput"; +static const char __pyx_k_getstate[] = "__getstate__"; +static const char __pyx_k_itemsize[] = "itemsize"; +static const char __pyx_k_pyx_type[] = "__pyx_type"; +static const char __pyx_k_qualname[] = "__qualname__"; +static const char __pyx_k_register[] = "register"; +static const char __pyx_k_set_name[] = "__set_name__"; +static const char __pyx_k_setstate[] = "__setstate__"; +static const char __pyx_k_TypeError[] = "TypeError"; +static const char __pyx_k_enumerate[] = "enumerate"; +static const char __pyx_k_isenabled[] = "isenabled"; +static const char __pyx_k_metaclass[] = "__metaclass__"; +static const char __pyx_k_pyx_state[] = "__pyx_state"; +static const char __pyx_k_reduce_ex[] = "__reduce_ex__"; +static const char __pyx_k_IndexError[] = "IndexError"; +static const char __pyx_k_ValueError[] = "ValueError"; +static const char __pyx_k_pyx_result[] = "__pyx_result"; +static const char __pyx_k_pyx_vtable[] = "__pyx_vtable__"; +static const char __pyx_k_MemoryError[] = "MemoryError"; +static const char __pyx_k_PickleError[] = "PickleError"; +static const char __pyx_k_collections[] = "collections"; +static const char __pyx_k_getCLBuffer[] = "getCLBuffer"; +static const char __pyx_k_initializing[] = "_initializing"; +static const char __pyx_k_is_coroutine[] = "_is_coroutine"; +static const char __pyx_k_pyx_checksum[] = "__pyx_checksum"; +static const char __pyx_k_stringsource[] = ""; +static const char __pyx_k_version_info[] = "version_info"; +static const char __pyx_k_class_getitem[] = "__class_getitem__"; +static const char __pyx_k_init_subclass[] = "__init_subclass__"; +static const char __pyx_k_reduce_cython[] = "__reduce_cython__"; +static const char __pyx_k_AssertionError[] = "AssertionError"; +static const char __pyx_k_setInputBuffer[] = "setInputBuffer"; +static const char __pyx_k_View_MemoryView[] = "View.MemoryView"; +static const char __pyx_k_allocate_buffer[] = "allocate_buffer"; +static const char __pyx_k_collections_abc[] = "collections.abc"; +static const char __pyx_k_dtype_is_object[] = "dtype_is_object"; +static const char __pyx_k_pyx_PickleError[] = "__pyx_PickleError"; +static const char __pyx_k_setstate_cython[] = "__setstate_cython__"; +static const char __pyx_k_RunModel_execute[] = "RunModel.execute"; +static const char __pyx_k_RunModel_addInput[] = "RunModel.addInput"; +static const char __pyx_k_pyx_unpickle_Enum[] = "__pyx_unpickle_Enum"; +static const char __pyx_k_asyncio_coroutines[] = "asyncio.coroutines"; +static const char __pyx_k_cline_in_traceback[] = "cline_in_traceback"; +static const char __pyx_k_strided_and_direct[] = ""; +static const char __pyx_k_RunModel_getCLBuffer[] = "RunModel.getCLBuffer"; +static const char __pyx_k_strided_and_indirect[] = ""; +static const char __pyx_k_Invalid_shape_in_axis[] = "Invalid shape in axis "; +static const char __pyx_k_contiguous_and_direct[] = ""; +static const char __pyx_k_Cannot_index_with_type[] = "Cannot index with type '"; +static const char __pyx_k_MemoryView_of_r_object[] = ""; +static const char __pyx_k_MemoryView_of_r_at_0x_x[] = ""; +static const char __pyx_k_RunModel_setInputBuffer[] = "RunModel.setInputBuffer"; +static const char __pyx_k_contiguous_and_indirect[] = ""; +static const char __pyx_k_RunModel___reduce_cython[] = "RunModel.__reduce_cython__"; +static const char __pyx_k_Dimension_d_is_not_direct[] = "Dimension %d is not direct"; +static const char __pyx_k_Index_out_of_bounds_axis_d[] = "Index out of bounds (axis %d)"; +static const char __pyx_k_RunModel___setstate_cython[] = "RunModel.__setstate_cython__"; +static const char __pyx_k_Step_may_not_be_zero_axis_d[] = "Step may not be zero (axis %d)"; +static const char __pyx_k_itemsize_0_for_cython_array[] = "itemsize <= 0 for cython.array"; +static const char __pyx_k_unable_to_allocate_array_data[] = "unable to allocate array data."; +static const char __pyx_k_strided_and_direct_or_indirect[] = ""; +static const char __pyx_k_All_dimensions_preceding_dimensi[] = "All dimensions preceding dimension %d must be indexed and not sliced"; +static const char __pyx_k_Buffer_view_does_not_expose_stri[] = "Buffer view does not expose strides"; +static const char __pyx_k_Can_only_create_a_buffer_that_is[] = "Can only create a buffer that is contiguous in memory."; +static const char __pyx_k_Cannot_assign_to_read_only_memor[] = "Cannot assign to read-only memoryview"; +static const char __pyx_k_Cannot_create_writable_memory_vi[] = "Cannot create writable memory view from read-only memoryview"; +static const char __pyx_k_Cannot_transpose_memoryview_with[] = "Cannot transpose memoryview with indirect dimensions"; +static const char __pyx_k_Empty_shape_tuple_for_cython_arr[] = "Empty shape tuple for cython.array"; +static const char __pyx_k_Incompatible_checksums_0x_x_vs_0[] = "Incompatible checksums (0x%x vs (0x82a3537, 0x6ae9995, 0xb068931) = (name))"; +static const char __pyx_k_Indirect_dimensions_not_supporte[] = "Indirect dimensions not supported"; +static const char __pyx_k_Invalid_mode_expected_c_or_fortr[] = "Invalid mode, expected 'c' or 'fortran', got "; +static const char __pyx_k_Out_of_bounds_on_buffer_access_a[] = "Out of bounds on buffer access (axis "; +static const char __pyx_k_Unable_to_convert_item_to_object[] = "Unable to convert item to object"; +static const char __pyx_k_got_differing_extents_in_dimensi[] = "got differing extents in dimension "; +static const char __pyx_k_no_default___reduce___due_to_non[] = "no default __reduce__ due to non-trivial __cinit__"; +static const char __pyx_k_self_model_cannot_be_converted_t[] = "self.model cannot be converted to a Python object for pickling"; +static const char __pyx_k_selfdrive_modeld_runners_runmode[] = "selfdrive.modeld.runners.runmodel_pyx"; +static const char __pyx_k_unable_to_allocate_shape_and_str[] = "unable to allocate shape and strides."; +static const char __pyx_k_selfdrive_modeld_runners_runmode_2[] = "selfdrive/modeld/runners/runmodel_pyx.pyx"; +/* #### Code section: decls ### */ +static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array___cinit__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_shape, Py_ssize_t __pyx_v_itemsize, PyObject *__pyx_v_format, PyObject *__pyx_v_mode, int __pyx_v_allocate_buffer); /* proto */ +static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array_2__getbuffer__(struct __pyx_array_obj *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /* proto */ +static void __pyx_array___pyx_pf_15View_dot_MemoryView_5array_4__dealloc__(struct __pyx_array_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_5array_7memview___get__(struct __pyx_array_obj *__pyx_v_self); /* proto */ +static Py_ssize_t __pyx_array___pyx_pf_15View_dot_MemoryView_5array_6__len__(struct __pyx_array_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_array___pyx_pf_15View_dot_MemoryView_5array_8__getattr__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_attr); /* proto */ +static PyObject *__pyx_array___pyx_pf_15View_dot_MemoryView_5array_10__getitem__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_item); /* proto */ +static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array_12__setitem__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_item, PyObject *__pyx_v_value); /* proto */ +static PyObject *__pyx_pf___pyx_array___reduce_cython__(CYTHON_UNUSED struct __pyx_array_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_array_2__setstate_cython__(CYTHON_UNUSED struct __pyx_array_obj *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_MemviewEnum___pyx_pf_15View_dot_MemoryView_4Enum___init__(struct __pyx_MemviewEnum_obj *__pyx_v_self, PyObject *__pyx_v_name); /* proto */ +static PyObject *__pyx_MemviewEnum___pyx_pf_15View_dot_MemoryView_4Enum_2__repr__(struct __pyx_MemviewEnum_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_MemviewEnum___reduce_cython__(struct __pyx_MemviewEnum_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_MemviewEnum_2__setstate_cython__(struct __pyx_MemviewEnum_obj *__pyx_v_self, PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview___cinit__(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_obj, int __pyx_v_flags, int __pyx_v_dtype_is_object); /* proto */ +static void __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_2__dealloc__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_4__getitem__(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index); /* proto */ +static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_6__setitem__(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index, PyObject *__pyx_v_value); /* proto */ +static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_8__getbuffer__(struct __pyx_memoryview_obj *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_1T___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_4base___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_5shape___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_7strides___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_10suboffsets___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_4ndim___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_8itemsize___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_6nbytes___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_4size___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static Py_ssize_t __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_10__len__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_12__repr__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_14__str__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_16is_c_contig(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_18is_f_contig(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_20copy(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_22copy_fortran(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryview___reduce_cython__(CYTHON_UNUSED struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryview_2__setstate_cython__(CYTHON_UNUSED struct __pyx_memoryview_obj *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static void __pyx_memoryviewslice___pyx_pf_15View_dot_MemoryView_16_memoryviewslice___dealloc__(struct __pyx_memoryviewslice_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryviewslice___reduce_cython__(CYTHON_UNUSED struct __pyx_memoryviewslice_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryviewslice_2__setstate_cython__(CYTHON_UNUSED struct __pyx_memoryviewslice_obj *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView___pyx_unpickle_Enum(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v___pyx_type, long __pyx_v___pyx_checksum, PyObject *__pyx_v___pyx_state); /* proto */ +static void __pyx_pf_9selfdrive_6modeld_7runners_12runmodel_pyx_8RunModel___dealloc__(struct __pyx_obj_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_9selfdrive_6modeld_7runners_12runmodel_pyx_8RunModel_2addInput(struct __pyx_obj_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel *__pyx_v_self, std::string __pyx_v_name, __Pyx_memviewslice __pyx_v_buffer); /* proto */ +static PyObject *__pyx_pf_9selfdrive_6modeld_7runners_12runmodel_pyx_8RunModel_4setInputBuffer(struct __pyx_obj_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel *__pyx_v_self, std::string __pyx_v_name, __Pyx_memviewslice __pyx_v_buffer); /* proto */ +static PyObject *__pyx_pf_9selfdrive_6modeld_7runners_12runmodel_pyx_8RunModel_6getCLBuffer(struct __pyx_obj_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel *__pyx_v_self, std::string __pyx_v_name); /* proto */ +static PyObject *__pyx_pf_9selfdrive_6modeld_7runners_12runmodel_pyx_8RunModel_8execute(struct __pyx_obj_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_9selfdrive_6modeld_7runners_12runmodel_pyx_8RunModel_10__reduce_cython__(CYTHON_UNUSED struct __pyx_obj_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_9selfdrive_6modeld_7runners_12runmodel_pyx_8RunModel_12__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static PyObject *__pyx_tp_new_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_array(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_Enum(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_memoryview(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new__memoryviewslice(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +/* #### Code section: late_includes ### */ +/* #### Code section: module_state ### */ +typedef struct { + PyObject *__pyx_d; + PyObject *__pyx_b; + PyObject *__pyx_cython_runtime; + PyObject *__pyx_empty_tuple; + PyObject *__pyx_empty_bytes; + PyObject *__pyx_empty_unicode; + #ifdef __Pyx_CyFunction_USED + PyTypeObject *__pyx_CyFunctionType; + #endif + #ifdef __Pyx_FusedFunction_USED + PyTypeObject *__pyx_FusedFunctionType; + #endif + #ifdef __Pyx_Generator_USED + PyTypeObject *__pyx_GeneratorType; + #endif + #ifdef __Pyx_IterableCoroutine_USED + PyTypeObject *__pyx_IterableCoroutineType; + #endif + #ifdef __Pyx_Coroutine_USED + PyTypeObject *__pyx_CoroutineAwaitType; + #endif + #ifdef __Pyx_Coroutine_USED + PyTypeObject *__pyx_CoroutineType; + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + PyTypeObject *__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_CLContext; + PyTypeObject *__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionBuf; + #if CYTHON_USE_MODULE_STATE + #endif + PyTypeObject *__pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext; + PyTypeObject *__pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem; + #if CYTHON_USE_MODULE_STATE + PyObject *__pyx_type_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel; + PyObject *__pyx_type___pyx_array; + PyObject *__pyx_type___pyx_MemviewEnum; + PyObject *__pyx_type___pyx_memoryview; + PyObject *__pyx_type___pyx_memoryviewslice; + #endif + PyTypeObject *__pyx_ptype_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel; + PyTypeObject *__pyx_array_type; + PyTypeObject *__pyx_MemviewEnum_type; + PyTypeObject *__pyx_memoryview_type; + PyTypeObject *__pyx_memoryviewslice_type; + PyObject *__pyx_kp_u_; + PyObject *__pyx_n_s_ASCII; + PyObject *__pyx_kp_s_All_dimensions_preceding_dimensi; + PyObject *__pyx_n_s_AssertionError; + PyObject *__pyx_kp_s_Buffer_view_does_not_expose_stri; + PyObject *__pyx_n_s_CPU; + PyObject *__pyx_kp_s_Can_only_create_a_buffer_that_is; + PyObject *__pyx_kp_s_Cannot_assign_to_read_only_memor; + PyObject *__pyx_kp_s_Cannot_create_writable_memory_vi; + PyObject *__pyx_kp_u_Cannot_index_with_type; + PyObject *__pyx_kp_s_Cannot_transpose_memoryview_with; + PyObject *__pyx_n_s_DSP; + PyObject *__pyx_kp_s_Dimension_d_is_not_direct; + PyObject *__pyx_n_s_Ellipsis; + PyObject *__pyx_kp_s_Empty_shape_tuple_for_cython_arr; + PyObject *__pyx_n_s_GPU; + PyObject *__pyx_kp_s_Incompatible_checksums_0x_x_vs_0; + PyObject *__pyx_n_s_IndexError; + PyObject *__pyx_kp_s_Index_out_of_bounds_axis_d; + PyObject *__pyx_kp_s_Indirect_dimensions_not_supporte; + PyObject *__pyx_kp_u_Invalid_mode_expected_c_or_fortr; + PyObject *__pyx_kp_u_Invalid_shape_in_axis; + PyObject *__pyx_n_s_MemoryError; + PyObject *__pyx_kp_s_MemoryView_of_r_at_0x_x; + PyObject *__pyx_kp_s_MemoryView_of_r_object; + PyObject *__pyx_n_b_O; + PyObject *__pyx_kp_u_Out_of_bounds_on_buffer_access_a; + PyObject *__pyx_n_s_PickleError; + PyObject *__pyx_n_s_RunModel; + PyObject *__pyx_n_s_RunModel___reduce_cython; + PyObject *__pyx_n_s_RunModel___setstate_cython; + PyObject *__pyx_n_s_RunModel_addInput; + PyObject *__pyx_n_s_RunModel_execute; + PyObject *__pyx_n_s_RunModel_getCLBuffer; + PyObject *__pyx_n_s_RunModel_setInputBuffer; + PyObject *__pyx_n_s_Runtime; + PyObject *__pyx_n_s_Sequence; + PyObject *__pyx_kp_s_Step_may_not_be_zero_axis_d; + PyObject *__pyx_n_s_TypeError; + PyObject *__pyx_kp_s_Unable_to_convert_item_to_object; + PyObject *__pyx_n_s_ValueError; + PyObject *__pyx_n_s_View_MemoryView; + PyObject *__pyx_kp_u__2; + PyObject *__pyx_n_s__3; + PyObject *__pyx_n_s__30; + PyObject *__pyx_kp_u__6; + PyObject *__pyx_kp_u__7; + PyObject *__pyx_n_s_abc; + PyObject *__pyx_n_s_addInput; + PyObject *__pyx_n_s_allocate_buffer; + PyObject *__pyx_kp_u_and; + PyObject *__pyx_n_s_asyncio_coroutines; + PyObject *__pyx_n_s_base; + PyObject *__pyx_n_s_buffer; + PyObject *__pyx_n_s_c; + PyObject *__pyx_n_u_c; + PyObject *__pyx_n_s_cl_buf; + PyObject *__pyx_n_s_class; + PyObject *__pyx_n_s_class_getitem; + PyObject *__pyx_n_s_cline_in_traceback; + PyObject *__pyx_n_s_collections; + PyObject *__pyx_kp_s_collections_abc; + PyObject *__pyx_kp_s_contiguous_and_direct; + PyObject *__pyx_kp_s_contiguous_and_indirect; + PyObject *__pyx_n_s_count; + PyObject *__pyx_n_s_dict; + PyObject *__pyx_kp_u_disable; + PyObject *__pyx_n_s_doc; + PyObject *__pyx_n_s_dtype_is_object; + PyObject *__pyx_kp_u_enable; + PyObject *__pyx_n_s_encode; + PyObject *__pyx_n_s_enumerate; + PyObject *__pyx_n_s_error; + PyObject *__pyx_n_s_execute; + PyObject *__pyx_n_s_flags; + PyObject *__pyx_n_s_format; + PyObject *__pyx_n_s_fortran; + PyObject *__pyx_n_u_fortran; + PyObject *__pyx_kp_u_gc; + PyObject *__pyx_n_s_getCLBuffer; + PyObject *__pyx_n_s_getstate; + PyObject *__pyx_kp_u_got; + PyObject *__pyx_kp_u_got_differing_extents_in_dimensi; + PyObject *__pyx_n_s_id; + PyObject *__pyx_n_s_import; + PyObject *__pyx_n_s_index; + PyObject *__pyx_n_s_init_subclass; + PyObject *__pyx_n_s_initializing; + PyObject *__pyx_n_s_is_coroutine; + PyObject *__pyx_kp_u_isenabled; + PyObject *__pyx_n_s_itemsize; + PyObject *__pyx_kp_s_itemsize_0_for_cython_array; + PyObject *__pyx_n_s_main; + PyObject *__pyx_n_s_memview; + PyObject *__pyx_n_s_metaclass; + PyObject *__pyx_n_s_mode; + PyObject *__pyx_n_s_module; + PyObject *__pyx_n_s_name; + PyObject *__pyx_n_s_name_2; + PyObject *__pyx_n_s_ndim; + PyObject *__pyx_n_s_new; + PyObject *__pyx_kp_s_no_default___reduce___due_to_non; + PyObject *__pyx_n_s_obj; + PyObject *__pyx_n_s_pack; + PyObject *__pyx_n_s_pickle; + PyObject *__pyx_n_s_prepare; + PyObject *__pyx_n_s_pyx_PickleError; + PyObject *__pyx_n_s_pyx_checksum; + PyObject *__pyx_n_s_pyx_result; + PyObject *__pyx_n_s_pyx_state; + PyObject *__pyx_n_s_pyx_type; + PyObject *__pyx_n_s_pyx_unpickle_Enum; + PyObject *__pyx_n_s_pyx_vtable; + PyObject *__pyx_n_s_qualname; + PyObject *__pyx_n_s_range; + PyObject *__pyx_n_s_reduce; + PyObject *__pyx_n_s_reduce_cython; + PyObject *__pyx_n_s_reduce_ex; + PyObject *__pyx_n_s_register; + PyObject *__pyx_n_s_self; + PyObject *__pyx_kp_s_self_model_cannot_be_converted_t; + PyObject *__pyx_n_s_selfdrive_modeld_runners_runmode; + PyObject *__pyx_kp_s_selfdrive_modeld_runners_runmode_2; + PyObject *__pyx_n_s_setInputBuffer; + PyObject *__pyx_n_s_set_name; + PyObject *__pyx_n_s_setstate; + PyObject *__pyx_n_s_setstate_cython; + PyObject *__pyx_n_s_shape; + PyObject *__pyx_n_s_size; + PyObject *__pyx_n_s_spec; + PyObject *__pyx_n_s_start; + PyObject *__pyx_n_s_step; + PyObject *__pyx_n_s_stop; + PyObject *__pyx_kp_s_strided_and_direct; + PyObject *__pyx_kp_s_strided_and_direct_or_indirect; + PyObject *__pyx_kp_s_strided_and_indirect; + PyObject *__pyx_kp_s_stringsource; + PyObject *__pyx_n_s_struct; + PyObject *__pyx_n_s_super; + PyObject *__pyx_n_s_sys; + PyObject *__pyx_n_s_test; + PyObject *__pyx_kp_s_unable_to_allocate_array_data; + PyObject *__pyx_kp_s_unable_to_allocate_shape_and_str; + PyObject *__pyx_n_s_unpack; + PyObject *__pyx_n_s_update; + PyObject *__pyx_n_s_version_info; + PyObject *__pyx_int_0; + PyObject *__pyx_int_1; + PyObject *__pyx_int_3; + PyObject *__pyx_int_112105877; + PyObject *__pyx_int_136983863; + PyObject *__pyx_int_184977713; + PyObject *__pyx_int_neg_1; + PyObject *__pyx_slice__5; + PyObject *__pyx_tuple__4; + PyObject *__pyx_tuple__8; + PyObject *__pyx_tuple__9; + PyObject *__pyx_tuple__10; + PyObject *__pyx_tuple__11; + PyObject *__pyx_tuple__12; + PyObject *__pyx_tuple__13; + PyObject *__pyx_tuple__14; + PyObject *__pyx_tuple__15; + PyObject *__pyx_tuple__16; + PyObject *__pyx_tuple__17; + PyObject *__pyx_tuple__18; + PyObject *__pyx_tuple__20; + PyObject *__pyx_tuple__23; + PyObject *__pyx_tuple__25; + PyObject *__pyx_tuple__28; + PyObject *__pyx_codeobj__19; + PyObject *__pyx_codeobj__21; + PyObject *__pyx_codeobj__22; + PyObject *__pyx_codeobj__24; + PyObject *__pyx_codeobj__26; + PyObject *__pyx_codeobj__27; + PyObject *__pyx_codeobj__29; +} __pyx_mstate; + +#if CYTHON_USE_MODULE_STATE +#ifdef __cplusplus +namespace { + extern struct PyModuleDef __pyx_moduledef; +} /* anonymous namespace */ +#else +static struct PyModuleDef __pyx_moduledef; +#endif + +#define __pyx_mstate(o) ((__pyx_mstate *)__Pyx_PyModule_GetState(o)) + +#define __pyx_mstate_global (__pyx_mstate(PyState_FindModule(&__pyx_moduledef))) + +#define __pyx_m (PyState_FindModule(&__pyx_moduledef)) +#else +static __pyx_mstate __pyx_mstate_global_static = +#ifdef __cplusplus + {}; +#else + {0}; +#endif +static __pyx_mstate *__pyx_mstate_global = &__pyx_mstate_global_static; +#endif +/* #### Code section: module_state_clear ### */ +#if CYTHON_USE_MODULE_STATE +static int __pyx_m_clear(PyObject *m) { + __pyx_mstate *clear_module_state = __pyx_mstate(m); + if (!clear_module_state) return 0; + Py_CLEAR(clear_module_state->__pyx_d); + Py_CLEAR(clear_module_state->__pyx_b); + Py_CLEAR(clear_module_state->__pyx_cython_runtime); + Py_CLEAR(clear_module_state->__pyx_empty_tuple); + Py_CLEAR(clear_module_state->__pyx_empty_bytes); + Py_CLEAR(clear_module_state->__pyx_empty_unicode); + #ifdef __Pyx_CyFunction_USED + Py_CLEAR(clear_module_state->__pyx_CyFunctionType); + #endif + #ifdef __Pyx_FusedFunction_USED + Py_CLEAR(clear_module_state->__pyx_FusedFunctionType); + #endif + Py_CLEAR(clear_module_state->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_CLContext); + Py_CLEAR(clear_module_state->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionBuf); + Py_CLEAR(clear_module_state->__pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext); + Py_CLEAR(clear_module_state->__pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem); + Py_CLEAR(clear_module_state->__pyx_ptype_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel); + Py_CLEAR(clear_module_state->__pyx_type_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel); + Py_CLEAR(clear_module_state->__pyx_array_type); + Py_CLEAR(clear_module_state->__pyx_type___pyx_array); + Py_CLEAR(clear_module_state->__pyx_MemviewEnum_type); + Py_CLEAR(clear_module_state->__pyx_type___pyx_MemviewEnum); + Py_CLEAR(clear_module_state->__pyx_memoryview_type); + Py_CLEAR(clear_module_state->__pyx_type___pyx_memoryview); + Py_CLEAR(clear_module_state->__pyx_memoryviewslice_type); + Py_CLEAR(clear_module_state->__pyx_type___pyx_memoryviewslice); + Py_CLEAR(clear_module_state->__pyx_kp_u_); + Py_CLEAR(clear_module_state->__pyx_n_s_ASCII); + Py_CLEAR(clear_module_state->__pyx_kp_s_All_dimensions_preceding_dimensi); + Py_CLEAR(clear_module_state->__pyx_n_s_AssertionError); + Py_CLEAR(clear_module_state->__pyx_kp_s_Buffer_view_does_not_expose_stri); + Py_CLEAR(clear_module_state->__pyx_n_s_CPU); + Py_CLEAR(clear_module_state->__pyx_kp_s_Can_only_create_a_buffer_that_is); + Py_CLEAR(clear_module_state->__pyx_kp_s_Cannot_assign_to_read_only_memor); + Py_CLEAR(clear_module_state->__pyx_kp_s_Cannot_create_writable_memory_vi); + Py_CLEAR(clear_module_state->__pyx_kp_u_Cannot_index_with_type); + Py_CLEAR(clear_module_state->__pyx_kp_s_Cannot_transpose_memoryview_with); + Py_CLEAR(clear_module_state->__pyx_n_s_DSP); + Py_CLEAR(clear_module_state->__pyx_kp_s_Dimension_d_is_not_direct); + Py_CLEAR(clear_module_state->__pyx_n_s_Ellipsis); + Py_CLEAR(clear_module_state->__pyx_kp_s_Empty_shape_tuple_for_cython_arr); + Py_CLEAR(clear_module_state->__pyx_n_s_GPU); + Py_CLEAR(clear_module_state->__pyx_kp_s_Incompatible_checksums_0x_x_vs_0); + Py_CLEAR(clear_module_state->__pyx_n_s_IndexError); + Py_CLEAR(clear_module_state->__pyx_kp_s_Index_out_of_bounds_axis_d); + Py_CLEAR(clear_module_state->__pyx_kp_s_Indirect_dimensions_not_supporte); + Py_CLEAR(clear_module_state->__pyx_kp_u_Invalid_mode_expected_c_or_fortr); + Py_CLEAR(clear_module_state->__pyx_kp_u_Invalid_shape_in_axis); + Py_CLEAR(clear_module_state->__pyx_n_s_MemoryError); + Py_CLEAR(clear_module_state->__pyx_kp_s_MemoryView_of_r_at_0x_x); + Py_CLEAR(clear_module_state->__pyx_kp_s_MemoryView_of_r_object); + Py_CLEAR(clear_module_state->__pyx_n_b_O); + Py_CLEAR(clear_module_state->__pyx_kp_u_Out_of_bounds_on_buffer_access_a); + Py_CLEAR(clear_module_state->__pyx_n_s_PickleError); + Py_CLEAR(clear_module_state->__pyx_n_s_RunModel); + Py_CLEAR(clear_module_state->__pyx_n_s_RunModel___reduce_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_RunModel___setstate_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_RunModel_addInput); + Py_CLEAR(clear_module_state->__pyx_n_s_RunModel_execute); + Py_CLEAR(clear_module_state->__pyx_n_s_RunModel_getCLBuffer); + Py_CLEAR(clear_module_state->__pyx_n_s_RunModel_setInputBuffer); + Py_CLEAR(clear_module_state->__pyx_n_s_Runtime); + Py_CLEAR(clear_module_state->__pyx_n_s_Sequence); + Py_CLEAR(clear_module_state->__pyx_kp_s_Step_may_not_be_zero_axis_d); + Py_CLEAR(clear_module_state->__pyx_n_s_TypeError); + Py_CLEAR(clear_module_state->__pyx_kp_s_Unable_to_convert_item_to_object); + Py_CLEAR(clear_module_state->__pyx_n_s_ValueError); + Py_CLEAR(clear_module_state->__pyx_n_s_View_MemoryView); + Py_CLEAR(clear_module_state->__pyx_kp_u__2); + Py_CLEAR(clear_module_state->__pyx_n_s__3); + Py_CLEAR(clear_module_state->__pyx_n_s__30); + Py_CLEAR(clear_module_state->__pyx_kp_u__6); + Py_CLEAR(clear_module_state->__pyx_kp_u__7); + Py_CLEAR(clear_module_state->__pyx_n_s_abc); + Py_CLEAR(clear_module_state->__pyx_n_s_addInput); + Py_CLEAR(clear_module_state->__pyx_n_s_allocate_buffer); + Py_CLEAR(clear_module_state->__pyx_kp_u_and); + Py_CLEAR(clear_module_state->__pyx_n_s_asyncio_coroutines); + Py_CLEAR(clear_module_state->__pyx_n_s_base); + Py_CLEAR(clear_module_state->__pyx_n_s_buffer); + Py_CLEAR(clear_module_state->__pyx_n_s_c); + Py_CLEAR(clear_module_state->__pyx_n_u_c); + Py_CLEAR(clear_module_state->__pyx_n_s_cl_buf); + Py_CLEAR(clear_module_state->__pyx_n_s_class); + Py_CLEAR(clear_module_state->__pyx_n_s_class_getitem); + Py_CLEAR(clear_module_state->__pyx_n_s_cline_in_traceback); + Py_CLEAR(clear_module_state->__pyx_n_s_collections); + Py_CLEAR(clear_module_state->__pyx_kp_s_collections_abc); + Py_CLEAR(clear_module_state->__pyx_kp_s_contiguous_and_direct); + Py_CLEAR(clear_module_state->__pyx_kp_s_contiguous_and_indirect); + Py_CLEAR(clear_module_state->__pyx_n_s_count); + Py_CLEAR(clear_module_state->__pyx_n_s_dict); + Py_CLEAR(clear_module_state->__pyx_kp_u_disable); + Py_CLEAR(clear_module_state->__pyx_n_s_doc); + Py_CLEAR(clear_module_state->__pyx_n_s_dtype_is_object); + Py_CLEAR(clear_module_state->__pyx_kp_u_enable); + Py_CLEAR(clear_module_state->__pyx_n_s_encode); + Py_CLEAR(clear_module_state->__pyx_n_s_enumerate); + Py_CLEAR(clear_module_state->__pyx_n_s_error); + Py_CLEAR(clear_module_state->__pyx_n_s_execute); + Py_CLEAR(clear_module_state->__pyx_n_s_flags); + Py_CLEAR(clear_module_state->__pyx_n_s_format); + Py_CLEAR(clear_module_state->__pyx_n_s_fortran); + Py_CLEAR(clear_module_state->__pyx_n_u_fortran); + Py_CLEAR(clear_module_state->__pyx_kp_u_gc); + Py_CLEAR(clear_module_state->__pyx_n_s_getCLBuffer); + Py_CLEAR(clear_module_state->__pyx_n_s_getstate); + Py_CLEAR(clear_module_state->__pyx_kp_u_got); + Py_CLEAR(clear_module_state->__pyx_kp_u_got_differing_extents_in_dimensi); + Py_CLEAR(clear_module_state->__pyx_n_s_id); + Py_CLEAR(clear_module_state->__pyx_n_s_import); + Py_CLEAR(clear_module_state->__pyx_n_s_index); + Py_CLEAR(clear_module_state->__pyx_n_s_init_subclass); + Py_CLEAR(clear_module_state->__pyx_n_s_initializing); + Py_CLEAR(clear_module_state->__pyx_n_s_is_coroutine); + Py_CLEAR(clear_module_state->__pyx_kp_u_isenabled); + Py_CLEAR(clear_module_state->__pyx_n_s_itemsize); + Py_CLEAR(clear_module_state->__pyx_kp_s_itemsize_0_for_cython_array); + Py_CLEAR(clear_module_state->__pyx_n_s_main); + Py_CLEAR(clear_module_state->__pyx_n_s_memview); + Py_CLEAR(clear_module_state->__pyx_n_s_metaclass); + Py_CLEAR(clear_module_state->__pyx_n_s_mode); + Py_CLEAR(clear_module_state->__pyx_n_s_module); + Py_CLEAR(clear_module_state->__pyx_n_s_name); + Py_CLEAR(clear_module_state->__pyx_n_s_name_2); + Py_CLEAR(clear_module_state->__pyx_n_s_ndim); + Py_CLEAR(clear_module_state->__pyx_n_s_new); + Py_CLEAR(clear_module_state->__pyx_kp_s_no_default___reduce___due_to_non); + Py_CLEAR(clear_module_state->__pyx_n_s_obj); + Py_CLEAR(clear_module_state->__pyx_n_s_pack); + Py_CLEAR(clear_module_state->__pyx_n_s_pickle); + Py_CLEAR(clear_module_state->__pyx_n_s_prepare); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_PickleError); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_checksum); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_result); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_state); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_type); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_unpickle_Enum); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_vtable); + Py_CLEAR(clear_module_state->__pyx_n_s_qualname); + Py_CLEAR(clear_module_state->__pyx_n_s_range); + Py_CLEAR(clear_module_state->__pyx_n_s_reduce); + Py_CLEAR(clear_module_state->__pyx_n_s_reduce_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_reduce_ex); + Py_CLEAR(clear_module_state->__pyx_n_s_register); + Py_CLEAR(clear_module_state->__pyx_n_s_self); + Py_CLEAR(clear_module_state->__pyx_kp_s_self_model_cannot_be_converted_t); + Py_CLEAR(clear_module_state->__pyx_n_s_selfdrive_modeld_runners_runmode); + Py_CLEAR(clear_module_state->__pyx_kp_s_selfdrive_modeld_runners_runmode_2); + Py_CLEAR(clear_module_state->__pyx_n_s_setInputBuffer); + Py_CLEAR(clear_module_state->__pyx_n_s_set_name); + Py_CLEAR(clear_module_state->__pyx_n_s_setstate); + Py_CLEAR(clear_module_state->__pyx_n_s_setstate_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_shape); + Py_CLEAR(clear_module_state->__pyx_n_s_size); + Py_CLEAR(clear_module_state->__pyx_n_s_spec); + Py_CLEAR(clear_module_state->__pyx_n_s_start); + Py_CLEAR(clear_module_state->__pyx_n_s_step); + Py_CLEAR(clear_module_state->__pyx_n_s_stop); + Py_CLEAR(clear_module_state->__pyx_kp_s_strided_and_direct); + Py_CLEAR(clear_module_state->__pyx_kp_s_strided_and_direct_or_indirect); + Py_CLEAR(clear_module_state->__pyx_kp_s_strided_and_indirect); + Py_CLEAR(clear_module_state->__pyx_kp_s_stringsource); + Py_CLEAR(clear_module_state->__pyx_n_s_struct); + Py_CLEAR(clear_module_state->__pyx_n_s_super); + Py_CLEAR(clear_module_state->__pyx_n_s_sys); + Py_CLEAR(clear_module_state->__pyx_n_s_test); + Py_CLEAR(clear_module_state->__pyx_kp_s_unable_to_allocate_array_data); + Py_CLEAR(clear_module_state->__pyx_kp_s_unable_to_allocate_shape_and_str); + Py_CLEAR(clear_module_state->__pyx_n_s_unpack); + Py_CLEAR(clear_module_state->__pyx_n_s_update); + Py_CLEAR(clear_module_state->__pyx_n_s_version_info); + Py_CLEAR(clear_module_state->__pyx_int_0); + Py_CLEAR(clear_module_state->__pyx_int_1); + Py_CLEAR(clear_module_state->__pyx_int_3); + Py_CLEAR(clear_module_state->__pyx_int_112105877); + Py_CLEAR(clear_module_state->__pyx_int_136983863); + Py_CLEAR(clear_module_state->__pyx_int_184977713); + Py_CLEAR(clear_module_state->__pyx_int_neg_1); + Py_CLEAR(clear_module_state->__pyx_slice__5); + Py_CLEAR(clear_module_state->__pyx_tuple__4); + Py_CLEAR(clear_module_state->__pyx_tuple__8); + Py_CLEAR(clear_module_state->__pyx_tuple__9); + Py_CLEAR(clear_module_state->__pyx_tuple__10); + Py_CLEAR(clear_module_state->__pyx_tuple__11); + Py_CLEAR(clear_module_state->__pyx_tuple__12); + Py_CLEAR(clear_module_state->__pyx_tuple__13); + Py_CLEAR(clear_module_state->__pyx_tuple__14); + Py_CLEAR(clear_module_state->__pyx_tuple__15); + Py_CLEAR(clear_module_state->__pyx_tuple__16); + Py_CLEAR(clear_module_state->__pyx_tuple__17); + Py_CLEAR(clear_module_state->__pyx_tuple__18); + Py_CLEAR(clear_module_state->__pyx_tuple__20); + Py_CLEAR(clear_module_state->__pyx_tuple__23); + Py_CLEAR(clear_module_state->__pyx_tuple__25); + Py_CLEAR(clear_module_state->__pyx_tuple__28); + Py_CLEAR(clear_module_state->__pyx_codeobj__19); + Py_CLEAR(clear_module_state->__pyx_codeobj__21); + Py_CLEAR(clear_module_state->__pyx_codeobj__22); + Py_CLEAR(clear_module_state->__pyx_codeobj__24); + Py_CLEAR(clear_module_state->__pyx_codeobj__26); + Py_CLEAR(clear_module_state->__pyx_codeobj__27); + Py_CLEAR(clear_module_state->__pyx_codeobj__29); + return 0; +} +#endif +/* #### Code section: module_state_traverse ### */ +#if CYTHON_USE_MODULE_STATE +static int __pyx_m_traverse(PyObject *m, visitproc visit, void *arg) { + __pyx_mstate *traverse_module_state = __pyx_mstate(m); + if (!traverse_module_state) return 0; + Py_VISIT(traverse_module_state->__pyx_d); + Py_VISIT(traverse_module_state->__pyx_b); + Py_VISIT(traverse_module_state->__pyx_cython_runtime); + Py_VISIT(traverse_module_state->__pyx_empty_tuple); + Py_VISIT(traverse_module_state->__pyx_empty_bytes); + Py_VISIT(traverse_module_state->__pyx_empty_unicode); + #ifdef __Pyx_CyFunction_USED + Py_VISIT(traverse_module_state->__pyx_CyFunctionType); + #endif + #ifdef __Pyx_FusedFunction_USED + Py_VISIT(traverse_module_state->__pyx_FusedFunctionType); + #endif + Py_VISIT(traverse_module_state->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_CLContext); + Py_VISIT(traverse_module_state->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionBuf); + Py_VISIT(traverse_module_state->__pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext); + Py_VISIT(traverse_module_state->__pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem); + Py_VISIT(traverse_module_state->__pyx_ptype_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel); + Py_VISIT(traverse_module_state->__pyx_type_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel); + Py_VISIT(traverse_module_state->__pyx_array_type); + Py_VISIT(traverse_module_state->__pyx_type___pyx_array); + Py_VISIT(traverse_module_state->__pyx_MemviewEnum_type); + Py_VISIT(traverse_module_state->__pyx_type___pyx_MemviewEnum); + Py_VISIT(traverse_module_state->__pyx_memoryview_type); + Py_VISIT(traverse_module_state->__pyx_type___pyx_memoryview); + Py_VISIT(traverse_module_state->__pyx_memoryviewslice_type); + Py_VISIT(traverse_module_state->__pyx_type___pyx_memoryviewslice); + Py_VISIT(traverse_module_state->__pyx_kp_u_); + Py_VISIT(traverse_module_state->__pyx_n_s_ASCII); + Py_VISIT(traverse_module_state->__pyx_kp_s_All_dimensions_preceding_dimensi); + Py_VISIT(traverse_module_state->__pyx_n_s_AssertionError); + Py_VISIT(traverse_module_state->__pyx_kp_s_Buffer_view_does_not_expose_stri); + Py_VISIT(traverse_module_state->__pyx_n_s_CPU); + Py_VISIT(traverse_module_state->__pyx_kp_s_Can_only_create_a_buffer_that_is); + Py_VISIT(traverse_module_state->__pyx_kp_s_Cannot_assign_to_read_only_memor); + Py_VISIT(traverse_module_state->__pyx_kp_s_Cannot_create_writable_memory_vi); + Py_VISIT(traverse_module_state->__pyx_kp_u_Cannot_index_with_type); + Py_VISIT(traverse_module_state->__pyx_kp_s_Cannot_transpose_memoryview_with); + Py_VISIT(traverse_module_state->__pyx_n_s_DSP); + Py_VISIT(traverse_module_state->__pyx_kp_s_Dimension_d_is_not_direct); + Py_VISIT(traverse_module_state->__pyx_n_s_Ellipsis); + Py_VISIT(traverse_module_state->__pyx_kp_s_Empty_shape_tuple_for_cython_arr); + Py_VISIT(traverse_module_state->__pyx_n_s_GPU); + Py_VISIT(traverse_module_state->__pyx_kp_s_Incompatible_checksums_0x_x_vs_0); + Py_VISIT(traverse_module_state->__pyx_n_s_IndexError); + Py_VISIT(traverse_module_state->__pyx_kp_s_Index_out_of_bounds_axis_d); + Py_VISIT(traverse_module_state->__pyx_kp_s_Indirect_dimensions_not_supporte); + Py_VISIT(traverse_module_state->__pyx_kp_u_Invalid_mode_expected_c_or_fortr); + Py_VISIT(traverse_module_state->__pyx_kp_u_Invalid_shape_in_axis); + Py_VISIT(traverse_module_state->__pyx_n_s_MemoryError); + Py_VISIT(traverse_module_state->__pyx_kp_s_MemoryView_of_r_at_0x_x); + Py_VISIT(traverse_module_state->__pyx_kp_s_MemoryView_of_r_object); + Py_VISIT(traverse_module_state->__pyx_n_b_O); + Py_VISIT(traverse_module_state->__pyx_kp_u_Out_of_bounds_on_buffer_access_a); + Py_VISIT(traverse_module_state->__pyx_n_s_PickleError); + Py_VISIT(traverse_module_state->__pyx_n_s_RunModel); + Py_VISIT(traverse_module_state->__pyx_n_s_RunModel___reduce_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_RunModel___setstate_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_RunModel_addInput); + Py_VISIT(traverse_module_state->__pyx_n_s_RunModel_execute); + Py_VISIT(traverse_module_state->__pyx_n_s_RunModel_getCLBuffer); + Py_VISIT(traverse_module_state->__pyx_n_s_RunModel_setInputBuffer); + Py_VISIT(traverse_module_state->__pyx_n_s_Runtime); + Py_VISIT(traverse_module_state->__pyx_n_s_Sequence); + Py_VISIT(traverse_module_state->__pyx_kp_s_Step_may_not_be_zero_axis_d); + Py_VISIT(traverse_module_state->__pyx_n_s_TypeError); + Py_VISIT(traverse_module_state->__pyx_kp_s_Unable_to_convert_item_to_object); + Py_VISIT(traverse_module_state->__pyx_n_s_ValueError); + Py_VISIT(traverse_module_state->__pyx_n_s_View_MemoryView); + Py_VISIT(traverse_module_state->__pyx_kp_u__2); + Py_VISIT(traverse_module_state->__pyx_n_s__3); + Py_VISIT(traverse_module_state->__pyx_n_s__30); + Py_VISIT(traverse_module_state->__pyx_kp_u__6); + Py_VISIT(traverse_module_state->__pyx_kp_u__7); + Py_VISIT(traverse_module_state->__pyx_n_s_abc); + Py_VISIT(traverse_module_state->__pyx_n_s_addInput); + Py_VISIT(traverse_module_state->__pyx_n_s_allocate_buffer); + Py_VISIT(traverse_module_state->__pyx_kp_u_and); + Py_VISIT(traverse_module_state->__pyx_n_s_asyncio_coroutines); + Py_VISIT(traverse_module_state->__pyx_n_s_base); + Py_VISIT(traverse_module_state->__pyx_n_s_buffer); + Py_VISIT(traverse_module_state->__pyx_n_s_c); + Py_VISIT(traverse_module_state->__pyx_n_u_c); + Py_VISIT(traverse_module_state->__pyx_n_s_cl_buf); + Py_VISIT(traverse_module_state->__pyx_n_s_class); + Py_VISIT(traverse_module_state->__pyx_n_s_class_getitem); + Py_VISIT(traverse_module_state->__pyx_n_s_cline_in_traceback); + Py_VISIT(traverse_module_state->__pyx_n_s_collections); + Py_VISIT(traverse_module_state->__pyx_kp_s_collections_abc); + Py_VISIT(traverse_module_state->__pyx_kp_s_contiguous_and_direct); + Py_VISIT(traverse_module_state->__pyx_kp_s_contiguous_and_indirect); + Py_VISIT(traverse_module_state->__pyx_n_s_count); + Py_VISIT(traverse_module_state->__pyx_n_s_dict); + Py_VISIT(traverse_module_state->__pyx_kp_u_disable); + Py_VISIT(traverse_module_state->__pyx_n_s_doc); + Py_VISIT(traverse_module_state->__pyx_n_s_dtype_is_object); + Py_VISIT(traverse_module_state->__pyx_kp_u_enable); + Py_VISIT(traverse_module_state->__pyx_n_s_encode); + Py_VISIT(traverse_module_state->__pyx_n_s_enumerate); + Py_VISIT(traverse_module_state->__pyx_n_s_error); + Py_VISIT(traverse_module_state->__pyx_n_s_execute); + Py_VISIT(traverse_module_state->__pyx_n_s_flags); + Py_VISIT(traverse_module_state->__pyx_n_s_format); + Py_VISIT(traverse_module_state->__pyx_n_s_fortran); + Py_VISIT(traverse_module_state->__pyx_n_u_fortran); + Py_VISIT(traverse_module_state->__pyx_kp_u_gc); + Py_VISIT(traverse_module_state->__pyx_n_s_getCLBuffer); + Py_VISIT(traverse_module_state->__pyx_n_s_getstate); + Py_VISIT(traverse_module_state->__pyx_kp_u_got); + Py_VISIT(traverse_module_state->__pyx_kp_u_got_differing_extents_in_dimensi); + Py_VISIT(traverse_module_state->__pyx_n_s_id); + Py_VISIT(traverse_module_state->__pyx_n_s_import); + Py_VISIT(traverse_module_state->__pyx_n_s_index); + Py_VISIT(traverse_module_state->__pyx_n_s_init_subclass); + Py_VISIT(traverse_module_state->__pyx_n_s_initializing); + Py_VISIT(traverse_module_state->__pyx_n_s_is_coroutine); + Py_VISIT(traverse_module_state->__pyx_kp_u_isenabled); + Py_VISIT(traverse_module_state->__pyx_n_s_itemsize); + Py_VISIT(traverse_module_state->__pyx_kp_s_itemsize_0_for_cython_array); + Py_VISIT(traverse_module_state->__pyx_n_s_main); + Py_VISIT(traverse_module_state->__pyx_n_s_memview); + Py_VISIT(traverse_module_state->__pyx_n_s_metaclass); + Py_VISIT(traverse_module_state->__pyx_n_s_mode); + Py_VISIT(traverse_module_state->__pyx_n_s_module); + Py_VISIT(traverse_module_state->__pyx_n_s_name); + Py_VISIT(traverse_module_state->__pyx_n_s_name_2); + Py_VISIT(traverse_module_state->__pyx_n_s_ndim); + Py_VISIT(traverse_module_state->__pyx_n_s_new); + Py_VISIT(traverse_module_state->__pyx_kp_s_no_default___reduce___due_to_non); + Py_VISIT(traverse_module_state->__pyx_n_s_obj); + Py_VISIT(traverse_module_state->__pyx_n_s_pack); + Py_VISIT(traverse_module_state->__pyx_n_s_pickle); + Py_VISIT(traverse_module_state->__pyx_n_s_prepare); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_PickleError); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_checksum); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_result); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_state); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_type); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_unpickle_Enum); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_vtable); + Py_VISIT(traverse_module_state->__pyx_n_s_qualname); + Py_VISIT(traverse_module_state->__pyx_n_s_range); + Py_VISIT(traverse_module_state->__pyx_n_s_reduce); + Py_VISIT(traverse_module_state->__pyx_n_s_reduce_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_reduce_ex); + Py_VISIT(traverse_module_state->__pyx_n_s_register); + Py_VISIT(traverse_module_state->__pyx_n_s_self); + Py_VISIT(traverse_module_state->__pyx_kp_s_self_model_cannot_be_converted_t); + Py_VISIT(traverse_module_state->__pyx_n_s_selfdrive_modeld_runners_runmode); + Py_VISIT(traverse_module_state->__pyx_kp_s_selfdrive_modeld_runners_runmode_2); + Py_VISIT(traverse_module_state->__pyx_n_s_setInputBuffer); + Py_VISIT(traverse_module_state->__pyx_n_s_set_name); + Py_VISIT(traverse_module_state->__pyx_n_s_setstate); + Py_VISIT(traverse_module_state->__pyx_n_s_setstate_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_shape); + Py_VISIT(traverse_module_state->__pyx_n_s_size); + Py_VISIT(traverse_module_state->__pyx_n_s_spec); + Py_VISIT(traverse_module_state->__pyx_n_s_start); + Py_VISIT(traverse_module_state->__pyx_n_s_step); + Py_VISIT(traverse_module_state->__pyx_n_s_stop); + Py_VISIT(traverse_module_state->__pyx_kp_s_strided_and_direct); + Py_VISIT(traverse_module_state->__pyx_kp_s_strided_and_direct_or_indirect); + Py_VISIT(traverse_module_state->__pyx_kp_s_strided_and_indirect); + Py_VISIT(traverse_module_state->__pyx_kp_s_stringsource); + Py_VISIT(traverse_module_state->__pyx_n_s_struct); + Py_VISIT(traverse_module_state->__pyx_n_s_super); + Py_VISIT(traverse_module_state->__pyx_n_s_sys); + Py_VISIT(traverse_module_state->__pyx_n_s_test); + Py_VISIT(traverse_module_state->__pyx_kp_s_unable_to_allocate_array_data); + Py_VISIT(traverse_module_state->__pyx_kp_s_unable_to_allocate_shape_and_str); + Py_VISIT(traverse_module_state->__pyx_n_s_unpack); + Py_VISIT(traverse_module_state->__pyx_n_s_update); + Py_VISIT(traverse_module_state->__pyx_n_s_version_info); + Py_VISIT(traverse_module_state->__pyx_int_0); + Py_VISIT(traverse_module_state->__pyx_int_1); + Py_VISIT(traverse_module_state->__pyx_int_3); + Py_VISIT(traverse_module_state->__pyx_int_112105877); + Py_VISIT(traverse_module_state->__pyx_int_136983863); + Py_VISIT(traverse_module_state->__pyx_int_184977713); + Py_VISIT(traverse_module_state->__pyx_int_neg_1); + Py_VISIT(traverse_module_state->__pyx_slice__5); + Py_VISIT(traverse_module_state->__pyx_tuple__4); + Py_VISIT(traverse_module_state->__pyx_tuple__8); + Py_VISIT(traverse_module_state->__pyx_tuple__9); + Py_VISIT(traverse_module_state->__pyx_tuple__10); + Py_VISIT(traverse_module_state->__pyx_tuple__11); + Py_VISIT(traverse_module_state->__pyx_tuple__12); + Py_VISIT(traverse_module_state->__pyx_tuple__13); + Py_VISIT(traverse_module_state->__pyx_tuple__14); + Py_VISIT(traverse_module_state->__pyx_tuple__15); + Py_VISIT(traverse_module_state->__pyx_tuple__16); + Py_VISIT(traverse_module_state->__pyx_tuple__17); + Py_VISIT(traverse_module_state->__pyx_tuple__18); + Py_VISIT(traverse_module_state->__pyx_tuple__20); + Py_VISIT(traverse_module_state->__pyx_tuple__23); + Py_VISIT(traverse_module_state->__pyx_tuple__25); + Py_VISIT(traverse_module_state->__pyx_tuple__28); + Py_VISIT(traverse_module_state->__pyx_codeobj__19); + Py_VISIT(traverse_module_state->__pyx_codeobj__21); + Py_VISIT(traverse_module_state->__pyx_codeobj__22); + Py_VISIT(traverse_module_state->__pyx_codeobj__24); + Py_VISIT(traverse_module_state->__pyx_codeobj__26); + Py_VISIT(traverse_module_state->__pyx_codeobj__27); + Py_VISIT(traverse_module_state->__pyx_codeobj__29); + return 0; +} +#endif +/* #### Code section: module_state_defines ### */ +#define __pyx_d __pyx_mstate_global->__pyx_d +#define __pyx_b __pyx_mstate_global->__pyx_b +#define __pyx_cython_runtime __pyx_mstate_global->__pyx_cython_runtime +#define __pyx_empty_tuple __pyx_mstate_global->__pyx_empty_tuple +#define __pyx_empty_bytes __pyx_mstate_global->__pyx_empty_bytes +#define __pyx_empty_unicode __pyx_mstate_global->__pyx_empty_unicode +#ifdef __Pyx_CyFunction_USED +#define __pyx_CyFunctionType __pyx_mstate_global->__pyx_CyFunctionType +#endif +#ifdef __Pyx_FusedFunction_USED +#define __pyx_FusedFunctionType __pyx_mstate_global->__pyx_FusedFunctionType +#endif +#ifdef __Pyx_Generator_USED +#define __pyx_GeneratorType __pyx_mstate_global->__pyx_GeneratorType +#endif +#ifdef __Pyx_IterableCoroutine_USED +#define __pyx_IterableCoroutineType __pyx_mstate_global->__pyx_IterableCoroutineType +#endif +#ifdef __Pyx_Coroutine_USED +#define __pyx_CoroutineAwaitType __pyx_mstate_global->__pyx_CoroutineAwaitType +#endif +#ifdef __Pyx_Coroutine_USED +#define __pyx_CoroutineType __pyx_mstate_global->__pyx_CoroutineType +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#define __pyx_ptype_4msgq_9visionipc_13visionipc_pyx_CLContext __pyx_mstate_global->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_CLContext +#define __pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionBuf __pyx_mstate_global->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionBuf +#if CYTHON_USE_MODULE_STATE +#endif +#define __pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext __pyx_mstate_global->__pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext +#define __pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem __pyx_mstate_global->__pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem +#if CYTHON_USE_MODULE_STATE +#define __pyx_type_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel __pyx_mstate_global->__pyx_type_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel +#define __pyx_type___pyx_array __pyx_mstate_global->__pyx_type___pyx_array +#define __pyx_type___pyx_MemviewEnum __pyx_mstate_global->__pyx_type___pyx_MemviewEnum +#define __pyx_type___pyx_memoryview __pyx_mstate_global->__pyx_type___pyx_memoryview +#define __pyx_type___pyx_memoryviewslice __pyx_mstate_global->__pyx_type___pyx_memoryviewslice +#endif +#define __pyx_ptype_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel __pyx_mstate_global->__pyx_ptype_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel +#define __pyx_array_type __pyx_mstate_global->__pyx_array_type +#define __pyx_MemviewEnum_type __pyx_mstate_global->__pyx_MemviewEnum_type +#define __pyx_memoryview_type __pyx_mstate_global->__pyx_memoryview_type +#define __pyx_memoryviewslice_type __pyx_mstate_global->__pyx_memoryviewslice_type +#define __pyx_kp_u_ __pyx_mstate_global->__pyx_kp_u_ +#define __pyx_n_s_ASCII __pyx_mstate_global->__pyx_n_s_ASCII +#define __pyx_kp_s_All_dimensions_preceding_dimensi __pyx_mstate_global->__pyx_kp_s_All_dimensions_preceding_dimensi +#define __pyx_n_s_AssertionError __pyx_mstate_global->__pyx_n_s_AssertionError +#define __pyx_kp_s_Buffer_view_does_not_expose_stri __pyx_mstate_global->__pyx_kp_s_Buffer_view_does_not_expose_stri +#define __pyx_n_s_CPU __pyx_mstate_global->__pyx_n_s_CPU +#define __pyx_kp_s_Can_only_create_a_buffer_that_is __pyx_mstate_global->__pyx_kp_s_Can_only_create_a_buffer_that_is +#define __pyx_kp_s_Cannot_assign_to_read_only_memor __pyx_mstate_global->__pyx_kp_s_Cannot_assign_to_read_only_memor +#define __pyx_kp_s_Cannot_create_writable_memory_vi __pyx_mstate_global->__pyx_kp_s_Cannot_create_writable_memory_vi +#define __pyx_kp_u_Cannot_index_with_type __pyx_mstate_global->__pyx_kp_u_Cannot_index_with_type +#define __pyx_kp_s_Cannot_transpose_memoryview_with __pyx_mstate_global->__pyx_kp_s_Cannot_transpose_memoryview_with +#define __pyx_n_s_DSP __pyx_mstate_global->__pyx_n_s_DSP +#define __pyx_kp_s_Dimension_d_is_not_direct __pyx_mstate_global->__pyx_kp_s_Dimension_d_is_not_direct +#define __pyx_n_s_Ellipsis __pyx_mstate_global->__pyx_n_s_Ellipsis +#define __pyx_kp_s_Empty_shape_tuple_for_cython_arr __pyx_mstate_global->__pyx_kp_s_Empty_shape_tuple_for_cython_arr +#define __pyx_n_s_GPU __pyx_mstate_global->__pyx_n_s_GPU +#define __pyx_kp_s_Incompatible_checksums_0x_x_vs_0 __pyx_mstate_global->__pyx_kp_s_Incompatible_checksums_0x_x_vs_0 +#define __pyx_n_s_IndexError __pyx_mstate_global->__pyx_n_s_IndexError +#define __pyx_kp_s_Index_out_of_bounds_axis_d __pyx_mstate_global->__pyx_kp_s_Index_out_of_bounds_axis_d +#define __pyx_kp_s_Indirect_dimensions_not_supporte __pyx_mstate_global->__pyx_kp_s_Indirect_dimensions_not_supporte +#define __pyx_kp_u_Invalid_mode_expected_c_or_fortr __pyx_mstate_global->__pyx_kp_u_Invalid_mode_expected_c_or_fortr +#define __pyx_kp_u_Invalid_shape_in_axis __pyx_mstate_global->__pyx_kp_u_Invalid_shape_in_axis +#define __pyx_n_s_MemoryError __pyx_mstate_global->__pyx_n_s_MemoryError +#define __pyx_kp_s_MemoryView_of_r_at_0x_x __pyx_mstate_global->__pyx_kp_s_MemoryView_of_r_at_0x_x +#define __pyx_kp_s_MemoryView_of_r_object __pyx_mstate_global->__pyx_kp_s_MemoryView_of_r_object +#define __pyx_n_b_O __pyx_mstate_global->__pyx_n_b_O +#define __pyx_kp_u_Out_of_bounds_on_buffer_access_a __pyx_mstate_global->__pyx_kp_u_Out_of_bounds_on_buffer_access_a +#define __pyx_n_s_PickleError __pyx_mstate_global->__pyx_n_s_PickleError +#define __pyx_n_s_RunModel __pyx_mstate_global->__pyx_n_s_RunModel +#define __pyx_n_s_RunModel___reduce_cython __pyx_mstate_global->__pyx_n_s_RunModel___reduce_cython +#define __pyx_n_s_RunModel___setstate_cython __pyx_mstate_global->__pyx_n_s_RunModel___setstate_cython +#define __pyx_n_s_RunModel_addInput __pyx_mstate_global->__pyx_n_s_RunModel_addInput +#define __pyx_n_s_RunModel_execute __pyx_mstate_global->__pyx_n_s_RunModel_execute +#define __pyx_n_s_RunModel_getCLBuffer __pyx_mstate_global->__pyx_n_s_RunModel_getCLBuffer +#define __pyx_n_s_RunModel_setInputBuffer __pyx_mstate_global->__pyx_n_s_RunModel_setInputBuffer +#define __pyx_n_s_Runtime __pyx_mstate_global->__pyx_n_s_Runtime +#define __pyx_n_s_Sequence __pyx_mstate_global->__pyx_n_s_Sequence +#define __pyx_kp_s_Step_may_not_be_zero_axis_d __pyx_mstate_global->__pyx_kp_s_Step_may_not_be_zero_axis_d +#define __pyx_n_s_TypeError __pyx_mstate_global->__pyx_n_s_TypeError +#define __pyx_kp_s_Unable_to_convert_item_to_object __pyx_mstate_global->__pyx_kp_s_Unable_to_convert_item_to_object +#define __pyx_n_s_ValueError __pyx_mstate_global->__pyx_n_s_ValueError +#define __pyx_n_s_View_MemoryView __pyx_mstate_global->__pyx_n_s_View_MemoryView +#define __pyx_kp_u__2 __pyx_mstate_global->__pyx_kp_u__2 +#define __pyx_n_s__3 __pyx_mstate_global->__pyx_n_s__3 +#define __pyx_n_s__30 __pyx_mstate_global->__pyx_n_s__30 +#define __pyx_kp_u__6 __pyx_mstate_global->__pyx_kp_u__6 +#define __pyx_kp_u__7 __pyx_mstate_global->__pyx_kp_u__7 +#define __pyx_n_s_abc __pyx_mstate_global->__pyx_n_s_abc +#define __pyx_n_s_addInput __pyx_mstate_global->__pyx_n_s_addInput +#define __pyx_n_s_allocate_buffer __pyx_mstate_global->__pyx_n_s_allocate_buffer +#define __pyx_kp_u_and __pyx_mstate_global->__pyx_kp_u_and +#define __pyx_n_s_asyncio_coroutines __pyx_mstate_global->__pyx_n_s_asyncio_coroutines +#define __pyx_n_s_base __pyx_mstate_global->__pyx_n_s_base +#define __pyx_n_s_buffer __pyx_mstate_global->__pyx_n_s_buffer +#define __pyx_n_s_c __pyx_mstate_global->__pyx_n_s_c +#define __pyx_n_u_c __pyx_mstate_global->__pyx_n_u_c +#define __pyx_n_s_cl_buf __pyx_mstate_global->__pyx_n_s_cl_buf +#define __pyx_n_s_class __pyx_mstate_global->__pyx_n_s_class +#define __pyx_n_s_class_getitem __pyx_mstate_global->__pyx_n_s_class_getitem +#define __pyx_n_s_cline_in_traceback __pyx_mstate_global->__pyx_n_s_cline_in_traceback +#define __pyx_n_s_collections __pyx_mstate_global->__pyx_n_s_collections +#define __pyx_kp_s_collections_abc __pyx_mstate_global->__pyx_kp_s_collections_abc +#define __pyx_kp_s_contiguous_and_direct __pyx_mstate_global->__pyx_kp_s_contiguous_and_direct +#define __pyx_kp_s_contiguous_and_indirect __pyx_mstate_global->__pyx_kp_s_contiguous_and_indirect +#define __pyx_n_s_count __pyx_mstate_global->__pyx_n_s_count +#define __pyx_n_s_dict __pyx_mstate_global->__pyx_n_s_dict +#define __pyx_kp_u_disable __pyx_mstate_global->__pyx_kp_u_disable +#define __pyx_n_s_doc __pyx_mstate_global->__pyx_n_s_doc +#define __pyx_n_s_dtype_is_object __pyx_mstate_global->__pyx_n_s_dtype_is_object +#define __pyx_kp_u_enable __pyx_mstate_global->__pyx_kp_u_enable +#define __pyx_n_s_encode __pyx_mstate_global->__pyx_n_s_encode +#define __pyx_n_s_enumerate __pyx_mstate_global->__pyx_n_s_enumerate +#define __pyx_n_s_error __pyx_mstate_global->__pyx_n_s_error +#define __pyx_n_s_execute __pyx_mstate_global->__pyx_n_s_execute +#define __pyx_n_s_flags __pyx_mstate_global->__pyx_n_s_flags +#define __pyx_n_s_format __pyx_mstate_global->__pyx_n_s_format +#define __pyx_n_s_fortran __pyx_mstate_global->__pyx_n_s_fortran +#define __pyx_n_u_fortran __pyx_mstate_global->__pyx_n_u_fortran +#define __pyx_kp_u_gc __pyx_mstate_global->__pyx_kp_u_gc +#define __pyx_n_s_getCLBuffer __pyx_mstate_global->__pyx_n_s_getCLBuffer +#define __pyx_n_s_getstate __pyx_mstate_global->__pyx_n_s_getstate +#define __pyx_kp_u_got __pyx_mstate_global->__pyx_kp_u_got +#define __pyx_kp_u_got_differing_extents_in_dimensi __pyx_mstate_global->__pyx_kp_u_got_differing_extents_in_dimensi +#define __pyx_n_s_id __pyx_mstate_global->__pyx_n_s_id +#define __pyx_n_s_import __pyx_mstate_global->__pyx_n_s_import +#define __pyx_n_s_index __pyx_mstate_global->__pyx_n_s_index +#define __pyx_n_s_init_subclass __pyx_mstate_global->__pyx_n_s_init_subclass +#define __pyx_n_s_initializing __pyx_mstate_global->__pyx_n_s_initializing +#define __pyx_n_s_is_coroutine __pyx_mstate_global->__pyx_n_s_is_coroutine +#define __pyx_kp_u_isenabled __pyx_mstate_global->__pyx_kp_u_isenabled +#define __pyx_n_s_itemsize __pyx_mstate_global->__pyx_n_s_itemsize +#define __pyx_kp_s_itemsize_0_for_cython_array __pyx_mstate_global->__pyx_kp_s_itemsize_0_for_cython_array +#define __pyx_n_s_main __pyx_mstate_global->__pyx_n_s_main +#define __pyx_n_s_memview __pyx_mstate_global->__pyx_n_s_memview +#define __pyx_n_s_metaclass __pyx_mstate_global->__pyx_n_s_metaclass +#define __pyx_n_s_mode __pyx_mstate_global->__pyx_n_s_mode +#define __pyx_n_s_module __pyx_mstate_global->__pyx_n_s_module +#define __pyx_n_s_name __pyx_mstate_global->__pyx_n_s_name +#define __pyx_n_s_name_2 __pyx_mstate_global->__pyx_n_s_name_2 +#define __pyx_n_s_ndim __pyx_mstate_global->__pyx_n_s_ndim +#define __pyx_n_s_new __pyx_mstate_global->__pyx_n_s_new +#define __pyx_kp_s_no_default___reduce___due_to_non __pyx_mstate_global->__pyx_kp_s_no_default___reduce___due_to_non +#define __pyx_n_s_obj __pyx_mstate_global->__pyx_n_s_obj +#define __pyx_n_s_pack __pyx_mstate_global->__pyx_n_s_pack +#define __pyx_n_s_pickle __pyx_mstate_global->__pyx_n_s_pickle +#define __pyx_n_s_prepare __pyx_mstate_global->__pyx_n_s_prepare +#define __pyx_n_s_pyx_PickleError __pyx_mstate_global->__pyx_n_s_pyx_PickleError +#define __pyx_n_s_pyx_checksum __pyx_mstate_global->__pyx_n_s_pyx_checksum +#define __pyx_n_s_pyx_result __pyx_mstate_global->__pyx_n_s_pyx_result +#define __pyx_n_s_pyx_state __pyx_mstate_global->__pyx_n_s_pyx_state +#define __pyx_n_s_pyx_type __pyx_mstate_global->__pyx_n_s_pyx_type +#define __pyx_n_s_pyx_unpickle_Enum __pyx_mstate_global->__pyx_n_s_pyx_unpickle_Enum +#define __pyx_n_s_pyx_vtable __pyx_mstate_global->__pyx_n_s_pyx_vtable +#define __pyx_n_s_qualname __pyx_mstate_global->__pyx_n_s_qualname +#define __pyx_n_s_range __pyx_mstate_global->__pyx_n_s_range +#define __pyx_n_s_reduce __pyx_mstate_global->__pyx_n_s_reduce +#define __pyx_n_s_reduce_cython __pyx_mstate_global->__pyx_n_s_reduce_cython +#define __pyx_n_s_reduce_ex __pyx_mstate_global->__pyx_n_s_reduce_ex +#define __pyx_n_s_register __pyx_mstate_global->__pyx_n_s_register +#define __pyx_n_s_self __pyx_mstate_global->__pyx_n_s_self +#define __pyx_kp_s_self_model_cannot_be_converted_t __pyx_mstate_global->__pyx_kp_s_self_model_cannot_be_converted_t +#define __pyx_n_s_selfdrive_modeld_runners_runmode __pyx_mstate_global->__pyx_n_s_selfdrive_modeld_runners_runmode +#define __pyx_kp_s_selfdrive_modeld_runners_runmode_2 __pyx_mstate_global->__pyx_kp_s_selfdrive_modeld_runners_runmode_2 +#define __pyx_n_s_setInputBuffer __pyx_mstate_global->__pyx_n_s_setInputBuffer +#define __pyx_n_s_set_name __pyx_mstate_global->__pyx_n_s_set_name +#define __pyx_n_s_setstate __pyx_mstate_global->__pyx_n_s_setstate +#define __pyx_n_s_setstate_cython __pyx_mstate_global->__pyx_n_s_setstate_cython +#define __pyx_n_s_shape __pyx_mstate_global->__pyx_n_s_shape +#define __pyx_n_s_size __pyx_mstate_global->__pyx_n_s_size +#define __pyx_n_s_spec __pyx_mstate_global->__pyx_n_s_spec +#define __pyx_n_s_start __pyx_mstate_global->__pyx_n_s_start +#define __pyx_n_s_step __pyx_mstate_global->__pyx_n_s_step +#define __pyx_n_s_stop __pyx_mstate_global->__pyx_n_s_stop +#define __pyx_kp_s_strided_and_direct __pyx_mstate_global->__pyx_kp_s_strided_and_direct +#define __pyx_kp_s_strided_and_direct_or_indirect __pyx_mstate_global->__pyx_kp_s_strided_and_direct_or_indirect +#define __pyx_kp_s_strided_and_indirect __pyx_mstate_global->__pyx_kp_s_strided_and_indirect +#define __pyx_kp_s_stringsource __pyx_mstate_global->__pyx_kp_s_stringsource +#define __pyx_n_s_struct __pyx_mstate_global->__pyx_n_s_struct +#define __pyx_n_s_super __pyx_mstate_global->__pyx_n_s_super +#define __pyx_n_s_sys __pyx_mstate_global->__pyx_n_s_sys +#define __pyx_n_s_test __pyx_mstate_global->__pyx_n_s_test +#define __pyx_kp_s_unable_to_allocate_array_data __pyx_mstate_global->__pyx_kp_s_unable_to_allocate_array_data +#define __pyx_kp_s_unable_to_allocate_shape_and_str __pyx_mstate_global->__pyx_kp_s_unable_to_allocate_shape_and_str +#define __pyx_n_s_unpack __pyx_mstate_global->__pyx_n_s_unpack +#define __pyx_n_s_update __pyx_mstate_global->__pyx_n_s_update +#define __pyx_n_s_version_info __pyx_mstate_global->__pyx_n_s_version_info +#define __pyx_int_0 __pyx_mstate_global->__pyx_int_0 +#define __pyx_int_1 __pyx_mstate_global->__pyx_int_1 +#define __pyx_int_3 __pyx_mstate_global->__pyx_int_3 +#define __pyx_int_112105877 __pyx_mstate_global->__pyx_int_112105877 +#define __pyx_int_136983863 __pyx_mstate_global->__pyx_int_136983863 +#define __pyx_int_184977713 __pyx_mstate_global->__pyx_int_184977713 +#define __pyx_int_neg_1 __pyx_mstate_global->__pyx_int_neg_1 +#define __pyx_slice__5 __pyx_mstate_global->__pyx_slice__5 +#define __pyx_tuple__4 __pyx_mstate_global->__pyx_tuple__4 +#define __pyx_tuple__8 __pyx_mstate_global->__pyx_tuple__8 +#define __pyx_tuple__9 __pyx_mstate_global->__pyx_tuple__9 +#define __pyx_tuple__10 __pyx_mstate_global->__pyx_tuple__10 +#define __pyx_tuple__11 __pyx_mstate_global->__pyx_tuple__11 +#define __pyx_tuple__12 __pyx_mstate_global->__pyx_tuple__12 +#define __pyx_tuple__13 __pyx_mstate_global->__pyx_tuple__13 +#define __pyx_tuple__14 __pyx_mstate_global->__pyx_tuple__14 +#define __pyx_tuple__15 __pyx_mstate_global->__pyx_tuple__15 +#define __pyx_tuple__16 __pyx_mstate_global->__pyx_tuple__16 +#define __pyx_tuple__17 __pyx_mstate_global->__pyx_tuple__17 +#define __pyx_tuple__18 __pyx_mstate_global->__pyx_tuple__18 +#define __pyx_tuple__20 __pyx_mstate_global->__pyx_tuple__20 +#define __pyx_tuple__23 __pyx_mstate_global->__pyx_tuple__23 +#define __pyx_tuple__25 __pyx_mstate_global->__pyx_tuple__25 +#define __pyx_tuple__28 __pyx_mstate_global->__pyx_tuple__28 +#define __pyx_codeobj__19 __pyx_mstate_global->__pyx_codeobj__19 +#define __pyx_codeobj__21 __pyx_mstate_global->__pyx_codeobj__21 +#define __pyx_codeobj__22 __pyx_mstate_global->__pyx_codeobj__22 +#define __pyx_codeobj__24 __pyx_mstate_global->__pyx_codeobj__24 +#define __pyx_codeobj__26 __pyx_mstate_global->__pyx_codeobj__26 +#define __pyx_codeobj__27 __pyx_mstate_global->__pyx_codeobj__27 +#define __pyx_codeobj__29 __pyx_mstate_global->__pyx_codeobj__29 +/* #### Code section: module_code ### */ + +/* "string.from_py":13 + * + * @cname("__pyx_convert_string_from_py_std__in_string") + * cdef string __pyx_convert_string_from_py_std__in_string(object o) except *: # <<<<<<<<<<<<<< + * cdef 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int __pyx_clineno = 0; + int __pyx_r; + __Pyx_RefNannyDeclarations + __Pyx_RefNannySetupContext("__cinit__ (wrapper)", 0); + #if CYTHON_ASSUME_SAFE_MACROS + __pyx_nargs = PyTuple_GET_SIZE(__pyx_args); + #else + __pyx_nargs = PyTuple_Size(__pyx_args); if (unlikely(__pyx_nargs < 0)) return -1; + #endif + __pyx_kwvalues = __Pyx_KwValues_VARARGS(__pyx_args, __pyx_nargs); + { + PyObject **__pyx_pyargnames[] = {&__pyx_n_s_shape,&__pyx_n_s_itemsize,&__pyx_n_s_format,&__pyx_n_s_mode,&__pyx_n_s_allocate_buffer,0}; + values[3] = __Pyx_Arg_NewRef_VARARGS(((PyObject *)__pyx_n_s_c)); + if (__pyx_kwds) { + Py_ssize_t kw_args; + switch (__pyx_nargs) { + case 5: values[4] = __Pyx_Arg_VARARGS(__pyx_args, 4); + CYTHON_FALLTHROUGH; + case 4: values[3] = __Pyx_Arg_VARARGS(__pyx_args, 3); + CYTHON_FALLTHROUGH; + case 3: values[2] = __Pyx_Arg_VARARGS(__pyx_args, 2); + CYTHON_FALLTHROUGH; + case 2: values[1] = __Pyx_Arg_VARARGS(__pyx_args, 1); + CYTHON_FALLTHROUGH; + case 1: values[0] = __Pyx_Arg_VARARGS(__pyx_args, 0); + CYTHON_FALLTHROUGH; + case 0: break; + default: goto __pyx_L5_argtuple_error; + } + kw_args = __Pyx_NumKwargs_VARARGS(__pyx_kwds); + switch (__pyx_nargs) { + case 0: + if (likely((values[0] = __Pyx_GetKwValue_VARARGS(__pyx_kwds, __pyx_kwvalues, __pyx_n_s_shape)) != 0)) { + (void)__Pyx_Arg_NewRef_VARARGS(values[0]); + kw_args--; + } + else if (unlikely(PyErr_Occurred())) __PYX_ERR(0, 131, __pyx_L3_error) + else goto __pyx_L5_argtuple_error; + CYTHON_FALLTHROUGH; + case 1: + if (likely((values[1] = __Pyx_GetKwValue_VARARGS(__pyx_kwds, __pyx_kwvalues, __pyx_n_s_itemsize)) != 0)) { + (void)__Pyx_Arg_NewRef_VARARGS(values[1]); + kw_args--; + } + else if (unlikely(PyErr_Occurred())) __PYX_ERR(0, 131, __pyx_L3_error) + else { + __Pyx_RaiseArgtupleInvalid("__cinit__", 0, 3, 5, 1); __PYX_ERR(0, 131, __pyx_L3_error) + } + CYTHON_FALLTHROUGH; + case 2: + if (likely((values[2] = __Pyx_GetKwValue_VARARGS(__pyx_kwds, __pyx_kwvalues, __pyx_n_s_format)) != 0)) { + 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Py_ssize_t __pyx_v_step, int __pyx_v_have_start, int __pyx_v_have_stop, int __pyx_v_have_step, int __pyx_v_is_slice) { + Py_ssize_t __pyx_v_new_shape; + int __pyx_v_negative_step; + int __pyx_r; + int __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + int __pyx_lineno = 0; + const char *__pyx_filename = NULL; + int __pyx_clineno = 0; + #ifdef WITH_THREAD + PyGILState_STATE __pyx_gilstate_save; + #endif + + /* "View.MemoryView":813 + * cdef bint negative_step + * + * if not is_slice: # <<<<<<<<<<<<<< + * + * if start < 0: + */ + __pyx_t_1 = (!__pyx_v_is_slice); + if (__pyx_t_1) { + + /* "View.MemoryView":815 + * if not is_slice: + * + * if start < 0: # <<<<<<<<<<<<<< + * start += shape + * if not 0 <= start < shape: + */ + __pyx_t_1 = (__pyx_v_start < 0); + if (__pyx_t_1) { + + /* "View.MemoryView":816 + * + * if start < 0: + * start += shape # <<<<<<<<<<<<<< + * if not 0 <= start < shape: + * _err_dim(PyExc_IndexError, "Index out of bounds (axis %d)", dim) + */ + __pyx_v_start = (__pyx_v_start + __pyx_v_shape); + + /* "View.MemoryView":815 + * if not is_slice: + * + * if start < 0: # <<<<<<<<<<<<<< + * start += shape + * if not 0 <= start < shape: + */ + } + + /* "View.MemoryView":817 + * if start < 0: + * start += shape + * if not 0 <= start < shape: # <<<<<<<<<<<<<< + * _err_dim(PyExc_IndexError, "Index out of bounds (axis %d)", dim) + * else: + */ + __pyx_t_1 = (0 <= __pyx_v_start); + if (__pyx_t_1) { + __pyx_t_1 = (__pyx_v_start < __pyx_v_shape); + } + __pyx_t_2 = (!__pyx_t_1); + if (__pyx_t_2) { + + /* "View.MemoryView":818 + * start += shape + * if not 0 <= start < shape: + * _err_dim(PyExc_IndexError, "Index out of bounds (axis %d)", dim) # <<<<<<<<<<<<<< + * else: + * + */ + __pyx_t_3 = __pyx_memoryview_err_dim(PyExc_IndexError, __pyx_kp_s_Index_out_of_bounds_axis_d, __pyx_v_dim); if (unlikely(__pyx_t_3 == ((int)-1))) __PYX_ERR(0, 818, __pyx_L1_error) + + /* "View.MemoryView":817 + * if start < 0: + * start += shape + * if not 0 <= start < shape: # <<<<<<<<<<<<<< + * _err_dim(PyExc_IndexError, "Index out of bounds (axis %d)", dim) + * else: + */ + } + + /* "View.MemoryView":813 + * cdef bint negative_step + * + * if not is_slice: # <<<<<<<<<<<<<< + * + * if start < 0: + */ + goto __pyx_L3; + } + + /* "View.MemoryView":821 + * else: + * + * if have_step: # <<<<<<<<<<<<<< + * negative_step = step < 0 + * if step == 0: + */ + /*else*/ { + __pyx_t_2 = (__pyx_v_have_step != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":822 + * + * if have_step: + * negative_step = step < 0 # <<<<<<<<<<<<<< + * if step == 0: + * _err_dim(PyExc_ValueError, "Step may not be zero (axis %d)", dim) + */ + __pyx_v_negative_step = (__pyx_v_step < 0); + + /* "View.MemoryView":823 + * if have_step: + * negative_step = step < 0 + * if step == 0: # <<<<<<<<<<<<<< + * _err_dim(PyExc_ValueError, "Step may not be zero (axis %d)", dim) + * else: + */ + __pyx_t_2 = (__pyx_v_step == 0); + if (__pyx_t_2) { + + /* "View.MemoryView":824 + * negative_step = step < 0 + * if step == 0: + * _err_dim(PyExc_ValueError, "Step may not be zero (axis %d)", dim) # <<<<<<<<<<<<<< + * else: + * negative_step = False + */ + __pyx_t_3 = __pyx_memoryview_err_dim(PyExc_ValueError, __pyx_kp_s_Step_may_not_be_zero_axis_d, __pyx_v_dim); if (unlikely(__pyx_t_3 == ((int)-1))) __PYX_ERR(0, 824, __pyx_L1_error) + + /* "View.MemoryView":823 + * if have_step: + * negative_step = step < 0 + * if step == 0: # <<<<<<<<<<<<<< + * _err_dim(PyExc_ValueError, "Step may not be zero (axis %d)", dim) + * else: + */ + } + + /* "View.MemoryView":821 + * else: + * + * if have_step: # <<<<<<<<<<<<<< + * negative_step = step < 0 + * if step == 0: + */ + goto __pyx_L6; + } + + /* "View.MemoryView":826 + * _err_dim(PyExc_ValueError, "Step may not be zero (axis %d)", dim) + * else: + * negative_step = False # <<<<<<<<<<<<<< + * step = 1 + * + */ + /*else*/ { + __pyx_v_negative_step = 0; + + /* "View.MemoryView":827 + * else: + * negative_step = False + * step = 1 # <<<<<<<<<<<<<< + * + * + */ + __pyx_v_step = 1; + } + __pyx_L6:; + + /* "View.MemoryView":830 + * + * + * if have_start: # <<<<<<<<<<<<<< + * if start < 0: + * start += shape + */ + __pyx_t_2 = (__pyx_v_have_start != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":831 + * + * if have_start: + * if start < 0: # <<<<<<<<<<<<<< + * start += shape + * if start < 0: + */ + __pyx_t_2 = (__pyx_v_start < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":832 + * if have_start: + * if start < 0: + * start += shape # <<<<<<<<<<<<<< + * if start < 0: + * start = 0 + */ + __pyx_v_start = (__pyx_v_start + __pyx_v_shape); + + /* "View.MemoryView":833 + * if start < 0: + * start += shape + * if start < 0: # <<<<<<<<<<<<<< + * start = 0 + * elif start >= shape: + */ + __pyx_t_2 = (__pyx_v_start < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":834 + * start += shape + * if start < 0: + * start = 0 # <<<<<<<<<<<<<< + * elif start >= shape: + * if negative_step: + */ + __pyx_v_start = 0; + + /* "View.MemoryView":833 + * if start < 0: + * start += shape + * if start < 0: # <<<<<<<<<<<<<< + * start = 0 + * elif start >= shape: + */ + } + + /* "View.MemoryView":831 + * + * if have_start: + * if start < 0: # <<<<<<<<<<<<<< + * start += shape + * if start < 0: + */ + goto __pyx_L9; + } + + /* "View.MemoryView":835 + * if start < 0: + * start = 0 + * elif start >= shape: # <<<<<<<<<<<<<< + * if negative_step: + * start = shape - 1 + */ + __pyx_t_2 = (__pyx_v_start >= __pyx_v_shape); + if (__pyx_t_2) { + + /* "View.MemoryView":836 + * start = 0 + * elif start >= shape: + * if negative_step: # <<<<<<<<<<<<<< + * start = shape - 1 + * else: + */ + if (__pyx_v_negative_step) { + + /* "View.MemoryView":837 + * elif start >= shape: + * if negative_step: + * start = shape - 1 # <<<<<<<<<<<<<< + * else: + * start = shape + */ + __pyx_v_start = (__pyx_v_shape - 1); + + /* "View.MemoryView":836 + * start = 0 + * elif start >= shape: + * if negative_step: # <<<<<<<<<<<<<< + * start = shape - 1 + * else: + */ + goto __pyx_L11; + } + + /* "View.MemoryView":839 + * start = shape - 1 + * else: + * start = shape # <<<<<<<<<<<<<< + * else: + * if negative_step: + */ + /*else*/ { + __pyx_v_start = __pyx_v_shape; + } + __pyx_L11:; + + /* "View.MemoryView":835 + * if start < 0: + * start = 0 + * elif start >= shape: # <<<<<<<<<<<<<< + * if negative_step: + * start = shape - 1 + */ + } + __pyx_L9:; + + /* "View.MemoryView":830 + * + * + * if have_start: # <<<<<<<<<<<<<< + * if start < 0: + * start += shape + */ + goto __pyx_L8; + } + + /* "View.MemoryView":841 + * start = shape + * else: + * if negative_step: # <<<<<<<<<<<<<< + * start = shape - 1 + * else: + */ + /*else*/ { + if (__pyx_v_negative_step) { + + /* "View.MemoryView":842 + * else: + * if negative_step: + * start = shape - 1 # <<<<<<<<<<<<<< + * else: + * start = 0 + */ + __pyx_v_start = (__pyx_v_shape - 1); + + /* "View.MemoryView":841 + * start = shape + * else: + * if negative_step: # <<<<<<<<<<<<<< + * start = shape - 1 + * else: + */ + goto __pyx_L12; + } + + /* "View.MemoryView":844 + * start = shape - 1 + * else: + * start = 0 # <<<<<<<<<<<<<< + * + * if have_stop: + */ + /*else*/ { + __pyx_v_start = 0; + } + __pyx_L12:; + } + __pyx_L8:; + + /* "View.MemoryView":846 + * start = 0 + * + * if have_stop: # <<<<<<<<<<<<<< + * if stop < 0: + * stop += shape + */ + __pyx_t_2 = (__pyx_v_have_stop != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":847 + * + * if have_stop: + * if stop < 0: # <<<<<<<<<<<<<< + * stop += shape + * if stop < 0: + */ + __pyx_t_2 = (__pyx_v_stop < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":848 + * if have_stop: + * if stop < 0: + * stop += shape # <<<<<<<<<<<<<< + * if stop < 0: + * stop = 0 + */ + __pyx_v_stop = (__pyx_v_stop + __pyx_v_shape); + + /* "View.MemoryView":849 + * if stop < 0: + * stop += shape + * if stop < 0: # <<<<<<<<<<<<<< + * stop = 0 + * elif stop > shape: + */ + __pyx_t_2 = (__pyx_v_stop < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":850 + * stop += shape + * if stop < 0: + * stop = 0 # <<<<<<<<<<<<<< + * elif stop > shape: + * stop = shape + */ + __pyx_v_stop = 0; + + /* "View.MemoryView":849 + * if stop < 0: + * stop += shape + * if stop < 0: # <<<<<<<<<<<<<< + * stop = 0 + * elif stop > shape: + */ + } + + /* "View.MemoryView":847 + * + * if have_stop: + * if stop < 0: # <<<<<<<<<<<<<< + * stop += shape + * if stop < 0: + */ + goto __pyx_L14; + } + + /* "View.MemoryView":851 + * if stop < 0: + * stop = 0 + * elif stop > shape: # <<<<<<<<<<<<<< + * stop = shape + * else: + */ + __pyx_t_2 = (__pyx_v_stop > __pyx_v_shape); + if (__pyx_t_2) { + + /* "View.MemoryView":852 + * stop = 0 + * elif stop > shape: + * stop = shape # <<<<<<<<<<<<<< + * else: + * if negative_step: + */ + __pyx_v_stop = __pyx_v_shape; + + /* "View.MemoryView":851 + * if stop < 0: + * stop = 0 + * elif stop > shape: # <<<<<<<<<<<<<< + * stop = shape + * else: + */ + } + __pyx_L14:; + + /* "View.MemoryView":846 + * start = 0 + * + * if have_stop: # <<<<<<<<<<<<<< + * if stop < 0: + * stop += shape + */ + goto __pyx_L13; + } + + /* "View.MemoryView":854 + * stop = shape + * else: + * if negative_step: # <<<<<<<<<<<<<< + * stop = -1 + * else: + */ + /*else*/ { + if (__pyx_v_negative_step) { + + /* "View.MemoryView":855 + * else: + * if negative_step: + * stop = -1 # <<<<<<<<<<<<<< + * else: + * stop = shape + */ + __pyx_v_stop = -1L; + + /* "View.MemoryView":854 + * stop = shape + * else: + * if negative_step: # <<<<<<<<<<<<<< + * stop = -1 + * else: + */ + goto __pyx_L16; + } + + /* "View.MemoryView":857 + * stop = -1 + * else: + * stop = shape # <<<<<<<<<<<<<< + * + * + */ + /*else*/ { + __pyx_v_stop = __pyx_v_shape; + } + __pyx_L16:; + } + __pyx_L13:; + + /* "View.MemoryView":861 + * + * with cython.cdivision(True): + * new_shape = (stop - start) // step # <<<<<<<<<<<<<< + * + * if (stop - start) - step * new_shape: + */ + __pyx_v_new_shape = ((__pyx_v_stop - __pyx_v_start) / __pyx_v_step); + + /* "View.MemoryView":863 + * new_shape = (stop - start) // step + * + * if (stop - 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stride # <<<<<<<<<<<<<< + * else: + * dst.suboffsets[suboffset_dim[0]] += start * stride + */ + __pyx_v_dst->data = (__pyx_v_dst->data + (__pyx_v_start * __pyx_v_stride)); + + /* "View.MemoryView":875 + * + * + * if suboffset_dim[0] < 0: # <<<<<<<<<<<<<< + * dst.data += start * stride + * else: + */ + goto __pyx_L19; + } + + /* "View.MemoryView":878 + * dst.data += start * stride + * else: + * dst.suboffsets[suboffset_dim[0]] += start * stride # <<<<<<<<<<<<<< + * + * if suboffset >= 0: + */ + /*else*/ { + __pyx_t_3 = (__pyx_v_suboffset_dim[0]); + (__pyx_v_dst->suboffsets[__pyx_t_3]) = ((__pyx_v_dst->suboffsets[__pyx_t_3]) + (__pyx_v_start * __pyx_v_stride)); + } + __pyx_L19:; + + /* "View.MemoryView":880 + * dst.suboffsets[suboffset_dim[0]] += start * stride + * + * if suboffset >= 0: # <<<<<<<<<<<<<< + * if not is_slice: + * if new_ndim == 0: + */ + __pyx_t_2 = (__pyx_v_suboffset >= 0); + if (__pyx_t_2) { + + /* "View.MemoryView":881 + * + * if suboffset >= 0: + * if not is_slice: # <<<<<<<<<<<<<< + * if new_ndim == 0: + * dst.data = ( dst.data)[0] + suboffset + */ + __pyx_t_2 = (!__pyx_v_is_slice); + if (__pyx_t_2) { + + /* "View.MemoryView":882 + * if suboffset >= 0: + * if not is_slice: + * if new_ndim == 0: # <<<<<<<<<<<<<< + * dst.data = ( dst.data)[0] + suboffset + * else: + */ + __pyx_t_2 = (__pyx_v_new_ndim == 0); + if (__pyx_t_2) { + + /* "View.MemoryView":883 + * if not is_slice: + * if new_ndim == 0: + * dst.data = ( dst.data)[0] + suboffset # <<<<<<<<<<<<<< + * else: + * _err_dim(PyExc_IndexError, "All dimensions preceding dimension %d " + */ + __pyx_v_dst->data = ((((char **)__pyx_v_dst->data)[0]) + __pyx_v_suboffset); + + /* "View.MemoryView":882 + * if suboffset >= 0: + * if not is_slice: + * if new_ndim == 0: # <<<<<<<<<<<<<< + * dst.data = ( dst.data)[0] + suboffset + * else: + */ + goto __pyx_L22; + } + + /* "View.MemoryView":885 + * dst.data = ( dst.data)[0] + suboffset + * else: + * _err_dim(PyExc_IndexError, "All dimensions preceding dimension 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__pyx_filename); + __pyx_r = 0; + __pyx_L0:; + __Pyx_XGIVEREF(__pyx_r); + __Pyx_RefNannyFinishContext(); + return __pyx_r; +} + +/* "View.MemoryView":1087 + * + * @cname('__pyx_memoryview_copy_object_from_slice') + * cdef memoryview_copy_from_slice(memoryview memview, __Pyx_memviewslice *memviewslice): # <<<<<<<<<<<<<< + * """ + * Create a new memoryview object from a given memoryview object and slice. + */ + +static PyObject *__pyx_memoryview_copy_object_from_slice(struct __pyx_memoryview_obj *__pyx_v_memview, __Pyx_memviewslice *__pyx_v_memviewslice) { + PyObject *(*__pyx_v_to_object_func)(char *); + int (*__pyx_v_to_dtype_func)(char *, PyObject *); + PyObject *__pyx_r = NULL; + __Pyx_RefNannyDeclarations + int __pyx_t_1; + PyObject *(*__pyx_t_2)(char *); + int (*__pyx_t_3)(char *, PyObject *); + PyObject *__pyx_t_4 = NULL; + int __pyx_lineno = 0; + const char *__pyx_filename = NULL; + int __pyx_clineno = 0; + __Pyx_RefNannySetupContext("memoryview_copy_from_slice", 1); + + /* 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= NULL + */ + __pyx_t_3 = ((struct __pyx_memoryviewslice_obj *)__pyx_v_memview)->to_dtype_func; + __pyx_v_to_dtype_func = __pyx_t_3; + + /* "View.MemoryView":1094 + * cdef int (*to_dtype_func)(char *, object) except 0 + * + * if isinstance(memview, _memoryviewslice): # <<<<<<<<<<<<<< + * to_object_func = (<_memoryviewslice> memview).to_object_func + * to_dtype_func = (<_memoryviewslice> memview).to_dtype_func + */ + goto __pyx_L3; + } + + /* "View.MemoryView":1098 + * to_dtype_func = (<_memoryviewslice> memview).to_dtype_func + * else: + * to_object_func = NULL # <<<<<<<<<<<<<< + * to_dtype_func = NULL + * + */ + /*else*/ { + __pyx_v_to_object_func = NULL; + + /* "View.MemoryView":1099 + * else: + * to_object_func = NULL + * to_dtype_func = NULL # <<<<<<<<<<<<<< + * + * return memoryview_fromslice(memviewslice[0], memview.view.ndim, + */ + __pyx_v_to_dtype_func = NULL; + } + __pyx_L3:; + + /* "View.MemoryView":1101 + * to_dtype_func = NULL + * + * return memoryview_fromslice(memviewslice[0], memview.view.ndim, # <<<<<<<<<<<<<< + * to_object_func, to_dtype_func, + * memview.dtype_is_object) + */ + __Pyx_XDECREF(__pyx_r); + + /* "View.MemoryView":1103 + * return memoryview_fromslice(memviewslice[0], memview.view.ndim, + * to_object_func, to_dtype_func, + * memview.dtype_is_object) # <<<<<<<<<<<<<< + * + * + */ + __pyx_t_4 = __pyx_memoryview_fromslice((__pyx_v_memviewslice[0]), __pyx_v_memview->view.ndim, __pyx_v_to_object_func, __pyx_v_to_dtype_func, __pyx_v_memview->dtype_is_object); if (unlikely(!__pyx_t_4)) __PYX_ERR(0, 1101, __pyx_L1_error) + __Pyx_GOTREF(__pyx_t_4); + __pyx_r = __pyx_t_4; + __pyx_t_4 = 0; + goto __pyx_L0; + + /* "View.MemoryView":1087 + * + * @cname('__pyx_memoryview_copy_object_from_slice') + * cdef memoryview_copy_from_slice(memoryview memview, __Pyx_memviewslice *memviewslice): # <<<<<<<<<<<<<< + * """ + * Create a new memoryview object from a given memoryview object and slice. + */ + + /* function exit code */ + __pyx_L1_error:; + __Pyx_XDECREF(__pyx_t_4); + __Pyx_AddTraceback("View.MemoryView.memoryview_copy_from_slice", __pyx_clineno, __pyx_lineno, __pyx_filename); + __pyx_r = 0; + __pyx_L0:; + __Pyx_XGIVEREF(__pyx_r); + __Pyx_RefNannyFinishContext(); + return __pyx_r; +} + +/* "View.MemoryView":1109 + * + * + * cdef Py_ssize_t abs_py_ssize_t(Py_ssize_t arg) noexcept nogil: # <<<<<<<<<<<<<< + * return -arg if arg < 0 else arg + * + */ + +static Py_ssize_t abs_py_ssize_t(Py_ssize_t __pyx_v_arg) { + Py_ssize_t __pyx_r; + Py_ssize_t __pyx_t_1; + int __pyx_t_2; + + /* "View.MemoryView":1110 + * + * cdef Py_ssize_t abs_py_ssize_t(Py_ssize_t arg) noexcept nogil: + * return -arg if arg < 0 else arg # <<<<<<<<<<<<<< + * + * @cname('__pyx_get_best_slice_order') + */ + __pyx_t_2 = (__pyx_v_arg < 0); + if (__pyx_t_2) { + __pyx_t_1 = (-__pyx_v_arg); + } else { + __pyx_t_1 = __pyx_v_arg; + } + __pyx_r = __pyx_t_1; + goto __pyx_L0; + + /* "View.MemoryView":1109 + * + * + * cdef Py_ssize_t abs_py_ssize_t(Py_ssize_t arg) noexcept nogil: # <<<<<<<<<<<<<< + * return -arg if arg < 0 else arg + * + */ + + /* function exit code */ + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":1113 + * + * @cname('__pyx_get_best_slice_order') + * cdef char get_best_order(__Pyx_memviewslice *mslice, int ndim) noexcept nogil: # <<<<<<<<<<<<<< + * """ + * Figure out the best memory access order for a given slice. + */ + +static char __pyx_get_best_slice_order(__Pyx_memviewslice *__pyx_v_mslice, int __pyx_v_ndim) { + int __pyx_v_i; + Py_ssize_t __pyx_v_c_stride; + Py_ssize_t __pyx_v_f_stride; + char __pyx_r; + int __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + int __pyx_t_4; + + /* "View.MemoryView":1118 + * """ + * cdef int i + * cdef Py_ssize_t c_stride = 0 # <<<<<<<<<<<<<< + * cdef Py_ssize_t f_stride = 0 + * + */ + __pyx_v_c_stride = 0; + + /* "View.MemoryView":1119 + * cdef int i + * cdef Py_ssize_t c_stride = 0 + * cdef Py_ssize_t f_stride = 0 # <<<<<<<<<<<<<< + * + * for i in range(ndim - 1, -1, -1): + */ + __pyx_v_f_stride = 0; + + /* "View.MemoryView":1121 + * cdef Py_ssize_t f_stride = 0 + * + * for i in range(ndim - 1, -1, -1): # <<<<<<<<<<<<<< + * if mslice.shape[i] > 1: + * c_stride = mslice.strides[i] + */ + for (__pyx_t_1 = (__pyx_v_ndim - 1); __pyx_t_1 > -1; __pyx_t_1-=1) { + __pyx_v_i = __pyx_t_1; + + /* "View.MemoryView":1122 + * + * for i in range(ndim - 1, -1, -1): + * if mslice.shape[i] > 1: # <<<<<<<<<<<<<< + * c_stride = mslice.strides[i] + * break + */ + __pyx_t_2 = ((__pyx_v_mslice->shape[__pyx_v_i]) > 1); + if (__pyx_t_2) { + + /* "View.MemoryView":1123 + * for i in range(ndim - 1, -1, -1): + * if mslice.shape[i] > 1: + * c_stride = mslice.strides[i] # <<<<<<<<<<<<<< + * break + * + */ + __pyx_v_c_stride = (__pyx_v_mslice->strides[__pyx_v_i]); + + /* "View.MemoryView":1124 + * if mslice.shape[i] > 1: + * c_stride = mslice.strides[i] + * break # <<<<<<<<<<<<<< + * + * for i in range(ndim): + */ + goto __pyx_L4_break; + + /* "View.MemoryView":1122 + * + * for i in range(ndim - 1, -1, -1): + * if mslice.shape[i] > 1: # <<<<<<<<<<<<<< + * c_stride = mslice.strides[i] + * break + */ + } + } + __pyx_L4_break:; + + /* "View.MemoryView":1126 + * break + * + * for i in range(ndim): # <<<<<<<<<<<<<< + * if mslice.shape[i] > 1: + * f_stride = mslice.strides[i] + */ + __pyx_t_1 = __pyx_v_ndim; + __pyx_t_3 = __pyx_t_1; + for (__pyx_t_4 = 0; __pyx_t_4 < __pyx_t_3; __pyx_t_4+=1) { + __pyx_v_i = __pyx_t_4; + + /* "View.MemoryView":1127 + * + * for i in range(ndim): + * if mslice.shape[i] > 1: # <<<<<<<<<<<<<< + * f_stride = mslice.strides[i] + * break + */ + __pyx_t_2 = ((__pyx_v_mslice->shape[__pyx_v_i]) > 1); + if (__pyx_t_2) { + + /* "View.MemoryView":1128 + * for i in range(ndim): + * if mslice.shape[i] > 1: + * f_stride = mslice.strides[i] # <<<<<<<<<<<<<< + * break + * + */ + __pyx_v_f_stride = (__pyx_v_mslice->strides[__pyx_v_i]); + + /* "View.MemoryView":1129 + * if mslice.shape[i] > 1: + * f_stride = mslice.strides[i] + * break # <<<<<<<<<<<<<< + * + * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): + */ + goto __pyx_L7_break; + + /* "View.MemoryView":1127 + * + * for i in range(ndim): + * if mslice.shape[i] > 1: # <<<<<<<<<<<<<< + * f_stride = mslice.strides[i] + * break + */ + } + } + __pyx_L7_break:; + + /* "View.MemoryView":1131 + * break + * + * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): # <<<<<<<<<<<<<< + * return 'C' + * else: + */ + __pyx_t_2 = (abs_py_ssize_t(__pyx_v_c_stride) <= abs_py_ssize_t(__pyx_v_f_stride)); + if (__pyx_t_2) { + + /* "View.MemoryView":1132 + * + * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): + * return 'C' # <<<<<<<<<<<<<< + * else: + * return 'F' + */ + __pyx_r = 'C'; + goto __pyx_L0; + + /* "View.MemoryView":1131 + * break + * + * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): # <<<<<<<<<<<<<< + * return 'C' + * else: + */ + } + + /* "View.MemoryView":1134 + * return 'C' + * else: + * return 'F' # <<<<<<<<<<<<<< + * + * @cython.cdivision(True) + */ + /*else*/ { + __pyx_r = 'F'; + goto __pyx_L0; + } + + /* "View.MemoryView":1113 + * + * @cname('__pyx_get_best_slice_order') + * cdef char get_best_order(__Pyx_memviewslice *mslice, int ndim) noexcept nogil: # <<<<<<<<<<<<<< + * """ + * Figure out the best memory access order for a given slice. + */ + + /* function exit code */ + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":1137 + * + * @cython.cdivision(True) + * cdef void _copy_strided_to_strided(char *src_data, Py_ssize_t *src_strides, # <<<<<<<<<<<<<< + * char *dst_data, Py_ssize_t *dst_strides, + * Py_ssize_t *src_shape, Py_ssize_t *dst_shape, + */ + +static void _copy_strided_to_strided(char *__pyx_v_src_data, Py_ssize_t *__pyx_v_src_strides, char *__pyx_v_dst_data, Py_ssize_t *__pyx_v_dst_strides, Py_ssize_t *__pyx_v_src_shape, Py_ssize_t *__pyx_v_dst_shape, int __pyx_v_ndim, size_t __pyx_v_itemsize) { + CYTHON_UNUSED Py_ssize_t __pyx_v_i; + CYTHON_UNUSED Py_ssize_t __pyx_v_src_extent; + Py_ssize_t __pyx_v_dst_extent; + Py_ssize_t __pyx_v_src_stride; + Py_ssize_t __pyx_v_dst_stride; + int __pyx_t_1; + int __pyx_t_2; + Py_ssize_t __pyx_t_3; + Py_ssize_t __pyx_t_4; + Py_ssize_t __pyx_t_5; + + /* "View.MemoryView":1144 + * + * cdef Py_ssize_t i + * cdef Py_ssize_t src_extent = src_shape[0] # <<<<<<<<<<<<<< + * cdef Py_ssize_t dst_extent = dst_shape[0] + * cdef Py_ssize_t src_stride = src_strides[0] + */ + __pyx_v_src_extent = (__pyx_v_src_shape[0]); + + /* "View.MemoryView":1145 + * cdef Py_ssize_t i + * cdef Py_ssize_t src_extent = src_shape[0] + * cdef Py_ssize_t dst_extent = dst_shape[0] # <<<<<<<<<<<<<< + * cdef Py_ssize_t src_stride = src_strides[0] + * cdef Py_ssize_t dst_stride = dst_strides[0] + */ + __pyx_v_dst_extent = (__pyx_v_dst_shape[0]); + + /* "View.MemoryView":1146 + * cdef Py_ssize_t src_extent = src_shape[0] + * cdef Py_ssize_t dst_extent = dst_shape[0] + * cdef Py_ssize_t src_stride = src_strides[0] # <<<<<<<<<<<<<< + * cdef Py_ssize_t dst_stride = dst_strides[0] + * + */ + __pyx_v_src_stride = (__pyx_v_src_strides[0]); + + /* "View.MemoryView":1147 + * cdef Py_ssize_t dst_extent = dst_shape[0] + * cdef Py_ssize_t src_stride = src_strides[0] + * cdef Py_ssize_t dst_stride = dst_strides[0] # <<<<<<<<<<<<<< + * + * if ndim == 1: + */ + __pyx_v_dst_stride = (__pyx_v_dst_strides[0]); + + /* "View.MemoryView":1149 + * cdef Py_ssize_t dst_stride = dst_strides[0] + * + * if ndim == 1: # <<<<<<<<<<<<<< + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): + */ + __pyx_t_1 = (__pyx_v_ndim == 1); + if (__pyx_t_1) { + + /* "View.MemoryView":1150 + * + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and # <<<<<<<<<<<<<< + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) + */ + __pyx_t_2 = (__pyx_v_src_stride > 0); + if (__pyx_t_2) { + } else { + __pyx_t_1 = __pyx_t_2; + goto __pyx_L5_bool_binop_done; + } + __pyx_t_2 = (__pyx_v_dst_stride > 0); + if (__pyx_t_2) { + } else { + __pyx_t_1 = __pyx_t_2; + goto __pyx_L5_bool_binop_done; + } + + /* "View.MemoryView":1151 + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): # <<<<<<<<<<<<<< + * memcpy(dst_data, src_data, itemsize * dst_extent) + * else: + */ + __pyx_t_2 = (((size_t)__pyx_v_src_stride) == __pyx_v_itemsize); + if (__pyx_t_2) { + __pyx_t_2 = (__pyx_v_itemsize == ((size_t)__pyx_v_dst_stride)); + } + __pyx_t_1 = __pyx_t_2; + __pyx_L5_bool_binop_done:; + + /* "View.MemoryView":1150 + * + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and # <<<<<<<<<<<<<< + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) + */ + if (__pyx_t_1) { + + /* "View.MemoryView":1152 + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) # <<<<<<<<<<<<<< + * else: + * for i in range(dst_extent): + */ + (void)(memcpy(__pyx_v_dst_data, __pyx_v_src_data, (__pyx_v_itemsize * __pyx_v_dst_extent))); + + /* "View.MemoryView":1150 + * + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and # <<<<<<<<<<<<<< + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) + */ + goto __pyx_L4; + } + + /* "View.MemoryView":1154 + * memcpy(dst_data, src_data, itemsize * dst_extent) + * else: + * for i in range(dst_extent): # <<<<<<<<<<<<<< + * memcpy(dst_data, src_data, itemsize) + * src_data += src_stride + */ + /*else*/ { + __pyx_t_3 = __pyx_v_dst_extent; + __pyx_t_4 = __pyx_t_3; + for (__pyx_t_5 = 0; __pyx_t_5 < __pyx_t_4; __pyx_t_5+=1) { + __pyx_v_i = __pyx_t_5; + + /* "View.MemoryView":1155 + * else: + * for i in range(dst_extent): + * memcpy(dst_data, src_data, itemsize) # <<<<<<<<<<<<<< + * src_data += src_stride + * dst_data += dst_stride + */ + (void)(memcpy(__pyx_v_dst_data, __pyx_v_src_data, __pyx_v_itemsize)); + + /* "View.MemoryView":1156 + * for i in range(dst_extent): + * memcpy(dst_data, src_data, itemsize) + * src_data += src_stride # <<<<<<<<<<<<<< + * dst_data += dst_stride + * else: + */ + __pyx_v_src_data = (__pyx_v_src_data + __pyx_v_src_stride); + + /* "View.MemoryView":1157 + * memcpy(dst_data, src_data, itemsize) + * src_data += src_stride + * dst_data += dst_stride # <<<<<<<<<<<<<< + * else: + * for i in range(dst_extent): + */ + __pyx_v_dst_data = (__pyx_v_dst_data + __pyx_v_dst_stride); + } + } + __pyx_L4:; + + /* "View.MemoryView":1149 + * cdef Py_ssize_t dst_stride = dst_strides[0] + * + * if ndim == 1: # <<<<<<<<<<<<<< + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): + */ + goto __pyx_L3; + } + + /* "View.MemoryView":1159 + * dst_data += dst_stride + * else: + * for i in range(dst_extent): # <<<<<<<<<<<<<< + * _copy_strided_to_strided(src_data, src_strides + 1, + * dst_data, dst_strides + 1, + */ + /*else*/ { + __pyx_t_3 = __pyx_v_dst_extent; + __pyx_t_4 = __pyx_t_3; + for (__pyx_t_5 = 0; __pyx_t_5 < __pyx_t_4; __pyx_t_5+=1) { + __pyx_v_i = __pyx_t_5; + + /* "View.MemoryView":1160 + * else: + * for i in range(dst_extent): + * _copy_strided_to_strided(src_data, src_strides + 1, # <<<<<<<<<<<<<< + * dst_data, dst_strides + 1, + * src_shape + 1, dst_shape + 1, + */ + _copy_strided_to_strided(__pyx_v_src_data, (__pyx_v_src_strides + 1), __pyx_v_dst_data, (__pyx_v_dst_strides + 1), (__pyx_v_src_shape + 1), (__pyx_v_dst_shape + 1), (__pyx_v_ndim - 1), __pyx_v_itemsize); + + /* "View.MemoryView":1164 + * src_shape + 1, dst_shape + 1, + * ndim - 1, itemsize) + * src_data += src_stride # <<<<<<<<<<<<<< + * dst_data += dst_stride + * + */ + __pyx_v_src_data = (__pyx_v_src_data + __pyx_v_src_stride); + + /* "View.MemoryView":1165 + * ndim - 1, itemsize) + * src_data += src_stride + * dst_data += dst_stride # <<<<<<<<<<<<<< + * + * cdef void copy_strided_to_strided(__Pyx_memviewslice *src, + */ + __pyx_v_dst_data = (__pyx_v_dst_data + __pyx_v_dst_stride); + } + } + __pyx_L3:; + + /* "View.MemoryView":1137 + * + * @cython.cdivision(True) + * cdef void _copy_strided_to_strided(char *src_data, Py_ssize_t *src_strides, # <<<<<<<<<<<<<< + * char *dst_data, Py_ssize_t *dst_strides, + * Py_ssize_t *src_shape, Py_ssize_t *dst_shape, + */ + + /* function exit code */ +} + +/* "View.MemoryView":1167 + * dst_data += dst_stride + * + * cdef void copy_strided_to_strided(__Pyx_memviewslice *src, # <<<<<<<<<<<<<< + * __Pyx_memviewslice *dst, + * int ndim, size_t itemsize) noexcept nogil: + */ + +static void copy_strided_to_strided(__Pyx_memviewslice *__pyx_v_src, __Pyx_memviewslice *__pyx_v_dst, int __pyx_v_ndim, size_t __pyx_v_itemsize) { + + /* "View.MemoryView":1170 + * __Pyx_memviewslice *dst, + * int ndim, size_t itemsize) noexcept nogil: + * _copy_strided_to_strided(src.data, src.strides, dst.data, dst.strides, # <<<<<<<<<<<<<< + * src.shape, dst.shape, ndim, itemsize) + * + */ + 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slice_is_contig(dst, 'C', ndim) # <<<<<<<<<<<<<< + * elif slice_is_contig(src, 'F', ndim): + * direct_copy = slice_is_contig(dst, 'F', ndim) + */ + __pyx_v_direct_copy = __pyx_memviewslice_is_contig(__pyx_v_dst, 'C', __pyx_v_ndim); + + /* "View.MemoryView":1310 + * + * + * if slice_is_contig(src, 'C', ndim): # <<<<<<<<<<<<<< + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): + */ + goto __pyx_L12; + } + + /* "View.MemoryView":1312 + * if slice_is_contig(src, 'C', ndim): + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): # <<<<<<<<<<<<<< + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + */ + __pyx_t_2 = __pyx_memviewslice_is_contig(__pyx_v_src, 'F', __pyx_v_ndim); + if (__pyx_t_2) { + + /* "View.MemoryView":1313 + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): + * direct_copy = slice_is_contig(dst, 'F', ndim) # <<<<<<<<<<<<<< + * + * if direct_copy: + */ + __pyx_v_direct_copy = __pyx_memviewslice_is_contig(__pyx_v_dst, 'F', __pyx_v_ndim); + + /* "View.MemoryView":1312 + * if slice_is_contig(src, 'C', ndim): + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): # <<<<<<<<<<<<<< + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + */ + } + __pyx_L12:; + + /* "View.MemoryView":1315 + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + * if direct_copy: # <<<<<<<<<<<<<< + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + */ + if (__pyx_v_direct_copy) { + + /* "View.MemoryView":1317 + * if direct_copy: + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) # <<<<<<<<<<<<<< + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 0); + + /* "View.MemoryView":1318 + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) # <<<<<<<<<<<<<< + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * free(tmpdata) + */ + (void)(memcpy(__pyx_v_dst.data, __pyx_v_src.data, __pyx_memoryview_slice_get_size((&__pyx_v_src), __pyx_v_ndim))); + + /* "View.MemoryView":1319 + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) # <<<<<<<<<<<<<< + * free(tmpdata) + * return 0 + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 1); + + /* "View.MemoryView":1320 + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * free(tmpdata) # <<<<<<<<<<<<<< + * return 0 + * + */ + free(__pyx_v_tmpdata); + + /* "View.MemoryView":1321 + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * free(tmpdata) + * return 0 # <<<<<<<<<<<<<< + * + * if order == 'F' == get_best_order(&dst, ndim): + */ + __pyx_r = 0; + goto __pyx_L0; + + /* "View.MemoryView":1315 + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + * if direct_copy: # <<<<<<<<<<<<<< + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + */ + } + + /* "View.MemoryView":1307 + * src = tmp + * + * if not broadcasting: # <<<<<<<<<<<<<< + * + * + */ + } + + /* "View.MemoryView":1323 + * return 0 + * + * if order == 'F' == get_best_order(&dst, ndim): # <<<<<<<<<<<<<< + * + * + */ + __pyx_t_2 = (__pyx_v_order == 'F'); + if (__pyx_t_2) { + __pyx_t_2 = ('F' == __pyx_get_best_slice_order((&__pyx_v_dst), __pyx_v_ndim)); + } + if (__pyx_t_2) { + + /* "View.MemoryView":1326 + * + * + * transpose_memslice(&src) # <<<<<<<<<<<<<< + * transpose_memslice(&dst) + * + */ + __pyx_t_5 = __pyx_memslice_transpose((&__pyx_v_src)); if (unlikely(__pyx_t_5 == ((int)-1))) __PYX_ERR(0, 1326, __pyx_L1_error) + + /* "View.MemoryView":1327 + * + * transpose_memslice(&src) + * transpose_memslice(&dst) # <<<<<<<<<<<<<< + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + */ + __pyx_t_5 = __pyx_memslice_transpose((&__pyx_v_dst)); if (unlikely(__pyx_t_5 == ((int)-1))) __PYX_ERR(0, 1327, __pyx_L1_error) + + /* "View.MemoryView":1323 + * return 0 + * + * if order == 'F' == get_best_order(&dst, ndim): # <<<<<<<<<<<<<< + * + * + */ + } + + /* "View.MemoryView":1329 + * transpose_memslice(&dst) + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) # <<<<<<<<<<<<<< + * copy_strided_to_strided(&src, &dst, ndim, itemsize) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 0); + + /* "View.MemoryView":1330 + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + * copy_strided_to_strided(&src, &dst, ndim, itemsize) # <<<<<<<<<<<<<< + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * + */ + copy_strided_to_strided((&__pyx_v_src), (&__pyx_v_dst), __pyx_v_ndim, __pyx_v_itemsize); + + /* "View.MemoryView":1331 + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + * copy_strided_to_strided(&src, &dst, ndim, itemsize) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) # <<<<<<<<<<<<<< + * + * free(tmpdata) + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 1); + + /* "View.MemoryView":1333 + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * + * free(tmpdata) # <<<<<<<<<<<<<< + * return 0 + * + */ + free(__pyx_v_tmpdata); + + /* "View.MemoryView":1334 + * + * free(tmpdata) + * return 0 # <<<<<<<<<<<<<< + * + * @cname('__pyx_memoryview_broadcast_leading') + */ + __pyx_r = 0; + goto __pyx_L0; + + /* "View.MemoryView":1265 + * + * @cname('__pyx_memoryview_copy_contents') + * cdef int memoryview_copy_contents(__Pyx_memviewslice src, # <<<<<<<<<<<<<< + * __Pyx_memviewslice dst, + * int src_ndim, int dst_ndim, + */ + + /* function exit code */ + __pyx_L1_error:; + #ifdef WITH_THREAD + __pyx_gilstate_save = __Pyx_PyGILState_Ensure(); + #endif + __Pyx_AddTraceback("View.MemoryView.memoryview_copy_contents", __pyx_clineno, __pyx_lineno, __pyx_filename); + __pyx_r = -1; + #ifdef WITH_THREAD + __Pyx_PyGILState_Release(__pyx_gilstate_save); + #endif + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":1337 + * + * @cname('__pyx_memoryview_broadcast_leading') + * cdef void broadcast_leading(__Pyx_memviewslice *mslice, # <<<<<<<<<<<<<< + * int ndim, + * int ndim_other) noexcept nogil: + */ + +static void __pyx_memoryview_broadcast_leading(__Pyx_memviewslice *__pyx_v_mslice, int __pyx_v_ndim, int __pyx_v_ndim_other) { + int __pyx_v_i; + int __pyx_v_offset; + int __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + + /* "View.MemoryView":1341 + * int ndim_other) noexcept nogil: + * cdef int i + * cdef int offset = ndim_other - ndim # <<<<<<<<<<<<<< + * + * for i in range(ndim - 1, -1, -1): + */ + __pyx_v_offset = (__pyx_v_ndim_other - __pyx_v_ndim); + + /* "View.MemoryView":1343 + * cdef int offset = ndim_other - ndim + * + * for i in range(ndim - 1, -1, -1): # <<<<<<<<<<<<<< + * mslice.shape[i + offset] = mslice.shape[i] + * mslice.strides[i + offset] = mslice.strides[i] + */ + for (__pyx_t_1 = (__pyx_v_ndim - 1); __pyx_t_1 > -1; __pyx_t_1-=1) { + __pyx_v_i = __pyx_t_1; + + /* "View.MemoryView":1344 + * + * for i in range(ndim - 1, -1, -1): + * mslice.shape[i + offset] = mslice.shape[i] # <<<<<<<<<<<<<< + * mslice.strides[i + offset] = mslice.strides[i] + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] + */ + (__pyx_v_mslice->shape[(__pyx_v_i + __pyx_v_offset)]) = (__pyx_v_mslice->shape[__pyx_v_i]); + + /* "View.MemoryView":1345 + * for i in range(ndim - 1, -1, -1): + * mslice.shape[i + offset] = mslice.shape[i] + * mslice.strides[i + offset] = mslice.strides[i] # <<<<<<<<<<<<<< + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] + * + */ + (__pyx_v_mslice->strides[(__pyx_v_i + __pyx_v_offset)]) = (__pyx_v_mslice->strides[__pyx_v_i]); + + /* "View.MemoryView":1346 + * mslice.shape[i + offset] = mslice.shape[i] + * mslice.strides[i + offset] = mslice.strides[i] + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] # <<<<<<<<<<<<<< + * + * for i in range(offset): + */ + (__pyx_v_mslice->suboffsets[(__pyx_v_i + __pyx_v_offset)]) = (__pyx_v_mslice->suboffsets[__pyx_v_i]); + } + + /* "View.MemoryView":1348 + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] + * + * for i in range(offset): # <<<<<<<<<<<<<< + * mslice.shape[i] = 1 + * mslice.strides[i] = mslice.strides[0] + */ + __pyx_t_1 = __pyx_v_offset; + __pyx_t_2 = __pyx_t_1; + for (__pyx_t_3 = 0; __pyx_t_3 < __pyx_t_2; __pyx_t_3+=1) { + __pyx_v_i = __pyx_t_3; + + /* "View.MemoryView":1349 + * + * for i in range(offset): + * mslice.shape[i] = 1 # <<<<<<<<<<<<<< + * mslice.strides[i] = mslice.strides[0] + * mslice.suboffsets[i] = -1 + */ + (__pyx_v_mslice->shape[__pyx_v_i]) = 1; + + /* "View.MemoryView":1350 + * for i in range(offset): + * mslice.shape[i] = 1 + * mslice.strides[i] = mslice.strides[0] # <<<<<<<<<<<<<< + * mslice.suboffsets[i] = -1 + * + */ + (__pyx_v_mslice->strides[__pyx_v_i]) = (__pyx_v_mslice->strides[0]); + + /* "View.MemoryView":1351 + * mslice.shape[i] = 1 + * mslice.strides[i] = mslice.strides[0] + * mslice.suboffsets[i] = -1 # <<<<<<<<<<<<<< + * + * + */ + (__pyx_v_mslice->suboffsets[__pyx_v_i]) = -1L; + } + + /* "View.MemoryView":1337 + * + * @cname('__pyx_memoryview_broadcast_leading') + * cdef void broadcast_leading(__Pyx_memviewslice *mslice, # <<<<<<<<<<<<<< + * int ndim, + * int ndim_other) noexcept nogil: + */ + + /* function exit code */ +} + +/* "View.MemoryView":1359 + * + * @cname('__pyx_memoryview_refcount_copying') + * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object, int ndim, bint inc) noexcept nogil: # <<<<<<<<<<<<<< + * + * if dtype_is_object: + */ + +static void __pyx_memoryview_refcount_copying(__Pyx_memviewslice *__pyx_v_dst, int __pyx_v_dtype_is_object, int __pyx_v_ndim, int __pyx_v_inc) { + + /* "View.MemoryView":1361 + * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object, int ndim, bint inc) noexcept nogil: + * + * if dtype_is_object: # <<<<<<<<<<<<<< + * refcount_objects_in_slice_with_gil(dst.data, dst.shape, dst.strides, ndim, inc) + * + */ + if (__pyx_v_dtype_is_object) { + + /* "View.MemoryView":1362 + * + * if dtype_is_object: + * refcount_objects_in_slice_with_gil(dst.data, dst.shape, dst.strides, ndim, inc) # <<<<<<<<<<<<<< + * + * @cname('__pyx_memoryview_refcount_objects_in_slice_with_gil') + */ + __pyx_memoryview_refcount_objects_in_slice_with_gil(__pyx_v_dst->data, __pyx_v_dst->shape, __pyx_v_dst->strides, __pyx_v_ndim, __pyx_v_inc); + + /* "View.MemoryView":1361 + * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object, int ndim, bint inc) noexcept nogil: + * + * if dtype_is_object: # <<<<<<<<<<<<<< + * refcount_objects_in_slice_with_gil(dst.data, dst.shape, dst.strides, ndim, inc) + * + */ + } + + /* "View.MemoryView":1359 + * + * @cname('__pyx_memoryview_refcount_copying') + * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object, int ndim, bint inc) noexcept nogil: # <<<<<<<<<<<<<< + * + * if dtype_is_object: + */ + + /* function exit code */ +} + +/* "View.MemoryView":1365 + * + * @cname('__pyx_memoryview_refcount_objects_in_slice_with_gil') + * cdef void refcount_objects_in_slice_with_gil(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, + * bint inc) noexcept with gil: + */ + +static void __pyx_memoryview_refcount_objects_in_slice_with_gil(char *__pyx_v_data, Py_ssize_t *__pyx_v_shape, Py_ssize_t *__pyx_v_strides, int __pyx_v_ndim, int __pyx_v_inc) { + #ifdef WITH_THREAD + PyGILState_STATE __pyx_gilstate_save = __Pyx_PyGILState_Ensure(); + #endif + + /* "View.MemoryView":1368 + * Py_ssize_t *strides, int ndim, + * bint inc) noexcept with gil: + * refcount_objects_in_slice(data, shape, strides, ndim, inc) # <<<<<<<<<<<<<< + * + * @cname('__pyx_memoryview_refcount_objects_in_slice') + */ + __pyx_memoryview_refcount_objects_in_slice(__pyx_v_data, __pyx_v_shape, __pyx_v_strides, __pyx_v_ndim, __pyx_v_inc); + + /* "View.MemoryView":1365 + * + * @cname('__pyx_memoryview_refcount_objects_in_slice_with_gil') + * cdef void refcount_objects_in_slice_with_gil(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, + * bint inc) noexcept with gil: + */ + + /* function exit code */ + #ifdef WITH_THREAD + __Pyx_PyGILState_Release(__pyx_gilstate_save); + #endif +} + +/* "View.MemoryView":1371 + * + * @cname('__pyx_memoryview_refcount_objects_in_slice') + * cdef void refcount_objects_in_slice(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, bint inc) noexcept: + * cdef Py_ssize_t i + */ + +static void __pyx_memoryview_refcount_objects_in_slice(char *__pyx_v_data, Py_ssize_t *__pyx_v_shape, Py_ssize_t *__pyx_v_strides, int __pyx_v_ndim, int __pyx_v_inc) { + CYTHON_UNUSED Py_ssize_t __pyx_v_i; + Py_ssize_t __pyx_v_stride; + Py_ssize_t __pyx_t_1; + Py_ssize_t __pyx_t_2; + Py_ssize_t __pyx_t_3; + int __pyx_t_4; + + /* "View.MemoryView":1374 + * Py_ssize_t *strides, int ndim, bint inc) noexcept: + * cdef Py_ssize_t i + * cdef Py_ssize_t stride = strides[0] # <<<<<<<<<<<<<< + * + * for i in range(shape[0]): + */ + __pyx_v_stride = (__pyx_v_strides[0]); + + /* "View.MemoryView":1376 + * cdef Py_ssize_t stride = strides[0] + * + * for i in range(shape[0]): # <<<<<<<<<<<<<< + * if ndim == 1: + * if inc: + */ + __pyx_t_1 = (__pyx_v_shape[0]); + __pyx_t_2 = __pyx_t_1; + for (__pyx_t_3 = 0; __pyx_t_3 < __pyx_t_2; __pyx_t_3+=1) { + __pyx_v_i = __pyx_t_3; + + /* "View.MemoryView":1377 + * + * for i in range(shape[0]): + * if ndim == 1: # <<<<<<<<<<<<<< + * if inc: + * Py_INCREF(( data)[0]) + */ + __pyx_t_4 = (__pyx_v_ndim == 1); + if (__pyx_t_4) { + + /* "View.MemoryView":1378 + * for i in range(shape[0]): + * if ndim == 1: + * if inc: # <<<<<<<<<<<<<< + * Py_INCREF(( data)[0]) + * else: + */ + if (__pyx_v_inc) { + + /* "View.MemoryView":1379 + * if ndim == 1: + * if inc: + * Py_INCREF(( data)[0]) # <<<<<<<<<<<<<< + * else: + * Py_DECREF(( data)[0]) + */ + Py_INCREF((((PyObject **)__pyx_v_data)[0])); + + /* "View.MemoryView":1378 + * for i in range(shape[0]): + * if ndim == 1: + * if inc: # <<<<<<<<<<<<<< + * Py_INCREF(( data)[0]) + * else: + */ + goto __pyx_L6; + } + + /* "View.MemoryView":1381 + * Py_INCREF(( data)[0]) + * else: + * Py_DECREF(( data)[0]) # <<<<<<<<<<<<<< + * else: + * refcount_objects_in_slice(data, shape + 1, strides + 1, ndim - 1, inc) + */ + /*else*/ { + Py_DECREF((((PyObject **)__pyx_v_data)[0])); + } + __pyx_L6:; + + /* "View.MemoryView":1377 + * + * for i in range(shape[0]): + * if ndim == 1: # <<<<<<<<<<<<<< + * if inc: + * Py_INCREF(( data)[0]) + */ + goto __pyx_L5; + } + + /* "View.MemoryView":1383 + * Py_DECREF(( data)[0]) + * else: + * refcount_objects_in_slice(data, shape + 1, strides + 1, ndim - 1, inc) # <<<<<<<<<<<<<< + * + * data += stride + */ + /*else*/ { + __pyx_memoryview_refcount_objects_in_slice(__pyx_v_data, (__pyx_v_shape + 1), (__pyx_v_strides + 1), (__pyx_v_ndim - 1), __pyx_v_inc); + } + __pyx_L5:; + + /* "View.MemoryView":1385 + * refcount_objects_in_slice(data, shape + 1, strides + 1, ndim - 1, inc) + * + * data += stride # <<<<<<<<<<<<<< + * + * + */ + __pyx_v_data = (__pyx_v_data + __pyx_v_stride); + } + + /* "View.MemoryView":1371 + * + * @cname('__pyx_memoryview_refcount_objects_in_slice') + * cdef void refcount_objects_in_slice(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, bint inc) noexcept: + * cdef Py_ssize_t i + */ + + /* function exit code */ +} + +/* "View.MemoryView":1391 + * + * @cname('__pyx_memoryview_slice_assign_scalar') + * cdef void slice_assign_scalar(__Pyx_memviewslice *dst, int ndim, # <<<<<<<<<<<<<< + * size_t itemsize, void *item, + * bint dtype_is_object) noexcept nogil: + */ + +static void __pyx_memoryview_slice_assign_scalar(__Pyx_memviewslice *__pyx_v_dst, int __pyx_v_ndim, size_t __pyx_v_itemsize, void *__pyx_v_item, int __pyx_v_dtype_is_object) { + + /* "View.MemoryView":1394 + * size_t itemsize, void *item, + * bint dtype_is_object) noexcept nogil: + * refcount_copying(dst, dtype_is_object, ndim, inc=False) # <<<<<<<<<<<<<< + * _slice_assign_scalar(dst.data, dst.shape, dst.strides, ndim, itemsize, item) + * refcount_copying(dst, dtype_is_object, ndim, inc=True) + */ + __pyx_memoryview_refcount_copying(__pyx_v_dst, __pyx_v_dtype_is_object, __pyx_v_ndim, 0); + + /* "View.MemoryView":1395 + * bint dtype_is_object) noexcept nogil: + * refcount_copying(dst, dtype_is_object, ndim, inc=False) + * _slice_assign_scalar(dst.data, dst.shape, dst.strides, ndim, itemsize, item) # <<<<<<<<<<<<<< + * refcount_copying(dst, dtype_is_object, ndim, inc=True) + * + */ + __pyx_memoryview__slice_assign_scalar(__pyx_v_dst->data, __pyx_v_dst->shape, __pyx_v_dst->strides, __pyx_v_ndim, __pyx_v_itemsize, __pyx_v_item); + + /* "View.MemoryView":1396 + * refcount_copying(dst, dtype_is_object, ndim, inc=False) + * _slice_assign_scalar(dst.data, dst.shape, dst.strides, ndim, itemsize, item) + * refcount_copying(dst, dtype_is_object, ndim, inc=True) # <<<<<<<<<<<<<< + * + * + */ + __pyx_memoryview_refcount_copying(__pyx_v_dst, __pyx_v_dtype_is_object, __pyx_v_ndim, 1); + + /* "View.MemoryView":1391 + * + * @cname('__pyx_memoryview_slice_assign_scalar') + * cdef void slice_assign_scalar(__Pyx_memviewslice *dst, int ndim, # <<<<<<<<<<<<<< + * size_t itemsize, void *item, + * bint dtype_is_object) noexcept nogil: + */ + + /* function exit code */ +} + +/* "View.MemoryView":1400 + * + * @cname('__pyx_memoryview__slice_assign_scalar') + * cdef void _slice_assign_scalar(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, + * size_t itemsize, void *item) noexcept nogil: + */ + +static void __pyx_memoryview__slice_assign_scalar(char *__pyx_v_data, Py_ssize_t *__pyx_v_shape, Py_ssize_t *__pyx_v_strides, int __pyx_v_ndim, size_t __pyx_v_itemsize, void *__pyx_v_item) { + CYTHON_UNUSED Py_ssize_t __pyx_v_i; + Py_ssize_t __pyx_v_stride; + Py_ssize_t __pyx_v_extent; + int __pyx_t_1; + Py_ssize_t __pyx_t_2; + Py_ssize_t __pyx_t_3; + Py_ssize_t __pyx_t_4; + + /* "View.MemoryView":1404 + * size_t itemsize, void *item) noexcept nogil: + * cdef Py_ssize_t i + * cdef Py_ssize_t stride = strides[0] # <<<<<<<<<<<<<< + * cdef Py_ssize_t extent = shape[0] + * + */ + __pyx_v_stride = (__pyx_v_strides[0]); + + /* "View.MemoryView":1405 + * cdef Py_ssize_t i + * cdef Py_ssize_t stride = strides[0] + * cdef Py_ssize_t extent = shape[0] # <<<<<<<<<<<<<< + * + * if ndim == 1: + */ + __pyx_v_extent = (__pyx_v_shape[0]); + + /* "View.MemoryView":1407 + * cdef Py_ssize_t extent = 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(likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + return o; +} + +static void __pyx_tp_dealloc_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel(PyObject *o) { + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && (!PyType_IS_GC(Py_TYPE(o)) || !__Pyx_PyObject_GC_IsFinalized(o))) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_pw_9selfdrive_6modeld_7runners_12runmodel_pyx_8RunModel_1__dealloc__(o); + 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*)__pyx_tp_new_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel}, + {0, 0}, +}; +static PyType_Spec __pyx_type_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel_spec = { + "selfdrive.modeld.runners.runmodel_pyx.RunModel", + sizeof(struct __pyx_obj_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE, + __pyx_type_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel_slots, +}; +#else + +static PyTypeObject __pyx_type_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel = { + PyVarObject_HEAD_INIT(0, 0) + "selfdrive.modeld.runners.runmodel_pyx.""RunModel", /*tp_name*/ + sizeof(struct __pyx_obj_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 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|| !__Pyx_PyObject_GC_IsFinalized(o))) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_array) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_array___dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + Py_CLEAR(p->mode); + Py_CLEAR(p->_format); + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} +static PyObject *__pyx_sq_item_array(PyObject *o, Py_ssize_t i) { + PyObject *r; + PyObject *x = PyInt_FromSsize_t(i); if(!x) return 0; + r = Py_TYPE(o)->tp_as_mapping->mp_subscript(o, x); + Py_DECREF(x); + return r; +} + +static int __pyx_mp_ass_subscript_array(PyObject *o, PyObject *i, PyObject *v) { + if (v) { + return __pyx_array___setitem__(o, i, v); + } + else { + __Pyx_TypeName o_type_name; + o_type_name = __Pyx_PyType_GetName(Py_TYPE(o)); + PyErr_Format(PyExc_NotImplementedError, + "Subscript deletion not supported by " __Pyx_FMT_TYPENAME, o_type_name); + __Pyx_DECREF_TypeName(o_type_name); + return -1; + } +} + +static PyObject *__pyx_tp_getattro_array(PyObject *o, PyObject *n) { + PyObject *v = __Pyx_PyObject_GenericGetAttr(o, n); + if (!v && PyErr_ExceptionMatches(PyExc_AttributeError)) { + PyErr_Clear(); + v = __pyx_array___getattr__(o, n); + } + return v; +} + +static PyObject *__pyx_getprop___pyx_array_memview(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_5array_7memview_1__get__(o); +} + +static PyMethodDef __pyx_methods_array[] = { + {"__getattr__", (PyCFunction)__pyx_array___getattr__, METH_O|METH_COEXIST, 0}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_array_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_array_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; + +static struct PyGetSetDef __pyx_getsets_array[] = { + {(char *)"memview", __pyx_getprop___pyx_array_memview, 0, (char *)0, 0}, + {0, 0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +#if !CYTHON_COMPILING_IN_LIMITED_API + +static PyBufferProcs __pyx_tp_as_buffer_array = { + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getreadbuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getwritebuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getsegcount*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getcharbuffer*/ + #endif + __pyx_array_getbuffer, /*bf_getbuffer*/ + 0, /*bf_releasebuffer*/ +}; +#endif +static PyType_Slot __pyx_type___pyx_array_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_array}, + {Py_sq_length, (void *)__pyx_array___len__}, + {Py_sq_item, (void *)__pyx_sq_item_array}, + {Py_mp_length, (void *)__pyx_array___len__}, + {Py_mp_subscript, (void *)__pyx_array___getitem__}, + {Py_mp_ass_subscript, (void *)__pyx_mp_ass_subscript_array}, + {Py_tp_getattro, (void *)__pyx_tp_getattro_array}, + #if defined(Py_bf_getbuffer) + {Py_bf_getbuffer, (void *)__pyx_array_getbuffer}, + #endif + {Py_tp_methods, (void *)__pyx_methods_array}, + {Py_tp_getset, (void *)__pyx_getsets_array}, + {Py_tp_new, (void *)__pyx_tp_new_array}, + {0, 0}, +}; +static PyType_Spec __pyx_type___pyx_array_spec = { + "selfdrive.modeld.runners.runmodel_pyx.array", + sizeof(struct __pyx_array_obj), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_SEQUENCE, + __pyx_type___pyx_array_slots, +}; +#else + +static PySequenceMethods __pyx_tp_as_sequence_array = { + __pyx_array___len__, /*sq_length*/ + 0, /*sq_concat*/ + 0, /*sq_repeat*/ + __pyx_sq_item_array, /*sq_item*/ + 0, /*sq_slice*/ + 0, /*sq_ass_item*/ + 0, /*sq_ass_slice*/ + 0, /*sq_contains*/ + 0, /*sq_inplace_concat*/ + 0, /*sq_inplace_repeat*/ +}; + +static PyMappingMethods __pyx_tp_as_mapping_array = { + __pyx_array___len__, /*mp_length*/ + __pyx_array___getitem__, /*mp_subscript*/ + __pyx_mp_ass_subscript_array, /*mp_ass_subscript*/ +}; + +static PyBufferProcs __pyx_tp_as_buffer_array = { + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getreadbuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getwritebuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getsegcount*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getcharbuffer*/ + #endif + __pyx_array_getbuffer, /*bf_getbuffer*/ + 0, /*bf_releasebuffer*/ +}; + +static PyTypeObject __pyx_type___pyx_array = { + PyVarObject_HEAD_INIT(0, 0) + "selfdrive.modeld.runners.runmodel_pyx.""array", /*tp_name*/ + sizeof(struct __pyx_array_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_array, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + 0, /*tp_repr*/ + 0, /*tp_as_number*/ + &__pyx_tp_as_sequence_array, /*tp_as_sequence*/ + &__pyx_tp_as_mapping_array, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + __pyx_tp_getattro_array, /*tp_getattro*/ + 0, /*tp_setattro*/ + &__pyx_tp_as_buffer_array, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_SEQUENCE, /*tp_flags*/ + 0, /*tp_doc*/ + 0, /*tp_traverse*/ + 0, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_array, /*tp_methods*/ + 0, /*tp_members*/ + __pyx_getsets_array, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_array, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif + +static PyObject *__pyx_tp_new_Enum(PyTypeObject *t, CYTHON_UNUSED PyObject *a, CYTHON_UNUSED PyObject *k) { + struct __pyx_MemviewEnum_obj *p; + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + p = ((struct __pyx_MemviewEnum_obj *)o); + p->name = Py_None; Py_INCREF(Py_None); + return o; +} + +static void __pyx_tp_dealloc_Enum(PyObject *o) { + struct __pyx_MemviewEnum_obj *p = (struct __pyx_MemviewEnum_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && !__Pyx_PyObject_GC_IsFinalized(o)) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_Enum) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + PyObject_GC_UnTrack(o); + Py_CLEAR(p->name); + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} + +static int __pyx_tp_traverse_Enum(PyObject *o, visitproc v, void *a) { + int e; + struct __pyx_MemviewEnum_obj *p = (struct __pyx_MemviewEnum_obj *)o; + if (p->name) { + e = (*v)(p->name, a); if (e) return e; + } + return 0; +} + +static int __pyx_tp_clear_Enum(PyObject *o) { + PyObject* tmp; + struct __pyx_MemviewEnum_obj *p = (struct __pyx_MemviewEnum_obj *)o; + tmp = ((PyObject*)p->name); + p->name = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + return 0; +} + +static PyObject *__pyx_specialmethod___pyx_MemviewEnum___repr__(PyObject *self, CYTHON_UNUSED PyObject *arg) { + return __pyx_MemviewEnum___repr__(self); +} + +static PyMethodDef __pyx_methods_Enum[] = { + {"__repr__", (PyCFunction)__pyx_specialmethod___pyx_MemviewEnum___repr__, METH_NOARGS|METH_COEXIST, 0}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_MemviewEnum_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_MemviewEnum_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type___pyx_MemviewEnum_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_Enum}, + {Py_tp_repr, (void *)__pyx_MemviewEnum___repr__}, + {Py_tp_traverse, (void *)__pyx_tp_traverse_Enum}, + {Py_tp_clear, (void *)__pyx_tp_clear_Enum}, + {Py_tp_methods, (void *)__pyx_methods_Enum}, + {Py_tp_init, (void *)__pyx_MemviewEnum___init__}, + {Py_tp_new, (void *)__pyx_tp_new_Enum}, + {0, 0}, +}; +static PyType_Spec __pyx_type___pyx_MemviewEnum_spec = { + "selfdrive.modeld.runners.runmodel_pyx.Enum", + sizeof(struct __pyx_MemviewEnum_obj), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, + __pyx_type___pyx_MemviewEnum_slots, +}; +#else + +static PyTypeObject __pyx_type___pyx_MemviewEnum = { + PyVarObject_HEAD_INIT(0, 0) + "selfdrive.modeld.runners.runmodel_pyx.""Enum", /*tp_name*/ + sizeof(struct __pyx_MemviewEnum_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_Enum, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + __pyx_MemviewEnum___repr__, /*tp_repr*/ + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, /*tp_flags*/ + 0, /*tp_doc*/ + __pyx_tp_traverse_Enum, /*tp_traverse*/ + __pyx_tp_clear_Enum, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_Enum, /*tp_methods*/ + 0, /*tp_members*/ + 0, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + __pyx_MemviewEnum___init__, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_Enum, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif +static struct __pyx_vtabstruct_memoryview __pyx_vtable_memoryview; + +static PyObject *__pyx_tp_new_memoryview(PyTypeObject *t, PyObject *a, PyObject *k) { + struct __pyx_memoryview_obj *p; + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + p = ((struct __pyx_memoryview_obj *)o); + p->__pyx_vtab = __pyx_vtabptr_memoryview; + p->obj = Py_None; Py_INCREF(Py_None); + p->_size = Py_None; Py_INCREF(Py_None); + p->_array_interface = Py_None; Py_INCREF(Py_None); + p->view.obj = NULL; + if (unlikely(__pyx_memoryview___cinit__(o, a, k) < 0)) goto bad; + return o; + bad: + Py_DECREF(o); o = 0; + return NULL; +} + +static void __pyx_tp_dealloc_memoryview(PyObject *o) { + struct __pyx_memoryview_obj *p = (struct __pyx_memoryview_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && !__Pyx_PyObject_GC_IsFinalized(o)) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_memoryview) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + PyObject_GC_UnTrack(o); + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_memoryview___dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + Py_CLEAR(p->obj); + Py_CLEAR(p->_size); + Py_CLEAR(p->_array_interface); + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} + +static int __pyx_tp_traverse_memoryview(PyObject *o, visitproc v, void *a) { + int e; + struct __pyx_memoryview_obj *p = (struct __pyx_memoryview_obj *)o; + if (p->obj) { + e = (*v)(p->obj, a); if (e) return e; + } + if (p->_size) { + e = (*v)(p->_size, a); if (e) return e; + } + if (p->_array_interface) { + e = (*v)(p->_array_interface, a); if (e) return e; + } + if (p->view.obj) { + e = (*v)(p->view.obj, a); if (e) return e; + } + return 0; +} + +static int __pyx_tp_clear_memoryview(PyObject *o) { + PyObject* tmp; + struct __pyx_memoryview_obj *p = (struct __pyx_memoryview_obj *)o; + tmp = ((PyObject*)p->obj); + p->obj = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + tmp = ((PyObject*)p->_size); + p->_size = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + tmp = ((PyObject*)p->_array_interface); + p->_array_interface = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + Py_CLEAR(p->view.obj); + return 0; +} +static PyObject *__pyx_sq_item_memoryview(PyObject *o, Py_ssize_t i) { + PyObject *r; + PyObject *x = PyInt_FromSsize_t(i); if(!x) return 0; + r = Py_TYPE(o)->tp_as_mapping->mp_subscript(o, x); + Py_DECREF(x); + return r; +} + +static int __pyx_mp_ass_subscript_memoryview(PyObject *o, PyObject *i, PyObject *v) { + if (v) { + return __pyx_memoryview___setitem__(o, i, v); + } + else { + __Pyx_TypeName o_type_name; + o_type_name = __Pyx_PyType_GetName(Py_TYPE(o)); + PyErr_Format(PyExc_NotImplementedError, + "Subscript deletion not supported by " __Pyx_FMT_TYPENAME, o_type_name); + __Pyx_DECREF_TypeName(o_type_name); + return -1; + } +} + +static PyObject *__pyx_getprop___pyx_memoryview_T(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_1T_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_base(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_4base_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_shape(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_5shape_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_strides(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_7strides_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_suboffsets(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_10suboffsets_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_ndim(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_4ndim_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_itemsize(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_8itemsize_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_nbytes(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_6nbytes_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_size(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_4size_1__get__(o); +} + +static PyObject *__pyx_specialmethod___pyx_memoryview___repr__(PyObject *self, CYTHON_UNUSED PyObject *arg) { + return __pyx_memoryview___repr__(self); +} + +static PyMethodDef __pyx_methods_memoryview[] = { + {"__repr__", (PyCFunction)__pyx_specialmethod___pyx_memoryview___repr__, METH_NOARGS|METH_COEXIST, 0}, + {"is_c_contig", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_memoryview_is_c_contig, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"is_f_contig", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_memoryview_is_f_contig, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"copy", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_memoryview_copy, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"copy_fortran", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_memoryview_copy_fortran, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_memoryview_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_memoryview_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; + +static struct PyGetSetDef __pyx_getsets_memoryview[] = { + {(char *)"T", __pyx_getprop___pyx_memoryview_T, 0, (char *)0, 0}, + {(char *)"base", __pyx_getprop___pyx_memoryview_base, 0, (char *)0, 0}, + {(char *)"shape", __pyx_getprop___pyx_memoryview_shape, 0, (char *)0, 0}, + {(char *)"strides", __pyx_getprop___pyx_memoryview_strides, 0, (char *)0, 0}, + {(char *)"suboffsets", __pyx_getprop___pyx_memoryview_suboffsets, 0, (char *)0, 0}, + {(char *)"ndim", __pyx_getprop___pyx_memoryview_ndim, 0, (char *)0, 0}, + {(char *)"itemsize", __pyx_getprop___pyx_memoryview_itemsize, 0, (char *)0, 0}, + {(char *)"nbytes", __pyx_getprop___pyx_memoryview_nbytes, 0, (char *)0, 0}, + {(char *)"size", __pyx_getprop___pyx_memoryview_size, 0, (char *)0, 0}, + {0, 0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +#if !CYTHON_COMPILING_IN_LIMITED_API + +static PyBufferProcs __pyx_tp_as_buffer_memoryview = { + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getreadbuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getwritebuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getsegcount*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getcharbuffer*/ + #endif + __pyx_memoryview_getbuffer, /*bf_getbuffer*/ + 0, /*bf_releasebuffer*/ +}; +#endif +static PyType_Slot __pyx_type___pyx_memoryview_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_memoryview}, + {Py_tp_repr, (void *)__pyx_memoryview___repr__}, + {Py_sq_length, (void *)__pyx_memoryview___len__}, + {Py_sq_item, (void *)__pyx_sq_item_memoryview}, + {Py_mp_length, (void *)__pyx_memoryview___len__}, + {Py_mp_subscript, (void *)__pyx_memoryview___getitem__}, + {Py_mp_ass_subscript, (void *)__pyx_mp_ass_subscript_memoryview}, + {Py_tp_str, (void *)__pyx_memoryview___str__}, + #if defined(Py_bf_getbuffer) + {Py_bf_getbuffer, (void *)__pyx_memoryview_getbuffer}, + #endif + {Py_tp_traverse, (void *)__pyx_tp_traverse_memoryview}, + {Py_tp_clear, (void *)__pyx_tp_clear_memoryview}, + {Py_tp_methods, (void *)__pyx_methods_memoryview}, + {Py_tp_getset, (void *)__pyx_getsets_memoryview}, + {Py_tp_new, (void *)__pyx_tp_new_memoryview}, + {0, 0}, +}; +static PyType_Spec __pyx_type___pyx_memoryview_spec = { + "selfdrive.modeld.runners.runmodel_pyx.memoryview", + sizeof(struct __pyx_memoryview_obj), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, + __pyx_type___pyx_memoryview_slots, +}; +#else + +static PySequenceMethods __pyx_tp_as_sequence_memoryview = { + __pyx_memoryview___len__, /*sq_length*/ + 0, /*sq_concat*/ + 0, /*sq_repeat*/ + __pyx_sq_item_memoryview, /*sq_item*/ + 0, /*sq_slice*/ + 0, /*sq_ass_item*/ + 0, /*sq_ass_slice*/ + 0, /*sq_contains*/ + 0, /*sq_inplace_concat*/ + 0, /*sq_inplace_repeat*/ +}; + +static PyMappingMethods __pyx_tp_as_mapping_memoryview = { + __pyx_memoryview___len__, /*mp_length*/ + __pyx_memoryview___getitem__, /*mp_subscript*/ + __pyx_mp_ass_subscript_memoryview, /*mp_ass_subscript*/ +}; + +static PyBufferProcs __pyx_tp_as_buffer_memoryview = { + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getreadbuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getwritebuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getsegcount*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getcharbuffer*/ + #endif + __pyx_memoryview_getbuffer, /*bf_getbuffer*/ + 0, /*bf_releasebuffer*/ +}; + +static PyTypeObject __pyx_type___pyx_memoryview = { + PyVarObject_HEAD_INIT(0, 0) + "selfdrive.modeld.runners.runmodel_pyx.""memoryview", /*tp_name*/ + sizeof(struct __pyx_memoryview_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_memoryview, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + __pyx_memoryview___repr__, /*tp_repr*/ + 0, /*tp_as_number*/ + &__pyx_tp_as_sequence_memoryview, /*tp_as_sequence*/ + &__pyx_tp_as_mapping_memoryview, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + __pyx_memoryview___str__, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + &__pyx_tp_as_buffer_memoryview, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, /*tp_flags*/ + 0, /*tp_doc*/ + __pyx_tp_traverse_memoryview, /*tp_traverse*/ + __pyx_tp_clear_memoryview, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_memoryview, /*tp_methods*/ + 0, /*tp_members*/ + __pyx_getsets_memoryview, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_memoryview, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif +static struct __pyx_vtabstruct__memoryviewslice __pyx_vtable__memoryviewslice; + +static PyObject *__pyx_tp_new__memoryviewslice(PyTypeObject *t, PyObject *a, PyObject *k) { + struct __pyx_memoryviewslice_obj *p; + PyObject *o = __pyx_tp_new_memoryview(t, a, k); + if (unlikely(!o)) return 0; + p = ((struct __pyx_memoryviewslice_obj *)o); + p->__pyx_base.__pyx_vtab = (struct __pyx_vtabstruct_memoryview*)__pyx_vtabptr__memoryviewslice; + new((void*)&(p->from_slice)) __Pyx_memviewslice(); + p->from_object = Py_None; Py_INCREF(Py_None); + p->from_slice.memview = NULL; + return o; +} + +static void __pyx_tp_dealloc__memoryviewslice(PyObject *o) { + struct __pyx_memoryviewslice_obj *p = (struct __pyx_memoryviewslice_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && !__Pyx_PyObject_GC_IsFinalized(o)) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc__memoryviewslice) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + PyObject_GC_UnTrack(o); + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_memoryviewslice___dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + __Pyx_call_destructor(p->from_slice); + Py_CLEAR(p->from_object); + PyObject_GC_Track(o); + __pyx_tp_dealloc_memoryview(o); +} + +static int __pyx_tp_traverse__memoryviewslice(PyObject *o, visitproc v, void *a) { + int e; + struct __pyx_memoryviewslice_obj *p = (struct __pyx_memoryviewslice_obj *)o; + e = __pyx_tp_traverse_memoryview(o, v, a); if (e) return e; + if (p->from_object) { + e = (*v)(p->from_object, a); if (e) return e; + } + return 0; +} + +static int __pyx_tp_clear__memoryviewslice(PyObject *o) { + PyObject* tmp; + struct __pyx_memoryviewslice_obj *p = (struct __pyx_memoryviewslice_obj *)o; + __pyx_tp_clear_memoryview(o); + tmp = ((PyObject*)p->from_object); + p->from_object = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + __PYX_XCLEAR_MEMVIEW(&p->from_slice, 1); + return 0; +} + +static PyMethodDef __pyx_methods__memoryviewslice[] = { + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_memoryviewslice_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_memoryviewslice_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type___pyx_memoryviewslice_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc__memoryviewslice}, + {Py_tp_doc, (void *)PyDoc_STR("Internal class for passing memoryview slices to Python")}, + {Py_tp_traverse, (void *)__pyx_tp_traverse__memoryviewslice}, + {Py_tp_clear, (void *)__pyx_tp_clear__memoryviewslice}, + {Py_tp_methods, (void *)__pyx_methods__memoryviewslice}, + {Py_tp_new, (void *)__pyx_tp_new__memoryviewslice}, + {0, 0}, +}; +static PyType_Spec __pyx_type___pyx_memoryviewslice_spec = { + "selfdrive.modeld.runners.runmodel_pyx._memoryviewslice", + sizeof(struct __pyx_memoryviewslice_obj), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC|Py_TPFLAGS_SEQUENCE, + __pyx_type___pyx_memoryviewslice_slots, +}; +#else + +static PyTypeObject __pyx_type___pyx_memoryviewslice = { + PyVarObject_HEAD_INIT(0, 0) + "selfdrive.modeld.runners.runmodel_pyx.""_memoryviewslice", /*tp_name*/ + sizeof(struct __pyx_memoryviewslice_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc__memoryviewslice, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + #if CYTHON_COMPILING_IN_PYPY || 0 + __pyx_memoryview___repr__, /*tp_repr*/ + #else + 0, /*tp_repr*/ + #endif + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + #if CYTHON_COMPILING_IN_PYPY || 0 + __pyx_memoryview___str__, /*tp_str*/ + #else + 0, /*tp_str*/ + #endif + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC|Py_TPFLAGS_SEQUENCE, /*tp_flags*/ + PyDoc_STR("Internal class for passing memoryview slices to Python"), /*tp_doc*/ + __pyx_tp_traverse__memoryviewslice, /*tp_traverse*/ + __pyx_tp_clear__memoryviewslice, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods__memoryviewslice, /*tp_methods*/ + 0, /*tp_members*/ + 0, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new__memoryviewslice, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif + +static PyMethodDef __pyx_methods[] = { + {0, 0, 0, 0} +}; +#ifndef CYTHON_SMALL_CODE +#if defined(__clang__) + #define CYTHON_SMALL_CODE +#elif defined(__GNUC__) && (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 3)) + #define CYTHON_SMALL_CODE __attribute__((cold)) +#else + #define CYTHON_SMALL_CODE +#endif 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+ } + #if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(exc_type); + #endif + return result; +} +#endif + +/* PyErrFetchRestore */ +#if CYTHON_FAST_THREAD_STATE +static CYTHON_INLINE void __Pyx_ErrRestoreInState(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb) { +#if PY_VERSION_HEX >= 0x030C00A6 + PyObject *tmp_value; + assert(type == NULL || (value != NULL && type == (PyObject*) Py_TYPE(value))); + if (value) { + #if CYTHON_COMPILING_IN_CPYTHON + if (unlikely(((PyBaseExceptionObject*) value)->traceback != tb)) + #endif + PyException_SetTraceback(value, tb); + } + tmp_value = tstate->current_exception; + tstate->current_exception = value; + Py_XDECREF(tmp_value); + Py_XDECREF(type); + Py_XDECREF(tb); +#else + PyObject *tmp_type, *tmp_value, *tmp_tb; + tmp_type = tstate->curexc_type; + tmp_value = tstate->curexc_value; + tmp_tb = tstate->curexc_traceback; + tstate->curexc_type = type; + tstate->curexc_value = value; + tstate->curexc_traceback = tb; + Py_XDECREF(tmp_type); + Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); +#endif +} +static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { +#if PY_VERSION_HEX >= 0x030C00A6 + PyObject* exc_value; + exc_value = tstate->current_exception; + tstate->current_exception = 0; + *value = exc_value; + *type = NULL; + *tb = NULL; + if (exc_value) { + *type = (PyObject*) Py_TYPE(exc_value); + Py_INCREF(*type); + #if CYTHON_COMPILING_IN_CPYTHON + *tb = ((PyBaseExceptionObject*) exc_value)->traceback; + Py_XINCREF(*tb); + #else + *tb = PyException_GetTraceback(exc_value); + #endif + } +#else + *type = tstate->curexc_type; + *value = tstate->curexc_value; + *tb = tstate->curexc_traceback; + tstate->curexc_type = 0; + tstate->curexc_value = 0; + tstate->curexc_traceback = 0; +#endif +} +#endif + +/* PyObjectGetAttrStr */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStr(PyObject* obj, PyObject* attr_name) { + PyTypeObject* tp = Py_TYPE(obj); + if (likely(tp->tp_getattro)) + return tp->tp_getattro(obj, attr_name); +#if PY_MAJOR_VERSION < 3 + if (likely(tp->tp_getattr)) + return tp->tp_getattr(obj, PyString_AS_STRING(attr_name)); +#endif + return PyObject_GetAttr(obj, attr_name); +} +#endif + +/* PyObjectGetAttrStrNoError */ +#if __PYX_LIMITED_VERSION_HEX < 0x030d00A1 +static void __Pyx_PyObject_GetAttrStr_ClearAttributeError(void) { + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + if (likely(__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) + __Pyx_PyErr_Clear(); +} +#endif +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name) { + PyObject *result; +#if __PYX_LIMITED_VERSION_HEX >= 0x030d00A1 + (void) PyObject_GetOptionalAttr(obj, attr_name, &result); + return result; +#else +#if CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_TYPE_SLOTS && PY_VERSION_HEX >= 0x030700B1 + PyTypeObject* tp = Py_TYPE(obj); + if (likely(tp->tp_getattro == PyObject_GenericGetAttr)) { + return _PyObject_GenericGetAttrWithDict(obj, attr_name, NULL, 1); + } +#endif + result = __Pyx_PyObject_GetAttrStr(obj, attr_name); + if (unlikely(!result)) { + __Pyx_PyObject_GetAttrStr_ClearAttributeError(); + } + return result; +#endif +} + +/* GetBuiltinName */ +static PyObject *__Pyx_GetBuiltinName(PyObject *name) { + PyObject* result = __Pyx_PyObject_GetAttrStrNoError(__pyx_b, name); + if (unlikely(!result) && !PyErr_Occurred()) { + PyErr_Format(PyExc_NameError, +#if PY_MAJOR_VERSION >= 3 + "name '%U' is not defined", name); +#else + "name '%.200s' is not defined", PyString_AS_STRING(name)); +#endif + } + return result; +} + +/* TupleAndListFromArray */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE void __Pyx_copy_object_array(PyObject *const *CYTHON_RESTRICT src, PyObject** CYTHON_RESTRICT dest, Py_ssize_t length) { + PyObject *v; + Py_ssize_t i; + for (i = 0; i < length; i++) { + v = dest[i] = src[i]; + Py_INCREF(v); + } +} +static CYTHON_INLINE PyObject * +__Pyx_PyTuple_FromArray(PyObject *const *src, Py_ssize_t n) +{ + PyObject *res; + if (n <= 0) { + Py_INCREF(__pyx_empty_tuple); + return __pyx_empty_tuple; + } + res = PyTuple_New(n); + if (unlikely(res == NULL)) return NULL; + __Pyx_copy_object_array(src, ((PyTupleObject*)res)->ob_item, n); + return res; +} +static CYTHON_INLINE PyObject * +__Pyx_PyList_FromArray(PyObject *const *src, Py_ssize_t n) +{ + PyObject *res; + if (n <= 0) { + return PyList_New(0); + } + res = PyList_New(n); + if (unlikely(res == NULL)) return NULL; + __Pyx_copy_object_array(src, ((PyListObject*)res)->ob_item, n); + return res; +} +#endif + +/* BytesEquals */ +static CYTHON_INLINE int __Pyx_PyBytes_Equals(PyObject* s1, PyObject* s2, int equals) { +#if CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API + return PyObject_RichCompareBool(s1, s2, equals); +#else + if (s1 == s2) { + return (equals == Py_EQ); + } else if (PyBytes_CheckExact(s1) & PyBytes_CheckExact(s2)) { + const char *ps1, *ps2; + Py_ssize_t length = PyBytes_GET_SIZE(s1); + if (length != PyBytes_GET_SIZE(s2)) + return (equals == Py_NE); + ps1 = PyBytes_AS_STRING(s1); + ps2 = PyBytes_AS_STRING(s2); + if (ps1[0] != ps2[0]) { + return (equals == Py_NE); + } else if (length == 1) { + return (equals == Py_EQ); + } else { + int result; +#if CYTHON_USE_UNICODE_INTERNALS && (PY_VERSION_HEX < 0x030B0000) + Py_hash_t hash1, hash2; + hash1 = ((PyBytesObject*)s1)->ob_shash; + hash2 = ((PyBytesObject*)s2)->ob_shash; + if (hash1 != hash2 && hash1 != -1 && hash2 != -1) { + return (equals == Py_NE); + } +#endif + result = memcmp(ps1, ps2, (size_t)length); + return (equals == Py_EQ) ? (result == 0) : (result != 0); + } + } else if ((s1 == Py_None) & PyBytes_CheckExact(s2)) { + return (equals == Py_NE); + } else if ((s2 == Py_None) & PyBytes_CheckExact(s1)) { + return (equals == Py_NE); + } else { + int result; + PyObject* py_result = PyObject_RichCompare(s1, s2, equals); + if (!py_result) + return -1; + result = __Pyx_PyObject_IsTrue(py_result); + Py_DECREF(py_result); + return result; + } +#endif +} + +/* UnicodeEquals */ +static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int equals) { +#if CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API + return PyObject_RichCompareBool(s1, s2, equals); +#else +#if PY_MAJOR_VERSION < 3 + PyObject* owned_ref = NULL; +#endif + int s1_is_unicode, s2_is_unicode; + if (s1 == s2) { + goto return_eq; + } + s1_is_unicode = PyUnicode_CheckExact(s1); + s2_is_unicode = PyUnicode_CheckExact(s2); +#if PY_MAJOR_VERSION < 3 + if ((s1_is_unicode & (!s2_is_unicode)) && PyString_CheckExact(s2)) { + owned_ref = PyUnicode_FromObject(s2); + if (unlikely(!owned_ref)) + return -1; + s2 = owned_ref; + s2_is_unicode = 1; + } else if ((s2_is_unicode & (!s1_is_unicode)) && PyString_CheckExact(s1)) { + owned_ref = PyUnicode_FromObject(s1); + if (unlikely(!owned_ref)) + return -1; + s1 = owned_ref; + s1_is_unicode = 1; + } else if (((!s2_is_unicode) & (!s1_is_unicode))) { + return __Pyx_PyBytes_Equals(s1, s2, equals); + } +#endif + if (s1_is_unicode & s2_is_unicode) { + Py_ssize_t length; + int kind; + void *data1, *data2; + if (unlikely(__Pyx_PyUnicode_READY(s1) < 0) || unlikely(__Pyx_PyUnicode_READY(s2) < 0)) + return -1; + length = __Pyx_PyUnicode_GET_LENGTH(s1); + if (length != __Pyx_PyUnicode_GET_LENGTH(s2)) { + goto return_ne; + } +#if CYTHON_USE_UNICODE_INTERNALS + { + Py_hash_t hash1, hash2; + #if CYTHON_PEP393_ENABLED + hash1 = ((PyASCIIObject*)s1)->hash; + hash2 = ((PyASCIIObject*)s2)->hash; + #else + hash1 = ((PyUnicodeObject*)s1)->hash; + hash2 = ((PyUnicodeObject*)s2)->hash; + #endif + if (hash1 != hash2 && hash1 != -1 && hash2 != -1) { + goto return_ne; + } + } +#endif + kind = __Pyx_PyUnicode_KIND(s1); + if (kind != __Pyx_PyUnicode_KIND(s2)) { + goto return_ne; + } + data1 = __Pyx_PyUnicode_DATA(s1); + data2 = __Pyx_PyUnicode_DATA(s2); + if (__Pyx_PyUnicode_READ(kind, data1, 0) != __Pyx_PyUnicode_READ(kind, data2, 0)) { + goto return_ne; + } else if (length == 1) { + goto return_eq; + } else { + int result = memcmp(data1, data2, (size_t)(length * kind)); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_EQ) ? (result == 0) : (result != 0); + } + } else if ((s1 == Py_None) & s2_is_unicode) { + goto return_ne; + } else if ((s2 == Py_None) & s1_is_unicode) { + goto return_ne; + } else { + int result; + PyObject* py_result = PyObject_RichCompare(s1, s2, equals); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + if (!py_result) + return -1; + result = __Pyx_PyObject_IsTrue(py_result); + Py_DECREF(py_result); + return result; + } +return_eq: + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_EQ); +return_ne: + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_NE); +#endif +} + +/* fastcall */ +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE PyObject * __Pyx_GetKwValue_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues, PyObject *s) +{ + Py_ssize_t i, n = PyTuple_GET_SIZE(kwnames); + for (i = 0; i < n; i++) + { + if (s == PyTuple_GET_ITEM(kwnames, i)) return kwvalues[i]; + } + for (i = 0; i < n; i++) + { + int eq = __Pyx_PyUnicode_Equals(s, PyTuple_GET_ITEM(kwnames, i), Py_EQ); + if (unlikely(eq != 0)) { + if (unlikely(eq < 0)) return NULL; + return kwvalues[i]; + } + } + return NULL; +} +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 +CYTHON_UNUSED static PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues) { + Py_ssize_t i, nkwargs = PyTuple_GET_SIZE(kwnames); + PyObject *dict; + dict = PyDict_New(); + if (unlikely(!dict)) + return NULL; + for (i=0; i= 3 + "%s() got multiple values for keyword argument '%U'", func_name, kw_name); + #else + "%s() got multiple values for keyword argument '%s'", func_name, + PyString_AsString(kw_name)); + #endif +} + +/* ParseKeywords */ +static int __Pyx_ParseOptionalKeywords( + PyObject *kwds, + PyObject *const *kwvalues, + PyObject **argnames[], + PyObject *kwds2, + PyObject *values[], + Py_ssize_t num_pos_args, + const char* function_name) +{ + PyObject *key = 0, *value = 0; + Py_ssize_t pos = 0; + PyObject*** name; + PyObject*** first_kw_arg = argnames + num_pos_args; + int kwds_is_tuple = CYTHON_METH_FASTCALL && likely(PyTuple_Check(kwds)); + while (1) { + Py_XDECREF(key); key = NULL; + Py_XDECREF(value); value = NULL; + if (kwds_is_tuple) { + Py_ssize_t size; +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(kwds); +#else + size = PyTuple_Size(kwds); + if (size < 0) goto bad; +#endif + if (pos >= size) break; +#if CYTHON_AVOID_BORROWED_REFS + key = __Pyx_PySequence_ITEM(kwds, pos); + if (!key) goto bad; +#elif CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kwds, pos); +#else + key = PyTuple_GetItem(kwds, pos); + if (!key) goto bad; +#endif + value = kwvalues[pos]; + pos++; + } + else + { + if (!PyDict_Next(kwds, &pos, &key, &value)) break; +#if CYTHON_AVOID_BORROWED_REFS + Py_INCREF(key); +#endif + } + name = first_kw_arg; + while (*name && (**name != key)) name++; + if (*name) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + Py_INCREF(value); + Py_DECREF(key); +#endif + key = NULL; + value = NULL; + continue; + } +#if !CYTHON_AVOID_BORROWED_REFS + Py_INCREF(key); +#endif + Py_INCREF(value); + name = first_kw_arg; + #if PY_MAJOR_VERSION < 3 + if (likely(PyString_Check(key))) { + while (*name) { + if ((CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**name) == PyString_GET_SIZE(key)) + && _PyString_Eq(**name, key)) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + value = NULL; +#endif + break; + } + name++; + } + if (*name) continue; + else { + PyObject*** argname = argnames; + while (argname != first_kw_arg) { + if ((**argname == key) || ( + (CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**argname) == PyString_GET_SIZE(key)) + && _PyString_Eq(**argname, key))) { + goto arg_passed_twice; + } + argname++; + } + } + } else + #endif + if (likely(PyUnicode_Check(key))) { + while (*name) { + int cmp = ( + #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 + (__Pyx_PyUnicode_GET_LENGTH(**name) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : + #endif + PyUnicode_Compare(**name, key) + ); + if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; + if (cmp == 0) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + value = NULL; +#endif + break; + } + name++; + } + if (*name) continue; + else { + PyObject*** argname = argnames; + while (argname != first_kw_arg) { + int cmp = (**argname == key) ? 0 : + #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 + (__Pyx_PyUnicode_GET_LENGTH(**argname) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : + #endif + PyUnicode_Compare(**argname, key); + if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; + if (cmp == 0) goto arg_passed_twice; + argname++; + } + } + } else + goto invalid_keyword_type; + if (kwds2) { + if (unlikely(PyDict_SetItem(kwds2, key, value))) goto bad; + } else { + goto invalid_keyword; + } + } + Py_XDECREF(key); + Py_XDECREF(value); + return 0; +arg_passed_twice: + __Pyx_RaiseDoubleKeywordsError(function_name, key); + goto bad; +invalid_keyword_type: + PyErr_Format(PyExc_TypeError, + "%.200s() keywords must be strings", function_name); + goto bad; +invalid_keyword: + #if PY_MAJOR_VERSION < 3 + PyErr_Format(PyExc_TypeError, + "%.200s() got an unexpected keyword argument '%.200s'", + function_name, PyString_AsString(key)); + #else + PyErr_Format(PyExc_TypeError, + "%s() got an unexpected keyword argument '%U'", + function_name, key); + #endif +bad: + Py_XDECREF(key); + Py_XDECREF(value); + return -1; +} + +/* ArgTypeTest */ +static int __Pyx__ArgTypeTest(PyObject *obj, PyTypeObject *type, const char *name, int exact) +{ + __Pyx_TypeName type_name; + __Pyx_TypeName obj_type_name; + if (unlikely(!type)) { + PyErr_SetString(PyExc_SystemError, "Missing type object"); + return 0; + } + else if (exact) { + #if PY_MAJOR_VERSION == 2 + if ((type == &PyBaseString_Type) && likely(__Pyx_PyBaseString_CheckExact(obj))) return 1; + #endif + } + else { + if (likely(__Pyx_TypeCheck(obj, type))) return 1; + } + type_name = __Pyx_PyType_GetName(type); + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, + "Argument '%.200s' has incorrect type (expected " __Pyx_FMT_TYPENAME + ", got " __Pyx_FMT_TYPENAME ")", name, type_name, obj_type_name); + __Pyx_DECREF_TypeName(type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return 0; +} + +/* RaiseException */ +#if PY_MAJOR_VERSION < 3 +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) { + __Pyx_PyThreadState_declare + CYTHON_UNUSED_VAR(cause); + Py_XINCREF(type); + if (!value || value == Py_None) + value = NULL; + else + Py_INCREF(value); + if (!tb || tb == Py_None) + tb = NULL; + else { + Py_INCREF(tb); + if (!PyTraceBack_Check(tb)) { + PyErr_SetString(PyExc_TypeError, + "raise: arg 3 must be a traceback or None"); + goto raise_error; + } + } + if (PyType_Check(type)) { +#if CYTHON_COMPILING_IN_PYPY + if (!value) { + Py_INCREF(Py_None); + value = Py_None; + } +#endif + PyErr_NormalizeException(&type, &value, &tb); + } else { + if (value) { + PyErr_SetString(PyExc_TypeError, + "instance exception may not have a separate value"); + goto raise_error; + } + value = type; + type = (PyObject*) Py_TYPE(type); + Py_INCREF(type); + if (!PyType_IsSubtype((PyTypeObject *)type, (PyTypeObject *)PyExc_BaseException)) { + PyErr_SetString(PyExc_TypeError, + "raise: exception class must be a subclass of BaseException"); + goto raise_error; + } + } + __Pyx_PyThreadState_assign + __Pyx_ErrRestore(type, value, tb); + return; +raise_error: + Py_XDECREF(value); + Py_XDECREF(type); + Py_XDECREF(tb); + return; +} +#else +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) { + PyObject* owned_instance = NULL; + if (tb == Py_None) { + tb = 0; + } else if (tb && !PyTraceBack_Check(tb)) { + PyErr_SetString(PyExc_TypeError, + "raise: arg 3 must be a traceback or None"); + goto bad; + } + if (value == Py_None) + value = 0; + if (PyExceptionInstance_Check(type)) { + if (value) { + PyErr_SetString(PyExc_TypeError, + "instance exception may not have a separate value"); + goto bad; + } + value = type; + type = (PyObject*) Py_TYPE(value); + } else if (PyExceptionClass_Check(type)) { + PyObject *instance_class = NULL; + if (value && PyExceptionInstance_Check(value)) { + instance_class = (PyObject*) Py_TYPE(value); + if (instance_class != type) { + int is_subclass = PyObject_IsSubclass(instance_class, type); + if (!is_subclass) { + instance_class = NULL; + } else if (unlikely(is_subclass == -1)) { + goto bad; + } else { + type = instance_class; + } + } + } + if (!instance_class) { + PyObject *args; + if (!value) + args = PyTuple_New(0); + else if (PyTuple_Check(value)) { + Py_INCREF(value); + args = value; + } else + args = PyTuple_Pack(1, value); + if (!args) + goto bad; + owned_instance = PyObject_Call(type, args, NULL); + Py_DECREF(args); + if (!owned_instance) + goto bad; + value = owned_instance; + if (!PyExceptionInstance_Check(value)) { + PyErr_Format(PyExc_TypeError, + "calling %R should have returned an instance of " + "BaseException, not %R", + type, Py_TYPE(value)); + goto bad; + } + } + } else { + PyErr_SetString(PyExc_TypeError, + "raise: exception class must be a subclass of BaseException"); + goto bad; + } + if (cause) { + PyObject *fixed_cause; + if (cause == Py_None) { + fixed_cause = NULL; + } else if (PyExceptionClass_Check(cause)) { + fixed_cause = PyObject_CallObject(cause, NULL); + if (fixed_cause == NULL) + goto bad; + } else if (PyExceptionInstance_Check(cause)) { + fixed_cause = cause; + Py_INCREF(fixed_cause); + } else { + PyErr_SetString(PyExc_TypeError, + "exception causes must derive from " + "BaseException"); + goto bad; + } + PyException_SetCause(value, fixed_cause); + } + PyErr_SetObject(type, value); + if (tb) { + #if PY_VERSION_HEX >= 0x030C00A6 + PyException_SetTraceback(value, tb); + #elif CYTHON_FAST_THREAD_STATE + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject* tmp_tb = tstate->curexc_traceback; + if (tb != tmp_tb) { + Py_INCREF(tb); + tstate->curexc_traceback = tb; + Py_XDECREF(tmp_tb); + } +#else + PyObject *tmp_type, *tmp_value, *tmp_tb; + PyErr_Fetch(&tmp_type, &tmp_value, &tmp_tb); + Py_INCREF(tb); + PyErr_Restore(tmp_type, tmp_value, tb); + Py_XDECREF(tmp_tb); +#endif + } +bad: + Py_XDECREF(owned_instance); + return; +} +#endif + +/* PyFunctionFastCall */ +#if CYTHON_FAST_PYCALL && !CYTHON_VECTORCALL +static PyObject* __Pyx_PyFunction_FastCallNoKw(PyCodeObject *co, PyObject **args, Py_ssize_t na, + PyObject *globals) { + PyFrameObject *f; + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject **fastlocals; + Py_ssize_t i; + PyObject *result; + assert(globals != NULL); + /* XXX Perhaps we should create a specialized + PyFrame_New() that doesn't take locals, but does + take builtins without sanity checking them. + */ + assert(tstate != NULL); + f = PyFrame_New(tstate, co, globals, NULL); + if (f == NULL) { + return NULL; + } + fastlocals = __Pyx_PyFrame_GetLocalsplus(f); + for (i = 0; i < na; i++) { + Py_INCREF(*args); + fastlocals[i] = *args++; + } + result = PyEval_EvalFrameEx(f,0); + ++tstate->recursion_depth; + Py_DECREF(f); + --tstate->recursion_depth; + return result; +} +static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs) { + PyCodeObject *co = (PyCodeObject *)PyFunction_GET_CODE(func); + PyObject *globals = PyFunction_GET_GLOBALS(func); + PyObject *argdefs = PyFunction_GET_DEFAULTS(func); + PyObject *closure; +#if PY_MAJOR_VERSION >= 3 + PyObject *kwdefs; +#endif + PyObject *kwtuple, **k; + PyObject **d; + Py_ssize_t nd; + Py_ssize_t nk; + PyObject *result; + assert(kwargs == NULL || PyDict_Check(kwargs)); + nk = kwargs ? PyDict_Size(kwargs) : 0; + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) { + return NULL; + } + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) { + return NULL; + } + #endif + if ( +#if PY_MAJOR_VERSION >= 3 + co->co_kwonlyargcount == 0 && +#endif + likely(kwargs == NULL || nk == 0) && + co->co_flags == (CO_OPTIMIZED | CO_NEWLOCALS | CO_NOFREE)) { + if (argdefs == NULL && co->co_argcount == nargs) { + result = __Pyx_PyFunction_FastCallNoKw(co, args, nargs, globals); + goto done; + } + else if (nargs == 0 && argdefs != NULL + && co->co_argcount == Py_SIZE(argdefs)) { + /* function called with no arguments, but all parameters have + a default value: use default values as arguments .*/ + args = &PyTuple_GET_ITEM(argdefs, 0); + result =__Pyx_PyFunction_FastCallNoKw(co, args, Py_SIZE(argdefs), globals); + goto done; + } + } + if (kwargs != NULL) { + Py_ssize_t pos, i; + kwtuple = PyTuple_New(2 * nk); + if (kwtuple == NULL) { + result = NULL; + goto done; + } + k = &PyTuple_GET_ITEM(kwtuple, 0); + pos = i = 0; + while (PyDict_Next(kwargs, &pos, &k[i], &k[i+1])) { + Py_INCREF(k[i]); + Py_INCREF(k[i+1]); + i += 2; + } + nk = i / 2; + } + else { + kwtuple = NULL; + k = NULL; + } + closure = PyFunction_GET_CLOSURE(func); +#if PY_MAJOR_VERSION >= 3 + kwdefs = PyFunction_GET_KW_DEFAULTS(func); +#endif + if (argdefs != NULL) { + d = &PyTuple_GET_ITEM(argdefs, 0); + nd = Py_SIZE(argdefs); + } + else { + d = NULL; + nd = 0; + } +#if PY_MAJOR_VERSION >= 3 + result = PyEval_EvalCodeEx((PyObject*)co, globals, (PyObject *)NULL, + args, (int)nargs, + k, (int)nk, + d, (int)nd, kwdefs, closure); +#else + result = PyEval_EvalCodeEx(co, globals, (PyObject *)NULL, + args, (int)nargs, + k, (int)nk, + d, (int)nd, closure); +#endif + Py_XDECREF(kwtuple); +done: + Py_LeaveRecursiveCall(); + return result; +} +#endif + +/* PyObjectCall */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw) { + PyObject *result; + ternaryfunc call = Py_TYPE(func)->tp_call; + if (unlikely(!call)) + return PyObject_Call(func, arg, kw); + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) + return NULL; + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) + return NULL; + #endif + result = (*call)(func, arg, kw); + Py_LeaveRecursiveCall(); + if (unlikely(!result) && unlikely(!PyErr_Occurred())) { + PyErr_SetString( + PyExc_SystemError, + "NULL result without error in PyObject_Call"); + } + return result; +} +#endif + +/* PyObjectCallMethO */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg) { + PyObject *self, *result; + PyCFunction cfunc; + cfunc = __Pyx_CyOrPyCFunction_GET_FUNCTION(func); + self = __Pyx_CyOrPyCFunction_GET_SELF(func); + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) + return NULL; + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) + return NULL; + #endif + result = cfunc(self, arg); + Py_LeaveRecursiveCall(); + if (unlikely(!result) && unlikely(!PyErr_Occurred())) { + PyErr_SetString( + PyExc_SystemError, + "NULL result without error in PyObject_Call"); + } + return result; +} +#endif + +/* PyObjectFastCall */ +#if PY_VERSION_HEX < 0x03090000 || CYTHON_COMPILING_IN_LIMITED_API +static PyObject* __Pyx_PyObject_FastCall_fallback(PyObject *func, PyObject **args, size_t nargs, PyObject *kwargs) { + PyObject *argstuple; + PyObject *result = 0; + size_t i; + argstuple = PyTuple_New((Py_ssize_t)nargs); + if (unlikely(!argstuple)) return NULL; + for (i = 0; i < nargs; i++) { + Py_INCREF(args[i]); + if (__Pyx_PyTuple_SET_ITEM(argstuple, (Py_ssize_t)i, args[i]) < 0) goto bad; + } + result = __Pyx_PyObject_Call(func, argstuple, kwargs); + bad: + Py_DECREF(argstuple); + return result; +} +#endif +static CYTHON_INLINE PyObject* __Pyx_PyObject_FastCallDict(PyObject *func, PyObject **args, size_t _nargs, PyObject *kwargs) { + Py_ssize_t nargs = __Pyx_PyVectorcall_NARGS(_nargs); +#if CYTHON_COMPILING_IN_CPYTHON + if (nargs == 0 && kwargs == NULL) { + if (__Pyx_CyOrPyCFunction_Check(func) && likely( __Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_NOARGS)) + return __Pyx_PyObject_CallMethO(func, NULL); + } + else if (nargs == 1 && kwargs == NULL) { + if (__Pyx_CyOrPyCFunction_Check(func) && likely( __Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_O)) + return __Pyx_PyObject_CallMethO(func, args[0]); + } +#endif + #if PY_VERSION_HEX < 0x030800B1 + #if CYTHON_FAST_PYCCALL + if (PyCFunction_Check(func)) { + if (kwargs) { + return _PyCFunction_FastCallDict(func, args, nargs, kwargs); + } else { + return _PyCFunction_FastCallKeywords(func, args, nargs, NULL); + } + } + #if PY_VERSION_HEX >= 0x030700A1 + if (!kwargs && __Pyx_IS_TYPE(func, &PyMethodDescr_Type)) { + return _PyMethodDescr_FastCallKeywords(func, args, nargs, NULL); + } + #endif + #endif + #if CYTHON_FAST_PYCALL + if (PyFunction_Check(func)) { + return __Pyx_PyFunction_FastCallDict(func, args, nargs, kwargs); + } + #endif + #endif + if (kwargs == NULL) { + #if CYTHON_VECTORCALL + #if PY_VERSION_HEX < 0x03090000 + vectorcallfunc f = _PyVectorcall_Function(func); + #else + vectorcallfunc f = PyVectorcall_Function(func); + #endif + if (f) { + return f(func, args, (size_t)nargs, NULL); + } + #elif defined(__Pyx_CyFunction_USED) && CYTHON_BACKPORT_VECTORCALL + if (__Pyx_CyFunction_CheckExact(func)) { + __pyx_vectorcallfunc f = __Pyx_CyFunction_func_vectorcall(func); + if (f) return f(func, args, (size_t)nargs, NULL); + } + #endif + } + if (nargs == 0) { + return __Pyx_PyObject_Call(func, __pyx_empty_tuple, kwargs); + } + #if PY_VERSION_HEX >= 0x03090000 && !CYTHON_COMPILING_IN_LIMITED_API + return PyObject_VectorcallDict(func, args, (size_t)nargs, kwargs); + #else + return __Pyx_PyObject_FastCall_fallback(func, args, (size_t)nargs, kwargs); + #endif +} + +/* RaiseUnexpectedTypeError */ +static int +__Pyx_RaiseUnexpectedTypeError(const char *expected, PyObject *obj) +{ + __Pyx_TypeName obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, "Expected %s, got " __Pyx_FMT_TYPENAME, + expected, obj_type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return 0; +} + +/* CIntToDigits */ +static const char DIGIT_PAIRS_10[2*10*10+1] = { + "00010203040506070809" + "10111213141516171819" + "20212223242526272829" + "30313233343536373839" + "40414243444546474849" + "50515253545556575859" + "60616263646566676869" + "70717273747576777879" + "80818283848586878889" + "90919293949596979899" +}; +static const char DIGIT_PAIRS_8[2*8*8+1] = { + "0001020304050607" + "1011121314151617" + "2021222324252627" + "3031323334353637" + "4041424344454647" + "5051525354555657" + "6061626364656667" + "7071727374757677" +}; +static const char DIGITS_HEX[2*16+1] = { + "0123456789abcdef" + "0123456789ABCDEF" +}; + +/* BuildPyUnicode */ +static PyObject* __Pyx_PyUnicode_BuildFromAscii(Py_ssize_t ulength, char* chars, int clength, + int prepend_sign, char padding_char) { + PyObject *uval; + Py_ssize_t uoffset = ulength - clength; +#if CYTHON_USE_UNICODE_INTERNALS + Py_ssize_t i; +#if CYTHON_PEP393_ENABLED + void *udata; + uval = PyUnicode_New(ulength, 127); + if (unlikely(!uval)) return NULL; + udata = PyUnicode_DATA(uval); +#else + Py_UNICODE *udata; + uval = PyUnicode_FromUnicode(NULL, ulength); + if (unlikely(!uval)) return NULL; + udata = PyUnicode_AS_UNICODE(uval); +#endif + if (uoffset > 0) { + i = 0; + if (prepend_sign) { + __Pyx_PyUnicode_WRITE(PyUnicode_1BYTE_KIND, udata, 0, '-'); + i++; + } + for (; i < uoffset; i++) { + __Pyx_PyUnicode_WRITE(PyUnicode_1BYTE_KIND, udata, i, padding_char); + } + } + for (i=0; i < clength; i++) { + __Pyx_PyUnicode_WRITE(PyUnicode_1BYTE_KIND, udata, uoffset+i, chars[i]); + } +#else + { + PyObject *sign = NULL, *padding = NULL; + uval = NULL; + if (uoffset > 0) { + prepend_sign = !!prepend_sign; + if (uoffset > prepend_sign) { + padding = PyUnicode_FromOrdinal(padding_char); + if (likely(padding) && uoffset > prepend_sign + 1) { + PyObject *tmp; + PyObject *repeat = PyInt_FromSsize_t(uoffset - prepend_sign); + if (unlikely(!repeat)) goto done_or_error; + tmp = PyNumber_Multiply(padding, repeat); + Py_DECREF(repeat); + Py_DECREF(padding); + padding = tmp; + } + if (unlikely(!padding)) goto done_or_error; + } + if (prepend_sign) { + sign = PyUnicode_FromOrdinal('-'); + if (unlikely(!sign)) goto done_or_error; + } + } + uval = PyUnicode_DecodeASCII(chars, clength, NULL); + if (likely(uval) && padding) { + PyObject *tmp = PyNumber_Add(padding, uval); + Py_DECREF(uval); + uval = tmp; + } + if (likely(uval) && sign) { + PyObject *tmp = PyNumber_Add(sign, uval); + Py_DECREF(uval); + uval = tmp; + } +done_or_error: + Py_XDECREF(padding); + Py_XDECREF(sign); + } +#endif + return uval; +} + +/* CIntToPyUnicode */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_int(int value, Py_ssize_t width, char padding_char, char format_char) { + char digits[sizeof(int)*3+2]; + char *dpos, *end = digits + sizeof(int)*3+2; + const char *hex_digits = DIGITS_HEX; + Py_ssize_t length, ulength; + int prepend_sign, last_one_off; + int remaining; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (format_char == 'X') { + hex_digits += 16; + format_char = 'x'; + } + remaining = value; + last_one_off = 0; + dpos = end; + do { + int digit_pos; + switch (format_char) { + case 'o': + digit_pos = abs((int)(remaining % (8*8))); + remaining = (int) (remaining / (8*8)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_8 + digit_pos * 2, 2); + last_one_off = (digit_pos < 8); + break; + case 'd': + digit_pos = abs((int)(remaining % (10*10))); + remaining = (int) (remaining / (10*10)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_10 + digit_pos * 2, 2); + last_one_off = (digit_pos < 10); + break; + case 'x': + *(--dpos) = hex_digits[abs((int)(remaining % 16))]; + remaining = (int) (remaining / 16); + break; + default: + assert(0); + break; + } + } while (unlikely(remaining != 0)); + assert(!last_one_off || *dpos == '0'); + dpos += last_one_off; + length = end - dpos; + ulength = length; + prepend_sign = 0; + if (!is_unsigned && value <= neg_one) { + if (padding_char == ' ' || width <= length + 1) { + *(--dpos) = '-'; + ++length; + } else { + prepend_sign = 1; + } + ++ulength; + } + if (width > ulength) { + ulength = width; + } + if (ulength == 1) { + return PyUnicode_FromOrdinal(*dpos); + } + return __Pyx_PyUnicode_BuildFromAscii(ulength, dpos, (int) length, prepend_sign, padding_char); +} + +/* CIntToPyUnicode */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_Py_ssize_t(Py_ssize_t value, Py_ssize_t width, char padding_char, char format_char) { + char digits[sizeof(Py_ssize_t)*3+2]; + char *dpos, *end = digits + sizeof(Py_ssize_t)*3+2; + const char *hex_digits = DIGITS_HEX; + Py_ssize_t length, ulength; + int prepend_sign, last_one_off; + Py_ssize_t remaining; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const Py_ssize_t neg_one = (Py_ssize_t) -1, const_zero = (Py_ssize_t) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (format_char == 'X') { + hex_digits += 16; + format_char = 'x'; + } + remaining = value; + last_one_off = 0; + dpos = end; + do { + int digit_pos; + switch (format_char) { + case 'o': + digit_pos = abs((int)(remaining % (8*8))); + remaining = (Py_ssize_t) (remaining / (8*8)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_8 + digit_pos * 2, 2); + last_one_off = (digit_pos < 8); + break; + case 'd': + digit_pos = abs((int)(remaining % (10*10))); + remaining = (Py_ssize_t) (remaining / (10*10)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_10 + digit_pos * 2, 2); + last_one_off = (digit_pos < 10); + break; + case 'x': + *(--dpos) = hex_digits[abs((int)(remaining % 16))]; + remaining = (Py_ssize_t) (remaining / 16); + break; + default: + assert(0); + break; + } + } while (unlikely(remaining != 0)); + assert(!last_one_off || *dpos == '0'); + dpos += last_one_off; + length = end - dpos; + ulength = length; + prepend_sign = 0; + if (!is_unsigned && value <= neg_one) { + if (padding_char == ' ' || width <= length + 1) { + *(--dpos) = '-'; + ++length; + } else { + prepend_sign = 1; + } + ++ulength; + } + if (width > ulength) { + ulength = width; + } + if (ulength == 1) { + return PyUnicode_FromOrdinal(*dpos); + } + return __Pyx_PyUnicode_BuildFromAscii(ulength, dpos, (int) length, prepend_sign, padding_char); +} + +/* JoinPyUnicode */ +static PyObject* __Pyx_PyUnicode_Join(PyObject* value_tuple, Py_ssize_t value_count, Py_ssize_t result_ulength, + Py_UCS4 max_char) { +#if CYTHON_USE_UNICODE_INTERNALS && CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + PyObject *result_uval; + int result_ukind, kind_shift; + Py_ssize_t i, char_pos; + void *result_udata; + CYTHON_MAYBE_UNUSED_VAR(max_char); +#if CYTHON_PEP393_ENABLED + result_uval = PyUnicode_New(result_ulength, max_char); + if (unlikely(!result_uval)) return NULL; + result_ukind = (max_char <= 255) ? PyUnicode_1BYTE_KIND : (max_char <= 65535) ? PyUnicode_2BYTE_KIND : PyUnicode_4BYTE_KIND; + kind_shift = (result_ukind == PyUnicode_4BYTE_KIND) ? 2 : result_ukind - 1; + result_udata = PyUnicode_DATA(result_uval); +#else + result_uval = PyUnicode_FromUnicode(NULL, result_ulength); + if (unlikely(!result_uval)) return NULL; + result_ukind = sizeof(Py_UNICODE); + kind_shift = (result_ukind == 4) ? 2 : result_ukind - 1; + result_udata = PyUnicode_AS_UNICODE(result_uval); +#endif + assert(kind_shift == 2 || kind_shift == 1 || kind_shift == 0); + char_pos = 0; + for (i=0; i < value_count; i++) { + int ukind; + Py_ssize_t ulength; + void *udata; + PyObject *uval = PyTuple_GET_ITEM(value_tuple, i); + if (unlikely(__Pyx_PyUnicode_READY(uval))) + goto bad; + ulength = __Pyx_PyUnicode_GET_LENGTH(uval); + if (unlikely(!ulength)) + continue; + if (unlikely((PY_SSIZE_T_MAX >> kind_shift) - ulength < char_pos)) + goto overflow; + ukind = __Pyx_PyUnicode_KIND(uval); + udata = __Pyx_PyUnicode_DATA(uval); + if (!CYTHON_PEP393_ENABLED || ukind == result_ukind) { + memcpy((char *)result_udata + (char_pos << kind_shift), udata, (size_t) (ulength << kind_shift)); + } else { + #if PY_VERSION_HEX >= 0x030d0000 + if (unlikely(PyUnicode_CopyCharacters(result_uval, char_pos, uval, 0, ulength) < 0)) goto bad; + #elif CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030300F0 || defined(_PyUnicode_FastCopyCharacters) + _PyUnicode_FastCopyCharacters(result_uval, char_pos, uval, 0, ulength); + #else + Py_ssize_t j; + for (j=0; j < ulength; j++) { + Py_UCS4 uchar = __Pyx_PyUnicode_READ(ukind, udata, j); + __Pyx_PyUnicode_WRITE(result_ukind, result_udata, char_pos+j, uchar); + } + #endif + } + char_pos += ulength; + } + return result_uval; +overflow: + PyErr_SetString(PyExc_OverflowError, "join() result is too long for a Python string"); +bad: + Py_DECREF(result_uval); + return NULL; +#else + CYTHON_UNUSED_VAR(max_char); + CYTHON_UNUSED_VAR(result_ulength); + CYTHON_UNUSED_VAR(value_count); + return PyUnicode_Join(__pyx_empty_unicode, value_tuple); +#endif +} + +/* GetAttr */ +static CYTHON_INLINE PyObject *__Pyx_GetAttr(PyObject *o, PyObject *n) { +#if CYTHON_USE_TYPE_SLOTS +#if PY_MAJOR_VERSION >= 3 + if (likely(PyUnicode_Check(n))) +#else + if (likely(PyString_Check(n))) +#endif + return __Pyx_PyObject_GetAttrStr(o, n); +#endif + return PyObject_GetAttr(o, n); +} + +/* GetItemInt */ +static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j) { + PyObject *r; + if (unlikely(!j)) return NULL; + r = PyObject_GetItem(o, j); + Py_DECREF(j); + return r; +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + Py_ssize_t wrapped_i = i; + if (wraparound & unlikely(i < 0)) { + wrapped_i += PyList_GET_SIZE(o); + } + if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyList_GET_SIZE(o)))) { + PyObject *r = PyList_GET_ITEM(o, wrapped_i); + Py_INCREF(r); + return r; + } + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +#else + return PySequence_GetItem(o, i); +#endif +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + Py_ssize_t wrapped_i = i; + if (wraparound & unlikely(i < 0)) { + wrapped_i += PyTuple_GET_SIZE(o); + } + if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyTuple_GET_SIZE(o)))) { + PyObject *r = PyTuple_GET_ITEM(o, wrapped_i); + Py_INCREF(r); + return r; + } + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +#else + return PySequence_GetItem(o, i); +#endif +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, int is_list, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS && CYTHON_USE_TYPE_SLOTS + if (is_list || PyList_CheckExact(o)) { + Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyList_GET_SIZE(o); + if ((!boundscheck) || (likely(__Pyx_is_valid_index(n, PyList_GET_SIZE(o))))) { + PyObject *r = PyList_GET_ITEM(o, n); + Py_INCREF(r); + return r; + } + } + else if (PyTuple_CheckExact(o)) { + Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyTuple_GET_SIZE(o); + if ((!boundscheck) || likely(__Pyx_is_valid_index(n, PyTuple_GET_SIZE(o)))) { + PyObject *r = PyTuple_GET_ITEM(o, n); + Py_INCREF(r); + return r; + } + } else { + PyMappingMethods *mm = Py_TYPE(o)->tp_as_mapping; + PySequenceMethods *sm = Py_TYPE(o)->tp_as_sequence; + if (mm && mm->mp_subscript) { + PyObject *r, *key = PyInt_FromSsize_t(i); + if (unlikely(!key)) return NULL; + r = mm->mp_subscript(o, key); + Py_DECREF(key); + return r; + } + if (likely(sm && sm->sq_item)) { + if (wraparound && unlikely(i < 0) && likely(sm->sq_length)) { + Py_ssize_t l = sm->sq_length(o); + if (likely(l >= 0)) { + i += l; + } else { + if (!PyErr_ExceptionMatches(PyExc_OverflowError)) + return NULL; + PyErr_Clear(); + } + } + return sm->sq_item(o, i); + } + } +#else + if (is_list || !PyMapping_Check(o)) { + return PySequence_GetItem(o, i); + } +#endif + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +} + +/* PyObjectCallOneArg */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg) { + PyObject *args[2] = {NULL, arg}; + return __Pyx_PyObject_FastCall(func, args+1, 1 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET); +} + +/* ObjectGetItem */ +#if CYTHON_USE_TYPE_SLOTS +static PyObject *__Pyx_PyObject_GetIndex(PyObject *obj, PyObject *index) { + PyObject *runerr = NULL; + Py_ssize_t key_value; + key_value = __Pyx_PyIndex_AsSsize_t(index); + if (likely(key_value != -1 || !(runerr = PyErr_Occurred()))) { + return __Pyx_GetItemInt_Fast(obj, key_value, 0, 1, 1); + } + if (PyErr_GivenExceptionMatches(runerr, PyExc_OverflowError)) { + __Pyx_TypeName index_type_name = __Pyx_PyType_GetName(Py_TYPE(index)); + PyErr_Clear(); + PyErr_Format(PyExc_IndexError, + "cannot fit '" __Pyx_FMT_TYPENAME "' into an index-sized integer", index_type_name); + __Pyx_DECREF_TypeName(index_type_name); + } + return NULL; +} +static PyObject *__Pyx_PyObject_GetItem_Slow(PyObject *obj, PyObject *key) { + __Pyx_TypeName obj_type_name; + if (likely(PyType_Check(obj))) { + PyObject *meth = __Pyx_PyObject_GetAttrStrNoError(obj, __pyx_n_s_class_getitem); + if (!meth) { + PyErr_Clear(); + } else { + PyObject *result = __Pyx_PyObject_CallOneArg(meth, key); + Py_DECREF(meth); + return result; + } + } + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, + "'" __Pyx_FMT_TYPENAME "' object is not subscriptable", obj_type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return NULL; +} +static PyObject *__Pyx_PyObject_GetItem(PyObject *obj, PyObject *key) { + PyTypeObject *tp = Py_TYPE(obj); + PyMappingMethods *mm = tp->tp_as_mapping; + PySequenceMethods *sm = tp->tp_as_sequence; + if (likely(mm && mm->mp_subscript)) { + return mm->mp_subscript(obj, key); + } + if (likely(sm && sm->sq_item)) { + return __Pyx_PyObject_GetIndex(obj, key); + } + return __Pyx_PyObject_GetItem_Slow(obj, key); +} +#endif + +/* KeywordStringCheck */ +static int __Pyx_CheckKeywordStrings( + PyObject *kw, + const char* function_name, + int kw_allowed) +{ + PyObject* key = 0; + Py_ssize_t pos = 0; +#if CYTHON_COMPILING_IN_PYPY + if (!kw_allowed && PyDict_Next(kw, &pos, &key, 0)) + goto invalid_keyword; + return 1; +#else + if (CYTHON_METH_FASTCALL && likely(PyTuple_Check(kw))) { + Py_ssize_t kwsize; +#if CYTHON_ASSUME_SAFE_MACROS + kwsize = PyTuple_GET_SIZE(kw); +#else + kwsize = PyTuple_Size(kw); + if (kwsize < 0) return 0; +#endif + if (unlikely(kwsize == 0)) + return 1; + if (!kw_allowed) { +#if CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kw, 0); +#else + key = PyTuple_GetItem(kw, pos); + if (!key) return 0; +#endif + goto invalid_keyword; + } +#if PY_VERSION_HEX < 0x03090000 + for (pos = 0; pos < kwsize; pos++) { +#if CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kw, pos); +#else + key = PyTuple_GetItem(kw, pos); + if (!key) return 0; +#endif + if (unlikely(!PyUnicode_Check(key))) + goto invalid_keyword_type; + } +#endif + return 1; + } + while (PyDict_Next(kw, &pos, &key, 0)) { + #if PY_MAJOR_VERSION < 3 + if (unlikely(!PyString_Check(key))) + #endif + if (unlikely(!PyUnicode_Check(key))) + goto invalid_keyword_type; + } + if (!kw_allowed && unlikely(key)) + goto invalid_keyword; + return 1; +invalid_keyword_type: + PyErr_Format(PyExc_TypeError, + "%.200s() keywords must be strings", function_name); + return 0; +#endif +invalid_keyword: + #if PY_MAJOR_VERSION < 3 + PyErr_Format(PyExc_TypeError, + "%.200s() got an unexpected keyword argument '%.200s'", + function_name, PyString_AsString(key)); + #else + PyErr_Format(PyExc_TypeError, + "%s() got an unexpected keyword argument '%U'", + function_name, key); + #endif + return 0; +} + +/* DivInt[Py_ssize_t] */ +static CYTHON_INLINE Py_ssize_t __Pyx_div_Py_ssize_t(Py_ssize_t a, Py_ssize_t b) { + Py_ssize_t q = a / b; + Py_ssize_t r = a - q*b; + q -= ((r != 0) & ((r ^ b) < 0)); + return q; +} + +/* GetAttr3 */ +#if __PYX_LIMITED_VERSION_HEX < 0x030d00A1 +static PyObject *__Pyx_GetAttr3Default(PyObject *d) { + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + if (unlikely(!__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) + return NULL; + __Pyx_PyErr_Clear(); + Py_INCREF(d); + return d; +} +#endif +static CYTHON_INLINE PyObject *__Pyx_GetAttr3(PyObject *o, PyObject *n, PyObject *d) { + PyObject *r; +#if __PYX_LIMITED_VERSION_HEX >= 0x030d00A1 + int res = PyObject_GetOptionalAttr(o, n, &r); + return (res != 0) ? r : __Pyx_NewRef(d); +#else + #if CYTHON_USE_TYPE_SLOTS + if (likely(PyString_Check(n))) { + r = __Pyx_PyObject_GetAttrStrNoError(o, n); + if (unlikely(!r) && likely(!PyErr_Occurred())) { + r = __Pyx_NewRef(d); + } + return r; + } + #endif + r = PyObject_GetAttr(o, n); + return (likely(r)) ? r : __Pyx_GetAttr3Default(d); +#endif +} + +/* PyDictVersioning */ +#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj) { + PyObject *dict = Py_TYPE(obj)->tp_dict; + return likely(dict) ? __PYX_GET_DICT_VERSION(dict) : 0; +} +static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj) { + PyObject **dictptr = NULL; + Py_ssize_t offset = Py_TYPE(obj)->tp_dictoffset; + if (offset) { +#if CYTHON_COMPILING_IN_CPYTHON + dictptr = (likely(offset > 0)) ? (PyObject **) ((char *)obj + offset) : _PyObject_GetDictPtr(obj); +#else + dictptr = _PyObject_GetDictPtr(obj); +#endif + } + return (dictptr && *dictptr) ? __PYX_GET_DICT_VERSION(*dictptr) : 0; +} +static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version) { + PyObject *dict = Py_TYPE(obj)->tp_dict; + if (unlikely(!dict) || unlikely(tp_dict_version != __PYX_GET_DICT_VERSION(dict))) + return 0; + return obj_dict_version == __Pyx_get_object_dict_version(obj); +} +#endif + +/* GetModuleGlobalName */ +#if CYTHON_USE_DICT_VERSIONS +static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value) +#else +static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name) +#endif +{ + PyObject *result; +#if !CYTHON_AVOID_BORROWED_REFS +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030500A1 && PY_VERSION_HEX < 0x030d0000 + result = _PyDict_GetItem_KnownHash(__pyx_d, name, ((PyASCIIObject *) name)->hash); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } else if (unlikely(PyErr_Occurred())) { + return NULL; + } +#elif CYTHON_COMPILING_IN_LIMITED_API + if (unlikely(!__pyx_m)) { + return NULL; + } + result = PyObject_GetAttr(__pyx_m, name); + if (likely(result)) { + return result; + } +#else + result = PyDict_GetItem(__pyx_d, name); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } +#endif +#else + result = PyObject_GetItem(__pyx_d, name); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } + PyErr_Clear(); +#endif + return __Pyx_GetBuiltinName(name); +} + +/* RaiseTooManyValuesToUnpack */ +static CYTHON_INLINE void __Pyx_RaiseTooManyValuesError(Py_ssize_t expected) { + PyErr_Format(PyExc_ValueError, + "too many values to unpack (expected %" CYTHON_FORMAT_SSIZE_T "d)", expected); +} + +/* RaiseNeedMoreValuesToUnpack */ +static CYTHON_INLINE void __Pyx_RaiseNeedMoreValuesError(Py_ssize_t index) { + PyErr_Format(PyExc_ValueError, + "need more than %" CYTHON_FORMAT_SSIZE_T "d value%.1s to unpack", + index, (index == 1) ? "" : "s"); +} + +/* RaiseNoneIterError */ +static CYTHON_INLINE void __Pyx_RaiseNoneNotIterableError(void) { + PyErr_SetString(PyExc_TypeError, "'NoneType' object is not iterable"); +} + +/* ExtTypeTest */ +static CYTHON_INLINE int __Pyx_TypeTest(PyObject *obj, PyTypeObject *type) { + __Pyx_TypeName obj_type_name; + __Pyx_TypeName type_name; + if (unlikely(!type)) { + PyErr_SetString(PyExc_SystemError, "Missing type object"); + return 0; + } + if (likely(__Pyx_TypeCheck(obj, type))) + return 1; + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + type_name = __Pyx_PyType_GetName(type); + PyErr_Format(PyExc_TypeError, + "Cannot convert " __Pyx_FMT_TYPENAME " to " __Pyx_FMT_TYPENAME, + obj_type_name, type_name); + __Pyx_DECREF_TypeName(obj_type_name); + __Pyx_DECREF_TypeName(type_name); + return 0; +} + +/* GetTopmostException */ +#if CYTHON_USE_EXC_INFO_STACK && CYTHON_FAST_THREAD_STATE +static _PyErr_StackItem * +__Pyx_PyErr_GetTopmostException(PyThreadState *tstate) +{ + _PyErr_StackItem *exc_info = tstate->exc_info; + while ((exc_info->exc_value == NULL || exc_info->exc_value == Py_None) && + exc_info->previous_item != NULL) + { + exc_info = exc_info->previous_item; + } + return exc_info; +} +#endif + +/* SaveResetException */ +#if CYTHON_FAST_THREAD_STATE +static CYTHON_INLINE void __Pyx__ExceptionSave(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { + #if CYTHON_USE_EXC_INFO_STACK && PY_VERSION_HEX >= 0x030B00a4 + _PyErr_StackItem *exc_info = __Pyx_PyErr_GetTopmostException(tstate); + PyObject *exc_value = exc_info->exc_value; + if (exc_value == NULL || exc_value == Py_None) { + *value = NULL; + *type = NULL; + *tb = NULL; + } else { + *value = exc_value; + Py_INCREF(*value); + *type = (PyObject*) Py_TYPE(exc_value); + Py_INCREF(*type); + *tb = PyException_GetTraceback(exc_value); + } + #elif CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = __Pyx_PyErr_GetTopmostException(tstate); + *type = exc_info->exc_type; + *value = exc_info->exc_value; + *tb = exc_info->exc_traceback; + Py_XINCREF(*type); + Py_XINCREF(*value); + Py_XINCREF(*tb); + #else + *type = tstate->exc_type; + *value = tstate->exc_value; + *tb = tstate->exc_traceback; + Py_XINCREF(*type); + Py_XINCREF(*value); + Py_XINCREF(*tb); + #endif +} +static CYTHON_INLINE void __Pyx__ExceptionReset(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb) { + #if CYTHON_USE_EXC_INFO_STACK && PY_VERSION_HEX >= 0x030B00a4 + _PyErr_StackItem *exc_info = tstate->exc_info; + PyObject *tmp_value = exc_info->exc_value; + exc_info->exc_value = value; + Py_XDECREF(tmp_value); + Py_XDECREF(type); + Py_XDECREF(tb); + #else + PyObject *tmp_type, *tmp_value, *tmp_tb; + #if CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = tstate->exc_info; + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = type; + exc_info->exc_value = value; + exc_info->exc_traceback = tb; + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = type; + tstate->exc_value = value; + tstate->exc_traceback = tb; + #endif + Py_XDECREF(tmp_type); + Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); + #endif +} +#endif + +/* GetException */ +#if CYTHON_FAST_THREAD_STATE +static int __Pyx__GetException(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) +#else +static int __Pyx_GetException(PyObject **type, PyObject **value, PyObject **tb) +#endif +{ + PyObject *local_type = NULL, *local_value, *local_tb = NULL; +#if CYTHON_FAST_THREAD_STATE + PyObject *tmp_type, *tmp_value, *tmp_tb; + #if PY_VERSION_HEX >= 0x030C00A6 + local_value = tstate->current_exception; + tstate->current_exception = 0; + if (likely(local_value)) { + local_type = (PyObject*) Py_TYPE(local_value); + Py_INCREF(local_type); + local_tb = PyException_GetTraceback(local_value); + } + #else + local_type = tstate->curexc_type; + local_value = tstate->curexc_value; + local_tb = tstate->curexc_traceback; + tstate->curexc_type = 0; + tstate->curexc_value = 0; + tstate->curexc_traceback = 0; + #endif +#else + PyErr_Fetch(&local_type, &local_value, &local_tb); +#endif + PyErr_NormalizeException(&local_type, &local_value, &local_tb); +#if CYTHON_FAST_THREAD_STATE && PY_VERSION_HEX >= 0x030C00A6 + if (unlikely(tstate->current_exception)) +#elif CYTHON_FAST_THREAD_STATE + if (unlikely(tstate->curexc_type)) +#else + if (unlikely(PyErr_Occurred())) +#endif + goto bad; + #if PY_MAJOR_VERSION >= 3 + if (local_tb) { + if (unlikely(PyException_SetTraceback(local_value, local_tb) < 0)) + goto bad; + } + #endif + Py_XINCREF(local_tb); + Py_XINCREF(local_type); + Py_XINCREF(local_value); + *type = local_type; + *value = local_value; + *tb = local_tb; +#if CYTHON_FAST_THREAD_STATE + #if CYTHON_USE_EXC_INFO_STACK + { + _PyErr_StackItem *exc_info = tstate->exc_info; + #if PY_VERSION_HEX >= 0x030B00a4 + tmp_value = exc_info->exc_value; + exc_info->exc_value = local_value; + tmp_type = NULL; + tmp_tb = NULL; + Py_XDECREF(local_type); + Py_XDECREF(local_tb); + #else + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = local_type; + exc_info->exc_value = local_value; + exc_info->exc_traceback = local_tb; + #endif + } + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = local_type; + tstate->exc_value = local_value; + tstate->exc_traceback = local_tb; + #endif + Py_XDECREF(tmp_type); + Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); +#else + PyErr_SetExcInfo(local_type, local_value, local_tb); +#endif + return 0; +bad: + *type = 0; + *value = 0; + *tb = 0; + Py_XDECREF(local_type); + Py_XDECREF(local_value); + Py_XDECREF(local_tb); + return -1; +} + +/* SwapException */ +#if CYTHON_FAST_THREAD_STATE +static CYTHON_INLINE void __Pyx__ExceptionSwap(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { + PyObject *tmp_type, *tmp_value, *tmp_tb; + #if CYTHON_USE_EXC_INFO_STACK && PY_VERSION_HEX >= 0x030B00a4 + _PyErr_StackItem *exc_info = tstate->exc_info; + tmp_value = exc_info->exc_value; + exc_info->exc_value = *value; + if (tmp_value == NULL || tmp_value == Py_None) { + Py_XDECREF(tmp_value); + tmp_value = NULL; + tmp_type = NULL; + tmp_tb = NULL; + } else { + tmp_type = (PyObject*) Py_TYPE(tmp_value); + Py_INCREF(tmp_type); + #if CYTHON_COMPILING_IN_CPYTHON + tmp_tb = ((PyBaseExceptionObject*) tmp_value)->traceback; + Py_XINCREF(tmp_tb); + #else + tmp_tb = PyException_GetTraceback(tmp_value); + #endif + } + #elif CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = tstate->exc_info; + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = *type; + exc_info->exc_value = *value; + exc_info->exc_traceback = *tb; + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = *type; + tstate->exc_value = *value; + tstate->exc_traceback = *tb; + #endif + *type = tmp_type; + *value = tmp_value; + *tb = tmp_tb; +} +#else +static CYTHON_INLINE void __Pyx_ExceptionSwap(PyObject **type, PyObject **value, PyObject **tb) { + PyObject *tmp_type, *tmp_value, *tmp_tb; + PyErr_GetExcInfo(&tmp_type, &tmp_value, &tmp_tb); + PyErr_SetExcInfo(*type, *value, *tb); + *type = tmp_type; + *value = tmp_value; + *tb = tmp_tb; +} +#endif + +/* Import */ +static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level) { + PyObject *module = 0; + PyObject *empty_dict = 0; + PyObject *empty_list = 0; + #if PY_MAJOR_VERSION < 3 + PyObject *py_import; + py_import = __Pyx_PyObject_GetAttrStr(__pyx_b, __pyx_n_s_import); + if (unlikely(!py_import)) + goto bad; + if (!from_list) { + empty_list = PyList_New(0); + if (unlikely(!empty_list)) + goto bad; + from_list = empty_list; + } + #endif + empty_dict = PyDict_New(); + if (unlikely(!empty_dict)) + goto bad; + { + #if PY_MAJOR_VERSION >= 3 + if (level == -1) { + if (strchr(__Pyx_MODULE_NAME, '.') != NULL) { + module = PyImport_ImportModuleLevelObject( + name, __pyx_d, empty_dict, from_list, 1); + if (unlikely(!module)) { + if (unlikely(!PyErr_ExceptionMatches(PyExc_ImportError))) + goto bad; + PyErr_Clear(); + } + } + level = 0; + } + #endif + if (!module) { + #if PY_MAJOR_VERSION < 3 + PyObject *py_level = PyInt_FromLong(level); + if (unlikely(!py_level)) + goto bad; + module = PyObject_CallFunctionObjArgs(py_import, + name, __pyx_d, empty_dict, from_list, py_level, (PyObject *)NULL); + Py_DECREF(py_level); + #else + module = PyImport_ImportModuleLevelObject( + name, __pyx_d, empty_dict, from_list, level); + #endif + } + } +bad: + Py_XDECREF(empty_dict); + Py_XDECREF(empty_list); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(py_import); + #endif + return module; +} + +/* ImportDottedModule */ +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx__ImportDottedModule_Error(PyObject *name, PyObject *parts_tuple, Py_ssize_t count) { + PyObject *partial_name = NULL, *slice = NULL, *sep = NULL; + if (unlikely(PyErr_Occurred())) { + PyErr_Clear(); + } + if (likely(PyTuple_GET_SIZE(parts_tuple) == count)) { + partial_name = name; + } else { + slice = PySequence_GetSlice(parts_tuple, 0, count); + if (unlikely(!slice)) + goto bad; + sep = PyUnicode_FromStringAndSize(".", 1); + if (unlikely(!sep)) + goto bad; + partial_name = PyUnicode_Join(sep, slice); + } + PyErr_Format( +#if PY_MAJOR_VERSION < 3 + PyExc_ImportError, + "No module named '%s'", PyString_AS_STRING(partial_name)); +#else +#if PY_VERSION_HEX >= 0x030600B1 + PyExc_ModuleNotFoundError, +#else + PyExc_ImportError, +#endif + "No module named '%U'", partial_name); +#endif +bad: + Py_XDECREF(sep); + Py_XDECREF(slice); + Py_XDECREF(partial_name); + return NULL; +} +#endif +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx__ImportDottedModule_Lookup(PyObject *name) { + PyObject *imported_module; +#if PY_VERSION_HEX < 0x030700A1 || (CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM < 0x07030400) + PyObject *modules = PyImport_GetModuleDict(); + if (unlikely(!modules)) + return NULL; + imported_module = __Pyx_PyDict_GetItemStr(modules, name); + Py_XINCREF(imported_module); +#else + imported_module = PyImport_GetModule(name); +#endif + return imported_module; +} +#endif +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx_ImportDottedModule_WalkParts(PyObject *module, PyObject *name, PyObject *parts_tuple) { + Py_ssize_t i, nparts; + nparts = PyTuple_GET_SIZE(parts_tuple); + for (i=1; i < nparts && module; i++) { + PyObject *part, *submodule; +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + part = PyTuple_GET_ITEM(parts_tuple, i); +#else + part = PySequence_ITEM(parts_tuple, i); +#endif + submodule = __Pyx_PyObject_GetAttrStrNoError(module, part); +#if !(CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS) + Py_DECREF(part); +#endif + Py_DECREF(module); + module = submodule; + } + if (unlikely(!module)) { + return __Pyx__ImportDottedModule_Error(name, parts_tuple, i); + } + return module; +} +#endif +static PyObject *__Pyx__ImportDottedModule(PyObject *name, PyObject *parts_tuple) { +#if PY_MAJOR_VERSION < 3 + PyObject *module, *from_list, *star = __pyx_n_s__3; + CYTHON_UNUSED_VAR(parts_tuple); + from_list = PyList_New(1); + if (unlikely(!from_list)) + return NULL; + Py_INCREF(star); + PyList_SET_ITEM(from_list, 0, star); + module = __Pyx_Import(name, from_list, 0); + Py_DECREF(from_list); + return module; +#else + PyObject *imported_module; + PyObject *module = __Pyx_Import(name, NULL, 0); + if (!parts_tuple || unlikely(!module)) + return module; + imported_module = __Pyx__ImportDottedModule_Lookup(name); + if (likely(imported_module)) { + Py_DECREF(module); + return imported_module; + } + PyErr_Clear(); + return __Pyx_ImportDottedModule_WalkParts(module, name, parts_tuple); +#endif +} +static PyObject *__Pyx_ImportDottedModule(PyObject *name, PyObject *parts_tuple) { +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030400B1 + PyObject *module = __Pyx__ImportDottedModule_Lookup(name); + if (likely(module)) { + PyObject *spec = __Pyx_PyObject_GetAttrStrNoError(module, __pyx_n_s_spec); + if (likely(spec)) { + PyObject *unsafe = __Pyx_PyObject_GetAttrStrNoError(spec, __pyx_n_s_initializing); + if (likely(!unsafe || !__Pyx_PyObject_IsTrue(unsafe))) { + Py_DECREF(spec); + spec = NULL; + } + Py_XDECREF(unsafe); + } + if (likely(!spec)) { + PyErr_Clear(); + return module; + } + Py_DECREF(spec); + Py_DECREF(module); + } else if (PyErr_Occurred()) { + PyErr_Clear(); + } +#endif + return __Pyx__ImportDottedModule(name, parts_tuple); +} + +/* FastTypeChecks */ +#if CYTHON_COMPILING_IN_CPYTHON +static int __Pyx_InBases(PyTypeObject *a, PyTypeObject *b) { + while (a) { + a = __Pyx_PyType_GetSlot(a, tp_base, PyTypeObject*); + if (a == b) + return 1; + } + return b == &PyBaseObject_Type; +} +static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b) { + PyObject *mro; + if (a == b) return 1; + mro = a->tp_mro; + if (likely(mro)) { + Py_ssize_t i, n; + n = PyTuple_GET_SIZE(mro); + for (i = 0; i < n; i++) { + if (PyTuple_GET_ITEM(mro, i) == (PyObject *)b) + return 1; + } + return 0; + } + return __Pyx_InBases(a, b); +} +static CYTHON_INLINE int __Pyx_IsAnySubtype2(PyTypeObject *cls, PyTypeObject *a, PyTypeObject *b) { + PyObject *mro; + if (cls == a || cls == b) return 1; + mro = cls->tp_mro; + if (likely(mro)) { + Py_ssize_t i, n; + n = PyTuple_GET_SIZE(mro); + for (i = 0; i < n; i++) { + PyObject *base = PyTuple_GET_ITEM(mro, i); + if (base == (PyObject *)a || base == (PyObject *)b) + return 1; + } + return 0; + } + return __Pyx_InBases(cls, a) || __Pyx_InBases(cls, b); +} +#if PY_MAJOR_VERSION == 2 +static int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject* exc_type2) { + PyObject *exception, *value, *tb; + int res; + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + __Pyx_ErrFetch(&exception, &value, &tb); + res = exc_type1 ? PyObject_IsSubclass(err, exc_type1) : 0; + if (unlikely(res == -1)) { + PyErr_WriteUnraisable(err); + res = 0; + } + if (!res) { + res = PyObject_IsSubclass(err, exc_type2); + if (unlikely(res == -1)) { + PyErr_WriteUnraisable(err); + res = 0; + } + } + __Pyx_ErrRestore(exception, value, tb); + return res; +} +#else +static CYTHON_INLINE int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject *exc_type2) { + if (exc_type1) { + return __Pyx_IsAnySubtype2((PyTypeObject*)err, (PyTypeObject*)exc_type1, (PyTypeObject*)exc_type2); + } else { + return __Pyx_IsSubtype((PyTypeObject*)err, (PyTypeObject*)exc_type2); + } +} +#endif +static int __Pyx_PyErr_GivenExceptionMatchesTuple(PyObject *exc_type, PyObject *tuple) { + Py_ssize_t i, n; + assert(PyExceptionClass_Check(exc_type)); + n = PyTuple_GET_SIZE(tuple); +#if PY_MAJOR_VERSION >= 3 + for (i=0; itp_as_sequence && type->tp_as_sequence->sq_repeat)) { + return type->tp_as_sequence->sq_repeat(seq, mul); + } else +#endif + { + return __Pyx_PySequence_Multiply_Generic(seq, mul); + } +} + +/* SetItemInt */ +static int __Pyx_SetItemInt_Generic(PyObject *o, PyObject *j, PyObject *v) { + int r; + if (unlikely(!j)) return -1; + r = PyObject_SetItem(o, j, v); + Py_DECREF(j); + return r; +} +static CYTHON_INLINE int __Pyx_SetItemInt_Fast(PyObject *o, Py_ssize_t i, PyObject *v, int is_list, + CYTHON_NCP_UNUSED int wraparound, CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS && CYTHON_USE_TYPE_SLOTS + if (is_list || PyList_CheckExact(o)) { + Py_ssize_t n = (!wraparound) ? i : ((likely(i >= 0)) ? i : i + PyList_GET_SIZE(o)); + if ((!boundscheck) || likely(__Pyx_is_valid_index(n, PyList_GET_SIZE(o)))) { + PyObject* old = PyList_GET_ITEM(o, n); + Py_INCREF(v); + PyList_SET_ITEM(o, n, v); + Py_DECREF(old); + return 1; + } + } else { + PyMappingMethods *mm = Py_TYPE(o)->tp_as_mapping; + PySequenceMethods *sm = Py_TYPE(o)->tp_as_sequence; + if (mm && mm->mp_ass_subscript) { + int r; + PyObject *key = PyInt_FromSsize_t(i); + if (unlikely(!key)) return -1; + r = mm->mp_ass_subscript(o, key, v); + Py_DECREF(key); + return r; + } + if (likely(sm && sm->sq_ass_item)) { + if (wraparound && unlikely(i < 0) && likely(sm->sq_length)) { + Py_ssize_t l = sm->sq_length(o); + if (likely(l >= 0)) { + i += l; + } else { + if (!PyErr_ExceptionMatches(PyExc_OverflowError)) + return -1; + PyErr_Clear(); + } + } + return sm->sq_ass_item(o, i, v); + } + } +#else + if (is_list || !PyMapping_Check(o)) + { + return PySequence_SetItem(o, i, v); + } +#endif + return __Pyx_SetItemInt_Generic(o, PyInt_FromSsize_t(i), v); +} + +/* RaiseUnboundLocalError */ +static CYTHON_INLINE void __Pyx_RaiseUnboundLocalError(const char *varname) { + PyErr_Format(PyExc_UnboundLocalError, "local variable '%s' referenced before assignment", varname); +} + +/* DivInt[long] */ +static CYTHON_INLINE long __Pyx_div_long(long a, long b) { + long q = a / b; + long r = a - q*b; + q -= ((r != 0) & ((r ^ b) < 0)); + return q; +} + +/* ImportFrom */ +static PyObject* __Pyx_ImportFrom(PyObject* module, PyObject* name) { + PyObject* value = __Pyx_PyObject_GetAttrStr(module, name); + if (unlikely(!value) && PyErr_ExceptionMatches(PyExc_AttributeError)) { + const char* module_name_str = 0; + PyObject* module_name = 0; + PyObject* module_dot = 0; + PyObject* full_name = 0; + PyErr_Clear(); + module_name_str = PyModule_GetName(module); + if (unlikely(!module_name_str)) { goto modbad; } + module_name = PyUnicode_FromString(module_name_str); + if (unlikely(!module_name)) { goto modbad; } + module_dot = PyUnicode_Concat(module_name, __pyx_kp_u__2); + if (unlikely(!module_dot)) { goto modbad; } + full_name = PyUnicode_Concat(module_dot, name); + if (unlikely(!full_name)) { goto modbad; } + #if PY_VERSION_HEX < 0x030700A1 || (CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM < 0x07030400) + { + PyObject *modules = PyImport_GetModuleDict(); + if (unlikely(!modules)) + goto modbad; + value = PyObject_GetItem(modules, full_name); + } + #else + value = PyImport_GetModule(full_name); + #endif + modbad: + Py_XDECREF(full_name); + Py_XDECREF(module_dot); + Py_XDECREF(module_name); + } + if (unlikely(!value)) { + PyErr_Format(PyExc_ImportError, + #if PY_MAJOR_VERSION < 3 + "cannot import name %.230s", PyString_AS_STRING(name)); + #else + "cannot import name %S", name); + #endif + } + return value; +} + +/* HasAttr */ +#if __PYX_LIMITED_VERSION_HEX < 0x030d00A1 +static CYTHON_INLINE int __Pyx_HasAttr(PyObject *o, PyObject *n) { + PyObject *r; + if (unlikely(!__Pyx_PyBaseString_Check(n))) { + PyErr_SetString(PyExc_TypeError, + "hasattr(): attribute name must be string"); + return -1; + } + r = __Pyx_GetAttr(o, n); + if (!r) { + PyErr_Clear(); + return 0; + } else { + Py_DECREF(r); + return 1; + } +} +#endif + +/* BufferIndexError */ +static void __Pyx_RaiseBufferIndexError(int axis) { + PyErr_Format(PyExc_IndexError, + "Out of bounds on buffer access (axis %d)", axis); +} + +/* PyObject_GenericGetAttrNoDict */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject *__Pyx_RaiseGenericGetAttributeError(PyTypeObject *tp, PyObject *attr_name) { + __Pyx_TypeName type_name = __Pyx_PyType_GetName(tp); + PyErr_Format(PyExc_AttributeError, +#if PY_MAJOR_VERSION >= 3 + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%U'", + type_name, attr_name); +#else + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%.400s'", + type_name, PyString_AS_STRING(attr_name)); +#endif + __Pyx_DECREF_TypeName(type_name); + return NULL; +} +static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name) { + PyObject *descr; + PyTypeObject *tp = Py_TYPE(obj); + if (unlikely(!PyString_Check(attr_name))) { + return PyObject_GenericGetAttr(obj, attr_name); + } + assert(!tp->tp_dictoffset); + descr = _PyType_Lookup(tp, attr_name); + if (unlikely(!descr)) { + return __Pyx_RaiseGenericGetAttributeError(tp, attr_name); + } + Py_INCREF(descr); + #if PY_MAJOR_VERSION < 3 + if (likely(PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_HAVE_CLASS))) + #endif + { + descrgetfunc f = Py_TYPE(descr)->tp_descr_get; + if (unlikely(f)) { + PyObject *res = f(descr, obj, (PyObject *)tp); + Py_DECREF(descr); + return res; + } + } + return descr; +} +#endif + +/* PyObject_GenericGetAttr */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name) { + if (unlikely(Py_TYPE(obj)->tp_dictoffset)) { + return PyObject_GenericGetAttr(obj, attr_name); + } + return __Pyx_PyObject_GenericGetAttrNoDict(obj, attr_name); +} +#endif + +/* FixUpExtensionType */ +#if CYTHON_USE_TYPE_SPECS +static int __Pyx_fix_up_extension_type_from_spec(PyType_Spec *spec, PyTypeObject *type) { +#if PY_VERSION_HEX > 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + CYTHON_UNUSED_VAR(spec); + CYTHON_UNUSED_VAR(type); +#else + const PyType_Slot *slot = spec->slots; + while (slot && slot->slot && slot->slot != Py_tp_members) + slot++; + if (slot && slot->slot == Py_tp_members) { + int changed = 0; +#if !(PY_VERSION_HEX <= 0x030900b1 && CYTHON_COMPILING_IN_CPYTHON) + const +#endif + PyMemberDef *memb = (PyMemberDef*) slot->pfunc; + while (memb && memb->name) { + if (memb->name[0] == '_' && memb->name[1] == '_') { +#if PY_VERSION_HEX < 0x030900b1 + if (strcmp(memb->name, "__weaklistoffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); + type->tp_weaklistoffset = memb->offset; + changed = 1; + } + else if (strcmp(memb->name, "__dictoffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); + type->tp_dictoffset = memb->offset; + changed = 1; + } +#if CYTHON_METH_FASTCALL + else if (strcmp(memb->name, "__vectorcalloffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); +#if PY_VERSION_HEX >= 0x030800b4 + type->tp_vectorcall_offset = memb->offset; +#else + type->tp_print = (printfunc) memb->offset; +#endif + changed = 1; + } +#endif +#else + if ((0)); +#endif +#if PY_VERSION_HEX <= 0x030900b1 && CYTHON_COMPILING_IN_CPYTHON + else if (strcmp(memb->name, "__module__") == 0) { + PyObject *descr; + assert(memb->type == T_OBJECT); + assert(memb->flags == 0 || memb->flags == READONLY); + descr = PyDescr_NewMember(type, memb); + if (unlikely(!descr)) + return -1; + if (unlikely(PyDict_SetItem(type->tp_dict, PyDescr_NAME(descr), descr) < 0)) { + Py_DECREF(descr); + return -1; + } + Py_DECREF(descr); + changed = 1; + } +#endif + } + memb++; + } + if (changed) + PyType_Modified(type); + } +#endif + return 0; +} +#endif + +/* PyObjectCallNoArg */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func) { + PyObject *arg[2] = {NULL, NULL}; + return __Pyx_PyObject_FastCall(func, arg + 1, 0 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET); +} + +/* PyObjectGetMethod */ +static int __Pyx_PyObject_GetMethod(PyObject *obj, PyObject *name, PyObject **method) { + PyObject *attr; +#if CYTHON_UNPACK_METHODS && CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_PYTYPE_LOOKUP + __Pyx_TypeName type_name; + PyTypeObject *tp = Py_TYPE(obj); + PyObject *descr; + descrgetfunc f = NULL; + PyObject **dictptr, *dict; + int meth_found = 0; + assert (*method == NULL); + if (unlikely(tp->tp_getattro != PyObject_GenericGetAttr)) { + attr = __Pyx_PyObject_GetAttrStr(obj, name); + goto try_unpack; + } + if (unlikely(tp->tp_dict == NULL) && unlikely(PyType_Ready(tp) < 0)) { + return 0; + } + descr = _PyType_Lookup(tp, name); + if (likely(descr != NULL)) { + Py_INCREF(descr); +#if defined(Py_TPFLAGS_METHOD_DESCRIPTOR) && Py_TPFLAGS_METHOD_DESCRIPTOR + if (__Pyx_PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_METHOD_DESCRIPTOR)) +#elif PY_MAJOR_VERSION >= 3 + #ifdef __Pyx_CyFunction_USED + if (likely(PyFunction_Check(descr) || __Pyx_IS_TYPE(descr, &PyMethodDescr_Type) || __Pyx_CyFunction_Check(descr))) + #else + if (likely(PyFunction_Check(descr) || __Pyx_IS_TYPE(descr, &PyMethodDescr_Type))) + #endif +#else + #ifdef __Pyx_CyFunction_USED + if (likely(PyFunction_Check(descr) || __Pyx_CyFunction_Check(descr))) + #else + if (likely(PyFunction_Check(descr))) + #endif +#endif + { + meth_found = 1; + } else { + f = Py_TYPE(descr)->tp_descr_get; + if (f != NULL && PyDescr_IsData(descr)) { + attr = f(descr, obj, (PyObject *)Py_TYPE(obj)); + Py_DECREF(descr); + goto try_unpack; + } + } + } + dictptr = _PyObject_GetDictPtr(obj); + if (dictptr != NULL && (dict = *dictptr) != NULL) { + Py_INCREF(dict); + attr = __Pyx_PyDict_GetItemStr(dict, name); + if (attr != NULL) { + Py_INCREF(attr); + Py_DECREF(dict); + Py_XDECREF(descr); + goto try_unpack; + } + Py_DECREF(dict); + } + if (meth_found) { + *method = descr; + return 1; + } + if (f != NULL) { + attr = f(descr, obj, (PyObject *)Py_TYPE(obj)); + Py_DECREF(descr); + goto try_unpack; + } + if (likely(descr != NULL)) { + *method = descr; + return 0; + } + type_name = __Pyx_PyType_GetName(tp); + PyErr_Format(PyExc_AttributeError, +#if PY_MAJOR_VERSION >= 3 + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%U'", + type_name, name); +#else + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%.400s'", + type_name, PyString_AS_STRING(name)); +#endif + __Pyx_DECREF_TypeName(type_name); + return 0; +#else + attr = __Pyx_PyObject_GetAttrStr(obj, name); + goto try_unpack; +#endif +try_unpack: +#if CYTHON_UNPACK_METHODS + if (likely(attr) && PyMethod_Check(attr) && likely(PyMethod_GET_SELF(attr) == obj)) { + PyObject *function = PyMethod_GET_FUNCTION(attr); + Py_INCREF(function); + Py_DECREF(attr); + *method = function; + return 1; + } +#endif + *method = attr; + return 0; +} + +/* PyObjectCallMethod0 */ +static PyObject* __Pyx_PyObject_CallMethod0(PyObject* obj, PyObject* method_name) { + PyObject *method = NULL, *result = NULL; + int is_method = __Pyx_PyObject_GetMethod(obj, method_name, &method); + if (likely(is_method)) { + result = __Pyx_PyObject_CallOneArg(method, obj); + Py_DECREF(method); + return result; + } + if (unlikely(!method)) goto bad; + result = __Pyx_PyObject_CallNoArg(method); + Py_DECREF(method); +bad: + return result; +} + +/* ValidateBasesTuple */ +#if CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API || CYTHON_USE_TYPE_SPECS +static int __Pyx_validate_bases_tuple(const char *type_name, Py_ssize_t dictoffset, PyObject *bases) { + Py_ssize_t i, n; +#if CYTHON_ASSUME_SAFE_MACROS + n = PyTuple_GET_SIZE(bases); +#else + n = PyTuple_Size(bases); + if (n < 0) return -1; +#endif + for (i = 1; i < n; i++) + { +#if CYTHON_AVOID_BORROWED_REFS + PyObject *b0 = PySequence_GetItem(bases, i); + if (!b0) return -1; +#elif CYTHON_ASSUME_SAFE_MACROS + PyObject *b0 = PyTuple_GET_ITEM(bases, i); +#else + PyObject *b0 = PyTuple_GetItem(bases, i); + if (!b0) return -1; +#endif + PyTypeObject *b; +#if PY_MAJOR_VERSION < 3 + if (PyClass_Check(b0)) + { + PyErr_Format(PyExc_TypeError, "base class '%.200s' is an old-style class", + PyString_AS_STRING(((PyClassObject*)b0)->cl_name)); +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } +#endif + b = (PyTypeObject*) b0; + if (!__Pyx_PyType_HasFeature(b, Py_TPFLAGS_HEAPTYPE)) + { + __Pyx_TypeName b_name = __Pyx_PyType_GetName(b); + PyErr_Format(PyExc_TypeError, + "base class '" __Pyx_FMT_TYPENAME "' is not a heap type", b_name); + __Pyx_DECREF_TypeName(b_name); +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } + if (dictoffset == 0) + { + Py_ssize_t b_dictoffset = 0; +#if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + b_dictoffset = b->tp_dictoffset; +#else + PyObject *py_b_dictoffset = PyObject_GetAttrString((PyObject*)b, "__dictoffset__"); + if (!py_b_dictoffset) goto dictoffset_return; + b_dictoffset = PyLong_AsSsize_t(py_b_dictoffset); + Py_DECREF(py_b_dictoffset); + if (b_dictoffset == -1 && PyErr_Occurred()) goto dictoffset_return; +#endif + if (b_dictoffset) { + { + __Pyx_TypeName b_name = __Pyx_PyType_GetName(b); + PyErr_Format(PyExc_TypeError, + "extension type '%.200s' has no __dict__ slot, " + "but base type '" __Pyx_FMT_TYPENAME "' has: " + "either add 'cdef dict __dict__' to the extension type " + "or add '__slots__ = [...]' to the base type", + type_name, b_name); + __Pyx_DECREF_TypeName(b_name); + } +#if !(CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY) + dictoffset_return: +#endif +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } + } +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + } + return 0; +} +#endif + +/* PyType_Ready */ +static int __Pyx_PyType_Ready(PyTypeObject *t) { +#if CYTHON_USE_TYPE_SPECS || !(CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API) || defined(PYSTON_MAJOR_VERSION) + (void)__Pyx_PyObject_CallMethod0; +#if CYTHON_USE_TYPE_SPECS + (void)__Pyx_validate_bases_tuple; +#endif + return PyType_Ready(t); +#else + int r; + PyObject *bases = __Pyx_PyType_GetSlot(t, tp_bases, PyObject*); + if (bases && unlikely(__Pyx_validate_bases_tuple(t->tp_name, t->tp_dictoffset, bases) == -1)) + return -1; +#if PY_VERSION_HEX >= 0x03050000 && !defined(PYSTON_MAJOR_VERSION) + { + int gc_was_enabled; + #if PY_VERSION_HEX >= 0x030A00b1 + gc_was_enabled = PyGC_Disable(); + (void)__Pyx_PyObject_CallMethod0; + #else + PyObject *ret, *py_status; + PyObject *gc = NULL; + #if PY_VERSION_HEX >= 0x030700a1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM+0 >= 0x07030400) + gc = PyImport_GetModule(__pyx_kp_u_gc); + #endif + if (unlikely(!gc)) gc = PyImport_Import(__pyx_kp_u_gc); + if (unlikely(!gc)) return -1; + py_status = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_isenabled); + if (unlikely(!py_status)) { + Py_DECREF(gc); + return -1; + } + gc_was_enabled = __Pyx_PyObject_IsTrue(py_status); + Py_DECREF(py_status); + if (gc_was_enabled > 0) { + ret = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_disable); + if (unlikely(!ret)) { + Py_DECREF(gc); + return -1; + } + Py_DECREF(ret); + } else if (unlikely(gc_was_enabled == -1)) { + Py_DECREF(gc); + return -1; + } + #endif + t->tp_flags |= Py_TPFLAGS_HEAPTYPE; +#if PY_VERSION_HEX >= 0x030A0000 + t->tp_flags |= Py_TPFLAGS_IMMUTABLETYPE; +#endif +#else + (void)__Pyx_PyObject_CallMethod0; +#endif + r = PyType_Ready(t); +#if PY_VERSION_HEX >= 0x03050000 && !defined(PYSTON_MAJOR_VERSION) + t->tp_flags &= ~Py_TPFLAGS_HEAPTYPE; + #if PY_VERSION_HEX >= 0x030A00b1 + if (gc_was_enabled) + PyGC_Enable(); + #else + if (gc_was_enabled) { + PyObject *tp, *v, *tb; + PyErr_Fetch(&tp, &v, &tb); + ret = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_enable); + if (likely(ret || r == -1)) { + Py_XDECREF(ret); + PyErr_Restore(tp, v, tb); + } else { + Py_XDECREF(tp); + Py_XDECREF(v); + Py_XDECREF(tb); + r = -1; + } + } + Py_DECREF(gc); + #endif + } +#endif + return r; +#endif +} + +/* SetupReduce */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_setup_reduce_is_named(PyObject* meth, PyObject* name) { + int ret; + PyObject *name_attr; + name_attr = __Pyx_PyObject_GetAttrStrNoError(meth, __pyx_n_s_name_2); + if (likely(name_attr)) { + ret = PyObject_RichCompareBool(name_attr, name, Py_EQ); + } else { + ret = -1; + } + if (unlikely(ret < 0)) { + PyErr_Clear(); + ret = 0; + } + Py_XDECREF(name_attr); + return ret; +} +static int __Pyx_setup_reduce(PyObject* type_obj) { + int ret = 0; + PyObject *object_reduce = NULL; + PyObject *object_getstate = NULL; + PyObject *object_reduce_ex = NULL; + PyObject *reduce = NULL; + PyObject *reduce_ex = NULL; + PyObject *reduce_cython = NULL; + PyObject *setstate = NULL; + PyObject *setstate_cython = NULL; + PyObject *getstate = NULL; +#if CYTHON_USE_PYTYPE_LOOKUP + getstate = _PyType_Lookup((PyTypeObject*)type_obj, __pyx_n_s_getstate); +#else + getstate = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_getstate); + if (!getstate && PyErr_Occurred()) { + goto __PYX_BAD; + } +#endif + if (getstate) { +#if CYTHON_USE_PYTYPE_LOOKUP + object_getstate = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_getstate); +#else + object_getstate = __Pyx_PyObject_GetAttrStrNoError((PyObject*)&PyBaseObject_Type, __pyx_n_s_getstate); + if (!object_getstate && PyErr_Occurred()) { + goto __PYX_BAD; + } +#endif + if (object_getstate != getstate) { + goto __PYX_GOOD; + } + } +#if CYTHON_USE_PYTYPE_LOOKUP + object_reduce_ex = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; +#else + object_reduce_ex = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; +#endif + reduce_ex = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce_ex); if (unlikely(!reduce_ex)) goto __PYX_BAD; + if (reduce_ex == object_reduce_ex) { +#if CYTHON_USE_PYTYPE_LOOKUP + object_reduce = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; +#else + object_reduce = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; +#endif + reduce = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce); if (unlikely(!reduce)) goto __PYX_BAD; + if (reduce == object_reduce || __Pyx_setup_reduce_is_named(reduce, __pyx_n_s_reduce_cython)) { + reduce_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_reduce_cython); + if (likely(reduce_cython)) { + ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce, reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + } else if (reduce == object_reduce || PyErr_Occurred()) { + goto __PYX_BAD; + } + setstate = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_setstate); + if (!setstate) PyErr_Clear(); + if (!setstate || __Pyx_setup_reduce_is_named(setstate, __pyx_n_s_setstate_cython)) { + setstate_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_setstate_cython); + if (likely(setstate_cython)) { + ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate, setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + } else if (!setstate || PyErr_Occurred()) { + goto __PYX_BAD; + } + } + PyType_Modified((PyTypeObject*)type_obj); + } + } + goto __PYX_GOOD; +__PYX_BAD: + if (!PyErr_Occurred()) { + __Pyx_TypeName type_obj_name = + __Pyx_PyType_GetName((PyTypeObject*)type_obj); + PyErr_Format(PyExc_RuntimeError, + "Unable to initialize pickling for " __Pyx_FMT_TYPENAME, type_obj_name); + __Pyx_DECREF_TypeName(type_obj_name); + } + ret = -1; +__PYX_GOOD: +#if !CYTHON_USE_PYTYPE_LOOKUP + Py_XDECREF(object_reduce); + Py_XDECREF(object_reduce_ex); + Py_XDECREF(object_getstate); + Py_XDECREF(getstate); +#endif + Py_XDECREF(reduce); + Py_XDECREF(reduce_ex); + Py_XDECREF(reduce_cython); + Py_XDECREF(setstate); + Py_XDECREF(setstate_cython); + return ret; +} +#endif + +/* SetVTable */ +static int __Pyx_SetVtable(PyTypeObject *type, void *vtable) { + PyObject *ob = PyCapsule_New(vtable, 0, 0); + if (unlikely(!ob)) + goto bad; +#if CYTHON_COMPILING_IN_LIMITED_API + if (unlikely(PyObject_SetAttr((PyObject *) type, __pyx_n_s_pyx_vtable, ob) < 0)) +#else + if (unlikely(PyDict_SetItem(type->tp_dict, __pyx_n_s_pyx_vtable, ob) < 0)) +#endif + goto bad; + Py_DECREF(ob); + return 0; +bad: + Py_XDECREF(ob); + return -1; +} + +/* GetVTable */ +static void* __Pyx_GetVtable(PyTypeObject *type) { + void* ptr; +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *ob = PyObject_GetAttr((PyObject *)type, __pyx_n_s_pyx_vtable); +#else + PyObject *ob = PyObject_GetItem(type->tp_dict, __pyx_n_s_pyx_vtable); +#endif + if (!ob) + goto bad; + ptr = PyCapsule_GetPointer(ob, 0); + if (!ptr && !PyErr_Occurred()) + PyErr_SetString(PyExc_RuntimeError, "invalid vtable found for imported type"); + Py_DECREF(ob); + return ptr; +bad: + Py_XDECREF(ob); + return NULL; +} + +/* MergeVTables */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_MergeVtables(PyTypeObject *type) { + int i; + void** base_vtables; + __Pyx_TypeName tp_base_name; + __Pyx_TypeName base_name; + void* unknown = (void*)-1; + PyObject* bases = type->tp_bases; + int base_depth = 0; + { + PyTypeObject* base = type->tp_base; + while (base) { + base_depth += 1; + base = base->tp_base; + } + } + base_vtables = (void**) malloc(sizeof(void*) * (size_t)(base_depth + 1)); + base_vtables[0] = unknown; + for (i = 1; i < PyTuple_GET_SIZE(bases); i++) { + void* base_vtable = __Pyx_GetVtable(((PyTypeObject*)PyTuple_GET_ITEM(bases, i))); + if (base_vtable != NULL) { + int j; + PyTypeObject* base = type->tp_base; + for (j = 0; j < base_depth; j++) { + if (base_vtables[j] == unknown) { + base_vtables[j] = __Pyx_GetVtable(base); + base_vtables[j + 1] = unknown; + } + if (base_vtables[j] == base_vtable) { + break; + } else if (base_vtables[j] == NULL) { + goto bad; + } + base = base->tp_base; + } + } + } + PyErr_Clear(); + free(base_vtables); + return 0; +bad: + tp_base_name = __Pyx_PyType_GetName(type->tp_base); + base_name = __Pyx_PyType_GetName((PyTypeObject*)PyTuple_GET_ITEM(bases, i)); + PyErr_Format(PyExc_TypeError, + "multiple bases have vtable conflict: '" __Pyx_FMT_TYPENAME "' and '" __Pyx_FMT_TYPENAME "'", tp_base_name, base_name); + __Pyx_DECREF_TypeName(tp_base_name); + __Pyx_DECREF_TypeName(base_name); + free(base_vtables); + return -1; +} +#endif + +/* TypeImport */ +#ifndef __PYX_HAVE_RT_ImportType_3_0_8 +#define __PYX_HAVE_RT_ImportType_3_0_8 +static PyTypeObject *__Pyx_ImportType_3_0_8(PyObject *module, const char *module_name, const char *class_name, + size_t size, size_t alignment, enum __Pyx_ImportType_CheckSize_3_0_8 check_size) +{ + PyObject *result = 0; + char warning[200]; + Py_ssize_t basicsize; + Py_ssize_t itemsize; +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *py_basicsize; + PyObject *py_itemsize; +#endif + result = PyObject_GetAttrString(module, class_name); + if (!result) + goto bad; + if (!PyType_Check(result)) { + PyErr_Format(PyExc_TypeError, + "%.200s.%.200s is not a type object", + module_name, class_name); + goto bad; + } +#if !CYTHON_COMPILING_IN_LIMITED_API + basicsize = ((PyTypeObject *)result)->tp_basicsize; + itemsize = ((PyTypeObject *)result)->tp_itemsize; +#else + py_basicsize = PyObject_GetAttrString(result, "__basicsize__"); + if (!py_basicsize) + goto bad; + basicsize = PyLong_AsSsize_t(py_basicsize); + Py_DECREF(py_basicsize); + py_basicsize = 0; + if (basicsize == (Py_ssize_t)-1 && PyErr_Occurred()) + goto bad; + py_itemsize = PyObject_GetAttrString(result, "__itemsize__"); + if (!py_itemsize) + goto bad; + itemsize = PyLong_AsSsize_t(py_itemsize); + Py_DECREF(py_itemsize); + py_itemsize = 0; + if (itemsize == (Py_ssize_t)-1 && PyErr_Occurred()) + goto bad; +#endif + if (itemsize) { + if (size % alignment) { + alignment = size % alignment; + } + if (itemsize < (Py_ssize_t)alignment) + itemsize = (Py_ssize_t)alignment; + } + if ((size_t)(basicsize + itemsize) < size) { + PyErr_Format(PyExc_ValueError, + "%.200s.%.200s size changed, may indicate binary incompatibility. " + "Expected %zd from C header, got %zd from PyObject", + module_name, class_name, size, basicsize+itemsize); + goto bad; + } + if (check_size == __Pyx_ImportType_CheckSize_Error_3_0_8 && + ((size_t)basicsize > size || (size_t)(basicsize + itemsize) < size)) { + PyErr_Format(PyExc_ValueError, + "%.200s.%.200s size changed, may indicate binary incompatibility. " + "Expected %zd from C header, got %zd-%zd from PyObject", + module_name, class_name, size, basicsize, basicsize+itemsize); + goto bad; + } + else if (check_size == __Pyx_ImportType_CheckSize_Warn_3_0_8 && (size_t)basicsize > size) { + PyOS_snprintf(warning, sizeof(warning), + "%s.%s size changed, may indicate binary incompatibility. " + "Expected %zd from C header, got %zd from PyObject", + module_name, class_name, size, basicsize); + if (PyErr_WarnEx(NULL, warning, 0) < 0) goto bad; + } + return (PyTypeObject *)result; +bad: + Py_XDECREF(result); + return NULL; +} +#endif + +/* CalculateMetaclass */ +static PyObject *__Pyx_CalculateMetaclass(PyTypeObject *metaclass, PyObject *bases) { + Py_ssize_t i, nbases; +#if CYTHON_ASSUME_SAFE_MACROS + nbases = PyTuple_GET_SIZE(bases); +#else + nbases = PyTuple_Size(bases); + if (nbases < 0) return NULL; +#endif + for (i=0; i < nbases; i++) { + PyTypeObject *tmptype; +#if CYTHON_ASSUME_SAFE_MACROS + PyObject *tmp = PyTuple_GET_ITEM(bases, i); +#else + PyObject *tmp = PyTuple_GetItem(bases, i); + if (!tmp) return NULL; +#endif + tmptype = Py_TYPE(tmp); +#if PY_MAJOR_VERSION < 3 + if (tmptype == &PyClass_Type) + continue; +#endif + if (!metaclass) { + metaclass = tmptype; + continue; + } + if (PyType_IsSubtype(metaclass, tmptype)) + continue; + if (PyType_IsSubtype(tmptype, metaclass)) { + metaclass = tmptype; + continue; + } + PyErr_SetString(PyExc_TypeError, + "metaclass conflict: " + "the metaclass of a derived class " + "must be a (non-strict) subclass " + "of the metaclasses of all its bases"); + return NULL; + } + if (!metaclass) { +#if PY_MAJOR_VERSION < 3 + metaclass = &PyClass_Type; +#else + metaclass = &PyType_Type; +#endif + } + Py_INCREF((PyObject*) metaclass); + return (PyObject*) metaclass; +} + +/* PyObjectCall2Args */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call2Args(PyObject* function, PyObject* arg1, PyObject* arg2) { + PyObject *args[3] = {NULL, arg1, arg2}; + return __Pyx_PyObject_FastCall(function, args+1, 2 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET); +} + +/* PyObjectLookupSpecial */ +#if CYTHON_USE_PYTYPE_LOOKUP && CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject* __Pyx__PyObject_LookupSpecial(PyObject* obj, PyObject* attr_name, int with_error) { + PyObject *res; + PyTypeObject *tp = Py_TYPE(obj); +#if PY_MAJOR_VERSION < 3 + if (unlikely(PyInstance_Check(obj))) + return with_error ? __Pyx_PyObject_GetAttrStr(obj, attr_name) : __Pyx_PyObject_GetAttrStrNoError(obj, attr_name); +#endif + res = _PyType_Lookup(tp, attr_name); + if (likely(res)) { + descrgetfunc f = Py_TYPE(res)->tp_descr_get; + if (!f) { + Py_INCREF(res); + } else { + res = f(res, obj, (PyObject *)tp); + } + } else if (with_error) { + PyErr_SetObject(PyExc_AttributeError, attr_name); + } + return res; +} +#endif + +/* Py3ClassCreate */ +static PyObject *__Pyx_Py3MetaclassPrepare(PyObject *metaclass, PyObject *bases, PyObject *name, + PyObject *qualname, PyObject *mkw, PyObject *modname, PyObject *doc) { + PyObject *ns; + if (metaclass) { + PyObject *prep = __Pyx_PyObject_GetAttrStrNoError(metaclass, __pyx_n_s_prepare); + if (prep) { + PyObject *pargs[3] = {NULL, name, bases}; + ns = __Pyx_PyObject_FastCallDict(prep, pargs+1, 2 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET, mkw); + Py_DECREF(prep); + } else { + if (unlikely(PyErr_Occurred())) + return NULL; + ns = PyDict_New(); + } + } else { + ns = PyDict_New(); + } + if (unlikely(!ns)) + return NULL; + if (unlikely(PyObject_SetItem(ns, __pyx_n_s_module, modname) < 0)) goto bad; +#if PY_VERSION_HEX >= 0x03030000 + if (unlikely(PyObject_SetItem(ns, __pyx_n_s_qualname, qualname) < 0)) goto bad; +#else + CYTHON_MAYBE_UNUSED_VAR(qualname); +#endif + if (unlikely(doc && PyObject_SetItem(ns, __pyx_n_s_doc, doc) < 0)) goto bad; + return ns; +bad: + Py_DECREF(ns); + return NULL; +} +#if PY_VERSION_HEX < 0x030600A4 && CYTHON_PEP487_INIT_SUBCLASS +static int __Pyx_SetNamesPEP487(PyObject *type_obj) { + PyTypeObject *type = (PyTypeObject*) type_obj; + PyObject *names_to_set, *key, *value, *set_name, *tmp; + Py_ssize_t i = 0; +#if CYTHON_USE_TYPE_SLOTS + names_to_set = PyDict_Copy(type->tp_dict); +#else + { + PyObject *d = PyObject_GetAttr(type_obj, __pyx_n_s_dict); + names_to_set = NULL; + if (likely(d)) { + PyObject *names_to_set = PyDict_New(); + int ret = likely(names_to_set) ? PyDict_Update(names_to_set, d) : -1; + Py_DECREF(d); + if (unlikely(ret < 0)) + Py_CLEAR(names_to_set); + } + } +#endif + if (unlikely(names_to_set == NULL)) + goto bad; + while (PyDict_Next(names_to_set, &i, &key, &value)) { + set_name = __Pyx_PyObject_LookupSpecialNoError(value, __pyx_n_s_set_name); + if (unlikely(set_name != NULL)) { + tmp = __Pyx_PyObject_Call2Args(set_name, type_obj, key); + Py_DECREF(set_name); + if (unlikely(tmp == NULL)) { + __Pyx_TypeName value_type_name = + __Pyx_PyType_GetName(Py_TYPE(value)); + __Pyx_TypeName type_name = __Pyx_PyType_GetName(type); + PyErr_Format(PyExc_RuntimeError, +#if PY_MAJOR_VERSION >= 3 + "Error calling __set_name__ on '" __Pyx_FMT_TYPENAME "' instance %R " "in '" __Pyx_FMT_TYPENAME "'", + value_type_name, key, type_name); +#else + "Error calling __set_name__ on '" __Pyx_FMT_TYPENAME "' instance %.100s in '" __Pyx_FMT_TYPENAME "'", + value_type_name, + PyString_Check(key) ? PyString_AS_STRING(key) : "?", + type_name); +#endif + goto bad; + } else { + Py_DECREF(tmp); + } + } + else if (unlikely(PyErr_Occurred())) { + goto bad; + } + } + Py_DECREF(names_to_set); + return 0; +bad: + Py_XDECREF(names_to_set); + return -1; +} +static PyObject *__Pyx_InitSubclassPEP487(PyObject *type_obj, PyObject *mkw) { +#if CYTHON_USE_TYPE_SLOTS && CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + PyTypeObject *type = (PyTypeObject*) type_obj; + PyObject *mro = type->tp_mro; + Py_ssize_t i, nbases; + if (unlikely(!mro)) goto done; + (void) &__Pyx_GetBuiltinName; + Py_INCREF(mro); + nbases = PyTuple_GET_SIZE(mro); + assert(PyTuple_GET_ITEM(mro, 0) == type_obj); + for (i = 1; i < nbases-1; i++) { + PyObject *base, *dict, *meth; + base = PyTuple_GET_ITEM(mro, i); + dict = ((PyTypeObject *)base)->tp_dict; + meth = __Pyx_PyDict_GetItemStrWithError(dict, __pyx_n_s_init_subclass); + if (unlikely(meth)) { + descrgetfunc f = Py_TYPE(meth)->tp_descr_get; + PyObject *res; + Py_INCREF(meth); + if (likely(f)) { + res = f(meth, NULL, type_obj); + Py_DECREF(meth); + if (unlikely(!res)) goto bad; + meth = res; + } + res = __Pyx_PyObject_FastCallDict(meth, NULL, 0, mkw); + Py_DECREF(meth); + if (unlikely(!res)) goto bad; + Py_DECREF(res); + goto done; + } else if (unlikely(PyErr_Occurred())) { + goto bad; + } + } +done: + Py_XDECREF(mro); + return type_obj; +bad: + Py_XDECREF(mro); + Py_DECREF(type_obj); + return NULL; +#else + PyObject *super_type, *super, *func, *res; +#if CYTHON_COMPILING_IN_PYPY && !defined(PySuper_Type) + super_type = __Pyx_GetBuiltinName(__pyx_n_s_super); +#else + super_type = (PyObject*) &PySuper_Type; + (void) &__Pyx_GetBuiltinName; +#endif + super = likely(super_type) ? __Pyx_PyObject_Call2Args(super_type, type_obj, type_obj) : NULL; +#if CYTHON_COMPILING_IN_PYPY && !defined(PySuper_Type) + Py_XDECREF(super_type); +#endif + if (unlikely(!super)) { + Py_CLEAR(type_obj); + goto done; + } + func = __Pyx_PyObject_GetAttrStrNoError(super, __pyx_n_s_init_subclass); + Py_DECREF(super); + if (likely(!func)) { + if (unlikely(PyErr_Occurred())) + Py_CLEAR(type_obj); + goto done; + } + res = __Pyx_PyObject_FastCallDict(func, NULL, 0, mkw); + Py_DECREF(func); + if (unlikely(!res)) + Py_CLEAR(type_obj); + Py_XDECREF(res); +done: + return type_obj; +#endif +} +#endif +static PyObject *__Pyx_Py3ClassCreate(PyObject *metaclass, PyObject *name, PyObject *bases, + PyObject *dict, PyObject *mkw, + int calculate_metaclass, int allow_py2_metaclass) { + PyObject *result; + PyObject *owned_metaclass = NULL; + PyObject *margs[4] = {NULL, name, bases, dict}; + if (allow_py2_metaclass) { + owned_metaclass = PyObject_GetItem(dict, __pyx_n_s_metaclass); + if (owned_metaclass) { + metaclass = owned_metaclass; + } else if (likely(PyErr_ExceptionMatches(PyExc_KeyError))) { + PyErr_Clear(); + } else { + return NULL; + } + } + if (calculate_metaclass && (!metaclass || PyType_Check(metaclass))) { + metaclass = __Pyx_CalculateMetaclass((PyTypeObject*) metaclass, bases); + Py_XDECREF(owned_metaclass); + if (unlikely(!metaclass)) + return NULL; + owned_metaclass = metaclass; + } + result = __Pyx_PyObject_FastCallDict(metaclass, margs+1, 3 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET, +#if PY_VERSION_HEX < 0x030600A4 + (metaclass == (PyObject*)&PyType_Type) ? NULL : mkw +#else + mkw +#endif + ); + Py_XDECREF(owned_metaclass); +#if PY_VERSION_HEX < 0x030600A4 && CYTHON_PEP487_INIT_SUBCLASS + if (likely(result) && likely(PyType_Check(result))) { + if (unlikely(__Pyx_SetNamesPEP487(result) < 0)) { + Py_CLEAR(result); + } else { + result = __Pyx_InitSubclassPEP487(result, mkw); + } + } +#else + (void) &__Pyx_GetBuiltinName; +#endif + return result; +} + +/* FetchSharedCythonModule */ +static PyObject *__Pyx_FetchSharedCythonABIModule(void) { + return __Pyx_PyImport_AddModuleRef((char*) __PYX_ABI_MODULE_NAME); +} + +/* FetchCommonType */ +static int __Pyx_VerifyCachedType(PyObject *cached_type, + const char *name, + Py_ssize_t basicsize, + Py_ssize_t expected_basicsize) { + if (!PyType_Check(cached_type)) { + PyErr_Format(PyExc_TypeError, + "Shared Cython type %.200s is not a type object", name); + return -1; + } + if (basicsize != expected_basicsize) { + PyErr_Format(PyExc_TypeError, + "Shared Cython type %.200s has the wrong size, try recompiling", + name); + return -1; + } + return 0; +} +#if !CYTHON_USE_TYPE_SPECS +static PyTypeObject* __Pyx_FetchCommonType(PyTypeObject* type) { + PyObject* abi_module; + const char* object_name; + PyTypeObject *cached_type = NULL; + abi_module = __Pyx_FetchSharedCythonABIModule(); + if (!abi_module) return NULL; + object_name = strrchr(type->tp_name, '.'); + object_name = object_name ? object_name+1 : type->tp_name; + cached_type = (PyTypeObject*) PyObject_GetAttrString(abi_module, object_name); + if (cached_type) { + if (__Pyx_VerifyCachedType( + (PyObject *)cached_type, + object_name, + cached_type->tp_basicsize, + type->tp_basicsize) < 0) { + goto bad; + } + goto done; + } + if (!PyErr_ExceptionMatches(PyExc_AttributeError)) goto bad; + PyErr_Clear(); + if (PyType_Ready(type) < 0) goto bad; + if (PyObject_SetAttrString(abi_module, object_name, (PyObject *)type) < 0) + goto bad; + Py_INCREF(type); + cached_type = type; +done: + Py_DECREF(abi_module); + return cached_type; +bad: + Py_XDECREF(cached_type); + cached_type = NULL; + goto done; +} +#else +static PyTypeObject *__Pyx_FetchCommonTypeFromSpec(PyObject *module, PyType_Spec *spec, PyObject *bases) { + PyObject *abi_module, *cached_type = NULL; + const char* object_name = strrchr(spec->name, '.'); + object_name = object_name ? object_name+1 : spec->name; + abi_module = __Pyx_FetchSharedCythonABIModule(); + if (!abi_module) return NULL; + cached_type = PyObject_GetAttrString(abi_module, object_name); + if (cached_type) { + Py_ssize_t basicsize; +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *py_basicsize; + py_basicsize = PyObject_GetAttrString(cached_type, "__basicsize__"); + if (unlikely(!py_basicsize)) goto bad; + basicsize = PyLong_AsSsize_t(py_basicsize); + Py_DECREF(py_basicsize); + py_basicsize = 0; + if (unlikely(basicsize == (Py_ssize_t)-1) && PyErr_Occurred()) goto bad; +#else + basicsize = likely(PyType_Check(cached_type)) ? ((PyTypeObject*) cached_type)->tp_basicsize : -1; +#endif + if (__Pyx_VerifyCachedType( + cached_type, + object_name, + basicsize, + spec->basicsize) < 0) { + goto bad; + } + goto done; + } + if (!PyErr_ExceptionMatches(PyExc_AttributeError)) goto bad; + PyErr_Clear(); + CYTHON_UNUSED_VAR(module); + cached_type = __Pyx_PyType_FromModuleAndSpec(abi_module, spec, bases); + if (unlikely(!cached_type)) goto bad; + if (unlikely(__Pyx_fix_up_extension_type_from_spec(spec, (PyTypeObject *) cached_type) < 0)) goto bad; + if (PyObject_SetAttrString(abi_module, object_name, cached_type) < 0) goto bad; +done: + Py_DECREF(abi_module); + assert(cached_type == NULL || PyType_Check(cached_type)); + return (PyTypeObject *) cached_type; +bad: + Py_XDECREF(cached_type); + cached_type = NULL; + goto done; +} +#endif + +/* PyVectorcallFastCallDict */ +#if CYTHON_METH_FASTCALL +static PyObject *__Pyx_PyVectorcall_FastCallDict_kw(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw) +{ + PyObject *res = NULL; + PyObject *kwnames; + PyObject **newargs; + PyObject **kwvalues; + Py_ssize_t i, pos; + size_t j; + PyObject *key, *value; + unsigned long keys_are_strings; + Py_ssize_t nkw = PyDict_GET_SIZE(kw); + newargs = (PyObject **)PyMem_Malloc((nargs + (size_t)nkw) * sizeof(args[0])); + if (unlikely(newargs == NULL)) { + PyErr_NoMemory(); + return NULL; + } + for (j = 0; j < nargs; j++) newargs[j] = args[j]; + kwnames = PyTuple_New(nkw); + if (unlikely(kwnames == NULL)) { + PyMem_Free(newargs); + return NULL; + } + kwvalues = newargs + nargs; + pos = i = 0; + keys_are_strings = Py_TPFLAGS_UNICODE_SUBCLASS; + while (PyDict_Next(kw, &pos, &key, &value)) { + keys_are_strings &= Py_TYPE(key)->tp_flags; + Py_INCREF(key); + Py_INCREF(value); + PyTuple_SET_ITEM(kwnames, i, key); + kwvalues[i] = value; + i++; + } + if (unlikely(!keys_are_strings)) { + PyErr_SetString(PyExc_TypeError, "keywords must be strings"); + goto cleanup; + } + res = vc(func, newargs, nargs, kwnames); +cleanup: + Py_DECREF(kwnames); + for (i = 0; i < nkw; i++) + Py_DECREF(kwvalues[i]); + PyMem_Free(newargs); + return res; +} +static CYTHON_INLINE PyObject *__Pyx_PyVectorcall_FastCallDict(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw) +{ + if (likely(kw == NULL) || PyDict_GET_SIZE(kw) == 0) { + return vc(func, args, nargs, NULL); + } + return __Pyx_PyVectorcall_FastCallDict_kw(func, vc, args, nargs, kw); +} +#endif + +/* CythonFunctionShared */ +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc) { + if (__Pyx_CyFunction_Check(func)) { + return PyCFunction_GetFunction(((__pyx_CyFunctionObject*)func)->func) == (PyCFunction) cfunc; + } else if (PyCFunction_Check(func)) { + return PyCFunction_GetFunction(func) == (PyCFunction) cfunc; + } + return 0; +} +#else +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc) { + return __Pyx_CyOrPyCFunction_Check(func) && __Pyx_CyOrPyCFunction_GET_FUNCTION(func) == (PyCFunction) cfunc; +} +#endif +static CYTHON_INLINE void __Pyx__CyFunction_SetClassObj(__pyx_CyFunctionObject* f, PyObject* classobj) { +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + __Pyx_Py_XDECREF_SET( + __Pyx_CyFunction_GetClassObj(f), + ((classobj) ? __Pyx_NewRef(classobj) : NULL)); +#else + __Pyx_Py_XDECREF_SET( + ((PyCMethodObject *) (f))->mm_class, + (PyTypeObject*)((classobj) ? __Pyx_NewRef(classobj) : NULL)); +#endif +} +static PyObject * +__Pyx_CyFunction_get_doc(__pyx_CyFunctionObject *op, void *closure) +{ + CYTHON_UNUSED_VAR(closure); + if (unlikely(op->func_doc == NULL)) { +#if CYTHON_COMPILING_IN_LIMITED_API + op->func_doc = PyObject_GetAttrString(op->func, "__doc__"); + if (unlikely(!op->func_doc)) return NULL; +#else + if (((PyCFunctionObject*)op)->m_ml->ml_doc) { +#if PY_MAJOR_VERSION >= 3 + op->func_doc = PyUnicode_FromString(((PyCFunctionObject*)op)->m_ml->ml_doc); +#else + op->func_doc = PyString_FromString(((PyCFunctionObject*)op)->m_ml->ml_doc); +#endif + if (unlikely(op->func_doc == NULL)) + return NULL; + } else { + Py_INCREF(Py_None); + return Py_None; + } +#endif + } + Py_INCREF(op->func_doc); + return op->func_doc; +} +static int +__Pyx_CyFunction_set_doc(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (value == NULL) { + value = Py_None; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_doc, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_name(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(op->func_name == NULL)) { +#if CYTHON_COMPILING_IN_LIMITED_API + op->func_name = PyObject_GetAttrString(op->func, "__name__"); +#elif PY_MAJOR_VERSION >= 3 + op->func_name = PyUnicode_InternFromString(((PyCFunctionObject*)op)->m_ml->ml_name); +#else + op->func_name = PyString_InternFromString(((PyCFunctionObject*)op)->m_ml->ml_name); +#endif + if (unlikely(op->func_name == NULL)) + return NULL; + } + Py_INCREF(op->func_name); + return op->func_name; +} +static int +__Pyx_CyFunction_set_name(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); +#if PY_MAJOR_VERSION >= 3 + if (unlikely(value == NULL || !PyUnicode_Check(value))) +#else + if (unlikely(value == NULL || !PyString_Check(value))) +#endif + { + PyErr_SetString(PyExc_TypeError, + "__name__ must be set to a string object"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_name, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_qualname(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + Py_INCREF(op->func_qualname); + return op->func_qualname; +} +static int +__Pyx_CyFunction_set_qualname(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); +#if PY_MAJOR_VERSION >= 3 + if (unlikely(value == NULL || !PyUnicode_Check(value))) +#else + if (unlikely(value == NULL || !PyString_Check(value))) +#endif + { + PyErr_SetString(PyExc_TypeError, + "__qualname__ must be set to a string object"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_qualname, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_dict(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(op->func_dict == NULL)) { + op->func_dict = PyDict_New(); + if (unlikely(op->func_dict == NULL)) + return NULL; + } + Py_INCREF(op->func_dict); + return op->func_dict; +} +static int +__Pyx_CyFunction_set_dict(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(value == NULL)) { + PyErr_SetString(PyExc_TypeError, + "function's dictionary may not be deleted"); + return -1; + } + if (unlikely(!PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "setting function's dictionary to a non-dict"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_dict, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_globals(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + Py_INCREF(op->func_globals); + return op->func_globals; +} +static PyObject * +__Pyx_CyFunction_get_closure(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(op); + CYTHON_UNUSED_VAR(context); + Py_INCREF(Py_None); + return Py_None; +} +static PyObject * +__Pyx_CyFunction_get_code(__pyx_CyFunctionObject *op, void *context) +{ + PyObject* result = (op->func_code) ? op->func_code : Py_None; + CYTHON_UNUSED_VAR(context); + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_init_defaults(__pyx_CyFunctionObject *op) { + int result = 0; + PyObject *res = op->defaults_getter((PyObject *) op); + if (unlikely(!res)) + return -1; + #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + op->defaults_tuple = PyTuple_GET_ITEM(res, 0); + Py_INCREF(op->defaults_tuple); + op->defaults_kwdict = PyTuple_GET_ITEM(res, 1); + Py_INCREF(op->defaults_kwdict); + #else + op->defaults_tuple = __Pyx_PySequence_ITEM(res, 0); + if (unlikely(!op->defaults_tuple)) result = -1; + else { + op->defaults_kwdict = __Pyx_PySequence_ITEM(res, 1); + if (unlikely(!op->defaults_kwdict)) result = -1; + } + #endif + Py_DECREF(res); + return result; +} +static int +__Pyx_CyFunction_set_defaults(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value) { + value = Py_None; + } else if (unlikely(value != Py_None && !PyTuple_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__defaults__ must be set to a tuple object"); + return -1; + } + PyErr_WarnEx(PyExc_RuntimeWarning, "changes to cyfunction.__defaults__ will not " + "currently affect the values used in function calls", 1); + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->defaults_tuple, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_defaults(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->defaults_tuple; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + if (op->defaults_getter) { + if (unlikely(__Pyx_CyFunction_init_defaults(op) < 0)) return NULL; + result = op->defaults_tuple; + } else { + result = Py_None; + } + } + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_set_kwdefaults(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value) { + value = Py_None; + } else if (unlikely(value != Py_None && !PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__kwdefaults__ must be set to a dict object"); + return -1; + } + PyErr_WarnEx(PyExc_RuntimeWarning, "changes to cyfunction.__kwdefaults__ will not " + "currently affect the values used in function calls", 1); + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->defaults_kwdict, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_kwdefaults(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->defaults_kwdict; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + if (op->defaults_getter) { + if (unlikely(__Pyx_CyFunction_init_defaults(op) < 0)) return NULL; + result = op->defaults_kwdict; + } else { + result = Py_None; + } + } + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_set_annotations(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value || value == Py_None) { + value = NULL; + } else if (unlikely(!PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__annotations__ must be set to a dict object"); + return -1; + } + Py_XINCREF(value); + __Pyx_Py_XDECREF_SET(op->func_annotations, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_annotations(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->func_annotations; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + result = PyDict_New(); + if (unlikely(!result)) return NULL; + op->func_annotations = result; + } + Py_INCREF(result); + return result; +} +static PyObject * +__Pyx_CyFunction_get_is_coroutine(__pyx_CyFunctionObject *op, void *context) { + int is_coroutine; + CYTHON_UNUSED_VAR(context); + if (op->func_is_coroutine) { + return __Pyx_NewRef(op->func_is_coroutine); + } + is_coroutine = op->flags & __Pyx_CYFUNCTION_COROUTINE; +#if PY_VERSION_HEX >= 0x03050000 + if (is_coroutine) { + PyObject *module, *fromlist, *marker = __pyx_n_s_is_coroutine; + fromlist = PyList_New(1); + if (unlikely(!fromlist)) return NULL; + Py_INCREF(marker); +#if CYTHON_ASSUME_SAFE_MACROS + PyList_SET_ITEM(fromlist, 0, marker); +#else + if (unlikely(PyList_SetItem(fromlist, 0, marker) < 0)) { + Py_DECREF(marker); + Py_DECREF(fromlist); + return NULL; + } +#endif + module = PyImport_ImportModuleLevelObject(__pyx_n_s_asyncio_coroutines, NULL, NULL, fromlist, 0); + Py_DECREF(fromlist); + if (unlikely(!module)) goto ignore; + op->func_is_coroutine = __Pyx_PyObject_GetAttrStr(module, marker); + Py_DECREF(module); + if (likely(op->func_is_coroutine)) { + return __Pyx_NewRef(op->func_is_coroutine); + } +ignore: + PyErr_Clear(); + } +#endif + op->func_is_coroutine = __Pyx_PyBool_FromLong(is_coroutine); + return __Pyx_NewRef(op->func_is_coroutine); +} +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject * +__Pyx_CyFunction_get_module(__pyx_CyFunctionObject *op, void *context) { + CYTHON_UNUSED_VAR(context); + return PyObject_GetAttrString(op->func, "__module__"); +} +static int +__Pyx_CyFunction_set_module(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + return PyObject_SetAttrString(op->func, "__module__", value); +} +#endif +static PyGetSetDef __pyx_CyFunction_getsets[] = { + {(char *) "func_doc", (getter)__Pyx_CyFunction_get_doc, (setter)__Pyx_CyFunction_set_doc, 0, 0}, + {(char *) "__doc__", (getter)__Pyx_CyFunction_get_doc, (setter)__Pyx_CyFunction_set_doc, 0, 0}, + {(char *) "func_name", (getter)__Pyx_CyFunction_get_name, (setter)__Pyx_CyFunction_set_name, 0, 0}, + {(char *) "__name__", (getter)__Pyx_CyFunction_get_name, (setter)__Pyx_CyFunction_set_name, 0, 0}, + {(char *) "__qualname__", (getter)__Pyx_CyFunction_get_qualname, (setter)__Pyx_CyFunction_set_qualname, 0, 0}, + {(char *) "func_dict", (getter)__Pyx_CyFunction_get_dict, (setter)__Pyx_CyFunction_set_dict, 0, 0}, + {(char *) "__dict__", (getter)__Pyx_CyFunction_get_dict, (setter)__Pyx_CyFunction_set_dict, 0, 0}, + {(char *) "func_globals", (getter)__Pyx_CyFunction_get_globals, 0, 0, 0}, + {(char *) "__globals__", (getter)__Pyx_CyFunction_get_globals, 0, 0, 0}, + {(char *) "func_closure", (getter)__Pyx_CyFunction_get_closure, 0, 0, 0}, + {(char *) "__closure__", (getter)__Pyx_CyFunction_get_closure, 0, 0, 0}, + {(char *) "func_code", (getter)__Pyx_CyFunction_get_code, 0, 0, 0}, + {(char *) "__code__", (getter)__Pyx_CyFunction_get_code, 0, 0, 0}, + {(char *) "func_defaults", (getter)__Pyx_CyFunction_get_defaults, (setter)__Pyx_CyFunction_set_defaults, 0, 0}, + {(char *) "__defaults__", (getter)__Pyx_CyFunction_get_defaults, (setter)__Pyx_CyFunction_set_defaults, 0, 0}, + {(char *) "__kwdefaults__", (getter)__Pyx_CyFunction_get_kwdefaults, (setter)__Pyx_CyFunction_set_kwdefaults, 0, 0}, + {(char *) "__annotations__", (getter)__Pyx_CyFunction_get_annotations, (setter)__Pyx_CyFunction_set_annotations, 0, 0}, + {(char *) "_is_coroutine", (getter)__Pyx_CyFunction_get_is_coroutine, 0, 0, 0}, +#if CYTHON_COMPILING_IN_LIMITED_API + {"__module__", (getter)__Pyx_CyFunction_get_module, (setter)__Pyx_CyFunction_set_module, 0, 0}, +#endif + {0, 0, 0, 0, 0} +}; +static PyMemberDef __pyx_CyFunction_members[] = { +#if !CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__module__", T_OBJECT, offsetof(PyCFunctionObject, m_module), 0, 0}, +#endif +#if CYTHON_USE_TYPE_SPECS + {(char *) "__dictoffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_dict), READONLY, 0}, +#if CYTHON_METH_FASTCALL +#if CYTHON_BACKPORT_VECTORCALL + {(char *) "__vectorcalloffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_vectorcall), READONLY, 0}, +#else +#if !CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__vectorcalloffset__", T_PYSSIZET, offsetof(PyCFunctionObject, vectorcall), READONLY, 0}, +#endif +#endif +#endif +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__weaklistoffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_weakreflist), READONLY, 0}, +#else + {(char *) "__weaklistoffset__", T_PYSSIZET, offsetof(PyCFunctionObject, m_weakreflist), READONLY, 0}, +#endif +#endif + {0, 0, 0, 0, 0} +}; +static PyObject * +__Pyx_CyFunction_reduce(__pyx_CyFunctionObject *m, PyObject *args) +{ + CYTHON_UNUSED_VAR(args); +#if PY_MAJOR_VERSION >= 3 + Py_INCREF(m->func_qualname); + return m->func_qualname; +#else + return PyString_FromString(((PyCFunctionObject*)m)->m_ml->ml_name); +#endif +} +static PyMethodDef __pyx_CyFunction_methods[] = { + {"__reduce__", (PyCFunction)__Pyx_CyFunction_reduce, METH_VARARGS, 0}, + {0, 0, 0, 0} +}; +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API +#define __Pyx_CyFunction_weakreflist(cyfunc) ((cyfunc)->func_weakreflist) +#else +#define __Pyx_CyFunction_weakreflist(cyfunc) (((PyCFunctionObject*)cyfunc)->m_weakreflist) +#endif +static PyObject *__Pyx_CyFunction_Init(__pyx_CyFunctionObject *op, PyMethodDef *ml, int flags, PyObject* qualname, + PyObject *closure, PyObject *module, PyObject* globals, PyObject* code) { +#if !CYTHON_COMPILING_IN_LIMITED_API + PyCFunctionObject *cf = (PyCFunctionObject*) op; +#endif + if (unlikely(op == NULL)) + return NULL; +#if CYTHON_COMPILING_IN_LIMITED_API + op->func = PyCFunction_NewEx(ml, (PyObject*)op, module); + if (unlikely(!op->func)) return NULL; +#endif + op->flags = flags; + __Pyx_CyFunction_weakreflist(op) = NULL; +#if !CYTHON_COMPILING_IN_LIMITED_API + cf->m_ml = ml; + cf->m_self = (PyObject *) op; +#endif + Py_XINCREF(closure); + op->func_closure = closure; +#if !CYTHON_COMPILING_IN_LIMITED_API + Py_XINCREF(module); + cf->m_module = module; +#endif + op->func_dict = NULL; + op->func_name = NULL; + Py_INCREF(qualname); + op->func_qualname = qualname; + op->func_doc = NULL; +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + op->func_classobj = NULL; +#else + ((PyCMethodObject*)op)->mm_class = NULL; +#endif + op->func_globals = globals; + Py_INCREF(op->func_globals); + Py_XINCREF(code); + op->func_code = code; + op->defaults_pyobjects = 0; + op->defaults_size = 0; + op->defaults = NULL; + op->defaults_tuple = NULL; + op->defaults_kwdict = NULL; + op->defaults_getter = NULL; + op->func_annotations = NULL; + op->func_is_coroutine = NULL; +#if CYTHON_METH_FASTCALL + switch (ml->ml_flags & (METH_VARARGS | METH_FASTCALL | METH_NOARGS | METH_O | METH_KEYWORDS | METH_METHOD)) { + case METH_NOARGS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_NOARGS; + break; + case METH_O: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_O; + break; + case METH_METHOD | METH_FASTCALL | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD; + break; + case METH_FASTCALL | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS; + break; + case METH_VARARGS | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = NULL; + break; + default: + PyErr_SetString(PyExc_SystemError, "Bad call flags for CyFunction"); + Py_DECREF(op); + return NULL; + } +#endif + return (PyObject *) op; +} +static int +__Pyx_CyFunction_clear(__pyx_CyFunctionObject *m) +{ + Py_CLEAR(m->func_closure); +#if CYTHON_COMPILING_IN_LIMITED_API + Py_CLEAR(m->func); +#else + Py_CLEAR(((PyCFunctionObject*)m)->m_module); +#endif + Py_CLEAR(m->func_dict); + Py_CLEAR(m->func_name); + Py_CLEAR(m->func_qualname); + Py_CLEAR(m->func_doc); + Py_CLEAR(m->func_globals); + Py_CLEAR(m->func_code); +#if !CYTHON_COMPILING_IN_LIMITED_API +#if PY_VERSION_HEX < 0x030900B1 + Py_CLEAR(__Pyx_CyFunction_GetClassObj(m)); +#else + { + PyObject *cls = (PyObject*) ((PyCMethodObject *) (m))->mm_class; + ((PyCMethodObject *) (m))->mm_class = NULL; + Py_XDECREF(cls); + } +#endif +#endif + Py_CLEAR(m->defaults_tuple); + Py_CLEAR(m->defaults_kwdict); + Py_CLEAR(m->func_annotations); + Py_CLEAR(m->func_is_coroutine); + if (m->defaults) { + PyObject **pydefaults = __Pyx_CyFunction_Defaults(PyObject *, m); + int i; + for (i = 0; i < m->defaults_pyobjects; i++) + Py_XDECREF(pydefaults[i]); + PyObject_Free(m->defaults); + m->defaults = NULL; + } + return 0; +} +static void __Pyx__CyFunction_dealloc(__pyx_CyFunctionObject *m) +{ + if (__Pyx_CyFunction_weakreflist(m) != NULL) + PyObject_ClearWeakRefs((PyObject *) m); + __Pyx_CyFunction_clear(m); + __Pyx_PyHeapTypeObject_GC_Del(m); +} +static void __Pyx_CyFunction_dealloc(__pyx_CyFunctionObject *m) +{ + PyObject_GC_UnTrack(m); + __Pyx__CyFunction_dealloc(m); +} +static int __Pyx_CyFunction_traverse(__pyx_CyFunctionObject *m, visitproc visit, void *arg) +{ + Py_VISIT(m->func_closure); +#if CYTHON_COMPILING_IN_LIMITED_API + Py_VISIT(m->func); +#else + Py_VISIT(((PyCFunctionObject*)m)->m_module); +#endif + Py_VISIT(m->func_dict); + Py_VISIT(m->func_name); + Py_VISIT(m->func_qualname); + Py_VISIT(m->func_doc); + Py_VISIT(m->func_globals); + Py_VISIT(m->func_code); +#if !CYTHON_COMPILING_IN_LIMITED_API + Py_VISIT(__Pyx_CyFunction_GetClassObj(m)); +#endif + Py_VISIT(m->defaults_tuple); + Py_VISIT(m->defaults_kwdict); + Py_VISIT(m->func_is_coroutine); + if (m->defaults) { + PyObject **pydefaults = __Pyx_CyFunction_Defaults(PyObject *, m); + int i; + for (i = 0; i < m->defaults_pyobjects; i++) + Py_VISIT(pydefaults[i]); + } + return 0; +} +static PyObject* +__Pyx_CyFunction_repr(__pyx_CyFunctionObject *op) +{ +#if PY_MAJOR_VERSION >= 3 + return PyUnicode_FromFormat("", + op->func_qualname, (void *)op); +#else + return PyString_FromFormat("", + PyString_AsString(op->func_qualname), (void *)op); +#endif +} +static PyObject * __Pyx_CyFunction_CallMethod(PyObject *func, PyObject *self, PyObject *arg, PyObject *kw) { +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *f = ((__pyx_CyFunctionObject*)func)->func; + PyObject *py_name = NULL; + PyCFunction meth; + int flags; + meth = PyCFunction_GetFunction(f); + if (unlikely(!meth)) return NULL; + flags = PyCFunction_GetFlags(f); + if (unlikely(flags < 0)) return NULL; +#else + PyCFunctionObject* f = (PyCFunctionObject*)func; + PyCFunction meth = f->m_ml->ml_meth; + int flags = f->m_ml->ml_flags; +#endif + Py_ssize_t size; + switch (flags & (METH_VARARGS | METH_KEYWORDS | METH_NOARGS | METH_O)) { + case METH_VARARGS: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) + return (*meth)(self, arg); + break; + case METH_VARARGS | METH_KEYWORDS: + return (*(PyCFunctionWithKeywords)(void*)meth)(self, arg, kw); + case METH_NOARGS: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) { +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(arg); +#else + size = PyTuple_Size(arg); + if (unlikely(size < 0)) return NULL; +#endif + if (likely(size == 0)) + return (*meth)(self, NULL); +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, + "%.200S() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + py_name, size); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, + "%.200s() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + f->m_ml->ml_name, size); +#endif + return NULL; + } + break; + case METH_O: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) { +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(arg); +#else + size = PyTuple_Size(arg); + if (unlikely(size < 0)) return NULL; +#endif + if (likely(size == 1)) { + PyObject *result, *arg0; + #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + arg0 = PyTuple_GET_ITEM(arg, 0); + #else + arg0 = __Pyx_PySequence_ITEM(arg, 0); if (unlikely(!arg0)) return NULL; + #endif + result = (*meth)(self, arg0); + #if !(CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS) + Py_DECREF(arg0); + #endif + return result; + } +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, + "%.200S() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + py_name, size); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, + "%.200s() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + f->m_ml->ml_name, size); +#endif + return NULL; + } + break; + default: + PyErr_SetString(PyExc_SystemError, "Bad call flags for CyFunction"); + return NULL; + } +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, "%.200S() takes no keyword arguments", + py_name); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, "%.200s() takes no keyword arguments", + f->m_ml->ml_name); +#endif + return NULL; +} +static CYTHON_INLINE PyObject *__Pyx_CyFunction_Call(PyObject *func, PyObject *arg, PyObject *kw) { + PyObject *self, *result; +#if CYTHON_COMPILING_IN_LIMITED_API + self = PyCFunction_GetSelf(((__pyx_CyFunctionObject*)func)->func); + if (unlikely(!self) && PyErr_Occurred()) return NULL; +#else + self = ((PyCFunctionObject*)func)->m_self; +#endif + result = __Pyx_CyFunction_CallMethod(func, self, arg, kw); + return result; +} +static PyObject *__Pyx_CyFunction_CallAsMethod(PyObject *func, PyObject *args, PyObject *kw) { + PyObject *result; + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *) func; +#if CYTHON_METH_FASTCALL + __pyx_vectorcallfunc vc = __Pyx_CyFunction_func_vectorcall(cyfunc); + if (vc) { +#if CYTHON_ASSUME_SAFE_MACROS + return __Pyx_PyVectorcall_FastCallDict(func, vc, &PyTuple_GET_ITEM(args, 0), (size_t)PyTuple_GET_SIZE(args), kw); +#else + (void) &__Pyx_PyVectorcall_FastCallDict; + return PyVectorcall_Call(func, args, kw); +#endif + } +#endif + if ((cyfunc->flags & __Pyx_CYFUNCTION_CCLASS) && !(cyfunc->flags & __Pyx_CYFUNCTION_STATICMETHOD)) { + Py_ssize_t argc; + PyObject *new_args; + PyObject *self; +#if CYTHON_ASSUME_SAFE_MACROS + argc = PyTuple_GET_SIZE(args); +#else + argc = PyTuple_Size(args); + if (unlikely(!argc) < 0) return NULL; +#endif + new_args = PyTuple_GetSlice(args, 1, argc); + if (unlikely(!new_args)) + return NULL; + self = PyTuple_GetItem(args, 0); + if (unlikely(!self)) { + Py_DECREF(new_args); +#if PY_MAJOR_VERSION > 2 + PyErr_Format(PyExc_TypeError, + "unbound method %.200S() needs an argument", + cyfunc->func_qualname); +#else + PyErr_SetString(PyExc_TypeError, + "unbound method needs an argument"); +#endif + return NULL; + } + result = __Pyx_CyFunction_CallMethod(func, self, new_args, kw); + Py_DECREF(new_args); + } else { + result = __Pyx_CyFunction_Call(func, args, kw); + } + return result; +} +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE int __Pyx_CyFunction_Vectorcall_CheckArgs(__pyx_CyFunctionObject *cyfunc, Py_ssize_t nargs, PyObject *kwnames) +{ + int ret = 0; + if ((cyfunc->flags & __Pyx_CYFUNCTION_CCLASS) && !(cyfunc->flags & __Pyx_CYFUNCTION_STATICMETHOD)) { + if (unlikely(nargs < 1)) { + PyErr_Format(PyExc_TypeError, "%.200s() needs an argument", + ((PyCFunctionObject*)cyfunc)->m_ml->ml_name); + return -1; + } + ret = 1; + } + if (unlikely(kwnames) && unlikely(PyTuple_GET_SIZE(kwnames))) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes no keyword arguments", ((PyCFunctionObject*)cyfunc)->m_ml->ml_name); + return -1; + } + return ret; +} +static PyObject * __Pyx_CyFunction_Vectorcall_NOARGS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, kwnames)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + if (unlikely(nargs != 0)) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + def->ml_name, nargs); + return NULL; + } + return def->ml_meth(self, NULL); +} +static PyObject * __Pyx_CyFunction_Vectorcall_O(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, kwnames)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + if (unlikely(nargs != 1)) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + def->ml_name, nargs); + return NULL; + } + return def->ml_meth(self, args[0]); +} +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, NULL)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + return ((_PyCFunctionFastWithKeywords)(void(*)(void))def->ml_meth)(self, args, nargs, kwnames); +} +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; + PyTypeObject *cls = (PyTypeObject *) __Pyx_CyFunction_GetClassObj(cyfunc); +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, NULL)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + return ((__Pyx_PyCMethod)(void(*)(void))def->ml_meth)(self, cls, args, (size_t)nargs, kwnames); +} +#endif +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_CyFunctionType_slots[] = { + {Py_tp_dealloc, (void *)__Pyx_CyFunction_dealloc}, + {Py_tp_repr, (void *)__Pyx_CyFunction_repr}, + {Py_tp_call, (void *)__Pyx_CyFunction_CallAsMethod}, + {Py_tp_traverse, (void *)__Pyx_CyFunction_traverse}, + {Py_tp_clear, (void *)__Pyx_CyFunction_clear}, + {Py_tp_methods, (void *)__pyx_CyFunction_methods}, + {Py_tp_members, (void *)__pyx_CyFunction_members}, + {Py_tp_getset, (void *)__pyx_CyFunction_getsets}, + {Py_tp_descr_get, (void *)__Pyx_PyMethod_New}, + {0, 0}, +}; +static PyType_Spec __pyx_CyFunctionType_spec = { + __PYX_TYPE_MODULE_PREFIX "cython_function_or_method", + sizeof(__pyx_CyFunctionObject), + 0, +#ifdef Py_TPFLAGS_METHOD_DESCRIPTOR + Py_TPFLAGS_METHOD_DESCRIPTOR | +#endif +#if (defined(_Py_TPFLAGS_HAVE_VECTORCALL) && CYTHON_METH_FASTCALL) + _Py_TPFLAGS_HAVE_VECTORCALL | +#endif + Py_TPFLAGS_DEFAULT | Py_TPFLAGS_HAVE_GC | Py_TPFLAGS_BASETYPE, + __pyx_CyFunctionType_slots +}; +#else +static PyTypeObject __pyx_CyFunctionType_type = { + PyVarObject_HEAD_INIT(0, 0) + __PYX_TYPE_MODULE_PREFIX "cython_function_or_method", + sizeof(__pyx_CyFunctionObject), + 0, + (destructor) __Pyx_CyFunction_dealloc, +#if !CYTHON_METH_FASTCALL + 0, +#elif CYTHON_BACKPORT_VECTORCALL + (printfunc)offsetof(__pyx_CyFunctionObject, func_vectorcall), +#else + offsetof(PyCFunctionObject, vectorcall), +#endif + 0, + 0, +#if PY_MAJOR_VERSION < 3 + 0, +#else + 0, +#endif + (reprfunc) __Pyx_CyFunction_repr, + 0, + 0, + 0, + 0, + __Pyx_CyFunction_CallAsMethod, + 0, + 0, + 0, + 0, +#ifdef Py_TPFLAGS_METHOD_DESCRIPTOR + Py_TPFLAGS_METHOD_DESCRIPTOR | +#endif +#if defined(_Py_TPFLAGS_HAVE_VECTORCALL) && CYTHON_METH_FASTCALL + _Py_TPFLAGS_HAVE_VECTORCALL | +#endif + Py_TPFLAGS_DEFAULT | Py_TPFLAGS_HAVE_GC | Py_TPFLAGS_BASETYPE, + 0, + (traverseproc) __Pyx_CyFunction_traverse, + (inquiry) __Pyx_CyFunction_clear, + 0, +#if PY_VERSION_HEX < 0x030500A0 + offsetof(__pyx_CyFunctionObject, func_weakreflist), +#else + offsetof(PyCFunctionObject, m_weakreflist), +#endif + 0, + 0, + __pyx_CyFunction_methods, + __pyx_CyFunction_members, + __pyx_CyFunction_getsets, + 0, + 0, + __Pyx_PyMethod_New, + 0, + offsetof(__pyx_CyFunctionObject, func_dict), + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, +#if PY_VERSION_HEX >= 0x030400a1 + 0, +#endif +#if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, +#endif +#if __PYX_NEED_TP_PRINT_SLOT + 0, +#endif +#if PY_VERSION_HEX >= 0x030C0000 + 0, +#endif +#if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, +#endif +}; +#endif +static int __pyx_CyFunction_init(PyObject *module) { +#if CYTHON_USE_TYPE_SPECS + __pyx_CyFunctionType = __Pyx_FetchCommonTypeFromSpec(module, &__pyx_CyFunctionType_spec, NULL); +#else + CYTHON_UNUSED_VAR(module); + __pyx_CyFunctionType = __Pyx_FetchCommonType(&__pyx_CyFunctionType_type); +#endif + if (unlikely(__pyx_CyFunctionType == NULL)) { + return -1; + } + return 0; +} +static CYTHON_INLINE void *__Pyx_CyFunction_InitDefaults(PyObject *func, size_t size, int pyobjects) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults = PyObject_Malloc(size); + if (unlikely(!m->defaults)) + return PyErr_NoMemory(); + memset(m->defaults, 0, size); + m->defaults_pyobjects = pyobjects; + m->defaults_size = size; + return m->defaults; +} +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsTuple(PyObject *func, PyObject *tuple) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults_tuple = tuple; + Py_INCREF(tuple); +} +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsKwDict(PyObject *func, PyObject *dict) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults_kwdict = dict; + Py_INCREF(dict); +} +static CYTHON_INLINE void __Pyx_CyFunction_SetAnnotationsDict(PyObject *func, PyObject *dict) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->func_annotations = dict; + Py_INCREF(dict); +} + +/* CythonFunction */ +static PyObject *__Pyx_CyFunction_New(PyMethodDef *ml, int flags, PyObject* qualname, + PyObject *closure, PyObject *module, PyObject* globals, PyObject* code) { + PyObject *op = __Pyx_CyFunction_Init( + PyObject_GC_New(__pyx_CyFunctionObject, __pyx_CyFunctionType), + ml, flags, qualname, closure, module, globals, code + ); + if (likely(op)) { + PyObject_GC_Track(op); + } + return op; +} + +/* CLineInTraceback */ +#ifndef CYTHON_CLINE_IN_TRACEBACK +static int __Pyx_CLineForTraceback(PyThreadState *tstate, int c_line) { + PyObject *use_cline; + PyObject *ptype, *pvalue, *ptraceback; +#if CYTHON_COMPILING_IN_CPYTHON + PyObject **cython_runtime_dict; +#endif + CYTHON_MAYBE_UNUSED_VAR(tstate); + if (unlikely(!__pyx_cython_runtime)) { + return c_line; + } + __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); +#if CYTHON_COMPILING_IN_CPYTHON + cython_runtime_dict = _PyObject_GetDictPtr(__pyx_cython_runtime); + if (likely(cython_runtime_dict)) { + __PYX_PY_DICT_LOOKUP_IF_MODIFIED( + use_cline, *cython_runtime_dict, + __Pyx_PyDict_GetItemStr(*cython_runtime_dict, __pyx_n_s_cline_in_traceback)) + } else +#endif + { + PyObject *use_cline_obj = __Pyx_PyObject_GetAttrStrNoError(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback); + if (use_cline_obj) { + use_cline = PyObject_Not(use_cline_obj) ? Py_False : Py_True; + Py_DECREF(use_cline_obj); + } else { + PyErr_Clear(); + use_cline = NULL; + } + } + if (!use_cline) { + c_line = 0; + (void) PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False); + } + else if (use_cline == Py_False || (use_cline != Py_True && PyObject_Not(use_cline) != 0)) { + c_line = 0; + } + __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); + return c_line; +} +#endif + +/* CodeObjectCache */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line) { + int start = 0, mid = 0, end = count - 1; + if (end >= 0 && code_line > entries[end].code_line) { + return count; + } + while (start < end) { + mid = start + (end - start) / 2; + if (code_line < entries[mid].code_line) { + end = mid; + } else if (code_line > entries[mid].code_line) { + start = mid + 1; + } else { + return mid; + } + } + if (code_line <= entries[mid].code_line) { + return mid; + } else { + return mid + 1; + } +} +static PyCodeObject *__pyx_find_code_object(int code_line) { + PyCodeObject* code_object; + int pos; + if (unlikely(!code_line) || unlikely(!__pyx_code_cache.entries)) { + return NULL; + } + pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); + if (unlikely(pos >= __pyx_code_cache.count) || unlikely(__pyx_code_cache.entries[pos].code_line != code_line)) { + return NULL; + } + code_object = __pyx_code_cache.entries[pos].code_object; + Py_INCREF(code_object); + return code_object; +} +static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object) { + int pos, i; + __Pyx_CodeObjectCacheEntry* entries = __pyx_code_cache.entries; + if (unlikely(!code_line)) { + return; + } + if (unlikely(!entries)) { + entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Malloc(64*sizeof(__Pyx_CodeObjectCacheEntry)); + if (likely(entries)) { + __pyx_code_cache.entries = entries; + __pyx_code_cache.max_count = 64; + __pyx_code_cache.count = 1; + entries[0].code_line = code_line; + entries[0].code_object = code_object; + Py_INCREF(code_object); + } + return; + } + pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); + if ((pos < __pyx_code_cache.count) && unlikely(__pyx_code_cache.entries[pos].code_line == code_line)) { + PyCodeObject* tmp = entries[pos].code_object; + entries[pos].code_object = code_object; + Py_DECREF(tmp); + return; + } + if (__pyx_code_cache.count == __pyx_code_cache.max_count) { + int new_max = __pyx_code_cache.max_count + 64; + entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Realloc( + __pyx_code_cache.entries, ((size_t)new_max) * sizeof(__Pyx_CodeObjectCacheEntry)); + if (unlikely(!entries)) { + return; + } + __pyx_code_cache.entries = entries; + __pyx_code_cache.max_count = new_max; + } + for (i=__pyx_code_cache.count; i>pos; i--) { + entries[i] = entries[i-1]; + } + entries[pos].code_line = code_line; + entries[pos].code_object = code_object; + __pyx_code_cache.count++; + Py_INCREF(code_object); +} +#endif + +/* AddTraceback */ +#include "compile.h" +#include "frameobject.h" +#include "traceback.h" +#if PY_VERSION_HEX >= 0x030b00a6 && !CYTHON_COMPILING_IN_LIMITED_API + #ifndef Py_BUILD_CORE + #define Py_BUILD_CORE 1 + #endif + #include "internal/pycore_frame.h" +#endif +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject *__Pyx_PyCode_Replace_For_AddTraceback(PyObject *code, PyObject *scratch_dict, + PyObject *firstlineno, PyObject *name) { + PyObject *replace = NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "co_firstlineno", firstlineno))) return NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "co_name", name))) return NULL; + replace = PyObject_GetAttrString(code, "replace"); + if (likely(replace)) { + PyObject *result; + result = PyObject_Call(replace, __pyx_empty_tuple, scratch_dict); + Py_DECREF(replace); + return result; + } + PyErr_Clear(); + #if __PYX_LIMITED_VERSION_HEX < 0x030780000 + { + PyObject *compiled = NULL, *result = NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "code", code))) return NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "type", (PyObject*)(&PyType_Type)))) return NULL; + compiled = Py_CompileString( + "out = type(code)(\n" + " code.co_argcount, code.co_kwonlyargcount, code.co_nlocals, code.co_stacksize,\n" + " code.co_flags, code.co_code, code.co_consts, code.co_names,\n" + " code.co_varnames, code.co_filename, co_name, co_firstlineno,\n" + " code.co_lnotab)\n", "", Py_file_input); + if (!compiled) return NULL; + result = PyEval_EvalCode(compiled, scratch_dict, scratch_dict); + Py_DECREF(compiled); + if (!result) PyErr_Print(); + Py_DECREF(result); + result = PyDict_GetItemString(scratch_dict, "out"); + if (result) Py_INCREF(result); + return result; + } + #else + return NULL; + #endif +} +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename) { + PyObject *code_object = NULL, *py_py_line = NULL, *py_funcname = NULL, *dict = NULL; + PyObject *replace = NULL, *getframe = NULL, *frame = NULL; + PyObject *exc_type, *exc_value, *exc_traceback; + int success = 0; + if (c_line) { + (void) __pyx_cfilenm; + (void) __Pyx_CLineForTraceback(__Pyx_PyThreadState_Current, c_line); + } + PyErr_Fetch(&exc_type, &exc_value, &exc_traceback); + code_object = Py_CompileString("_getframe()", filename, Py_eval_input); + if (unlikely(!code_object)) goto bad; + py_py_line = PyLong_FromLong(py_line); + if (unlikely(!py_py_line)) goto bad; + py_funcname = PyUnicode_FromString(funcname); + if (unlikely(!py_funcname)) goto bad; + dict = PyDict_New(); + if (unlikely(!dict)) goto bad; + { + PyObject *old_code_object = code_object; + code_object = __Pyx_PyCode_Replace_For_AddTraceback(code_object, dict, py_py_line, py_funcname); + Py_DECREF(old_code_object); + } + if (unlikely(!code_object)) goto bad; + getframe = PySys_GetObject("_getframe"); + if (unlikely(!getframe)) goto bad; + if (unlikely(PyDict_SetItemString(dict, "_getframe", getframe))) goto bad; + frame = PyEval_EvalCode(code_object, dict, dict); + if (unlikely(!frame) || frame == Py_None) goto bad; + success = 1; + bad: + PyErr_Restore(exc_type, exc_value, exc_traceback); + Py_XDECREF(code_object); + Py_XDECREF(py_py_line); + Py_XDECREF(py_funcname); + Py_XDECREF(dict); + Py_XDECREF(replace); + if (success) { + PyTraceBack_Here( + (struct _frame*)frame); + } + Py_XDECREF(frame); +} +#else +static PyCodeObject* __Pyx_CreateCodeObjectForTraceback( + const char *funcname, int c_line, + int py_line, const char *filename) { + PyCodeObject *py_code = NULL; + PyObject *py_funcname = NULL; + #if PY_MAJOR_VERSION < 3 + PyObject *py_srcfile = NULL; + py_srcfile = PyString_FromString(filename); + if (!py_srcfile) goto bad; + #endif + if (c_line) { + #if PY_MAJOR_VERSION < 3 + py_funcname = PyString_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); + if (!py_funcname) goto bad; + #else + py_funcname = PyUnicode_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); + if (!py_funcname) goto bad; + funcname = PyUnicode_AsUTF8(py_funcname); + if (!funcname) goto bad; + #endif + } + else { + #if PY_MAJOR_VERSION < 3 + py_funcname = PyString_FromString(funcname); + if (!py_funcname) goto bad; + #endif + } + #if PY_MAJOR_VERSION < 3 + py_code = __Pyx_PyCode_New( + 0, + 0, + 0, + 0, + 0, + 0, + __pyx_empty_bytes, /*PyObject *code,*/ + __pyx_empty_tuple, /*PyObject *consts,*/ + __pyx_empty_tuple, /*PyObject *names,*/ + __pyx_empty_tuple, /*PyObject *varnames,*/ + __pyx_empty_tuple, /*PyObject *freevars,*/ + __pyx_empty_tuple, /*PyObject *cellvars,*/ + py_srcfile, /*PyObject *filename,*/ + py_funcname, /*PyObject *name,*/ + py_line, + __pyx_empty_bytes /*PyObject *lnotab*/ + ); + Py_DECREF(py_srcfile); + #else + py_code = PyCode_NewEmpty(filename, funcname, py_line); + #endif + Py_XDECREF(py_funcname); + return py_code; +bad: + Py_XDECREF(py_funcname); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(py_srcfile); + #endif + return NULL; +} +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename) { + PyCodeObject *py_code = 0; + PyFrameObject *py_frame = 0; + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject *ptype, *pvalue, *ptraceback; + if (c_line) { + c_line = __Pyx_CLineForTraceback(tstate, c_line); + } + py_code = __pyx_find_code_object(c_line ? -c_line : py_line); + if (!py_code) { + __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); + py_code = __Pyx_CreateCodeObjectForTraceback( + funcname, c_line, py_line, filename); + if (!py_code) { + /* If the code object creation fails, then we should clear the + fetched exception references and propagate the new exception */ + Py_XDECREF(ptype); + Py_XDECREF(pvalue); + Py_XDECREF(ptraceback); + goto bad; + } + __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); + __pyx_insert_code_object(c_line ? -c_line : py_line, py_code); + } + py_frame = PyFrame_New( + tstate, /*PyThreadState *tstate,*/ + py_code, /*PyCodeObject *code,*/ + __pyx_d, /*PyObject *globals,*/ + 0 /*PyObject *locals*/ + ); + if (!py_frame) goto bad; + __Pyx_PyFrame_SetLineNumber(py_frame, py_line); + PyTraceBack_Here(py_frame); +bad: + Py_XDECREF(py_code); + Py_XDECREF(py_frame); +} +#endif + +#if PY_MAJOR_VERSION < 3 +static int __Pyx_GetBuffer(PyObject *obj, Py_buffer *view, int flags) { + __Pyx_TypeName obj_type_name; + if (PyObject_CheckBuffer(obj)) return PyObject_GetBuffer(obj, view, flags); + if (__Pyx_TypeCheck(obj, __pyx_array_type)) return __pyx_array_getbuffer(obj, view, flags); + if (__Pyx_TypeCheck(obj, __pyx_memoryview_type)) return __pyx_memoryview_getbuffer(obj, view, flags); + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, + "'" __Pyx_FMT_TYPENAME "' does not have the buffer interface", + obj_type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return -1; +} +static void __Pyx_ReleaseBuffer(Py_buffer *view) { + PyObject *obj = view->obj; + if (!obj) return; + if (PyObject_CheckBuffer(obj)) { + PyBuffer_Release(view); + return; + } + if ((0)) {} + view->obj = NULL; + Py_DECREF(obj); +} +#endif + + +/* MemviewSliceIsContig */ +static int +__pyx_memviewslice_is_contig(const __Pyx_memviewslice mvs, char order, int ndim) +{ + int i, index, step, start; + Py_ssize_t itemsize = mvs.memview->view.itemsize; + if (order == 'F') { + step = 1; + start = 0; + } else { + step = -1; + start = ndim - 1; + } + for (i = 0; i < ndim; i++) { + index = start + step * i; + if (mvs.suboffsets[index] >= 0 || mvs.strides[index] != itemsize) + return 0; + itemsize *= mvs.shape[index]; + } + return 1; +} + +/* OverlappingSlices */ +static void +__pyx_get_array_memory_extents(__Pyx_memviewslice *slice, + void **out_start, void **out_end, + int ndim, size_t itemsize) +{ + char *start, *end; + int i; + start = end = slice->data; + for (i = 0; i < ndim; i++) { + Py_ssize_t stride = slice->strides[i]; + Py_ssize_t extent = slice->shape[i]; + if (extent == 0) { + *out_start = *out_end = start; + return; + } else { + if (stride > 0) + end += stride * (extent - 1); + else + start += stride * (extent - 1); + } + } + *out_start = start; + *out_end = end + itemsize; +} +static int +__pyx_slices_overlap(__Pyx_memviewslice *slice1, + __Pyx_memviewslice *slice2, + int ndim, size_t itemsize) +{ + void *start1, *end1, *start2, *end2; + __pyx_get_array_memory_extents(slice1, &start1, &end1, ndim, itemsize); + __pyx_get_array_memory_extents(slice2, &start2, &end2, ndim, itemsize); + return (start1 < end2) && (start2 < end1); +} + +/* IsLittleEndian */ +static CYTHON_INLINE int __Pyx_Is_Little_Endian(void) +{ + union { + uint32_t u32; + uint8_t u8[4]; + } S; + S.u32 = 0x01020304; + return S.u8[0] == 4; +} + +/* BufferFormatCheck */ +static void __Pyx_BufFmt_Init(__Pyx_BufFmt_Context* ctx, + __Pyx_BufFmt_StackElem* stack, + __Pyx_TypeInfo* type) { + stack[0].field = &ctx->root; + stack[0].parent_offset = 0; + ctx->root.type = type; + ctx->root.name = "buffer dtype"; + ctx->root.offset = 0; + ctx->head = stack; + ctx->head->field = &ctx->root; + ctx->fmt_offset = 0; + ctx->head->parent_offset = 0; + ctx->new_packmode = '@'; + ctx->enc_packmode = '@'; + ctx->new_count = 1; + ctx->enc_count = 0; + ctx->enc_type = 0; + ctx->is_complex = 0; + ctx->is_valid_array = 0; + ctx->struct_alignment = 0; + while (type->typegroup == 'S') { + ++ctx->head; + ctx->head->field = type->fields; + ctx->head->parent_offset = 0; + type = type->fields->type; + } +} +static int __Pyx_BufFmt_ParseNumber(const char** ts) { + int count; + const char* t = *ts; + if (*t < '0' || *t > '9') { + return -1; + } else { + count = *t++ - '0'; + while (*t >= '0' && *t <= '9') { + count *= 10; + count += *t++ - '0'; + } + } + *ts = t; + return count; +} +static int __Pyx_BufFmt_ExpectNumber(const char **ts) { + int number = __Pyx_BufFmt_ParseNumber(ts); + if (number == -1) + PyErr_Format(PyExc_ValueError,\ + "Does not understand character buffer dtype format string ('%c')", **ts); + return number; +} +static void __Pyx_BufFmt_RaiseUnexpectedChar(char ch) { + PyErr_Format(PyExc_ValueError, + "Unexpected format string character: '%c'", ch); +} +static const char* __Pyx_BufFmt_DescribeTypeChar(char ch, int is_complex) { + switch (ch) { + case '?': return "'bool'"; + case 'c': return "'char'"; + case 'b': return "'signed char'"; + case 'B': return "'unsigned char'"; + case 'h': return "'short'"; + case 'H': return "'unsigned short'"; + case 'i': return "'int'"; + case 'I': return "'unsigned int'"; + case 'l': return "'long'"; + case 'L': return "'unsigned long'"; + case 'q': return "'long long'"; + case 'Q': return "'unsigned long long'"; + case 'f': return (is_complex ? "'complex float'" : "'float'"); + case 'd': return (is_complex ? "'complex double'" : "'double'"); + case 'g': return (is_complex ? "'complex long double'" : "'long double'"); + case 'T': return "a struct"; + case 'O': return "Python object"; + case 'P': return "a pointer"; + case 's': case 'p': return "a string"; + case 0: return "end"; + default: return "unparsable format string"; + } +} +static size_t __Pyx_BufFmt_TypeCharToStandardSize(char ch, int is_complex) { + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return 2; + case 'i': case 'I': case 'l': case 'L': return 4; + case 'q': case 'Q': return 8; + case 'f': return (is_complex ? 8 : 4); + case 'd': return (is_complex ? 16 : 8); + case 'g': { + PyErr_SetString(PyExc_ValueError, "Python does not define a standard format string size for long double ('g').."); + return 0; + } + case 'O': case 'P': return sizeof(void*); + default: + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } +} +static size_t __Pyx_BufFmt_TypeCharToNativeSize(char ch, int is_complex) { + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return sizeof(short); + case 'i': case 'I': return sizeof(int); + case 'l': case 'L': return sizeof(long); + #ifdef HAVE_LONG_LONG + case 'q': case 'Q': return sizeof(PY_LONG_LONG); + #endif + case 'f': return sizeof(float) * (is_complex ? 2 : 1); + case 'd': return sizeof(double) * (is_complex ? 2 : 1); + case 'g': return sizeof(long double) * (is_complex ? 2 : 1); + case 'O': case 'P': return sizeof(void*); + default: { + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } + } +} +typedef struct { char c; short x; } __Pyx_st_short; +typedef struct { char c; int x; } __Pyx_st_int; +typedef struct { char c; long x; } __Pyx_st_long; +typedef struct { char c; float x; } __Pyx_st_float; +typedef struct { char c; double x; } __Pyx_st_double; +typedef struct { char c; long double x; } __Pyx_st_longdouble; +typedef struct { char c; void *x; } __Pyx_st_void_p; +#ifdef HAVE_LONG_LONG +typedef struct { char c; PY_LONG_LONG x; } __Pyx_st_longlong; +#endif +static size_t __Pyx_BufFmt_TypeCharToAlignment(char ch, int is_complex) { + CYTHON_UNUSED_VAR(is_complex); + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return sizeof(__Pyx_st_short) - sizeof(short); + case 'i': case 'I': return sizeof(__Pyx_st_int) - sizeof(int); + case 'l': case 'L': return sizeof(__Pyx_st_long) - sizeof(long); +#ifdef HAVE_LONG_LONG + case 'q': case 'Q': return sizeof(__Pyx_st_longlong) - sizeof(PY_LONG_LONG); +#endif + case 'f': return sizeof(__Pyx_st_float) - sizeof(float); + case 'd': return sizeof(__Pyx_st_double) - sizeof(double); + case 'g': return sizeof(__Pyx_st_longdouble) - sizeof(long double); + case 'P': case 'O': return sizeof(__Pyx_st_void_p) - sizeof(void*); + default: + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } +} +/* These are for computing the padding at the end of the struct to align + on the first member of the struct. This will probably the same as above, + but we don't have any guarantees. + */ +typedef struct { short x; char c; } __Pyx_pad_short; +typedef struct { int x; char c; } __Pyx_pad_int; +typedef struct { long x; char c; } __Pyx_pad_long; +typedef struct { float x; char c; } __Pyx_pad_float; +typedef struct { double x; char c; } __Pyx_pad_double; +typedef struct { long double x; char c; } __Pyx_pad_longdouble; +typedef struct { void *x; char c; } __Pyx_pad_void_p; +#ifdef HAVE_LONG_LONG +typedef struct { PY_LONG_LONG x; char c; } __Pyx_pad_longlong; +#endif +static size_t __Pyx_BufFmt_TypeCharToPadding(char ch, int is_complex) { + CYTHON_UNUSED_VAR(is_complex); + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return sizeof(__Pyx_pad_short) - sizeof(short); + case 'i': case 'I': return sizeof(__Pyx_pad_int) - sizeof(int); + case 'l': case 'L': return sizeof(__Pyx_pad_long) - sizeof(long); +#ifdef HAVE_LONG_LONG + case 'q': case 'Q': return sizeof(__Pyx_pad_longlong) - sizeof(PY_LONG_LONG); +#endif + case 'f': return sizeof(__Pyx_pad_float) - sizeof(float); + case 'd': return sizeof(__Pyx_pad_double) - sizeof(double); + case 'g': return sizeof(__Pyx_pad_longdouble) - sizeof(long double); + case 'P': case 'O': return sizeof(__Pyx_pad_void_p) - sizeof(void*); + default: + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } +} +static char __Pyx_BufFmt_TypeCharToGroup(char ch, int is_complex) { + switch (ch) { + case 'c': + return 'H'; + case 'b': case 'h': case 'i': + case 'l': case 'q': case 's': case 'p': + return 'I'; + case '?': case 'B': case 'H': case 'I': case 'L': case 'Q': + return 'U'; + case 'f': case 'd': case 'g': + return (is_complex ? 'C' : 'R'); + case 'O': + return 'O'; + case 'P': + return 'P'; + default: { + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } + } +} +static void __Pyx_BufFmt_RaiseExpected(__Pyx_BufFmt_Context* ctx) { + if (ctx->head == NULL || ctx->head->field == &ctx->root) { + const char* expected; + const char* quote; + if (ctx->head == NULL) { + expected = "end"; + quote = ""; + } else { + expected = ctx->head->field->type->name; + quote = "'"; + } + PyErr_Format(PyExc_ValueError, + "Buffer dtype mismatch, expected %s%s%s but got %s", + quote, expected, quote, + __Pyx_BufFmt_DescribeTypeChar(ctx->enc_type, ctx->is_complex)); + } else { + __Pyx_StructField* field = ctx->head->field; + __Pyx_StructField* parent = (ctx->head - 1)->field; + PyErr_Format(PyExc_ValueError, + "Buffer dtype mismatch, expected '%s' but got %s in '%s.%s'", + field->type->name, __Pyx_BufFmt_DescribeTypeChar(ctx->enc_type, ctx->is_complex), + parent->type->name, field->name); + } +} +static int __Pyx_BufFmt_ProcessTypeChunk(__Pyx_BufFmt_Context* ctx) { + char group; + size_t size, offset, arraysize = 1; + if (ctx->enc_type == 0) return 0; + if (ctx->head->field->type->arraysize[0]) { + int i, ndim = 0; + if (ctx->enc_type == 's' || ctx->enc_type == 'p') { + ctx->is_valid_array = ctx->head->field->type->ndim == 1; + ndim = 1; + if (ctx->enc_count != ctx->head->field->type->arraysize[0]) { + PyErr_Format(PyExc_ValueError, + "Expected a dimension of size %zu, got %zu", + ctx->head->field->type->arraysize[0], ctx->enc_count); + return -1; + } + } + if (!ctx->is_valid_array) { + PyErr_Format(PyExc_ValueError, "Expected %d dimensions, got %d", + ctx->head->field->type->ndim, ndim); + return -1; + } + for (i = 0; i < ctx->head->field->type->ndim; i++) { + arraysize *= ctx->head->field->type->arraysize[i]; + } + ctx->is_valid_array = 0; + ctx->enc_count = 1; + } + group = __Pyx_BufFmt_TypeCharToGroup(ctx->enc_type, ctx->is_complex); + do { + __Pyx_StructField* field = ctx->head->field; + __Pyx_TypeInfo* type = field->type; + if (ctx->enc_packmode == '@' || ctx->enc_packmode == '^') { + size = __Pyx_BufFmt_TypeCharToNativeSize(ctx->enc_type, ctx->is_complex); + } else { + size = __Pyx_BufFmt_TypeCharToStandardSize(ctx->enc_type, ctx->is_complex); + } + if (ctx->enc_packmode == '@') { + size_t align_at = __Pyx_BufFmt_TypeCharToAlignment(ctx->enc_type, ctx->is_complex); + size_t align_mod_offset; + if (align_at == 0) return -1; + align_mod_offset = ctx->fmt_offset % align_at; + if (align_mod_offset > 0) ctx->fmt_offset += align_at - align_mod_offset; + if (ctx->struct_alignment == 0) + ctx->struct_alignment = __Pyx_BufFmt_TypeCharToPadding(ctx->enc_type, + ctx->is_complex); + } + if (type->size != size || type->typegroup != group) { + if (type->typegroup == 'C' && type->fields != NULL) { + size_t parent_offset = ctx->head->parent_offset + field->offset; + ++ctx->head; + ctx->head->field = type->fields; + ctx->head->parent_offset = parent_offset; + continue; + } + if ((type->typegroup == 'H' || group == 'H') && type->size == size) { + } else { + __Pyx_BufFmt_RaiseExpected(ctx); + return -1; + } + } + offset = ctx->head->parent_offset + field->offset; + if (ctx->fmt_offset != offset) { + PyErr_Format(PyExc_ValueError, + "Buffer dtype mismatch; next field is at offset %" CYTHON_FORMAT_SSIZE_T "d but %" CYTHON_FORMAT_SSIZE_T "d expected", + (Py_ssize_t)ctx->fmt_offset, (Py_ssize_t)offset); + return -1; + } + ctx->fmt_offset += size; + if (arraysize) + ctx->fmt_offset += (arraysize - 1) * size; + --ctx->enc_count; + while (1) { + if (field == &ctx->root) { + ctx->head = NULL; + if (ctx->enc_count != 0) { + __Pyx_BufFmt_RaiseExpected(ctx); + return -1; + } + break; + } + ctx->head->field = ++field; + if (field->type == NULL) { + --ctx->head; + field = ctx->head->field; + continue; + } else if (field->type->typegroup == 'S') { + size_t parent_offset = ctx->head->parent_offset + field->offset; + if (field->type->fields->type == NULL) continue; + field = field->type->fields; + ++ctx->head; + ctx->head->field = field; + ctx->head->parent_offset = parent_offset; + break; + } else { + break; + } + } + } while (ctx->enc_count); + ctx->enc_type = 0; + ctx->is_complex = 0; + return 0; +} +static int +__pyx_buffmt_parse_array(__Pyx_BufFmt_Context* ctx, const char** tsp) +{ + const char *ts = *tsp; + int i = 0, number, ndim; + ++ts; + if (ctx->new_count != 1) { + PyErr_SetString(PyExc_ValueError, + "Cannot handle repeated arrays in format string"); + return -1; + } + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return -1; + ndim = ctx->head->field->type->ndim; + while (*ts && *ts != ')') { + switch (*ts) { + case ' ': case '\f': case '\r': case '\n': case '\t': case '\v': continue; + default: break; + } + number = __Pyx_BufFmt_ExpectNumber(&ts); + if (number == -1) return -1; + if (i < ndim && (size_t) number != ctx->head->field->type->arraysize[i]) { + PyErr_Format(PyExc_ValueError, + "Expected a dimension of size %zu, got %d", + ctx->head->field->type->arraysize[i], number); + return -1; + } + if (*ts != ',' && *ts != ')') { + PyErr_Format(PyExc_ValueError, + "Expected a comma in format string, got '%c'", *ts); + return -1; + } + if (*ts == ',') ts++; + i++; + } + if (i != ndim) { + PyErr_Format(PyExc_ValueError, "Expected %d dimension(s), got %d", + ctx->head->field->type->ndim, i); + return -1; + } + if (!*ts) { + PyErr_SetString(PyExc_ValueError, + "Unexpected end of format string, expected ')'"); + return -1; + } + ctx->is_valid_array = 1; + ctx->new_count = 1; + *tsp = ++ts; + return 0; +} +static const char* __Pyx_BufFmt_CheckString(__Pyx_BufFmt_Context* ctx, const char* ts) { + int got_Z = 0; + while (1) { + switch(*ts) { + case 0: + if (ctx->enc_type != 0 && ctx->head == NULL) { + __Pyx_BufFmt_RaiseExpected(ctx); + return NULL; + } + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + if (ctx->head != NULL) { + __Pyx_BufFmt_RaiseExpected(ctx); + return NULL; + } + return ts; + case ' ': + case '\r': + case '\n': + ++ts; + break; + case '<': + if (!__Pyx_Is_Little_Endian()) { + PyErr_SetString(PyExc_ValueError, "Little-endian buffer not supported on big-endian compiler"); + return NULL; + } + ctx->new_packmode = '='; + ++ts; + break; + case '>': + case '!': + if (__Pyx_Is_Little_Endian()) { + PyErr_SetString(PyExc_ValueError, "Big-endian buffer not supported on little-endian compiler"); + return NULL; + } + ctx->new_packmode = '='; + ++ts; + break; + case '=': + case '@': + case '^': + ctx->new_packmode = *ts++; + break; + case 'T': + { + const char* ts_after_sub; + size_t i, struct_count = ctx->new_count; + size_t struct_alignment = ctx->struct_alignment; + ctx->new_count = 1; + ++ts; + if (*ts != '{') { + PyErr_SetString(PyExc_ValueError, "Buffer acquisition: Expected '{' after 'T'"); + return NULL; + } + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->enc_type = 0; + ctx->enc_count = 0; + ctx->struct_alignment = 0; + ++ts; + ts_after_sub = ts; + for (i = 0; i != struct_count; ++i) { + ts_after_sub = __Pyx_BufFmt_CheckString(ctx, ts); + if (!ts_after_sub) return NULL; + } + ts = ts_after_sub; + if (struct_alignment) ctx->struct_alignment = struct_alignment; + } + break; + case '}': + { + size_t alignment = ctx->struct_alignment; + ++ts; + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->enc_type = 0; + if (alignment && ctx->fmt_offset % alignment) { + ctx->fmt_offset += alignment - (ctx->fmt_offset % alignment); + } + } + return ts; + case 'x': + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->fmt_offset += ctx->new_count; + ctx->new_count = 1; + ctx->enc_count = 0; + ctx->enc_type = 0; + ctx->enc_packmode = ctx->new_packmode; + ++ts; + break; + case 'Z': + got_Z = 1; + ++ts; + if (*ts != 'f' && *ts != 'd' && *ts != 'g') { + __Pyx_BufFmt_RaiseUnexpectedChar('Z'); + return NULL; + } + CYTHON_FALLTHROUGH; + case '?': case 'c': case 'b': case 'B': case 'h': case 'H': case 'i': case 'I': + case 'l': case 'L': case 'q': case 'Q': + case 'f': case 'd': case 'g': + case 'O': case 'p': + if ((ctx->enc_type == *ts) && (got_Z == ctx->is_complex) && + (ctx->enc_packmode == ctx->new_packmode) && (!ctx->is_valid_array)) { + ctx->enc_count += ctx->new_count; + ctx->new_count = 1; + got_Z = 0; + ++ts; + break; + } + CYTHON_FALLTHROUGH; + case 's': + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->enc_count = ctx->new_count; + ctx->enc_packmode = ctx->new_packmode; + ctx->enc_type = *ts; + ctx->is_complex = got_Z; + ++ts; + ctx->new_count = 1; + got_Z = 0; + break; + case ':': + ++ts; + while(*ts != ':') ++ts; + ++ts; + break; + case '(': + if (__pyx_buffmt_parse_array(ctx, &ts) < 0) return NULL; + break; + default: + { + int number = __Pyx_BufFmt_ExpectNumber(&ts); + if (number == -1) return NULL; + ctx->new_count = (size_t)number; + } + } + } +} + +/* TypeInfoCompare */ + static int +__pyx_typeinfo_cmp(__Pyx_TypeInfo *a, __Pyx_TypeInfo *b) +{ + int i; + if (!a || !b) + return 0; + if (a == b) + return 1; + if (a->size != b->size || a->typegroup != b->typegroup || + a->is_unsigned != b->is_unsigned || a->ndim != b->ndim) { + if (a->typegroup == 'H' || b->typegroup == 'H') { + return a->size == b->size; + } else { + return 0; + } + } + if (a->ndim) { + for (i = 0; i < a->ndim; i++) + if (a->arraysize[i] != b->arraysize[i]) + return 0; + } + if (a->typegroup == 'S') { + if (a->flags != b->flags) + return 0; + if (a->fields || b->fields) { + if (!(a->fields && b->fields)) + return 0; + for (i = 0; a->fields[i].type && b->fields[i].type; i++) { + __Pyx_StructField *field_a = a->fields + i; + __Pyx_StructField *field_b = b->fields + i; + if (field_a->offset != field_b->offset || + !__pyx_typeinfo_cmp(field_a->type, field_b->type)) + return 0; + } + return !a->fields[i].type && !b->fields[i].type; + } + } + return 1; +} + +/* MemviewSliceValidateAndInit */ + static int +__pyx_check_strides(Py_buffer *buf, int dim, int ndim, int spec) +{ + if (buf->shape[dim] <= 1) + return 1; + if (buf->strides) { + if (spec & __Pyx_MEMVIEW_CONTIG) { + if (spec & (__Pyx_MEMVIEW_PTR|__Pyx_MEMVIEW_FULL)) { + if (unlikely(buf->strides[dim] != sizeof(void *))) { + PyErr_Format(PyExc_ValueError, + "Buffer is not indirectly contiguous " + "in dimension %d.", dim); + goto fail; + } + } else if (unlikely(buf->strides[dim] != buf->itemsize)) { + PyErr_SetString(PyExc_ValueError, + "Buffer and memoryview are not contiguous " + "in the same dimension."); + goto fail; + } + } + if (spec & __Pyx_MEMVIEW_FOLLOW) { + Py_ssize_t stride = buf->strides[dim]; + if (stride < 0) + stride = -stride; + if (unlikely(stride < buf->itemsize)) { + PyErr_SetString(PyExc_ValueError, + "Buffer and memoryview are not contiguous " + "in the same dimension."); + goto fail; + } + } + } else { + if (unlikely(spec & __Pyx_MEMVIEW_CONTIG && dim != ndim - 1)) { + PyErr_Format(PyExc_ValueError, + "C-contiguous buffer is not contiguous in " + "dimension %d", dim); + goto fail; + } else if (unlikely(spec & (__Pyx_MEMVIEW_PTR))) { + PyErr_Format(PyExc_ValueError, + "C-contiguous buffer is not indirect in " + "dimension %d", dim); + goto fail; + } else if (unlikely(buf->suboffsets)) { + PyErr_SetString(PyExc_ValueError, + "Buffer exposes suboffsets but no strides"); + goto fail; + } + } + return 1; +fail: + return 0; +} +static int +__pyx_check_suboffsets(Py_buffer *buf, int dim, int ndim, int spec) +{ + CYTHON_UNUSED_VAR(ndim); + if (spec & __Pyx_MEMVIEW_DIRECT) { + if (unlikely(buf->suboffsets && buf->suboffsets[dim] >= 0)) { + PyErr_Format(PyExc_ValueError, + "Buffer not compatible with direct access " + "in dimension %d.", dim); + goto fail; + } + } + if (spec & __Pyx_MEMVIEW_PTR) { + if (unlikely(!buf->suboffsets || (buf->suboffsets[dim] < 0))) { + PyErr_Format(PyExc_ValueError, + "Buffer is not indirectly accessible " + "in dimension %d.", dim); + goto fail; + } + } + return 1; +fail: + return 0; +} +static int +__pyx_verify_contig(Py_buffer *buf, int ndim, int c_or_f_flag) +{ + int i; + if (c_or_f_flag & __Pyx_IS_F_CONTIG) { + Py_ssize_t stride = 1; + for (i = 0; i < ndim; i++) { + if (unlikely(stride * buf->itemsize != buf->strides[i] && buf->shape[i] > 1)) { + PyErr_SetString(PyExc_ValueError, + "Buffer not fortran contiguous."); + goto fail; + } + stride = stride * buf->shape[i]; + } + } else if (c_or_f_flag & __Pyx_IS_C_CONTIG) { + Py_ssize_t stride = 1; + for (i = ndim - 1; i >- 1; i--) { + if (unlikely(stride * buf->itemsize != buf->strides[i] && buf->shape[i] > 1)) { + PyErr_SetString(PyExc_ValueError, + "Buffer not C contiguous."); + goto fail; + } + stride = stride * buf->shape[i]; + } + } + return 1; +fail: + return 0; +} +static int __Pyx_ValidateAndInit_memviewslice( + int *axes_specs, + int c_or_f_flag, + int buf_flags, + int ndim, + __Pyx_TypeInfo *dtype, + __Pyx_BufFmt_StackElem stack[], + __Pyx_memviewslice *memviewslice, + PyObject *original_obj) +{ + struct __pyx_memoryview_obj *memview, *new_memview; + __Pyx_RefNannyDeclarations + Py_buffer *buf; + int i, spec = 0, retval = -1; + __Pyx_BufFmt_Context ctx; + int from_memoryview = __pyx_memoryview_check(original_obj); + __Pyx_RefNannySetupContext("ValidateAndInit_memviewslice", 0); + if (from_memoryview && __pyx_typeinfo_cmp(dtype, ((struct __pyx_memoryview_obj *) + original_obj)->typeinfo)) { + memview = (struct __pyx_memoryview_obj *) original_obj; + new_memview = NULL; + } else { + memview = (struct __pyx_memoryview_obj *) __pyx_memoryview_new( + original_obj, buf_flags, 0, dtype); + new_memview = memview; + if (unlikely(!memview)) + goto fail; + } + buf = &memview->view; + if (unlikely(buf->ndim != ndim)) { + PyErr_Format(PyExc_ValueError, + "Buffer has wrong number of dimensions (expected %d, got %d)", + ndim, buf->ndim); + goto fail; + } + if (new_memview) { + __Pyx_BufFmt_Init(&ctx, stack, dtype); + if (unlikely(!__Pyx_BufFmt_CheckString(&ctx, buf->format))) goto fail; + } + if (unlikely((unsigned) buf->itemsize != dtype->size)) { + PyErr_Format(PyExc_ValueError, + "Item size of buffer (%" CYTHON_FORMAT_SSIZE_T "u byte%s) " + "does not match size of '%s' (%" CYTHON_FORMAT_SSIZE_T "u byte%s)", + buf->itemsize, + (buf->itemsize > 1) ? "s" : "", + dtype->name, + dtype->size, + (dtype->size > 1) ? "s" : ""); + goto fail; + } + if (buf->len > 0) { + for (i = 0; i < ndim; i++) { + spec = axes_specs[i]; + if (unlikely(!__pyx_check_strides(buf, i, ndim, spec))) + goto fail; + if (unlikely(!__pyx_check_suboffsets(buf, i, ndim, spec))) + goto fail; + } + if (unlikely(buf->strides && !__pyx_verify_contig(buf, ndim, c_or_f_flag))) + goto fail; + } + if (unlikely(__Pyx_init_memviewslice(memview, ndim, memviewslice, + new_memview != NULL) == -1)) { + goto fail; + } + retval = 0; + goto no_fail; +fail: + Py_XDECREF(new_memview); + retval = -1; +no_fail: + __Pyx_RefNannyFinishContext(); + return retval; +} + +/* ObjectToMemviewSlice */ + static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_ds_float(PyObject *obj, int writable_flag) { + __Pyx_memviewslice result = { 0, 0, { 0 }, { 0 }, { 0 } }; + __Pyx_BufFmt_StackElem stack[1]; + int axes_specs[] = { (__Pyx_MEMVIEW_DIRECT | __Pyx_MEMVIEW_STRIDED) }; + int retcode; + if (obj == Py_None) { + result.memview = (struct __pyx_memoryview_obj *) Py_None; + return result; + } + retcode = __Pyx_ValidateAndInit_memviewslice(axes_specs, 0, + PyBUF_RECORDS_RO | writable_flag, 1, + &__Pyx_TypeInfo_float, stack, + &result, obj); + if (unlikely(retcode == -1)) + goto __pyx_fail; + return result; +__pyx_fail: + result.memview = NULL; + result.data = NULL; + return result; +} + +/* MemviewDtypeToObject */ + static CYTHON_INLINE PyObject *__pyx_memview_get_float(const char *itemp) { + return (PyObject *) PyFloat_FromDouble(*(float *) itemp); +} +static CYTHON_INLINE int __pyx_memview_set_float(const char *itemp, PyObject *obj) { + float value = __pyx_PyFloat_AsFloat(obj); + if (unlikely((value == (float)-1) && PyErr_Occurred())) + return 0; + *(float *) itemp = value; + return 1; +} + +/* MemviewSliceCopyTemplate */ + static __Pyx_memviewslice +__pyx_memoryview_copy_new_contig(const __Pyx_memviewslice *from_mvs, + const char *mode, int ndim, + size_t sizeof_dtype, int contig_flag, + int dtype_is_object) +{ + __Pyx_RefNannyDeclarations + int i; + __Pyx_memviewslice new_mvs = { 0, 0, { 0 }, { 0 }, { 0 } }; + struct __pyx_memoryview_obj *from_memview = from_mvs->memview; + Py_buffer *buf = &from_memview->view; + PyObject *shape_tuple = NULL; + PyObject *temp_int = NULL; + struct __pyx_array_obj *array_obj = NULL; + struct __pyx_memoryview_obj *memview_obj = NULL; + __Pyx_RefNannySetupContext("__pyx_memoryview_copy_new_contig", 0); + for (i = 0; i < ndim; i++) { + if (unlikely(from_mvs->suboffsets[i] >= 0)) { + PyErr_Format(PyExc_ValueError, "Cannot copy memoryview slice with " + "indirect dimensions (axis %d)", i); + goto fail; + } + } + shape_tuple = PyTuple_New(ndim); + if (unlikely(!shape_tuple)) { + goto fail; + } + __Pyx_GOTREF(shape_tuple); + for(i = 0; i < ndim; i++) { + temp_int = PyInt_FromSsize_t(from_mvs->shape[i]); + if(unlikely(!temp_int)) { + goto fail; + } else { + PyTuple_SET_ITEM(shape_tuple, i, temp_int); + temp_int = NULL; + } + } + array_obj = __pyx_array_new(shape_tuple, sizeof_dtype, buf->format, (char *) mode, NULL); + if (unlikely(!array_obj)) { + goto fail; + } + __Pyx_GOTREF(array_obj); + memview_obj = (struct __pyx_memoryview_obj *) __pyx_memoryview_new( + (PyObject *) array_obj, contig_flag, + dtype_is_object, + from_mvs->memview->typeinfo); + if (unlikely(!memview_obj)) + goto fail; + if (unlikely(__Pyx_init_memviewslice(memview_obj, ndim, &new_mvs, 1) < 0)) + goto fail; + if (unlikely(__pyx_memoryview_copy_contents(*from_mvs, new_mvs, ndim, ndim, + dtype_is_object) < 0)) + goto fail; + goto no_fail; +fail: + __Pyx_XDECREF(new_mvs.memview); + new_mvs.memview = NULL; + new_mvs.data = NULL; +no_fail: + __Pyx_XDECREF(shape_tuple); + __Pyx_XDECREF(temp_int); + __Pyx_XDECREF(array_obj); + __Pyx_RefNannyFinishContext(); + return new_mvs; +} + +/* MemviewSliceInit */ + static int +__Pyx_init_memviewslice(struct __pyx_memoryview_obj *memview, + int ndim, + __Pyx_memviewslice *memviewslice, + int memview_is_new_reference) +{ + __Pyx_RefNannyDeclarations + int i, retval=-1; + Py_buffer *buf = &memview->view; + __Pyx_RefNannySetupContext("init_memviewslice", 0); + if (unlikely(memviewslice->memview || memviewslice->data)) { + PyErr_SetString(PyExc_ValueError, + "memviewslice is already initialized!"); + goto fail; + } + if (buf->strides) { + for (i = 0; i < ndim; i++) { + memviewslice->strides[i] = buf->strides[i]; + } + } else { + Py_ssize_t stride = buf->itemsize; + for (i = ndim - 1; i >= 0; i--) { + memviewslice->strides[i] = stride; + stride *= buf->shape[i]; + } + } + for (i = 0; i < ndim; i++) { + memviewslice->shape[i] = buf->shape[i]; + if (buf->suboffsets) { + memviewslice->suboffsets[i] = buf->suboffsets[i]; + } else { + memviewslice->suboffsets[i] = -1; + } + } + memviewslice->memview = memview; + memviewslice->data = (char *)buf->buf; + if (__pyx_add_acquisition_count(memview) == 0 && !memview_is_new_reference) { + Py_INCREF(memview); + } + retval = 0; + goto no_fail; +fail: + memviewslice->memview = 0; + memviewslice->data = 0; + retval = -1; +no_fail: + __Pyx_RefNannyFinishContext(); + return retval; +} +#ifndef Py_NO_RETURN +#define Py_NO_RETURN +#endif +static void __pyx_fatalerror(const char *fmt, ...) Py_NO_RETURN { + va_list vargs; + char msg[200]; +#if PY_VERSION_HEX >= 0x030A0000 || defined(HAVE_STDARG_PROTOTYPES) + va_start(vargs, fmt); +#else + va_start(vargs); +#endif + vsnprintf(msg, 200, fmt, vargs); + va_end(vargs); + Py_FatalError(msg); +} +static CYTHON_INLINE int +__pyx_add_acquisition_count_locked(__pyx_atomic_int_type *acquisition_count, + PyThread_type_lock lock) +{ + int result; + PyThread_acquire_lock(lock, 1); + result = (*acquisition_count)++; + PyThread_release_lock(lock); + return result; +} +static CYTHON_INLINE int +__pyx_sub_acquisition_count_locked(__pyx_atomic_int_type *acquisition_count, + PyThread_type_lock lock) +{ + int result; + PyThread_acquire_lock(lock, 1); + result = (*acquisition_count)--; + PyThread_release_lock(lock); + return result; +} +static CYTHON_INLINE void +__Pyx_INC_MEMVIEW(__Pyx_memviewslice *memslice, int have_gil, int lineno) +{ + __pyx_nonatomic_int_type old_acquisition_count; + struct __pyx_memoryview_obj *memview = memslice->memview; + if (unlikely(!memview || (PyObject *) memview == Py_None)) { + return; + } + old_acquisition_count = __pyx_add_acquisition_count(memview); + if (unlikely(old_acquisition_count <= 0)) { + if (likely(old_acquisition_count == 0)) { + if (have_gil) { + Py_INCREF((PyObject *) memview); + } else { + PyGILState_STATE _gilstate = PyGILState_Ensure(); + Py_INCREF((PyObject *) memview); + PyGILState_Release(_gilstate); + } + } else { + __pyx_fatalerror("Acquisition count is %d (line %d)", + old_acquisition_count+1, lineno); + } + } +} +static CYTHON_INLINE void __Pyx_XCLEAR_MEMVIEW(__Pyx_memviewslice *memslice, + int have_gil, int lineno) { + __pyx_nonatomic_int_type old_acquisition_count; + struct __pyx_memoryview_obj *memview = memslice->memview; + if (unlikely(!memview || (PyObject *) memview == Py_None)) { + memslice->memview = NULL; + return; + } + old_acquisition_count = __pyx_sub_acquisition_count(memview); + memslice->data = NULL; + if (likely(old_acquisition_count > 1)) { + memslice->memview = NULL; + } else if (likely(old_acquisition_count == 1)) { + if (have_gil) { + Py_CLEAR(memslice->memview); + } else { + PyGILState_STATE _gilstate = PyGILState_Ensure(); + Py_CLEAR(memslice->memview); + PyGILState_Release(_gilstate); + } + } else { + __pyx_fatalerror("Acquisition count is %d (line %d)", + old_acquisition_count-1, lineno); + } +} + +/* CIntToPy */ + static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(int) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(int) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(int) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(int) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(int) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; +#if !CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030d0000 + return _PyLong_FromByteArray(bytes, sizeof(int), + little, !is_unsigned); +#else + PyObject *from_bytes, *result = NULL; + PyObject *py_bytes = NULL, *arg_tuple = NULL, *kwds = NULL, *order_str = NULL; + from_bytes = PyObject_GetAttrString((PyObject*)&PyLong_Type, "from_bytes"); + if (!from_bytes) return NULL; + py_bytes = PyBytes_FromStringAndSize((char*)bytes, sizeof(int)); + if (!py_bytes) goto limited_bad; + order_str = PyUnicode_FromString(little ? "little" : "big"); + if (!order_str) goto limited_bad; + arg_tuple = PyTuple_Pack(2, py_bytes, order_str); + if (!arg_tuple) goto limited_bad; + if (!is_unsigned) { + kwds = PyDict_New(); + if (!kwds) goto limited_bad; + if (PyDict_SetItemString(kwds, "signed", __Pyx_NewRef(Py_True))) goto limited_bad; + } + result = PyObject_Call(from_bytes, arg_tuple, kwds); + limited_bad: + Py_XDECREF(kwds); + Py_XDECREF(arg_tuple); + Py_XDECREF(order_str); + Py_XDECREF(py_bytes); + Py_XDECREF(from_bytes); + return result; +#endif + } +} + +/* CIntFromPyVerify */ + #define __PYX_VERIFY_RETURN_INT(target_type, func_type, func_value)\ + __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 0) +#define __PYX_VERIFY_RETURN_INT_EXC(target_type, func_type, func_value)\ + __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 1) +#define __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, exc)\ + {\ + func_type value = func_value;\ + if (sizeof(target_type) < sizeof(func_type)) {\ + if (unlikely(value != (func_type) (target_type) value)) {\ + func_type zero = 0;\ + if (exc && unlikely(value == (func_type)-1 && PyErr_Occurred()))\ + return (target_type) -1;\ + if (is_unsigned && unlikely(value < zero))\ + goto raise_neg_overflow;\ + else\ + goto raise_overflow;\ + }\ + }\ + return (target_type) value;\ + } + +/* CIntFromPy */ + static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(int) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(int, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (int) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(int, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(int) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 2 * PyLong_SHIFT)) { + return (int) (((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(int) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 3 * PyLong_SHIFT)) { + return (int) (((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(int) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 4 * PyLong_SHIFT)) { + return (int) (((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (int) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(int) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(int, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(int) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(int, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(int, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(int) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(int) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + return (int) ((((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(int) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + return (int) ((((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 4 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(int) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 4 * PyLong_SHIFT)) { + return (int) ((((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(int) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(int, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(int) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(int, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + int val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (int) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (int) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (int) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (int) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (int) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(int) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((int) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(int) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((int) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((int) 1) << (sizeof(int) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (int) -1; + } + } else { + int val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (int) -1; + val = __Pyx_PyInt_As_int(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to int"); + return (int) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to int"); + return (int) -1; +} + +/* CIntFromPy */ + static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const long neg_one = (long) -1, const_zero = (long) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(long) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(long, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (long) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(long, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(long) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 2 * PyLong_SHIFT)) { + return (long) (((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(long) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 3 * PyLong_SHIFT)) { + return (long) (((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(long) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 4 * PyLong_SHIFT)) { + return (long) (((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (long) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(long) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(long, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(long) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(long, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(long, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(long) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(long) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + return (long) ((((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(long) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + return (long) ((((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 4 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(long) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 4 * PyLong_SHIFT)) { + return (long) ((((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(long) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(long, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(long) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(long, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + long val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (long) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (long) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (long) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (long) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (long) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(long) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((long) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(long) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((long) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((long) 1) << (sizeof(long) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (long) -1; + } + } else { + long val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (long) -1; + val = __Pyx_PyInt_As_long(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to long"); + return (long) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to long"); + return (long) -1; +} + +/* CIntToPy */ + static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const long neg_one = (long) -1, const_zero = (long) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(long) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(long) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(long) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; +#if !CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030d0000 + return _PyLong_FromByteArray(bytes, sizeof(long), + little, !is_unsigned); +#else + PyObject *from_bytes, *result = NULL; + PyObject *py_bytes = NULL, *arg_tuple = NULL, *kwds = NULL, *order_str = NULL; + from_bytes = PyObject_GetAttrString((PyObject*)&PyLong_Type, "from_bytes"); + if (!from_bytes) return NULL; + py_bytes = PyBytes_FromStringAndSize((char*)bytes, sizeof(long)); + if (!py_bytes) goto limited_bad; + order_str = PyUnicode_FromString(little ? "little" : "big"); + if (!order_str) goto limited_bad; + arg_tuple = PyTuple_Pack(2, py_bytes, order_str); + if (!arg_tuple) goto limited_bad; + if (!is_unsigned) { + kwds = PyDict_New(); + if (!kwds) goto limited_bad; + if (PyDict_SetItemString(kwds, "signed", __Pyx_NewRef(Py_True))) goto limited_bad; + } + result = PyObject_Call(from_bytes, arg_tuple, kwds); + limited_bad: + Py_XDECREF(kwds); + Py_XDECREF(arg_tuple); + Py_XDECREF(order_str); + Py_XDECREF(py_bytes); + Py_XDECREF(from_bytes); + return result; +#endif + } +} + +/* CIntFromPy */ + static CYTHON_INLINE char __Pyx_PyInt_As_char(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const char neg_one = (char) -1, const_zero = (char) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(char) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(char, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (char) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(char, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(char) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) >= 2 * PyLong_SHIFT)) { + return (char) (((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(char) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) >= 3 * PyLong_SHIFT)) { + return (char) (((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(char) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) >= 4 * PyLong_SHIFT)) { + return (char) (((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (char) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(char) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(char, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(char) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(char, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(char, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(char) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 2 * PyLong_SHIFT)) { + return (char) (((char)-1)*(((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(char) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 2 * PyLong_SHIFT)) { + return (char) ((((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(char) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 3 * PyLong_SHIFT)) { + return (char) (((char)-1)*(((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(char) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 3 * PyLong_SHIFT)) { + return (char) ((((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(char) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 4 * PyLong_SHIFT)) { + return (char) (((char)-1)*(((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(char) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 4 * PyLong_SHIFT)) { + return (char) ((((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(char) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(char, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(char) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(char, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + char val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (char) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (char) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (char) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (char) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (char) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(char) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((char) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(char) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((char) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((char) 1) << (sizeof(char) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (char) -1; + } + } else { + char val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (char) -1; + val = __Pyx_PyInt_As_char(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to char"); + return (char) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to char"); + return (char) -1; +} + +/* FormatTypeName */ + #if CYTHON_COMPILING_IN_LIMITED_API +static __Pyx_TypeName +__Pyx_PyType_GetName(PyTypeObject* tp) +{ + PyObject *name = __Pyx_PyObject_GetAttrStr((PyObject *)tp, + __pyx_n_s_name_2); + if (unlikely(name == NULL) || unlikely(!PyUnicode_Check(name))) { + PyErr_Clear(); + Py_XDECREF(name); + name = __Pyx_NewRef(__pyx_n_s__30); + } + return name; +} +#endif + +/* CheckBinaryVersion */ + static unsigned long __Pyx_get_runtime_version(void) { +#if __PYX_LIMITED_VERSION_HEX >= 0x030B00A4 + return Py_Version & ~0xFFUL; +#else + const char* rt_version = Py_GetVersion(); + unsigned long version = 0; + unsigned long factor = 0x01000000UL; + unsigned int digit = 0; + int i = 0; + while (factor) { + while ('0' <= rt_version[i] && rt_version[i] <= '9') { + digit = digit * 10 + (unsigned int) (rt_version[i] - '0'); + ++i; + } + version += factor * digit; + if (rt_version[i] != '.') + break; + digit = 0; + factor >>= 8; + ++i; + } + return version; +#endif +} +static int __Pyx_check_binary_version(unsigned long ct_version, unsigned long rt_version, int allow_newer) { + const unsigned long MAJOR_MINOR = 0xFFFF0000UL; + if ((rt_version & MAJOR_MINOR) == (ct_version & MAJOR_MINOR)) + return 0; + if (likely(allow_newer && (rt_version & MAJOR_MINOR) > (ct_version & MAJOR_MINOR))) + return 1; + { + char message[200]; + PyOS_snprintf(message, sizeof(message), + "compile time Python version %d.%d " + "of module '%.100s' " + "%s " + "runtime version %d.%d", + (int) (ct_version >> 24), (int) ((ct_version >> 16) & 0xFF), + __Pyx_MODULE_NAME, + (allow_newer) ? "was newer than" : "does not match", + (int) (rt_version >> 24), (int) ((rt_version >> 16) & 0xFF) + ); + return PyErr_WarnEx(NULL, message, 1); + } +} + +/* InitStrings */ + #if PY_MAJOR_VERSION >= 3 +static int __Pyx_InitString(__Pyx_StringTabEntry t, PyObject **str) { + if (t.is_unicode | t.is_str) { + if (t.intern) { + *str = PyUnicode_InternFromString(t.s); + } else if (t.encoding) { + *str = PyUnicode_Decode(t.s, t.n - 1, t.encoding, NULL); + } else { + *str = PyUnicode_FromStringAndSize(t.s, t.n - 1); + } + } else { + *str = PyBytes_FromStringAndSize(t.s, t.n - 1); + } + if (!*str) + return -1; + if (PyObject_Hash(*str) == -1) + return -1; + return 0; +} +#endif +static int __Pyx_InitStrings(__Pyx_StringTabEntry *t) { + while (t->p) { + #if PY_MAJOR_VERSION >= 3 + __Pyx_InitString(*t, t->p); + #else + if (t->is_unicode) { + *t->p = PyUnicode_DecodeUTF8(t->s, t->n - 1, NULL); + } else if (t->intern) { + *t->p = PyString_InternFromString(t->s); + } else { + *t->p = PyString_FromStringAndSize(t->s, t->n - 1); + } + if (!*t->p) + return -1; + if (PyObject_Hash(*t->p) == -1) + return -1; + #endif + ++t; + } + return 0; +} + +#include +static CYTHON_INLINE Py_ssize_t __Pyx_ssize_strlen(const char *s) { + size_t len = strlen(s); + if (unlikely(len > (size_t) PY_SSIZE_T_MAX)) { + PyErr_SetString(PyExc_OverflowError, "byte string is too long"); + return -1; + } + return (Py_ssize_t) len; +} +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char* c_str) { + Py_ssize_t len = __Pyx_ssize_strlen(c_str); + if (unlikely(len < 0)) return NULL; + return __Pyx_PyUnicode_FromStringAndSize(c_str, len); +} +static CYTHON_INLINE PyObject* __Pyx_PyByteArray_FromString(const char* c_str) { + Py_ssize_t len = __Pyx_ssize_strlen(c_str); + if (unlikely(len < 0)) return NULL; + return PyByteArray_FromStringAndSize(c_str, len); +} +static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject* o) { + Py_ssize_t ignore; + return __Pyx_PyObject_AsStringAndSize(o, &ignore); +} +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT +#if !CYTHON_PEP393_ENABLED +static const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { + char* defenc_c; + PyObject* defenc = _PyUnicode_AsDefaultEncodedString(o, NULL); + if (!defenc) return NULL; + defenc_c = PyBytes_AS_STRING(defenc); +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + { + char* end = defenc_c + PyBytes_GET_SIZE(defenc); + char* c; + for (c = defenc_c; c < end; c++) { + if ((unsigned char) (*c) >= 128) { + PyUnicode_AsASCIIString(o); + return NULL; + } + } + } +#endif + *length = PyBytes_GET_SIZE(defenc); + return defenc_c; +} +#else +static CYTHON_INLINE const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { + if (unlikely(__Pyx_PyUnicode_READY(o) == -1)) return NULL; +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + if (likely(PyUnicode_IS_ASCII(o))) { + *length = PyUnicode_GET_LENGTH(o); + return PyUnicode_AsUTF8(o); + } else { + PyUnicode_AsASCIIString(o); + return NULL; + } +#else + return PyUnicode_AsUTF8AndSize(o, length); +#endif +} +#endif +#endif +static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject* o, Py_ssize_t *length) { +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT + if ( +#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + __Pyx_sys_getdefaultencoding_not_ascii && +#endif + PyUnicode_Check(o)) { + return __Pyx_PyUnicode_AsStringAndSize(o, length); + } else +#endif +#if (!CYTHON_COMPILING_IN_PYPY && !CYTHON_COMPILING_IN_LIMITED_API) || (defined(PyByteArray_AS_STRING) && defined(PyByteArray_GET_SIZE)) + if (PyByteArray_Check(o)) { + *length = PyByteArray_GET_SIZE(o); + return PyByteArray_AS_STRING(o); + } else +#endif + { + char* result; + int r = PyBytes_AsStringAndSize(o, &result, length); + if (unlikely(r < 0)) { + return NULL; + } else { + return result; + } + } +} +static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject* x) { + int is_true = x == Py_True; + if (is_true | (x == Py_False) | (x == Py_None)) return is_true; + else return PyObject_IsTrue(x); +} +static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject* x) { + int retval; + if (unlikely(!x)) return -1; + retval = __Pyx_PyObject_IsTrue(x); + Py_DECREF(x); + return retval; +} +static PyObject* __Pyx_PyNumber_IntOrLongWrongResultType(PyObject* result, const char* type_name) { + __Pyx_TypeName result_type_name = __Pyx_PyType_GetName(Py_TYPE(result)); +#if PY_MAJOR_VERSION >= 3 + if (PyLong_Check(result)) { + if (PyErr_WarnFormat(PyExc_DeprecationWarning, 1, + "__int__ returned non-int (type " __Pyx_FMT_TYPENAME "). " + "The ability to return an instance of a strict subclass of int is deprecated, " + "and may be removed in a future version of Python.", + result_type_name)) { + __Pyx_DECREF_TypeName(result_type_name); + Py_DECREF(result); + return NULL; + } + __Pyx_DECREF_TypeName(result_type_name); + return result; + } +#endif + PyErr_Format(PyExc_TypeError, + "__%.4s__ returned non-%.4s (type " __Pyx_FMT_TYPENAME ")", + type_name, type_name, result_type_name); + __Pyx_DECREF_TypeName(result_type_name); + Py_DECREF(result); + return NULL; +} +static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x) { +#if CYTHON_USE_TYPE_SLOTS + PyNumberMethods *m; +#endif + const char *name = NULL; + PyObject *res = NULL; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x) || PyLong_Check(x))) +#else + if (likely(PyLong_Check(x))) +#endif + return __Pyx_NewRef(x); +#if CYTHON_USE_TYPE_SLOTS + m = Py_TYPE(x)->tp_as_number; + #if PY_MAJOR_VERSION < 3 + if (m && m->nb_int) { + name = "int"; + res = m->nb_int(x); + } + else if (m && m->nb_long) { + name = "long"; + res = m->nb_long(x); + } + #else + if (likely(m && m->nb_int)) { + name = "int"; + res = m->nb_int(x); + } + #endif +#else + if (!PyBytes_CheckExact(x) && !PyUnicode_CheckExact(x)) { + res = PyNumber_Int(x); + } +#endif + if (likely(res)) { +#if PY_MAJOR_VERSION < 3 + if (unlikely(!PyInt_Check(res) && !PyLong_Check(res))) { +#else + if (unlikely(!PyLong_CheckExact(res))) { +#endif + return __Pyx_PyNumber_IntOrLongWrongResultType(res, name); + } + } + else if (!PyErr_Occurred()) { + PyErr_SetString(PyExc_TypeError, + "an integer is required"); + } + return res; +} +static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject* b) { + Py_ssize_t ival; + PyObject *x; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_CheckExact(b))) { + if (sizeof(Py_ssize_t) >= sizeof(long)) + return PyInt_AS_LONG(b); + else + return PyInt_AsSsize_t(b); + } +#endif + if (likely(PyLong_CheckExact(b))) { + #if CYTHON_USE_PYLONG_INTERNALS + if (likely(__Pyx_PyLong_IsCompact(b))) { + return __Pyx_PyLong_CompactValue(b); + } else { + const digit* digits = __Pyx_PyLong_Digits(b); + const Py_ssize_t size = __Pyx_PyLong_SignedDigitCount(b); + switch (size) { + case 2: + if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { + return (Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -2: + if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case 3: + if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { + return (Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -3: + if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case 4: + if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { + return (Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -4: + if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + } + } + #endif + return PyLong_AsSsize_t(b); + } + x = PyNumber_Index(b); + if (!x) return -1; + ival = PyInt_AsSsize_t(x); + Py_DECREF(x); + return ival; +} +static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject* o) { + if (sizeof(Py_hash_t) == sizeof(Py_ssize_t)) { + return (Py_hash_t) __Pyx_PyIndex_AsSsize_t(o); +#if PY_MAJOR_VERSION < 3 + } else if (likely(PyInt_CheckExact(o))) { + return PyInt_AS_LONG(o); +#endif + } else { + Py_ssize_t ival; + PyObject *x; + x = PyNumber_Index(o); + if (!x) return -1; + ival = PyInt_AsLong(x); + Py_DECREF(x); + return ival; + } +} +static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b) { + return b ? __Pyx_NewRef(Py_True) : __Pyx_NewRef(Py_False); +} +static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t ival) { + return PyInt_FromSize_t(ival); +} + + +/* #### Code section: utility_code_pragmas_end ### */ +#ifdef _MSC_VER +#pragma warning( pop ) +#endif + + + +/* #### Code section: end ### */ +#endif /* Py_PYTHON_H */ diff --git a/selfdrive/modeld/runners/runmodel_pyx.so b/selfdrive/modeld/runners/runmodel_pyx.so new file mode 100644 index 00000000000000..3b4b0719b24dae Binary files /dev/null and b/selfdrive/modeld/runners/runmodel_pyx.so differ diff --git a/selfdrive/modeld/runners/snpemodel.cc b/selfdrive/modeld/runners/snpemodel.cc deleted file mode 100644 index 15c1db00865c6d..00000000000000 --- a/selfdrive/modeld/runners/snpemodel.cc +++ /dev/null @@ -1,116 +0,0 @@ -#pragma clang diagnostic ignored "-Wexceptions" - -#include "selfdrive/modeld/runners/snpemodel.h" - -#include -#include -#include -#include -#include - -#include "common/util.h" -#include "common/timing.h" - -void PrintErrorStringAndExit() { - std::cerr << zdl::DlSystem::getLastErrorString() << std::endl; - std::exit(EXIT_FAILURE); -} - -SNPEModel::SNPEModel(const std::string path, float *_output, size_t _output_size, int runtime, bool _use_tf8, cl_context context) { - output = _output; - output_size = _output_size; - use_tf8 = _use_tf8; - -#ifdef QCOM2 - if (runtime == USE_GPU_RUNTIME) { - snpe_runtime = zdl::DlSystem::Runtime_t::GPU; - } else if (runtime == USE_DSP_RUNTIME) { - snpe_runtime = zdl::DlSystem::Runtime_t::DSP; - } else { - snpe_runtime = zdl::DlSystem::Runtime_t::CPU; - } - assert(zdl::SNPE::SNPEFactory::isRuntimeAvailable(snpe_runtime)); -#endif - model_data = util::read_file(path); - assert(model_data.size() > 0); - - // load model - std::unique_ptr container = zdl::DlContainer::IDlContainer::open((uint8_t*)model_data.data(), model_data.size()); - if (!container) { PrintErrorStringAndExit(); } - LOGW("loaded model with size: %lu", model_data.size()); - - // create model runner - zdl::SNPE::SNPEBuilder snpe_builder(container.get()); - while (!snpe) { -#ifdef QCOM2 - snpe = snpe_builder.setOutputLayers({}) - .setRuntimeProcessor(snpe_runtime) - .setUseUserSuppliedBuffers(true) - .setPerformanceProfile(zdl::DlSystem::PerformanceProfile_t::HIGH_PERFORMANCE) - .build(); -#else - snpe = snpe_builder.setOutputLayers({}) - .setUseUserSuppliedBuffers(true) - .setPerformanceProfile(zdl::DlSystem::PerformanceProfile_t::HIGH_PERFORMANCE) - .build(); -#endif - if (!snpe) std::cerr << zdl::DlSystem::getLastErrorString() << std::endl; - } - - // create output buffer - zdl::DlSystem::UserBufferEncodingFloat ub_encoding_float; - zdl::DlSystem::IUserBufferFactory &ub_factory = zdl::SNPE::SNPEFactory::getUserBufferFactory(); - - const auto &output_tensor_names_opt = snpe->getOutputTensorNames(); - if (!output_tensor_names_opt) throw std::runtime_error("Error obtaining output tensor names"); - const auto &output_tensor_names = *output_tensor_names_opt; - assert(output_tensor_names.size() == 1); - const char *output_tensor_name = output_tensor_names.at(0); - const zdl::DlSystem::TensorShape &buffer_shape = snpe->getInputOutputBufferAttributes(output_tensor_name)->getDims(); - if (output_size != 0) { - assert(output_size == buffer_shape[1]); - } else { - output_size = buffer_shape[1]; - } - std::vector output_strides = {output_size * sizeof(float), sizeof(float)}; - output_buffer = ub_factory.createUserBuffer(output, output_size * sizeof(float), output_strides, &ub_encoding_float); - output_map.add(output_tensor_name, output_buffer.get()); -} - -void SNPEModel::addInput(const std::string name, float *buffer, int size) { - const int idx = inputs.size(); - const auto &input_tensor_names_opt = snpe->getInputTensorNames(); - if (!input_tensor_names_opt) throw std::runtime_error("Error obtaining input tensor names"); - const auto &input_tensor_names = *input_tensor_names_opt; - const char *input_tensor_name = input_tensor_names.at(idx); - const bool input_tf8 = use_tf8 && strcmp(input_tensor_name, "input_img") == 0; // TODO: This is a terrible hack, get rid of this name check both here and in onnx_runner.py - LOGW("adding index %d: %s", idx, input_tensor_name); - - zdl::DlSystem::UserBufferEncodingFloat ub_encoding_float; - zdl::DlSystem::UserBufferEncodingTf8 ub_encoding_tf8(0, 1./255); // network takes 0-1 - zdl::DlSystem::IUserBufferFactory &ub_factory = zdl::SNPE::SNPEFactory::getUserBufferFactory(); - zdl::DlSystem::UserBufferEncoding *input_encoding = input_tf8 ? (zdl::DlSystem::UserBufferEncoding*)&ub_encoding_tf8 : (zdl::DlSystem::UserBufferEncoding*)&ub_encoding_float; - - const auto &buffer_shape_opt = snpe->getInputDimensions(input_tensor_name); - const zdl::DlSystem::TensorShape &buffer_shape = *buffer_shape_opt; - size_t size_of_input = input_tf8 ? sizeof(uint8_t) : sizeof(float); - std::vector strides(buffer_shape.rank()); - strides[strides.size() - 1] = size_of_input; - size_t product = 1; - for (size_t i = 0; i < buffer_shape.rank(); i++) product *= buffer_shape[i]; - size_t stride = strides[strides.size() - 1]; - for (size_t i = buffer_shape.rank() - 1; i > 0; i--) { - stride *= buffer_shape[i]; - strides[i-1] = stride; - } - - auto input_buffer = ub_factory.createUserBuffer(buffer, product*size_of_input, strides, input_encoding); - input_map.add(input_tensor_name, input_buffer.get()); - inputs.push_back(std::unique_ptr(new SNPEModelInput(name, buffer, size, std::move(input_buffer)))); -} - -void SNPEModel::execute() { - if (!snpe->execute(input_map, output_map)) { - PrintErrorStringAndExit(); - } -} diff --git a/selfdrive/modeld/runners/snpemodel.h b/selfdrive/modeld/runners/snpemodel.h deleted file mode 100644 index 86b2c86084ecf8..00000000000000 --- a/selfdrive/modeld/runners/snpemodel.h +++ /dev/null @@ -1,52 +0,0 @@ -#pragma once -#pragma clang diagnostic ignored "-Wdeprecated-declarations" - -#include -#include -#include - -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include "selfdrive/modeld/runners/runmodel.h" - -struct SNPEModelInput : public ModelInput { - std::unique_ptr snpe_buffer; - - SNPEModelInput(const std::string _name, float *_buffer, int _size, std::unique_ptr _snpe_buffer) : ModelInput(_name, _buffer, _size), snpe_buffer(std::move(_snpe_buffer)) {} - void setBuffer(float *_buffer, int _size) { - ModelInput::setBuffer(_buffer, _size); - assert(snpe_buffer->setBufferAddress(_buffer) == true); - } -}; - -class SNPEModel : public RunModel { -public: - SNPEModel(const std::string path, float *_output, size_t _output_size, int runtime, bool use_tf8 = false, cl_context context = NULL); - void addInput(const std::string name, float *buffer, int size); - void execute(); - -private: - std::string model_data; - -#ifdef QCOM2 - zdl::DlSystem::Runtime_t snpe_runtime; -#endif - - // snpe model stuff - std::unique_ptr snpe; - zdl::DlSystem::UserBufferMap input_map; - zdl::DlSystem::UserBufferMap output_map; - std::unique_ptr output_buffer; - - bool use_tf8; - float *output; - size_t output_size; -}; diff --git a/selfdrive/modeld/runners/snpemodel_pyx.cpp b/selfdrive/modeld/runners/snpemodel_pyx.cpp new file mode 100644 index 00000000000000..359c6833f78d8c --- /dev/null +++ b/selfdrive/modeld/runners/snpemodel_pyx.cpp @@ -0,0 +1,27817 @@ +/* Generated by Cython 3.0.8 */ + +/* BEGIN: Cython Metadata +{ + "distutils": { + "depends": [ + "msgq/visionipc/visionbuf.h", + "msgq/visionipc/visionipc.h", + "msgq/visionipc/visionipc_client.h", + "msgq/visionipc/visionipc_server.h", + "selfdrive/modeld/runners/runmodel.h", + "selfdrive/modeld/runners/snpemodel.h" + ], + "language": "c++", + "name": "selfdrive.modeld.runners.snpemodel_pyx", + "sources": [ + "/data/openpilot/selfdrive/modeld/runners/snpemodel_pyx.pyx" + ] + }, + "module_name": "selfdrive.modeld.runners.snpemodel_pyx" +} +END: Cython Metadata */ + +#ifndef PY_SSIZE_T_CLEAN +#define PY_SSIZE_T_CLEAN +#endif /* PY_SSIZE_T_CLEAN */ +#if defined(CYTHON_LIMITED_API) && 0 + #ifndef Py_LIMITED_API + #if CYTHON_LIMITED_API+0 > 0x03030000 + #define Py_LIMITED_API CYTHON_LIMITED_API + #else + #define Py_LIMITED_API 0x03030000 + #endif + #endif +#endif + +#include "Python.h" +#ifndef Py_PYTHON_H + #error Python headers needed to compile C extensions, please install development version of Python. +#elif PY_VERSION_HEX < 0x02070000 || (0x03000000 <= PY_VERSION_HEX && PY_VERSION_HEX < 0x03030000) + #error Cython requires Python 2.7+ or Python 3.3+. +#else +#if defined(CYTHON_LIMITED_API) && CYTHON_LIMITED_API +#define __PYX_EXTRA_ABI_MODULE_NAME "limited" +#else +#define __PYX_EXTRA_ABI_MODULE_NAME "" +#endif +#define CYTHON_ABI "3_0_8" __PYX_EXTRA_ABI_MODULE_NAME +#define __PYX_ABI_MODULE_NAME "_cython_" CYTHON_ABI +#define __PYX_TYPE_MODULE_PREFIX __PYX_ABI_MODULE_NAME "." +#define CYTHON_HEX_VERSION 0x030008F0 +#define CYTHON_FUTURE_DIVISION 1 +#include +#ifndef offsetof + #define offsetof(type, member) ( (size_t) & ((type*)0) -> member ) +#endif +#if !defined(_WIN32) && !defined(WIN32) && !defined(MS_WINDOWS) + #ifndef __stdcall + #define __stdcall + #endif + #ifndef __cdecl + #define __cdecl + #endif + #ifndef __fastcall + #define __fastcall + #endif +#endif +#ifndef DL_IMPORT + #define DL_IMPORT(t) t +#endif +#ifndef DL_EXPORT + #define DL_EXPORT(t) t +#endif +#define __PYX_COMMA , +#ifndef HAVE_LONG_LONG + #define HAVE_LONG_LONG +#endif +#ifndef PY_LONG_LONG + #define PY_LONG_LONG LONG_LONG +#endif +#ifndef Py_HUGE_VAL + #define Py_HUGE_VAL HUGE_VAL +#endif +#define __PYX_LIMITED_VERSION_HEX PY_VERSION_HEX +#if defined(GRAALVM_PYTHON) + /* For very preliminary testing purposes. Most variables are set the same as PyPy. + The existence of this section does not imply that anything works or is even tested */ + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 1 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #undef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #undef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 1 + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS (PY_MAJOR_VERSION >= 3) + #endif + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(PYPY_VERSION) + #define CYTHON_COMPILING_IN_PYPY 1 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #ifndef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #endif + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #undef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 1 + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS (PY_MAJOR_VERSION >= 3) + #endif + #if PY_VERSION_HEX < 0x03090000 + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #elif !defined(CYTHON_PEP489_MULTI_PHASE_INIT) + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE (PY_VERSION_HEX >= 0x030400a1 && PYPY_VERSION_NUM >= 0x07030C00) + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(CYTHON_LIMITED_API) + #ifdef Py_LIMITED_API + #undef __PYX_LIMITED_VERSION_HEX + #define __PYX_LIMITED_VERSION_HEX Py_LIMITED_API + #endif + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 1 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_CLINE_IN_TRACEBACK + #define CYTHON_CLINE_IN_TRACEBACK 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #undef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 1 + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #ifndef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #endif + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS 1 + #endif + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 1 + #ifndef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #endif + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(Py_GIL_DISABLED) || defined(Py_NOGIL) + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 1 + #ifndef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 1 + #endif + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #ifndef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #ifndef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 1 + #endif + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #ifndef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 1 + #endif + #ifndef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 1 + #endif + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #ifndef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 1 + #endif + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 +#else + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 1 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #ifndef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 1 + #endif + #ifndef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #endif + #ifndef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 1 + #endif + #if PY_MAJOR_VERSION < 3 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #ifndef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 1 + #endif + #ifndef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 1 + #endif + #ifndef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 1 + #endif + #if PY_VERSION_HEX < 0x030300F0 || PY_VERSION_HEX >= 0x030B00A2 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #elif !defined(CYTHON_USE_UNICODE_WRITER) + #define CYTHON_USE_UNICODE_WRITER 1 + #endif + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #ifndef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 1 + #endif + #ifndef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 1 + #endif + #ifndef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 1 + #endif + #ifndef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL (PY_MAJOR_VERSION < 3 || PY_VERSION_HEX >= 0x03060000 && PY_VERSION_HEX < 0x030C00A6) + #endif + #ifndef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL (PY_VERSION_HEX >= 0x030700A1) + #endif + #ifndef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 1 + #endif + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS 1 + #endif + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #elif !defined(CYTHON_PEP489_MULTI_PHASE_INIT) + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #ifndef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #endif + #if PY_VERSION_HEX < 0x030400a1 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #elif !defined(CYTHON_USE_TP_FINALIZE) + #define CYTHON_USE_TP_FINALIZE 1 + #endif + #if PY_VERSION_HEX < 0x030600B1 + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #elif !defined(CYTHON_USE_DICT_VERSIONS) + #define CYTHON_USE_DICT_VERSIONS (PY_VERSION_HEX < 0x030C00A5) + #endif + #if PY_VERSION_HEX < 0x030700A3 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #elif !defined(CYTHON_USE_EXC_INFO_STACK) + #define CYTHON_USE_EXC_INFO_STACK 1 + #endif + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 1 + #endif +#endif +#if !defined(CYTHON_FAST_PYCCALL) +#define CYTHON_FAST_PYCCALL (CYTHON_FAST_PYCALL && PY_VERSION_HEX >= 0x030600B1) +#endif +#if !defined(CYTHON_VECTORCALL) +#define CYTHON_VECTORCALL (CYTHON_FAST_PYCCALL && PY_VERSION_HEX >= 0x030800B1) +#endif +#define CYTHON_BACKPORT_VECTORCALL (CYTHON_METH_FASTCALL && PY_VERSION_HEX < 0x030800B1) +#if CYTHON_USE_PYLONG_INTERNALS + #if PY_MAJOR_VERSION < 3 + #include "longintrepr.h" + #endif + #undef SHIFT + #undef BASE + #undef MASK + #ifdef SIZEOF_VOID_P + enum { __pyx_check_sizeof_voidp = 1 / (int)(SIZEOF_VOID_P == sizeof(void*)) }; + #endif +#endif +#ifndef __has_attribute + #define __has_attribute(x) 0 +#endif +#ifndef __has_cpp_attribute + #define __has_cpp_attribute(x) 0 +#endif +#ifndef CYTHON_RESTRICT + #if defined(__GNUC__) + #define CYTHON_RESTRICT __restrict__ + #elif defined(_MSC_VER) && _MSC_VER >= 1400 + #define CYTHON_RESTRICT __restrict + #elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define CYTHON_RESTRICT restrict + #else + #define CYTHON_RESTRICT + #endif +#endif +#ifndef CYTHON_UNUSED + #if defined(__cplusplus) + /* for clang __has_cpp_attribute(maybe_unused) is true even before C++17 + * but leads to warnings with -pedantic, since it is a C++17 feature */ + #if ((defined(_MSVC_LANG) && _MSVC_LANG >= 201703L) || __cplusplus >= 201703L) + #if __has_cpp_attribute(maybe_unused) + #define CYTHON_UNUSED [[maybe_unused]] + #endif + #endif + #endif +#endif +#ifndef CYTHON_UNUSED +# if defined(__GNUC__) +# if !(defined(__cplusplus)) || (__GNUC__ > 3 || (__GNUC__ == 3 && __GNUC_MINOR__ >= 4)) +# define CYTHON_UNUSED __attribute__ ((__unused__)) +# else +# define CYTHON_UNUSED +# endif +# elif defined(__ICC) || (defined(__INTEL_COMPILER) && !defined(_MSC_VER)) +# define CYTHON_UNUSED __attribute__ ((__unused__)) +# else +# define CYTHON_UNUSED +# endif +#endif +#ifndef CYTHON_UNUSED_VAR +# if defined(__cplusplus) + template void CYTHON_UNUSED_VAR( const T& ) { } +# else +# define CYTHON_UNUSED_VAR(x) (void)(x) +# endif +#endif +#ifndef CYTHON_MAYBE_UNUSED_VAR + #define CYTHON_MAYBE_UNUSED_VAR(x) CYTHON_UNUSED_VAR(x) +#endif +#ifndef CYTHON_NCP_UNUSED +# if CYTHON_COMPILING_IN_CPYTHON +# define CYTHON_NCP_UNUSED +# else +# define CYTHON_NCP_UNUSED CYTHON_UNUSED +# endif +#endif +#ifndef CYTHON_USE_CPP_STD_MOVE + #if defined(__cplusplus) && (\ + __cplusplus >= 201103L || (defined(_MSC_VER) && _MSC_VER >= 1600)) + #define CYTHON_USE_CPP_STD_MOVE 1 + #else + #define CYTHON_USE_CPP_STD_MOVE 0 + #endif +#endif +#define __Pyx_void_to_None(void_result) ((void)(void_result), Py_INCREF(Py_None), Py_None) +#ifdef _MSC_VER + #ifndef _MSC_STDINT_H_ + #if _MSC_VER < 1300 + typedef unsigned char uint8_t; + typedef unsigned short uint16_t; + typedef unsigned int uint32_t; + #else + typedef unsigned __int8 uint8_t; + typedef unsigned __int16 uint16_t; + typedef unsigned __int32 uint32_t; + #endif + #endif + #if _MSC_VER < 1300 + #ifdef _WIN64 + typedef unsigned long long __pyx_uintptr_t; + #else + typedef unsigned int __pyx_uintptr_t; + #endif + #else + #ifdef _WIN64 + typedef unsigned __int64 __pyx_uintptr_t; + #else + typedef unsigned __int32 __pyx_uintptr_t; + #endif + #endif +#else + #include + typedef uintptr_t __pyx_uintptr_t; +#endif +#ifndef CYTHON_FALLTHROUGH + #if defined(__cplusplus) + /* for clang __has_cpp_attribute(fallthrough) is true even before C++17 + * but leads to warnings with -pedantic, since it is a C++17 feature */ + #if ((defined(_MSVC_LANG) && _MSVC_LANG >= 201703L) || __cplusplus >= 201703L) + #if __has_cpp_attribute(fallthrough) + #define CYTHON_FALLTHROUGH [[fallthrough]] + #endif + #endif + #ifndef CYTHON_FALLTHROUGH + #if __has_cpp_attribute(clang::fallthrough) + #define CYTHON_FALLTHROUGH [[clang::fallthrough]] + #elif __has_cpp_attribute(gnu::fallthrough) + #define CYTHON_FALLTHROUGH [[gnu::fallthrough]] + #endif + #endif + #endif + #ifndef CYTHON_FALLTHROUGH + #if __has_attribute(fallthrough) + #define CYTHON_FALLTHROUGH __attribute__((fallthrough)) + #else + #define CYTHON_FALLTHROUGH + #endif + #endif + #if defined(__clang__) && defined(__apple_build_version__) + #if __apple_build_version__ < 7000000 + #undef CYTHON_FALLTHROUGH + #define CYTHON_FALLTHROUGH + #endif + #endif +#endif +#ifdef __cplusplus + template + struct __PYX_IS_UNSIGNED_IMPL {static const bool value = T(0) < T(-1);}; + #define __PYX_IS_UNSIGNED(type) (__PYX_IS_UNSIGNED_IMPL::value) +#else + #define __PYX_IS_UNSIGNED(type) (((type)-1) > 0) +#endif +#if CYTHON_COMPILING_IN_PYPY == 1 + #define __PYX_NEED_TP_PRINT_SLOT (PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x030A0000) +#else + #define __PYX_NEED_TP_PRINT_SLOT (PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000) +#endif +#define __PYX_REINTERPRET_FUNCION(func_pointer, other_pointer) ((func_pointer)(void(*)(void))(other_pointer)) + +#ifndef __cplusplus + #error "Cython files generated with the C++ option must be compiled with a C++ compiler." +#endif +#ifndef CYTHON_INLINE + #if defined(__clang__) + #define CYTHON_INLINE __inline__ __attribute__ ((__unused__)) + #else + #define CYTHON_INLINE inline + #endif +#endif +template +void __Pyx_call_destructor(T& x) { + x.~T(); +} +template +class __Pyx_FakeReference { + public: + __Pyx_FakeReference() : ptr(NULL) { } + __Pyx_FakeReference(const T& ref) : ptr(const_cast(&ref)) { } + T *operator->() { return ptr; } + T *operator&() { return ptr; } + operator T&() { return *ptr; } + template bool operator ==(const U& other) const { return *ptr == other; } + template bool operator !=(const U& other) const { return *ptr != other; } + template bool operator==(const __Pyx_FakeReference& other) const { return *ptr == *other.ptr; } + template bool operator!=(const __Pyx_FakeReference& other) const { return *ptr != *other.ptr; } + private: + T *ptr; +}; + +#define __PYX_BUILD_PY_SSIZE_T "n" +#define CYTHON_FORMAT_SSIZE_T "z" +#if PY_MAJOR_VERSION < 3 + #define __Pyx_BUILTIN_MODULE_NAME "__builtin__" + #define __Pyx_DefaultClassType PyClass_Type + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_New(a+k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#else + #define __Pyx_BUILTIN_MODULE_NAME "builtins" + #define __Pyx_DefaultClassType PyType_Type +#if CYTHON_COMPILING_IN_LIMITED_API + static CYTHON_INLINE PyObject* __Pyx_PyCode_New(int a, int p, int k, int l, int s, int f, + PyObject *code, PyObject *c, PyObject* n, PyObject *v, + PyObject *fv, PyObject *cell, PyObject* fn, + PyObject *name, int fline, PyObject *lnos) { + PyObject *exception_table = NULL; + PyObject *types_module=NULL, *code_type=NULL, *result=NULL; + #if __PYX_LIMITED_VERSION_HEX < 0x030B0000 + PyObject *version_info; + PyObject *py_minor_version = NULL; + #endif + long minor_version = 0; + PyObject *type, *value, *traceback; + PyErr_Fetch(&type, &value, &traceback); + #if __PYX_LIMITED_VERSION_HEX >= 0x030B0000 + minor_version = 11; + #else + if (!(version_info = PySys_GetObject("version_info"))) goto end; + if (!(py_minor_version = PySequence_GetItem(version_info, 1))) goto end; + minor_version = PyLong_AsLong(py_minor_version); + Py_DECREF(py_minor_version); + if (minor_version == -1 && PyErr_Occurred()) goto end; + #endif + if (!(types_module = PyImport_ImportModule("types"))) goto end; + if (!(code_type = PyObject_GetAttrString(types_module, "CodeType"))) goto end; + if (minor_version <= 7) { + (void)p; + result = PyObject_CallFunction(code_type, "iiiiiOOOOOOiOO", a, k, l, s, f, code, + c, n, v, fn, name, fline, lnos, fv, cell); + } else if (minor_version <= 10) { + result = PyObject_CallFunction(code_type, "iiiiiiOOOOOOiOO", a,p, k, l, s, f, code, + c, n, v, fn, name, fline, lnos, fv, cell); + } else { + if (!(exception_table = PyBytes_FromStringAndSize(NULL, 0))) goto end; + result = PyObject_CallFunction(code_type, "iiiiiiOOOOOOOiOO", a,p, k, l, s, f, code, + c, n, v, fn, name, name, fline, lnos, exception_table, fv, cell); + } + end: + Py_XDECREF(code_type); + Py_XDECREF(exception_table); + Py_XDECREF(types_module); + if (type) { + PyErr_Restore(type, value, traceback); + } + return result; + } + #ifndef CO_OPTIMIZED + #define CO_OPTIMIZED 0x0001 + #endif + #ifndef CO_NEWLOCALS + #define CO_NEWLOCALS 0x0002 + #endif + #ifndef CO_VARARGS + #define CO_VARARGS 0x0004 + #endif + #ifndef CO_VARKEYWORDS + #define CO_VARKEYWORDS 0x0008 + #endif + #ifndef CO_ASYNC_GENERATOR + #define CO_ASYNC_GENERATOR 0x0200 + #endif + #ifndef CO_GENERATOR + #define CO_GENERATOR 0x0020 + #endif + #ifndef CO_COROUTINE + #define CO_COROUTINE 0x0080 + #endif +#elif PY_VERSION_HEX >= 0x030B0000 + static CYTHON_INLINE PyCodeObject* __Pyx_PyCode_New(int a, int p, int k, int l, int s, int f, + PyObject *code, PyObject *c, PyObject* n, PyObject *v, + PyObject *fv, PyObject *cell, PyObject* fn, + PyObject *name, int fline, PyObject *lnos) { + PyCodeObject *result; + PyObject *empty_bytes = PyBytes_FromStringAndSize("", 0); + if (!empty_bytes) return NULL; + result = + #if PY_VERSION_HEX >= 0x030C0000 + PyUnstable_Code_NewWithPosOnlyArgs + #else + PyCode_NewWithPosOnlyArgs + #endif + (a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, name, fline, lnos, empty_bytes); + Py_DECREF(empty_bytes); + return result; + } +#elif PY_VERSION_HEX >= 0x030800B2 && !CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_NewWithPosOnlyArgs(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#else + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#endif +#endif +#if PY_VERSION_HEX >= 0x030900A4 || defined(Py_IS_TYPE) + #define __Pyx_IS_TYPE(ob, type) Py_IS_TYPE(ob, type) +#else + #define __Pyx_IS_TYPE(ob, type) (((const PyObject*)ob)->ob_type == (type)) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_Is) + #define __Pyx_Py_Is(x, y) Py_Is(x, y) +#else + #define __Pyx_Py_Is(x, y) ((x) == (y)) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsNone) + #define __Pyx_Py_IsNone(ob) Py_IsNone(ob) +#else + #define __Pyx_Py_IsNone(ob) __Pyx_Py_Is((ob), Py_None) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsTrue) + #define __Pyx_Py_IsTrue(ob) Py_IsTrue(ob) +#else + #define __Pyx_Py_IsTrue(ob) __Pyx_Py_Is((ob), Py_True) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsFalse) + #define __Pyx_Py_IsFalse(ob) Py_IsFalse(ob) +#else + #define __Pyx_Py_IsFalse(ob) __Pyx_Py_Is((ob), Py_False) +#endif +#define __Pyx_NoneAsNull(obj) (__Pyx_Py_IsNone(obj) ? NULL : (obj)) +#if PY_VERSION_HEX >= 0x030900F0 && !CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyObject_GC_IsFinalized(o) PyObject_GC_IsFinalized(o) +#else + #define __Pyx_PyObject_GC_IsFinalized(o) _PyGC_FINALIZED(o) +#endif +#ifndef CO_COROUTINE + #define CO_COROUTINE 0x80 +#endif +#ifndef CO_ASYNC_GENERATOR + #define CO_ASYNC_GENERATOR 0x200 +#endif +#ifndef Py_TPFLAGS_CHECKTYPES + #define Py_TPFLAGS_CHECKTYPES 0 +#endif +#ifndef Py_TPFLAGS_HAVE_INDEX + #define Py_TPFLAGS_HAVE_INDEX 0 +#endif +#ifndef Py_TPFLAGS_HAVE_NEWBUFFER + #define Py_TPFLAGS_HAVE_NEWBUFFER 0 +#endif +#ifndef Py_TPFLAGS_HAVE_FINALIZE + #define Py_TPFLAGS_HAVE_FINALIZE 0 +#endif +#ifndef Py_TPFLAGS_SEQUENCE + #define Py_TPFLAGS_SEQUENCE 0 +#endif +#ifndef Py_TPFLAGS_MAPPING + #define Py_TPFLAGS_MAPPING 0 +#endif +#ifndef METH_STACKLESS + #define METH_STACKLESS 0 +#endif +#if PY_VERSION_HEX <= 0x030700A3 || !defined(METH_FASTCALL) + #ifndef METH_FASTCALL + #define METH_FASTCALL 0x80 + #endif + typedef PyObject *(*__Pyx_PyCFunctionFast) (PyObject *self, PyObject *const *args, Py_ssize_t nargs); + typedef PyObject *(*__Pyx_PyCFunctionFastWithKeywords) (PyObject *self, PyObject *const *args, + Py_ssize_t nargs, PyObject *kwnames); +#else + #define __Pyx_PyCFunctionFast _PyCFunctionFast + #define __Pyx_PyCFunctionFastWithKeywords _PyCFunctionFastWithKeywords +#endif +#if CYTHON_METH_FASTCALL + #define __Pyx_METH_FASTCALL METH_FASTCALL + #define __Pyx_PyCFunction_FastCall __Pyx_PyCFunctionFast + #define __Pyx_PyCFunction_FastCallWithKeywords __Pyx_PyCFunctionFastWithKeywords +#else + #define __Pyx_METH_FASTCALL METH_VARARGS + #define __Pyx_PyCFunction_FastCall PyCFunction + #define __Pyx_PyCFunction_FastCallWithKeywords PyCFunctionWithKeywords +#endif +#if CYTHON_VECTORCALL + #define __pyx_vectorcallfunc vectorcallfunc + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET PY_VECTORCALL_ARGUMENTS_OFFSET + #define __Pyx_PyVectorcall_NARGS(n) PyVectorcall_NARGS((size_t)(n)) +#elif CYTHON_BACKPORT_VECTORCALL + typedef PyObject *(*__pyx_vectorcallfunc)(PyObject *callable, PyObject *const *args, + size_t nargsf, PyObject *kwnames); + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET ((size_t)1 << (8 * sizeof(size_t) - 1)) + #define __Pyx_PyVectorcall_NARGS(n) ((Py_ssize_t)(((size_t)(n)) & ~__Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET)) +#else + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET 0 + #define __Pyx_PyVectorcall_NARGS(n) ((Py_ssize_t)(n)) +#endif +#if PY_MAJOR_VERSION >= 0x030900B1 +#define __Pyx_PyCFunction_CheckExact(func) PyCFunction_CheckExact(func) +#else +#define __Pyx_PyCFunction_CheckExact(func) PyCFunction_Check(func) +#endif +#define __Pyx_CyOrPyCFunction_Check(func) PyCFunction_Check(func) +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_CyOrPyCFunction_GET_FUNCTION(func) (((PyCFunctionObject*)(func))->m_ml->ml_meth) +#elif !CYTHON_COMPILING_IN_LIMITED_API +#define __Pyx_CyOrPyCFunction_GET_FUNCTION(func) PyCFunction_GET_FUNCTION(func) +#endif +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_CyOrPyCFunction_GET_FLAGS(func) (((PyCFunctionObject*)(func))->m_ml->ml_flags) +static CYTHON_INLINE PyObject* __Pyx_CyOrPyCFunction_GET_SELF(PyObject *func) { + return (__Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_STATIC) ? NULL : ((PyCFunctionObject*)func)->m_self; +} +#endif +static CYTHON_INLINE int __Pyx__IsSameCFunction(PyObject *func, void *cfunc) { +#if CYTHON_COMPILING_IN_LIMITED_API + return PyCFunction_Check(func) && PyCFunction_GetFunction(func) == (PyCFunction) cfunc; +#else + return PyCFunction_Check(func) && PyCFunction_GET_FUNCTION(func) == (PyCFunction) cfunc; +#endif +} +#define __Pyx_IsSameCFunction(func, cfunc) __Pyx__IsSameCFunction(func, cfunc) +#if __PYX_LIMITED_VERSION_HEX < 0x030900B1 + #define __Pyx_PyType_FromModuleAndSpec(m, s, b) ((void)m, PyType_FromSpecWithBases(s, b)) + typedef PyObject *(*__Pyx_PyCMethod)(PyObject *, PyTypeObject *, PyObject *const *, size_t, PyObject *); +#else + #define __Pyx_PyType_FromModuleAndSpec(m, s, b) PyType_FromModuleAndSpec(m, s, b) + #define __Pyx_PyCMethod PyCMethod +#endif +#ifndef METH_METHOD + #define METH_METHOD 0x200 +#endif +#if CYTHON_COMPILING_IN_PYPY && !defined(PyObject_Malloc) + #define PyObject_Malloc(s) PyMem_Malloc(s) + #define PyObject_Free(p) PyMem_Free(p) + #define PyObject_Realloc(p) PyMem_Realloc(p) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0) + #define __Pyx_PyFrame_SetLineNumber(frame, lineno) +#else + #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0) + #define __Pyx_PyFrame_SetLineNumber(frame, lineno) (frame)->f_lineno = (lineno) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyThreadState_Current PyThreadState_Get() +#elif !CYTHON_FAST_THREAD_STATE + #define __Pyx_PyThreadState_Current PyThreadState_GET() +#elif PY_VERSION_HEX >= 0x030d00A1 + #define __Pyx_PyThreadState_Current PyThreadState_GetUnchecked() +#elif PY_VERSION_HEX >= 0x03060000 + #define __Pyx_PyThreadState_Current _PyThreadState_UncheckedGet() +#elif PY_VERSION_HEX >= 0x03000000 + #define __Pyx_PyThreadState_Current PyThreadState_GET() +#else + #define __Pyx_PyThreadState_Current _PyThreadState_Current +#endif +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE void *__Pyx_PyModule_GetState(PyObject *op) +{ + void *result; + result = PyModule_GetState(op); + if (!result) + Py_FatalError("Couldn't find the module state"); + return result; +} +#endif +#define __Pyx_PyObject_GetSlot(obj, name, func_ctype) __Pyx_PyType_GetSlot(Py_TYPE(obj), name, func_ctype) +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyType_GetSlot(type, name, func_ctype) ((func_ctype) PyType_GetSlot((type), Py_##name)) +#else + #define __Pyx_PyType_GetSlot(type, name, func_ctype) ((type)->name) +#endif +#if PY_VERSION_HEX < 0x030700A2 && !defined(PyThread_tss_create) && !defined(Py_tss_NEEDS_INIT) +#include "pythread.h" +#define Py_tss_NEEDS_INIT 0 +typedef int Py_tss_t; +static CYTHON_INLINE int PyThread_tss_create(Py_tss_t *key) { + *key = PyThread_create_key(); + return 0; +} +static CYTHON_INLINE Py_tss_t * PyThread_tss_alloc(void) { + Py_tss_t *key = (Py_tss_t *)PyObject_Malloc(sizeof(Py_tss_t)); + *key = Py_tss_NEEDS_INIT; + return key; +} +static CYTHON_INLINE void PyThread_tss_free(Py_tss_t *key) { + PyObject_Free(key); +} +static CYTHON_INLINE int PyThread_tss_is_created(Py_tss_t *key) { + return *key != Py_tss_NEEDS_INIT; +} +static CYTHON_INLINE void PyThread_tss_delete(Py_tss_t *key) { + PyThread_delete_key(*key); + *key = Py_tss_NEEDS_INIT; +} +static CYTHON_INLINE int PyThread_tss_set(Py_tss_t *key, void *value) { + return PyThread_set_key_value(*key, value); +} +static CYTHON_INLINE void * PyThread_tss_get(Py_tss_t *key) { + return PyThread_get_key_value(*key); +} +#endif +#if PY_MAJOR_VERSION < 3 + #if CYTHON_COMPILING_IN_PYPY + #if PYPY_VERSION_NUM < 0x07030600 + #if defined(__cplusplus) && __cplusplus >= 201402L + [[deprecated("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6")]] + #elif defined(__GNUC__) || defined(__clang__) + __attribute__ ((__deprecated__("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6"))) + #elif defined(_MSC_VER) + __declspec(deprecated("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6")) + #endif + static CYTHON_INLINE int PyGILState_Check(void) { + return 0; + } + #else // PYPY_VERSION_NUM < 0x07030600 + #endif // PYPY_VERSION_NUM < 0x07030600 + #else + static CYTHON_INLINE int PyGILState_Check(void) { + PyThreadState * tstate = _PyThreadState_Current; + return tstate && (tstate == PyGILState_GetThisThreadState()); + } + #endif +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030d0000 || defined(_PyDict_NewPresized) +#define __Pyx_PyDict_NewPresized(n) ((n <= 8) ? PyDict_New() : _PyDict_NewPresized(n)) +#else +#define __Pyx_PyDict_NewPresized(n) PyDict_New() +#endif +#if PY_MAJOR_VERSION >= 3 || CYTHON_FUTURE_DIVISION + #define __Pyx_PyNumber_Divide(x,y) PyNumber_TrueDivide(x,y) + #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceTrueDivide(x,y) +#else + #define __Pyx_PyNumber_Divide(x,y) PyNumber_Divide(x,y) + #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceDivide(x,y) +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX > 0x030600B4 && PY_VERSION_HEX < 0x030d0000 && CYTHON_USE_UNICODE_INTERNALS +#define __Pyx_PyDict_GetItemStrWithError(dict, name) _PyDict_GetItem_KnownHash(dict, name, ((PyASCIIObject *) name)->hash) +static CYTHON_INLINE PyObject * __Pyx_PyDict_GetItemStr(PyObject *dict, PyObject *name) { + PyObject *res = __Pyx_PyDict_GetItemStrWithError(dict, name); + if (res == NULL) PyErr_Clear(); + return res; +} +#elif PY_MAJOR_VERSION >= 3 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07020000) +#define __Pyx_PyDict_GetItemStrWithError PyDict_GetItemWithError +#define __Pyx_PyDict_GetItemStr PyDict_GetItem +#else +static CYTHON_INLINE PyObject * __Pyx_PyDict_GetItemStrWithError(PyObject *dict, PyObject *name) { +#if CYTHON_COMPILING_IN_PYPY + return PyDict_GetItem(dict, name); +#else + PyDictEntry *ep; + PyDictObject *mp = (PyDictObject*) dict; + long hash = ((PyStringObject *) name)->ob_shash; + assert(hash != -1); + ep = (mp->ma_lookup)(mp, name, hash); + if (ep == NULL) { + return NULL; + } + return ep->me_value; +#endif +} +#define __Pyx_PyDict_GetItemStr PyDict_GetItem +#endif +#if CYTHON_USE_TYPE_SLOTS + #define __Pyx_PyType_GetFlags(tp) (((PyTypeObject *)tp)->tp_flags) + #define __Pyx_PyType_HasFeature(type, feature) ((__Pyx_PyType_GetFlags(type) & (feature)) != 0) + #define __Pyx_PyObject_GetIterNextFunc(obj) (Py_TYPE(obj)->tp_iternext) +#else + #define __Pyx_PyType_GetFlags(tp) (PyType_GetFlags((PyTypeObject *)tp)) + #define __Pyx_PyType_HasFeature(type, feature) PyType_HasFeature(type, feature) + #define __Pyx_PyObject_GetIterNextFunc(obj) PyIter_Next +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_SetItemOnTypeDict(tp, k, v) PyObject_GenericSetAttr((PyObject*)tp, k, v) +#else + #define __Pyx_SetItemOnTypeDict(tp, k, v) PyDict_SetItem(tp->tp_dict, k, v) +#endif +#if CYTHON_USE_TYPE_SPECS && PY_VERSION_HEX >= 0x03080000 +#define __Pyx_PyHeapTypeObject_GC_Del(obj) {\ + PyTypeObject *type = Py_TYPE((PyObject*)obj);\ + assert(__Pyx_PyType_HasFeature(type, Py_TPFLAGS_HEAPTYPE));\ + PyObject_GC_Del(obj);\ + Py_DECREF(type);\ +} +#else +#define __Pyx_PyHeapTypeObject_GC_Del(obj) PyObject_GC_Del(obj) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define CYTHON_PEP393_ENABLED 1 + #define __Pyx_PyUnicode_READY(op) (0) + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GetLength(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) PyUnicode_ReadChar(u, i) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) ((void)u, 1114111U) + #define __Pyx_PyUnicode_KIND(u) ((void)u, (0)) + #define __Pyx_PyUnicode_DATA(u) ((void*)u) + #define __Pyx_PyUnicode_READ(k, d, i) ((void)k, PyUnicode_ReadChar((PyObject*)(d), i)) + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GetLength(u)) +#elif PY_VERSION_HEX > 0x03030000 && defined(PyUnicode_KIND) + #define CYTHON_PEP393_ENABLED 1 + #if PY_VERSION_HEX >= 0x030C0000 + #define __Pyx_PyUnicode_READY(op) (0) + #else + #define __Pyx_PyUnicode_READY(op) (likely(PyUnicode_IS_READY(op)) ?\ + 0 : _PyUnicode_Ready((PyObject *)(op))) + #endif + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_LENGTH(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) PyUnicode_READ_CHAR(u, i) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) PyUnicode_MAX_CHAR_VALUE(u) + #define __Pyx_PyUnicode_KIND(u) ((int)PyUnicode_KIND(u)) + #define __Pyx_PyUnicode_DATA(u) PyUnicode_DATA(u) + #define __Pyx_PyUnicode_READ(k, d, i) PyUnicode_READ(k, d, i) + #define __Pyx_PyUnicode_WRITE(k, d, i, ch) PyUnicode_WRITE(k, d, i, (Py_UCS4) ch) + #if PY_VERSION_HEX >= 0x030C0000 + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_LENGTH(u)) + #else + #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x03090000 + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : ((PyCompactUnicodeObject *)(u))->wstr_length)) + #else + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : PyUnicode_GET_SIZE(u))) + #endif + #endif +#else + #define CYTHON_PEP393_ENABLED 0 + #define PyUnicode_1BYTE_KIND 1 + #define PyUnicode_2BYTE_KIND 2 + #define PyUnicode_4BYTE_KIND 4 + #define __Pyx_PyUnicode_READY(op) (0) + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_SIZE(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) ((Py_UCS4)(PyUnicode_AS_UNICODE(u)[i])) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) ((sizeof(Py_UNICODE) == 2) ? 65535U : 1114111U) + #define __Pyx_PyUnicode_KIND(u) ((int)sizeof(Py_UNICODE)) + #define __Pyx_PyUnicode_DATA(u) ((void*)PyUnicode_AS_UNICODE(u)) + #define __Pyx_PyUnicode_READ(k, d, i) ((void)(k), (Py_UCS4)(((Py_UNICODE*)d)[i])) + #define __Pyx_PyUnicode_WRITE(k, d, i, ch) (((void)(k)), ((Py_UNICODE*)d)[i] = (Py_UNICODE) ch) + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_SIZE(u)) +#endif +#if CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyUnicode_Concat(a, b) PyNumber_Add(a, b) + #define __Pyx_PyUnicode_ConcatSafe(a, b) PyNumber_Add(a, b) +#else + #define __Pyx_PyUnicode_Concat(a, b) PyUnicode_Concat(a, b) + #define __Pyx_PyUnicode_ConcatSafe(a, b) ((unlikely((a) == Py_None) || unlikely((b) == Py_None)) ?\ + PyNumber_Add(a, b) : __Pyx_PyUnicode_Concat(a, b)) +#endif +#if CYTHON_COMPILING_IN_PYPY + #if !defined(PyUnicode_DecodeUnicodeEscape) + #define PyUnicode_DecodeUnicodeEscape(s, size, errors) PyUnicode_Decode(s, size, "unicode_escape", errors) + #endif + #if !defined(PyUnicode_Contains) || (PY_MAJOR_VERSION == 2 && PYPY_VERSION_NUM < 0x07030500) + #undef PyUnicode_Contains + #define PyUnicode_Contains(u, s) PySequence_Contains(u, s) + #endif + #if !defined(PyByteArray_Check) + #define PyByteArray_Check(obj) PyObject_TypeCheck(obj, &PyByteArray_Type) + #endif + #if !defined(PyObject_Format) + #define PyObject_Format(obj, fmt) PyObject_CallMethod(obj, "__format__", "O", fmt) + #endif +#endif +#define __Pyx_PyString_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyString_Check(b) && !PyString_CheckExact(b)))) ? PyNumber_Remainder(a, b) : __Pyx_PyString_Format(a, b)) +#define __Pyx_PyUnicode_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyUnicode_Check(b) && !PyUnicode_CheckExact(b)))) ? PyNumber_Remainder(a, b) : PyUnicode_Format(a, b)) +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyString_Format(a, b) PyUnicode_Format(a, b) +#else + #define __Pyx_PyString_Format(a, b) PyString_Format(a, b) +#endif +#if PY_MAJOR_VERSION < 3 && !defined(PyObject_ASCII) + #define PyObject_ASCII(o) PyObject_Repr(o) +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyBaseString_Type PyUnicode_Type + #define PyStringObject PyUnicodeObject + #define PyString_Type PyUnicode_Type + #define PyString_Check PyUnicode_Check + #define PyString_CheckExact PyUnicode_CheckExact +#ifndef PyObject_Unicode + #define PyObject_Unicode PyObject_Str +#endif +#endif +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyBaseString_Check(obj) PyUnicode_Check(obj) + #define __Pyx_PyBaseString_CheckExact(obj) PyUnicode_CheckExact(obj) +#else + #define __Pyx_PyBaseString_Check(obj) (PyString_Check(obj) || PyUnicode_Check(obj)) + #define __Pyx_PyBaseString_CheckExact(obj) (PyString_CheckExact(obj) || PyUnicode_CheckExact(obj)) +#endif +#if CYTHON_COMPILING_IN_CPYTHON + #define __Pyx_PySequence_ListKeepNew(obj)\ + (likely(PyList_CheckExact(obj) && Py_REFCNT(obj) == 1) ? __Pyx_NewRef(obj) : PySequence_List(obj)) +#else + #define __Pyx_PySequence_ListKeepNew(obj) PySequence_List(obj) +#endif +#ifndef PySet_CheckExact + #define PySet_CheckExact(obj) __Pyx_IS_TYPE(obj, &PySet_Type) +#endif +#if PY_VERSION_HEX >= 0x030900A4 + #define __Pyx_SET_REFCNT(obj, refcnt) Py_SET_REFCNT(obj, refcnt) + #define __Pyx_SET_SIZE(obj, size) Py_SET_SIZE(obj, size) +#else + #define __Pyx_SET_REFCNT(obj, refcnt) Py_REFCNT(obj) = (refcnt) + #define __Pyx_SET_SIZE(obj, size) Py_SIZE(obj) = (size) +#endif +#if CYTHON_ASSUME_SAFE_MACROS + #define __Pyx_PySequence_ITEM(o, i) PySequence_ITEM(o, i) + #define __Pyx_PySequence_SIZE(seq) Py_SIZE(seq) + #define __Pyx_PyTuple_SET_ITEM(o, i, v) (PyTuple_SET_ITEM(o, i, v), (0)) + #define __Pyx_PyList_SET_ITEM(o, i, v) (PyList_SET_ITEM(o, i, v), (0)) + #define __Pyx_PyTuple_GET_SIZE(o) PyTuple_GET_SIZE(o) + #define __Pyx_PyList_GET_SIZE(o) PyList_GET_SIZE(o) + #define __Pyx_PySet_GET_SIZE(o) PySet_GET_SIZE(o) + #define __Pyx_PyBytes_GET_SIZE(o) PyBytes_GET_SIZE(o) + #define __Pyx_PyByteArray_GET_SIZE(o) PyByteArray_GET_SIZE(o) +#else + #define __Pyx_PySequence_ITEM(o, i) PySequence_GetItem(o, i) + #define __Pyx_PySequence_SIZE(seq) PySequence_Size(seq) + #define __Pyx_PyTuple_SET_ITEM(o, i, v) PyTuple_SetItem(o, i, v) + #define __Pyx_PyList_SET_ITEM(o, i, v) PyList_SetItem(o, i, v) + #define __Pyx_PyTuple_GET_SIZE(o) PyTuple_Size(o) + #define __Pyx_PyList_GET_SIZE(o) PyList_Size(o) + #define __Pyx_PySet_GET_SIZE(o) PySet_Size(o) + #define __Pyx_PyBytes_GET_SIZE(o) PyBytes_Size(o) + #define __Pyx_PyByteArray_GET_SIZE(o) PyByteArray_Size(o) +#endif +#if PY_VERSION_HEX >= 0x030d00A1 + #define __Pyx_PyImport_AddModuleRef(name) PyImport_AddModuleRef(name) +#else + static CYTHON_INLINE PyObject *__Pyx_PyImport_AddModuleRef(const char *name) { + PyObject *module = PyImport_AddModule(name); + Py_XINCREF(module); + return module; + } +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyIntObject PyLongObject + #define PyInt_Type PyLong_Type + #define PyInt_Check(op) PyLong_Check(op) + #define PyInt_CheckExact(op) PyLong_CheckExact(op) + #define __Pyx_Py3Int_Check(op) PyLong_Check(op) + #define __Pyx_Py3Int_CheckExact(op) PyLong_CheckExact(op) + #define PyInt_FromString PyLong_FromString + #define PyInt_FromUnicode PyLong_FromUnicode + #define PyInt_FromLong PyLong_FromLong + #define PyInt_FromSize_t PyLong_FromSize_t + #define PyInt_FromSsize_t PyLong_FromSsize_t + #define PyInt_AsLong PyLong_AsLong + #define PyInt_AS_LONG PyLong_AS_LONG + #define PyInt_AsSsize_t PyLong_AsSsize_t + #define PyInt_AsUnsignedLongMask PyLong_AsUnsignedLongMask + #define PyInt_AsUnsignedLongLongMask PyLong_AsUnsignedLongLongMask + #define PyNumber_Int PyNumber_Long +#else + #define __Pyx_Py3Int_Check(op) (PyLong_Check(op) || PyInt_Check(op)) + #define __Pyx_Py3Int_CheckExact(op) (PyLong_CheckExact(op) || PyInt_CheckExact(op)) +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyBoolObject PyLongObject +#endif +#if PY_MAJOR_VERSION >= 3 && CYTHON_COMPILING_IN_PYPY + #ifndef PyUnicode_InternFromString + #define PyUnicode_InternFromString(s) PyUnicode_FromString(s) + #endif +#endif +#if PY_VERSION_HEX < 0x030200A4 + typedef long Py_hash_t; + #define __Pyx_PyInt_FromHash_t PyInt_FromLong + #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsHash_t +#else + #define __Pyx_PyInt_FromHash_t PyInt_FromSsize_t + #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsSsize_t +#endif +#if CYTHON_USE_ASYNC_SLOTS + #if PY_VERSION_HEX >= 0x030500B1 + #define __Pyx_PyAsyncMethodsStruct PyAsyncMethods + #define __Pyx_PyType_AsAsync(obj) (Py_TYPE(obj)->tp_as_async) + #else + #define __Pyx_PyType_AsAsync(obj) ((__Pyx_PyAsyncMethodsStruct*) (Py_TYPE(obj)->tp_reserved)) + #endif +#else + #define __Pyx_PyType_AsAsync(obj) NULL +#endif +#ifndef __Pyx_PyAsyncMethodsStruct + typedef struct { + unaryfunc am_await; + unaryfunc am_aiter; + unaryfunc am_anext; + } __Pyx_PyAsyncMethodsStruct; +#endif + +#if defined(_WIN32) || defined(WIN32) || defined(MS_WINDOWS) + #if !defined(_USE_MATH_DEFINES) + #define _USE_MATH_DEFINES + #endif +#endif +#include +#ifdef NAN +#define __PYX_NAN() ((float) NAN) +#else +static CYTHON_INLINE float __PYX_NAN() { + float value; + memset(&value, 0xFF, sizeof(value)); + return value; +} +#endif +#if defined(__CYGWIN__) && defined(_LDBL_EQ_DBL) +#define __Pyx_truncl trunc +#else +#define __Pyx_truncl truncl +#endif + +#define __PYX_MARK_ERR_POS(f_index, lineno) \ + { __pyx_filename = __pyx_f[f_index]; (void)__pyx_filename; __pyx_lineno = lineno; (void)__pyx_lineno; __pyx_clineno = __LINE__; (void)__pyx_clineno; } +#define __PYX_ERR(f_index, lineno, Ln_error) \ + { __PYX_MARK_ERR_POS(f_index, lineno) goto Ln_error; } + +#ifdef CYTHON_EXTERN_C + #undef __PYX_EXTERN_C + #define __PYX_EXTERN_C CYTHON_EXTERN_C +#elif defined(__PYX_EXTERN_C) + #ifdef _MSC_VER + #pragma message ("Please do not define the '__PYX_EXTERN_C' macro externally. Use 'CYTHON_EXTERN_C' instead.") + #else + #warning Please do not define the '__PYX_EXTERN_C' macro externally. Use 'CYTHON_EXTERN_C' instead. + #endif +#else + #define __PYX_EXTERN_C extern "C++" +#endif + +#define __PYX_HAVE__selfdrive__modeld__runners__snpemodel_pyx +#define __PYX_HAVE_API__selfdrive__modeld__runners__snpemodel_pyx +/* Early includes */ +#include +#include +#include "ios" +#include "new" +#include "stdexcept" +#include "typeinfo" +#include +#include + + #if __cplusplus >= 201103L || (defined(_MSC_VER) && _MSC_VER >= 1600) + // move should be defined for these versions of MSVC, but __cplusplus isn't set usefully + #include + + namespace cython_std { + template typename std::remove_reference::type&& move(T& t) noexcept { return std::move(t); } + template typename std::remove_reference::type&& move(T&& t) noexcept { return std::move(t); } + } + + #endif + +#include +#include +#include "msgq/visionipc/visionbuf.h" +#include "msgq/visionipc/visionipc.h" +#include "msgq/visionipc/visionipc_server.h" +#include "msgq/visionipc/visionipc_client.h" +#include "selfdrive/modeld/runners/snpemodel.h" +#include "selfdrive/modeld/runners/runmodel.h" +#include "pythread.h" +#include +#ifdef _OPENMP +#include +#endif /* _OPENMP */ + +#if defined(PYREX_WITHOUT_ASSERTIONS) && !defined(CYTHON_WITHOUT_ASSERTIONS) +#define CYTHON_WITHOUT_ASSERTIONS +#endif + +typedef struct {PyObject **p; const char *s; const Py_ssize_t n; const char* encoding; + const char is_unicode; const char is_str; const char intern; } __Pyx_StringTabEntry; + +#define __PYX_DEFAULT_STRING_ENCODING_IS_ASCII 1 +#define __PYX_DEFAULT_STRING_ENCODING_IS_UTF8 0 +#define __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT (PY_MAJOR_VERSION >= 3 && __PYX_DEFAULT_STRING_ENCODING_IS_UTF8) +#define __PYX_DEFAULT_STRING_ENCODING "ascii" +#define __Pyx_PyObject_FromString __Pyx_PyBytes_FromString +#define __Pyx_PyObject_FromStringAndSize __Pyx_PyBytes_FromStringAndSize +#define __Pyx_uchar_cast(c) ((unsigned char)c) +#define __Pyx_long_cast(x) ((long)x) +#define __Pyx_fits_Py_ssize_t(v, type, is_signed) (\ + (sizeof(type) < sizeof(Py_ssize_t)) ||\ + (sizeof(type) > sizeof(Py_ssize_t) &&\ + likely(v < (type)PY_SSIZE_T_MAX ||\ + v == (type)PY_SSIZE_T_MAX) &&\ + (!is_signed || likely(v > (type)PY_SSIZE_T_MIN ||\ + v == (type)PY_SSIZE_T_MIN))) ||\ + (sizeof(type) == sizeof(Py_ssize_t) &&\ + (is_signed || likely(v < (type)PY_SSIZE_T_MAX ||\ + v == (type)PY_SSIZE_T_MAX))) ) +static CYTHON_INLINE int __Pyx_is_valid_index(Py_ssize_t i, Py_ssize_t limit) { + return (size_t) i < (size_t) limit; +} +#if defined (__cplusplus) && __cplusplus >= 201103L + #include + #define __Pyx_sst_abs(value) std::abs(value) +#elif SIZEOF_INT >= SIZEOF_SIZE_T + #define __Pyx_sst_abs(value) abs(value) +#elif SIZEOF_LONG >= SIZEOF_SIZE_T + #define __Pyx_sst_abs(value) labs(value) +#elif defined (_MSC_VER) + #define __Pyx_sst_abs(value) ((Py_ssize_t)_abs64(value)) +#elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define __Pyx_sst_abs(value) llabs(value) +#elif defined (__GNUC__) + #define __Pyx_sst_abs(value) __builtin_llabs(value) +#else + #define __Pyx_sst_abs(value) ((value<0) ? -value : value) +#endif +static CYTHON_INLINE Py_ssize_t __Pyx_ssize_strlen(const char *s); +static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject*); +static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject*, Py_ssize_t* length); +static CYTHON_INLINE PyObject* __Pyx_PyByteArray_FromString(const char*); +#define __Pyx_PyByteArray_FromStringAndSize(s, l) PyByteArray_FromStringAndSize((const char*)s, l) +#define __Pyx_PyBytes_FromString PyBytes_FromString +#define __Pyx_PyBytes_FromStringAndSize PyBytes_FromStringAndSize +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char*); +#if PY_MAJOR_VERSION < 3 + #define __Pyx_PyStr_FromString __Pyx_PyBytes_FromString + #define __Pyx_PyStr_FromStringAndSize __Pyx_PyBytes_FromStringAndSize +#else + #define __Pyx_PyStr_FromString __Pyx_PyUnicode_FromString + #define __Pyx_PyStr_FromStringAndSize __Pyx_PyUnicode_FromStringAndSize +#endif +#define __Pyx_PyBytes_AsWritableString(s) ((char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsWritableSString(s) ((signed char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsWritableUString(s) ((unsigned char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsString(s) ((const char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsSString(s) ((const signed char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsUString(s) ((const unsigned char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyObject_AsWritableString(s) ((char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsWritableSString(s) ((signed char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsWritableUString(s) ((unsigned char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsSString(s) ((const signed char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsUString(s) ((const unsigned char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_FromCString(s) __Pyx_PyObject_FromString((const char*)s) +#define __Pyx_PyBytes_FromCString(s) __Pyx_PyBytes_FromString((const char*)s) +#define __Pyx_PyByteArray_FromCString(s) __Pyx_PyByteArray_FromString((const char*)s) +#define __Pyx_PyStr_FromCString(s) __Pyx_PyStr_FromString((const char*)s) +#define __Pyx_PyUnicode_FromCString(s) __Pyx_PyUnicode_FromString((const char*)s) +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE size_t __Pyx_Py_UNICODE_strlen(const wchar_t *u) +{ + const wchar_t *u_end = u; + while (*u_end++) ; + return (size_t)(u_end - u - 1); +} +#else +static CYTHON_INLINE size_t __Pyx_Py_UNICODE_strlen(const Py_UNICODE *u) +{ + const Py_UNICODE *u_end = u; + while (*u_end++) ; + return (size_t)(u_end - u - 1); +} +#endif +#define __Pyx_PyUnicode_FromOrdinal(o) PyUnicode_FromOrdinal((int)o) +#define __Pyx_PyUnicode_FromUnicode(u) PyUnicode_FromUnicode(u, __Pyx_Py_UNICODE_strlen(u)) +#define __Pyx_PyUnicode_FromUnicodeAndLength PyUnicode_FromUnicode +#define __Pyx_PyUnicode_AsUnicode PyUnicode_AsUnicode +#define __Pyx_NewRef(obj) (Py_INCREF(obj), obj) +#define __Pyx_Owned_Py_None(b) __Pyx_NewRef(Py_None) +static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b); +static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject*); +static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject*); +static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x); +#define __Pyx_PySequence_Tuple(obj)\ + (likely(PyTuple_CheckExact(obj)) ? __Pyx_NewRef(obj) : PySequence_Tuple(obj)) +static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject*); +static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t); +static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject*); +#if CYTHON_ASSUME_SAFE_MACROS +#define __pyx_PyFloat_AsDouble(x) (PyFloat_CheckExact(x) ? PyFloat_AS_DOUBLE(x) : PyFloat_AsDouble(x)) +#else +#define __pyx_PyFloat_AsDouble(x) PyFloat_AsDouble(x) +#endif +#define __pyx_PyFloat_AsFloat(x) ((float) __pyx_PyFloat_AsDouble(x)) +#if PY_MAJOR_VERSION >= 3 +#define __Pyx_PyNumber_Int(x) (PyLong_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Long(x)) +#else +#define __Pyx_PyNumber_Int(x) (PyInt_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Int(x)) +#endif +#if CYTHON_USE_PYLONG_INTERNALS + #if PY_VERSION_HEX >= 0x030C00A7 + #ifndef _PyLong_SIGN_MASK + #define _PyLong_SIGN_MASK 3 + #endif + #ifndef _PyLong_NON_SIZE_BITS + #define _PyLong_NON_SIZE_BITS 3 + #endif + #define __Pyx_PyLong_Sign(x) (((PyLongObject*)x)->long_value.lv_tag & _PyLong_SIGN_MASK) + #define __Pyx_PyLong_IsNeg(x) ((__Pyx_PyLong_Sign(x) & 2) != 0) + #define __Pyx_PyLong_IsNonNeg(x) (!__Pyx_PyLong_IsNeg(x)) + #define __Pyx_PyLong_IsZero(x) (__Pyx_PyLong_Sign(x) & 1) + #define __Pyx_PyLong_IsPos(x) (__Pyx_PyLong_Sign(x) == 0) + #define __Pyx_PyLong_CompactValueUnsigned(x) (__Pyx_PyLong_Digits(x)[0]) + #define __Pyx_PyLong_DigitCount(x) ((Py_ssize_t) (((PyLongObject*)x)->long_value.lv_tag >> _PyLong_NON_SIZE_BITS)) + #define __Pyx_PyLong_SignedDigitCount(x)\ + ((1 - (Py_ssize_t) __Pyx_PyLong_Sign(x)) * __Pyx_PyLong_DigitCount(x)) + #if defined(PyUnstable_Long_IsCompact) && defined(PyUnstable_Long_CompactValue) + #define __Pyx_PyLong_IsCompact(x) PyUnstable_Long_IsCompact((PyLongObject*) x) + #define __Pyx_PyLong_CompactValue(x) PyUnstable_Long_CompactValue((PyLongObject*) x) + #else + #define __Pyx_PyLong_IsCompact(x) (((PyLongObject*)x)->long_value.lv_tag < (2 << _PyLong_NON_SIZE_BITS)) + #define __Pyx_PyLong_CompactValue(x) ((1 - (Py_ssize_t) __Pyx_PyLong_Sign(x)) * (Py_ssize_t) __Pyx_PyLong_Digits(x)[0]) + #endif + typedef Py_ssize_t __Pyx_compact_pylong; + typedef size_t __Pyx_compact_upylong; + #else + #define __Pyx_PyLong_IsNeg(x) (Py_SIZE(x) < 0) + #define __Pyx_PyLong_IsNonNeg(x) (Py_SIZE(x) >= 0) + #define __Pyx_PyLong_IsZero(x) (Py_SIZE(x) == 0) + #define __Pyx_PyLong_IsPos(x) (Py_SIZE(x) > 0) + #define __Pyx_PyLong_CompactValueUnsigned(x) ((Py_SIZE(x) == 0) ? 0 : __Pyx_PyLong_Digits(x)[0]) + #define __Pyx_PyLong_DigitCount(x) __Pyx_sst_abs(Py_SIZE(x)) + #define __Pyx_PyLong_SignedDigitCount(x) Py_SIZE(x) + #define __Pyx_PyLong_IsCompact(x) (Py_SIZE(x) == 0 || Py_SIZE(x) == 1 || Py_SIZE(x) == -1) + #define __Pyx_PyLong_CompactValue(x)\ + ((Py_SIZE(x) == 0) ? (sdigit) 0 : ((Py_SIZE(x) < 0) ? -(sdigit)__Pyx_PyLong_Digits(x)[0] : (sdigit)__Pyx_PyLong_Digits(x)[0])) + typedef sdigit __Pyx_compact_pylong; + typedef digit __Pyx_compact_upylong; + #endif + #if PY_VERSION_HEX >= 0x030C00A5 + #define __Pyx_PyLong_Digits(x) (((PyLongObject*)x)->long_value.ob_digit) + #else + #define __Pyx_PyLong_Digits(x) (((PyLongObject*)x)->ob_digit) + #endif +#endif +#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII +#include +static int __Pyx_sys_getdefaultencoding_not_ascii; +static int __Pyx_init_sys_getdefaultencoding_params(void) { + PyObject* sys; + PyObject* default_encoding = NULL; + PyObject* ascii_chars_u = NULL; + PyObject* ascii_chars_b = NULL; + const char* default_encoding_c; + sys = PyImport_ImportModule("sys"); + if (!sys) goto bad; + default_encoding = PyObject_CallMethod(sys, (char*) "getdefaultencoding", NULL); + Py_DECREF(sys); + if (!default_encoding) goto bad; + default_encoding_c = PyBytes_AsString(default_encoding); + if (!default_encoding_c) goto bad; + if (strcmp(default_encoding_c, "ascii") == 0) { + __Pyx_sys_getdefaultencoding_not_ascii = 0; + } else { + char ascii_chars[128]; + int c; + for (c = 0; c < 128; c++) { + ascii_chars[c] = (char) c; + } + __Pyx_sys_getdefaultencoding_not_ascii = 1; + ascii_chars_u = PyUnicode_DecodeASCII(ascii_chars, 128, NULL); + if (!ascii_chars_u) goto bad; + ascii_chars_b = PyUnicode_AsEncodedString(ascii_chars_u, default_encoding_c, NULL); + if (!ascii_chars_b || !PyBytes_Check(ascii_chars_b) || memcmp(ascii_chars, PyBytes_AS_STRING(ascii_chars_b), 128) != 0) { + PyErr_Format( + PyExc_ValueError, + "This module compiled with c_string_encoding=ascii, but default encoding '%.200s' is not a superset of ascii.", + default_encoding_c); + goto bad; + } + Py_DECREF(ascii_chars_u); + Py_DECREF(ascii_chars_b); + } + Py_DECREF(default_encoding); + return 0; +bad: + Py_XDECREF(default_encoding); + Py_XDECREF(ascii_chars_u); + Py_XDECREF(ascii_chars_b); + return -1; +} +#endif +#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT && PY_MAJOR_VERSION >= 3 +#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_DecodeUTF8(c_str, size, NULL) +#else +#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_Decode(c_str, size, __PYX_DEFAULT_STRING_ENCODING, NULL) +#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT +#include +static char* __PYX_DEFAULT_STRING_ENCODING; +static int __Pyx_init_sys_getdefaultencoding_params(void) { + PyObject* sys; + PyObject* default_encoding = NULL; + char* default_encoding_c; + sys = PyImport_ImportModule("sys"); + if (!sys) goto bad; + default_encoding = PyObject_CallMethod(sys, (char*) (const char*) "getdefaultencoding", NULL); + Py_DECREF(sys); + if (!default_encoding) goto bad; + default_encoding_c = PyBytes_AsString(default_encoding); + if (!default_encoding_c) goto bad; + __PYX_DEFAULT_STRING_ENCODING = (char*) malloc(strlen(default_encoding_c) + 1); + if (!__PYX_DEFAULT_STRING_ENCODING) goto bad; + strcpy(__PYX_DEFAULT_STRING_ENCODING, default_encoding_c); + Py_DECREF(default_encoding); + return 0; +bad: + Py_XDECREF(default_encoding); + return -1; +} +#endif +#endif + + +/* Test for GCC > 2.95 */ +#if defined(__GNUC__) && (__GNUC__ > 2 || (__GNUC__ == 2 && (__GNUC_MINOR__ > 95))) + #define likely(x) __builtin_expect(!!(x), 1) + #define unlikely(x) __builtin_expect(!!(x), 0) +#else /* !__GNUC__ or GCC < 2.95 */ + #define likely(x) (x) + #define unlikely(x) (x) +#endif /* __GNUC__ */ +static CYTHON_INLINE void __Pyx_pretend_to_initialize(void* ptr) { (void)ptr; } + +#if !CYTHON_USE_MODULE_STATE +static PyObject *__pyx_m = NULL; +#endif +static int __pyx_lineno; +static int __pyx_clineno = 0; +static const char * __pyx_cfilenm = __FILE__; +static const char *__pyx_filename; + +/* #### Code section: filename_table ### */ + +static const char *__pyx_f[] = { + "", + "selfdrive/modeld/runners/snpemodel_pyx.pyx", + "msgq/visionipc/visionipc_pyx.pxd", + "selfdrive/modeld/models/commonmodel_pyx.pxd", +}; +/* #### Code section: utility_code_proto_before_types ### */ +/* ForceInitThreads.proto */ +#ifndef __PYX_FORCE_INIT_THREADS + #define __PYX_FORCE_INIT_THREADS 0 +#endif + +/* NoFastGil.proto */ +#define __Pyx_PyGILState_Ensure PyGILState_Ensure +#define __Pyx_PyGILState_Release PyGILState_Release +#define __Pyx_FastGIL_Remember() +#define __Pyx_FastGIL_Forget() +#define __Pyx_FastGilFuncInit() + +/* BufferFormatStructs.proto */ +struct __Pyx_StructField_; +#define __PYX_BUF_FLAGS_PACKED_STRUCT (1 << 0) +typedef struct { + const char* name; + struct __Pyx_StructField_* fields; + size_t size; + size_t arraysize[8]; + int ndim; + char typegroup; + char is_unsigned; + int flags; +} __Pyx_TypeInfo; +typedef struct __Pyx_StructField_ { + __Pyx_TypeInfo* type; + const char* name; + size_t offset; +} __Pyx_StructField; +typedef struct { + __Pyx_StructField* field; + size_t parent_offset; +} __Pyx_BufFmt_StackElem; +typedef struct { + __Pyx_StructField root; + __Pyx_BufFmt_StackElem* head; + size_t fmt_offset; + size_t new_count, enc_count; + size_t struct_alignment; + int is_complex; + char enc_type; + char new_packmode; + char enc_packmode; + char is_valid_array; +} __Pyx_BufFmt_Context; + +/* Atomics.proto */ +#include +#ifndef CYTHON_ATOMICS + #define CYTHON_ATOMICS 1 +#endif +#define __PYX_CYTHON_ATOMICS_ENABLED() CYTHON_ATOMICS +#define __pyx_atomic_int_type int +#define __pyx_nonatomic_int_type int +#if CYTHON_ATOMICS && (defined(__STDC_VERSION__) &&\ + (__STDC_VERSION__ >= 201112L) &&\ + !defined(__STDC_NO_ATOMICS__)) + #include +#elif CYTHON_ATOMICS && (defined(__cplusplus) && (\ + (__cplusplus >= 201103L) ||\ + (defined(_MSC_VER) && _MSC_VER >= 1700))) + #include +#endif +#if CYTHON_ATOMICS && (defined(__STDC_VERSION__) &&\ + (__STDC_VERSION__ >= 201112L) &&\ + !defined(__STDC_NO_ATOMICS__) &&\ + ATOMIC_INT_LOCK_FREE == 2) + #undef __pyx_atomic_int_type + #define __pyx_atomic_int_type atomic_int + #define __pyx_atomic_incr_aligned(value) atomic_fetch_add_explicit(value, 1, memory_order_relaxed) + #define __pyx_atomic_decr_aligned(value) atomic_fetch_sub_explicit(value, 1, memory_order_acq_rel) + #if defined(__PYX_DEBUG_ATOMICS) && defined(_MSC_VER) + #pragma message ("Using standard C atomics") + #elif defined(__PYX_DEBUG_ATOMICS) + #warning "Using standard C atomics" + #endif +#elif CYTHON_ATOMICS && (defined(__cplusplus) && (\ + (__cplusplus >= 201103L) ||\ +\ + (defined(_MSC_VER) && _MSC_VER >= 1700)) &&\ + ATOMIC_INT_LOCK_FREE == 2) + #undef __pyx_atomic_int_type + #define __pyx_atomic_int_type std::atomic_int + #define __pyx_atomic_incr_aligned(value) std::atomic_fetch_add_explicit(value, 1, std::memory_order_relaxed) + #define __pyx_atomic_decr_aligned(value) std::atomic_fetch_sub_explicit(value, 1, std::memory_order_acq_rel) + #if defined(__PYX_DEBUG_ATOMICS) && defined(_MSC_VER) + #pragma message ("Using standard C++ atomics") + #elif defined(__PYX_DEBUG_ATOMICS) + #warning "Using standard C++ atomics" + #endif +#elif CYTHON_ATOMICS && (__GNUC__ >= 5 || (__GNUC__ == 4 &&\ + (__GNUC_MINOR__ > 1 ||\ + (__GNUC_MINOR__ == 1 && __GNUC_PATCHLEVEL__ >= 2)))) + #define __pyx_atomic_incr_aligned(value) __sync_fetch_and_add(value, 1) + #define __pyx_atomic_decr_aligned(value) __sync_fetch_and_sub(value, 1) + #ifdef __PYX_DEBUG_ATOMICS + #warning "Using GNU atomics" + #endif +#elif CYTHON_ATOMICS && defined(_MSC_VER) + #include + #undef __pyx_atomic_int_type + #define __pyx_atomic_int_type long + #undef __pyx_nonatomic_int_type + #define __pyx_nonatomic_int_type long + #pragma intrinsic (_InterlockedExchangeAdd) + #define __pyx_atomic_incr_aligned(value) _InterlockedExchangeAdd(value, 1) + #define __pyx_atomic_decr_aligned(value) _InterlockedExchangeAdd(value, -1) + #ifdef __PYX_DEBUG_ATOMICS + #pragma message ("Using MSVC atomics") + #endif +#else + #undef CYTHON_ATOMICS + #define CYTHON_ATOMICS 0 + #ifdef __PYX_DEBUG_ATOMICS + #warning "Not using atomics" + #endif +#endif +#if CYTHON_ATOMICS + #define __pyx_add_acquisition_count(memview)\ + __pyx_atomic_incr_aligned(__pyx_get_slice_count_pointer(memview)) + #define __pyx_sub_acquisition_count(memview)\ + __pyx_atomic_decr_aligned(__pyx_get_slice_count_pointer(memview)) +#else + #define __pyx_add_acquisition_count(memview)\ + __pyx_add_acquisition_count_locked(__pyx_get_slice_count_pointer(memview), memview->lock) + #define __pyx_sub_acquisition_count(memview)\ + __pyx_sub_acquisition_count_locked(__pyx_get_slice_count_pointer(memview), memview->lock) +#endif + +/* MemviewSliceStruct.proto */ +struct __pyx_memoryview_obj; +typedef struct { + struct __pyx_memoryview_obj *memview; + char *data; + Py_ssize_t shape[8]; + Py_ssize_t strides[8]; + Py_ssize_t suboffsets[8]; +} __Pyx_memviewslice; +#define __Pyx_MemoryView_Len(m) (m.shape[0]) + +/* #### Code section: numeric_typedefs ### */ +/* #### Code section: complex_type_declarations ### */ +/* #### Code section: type_declarations ### */ + +/*--- Type declarations ---*/ +struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_CLContext; +struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionBuf; +struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext; +struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem; +struct __pyx_obj_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel; +struct __pyx_obj_9selfdrive_6modeld_7runners_13snpemodel_pyx_SNPEModel; +struct __pyx_array_obj; +struct __pyx_MemviewEnum_obj; +struct __pyx_memoryview_obj; +struct __pyx_memoryviewslice_obj; + +/* "msgq/visionipc/visionipc_pyx.pxd":7 + * from .visionipc cimport cl_device_id, cl_context + * + * cdef class CLContext: # <<<<<<<<<<<<<< + * cdef cl_device_id device_id + * cdef cl_context context + */ +struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_CLContext { + PyObject_HEAD + cl_device_id device_id; + cl_context context; +}; + + +/* "msgq/visionipc/visionipc_pyx.pxd":11 + * cdef cl_context context + * + * cdef class VisionBuf: # <<<<<<<<<<<<<< + * cdef cppVisionBuf * buf + * + */ +struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionBuf { + PyObject_HEAD + struct __pyx_vtabstruct_4msgq_9visionipc_13visionipc_pyx_VisionBuf *__pyx_vtab; + VisionBuf *buf; +}; + + +/* "selfdrive/modeld/models/commonmodel_pyx.pxd":6 + * from msgq.visionipc.visionipc_pyx cimport CLContext as BaseCLContext + * + * cdef class CLContext(BaseCLContext): # <<<<<<<<<<<<<< + * pass + * + */ +struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext { + struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_CLContext __pyx_base; +}; + + +/* "selfdrive/modeld/models/commonmodel_pyx.pxd":9 + * pass + * + * cdef class CLMem: # <<<<<<<<<<<<<< + * cdef cl_mem * mem + * + */ +struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem { + PyObject_HEAD + struct __pyx_vtabstruct_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem *__pyx_vtab; + cl_mem *mem; +}; + + +/* "selfdrive/modeld/runners/runmodel_pyx.pxd":5 + * from .runmodel cimport RunModel as cppRunModel + * + * cdef class RunModel: # <<<<<<<<<<<<<< + * cdef cppRunModel * model + */ +struct __pyx_obj_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel { + PyObject_HEAD + RunModel *model; +}; + + +/* "selfdrive/modeld/runners/snpemodel_pyx.pyx":15 + * os.environ['ADSP_LIBRARY_PATH'] = "/data/pythonpath/third_party/snpe/dsp/" + * + * cdef class SNPEModel(RunModel): # <<<<<<<<<<<<<< + * def __cinit__(self, string path, float[:] output, int runtime, bool use_tf8, CLContext context): + * self.model = new cppSNPEModel(path, &output[0], len(output), runtime, use_tf8, context.context) + */ +struct __pyx_obj_9selfdrive_6modeld_7runners_13snpemodel_pyx_SNPEModel { + struct __pyx_obj_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel __pyx_base; +}; + + +/* "View.MemoryView":114 + * @cython.collection_type("sequence") + * @cname("__pyx_array") + * cdef class array: # <<<<<<<<<<<<<< + * + * cdef: + */ +struct __pyx_array_obj { + PyObject_HEAD + struct __pyx_vtabstruct_array *__pyx_vtab; + char *data; + Py_ssize_t len; + char *format; + int ndim; + Py_ssize_t *_shape; + Py_ssize_t *_strides; + Py_ssize_t itemsize; + PyObject *mode; + PyObject *_format; + void (*callback_free_data)(void *); + int free_data; + int dtype_is_object; +}; + + +/* "View.MemoryView":302 + * + * @cname('__pyx_MemviewEnum') + * cdef class Enum(object): # <<<<<<<<<<<<<< + * cdef object name + * def __init__(self, name): + */ +struct __pyx_MemviewEnum_obj { + PyObject_HEAD + PyObject *name; +}; + + +/* "View.MemoryView":337 + * + * @cname('__pyx_memoryview') + * cdef class memoryview: # <<<<<<<<<<<<<< + * + * cdef object obj + */ +struct __pyx_memoryview_obj { + PyObject_HEAD + struct __pyx_vtabstruct_memoryview *__pyx_vtab; + PyObject *obj; + PyObject *_size; + PyObject *_array_interface; + PyThread_type_lock lock; + __pyx_atomic_int_type acquisition_count; + Py_buffer view; + int flags; + int dtype_is_object; + __Pyx_TypeInfo *typeinfo; +}; + + +/* "View.MemoryView":952 + * @cython.collection_type("sequence") + * @cname('__pyx_memoryviewslice') + * cdef class _memoryviewslice(memoryview): # <<<<<<<<<<<<<< + * "Internal class for passing memoryview slices to Python" + * + */ +struct __pyx_memoryviewslice_obj { + struct __pyx_memoryview_obj __pyx_base; + __Pyx_memviewslice from_slice; + PyObject *from_object; + PyObject *(*to_object_func)(char *); + int (*to_dtype_func)(char *, PyObject *); +}; + + + +/* "msgq/visionipc/visionipc_pyx.pxd":11 + * cdef cl_context context + * + * cdef class VisionBuf: # <<<<<<<<<<<<<< + * cdef cppVisionBuf * buf + * + */ + +struct __pyx_vtabstruct_4msgq_9visionipc_13visionipc_pyx_VisionBuf { + PyObject *(*create)(VisionBuf *); +}; +static struct __pyx_vtabstruct_4msgq_9visionipc_13visionipc_pyx_VisionBuf *__pyx_vtabptr_4msgq_9visionipc_13visionipc_pyx_VisionBuf; + + +/* "selfdrive/modeld/models/commonmodel_pyx.pxd":9 + * pass + * + * cdef class CLMem: # <<<<<<<<<<<<<< + * cdef cl_mem * mem + * + */ + +struct __pyx_vtabstruct_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem { + PyObject *(*create)(void *); +}; +static struct __pyx_vtabstruct_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem *__pyx_vtabptr_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem; + + +/* "View.MemoryView":114 + * @cython.collection_type("sequence") + * @cname("__pyx_array") + * cdef class array: # <<<<<<<<<<<<<< + * + * cdef: + */ + +struct __pyx_vtabstruct_array { + PyObject *(*get_memview)(struct __pyx_array_obj *); +}; +static struct __pyx_vtabstruct_array *__pyx_vtabptr_array; + + +/* "View.MemoryView":337 + * + * @cname('__pyx_memoryview') + * cdef class memoryview: # <<<<<<<<<<<<<< + * + * cdef object obj + */ + +struct __pyx_vtabstruct_memoryview { + char *(*get_item_pointer)(struct __pyx_memoryview_obj *, PyObject *); + PyObject *(*is_slice)(struct __pyx_memoryview_obj *, PyObject *); + PyObject *(*setitem_slice_assignment)(struct __pyx_memoryview_obj *, PyObject *, PyObject *); + PyObject *(*setitem_slice_assign_scalar)(struct __pyx_memoryview_obj *, struct __pyx_memoryview_obj *, PyObject *); + PyObject *(*setitem_indexed)(struct __pyx_memoryview_obj *, PyObject *, PyObject *); + PyObject *(*convert_item_to_object)(struct __pyx_memoryview_obj *, char *); + PyObject *(*assign_item_from_object)(struct __pyx_memoryview_obj *, char *, PyObject *); + PyObject *(*_get_base)(struct __pyx_memoryview_obj *); +}; +static struct __pyx_vtabstruct_memoryview *__pyx_vtabptr_memoryview; + + +/* "View.MemoryView":952 + * @cython.collection_type("sequence") + * @cname('__pyx_memoryviewslice') + * cdef class _memoryviewslice(memoryview): # <<<<<<<<<<<<<< + * "Internal class for passing memoryview slices to Python" + * + */ + +struct __pyx_vtabstruct__memoryviewslice { + struct __pyx_vtabstruct_memoryview __pyx_base; 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else {__Pyx_INCREF(r); }} while(0) + #define __Pyx_XDECREF(r) do { if((r) == NULL); else {__Pyx_DECREF(r); }} while(0) + #define __Pyx_XGOTREF(r) do { if((r) == NULL); else {__Pyx_GOTREF(r); }} while(0) + #define __Pyx_XGIVEREF(r) do { if((r) == NULL); else {__Pyx_GIVEREF(r);}} while(0) +#else + #define __Pyx_RefNannyDeclarations + #define __Pyx_RefNannySetupContext(name, acquire_gil) + #define __Pyx_RefNannyFinishContextNogil() + #define __Pyx_RefNannyFinishContext() + #define __Pyx_INCREF(r) Py_INCREF(r) + #define __Pyx_DECREF(r) Py_DECREF(r) + #define __Pyx_GOTREF(r) + #define __Pyx_GIVEREF(r) + #define __Pyx_XINCREF(r) Py_XINCREF(r) + #define __Pyx_XDECREF(r) Py_XDECREF(r) + #define __Pyx_XGOTREF(r) + #define __Pyx_XGIVEREF(r) +#endif +#define __Pyx_Py_XDECREF_SET(r, v) do {\ + PyObject *tmp = (PyObject *) r;\ + r = v; Py_XDECREF(tmp);\ + } while (0) +#define __Pyx_XDECREF_SET(r, v) do {\ + PyObject *tmp = (PyObject *) r;\ + r = v; __Pyx_XDECREF(tmp);\ + } while (0) +#define __Pyx_DECREF_SET(r, v) do {\ + PyObject *tmp = (PyObject *) r;\ + r = v; __Pyx_DECREF(tmp);\ + } while (0) +#define __Pyx_CLEAR(r) do { PyObject* tmp = ((PyObject*)(r)); r = NULL; __Pyx_DECREF(tmp);} while(0) +#define __Pyx_XCLEAR(r) do { if((r) != NULL) {PyObject* tmp = ((PyObject*)(r)); r = NULL; __Pyx_DECREF(tmp);}} while(0) + +/* PyErrExceptionMatches.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyErr_ExceptionMatches(err) __Pyx_PyErr_ExceptionMatchesInState(__pyx_tstate, err) +static CYTHON_INLINE int __Pyx_PyErr_ExceptionMatchesInState(PyThreadState* tstate, PyObject* err); +#else +#define __Pyx_PyErr_ExceptionMatches(err) PyErr_ExceptionMatches(err) +#endif + +/* PyThreadStateGet.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyThreadState_declare PyThreadState *__pyx_tstate; +#define __Pyx_PyThreadState_assign __pyx_tstate = __Pyx_PyThreadState_Current; +#if PY_VERSION_HEX >= 0x030C00A6 +#define __Pyx_PyErr_Occurred() (__pyx_tstate->current_exception != NULL) +#define __Pyx_PyErr_CurrentExceptionType() (__pyx_tstate->current_exception ? (PyObject*) Py_TYPE(__pyx_tstate->current_exception) : (PyObject*) NULL) +#else +#define __Pyx_PyErr_Occurred() (__pyx_tstate->curexc_type != NULL) +#define __Pyx_PyErr_CurrentExceptionType() (__pyx_tstate->curexc_type) +#endif +#else +#define __Pyx_PyThreadState_declare +#define __Pyx_PyThreadState_assign +#define __Pyx_PyErr_Occurred() (PyErr_Occurred() != NULL) +#define __Pyx_PyErr_CurrentExceptionType() PyErr_Occurred() +#endif + +/* PyErrFetchRestore.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyErr_Clear() __Pyx_ErrRestore(NULL, NULL, NULL) +#define __Pyx_ErrRestoreWithState(type, value, tb) __Pyx_ErrRestoreInState(PyThreadState_GET(), type, value, tb) +#define __Pyx_ErrFetchWithState(type, value, tb) __Pyx_ErrFetchInState(PyThreadState_GET(), type, value, tb) +#define __Pyx_ErrRestore(type, value, tb) __Pyx_ErrRestoreInState(__pyx_tstate, type, value, tb) +#define __Pyx_ErrFetch(type, value, tb) __Pyx_ErrFetchInState(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx_ErrRestoreInState(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb); +static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A6 +#define __Pyx_PyErr_SetNone(exc) (Py_INCREF(exc), __Pyx_ErrRestore((exc), NULL, NULL)) +#else +#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc) +#endif +#else +#define __Pyx_PyErr_Clear() PyErr_Clear() +#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc) +#define __Pyx_ErrRestoreWithState(type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetchWithState(type, value, tb) PyErr_Fetch(type, value, tb) +#define __Pyx_ErrRestoreInState(tstate, type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetchInState(tstate, type, value, tb) PyErr_Fetch(type, value, tb) +#define __Pyx_ErrRestore(type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetch(type, value, tb) PyErr_Fetch(type, value, tb) +#endif + +/* PyObjectGetAttrStr.proto */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStr(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GetAttrStr(o,n) PyObject_GetAttr(o,n) +#endif + +/* PyObjectGetAttrStrNoError.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name); + +/* GetBuiltinName.proto */ +static PyObject *__Pyx_GetBuiltinName(PyObject *name); + +/* TupleAndListFromArray.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyList_FromArray(PyObject *const *src, Py_ssize_t n); +static CYTHON_INLINE PyObject* __Pyx_PyTuple_FromArray(PyObject *const *src, Py_ssize_t n); +#endif + +/* IncludeStringH.proto */ +#include + +/* BytesEquals.proto */ +static CYTHON_INLINE int __Pyx_PyBytes_Equals(PyObject* s1, PyObject* s2, int equals); + +/* UnicodeEquals.proto */ +static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int equals); + +/* fastcall.proto */ +#if CYTHON_AVOID_BORROWED_REFS + #define __Pyx_Arg_VARARGS(args, i) PySequence_GetItem(args, i) +#elif CYTHON_ASSUME_SAFE_MACROS + #define __Pyx_Arg_VARARGS(args, i) PyTuple_GET_ITEM(args, i) +#else + #define __Pyx_Arg_VARARGS(args, i) PyTuple_GetItem(args, i) +#endif +#if CYTHON_AVOID_BORROWED_REFS + #define __Pyx_Arg_NewRef_VARARGS(arg) __Pyx_NewRef(arg) + #define __Pyx_Arg_XDECREF_VARARGS(arg) Py_XDECREF(arg) +#else + #define __Pyx_Arg_NewRef_VARARGS(arg) arg + #define __Pyx_Arg_XDECREF_VARARGS(arg) +#endif +#define __Pyx_NumKwargs_VARARGS(kwds) PyDict_Size(kwds) +#define __Pyx_KwValues_VARARGS(args, nargs) NULL +#define __Pyx_GetKwValue_VARARGS(kw, kwvalues, s) __Pyx_PyDict_GetItemStrWithError(kw, s) +#define __Pyx_KwargsAsDict_VARARGS(kw, kwvalues) PyDict_Copy(kw) +#if CYTHON_METH_FASTCALL + #define __Pyx_Arg_FASTCALL(args, i) args[i] + #define __Pyx_NumKwargs_FASTCALL(kwds) PyTuple_GET_SIZE(kwds) + #define __Pyx_KwValues_FASTCALL(args, nargs) ((args) + (nargs)) + static CYTHON_INLINE PyObject * __Pyx_GetKwValue_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues, PyObject *s); +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 + CYTHON_UNUSED static PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues); + #else + #define __Pyx_KwargsAsDict_FASTCALL(kw, kwvalues) _PyStack_AsDict(kwvalues, kw) + #endif + #define __Pyx_Arg_NewRef_FASTCALL(arg) arg /* no-op, __Pyx_Arg_FASTCALL is direct and this needs + to have the same reference counting */ + #define __Pyx_Arg_XDECREF_FASTCALL(arg) +#else + #define __Pyx_Arg_FASTCALL __Pyx_Arg_VARARGS + #define __Pyx_NumKwargs_FASTCALL __Pyx_NumKwargs_VARARGS + #define __Pyx_KwValues_FASTCALL __Pyx_KwValues_VARARGS + #define __Pyx_GetKwValue_FASTCALL __Pyx_GetKwValue_VARARGS + #define __Pyx_KwargsAsDict_FASTCALL __Pyx_KwargsAsDict_VARARGS + #define __Pyx_Arg_NewRef_FASTCALL(arg) __Pyx_Arg_NewRef_VARARGS(arg) + #define __Pyx_Arg_XDECREF_FASTCALL(arg) __Pyx_Arg_XDECREF_VARARGS(arg) +#endif +#if CYTHON_COMPILING_IN_CPYTHON && CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS +#define __Pyx_ArgsSlice_VARARGS(args, start, stop) __Pyx_PyTuple_FromArray(&__Pyx_Arg_VARARGS(args, start), stop - start) +#define __Pyx_ArgsSlice_FASTCALL(args, start, stop) __Pyx_PyTuple_FromArray(&__Pyx_Arg_FASTCALL(args, start), stop - start) +#else +#define __Pyx_ArgsSlice_VARARGS(args, start, stop) PyTuple_GetSlice(args, start, stop) +#define __Pyx_ArgsSlice_FASTCALL(args, start, stop) PyTuple_GetSlice(args, start, stop) +#endif + +/* RaiseArgTupleInvalid.proto */ +static void __Pyx_RaiseArgtupleInvalid(const char* func_name, int exact, + Py_ssize_t num_min, Py_ssize_t num_max, Py_ssize_t num_found); + +/* RaiseDoubleKeywords.proto */ +static void __Pyx_RaiseDoubleKeywordsError(const char* func_name, PyObject* kw_name); + +/* ParseKeywords.proto */ +static int __Pyx_ParseOptionalKeywords(PyObject *kwds, PyObject *const *kwvalues, + PyObject **argnames[], + PyObject *kwds2, PyObject *values[], Py_ssize_t num_pos_args, + const char* function_name); + +/* ArgTypeTest.proto */ +#define __Pyx_ArgTypeTest(obj, type, none_allowed, name, exact)\ + ((likely(__Pyx_IS_TYPE(obj, type) | (none_allowed && (obj == Py_None)))) ? 1 :\ + __Pyx__ArgTypeTest(obj, type, name, exact)) +static int __Pyx__ArgTypeTest(PyObject *obj, PyTypeObject *type, const char *name, int exact); + +/* RaiseException.proto */ +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause); + +/* PyFunctionFastCall.proto */ +#if CYTHON_FAST_PYCALL +#if !CYTHON_VECTORCALL +#define __Pyx_PyFunction_FastCall(func, args, nargs)\ + __Pyx_PyFunction_FastCallDict((func), (args), (nargs), NULL) +static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs); +#endif +#define __Pyx_BUILD_ASSERT_EXPR(cond)\ + (sizeof(char [1 - 2*!(cond)]) - 1) +#ifndef Py_MEMBER_SIZE +#define Py_MEMBER_SIZE(type, member) sizeof(((type *)0)->member) +#endif +#if !CYTHON_VECTORCALL +#if PY_VERSION_HEX >= 0x03080000 + #include "frameobject.h" +#if PY_VERSION_HEX >= 0x030b00a6 && !CYTHON_COMPILING_IN_LIMITED_API + #ifndef Py_BUILD_CORE + #define Py_BUILD_CORE 1 + #endif + #include "internal/pycore_frame.h" +#endif + #define __Pxy_PyFrame_Initialize_Offsets() + #define __Pyx_PyFrame_GetLocalsplus(frame) ((frame)->f_localsplus) +#else + static size_t __pyx_pyframe_localsplus_offset = 0; + #include "frameobject.h" + #define __Pxy_PyFrame_Initialize_Offsets()\ + ((void)__Pyx_BUILD_ASSERT_EXPR(sizeof(PyFrameObject) == offsetof(PyFrameObject, f_localsplus) + Py_MEMBER_SIZE(PyFrameObject, f_localsplus)),\ + (void)(__pyx_pyframe_localsplus_offset = ((size_t)PyFrame_Type.tp_basicsize) - Py_MEMBER_SIZE(PyFrameObject, f_localsplus))) + #define __Pyx_PyFrame_GetLocalsplus(frame)\ + (assert(__pyx_pyframe_localsplus_offset), (PyObject **)(((char *)(frame)) + __pyx_pyframe_localsplus_offset)) +#endif +#endif +#endif + +/* PyObjectCall.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw); +#else +#define __Pyx_PyObject_Call(func, arg, kw) PyObject_Call(func, arg, kw) +#endif + +/* PyObjectCallMethO.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg); +#endif + +/* PyObjectFastCall.proto */ +#define __Pyx_PyObject_FastCall(func, args, nargs) __Pyx_PyObject_FastCallDict(func, args, (size_t)(nargs), NULL) +static CYTHON_INLINE PyObject* __Pyx_PyObject_FastCallDict(PyObject *func, PyObject **args, size_t nargs, PyObject *kwargs); + +/* RaiseUnexpectedTypeError.proto */ +static int __Pyx_RaiseUnexpectedTypeError(const char *expected, PyObject *obj); + +/* GCCDiagnostics.proto */ +#if !defined(__INTEL_COMPILER) && defined(__GNUC__) && (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 6)) +#define __Pyx_HAS_GCC_DIAGNOSTIC +#endif + +/* BuildPyUnicode.proto */ +static PyObject* __Pyx_PyUnicode_BuildFromAscii(Py_ssize_t ulength, char* chars, int clength, + int prepend_sign, char padding_char); + +/* CIntToPyUnicode.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_int(int value, Py_ssize_t width, char padding_char, char format_char); + +/* CIntToPyUnicode.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_Py_ssize_t(Py_ssize_t value, Py_ssize_t width, char padding_char, char format_char); + +/* JoinPyUnicode.proto */ +static PyObject* __Pyx_PyUnicode_Join(PyObject* value_tuple, Py_ssize_t value_count, Py_ssize_t result_ulength, + Py_UCS4 max_char); + +/* StrEquals.proto */ +#if PY_MAJOR_VERSION >= 3 +#define __Pyx_PyString_Equals __Pyx_PyUnicode_Equals +#else +#define __Pyx_PyString_Equals __Pyx_PyBytes_Equals +#endif + +/* PyObjectFormatSimple.proto */ +#if CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + PyObject_Format(s, f)) +#elif PY_MAJOR_VERSION < 3 + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + likely(PyString_CheckExact(s)) ? PyUnicode_FromEncodedObject(s, NULL, "strict") :\ + PyObject_Format(s, f)) +#elif CYTHON_USE_TYPE_SLOTS + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + likely(PyLong_CheckExact(s)) ? PyLong_Type.tp_repr(s) :\ + likely(PyFloat_CheckExact(s)) ? PyFloat_Type.tp_repr(s) :\ + PyObject_Format(s, f)) +#else + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + PyObject_Format(s, f)) +#endif + +CYTHON_UNUSED static int __pyx_array_getbuffer(PyObject *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /*proto*/ +static PyObject *__pyx_array_get_memview(struct __pyx_array_obj *); /*proto*/ +/* GetAttr.proto */ +static CYTHON_INLINE PyObject *__Pyx_GetAttr(PyObject *, PyObject *); + +/* GetItemInt.proto */ +#define __Pyx_GetItemInt(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_Fast(o, (Py_ssize_t)i, is_list, wraparound, boundscheck) :\ + (is_list ? (PyErr_SetString(PyExc_IndexError, "list index out of range"), (PyObject*)NULL) :\ + __Pyx_GetItemInt_Generic(o, to_py_func(i)))) +#define __Pyx_GetItemInt_List(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_List_Fast(o, (Py_ssize_t)i, wraparound, boundscheck) :\ + (PyErr_SetString(PyExc_IndexError, "list index out of range"), (PyObject*)NULL)) +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, + int wraparound, int boundscheck); +#define __Pyx_GetItemInt_Tuple(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_Tuple_Fast(o, (Py_ssize_t)i, wraparound, boundscheck) :\ + (PyErr_SetString(PyExc_IndexError, "tuple index out of range"), (PyObject*)NULL)) +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i, + int wraparound, int boundscheck); +static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j); +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, + int is_list, int wraparound, int boundscheck); + +/* PyObjectCallOneArg.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg); + +/* ObjectGetItem.proto */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject *__Pyx_PyObject_GetItem(PyObject *obj, PyObject *key); +#else +#define __Pyx_PyObject_GetItem(obj, key) PyObject_GetItem(obj, key) +#endif + +/* KeywordStringCheck.proto */ +static int __Pyx_CheckKeywordStrings(PyObject *kw, const char* function_name, int kw_allowed); + +/* DivInt[Py_ssize_t].proto */ +static CYTHON_INLINE Py_ssize_t __Pyx_div_Py_ssize_t(Py_ssize_t, Py_ssize_t); + +/* UnaryNegOverflows.proto */ +#define __Pyx_UNARY_NEG_WOULD_OVERFLOW(x)\ + (((x) < 0) & ((unsigned long)(x) == 0-(unsigned long)(x))) + +/* GetAttr3.proto */ +static CYTHON_INLINE PyObject *__Pyx_GetAttr3(PyObject *, PyObject *, PyObject *); + +/* PyDictVersioning.proto */ +#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS +#define __PYX_DICT_VERSION_INIT ((PY_UINT64_T) -1) +#define __PYX_GET_DICT_VERSION(dict) (((PyDictObject*)(dict))->ma_version_tag) +#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var)\ + (version_var) = __PYX_GET_DICT_VERSION(dict);\ + (cache_var) = (value); +#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) {\ + static PY_UINT64_T __pyx_dict_version = 0;\ + static PyObject *__pyx_dict_cached_value = NULL;\ + if (likely(__PYX_GET_DICT_VERSION(DICT) == __pyx_dict_version)) {\ + (VAR) = __pyx_dict_cached_value;\ + } else {\ + (VAR) = __pyx_dict_cached_value = (LOOKUP);\ + __pyx_dict_version = __PYX_GET_DICT_VERSION(DICT);\ + }\ +} +static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj); +static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj); +static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version); +#else +#define __PYX_GET_DICT_VERSION(dict) (0) +#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var) +#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) (VAR) = (LOOKUP); +#endif + +/* GetModuleGlobalName.proto */ +#if CYTHON_USE_DICT_VERSIONS +#define __Pyx_GetModuleGlobalName(var, name) do {\ + static PY_UINT64_T __pyx_dict_version = 0;\ + static PyObject *__pyx_dict_cached_value = NULL;\ + (var) = (likely(__pyx_dict_version == __PYX_GET_DICT_VERSION(__pyx_d))) ?\ + (likely(__pyx_dict_cached_value) ? __Pyx_NewRef(__pyx_dict_cached_value) : __Pyx_GetBuiltinName(name)) :\ + __Pyx__GetModuleGlobalName(name, &__pyx_dict_version, &__pyx_dict_cached_value);\ +} while(0) +#define __Pyx_GetModuleGlobalNameUncached(var, name) do {\ + PY_UINT64_T __pyx_dict_version;\ + PyObject *__pyx_dict_cached_value;\ + (var) = __Pyx__GetModuleGlobalName(name, &__pyx_dict_version, &__pyx_dict_cached_value);\ +} while(0) +static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value); +#else +#define __Pyx_GetModuleGlobalName(var, name) (var) = __Pyx__GetModuleGlobalName(name) +#define __Pyx_GetModuleGlobalNameUncached(var, name) (var) = __Pyx__GetModuleGlobalName(name) +static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name); +#endif + +/* AssertionsEnabled.proto */ +#if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX < 0x02070600 && !defined(Py_OptimizeFlag) + #define __Pyx_init_assertions_enabled() (0) + #define __pyx_assertions_enabled() (1) +#elif CYTHON_COMPILING_IN_LIMITED_API || (CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030C0000) + static int __pyx_assertions_enabled_flag; + #define __pyx_assertions_enabled() (__pyx_assertions_enabled_flag) + static int __Pyx_init_assertions_enabled(void) { + PyObject *builtins, *debug, *debug_str; + int flag; + builtins = PyEval_GetBuiltins(); + if (!builtins) goto bad; + debug_str = PyUnicode_FromStringAndSize("__debug__", 9); + if (!debug_str) goto bad; + debug = PyObject_GetItem(builtins, debug_str); + Py_DECREF(debug_str); + if (!debug) goto bad; + flag = PyObject_IsTrue(debug); + Py_DECREF(debug); + if (flag == -1) goto bad; + __pyx_assertions_enabled_flag = flag; + return 0; + bad: + __pyx_assertions_enabled_flag = 1; + return -1; + } +#else + #define __Pyx_init_assertions_enabled() (0) + #define __pyx_assertions_enabled() (!Py_OptimizeFlag) +#endif + +/* RaiseTooManyValuesToUnpack.proto */ +static CYTHON_INLINE void __Pyx_RaiseTooManyValuesError(Py_ssize_t expected); + +/* RaiseNeedMoreValuesToUnpack.proto */ +static CYTHON_INLINE void __Pyx_RaiseNeedMoreValuesError(Py_ssize_t index); + +/* RaiseNoneIterError.proto */ +static CYTHON_INLINE void __Pyx_RaiseNoneNotIterableError(void); + +/* ExtTypeTest.proto */ +static CYTHON_INLINE int __Pyx_TypeTest(PyObject *obj, PyTypeObject *type); + +/* GetTopmostException.proto */ +#if CYTHON_USE_EXC_INFO_STACK && CYTHON_FAST_THREAD_STATE +static _PyErr_StackItem * __Pyx_PyErr_GetTopmostException(PyThreadState *tstate); +#endif + +/* SaveResetException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_ExceptionSave(type, value, tb) __Pyx__ExceptionSave(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionSave(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#define __Pyx_ExceptionReset(type, value, tb) __Pyx__ExceptionReset(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionReset(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb); +#else +#define __Pyx_ExceptionSave(type, value, tb) PyErr_GetExcInfo(type, value, tb) +#define __Pyx_ExceptionReset(type, value, tb) PyErr_SetExcInfo(type, value, tb) +#endif + +/* GetException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_GetException(type, value, tb) __Pyx__GetException(__pyx_tstate, type, value, tb) +static int __Pyx__GetException(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#else +static int __Pyx_GetException(PyObject **type, PyObject **value, PyObject **tb); +#endif + +/* SwapException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_ExceptionSwap(type, value, tb) __Pyx__ExceptionSwap(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionSwap(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#else +static CYTHON_INLINE void __Pyx_ExceptionSwap(PyObject **type, PyObject **value, PyObject **tb); +#endif + +/* Import.proto */ +static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level); + +/* ImportDottedModule.proto */ +static PyObject *__Pyx_ImportDottedModule(PyObject *name, PyObject *parts_tuple); +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx_ImportDottedModule_WalkParts(PyObject *module, PyObject *name, PyObject *parts_tuple); +#endif + +/* FastTypeChecks.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_TypeCheck(obj, type) __Pyx_IsSubtype(Py_TYPE(obj), (PyTypeObject *)type) +#define __Pyx_TypeCheck2(obj, type1, type2) __Pyx_IsAnySubtype2(Py_TYPE(obj), (PyTypeObject *)type1, (PyTypeObject *)type2) +static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b); +static CYTHON_INLINE int __Pyx_IsAnySubtype2(PyTypeObject *cls, PyTypeObject *a, PyTypeObject *b); +static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches(PyObject *err, PyObject *type); +static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches2(PyObject *err, PyObject *type1, PyObject *type2); +#else +#define __Pyx_TypeCheck(obj, type) PyObject_TypeCheck(obj, (PyTypeObject *)type) +#define __Pyx_TypeCheck2(obj, type1, type2) (PyObject_TypeCheck(obj, (PyTypeObject *)type1) || PyObject_TypeCheck(obj, (PyTypeObject *)type2)) +#define __Pyx_PyErr_GivenExceptionMatches(err, type) PyErr_GivenExceptionMatches(err, type) +#define __Pyx_PyErr_GivenExceptionMatches2(err, type1, type2) (PyErr_GivenExceptionMatches(err, type1) || PyErr_GivenExceptionMatches(err, type2)) +#endif +#define __Pyx_PyErr_ExceptionMatches2(err1, err2) __Pyx_PyErr_GivenExceptionMatches2(__Pyx_PyErr_CurrentExceptionType(), err1, err2) +#define __Pyx_PyException_Check(obj) __Pyx_TypeCheck(obj, PyExc_Exception) + +CYTHON_UNUSED static int __pyx_memoryview_getbuffer(PyObject *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /*proto*/ +/* ListCompAppend.proto */ +#if CYTHON_USE_PYLIST_INTERNALS && CYTHON_ASSUME_SAFE_MACROS +static CYTHON_INLINE int __Pyx_ListComp_Append(PyObject* list, PyObject* x) { + PyListObject* L = (PyListObject*) list; + Py_ssize_t len = Py_SIZE(list); + if (likely(L->allocated > len)) { + Py_INCREF(x); + #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 + L->ob_item[len] = x; + #else + PyList_SET_ITEM(list, len, x); + #endif + __Pyx_SET_SIZE(list, len + 1); + return 0; + } + return PyList_Append(list, x); +} +#else +#define __Pyx_ListComp_Append(L,x) PyList_Append(L,x) +#endif + +/* PySequenceMultiply.proto */ +#define __Pyx_PySequence_Multiply_Left(mul, seq) __Pyx_PySequence_Multiply(seq, mul) +static CYTHON_INLINE PyObject* __Pyx_PySequence_Multiply(PyObject *seq, Py_ssize_t mul); + +/* SetItemInt.proto */ +#define __Pyx_SetItemInt(o, i, v, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_SetItemInt_Fast(o, (Py_ssize_t)i, v, is_list, wraparound, boundscheck) :\ + (is_list ? (PyErr_SetString(PyExc_IndexError, "list assignment index out of range"), -1) :\ + __Pyx_SetItemInt_Generic(o, to_py_func(i), v))) +static int __Pyx_SetItemInt_Generic(PyObject *o, PyObject *j, PyObject *v); +static CYTHON_INLINE int __Pyx_SetItemInt_Fast(PyObject *o, Py_ssize_t i, PyObject *v, + int is_list, int wraparound, int boundscheck); + +/* RaiseUnboundLocalError.proto */ +static CYTHON_INLINE void __Pyx_RaiseUnboundLocalError(const char *varname); + +/* DivInt[long].proto */ +static CYTHON_INLINE long __Pyx_div_long(long, long); + +/* PySequenceContains.proto */ +static CYTHON_INLINE int __Pyx_PySequence_ContainsTF(PyObject* item, PyObject* seq, int eq) { + int result = PySequence_Contains(seq, item); + return unlikely(result < 0) ? result : (result == (eq == Py_EQ)); +} + +/* ImportFrom.proto */ +static PyObject* __Pyx_ImportFrom(PyObject* module, PyObject* name); + +/* HasAttr.proto */ +#if __PYX_LIMITED_VERSION_HEX >= 0x030d00A1 +#define __Pyx_HasAttr(o, n) PyObject_HasAttrWithError(o, n) +#else +static CYTHON_INLINE int __Pyx_HasAttr(PyObject *, PyObject *); +#endif + +/* MoveIfSupported.proto */ +#if CYTHON_USE_CPP_STD_MOVE + #include + #define __PYX_STD_MOVE_IF_SUPPORTED(x) std::move(x) +#else + #define __PYX_STD_MOVE_IF_SUPPORTED(x) x +#endif + +/* BufferIndexError.proto */ +static void __Pyx_RaiseBufferIndexError(int axis); + +/* PyObject_GenericGetAttrNoDict.proto */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GenericGetAttrNoDict PyObject_GenericGetAttr +#endif + +/* PyObject_GenericGetAttr.proto */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GenericGetAttr PyObject_GenericGetAttr +#endif + +/* TypeImport.proto */ +#ifndef __PYX_HAVE_RT_ImportType_proto_3_0_8 +#define __PYX_HAVE_RT_ImportType_proto_3_0_8 +#if defined (__STDC_VERSION__) && __STDC_VERSION__ >= 201112L +#include +#endif +#if (defined (__STDC_VERSION__) && __STDC_VERSION__ >= 201112L) || __cplusplus >= 201103L +#define __PYX_GET_STRUCT_ALIGNMENT_3_0_8(s) alignof(s) +#else +#define __PYX_GET_STRUCT_ALIGNMENT_3_0_8(s) sizeof(void*) +#endif +enum __Pyx_ImportType_CheckSize_3_0_8 { + __Pyx_ImportType_CheckSize_Error_3_0_8 = 0, + __Pyx_ImportType_CheckSize_Warn_3_0_8 = 1, + __Pyx_ImportType_CheckSize_Ignore_3_0_8 = 2 +}; +static PyTypeObject *__Pyx_ImportType_3_0_8(PyObject* module, const char *module_name, const char *class_name, size_t size, size_t alignment, enum __Pyx_ImportType_CheckSize_3_0_8 check_size); +#endif + +/* IncludeStructmemberH.proto */ +#include + +/* FixUpExtensionType.proto */ +#if CYTHON_USE_TYPE_SPECS +static int __Pyx_fix_up_extension_type_from_spec(PyType_Spec *spec, PyTypeObject *type); +#endif + +/* PyObjectCallNoArg.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func); + +/* PyObjectGetMethod.proto */ +static int __Pyx_PyObject_GetMethod(PyObject *obj, PyObject *name, PyObject **method); + +/* PyObjectCallMethod0.proto */ +static PyObject* __Pyx_PyObject_CallMethod0(PyObject* obj, PyObject* method_name); + +/* ValidateBasesTuple.proto */ +#if CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API || CYTHON_USE_TYPE_SPECS +static int __Pyx_validate_bases_tuple(const char *type_name, Py_ssize_t dictoffset, PyObject *bases); +#endif + +/* PyType_Ready.proto */ +CYTHON_UNUSED static int __Pyx_PyType_Ready(PyTypeObject *t); + +/* SetupReduce.proto */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_setup_reduce(PyObject* type_obj); +#endif + +/* SetVTable.proto */ +static int __Pyx_SetVtable(PyTypeObject* typeptr , void* vtable); + +/* GetVTable.proto */ +static void* __Pyx_GetVtable(PyTypeObject *type); + +/* MergeVTables.proto */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_MergeVtables(PyTypeObject *type); +#endif + +/* FetchSharedCythonModule.proto */ +static PyObject *__Pyx_FetchSharedCythonABIModule(void); + +/* FetchCommonType.proto */ +#if !CYTHON_USE_TYPE_SPECS +static PyTypeObject* __Pyx_FetchCommonType(PyTypeObject* type); +#else +static PyTypeObject* __Pyx_FetchCommonTypeFromSpec(PyObject *module, PyType_Spec *spec, PyObject *bases); +#endif + +/* PyMethodNew.proto */ +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject *__Pyx_PyMethod_New(PyObject *func, PyObject *self, PyObject *typ) { + PyObject *typesModule=NULL, *methodType=NULL, *result=NULL; + CYTHON_UNUSED_VAR(typ); + if (!self) + return __Pyx_NewRef(func); + typesModule = PyImport_ImportModule("types"); + if (!typesModule) return NULL; + methodType = PyObject_GetAttrString(typesModule, "MethodType"); + Py_DECREF(typesModule); + if (!methodType) return NULL; + result = PyObject_CallFunctionObjArgs(methodType, func, self, NULL); + Py_DECREF(methodType); + return result; +} +#elif PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx_PyMethod_New(PyObject *func, PyObject *self, PyObject *typ) { + CYTHON_UNUSED_VAR(typ); + if (!self) + return __Pyx_NewRef(func); + return PyMethod_New(func, self); +} +#else + #define __Pyx_PyMethod_New PyMethod_New +#endif + +/* PyVectorcallFastCallDict.proto */ +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE PyObject *__Pyx_PyVectorcall_FastCallDict(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw); +#endif + +/* CythonFunctionShared.proto */ +#define __Pyx_CyFunction_USED +#define __Pyx_CYFUNCTION_STATICMETHOD 0x01 +#define __Pyx_CYFUNCTION_CLASSMETHOD 0x02 +#define __Pyx_CYFUNCTION_CCLASS 0x04 +#define __Pyx_CYFUNCTION_COROUTINE 0x08 +#define __Pyx_CyFunction_GetClosure(f)\ + (((__pyx_CyFunctionObject *) (f))->func_closure) +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_CyFunction_GetClassObj(f)\ + (((__pyx_CyFunctionObject *) (f))->func_classobj) +#else + #define __Pyx_CyFunction_GetClassObj(f)\ + ((PyObject*) ((PyCMethodObject *) (f))->mm_class) +#endif +#define __Pyx_CyFunction_SetClassObj(f, classobj)\ + __Pyx__CyFunction_SetClassObj((__pyx_CyFunctionObject *) (f), (classobj)) +#define __Pyx_CyFunction_Defaults(type, f)\ + ((type *)(((__pyx_CyFunctionObject *) (f))->defaults)) +#define __Pyx_CyFunction_SetDefaultsGetter(f, g)\ + ((__pyx_CyFunctionObject *) (f))->defaults_getter = (g) +typedef struct { +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject_HEAD + PyObject *func; +#elif PY_VERSION_HEX < 0x030900B1 + PyCFunctionObject func; +#else + PyCMethodObject func; +#endif +#if CYTHON_BACKPORT_VECTORCALL + __pyx_vectorcallfunc func_vectorcall; +#endif +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API + PyObject *func_weakreflist; +#endif + PyObject *func_dict; + PyObject *func_name; + PyObject *func_qualname; + PyObject *func_doc; + PyObject *func_globals; + PyObject *func_code; + PyObject *func_closure; +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + PyObject *func_classobj; +#endif + void *defaults; + int defaults_pyobjects; + size_t defaults_size; + int flags; + PyObject *defaults_tuple; + PyObject *defaults_kwdict; + PyObject *(*defaults_getter)(PyObject *); + PyObject *func_annotations; + PyObject *func_is_coroutine; +} __pyx_CyFunctionObject; +#undef __Pyx_CyOrPyCFunction_Check +#define __Pyx_CyFunction_Check(obj) __Pyx_TypeCheck(obj, __pyx_CyFunctionType) +#define __Pyx_CyOrPyCFunction_Check(obj) __Pyx_TypeCheck2(obj, __pyx_CyFunctionType, &PyCFunction_Type) +#define __Pyx_CyFunction_CheckExact(obj) __Pyx_IS_TYPE(obj, __pyx_CyFunctionType) +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc); +#undef __Pyx_IsSameCFunction +#define __Pyx_IsSameCFunction(func, cfunc) __Pyx__IsSameCyOrCFunction(func, cfunc) +static PyObject *__Pyx_CyFunction_Init(__pyx_CyFunctionObject* op, PyMethodDef *ml, + int flags, PyObject* qualname, + PyObject *closure, + PyObject *module, PyObject *globals, + PyObject* code); +static CYTHON_INLINE void __Pyx__CyFunction_SetClassObj(__pyx_CyFunctionObject* f, PyObject* classobj); +static CYTHON_INLINE void *__Pyx_CyFunction_InitDefaults(PyObject *m, + size_t size, + int pyobjects); +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsTuple(PyObject *m, + PyObject *tuple); +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsKwDict(PyObject *m, + PyObject *dict); +static CYTHON_INLINE void __Pyx_CyFunction_SetAnnotationsDict(PyObject *m, + PyObject *dict); +static int __pyx_CyFunction_init(PyObject *module); +#if CYTHON_METH_FASTCALL +static PyObject * __Pyx_CyFunction_Vectorcall_NOARGS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_O(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +#if CYTHON_BACKPORT_VECTORCALL +#define __Pyx_CyFunction_func_vectorcall(f) (((__pyx_CyFunctionObject*)f)->func_vectorcall) +#else +#define __Pyx_CyFunction_func_vectorcall(f) (((PyCFunctionObject*)f)->vectorcall) +#endif +#endif + +/* CythonFunction.proto */ +static PyObject *__Pyx_CyFunction_New(PyMethodDef *ml, + int flags, PyObject* qualname, + PyObject *closure, + PyObject *module, PyObject *globals, + PyObject* code); + +/* CLineInTraceback.proto */ +#ifdef CYTHON_CLINE_IN_TRACEBACK +#define __Pyx_CLineForTraceback(tstate, c_line) (((CYTHON_CLINE_IN_TRACEBACK)) ? c_line : 0) +#else +static int __Pyx_CLineForTraceback(PyThreadState *tstate, int c_line); +#endif + +/* CodeObjectCache.proto */ +#if !CYTHON_COMPILING_IN_LIMITED_API +typedef struct { + PyCodeObject* code_object; + int code_line; +} __Pyx_CodeObjectCacheEntry; +struct __Pyx_CodeObjectCache { + int count; + int max_count; + __Pyx_CodeObjectCacheEntry* entries; +}; +static struct __Pyx_CodeObjectCache __pyx_code_cache = {0,0,NULL}; +static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line); +static PyCodeObject *__pyx_find_code_object(int code_line); +static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object); +#endif + +/* AddTraceback.proto */ +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename); + +#if PY_MAJOR_VERSION < 3 + static int __Pyx_GetBuffer(PyObject *obj, Py_buffer *view, int flags); + static void __Pyx_ReleaseBuffer(Py_buffer *view); +#else + #define __Pyx_GetBuffer PyObject_GetBuffer + #define __Pyx_ReleaseBuffer PyBuffer_Release +#endif + + +/* BufferStructDeclare.proto */ +typedef struct { + Py_ssize_t shape, strides, suboffsets; +} __Pyx_Buf_DimInfo; +typedef struct { + size_t refcount; + Py_buffer pybuffer; +} __Pyx_Buffer; +typedef struct { + __Pyx_Buffer *rcbuffer; + char *data; + __Pyx_Buf_DimInfo diminfo[8]; +} __Pyx_LocalBuf_ND; + +/* MemviewSliceIsContig.proto */ +static int __pyx_memviewslice_is_contig(const __Pyx_memviewslice mvs, char order, int ndim); + +/* OverlappingSlices.proto */ +static int __pyx_slices_overlap(__Pyx_memviewslice *slice1, + __Pyx_memviewslice *slice2, + int ndim, size_t itemsize); + +/* IsLittleEndian.proto */ +static CYTHON_INLINE int __Pyx_Is_Little_Endian(void); + +/* BufferFormatCheck.proto */ +static const char* __Pyx_BufFmt_CheckString(__Pyx_BufFmt_Context* ctx, const char* ts); +static void __Pyx_BufFmt_Init(__Pyx_BufFmt_Context* ctx, + __Pyx_BufFmt_StackElem* stack, + __Pyx_TypeInfo* type); + +/* TypeInfoCompare.proto */ +static int __pyx_typeinfo_cmp(__Pyx_TypeInfo *a, __Pyx_TypeInfo *b); + +/* MemviewSliceValidateAndInit.proto */ +static int __Pyx_ValidateAndInit_memviewslice( + int *axes_specs, + int c_or_f_flag, + int buf_flags, + int ndim, + __Pyx_TypeInfo *dtype, + __Pyx_BufFmt_StackElem stack[], + __Pyx_memviewslice *memviewslice, + PyObject *original_obj); + +/* ObjectToMemviewSlice.proto */ +static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_ds_float(PyObject *, int writable_flag); + +/* MemviewDtypeToObject.proto */ +static CYTHON_INLINE PyObject *__pyx_memview_get_float(const char *itemp); +static CYTHON_INLINE int __pyx_memview_set_float(const char *itemp, PyObject *obj); + +/* MemviewSliceCopyTemplate.proto */ +static __Pyx_memviewslice +__pyx_memoryview_copy_new_contig(const __Pyx_memviewslice *from_mvs, + const char *mode, int ndim, + size_t sizeof_dtype, int contig_flag, + int dtype_is_object); + +/* MemviewSliceInit.proto */ +#define __Pyx_BUF_MAX_NDIMS %(BUF_MAX_NDIMS)d +#define __Pyx_MEMVIEW_DIRECT 1 +#define __Pyx_MEMVIEW_PTR 2 +#define __Pyx_MEMVIEW_FULL 4 +#define __Pyx_MEMVIEW_CONTIG 8 +#define __Pyx_MEMVIEW_STRIDED 16 +#define __Pyx_MEMVIEW_FOLLOW 32 +#define __Pyx_IS_C_CONTIG 1 +#define __Pyx_IS_F_CONTIG 2 +static int __Pyx_init_memviewslice( + struct __pyx_memoryview_obj *memview, + int ndim, + __Pyx_memviewslice *memviewslice, + int memview_is_new_reference); +static CYTHON_INLINE int __pyx_add_acquisition_count_locked( + __pyx_atomic_int_type *acquisition_count, PyThread_type_lock lock); +static CYTHON_INLINE int __pyx_sub_acquisition_count_locked( + __pyx_atomic_int_type *acquisition_count, PyThread_type_lock lock); +#define __pyx_get_slice_count_pointer(memview) (&memview->acquisition_count) +#define __PYX_INC_MEMVIEW(slice, have_gil) __Pyx_INC_MEMVIEW(slice, have_gil, __LINE__) +#define __PYX_XCLEAR_MEMVIEW(slice, have_gil) __Pyx_XCLEAR_MEMVIEW(slice, have_gil, __LINE__) +static CYTHON_INLINE void __Pyx_INC_MEMVIEW(__Pyx_memviewslice *, int, int); +static CYTHON_INLINE void __Pyx_XCLEAR_MEMVIEW(__Pyx_memviewslice *, int, int); + +/* CIntFromPy.proto */ +static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *); + +/* CppExceptionConversion.proto */ +#ifndef __Pyx_CppExn2PyErr +#include +#include +#include +#include +static void __Pyx_CppExn2PyErr() { + try { + if (PyErr_Occurred()) + ; // let the latest Python exn pass through and ignore the current one + else + throw; + } catch (const std::bad_alloc& exn) { + PyErr_SetString(PyExc_MemoryError, exn.what()); + } catch (const std::bad_cast& exn) { + PyErr_SetString(PyExc_TypeError, exn.what()); + } catch (const std::bad_typeid& exn) { + PyErr_SetString(PyExc_TypeError, exn.what()); + } catch (const std::domain_error& exn) { + PyErr_SetString(PyExc_ValueError, exn.what()); + } catch (const std::invalid_argument& exn) { + PyErr_SetString(PyExc_ValueError, exn.what()); + } catch (const std::ios_base::failure& exn) { + PyErr_SetString(PyExc_IOError, exn.what()); + } catch (const std::out_of_range& exn) { + PyErr_SetString(PyExc_IndexError, exn.what()); + } catch (const std::overflow_error& exn) { + PyErr_SetString(PyExc_OverflowError, exn.what()); + } catch (const std::range_error& exn) { + PyErr_SetString(PyExc_ArithmeticError, exn.what()); + } catch (const std::underflow_error& exn) { + PyErr_SetString(PyExc_ArithmeticError, exn.what()); + } catch (const std::exception& exn) { + PyErr_SetString(PyExc_RuntimeError, exn.what()); + } + catch (...) + { + PyErr_SetString(PyExc_RuntimeError, "Unknown exception"); + } +} +#endif + +/* None.proto */ +#include + +/* CIntFromPy.proto */ +static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *); + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value); + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value); + +/* CIntFromPy.proto */ +static CYTHON_INLINE char __Pyx_PyInt_As_char(PyObject *); + +/* FormatTypeName.proto */ +#if CYTHON_COMPILING_IN_LIMITED_API +typedef PyObject *__Pyx_TypeName; +#define __Pyx_FMT_TYPENAME "%U" +static __Pyx_TypeName __Pyx_PyType_GetName(PyTypeObject* tp); +#define __Pyx_DECREF_TypeName(obj) Py_XDECREF(obj) +#else +typedef const char *__Pyx_TypeName; +#define __Pyx_FMT_TYPENAME "%.200s" +#define __Pyx_PyType_GetName(tp) ((tp)->tp_name) +#define __Pyx_DECREF_TypeName(obj) +#endif + +/* CheckBinaryVersion.proto */ +static unsigned long __Pyx_get_runtime_version(void); +static int __Pyx_check_binary_version(unsigned long ct_version, unsigned long rt_version, int allow_newer); + +/* InitStrings.proto */ +static int __Pyx_InitStrings(__Pyx_StringTabEntry *t); + +/* #### Code section: module_declarations ### */ +static PyObject *__pyx_array_get_memview(struct __pyx_array_obj *__pyx_v_self); /* proto*/ +static char *__pyx_memoryview_get_item_pointer(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index); /* proto*/ +static PyObject *__pyx_memoryview_is_slice(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_obj); /* proto*/ +static PyObject *__pyx_memoryview_setitem_slice_assignment(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_dst, PyObject *__pyx_v_src); /* proto*/ +static PyObject *__pyx_memoryview_setitem_slice_assign_scalar(struct __pyx_memoryview_obj *__pyx_v_self, struct __pyx_memoryview_obj *__pyx_v_dst, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryview_setitem_indexed(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryview_convert_item_to_object(struct __pyx_memoryview_obj *__pyx_v_self, char *__pyx_v_itemp); /* proto*/ +static PyObject *__pyx_memoryview_assign_item_from_object(struct __pyx_memoryview_obj *__pyx_v_self, char *__pyx_v_itemp, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryview__get_base(struct __pyx_memoryview_obj *__pyx_v_self); /* proto*/ +static PyObject *__pyx_memoryviewslice_convert_item_to_object(struct __pyx_memoryviewslice_obj *__pyx_v_self, char *__pyx_v_itemp); /* proto*/ +static PyObject *__pyx_memoryviewslice_assign_item_from_object(struct __pyx_memoryviewslice_obj *__pyx_v_self, char *__pyx_v_itemp, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryviewslice__get_base(struct __pyx_memoryviewslice_obj *__pyx_v_self); /* proto*/ + +/* Module declarations from "libcpp" */ + +/* Module declarations from "libc.string" */ + +/* Module declarations from "libcpp.string" */ + +/* Module declarations from "libcpp.vector" */ + +/* Module declarations from "libcpp.utility" */ + +/* Module declarations from "libcpp.set" */ + +/* Module declarations from "libc.stdint" */ + +/* Module declarations from "msgq.visionipc.visionipc" */ + +/* Module declarations from "selfdrive.modeld.runners.snpemodel" */ + +/* Module declarations from "msgq.visionipc.visionipc_pyx" */ + +/* Module declarations from "selfdrive.modeld.models.commonmodel_pyx" */ + +/* Module declarations from "selfdrive.modeld.runners.runmodel" */ + +/* Module declarations from "selfdrive.modeld.runners.runmodel_pyx" */ + +/* Module declarations from "selfdrive.modeld.runners.snpemodel_pyx" */ +static PyObject *__pyx_collections_abc_Sequence = 0; +static PyObject *generic = 0; +static PyObject *strided = 0; +static PyObject *indirect = 0; +static PyObject *contiguous = 0; +static PyObject *indirect_contiguous = 0; +static int __pyx_memoryview_thread_locks_used; +static PyThread_type_lock __pyx_memoryview_thread_locks[8]; +static std::string __pyx_convert_string_from_py_std__in_string(PyObject *); /*proto*/ +static int __pyx_array_allocate_buffer(struct __pyx_array_obj *); /*proto*/ +static struct __pyx_array_obj *__pyx_array_new(PyObject *, Py_ssize_t, char *, char *, char *); /*proto*/ +static PyObject *__pyx_memoryview_new(PyObject *, int, int, __Pyx_TypeInfo *); /*proto*/ +static CYTHON_INLINE int __pyx_memoryview_check(PyObject *); /*proto*/ +static PyObject *_unellipsify(PyObject *, int); /*proto*/ +static int assert_direct_dimensions(Py_ssize_t *, int); /*proto*/ +static struct __pyx_memoryview_obj *__pyx_memview_slice(struct __pyx_memoryview_obj *, PyObject *); /*proto*/ +static int __pyx_memoryview_slice_memviewslice(__Pyx_memviewslice *, Py_ssize_t, Py_ssize_t, Py_ssize_t, int, int, int *, Py_ssize_t, Py_ssize_t, Py_ssize_t, int, int, int, int); /*proto*/ +static char *__pyx_pybuffer_index(Py_buffer *, char *, Py_ssize_t, Py_ssize_t); /*proto*/ +static int __pyx_memslice_transpose(__Pyx_memviewslice *); /*proto*/ +static PyObject *__pyx_memoryview_fromslice(__Pyx_memviewslice, int, PyObject *(*)(char *), int (*)(char *, PyObject *), int); /*proto*/ +static __Pyx_memviewslice *__pyx_memoryview_get_slice_from_memoryview(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/ +static void __pyx_memoryview_slice_copy(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/ +static PyObject *__pyx_memoryview_copy_object(struct __pyx_memoryview_obj *); /*proto*/ +static PyObject *__pyx_memoryview_copy_object_from_slice(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/ +static Py_ssize_t abs_py_ssize_t(Py_ssize_t); /*proto*/ +static char __pyx_get_best_slice_order(__Pyx_memviewslice *, int); /*proto*/ +static void _copy_strided_to_strided(char *, Py_ssize_t *, char *, Py_ssize_t *, Py_ssize_t *, Py_ssize_t *, int, size_t); /*proto*/ +static void copy_strided_to_strided(__Pyx_memviewslice *, __Pyx_memviewslice *, int, size_t); /*proto*/ +static Py_ssize_t __pyx_memoryview_slice_get_size(__Pyx_memviewslice *, int); /*proto*/ +static Py_ssize_t __pyx_fill_contig_strides_array(Py_ssize_t *, Py_ssize_t *, Py_ssize_t, int, char); /*proto*/ +static void *__pyx_memoryview_copy_data_to_temp(__Pyx_memviewslice *, __Pyx_memviewslice *, char, int); /*proto*/ +static int __pyx_memoryview_err_extents(int, Py_ssize_t, Py_ssize_t); /*proto*/ +static int __pyx_memoryview_err_dim(PyObject *, PyObject *, int); /*proto*/ +static int __pyx_memoryview_err(PyObject *, PyObject *); /*proto*/ +static int __pyx_memoryview_err_no_memory(void); /*proto*/ +static int __pyx_memoryview_copy_contents(__Pyx_memviewslice, __Pyx_memviewslice, int, int, int); /*proto*/ +static void __pyx_memoryview_broadcast_leading(__Pyx_memviewslice *, int, int); /*proto*/ +static void __pyx_memoryview_refcount_copying(__Pyx_memviewslice *, int, int, int); /*proto*/ +static void __pyx_memoryview_refcount_objects_in_slice_with_gil(char *, Py_ssize_t *, Py_ssize_t *, int, int); /*proto*/ +static void __pyx_memoryview_refcount_objects_in_slice(char *, Py_ssize_t *, Py_ssize_t *, int, int); /*proto*/ +static void __pyx_memoryview_slice_assign_scalar(__Pyx_memviewslice *, int, size_t, void *, int); /*proto*/ +static void __pyx_memoryview__slice_assign_scalar(char *, Py_ssize_t *, Py_ssize_t *, int, size_t, void *); /*proto*/ +static PyObject *__pyx_unpickle_Enum__set_state(struct __pyx_MemviewEnum_obj *, PyObject *); /*proto*/ +/* #### Code section: typeinfo ### */ +static __Pyx_TypeInfo __Pyx_TypeInfo_float = { "float", NULL, sizeof(float), { 0 }, 0, 'R', 0, 0 }; +/* #### Code section: before_global_var ### */ +#define __Pyx_MODULE_NAME "selfdrive.modeld.runners.snpemodel_pyx" +extern int __pyx_module_is_main_selfdrive__modeld__runners__snpemodel_pyx; +int __pyx_module_is_main_selfdrive__modeld__runners__snpemodel_pyx = 0; + +/* Implementation of "selfdrive.modeld.runners.snpemodel_pyx" */ +/* #### Code section: global_var ### */ +static PyObject *__pyx_builtin_TypeError; +static PyObject *__pyx_builtin___import__; +static PyObject *__pyx_builtin_ValueError; +static PyObject *__pyx_builtin_MemoryError; +static PyObject *__pyx_builtin_enumerate; +static PyObject *__pyx_builtin_range; +static PyObject *__pyx_builtin_AssertionError; +static PyObject *__pyx_builtin_Ellipsis; +static PyObject *__pyx_builtin_id; +static PyObject *__pyx_builtin_IndexError; +/* #### Code section: string_decls ### */ +static const char __pyx_k_[] = ": "; +static const char __pyx_k_O[] = "O"; +static const char __pyx_k_c[] = "c"; +static const char __pyx_k__2[] = "."; +static const char __pyx_k__3[] = "*"; +static const char __pyx_k__6[] = "'"; +static const char __pyx_k__7[] = ")"; +static const char __pyx_k_gc[] = "gc"; +static const char __pyx_k_id[] = "id"; +static const char __pyx_k_os[] = "os"; +static const char __pyx_k__24[] = "?"; +static const char __pyx_k_abc[] = "abc"; +static const char __pyx_k_and[] = " and "; +static const char __pyx_k_got[] = " (got "; +static const char __pyx_k_new[] = "__new__"; +static const char __pyx_k_obj[] = "obj"; +static const char __pyx_k_sys[] = "sys"; +static const char __pyx_k_base[] = "base"; +static const char __pyx_k_dict[] = "__dict__"; +static const char __pyx_k_main[] = "__main__"; +static const char __pyx_k_mode[] = "mode"; +static const char __pyx_k_name[] = "name"; +static const char __pyx_k_ndim[] = "ndim"; +static const char __pyx_k_pack[] = "pack"; +static const char __pyx_k_path[] = "path"; +static const char __pyx_k_self[] = "self"; +static const char __pyx_k_size[] = "size"; +static const char __pyx_k_spec[] = "__spec__"; +static const char __pyx_k_step[] = "step"; +static const char __pyx_k_stop[] = "stop"; +static const char __pyx_k_test[] = "__test__"; +static const char __pyx_k_ASCII[] = "ASCII"; +static const char __pyx_k_class[] = "__class__"; +static const char __pyx_k_count[] = "count"; +static const char __pyx_k_error[] = "error"; +static const char __pyx_k_flags[] = "flags"; +static const char __pyx_k_index[] = "index"; +static const char __pyx_k_range[] = "range"; +static const char __pyx_k_shape[] = "shape"; +static const char __pyx_k_start[] = "start"; +static const char __pyx_k_enable[] = "enable"; +static const char __pyx_k_encode[] = "encode"; +static const char __pyx_k_format[] = "format"; +static const char __pyx_k_import[] = "__import__"; +static const char __pyx_k_name_2[] = "__name__"; +static const char __pyx_k_output[] = "output"; +static const char __pyx_k_pickle[] = "pickle"; +static const char __pyx_k_reduce[] = "__reduce__"; +static const char __pyx_k_struct[] = "struct"; +static const char __pyx_k_unpack[] = "unpack"; +static const char __pyx_k_update[] = "update"; +static const char __pyx_k_context[] = "context"; +static const char __pyx_k_disable[] = "disable"; +static const char __pyx_k_environ[] = "environ"; +static const char __pyx_k_fortran[] = "fortran"; +static const char __pyx_k_memview[] = "memview"; +static const char __pyx_k_runtime[] = "runtime"; +static const char __pyx_k_use_tf8[] = "use_tf8"; +static const char __pyx_k_Ellipsis[] = "Ellipsis"; +static const char __pyx_k_Sequence[] = "Sequence"; +static const char __pyx_k_getstate[] = "__getstate__"; +static const char __pyx_k_itemsize[] = "itemsize"; +static const char __pyx_k_pyx_type[] = "__pyx_type"; +static const char __pyx_k_register[] = "register"; +static const char __pyx_k_setstate[] = "__setstate__"; +static const char __pyx_k_SNPEModel[] = "SNPEModel"; +static const char __pyx_k_TypeError[] = "TypeError"; +static const char __pyx_k_enumerate[] = "enumerate"; +static const char __pyx_k_isenabled[] = "isenabled"; +static const char __pyx_k_pyx_state[] = "__pyx_state"; +static const char __pyx_k_reduce_ex[] = "__reduce_ex__"; +static const char __pyx_k_IndexError[] = "IndexError"; +static const char __pyx_k_ValueError[] = "ValueError"; +static const char __pyx_k_pyx_result[] = "__pyx_result"; +static const char __pyx_k_pyx_vtable[] = "__pyx_vtable__"; +static const char __pyx_k_MemoryError[] = "MemoryError"; +static const char __pyx_k_PickleError[] = "PickleError"; +static const char __pyx_k_collections[] = "collections"; +static const char __pyx_k_initializing[] = "_initializing"; +static const char __pyx_k_is_coroutine[] = "_is_coroutine"; +static const char __pyx_k_pyx_checksum[] = "__pyx_checksum"; +static const char __pyx_k_stringsource[] = ""; +static const char __pyx_k_version_info[] = "version_info"; +static const char __pyx_k_class_getitem[] = "__class_getitem__"; +static const char __pyx_k_reduce_cython[] = "__reduce_cython__"; +static const char __pyx_k_AssertionError[] = "AssertionError"; +static const char __pyx_k_View_MemoryView[] = "View.MemoryView"; +static const char __pyx_k_allocate_buffer[] = "allocate_buffer"; +static const char __pyx_k_collections_abc[] = "collections.abc"; +static const char __pyx_k_dtype_is_object[] = "dtype_is_object"; +static const char __pyx_k_pyx_PickleError[] = "__pyx_PickleError"; +static const char __pyx_k_setstate_cython[] = "__setstate_cython__"; +static const char __pyx_k_ADSP_LIBRARY_PATH[] = "ADSP_LIBRARY_PATH"; +static const char __pyx_k_pyx_unpickle_Enum[] = "__pyx_unpickle_Enum"; +static const char __pyx_k_asyncio_coroutines[] = "asyncio.coroutines"; +static const char __pyx_k_cline_in_traceback[] = "cline_in_traceback"; +static const char __pyx_k_strided_and_direct[] = ""; +static const char __pyx_k_strided_and_indirect[] = ""; +static const char __pyx_k_Invalid_shape_in_axis[] = "Invalid shape in axis "; +static const char __pyx_k_contiguous_and_direct[] = ""; +static const char __pyx_k_Cannot_index_with_type[] = "Cannot index with type '"; +static const char __pyx_k_MemoryView_of_r_object[] = ""; +static const char __pyx_k_MemoryView_of_r_at_0x_x[] = ""; +static const char __pyx_k_contiguous_and_indirect[] = ""; +static const char __pyx_k_Dimension_d_is_not_direct[] = "Dimension %d is not direct"; +static const char __pyx_k_SNPEModel___reduce_cython[] = "SNPEModel.__reduce_cython__"; +static const char __pyx_k_Index_out_of_bounds_axis_d[] = "Index out of bounds (axis %d)"; +static const char __pyx_k_SNPEModel___setstate_cython[] = "SNPEModel.__setstate_cython__"; +static const char __pyx_k_Step_may_not_be_zero_axis_d[] = "Step may not be zero (axis %d)"; +static const char __pyx_k_itemsize_0_for_cython_array[] = "itemsize <= 0 for cython.array"; +static const char __pyx_k_unable_to_allocate_array_data[] = "unable to allocate array data."; +static const char __pyx_k_strided_and_direct_or_indirect[] = ""; +static const char __pyx_k_data_pythonpath_third_party_snp[] = "/data/pythonpath/third_party/snpe/dsp/"; +static const char __pyx_k_All_dimensions_preceding_dimensi[] = "All dimensions preceding dimension %d must be indexed and not sliced"; +static const char __pyx_k_Buffer_view_does_not_expose_stri[] = "Buffer view does not expose strides"; +static const char __pyx_k_Can_only_create_a_buffer_that_is[] = "Can only create a buffer that is contiguous in memory."; +static const char __pyx_k_Cannot_assign_to_read_only_memor[] = "Cannot assign to read-only memoryview"; +static const char __pyx_k_Cannot_create_writable_memory_vi[] = "Cannot create writable memory view from read-only memoryview"; +static const char __pyx_k_Cannot_transpose_memoryview_with[] = "Cannot transpose memoryview with indirect dimensions"; +static const char __pyx_k_Empty_shape_tuple_for_cython_arr[] = "Empty shape tuple for cython.array"; +static const char __pyx_k_Incompatible_checksums_0x_x_vs_0[] = "Incompatible checksums (0x%x vs (0x82a3537, 0x6ae9995, 0xb068931) = (name))"; +static const char __pyx_k_Indirect_dimensions_not_supporte[] = "Indirect dimensions not supported"; +static const char __pyx_k_Invalid_mode_expected_c_or_fortr[] = "Invalid mode, expected 'c' or 'fortran', got "; +static const char __pyx_k_Out_of_bounds_on_buffer_access_a[] = "Out of bounds on buffer access (axis "; +static const char __pyx_k_Unable_to_convert_item_to_object[] = "Unable to convert item to object"; +static const char __pyx_k_got_differing_extents_in_dimensi[] = "got differing extents in dimension "; +static const char __pyx_k_no_default___reduce___due_to_non[] = "no default __reduce__ due to non-trivial __cinit__"; +static const char __pyx_k_selfdrive_modeld_runners_snpemod[] = "selfdrive.modeld.runners.snpemodel_pyx"; +static const char __pyx_k_unable_to_allocate_shape_and_str[] = "unable to allocate shape and strides."; +/* #### Code section: decls ### */ +static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array___cinit__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_shape, Py_ssize_t __pyx_v_itemsize, PyObject *__pyx_v_format, PyObject *__pyx_v_mode, int __pyx_v_allocate_buffer); /* proto */ +static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array_2__getbuffer__(struct __pyx_array_obj *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /* proto */ +static void __pyx_array___pyx_pf_15View_dot_MemoryView_5array_4__dealloc__(struct __pyx_array_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_5array_7memview___get__(struct __pyx_array_obj *__pyx_v_self); /* proto */ +static Py_ssize_t __pyx_array___pyx_pf_15View_dot_MemoryView_5array_6__len__(struct __pyx_array_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_array___pyx_pf_15View_dot_MemoryView_5array_8__getattr__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_attr); /* proto */ +static PyObject *__pyx_array___pyx_pf_15View_dot_MemoryView_5array_10__getitem__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_item); /* proto */ +static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array_12__setitem__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_item, PyObject *__pyx_v_value); /* proto */ +static PyObject *__pyx_pf___pyx_array___reduce_cython__(CYTHON_UNUSED struct __pyx_array_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_array_2__setstate_cython__(CYTHON_UNUSED struct __pyx_array_obj *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_MemviewEnum___pyx_pf_15View_dot_MemoryView_4Enum___init__(struct __pyx_MemviewEnum_obj *__pyx_v_self, PyObject *__pyx_v_name); /* proto */ +static PyObject *__pyx_MemviewEnum___pyx_pf_15View_dot_MemoryView_4Enum_2__repr__(struct __pyx_MemviewEnum_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_MemviewEnum___reduce_cython__(struct __pyx_MemviewEnum_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_MemviewEnum_2__setstate_cython__(struct __pyx_MemviewEnum_obj *__pyx_v_self, PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview___cinit__(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_obj, int __pyx_v_flags, int __pyx_v_dtype_is_object); /* proto */ +static void __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_2__dealloc__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_4__getitem__(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index); /* proto */ +static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_6__setitem__(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index, PyObject *__pyx_v_value); /* proto */ +static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_8__getbuffer__(struct __pyx_memoryview_obj *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_1T___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_4base___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_5shape___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_7strides___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_10suboffsets___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_4ndim___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_8itemsize___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_6nbytes___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_4size___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static Py_ssize_t __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_10__len__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_12__repr__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_14__str__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_16is_c_contig(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_18is_f_contig(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_20copy(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_22copy_fortran(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryview___reduce_cython__(CYTHON_UNUSED struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryview_2__setstate_cython__(CYTHON_UNUSED struct __pyx_memoryview_obj *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static void __pyx_memoryviewslice___pyx_pf_15View_dot_MemoryView_16_memoryviewslice___dealloc__(struct __pyx_memoryviewslice_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryviewslice___reduce_cython__(CYTHON_UNUSED struct __pyx_memoryviewslice_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryviewslice_2__setstate_cython__(CYTHON_UNUSED struct __pyx_memoryviewslice_obj *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView___pyx_unpickle_Enum(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v___pyx_type, long __pyx_v___pyx_checksum, PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_pf_9selfdrive_6modeld_7runners_13snpemodel_pyx_9SNPEModel___cinit__(struct __pyx_obj_9selfdrive_6modeld_7runners_13snpemodel_pyx_SNPEModel *__pyx_v_self, std::string __pyx_v_path, __Pyx_memviewslice __pyx_v_output, int __pyx_v_runtime, bool __pyx_v_use_tf8, struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext *__pyx_v_context); /* proto */ +static PyObject *__pyx_pf_9selfdrive_6modeld_7runners_13snpemodel_pyx_9SNPEModel_2__reduce_cython__(CYTHON_UNUSED struct __pyx_obj_9selfdrive_6modeld_7runners_13snpemodel_pyx_SNPEModel *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_9selfdrive_6modeld_7runners_13snpemodel_pyx_9SNPEModel_4__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_9selfdrive_6modeld_7runners_13snpemodel_pyx_SNPEModel *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static PyObject *__pyx_tp_new_9selfdrive_6modeld_7runners_13snpemodel_pyx_SNPEModel(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_array(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_Enum(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_memoryview(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new__memoryviewslice(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +/* #### Code section: late_includes ### */ +/* #### Code section: module_state ### */ +typedef struct { + PyObject *__pyx_d; + PyObject *__pyx_b; + PyObject *__pyx_cython_runtime; + PyObject *__pyx_empty_tuple; + PyObject *__pyx_empty_bytes; + PyObject *__pyx_empty_unicode; + #ifdef __Pyx_CyFunction_USED + PyTypeObject *__pyx_CyFunctionType; + #endif + #ifdef __Pyx_FusedFunction_USED + PyTypeObject *__pyx_FusedFunctionType; + #endif + #ifdef __Pyx_Generator_USED + PyTypeObject *__pyx_GeneratorType; + #endif + #ifdef __Pyx_IterableCoroutine_USED + PyTypeObject *__pyx_IterableCoroutineType; + #endif + #ifdef __Pyx_Coroutine_USED + PyTypeObject *__pyx_CoroutineAwaitType; + #endif + #ifdef __Pyx_Coroutine_USED + PyTypeObject *__pyx_CoroutineType; + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + PyTypeObject *__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_CLContext; + PyTypeObject *__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionBuf; + #if CYTHON_USE_MODULE_STATE + #endif + PyTypeObject *__pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext; + PyTypeObject *__pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem; + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + PyTypeObject *__pyx_ptype_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel; + #if CYTHON_USE_MODULE_STATE + PyObject *__pyx_type_9selfdrive_6modeld_7runners_13snpemodel_pyx_SNPEModel; + PyObject *__pyx_type___pyx_array; + PyObject *__pyx_type___pyx_MemviewEnum; + PyObject *__pyx_type___pyx_memoryview; + PyObject *__pyx_type___pyx_memoryviewslice; + #endif + PyTypeObject *__pyx_ptype_9selfdrive_6modeld_7runners_13snpemodel_pyx_SNPEModel; + PyTypeObject *__pyx_array_type; + PyTypeObject *__pyx_MemviewEnum_type; + PyTypeObject *__pyx_memoryview_type; + PyTypeObject *__pyx_memoryviewslice_type; + PyObject *__pyx_kp_u_; + PyObject *__pyx_n_u_ADSP_LIBRARY_PATH; + PyObject *__pyx_n_s_ASCII; + PyObject *__pyx_kp_s_All_dimensions_preceding_dimensi; + PyObject *__pyx_n_s_AssertionError; + PyObject *__pyx_kp_s_Buffer_view_does_not_expose_stri; + PyObject *__pyx_kp_s_Can_only_create_a_buffer_that_is; + PyObject *__pyx_kp_s_Cannot_assign_to_read_only_memor; + PyObject *__pyx_kp_s_Cannot_create_writable_memory_vi; + PyObject *__pyx_kp_u_Cannot_index_with_type; + PyObject *__pyx_kp_s_Cannot_transpose_memoryview_with; + PyObject *__pyx_kp_s_Dimension_d_is_not_direct; + PyObject *__pyx_n_s_Ellipsis; + PyObject *__pyx_kp_s_Empty_shape_tuple_for_cython_arr; + PyObject *__pyx_kp_s_Incompatible_checksums_0x_x_vs_0; + PyObject *__pyx_n_s_IndexError; + PyObject *__pyx_kp_s_Index_out_of_bounds_axis_d; + PyObject *__pyx_kp_s_Indirect_dimensions_not_supporte; + PyObject *__pyx_kp_u_Invalid_mode_expected_c_or_fortr; + PyObject *__pyx_kp_u_Invalid_shape_in_axis; + PyObject *__pyx_n_s_MemoryError; + PyObject *__pyx_kp_s_MemoryView_of_r_at_0x_x; + PyObject *__pyx_kp_s_MemoryView_of_r_object; + PyObject *__pyx_n_b_O; + PyObject *__pyx_kp_u_Out_of_bounds_on_buffer_access_a; + PyObject *__pyx_n_s_PickleError; + PyObject *__pyx_n_s_SNPEModel; + PyObject *__pyx_n_s_SNPEModel___reduce_cython; + PyObject *__pyx_n_s_SNPEModel___setstate_cython; + PyObject *__pyx_n_s_Sequence; + PyObject *__pyx_kp_s_Step_may_not_be_zero_axis_d; + PyObject *__pyx_n_s_TypeError; + PyObject *__pyx_kp_s_Unable_to_convert_item_to_object; + PyObject *__pyx_n_s_ValueError; + PyObject *__pyx_n_s_View_MemoryView; + PyObject *__pyx_kp_u__2; + PyObject *__pyx_n_s__24; + PyObject *__pyx_n_s__3; + PyObject *__pyx_kp_u__6; + PyObject *__pyx_kp_u__7; + PyObject *__pyx_n_s_abc; + PyObject *__pyx_n_s_allocate_buffer; + PyObject *__pyx_kp_u_and; + PyObject *__pyx_n_s_asyncio_coroutines; + PyObject *__pyx_n_s_base; + PyObject *__pyx_n_s_c; + PyObject *__pyx_n_u_c; + PyObject *__pyx_n_s_class; + PyObject *__pyx_n_s_class_getitem; + PyObject *__pyx_n_s_cline_in_traceback; + PyObject *__pyx_n_s_collections; + PyObject *__pyx_kp_s_collections_abc; + PyObject *__pyx_n_s_context; + PyObject *__pyx_kp_s_contiguous_and_direct; + PyObject *__pyx_kp_s_contiguous_and_indirect; + PyObject *__pyx_n_s_count; + PyObject *__pyx_kp_u_data_pythonpath_third_party_snp; + PyObject *__pyx_n_s_dict; + PyObject *__pyx_kp_u_disable; + PyObject *__pyx_n_s_dtype_is_object; + PyObject *__pyx_kp_u_enable; + PyObject *__pyx_n_s_encode; + PyObject *__pyx_n_s_enumerate; + PyObject *__pyx_n_s_environ; + PyObject *__pyx_n_s_error; + PyObject *__pyx_n_s_flags; + PyObject *__pyx_n_s_format; + PyObject *__pyx_n_s_fortran; + PyObject *__pyx_n_u_fortran; + PyObject *__pyx_kp_u_gc; + PyObject *__pyx_n_s_getstate; + PyObject *__pyx_kp_u_got; + PyObject *__pyx_kp_u_got_differing_extents_in_dimensi; + PyObject *__pyx_n_s_id; + PyObject *__pyx_n_s_import; + PyObject *__pyx_n_s_index; + PyObject *__pyx_n_s_initializing; + PyObject *__pyx_n_s_is_coroutine; + PyObject *__pyx_kp_u_isenabled; + PyObject *__pyx_n_s_itemsize; + PyObject *__pyx_kp_s_itemsize_0_for_cython_array; + PyObject *__pyx_n_s_main; + PyObject *__pyx_n_s_memview; + PyObject *__pyx_n_s_mode; + PyObject *__pyx_n_s_name; + PyObject *__pyx_n_s_name_2; + PyObject *__pyx_n_s_ndim; + PyObject *__pyx_n_s_new; + PyObject *__pyx_kp_s_no_default___reduce___due_to_non; + PyObject *__pyx_n_s_obj; + PyObject *__pyx_n_s_os; + PyObject *__pyx_n_s_output; + PyObject *__pyx_n_s_pack; + PyObject *__pyx_n_s_path; + PyObject *__pyx_n_s_pickle; + PyObject *__pyx_n_s_pyx_PickleError; + PyObject *__pyx_n_s_pyx_checksum; + PyObject *__pyx_n_s_pyx_result; + PyObject *__pyx_n_s_pyx_state; + PyObject *__pyx_n_s_pyx_type; + PyObject *__pyx_n_s_pyx_unpickle_Enum; + PyObject *__pyx_n_s_pyx_vtable; + PyObject *__pyx_n_s_range; + PyObject *__pyx_n_s_reduce; + PyObject *__pyx_n_s_reduce_cython; + PyObject *__pyx_n_s_reduce_ex; + PyObject *__pyx_n_s_register; + PyObject *__pyx_n_s_runtime; + PyObject *__pyx_n_s_self; + PyObject *__pyx_n_s_selfdrive_modeld_runners_snpemod; + PyObject *__pyx_n_s_setstate; + PyObject *__pyx_n_s_setstate_cython; + PyObject *__pyx_n_s_shape; + PyObject *__pyx_n_s_size; + PyObject *__pyx_n_s_spec; + PyObject *__pyx_n_s_start; + PyObject *__pyx_n_s_step; + PyObject *__pyx_n_s_stop; + PyObject *__pyx_kp_s_strided_and_direct; + PyObject *__pyx_kp_s_strided_and_direct_or_indirect; + PyObject *__pyx_kp_s_strided_and_indirect; + PyObject *__pyx_kp_s_stringsource; + PyObject *__pyx_n_s_struct; + PyObject *__pyx_n_s_sys; + PyObject *__pyx_n_s_test; + PyObject *__pyx_kp_s_unable_to_allocate_array_data; + PyObject *__pyx_kp_s_unable_to_allocate_shape_and_str; + PyObject *__pyx_n_s_unpack; + PyObject *__pyx_n_s_update; + PyObject *__pyx_n_s_use_tf8; + PyObject *__pyx_n_s_version_info; + PyObject *__pyx_int_0; + PyObject *__pyx_int_1; + PyObject *__pyx_int_3; + PyObject *__pyx_int_112105877; + PyObject *__pyx_int_136983863; + PyObject *__pyx_int_184977713; + PyObject *__pyx_int_neg_1; + PyObject *__pyx_slice__5; + PyObject *__pyx_tuple__4; + PyObject *__pyx_tuple__8; + PyObject *__pyx_tuple__9; + PyObject *__pyx_tuple__10; + PyObject *__pyx_tuple__11; + PyObject *__pyx_tuple__12; + PyObject *__pyx_tuple__13; + PyObject *__pyx_tuple__14; + PyObject *__pyx_tuple__15; + PyObject *__pyx_tuple__16; + PyObject *__pyx_tuple__17; + PyObject *__pyx_tuple__18; + PyObject *__pyx_tuple__20; + PyObject *__pyx_tuple__22; + PyObject *__pyx_codeobj__19; + PyObject *__pyx_codeobj__21; + PyObject *__pyx_codeobj__23; +} __pyx_mstate; + +#if CYTHON_USE_MODULE_STATE +#ifdef __cplusplus +namespace { + extern struct PyModuleDef __pyx_moduledef; +} /* anonymous namespace */ +#else +static struct PyModuleDef __pyx_moduledef; +#endif + +#define __pyx_mstate(o) ((__pyx_mstate *)__Pyx_PyModule_GetState(o)) + +#define __pyx_mstate_global (__pyx_mstate(PyState_FindModule(&__pyx_moduledef))) + +#define __pyx_m (PyState_FindModule(&__pyx_moduledef)) +#else +static __pyx_mstate __pyx_mstate_global_static = +#ifdef __cplusplus + {}; +#else + {0}; +#endif +static __pyx_mstate *__pyx_mstate_global = &__pyx_mstate_global_static; +#endif +/* #### Code section: module_state_clear ### */ +#if CYTHON_USE_MODULE_STATE +static int __pyx_m_clear(PyObject *m) { + __pyx_mstate *clear_module_state = __pyx_mstate(m); + if (!clear_module_state) return 0; + Py_CLEAR(clear_module_state->__pyx_d); + Py_CLEAR(clear_module_state->__pyx_b); + Py_CLEAR(clear_module_state->__pyx_cython_runtime); + Py_CLEAR(clear_module_state->__pyx_empty_tuple); + Py_CLEAR(clear_module_state->__pyx_empty_bytes); + Py_CLEAR(clear_module_state->__pyx_empty_unicode); + #ifdef __Pyx_CyFunction_USED + Py_CLEAR(clear_module_state->__pyx_CyFunctionType); + #endif + #ifdef __Pyx_FusedFunction_USED + Py_CLEAR(clear_module_state->__pyx_FusedFunctionType); + #endif + Py_CLEAR(clear_module_state->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_CLContext); + Py_CLEAR(clear_module_state->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionBuf); + Py_CLEAR(clear_module_state->__pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext); + Py_CLEAR(clear_module_state->__pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem); + Py_CLEAR(clear_module_state->__pyx_ptype_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel); + Py_CLEAR(clear_module_state->__pyx_ptype_9selfdrive_6modeld_7runners_13snpemodel_pyx_SNPEModel); + Py_CLEAR(clear_module_state->__pyx_type_9selfdrive_6modeld_7runners_13snpemodel_pyx_SNPEModel); + Py_CLEAR(clear_module_state->__pyx_array_type); + Py_CLEAR(clear_module_state->__pyx_type___pyx_array); + Py_CLEAR(clear_module_state->__pyx_MemviewEnum_type); + Py_CLEAR(clear_module_state->__pyx_type___pyx_MemviewEnum); + Py_CLEAR(clear_module_state->__pyx_memoryview_type); + Py_CLEAR(clear_module_state->__pyx_type___pyx_memoryview); + Py_CLEAR(clear_module_state->__pyx_memoryviewslice_type); + Py_CLEAR(clear_module_state->__pyx_type___pyx_memoryviewslice); + Py_CLEAR(clear_module_state->__pyx_kp_u_); + Py_CLEAR(clear_module_state->__pyx_n_u_ADSP_LIBRARY_PATH); + Py_CLEAR(clear_module_state->__pyx_n_s_ASCII); + Py_CLEAR(clear_module_state->__pyx_kp_s_All_dimensions_preceding_dimensi); + Py_CLEAR(clear_module_state->__pyx_n_s_AssertionError); + Py_CLEAR(clear_module_state->__pyx_kp_s_Buffer_view_does_not_expose_stri); + Py_CLEAR(clear_module_state->__pyx_kp_s_Can_only_create_a_buffer_that_is); + Py_CLEAR(clear_module_state->__pyx_kp_s_Cannot_assign_to_read_only_memor); + Py_CLEAR(clear_module_state->__pyx_kp_s_Cannot_create_writable_memory_vi); + Py_CLEAR(clear_module_state->__pyx_kp_u_Cannot_index_with_type); + Py_CLEAR(clear_module_state->__pyx_kp_s_Cannot_transpose_memoryview_with); + Py_CLEAR(clear_module_state->__pyx_kp_s_Dimension_d_is_not_direct); + Py_CLEAR(clear_module_state->__pyx_n_s_Ellipsis); + Py_CLEAR(clear_module_state->__pyx_kp_s_Empty_shape_tuple_for_cython_arr); + Py_CLEAR(clear_module_state->__pyx_kp_s_Incompatible_checksums_0x_x_vs_0); + Py_CLEAR(clear_module_state->__pyx_n_s_IndexError); + Py_CLEAR(clear_module_state->__pyx_kp_s_Index_out_of_bounds_axis_d); + Py_CLEAR(clear_module_state->__pyx_kp_s_Indirect_dimensions_not_supporte); + Py_CLEAR(clear_module_state->__pyx_kp_u_Invalid_mode_expected_c_or_fortr); + Py_CLEAR(clear_module_state->__pyx_kp_u_Invalid_shape_in_axis); + Py_CLEAR(clear_module_state->__pyx_n_s_MemoryError); + Py_CLEAR(clear_module_state->__pyx_kp_s_MemoryView_of_r_at_0x_x); + Py_CLEAR(clear_module_state->__pyx_kp_s_MemoryView_of_r_object); + Py_CLEAR(clear_module_state->__pyx_n_b_O); + Py_CLEAR(clear_module_state->__pyx_kp_u_Out_of_bounds_on_buffer_access_a); + Py_CLEAR(clear_module_state->__pyx_n_s_PickleError); + Py_CLEAR(clear_module_state->__pyx_n_s_SNPEModel); + Py_CLEAR(clear_module_state->__pyx_n_s_SNPEModel___reduce_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_SNPEModel___setstate_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_Sequence); + Py_CLEAR(clear_module_state->__pyx_kp_s_Step_may_not_be_zero_axis_d); + Py_CLEAR(clear_module_state->__pyx_n_s_TypeError); + Py_CLEAR(clear_module_state->__pyx_kp_s_Unable_to_convert_item_to_object); + Py_CLEAR(clear_module_state->__pyx_n_s_ValueError); + Py_CLEAR(clear_module_state->__pyx_n_s_View_MemoryView); + Py_CLEAR(clear_module_state->__pyx_kp_u__2); + Py_CLEAR(clear_module_state->__pyx_n_s__24); + Py_CLEAR(clear_module_state->__pyx_n_s__3); + Py_CLEAR(clear_module_state->__pyx_kp_u__6); + Py_CLEAR(clear_module_state->__pyx_kp_u__7); + Py_CLEAR(clear_module_state->__pyx_n_s_abc); + Py_CLEAR(clear_module_state->__pyx_n_s_allocate_buffer); + Py_CLEAR(clear_module_state->__pyx_kp_u_and); + Py_CLEAR(clear_module_state->__pyx_n_s_asyncio_coroutines); + Py_CLEAR(clear_module_state->__pyx_n_s_base); + Py_CLEAR(clear_module_state->__pyx_n_s_c); + Py_CLEAR(clear_module_state->__pyx_n_u_c); + Py_CLEAR(clear_module_state->__pyx_n_s_class); + Py_CLEAR(clear_module_state->__pyx_n_s_class_getitem); + Py_CLEAR(clear_module_state->__pyx_n_s_cline_in_traceback); + Py_CLEAR(clear_module_state->__pyx_n_s_collections); + Py_CLEAR(clear_module_state->__pyx_kp_s_collections_abc); + Py_CLEAR(clear_module_state->__pyx_n_s_context); + Py_CLEAR(clear_module_state->__pyx_kp_s_contiguous_and_direct); + Py_CLEAR(clear_module_state->__pyx_kp_s_contiguous_and_indirect); + Py_CLEAR(clear_module_state->__pyx_n_s_count); + Py_CLEAR(clear_module_state->__pyx_kp_u_data_pythonpath_third_party_snp); + Py_CLEAR(clear_module_state->__pyx_n_s_dict); + Py_CLEAR(clear_module_state->__pyx_kp_u_disable); + Py_CLEAR(clear_module_state->__pyx_n_s_dtype_is_object); + Py_CLEAR(clear_module_state->__pyx_kp_u_enable); + Py_CLEAR(clear_module_state->__pyx_n_s_encode); + Py_CLEAR(clear_module_state->__pyx_n_s_enumerate); + Py_CLEAR(clear_module_state->__pyx_n_s_environ); + Py_CLEAR(clear_module_state->__pyx_n_s_error); + Py_CLEAR(clear_module_state->__pyx_n_s_flags); + Py_CLEAR(clear_module_state->__pyx_n_s_format); + Py_CLEAR(clear_module_state->__pyx_n_s_fortran); + Py_CLEAR(clear_module_state->__pyx_n_u_fortran); + Py_CLEAR(clear_module_state->__pyx_kp_u_gc); + Py_CLEAR(clear_module_state->__pyx_n_s_getstate); + Py_CLEAR(clear_module_state->__pyx_kp_u_got); + Py_CLEAR(clear_module_state->__pyx_kp_u_got_differing_extents_in_dimensi); + Py_CLEAR(clear_module_state->__pyx_n_s_id); + Py_CLEAR(clear_module_state->__pyx_n_s_import); + Py_CLEAR(clear_module_state->__pyx_n_s_index); + Py_CLEAR(clear_module_state->__pyx_n_s_initializing); + Py_CLEAR(clear_module_state->__pyx_n_s_is_coroutine); + Py_CLEAR(clear_module_state->__pyx_kp_u_isenabled); + Py_CLEAR(clear_module_state->__pyx_n_s_itemsize); + Py_CLEAR(clear_module_state->__pyx_kp_s_itemsize_0_for_cython_array); + Py_CLEAR(clear_module_state->__pyx_n_s_main); + Py_CLEAR(clear_module_state->__pyx_n_s_memview); + Py_CLEAR(clear_module_state->__pyx_n_s_mode); + Py_CLEAR(clear_module_state->__pyx_n_s_name); + Py_CLEAR(clear_module_state->__pyx_n_s_name_2); + Py_CLEAR(clear_module_state->__pyx_n_s_ndim); + Py_CLEAR(clear_module_state->__pyx_n_s_new); + Py_CLEAR(clear_module_state->__pyx_kp_s_no_default___reduce___due_to_non); + Py_CLEAR(clear_module_state->__pyx_n_s_obj); + Py_CLEAR(clear_module_state->__pyx_n_s_os); + Py_CLEAR(clear_module_state->__pyx_n_s_output); + Py_CLEAR(clear_module_state->__pyx_n_s_pack); + Py_CLEAR(clear_module_state->__pyx_n_s_path); + Py_CLEAR(clear_module_state->__pyx_n_s_pickle); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_PickleError); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_checksum); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_result); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_state); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_type); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_unpickle_Enum); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_vtable); + Py_CLEAR(clear_module_state->__pyx_n_s_range); + Py_CLEAR(clear_module_state->__pyx_n_s_reduce); + Py_CLEAR(clear_module_state->__pyx_n_s_reduce_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_reduce_ex); + Py_CLEAR(clear_module_state->__pyx_n_s_register); + Py_CLEAR(clear_module_state->__pyx_n_s_runtime); + Py_CLEAR(clear_module_state->__pyx_n_s_self); + Py_CLEAR(clear_module_state->__pyx_n_s_selfdrive_modeld_runners_snpemod); + Py_CLEAR(clear_module_state->__pyx_n_s_setstate); + Py_CLEAR(clear_module_state->__pyx_n_s_setstate_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_shape); + Py_CLEAR(clear_module_state->__pyx_n_s_size); + Py_CLEAR(clear_module_state->__pyx_n_s_spec); + Py_CLEAR(clear_module_state->__pyx_n_s_start); + Py_CLEAR(clear_module_state->__pyx_n_s_step); + Py_CLEAR(clear_module_state->__pyx_n_s_stop); + Py_CLEAR(clear_module_state->__pyx_kp_s_strided_and_direct); + Py_CLEAR(clear_module_state->__pyx_kp_s_strided_and_direct_or_indirect); + Py_CLEAR(clear_module_state->__pyx_kp_s_strided_and_indirect); + Py_CLEAR(clear_module_state->__pyx_kp_s_stringsource); + Py_CLEAR(clear_module_state->__pyx_n_s_struct); + Py_CLEAR(clear_module_state->__pyx_n_s_sys); + Py_CLEAR(clear_module_state->__pyx_n_s_test); + Py_CLEAR(clear_module_state->__pyx_kp_s_unable_to_allocate_array_data); + Py_CLEAR(clear_module_state->__pyx_kp_s_unable_to_allocate_shape_and_str); + Py_CLEAR(clear_module_state->__pyx_n_s_unpack); + Py_CLEAR(clear_module_state->__pyx_n_s_update); + Py_CLEAR(clear_module_state->__pyx_n_s_use_tf8); + Py_CLEAR(clear_module_state->__pyx_n_s_version_info); + Py_CLEAR(clear_module_state->__pyx_int_0); + Py_CLEAR(clear_module_state->__pyx_int_1); + Py_CLEAR(clear_module_state->__pyx_int_3); + Py_CLEAR(clear_module_state->__pyx_int_112105877); + Py_CLEAR(clear_module_state->__pyx_int_136983863); + Py_CLEAR(clear_module_state->__pyx_int_184977713); + Py_CLEAR(clear_module_state->__pyx_int_neg_1); + Py_CLEAR(clear_module_state->__pyx_slice__5); + Py_CLEAR(clear_module_state->__pyx_tuple__4); + Py_CLEAR(clear_module_state->__pyx_tuple__8); + Py_CLEAR(clear_module_state->__pyx_tuple__9); + Py_CLEAR(clear_module_state->__pyx_tuple__10); + Py_CLEAR(clear_module_state->__pyx_tuple__11); + Py_CLEAR(clear_module_state->__pyx_tuple__12); + Py_CLEAR(clear_module_state->__pyx_tuple__13); + Py_CLEAR(clear_module_state->__pyx_tuple__14); + Py_CLEAR(clear_module_state->__pyx_tuple__15); + Py_CLEAR(clear_module_state->__pyx_tuple__16); + Py_CLEAR(clear_module_state->__pyx_tuple__17); + Py_CLEAR(clear_module_state->__pyx_tuple__18); + Py_CLEAR(clear_module_state->__pyx_tuple__20); + Py_CLEAR(clear_module_state->__pyx_tuple__22); + Py_CLEAR(clear_module_state->__pyx_codeobj__19); + Py_CLEAR(clear_module_state->__pyx_codeobj__21); + Py_CLEAR(clear_module_state->__pyx_codeobj__23); + return 0; +} +#endif +/* #### Code section: module_state_traverse ### */ +#if CYTHON_USE_MODULE_STATE +static int __pyx_m_traverse(PyObject *m, visitproc visit, void *arg) { + __pyx_mstate *traverse_module_state = __pyx_mstate(m); + if (!traverse_module_state) return 0; + Py_VISIT(traverse_module_state->__pyx_d); + Py_VISIT(traverse_module_state->__pyx_b); + Py_VISIT(traverse_module_state->__pyx_cython_runtime); + Py_VISIT(traverse_module_state->__pyx_empty_tuple); + Py_VISIT(traverse_module_state->__pyx_empty_bytes); + Py_VISIT(traverse_module_state->__pyx_empty_unicode); + #ifdef __Pyx_CyFunction_USED + Py_VISIT(traverse_module_state->__pyx_CyFunctionType); + #endif + #ifdef __Pyx_FusedFunction_USED + Py_VISIT(traverse_module_state->__pyx_FusedFunctionType); + #endif + Py_VISIT(traverse_module_state->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_CLContext); + Py_VISIT(traverse_module_state->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionBuf); + Py_VISIT(traverse_module_state->__pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext); + Py_VISIT(traverse_module_state->__pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem); + Py_VISIT(traverse_module_state->__pyx_ptype_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel); + Py_VISIT(traverse_module_state->__pyx_ptype_9selfdrive_6modeld_7runners_13snpemodel_pyx_SNPEModel); + Py_VISIT(traverse_module_state->__pyx_type_9selfdrive_6modeld_7runners_13snpemodel_pyx_SNPEModel); + Py_VISIT(traverse_module_state->__pyx_array_type); + Py_VISIT(traverse_module_state->__pyx_type___pyx_array); + Py_VISIT(traverse_module_state->__pyx_MemviewEnum_type); + Py_VISIT(traverse_module_state->__pyx_type___pyx_MemviewEnum); + Py_VISIT(traverse_module_state->__pyx_memoryview_type); + Py_VISIT(traverse_module_state->__pyx_type___pyx_memoryview); + Py_VISIT(traverse_module_state->__pyx_memoryviewslice_type); + Py_VISIT(traverse_module_state->__pyx_type___pyx_memoryviewslice); + Py_VISIT(traverse_module_state->__pyx_kp_u_); + Py_VISIT(traverse_module_state->__pyx_n_u_ADSP_LIBRARY_PATH); + Py_VISIT(traverse_module_state->__pyx_n_s_ASCII); + Py_VISIT(traverse_module_state->__pyx_kp_s_All_dimensions_preceding_dimensi); + Py_VISIT(traverse_module_state->__pyx_n_s_AssertionError); + Py_VISIT(traverse_module_state->__pyx_kp_s_Buffer_view_does_not_expose_stri); + Py_VISIT(traverse_module_state->__pyx_kp_s_Can_only_create_a_buffer_that_is); + Py_VISIT(traverse_module_state->__pyx_kp_s_Cannot_assign_to_read_only_memor); + Py_VISIT(traverse_module_state->__pyx_kp_s_Cannot_create_writable_memory_vi); + Py_VISIT(traverse_module_state->__pyx_kp_u_Cannot_index_with_type); + Py_VISIT(traverse_module_state->__pyx_kp_s_Cannot_transpose_memoryview_with); + Py_VISIT(traverse_module_state->__pyx_kp_s_Dimension_d_is_not_direct); + Py_VISIT(traverse_module_state->__pyx_n_s_Ellipsis); + Py_VISIT(traverse_module_state->__pyx_kp_s_Empty_shape_tuple_for_cython_arr); + Py_VISIT(traverse_module_state->__pyx_kp_s_Incompatible_checksums_0x_x_vs_0); + Py_VISIT(traverse_module_state->__pyx_n_s_IndexError); + Py_VISIT(traverse_module_state->__pyx_kp_s_Index_out_of_bounds_axis_d); + Py_VISIT(traverse_module_state->__pyx_kp_s_Indirect_dimensions_not_supporte); + Py_VISIT(traverse_module_state->__pyx_kp_u_Invalid_mode_expected_c_or_fortr); + Py_VISIT(traverse_module_state->__pyx_kp_u_Invalid_shape_in_axis); + Py_VISIT(traverse_module_state->__pyx_n_s_MemoryError); + Py_VISIT(traverse_module_state->__pyx_kp_s_MemoryView_of_r_at_0x_x); + Py_VISIT(traverse_module_state->__pyx_kp_s_MemoryView_of_r_object); + Py_VISIT(traverse_module_state->__pyx_n_b_O); + Py_VISIT(traverse_module_state->__pyx_kp_u_Out_of_bounds_on_buffer_access_a); + Py_VISIT(traverse_module_state->__pyx_n_s_PickleError); + Py_VISIT(traverse_module_state->__pyx_n_s_SNPEModel); + Py_VISIT(traverse_module_state->__pyx_n_s_SNPEModel___reduce_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_SNPEModel___setstate_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_Sequence); + Py_VISIT(traverse_module_state->__pyx_kp_s_Step_may_not_be_zero_axis_d); + Py_VISIT(traverse_module_state->__pyx_n_s_TypeError); + Py_VISIT(traverse_module_state->__pyx_kp_s_Unable_to_convert_item_to_object); + Py_VISIT(traverse_module_state->__pyx_n_s_ValueError); + Py_VISIT(traverse_module_state->__pyx_n_s_View_MemoryView); + Py_VISIT(traverse_module_state->__pyx_kp_u__2); + Py_VISIT(traverse_module_state->__pyx_n_s__24); + Py_VISIT(traverse_module_state->__pyx_n_s__3); + Py_VISIT(traverse_module_state->__pyx_kp_u__6); + Py_VISIT(traverse_module_state->__pyx_kp_u__7); + Py_VISIT(traverse_module_state->__pyx_n_s_abc); + Py_VISIT(traverse_module_state->__pyx_n_s_allocate_buffer); + Py_VISIT(traverse_module_state->__pyx_kp_u_and); + Py_VISIT(traverse_module_state->__pyx_n_s_asyncio_coroutines); + Py_VISIT(traverse_module_state->__pyx_n_s_base); + Py_VISIT(traverse_module_state->__pyx_n_s_c); + Py_VISIT(traverse_module_state->__pyx_n_u_c); + Py_VISIT(traverse_module_state->__pyx_n_s_class); + Py_VISIT(traverse_module_state->__pyx_n_s_class_getitem); + Py_VISIT(traverse_module_state->__pyx_n_s_cline_in_traceback); + Py_VISIT(traverse_module_state->__pyx_n_s_collections); + Py_VISIT(traverse_module_state->__pyx_kp_s_collections_abc); + Py_VISIT(traverse_module_state->__pyx_n_s_context); + Py_VISIT(traverse_module_state->__pyx_kp_s_contiguous_and_direct); + Py_VISIT(traverse_module_state->__pyx_kp_s_contiguous_and_indirect); + Py_VISIT(traverse_module_state->__pyx_n_s_count); + Py_VISIT(traverse_module_state->__pyx_kp_u_data_pythonpath_third_party_snp); + Py_VISIT(traverse_module_state->__pyx_n_s_dict); + Py_VISIT(traverse_module_state->__pyx_kp_u_disable); + Py_VISIT(traverse_module_state->__pyx_n_s_dtype_is_object); + Py_VISIT(traverse_module_state->__pyx_kp_u_enable); + Py_VISIT(traverse_module_state->__pyx_n_s_encode); + Py_VISIT(traverse_module_state->__pyx_n_s_enumerate); + Py_VISIT(traverse_module_state->__pyx_n_s_environ); + Py_VISIT(traverse_module_state->__pyx_n_s_error); + Py_VISIT(traverse_module_state->__pyx_n_s_flags); + Py_VISIT(traverse_module_state->__pyx_n_s_format); + Py_VISIT(traverse_module_state->__pyx_n_s_fortran); + Py_VISIT(traverse_module_state->__pyx_n_u_fortran); + Py_VISIT(traverse_module_state->__pyx_kp_u_gc); + Py_VISIT(traverse_module_state->__pyx_n_s_getstate); + Py_VISIT(traverse_module_state->__pyx_kp_u_got); + Py_VISIT(traverse_module_state->__pyx_kp_u_got_differing_extents_in_dimensi); + Py_VISIT(traverse_module_state->__pyx_n_s_id); + Py_VISIT(traverse_module_state->__pyx_n_s_import); + Py_VISIT(traverse_module_state->__pyx_n_s_index); + Py_VISIT(traverse_module_state->__pyx_n_s_initializing); + Py_VISIT(traverse_module_state->__pyx_n_s_is_coroutine); + Py_VISIT(traverse_module_state->__pyx_kp_u_isenabled); + Py_VISIT(traverse_module_state->__pyx_n_s_itemsize); + Py_VISIT(traverse_module_state->__pyx_kp_s_itemsize_0_for_cython_array); + Py_VISIT(traverse_module_state->__pyx_n_s_main); + Py_VISIT(traverse_module_state->__pyx_n_s_memview); + Py_VISIT(traverse_module_state->__pyx_n_s_mode); + Py_VISIT(traverse_module_state->__pyx_n_s_name); + Py_VISIT(traverse_module_state->__pyx_n_s_name_2); + Py_VISIT(traverse_module_state->__pyx_n_s_ndim); + Py_VISIT(traverse_module_state->__pyx_n_s_new); + Py_VISIT(traverse_module_state->__pyx_kp_s_no_default___reduce___due_to_non); + Py_VISIT(traverse_module_state->__pyx_n_s_obj); + Py_VISIT(traverse_module_state->__pyx_n_s_os); + Py_VISIT(traverse_module_state->__pyx_n_s_output); + Py_VISIT(traverse_module_state->__pyx_n_s_pack); + Py_VISIT(traverse_module_state->__pyx_n_s_path); + Py_VISIT(traverse_module_state->__pyx_n_s_pickle); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_PickleError); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_checksum); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_result); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_state); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_type); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_unpickle_Enum); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_vtable); + Py_VISIT(traverse_module_state->__pyx_n_s_range); + Py_VISIT(traverse_module_state->__pyx_n_s_reduce); + Py_VISIT(traverse_module_state->__pyx_n_s_reduce_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_reduce_ex); + Py_VISIT(traverse_module_state->__pyx_n_s_register); + Py_VISIT(traverse_module_state->__pyx_n_s_runtime); + Py_VISIT(traverse_module_state->__pyx_n_s_self); + Py_VISIT(traverse_module_state->__pyx_n_s_selfdrive_modeld_runners_snpemod); + Py_VISIT(traverse_module_state->__pyx_n_s_setstate); + Py_VISIT(traverse_module_state->__pyx_n_s_setstate_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_shape); + Py_VISIT(traverse_module_state->__pyx_n_s_size); + Py_VISIT(traverse_module_state->__pyx_n_s_spec); + Py_VISIT(traverse_module_state->__pyx_n_s_start); + Py_VISIT(traverse_module_state->__pyx_n_s_step); + Py_VISIT(traverse_module_state->__pyx_n_s_stop); + Py_VISIT(traverse_module_state->__pyx_kp_s_strided_and_direct); + Py_VISIT(traverse_module_state->__pyx_kp_s_strided_and_direct_or_indirect); + Py_VISIT(traverse_module_state->__pyx_kp_s_strided_and_indirect); + Py_VISIT(traverse_module_state->__pyx_kp_s_stringsource); + Py_VISIT(traverse_module_state->__pyx_n_s_struct); + Py_VISIT(traverse_module_state->__pyx_n_s_sys); + Py_VISIT(traverse_module_state->__pyx_n_s_test); + Py_VISIT(traverse_module_state->__pyx_kp_s_unable_to_allocate_array_data); + Py_VISIT(traverse_module_state->__pyx_kp_s_unable_to_allocate_shape_and_str); + Py_VISIT(traverse_module_state->__pyx_n_s_unpack); + Py_VISIT(traverse_module_state->__pyx_n_s_update); + Py_VISIT(traverse_module_state->__pyx_n_s_use_tf8); + Py_VISIT(traverse_module_state->__pyx_n_s_version_info); + Py_VISIT(traverse_module_state->__pyx_int_0); + Py_VISIT(traverse_module_state->__pyx_int_1); + Py_VISIT(traverse_module_state->__pyx_int_3); + Py_VISIT(traverse_module_state->__pyx_int_112105877); + Py_VISIT(traverse_module_state->__pyx_int_136983863); + Py_VISIT(traverse_module_state->__pyx_int_184977713); + Py_VISIT(traverse_module_state->__pyx_int_neg_1); + Py_VISIT(traverse_module_state->__pyx_slice__5); + Py_VISIT(traverse_module_state->__pyx_tuple__4); + Py_VISIT(traverse_module_state->__pyx_tuple__8); + Py_VISIT(traverse_module_state->__pyx_tuple__9); + Py_VISIT(traverse_module_state->__pyx_tuple__10); + Py_VISIT(traverse_module_state->__pyx_tuple__11); + Py_VISIT(traverse_module_state->__pyx_tuple__12); + Py_VISIT(traverse_module_state->__pyx_tuple__13); + Py_VISIT(traverse_module_state->__pyx_tuple__14); + Py_VISIT(traverse_module_state->__pyx_tuple__15); + Py_VISIT(traverse_module_state->__pyx_tuple__16); + Py_VISIT(traverse_module_state->__pyx_tuple__17); + Py_VISIT(traverse_module_state->__pyx_tuple__18); + Py_VISIT(traverse_module_state->__pyx_tuple__20); + Py_VISIT(traverse_module_state->__pyx_tuple__22); + Py_VISIT(traverse_module_state->__pyx_codeobj__19); + Py_VISIT(traverse_module_state->__pyx_codeobj__21); + Py_VISIT(traverse_module_state->__pyx_codeobj__23); + return 0; +} +#endif +/* #### Code section: module_state_defines ### */ +#define __pyx_d __pyx_mstate_global->__pyx_d +#define __pyx_b __pyx_mstate_global->__pyx_b +#define __pyx_cython_runtime __pyx_mstate_global->__pyx_cython_runtime +#define __pyx_empty_tuple __pyx_mstate_global->__pyx_empty_tuple +#define __pyx_empty_bytes __pyx_mstate_global->__pyx_empty_bytes +#define __pyx_empty_unicode __pyx_mstate_global->__pyx_empty_unicode +#ifdef __Pyx_CyFunction_USED +#define __pyx_CyFunctionType __pyx_mstate_global->__pyx_CyFunctionType +#endif +#ifdef __Pyx_FusedFunction_USED +#define __pyx_FusedFunctionType __pyx_mstate_global->__pyx_FusedFunctionType +#endif +#ifdef __Pyx_Generator_USED +#define __pyx_GeneratorType __pyx_mstate_global->__pyx_GeneratorType +#endif +#ifdef __Pyx_IterableCoroutine_USED +#define __pyx_IterableCoroutineType __pyx_mstate_global->__pyx_IterableCoroutineType +#endif +#ifdef __Pyx_Coroutine_USED +#define __pyx_CoroutineAwaitType __pyx_mstate_global->__pyx_CoroutineAwaitType +#endif +#ifdef __Pyx_Coroutine_USED +#define __pyx_CoroutineType __pyx_mstate_global->__pyx_CoroutineType +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#define __pyx_ptype_4msgq_9visionipc_13visionipc_pyx_CLContext __pyx_mstate_global->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_CLContext +#define __pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionBuf __pyx_mstate_global->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionBuf +#if CYTHON_USE_MODULE_STATE +#endif +#define __pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext __pyx_mstate_global->__pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext +#define __pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem __pyx_mstate_global->__pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#define __pyx_ptype_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel __pyx_mstate_global->__pyx_ptype_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel +#if CYTHON_USE_MODULE_STATE +#define __pyx_type_9selfdrive_6modeld_7runners_13snpemodel_pyx_SNPEModel __pyx_mstate_global->__pyx_type_9selfdrive_6modeld_7runners_13snpemodel_pyx_SNPEModel +#define __pyx_type___pyx_array __pyx_mstate_global->__pyx_type___pyx_array +#define __pyx_type___pyx_MemviewEnum __pyx_mstate_global->__pyx_type___pyx_MemviewEnum +#define __pyx_type___pyx_memoryview __pyx_mstate_global->__pyx_type___pyx_memoryview +#define __pyx_type___pyx_memoryviewslice __pyx_mstate_global->__pyx_type___pyx_memoryviewslice +#endif +#define __pyx_ptype_9selfdrive_6modeld_7runners_13snpemodel_pyx_SNPEModel __pyx_mstate_global->__pyx_ptype_9selfdrive_6modeld_7runners_13snpemodel_pyx_SNPEModel +#define __pyx_array_type __pyx_mstate_global->__pyx_array_type +#define __pyx_MemviewEnum_type __pyx_mstate_global->__pyx_MemviewEnum_type +#define __pyx_memoryview_type __pyx_mstate_global->__pyx_memoryview_type +#define __pyx_memoryviewslice_type __pyx_mstate_global->__pyx_memoryviewslice_type +#define __pyx_kp_u_ __pyx_mstate_global->__pyx_kp_u_ +#define __pyx_n_u_ADSP_LIBRARY_PATH __pyx_mstate_global->__pyx_n_u_ADSP_LIBRARY_PATH +#define __pyx_n_s_ASCII __pyx_mstate_global->__pyx_n_s_ASCII +#define __pyx_kp_s_All_dimensions_preceding_dimensi __pyx_mstate_global->__pyx_kp_s_All_dimensions_preceding_dimensi +#define __pyx_n_s_AssertionError __pyx_mstate_global->__pyx_n_s_AssertionError +#define __pyx_kp_s_Buffer_view_does_not_expose_stri __pyx_mstate_global->__pyx_kp_s_Buffer_view_does_not_expose_stri +#define __pyx_kp_s_Can_only_create_a_buffer_that_is __pyx_mstate_global->__pyx_kp_s_Can_only_create_a_buffer_that_is +#define __pyx_kp_s_Cannot_assign_to_read_only_memor __pyx_mstate_global->__pyx_kp_s_Cannot_assign_to_read_only_memor +#define __pyx_kp_s_Cannot_create_writable_memory_vi __pyx_mstate_global->__pyx_kp_s_Cannot_create_writable_memory_vi +#define __pyx_kp_u_Cannot_index_with_type __pyx_mstate_global->__pyx_kp_u_Cannot_index_with_type +#define __pyx_kp_s_Cannot_transpose_memoryview_with __pyx_mstate_global->__pyx_kp_s_Cannot_transpose_memoryview_with +#define __pyx_kp_s_Dimension_d_is_not_direct __pyx_mstate_global->__pyx_kp_s_Dimension_d_is_not_direct +#define __pyx_n_s_Ellipsis __pyx_mstate_global->__pyx_n_s_Ellipsis +#define __pyx_kp_s_Empty_shape_tuple_for_cython_arr __pyx_mstate_global->__pyx_kp_s_Empty_shape_tuple_for_cython_arr +#define __pyx_kp_s_Incompatible_checksums_0x_x_vs_0 __pyx_mstate_global->__pyx_kp_s_Incompatible_checksums_0x_x_vs_0 +#define __pyx_n_s_IndexError __pyx_mstate_global->__pyx_n_s_IndexError +#define __pyx_kp_s_Index_out_of_bounds_axis_d __pyx_mstate_global->__pyx_kp_s_Index_out_of_bounds_axis_d +#define __pyx_kp_s_Indirect_dimensions_not_supporte __pyx_mstate_global->__pyx_kp_s_Indirect_dimensions_not_supporte +#define __pyx_kp_u_Invalid_mode_expected_c_or_fortr __pyx_mstate_global->__pyx_kp_u_Invalid_mode_expected_c_or_fortr +#define __pyx_kp_u_Invalid_shape_in_axis __pyx_mstate_global->__pyx_kp_u_Invalid_shape_in_axis +#define __pyx_n_s_MemoryError __pyx_mstate_global->__pyx_n_s_MemoryError +#define __pyx_kp_s_MemoryView_of_r_at_0x_x __pyx_mstate_global->__pyx_kp_s_MemoryView_of_r_at_0x_x +#define __pyx_kp_s_MemoryView_of_r_object __pyx_mstate_global->__pyx_kp_s_MemoryView_of_r_object +#define __pyx_n_b_O __pyx_mstate_global->__pyx_n_b_O +#define __pyx_kp_u_Out_of_bounds_on_buffer_access_a __pyx_mstate_global->__pyx_kp_u_Out_of_bounds_on_buffer_access_a +#define __pyx_n_s_PickleError __pyx_mstate_global->__pyx_n_s_PickleError +#define __pyx_n_s_SNPEModel __pyx_mstate_global->__pyx_n_s_SNPEModel +#define __pyx_n_s_SNPEModel___reduce_cython __pyx_mstate_global->__pyx_n_s_SNPEModel___reduce_cython +#define __pyx_n_s_SNPEModel___setstate_cython __pyx_mstate_global->__pyx_n_s_SNPEModel___setstate_cython +#define __pyx_n_s_Sequence __pyx_mstate_global->__pyx_n_s_Sequence +#define __pyx_kp_s_Step_may_not_be_zero_axis_d __pyx_mstate_global->__pyx_kp_s_Step_may_not_be_zero_axis_d +#define __pyx_n_s_TypeError __pyx_mstate_global->__pyx_n_s_TypeError +#define __pyx_kp_s_Unable_to_convert_item_to_object __pyx_mstate_global->__pyx_kp_s_Unable_to_convert_item_to_object +#define __pyx_n_s_ValueError __pyx_mstate_global->__pyx_n_s_ValueError +#define __pyx_n_s_View_MemoryView __pyx_mstate_global->__pyx_n_s_View_MemoryView +#define __pyx_kp_u__2 __pyx_mstate_global->__pyx_kp_u__2 +#define __pyx_n_s__24 __pyx_mstate_global->__pyx_n_s__24 +#define __pyx_n_s__3 __pyx_mstate_global->__pyx_n_s__3 +#define __pyx_kp_u__6 __pyx_mstate_global->__pyx_kp_u__6 +#define __pyx_kp_u__7 __pyx_mstate_global->__pyx_kp_u__7 +#define __pyx_n_s_abc __pyx_mstate_global->__pyx_n_s_abc +#define __pyx_n_s_allocate_buffer __pyx_mstate_global->__pyx_n_s_allocate_buffer +#define __pyx_kp_u_and __pyx_mstate_global->__pyx_kp_u_and +#define __pyx_n_s_asyncio_coroutines __pyx_mstate_global->__pyx_n_s_asyncio_coroutines +#define __pyx_n_s_base __pyx_mstate_global->__pyx_n_s_base +#define __pyx_n_s_c __pyx_mstate_global->__pyx_n_s_c +#define __pyx_n_u_c __pyx_mstate_global->__pyx_n_u_c +#define __pyx_n_s_class __pyx_mstate_global->__pyx_n_s_class +#define __pyx_n_s_class_getitem __pyx_mstate_global->__pyx_n_s_class_getitem +#define __pyx_n_s_cline_in_traceback __pyx_mstate_global->__pyx_n_s_cline_in_traceback +#define __pyx_n_s_collections __pyx_mstate_global->__pyx_n_s_collections +#define __pyx_kp_s_collections_abc __pyx_mstate_global->__pyx_kp_s_collections_abc +#define __pyx_n_s_context __pyx_mstate_global->__pyx_n_s_context +#define __pyx_kp_s_contiguous_and_direct __pyx_mstate_global->__pyx_kp_s_contiguous_and_direct +#define __pyx_kp_s_contiguous_and_indirect __pyx_mstate_global->__pyx_kp_s_contiguous_and_indirect +#define __pyx_n_s_count __pyx_mstate_global->__pyx_n_s_count +#define __pyx_kp_u_data_pythonpath_third_party_snp __pyx_mstate_global->__pyx_kp_u_data_pythonpath_third_party_snp +#define __pyx_n_s_dict __pyx_mstate_global->__pyx_n_s_dict +#define __pyx_kp_u_disable __pyx_mstate_global->__pyx_kp_u_disable +#define __pyx_n_s_dtype_is_object __pyx_mstate_global->__pyx_n_s_dtype_is_object +#define __pyx_kp_u_enable __pyx_mstate_global->__pyx_kp_u_enable +#define __pyx_n_s_encode __pyx_mstate_global->__pyx_n_s_encode +#define __pyx_n_s_enumerate __pyx_mstate_global->__pyx_n_s_enumerate +#define __pyx_n_s_environ __pyx_mstate_global->__pyx_n_s_environ +#define __pyx_n_s_error __pyx_mstate_global->__pyx_n_s_error +#define __pyx_n_s_flags __pyx_mstate_global->__pyx_n_s_flags +#define __pyx_n_s_format __pyx_mstate_global->__pyx_n_s_format +#define __pyx_n_s_fortran __pyx_mstate_global->__pyx_n_s_fortran +#define __pyx_n_u_fortran __pyx_mstate_global->__pyx_n_u_fortran +#define __pyx_kp_u_gc __pyx_mstate_global->__pyx_kp_u_gc +#define __pyx_n_s_getstate __pyx_mstate_global->__pyx_n_s_getstate +#define __pyx_kp_u_got __pyx_mstate_global->__pyx_kp_u_got +#define __pyx_kp_u_got_differing_extents_in_dimensi __pyx_mstate_global->__pyx_kp_u_got_differing_extents_in_dimensi +#define __pyx_n_s_id __pyx_mstate_global->__pyx_n_s_id +#define __pyx_n_s_import __pyx_mstate_global->__pyx_n_s_import +#define __pyx_n_s_index __pyx_mstate_global->__pyx_n_s_index +#define __pyx_n_s_initializing __pyx_mstate_global->__pyx_n_s_initializing +#define __pyx_n_s_is_coroutine __pyx_mstate_global->__pyx_n_s_is_coroutine +#define __pyx_kp_u_isenabled __pyx_mstate_global->__pyx_kp_u_isenabled +#define __pyx_n_s_itemsize __pyx_mstate_global->__pyx_n_s_itemsize +#define __pyx_kp_s_itemsize_0_for_cython_array __pyx_mstate_global->__pyx_kp_s_itemsize_0_for_cython_array +#define __pyx_n_s_main __pyx_mstate_global->__pyx_n_s_main +#define __pyx_n_s_memview __pyx_mstate_global->__pyx_n_s_memview +#define __pyx_n_s_mode __pyx_mstate_global->__pyx_n_s_mode +#define __pyx_n_s_name __pyx_mstate_global->__pyx_n_s_name +#define __pyx_n_s_name_2 __pyx_mstate_global->__pyx_n_s_name_2 +#define __pyx_n_s_ndim __pyx_mstate_global->__pyx_n_s_ndim +#define __pyx_n_s_new __pyx_mstate_global->__pyx_n_s_new +#define __pyx_kp_s_no_default___reduce___due_to_non __pyx_mstate_global->__pyx_kp_s_no_default___reduce___due_to_non +#define __pyx_n_s_obj __pyx_mstate_global->__pyx_n_s_obj +#define __pyx_n_s_os __pyx_mstate_global->__pyx_n_s_os +#define __pyx_n_s_output __pyx_mstate_global->__pyx_n_s_output +#define __pyx_n_s_pack __pyx_mstate_global->__pyx_n_s_pack +#define __pyx_n_s_path __pyx_mstate_global->__pyx_n_s_path +#define __pyx_n_s_pickle __pyx_mstate_global->__pyx_n_s_pickle +#define __pyx_n_s_pyx_PickleError __pyx_mstate_global->__pyx_n_s_pyx_PickleError +#define __pyx_n_s_pyx_checksum __pyx_mstate_global->__pyx_n_s_pyx_checksum +#define __pyx_n_s_pyx_result __pyx_mstate_global->__pyx_n_s_pyx_result +#define __pyx_n_s_pyx_state __pyx_mstate_global->__pyx_n_s_pyx_state +#define __pyx_n_s_pyx_type __pyx_mstate_global->__pyx_n_s_pyx_type +#define __pyx_n_s_pyx_unpickle_Enum __pyx_mstate_global->__pyx_n_s_pyx_unpickle_Enum +#define __pyx_n_s_pyx_vtable __pyx_mstate_global->__pyx_n_s_pyx_vtable +#define __pyx_n_s_range __pyx_mstate_global->__pyx_n_s_range +#define __pyx_n_s_reduce __pyx_mstate_global->__pyx_n_s_reduce +#define __pyx_n_s_reduce_cython __pyx_mstate_global->__pyx_n_s_reduce_cython +#define __pyx_n_s_reduce_ex __pyx_mstate_global->__pyx_n_s_reduce_ex +#define __pyx_n_s_register __pyx_mstate_global->__pyx_n_s_register +#define __pyx_n_s_runtime __pyx_mstate_global->__pyx_n_s_runtime +#define __pyx_n_s_self __pyx_mstate_global->__pyx_n_s_self +#define __pyx_n_s_selfdrive_modeld_runners_snpemod __pyx_mstate_global->__pyx_n_s_selfdrive_modeld_runners_snpemod +#define __pyx_n_s_setstate __pyx_mstate_global->__pyx_n_s_setstate +#define __pyx_n_s_setstate_cython __pyx_mstate_global->__pyx_n_s_setstate_cython +#define __pyx_n_s_shape __pyx_mstate_global->__pyx_n_s_shape +#define __pyx_n_s_size __pyx_mstate_global->__pyx_n_s_size +#define __pyx_n_s_spec __pyx_mstate_global->__pyx_n_s_spec +#define __pyx_n_s_start __pyx_mstate_global->__pyx_n_s_start +#define __pyx_n_s_step __pyx_mstate_global->__pyx_n_s_step +#define __pyx_n_s_stop __pyx_mstate_global->__pyx_n_s_stop +#define __pyx_kp_s_strided_and_direct __pyx_mstate_global->__pyx_kp_s_strided_and_direct +#define __pyx_kp_s_strided_and_direct_or_indirect __pyx_mstate_global->__pyx_kp_s_strided_and_direct_or_indirect +#define __pyx_kp_s_strided_and_indirect __pyx_mstate_global->__pyx_kp_s_strided_and_indirect +#define __pyx_kp_s_stringsource __pyx_mstate_global->__pyx_kp_s_stringsource +#define __pyx_n_s_struct __pyx_mstate_global->__pyx_n_s_struct +#define __pyx_n_s_sys __pyx_mstate_global->__pyx_n_s_sys +#define __pyx_n_s_test __pyx_mstate_global->__pyx_n_s_test +#define __pyx_kp_s_unable_to_allocate_array_data __pyx_mstate_global->__pyx_kp_s_unable_to_allocate_array_data +#define __pyx_kp_s_unable_to_allocate_shape_and_str __pyx_mstate_global->__pyx_kp_s_unable_to_allocate_shape_and_str +#define __pyx_n_s_unpack __pyx_mstate_global->__pyx_n_s_unpack +#define __pyx_n_s_update __pyx_mstate_global->__pyx_n_s_update +#define __pyx_n_s_use_tf8 __pyx_mstate_global->__pyx_n_s_use_tf8 +#define __pyx_n_s_version_info __pyx_mstate_global->__pyx_n_s_version_info +#define __pyx_int_0 __pyx_mstate_global->__pyx_int_0 +#define __pyx_int_1 __pyx_mstate_global->__pyx_int_1 +#define __pyx_int_3 __pyx_mstate_global->__pyx_int_3 +#define __pyx_int_112105877 __pyx_mstate_global->__pyx_int_112105877 +#define __pyx_int_136983863 __pyx_mstate_global->__pyx_int_136983863 +#define __pyx_int_184977713 __pyx_mstate_global->__pyx_int_184977713 +#define __pyx_int_neg_1 __pyx_mstate_global->__pyx_int_neg_1 +#define __pyx_slice__5 __pyx_mstate_global->__pyx_slice__5 +#define __pyx_tuple__4 __pyx_mstate_global->__pyx_tuple__4 +#define __pyx_tuple__8 __pyx_mstate_global->__pyx_tuple__8 +#define __pyx_tuple__9 __pyx_mstate_global->__pyx_tuple__9 +#define __pyx_tuple__10 __pyx_mstate_global->__pyx_tuple__10 +#define __pyx_tuple__11 __pyx_mstate_global->__pyx_tuple__11 +#define __pyx_tuple__12 __pyx_mstate_global->__pyx_tuple__12 +#define __pyx_tuple__13 __pyx_mstate_global->__pyx_tuple__13 +#define __pyx_tuple__14 __pyx_mstate_global->__pyx_tuple__14 +#define __pyx_tuple__15 __pyx_mstate_global->__pyx_tuple__15 +#define __pyx_tuple__16 __pyx_mstate_global->__pyx_tuple__16 +#define __pyx_tuple__17 __pyx_mstate_global->__pyx_tuple__17 +#define __pyx_tuple__18 __pyx_mstate_global->__pyx_tuple__18 +#define __pyx_tuple__20 __pyx_mstate_global->__pyx_tuple__20 +#define __pyx_tuple__22 __pyx_mstate_global->__pyx_tuple__22 +#define __pyx_codeobj__19 __pyx_mstate_global->__pyx_codeobj__19 +#define __pyx_codeobj__21 __pyx_mstate_global->__pyx_codeobj__21 +#define __pyx_codeobj__23 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__pyx_memoryview_slice_memviewslice(__Pyx_memviewslice *__pyx_v_dst, Py_ssize_t __pyx_v_shape, Py_ssize_t __pyx_v_stride, Py_ssize_t __pyx_v_suboffset, int __pyx_v_dim, int __pyx_v_new_ndim, int *__pyx_v_suboffset_dim, Py_ssize_t __pyx_v_start, Py_ssize_t __pyx_v_stop, Py_ssize_t __pyx_v_step, int __pyx_v_have_start, int __pyx_v_have_stop, int __pyx_v_have_step, int __pyx_v_is_slice) { + Py_ssize_t __pyx_v_new_shape; + int __pyx_v_negative_step; + int __pyx_r; + int __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + int __pyx_lineno = 0; + const char *__pyx_filename = NULL; + int __pyx_clineno = 0; + #ifdef WITH_THREAD + PyGILState_STATE __pyx_gilstate_save; + #endif + + /* "View.MemoryView":813 + * cdef bint negative_step + * + * if not is_slice: # <<<<<<<<<<<<<< + * + * if start < 0: + */ + __pyx_t_1 = (!__pyx_v_is_slice); + if (__pyx_t_1) { + + /* "View.MemoryView":815 + * if not is_slice: + * + * if start < 0: # <<<<<<<<<<<<<< + * start += shape + * if not 0 <= start < shape: + */ + __pyx_t_1 = (__pyx_v_start < 0); + if (__pyx_t_1) { + + /* "View.MemoryView":816 + * + * if start < 0: + * start += shape # <<<<<<<<<<<<<< + * if not 0 <= start < shape: + * _err_dim(PyExc_IndexError, "Index out of bounds (axis %d)", dim) + */ + __pyx_v_start = (__pyx_v_start + __pyx_v_shape); + + /* "View.MemoryView":815 + * if not is_slice: + * + * if start < 0: # <<<<<<<<<<<<<< + * start += shape + * if not 0 <= start < shape: + */ + } + + /* "View.MemoryView":817 + * if start < 0: + * start += shape + * if not 0 <= start < shape: # <<<<<<<<<<<<<< + * _err_dim(PyExc_IndexError, "Index out of bounds (axis %d)", dim) + * else: + */ + __pyx_t_1 = (0 <= __pyx_v_start); + if (__pyx_t_1) { + __pyx_t_1 = (__pyx_v_start < __pyx_v_shape); + } + __pyx_t_2 = (!__pyx_t_1); + if (__pyx_t_2) { + + /* "View.MemoryView":818 + * start += shape + * if not 0 <= start < shape: + * _err_dim(PyExc_IndexError, "Index out of bounds (axis %d)", dim) # <<<<<<<<<<<<<< + * else: + * + */ + __pyx_t_3 = __pyx_memoryview_err_dim(PyExc_IndexError, __pyx_kp_s_Index_out_of_bounds_axis_d, __pyx_v_dim); if (unlikely(__pyx_t_3 == ((int)-1))) __PYX_ERR(0, 818, __pyx_L1_error) + + /* "View.MemoryView":817 + * if start < 0: + * start += shape + * if not 0 <= start < shape: # <<<<<<<<<<<<<< + * _err_dim(PyExc_IndexError, "Index out of bounds (axis %d)", dim) + * else: + */ + } + + /* "View.MemoryView":813 + * cdef bint negative_step + * + * if not is_slice: # <<<<<<<<<<<<<< + * + * if start < 0: + */ + goto __pyx_L3; + } + + /* "View.MemoryView":821 + * else: + * + * if have_step: # <<<<<<<<<<<<<< + * negative_step = step < 0 + * if step == 0: + */ + /*else*/ { + __pyx_t_2 = (__pyx_v_have_step != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":822 + * + * if have_step: + * negative_step = step < 0 # <<<<<<<<<<<<<< + * if step == 0: + * _err_dim(PyExc_ValueError, "Step may not be zero (axis %d)", dim) + */ + __pyx_v_negative_step = (__pyx_v_step < 0); + + /* "View.MemoryView":823 + * if have_step: + * negative_step = step < 0 + * if step == 0: # <<<<<<<<<<<<<< + * _err_dim(PyExc_ValueError, "Step may not be zero (axis %d)", dim) + * else: + */ + __pyx_t_2 = (__pyx_v_step == 0); + if (__pyx_t_2) { + + /* "View.MemoryView":824 + * negative_step = step < 0 + * if step == 0: + * _err_dim(PyExc_ValueError, "Step may not be zero (axis %d)", dim) # <<<<<<<<<<<<<< + * else: + * negative_step = False + */ + __pyx_t_3 = __pyx_memoryview_err_dim(PyExc_ValueError, __pyx_kp_s_Step_may_not_be_zero_axis_d, __pyx_v_dim); if (unlikely(__pyx_t_3 == ((int)-1))) __PYX_ERR(0, 824, __pyx_L1_error) + + /* "View.MemoryView":823 + * if have_step: + * negative_step = step < 0 + * if step == 0: # <<<<<<<<<<<<<< + * _err_dim(PyExc_ValueError, "Step may not be zero (axis %d)", dim) + * else: + */ + } + + /* "View.MemoryView":821 + * else: + * + * if have_step: # <<<<<<<<<<<<<< + * negative_step = step < 0 + * if step == 0: + */ + goto __pyx_L6; + } + + /* "View.MemoryView":826 + * _err_dim(PyExc_ValueError, "Step may not be zero (axis %d)", dim) + * else: + * negative_step = False # <<<<<<<<<<<<<< + * step = 1 + * + */ + /*else*/ { + __pyx_v_negative_step = 0; + + /* "View.MemoryView":827 + * else: + * negative_step = False + * step = 1 # <<<<<<<<<<<<<< + * + * + */ + __pyx_v_step = 1; + } + __pyx_L6:; + + /* "View.MemoryView":830 + * + * + * if have_start: # <<<<<<<<<<<<<< + * if start < 0: + * start += shape + */ + __pyx_t_2 = (__pyx_v_have_start != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":831 + * + * if have_start: + * if start < 0: # <<<<<<<<<<<<<< + * start += shape + * if start < 0: + */ + __pyx_t_2 = (__pyx_v_start < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":832 + * if have_start: + * if start < 0: + * start += shape # <<<<<<<<<<<<<< + * if start < 0: + * start = 0 + */ + __pyx_v_start = (__pyx_v_start + __pyx_v_shape); + + /* "View.MemoryView":833 + * if start < 0: + * start += shape + * if start < 0: # <<<<<<<<<<<<<< + * start = 0 + * elif start >= shape: + */ + __pyx_t_2 = (__pyx_v_start < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":834 + * start += shape + * if start < 0: + * start = 0 # <<<<<<<<<<<<<< + * elif start >= shape: + * if negative_step: + */ + __pyx_v_start = 0; + + /* "View.MemoryView":833 + * if start < 0: + * start += shape + * if start < 0: # <<<<<<<<<<<<<< + * start = 0 + * elif start >= shape: + */ + } + + /* "View.MemoryView":831 + * + * if have_start: + * if start < 0: # <<<<<<<<<<<<<< + * start += shape + * if start < 0: + */ + goto __pyx_L9; + } + + /* "View.MemoryView":835 + * if start < 0: + * start = 0 + * elif start >= shape: # <<<<<<<<<<<<<< + * if negative_step: + * start = shape - 1 + */ + __pyx_t_2 = (__pyx_v_start >= __pyx_v_shape); + if (__pyx_t_2) { + + /* "View.MemoryView":836 + * start = 0 + * elif start >= shape: + * if negative_step: # <<<<<<<<<<<<<< + * start = shape - 1 + * else: + */ + if (__pyx_v_negative_step) { + + /* "View.MemoryView":837 + * elif start >= shape: + * if negative_step: + * start = shape - 1 # <<<<<<<<<<<<<< + * else: + * start = shape + */ + __pyx_v_start = (__pyx_v_shape - 1); + + /* "View.MemoryView":836 + * start = 0 + * elif start >= shape: + * if negative_step: # <<<<<<<<<<<<<< + * start = shape - 1 + * else: + */ + goto __pyx_L11; + } + + /* "View.MemoryView":839 + * start = shape - 1 + * else: + * start = shape # <<<<<<<<<<<<<< + * else: + * if negative_step: + */ + /*else*/ { + __pyx_v_start = __pyx_v_shape; + } + __pyx_L11:; + + /* "View.MemoryView":835 + * if start < 0: + * start = 0 + * elif start >= shape: # <<<<<<<<<<<<<< + * if negative_step: + * start = shape - 1 + */ + } + __pyx_L9:; + + /* "View.MemoryView":830 + * + * + * if have_start: # <<<<<<<<<<<<<< + * if start < 0: + * start += shape + */ + goto __pyx_L8; + } + + /* "View.MemoryView":841 + * start = shape + * else: + * if negative_step: # <<<<<<<<<<<<<< + * start = shape - 1 + * else: + */ + /*else*/ { + if (__pyx_v_negative_step) { + + /* "View.MemoryView":842 + * else: + * if negative_step: + * start = shape - 1 # <<<<<<<<<<<<<< + * else: + * start = 0 + */ + __pyx_v_start = (__pyx_v_shape - 1); + + /* "View.MemoryView":841 + * start = shape + * else: + * if negative_step: # <<<<<<<<<<<<<< + * start = shape - 1 + * else: + */ + goto __pyx_L12; + } + + /* "View.MemoryView":844 + * start = shape - 1 + * else: + * start = 0 # <<<<<<<<<<<<<< + * + * if have_stop: + */ + /*else*/ { + __pyx_v_start = 0; + } + __pyx_L12:; + } + __pyx_L8:; + + /* "View.MemoryView":846 + * start = 0 + * + * if have_stop: # <<<<<<<<<<<<<< + * if stop < 0: + * stop += shape + */ + __pyx_t_2 = (__pyx_v_have_stop != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":847 + * + * if have_stop: + * if stop < 0: # <<<<<<<<<<<<<< + * stop += shape + * if stop < 0: + */ + __pyx_t_2 = (__pyx_v_stop < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":848 + * if have_stop: + * if stop < 0: + * stop += shape # <<<<<<<<<<<<<< + * if stop < 0: + * stop = 0 + */ + __pyx_v_stop = (__pyx_v_stop + __pyx_v_shape); + + /* "View.MemoryView":849 + * if stop < 0: + * stop += shape + * if stop < 0: # <<<<<<<<<<<<<< + * stop = 0 + * elif stop > shape: + */ + __pyx_t_2 = (__pyx_v_stop < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":850 + * stop += shape + * if stop < 0: + * stop = 0 # <<<<<<<<<<<<<< + * elif stop > shape: + * stop = shape + */ + __pyx_v_stop = 0; + + /* "View.MemoryView":849 + * if stop < 0: + * stop += shape + * if stop < 0: # <<<<<<<<<<<<<< + * stop = 0 + * elif stop > shape: + */ + } + + /* "View.MemoryView":847 + * + * if have_stop: + * if stop < 0: # <<<<<<<<<<<<<< + * stop += shape + * if stop < 0: + */ + goto __pyx_L14; + } + + /* "View.MemoryView":851 + * if stop < 0: + * stop = 0 + * elif stop > shape: # <<<<<<<<<<<<<< + * stop = shape + * else: + */ + __pyx_t_2 = (__pyx_v_stop > __pyx_v_shape); + if (__pyx_t_2) { + + /* "View.MemoryView":852 + * stop = 0 + * elif stop > shape: + * stop = shape # <<<<<<<<<<<<<< + * else: + * if negative_step: + */ + __pyx_v_stop = __pyx_v_shape; + + /* "View.MemoryView":851 + * if stop < 0: + * stop = 0 + * elif stop > shape: # <<<<<<<<<<<<<< + * stop = shape + * else: + */ + } + __pyx_L14:; + + /* "View.MemoryView":846 + * start = 0 + * + * if have_stop: # <<<<<<<<<<<<<< + * if stop < 0: + * stop += shape + */ + goto __pyx_L13; + } + + /* "View.MemoryView":854 + * stop = shape + * else: + * if negative_step: # <<<<<<<<<<<<<< + * stop = -1 + * else: + */ + /*else*/ { + if (__pyx_v_negative_step) { + + /* "View.MemoryView":855 + * else: + * if negative_step: + * stop = -1 # <<<<<<<<<<<<<< + * else: + * stop = shape + */ + __pyx_v_stop = -1L; + + /* "View.MemoryView":854 + * stop = shape + * else: + * if negative_step: # <<<<<<<<<<<<<< + * stop = -1 + * else: + */ + goto __pyx_L16; + } + + /* "View.MemoryView":857 + * stop = -1 + * else: + * stop = shape # <<<<<<<<<<<<<< + * + * + */ + /*else*/ { + __pyx_v_stop = __pyx_v_shape; + } + __pyx_L16:; + } + __pyx_L13:; + + /* "View.MemoryView":861 + * + * with cython.cdivision(True): + * new_shape = (stop - start) // step # <<<<<<<<<<<<<< + * + * if (stop - start) - step * new_shape: + */ + __pyx_v_new_shape = ((__pyx_v_stop - __pyx_v_start) / __pyx_v_step); + + /* "View.MemoryView":863 + * new_shape = (stop - start) // step + * + * if (stop - start) - step * new_shape: # <<<<<<<<<<<<<< + * new_shape += 1 + * + */ + __pyx_t_2 = (((__pyx_v_stop - __pyx_v_start) - (__pyx_v_step * __pyx_v_new_shape)) != 0); + if (__pyx_t_2) { + + /* "View.MemoryView":864 + * + * if (stop - start) - step * new_shape: + * new_shape += 1 # <<<<<<<<<<<<<< + * + * if new_shape < 0: + */ + __pyx_v_new_shape = (__pyx_v_new_shape + 1); + + /* "View.MemoryView":863 + * new_shape = (stop - start) // step + * + * if (stop - start) - step * new_shape: # <<<<<<<<<<<<<< + * new_shape += 1 + * + */ + } + + /* "View.MemoryView":866 + * new_shape += 1 + * + * if new_shape < 0: # <<<<<<<<<<<<<< + * new_shape = 0 + * + */ + __pyx_t_2 = (__pyx_v_new_shape < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":867 + * + * if new_shape < 0: + * new_shape = 0 # <<<<<<<<<<<<<< + * + * + */ + __pyx_v_new_shape = 0; + + /* "View.MemoryView":866 + * new_shape += 1 + * + * if new_shape < 0: # <<<<<<<<<<<<<< + * new_shape = 0 + * + */ + } + + /* "View.MemoryView":870 + * + * + * dst.strides[new_ndim] = stride * step # <<<<<<<<<<<<<< + * dst.shape[new_ndim] = new_shape + * dst.suboffsets[new_ndim] = suboffset + */ + (__pyx_v_dst->strides[__pyx_v_new_ndim]) = (__pyx_v_stride * __pyx_v_step); + + /* "View.MemoryView":871 + * + * dst.strides[new_ndim] = stride * step + * dst.shape[new_ndim] = new_shape # <<<<<<<<<<<<<< + * dst.suboffsets[new_ndim] = suboffset + * + */ + (__pyx_v_dst->shape[__pyx_v_new_ndim]) = __pyx_v_new_shape; + + /* "View.MemoryView":872 + * dst.strides[new_ndim] = stride * step + * dst.shape[new_ndim] = new_shape + * dst.suboffsets[new_ndim] = suboffset # <<<<<<<<<<<<<< + * + * + */ + (__pyx_v_dst->suboffsets[__pyx_v_new_ndim]) = __pyx_v_suboffset; + } + __pyx_L3:; + + /* "View.MemoryView":875 + * + * + * if suboffset_dim[0] < 0: # <<<<<<<<<<<<<< + * dst.data += start * stride + * else: + */ + __pyx_t_2 = ((__pyx_v_suboffset_dim[0]) < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":876 + * + * if suboffset_dim[0] < 0: + * dst.data += start * stride # <<<<<<<<<<<<<< + * else: + * dst.suboffsets[suboffset_dim[0]] += start * stride + */ + __pyx_v_dst->data = (__pyx_v_dst->data + (__pyx_v_start * __pyx_v_stride)); + + /* "View.MemoryView":875 + * + * + * if suboffset_dim[0] < 0: # <<<<<<<<<<<<<< + * dst.data += start * stride + * else: + */ + goto __pyx_L19; + } + + /* "View.MemoryView":878 + * dst.data += start * stride + * else: + * dst.suboffsets[suboffset_dim[0]] += start * stride # <<<<<<<<<<<<<< + * + * if suboffset >= 0: + */ + /*else*/ { + __pyx_t_3 = (__pyx_v_suboffset_dim[0]); + (__pyx_v_dst->suboffsets[__pyx_t_3]) = ((__pyx_v_dst->suboffsets[__pyx_t_3]) + (__pyx_v_start * __pyx_v_stride)); + } + __pyx_L19:; + + /* "View.MemoryView":880 + * dst.suboffsets[suboffset_dim[0]] += start * stride + * + * if suboffset >= 0: # <<<<<<<<<<<<<< + * if not is_slice: + * if new_ndim == 0: + */ + __pyx_t_2 = (__pyx_v_suboffset >= 0); + if (__pyx_t_2) { + + /* "View.MemoryView":881 + * + * if suboffset >= 0: + * if not is_slice: # <<<<<<<<<<<<<< + * if new_ndim == 0: + * dst.data = ( dst.data)[0] + suboffset + */ + __pyx_t_2 = (!__pyx_v_is_slice); + if (__pyx_t_2) { + + /* "View.MemoryView":882 + * if suboffset >= 0: + * if not is_slice: + * if new_ndim == 0: # <<<<<<<<<<<<<< + * dst.data = ( dst.data)[0] + suboffset + * else: + */ + __pyx_t_2 = (__pyx_v_new_ndim == 0); + if (__pyx_t_2) { + + /* "View.MemoryView":883 + * if not is_slice: + * if new_ndim == 0: + * dst.data = ( dst.data)[0] + suboffset # <<<<<<<<<<<<<< + * else: + * _err_dim(PyExc_IndexError, "All dimensions preceding dimension %d " + */ + __pyx_v_dst->data = ((((char **)__pyx_v_dst->data)[0]) + __pyx_v_suboffset); + + /* "View.MemoryView":882 + * if suboffset >= 0: + * if not is_slice: + * if new_ndim == 0: # <<<<<<<<<<<<<< + * dst.data = ( dst.data)[0] + suboffset + * else: + */ + goto __pyx_L22; + } + + /* "View.MemoryView":885 + * dst.data = ( dst.data)[0] + suboffset + * else: + * _err_dim(PyExc_IndexError, "All dimensions preceding dimension %d " # <<<<<<<<<<<<<< + * "must be indexed and not sliced", dim) + * else: + */ + /*else*/ { + + /* "View.MemoryView":886 + * else: + * _err_dim(PyExc_IndexError, "All dimensions preceding dimension %d " + * "must be indexed and not sliced", dim) # <<<<<<<<<<<<<< + * else: + * suboffset_dim[0] = new_ndim + */ + __pyx_t_3 = __pyx_memoryview_err_dim(PyExc_IndexError, __pyx_kp_s_All_dimensions_preceding_dimensi, __pyx_v_dim); if (unlikely(__pyx_t_3 == ((int)-1))) __PYX_ERR(0, 885, __pyx_L1_error) + } + __pyx_L22:; + + /* "View.MemoryView":881 + * + * if suboffset >= 0: + * if not is_slice: # <<<<<<<<<<<<<< + * if new_ndim == 0: + * dst.data = ( dst.data)[0] + suboffset + */ + goto __pyx_L21; + } + + /* "View.MemoryView":888 + * "must be indexed and not sliced", dim) + * else: + * suboffset_dim[0] = new_ndim # <<<<<<<<<<<<<< + * + * return 0 + */ + /*else*/ { + (__pyx_v_suboffset_dim[0]) = __pyx_v_new_ndim; + } + __pyx_L21:; + + /* "View.MemoryView":880 + * dst.suboffsets[suboffset_dim[0]] += start * stride + * + * if suboffset >= 0: # <<<<<<<<<<<<<< + * if not is_slice: + * if new_ndim == 0: + */ + } + + /* "View.MemoryView":890 + * suboffset_dim[0] = new_ndim + * + * return 0 # <<<<<<<<<<<<<< + * + * + */ + __pyx_r = 0; + goto __pyx_L0; + + /* "View.MemoryView":793 + * + * @cname('__pyx_memoryview_slice_memviewslice') + * cdef int slice_memviewslice( # <<<<<<<<<<<<<< + * __Pyx_memviewslice *dst, + * Py_ssize_t shape, Py_ssize_t stride, Py_ssize_t suboffset, + */ + + /* function exit code */ + __pyx_L1_error:; + #ifdef WITH_THREAD + __pyx_gilstate_save = __Pyx_PyGILState_Ensure(); + #endif + __Pyx_AddTraceback("View.MemoryView.slice_memviewslice", __pyx_clineno, __pyx_lineno, __pyx_filename); + __pyx_r = -1; + #ifdef WITH_THREAD + __Pyx_PyGILState_Release(__pyx_gilstate_save); + #endif + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":896 + * + * @cname('__pyx_pybuffer_index') + * cdef char *pybuffer_index(Py_buffer *view, char *bufp, Py_ssize_t index, # <<<<<<<<<<<<<< + * Py_ssize_t dim) except NULL: + * cdef Py_ssize_t shape, stride, suboffset = -1 + */ + +static char *__pyx_pybuffer_index(Py_buffer *__pyx_v_view, char *__pyx_v_bufp, Py_ssize_t __pyx_v_index, Py_ssize_t __pyx_v_dim) { + Py_ssize_t __pyx_v_shape; + Py_ssize_t __pyx_v_stride; + Py_ssize_t __pyx_v_suboffset; + Py_ssize_t __pyx_v_itemsize; + char *__pyx_v_resultp; + char *__pyx_r; + __Pyx_RefNannyDeclarations + Py_ssize_t __pyx_t_1; + int __pyx_t_2; + PyObject *__pyx_t_3 = NULL; + Py_UCS4 __pyx_t_4; + PyObject *__pyx_t_5 = NULL; + int __pyx_lineno = 0; + const char *__pyx_filename = NULL; + int 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<<<<<<<<<<<<<< + * to_dtype_func = NULL + * + */ + /*else*/ { + __pyx_v_to_object_func = NULL; + + /* "View.MemoryView":1099 + * else: + * to_object_func = NULL + * to_dtype_func = NULL # <<<<<<<<<<<<<< + * + * return memoryview_fromslice(memviewslice[0], memview.view.ndim, + */ + __pyx_v_to_dtype_func = NULL; + } + __pyx_L3:; + + /* "View.MemoryView":1101 + * to_dtype_func = NULL + * + * return memoryview_fromslice(memviewslice[0], memview.view.ndim, # <<<<<<<<<<<<<< + * to_object_func, to_dtype_func, + * memview.dtype_is_object) + */ + __Pyx_XDECREF(__pyx_r); + + /* "View.MemoryView":1103 + * return memoryview_fromslice(memviewslice[0], memview.view.ndim, + * to_object_func, to_dtype_func, + * memview.dtype_is_object) # <<<<<<<<<<<<<< + * + * + */ + __pyx_t_4 = __pyx_memoryview_fromslice((__pyx_v_memviewslice[0]), __pyx_v_memview->view.ndim, __pyx_v_to_object_func, __pyx_v_to_dtype_func, __pyx_v_memview->dtype_is_object); if (unlikely(!__pyx_t_4)) __PYX_ERR(0, 1101, __pyx_L1_error) + __Pyx_GOTREF(__pyx_t_4); + __pyx_r = __pyx_t_4; + __pyx_t_4 = 0; + goto __pyx_L0; + + /* "View.MemoryView":1087 + * + * @cname('__pyx_memoryview_copy_object_from_slice') + * cdef memoryview_copy_from_slice(memoryview memview, __Pyx_memviewslice *memviewslice): # <<<<<<<<<<<<<< + * """ + * Create a new memoryview object from a given memoryview object and slice. + */ + + /* function exit code */ + __pyx_L1_error:; + __Pyx_XDECREF(__pyx_t_4); + __Pyx_AddTraceback("View.MemoryView.memoryview_copy_from_slice", __pyx_clineno, __pyx_lineno, __pyx_filename); + __pyx_r = 0; + __pyx_L0:; + __Pyx_XGIVEREF(__pyx_r); + __Pyx_RefNannyFinishContext(); + return __pyx_r; +} + +/* "View.MemoryView":1109 + * + * + * cdef Py_ssize_t abs_py_ssize_t(Py_ssize_t arg) noexcept nogil: # <<<<<<<<<<<<<< + * return -arg if arg < 0 else arg + * + */ + +static Py_ssize_t abs_py_ssize_t(Py_ssize_t __pyx_v_arg) { + Py_ssize_t __pyx_r; + Py_ssize_t __pyx_t_1; + int __pyx_t_2; + + /* "View.MemoryView":1110 + * + * cdef Py_ssize_t abs_py_ssize_t(Py_ssize_t arg) noexcept nogil: + * return -arg if arg < 0 else arg # <<<<<<<<<<<<<< + * + * @cname('__pyx_get_best_slice_order') + */ + __pyx_t_2 = (__pyx_v_arg < 0); + if (__pyx_t_2) { + __pyx_t_1 = (-__pyx_v_arg); + } else { + __pyx_t_1 = __pyx_v_arg; + } + __pyx_r = __pyx_t_1; + goto __pyx_L0; + + /* "View.MemoryView":1109 + * + * + * cdef Py_ssize_t abs_py_ssize_t(Py_ssize_t arg) noexcept nogil: # <<<<<<<<<<<<<< + * return -arg if arg < 0 else arg + * + */ + + /* function exit code */ + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":1113 + * + * @cname('__pyx_get_best_slice_order') + * cdef char get_best_order(__Pyx_memviewslice *mslice, int ndim) noexcept nogil: # <<<<<<<<<<<<<< + * """ + * Figure out the best memory access order for a given slice. + */ + +static char __pyx_get_best_slice_order(__Pyx_memviewslice *__pyx_v_mslice, int __pyx_v_ndim) { + int __pyx_v_i; + Py_ssize_t __pyx_v_c_stride; + Py_ssize_t __pyx_v_f_stride; + char __pyx_r; + int __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + int __pyx_t_4; + + /* "View.MemoryView":1118 + * """ + * cdef int i + * cdef Py_ssize_t c_stride = 0 # <<<<<<<<<<<<<< + * cdef Py_ssize_t f_stride = 0 + * + */ + __pyx_v_c_stride = 0; + + /* "View.MemoryView":1119 + * cdef int i + * cdef Py_ssize_t c_stride = 0 + * cdef Py_ssize_t f_stride = 0 # <<<<<<<<<<<<<< + * + * for i in range(ndim - 1, -1, -1): + */ + __pyx_v_f_stride = 0; + + /* "View.MemoryView":1121 + * cdef Py_ssize_t f_stride = 0 + * + * for i in range(ndim - 1, -1, -1): # <<<<<<<<<<<<<< + * if mslice.shape[i] > 1: + * c_stride = mslice.strides[i] + */ + for (__pyx_t_1 = (__pyx_v_ndim - 1); __pyx_t_1 > -1; __pyx_t_1-=1) { + __pyx_v_i = __pyx_t_1; + + /* "View.MemoryView":1122 + * + * for i in range(ndim - 1, -1, -1): + * if mslice.shape[i] > 1: # <<<<<<<<<<<<<< + * c_stride = mslice.strides[i] + * break + */ + __pyx_t_2 = ((__pyx_v_mslice->shape[__pyx_v_i]) > 1); + if (__pyx_t_2) { + + /* "View.MemoryView":1123 + * for i in range(ndim - 1, -1, -1): + * if mslice.shape[i] > 1: + * c_stride = mslice.strides[i] # <<<<<<<<<<<<<< + * break + * + */ + __pyx_v_c_stride = (__pyx_v_mslice->strides[__pyx_v_i]); + + /* "View.MemoryView":1124 + * if mslice.shape[i] > 1: + * c_stride = mslice.strides[i] + * break # <<<<<<<<<<<<<< + * + * for i in range(ndim): + */ + goto __pyx_L4_break; + + /* "View.MemoryView":1122 + * + * for i in range(ndim - 1, -1, -1): + * if mslice.shape[i] > 1: # <<<<<<<<<<<<<< + * c_stride = mslice.strides[i] + * break + */ + } + } + __pyx_L4_break:; + + /* "View.MemoryView":1126 + * break + * + * for i in range(ndim): # <<<<<<<<<<<<<< + * if mslice.shape[i] > 1: + * f_stride = mslice.strides[i] + */ + __pyx_t_1 = __pyx_v_ndim; + __pyx_t_3 = __pyx_t_1; + for (__pyx_t_4 = 0; __pyx_t_4 < __pyx_t_3; __pyx_t_4+=1) { + __pyx_v_i = __pyx_t_4; + + /* "View.MemoryView":1127 + * + * for i in range(ndim): + * if mslice.shape[i] > 1: # <<<<<<<<<<<<<< + * f_stride = mslice.strides[i] + * break + */ + __pyx_t_2 = ((__pyx_v_mslice->shape[__pyx_v_i]) > 1); + if (__pyx_t_2) { + + /* "View.MemoryView":1128 + * for i in range(ndim): + * if mslice.shape[i] > 1: + * f_stride = mslice.strides[i] # <<<<<<<<<<<<<< + * break + * + */ + __pyx_v_f_stride = (__pyx_v_mslice->strides[__pyx_v_i]); + + /* "View.MemoryView":1129 + * if mslice.shape[i] > 1: + * f_stride = mslice.strides[i] + * break # <<<<<<<<<<<<<< + * + * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): + */ + goto __pyx_L7_break; + + /* "View.MemoryView":1127 + * + * for i in range(ndim): + * if mslice.shape[i] > 1: # <<<<<<<<<<<<<< + * f_stride = mslice.strides[i] + * break + */ + } + } + __pyx_L7_break:; + + /* "View.MemoryView":1131 + * break + * + * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): # <<<<<<<<<<<<<< + * return 'C' + * else: + */ + __pyx_t_2 = (abs_py_ssize_t(__pyx_v_c_stride) <= abs_py_ssize_t(__pyx_v_f_stride)); + if (__pyx_t_2) { + + /* "View.MemoryView":1132 + * + * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): + * return 'C' # <<<<<<<<<<<<<< + * else: + * return 'F' + */ + __pyx_r = 'C'; + goto __pyx_L0; + + /* "View.MemoryView":1131 + * break + * + * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): # <<<<<<<<<<<<<< + * return 'C' + * else: + */ + } + + /* "View.MemoryView":1134 + * return 'C' + * else: + * return 'F' # <<<<<<<<<<<<<< + * + * @cython.cdivision(True) + */ + /*else*/ { + __pyx_r = 'F'; + goto __pyx_L0; + } + + /* "View.MemoryView":1113 + * + * @cname('__pyx_get_best_slice_order') + * cdef char get_best_order(__Pyx_memviewslice *mslice, int ndim) noexcept nogil: # <<<<<<<<<<<<<< + * """ + * Figure out the best memory access order for a given slice. + */ + + /* function exit code */ + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":1137 + * + * @cython.cdivision(True) + * cdef void _copy_strided_to_strided(char *src_data, Py_ssize_t *src_strides, # <<<<<<<<<<<<<< + * char *dst_data, Py_ssize_t *dst_strides, + * Py_ssize_t *src_shape, Py_ssize_t *dst_shape, + */ + +static void _copy_strided_to_strided(char *__pyx_v_src_data, Py_ssize_t *__pyx_v_src_strides, char *__pyx_v_dst_data, Py_ssize_t *__pyx_v_dst_strides, Py_ssize_t *__pyx_v_src_shape, Py_ssize_t *__pyx_v_dst_shape, int __pyx_v_ndim, size_t __pyx_v_itemsize) { + CYTHON_UNUSED Py_ssize_t __pyx_v_i; + CYTHON_UNUSED Py_ssize_t __pyx_v_src_extent; + Py_ssize_t __pyx_v_dst_extent; + Py_ssize_t __pyx_v_src_stride; + Py_ssize_t __pyx_v_dst_stride; + int __pyx_t_1; + int __pyx_t_2; + Py_ssize_t __pyx_t_3; + Py_ssize_t __pyx_t_4; + Py_ssize_t __pyx_t_5; + + /* "View.MemoryView":1144 + * + * cdef Py_ssize_t i + * cdef Py_ssize_t src_extent = src_shape[0] # <<<<<<<<<<<<<< + * cdef Py_ssize_t dst_extent = dst_shape[0] + * cdef Py_ssize_t src_stride = src_strides[0] + */ + __pyx_v_src_extent = (__pyx_v_src_shape[0]); + + /* "View.MemoryView":1145 + * cdef Py_ssize_t i + * cdef Py_ssize_t src_extent = src_shape[0] + * cdef Py_ssize_t dst_extent = dst_shape[0] # <<<<<<<<<<<<<< + * cdef Py_ssize_t src_stride = src_strides[0] + * cdef Py_ssize_t dst_stride = dst_strides[0] + */ + __pyx_v_dst_extent = (__pyx_v_dst_shape[0]); + + /* "View.MemoryView":1146 + * cdef Py_ssize_t src_extent = src_shape[0] + * cdef Py_ssize_t dst_extent = dst_shape[0] + * cdef Py_ssize_t src_stride = src_strides[0] # <<<<<<<<<<<<<< + * cdef Py_ssize_t dst_stride = dst_strides[0] + * + */ + __pyx_v_src_stride = (__pyx_v_src_strides[0]); + + /* "View.MemoryView":1147 + * cdef Py_ssize_t dst_extent = dst_shape[0] + * cdef Py_ssize_t src_stride = src_strides[0] + * cdef Py_ssize_t dst_stride = dst_strides[0] # <<<<<<<<<<<<<< + * + * if ndim == 1: + */ + __pyx_v_dst_stride = (__pyx_v_dst_strides[0]); + + /* "View.MemoryView":1149 + * cdef Py_ssize_t dst_stride = dst_strides[0] + * + * if ndim == 1: # <<<<<<<<<<<<<< + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): + */ + __pyx_t_1 = (__pyx_v_ndim == 1); + if (__pyx_t_1) { + + /* "View.MemoryView":1150 + * + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and # <<<<<<<<<<<<<< + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) + */ + __pyx_t_2 = (__pyx_v_src_stride > 0); + if (__pyx_t_2) { + } else { + __pyx_t_1 = __pyx_t_2; + goto __pyx_L5_bool_binop_done; + } + __pyx_t_2 = (__pyx_v_dst_stride > 0); + if (__pyx_t_2) { + } else { + __pyx_t_1 = __pyx_t_2; + goto __pyx_L5_bool_binop_done; + } + + /* "View.MemoryView":1151 + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): # <<<<<<<<<<<<<< + * memcpy(dst_data, src_data, itemsize * dst_extent) + * else: + */ + __pyx_t_2 = (((size_t)__pyx_v_src_stride) == __pyx_v_itemsize); + if (__pyx_t_2) { + __pyx_t_2 = (__pyx_v_itemsize == ((size_t)__pyx_v_dst_stride)); + } + __pyx_t_1 = __pyx_t_2; + __pyx_L5_bool_binop_done:; + + /* "View.MemoryView":1150 + * + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and # <<<<<<<<<<<<<< + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) + */ + if (__pyx_t_1) { + + /* "View.MemoryView":1152 + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) # <<<<<<<<<<<<<< + * else: + * for i in range(dst_extent): + */ + (void)(memcpy(__pyx_v_dst_data, __pyx_v_src_data, (__pyx_v_itemsize * __pyx_v_dst_extent))); + + /* "View.MemoryView":1150 + * + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and # <<<<<<<<<<<<<< + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) + */ + goto __pyx_L4; + } + + /* "View.MemoryView":1154 + * memcpy(dst_data, src_data, itemsize * dst_extent) + * else: + * for i in range(dst_extent): # <<<<<<<<<<<<<< + * memcpy(dst_data, src_data, itemsize) + * src_data += src_stride + */ + /*else*/ { + __pyx_t_3 = __pyx_v_dst_extent; + __pyx_t_4 = __pyx_t_3; + for (__pyx_t_5 = 0; __pyx_t_5 < __pyx_t_4; __pyx_t_5+=1) { + __pyx_v_i = __pyx_t_5; + + /* "View.MemoryView":1155 + * else: + * for i in range(dst_extent): + * memcpy(dst_data, src_data, itemsize) # <<<<<<<<<<<<<< + * src_data += src_stride + * dst_data += dst_stride + */ + (void)(memcpy(__pyx_v_dst_data, __pyx_v_src_data, __pyx_v_itemsize)); + + /* "View.MemoryView":1156 + * for i in range(dst_extent): + * memcpy(dst_data, src_data, itemsize) + * src_data += src_stride # <<<<<<<<<<<<<< + * dst_data += dst_stride + * else: + */ + __pyx_v_src_data = (__pyx_v_src_data + __pyx_v_src_stride); + + /* "View.MemoryView":1157 + * memcpy(dst_data, src_data, itemsize) + * src_data += src_stride + * dst_data += dst_stride # <<<<<<<<<<<<<< + * else: + * for i in range(dst_extent): + */ + __pyx_v_dst_data = (__pyx_v_dst_data + __pyx_v_dst_stride); + } + } + __pyx_L4:; + + /* "View.MemoryView":1149 + * cdef Py_ssize_t dst_stride = dst_strides[0] + * + * if ndim == 1: # <<<<<<<<<<<<<< + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): + */ + goto __pyx_L3; + } + + /* "View.MemoryView":1159 + * dst_data += dst_stride + * else: + * for i in range(dst_extent): # <<<<<<<<<<<<<< + * _copy_strided_to_strided(src_data, src_strides + 1, + * dst_data, dst_strides + 1, + */ + /*else*/ { + __pyx_t_3 = __pyx_v_dst_extent; + __pyx_t_4 = __pyx_t_3; + for (__pyx_t_5 = 0; __pyx_t_5 < __pyx_t_4; __pyx_t_5+=1) { + __pyx_v_i = __pyx_t_5; + + /* "View.MemoryView":1160 + * else: + * for i in range(dst_extent): + * _copy_strided_to_strided(src_data, src_strides + 1, # <<<<<<<<<<<<<< + * dst_data, dst_strides + 1, + * src_shape + 1, dst_shape + 1, + */ + _copy_strided_to_strided(__pyx_v_src_data, (__pyx_v_src_strides + 1), __pyx_v_dst_data, (__pyx_v_dst_strides + 1), (__pyx_v_src_shape + 1), (__pyx_v_dst_shape + 1), (__pyx_v_ndim - 1), __pyx_v_itemsize); + + /* "View.MemoryView":1164 + * src_shape + 1, dst_shape + 1, + * ndim - 1, itemsize) + * src_data += src_stride # <<<<<<<<<<<<<< + * dst_data += dst_stride + * + */ + __pyx_v_src_data = (__pyx_v_src_data + __pyx_v_src_stride); + + /* "View.MemoryView":1165 + * ndim - 1, itemsize) + * src_data += src_stride + * dst_data += dst_stride # <<<<<<<<<<<<<< + * + * cdef void copy_strided_to_strided(__Pyx_memviewslice *src, + */ + __pyx_v_dst_data = (__pyx_v_dst_data + __pyx_v_dst_stride); + } + } + __pyx_L3:; + + /* "View.MemoryView":1137 + * + * @cython.cdivision(True) + * cdef void _copy_strided_to_strided(char *src_data, Py_ssize_t *src_strides, # <<<<<<<<<<<<<< + * char *dst_data, Py_ssize_t *dst_strides, + * Py_ssize_t *src_shape, Py_ssize_t *dst_shape, + */ + + /* function exit code */ +} + +/* "View.MemoryView":1167 + * dst_data += dst_stride + * + * cdef void copy_strided_to_strided(__Pyx_memviewslice *src, # <<<<<<<<<<<<<< + * __Pyx_memviewslice *dst, + * int ndim, size_t itemsize) noexcept nogil: + */ + +static void copy_strided_to_strided(__Pyx_memviewslice *__pyx_v_src, __Pyx_memviewslice *__pyx_v_dst, int __pyx_v_ndim, size_t __pyx_v_itemsize) { + + /* "View.MemoryView":1170 + * __Pyx_memviewslice *dst, + * int ndim, size_t itemsize) noexcept nogil: + * _copy_strided_to_strided(src.data, src.strides, dst.data, dst.strides, # <<<<<<<<<<<<<< + * src.shape, dst.shape, ndim, itemsize) + * + */ + _copy_strided_to_strided(__pyx_v_src->data, __pyx_v_src->strides, __pyx_v_dst->data, __pyx_v_dst->strides, __pyx_v_src->shape, __pyx_v_dst->shape, __pyx_v_ndim, __pyx_v_itemsize); + + /* "View.MemoryView":1167 + * dst_data += dst_stride + * + * cdef void copy_strided_to_strided(__Pyx_memviewslice *src, # <<<<<<<<<<<<<< + * __Pyx_memviewslice *dst, + * int ndim, size_t itemsize) noexcept nogil: + */ + + /* function exit code */ +} + +/* "View.MemoryView":1174 + * + * @cname('__pyx_memoryview_slice_get_size') + * cdef Py_ssize_t slice_get_size(__Pyx_memviewslice *src, int ndim) noexcept nogil: # <<<<<<<<<<<<<< + * "Return the size of the memory occupied by the slice in number of bytes" + * cdef Py_ssize_t shape, size = src.memview.view.itemsize + */ + +static Py_ssize_t __pyx_memoryview_slice_get_size(__Pyx_memviewslice *__pyx_v_src, int __pyx_v_ndim) { + Py_ssize_t __pyx_v_shape; + Py_ssize_t __pyx_v_size; + Py_ssize_t __pyx_r; + Py_ssize_t __pyx_t_1; + Py_ssize_t *__pyx_t_2; + Py_ssize_t *__pyx_t_3; + Py_ssize_t *__pyx_t_4; + + /* "View.MemoryView":1176 + * cdef Py_ssize_t slice_get_size(__Pyx_memviewslice *src, int ndim) noexcept nogil: + * "Return the size of the memory occupied by the slice in number of bytes" + * cdef Py_ssize_t shape, size = src.memview.view.itemsize # <<<<<<<<<<<<<< + * + * for shape in src.shape[:ndim]: + */ + __pyx_t_1 = __pyx_v_src->memview->view.itemsize; + __pyx_v_size = __pyx_t_1; + + /* "View.MemoryView":1178 + * cdef Py_ssize_t shape, size = src.memview.view.itemsize + * + * for shape in src.shape[:ndim]: # <<<<<<<<<<<<<< + * size *= shape + * + */ + __pyx_t_3 = (__pyx_v_src->shape + __pyx_v_ndim); + for 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refcount_copying(&dst, dtype_is_object, ndim, inc=True) + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 0); + + /* "View.MemoryView":1318 + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) # <<<<<<<<<<<<<< + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * free(tmpdata) + */ + (void)(memcpy(__pyx_v_dst.data, __pyx_v_src.data, __pyx_memoryview_slice_get_size((&__pyx_v_src), __pyx_v_ndim))); + + /* "View.MemoryView":1319 + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) # <<<<<<<<<<<<<< + * free(tmpdata) + * return 0 + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 1); + + /* "View.MemoryView":1320 + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * free(tmpdata) # <<<<<<<<<<<<<< + * return 0 + * + */ + free(__pyx_v_tmpdata); + + /* "View.MemoryView":1321 + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * free(tmpdata) + * return 0 # <<<<<<<<<<<<<< + * + * if order == 'F' == get_best_order(&dst, ndim): + */ + __pyx_r = 0; + goto __pyx_L0; + + /* "View.MemoryView":1315 + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + * if direct_copy: # <<<<<<<<<<<<<< + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + */ + } + + /* "View.MemoryView":1307 + * src = tmp + * + * if not broadcasting: # <<<<<<<<<<<<<< + * + * + */ + } + + /* "View.MemoryView":1323 + * return 0 + * + * if order == 'F' == get_best_order(&dst, ndim): # <<<<<<<<<<<<<< + * + * + */ + __pyx_t_2 = (__pyx_v_order == 'F'); + if (__pyx_t_2) { + __pyx_t_2 = ('F' == __pyx_get_best_slice_order((&__pyx_v_dst), __pyx_v_ndim)); + } + if (__pyx_t_2) { + + /* "View.MemoryView":1326 + * + * + * transpose_memslice(&src) # <<<<<<<<<<<<<< + * transpose_memslice(&dst) + * + */ + __pyx_t_5 = __pyx_memslice_transpose((&__pyx_v_src)); if (unlikely(__pyx_t_5 == ((int)-1))) __PYX_ERR(0, 1326, __pyx_L1_error) + + /* "View.MemoryView":1327 + * + * transpose_memslice(&src) + * transpose_memslice(&dst) # <<<<<<<<<<<<<< + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + */ + __pyx_t_5 = __pyx_memslice_transpose((&__pyx_v_dst)); if (unlikely(__pyx_t_5 == ((int)-1))) __PYX_ERR(0, 1327, __pyx_L1_error) + + /* "View.MemoryView":1323 + * return 0 + * + * if order == 'F' == get_best_order(&dst, ndim): # <<<<<<<<<<<<<< + * + * + */ + } + + /* "View.MemoryView":1329 + * transpose_memslice(&dst) + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) # <<<<<<<<<<<<<< + * copy_strided_to_strided(&src, &dst, ndim, itemsize) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 0); + + /* "View.MemoryView":1330 + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + * copy_strided_to_strided(&src, &dst, ndim, itemsize) # <<<<<<<<<<<<<< + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * + */ + copy_strided_to_strided((&__pyx_v_src), (&__pyx_v_dst), __pyx_v_ndim, __pyx_v_itemsize); + + /* "View.MemoryView":1331 + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + * copy_strided_to_strided(&src, &dst, ndim, itemsize) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) # <<<<<<<<<<<<<< + * + * free(tmpdata) + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 1); + + /* "View.MemoryView":1333 + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * + * free(tmpdata) # <<<<<<<<<<<<<< + * return 0 + * + */ + free(__pyx_v_tmpdata); + + /* "View.MemoryView":1334 + * + * free(tmpdata) + * return 0 # <<<<<<<<<<<<<< + * + * @cname('__pyx_memoryview_broadcast_leading') + */ + __pyx_r = 0; + goto __pyx_L0; + + /* "View.MemoryView":1265 + * + * @cname('__pyx_memoryview_copy_contents') + * cdef int memoryview_copy_contents(__Pyx_memviewslice src, # <<<<<<<<<<<<<< + * __Pyx_memviewslice dst, + * int src_ndim, int dst_ndim, + */ + + /* function exit code */ + __pyx_L1_error:; + #ifdef WITH_THREAD + __pyx_gilstate_save = __Pyx_PyGILState_Ensure(); + #endif + __Pyx_AddTraceback("View.MemoryView.memoryview_copy_contents", __pyx_clineno, __pyx_lineno, __pyx_filename); + __pyx_r = -1; + #ifdef WITH_THREAD + __Pyx_PyGILState_Release(__pyx_gilstate_save); + #endif + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":1337 + * + * @cname('__pyx_memoryview_broadcast_leading') + * cdef void broadcast_leading(__Pyx_memviewslice *mslice, # <<<<<<<<<<<<<< + * int ndim, + * int ndim_other) noexcept nogil: + */ + +static void __pyx_memoryview_broadcast_leading(__Pyx_memviewslice *__pyx_v_mslice, int __pyx_v_ndim, int __pyx_v_ndim_other) { + int __pyx_v_i; + int __pyx_v_offset; + int __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + + /* "View.MemoryView":1341 + * int ndim_other) noexcept nogil: + * cdef int i + * cdef int offset = ndim_other - ndim # <<<<<<<<<<<<<< + * + * for i in range(ndim - 1, -1, -1): + */ + __pyx_v_offset = (__pyx_v_ndim_other - __pyx_v_ndim); + + /* "View.MemoryView":1343 + * cdef int offset = ndim_other - ndim + * + * for i in range(ndim - 1, -1, -1): # <<<<<<<<<<<<<< + * mslice.shape[i + offset] = mslice.shape[i] + * mslice.strides[i + offset] = mslice.strides[i] + */ + for (__pyx_t_1 = (__pyx_v_ndim - 1); __pyx_t_1 > -1; __pyx_t_1-=1) { + __pyx_v_i = __pyx_t_1; + + /* "View.MemoryView":1344 + * + * for i in range(ndim - 1, -1, -1): + * mslice.shape[i + offset] = mslice.shape[i] # <<<<<<<<<<<<<< + * mslice.strides[i + offset] = mslice.strides[i] + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] + */ + (__pyx_v_mslice->shape[(__pyx_v_i + __pyx_v_offset)]) = (__pyx_v_mslice->shape[__pyx_v_i]); + + /* "View.MemoryView":1345 + * for i in range(ndim - 1, -1, -1): + * mslice.shape[i + offset] = mslice.shape[i] + * mslice.strides[i + offset] = mslice.strides[i] # <<<<<<<<<<<<<< + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] + * + */ + (__pyx_v_mslice->strides[(__pyx_v_i + __pyx_v_offset)]) = (__pyx_v_mslice->strides[__pyx_v_i]); + + /* "View.MemoryView":1346 + * mslice.shape[i + offset] = mslice.shape[i] + * mslice.strides[i + offset] = mslice.strides[i] + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] # <<<<<<<<<<<<<< + * + * for i in range(offset): + */ + (__pyx_v_mslice->suboffsets[(__pyx_v_i + __pyx_v_offset)]) = (__pyx_v_mslice->suboffsets[__pyx_v_i]); + } + + /* "View.MemoryView":1348 + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] + * + * for i in range(offset): # <<<<<<<<<<<<<< + * mslice.shape[i] = 1 + * mslice.strides[i] = mslice.strides[0] + */ + __pyx_t_1 = __pyx_v_offset; + __pyx_t_2 = __pyx_t_1; + for (__pyx_t_3 = 0; __pyx_t_3 < __pyx_t_2; __pyx_t_3+=1) { + __pyx_v_i = __pyx_t_3; + + /* "View.MemoryView":1349 + * + * for i in range(offset): + * mslice.shape[i] = 1 # <<<<<<<<<<<<<< + * mslice.strides[i] = mslice.strides[0] + * mslice.suboffsets[i] = -1 + */ + (__pyx_v_mslice->shape[__pyx_v_i]) = 1; + + /* "View.MemoryView":1350 + * for i in range(offset): + * mslice.shape[i] = 1 + * mslice.strides[i] = mslice.strides[0] # <<<<<<<<<<<<<< + * mslice.suboffsets[i] = -1 + * + */ + (__pyx_v_mslice->strides[__pyx_v_i]) = (__pyx_v_mslice->strides[0]); + + /* "View.MemoryView":1351 + * mslice.shape[i] = 1 + * mslice.strides[i] = mslice.strides[0] + * mslice.suboffsets[i] = -1 # <<<<<<<<<<<<<< + * + * + */ + (__pyx_v_mslice->suboffsets[__pyx_v_i]) = -1L; + } + + /* "View.MemoryView":1337 + * + * @cname('__pyx_memoryview_broadcast_leading') + * cdef void broadcast_leading(__Pyx_memviewslice *mslice, # <<<<<<<<<<<<<< + * int ndim, + * int ndim_other) noexcept nogil: + */ + + /* function exit code */ +} + +/* "View.MemoryView":1359 + * + * @cname('__pyx_memoryview_refcount_copying') + * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object, int ndim, bint inc) noexcept nogil: # <<<<<<<<<<<<<< + * + * if dtype_is_object: + */ + +static void __pyx_memoryview_refcount_copying(__Pyx_memviewslice *__pyx_v_dst, int __pyx_v_dtype_is_object, int __pyx_v_ndim, int __pyx_v_inc) { + + /* "View.MemoryView":1361 + * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object, int ndim, bint inc) noexcept nogil: + * + * if dtype_is_object: # <<<<<<<<<<<<<< + * refcount_objects_in_slice_with_gil(dst.data, dst.shape, dst.strides, ndim, inc) + * + */ + if (__pyx_v_dtype_is_object) { + + /* "View.MemoryView":1362 + * + * if dtype_is_object: + * refcount_objects_in_slice_with_gil(dst.data, dst.shape, dst.strides, ndim, inc) # <<<<<<<<<<<<<< + * + * @cname('__pyx_memoryview_refcount_objects_in_slice_with_gil') + */ + __pyx_memoryview_refcount_objects_in_slice_with_gil(__pyx_v_dst->data, __pyx_v_dst->shape, __pyx_v_dst->strides, __pyx_v_ndim, __pyx_v_inc); + + /* "View.MemoryView":1361 + * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object, int ndim, bint inc) noexcept nogil: + * + * if dtype_is_object: # <<<<<<<<<<<<<< + * refcount_objects_in_slice_with_gil(dst.data, dst.shape, dst.strides, ndim, inc) + * + */ + } + + /* "View.MemoryView":1359 + * + * @cname('__pyx_memoryview_refcount_copying') + * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object, int ndim, bint inc) noexcept nogil: # <<<<<<<<<<<<<< + * + * if dtype_is_object: + */ + + /* function exit code */ +} + +/* "View.MemoryView":1365 + * + * @cname('__pyx_memoryview_refcount_objects_in_slice_with_gil') + * cdef void refcount_objects_in_slice_with_gil(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, + * bint inc) noexcept with gil: + */ + +static void __pyx_memoryview_refcount_objects_in_slice_with_gil(char *__pyx_v_data, Py_ssize_t *__pyx_v_shape, Py_ssize_t *__pyx_v_strides, int __pyx_v_ndim, int __pyx_v_inc) { + #ifdef WITH_THREAD + PyGILState_STATE __pyx_gilstate_save = __Pyx_PyGILState_Ensure(); + #endif + + /* "View.MemoryView":1368 + * Py_ssize_t *strides, int ndim, + * bint inc) noexcept with gil: + * refcount_objects_in_slice(data, shape, strides, ndim, inc) # <<<<<<<<<<<<<< + * + * @cname('__pyx_memoryview_refcount_objects_in_slice') + */ + __pyx_memoryview_refcount_objects_in_slice(__pyx_v_data, __pyx_v_shape, __pyx_v_strides, __pyx_v_ndim, __pyx_v_inc); + + /* "View.MemoryView":1365 + * + * @cname('__pyx_memoryview_refcount_objects_in_slice_with_gil') + * cdef void refcount_objects_in_slice_with_gil(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, + * bint inc) noexcept with gil: + */ + + /* function exit code */ + #ifdef WITH_THREAD + __Pyx_PyGILState_Release(__pyx_gilstate_save); + #endif +} + +/* "View.MemoryView":1371 + * + * @cname('__pyx_memoryview_refcount_objects_in_slice') + * cdef void refcount_objects_in_slice(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, bint inc) noexcept: + * cdef Py_ssize_t i + */ + +static void __pyx_memoryview_refcount_objects_in_slice(char *__pyx_v_data, Py_ssize_t *__pyx_v_shape, Py_ssize_t *__pyx_v_strides, int __pyx_v_ndim, int __pyx_v_inc) { + CYTHON_UNUSED Py_ssize_t __pyx_v_i; + Py_ssize_t __pyx_v_stride; + Py_ssize_t __pyx_t_1; + Py_ssize_t __pyx_t_2; + Py_ssize_t __pyx_t_3; + int __pyx_t_4; + + /* "View.MemoryView":1374 + * Py_ssize_t *strides, int ndim, bint inc) noexcept: + * cdef Py_ssize_t i + * cdef Py_ssize_t stride = strides[0] # <<<<<<<<<<<<<< + * + * for i in range(shape[0]): + */ + __pyx_v_stride = (__pyx_v_strides[0]); + + /* "View.MemoryView":1376 + * cdef Py_ssize_t stride = strides[0] + * + * for i in range(shape[0]): # <<<<<<<<<<<<<< + * if ndim == 1: + * if inc: + */ + __pyx_t_1 = (__pyx_v_shape[0]); + __pyx_t_2 = __pyx_t_1; + for (__pyx_t_3 = 0; __pyx_t_3 < __pyx_t_2; __pyx_t_3+=1) { + __pyx_v_i = __pyx_t_3; + + /* "View.MemoryView":1377 + * + * for i in range(shape[0]): + * if ndim == 1: # <<<<<<<<<<<<<< + * if inc: + * Py_INCREF(( data)[0]) + */ + __pyx_t_4 = (__pyx_v_ndim == 1); + if (__pyx_t_4) { + + /* "View.MemoryView":1378 + * for i in range(shape[0]): + * if ndim == 1: + * if inc: # <<<<<<<<<<<<<< + * Py_INCREF(( data)[0]) + * else: + */ + if (__pyx_v_inc) { + + /* "View.MemoryView":1379 + * if ndim == 1: + * if inc: + * Py_INCREF(( data)[0]) # <<<<<<<<<<<<<< + * else: + * Py_DECREF(( data)[0]) + */ + Py_INCREF((((PyObject **)__pyx_v_data)[0])); + + /* "View.MemoryView":1378 + * for i in range(shape[0]): + * if ndim == 1: + * if inc: # <<<<<<<<<<<<<< + * Py_INCREF(( data)[0]) + * else: + */ + goto __pyx_L6; + } + + /* "View.MemoryView":1381 + * Py_INCREF(( data)[0]) + * else: + * Py_DECREF(( data)[0]) # <<<<<<<<<<<<<< + * else: + * refcount_objects_in_slice(data, shape + 1, strides + 1, ndim - 1, inc) + */ + /*else*/ { + Py_DECREF((((PyObject **)__pyx_v_data)[0])); + } + __pyx_L6:; + + /* "View.MemoryView":1377 + * + * for i in range(shape[0]): + * if ndim == 1: # <<<<<<<<<<<<<< + * if inc: + * Py_INCREF(( data)[0]) + */ + goto __pyx_L5; + } + + /* "View.MemoryView":1383 + * Py_DECREF(( data)[0]) + * else: + * refcount_objects_in_slice(data, shape + 1, strides + 1, ndim - 1, inc) # <<<<<<<<<<<<<< + * + * data += stride + */ + /*else*/ { + __pyx_memoryview_refcount_objects_in_slice(__pyx_v_data, (__pyx_v_shape + 1), (__pyx_v_strides + 1), (__pyx_v_ndim - 1), __pyx_v_inc); + } + __pyx_L5:; + + /* "View.MemoryView":1385 + * refcount_objects_in_slice(data, shape + 1, strides + 1, ndim - 1, inc) + * + * data += stride # <<<<<<<<<<<<<< + * + * + */ + __pyx_v_data = (__pyx_v_data + __pyx_v_stride); + } + + /* "View.MemoryView":1371 + * + * @cname('__pyx_memoryview_refcount_objects_in_slice') + * cdef void refcount_objects_in_slice(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, bint inc) noexcept: + * cdef Py_ssize_t i + */ + + /* function exit code */ +} + +/* "View.MemoryView":1391 + * + * @cname('__pyx_memoryview_slice_assign_scalar') + * cdef void slice_assign_scalar(__Pyx_memviewslice *dst, int ndim, # <<<<<<<<<<<<<< + * size_t itemsize, void *item, + * bint dtype_is_object) noexcept nogil: + */ + +static void __pyx_memoryview_slice_assign_scalar(__Pyx_memviewslice *__pyx_v_dst, int __pyx_v_ndim, size_t __pyx_v_itemsize, void *__pyx_v_item, int __pyx_v_dtype_is_object) { + + /* "View.MemoryView":1394 + * size_t itemsize, void *item, + * bint dtype_is_object) noexcept nogil: + * refcount_copying(dst, dtype_is_object, ndim, inc=False) # <<<<<<<<<<<<<< + * _slice_assign_scalar(dst.data, dst.shape, dst.strides, ndim, itemsize, item) + * refcount_copying(dst, dtype_is_object, ndim, inc=True) + */ + __pyx_memoryview_refcount_copying(__pyx_v_dst, __pyx_v_dtype_is_object, __pyx_v_ndim, 0); + + /* "View.MemoryView":1395 + * bint dtype_is_object) noexcept nogil: + * refcount_copying(dst, dtype_is_object, ndim, inc=False) + * _slice_assign_scalar(dst.data, dst.shape, dst.strides, ndim, itemsize, item) # <<<<<<<<<<<<<< + * refcount_copying(dst, dtype_is_object, ndim, inc=True) + * + */ + __pyx_memoryview__slice_assign_scalar(__pyx_v_dst->data, __pyx_v_dst->shape, __pyx_v_dst->strides, __pyx_v_ndim, __pyx_v_itemsize, __pyx_v_item); + + /* "View.MemoryView":1396 + * refcount_copying(dst, dtype_is_object, ndim, inc=False) + * _slice_assign_scalar(dst.data, dst.shape, dst.strides, ndim, itemsize, item) + * refcount_copying(dst, dtype_is_object, ndim, inc=True) # <<<<<<<<<<<<<< + * + * + */ + __pyx_memoryview_refcount_copying(__pyx_v_dst, __pyx_v_dtype_is_object, __pyx_v_ndim, 1); + + /* "View.MemoryView":1391 + * + * @cname('__pyx_memoryview_slice_assign_scalar') + * cdef void slice_assign_scalar(__Pyx_memviewslice *dst, int ndim, # <<<<<<<<<<<<<< + * size_t itemsize, void *item, + * bint dtype_is_object) noexcept nogil: + */ + + /* function exit code */ +} + +/* "View.MemoryView":1400 + * + * @cname('__pyx_memoryview__slice_assign_scalar') + * cdef void _slice_assign_scalar(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, + * size_t itemsize, void *item) noexcept nogil: + */ + +static void __pyx_memoryview__slice_assign_scalar(char *__pyx_v_data, Py_ssize_t *__pyx_v_shape, Py_ssize_t *__pyx_v_strides, int __pyx_v_ndim, size_t __pyx_v_itemsize, void *__pyx_v_item) { + CYTHON_UNUSED Py_ssize_t __pyx_v_i; + Py_ssize_t __pyx_v_stride; + Py_ssize_t __pyx_v_extent; + int __pyx_t_1; + Py_ssize_t __pyx_t_2; + Py_ssize_t __pyx_t_3; + Py_ssize_t __pyx_t_4; + + /* "View.MemoryView":1404 + * size_t itemsize, void *item) noexcept nogil: + * cdef Py_ssize_t i + * cdef Py_ssize_t stride = strides[0] # <<<<<<<<<<<<<< + * cdef Py_ssize_t extent = shape[0] + * + */ + __pyx_v_stride = (__pyx_v_strides[0]); + + /* "View.MemoryView":1405 + * cdef Py_ssize_t i + * cdef Py_ssize_t stride = strides[0] + * cdef Py_ssize_t extent = shape[0] # <<<<<<<<<<<<<< + * + * if ndim == 1: + */ + __pyx_v_extent = (__pyx_v_shape[0]); + + /* "View.MemoryView":1407 + * cdef Py_ssize_t extent = shape[0] + * + * if ndim == 1: # <<<<<<<<<<<<<< + * for i in range(extent): + * memcpy(data, item, itemsize) + */ + __pyx_t_1 = (__pyx_v_ndim == 1); + if (__pyx_t_1) { + + /* "View.MemoryView":1408 + * + * if ndim == 1: + * for i in range(extent): # <<<<<<<<<<<<<< + * memcpy(data, item, itemsize) + * data += stride + */ + __pyx_t_2 = __pyx_v_extent; + __pyx_t_3 = __pyx_t_2; + for (__pyx_t_4 = 0; __pyx_t_4 < __pyx_t_3; __pyx_t_4+=1) { + __pyx_v_i = __pyx_t_4; + + /* "View.MemoryView":1409 + * if ndim == 1: + * for i in range(extent): + * memcpy(data, item, itemsize) # <<<<<<<<<<<<<< + * data += stride + * else: + */ + (void)(memcpy(__pyx_v_data, __pyx_v_item, __pyx_v_itemsize)); + + /* "View.MemoryView":1410 + * for i in range(extent): + * memcpy(data, item, itemsize) + * data += stride # <<<<<<<<<<<<<< + * else: + * for i in range(extent): + */ + __pyx_v_data = (__pyx_v_data + __pyx_v_stride); + } + + /* "View.MemoryView":1407 + * cdef Py_ssize_t extent = shape[0] + * + * if ndim == 1: # <<<<<<<<<<<<<< + * for i in range(extent): + * memcpy(data, item, itemsize) + */ + goto __pyx_L3; + } + + /* "View.MemoryView":1412 + * data += stride + * else: + * for i in range(extent): # <<<<<<<<<<<<<< + * _slice_assign_scalar(data, shape + 1, strides + 1, ndim - 1, itemsize, item) + * data += stride + */ + /*else*/ { + __pyx_t_2 = __pyx_v_extent; + __pyx_t_3 = __pyx_t_2; + for (__pyx_t_4 = 0; __pyx_t_4 < __pyx_t_3; __pyx_t_4+=1) { + __pyx_v_i = __pyx_t_4; + + /* "View.MemoryView":1413 + * else: + * for i in range(extent): + * _slice_assign_scalar(data, shape + 1, strides + 1, ndim - 1, itemsize, item) # <<<<<<<<<<<<<< + * data += stride + * + */ + 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__setstate_cython__(self, __pyx_state): # <<<<<<<<<<<<<< + * raise TypeError, "no default __reduce__ due to non-trivial __cinit__" + */ + +/* Python wrapper */ +static PyObject *__pyx_pw_9selfdrive_6modeld_7runners_13snpemodel_pyx_9SNPEModel_5__setstate_cython__(PyObject *__pyx_v_self, +#if CYTHON_METH_FASTCALL +PyObject *const *__pyx_args, Py_ssize_t __pyx_nargs, PyObject *__pyx_kwds +#else +PyObject *__pyx_args, PyObject *__pyx_kwds +#endif +); /*proto*/ +static PyMethodDef __pyx_mdef_9selfdrive_6modeld_7runners_13snpemodel_pyx_9SNPEModel_5__setstate_cython__ = {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_9selfdrive_6modeld_7runners_13snpemodel_pyx_9SNPEModel_5__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}; +static PyObject *__pyx_pw_9selfdrive_6modeld_7runners_13snpemodel_pyx_9SNPEModel_5__setstate_cython__(PyObject *__pyx_v_self, +#if CYTHON_METH_FASTCALL +PyObject *const *__pyx_args, Py_ssize_t __pyx_nargs, PyObject *__pyx_kwds +#else +PyObject *__pyx_args, PyObject *__pyx_kwds +#endif +) { + CYTHON_UNUSED PyObject *__pyx_v___pyx_state = 0; + #if !CYTHON_METH_FASTCALL + CYTHON_UNUSED Py_ssize_t __pyx_nargs; + #endif + CYTHON_UNUSED PyObject *const *__pyx_kwvalues; + PyObject* values[1] = {0}; + int __pyx_lineno = 0; + const char *__pyx_filename = NULL; + int __pyx_clineno = 0; + PyObject *__pyx_r = 0; + __Pyx_RefNannyDeclarations + __Pyx_RefNannySetupContext("__setstate_cython__ (wrapper)", 0); + #if !CYTHON_METH_FASTCALL + #if CYTHON_ASSUME_SAFE_MACROS + __pyx_nargs = PyTuple_GET_SIZE(__pyx_args); + #else + __pyx_nargs = PyTuple_Size(__pyx_args); if (unlikely(__pyx_nargs < 0)) return NULL; + #endif + #endif + __pyx_kwvalues = __Pyx_KwValues_FASTCALL(__pyx_args, __pyx_nargs); + { + PyObject **__pyx_pyargnames[] = {&__pyx_n_s_pyx_state,0}; + if (__pyx_kwds) { + Py_ssize_t kw_args; + switch (__pyx_nargs) { + case 1: values[0] = __Pyx_Arg_FASTCALL(__pyx_args, 0); + CYTHON_FALLTHROUGH; + case 0: break; + default: goto __pyx_L5_argtuple_error; + } + kw_args = __Pyx_NumKwargs_FASTCALL(__pyx_kwds); + switch (__pyx_nargs) { + case 0: + if (likely((values[0] = __Pyx_GetKwValue_FASTCALL(__pyx_kwds, __pyx_kwvalues, __pyx_n_s_pyx_state)) != 0)) { + (void)__Pyx_Arg_NewRef_FASTCALL(values[0]); + kw_args--; + } + else if (unlikely(PyErr_Occurred())) __PYX_ERR(0, 3, __pyx_L3_error) + else goto __pyx_L5_argtuple_error; + } + if (unlikely(kw_args > 0)) { + const Py_ssize_t kwd_pos_args = __pyx_nargs; + if (unlikely(__Pyx_ParseOptionalKeywords(__pyx_kwds, __pyx_kwvalues, __pyx_pyargnames, 0, values + 0, kwd_pos_args, "__setstate_cython__") < 0)) __PYX_ERR(0, 3, __pyx_L3_error) + } + } else if (unlikely(__pyx_nargs != 1)) { + goto __pyx_L5_argtuple_error; + } else { + values[0] = __Pyx_Arg_FASTCALL(__pyx_args, 0); + } + __pyx_v___pyx_state = values[0]; + } + goto __pyx_L6_skip; + __pyx_L5_argtuple_error:; + __Pyx_RaiseArgtupleInvalid("__setstate_cython__", 1, 1, 1, __pyx_nargs); __PYX_ERR(0, 3, __pyx_L3_error) + __pyx_L6_skip:; + goto __pyx_L4_argument_unpacking_done; + __pyx_L3_error:; + { + Py_ssize_t __pyx_temp; + for (__pyx_temp=0; __pyx_temp < (Py_ssize_t)(sizeof(values)/sizeof(values[0])); ++__pyx_temp) { + __Pyx_Arg_XDECREF_FASTCALL(values[__pyx_temp]); + } + } + __Pyx_AddTraceback("selfdrive.modeld.runners.snpemodel_pyx.SNPEModel.__setstate_cython__", __pyx_clineno, __pyx_lineno, __pyx_filename); + __Pyx_RefNannyFinishContext(); + return NULL; + __pyx_L4_argument_unpacking_done:; + __pyx_r = __pyx_pf_9selfdrive_6modeld_7runners_13snpemodel_pyx_9SNPEModel_4__setstate_cython__(((struct __pyx_obj_9selfdrive_6modeld_7runners_13snpemodel_pyx_SNPEModel *)__pyx_v_self), __pyx_v___pyx_state); + + /* function exit code */ + { + Py_ssize_t __pyx_temp; + for (__pyx_temp=0; __pyx_temp < (Py_ssize_t)(sizeof(values)/sizeof(values[0])); ++__pyx_temp) { + __Pyx_Arg_XDECREF_FASTCALL(values[__pyx_temp]); + } + } + __Pyx_RefNannyFinishContext(); + return __pyx_r; +} + +static PyObject *__pyx_pf_9selfdrive_6modeld_7runners_13snpemodel_pyx_9SNPEModel_4__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_9selfdrive_6modeld_7runners_13snpemodel_pyx_SNPEModel *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state) { + PyObject *__pyx_r = NULL; + __Pyx_RefNannyDeclarations + int __pyx_lineno = 0; + const char *__pyx_filename = NULL; + int __pyx_clineno = 0; + __Pyx_RefNannySetupContext("__setstate_cython__", 1); + + /* "(tree fragment)":4 + * raise TypeError, "no default __reduce__ due to non-trivial __cinit__" + * def __setstate_cython__(self, __pyx_state): + * raise TypeError, "no default __reduce__ due to non-trivial __cinit__" # <<<<<<<<<<<<<< + */ + __Pyx_Raise(__pyx_builtin_TypeError, __pyx_kp_s_no_default___reduce___due_to_non, 0, 0); + __PYX_ERR(0, 4, __pyx_L1_error) + + /* "(tree fragment)":3 + * def __reduce_cython__(self): + * raise TypeError, "no default __reduce__ due to non-trivial __cinit__" + * def __setstate_cython__(self, __pyx_state): # <<<<<<<<<<<<<< + * raise TypeError, "no default __reduce__ due to non-trivial __cinit__" + */ + + /* function exit code */ + __pyx_L1_error:; + __Pyx_AddTraceback("selfdrive.modeld.runners.snpemodel_pyx.SNPEModel.__setstate_cython__", __pyx_clineno, __pyx_lineno, __pyx_filename); + __pyx_r = NULL; + __Pyx_XGIVEREF(__pyx_r); + __Pyx_RefNannyFinishContext(); + return __pyx_r; +} + +static PyObject *__pyx_tp_new_9selfdrive_6modeld_7runners_13snpemodel_pyx_SNPEModel(PyTypeObject *t, PyObject *a, PyObject *k) { + PyObject *o = __Pyx_PyType_GetSlot(__pyx_ptype_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel, tp_new, newfunc)(t, a, k); + if (unlikely(!o)) return 0; + if (unlikely(__pyx_pw_9selfdrive_6modeld_7runners_13snpemodel_pyx_9SNPEModel_1__cinit__(o, a, k) < 0)) goto bad; + return o; + bad: + Py_DECREF(o); o = 0; + return NULL; +} + +static PyMethodDef __pyx_methods_9selfdrive_6modeld_7runners_13snpemodel_pyx_SNPEModel[] = { + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_9selfdrive_6modeld_7runners_13snpemodel_pyx_9SNPEModel_3__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_9selfdrive_6modeld_7runners_13snpemodel_pyx_9SNPEModel_5__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type_9selfdrive_6modeld_7runners_13snpemodel_pyx_SNPEModel_slots[] = { + {Py_tp_methods, (void *)__pyx_methods_9selfdrive_6modeld_7runners_13snpemodel_pyx_SNPEModel}, + {Py_tp_new, (void *)__pyx_tp_new_9selfdrive_6modeld_7runners_13snpemodel_pyx_SNPEModel}, + {0, 0}, +}; +static PyType_Spec __pyx_type_9selfdrive_6modeld_7runners_13snpemodel_pyx_SNPEModel_spec = { + "selfdrive.modeld.runners.snpemodel_pyx.SNPEModel", + sizeof(struct __pyx_obj_9selfdrive_6modeld_7runners_13snpemodel_pyx_SNPEModel), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_FINALIZE, + __pyx_type_9selfdrive_6modeld_7runners_13snpemodel_pyx_SNPEModel_slots, +}; +#else + +static PyTypeObject __pyx_type_9selfdrive_6modeld_7runners_13snpemodel_pyx_SNPEModel = { + PyVarObject_HEAD_INIT(0, 0) + "selfdrive.modeld.runners.snpemodel_pyx.""SNPEModel", /*tp_name*/ + sizeof(struct __pyx_obj_9selfdrive_6modeld_7runners_13snpemodel_pyx_SNPEModel), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + 0, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + 0, /*tp_repr*/ + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_FINALIZE, /*tp_flags*/ + 0, /*tp_doc*/ + 0, /*tp_traverse*/ + 0, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_9selfdrive_6modeld_7runners_13snpemodel_pyx_SNPEModel, /*tp_methods*/ + 0, /*tp_members*/ + 0, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_9selfdrive_6modeld_7runners_13snpemodel_pyx_SNPEModel, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif +static struct __pyx_vtabstruct_array __pyx_vtable_array; + +static PyObject *__pyx_tp_new_array(PyTypeObject *t, PyObject *a, PyObject *k) { + struct __pyx_array_obj *p; + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + p = 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PyObject *n) { + PyObject *v = __Pyx_PyObject_GenericGetAttr(o, n); + if (!v && PyErr_ExceptionMatches(PyExc_AttributeError)) { + PyErr_Clear(); + v = __pyx_array___getattr__(o, n); + } + return v; +} + +static PyObject *__pyx_getprop___pyx_array_memview(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_5array_7memview_1__get__(o); +} + +static PyMethodDef __pyx_methods_array[] = { + {"__getattr__", (PyCFunction)__pyx_array___getattr__, METH_O|METH_COEXIST, 0}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_array_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_array_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; + +static struct PyGetSetDef __pyx_getsets_array[] = { + {(char *)"memview", __pyx_getprop___pyx_array_memview, 0, (char *)0, 0}, + {0, 0, 0, 0, 0} +}; 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PY_MAJOR_VERSION < 3 + 0, /*bf_getreadbuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getwritebuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getsegcount*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getcharbuffer*/ + #endif + __pyx_array_getbuffer, /*bf_getbuffer*/ + 0, /*bf_releasebuffer*/ +}; + +static PyTypeObject __pyx_type___pyx_array = { + PyVarObject_HEAD_INIT(0, 0) + "selfdrive.modeld.runners.snpemodel_pyx.""array", /*tp_name*/ + sizeof(struct __pyx_array_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_array, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + 0, /*tp_repr*/ + 0, /*tp_as_number*/ + &__pyx_tp_as_sequence_array, /*tp_as_sequence*/ + &__pyx_tp_as_mapping_array, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + __pyx_tp_getattro_array, /*tp_getattro*/ + 0, /*tp_setattro*/ + &__pyx_tp_as_buffer_array, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_SEQUENCE, /*tp_flags*/ + 0, /*tp_doc*/ + 0, /*tp_traverse*/ + 0, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_array, /*tp_methods*/ + 0, /*tp_members*/ + __pyx_getsets_array, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_array, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif + +static PyObject *__pyx_tp_new_Enum(PyTypeObject *t, CYTHON_UNUSED PyObject *a, CYTHON_UNUSED PyObject *k) { + struct __pyx_MemviewEnum_obj *p; + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + p = ((struct __pyx_MemviewEnum_obj *)o); + p->name = Py_None; Py_INCREF(Py_None); + return o; +} + +static void __pyx_tp_dealloc_Enum(PyObject *o) { + struct __pyx_MemviewEnum_obj *p = (struct __pyx_MemviewEnum_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && !__Pyx_PyObject_GC_IsFinalized(o)) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_Enum) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + PyObject_GC_UnTrack(o); + Py_CLEAR(p->name); + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} + +static int __pyx_tp_traverse_Enum(PyObject *o, visitproc v, void *a) { + int e; + struct __pyx_MemviewEnum_obj *p = (struct __pyx_MemviewEnum_obj *)o; + if (p->name) { + e = (*v)(p->name, a); if (e) return e; + } + return 0; +} + +static int __pyx_tp_clear_Enum(PyObject *o) { + PyObject* tmp; + struct __pyx_MemviewEnum_obj *p = (struct __pyx_MemviewEnum_obj *)o; + tmp = ((PyObject*)p->name); + p->name = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + return 0; +} + +static PyObject *__pyx_specialmethod___pyx_MemviewEnum___repr__(PyObject *self, CYTHON_UNUSED PyObject *arg) { + return __pyx_MemviewEnum___repr__(self); +} + +static PyMethodDef __pyx_methods_Enum[] = { + {"__repr__", (PyCFunction)__pyx_specialmethod___pyx_MemviewEnum___repr__, METH_NOARGS|METH_COEXIST, 0}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_MemviewEnum_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_MemviewEnum_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type___pyx_MemviewEnum_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_Enum}, + {Py_tp_repr, (void *)__pyx_MemviewEnum___repr__}, + {Py_tp_traverse, (void *)__pyx_tp_traverse_Enum}, + {Py_tp_clear, (void *)__pyx_tp_clear_Enum}, + {Py_tp_methods, (void *)__pyx_methods_Enum}, + {Py_tp_init, (void *)__pyx_MemviewEnum___init__}, + {Py_tp_new, (void *)__pyx_tp_new_Enum}, + {0, 0}, +}; +static PyType_Spec __pyx_type___pyx_MemviewEnum_spec = { + "selfdrive.modeld.runners.snpemodel_pyx.Enum", + sizeof(struct __pyx_MemviewEnum_obj), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, + __pyx_type___pyx_MemviewEnum_slots, +}; +#else + +static PyTypeObject __pyx_type___pyx_MemviewEnum = { + PyVarObject_HEAD_INIT(0, 0) + "selfdrive.modeld.runners.snpemodel_pyx.""Enum", /*tp_name*/ + sizeof(struct __pyx_MemviewEnum_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_Enum, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + __pyx_MemviewEnum___repr__, /*tp_repr*/ + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, /*tp_flags*/ + 0, /*tp_doc*/ + __pyx_tp_traverse_Enum, /*tp_traverse*/ + __pyx_tp_clear_Enum, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_Enum, /*tp_methods*/ + 0, /*tp_members*/ + 0, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + __pyx_MemviewEnum___init__, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_Enum, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif +static struct __pyx_vtabstruct_memoryview __pyx_vtable_memoryview; + +static PyObject *__pyx_tp_new_memoryview(PyTypeObject *t, PyObject *a, PyObject *k) { + struct __pyx_memoryview_obj *p; + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + p = ((struct __pyx_memoryview_obj *)o); + p->__pyx_vtab = __pyx_vtabptr_memoryview; + p->obj = Py_None; Py_INCREF(Py_None); + p->_size = Py_None; Py_INCREF(Py_None); + p->_array_interface = Py_None; Py_INCREF(Py_None); + p->view.obj = NULL; + if (unlikely(__pyx_memoryview___cinit__(o, a, k) < 0)) goto bad; + return o; + bad: + Py_DECREF(o); o = 0; + return NULL; +} + +static void __pyx_tp_dealloc_memoryview(PyObject *o) { + struct __pyx_memoryview_obj *p = (struct __pyx_memoryview_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && !__Pyx_PyObject_GC_IsFinalized(o)) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_memoryview) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + PyObject_GC_UnTrack(o); + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_memoryview___dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + Py_CLEAR(p->obj); + Py_CLEAR(p->_size); + Py_CLEAR(p->_array_interface); + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} + +static int __pyx_tp_traverse_memoryview(PyObject *o, visitproc v, void *a) { + int e; + struct __pyx_memoryview_obj *p = (struct __pyx_memoryview_obj *)o; + if (p->obj) { + e = (*v)(p->obj, a); if (e) return e; + } + if (p->_size) { + e = (*v)(p->_size, a); if (e) return e; + } + if (p->_array_interface) { + e = (*v)(p->_array_interface, a); if (e) return e; + } + if (p->view.obj) { + e = (*v)(p->view.obj, a); if (e) return e; + } + return 0; +} + +static int __pyx_tp_clear_memoryview(PyObject *o) { + PyObject* tmp; + struct __pyx_memoryview_obj *p = (struct __pyx_memoryview_obj *)o; + tmp = ((PyObject*)p->obj); + p->obj = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + tmp = ((PyObject*)p->_size); + p->_size = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + tmp = ((PyObject*)p->_array_interface); + p->_array_interface = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + Py_CLEAR(p->view.obj); + return 0; +} +static PyObject *__pyx_sq_item_memoryview(PyObject *o, Py_ssize_t i) { + PyObject *r; + PyObject *x = PyInt_FromSsize_t(i); if(!x) return 0; + r = Py_TYPE(o)->tp_as_mapping->mp_subscript(o, x); + Py_DECREF(x); + return r; +} + +static int __pyx_mp_ass_subscript_memoryview(PyObject *o, PyObject *i, PyObject *v) { + if (v) { + return __pyx_memoryview___setitem__(o, i, v); + } + else { + __Pyx_TypeName o_type_name; + o_type_name = __Pyx_PyType_GetName(Py_TYPE(o)); + PyErr_Format(PyExc_NotImplementedError, + "Subscript deletion not supported by " __Pyx_FMT_TYPENAME, o_type_name); + __Pyx_DECREF_TypeName(o_type_name); + return -1; + } +} + +static PyObject *__pyx_getprop___pyx_memoryview_T(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_1T_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_base(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_4base_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_shape(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_5shape_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_strides(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_7strides_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_suboffsets(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_10suboffsets_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_ndim(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_4ndim_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_itemsize(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_8itemsize_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_nbytes(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_6nbytes_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_size(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_4size_1__get__(o); +} + +static PyObject *__pyx_specialmethod___pyx_memoryview___repr__(PyObject *self, CYTHON_UNUSED PyObject *arg) { + return __pyx_memoryview___repr__(self); +} + +static PyMethodDef __pyx_methods_memoryview[] = { + {"__repr__", (PyCFunction)__pyx_specialmethod___pyx_memoryview___repr__, METH_NOARGS|METH_COEXIST, 0}, + {"is_c_contig", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_memoryview_is_c_contig, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"is_f_contig", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_memoryview_is_f_contig, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"copy", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_memoryview_copy, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"copy_fortran", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_memoryview_copy_fortran, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_memoryview_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_memoryview_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; + +static struct PyGetSetDef __pyx_getsets_memoryview[] = { + {(char *)"T", __pyx_getprop___pyx_memoryview_T, 0, (char *)0, 0}, + {(char *)"base", __pyx_getprop___pyx_memoryview_base, 0, (char *)0, 0}, + {(char *)"shape", __pyx_getprop___pyx_memoryview_shape, 0, (char *)0, 0}, + {(char *)"strides", __pyx_getprop___pyx_memoryview_strides, 0, (char *)0, 0}, + {(char *)"suboffsets", __pyx_getprop___pyx_memoryview_suboffsets, 0, (char *)0, 0}, + {(char *)"ndim", __pyx_getprop___pyx_memoryview_ndim, 0, (char *)0, 0}, + {(char *)"itemsize", __pyx_getprop___pyx_memoryview_itemsize, 0, (char *)0, 0}, + {(char *)"nbytes", __pyx_getprop___pyx_memoryview_nbytes, 0, (char *)0, 0}, + {(char *)"size", __pyx_getprop___pyx_memoryview_size, 0, (char *)0, 0}, + {0, 0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +#if !CYTHON_COMPILING_IN_LIMITED_API + +static PyBufferProcs __pyx_tp_as_buffer_memoryview = { + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getreadbuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getwritebuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getsegcount*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getcharbuffer*/ + #endif + __pyx_memoryview_getbuffer, /*bf_getbuffer*/ + 0, /*bf_releasebuffer*/ +}; +#endif +static PyType_Slot __pyx_type___pyx_memoryview_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_memoryview}, + {Py_tp_repr, (void *)__pyx_memoryview___repr__}, + {Py_sq_length, (void *)__pyx_memoryview___len__}, + {Py_sq_item, (void *)__pyx_sq_item_memoryview}, + {Py_mp_length, (void *)__pyx_memoryview___len__}, + {Py_mp_subscript, (void *)__pyx_memoryview___getitem__}, + {Py_mp_ass_subscript, (void *)__pyx_mp_ass_subscript_memoryview}, + {Py_tp_str, (void *)__pyx_memoryview___str__}, + #if defined(Py_bf_getbuffer) + {Py_bf_getbuffer, (void *)__pyx_memoryview_getbuffer}, + #endif + {Py_tp_traverse, (void *)__pyx_tp_traverse_memoryview}, + {Py_tp_clear, (void *)__pyx_tp_clear_memoryview}, + {Py_tp_methods, (void *)__pyx_methods_memoryview}, + {Py_tp_getset, (void *)__pyx_getsets_memoryview}, + {Py_tp_new, (void *)__pyx_tp_new_memoryview}, + {0, 0}, +}; +static PyType_Spec __pyx_type___pyx_memoryview_spec = { + "selfdrive.modeld.runners.snpemodel_pyx.memoryview", + sizeof(struct __pyx_memoryview_obj), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, + __pyx_type___pyx_memoryview_slots, +}; +#else + +static PySequenceMethods __pyx_tp_as_sequence_memoryview = { + __pyx_memoryview___len__, /*sq_length*/ + 0, /*sq_concat*/ + 0, /*sq_repeat*/ + __pyx_sq_item_memoryview, /*sq_item*/ + 0, /*sq_slice*/ + 0, /*sq_ass_item*/ + 0, /*sq_ass_slice*/ + 0, /*sq_contains*/ + 0, /*sq_inplace_concat*/ + 0, /*sq_inplace_repeat*/ +}; + +static PyMappingMethods __pyx_tp_as_mapping_memoryview = { + __pyx_memoryview___len__, /*mp_length*/ + __pyx_memoryview___getitem__, /*mp_subscript*/ + __pyx_mp_ass_subscript_memoryview, /*mp_ass_subscript*/ +}; + +static PyBufferProcs __pyx_tp_as_buffer_memoryview = { + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getreadbuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getwritebuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getsegcount*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getcharbuffer*/ + #endif + __pyx_memoryview_getbuffer, /*bf_getbuffer*/ + 0, /*bf_releasebuffer*/ +}; + +static PyTypeObject __pyx_type___pyx_memoryview = { + PyVarObject_HEAD_INIT(0, 0) + "selfdrive.modeld.runners.snpemodel_pyx.""memoryview", /*tp_name*/ + sizeof(struct __pyx_memoryview_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_memoryview, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + __pyx_memoryview___repr__, /*tp_repr*/ + 0, /*tp_as_number*/ + &__pyx_tp_as_sequence_memoryview, /*tp_as_sequence*/ + &__pyx_tp_as_mapping_memoryview, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + __pyx_memoryview___str__, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + &__pyx_tp_as_buffer_memoryview, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, /*tp_flags*/ + 0, /*tp_doc*/ + __pyx_tp_traverse_memoryview, /*tp_traverse*/ + __pyx_tp_clear_memoryview, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_memoryview, /*tp_methods*/ + 0, /*tp_members*/ + __pyx_getsets_memoryview, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_memoryview, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif +static struct __pyx_vtabstruct__memoryviewslice __pyx_vtable__memoryviewslice; + +static PyObject *__pyx_tp_new__memoryviewslice(PyTypeObject *t, PyObject *a, PyObject *k) { + struct __pyx_memoryviewslice_obj *p; + PyObject *o = __pyx_tp_new_memoryview(t, a, k); + if (unlikely(!o)) return 0; + p = ((struct __pyx_memoryviewslice_obj *)o); + p->__pyx_base.__pyx_vtab = (struct __pyx_vtabstruct_memoryview*)__pyx_vtabptr__memoryviewslice; + new((void*)&(p->from_slice)) __Pyx_memviewslice(); + p->from_object = Py_None; Py_INCREF(Py_None); + p->from_slice.memview = NULL; + return o; +} + +static void __pyx_tp_dealloc__memoryviewslice(PyObject *o) { + struct __pyx_memoryviewslice_obj *p = (struct __pyx_memoryviewslice_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && !__Pyx_PyObject_GC_IsFinalized(o)) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc__memoryviewslice) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + PyObject_GC_UnTrack(o); + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_memoryviewslice___dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + __Pyx_call_destructor(p->from_slice); + Py_CLEAR(p->from_object); + PyObject_GC_Track(o); + __pyx_tp_dealloc_memoryview(o); +} + +static int __pyx_tp_traverse__memoryviewslice(PyObject *o, visitproc v, void *a) { + int e; + struct __pyx_memoryviewslice_obj *p = (struct __pyx_memoryviewslice_obj *)o; + e = __pyx_tp_traverse_memoryview(o, v, a); if (e) return e; + if (p->from_object) { + e = (*v)(p->from_object, a); if (e) return e; + } + return 0; +} + +static int __pyx_tp_clear__memoryviewslice(PyObject *o) { + PyObject* tmp; + struct __pyx_memoryviewslice_obj *p = (struct __pyx_memoryviewslice_obj *)o; + __pyx_tp_clear_memoryview(o); + tmp = ((PyObject*)p->from_object); + p->from_object = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + __PYX_XCLEAR_MEMVIEW(&p->from_slice, 1); + return 0; +} + +static PyMethodDef __pyx_methods__memoryviewslice[] = { + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_memoryviewslice_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_memoryviewslice_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type___pyx_memoryviewslice_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc__memoryviewslice}, + {Py_tp_doc, (void *)PyDoc_STR("Internal class for passing memoryview slices to Python")}, + {Py_tp_traverse, (void *)__pyx_tp_traverse__memoryviewslice}, + {Py_tp_clear, (void *)__pyx_tp_clear__memoryviewslice}, + {Py_tp_methods, (void *)__pyx_methods__memoryviewslice}, + {Py_tp_new, (void *)__pyx_tp_new__memoryviewslice}, + {0, 0}, +}; +static PyType_Spec __pyx_type___pyx_memoryviewslice_spec = { + "selfdrive.modeld.runners.snpemodel_pyx._memoryviewslice", + sizeof(struct __pyx_memoryviewslice_obj), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC|Py_TPFLAGS_SEQUENCE, + __pyx_type___pyx_memoryviewslice_slots, +}; +#else + +static PyTypeObject __pyx_type___pyx_memoryviewslice = { + PyVarObject_HEAD_INIT(0, 0) + "selfdrive.modeld.runners.snpemodel_pyx.""_memoryviewslice", /*tp_name*/ + sizeof(struct __pyx_memoryviewslice_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc__memoryviewslice, 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+ #else + Py_DECREF(__pyx_m); + if (pystate_addmodule_run) { + PyObject *tp, *value, *tb; + PyErr_Fetch(&tp, &value, &tb); + PyState_RemoveModule(&__pyx_moduledef); + PyErr_Restore(tp, value, tb); + } + #endif + } else if (!PyErr_Occurred()) { + PyErr_SetString(PyExc_ImportError, "init selfdrive.modeld.runners.snpemodel_pyx"); + } + __pyx_L0:; + __Pyx_RefNannyFinishContext(); + #if CYTHON_PEP489_MULTI_PHASE_INIT + return (__pyx_m != NULL) ? 0 : -1; + #elif PY_MAJOR_VERSION >= 3 + return __pyx_m; + #else + return; + #endif +} +/* #### Code section: cleanup_globals ### */ +/* #### Code section: cleanup_module ### */ +/* #### Code section: main_method ### */ +/* #### Code section: utility_code_pragmas ### */ +#ifdef _MSC_VER +#pragma warning( push ) +/* Warning 4127: conditional expression is constant + * Cython uses constant conditional expressions to allow in inline functions to be optimized at + * compile-time, so this warning is not useful + */ +#pragma warning( disable : 4127 ) +#endif + + + +/* #### Code section: utility_code_def ### */ + +/* --- Runtime support code --- */ +/* Refnanny */ +#if CYTHON_REFNANNY +static __Pyx_RefNannyAPIStruct *__Pyx_RefNannyImportAPI(const char *modname) { + PyObject *m = NULL, *p = NULL; 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+ Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); +#endif +} +static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { +#if PY_VERSION_HEX >= 0x030C00A6 + PyObject* exc_value; + exc_value = tstate->current_exception; + tstate->current_exception = 0; + *value = exc_value; + *type = NULL; + *tb = NULL; + if (exc_value) { + *type = (PyObject*) Py_TYPE(exc_value); + Py_INCREF(*type); + #if CYTHON_COMPILING_IN_CPYTHON + *tb = ((PyBaseExceptionObject*) exc_value)->traceback; + Py_XINCREF(*tb); + #else + *tb = PyException_GetTraceback(exc_value); + #endif + } +#else + *type = tstate->curexc_type; + *value = tstate->curexc_value; + *tb = tstate->curexc_traceback; + tstate->curexc_type = 0; + tstate->curexc_value = 0; + tstate->curexc_traceback = 0; +#endif +} +#endif + +/* PyObjectGetAttrStr */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStr(PyObject* obj, PyObject* attr_name) { + PyTypeObject* tp = Py_TYPE(obj); + if (likely(tp->tp_getattro)) + return tp->tp_getattro(obj, attr_name); +#if PY_MAJOR_VERSION < 3 + if (likely(tp->tp_getattr)) + return tp->tp_getattr(obj, PyString_AS_STRING(attr_name)); +#endif + return PyObject_GetAttr(obj, attr_name); +} +#endif + +/* PyObjectGetAttrStrNoError */ +#if __PYX_LIMITED_VERSION_HEX < 0x030d00A1 +static void __Pyx_PyObject_GetAttrStr_ClearAttributeError(void) { + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + if (likely(__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) + __Pyx_PyErr_Clear(); +} +#endif +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name) { + PyObject *result; +#if __PYX_LIMITED_VERSION_HEX >= 0x030d00A1 + (void) PyObject_GetOptionalAttr(obj, attr_name, &result); + return result; +#else +#if CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_TYPE_SLOTS && PY_VERSION_HEX >= 0x030700B1 + PyTypeObject* tp = Py_TYPE(obj); + if (likely(tp->tp_getattro == PyObject_GenericGetAttr)) { + return _PyObject_GenericGetAttrWithDict(obj, attr_name, NULL, 1); + } +#endif + result = __Pyx_PyObject_GetAttrStr(obj, attr_name); + if (unlikely(!result)) { + __Pyx_PyObject_GetAttrStr_ClearAttributeError(); + } + return result; +#endif +} + +/* GetBuiltinName */ +static PyObject *__Pyx_GetBuiltinName(PyObject *name) { + PyObject* result = __Pyx_PyObject_GetAttrStrNoError(__pyx_b, name); + if (unlikely(!result) && !PyErr_Occurred()) { + PyErr_Format(PyExc_NameError, +#if PY_MAJOR_VERSION >= 3 + "name '%U' is not defined", name); +#else + "name '%.200s' is not defined", PyString_AS_STRING(name)); +#endif + } + return result; +} + +/* TupleAndListFromArray */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE void __Pyx_copy_object_array(PyObject *const *CYTHON_RESTRICT src, PyObject** CYTHON_RESTRICT dest, Py_ssize_t length) { + PyObject *v; + Py_ssize_t i; + for (i = 0; i < length; i++) { + v = dest[i] = src[i]; + Py_INCREF(v); + } +} +static CYTHON_INLINE PyObject * +__Pyx_PyTuple_FromArray(PyObject *const *src, Py_ssize_t n) +{ + PyObject *res; + if (n <= 0) { + Py_INCREF(__pyx_empty_tuple); + return __pyx_empty_tuple; + } + res = PyTuple_New(n); + if (unlikely(res == NULL)) return NULL; + __Pyx_copy_object_array(src, ((PyTupleObject*)res)->ob_item, n); + return res; +} +static CYTHON_INLINE PyObject * +__Pyx_PyList_FromArray(PyObject *const *src, Py_ssize_t n) +{ + PyObject *res; + if (n <= 0) { + return PyList_New(0); + } + res = PyList_New(n); + if (unlikely(res == NULL)) return NULL; + __Pyx_copy_object_array(src, ((PyListObject*)res)->ob_item, n); + return res; +} +#endif + +/* BytesEquals */ +static CYTHON_INLINE int __Pyx_PyBytes_Equals(PyObject* s1, PyObject* s2, int equals) { +#if CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API + return PyObject_RichCompareBool(s1, s2, equals); +#else + if (s1 == s2) { + return (equals == Py_EQ); + } else if (PyBytes_CheckExact(s1) & PyBytes_CheckExact(s2)) { + const char *ps1, *ps2; + Py_ssize_t length = PyBytes_GET_SIZE(s1); + if (length != PyBytes_GET_SIZE(s2)) + return (equals == Py_NE); + ps1 = PyBytes_AS_STRING(s1); + ps2 = PyBytes_AS_STRING(s2); + if (ps1[0] != ps2[0]) { + return (equals == Py_NE); + } else if (length == 1) { + return (equals == Py_EQ); + } else { + int result; +#if CYTHON_USE_UNICODE_INTERNALS && (PY_VERSION_HEX < 0x030B0000) + Py_hash_t hash1, hash2; + hash1 = ((PyBytesObject*)s1)->ob_shash; + hash2 = ((PyBytesObject*)s2)->ob_shash; + if (hash1 != hash2 && hash1 != -1 && hash2 != -1) { + return (equals == Py_NE); + } +#endif + result = memcmp(ps1, ps2, (size_t)length); + return (equals == Py_EQ) ? (result == 0) : (result != 0); + } + } else if ((s1 == Py_None) & PyBytes_CheckExact(s2)) { + return (equals == Py_NE); + } else if ((s2 == Py_None) & PyBytes_CheckExact(s1)) { + return (equals == Py_NE); + } else { + int result; + PyObject* py_result = PyObject_RichCompare(s1, s2, equals); + if (!py_result) + return -1; + result = __Pyx_PyObject_IsTrue(py_result); + Py_DECREF(py_result); + return result; + } +#endif +} + +/* UnicodeEquals */ +static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int equals) { +#if CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API + return PyObject_RichCompareBool(s1, s2, equals); +#else +#if PY_MAJOR_VERSION < 3 + PyObject* owned_ref = NULL; +#endif + int s1_is_unicode, s2_is_unicode; + if (s1 == s2) { + goto return_eq; + } + s1_is_unicode = PyUnicode_CheckExact(s1); + s2_is_unicode = PyUnicode_CheckExact(s2); +#if PY_MAJOR_VERSION < 3 + if ((s1_is_unicode & (!s2_is_unicode)) && PyString_CheckExact(s2)) { + owned_ref = PyUnicode_FromObject(s2); + if (unlikely(!owned_ref)) + return -1; + s2 = owned_ref; + s2_is_unicode = 1; + } else if ((s2_is_unicode & (!s1_is_unicode)) && PyString_CheckExact(s1)) { + owned_ref = PyUnicode_FromObject(s1); + if (unlikely(!owned_ref)) + return -1; + s1 = owned_ref; + s1_is_unicode = 1; + } else if (((!s2_is_unicode) & (!s1_is_unicode))) { + return __Pyx_PyBytes_Equals(s1, s2, equals); + } +#endif + if (s1_is_unicode & s2_is_unicode) { + Py_ssize_t length; + int kind; + void *data1, *data2; + if (unlikely(__Pyx_PyUnicode_READY(s1) < 0) || unlikely(__Pyx_PyUnicode_READY(s2) < 0)) + return -1; + length = __Pyx_PyUnicode_GET_LENGTH(s1); + if (length != __Pyx_PyUnicode_GET_LENGTH(s2)) { + goto return_ne; + } +#if CYTHON_USE_UNICODE_INTERNALS + { + Py_hash_t hash1, hash2; + #if CYTHON_PEP393_ENABLED + hash1 = ((PyASCIIObject*)s1)->hash; + hash2 = ((PyASCIIObject*)s2)->hash; + #else + hash1 = ((PyUnicodeObject*)s1)->hash; + hash2 = ((PyUnicodeObject*)s2)->hash; + #endif + if (hash1 != hash2 && hash1 != -1 && hash2 != -1) { + goto return_ne; + } + } +#endif + kind = __Pyx_PyUnicode_KIND(s1); + if (kind != __Pyx_PyUnicode_KIND(s2)) { + goto return_ne; + } + data1 = __Pyx_PyUnicode_DATA(s1); + data2 = __Pyx_PyUnicode_DATA(s2); + if (__Pyx_PyUnicode_READ(kind, data1, 0) != __Pyx_PyUnicode_READ(kind, data2, 0)) { + goto return_ne; + } else if (length == 1) { + goto return_eq; + } else { + int result = memcmp(data1, data2, (size_t)(length * kind)); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_EQ) ? (result == 0) : (result != 0); + } + } else if ((s1 == Py_None) & s2_is_unicode) { + goto return_ne; + } else if ((s2 == Py_None) & s1_is_unicode) { + goto return_ne; + } else { + int result; + PyObject* py_result = PyObject_RichCompare(s1, s2, equals); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + if (!py_result) + return -1; + result = __Pyx_PyObject_IsTrue(py_result); + Py_DECREF(py_result); + return result; + } +return_eq: + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_EQ); +return_ne: + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_NE); +#endif +} + +/* fastcall */ +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE PyObject * __Pyx_GetKwValue_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues, PyObject *s) +{ + Py_ssize_t i, n = PyTuple_GET_SIZE(kwnames); + for (i = 0; i < n; i++) + { + if (s == PyTuple_GET_ITEM(kwnames, i)) return kwvalues[i]; + } + for (i = 0; i < n; i++) + { + int eq = __Pyx_PyUnicode_Equals(s, PyTuple_GET_ITEM(kwnames, i), Py_EQ); + if (unlikely(eq != 0)) { + if (unlikely(eq < 0)) return NULL; + return kwvalues[i]; + } + } + return NULL; +} +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 +CYTHON_UNUSED static PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues) { + Py_ssize_t i, nkwargs = PyTuple_GET_SIZE(kwnames); + PyObject *dict; + dict = PyDict_New(); + if (unlikely(!dict)) + return NULL; + for (i=0; i= 3 + "%s() got multiple values for keyword argument '%U'", func_name, kw_name); + #else + "%s() got multiple values for keyword argument '%s'", func_name, + PyString_AsString(kw_name)); + #endif +} + +/* ParseKeywords */ +static int __Pyx_ParseOptionalKeywords( + PyObject *kwds, + PyObject *const *kwvalues, + PyObject **argnames[], + PyObject *kwds2, + PyObject *values[], + Py_ssize_t num_pos_args, + const char* function_name) +{ + PyObject *key = 0, *value = 0; + Py_ssize_t pos = 0; + PyObject*** name; + PyObject*** first_kw_arg = argnames + num_pos_args; + int kwds_is_tuple = CYTHON_METH_FASTCALL && likely(PyTuple_Check(kwds)); + while (1) { + Py_XDECREF(key); key = NULL; + Py_XDECREF(value); value = NULL; + if (kwds_is_tuple) { + Py_ssize_t size; +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(kwds); +#else + size = PyTuple_Size(kwds); + if (size < 0) goto bad; +#endif + if (pos >= size) break; +#if CYTHON_AVOID_BORROWED_REFS + key = __Pyx_PySequence_ITEM(kwds, pos); + if (!key) goto bad; +#elif CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kwds, pos); +#else + key = PyTuple_GetItem(kwds, pos); + if (!key) goto bad; +#endif + value = kwvalues[pos]; + pos++; + } + else + { + if (!PyDict_Next(kwds, &pos, &key, &value)) break; +#if CYTHON_AVOID_BORROWED_REFS + Py_INCREF(key); +#endif + } + name = first_kw_arg; + while (*name && (**name != key)) name++; + if (*name) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + Py_INCREF(value); + Py_DECREF(key); +#endif + key = NULL; + value = NULL; + continue; + } +#if !CYTHON_AVOID_BORROWED_REFS + Py_INCREF(key); +#endif + Py_INCREF(value); + name = first_kw_arg; + #if PY_MAJOR_VERSION < 3 + if (likely(PyString_Check(key))) { + while (*name) { + if ((CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**name) == PyString_GET_SIZE(key)) + && _PyString_Eq(**name, key)) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + value = NULL; +#endif + break; + } + name++; + } + if (*name) continue; + else { + PyObject*** argname = argnames; + while (argname != first_kw_arg) { + if ((**argname == key) || ( + (CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**argname) == PyString_GET_SIZE(key)) + && _PyString_Eq(**argname, key))) { + goto arg_passed_twice; + } + argname++; + } + } + } else + #endif + if (likely(PyUnicode_Check(key))) { + while (*name) { + int cmp = ( + #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 + (__Pyx_PyUnicode_GET_LENGTH(**name) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : + #endif + PyUnicode_Compare(**name, key) + ); + if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; + if (cmp == 0) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + value = NULL; +#endif + break; + } + name++; + } + if (*name) continue; + else { + PyObject*** argname = argnames; + while (argname != first_kw_arg) { + int cmp = (**argname == key) ? 0 : + #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 + (__Pyx_PyUnicode_GET_LENGTH(**argname) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : + #endif + PyUnicode_Compare(**argname, key); + if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; + if (cmp == 0) goto arg_passed_twice; + argname++; + } + } + } else + goto invalid_keyword_type; + if (kwds2) { + if (unlikely(PyDict_SetItem(kwds2, key, value))) goto bad; + } else { + goto invalid_keyword; + } + } + Py_XDECREF(key); + Py_XDECREF(value); + return 0; +arg_passed_twice: + __Pyx_RaiseDoubleKeywordsError(function_name, key); + goto bad; +invalid_keyword_type: + PyErr_Format(PyExc_TypeError, + "%.200s() keywords must be strings", function_name); + goto bad; +invalid_keyword: + #if PY_MAJOR_VERSION < 3 + PyErr_Format(PyExc_TypeError, + "%.200s() got an unexpected keyword argument '%.200s'", + function_name, PyString_AsString(key)); + #else + PyErr_Format(PyExc_TypeError, + "%s() got an unexpected keyword argument '%U'", + function_name, key); + #endif +bad: + Py_XDECREF(key); + Py_XDECREF(value); + return -1; +} + +/* ArgTypeTest */ +static int __Pyx__ArgTypeTest(PyObject *obj, PyTypeObject *type, const char *name, int exact) +{ + __Pyx_TypeName type_name; + __Pyx_TypeName obj_type_name; + if (unlikely(!type)) { + PyErr_SetString(PyExc_SystemError, "Missing type object"); + return 0; + } + else if (exact) { + #if PY_MAJOR_VERSION == 2 + if ((type == &PyBaseString_Type) && likely(__Pyx_PyBaseString_CheckExact(obj))) return 1; + #endif + } + else { + if (likely(__Pyx_TypeCheck(obj, type))) return 1; + } + type_name = __Pyx_PyType_GetName(type); + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, + "Argument '%.200s' has incorrect type (expected " __Pyx_FMT_TYPENAME + ", got " __Pyx_FMT_TYPENAME ")", name, type_name, obj_type_name); + __Pyx_DECREF_TypeName(type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return 0; +} + +/* RaiseException */ +#if PY_MAJOR_VERSION < 3 +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) { + __Pyx_PyThreadState_declare + CYTHON_UNUSED_VAR(cause); + Py_XINCREF(type); + if (!value || value == Py_None) + value = NULL; + else + Py_INCREF(value); + if (!tb || tb == Py_None) + tb = NULL; + else { + Py_INCREF(tb); + if (!PyTraceBack_Check(tb)) { + PyErr_SetString(PyExc_TypeError, + "raise: arg 3 must be a traceback or None"); + goto raise_error; + } + } + if (PyType_Check(type)) { +#if CYTHON_COMPILING_IN_PYPY + if (!value) { + Py_INCREF(Py_None); + value = Py_None; + } +#endif + PyErr_NormalizeException(&type, &value, &tb); + } else { + if (value) { + PyErr_SetString(PyExc_TypeError, + "instance exception may not have a separate value"); + goto raise_error; + } + value = type; + type = (PyObject*) Py_TYPE(type); + Py_INCREF(type); + if (!PyType_IsSubtype((PyTypeObject *)type, (PyTypeObject *)PyExc_BaseException)) { + PyErr_SetString(PyExc_TypeError, + "raise: exception class must be a subclass of BaseException"); + goto raise_error; + } + } + __Pyx_PyThreadState_assign + __Pyx_ErrRestore(type, value, tb); + return; +raise_error: + Py_XDECREF(value); + Py_XDECREF(type); + Py_XDECREF(tb); + return; +} +#else +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) { + PyObject* owned_instance = NULL; + if (tb == Py_None) { + tb = 0; + } else if (tb && !PyTraceBack_Check(tb)) { + PyErr_SetString(PyExc_TypeError, + "raise: arg 3 must be a traceback or None"); + goto bad; + } + if (value == Py_None) + value = 0; + if (PyExceptionInstance_Check(type)) { + if (value) { + PyErr_SetString(PyExc_TypeError, + "instance exception may not have a separate value"); + goto bad; + } + value = type; + type = (PyObject*) Py_TYPE(value); + } else if (PyExceptionClass_Check(type)) { + PyObject *instance_class = NULL; + if (value && PyExceptionInstance_Check(value)) { + instance_class = (PyObject*) Py_TYPE(value); + if (instance_class != type) { + int is_subclass = PyObject_IsSubclass(instance_class, type); + if (!is_subclass) { + instance_class = NULL; + } else if (unlikely(is_subclass == -1)) { + goto bad; + } else { + type = instance_class; + } + } + } + if (!instance_class) { + PyObject *args; + if (!value) + args = PyTuple_New(0); + else if (PyTuple_Check(value)) { + Py_INCREF(value); + args = value; + } else + args = PyTuple_Pack(1, value); + if (!args) + goto bad; + owned_instance = PyObject_Call(type, args, NULL); + Py_DECREF(args); + if (!owned_instance) + goto bad; + value = owned_instance; + if (!PyExceptionInstance_Check(value)) { + PyErr_Format(PyExc_TypeError, + "calling %R should have returned an instance of " + "BaseException, not %R", + type, Py_TYPE(value)); + goto bad; + } + } + } else { + PyErr_SetString(PyExc_TypeError, + "raise: exception class must be a subclass of BaseException"); + goto bad; + } + if (cause) { + PyObject *fixed_cause; + if (cause == Py_None) { + fixed_cause = NULL; + } else if (PyExceptionClass_Check(cause)) { + fixed_cause = PyObject_CallObject(cause, NULL); + if (fixed_cause == NULL) + goto bad; + } else if (PyExceptionInstance_Check(cause)) { + fixed_cause = cause; + Py_INCREF(fixed_cause); + } else { + PyErr_SetString(PyExc_TypeError, + "exception causes must derive from " + "BaseException"); + goto bad; + } + PyException_SetCause(value, fixed_cause); + } + PyErr_SetObject(type, value); + if (tb) { + #if PY_VERSION_HEX >= 0x030C00A6 + PyException_SetTraceback(value, tb); + #elif CYTHON_FAST_THREAD_STATE + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject* tmp_tb = tstate->curexc_traceback; + if (tb != tmp_tb) { + Py_INCREF(tb); + tstate->curexc_traceback = tb; + Py_XDECREF(tmp_tb); + } +#else + PyObject *tmp_type, *tmp_value, *tmp_tb; + PyErr_Fetch(&tmp_type, &tmp_value, &tmp_tb); + Py_INCREF(tb); + PyErr_Restore(tmp_type, tmp_value, tb); + Py_XDECREF(tmp_tb); +#endif + } +bad: + Py_XDECREF(owned_instance); + return; +} +#endif + +/* PyFunctionFastCall */ +#if CYTHON_FAST_PYCALL && !CYTHON_VECTORCALL +static PyObject* __Pyx_PyFunction_FastCallNoKw(PyCodeObject *co, PyObject **args, Py_ssize_t na, + PyObject *globals) { + PyFrameObject *f; + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject **fastlocals; + Py_ssize_t i; + PyObject *result; + assert(globals != NULL); + /* XXX Perhaps we should create a specialized + PyFrame_New() that doesn't take locals, but does + take builtins without sanity checking them. + */ + assert(tstate != NULL); + f = PyFrame_New(tstate, co, globals, NULL); + if (f == NULL) { + return NULL; + } + fastlocals = __Pyx_PyFrame_GetLocalsplus(f); + for (i = 0; i < na; i++) { + Py_INCREF(*args); + fastlocals[i] = *args++; + } + result = PyEval_EvalFrameEx(f,0); + ++tstate->recursion_depth; + Py_DECREF(f); + --tstate->recursion_depth; + return result; +} +static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs) { + PyCodeObject *co = (PyCodeObject *)PyFunction_GET_CODE(func); + PyObject *globals = PyFunction_GET_GLOBALS(func); + PyObject *argdefs = PyFunction_GET_DEFAULTS(func); + PyObject *closure; +#if PY_MAJOR_VERSION >= 3 + PyObject *kwdefs; +#endif + PyObject *kwtuple, **k; + PyObject **d; + Py_ssize_t nd; + Py_ssize_t nk; + PyObject *result; + assert(kwargs == NULL || PyDict_Check(kwargs)); + nk = kwargs ? PyDict_Size(kwargs) : 0; + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) { + return NULL; + } + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) { + return NULL; + } + #endif + if ( +#if PY_MAJOR_VERSION >= 3 + co->co_kwonlyargcount == 0 && +#endif + likely(kwargs == NULL || nk == 0) && + co->co_flags == (CO_OPTIMIZED | CO_NEWLOCALS | CO_NOFREE)) { + if (argdefs == NULL && co->co_argcount == nargs) { + result = __Pyx_PyFunction_FastCallNoKw(co, args, nargs, globals); + goto done; + } + else if (nargs == 0 && argdefs != NULL + && co->co_argcount == Py_SIZE(argdefs)) { + /* function called with no arguments, but all parameters have + a default value: use default values as arguments .*/ + args = &PyTuple_GET_ITEM(argdefs, 0); + result =__Pyx_PyFunction_FastCallNoKw(co, args, Py_SIZE(argdefs), globals); + goto done; + } + } + if (kwargs != NULL) { + Py_ssize_t pos, i; + kwtuple = PyTuple_New(2 * nk); + if (kwtuple == NULL) { + result = NULL; + goto done; + } + k = &PyTuple_GET_ITEM(kwtuple, 0); + pos = i = 0; + while (PyDict_Next(kwargs, &pos, &k[i], &k[i+1])) { + Py_INCREF(k[i]); + Py_INCREF(k[i+1]); + i += 2; + } + nk = i / 2; + } + else { + kwtuple = NULL; + k = NULL; + } + closure = PyFunction_GET_CLOSURE(func); +#if PY_MAJOR_VERSION >= 3 + kwdefs = PyFunction_GET_KW_DEFAULTS(func); +#endif + if (argdefs != NULL) { + d = &PyTuple_GET_ITEM(argdefs, 0); + nd = Py_SIZE(argdefs); + } + else { + d = NULL; + nd = 0; + } +#if PY_MAJOR_VERSION >= 3 + result = PyEval_EvalCodeEx((PyObject*)co, globals, (PyObject *)NULL, + args, (int)nargs, + k, (int)nk, + d, (int)nd, kwdefs, closure); +#else + result = PyEval_EvalCodeEx(co, globals, (PyObject *)NULL, + args, (int)nargs, + k, (int)nk, + d, (int)nd, closure); +#endif + Py_XDECREF(kwtuple); +done: + Py_LeaveRecursiveCall(); + return result; +} +#endif + +/* PyObjectCall */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw) { + PyObject *result; + ternaryfunc call = Py_TYPE(func)->tp_call; + if (unlikely(!call)) + return PyObject_Call(func, arg, kw); + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) + return NULL; + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) + return NULL; + #endif + result = (*call)(func, arg, kw); + Py_LeaveRecursiveCall(); + if (unlikely(!result) && unlikely(!PyErr_Occurred())) { + PyErr_SetString( + PyExc_SystemError, + "NULL result without error in PyObject_Call"); + } + return result; +} +#endif + +/* PyObjectCallMethO */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg) { + PyObject *self, *result; + PyCFunction cfunc; + cfunc = __Pyx_CyOrPyCFunction_GET_FUNCTION(func); + self = __Pyx_CyOrPyCFunction_GET_SELF(func); + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) + return NULL; + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) + return NULL; + #endif + result = cfunc(self, arg); + Py_LeaveRecursiveCall(); + if (unlikely(!result) && unlikely(!PyErr_Occurred())) { + PyErr_SetString( + PyExc_SystemError, + "NULL result without error in PyObject_Call"); + } + return result; +} +#endif + +/* PyObjectFastCall */ +#if PY_VERSION_HEX < 0x03090000 || CYTHON_COMPILING_IN_LIMITED_API +static PyObject* __Pyx_PyObject_FastCall_fallback(PyObject *func, PyObject **args, size_t nargs, PyObject *kwargs) { + PyObject *argstuple; + PyObject *result = 0; + size_t i; + argstuple = PyTuple_New((Py_ssize_t)nargs); + if (unlikely(!argstuple)) return NULL; + for (i = 0; i < nargs; i++) { + Py_INCREF(args[i]); + if (__Pyx_PyTuple_SET_ITEM(argstuple, (Py_ssize_t)i, args[i]) < 0) goto bad; + } + result = __Pyx_PyObject_Call(func, argstuple, kwargs); + bad: + Py_DECREF(argstuple); + return result; +} +#endif +static CYTHON_INLINE PyObject* __Pyx_PyObject_FastCallDict(PyObject *func, PyObject **args, size_t _nargs, PyObject *kwargs) { + Py_ssize_t nargs = __Pyx_PyVectorcall_NARGS(_nargs); +#if CYTHON_COMPILING_IN_CPYTHON + if (nargs == 0 && kwargs == NULL) { + if (__Pyx_CyOrPyCFunction_Check(func) && likely( __Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_NOARGS)) + return __Pyx_PyObject_CallMethO(func, NULL); + } + else if (nargs == 1 && kwargs == NULL) { + if (__Pyx_CyOrPyCFunction_Check(func) && likely( __Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_O)) + return __Pyx_PyObject_CallMethO(func, args[0]); + } +#endif + #if PY_VERSION_HEX < 0x030800B1 + #if CYTHON_FAST_PYCCALL + if (PyCFunction_Check(func)) { + if (kwargs) { + return _PyCFunction_FastCallDict(func, args, nargs, kwargs); + } else { + return _PyCFunction_FastCallKeywords(func, args, nargs, NULL); + } + } + #if PY_VERSION_HEX >= 0x030700A1 + if (!kwargs && __Pyx_IS_TYPE(func, &PyMethodDescr_Type)) { + return _PyMethodDescr_FastCallKeywords(func, args, nargs, NULL); + } + #endif + #endif + #if CYTHON_FAST_PYCALL + if (PyFunction_Check(func)) { + return __Pyx_PyFunction_FastCallDict(func, args, nargs, kwargs); + } + #endif + #endif + if (kwargs == NULL) { + #if CYTHON_VECTORCALL + #if PY_VERSION_HEX < 0x03090000 + vectorcallfunc f = _PyVectorcall_Function(func); + #else + vectorcallfunc f = PyVectorcall_Function(func); + #endif + if (f) { + return f(func, args, (size_t)nargs, NULL); + } + #elif defined(__Pyx_CyFunction_USED) && CYTHON_BACKPORT_VECTORCALL + if (__Pyx_CyFunction_CheckExact(func)) { + __pyx_vectorcallfunc f = __Pyx_CyFunction_func_vectorcall(func); + if (f) return f(func, args, (size_t)nargs, NULL); + } + #endif + } + if (nargs == 0) { + return __Pyx_PyObject_Call(func, __pyx_empty_tuple, kwargs); + } + #if PY_VERSION_HEX >= 0x03090000 && !CYTHON_COMPILING_IN_LIMITED_API + return PyObject_VectorcallDict(func, args, (size_t)nargs, kwargs); + #else + return __Pyx_PyObject_FastCall_fallback(func, args, (size_t)nargs, kwargs); + #endif +} + +/* RaiseUnexpectedTypeError */ +static int +__Pyx_RaiseUnexpectedTypeError(const char *expected, PyObject *obj) +{ + __Pyx_TypeName obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, "Expected %s, got " __Pyx_FMT_TYPENAME, + expected, obj_type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return 0; +} + +/* CIntToDigits */ +static const char DIGIT_PAIRS_10[2*10*10+1] = { + "00010203040506070809" + "10111213141516171819" + "20212223242526272829" + "30313233343536373839" + "40414243444546474849" + "50515253545556575859" + "60616263646566676869" + "70717273747576777879" + "80818283848586878889" + "90919293949596979899" +}; +static const char DIGIT_PAIRS_8[2*8*8+1] = { + "0001020304050607" + "1011121314151617" + "2021222324252627" + "3031323334353637" + "4041424344454647" + "5051525354555657" + "6061626364656667" + "7071727374757677" +}; +static const char DIGITS_HEX[2*16+1] = { + "0123456789abcdef" + "0123456789ABCDEF" +}; + +/* BuildPyUnicode */ +static PyObject* __Pyx_PyUnicode_BuildFromAscii(Py_ssize_t ulength, char* chars, int clength, + int prepend_sign, char padding_char) { + PyObject *uval; + Py_ssize_t uoffset = ulength - clength; +#if CYTHON_USE_UNICODE_INTERNALS + Py_ssize_t i; +#if CYTHON_PEP393_ENABLED + void *udata; + uval = PyUnicode_New(ulength, 127); + if (unlikely(!uval)) return NULL; + udata = PyUnicode_DATA(uval); +#else + Py_UNICODE *udata; + uval = PyUnicode_FromUnicode(NULL, ulength); + if (unlikely(!uval)) return NULL; + udata = PyUnicode_AS_UNICODE(uval); +#endif + if (uoffset > 0) { + i = 0; + if (prepend_sign) { + __Pyx_PyUnicode_WRITE(PyUnicode_1BYTE_KIND, udata, 0, '-'); + i++; + } + for (; i < uoffset; i++) { + __Pyx_PyUnicode_WRITE(PyUnicode_1BYTE_KIND, udata, i, padding_char); + } + } + for (i=0; i < clength; i++) { + __Pyx_PyUnicode_WRITE(PyUnicode_1BYTE_KIND, udata, uoffset+i, chars[i]); + } +#else + { + PyObject *sign = NULL, *padding = NULL; + uval = NULL; + if (uoffset > 0) { + prepend_sign = !!prepend_sign; + if (uoffset > prepend_sign) { + padding = PyUnicode_FromOrdinal(padding_char); + if (likely(padding) && uoffset > prepend_sign + 1) { + PyObject *tmp; + PyObject *repeat = PyInt_FromSsize_t(uoffset - prepend_sign); + if (unlikely(!repeat)) goto done_or_error; + tmp = PyNumber_Multiply(padding, repeat); + Py_DECREF(repeat); + Py_DECREF(padding); + padding = tmp; + } + if (unlikely(!padding)) goto done_or_error; + } + if (prepend_sign) { + sign = PyUnicode_FromOrdinal('-'); + if (unlikely(!sign)) goto done_or_error; + } + } + uval = PyUnicode_DecodeASCII(chars, clength, NULL); + if (likely(uval) && padding) { + PyObject *tmp = PyNumber_Add(padding, uval); + Py_DECREF(uval); + uval = tmp; + } + if (likely(uval) && sign) { + PyObject *tmp = PyNumber_Add(sign, uval); + Py_DECREF(uval); + uval = tmp; + } +done_or_error: + Py_XDECREF(padding); + Py_XDECREF(sign); + } +#endif + return uval; +} + +/* CIntToPyUnicode */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_int(int value, Py_ssize_t width, char padding_char, char format_char) { + char digits[sizeof(int)*3+2]; + char *dpos, *end = digits + sizeof(int)*3+2; + const char *hex_digits = DIGITS_HEX; + Py_ssize_t length, ulength; + int prepend_sign, last_one_off; + int remaining; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (format_char == 'X') { + hex_digits += 16; + format_char = 'x'; + } + remaining = value; + last_one_off = 0; + dpos = end; + do { + int digit_pos; + switch (format_char) { + case 'o': + digit_pos = abs((int)(remaining % (8*8))); + remaining = (int) (remaining / (8*8)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_8 + digit_pos * 2, 2); + last_one_off = (digit_pos < 8); + break; + case 'd': + digit_pos = abs((int)(remaining % (10*10))); + remaining = (int) (remaining / (10*10)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_10 + digit_pos * 2, 2); + last_one_off = (digit_pos < 10); + break; + case 'x': + *(--dpos) = hex_digits[abs((int)(remaining % 16))]; + remaining = (int) (remaining / 16); + break; + default: + assert(0); + break; + } + } while (unlikely(remaining != 0)); + assert(!last_one_off || *dpos == '0'); + dpos += last_one_off; + length = end - dpos; + ulength = length; + prepend_sign = 0; + if (!is_unsigned && value <= neg_one) { + if (padding_char == ' ' || width <= length + 1) { + *(--dpos) = '-'; + ++length; + } else { + prepend_sign = 1; + } + ++ulength; + } + if (width > ulength) { + ulength = width; + } + if (ulength == 1) { + return PyUnicode_FromOrdinal(*dpos); + } + return __Pyx_PyUnicode_BuildFromAscii(ulength, dpos, (int) length, prepend_sign, padding_char); +} + +/* CIntToPyUnicode */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_Py_ssize_t(Py_ssize_t value, Py_ssize_t width, char padding_char, char format_char) { + char digits[sizeof(Py_ssize_t)*3+2]; + char *dpos, *end = digits + sizeof(Py_ssize_t)*3+2; + const char *hex_digits = DIGITS_HEX; + Py_ssize_t length, ulength; + int prepend_sign, last_one_off; + Py_ssize_t remaining; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const Py_ssize_t neg_one = (Py_ssize_t) -1, const_zero = (Py_ssize_t) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (format_char == 'X') { + hex_digits += 16; + format_char = 'x'; + } + remaining = value; + last_one_off = 0; + dpos = end; + do { + int digit_pos; + switch (format_char) { + case 'o': + digit_pos = abs((int)(remaining % (8*8))); + remaining = (Py_ssize_t) (remaining / (8*8)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_8 + digit_pos * 2, 2); + last_one_off = (digit_pos < 8); + break; + case 'd': + digit_pos = abs((int)(remaining % (10*10))); + remaining = (Py_ssize_t) (remaining / (10*10)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_10 + digit_pos * 2, 2); + last_one_off = (digit_pos < 10); + break; + case 'x': + *(--dpos) = hex_digits[abs((int)(remaining % 16))]; + remaining = (Py_ssize_t) (remaining / 16); + break; + default: + assert(0); + break; + } + } while (unlikely(remaining != 0)); + assert(!last_one_off || *dpos == '0'); + dpos += last_one_off; + length = end - dpos; + ulength = length; + prepend_sign = 0; + if (!is_unsigned && value <= neg_one) { + if (padding_char == ' ' || width <= length + 1) { + *(--dpos) = '-'; + ++length; + } else { + prepend_sign = 1; + } + ++ulength; + } + if (width > ulength) { + ulength = width; + } + if (ulength == 1) { + return PyUnicode_FromOrdinal(*dpos); + } + return __Pyx_PyUnicode_BuildFromAscii(ulength, dpos, (int) length, prepend_sign, padding_char); +} + +/* JoinPyUnicode */ +static PyObject* __Pyx_PyUnicode_Join(PyObject* value_tuple, Py_ssize_t value_count, Py_ssize_t result_ulength, + Py_UCS4 max_char) { +#if CYTHON_USE_UNICODE_INTERNALS && CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + PyObject *result_uval; + int result_ukind, kind_shift; + Py_ssize_t i, char_pos; + void *result_udata; + CYTHON_MAYBE_UNUSED_VAR(max_char); +#if CYTHON_PEP393_ENABLED + result_uval = PyUnicode_New(result_ulength, max_char); + if (unlikely(!result_uval)) return NULL; + result_ukind = (max_char <= 255) ? PyUnicode_1BYTE_KIND : (max_char <= 65535) ? PyUnicode_2BYTE_KIND : PyUnicode_4BYTE_KIND; + kind_shift = (result_ukind == PyUnicode_4BYTE_KIND) ? 2 : result_ukind - 1; + result_udata = PyUnicode_DATA(result_uval); +#else + result_uval = PyUnicode_FromUnicode(NULL, result_ulength); + if (unlikely(!result_uval)) return NULL; + result_ukind = sizeof(Py_UNICODE); + kind_shift = (result_ukind == 4) ? 2 : result_ukind - 1; + result_udata = PyUnicode_AS_UNICODE(result_uval); +#endif + assert(kind_shift == 2 || kind_shift == 1 || kind_shift == 0); + char_pos = 0; + for (i=0; i < value_count; i++) { + int ukind; + Py_ssize_t ulength; + void *udata; + PyObject *uval = PyTuple_GET_ITEM(value_tuple, i); + if (unlikely(__Pyx_PyUnicode_READY(uval))) + goto bad; + ulength = __Pyx_PyUnicode_GET_LENGTH(uval); + if (unlikely(!ulength)) + continue; + if (unlikely((PY_SSIZE_T_MAX >> kind_shift) - ulength < char_pos)) + goto overflow; + ukind = __Pyx_PyUnicode_KIND(uval); + udata = __Pyx_PyUnicode_DATA(uval); + if (!CYTHON_PEP393_ENABLED || ukind == result_ukind) { + memcpy((char *)result_udata + (char_pos << kind_shift), udata, (size_t) (ulength << kind_shift)); + } else { + #if PY_VERSION_HEX >= 0x030d0000 + if (unlikely(PyUnicode_CopyCharacters(result_uval, char_pos, uval, 0, ulength) < 0)) goto bad; + #elif CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030300F0 || defined(_PyUnicode_FastCopyCharacters) + _PyUnicode_FastCopyCharacters(result_uval, char_pos, uval, 0, ulength); + #else + Py_ssize_t j; + for (j=0; j < ulength; j++) { + Py_UCS4 uchar = __Pyx_PyUnicode_READ(ukind, udata, j); + __Pyx_PyUnicode_WRITE(result_ukind, result_udata, char_pos+j, uchar); + } + #endif + } + char_pos += ulength; + } + return result_uval; +overflow: + PyErr_SetString(PyExc_OverflowError, "join() result is too long for a Python string"); +bad: + Py_DECREF(result_uval); + return NULL; +#else + CYTHON_UNUSED_VAR(max_char); + CYTHON_UNUSED_VAR(result_ulength); + CYTHON_UNUSED_VAR(value_count); + return PyUnicode_Join(__pyx_empty_unicode, value_tuple); +#endif +} + +/* GetAttr */ +static CYTHON_INLINE PyObject *__Pyx_GetAttr(PyObject *o, PyObject *n) { +#if CYTHON_USE_TYPE_SLOTS +#if PY_MAJOR_VERSION >= 3 + if (likely(PyUnicode_Check(n))) +#else + if (likely(PyString_Check(n))) +#endif + return __Pyx_PyObject_GetAttrStr(o, n); +#endif + return PyObject_GetAttr(o, n); +} + +/* GetItemInt */ +static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j) { + PyObject *r; + if (unlikely(!j)) return NULL; + r = PyObject_GetItem(o, j); + Py_DECREF(j); + return r; +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + Py_ssize_t wrapped_i = i; + if (wraparound & unlikely(i < 0)) { + wrapped_i += PyList_GET_SIZE(o); + } + if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyList_GET_SIZE(o)))) { + PyObject *r = PyList_GET_ITEM(o, wrapped_i); + Py_INCREF(r); + return r; + } + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +#else + return PySequence_GetItem(o, i); +#endif +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + Py_ssize_t wrapped_i = i; + if (wraparound & unlikely(i < 0)) { + wrapped_i += PyTuple_GET_SIZE(o); + } + if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyTuple_GET_SIZE(o)))) { + PyObject *r = PyTuple_GET_ITEM(o, wrapped_i); + Py_INCREF(r); + return r; + } + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +#else + return PySequence_GetItem(o, i); +#endif +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, int is_list, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS && CYTHON_USE_TYPE_SLOTS + if (is_list || PyList_CheckExact(o)) { + Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyList_GET_SIZE(o); + if ((!boundscheck) || (likely(__Pyx_is_valid_index(n, PyList_GET_SIZE(o))))) { + PyObject *r = PyList_GET_ITEM(o, n); + Py_INCREF(r); + return r; + } + } + else if (PyTuple_CheckExact(o)) { + Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyTuple_GET_SIZE(o); + if ((!boundscheck) || likely(__Pyx_is_valid_index(n, PyTuple_GET_SIZE(o)))) { + PyObject *r = PyTuple_GET_ITEM(o, n); + Py_INCREF(r); + return r; + } + } else { + PyMappingMethods *mm = Py_TYPE(o)->tp_as_mapping; + PySequenceMethods *sm = Py_TYPE(o)->tp_as_sequence; + if (mm && mm->mp_subscript) { + PyObject *r, *key = PyInt_FromSsize_t(i); + if (unlikely(!key)) return NULL; + r = mm->mp_subscript(o, key); + Py_DECREF(key); + return r; + } + if (likely(sm && sm->sq_item)) { + if (wraparound && unlikely(i < 0) && likely(sm->sq_length)) { + Py_ssize_t l = sm->sq_length(o); + if (likely(l >= 0)) { + i += l; + } else { + if (!PyErr_ExceptionMatches(PyExc_OverflowError)) + return NULL; + PyErr_Clear(); + } + } + return sm->sq_item(o, i); + } + } +#else + if (is_list || !PyMapping_Check(o)) { + return PySequence_GetItem(o, i); + } +#endif + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +} + +/* PyObjectCallOneArg */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg) { + PyObject *args[2] = {NULL, arg}; + return __Pyx_PyObject_FastCall(func, args+1, 1 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET); +} + +/* ObjectGetItem */ +#if CYTHON_USE_TYPE_SLOTS +static PyObject *__Pyx_PyObject_GetIndex(PyObject *obj, PyObject *index) { + PyObject *runerr = NULL; + Py_ssize_t key_value; + key_value = __Pyx_PyIndex_AsSsize_t(index); + if (likely(key_value != -1 || !(runerr = PyErr_Occurred()))) { + return __Pyx_GetItemInt_Fast(obj, key_value, 0, 1, 1); + } + if (PyErr_GivenExceptionMatches(runerr, PyExc_OverflowError)) { + __Pyx_TypeName index_type_name = __Pyx_PyType_GetName(Py_TYPE(index)); + PyErr_Clear(); + PyErr_Format(PyExc_IndexError, + "cannot fit '" __Pyx_FMT_TYPENAME "' into an index-sized integer", index_type_name); + __Pyx_DECREF_TypeName(index_type_name); + } + return NULL; +} +static PyObject *__Pyx_PyObject_GetItem_Slow(PyObject *obj, PyObject *key) { + __Pyx_TypeName obj_type_name; + if (likely(PyType_Check(obj))) { + PyObject *meth = __Pyx_PyObject_GetAttrStrNoError(obj, __pyx_n_s_class_getitem); + if (!meth) { + PyErr_Clear(); + } else { + PyObject *result = __Pyx_PyObject_CallOneArg(meth, key); + Py_DECREF(meth); + return result; + } + } + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, + "'" __Pyx_FMT_TYPENAME "' object is not subscriptable", obj_type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return NULL; +} +static PyObject *__Pyx_PyObject_GetItem(PyObject *obj, PyObject *key) { + PyTypeObject *tp = Py_TYPE(obj); + PyMappingMethods *mm = tp->tp_as_mapping; + PySequenceMethods *sm = tp->tp_as_sequence; + if (likely(mm && mm->mp_subscript)) { + return mm->mp_subscript(obj, key); + } + if (likely(sm && sm->sq_item)) { + return __Pyx_PyObject_GetIndex(obj, key); + } + return __Pyx_PyObject_GetItem_Slow(obj, key); +} +#endif + +/* KeywordStringCheck */ +static int __Pyx_CheckKeywordStrings( + PyObject *kw, + const char* function_name, + int kw_allowed) +{ + PyObject* key = 0; + Py_ssize_t pos = 0; +#if CYTHON_COMPILING_IN_PYPY + if (!kw_allowed && PyDict_Next(kw, &pos, &key, 0)) + goto invalid_keyword; + return 1; +#else + if (CYTHON_METH_FASTCALL && likely(PyTuple_Check(kw))) { + Py_ssize_t kwsize; +#if CYTHON_ASSUME_SAFE_MACROS + kwsize = PyTuple_GET_SIZE(kw); +#else + kwsize = PyTuple_Size(kw); + if (kwsize < 0) return 0; +#endif + if (unlikely(kwsize == 0)) + return 1; + if (!kw_allowed) { +#if CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kw, 0); +#else + key = PyTuple_GetItem(kw, pos); + if (!key) return 0; +#endif + goto invalid_keyword; + } +#if PY_VERSION_HEX < 0x03090000 + for (pos = 0; pos < kwsize; pos++) { +#if CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kw, pos); +#else + key = PyTuple_GetItem(kw, pos); + if (!key) return 0; +#endif + if (unlikely(!PyUnicode_Check(key))) + goto invalid_keyword_type; + } +#endif + return 1; + } + while (PyDict_Next(kw, &pos, &key, 0)) { + #if PY_MAJOR_VERSION < 3 + if (unlikely(!PyString_Check(key))) + #endif + if (unlikely(!PyUnicode_Check(key))) + goto invalid_keyword_type; + } + if (!kw_allowed && unlikely(key)) + goto invalid_keyword; + return 1; +invalid_keyword_type: + PyErr_Format(PyExc_TypeError, + "%.200s() keywords must be strings", function_name); + return 0; +#endif +invalid_keyword: + #if PY_MAJOR_VERSION < 3 + PyErr_Format(PyExc_TypeError, + "%.200s() got an unexpected keyword argument '%.200s'", + function_name, PyString_AsString(key)); + #else + PyErr_Format(PyExc_TypeError, + "%s() got an unexpected keyword argument '%U'", + function_name, key); + #endif + return 0; +} + +/* DivInt[Py_ssize_t] */ +static CYTHON_INLINE Py_ssize_t __Pyx_div_Py_ssize_t(Py_ssize_t a, Py_ssize_t b) { + Py_ssize_t q = a / b; + Py_ssize_t r = a - q*b; + q -= ((r != 0) & ((r ^ b) < 0)); + return q; +} + +/* GetAttr3 */ +#if __PYX_LIMITED_VERSION_HEX < 0x030d00A1 +static PyObject *__Pyx_GetAttr3Default(PyObject *d) { + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + if (unlikely(!__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) + return NULL; + __Pyx_PyErr_Clear(); + Py_INCREF(d); + return d; +} +#endif +static CYTHON_INLINE PyObject *__Pyx_GetAttr3(PyObject *o, PyObject *n, PyObject *d) { + PyObject *r; +#if __PYX_LIMITED_VERSION_HEX >= 0x030d00A1 + int res = PyObject_GetOptionalAttr(o, n, &r); + return (res != 0) ? r : __Pyx_NewRef(d); +#else + #if CYTHON_USE_TYPE_SLOTS + if (likely(PyString_Check(n))) { + r = __Pyx_PyObject_GetAttrStrNoError(o, n); + if (unlikely(!r) && likely(!PyErr_Occurred())) { + r = __Pyx_NewRef(d); + } + return r; + } + #endif + r = PyObject_GetAttr(o, n); + return (likely(r)) ? r : __Pyx_GetAttr3Default(d); +#endif +} + +/* PyDictVersioning */ +#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj) { + PyObject *dict = Py_TYPE(obj)->tp_dict; + return likely(dict) ? __PYX_GET_DICT_VERSION(dict) : 0; +} +static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj) { + PyObject **dictptr = NULL; + Py_ssize_t offset = Py_TYPE(obj)->tp_dictoffset; + if (offset) { +#if CYTHON_COMPILING_IN_CPYTHON + dictptr = (likely(offset > 0)) ? (PyObject **) ((char *)obj + offset) : _PyObject_GetDictPtr(obj); +#else + dictptr = _PyObject_GetDictPtr(obj); +#endif + } + return (dictptr && *dictptr) ? __PYX_GET_DICT_VERSION(*dictptr) : 0; +} +static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version) { + PyObject *dict = Py_TYPE(obj)->tp_dict; + if (unlikely(!dict) || unlikely(tp_dict_version != __PYX_GET_DICT_VERSION(dict))) + return 0; + return obj_dict_version == __Pyx_get_object_dict_version(obj); +} +#endif + +/* GetModuleGlobalName */ +#if CYTHON_USE_DICT_VERSIONS +static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value) +#else +static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name) +#endif +{ + PyObject *result; +#if !CYTHON_AVOID_BORROWED_REFS +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030500A1 && PY_VERSION_HEX < 0x030d0000 + result = _PyDict_GetItem_KnownHash(__pyx_d, name, ((PyASCIIObject *) name)->hash); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } else if (unlikely(PyErr_Occurred())) { + return NULL; + } +#elif CYTHON_COMPILING_IN_LIMITED_API + if (unlikely(!__pyx_m)) { + return NULL; + } + result = PyObject_GetAttr(__pyx_m, name); + if (likely(result)) { + return result; + } +#else + result = PyDict_GetItem(__pyx_d, name); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } +#endif +#else + result = PyObject_GetItem(__pyx_d, name); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } + PyErr_Clear(); +#endif + return __Pyx_GetBuiltinName(name); +} + +/* RaiseTooManyValuesToUnpack */ +static CYTHON_INLINE void __Pyx_RaiseTooManyValuesError(Py_ssize_t expected) { + PyErr_Format(PyExc_ValueError, + "too many values to unpack (expected %" CYTHON_FORMAT_SSIZE_T "d)", expected); +} + +/* RaiseNeedMoreValuesToUnpack */ +static CYTHON_INLINE void __Pyx_RaiseNeedMoreValuesError(Py_ssize_t index) { + PyErr_Format(PyExc_ValueError, + "need more than %" CYTHON_FORMAT_SSIZE_T "d value%.1s to unpack", + index, (index == 1) ? "" : "s"); +} + +/* RaiseNoneIterError */ +static CYTHON_INLINE void __Pyx_RaiseNoneNotIterableError(void) { + PyErr_SetString(PyExc_TypeError, "'NoneType' object is not iterable"); +} + +/* ExtTypeTest */ +static CYTHON_INLINE int __Pyx_TypeTest(PyObject *obj, PyTypeObject *type) { + __Pyx_TypeName obj_type_name; + __Pyx_TypeName type_name; + if (unlikely(!type)) { + PyErr_SetString(PyExc_SystemError, "Missing type object"); + return 0; + } + if (likely(__Pyx_TypeCheck(obj, type))) + return 1; + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + type_name = __Pyx_PyType_GetName(type); + PyErr_Format(PyExc_TypeError, + "Cannot convert " __Pyx_FMT_TYPENAME " to " __Pyx_FMT_TYPENAME, + obj_type_name, type_name); + __Pyx_DECREF_TypeName(obj_type_name); + __Pyx_DECREF_TypeName(type_name); + return 0; +} + +/* GetTopmostException */ +#if CYTHON_USE_EXC_INFO_STACK && CYTHON_FAST_THREAD_STATE +static _PyErr_StackItem * +__Pyx_PyErr_GetTopmostException(PyThreadState *tstate) +{ + _PyErr_StackItem *exc_info = tstate->exc_info; + while ((exc_info->exc_value == NULL || exc_info->exc_value == Py_None) && + exc_info->previous_item != NULL) + { + exc_info = exc_info->previous_item; + } + return exc_info; +} +#endif + +/* SaveResetException */ +#if CYTHON_FAST_THREAD_STATE +static CYTHON_INLINE void __Pyx__ExceptionSave(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { + #if CYTHON_USE_EXC_INFO_STACK && PY_VERSION_HEX >= 0x030B00a4 + _PyErr_StackItem *exc_info = __Pyx_PyErr_GetTopmostException(tstate); + PyObject *exc_value = exc_info->exc_value; + if (exc_value == NULL || exc_value == Py_None) { + *value = NULL; + *type = NULL; + *tb = NULL; + } else { + *value = exc_value; + Py_INCREF(*value); + *type = (PyObject*) Py_TYPE(exc_value); + Py_INCREF(*type); + *tb = PyException_GetTraceback(exc_value); + } + #elif CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = __Pyx_PyErr_GetTopmostException(tstate); + *type = exc_info->exc_type; + *value = exc_info->exc_value; + *tb = exc_info->exc_traceback; + Py_XINCREF(*type); + Py_XINCREF(*value); + Py_XINCREF(*tb); + #else + *type = tstate->exc_type; + *value = tstate->exc_value; + *tb = tstate->exc_traceback; + Py_XINCREF(*type); + Py_XINCREF(*value); + Py_XINCREF(*tb); + #endif +} +static CYTHON_INLINE void __Pyx__ExceptionReset(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb) { + #if CYTHON_USE_EXC_INFO_STACK && PY_VERSION_HEX >= 0x030B00a4 + _PyErr_StackItem *exc_info = tstate->exc_info; + PyObject *tmp_value = exc_info->exc_value; + exc_info->exc_value = value; + Py_XDECREF(tmp_value); + Py_XDECREF(type); + Py_XDECREF(tb); + #else + PyObject *tmp_type, *tmp_value, *tmp_tb; + #if CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = tstate->exc_info; + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = type; + exc_info->exc_value = value; + exc_info->exc_traceback = tb; + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = type; + tstate->exc_value = value; + tstate->exc_traceback = tb; + #endif + Py_XDECREF(tmp_type); + Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); + #endif +} +#endif + +/* GetException */ +#if CYTHON_FAST_THREAD_STATE +static int __Pyx__GetException(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) +#else +static int __Pyx_GetException(PyObject **type, PyObject **value, PyObject **tb) +#endif +{ + PyObject *local_type = NULL, *local_value, *local_tb = NULL; +#if CYTHON_FAST_THREAD_STATE + PyObject *tmp_type, *tmp_value, *tmp_tb; + #if PY_VERSION_HEX >= 0x030C00A6 + local_value = tstate->current_exception; + tstate->current_exception = 0; + if (likely(local_value)) { + local_type = (PyObject*) Py_TYPE(local_value); + Py_INCREF(local_type); + local_tb = PyException_GetTraceback(local_value); + } + #else + local_type = tstate->curexc_type; + local_value = tstate->curexc_value; + local_tb = tstate->curexc_traceback; + tstate->curexc_type = 0; + tstate->curexc_value = 0; + tstate->curexc_traceback = 0; + #endif +#else + PyErr_Fetch(&local_type, &local_value, &local_tb); +#endif + PyErr_NormalizeException(&local_type, &local_value, &local_tb); +#if CYTHON_FAST_THREAD_STATE && PY_VERSION_HEX >= 0x030C00A6 + if (unlikely(tstate->current_exception)) +#elif CYTHON_FAST_THREAD_STATE + if (unlikely(tstate->curexc_type)) +#else + if (unlikely(PyErr_Occurred())) +#endif + goto bad; + #if PY_MAJOR_VERSION >= 3 + if (local_tb) { + if (unlikely(PyException_SetTraceback(local_value, local_tb) < 0)) + goto bad; + } + #endif + Py_XINCREF(local_tb); + Py_XINCREF(local_type); + Py_XINCREF(local_value); + *type = local_type; + *value = local_value; + *tb = local_tb; +#if CYTHON_FAST_THREAD_STATE + #if CYTHON_USE_EXC_INFO_STACK + { + _PyErr_StackItem *exc_info = tstate->exc_info; + #if PY_VERSION_HEX >= 0x030B00a4 + tmp_value = exc_info->exc_value; + exc_info->exc_value = local_value; + tmp_type = NULL; + tmp_tb = NULL; + Py_XDECREF(local_type); + Py_XDECREF(local_tb); + #else + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = local_type; + exc_info->exc_value = local_value; + exc_info->exc_traceback = local_tb; + #endif + } + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = local_type; + tstate->exc_value = local_value; + tstate->exc_traceback = local_tb; + #endif + Py_XDECREF(tmp_type); + Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); +#else + PyErr_SetExcInfo(local_type, local_value, local_tb); +#endif + return 0; +bad: + *type = 0; + *value = 0; + *tb = 0; + Py_XDECREF(local_type); + Py_XDECREF(local_value); + Py_XDECREF(local_tb); + return -1; +} + +/* SwapException */ +#if CYTHON_FAST_THREAD_STATE +static CYTHON_INLINE void __Pyx__ExceptionSwap(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { + PyObject *tmp_type, *tmp_value, *tmp_tb; + #if CYTHON_USE_EXC_INFO_STACK && PY_VERSION_HEX >= 0x030B00a4 + _PyErr_StackItem *exc_info = tstate->exc_info; + tmp_value = exc_info->exc_value; + exc_info->exc_value = *value; + if (tmp_value == NULL || tmp_value == Py_None) { + Py_XDECREF(tmp_value); + tmp_value = NULL; + tmp_type = NULL; + tmp_tb = NULL; + } else { + tmp_type = (PyObject*) Py_TYPE(tmp_value); + Py_INCREF(tmp_type); + #if CYTHON_COMPILING_IN_CPYTHON + tmp_tb = ((PyBaseExceptionObject*) tmp_value)->traceback; + Py_XINCREF(tmp_tb); + #else + tmp_tb = PyException_GetTraceback(tmp_value); + #endif + } + #elif CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = tstate->exc_info; + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = *type; + exc_info->exc_value = *value; + exc_info->exc_traceback = *tb; + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = *type; + tstate->exc_value = *value; + tstate->exc_traceback = *tb; + #endif + *type = tmp_type; + *value = tmp_value; + *tb = tmp_tb; +} +#else +static CYTHON_INLINE void __Pyx_ExceptionSwap(PyObject **type, PyObject **value, PyObject **tb) { + PyObject *tmp_type, *tmp_value, *tmp_tb; + PyErr_GetExcInfo(&tmp_type, &tmp_value, &tmp_tb); + PyErr_SetExcInfo(*type, *value, *tb); + *type = tmp_type; + *value = tmp_value; + *tb = tmp_tb; +} +#endif + +/* Import */ +static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level) { + PyObject *module = 0; + PyObject *empty_dict = 0; + PyObject *empty_list = 0; + #if PY_MAJOR_VERSION < 3 + PyObject *py_import; + py_import = __Pyx_PyObject_GetAttrStr(__pyx_b, __pyx_n_s_import); + if (unlikely(!py_import)) + goto bad; + if (!from_list) { + empty_list = PyList_New(0); + if (unlikely(!empty_list)) + goto bad; + from_list = empty_list; + } + #endif + empty_dict = PyDict_New(); + if (unlikely(!empty_dict)) + goto bad; + { + #if PY_MAJOR_VERSION >= 3 + if (level == -1) { + if (strchr(__Pyx_MODULE_NAME, '.') != NULL) { + module = PyImport_ImportModuleLevelObject( + name, __pyx_d, empty_dict, from_list, 1); + if (unlikely(!module)) { + if (unlikely(!PyErr_ExceptionMatches(PyExc_ImportError))) + goto bad; + PyErr_Clear(); + } + } + level = 0; + } + #endif + if (!module) { + #if PY_MAJOR_VERSION < 3 + PyObject *py_level = PyInt_FromLong(level); + if (unlikely(!py_level)) + goto bad; + module = PyObject_CallFunctionObjArgs(py_import, + name, __pyx_d, empty_dict, from_list, py_level, (PyObject *)NULL); + Py_DECREF(py_level); + #else + module = PyImport_ImportModuleLevelObject( + name, __pyx_d, empty_dict, from_list, level); + #endif + } + } +bad: + Py_XDECREF(empty_dict); + Py_XDECREF(empty_list); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(py_import); + #endif + return module; +} + +/* ImportDottedModule */ +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx__ImportDottedModule_Error(PyObject *name, PyObject *parts_tuple, Py_ssize_t count) { + PyObject *partial_name = NULL, *slice = NULL, *sep = NULL; + if (unlikely(PyErr_Occurred())) { + PyErr_Clear(); + } + if (likely(PyTuple_GET_SIZE(parts_tuple) == count)) { + partial_name = name; + } else { + slice = PySequence_GetSlice(parts_tuple, 0, count); + if (unlikely(!slice)) + goto bad; + sep = PyUnicode_FromStringAndSize(".", 1); + if (unlikely(!sep)) + goto bad; + partial_name = PyUnicode_Join(sep, slice); + } + PyErr_Format( +#if PY_MAJOR_VERSION < 3 + PyExc_ImportError, + "No module named '%s'", PyString_AS_STRING(partial_name)); +#else +#if PY_VERSION_HEX >= 0x030600B1 + PyExc_ModuleNotFoundError, +#else + PyExc_ImportError, +#endif + "No module named '%U'", partial_name); +#endif +bad: + Py_XDECREF(sep); + Py_XDECREF(slice); + Py_XDECREF(partial_name); + return NULL; +} +#endif +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx__ImportDottedModule_Lookup(PyObject *name) { + PyObject *imported_module; +#if PY_VERSION_HEX < 0x030700A1 || (CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM < 0x07030400) + PyObject *modules = PyImport_GetModuleDict(); + if (unlikely(!modules)) + return NULL; + imported_module = __Pyx_PyDict_GetItemStr(modules, name); + Py_XINCREF(imported_module); +#else + imported_module = PyImport_GetModule(name); +#endif + return imported_module; +} +#endif +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx_ImportDottedModule_WalkParts(PyObject *module, PyObject *name, PyObject *parts_tuple) { + Py_ssize_t i, nparts; + nparts = PyTuple_GET_SIZE(parts_tuple); + for (i=1; i < nparts && module; i++) { + PyObject *part, *submodule; +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + part = PyTuple_GET_ITEM(parts_tuple, i); +#else + part = PySequence_ITEM(parts_tuple, i); +#endif + submodule = __Pyx_PyObject_GetAttrStrNoError(module, part); +#if !(CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS) + Py_DECREF(part); +#endif + Py_DECREF(module); + module = submodule; + } + if (unlikely(!module)) { + return __Pyx__ImportDottedModule_Error(name, parts_tuple, i); + } + return module; +} +#endif +static PyObject *__Pyx__ImportDottedModule(PyObject *name, PyObject *parts_tuple) { +#if PY_MAJOR_VERSION < 3 + PyObject *module, *from_list, *star = __pyx_n_s__3; + CYTHON_UNUSED_VAR(parts_tuple); + from_list = PyList_New(1); + if (unlikely(!from_list)) + return NULL; + Py_INCREF(star); + PyList_SET_ITEM(from_list, 0, star); + module = __Pyx_Import(name, from_list, 0); + Py_DECREF(from_list); + return module; +#else + PyObject *imported_module; + PyObject *module = __Pyx_Import(name, NULL, 0); + if (!parts_tuple || unlikely(!module)) + return module; + imported_module = __Pyx__ImportDottedModule_Lookup(name); + if (likely(imported_module)) { + Py_DECREF(module); + return imported_module; + } + PyErr_Clear(); + return __Pyx_ImportDottedModule_WalkParts(module, name, parts_tuple); +#endif +} +static PyObject *__Pyx_ImportDottedModule(PyObject *name, PyObject *parts_tuple) { +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030400B1 + PyObject *module = __Pyx__ImportDottedModule_Lookup(name); + if (likely(module)) { + PyObject *spec = __Pyx_PyObject_GetAttrStrNoError(module, __pyx_n_s_spec); + if (likely(spec)) { + PyObject *unsafe = __Pyx_PyObject_GetAttrStrNoError(spec, __pyx_n_s_initializing); + if (likely(!unsafe || !__Pyx_PyObject_IsTrue(unsafe))) { + Py_DECREF(spec); + spec = NULL; + } + Py_XDECREF(unsafe); + } + if (likely(!spec)) { + PyErr_Clear(); + return module; + } + Py_DECREF(spec); + Py_DECREF(module); + } else if (PyErr_Occurred()) { + PyErr_Clear(); + } +#endif + return __Pyx__ImportDottedModule(name, parts_tuple); +} + +/* FastTypeChecks */ +#if CYTHON_COMPILING_IN_CPYTHON +static int __Pyx_InBases(PyTypeObject *a, PyTypeObject *b) { + while (a) { + a = __Pyx_PyType_GetSlot(a, tp_base, PyTypeObject*); + if (a == b) + return 1; + } + return b == &PyBaseObject_Type; +} +static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b) { + PyObject *mro; + if (a == b) return 1; + mro = a->tp_mro; + if (likely(mro)) { + Py_ssize_t i, n; + n = PyTuple_GET_SIZE(mro); + for (i = 0; i < n; i++) { + if (PyTuple_GET_ITEM(mro, i) == (PyObject *)b) + return 1; + } + return 0; + } + return __Pyx_InBases(a, b); +} +static CYTHON_INLINE int __Pyx_IsAnySubtype2(PyTypeObject *cls, PyTypeObject *a, PyTypeObject *b) { + PyObject *mro; + if (cls == a || cls == b) return 1; + mro = cls->tp_mro; + if (likely(mro)) { + Py_ssize_t i, n; + n = PyTuple_GET_SIZE(mro); + for (i = 0; i < n; i++) { + PyObject *base = PyTuple_GET_ITEM(mro, i); + if (base == (PyObject *)a || base == (PyObject *)b) + return 1; + } + return 0; + } + return __Pyx_InBases(cls, a) || __Pyx_InBases(cls, b); +} +#if PY_MAJOR_VERSION == 2 +static int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject* exc_type2) { + PyObject *exception, *value, *tb; + int res; + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + __Pyx_ErrFetch(&exception, &value, &tb); + res = exc_type1 ? PyObject_IsSubclass(err, exc_type1) : 0; + if (unlikely(res == -1)) { + PyErr_WriteUnraisable(err); + res = 0; + } + if (!res) { + res = PyObject_IsSubclass(err, exc_type2); + if (unlikely(res == -1)) { + PyErr_WriteUnraisable(err); + res = 0; + } + } + __Pyx_ErrRestore(exception, value, tb); + return res; +} +#else +static CYTHON_INLINE int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject *exc_type2) { + if (exc_type1) { + return __Pyx_IsAnySubtype2((PyTypeObject*)err, (PyTypeObject*)exc_type1, (PyTypeObject*)exc_type2); + } else { + return __Pyx_IsSubtype((PyTypeObject*)err, (PyTypeObject*)exc_type2); + } +} +#endif +static int __Pyx_PyErr_GivenExceptionMatchesTuple(PyObject *exc_type, PyObject *tuple) { + Py_ssize_t i, n; + assert(PyExceptionClass_Check(exc_type)); + n = PyTuple_GET_SIZE(tuple); +#if PY_MAJOR_VERSION >= 3 + for (i=0; itp_as_sequence && type->tp_as_sequence->sq_repeat)) { + return type->tp_as_sequence->sq_repeat(seq, mul); + } else +#endif + { + return __Pyx_PySequence_Multiply_Generic(seq, mul); + } +} + +/* SetItemInt */ +static int __Pyx_SetItemInt_Generic(PyObject *o, PyObject *j, PyObject *v) { + int r; + if (unlikely(!j)) return -1; + r = PyObject_SetItem(o, j, v); + Py_DECREF(j); + return r; +} +static CYTHON_INLINE int __Pyx_SetItemInt_Fast(PyObject *o, Py_ssize_t i, PyObject *v, int is_list, + CYTHON_NCP_UNUSED int wraparound, CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS && CYTHON_USE_TYPE_SLOTS + if (is_list || PyList_CheckExact(o)) { + Py_ssize_t n = (!wraparound) ? i : ((likely(i >= 0)) ? i : i + PyList_GET_SIZE(o)); + if ((!boundscheck) || likely(__Pyx_is_valid_index(n, PyList_GET_SIZE(o)))) { + PyObject* old = PyList_GET_ITEM(o, n); + Py_INCREF(v); + PyList_SET_ITEM(o, n, v); + Py_DECREF(old); + return 1; + } + } else { + PyMappingMethods *mm = Py_TYPE(o)->tp_as_mapping; + PySequenceMethods *sm = Py_TYPE(o)->tp_as_sequence; + if (mm && mm->mp_ass_subscript) { + int r; + PyObject *key = PyInt_FromSsize_t(i); + if (unlikely(!key)) return -1; + r = mm->mp_ass_subscript(o, key, v); + Py_DECREF(key); + return r; + } + if (likely(sm && sm->sq_ass_item)) { + if (wraparound && unlikely(i < 0) && likely(sm->sq_length)) { + Py_ssize_t l = sm->sq_length(o); + if (likely(l >= 0)) { + i += l; + } else { + if (!PyErr_ExceptionMatches(PyExc_OverflowError)) + return -1; + PyErr_Clear(); + } + } + return sm->sq_ass_item(o, i, v); + } + } +#else + if (is_list || !PyMapping_Check(o)) + { + return PySequence_SetItem(o, i, v); + } +#endif + return __Pyx_SetItemInt_Generic(o, PyInt_FromSsize_t(i), v); +} + +/* RaiseUnboundLocalError */ +static CYTHON_INLINE void __Pyx_RaiseUnboundLocalError(const char *varname) { + PyErr_Format(PyExc_UnboundLocalError, "local variable '%s' referenced before assignment", varname); +} + +/* DivInt[long] */ +static CYTHON_INLINE long __Pyx_div_long(long a, long b) { + long q = a / b; + long r = a - q*b; + q -= ((r != 0) & ((r ^ b) < 0)); + return q; +} + +/* ImportFrom */ +static PyObject* __Pyx_ImportFrom(PyObject* module, PyObject* name) { + PyObject* value = __Pyx_PyObject_GetAttrStr(module, name); + if (unlikely(!value) && PyErr_ExceptionMatches(PyExc_AttributeError)) { + const char* module_name_str = 0; + PyObject* module_name = 0; + PyObject* module_dot = 0; + PyObject* full_name = 0; + PyErr_Clear(); + module_name_str = PyModule_GetName(module); + if (unlikely(!module_name_str)) { goto modbad; } + module_name = PyUnicode_FromString(module_name_str); + if (unlikely(!module_name)) { goto modbad; } + module_dot = PyUnicode_Concat(module_name, __pyx_kp_u__2); + if (unlikely(!module_dot)) { goto modbad; } + full_name = PyUnicode_Concat(module_dot, name); + if (unlikely(!full_name)) { goto modbad; } + #if PY_VERSION_HEX < 0x030700A1 || (CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM < 0x07030400) + { + PyObject *modules = PyImport_GetModuleDict(); + if (unlikely(!modules)) + goto modbad; + value = PyObject_GetItem(modules, full_name); + } + #else + value = PyImport_GetModule(full_name); + #endif + modbad: + Py_XDECREF(full_name); + Py_XDECREF(module_dot); + Py_XDECREF(module_name); + } + if (unlikely(!value)) { + PyErr_Format(PyExc_ImportError, + #if PY_MAJOR_VERSION < 3 + "cannot import name %.230s", PyString_AS_STRING(name)); + #else + "cannot import name %S", name); + #endif + } + return value; +} + +/* HasAttr */ +#if __PYX_LIMITED_VERSION_HEX < 0x030d00A1 +static CYTHON_INLINE int __Pyx_HasAttr(PyObject *o, PyObject *n) { + PyObject *r; + if (unlikely(!__Pyx_PyBaseString_Check(n))) { + PyErr_SetString(PyExc_TypeError, + "hasattr(): attribute name must be string"); + return -1; + } + r = __Pyx_GetAttr(o, n); + if (!r) { + PyErr_Clear(); + return 0; + } else { + Py_DECREF(r); + return 1; + } +} +#endif + +/* BufferIndexError */ +static void __Pyx_RaiseBufferIndexError(int axis) { + PyErr_Format(PyExc_IndexError, + "Out of bounds on buffer access (axis %d)", axis); +} + +/* PyObject_GenericGetAttrNoDict */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject *__Pyx_RaiseGenericGetAttributeError(PyTypeObject *tp, PyObject *attr_name) { + __Pyx_TypeName type_name = __Pyx_PyType_GetName(tp); + PyErr_Format(PyExc_AttributeError, +#if PY_MAJOR_VERSION >= 3 + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%U'", + type_name, attr_name); +#else + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%.400s'", + type_name, PyString_AS_STRING(attr_name)); +#endif + __Pyx_DECREF_TypeName(type_name); + return NULL; +} +static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name) { + PyObject *descr; + PyTypeObject *tp = Py_TYPE(obj); + if (unlikely(!PyString_Check(attr_name))) { + return PyObject_GenericGetAttr(obj, attr_name); + } + assert(!tp->tp_dictoffset); + descr = _PyType_Lookup(tp, attr_name); + if (unlikely(!descr)) { + return __Pyx_RaiseGenericGetAttributeError(tp, attr_name); + } + Py_INCREF(descr); + #if PY_MAJOR_VERSION < 3 + if (likely(PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_HAVE_CLASS))) + #endif + { + descrgetfunc f = Py_TYPE(descr)->tp_descr_get; + if (unlikely(f)) { + PyObject *res = f(descr, obj, (PyObject *)tp); + Py_DECREF(descr); + return res; + } + } + return descr; +} +#endif + +/* PyObject_GenericGetAttr */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name) { + if (unlikely(Py_TYPE(obj)->tp_dictoffset)) { + return PyObject_GenericGetAttr(obj, attr_name); + } + return __Pyx_PyObject_GenericGetAttrNoDict(obj, attr_name); +} +#endif + +/* TypeImport */ +#ifndef __PYX_HAVE_RT_ImportType_3_0_8 +#define __PYX_HAVE_RT_ImportType_3_0_8 +static PyTypeObject *__Pyx_ImportType_3_0_8(PyObject *module, const char *module_name, const char *class_name, + size_t size, size_t alignment, enum __Pyx_ImportType_CheckSize_3_0_8 check_size) +{ + PyObject *result = 0; + char warning[200]; + Py_ssize_t basicsize; + Py_ssize_t itemsize; +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *py_basicsize; + PyObject *py_itemsize; +#endif + result = PyObject_GetAttrString(module, class_name); + if (!result) + goto bad; + if (!PyType_Check(result)) { + PyErr_Format(PyExc_TypeError, + "%.200s.%.200s is not a type object", + module_name, class_name); + goto bad; + } +#if !CYTHON_COMPILING_IN_LIMITED_API + basicsize = ((PyTypeObject *)result)->tp_basicsize; + itemsize = ((PyTypeObject *)result)->tp_itemsize; +#else + py_basicsize = PyObject_GetAttrString(result, "__basicsize__"); + if (!py_basicsize) + goto bad; + basicsize = PyLong_AsSsize_t(py_basicsize); + Py_DECREF(py_basicsize); + py_basicsize = 0; + if (basicsize == (Py_ssize_t)-1 && PyErr_Occurred()) + goto bad; + py_itemsize = PyObject_GetAttrString(result, "__itemsize__"); + if (!py_itemsize) + goto bad; + itemsize = PyLong_AsSsize_t(py_itemsize); + Py_DECREF(py_itemsize); + py_itemsize = 0; + if (itemsize == (Py_ssize_t)-1 && PyErr_Occurred()) + goto bad; +#endif + if (itemsize) { + if (size % alignment) { + alignment = size % alignment; + } + if (itemsize < (Py_ssize_t)alignment) + itemsize = (Py_ssize_t)alignment; + } + if ((size_t)(basicsize + itemsize) < size) { + PyErr_Format(PyExc_ValueError, + "%.200s.%.200s size changed, may indicate binary incompatibility. " + "Expected %zd from C header, got %zd from PyObject", + module_name, class_name, size, basicsize+itemsize); + goto bad; + } + if (check_size == __Pyx_ImportType_CheckSize_Error_3_0_8 && + ((size_t)basicsize > size || (size_t)(basicsize + itemsize) < size)) { + PyErr_Format(PyExc_ValueError, + "%.200s.%.200s size changed, may indicate binary incompatibility. " + "Expected %zd from C header, got %zd-%zd from PyObject", + module_name, class_name, size, basicsize, basicsize+itemsize); + goto bad; + } + else if (check_size == __Pyx_ImportType_CheckSize_Warn_3_0_8 && (size_t)basicsize > size) { + PyOS_snprintf(warning, sizeof(warning), + "%s.%s size changed, may indicate binary incompatibility. " + "Expected %zd from C header, got %zd from PyObject", + module_name, class_name, size, basicsize); + if (PyErr_WarnEx(NULL, warning, 0) < 0) goto bad; + } + return (PyTypeObject *)result; +bad: + Py_XDECREF(result); + return NULL; +} +#endif + +/* FixUpExtensionType */ +#if CYTHON_USE_TYPE_SPECS +static int __Pyx_fix_up_extension_type_from_spec(PyType_Spec *spec, PyTypeObject *type) { +#if PY_VERSION_HEX > 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + CYTHON_UNUSED_VAR(spec); + CYTHON_UNUSED_VAR(type); +#else + const PyType_Slot *slot = spec->slots; + while (slot && slot->slot && slot->slot != Py_tp_members) + slot++; + if (slot && slot->slot == Py_tp_members) { + int changed = 0; +#if !(PY_VERSION_HEX <= 0x030900b1 && CYTHON_COMPILING_IN_CPYTHON) + const +#endif + PyMemberDef *memb = (PyMemberDef*) slot->pfunc; + while (memb && memb->name) { + if (memb->name[0] == '_' && memb->name[1] == '_') { +#if PY_VERSION_HEX < 0x030900b1 + if (strcmp(memb->name, "__weaklistoffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); + type->tp_weaklistoffset = memb->offset; + changed = 1; + } + else if (strcmp(memb->name, "__dictoffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); + type->tp_dictoffset = memb->offset; + changed = 1; + } +#if CYTHON_METH_FASTCALL + else if (strcmp(memb->name, "__vectorcalloffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); +#if PY_VERSION_HEX >= 0x030800b4 + type->tp_vectorcall_offset = memb->offset; +#else + type->tp_print = (printfunc) memb->offset; +#endif + changed = 1; + } +#endif +#else + if ((0)); +#endif +#if PY_VERSION_HEX <= 0x030900b1 && CYTHON_COMPILING_IN_CPYTHON + else if (strcmp(memb->name, "__module__") == 0) { + PyObject *descr; + assert(memb->type == T_OBJECT); + assert(memb->flags == 0 || memb->flags == READONLY); + descr = PyDescr_NewMember(type, memb); + if (unlikely(!descr)) + return -1; + if (unlikely(PyDict_SetItem(type->tp_dict, PyDescr_NAME(descr), descr) < 0)) { + Py_DECREF(descr); + return -1; + } + Py_DECREF(descr); + changed = 1; + } +#endif + } + memb++; + } + if (changed) + PyType_Modified(type); + } +#endif + return 0; +} +#endif + +/* PyObjectCallNoArg */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func) { + PyObject *arg[2] = {NULL, NULL}; + return __Pyx_PyObject_FastCall(func, arg + 1, 0 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET); +} + +/* PyObjectGetMethod */ +static int __Pyx_PyObject_GetMethod(PyObject *obj, PyObject *name, PyObject **method) { + PyObject *attr; +#if CYTHON_UNPACK_METHODS && CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_PYTYPE_LOOKUP + __Pyx_TypeName type_name; + PyTypeObject *tp = Py_TYPE(obj); + PyObject *descr; + descrgetfunc f = NULL; + PyObject **dictptr, *dict; + int meth_found = 0; + assert (*method == NULL); + if (unlikely(tp->tp_getattro != PyObject_GenericGetAttr)) { + attr = __Pyx_PyObject_GetAttrStr(obj, name); + goto try_unpack; + } + if (unlikely(tp->tp_dict == NULL) && unlikely(PyType_Ready(tp) < 0)) { + return 0; + } + descr = _PyType_Lookup(tp, name); + if (likely(descr != NULL)) { + Py_INCREF(descr); +#if defined(Py_TPFLAGS_METHOD_DESCRIPTOR) && Py_TPFLAGS_METHOD_DESCRIPTOR + if (__Pyx_PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_METHOD_DESCRIPTOR)) +#elif PY_MAJOR_VERSION >= 3 + #ifdef __Pyx_CyFunction_USED + if (likely(PyFunction_Check(descr) || __Pyx_IS_TYPE(descr, &PyMethodDescr_Type) || __Pyx_CyFunction_Check(descr))) + #else + if (likely(PyFunction_Check(descr) || __Pyx_IS_TYPE(descr, &PyMethodDescr_Type))) + #endif +#else + #ifdef __Pyx_CyFunction_USED + if (likely(PyFunction_Check(descr) || __Pyx_CyFunction_Check(descr))) + #else + if (likely(PyFunction_Check(descr))) + #endif +#endif + { + meth_found = 1; + } else { + f = Py_TYPE(descr)->tp_descr_get; + if (f != NULL && PyDescr_IsData(descr)) { + attr = f(descr, obj, (PyObject *)Py_TYPE(obj)); + Py_DECREF(descr); + goto try_unpack; + } + } + } + dictptr = _PyObject_GetDictPtr(obj); + if (dictptr != NULL && (dict = *dictptr) != NULL) { + Py_INCREF(dict); + attr = __Pyx_PyDict_GetItemStr(dict, name); + if (attr != NULL) { + Py_INCREF(attr); + Py_DECREF(dict); + Py_XDECREF(descr); + goto try_unpack; + } + Py_DECREF(dict); + } + if (meth_found) { + *method = descr; + return 1; + } + if (f != NULL) { + attr = f(descr, obj, (PyObject *)Py_TYPE(obj)); + Py_DECREF(descr); + goto try_unpack; + } + if (likely(descr != NULL)) { + *method = descr; + return 0; + } + type_name = __Pyx_PyType_GetName(tp); + PyErr_Format(PyExc_AttributeError, +#if PY_MAJOR_VERSION >= 3 + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%U'", + type_name, name); +#else + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%.400s'", + type_name, PyString_AS_STRING(name)); +#endif + __Pyx_DECREF_TypeName(type_name); + return 0; +#else + attr = __Pyx_PyObject_GetAttrStr(obj, name); + goto try_unpack; +#endif +try_unpack: +#if CYTHON_UNPACK_METHODS + if (likely(attr) && PyMethod_Check(attr) && likely(PyMethod_GET_SELF(attr) == obj)) { + PyObject *function = PyMethod_GET_FUNCTION(attr); + Py_INCREF(function); + Py_DECREF(attr); + *method = function; + return 1; + } +#endif + *method = attr; + return 0; +} + +/* PyObjectCallMethod0 */ +static PyObject* __Pyx_PyObject_CallMethod0(PyObject* obj, PyObject* method_name) { + PyObject *method = NULL, *result = NULL; + int is_method = __Pyx_PyObject_GetMethod(obj, method_name, &method); + if (likely(is_method)) { + result = __Pyx_PyObject_CallOneArg(method, obj); + Py_DECREF(method); + return result; + } + if (unlikely(!method)) goto bad; + result = __Pyx_PyObject_CallNoArg(method); + Py_DECREF(method); +bad: + return result; +} + +/* ValidateBasesTuple */ +#if CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API || CYTHON_USE_TYPE_SPECS +static int __Pyx_validate_bases_tuple(const char *type_name, Py_ssize_t dictoffset, PyObject *bases) { + Py_ssize_t i, n; +#if CYTHON_ASSUME_SAFE_MACROS + n = PyTuple_GET_SIZE(bases); +#else + n = PyTuple_Size(bases); + if (n < 0) return -1; +#endif + for (i = 1; i < n; i++) + { +#if CYTHON_AVOID_BORROWED_REFS + PyObject *b0 = PySequence_GetItem(bases, i); + if (!b0) return -1; +#elif CYTHON_ASSUME_SAFE_MACROS + PyObject *b0 = PyTuple_GET_ITEM(bases, i); +#else + PyObject *b0 = PyTuple_GetItem(bases, i); + if (!b0) return -1; +#endif + PyTypeObject *b; +#if PY_MAJOR_VERSION < 3 + if (PyClass_Check(b0)) + { + PyErr_Format(PyExc_TypeError, "base class '%.200s' is an old-style class", + PyString_AS_STRING(((PyClassObject*)b0)->cl_name)); +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } +#endif + b = (PyTypeObject*) b0; + if (!__Pyx_PyType_HasFeature(b, Py_TPFLAGS_HEAPTYPE)) + { + __Pyx_TypeName b_name = __Pyx_PyType_GetName(b); + PyErr_Format(PyExc_TypeError, + "base class '" __Pyx_FMT_TYPENAME "' is not a heap type", b_name); + __Pyx_DECREF_TypeName(b_name); +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } + if (dictoffset == 0) + { + Py_ssize_t b_dictoffset = 0; +#if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + b_dictoffset = b->tp_dictoffset; +#else + PyObject *py_b_dictoffset = PyObject_GetAttrString((PyObject*)b, "__dictoffset__"); + if (!py_b_dictoffset) goto dictoffset_return; + b_dictoffset = PyLong_AsSsize_t(py_b_dictoffset); + Py_DECREF(py_b_dictoffset); + if (b_dictoffset == -1 && PyErr_Occurred()) goto dictoffset_return; +#endif + if (b_dictoffset) { + { + __Pyx_TypeName b_name = __Pyx_PyType_GetName(b); + PyErr_Format(PyExc_TypeError, + "extension type '%.200s' has no __dict__ slot, " + "but base type '" __Pyx_FMT_TYPENAME "' has: " + "either add 'cdef dict __dict__' to the extension type " + "or add '__slots__ = [...]' to the base type", + type_name, b_name); + __Pyx_DECREF_TypeName(b_name); + } +#if !(CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY) + dictoffset_return: +#endif +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } + } +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + } + return 0; +} +#endif + +/* PyType_Ready */ +static int __Pyx_PyType_Ready(PyTypeObject *t) { +#if CYTHON_USE_TYPE_SPECS || !(CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API) || defined(PYSTON_MAJOR_VERSION) + (void)__Pyx_PyObject_CallMethod0; +#if CYTHON_USE_TYPE_SPECS + (void)__Pyx_validate_bases_tuple; +#endif + return PyType_Ready(t); +#else + int r; + PyObject *bases = __Pyx_PyType_GetSlot(t, tp_bases, PyObject*); + if (bases && unlikely(__Pyx_validate_bases_tuple(t->tp_name, t->tp_dictoffset, bases) == -1)) + return -1; +#if PY_VERSION_HEX >= 0x03050000 && !defined(PYSTON_MAJOR_VERSION) + { + int gc_was_enabled; + #if PY_VERSION_HEX >= 0x030A00b1 + gc_was_enabled = PyGC_Disable(); + (void)__Pyx_PyObject_CallMethod0; + #else + PyObject *ret, *py_status; + PyObject *gc = NULL; + #if PY_VERSION_HEX >= 0x030700a1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM+0 >= 0x07030400) + gc = PyImport_GetModule(__pyx_kp_u_gc); + #endif + if (unlikely(!gc)) gc = PyImport_Import(__pyx_kp_u_gc); + if (unlikely(!gc)) return -1; + py_status = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_isenabled); + if (unlikely(!py_status)) { + Py_DECREF(gc); + return -1; + } + gc_was_enabled = __Pyx_PyObject_IsTrue(py_status); + Py_DECREF(py_status); + if (gc_was_enabled > 0) { + ret = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_disable); + if (unlikely(!ret)) { + Py_DECREF(gc); + return -1; + } + Py_DECREF(ret); + } else if (unlikely(gc_was_enabled == -1)) { + Py_DECREF(gc); + return -1; + } + #endif + t->tp_flags |= Py_TPFLAGS_HEAPTYPE; +#if PY_VERSION_HEX >= 0x030A0000 + t->tp_flags |= Py_TPFLAGS_IMMUTABLETYPE; +#endif +#else + (void)__Pyx_PyObject_CallMethod0; +#endif + r = PyType_Ready(t); +#if PY_VERSION_HEX >= 0x03050000 && !defined(PYSTON_MAJOR_VERSION) + t->tp_flags &= ~Py_TPFLAGS_HEAPTYPE; + #if PY_VERSION_HEX >= 0x030A00b1 + if (gc_was_enabled) + PyGC_Enable(); + #else + if (gc_was_enabled) { + PyObject *tp, *v, *tb; + PyErr_Fetch(&tp, &v, &tb); + ret = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_enable); + if (likely(ret || r == -1)) { + Py_XDECREF(ret); + PyErr_Restore(tp, v, tb); + } else { + Py_XDECREF(tp); + Py_XDECREF(v); + Py_XDECREF(tb); + r = -1; + } + } + Py_DECREF(gc); + #endif + } +#endif + return r; +#endif +} + +/* SetupReduce */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_setup_reduce_is_named(PyObject* meth, PyObject* name) { + int ret; + PyObject *name_attr; + name_attr = __Pyx_PyObject_GetAttrStrNoError(meth, __pyx_n_s_name_2); + if (likely(name_attr)) { + ret = PyObject_RichCompareBool(name_attr, name, Py_EQ); + } else { + ret = -1; + } + if (unlikely(ret < 0)) { + PyErr_Clear(); + ret = 0; + } + Py_XDECREF(name_attr); + return ret; +} +static int __Pyx_setup_reduce(PyObject* type_obj) { + int ret = 0; + PyObject *object_reduce = NULL; + PyObject *object_getstate = NULL; + PyObject *object_reduce_ex = NULL; + PyObject *reduce = NULL; + PyObject *reduce_ex = NULL; + PyObject *reduce_cython = NULL; + PyObject *setstate = NULL; + PyObject *setstate_cython = NULL; + PyObject *getstate = NULL; +#if CYTHON_USE_PYTYPE_LOOKUP + getstate = _PyType_Lookup((PyTypeObject*)type_obj, __pyx_n_s_getstate); +#else + getstate = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_getstate); + if (!getstate && PyErr_Occurred()) { + goto __PYX_BAD; + } +#endif + if (getstate) { +#if CYTHON_USE_PYTYPE_LOOKUP + object_getstate = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_getstate); +#else + object_getstate = __Pyx_PyObject_GetAttrStrNoError((PyObject*)&PyBaseObject_Type, __pyx_n_s_getstate); + if (!object_getstate && PyErr_Occurred()) { + goto __PYX_BAD; + } +#endif + if (object_getstate != getstate) { + goto __PYX_GOOD; + } + } +#if CYTHON_USE_PYTYPE_LOOKUP + object_reduce_ex = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; +#else + object_reduce_ex = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; +#endif + reduce_ex = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce_ex); if (unlikely(!reduce_ex)) goto __PYX_BAD; + if (reduce_ex == object_reduce_ex) { +#if CYTHON_USE_PYTYPE_LOOKUP + object_reduce = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; +#else + object_reduce = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; +#endif + reduce = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce); if (unlikely(!reduce)) goto __PYX_BAD; + if (reduce == object_reduce || __Pyx_setup_reduce_is_named(reduce, __pyx_n_s_reduce_cython)) { + reduce_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_reduce_cython); + if (likely(reduce_cython)) { + ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce, reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + } else if (reduce == object_reduce || PyErr_Occurred()) { + goto __PYX_BAD; + } + setstate = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_setstate); + if (!setstate) PyErr_Clear(); + if (!setstate || __Pyx_setup_reduce_is_named(setstate, __pyx_n_s_setstate_cython)) { + setstate_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_setstate_cython); + if (likely(setstate_cython)) { + ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate, setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + } else if (!setstate || PyErr_Occurred()) { + goto __PYX_BAD; + } + } + PyType_Modified((PyTypeObject*)type_obj); + } + } + goto __PYX_GOOD; +__PYX_BAD: + if (!PyErr_Occurred()) { + __Pyx_TypeName type_obj_name = + __Pyx_PyType_GetName((PyTypeObject*)type_obj); + PyErr_Format(PyExc_RuntimeError, + "Unable to initialize pickling for " __Pyx_FMT_TYPENAME, type_obj_name); + __Pyx_DECREF_TypeName(type_obj_name); + } + ret = -1; +__PYX_GOOD: +#if !CYTHON_USE_PYTYPE_LOOKUP + Py_XDECREF(object_reduce); + Py_XDECREF(object_reduce_ex); + Py_XDECREF(object_getstate); + Py_XDECREF(getstate); +#endif + Py_XDECREF(reduce); + Py_XDECREF(reduce_ex); + Py_XDECREF(reduce_cython); + Py_XDECREF(setstate); + Py_XDECREF(setstate_cython); + return ret; +} +#endif + +/* SetVTable */ +static int __Pyx_SetVtable(PyTypeObject *type, void *vtable) { + PyObject *ob = PyCapsule_New(vtable, 0, 0); + if (unlikely(!ob)) + goto bad; +#if CYTHON_COMPILING_IN_LIMITED_API + if (unlikely(PyObject_SetAttr((PyObject *) type, __pyx_n_s_pyx_vtable, ob) < 0)) +#else + if (unlikely(PyDict_SetItem(type->tp_dict, __pyx_n_s_pyx_vtable, ob) < 0)) +#endif + goto bad; + Py_DECREF(ob); + return 0; +bad: + Py_XDECREF(ob); + return -1; +} + +/* GetVTable */ +static void* __Pyx_GetVtable(PyTypeObject *type) { + void* ptr; +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *ob = PyObject_GetAttr((PyObject *)type, __pyx_n_s_pyx_vtable); +#else + PyObject *ob = PyObject_GetItem(type->tp_dict, __pyx_n_s_pyx_vtable); +#endif + if (!ob) + goto bad; + ptr = PyCapsule_GetPointer(ob, 0); + if (!ptr && !PyErr_Occurred()) + PyErr_SetString(PyExc_RuntimeError, "invalid vtable found for imported type"); + Py_DECREF(ob); + return ptr; +bad: + Py_XDECREF(ob); + return NULL; +} + +/* MergeVTables */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_MergeVtables(PyTypeObject *type) { + int i; + void** base_vtables; + __Pyx_TypeName tp_base_name; + __Pyx_TypeName base_name; + void* unknown = (void*)-1; + PyObject* bases = type->tp_bases; + int base_depth = 0; + { + PyTypeObject* base = type->tp_base; + while (base) { + base_depth += 1; + base = base->tp_base; + } + } + base_vtables = (void**) malloc(sizeof(void*) * (size_t)(base_depth + 1)); + base_vtables[0] = unknown; + for (i = 1; i < PyTuple_GET_SIZE(bases); i++) { + void* base_vtable = __Pyx_GetVtable(((PyTypeObject*)PyTuple_GET_ITEM(bases, i))); + if (base_vtable != NULL) { + int j; + PyTypeObject* base = type->tp_base; + for (j = 0; j < base_depth; j++) { + if (base_vtables[j] == unknown) { + base_vtables[j] = __Pyx_GetVtable(base); + base_vtables[j + 1] = unknown; + } + if (base_vtables[j] == base_vtable) { + break; + } else if (base_vtables[j] == NULL) { + goto bad; + } + base = base->tp_base; + } + } + } + PyErr_Clear(); + free(base_vtables); + return 0; +bad: + tp_base_name = __Pyx_PyType_GetName(type->tp_base); + base_name = __Pyx_PyType_GetName((PyTypeObject*)PyTuple_GET_ITEM(bases, i)); + PyErr_Format(PyExc_TypeError, + "multiple bases have vtable conflict: '" __Pyx_FMT_TYPENAME "' and '" __Pyx_FMT_TYPENAME "'", tp_base_name, base_name); + __Pyx_DECREF_TypeName(tp_base_name); + __Pyx_DECREF_TypeName(base_name); + free(base_vtables); + return -1; +} +#endif + +/* FetchSharedCythonModule */ +static PyObject *__Pyx_FetchSharedCythonABIModule(void) { + return __Pyx_PyImport_AddModuleRef((char*) __PYX_ABI_MODULE_NAME); +} + +/* FetchCommonType */ +static int __Pyx_VerifyCachedType(PyObject *cached_type, + const char *name, + Py_ssize_t basicsize, + Py_ssize_t expected_basicsize) { + if (!PyType_Check(cached_type)) { + PyErr_Format(PyExc_TypeError, + "Shared Cython type %.200s is not a type object", name); + return -1; + } + if (basicsize != expected_basicsize) { + PyErr_Format(PyExc_TypeError, + "Shared Cython type %.200s has the wrong size, try recompiling", + name); + return -1; + } + return 0; +} +#if !CYTHON_USE_TYPE_SPECS +static PyTypeObject* __Pyx_FetchCommonType(PyTypeObject* type) { + PyObject* abi_module; + const char* object_name; + PyTypeObject *cached_type = NULL; + abi_module = __Pyx_FetchSharedCythonABIModule(); + if (!abi_module) return NULL; + object_name = strrchr(type->tp_name, '.'); + object_name = object_name ? object_name+1 : type->tp_name; + cached_type = (PyTypeObject*) PyObject_GetAttrString(abi_module, object_name); + if (cached_type) { + if (__Pyx_VerifyCachedType( + (PyObject *)cached_type, + object_name, + cached_type->tp_basicsize, + type->tp_basicsize) < 0) { + goto bad; + } + goto done; + } + if (!PyErr_ExceptionMatches(PyExc_AttributeError)) goto bad; + PyErr_Clear(); + if (PyType_Ready(type) < 0) goto bad; + if (PyObject_SetAttrString(abi_module, object_name, (PyObject *)type) < 0) + goto bad; + Py_INCREF(type); + cached_type = type; +done: + Py_DECREF(abi_module); + return cached_type; +bad: + Py_XDECREF(cached_type); + cached_type = NULL; + goto done; +} +#else +static PyTypeObject *__Pyx_FetchCommonTypeFromSpec(PyObject *module, PyType_Spec *spec, PyObject *bases) { + PyObject *abi_module, *cached_type = NULL; + const char* object_name = strrchr(spec->name, '.'); + object_name = object_name ? object_name+1 : spec->name; + abi_module = __Pyx_FetchSharedCythonABIModule(); + if (!abi_module) return NULL; + cached_type = PyObject_GetAttrString(abi_module, object_name); + if (cached_type) { + Py_ssize_t basicsize; +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *py_basicsize; + py_basicsize = PyObject_GetAttrString(cached_type, "__basicsize__"); + if (unlikely(!py_basicsize)) goto bad; + basicsize = PyLong_AsSsize_t(py_basicsize); + Py_DECREF(py_basicsize); + py_basicsize = 0; + if (unlikely(basicsize == (Py_ssize_t)-1) && PyErr_Occurred()) goto bad; +#else + basicsize = likely(PyType_Check(cached_type)) ? ((PyTypeObject*) cached_type)->tp_basicsize : -1; +#endif + if (__Pyx_VerifyCachedType( + cached_type, + object_name, + basicsize, + spec->basicsize) < 0) { + goto bad; + } + goto done; + } + if (!PyErr_ExceptionMatches(PyExc_AttributeError)) goto bad; + PyErr_Clear(); + CYTHON_UNUSED_VAR(module); + cached_type = __Pyx_PyType_FromModuleAndSpec(abi_module, spec, bases); + if (unlikely(!cached_type)) goto bad; + if (unlikely(__Pyx_fix_up_extension_type_from_spec(spec, (PyTypeObject *) cached_type) < 0)) goto bad; + if (PyObject_SetAttrString(abi_module, object_name, cached_type) < 0) goto bad; +done: + Py_DECREF(abi_module); + assert(cached_type == NULL || PyType_Check(cached_type)); + return (PyTypeObject *) cached_type; +bad: + Py_XDECREF(cached_type); + cached_type = NULL; + goto done; +} +#endif + +/* PyVectorcallFastCallDict */ +#if CYTHON_METH_FASTCALL +static PyObject *__Pyx_PyVectorcall_FastCallDict_kw(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw) +{ + PyObject *res = NULL; + PyObject *kwnames; + PyObject **newargs; + PyObject **kwvalues; + Py_ssize_t i, pos; + size_t j; + PyObject *key, *value; + unsigned long keys_are_strings; + Py_ssize_t nkw = PyDict_GET_SIZE(kw); + newargs = (PyObject **)PyMem_Malloc((nargs + (size_t)nkw) * sizeof(args[0])); + if (unlikely(newargs == NULL)) { + PyErr_NoMemory(); + return NULL; + } + for (j = 0; j < nargs; j++) newargs[j] = args[j]; + kwnames = PyTuple_New(nkw); + if (unlikely(kwnames == NULL)) { + PyMem_Free(newargs); + return NULL; + } + kwvalues = newargs + nargs; + pos = i = 0; + keys_are_strings = Py_TPFLAGS_UNICODE_SUBCLASS; + while (PyDict_Next(kw, &pos, &key, &value)) { + keys_are_strings &= Py_TYPE(key)->tp_flags; + Py_INCREF(key); + Py_INCREF(value); + PyTuple_SET_ITEM(kwnames, i, key); + kwvalues[i] = value; + i++; + } + if (unlikely(!keys_are_strings)) { + PyErr_SetString(PyExc_TypeError, "keywords must be strings"); + goto cleanup; + } + res = vc(func, newargs, nargs, kwnames); +cleanup: + Py_DECREF(kwnames); + for (i = 0; i < nkw; i++) + Py_DECREF(kwvalues[i]); + PyMem_Free(newargs); + return res; +} +static CYTHON_INLINE PyObject *__Pyx_PyVectorcall_FastCallDict(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw) +{ + if (likely(kw == NULL) || PyDict_GET_SIZE(kw) == 0) { + return vc(func, args, nargs, NULL); + } + return __Pyx_PyVectorcall_FastCallDict_kw(func, vc, args, nargs, kw); +} +#endif + +/* CythonFunctionShared */ +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc) { + if (__Pyx_CyFunction_Check(func)) { + return PyCFunction_GetFunction(((__pyx_CyFunctionObject*)func)->func) == (PyCFunction) cfunc; + } else if (PyCFunction_Check(func)) { + return PyCFunction_GetFunction(func) == (PyCFunction) cfunc; + } + return 0; +} +#else +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc) { + return __Pyx_CyOrPyCFunction_Check(func) && __Pyx_CyOrPyCFunction_GET_FUNCTION(func) == (PyCFunction) cfunc; +} +#endif +static CYTHON_INLINE void __Pyx__CyFunction_SetClassObj(__pyx_CyFunctionObject* f, PyObject* classobj) { +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + __Pyx_Py_XDECREF_SET( + __Pyx_CyFunction_GetClassObj(f), + ((classobj) ? __Pyx_NewRef(classobj) : NULL)); +#else + __Pyx_Py_XDECREF_SET( + ((PyCMethodObject *) (f))->mm_class, + (PyTypeObject*)((classobj) ? __Pyx_NewRef(classobj) : NULL)); +#endif +} +static PyObject * +__Pyx_CyFunction_get_doc(__pyx_CyFunctionObject *op, void *closure) +{ + CYTHON_UNUSED_VAR(closure); + if (unlikely(op->func_doc == NULL)) { +#if CYTHON_COMPILING_IN_LIMITED_API + op->func_doc = PyObject_GetAttrString(op->func, "__doc__"); + if (unlikely(!op->func_doc)) return NULL; +#else + if (((PyCFunctionObject*)op)->m_ml->ml_doc) { +#if PY_MAJOR_VERSION >= 3 + op->func_doc = PyUnicode_FromString(((PyCFunctionObject*)op)->m_ml->ml_doc); +#else + op->func_doc = PyString_FromString(((PyCFunctionObject*)op)->m_ml->ml_doc); +#endif + if (unlikely(op->func_doc == NULL)) + return NULL; + } else { + Py_INCREF(Py_None); + return Py_None; + } +#endif + } + Py_INCREF(op->func_doc); + return op->func_doc; +} +static int +__Pyx_CyFunction_set_doc(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (value == NULL) { + value = Py_None; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_doc, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_name(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(op->func_name == NULL)) { +#if CYTHON_COMPILING_IN_LIMITED_API + op->func_name = PyObject_GetAttrString(op->func, "__name__"); +#elif PY_MAJOR_VERSION >= 3 + op->func_name = PyUnicode_InternFromString(((PyCFunctionObject*)op)->m_ml->ml_name); +#else + op->func_name = PyString_InternFromString(((PyCFunctionObject*)op)->m_ml->ml_name); +#endif + if (unlikely(op->func_name == NULL)) + return NULL; + } + Py_INCREF(op->func_name); + return op->func_name; +} +static int +__Pyx_CyFunction_set_name(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); +#if PY_MAJOR_VERSION >= 3 + if (unlikely(value == NULL || !PyUnicode_Check(value))) +#else + if (unlikely(value == NULL || !PyString_Check(value))) +#endif + { + PyErr_SetString(PyExc_TypeError, + "__name__ must be set to a string object"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_name, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_qualname(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + Py_INCREF(op->func_qualname); + return op->func_qualname; +} +static int +__Pyx_CyFunction_set_qualname(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); +#if PY_MAJOR_VERSION >= 3 + if (unlikely(value == NULL || !PyUnicode_Check(value))) +#else + if (unlikely(value == NULL || !PyString_Check(value))) +#endif + { + PyErr_SetString(PyExc_TypeError, + "__qualname__ must be set to a string object"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_qualname, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_dict(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(op->func_dict == NULL)) { + op->func_dict = PyDict_New(); + if (unlikely(op->func_dict == NULL)) + return NULL; + } + Py_INCREF(op->func_dict); + return op->func_dict; +} +static int +__Pyx_CyFunction_set_dict(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(value == NULL)) { + PyErr_SetString(PyExc_TypeError, + "function's dictionary may not be deleted"); + return -1; + } + if (unlikely(!PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "setting function's dictionary to a non-dict"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_dict, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_globals(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + Py_INCREF(op->func_globals); + return op->func_globals; +} +static PyObject * +__Pyx_CyFunction_get_closure(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(op); + CYTHON_UNUSED_VAR(context); + Py_INCREF(Py_None); + return Py_None; +} +static PyObject * +__Pyx_CyFunction_get_code(__pyx_CyFunctionObject *op, void *context) +{ + PyObject* result = (op->func_code) ? op->func_code : Py_None; + CYTHON_UNUSED_VAR(context); + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_init_defaults(__pyx_CyFunctionObject *op) { + int result = 0; + PyObject *res = op->defaults_getter((PyObject *) op); + if (unlikely(!res)) + return -1; + #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + op->defaults_tuple = PyTuple_GET_ITEM(res, 0); + Py_INCREF(op->defaults_tuple); + op->defaults_kwdict = PyTuple_GET_ITEM(res, 1); + Py_INCREF(op->defaults_kwdict); + #else + op->defaults_tuple = __Pyx_PySequence_ITEM(res, 0); + if (unlikely(!op->defaults_tuple)) result = -1; + else { + op->defaults_kwdict = __Pyx_PySequence_ITEM(res, 1); + if (unlikely(!op->defaults_kwdict)) result = -1; + } + #endif + Py_DECREF(res); + return result; +} +static int +__Pyx_CyFunction_set_defaults(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value) { + value = Py_None; + } else if (unlikely(value != Py_None && !PyTuple_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__defaults__ must be set to a tuple object"); + return -1; + } + PyErr_WarnEx(PyExc_RuntimeWarning, "changes to cyfunction.__defaults__ will not " + "currently affect the values used in function calls", 1); + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->defaults_tuple, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_defaults(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->defaults_tuple; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + if (op->defaults_getter) { + if (unlikely(__Pyx_CyFunction_init_defaults(op) < 0)) return NULL; + result = op->defaults_tuple; + } else { + result = Py_None; + } + } + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_set_kwdefaults(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value) { + value = Py_None; + } else if (unlikely(value != Py_None && !PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__kwdefaults__ must be set to a dict object"); + return -1; + } + PyErr_WarnEx(PyExc_RuntimeWarning, "changes to cyfunction.__kwdefaults__ will not " + "currently affect the values used in function calls", 1); + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->defaults_kwdict, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_kwdefaults(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->defaults_kwdict; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + if (op->defaults_getter) { + if (unlikely(__Pyx_CyFunction_init_defaults(op) < 0)) return NULL; + result = op->defaults_kwdict; + } else { + result = Py_None; + } + } + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_set_annotations(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value || value == Py_None) { + value = NULL; + } else if (unlikely(!PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__annotations__ must be set to a dict object"); + return -1; + } + Py_XINCREF(value); + __Pyx_Py_XDECREF_SET(op->func_annotations, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_annotations(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->func_annotations; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + result = PyDict_New(); + if (unlikely(!result)) return NULL; + op->func_annotations = result; + } + Py_INCREF(result); + return result; +} +static PyObject * +__Pyx_CyFunction_get_is_coroutine(__pyx_CyFunctionObject *op, void *context) { + int is_coroutine; + CYTHON_UNUSED_VAR(context); + if (op->func_is_coroutine) { + return __Pyx_NewRef(op->func_is_coroutine); + } + is_coroutine = op->flags & __Pyx_CYFUNCTION_COROUTINE; +#if PY_VERSION_HEX >= 0x03050000 + if (is_coroutine) { + PyObject *module, *fromlist, *marker = __pyx_n_s_is_coroutine; + fromlist = PyList_New(1); + if (unlikely(!fromlist)) return NULL; + Py_INCREF(marker); +#if CYTHON_ASSUME_SAFE_MACROS + PyList_SET_ITEM(fromlist, 0, marker); +#else + if (unlikely(PyList_SetItem(fromlist, 0, marker) < 0)) { + Py_DECREF(marker); + Py_DECREF(fromlist); + return NULL; + } +#endif + module = PyImport_ImportModuleLevelObject(__pyx_n_s_asyncio_coroutines, NULL, NULL, fromlist, 0); + Py_DECREF(fromlist); + if (unlikely(!module)) goto ignore; + op->func_is_coroutine = __Pyx_PyObject_GetAttrStr(module, marker); + Py_DECREF(module); + if (likely(op->func_is_coroutine)) { + return __Pyx_NewRef(op->func_is_coroutine); + } +ignore: + PyErr_Clear(); + } +#endif + op->func_is_coroutine = __Pyx_PyBool_FromLong(is_coroutine); + return __Pyx_NewRef(op->func_is_coroutine); +} +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject * +__Pyx_CyFunction_get_module(__pyx_CyFunctionObject *op, void *context) { + CYTHON_UNUSED_VAR(context); + return PyObject_GetAttrString(op->func, "__module__"); +} +static int +__Pyx_CyFunction_set_module(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + return PyObject_SetAttrString(op->func, "__module__", value); +} +#endif +static PyGetSetDef __pyx_CyFunction_getsets[] = { + {(char *) "func_doc", (getter)__Pyx_CyFunction_get_doc, (setter)__Pyx_CyFunction_set_doc, 0, 0}, + {(char *) "__doc__", (getter)__Pyx_CyFunction_get_doc, (setter)__Pyx_CyFunction_set_doc, 0, 0}, + {(char *) "func_name", (getter)__Pyx_CyFunction_get_name, (setter)__Pyx_CyFunction_set_name, 0, 0}, + {(char *) "__name__", (getter)__Pyx_CyFunction_get_name, (setter)__Pyx_CyFunction_set_name, 0, 0}, + {(char *) "__qualname__", (getter)__Pyx_CyFunction_get_qualname, (setter)__Pyx_CyFunction_set_qualname, 0, 0}, + {(char *) "func_dict", (getter)__Pyx_CyFunction_get_dict, (setter)__Pyx_CyFunction_set_dict, 0, 0}, + {(char *) "__dict__", (getter)__Pyx_CyFunction_get_dict, (setter)__Pyx_CyFunction_set_dict, 0, 0}, + {(char *) "func_globals", (getter)__Pyx_CyFunction_get_globals, 0, 0, 0}, + {(char *) "__globals__", (getter)__Pyx_CyFunction_get_globals, 0, 0, 0}, + {(char *) "func_closure", (getter)__Pyx_CyFunction_get_closure, 0, 0, 0}, + {(char *) "__closure__", (getter)__Pyx_CyFunction_get_closure, 0, 0, 0}, + {(char *) "func_code", (getter)__Pyx_CyFunction_get_code, 0, 0, 0}, + {(char *) "__code__", (getter)__Pyx_CyFunction_get_code, 0, 0, 0}, + {(char *) "func_defaults", (getter)__Pyx_CyFunction_get_defaults, (setter)__Pyx_CyFunction_set_defaults, 0, 0}, + {(char *) "__defaults__", (getter)__Pyx_CyFunction_get_defaults, (setter)__Pyx_CyFunction_set_defaults, 0, 0}, + {(char *) "__kwdefaults__", (getter)__Pyx_CyFunction_get_kwdefaults, (setter)__Pyx_CyFunction_set_kwdefaults, 0, 0}, + {(char *) "__annotations__", (getter)__Pyx_CyFunction_get_annotations, (setter)__Pyx_CyFunction_set_annotations, 0, 0}, + {(char *) "_is_coroutine", (getter)__Pyx_CyFunction_get_is_coroutine, 0, 0, 0}, +#if CYTHON_COMPILING_IN_LIMITED_API + {"__module__", (getter)__Pyx_CyFunction_get_module, (setter)__Pyx_CyFunction_set_module, 0, 0}, +#endif + {0, 0, 0, 0, 0} +}; +static PyMemberDef __pyx_CyFunction_members[] = { +#if !CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__module__", T_OBJECT, offsetof(PyCFunctionObject, m_module), 0, 0}, +#endif +#if CYTHON_USE_TYPE_SPECS + {(char *) "__dictoffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_dict), READONLY, 0}, +#if CYTHON_METH_FASTCALL +#if CYTHON_BACKPORT_VECTORCALL + {(char *) "__vectorcalloffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_vectorcall), READONLY, 0}, +#else +#if !CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__vectorcalloffset__", T_PYSSIZET, offsetof(PyCFunctionObject, vectorcall), READONLY, 0}, +#endif +#endif +#endif +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__weaklistoffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_weakreflist), READONLY, 0}, +#else + {(char *) "__weaklistoffset__", T_PYSSIZET, offsetof(PyCFunctionObject, m_weakreflist), READONLY, 0}, +#endif +#endif + {0, 0, 0, 0, 0} +}; +static PyObject * +__Pyx_CyFunction_reduce(__pyx_CyFunctionObject *m, PyObject *args) +{ + CYTHON_UNUSED_VAR(args); +#if PY_MAJOR_VERSION >= 3 + Py_INCREF(m->func_qualname); + return m->func_qualname; +#else + return PyString_FromString(((PyCFunctionObject*)m)->m_ml->ml_name); +#endif +} +static PyMethodDef __pyx_CyFunction_methods[] = { + {"__reduce__", (PyCFunction)__Pyx_CyFunction_reduce, METH_VARARGS, 0}, + {0, 0, 0, 0} +}; +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API +#define __Pyx_CyFunction_weakreflist(cyfunc) ((cyfunc)->func_weakreflist) +#else +#define __Pyx_CyFunction_weakreflist(cyfunc) (((PyCFunctionObject*)cyfunc)->m_weakreflist) +#endif +static PyObject *__Pyx_CyFunction_Init(__pyx_CyFunctionObject *op, PyMethodDef *ml, int flags, PyObject* qualname, + PyObject *closure, PyObject *module, PyObject* globals, PyObject* code) { +#if !CYTHON_COMPILING_IN_LIMITED_API + PyCFunctionObject *cf = (PyCFunctionObject*) op; +#endif + if (unlikely(op == NULL)) + return NULL; +#if CYTHON_COMPILING_IN_LIMITED_API + op->func = PyCFunction_NewEx(ml, (PyObject*)op, module); + if (unlikely(!op->func)) return NULL; +#endif + op->flags = flags; + __Pyx_CyFunction_weakreflist(op) = NULL; +#if !CYTHON_COMPILING_IN_LIMITED_API + cf->m_ml = ml; + cf->m_self = (PyObject *) op; +#endif + Py_XINCREF(closure); + op->func_closure = closure; +#if !CYTHON_COMPILING_IN_LIMITED_API + Py_XINCREF(module); + cf->m_module = module; +#endif + op->func_dict = NULL; + op->func_name = NULL; + Py_INCREF(qualname); + op->func_qualname = qualname; + op->func_doc = NULL; +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + op->func_classobj = NULL; +#else + ((PyCMethodObject*)op)->mm_class = NULL; +#endif + op->func_globals = globals; + Py_INCREF(op->func_globals); + Py_XINCREF(code); + op->func_code = code; + op->defaults_pyobjects = 0; + op->defaults_size = 0; + op->defaults = NULL; + op->defaults_tuple = NULL; + op->defaults_kwdict = NULL; + op->defaults_getter = NULL; + op->func_annotations = NULL; + op->func_is_coroutine = NULL; +#if CYTHON_METH_FASTCALL + switch (ml->ml_flags & (METH_VARARGS | METH_FASTCALL | METH_NOARGS | METH_O | METH_KEYWORDS | METH_METHOD)) { + case METH_NOARGS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_NOARGS; + break; + case METH_O: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_O; + break; + case METH_METHOD | METH_FASTCALL | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD; + break; + case METH_FASTCALL | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS; + break; + case METH_VARARGS | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = NULL; + break; + default: + PyErr_SetString(PyExc_SystemError, "Bad call flags for CyFunction"); + Py_DECREF(op); + return NULL; + } +#endif + return (PyObject *) op; +} +static int +__Pyx_CyFunction_clear(__pyx_CyFunctionObject *m) +{ + Py_CLEAR(m->func_closure); +#if CYTHON_COMPILING_IN_LIMITED_API + Py_CLEAR(m->func); +#else + Py_CLEAR(((PyCFunctionObject*)m)->m_module); +#endif + Py_CLEAR(m->func_dict); + Py_CLEAR(m->func_name); + Py_CLEAR(m->func_qualname); + Py_CLEAR(m->func_doc); + Py_CLEAR(m->func_globals); + Py_CLEAR(m->func_code); +#if !CYTHON_COMPILING_IN_LIMITED_API +#if PY_VERSION_HEX < 0x030900B1 + Py_CLEAR(__Pyx_CyFunction_GetClassObj(m)); +#else + { + PyObject *cls = (PyObject*) ((PyCMethodObject *) (m))->mm_class; + ((PyCMethodObject *) (m))->mm_class = NULL; + Py_XDECREF(cls); + } +#endif +#endif + Py_CLEAR(m->defaults_tuple); + Py_CLEAR(m->defaults_kwdict); + Py_CLEAR(m->func_annotations); + Py_CLEAR(m->func_is_coroutine); + if (m->defaults) { + PyObject **pydefaults = __Pyx_CyFunction_Defaults(PyObject *, m); + int i; + for (i = 0; i < m->defaults_pyobjects; i++) + Py_XDECREF(pydefaults[i]); + PyObject_Free(m->defaults); + m->defaults = NULL; + } + return 0; +} +static void __Pyx__CyFunction_dealloc(__pyx_CyFunctionObject *m) +{ + if (__Pyx_CyFunction_weakreflist(m) != NULL) + PyObject_ClearWeakRefs((PyObject *) m); + __Pyx_CyFunction_clear(m); + __Pyx_PyHeapTypeObject_GC_Del(m); +} +static void __Pyx_CyFunction_dealloc(__pyx_CyFunctionObject *m) +{ + PyObject_GC_UnTrack(m); + __Pyx__CyFunction_dealloc(m); +} +static int __Pyx_CyFunction_traverse(__pyx_CyFunctionObject *m, visitproc visit, void *arg) +{ + Py_VISIT(m->func_closure); +#if CYTHON_COMPILING_IN_LIMITED_API + Py_VISIT(m->func); +#else + Py_VISIT(((PyCFunctionObject*)m)->m_module); +#endif + Py_VISIT(m->func_dict); + Py_VISIT(m->func_name); + Py_VISIT(m->func_qualname); + Py_VISIT(m->func_doc); + Py_VISIT(m->func_globals); + Py_VISIT(m->func_code); +#if !CYTHON_COMPILING_IN_LIMITED_API + Py_VISIT(__Pyx_CyFunction_GetClassObj(m)); +#endif + Py_VISIT(m->defaults_tuple); + Py_VISIT(m->defaults_kwdict); + Py_VISIT(m->func_is_coroutine); + if (m->defaults) { + PyObject **pydefaults = __Pyx_CyFunction_Defaults(PyObject *, m); + int i; + for (i = 0; i < m->defaults_pyobjects; i++) + Py_VISIT(pydefaults[i]); + } + return 0; +} +static PyObject* +__Pyx_CyFunction_repr(__pyx_CyFunctionObject *op) +{ +#if PY_MAJOR_VERSION >= 3 + return PyUnicode_FromFormat("", + op->func_qualname, (void *)op); +#else + return PyString_FromFormat("", + PyString_AsString(op->func_qualname), (void *)op); +#endif +} +static PyObject * __Pyx_CyFunction_CallMethod(PyObject *func, PyObject *self, PyObject *arg, PyObject *kw) { +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *f = ((__pyx_CyFunctionObject*)func)->func; + PyObject *py_name = NULL; + PyCFunction meth; + int flags; + meth = PyCFunction_GetFunction(f); + if (unlikely(!meth)) return NULL; + flags = PyCFunction_GetFlags(f); + if (unlikely(flags < 0)) return NULL; +#else + PyCFunctionObject* f = (PyCFunctionObject*)func; + PyCFunction meth = f->m_ml->ml_meth; + int flags = f->m_ml->ml_flags; +#endif + Py_ssize_t size; + switch (flags & (METH_VARARGS | METH_KEYWORDS | METH_NOARGS | METH_O)) { + case METH_VARARGS: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) + return (*meth)(self, arg); + break; + case METH_VARARGS | METH_KEYWORDS: + return (*(PyCFunctionWithKeywords)(void*)meth)(self, arg, kw); + case METH_NOARGS: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) { +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(arg); +#else + size = PyTuple_Size(arg); + if (unlikely(size < 0)) return NULL; +#endif + if (likely(size == 0)) + return (*meth)(self, NULL); +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, + "%.200S() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + py_name, size); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, + "%.200s() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + f->m_ml->ml_name, size); +#endif + return NULL; + } + break; + case METH_O: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) { +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(arg); +#else + size = PyTuple_Size(arg); + if (unlikely(size < 0)) return NULL; +#endif + if (likely(size == 1)) { + PyObject *result, *arg0; + #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + arg0 = PyTuple_GET_ITEM(arg, 0); + #else + arg0 = __Pyx_PySequence_ITEM(arg, 0); if (unlikely(!arg0)) return NULL; + #endif + result = (*meth)(self, arg0); + #if !(CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS) + Py_DECREF(arg0); + #endif + return result; + } +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, + "%.200S() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + py_name, size); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, + "%.200s() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + f->m_ml->ml_name, size); +#endif + return NULL; + } + break; + default: + PyErr_SetString(PyExc_SystemError, "Bad call flags for CyFunction"); + return NULL; + } +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, "%.200S() takes no keyword arguments", + py_name); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, "%.200s() takes no keyword arguments", + f->m_ml->ml_name); +#endif + return NULL; +} +static CYTHON_INLINE PyObject *__Pyx_CyFunction_Call(PyObject *func, PyObject *arg, PyObject *kw) { + PyObject *self, *result; +#if CYTHON_COMPILING_IN_LIMITED_API + self = PyCFunction_GetSelf(((__pyx_CyFunctionObject*)func)->func); + if (unlikely(!self) && PyErr_Occurred()) return NULL; +#else + self = ((PyCFunctionObject*)func)->m_self; +#endif + result = __Pyx_CyFunction_CallMethod(func, self, arg, kw); + return result; +} +static PyObject *__Pyx_CyFunction_CallAsMethod(PyObject *func, PyObject *args, PyObject *kw) { + PyObject *result; + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *) func; +#if CYTHON_METH_FASTCALL + __pyx_vectorcallfunc vc = __Pyx_CyFunction_func_vectorcall(cyfunc); + if (vc) { +#if CYTHON_ASSUME_SAFE_MACROS + return __Pyx_PyVectorcall_FastCallDict(func, vc, &PyTuple_GET_ITEM(args, 0), (size_t)PyTuple_GET_SIZE(args), kw); +#else + (void) &__Pyx_PyVectorcall_FastCallDict; + return PyVectorcall_Call(func, args, kw); +#endif + } +#endif + if ((cyfunc->flags & __Pyx_CYFUNCTION_CCLASS) && !(cyfunc->flags & __Pyx_CYFUNCTION_STATICMETHOD)) { + Py_ssize_t argc; + PyObject *new_args; + PyObject *self; +#if CYTHON_ASSUME_SAFE_MACROS + argc = PyTuple_GET_SIZE(args); +#else + argc = PyTuple_Size(args); + if (unlikely(!argc) < 0) return NULL; +#endif + new_args = PyTuple_GetSlice(args, 1, argc); + if (unlikely(!new_args)) + return NULL; + self = PyTuple_GetItem(args, 0); + if (unlikely(!self)) { + Py_DECREF(new_args); +#if PY_MAJOR_VERSION > 2 + PyErr_Format(PyExc_TypeError, + "unbound method %.200S() needs an argument", + cyfunc->func_qualname); +#else + PyErr_SetString(PyExc_TypeError, + "unbound method needs an argument"); +#endif + return NULL; + } + result = __Pyx_CyFunction_CallMethod(func, self, new_args, kw); + Py_DECREF(new_args); + } else { + result = __Pyx_CyFunction_Call(func, args, kw); + } + return result; +} +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE int __Pyx_CyFunction_Vectorcall_CheckArgs(__pyx_CyFunctionObject *cyfunc, Py_ssize_t nargs, PyObject *kwnames) +{ + int ret = 0; + if ((cyfunc->flags & __Pyx_CYFUNCTION_CCLASS) && !(cyfunc->flags & __Pyx_CYFUNCTION_STATICMETHOD)) { + if (unlikely(nargs < 1)) { + PyErr_Format(PyExc_TypeError, "%.200s() needs an argument", + ((PyCFunctionObject*)cyfunc)->m_ml->ml_name); + return -1; + } + ret = 1; + } + if (unlikely(kwnames) && unlikely(PyTuple_GET_SIZE(kwnames))) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes no keyword arguments", ((PyCFunctionObject*)cyfunc)->m_ml->ml_name); + return -1; + } + return ret; +} +static PyObject * __Pyx_CyFunction_Vectorcall_NOARGS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, kwnames)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + if (unlikely(nargs != 0)) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + def->ml_name, nargs); + return NULL; + } + return def->ml_meth(self, NULL); +} +static PyObject * __Pyx_CyFunction_Vectorcall_O(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, kwnames)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + if (unlikely(nargs != 1)) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + def->ml_name, nargs); + return NULL; + } + return def->ml_meth(self, args[0]); +} +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, NULL)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + return ((_PyCFunctionFastWithKeywords)(void(*)(void))def->ml_meth)(self, args, nargs, kwnames); +} +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; + PyTypeObject *cls = (PyTypeObject *) __Pyx_CyFunction_GetClassObj(cyfunc); +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, NULL)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + return ((__Pyx_PyCMethod)(void(*)(void))def->ml_meth)(self, cls, args, (size_t)nargs, kwnames); +} +#endif +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_CyFunctionType_slots[] = { + {Py_tp_dealloc, (void *)__Pyx_CyFunction_dealloc}, + {Py_tp_repr, (void *)__Pyx_CyFunction_repr}, + {Py_tp_call, (void *)__Pyx_CyFunction_CallAsMethod}, + {Py_tp_traverse, (void *)__Pyx_CyFunction_traverse}, + {Py_tp_clear, (void *)__Pyx_CyFunction_clear}, + {Py_tp_methods, (void *)__pyx_CyFunction_methods}, + {Py_tp_members, (void *)__pyx_CyFunction_members}, + {Py_tp_getset, (void *)__pyx_CyFunction_getsets}, + {Py_tp_descr_get, (void *)__Pyx_PyMethod_New}, + {0, 0}, +}; +static PyType_Spec __pyx_CyFunctionType_spec = { + __PYX_TYPE_MODULE_PREFIX "cython_function_or_method", + sizeof(__pyx_CyFunctionObject), + 0, +#ifdef Py_TPFLAGS_METHOD_DESCRIPTOR + Py_TPFLAGS_METHOD_DESCRIPTOR | +#endif +#if (defined(_Py_TPFLAGS_HAVE_VECTORCALL) && CYTHON_METH_FASTCALL) + _Py_TPFLAGS_HAVE_VECTORCALL | +#endif + Py_TPFLAGS_DEFAULT | Py_TPFLAGS_HAVE_GC | Py_TPFLAGS_BASETYPE, + __pyx_CyFunctionType_slots +}; +#else +static PyTypeObject __pyx_CyFunctionType_type = { + PyVarObject_HEAD_INIT(0, 0) + __PYX_TYPE_MODULE_PREFIX "cython_function_or_method", + sizeof(__pyx_CyFunctionObject), + 0, + (destructor) __Pyx_CyFunction_dealloc, +#if !CYTHON_METH_FASTCALL + 0, +#elif CYTHON_BACKPORT_VECTORCALL + (printfunc)offsetof(__pyx_CyFunctionObject, func_vectorcall), +#else + offsetof(PyCFunctionObject, vectorcall), +#endif + 0, + 0, +#if PY_MAJOR_VERSION < 3 + 0, +#else + 0, +#endif + (reprfunc) __Pyx_CyFunction_repr, + 0, + 0, + 0, + 0, + __Pyx_CyFunction_CallAsMethod, + 0, + 0, + 0, + 0, +#ifdef Py_TPFLAGS_METHOD_DESCRIPTOR + Py_TPFLAGS_METHOD_DESCRIPTOR | +#endif +#if defined(_Py_TPFLAGS_HAVE_VECTORCALL) && CYTHON_METH_FASTCALL + _Py_TPFLAGS_HAVE_VECTORCALL | +#endif + Py_TPFLAGS_DEFAULT | Py_TPFLAGS_HAVE_GC | Py_TPFLAGS_BASETYPE, + 0, + (traverseproc) __Pyx_CyFunction_traverse, + (inquiry) __Pyx_CyFunction_clear, + 0, +#if PY_VERSION_HEX < 0x030500A0 + offsetof(__pyx_CyFunctionObject, func_weakreflist), +#else + offsetof(PyCFunctionObject, m_weakreflist), +#endif + 0, + 0, + __pyx_CyFunction_methods, + __pyx_CyFunction_members, + __pyx_CyFunction_getsets, + 0, + 0, + __Pyx_PyMethod_New, + 0, + offsetof(__pyx_CyFunctionObject, func_dict), + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, +#if PY_VERSION_HEX >= 0x030400a1 + 0, +#endif +#if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, +#endif +#if __PYX_NEED_TP_PRINT_SLOT + 0, +#endif +#if PY_VERSION_HEX >= 0x030C0000 + 0, +#endif +#if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, +#endif +}; +#endif +static int __pyx_CyFunction_init(PyObject *module) { +#if CYTHON_USE_TYPE_SPECS + __pyx_CyFunctionType = __Pyx_FetchCommonTypeFromSpec(module, &__pyx_CyFunctionType_spec, NULL); +#else + CYTHON_UNUSED_VAR(module); + __pyx_CyFunctionType = __Pyx_FetchCommonType(&__pyx_CyFunctionType_type); +#endif + if (unlikely(__pyx_CyFunctionType == NULL)) { + return -1; + } + return 0; +} +static CYTHON_INLINE void *__Pyx_CyFunction_InitDefaults(PyObject *func, size_t size, int pyobjects) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults = PyObject_Malloc(size); + if (unlikely(!m->defaults)) + return PyErr_NoMemory(); + memset(m->defaults, 0, size); + m->defaults_pyobjects = pyobjects; + m->defaults_size = size; + return m->defaults; +} +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsTuple(PyObject *func, PyObject *tuple) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults_tuple = tuple; + Py_INCREF(tuple); +} +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsKwDict(PyObject *func, PyObject *dict) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults_kwdict = dict; + Py_INCREF(dict); +} +static CYTHON_INLINE void __Pyx_CyFunction_SetAnnotationsDict(PyObject *func, PyObject *dict) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->func_annotations = dict; + Py_INCREF(dict); +} + +/* CythonFunction */ +static PyObject *__Pyx_CyFunction_New(PyMethodDef *ml, int flags, PyObject* qualname, + PyObject *closure, PyObject *module, PyObject* globals, PyObject* code) { + PyObject *op = __Pyx_CyFunction_Init( + PyObject_GC_New(__pyx_CyFunctionObject, __pyx_CyFunctionType), + ml, flags, qualname, closure, module, globals, code + ); + if (likely(op)) { + PyObject_GC_Track(op); + } + return op; +} + +/* CLineInTraceback */ +#ifndef CYTHON_CLINE_IN_TRACEBACK +static int __Pyx_CLineForTraceback(PyThreadState *tstate, int c_line) { + PyObject *use_cline; + PyObject *ptype, *pvalue, *ptraceback; +#if CYTHON_COMPILING_IN_CPYTHON + PyObject **cython_runtime_dict; +#endif + CYTHON_MAYBE_UNUSED_VAR(tstate); + if (unlikely(!__pyx_cython_runtime)) { + return c_line; + } + __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); +#if CYTHON_COMPILING_IN_CPYTHON + cython_runtime_dict = _PyObject_GetDictPtr(__pyx_cython_runtime); + if (likely(cython_runtime_dict)) { + __PYX_PY_DICT_LOOKUP_IF_MODIFIED( + use_cline, *cython_runtime_dict, + __Pyx_PyDict_GetItemStr(*cython_runtime_dict, __pyx_n_s_cline_in_traceback)) + } else +#endif + { + PyObject *use_cline_obj = __Pyx_PyObject_GetAttrStrNoError(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback); + if (use_cline_obj) { + use_cline = PyObject_Not(use_cline_obj) ? Py_False : Py_True; + Py_DECREF(use_cline_obj); + } else { + PyErr_Clear(); + use_cline = NULL; + } + } + if (!use_cline) { + c_line = 0; + (void) PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False); + } + else if (use_cline == Py_False || (use_cline != Py_True && PyObject_Not(use_cline) != 0)) { + c_line = 0; + } + __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); + return c_line; +} +#endif + +/* CodeObjectCache */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line) { + int start = 0, mid = 0, end = count - 1; + if (end >= 0 && code_line > entries[end].code_line) { + return count; + } + while (start < end) { + mid = start + (end - start) / 2; + if (code_line < entries[mid].code_line) { + end = mid; + } else if (code_line > entries[mid].code_line) { + start = mid + 1; + } else { + return mid; + } + } + if (code_line <= entries[mid].code_line) { + return mid; + } else { + return mid + 1; + } +} +static PyCodeObject *__pyx_find_code_object(int code_line) { + PyCodeObject* code_object; + int pos; + if (unlikely(!code_line) || unlikely(!__pyx_code_cache.entries)) { + return NULL; + } + pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); + if (unlikely(pos >= __pyx_code_cache.count) || unlikely(__pyx_code_cache.entries[pos].code_line != code_line)) { + return NULL; + } + code_object = __pyx_code_cache.entries[pos].code_object; + Py_INCREF(code_object); + return code_object; +} +static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object) { + int pos, i; + __Pyx_CodeObjectCacheEntry* entries = __pyx_code_cache.entries; + if (unlikely(!code_line)) { + return; + } + if (unlikely(!entries)) { + entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Malloc(64*sizeof(__Pyx_CodeObjectCacheEntry)); + if (likely(entries)) { + __pyx_code_cache.entries = entries; + __pyx_code_cache.max_count = 64; + __pyx_code_cache.count = 1; + entries[0].code_line = code_line; + entries[0].code_object = code_object; + Py_INCREF(code_object); + } + return; + } + pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); + if ((pos < __pyx_code_cache.count) && unlikely(__pyx_code_cache.entries[pos].code_line == code_line)) { + PyCodeObject* tmp = entries[pos].code_object; + entries[pos].code_object = code_object; + Py_DECREF(tmp); + return; + } + if (__pyx_code_cache.count == __pyx_code_cache.max_count) { + int new_max = __pyx_code_cache.max_count + 64; + entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Realloc( + __pyx_code_cache.entries, ((size_t)new_max) * sizeof(__Pyx_CodeObjectCacheEntry)); + if (unlikely(!entries)) { + return; + } + __pyx_code_cache.entries = entries; + __pyx_code_cache.max_count = new_max; + } + for (i=__pyx_code_cache.count; i>pos; i--) { + entries[i] = entries[i-1]; + } + entries[pos].code_line = code_line; + entries[pos].code_object = code_object; + __pyx_code_cache.count++; + Py_INCREF(code_object); +} +#endif + +/* AddTraceback */ +#include "compile.h" +#include "frameobject.h" +#include "traceback.h" +#if PY_VERSION_HEX >= 0x030b00a6 && !CYTHON_COMPILING_IN_LIMITED_API + #ifndef Py_BUILD_CORE + #define Py_BUILD_CORE 1 + #endif + #include "internal/pycore_frame.h" +#endif +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject *__Pyx_PyCode_Replace_For_AddTraceback(PyObject *code, PyObject *scratch_dict, + PyObject *firstlineno, PyObject *name) { + PyObject *replace = NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "co_firstlineno", firstlineno))) return NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "co_name", name))) return NULL; + replace = PyObject_GetAttrString(code, "replace"); + if (likely(replace)) { + PyObject *result; + result = PyObject_Call(replace, __pyx_empty_tuple, scratch_dict); + Py_DECREF(replace); + return result; + } + PyErr_Clear(); + #if __PYX_LIMITED_VERSION_HEX < 0x030780000 + { + PyObject *compiled = NULL, *result = NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "code", code))) return NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "type", (PyObject*)(&PyType_Type)))) return NULL; + compiled = Py_CompileString( + "out = type(code)(\n" + " code.co_argcount, code.co_kwonlyargcount, code.co_nlocals, code.co_stacksize,\n" + " code.co_flags, code.co_code, code.co_consts, code.co_names,\n" + " code.co_varnames, code.co_filename, co_name, co_firstlineno,\n" + " code.co_lnotab)\n", "", Py_file_input); + if (!compiled) return NULL; + result = PyEval_EvalCode(compiled, scratch_dict, scratch_dict); + Py_DECREF(compiled); + if (!result) PyErr_Print(); + Py_DECREF(result); + result = PyDict_GetItemString(scratch_dict, "out"); + if (result) Py_INCREF(result); + return result; + } + #else + return NULL; + #endif +} +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename) { + PyObject *code_object = NULL, *py_py_line = NULL, *py_funcname = NULL, *dict = NULL; + PyObject *replace = NULL, *getframe = NULL, *frame = NULL; + PyObject *exc_type, *exc_value, *exc_traceback; + int success = 0; + if (c_line) { + (void) __pyx_cfilenm; + (void) __Pyx_CLineForTraceback(__Pyx_PyThreadState_Current, c_line); + } + PyErr_Fetch(&exc_type, &exc_value, &exc_traceback); + code_object = Py_CompileString("_getframe()", filename, Py_eval_input); + if (unlikely(!code_object)) goto bad; + py_py_line = PyLong_FromLong(py_line); + if (unlikely(!py_py_line)) goto bad; + py_funcname = PyUnicode_FromString(funcname); + if (unlikely(!py_funcname)) goto bad; + dict = PyDict_New(); + if (unlikely(!dict)) goto bad; + { + PyObject *old_code_object = code_object; + code_object = __Pyx_PyCode_Replace_For_AddTraceback(code_object, dict, py_py_line, py_funcname); + Py_DECREF(old_code_object); + } + if (unlikely(!code_object)) goto bad; + getframe = PySys_GetObject("_getframe"); + if (unlikely(!getframe)) goto bad; + if (unlikely(PyDict_SetItemString(dict, "_getframe", getframe))) goto bad; + frame = PyEval_EvalCode(code_object, dict, dict); + if (unlikely(!frame) || frame == Py_None) goto bad; + success = 1; + bad: + PyErr_Restore(exc_type, exc_value, exc_traceback); + Py_XDECREF(code_object); + Py_XDECREF(py_py_line); + Py_XDECREF(py_funcname); + Py_XDECREF(dict); + Py_XDECREF(replace); + if (success) { + PyTraceBack_Here( + (struct _frame*)frame); + } + Py_XDECREF(frame); +} +#else +static PyCodeObject* __Pyx_CreateCodeObjectForTraceback( + const char *funcname, int c_line, + int py_line, const char *filename) { + PyCodeObject *py_code = NULL; + PyObject *py_funcname = NULL; + #if PY_MAJOR_VERSION < 3 + PyObject *py_srcfile = NULL; + py_srcfile = PyString_FromString(filename); + if (!py_srcfile) goto bad; + #endif + if (c_line) { + #if PY_MAJOR_VERSION < 3 + py_funcname = PyString_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); + if (!py_funcname) goto bad; + #else + py_funcname = PyUnicode_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); + if (!py_funcname) goto bad; + funcname = PyUnicode_AsUTF8(py_funcname); + if (!funcname) goto bad; + #endif + } + else { + #if PY_MAJOR_VERSION < 3 + py_funcname = PyString_FromString(funcname); + if (!py_funcname) goto bad; + #endif + } + #if PY_MAJOR_VERSION < 3 + py_code = __Pyx_PyCode_New( + 0, + 0, + 0, + 0, + 0, + 0, + __pyx_empty_bytes, /*PyObject *code,*/ + __pyx_empty_tuple, /*PyObject *consts,*/ + __pyx_empty_tuple, /*PyObject *names,*/ + __pyx_empty_tuple, /*PyObject *varnames,*/ + __pyx_empty_tuple, /*PyObject *freevars,*/ + __pyx_empty_tuple, /*PyObject *cellvars,*/ + py_srcfile, /*PyObject *filename,*/ + py_funcname, /*PyObject *name,*/ + py_line, + __pyx_empty_bytes /*PyObject *lnotab*/ + ); + Py_DECREF(py_srcfile); + #else + py_code = PyCode_NewEmpty(filename, funcname, py_line); + #endif + Py_XDECREF(py_funcname); + return py_code; +bad: + Py_XDECREF(py_funcname); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(py_srcfile); + #endif + return NULL; +} +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename) { + PyCodeObject *py_code = 0; + PyFrameObject *py_frame = 0; + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject *ptype, *pvalue, *ptraceback; + if (c_line) { + c_line = __Pyx_CLineForTraceback(tstate, c_line); + } + py_code = __pyx_find_code_object(c_line ? -c_line : py_line); + if (!py_code) { + __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); + py_code = __Pyx_CreateCodeObjectForTraceback( + funcname, c_line, py_line, filename); + if (!py_code) { + /* If the code object creation fails, then we should clear the + fetched exception references and propagate the new exception */ + Py_XDECREF(ptype); + Py_XDECREF(pvalue); + Py_XDECREF(ptraceback); + goto bad; + } + __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); + __pyx_insert_code_object(c_line ? -c_line : py_line, py_code); + } + py_frame = PyFrame_New( + tstate, /*PyThreadState *tstate,*/ + py_code, /*PyCodeObject *code,*/ + __pyx_d, /*PyObject *globals,*/ + 0 /*PyObject *locals*/ + ); + if (!py_frame) goto bad; + __Pyx_PyFrame_SetLineNumber(py_frame, py_line); + PyTraceBack_Here(py_frame); +bad: + Py_XDECREF(py_code); + Py_XDECREF(py_frame); +} +#endif + +#if PY_MAJOR_VERSION < 3 +static int __Pyx_GetBuffer(PyObject *obj, Py_buffer *view, int flags) { + __Pyx_TypeName obj_type_name; + if (PyObject_CheckBuffer(obj)) return PyObject_GetBuffer(obj, view, flags); + if (__Pyx_TypeCheck(obj, __pyx_array_type)) return __pyx_array_getbuffer(obj, view, flags); + if (__Pyx_TypeCheck(obj, __pyx_memoryview_type)) return __pyx_memoryview_getbuffer(obj, view, flags); + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, + "'" __Pyx_FMT_TYPENAME "' does not have the buffer interface", + obj_type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return -1; +} +static void __Pyx_ReleaseBuffer(Py_buffer *view) { + PyObject *obj = view->obj; + if (!obj) return; + if (PyObject_CheckBuffer(obj)) { + PyBuffer_Release(view); + return; + } + if ((0)) {} + view->obj = NULL; + Py_DECREF(obj); +} +#endif + + +/* MemviewSliceIsContig */ +static int +__pyx_memviewslice_is_contig(const __Pyx_memviewslice mvs, char order, int ndim) +{ + int i, index, step, start; + Py_ssize_t itemsize = mvs.memview->view.itemsize; + if (order == 'F') { + step = 1; + start = 0; + } else { + step = -1; + start = ndim - 1; + } + for (i = 0; i < ndim; i++) { + index = start + step * i; + if (mvs.suboffsets[index] >= 0 || mvs.strides[index] != itemsize) + return 0; + itemsize *= mvs.shape[index]; + } + return 1; +} + +/* OverlappingSlices */ +static void +__pyx_get_array_memory_extents(__Pyx_memviewslice *slice, + void **out_start, void **out_end, + int ndim, size_t itemsize) +{ + char *start, *end; + int i; + start = end = slice->data; + for (i = 0; i < ndim; i++) { + Py_ssize_t stride = slice->strides[i]; + Py_ssize_t extent = slice->shape[i]; + if (extent == 0) { + *out_start = *out_end = start; + return; + } else { + if (stride > 0) + end += stride * (extent - 1); + else + start += stride * (extent - 1); + } + } + *out_start = start; + *out_end = end + itemsize; +} +static int +__pyx_slices_overlap(__Pyx_memviewslice *slice1, + __Pyx_memviewslice *slice2, + int ndim, size_t itemsize) +{ + void *start1, *end1, *start2, *end2; + __pyx_get_array_memory_extents(slice1, &start1, &end1, ndim, itemsize); + __pyx_get_array_memory_extents(slice2, &start2, &end2, ndim, itemsize); + return (start1 < end2) && (start2 < end1); +} + +/* IsLittleEndian */ +static CYTHON_INLINE int __Pyx_Is_Little_Endian(void) +{ + union { + uint32_t u32; + uint8_t u8[4]; + } S; + S.u32 = 0x01020304; + return S.u8[0] == 4; +} + +/* BufferFormatCheck */ +static void __Pyx_BufFmt_Init(__Pyx_BufFmt_Context* ctx, + __Pyx_BufFmt_StackElem* stack, + __Pyx_TypeInfo* type) { + stack[0].field = &ctx->root; + stack[0].parent_offset = 0; + ctx->root.type = type; + ctx->root.name = "buffer dtype"; + ctx->root.offset = 0; + ctx->head = stack; + ctx->head->field = &ctx->root; + ctx->fmt_offset = 0; + ctx->head->parent_offset = 0; + ctx->new_packmode = '@'; + ctx->enc_packmode = '@'; + ctx->new_count = 1; + ctx->enc_count = 0; + ctx->enc_type = 0; + ctx->is_complex = 0; + ctx->is_valid_array = 0; + ctx->struct_alignment = 0; + while (type->typegroup == 'S') { + ++ctx->head; + ctx->head->field = type->fields; + ctx->head->parent_offset = 0; + type = type->fields->type; + } +} +static int __Pyx_BufFmt_ParseNumber(const char** ts) { + int count; + const char* t = *ts; + if (*t < '0' || *t > '9') { + return -1; + } else { + count = *t++ - '0'; + while (*t >= '0' && *t <= '9') { + count *= 10; + count += *t++ - '0'; + } + } + *ts = t; + return count; +} +static int __Pyx_BufFmt_ExpectNumber(const char **ts) { + int number = __Pyx_BufFmt_ParseNumber(ts); + if (number == -1) + PyErr_Format(PyExc_ValueError,\ + "Does not understand character buffer dtype format string ('%c')", **ts); + return number; +} +static void __Pyx_BufFmt_RaiseUnexpectedChar(char ch) { + PyErr_Format(PyExc_ValueError, + "Unexpected format string character: '%c'", ch); +} +static const char* __Pyx_BufFmt_DescribeTypeChar(char ch, int is_complex) { + switch (ch) { + case '?': return "'bool'"; + case 'c': return "'char'"; + case 'b': return "'signed char'"; + case 'B': return "'unsigned char'"; + case 'h': return "'short'"; + case 'H': return "'unsigned short'"; + case 'i': return "'int'"; + case 'I': return "'unsigned int'"; + case 'l': return "'long'"; + case 'L': return "'unsigned long'"; + case 'q': return "'long long'"; + case 'Q': return "'unsigned long long'"; + case 'f': return (is_complex ? "'complex float'" : "'float'"); + case 'd': return (is_complex ? "'complex double'" : "'double'"); + case 'g': return (is_complex ? "'complex long double'" : "'long double'"); + case 'T': return "a struct"; + case 'O': return "Python object"; + case 'P': return "a pointer"; + case 's': case 'p': return "a string"; + case 0: return "end"; + default: return "unparsable format string"; + } +} +static size_t __Pyx_BufFmt_TypeCharToStandardSize(char ch, int is_complex) { + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return 2; + case 'i': case 'I': case 'l': case 'L': return 4; + case 'q': case 'Q': return 8; + case 'f': return (is_complex ? 8 : 4); + case 'd': return (is_complex ? 16 : 8); + case 'g': { + PyErr_SetString(PyExc_ValueError, "Python does not define a standard format string size for long double ('g').."); + return 0; + } + case 'O': case 'P': return sizeof(void*); + default: + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } +} +static size_t __Pyx_BufFmt_TypeCharToNativeSize(char ch, int is_complex) { + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return sizeof(short); + case 'i': case 'I': return sizeof(int); + case 'l': case 'L': return sizeof(long); + #ifdef HAVE_LONG_LONG + case 'q': case 'Q': return sizeof(PY_LONG_LONG); + #endif + case 'f': return sizeof(float) * (is_complex ? 2 : 1); + case 'd': return sizeof(double) * (is_complex ? 2 : 1); + case 'g': return sizeof(long double) * (is_complex ? 2 : 1); + case 'O': case 'P': return sizeof(void*); + default: { + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } + } +} +typedef struct { char c; short x; } __Pyx_st_short; +typedef struct { char c; int x; } __Pyx_st_int; +typedef struct { char c; long x; } __Pyx_st_long; +typedef struct { char c; float x; } __Pyx_st_float; +typedef struct { char c; double x; } __Pyx_st_double; +typedef struct { char c; long double x; } __Pyx_st_longdouble; +typedef struct { char c; void *x; } __Pyx_st_void_p; +#ifdef HAVE_LONG_LONG +typedef struct { char c; PY_LONG_LONG x; } __Pyx_st_longlong; +#endif +static size_t __Pyx_BufFmt_TypeCharToAlignment(char ch, int is_complex) { + CYTHON_UNUSED_VAR(is_complex); + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return sizeof(__Pyx_st_short) - sizeof(short); + case 'i': case 'I': return sizeof(__Pyx_st_int) - sizeof(int); + case 'l': case 'L': return sizeof(__Pyx_st_long) - sizeof(long); +#ifdef HAVE_LONG_LONG + case 'q': case 'Q': return sizeof(__Pyx_st_longlong) - sizeof(PY_LONG_LONG); +#endif + case 'f': return sizeof(__Pyx_st_float) - sizeof(float); + case 'd': return sizeof(__Pyx_st_double) - sizeof(double); + case 'g': return sizeof(__Pyx_st_longdouble) - sizeof(long double); + case 'P': case 'O': return sizeof(__Pyx_st_void_p) - sizeof(void*); + default: + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } +} +/* These are for computing the padding at the end of the struct to align + on the first member of the struct. This will probably the same as above, + but we don't have any guarantees. + */ +typedef struct { short x; char c; } __Pyx_pad_short; +typedef struct { int x; char c; } __Pyx_pad_int; +typedef struct { long x; char c; } __Pyx_pad_long; +typedef struct { float x; char c; } __Pyx_pad_float; +typedef struct { double x; char c; } __Pyx_pad_double; +typedef struct { long double x; char c; } __Pyx_pad_longdouble; +typedef struct { void *x; char c; } __Pyx_pad_void_p; +#ifdef HAVE_LONG_LONG +typedef struct { PY_LONG_LONG x; char c; } __Pyx_pad_longlong; +#endif +static size_t __Pyx_BufFmt_TypeCharToPadding(char ch, int is_complex) { + CYTHON_UNUSED_VAR(is_complex); + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return sizeof(__Pyx_pad_short) - sizeof(short); + case 'i': case 'I': return sizeof(__Pyx_pad_int) - sizeof(int); + case 'l': case 'L': return sizeof(__Pyx_pad_long) - sizeof(long); +#ifdef HAVE_LONG_LONG + case 'q': case 'Q': return sizeof(__Pyx_pad_longlong) - sizeof(PY_LONG_LONG); +#endif + case 'f': return sizeof(__Pyx_pad_float) - sizeof(float); + case 'd': return sizeof(__Pyx_pad_double) - sizeof(double); + case 'g': return sizeof(__Pyx_pad_longdouble) - sizeof(long double); + case 'P': case 'O': return sizeof(__Pyx_pad_void_p) - sizeof(void*); + default: + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } +} +static char __Pyx_BufFmt_TypeCharToGroup(char ch, int is_complex) { + switch (ch) { + case 'c': + return 'H'; + case 'b': case 'h': case 'i': + case 'l': case 'q': case 's': case 'p': + return 'I'; + case '?': case 'B': case 'H': case 'I': case 'L': case 'Q': + return 'U'; + case 'f': case 'd': case 'g': + return (is_complex ? 'C' : 'R'); + case 'O': + return 'O'; + case 'P': + return 'P'; + default: { + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } + } +} +static void __Pyx_BufFmt_RaiseExpected(__Pyx_BufFmt_Context* ctx) { + if (ctx->head == NULL || ctx->head->field == &ctx->root) { + const char* expected; + const char* quote; + if (ctx->head == NULL) { + expected = "end"; + quote = ""; + } else { + expected = ctx->head->field->type->name; + quote = "'"; + } + PyErr_Format(PyExc_ValueError, + "Buffer dtype mismatch, expected %s%s%s but got %s", + quote, expected, quote, + __Pyx_BufFmt_DescribeTypeChar(ctx->enc_type, ctx->is_complex)); + } else { + __Pyx_StructField* field = ctx->head->field; + __Pyx_StructField* parent = (ctx->head - 1)->field; + PyErr_Format(PyExc_ValueError, + "Buffer dtype mismatch, expected '%s' but got %s in '%s.%s'", + field->type->name, __Pyx_BufFmt_DescribeTypeChar(ctx->enc_type, ctx->is_complex), + parent->type->name, field->name); + } +} +static int __Pyx_BufFmt_ProcessTypeChunk(__Pyx_BufFmt_Context* ctx) { + char group; + size_t size, offset, arraysize = 1; + if (ctx->enc_type == 0) return 0; + if (ctx->head->field->type->arraysize[0]) { + int i, ndim = 0; + if (ctx->enc_type == 's' || ctx->enc_type == 'p') { + ctx->is_valid_array = ctx->head->field->type->ndim == 1; + ndim = 1; + if (ctx->enc_count != ctx->head->field->type->arraysize[0]) { + PyErr_Format(PyExc_ValueError, + "Expected a dimension of size %zu, got %zu", + ctx->head->field->type->arraysize[0], ctx->enc_count); + return -1; + } + } + if (!ctx->is_valid_array) { + PyErr_Format(PyExc_ValueError, "Expected %d dimensions, got %d", + ctx->head->field->type->ndim, ndim); + return -1; + } + for (i = 0; i < ctx->head->field->type->ndim; i++) { + arraysize *= ctx->head->field->type->arraysize[i]; + } + ctx->is_valid_array = 0; + ctx->enc_count = 1; + } + group = __Pyx_BufFmt_TypeCharToGroup(ctx->enc_type, ctx->is_complex); + do { + __Pyx_StructField* field = ctx->head->field; + __Pyx_TypeInfo* type = field->type; + if (ctx->enc_packmode == '@' || ctx->enc_packmode == '^') { + size = __Pyx_BufFmt_TypeCharToNativeSize(ctx->enc_type, ctx->is_complex); + } else { + size = __Pyx_BufFmt_TypeCharToStandardSize(ctx->enc_type, ctx->is_complex); + } + if (ctx->enc_packmode == '@') { + size_t align_at = __Pyx_BufFmt_TypeCharToAlignment(ctx->enc_type, ctx->is_complex); + size_t align_mod_offset; + if (align_at == 0) return -1; + align_mod_offset = ctx->fmt_offset % align_at; + if (align_mod_offset > 0) ctx->fmt_offset += align_at - align_mod_offset; + if (ctx->struct_alignment == 0) + ctx->struct_alignment = __Pyx_BufFmt_TypeCharToPadding(ctx->enc_type, + ctx->is_complex); + } + if (type->size != size || type->typegroup != group) { + if (type->typegroup == 'C' && type->fields != NULL) { + size_t parent_offset = ctx->head->parent_offset + field->offset; + ++ctx->head; + ctx->head->field = type->fields; + ctx->head->parent_offset = parent_offset; + continue; + } + if ((type->typegroup == 'H' || group == 'H') && type->size == size) { + } else { + __Pyx_BufFmt_RaiseExpected(ctx); + return -1; + } + } + offset = ctx->head->parent_offset + field->offset; + if (ctx->fmt_offset != offset) { + PyErr_Format(PyExc_ValueError, + "Buffer dtype mismatch; next field is at offset %" CYTHON_FORMAT_SSIZE_T "d but %" CYTHON_FORMAT_SSIZE_T "d expected", + (Py_ssize_t)ctx->fmt_offset, (Py_ssize_t)offset); + return -1; + } + ctx->fmt_offset += size; + if (arraysize) + ctx->fmt_offset += (arraysize - 1) * size; + --ctx->enc_count; + while (1) { + if (field == &ctx->root) { + ctx->head = NULL; + if (ctx->enc_count != 0) { + __Pyx_BufFmt_RaiseExpected(ctx); + return -1; + } + break; + } + ctx->head->field = ++field; + if (field->type == NULL) { + --ctx->head; + field = ctx->head->field; + continue; + } else if (field->type->typegroup == 'S') { + size_t parent_offset = ctx->head->parent_offset + field->offset; + if (field->type->fields->type == NULL) continue; + field = field->type->fields; + ++ctx->head; + ctx->head->field = field; + ctx->head->parent_offset = parent_offset; + break; + } else { + break; + } + } + } while (ctx->enc_count); + ctx->enc_type = 0; + ctx->is_complex = 0; + return 0; +} +static int +__pyx_buffmt_parse_array(__Pyx_BufFmt_Context* ctx, const char** tsp) +{ + const char *ts = *tsp; + int i = 0, number, ndim; + ++ts; + if (ctx->new_count != 1) { + PyErr_SetString(PyExc_ValueError, + "Cannot handle repeated arrays in format string"); + return -1; + } + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return -1; + ndim = ctx->head->field->type->ndim; + while (*ts && *ts != ')') { + switch (*ts) { + case ' ': case '\f': case '\r': case '\n': case '\t': case '\v': continue; + default: break; + } + number = __Pyx_BufFmt_ExpectNumber(&ts); + if (number == -1) return -1; + if (i < ndim && (size_t) number != ctx->head->field->type->arraysize[i]) { + PyErr_Format(PyExc_ValueError, + "Expected a dimension of size %zu, got %d", + ctx->head->field->type->arraysize[i], number); + return -1; + } + if (*ts != ',' && *ts != ')') { + PyErr_Format(PyExc_ValueError, + "Expected a comma in format string, got '%c'", *ts); + return -1; + } + if (*ts == ',') ts++; + i++; + } + if (i != ndim) { + PyErr_Format(PyExc_ValueError, "Expected %d dimension(s), got %d", + ctx->head->field->type->ndim, i); + return -1; + } + if (!*ts) { + PyErr_SetString(PyExc_ValueError, + "Unexpected end of format string, expected ')'"); + return -1; + } + ctx->is_valid_array = 1; + ctx->new_count = 1; + *tsp = ++ts; + return 0; +} +static const char* __Pyx_BufFmt_CheckString(__Pyx_BufFmt_Context* ctx, const char* ts) { + int got_Z = 0; + while (1) { + switch(*ts) { + case 0: + if (ctx->enc_type != 0 && ctx->head == NULL) { + __Pyx_BufFmt_RaiseExpected(ctx); + return NULL; + } + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + if (ctx->head != NULL) { + __Pyx_BufFmt_RaiseExpected(ctx); + return NULL; + } + return ts; + case ' ': + case '\r': + case '\n': + ++ts; + break; + case '<': + if (!__Pyx_Is_Little_Endian()) { + PyErr_SetString(PyExc_ValueError, "Little-endian buffer not supported on big-endian compiler"); + return NULL; + } + ctx->new_packmode = '='; + ++ts; + break; + case '>': + case '!': + if (__Pyx_Is_Little_Endian()) { + PyErr_SetString(PyExc_ValueError, "Big-endian buffer not supported on little-endian compiler"); + return NULL; + } + ctx->new_packmode = '='; + ++ts; + break; + case '=': + case '@': + case '^': + ctx->new_packmode = *ts++; + break; + case 'T': + { + const char* ts_after_sub; + size_t i, struct_count = ctx->new_count; + size_t struct_alignment = ctx->struct_alignment; + ctx->new_count = 1; + ++ts; + if (*ts != '{') { + PyErr_SetString(PyExc_ValueError, "Buffer acquisition: Expected '{' after 'T'"); + return NULL; + } + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->enc_type = 0; + ctx->enc_count = 0; + ctx->struct_alignment = 0; + ++ts; + ts_after_sub = ts; + for (i = 0; i != struct_count; ++i) { + ts_after_sub = __Pyx_BufFmt_CheckString(ctx, ts); + if (!ts_after_sub) return NULL; + } + ts = ts_after_sub; + if (struct_alignment) ctx->struct_alignment = struct_alignment; + } + break; + case '}': + { + size_t alignment = ctx->struct_alignment; + ++ts; + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->enc_type = 0; + if (alignment && ctx->fmt_offset % alignment) { + ctx->fmt_offset += alignment - (ctx->fmt_offset % alignment); + } + } + return ts; + case 'x': + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->fmt_offset += ctx->new_count; + ctx->new_count = 1; + ctx->enc_count = 0; + ctx->enc_type = 0; + ctx->enc_packmode = ctx->new_packmode; + ++ts; + break; + case 'Z': + got_Z = 1; + ++ts; + if (*ts != 'f' && *ts != 'd' && *ts != 'g') { + __Pyx_BufFmt_RaiseUnexpectedChar('Z'); + return NULL; + } + CYTHON_FALLTHROUGH; + case '?': case 'c': case 'b': case 'B': case 'h': case 'H': case 'i': case 'I': + case 'l': case 'L': case 'q': case 'Q': + case 'f': case 'd': case 'g': + case 'O': case 'p': + if ((ctx->enc_type == *ts) && (got_Z == ctx->is_complex) && + (ctx->enc_packmode == ctx->new_packmode) && (!ctx->is_valid_array)) { + ctx->enc_count += ctx->new_count; + ctx->new_count = 1; + got_Z = 0; + ++ts; + break; + } + CYTHON_FALLTHROUGH; + case 's': + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->enc_count = ctx->new_count; + ctx->enc_packmode = ctx->new_packmode; + ctx->enc_type = *ts; + ctx->is_complex = got_Z; + ++ts; + ctx->new_count = 1; + got_Z = 0; + break; + case ':': + ++ts; + while(*ts != ':') ++ts; + ++ts; + break; + case '(': + if (__pyx_buffmt_parse_array(ctx, &ts) < 0) return NULL; + break; + default: + { + int number = __Pyx_BufFmt_ExpectNumber(&ts); + if (number == -1) return NULL; + ctx->new_count = (size_t)number; + } + } + } +} + +/* TypeInfoCompare */ + static int +__pyx_typeinfo_cmp(__Pyx_TypeInfo *a, __Pyx_TypeInfo *b) +{ + int i; + if (!a || !b) + return 0; + if (a == b) + return 1; + if (a->size != b->size || a->typegroup != b->typegroup || + a->is_unsigned != b->is_unsigned || a->ndim != b->ndim) { + if (a->typegroup == 'H' || b->typegroup == 'H') { + return a->size == b->size; + } else { + return 0; + } + } + if (a->ndim) { + for (i = 0; i < a->ndim; i++) + if (a->arraysize[i] != b->arraysize[i]) + return 0; + } + if (a->typegroup == 'S') { + if (a->flags != b->flags) + return 0; + if (a->fields || b->fields) { + if (!(a->fields && b->fields)) + return 0; + for (i = 0; a->fields[i].type && b->fields[i].type; i++) { + __Pyx_StructField *field_a = a->fields + i; + __Pyx_StructField *field_b = b->fields + i; + if (field_a->offset != field_b->offset || + !__pyx_typeinfo_cmp(field_a->type, field_b->type)) + return 0; + } + return !a->fields[i].type && !b->fields[i].type; + } + } + return 1; +} + +/* MemviewSliceValidateAndInit */ + static int +__pyx_check_strides(Py_buffer *buf, int dim, int ndim, int spec) +{ + if (buf->shape[dim] <= 1) + return 1; + if (buf->strides) { + if (spec & __Pyx_MEMVIEW_CONTIG) { + if (spec & (__Pyx_MEMVIEW_PTR|__Pyx_MEMVIEW_FULL)) { + if (unlikely(buf->strides[dim] != sizeof(void *))) { + PyErr_Format(PyExc_ValueError, + "Buffer is not indirectly contiguous " + "in dimension %d.", dim); + goto fail; + } + } else if (unlikely(buf->strides[dim] != buf->itemsize)) { + PyErr_SetString(PyExc_ValueError, + "Buffer and memoryview are not contiguous " + "in the same dimension."); + goto fail; + } + } + if (spec & __Pyx_MEMVIEW_FOLLOW) { + Py_ssize_t stride = buf->strides[dim]; + if (stride < 0) + stride = -stride; + if (unlikely(stride < buf->itemsize)) { + PyErr_SetString(PyExc_ValueError, + "Buffer and memoryview are not contiguous " + "in the same dimension."); + goto fail; + } + } + } else { + if (unlikely(spec & __Pyx_MEMVIEW_CONTIG && dim != ndim - 1)) { + PyErr_Format(PyExc_ValueError, + "C-contiguous buffer is not contiguous in " + "dimension %d", dim); + goto fail; + } else if (unlikely(spec & (__Pyx_MEMVIEW_PTR))) { + PyErr_Format(PyExc_ValueError, + "C-contiguous buffer is not indirect in " + "dimension %d", dim); + goto fail; + } else if (unlikely(buf->suboffsets)) { + PyErr_SetString(PyExc_ValueError, + "Buffer exposes suboffsets but no strides"); + goto fail; + } + } + return 1; +fail: + return 0; +} +static int +__pyx_check_suboffsets(Py_buffer *buf, int dim, int ndim, int spec) +{ + CYTHON_UNUSED_VAR(ndim); + if (spec & __Pyx_MEMVIEW_DIRECT) { + if (unlikely(buf->suboffsets && buf->suboffsets[dim] >= 0)) { + PyErr_Format(PyExc_ValueError, + "Buffer not compatible with direct access " + "in dimension %d.", dim); + goto fail; + } + } + if (spec & __Pyx_MEMVIEW_PTR) { + if (unlikely(!buf->suboffsets || (buf->suboffsets[dim] < 0))) { + PyErr_Format(PyExc_ValueError, + "Buffer is not indirectly accessible " + "in dimension %d.", dim); + goto fail; + } + } + return 1; +fail: + return 0; +} +static int +__pyx_verify_contig(Py_buffer *buf, int ndim, int c_or_f_flag) +{ + int i; + if (c_or_f_flag & __Pyx_IS_F_CONTIG) { + Py_ssize_t stride = 1; + for (i = 0; i < ndim; i++) { + if (unlikely(stride * buf->itemsize != buf->strides[i] && buf->shape[i] > 1)) { + PyErr_SetString(PyExc_ValueError, + "Buffer not fortran contiguous."); + goto fail; + } + stride = stride * buf->shape[i]; + } + } else if (c_or_f_flag & __Pyx_IS_C_CONTIG) { + Py_ssize_t stride = 1; + for (i = ndim - 1; i >- 1; i--) { + if (unlikely(stride * buf->itemsize != buf->strides[i] && buf->shape[i] > 1)) { + PyErr_SetString(PyExc_ValueError, + "Buffer not C contiguous."); + goto fail; + } + stride = stride * buf->shape[i]; + } + } + return 1; +fail: + return 0; +} +static int __Pyx_ValidateAndInit_memviewslice( + int *axes_specs, + int c_or_f_flag, + int buf_flags, + int ndim, + __Pyx_TypeInfo *dtype, + __Pyx_BufFmt_StackElem stack[], + __Pyx_memviewslice *memviewslice, + PyObject *original_obj) +{ + struct __pyx_memoryview_obj *memview, *new_memview; + __Pyx_RefNannyDeclarations + Py_buffer *buf; + int i, spec = 0, retval = -1; + __Pyx_BufFmt_Context ctx; + int from_memoryview = __pyx_memoryview_check(original_obj); + __Pyx_RefNannySetupContext("ValidateAndInit_memviewslice", 0); + if (from_memoryview && __pyx_typeinfo_cmp(dtype, ((struct __pyx_memoryview_obj *) + original_obj)->typeinfo)) { + memview = (struct __pyx_memoryview_obj *) original_obj; + new_memview = NULL; + } else { + memview = (struct __pyx_memoryview_obj *) __pyx_memoryview_new( + original_obj, buf_flags, 0, dtype); + new_memview = memview; + if (unlikely(!memview)) + goto fail; + } + buf = &memview->view; + if (unlikely(buf->ndim != ndim)) { + PyErr_Format(PyExc_ValueError, + "Buffer has wrong number of dimensions (expected %d, got %d)", + ndim, buf->ndim); + goto fail; + } + if (new_memview) { + __Pyx_BufFmt_Init(&ctx, stack, dtype); + if (unlikely(!__Pyx_BufFmt_CheckString(&ctx, buf->format))) goto fail; + } + if (unlikely((unsigned) buf->itemsize != dtype->size)) { + PyErr_Format(PyExc_ValueError, + "Item size of buffer (%" CYTHON_FORMAT_SSIZE_T "u byte%s) " + "does not match size of '%s' (%" CYTHON_FORMAT_SSIZE_T "u byte%s)", + buf->itemsize, + (buf->itemsize > 1) ? "s" : "", + dtype->name, + dtype->size, + (dtype->size > 1) ? "s" : ""); + goto fail; + } + if (buf->len > 0) { + for (i = 0; i < ndim; i++) { + spec = axes_specs[i]; + if (unlikely(!__pyx_check_strides(buf, i, ndim, spec))) + goto fail; + if (unlikely(!__pyx_check_suboffsets(buf, i, ndim, spec))) + goto fail; + } + if (unlikely(buf->strides && !__pyx_verify_contig(buf, ndim, c_or_f_flag))) + goto fail; + } + if (unlikely(__Pyx_init_memviewslice(memview, ndim, memviewslice, + new_memview != NULL) == -1)) { + goto fail; + } + retval = 0; + goto no_fail; +fail: + Py_XDECREF(new_memview); + retval = -1; +no_fail: + __Pyx_RefNannyFinishContext(); + return retval; +} + +/* ObjectToMemviewSlice */ + static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_ds_float(PyObject *obj, int writable_flag) { + __Pyx_memviewslice result = { 0, 0, { 0 }, { 0 }, { 0 } }; + __Pyx_BufFmt_StackElem stack[1]; + int axes_specs[] = { (__Pyx_MEMVIEW_DIRECT | __Pyx_MEMVIEW_STRIDED) }; + int retcode; + if (obj == Py_None) { + result.memview = (struct __pyx_memoryview_obj *) Py_None; + return result; + } + retcode = __Pyx_ValidateAndInit_memviewslice(axes_specs, 0, + PyBUF_RECORDS_RO | writable_flag, 1, + &__Pyx_TypeInfo_float, stack, + &result, obj); + if (unlikely(retcode == -1)) + goto __pyx_fail; + return result; +__pyx_fail: + result.memview = NULL; + result.data = NULL; + return result; +} + +/* CIntFromPyVerify */ + #define __PYX_VERIFY_RETURN_INT(target_type, func_type, func_value)\ + __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 0) +#define __PYX_VERIFY_RETURN_INT_EXC(target_type, func_type, func_value)\ + __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 1) +#define __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, exc)\ + {\ + func_type value = func_value;\ + if (sizeof(target_type) < sizeof(func_type)) {\ + if (unlikely(value != (func_type) (target_type) value)) {\ + func_type zero = 0;\ + if (exc && unlikely(value == (func_type)-1 && PyErr_Occurred()))\ + return (target_type) -1;\ + if (is_unsigned && unlikely(value < zero))\ + goto raise_neg_overflow;\ + else\ + goto raise_overflow;\ + }\ + }\ + return (target_type) value;\ + } + +/* MemviewDtypeToObject */ + static CYTHON_INLINE PyObject *__pyx_memview_get_float(const char *itemp) { + return (PyObject *) PyFloat_FromDouble(*(float *) itemp); +} +static CYTHON_INLINE int __pyx_memview_set_float(const char *itemp, PyObject *obj) { + float value = __pyx_PyFloat_AsFloat(obj); + if (unlikely((value == (float)-1) && PyErr_Occurred())) + return 0; + *(float *) itemp = value; + return 1; +} + +/* MemviewSliceCopyTemplate */ + static __Pyx_memviewslice +__pyx_memoryview_copy_new_contig(const __Pyx_memviewslice *from_mvs, + const char *mode, int ndim, + size_t sizeof_dtype, int contig_flag, + int dtype_is_object) +{ + __Pyx_RefNannyDeclarations + int i; + __Pyx_memviewslice new_mvs = { 0, 0, { 0 }, { 0 }, { 0 } }; + struct __pyx_memoryview_obj *from_memview = from_mvs->memview; + Py_buffer *buf = &from_memview->view; + PyObject *shape_tuple = NULL; + PyObject *temp_int = NULL; + struct __pyx_array_obj *array_obj = NULL; + struct __pyx_memoryview_obj *memview_obj = NULL; + __Pyx_RefNannySetupContext("__pyx_memoryview_copy_new_contig", 0); + for (i = 0; i < ndim; i++) { + if (unlikely(from_mvs->suboffsets[i] >= 0)) { + PyErr_Format(PyExc_ValueError, "Cannot copy memoryview slice with " + "indirect dimensions (axis %d)", i); + goto fail; + } + } + shape_tuple = PyTuple_New(ndim); + if (unlikely(!shape_tuple)) { + goto fail; + } + __Pyx_GOTREF(shape_tuple); + for(i = 0; i < ndim; i++) { + temp_int = PyInt_FromSsize_t(from_mvs->shape[i]); + if(unlikely(!temp_int)) { + goto fail; + } else { + PyTuple_SET_ITEM(shape_tuple, i, temp_int); + temp_int = NULL; + } + } + array_obj = __pyx_array_new(shape_tuple, sizeof_dtype, buf->format, (char *) mode, NULL); + if (unlikely(!array_obj)) { + goto fail; + } + __Pyx_GOTREF(array_obj); + memview_obj = (struct __pyx_memoryview_obj *) __pyx_memoryview_new( + (PyObject *) array_obj, contig_flag, + dtype_is_object, + from_mvs->memview->typeinfo); + if (unlikely(!memview_obj)) + goto fail; + if (unlikely(__Pyx_init_memviewslice(memview_obj, ndim, &new_mvs, 1) < 0)) + goto fail; + if (unlikely(__pyx_memoryview_copy_contents(*from_mvs, new_mvs, ndim, ndim, + dtype_is_object) < 0)) + goto fail; + goto no_fail; +fail: + __Pyx_XDECREF(new_mvs.memview); + new_mvs.memview = NULL; + new_mvs.data = NULL; +no_fail: + __Pyx_XDECREF(shape_tuple); + __Pyx_XDECREF(temp_int); + __Pyx_XDECREF(array_obj); + __Pyx_RefNannyFinishContext(); + return new_mvs; +} + +/* MemviewSliceInit */ + static int +__Pyx_init_memviewslice(struct __pyx_memoryview_obj *memview, + int ndim, + __Pyx_memviewslice *memviewslice, + int memview_is_new_reference) +{ + __Pyx_RefNannyDeclarations + int i, retval=-1; + Py_buffer *buf = &memview->view; + __Pyx_RefNannySetupContext("init_memviewslice", 0); + if (unlikely(memviewslice->memview || memviewslice->data)) { + PyErr_SetString(PyExc_ValueError, + "memviewslice is already initialized!"); + goto fail; + } + if (buf->strides) { + for (i = 0; i < ndim; i++) { + memviewslice->strides[i] = buf->strides[i]; + } + } else { + Py_ssize_t stride = buf->itemsize; + for (i = ndim - 1; i >= 0; i--) { + memviewslice->strides[i] = stride; + stride *= buf->shape[i]; + } + } + for (i = 0; i < ndim; i++) { + memviewslice->shape[i] = buf->shape[i]; + if (buf->suboffsets) { + memviewslice->suboffsets[i] = buf->suboffsets[i]; + } else { + memviewslice->suboffsets[i] = -1; + } + } + memviewslice->memview = memview; + memviewslice->data = (char *)buf->buf; + if (__pyx_add_acquisition_count(memview) == 0 && !memview_is_new_reference) { + Py_INCREF(memview); + } + retval = 0; + goto no_fail; +fail: + memviewslice->memview = 0; + memviewslice->data = 0; + retval = -1; +no_fail: + __Pyx_RefNannyFinishContext(); + return retval; +} +#ifndef Py_NO_RETURN +#define Py_NO_RETURN +#endif +static void __pyx_fatalerror(const char *fmt, ...) Py_NO_RETURN { + va_list vargs; + char msg[200]; +#if PY_VERSION_HEX >= 0x030A0000 || defined(HAVE_STDARG_PROTOTYPES) + va_start(vargs, fmt); +#else + va_start(vargs); +#endif + vsnprintf(msg, 200, fmt, vargs); + va_end(vargs); + Py_FatalError(msg); +} +static CYTHON_INLINE int +__pyx_add_acquisition_count_locked(__pyx_atomic_int_type *acquisition_count, + PyThread_type_lock lock) +{ + int result; + PyThread_acquire_lock(lock, 1); + result = (*acquisition_count)++; + PyThread_release_lock(lock); + return result; +} +static CYTHON_INLINE int +__pyx_sub_acquisition_count_locked(__pyx_atomic_int_type *acquisition_count, + PyThread_type_lock lock) +{ + int result; + PyThread_acquire_lock(lock, 1); + result = (*acquisition_count)--; + PyThread_release_lock(lock); + return result; +} +static CYTHON_INLINE void +__Pyx_INC_MEMVIEW(__Pyx_memviewslice *memslice, int have_gil, int lineno) +{ + __pyx_nonatomic_int_type old_acquisition_count; + struct __pyx_memoryview_obj *memview = memslice->memview; + if (unlikely(!memview || (PyObject *) memview == Py_None)) { + return; + } + old_acquisition_count = __pyx_add_acquisition_count(memview); + if (unlikely(old_acquisition_count <= 0)) { + if (likely(old_acquisition_count == 0)) { + if (have_gil) { + Py_INCREF((PyObject *) memview); + } else { + PyGILState_STATE _gilstate = PyGILState_Ensure(); + Py_INCREF((PyObject *) memview); + PyGILState_Release(_gilstate); + } + } else { + __pyx_fatalerror("Acquisition count is %d (line %d)", + old_acquisition_count+1, lineno); + } + } +} +static CYTHON_INLINE void __Pyx_XCLEAR_MEMVIEW(__Pyx_memviewslice *memslice, + int have_gil, int lineno) { + __pyx_nonatomic_int_type old_acquisition_count; + struct __pyx_memoryview_obj *memview = memslice->memview; + if (unlikely(!memview || (PyObject *) memview == Py_None)) { + memslice->memview = NULL; + return; + } + old_acquisition_count = __pyx_sub_acquisition_count(memview); + memslice->data = NULL; + if (likely(old_acquisition_count > 1)) { + memslice->memview = NULL; + } else if (likely(old_acquisition_count == 1)) { + if (have_gil) { + Py_CLEAR(memslice->memview); + } else { + PyGILState_STATE _gilstate = PyGILState_Ensure(); + Py_CLEAR(memslice->memview); + PyGILState_Release(_gilstate); + } + } else { + __pyx_fatalerror("Acquisition count is %d (line %d)", + old_acquisition_count-1, lineno); + } +} + +/* CIntFromPy */ + static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(int) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(int, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (int) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(int, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(int) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 2 * PyLong_SHIFT)) { + return (int) (((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(int) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 3 * PyLong_SHIFT)) { + return (int) (((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(int) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 4 * PyLong_SHIFT)) { + return (int) (((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (int) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(int) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(int, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(int) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(int, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(int, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(int) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(int) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + return (int) ((((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(int) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + return (int) ((((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 4 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(int) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 4 * PyLong_SHIFT)) { + return (int) ((((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(int) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(int, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(int) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(int, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + int val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (int) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (int) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (int) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (int) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (int) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(int) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((int) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(int) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((int) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((int) 1) << (sizeof(int) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (int) -1; + } + } else { + int val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (int) -1; + val = __Pyx_PyInt_As_int(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to int"); + return (int) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to int"); + return (int) -1; +} + +/* CIntFromPy */ + static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const long neg_one = (long) -1, const_zero = (long) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(long) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(long, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (long) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(long, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(long) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 2 * PyLong_SHIFT)) { + return (long) (((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(long) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 3 * PyLong_SHIFT)) { + return (long) (((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(long) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 4 * PyLong_SHIFT)) { + return (long) (((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (long) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(long) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(long, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(long) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(long, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(long, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(long) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(long) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + return (long) ((((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(long) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + return (long) ((((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 4 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(long) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 4 * PyLong_SHIFT)) { + return (long) ((((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(long) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(long, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(long) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(long, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + long val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (long) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (long) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (long) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (long) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (long) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(long) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((long) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(long) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((long) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((long) 1) << (sizeof(long) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (long) -1; + } + } else { + long val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (long) -1; + val = __Pyx_PyInt_As_long(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to long"); + return (long) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to long"); + return (long) -1; +} + +/* CIntToPy */ + static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(int) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(int) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(int) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(int) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(int) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; +#if !CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030d0000 + return _PyLong_FromByteArray(bytes, sizeof(int), + little, !is_unsigned); +#else + PyObject *from_bytes, *result = NULL; + PyObject *py_bytes = NULL, *arg_tuple = NULL, *kwds = NULL, *order_str = NULL; + from_bytes = PyObject_GetAttrString((PyObject*)&PyLong_Type, "from_bytes"); + if (!from_bytes) return NULL; + py_bytes = PyBytes_FromStringAndSize((char*)bytes, sizeof(int)); + if (!py_bytes) goto limited_bad; + order_str = PyUnicode_FromString(little ? "little" : "big"); + if (!order_str) goto limited_bad; + arg_tuple = PyTuple_Pack(2, py_bytes, order_str); + if (!arg_tuple) goto limited_bad; + if (!is_unsigned) { + kwds = PyDict_New(); + if (!kwds) goto limited_bad; + if (PyDict_SetItemString(kwds, "signed", __Pyx_NewRef(Py_True))) goto limited_bad; + } + result = PyObject_Call(from_bytes, arg_tuple, kwds); + limited_bad: + Py_XDECREF(kwds); + Py_XDECREF(arg_tuple); + Py_XDECREF(order_str); + Py_XDECREF(py_bytes); + Py_XDECREF(from_bytes); + return result; +#endif + } +} + +/* CIntToPy */ + static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const long neg_one = (long) -1, const_zero = (long) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(long) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(long) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(long) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; +#if !CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030d0000 + return _PyLong_FromByteArray(bytes, sizeof(long), + little, !is_unsigned); +#else + PyObject *from_bytes, *result = NULL; + PyObject *py_bytes = NULL, *arg_tuple = NULL, *kwds = NULL, *order_str = NULL; + from_bytes = PyObject_GetAttrString((PyObject*)&PyLong_Type, "from_bytes"); + if (!from_bytes) return NULL; + py_bytes = PyBytes_FromStringAndSize((char*)bytes, sizeof(long)); + if (!py_bytes) goto limited_bad; + order_str = PyUnicode_FromString(little ? "little" : "big"); + if (!order_str) goto limited_bad; + arg_tuple = PyTuple_Pack(2, py_bytes, order_str); + if (!arg_tuple) goto limited_bad; + if (!is_unsigned) { + kwds = PyDict_New(); + if (!kwds) goto limited_bad; + if (PyDict_SetItemString(kwds, "signed", __Pyx_NewRef(Py_True))) goto limited_bad; + } + result = PyObject_Call(from_bytes, arg_tuple, kwds); + limited_bad: + Py_XDECREF(kwds); + Py_XDECREF(arg_tuple); + Py_XDECREF(order_str); + Py_XDECREF(py_bytes); + Py_XDECREF(from_bytes); + return result; +#endif + } +} + +/* CIntFromPy */ + static CYTHON_INLINE char __Pyx_PyInt_As_char(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const char neg_one = (char) -1, const_zero = (char) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(char) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(char, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (char) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(char, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(char) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) >= 2 * PyLong_SHIFT)) { + return (char) (((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(char) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) >= 3 * PyLong_SHIFT)) { + return (char) (((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(char) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) >= 4 * PyLong_SHIFT)) { + return (char) (((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (char) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(char) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(char, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(char) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(char, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(char, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(char) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 2 * PyLong_SHIFT)) { + return (char) (((char)-1)*(((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(char) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 2 * PyLong_SHIFT)) { + return (char) ((((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(char) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 3 * PyLong_SHIFT)) { + return (char) (((char)-1)*(((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(char) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 3 * PyLong_SHIFT)) { + return (char) ((((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(char) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 4 * PyLong_SHIFT)) { + return (char) (((char)-1)*(((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(char) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 4 * PyLong_SHIFT)) { + return (char) ((((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(char) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(char, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(char) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(char, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + char val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (char) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (char) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (char) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (char) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (char) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(char) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((char) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(char) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((char) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((char) 1) << (sizeof(char) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (char) -1; + } + } else { + char val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (char) -1; + val = __Pyx_PyInt_As_char(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to char"); + return (char) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to char"); + return (char) -1; +} + +/* FormatTypeName */ + #if CYTHON_COMPILING_IN_LIMITED_API +static __Pyx_TypeName +__Pyx_PyType_GetName(PyTypeObject* tp) +{ + PyObject *name = __Pyx_PyObject_GetAttrStr((PyObject *)tp, + __pyx_n_s_name_2); + if (unlikely(name == NULL) || unlikely(!PyUnicode_Check(name))) { + PyErr_Clear(); + Py_XDECREF(name); + name = __Pyx_NewRef(__pyx_n_s__24); + } + return name; +} +#endif + +/* CheckBinaryVersion */ + static unsigned long __Pyx_get_runtime_version(void) { +#if __PYX_LIMITED_VERSION_HEX >= 0x030B00A4 + return Py_Version & ~0xFFUL; +#else + const char* rt_version = Py_GetVersion(); + unsigned long version = 0; + unsigned long factor = 0x01000000UL; + unsigned int digit = 0; + int i = 0; + while (factor) { + while ('0' <= rt_version[i] && rt_version[i] <= '9') { + digit = digit * 10 + (unsigned int) (rt_version[i] - '0'); + ++i; + } + version += factor * digit; + if (rt_version[i] != '.') + break; + digit = 0; + factor >>= 8; + ++i; + } + return version; +#endif +} +static int __Pyx_check_binary_version(unsigned long ct_version, unsigned long rt_version, int allow_newer) { + const unsigned long MAJOR_MINOR = 0xFFFF0000UL; + if ((rt_version & MAJOR_MINOR) == (ct_version & MAJOR_MINOR)) + return 0; + if (likely(allow_newer && (rt_version & MAJOR_MINOR) > (ct_version & MAJOR_MINOR))) + return 1; + { + char message[200]; + PyOS_snprintf(message, sizeof(message), + "compile time Python version %d.%d " + "of module '%.100s' " + "%s " + "runtime version %d.%d", + (int) (ct_version >> 24), (int) ((ct_version >> 16) & 0xFF), + __Pyx_MODULE_NAME, + (allow_newer) ? "was newer than" : "does not match", + (int) (rt_version >> 24), (int) ((rt_version >> 16) & 0xFF) + ); + return PyErr_WarnEx(NULL, message, 1); + } +} + +/* InitStrings */ + #if PY_MAJOR_VERSION >= 3 +static int __Pyx_InitString(__Pyx_StringTabEntry t, PyObject **str) { + if (t.is_unicode | t.is_str) { + if (t.intern) { + *str = PyUnicode_InternFromString(t.s); + } else if (t.encoding) { + *str = PyUnicode_Decode(t.s, t.n - 1, t.encoding, NULL); + } else { + *str = PyUnicode_FromStringAndSize(t.s, t.n - 1); + } + } else { + *str = PyBytes_FromStringAndSize(t.s, t.n - 1); + } + if (!*str) + return -1; + if (PyObject_Hash(*str) == -1) + return -1; + return 0; +} +#endif +static int __Pyx_InitStrings(__Pyx_StringTabEntry *t) { + while (t->p) { + #if PY_MAJOR_VERSION >= 3 + __Pyx_InitString(*t, t->p); + #else + if (t->is_unicode) { + *t->p = PyUnicode_DecodeUTF8(t->s, t->n - 1, NULL); + } else if (t->intern) { + *t->p = PyString_InternFromString(t->s); + } else { + *t->p = PyString_FromStringAndSize(t->s, t->n - 1); + } + if (!*t->p) + return -1; + if (PyObject_Hash(*t->p) == -1) + return -1; + #endif + ++t; + } + return 0; +} + +#include +static CYTHON_INLINE Py_ssize_t __Pyx_ssize_strlen(const char *s) { + size_t len = strlen(s); + if (unlikely(len > (size_t) PY_SSIZE_T_MAX)) { + PyErr_SetString(PyExc_OverflowError, "byte string is too long"); + return -1; + } + return (Py_ssize_t) len; +} +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char* c_str) { + Py_ssize_t len = __Pyx_ssize_strlen(c_str); + if (unlikely(len < 0)) return NULL; + return __Pyx_PyUnicode_FromStringAndSize(c_str, len); +} +static CYTHON_INLINE PyObject* __Pyx_PyByteArray_FromString(const char* c_str) { + Py_ssize_t len = __Pyx_ssize_strlen(c_str); + if (unlikely(len < 0)) return NULL; + return PyByteArray_FromStringAndSize(c_str, len); +} +static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject* o) { + Py_ssize_t ignore; + return __Pyx_PyObject_AsStringAndSize(o, &ignore); +} +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT +#if !CYTHON_PEP393_ENABLED +static const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { + char* defenc_c; + PyObject* defenc = _PyUnicode_AsDefaultEncodedString(o, NULL); + if (!defenc) return NULL; + defenc_c = PyBytes_AS_STRING(defenc); +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + { + char* end = defenc_c + PyBytes_GET_SIZE(defenc); + char* c; + for (c = defenc_c; c < end; c++) { + if ((unsigned char) (*c) >= 128) { + PyUnicode_AsASCIIString(o); + return NULL; + } + } + } +#endif + *length = PyBytes_GET_SIZE(defenc); + return defenc_c; +} +#else +static CYTHON_INLINE const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { + if (unlikely(__Pyx_PyUnicode_READY(o) == -1)) return NULL; +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + if (likely(PyUnicode_IS_ASCII(o))) { + *length = PyUnicode_GET_LENGTH(o); + return PyUnicode_AsUTF8(o); + } else { + PyUnicode_AsASCIIString(o); + return NULL; + } +#else + return PyUnicode_AsUTF8AndSize(o, length); +#endif +} +#endif +#endif +static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject* o, Py_ssize_t *length) { +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT + if ( +#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + __Pyx_sys_getdefaultencoding_not_ascii && +#endif + PyUnicode_Check(o)) { + return __Pyx_PyUnicode_AsStringAndSize(o, length); + } else +#endif +#if (!CYTHON_COMPILING_IN_PYPY && !CYTHON_COMPILING_IN_LIMITED_API) || (defined(PyByteArray_AS_STRING) && defined(PyByteArray_GET_SIZE)) + if (PyByteArray_Check(o)) { + *length = PyByteArray_GET_SIZE(o); + return PyByteArray_AS_STRING(o); + } else +#endif + { + char* result; + int r = PyBytes_AsStringAndSize(o, &result, length); + if (unlikely(r < 0)) { + return NULL; + } else { + return result; + } + } +} +static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject* x) { + int is_true = x == Py_True; + if (is_true | (x == Py_False) | (x == Py_None)) return is_true; + else return PyObject_IsTrue(x); +} +static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject* x) { + int retval; + if (unlikely(!x)) return -1; + retval = __Pyx_PyObject_IsTrue(x); + Py_DECREF(x); + return retval; +} +static PyObject* __Pyx_PyNumber_IntOrLongWrongResultType(PyObject* result, const char* type_name) { + __Pyx_TypeName result_type_name = __Pyx_PyType_GetName(Py_TYPE(result)); +#if PY_MAJOR_VERSION >= 3 + if (PyLong_Check(result)) { + if (PyErr_WarnFormat(PyExc_DeprecationWarning, 1, + "__int__ returned non-int (type " __Pyx_FMT_TYPENAME "). " + "The ability to return an instance of a strict subclass of int is deprecated, " + "and may be removed in a future version of Python.", + result_type_name)) { + __Pyx_DECREF_TypeName(result_type_name); + Py_DECREF(result); + return NULL; + } + __Pyx_DECREF_TypeName(result_type_name); + return result; + } +#endif + PyErr_Format(PyExc_TypeError, + "__%.4s__ returned non-%.4s (type " __Pyx_FMT_TYPENAME ")", + type_name, type_name, result_type_name); + __Pyx_DECREF_TypeName(result_type_name); + Py_DECREF(result); + return NULL; +} +static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x) { +#if CYTHON_USE_TYPE_SLOTS + PyNumberMethods *m; +#endif + const char *name = NULL; + PyObject *res = NULL; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x) || PyLong_Check(x))) +#else + if (likely(PyLong_Check(x))) +#endif + return __Pyx_NewRef(x); +#if CYTHON_USE_TYPE_SLOTS + m = Py_TYPE(x)->tp_as_number; + #if PY_MAJOR_VERSION < 3 + if (m && m->nb_int) { + name = "int"; + res = m->nb_int(x); + } + else if (m && m->nb_long) { + name = "long"; + res = m->nb_long(x); + } + #else + if (likely(m && m->nb_int)) { + name = "int"; + res = m->nb_int(x); + } + #endif +#else + if (!PyBytes_CheckExact(x) && !PyUnicode_CheckExact(x)) { + res = PyNumber_Int(x); + } +#endif + if (likely(res)) { +#if PY_MAJOR_VERSION < 3 + if (unlikely(!PyInt_Check(res) && !PyLong_Check(res))) { +#else + if (unlikely(!PyLong_CheckExact(res))) { +#endif + return __Pyx_PyNumber_IntOrLongWrongResultType(res, name); + } + } + else if (!PyErr_Occurred()) { + PyErr_SetString(PyExc_TypeError, + "an integer is required"); + } + return res; +} +static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject* b) { + Py_ssize_t ival; + PyObject *x; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_CheckExact(b))) { + if (sizeof(Py_ssize_t) >= sizeof(long)) + return PyInt_AS_LONG(b); + else + return PyInt_AsSsize_t(b); + } +#endif + if (likely(PyLong_CheckExact(b))) { + #if CYTHON_USE_PYLONG_INTERNALS + if (likely(__Pyx_PyLong_IsCompact(b))) { + return __Pyx_PyLong_CompactValue(b); + } else { + const digit* digits = __Pyx_PyLong_Digits(b); + const Py_ssize_t size = __Pyx_PyLong_SignedDigitCount(b); + switch (size) { + case 2: + if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { + return (Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -2: + if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case 3: + if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { + return (Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -3: + if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case 4: + if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { + return (Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -4: + if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + } + } + #endif + return PyLong_AsSsize_t(b); + } + x = PyNumber_Index(b); + if (!x) return -1; + ival = PyInt_AsSsize_t(x); + Py_DECREF(x); + return ival; +} +static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject* o) { + if (sizeof(Py_hash_t) == sizeof(Py_ssize_t)) { + return (Py_hash_t) __Pyx_PyIndex_AsSsize_t(o); +#if PY_MAJOR_VERSION < 3 + } else if (likely(PyInt_CheckExact(o))) { + return PyInt_AS_LONG(o); +#endif + } else { + Py_ssize_t ival; + PyObject *x; + x = PyNumber_Index(o); + if (!x) return -1; + ival = PyInt_AsLong(x); + Py_DECREF(x); + return ival; + } +} +static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b) { + return b ? __Pyx_NewRef(Py_True) : __Pyx_NewRef(Py_False); +} +static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t ival) { + return PyInt_FromSize_t(ival); +} + + +/* #### Code section: utility_code_pragmas_end ### */ +#ifdef _MSC_VER +#pragma warning( pop ) +#endif + + + +/* #### Code section: end ### */ +#endif /* Py_PYTHON_H */ diff --git a/selfdrive/modeld/runners/snpemodel_pyx.so b/selfdrive/modeld/runners/snpemodel_pyx.so new file mode 100644 index 00000000000000..772818ddede0bd Binary files /dev/null and b/selfdrive/modeld/runners/snpemodel_pyx.so differ diff --git a/selfdrive/modeld/runners/thneedmodel.cc b/selfdrive/modeld/runners/thneedmodel.cc deleted file mode 100644 index a16d8b42aab223..00000000000000 --- a/selfdrive/modeld/runners/thneedmodel.cc +++ /dev/null @@ -1,58 +0,0 @@ -#include "selfdrive/modeld/runners/thneedmodel.h" - -#include - -#include "common/swaglog.h" - -ThneedModel::ThneedModel(const std::string path, float *_output, size_t _output_size, int runtime, bool luse_tf8, cl_context context) { - thneed = new Thneed(true, context); - thneed->load(path.c_str()); - thneed->clexec(); - - recorded = false; - output = _output; -} - -void* ThneedModel::getCLBuffer(const std::string name) { - int index = -1; - for (int i = 0; i < inputs.size(); i++) { - if (name == inputs[i]->name) { - index = i; - break; - } - } - - if (index == -1) { - LOGE("Tried to get CL buffer for input `%s` but no input with this name exists", name.c_str()); - assert(false); - } - - if (thneed->input_clmem.size() >= inputs.size()) { - return &thneed->input_clmem[inputs.size() - index - 1]; - } else { - return nullptr; - } -} - -void ThneedModel::execute() { - if (!recorded) { - thneed->record = true; - float *input_buffers[inputs.size()]; - for (int i = 0; i < inputs.size(); i++) { - input_buffers[inputs.size() - i - 1] = inputs[i]->buffer; - } - - thneed->copy_inputs(input_buffers); - thneed->clexec(); - thneed->copy_output(output); - thneed->stop(); - - recorded = true; - } else { - float *input_buffers[inputs.size()]; - for (int i = 0; i < inputs.size(); i++) { - input_buffers[inputs.size() - i - 1] = inputs[i]->buffer; - } - thneed->execute(input_buffers, output); - } -} diff --git a/selfdrive/modeld/runners/thneedmodel.h b/selfdrive/modeld/runners/thneedmodel.h deleted file mode 100644 index 6ed479c081634d..00000000000000 --- a/selfdrive/modeld/runners/thneedmodel.h +++ /dev/null @@ -1,17 +0,0 @@ -#pragma once - -#include - -#include "selfdrive/modeld/runners/runmodel.h" -#include "selfdrive/modeld/thneed/thneed.h" - -class ThneedModel : public RunModel { -public: - ThneedModel(const std::string path, float *_output, size_t _output_size, int runtime, bool use_tf8 = false, cl_context context = NULL); - void *getCLBuffer(const std::string name); - void execute(); -private: - Thneed *thneed = NULL; - bool recorded; - float *output; -}; diff --git a/selfdrive/modeld/runners/thneedmodel_pyx.cpp b/selfdrive/modeld/runners/thneedmodel_pyx.cpp new file mode 100644 index 00000000000000..097aa8404de895 --- /dev/null +++ b/selfdrive/modeld/runners/thneedmodel_pyx.cpp @@ -0,0 +1,27767 @@ +/* Generated by Cython 3.0.8 */ + +/* BEGIN: Cython Metadata +{ + "distutils": { + "depends": [ + "msgq/visionipc/visionbuf.h", + "msgq/visionipc/visionipc.h", + "msgq/visionipc/visionipc_client.h", + "msgq/visionipc/visionipc_server.h", + "selfdrive/modeld/runners/runmodel.h", + "selfdrive/modeld/runners/thneedmodel.h" + ], + "language": "c++", + "name": "selfdrive.modeld.runners.thneedmodel_pyx", + "sources": [ + "/data/openpilot/selfdrive/modeld/runners/thneedmodel_pyx.pyx" + ] + }, + "module_name": "selfdrive.modeld.runners.thneedmodel_pyx" +} +END: Cython Metadata */ + +#ifndef PY_SSIZE_T_CLEAN +#define PY_SSIZE_T_CLEAN +#endif /* PY_SSIZE_T_CLEAN */ +#if defined(CYTHON_LIMITED_API) && 0 + #ifndef Py_LIMITED_API + #if CYTHON_LIMITED_API+0 > 0x03030000 + #define Py_LIMITED_API CYTHON_LIMITED_API + #else + #define Py_LIMITED_API 0x03030000 + #endif + #endif +#endif + +#include "Python.h" +#ifndef Py_PYTHON_H + #error Python headers needed to compile C extensions, please install development version of Python. +#elif PY_VERSION_HEX < 0x02070000 || (0x03000000 <= PY_VERSION_HEX && PY_VERSION_HEX < 0x03030000) + #error Cython requires Python 2.7+ or Python 3.3+. +#else +#if defined(CYTHON_LIMITED_API) && CYTHON_LIMITED_API +#define __PYX_EXTRA_ABI_MODULE_NAME "limited" +#else +#define __PYX_EXTRA_ABI_MODULE_NAME "" +#endif +#define CYTHON_ABI "3_0_8" __PYX_EXTRA_ABI_MODULE_NAME +#define __PYX_ABI_MODULE_NAME "_cython_" CYTHON_ABI +#define __PYX_TYPE_MODULE_PREFIX __PYX_ABI_MODULE_NAME "." +#define CYTHON_HEX_VERSION 0x030008F0 +#define CYTHON_FUTURE_DIVISION 1 +#include +#ifndef offsetof + #define offsetof(type, member) ( (size_t) & ((type*)0) -> member ) +#endif +#if !defined(_WIN32) && !defined(WIN32) && !defined(MS_WINDOWS) + #ifndef __stdcall + #define __stdcall + #endif + #ifndef __cdecl + #define __cdecl + #endif + #ifndef __fastcall + #define __fastcall + #endif +#endif +#ifndef DL_IMPORT + #define DL_IMPORT(t) t +#endif +#ifndef DL_EXPORT + #define DL_EXPORT(t) t +#endif +#define __PYX_COMMA , +#ifndef HAVE_LONG_LONG + #define HAVE_LONG_LONG +#endif +#ifndef PY_LONG_LONG + #define PY_LONG_LONG LONG_LONG +#endif +#ifndef Py_HUGE_VAL + #define Py_HUGE_VAL HUGE_VAL +#endif +#define __PYX_LIMITED_VERSION_HEX PY_VERSION_HEX +#if defined(GRAALVM_PYTHON) + /* For very preliminary testing purposes. Most variables are set the same as PyPy. + The existence of this section does not imply that anything works or is even tested */ + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 1 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #undef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #undef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 1 + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS (PY_MAJOR_VERSION >= 3) + #endif + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(PYPY_VERSION) + #define CYTHON_COMPILING_IN_PYPY 1 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #ifndef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #endif + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #undef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 1 + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS (PY_MAJOR_VERSION >= 3) + #endif + #if PY_VERSION_HEX < 0x03090000 + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #elif !defined(CYTHON_PEP489_MULTI_PHASE_INIT) + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE (PY_VERSION_HEX >= 0x030400a1 && PYPY_VERSION_NUM >= 0x07030C00) + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(CYTHON_LIMITED_API) + #ifdef Py_LIMITED_API + #undef __PYX_LIMITED_VERSION_HEX + #define __PYX_LIMITED_VERSION_HEX Py_LIMITED_API + #endif + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 1 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_CLINE_IN_TRACEBACK + #define CYTHON_CLINE_IN_TRACEBACK 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #undef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 1 + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #ifndef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #endif + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS 1 + #endif + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 1 + #ifndef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #endif + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(Py_GIL_DISABLED) || defined(Py_NOGIL) + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 1 + #ifndef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 1 + #endif + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #ifndef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #ifndef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 1 + #endif + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #ifndef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 1 + #endif + #ifndef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 1 + #endif + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #ifndef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 1 + #endif + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 +#else + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 1 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #ifndef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 1 + #endif + #ifndef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #endif + #ifndef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 1 + #endif + #if PY_MAJOR_VERSION < 3 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #ifndef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 1 + #endif + #ifndef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 1 + #endif + #ifndef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 1 + #endif + #if PY_VERSION_HEX < 0x030300F0 || PY_VERSION_HEX >= 0x030B00A2 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #elif !defined(CYTHON_USE_UNICODE_WRITER) + #define CYTHON_USE_UNICODE_WRITER 1 + #endif + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #ifndef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 1 + #endif + #ifndef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 1 + #endif + #ifndef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 1 + #endif + #ifndef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL (PY_MAJOR_VERSION < 3 || PY_VERSION_HEX >= 0x03060000 && PY_VERSION_HEX < 0x030C00A6) + #endif + #ifndef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL (PY_VERSION_HEX >= 0x030700A1) + #endif + #ifndef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 1 + #endif + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS 1 + #endif + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #elif !defined(CYTHON_PEP489_MULTI_PHASE_INIT) + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #ifndef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #endif + #if PY_VERSION_HEX < 0x030400a1 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #elif !defined(CYTHON_USE_TP_FINALIZE) + #define CYTHON_USE_TP_FINALIZE 1 + #endif + #if PY_VERSION_HEX < 0x030600B1 + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #elif !defined(CYTHON_USE_DICT_VERSIONS) + #define CYTHON_USE_DICT_VERSIONS (PY_VERSION_HEX < 0x030C00A5) + #endif + #if PY_VERSION_HEX < 0x030700A3 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #elif !defined(CYTHON_USE_EXC_INFO_STACK) + #define CYTHON_USE_EXC_INFO_STACK 1 + #endif + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 1 + #endif +#endif +#if !defined(CYTHON_FAST_PYCCALL) +#define CYTHON_FAST_PYCCALL (CYTHON_FAST_PYCALL && PY_VERSION_HEX >= 0x030600B1) +#endif +#if !defined(CYTHON_VECTORCALL) +#define CYTHON_VECTORCALL (CYTHON_FAST_PYCCALL && PY_VERSION_HEX >= 0x030800B1) +#endif +#define CYTHON_BACKPORT_VECTORCALL (CYTHON_METH_FASTCALL && PY_VERSION_HEX < 0x030800B1) +#if CYTHON_USE_PYLONG_INTERNALS + #if PY_MAJOR_VERSION < 3 + #include "longintrepr.h" + #endif + #undef SHIFT + #undef BASE + #undef MASK + #ifdef SIZEOF_VOID_P + enum { __pyx_check_sizeof_voidp = 1 / (int)(SIZEOF_VOID_P == sizeof(void*)) }; + #endif +#endif +#ifndef __has_attribute + #define __has_attribute(x) 0 +#endif +#ifndef __has_cpp_attribute + #define __has_cpp_attribute(x) 0 +#endif +#ifndef CYTHON_RESTRICT + #if defined(__GNUC__) + #define CYTHON_RESTRICT __restrict__ + #elif defined(_MSC_VER) && _MSC_VER >= 1400 + #define CYTHON_RESTRICT __restrict + #elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define CYTHON_RESTRICT restrict + #else + #define CYTHON_RESTRICT + #endif +#endif +#ifndef CYTHON_UNUSED + #if defined(__cplusplus) + /* for clang __has_cpp_attribute(maybe_unused) is true even before C++17 + * but leads to warnings with -pedantic, since it is a C++17 feature */ + #if ((defined(_MSVC_LANG) && _MSVC_LANG >= 201703L) || __cplusplus >= 201703L) + #if __has_cpp_attribute(maybe_unused) + #define CYTHON_UNUSED [[maybe_unused]] + #endif + #endif + #endif +#endif +#ifndef CYTHON_UNUSED +# if defined(__GNUC__) +# if !(defined(__cplusplus)) || (__GNUC__ > 3 || (__GNUC__ == 3 && __GNUC_MINOR__ >= 4)) +# define CYTHON_UNUSED __attribute__ ((__unused__)) +# else +# define CYTHON_UNUSED +# endif +# elif defined(__ICC) || (defined(__INTEL_COMPILER) && !defined(_MSC_VER)) +# define CYTHON_UNUSED __attribute__ ((__unused__)) +# else +# define CYTHON_UNUSED +# endif +#endif +#ifndef CYTHON_UNUSED_VAR +# if defined(__cplusplus) + template void CYTHON_UNUSED_VAR( const T& ) { } +# else +# define CYTHON_UNUSED_VAR(x) (void)(x) +# endif +#endif +#ifndef CYTHON_MAYBE_UNUSED_VAR + #define CYTHON_MAYBE_UNUSED_VAR(x) CYTHON_UNUSED_VAR(x) +#endif +#ifndef CYTHON_NCP_UNUSED +# if CYTHON_COMPILING_IN_CPYTHON +# define CYTHON_NCP_UNUSED +# else +# define CYTHON_NCP_UNUSED CYTHON_UNUSED +# endif +#endif +#ifndef CYTHON_USE_CPP_STD_MOVE + #if defined(__cplusplus) && (\ + __cplusplus >= 201103L || (defined(_MSC_VER) && _MSC_VER >= 1600)) + #define CYTHON_USE_CPP_STD_MOVE 1 + #else + #define CYTHON_USE_CPP_STD_MOVE 0 + #endif +#endif +#define __Pyx_void_to_None(void_result) ((void)(void_result), Py_INCREF(Py_None), Py_None) +#ifdef _MSC_VER + #ifndef _MSC_STDINT_H_ + #if _MSC_VER < 1300 + typedef unsigned char uint8_t; + typedef unsigned short uint16_t; + typedef unsigned int uint32_t; + #else + typedef unsigned __int8 uint8_t; + typedef unsigned __int16 uint16_t; + typedef unsigned __int32 uint32_t; + #endif + #endif + #if _MSC_VER < 1300 + #ifdef _WIN64 + typedef unsigned long long __pyx_uintptr_t; + #else + typedef unsigned int __pyx_uintptr_t; + #endif + #else + #ifdef _WIN64 + typedef unsigned __int64 __pyx_uintptr_t; + #else + typedef unsigned __int32 __pyx_uintptr_t; + #endif + #endif +#else + #include + typedef uintptr_t __pyx_uintptr_t; +#endif +#ifndef CYTHON_FALLTHROUGH + #if defined(__cplusplus) + /* for clang __has_cpp_attribute(fallthrough) is true even before C++17 + * but leads to warnings with -pedantic, since it is a C++17 feature */ + #if ((defined(_MSVC_LANG) && _MSVC_LANG >= 201703L) || __cplusplus >= 201703L) + #if __has_cpp_attribute(fallthrough) + #define CYTHON_FALLTHROUGH [[fallthrough]] + #endif + #endif + #ifndef CYTHON_FALLTHROUGH + #if __has_cpp_attribute(clang::fallthrough) + #define CYTHON_FALLTHROUGH [[clang::fallthrough]] + #elif __has_cpp_attribute(gnu::fallthrough) + #define CYTHON_FALLTHROUGH [[gnu::fallthrough]] + #endif + #endif + #endif + #ifndef CYTHON_FALLTHROUGH + #if __has_attribute(fallthrough) + #define CYTHON_FALLTHROUGH __attribute__((fallthrough)) + #else + #define CYTHON_FALLTHROUGH + #endif + #endif + #if defined(__clang__) && defined(__apple_build_version__) + #if __apple_build_version__ < 7000000 + #undef CYTHON_FALLTHROUGH + #define CYTHON_FALLTHROUGH + #endif + #endif +#endif +#ifdef __cplusplus + template + struct __PYX_IS_UNSIGNED_IMPL {static const bool value = T(0) < T(-1);}; + #define __PYX_IS_UNSIGNED(type) (__PYX_IS_UNSIGNED_IMPL::value) +#else + #define __PYX_IS_UNSIGNED(type) (((type)-1) > 0) +#endif +#if CYTHON_COMPILING_IN_PYPY == 1 + #define __PYX_NEED_TP_PRINT_SLOT (PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x030A0000) +#else + #define __PYX_NEED_TP_PRINT_SLOT (PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000) +#endif +#define __PYX_REINTERPRET_FUNCION(func_pointer, other_pointer) ((func_pointer)(void(*)(void))(other_pointer)) + +#ifndef __cplusplus + #error "Cython files generated with the C++ option must be compiled with a C++ compiler." +#endif +#ifndef CYTHON_INLINE + #if defined(__clang__) + #define CYTHON_INLINE __inline__ __attribute__ ((__unused__)) + #else + #define CYTHON_INLINE inline + #endif +#endif +template +void __Pyx_call_destructor(T& x) { + x.~T(); +} +template +class __Pyx_FakeReference { + public: + __Pyx_FakeReference() : ptr(NULL) { } + __Pyx_FakeReference(const T& ref) : ptr(const_cast(&ref)) { } + T *operator->() { return ptr; } + T *operator&() { return ptr; } + operator T&() { return *ptr; } + template bool operator ==(const U& other) const { return *ptr == other; } + template bool operator !=(const U& other) const { return *ptr != other; } + template bool operator==(const __Pyx_FakeReference& other) const { return *ptr == *other.ptr; } + template bool operator!=(const __Pyx_FakeReference& other) const { return *ptr != *other.ptr; } + private: + T *ptr; +}; + +#define __PYX_BUILD_PY_SSIZE_T "n" +#define CYTHON_FORMAT_SSIZE_T "z" +#if PY_MAJOR_VERSION < 3 + #define __Pyx_BUILTIN_MODULE_NAME "__builtin__" + #define __Pyx_DefaultClassType PyClass_Type + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_New(a+k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#else + #define __Pyx_BUILTIN_MODULE_NAME "builtins" + #define __Pyx_DefaultClassType PyType_Type +#if CYTHON_COMPILING_IN_LIMITED_API + static CYTHON_INLINE PyObject* __Pyx_PyCode_New(int a, int p, int k, int l, int s, int f, + PyObject *code, PyObject *c, PyObject* n, PyObject *v, + PyObject *fv, PyObject *cell, PyObject* fn, + PyObject *name, int fline, PyObject *lnos) { + PyObject *exception_table = NULL; + PyObject *types_module=NULL, *code_type=NULL, *result=NULL; + #if __PYX_LIMITED_VERSION_HEX < 0x030B0000 + PyObject *version_info; + PyObject *py_minor_version = NULL; + #endif + long minor_version = 0; + PyObject *type, *value, *traceback; + PyErr_Fetch(&type, &value, &traceback); + #if __PYX_LIMITED_VERSION_HEX >= 0x030B0000 + minor_version = 11; + #else + if (!(version_info = PySys_GetObject("version_info"))) goto end; + if (!(py_minor_version = PySequence_GetItem(version_info, 1))) goto end; + minor_version = PyLong_AsLong(py_minor_version); + Py_DECREF(py_minor_version); + if (minor_version == -1 && PyErr_Occurred()) goto end; + #endif + if (!(types_module = PyImport_ImportModule("types"))) goto end; + if (!(code_type = PyObject_GetAttrString(types_module, "CodeType"))) goto end; + if (minor_version <= 7) { + (void)p; + result = PyObject_CallFunction(code_type, "iiiiiOOOOOOiOO", a, k, l, s, f, code, + c, n, v, fn, name, fline, lnos, fv, cell); + } else if (minor_version <= 10) { + result = PyObject_CallFunction(code_type, "iiiiiiOOOOOOiOO", a,p, k, l, s, f, code, + c, n, v, fn, name, fline, lnos, fv, cell); + } else { + if (!(exception_table = PyBytes_FromStringAndSize(NULL, 0))) goto end; + result = PyObject_CallFunction(code_type, "iiiiiiOOOOOOOiOO", a,p, k, l, s, f, code, + c, n, v, fn, name, name, fline, lnos, exception_table, fv, cell); + } + end: + Py_XDECREF(code_type); + Py_XDECREF(exception_table); + Py_XDECREF(types_module); + if (type) { + PyErr_Restore(type, value, traceback); + } + return result; + } + #ifndef CO_OPTIMIZED + #define CO_OPTIMIZED 0x0001 + #endif + #ifndef CO_NEWLOCALS + #define CO_NEWLOCALS 0x0002 + #endif + #ifndef CO_VARARGS + #define CO_VARARGS 0x0004 + #endif + #ifndef CO_VARKEYWORDS + #define CO_VARKEYWORDS 0x0008 + #endif + #ifndef CO_ASYNC_GENERATOR + #define CO_ASYNC_GENERATOR 0x0200 + #endif + #ifndef CO_GENERATOR + #define CO_GENERATOR 0x0020 + #endif + #ifndef CO_COROUTINE + #define CO_COROUTINE 0x0080 + #endif +#elif PY_VERSION_HEX >= 0x030B0000 + static CYTHON_INLINE PyCodeObject* __Pyx_PyCode_New(int a, int p, int k, int l, int s, int f, + PyObject *code, PyObject *c, PyObject* n, PyObject *v, + PyObject *fv, PyObject *cell, PyObject* fn, + PyObject *name, int fline, PyObject *lnos) { + PyCodeObject *result; + PyObject *empty_bytes = PyBytes_FromStringAndSize("", 0); + if (!empty_bytes) return NULL; + result = + #if PY_VERSION_HEX >= 0x030C0000 + PyUnstable_Code_NewWithPosOnlyArgs + #else + PyCode_NewWithPosOnlyArgs + #endif + (a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, name, fline, lnos, empty_bytes); + Py_DECREF(empty_bytes); + return result; + } +#elif PY_VERSION_HEX >= 0x030800B2 && !CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_NewWithPosOnlyArgs(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#else + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#endif +#endif +#if PY_VERSION_HEX >= 0x030900A4 || defined(Py_IS_TYPE) + #define __Pyx_IS_TYPE(ob, type) Py_IS_TYPE(ob, type) +#else + #define __Pyx_IS_TYPE(ob, type) (((const PyObject*)ob)->ob_type == (type)) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_Is) + #define __Pyx_Py_Is(x, y) Py_Is(x, y) +#else + #define __Pyx_Py_Is(x, y) ((x) == (y)) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsNone) + #define __Pyx_Py_IsNone(ob) Py_IsNone(ob) +#else + #define __Pyx_Py_IsNone(ob) __Pyx_Py_Is((ob), Py_None) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsTrue) + #define __Pyx_Py_IsTrue(ob) Py_IsTrue(ob) +#else + #define __Pyx_Py_IsTrue(ob) __Pyx_Py_Is((ob), Py_True) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsFalse) + #define __Pyx_Py_IsFalse(ob) Py_IsFalse(ob) +#else + #define __Pyx_Py_IsFalse(ob) __Pyx_Py_Is((ob), Py_False) +#endif +#define __Pyx_NoneAsNull(obj) (__Pyx_Py_IsNone(obj) ? NULL : (obj)) +#if PY_VERSION_HEX >= 0x030900F0 && !CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyObject_GC_IsFinalized(o) PyObject_GC_IsFinalized(o) +#else + #define __Pyx_PyObject_GC_IsFinalized(o) _PyGC_FINALIZED(o) +#endif +#ifndef CO_COROUTINE + #define CO_COROUTINE 0x80 +#endif +#ifndef CO_ASYNC_GENERATOR + #define CO_ASYNC_GENERATOR 0x200 +#endif +#ifndef Py_TPFLAGS_CHECKTYPES + #define Py_TPFLAGS_CHECKTYPES 0 +#endif +#ifndef Py_TPFLAGS_HAVE_INDEX + #define Py_TPFLAGS_HAVE_INDEX 0 +#endif +#ifndef Py_TPFLAGS_HAVE_NEWBUFFER + #define Py_TPFLAGS_HAVE_NEWBUFFER 0 +#endif +#ifndef Py_TPFLAGS_HAVE_FINALIZE + #define Py_TPFLAGS_HAVE_FINALIZE 0 +#endif +#ifndef Py_TPFLAGS_SEQUENCE + #define Py_TPFLAGS_SEQUENCE 0 +#endif +#ifndef Py_TPFLAGS_MAPPING + #define Py_TPFLAGS_MAPPING 0 +#endif +#ifndef METH_STACKLESS + #define METH_STACKLESS 0 +#endif +#if PY_VERSION_HEX <= 0x030700A3 || !defined(METH_FASTCALL) + #ifndef METH_FASTCALL + #define METH_FASTCALL 0x80 + #endif + typedef PyObject *(*__Pyx_PyCFunctionFast) (PyObject *self, PyObject *const *args, Py_ssize_t nargs); + typedef PyObject *(*__Pyx_PyCFunctionFastWithKeywords) (PyObject *self, PyObject *const *args, + Py_ssize_t nargs, PyObject *kwnames); +#else + #define __Pyx_PyCFunctionFast _PyCFunctionFast + #define __Pyx_PyCFunctionFastWithKeywords _PyCFunctionFastWithKeywords +#endif +#if CYTHON_METH_FASTCALL + #define __Pyx_METH_FASTCALL METH_FASTCALL + #define __Pyx_PyCFunction_FastCall __Pyx_PyCFunctionFast + #define __Pyx_PyCFunction_FastCallWithKeywords __Pyx_PyCFunctionFastWithKeywords +#else + #define __Pyx_METH_FASTCALL METH_VARARGS + #define __Pyx_PyCFunction_FastCall PyCFunction + #define __Pyx_PyCFunction_FastCallWithKeywords PyCFunctionWithKeywords +#endif +#if CYTHON_VECTORCALL + #define __pyx_vectorcallfunc vectorcallfunc + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET PY_VECTORCALL_ARGUMENTS_OFFSET + #define __Pyx_PyVectorcall_NARGS(n) PyVectorcall_NARGS((size_t)(n)) +#elif CYTHON_BACKPORT_VECTORCALL + typedef PyObject *(*__pyx_vectorcallfunc)(PyObject *callable, PyObject *const *args, + size_t nargsf, PyObject *kwnames); + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET ((size_t)1 << (8 * sizeof(size_t) - 1)) + #define __Pyx_PyVectorcall_NARGS(n) ((Py_ssize_t)(((size_t)(n)) & ~__Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET)) +#else + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET 0 + #define __Pyx_PyVectorcall_NARGS(n) ((Py_ssize_t)(n)) +#endif +#if PY_MAJOR_VERSION >= 0x030900B1 +#define __Pyx_PyCFunction_CheckExact(func) PyCFunction_CheckExact(func) +#else +#define __Pyx_PyCFunction_CheckExact(func) PyCFunction_Check(func) +#endif +#define __Pyx_CyOrPyCFunction_Check(func) PyCFunction_Check(func) +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_CyOrPyCFunction_GET_FUNCTION(func) (((PyCFunctionObject*)(func))->m_ml->ml_meth) +#elif !CYTHON_COMPILING_IN_LIMITED_API +#define __Pyx_CyOrPyCFunction_GET_FUNCTION(func) PyCFunction_GET_FUNCTION(func) +#endif +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_CyOrPyCFunction_GET_FLAGS(func) (((PyCFunctionObject*)(func))->m_ml->ml_flags) +static CYTHON_INLINE PyObject* __Pyx_CyOrPyCFunction_GET_SELF(PyObject *func) { + return (__Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_STATIC) ? NULL : ((PyCFunctionObject*)func)->m_self; +} +#endif +static CYTHON_INLINE int __Pyx__IsSameCFunction(PyObject *func, void *cfunc) { +#if CYTHON_COMPILING_IN_LIMITED_API + return PyCFunction_Check(func) && PyCFunction_GetFunction(func) == (PyCFunction) cfunc; +#else + return PyCFunction_Check(func) && PyCFunction_GET_FUNCTION(func) == (PyCFunction) cfunc; +#endif +} +#define __Pyx_IsSameCFunction(func, cfunc) __Pyx__IsSameCFunction(func, cfunc) +#if __PYX_LIMITED_VERSION_HEX < 0x030900B1 + #define __Pyx_PyType_FromModuleAndSpec(m, s, b) ((void)m, PyType_FromSpecWithBases(s, b)) + typedef PyObject *(*__Pyx_PyCMethod)(PyObject *, PyTypeObject *, PyObject *const *, size_t, PyObject *); +#else + #define __Pyx_PyType_FromModuleAndSpec(m, s, b) PyType_FromModuleAndSpec(m, s, b) + #define __Pyx_PyCMethod PyCMethod +#endif +#ifndef METH_METHOD + #define METH_METHOD 0x200 +#endif +#if CYTHON_COMPILING_IN_PYPY && !defined(PyObject_Malloc) + #define PyObject_Malloc(s) PyMem_Malloc(s) + #define PyObject_Free(p) PyMem_Free(p) + #define PyObject_Realloc(p) PyMem_Realloc(p) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0) + #define __Pyx_PyFrame_SetLineNumber(frame, lineno) +#else + #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0) + #define __Pyx_PyFrame_SetLineNumber(frame, lineno) (frame)->f_lineno = (lineno) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyThreadState_Current PyThreadState_Get() +#elif !CYTHON_FAST_THREAD_STATE + #define __Pyx_PyThreadState_Current PyThreadState_GET() +#elif PY_VERSION_HEX >= 0x030d00A1 + #define __Pyx_PyThreadState_Current PyThreadState_GetUnchecked() +#elif PY_VERSION_HEX >= 0x03060000 + #define __Pyx_PyThreadState_Current _PyThreadState_UncheckedGet() +#elif PY_VERSION_HEX >= 0x03000000 + #define __Pyx_PyThreadState_Current PyThreadState_GET() +#else + #define __Pyx_PyThreadState_Current _PyThreadState_Current +#endif +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE void *__Pyx_PyModule_GetState(PyObject *op) +{ + void *result; + result = PyModule_GetState(op); + if (!result) + Py_FatalError("Couldn't find the module state"); + return result; +} +#endif +#define __Pyx_PyObject_GetSlot(obj, name, func_ctype) __Pyx_PyType_GetSlot(Py_TYPE(obj), name, func_ctype) +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyType_GetSlot(type, name, func_ctype) ((func_ctype) PyType_GetSlot((type), Py_##name)) +#else + #define __Pyx_PyType_GetSlot(type, name, func_ctype) ((type)->name) +#endif +#if PY_VERSION_HEX < 0x030700A2 && !defined(PyThread_tss_create) && !defined(Py_tss_NEEDS_INIT) +#include "pythread.h" +#define Py_tss_NEEDS_INIT 0 +typedef int Py_tss_t; +static CYTHON_INLINE int PyThread_tss_create(Py_tss_t *key) { + *key = PyThread_create_key(); + return 0; +} +static CYTHON_INLINE Py_tss_t * PyThread_tss_alloc(void) { + Py_tss_t *key = (Py_tss_t *)PyObject_Malloc(sizeof(Py_tss_t)); + *key = Py_tss_NEEDS_INIT; + return key; +} +static CYTHON_INLINE void PyThread_tss_free(Py_tss_t *key) { + PyObject_Free(key); +} +static CYTHON_INLINE int PyThread_tss_is_created(Py_tss_t *key) { + return *key != Py_tss_NEEDS_INIT; +} +static CYTHON_INLINE void PyThread_tss_delete(Py_tss_t *key) { + PyThread_delete_key(*key); + *key = Py_tss_NEEDS_INIT; +} +static CYTHON_INLINE int PyThread_tss_set(Py_tss_t *key, void *value) { + return PyThread_set_key_value(*key, value); +} +static CYTHON_INLINE void * PyThread_tss_get(Py_tss_t *key) { + return PyThread_get_key_value(*key); +} +#endif +#if PY_MAJOR_VERSION < 3 + #if CYTHON_COMPILING_IN_PYPY + #if PYPY_VERSION_NUM < 0x07030600 + #if defined(__cplusplus) && __cplusplus >= 201402L + [[deprecated("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6")]] + #elif defined(__GNUC__) || defined(__clang__) + __attribute__ ((__deprecated__("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6"))) + #elif defined(_MSC_VER) + __declspec(deprecated("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6")) + #endif + static CYTHON_INLINE int PyGILState_Check(void) { + return 0; + } + #else // PYPY_VERSION_NUM < 0x07030600 + #endif // PYPY_VERSION_NUM < 0x07030600 + #else + static CYTHON_INLINE int PyGILState_Check(void) { + PyThreadState * tstate = _PyThreadState_Current; + return tstate && (tstate == PyGILState_GetThisThreadState()); + } + #endif +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030d0000 || defined(_PyDict_NewPresized) +#define __Pyx_PyDict_NewPresized(n) ((n <= 8) ? PyDict_New() : _PyDict_NewPresized(n)) +#else +#define __Pyx_PyDict_NewPresized(n) PyDict_New() +#endif +#if PY_MAJOR_VERSION >= 3 || CYTHON_FUTURE_DIVISION + #define __Pyx_PyNumber_Divide(x,y) PyNumber_TrueDivide(x,y) + #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceTrueDivide(x,y) +#else + #define __Pyx_PyNumber_Divide(x,y) PyNumber_Divide(x,y) + #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceDivide(x,y) +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX > 0x030600B4 && PY_VERSION_HEX < 0x030d0000 && CYTHON_USE_UNICODE_INTERNALS +#define __Pyx_PyDict_GetItemStrWithError(dict, name) _PyDict_GetItem_KnownHash(dict, name, ((PyASCIIObject *) name)->hash) +static CYTHON_INLINE PyObject * __Pyx_PyDict_GetItemStr(PyObject *dict, PyObject *name) { + PyObject *res = __Pyx_PyDict_GetItemStrWithError(dict, name); + if (res == NULL) PyErr_Clear(); + return res; +} +#elif PY_MAJOR_VERSION >= 3 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07020000) +#define __Pyx_PyDict_GetItemStrWithError PyDict_GetItemWithError +#define __Pyx_PyDict_GetItemStr PyDict_GetItem +#else +static CYTHON_INLINE PyObject * __Pyx_PyDict_GetItemStrWithError(PyObject *dict, PyObject *name) { +#if CYTHON_COMPILING_IN_PYPY + return PyDict_GetItem(dict, name); +#else + PyDictEntry *ep; + PyDictObject *mp = (PyDictObject*) dict; + long hash = ((PyStringObject *) name)->ob_shash; + assert(hash != -1); + ep = (mp->ma_lookup)(mp, name, hash); + if (ep == NULL) { + return NULL; + } + return ep->me_value; +#endif +} +#define __Pyx_PyDict_GetItemStr PyDict_GetItem +#endif +#if CYTHON_USE_TYPE_SLOTS + #define __Pyx_PyType_GetFlags(tp) (((PyTypeObject *)tp)->tp_flags) + #define __Pyx_PyType_HasFeature(type, feature) ((__Pyx_PyType_GetFlags(type) & (feature)) != 0) + #define __Pyx_PyObject_GetIterNextFunc(obj) (Py_TYPE(obj)->tp_iternext) +#else + #define __Pyx_PyType_GetFlags(tp) (PyType_GetFlags((PyTypeObject *)tp)) + #define __Pyx_PyType_HasFeature(type, feature) PyType_HasFeature(type, feature) + #define __Pyx_PyObject_GetIterNextFunc(obj) PyIter_Next +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_SetItemOnTypeDict(tp, k, v) PyObject_GenericSetAttr((PyObject*)tp, k, v) +#else + #define __Pyx_SetItemOnTypeDict(tp, k, v) PyDict_SetItem(tp->tp_dict, k, v) +#endif +#if CYTHON_USE_TYPE_SPECS && PY_VERSION_HEX >= 0x03080000 +#define __Pyx_PyHeapTypeObject_GC_Del(obj) {\ + PyTypeObject *type = Py_TYPE((PyObject*)obj);\ + assert(__Pyx_PyType_HasFeature(type, Py_TPFLAGS_HEAPTYPE));\ + PyObject_GC_Del(obj);\ + Py_DECREF(type);\ +} +#else +#define __Pyx_PyHeapTypeObject_GC_Del(obj) PyObject_GC_Del(obj) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define CYTHON_PEP393_ENABLED 1 + #define __Pyx_PyUnicode_READY(op) (0) + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GetLength(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) PyUnicode_ReadChar(u, i) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) ((void)u, 1114111U) + #define __Pyx_PyUnicode_KIND(u) ((void)u, (0)) + #define __Pyx_PyUnicode_DATA(u) ((void*)u) + #define __Pyx_PyUnicode_READ(k, d, i) ((void)k, PyUnicode_ReadChar((PyObject*)(d), i)) + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GetLength(u)) +#elif PY_VERSION_HEX > 0x03030000 && defined(PyUnicode_KIND) + #define CYTHON_PEP393_ENABLED 1 + #if PY_VERSION_HEX >= 0x030C0000 + #define __Pyx_PyUnicode_READY(op) (0) + #else + #define __Pyx_PyUnicode_READY(op) (likely(PyUnicode_IS_READY(op)) ?\ + 0 : _PyUnicode_Ready((PyObject *)(op))) + #endif + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_LENGTH(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) PyUnicode_READ_CHAR(u, i) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) PyUnicode_MAX_CHAR_VALUE(u) + #define __Pyx_PyUnicode_KIND(u) ((int)PyUnicode_KIND(u)) + #define __Pyx_PyUnicode_DATA(u) PyUnicode_DATA(u) + #define __Pyx_PyUnicode_READ(k, d, i) PyUnicode_READ(k, d, i) + #define __Pyx_PyUnicode_WRITE(k, d, i, ch) PyUnicode_WRITE(k, d, i, (Py_UCS4) ch) + #if PY_VERSION_HEX >= 0x030C0000 + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_LENGTH(u)) + #else + #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x03090000 + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : ((PyCompactUnicodeObject *)(u))->wstr_length)) + #else + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : PyUnicode_GET_SIZE(u))) + #endif + #endif +#else + #define CYTHON_PEP393_ENABLED 0 + #define PyUnicode_1BYTE_KIND 1 + #define PyUnicode_2BYTE_KIND 2 + #define PyUnicode_4BYTE_KIND 4 + #define __Pyx_PyUnicode_READY(op) (0) + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_SIZE(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) ((Py_UCS4)(PyUnicode_AS_UNICODE(u)[i])) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) ((sizeof(Py_UNICODE) == 2) ? 65535U : 1114111U) + #define __Pyx_PyUnicode_KIND(u) ((int)sizeof(Py_UNICODE)) + #define __Pyx_PyUnicode_DATA(u) ((void*)PyUnicode_AS_UNICODE(u)) + #define __Pyx_PyUnicode_READ(k, d, i) ((void)(k), (Py_UCS4)(((Py_UNICODE*)d)[i])) + #define __Pyx_PyUnicode_WRITE(k, d, i, ch) (((void)(k)), ((Py_UNICODE*)d)[i] = (Py_UNICODE) ch) + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_SIZE(u)) +#endif +#if CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyUnicode_Concat(a, b) PyNumber_Add(a, b) + #define __Pyx_PyUnicode_ConcatSafe(a, b) PyNumber_Add(a, b) +#else + #define __Pyx_PyUnicode_Concat(a, b) PyUnicode_Concat(a, b) + #define __Pyx_PyUnicode_ConcatSafe(a, b) ((unlikely((a) == Py_None) || unlikely((b) == Py_None)) ?\ + PyNumber_Add(a, b) : __Pyx_PyUnicode_Concat(a, b)) +#endif +#if CYTHON_COMPILING_IN_PYPY + #if !defined(PyUnicode_DecodeUnicodeEscape) + #define PyUnicode_DecodeUnicodeEscape(s, size, errors) PyUnicode_Decode(s, size, "unicode_escape", errors) + #endif + #if !defined(PyUnicode_Contains) || (PY_MAJOR_VERSION == 2 && PYPY_VERSION_NUM < 0x07030500) + #undef PyUnicode_Contains + #define PyUnicode_Contains(u, s) PySequence_Contains(u, s) + #endif + #if !defined(PyByteArray_Check) + #define PyByteArray_Check(obj) PyObject_TypeCheck(obj, &PyByteArray_Type) + #endif + #if !defined(PyObject_Format) + #define PyObject_Format(obj, fmt) PyObject_CallMethod(obj, "__format__", "O", fmt) + #endif +#endif +#define __Pyx_PyString_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyString_Check(b) && !PyString_CheckExact(b)))) ? PyNumber_Remainder(a, b) : __Pyx_PyString_Format(a, b)) +#define __Pyx_PyUnicode_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyUnicode_Check(b) && !PyUnicode_CheckExact(b)))) ? PyNumber_Remainder(a, b) : PyUnicode_Format(a, b)) +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyString_Format(a, b) PyUnicode_Format(a, b) +#else + #define __Pyx_PyString_Format(a, b) PyString_Format(a, b) +#endif +#if PY_MAJOR_VERSION < 3 && !defined(PyObject_ASCII) + #define PyObject_ASCII(o) PyObject_Repr(o) +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyBaseString_Type PyUnicode_Type + #define PyStringObject PyUnicodeObject + #define PyString_Type PyUnicode_Type + #define PyString_Check PyUnicode_Check + #define PyString_CheckExact PyUnicode_CheckExact +#ifndef PyObject_Unicode + #define PyObject_Unicode PyObject_Str +#endif +#endif +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyBaseString_Check(obj) PyUnicode_Check(obj) + #define __Pyx_PyBaseString_CheckExact(obj) PyUnicode_CheckExact(obj) +#else + #define __Pyx_PyBaseString_Check(obj) (PyString_Check(obj) || PyUnicode_Check(obj)) + #define __Pyx_PyBaseString_CheckExact(obj) (PyString_CheckExact(obj) || PyUnicode_CheckExact(obj)) +#endif +#if CYTHON_COMPILING_IN_CPYTHON + #define __Pyx_PySequence_ListKeepNew(obj)\ + (likely(PyList_CheckExact(obj) && Py_REFCNT(obj) == 1) ? __Pyx_NewRef(obj) : PySequence_List(obj)) +#else + #define __Pyx_PySequence_ListKeepNew(obj) PySequence_List(obj) +#endif +#ifndef PySet_CheckExact + #define PySet_CheckExact(obj) __Pyx_IS_TYPE(obj, &PySet_Type) +#endif +#if PY_VERSION_HEX >= 0x030900A4 + #define __Pyx_SET_REFCNT(obj, refcnt) Py_SET_REFCNT(obj, refcnt) + #define __Pyx_SET_SIZE(obj, size) Py_SET_SIZE(obj, size) +#else + #define __Pyx_SET_REFCNT(obj, refcnt) Py_REFCNT(obj) = (refcnt) + #define __Pyx_SET_SIZE(obj, size) Py_SIZE(obj) = (size) +#endif +#if CYTHON_ASSUME_SAFE_MACROS + #define __Pyx_PySequence_ITEM(o, i) PySequence_ITEM(o, i) + #define __Pyx_PySequence_SIZE(seq) Py_SIZE(seq) + #define __Pyx_PyTuple_SET_ITEM(o, i, v) (PyTuple_SET_ITEM(o, i, v), (0)) + #define __Pyx_PyList_SET_ITEM(o, i, v) (PyList_SET_ITEM(o, i, v), (0)) + #define __Pyx_PyTuple_GET_SIZE(o) PyTuple_GET_SIZE(o) + #define __Pyx_PyList_GET_SIZE(o) PyList_GET_SIZE(o) + #define __Pyx_PySet_GET_SIZE(o) PySet_GET_SIZE(o) + #define __Pyx_PyBytes_GET_SIZE(o) PyBytes_GET_SIZE(o) + #define __Pyx_PyByteArray_GET_SIZE(o) PyByteArray_GET_SIZE(o) +#else + #define __Pyx_PySequence_ITEM(o, i) PySequence_GetItem(o, i) + #define __Pyx_PySequence_SIZE(seq) PySequence_Size(seq) + #define __Pyx_PyTuple_SET_ITEM(o, i, v) PyTuple_SetItem(o, i, v) + #define __Pyx_PyList_SET_ITEM(o, i, v) PyList_SetItem(o, i, v) + #define __Pyx_PyTuple_GET_SIZE(o) PyTuple_Size(o) + #define __Pyx_PyList_GET_SIZE(o) PyList_Size(o) + #define __Pyx_PySet_GET_SIZE(o) PySet_Size(o) + #define __Pyx_PyBytes_GET_SIZE(o) PyBytes_Size(o) + #define __Pyx_PyByteArray_GET_SIZE(o) PyByteArray_Size(o) +#endif +#if PY_VERSION_HEX >= 0x030d00A1 + #define __Pyx_PyImport_AddModuleRef(name) PyImport_AddModuleRef(name) +#else + static CYTHON_INLINE PyObject *__Pyx_PyImport_AddModuleRef(const char *name) { + PyObject *module = PyImport_AddModule(name); + Py_XINCREF(module); + return module; + } +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyIntObject PyLongObject + #define PyInt_Type PyLong_Type + #define PyInt_Check(op) PyLong_Check(op) + #define PyInt_CheckExact(op) PyLong_CheckExact(op) + #define __Pyx_Py3Int_Check(op) PyLong_Check(op) + #define __Pyx_Py3Int_CheckExact(op) PyLong_CheckExact(op) + #define PyInt_FromString PyLong_FromString + #define PyInt_FromUnicode PyLong_FromUnicode + #define PyInt_FromLong PyLong_FromLong + #define PyInt_FromSize_t PyLong_FromSize_t + #define PyInt_FromSsize_t PyLong_FromSsize_t + #define PyInt_AsLong PyLong_AsLong + #define PyInt_AS_LONG PyLong_AS_LONG + #define PyInt_AsSsize_t PyLong_AsSsize_t + #define PyInt_AsUnsignedLongMask PyLong_AsUnsignedLongMask + #define PyInt_AsUnsignedLongLongMask PyLong_AsUnsignedLongLongMask + #define PyNumber_Int PyNumber_Long +#else + #define __Pyx_Py3Int_Check(op) (PyLong_Check(op) || PyInt_Check(op)) + #define __Pyx_Py3Int_CheckExact(op) (PyLong_CheckExact(op) || PyInt_CheckExact(op)) +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyBoolObject PyLongObject +#endif +#if PY_MAJOR_VERSION >= 3 && CYTHON_COMPILING_IN_PYPY + #ifndef PyUnicode_InternFromString + #define PyUnicode_InternFromString(s) PyUnicode_FromString(s) + #endif +#endif +#if PY_VERSION_HEX < 0x030200A4 + typedef long Py_hash_t; + #define __Pyx_PyInt_FromHash_t PyInt_FromLong + #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsHash_t +#else + #define __Pyx_PyInt_FromHash_t PyInt_FromSsize_t + #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsSsize_t +#endif +#if CYTHON_USE_ASYNC_SLOTS + #if PY_VERSION_HEX >= 0x030500B1 + #define __Pyx_PyAsyncMethodsStruct PyAsyncMethods + #define __Pyx_PyType_AsAsync(obj) (Py_TYPE(obj)->tp_as_async) + #else + #define __Pyx_PyType_AsAsync(obj) ((__Pyx_PyAsyncMethodsStruct*) (Py_TYPE(obj)->tp_reserved)) + #endif +#else + #define __Pyx_PyType_AsAsync(obj) NULL +#endif +#ifndef __Pyx_PyAsyncMethodsStruct + typedef struct { + unaryfunc am_await; + unaryfunc am_aiter; + unaryfunc am_anext; + } __Pyx_PyAsyncMethodsStruct; +#endif + +#if defined(_WIN32) || defined(WIN32) || defined(MS_WINDOWS) + #if !defined(_USE_MATH_DEFINES) + #define _USE_MATH_DEFINES + #endif +#endif +#include +#ifdef NAN +#define __PYX_NAN() ((float) NAN) +#else +static CYTHON_INLINE float __PYX_NAN() { + float value; + memset(&value, 0xFF, sizeof(value)); + return value; +} +#endif +#if defined(__CYGWIN__) && defined(_LDBL_EQ_DBL) +#define __Pyx_truncl trunc +#else +#define __Pyx_truncl truncl +#endif + +#define __PYX_MARK_ERR_POS(f_index, lineno) \ + { __pyx_filename = __pyx_f[f_index]; (void)__pyx_filename; __pyx_lineno = lineno; (void)__pyx_lineno; __pyx_clineno = __LINE__; (void)__pyx_clineno; } +#define __PYX_ERR(f_index, lineno, Ln_error) \ + { __PYX_MARK_ERR_POS(f_index, lineno) goto Ln_error; } + +#ifdef CYTHON_EXTERN_C + #undef __PYX_EXTERN_C + #define __PYX_EXTERN_C CYTHON_EXTERN_C +#elif defined(__PYX_EXTERN_C) + #ifdef _MSC_VER + #pragma message ("Please do not define the '__PYX_EXTERN_C' macro externally. Use 'CYTHON_EXTERN_C' instead.") + #else + #warning Please do not define the '__PYX_EXTERN_C' macro externally. Use 'CYTHON_EXTERN_C' instead. + #endif +#else + #define __PYX_EXTERN_C extern "C++" +#endif + +#define __PYX_HAVE__selfdrive__modeld__runners__thneedmodel_pyx +#define __PYX_HAVE_API__selfdrive__modeld__runners__thneedmodel_pyx +/* Early includes */ +#include +#include +#include "ios" +#include "new" +#include "stdexcept" +#include "typeinfo" +#include +#include + + #if __cplusplus >= 201103L || (defined(_MSC_VER) && _MSC_VER >= 1600) + // move should be defined for these versions of MSVC, but __cplusplus isn't set usefully + #include + + namespace cython_std { + template typename std::remove_reference::type&& move(T& t) noexcept { return std::move(t); } + template typename std::remove_reference::type&& move(T&& t) noexcept { return std::move(t); } + } + + #endif + +#include +#include +#include "msgq/visionipc/visionbuf.h" +#include "msgq/visionipc/visionipc.h" +#include "msgq/visionipc/visionipc_server.h" +#include "msgq/visionipc/visionipc_client.h" +#include "selfdrive/modeld/runners/thneedmodel.h" +#include "selfdrive/modeld/runners/runmodel.h" +#include "pythread.h" +#include +#ifdef _OPENMP +#include +#endif /* _OPENMP */ + +#if defined(PYREX_WITHOUT_ASSERTIONS) && !defined(CYTHON_WITHOUT_ASSERTIONS) +#define CYTHON_WITHOUT_ASSERTIONS +#endif + +typedef struct {PyObject **p; const char *s; const Py_ssize_t n; const char* encoding; + const char is_unicode; const char is_str; const char intern; } __Pyx_StringTabEntry; + +#define __PYX_DEFAULT_STRING_ENCODING_IS_ASCII 1 +#define __PYX_DEFAULT_STRING_ENCODING_IS_UTF8 0 +#define __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT (PY_MAJOR_VERSION >= 3 && __PYX_DEFAULT_STRING_ENCODING_IS_UTF8) +#define __PYX_DEFAULT_STRING_ENCODING "ascii" +#define __Pyx_PyObject_FromString __Pyx_PyBytes_FromString +#define __Pyx_PyObject_FromStringAndSize __Pyx_PyBytes_FromStringAndSize +#define __Pyx_uchar_cast(c) ((unsigned char)c) +#define __Pyx_long_cast(x) ((long)x) +#define __Pyx_fits_Py_ssize_t(v, type, is_signed) (\ + (sizeof(type) < sizeof(Py_ssize_t)) ||\ + (sizeof(type) > sizeof(Py_ssize_t) &&\ + likely(v < (type)PY_SSIZE_T_MAX ||\ + v == (type)PY_SSIZE_T_MAX) &&\ + (!is_signed || likely(v > (type)PY_SSIZE_T_MIN ||\ + v == (type)PY_SSIZE_T_MIN))) ||\ + (sizeof(type) == sizeof(Py_ssize_t) &&\ + (is_signed || likely(v < (type)PY_SSIZE_T_MAX ||\ + v == (type)PY_SSIZE_T_MAX))) ) +static CYTHON_INLINE int __Pyx_is_valid_index(Py_ssize_t i, Py_ssize_t limit) { + return (size_t) i < (size_t) limit; +} +#if defined (__cplusplus) && __cplusplus >= 201103L + #include + #define __Pyx_sst_abs(value) std::abs(value) +#elif SIZEOF_INT >= SIZEOF_SIZE_T + #define __Pyx_sst_abs(value) abs(value) +#elif SIZEOF_LONG >= SIZEOF_SIZE_T + #define __Pyx_sst_abs(value) labs(value) +#elif defined (_MSC_VER) + #define __Pyx_sst_abs(value) ((Py_ssize_t)_abs64(value)) +#elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define __Pyx_sst_abs(value) llabs(value) +#elif defined (__GNUC__) + #define __Pyx_sst_abs(value) __builtin_llabs(value) +#else + #define __Pyx_sst_abs(value) ((value<0) ? -value : value) +#endif +static CYTHON_INLINE Py_ssize_t __Pyx_ssize_strlen(const char *s); +static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject*); +static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject*, Py_ssize_t* length); +static CYTHON_INLINE PyObject* __Pyx_PyByteArray_FromString(const char*); +#define __Pyx_PyByteArray_FromStringAndSize(s, l) PyByteArray_FromStringAndSize((const char*)s, l) +#define __Pyx_PyBytes_FromString PyBytes_FromString +#define __Pyx_PyBytes_FromStringAndSize PyBytes_FromStringAndSize +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char*); +#if PY_MAJOR_VERSION < 3 + #define __Pyx_PyStr_FromString __Pyx_PyBytes_FromString + #define __Pyx_PyStr_FromStringAndSize __Pyx_PyBytes_FromStringAndSize +#else + #define __Pyx_PyStr_FromString __Pyx_PyUnicode_FromString + #define __Pyx_PyStr_FromStringAndSize __Pyx_PyUnicode_FromStringAndSize +#endif +#define __Pyx_PyBytes_AsWritableString(s) ((char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsWritableSString(s) ((signed char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsWritableUString(s) ((unsigned char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsString(s) ((const char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsSString(s) ((const signed char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsUString(s) ((const unsigned char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyObject_AsWritableString(s) ((char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsWritableSString(s) ((signed char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsWritableUString(s) ((unsigned char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsSString(s) ((const signed char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsUString(s) ((const unsigned char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_FromCString(s) __Pyx_PyObject_FromString((const char*)s) +#define __Pyx_PyBytes_FromCString(s) __Pyx_PyBytes_FromString((const char*)s) +#define __Pyx_PyByteArray_FromCString(s) __Pyx_PyByteArray_FromString((const char*)s) +#define __Pyx_PyStr_FromCString(s) __Pyx_PyStr_FromString((const char*)s) +#define __Pyx_PyUnicode_FromCString(s) __Pyx_PyUnicode_FromString((const char*)s) +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE size_t __Pyx_Py_UNICODE_strlen(const wchar_t *u) +{ + const wchar_t *u_end = u; + while (*u_end++) ; + return (size_t)(u_end - u - 1); +} +#else +static CYTHON_INLINE size_t __Pyx_Py_UNICODE_strlen(const Py_UNICODE *u) +{ + const Py_UNICODE *u_end = u; + while (*u_end++) ; + return (size_t)(u_end - u - 1); +} +#endif +#define __Pyx_PyUnicode_FromOrdinal(o) PyUnicode_FromOrdinal((int)o) +#define __Pyx_PyUnicode_FromUnicode(u) PyUnicode_FromUnicode(u, __Pyx_Py_UNICODE_strlen(u)) +#define __Pyx_PyUnicode_FromUnicodeAndLength PyUnicode_FromUnicode +#define __Pyx_PyUnicode_AsUnicode PyUnicode_AsUnicode +#define __Pyx_NewRef(obj) (Py_INCREF(obj), obj) +#define __Pyx_Owned_Py_None(b) __Pyx_NewRef(Py_None) +static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b); +static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject*); +static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject*); +static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x); +#define __Pyx_PySequence_Tuple(obj)\ + (likely(PyTuple_CheckExact(obj)) ? __Pyx_NewRef(obj) : PySequence_Tuple(obj)) +static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject*); +static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t); +static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject*); +#if CYTHON_ASSUME_SAFE_MACROS +#define __pyx_PyFloat_AsDouble(x) (PyFloat_CheckExact(x) ? PyFloat_AS_DOUBLE(x) : PyFloat_AsDouble(x)) +#else +#define __pyx_PyFloat_AsDouble(x) PyFloat_AsDouble(x) +#endif +#define __pyx_PyFloat_AsFloat(x) ((float) __pyx_PyFloat_AsDouble(x)) +#if PY_MAJOR_VERSION >= 3 +#define __Pyx_PyNumber_Int(x) (PyLong_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Long(x)) +#else +#define __Pyx_PyNumber_Int(x) (PyInt_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Int(x)) +#endif +#if CYTHON_USE_PYLONG_INTERNALS + #if PY_VERSION_HEX >= 0x030C00A7 + #ifndef _PyLong_SIGN_MASK + #define _PyLong_SIGN_MASK 3 + #endif + #ifndef _PyLong_NON_SIZE_BITS + #define _PyLong_NON_SIZE_BITS 3 + #endif + #define __Pyx_PyLong_Sign(x) (((PyLongObject*)x)->long_value.lv_tag & _PyLong_SIGN_MASK) + #define __Pyx_PyLong_IsNeg(x) ((__Pyx_PyLong_Sign(x) & 2) != 0) + #define __Pyx_PyLong_IsNonNeg(x) (!__Pyx_PyLong_IsNeg(x)) + #define __Pyx_PyLong_IsZero(x) (__Pyx_PyLong_Sign(x) & 1) + #define __Pyx_PyLong_IsPos(x) (__Pyx_PyLong_Sign(x) == 0) + #define __Pyx_PyLong_CompactValueUnsigned(x) (__Pyx_PyLong_Digits(x)[0]) + #define __Pyx_PyLong_DigitCount(x) ((Py_ssize_t) (((PyLongObject*)x)->long_value.lv_tag >> _PyLong_NON_SIZE_BITS)) + #define __Pyx_PyLong_SignedDigitCount(x)\ + ((1 - (Py_ssize_t) __Pyx_PyLong_Sign(x)) * __Pyx_PyLong_DigitCount(x)) + #if defined(PyUnstable_Long_IsCompact) && defined(PyUnstable_Long_CompactValue) + #define __Pyx_PyLong_IsCompact(x) PyUnstable_Long_IsCompact((PyLongObject*) x) + #define __Pyx_PyLong_CompactValue(x) PyUnstable_Long_CompactValue((PyLongObject*) x) + #else + #define __Pyx_PyLong_IsCompact(x) (((PyLongObject*)x)->long_value.lv_tag < (2 << _PyLong_NON_SIZE_BITS)) + #define __Pyx_PyLong_CompactValue(x) ((1 - (Py_ssize_t) __Pyx_PyLong_Sign(x)) * (Py_ssize_t) __Pyx_PyLong_Digits(x)[0]) + #endif + typedef Py_ssize_t __Pyx_compact_pylong; + typedef size_t __Pyx_compact_upylong; + #else + #define __Pyx_PyLong_IsNeg(x) (Py_SIZE(x) < 0) + #define __Pyx_PyLong_IsNonNeg(x) (Py_SIZE(x) >= 0) + #define __Pyx_PyLong_IsZero(x) (Py_SIZE(x) == 0) + #define __Pyx_PyLong_IsPos(x) (Py_SIZE(x) > 0) + #define __Pyx_PyLong_CompactValueUnsigned(x) ((Py_SIZE(x) == 0) ? 0 : __Pyx_PyLong_Digits(x)[0]) + #define __Pyx_PyLong_DigitCount(x) __Pyx_sst_abs(Py_SIZE(x)) + #define __Pyx_PyLong_SignedDigitCount(x) Py_SIZE(x) + #define __Pyx_PyLong_IsCompact(x) (Py_SIZE(x) == 0 || Py_SIZE(x) == 1 || Py_SIZE(x) == -1) + #define __Pyx_PyLong_CompactValue(x)\ + ((Py_SIZE(x) == 0) ? (sdigit) 0 : ((Py_SIZE(x) < 0) ? -(sdigit)__Pyx_PyLong_Digits(x)[0] : (sdigit)__Pyx_PyLong_Digits(x)[0])) + typedef sdigit __Pyx_compact_pylong; + typedef digit __Pyx_compact_upylong; + #endif + #if PY_VERSION_HEX >= 0x030C00A5 + #define __Pyx_PyLong_Digits(x) (((PyLongObject*)x)->long_value.ob_digit) + #else + #define __Pyx_PyLong_Digits(x) (((PyLongObject*)x)->ob_digit) + #endif +#endif +#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII +#include +static int __Pyx_sys_getdefaultencoding_not_ascii; +static int __Pyx_init_sys_getdefaultencoding_params(void) { + PyObject* sys; + PyObject* default_encoding = NULL; + PyObject* ascii_chars_u = NULL; + PyObject* ascii_chars_b = NULL; + const char* default_encoding_c; + sys = PyImport_ImportModule("sys"); + if (!sys) goto bad; + default_encoding = PyObject_CallMethod(sys, (char*) "getdefaultencoding", NULL); + Py_DECREF(sys); + if (!default_encoding) goto bad; + default_encoding_c = PyBytes_AsString(default_encoding); + if (!default_encoding_c) goto bad; + if (strcmp(default_encoding_c, "ascii") == 0) { + __Pyx_sys_getdefaultencoding_not_ascii = 0; + } else { + char ascii_chars[128]; + int c; + for (c = 0; c < 128; c++) { + ascii_chars[c] = (char) c; + } + __Pyx_sys_getdefaultencoding_not_ascii = 1; + ascii_chars_u = PyUnicode_DecodeASCII(ascii_chars, 128, NULL); + if (!ascii_chars_u) goto bad; + ascii_chars_b = PyUnicode_AsEncodedString(ascii_chars_u, default_encoding_c, NULL); + if (!ascii_chars_b || !PyBytes_Check(ascii_chars_b) || memcmp(ascii_chars, PyBytes_AS_STRING(ascii_chars_b), 128) != 0) { + PyErr_Format( + PyExc_ValueError, + "This module compiled with c_string_encoding=ascii, but default encoding '%.200s' is not a superset of ascii.", + default_encoding_c); + goto bad; + } + Py_DECREF(ascii_chars_u); + Py_DECREF(ascii_chars_b); + } + Py_DECREF(default_encoding); + return 0; +bad: + Py_XDECREF(default_encoding); + Py_XDECREF(ascii_chars_u); + Py_XDECREF(ascii_chars_b); + return -1; +} +#endif +#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT && PY_MAJOR_VERSION >= 3 +#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_DecodeUTF8(c_str, size, NULL) +#else +#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_Decode(c_str, size, __PYX_DEFAULT_STRING_ENCODING, NULL) +#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT +#include +static char* __PYX_DEFAULT_STRING_ENCODING; +static int __Pyx_init_sys_getdefaultencoding_params(void) { + PyObject* sys; + PyObject* default_encoding = NULL; + char* default_encoding_c; + sys = PyImport_ImportModule("sys"); + if (!sys) goto bad; + default_encoding = PyObject_CallMethod(sys, (char*) (const char*) "getdefaultencoding", NULL); + Py_DECREF(sys); + if (!default_encoding) goto bad; + default_encoding_c = PyBytes_AsString(default_encoding); + if (!default_encoding_c) goto bad; + __PYX_DEFAULT_STRING_ENCODING = (char*) malloc(strlen(default_encoding_c) + 1); + if (!__PYX_DEFAULT_STRING_ENCODING) goto bad; + strcpy(__PYX_DEFAULT_STRING_ENCODING, default_encoding_c); + Py_DECREF(default_encoding); + return 0; +bad: + Py_XDECREF(default_encoding); + return -1; +} +#endif +#endif + + +/* Test for GCC > 2.95 */ +#if defined(__GNUC__) && (__GNUC__ > 2 || (__GNUC__ == 2 && (__GNUC_MINOR__ > 95))) + #define likely(x) __builtin_expect(!!(x), 1) + #define unlikely(x) __builtin_expect(!!(x), 0) +#else /* !__GNUC__ or GCC < 2.95 */ + #define likely(x) (x) + #define unlikely(x) (x) +#endif /* __GNUC__ */ +static CYTHON_INLINE void __Pyx_pretend_to_initialize(void* ptr) { (void)ptr; } + +#if !CYTHON_USE_MODULE_STATE +static PyObject *__pyx_m = NULL; +#endif +static int __pyx_lineno; +static int __pyx_clineno = 0; +static const char * __pyx_cfilenm = __FILE__; +static const char *__pyx_filename; + +/* #### Code section: filename_table ### */ + +static const char *__pyx_f[] = { + "", + "selfdrive/modeld/runners/thneedmodel_pyx.pyx", + "msgq/visionipc/visionipc_pyx.pxd", + "selfdrive/modeld/models/commonmodel_pyx.pxd", +}; +/* #### Code section: utility_code_proto_before_types ### */ +/* ForceInitThreads.proto */ +#ifndef __PYX_FORCE_INIT_THREADS + #define __PYX_FORCE_INIT_THREADS 0 +#endif + +/* NoFastGil.proto */ +#define __Pyx_PyGILState_Ensure PyGILState_Ensure +#define __Pyx_PyGILState_Release PyGILState_Release +#define __Pyx_FastGIL_Remember() +#define __Pyx_FastGIL_Forget() +#define __Pyx_FastGilFuncInit() + +/* BufferFormatStructs.proto */ +struct __Pyx_StructField_; +#define __PYX_BUF_FLAGS_PACKED_STRUCT (1 << 0) +typedef struct { + const char* name; + struct __Pyx_StructField_* fields; + size_t size; + size_t arraysize[8]; + int ndim; + char typegroup; + char is_unsigned; + int flags; +} __Pyx_TypeInfo; +typedef struct __Pyx_StructField_ { + __Pyx_TypeInfo* type; + const char* name; + size_t offset; +} __Pyx_StructField; +typedef struct { + __Pyx_StructField* field; + size_t parent_offset; +} __Pyx_BufFmt_StackElem; +typedef struct { + __Pyx_StructField root; + __Pyx_BufFmt_StackElem* head; + size_t fmt_offset; + size_t new_count, enc_count; + size_t struct_alignment; + int is_complex; + char enc_type; + char new_packmode; + char enc_packmode; + char is_valid_array; +} __Pyx_BufFmt_Context; + +/* Atomics.proto */ +#include +#ifndef CYTHON_ATOMICS + #define CYTHON_ATOMICS 1 +#endif +#define __PYX_CYTHON_ATOMICS_ENABLED() CYTHON_ATOMICS +#define __pyx_atomic_int_type int +#define __pyx_nonatomic_int_type int +#if CYTHON_ATOMICS && (defined(__STDC_VERSION__) &&\ + (__STDC_VERSION__ >= 201112L) &&\ + !defined(__STDC_NO_ATOMICS__)) + #include +#elif CYTHON_ATOMICS && (defined(__cplusplus) && (\ + (__cplusplus >= 201103L) ||\ + (defined(_MSC_VER) && _MSC_VER >= 1700))) + #include +#endif +#if CYTHON_ATOMICS && (defined(__STDC_VERSION__) &&\ + (__STDC_VERSION__ >= 201112L) &&\ + !defined(__STDC_NO_ATOMICS__) &&\ + ATOMIC_INT_LOCK_FREE == 2) + #undef __pyx_atomic_int_type + #define __pyx_atomic_int_type atomic_int + #define __pyx_atomic_incr_aligned(value) atomic_fetch_add_explicit(value, 1, memory_order_relaxed) + #define __pyx_atomic_decr_aligned(value) atomic_fetch_sub_explicit(value, 1, memory_order_acq_rel) + #if defined(__PYX_DEBUG_ATOMICS) && defined(_MSC_VER) + #pragma message ("Using standard C atomics") + #elif defined(__PYX_DEBUG_ATOMICS) + #warning "Using standard C atomics" + #endif +#elif CYTHON_ATOMICS && (defined(__cplusplus) && (\ + (__cplusplus >= 201103L) ||\ +\ + (defined(_MSC_VER) && _MSC_VER >= 1700)) &&\ + ATOMIC_INT_LOCK_FREE == 2) + #undef __pyx_atomic_int_type + #define __pyx_atomic_int_type std::atomic_int + #define __pyx_atomic_incr_aligned(value) std::atomic_fetch_add_explicit(value, 1, std::memory_order_relaxed) + #define __pyx_atomic_decr_aligned(value) std::atomic_fetch_sub_explicit(value, 1, std::memory_order_acq_rel) + #if defined(__PYX_DEBUG_ATOMICS) && defined(_MSC_VER) + #pragma message ("Using standard C++ atomics") + #elif defined(__PYX_DEBUG_ATOMICS) + #warning "Using standard C++ atomics" + #endif +#elif CYTHON_ATOMICS && (__GNUC__ >= 5 || (__GNUC__ == 4 &&\ + (__GNUC_MINOR__ > 1 ||\ + (__GNUC_MINOR__ == 1 && __GNUC_PATCHLEVEL__ >= 2)))) + #define __pyx_atomic_incr_aligned(value) __sync_fetch_and_add(value, 1) + #define __pyx_atomic_decr_aligned(value) __sync_fetch_and_sub(value, 1) + #ifdef __PYX_DEBUG_ATOMICS + #warning "Using GNU atomics" + #endif +#elif CYTHON_ATOMICS && defined(_MSC_VER) + #include + #undef __pyx_atomic_int_type + #define __pyx_atomic_int_type long + #undef __pyx_nonatomic_int_type + #define __pyx_nonatomic_int_type long + #pragma intrinsic (_InterlockedExchangeAdd) + #define __pyx_atomic_incr_aligned(value) _InterlockedExchangeAdd(value, 1) + #define __pyx_atomic_decr_aligned(value) _InterlockedExchangeAdd(value, -1) + #ifdef __PYX_DEBUG_ATOMICS + #pragma message ("Using MSVC atomics") + #endif +#else + #undef CYTHON_ATOMICS + #define CYTHON_ATOMICS 0 + #ifdef __PYX_DEBUG_ATOMICS + #warning "Not using atomics" + #endif +#endif +#if CYTHON_ATOMICS + #define __pyx_add_acquisition_count(memview)\ + __pyx_atomic_incr_aligned(__pyx_get_slice_count_pointer(memview)) + #define __pyx_sub_acquisition_count(memview)\ + __pyx_atomic_decr_aligned(__pyx_get_slice_count_pointer(memview)) +#else + #define __pyx_add_acquisition_count(memview)\ + __pyx_add_acquisition_count_locked(__pyx_get_slice_count_pointer(memview), memview->lock) + #define __pyx_sub_acquisition_count(memview)\ + __pyx_sub_acquisition_count_locked(__pyx_get_slice_count_pointer(memview), memview->lock) +#endif + +/* MemviewSliceStruct.proto */ +struct __pyx_memoryview_obj; +typedef struct { + struct __pyx_memoryview_obj *memview; + char *data; + Py_ssize_t shape[8]; + Py_ssize_t strides[8]; + Py_ssize_t suboffsets[8]; +} __Pyx_memviewslice; +#define __Pyx_MemoryView_Len(m) (m.shape[0]) + +/* #### Code section: numeric_typedefs ### */ +/* #### Code section: complex_type_declarations ### */ +/* #### Code section: type_declarations ### */ + +/*--- Type declarations ---*/ +struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_CLContext; +struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionBuf; +struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext; +struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem; +struct __pyx_obj_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel; +struct __pyx_obj_9selfdrive_6modeld_7runners_15thneedmodel_pyx_ThneedModel; +struct __pyx_array_obj; +struct __pyx_MemviewEnum_obj; +struct __pyx_memoryview_obj; +struct __pyx_memoryviewslice_obj; + +/* "msgq/visionipc/visionipc_pyx.pxd":7 + * from .visionipc cimport cl_device_id, cl_context + * + * cdef class CLContext: # <<<<<<<<<<<<<< + * cdef cl_device_id device_id + * cdef cl_context context + */ +struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_CLContext { + PyObject_HEAD + cl_device_id device_id; + cl_context context; +}; + + +/* "msgq/visionipc/visionipc_pyx.pxd":11 + * cdef cl_context context + * + * cdef class VisionBuf: # <<<<<<<<<<<<<< + * cdef cppVisionBuf * buf + * + */ +struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_VisionBuf { + PyObject_HEAD + struct __pyx_vtabstruct_4msgq_9visionipc_13visionipc_pyx_VisionBuf *__pyx_vtab; + VisionBuf *buf; +}; + + +/* "selfdrive/modeld/models/commonmodel_pyx.pxd":6 + * from msgq.visionipc.visionipc_pyx cimport CLContext as BaseCLContext + * + * cdef class CLContext(BaseCLContext): # <<<<<<<<<<<<<< + * pass + * + */ +struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext { + struct __pyx_obj_4msgq_9visionipc_13visionipc_pyx_CLContext __pyx_base; +}; + + +/* "selfdrive/modeld/models/commonmodel_pyx.pxd":9 + * pass + * + * cdef class CLMem: # <<<<<<<<<<<<<< + * cdef cl_mem * mem + * + */ +struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem { + PyObject_HEAD + struct __pyx_vtabstruct_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem *__pyx_vtab; + cl_mem *mem; +}; + + +/* "selfdrive/modeld/runners/runmodel_pyx.pxd":5 + * from .runmodel cimport RunModel as cppRunModel + * + * cdef class RunModel: # <<<<<<<<<<<<<< + * cdef cppRunModel * model + */ +struct __pyx_obj_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel { + PyObject_HEAD + RunModel *model; +}; + + +/* "selfdrive/modeld/runners/thneedmodel_pyx.pyx":12 + * from selfdrive.modeld.runners.runmodel cimport RunModel as cppRunModel + * + * cdef class ThneedModel(RunModel): # <<<<<<<<<<<<<< + * def __cinit__(self, string path, float[:] output, int runtime, bool use_tf8, CLContext context): + * self.model = new cppThneedModel(path, &output[0], len(output), runtime, use_tf8, context.context) + */ +struct __pyx_obj_9selfdrive_6modeld_7runners_15thneedmodel_pyx_ThneedModel { + struct __pyx_obj_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel __pyx_base; +}; + + +/* "View.MemoryView":114 + * @cython.collection_type("sequence") + * @cname("__pyx_array") + * cdef class array: # <<<<<<<<<<<<<< + * + * cdef: + */ +struct __pyx_array_obj { + PyObject_HEAD + struct __pyx_vtabstruct_array *__pyx_vtab; 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(PyObject*) Py_TYPE(__pyx_tstate->current_exception) : (PyObject*) NULL) +#else +#define __Pyx_PyErr_Occurred() (__pyx_tstate->curexc_type != NULL) +#define __Pyx_PyErr_CurrentExceptionType() (__pyx_tstate->curexc_type) +#endif +#else +#define __Pyx_PyThreadState_declare +#define __Pyx_PyThreadState_assign +#define __Pyx_PyErr_Occurred() (PyErr_Occurred() != NULL) +#define __Pyx_PyErr_CurrentExceptionType() PyErr_Occurred() +#endif + +/* PyErrFetchRestore.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyErr_Clear() __Pyx_ErrRestore(NULL, NULL, NULL) +#define __Pyx_ErrRestoreWithState(type, value, tb) __Pyx_ErrRestoreInState(PyThreadState_GET(), type, value, tb) +#define __Pyx_ErrFetchWithState(type, value, tb) __Pyx_ErrFetchInState(PyThreadState_GET(), type, value, tb) +#define __Pyx_ErrRestore(type, value, tb) __Pyx_ErrRestoreInState(__pyx_tstate, type, value, tb) +#define __Pyx_ErrFetch(type, value, tb) __Pyx_ErrFetchInState(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx_ErrRestoreInState(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb); +static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A6 +#define __Pyx_PyErr_SetNone(exc) (Py_INCREF(exc), __Pyx_ErrRestore((exc), NULL, NULL)) +#else +#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc) +#endif +#else +#define __Pyx_PyErr_Clear() PyErr_Clear() +#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc) +#define __Pyx_ErrRestoreWithState(type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetchWithState(type, value, tb) PyErr_Fetch(type, value, tb) +#define __Pyx_ErrRestoreInState(tstate, type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetchInState(tstate, type, value, tb) PyErr_Fetch(type, value, tb) +#define __Pyx_ErrRestore(type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetch(type, value, tb) PyErr_Fetch(type, value, tb) +#endif + +/* PyObjectGetAttrStr.proto */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStr(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GetAttrStr(o,n) PyObject_GetAttr(o,n) +#endif + +/* PyObjectGetAttrStrNoError.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name); + +/* GetBuiltinName.proto */ +static PyObject *__Pyx_GetBuiltinName(PyObject *name); + +/* TupleAndListFromArray.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyList_FromArray(PyObject *const *src, Py_ssize_t n); +static CYTHON_INLINE PyObject* __Pyx_PyTuple_FromArray(PyObject *const *src, Py_ssize_t n); +#endif + +/* IncludeStringH.proto */ +#include + +/* BytesEquals.proto */ +static CYTHON_INLINE int __Pyx_PyBytes_Equals(PyObject* s1, PyObject* s2, int equals); + +/* UnicodeEquals.proto */ +static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int equals); + +/* fastcall.proto */ +#if CYTHON_AVOID_BORROWED_REFS + #define __Pyx_Arg_VARARGS(args, i) PySequence_GetItem(args, i) +#elif CYTHON_ASSUME_SAFE_MACROS + #define __Pyx_Arg_VARARGS(args, i) PyTuple_GET_ITEM(args, i) +#else + #define __Pyx_Arg_VARARGS(args, i) PyTuple_GetItem(args, i) +#endif +#if CYTHON_AVOID_BORROWED_REFS + #define __Pyx_Arg_NewRef_VARARGS(arg) __Pyx_NewRef(arg) + #define __Pyx_Arg_XDECREF_VARARGS(arg) Py_XDECREF(arg) +#else + #define __Pyx_Arg_NewRef_VARARGS(arg) arg + #define __Pyx_Arg_XDECREF_VARARGS(arg) +#endif +#define __Pyx_NumKwargs_VARARGS(kwds) PyDict_Size(kwds) +#define __Pyx_KwValues_VARARGS(args, nargs) NULL +#define __Pyx_GetKwValue_VARARGS(kw, kwvalues, s) __Pyx_PyDict_GetItemStrWithError(kw, s) +#define __Pyx_KwargsAsDict_VARARGS(kw, kwvalues) PyDict_Copy(kw) +#if CYTHON_METH_FASTCALL + #define __Pyx_Arg_FASTCALL(args, i) args[i] + #define __Pyx_NumKwargs_FASTCALL(kwds) PyTuple_GET_SIZE(kwds) + #define __Pyx_KwValues_FASTCALL(args, nargs) ((args) + (nargs)) + static CYTHON_INLINE PyObject * __Pyx_GetKwValue_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues, PyObject *s); +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 + CYTHON_UNUSED static PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues); + #else + #define __Pyx_KwargsAsDict_FASTCALL(kw, kwvalues) _PyStack_AsDict(kwvalues, kw) + #endif + #define __Pyx_Arg_NewRef_FASTCALL(arg) arg /* no-op, __Pyx_Arg_FASTCALL is direct and this needs + to have the same reference counting */ + #define __Pyx_Arg_XDECREF_FASTCALL(arg) +#else + #define __Pyx_Arg_FASTCALL __Pyx_Arg_VARARGS + #define __Pyx_NumKwargs_FASTCALL __Pyx_NumKwargs_VARARGS + #define __Pyx_KwValues_FASTCALL __Pyx_KwValues_VARARGS + #define __Pyx_GetKwValue_FASTCALL __Pyx_GetKwValue_VARARGS + #define __Pyx_KwargsAsDict_FASTCALL __Pyx_KwargsAsDict_VARARGS + #define __Pyx_Arg_NewRef_FASTCALL(arg) __Pyx_Arg_NewRef_VARARGS(arg) + #define __Pyx_Arg_XDECREF_FASTCALL(arg) __Pyx_Arg_XDECREF_VARARGS(arg) +#endif +#if CYTHON_COMPILING_IN_CPYTHON && CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS +#define __Pyx_ArgsSlice_VARARGS(args, start, stop) __Pyx_PyTuple_FromArray(&__Pyx_Arg_VARARGS(args, start), stop - start) +#define __Pyx_ArgsSlice_FASTCALL(args, start, stop) __Pyx_PyTuple_FromArray(&__Pyx_Arg_FASTCALL(args, start), stop - start) +#else +#define __Pyx_ArgsSlice_VARARGS(args, start, stop) PyTuple_GetSlice(args, start, stop) +#define __Pyx_ArgsSlice_FASTCALL(args, start, stop) PyTuple_GetSlice(args, start, stop) +#endif + +/* RaiseArgTupleInvalid.proto */ +static void __Pyx_RaiseArgtupleInvalid(const char* func_name, int exact, + Py_ssize_t num_min, Py_ssize_t num_max, Py_ssize_t num_found); + +/* RaiseDoubleKeywords.proto */ +static void __Pyx_RaiseDoubleKeywordsError(const char* func_name, PyObject* kw_name); + +/* ParseKeywords.proto */ +static int __Pyx_ParseOptionalKeywords(PyObject *kwds, PyObject *const *kwvalues, + PyObject **argnames[], + PyObject *kwds2, PyObject *values[], Py_ssize_t num_pos_args, + const char* function_name); + +/* ArgTypeTest.proto */ +#define __Pyx_ArgTypeTest(obj, type, none_allowed, name, exact)\ + ((likely(__Pyx_IS_TYPE(obj, type) | (none_allowed && (obj == Py_None)))) ? 1 :\ + __Pyx__ArgTypeTest(obj, type, name, exact)) +static int __Pyx__ArgTypeTest(PyObject *obj, PyTypeObject *type, const char *name, int exact); + +/* RaiseException.proto */ +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause); + +/* PyFunctionFastCall.proto */ +#if CYTHON_FAST_PYCALL +#if !CYTHON_VECTORCALL +#define __Pyx_PyFunction_FastCall(func, args, nargs)\ + __Pyx_PyFunction_FastCallDict((func), (args), (nargs), NULL) +static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs); +#endif +#define __Pyx_BUILD_ASSERT_EXPR(cond)\ + (sizeof(char [1 - 2*!(cond)]) - 1) +#ifndef Py_MEMBER_SIZE +#define Py_MEMBER_SIZE(type, member) sizeof(((type *)0)->member) +#endif +#if !CYTHON_VECTORCALL +#if PY_VERSION_HEX >= 0x03080000 + #include "frameobject.h" +#if PY_VERSION_HEX >= 0x030b00a6 && !CYTHON_COMPILING_IN_LIMITED_API + #ifndef Py_BUILD_CORE + #define Py_BUILD_CORE 1 + #endif + #include "internal/pycore_frame.h" +#endif + #define __Pxy_PyFrame_Initialize_Offsets() + #define __Pyx_PyFrame_GetLocalsplus(frame) ((frame)->f_localsplus) +#else + static size_t __pyx_pyframe_localsplus_offset = 0; + #include "frameobject.h" + #define __Pxy_PyFrame_Initialize_Offsets()\ + ((void)__Pyx_BUILD_ASSERT_EXPR(sizeof(PyFrameObject) == offsetof(PyFrameObject, f_localsplus) + Py_MEMBER_SIZE(PyFrameObject, f_localsplus)),\ + (void)(__pyx_pyframe_localsplus_offset = ((size_t)PyFrame_Type.tp_basicsize) - Py_MEMBER_SIZE(PyFrameObject, f_localsplus))) + #define __Pyx_PyFrame_GetLocalsplus(frame)\ + (assert(__pyx_pyframe_localsplus_offset), (PyObject **)(((char *)(frame)) + __pyx_pyframe_localsplus_offset)) +#endif +#endif +#endif + +/* PyObjectCall.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw); +#else +#define __Pyx_PyObject_Call(func, arg, kw) PyObject_Call(func, arg, kw) +#endif + +/* PyObjectCallMethO.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg); +#endif + +/* PyObjectFastCall.proto */ +#define __Pyx_PyObject_FastCall(func, args, nargs) __Pyx_PyObject_FastCallDict(func, args, (size_t)(nargs), NULL) +static CYTHON_INLINE PyObject* __Pyx_PyObject_FastCallDict(PyObject *func, PyObject **args, size_t nargs, PyObject *kwargs); + +/* RaiseUnexpectedTypeError.proto */ +static int __Pyx_RaiseUnexpectedTypeError(const char *expected, PyObject *obj); + +/* GCCDiagnostics.proto */ +#if !defined(__INTEL_COMPILER) && defined(__GNUC__) && (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 6)) +#define __Pyx_HAS_GCC_DIAGNOSTIC +#endif + +/* BuildPyUnicode.proto */ +static PyObject* __Pyx_PyUnicode_BuildFromAscii(Py_ssize_t ulength, char* chars, int clength, + int prepend_sign, char padding_char); + +/* CIntToPyUnicode.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_int(int value, Py_ssize_t width, char padding_char, char format_char); + +/* CIntToPyUnicode.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_Py_ssize_t(Py_ssize_t value, Py_ssize_t width, char padding_char, char format_char); + +/* JoinPyUnicode.proto */ +static PyObject* __Pyx_PyUnicode_Join(PyObject* value_tuple, Py_ssize_t value_count, Py_ssize_t result_ulength, + Py_UCS4 max_char); + +/* StrEquals.proto */ +#if PY_MAJOR_VERSION >= 3 +#define __Pyx_PyString_Equals __Pyx_PyUnicode_Equals +#else +#define __Pyx_PyString_Equals __Pyx_PyBytes_Equals +#endif + +/* PyObjectFormatSimple.proto */ +#if CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + PyObject_Format(s, f)) +#elif PY_MAJOR_VERSION < 3 + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + likely(PyString_CheckExact(s)) ? PyUnicode_FromEncodedObject(s, NULL, "strict") :\ + PyObject_Format(s, f)) +#elif CYTHON_USE_TYPE_SLOTS + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + likely(PyLong_CheckExact(s)) ? PyLong_Type.tp_repr(s) :\ + likely(PyFloat_CheckExact(s)) ? PyFloat_Type.tp_repr(s) :\ + PyObject_Format(s, f)) +#else + #define __Pyx_PyObject_FormatSimple(s, f) (\ + likely(PyUnicode_CheckExact(s)) ? (Py_INCREF(s), s) :\ + PyObject_Format(s, f)) +#endif + +CYTHON_UNUSED static int __pyx_array_getbuffer(PyObject *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /*proto*/ +static PyObject *__pyx_array_get_memview(struct __pyx_array_obj *); /*proto*/ +/* GetAttr.proto */ +static CYTHON_INLINE PyObject *__Pyx_GetAttr(PyObject *, PyObject *); + +/* GetItemInt.proto */ +#define __Pyx_GetItemInt(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_Fast(o, (Py_ssize_t)i, is_list, wraparound, boundscheck) :\ + (is_list ? (PyErr_SetString(PyExc_IndexError, "list index out of range"), (PyObject*)NULL) :\ + __Pyx_GetItemInt_Generic(o, to_py_func(i)))) +#define __Pyx_GetItemInt_List(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_List_Fast(o, (Py_ssize_t)i, wraparound, boundscheck) :\ + (PyErr_SetString(PyExc_IndexError, "list index out of range"), (PyObject*)NULL)) +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, + int wraparound, int boundscheck); +#define __Pyx_GetItemInt_Tuple(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_Tuple_Fast(o, (Py_ssize_t)i, wraparound, boundscheck) :\ + (PyErr_SetString(PyExc_IndexError, "tuple index out of range"), (PyObject*)NULL)) +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i, + int wraparound, int boundscheck); +static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j); +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, + int is_list, int wraparound, int boundscheck); + +/* PyObjectCallOneArg.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg); + +/* ObjectGetItem.proto */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject *__Pyx_PyObject_GetItem(PyObject *obj, PyObject *key); +#else +#define __Pyx_PyObject_GetItem(obj, key) PyObject_GetItem(obj, key) +#endif + +/* KeywordStringCheck.proto */ +static int __Pyx_CheckKeywordStrings(PyObject *kw, const char* function_name, int kw_allowed); + +/* DivInt[Py_ssize_t].proto */ +static CYTHON_INLINE Py_ssize_t __Pyx_div_Py_ssize_t(Py_ssize_t, Py_ssize_t); + +/* UnaryNegOverflows.proto */ +#define __Pyx_UNARY_NEG_WOULD_OVERFLOW(x)\ + (((x) < 0) & ((unsigned long)(x) == 0-(unsigned long)(x))) + +/* GetAttr3.proto */ +static CYTHON_INLINE PyObject *__Pyx_GetAttr3(PyObject *, PyObject *, PyObject *); + +/* PyDictVersioning.proto */ +#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS +#define __PYX_DICT_VERSION_INIT ((PY_UINT64_T) -1) +#define __PYX_GET_DICT_VERSION(dict) (((PyDictObject*)(dict))->ma_version_tag) +#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var)\ + (version_var) = __PYX_GET_DICT_VERSION(dict);\ + (cache_var) = (value); +#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) {\ + static PY_UINT64_T __pyx_dict_version = 0;\ + static PyObject *__pyx_dict_cached_value = NULL;\ + if (likely(__PYX_GET_DICT_VERSION(DICT) == __pyx_dict_version)) {\ + (VAR) = __pyx_dict_cached_value;\ + } else {\ + (VAR) = __pyx_dict_cached_value = (LOOKUP);\ + __pyx_dict_version = __PYX_GET_DICT_VERSION(DICT);\ + }\ +} +static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj); +static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj); +static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version); +#else +#define __PYX_GET_DICT_VERSION(dict) (0) +#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var) +#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) (VAR) = (LOOKUP); +#endif + +/* GetModuleGlobalName.proto */ +#if CYTHON_USE_DICT_VERSIONS +#define __Pyx_GetModuleGlobalName(var, name) do {\ + static PY_UINT64_T __pyx_dict_version = 0;\ + static PyObject *__pyx_dict_cached_value = NULL;\ + (var) = (likely(__pyx_dict_version == __PYX_GET_DICT_VERSION(__pyx_d))) ?\ + (likely(__pyx_dict_cached_value) ? __Pyx_NewRef(__pyx_dict_cached_value) : __Pyx_GetBuiltinName(name)) :\ + __Pyx__GetModuleGlobalName(name, &__pyx_dict_version, &__pyx_dict_cached_value);\ +} while(0) +#define __Pyx_GetModuleGlobalNameUncached(var, name) do {\ + PY_UINT64_T __pyx_dict_version;\ + PyObject *__pyx_dict_cached_value;\ + (var) = __Pyx__GetModuleGlobalName(name, &__pyx_dict_version, &__pyx_dict_cached_value);\ +} while(0) +static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value); +#else +#define __Pyx_GetModuleGlobalName(var, name) (var) = __Pyx__GetModuleGlobalName(name) +#define __Pyx_GetModuleGlobalNameUncached(var, name) (var) = __Pyx__GetModuleGlobalName(name) +static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name); +#endif + +/* AssertionsEnabled.proto */ +#if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX < 0x02070600 && !defined(Py_OptimizeFlag) + #define __Pyx_init_assertions_enabled() (0) + #define __pyx_assertions_enabled() (1) +#elif CYTHON_COMPILING_IN_LIMITED_API || (CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030C0000) + static int __pyx_assertions_enabled_flag; + #define __pyx_assertions_enabled() (__pyx_assertions_enabled_flag) + static int __Pyx_init_assertions_enabled(void) { + PyObject *builtins, *debug, *debug_str; + int flag; + builtins = PyEval_GetBuiltins(); + if (!builtins) goto bad; + debug_str = PyUnicode_FromStringAndSize("__debug__", 9); + if (!debug_str) goto bad; + debug = PyObject_GetItem(builtins, debug_str); + Py_DECREF(debug_str); + if (!debug) goto bad; + flag = PyObject_IsTrue(debug); + Py_DECREF(debug); + if (flag == -1) goto bad; + __pyx_assertions_enabled_flag = flag; + return 0; + bad: + __pyx_assertions_enabled_flag = 1; + return -1; + } +#else + #define __Pyx_init_assertions_enabled() (0) + #define __pyx_assertions_enabled() (!Py_OptimizeFlag) +#endif + +/* RaiseTooManyValuesToUnpack.proto */ +static CYTHON_INLINE void __Pyx_RaiseTooManyValuesError(Py_ssize_t expected); + +/* RaiseNeedMoreValuesToUnpack.proto */ +static CYTHON_INLINE void __Pyx_RaiseNeedMoreValuesError(Py_ssize_t index); + +/* RaiseNoneIterError.proto */ +static CYTHON_INLINE void __Pyx_RaiseNoneNotIterableError(void); + +/* ExtTypeTest.proto */ +static CYTHON_INLINE int __Pyx_TypeTest(PyObject *obj, PyTypeObject *type); + +/* GetTopmostException.proto */ +#if CYTHON_USE_EXC_INFO_STACK && CYTHON_FAST_THREAD_STATE +static _PyErr_StackItem * __Pyx_PyErr_GetTopmostException(PyThreadState *tstate); +#endif + +/* SaveResetException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_ExceptionSave(type, value, tb) __Pyx__ExceptionSave(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionSave(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#define __Pyx_ExceptionReset(type, value, tb) __Pyx__ExceptionReset(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionReset(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb); +#else +#define __Pyx_ExceptionSave(type, value, tb) PyErr_GetExcInfo(type, value, tb) +#define __Pyx_ExceptionReset(type, value, tb) PyErr_SetExcInfo(type, value, tb) +#endif + +/* GetException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_GetException(type, value, tb) __Pyx__GetException(__pyx_tstate, type, value, tb) +static int __Pyx__GetException(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#else +static int __Pyx_GetException(PyObject **type, PyObject **value, PyObject **tb); +#endif + +/* SwapException.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_ExceptionSwap(type, value, tb) __Pyx__ExceptionSwap(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx__ExceptionSwap(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#else +static CYTHON_INLINE void __Pyx_ExceptionSwap(PyObject **type, PyObject **value, PyObject **tb); +#endif + +/* Import.proto */ +static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level); + +/* ImportDottedModule.proto */ +static PyObject *__Pyx_ImportDottedModule(PyObject *name, PyObject *parts_tuple); +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx_ImportDottedModule_WalkParts(PyObject *module, PyObject *name, PyObject *parts_tuple); +#endif + +/* FastTypeChecks.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_TypeCheck(obj, type) __Pyx_IsSubtype(Py_TYPE(obj), (PyTypeObject *)type) +#define __Pyx_TypeCheck2(obj, type1, type2) __Pyx_IsAnySubtype2(Py_TYPE(obj), (PyTypeObject *)type1, (PyTypeObject *)type2) +static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b); +static CYTHON_INLINE int __Pyx_IsAnySubtype2(PyTypeObject *cls, PyTypeObject *a, PyTypeObject *b); +static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches(PyObject *err, PyObject *type); +static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches2(PyObject *err, PyObject *type1, PyObject *type2); +#else +#define __Pyx_TypeCheck(obj, type) PyObject_TypeCheck(obj, (PyTypeObject *)type) +#define __Pyx_TypeCheck2(obj, type1, type2) (PyObject_TypeCheck(obj, (PyTypeObject *)type1) || PyObject_TypeCheck(obj, (PyTypeObject *)type2)) +#define __Pyx_PyErr_GivenExceptionMatches(err, type) PyErr_GivenExceptionMatches(err, type) +#define __Pyx_PyErr_GivenExceptionMatches2(err, type1, type2) (PyErr_GivenExceptionMatches(err, type1) || PyErr_GivenExceptionMatches(err, type2)) +#endif +#define __Pyx_PyErr_ExceptionMatches2(err1, err2) __Pyx_PyErr_GivenExceptionMatches2(__Pyx_PyErr_CurrentExceptionType(), err1, err2) +#define __Pyx_PyException_Check(obj) __Pyx_TypeCheck(obj, PyExc_Exception) + +CYTHON_UNUSED static int __pyx_memoryview_getbuffer(PyObject *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /*proto*/ +/* ListCompAppend.proto */ +#if CYTHON_USE_PYLIST_INTERNALS && CYTHON_ASSUME_SAFE_MACROS +static CYTHON_INLINE int __Pyx_ListComp_Append(PyObject* list, PyObject* x) { + PyListObject* L = (PyListObject*) list; + Py_ssize_t len = Py_SIZE(list); + if (likely(L->allocated > len)) { + Py_INCREF(x); + #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 + L->ob_item[len] = x; + #else + PyList_SET_ITEM(list, len, x); + #endif + __Pyx_SET_SIZE(list, len + 1); + return 0; + } + return PyList_Append(list, x); +} +#else +#define __Pyx_ListComp_Append(L,x) PyList_Append(L,x) +#endif + +/* PySequenceMultiply.proto */ +#define __Pyx_PySequence_Multiply_Left(mul, seq) __Pyx_PySequence_Multiply(seq, mul) +static CYTHON_INLINE PyObject* __Pyx_PySequence_Multiply(PyObject *seq, Py_ssize_t mul); + +/* SetItemInt.proto */ +#define __Pyx_SetItemInt(o, i, v, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_SetItemInt_Fast(o, (Py_ssize_t)i, v, is_list, wraparound, boundscheck) :\ + (is_list ? (PyErr_SetString(PyExc_IndexError, "list assignment index out of range"), -1) :\ + __Pyx_SetItemInt_Generic(o, to_py_func(i), v))) +static int __Pyx_SetItemInt_Generic(PyObject *o, PyObject *j, PyObject *v); +static CYTHON_INLINE int __Pyx_SetItemInt_Fast(PyObject *o, Py_ssize_t i, PyObject *v, + int is_list, int wraparound, int boundscheck); + +/* RaiseUnboundLocalError.proto */ +static CYTHON_INLINE void __Pyx_RaiseUnboundLocalError(const char *varname); + +/* DivInt[long].proto */ +static CYTHON_INLINE long __Pyx_div_long(long, long); + +/* PySequenceContains.proto */ +static CYTHON_INLINE int __Pyx_PySequence_ContainsTF(PyObject* item, PyObject* seq, int eq) { + int result = PySequence_Contains(seq, item); + return unlikely(result < 0) ? result : (result == (eq == Py_EQ)); +} + +/* ImportFrom.proto */ +static PyObject* __Pyx_ImportFrom(PyObject* module, PyObject* name); + +/* HasAttr.proto */ +#if __PYX_LIMITED_VERSION_HEX >= 0x030d00A1 +#define __Pyx_HasAttr(o, n) PyObject_HasAttrWithError(o, n) +#else +static CYTHON_INLINE int __Pyx_HasAttr(PyObject *, PyObject *); +#endif + +/* MoveIfSupported.proto */ +#if CYTHON_USE_CPP_STD_MOVE + #include + #define __PYX_STD_MOVE_IF_SUPPORTED(x) std::move(x) +#else + #define __PYX_STD_MOVE_IF_SUPPORTED(x) x +#endif + +/* BufferIndexError.proto */ +static void __Pyx_RaiseBufferIndexError(int axis); + +/* PyObject_GenericGetAttrNoDict.proto */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GenericGetAttrNoDict PyObject_GenericGetAttr +#endif + +/* PyObject_GenericGetAttr.proto */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GenericGetAttr PyObject_GenericGetAttr +#endif + +/* TypeImport.proto */ +#ifndef __PYX_HAVE_RT_ImportType_proto_3_0_8 +#define __PYX_HAVE_RT_ImportType_proto_3_0_8 +#if defined (__STDC_VERSION__) && __STDC_VERSION__ >= 201112L +#include +#endif +#if (defined (__STDC_VERSION__) && __STDC_VERSION__ >= 201112L) || __cplusplus >= 201103L +#define __PYX_GET_STRUCT_ALIGNMENT_3_0_8(s) alignof(s) +#else +#define __PYX_GET_STRUCT_ALIGNMENT_3_0_8(s) sizeof(void*) +#endif +enum __Pyx_ImportType_CheckSize_3_0_8 { + __Pyx_ImportType_CheckSize_Error_3_0_8 = 0, + __Pyx_ImportType_CheckSize_Warn_3_0_8 = 1, + __Pyx_ImportType_CheckSize_Ignore_3_0_8 = 2 +}; +static PyTypeObject *__Pyx_ImportType_3_0_8(PyObject* module, const char *module_name, const char *class_name, size_t size, size_t alignment, enum __Pyx_ImportType_CheckSize_3_0_8 check_size); +#endif + +/* IncludeStructmemberH.proto */ +#include + +/* FixUpExtensionType.proto */ +#if CYTHON_USE_TYPE_SPECS +static int __Pyx_fix_up_extension_type_from_spec(PyType_Spec *spec, PyTypeObject *type); +#endif + +/* PyObjectCallNoArg.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func); + +/* PyObjectGetMethod.proto */ +static int __Pyx_PyObject_GetMethod(PyObject *obj, PyObject *name, PyObject **method); + +/* PyObjectCallMethod0.proto */ +static PyObject* __Pyx_PyObject_CallMethod0(PyObject* obj, PyObject* method_name); + +/* ValidateBasesTuple.proto */ +#if CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API || CYTHON_USE_TYPE_SPECS +static int __Pyx_validate_bases_tuple(const char *type_name, Py_ssize_t dictoffset, PyObject *bases); +#endif + +/* PyType_Ready.proto */ +CYTHON_UNUSED static int __Pyx_PyType_Ready(PyTypeObject *t); + +/* SetupReduce.proto */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_setup_reduce(PyObject* type_obj); +#endif + +/* SetVTable.proto */ +static int __Pyx_SetVtable(PyTypeObject* typeptr , void* vtable); + +/* GetVTable.proto */ +static void* __Pyx_GetVtable(PyTypeObject *type); + +/* MergeVTables.proto */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_MergeVtables(PyTypeObject *type); +#endif + +/* FetchSharedCythonModule.proto */ +static PyObject *__Pyx_FetchSharedCythonABIModule(void); + +/* FetchCommonType.proto */ +#if !CYTHON_USE_TYPE_SPECS +static PyTypeObject* __Pyx_FetchCommonType(PyTypeObject* type); +#else +static PyTypeObject* __Pyx_FetchCommonTypeFromSpec(PyObject *module, PyType_Spec *spec, PyObject *bases); +#endif + +/* PyMethodNew.proto */ +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject *__Pyx_PyMethod_New(PyObject *func, PyObject *self, PyObject *typ) { + PyObject *typesModule=NULL, *methodType=NULL, *result=NULL; + CYTHON_UNUSED_VAR(typ); + if (!self) + return __Pyx_NewRef(func); + typesModule = PyImport_ImportModule("types"); + if (!typesModule) return NULL; + methodType = PyObject_GetAttrString(typesModule, "MethodType"); + Py_DECREF(typesModule); + if (!methodType) return NULL; + result = PyObject_CallFunctionObjArgs(methodType, func, self, NULL); + Py_DECREF(methodType); + return result; +} +#elif PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx_PyMethod_New(PyObject *func, PyObject *self, PyObject *typ) { + CYTHON_UNUSED_VAR(typ); + if (!self) + return __Pyx_NewRef(func); + return PyMethod_New(func, self); +} +#else + #define __Pyx_PyMethod_New PyMethod_New +#endif + +/* PyVectorcallFastCallDict.proto */ +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE PyObject *__Pyx_PyVectorcall_FastCallDict(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw); +#endif + +/* CythonFunctionShared.proto */ +#define __Pyx_CyFunction_USED +#define __Pyx_CYFUNCTION_STATICMETHOD 0x01 +#define __Pyx_CYFUNCTION_CLASSMETHOD 0x02 +#define __Pyx_CYFUNCTION_CCLASS 0x04 +#define __Pyx_CYFUNCTION_COROUTINE 0x08 +#define __Pyx_CyFunction_GetClosure(f)\ + (((__pyx_CyFunctionObject *) (f))->func_closure) +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_CyFunction_GetClassObj(f)\ + (((__pyx_CyFunctionObject *) (f))->func_classobj) +#else + #define __Pyx_CyFunction_GetClassObj(f)\ + ((PyObject*) ((PyCMethodObject *) (f))->mm_class) +#endif +#define __Pyx_CyFunction_SetClassObj(f, classobj)\ + __Pyx__CyFunction_SetClassObj((__pyx_CyFunctionObject *) (f), (classobj)) +#define __Pyx_CyFunction_Defaults(type, f)\ + ((type *)(((__pyx_CyFunctionObject *) (f))->defaults)) +#define __Pyx_CyFunction_SetDefaultsGetter(f, g)\ + ((__pyx_CyFunctionObject *) (f))->defaults_getter = (g) +typedef struct { +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject_HEAD + PyObject *func; +#elif PY_VERSION_HEX < 0x030900B1 + PyCFunctionObject func; +#else + PyCMethodObject func; +#endif +#if CYTHON_BACKPORT_VECTORCALL + __pyx_vectorcallfunc func_vectorcall; +#endif +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API + PyObject *func_weakreflist; +#endif + PyObject *func_dict; + PyObject *func_name; + PyObject *func_qualname; + PyObject *func_doc; + PyObject *func_globals; + PyObject *func_code; + PyObject *func_closure; +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + PyObject *func_classobj; +#endif + void *defaults; + int defaults_pyobjects; + size_t defaults_size; + int flags; + PyObject *defaults_tuple; + PyObject *defaults_kwdict; + PyObject *(*defaults_getter)(PyObject *); + PyObject *func_annotations; + PyObject *func_is_coroutine; +} __pyx_CyFunctionObject; +#undef __Pyx_CyOrPyCFunction_Check +#define __Pyx_CyFunction_Check(obj) __Pyx_TypeCheck(obj, __pyx_CyFunctionType) +#define __Pyx_CyOrPyCFunction_Check(obj) __Pyx_TypeCheck2(obj, __pyx_CyFunctionType, &PyCFunction_Type) +#define __Pyx_CyFunction_CheckExact(obj) __Pyx_IS_TYPE(obj, __pyx_CyFunctionType) +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc); +#undef __Pyx_IsSameCFunction +#define __Pyx_IsSameCFunction(func, cfunc) __Pyx__IsSameCyOrCFunction(func, cfunc) +static PyObject *__Pyx_CyFunction_Init(__pyx_CyFunctionObject* op, PyMethodDef *ml, + int flags, PyObject* qualname, + PyObject *closure, + PyObject *module, PyObject *globals, + PyObject* code); +static CYTHON_INLINE void __Pyx__CyFunction_SetClassObj(__pyx_CyFunctionObject* f, PyObject* classobj); +static CYTHON_INLINE void *__Pyx_CyFunction_InitDefaults(PyObject *m, + size_t size, + int pyobjects); +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsTuple(PyObject *m, + PyObject *tuple); +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsKwDict(PyObject *m, + PyObject *dict); +static CYTHON_INLINE void __Pyx_CyFunction_SetAnnotationsDict(PyObject *m, + PyObject *dict); +static int __pyx_CyFunction_init(PyObject *module); +#if CYTHON_METH_FASTCALL +static PyObject * __Pyx_CyFunction_Vectorcall_NOARGS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_O(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +#if CYTHON_BACKPORT_VECTORCALL +#define __Pyx_CyFunction_func_vectorcall(f) (((__pyx_CyFunctionObject*)f)->func_vectorcall) +#else +#define __Pyx_CyFunction_func_vectorcall(f) (((PyCFunctionObject*)f)->vectorcall) +#endif +#endif + +/* CythonFunction.proto */ +static PyObject *__Pyx_CyFunction_New(PyMethodDef *ml, + int flags, PyObject* qualname, + PyObject *closure, + PyObject *module, PyObject *globals, + PyObject* code); + +/* CLineInTraceback.proto */ +#ifdef CYTHON_CLINE_IN_TRACEBACK +#define __Pyx_CLineForTraceback(tstate, c_line) (((CYTHON_CLINE_IN_TRACEBACK)) ? c_line : 0) +#else +static int __Pyx_CLineForTraceback(PyThreadState *tstate, int c_line); +#endif + +/* CodeObjectCache.proto */ +#if !CYTHON_COMPILING_IN_LIMITED_API +typedef struct { + PyCodeObject* code_object; + int code_line; +} __Pyx_CodeObjectCacheEntry; +struct __Pyx_CodeObjectCache { + int count; + int max_count; + __Pyx_CodeObjectCacheEntry* entries; +}; +static struct __Pyx_CodeObjectCache __pyx_code_cache = {0,0,NULL}; +static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line); +static PyCodeObject *__pyx_find_code_object(int code_line); +static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object); +#endif + +/* AddTraceback.proto */ +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename); + +#if PY_MAJOR_VERSION < 3 + static int __Pyx_GetBuffer(PyObject *obj, Py_buffer *view, int flags); + static void __Pyx_ReleaseBuffer(Py_buffer *view); +#else + #define __Pyx_GetBuffer PyObject_GetBuffer + #define __Pyx_ReleaseBuffer PyBuffer_Release +#endif + + +/* BufferStructDeclare.proto */ +typedef struct { + Py_ssize_t shape, strides, suboffsets; +} __Pyx_Buf_DimInfo; +typedef struct { + size_t refcount; + Py_buffer pybuffer; +} __Pyx_Buffer; +typedef struct { + __Pyx_Buffer *rcbuffer; + char *data; + __Pyx_Buf_DimInfo diminfo[8]; +} __Pyx_LocalBuf_ND; + +/* MemviewSliceIsContig.proto */ +static int __pyx_memviewslice_is_contig(const __Pyx_memviewslice mvs, char order, int ndim); + +/* OverlappingSlices.proto */ +static int __pyx_slices_overlap(__Pyx_memviewslice *slice1, + __Pyx_memviewslice *slice2, + int ndim, size_t itemsize); + +/* IsLittleEndian.proto */ +static CYTHON_INLINE int __Pyx_Is_Little_Endian(void); + +/* BufferFormatCheck.proto */ +static const char* __Pyx_BufFmt_CheckString(__Pyx_BufFmt_Context* ctx, const char* ts); +static void __Pyx_BufFmt_Init(__Pyx_BufFmt_Context* ctx, + __Pyx_BufFmt_StackElem* stack, + __Pyx_TypeInfo* type); + +/* TypeInfoCompare.proto */ +static int __pyx_typeinfo_cmp(__Pyx_TypeInfo *a, __Pyx_TypeInfo *b); + +/* MemviewSliceValidateAndInit.proto */ +static int __Pyx_ValidateAndInit_memviewslice( + int *axes_specs, + int c_or_f_flag, + int buf_flags, + int ndim, + __Pyx_TypeInfo *dtype, + __Pyx_BufFmt_StackElem stack[], + __Pyx_memviewslice *memviewslice, + PyObject *original_obj); + +/* ObjectToMemviewSlice.proto */ +static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_ds_float(PyObject *, int writable_flag); + +/* MemviewDtypeToObject.proto */ +static CYTHON_INLINE PyObject *__pyx_memview_get_float(const char *itemp); +static CYTHON_INLINE int __pyx_memview_set_float(const char *itemp, PyObject *obj); + +/* MemviewSliceCopyTemplate.proto */ +static __Pyx_memviewslice +__pyx_memoryview_copy_new_contig(const __Pyx_memviewslice *from_mvs, + const char *mode, int ndim, + size_t sizeof_dtype, int contig_flag, + int dtype_is_object); + +/* MemviewSliceInit.proto */ +#define __Pyx_BUF_MAX_NDIMS %(BUF_MAX_NDIMS)d +#define __Pyx_MEMVIEW_DIRECT 1 +#define __Pyx_MEMVIEW_PTR 2 +#define __Pyx_MEMVIEW_FULL 4 +#define __Pyx_MEMVIEW_CONTIG 8 +#define __Pyx_MEMVIEW_STRIDED 16 +#define __Pyx_MEMVIEW_FOLLOW 32 +#define __Pyx_IS_C_CONTIG 1 +#define __Pyx_IS_F_CONTIG 2 +static int __Pyx_init_memviewslice( + struct __pyx_memoryview_obj *memview, + int ndim, + __Pyx_memviewslice *memviewslice, + int memview_is_new_reference); +static CYTHON_INLINE int __pyx_add_acquisition_count_locked( + __pyx_atomic_int_type *acquisition_count, PyThread_type_lock lock); +static CYTHON_INLINE int __pyx_sub_acquisition_count_locked( + __pyx_atomic_int_type *acquisition_count, PyThread_type_lock lock); +#define __pyx_get_slice_count_pointer(memview) (&memview->acquisition_count) +#define __PYX_INC_MEMVIEW(slice, have_gil) __Pyx_INC_MEMVIEW(slice, have_gil, __LINE__) +#define __PYX_XCLEAR_MEMVIEW(slice, have_gil) __Pyx_XCLEAR_MEMVIEW(slice, have_gil, __LINE__) +static CYTHON_INLINE void __Pyx_INC_MEMVIEW(__Pyx_memviewslice *, int, int); +static CYTHON_INLINE void __Pyx_XCLEAR_MEMVIEW(__Pyx_memviewslice *, int, int); + +/* CIntFromPy.proto */ +static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *); + +/* CppExceptionConversion.proto */ +#ifndef __Pyx_CppExn2PyErr +#include +#include +#include +#include +static void __Pyx_CppExn2PyErr() { + try { + if (PyErr_Occurred()) + ; // let the latest Python exn pass through and ignore the current one + else + throw; + } catch (const std::bad_alloc& exn) { + PyErr_SetString(PyExc_MemoryError, exn.what()); + } catch (const std::bad_cast& exn) { + PyErr_SetString(PyExc_TypeError, exn.what()); + } catch (const std::bad_typeid& exn) { + PyErr_SetString(PyExc_TypeError, exn.what()); + } catch (const std::domain_error& exn) { + PyErr_SetString(PyExc_ValueError, exn.what()); + } catch (const std::invalid_argument& exn) { + PyErr_SetString(PyExc_ValueError, exn.what()); + } catch (const std::ios_base::failure& exn) { + PyErr_SetString(PyExc_IOError, exn.what()); + } catch (const std::out_of_range& exn) { + PyErr_SetString(PyExc_IndexError, exn.what()); + } catch (const std::overflow_error& exn) { + PyErr_SetString(PyExc_OverflowError, exn.what()); + } catch (const std::range_error& exn) { + PyErr_SetString(PyExc_ArithmeticError, exn.what()); + } catch (const std::underflow_error& exn) { + PyErr_SetString(PyExc_ArithmeticError, exn.what()); + } catch (const std::exception& exn) { + PyErr_SetString(PyExc_RuntimeError, exn.what()); + } + catch (...) + { + PyErr_SetString(PyExc_RuntimeError, "Unknown exception"); + } +} +#endif + +/* None.proto */ +#include + +/* CIntFromPy.proto */ +static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *); + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value); + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value); + +/* CIntFromPy.proto */ +static CYTHON_INLINE char __Pyx_PyInt_As_char(PyObject *); + +/* FormatTypeName.proto */ +#if CYTHON_COMPILING_IN_LIMITED_API +typedef PyObject *__Pyx_TypeName; +#define __Pyx_FMT_TYPENAME "%U" +static __Pyx_TypeName __Pyx_PyType_GetName(PyTypeObject* tp); +#define __Pyx_DECREF_TypeName(obj) Py_XDECREF(obj) +#else +typedef const char *__Pyx_TypeName; +#define __Pyx_FMT_TYPENAME "%.200s" +#define __Pyx_PyType_GetName(tp) ((tp)->tp_name) +#define __Pyx_DECREF_TypeName(obj) +#endif + +/* CheckBinaryVersion.proto */ +static unsigned long __Pyx_get_runtime_version(void); +static int __Pyx_check_binary_version(unsigned long ct_version, unsigned long rt_version, int allow_newer); + +/* InitStrings.proto */ +static int __Pyx_InitStrings(__Pyx_StringTabEntry *t); + +/* #### Code section: module_declarations ### */ +static PyObject *__pyx_array_get_memview(struct __pyx_array_obj *__pyx_v_self); /* proto*/ +static char *__pyx_memoryview_get_item_pointer(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index); /* proto*/ +static PyObject *__pyx_memoryview_is_slice(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_obj); /* proto*/ +static PyObject *__pyx_memoryview_setitem_slice_assignment(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_dst, PyObject *__pyx_v_src); /* proto*/ +static PyObject *__pyx_memoryview_setitem_slice_assign_scalar(struct __pyx_memoryview_obj *__pyx_v_self, struct __pyx_memoryview_obj *__pyx_v_dst, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryview_setitem_indexed(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryview_convert_item_to_object(struct __pyx_memoryview_obj *__pyx_v_self, char *__pyx_v_itemp); /* proto*/ +static PyObject *__pyx_memoryview_assign_item_from_object(struct __pyx_memoryview_obj *__pyx_v_self, char *__pyx_v_itemp, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryview__get_base(struct __pyx_memoryview_obj *__pyx_v_self); /* proto*/ +static PyObject *__pyx_memoryviewslice_convert_item_to_object(struct __pyx_memoryviewslice_obj *__pyx_v_self, char *__pyx_v_itemp); /* proto*/ +static PyObject *__pyx_memoryviewslice_assign_item_from_object(struct __pyx_memoryviewslice_obj *__pyx_v_self, char *__pyx_v_itemp, PyObject *__pyx_v_value); /* proto*/ +static PyObject *__pyx_memoryviewslice__get_base(struct __pyx_memoryviewslice_obj *__pyx_v_self); /* proto*/ + +/* Module declarations from "libcpp" */ + +/* Module declarations from "libc.string" */ + +/* Module declarations from "libcpp.string" */ + +/* Module declarations from "libcpp.vector" */ + +/* Module declarations from "libcpp.utility" */ + +/* Module declarations from "libcpp.set" */ + +/* Module declarations from "libc.stdint" */ + +/* Module declarations from "msgq.visionipc.visionipc" */ + +/* Module declarations from "selfdrive.modeld.runners.thneedmodel" */ + +/* Module declarations from "msgq.visionipc.visionipc_pyx" */ + +/* Module declarations from "selfdrive.modeld.models.commonmodel_pyx" */ + +/* Module declarations from "selfdrive.modeld.runners.runmodel" */ + +/* Module declarations from "selfdrive.modeld.runners.runmodel_pyx" */ + +/* Module declarations from "selfdrive.modeld.runners.thneedmodel_pyx" */ +static PyObject *__pyx_collections_abc_Sequence = 0; +static PyObject *generic = 0; +static PyObject *strided = 0; +static PyObject *indirect = 0; +static PyObject *contiguous = 0; +static PyObject *indirect_contiguous = 0; +static int __pyx_memoryview_thread_locks_used; +static PyThread_type_lock __pyx_memoryview_thread_locks[8]; +static std::string __pyx_convert_string_from_py_std__in_string(PyObject *); /*proto*/ +static int __pyx_array_allocate_buffer(struct __pyx_array_obj *); /*proto*/ +static struct __pyx_array_obj *__pyx_array_new(PyObject *, Py_ssize_t, char *, char *, char *); /*proto*/ +static PyObject *__pyx_memoryview_new(PyObject *, int, int, __Pyx_TypeInfo *); /*proto*/ +static CYTHON_INLINE int __pyx_memoryview_check(PyObject *); /*proto*/ +static PyObject *_unellipsify(PyObject *, int); /*proto*/ +static int assert_direct_dimensions(Py_ssize_t *, int); /*proto*/ +static struct __pyx_memoryview_obj *__pyx_memview_slice(struct __pyx_memoryview_obj *, PyObject *); /*proto*/ +static int __pyx_memoryview_slice_memviewslice(__Pyx_memviewslice *, Py_ssize_t, Py_ssize_t, Py_ssize_t, int, int, int *, Py_ssize_t, Py_ssize_t, Py_ssize_t, int, int, int, int); /*proto*/ +static char *__pyx_pybuffer_index(Py_buffer *, char *, Py_ssize_t, Py_ssize_t); /*proto*/ +static int __pyx_memslice_transpose(__Pyx_memviewslice *); /*proto*/ +static PyObject *__pyx_memoryview_fromslice(__Pyx_memviewslice, int, PyObject *(*)(char *), int (*)(char *, PyObject *), int); /*proto*/ +static __Pyx_memviewslice *__pyx_memoryview_get_slice_from_memoryview(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/ +static void __pyx_memoryview_slice_copy(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/ +static PyObject *__pyx_memoryview_copy_object(struct __pyx_memoryview_obj *); /*proto*/ +static PyObject *__pyx_memoryview_copy_object_from_slice(struct __pyx_memoryview_obj *, __Pyx_memviewslice *); /*proto*/ +static Py_ssize_t abs_py_ssize_t(Py_ssize_t); /*proto*/ +static char __pyx_get_best_slice_order(__Pyx_memviewslice *, int); /*proto*/ +static void _copy_strided_to_strided(char *, Py_ssize_t *, char *, Py_ssize_t *, Py_ssize_t *, Py_ssize_t *, int, size_t); /*proto*/ +static void copy_strided_to_strided(__Pyx_memviewslice *, __Pyx_memviewslice *, int, size_t); /*proto*/ +static Py_ssize_t __pyx_memoryview_slice_get_size(__Pyx_memviewslice *, int); /*proto*/ +static Py_ssize_t __pyx_fill_contig_strides_array(Py_ssize_t *, Py_ssize_t *, Py_ssize_t, int, char); /*proto*/ +static void *__pyx_memoryview_copy_data_to_temp(__Pyx_memviewslice *, __Pyx_memviewslice *, char, int); /*proto*/ +static int __pyx_memoryview_err_extents(int, Py_ssize_t, Py_ssize_t); /*proto*/ +static int __pyx_memoryview_err_dim(PyObject *, PyObject *, int); /*proto*/ +static int __pyx_memoryview_err(PyObject *, PyObject *); /*proto*/ +static int __pyx_memoryview_err_no_memory(void); /*proto*/ +static int __pyx_memoryview_copy_contents(__Pyx_memviewslice, __Pyx_memviewslice, int, int, int); /*proto*/ +static void __pyx_memoryview_broadcast_leading(__Pyx_memviewslice *, int, int); /*proto*/ +static void __pyx_memoryview_refcount_copying(__Pyx_memviewslice *, int, int, int); /*proto*/ +static void __pyx_memoryview_refcount_objects_in_slice_with_gil(char *, Py_ssize_t *, Py_ssize_t *, int, int); /*proto*/ +static void __pyx_memoryview_refcount_objects_in_slice(char *, Py_ssize_t *, Py_ssize_t *, int, int); /*proto*/ +static void __pyx_memoryview_slice_assign_scalar(__Pyx_memviewslice *, int, size_t, void *, int); /*proto*/ +static void __pyx_memoryview__slice_assign_scalar(char *, Py_ssize_t *, Py_ssize_t *, int, size_t, void *); /*proto*/ +static PyObject *__pyx_unpickle_Enum__set_state(struct __pyx_MemviewEnum_obj *, PyObject *); /*proto*/ +/* #### Code section: typeinfo ### */ +static __Pyx_TypeInfo __Pyx_TypeInfo_float = { "float", NULL, sizeof(float), { 0 }, 0, 'R', 0, 0 }; +/* #### Code section: before_global_var ### */ +#define __Pyx_MODULE_NAME "selfdrive.modeld.runners.thneedmodel_pyx" +extern int __pyx_module_is_main_selfdrive__modeld__runners__thneedmodel_pyx; +int __pyx_module_is_main_selfdrive__modeld__runners__thneedmodel_pyx = 0; + +/* Implementation of "selfdrive.modeld.runners.thneedmodel_pyx" */ +/* #### Code section: global_var ### */ +static PyObject *__pyx_builtin_TypeError; +static PyObject *__pyx_builtin___import__; +static PyObject *__pyx_builtin_ValueError; +static PyObject *__pyx_builtin_MemoryError; +static PyObject *__pyx_builtin_enumerate; +static PyObject *__pyx_builtin_range; +static PyObject *__pyx_builtin_AssertionError; +static PyObject *__pyx_builtin_Ellipsis; +static PyObject *__pyx_builtin_id; +static PyObject *__pyx_builtin_IndexError; +/* #### Code section: string_decls ### */ +static const char __pyx_k_[] = ": "; +static const char __pyx_k_O[] = "O"; +static const char __pyx_k_c[] = "c"; +static const char __pyx_k__2[] = "."; +static const char __pyx_k__3[] = "*"; +static const char __pyx_k__6[] = "'"; +static const char __pyx_k__7[] = ")"; +static const char __pyx_k_gc[] = "gc"; +static const char __pyx_k_id[] = "id"; +static const char __pyx_k__24[] = "?"; +static const char __pyx_k_abc[] = "abc"; +static const char __pyx_k_and[] = " and "; +static const char __pyx_k_got[] = " (got "; +static const char __pyx_k_new[] = "__new__"; +static const char __pyx_k_obj[] = "obj"; +static const char __pyx_k_sys[] = "sys"; +static const char __pyx_k_base[] = "base"; +static const char __pyx_k_dict[] = "__dict__"; +static const char __pyx_k_main[] = "__main__"; +static const char __pyx_k_mode[] = "mode"; +static const char __pyx_k_name[] = "name"; +static const char __pyx_k_ndim[] = "ndim"; +static const char __pyx_k_pack[] = "pack"; +static const char __pyx_k_path[] = "path"; +static const char __pyx_k_self[] = "self"; +static const char __pyx_k_size[] = "size"; +static const char __pyx_k_spec[] = "__spec__"; +static const char __pyx_k_step[] = "step"; +static const char __pyx_k_stop[] = "stop"; +static const char __pyx_k_test[] = "__test__"; +static const char __pyx_k_ASCII[] = "ASCII"; +static const char __pyx_k_class[] = "__class__"; +static const char __pyx_k_count[] = "count"; +static const char __pyx_k_error[] = "error"; +static const char __pyx_k_flags[] = "flags"; +static const char __pyx_k_index[] = "index"; +static const char __pyx_k_range[] = "range"; +static const char __pyx_k_shape[] = "shape"; +static const char __pyx_k_start[] = "start"; +static const char __pyx_k_enable[] = "enable"; +static const char __pyx_k_encode[] = "encode"; +static const char __pyx_k_format[] = "format"; +static const char __pyx_k_import[] = "__import__"; +static const char __pyx_k_name_2[] = "__name__"; +static const char __pyx_k_output[] = "output"; +static const char __pyx_k_pickle[] = "pickle"; +static const char __pyx_k_reduce[] = "__reduce__"; +static const char __pyx_k_struct[] = "struct"; +static const char __pyx_k_unpack[] = "unpack"; +static const char __pyx_k_update[] = "update"; +static const char __pyx_k_context[] = "context"; +static const char __pyx_k_disable[] = "disable"; +static const char __pyx_k_fortran[] = "fortran"; +static const char __pyx_k_memview[] = "memview"; +static const char __pyx_k_runtime[] = "runtime"; +static const char __pyx_k_use_tf8[] = "use_tf8"; +static const char __pyx_k_Ellipsis[] = "Ellipsis"; +static const char __pyx_k_Sequence[] = "Sequence"; +static const char __pyx_k_getstate[] = "__getstate__"; +static const char __pyx_k_itemsize[] = "itemsize"; +static const char __pyx_k_pyx_type[] = "__pyx_type"; +static const char __pyx_k_register[] = "register"; +static const char __pyx_k_setstate[] = "__setstate__"; +static const char __pyx_k_TypeError[] = "TypeError"; +static const char __pyx_k_enumerate[] = "enumerate"; +static const char __pyx_k_isenabled[] = "isenabled"; +static const char __pyx_k_pyx_state[] = "__pyx_state"; +static const char __pyx_k_reduce_ex[] = "__reduce_ex__"; +static const char __pyx_k_IndexError[] = "IndexError"; +static const char __pyx_k_ValueError[] = "ValueError"; +static const char __pyx_k_pyx_result[] = "__pyx_result"; +static const char __pyx_k_pyx_vtable[] = "__pyx_vtable__"; +static const char __pyx_k_MemoryError[] = "MemoryError"; +static const char __pyx_k_PickleError[] = "PickleError"; +static const char __pyx_k_ThneedModel[] = "ThneedModel"; +static const char __pyx_k_collections[] = "collections"; +static const char __pyx_k_initializing[] = "_initializing"; +static const char __pyx_k_is_coroutine[] = "_is_coroutine"; +static const char __pyx_k_pyx_checksum[] = "__pyx_checksum"; +static const char __pyx_k_stringsource[] = ""; +static const char __pyx_k_version_info[] = "version_info"; +static const char __pyx_k_class_getitem[] = "__class_getitem__"; +static const char __pyx_k_reduce_cython[] = "__reduce_cython__"; +static const char __pyx_k_AssertionError[] = "AssertionError"; +static const char __pyx_k_View_MemoryView[] = "View.MemoryView"; +static const char __pyx_k_allocate_buffer[] = "allocate_buffer"; +static const char __pyx_k_collections_abc[] = "collections.abc"; +static const char __pyx_k_dtype_is_object[] = "dtype_is_object"; +static const char __pyx_k_pyx_PickleError[] = "__pyx_PickleError"; +static const char __pyx_k_setstate_cython[] = "__setstate_cython__"; +static const char __pyx_k_pyx_unpickle_Enum[] = "__pyx_unpickle_Enum"; +static const char __pyx_k_asyncio_coroutines[] = "asyncio.coroutines"; +static const char __pyx_k_cline_in_traceback[] = "cline_in_traceback"; +static const char __pyx_k_strided_and_direct[] = ""; +static const char __pyx_k_strided_and_indirect[] = ""; +static const char __pyx_k_Invalid_shape_in_axis[] = "Invalid shape in axis "; +static const char __pyx_k_contiguous_and_direct[] = ""; +static const char __pyx_k_Cannot_index_with_type[] = "Cannot index with type '"; +static const char __pyx_k_MemoryView_of_r_object[] = ""; +static const char __pyx_k_MemoryView_of_r_at_0x_x[] = ""; +static const char __pyx_k_contiguous_and_indirect[] = ""; +static const char __pyx_k_Dimension_d_is_not_direct[] = "Dimension %d is not direct"; +static const char __pyx_k_Index_out_of_bounds_axis_d[] = "Index out of bounds (axis %d)"; +static const char __pyx_k_Step_may_not_be_zero_axis_d[] = "Step may not be zero (axis %d)"; +static const char __pyx_k_ThneedModel___reduce_cython[] = "ThneedModel.__reduce_cython__"; +static const char __pyx_k_itemsize_0_for_cython_array[] = "itemsize <= 0 for cython.array"; +static const char __pyx_k_ThneedModel___setstate_cython[] = "ThneedModel.__setstate_cython__"; +static const char __pyx_k_unable_to_allocate_array_data[] = "unable to allocate array data."; +static const char __pyx_k_strided_and_direct_or_indirect[] = ""; +static const char __pyx_k_All_dimensions_preceding_dimensi[] = "All dimensions preceding dimension %d must be indexed and not sliced"; +static const char __pyx_k_Buffer_view_does_not_expose_stri[] = "Buffer view does not expose strides"; +static const char __pyx_k_Can_only_create_a_buffer_that_is[] = "Can only create a buffer that is contiguous in memory."; +static const char __pyx_k_Cannot_assign_to_read_only_memor[] = "Cannot assign to read-only memoryview"; +static const char __pyx_k_Cannot_create_writable_memory_vi[] = "Cannot create writable memory view from read-only memoryview"; +static const char __pyx_k_Cannot_transpose_memoryview_with[] = "Cannot transpose memoryview with indirect dimensions"; +static const char __pyx_k_Empty_shape_tuple_for_cython_arr[] = "Empty shape tuple for cython.array"; +static const char __pyx_k_Incompatible_checksums_0x_x_vs_0[] = "Incompatible checksums (0x%x vs (0x82a3537, 0x6ae9995, 0xb068931) = (name))"; +static const char __pyx_k_Indirect_dimensions_not_supporte[] = "Indirect dimensions not supported"; +static const char __pyx_k_Invalid_mode_expected_c_or_fortr[] = "Invalid mode, expected 'c' or 'fortran', got "; +static const char __pyx_k_Out_of_bounds_on_buffer_access_a[] = "Out of bounds on buffer access (axis "; +static const char __pyx_k_Unable_to_convert_item_to_object[] = "Unable to convert item to object"; +static const char __pyx_k_got_differing_extents_in_dimensi[] = "got differing extents in dimension "; +static const char __pyx_k_no_default___reduce___due_to_non[] = "no default __reduce__ due to non-trivial __cinit__"; +static const char __pyx_k_selfdrive_modeld_runners_thneedm[] = "selfdrive.modeld.runners.thneedmodel_pyx"; +static const char __pyx_k_unable_to_allocate_shape_and_str[] = "unable to allocate shape and strides."; +/* #### Code section: decls ### */ +static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array___cinit__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_shape, Py_ssize_t __pyx_v_itemsize, PyObject *__pyx_v_format, PyObject *__pyx_v_mode, int __pyx_v_allocate_buffer); /* proto */ +static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array_2__getbuffer__(struct __pyx_array_obj *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /* proto */ +static void __pyx_array___pyx_pf_15View_dot_MemoryView_5array_4__dealloc__(struct __pyx_array_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_5array_7memview___get__(struct __pyx_array_obj *__pyx_v_self); /* proto */ +static Py_ssize_t __pyx_array___pyx_pf_15View_dot_MemoryView_5array_6__len__(struct __pyx_array_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_array___pyx_pf_15View_dot_MemoryView_5array_8__getattr__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_attr); /* proto */ +static PyObject *__pyx_array___pyx_pf_15View_dot_MemoryView_5array_10__getitem__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_item); /* proto */ +static int __pyx_array___pyx_pf_15View_dot_MemoryView_5array_12__setitem__(struct __pyx_array_obj *__pyx_v_self, PyObject *__pyx_v_item, PyObject *__pyx_v_value); /* proto */ +static PyObject *__pyx_pf___pyx_array___reduce_cython__(CYTHON_UNUSED struct __pyx_array_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_array_2__setstate_cython__(CYTHON_UNUSED struct __pyx_array_obj *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_MemviewEnum___pyx_pf_15View_dot_MemoryView_4Enum___init__(struct __pyx_MemviewEnum_obj *__pyx_v_self, PyObject *__pyx_v_name); /* proto */ +static PyObject *__pyx_MemviewEnum___pyx_pf_15View_dot_MemoryView_4Enum_2__repr__(struct __pyx_MemviewEnum_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_MemviewEnum___reduce_cython__(struct __pyx_MemviewEnum_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_MemviewEnum_2__setstate_cython__(struct __pyx_MemviewEnum_obj *__pyx_v_self, PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview___cinit__(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_obj, int __pyx_v_flags, int __pyx_v_dtype_is_object); /* proto */ +static void __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_2__dealloc__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_4__getitem__(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index); /* proto */ +static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_6__setitem__(struct __pyx_memoryview_obj *__pyx_v_self, PyObject *__pyx_v_index, PyObject *__pyx_v_value); /* proto */ +static int __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_8__getbuffer__(struct __pyx_memoryview_obj *__pyx_v_self, Py_buffer *__pyx_v_info, int __pyx_v_flags); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_1T___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_4base___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_5shape___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_7strides___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_10suboffsets___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_4ndim___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_8itemsize___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_6nbytes___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView_10memoryview_4size___get__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static Py_ssize_t __pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_10__len__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_12__repr__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_14__str__(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_16is_c_contig(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_18is_f_contig(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_20copy(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_memoryview___pyx_pf_15View_dot_MemoryView_10memoryview_22copy_fortran(struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryview___reduce_cython__(CYTHON_UNUSED struct __pyx_memoryview_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryview_2__setstate_cython__(CYTHON_UNUSED struct __pyx_memoryview_obj *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static void __pyx_memoryviewslice___pyx_pf_15View_dot_MemoryView_16_memoryviewslice___dealloc__(struct __pyx_memoryviewslice_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryviewslice___reduce_cython__(CYTHON_UNUSED struct __pyx_memoryviewslice_obj *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf___pyx_memoryviewslice_2__setstate_cython__(CYTHON_UNUSED struct __pyx_memoryviewslice_obj *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static PyObject *__pyx_pf_15View_dot_MemoryView___pyx_unpickle_Enum(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v___pyx_type, long __pyx_v___pyx_checksum, PyObject *__pyx_v___pyx_state); /* proto */ +static int __pyx_pf_9selfdrive_6modeld_7runners_15thneedmodel_pyx_11ThneedModel___cinit__(struct __pyx_obj_9selfdrive_6modeld_7runners_15thneedmodel_pyx_ThneedModel *__pyx_v_self, std::string __pyx_v_path, __Pyx_memviewslice __pyx_v_output, int __pyx_v_runtime, bool __pyx_v_use_tf8, struct __pyx_obj_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext *__pyx_v_context); /* proto */ +static PyObject *__pyx_pf_9selfdrive_6modeld_7runners_15thneedmodel_pyx_11ThneedModel_2__reduce_cython__(CYTHON_UNUSED struct __pyx_obj_9selfdrive_6modeld_7runners_15thneedmodel_pyx_ThneedModel *__pyx_v_self); /* proto */ +static PyObject *__pyx_pf_9selfdrive_6modeld_7runners_15thneedmodel_pyx_11ThneedModel_4__setstate_cython__(CYTHON_UNUSED struct __pyx_obj_9selfdrive_6modeld_7runners_15thneedmodel_pyx_ThneedModel *__pyx_v_self, CYTHON_UNUSED PyObject *__pyx_v___pyx_state); /* proto */ +static PyObject *__pyx_tp_new_9selfdrive_6modeld_7runners_15thneedmodel_pyx_ThneedModel(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_array(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_Enum(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new_memoryview(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +static PyObject *__pyx_tp_new__memoryviewslice(PyTypeObject *t, PyObject *a, PyObject *k); /*proto*/ +/* #### Code section: late_includes ### */ +/* #### Code section: module_state ### */ +typedef struct { + PyObject *__pyx_d; + PyObject *__pyx_b; + PyObject *__pyx_cython_runtime; + PyObject *__pyx_empty_tuple; + PyObject *__pyx_empty_bytes; + PyObject *__pyx_empty_unicode; + #ifdef __Pyx_CyFunction_USED + PyTypeObject *__pyx_CyFunctionType; + #endif + #ifdef __Pyx_FusedFunction_USED + PyTypeObject *__pyx_FusedFunctionType; + #endif + #ifdef __Pyx_Generator_USED + PyTypeObject *__pyx_GeneratorType; + #endif + #ifdef __Pyx_IterableCoroutine_USED + PyTypeObject *__pyx_IterableCoroutineType; + #endif + #ifdef __Pyx_Coroutine_USED + PyTypeObject *__pyx_CoroutineAwaitType; + #endif + #ifdef __Pyx_Coroutine_USED + PyTypeObject *__pyx_CoroutineType; + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + PyTypeObject *__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_CLContext; + PyTypeObject *__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionBuf; + #if CYTHON_USE_MODULE_STATE + #endif + PyTypeObject *__pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext; + PyTypeObject *__pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem; + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + PyTypeObject *__pyx_ptype_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel; + #if CYTHON_USE_MODULE_STATE + PyObject *__pyx_type_9selfdrive_6modeld_7runners_15thneedmodel_pyx_ThneedModel; + PyObject *__pyx_type___pyx_array; + PyObject *__pyx_type___pyx_MemviewEnum; + PyObject *__pyx_type___pyx_memoryview; + PyObject *__pyx_type___pyx_memoryviewslice; + #endif + PyTypeObject *__pyx_ptype_9selfdrive_6modeld_7runners_15thneedmodel_pyx_ThneedModel; + PyTypeObject *__pyx_array_type; + PyTypeObject *__pyx_MemviewEnum_type; + PyTypeObject *__pyx_memoryview_type; + PyTypeObject *__pyx_memoryviewslice_type; + PyObject *__pyx_kp_u_; + PyObject *__pyx_n_s_ASCII; + PyObject *__pyx_kp_s_All_dimensions_preceding_dimensi; + PyObject *__pyx_n_s_AssertionError; + PyObject *__pyx_kp_s_Buffer_view_does_not_expose_stri; + PyObject *__pyx_kp_s_Can_only_create_a_buffer_that_is; + PyObject *__pyx_kp_s_Cannot_assign_to_read_only_memor; + PyObject *__pyx_kp_s_Cannot_create_writable_memory_vi; + PyObject *__pyx_kp_u_Cannot_index_with_type; + PyObject *__pyx_kp_s_Cannot_transpose_memoryview_with; + PyObject *__pyx_kp_s_Dimension_d_is_not_direct; + PyObject *__pyx_n_s_Ellipsis; + PyObject *__pyx_kp_s_Empty_shape_tuple_for_cython_arr; + PyObject *__pyx_kp_s_Incompatible_checksums_0x_x_vs_0; + PyObject *__pyx_n_s_IndexError; + PyObject *__pyx_kp_s_Index_out_of_bounds_axis_d; + PyObject *__pyx_kp_s_Indirect_dimensions_not_supporte; + PyObject *__pyx_kp_u_Invalid_mode_expected_c_or_fortr; + PyObject *__pyx_kp_u_Invalid_shape_in_axis; + PyObject *__pyx_n_s_MemoryError; + PyObject *__pyx_kp_s_MemoryView_of_r_at_0x_x; + PyObject *__pyx_kp_s_MemoryView_of_r_object; + PyObject *__pyx_n_b_O; + PyObject *__pyx_kp_u_Out_of_bounds_on_buffer_access_a; + PyObject *__pyx_n_s_PickleError; + PyObject *__pyx_n_s_Sequence; + PyObject *__pyx_kp_s_Step_may_not_be_zero_axis_d; + PyObject *__pyx_n_s_ThneedModel; + PyObject *__pyx_n_s_ThneedModel___reduce_cython; + PyObject *__pyx_n_s_ThneedModel___setstate_cython; + PyObject *__pyx_n_s_TypeError; + PyObject *__pyx_kp_s_Unable_to_convert_item_to_object; + PyObject *__pyx_n_s_ValueError; + PyObject *__pyx_n_s_View_MemoryView; + PyObject *__pyx_kp_u__2; + PyObject *__pyx_n_s__24; + PyObject *__pyx_n_s__3; + PyObject *__pyx_kp_u__6; + PyObject *__pyx_kp_u__7; + PyObject *__pyx_n_s_abc; + PyObject *__pyx_n_s_allocate_buffer; + PyObject *__pyx_kp_u_and; + PyObject *__pyx_n_s_asyncio_coroutines; + PyObject *__pyx_n_s_base; + PyObject *__pyx_n_s_c; + PyObject *__pyx_n_u_c; + PyObject *__pyx_n_s_class; + PyObject *__pyx_n_s_class_getitem; + PyObject *__pyx_n_s_cline_in_traceback; + PyObject *__pyx_n_s_collections; + PyObject *__pyx_kp_s_collections_abc; + PyObject *__pyx_n_s_context; + PyObject *__pyx_kp_s_contiguous_and_direct; + PyObject *__pyx_kp_s_contiguous_and_indirect; + PyObject *__pyx_n_s_count; + PyObject *__pyx_n_s_dict; + PyObject *__pyx_kp_u_disable; + PyObject *__pyx_n_s_dtype_is_object; + PyObject *__pyx_kp_u_enable; + PyObject *__pyx_n_s_encode; + PyObject *__pyx_n_s_enumerate; + PyObject *__pyx_n_s_error; + PyObject *__pyx_n_s_flags; + PyObject *__pyx_n_s_format; + PyObject *__pyx_n_s_fortran; + PyObject *__pyx_n_u_fortran; + PyObject *__pyx_kp_u_gc; + PyObject *__pyx_n_s_getstate; + PyObject *__pyx_kp_u_got; + PyObject *__pyx_kp_u_got_differing_extents_in_dimensi; + PyObject *__pyx_n_s_id; + PyObject *__pyx_n_s_import; + PyObject *__pyx_n_s_index; + PyObject *__pyx_n_s_initializing; + PyObject *__pyx_n_s_is_coroutine; + PyObject *__pyx_kp_u_isenabled; + PyObject *__pyx_n_s_itemsize; + PyObject *__pyx_kp_s_itemsize_0_for_cython_array; + PyObject *__pyx_n_s_main; + PyObject *__pyx_n_s_memview; + PyObject *__pyx_n_s_mode; + PyObject *__pyx_n_s_name; + PyObject *__pyx_n_s_name_2; + PyObject *__pyx_n_s_ndim; + PyObject *__pyx_n_s_new; + PyObject *__pyx_kp_s_no_default___reduce___due_to_non; + PyObject *__pyx_n_s_obj; + PyObject *__pyx_n_s_output; + PyObject *__pyx_n_s_pack; + PyObject *__pyx_n_s_path; + PyObject *__pyx_n_s_pickle; + PyObject *__pyx_n_s_pyx_PickleError; + PyObject *__pyx_n_s_pyx_checksum; + PyObject *__pyx_n_s_pyx_result; + PyObject *__pyx_n_s_pyx_state; + PyObject *__pyx_n_s_pyx_type; + PyObject *__pyx_n_s_pyx_unpickle_Enum; + PyObject *__pyx_n_s_pyx_vtable; + PyObject *__pyx_n_s_range; + PyObject *__pyx_n_s_reduce; + PyObject *__pyx_n_s_reduce_cython; + PyObject *__pyx_n_s_reduce_ex; + PyObject *__pyx_n_s_register; + PyObject *__pyx_n_s_runtime; + PyObject *__pyx_n_s_self; + PyObject *__pyx_n_s_selfdrive_modeld_runners_thneedm; + PyObject *__pyx_n_s_setstate; + PyObject *__pyx_n_s_setstate_cython; + PyObject *__pyx_n_s_shape; + PyObject *__pyx_n_s_size; + PyObject *__pyx_n_s_spec; + PyObject *__pyx_n_s_start; + PyObject *__pyx_n_s_step; + PyObject *__pyx_n_s_stop; + PyObject *__pyx_kp_s_strided_and_direct; + PyObject *__pyx_kp_s_strided_and_direct_or_indirect; + PyObject *__pyx_kp_s_strided_and_indirect; + PyObject *__pyx_kp_s_stringsource; + PyObject *__pyx_n_s_struct; + PyObject *__pyx_n_s_sys; + PyObject *__pyx_n_s_test; + PyObject *__pyx_kp_s_unable_to_allocate_array_data; + PyObject *__pyx_kp_s_unable_to_allocate_shape_and_str; + PyObject *__pyx_n_s_unpack; + PyObject *__pyx_n_s_update; + PyObject *__pyx_n_s_use_tf8; + PyObject *__pyx_n_s_version_info; + PyObject *__pyx_int_0; + PyObject *__pyx_int_1; + PyObject *__pyx_int_3; + PyObject *__pyx_int_112105877; + PyObject *__pyx_int_136983863; + PyObject *__pyx_int_184977713; + PyObject *__pyx_int_neg_1; + PyObject *__pyx_slice__5; + PyObject *__pyx_tuple__4; + PyObject *__pyx_tuple__8; + PyObject *__pyx_tuple__9; + PyObject *__pyx_tuple__10; + PyObject *__pyx_tuple__11; + PyObject *__pyx_tuple__12; + PyObject *__pyx_tuple__13; + PyObject *__pyx_tuple__14; + PyObject *__pyx_tuple__15; + PyObject *__pyx_tuple__16; + PyObject *__pyx_tuple__17; + PyObject *__pyx_tuple__18; + PyObject *__pyx_tuple__20; + PyObject *__pyx_tuple__22; + PyObject *__pyx_codeobj__19; + PyObject *__pyx_codeobj__21; + PyObject *__pyx_codeobj__23; +} __pyx_mstate; + +#if CYTHON_USE_MODULE_STATE +#ifdef __cplusplus +namespace { + extern struct PyModuleDef __pyx_moduledef; +} /* anonymous namespace */ +#else +static struct PyModuleDef __pyx_moduledef; +#endif + +#define __pyx_mstate(o) ((__pyx_mstate *)__Pyx_PyModule_GetState(o)) + +#define __pyx_mstate_global (__pyx_mstate(PyState_FindModule(&__pyx_moduledef))) + +#define __pyx_m (PyState_FindModule(&__pyx_moduledef)) +#else +static __pyx_mstate __pyx_mstate_global_static = +#ifdef __cplusplus + {}; +#else + {0}; +#endif +static __pyx_mstate *__pyx_mstate_global = &__pyx_mstate_global_static; +#endif +/* #### Code section: module_state_clear ### */ +#if CYTHON_USE_MODULE_STATE +static int __pyx_m_clear(PyObject *m) { + __pyx_mstate *clear_module_state = __pyx_mstate(m); + if (!clear_module_state) return 0; + Py_CLEAR(clear_module_state->__pyx_d); + Py_CLEAR(clear_module_state->__pyx_b); + Py_CLEAR(clear_module_state->__pyx_cython_runtime); + Py_CLEAR(clear_module_state->__pyx_empty_tuple); + Py_CLEAR(clear_module_state->__pyx_empty_bytes); + Py_CLEAR(clear_module_state->__pyx_empty_unicode); + #ifdef __Pyx_CyFunction_USED + Py_CLEAR(clear_module_state->__pyx_CyFunctionType); + #endif + #ifdef __Pyx_FusedFunction_USED + Py_CLEAR(clear_module_state->__pyx_FusedFunctionType); + #endif + Py_CLEAR(clear_module_state->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_CLContext); + Py_CLEAR(clear_module_state->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionBuf); + Py_CLEAR(clear_module_state->__pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext); + Py_CLEAR(clear_module_state->__pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem); + Py_CLEAR(clear_module_state->__pyx_ptype_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel); + Py_CLEAR(clear_module_state->__pyx_ptype_9selfdrive_6modeld_7runners_15thneedmodel_pyx_ThneedModel); + Py_CLEAR(clear_module_state->__pyx_type_9selfdrive_6modeld_7runners_15thneedmodel_pyx_ThneedModel); + Py_CLEAR(clear_module_state->__pyx_array_type); + Py_CLEAR(clear_module_state->__pyx_type___pyx_array); + Py_CLEAR(clear_module_state->__pyx_MemviewEnum_type); + Py_CLEAR(clear_module_state->__pyx_type___pyx_MemviewEnum); + Py_CLEAR(clear_module_state->__pyx_memoryview_type); + Py_CLEAR(clear_module_state->__pyx_type___pyx_memoryview); + Py_CLEAR(clear_module_state->__pyx_memoryviewslice_type); + Py_CLEAR(clear_module_state->__pyx_type___pyx_memoryviewslice); + Py_CLEAR(clear_module_state->__pyx_kp_u_); + Py_CLEAR(clear_module_state->__pyx_n_s_ASCII); + Py_CLEAR(clear_module_state->__pyx_kp_s_All_dimensions_preceding_dimensi); + Py_CLEAR(clear_module_state->__pyx_n_s_AssertionError); + Py_CLEAR(clear_module_state->__pyx_kp_s_Buffer_view_does_not_expose_stri); + Py_CLEAR(clear_module_state->__pyx_kp_s_Can_only_create_a_buffer_that_is); + Py_CLEAR(clear_module_state->__pyx_kp_s_Cannot_assign_to_read_only_memor); + Py_CLEAR(clear_module_state->__pyx_kp_s_Cannot_create_writable_memory_vi); + Py_CLEAR(clear_module_state->__pyx_kp_u_Cannot_index_with_type); + Py_CLEAR(clear_module_state->__pyx_kp_s_Cannot_transpose_memoryview_with); + Py_CLEAR(clear_module_state->__pyx_kp_s_Dimension_d_is_not_direct); + Py_CLEAR(clear_module_state->__pyx_n_s_Ellipsis); + Py_CLEAR(clear_module_state->__pyx_kp_s_Empty_shape_tuple_for_cython_arr); + Py_CLEAR(clear_module_state->__pyx_kp_s_Incompatible_checksums_0x_x_vs_0); + Py_CLEAR(clear_module_state->__pyx_n_s_IndexError); + Py_CLEAR(clear_module_state->__pyx_kp_s_Index_out_of_bounds_axis_d); + Py_CLEAR(clear_module_state->__pyx_kp_s_Indirect_dimensions_not_supporte); + Py_CLEAR(clear_module_state->__pyx_kp_u_Invalid_mode_expected_c_or_fortr); + Py_CLEAR(clear_module_state->__pyx_kp_u_Invalid_shape_in_axis); + Py_CLEAR(clear_module_state->__pyx_n_s_MemoryError); + Py_CLEAR(clear_module_state->__pyx_kp_s_MemoryView_of_r_at_0x_x); + Py_CLEAR(clear_module_state->__pyx_kp_s_MemoryView_of_r_object); + Py_CLEAR(clear_module_state->__pyx_n_b_O); + Py_CLEAR(clear_module_state->__pyx_kp_u_Out_of_bounds_on_buffer_access_a); + Py_CLEAR(clear_module_state->__pyx_n_s_PickleError); + Py_CLEAR(clear_module_state->__pyx_n_s_Sequence); + Py_CLEAR(clear_module_state->__pyx_kp_s_Step_may_not_be_zero_axis_d); + Py_CLEAR(clear_module_state->__pyx_n_s_ThneedModel); + Py_CLEAR(clear_module_state->__pyx_n_s_ThneedModel___reduce_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_ThneedModel___setstate_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_TypeError); + Py_CLEAR(clear_module_state->__pyx_kp_s_Unable_to_convert_item_to_object); + Py_CLEAR(clear_module_state->__pyx_n_s_ValueError); + Py_CLEAR(clear_module_state->__pyx_n_s_View_MemoryView); + Py_CLEAR(clear_module_state->__pyx_kp_u__2); + Py_CLEAR(clear_module_state->__pyx_n_s__24); + Py_CLEAR(clear_module_state->__pyx_n_s__3); + Py_CLEAR(clear_module_state->__pyx_kp_u__6); + Py_CLEAR(clear_module_state->__pyx_kp_u__7); + Py_CLEAR(clear_module_state->__pyx_n_s_abc); + Py_CLEAR(clear_module_state->__pyx_n_s_allocate_buffer); + Py_CLEAR(clear_module_state->__pyx_kp_u_and); + Py_CLEAR(clear_module_state->__pyx_n_s_asyncio_coroutines); + Py_CLEAR(clear_module_state->__pyx_n_s_base); + Py_CLEAR(clear_module_state->__pyx_n_s_c); + Py_CLEAR(clear_module_state->__pyx_n_u_c); + Py_CLEAR(clear_module_state->__pyx_n_s_class); + Py_CLEAR(clear_module_state->__pyx_n_s_class_getitem); + Py_CLEAR(clear_module_state->__pyx_n_s_cline_in_traceback); + Py_CLEAR(clear_module_state->__pyx_n_s_collections); + Py_CLEAR(clear_module_state->__pyx_kp_s_collections_abc); + Py_CLEAR(clear_module_state->__pyx_n_s_context); + Py_CLEAR(clear_module_state->__pyx_kp_s_contiguous_and_direct); + Py_CLEAR(clear_module_state->__pyx_kp_s_contiguous_and_indirect); + Py_CLEAR(clear_module_state->__pyx_n_s_count); + Py_CLEAR(clear_module_state->__pyx_n_s_dict); + Py_CLEAR(clear_module_state->__pyx_kp_u_disable); + Py_CLEAR(clear_module_state->__pyx_n_s_dtype_is_object); + Py_CLEAR(clear_module_state->__pyx_kp_u_enable); + Py_CLEAR(clear_module_state->__pyx_n_s_encode); + Py_CLEAR(clear_module_state->__pyx_n_s_enumerate); + Py_CLEAR(clear_module_state->__pyx_n_s_error); + Py_CLEAR(clear_module_state->__pyx_n_s_flags); + Py_CLEAR(clear_module_state->__pyx_n_s_format); + Py_CLEAR(clear_module_state->__pyx_n_s_fortran); + Py_CLEAR(clear_module_state->__pyx_n_u_fortran); + Py_CLEAR(clear_module_state->__pyx_kp_u_gc); + Py_CLEAR(clear_module_state->__pyx_n_s_getstate); + Py_CLEAR(clear_module_state->__pyx_kp_u_got); + Py_CLEAR(clear_module_state->__pyx_kp_u_got_differing_extents_in_dimensi); + Py_CLEAR(clear_module_state->__pyx_n_s_id); + Py_CLEAR(clear_module_state->__pyx_n_s_import); + Py_CLEAR(clear_module_state->__pyx_n_s_index); + Py_CLEAR(clear_module_state->__pyx_n_s_initializing); + Py_CLEAR(clear_module_state->__pyx_n_s_is_coroutine); + Py_CLEAR(clear_module_state->__pyx_kp_u_isenabled); + Py_CLEAR(clear_module_state->__pyx_n_s_itemsize); + Py_CLEAR(clear_module_state->__pyx_kp_s_itemsize_0_for_cython_array); + Py_CLEAR(clear_module_state->__pyx_n_s_main); + Py_CLEAR(clear_module_state->__pyx_n_s_memview); + Py_CLEAR(clear_module_state->__pyx_n_s_mode); + Py_CLEAR(clear_module_state->__pyx_n_s_name); + Py_CLEAR(clear_module_state->__pyx_n_s_name_2); + Py_CLEAR(clear_module_state->__pyx_n_s_ndim); + Py_CLEAR(clear_module_state->__pyx_n_s_new); + Py_CLEAR(clear_module_state->__pyx_kp_s_no_default___reduce___due_to_non); + Py_CLEAR(clear_module_state->__pyx_n_s_obj); + Py_CLEAR(clear_module_state->__pyx_n_s_output); + Py_CLEAR(clear_module_state->__pyx_n_s_pack); + Py_CLEAR(clear_module_state->__pyx_n_s_path); + Py_CLEAR(clear_module_state->__pyx_n_s_pickle); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_PickleError); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_checksum); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_result); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_state); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_type); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_unpickle_Enum); + Py_CLEAR(clear_module_state->__pyx_n_s_pyx_vtable); + Py_CLEAR(clear_module_state->__pyx_n_s_range); + Py_CLEAR(clear_module_state->__pyx_n_s_reduce); + Py_CLEAR(clear_module_state->__pyx_n_s_reduce_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_reduce_ex); + Py_CLEAR(clear_module_state->__pyx_n_s_register); + Py_CLEAR(clear_module_state->__pyx_n_s_runtime); + Py_CLEAR(clear_module_state->__pyx_n_s_self); + Py_CLEAR(clear_module_state->__pyx_n_s_selfdrive_modeld_runners_thneedm); + Py_CLEAR(clear_module_state->__pyx_n_s_setstate); + Py_CLEAR(clear_module_state->__pyx_n_s_setstate_cython); + Py_CLEAR(clear_module_state->__pyx_n_s_shape); + Py_CLEAR(clear_module_state->__pyx_n_s_size); + Py_CLEAR(clear_module_state->__pyx_n_s_spec); + Py_CLEAR(clear_module_state->__pyx_n_s_start); + Py_CLEAR(clear_module_state->__pyx_n_s_step); + Py_CLEAR(clear_module_state->__pyx_n_s_stop); + Py_CLEAR(clear_module_state->__pyx_kp_s_strided_and_direct); + Py_CLEAR(clear_module_state->__pyx_kp_s_strided_and_direct_or_indirect); + Py_CLEAR(clear_module_state->__pyx_kp_s_strided_and_indirect); + Py_CLEAR(clear_module_state->__pyx_kp_s_stringsource); + Py_CLEAR(clear_module_state->__pyx_n_s_struct); + Py_CLEAR(clear_module_state->__pyx_n_s_sys); + Py_CLEAR(clear_module_state->__pyx_n_s_test); + Py_CLEAR(clear_module_state->__pyx_kp_s_unable_to_allocate_array_data); + Py_CLEAR(clear_module_state->__pyx_kp_s_unable_to_allocate_shape_and_str); + Py_CLEAR(clear_module_state->__pyx_n_s_unpack); + Py_CLEAR(clear_module_state->__pyx_n_s_update); + Py_CLEAR(clear_module_state->__pyx_n_s_use_tf8); + Py_CLEAR(clear_module_state->__pyx_n_s_version_info); + Py_CLEAR(clear_module_state->__pyx_int_0); + Py_CLEAR(clear_module_state->__pyx_int_1); + Py_CLEAR(clear_module_state->__pyx_int_3); + Py_CLEAR(clear_module_state->__pyx_int_112105877); + Py_CLEAR(clear_module_state->__pyx_int_136983863); + Py_CLEAR(clear_module_state->__pyx_int_184977713); + Py_CLEAR(clear_module_state->__pyx_int_neg_1); + Py_CLEAR(clear_module_state->__pyx_slice__5); + Py_CLEAR(clear_module_state->__pyx_tuple__4); + Py_CLEAR(clear_module_state->__pyx_tuple__8); + Py_CLEAR(clear_module_state->__pyx_tuple__9); + Py_CLEAR(clear_module_state->__pyx_tuple__10); + Py_CLEAR(clear_module_state->__pyx_tuple__11); + Py_CLEAR(clear_module_state->__pyx_tuple__12); + Py_CLEAR(clear_module_state->__pyx_tuple__13); + Py_CLEAR(clear_module_state->__pyx_tuple__14); + Py_CLEAR(clear_module_state->__pyx_tuple__15); + Py_CLEAR(clear_module_state->__pyx_tuple__16); + Py_CLEAR(clear_module_state->__pyx_tuple__17); + Py_CLEAR(clear_module_state->__pyx_tuple__18); + Py_CLEAR(clear_module_state->__pyx_tuple__20); + Py_CLEAR(clear_module_state->__pyx_tuple__22); + Py_CLEAR(clear_module_state->__pyx_codeobj__19); + Py_CLEAR(clear_module_state->__pyx_codeobj__21); + Py_CLEAR(clear_module_state->__pyx_codeobj__23); + return 0; +} +#endif +/* #### Code section: module_state_traverse ### */ +#if CYTHON_USE_MODULE_STATE +static int __pyx_m_traverse(PyObject *m, visitproc visit, void *arg) { + __pyx_mstate *traverse_module_state = __pyx_mstate(m); + if (!traverse_module_state) return 0; + Py_VISIT(traverse_module_state->__pyx_d); + Py_VISIT(traverse_module_state->__pyx_b); + Py_VISIT(traverse_module_state->__pyx_cython_runtime); + Py_VISIT(traverse_module_state->__pyx_empty_tuple); + Py_VISIT(traverse_module_state->__pyx_empty_bytes); + Py_VISIT(traverse_module_state->__pyx_empty_unicode); + #ifdef __Pyx_CyFunction_USED + Py_VISIT(traverse_module_state->__pyx_CyFunctionType); + #endif + #ifdef __Pyx_FusedFunction_USED + Py_VISIT(traverse_module_state->__pyx_FusedFunctionType); + #endif + Py_VISIT(traverse_module_state->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_CLContext); + Py_VISIT(traverse_module_state->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionBuf); + Py_VISIT(traverse_module_state->__pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext); + Py_VISIT(traverse_module_state->__pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem); + Py_VISIT(traverse_module_state->__pyx_ptype_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel); + Py_VISIT(traverse_module_state->__pyx_ptype_9selfdrive_6modeld_7runners_15thneedmodel_pyx_ThneedModel); + Py_VISIT(traverse_module_state->__pyx_type_9selfdrive_6modeld_7runners_15thneedmodel_pyx_ThneedModel); + Py_VISIT(traverse_module_state->__pyx_array_type); + Py_VISIT(traverse_module_state->__pyx_type___pyx_array); + Py_VISIT(traverse_module_state->__pyx_MemviewEnum_type); + Py_VISIT(traverse_module_state->__pyx_type___pyx_MemviewEnum); + Py_VISIT(traverse_module_state->__pyx_memoryview_type); + Py_VISIT(traverse_module_state->__pyx_type___pyx_memoryview); + Py_VISIT(traverse_module_state->__pyx_memoryviewslice_type); + Py_VISIT(traverse_module_state->__pyx_type___pyx_memoryviewslice); + Py_VISIT(traverse_module_state->__pyx_kp_u_); + Py_VISIT(traverse_module_state->__pyx_n_s_ASCII); + Py_VISIT(traverse_module_state->__pyx_kp_s_All_dimensions_preceding_dimensi); + Py_VISIT(traverse_module_state->__pyx_n_s_AssertionError); + Py_VISIT(traverse_module_state->__pyx_kp_s_Buffer_view_does_not_expose_stri); + Py_VISIT(traverse_module_state->__pyx_kp_s_Can_only_create_a_buffer_that_is); + Py_VISIT(traverse_module_state->__pyx_kp_s_Cannot_assign_to_read_only_memor); + Py_VISIT(traverse_module_state->__pyx_kp_s_Cannot_create_writable_memory_vi); + Py_VISIT(traverse_module_state->__pyx_kp_u_Cannot_index_with_type); + Py_VISIT(traverse_module_state->__pyx_kp_s_Cannot_transpose_memoryview_with); + Py_VISIT(traverse_module_state->__pyx_kp_s_Dimension_d_is_not_direct); + Py_VISIT(traverse_module_state->__pyx_n_s_Ellipsis); + Py_VISIT(traverse_module_state->__pyx_kp_s_Empty_shape_tuple_for_cython_arr); + Py_VISIT(traverse_module_state->__pyx_kp_s_Incompatible_checksums_0x_x_vs_0); + Py_VISIT(traverse_module_state->__pyx_n_s_IndexError); + Py_VISIT(traverse_module_state->__pyx_kp_s_Index_out_of_bounds_axis_d); + Py_VISIT(traverse_module_state->__pyx_kp_s_Indirect_dimensions_not_supporte); + Py_VISIT(traverse_module_state->__pyx_kp_u_Invalid_mode_expected_c_or_fortr); + Py_VISIT(traverse_module_state->__pyx_kp_u_Invalid_shape_in_axis); + Py_VISIT(traverse_module_state->__pyx_n_s_MemoryError); + Py_VISIT(traverse_module_state->__pyx_kp_s_MemoryView_of_r_at_0x_x); + Py_VISIT(traverse_module_state->__pyx_kp_s_MemoryView_of_r_object); + Py_VISIT(traverse_module_state->__pyx_n_b_O); + Py_VISIT(traverse_module_state->__pyx_kp_u_Out_of_bounds_on_buffer_access_a); + Py_VISIT(traverse_module_state->__pyx_n_s_PickleError); + Py_VISIT(traverse_module_state->__pyx_n_s_Sequence); + Py_VISIT(traverse_module_state->__pyx_kp_s_Step_may_not_be_zero_axis_d); + Py_VISIT(traverse_module_state->__pyx_n_s_ThneedModel); + Py_VISIT(traverse_module_state->__pyx_n_s_ThneedModel___reduce_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_ThneedModel___setstate_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_TypeError); + Py_VISIT(traverse_module_state->__pyx_kp_s_Unable_to_convert_item_to_object); + Py_VISIT(traverse_module_state->__pyx_n_s_ValueError); + Py_VISIT(traverse_module_state->__pyx_n_s_View_MemoryView); + Py_VISIT(traverse_module_state->__pyx_kp_u__2); + Py_VISIT(traverse_module_state->__pyx_n_s__24); + Py_VISIT(traverse_module_state->__pyx_n_s__3); + Py_VISIT(traverse_module_state->__pyx_kp_u__6); + Py_VISIT(traverse_module_state->__pyx_kp_u__7); + Py_VISIT(traverse_module_state->__pyx_n_s_abc); + Py_VISIT(traverse_module_state->__pyx_n_s_allocate_buffer); + Py_VISIT(traverse_module_state->__pyx_kp_u_and); + Py_VISIT(traverse_module_state->__pyx_n_s_asyncio_coroutines); + Py_VISIT(traverse_module_state->__pyx_n_s_base); + Py_VISIT(traverse_module_state->__pyx_n_s_c); + Py_VISIT(traverse_module_state->__pyx_n_u_c); + Py_VISIT(traverse_module_state->__pyx_n_s_class); + Py_VISIT(traverse_module_state->__pyx_n_s_class_getitem); + Py_VISIT(traverse_module_state->__pyx_n_s_cline_in_traceback); + Py_VISIT(traverse_module_state->__pyx_n_s_collections); + Py_VISIT(traverse_module_state->__pyx_kp_s_collections_abc); + Py_VISIT(traverse_module_state->__pyx_n_s_context); + Py_VISIT(traverse_module_state->__pyx_kp_s_contiguous_and_direct); + Py_VISIT(traverse_module_state->__pyx_kp_s_contiguous_and_indirect); + Py_VISIT(traverse_module_state->__pyx_n_s_count); + Py_VISIT(traverse_module_state->__pyx_n_s_dict); + Py_VISIT(traverse_module_state->__pyx_kp_u_disable); + Py_VISIT(traverse_module_state->__pyx_n_s_dtype_is_object); + Py_VISIT(traverse_module_state->__pyx_kp_u_enable); + Py_VISIT(traverse_module_state->__pyx_n_s_encode); + Py_VISIT(traverse_module_state->__pyx_n_s_enumerate); + Py_VISIT(traverse_module_state->__pyx_n_s_error); + Py_VISIT(traverse_module_state->__pyx_n_s_flags); + Py_VISIT(traverse_module_state->__pyx_n_s_format); + Py_VISIT(traverse_module_state->__pyx_n_s_fortran); + Py_VISIT(traverse_module_state->__pyx_n_u_fortran); + Py_VISIT(traverse_module_state->__pyx_kp_u_gc); + Py_VISIT(traverse_module_state->__pyx_n_s_getstate); + Py_VISIT(traverse_module_state->__pyx_kp_u_got); + Py_VISIT(traverse_module_state->__pyx_kp_u_got_differing_extents_in_dimensi); + Py_VISIT(traverse_module_state->__pyx_n_s_id); + Py_VISIT(traverse_module_state->__pyx_n_s_import); + Py_VISIT(traverse_module_state->__pyx_n_s_index); + Py_VISIT(traverse_module_state->__pyx_n_s_initializing); + Py_VISIT(traverse_module_state->__pyx_n_s_is_coroutine); + Py_VISIT(traverse_module_state->__pyx_kp_u_isenabled); + Py_VISIT(traverse_module_state->__pyx_n_s_itemsize); + Py_VISIT(traverse_module_state->__pyx_kp_s_itemsize_0_for_cython_array); + Py_VISIT(traverse_module_state->__pyx_n_s_main); + Py_VISIT(traverse_module_state->__pyx_n_s_memview); + Py_VISIT(traverse_module_state->__pyx_n_s_mode); + Py_VISIT(traverse_module_state->__pyx_n_s_name); + Py_VISIT(traverse_module_state->__pyx_n_s_name_2); + Py_VISIT(traverse_module_state->__pyx_n_s_ndim); + Py_VISIT(traverse_module_state->__pyx_n_s_new); + Py_VISIT(traverse_module_state->__pyx_kp_s_no_default___reduce___due_to_non); + Py_VISIT(traverse_module_state->__pyx_n_s_obj); + Py_VISIT(traverse_module_state->__pyx_n_s_output); + Py_VISIT(traverse_module_state->__pyx_n_s_pack); + Py_VISIT(traverse_module_state->__pyx_n_s_path); + Py_VISIT(traverse_module_state->__pyx_n_s_pickle); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_PickleError); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_checksum); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_result); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_state); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_type); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_unpickle_Enum); + Py_VISIT(traverse_module_state->__pyx_n_s_pyx_vtable); + Py_VISIT(traverse_module_state->__pyx_n_s_range); + Py_VISIT(traverse_module_state->__pyx_n_s_reduce); + Py_VISIT(traverse_module_state->__pyx_n_s_reduce_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_reduce_ex); + Py_VISIT(traverse_module_state->__pyx_n_s_register); + Py_VISIT(traverse_module_state->__pyx_n_s_runtime); + Py_VISIT(traverse_module_state->__pyx_n_s_self); + Py_VISIT(traverse_module_state->__pyx_n_s_selfdrive_modeld_runners_thneedm); + Py_VISIT(traverse_module_state->__pyx_n_s_setstate); + Py_VISIT(traverse_module_state->__pyx_n_s_setstate_cython); + Py_VISIT(traverse_module_state->__pyx_n_s_shape); + Py_VISIT(traverse_module_state->__pyx_n_s_size); + Py_VISIT(traverse_module_state->__pyx_n_s_spec); + Py_VISIT(traverse_module_state->__pyx_n_s_start); + Py_VISIT(traverse_module_state->__pyx_n_s_step); + Py_VISIT(traverse_module_state->__pyx_n_s_stop); + Py_VISIT(traverse_module_state->__pyx_kp_s_strided_and_direct); + Py_VISIT(traverse_module_state->__pyx_kp_s_strided_and_direct_or_indirect); + Py_VISIT(traverse_module_state->__pyx_kp_s_strided_and_indirect); + Py_VISIT(traverse_module_state->__pyx_kp_s_stringsource); + Py_VISIT(traverse_module_state->__pyx_n_s_struct); + Py_VISIT(traverse_module_state->__pyx_n_s_sys); + Py_VISIT(traverse_module_state->__pyx_n_s_test); + Py_VISIT(traverse_module_state->__pyx_kp_s_unable_to_allocate_array_data); + Py_VISIT(traverse_module_state->__pyx_kp_s_unable_to_allocate_shape_and_str); + Py_VISIT(traverse_module_state->__pyx_n_s_unpack); + Py_VISIT(traverse_module_state->__pyx_n_s_update); + Py_VISIT(traverse_module_state->__pyx_n_s_use_tf8); + Py_VISIT(traverse_module_state->__pyx_n_s_version_info); + Py_VISIT(traverse_module_state->__pyx_int_0); + Py_VISIT(traverse_module_state->__pyx_int_1); + Py_VISIT(traverse_module_state->__pyx_int_3); + Py_VISIT(traverse_module_state->__pyx_int_112105877); + Py_VISIT(traverse_module_state->__pyx_int_136983863); + Py_VISIT(traverse_module_state->__pyx_int_184977713); + Py_VISIT(traverse_module_state->__pyx_int_neg_1); + Py_VISIT(traverse_module_state->__pyx_slice__5); + Py_VISIT(traverse_module_state->__pyx_tuple__4); + Py_VISIT(traverse_module_state->__pyx_tuple__8); + Py_VISIT(traverse_module_state->__pyx_tuple__9); + Py_VISIT(traverse_module_state->__pyx_tuple__10); + Py_VISIT(traverse_module_state->__pyx_tuple__11); + Py_VISIT(traverse_module_state->__pyx_tuple__12); + Py_VISIT(traverse_module_state->__pyx_tuple__13); + Py_VISIT(traverse_module_state->__pyx_tuple__14); + Py_VISIT(traverse_module_state->__pyx_tuple__15); + Py_VISIT(traverse_module_state->__pyx_tuple__16); + Py_VISIT(traverse_module_state->__pyx_tuple__17); + Py_VISIT(traverse_module_state->__pyx_tuple__18); + Py_VISIT(traverse_module_state->__pyx_tuple__20); + Py_VISIT(traverse_module_state->__pyx_tuple__22); + Py_VISIT(traverse_module_state->__pyx_codeobj__19); + Py_VISIT(traverse_module_state->__pyx_codeobj__21); + Py_VISIT(traverse_module_state->__pyx_codeobj__23); + return 0; +} +#endif +/* #### Code section: module_state_defines ### */ +#define __pyx_d __pyx_mstate_global->__pyx_d +#define __pyx_b __pyx_mstate_global->__pyx_b +#define __pyx_cython_runtime __pyx_mstate_global->__pyx_cython_runtime +#define __pyx_empty_tuple __pyx_mstate_global->__pyx_empty_tuple +#define __pyx_empty_bytes __pyx_mstate_global->__pyx_empty_bytes +#define __pyx_empty_unicode __pyx_mstate_global->__pyx_empty_unicode +#ifdef __Pyx_CyFunction_USED +#define __pyx_CyFunctionType __pyx_mstate_global->__pyx_CyFunctionType +#endif +#ifdef __Pyx_FusedFunction_USED +#define __pyx_FusedFunctionType __pyx_mstate_global->__pyx_FusedFunctionType +#endif +#ifdef __Pyx_Generator_USED +#define __pyx_GeneratorType __pyx_mstate_global->__pyx_GeneratorType +#endif +#ifdef __Pyx_IterableCoroutine_USED +#define __pyx_IterableCoroutineType __pyx_mstate_global->__pyx_IterableCoroutineType +#endif +#ifdef __Pyx_Coroutine_USED +#define __pyx_CoroutineAwaitType __pyx_mstate_global->__pyx_CoroutineAwaitType +#endif +#ifdef __Pyx_Coroutine_USED +#define __pyx_CoroutineType __pyx_mstate_global->__pyx_CoroutineType +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#define __pyx_ptype_4msgq_9visionipc_13visionipc_pyx_CLContext __pyx_mstate_global->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_CLContext +#define __pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionBuf __pyx_mstate_global->__pyx_ptype_4msgq_9visionipc_13visionipc_pyx_VisionBuf +#if CYTHON_USE_MODULE_STATE +#endif +#define __pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext __pyx_mstate_global->__pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_CLContext +#define __pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem __pyx_mstate_global->__pyx_ptype_9selfdrive_6modeld_6models_15commonmodel_pyx_CLMem +#if CYTHON_USE_MODULE_STATE +#endif +#if CYTHON_USE_MODULE_STATE +#endif +#define __pyx_ptype_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel __pyx_mstate_global->__pyx_ptype_9selfdrive_6modeld_7runners_12runmodel_pyx_RunModel +#if CYTHON_USE_MODULE_STATE +#define __pyx_type_9selfdrive_6modeld_7runners_15thneedmodel_pyx_ThneedModel __pyx_mstate_global->__pyx_type_9selfdrive_6modeld_7runners_15thneedmodel_pyx_ThneedModel +#define __pyx_type___pyx_array __pyx_mstate_global->__pyx_type___pyx_array +#define __pyx_type___pyx_MemviewEnum __pyx_mstate_global->__pyx_type___pyx_MemviewEnum +#define __pyx_type___pyx_memoryview __pyx_mstate_global->__pyx_type___pyx_memoryview +#define __pyx_type___pyx_memoryviewslice __pyx_mstate_global->__pyx_type___pyx_memoryviewslice +#endif +#define __pyx_ptype_9selfdrive_6modeld_7runners_15thneedmodel_pyx_ThneedModel __pyx_mstate_global->__pyx_ptype_9selfdrive_6modeld_7runners_15thneedmodel_pyx_ThneedModel +#define __pyx_array_type __pyx_mstate_global->__pyx_array_type +#define __pyx_MemviewEnum_type __pyx_mstate_global->__pyx_MemviewEnum_type +#define __pyx_memoryview_type __pyx_mstate_global->__pyx_memoryview_type +#define __pyx_memoryviewslice_type __pyx_mstate_global->__pyx_memoryviewslice_type +#define __pyx_kp_u_ __pyx_mstate_global->__pyx_kp_u_ +#define __pyx_n_s_ASCII __pyx_mstate_global->__pyx_n_s_ASCII +#define __pyx_kp_s_All_dimensions_preceding_dimensi __pyx_mstate_global->__pyx_kp_s_All_dimensions_preceding_dimensi +#define __pyx_n_s_AssertionError __pyx_mstate_global->__pyx_n_s_AssertionError +#define __pyx_kp_s_Buffer_view_does_not_expose_stri __pyx_mstate_global->__pyx_kp_s_Buffer_view_does_not_expose_stri +#define __pyx_kp_s_Can_only_create_a_buffer_that_is __pyx_mstate_global->__pyx_kp_s_Can_only_create_a_buffer_that_is +#define __pyx_kp_s_Cannot_assign_to_read_only_memor __pyx_mstate_global->__pyx_kp_s_Cannot_assign_to_read_only_memor +#define __pyx_kp_s_Cannot_create_writable_memory_vi __pyx_mstate_global->__pyx_kp_s_Cannot_create_writable_memory_vi +#define __pyx_kp_u_Cannot_index_with_type __pyx_mstate_global->__pyx_kp_u_Cannot_index_with_type +#define __pyx_kp_s_Cannot_transpose_memoryview_with __pyx_mstate_global->__pyx_kp_s_Cannot_transpose_memoryview_with +#define __pyx_kp_s_Dimension_d_is_not_direct __pyx_mstate_global->__pyx_kp_s_Dimension_d_is_not_direct +#define __pyx_n_s_Ellipsis __pyx_mstate_global->__pyx_n_s_Ellipsis +#define __pyx_kp_s_Empty_shape_tuple_for_cython_arr __pyx_mstate_global->__pyx_kp_s_Empty_shape_tuple_for_cython_arr +#define __pyx_kp_s_Incompatible_checksums_0x_x_vs_0 __pyx_mstate_global->__pyx_kp_s_Incompatible_checksums_0x_x_vs_0 +#define __pyx_n_s_IndexError __pyx_mstate_global->__pyx_n_s_IndexError +#define __pyx_kp_s_Index_out_of_bounds_axis_d __pyx_mstate_global->__pyx_kp_s_Index_out_of_bounds_axis_d +#define __pyx_kp_s_Indirect_dimensions_not_supporte __pyx_mstate_global->__pyx_kp_s_Indirect_dimensions_not_supporte +#define __pyx_kp_u_Invalid_mode_expected_c_or_fortr __pyx_mstate_global->__pyx_kp_u_Invalid_mode_expected_c_or_fortr +#define __pyx_kp_u_Invalid_shape_in_axis __pyx_mstate_global->__pyx_kp_u_Invalid_shape_in_axis +#define __pyx_n_s_MemoryError __pyx_mstate_global->__pyx_n_s_MemoryError +#define __pyx_kp_s_MemoryView_of_r_at_0x_x __pyx_mstate_global->__pyx_kp_s_MemoryView_of_r_at_0x_x +#define __pyx_kp_s_MemoryView_of_r_object __pyx_mstate_global->__pyx_kp_s_MemoryView_of_r_object +#define __pyx_n_b_O __pyx_mstate_global->__pyx_n_b_O +#define __pyx_kp_u_Out_of_bounds_on_buffer_access_a __pyx_mstate_global->__pyx_kp_u_Out_of_bounds_on_buffer_access_a +#define __pyx_n_s_PickleError __pyx_mstate_global->__pyx_n_s_PickleError +#define __pyx_n_s_Sequence __pyx_mstate_global->__pyx_n_s_Sequence +#define __pyx_kp_s_Step_may_not_be_zero_axis_d __pyx_mstate_global->__pyx_kp_s_Step_may_not_be_zero_axis_d +#define __pyx_n_s_ThneedModel __pyx_mstate_global->__pyx_n_s_ThneedModel +#define __pyx_n_s_ThneedModel___reduce_cython __pyx_mstate_global->__pyx_n_s_ThneedModel___reduce_cython +#define __pyx_n_s_ThneedModel___setstate_cython __pyx_mstate_global->__pyx_n_s_ThneedModel___setstate_cython +#define __pyx_n_s_TypeError __pyx_mstate_global->__pyx_n_s_TypeError +#define __pyx_kp_s_Unable_to_convert_item_to_object __pyx_mstate_global->__pyx_kp_s_Unable_to_convert_item_to_object +#define __pyx_n_s_ValueError __pyx_mstate_global->__pyx_n_s_ValueError +#define __pyx_n_s_View_MemoryView __pyx_mstate_global->__pyx_n_s_View_MemoryView +#define __pyx_kp_u__2 __pyx_mstate_global->__pyx_kp_u__2 +#define __pyx_n_s__24 __pyx_mstate_global->__pyx_n_s__24 +#define __pyx_n_s__3 __pyx_mstate_global->__pyx_n_s__3 +#define __pyx_kp_u__6 __pyx_mstate_global->__pyx_kp_u__6 +#define __pyx_kp_u__7 __pyx_mstate_global->__pyx_kp_u__7 +#define __pyx_n_s_abc __pyx_mstate_global->__pyx_n_s_abc +#define __pyx_n_s_allocate_buffer __pyx_mstate_global->__pyx_n_s_allocate_buffer +#define __pyx_kp_u_and __pyx_mstate_global->__pyx_kp_u_and +#define __pyx_n_s_asyncio_coroutines __pyx_mstate_global->__pyx_n_s_asyncio_coroutines +#define __pyx_n_s_base __pyx_mstate_global->__pyx_n_s_base +#define __pyx_n_s_c __pyx_mstate_global->__pyx_n_s_c +#define __pyx_n_u_c __pyx_mstate_global->__pyx_n_u_c +#define __pyx_n_s_class __pyx_mstate_global->__pyx_n_s_class +#define __pyx_n_s_class_getitem __pyx_mstate_global->__pyx_n_s_class_getitem +#define __pyx_n_s_cline_in_traceback __pyx_mstate_global->__pyx_n_s_cline_in_traceback +#define __pyx_n_s_collections __pyx_mstate_global->__pyx_n_s_collections +#define __pyx_kp_s_collections_abc __pyx_mstate_global->__pyx_kp_s_collections_abc +#define __pyx_n_s_context __pyx_mstate_global->__pyx_n_s_context +#define __pyx_kp_s_contiguous_and_direct __pyx_mstate_global->__pyx_kp_s_contiguous_and_direct +#define __pyx_kp_s_contiguous_and_indirect __pyx_mstate_global->__pyx_kp_s_contiguous_and_indirect +#define __pyx_n_s_count __pyx_mstate_global->__pyx_n_s_count +#define __pyx_n_s_dict __pyx_mstate_global->__pyx_n_s_dict +#define __pyx_kp_u_disable __pyx_mstate_global->__pyx_kp_u_disable +#define __pyx_n_s_dtype_is_object __pyx_mstate_global->__pyx_n_s_dtype_is_object +#define __pyx_kp_u_enable __pyx_mstate_global->__pyx_kp_u_enable +#define __pyx_n_s_encode __pyx_mstate_global->__pyx_n_s_encode +#define __pyx_n_s_enumerate __pyx_mstate_global->__pyx_n_s_enumerate +#define __pyx_n_s_error __pyx_mstate_global->__pyx_n_s_error +#define __pyx_n_s_flags __pyx_mstate_global->__pyx_n_s_flags +#define __pyx_n_s_format __pyx_mstate_global->__pyx_n_s_format +#define __pyx_n_s_fortran __pyx_mstate_global->__pyx_n_s_fortran +#define __pyx_n_u_fortran __pyx_mstate_global->__pyx_n_u_fortran +#define __pyx_kp_u_gc __pyx_mstate_global->__pyx_kp_u_gc +#define __pyx_n_s_getstate __pyx_mstate_global->__pyx_n_s_getstate +#define __pyx_kp_u_got __pyx_mstate_global->__pyx_kp_u_got +#define __pyx_kp_u_got_differing_extents_in_dimensi __pyx_mstate_global->__pyx_kp_u_got_differing_extents_in_dimensi +#define __pyx_n_s_id __pyx_mstate_global->__pyx_n_s_id +#define __pyx_n_s_import __pyx_mstate_global->__pyx_n_s_import +#define __pyx_n_s_index __pyx_mstate_global->__pyx_n_s_index +#define __pyx_n_s_initializing __pyx_mstate_global->__pyx_n_s_initializing +#define __pyx_n_s_is_coroutine __pyx_mstate_global->__pyx_n_s_is_coroutine +#define __pyx_kp_u_isenabled __pyx_mstate_global->__pyx_kp_u_isenabled +#define __pyx_n_s_itemsize __pyx_mstate_global->__pyx_n_s_itemsize +#define __pyx_kp_s_itemsize_0_for_cython_array __pyx_mstate_global->__pyx_kp_s_itemsize_0_for_cython_array +#define __pyx_n_s_main __pyx_mstate_global->__pyx_n_s_main +#define __pyx_n_s_memview __pyx_mstate_global->__pyx_n_s_memview +#define __pyx_n_s_mode __pyx_mstate_global->__pyx_n_s_mode +#define __pyx_n_s_name __pyx_mstate_global->__pyx_n_s_name +#define __pyx_n_s_name_2 __pyx_mstate_global->__pyx_n_s_name_2 +#define __pyx_n_s_ndim __pyx_mstate_global->__pyx_n_s_ndim +#define __pyx_n_s_new __pyx_mstate_global->__pyx_n_s_new +#define __pyx_kp_s_no_default___reduce___due_to_non __pyx_mstate_global->__pyx_kp_s_no_default___reduce___due_to_non +#define __pyx_n_s_obj __pyx_mstate_global->__pyx_n_s_obj +#define __pyx_n_s_output __pyx_mstate_global->__pyx_n_s_output +#define __pyx_n_s_pack __pyx_mstate_global->__pyx_n_s_pack +#define __pyx_n_s_path __pyx_mstate_global->__pyx_n_s_path +#define __pyx_n_s_pickle __pyx_mstate_global->__pyx_n_s_pickle +#define __pyx_n_s_pyx_PickleError __pyx_mstate_global->__pyx_n_s_pyx_PickleError +#define __pyx_n_s_pyx_checksum __pyx_mstate_global->__pyx_n_s_pyx_checksum +#define __pyx_n_s_pyx_result __pyx_mstate_global->__pyx_n_s_pyx_result +#define __pyx_n_s_pyx_state __pyx_mstate_global->__pyx_n_s_pyx_state +#define __pyx_n_s_pyx_type __pyx_mstate_global->__pyx_n_s_pyx_type +#define __pyx_n_s_pyx_unpickle_Enum __pyx_mstate_global->__pyx_n_s_pyx_unpickle_Enum +#define __pyx_n_s_pyx_vtable __pyx_mstate_global->__pyx_n_s_pyx_vtable +#define __pyx_n_s_range __pyx_mstate_global->__pyx_n_s_range +#define __pyx_n_s_reduce __pyx_mstate_global->__pyx_n_s_reduce +#define __pyx_n_s_reduce_cython __pyx_mstate_global->__pyx_n_s_reduce_cython +#define __pyx_n_s_reduce_ex __pyx_mstate_global->__pyx_n_s_reduce_ex +#define __pyx_n_s_register __pyx_mstate_global->__pyx_n_s_register +#define __pyx_n_s_runtime __pyx_mstate_global->__pyx_n_s_runtime +#define __pyx_n_s_self __pyx_mstate_global->__pyx_n_s_self +#define __pyx_n_s_selfdrive_modeld_runners_thneedm __pyx_mstate_global->__pyx_n_s_selfdrive_modeld_runners_thneedm +#define __pyx_n_s_setstate __pyx_mstate_global->__pyx_n_s_setstate +#define __pyx_n_s_setstate_cython __pyx_mstate_global->__pyx_n_s_setstate_cython +#define __pyx_n_s_shape __pyx_mstate_global->__pyx_n_s_shape +#define __pyx_n_s_size __pyx_mstate_global->__pyx_n_s_size +#define __pyx_n_s_spec __pyx_mstate_global->__pyx_n_s_spec +#define __pyx_n_s_start __pyx_mstate_global->__pyx_n_s_start +#define __pyx_n_s_step __pyx_mstate_global->__pyx_n_s_step +#define __pyx_n_s_stop __pyx_mstate_global->__pyx_n_s_stop +#define __pyx_kp_s_strided_and_direct __pyx_mstate_global->__pyx_kp_s_strided_and_direct +#define __pyx_kp_s_strided_and_direct_or_indirect __pyx_mstate_global->__pyx_kp_s_strided_and_direct_or_indirect +#define __pyx_kp_s_strided_and_indirect __pyx_mstate_global->__pyx_kp_s_strided_and_indirect +#define __pyx_kp_s_stringsource __pyx_mstate_global->__pyx_kp_s_stringsource +#define __pyx_n_s_struct __pyx_mstate_global->__pyx_n_s_struct +#define __pyx_n_s_sys __pyx_mstate_global->__pyx_n_s_sys +#define __pyx_n_s_test __pyx_mstate_global->__pyx_n_s_test +#define __pyx_kp_s_unable_to_allocate_array_data __pyx_mstate_global->__pyx_kp_s_unable_to_allocate_array_data +#define __pyx_kp_s_unable_to_allocate_shape_and_str __pyx_mstate_global->__pyx_kp_s_unable_to_allocate_shape_and_str +#define __pyx_n_s_unpack __pyx_mstate_global->__pyx_n_s_unpack +#define __pyx_n_s_update __pyx_mstate_global->__pyx_n_s_update +#define __pyx_n_s_use_tf8 __pyx_mstate_global->__pyx_n_s_use_tf8 +#define __pyx_n_s_version_info __pyx_mstate_global->__pyx_n_s_version_info +#define __pyx_int_0 __pyx_mstate_global->__pyx_int_0 +#define __pyx_int_1 __pyx_mstate_global->__pyx_int_1 +#define __pyx_int_3 __pyx_mstate_global->__pyx_int_3 +#define __pyx_int_112105877 __pyx_mstate_global->__pyx_int_112105877 +#define __pyx_int_136983863 __pyx_mstate_global->__pyx_int_136983863 +#define __pyx_int_184977713 __pyx_mstate_global->__pyx_int_184977713 +#define __pyx_int_neg_1 __pyx_mstate_global->__pyx_int_neg_1 +#define __pyx_slice__5 __pyx_mstate_global->__pyx_slice__5 +#define __pyx_tuple__4 __pyx_mstate_global->__pyx_tuple__4 +#define __pyx_tuple__8 __pyx_mstate_global->__pyx_tuple__8 +#define __pyx_tuple__9 __pyx_mstate_global->__pyx_tuple__9 +#define __pyx_tuple__10 __pyx_mstate_global->__pyx_tuple__10 +#define __pyx_tuple__11 __pyx_mstate_global->__pyx_tuple__11 +#define __pyx_tuple__12 __pyx_mstate_global->__pyx_tuple__12 +#define __pyx_tuple__13 __pyx_mstate_global->__pyx_tuple__13 +#define __pyx_tuple__14 __pyx_mstate_global->__pyx_tuple__14 +#define __pyx_tuple__15 __pyx_mstate_global->__pyx_tuple__15 +#define __pyx_tuple__16 __pyx_mstate_global->__pyx_tuple__16 +#define __pyx_tuple__17 __pyx_mstate_global->__pyx_tuple__17 +#define __pyx_tuple__18 __pyx_mstate_global->__pyx_tuple__18 +#define __pyx_tuple__20 __pyx_mstate_global->__pyx_tuple__20 +#define __pyx_tuple__22 __pyx_mstate_global->__pyx_tuple__22 +#define __pyx_codeobj__19 __pyx_mstate_global->__pyx_codeobj__19 +#define __pyx_codeobj__21 __pyx_mstate_global->__pyx_codeobj__21 +#define __pyx_codeobj__23 __pyx_mstate_global->__pyx_codeobj__23 +/* #### Code section: module_code ### */ + +/* "string.from_py":13 + * + * @cname("__pyx_convert_string_from_py_std__in_string") + * cdef string __pyx_convert_string_from_py_std__in_string(object o) except *: # <<<<<<<<<<<<<< + * cdef Py_ssize_t length = 0 + * cdef const char* data = __Pyx_PyObject_AsStringAndSize(o, &length) + */ + +static std::string __pyx_convert_string_from_py_std__in_string(PyObject *__pyx_v_o) { + Py_ssize_t __pyx_v_length; + char const *__pyx_v_data; + std::string __pyx_r; + char const *__pyx_t_1; + std::string __pyx_t_2; + int __pyx_lineno = 0; + const char *__pyx_filename = NULL; + int __pyx_clineno = 0; + + /* "string.from_py":14 + * @cname("__pyx_convert_string_from_py_std__in_string") + * cdef string __pyx_convert_string_from_py_std__in_string(object o) except *: + * cdef Py_ssize_t length = 0 # <<<<<<<<<<<<<< + * cdef const char* data = __Pyx_PyObject_AsStringAndSize(o, &length) + * return string(data, length) + */ + __pyx_v_length = 0; + + /* "string.from_py":15 + * cdef string __pyx_convert_string_from_py_std__in_string(object o) except *: + * cdef Py_ssize_t length = 0 + * cdef const char* data = __Pyx_PyObject_AsStringAndSize(o, &length) # <<<<<<<<<<<<<< + * return string(data, length) + * + */ + __pyx_t_1 = __Pyx_PyObject_AsStringAndSize(__pyx_v_o, (&__pyx_v_length)); if (unlikely(__pyx_t_1 == ((char const *)NULL))) __PYX_ERR(0, 15, __pyx_L1_error) + __pyx_v_data = __pyx_t_1; + + /* "string.from_py":16 + * cdef Py_ssize_t length = 0 + * cdef const char* data = __Pyx_PyObject_AsStringAndSize(o, &length) + * return string(data, length) # <<<<<<<<<<<<<< + * + * + */ + try { + __pyx_t_2 = std::string(__pyx_v_data, __pyx_v_length); + } catch(...) { + __Pyx_CppExn2PyErr(); + __PYX_ERR(0, 16, __pyx_L1_error) + } + __pyx_r = __pyx_t_2; + goto __pyx_L0; + + /* "string.from_py":13 + * + * @cname("__pyx_convert_string_from_py_std__in_string") + * cdef string 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start >= shape: + */ + __pyx_t_2 = (__pyx_v_start < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":834 + * start += shape + * if start < 0: + * start = 0 # <<<<<<<<<<<<<< + * elif start >= shape: + * if negative_step: + */ + __pyx_v_start = 0; + + /* "View.MemoryView":833 + * if start < 0: + * start += shape + * if start < 0: # <<<<<<<<<<<<<< + * start = 0 + * elif start >= shape: + */ + } + + /* "View.MemoryView":831 + * + * if have_start: + * if start < 0: # <<<<<<<<<<<<<< + * start += shape + * if start < 0: + */ + goto __pyx_L9; + } + + /* "View.MemoryView":835 + * if start < 0: + * start = 0 + * elif start >= shape: # <<<<<<<<<<<<<< + * if negative_step: + * start = shape - 1 + */ + __pyx_t_2 = (__pyx_v_start >= __pyx_v_shape); + if (__pyx_t_2) { + + /* "View.MemoryView":836 + * start = 0 + * elif start >= shape: + * if negative_step: # <<<<<<<<<<<<<< + * start = shape - 1 + * else: + */ + if (__pyx_v_negative_step) { + + /* "View.MemoryView":837 + * elif start >= shape: + * if 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(__pyx_v_stop + __pyx_v_shape); + + /* "View.MemoryView":849 + * if stop < 0: + * stop += shape + * if stop < 0: # <<<<<<<<<<<<<< + * stop = 0 + * elif stop > shape: + */ + __pyx_t_2 = (__pyx_v_stop < 0); + if (__pyx_t_2) { + + /* "View.MemoryView":850 + * stop += shape + * if stop < 0: + * stop = 0 # <<<<<<<<<<<<<< + * elif stop > shape: + * stop = shape + */ + __pyx_v_stop = 0; + + /* "View.MemoryView":849 + * if stop < 0: + * stop += shape + * if stop < 0: # <<<<<<<<<<<<<< + * stop = 0 + * elif stop > shape: + */ + } + + /* "View.MemoryView":847 + * + * if have_stop: + * if stop < 0: # <<<<<<<<<<<<<< + * stop += shape + * if stop < 0: + */ + goto __pyx_L14; + } + + /* "View.MemoryView":851 + * if stop < 0: + * stop = 0 + * elif stop > shape: # <<<<<<<<<<<<<< + * stop = shape + * else: + */ + __pyx_t_2 = (__pyx_v_stop > __pyx_v_shape); + if (__pyx_t_2) { + + /* "View.MemoryView":852 + * stop = 0 + * elif stop > shape: + * stop = shape # <<<<<<<<<<<<<< + * else: + * if negative_step: 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range(ndim - 1, -1, -1): + * if mslice.shape[i] > 1: + * c_stride = mslice.strides[i] # <<<<<<<<<<<<<< + * break + * + */ + __pyx_v_c_stride = (__pyx_v_mslice->strides[__pyx_v_i]); + + /* "View.MemoryView":1124 + * if mslice.shape[i] > 1: + * c_stride = mslice.strides[i] + * break # <<<<<<<<<<<<<< + * + * for i in range(ndim): + */ + goto __pyx_L4_break; + + /* "View.MemoryView":1122 + * + * for i in range(ndim - 1, -1, -1): + * if mslice.shape[i] > 1: # <<<<<<<<<<<<<< + * c_stride = mslice.strides[i] + * break + */ + } + } + __pyx_L4_break:; + + /* "View.MemoryView":1126 + * break + * + * for i in range(ndim): # <<<<<<<<<<<<<< + * if mslice.shape[i] > 1: + * f_stride = mslice.strides[i] + */ + __pyx_t_1 = __pyx_v_ndim; + __pyx_t_3 = __pyx_t_1; + for (__pyx_t_4 = 0; __pyx_t_4 < __pyx_t_3; __pyx_t_4+=1) { + __pyx_v_i = __pyx_t_4; + + /* "View.MemoryView":1127 + * + * for i in range(ndim): + * if mslice.shape[i] > 1: # <<<<<<<<<<<<<< + * f_stride = mslice.strides[i] + * break + */ + __pyx_t_2 = ((__pyx_v_mslice->shape[__pyx_v_i]) > 1); + if (__pyx_t_2) { + + /* "View.MemoryView":1128 + * for i in range(ndim): + * if mslice.shape[i] > 1: + * f_stride = mslice.strides[i] # <<<<<<<<<<<<<< + * break + * + */ + __pyx_v_f_stride = (__pyx_v_mslice->strides[__pyx_v_i]); + + /* "View.MemoryView":1129 + * if mslice.shape[i] > 1: + * f_stride = mslice.strides[i] + * break # <<<<<<<<<<<<<< + * + * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): + */ + goto __pyx_L7_break; + + /* "View.MemoryView":1127 + * + * for i in range(ndim): + * if mslice.shape[i] > 1: # <<<<<<<<<<<<<< + * f_stride = mslice.strides[i] + * break + */ + } + } + __pyx_L7_break:; + + /* "View.MemoryView":1131 + * break + * + * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): # <<<<<<<<<<<<<< + * return 'C' + * else: + */ + __pyx_t_2 = (abs_py_ssize_t(__pyx_v_c_stride) <= abs_py_ssize_t(__pyx_v_f_stride)); + if (__pyx_t_2) { + + /* "View.MemoryView":1132 + * + * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): + * return 'C' # <<<<<<<<<<<<<< + * else: + * return 'F' + */ + __pyx_r = 'C'; + goto __pyx_L0; + + /* "View.MemoryView":1131 + * break + * + * if abs_py_ssize_t(c_stride) <= abs_py_ssize_t(f_stride): # <<<<<<<<<<<<<< + * return 'C' + * else: + */ + } + + /* "View.MemoryView":1134 + * return 'C' + * else: + * return 'F' # <<<<<<<<<<<<<< + * + * @cython.cdivision(True) + */ + /*else*/ { + __pyx_r = 'F'; + goto __pyx_L0; + } + + /* "View.MemoryView":1113 + * + * @cname('__pyx_get_best_slice_order') + * cdef char get_best_order(__Pyx_memviewslice *mslice, int ndim) noexcept nogil: # <<<<<<<<<<<<<< + * """ + * Figure out the best memory access order for a given slice. + */ + + /* function exit code */ + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":1137 + * + * @cython.cdivision(True) + * cdef void _copy_strided_to_strided(char *src_data, Py_ssize_t *src_strides, # <<<<<<<<<<<<<< + * char *dst_data, Py_ssize_t *dst_strides, + * Py_ssize_t *src_shape, Py_ssize_t *dst_shape, + */ + +static void _copy_strided_to_strided(char *__pyx_v_src_data, Py_ssize_t *__pyx_v_src_strides, char *__pyx_v_dst_data, Py_ssize_t *__pyx_v_dst_strides, Py_ssize_t *__pyx_v_src_shape, Py_ssize_t *__pyx_v_dst_shape, int __pyx_v_ndim, size_t __pyx_v_itemsize) { + CYTHON_UNUSED Py_ssize_t __pyx_v_i; + CYTHON_UNUSED Py_ssize_t __pyx_v_src_extent; + Py_ssize_t __pyx_v_dst_extent; + Py_ssize_t __pyx_v_src_stride; + Py_ssize_t __pyx_v_dst_stride; + int __pyx_t_1; + int __pyx_t_2; + Py_ssize_t __pyx_t_3; + Py_ssize_t __pyx_t_4; + Py_ssize_t __pyx_t_5; + + /* "View.MemoryView":1144 + * + * cdef Py_ssize_t i + * cdef Py_ssize_t src_extent = src_shape[0] # <<<<<<<<<<<<<< + * cdef Py_ssize_t dst_extent = dst_shape[0] + * cdef Py_ssize_t src_stride = src_strides[0] + */ + __pyx_v_src_extent = (__pyx_v_src_shape[0]); + + /* "View.MemoryView":1145 + * cdef Py_ssize_t i + * cdef Py_ssize_t src_extent = src_shape[0] + * cdef Py_ssize_t dst_extent = dst_shape[0] # <<<<<<<<<<<<<< + * cdef Py_ssize_t src_stride = src_strides[0] + * cdef Py_ssize_t dst_stride = dst_strides[0] + */ + __pyx_v_dst_extent = (__pyx_v_dst_shape[0]); + + /* "View.MemoryView":1146 + * cdef Py_ssize_t src_extent = src_shape[0] + * cdef Py_ssize_t dst_extent = dst_shape[0] + * cdef Py_ssize_t src_stride = src_strides[0] # <<<<<<<<<<<<<< + * cdef Py_ssize_t dst_stride = dst_strides[0] + * + */ + __pyx_v_src_stride = (__pyx_v_src_strides[0]); + + /* "View.MemoryView":1147 + * cdef Py_ssize_t dst_extent = dst_shape[0] + * cdef Py_ssize_t src_stride = src_strides[0] + * cdef Py_ssize_t dst_stride = dst_strides[0] # <<<<<<<<<<<<<< + * + * if ndim == 1: + */ + __pyx_v_dst_stride = (__pyx_v_dst_strides[0]); + + /* "View.MemoryView":1149 + * cdef Py_ssize_t dst_stride = dst_strides[0] + * + * if ndim == 1: # <<<<<<<<<<<<<< + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): + */ + __pyx_t_1 = (__pyx_v_ndim == 1); + if (__pyx_t_1) { + + /* "View.MemoryView":1150 + * + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and # <<<<<<<<<<<<<< + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) + */ + __pyx_t_2 = (__pyx_v_src_stride > 0); + if (__pyx_t_2) { + } else { + __pyx_t_1 = __pyx_t_2; + goto __pyx_L5_bool_binop_done; + } + __pyx_t_2 = (__pyx_v_dst_stride > 0); + if (__pyx_t_2) { + } else { + __pyx_t_1 = __pyx_t_2; + goto __pyx_L5_bool_binop_done; + } + + /* "View.MemoryView":1151 + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): # <<<<<<<<<<<<<< + * memcpy(dst_data, src_data, itemsize * dst_extent) + * else: + */ + __pyx_t_2 = (((size_t)__pyx_v_src_stride) == __pyx_v_itemsize); + if (__pyx_t_2) { + __pyx_t_2 = (__pyx_v_itemsize == ((size_t)__pyx_v_dst_stride)); + } + __pyx_t_1 = __pyx_t_2; + __pyx_L5_bool_binop_done:; + + /* "View.MemoryView":1150 + * + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and # <<<<<<<<<<<<<< + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) + */ + if (__pyx_t_1) { + + /* "View.MemoryView":1152 + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) # <<<<<<<<<<<<<< + * else: + * for i in range(dst_extent): + */ + (void)(memcpy(__pyx_v_dst_data, __pyx_v_src_data, (__pyx_v_itemsize * __pyx_v_dst_extent))); + + /* "View.MemoryView":1150 + * + * if ndim == 1: + * if (src_stride > 0 and dst_stride > 0 and # <<<<<<<<<<<<<< + * src_stride == itemsize == dst_stride): + * memcpy(dst_data, src_data, itemsize * dst_extent) + */ + goto __pyx_L4; + } + + /* "View.MemoryView":1154 + * memcpy(dst_data, src_data, itemsize * dst_extent) + * else: + * for i in range(dst_extent): # <<<<<<<<<<<<<< + * memcpy(dst_data, src_data, itemsize) + * src_data += src_stride + */ + /*else*/ { + __pyx_t_3 = __pyx_v_dst_extent; + __pyx_t_4 = __pyx_t_3; + for (__pyx_t_5 = 0; __pyx_t_5 < __pyx_t_4; __pyx_t_5+=1) { + __pyx_v_i = __pyx_t_5; + + /* "View.MemoryView":1155 + * else: + * for i in range(dst_extent): + * memcpy(dst_data, src_data, itemsize) # <<<<<<<<<<<<<< + * src_data += src_stride + * dst_data += dst_stride + */ + (void)(memcpy(__pyx_v_dst_data, __pyx_v_src_data, __pyx_v_itemsize)); + + /* "View.MemoryView":1156 + * for i in range(dst_extent): + * memcpy(dst_data, src_data, itemsize) + * src_data += src_stride # <<<<<<<<<<<<<< + * dst_data += dst_stride + * else: + */ + __pyx_v_src_data = (__pyx_v_src_data + __pyx_v_src_stride); + + /* "View.MemoryView":1157 + * memcpy(dst_data, src_data, itemsize) + * src_data += src_stride + * dst_data += dst_stride # <<<<<<<<<<<<<< + * else: + * for i in range(dst_extent): + */ + __pyx_v_dst_data = (__pyx_v_dst_data + __pyx_v_dst_stride); + } + } + __pyx_L4:; + + /* "View.MemoryView":1149 + * cdef Py_ssize_t dst_stride = dst_strides[0] + * + * if ndim == 1: # <<<<<<<<<<<<<< + * if (src_stride > 0 and dst_stride > 0 and + * src_stride == itemsize == dst_stride): + */ + goto __pyx_L3; + } + + /* "View.MemoryView":1159 + * dst_data += dst_stride + * else: + * for i in range(dst_extent): # <<<<<<<<<<<<<< + * _copy_strided_to_strided(src_data, src_strides + 1, + * dst_data, dst_strides + 1, + */ + /*else*/ { + __pyx_t_3 = __pyx_v_dst_extent; + __pyx_t_4 = __pyx_t_3; + for (__pyx_t_5 = 0; __pyx_t_5 < __pyx_t_4; __pyx_t_5+=1) { + __pyx_v_i = __pyx_t_5; + + /* "View.MemoryView":1160 + * else: + * for i in range(dst_extent): + * _copy_strided_to_strided(src_data, src_strides + 1, # <<<<<<<<<<<<<< + * dst_data, dst_strides + 1, + * src_shape + 1, dst_shape + 1, + */ + _copy_strided_to_strided(__pyx_v_src_data, (__pyx_v_src_strides + 1), __pyx_v_dst_data, (__pyx_v_dst_strides + 1), (__pyx_v_src_shape + 1), (__pyx_v_dst_shape + 1), (__pyx_v_ndim - 1), __pyx_v_itemsize); + + /* "View.MemoryView":1164 + * src_shape + 1, dst_shape + 1, + * ndim - 1, itemsize) + * src_data += src_stride # <<<<<<<<<<<<<< + * dst_data += dst_stride + * + */ + __pyx_v_src_data = (__pyx_v_src_data + __pyx_v_src_stride); + + /* "View.MemoryView":1165 + * ndim - 1, itemsize) + * src_data += src_stride + * dst_data += dst_stride # <<<<<<<<<<<<<< + * + * cdef void copy_strided_to_strided(__Pyx_memviewslice *src, + */ + __pyx_v_dst_data = (__pyx_v_dst_data + __pyx_v_dst_stride); + } + } + __pyx_L3:; + + /* "View.MemoryView":1137 + * + * @cython.cdivision(True) + * cdef void _copy_strided_to_strided(char *src_data, Py_ssize_t *src_strides, # <<<<<<<<<<<<<< + * char *dst_data, Py_ssize_t *dst_strides, + * Py_ssize_t *src_shape, Py_ssize_t *dst_shape, + */ + + /* function exit code */ +} + +/* "View.MemoryView":1167 + * dst_data += dst_stride + * + * cdef void copy_strided_to_strided(__Pyx_memviewslice *src, # <<<<<<<<<<<<<< + * __Pyx_memviewslice *dst, + * int ndim, size_t itemsize) noexcept nogil: + */ + +static void copy_strided_to_strided(__Pyx_memviewslice *__pyx_v_src, __Pyx_memviewslice *__pyx_v_dst, int __pyx_v_ndim, size_t __pyx_v_itemsize) { + + /* "View.MemoryView":1170 + * __Pyx_memviewslice *dst, + * int ndim, size_t itemsize) noexcept nogil: + * _copy_strided_to_strided(src.data, src.strides, dst.data, dst.strides, # <<<<<<<<<<<<<< + * src.shape, dst.shape, ndim, itemsize) + * + */ + _copy_strided_to_strided(__pyx_v_src->data, __pyx_v_src->strides, __pyx_v_dst->data, __pyx_v_dst->strides, __pyx_v_src->shape, __pyx_v_dst->shape, __pyx_v_ndim, __pyx_v_itemsize); + + /* "View.MemoryView":1167 + * dst_data += dst_stride + * + * cdef void copy_strided_to_strided(__Pyx_memviewslice *src, # <<<<<<<<<<<<<< + * __Pyx_memviewslice *dst, + * int ndim, size_t itemsize) noexcept nogil: + */ + + /* function exit code */ +} + +/* "View.MemoryView":1174 + * + * @cname('__pyx_memoryview_slice_get_size') + * cdef Py_ssize_t slice_get_size(__Pyx_memviewslice *src, int ndim) noexcept nogil: # <<<<<<<<<<<<<< + * "Return the size of the memory occupied by the slice in number of bytes" + * cdef Py_ssize_t shape, size = src.memview.view.itemsize + */ + +static Py_ssize_t __pyx_memoryview_slice_get_size(__Pyx_memviewslice *__pyx_v_src, int __pyx_v_ndim) { + Py_ssize_t __pyx_v_shape; + Py_ssize_t __pyx_v_size; + Py_ssize_t __pyx_r; + Py_ssize_t __pyx_t_1; + Py_ssize_t *__pyx_t_2; + Py_ssize_t *__pyx_t_3; + Py_ssize_t *__pyx_t_4; + + /* "View.MemoryView":1176 + * cdef Py_ssize_t slice_get_size(__Pyx_memviewslice *src, int ndim) noexcept nogil: + * "Return the size of the memory occupied by the slice in number of bytes" + * cdef Py_ssize_t shape, size = src.memview.view.itemsize # <<<<<<<<<<<<<< + * + * for shape in src.shape[:ndim]: + */ + __pyx_t_1 = __pyx_v_src->memview->view.itemsize; + __pyx_v_size = __pyx_t_1; + + /* "View.MemoryView":1178 + * cdef Py_ssize_t shape, size = src.memview.view.itemsize + * + * for shape in src.shape[:ndim]: # <<<<<<<<<<<<<< + * size *= shape + * + */ + __pyx_t_3 = (__pyx_v_src->shape + __pyx_v_ndim); + for (__pyx_t_4 = __pyx_v_src->shape; __pyx_t_4 < __pyx_t_3; __pyx_t_4++) { + __pyx_t_2 = __pyx_t_4; + __pyx_v_shape = (__pyx_t_2[0]); + + /* "View.MemoryView":1179 + * + * for shape in src.shape[:ndim]: + * size *= shape # <<<<<<<<<<<<<< + * + * return size + */ + __pyx_v_size = (__pyx_v_size * __pyx_v_shape); + } + + /* "View.MemoryView":1181 + * size *= shape + * + * return size # <<<<<<<<<<<<<< + * + * @cname('__pyx_fill_contig_strides_array') + */ + __pyx_r = __pyx_v_size; + goto __pyx_L0; + + /* "View.MemoryView":1174 + * + * @cname('__pyx_memoryview_slice_get_size') + * cdef Py_ssize_t slice_get_size(__Pyx_memviewslice *src, int ndim) noexcept nogil: # <<<<<<<<<<<<<< + * "Return the size of the memory occupied by the slice in number of bytes" + * cdef Py_ssize_t shape, size = src.memview.view.itemsize + */ + + /* function exit code */ + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":1184 + * + * @cname('__pyx_fill_contig_strides_array') + * cdef Py_ssize_t fill_contig_strides_array( # <<<<<<<<<<<<<< + * Py_ssize_t *shape, Py_ssize_t *strides, Py_ssize_t stride, + * int ndim, char order) noexcept nogil: + */ + +static Py_ssize_t __pyx_fill_contig_strides_array(Py_ssize_t *__pyx_v_shape, Py_ssize_t *__pyx_v_strides, Py_ssize_t __pyx_v_stride, int __pyx_v_ndim, char __pyx_v_order) { + int __pyx_v_idx; + Py_ssize_t __pyx_r; + int __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + int __pyx_t_4; + + /* "View.MemoryView":1193 + * cdef int idx + * + * if order == 'F': # <<<<<<<<<<<<<< + * for idx in range(ndim): + * strides[idx] = stride + */ + __pyx_t_1 = (__pyx_v_order == 'F'); + if (__pyx_t_1) { + + /* "View.MemoryView":1194 + * + * if order == 'F': + * for idx in range(ndim): # <<<<<<<<<<<<<< + * strides[idx] = stride + * stride *= shape[idx] + */ + __pyx_t_2 = __pyx_v_ndim; + __pyx_t_3 = __pyx_t_2; + for (__pyx_t_4 = 0; __pyx_t_4 < __pyx_t_3; __pyx_t_4+=1) { + __pyx_v_idx = __pyx_t_4; + + /* "View.MemoryView":1195 + * if order == 'F': + * for idx in range(ndim): + * strides[idx] = stride # <<<<<<<<<<<<<< + * stride *= shape[idx] + * else: + */ + (__pyx_v_strides[__pyx_v_idx]) = __pyx_v_stride; + + /* "View.MemoryView":1196 + * for idx in range(ndim): + * strides[idx] = stride + * stride *= shape[idx] # <<<<<<<<<<<<<< + * else: + * for idx in range(ndim - 1, -1, -1): + */ + __pyx_v_stride = (__pyx_v_stride * (__pyx_v_shape[__pyx_v_idx])); + } + + /* "View.MemoryView":1193 + * cdef int idx + * + * if order == 'F': # <<<<<<<<<<<<<< + * for idx in range(ndim): + * strides[idx] = stride + */ + goto __pyx_L3; + } + + /* "View.MemoryView":1198 + * stride *= shape[idx] + * else: + * for idx in range(ndim - 1, -1, -1): # <<<<<<<<<<<<<< + * strides[idx] = stride + * stride *= shape[idx] + */ + /*else*/ { + for (__pyx_t_2 = (__pyx_v_ndim - 1); __pyx_t_2 > -1; __pyx_t_2-=1) { + __pyx_v_idx = __pyx_t_2; + + /* "View.MemoryView":1199 + * else: + * for idx in range(ndim - 1, -1, -1): + * strides[idx] = stride # <<<<<<<<<<<<<< + * stride *= shape[idx] + * + */ + (__pyx_v_strides[__pyx_v_idx]) = __pyx_v_stride; + + /* "View.MemoryView":1200 + * for idx in range(ndim - 1, -1, -1): + * strides[idx] = stride + * stride *= shape[idx] # <<<<<<<<<<<<<< + * + * return stride + */ + __pyx_v_stride = (__pyx_v_stride * (__pyx_v_shape[__pyx_v_idx])); + } + } + __pyx_L3:; + + /* "View.MemoryView":1202 + * stride *= shape[idx] + * + * return stride # <<<<<<<<<<<<<< + * + * @cname('__pyx_memoryview_copy_data_to_temp') + */ + __pyx_r = __pyx_v_stride; + goto __pyx_L0; + + /* "View.MemoryView":1184 + * + * @cname('__pyx_fill_contig_strides_array') + * cdef Py_ssize_t fill_contig_strides_array( # <<<<<<<<<<<<<< + * Py_ssize_t *shape, Py_ssize_t *strides, Py_ssize_t stride, + * int ndim, char order) noexcept nogil: + */ + + /* function exit code */ + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":1205 + * + * @cname('__pyx_memoryview_copy_data_to_temp') + * cdef void *copy_data_to_temp(__Pyx_memviewslice *src, # <<<<<<<<<<<<<< + * __Pyx_memviewslice *tmpslice, + * char order, + */ + +static void *__pyx_memoryview_copy_data_to_temp(__Pyx_memviewslice *__pyx_v_src, __Pyx_memviewslice *__pyx_v_tmpslice, char __pyx_v_order, int __pyx_v_ndim) { + int __pyx_v_i; + void *__pyx_v_result; + size_t __pyx_v_itemsize; + size_t __pyx_v_size; + void *__pyx_r; + Py_ssize_t __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + struct __pyx_memoryview_obj *__pyx_t_4; + int __pyx_t_5; + int __pyx_t_6; + int __pyx_lineno = 0; + const char *__pyx_filename = NULL; + int __pyx_clineno = 0; + #ifdef WITH_THREAD + PyGILState_STATE __pyx_gilstate_save; + #endif + + /* "View.MemoryView":1216 + * cdef void *result + * + * cdef size_t itemsize = src.memview.view.itemsize # <<<<<<<<<<<<<< + * cdef size_t size = slice_get_size(src, ndim) + * + */ + __pyx_t_1 = __pyx_v_src->memview->view.itemsize; + __pyx_v_itemsize = __pyx_t_1; + + /* "View.MemoryView":1217 + * + * cdef size_t itemsize = src.memview.view.itemsize + * cdef size_t size = slice_get_size(src, ndim) # <<<<<<<<<<<<<< + * + * result = malloc(size) + */ + __pyx_v_size = __pyx_memoryview_slice_get_size(__pyx_v_src, __pyx_v_ndim); + + /* "View.MemoryView":1219 + * cdef size_t size = slice_get_size(src, ndim) + * + * result = malloc(size) # <<<<<<<<<<<<<< + * if not result: + * _err_no_memory() + */ + __pyx_v_result = malloc(__pyx_v_size); + + /* "View.MemoryView":1220 + * + * result = malloc(size) + * if not result: # <<<<<<<<<<<<<< + * _err_no_memory() + * + */ + __pyx_t_2 = (!(__pyx_v_result != 0)); + if (__pyx_t_2) { + + /* "View.MemoryView":1221 + * result = malloc(size) + * if not result: + * _err_no_memory() # <<<<<<<<<<<<<< + * + * + */ + __pyx_t_3 = __pyx_memoryview_err_no_memory(); if (unlikely(__pyx_t_3 == ((int)-1))) __PYX_ERR(0, 1221, __pyx_L1_error) + + /* "View.MemoryView":1220 + * + * result = malloc(size) + * if not result: # <<<<<<<<<<<<<< + * _err_no_memory() + * + */ + } + + /* "View.MemoryView":1224 + * + * + * tmpslice.data = result # 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* elif dst_ndim < src_ndim: + */ + __pyx_t_2 = (__pyx_v_src_ndim < __pyx_v_dst_ndim); + if (__pyx_t_2) { + + /* "View.MemoryView":1282 + * + * if src_ndim < dst_ndim: + * broadcast_leading(&src, src_ndim, dst_ndim) # <<<<<<<<<<<<<< + * elif dst_ndim < src_ndim: + * broadcast_leading(&dst, dst_ndim, src_ndim) + */ + __pyx_memoryview_broadcast_leading((&__pyx_v_src), __pyx_v_src_ndim, __pyx_v_dst_ndim); + + /* "View.MemoryView":1281 + * cdef __Pyx_memviewslice tmp + * + * if src_ndim < dst_ndim: # <<<<<<<<<<<<<< + * broadcast_leading(&src, src_ndim, dst_ndim) + * elif dst_ndim < src_ndim: + */ + goto __pyx_L3; + } + + /* "View.MemoryView":1283 + * if src_ndim < dst_ndim: + * broadcast_leading(&src, src_ndim, dst_ndim) + * elif dst_ndim < src_ndim: # <<<<<<<<<<<<<< + * broadcast_leading(&dst, dst_ndim, src_ndim) + * + */ + __pyx_t_2 = (__pyx_v_dst_ndim < __pyx_v_src_ndim); + if (__pyx_t_2) { + + /* "View.MemoryView":1284 + * broadcast_leading(&src, src_ndim, dst_ndim) + * elif dst_ndim < src_ndim: + * broadcast_leading(&dst, dst_ndim, src_ndim) # <<<<<<<<<<<<<< + * + * cdef int ndim = max(src_ndim, dst_ndim) + */ + __pyx_memoryview_broadcast_leading((&__pyx_v_dst), __pyx_v_dst_ndim, __pyx_v_src_ndim); + + /* "View.MemoryView":1283 + * if src_ndim < dst_ndim: + * broadcast_leading(&src, src_ndim, dst_ndim) + * elif dst_ndim < src_ndim: # <<<<<<<<<<<<<< + * broadcast_leading(&dst, dst_ndim, src_ndim) + * + */ + } + __pyx_L3:; + + /* "View.MemoryView":1286 + * broadcast_leading(&dst, dst_ndim, src_ndim) + * + * cdef int ndim = max(src_ndim, dst_ndim) # <<<<<<<<<<<<<< + * + * for i in range(ndim): + */ + __pyx_t_3 = __pyx_v_dst_ndim; + __pyx_t_4 = __pyx_v_src_ndim; + __pyx_t_2 = (__pyx_t_3 > __pyx_t_4); + if (__pyx_t_2) { + __pyx_t_5 = __pyx_t_3; + } else { + __pyx_t_5 = __pyx_t_4; + } + __pyx_v_ndim = __pyx_t_5; + + /* "View.MemoryView":1288 + * cdef int ndim = max(src_ndim, dst_ndim) + * + * for i in range(ndim): # <<<<<<<<<<<<<< + * if src.shape[i] != dst.shape[i]: + * if src.shape[i] == 1: + */ + __pyx_t_5 = __pyx_v_ndim; + __pyx_t_3 = __pyx_t_5; + for (__pyx_t_4 = 0; __pyx_t_4 < __pyx_t_3; __pyx_t_4+=1) { + __pyx_v_i = __pyx_t_4; + + /* "View.MemoryView":1289 + * + * for i in range(ndim): + * if src.shape[i] != dst.shape[i]: # <<<<<<<<<<<<<< + * if src.shape[i] == 1: + * broadcasting = True + */ + __pyx_t_2 = ((__pyx_v_src.shape[__pyx_v_i]) != (__pyx_v_dst.shape[__pyx_v_i])); + if (__pyx_t_2) { + + /* "View.MemoryView":1290 + * for i in range(ndim): + * if src.shape[i] != dst.shape[i]: + * if src.shape[i] == 1: # <<<<<<<<<<<<<< + * broadcasting = True + * src.strides[i] = 0 + */ + __pyx_t_2 = ((__pyx_v_src.shape[__pyx_v_i]) == 1); + if (__pyx_t_2) { + + /* "View.MemoryView":1291 + * if src.shape[i] != dst.shape[i]: + * if src.shape[i] == 1: + * broadcasting = True # <<<<<<<<<<<<<< + * src.strides[i] = 0 + * else: + */ + __pyx_v_broadcasting = 1; + + /* "View.MemoryView":1292 + * if src.shape[i] == 1: + * broadcasting = True + * src.strides[i] = 0 # <<<<<<<<<<<<<< + * else: + * _err_extents(i, dst.shape[i], src.shape[i]) + */ + (__pyx_v_src.strides[__pyx_v_i]) = 0; + + /* "View.MemoryView":1290 + * for i in range(ndim): + * if src.shape[i] != dst.shape[i]: + * if src.shape[i] == 1: # <<<<<<<<<<<<<< + * broadcasting = True + * src.strides[i] = 0 + */ + goto __pyx_L7; + } + + /* "View.MemoryView":1294 + * src.strides[i] = 0 + * else: + * _err_extents(i, dst.shape[i], src.shape[i]) # <<<<<<<<<<<<<< + * + * if src.suboffsets[i] >= 0: + */ + /*else*/ { + __pyx_t_6 = __pyx_memoryview_err_extents(__pyx_v_i, (__pyx_v_dst.shape[__pyx_v_i]), (__pyx_v_src.shape[__pyx_v_i])); if (unlikely(__pyx_t_6 == ((int)-1))) __PYX_ERR(0, 1294, __pyx_L1_error) + } + __pyx_L7:; + + /* "View.MemoryView":1289 + * + * for i in range(ndim): + * if src.shape[i] != dst.shape[i]: # <<<<<<<<<<<<<< + * if src.shape[i] == 1: + * broadcasting = True + */ + } + + /* "View.MemoryView":1296 + * _err_extents(i, dst.shape[i], src.shape[i]) + * + * if src.suboffsets[i] >= 0: # <<<<<<<<<<<<<< + * _err_dim(PyExc_ValueError, "Dimension %d is not direct", i) + * + */ + __pyx_t_2 = ((__pyx_v_src.suboffsets[__pyx_v_i]) >= 0); + if (__pyx_t_2) { + + /* "View.MemoryView":1297 + * + * if src.suboffsets[i] >= 0: + * _err_dim(PyExc_ValueError, "Dimension %d is not direct", i) # <<<<<<<<<<<<<< + * + * if slices_overlap(&src, &dst, ndim, itemsize): + */ + __pyx_t_6 = __pyx_memoryview_err_dim(PyExc_ValueError, __pyx_kp_s_Dimension_d_is_not_direct, __pyx_v_i); if (unlikely(__pyx_t_6 == ((int)-1))) __PYX_ERR(0, 1297, __pyx_L1_error) + + /* "View.MemoryView":1296 + * _err_extents(i, dst.shape[i], src.shape[i]) + * + * if src.suboffsets[i] >= 0: # <<<<<<<<<<<<<< + * _err_dim(PyExc_ValueError, "Dimension %d is not direct", i) + * + */ + } + } + + /* "View.MemoryView":1299 + * _err_dim(PyExc_ValueError, "Dimension %d is not direct", i) + * + * if slices_overlap(&src, &dst, ndim, itemsize): # <<<<<<<<<<<<<< + * + * if not slice_is_contig(src, order, ndim): + */ + __pyx_t_2 = __pyx_slices_overlap((&__pyx_v_src), (&__pyx_v_dst), __pyx_v_ndim, __pyx_v_itemsize); + if (__pyx_t_2) { + + /* "View.MemoryView":1301 + * if slices_overlap(&src, &dst, ndim, itemsize): + * + * if not slice_is_contig(src, order, ndim): # <<<<<<<<<<<<<< + * order = get_best_order(&dst, ndim) + * + */ + __pyx_t_2 = (!__pyx_memviewslice_is_contig(__pyx_v_src, __pyx_v_order, __pyx_v_ndim)); + if (__pyx_t_2) { + + /* "View.MemoryView":1302 + * + * if not slice_is_contig(src, order, ndim): + * order = get_best_order(&dst, ndim) # <<<<<<<<<<<<<< + * + * tmpdata = copy_data_to_temp(&src, &tmp, order, ndim) + */ + __pyx_v_order = __pyx_get_best_slice_order((&__pyx_v_dst), __pyx_v_ndim); + + /* "View.MemoryView":1301 + * if slices_overlap(&src, &dst, ndim, itemsize): + * + * if not slice_is_contig(src, order, ndim): # <<<<<<<<<<<<<< + * order = get_best_order(&dst, ndim) + * + */ + } + + /* "View.MemoryView":1304 + * order = get_best_order(&dst, ndim) + * + * tmpdata = copy_data_to_temp(&src, &tmp, order, ndim) # <<<<<<<<<<<<<< + * src = tmp + * + */ + __pyx_t_7 = __pyx_memoryview_copy_data_to_temp((&__pyx_v_src), (&__pyx_v_tmp), __pyx_v_order, __pyx_v_ndim); if (unlikely(__pyx_t_7 == ((void *)NULL))) __PYX_ERR(0, 1304, __pyx_L1_error) + __pyx_v_tmpdata = __pyx_t_7; + + /* "View.MemoryView":1305 + * + * tmpdata = copy_data_to_temp(&src, &tmp, order, ndim) + * src = tmp # <<<<<<<<<<<<<< + * + * if not broadcasting: + */ + __pyx_v_src = __pyx_v_tmp; + + /* "View.MemoryView":1299 + * _err_dim(PyExc_ValueError, "Dimension %d is not direct", i) + * + * if slices_overlap(&src, &dst, ndim, itemsize): # <<<<<<<<<<<<<< + * + * if not slice_is_contig(src, order, ndim): + */ + } + + /* "View.MemoryView":1307 + * src = tmp + * + * if not broadcasting: # <<<<<<<<<<<<<< + * + * + */ + __pyx_t_2 = (!__pyx_v_broadcasting); + if (__pyx_t_2) { + + /* "View.MemoryView":1310 + * + * + * if slice_is_contig(src, 'C', ndim): # <<<<<<<<<<<<<< + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): + */ + __pyx_t_2 = __pyx_memviewslice_is_contig(__pyx_v_src, 'C', __pyx_v_ndim); + if (__pyx_t_2) { + + /* "View.MemoryView":1311 + * + * if slice_is_contig(src, 'C', ndim): + * direct_copy = slice_is_contig(dst, 'C', ndim) # <<<<<<<<<<<<<< + * elif slice_is_contig(src, 'F', ndim): + * direct_copy = slice_is_contig(dst, 'F', ndim) + */ + __pyx_v_direct_copy = __pyx_memviewslice_is_contig(__pyx_v_dst, 'C', __pyx_v_ndim); + + /* "View.MemoryView":1310 + * + * + * if slice_is_contig(src, 'C', ndim): # <<<<<<<<<<<<<< + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): + */ + goto __pyx_L12; + } + + /* "View.MemoryView":1312 + * if slice_is_contig(src, 'C', ndim): + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): # <<<<<<<<<<<<<< + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + */ + __pyx_t_2 = __pyx_memviewslice_is_contig(__pyx_v_src, 'F', __pyx_v_ndim); + if (__pyx_t_2) { + + /* "View.MemoryView":1313 + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): + * direct_copy = slice_is_contig(dst, 'F', ndim) # <<<<<<<<<<<<<< + * + * if direct_copy: + */ + __pyx_v_direct_copy = __pyx_memviewslice_is_contig(__pyx_v_dst, 'F', __pyx_v_ndim); + + /* "View.MemoryView":1312 + * if slice_is_contig(src, 'C', ndim): + * direct_copy = slice_is_contig(dst, 'C', ndim) + * elif slice_is_contig(src, 'F', ndim): # <<<<<<<<<<<<<< + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + */ + } + __pyx_L12:; + + /* "View.MemoryView":1315 + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + * if direct_copy: # <<<<<<<<<<<<<< + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + */ + if (__pyx_v_direct_copy) { + + /* "View.MemoryView":1317 + * if direct_copy: + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) # <<<<<<<<<<<<<< + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 0); + + /* "View.MemoryView":1318 + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) # <<<<<<<<<<<<<< + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * free(tmpdata) + */ + (void)(memcpy(__pyx_v_dst.data, __pyx_v_src.data, __pyx_memoryview_slice_get_size((&__pyx_v_src), __pyx_v_ndim))); + + /* "View.MemoryView":1319 + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) # <<<<<<<<<<<<<< + * free(tmpdata) + * return 0 + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 1); + + /* "View.MemoryView":1320 + * memcpy(dst.data, src.data, slice_get_size(&src, ndim)) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * free(tmpdata) # <<<<<<<<<<<<<< + * return 0 + * + */ + free(__pyx_v_tmpdata); + + /* "View.MemoryView":1321 + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * free(tmpdata) + * return 0 # <<<<<<<<<<<<<< + * + * if order == 'F' == get_best_order(&dst, ndim): + */ + __pyx_r = 0; + goto __pyx_L0; + + /* "View.MemoryView":1315 + * direct_copy = slice_is_contig(dst, 'F', ndim) + * + * if direct_copy: # <<<<<<<<<<<<<< + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + */ + } + + /* "View.MemoryView":1307 + * src = tmp + * + * if not broadcasting: # <<<<<<<<<<<<<< + * + * + */ + } + + /* "View.MemoryView":1323 + * return 0 + * + * if order == 'F' == get_best_order(&dst, ndim): # <<<<<<<<<<<<<< + * + * + */ + __pyx_t_2 = (__pyx_v_order == 'F'); + if (__pyx_t_2) { + __pyx_t_2 = ('F' == __pyx_get_best_slice_order((&__pyx_v_dst), __pyx_v_ndim)); + } + if (__pyx_t_2) { + + /* "View.MemoryView":1326 + * + * + * transpose_memslice(&src) # <<<<<<<<<<<<<< + * transpose_memslice(&dst) + * + */ + __pyx_t_5 = __pyx_memslice_transpose((&__pyx_v_src)); if (unlikely(__pyx_t_5 == ((int)-1))) __PYX_ERR(0, 1326, __pyx_L1_error) + + /* "View.MemoryView":1327 + * + * transpose_memslice(&src) + * transpose_memslice(&dst) # <<<<<<<<<<<<<< + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + */ + __pyx_t_5 = __pyx_memslice_transpose((&__pyx_v_dst)); if (unlikely(__pyx_t_5 == ((int)-1))) __PYX_ERR(0, 1327, __pyx_L1_error) + + /* "View.MemoryView":1323 + * return 0 + * + * if order == 'F' == get_best_order(&dst, ndim): # <<<<<<<<<<<<<< + * + * + */ + } + + /* "View.MemoryView":1329 + * transpose_memslice(&dst) + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) # <<<<<<<<<<<<<< + * copy_strided_to_strided(&src, &dst, ndim, itemsize) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 0); + + /* "View.MemoryView":1330 + * + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + * copy_strided_to_strided(&src, &dst, ndim, itemsize) # <<<<<<<<<<<<<< + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * + */ + copy_strided_to_strided((&__pyx_v_src), (&__pyx_v_dst), __pyx_v_ndim, __pyx_v_itemsize); + + /* "View.MemoryView":1331 + * refcount_copying(&dst, dtype_is_object, ndim, inc=False) + * copy_strided_to_strided(&src, &dst, ndim, itemsize) + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) # <<<<<<<<<<<<<< + * + * free(tmpdata) + */ + __pyx_memoryview_refcount_copying((&__pyx_v_dst), __pyx_v_dtype_is_object, __pyx_v_ndim, 1); + + /* "View.MemoryView":1333 + * refcount_copying(&dst, dtype_is_object, ndim, inc=True) + * + * free(tmpdata) # <<<<<<<<<<<<<< + * return 0 + * + */ + free(__pyx_v_tmpdata); + + /* "View.MemoryView":1334 + * + * free(tmpdata) + * return 0 # <<<<<<<<<<<<<< + * + * @cname('__pyx_memoryview_broadcast_leading') + */ + __pyx_r = 0; + goto __pyx_L0; + + /* "View.MemoryView":1265 + * + * @cname('__pyx_memoryview_copy_contents') + * cdef int memoryview_copy_contents(__Pyx_memviewslice src, # <<<<<<<<<<<<<< + * __Pyx_memviewslice dst, + * int src_ndim, int dst_ndim, + */ + + /* function exit code */ + __pyx_L1_error:; + #ifdef WITH_THREAD + __pyx_gilstate_save = __Pyx_PyGILState_Ensure(); + #endif + __Pyx_AddTraceback("View.MemoryView.memoryview_copy_contents", __pyx_clineno, __pyx_lineno, __pyx_filename); + __pyx_r = -1; + #ifdef WITH_THREAD + __Pyx_PyGILState_Release(__pyx_gilstate_save); + #endif + __pyx_L0:; + return __pyx_r; +} + +/* "View.MemoryView":1337 + * + * @cname('__pyx_memoryview_broadcast_leading') + * cdef void broadcast_leading(__Pyx_memviewslice *mslice, # <<<<<<<<<<<<<< + * int ndim, + * int ndim_other) noexcept nogil: + */ + +static void __pyx_memoryview_broadcast_leading(__Pyx_memviewslice *__pyx_v_mslice, int __pyx_v_ndim, int __pyx_v_ndim_other) { + int __pyx_v_i; + int __pyx_v_offset; + int __pyx_t_1; + int __pyx_t_2; + int __pyx_t_3; + + /* "View.MemoryView":1341 + * int ndim_other) noexcept nogil: + * cdef int i + * cdef int offset = ndim_other - ndim # <<<<<<<<<<<<<< + * + * for i in range(ndim - 1, -1, -1): + */ + __pyx_v_offset = (__pyx_v_ndim_other - __pyx_v_ndim); + + /* "View.MemoryView":1343 + * cdef int offset = ndim_other - ndim + * + * for i in range(ndim - 1, -1, -1): # <<<<<<<<<<<<<< + * mslice.shape[i + offset] = mslice.shape[i] + * mslice.strides[i + offset] = mslice.strides[i] + */ + for (__pyx_t_1 = (__pyx_v_ndim - 1); __pyx_t_1 > -1; __pyx_t_1-=1) { + __pyx_v_i = __pyx_t_1; + + /* "View.MemoryView":1344 + * + * for i in range(ndim - 1, -1, -1): + * mslice.shape[i + offset] = mslice.shape[i] # <<<<<<<<<<<<<< + * mslice.strides[i + offset] = mslice.strides[i] + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] + */ + (__pyx_v_mslice->shape[(__pyx_v_i + __pyx_v_offset)]) = (__pyx_v_mslice->shape[__pyx_v_i]); + + /* "View.MemoryView":1345 + * for i in range(ndim - 1, -1, -1): + * mslice.shape[i + offset] = mslice.shape[i] + * mslice.strides[i + offset] = mslice.strides[i] # <<<<<<<<<<<<<< + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] + * + */ + (__pyx_v_mslice->strides[(__pyx_v_i + __pyx_v_offset)]) = (__pyx_v_mslice->strides[__pyx_v_i]); + + /* "View.MemoryView":1346 + * mslice.shape[i + offset] = mslice.shape[i] + * mslice.strides[i + offset] = mslice.strides[i] + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] # <<<<<<<<<<<<<< + * + * for i in range(offset): + */ + (__pyx_v_mslice->suboffsets[(__pyx_v_i + __pyx_v_offset)]) = (__pyx_v_mslice->suboffsets[__pyx_v_i]); + } + + /* "View.MemoryView":1348 + * mslice.suboffsets[i + offset] = mslice.suboffsets[i] + * + * for i in range(offset): # <<<<<<<<<<<<<< + * mslice.shape[i] = 1 + * mslice.strides[i] = mslice.strides[0] + */ + __pyx_t_1 = __pyx_v_offset; + __pyx_t_2 = __pyx_t_1; + for (__pyx_t_3 = 0; __pyx_t_3 < __pyx_t_2; __pyx_t_3+=1) { + __pyx_v_i = __pyx_t_3; + + /* "View.MemoryView":1349 + * + * for i in range(offset): + * mslice.shape[i] = 1 # <<<<<<<<<<<<<< + * mslice.strides[i] = mslice.strides[0] + * mslice.suboffsets[i] = -1 + */ + (__pyx_v_mslice->shape[__pyx_v_i]) = 1; + + /* "View.MemoryView":1350 + * for i in range(offset): + * mslice.shape[i] = 1 + * mslice.strides[i] = mslice.strides[0] # <<<<<<<<<<<<<< + * mslice.suboffsets[i] = -1 + * + */ + (__pyx_v_mslice->strides[__pyx_v_i]) = (__pyx_v_mslice->strides[0]); + + /* "View.MemoryView":1351 + * mslice.shape[i] = 1 + * mslice.strides[i] = mslice.strides[0] + * mslice.suboffsets[i] = -1 # <<<<<<<<<<<<<< + * + * + */ + (__pyx_v_mslice->suboffsets[__pyx_v_i]) = -1L; + } + + /* "View.MemoryView":1337 + * + * @cname('__pyx_memoryview_broadcast_leading') + * cdef void broadcast_leading(__Pyx_memviewslice *mslice, # <<<<<<<<<<<<<< + * int ndim, + * int ndim_other) noexcept nogil: + */ + + /* function exit code */ +} + +/* "View.MemoryView":1359 + * + * @cname('__pyx_memoryview_refcount_copying') + * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object, int ndim, bint inc) noexcept nogil: # <<<<<<<<<<<<<< + * + * if dtype_is_object: + */ + +static void __pyx_memoryview_refcount_copying(__Pyx_memviewslice *__pyx_v_dst, int __pyx_v_dtype_is_object, int __pyx_v_ndim, int __pyx_v_inc) { + + /* "View.MemoryView":1361 + * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object, int ndim, bint inc) noexcept nogil: + * + * if dtype_is_object: # <<<<<<<<<<<<<< + * refcount_objects_in_slice_with_gil(dst.data, dst.shape, dst.strides, ndim, inc) + * + */ + if (__pyx_v_dtype_is_object) { + + /* "View.MemoryView":1362 + * + * if dtype_is_object: + * refcount_objects_in_slice_with_gil(dst.data, dst.shape, dst.strides, ndim, inc) # <<<<<<<<<<<<<< + * + * @cname('__pyx_memoryview_refcount_objects_in_slice_with_gil') + */ + __pyx_memoryview_refcount_objects_in_slice_with_gil(__pyx_v_dst->data, __pyx_v_dst->shape, __pyx_v_dst->strides, __pyx_v_ndim, __pyx_v_inc); + + /* "View.MemoryView":1361 + * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object, int ndim, bint inc) noexcept nogil: + * + * if dtype_is_object: # <<<<<<<<<<<<<< + * refcount_objects_in_slice_with_gil(dst.data, dst.shape, dst.strides, ndim, inc) + * + */ + } + + /* "View.MemoryView":1359 + * + * @cname('__pyx_memoryview_refcount_copying') + * cdef void refcount_copying(__Pyx_memviewslice *dst, bint dtype_is_object, int ndim, bint inc) noexcept nogil: # <<<<<<<<<<<<<< + * + * if dtype_is_object: + */ + + /* function exit code */ +} + +/* "View.MemoryView":1365 + * + * @cname('__pyx_memoryview_refcount_objects_in_slice_with_gil') + * cdef void refcount_objects_in_slice_with_gil(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, + * bint inc) noexcept with gil: + */ + +static void __pyx_memoryview_refcount_objects_in_slice_with_gil(char *__pyx_v_data, Py_ssize_t *__pyx_v_shape, Py_ssize_t *__pyx_v_strides, int __pyx_v_ndim, int __pyx_v_inc) { + #ifdef WITH_THREAD + PyGILState_STATE __pyx_gilstate_save = __Pyx_PyGILState_Ensure(); + #endif + + /* "View.MemoryView":1368 + * Py_ssize_t *strides, int ndim, + * bint inc) noexcept with gil: + * refcount_objects_in_slice(data, shape, strides, ndim, inc) # <<<<<<<<<<<<<< + * + * @cname('__pyx_memoryview_refcount_objects_in_slice') + */ + __pyx_memoryview_refcount_objects_in_slice(__pyx_v_data, __pyx_v_shape, __pyx_v_strides, __pyx_v_ndim, __pyx_v_inc); + + /* "View.MemoryView":1365 + * + * @cname('__pyx_memoryview_refcount_objects_in_slice_with_gil') + * cdef void refcount_objects_in_slice_with_gil(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, + * bint inc) noexcept with gil: + */ + + /* function exit code */ + #ifdef WITH_THREAD + __Pyx_PyGILState_Release(__pyx_gilstate_save); + #endif +} + +/* "View.MemoryView":1371 + * + * @cname('__pyx_memoryview_refcount_objects_in_slice') + * cdef void refcount_objects_in_slice(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, bint inc) noexcept: + * cdef Py_ssize_t i + */ + +static void __pyx_memoryview_refcount_objects_in_slice(char *__pyx_v_data, Py_ssize_t *__pyx_v_shape, Py_ssize_t *__pyx_v_strides, int __pyx_v_ndim, int __pyx_v_inc) { + CYTHON_UNUSED Py_ssize_t __pyx_v_i; + Py_ssize_t __pyx_v_stride; + Py_ssize_t __pyx_t_1; + Py_ssize_t __pyx_t_2; + Py_ssize_t __pyx_t_3; + int __pyx_t_4; + + /* "View.MemoryView":1374 + * Py_ssize_t *strides, int ndim, bint inc) noexcept: + * cdef Py_ssize_t i + * cdef Py_ssize_t stride = strides[0] # <<<<<<<<<<<<<< + * + * for i in range(shape[0]): + */ + __pyx_v_stride = (__pyx_v_strides[0]); + + /* "View.MemoryView":1376 + * cdef Py_ssize_t stride = strides[0] + * + * for i in range(shape[0]): # <<<<<<<<<<<<<< + * if ndim == 1: + * if inc: + */ + 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refcount_objects_in_slice(data, shape + 1, strides + 1, ndim - 1, inc) + */ + /*else*/ { + Py_DECREF((((PyObject **)__pyx_v_data)[0])); + } + __pyx_L6:; + + /* "View.MemoryView":1377 + * + * for i in range(shape[0]): + * if ndim == 1: # <<<<<<<<<<<<<< + * if inc: + * Py_INCREF(( data)[0]) + */ + goto __pyx_L5; + } + + /* "View.MemoryView":1383 + * Py_DECREF(( data)[0]) + * else: + * refcount_objects_in_slice(data, shape + 1, strides + 1, ndim - 1, inc) # <<<<<<<<<<<<<< + * + * data += stride + */ + /*else*/ { + __pyx_memoryview_refcount_objects_in_slice(__pyx_v_data, (__pyx_v_shape + 1), (__pyx_v_strides + 1), (__pyx_v_ndim - 1), __pyx_v_inc); + } + __pyx_L5:; + + /* "View.MemoryView":1385 + * refcount_objects_in_slice(data, shape + 1, strides + 1, ndim - 1, inc) + * + * data += stride # <<<<<<<<<<<<<< + * + * + */ + __pyx_v_data = (__pyx_v_data + __pyx_v_stride); + } + + /* "View.MemoryView":1371 + * + * @cname('__pyx_memoryview_refcount_objects_in_slice') + * cdef void refcount_objects_in_slice(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, bint inc) noexcept: + * cdef Py_ssize_t i + */ + + /* function exit code */ +} + +/* "View.MemoryView":1391 + * + * @cname('__pyx_memoryview_slice_assign_scalar') + * cdef void slice_assign_scalar(__Pyx_memviewslice *dst, int ndim, # <<<<<<<<<<<<<< + * size_t itemsize, void *item, + * bint dtype_is_object) noexcept nogil: + */ + +static void __pyx_memoryview_slice_assign_scalar(__Pyx_memviewslice *__pyx_v_dst, int __pyx_v_ndim, size_t __pyx_v_itemsize, void *__pyx_v_item, int __pyx_v_dtype_is_object) { + + /* "View.MemoryView":1394 + * size_t itemsize, void *item, + * bint dtype_is_object) noexcept nogil: + * refcount_copying(dst, dtype_is_object, ndim, inc=False) # <<<<<<<<<<<<<< + * _slice_assign_scalar(dst.data, dst.shape, dst.strides, ndim, itemsize, item) + * refcount_copying(dst, dtype_is_object, ndim, inc=True) + */ + __pyx_memoryview_refcount_copying(__pyx_v_dst, __pyx_v_dtype_is_object, __pyx_v_ndim, 0); + + /* "View.MemoryView":1395 + * bint dtype_is_object) noexcept nogil: + * refcount_copying(dst, dtype_is_object, ndim, inc=False) + * _slice_assign_scalar(dst.data, dst.shape, dst.strides, ndim, itemsize, item) # <<<<<<<<<<<<<< + * refcount_copying(dst, dtype_is_object, ndim, inc=True) + * + */ + __pyx_memoryview__slice_assign_scalar(__pyx_v_dst->data, __pyx_v_dst->shape, __pyx_v_dst->strides, __pyx_v_ndim, __pyx_v_itemsize, __pyx_v_item); + + /* "View.MemoryView":1396 + * refcount_copying(dst, dtype_is_object, ndim, inc=False) + * _slice_assign_scalar(dst.data, dst.shape, dst.strides, ndim, itemsize, item) + * refcount_copying(dst, dtype_is_object, ndim, inc=True) # <<<<<<<<<<<<<< + * + * + */ + __pyx_memoryview_refcount_copying(__pyx_v_dst, __pyx_v_dtype_is_object, __pyx_v_ndim, 1); + + /* "View.MemoryView":1391 + * + * @cname('__pyx_memoryview_slice_assign_scalar') + * cdef void slice_assign_scalar(__Pyx_memviewslice *dst, int ndim, # <<<<<<<<<<<<<< + * size_t itemsize, void *item, + * bint dtype_is_object) noexcept nogil: + */ + + /* function exit code */ +} + +/* "View.MemoryView":1400 + * + * @cname('__pyx_memoryview__slice_assign_scalar') + * cdef void _slice_assign_scalar(char *data, Py_ssize_t *shape, # <<<<<<<<<<<<<< + * Py_ssize_t *strides, int ndim, + * size_t itemsize, void *item) noexcept nogil: + */ + +static void __pyx_memoryview__slice_assign_scalar(char *__pyx_v_data, Py_ssize_t *__pyx_v_shape, Py_ssize_t *__pyx_v_strides, int __pyx_v_ndim, size_t __pyx_v_itemsize, void *__pyx_v_item) { + CYTHON_UNUSED Py_ssize_t __pyx_v_i; + Py_ssize_t __pyx_v_stride; + Py_ssize_t __pyx_v_extent; + int __pyx_t_1; + Py_ssize_t __pyx_t_2; + Py_ssize_t __pyx_t_3; + Py_ssize_t __pyx_t_4; + + /* "View.MemoryView":1404 + * size_t itemsize, void *item) noexcept nogil: + * cdef Py_ssize_t i + * cdef Py_ssize_t stride = strides[0] # <<<<<<<<<<<<<< + * cdef Py_ssize_t extent = shape[0] + * + */ + __pyx_v_stride = (__pyx_v_strides[0]); + + /* "View.MemoryView":1405 + * cdef Py_ssize_t i + * cdef Py_ssize_t stride = strides[0] + * cdef Py_ssize_t extent = shape[0] # <<<<<<<<<<<<<< + * + * if ndim == 1: + */ + __pyx_v_extent = (__pyx_v_shape[0]); + + /* "View.MemoryView":1407 + * cdef Py_ssize_t extent = shape[0] + * + * if ndim == 1: # <<<<<<<<<<<<<< + * for i in range(extent): + * memcpy(data, item, itemsize) + */ + __pyx_t_1 = (__pyx_v_ndim == 1); + if (__pyx_t_1) { + + /* "View.MemoryView":1408 + * + * if ndim == 1: + * for i in range(extent): # <<<<<<<<<<<<<< + * memcpy(data, item, itemsize) + * data += stride + */ + __pyx_t_2 = __pyx_v_extent; + __pyx_t_3 = __pyx_t_2; + for (__pyx_t_4 = 0; __pyx_t_4 < __pyx_t_3; __pyx_t_4+=1) { + __pyx_v_i = __pyx_t_4; + + /* "View.MemoryView":1409 + * if ndim == 1: + * for i in range(extent): + * memcpy(data, item, itemsize) # <<<<<<<<<<<<<< + * data += stride + * else: + */ + (void)(memcpy(__pyx_v_data, __pyx_v_item, __pyx_v_itemsize)); + + /* 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if (likely((values[0] = __Pyx_GetKwValue_FASTCALL(__pyx_kwds, __pyx_kwvalues, __pyx_n_s_pyx_type)) != 0)) { + (void)__Pyx_Arg_NewRef_FASTCALL(values[0]); + kw_args--; + } + else if (unlikely(PyErr_Occurred())) __PYX_ERR(0, 1, __pyx_L3_error) + else goto __pyx_L5_argtuple_error; + CYTHON_FALLTHROUGH; + case 1: + if (likely((values[1] = __Pyx_GetKwValue_FASTCALL(__pyx_kwds, __pyx_kwvalues, __pyx_n_s_pyx_checksum)) != 0)) { + (void)__Pyx_Arg_NewRef_FASTCALL(values[1]); + kw_args--; + } + else if (unlikely(PyErr_Occurred())) __PYX_ERR(0, 1, __pyx_L3_error) + else { + __Pyx_RaiseArgtupleInvalid("__pyx_unpickle_Enum", 1, 3, 3, 1); __PYX_ERR(0, 1, __pyx_L3_error) + } + CYTHON_FALLTHROUGH; + case 2: + if (likely((values[2] = __Pyx_GetKwValue_FASTCALL(__pyx_kwds, __pyx_kwvalues, __pyx_n_s_pyx_state)) != 0)) { + (void)__Pyx_Arg_NewRef_FASTCALL(values[2]); + kw_args--; + } + else if (unlikely(PyErr_Occurred())) __PYX_ERR(0, 1, __pyx_L3_error) + else { + 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PyMethodDef __pyx_methods_9selfdrive_6modeld_7runners_15thneedmodel_pyx_ThneedModel[] = { + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_9selfdrive_6modeld_7runners_15thneedmodel_pyx_11ThneedModel_3__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw_9selfdrive_6modeld_7runners_15thneedmodel_pyx_11ThneedModel_5__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type_9selfdrive_6modeld_7runners_15thneedmodel_pyx_ThneedModel_slots[] = { + {Py_tp_methods, (void *)__pyx_methods_9selfdrive_6modeld_7runners_15thneedmodel_pyx_ThneedModel}, + {Py_tp_new, (void *)__pyx_tp_new_9selfdrive_6modeld_7runners_15thneedmodel_pyx_ThneedModel}, + {0, 0}, +}; +static PyType_Spec __pyx_type_9selfdrive_6modeld_7runners_15thneedmodel_pyx_ThneedModel_spec = { + "selfdrive.modeld.runners.thneedmodel_pyx.ThneedModel", + sizeof(struct __pyx_obj_9selfdrive_6modeld_7runners_15thneedmodel_pyx_ThneedModel), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_FINALIZE, + __pyx_type_9selfdrive_6modeld_7runners_15thneedmodel_pyx_ThneedModel_slots, +}; +#else + +static PyTypeObject __pyx_type_9selfdrive_6modeld_7runners_15thneedmodel_pyx_ThneedModel = { + PyVarObject_HEAD_INIT(0, 0) + "selfdrive.modeld.runners.thneedmodel_pyx.""ThneedModel", /*tp_name*/ + sizeof(struct __pyx_obj_9selfdrive_6modeld_7runners_15thneedmodel_pyx_ThneedModel), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + 0, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + 0, /*tp_repr*/ + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_FINALIZE, /*tp_flags*/ + 0, /*tp_doc*/ + 0, /*tp_traverse*/ + 0, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_9selfdrive_6modeld_7runners_15thneedmodel_pyx_ThneedModel, /*tp_methods*/ + 0, /*tp_members*/ + 0, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_9selfdrive_6modeld_7runners_15thneedmodel_pyx_ThneedModel, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif +static struct __pyx_vtabstruct_array __pyx_vtable_array; + +static PyObject *__pyx_tp_new_array(PyTypeObject *t, PyObject *a, PyObject *k) { + struct __pyx_array_obj *p; + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + p = ((struct __pyx_array_obj *)o); + p->__pyx_vtab = __pyx_vtabptr_array; + p->mode = ((PyObject*)Py_None); Py_INCREF(Py_None); + p->_format = ((PyObject*)Py_None); Py_INCREF(Py_None); + if (unlikely(__pyx_array___cinit__(o, a, k) < 0)) goto bad; + return o; + bad: + Py_DECREF(o); o = 0; + return NULL; +} + +static void __pyx_tp_dealloc_array(PyObject *o) { + struct __pyx_array_obj *p = (struct __pyx_array_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && (!PyType_IS_GC(Py_TYPE(o)) || !__Pyx_PyObject_GC_IsFinalized(o))) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_array) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_array___dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + Py_CLEAR(p->mode); + Py_CLEAR(p->_format); + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} +static PyObject *__pyx_sq_item_array(PyObject *o, Py_ssize_t i) { + PyObject *r; + PyObject *x = PyInt_FromSsize_t(i); if(!x) return 0; + r = Py_TYPE(o)->tp_as_mapping->mp_subscript(o, x); + Py_DECREF(x); + return r; +} + +static int __pyx_mp_ass_subscript_array(PyObject *o, PyObject *i, PyObject *v) { + if (v) { + return __pyx_array___setitem__(o, i, v); + } + else { + __Pyx_TypeName o_type_name; + o_type_name = __Pyx_PyType_GetName(Py_TYPE(o)); + PyErr_Format(PyExc_NotImplementedError, + "Subscript deletion not supported by " __Pyx_FMT_TYPENAME, o_type_name); + __Pyx_DECREF_TypeName(o_type_name); + return -1; + } +} + +static PyObject *__pyx_tp_getattro_array(PyObject *o, PyObject *n) { + PyObject *v = __Pyx_PyObject_GenericGetAttr(o, n); + if (!v && PyErr_ExceptionMatches(PyExc_AttributeError)) { + PyErr_Clear(); + v = __pyx_array___getattr__(o, n); + } + return v; +} + +static PyObject *__pyx_getprop___pyx_array_memview(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_5array_7memview_1__get__(o); +} + +static PyMethodDef __pyx_methods_array[] = { + {"__getattr__", (PyCFunction)__pyx_array___getattr__, METH_O|METH_COEXIST, 0}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_array_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_array_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; + +static struct PyGetSetDef __pyx_getsets_array[] = { + {(char *)"memview", __pyx_getprop___pyx_array_memview, 0, (char *)0, 0}, + {0, 0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +#if !CYTHON_COMPILING_IN_LIMITED_API + +static PyBufferProcs __pyx_tp_as_buffer_array = { + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getreadbuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getwritebuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getsegcount*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getcharbuffer*/ + #endif + __pyx_array_getbuffer, /*bf_getbuffer*/ + 0, /*bf_releasebuffer*/ +}; +#endif +static PyType_Slot __pyx_type___pyx_array_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_array}, + {Py_sq_length, (void *)__pyx_array___len__}, + {Py_sq_item, (void *)__pyx_sq_item_array}, + {Py_mp_length, (void *)__pyx_array___len__}, + {Py_mp_subscript, (void *)__pyx_array___getitem__}, + {Py_mp_ass_subscript, (void *)__pyx_mp_ass_subscript_array}, + {Py_tp_getattro, (void *)__pyx_tp_getattro_array}, + #if defined(Py_bf_getbuffer) + {Py_bf_getbuffer, (void *)__pyx_array_getbuffer}, + #endif + {Py_tp_methods, (void *)__pyx_methods_array}, + {Py_tp_getset, (void *)__pyx_getsets_array}, + {Py_tp_new, (void *)__pyx_tp_new_array}, + {0, 0}, +}; +static PyType_Spec __pyx_type___pyx_array_spec = { + "selfdrive.modeld.runners.thneedmodel_pyx.array", + sizeof(struct __pyx_array_obj), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_SEQUENCE, + __pyx_type___pyx_array_slots, +}; +#else + +static PySequenceMethods __pyx_tp_as_sequence_array = { + __pyx_array___len__, /*sq_length*/ + 0, /*sq_concat*/ + 0, /*sq_repeat*/ + __pyx_sq_item_array, /*sq_item*/ + 0, /*sq_slice*/ + 0, /*sq_ass_item*/ + 0, /*sq_ass_slice*/ + 0, /*sq_contains*/ + 0, /*sq_inplace_concat*/ + 0, /*sq_inplace_repeat*/ +}; + +static PyMappingMethods __pyx_tp_as_mapping_array = { + __pyx_array___len__, /*mp_length*/ + __pyx_array___getitem__, /*mp_subscript*/ + __pyx_mp_ass_subscript_array, /*mp_ass_subscript*/ +}; + +static PyBufferProcs __pyx_tp_as_buffer_array = { + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getreadbuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getwritebuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getsegcount*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getcharbuffer*/ + #endif + __pyx_array_getbuffer, /*bf_getbuffer*/ + 0, /*bf_releasebuffer*/ +}; + +static PyTypeObject __pyx_type___pyx_array = { + PyVarObject_HEAD_INIT(0, 0) + "selfdrive.modeld.runners.thneedmodel_pyx.""array", /*tp_name*/ + sizeof(struct __pyx_array_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_array, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + 0, /*tp_repr*/ + 0, /*tp_as_number*/ + &__pyx_tp_as_sequence_array, /*tp_as_sequence*/ + &__pyx_tp_as_mapping_array, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + __pyx_tp_getattro_array, /*tp_getattro*/ + 0, /*tp_setattro*/ + &__pyx_tp_as_buffer_array, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_SEQUENCE, /*tp_flags*/ + 0, /*tp_doc*/ + 0, /*tp_traverse*/ + 0, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_array, /*tp_methods*/ + 0, /*tp_members*/ + __pyx_getsets_array, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_array, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif + +static PyObject *__pyx_tp_new_Enum(PyTypeObject *t, CYTHON_UNUSED PyObject *a, CYTHON_UNUSED PyObject *k) { + struct __pyx_MemviewEnum_obj *p; + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + p = ((struct __pyx_MemviewEnum_obj *)o); + p->name = Py_None; Py_INCREF(Py_None); + return o; +} + +static void __pyx_tp_dealloc_Enum(PyObject *o) { + struct __pyx_MemviewEnum_obj *p = (struct __pyx_MemviewEnum_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && !__Pyx_PyObject_GC_IsFinalized(o)) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_Enum) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + PyObject_GC_UnTrack(o); + Py_CLEAR(p->name); + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} + +static int __pyx_tp_traverse_Enum(PyObject *o, visitproc v, void *a) { + int e; + struct __pyx_MemviewEnum_obj *p = (struct __pyx_MemviewEnum_obj *)o; + if (p->name) { + e = (*v)(p->name, a); if (e) return e; + } + return 0; +} + +static int __pyx_tp_clear_Enum(PyObject *o) { + PyObject* tmp; + struct __pyx_MemviewEnum_obj *p = (struct __pyx_MemviewEnum_obj *)o; + tmp = ((PyObject*)p->name); + p->name = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + return 0; +} + +static PyObject *__pyx_specialmethod___pyx_MemviewEnum___repr__(PyObject *self, CYTHON_UNUSED PyObject *arg) { + return __pyx_MemviewEnum___repr__(self); +} + +static PyMethodDef __pyx_methods_Enum[] = { + {"__repr__", (PyCFunction)__pyx_specialmethod___pyx_MemviewEnum___repr__, METH_NOARGS|METH_COEXIST, 0}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_MemviewEnum_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_MemviewEnum_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type___pyx_MemviewEnum_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_Enum}, + {Py_tp_repr, (void *)__pyx_MemviewEnum___repr__}, + {Py_tp_traverse, (void *)__pyx_tp_traverse_Enum}, + {Py_tp_clear, (void *)__pyx_tp_clear_Enum}, + {Py_tp_methods, (void *)__pyx_methods_Enum}, + {Py_tp_init, (void *)__pyx_MemviewEnum___init__}, + {Py_tp_new, (void *)__pyx_tp_new_Enum}, + {0, 0}, +}; +static PyType_Spec __pyx_type___pyx_MemviewEnum_spec = { + "selfdrive.modeld.runners.thneedmodel_pyx.Enum", + sizeof(struct __pyx_MemviewEnum_obj), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, + __pyx_type___pyx_MemviewEnum_slots, +}; +#else + +static PyTypeObject __pyx_type___pyx_MemviewEnum = { + PyVarObject_HEAD_INIT(0, 0) + "selfdrive.modeld.runners.thneedmodel_pyx.""Enum", /*tp_name*/ + sizeof(struct __pyx_MemviewEnum_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_Enum, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + __pyx_MemviewEnum___repr__, /*tp_repr*/ + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + 0, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, /*tp_flags*/ + 0, /*tp_doc*/ + __pyx_tp_traverse_Enum, /*tp_traverse*/ + __pyx_tp_clear_Enum, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_Enum, /*tp_methods*/ + 0, /*tp_members*/ + 0, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + __pyx_MemviewEnum___init__, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_Enum, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif +static struct __pyx_vtabstruct_memoryview __pyx_vtable_memoryview; + +static PyObject *__pyx_tp_new_memoryview(PyTypeObject *t, PyObject *a, PyObject *k) { + struct __pyx_memoryview_obj *p; + PyObject *o; + #if CYTHON_COMPILING_IN_LIMITED_API + allocfunc alloc_func = (allocfunc)PyType_GetSlot(t, Py_tp_alloc); + o = alloc_func(t, 0); + #else + if (likely(!__Pyx_PyType_HasFeature(t, Py_TPFLAGS_IS_ABSTRACT))) { + o = (*t->tp_alloc)(t, 0); + } else { + o = (PyObject *) PyBaseObject_Type.tp_new(t, __pyx_empty_tuple, 0); + } + if (unlikely(!o)) return 0; + #endif + p = ((struct __pyx_memoryview_obj *)o); + p->__pyx_vtab = __pyx_vtabptr_memoryview; + p->obj = Py_None; Py_INCREF(Py_None); + p->_size = Py_None; Py_INCREF(Py_None); + p->_array_interface = Py_None; Py_INCREF(Py_None); + p->view.obj = NULL; + if (unlikely(__pyx_memoryview___cinit__(o, a, k) < 0)) goto bad; + return o; + bad: + Py_DECREF(o); o = 0; + return NULL; +} + +static void __pyx_tp_dealloc_memoryview(PyObject *o) { + struct __pyx_memoryview_obj *p = (struct __pyx_memoryview_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && !__Pyx_PyObject_GC_IsFinalized(o)) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc_memoryview) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + PyObject_GC_UnTrack(o); + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_memoryview___dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + Py_CLEAR(p->obj); + Py_CLEAR(p->_size); + Py_CLEAR(p->_array_interface); + #if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + (*Py_TYPE(o)->tp_free)(o); + #else + { + freefunc tp_free = (freefunc)PyType_GetSlot(Py_TYPE(o), Py_tp_free); + if (tp_free) tp_free(o); + } + #endif +} + +static int __pyx_tp_traverse_memoryview(PyObject *o, visitproc v, void *a) { + int e; + struct __pyx_memoryview_obj *p = (struct __pyx_memoryview_obj *)o; + if (p->obj) { + e = (*v)(p->obj, a); if (e) return e; + } + if (p->_size) { + e = (*v)(p->_size, a); if (e) return e; + } + if (p->_array_interface) { + e = (*v)(p->_array_interface, a); if (e) return e; + } + if (p->view.obj) { + e = (*v)(p->view.obj, a); if (e) return e; + } + return 0; +} + +static int __pyx_tp_clear_memoryview(PyObject *o) { + PyObject* tmp; + struct __pyx_memoryview_obj *p = (struct __pyx_memoryview_obj *)o; + tmp = ((PyObject*)p->obj); + p->obj = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + tmp = ((PyObject*)p->_size); + p->_size = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + tmp = ((PyObject*)p->_array_interface); + p->_array_interface = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + Py_CLEAR(p->view.obj); + return 0; +} +static PyObject *__pyx_sq_item_memoryview(PyObject *o, Py_ssize_t i) { + PyObject *r; + PyObject *x = PyInt_FromSsize_t(i); if(!x) return 0; + r = Py_TYPE(o)->tp_as_mapping->mp_subscript(o, x); + Py_DECREF(x); + return r; +} + +static int __pyx_mp_ass_subscript_memoryview(PyObject *o, PyObject *i, PyObject *v) { + if (v) { + return __pyx_memoryview___setitem__(o, i, v); + } + else { + __Pyx_TypeName o_type_name; + o_type_name = __Pyx_PyType_GetName(Py_TYPE(o)); + PyErr_Format(PyExc_NotImplementedError, + "Subscript deletion not supported by " __Pyx_FMT_TYPENAME, o_type_name); + __Pyx_DECREF_TypeName(o_type_name); + return -1; + } +} + +static PyObject *__pyx_getprop___pyx_memoryview_T(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_1T_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_base(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_4base_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_shape(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_5shape_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_strides(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_7strides_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_suboffsets(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_10suboffsets_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_ndim(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_4ndim_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_itemsize(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_8itemsize_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_nbytes(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_6nbytes_1__get__(o); +} + +static PyObject *__pyx_getprop___pyx_memoryview_size(PyObject *o, CYTHON_UNUSED void *x) { + return __pyx_pw_15View_dot_MemoryView_10memoryview_4size_1__get__(o); +} + +static PyObject *__pyx_specialmethod___pyx_memoryview___repr__(PyObject *self, CYTHON_UNUSED PyObject *arg) { + return __pyx_memoryview___repr__(self); +} + +static PyMethodDef __pyx_methods_memoryview[] = { + {"__repr__", (PyCFunction)__pyx_specialmethod___pyx_memoryview___repr__, METH_NOARGS|METH_COEXIST, 0}, + {"is_c_contig", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_memoryview_is_c_contig, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"is_f_contig", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_memoryview_is_f_contig, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"copy", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_memoryview_copy, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"copy_fortran", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_memoryview_copy_fortran, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_memoryview_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_memoryview_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; + +static struct PyGetSetDef __pyx_getsets_memoryview[] = { + {(char *)"T", __pyx_getprop___pyx_memoryview_T, 0, (char *)0, 0}, + {(char *)"base", __pyx_getprop___pyx_memoryview_base, 0, (char *)0, 0}, + {(char *)"shape", __pyx_getprop___pyx_memoryview_shape, 0, (char *)0, 0}, + {(char *)"strides", __pyx_getprop___pyx_memoryview_strides, 0, (char *)0, 0}, + {(char *)"suboffsets", __pyx_getprop___pyx_memoryview_suboffsets, 0, (char *)0, 0}, + {(char *)"ndim", __pyx_getprop___pyx_memoryview_ndim, 0, (char *)0, 0}, + {(char *)"itemsize", __pyx_getprop___pyx_memoryview_itemsize, 0, (char *)0, 0}, + {(char *)"nbytes", __pyx_getprop___pyx_memoryview_nbytes, 0, (char *)0, 0}, + {(char *)"size", __pyx_getprop___pyx_memoryview_size, 0, (char *)0, 0}, + {0, 0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +#if !CYTHON_COMPILING_IN_LIMITED_API + +static PyBufferProcs __pyx_tp_as_buffer_memoryview = { + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getreadbuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getwritebuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getsegcount*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getcharbuffer*/ + #endif + __pyx_memoryview_getbuffer, /*bf_getbuffer*/ + 0, /*bf_releasebuffer*/ +}; +#endif +static PyType_Slot __pyx_type___pyx_memoryview_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc_memoryview}, + {Py_tp_repr, (void *)__pyx_memoryview___repr__}, + {Py_sq_length, (void *)__pyx_memoryview___len__}, + {Py_sq_item, (void *)__pyx_sq_item_memoryview}, + {Py_mp_length, (void *)__pyx_memoryview___len__}, + {Py_mp_subscript, (void *)__pyx_memoryview___getitem__}, + {Py_mp_ass_subscript, (void *)__pyx_mp_ass_subscript_memoryview}, + {Py_tp_str, (void *)__pyx_memoryview___str__}, + #if defined(Py_bf_getbuffer) + {Py_bf_getbuffer, (void *)__pyx_memoryview_getbuffer}, + #endif + {Py_tp_traverse, (void *)__pyx_tp_traverse_memoryview}, + {Py_tp_clear, (void *)__pyx_tp_clear_memoryview}, + {Py_tp_methods, (void *)__pyx_methods_memoryview}, + {Py_tp_getset, (void *)__pyx_getsets_memoryview}, + {Py_tp_new, (void *)__pyx_tp_new_memoryview}, + {0, 0}, +}; +static PyType_Spec __pyx_type___pyx_memoryview_spec = { + "selfdrive.modeld.runners.thneedmodel_pyx.memoryview", + sizeof(struct __pyx_memoryview_obj), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, + __pyx_type___pyx_memoryview_slots, +}; +#else + +static PySequenceMethods __pyx_tp_as_sequence_memoryview = { + __pyx_memoryview___len__, /*sq_length*/ + 0, /*sq_concat*/ + 0, /*sq_repeat*/ + __pyx_sq_item_memoryview, /*sq_item*/ + 0, /*sq_slice*/ + 0, /*sq_ass_item*/ + 0, /*sq_ass_slice*/ + 0, /*sq_contains*/ + 0, /*sq_inplace_concat*/ + 0, /*sq_inplace_repeat*/ +}; + +static PyMappingMethods __pyx_tp_as_mapping_memoryview = { + __pyx_memoryview___len__, /*mp_length*/ + __pyx_memoryview___getitem__, /*mp_subscript*/ + __pyx_mp_ass_subscript_memoryview, /*mp_ass_subscript*/ +}; + +static PyBufferProcs __pyx_tp_as_buffer_memoryview = { + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getreadbuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getwritebuffer*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getsegcount*/ + #endif + #if PY_MAJOR_VERSION < 3 + 0, /*bf_getcharbuffer*/ + #endif + __pyx_memoryview_getbuffer, /*bf_getbuffer*/ + 0, /*bf_releasebuffer*/ +}; + +static PyTypeObject __pyx_type___pyx_memoryview = { + PyVarObject_HEAD_INIT(0, 0) + "selfdrive.modeld.runners.thneedmodel_pyx.""memoryview", /*tp_name*/ + sizeof(struct __pyx_memoryview_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc_memoryview, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + __pyx_memoryview___repr__, /*tp_repr*/ + 0, /*tp_as_number*/ + &__pyx_tp_as_sequence_memoryview, /*tp_as_sequence*/ + &__pyx_tp_as_mapping_memoryview, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + __pyx_memoryview___str__, /*tp_str*/ + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + &__pyx_tp_as_buffer_memoryview, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC, /*tp_flags*/ + 0, /*tp_doc*/ + __pyx_tp_traverse_memoryview, /*tp_traverse*/ + __pyx_tp_clear_memoryview, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods_memoryview, /*tp_methods*/ + 0, /*tp_members*/ + __pyx_getsets_memoryview, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new_memoryview, /*tp_new*/ + 0, /*tp_free*/ + 0, /*tp_is_gc*/ + 0, /*tp_bases*/ + 0, /*tp_mro*/ + 0, /*tp_cache*/ + 0, /*tp_subclasses*/ + 0, /*tp_weaklist*/ + 0, /*tp_del*/ + 0, /*tp_version_tag*/ + #if PY_VERSION_HEX >= 0x030400a1 + #if CYTHON_USE_TP_FINALIZE + 0, /*tp_finalize*/ + #else + NULL, /*tp_finalize*/ + #endif + #endif + #if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, /*tp_vectorcall*/ + #endif + #if __PYX_NEED_TP_PRINT_SLOT == 1 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030C0000 + 0, /*tp_watched*/ + #endif + #if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, /*tp_pypy_flags*/ + #endif +}; +#endif +static struct __pyx_vtabstruct__memoryviewslice __pyx_vtable__memoryviewslice; + +static PyObject *__pyx_tp_new__memoryviewslice(PyTypeObject *t, PyObject *a, PyObject *k) { + struct __pyx_memoryviewslice_obj *p; + PyObject *o = __pyx_tp_new_memoryview(t, a, k); + if (unlikely(!o)) return 0; + p = ((struct __pyx_memoryviewslice_obj *)o); + p->__pyx_base.__pyx_vtab = (struct __pyx_vtabstruct_memoryview*)__pyx_vtabptr__memoryviewslice; + new((void*)&(p->from_slice)) __Pyx_memviewslice(); + p->from_object = Py_None; Py_INCREF(Py_None); + p->from_slice.memview = NULL; + return o; +} + +static void __pyx_tp_dealloc__memoryviewslice(PyObject *o) { + struct __pyx_memoryviewslice_obj *p = (struct __pyx_memoryviewslice_obj *)o; + #if CYTHON_USE_TP_FINALIZE + if (unlikely((PY_VERSION_HEX >= 0x03080000 || __Pyx_PyType_HasFeature(Py_TYPE(o), Py_TPFLAGS_HAVE_FINALIZE)) && __Pyx_PyObject_GetSlot(o, tp_finalize, destructor)) && !__Pyx_PyObject_GC_IsFinalized(o)) { + if (__Pyx_PyObject_GetSlot(o, tp_dealloc, destructor) == __pyx_tp_dealloc__memoryviewslice) { + if (PyObject_CallFinalizerFromDealloc(o)) return; + } + } + #endif + PyObject_GC_UnTrack(o); + { + PyObject *etype, *eval, *etb; + PyErr_Fetch(&etype, &eval, &etb); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) + 1); + __pyx_memoryviewslice___dealloc__(o); + __Pyx_SET_REFCNT(o, Py_REFCNT(o) - 1); + PyErr_Restore(etype, eval, etb); + } + __Pyx_call_destructor(p->from_slice); + Py_CLEAR(p->from_object); + PyObject_GC_Track(o); + __pyx_tp_dealloc_memoryview(o); +} + +static int __pyx_tp_traverse__memoryviewslice(PyObject *o, visitproc v, void *a) { + int e; + struct __pyx_memoryviewslice_obj *p = (struct __pyx_memoryviewslice_obj *)o; + e = __pyx_tp_traverse_memoryview(o, v, a); if (e) return e; + if (p->from_object) { + e = (*v)(p->from_object, a); if (e) return e; + } + return 0; +} + +static int __pyx_tp_clear__memoryviewslice(PyObject *o) { + PyObject* tmp; + struct __pyx_memoryviewslice_obj *p = (struct __pyx_memoryviewslice_obj *)o; + __pyx_tp_clear_memoryview(o); + tmp = ((PyObject*)p->from_object); + p->from_object = Py_None; Py_INCREF(Py_None); + Py_XDECREF(tmp); + __PYX_XCLEAR_MEMVIEW(&p->from_slice, 1); + return 0; +} + +static PyMethodDef __pyx_methods__memoryviewslice[] = { + {"__reduce_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_memoryviewslice_1__reduce_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {"__setstate_cython__", (PyCFunction)(void*)(__Pyx_PyCFunction_FastCallWithKeywords)__pyx_pw___pyx_memoryviewslice_3__setstate_cython__, __Pyx_METH_FASTCALL|METH_KEYWORDS, 0}, + {0, 0, 0, 0} +}; +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_type___pyx_memoryviewslice_slots[] = { + {Py_tp_dealloc, (void *)__pyx_tp_dealloc__memoryviewslice}, + {Py_tp_doc, (void *)PyDoc_STR("Internal class for passing memoryview slices to Python")}, + {Py_tp_traverse, (void *)__pyx_tp_traverse__memoryviewslice}, + {Py_tp_clear, (void *)__pyx_tp_clear__memoryviewslice}, + {Py_tp_methods, (void *)__pyx_methods__memoryviewslice}, + {Py_tp_new, (void *)__pyx_tp_new__memoryviewslice}, + {0, 0}, +}; +static PyType_Spec __pyx_type___pyx_memoryviewslice_spec = { + "selfdrive.modeld.runners.thneedmodel_pyx._memoryviewslice", + sizeof(struct __pyx_memoryviewslice_obj), + 0, + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC|Py_TPFLAGS_SEQUENCE, + __pyx_type___pyx_memoryviewslice_slots, +}; +#else + +static PyTypeObject __pyx_type___pyx_memoryviewslice = { + PyVarObject_HEAD_INIT(0, 0) + "selfdrive.modeld.runners.thneedmodel_pyx.""_memoryviewslice", /*tp_name*/ + sizeof(struct __pyx_memoryviewslice_obj), /*tp_basicsize*/ + 0, /*tp_itemsize*/ + __pyx_tp_dealloc__memoryviewslice, /*tp_dealloc*/ + #if PY_VERSION_HEX < 0x030800b4 + 0, /*tp_print*/ + #endif + #if PY_VERSION_HEX >= 0x030800b4 + 0, /*tp_vectorcall_offset*/ + #endif + 0, /*tp_getattr*/ + 0, /*tp_setattr*/ + #if PY_MAJOR_VERSION < 3 + 0, /*tp_compare*/ + #endif + #if PY_MAJOR_VERSION >= 3 + 0, /*tp_as_async*/ + #endif + #if CYTHON_COMPILING_IN_PYPY || 0 + __pyx_memoryview___repr__, /*tp_repr*/ + #else + 0, /*tp_repr*/ + #endif + 0, /*tp_as_number*/ + 0, /*tp_as_sequence*/ + 0, /*tp_as_mapping*/ + 0, /*tp_hash*/ + 0, /*tp_call*/ + #if CYTHON_COMPILING_IN_PYPY || 0 + __pyx_memoryview___str__, /*tp_str*/ + #else + 0, /*tp_str*/ + #endif + 0, /*tp_getattro*/ + 0, /*tp_setattro*/ + 0, /*tp_as_buffer*/ + Py_TPFLAGS_DEFAULT|Py_TPFLAGS_HAVE_VERSION_TAG|Py_TPFLAGS_CHECKTYPES|Py_TPFLAGS_HAVE_NEWBUFFER|Py_TPFLAGS_BASETYPE|Py_TPFLAGS_HAVE_GC|Py_TPFLAGS_SEQUENCE, /*tp_flags*/ + PyDoc_STR("Internal class for passing memoryview slices to Python"), /*tp_doc*/ + __pyx_tp_traverse__memoryviewslice, /*tp_traverse*/ + __pyx_tp_clear__memoryviewslice, /*tp_clear*/ + 0, /*tp_richcompare*/ + 0, /*tp_weaklistoffset*/ + 0, /*tp_iter*/ + 0, /*tp_iternext*/ + __pyx_methods__memoryviewslice, /*tp_methods*/ + 0, /*tp_members*/ + 0, /*tp_getset*/ + 0, /*tp_base*/ + 0, /*tp_dict*/ + 0, /*tp_descr_get*/ + 0, /*tp_descr_set*/ + #if !CYTHON_USE_TYPE_SPECS + 0, /*tp_dictoffset*/ + #endif + 0, /*tp_init*/ + 0, /*tp_alloc*/ + __pyx_tp_new__memoryviewslice, /*tp_new*/ + 0, /*tp_free*/ + 0, 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+ if (n <= 0) { + Py_INCREF(__pyx_empty_tuple); + return __pyx_empty_tuple; + } + res = PyTuple_New(n); + if (unlikely(res == NULL)) return NULL; + __Pyx_copy_object_array(src, ((PyTupleObject*)res)->ob_item, n); + return res; +} +static CYTHON_INLINE PyObject * +__Pyx_PyList_FromArray(PyObject *const *src, Py_ssize_t n) +{ + PyObject *res; + if (n <= 0) { + return PyList_New(0); + } + res = PyList_New(n); + if (unlikely(res == NULL)) return NULL; + __Pyx_copy_object_array(src, ((PyListObject*)res)->ob_item, n); + return res; +} +#endif + +/* BytesEquals */ +static CYTHON_INLINE int __Pyx_PyBytes_Equals(PyObject* s1, PyObject* s2, int equals) { +#if CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API + return PyObject_RichCompareBool(s1, s2, equals); +#else + if (s1 == s2) { + return (equals == Py_EQ); + } else if (PyBytes_CheckExact(s1) & PyBytes_CheckExact(s2)) { + const char *ps1, *ps2; + Py_ssize_t length = PyBytes_GET_SIZE(s1); + if (length != PyBytes_GET_SIZE(s2)) + return (equals == Py_NE); + ps1 = PyBytes_AS_STRING(s1); + ps2 = PyBytes_AS_STRING(s2); + if (ps1[0] != ps2[0]) { + return (equals == Py_NE); + } else if (length == 1) { + return (equals == Py_EQ); + } else { + int result; +#if CYTHON_USE_UNICODE_INTERNALS && (PY_VERSION_HEX < 0x030B0000) + Py_hash_t hash1, hash2; + hash1 = ((PyBytesObject*)s1)->ob_shash; + hash2 = ((PyBytesObject*)s2)->ob_shash; + if (hash1 != hash2 && hash1 != -1 && hash2 != -1) { + return (equals == Py_NE); + } +#endif + result = memcmp(ps1, ps2, (size_t)length); + return (equals == Py_EQ) ? (result == 0) : (result != 0); + } + } else if ((s1 == Py_None) & PyBytes_CheckExact(s2)) { + return (equals == Py_NE); + } else if ((s2 == Py_None) & PyBytes_CheckExact(s1)) { + return (equals == Py_NE); + } else { + int result; + PyObject* py_result = PyObject_RichCompare(s1, s2, equals); + if (!py_result) + return -1; + result = __Pyx_PyObject_IsTrue(py_result); + Py_DECREF(py_result); + return result; + } +#endif +} + +/* UnicodeEquals */ +static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int equals) { +#if CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API + return PyObject_RichCompareBool(s1, s2, equals); +#else +#if PY_MAJOR_VERSION < 3 + PyObject* owned_ref = NULL; +#endif + int s1_is_unicode, s2_is_unicode; + if (s1 == s2) { + goto return_eq; + } + s1_is_unicode = PyUnicode_CheckExact(s1); + s2_is_unicode = PyUnicode_CheckExact(s2); +#if PY_MAJOR_VERSION < 3 + if ((s1_is_unicode & (!s2_is_unicode)) && PyString_CheckExact(s2)) { + owned_ref = PyUnicode_FromObject(s2); + if (unlikely(!owned_ref)) + return -1; + s2 = owned_ref; + s2_is_unicode = 1; + } else if ((s2_is_unicode & (!s1_is_unicode)) && PyString_CheckExact(s1)) { + owned_ref = PyUnicode_FromObject(s1); + if (unlikely(!owned_ref)) + return -1; + s1 = owned_ref; + s1_is_unicode = 1; + } else if (((!s2_is_unicode) & (!s1_is_unicode))) { + return __Pyx_PyBytes_Equals(s1, s2, equals); + } +#endif + if (s1_is_unicode & s2_is_unicode) { + Py_ssize_t length; + int kind; + void *data1, *data2; + if (unlikely(__Pyx_PyUnicode_READY(s1) < 0) || unlikely(__Pyx_PyUnicode_READY(s2) < 0)) + return -1; + length = __Pyx_PyUnicode_GET_LENGTH(s1); + if (length != __Pyx_PyUnicode_GET_LENGTH(s2)) { + goto return_ne; + } +#if CYTHON_USE_UNICODE_INTERNALS + { + Py_hash_t hash1, hash2; + #if CYTHON_PEP393_ENABLED + hash1 = ((PyASCIIObject*)s1)->hash; + hash2 = ((PyASCIIObject*)s2)->hash; + #else + hash1 = ((PyUnicodeObject*)s1)->hash; + hash2 = ((PyUnicodeObject*)s2)->hash; + #endif + if (hash1 != hash2 && hash1 != -1 && hash2 != -1) { + goto return_ne; + } + } +#endif + kind = __Pyx_PyUnicode_KIND(s1); + if (kind != __Pyx_PyUnicode_KIND(s2)) { + goto return_ne; + } + data1 = __Pyx_PyUnicode_DATA(s1); + data2 = __Pyx_PyUnicode_DATA(s2); + if (__Pyx_PyUnicode_READ(kind, data1, 0) != __Pyx_PyUnicode_READ(kind, data2, 0)) { + goto return_ne; + } else if (length == 1) { + goto return_eq; + } else { + int result = memcmp(data1, data2, (size_t)(length * kind)); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_EQ) ? (result == 0) : (result != 0); + } + } else if ((s1 == Py_None) & s2_is_unicode) { + goto return_ne; + } else if ((s2 == Py_None) & s1_is_unicode) { + goto return_ne; + } else { + int result; + PyObject* py_result = PyObject_RichCompare(s1, s2, equals); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + if (!py_result) + return -1; + result = __Pyx_PyObject_IsTrue(py_result); + Py_DECREF(py_result); + return result; + } +return_eq: + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_EQ); +return_ne: + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_NE); +#endif +} + +/* fastcall */ +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE PyObject * __Pyx_GetKwValue_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues, PyObject *s) +{ + Py_ssize_t i, n = PyTuple_GET_SIZE(kwnames); + for (i = 0; i < n; i++) + { + if (s == PyTuple_GET_ITEM(kwnames, i)) return kwvalues[i]; + } + for (i = 0; i < n; i++) + { + int eq = __Pyx_PyUnicode_Equals(s, PyTuple_GET_ITEM(kwnames, i), Py_EQ); + if (unlikely(eq != 0)) { + if (unlikely(eq < 0)) return NULL; + return kwvalues[i]; + } + } + return NULL; +} +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 +CYTHON_UNUSED static PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues) { + Py_ssize_t i, nkwargs = PyTuple_GET_SIZE(kwnames); + PyObject *dict; + dict = PyDict_New(); + if (unlikely(!dict)) + return NULL; + for (i=0; i= 3 + "%s() got multiple values for keyword argument '%U'", func_name, kw_name); + #else + "%s() got multiple values for keyword argument '%s'", func_name, + PyString_AsString(kw_name)); + #endif +} + +/* ParseKeywords */ +static int __Pyx_ParseOptionalKeywords( + PyObject *kwds, + PyObject *const *kwvalues, + PyObject **argnames[], + PyObject *kwds2, + PyObject *values[], + Py_ssize_t num_pos_args, + const char* function_name) +{ + PyObject *key = 0, *value = 0; + Py_ssize_t pos = 0; + PyObject*** name; + PyObject*** first_kw_arg = argnames + num_pos_args; + int kwds_is_tuple = CYTHON_METH_FASTCALL && likely(PyTuple_Check(kwds)); + while (1) { + Py_XDECREF(key); key = NULL; + Py_XDECREF(value); value = NULL; + if (kwds_is_tuple) { + Py_ssize_t size; +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(kwds); +#else + size = PyTuple_Size(kwds); + if (size < 0) goto bad; +#endif + if (pos >= size) break; +#if CYTHON_AVOID_BORROWED_REFS + key = __Pyx_PySequence_ITEM(kwds, pos); + if (!key) goto bad; +#elif CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kwds, pos); +#else + key = PyTuple_GetItem(kwds, pos); + if (!key) goto bad; +#endif + value = kwvalues[pos]; + pos++; + } + else + { + if (!PyDict_Next(kwds, &pos, &key, &value)) break; +#if CYTHON_AVOID_BORROWED_REFS + Py_INCREF(key); +#endif + } + name = first_kw_arg; + while (*name && (**name != key)) name++; + if (*name) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + Py_INCREF(value); + Py_DECREF(key); +#endif + key = NULL; + value = NULL; + continue; + } +#if !CYTHON_AVOID_BORROWED_REFS + Py_INCREF(key); +#endif + Py_INCREF(value); + name = first_kw_arg; + #if PY_MAJOR_VERSION < 3 + if (likely(PyString_Check(key))) { + while (*name) { + if ((CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**name) == PyString_GET_SIZE(key)) + && _PyString_Eq(**name, key)) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + value = NULL; +#endif + break; + } + name++; + } + if (*name) continue; + else { + PyObject*** argname = argnames; + while (argname != first_kw_arg) { + if ((**argname == key) || ( + (CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**argname) == PyString_GET_SIZE(key)) + && _PyString_Eq(**argname, key))) { + goto arg_passed_twice; + } + argname++; + } + } + } else + #endif + if (likely(PyUnicode_Check(key))) { + while (*name) { + int cmp = ( + #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 + (__Pyx_PyUnicode_GET_LENGTH(**name) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : + #endif + PyUnicode_Compare(**name, key) + ); + if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; + if (cmp == 0) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + value = NULL; +#endif + break; + } + name++; + } + if (*name) continue; + else { + PyObject*** argname = argnames; + while (argname != first_kw_arg) { + int cmp = (**argname == key) ? 0 : + #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 + (__Pyx_PyUnicode_GET_LENGTH(**argname) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : + #endif + PyUnicode_Compare(**argname, key); + if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; + if (cmp == 0) goto arg_passed_twice; + argname++; + } + } + } else + goto invalid_keyword_type; + if (kwds2) { + if (unlikely(PyDict_SetItem(kwds2, key, value))) goto bad; + } else { + goto invalid_keyword; + } + } + Py_XDECREF(key); + Py_XDECREF(value); + return 0; +arg_passed_twice: + __Pyx_RaiseDoubleKeywordsError(function_name, key); + goto bad; +invalid_keyword_type: + PyErr_Format(PyExc_TypeError, + "%.200s() keywords must be strings", function_name); + goto bad; +invalid_keyword: + #if PY_MAJOR_VERSION < 3 + PyErr_Format(PyExc_TypeError, + "%.200s() got an unexpected keyword argument '%.200s'", + function_name, PyString_AsString(key)); + #else + PyErr_Format(PyExc_TypeError, + "%s() got an unexpected keyword argument '%U'", + function_name, key); + #endif +bad: + Py_XDECREF(key); + Py_XDECREF(value); + return -1; +} + +/* ArgTypeTest */ +static int __Pyx__ArgTypeTest(PyObject *obj, PyTypeObject *type, const char *name, int exact) +{ + __Pyx_TypeName type_name; + __Pyx_TypeName obj_type_name; + if (unlikely(!type)) { + PyErr_SetString(PyExc_SystemError, "Missing type object"); + return 0; + } + else if (exact) { + #if PY_MAJOR_VERSION == 2 + if ((type == &PyBaseString_Type) && likely(__Pyx_PyBaseString_CheckExact(obj))) return 1; + #endif + } + else { + if (likely(__Pyx_TypeCheck(obj, type))) return 1; + } + type_name = __Pyx_PyType_GetName(type); + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, + "Argument '%.200s' has incorrect type (expected " __Pyx_FMT_TYPENAME + ", got " __Pyx_FMT_TYPENAME ")", name, type_name, obj_type_name); + __Pyx_DECREF_TypeName(type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return 0; +} + +/* RaiseException */ +#if PY_MAJOR_VERSION < 3 +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) { + __Pyx_PyThreadState_declare + CYTHON_UNUSED_VAR(cause); + Py_XINCREF(type); + if (!value || value == Py_None) + value = NULL; + else + Py_INCREF(value); + if (!tb || tb == Py_None) + tb = NULL; + else { + Py_INCREF(tb); + if (!PyTraceBack_Check(tb)) { + PyErr_SetString(PyExc_TypeError, + "raise: arg 3 must be a traceback or None"); + goto raise_error; + } + } + if (PyType_Check(type)) { +#if CYTHON_COMPILING_IN_PYPY + if (!value) { + Py_INCREF(Py_None); + value = Py_None; + } +#endif + PyErr_NormalizeException(&type, &value, &tb); + } else { + if (value) { + PyErr_SetString(PyExc_TypeError, + "instance exception may not have a separate value"); + goto raise_error; + } + value = type; + type = (PyObject*) Py_TYPE(type); + Py_INCREF(type); + if (!PyType_IsSubtype((PyTypeObject *)type, (PyTypeObject *)PyExc_BaseException)) { + PyErr_SetString(PyExc_TypeError, + "raise: exception class must be a subclass of BaseException"); + goto raise_error; + } + } + __Pyx_PyThreadState_assign + __Pyx_ErrRestore(type, value, tb); + return; +raise_error: + Py_XDECREF(value); + Py_XDECREF(type); + Py_XDECREF(tb); + return; +} +#else +static void __Pyx_Raise(PyObject *type, PyObject *value, PyObject *tb, PyObject *cause) { + PyObject* owned_instance = NULL; + if (tb == Py_None) { + tb = 0; + } else if (tb && !PyTraceBack_Check(tb)) { + PyErr_SetString(PyExc_TypeError, + "raise: arg 3 must be a traceback or None"); + goto bad; + } + if (value == Py_None) + value = 0; + if (PyExceptionInstance_Check(type)) { + if (value) { + PyErr_SetString(PyExc_TypeError, + "instance exception may not have a separate value"); + goto bad; + } + value = type; + type = (PyObject*) Py_TYPE(value); + } else if (PyExceptionClass_Check(type)) { + PyObject *instance_class = NULL; + if (value && PyExceptionInstance_Check(value)) { + instance_class = (PyObject*) Py_TYPE(value); + if (instance_class != type) { + int is_subclass = PyObject_IsSubclass(instance_class, type); + if (!is_subclass) { + instance_class = NULL; + } else if (unlikely(is_subclass == -1)) { + goto bad; + } else { + type = instance_class; + } + } + } + if (!instance_class) { + PyObject *args; + if (!value) + args = PyTuple_New(0); + else if (PyTuple_Check(value)) { + Py_INCREF(value); + args = value; + } else + args = PyTuple_Pack(1, value); + if (!args) + goto bad; + owned_instance = PyObject_Call(type, args, NULL); + Py_DECREF(args); + if (!owned_instance) + goto bad; + value = owned_instance; + if (!PyExceptionInstance_Check(value)) { + PyErr_Format(PyExc_TypeError, + "calling %R should have returned an instance of " + "BaseException, not %R", + type, Py_TYPE(value)); + goto bad; + } + } + } else { + PyErr_SetString(PyExc_TypeError, + "raise: exception class must be a subclass of BaseException"); + goto bad; + } + if (cause) { + PyObject *fixed_cause; + if (cause == Py_None) { + fixed_cause = NULL; + } else if (PyExceptionClass_Check(cause)) { + fixed_cause = PyObject_CallObject(cause, NULL); + if (fixed_cause == NULL) + goto bad; + } else if (PyExceptionInstance_Check(cause)) { + fixed_cause = cause; + Py_INCREF(fixed_cause); + } else { + PyErr_SetString(PyExc_TypeError, + "exception causes must derive from " + "BaseException"); + goto bad; + } + PyException_SetCause(value, fixed_cause); + } + PyErr_SetObject(type, value); + if (tb) { + #if PY_VERSION_HEX >= 0x030C00A6 + PyException_SetTraceback(value, tb); + #elif CYTHON_FAST_THREAD_STATE + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject* tmp_tb = tstate->curexc_traceback; + if (tb != tmp_tb) { + Py_INCREF(tb); + tstate->curexc_traceback = tb; + Py_XDECREF(tmp_tb); + } +#else + PyObject *tmp_type, *tmp_value, *tmp_tb; + PyErr_Fetch(&tmp_type, &tmp_value, &tmp_tb); + Py_INCREF(tb); + PyErr_Restore(tmp_type, tmp_value, tb); + Py_XDECREF(tmp_tb); +#endif + } +bad: + Py_XDECREF(owned_instance); + return; +} +#endif + +/* PyFunctionFastCall */ +#if CYTHON_FAST_PYCALL && !CYTHON_VECTORCALL +static PyObject* __Pyx_PyFunction_FastCallNoKw(PyCodeObject *co, PyObject **args, Py_ssize_t na, + PyObject *globals) { + PyFrameObject *f; + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject **fastlocals; + Py_ssize_t i; + PyObject *result; + assert(globals != NULL); + /* XXX Perhaps we should create a specialized + PyFrame_New() that doesn't take locals, but does + take builtins without sanity checking them. + */ + assert(tstate != NULL); + f = PyFrame_New(tstate, co, globals, NULL); + if (f == NULL) { + return NULL; + } + fastlocals = __Pyx_PyFrame_GetLocalsplus(f); + for (i = 0; i < na; i++) { + Py_INCREF(*args); + fastlocals[i] = *args++; + } + result = PyEval_EvalFrameEx(f,0); + ++tstate->recursion_depth; + Py_DECREF(f); + --tstate->recursion_depth; + return result; +} +static PyObject *__Pyx_PyFunction_FastCallDict(PyObject *func, PyObject **args, Py_ssize_t nargs, PyObject *kwargs) { + PyCodeObject *co = (PyCodeObject *)PyFunction_GET_CODE(func); + PyObject *globals = PyFunction_GET_GLOBALS(func); + PyObject *argdefs = PyFunction_GET_DEFAULTS(func); + PyObject *closure; +#if PY_MAJOR_VERSION >= 3 + PyObject *kwdefs; +#endif + PyObject *kwtuple, **k; + PyObject **d; + Py_ssize_t nd; + Py_ssize_t nk; + PyObject *result; + assert(kwargs == NULL || PyDict_Check(kwargs)); + nk = kwargs ? PyDict_Size(kwargs) : 0; + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) { + return NULL; + } + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) { + return NULL; + } + #endif + if ( +#if PY_MAJOR_VERSION >= 3 + co->co_kwonlyargcount == 0 && +#endif + likely(kwargs == NULL || nk == 0) && + co->co_flags == (CO_OPTIMIZED | CO_NEWLOCALS | CO_NOFREE)) { + if (argdefs == NULL && co->co_argcount == nargs) { + result = __Pyx_PyFunction_FastCallNoKw(co, args, nargs, globals); + goto done; + } + else if (nargs == 0 && argdefs != NULL + && co->co_argcount == Py_SIZE(argdefs)) { + /* function called with no arguments, but all parameters have + a default value: use default values as arguments .*/ + args = &PyTuple_GET_ITEM(argdefs, 0); + result =__Pyx_PyFunction_FastCallNoKw(co, args, Py_SIZE(argdefs), globals); + goto done; + } + } + if (kwargs != NULL) { + Py_ssize_t pos, i; + kwtuple = PyTuple_New(2 * nk); + if (kwtuple == NULL) { + result = NULL; + goto done; + } + k = &PyTuple_GET_ITEM(kwtuple, 0); + pos = i = 0; + while (PyDict_Next(kwargs, &pos, &k[i], &k[i+1])) { + Py_INCREF(k[i]); + Py_INCREF(k[i+1]); + i += 2; + } + nk = i / 2; + } + else { + kwtuple = NULL; + k = NULL; + } + closure = PyFunction_GET_CLOSURE(func); +#if PY_MAJOR_VERSION >= 3 + kwdefs = PyFunction_GET_KW_DEFAULTS(func); +#endif + if (argdefs != NULL) { + d = &PyTuple_GET_ITEM(argdefs, 0); + nd = Py_SIZE(argdefs); + } + else { + d = NULL; + nd = 0; + } +#if PY_MAJOR_VERSION >= 3 + result = PyEval_EvalCodeEx((PyObject*)co, globals, (PyObject *)NULL, + args, (int)nargs, + k, (int)nk, + d, (int)nd, kwdefs, closure); +#else + result = PyEval_EvalCodeEx(co, globals, (PyObject *)NULL, + args, (int)nargs, + k, (int)nk, + d, (int)nd, closure); +#endif + Py_XDECREF(kwtuple); +done: + Py_LeaveRecursiveCall(); + return result; +} +#endif + +/* PyObjectCall */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_Call(PyObject *func, PyObject *arg, PyObject *kw) { + PyObject *result; + ternaryfunc call = Py_TYPE(func)->tp_call; + if (unlikely(!call)) + return PyObject_Call(func, arg, kw); + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) + return NULL; + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) + return NULL; + #endif + result = (*call)(func, arg, kw); + Py_LeaveRecursiveCall(); + if (unlikely(!result) && unlikely(!PyErr_Occurred())) { + PyErr_SetString( + PyExc_SystemError, + "NULL result without error in PyObject_Call"); + } + return result; +} +#endif + +/* PyObjectCallMethO */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallMethO(PyObject *func, PyObject *arg) { + PyObject *self, *result; + PyCFunction cfunc; + cfunc = __Pyx_CyOrPyCFunction_GET_FUNCTION(func); + self = __Pyx_CyOrPyCFunction_GET_SELF(func); + #if PY_MAJOR_VERSION < 3 + if (unlikely(Py_EnterRecursiveCall((char*)" while calling a Python object"))) + return NULL; + #else + if (unlikely(Py_EnterRecursiveCall(" while calling a Python object"))) + return NULL; + #endif + result = cfunc(self, arg); + Py_LeaveRecursiveCall(); + if (unlikely(!result) && unlikely(!PyErr_Occurred())) { + PyErr_SetString( + PyExc_SystemError, + "NULL result without error in PyObject_Call"); + } + return result; +} +#endif + +/* PyObjectFastCall */ +#if PY_VERSION_HEX < 0x03090000 || CYTHON_COMPILING_IN_LIMITED_API +static PyObject* __Pyx_PyObject_FastCall_fallback(PyObject *func, PyObject **args, size_t nargs, PyObject *kwargs) { + PyObject *argstuple; + PyObject *result = 0; + size_t i; + argstuple = PyTuple_New((Py_ssize_t)nargs); + if (unlikely(!argstuple)) return NULL; + for (i = 0; i < nargs; i++) { + Py_INCREF(args[i]); + if (__Pyx_PyTuple_SET_ITEM(argstuple, (Py_ssize_t)i, args[i]) < 0) goto bad; + } + result = __Pyx_PyObject_Call(func, argstuple, kwargs); + bad: + Py_DECREF(argstuple); + return result; +} +#endif +static CYTHON_INLINE PyObject* __Pyx_PyObject_FastCallDict(PyObject *func, PyObject **args, size_t _nargs, PyObject *kwargs) { + Py_ssize_t nargs = __Pyx_PyVectorcall_NARGS(_nargs); +#if CYTHON_COMPILING_IN_CPYTHON + if (nargs == 0 && kwargs == NULL) { + if (__Pyx_CyOrPyCFunction_Check(func) && likely( __Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_NOARGS)) + return __Pyx_PyObject_CallMethO(func, NULL); + } + else if (nargs == 1 && kwargs == NULL) { + if (__Pyx_CyOrPyCFunction_Check(func) && likely( __Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_O)) + return __Pyx_PyObject_CallMethO(func, args[0]); + } +#endif + #if PY_VERSION_HEX < 0x030800B1 + #if CYTHON_FAST_PYCCALL + if (PyCFunction_Check(func)) { + if (kwargs) { + return _PyCFunction_FastCallDict(func, args, nargs, kwargs); + } else { + return _PyCFunction_FastCallKeywords(func, args, nargs, NULL); + } + } + #if PY_VERSION_HEX >= 0x030700A1 + if (!kwargs && __Pyx_IS_TYPE(func, &PyMethodDescr_Type)) { + return _PyMethodDescr_FastCallKeywords(func, args, nargs, NULL); + } + #endif + #endif + #if CYTHON_FAST_PYCALL + if (PyFunction_Check(func)) { + return __Pyx_PyFunction_FastCallDict(func, args, nargs, kwargs); + } + #endif + #endif + if (kwargs == NULL) { + #if CYTHON_VECTORCALL + #if PY_VERSION_HEX < 0x03090000 + vectorcallfunc f = _PyVectorcall_Function(func); + #else + vectorcallfunc f = PyVectorcall_Function(func); + #endif + if (f) { + return f(func, args, (size_t)nargs, NULL); + } + #elif defined(__Pyx_CyFunction_USED) && CYTHON_BACKPORT_VECTORCALL + if (__Pyx_CyFunction_CheckExact(func)) { + __pyx_vectorcallfunc f = __Pyx_CyFunction_func_vectorcall(func); + if (f) return f(func, args, (size_t)nargs, NULL); + } + #endif + } + if (nargs == 0) { + return __Pyx_PyObject_Call(func, __pyx_empty_tuple, kwargs); + } + #if PY_VERSION_HEX >= 0x03090000 && !CYTHON_COMPILING_IN_LIMITED_API + return PyObject_VectorcallDict(func, args, (size_t)nargs, kwargs); + #else + return __Pyx_PyObject_FastCall_fallback(func, args, (size_t)nargs, kwargs); + #endif +} + +/* RaiseUnexpectedTypeError */ +static int +__Pyx_RaiseUnexpectedTypeError(const char *expected, PyObject *obj) +{ + __Pyx_TypeName obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, "Expected %s, got " __Pyx_FMT_TYPENAME, + expected, obj_type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return 0; +} + +/* CIntToDigits */ +static const char DIGIT_PAIRS_10[2*10*10+1] = { + "00010203040506070809" + "10111213141516171819" + "20212223242526272829" + "30313233343536373839" + "40414243444546474849" + "50515253545556575859" + "60616263646566676869" + "70717273747576777879" + "80818283848586878889" + "90919293949596979899" +}; +static const char DIGIT_PAIRS_8[2*8*8+1] = { + "0001020304050607" + "1011121314151617" + "2021222324252627" + "3031323334353637" + "4041424344454647" + "5051525354555657" + "6061626364656667" + "7071727374757677" +}; +static const char DIGITS_HEX[2*16+1] = { + "0123456789abcdef" + "0123456789ABCDEF" +}; + +/* BuildPyUnicode */ +static PyObject* __Pyx_PyUnicode_BuildFromAscii(Py_ssize_t ulength, char* chars, int clength, + int prepend_sign, char padding_char) { + PyObject *uval; + Py_ssize_t uoffset = ulength - clength; +#if CYTHON_USE_UNICODE_INTERNALS + Py_ssize_t i; +#if CYTHON_PEP393_ENABLED + void *udata; + uval = PyUnicode_New(ulength, 127); + if (unlikely(!uval)) return NULL; + udata = PyUnicode_DATA(uval); +#else + Py_UNICODE *udata; + uval = PyUnicode_FromUnicode(NULL, ulength); + if (unlikely(!uval)) return NULL; + udata = PyUnicode_AS_UNICODE(uval); +#endif + if (uoffset > 0) { + i = 0; + if (prepend_sign) { + __Pyx_PyUnicode_WRITE(PyUnicode_1BYTE_KIND, udata, 0, '-'); + i++; + } + for (; i < uoffset; i++) { + __Pyx_PyUnicode_WRITE(PyUnicode_1BYTE_KIND, udata, i, padding_char); + } + } + for (i=0; i < clength; i++) { + __Pyx_PyUnicode_WRITE(PyUnicode_1BYTE_KIND, udata, uoffset+i, chars[i]); + } +#else + { + PyObject *sign = NULL, *padding = NULL; + uval = NULL; + if (uoffset > 0) { + prepend_sign = !!prepend_sign; + if (uoffset > prepend_sign) { + padding = PyUnicode_FromOrdinal(padding_char); + if (likely(padding) && uoffset > prepend_sign + 1) { + PyObject *tmp; + PyObject *repeat = PyInt_FromSsize_t(uoffset - prepend_sign); + if (unlikely(!repeat)) goto done_or_error; + tmp = PyNumber_Multiply(padding, repeat); + Py_DECREF(repeat); + Py_DECREF(padding); + padding = tmp; + } + if (unlikely(!padding)) goto done_or_error; + } + if (prepend_sign) { + sign = PyUnicode_FromOrdinal('-'); + if (unlikely(!sign)) goto done_or_error; + } + } + uval = PyUnicode_DecodeASCII(chars, clength, NULL); + if (likely(uval) && padding) { + PyObject *tmp = PyNumber_Add(padding, uval); + Py_DECREF(uval); + uval = tmp; + } + if (likely(uval) && sign) { + PyObject *tmp = PyNumber_Add(sign, uval); + Py_DECREF(uval); + uval = tmp; + } +done_or_error: + Py_XDECREF(padding); + Py_XDECREF(sign); + } +#endif + return uval; +} + +/* CIntToPyUnicode */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_int(int value, Py_ssize_t width, char padding_char, char format_char) { + char digits[sizeof(int)*3+2]; + char *dpos, *end = digits + sizeof(int)*3+2; + const char *hex_digits = DIGITS_HEX; + Py_ssize_t length, ulength; + int prepend_sign, last_one_off; + int remaining; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (format_char == 'X') { + hex_digits += 16; + format_char = 'x'; + } + remaining = value; + last_one_off = 0; + dpos = end; + do { + int digit_pos; + switch (format_char) { + case 'o': + digit_pos = abs((int)(remaining % (8*8))); + remaining = (int) (remaining / (8*8)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_8 + digit_pos * 2, 2); + last_one_off = (digit_pos < 8); + break; + case 'd': + digit_pos = abs((int)(remaining % (10*10))); + remaining = (int) (remaining / (10*10)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_10 + digit_pos * 2, 2); + last_one_off = (digit_pos < 10); + break; + case 'x': + *(--dpos) = hex_digits[abs((int)(remaining % 16))]; + remaining = (int) (remaining / 16); + break; + default: + assert(0); + break; + } + } while (unlikely(remaining != 0)); + assert(!last_one_off || *dpos == '0'); + dpos += last_one_off; + length = end - dpos; + ulength = length; + prepend_sign = 0; + if (!is_unsigned && value <= neg_one) { + if (padding_char == ' ' || width <= length + 1) { + *(--dpos) = '-'; + ++length; + } else { + prepend_sign = 1; + } + ++ulength; + } + if (width > ulength) { + ulength = width; + } + if (ulength == 1) { + return PyUnicode_FromOrdinal(*dpos); + } + return __Pyx_PyUnicode_BuildFromAscii(ulength, dpos, (int) length, prepend_sign, padding_char); +} + +/* CIntToPyUnicode */ +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_From_Py_ssize_t(Py_ssize_t value, Py_ssize_t width, char padding_char, char format_char) { + char digits[sizeof(Py_ssize_t)*3+2]; + char *dpos, *end = digits + sizeof(Py_ssize_t)*3+2; + const char *hex_digits = DIGITS_HEX; + Py_ssize_t length, ulength; + int prepend_sign, last_one_off; + Py_ssize_t remaining; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const Py_ssize_t neg_one = (Py_ssize_t) -1, const_zero = (Py_ssize_t) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (format_char == 'X') { + hex_digits += 16; + format_char = 'x'; + } + remaining = value; + last_one_off = 0; + dpos = end; + do { + int digit_pos; + switch (format_char) { + case 'o': + digit_pos = abs((int)(remaining % (8*8))); + remaining = (Py_ssize_t) (remaining / (8*8)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_8 + digit_pos * 2, 2); + last_one_off = (digit_pos < 8); + break; + case 'd': + digit_pos = abs((int)(remaining % (10*10))); + remaining = (Py_ssize_t) (remaining / (10*10)); + dpos -= 2; + memcpy(dpos, DIGIT_PAIRS_10 + digit_pos * 2, 2); + last_one_off = (digit_pos < 10); + break; + case 'x': + *(--dpos) = hex_digits[abs((int)(remaining % 16))]; + remaining = (Py_ssize_t) (remaining / 16); + break; + default: + assert(0); + break; + } + } while (unlikely(remaining != 0)); + assert(!last_one_off || *dpos == '0'); + dpos += last_one_off; + length = end - dpos; + ulength = length; + prepend_sign = 0; + if (!is_unsigned && value <= neg_one) { + if (padding_char == ' ' || width <= length + 1) { + *(--dpos) = '-'; + ++length; + } else { + prepend_sign = 1; + } + ++ulength; + } + if (width > ulength) { + ulength = width; + } + if (ulength == 1) { + return PyUnicode_FromOrdinal(*dpos); + } + return __Pyx_PyUnicode_BuildFromAscii(ulength, dpos, (int) length, prepend_sign, padding_char); +} + +/* JoinPyUnicode */ +static PyObject* __Pyx_PyUnicode_Join(PyObject* value_tuple, Py_ssize_t value_count, Py_ssize_t result_ulength, + Py_UCS4 max_char) { +#if CYTHON_USE_UNICODE_INTERNALS && CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + PyObject *result_uval; + int result_ukind, kind_shift; + Py_ssize_t i, char_pos; + void *result_udata; + CYTHON_MAYBE_UNUSED_VAR(max_char); +#if CYTHON_PEP393_ENABLED + result_uval = PyUnicode_New(result_ulength, max_char); + if (unlikely(!result_uval)) return NULL; + result_ukind = (max_char <= 255) ? PyUnicode_1BYTE_KIND : (max_char <= 65535) ? PyUnicode_2BYTE_KIND : PyUnicode_4BYTE_KIND; + kind_shift = (result_ukind == PyUnicode_4BYTE_KIND) ? 2 : result_ukind - 1; + result_udata = PyUnicode_DATA(result_uval); +#else + result_uval = PyUnicode_FromUnicode(NULL, result_ulength); + if (unlikely(!result_uval)) return NULL; + result_ukind = sizeof(Py_UNICODE); + kind_shift = (result_ukind == 4) ? 2 : result_ukind - 1; + result_udata = PyUnicode_AS_UNICODE(result_uval); +#endif + assert(kind_shift == 2 || kind_shift == 1 || kind_shift == 0); + char_pos = 0; + for (i=0; i < value_count; i++) { + int ukind; + Py_ssize_t ulength; + void *udata; + PyObject *uval = PyTuple_GET_ITEM(value_tuple, i); + if (unlikely(__Pyx_PyUnicode_READY(uval))) + goto bad; + ulength = __Pyx_PyUnicode_GET_LENGTH(uval); + if (unlikely(!ulength)) + continue; + if (unlikely((PY_SSIZE_T_MAX >> kind_shift) - ulength < char_pos)) + goto overflow; + ukind = __Pyx_PyUnicode_KIND(uval); + udata = __Pyx_PyUnicode_DATA(uval); + if (!CYTHON_PEP393_ENABLED || ukind == result_ukind) { + memcpy((char *)result_udata + (char_pos << kind_shift), udata, (size_t) (ulength << kind_shift)); + } else { + #if PY_VERSION_HEX >= 0x030d0000 + if (unlikely(PyUnicode_CopyCharacters(result_uval, char_pos, uval, 0, ulength) < 0)) goto bad; + #elif CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030300F0 || defined(_PyUnicode_FastCopyCharacters) + _PyUnicode_FastCopyCharacters(result_uval, char_pos, uval, 0, ulength); + #else + Py_ssize_t j; + for (j=0; j < ulength; j++) { + Py_UCS4 uchar = __Pyx_PyUnicode_READ(ukind, udata, j); + __Pyx_PyUnicode_WRITE(result_ukind, result_udata, char_pos+j, uchar); + } + #endif + } + char_pos += ulength; + } + return result_uval; +overflow: + PyErr_SetString(PyExc_OverflowError, "join() result is too long for a Python string"); +bad: + Py_DECREF(result_uval); + return NULL; +#else + CYTHON_UNUSED_VAR(max_char); + CYTHON_UNUSED_VAR(result_ulength); + CYTHON_UNUSED_VAR(value_count); + return PyUnicode_Join(__pyx_empty_unicode, value_tuple); +#endif +} + +/* GetAttr */ +static CYTHON_INLINE PyObject *__Pyx_GetAttr(PyObject *o, PyObject *n) { +#if CYTHON_USE_TYPE_SLOTS +#if PY_MAJOR_VERSION >= 3 + if (likely(PyUnicode_Check(n))) +#else + if (likely(PyString_Check(n))) +#endif + return __Pyx_PyObject_GetAttrStr(o, n); +#endif + return PyObject_GetAttr(o, n); +} + +/* GetItemInt */ +static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j) { + PyObject *r; + if (unlikely(!j)) return NULL; + r = PyObject_GetItem(o, j); + Py_DECREF(j); + return r; +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + Py_ssize_t wrapped_i = i; + if (wraparound & unlikely(i < 0)) { + wrapped_i += PyList_GET_SIZE(o); + } + if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyList_GET_SIZE(o)))) { + PyObject *r = PyList_GET_ITEM(o, wrapped_i); + Py_INCREF(r); + return r; + } + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +#else + return PySequence_GetItem(o, i); +#endif +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + Py_ssize_t wrapped_i = i; + if (wraparound & unlikely(i < 0)) { + wrapped_i += PyTuple_GET_SIZE(o); + } + if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyTuple_GET_SIZE(o)))) { + PyObject *r = PyTuple_GET_ITEM(o, wrapped_i); + Py_INCREF(r); + return r; + } + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +#else + return PySequence_GetItem(o, i); +#endif +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, int is_list, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS && CYTHON_USE_TYPE_SLOTS + if (is_list || PyList_CheckExact(o)) { + Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyList_GET_SIZE(o); + if ((!boundscheck) || (likely(__Pyx_is_valid_index(n, PyList_GET_SIZE(o))))) { + PyObject *r = PyList_GET_ITEM(o, n); + Py_INCREF(r); + return r; + } + } + else if (PyTuple_CheckExact(o)) { + Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyTuple_GET_SIZE(o); + if ((!boundscheck) || likely(__Pyx_is_valid_index(n, PyTuple_GET_SIZE(o)))) { + PyObject *r = PyTuple_GET_ITEM(o, n); + Py_INCREF(r); + return r; + } + } else { + PyMappingMethods *mm = Py_TYPE(o)->tp_as_mapping; + PySequenceMethods *sm = Py_TYPE(o)->tp_as_sequence; + if (mm && mm->mp_subscript) { + PyObject *r, *key = PyInt_FromSsize_t(i); + if (unlikely(!key)) return NULL; + r = mm->mp_subscript(o, key); + Py_DECREF(key); + return r; + } + if (likely(sm && sm->sq_item)) { + if (wraparound && unlikely(i < 0) && likely(sm->sq_length)) { + Py_ssize_t l = sm->sq_length(o); + if (likely(l >= 0)) { + i += l; + } else { + if (!PyErr_ExceptionMatches(PyExc_OverflowError)) + return NULL; + PyErr_Clear(); + } + } + return sm->sq_item(o, i); + } + } +#else + if (is_list || !PyMapping_Check(o)) { + return PySequence_GetItem(o, i); + } +#endif + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +} + +/* PyObjectCallOneArg */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallOneArg(PyObject *func, PyObject *arg) { + PyObject *args[2] = {NULL, arg}; + return __Pyx_PyObject_FastCall(func, args+1, 1 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET); +} + +/* ObjectGetItem */ +#if CYTHON_USE_TYPE_SLOTS +static PyObject *__Pyx_PyObject_GetIndex(PyObject *obj, PyObject *index) { + PyObject *runerr = NULL; + Py_ssize_t key_value; + key_value = __Pyx_PyIndex_AsSsize_t(index); + if (likely(key_value != -1 || !(runerr = PyErr_Occurred()))) { + return __Pyx_GetItemInt_Fast(obj, key_value, 0, 1, 1); + } + if (PyErr_GivenExceptionMatches(runerr, PyExc_OverflowError)) { + __Pyx_TypeName index_type_name = __Pyx_PyType_GetName(Py_TYPE(index)); + PyErr_Clear(); + PyErr_Format(PyExc_IndexError, + "cannot fit '" __Pyx_FMT_TYPENAME "' into an index-sized integer", index_type_name); + __Pyx_DECREF_TypeName(index_type_name); + } + return NULL; +} +static PyObject *__Pyx_PyObject_GetItem_Slow(PyObject *obj, PyObject *key) { + __Pyx_TypeName obj_type_name; + if (likely(PyType_Check(obj))) { + PyObject *meth = __Pyx_PyObject_GetAttrStrNoError(obj, __pyx_n_s_class_getitem); + if (!meth) { + PyErr_Clear(); + } else { + PyObject *result = __Pyx_PyObject_CallOneArg(meth, key); + Py_DECREF(meth); + return result; + } + } + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, + "'" __Pyx_FMT_TYPENAME "' object is not subscriptable", obj_type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return NULL; +} +static PyObject *__Pyx_PyObject_GetItem(PyObject *obj, PyObject *key) { + PyTypeObject *tp = Py_TYPE(obj); + PyMappingMethods *mm = tp->tp_as_mapping; + PySequenceMethods *sm = tp->tp_as_sequence; + if (likely(mm && mm->mp_subscript)) { + return mm->mp_subscript(obj, key); + } + if (likely(sm && sm->sq_item)) { + return __Pyx_PyObject_GetIndex(obj, key); + } + return __Pyx_PyObject_GetItem_Slow(obj, key); +} +#endif + +/* KeywordStringCheck */ +static int __Pyx_CheckKeywordStrings( + PyObject *kw, + const char* function_name, + int kw_allowed) +{ + PyObject* key = 0; + Py_ssize_t pos = 0; +#if CYTHON_COMPILING_IN_PYPY + if (!kw_allowed && PyDict_Next(kw, &pos, &key, 0)) + goto invalid_keyword; + return 1; +#else + if (CYTHON_METH_FASTCALL && likely(PyTuple_Check(kw))) { + Py_ssize_t kwsize; +#if CYTHON_ASSUME_SAFE_MACROS + kwsize = PyTuple_GET_SIZE(kw); +#else + kwsize = PyTuple_Size(kw); + if (kwsize < 0) return 0; +#endif + if (unlikely(kwsize == 0)) + return 1; + if (!kw_allowed) { +#if CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kw, 0); +#else + key = PyTuple_GetItem(kw, pos); + if (!key) return 0; +#endif + goto invalid_keyword; + } +#if PY_VERSION_HEX < 0x03090000 + for (pos = 0; pos < kwsize; pos++) { +#if CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kw, pos); +#else + key = PyTuple_GetItem(kw, pos); + if (!key) return 0; +#endif + if (unlikely(!PyUnicode_Check(key))) + goto invalid_keyword_type; + } +#endif + return 1; + } + while (PyDict_Next(kw, &pos, &key, 0)) { + #if PY_MAJOR_VERSION < 3 + if (unlikely(!PyString_Check(key))) + #endif + if (unlikely(!PyUnicode_Check(key))) + goto invalid_keyword_type; + } + if (!kw_allowed && unlikely(key)) + goto invalid_keyword; + return 1; +invalid_keyword_type: + PyErr_Format(PyExc_TypeError, + "%.200s() keywords must be strings", function_name); + return 0; +#endif +invalid_keyword: + #if PY_MAJOR_VERSION < 3 + PyErr_Format(PyExc_TypeError, + "%.200s() got an unexpected keyword argument '%.200s'", + function_name, PyString_AsString(key)); + #else + PyErr_Format(PyExc_TypeError, + "%s() got an unexpected keyword argument '%U'", + function_name, key); + #endif + return 0; +} + +/* DivInt[Py_ssize_t] */ +static CYTHON_INLINE Py_ssize_t __Pyx_div_Py_ssize_t(Py_ssize_t a, Py_ssize_t b) { + Py_ssize_t q = a / b; + Py_ssize_t r = a - q*b; + q -= ((r != 0) & ((r ^ b) < 0)); + return q; +} + +/* GetAttr3 */ +#if __PYX_LIMITED_VERSION_HEX < 0x030d00A1 +static PyObject *__Pyx_GetAttr3Default(PyObject *d) { + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + if (unlikely(!__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) + return NULL; + __Pyx_PyErr_Clear(); + Py_INCREF(d); + return d; +} +#endif +static CYTHON_INLINE PyObject *__Pyx_GetAttr3(PyObject *o, PyObject *n, PyObject *d) { + PyObject *r; +#if __PYX_LIMITED_VERSION_HEX >= 0x030d00A1 + int res = PyObject_GetOptionalAttr(o, n, &r); + return (res != 0) ? r : __Pyx_NewRef(d); +#else + #if CYTHON_USE_TYPE_SLOTS + if (likely(PyString_Check(n))) { + r = __Pyx_PyObject_GetAttrStrNoError(o, n); + if (unlikely(!r) && likely(!PyErr_Occurred())) { + r = __Pyx_NewRef(d); + } + return r; + } + #endif + r = PyObject_GetAttr(o, n); + return (likely(r)) ? r : __Pyx_GetAttr3Default(d); +#endif +} + +/* PyDictVersioning */ +#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj) { + PyObject *dict = Py_TYPE(obj)->tp_dict; + return likely(dict) ? __PYX_GET_DICT_VERSION(dict) : 0; +} +static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj) { + PyObject **dictptr = NULL; + Py_ssize_t offset = Py_TYPE(obj)->tp_dictoffset; + if (offset) { +#if CYTHON_COMPILING_IN_CPYTHON + dictptr = (likely(offset > 0)) ? (PyObject **) ((char *)obj + offset) : _PyObject_GetDictPtr(obj); +#else + dictptr = _PyObject_GetDictPtr(obj); +#endif + } + return (dictptr && *dictptr) ? __PYX_GET_DICT_VERSION(*dictptr) : 0; +} +static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version) { + PyObject *dict = Py_TYPE(obj)->tp_dict; + if (unlikely(!dict) || unlikely(tp_dict_version != __PYX_GET_DICT_VERSION(dict))) + return 0; + return obj_dict_version == __Pyx_get_object_dict_version(obj); +} +#endif + +/* GetModuleGlobalName */ +#if CYTHON_USE_DICT_VERSIONS +static PyObject *__Pyx__GetModuleGlobalName(PyObject *name, PY_UINT64_T *dict_version, PyObject **dict_cached_value) +#else +static CYTHON_INLINE PyObject *__Pyx__GetModuleGlobalName(PyObject *name) +#endif +{ + PyObject *result; +#if !CYTHON_AVOID_BORROWED_REFS +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030500A1 && PY_VERSION_HEX < 0x030d0000 + result = _PyDict_GetItem_KnownHash(__pyx_d, name, ((PyASCIIObject *) name)->hash); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } else if (unlikely(PyErr_Occurred())) { + return NULL; + } +#elif CYTHON_COMPILING_IN_LIMITED_API + if (unlikely(!__pyx_m)) { + return NULL; + } + result = PyObject_GetAttr(__pyx_m, name); + if (likely(result)) { + return result; + } +#else + result = PyDict_GetItem(__pyx_d, name); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } +#endif +#else + result = PyObject_GetItem(__pyx_d, name); + __PYX_UPDATE_DICT_CACHE(__pyx_d, result, *dict_cached_value, *dict_version) + if (likely(result)) { + return __Pyx_NewRef(result); + } + PyErr_Clear(); +#endif + return __Pyx_GetBuiltinName(name); +} + +/* RaiseTooManyValuesToUnpack */ +static CYTHON_INLINE void __Pyx_RaiseTooManyValuesError(Py_ssize_t expected) { + PyErr_Format(PyExc_ValueError, + "too many values to unpack (expected %" CYTHON_FORMAT_SSIZE_T "d)", expected); +} + +/* RaiseNeedMoreValuesToUnpack */ +static CYTHON_INLINE void __Pyx_RaiseNeedMoreValuesError(Py_ssize_t index) { + PyErr_Format(PyExc_ValueError, + "need more than %" CYTHON_FORMAT_SSIZE_T "d value%.1s to unpack", + index, (index == 1) ? "" : "s"); +} + +/* RaiseNoneIterError */ +static CYTHON_INLINE void __Pyx_RaiseNoneNotIterableError(void) { + PyErr_SetString(PyExc_TypeError, "'NoneType' object is not iterable"); +} + +/* ExtTypeTest */ +static CYTHON_INLINE int __Pyx_TypeTest(PyObject *obj, PyTypeObject *type) { + __Pyx_TypeName obj_type_name; + __Pyx_TypeName type_name; + if (unlikely(!type)) { + PyErr_SetString(PyExc_SystemError, "Missing type object"); + return 0; + } + if (likely(__Pyx_TypeCheck(obj, type))) + return 1; + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + type_name = __Pyx_PyType_GetName(type); + PyErr_Format(PyExc_TypeError, + "Cannot convert " __Pyx_FMT_TYPENAME " to " __Pyx_FMT_TYPENAME, + obj_type_name, type_name); + __Pyx_DECREF_TypeName(obj_type_name); + __Pyx_DECREF_TypeName(type_name); + return 0; +} + +/* GetTopmostException */ +#if CYTHON_USE_EXC_INFO_STACK && CYTHON_FAST_THREAD_STATE +static _PyErr_StackItem * +__Pyx_PyErr_GetTopmostException(PyThreadState *tstate) +{ + _PyErr_StackItem *exc_info = tstate->exc_info; + while ((exc_info->exc_value == NULL || exc_info->exc_value == Py_None) && + exc_info->previous_item != NULL) + { + exc_info = exc_info->previous_item; + } + return exc_info; +} +#endif + +/* SaveResetException */ +#if CYTHON_FAST_THREAD_STATE +static CYTHON_INLINE void __Pyx__ExceptionSave(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { + #if CYTHON_USE_EXC_INFO_STACK && PY_VERSION_HEX >= 0x030B00a4 + _PyErr_StackItem *exc_info = __Pyx_PyErr_GetTopmostException(tstate); + PyObject *exc_value = exc_info->exc_value; + if (exc_value == NULL || exc_value == Py_None) { + *value = NULL; + *type = NULL; + *tb = NULL; + } else { + *value = exc_value; + Py_INCREF(*value); + *type = (PyObject*) Py_TYPE(exc_value); + Py_INCREF(*type); + *tb = PyException_GetTraceback(exc_value); + } + #elif CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = __Pyx_PyErr_GetTopmostException(tstate); + *type = exc_info->exc_type; + *value = exc_info->exc_value; + *tb = exc_info->exc_traceback; + Py_XINCREF(*type); + Py_XINCREF(*value); + Py_XINCREF(*tb); + #else + *type = tstate->exc_type; + *value = tstate->exc_value; + *tb = tstate->exc_traceback; + Py_XINCREF(*type); + Py_XINCREF(*value); + Py_XINCREF(*tb); + #endif +} +static CYTHON_INLINE void __Pyx__ExceptionReset(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb) { + #if CYTHON_USE_EXC_INFO_STACK && PY_VERSION_HEX >= 0x030B00a4 + _PyErr_StackItem *exc_info = tstate->exc_info; + PyObject *tmp_value = exc_info->exc_value; + exc_info->exc_value = value; + Py_XDECREF(tmp_value); + Py_XDECREF(type); + Py_XDECREF(tb); + #else + PyObject *tmp_type, *tmp_value, *tmp_tb; + #if CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = tstate->exc_info; + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = type; + exc_info->exc_value = value; + exc_info->exc_traceback = tb; + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = type; + tstate->exc_value = value; + tstate->exc_traceback = tb; + #endif + Py_XDECREF(tmp_type); + Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); + #endif +} +#endif + +/* GetException */ +#if CYTHON_FAST_THREAD_STATE +static int __Pyx__GetException(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) +#else +static int __Pyx_GetException(PyObject **type, PyObject **value, PyObject **tb) +#endif +{ + PyObject *local_type = NULL, *local_value, *local_tb = NULL; +#if CYTHON_FAST_THREAD_STATE + PyObject *tmp_type, *tmp_value, *tmp_tb; + #if PY_VERSION_HEX >= 0x030C00A6 + local_value = tstate->current_exception; + tstate->current_exception = 0; + if (likely(local_value)) { + local_type = (PyObject*) Py_TYPE(local_value); + Py_INCREF(local_type); + local_tb = PyException_GetTraceback(local_value); + } + #else + local_type = tstate->curexc_type; + local_value = tstate->curexc_value; + local_tb = tstate->curexc_traceback; + tstate->curexc_type = 0; + tstate->curexc_value = 0; + tstate->curexc_traceback = 0; + #endif +#else + PyErr_Fetch(&local_type, &local_value, &local_tb); +#endif + PyErr_NormalizeException(&local_type, &local_value, &local_tb); +#if CYTHON_FAST_THREAD_STATE && PY_VERSION_HEX >= 0x030C00A6 + if (unlikely(tstate->current_exception)) +#elif CYTHON_FAST_THREAD_STATE + if (unlikely(tstate->curexc_type)) +#else + if (unlikely(PyErr_Occurred())) +#endif + goto bad; + #if PY_MAJOR_VERSION >= 3 + if (local_tb) { + if (unlikely(PyException_SetTraceback(local_value, local_tb) < 0)) + goto bad; + } + #endif + Py_XINCREF(local_tb); + Py_XINCREF(local_type); + Py_XINCREF(local_value); + *type = local_type; + *value = local_value; + *tb = local_tb; +#if CYTHON_FAST_THREAD_STATE + #if CYTHON_USE_EXC_INFO_STACK + { + _PyErr_StackItem *exc_info = tstate->exc_info; + #if PY_VERSION_HEX >= 0x030B00a4 + tmp_value = exc_info->exc_value; + exc_info->exc_value = local_value; + tmp_type = NULL; + tmp_tb = NULL; + Py_XDECREF(local_type); + Py_XDECREF(local_tb); + #else + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = local_type; + exc_info->exc_value = local_value; + exc_info->exc_traceback = local_tb; + #endif + } + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = local_type; + tstate->exc_value = local_value; + tstate->exc_traceback = local_tb; + #endif + Py_XDECREF(tmp_type); + Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); +#else + PyErr_SetExcInfo(local_type, local_value, local_tb); +#endif + return 0; +bad: + *type = 0; + *value = 0; + *tb = 0; + Py_XDECREF(local_type); + Py_XDECREF(local_value); + Py_XDECREF(local_tb); + return -1; +} + +/* SwapException */ +#if CYTHON_FAST_THREAD_STATE +static CYTHON_INLINE void __Pyx__ExceptionSwap(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { + PyObject *tmp_type, *tmp_value, *tmp_tb; + #if CYTHON_USE_EXC_INFO_STACK && PY_VERSION_HEX >= 0x030B00a4 + _PyErr_StackItem *exc_info = tstate->exc_info; + tmp_value = exc_info->exc_value; + exc_info->exc_value = *value; + if (tmp_value == NULL || tmp_value == Py_None) { + Py_XDECREF(tmp_value); + tmp_value = NULL; + tmp_type = NULL; + tmp_tb = NULL; + } else { + tmp_type = (PyObject*) Py_TYPE(tmp_value); + Py_INCREF(tmp_type); + #if CYTHON_COMPILING_IN_CPYTHON + tmp_tb = ((PyBaseExceptionObject*) tmp_value)->traceback; + Py_XINCREF(tmp_tb); + #else + tmp_tb = PyException_GetTraceback(tmp_value); + #endif + } + #elif CYTHON_USE_EXC_INFO_STACK + _PyErr_StackItem *exc_info = tstate->exc_info; + tmp_type = exc_info->exc_type; + tmp_value = exc_info->exc_value; + tmp_tb = exc_info->exc_traceback; + exc_info->exc_type = *type; + exc_info->exc_value = *value; + exc_info->exc_traceback = *tb; + #else + tmp_type = tstate->exc_type; + tmp_value = tstate->exc_value; + tmp_tb = tstate->exc_traceback; + tstate->exc_type = *type; + tstate->exc_value = *value; + tstate->exc_traceback = *tb; + #endif + *type = tmp_type; + *value = tmp_value; + *tb = tmp_tb; +} +#else +static CYTHON_INLINE void __Pyx_ExceptionSwap(PyObject **type, PyObject **value, PyObject **tb) { + PyObject *tmp_type, *tmp_value, *tmp_tb; + PyErr_GetExcInfo(&tmp_type, &tmp_value, &tmp_tb); + PyErr_SetExcInfo(*type, *value, *tb); + *type = tmp_type; + *value = tmp_value; + *tb = tmp_tb; +} +#endif + +/* Import */ +static PyObject *__Pyx_Import(PyObject *name, PyObject *from_list, int level) { + PyObject *module = 0; + PyObject *empty_dict = 0; + PyObject *empty_list = 0; + #if PY_MAJOR_VERSION < 3 + PyObject *py_import; + py_import = __Pyx_PyObject_GetAttrStr(__pyx_b, __pyx_n_s_import); + if (unlikely(!py_import)) + goto bad; + if (!from_list) { + empty_list = PyList_New(0); + if (unlikely(!empty_list)) + goto bad; + from_list = empty_list; + } + #endif + empty_dict = PyDict_New(); + if (unlikely(!empty_dict)) + goto bad; + { + #if PY_MAJOR_VERSION >= 3 + if (level == -1) { + if (strchr(__Pyx_MODULE_NAME, '.') != NULL) { + module = PyImport_ImportModuleLevelObject( + name, __pyx_d, empty_dict, from_list, 1); + if (unlikely(!module)) { + if (unlikely(!PyErr_ExceptionMatches(PyExc_ImportError))) + goto bad; + PyErr_Clear(); + } + } + level = 0; + } + #endif + if (!module) { + #if PY_MAJOR_VERSION < 3 + PyObject *py_level = PyInt_FromLong(level); + if (unlikely(!py_level)) + goto bad; + module = PyObject_CallFunctionObjArgs(py_import, + name, __pyx_d, empty_dict, from_list, py_level, (PyObject *)NULL); + Py_DECREF(py_level); + #else + module = PyImport_ImportModuleLevelObject( + name, __pyx_d, empty_dict, from_list, level); + #endif + } + } +bad: + Py_XDECREF(empty_dict); + Py_XDECREF(empty_list); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(py_import); + #endif + return module; +} + +/* ImportDottedModule */ +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx__ImportDottedModule_Error(PyObject *name, PyObject *parts_tuple, Py_ssize_t count) { + PyObject *partial_name = NULL, *slice = NULL, *sep = NULL; + if (unlikely(PyErr_Occurred())) { + PyErr_Clear(); + } + if (likely(PyTuple_GET_SIZE(parts_tuple) == count)) { + partial_name = name; + } else { + slice = PySequence_GetSlice(parts_tuple, 0, count); + if (unlikely(!slice)) + goto bad; + sep = PyUnicode_FromStringAndSize(".", 1); + if (unlikely(!sep)) + goto bad; + partial_name = PyUnicode_Join(sep, slice); + } + PyErr_Format( +#if PY_MAJOR_VERSION < 3 + PyExc_ImportError, + "No module named '%s'", PyString_AS_STRING(partial_name)); +#else +#if PY_VERSION_HEX >= 0x030600B1 + PyExc_ModuleNotFoundError, +#else + PyExc_ImportError, +#endif + "No module named '%U'", partial_name); +#endif +bad: + Py_XDECREF(sep); + Py_XDECREF(slice); + Py_XDECREF(partial_name); + return NULL; +} +#endif +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx__ImportDottedModule_Lookup(PyObject *name) { + PyObject *imported_module; +#if PY_VERSION_HEX < 0x030700A1 || (CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM < 0x07030400) + PyObject *modules = PyImport_GetModuleDict(); + if (unlikely(!modules)) + return NULL; + imported_module = __Pyx_PyDict_GetItemStr(modules, name); + Py_XINCREF(imported_module); +#else + imported_module = PyImport_GetModule(name); +#endif + return imported_module; +} +#endif +#if PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx_ImportDottedModule_WalkParts(PyObject *module, PyObject *name, PyObject *parts_tuple) { + Py_ssize_t i, nparts; + nparts = PyTuple_GET_SIZE(parts_tuple); + for (i=1; i < nparts && module; i++) { + PyObject *part, *submodule; +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + part = PyTuple_GET_ITEM(parts_tuple, i); +#else + part = PySequence_ITEM(parts_tuple, i); +#endif + submodule = __Pyx_PyObject_GetAttrStrNoError(module, part); +#if !(CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS) + Py_DECREF(part); +#endif + Py_DECREF(module); + module = submodule; + } + if (unlikely(!module)) { + return __Pyx__ImportDottedModule_Error(name, parts_tuple, i); + } + return module; +} +#endif +static PyObject *__Pyx__ImportDottedModule(PyObject *name, PyObject *parts_tuple) { +#if PY_MAJOR_VERSION < 3 + PyObject *module, *from_list, *star = __pyx_n_s__3; + CYTHON_UNUSED_VAR(parts_tuple); + from_list = PyList_New(1); + if (unlikely(!from_list)) + return NULL; + Py_INCREF(star); + PyList_SET_ITEM(from_list, 0, star); + module = __Pyx_Import(name, from_list, 0); + Py_DECREF(from_list); + return module; +#else + PyObject *imported_module; + PyObject *module = __Pyx_Import(name, NULL, 0); + if (!parts_tuple || unlikely(!module)) + return module; + imported_module = __Pyx__ImportDottedModule_Lookup(name); + if (likely(imported_module)) { + Py_DECREF(module); + return imported_module; + } + PyErr_Clear(); + return __Pyx_ImportDottedModule_WalkParts(module, name, parts_tuple); +#endif +} +static PyObject *__Pyx_ImportDottedModule(PyObject *name, PyObject *parts_tuple) { +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030400B1 + PyObject *module = __Pyx__ImportDottedModule_Lookup(name); + if (likely(module)) { + PyObject *spec = __Pyx_PyObject_GetAttrStrNoError(module, __pyx_n_s_spec); + if (likely(spec)) { + PyObject *unsafe = __Pyx_PyObject_GetAttrStrNoError(spec, __pyx_n_s_initializing); + if (likely(!unsafe || !__Pyx_PyObject_IsTrue(unsafe))) { + Py_DECREF(spec); + spec = NULL; + } + Py_XDECREF(unsafe); + } + if (likely(!spec)) { + PyErr_Clear(); + return module; + } + Py_DECREF(spec); + Py_DECREF(module); + } else if (PyErr_Occurred()) { + PyErr_Clear(); + } +#endif + return __Pyx__ImportDottedModule(name, parts_tuple); +} + +/* FastTypeChecks */ +#if CYTHON_COMPILING_IN_CPYTHON +static int __Pyx_InBases(PyTypeObject *a, PyTypeObject *b) { + while (a) { + a = __Pyx_PyType_GetSlot(a, tp_base, PyTypeObject*); + if (a == b) + return 1; + } + return b == &PyBaseObject_Type; +} +static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b) { + PyObject *mro; + if (a == b) return 1; + mro = a->tp_mro; + if (likely(mro)) { + Py_ssize_t i, n; + n = PyTuple_GET_SIZE(mro); + for (i = 0; i < n; i++) { + if (PyTuple_GET_ITEM(mro, i) == (PyObject *)b) + return 1; + } + return 0; + } + return __Pyx_InBases(a, b); +} +static CYTHON_INLINE int __Pyx_IsAnySubtype2(PyTypeObject *cls, PyTypeObject *a, PyTypeObject *b) { + PyObject *mro; + if (cls == a || cls == b) return 1; + mro = cls->tp_mro; + if (likely(mro)) { + Py_ssize_t i, n; + n = PyTuple_GET_SIZE(mro); + for (i = 0; i < n; i++) { + PyObject *base = PyTuple_GET_ITEM(mro, i); + if (base == (PyObject *)a || base == (PyObject *)b) + return 1; + } + return 0; + } + return __Pyx_InBases(cls, a) || __Pyx_InBases(cls, b); +} +#if PY_MAJOR_VERSION == 2 +static int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject* exc_type2) { + PyObject *exception, *value, *tb; + int res; + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + __Pyx_ErrFetch(&exception, &value, &tb); + res = exc_type1 ? PyObject_IsSubclass(err, exc_type1) : 0; + if (unlikely(res == -1)) { + PyErr_WriteUnraisable(err); + res = 0; + } + if (!res) { + res = PyObject_IsSubclass(err, exc_type2); + if (unlikely(res == -1)) { + PyErr_WriteUnraisable(err); + res = 0; + } + } + __Pyx_ErrRestore(exception, value, tb); + return res; +} +#else +static CYTHON_INLINE int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject *exc_type2) { + if (exc_type1) { + return __Pyx_IsAnySubtype2((PyTypeObject*)err, (PyTypeObject*)exc_type1, (PyTypeObject*)exc_type2); + } else { + return __Pyx_IsSubtype((PyTypeObject*)err, (PyTypeObject*)exc_type2); + } +} +#endif +static int __Pyx_PyErr_GivenExceptionMatchesTuple(PyObject *exc_type, PyObject *tuple) { + Py_ssize_t i, n; + assert(PyExceptionClass_Check(exc_type)); + n = PyTuple_GET_SIZE(tuple); +#if PY_MAJOR_VERSION >= 3 + for (i=0; itp_as_sequence && type->tp_as_sequence->sq_repeat)) { + return type->tp_as_sequence->sq_repeat(seq, mul); + } else +#endif + { + return __Pyx_PySequence_Multiply_Generic(seq, mul); + } +} + +/* SetItemInt */ +static int __Pyx_SetItemInt_Generic(PyObject *o, PyObject *j, PyObject *v) { + int r; + if (unlikely(!j)) return -1; + r = PyObject_SetItem(o, j, v); + Py_DECREF(j); + return r; +} +static CYTHON_INLINE int __Pyx_SetItemInt_Fast(PyObject *o, Py_ssize_t i, PyObject *v, int is_list, + CYTHON_NCP_UNUSED int wraparound, CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS && CYTHON_USE_TYPE_SLOTS + if (is_list || PyList_CheckExact(o)) { + Py_ssize_t n = (!wraparound) ? i : ((likely(i >= 0)) ? i : i + PyList_GET_SIZE(o)); + if ((!boundscheck) || likely(__Pyx_is_valid_index(n, PyList_GET_SIZE(o)))) { + PyObject* old = PyList_GET_ITEM(o, n); + Py_INCREF(v); + PyList_SET_ITEM(o, n, v); + Py_DECREF(old); + return 1; + } + } else { + PyMappingMethods *mm = Py_TYPE(o)->tp_as_mapping; + PySequenceMethods *sm = Py_TYPE(o)->tp_as_sequence; + if (mm && mm->mp_ass_subscript) { + int r; + PyObject *key = PyInt_FromSsize_t(i); + if (unlikely(!key)) return -1; + r = mm->mp_ass_subscript(o, key, v); + Py_DECREF(key); + return r; + } + if (likely(sm && sm->sq_ass_item)) { + if (wraparound && unlikely(i < 0) && likely(sm->sq_length)) { + Py_ssize_t l = sm->sq_length(o); + if (likely(l >= 0)) { + i += l; + } else { + if (!PyErr_ExceptionMatches(PyExc_OverflowError)) + return -1; + PyErr_Clear(); + } + } + return sm->sq_ass_item(o, i, v); + } + } +#else + if (is_list || !PyMapping_Check(o)) + { + return PySequence_SetItem(o, i, v); + } +#endif + return __Pyx_SetItemInt_Generic(o, PyInt_FromSsize_t(i), v); +} + +/* RaiseUnboundLocalError */ +static CYTHON_INLINE void __Pyx_RaiseUnboundLocalError(const char *varname) { + PyErr_Format(PyExc_UnboundLocalError, "local variable '%s' referenced before assignment", varname); +} + +/* DivInt[long] */ +static CYTHON_INLINE long __Pyx_div_long(long a, long b) { + long q = a / b; + long r = a - q*b; + q -= ((r != 0) & ((r ^ b) < 0)); + return q; +} + +/* ImportFrom */ +static PyObject* __Pyx_ImportFrom(PyObject* module, PyObject* name) { + PyObject* value = __Pyx_PyObject_GetAttrStr(module, name); + if (unlikely(!value) && PyErr_ExceptionMatches(PyExc_AttributeError)) { + const char* module_name_str = 0; + PyObject* module_name = 0; + PyObject* module_dot = 0; + PyObject* full_name = 0; + PyErr_Clear(); + module_name_str = PyModule_GetName(module); + if (unlikely(!module_name_str)) { goto modbad; } + module_name = PyUnicode_FromString(module_name_str); + if (unlikely(!module_name)) { goto modbad; } + module_dot = PyUnicode_Concat(module_name, __pyx_kp_u__2); + if (unlikely(!module_dot)) { goto modbad; } + full_name = PyUnicode_Concat(module_dot, name); + if (unlikely(!full_name)) { goto modbad; } + #if PY_VERSION_HEX < 0x030700A1 || (CYTHON_COMPILING_IN_PYPY && PYPY_VERSION_NUM < 0x07030400) + { + PyObject *modules = PyImport_GetModuleDict(); + if (unlikely(!modules)) + goto modbad; + value = PyObject_GetItem(modules, full_name); + } + #else + value = PyImport_GetModule(full_name); + #endif + modbad: + Py_XDECREF(full_name); + Py_XDECREF(module_dot); + Py_XDECREF(module_name); + } + if (unlikely(!value)) { + PyErr_Format(PyExc_ImportError, + #if PY_MAJOR_VERSION < 3 + "cannot import name %.230s", PyString_AS_STRING(name)); + #else + "cannot import name %S", name); + #endif + } + return value; +} + +/* HasAttr */ +#if __PYX_LIMITED_VERSION_HEX < 0x030d00A1 +static CYTHON_INLINE int __Pyx_HasAttr(PyObject *o, PyObject *n) { + PyObject *r; + if (unlikely(!__Pyx_PyBaseString_Check(n))) { + PyErr_SetString(PyExc_TypeError, + "hasattr(): attribute name must be string"); + return -1; + } + r = __Pyx_GetAttr(o, n); + if (!r) { + PyErr_Clear(); + return 0; + } else { + Py_DECREF(r); + return 1; + } +} +#endif + +/* BufferIndexError */ +static void __Pyx_RaiseBufferIndexError(int axis) { + PyErr_Format(PyExc_IndexError, + "Out of bounds on buffer access (axis %d)", axis); +} + +/* PyObject_GenericGetAttrNoDict */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject *__Pyx_RaiseGenericGetAttributeError(PyTypeObject *tp, PyObject *attr_name) { + __Pyx_TypeName type_name = __Pyx_PyType_GetName(tp); + PyErr_Format(PyExc_AttributeError, +#if PY_MAJOR_VERSION >= 3 + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%U'", + type_name, attr_name); +#else + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%.400s'", + type_name, PyString_AS_STRING(attr_name)); +#endif + __Pyx_DECREF_TypeName(type_name); + return NULL; +} +static CYTHON_INLINE PyObject* __Pyx_PyObject_GenericGetAttrNoDict(PyObject* obj, PyObject* attr_name) { + PyObject *descr; + PyTypeObject *tp = Py_TYPE(obj); + if (unlikely(!PyString_Check(attr_name))) { + return PyObject_GenericGetAttr(obj, attr_name); + } + assert(!tp->tp_dictoffset); + descr = _PyType_Lookup(tp, attr_name); + if (unlikely(!descr)) { + return __Pyx_RaiseGenericGetAttributeError(tp, attr_name); + } + Py_INCREF(descr); + #if PY_MAJOR_VERSION < 3 + if (likely(PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_HAVE_CLASS))) + #endif + { + descrgetfunc f = Py_TYPE(descr)->tp_descr_get; + if (unlikely(f)) { + PyObject *res = f(descr, obj, (PyObject *)tp); + Py_DECREF(descr); + return res; + } + } + return descr; +} +#endif + +/* PyObject_GenericGetAttr */ +#if CYTHON_USE_TYPE_SLOTS && CYTHON_USE_PYTYPE_LOOKUP && PY_VERSION_HEX < 0x03070000 +static PyObject* __Pyx_PyObject_GenericGetAttr(PyObject* obj, PyObject* attr_name) { + if (unlikely(Py_TYPE(obj)->tp_dictoffset)) { + return PyObject_GenericGetAttr(obj, attr_name); + } + return __Pyx_PyObject_GenericGetAttrNoDict(obj, attr_name); +} +#endif + +/* TypeImport */ +#ifndef __PYX_HAVE_RT_ImportType_3_0_8 +#define __PYX_HAVE_RT_ImportType_3_0_8 +static PyTypeObject *__Pyx_ImportType_3_0_8(PyObject *module, const char *module_name, const char *class_name, + size_t size, size_t alignment, enum __Pyx_ImportType_CheckSize_3_0_8 check_size) +{ + PyObject *result = 0; + char warning[200]; + Py_ssize_t basicsize; + Py_ssize_t itemsize; +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *py_basicsize; + PyObject *py_itemsize; +#endif + result = PyObject_GetAttrString(module, class_name); + if (!result) + goto bad; + if (!PyType_Check(result)) { + PyErr_Format(PyExc_TypeError, + "%.200s.%.200s is not a type object", + module_name, class_name); + goto bad; + } +#if !CYTHON_COMPILING_IN_LIMITED_API + basicsize = ((PyTypeObject *)result)->tp_basicsize; + itemsize = ((PyTypeObject *)result)->tp_itemsize; +#else + py_basicsize = PyObject_GetAttrString(result, "__basicsize__"); + if (!py_basicsize) + goto bad; + basicsize = PyLong_AsSsize_t(py_basicsize); + Py_DECREF(py_basicsize); + py_basicsize = 0; + if (basicsize == (Py_ssize_t)-1 && PyErr_Occurred()) + goto bad; + py_itemsize = PyObject_GetAttrString(result, "__itemsize__"); + if (!py_itemsize) + goto bad; + itemsize = PyLong_AsSsize_t(py_itemsize); + Py_DECREF(py_itemsize); + py_itemsize = 0; + if (itemsize == (Py_ssize_t)-1 && PyErr_Occurred()) + goto bad; +#endif + if (itemsize) { + if (size % alignment) { + alignment = size % alignment; + } + if (itemsize < (Py_ssize_t)alignment) + itemsize = (Py_ssize_t)alignment; + } + if ((size_t)(basicsize + itemsize) < size) { + PyErr_Format(PyExc_ValueError, + "%.200s.%.200s size changed, may indicate binary incompatibility. " + "Expected %zd from C header, got %zd from PyObject", + module_name, class_name, size, basicsize+itemsize); + goto bad; + } + if (check_size == __Pyx_ImportType_CheckSize_Error_3_0_8 && + ((size_t)basicsize > size || (size_t)(basicsize + itemsize) < size)) { + PyErr_Format(PyExc_ValueError, + "%.200s.%.200s size changed, may indicate binary incompatibility. " + "Expected %zd from C header, got %zd-%zd from PyObject", + module_name, class_name, size, basicsize, basicsize+itemsize); + goto bad; + } + else if (check_size == __Pyx_ImportType_CheckSize_Warn_3_0_8 && (size_t)basicsize > size) { + PyOS_snprintf(warning, sizeof(warning), + "%s.%s size changed, may indicate binary incompatibility. " + "Expected %zd from C header, got %zd from PyObject", + module_name, class_name, size, basicsize); + if (PyErr_WarnEx(NULL, warning, 0) < 0) goto bad; + } + return (PyTypeObject *)result; +bad: + Py_XDECREF(result); + return NULL; +} +#endif + +/* FixUpExtensionType */ +#if CYTHON_USE_TYPE_SPECS +static int __Pyx_fix_up_extension_type_from_spec(PyType_Spec *spec, PyTypeObject *type) { +#if PY_VERSION_HEX > 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + CYTHON_UNUSED_VAR(spec); + CYTHON_UNUSED_VAR(type); +#else + const PyType_Slot *slot = spec->slots; + while (slot && slot->slot && slot->slot != Py_tp_members) + slot++; + if (slot && slot->slot == Py_tp_members) { + int changed = 0; +#if !(PY_VERSION_HEX <= 0x030900b1 && CYTHON_COMPILING_IN_CPYTHON) + const +#endif + PyMemberDef *memb = (PyMemberDef*) slot->pfunc; + while (memb && memb->name) { + if (memb->name[0] == '_' && memb->name[1] == '_') { +#if PY_VERSION_HEX < 0x030900b1 + if (strcmp(memb->name, "__weaklistoffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); + type->tp_weaklistoffset = memb->offset; + changed = 1; + } + else if (strcmp(memb->name, "__dictoffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); + type->tp_dictoffset = memb->offset; + changed = 1; + } +#if CYTHON_METH_FASTCALL + else if (strcmp(memb->name, "__vectorcalloffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); +#if PY_VERSION_HEX >= 0x030800b4 + type->tp_vectorcall_offset = memb->offset; +#else + type->tp_print = (printfunc) memb->offset; +#endif + changed = 1; + } +#endif +#else + if ((0)); +#endif +#if PY_VERSION_HEX <= 0x030900b1 && CYTHON_COMPILING_IN_CPYTHON + else if (strcmp(memb->name, "__module__") == 0) { + PyObject *descr; + assert(memb->type == T_OBJECT); + assert(memb->flags == 0 || memb->flags == READONLY); + descr = PyDescr_NewMember(type, memb); + if (unlikely(!descr)) + return -1; + if (unlikely(PyDict_SetItem(type->tp_dict, PyDescr_NAME(descr), descr) < 0)) { + Py_DECREF(descr); + return -1; + } + Py_DECREF(descr); + changed = 1; + } +#endif + } + memb++; + } + if (changed) + PyType_Modified(type); + } +#endif + return 0; +} +#endif + +/* PyObjectCallNoArg */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_CallNoArg(PyObject *func) { + PyObject *arg[2] = {NULL, NULL}; + return __Pyx_PyObject_FastCall(func, arg + 1, 0 | __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET); +} + +/* PyObjectGetMethod */ +static int __Pyx_PyObject_GetMethod(PyObject *obj, PyObject *name, PyObject **method) { + PyObject *attr; +#if CYTHON_UNPACK_METHODS && CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_PYTYPE_LOOKUP + __Pyx_TypeName type_name; + PyTypeObject *tp = Py_TYPE(obj); + PyObject *descr; + descrgetfunc f = NULL; + PyObject **dictptr, *dict; + int meth_found = 0; + assert (*method == NULL); + if (unlikely(tp->tp_getattro != PyObject_GenericGetAttr)) { + attr = __Pyx_PyObject_GetAttrStr(obj, name); + goto try_unpack; + } + if (unlikely(tp->tp_dict == NULL) && unlikely(PyType_Ready(tp) < 0)) { + return 0; + } + descr = _PyType_Lookup(tp, name); + if (likely(descr != NULL)) { + Py_INCREF(descr); +#if defined(Py_TPFLAGS_METHOD_DESCRIPTOR) && Py_TPFLAGS_METHOD_DESCRIPTOR + if (__Pyx_PyType_HasFeature(Py_TYPE(descr), Py_TPFLAGS_METHOD_DESCRIPTOR)) +#elif PY_MAJOR_VERSION >= 3 + #ifdef __Pyx_CyFunction_USED + if (likely(PyFunction_Check(descr) || __Pyx_IS_TYPE(descr, &PyMethodDescr_Type) || __Pyx_CyFunction_Check(descr))) + #else + if (likely(PyFunction_Check(descr) || __Pyx_IS_TYPE(descr, &PyMethodDescr_Type))) + #endif +#else + #ifdef __Pyx_CyFunction_USED + if (likely(PyFunction_Check(descr) || __Pyx_CyFunction_Check(descr))) + #else + if (likely(PyFunction_Check(descr))) + #endif +#endif + { + meth_found = 1; + } else { + f = Py_TYPE(descr)->tp_descr_get; + if (f != NULL && PyDescr_IsData(descr)) { + attr = f(descr, obj, (PyObject *)Py_TYPE(obj)); + Py_DECREF(descr); + goto try_unpack; + } + } + } + dictptr = _PyObject_GetDictPtr(obj); + if (dictptr != NULL && (dict = *dictptr) != NULL) { + Py_INCREF(dict); + attr = __Pyx_PyDict_GetItemStr(dict, name); + if (attr != NULL) { + Py_INCREF(attr); + Py_DECREF(dict); + Py_XDECREF(descr); + goto try_unpack; + } + Py_DECREF(dict); + } + if (meth_found) { + *method = descr; + return 1; + } + if (f != NULL) { + attr = f(descr, obj, (PyObject *)Py_TYPE(obj)); + Py_DECREF(descr); + goto try_unpack; + } + if (likely(descr != NULL)) { + *method = descr; + return 0; + } + type_name = __Pyx_PyType_GetName(tp); + PyErr_Format(PyExc_AttributeError, +#if PY_MAJOR_VERSION >= 3 + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%U'", + type_name, name); +#else + "'" __Pyx_FMT_TYPENAME "' object has no attribute '%.400s'", + type_name, PyString_AS_STRING(name)); +#endif + __Pyx_DECREF_TypeName(type_name); + return 0; +#else + attr = __Pyx_PyObject_GetAttrStr(obj, name); + goto try_unpack; +#endif +try_unpack: +#if CYTHON_UNPACK_METHODS + if (likely(attr) && PyMethod_Check(attr) && likely(PyMethod_GET_SELF(attr) == obj)) { + PyObject *function = PyMethod_GET_FUNCTION(attr); + Py_INCREF(function); + Py_DECREF(attr); + *method = function; + return 1; + } +#endif + *method = attr; + return 0; +} + +/* PyObjectCallMethod0 */ +static PyObject* __Pyx_PyObject_CallMethod0(PyObject* obj, PyObject* method_name) { + PyObject *method = NULL, *result = NULL; + int is_method = __Pyx_PyObject_GetMethod(obj, method_name, &method); + if (likely(is_method)) { + result = __Pyx_PyObject_CallOneArg(method, obj); + Py_DECREF(method); + return result; + } + if (unlikely(!method)) goto bad; + result = __Pyx_PyObject_CallNoArg(method); + Py_DECREF(method); +bad: + return result; +} + +/* ValidateBasesTuple */ +#if CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API || CYTHON_USE_TYPE_SPECS +static int __Pyx_validate_bases_tuple(const char *type_name, Py_ssize_t dictoffset, PyObject *bases) { + Py_ssize_t i, n; +#if CYTHON_ASSUME_SAFE_MACROS + n = PyTuple_GET_SIZE(bases); +#else + n = PyTuple_Size(bases); + if (n < 0) return -1; +#endif + for (i = 1; i < n; i++) + { +#if CYTHON_AVOID_BORROWED_REFS + PyObject *b0 = PySequence_GetItem(bases, i); + if (!b0) return -1; +#elif CYTHON_ASSUME_SAFE_MACROS + PyObject *b0 = PyTuple_GET_ITEM(bases, i); +#else + PyObject *b0 = PyTuple_GetItem(bases, i); + if (!b0) return -1; +#endif + PyTypeObject *b; +#if PY_MAJOR_VERSION < 3 + if (PyClass_Check(b0)) + { + PyErr_Format(PyExc_TypeError, "base class '%.200s' is an old-style class", + PyString_AS_STRING(((PyClassObject*)b0)->cl_name)); +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } +#endif + b = (PyTypeObject*) b0; + if (!__Pyx_PyType_HasFeature(b, Py_TPFLAGS_HEAPTYPE)) + { + __Pyx_TypeName b_name = __Pyx_PyType_GetName(b); + PyErr_Format(PyExc_TypeError, + "base class '" __Pyx_FMT_TYPENAME "' is not a heap type", b_name); + __Pyx_DECREF_TypeName(b_name); +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } + if (dictoffset == 0) + { + Py_ssize_t b_dictoffset = 0; +#if CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY + b_dictoffset = b->tp_dictoffset; +#else + PyObject *py_b_dictoffset = PyObject_GetAttrString((PyObject*)b, "__dictoffset__"); + if (!py_b_dictoffset) goto dictoffset_return; + b_dictoffset = PyLong_AsSsize_t(py_b_dictoffset); + Py_DECREF(py_b_dictoffset); + if (b_dictoffset == -1 && PyErr_Occurred()) goto dictoffset_return; +#endif + if (b_dictoffset) { + { + __Pyx_TypeName b_name = __Pyx_PyType_GetName(b); + PyErr_Format(PyExc_TypeError, + "extension type '%.200s' has no __dict__ slot, " + "but base type '" __Pyx_FMT_TYPENAME "' has: " + "either add 'cdef dict __dict__' to the extension type " + "or add '__slots__ = [...]' to the base type", + type_name, b_name); + __Pyx_DECREF_TypeName(b_name); + } +#if !(CYTHON_USE_TYPE_SLOTS || CYTHON_COMPILING_IN_PYPY) + dictoffset_return: +#endif +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + return -1; + } + } +#if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(b0); +#endif + } + return 0; +} +#endif + +/* PyType_Ready */ +static int __Pyx_PyType_Ready(PyTypeObject *t) { +#if CYTHON_USE_TYPE_SPECS || !(CYTHON_COMPILING_IN_CPYTHON || CYTHON_COMPILING_IN_LIMITED_API) || defined(PYSTON_MAJOR_VERSION) + (void)__Pyx_PyObject_CallMethod0; +#if CYTHON_USE_TYPE_SPECS + (void)__Pyx_validate_bases_tuple; +#endif + return PyType_Ready(t); +#else + int r; + PyObject *bases = __Pyx_PyType_GetSlot(t, tp_bases, PyObject*); + if (bases && unlikely(__Pyx_validate_bases_tuple(t->tp_name, t->tp_dictoffset, bases) == -1)) + return -1; +#if PY_VERSION_HEX >= 0x03050000 && !defined(PYSTON_MAJOR_VERSION) + { + int gc_was_enabled; + #if PY_VERSION_HEX >= 0x030A00b1 + gc_was_enabled = PyGC_Disable(); + (void)__Pyx_PyObject_CallMethod0; + #else + PyObject *ret, *py_status; + PyObject *gc = NULL; + #if PY_VERSION_HEX >= 0x030700a1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM+0 >= 0x07030400) + gc = PyImport_GetModule(__pyx_kp_u_gc); + #endif + if (unlikely(!gc)) gc = PyImport_Import(__pyx_kp_u_gc); + if (unlikely(!gc)) return -1; + py_status = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_isenabled); + if (unlikely(!py_status)) { + Py_DECREF(gc); + return -1; + } + gc_was_enabled = __Pyx_PyObject_IsTrue(py_status); + Py_DECREF(py_status); + if (gc_was_enabled > 0) { + ret = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_disable); + if (unlikely(!ret)) { + Py_DECREF(gc); + return -1; + } + Py_DECREF(ret); + } else if (unlikely(gc_was_enabled == -1)) { + Py_DECREF(gc); + return -1; + } + #endif + t->tp_flags |= Py_TPFLAGS_HEAPTYPE; +#if PY_VERSION_HEX >= 0x030A0000 + t->tp_flags |= Py_TPFLAGS_IMMUTABLETYPE; +#endif +#else + (void)__Pyx_PyObject_CallMethod0; +#endif + r = PyType_Ready(t); +#if PY_VERSION_HEX >= 0x03050000 && !defined(PYSTON_MAJOR_VERSION) + t->tp_flags &= ~Py_TPFLAGS_HEAPTYPE; + #if PY_VERSION_HEX >= 0x030A00b1 + if (gc_was_enabled) + PyGC_Enable(); + #else + if (gc_was_enabled) { + PyObject *tp, *v, *tb; + PyErr_Fetch(&tp, &v, &tb); + ret = __Pyx_PyObject_CallMethod0(gc, __pyx_kp_u_enable); + if (likely(ret || r == -1)) { + Py_XDECREF(ret); + PyErr_Restore(tp, v, tb); + } else { + Py_XDECREF(tp); + Py_XDECREF(v); + Py_XDECREF(tb); + r = -1; + } + } + Py_DECREF(gc); + #endif + } +#endif + return r; +#endif +} + +/* SetupReduce */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_setup_reduce_is_named(PyObject* meth, PyObject* name) { + int ret; + PyObject *name_attr; + name_attr = __Pyx_PyObject_GetAttrStrNoError(meth, __pyx_n_s_name_2); + if (likely(name_attr)) { + ret = PyObject_RichCompareBool(name_attr, name, Py_EQ); + } else { + ret = -1; + } + if (unlikely(ret < 0)) { + PyErr_Clear(); + ret = 0; + } + Py_XDECREF(name_attr); + return ret; +} +static int __Pyx_setup_reduce(PyObject* type_obj) { + int ret = 0; + PyObject *object_reduce = NULL; + PyObject *object_getstate = NULL; + PyObject *object_reduce_ex = NULL; + PyObject *reduce = NULL; + PyObject *reduce_ex = NULL; + PyObject *reduce_cython = NULL; + PyObject *setstate = NULL; + PyObject *setstate_cython = NULL; + PyObject *getstate = NULL; +#if CYTHON_USE_PYTYPE_LOOKUP + getstate = _PyType_Lookup((PyTypeObject*)type_obj, __pyx_n_s_getstate); +#else + getstate = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_getstate); + if (!getstate && PyErr_Occurred()) { + goto __PYX_BAD; + } +#endif + if (getstate) { +#if CYTHON_USE_PYTYPE_LOOKUP + object_getstate = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_getstate); +#else + object_getstate = __Pyx_PyObject_GetAttrStrNoError((PyObject*)&PyBaseObject_Type, __pyx_n_s_getstate); + if (!object_getstate && PyErr_Occurred()) { + goto __PYX_BAD; + } +#endif + if (object_getstate != getstate) { + goto __PYX_GOOD; + } + } +#if CYTHON_USE_PYTYPE_LOOKUP + object_reduce_ex = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; +#else + object_reduce_ex = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce_ex); if (!object_reduce_ex) goto __PYX_BAD; +#endif + reduce_ex = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce_ex); if (unlikely(!reduce_ex)) goto __PYX_BAD; + if (reduce_ex == object_reduce_ex) { +#if CYTHON_USE_PYTYPE_LOOKUP + object_reduce = _PyType_Lookup(&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; +#else + object_reduce = __Pyx_PyObject_GetAttrStr((PyObject*)&PyBaseObject_Type, __pyx_n_s_reduce); if (!object_reduce) goto __PYX_BAD; +#endif + reduce = __Pyx_PyObject_GetAttrStr(type_obj, __pyx_n_s_reduce); if (unlikely(!reduce)) goto __PYX_BAD; + if (reduce == object_reduce || __Pyx_setup_reduce_is_named(reduce, __pyx_n_s_reduce_cython)) { + reduce_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_reduce_cython); + if (likely(reduce_cython)) { + ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce, reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_reduce_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + } else if (reduce == object_reduce || PyErr_Occurred()) { + goto __PYX_BAD; + } + setstate = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_setstate); + if (!setstate) PyErr_Clear(); + if (!setstate || __Pyx_setup_reduce_is_named(setstate, __pyx_n_s_setstate_cython)) { + setstate_cython = __Pyx_PyObject_GetAttrStrNoError(type_obj, __pyx_n_s_setstate_cython); + if (likely(setstate_cython)) { + ret = PyDict_SetItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate, setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + ret = PyDict_DelItem(((PyTypeObject*)type_obj)->tp_dict, __pyx_n_s_setstate_cython); if (unlikely(ret < 0)) goto __PYX_BAD; + } else if (!setstate || PyErr_Occurred()) { + goto __PYX_BAD; + } + } + PyType_Modified((PyTypeObject*)type_obj); + } + } + goto __PYX_GOOD; +__PYX_BAD: + if (!PyErr_Occurred()) { + __Pyx_TypeName type_obj_name = + __Pyx_PyType_GetName((PyTypeObject*)type_obj); + PyErr_Format(PyExc_RuntimeError, + "Unable to initialize pickling for " __Pyx_FMT_TYPENAME, type_obj_name); + __Pyx_DECREF_TypeName(type_obj_name); + } + ret = -1; +__PYX_GOOD: +#if !CYTHON_USE_PYTYPE_LOOKUP + Py_XDECREF(object_reduce); + Py_XDECREF(object_reduce_ex); + Py_XDECREF(object_getstate); + Py_XDECREF(getstate); +#endif + Py_XDECREF(reduce); + Py_XDECREF(reduce_ex); + Py_XDECREF(reduce_cython); + Py_XDECREF(setstate); + Py_XDECREF(setstate_cython); + return ret; +} +#endif + +/* SetVTable */ +static int __Pyx_SetVtable(PyTypeObject *type, void *vtable) { + PyObject *ob = PyCapsule_New(vtable, 0, 0); + if (unlikely(!ob)) + goto bad; +#if CYTHON_COMPILING_IN_LIMITED_API + if (unlikely(PyObject_SetAttr((PyObject *) type, __pyx_n_s_pyx_vtable, ob) < 0)) +#else + if (unlikely(PyDict_SetItem(type->tp_dict, __pyx_n_s_pyx_vtable, ob) < 0)) +#endif + goto bad; + Py_DECREF(ob); + return 0; +bad: + Py_XDECREF(ob); + return -1; +} + +/* GetVTable */ +static void* __Pyx_GetVtable(PyTypeObject *type) { + void* ptr; +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *ob = PyObject_GetAttr((PyObject *)type, __pyx_n_s_pyx_vtable); +#else + PyObject *ob = PyObject_GetItem(type->tp_dict, __pyx_n_s_pyx_vtable); +#endif + if (!ob) + goto bad; + ptr = PyCapsule_GetPointer(ob, 0); + if (!ptr && !PyErr_Occurred()) + PyErr_SetString(PyExc_RuntimeError, "invalid vtable found for imported type"); + Py_DECREF(ob); + return ptr; +bad: + Py_XDECREF(ob); + return NULL; +} + +/* MergeVTables */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __Pyx_MergeVtables(PyTypeObject *type) { + int i; + void** base_vtables; + __Pyx_TypeName tp_base_name; + __Pyx_TypeName base_name; + void* unknown = (void*)-1; + PyObject* bases = type->tp_bases; + int base_depth = 0; + { + PyTypeObject* base = type->tp_base; + while (base) { + base_depth += 1; + base = base->tp_base; + } + } + base_vtables = (void**) malloc(sizeof(void*) * (size_t)(base_depth + 1)); + base_vtables[0] = unknown; + for (i = 1; i < PyTuple_GET_SIZE(bases); i++) { + void* base_vtable = __Pyx_GetVtable(((PyTypeObject*)PyTuple_GET_ITEM(bases, i))); + if (base_vtable != NULL) { + int j; + PyTypeObject* base = type->tp_base; + for (j = 0; j < base_depth; j++) { + if (base_vtables[j] == unknown) { + base_vtables[j] = __Pyx_GetVtable(base); + base_vtables[j + 1] = unknown; + } + if (base_vtables[j] == base_vtable) { + break; + } else if (base_vtables[j] == NULL) { + goto bad; + } + base = base->tp_base; + } + } + } + PyErr_Clear(); + free(base_vtables); + return 0; +bad: + tp_base_name = __Pyx_PyType_GetName(type->tp_base); + base_name = __Pyx_PyType_GetName((PyTypeObject*)PyTuple_GET_ITEM(bases, i)); + PyErr_Format(PyExc_TypeError, + "multiple bases have vtable conflict: '" __Pyx_FMT_TYPENAME "' and '" __Pyx_FMT_TYPENAME "'", tp_base_name, base_name); + __Pyx_DECREF_TypeName(tp_base_name); + __Pyx_DECREF_TypeName(base_name); + free(base_vtables); + return -1; +} +#endif + +/* FetchSharedCythonModule */ +static PyObject *__Pyx_FetchSharedCythonABIModule(void) { + return __Pyx_PyImport_AddModuleRef((char*) __PYX_ABI_MODULE_NAME); +} + +/* FetchCommonType */ +static int __Pyx_VerifyCachedType(PyObject *cached_type, + const char *name, + Py_ssize_t basicsize, + Py_ssize_t expected_basicsize) { + if (!PyType_Check(cached_type)) { + PyErr_Format(PyExc_TypeError, + "Shared Cython type %.200s is not a type object", name); + return -1; + } + if (basicsize != expected_basicsize) { + PyErr_Format(PyExc_TypeError, + "Shared Cython type %.200s has the wrong size, try recompiling", + name); + return -1; + } + return 0; +} +#if !CYTHON_USE_TYPE_SPECS +static PyTypeObject* __Pyx_FetchCommonType(PyTypeObject* type) { + PyObject* abi_module; + const char* object_name; + PyTypeObject *cached_type = NULL; + abi_module = __Pyx_FetchSharedCythonABIModule(); + if (!abi_module) return NULL; + object_name = strrchr(type->tp_name, '.'); + object_name = object_name ? object_name+1 : type->tp_name; + cached_type = (PyTypeObject*) PyObject_GetAttrString(abi_module, object_name); + if (cached_type) { + if (__Pyx_VerifyCachedType( + (PyObject *)cached_type, + object_name, + cached_type->tp_basicsize, + type->tp_basicsize) < 0) { + goto bad; + } + goto done; + } + if (!PyErr_ExceptionMatches(PyExc_AttributeError)) goto bad; + PyErr_Clear(); + if (PyType_Ready(type) < 0) goto bad; + if (PyObject_SetAttrString(abi_module, object_name, (PyObject *)type) < 0) + goto bad; + Py_INCREF(type); + cached_type = type; +done: + Py_DECREF(abi_module); + return cached_type; +bad: + Py_XDECREF(cached_type); + cached_type = NULL; + goto done; +} +#else +static PyTypeObject *__Pyx_FetchCommonTypeFromSpec(PyObject *module, PyType_Spec *spec, PyObject *bases) { + PyObject *abi_module, *cached_type = NULL; + const char* object_name = strrchr(spec->name, '.'); + object_name = object_name ? object_name+1 : spec->name; + abi_module = __Pyx_FetchSharedCythonABIModule(); + if (!abi_module) return NULL; + cached_type = PyObject_GetAttrString(abi_module, object_name); + if (cached_type) { + Py_ssize_t basicsize; +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *py_basicsize; + py_basicsize = PyObject_GetAttrString(cached_type, "__basicsize__"); + if (unlikely(!py_basicsize)) goto bad; + basicsize = PyLong_AsSsize_t(py_basicsize); + Py_DECREF(py_basicsize); + py_basicsize = 0; + if (unlikely(basicsize == (Py_ssize_t)-1) && PyErr_Occurred()) goto bad; +#else + basicsize = likely(PyType_Check(cached_type)) ? ((PyTypeObject*) cached_type)->tp_basicsize : -1; +#endif + if (__Pyx_VerifyCachedType( + cached_type, + object_name, + basicsize, + spec->basicsize) < 0) { + goto bad; + } + goto done; + } + if (!PyErr_ExceptionMatches(PyExc_AttributeError)) goto bad; + PyErr_Clear(); + CYTHON_UNUSED_VAR(module); + cached_type = __Pyx_PyType_FromModuleAndSpec(abi_module, spec, bases); + if (unlikely(!cached_type)) goto bad; + if (unlikely(__Pyx_fix_up_extension_type_from_spec(spec, (PyTypeObject *) cached_type) < 0)) goto bad; + if (PyObject_SetAttrString(abi_module, object_name, cached_type) < 0) goto bad; +done: + Py_DECREF(abi_module); + assert(cached_type == NULL || PyType_Check(cached_type)); + return (PyTypeObject *) cached_type; +bad: + Py_XDECREF(cached_type); + cached_type = NULL; + goto done; +} +#endif + +/* PyVectorcallFastCallDict */ +#if CYTHON_METH_FASTCALL +static PyObject *__Pyx_PyVectorcall_FastCallDict_kw(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw) +{ + PyObject *res = NULL; + PyObject *kwnames; + PyObject **newargs; + PyObject **kwvalues; + Py_ssize_t i, pos; + size_t j; + PyObject *key, *value; + unsigned long keys_are_strings; + Py_ssize_t nkw = PyDict_GET_SIZE(kw); + newargs = (PyObject **)PyMem_Malloc((nargs + (size_t)nkw) * sizeof(args[0])); + if (unlikely(newargs == NULL)) { + PyErr_NoMemory(); + return NULL; + } + for (j = 0; j < nargs; j++) newargs[j] = args[j]; + kwnames = PyTuple_New(nkw); + if (unlikely(kwnames == NULL)) { + PyMem_Free(newargs); + return NULL; + } + kwvalues = newargs + nargs; + pos = i = 0; + keys_are_strings = Py_TPFLAGS_UNICODE_SUBCLASS; + while (PyDict_Next(kw, &pos, &key, &value)) { + keys_are_strings &= Py_TYPE(key)->tp_flags; + Py_INCREF(key); + Py_INCREF(value); + PyTuple_SET_ITEM(kwnames, i, key); + kwvalues[i] = value; + i++; + } + if (unlikely(!keys_are_strings)) { + PyErr_SetString(PyExc_TypeError, "keywords must be strings"); + goto cleanup; + } + res = vc(func, newargs, nargs, kwnames); +cleanup: + Py_DECREF(kwnames); + for (i = 0; i < nkw; i++) + Py_DECREF(kwvalues[i]); + PyMem_Free(newargs); + return res; +} +static CYTHON_INLINE PyObject *__Pyx_PyVectorcall_FastCallDict(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw) +{ + if (likely(kw == NULL) || PyDict_GET_SIZE(kw) == 0) { + return vc(func, args, nargs, NULL); + } + return __Pyx_PyVectorcall_FastCallDict_kw(func, vc, args, nargs, kw); +} +#endif + +/* CythonFunctionShared */ +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc) { + if (__Pyx_CyFunction_Check(func)) { + return PyCFunction_GetFunction(((__pyx_CyFunctionObject*)func)->func) == (PyCFunction) cfunc; + } else if (PyCFunction_Check(func)) { + return PyCFunction_GetFunction(func) == (PyCFunction) cfunc; + } + return 0; +} +#else +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc) { + return __Pyx_CyOrPyCFunction_Check(func) && __Pyx_CyOrPyCFunction_GET_FUNCTION(func) == (PyCFunction) cfunc; +} +#endif +static CYTHON_INLINE void __Pyx__CyFunction_SetClassObj(__pyx_CyFunctionObject* f, PyObject* classobj) { +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + __Pyx_Py_XDECREF_SET( + __Pyx_CyFunction_GetClassObj(f), + ((classobj) ? __Pyx_NewRef(classobj) : NULL)); +#else + __Pyx_Py_XDECREF_SET( + ((PyCMethodObject *) (f))->mm_class, + (PyTypeObject*)((classobj) ? __Pyx_NewRef(classobj) : NULL)); +#endif +} +static PyObject * +__Pyx_CyFunction_get_doc(__pyx_CyFunctionObject *op, void *closure) +{ + CYTHON_UNUSED_VAR(closure); + if (unlikely(op->func_doc == NULL)) { +#if CYTHON_COMPILING_IN_LIMITED_API + op->func_doc = PyObject_GetAttrString(op->func, "__doc__"); + if (unlikely(!op->func_doc)) return NULL; +#else + if (((PyCFunctionObject*)op)->m_ml->ml_doc) { +#if PY_MAJOR_VERSION >= 3 + op->func_doc = PyUnicode_FromString(((PyCFunctionObject*)op)->m_ml->ml_doc); +#else + op->func_doc = PyString_FromString(((PyCFunctionObject*)op)->m_ml->ml_doc); +#endif + if (unlikely(op->func_doc == NULL)) + return NULL; + } else { + Py_INCREF(Py_None); + return Py_None; + } +#endif + } + Py_INCREF(op->func_doc); + return op->func_doc; +} +static int +__Pyx_CyFunction_set_doc(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (value == NULL) { + value = Py_None; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_doc, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_name(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(op->func_name == NULL)) { +#if CYTHON_COMPILING_IN_LIMITED_API + op->func_name = PyObject_GetAttrString(op->func, "__name__"); +#elif PY_MAJOR_VERSION >= 3 + op->func_name = PyUnicode_InternFromString(((PyCFunctionObject*)op)->m_ml->ml_name); +#else + op->func_name = PyString_InternFromString(((PyCFunctionObject*)op)->m_ml->ml_name); +#endif + if (unlikely(op->func_name == NULL)) + return NULL; + } + Py_INCREF(op->func_name); + return op->func_name; +} +static int +__Pyx_CyFunction_set_name(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); +#if PY_MAJOR_VERSION >= 3 + if (unlikely(value == NULL || !PyUnicode_Check(value))) +#else + if (unlikely(value == NULL || !PyString_Check(value))) +#endif + { + PyErr_SetString(PyExc_TypeError, + "__name__ must be set to a string object"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_name, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_qualname(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + Py_INCREF(op->func_qualname); + return op->func_qualname; +} +static int +__Pyx_CyFunction_set_qualname(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); +#if PY_MAJOR_VERSION >= 3 + if (unlikely(value == NULL || !PyUnicode_Check(value))) +#else + if (unlikely(value == NULL || !PyString_Check(value))) +#endif + { + PyErr_SetString(PyExc_TypeError, + "__qualname__ must be set to a string object"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_qualname, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_dict(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(op->func_dict == NULL)) { + op->func_dict = PyDict_New(); + if (unlikely(op->func_dict == NULL)) + return NULL; + } + Py_INCREF(op->func_dict); + return op->func_dict; +} +static int +__Pyx_CyFunction_set_dict(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(value == NULL)) { + PyErr_SetString(PyExc_TypeError, + "function's dictionary may not be deleted"); + return -1; + } + if (unlikely(!PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "setting function's dictionary to a non-dict"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_dict, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_globals(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + Py_INCREF(op->func_globals); + return op->func_globals; +} +static PyObject * +__Pyx_CyFunction_get_closure(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(op); + CYTHON_UNUSED_VAR(context); + Py_INCREF(Py_None); + return Py_None; +} +static PyObject * +__Pyx_CyFunction_get_code(__pyx_CyFunctionObject *op, void *context) +{ + PyObject* result = (op->func_code) ? op->func_code : Py_None; + CYTHON_UNUSED_VAR(context); + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_init_defaults(__pyx_CyFunctionObject *op) { + int result = 0; + PyObject *res = op->defaults_getter((PyObject *) op); + if (unlikely(!res)) + return -1; + #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + op->defaults_tuple = PyTuple_GET_ITEM(res, 0); + Py_INCREF(op->defaults_tuple); + op->defaults_kwdict = PyTuple_GET_ITEM(res, 1); + Py_INCREF(op->defaults_kwdict); + #else + op->defaults_tuple = __Pyx_PySequence_ITEM(res, 0); + if (unlikely(!op->defaults_tuple)) result = -1; + else { + op->defaults_kwdict = __Pyx_PySequence_ITEM(res, 1); + if (unlikely(!op->defaults_kwdict)) result = -1; + } + #endif + Py_DECREF(res); + return result; +} +static int +__Pyx_CyFunction_set_defaults(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value) { + value = Py_None; + } else if (unlikely(value != Py_None && !PyTuple_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__defaults__ must be set to a tuple object"); + return -1; + } + PyErr_WarnEx(PyExc_RuntimeWarning, "changes to cyfunction.__defaults__ will not " + "currently affect the values used in function calls", 1); + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->defaults_tuple, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_defaults(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->defaults_tuple; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + if (op->defaults_getter) { + if (unlikely(__Pyx_CyFunction_init_defaults(op) < 0)) return NULL; + result = op->defaults_tuple; + } else { + result = Py_None; + } + } + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_set_kwdefaults(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value) { + value = Py_None; + } else if (unlikely(value != Py_None && !PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__kwdefaults__ must be set to a dict object"); + return -1; + } + PyErr_WarnEx(PyExc_RuntimeWarning, "changes to cyfunction.__kwdefaults__ will not " + "currently affect the values used in function calls", 1); + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->defaults_kwdict, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_kwdefaults(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->defaults_kwdict; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + if (op->defaults_getter) { + if (unlikely(__Pyx_CyFunction_init_defaults(op) < 0)) return NULL; + result = op->defaults_kwdict; + } else { + result = Py_None; + } + } + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_set_annotations(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value || value == Py_None) { + value = NULL; + } else if (unlikely(!PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__annotations__ must be set to a dict object"); + return -1; + } + Py_XINCREF(value); + __Pyx_Py_XDECREF_SET(op->func_annotations, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_annotations(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->func_annotations; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + result = PyDict_New(); + if (unlikely(!result)) return NULL; + op->func_annotations = result; + } + Py_INCREF(result); + return result; +} +static PyObject * +__Pyx_CyFunction_get_is_coroutine(__pyx_CyFunctionObject *op, void *context) { + int is_coroutine; + CYTHON_UNUSED_VAR(context); + if (op->func_is_coroutine) { + return __Pyx_NewRef(op->func_is_coroutine); + } + is_coroutine = op->flags & __Pyx_CYFUNCTION_COROUTINE; +#if PY_VERSION_HEX >= 0x03050000 + if (is_coroutine) { + PyObject *module, *fromlist, *marker = __pyx_n_s_is_coroutine; + fromlist = PyList_New(1); + if (unlikely(!fromlist)) return NULL; + Py_INCREF(marker); +#if CYTHON_ASSUME_SAFE_MACROS + PyList_SET_ITEM(fromlist, 0, marker); +#else + if (unlikely(PyList_SetItem(fromlist, 0, marker) < 0)) { + Py_DECREF(marker); + Py_DECREF(fromlist); + return NULL; + } +#endif + module = PyImport_ImportModuleLevelObject(__pyx_n_s_asyncio_coroutines, NULL, NULL, fromlist, 0); + Py_DECREF(fromlist); + if (unlikely(!module)) goto ignore; + op->func_is_coroutine = __Pyx_PyObject_GetAttrStr(module, marker); + Py_DECREF(module); + if (likely(op->func_is_coroutine)) { + return __Pyx_NewRef(op->func_is_coroutine); + } +ignore: + PyErr_Clear(); + } +#endif + op->func_is_coroutine = __Pyx_PyBool_FromLong(is_coroutine); + return __Pyx_NewRef(op->func_is_coroutine); +} +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject * +__Pyx_CyFunction_get_module(__pyx_CyFunctionObject *op, void *context) { + CYTHON_UNUSED_VAR(context); + return PyObject_GetAttrString(op->func, "__module__"); +} +static int +__Pyx_CyFunction_set_module(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + return PyObject_SetAttrString(op->func, "__module__", value); +} +#endif +static PyGetSetDef __pyx_CyFunction_getsets[] = { + {(char *) "func_doc", (getter)__Pyx_CyFunction_get_doc, (setter)__Pyx_CyFunction_set_doc, 0, 0}, + {(char *) "__doc__", (getter)__Pyx_CyFunction_get_doc, (setter)__Pyx_CyFunction_set_doc, 0, 0}, + {(char *) "func_name", (getter)__Pyx_CyFunction_get_name, (setter)__Pyx_CyFunction_set_name, 0, 0}, + {(char *) "__name__", (getter)__Pyx_CyFunction_get_name, (setter)__Pyx_CyFunction_set_name, 0, 0}, + {(char *) "__qualname__", (getter)__Pyx_CyFunction_get_qualname, (setter)__Pyx_CyFunction_set_qualname, 0, 0}, + {(char *) "func_dict", (getter)__Pyx_CyFunction_get_dict, (setter)__Pyx_CyFunction_set_dict, 0, 0}, + {(char *) "__dict__", (getter)__Pyx_CyFunction_get_dict, (setter)__Pyx_CyFunction_set_dict, 0, 0}, + {(char *) "func_globals", (getter)__Pyx_CyFunction_get_globals, 0, 0, 0}, + {(char *) "__globals__", (getter)__Pyx_CyFunction_get_globals, 0, 0, 0}, + {(char *) "func_closure", (getter)__Pyx_CyFunction_get_closure, 0, 0, 0}, + {(char *) "__closure__", (getter)__Pyx_CyFunction_get_closure, 0, 0, 0}, + {(char *) "func_code", (getter)__Pyx_CyFunction_get_code, 0, 0, 0}, + {(char *) "__code__", (getter)__Pyx_CyFunction_get_code, 0, 0, 0}, + {(char *) "func_defaults", (getter)__Pyx_CyFunction_get_defaults, (setter)__Pyx_CyFunction_set_defaults, 0, 0}, + {(char *) "__defaults__", (getter)__Pyx_CyFunction_get_defaults, (setter)__Pyx_CyFunction_set_defaults, 0, 0}, + {(char *) "__kwdefaults__", (getter)__Pyx_CyFunction_get_kwdefaults, (setter)__Pyx_CyFunction_set_kwdefaults, 0, 0}, + {(char *) "__annotations__", (getter)__Pyx_CyFunction_get_annotations, (setter)__Pyx_CyFunction_set_annotations, 0, 0}, + {(char *) "_is_coroutine", (getter)__Pyx_CyFunction_get_is_coroutine, 0, 0, 0}, +#if CYTHON_COMPILING_IN_LIMITED_API + {"__module__", (getter)__Pyx_CyFunction_get_module, (setter)__Pyx_CyFunction_set_module, 0, 0}, +#endif + {0, 0, 0, 0, 0} +}; +static PyMemberDef __pyx_CyFunction_members[] = { +#if !CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__module__", T_OBJECT, offsetof(PyCFunctionObject, m_module), 0, 0}, +#endif +#if CYTHON_USE_TYPE_SPECS + {(char *) "__dictoffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_dict), READONLY, 0}, +#if CYTHON_METH_FASTCALL +#if CYTHON_BACKPORT_VECTORCALL + {(char *) "__vectorcalloffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_vectorcall), READONLY, 0}, +#else +#if !CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__vectorcalloffset__", T_PYSSIZET, offsetof(PyCFunctionObject, vectorcall), READONLY, 0}, +#endif +#endif +#endif +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__weaklistoffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_weakreflist), READONLY, 0}, +#else + {(char *) "__weaklistoffset__", T_PYSSIZET, offsetof(PyCFunctionObject, m_weakreflist), READONLY, 0}, +#endif +#endif + {0, 0, 0, 0, 0} +}; +static PyObject * +__Pyx_CyFunction_reduce(__pyx_CyFunctionObject *m, PyObject *args) +{ + CYTHON_UNUSED_VAR(args); +#if PY_MAJOR_VERSION >= 3 + Py_INCREF(m->func_qualname); + return m->func_qualname; +#else + return PyString_FromString(((PyCFunctionObject*)m)->m_ml->ml_name); +#endif +} +static PyMethodDef __pyx_CyFunction_methods[] = { + {"__reduce__", (PyCFunction)__Pyx_CyFunction_reduce, METH_VARARGS, 0}, + {0, 0, 0, 0} +}; +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API +#define __Pyx_CyFunction_weakreflist(cyfunc) ((cyfunc)->func_weakreflist) +#else +#define __Pyx_CyFunction_weakreflist(cyfunc) (((PyCFunctionObject*)cyfunc)->m_weakreflist) +#endif +static PyObject *__Pyx_CyFunction_Init(__pyx_CyFunctionObject *op, PyMethodDef *ml, int flags, PyObject* qualname, + PyObject *closure, PyObject *module, PyObject* globals, PyObject* code) { +#if !CYTHON_COMPILING_IN_LIMITED_API + PyCFunctionObject *cf = (PyCFunctionObject*) op; +#endif + if (unlikely(op == NULL)) + return NULL; +#if CYTHON_COMPILING_IN_LIMITED_API + op->func = PyCFunction_NewEx(ml, (PyObject*)op, module); + if (unlikely(!op->func)) return NULL; +#endif + op->flags = flags; + __Pyx_CyFunction_weakreflist(op) = NULL; +#if !CYTHON_COMPILING_IN_LIMITED_API + cf->m_ml = ml; + cf->m_self = (PyObject *) op; +#endif + Py_XINCREF(closure); + op->func_closure = closure; +#if !CYTHON_COMPILING_IN_LIMITED_API + Py_XINCREF(module); + cf->m_module = module; +#endif + op->func_dict = NULL; + op->func_name = NULL; + Py_INCREF(qualname); + op->func_qualname = qualname; + op->func_doc = NULL; +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + op->func_classobj = NULL; +#else + ((PyCMethodObject*)op)->mm_class = NULL; +#endif + op->func_globals = globals; + Py_INCREF(op->func_globals); + Py_XINCREF(code); + op->func_code = code; + op->defaults_pyobjects = 0; + op->defaults_size = 0; + op->defaults = NULL; + op->defaults_tuple = NULL; + op->defaults_kwdict = NULL; + op->defaults_getter = NULL; + op->func_annotations = NULL; + op->func_is_coroutine = NULL; +#if CYTHON_METH_FASTCALL + switch (ml->ml_flags & (METH_VARARGS | METH_FASTCALL | METH_NOARGS | METH_O | METH_KEYWORDS | METH_METHOD)) { + case METH_NOARGS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_NOARGS; + break; + case METH_O: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_O; + break; + case METH_METHOD | METH_FASTCALL | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD; + break; + case METH_FASTCALL | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS; + break; + case METH_VARARGS | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = NULL; + break; + default: + PyErr_SetString(PyExc_SystemError, "Bad call flags for CyFunction"); + Py_DECREF(op); + return NULL; + } +#endif + return (PyObject *) op; +} +static int +__Pyx_CyFunction_clear(__pyx_CyFunctionObject *m) +{ + Py_CLEAR(m->func_closure); +#if CYTHON_COMPILING_IN_LIMITED_API + Py_CLEAR(m->func); +#else + Py_CLEAR(((PyCFunctionObject*)m)->m_module); +#endif + Py_CLEAR(m->func_dict); + Py_CLEAR(m->func_name); + Py_CLEAR(m->func_qualname); + Py_CLEAR(m->func_doc); + Py_CLEAR(m->func_globals); + Py_CLEAR(m->func_code); +#if !CYTHON_COMPILING_IN_LIMITED_API +#if PY_VERSION_HEX < 0x030900B1 + Py_CLEAR(__Pyx_CyFunction_GetClassObj(m)); +#else + { + PyObject *cls = (PyObject*) ((PyCMethodObject *) (m))->mm_class; + ((PyCMethodObject *) (m))->mm_class = NULL; + Py_XDECREF(cls); + } +#endif +#endif + Py_CLEAR(m->defaults_tuple); + Py_CLEAR(m->defaults_kwdict); + Py_CLEAR(m->func_annotations); + Py_CLEAR(m->func_is_coroutine); + if (m->defaults) { + PyObject **pydefaults = __Pyx_CyFunction_Defaults(PyObject *, m); + int i; + for (i = 0; i < m->defaults_pyobjects; i++) + Py_XDECREF(pydefaults[i]); + PyObject_Free(m->defaults); + m->defaults = NULL; + } + return 0; +} +static void __Pyx__CyFunction_dealloc(__pyx_CyFunctionObject *m) +{ + if (__Pyx_CyFunction_weakreflist(m) != NULL) + PyObject_ClearWeakRefs((PyObject *) m); + __Pyx_CyFunction_clear(m); + __Pyx_PyHeapTypeObject_GC_Del(m); +} +static void __Pyx_CyFunction_dealloc(__pyx_CyFunctionObject *m) +{ + PyObject_GC_UnTrack(m); + __Pyx__CyFunction_dealloc(m); +} +static int __Pyx_CyFunction_traverse(__pyx_CyFunctionObject *m, visitproc visit, void *arg) +{ + Py_VISIT(m->func_closure); +#if CYTHON_COMPILING_IN_LIMITED_API + Py_VISIT(m->func); +#else + Py_VISIT(((PyCFunctionObject*)m)->m_module); +#endif + Py_VISIT(m->func_dict); + Py_VISIT(m->func_name); + Py_VISIT(m->func_qualname); + Py_VISIT(m->func_doc); + Py_VISIT(m->func_globals); + Py_VISIT(m->func_code); +#if !CYTHON_COMPILING_IN_LIMITED_API + Py_VISIT(__Pyx_CyFunction_GetClassObj(m)); +#endif + Py_VISIT(m->defaults_tuple); + Py_VISIT(m->defaults_kwdict); + Py_VISIT(m->func_is_coroutine); + if (m->defaults) { + PyObject **pydefaults = __Pyx_CyFunction_Defaults(PyObject *, m); + int i; + for (i = 0; i < m->defaults_pyobjects; i++) + Py_VISIT(pydefaults[i]); + } + return 0; +} +static PyObject* +__Pyx_CyFunction_repr(__pyx_CyFunctionObject *op) +{ +#if PY_MAJOR_VERSION >= 3 + return PyUnicode_FromFormat("", + op->func_qualname, (void *)op); +#else + return PyString_FromFormat("", + PyString_AsString(op->func_qualname), (void *)op); +#endif +} +static PyObject * __Pyx_CyFunction_CallMethod(PyObject *func, PyObject *self, PyObject *arg, PyObject *kw) { +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *f = ((__pyx_CyFunctionObject*)func)->func; + PyObject *py_name = NULL; + PyCFunction meth; + int flags; + meth = PyCFunction_GetFunction(f); + if (unlikely(!meth)) return NULL; + flags = PyCFunction_GetFlags(f); + if (unlikely(flags < 0)) return NULL; +#else + PyCFunctionObject* f = (PyCFunctionObject*)func; + PyCFunction meth = f->m_ml->ml_meth; + int flags = f->m_ml->ml_flags; +#endif + Py_ssize_t size; + switch (flags & (METH_VARARGS | METH_KEYWORDS | METH_NOARGS | METH_O)) { + case METH_VARARGS: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) + return (*meth)(self, arg); + break; + case METH_VARARGS | METH_KEYWORDS: + return (*(PyCFunctionWithKeywords)(void*)meth)(self, arg, kw); + case METH_NOARGS: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) { +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(arg); +#else + size = PyTuple_Size(arg); + if (unlikely(size < 0)) return NULL; +#endif + if (likely(size == 0)) + return (*meth)(self, NULL); +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, + "%.200S() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + py_name, size); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, + "%.200s() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + f->m_ml->ml_name, size); +#endif + return NULL; + } + break; + case METH_O: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) { +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(arg); +#else + size = PyTuple_Size(arg); + if (unlikely(size < 0)) return NULL; +#endif + if (likely(size == 1)) { + PyObject *result, *arg0; + #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + arg0 = PyTuple_GET_ITEM(arg, 0); + #else + arg0 = __Pyx_PySequence_ITEM(arg, 0); if (unlikely(!arg0)) return NULL; + #endif + result = (*meth)(self, arg0); + #if !(CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS) + Py_DECREF(arg0); + #endif + return result; + } +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, + "%.200S() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + py_name, size); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, + "%.200s() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + f->m_ml->ml_name, size); +#endif + return NULL; + } + break; + default: + PyErr_SetString(PyExc_SystemError, "Bad call flags for CyFunction"); + return NULL; + } +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, "%.200S() takes no keyword arguments", + py_name); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, "%.200s() takes no keyword arguments", + f->m_ml->ml_name); +#endif + return NULL; +} +static CYTHON_INLINE PyObject *__Pyx_CyFunction_Call(PyObject *func, PyObject *arg, PyObject *kw) { + PyObject *self, *result; +#if CYTHON_COMPILING_IN_LIMITED_API + self = PyCFunction_GetSelf(((__pyx_CyFunctionObject*)func)->func); + if (unlikely(!self) && PyErr_Occurred()) return NULL; +#else + self = ((PyCFunctionObject*)func)->m_self; +#endif + result = __Pyx_CyFunction_CallMethod(func, self, arg, kw); + return result; +} +static PyObject *__Pyx_CyFunction_CallAsMethod(PyObject *func, PyObject *args, PyObject *kw) { + PyObject *result; + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *) func; +#if CYTHON_METH_FASTCALL + __pyx_vectorcallfunc vc = __Pyx_CyFunction_func_vectorcall(cyfunc); + if (vc) { +#if CYTHON_ASSUME_SAFE_MACROS + return __Pyx_PyVectorcall_FastCallDict(func, vc, &PyTuple_GET_ITEM(args, 0), (size_t)PyTuple_GET_SIZE(args), kw); +#else + (void) &__Pyx_PyVectorcall_FastCallDict; + return PyVectorcall_Call(func, args, kw); +#endif + } +#endif + if ((cyfunc->flags & __Pyx_CYFUNCTION_CCLASS) && !(cyfunc->flags & __Pyx_CYFUNCTION_STATICMETHOD)) { + Py_ssize_t argc; + PyObject *new_args; + PyObject *self; +#if CYTHON_ASSUME_SAFE_MACROS + argc = PyTuple_GET_SIZE(args); +#else + argc = PyTuple_Size(args); + if (unlikely(!argc) < 0) return NULL; +#endif + new_args = PyTuple_GetSlice(args, 1, argc); + if (unlikely(!new_args)) + return NULL; + self = PyTuple_GetItem(args, 0); + if (unlikely(!self)) { + Py_DECREF(new_args); +#if PY_MAJOR_VERSION > 2 + PyErr_Format(PyExc_TypeError, + "unbound method %.200S() needs an argument", + cyfunc->func_qualname); +#else + PyErr_SetString(PyExc_TypeError, + "unbound method needs an argument"); +#endif + return NULL; + } + result = __Pyx_CyFunction_CallMethod(func, self, new_args, kw); + Py_DECREF(new_args); + } else { + result = __Pyx_CyFunction_Call(func, args, kw); + } + return result; +} +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE int __Pyx_CyFunction_Vectorcall_CheckArgs(__pyx_CyFunctionObject *cyfunc, Py_ssize_t nargs, PyObject *kwnames) +{ + int ret = 0; + if ((cyfunc->flags & __Pyx_CYFUNCTION_CCLASS) && !(cyfunc->flags & __Pyx_CYFUNCTION_STATICMETHOD)) { + if (unlikely(nargs < 1)) { + PyErr_Format(PyExc_TypeError, "%.200s() needs an argument", + ((PyCFunctionObject*)cyfunc)->m_ml->ml_name); + return -1; + } + ret = 1; + } + if (unlikely(kwnames) && unlikely(PyTuple_GET_SIZE(kwnames))) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes no keyword arguments", ((PyCFunctionObject*)cyfunc)->m_ml->ml_name); + return -1; + } + return ret; +} +static PyObject * __Pyx_CyFunction_Vectorcall_NOARGS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, kwnames)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + if (unlikely(nargs != 0)) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + def->ml_name, nargs); + return NULL; + } + return def->ml_meth(self, NULL); +} +static PyObject * __Pyx_CyFunction_Vectorcall_O(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, kwnames)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + if (unlikely(nargs != 1)) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + def->ml_name, nargs); + return NULL; + } + return def->ml_meth(self, args[0]); +} +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, NULL)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + return ((_PyCFunctionFastWithKeywords)(void(*)(void))def->ml_meth)(self, args, nargs, kwnames); +} +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; + PyTypeObject *cls = (PyTypeObject *) __Pyx_CyFunction_GetClassObj(cyfunc); +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, NULL)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + return ((__Pyx_PyCMethod)(void(*)(void))def->ml_meth)(self, cls, args, (size_t)nargs, kwnames); +} +#endif +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_CyFunctionType_slots[] = { + {Py_tp_dealloc, (void *)__Pyx_CyFunction_dealloc}, + {Py_tp_repr, (void *)__Pyx_CyFunction_repr}, + {Py_tp_call, (void *)__Pyx_CyFunction_CallAsMethod}, + {Py_tp_traverse, (void *)__Pyx_CyFunction_traverse}, + {Py_tp_clear, (void *)__Pyx_CyFunction_clear}, + {Py_tp_methods, (void *)__pyx_CyFunction_methods}, + {Py_tp_members, (void *)__pyx_CyFunction_members}, + {Py_tp_getset, (void *)__pyx_CyFunction_getsets}, + {Py_tp_descr_get, (void *)__Pyx_PyMethod_New}, + {0, 0}, +}; +static PyType_Spec __pyx_CyFunctionType_spec = { + __PYX_TYPE_MODULE_PREFIX "cython_function_or_method", + sizeof(__pyx_CyFunctionObject), + 0, +#ifdef Py_TPFLAGS_METHOD_DESCRIPTOR + Py_TPFLAGS_METHOD_DESCRIPTOR | +#endif +#if (defined(_Py_TPFLAGS_HAVE_VECTORCALL) && CYTHON_METH_FASTCALL) + _Py_TPFLAGS_HAVE_VECTORCALL | +#endif + Py_TPFLAGS_DEFAULT | Py_TPFLAGS_HAVE_GC | Py_TPFLAGS_BASETYPE, + __pyx_CyFunctionType_slots +}; +#else +static PyTypeObject __pyx_CyFunctionType_type = { + PyVarObject_HEAD_INIT(0, 0) + __PYX_TYPE_MODULE_PREFIX "cython_function_or_method", + sizeof(__pyx_CyFunctionObject), + 0, + (destructor) __Pyx_CyFunction_dealloc, +#if !CYTHON_METH_FASTCALL + 0, +#elif CYTHON_BACKPORT_VECTORCALL + (printfunc)offsetof(__pyx_CyFunctionObject, func_vectorcall), +#else + offsetof(PyCFunctionObject, vectorcall), +#endif + 0, + 0, +#if PY_MAJOR_VERSION < 3 + 0, +#else + 0, +#endif + (reprfunc) __Pyx_CyFunction_repr, + 0, + 0, + 0, + 0, + __Pyx_CyFunction_CallAsMethod, + 0, + 0, + 0, + 0, +#ifdef Py_TPFLAGS_METHOD_DESCRIPTOR + Py_TPFLAGS_METHOD_DESCRIPTOR | +#endif +#if defined(_Py_TPFLAGS_HAVE_VECTORCALL) && CYTHON_METH_FASTCALL + _Py_TPFLAGS_HAVE_VECTORCALL | +#endif + Py_TPFLAGS_DEFAULT | Py_TPFLAGS_HAVE_GC | Py_TPFLAGS_BASETYPE, + 0, + (traverseproc) __Pyx_CyFunction_traverse, + (inquiry) __Pyx_CyFunction_clear, + 0, +#if PY_VERSION_HEX < 0x030500A0 + offsetof(__pyx_CyFunctionObject, func_weakreflist), +#else + offsetof(PyCFunctionObject, m_weakreflist), +#endif + 0, + 0, + __pyx_CyFunction_methods, + __pyx_CyFunction_members, + __pyx_CyFunction_getsets, + 0, + 0, + __Pyx_PyMethod_New, + 0, + offsetof(__pyx_CyFunctionObject, func_dict), + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, +#if PY_VERSION_HEX >= 0x030400a1 + 0, +#endif +#if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, +#endif +#if __PYX_NEED_TP_PRINT_SLOT + 0, +#endif +#if PY_VERSION_HEX >= 0x030C0000 + 0, +#endif +#if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, +#endif +}; +#endif +static int __pyx_CyFunction_init(PyObject *module) { +#if CYTHON_USE_TYPE_SPECS + __pyx_CyFunctionType = __Pyx_FetchCommonTypeFromSpec(module, &__pyx_CyFunctionType_spec, NULL); +#else + CYTHON_UNUSED_VAR(module); + __pyx_CyFunctionType = __Pyx_FetchCommonType(&__pyx_CyFunctionType_type); +#endif + if (unlikely(__pyx_CyFunctionType == NULL)) { + return -1; + } + return 0; +} +static CYTHON_INLINE void *__Pyx_CyFunction_InitDefaults(PyObject *func, size_t size, int pyobjects) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults = PyObject_Malloc(size); + if (unlikely(!m->defaults)) + return PyErr_NoMemory(); + memset(m->defaults, 0, size); + m->defaults_pyobjects = pyobjects; + m->defaults_size = size; + return m->defaults; +} +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsTuple(PyObject *func, PyObject *tuple) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults_tuple = tuple; + Py_INCREF(tuple); +} +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsKwDict(PyObject *func, PyObject *dict) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults_kwdict = dict; + Py_INCREF(dict); +} +static CYTHON_INLINE void __Pyx_CyFunction_SetAnnotationsDict(PyObject *func, PyObject *dict) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->func_annotations = dict; + Py_INCREF(dict); +} + +/* CythonFunction */ +static PyObject *__Pyx_CyFunction_New(PyMethodDef *ml, int flags, PyObject* qualname, + PyObject *closure, PyObject *module, PyObject* globals, PyObject* code) { + PyObject *op = __Pyx_CyFunction_Init( + PyObject_GC_New(__pyx_CyFunctionObject, __pyx_CyFunctionType), + ml, flags, qualname, closure, module, globals, code + ); + if (likely(op)) { + PyObject_GC_Track(op); + } + return op; +} + +/* CLineInTraceback */ +#ifndef CYTHON_CLINE_IN_TRACEBACK +static int __Pyx_CLineForTraceback(PyThreadState *tstate, int c_line) { + PyObject *use_cline; + PyObject *ptype, *pvalue, *ptraceback; +#if CYTHON_COMPILING_IN_CPYTHON + PyObject **cython_runtime_dict; +#endif + CYTHON_MAYBE_UNUSED_VAR(tstate); + if (unlikely(!__pyx_cython_runtime)) { + return c_line; + } + __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); +#if CYTHON_COMPILING_IN_CPYTHON + cython_runtime_dict = _PyObject_GetDictPtr(__pyx_cython_runtime); + if (likely(cython_runtime_dict)) { + __PYX_PY_DICT_LOOKUP_IF_MODIFIED( + use_cline, *cython_runtime_dict, + __Pyx_PyDict_GetItemStr(*cython_runtime_dict, __pyx_n_s_cline_in_traceback)) + } else +#endif + { + PyObject *use_cline_obj = __Pyx_PyObject_GetAttrStrNoError(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback); + if (use_cline_obj) { + use_cline = PyObject_Not(use_cline_obj) ? Py_False : Py_True; + Py_DECREF(use_cline_obj); + } else { + PyErr_Clear(); + use_cline = NULL; + } + } + if (!use_cline) { + c_line = 0; + (void) PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False); + } + else if (use_cline == Py_False || (use_cline != Py_True && PyObject_Not(use_cline) != 0)) { + c_line = 0; + } + __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); + return c_line; +} +#endif + +/* CodeObjectCache */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line) { + int start = 0, mid = 0, end = count - 1; + if (end >= 0 && code_line > entries[end].code_line) { + return count; + } + while (start < end) { + mid = start + (end - start) / 2; + if (code_line < entries[mid].code_line) { + end = mid; + } else if (code_line > entries[mid].code_line) { + start = mid + 1; + } else { + return mid; + } + } + if (code_line <= entries[mid].code_line) { + return mid; + } else { + return mid + 1; + } +} +static PyCodeObject *__pyx_find_code_object(int code_line) { + PyCodeObject* code_object; + int pos; + if (unlikely(!code_line) || unlikely(!__pyx_code_cache.entries)) { + return NULL; + } + pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); + if (unlikely(pos >= __pyx_code_cache.count) || unlikely(__pyx_code_cache.entries[pos].code_line != code_line)) { + return NULL; + } + code_object = __pyx_code_cache.entries[pos].code_object; + Py_INCREF(code_object); + return code_object; +} +static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object) { + int pos, i; + __Pyx_CodeObjectCacheEntry* entries = __pyx_code_cache.entries; + if (unlikely(!code_line)) { + return; + } + if (unlikely(!entries)) { + entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Malloc(64*sizeof(__Pyx_CodeObjectCacheEntry)); + if (likely(entries)) { + __pyx_code_cache.entries = entries; + __pyx_code_cache.max_count = 64; + __pyx_code_cache.count = 1; + entries[0].code_line = code_line; + entries[0].code_object = code_object; + Py_INCREF(code_object); + } + return; + } + pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); + if ((pos < __pyx_code_cache.count) && unlikely(__pyx_code_cache.entries[pos].code_line == code_line)) { + PyCodeObject* tmp = entries[pos].code_object; + entries[pos].code_object = code_object; + Py_DECREF(tmp); + return; + } + if (__pyx_code_cache.count == __pyx_code_cache.max_count) { + int new_max = __pyx_code_cache.max_count + 64; + entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Realloc( + __pyx_code_cache.entries, ((size_t)new_max) * sizeof(__Pyx_CodeObjectCacheEntry)); + if (unlikely(!entries)) { + return; + } + __pyx_code_cache.entries = entries; + __pyx_code_cache.max_count = new_max; + } + for (i=__pyx_code_cache.count; i>pos; i--) { + entries[i] = entries[i-1]; + } + entries[pos].code_line = code_line; + entries[pos].code_object = code_object; + __pyx_code_cache.count++; + Py_INCREF(code_object); +} +#endif + +/* AddTraceback */ +#include "compile.h" +#include "frameobject.h" +#include "traceback.h" +#if PY_VERSION_HEX >= 0x030b00a6 && !CYTHON_COMPILING_IN_LIMITED_API + #ifndef Py_BUILD_CORE + #define Py_BUILD_CORE 1 + #endif + #include "internal/pycore_frame.h" +#endif +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject *__Pyx_PyCode_Replace_For_AddTraceback(PyObject *code, PyObject *scratch_dict, + PyObject *firstlineno, PyObject *name) { + PyObject *replace = NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "co_firstlineno", firstlineno))) return NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "co_name", name))) return NULL; + replace = PyObject_GetAttrString(code, "replace"); + if (likely(replace)) { + PyObject *result; + result = PyObject_Call(replace, __pyx_empty_tuple, scratch_dict); + Py_DECREF(replace); + return result; + } + PyErr_Clear(); + #if __PYX_LIMITED_VERSION_HEX < 0x030780000 + { + PyObject *compiled = NULL, *result = NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "code", code))) return NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "type", (PyObject*)(&PyType_Type)))) return NULL; + compiled = Py_CompileString( + "out = type(code)(\n" + " code.co_argcount, code.co_kwonlyargcount, code.co_nlocals, code.co_stacksize,\n" + " code.co_flags, code.co_code, code.co_consts, code.co_names,\n" + " code.co_varnames, code.co_filename, co_name, co_firstlineno,\n" + " code.co_lnotab)\n", "", Py_file_input); + if (!compiled) return NULL; + result = PyEval_EvalCode(compiled, scratch_dict, scratch_dict); + Py_DECREF(compiled); + if (!result) PyErr_Print(); + Py_DECREF(result); + result = PyDict_GetItemString(scratch_dict, "out"); + if (result) Py_INCREF(result); + return result; + } + #else + return NULL; + #endif +} +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename) { + PyObject *code_object = NULL, *py_py_line = NULL, *py_funcname = NULL, *dict = NULL; + PyObject *replace = NULL, *getframe = NULL, *frame = NULL; + PyObject *exc_type, *exc_value, *exc_traceback; + int success = 0; + if (c_line) { + (void) __pyx_cfilenm; + (void) __Pyx_CLineForTraceback(__Pyx_PyThreadState_Current, c_line); + } + PyErr_Fetch(&exc_type, &exc_value, &exc_traceback); + code_object = Py_CompileString("_getframe()", filename, Py_eval_input); + if (unlikely(!code_object)) goto bad; + py_py_line = PyLong_FromLong(py_line); + if (unlikely(!py_py_line)) goto bad; + py_funcname = PyUnicode_FromString(funcname); + if (unlikely(!py_funcname)) goto bad; + dict = PyDict_New(); + if (unlikely(!dict)) goto bad; + { + PyObject *old_code_object = code_object; + code_object = __Pyx_PyCode_Replace_For_AddTraceback(code_object, dict, py_py_line, py_funcname); + Py_DECREF(old_code_object); + } + if (unlikely(!code_object)) goto bad; + getframe = PySys_GetObject("_getframe"); + if (unlikely(!getframe)) goto bad; + if (unlikely(PyDict_SetItemString(dict, "_getframe", getframe))) goto bad; + frame = PyEval_EvalCode(code_object, dict, dict); + if (unlikely(!frame) || frame == Py_None) goto bad; + success = 1; + bad: + PyErr_Restore(exc_type, exc_value, exc_traceback); + Py_XDECREF(code_object); + Py_XDECREF(py_py_line); + Py_XDECREF(py_funcname); + Py_XDECREF(dict); + Py_XDECREF(replace); + if (success) { + PyTraceBack_Here( + (struct _frame*)frame); + } + Py_XDECREF(frame); +} +#else +static PyCodeObject* __Pyx_CreateCodeObjectForTraceback( + const char *funcname, int c_line, + int py_line, const char *filename) { + PyCodeObject *py_code = NULL; + PyObject *py_funcname = NULL; + #if PY_MAJOR_VERSION < 3 + PyObject *py_srcfile = NULL; + py_srcfile = PyString_FromString(filename); + if (!py_srcfile) goto bad; + #endif + if (c_line) { + #if PY_MAJOR_VERSION < 3 + py_funcname = PyString_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); + if (!py_funcname) goto bad; + #else + py_funcname = PyUnicode_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); + if (!py_funcname) goto bad; + funcname = PyUnicode_AsUTF8(py_funcname); + if (!funcname) goto bad; + #endif + } + else { + #if PY_MAJOR_VERSION < 3 + py_funcname = PyString_FromString(funcname); + if (!py_funcname) goto bad; + #endif + } + #if PY_MAJOR_VERSION < 3 + py_code = __Pyx_PyCode_New( + 0, + 0, + 0, + 0, + 0, + 0, + __pyx_empty_bytes, /*PyObject *code,*/ + __pyx_empty_tuple, /*PyObject *consts,*/ + __pyx_empty_tuple, /*PyObject *names,*/ + __pyx_empty_tuple, /*PyObject *varnames,*/ + __pyx_empty_tuple, /*PyObject *freevars,*/ + __pyx_empty_tuple, /*PyObject *cellvars,*/ + py_srcfile, /*PyObject *filename,*/ + py_funcname, /*PyObject *name,*/ + py_line, + __pyx_empty_bytes /*PyObject *lnotab*/ + ); + Py_DECREF(py_srcfile); + #else + py_code = PyCode_NewEmpty(filename, funcname, py_line); + #endif + Py_XDECREF(py_funcname); + return py_code; +bad: + Py_XDECREF(py_funcname); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(py_srcfile); + #endif + return NULL; +} +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename) { + PyCodeObject *py_code = 0; + PyFrameObject *py_frame = 0; + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject *ptype, *pvalue, *ptraceback; + if (c_line) { + c_line = __Pyx_CLineForTraceback(tstate, c_line); + } + py_code = __pyx_find_code_object(c_line ? -c_line : py_line); + if (!py_code) { + __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); + py_code = __Pyx_CreateCodeObjectForTraceback( + funcname, c_line, py_line, filename); + if (!py_code) { + /* If the code object creation fails, then we should clear the + fetched exception references and propagate the new exception */ + Py_XDECREF(ptype); + Py_XDECREF(pvalue); + Py_XDECREF(ptraceback); + goto bad; + } + __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); + __pyx_insert_code_object(c_line ? -c_line : py_line, py_code); + } + py_frame = PyFrame_New( + tstate, /*PyThreadState *tstate,*/ + py_code, /*PyCodeObject *code,*/ + __pyx_d, /*PyObject *globals,*/ + 0 /*PyObject *locals*/ + ); + if (!py_frame) goto bad; + __Pyx_PyFrame_SetLineNumber(py_frame, py_line); + PyTraceBack_Here(py_frame); +bad: + Py_XDECREF(py_code); + Py_XDECREF(py_frame); +} +#endif + +#if PY_MAJOR_VERSION < 3 +static int __Pyx_GetBuffer(PyObject *obj, Py_buffer *view, int flags) { + __Pyx_TypeName obj_type_name; + if (PyObject_CheckBuffer(obj)) return PyObject_GetBuffer(obj, view, flags); + if (__Pyx_TypeCheck(obj, __pyx_array_type)) return __pyx_array_getbuffer(obj, view, flags); + if (__Pyx_TypeCheck(obj, __pyx_memoryview_type)) return __pyx_memoryview_getbuffer(obj, view, flags); + obj_type_name = __Pyx_PyType_GetName(Py_TYPE(obj)); + PyErr_Format(PyExc_TypeError, + "'" __Pyx_FMT_TYPENAME "' does not have the buffer interface", + obj_type_name); + __Pyx_DECREF_TypeName(obj_type_name); + return -1; +} +static void __Pyx_ReleaseBuffer(Py_buffer *view) { + PyObject *obj = view->obj; + if (!obj) return; + if (PyObject_CheckBuffer(obj)) { + PyBuffer_Release(view); + return; + } + if ((0)) {} + view->obj = NULL; + Py_DECREF(obj); +} +#endif + + +/* MemviewSliceIsContig */ +static int +__pyx_memviewslice_is_contig(const __Pyx_memviewslice mvs, char order, int ndim) +{ + int i, index, step, start; + Py_ssize_t itemsize = mvs.memview->view.itemsize; + if (order == 'F') { + step = 1; + start = 0; + } else { + step = -1; + start = ndim - 1; + } + for (i = 0; i < ndim; i++) { + index = start + step * i; + if (mvs.suboffsets[index] >= 0 || mvs.strides[index] != itemsize) + return 0; + itemsize *= mvs.shape[index]; + } + return 1; +} + +/* OverlappingSlices */ +static void +__pyx_get_array_memory_extents(__Pyx_memviewslice *slice, + void **out_start, void **out_end, + int ndim, size_t itemsize) +{ + char *start, *end; + int i; + start = end = slice->data; + for (i = 0; i < ndim; i++) { + Py_ssize_t stride = slice->strides[i]; + Py_ssize_t extent = slice->shape[i]; + if (extent == 0) { + *out_start = *out_end = start; + return; + } else { + if (stride > 0) + end += stride * (extent - 1); + else + start += stride * (extent - 1); + } + } + *out_start = start; + *out_end = end + itemsize; +} +static int +__pyx_slices_overlap(__Pyx_memviewslice *slice1, + __Pyx_memviewslice *slice2, + int ndim, size_t itemsize) +{ + void *start1, *end1, *start2, *end2; + __pyx_get_array_memory_extents(slice1, &start1, &end1, ndim, itemsize); + __pyx_get_array_memory_extents(slice2, &start2, &end2, ndim, itemsize); + return (start1 < end2) && (start2 < end1); +} + +/* IsLittleEndian */ +static CYTHON_INLINE int __Pyx_Is_Little_Endian(void) +{ + union { + uint32_t u32; + uint8_t u8[4]; + } S; + S.u32 = 0x01020304; + return S.u8[0] == 4; +} + +/* BufferFormatCheck */ +static void __Pyx_BufFmt_Init(__Pyx_BufFmt_Context* ctx, + __Pyx_BufFmt_StackElem* stack, + __Pyx_TypeInfo* type) { + stack[0].field = &ctx->root; + stack[0].parent_offset = 0; + ctx->root.type = type; + ctx->root.name = "buffer dtype"; + ctx->root.offset = 0; + ctx->head = stack; + ctx->head->field = &ctx->root; + ctx->fmt_offset = 0; + ctx->head->parent_offset = 0; + ctx->new_packmode = '@'; + ctx->enc_packmode = '@'; + ctx->new_count = 1; + ctx->enc_count = 0; + ctx->enc_type = 0; + ctx->is_complex = 0; + ctx->is_valid_array = 0; + ctx->struct_alignment = 0; + while (type->typegroup == 'S') { + ++ctx->head; + ctx->head->field = type->fields; + ctx->head->parent_offset = 0; + type = type->fields->type; + } +} +static int __Pyx_BufFmt_ParseNumber(const char** ts) { + int count; + const char* t = *ts; + if (*t < '0' || *t > '9') { + return -1; + } else { + count = *t++ - '0'; + while (*t >= '0' && *t <= '9') { + count *= 10; + count += *t++ - '0'; + } + } + *ts = t; + return count; +} +static int __Pyx_BufFmt_ExpectNumber(const char **ts) { + int number = __Pyx_BufFmt_ParseNumber(ts); + if (number == -1) + PyErr_Format(PyExc_ValueError,\ + "Does not understand character buffer dtype format string ('%c')", **ts); + return number; +} +static void __Pyx_BufFmt_RaiseUnexpectedChar(char ch) { + PyErr_Format(PyExc_ValueError, + "Unexpected format string character: '%c'", ch); +} +static const char* __Pyx_BufFmt_DescribeTypeChar(char ch, int is_complex) { + switch (ch) { + case '?': return "'bool'"; + case 'c': return "'char'"; + case 'b': return "'signed char'"; + case 'B': return "'unsigned char'"; + case 'h': return "'short'"; + case 'H': return "'unsigned short'"; + case 'i': return "'int'"; + case 'I': return "'unsigned int'"; + case 'l': return "'long'"; + case 'L': return "'unsigned long'"; + case 'q': return "'long long'"; + case 'Q': return "'unsigned long long'"; + case 'f': return (is_complex ? "'complex float'" : "'float'"); + case 'd': return (is_complex ? "'complex double'" : "'double'"); + case 'g': return (is_complex ? "'complex long double'" : "'long double'"); + case 'T': return "a struct"; + case 'O': return "Python object"; + case 'P': return "a pointer"; + case 's': case 'p': return "a string"; + case 0: return "end"; + default: return "unparsable format string"; + } +} +static size_t __Pyx_BufFmt_TypeCharToStandardSize(char ch, int is_complex) { + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return 2; + case 'i': case 'I': case 'l': case 'L': return 4; + case 'q': case 'Q': return 8; + case 'f': return (is_complex ? 8 : 4); + case 'd': return (is_complex ? 16 : 8); + case 'g': { + PyErr_SetString(PyExc_ValueError, "Python does not define a standard format string size for long double ('g').."); + return 0; + } + case 'O': case 'P': return sizeof(void*); + default: + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } +} +static size_t __Pyx_BufFmt_TypeCharToNativeSize(char ch, int is_complex) { + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return sizeof(short); + case 'i': case 'I': return sizeof(int); + case 'l': case 'L': return sizeof(long); + #ifdef HAVE_LONG_LONG + case 'q': case 'Q': return sizeof(PY_LONG_LONG); + #endif + case 'f': return sizeof(float) * (is_complex ? 2 : 1); + case 'd': return sizeof(double) * (is_complex ? 2 : 1); + case 'g': return sizeof(long double) * (is_complex ? 2 : 1); + case 'O': case 'P': return sizeof(void*); + default: { + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } + } +} +typedef struct { char c; short x; } __Pyx_st_short; +typedef struct { char c; int x; } __Pyx_st_int; +typedef struct { char c; long x; } __Pyx_st_long; +typedef struct { char c; float x; } __Pyx_st_float; +typedef struct { char c; double x; } __Pyx_st_double; +typedef struct { char c; long double x; } __Pyx_st_longdouble; +typedef struct { char c; void *x; } __Pyx_st_void_p; +#ifdef HAVE_LONG_LONG +typedef struct { char c; PY_LONG_LONG x; } __Pyx_st_longlong; +#endif +static size_t __Pyx_BufFmt_TypeCharToAlignment(char ch, int is_complex) { + CYTHON_UNUSED_VAR(is_complex); + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return sizeof(__Pyx_st_short) - sizeof(short); + case 'i': case 'I': return sizeof(__Pyx_st_int) - sizeof(int); + case 'l': case 'L': return sizeof(__Pyx_st_long) - sizeof(long); +#ifdef HAVE_LONG_LONG + case 'q': case 'Q': return sizeof(__Pyx_st_longlong) - sizeof(PY_LONG_LONG); +#endif + case 'f': return sizeof(__Pyx_st_float) - sizeof(float); + case 'd': return sizeof(__Pyx_st_double) - sizeof(double); + case 'g': return sizeof(__Pyx_st_longdouble) - sizeof(long double); + case 'P': case 'O': return sizeof(__Pyx_st_void_p) - sizeof(void*); + default: + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } +} +/* These are for computing the padding at the end of the struct to align + on the first member of the struct. This will probably the same as above, + but we don't have any guarantees. + */ +typedef struct { short x; char c; } __Pyx_pad_short; +typedef struct { int x; char c; } __Pyx_pad_int; +typedef struct { long x; char c; } __Pyx_pad_long; +typedef struct { float x; char c; } __Pyx_pad_float; +typedef struct { double x; char c; } __Pyx_pad_double; +typedef struct { long double x; char c; } __Pyx_pad_longdouble; +typedef struct { void *x; char c; } __Pyx_pad_void_p; +#ifdef HAVE_LONG_LONG +typedef struct { PY_LONG_LONG x; char c; } __Pyx_pad_longlong; +#endif +static size_t __Pyx_BufFmt_TypeCharToPadding(char ch, int is_complex) { + CYTHON_UNUSED_VAR(is_complex); + switch (ch) { + case '?': case 'c': case 'b': case 'B': case 's': case 'p': return 1; + case 'h': case 'H': return sizeof(__Pyx_pad_short) - sizeof(short); + case 'i': case 'I': return sizeof(__Pyx_pad_int) - sizeof(int); + case 'l': case 'L': return sizeof(__Pyx_pad_long) - sizeof(long); +#ifdef HAVE_LONG_LONG + case 'q': case 'Q': return sizeof(__Pyx_pad_longlong) - sizeof(PY_LONG_LONG); +#endif + case 'f': return sizeof(__Pyx_pad_float) - sizeof(float); + case 'd': return sizeof(__Pyx_pad_double) - sizeof(double); + case 'g': return sizeof(__Pyx_pad_longdouble) - sizeof(long double); + case 'P': case 'O': return sizeof(__Pyx_pad_void_p) - sizeof(void*); + default: + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } +} +static char __Pyx_BufFmt_TypeCharToGroup(char ch, int is_complex) { + switch (ch) { + case 'c': + return 'H'; + case 'b': case 'h': case 'i': + case 'l': case 'q': case 's': case 'p': + return 'I'; + case '?': case 'B': case 'H': case 'I': case 'L': case 'Q': + return 'U'; + case 'f': case 'd': case 'g': + return (is_complex ? 'C' : 'R'); + case 'O': + return 'O'; + case 'P': + return 'P'; + default: { + __Pyx_BufFmt_RaiseUnexpectedChar(ch); + return 0; + } + } +} +static void __Pyx_BufFmt_RaiseExpected(__Pyx_BufFmt_Context* ctx) { + if (ctx->head == NULL || ctx->head->field == &ctx->root) { + const char* expected; + const char* quote; + if (ctx->head == NULL) { + expected = "end"; + quote = ""; + } else { + expected = ctx->head->field->type->name; + quote = "'"; + } + PyErr_Format(PyExc_ValueError, + "Buffer dtype mismatch, expected %s%s%s but got %s", + quote, expected, quote, + __Pyx_BufFmt_DescribeTypeChar(ctx->enc_type, ctx->is_complex)); + } else { + __Pyx_StructField* field = ctx->head->field; + __Pyx_StructField* parent = (ctx->head - 1)->field; + PyErr_Format(PyExc_ValueError, + "Buffer dtype mismatch, expected '%s' but got %s in '%s.%s'", + field->type->name, __Pyx_BufFmt_DescribeTypeChar(ctx->enc_type, ctx->is_complex), + parent->type->name, field->name); + } +} +static int __Pyx_BufFmt_ProcessTypeChunk(__Pyx_BufFmt_Context* ctx) { + char group; + size_t size, offset, arraysize = 1; + if (ctx->enc_type == 0) return 0; + if (ctx->head->field->type->arraysize[0]) { + int i, ndim = 0; + if (ctx->enc_type == 's' || ctx->enc_type == 'p') { + ctx->is_valid_array = ctx->head->field->type->ndim == 1; + ndim = 1; + if (ctx->enc_count != ctx->head->field->type->arraysize[0]) { + PyErr_Format(PyExc_ValueError, + "Expected a dimension of size %zu, got %zu", + ctx->head->field->type->arraysize[0], ctx->enc_count); + return -1; + } + } + if (!ctx->is_valid_array) { + PyErr_Format(PyExc_ValueError, "Expected %d dimensions, got %d", + ctx->head->field->type->ndim, ndim); + return -1; + } + for (i = 0; i < ctx->head->field->type->ndim; i++) { + arraysize *= ctx->head->field->type->arraysize[i]; + } + ctx->is_valid_array = 0; + ctx->enc_count = 1; + } + group = __Pyx_BufFmt_TypeCharToGroup(ctx->enc_type, ctx->is_complex); + do { + __Pyx_StructField* field = ctx->head->field; + __Pyx_TypeInfo* type = field->type; + if (ctx->enc_packmode == '@' || ctx->enc_packmode == '^') { + size = __Pyx_BufFmt_TypeCharToNativeSize(ctx->enc_type, ctx->is_complex); + } else { + size = __Pyx_BufFmt_TypeCharToStandardSize(ctx->enc_type, ctx->is_complex); + } + if (ctx->enc_packmode == '@') { + size_t align_at = __Pyx_BufFmt_TypeCharToAlignment(ctx->enc_type, ctx->is_complex); + size_t align_mod_offset; + if (align_at == 0) return -1; + align_mod_offset = ctx->fmt_offset % align_at; + if (align_mod_offset > 0) ctx->fmt_offset += align_at - align_mod_offset; + if (ctx->struct_alignment == 0) + ctx->struct_alignment = __Pyx_BufFmt_TypeCharToPadding(ctx->enc_type, + ctx->is_complex); + } + if (type->size != size || type->typegroup != group) { + if (type->typegroup == 'C' && type->fields != NULL) { + size_t parent_offset = ctx->head->parent_offset + field->offset; + ++ctx->head; + ctx->head->field = type->fields; + ctx->head->parent_offset = parent_offset; + continue; + } + if ((type->typegroup == 'H' || group == 'H') && type->size == size) { + } else { + __Pyx_BufFmt_RaiseExpected(ctx); + return -1; + } + } + offset = ctx->head->parent_offset + field->offset; + if (ctx->fmt_offset != offset) { + PyErr_Format(PyExc_ValueError, + "Buffer dtype mismatch; next field is at offset %" CYTHON_FORMAT_SSIZE_T "d but %" CYTHON_FORMAT_SSIZE_T "d expected", + (Py_ssize_t)ctx->fmt_offset, (Py_ssize_t)offset); + return -1; + } + ctx->fmt_offset += size; + if (arraysize) + ctx->fmt_offset += (arraysize - 1) * size; + --ctx->enc_count; + while (1) { + if (field == &ctx->root) { + ctx->head = NULL; + if (ctx->enc_count != 0) { + __Pyx_BufFmt_RaiseExpected(ctx); + return -1; + } + break; + } + ctx->head->field = ++field; + if (field->type == NULL) { + --ctx->head; + field = ctx->head->field; + continue; + } else if (field->type->typegroup == 'S') { + size_t parent_offset = ctx->head->parent_offset + field->offset; + if (field->type->fields->type == NULL) continue; + field = field->type->fields; + ++ctx->head; + ctx->head->field = field; + ctx->head->parent_offset = parent_offset; + break; + } else { + break; + } + } + } while (ctx->enc_count); + ctx->enc_type = 0; + ctx->is_complex = 0; + return 0; +} +static int +__pyx_buffmt_parse_array(__Pyx_BufFmt_Context* ctx, const char** tsp) +{ + const char *ts = *tsp; + int i = 0, number, ndim; + ++ts; + if (ctx->new_count != 1) { + PyErr_SetString(PyExc_ValueError, + "Cannot handle repeated arrays in format string"); + return -1; + } + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return -1; + ndim = ctx->head->field->type->ndim; + while (*ts && *ts != ')') { + switch (*ts) { + case ' ': case '\f': case '\r': case '\n': case '\t': case '\v': continue; + default: break; + } + number = __Pyx_BufFmt_ExpectNumber(&ts); + if (number == -1) return -1; + if (i < ndim && (size_t) number != ctx->head->field->type->arraysize[i]) { + PyErr_Format(PyExc_ValueError, + "Expected a dimension of size %zu, got %d", + ctx->head->field->type->arraysize[i], number); + return -1; + } + if (*ts != ',' && *ts != ')') { + PyErr_Format(PyExc_ValueError, + "Expected a comma in format string, got '%c'", *ts); + return -1; + } + if (*ts == ',') ts++; + i++; + } + if (i != ndim) { + PyErr_Format(PyExc_ValueError, "Expected %d dimension(s), got %d", + ctx->head->field->type->ndim, i); + return -1; + } + if (!*ts) { + PyErr_SetString(PyExc_ValueError, + "Unexpected end of format string, expected ')'"); + return -1; + } + ctx->is_valid_array = 1; + ctx->new_count = 1; + *tsp = ++ts; + return 0; +} +static const char* __Pyx_BufFmt_CheckString(__Pyx_BufFmt_Context* ctx, const char* ts) { + int got_Z = 0; + while (1) { + switch(*ts) { + case 0: + if (ctx->enc_type != 0 && ctx->head == NULL) { + __Pyx_BufFmt_RaiseExpected(ctx); + return NULL; + } + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + if (ctx->head != NULL) { + __Pyx_BufFmt_RaiseExpected(ctx); + return NULL; + } + return ts; + case ' ': + case '\r': + case '\n': + ++ts; + break; + case '<': + if (!__Pyx_Is_Little_Endian()) { + PyErr_SetString(PyExc_ValueError, "Little-endian buffer not supported on big-endian compiler"); + return NULL; + } + ctx->new_packmode = '='; + ++ts; + break; + case '>': + case '!': + if (__Pyx_Is_Little_Endian()) { + PyErr_SetString(PyExc_ValueError, "Big-endian buffer not supported on little-endian compiler"); + return NULL; + } + ctx->new_packmode = '='; + ++ts; + break; + case '=': + case '@': + case '^': + ctx->new_packmode = *ts++; + break; + case 'T': + { + const char* ts_after_sub; + size_t i, struct_count = ctx->new_count; + size_t struct_alignment = ctx->struct_alignment; + ctx->new_count = 1; + ++ts; + if (*ts != '{') { + PyErr_SetString(PyExc_ValueError, "Buffer acquisition: Expected '{' after 'T'"); + return NULL; + } + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->enc_type = 0; + ctx->enc_count = 0; + ctx->struct_alignment = 0; + ++ts; + ts_after_sub = ts; + for (i = 0; i != struct_count; ++i) { + ts_after_sub = __Pyx_BufFmt_CheckString(ctx, ts); + if (!ts_after_sub) return NULL; + } + ts = ts_after_sub; + if (struct_alignment) ctx->struct_alignment = struct_alignment; + } + break; + case '}': + { + size_t alignment = ctx->struct_alignment; + ++ts; + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->enc_type = 0; + if (alignment && ctx->fmt_offset % alignment) { + ctx->fmt_offset += alignment - (ctx->fmt_offset % alignment); + } + } + return ts; + case 'x': + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->fmt_offset += ctx->new_count; + ctx->new_count = 1; + ctx->enc_count = 0; + ctx->enc_type = 0; + ctx->enc_packmode = ctx->new_packmode; + ++ts; + break; + case 'Z': + got_Z = 1; + ++ts; + if (*ts != 'f' && *ts != 'd' && *ts != 'g') { + __Pyx_BufFmt_RaiseUnexpectedChar('Z'); + return NULL; + } + CYTHON_FALLTHROUGH; + case '?': case 'c': case 'b': case 'B': case 'h': case 'H': case 'i': case 'I': + case 'l': case 'L': case 'q': case 'Q': + case 'f': case 'd': case 'g': + case 'O': case 'p': + if ((ctx->enc_type == *ts) && (got_Z == ctx->is_complex) && + (ctx->enc_packmode == ctx->new_packmode) && (!ctx->is_valid_array)) { + ctx->enc_count += ctx->new_count; + ctx->new_count = 1; + got_Z = 0; + ++ts; + break; + } + CYTHON_FALLTHROUGH; + case 's': + if (__Pyx_BufFmt_ProcessTypeChunk(ctx) == -1) return NULL; + ctx->enc_count = ctx->new_count; + ctx->enc_packmode = ctx->new_packmode; + ctx->enc_type = *ts; + ctx->is_complex = got_Z; + ++ts; + ctx->new_count = 1; + got_Z = 0; + break; + case ':': + ++ts; + while(*ts != ':') ++ts; + ++ts; + break; + case '(': + if (__pyx_buffmt_parse_array(ctx, &ts) < 0) return NULL; + break; + default: + { + int number = __Pyx_BufFmt_ExpectNumber(&ts); + if (number == -1) return NULL; + ctx->new_count = (size_t)number; + } + } + } +} + +/* TypeInfoCompare */ + static int +__pyx_typeinfo_cmp(__Pyx_TypeInfo *a, __Pyx_TypeInfo *b) +{ + int i; + if (!a || !b) + return 0; + if (a == b) + return 1; + if (a->size != b->size || a->typegroup != b->typegroup || + a->is_unsigned != b->is_unsigned || a->ndim != b->ndim) { + if (a->typegroup == 'H' || b->typegroup == 'H') { + return a->size == b->size; + } else { + return 0; + } + } + if (a->ndim) { + for (i = 0; i < a->ndim; i++) + if (a->arraysize[i] != b->arraysize[i]) + return 0; + } + if (a->typegroup == 'S') { + if (a->flags != b->flags) + return 0; + if (a->fields || b->fields) { + if (!(a->fields && b->fields)) + return 0; + for (i = 0; a->fields[i].type && b->fields[i].type; i++) { + __Pyx_StructField *field_a = a->fields + i; + __Pyx_StructField *field_b = b->fields + i; + if (field_a->offset != field_b->offset || + !__pyx_typeinfo_cmp(field_a->type, field_b->type)) + return 0; + } + return !a->fields[i].type && !b->fields[i].type; + } + } + return 1; +} + +/* MemviewSliceValidateAndInit */ + static int +__pyx_check_strides(Py_buffer *buf, int dim, int ndim, int spec) +{ + if (buf->shape[dim] <= 1) + return 1; + if (buf->strides) { + if (spec & __Pyx_MEMVIEW_CONTIG) { + if (spec & (__Pyx_MEMVIEW_PTR|__Pyx_MEMVIEW_FULL)) { + if (unlikely(buf->strides[dim] != sizeof(void *))) { + PyErr_Format(PyExc_ValueError, + "Buffer is not indirectly contiguous " + "in dimension %d.", dim); + goto fail; + } + } else if (unlikely(buf->strides[dim] != buf->itemsize)) { + PyErr_SetString(PyExc_ValueError, + "Buffer and memoryview are not contiguous " + "in the same dimension."); + goto fail; + } + } + if (spec & __Pyx_MEMVIEW_FOLLOW) { + Py_ssize_t stride = buf->strides[dim]; + if (stride < 0) + stride = -stride; + if (unlikely(stride < buf->itemsize)) { + PyErr_SetString(PyExc_ValueError, + "Buffer and memoryview are not contiguous " + "in the same dimension."); + goto fail; + } + } + } else { + if (unlikely(spec & __Pyx_MEMVIEW_CONTIG && dim != ndim - 1)) { + PyErr_Format(PyExc_ValueError, + "C-contiguous buffer is not contiguous in " + "dimension %d", dim); + goto fail; + } else if (unlikely(spec & (__Pyx_MEMVIEW_PTR))) { + PyErr_Format(PyExc_ValueError, + "C-contiguous buffer is not indirect in " + "dimension %d", dim); + goto fail; + } else if (unlikely(buf->suboffsets)) { + PyErr_SetString(PyExc_ValueError, + "Buffer exposes suboffsets but no strides"); + goto fail; + } + } + return 1; +fail: + return 0; +} +static int +__pyx_check_suboffsets(Py_buffer *buf, int dim, int ndim, int spec) +{ + CYTHON_UNUSED_VAR(ndim); + if (spec & __Pyx_MEMVIEW_DIRECT) { + if (unlikely(buf->suboffsets && buf->suboffsets[dim] >= 0)) { + PyErr_Format(PyExc_ValueError, + "Buffer not compatible with direct access " + "in dimension %d.", dim); + goto fail; + } + } + if (spec & __Pyx_MEMVIEW_PTR) { + if (unlikely(!buf->suboffsets || (buf->suboffsets[dim] < 0))) { + PyErr_Format(PyExc_ValueError, + "Buffer is not indirectly accessible " + "in dimension %d.", dim); + goto fail; + } + } + return 1; +fail: + return 0; +} +static int +__pyx_verify_contig(Py_buffer *buf, int ndim, int c_or_f_flag) +{ + int i; + if (c_or_f_flag & __Pyx_IS_F_CONTIG) { + Py_ssize_t stride = 1; + for (i = 0; i < ndim; i++) { + if (unlikely(stride * buf->itemsize != buf->strides[i] && buf->shape[i] > 1)) { + PyErr_SetString(PyExc_ValueError, + "Buffer not fortran contiguous."); + goto fail; + } + stride = stride * buf->shape[i]; + } + } else if (c_or_f_flag & __Pyx_IS_C_CONTIG) { + Py_ssize_t stride = 1; + for (i = ndim - 1; i >- 1; i--) { + if (unlikely(stride * buf->itemsize != buf->strides[i] && buf->shape[i] > 1)) { + PyErr_SetString(PyExc_ValueError, + "Buffer not C contiguous."); + goto fail; + } + stride = stride * buf->shape[i]; + } + } + return 1; +fail: + return 0; +} +static int __Pyx_ValidateAndInit_memviewslice( + int *axes_specs, + int c_or_f_flag, + int buf_flags, + int ndim, + __Pyx_TypeInfo *dtype, + __Pyx_BufFmt_StackElem stack[], + __Pyx_memviewslice *memviewslice, + PyObject *original_obj) +{ + struct __pyx_memoryview_obj *memview, *new_memview; + __Pyx_RefNannyDeclarations + Py_buffer *buf; + int i, spec = 0, retval = -1; + __Pyx_BufFmt_Context ctx; + int from_memoryview = __pyx_memoryview_check(original_obj); + __Pyx_RefNannySetupContext("ValidateAndInit_memviewslice", 0); + if (from_memoryview && __pyx_typeinfo_cmp(dtype, ((struct __pyx_memoryview_obj *) + original_obj)->typeinfo)) { + memview = (struct __pyx_memoryview_obj *) original_obj; + new_memview = NULL; + } else { + memview = (struct __pyx_memoryview_obj *) __pyx_memoryview_new( + original_obj, buf_flags, 0, dtype); + new_memview = memview; + if (unlikely(!memview)) + goto fail; + } + buf = &memview->view; + if (unlikely(buf->ndim != ndim)) { + PyErr_Format(PyExc_ValueError, + "Buffer has wrong number of dimensions (expected %d, got %d)", + ndim, buf->ndim); + goto fail; + } + if (new_memview) { + __Pyx_BufFmt_Init(&ctx, stack, dtype); + if (unlikely(!__Pyx_BufFmt_CheckString(&ctx, buf->format))) goto fail; + } + if (unlikely((unsigned) buf->itemsize != dtype->size)) { + PyErr_Format(PyExc_ValueError, + "Item size of buffer (%" CYTHON_FORMAT_SSIZE_T "u byte%s) " + "does not match size of '%s' (%" CYTHON_FORMAT_SSIZE_T "u byte%s)", + buf->itemsize, + (buf->itemsize > 1) ? "s" : "", + dtype->name, + dtype->size, + (dtype->size > 1) ? "s" : ""); + goto fail; + } + if (buf->len > 0) { + for (i = 0; i < ndim; i++) { + spec = axes_specs[i]; + if (unlikely(!__pyx_check_strides(buf, i, ndim, spec))) + goto fail; + if (unlikely(!__pyx_check_suboffsets(buf, i, ndim, spec))) + goto fail; + } + if (unlikely(buf->strides && !__pyx_verify_contig(buf, ndim, c_or_f_flag))) + goto fail; + } + if (unlikely(__Pyx_init_memviewslice(memview, ndim, memviewslice, + new_memview != NULL) == -1)) { + goto fail; + } + retval = 0; + goto no_fail; +fail: + Py_XDECREF(new_memview); + retval = -1; +no_fail: + __Pyx_RefNannyFinishContext(); + return retval; +} + +/* ObjectToMemviewSlice */ + static CYTHON_INLINE __Pyx_memviewslice __Pyx_PyObject_to_MemoryviewSlice_ds_float(PyObject *obj, int writable_flag) { + __Pyx_memviewslice result = { 0, 0, { 0 }, { 0 }, { 0 } }; + __Pyx_BufFmt_StackElem stack[1]; + int axes_specs[] = { (__Pyx_MEMVIEW_DIRECT | __Pyx_MEMVIEW_STRIDED) }; + int retcode; + if (obj == Py_None) { + result.memview = (struct __pyx_memoryview_obj *) Py_None; + return result; + } + retcode = __Pyx_ValidateAndInit_memviewslice(axes_specs, 0, + PyBUF_RECORDS_RO | writable_flag, 1, + &__Pyx_TypeInfo_float, stack, + &result, obj); + if (unlikely(retcode == -1)) + goto __pyx_fail; + return result; +__pyx_fail: + result.memview = NULL; + result.data = NULL; + return result; +} + +/* CIntFromPyVerify */ + #define __PYX_VERIFY_RETURN_INT(target_type, func_type, func_value)\ + __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 0) +#define __PYX_VERIFY_RETURN_INT_EXC(target_type, func_type, func_value)\ + __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 1) +#define __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, exc)\ + {\ + func_type value = func_value;\ + if (sizeof(target_type) < sizeof(func_type)) {\ + if (unlikely(value != (func_type) (target_type) value)) {\ + func_type zero = 0;\ + if (exc && unlikely(value == (func_type)-1 && PyErr_Occurred()))\ + return (target_type) -1;\ + if (is_unsigned && unlikely(value < zero))\ + goto raise_neg_overflow;\ + else\ + goto raise_overflow;\ + }\ + }\ + return (target_type) value;\ + } + +/* MemviewDtypeToObject */ + static CYTHON_INLINE PyObject *__pyx_memview_get_float(const char *itemp) { + return (PyObject *) PyFloat_FromDouble(*(float *) itemp); +} +static CYTHON_INLINE int __pyx_memview_set_float(const char *itemp, PyObject *obj) { + float value = __pyx_PyFloat_AsFloat(obj); + if (unlikely((value == (float)-1) && PyErr_Occurred())) + return 0; + *(float *) itemp = value; + return 1; +} + +/* MemviewSliceCopyTemplate */ + static __Pyx_memviewslice +__pyx_memoryview_copy_new_contig(const __Pyx_memviewslice *from_mvs, + const char *mode, int ndim, + size_t sizeof_dtype, int contig_flag, + int dtype_is_object) +{ + __Pyx_RefNannyDeclarations + int i; + __Pyx_memviewslice new_mvs = { 0, 0, { 0 }, { 0 }, { 0 } }; + struct __pyx_memoryview_obj *from_memview = from_mvs->memview; + Py_buffer *buf = &from_memview->view; + PyObject *shape_tuple = NULL; + PyObject *temp_int = NULL; + struct __pyx_array_obj *array_obj = NULL; + struct __pyx_memoryview_obj *memview_obj = NULL; + __Pyx_RefNannySetupContext("__pyx_memoryview_copy_new_contig", 0); + for (i = 0; i < ndim; i++) { + if (unlikely(from_mvs->suboffsets[i] >= 0)) { + PyErr_Format(PyExc_ValueError, "Cannot copy memoryview slice with " + "indirect dimensions (axis %d)", i); + goto fail; + } + } + shape_tuple = PyTuple_New(ndim); + if (unlikely(!shape_tuple)) { + goto fail; + } + __Pyx_GOTREF(shape_tuple); + for(i = 0; i < ndim; i++) { + temp_int = PyInt_FromSsize_t(from_mvs->shape[i]); + if(unlikely(!temp_int)) { + goto fail; + } else { + PyTuple_SET_ITEM(shape_tuple, i, temp_int); + temp_int = NULL; + } + } + array_obj = __pyx_array_new(shape_tuple, sizeof_dtype, buf->format, (char *) mode, NULL); + if (unlikely(!array_obj)) { + goto fail; + } + __Pyx_GOTREF(array_obj); + memview_obj = (struct __pyx_memoryview_obj *) __pyx_memoryview_new( + (PyObject *) array_obj, contig_flag, + dtype_is_object, + from_mvs->memview->typeinfo); + if (unlikely(!memview_obj)) + goto fail; + if (unlikely(__Pyx_init_memviewslice(memview_obj, ndim, &new_mvs, 1) < 0)) + goto fail; + if (unlikely(__pyx_memoryview_copy_contents(*from_mvs, new_mvs, ndim, ndim, + dtype_is_object) < 0)) + goto fail; + goto no_fail; +fail: + __Pyx_XDECREF(new_mvs.memview); + new_mvs.memview = NULL; + new_mvs.data = NULL; +no_fail: + __Pyx_XDECREF(shape_tuple); + __Pyx_XDECREF(temp_int); + __Pyx_XDECREF(array_obj); + __Pyx_RefNannyFinishContext(); + return new_mvs; +} + +/* MemviewSliceInit */ + static int +__Pyx_init_memviewslice(struct __pyx_memoryview_obj *memview, + int ndim, + __Pyx_memviewslice *memviewslice, + int memview_is_new_reference) +{ + __Pyx_RefNannyDeclarations + int i, retval=-1; + Py_buffer *buf = &memview->view; + __Pyx_RefNannySetupContext("init_memviewslice", 0); + if (unlikely(memviewslice->memview || memviewslice->data)) { + PyErr_SetString(PyExc_ValueError, + "memviewslice is already initialized!"); + goto fail; + } + if (buf->strides) { + for (i = 0; i < ndim; i++) { + memviewslice->strides[i] = buf->strides[i]; + } + } else { + Py_ssize_t stride = buf->itemsize; + for (i = ndim - 1; i >= 0; i--) { + memviewslice->strides[i] = stride; + stride *= buf->shape[i]; + } + } + for (i = 0; i < ndim; i++) { + memviewslice->shape[i] = buf->shape[i]; + if (buf->suboffsets) { + memviewslice->suboffsets[i] = buf->suboffsets[i]; + } else { + memviewslice->suboffsets[i] = -1; + } + } + memviewslice->memview = memview; + memviewslice->data = (char *)buf->buf; + if (__pyx_add_acquisition_count(memview) == 0 && !memview_is_new_reference) { + Py_INCREF(memview); + } + retval = 0; + goto no_fail; +fail: + memviewslice->memview = 0; + memviewslice->data = 0; + retval = -1; +no_fail: + __Pyx_RefNannyFinishContext(); + return retval; +} +#ifndef Py_NO_RETURN +#define Py_NO_RETURN +#endif +static void __pyx_fatalerror(const char *fmt, ...) Py_NO_RETURN { + va_list vargs; + char msg[200]; +#if PY_VERSION_HEX >= 0x030A0000 || defined(HAVE_STDARG_PROTOTYPES) + va_start(vargs, fmt); +#else + va_start(vargs); +#endif + vsnprintf(msg, 200, fmt, vargs); + va_end(vargs); + Py_FatalError(msg); +} +static CYTHON_INLINE int +__pyx_add_acquisition_count_locked(__pyx_atomic_int_type *acquisition_count, + PyThread_type_lock lock) +{ + int result; + PyThread_acquire_lock(lock, 1); + result = (*acquisition_count)++; + PyThread_release_lock(lock); + return result; +} +static CYTHON_INLINE int +__pyx_sub_acquisition_count_locked(__pyx_atomic_int_type *acquisition_count, + PyThread_type_lock lock) +{ + int result; + PyThread_acquire_lock(lock, 1); + result = (*acquisition_count)--; + PyThread_release_lock(lock); + return result; +} +static CYTHON_INLINE void +__Pyx_INC_MEMVIEW(__Pyx_memviewslice *memslice, int have_gil, int lineno) +{ + __pyx_nonatomic_int_type old_acquisition_count; + struct __pyx_memoryview_obj *memview = memslice->memview; + if (unlikely(!memview || (PyObject *) memview == Py_None)) { + return; + } + old_acquisition_count = __pyx_add_acquisition_count(memview); + if (unlikely(old_acquisition_count <= 0)) { + if (likely(old_acquisition_count == 0)) { + if (have_gil) { + Py_INCREF((PyObject *) memview); + } else { + PyGILState_STATE _gilstate = PyGILState_Ensure(); + Py_INCREF((PyObject *) memview); + PyGILState_Release(_gilstate); + } + } else { + __pyx_fatalerror("Acquisition count is %d (line %d)", + old_acquisition_count+1, lineno); + } + } +} +static CYTHON_INLINE void __Pyx_XCLEAR_MEMVIEW(__Pyx_memviewslice *memslice, + int have_gil, int lineno) { + __pyx_nonatomic_int_type old_acquisition_count; + struct __pyx_memoryview_obj *memview = memslice->memview; + if (unlikely(!memview || (PyObject *) memview == Py_None)) { + memslice->memview = NULL; + return; + } + old_acquisition_count = __pyx_sub_acquisition_count(memview); + memslice->data = NULL; + if (likely(old_acquisition_count > 1)) { + memslice->memview = NULL; + } else if (likely(old_acquisition_count == 1)) { + if (have_gil) { + Py_CLEAR(memslice->memview); + } else { + PyGILState_STATE _gilstate = PyGILState_Ensure(); + Py_CLEAR(memslice->memview); + PyGILState_Release(_gilstate); + } + } else { + __pyx_fatalerror("Acquisition count is %d (line %d)", + old_acquisition_count-1, lineno); + } +} + +/* CIntFromPy */ + static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(int) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(int, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (int) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(int, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(int) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 2 * PyLong_SHIFT)) { + return (int) (((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(int) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 3 * PyLong_SHIFT)) { + return (int) (((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(int) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 4 * PyLong_SHIFT)) { + return (int) (((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (int) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(int) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(int, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(int) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(int, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(int, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(int) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(int) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + return (int) ((((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(int) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + return (int) ((((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 4 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(int) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 4 * PyLong_SHIFT)) { + return (int) ((((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(int) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(int, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(int) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(int, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + int val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (int) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (int) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (int) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (int) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (int) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(int) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((int) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(int) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((int) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((int) 1) << (sizeof(int) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (int) -1; + } + } else { + int val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (int) -1; + val = __Pyx_PyInt_As_int(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to int"); + return (int) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to int"); + return (int) -1; +} + +/* CIntFromPy */ + static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const long neg_one = (long) -1, const_zero = (long) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(long) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(long, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (long) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(long, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(long) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 2 * PyLong_SHIFT)) { + return (long) (((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(long) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 3 * PyLong_SHIFT)) { + return (long) (((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(long) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 4 * PyLong_SHIFT)) { + return (long) (((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (long) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(long) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(long, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(long) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(long, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(long, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(long) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(long) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + return (long) ((((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(long) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + return (long) ((((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 4 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(long) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 4 * PyLong_SHIFT)) { + return (long) ((((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(long) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(long, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(long) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(long, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + long val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (long) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (long) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (long) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (long) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (long) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(long) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((long) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(long) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((long) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((long) 1) << (sizeof(long) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (long) -1; + } + } else { + long val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (long) -1; + val = __Pyx_PyInt_As_long(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to long"); + return (long) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to long"); + return (long) -1; +} + +/* CIntToPy */ + static CYTHON_INLINE PyObject* __Pyx_PyInt_From_int(int value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(int) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(int) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(int) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(int) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(int) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; +#if !CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030d0000 + return _PyLong_FromByteArray(bytes, sizeof(int), + little, !is_unsigned); +#else + PyObject *from_bytes, *result = NULL; + PyObject *py_bytes = NULL, *arg_tuple = NULL, *kwds = NULL, *order_str = NULL; + from_bytes = PyObject_GetAttrString((PyObject*)&PyLong_Type, "from_bytes"); + if (!from_bytes) return NULL; + py_bytes = PyBytes_FromStringAndSize((char*)bytes, sizeof(int)); + if (!py_bytes) goto limited_bad; + order_str = PyUnicode_FromString(little ? "little" : "big"); + if (!order_str) goto limited_bad; + arg_tuple = PyTuple_Pack(2, py_bytes, order_str); + if (!arg_tuple) goto limited_bad; + if (!is_unsigned) { + kwds = PyDict_New(); + if (!kwds) goto limited_bad; + if (PyDict_SetItemString(kwds, "signed", __Pyx_NewRef(Py_True))) goto limited_bad; + } + result = PyObject_Call(from_bytes, arg_tuple, kwds); + limited_bad: + Py_XDECREF(kwds); + Py_XDECREF(arg_tuple); + Py_XDECREF(order_str); + Py_XDECREF(py_bytes); + Py_XDECREF(from_bytes); + return result; +#endif + } +} + +/* CIntToPy */ + static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const long neg_one = (long) -1, const_zero = (long) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(long) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(long) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(long) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; +#if !CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030d0000 + return _PyLong_FromByteArray(bytes, sizeof(long), + little, !is_unsigned); +#else + PyObject *from_bytes, *result = NULL; + PyObject *py_bytes = NULL, *arg_tuple = NULL, *kwds = NULL, *order_str = NULL; + from_bytes = PyObject_GetAttrString((PyObject*)&PyLong_Type, "from_bytes"); + if (!from_bytes) return NULL; + py_bytes = PyBytes_FromStringAndSize((char*)bytes, sizeof(long)); + if (!py_bytes) goto limited_bad; + order_str = PyUnicode_FromString(little ? "little" : "big"); + if (!order_str) goto limited_bad; + arg_tuple = PyTuple_Pack(2, py_bytes, order_str); + if (!arg_tuple) goto limited_bad; + if (!is_unsigned) { + kwds = PyDict_New(); + if (!kwds) goto limited_bad; + if (PyDict_SetItemString(kwds, "signed", __Pyx_NewRef(Py_True))) goto limited_bad; + } + result = PyObject_Call(from_bytes, arg_tuple, kwds); + limited_bad: + Py_XDECREF(kwds); + Py_XDECREF(arg_tuple); + Py_XDECREF(order_str); + Py_XDECREF(py_bytes); + Py_XDECREF(from_bytes); + return result; +#endif + } +} + +/* CIntFromPy */ + static CYTHON_INLINE char __Pyx_PyInt_As_char(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const char neg_one = (char) -1, const_zero = (char) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(char) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(char, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (char) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(char, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(char) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) >= 2 * PyLong_SHIFT)) { + return (char) (((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(char) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) >= 3 * PyLong_SHIFT)) { + return (char) (((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(char) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) >= 4 * PyLong_SHIFT)) { + return (char) (((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (char) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(char) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(char, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(char) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(char, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(char, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(char) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 2 * PyLong_SHIFT)) { + return (char) (((char)-1)*(((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(char) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 2 * PyLong_SHIFT)) { + return (char) ((((((char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(char) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 3 * PyLong_SHIFT)) { + return (char) (((char)-1)*(((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(char) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 3 * PyLong_SHIFT)) { + return (char) ((((((((char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(char) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 4 * PyLong_SHIFT)) { + return (char) (((char)-1)*(((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(char) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(char, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(char) - 1 > 4 * PyLong_SHIFT)) { + return (char) ((((((((((char)digits[3]) << PyLong_SHIFT) | (char)digits[2]) << PyLong_SHIFT) | (char)digits[1]) << PyLong_SHIFT) | (char)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(char) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(char, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(char) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(char, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + char val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (char) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (char) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (char) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (char) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (char) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(char) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((char) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(char) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((char) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((char) 1) << (sizeof(char) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (char) -1; + } + } else { + char val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (char) -1; + val = __Pyx_PyInt_As_char(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to char"); + return (char) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to char"); + return (char) -1; +} + +/* FormatTypeName */ + #if CYTHON_COMPILING_IN_LIMITED_API +static __Pyx_TypeName +__Pyx_PyType_GetName(PyTypeObject* tp) +{ + PyObject *name = __Pyx_PyObject_GetAttrStr((PyObject *)tp, + __pyx_n_s_name_2); + if (unlikely(name == NULL) || unlikely(!PyUnicode_Check(name))) { + PyErr_Clear(); + Py_XDECREF(name); + name = __Pyx_NewRef(__pyx_n_s__24); + } + return name; +} +#endif + +/* CheckBinaryVersion */ + static unsigned long __Pyx_get_runtime_version(void) { +#if __PYX_LIMITED_VERSION_HEX >= 0x030B00A4 + return Py_Version & ~0xFFUL; +#else + const char* rt_version = Py_GetVersion(); + unsigned long version = 0; + unsigned long factor = 0x01000000UL; + unsigned int digit = 0; + int i = 0; + while (factor) { + while ('0' <= rt_version[i] && rt_version[i] <= '9') { + digit = digit * 10 + (unsigned int) (rt_version[i] - '0'); + ++i; + } + version += factor * digit; + if (rt_version[i] != '.') + break; + digit = 0; + factor >>= 8; + ++i; + } + return version; +#endif +} +static int __Pyx_check_binary_version(unsigned long ct_version, unsigned long rt_version, int allow_newer) { + const unsigned long MAJOR_MINOR = 0xFFFF0000UL; + if ((rt_version & MAJOR_MINOR) == (ct_version & MAJOR_MINOR)) + return 0; + if (likely(allow_newer && (rt_version & MAJOR_MINOR) > (ct_version & MAJOR_MINOR))) + return 1; + { + char message[200]; + PyOS_snprintf(message, sizeof(message), + "compile time Python version %d.%d " + "of module '%.100s' " + "%s " + "runtime version %d.%d", + (int) (ct_version >> 24), (int) ((ct_version >> 16) & 0xFF), + __Pyx_MODULE_NAME, + (allow_newer) ? "was newer than" : "does not match", + (int) (rt_version >> 24), (int) ((rt_version >> 16) & 0xFF) + ); + return PyErr_WarnEx(NULL, message, 1); + } +} + +/* InitStrings */ + #if PY_MAJOR_VERSION >= 3 +static int __Pyx_InitString(__Pyx_StringTabEntry t, PyObject **str) { + if (t.is_unicode | t.is_str) { + if (t.intern) { + *str = PyUnicode_InternFromString(t.s); + } else if (t.encoding) { + *str = PyUnicode_Decode(t.s, t.n - 1, t.encoding, NULL); + } else { + *str = PyUnicode_FromStringAndSize(t.s, t.n - 1); + } + } else { + *str = PyBytes_FromStringAndSize(t.s, t.n - 1); + } + if (!*str) + return -1; + if (PyObject_Hash(*str) == -1) + return -1; + return 0; +} +#endif +static int __Pyx_InitStrings(__Pyx_StringTabEntry *t) { + while (t->p) { + #if PY_MAJOR_VERSION >= 3 + __Pyx_InitString(*t, t->p); + #else + if (t->is_unicode) { + *t->p = PyUnicode_DecodeUTF8(t->s, t->n - 1, NULL); + } else if (t->intern) { + *t->p = PyString_InternFromString(t->s); + } else { + *t->p = PyString_FromStringAndSize(t->s, t->n - 1); + } + if (!*t->p) + return -1; + if (PyObject_Hash(*t->p) == -1) + return -1; + #endif + ++t; + } + return 0; +} + +#include +static CYTHON_INLINE Py_ssize_t __Pyx_ssize_strlen(const char *s) { + size_t len = strlen(s); + if (unlikely(len > (size_t) PY_SSIZE_T_MAX)) { + PyErr_SetString(PyExc_OverflowError, "byte string is too long"); + return -1; + } + return (Py_ssize_t) len; +} +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char* c_str) { + Py_ssize_t len = __Pyx_ssize_strlen(c_str); + if (unlikely(len < 0)) return NULL; + return __Pyx_PyUnicode_FromStringAndSize(c_str, len); +} +static CYTHON_INLINE PyObject* __Pyx_PyByteArray_FromString(const char* c_str) { + Py_ssize_t len = __Pyx_ssize_strlen(c_str); + if (unlikely(len < 0)) return NULL; + return PyByteArray_FromStringAndSize(c_str, len); +} +static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject* o) { + Py_ssize_t ignore; + return __Pyx_PyObject_AsStringAndSize(o, &ignore); +} +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT +#if !CYTHON_PEP393_ENABLED +static const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { + char* defenc_c; + PyObject* defenc = _PyUnicode_AsDefaultEncodedString(o, NULL); + if (!defenc) return NULL; + defenc_c = PyBytes_AS_STRING(defenc); +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + { + char* end = defenc_c + PyBytes_GET_SIZE(defenc); + char* c; + for (c = defenc_c; c < end; c++) { + if ((unsigned char) (*c) >= 128) { + PyUnicode_AsASCIIString(o); + return NULL; + } + } + } +#endif + *length = PyBytes_GET_SIZE(defenc); + return defenc_c; +} +#else +static CYTHON_INLINE const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { + if (unlikely(__Pyx_PyUnicode_READY(o) == -1)) return NULL; +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + if (likely(PyUnicode_IS_ASCII(o))) { + *length = PyUnicode_GET_LENGTH(o); + return PyUnicode_AsUTF8(o); + } else { + PyUnicode_AsASCIIString(o); + return NULL; + } +#else + return PyUnicode_AsUTF8AndSize(o, length); +#endif +} +#endif +#endif +static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject* o, Py_ssize_t *length) { +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT + if ( +#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + __Pyx_sys_getdefaultencoding_not_ascii && +#endif + PyUnicode_Check(o)) { + return __Pyx_PyUnicode_AsStringAndSize(o, length); + } else +#endif +#if (!CYTHON_COMPILING_IN_PYPY && !CYTHON_COMPILING_IN_LIMITED_API) || (defined(PyByteArray_AS_STRING) && defined(PyByteArray_GET_SIZE)) + if (PyByteArray_Check(o)) { + *length = PyByteArray_GET_SIZE(o); + return PyByteArray_AS_STRING(o); + } else +#endif + { + char* result; + int r = PyBytes_AsStringAndSize(o, &result, length); + if (unlikely(r < 0)) { + return NULL; + } else { + return result; + } + } +} +static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject* x) { + int is_true = x == Py_True; + if (is_true | (x == Py_False) | (x == Py_None)) return is_true; + else return PyObject_IsTrue(x); +} +static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject* x) { + int retval; + if (unlikely(!x)) return -1; + retval = __Pyx_PyObject_IsTrue(x); + Py_DECREF(x); + return retval; +} +static PyObject* __Pyx_PyNumber_IntOrLongWrongResultType(PyObject* result, const char* type_name) { + __Pyx_TypeName result_type_name = __Pyx_PyType_GetName(Py_TYPE(result)); +#if PY_MAJOR_VERSION >= 3 + if (PyLong_Check(result)) { + if (PyErr_WarnFormat(PyExc_DeprecationWarning, 1, + "__int__ returned non-int (type " __Pyx_FMT_TYPENAME "). " + "The ability to return an instance of a strict subclass of int is deprecated, " + "and may be removed in a future version of Python.", + result_type_name)) { + __Pyx_DECREF_TypeName(result_type_name); + Py_DECREF(result); + return NULL; + } + __Pyx_DECREF_TypeName(result_type_name); + return result; + } +#endif + PyErr_Format(PyExc_TypeError, + "__%.4s__ returned non-%.4s (type " __Pyx_FMT_TYPENAME ")", + type_name, type_name, result_type_name); + __Pyx_DECREF_TypeName(result_type_name); + Py_DECREF(result); + return NULL; +} +static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x) { +#if CYTHON_USE_TYPE_SLOTS + PyNumberMethods *m; +#endif + const char *name = NULL; + PyObject *res = NULL; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x) || PyLong_Check(x))) +#else + if (likely(PyLong_Check(x))) +#endif + return __Pyx_NewRef(x); +#if CYTHON_USE_TYPE_SLOTS + m = Py_TYPE(x)->tp_as_number; + #if PY_MAJOR_VERSION < 3 + if (m && m->nb_int) { + name = "int"; + res = m->nb_int(x); + } + else if (m && m->nb_long) { + name = "long"; + res = m->nb_long(x); + } + #else + if (likely(m && m->nb_int)) { + name = "int"; + res = m->nb_int(x); + } + #endif +#else + if (!PyBytes_CheckExact(x) && !PyUnicode_CheckExact(x)) { + res = PyNumber_Int(x); + } +#endif + if (likely(res)) { +#if PY_MAJOR_VERSION < 3 + if (unlikely(!PyInt_Check(res) && !PyLong_Check(res))) { +#else + if (unlikely(!PyLong_CheckExact(res))) { +#endif + return __Pyx_PyNumber_IntOrLongWrongResultType(res, name); + } + } + else if (!PyErr_Occurred()) { + PyErr_SetString(PyExc_TypeError, + "an integer is required"); + } + return res; +} +static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject* b) { + Py_ssize_t ival; + PyObject *x; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_CheckExact(b))) { + if (sizeof(Py_ssize_t) >= sizeof(long)) + return PyInt_AS_LONG(b); + else + return PyInt_AsSsize_t(b); + } +#endif + if (likely(PyLong_CheckExact(b))) { + #if CYTHON_USE_PYLONG_INTERNALS + if (likely(__Pyx_PyLong_IsCompact(b))) { + return __Pyx_PyLong_CompactValue(b); + } else { + const digit* digits = __Pyx_PyLong_Digits(b); + const Py_ssize_t size = __Pyx_PyLong_SignedDigitCount(b); + switch (size) { + case 2: + if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { + return (Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -2: + if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case 3: + if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { + return (Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -3: + if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case 4: + if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { + return (Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -4: + if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + } + } + #endif + return PyLong_AsSsize_t(b); + } + x = PyNumber_Index(b); + if (!x) return -1; + ival = PyInt_AsSsize_t(x); + Py_DECREF(x); + return ival; +} +static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject* o) { + if (sizeof(Py_hash_t) == sizeof(Py_ssize_t)) { + return (Py_hash_t) __Pyx_PyIndex_AsSsize_t(o); +#if PY_MAJOR_VERSION < 3 + } else if (likely(PyInt_CheckExact(o))) { + return PyInt_AS_LONG(o); +#endif + } else { + Py_ssize_t ival; + PyObject *x; + x = PyNumber_Index(o); + if (!x) return -1; + ival = PyInt_AsLong(x); + Py_DECREF(x); + return ival; + } +} +static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b) { + return b ? __Pyx_NewRef(Py_True) : __Pyx_NewRef(Py_False); +} +static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t ival) { + return PyInt_FromSize_t(ival); +} + + +/* #### Code section: utility_code_pragmas_end ### */ +#ifdef _MSC_VER +#pragma warning( pop ) +#endif + + + +/* #### Code section: end ### */ +#endif /* Py_PYTHON_H */ diff --git a/selfdrive/modeld/runners/thneedmodel_pyx.so b/selfdrive/modeld/runners/thneedmodel_pyx.so new file mode 100644 index 00000000000000..84127348f4692f Binary files /dev/null and b/selfdrive/modeld/runners/thneedmodel_pyx.so differ diff --git a/selfdrive/modeld/tests/__init__.py b/selfdrive/modeld/tests/__init__.py deleted file mode 100644 index e69de29bb2d1d6..00000000000000 diff --git a/selfdrive/modeld/tests/dmon_lag/repro.cc b/selfdrive/modeld/tests/dmon_lag/repro.cc deleted file mode 100644 index c4c1c65cbe86a7..00000000000000 --- a/selfdrive/modeld/tests/dmon_lag/repro.cc +++ /dev/null @@ -1,101 +0,0 @@ -// clang++ -O2 repro.cc && ./a.out - -#include -#include -#include - -#include -#include -#include -#include -#include - -static inline double millis_since_boot() { - struct timespec t; - clock_gettime(CLOCK_BOOTTIME, &t); - return t.tv_sec * 1000.0 + t.tv_nsec * 1e-6; -} - -#define MODEL_WIDTH 320 -#define MODEL_HEIGHT 640 - -// null function still breaks it -#define input_lambda(x) x - -// this is copied from models/dmonitoring.cc, and is the code that triggers the issue -void inner(uint8_t *resized_buf, float *net_input_buf) { - int resized_width = MODEL_WIDTH; - int resized_height = MODEL_HEIGHT; - - // one shot conversion, O(n) anyway - // yuvframe2tensor, normalize - for (int r = 0; r < MODEL_HEIGHT/2; r++) { - for (int c = 0; c < MODEL_WIDTH/2; c++) { - // Y_ul - net_input_buf[(c*MODEL_HEIGHT/2) + r] = input_lambda(resized_buf[(2*r*resized_width) + (2*c)]); - // Y_ur - net_input_buf[(c*MODEL_HEIGHT/2) + r + (2*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = input_lambda(resized_buf[(2*r*resized_width) + (2*c+1)]); - // Y_dl - net_input_buf[(c*MODEL_HEIGHT/2) + r + ((MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = input_lambda(resized_buf[(2*r*resized_width+1) + (2*c)]); - // Y_dr - net_input_buf[(c*MODEL_HEIGHT/2) + r + (3*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = input_lambda(resized_buf[(2*r*resized_width+1) + (2*c+1)]); - // U - net_input_buf[(c*MODEL_HEIGHT/2) + r + (4*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = input_lambda(resized_buf[(resized_width*resized_height) + (r*resized_width/2) + c]); - // V - net_input_buf[(c*MODEL_HEIGHT/2) + r + (5*(MODEL_WIDTH/2)*(MODEL_HEIGHT/2))] = input_lambda(resized_buf[(resized_width*resized_height) + ((resized_width/2)*(resized_height/2)) + (r*resized_width/2) + c]); - } - } -} - -float trial() { - int resized_width = MODEL_WIDTH; - int resized_height = MODEL_HEIGHT; - - int yuv_buf_len = (MODEL_WIDTH/2) * (MODEL_HEIGHT/2) * 6; // Y|u|v -> y|y|y|y|u|v - - // allocate the buffers - uint8_t *resized_buf = (uint8_t*)malloc(resized_width*resized_height*3/2); - float *net_input_buf = (float*)malloc(yuv_buf_len*sizeof(float)); - printf("allocate -- %p 0x%x -- %p 0x%lx\n", resized_buf, resized_width*resized_height*3/2, net_input_buf, yuv_buf_len*sizeof(float)); - - // test for bad buffers - static int CNT = 20; - float avg = 0.0; - for (int i = 0; i < CNT; i++) { - double s4 = millis_since_boot(); - inner(resized_buf, net_input_buf); - double s5 = millis_since_boot(); - avg += s5-s4; - } - avg /= CNT; - - // once it's bad, it's reliably bad - if (avg > 10) { - printf("HIT %f\n", avg); - printf("BAD\n"); - - for (int i = 0; i < 200; i++) { - double s4 = millis_since_boot(); - inner(resized_buf, net_input_buf); - double s5 = millis_since_boot(); - printf("%.2f ", s5-s4); - } - printf("\n"); - - exit(0); - } - - // don't free so we get a different buffer each time - //free(resized_buf); - //free(net_input_buf); - - return avg; -} - -int main() { - while (true) { - float ret = trial(); - printf("got %f\n", ret); - } -} - diff --git a/selfdrive/modeld/tests/snpe_benchmark/.gitignore b/selfdrive/modeld/tests/snpe_benchmark/.gitignore deleted file mode 100644 index d83a1b2ff5c336..00000000000000 --- a/selfdrive/modeld/tests/snpe_benchmark/.gitignore +++ /dev/null @@ -1 +0,0 @@ -benchmark diff --git a/selfdrive/modeld/tests/snpe_benchmark/benchmark.cc b/selfdrive/modeld/tests/snpe_benchmark/benchmark.cc deleted file mode 100644 index f72f7fb1a7ac3b..00000000000000 --- a/selfdrive/modeld/tests/snpe_benchmark/benchmark.cc +++ /dev/null @@ -1,192 +0,0 @@ -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -using namespace std; - -int64_t timespecDiff(struct timespec *timeA_p, struct timespec *timeB_p) { - return ((timeA_p->tv_sec * 1000000000) + timeA_p->tv_nsec) - ((timeB_p->tv_sec * 1000000000) + timeB_p->tv_nsec); -} - -void PrintErrorStringAndExit() { - cout << "ERROR!" << endl; - const char* const errStr = zdl::DlSystem::getLastErrorString(); - std::cerr << errStr << std::endl; - std::exit(EXIT_FAILURE); -} - - -zdl::DlSystem::Runtime_t checkRuntime() { - static zdl::DlSystem::Version_t Version = zdl::SNPE::SNPEFactory::getLibraryVersion(); - static zdl::DlSystem::Runtime_t Runtime; - std::cout << "SNPE Version: " << Version.asString().c_str() << std::endl; //Print Version number - if (zdl::SNPE::SNPEFactory::isRuntimeAvailable(zdl::DlSystem::Runtime_t::DSP)) { - std::cout << "Using DSP runtime" << std::endl; - Runtime = zdl::DlSystem::Runtime_t::DSP; - } else if (zdl::SNPE::SNPEFactory::isRuntimeAvailable(zdl::DlSystem::Runtime_t::GPU)) { - std::cout << "Using GPU runtime" << std::endl; - Runtime = zdl::DlSystem::Runtime_t::GPU; - } else { - std::cout << "Using cpu runtime" << std::endl; - Runtime = zdl::DlSystem::Runtime_t::CPU; - } - return Runtime; -} - -void test(char *filename) { - static zdl::DlSystem::Runtime_t runtime = checkRuntime(); - std::unique_ptr container; - container = zdl::DlContainer::IDlContainer::open(filename); - - if (!container) { PrintErrorStringAndExit(); } - cout << "start build" << endl; - std::unique_ptr snpe; - { - snpe = NULL; - zdl::SNPE::SNPEBuilder snpeBuilder(container.get()); - snpe = snpeBuilder.setOutputLayers({}) - .setRuntimeProcessor(runtime) - .setUseUserSuppliedBuffers(false) - //.setDebugMode(true) - .build(); - if (!snpe) { - cout << "ERROR!" << endl; - const char* const errStr = zdl::DlSystem::getLastErrorString(); - std::cerr << errStr << std::endl; - } - cout << "ran snpeBuilder" << endl; - } - - const auto &strList_opt = snpe->getInputTensorNames(); - if (!strList_opt) throw std::runtime_error("Error obtaining input tensor names"); - - cout << "get input tensor names done" << endl; - const auto &strList = *strList_opt; - static zdl::DlSystem::TensorMap inputTensorMap; - static zdl::DlSystem::TensorMap outputTensorMap; - vector > inputs; - for (int i = 0; i < strList.size(); i++) { - cout << "input name: " << strList.at(i) << endl; - - const auto &inputDims_opt = snpe->getInputDimensions(strList.at(i)); - const auto &inputShape = *inputDims_opt; - inputs.push_back(zdl::SNPE::SNPEFactory::getTensorFactory().createTensor(inputShape)); - inputTensorMap.add(strList.at(i), inputs[i].get()); - } - - struct timespec start, end; - cout << "**** starting benchmark ****" << endl; - for (int i = 0; i < 50; i++) { - clock_gettime(CLOCK_MONOTONIC, &start); - int err = snpe->execute(inputTensorMap, outputTensorMap); - assert(err == true); - clock_gettime(CLOCK_MONOTONIC, &end); - uint64_t timeElapsed = timespecDiff(&end, &start); - printf("time: %f ms\n", timeElapsed*1.0/1e6); - } -} - -void get_testframe(int index, std::unique_ptr &input) { - FILE * pFile; - string filepath="/data/ipt/quantize_samples/sample_input_"+std::to_string(index); - pFile = fopen(filepath.c_str(), "rb"); - int length = 1*6*160*320*4; - float * frame_buffer = new float[length/4]; // 32/8 - fread(frame_buffer, length, 1, pFile); - // std::cout << *(frame_buffer+length/4-1) << std::endl; - std::copy(frame_buffer, frame_buffer+(length/4), input->begin()); - fclose(pFile); -} - -void SaveITensor(const std::string& path, const zdl::DlSystem::ITensor* tensor) -{ - std::ofstream os(path, std::ofstream::binary); - if (!os) - { - std::cerr << "Failed to open output file for writing: " << path << "\n"; - std::exit(EXIT_FAILURE); - } - for ( auto it = tensor->cbegin(); it != tensor->cend(); ++it ) - { - float f = *it; - if (!os.write(reinterpret_cast(&f), sizeof(float))) - { - std::cerr << "Failed to write data to: " << path << "\n"; - std::exit(EXIT_FAILURE); - } - } -} - -void testrun(char* modelfile) { - static zdl::DlSystem::Runtime_t runtime = checkRuntime(); - std::unique_ptr container; - container = zdl::DlContainer::IDlContainer::open(modelfile); - - if (!container) { PrintErrorStringAndExit(); } - cout << "start build" << endl; - std::unique_ptr snpe; - { - snpe = NULL; - zdl::SNPE::SNPEBuilder snpeBuilder(container.get()); - snpe = snpeBuilder.setOutputLayers({}) - .setRuntimeProcessor(runtime) - .setUseUserSuppliedBuffers(false) - //.setDebugMode(true) - .build(); - if (!snpe) { - cout << "ERROR!" << endl; - const char* const errStr = zdl::DlSystem::getLastErrorString(); - std::cerr << errStr << std::endl; - } - cout << "ran snpeBuilder" << endl; - } - - const auto &strList_opt = snpe->getInputTensorNames(); - if (!strList_opt) throw std::runtime_error("Error obtaining input tensor names"); - cout << "get input tensor names done" << endl; - - const auto &strList = *strList_opt; - static zdl::DlSystem::TensorMap inputTensorMap; - static zdl::DlSystem::TensorMap outputTensorMap; - - assert(strList.size() == 1); - const auto &inputDims_opt = snpe->getInputDimensions(strList.at(0)); - const auto &inputShape = *inputDims_opt; - std::cout << "winkwink" << std::endl; - - for (int i=0; i<10000; i++) { - std::unique_ptr input; - input = zdl::SNPE::SNPEFactory::getTensorFactory().createTensor(inputShape); - get_testframe(i, input); - snpe->execute(input.get(), outputTensorMap); - zdl::DlSystem::StringList tensorNames = outputTensorMap.getTensorNames(); - std::for_each(tensorNames.begin(), tensorNames.end(), [&](const char* name) { - std::ostringstream path; - path << "/data/opt/Result_" << std::to_string(i) << ".raw"; - auto tensorPtr = outputTensorMap.getTensor(name); - SaveITensor(path.str(), tensorPtr); - }); - } -} - -int main(int argc, char* argv[]) { - if (argc < 2) { - printf("usage: %s \n", argv[0]); - return -1; - } - - if (argc == 2) { - while (true) test(argv[1]); - } else if (argc == 3) { - testrun(argv[1]); - } - return 0; -} - diff --git a/selfdrive/modeld/tests/snpe_benchmark/benchmark.sh b/selfdrive/modeld/tests/snpe_benchmark/benchmark.sh deleted file mode 100755 index a9d3f79786a2b0..00000000000000 --- a/selfdrive/modeld/tests/snpe_benchmark/benchmark.sh +++ /dev/null @@ -1,4 +0,0 @@ -#!/bin/sh -e -clang++ -I /data/openpilot/third_party/snpe/include/ -L/data/pythonpath/third_party/snpe/aarch64 -lSNPE benchmark.cc -o benchmark -export LD_LIBRARY_PATH="/data/pythonpath/third_party/snpe/aarch64/:$HOME/openpilot/third_party/snpe/x86_64/:$LD_LIBRARY_PATH" -exec ./benchmark $1 diff --git a/selfdrive/modeld/tests/test_modeld.py b/selfdrive/modeld/tests/test_modeld.py deleted file mode 100644 index 6927c9e4731ef3..00000000000000 --- a/selfdrive/modeld/tests/test_modeld.py +++ /dev/null @@ -1,102 +0,0 @@ -import numpy as np -import random - -import cereal.messaging as messaging -from msgq.visionipc import VisionIpcServer, VisionStreamType -from opendbc.car.car_helpers import get_demo_car_params -from openpilot.common.params import Params -from openpilot.common.transformations.camera import DEVICE_CAMERAS -from openpilot.common.realtime import DT_MDL -from openpilot.system.manager.process_config import managed_processes -from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state - -CAM = DEVICE_CAMERAS[("tici", "ar0231")].fcam -IMG = np.zeros(int(CAM.width*CAM.height*(3/2)), dtype=np.uint8) -IMG_BYTES = IMG.flatten().tobytes() - - -class TestModeld: - - def setup_method(self): - self.vipc_server = VisionIpcServer("camerad") - self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 40, CAM.width, CAM.height) - self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_DRIVER, 40, CAM.width, CAM.height) - self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 40, CAM.width, CAM.height) - self.vipc_server.start_listener() - Params().put("CarParams", get_demo_car_params().to_bytes()) - - self.sm = messaging.SubMaster(['modelV2', 'cameraOdometry']) - self.pm = messaging.PubMaster(['roadCameraState', 'wideRoadCameraState', 'liveCalibration']) - - managed_processes['modeld'].start() - self.pm.wait_for_readers_to_update("roadCameraState", 10) - - def teardown_method(self): - managed_processes['modeld'].stop() - del self.vipc_server - - def _send_frames(self, frame_id, cams=None): - if cams is None: - cams = ('roadCameraState', 'wideRoadCameraState') - - cs = None - for cam in cams: - msg = messaging.new_message(cam) - cs = getattr(msg, cam) - cs.frameId = frame_id - cs.timestampSof = int((frame_id * DT_MDL) * 1e9) - cs.timestampEof = int(cs.timestampSof + (DT_MDL * 1e9)) - cam_meta = meta_from_camera_state(cam) - - self.pm.send(msg.which(), msg) - self.vipc_server.send(cam_meta.stream, IMG_BYTES, cs.frameId, - cs.timestampSof, cs.timestampEof) - return cs - - def _wait(self): - self.sm.update(5000) - if self.sm['modelV2'].frameId != self.sm['cameraOdometry'].frameId: - self.sm.update(1000) - - def test_modeld(self): - for n in range(1, 500): - cs = self._send_frames(n) - self._wait() - - mdl = self.sm['modelV2'] - assert mdl.frameId == n - assert mdl.frameIdExtra == n - assert mdl.timestampEof == cs.timestampEof - assert mdl.frameAge == 0 - assert mdl.frameDropPerc == 0 - - odo = self.sm['cameraOdometry'] - assert odo.frameId == n - assert odo.timestampEof == cs.timestampEof - - def test_dropped_frames(self): - """ - modeld should only run on consecutive road frames - """ - frame_id = -1 - road_frames = list() - for n in range(1, 50): - if (random.random() < 0.1) and n > 3: - cams = random.choice([(), ('wideRoadCameraState', )]) - self._send_frames(n, cams) - else: - self._send_frames(n) - road_frames.append(n) - self._wait() - - if len(road_frames) < 3 or road_frames[-1] - road_frames[-2] == 1: - frame_id = road_frames[-1] - - mdl = self.sm['modelV2'] - odo = self.sm['cameraOdometry'] - assert mdl.frameId == frame_id - assert mdl.frameIdExtra == frame_id - assert odo.frameId == frame_id - if n != frame_id: - assert not self.sm.updated['modelV2'] - assert not self.sm.updated['cameraOdometry'] diff --git a/selfdrive/modeld/tests/tf_test/build.sh b/selfdrive/modeld/tests/tf_test/build.sh deleted file mode 100755 index df1d24761e9b07..00000000000000 --- a/selfdrive/modeld/tests/tf_test/build.sh +++ /dev/null @@ -1,2 +0,0 @@ -#!/usr/bin/env bash -clang++ -I /home/batman/one/external/tensorflow/include/ -L /home/batman/one/external/tensorflow/lib -Wl,-rpath=/home/batman/one/external/tensorflow/lib main.cc -ltensorflow diff --git a/selfdrive/modeld/tests/tf_test/main.cc b/selfdrive/modeld/tests/tf_test/main.cc deleted file mode 100644 index b00f7f95e8db2e..00000000000000 --- a/selfdrive/modeld/tests/tf_test/main.cc +++ /dev/null @@ -1,69 +0,0 @@ -#include -#include -#include -#include "tensorflow/c/c_api.h" - -void* read_file(const char* path, size_t* out_len) { - FILE* f = fopen(path, "r"); - if (!f) { - return NULL; - } - fseek(f, 0, SEEK_END); - long f_len = ftell(f); - rewind(f); - - char* buf = (char*)calloc(f_len, 1); - assert(buf); - - size_t num_read = fread(buf, f_len, 1, f); - fclose(f); - - if (num_read != 1) { - free(buf); - return NULL; - } - - if (out_len) { - *out_len = f_len; - } - - return buf; -} - -static void DeallocateBuffer(void* data, size_t) { - free(data); -} - -int main(int argc, char* argv[]) { - TF_Buffer* buf; - TF_Graph* graph; - TF_Status* status; - char *path = argv[1]; - - // load model - { - size_t model_size; - char tmp[1024]; - snprintf(tmp, sizeof(tmp), "%s.pb", path); - printf("loading model %s\n", tmp); - uint8_t *model_data = (uint8_t *)read_file(tmp, &model_size); - buf = TF_NewBuffer(); - buf->data = model_data; - buf->length = model_size; - buf->data_deallocator = DeallocateBuffer; - printf("loaded model of size %d\n", model_size); - } - - // import graph - status = TF_NewStatus(); - graph = TF_NewGraph(); - TF_ImportGraphDefOptions *opts = TF_NewImportGraphDefOptions(); - TF_GraphImportGraphDef(graph, buf, opts, status); - TF_DeleteImportGraphDefOptions(opts); - TF_DeleteBuffer(buf); - if (TF_GetCode(status) != TF_OK) { - printf("FAIL: %s\n", TF_Message(status)); - } else { - printf("SUCCESS\n"); - } -} diff --git a/selfdrive/modeld/tests/tf_test/pb_loader.py b/selfdrive/modeld/tests/tf_test/pb_loader.py deleted file mode 100755 index 3e476628ebd0e7..00000000000000 --- a/selfdrive/modeld/tests/tf_test/pb_loader.py +++ /dev/null @@ -1,8 +0,0 @@ -#!/usr/bin/env python3 -import sys -import tensorflow as tf - -with open(sys.argv[1], "rb") as f: - graph_def = tf.compat.v1.GraphDef() - graph_def.ParseFromString(f.read()) - #tf.io.write_graph(graph_def, '', sys.argv[1]+".try") diff --git a/selfdrive/modeld/tests/timing/benchmark.py b/selfdrive/modeld/tests/timing/benchmark.py deleted file mode 100755 index c629ec2fff5050..00000000000000 --- a/selfdrive/modeld/tests/timing/benchmark.py +++ /dev/null @@ -1,39 +0,0 @@ -#!/usr/bin/env python3 -# type: ignore - -import os -import time -import numpy as np - -import cereal.messaging as messaging -from openpilot.system.manager.process_config import managed_processes - - -N = int(os.getenv("N", "5")) -TIME = int(os.getenv("TIME", "30")) - -if __name__ == "__main__": - sock = messaging.sub_sock('modelV2', conflate=False, timeout=1000) - - execution_times = [] - - for _ in range(N): - os.environ['LOGPRINT'] = 'debug' - managed_processes['modeld'].start() - time.sleep(5) - - t = [] - start = time.monotonic() - while time.monotonic() - start < TIME: - msgs = messaging.drain_sock(sock, wait_for_one=True) - for m in msgs: - t.append(m.modelV2.modelExecutionTime) - - execution_times.append(np.array(t[10:]) * 1000) - managed_processes['modeld'].stop() - - print("\n\n") - print(f"ran modeld {N} times for {TIME}s each") - for _, t in enumerate(execution_times): - print(f"\tavg: {sum(t)/len(t):0.2f}ms, min: {min(t):0.2f}ms, max: {max(t):0.2f}ms") - print("\n\n") diff --git a/selfdrive/modeld/thneed/serialize.cc b/selfdrive/modeld/thneed/serialize.cc deleted file mode 100644 index 3dc2bef41448f8..00000000000000 --- a/selfdrive/modeld/thneed/serialize.cc +++ /dev/null @@ -1,154 +0,0 @@ -#include -#include - -#include "third_party/json11/json11.hpp" -#include "common/util.h" -#include "common/clutil.h" -#include "common/swaglog.h" -#include "selfdrive/modeld/thneed/thneed.h" -using namespace json11; - -extern map g_program_source; - -void Thneed::load(const char *filename) { - LOGD("Thneed::load: loading from %s\n", filename); - - string buf = util::read_file(filename); - int jsz = *(int *)buf.data(); - string jsonerr; - string jj(buf.data() + sizeof(int), jsz); - Json jdat = Json::parse(jj, jsonerr); - - map real_mem; - real_mem[NULL] = NULL; - - int ptr = sizeof(int)+jsz; - for (auto &obj : jdat["objects"].array_items()) { - auto mobj = obj.object_items(); - int sz = mobj["size"].int_value(); - cl_mem clbuf = NULL; - - if (mobj["buffer_id"].string_value().size() > 0) { - // image buffer must already be allocated - clbuf = real_mem[*(cl_mem*)(mobj["buffer_id"].string_value().data())]; - assert(mobj["needs_load"].bool_value() == false); - } else { - if (mobj["needs_load"].bool_value()) { - clbuf = clCreateBuffer(context, CL_MEM_COPY_HOST_PTR | CL_MEM_READ_WRITE, sz, &buf[ptr], NULL); - if (debug >= 1) printf("loading %p %d @ 0x%X\n", clbuf, sz, ptr); - ptr += sz; - } else { - // TODO: is there a faster way to init zeroed out buffers? - void *host_zeros = calloc(sz, 1); - clbuf = clCreateBuffer(context, CL_MEM_COPY_HOST_PTR | CL_MEM_READ_WRITE, sz, host_zeros, NULL); - free(host_zeros); - } - } - assert(clbuf != NULL); - - if (mobj["arg_type"] == "image2d_t" || mobj["arg_type"] == "image1d_t") { - cl_image_desc desc = {0}; - desc.image_type = (mobj["arg_type"] == "image2d_t") ? CL_MEM_OBJECT_IMAGE2D : CL_MEM_OBJECT_IMAGE1D_BUFFER; - desc.image_width = mobj["width"].int_value(); - desc.image_height = mobj["height"].int_value(); - desc.image_row_pitch = mobj["row_pitch"].int_value(); - assert(sz == desc.image_height*desc.image_row_pitch); -#ifdef QCOM2 - desc.buffer = clbuf; -#else - // TODO: we are creating unused buffers on PC - clReleaseMemObject(clbuf); -#endif - cl_image_format format = {0}; - format.image_channel_order = CL_RGBA; - format.image_channel_data_type = mobj["float32"].bool_value() ? CL_FLOAT : CL_HALF_FLOAT; - - cl_int errcode; - -#ifndef QCOM2 - if (mobj["needs_load"].bool_value()) { - clbuf = clCreateImage(context, CL_MEM_COPY_HOST_PTR | CL_MEM_READ_WRITE, &format, &desc, &buf[ptr-sz], &errcode); - } else { - clbuf = clCreateImage(context, CL_MEM_READ_WRITE, &format, &desc, NULL, &errcode); - } -#else - clbuf = clCreateImage(context, CL_MEM_READ_WRITE, &format, &desc, NULL, &errcode); -#endif - if (clbuf == NULL) { - LOGE("clError: %s create image %zux%zu rp %zu with buffer %p\n", cl_get_error_string(errcode), - desc.image_width, desc.image_height, desc.image_row_pitch, desc.buffer); - } - assert(clbuf != NULL); - } - - real_mem[*(cl_mem*)(mobj["id"].string_value().data())] = clbuf; - } - - map g_programs; - for (const auto &[name, source] : jdat["programs"].object_items()) { - if (debug >= 1) printf("building %s with size %zu\n", name.c_str(), source.string_value().size()); - g_programs[name] = cl_program_from_source(context, device_id, source.string_value()); - } - - for (auto &obj : jdat["inputs"].array_items()) { - auto mobj = obj.object_items(); - int sz = mobj["size"].int_value(); - cl_mem aa = real_mem[*(cl_mem*)(mobj["buffer_id"].string_value().data())]; - input_clmem.push_back(aa); - input_sizes.push_back(sz); - LOGD("Thneed::load: adding input %s with size %d\n", mobj["name"].string_value().data(), sz); - - cl_int cl_err; - void *ret = clEnqueueMapBuffer(command_queue, aa, CL_TRUE, CL_MAP_WRITE, 0, sz, 0, NULL, NULL, &cl_err); - if (cl_err != CL_SUCCESS) LOGE("clError: %s map %p %d\n", cl_get_error_string(cl_err), aa, sz); - assert(cl_err == CL_SUCCESS); - inputs.push_back(ret); - } - - for (auto &obj : jdat["outputs"].array_items()) { - auto mobj = obj.object_items(); - int sz = mobj["size"].int_value(); - LOGD("Thneed::save: adding output with size %d\n", sz); - // TODO: support multiple outputs - output = real_mem[*(cl_mem*)(mobj["buffer_id"].string_value().data())]; - assert(output != NULL); - } - - for (auto &obj : jdat["binaries"].array_items()) { - string name = obj["name"].string_value(); - size_t length = obj["length"].int_value(); - if (debug >= 1) printf("binary %s with size %zu\n", name.c_str(), length); - g_programs[name] = cl_program_from_binary(context, device_id, (const uint8_t*)&buf[ptr], length); - ptr += length; - } - - for (auto &obj : jdat["kernels"].array_items()) { - auto gws = obj["global_work_size"]; - auto lws = obj["local_work_size"]; - auto kk = shared_ptr(new CLQueuedKernel(this)); - - kk->name = obj["name"].string_value(); - kk->program = g_programs[kk->name]; - kk->work_dim = obj["work_dim"].int_value(); - for (int i = 0; i < kk->work_dim; i++) { - kk->global_work_size[i] = gws[i].int_value(); - kk->local_work_size[i] = lws[i].int_value(); - } - kk->num_args = obj["num_args"].int_value(); - for (int i = 0; i < kk->num_args; i++) { - string arg = obj["args"].array_items()[i].string_value(); - int arg_size = obj["args_size"].array_items()[i].int_value(); - kk->args_size.push_back(arg_size); - if (arg_size == 8) { - cl_mem val = *(cl_mem*)(arg.data()); - val = real_mem[val]; - kk->args.push_back(string((char*)&val, sizeof(val))); - } else { - kk->args.push_back(arg); - } - } - kq.push_back(kk); - } - - clFinish(command_queue); -} diff --git a/selfdrive/modeld/thneed/thneed.h b/selfdrive/modeld/thneed/thneed.h deleted file mode 100644 index 47e18e0be3bb30..00000000000000 --- a/selfdrive/modeld/thneed/thneed.h +++ /dev/null @@ -1,133 +0,0 @@ -#pragma once - -#ifndef __user -#define __user __attribute__(()) -#endif - -#include -#include -#include -#include -#include - -#include - -#include "third_party/linux/include/msm_kgsl.h" - -using namespace std; - -cl_int thneed_clSetKernelArg(cl_kernel kernel, cl_uint arg_index, size_t arg_size, const void *arg_value); - -namespace json11 { - class Json; -} -class Thneed; - -class GPUMalloc { - public: - GPUMalloc(int size, int fd); - ~GPUMalloc(); - void *alloc(int size); - private: - uint64_t base; - int remaining; -}; - -class CLQueuedKernel { - public: - CLQueuedKernel(Thneed *lthneed) { thneed = lthneed; } - CLQueuedKernel(Thneed *lthneed, - cl_kernel _kernel, - cl_uint _work_dim, - const size_t *_global_work_size, - const size_t *_local_work_size); - cl_int exec(); - void debug_print(bool verbose); - int get_arg_num(const char *search_arg_name); - cl_program program; - string name; - cl_uint num_args; - vector arg_names; - vector arg_types; - vector args; - vector args_size; - cl_kernel kernel = NULL; - json11::Json to_json() const; - - cl_uint work_dim; - size_t global_work_size[3] = {0}; - size_t local_work_size[3] = {0}; - private: - Thneed *thneed; -}; - -class CachedIoctl { - public: - virtual void exec() {} -}; - -class CachedSync: public CachedIoctl { - public: - CachedSync(Thneed *lthneed, string ldata) { thneed = lthneed; data = ldata; } - void exec(); - private: - Thneed *thneed; - string data; -}; - -class CachedCommand: public CachedIoctl { - public: - CachedCommand(Thneed *lthneed, struct kgsl_gpu_command *cmd); - void exec(); - private: - void disassemble(int cmd_index); - struct kgsl_gpu_command cache; - unique_ptr cmds; - unique_ptr objs; - Thneed *thneed; - vector > kq; -}; - -class Thneed { - public: - Thneed(bool do_clinit=false, cl_context _context = NULL); - void stop(); - void execute(float **finputs, float *foutput, bool slow=false); - void wait(); - - vector input_clmem; - vector inputs; - vector input_sizes; - cl_mem output = NULL; - - cl_context context = NULL; - cl_command_queue command_queue; - cl_device_id device_id; - int context_id; - - // protected? - bool record = false; - int debug; - int timestamp; - -#ifdef QCOM2 - unique_ptr ram; - vector > cmds; - int fd; -#endif - - // all CL kernels - void copy_inputs(float **finputs, bool internal=false); - void copy_output(float *foutput); - cl_int clexec(); - vector > kq; - - // pending CL kernels - vector > ckq; - - // loading - void load(const char *filename); - private: - void clinit(); -}; - diff --git a/selfdrive/modeld/thneed/thneed_common.cc b/selfdrive/modeld/thneed/thneed_common.cc deleted file mode 100644 index ecdf1237e384ff..00000000000000 --- a/selfdrive/modeld/thneed/thneed_common.cc +++ /dev/null @@ -1,216 +0,0 @@ -#include "selfdrive/modeld/thneed/thneed.h" - -#include -#include -#include - -#include "common/clutil.h" -#include "common/timing.h" - -map, string> g_args; -map, int> g_args_size; -map g_program_source; - -void Thneed::stop() { - //printf("Thneed::stop: recorded %lu commands\n", cmds.size()); - record = false; -} - -void Thneed::clinit() { - device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT); - if (context == NULL) context = CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err)); - //cl_command_queue_properties props[3] = {CL_QUEUE_PROPERTIES, CL_QUEUE_PROFILING_ENABLE, 0}; - cl_command_queue_properties props[3] = {CL_QUEUE_PROPERTIES, 0, 0}; - command_queue = CL_CHECK_ERR(clCreateCommandQueueWithProperties(context, device_id, props, &err)); - printf("Thneed::clinit done\n"); -} - -cl_int Thneed::clexec() { - if (debug >= 1) printf("Thneed::clexec: running %lu queued kernels\n", kq.size()); - for (auto &k : kq) { - if (record) ckq.push_back(k); - cl_int ret = k->exec(); - assert(ret == CL_SUCCESS); - } - return clFinish(command_queue); -} - -void Thneed::copy_inputs(float **finputs, bool internal) { - for (int idx = 0; idx < inputs.size(); ++idx) { - if (debug >= 1) printf("copying %lu -- %p -> %p (cl %p)\n", input_sizes[idx], finputs[idx], inputs[idx], input_clmem[idx]); - - if (internal) { - // if it's internal, using memcpy is fine since the buffer sync is cached in the ioctl layer - if (finputs[idx] != NULL) memcpy(inputs[idx], finputs[idx], input_sizes[idx]); - } else { - if (finputs[idx] != NULL) CL_CHECK(clEnqueueWriteBuffer(command_queue, input_clmem[idx], CL_TRUE, 0, input_sizes[idx], finputs[idx], 0, NULL, NULL)); - } - } -} - -void Thneed::copy_output(float *foutput) { - if (output != NULL) { - size_t sz; - clGetMemObjectInfo(output, CL_MEM_SIZE, sizeof(sz), &sz, NULL); - if (debug >= 1) printf("copying %lu for output %p -> %p\n", sz, output, foutput); - CL_CHECK(clEnqueueReadBuffer(command_queue, output, CL_TRUE, 0, sz, foutput, 0, NULL, NULL)); - } else { - printf("CAUTION: model output is NULL, does it have no outputs?\n"); - } -} - -// *********** CLQueuedKernel *********** - -CLQueuedKernel::CLQueuedKernel(Thneed *lthneed, - cl_kernel _kernel, - cl_uint _work_dim, - const size_t *_global_work_size, - const size_t *_local_work_size) { - thneed = lthneed; - kernel = _kernel; - work_dim = _work_dim; - assert(work_dim <= 3); - for (int i = 0; i < work_dim; i++) { - global_work_size[i] = _global_work_size[i]; - local_work_size[i] = _local_work_size[i]; - } - - char _name[0x100]; - clGetKernelInfo(kernel, CL_KERNEL_FUNCTION_NAME, sizeof(_name), _name, NULL); - name = string(_name); - clGetKernelInfo(kernel, CL_KERNEL_NUM_ARGS, sizeof(num_args), &num_args, NULL); - - // get args - for (int i = 0; i < num_args; i++) { - char arg_name[0x100] = {0}; - clGetKernelArgInfo(kernel, i, CL_KERNEL_ARG_NAME, sizeof(arg_name), arg_name, NULL); - arg_names.push_back(string(arg_name)); - clGetKernelArgInfo(kernel, i, CL_KERNEL_ARG_TYPE_NAME, sizeof(arg_name), arg_name, NULL); - arg_types.push_back(string(arg_name)); - - args.push_back(g_args[make_pair(kernel, i)]); - args_size.push_back(g_args_size[make_pair(kernel, i)]); - } - - // get program - clGetKernelInfo(kernel, CL_KERNEL_PROGRAM, sizeof(program), &program, NULL); -} - -int CLQueuedKernel::get_arg_num(const char *search_arg_name) { - for (int i = 0; i < num_args; i++) { - if (arg_names[i] == search_arg_name) return i; - } - printf("failed to find %s in %s\n", search_arg_name, name.c_str()); - assert(false); -} - -cl_int CLQueuedKernel::exec() { - if (kernel == NULL) { - kernel = clCreateKernel(program, name.c_str(), NULL); - arg_names.clear(); - arg_types.clear(); - - for (int j = 0; j < num_args; j++) { - char arg_name[0x100] = {0}; - clGetKernelArgInfo(kernel, j, CL_KERNEL_ARG_NAME, sizeof(arg_name), arg_name, NULL); - arg_names.push_back(string(arg_name)); - clGetKernelArgInfo(kernel, j, CL_KERNEL_ARG_TYPE_NAME, sizeof(arg_name), arg_name, NULL); - arg_types.push_back(string(arg_name)); - - cl_int ret; - if (args[j].size() != 0) { - assert(args[j].size() == args_size[j]); - ret = thneed_clSetKernelArg(kernel, j, args[j].size(), args[j].data()); - } else { - ret = thneed_clSetKernelArg(kernel, j, args_size[j], NULL); - } - assert(ret == CL_SUCCESS); - } - } - - if (thneed->debug >= 1) { - debug_print(thneed->debug >= 2); - } - - return clEnqueueNDRangeKernel(thneed->command_queue, - kernel, work_dim, NULL, global_work_size, local_work_size, 0, NULL, NULL); -} - -void CLQueuedKernel::debug_print(bool verbose) { - printf("%p %56s -- ", kernel, name.c_str()); - for (int i = 0; i < work_dim; i++) { - printf("%4zu ", global_work_size[i]); - } - printf(" -- "); - for (int i = 0; i < work_dim; i++) { - printf("%4zu ", local_work_size[i]); - } - printf("\n"); - - if (verbose) { - for (int i = 0; i < num_args; i++) { - string arg = args[i]; - printf(" %s %s", arg_types[i].c_str(), arg_names[i].c_str()); - void *arg_value = (void*)arg.data(); - int arg_size = arg.size(); - if (arg_size == 0) { - printf(" (size) %d", args_size[i]); - } else if (arg_size == 1) { - printf(" = %d", *((char*)arg_value)); - } else if (arg_size == 2) { - printf(" = %d", *((short*)arg_value)); - } else if (arg_size == 4) { - if (arg_types[i] == "float") { - printf(" = %f", *((float*)arg_value)); - } else { - printf(" = %d", *((int*)arg_value)); - } - } else if (arg_size == 8) { - cl_mem val = (cl_mem)(*((uintptr_t*)arg_value)); - printf(" = %p", val); - if (val != NULL) { - cl_mem_object_type obj_type; - clGetMemObjectInfo(val, CL_MEM_TYPE, sizeof(obj_type), &obj_type, NULL); - if (arg_types[i] == "image2d_t" || arg_types[i] == "image1d_t" || obj_type == CL_MEM_OBJECT_IMAGE2D) { - cl_image_format format; - size_t width, height, depth, array_size, row_pitch, slice_pitch; - cl_mem buf; - clGetImageInfo(val, CL_IMAGE_FORMAT, sizeof(format), &format, NULL); - assert(format.image_channel_order == CL_RGBA); - assert(format.image_channel_data_type == CL_HALF_FLOAT || format.image_channel_data_type == CL_FLOAT); - clGetImageInfo(val, CL_IMAGE_WIDTH, sizeof(width), &width, NULL); - clGetImageInfo(val, CL_IMAGE_HEIGHT, sizeof(height), &height, NULL); - clGetImageInfo(val, CL_IMAGE_ROW_PITCH, sizeof(row_pitch), &row_pitch, NULL); - clGetImageInfo(val, CL_IMAGE_DEPTH, sizeof(depth), &depth, NULL); - clGetImageInfo(val, CL_IMAGE_ARRAY_SIZE, sizeof(array_size), &array_size, NULL); - clGetImageInfo(val, CL_IMAGE_SLICE_PITCH, sizeof(slice_pitch), &slice_pitch, NULL); - assert(depth == 0); - assert(array_size == 0); - assert(slice_pitch == 0); - - clGetImageInfo(val, CL_IMAGE_BUFFER, sizeof(buf), &buf, NULL); - size_t sz = 0; - if (buf != NULL) clGetMemObjectInfo(buf, CL_MEM_SIZE, sizeof(sz), &sz, NULL); - printf(" image %zu x %zu rp %zu @ %p buffer %zu", width, height, row_pitch, buf, sz); - } else { - size_t sz; - clGetMemObjectInfo(val, CL_MEM_SIZE, sizeof(sz), &sz, NULL); - printf(" buffer %zu", sz); - } - } - } - printf("\n"); - } - } -} - -cl_int thneed_clSetKernelArg(cl_kernel kernel, cl_uint arg_index, size_t arg_size, const void *arg_value) { - g_args_size[make_pair(kernel, arg_index)] = arg_size; - if (arg_value != NULL) { - g_args[make_pair(kernel, arg_index)] = string((char*)arg_value, arg_size); - } else { - g_args[make_pair(kernel, arg_index)] = string(""); - } - cl_int ret = clSetKernelArg(kernel, arg_index, arg_size, arg_value); - return ret; -} diff --git a/selfdrive/modeld/thneed/thneed_pc.cc b/selfdrive/modeld/thneed/thneed_pc.cc deleted file mode 100644 index 8d0037628e2f3d..00000000000000 --- a/selfdrive/modeld/thneed/thneed_pc.cc +++ /dev/null @@ -1,32 +0,0 @@ -#include "selfdrive/modeld/thneed/thneed.h" - -#include - -#include "common/clutil.h" -#include "common/timing.h" - -Thneed::Thneed(bool do_clinit, cl_context _context) { - context = _context; - if (do_clinit) clinit(); - char *thneed_debug_env = getenv("THNEED_DEBUG"); - debug = (thneed_debug_env != NULL) ? atoi(thneed_debug_env) : 0; -} - -void Thneed::execute(float **finputs, float *foutput, bool slow) { - uint64_t tb, te; - if (debug >= 1) tb = nanos_since_boot(); - - // ****** copy inputs - copy_inputs(finputs); - - // ****** run commands - clexec(); - - // ****** copy outputs - copy_output(foutput); - - if (debug >= 1) { - te = nanos_since_boot(); - printf("model exec in %lu us\n", (te-tb)/1000); - } -} diff --git a/selfdrive/modeld/thneed/thneed_qcom2.cc b/selfdrive/modeld/thneed/thneed_qcom2.cc deleted file mode 100644 index 21de15d17c9cfc..00000000000000 --- a/selfdrive/modeld/thneed/thneed_qcom2.cc +++ /dev/null @@ -1,258 +0,0 @@ -#include "selfdrive/modeld/thneed/thneed.h" - -#include -#include - -#include -#include -#include -#include -#include - -#include "common/clutil.h" -#include "common/timing.h" - -Thneed *g_thneed = NULL; -int g_fd = -1; - -void hexdump(uint8_t *d, int len) { - assert((len%4) == 0); - printf(" dumping %p len 0x%x\n", d, len); - for (int i = 0; i < len/4; i++) { - if (i != 0 && (i%0x10) == 0) printf("\n"); - printf("%8x ", d[i]); - } - printf("\n"); -} - -// *********** ioctl interceptor *********** - -extern "C" { - -int (*my_ioctl)(int filedes, unsigned long request, void *argp) = NULL; -#undef ioctl -int ioctl(int filedes, unsigned long request, void *argp) { - request &= 0xFFFFFFFF; // needed on QCOM2 - if (my_ioctl == NULL) my_ioctl = reinterpret_cast(dlsym(RTLD_NEXT, "ioctl")); - Thneed *thneed = g_thneed; - - // save the fd - if (request == IOCTL_KGSL_GPUOBJ_ALLOC) g_fd = filedes; - - // note that this runs always, even without a thneed object - if (request == IOCTL_KGSL_DRAWCTXT_CREATE) { - struct kgsl_drawctxt_create *create = (struct kgsl_drawctxt_create *)argp; - create->flags &= ~KGSL_CONTEXT_PRIORITY_MASK; - create->flags |= 6 << KGSL_CONTEXT_PRIORITY_SHIFT; // priority from 1-15, 1 is max priority - printf("IOCTL_KGSL_DRAWCTXT_CREATE: creating context with flags 0x%x\n", create->flags); - } - - if (thneed != NULL) { - if (request == IOCTL_KGSL_GPU_COMMAND) { - struct kgsl_gpu_command *cmd = (struct kgsl_gpu_command *)argp; - if (thneed->record) { - thneed->timestamp = cmd->timestamp; - thneed->context_id = cmd->context_id; - thneed->cmds.push_back(unique_ptr(new CachedCommand(thneed, cmd))); - } - if (thneed->debug >= 1) { - printf("IOCTL_KGSL_GPU_COMMAND(%2zu): flags: 0x%lx context_id: %u timestamp: %u numcmds: %d numobjs: %d\n", - thneed->cmds.size(), - cmd->flags, - cmd->context_id, cmd->timestamp, cmd->numcmds, cmd->numobjs); - } - } else if (request == IOCTL_KGSL_GPUOBJ_SYNC) { - struct kgsl_gpuobj_sync *cmd = (struct kgsl_gpuobj_sync *)argp; - struct kgsl_gpuobj_sync_obj *objs = (struct kgsl_gpuobj_sync_obj *)(cmd->objs); - - if (thneed->debug >= 2) { - printf("IOCTL_KGSL_GPUOBJ_SYNC count:%d ", cmd->count); - for (int i = 0; i < cmd->count; i++) { - printf(" -- offset:0x%lx len:0x%lx id:%d op:%d ", objs[i].offset, objs[i].length, objs[i].id, objs[i].op); - } - printf("\n"); - } - - if (thneed->record) { - thneed->cmds.push_back(unique_ptr(new - CachedSync(thneed, string((char *)objs, sizeof(struct kgsl_gpuobj_sync_obj)*cmd->count)))); - } - } else if (request == IOCTL_KGSL_DEVICE_WAITTIMESTAMP_CTXTID) { - struct kgsl_device_waittimestamp_ctxtid *cmd = (struct kgsl_device_waittimestamp_ctxtid *)argp; - if (thneed->debug >= 1) { - printf("IOCTL_KGSL_DEVICE_WAITTIMESTAMP_CTXTID: context_id: %d timestamp: %d timeout: %d\n", - cmd->context_id, cmd->timestamp, cmd->timeout); - } - } else if (request == IOCTL_KGSL_SETPROPERTY) { - if (thneed->debug >= 1) { - struct kgsl_device_getproperty *prop = (struct kgsl_device_getproperty *)argp; - printf("IOCTL_KGSL_SETPROPERTY: 0x%x sizebytes:%zu\n", prop->type, prop->sizebytes); - if (thneed->debug >= 2) { - hexdump((uint8_t *)prop->value, prop->sizebytes); - if (prop->type == KGSL_PROP_PWR_CONSTRAINT) { - struct kgsl_device_constraint *constraint = (struct kgsl_device_constraint *)prop->value; - hexdump((uint8_t *)constraint->data, constraint->size); - } - } - } - } else if (request == IOCTL_KGSL_DRAWCTXT_CREATE || request == IOCTL_KGSL_DRAWCTXT_DESTROY) { - // this happens - } else if (request == IOCTL_KGSL_GPUOBJ_ALLOC || request == IOCTL_KGSL_GPUOBJ_FREE) { - // this happens - } else { - if (thneed->debug >= 1) { - printf("other ioctl %lx\n", request); - } - } - } - - int ret = my_ioctl(filedes, request, argp); - // NOTE: This error message goes into stdout and messes up pyenv - // if (ret != 0) printf("ioctl returned %d with errno %d\n", ret, errno); - return ret; -} - -} - -// *********** GPUMalloc *********** - -GPUMalloc::GPUMalloc(int size, int fd) { - struct kgsl_gpuobj_alloc alloc; - memset(&alloc, 0, sizeof(alloc)); - alloc.size = size; - alloc.flags = 0x10000a00; - ioctl(fd, IOCTL_KGSL_GPUOBJ_ALLOC, &alloc); - void *addr = mmap64(NULL, alloc.mmapsize, 0x3, 0x1, fd, alloc.id*0x1000); - assert(addr != MAP_FAILED); - - base = (uint64_t)addr; - remaining = size; -} - -GPUMalloc::~GPUMalloc() { - // TODO: free the GPU malloced area -} - -void *GPUMalloc::alloc(int size) { - void *ret = (void*)base; - size = (size+0xff) & (~0xFF); - assert(size <= remaining); - remaining -= size; - base += size; - return ret; -} - -// *********** CachedSync, at the ioctl layer *********** - -void CachedSync::exec() { - struct kgsl_gpuobj_sync cmd; - - cmd.objs = (uint64_t)data.data(); - cmd.obj_len = data.length(); - cmd.count = data.length() / sizeof(struct kgsl_gpuobj_sync_obj); - - int ret = ioctl(thneed->fd, IOCTL_KGSL_GPUOBJ_SYNC, &cmd); - assert(ret == 0); -} - -// *********** CachedCommand, at the ioctl layer *********** - -CachedCommand::CachedCommand(Thneed *lthneed, struct kgsl_gpu_command *cmd) { - thneed = lthneed; - assert(cmd->numsyncs == 0); - - memcpy(&cache, cmd, sizeof(cache)); - - if (cmd->numcmds > 0) { - cmds = make_unique(cmd->numcmds); - memcpy(cmds.get(), (void *)cmd->cmdlist, sizeof(struct kgsl_command_object)*cmd->numcmds); - cache.cmdlist = (uint64_t)cmds.get(); - for (int i = 0; i < cmd->numcmds; i++) { - void *nn = thneed->ram->alloc(cmds[i].size); - memcpy(nn, (void*)cmds[i].gpuaddr, cmds[i].size); - cmds[i].gpuaddr = (uint64_t)nn; - } - } - - if (cmd->numobjs > 0) { - objs = make_unique(cmd->numobjs); - memcpy(objs.get(), (void *)cmd->objlist, sizeof(struct kgsl_command_object)*cmd->numobjs); - cache.objlist = (uint64_t)objs.get(); - for (int i = 0; i < cmd->numobjs; i++) { - void *nn = thneed->ram->alloc(objs[i].size); - memset(nn, 0, objs[i].size); - objs[i].gpuaddr = (uint64_t)nn; - } - } - - kq = thneed->ckq; - thneed->ckq.clear(); -} - -void CachedCommand::exec() { - cache.timestamp = ++thneed->timestamp; - int ret = ioctl(thneed->fd, IOCTL_KGSL_GPU_COMMAND, &cache); - - if (thneed->debug >= 1) printf("CachedCommand::exec got %d\n", ret); - - if (thneed->debug >= 2) { - for (auto &it : kq) { - it->debug_print(false); - } - } - - assert(ret == 0); -} - -// *********** Thneed *********** - -Thneed::Thneed(bool do_clinit, cl_context _context) { - // TODO: QCOM2 actually requires a different context - //context = _context; - if (do_clinit) clinit(); - assert(g_fd != -1); - fd = g_fd; - ram = make_unique(0x80000, fd); - timestamp = -1; - g_thneed = this; - char *thneed_debug_env = getenv("THNEED_DEBUG"); - debug = (thneed_debug_env != NULL) ? atoi(thneed_debug_env) : 0; -} - -void Thneed::wait() { - struct kgsl_device_waittimestamp_ctxtid wait; - wait.context_id = context_id; - wait.timestamp = timestamp; - wait.timeout = -1; - - uint64_t tb = nanos_since_boot(); - int wret = ioctl(fd, IOCTL_KGSL_DEVICE_WAITTIMESTAMP_CTXTID, &wait); - uint64_t te = nanos_since_boot(); - - if (debug >= 1) printf("wait %d after %lu us\n", wret, (te-tb)/1000); -} - -void Thneed::execute(float **finputs, float *foutput, bool slow) { - uint64_t tb, te; - if (debug >= 1) tb = nanos_since_boot(); - - // ****** copy inputs - copy_inputs(finputs, true); - - // ****** run commands - int i = 0; - for (auto &it : cmds) { - ++i; - if (debug >= 1) printf("run %2d @ %7lu us: ", i, (nanos_since_boot()-tb)/1000); - it->exec(); - if ((i == cmds.size()) || slow) wait(); - } - - // ****** copy outputs - copy_output(foutput); - - if (debug >= 1) { - te = nanos_since_boot(); - printf("model exec in %lu us\n", (te-tb)/1000); - } -} diff --git a/selfdrive/modeld/transforms/loadyuv.cc b/selfdrive/modeld/transforms/loadyuv.cc deleted file mode 100644 index c93f5cd038183d..00000000000000 --- a/selfdrive/modeld/transforms/loadyuv.cc +++ /dev/null @@ -1,76 +0,0 @@ -#include "selfdrive/modeld/transforms/loadyuv.h" - -#include -#include -#include - -void loadyuv_init(LoadYUVState* s, cl_context ctx, cl_device_id device_id, int width, int height) { - memset(s, 0, sizeof(*s)); - - s->width = width; - s->height = height; - - char args[1024]; - snprintf(args, sizeof(args), - "-cl-fast-relaxed-math -cl-denorms-are-zero " - "-DTRANSFORMED_WIDTH=%d -DTRANSFORMED_HEIGHT=%d", - width, height); - cl_program prg = cl_program_from_file(ctx, device_id, LOADYUV_PATH, args); - - s->loadys_krnl = CL_CHECK_ERR(clCreateKernel(prg, "loadys", &err)); - s->loaduv_krnl = CL_CHECK_ERR(clCreateKernel(prg, "loaduv", &err)); - s->copy_krnl = CL_CHECK_ERR(clCreateKernel(prg, "copy", &err)); - - // done with this - CL_CHECK(clReleaseProgram(prg)); -} - -void loadyuv_destroy(LoadYUVState* s) { - CL_CHECK(clReleaseKernel(s->loadys_krnl)); - CL_CHECK(clReleaseKernel(s->loaduv_krnl)); - CL_CHECK(clReleaseKernel(s->copy_krnl)); -} - -void loadyuv_queue(LoadYUVState* s, cl_command_queue q, - cl_mem y_cl, cl_mem u_cl, cl_mem v_cl, - cl_mem out_cl) { - cl_int global_out_off = 0; - - CL_CHECK(clSetKernelArg(s->loadys_krnl, 0, sizeof(cl_mem), &y_cl)); - CL_CHECK(clSetKernelArg(s->loadys_krnl, 1, sizeof(cl_mem), &out_cl)); - CL_CHECK(clSetKernelArg(s->loadys_krnl, 2, sizeof(cl_int), &global_out_off)); - - const size_t loadys_work_size = (s->width*s->height)/8; - CL_CHECK(clEnqueueNDRangeKernel(q, s->loadys_krnl, 1, NULL, - &loadys_work_size, NULL, 0, 0, NULL)); - - const size_t loaduv_work_size = ((s->width/2)*(s->height/2))/8; - global_out_off += (s->width*s->height); - - CL_CHECK(clSetKernelArg(s->loaduv_krnl, 0, sizeof(cl_mem), &u_cl)); - CL_CHECK(clSetKernelArg(s->loaduv_krnl, 1, sizeof(cl_mem), &out_cl)); - CL_CHECK(clSetKernelArg(s->loaduv_krnl, 2, sizeof(cl_int), &global_out_off)); - - CL_CHECK(clEnqueueNDRangeKernel(q, s->loaduv_krnl, 1, NULL, - &loaduv_work_size, NULL, 0, 0, NULL)); - - global_out_off += (s->width/2)*(s->height/2); - - CL_CHECK(clSetKernelArg(s->loaduv_krnl, 0, sizeof(cl_mem), &v_cl)); - CL_CHECK(clSetKernelArg(s->loaduv_krnl, 1, sizeof(cl_mem), &out_cl)); - CL_CHECK(clSetKernelArg(s->loaduv_krnl, 2, sizeof(cl_int), &global_out_off)); - - CL_CHECK(clEnqueueNDRangeKernel(q, s->loaduv_krnl, 1, NULL, - &loaduv_work_size, NULL, 0, 0, NULL)); -} - -void copy_queue(LoadYUVState* s, cl_command_queue q, cl_mem src, cl_mem dst, - size_t src_offset, size_t dst_offset, size_t size) { - CL_CHECK(clSetKernelArg(s->copy_krnl, 0, sizeof(cl_mem), &src)); - CL_CHECK(clSetKernelArg(s->copy_krnl, 1, sizeof(cl_mem), &dst)); - CL_CHECK(clSetKernelArg(s->copy_krnl, 2, sizeof(cl_int), &src_offset)); - CL_CHECK(clSetKernelArg(s->copy_krnl, 3, sizeof(cl_int), &dst_offset)); - const size_t copy_work_size = size/8; - CL_CHECK(clEnqueueNDRangeKernel(q, s->copy_krnl, 1, NULL, - ©_work_size, NULL, 0, 0, NULL)); -} \ No newline at end of file diff --git a/selfdrive/modeld/transforms/loadyuv.h b/selfdrive/modeld/transforms/loadyuv.h deleted file mode 100644 index 659059cd25e610..00000000000000 --- a/selfdrive/modeld/transforms/loadyuv.h +++ /dev/null @@ -1,20 +0,0 @@ -#pragma once - -#include "common/clutil.h" - -typedef struct { - int width, height; - cl_kernel loadys_krnl, loaduv_krnl, copy_krnl; -} LoadYUVState; - -void loadyuv_init(LoadYUVState* s, cl_context ctx, cl_device_id device_id, int width, int height); - -void loadyuv_destroy(LoadYUVState* s); - -void loadyuv_queue(LoadYUVState* s, cl_command_queue q, - cl_mem y_cl, cl_mem u_cl, cl_mem v_cl, - cl_mem out_cl); - - -void copy_queue(LoadYUVState* s, cl_command_queue q, cl_mem src, cl_mem dst, - size_t src_offset, size_t dst_offset, size_t size); \ No newline at end of file diff --git a/selfdrive/modeld/transforms/transform.cc b/selfdrive/modeld/transforms/transform.cc deleted file mode 100644 index 305643cf42eaf6..00000000000000 --- a/selfdrive/modeld/transforms/transform.cc +++ /dev/null @@ -1,97 +0,0 @@ -#include "selfdrive/modeld/transforms/transform.h" - -#include -#include - -#include "common/clutil.h" - -void transform_init(Transform* s, cl_context ctx, cl_device_id device_id) { - memset(s, 0, sizeof(*s)); - - cl_program prg = cl_program_from_file(ctx, device_id, TRANSFORM_PATH, ""); - s->krnl = CL_CHECK_ERR(clCreateKernel(prg, "warpPerspective", &err)); - // done with this - CL_CHECK(clReleaseProgram(prg)); - - s->m_y_cl = CL_CHECK_ERR(clCreateBuffer(ctx, CL_MEM_READ_WRITE, 3*3*sizeof(float), NULL, &err)); - s->m_uv_cl = CL_CHECK_ERR(clCreateBuffer(ctx, CL_MEM_READ_WRITE, 3*3*sizeof(float), NULL, &err)); -} - -void transform_destroy(Transform* s) { - CL_CHECK(clReleaseMemObject(s->m_y_cl)); - CL_CHECK(clReleaseMemObject(s->m_uv_cl)); - CL_CHECK(clReleaseKernel(s->krnl)); -} - -void transform_queue(Transform* s, - cl_command_queue q, - cl_mem in_yuv, int in_width, int in_height, int in_stride, int in_uv_offset, - cl_mem out_y, cl_mem out_u, cl_mem out_v, - int out_width, int out_height, - const mat3& projection) { - const int zero = 0; - - // sampled using pixel center origin - // (because that's how fastcv and opencv does it) - - mat3 projection_y = projection; - - // in and out uv is half the size of y. - mat3 projection_uv = transform_scale_buffer(projection, 0.5); - - CL_CHECK(clEnqueueWriteBuffer(q, s->m_y_cl, CL_TRUE, 0, 3*3*sizeof(float), (void*)projection_y.v, 0, NULL, NULL)); - CL_CHECK(clEnqueueWriteBuffer(q, s->m_uv_cl, CL_TRUE, 0, 3*3*sizeof(float), (void*)projection_uv.v, 0, NULL, NULL)); - - const int in_y_width = in_width; - const int in_y_height = in_height; - const int in_y_px_stride = 1; - const int in_uv_width = in_width/2; - const int in_uv_height = in_height/2; - const int in_uv_px_stride = 2; - const int in_u_offset = in_uv_offset; - const int in_v_offset = in_uv_offset + 1; - - const int out_y_width = out_width; - const int out_y_height = out_height; - const int out_uv_width = out_width/2; - const int out_uv_height = out_height/2; - - CL_CHECK(clSetKernelArg(s->krnl, 0, sizeof(cl_mem), &in_yuv)); // src - CL_CHECK(clSetKernelArg(s->krnl, 1, sizeof(cl_int), &in_stride)); // src_row_stride - CL_CHECK(clSetKernelArg(s->krnl, 2, sizeof(cl_int), &in_y_px_stride)); // src_px_stride - CL_CHECK(clSetKernelArg(s->krnl, 3, sizeof(cl_int), &zero)); // src_offset - CL_CHECK(clSetKernelArg(s->krnl, 4, sizeof(cl_int), &in_y_height)); // src_rows - CL_CHECK(clSetKernelArg(s->krnl, 5, sizeof(cl_int), &in_y_width)); // src_cols - CL_CHECK(clSetKernelArg(s->krnl, 6, sizeof(cl_mem), &out_y)); // dst - CL_CHECK(clSetKernelArg(s->krnl, 7, sizeof(cl_int), &out_y_width)); // dst_row_stride - CL_CHECK(clSetKernelArg(s->krnl, 8, sizeof(cl_int), &zero)); // dst_offset - CL_CHECK(clSetKernelArg(s->krnl, 9, sizeof(cl_int), &out_y_height)); // dst_rows - CL_CHECK(clSetKernelArg(s->krnl, 10, sizeof(cl_int), &out_y_width)); // dst_cols - CL_CHECK(clSetKernelArg(s->krnl, 11, sizeof(cl_mem), &s->m_y_cl)); // M - - const size_t work_size_y[2] = {(size_t)out_y_width, (size_t)out_y_height}; - - CL_CHECK(clEnqueueNDRangeKernel(q, s->krnl, 2, NULL, - (const size_t*)&work_size_y, NULL, 0, 0, NULL)); - - const size_t work_size_uv[2] = {(size_t)out_uv_width, (size_t)out_uv_height}; - - CL_CHECK(clSetKernelArg(s->krnl, 2, sizeof(cl_int), &in_uv_px_stride)); // src_px_stride - CL_CHECK(clSetKernelArg(s->krnl, 3, sizeof(cl_int), &in_u_offset)); // src_offset - CL_CHECK(clSetKernelArg(s->krnl, 4, sizeof(cl_int), &in_uv_height)); // src_rows - CL_CHECK(clSetKernelArg(s->krnl, 5, sizeof(cl_int), &in_uv_width)); // src_cols - CL_CHECK(clSetKernelArg(s->krnl, 6, sizeof(cl_mem), &out_u)); // dst - CL_CHECK(clSetKernelArg(s->krnl, 7, sizeof(cl_int), &out_uv_width)); // dst_row_stride - CL_CHECK(clSetKernelArg(s->krnl, 8, sizeof(cl_int), &zero)); // dst_offset - CL_CHECK(clSetKernelArg(s->krnl, 9, sizeof(cl_int), &out_uv_height)); // dst_rows - CL_CHECK(clSetKernelArg(s->krnl, 10, sizeof(cl_int), &out_uv_width)); // dst_cols - CL_CHECK(clSetKernelArg(s->krnl, 11, sizeof(cl_mem), &s->m_uv_cl)); // M - - CL_CHECK(clEnqueueNDRangeKernel(q, s->krnl, 2, NULL, - (const size_t*)&work_size_uv, NULL, 0, 0, NULL)); - CL_CHECK(clSetKernelArg(s->krnl, 3, sizeof(cl_int), &in_v_offset)); // src_ofset - CL_CHECK(clSetKernelArg(s->krnl, 6, sizeof(cl_mem), &out_v)); // dst - - CL_CHECK(clEnqueueNDRangeKernel(q, s->krnl, 2, NULL, - (const size_t*)&work_size_uv, NULL, 0, 0, NULL)); -} diff --git a/selfdrive/modeld/transforms/transform.h b/selfdrive/modeld/transforms/transform.h deleted file mode 100644 index 771a7054b35d29..00000000000000 --- a/selfdrive/modeld/transforms/transform.h +++ /dev/null @@ -1,25 +0,0 @@ -#pragma once - -#define CL_USE_DEPRECATED_OPENCL_1_2_APIS -#ifdef __APPLE__ -#include -#else -#include -#endif - -#include "common/mat.h" - -typedef struct { - cl_kernel krnl; - cl_mem m_y_cl, m_uv_cl; -} Transform; - -void transform_init(Transform* s, cl_context ctx, cl_device_id device_id); - -void transform_destroy(Transform* transform); - -void transform_queue(Transform* s, cl_command_queue q, - cl_mem yuv, int in_width, int in_height, int in_stride, int in_uv_offset, - cl_mem out_y, cl_mem out_u, cl_mem out_v, - int out_width, int out_height, - const mat3& projection); diff --git a/selfdrive/monitoring/README.md b/selfdrive/monitoring/README.md deleted file mode 100644 index 2a29ea06b5a306..00000000000000 --- a/selfdrive/monitoring/README.md +++ /dev/null @@ -1,15 +0,0 @@ -# driver monitoring (DM) - -Uploading driver-facing camera footage is opt-in, but it is encouraged to opt-in to improve the DM model. You can always change your preference using the "Record and Upload Driver Camera" toggle. - -## Troubleshooting - -Before creating a bug report, go through these troubleshooting steps. - -* Ensure the driver-facing camera has a good view of the driver in normal driving positions. - * This can be checked in Settings -> Device -> Preview Driver Camera (when car is off). -* If the camera can't see the driver, the device should be re-mounted. - -## Bug report - -In order for us to look into DM bug reports, we'll need the driver-facing camera footage. If you don't normally have this enabled, simply enable the toggle for a single drive. Also ensure the "Upload Raw Logs" toggle is enabled before going for a drive. diff --git a/selfdrive/monitoring/test_monitoring.py b/selfdrive/monitoring/test_monitoring.py deleted file mode 100644 index f750437dc36951..00000000000000 --- a/selfdrive/monitoring/test_monitoring.py +++ /dev/null @@ -1,206 +0,0 @@ -import numpy as np - -from cereal import car, log -from openpilot.common.realtime import DT_DMON -from openpilot.selfdrive.monitoring.helpers import DriverMonitoring, DRIVER_MONITOR_SETTINGS - -EventName = car.CarEvent.EventName -dm_settings = DRIVER_MONITOR_SETTINGS() - -TEST_TIMESPAN = 120 # seconds -DISTRACTED_SECONDS_TO_ORANGE = dm_settings._DISTRACTED_TIME - dm_settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL + 1 -DISTRACTED_SECONDS_TO_RED = dm_settings._DISTRACTED_TIME + 1 -INVISIBLE_SECONDS_TO_ORANGE = dm_settings._AWARENESS_TIME - dm_settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL + 1 -INVISIBLE_SECONDS_TO_RED = dm_settings._AWARENESS_TIME + 1 - -def make_msg(face_detected, distracted=False, model_uncertain=False): - ds = log.DriverStateV2.new_message() - ds.leftDriverData.faceOrientation = [0., 0., 0.] - ds.leftDriverData.facePosition = [0., 0.] - ds.leftDriverData.faceProb = 1. * face_detected - ds.leftDriverData.leftEyeProb = 1. - ds.leftDriverData.rightEyeProb = 1. - ds.leftDriverData.leftBlinkProb = 1. * distracted - ds.leftDriverData.rightBlinkProb = 1. * distracted - ds.leftDriverData.faceOrientationStd = [1.*model_uncertain, 1.*model_uncertain, 1.*model_uncertain] - ds.leftDriverData.facePositionStd = [1.*model_uncertain, 1.*model_uncertain] - # TODO: test both separately when e2e is used - ds.leftDriverData.readyProb = [0., 0., 0., 0.] - ds.leftDriverData.notReadyProb = [0., 0.] - return ds - - -# driver state from neural net, 10Hz -msg_NO_FACE_DETECTED = make_msg(False) -msg_ATTENTIVE = make_msg(True) -msg_DISTRACTED = make_msg(True, distracted=True) -msg_ATTENTIVE_UNCERTAIN = make_msg(True, model_uncertain=True) -msg_DISTRACTED_UNCERTAIN = make_msg(True, distracted=True, model_uncertain=True) -msg_DISTRACTED_BUT_SOMEHOW_UNCERTAIN = make_msg(True, distracted=True, model_uncertain=dm_settings._POSESTD_THRESHOLD*1.5) - -# driver interaction with car -car_interaction_DETECTED = True -car_interaction_NOT_DETECTED = False - -# some common state vectors -always_no_face = [msg_NO_FACE_DETECTED] * int(TEST_TIMESPAN / DT_DMON) -always_attentive = [msg_ATTENTIVE] * int(TEST_TIMESPAN / DT_DMON) -always_distracted = [msg_DISTRACTED] * int(TEST_TIMESPAN / DT_DMON) -always_true = [True] * int(TEST_TIMESPAN / DT_DMON) -always_false = [False] * int(TEST_TIMESPAN / DT_DMON) - -class TestMonitoring: - def _run_seq(self, msgs, interaction, engaged, standstill): - DM = DriverMonitoring() - events = [] - for idx in range(len(msgs)): - DM._update_states(msgs[idx], [0, 0, 0], 0, engaged[idx]) - # cal_rpy and car_speed don't matter here - - # evaluate events at 10Hz for tests - DM._update_events(interaction[idx], engaged[idx], standstill[idx], 0, 0) - events.append(DM.current_events) - assert len(events) == len(msgs), f"got {len(events)} for {len(msgs)} driverState input msgs" - return events, DM - - def _assert_no_events(self, events): - assert all(not len(e) for e in events) - - # engaged, driver is attentive all the time - def test_fully_aware_driver(self): - events, _ = self._run_seq(always_attentive, always_false, always_true, always_false) - self._assert_no_events(events) - - # engaged, driver is distracted and does nothing - def test_fully_distracted_driver(self): - events, d_status = self._run_seq(always_distracted, always_false, always_true, always_false) - assert len(events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL)/2/DT_DMON)]) == 0 - assert events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL + \ - ((d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL-d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0] == \ - EventName.preDriverDistracted - assert events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL + \ - ((d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0] == EventName.promptDriverDistracted - assert events[int((d_status.settings._DISTRACTED_TIME + \ - ((TEST_TIMESPAN-10-d_status.settings._DISTRACTED_TIME)/2))/DT_DMON)].names[0] == EventName.driverDistracted - assert isinstance(d_status.awareness, float) - - # engaged, no face detected the whole time, no action - def test_fully_invisible_driver(self): - events, d_status = self._run_seq(always_no_face, always_false, always_true, always_false) - assert len(events[int((d_status.settings._AWARENESS_TIME-d_status.settings._AWARENESS_PRE_TIME_TILL_TERMINAL)/2/DT_DMON)]) == 0 - assert events[int((d_status.settings._AWARENESS_TIME-d_status.settings._AWARENESS_PRE_TIME_TILL_TERMINAL + \ - ((d_status.settings._AWARENESS_PRE_TIME_TILL_TERMINAL-d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0] == \ - EventName.preDriverUnresponsive - assert events[int((d_status.settings._AWARENESS_TIME-d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL + \ - ((d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0] == EventName.promptDriverUnresponsive - assert events[int((d_status.settings._AWARENESS_TIME + \ - ((TEST_TIMESPAN-10-d_status.settings._AWARENESS_TIME)/2))/DT_DMON)].names[0] == EventName.driverUnresponsive - - # engaged, down to orange, driver pays attention, back to normal; then down to orange, driver touches wheel - # - should have short orange recovery time and no green afterwards; wheel touch only recovers when paying attention - def test_normal_driver(self): - ds_vector = [msg_DISTRACTED] * int(DISTRACTED_SECONDS_TO_ORANGE/DT_DMON) + \ - [msg_ATTENTIVE] * int(DISTRACTED_SECONDS_TO_ORANGE/DT_DMON) + \ - [msg_DISTRACTED] * int((DISTRACTED_SECONDS_TO_ORANGE+2)/DT_DMON) + \ - [msg_ATTENTIVE] * (int(TEST_TIMESPAN/DT_DMON)-int((DISTRACTED_SECONDS_TO_ORANGE*3+2)/DT_DMON)) - interaction_vector = [car_interaction_NOT_DETECTED] * int(DISTRACTED_SECONDS_TO_ORANGE*3/DT_DMON) + \ - [car_interaction_DETECTED] * (int(TEST_TIMESPAN/DT_DMON)-int(DISTRACTED_SECONDS_TO_ORANGE*3/DT_DMON)) - events, _ = self._run_seq(ds_vector, interaction_vector, always_true, always_false) - assert len(events[int(DISTRACTED_SECONDS_TO_ORANGE*0.5/DT_DMON)]) == 0 - assert events[int((DISTRACTED_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0] == EventName.promptDriverDistracted - assert len(events[int(DISTRACTED_SECONDS_TO_ORANGE*1.5/DT_DMON)]) == 0 - assert events[int((DISTRACTED_SECONDS_TO_ORANGE*3-0.1)/DT_DMON)].names[0] == EventName.promptDriverDistracted - assert events[int((DISTRACTED_SECONDS_TO_ORANGE*3+0.1)/DT_DMON)].names[0] == EventName.promptDriverDistracted - assert len(events[int((DISTRACTED_SECONDS_TO_ORANGE*3+2.5)/DT_DMON)]) == 0 - - # engaged, down to orange, driver dodges camera, then comes back still distracted, down to red, \ - # driver dodges, and then touches wheel to no avail, disengages and reengages - # - orange/red alert should remain after disappearance, and only disengaging clears red - def test_biggest_comma_fan(self): - _invisible_time = 2 # seconds - ds_vector = always_distracted[:] - interaction_vector = always_false[:] - op_vector = always_true[:] - ds_vector[int(DISTRACTED_SECONDS_TO_ORANGE/DT_DMON):int((DISTRACTED_SECONDS_TO_ORANGE+_invisible_time)/DT_DMON)] \ - = [msg_NO_FACE_DETECTED] * int(_invisible_time/DT_DMON) - ds_vector[int((DISTRACTED_SECONDS_TO_RED+_invisible_time)/DT_DMON):int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time)/DT_DMON)] \ - = [msg_NO_FACE_DETECTED] * int(_invisible_time/DT_DMON) - interaction_vector[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+0.5)/DT_DMON):int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+1.5)/DT_DMON)] \ - = [True] * int(1/DT_DMON) - op_vector[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+2.5)/DT_DMON):int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+3)/DT_DMON)] \ - = [False] * int(0.5/DT_DMON) - events, _ = self._run_seq(ds_vector, interaction_vector, op_vector, always_false) - assert events[int((DISTRACTED_SECONDS_TO_ORANGE+0.5*_invisible_time)/DT_DMON)].names[0] == EventName.promptDriverDistracted - assert events[int((DISTRACTED_SECONDS_TO_RED+1.5*_invisible_time)/DT_DMON)].names[0] == EventName.driverDistracted - assert events[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+1.5)/DT_DMON)].names[0] == EventName.driverDistracted - assert len(events[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+3.5)/DT_DMON)]) == 0 - - # engaged, invisible driver, down to orange, driver touches wheel; then down to orange again, driver appears - # - both actions should clear the alert, but momentary appearance should not - def test_sometimes_transparent_commuter(self): - _visible_time = np.random.choice([0.5, 10]) - ds_vector = always_no_face[:]*2 - interaction_vector = always_false[:]*2 - ds_vector[int((2*INVISIBLE_SECONDS_TO_ORANGE+1)/DT_DMON):int((2*INVISIBLE_SECONDS_TO_ORANGE+1+_visible_time)/DT_DMON)] = \ - [msg_ATTENTIVE] * int(_visible_time/DT_DMON) - interaction_vector[int((INVISIBLE_SECONDS_TO_ORANGE)/DT_DMON):int((INVISIBLE_SECONDS_TO_ORANGE+1)/DT_DMON)] = [True] * int(1/DT_DMON) - events, _ = self._run_seq(ds_vector, interaction_vector, 2*always_true, 2*always_false) - assert len(events[int(INVISIBLE_SECONDS_TO_ORANGE*0.5/DT_DMON)]) == 0 - assert events[int((INVISIBLE_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0] == EventName.promptDriverUnresponsive - assert len(events[int((INVISIBLE_SECONDS_TO_ORANGE+0.1)/DT_DMON)]) == 0 - if _visible_time == 0.5: - assert events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1-0.1)/DT_DMON)].names[0] == EventName.promptDriverUnresponsive - assert events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1+0.1+_visible_time)/DT_DMON)].names[0] == EventName.preDriverUnresponsive - elif _visible_time == 10: - assert events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1-0.1)/DT_DMON)].names[0] == EventName.promptDriverUnresponsive - assert len(events[int((INVISIBLE_SECONDS_TO_ORANGE*2+1+0.1+_visible_time)/DT_DMON)]) == 0 - - # engaged, invisible driver, down to red, driver appears and then touches wheel, then disengages/reengages - # - only disengage will clear the alert - def test_last_second_responder(self): - _visible_time = 2 # seconds - ds_vector = always_no_face[:] - interaction_vector = always_false[:] - op_vector = always_true[:] - ds_vector[int(INVISIBLE_SECONDS_TO_RED/DT_DMON):int((INVISIBLE_SECONDS_TO_RED+_visible_time)/DT_DMON)] = [msg_ATTENTIVE] * int(_visible_time/DT_DMON) - interaction_vector[int((INVISIBLE_SECONDS_TO_RED+_visible_time)/DT_DMON):int((INVISIBLE_SECONDS_TO_RED+_visible_time+1)/DT_DMON)] = [True] * int(1/DT_DMON) - op_vector[int((INVISIBLE_SECONDS_TO_RED+_visible_time+1)/DT_DMON):int((INVISIBLE_SECONDS_TO_RED+_visible_time+0.5)/DT_DMON)] = [False] * int(0.5/DT_DMON) - events, _ = self._run_seq(ds_vector, interaction_vector, op_vector, always_false) - assert len(events[int(INVISIBLE_SECONDS_TO_ORANGE*0.5/DT_DMON)]) == 0 - assert events[int((INVISIBLE_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0] == EventName.promptDriverUnresponsive - assert events[int((INVISIBLE_SECONDS_TO_RED-0.1)/DT_DMON)].names[0] == EventName.driverUnresponsive - assert events[int((INVISIBLE_SECONDS_TO_RED+0.5*_visible_time)/DT_DMON)].names[0] == EventName.driverUnresponsive - assert events[int((INVISIBLE_SECONDS_TO_RED+_visible_time+0.5)/DT_DMON)].names[0] == EventName.driverUnresponsive - assert len(events[int((INVISIBLE_SECONDS_TO_RED+_visible_time+1+0.1)/DT_DMON)]) == 0 - - # disengaged, always distracted driver - # - dm should stay quiet when not engaged - def test_pure_dashcam_user(self): - events, _ = self._run_seq(always_distracted, always_false, always_false, always_false) - assert sum(len(event) for event in events) == 0 - - # engaged, car stops at traffic light, down to orange, no action, then car starts moving - # - should only reach green when stopped, but continues counting down on launch - def test_long_traffic_light_victim(self): - _redlight_time = 60 # seconds - standstill_vector = always_true[:] - standstill_vector[int(_redlight_time/DT_DMON):] = [False] * int((TEST_TIMESPAN-_redlight_time)/DT_DMON) - events, d_status = self._run_seq(always_distracted, always_false, always_true, standstill_vector) - assert events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL+1)/DT_DMON)].names[0] == \ - EventName.preDriverDistracted - assert events[int((_redlight_time-0.1)/DT_DMON)].names[0] == EventName.preDriverDistracted - assert events[int((_redlight_time+0.5)/DT_DMON)].names[0] == EventName.promptDriverDistracted - - # engaged, model is somehow uncertain and driver is distracted - # - should fall back to wheel touch after uncertain alert - def test_somehow_indecisive_model(self): - ds_vector = [msg_DISTRACTED_BUT_SOMEHOW_UNCERTAIN] * int(TEST_TIMESPAN/DT_DMON) - interaction_vector = always_false[:] - events, d_status = self._run_seq(ds_vector, interaction_vector, always_true, always_false) - assert EventName.preDriverUnresponsive in \ - events[int((INVISIBLE_SECONDS_TO_ORANGE-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME-0.1)/DT_DMON)].names - assert EventName.promptDriverUnresponsive in \ - events[int((INVISIBLE_SECONDS_TO_ORANGE-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME+0.1)/DT_DMON)].names - assert EventName.driverUnresponsive in \ - events[int((INVISIBLE_SECONDS_TO_RED-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME+0.1)/DT_DMON)].names - diff --git a/selfdrive/navd/libmaprender.so b/selfdrive/navd/libmaprender.so new file mode 100644 index 00000000000000..bc6a7a1700949c Binary files /dev/null and b/selfdrive/navd/libmaprender.so differ diff --git a/selfdrive/navd/mapsd b/selfdrive/navd/mapsd new file mode 100755 index 00000000000000..bcded801ee9bdc Binary files /dev/null and b/selfdrive/navd/mapsd differ diff --git a/selfdrive/navd/tests/test_map_renderer.py b/selfdrive/navd/tests/test_map_renderer.py deleted file mode 100644 index 04363883b2c0f4..00000000000000 --- a/selfdrive/navd/tests/test_map_renderer.py +++ /dev/null @@ -1,212 +0,0 @@ -import time -import numpy as np -import os -import pytest -import requests -import threading -import http.server -import cereal.messaging as messaging - -from typing import Any -from msgq.visionipc import VisionIpcClient, VisionStreamType -from openpilot.common.mock.generators import LLK_DECIMATION, LOCATION1, LOCATION2, generate_liveLocationKalman -from openpilot.selfdrive.test.helpers import with_processes - -CACHE_PATH = "/data/mbgl-cache-navd.db" - -RENDER_FRAMES = 15 -DEFAULT_ITERATIONS = RENDER_FRAMES * LLK_DECIMATION -LOCATION1_REPEATED = [LOCATION1] * DEFAULT_ITERATIONS -LOCATION2_REPEATED = [LOCATION2] * DEFAULT_ITERATIONS - - -class MapBoxInternetDisabledRequestHandler(http.server.BaseHTTPRequestHandler): - INTERNET_ACTIVE = True - - def do_GET(self): - if not self.INTERNET_ACTIVE: - self.send_response(500) - self.end_headers() - return - - url = f'https://api.mapbox.com{self.path}' - - headers = dict(self.headers) - headers["Host"] = "api.mapbox.com" - - r = requests.get(url, headers=headers, timeout=5) - - self.send_response(r.status_code) - self.end_headers() - self.wfile.write(r.content) - - def log_message(self, *args: Any) -> None: - return - - def log_error(self, *args: Any) -> None: - return - - -class MapBoxInternetDisabledServer(threading.Thread): - def run(self): - self.server = http.server.HTTPServer(("127.0.0.1", 0), MapBoxInternetDisabledRequestHandler) - self.port = self.server.server_port - self.server.serve_forever() - - def stop(self): - self.server.shutdown() - - def disable_internet(self): - MapBoxInternetDisabledRequestHandler.INTERNET_ACTIVE = False - - def enable_internet(self): - MapBoxInternetDisabledRequestHandler.INTERNET_ACTIVE = True - - -@pytest.mark.skip(reason="not used") -class TestMapRenderer: - server: MapBoxInternetDisabledServer - - @classmethod - def setup_class(cls): - assert "MAPBOX_TOKEN" in os.environ - cls.original_token = os.environ["MAPBOX_TOKEN"] - cls.server = MapBoxInternetDisabledServer() - cls.server.start() - time.sleep(0.5) # wait for server to startup - - @classmethod - def teardown_class(cls) -> None: - cls.server.stop() - - def setup_method(self): - self.server.enable_internet() - os.environ['MAPS_HOST'] = f'http://localhost:{self.server.port}' - - self.sm = messaging.SubMaster(['mapRenderState']) - self.pm = messaging.PubMaster(['liveLocationKalman']) - self.vipc = VisionIpcClient("navd", VisionStreamType.VISION_STREAM_MAP, True) - - if os.path.exists(CACHE_PATH): - os.remove(CACHE_PATH) - - def _setup_test(self): - assert self.pm.wait_for_readers_to_update("liveLocationKalman", 10) - - time.sleep(0.5) - - assert VisionIpcClient.available_streams("navd", False) == {VisionStreamType.VISION_STREAM_MAP, } - assert self.vipc.connect(False) - self.vipc.recv() - - def _run_test(self, expect_valid, locations=LOCATION1_REPEATED): - starting_frame_id = None - - render_times = [] - - # run test - prev_frame_id = -1 - for i, location in enumerate(locations): - frame_expected = (i+1) % LLK_DECIMATION == 0 - - if self.sm.logMonoTime['mapRenderState'] == 0: - prev_valid = False - prev_frame_id = -1 - else: - prev_valid = self.sm.valid['mapRenderState'] - prev_frame_id = self.sm['mapRenderState'].frameId - - if starting_frame_id is None: - starting_frame_id = prev_frame_id - - llk = generate_liveLocationKalman(location) - self.pm.send("liveLocationKalman", llk) - self.pm.wait_for_readers_to_update("liveLocationKalman", 10) - self.sm.update(1000 if frame_expected else 0) - assert self.sm.updated['mapRenderState'] == frame_expected, "renderer running at wrong frequency" - - if not frame_expected: - continue - - frames_since_test_start = self.sm['mapRenderState'].frameId - starting_frame_id - - # give a few frames to switch from valid to invalid, or vice versa - invalid_and_not_previously_valid = (expect_valid and not self.sm.valid['mapRenderState'] and not prev_valid) - valid_and_not_previously_invalid = (not expect_valid and self.sm.valid['mapRenderState'] and prev_valid) - - if (invalid_and_not_previously_valid or valid_and_not_previously_invalid) and frames_since_test_start < 20: - continue - - # check output - assert self.sm.valid['mapRenderState'] == expect_valid - assert self.sm['mapRenderState'].frameId == (prev_frame_id + 1) - assert self.sm['mapRenderState'].locationMonoTime == llk.logMonoTime - if not expect_valid: - assert self.sm['mapRenderState'].renderTime == 0. - else: - assert 0. < self.sm['mapRenderState'].renderTime < 0.1 - render_times.append(self.sm['mapRenderState'].renderTime) - - # check vision ipc output - assert self.vipc.recv() is not None - assert self.vipc.valid == expect_valid - assert self.vipc.timestamp_sof == llk.logMonoTime - assert self.vipc.frame_id == self.sm['mapRenderState'].frameId - - assert frames_since_test_start >= RENDER_FRAMES - - return render_times - - @with_processes(["mapsd"]) - def test_with_internet(self): - self._setup_test() - self._run_test(True) - - @with_processes(["mapsd"]) - def test_with_no_internet(self): - self.server.disable_internet() - self._setup_test() - self._run_test(False) - - @with_processes(["mapsd"]) - @pytest.mark.skip(reason="slow, flaky, and unlikely to break") - def test_recover_from_no_internet(self): - self._setup_test() - self._run_test(True) - - self.server.disable_internet() - - # change locations to force mapsd to refetch - self._run_test(False, LOCATION2_REPEATED) - - self.server.enable_internet() - self._run_test(True, LOCATION2_REPEATED) - - @with_processes(["mapsd"]) - @pytest.mark.tici - def test_render_time_distribution(self): - self._setup_test() - # from location1 -> location2 and back - locations = np.array([*np.linspace(LOCATION1, LOCATION2, 2000), *np.linspace(LOCATION2, LOCATION1, 2000)]).tolist() - - render_times = self._run_test(True, locations) - - _min = np.min(render_times) - _max = np.max(render_times) - _mean = np.mean(render_times) - _median = np.median(render_times) - _stddev = np.std(render_times) - - print(f"Stats: min: {_min}, max: {_max}, mean: {_mean}, median: {_median}, stddev: {_stddev}, count: {len(render_times)}") - - def assert_stat(stat, nominal, tol=0.3): - tol = (nominal / (1+tol)), (nominal * (1+tol)) - assert tol[0] < stat < tol[1], f"{stat} not in tolerance {tol}" - - assert_stat(_mean, 0.030) - assert_stat(_median, 0.027) - assert_stat(_stddev, 0.0078) - - assert _max < 0.065 - assert _min > 0.015 - diff --git a/selfdrive/navd/tests/test_navd.py b/selfdrive/navd/tests/test_navd.py deleted file mode 100644 index b6580acff18a7a..00000000000000 --- a/selfdrive/navd/tests/test_navd.py +++ /dev/null @@ -1,57 +0,0 @@ -import json -import random -import numpy as np - -from parameterized import parameterized - -import cereal.messaging as messaging -from openpilot.common.params import Params -from openpilot.system.manager.process_config import managed_processes - - -class TestNavd: - def setup_method(self): - self.params = Params() - self.sm = messaging.SubMaster(['navRoute', 'navInstruction']) - - def teardown_method(self): - managed_processes['navd'].stop() - - def _check_route(self, start, end, check_coords=True): - self.params.put("NavDestination", json.dumps(end)) - self.params.put("LastGPSPosition", json.dumps(start)) - - managed_processes['navd'].start() - for _ in range(30): - self.sm.update(1000) - if all(f > 0 for f in self.sm.recv_frame.values()): - break - else: - raise Exception("didn't get a route") - - assert managed_processes['navd'].proc.is_alive() - managed_processes['navd'].stop() - - # ensure start and end match up - if check_coords: - coords = self.sm['navRoute'].coordinates - assert np.allclose([start['latitude'], start['longitude'], end['latitude'], end['longitude']], - [coords[0].latitude, coords[0].longitude, coords[-1].latitude, coords[-1].longitude], - rtol=1e-3) - - def test_simple(self): - start = { - "latitude": 32.7427228, - "longitude": -117.2321177, - } - end = { - "latitude": 32.7557004, - "longitude": -117.268002, - } - self._check_route(start, end) - - @parameterized.expand([(i,) for i in range(10)]) - def test_random(self, index): - start = {"latitude": random.uniform(-90, 90), "longitude": random.uniform(-180, 180)} - end = {"latitude": random.uniform(-90, 90), "longitude": random.uniform(-180, 180)} - self._check_route(start, end, check_coords=False) diff --git a/selfdrive/pandad/can_list_to_can_capnp.cc b/selfdrive/pandad/can_list_to_can_capnp.cc deleted file mode 100644 index 9fc2648da27a62..00000000000000 --- a/selfdrive/pandad/can_list_to_can_capnp.cc +++ /dev/null @@ -1,21 +0,0 @@ -#include "cereal/messaging/messaging.h" -#include "selfdrive/pandad/panda.h" - -void can_list_to_can_capnp_cpp(const std::vector &can_list, std::string &out, bool sendCan, bool valid) { - MessageBuilder msg; - auto event = msg.initEvent(valid); - - auto canData = sendCan ? event.initSendcan(can_list.size()) : event.initCan(can_list.size()); - int j = 0; - for (auto it = can_list.begin(); it != can_list.end(); it++, j++) { - auto c = canData[j]; - c.setAddress(it->address); - c.setBusTime(it->busTime); - c.setDat(kj::arrayPtr((uint8_t*)it->dat.data(), it->dat.size())); - c.setSrc(it->src); - } - const uint64_t msg_size = capnp::computeSerializedSizeInWords(msg) * sizeof(capnp::word); - out.resize(msg_size); - kj::ArrayOutputStream output_stream(kj::ArrayPtr((unsigned char *)out.data(), msg_size)); - capnp::writeMessage(output_stream, msg); -} diff --git a/selfdrive/pandad/main.cc b/selfdrive/pandad/main.cc deleted file mode 100644 index b63d884a45e3f5..00000000000000 --- a/selfdrive/pandad/main.cc +++ /dev/null @@ -1,22 +0,0 @@ -#include - -#include "selfdrive/pandad/pandad.h" -#include "common/swaglog.h" -#include "common/util.h" -#include "system/hardware/hw.h" - -int main(int argc, char *argv[]) { - LOGW("starting pandad"); - - if (!Hardware::PC()) { - int err; - err = util::set_realtime_priority(54); - assert(err == 0); - err = util::set_core_affinity({3}); - assert(err == 0); - } - - std::vector serials(argv + 1, argv + argc); - pandad_main_thread(serials); - return 0; -} diff --git a/selfdrive/pandad/panda.cc b/selfdrive/pandad/panda.cc deleted file mode 100644 index a404ad3880662d..00000000000000 --- a/selfdrive/pandad/panda.cc +++ /dev/null @@ -1,290 +0,0 @@ -#include "selfdrive/pandad/panda.h" - -#include - -#include -#include -#include - -#include "cereal/messaging/messaging.h" -#include "common/swaglog.h" -#include "common/util.h" - -Panda::Panda(std::string serial, uint32_t bus_offset) : bus_offset(bus_offset) { - // try USB first, then SPI - try { - handle = std::make_unique(serial); - LOGW("connected to %s over USB", serial.c_str()); - } catch (std::exception &e) { -#ifndef __APPLE__ - handle = std::make_unique(serial); - LOGW("connected to %s over SPI", serial.c_str()); -#else - throw e; -#endif - } - - hw_type = get_hw_type(); - can_reset_communications(); - - return; -} - -bool Panda::connected() { - return handle->connected; -} - -bool Panda::comms_healthy() { - return handle->comms_healthy; -} - -std::string Panda::hw_serial() { - return handle->hw_serial; -} - -std::vector Panda::list(bool usb_only) { - std::vector serials = PandaUsbHandle::list(); - -#ifndef __APPLE__ - if (!usb_only) { - for (auto s : PandaSpiHandle::list()) { - if (std::find(serials.begin(), serials.end(), s) == serials.end()) { - serials.push_back(s); - } - } - } -#endif - - return serials; -} - -void Panda::set_safety_model(cereal::CarParams::SafetyModel safety_model, uint16_t safety_param) { - handle->control_write(0xdc, (uint16_t)safety_model, safety_param); -} - -void Panda::set_alternative_experience(uint16_t alternative_experience) { - handle->control_write(0xdf, alternative_experience, 0); -} - -cereal::PandaState::PandaType Panda::get_hw_type() { - unsigned char hw_query[1] = {0}; - - handle->control_read(0xc1, 0, 0, hw_query, 1); - return (cereal::PandaState::PandaType)(hw_query[0]); -} - -void Panda::set_fan_speed(uint16_t fan_speed) { - handle->control_write(0xb1, fan_speed, 0); -} - -uint16_t Panda::get_fan_speed() { - uint16_t fan_speed_rpm = 0; - handle->control_read(0xb2, 0, 0, (unsigned char*)&fan_speed_rpm, sizeof(fan_speed_rpm)); - return fan_speed_rpm; -} - -void Panda::set_ir_pwr(uint16_t ir_pwr) { - handle->control_write(0xb0, ir_pwr, 0); -} - -std::optional Panda::get_state() { - health_t health {0}; - int err = handle->control_read(0xd2, 0, 0, (unsigned char*)&health, sizeof(health)); - return err >= 0 ? std::make_optional(health) : std::nullopt; -} - -std::optional Panda::get_can_state(uint16_t can_number) { - can_health_t can_health {0}; - int err = handle->control_read(0xc2, can_number, 0, (unsigned char*)&can_health, sizeof(can_health)); - return err >= 0 ? std::make_optional(can_health) : std::nullopt; -} - -void Panda::set_loopback(bool loopback) { - handle->control_write(0xe5, loopback, 0); -} - -std::optional> Panda::get_firmware_version() { - std::vector fw_sig_buf(128); - int read_1 = handle->control_read(0xd3, 0, 0, &fw_sig_buf[0], 64); - int read_2 = handle->control_read(0xd4, 0, 0, &fw_sig_buf[64], 64); - return ((read_1 == 64) && (read_2 == 64)) ? std::make_optional(fw_sig_buf) : std::nullopt; -} - -std::optional Panda::get_serial() { - char serial_buf[17] = {'\0'}; - int err = handle->control_read(0xd0, 0, 0, (uint8_t*)serial_buf, 16); - return err >= 0 ? std::make_optional(serial_buf) : std::nullopt; -} - -bool Panda::up_to_date() { - if (auto fw_sig = get_firmware_version()) { - for (auto fn : { "panda.bin.signed", "panda_h7.bin.signed" }) { - auto content = util::read_file(std::string("../../panda/board/obj/") + fn); - if (content.size() >= fw_sig->size() && - memcmp(content.data() + content.size() - fw_sig->size(), fw_sig->data(), fw_sig->size()) == 0) { - return true; - } - } - } - return false; -} - -void Panda::set_power_saving(bool power_saving) { - handle->control_write(0xe7, power_saving, 0); -} - -void Panda::enable_deepsleep() { - handle->control_write(0xfb, 0, 0); -} - -void Panda::send_heartbeat(bool engaged) { - handle->control_write(0xf3, engaged, 0); -} - -void Panda::set_can_speed_kbps(uint16_t bus, uint16_t speed) { - handle->control_write(0xde, bus, (speed * 10)); -} - -void Panda::set_data_speed_kbps(uint16_t bus, uint16_t speed) { - handle->control_write(0xf9, bus, (speed * 10)); -} - -void Panda::set_canfd_non_iso(uint16_t bus, bool non_iso) { - handle->control_write(0xfc, bus, non_iso); -} - -static uint8_t len_to_dlc(uint8_t len) { - if (len <= 8) { - return len; - } - if (len <= 24) { - return 8 + ((len - 8) / 4) + ((len % 4) ? 1 : 0); - } else { - return 11 + (len / 16) + ((len % 16) ? 1 : 0); - } -} - -void Panda::pack_can_buffer(const capnp::List::Reader &can_data_list, - std::function write_func) { - int32_t pos = 0; - uint8_t send_buf[2 * USB_TX_SOFT_LIMIT]; - - for (auto cmsg : can_data_list) { - // check if the message is intended for this panda - uint8_t bus = cmsg.getSrc(); - if (bus < bus_offset || bus >= (bus_offset + PANDA_BUS_OFFSET)) { - continue; - } - auto can_data = cmsg.getDat(); - uint8_t data_len_code = len_to_dlc(can_data.size()); - assert(can_data.size() <= 64); - assert(can_data.size() == dlc_to_len[data_len_code]); - - can_header header = {}; - header.addr = cmsg.getAddress(); - header.extended = (cmsg.getAddress() >= 0x800) ? 1 : 0; - header.data_len_code = data_len_code; - header.bus = bus - bus_offset; - header.checksum = 0; - - memcpy(&send_buf[pos], (uint8_t *)&header, sizeof(can_header)); - memcpy(&send_buf[pos + sizeof(can_header)], (uint8_t *)can_data.begin(), can_data.size()); - uint32_t msg_size = sizeof(can_header) + can_data.size(); - - // set checksum - ((can_header *) &send_buf[pos])->checksum = calculate_checksum(&send_buf[pos], msg_size); - - pos += msg_size; - - if (pos >= USB_TX_SOFT_LIMIT) { - write_func(send_buf, pos); - pos = 0; - } - } - - // send remaining packets - if (pos > 0) write_func(send_buf, pos); -} - -void Panda::can_send(capnp::List::Reader can_data_list) { - pack_can_buffer(can_data_list, [=](uint8_t* data, size_t size) { - handle->bulk_write(3, data, size, 5); - }); -} - -bool Panda::can_receive(std::vector& out_vec) { - // Check if enough space left in buffer to store RECV_SIZE data - assert(receive_buffer_size + RECV_SIZE <= sizeof(receive_buffer)); - - int recv = handle->bulk_read(0x81, &receive_buffer[receive_buffer_size], RECV_SIZE); - if (!comms_healthy()) { - return false; - } - - if (getenv("PANDAD_MAXOUT") != NULL) { - static uint8_t junk[RECV_SIZE]; - handle->bulk_read(0xab, junk, RECV_SIZE - recv); - } - - bool ret = true; - if (recv > 0) { - receive_buffer_size += recv; - ret = unpack_can_buffer(receive_buffer, receive_buffer_size, out_vec); - } - return ret; -} - -void Panda::can_reset_communications() { - handle->control_write(0xc0, 0, 0); -} - -bool Panda::unpack_can_buffer(uint8_t *data, uint32_t &size, std::vector &out_vec) { - int pos = 0; - - while (pos <= size - sizeof(can_header)) { - can_header header; - memcpy(&header, &data[pos], sizeof(can_header)); - - const uint8_t data_len = dlc_to_len[header.data_len_code]; - if (pos + sizeof(can_header) + data_len > size) { - // we don't have all the data for this message yet - break; - } - - if (calculate_checksum(&data[pos], sizeof(can_header) + data_len) != 0) { - LOGE("Panda CAN checksum failed"); - size = 0; - can_reset_communications(); - return false; - } - - can_frame &canData = out_vec.emplace_back(); - canData.busTime = 0; - canData.address = header.addr; - canData.src = header.bus + bus_offset; - if (header.rejected) { - canData.src += CAN_REJECTED_BUS_OFFSET; - } - if (header.returned) { - canData.src += CAN_RETURNED_BUS_OFFSET; - } - - canData.dat.assign((char *)&data[pos + sizeof(can_header)], data_len); - - pos += sizeof(can_header) + data_len; - } - - // move the overflowing data to the beginning of the buffer for the next round - memmove(data, &data[pos], size - pos); - size -= pos; - - return true; -} - -uint8_t Panda::calculate_checksum(uint8_t *data, uint32_t len) { - uint8_t checksum = 0U; - for (uint32_t i = 0U; i < len; i++) { - checksum ^= data[i]; - } - return checksum; -} diff --git a/selfdrive/pandad/panda.h b/selfdrive/pandad/panda.h deleted file mode 100644 index 7e1e4706d6ce54..00000000000000 --- a/selfdrive/pandad/panda.h +++ /dev/null @@ -1,97 +0,0 @@ -#pragma once - -#include -#include -#include -#include -#include -#include -#include -#include - -#include "cereal/gen/cpp/car.capnp.h" -#include "cereal/gen/cpp/log.capnp.h" -#include "panda/board/health.h" -#include "panda/board/can_definitions.h" -#include "selfdrive/pandad/panda_comms.h" - -#define USB_TX_SOFT_LIMIT (0x100U) -#define USBPACKET_MAX_SIZE (0x40) - -#define RECV_SIZE (0x4000U) - -#define CAN_REJECTED_BUS_OFFSET 0xC0U -#define CAN_RETURNED_BUS_OFFSET 0x80U - -#define PANDA_BUS_OFFSET 4 - -struct __attribute__((packed)) can_header { - uint8_t reserved : 1; - uint8_t bus : 3; - uint8_t data_len_code : 4; - uint8_t rejected : 1; - uint8_t returned : 1; - uint8_t extended : 1; - uint32_t addr : 29; - uint8_t checksum : 8; -}; - -struct can_frame { - long address; - std::string dat; - long busTime; - long src; -}; - - -class Panda { -private: - std::unique_ptr handle; - -public: - Panda(std::string serial="", uint32_t bus_offset=0); - - cereal::PandaState::PandaType hw_type = cereal::PandaState::PandaType::UNKNOWN; - const uint32_t bus_offset; - - bool connected(); - bool comms_healthy(); - std::string hw_serial(); - - // Static functions - static std::vector list(bool usb_only=false); - - // Panda functionality - cereal::PandaState::PandaType get_hw_type(); - void set_safety_model(cereal::CarParams::SafetyModel safety_model, uint16_t safety_param=0U); - void set_alternative_experience(uint16_t alternative_experience); - void set_fan_speed(uint16_t fan_speed); - uint16_t get_fan_speed(); - void set_ir_pwr(uint16_t ir_pwr); - std::optional get_state(); - std::optional get_can_state(uint16_t can_number); - void set_loopback(bool loopback); - std::optional> get_firmware_version(); - bool up_to_date(); - std::optional get_serial(); - void set_power_saving(bool power_saving); - void enable_deepsleep(); - void send_heartbeat(bool engaged); - void set_can_speed_kbps(uint16_t bus, uint16_t speed); - void set_data_speed_kbps(uint16_t bus, uint16_t speed); - void set_canfd_non_iso(uint16_t bus, bool non_iso); - void can_send(capnp::List::Reader can_data_list); - bool can_receive(std::vector& out_vec); - void can_reset_communications(); - -protected: - // for unit tests - uint8_t receive_buffer[RECV_SIZE + sizeof(can_header) + 64]; - uint32_t receive_buffer_size = 0; - - Panda(uint32_t bus_offset) : bus_offset(bus_offset) {} - void pack_can_buffer(const capnp::List::Reader &can_data_list, - std::function write_func); - bool unpack_can_buffer(uint8_t *data, uint32_t &size, std::vector &out_vec); - uint8_t calculate_checksum(uint8_t *data, uint32_t len); -}; diff --git a/selfdrive/pandad/panda_comms.cc b/selfdrive/pandad/panda_comms.cc deleted file mode 100644 index 4e8a0a27ba8e63..00000000000000 --- a/selfdrive/pandad/panda_comms.cc +++ /dev/null @@ -1,227 +0,0 @@ -#include "selfdrive/pandad/panda.h" - -#include -#include -#include - -#include "common/swaglog.h" - -static libusb_context *init_usb_ctx() { - libusb_context *context = nullptr; - int err = libusb_init(&context); - if (err != 0) { - LOGE("libusb initialization error"); - return nullptr; - } - -#if LIBUSB_API_VERSION >= 0x01000106 - libusb_set_option(context, LIBUSB_OPTION_LOG_LEVEL, LIBUSB_LOG_LEVEL_INFO); -#else - libusb_set_debug(context, 3); -#endif - return context; -} - -PandaUsbHandle::PandaUsbHandle(std::string serial) : PandaCommsHandle(serial) { - // init libusb - ssize_t num_devices; - libusb_device **dev_list = NULL; - int err = 0; - ctx = init_usb_ctx(); - if (!ctx) { goto fail; } - - // connect by serial - num_devices = libusb_get_device_list(ctx, &dev_list); - if (num_devices < 0) { goto fail; } - for (size_t i = 0; i < num_devices; ++i) { - libusb_device_descriptor desc; - libusb_get_device_descriptor(dev_list[i], &desc); - if (desc.idVendor == 0xbbaa && desc.idProduct == 0xddcc) { - int ret = libusb_open(dev_list[i], &dev_handle); - if (dev_handle == NULL || ret < 0) { goto fail; } - - unsigned char desc_serial[26] = { 0 }; - ret = libusb_get_string_descriptor_ascii(dev_handle, desc.iSerialNumber, desc_serial, std::size(desc_serial)); - if (ret < 0) { goto fail; } - - hw_serial = std::string((char *)desc_serial, ret); - if (serial.empty() || serial == hw_serial) { - break; - } - libusb_close(dev_handle); - dev_handle = NULL; - } - } - if (dev_handle == NULL) goto fail; - libusb_free_device_list(dev_list, 1); - dev_list = nullptr; - - if (libusb_kernel_driver_active(dev_handle, 0) == 1) { - libusb_detach_kernel_driver(dev_handle, 0); - } - - err = libusb_set_configuration(dev_handle, 1); - if (err != 0) { goto fail; } - - err = libusb_claim_interface(dev_handle, 0); - if (err != 0) { goto fail; } - - return; - -fail: - if (dev_list != NULL) { - libusb_free_device_list(dev_list, 1); - } - cleanup(); - throw std::runtime_error("Error connecting to panda"); -} - -PandaUsbHandle::~PandaUsbHandle() { - std::lock_guard lk(hw_lock); - cleanup(); - connected = false; -} - -void PandaUsbHandle::cleanup() { - if (dev_handle) { - libusb_release_interface(dev_handle, 0); - libusb_close(dev_handle); - } - - if (ctx) { - libusb_exit(ctx); - } -} - -std::vector PandaUsbHandle::list() { - static std::unique_ptr context(init_usb_ctx(), libusb_exit); - // init libusb - ssize_t num_devices; - libusb_device **dev_list = NULL; - std::vector serials; - if (!context) { return serials; } - - num_devices = libusb_get_device_list(context.get(), &dev_list); - if (num_devices < 0) { - LOGE("libusb can't get device list"); - goto finish; - } - for (size_t i = 0; i < num_devices; ++i) { - libusb_device *device = dev_list[i]; - libusb_device_descriptor desc; - libusb_get_device_descriptor(device, &desc); - if (desc.idVendor == 0xbbaa && desc.idProduct == 0xddcc) { - libusb_device_handle *handle = NULL; - int ret = libusb_open(device, &handle); - if (ret < 0) { goto finish; } - - unsigned char desc_serial[26] = { 0 }; - ret = libusb_get_string_descriptor_ascii(handle, desc.iSerialNumber, desc_serial, std::size(desc_serial)); - libusb_close(handle); - if (ret < 0) { goto finish; } - - serials.push_back(std::string((char *)desc_serial, ret).c_str()); - } - } - -finish: - if (dev_list != NULL) { - libusb_free_device_list(dev_list, 1); - } - return serials; -} - -void PandaUsbHandle::handle_usb_issue(int err, const char func[]) { - LOGE_100("usb error %d \"%s\" in %s", err, libusb_strerror((enum libusb_error)err), func); - if (err == LIBUSB_ERROR_NO_DEVICE) { - LOGE("lost connection"); - connected = false; - } - // TODO: check other errors, is simply retrying okay? -} - -int PandaUsbHandle::control_write(uint8_t bRequest, uint16_t wValue, uint16_t wIndex, unsigned int timeout) { - int err; - const uint8_t bmRequestType = LIBUSB_ENDPOINT_OUT | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE; - - if (!connected) { - return LIBUSB_ERROR_NO_DEVICE; - } - - std::lock_guard lk(hw_lock); - do { - err = libusb_control_transfer(dev_handle, bmRequestType, bRequest, wValue, wIndex, NULL, 0, timeout); - if (err < 0) handle_usb_issue(err, __func__); - } while (err < 0 && connected); - - return err; -} - -int PandaUsbHandle::control_read(uint8_t bRequest, uint16_t wValue, uint16_t wIndex, unsigned char *data, uint16_t wLength, unsigned int timeout) { - int err; - const uint8_t bmRequestType = LIBUSB_ENDPOINT_IN | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE; - - if (!connected) { - return LIBUSB_ERROR_NO_DEVICE; - } - - std::lock_guard lk(hw_lock); - do { - err = libusb_control_transfer(dev_handle, bmRequestType, bRequest, wValue, wIndex, data, wLength, timeout); - if (err < 0) handle_usb_issue(err, __func__); - } while (err < 0 && connected); - - return err; -} - -int PandaUsbHandle::bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout) { - int err; - int transferred = 0; - - if (!connected) { - return 0; - } - - std::lock_guard lk(hw_lock); - do { - // Try sending can messages. If the receive buffer on the panda is full it will NAK - // and libusb will try again. After 5ms, it will time out. We will drop the messages. - err = libusb_bulk_transfer(dev_handle, endpoint, data, length, &transferred, timeout); - - if (err == LIBUSB_ERROR_TIMEOUT) { - LOGW("Transmit buffer full"); - break; - } else if (err != 0 || length != transferred) { - handle_usb_issue(err, __func__); - } - } while (err != 0 && connected); - - return transferred; -} - -int PandaUsbHandle::bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout) { - int err; - int transferred = 0; - - if (!connected) { - return 0; - } - - std::lock_guard lk(hw_lock); - - do { - err = libusb_bulk_transfer(dev_handle, endpoint, data, length, &transferred, timeout); - - if (err == LIBUSB_ERROR_TIMEOUT) { - break; // timeout is okay to exit, recv still happened - } else if (err == LIBUSB_ERROR_OVERFLOW) { - comms_healthy = false; - LOGE_100("overflow got 0x%x", transferred); - } else if (err != 0) { - handle_usb_issue(err, __func__); - } - - } while (err != 0 && connected); - - return transferred; -} diff --git a/selfdrive/pandad/panda_comms.h b/selfdrive/pandad/panda_comms.h deleted file mode 100644 index 9c452faf6dad13..00000000000000 --- a/selfdrive/pandad/panda_comms.h +++ /dev/null @@ -1,93 +0,0 @@ -#pragma once - -#include -#include -#include -#include -#include - -#ifndef __APPLE__ -#include -#endif - -#include - - -#define TIMEOUT 0 -#define SPI_BUF_SIZE 2048 - - -// comms base class -class PandaCommsHandle { -public: - PandaCommsHandle(std::string serial) {} - virtual ~PandaCommsHandle() {} - virtual void cleanup() = 0; - - std::string hw_serial; - std::atomic connected = true; - std::atomic comms_healthy = true; - static std::vector list(); - - // HW communication - virtual int control_write(uint8_t request, uint16_t param1, uint16_t param2, unsigned int timeout=TIMEOUT) = 0; - virtual int control_read(uint8_t request, uint16_t param1, uint16_t param2, unsigned char *data, uint16_t length, unsigned int timeout=TIMEOUT) = 0; - virtual int bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT) = 0; - virtual int bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT) = 0; -}; - -class PandaUsbHandle : public PandaCommsHandle { -public: - PandaUsbHandle(std::string serial); - ~PandaUsbHandle(); - int control_write(uint8_t request, uint16_t param1, uint16_t param2, unsigned int timeout=TIMEOUT); - int control_read(uint8_t request, uint16_t param1, uint16_t param2, unsigned char *data, uint16_t length, unsigned int timeout=TIMEOUT); - int bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT); - int bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT); - void cleanup(); - - static std::vector list(); - -private: - libusb_context *ctx = NULL; - libusb_device_handle *dev_handle = NULL; - std::recursive_mutex hw_lock; - void handle_usb_issue(int err, const char func[]); -}; - -#ifndef __APPLE__ -struct __attribute__((packed)) spi_header { - uint8_t sync; - uint8_t endpoint; - uint16_t tx_len; - uint16_t max_rx_len; -}; - -class PandaSpiHandle : public PandaCommsHandle { -public: - PandaSpiHandle(std::string serial); - ~PandaSpiHandle(); - int control_write(uint8_t request, uint16_t param1, uint16_t param2, unsigned int timeout=TIMEOUT); - int control_read(uint8_t request, uint16_t param1, uint16_t param2, unsigned char *data, uint16_t length, unsigned int timeout=TIMEOUT); - int bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT); - int bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT); - void cleanup(); - - static std::vector list(); - -private: - int spi_fd = -1; - uint8_t tx_buf[SPI_BUF_SIZE]; - uint8_t rx_buf[SPI_BUF_SIZE]; - inline static std::recursive_mutex hw_lock; - - int wait_for_ack(uint8_t ack, uint8_t tx, unsigned int timeout, unsigned int length); - int bulk_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t rx_len, unsigned int timeout); - int spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len, unsigned int timeout); - int spi_transfer_retry(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len, unsigned int timeout); - int lltransfer(spi_ioc_transfer &t); - - spi_header header; - uint32_t xfer_count = 0; -}; -#endif diff --git a/selfdrive/pandad/pandad b/selfdrive/pandad/pandad new file mode 100755 index 00000000000000..0980cb5bd62573 Binary files /dev/null and b/selfdrive/pandad/pandad differ diff --git a/selfdrive/pandad/pandad.cc b/selfdrive/pandad/pandad.cc deleted file mode 100644 index 095a7893b4665a..00000000000000 --- a/selfdrive/pandad/pandad.cc +++ /dev/null @@ -1,598 +0,0 @@ -#include "selfdrive/pandad/pandad.h" - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include "cereal/gen/cpp/car.capnp.h" -#include "cereal/messaging/messaging.h" -#include "common/params.h" -#include "common/ratekeeper.h" -#include "common/swaglog.h" -#include "common/timing.h" -#include "common/util.h" -#include "system/hardware/hw.h" - -// -- Multi-panda conventions -- -// Ordering: -// - The internal panda will always be the first panda -// - Consecutive pandas will be sorted based on panda type, and then serial number -// Connecting: -// - If a panda connection is dropped, pandad will reconnect to all pandas -// - If a panda is added, we will only reconnect when we are offroad -// CAN buses: -// - Each panda will have it's block of 4 buses. E.g.: the second panda will use -// bus numbers 4, 5, 6 and 7 -// - The internal panda will always be used for accessing the OBD2 port, -// and thus firmware queries -// Safety: -// - SafetyConfig is a list, which is mapped to the connected pandas -// - If there are more pandas connected than there are SafetyConfigs, -// the excess pandas will remain in "silent" or "noOutput" mode -// Ignition: -// - If any of the ignition sources in any panda is high, ignition is high - -#define MAX_IR_POWER 0.5f -#define MIN_IR_POWER 0.0f -#define CUTOFF_IL 400 -#define SATURATE_IL 1000 -using namespace std::chrono_literals; - -std::atomic ignition(false); - -ExitHandler do_exit; - -bool check_all_connected(const std::vector &pandas) { - for (const auto& panda : pandas) { - if (!panda->connected()) { - do_exit = true; - return false; - } - } - return true; -} - -bool safety_setter_thread(std::vector pandas) { - LOGD("Starting safety setter thread"); - - Params p; - - // there should be at least one panda connected - if (pandas.size() == 0) { - return false; - } - - // initialize to ELM327 without OBD multiplexing for fingerprinting - bool obd_multiplexing_enabled = false; - for (int i = 0; i < pandas.size(); i++) { - pandas[i]->set_safety_model(cereal::CarParams::SafetyModel::ELM327, 1U); - } - - // openpilot can switch between multiplexing modes for different FW queries - while (true) { - if (do_exit || !check_all_connected(pandas) || !ignition) { - return false; - } - - bool obd_multiplexing_requested = p.getBool("ObdMultiplexingEnabled"); - if (obd_multiplexing_requested != obd_multiplexing_enabled) { - for (int i = 0; i < pandas.size(); i++) { - const uint16_t safety_param = (i > 0 || !obd_multiplexing_requested) ? 1U : 0U; - pandas[i]->set_safety_model(cereal::CarParams::SafetyModel::ELM327, safety_param); - } - obd_multiplexing_enabled = obd_multiplexing_requested; - p.putBool("ObdMultiplexingChanged", true); - } - - if (p.getBool("FirmwareQueryDone")) { - LOGW("finished FW query"); - break; - } - util::sleep_for(20); - } - - std::string params; - LOGW("waiting for params to set safety model"); - while (true) { - if (do_exit || !check_all_connected(pandas) || !ignition) { - return false; - } - - if (p.getBool("ControlsReady")) { - params = p.get("CarParams"); - if (params.size() > 0) break; - } - util::sleep_for(100); - } - LOGW("got %lu bytes CarParams", params.size()); - - AlignedBuffer aligned_buf; - capnp::FlatArrayMessageReader cmsg(aligned_buf.align(params.data(), params.size())); - cereal::CarParams::Reader car_params = cmsg.getRoot(); - cereal::CarParams::SafetyModel safety_model; - uint16_t safety_param; - - auto safety_configs = car_params.getSafetyConfigs(); - uint16_t alternative_experience = car_params.getAlternativeExperience(); - for (uint32_t i = 0; i < pandas.size(); i++) { - auto panda = pandas[i]; - - if (safety_configs.size() > i) { - safety_model = safety_configs[i].getSafetyModel(); - safety_param = safety_configs[i].getSafetyParam(); - } else { - // If no safety mode is specified, default to silent - safety_model = cereal::CarParams::SafetyModel::SILENT; - safety_param = 0U; - } - - LOGW("panda %d: setting safety model: %d, param: %d, alternative experience: %d", i, (int)safety_model, safety_param, alternative_experience); - panda->set_alternative_experience(alternative_experience); - panda->set_safety_model(safety_model, safety_param); - } - - return true; -} - -Panda *connect(std::string serial="", uint32_t index=0) { - std::unique_ptr panda; - try { - panda = std::make_unique(serial, (index * PANDA_BUS_OFFSET)); - } catch (std::exception &e) { - return nullptr; - } - - // common panda config - if (getenv("BOARDD_LOOPBACK")) { - panda->set_loopback(true); - } - //panda->enable_deepsleep(); - - if (!panda->up_to_date() && !getenv("BOARDD_SKIP_FW_CHECK")) { - throw std::runtime_error("Panda firmware out of date. Run pandad.py to update."); - } - - return panda.release(); -} - -void can_send_thread(std::vector pandas, bool fake_send) { - util::set_thread_name("pandad_can_send"); - - AlignedBuffer aligned_buf; - std::unique_ptr context(Context::create()); - std::unique_ptr subscriber(SubSocket::create(context.get(), "sendcan")); - assert(subscriber != NULL); - subscriber->setTimeout(100); - - // run as fast as messages come in - while (!do_exit && check_all_connected(pandas)) { - std::unique_ptr msg(subscriber->receive()); - if (!msg) { - if (errno == EINTR) { - do_exit = true; - } - continue; - } - - capnp::FlatArrayMessageReader cmsg(aligned_buf.align(msg.get())); - cereal::Event::Reader event = cmsg.getRoot(); - - // Don't send if older than 1 second - if ((nanos_since_boot() - event.getLogMonoTime() < 1e9) && !fake_send) { - for (const auto& panda : pandas) { - LOGT("sending sendcan to panda: %s", (panda->hw_serial()).c_str()); - panda->can_send(event.getSendcan()); - LOGT("sendcan sent to panda: %s", (panda->hw_serial()).c_str()); - } - } else { - LOGE("sendcan too old to send: %" PRIu64 ", %" PRIu64, nanos_since_boot(), event.getLogMonoTime()); - } - } -} - -void can_recv_thread(std::vector pandas) { - util::set_thread_name("pandad_can_recv"); - - PubMaster pm({"can"}); - - // run at 100Hz - RateKeeper rk("pandad_can_recv", 100); - std::vector raw_can_data; - - while (!do_exit && check_all_connected(pandas)) { - bool comms_healthy = true; - raw_can_data.clear(); - for (const auto& panda : pandas) { - comms_healthy &= panda->can_receive(raw_can_data); - } - - MessageBuilder msg; - auto evt = msg.initEvent(); - evt.setValid(comms_healthy); - auto canData = evt.initCan(raw_can_data.size()); - for (uint i = 0; i send_panda_states(PubMaster *pm, const std::vector &pandas, bool spoofing_started) { - bool ignition_local = false; - const uint32_t pandas_cnt = pandas.size(); - - // build msg - MessageBuilder msg; - auto evt = msg.initEvent(); - auto pss = evt.initPandaStates(pandas_cnt); - - std::vector pandaStates; - pandaStates.reserve(pandas_cnt); - - std::vector> pandaCanStates; - pandaCanStates.reserve(pandas_cnt); - - const bool red_panda_comma_three = (pandas.size() == 2) && - (pandas[0]->hw_type == cereal::PandaState::PandaType::DOS) && - (pandas[1]->hw_type == cereal::PandaState::PandaType::RED_PANDA); - - for (const auto& panda : pandas){ - auto health_opt = panda->get_state(); - if (!health_opt) { - return std::nullopt; - } - - health_t health = *health_opt; - - std::array can_health{}; - for (uint32_t i = 0; i < PANDA_CAN_CNT; i++) { - auto can_health_opt = panda->get_can_state(i); - if (!can_health_opt) { - return std::nullopt; - } - can_health[i] = *can_health_opt; - } - pandaCanStates.push_back(can_health); - - if (spoofing_started) { - health.ignition_line_pkt = 1; - } - - // on comma three setups with a red panda, the dos can - // get false positive ignitions due to the harness box - // without a harness connector, so ignore it - if (red_panda_comma_three && (panda->hw_type == cereal::PandaState::PandaType::DOS)) { - health.ignition_line_pkt = 0; - } - - ignition_local |= ((health.ignition_line_pkt != 0) || (health.ignition_can_pkt != 0)); - - pandaStates.push_back(health); - } - - for (uint32_t i = 0; i < pandas_cnt; i++) { - auto panda = pandas[i]; - const auto &health = pandaStates[i]; - - // Make sure CAN buses are live: safety_setter_thread does not work if Panda CAN are silent and there is only one other CAN node - if (health.safety_mode_pkt == (uint8_t)(cereal::CarParams::SafetyModel::SILENT)) { - panda->set_safety_model(cereal::CarParams::SafetyModel::NO_OUTPUT); - } - - bool power_save_desired = !ignition_local; - if (health.power_save_enabled_pkt != power_save_desired) { - panda->set_power_saving(power_save_desired); - } - - // set safety mode to NO_OUTPUT when car is off. ELM327 is an alternative if we want to leverage athenad/connect - if (!ignition_local && (health.safety_mode_pkt != (uint8_t)(cereal::CarParams::SafetyModel::NO_OUTPUT))) { - panda->set_safety_model(cereal::CarParams::SafetyModel::NO_OUTPUT); - } - - if (!panda->comms_healthy()) { - evt.setValid(false); - } - - auto ps = pss[i]; - ps.setVoltage(health.voltage_pkt); - ps.setCurrent(health.current_pkt); - ps.setUptime(health.uptime_pkt); - ps.setSafetyTxBlocked(health.safety_tx_blocked_pkt); - ps.setSafetyRxInvalid(health.safety_rx_invalid_pkt); - ps.setIgnitionLine(health.ignition_line_pkt); - ps.setIgnitionCan(health.ignition_can_pkt); - ps.setControlsAllowed(health.controls_allowed_pkt); - ps.setTxBufferOverflow(health.tx_buffer_overflow_pkt); - ps.setRxBufferOverflow(health.rx_buffer_overflow_pkt); - ps.setPandaType(panda->hw_type); - ps.setSafetyModel(cereal::CarParams::SafetyModel(health.safety_mode_pkt)); - ps.setSafetyParam(health.safety_param_pkt); - ps.setFaultStatus(cereal::PandaState::FaultStatus(health.fault_status_pkt)); - ps.setPowerSaveEnabled((bool)(health.power_save_enabled_pkt)); - ps.setHeartbeatLost((bool)(health.heartbeat_lost_pkt)); - ps.setAlternativeExperience(health.alternative_experience_pkt); - ps.setHarnessStatus(cereal::PandaState::HarnessStatus(health.car_harness_status_pkt)); - ps.setInterruptLoad(health.interrupt_load_pkt); - ps.setFanPower(health.fan_power); - ps.setFanStallCount(health.fan_stall_count); - ps.setSafetyRxChecksInvalid((bool)(health.safety_rx_checks_invalid_pkt)); - ps.setSpiChecksumErrorCount(health.spi_checksum_error_count_pkt); - ps.setSbu1Voltage(health.sbu1_voltage_mV / 1000.0f); - ps.setSbu2Voltage(health.sbu2_voltage_mV / 1000.0f); - - std::array cs = {ps.initCanState0(), ps.initCanState1(), ps.initCanState2()}; - - for (uint32_t j = 0; j < PANDA_CAN_CNT; j++) { - const auto &can_health = pandaCanStates[i][j]; - cs[j].setBusOff((bool)can_health.bus_off); - cs[j].setBusOffCnt(can_health.bus_off_cnt); - cs[j].setErrorWarning((bool)can_health.error_warning); - cs[j].setErrorPassive((bool)can_health.error_passive); - cs[j].setLastError(cereal::PandaState::PandaCanState::LecErrorCode(can_health.last_error)); - cs[j].setLastStoredError(cereal::PandaState::PandaCanState::LecErrorCode(can_health.last_stored_error)); - cs[j].setLastDataError(cereal::PandaState::PandaCanState::LecErrorCode(can_health.last_data_error)); - cs[j].setLastDataStoredError(cereal::PandaState::PandaCanState::LecErrorCode(can_health.last_data_stored_error)); - cs[j].setReceiveErrorCnt(can_health.receive_error_cnt); - cs[j].setTransmitErrorCnt(can_health.transmit_error_cnt); - cs[j].setTotalErrorCnt(can_health.total_error_cnt); - cs[j].setTotalTxLostCnt(can_health.total_tx_lost_cnt); - cs[j].setTotalRxLostCnt(can_health.total_rx_lost_cnt); - cs[j].setTotalTxCnt(can_health.total_tx_cnt); - cs[j].setTotalRxCnt(can_health.total_rx_cnt); - cs[j].setTotalFwdCnt(can_health.total_fwd_cnt); - cs[j].setCanSpeed(can_health.can_speed); - cs[j].setCanDataSpeed(can_health.can_data_speed); - cs[j].setCanfdEnabled(can_health.canfd_enabled); - cs[j].setBrsEnabled(can_health.brs_enabled); - cs[j].setCanfdNonIso(can_health.canfd_non_iso); - cs[j].setIrq0CallRate(can_health.irq0_call_rate); - cs[j].setIrq1CallRate(can_health.irq1_call_rate); - cs[j].setIrq2CallRate(can_health.irq2_call_rate); - cs[j].setCanCoreResetCnt(can_health.can_core_reset_cnt); - } - - // Convert faults bitset to capnp list - std::bitset fault_bits(health.faults_pkt); - auto faults = ps.initFaults(fault_bits.count()); - - size_t j = 0; - for (size_t f = size_t(cereal::PandaState::FaultType::RELAY_MALFUNCTION); - f <= size_t(cereal::PandaState::FaultType::HEARTBEAT_LOOP_WATCHDOG); f++) { - if (fault_bits.test(f)) { - faults.set(j, cereal::PandaState::FaultType(f)); - j++; - } - } - } - - pm->send("pandaStates", msg); - return ignition_local; -} - -void send_peripheral_state(PubMaster *pm, Panda *panda) { - // build msg - MessageBuilder msg; - auto evt = msg.initEvent(); - evt.setValid(panda->comms_healthy()); - - auto ps = evt.initPeripheralState(); - ps.setPandaType(panda->hw_type); - - double read_time = millis_since_boot(); - ps.setVoltage(Hardware::get_voltage()); - ps.setCurrent(Hardware::get_current()); - read_time = millis_since_boot() - read_time; - if (read_time > 50) { - LOGW("reading hwmon took %lfms", read_time); - } - - uint16_t fan_speed_rpm = panda->get_fan_speed(); - ps.setFanSpeedRpm(fan_speed_rpm); - - pm->send("peripheralState", msg); -} - -void panda_state_thread(std::vector pandas, bool spoofing_started) { - util::set_thread_name("pandad_panda_state"); - - Params params; - SubMaster sm({"controlsState"}); - PubMaster pm({"pandaStates", "peripheralState"}); - - Panda *peripheral_panda = pandas[0]; - bool is_onroad = false; - bool is_onroad_last = false; - std::future safety_future; - - std::vector connected_serials; - for (Panda *p : pandas) { - connected_serials.push_back(p->hw_serial()); - } - - LOGD("start panda state thread"); - - // run at 10hz - RateKeeper rk("panda_state_thread", 10); - - while (!do_exit && check_all_connected(pandas)) { - // send out peripheralState at 2Hz - if (sm.frame % 5 == 0) { - send_peripheral_state(&pm, peripheral_panda); - } - - auto ignition_opt = send_panda_states(&pm, pandas, spoofing_started); - - if (!ignition_opt) { - LOGE("Failed to get ignition_opt"); - rk.keepTime(); - continue; - } - - ignition = *ignition_opt; - - // check if we should have pandad reconnect - if (!ignition) { - bool comms_healthy = true; - for (const auto &panda : pandas) { - comms_healthy &= panda->comms_healthy(); - } - - if (!comms_healthy) { - LOGE("Reconnecting, communication to pandas not healthy"); - do_exit = true; - - } else { - // check for new pandas - for (std::string &s : Panda::list(true)) { - if (!std::count(connected_serials.begin(), connected_serials.end(), s)) { - LOGW("Reconnecting to new panda: %s", s.c_str()); - do_exit = true; - break; - } - } - } - - if (do_exit) { - break; - } - } - - is_onroad = params.getBool("IsOnroad"); - - // set new safety on onroad transition, after params are cleared - if (is_onroad && !is_onroad_last) { - if (!safety_future.valid() || safety_future.wait_for(0ms) == std::future_status::ready) { - safety_future = std::async(std::launch::async, safety_setter_thread, pandas); - } else { - LOGW("Safety setter thread already running"); - } - } - - is_onroad_last = is_onroad; - - sm.update(0); - const bool engaged = sm.allAliveAndValid({"controlsState"}) && sm["controlsState"].getControlsState().getEnabled(); - - for (const auto &panda : pandas) { - panda->send_heartbeat(engaged); - } - - rk.keepTime(); - } -} - - -void peripheral_control_thread(Panda *panda, bool no_fan_control) { - util::set_thread_name("pandad_peripheral_control"); - - SubMaster sm({"deviceState", "driverCameraState"}); - - uint64_t last_driver_camera_t = 0; - uint16_t prev_fan_speed = 999; - uint16_t ir_pwr = 0; - uint16_t prev_ir_pwr = 999; - - FirstOrderFilter integ_lines_filter(0, 30.0, 0.05); - - while (!do_exit && panda->connected()) { - sm.update(1000); - - if (sm.updated("deviceState") && !no_fan_control) { - // Fan speed - uint16_t fan_speed = sm["deviceState"].getDeviceState().getFanSpeedPercentDesired(); - if (fan_speed != prev_fan_speed || sm.frame % 100 == 0) { - panda->set_fan_speed(fan_speed); - prev_fan_speed = fan_speed; - } - } - - if (sm.updated("driverCameraState")) { - auto event = sm["driverCameraState"]; - int cur_integ_lines = event.getDriverCameraState().getIntegLines(); - - cur_integ_lines = integ_lines_filter.update(cur_integ_lines); - last_driver_camera_t = event.getLogMonoTime(); - - if (cur_integ_lines <= CUTOFF_IL) { - ir_pwr = 100.0 * MIN_IR_POWER; - } else if (cur_integ_lines > SATURATE_IL) { - ir_pwr = 100.0 * MAX_IR_POWER; - } else { - ir_pwr = 100.0 * (MIN_IR_POWER + ((cur_integ_lines - CUTOFF_IL) * (MAX_IR_POWER - MIN_IR_POWER) / (SATURATE_IL - CUTOFF_IL))); - } - } - - // Disable IR on input timeout - if (nanos_since_boot() - last_driver_camera_t > 1e9) { - ir_pwr = 0; - } - - if (ir_pwr != prev_ir_pwr || sm.frame % 100 == 0 || ir_pwr >= 50.0) { - panda->set_ir_pwr(ir_pwr); - prev_ir_pwr = ir_pwr; - } - } -} - -void pandad_main_thread(std::vector serials) { - LOGW("launching pandad"); - - if (serials.size() == 0) { - serials = Panda::list(); - - if (serials.size() == 0) { - LOGW("no pandas found, exiting"); - return; - } - } - - std::string serials_str; - for (int i = 0; i < serials.size(); i++) { - serials_str += serials[i]; - if (i < serials.size() - 1) serials_str += ", "; - } - LOGW("connecting to pandas: %s", serials_str.c_str()); - - // connect to all provided serials - std::vector pandas; - for (int i = 0; i < serials.size() && !do_exit; /**/) { - Panda *p = connect(serials[i], i); - if (!p) { - util::sleep_for(100); - continue; - } - - pandas.push_back(p); - ++i; - } - - if (!do_exit) { - LOGW("connected to all pandas"); - - std::vector threads; - - threads.emplace_back(panda_state_thread, pandas, getenv("STARTED") != nullptr); - threads.emplace_back(peripheral_control_thread, pandas[0], getenv("NO_FAN_CONTROL") != nullptr); - - threads.emplace_back(can_send_thread, pandas, getenv("FAKESEND") != nullptr); - threads.emplace_back(can_recv_thread, pandas); - - for (auto &t : threads) t.join(); - } - - for (Panda *panda : pandas) { - delete panda; - } -} diff --git a/selfdrive/pandad/pandad.h b/selfdrive/pandad/pandad.h deleted file mode 100644 index 9d35949a8fd1f4..00000000000000 --- a/selfdrive/pandad/pandad.h +++ /dev/null @@ -1,9 +0,0 @@ -#pragma once - -#include -#include - -#include "selfdrive/pandad/panda.h" - -bool safety_setter_thread(std::vector pandas); -void pandad_main_thread(std::vector serials); diff --git a/selfdrive/pandad/pandad_api_impl.cpp b/selfdrive/pandad/pandad_api_impl.cpp new file mode 100644 index 00000000000000..073af15606323b --- /dev/null +++ b/selfdrive/pandad/pandad_api_impl.cpp @@ -0,0 +1,6889 @@ +/* Generated by Cython 3.0.8 */ + +/* BEGIN: Cython Metadata +{ + "distutils": { + "depends": [ + "selfdrive/pandad/can_list_to_can_capnp.cc", + "selfdrive/pandad/panda.h" + ], + "include_dirs": [ + "selfdrive/pandad" + ], + "language": "c++", + "name": "selfdrive.pandad.pandad_api_impl", + "sources": [ + "/data/openpilot/selfdrive/pandad/pandad_api_impl.pyx" + ] + }, + "module_name": "selfdrive.pandad.pandad_api_impl" +} +END: Cython Metadata */ + +#ifndef PY_SSIZE_T_CLEAN +#define PY_SSIZE_T_CLEAN +#endif /* PY_SSIZE_T_CLEAN */ +#if defined(CYTHON_LIMITED_API) && 0 + #ifndef Py_LIMITED_API + #if CYTHON_LIMITED_API+0 > 0x03030000 + #define Py_LIMITED_API CYTHON_LIMITED_API + #else + #define Py_LIMITED_API 0x03030000 + #endif + #endif +#endif + +#include "Python.h" +#ifndef Py_PYTHON_H + #error Python headers needed to compile C extensions, please install development version of Python. +#elif PY_VERSION_HEX < 0x02070000 || (0x03000000 <= PY_VERSION_HEX && PY_VERSION_HEX < 0x03030000) + #error Cython requires Python 2.7+ or Python 3.3+. +#else +#if defined(CYTHON_LIMITED_API) && CYTHON_LIMITED_API +#define __PYX_EXTRA_ABI_MODULE_NAME "limited" +#else +#define __PYX_EXTRA_ABI_MODULE_NAME "" +#endif +#define CYTHON_ABI "3_0_8" __PYX_EXTRA_ABI_MODULE_NAME +#define __PYX_ABI_MODULE_NAME "_cython_" CYTHON_ABI +#define __PYX_TYPE_MODULE_PREFIX __PYX_ABI_MODULE_NAME "." +#define CYTHON_HEX_VERSION 0x030008F0 +#define CYTHON_FUTURE_DIVISION 1 +#include +#ifndef offsetof + #define offsetof(type, member) ( (size_t) & ((type*)0) -> member ) +#endif +#if !defined(_WIN32) && !defined(WIN32) && !defined(MS_WINDOWS) + #ifndef __stdcall + #define __stdcall + #endif + #ifndef __cdecl + #define __cdecl + #endif + #ifndef __fastcall + #define __fastcall + #endif +#endif +#ifndef DL_IMPORT + #define DL_IMPORT(t) t +#endif +#ifndef DL_EXPORT + #define DL_EXPORT(t) t +#endif +#define __PYX_COMMA , +#ifndef HAVE_LONG_LONG + #define HAVE_LONG_LONG +#endif +#ifndef PY_LONG_LONG + #define PY_LONG_LONG LONG_LONG +#endif +#ifndef Py_HUGE_VAL + #define Py_HUGE_VAL HUGE_VAL +#endif +#define __PYX_LIMITED_VERSION_HEX PY_VERSION_HEX +#if defined(GRAALVM_PYTHON) + /* For very preliminary testing purposes. Most variables are set the same as PyPy. + The existence of this section does not imply that anything works or is even tested */ + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 1 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #undef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #undef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 1 + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS (PY_MAJOR_VERSION >= 3) + #endif + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(PYPY_VERSION) + #define CYTHON_COMPILING_IN_PYPY 1 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #ifndef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #endif + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #undef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 1 + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS (PY_MAJOR_VERSION >= 3) + #endif + #if PY_VERSION_HEX < 0x03090000 + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #elif !defined(CYTHON_PEP489_MULTI_PHASE_INIT) + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE (PY_VERSION_HEX >= 0x030400a1 && PYPY_VERSION_NUM >= 0x07030C00) + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(CYTHON_LIMITED_API) + #ifdef Py_LIMITED_API + #undef __PYX_LIMITED_VERSION_HEX + #define __PYX_LIMITED_VERSION_HEX Py_LIMITED_API + #endif + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 1 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #undef CYTHON_CLINE_IN_TRACEBACK + #define CYTHON_CLINE_IN_TRACEBACK 0 + #undef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 0 + #undef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 1 + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #undef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 0 + #ifndef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #endif + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #undef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 0 + #undef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 0 + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL 0 + #undef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS 1 + #endif + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #undef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 1 + #ifndef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #endif + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 0 + #endif +#elif defined(Py_GIL_DISABLED) || defined(Py_NOGIL) + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 0 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 1 + #ifndef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 1 + #endif + #undef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 0 + #ifndef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #undef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 0 + #ifndef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 1 + #endif + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #undef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 0 + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #ifndef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 1 + #endif + #ifndef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 1 + #endif + #undef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 0 + #undef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 0 + #ifndef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #ifndef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 1 + #endif + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 +#else + #define CYTHON_COMPILING_IN_PYPY 0 + #define CYTHON_COMPILING_IN_CPYTHON 1 + #define CYTHON_COMPILING_IN_LIMITED_API 0 + #define CYTHON_COMPILING_IN_GRAAL 0 + #define CYTHON_COMPILING_IN_NOGIL 0 + #ifndef CYTHON_USE_TYPE_SLOTS + #define CYTHON_USE_TYPE_SLOTS 1 + #endif + #ifndef CYTHON_USE_TYPE_SPECS + #define CYTHON_USE_TYPE_SPECS 0 + #endif + #ifndef CYTHON_USE_PYTYPE_LOOKUP + #define CYTHON_USE_PYTYPE_LOOKUP 1 + #endif + #if PY_MAJOR_VERSION < 3 + #undef CYTHON_USE_ASYNC_SLOTS + #define CYTHON_USE_ASYNC_SLOTS 0 + #elif !defined(CYTHON_USE_ASYNC_SLOTS) + #define CYTHON_USE_ASYNC_SLOTS 1 + #endif + #ifndef CYTHON_USE_PYLONG_INTERNALS + #define CYTHON_USE_PYLONG_INTERNALS 1 + #endif + #ifndef CYTHON_USE_PYLIST_INTERNALS + #define CYTHON_USE_PYLIST_INTERNALS 1 + #endif + #ifndef CYTHON_USE_UNICODE_INTERNALS + #define CYTHON_USE_UNICODE_INTERNALS 1 + #endif + #if PY_VERSION_HEX < 0x030300F0 || PY_VERSION_HEX >= 0x030B00A2 + #undef CYTHON_USE_UNICODE_WRITER + #define CYTHON_USE_UNICODE_WRITER 0 + #elif !defined(CYTHON_USE_UNICODE_WRITER) + #define CYTHON_USE_UNICODE_WRITER 1 + #endif + #ifndef CYTHON_AVOID_BORROWED_REFS + #define CYTHON_AVOID_BORROWED_REFS 0 + #endif + #ifndef CYTHON_ASSUME_SAFE_MACROS + #define CYTHON_ASSUME_SAFE_MACROS 1 + #endif + #ifndef CYTHON_UNPACK_METHODS + #define CYTHON_UNPACK_METHODS 1 + #endif + #ifndef CYTHON_FAST_THREAD_STATE + #define CYTHON_FAST_THREAD_STATE 1 + #endif + #ifndef CYTHON_FAST_GIL + #define CYTHON_FAST_GIL (PY_MAJOR_VERSION < 3 || PY_VERSION_HEX >= 0x03060000 && PY_VERSION_HEX < 0x030C00A6) + #endif + #ifndef CYTHON_METH_FASTCALL + #define CYTHON_METH_FASTCALL (PY_VERSION_HEX >= 0x030700A1) + #endif + #ifndef CYTHON_FAST_PYCALL + #define CYTHON_FAST_PYCALL 1 + #endif + #ifndef CYTHON_PEP487_INIT_SUBCLASS + #define CYTHON_PEP487_INIT_SUBCLASS 1 + #endif + #if PY_VERSION_HEX < 0x03050000 + #undef CYTHON_PEP489_MULTI_PHASE_INIT + #define CYTHON_PEP489_MULTI_PHASE_INIT 0 + #elif !defined(CYTHON_PEP489_MULTI_PHASE_INIT) + #define CYTHON_PEP489_MULTI_PHASE_INIT 1 + #endif + #ifndef CYTHON_USE_MODULE_STATE + #define CYTHON_USE_MODULE_STATE 0 + #endif + #if PY_VERSION_HEX < 0x030400a1 + #undef CYTHON_USE_TP_FINALIZE + #define CYTHON_USE_TP_FINALIZE 0 + #elif !defined(CYTHON_USE_TP_FINALIZE) + #define CYTHON_USE_TP_FINALIZE 1 + #endif + #if PY_VERSION_HEX < 0x030600B1 + #undef CYTHON_USE_DICT_VERSIONS + #define CYTHON_USE_DICT_VERSIONS 0 + #elif !defined(CYTHON_USE_DICT_VERSIONS) + #define CYTHON_USE_DICT_VERSIONS (PY_VERSION_HEX < 0x030C00A5) + #endif + #if PY_VERSION_HEX < 0x030700A3 + #undef CYTHON_USE_EXC_INFO_STACK + #define CYTHON_USE_EXC_INFO_STACK 0 + #elif !defined(CYTHON_USE_EXC_INFO_STACK) + #define CYTHON_USE_EXC_INFO_STACK 1 + #endif + #ifndef CYTHON_UPDATE_DESCRIPTOR_DOC + #define CYTHON_UPDATE_DESCRIPTOR_DOC 1 + #endif +#endif +#if !defined(CYTHON_FAST_PYCCALL) +#define CYTHON_FAST_PYCCALL (CYTHON_FAST_PYCALL && PY_VERSION_HEX >= 0x030600B1) +#endif +#if !defined(CYTHON_VECTORCALL) +#define CYTHON_VECTORCALL (CYTHON_FAST_PYCCALL && PY_VERSION_HEX >= 0x030800B1) +#endif +#define CYTHON_BACKPORT_VECTORCALL (CYTHON_METH_FASTCALL && PY_VERSION_HEX < 0x030800B1) +#if CYTHON_USE_PYLONG_INTERNALS + #if PY_MAJOR_VERSION < 3 + #include "longintrepr.h" + #endif + #undef SHIFT + #undef BASE + #undef MASK + #ifdef SIZEOF_VOID_P + enum { __pyx_check_sizeof_voidp = 1 / (int)(SIZEOF_VOID_P == sizeof(void*)) }; + #endif +#endif +#ifndef __has_attribute + #define __has_attribute(x) 0 +#endif +#ifndef __has_cpp_attribute + #define __has_cpp_attribute(x) 0 +#endif +#ifndef CYTHON_RESTRICT + #if defined(__GNUC__) + #define CYTHON_RESTRICT __restrict__ + #elif defined(_MSC_VER) && _MSC_VER >= 1400 + #define CYTHON_RESTRICT __restrict + #elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define CYTHON_RESTRICT restrict + #else + #define CYTHON_RESTRICT + #endif +#endif +#ifndef CYTHON_UNUSED + #if defined(__cplusplus) + /* for clang __has_cpp_attribute(maybe_unused) is true even before C++17 + * but leads to warnings with -pedantic, since it is a C++17 feature */ + #if ((defined(_MSVC_LANG) && _MSVC_LANG >= 201703L) || __cplusplus >= 201703L) + #if __has_cpp_attribute(maybe_unused) + #define CYTHON_UNUSED [[maybe_unused]] + #endif + #endif + #endif +#endif +#ifndef CYTHON_UNUSED +# if defined(__GNUC__) +# if !(defined(__cplusplus)) || (__GNUC__ > 3 || (__GNUC__ == 3 && __GNUC_MINOR__ >= 4)) +# define CYTHON_UNUSED __attribute__ ((__unused__)) +# else +# define CYTHON_UNUSED +# endif +# elif defined(__ICC) || (defined(__INTEL_COMPILER) && !defined(_MSC_VER)) +# define CYTHON_UNUSED __attribute__ ((__unused__)) +# else +# define CYTHON_UNUSED +# endif +#endif +#ifndef CYTHON_UNUSED_VAR +# if defined(__cplusplus) + template void CYTHON_UNUSED_VAR( const T& ) { } +# else +# define CYTHON_UNUSED_VAR(x) (void)(x) +# endif +#endif +#ifndef CYTHON_MAYBE_UNUSED_VAR + #define CYTHON_MAYBE_UNUSED_VAR(x) CYTHON_UNUSED_VAR(x) +#endif +#ifndef CYTHON_NCP_UNUSED +# if CYTHON_COMPILING_IN_CPYTHON +# define CYTHON_NCP_UNUSED +# else +# define CYTHON_NCP_UNUSED CYTHON_UNUSED +# endif +#endif +#ifndef CYTHON_USE_CPP_STD_MOVE + #if defined(__cplusplus) && (\ + __cplusplus >= 201103L || (defined(_MSC_VER) && _MSC_VER >= 1600)) + #define CYTHON_USE_CPP_STD_MOVE 1 + #else + #define CYTHON_USE_CPP_STD_MOVE 0 + #endif +#endif +#define __Pyx_void_to_None(void_result) ((void)(void_result), Py_INCREF(Py_None), Py_None) +#ifdef _MSC_VER + #ifndef _MSC_STDINT_H_ + #if _MSC_VER < 1300 + typedef unsigned char uint8_t; + typedef unsigned short uint16_t; + typedef unsigned int uint32_t; + #else + typedef unsigned __int8 uint8_t; + typedef unsigned __int16 uint16_t; + typedef unsigned __int32 uint32_t; + #endif + #endif + #if _MSC_VER < 1300 + #ifdef _WIN64 + typedef unsigned long long __pyx_uintptr_t; + #else + typedef unsigned int __pyx_uintptr_t; + #endif + #else + #ifdef _WIN64 + typedef unsigned __int64 __pyx_uintptr_t; + #else + typedef unsigned __int32 __pyx_uintptr_t; + #endif + #endif +#else + #include + typedef uintptr_t __pyx_uintptr_t; +#endif +#ifndef CYTHON_FALLTHROUGH + #if defined(__cplusplus) + /* for clang __has_cpp_attribute(fallthrough) is true even before C++17 + * but leads to warnings with -pedantic, since it is a C++17 feature */ + #if ((defined(_MSVC_LANG) && _MSVC_LANG >= 201703L) || __cplusplus >= 201703L) + #if __has_cpp_attribute(fallthrough) + #define CYTHON_FALLTHROUGH [[fallthrough]] + #endif + #endif + #ifndef CYTHON_FALLTHROUGH + #if __has_cpp_attribute(clang::fallthrough) + #define CYTHON_FALLTHROUGH [[clang::fallthrough]] + #elif __has_cpp_attribute(gnu::fallthrough) + #define CYTHON_FALLTHROUGH [[gnu::fallthrough]] + #endif + #endif + #endif + #ifndef CYTHON_FALLTHROUGH + #if __has_attribute(fallthrough) + #define CYTHON_FALLTHROUGH __attribute__((fallthrough)) + #else + #define CYTHON_FALLTHROUGH + #endif + #endif + #if defined(__clang__) && defined(__apple_build_version__) + #if __apple_build_version__ < 7000000 + #undef CYTHON_FALLTHROUGH + #define CYTHON_FALLTHROUGH + #endif + #endif +#endif +#ifdef __cplusplus + template + struct __PYX_IS_UNSIGNED_IMPL {static const bool value = T(0) < T(-1);}; + #define __PYX_IS_UNSIGNED(type) (__PYX_IS_UNSIGNED_IMPL::value) +#else + #define __PYX_IS_UNSIGNED(type) (((type)-1) > 0) +#endif +#if CYTHON_COMPILING_IN_PYPY == 1 + #define __PYX_NEED_TP_PRINT_SLOT (PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x030A0000) +#else + #define __PYX_NEED_TP_PRINT_SLOT (PY_VERSION_HEX >= 0x030800b4 && PY_VERSION_HEX < 0x03090000) +#endif +#define __PYX_REINTERPRET_FUNCION(func_pointer, other_pointer) ((func_pointer)(void(*)(void))(other_pointer)) + +#ifndef __cplusplus + #error "Cython files generated with the C++ option must be compiled with a C++ compiler." +#endif +#ifndef CYTHON_INLINE + #if defined(__clang__) + #define CYTHON_INLINE __inline__ __attribute__ ((__unused__)) + #else + #define CYTHON_INLINE inline + #endif +#endif +template +void __Pyx_call_destructor(T& x) { + x.~T(); +} +template +class __Pyx_FakeReference { + public: + __Pyx_FakeReference() : ptr(NULL) { } + __Pyx_FakeReference(const T& ref) : ptr(const_cast(&ref)) { } + T *operator->() { return ptr; } + T *operator&() { return ptr; } + operator T&() { return *ptr; } + template bool operator ==(const U& other) const { return *ptr == other; } + template bool operator !=(const U& other) const { return *ptr != other; } + template bool operator==(const __Pyx_FakeReference& other) const { return *ptr == *other.ptr; } + template bool operator!=(const __Pyx_FakeReference& other) const { return *ptr != *other.ptr; } + private: + T *ptr; +}; + +#define __PYX_BUILD_PY_SSIZE_T "n" +#define CYTHON_FORMAT_SSIZE_T "z" +#if PY_MAJOR_VERSION < 3 + #define __Pyx_BUILTIN_MODULE_NAME "__builtin__" + #define __Pyx_DefaultClassType PyClass_Type + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_New(a+k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#else + #define __Pyx_BUILTIN_MODULE_NAME "builtins" + #define __Pyx_DefaultClassType PyType_Type +#if CYTHON_COMPILING_IN_LIMITED_API + static CYTHON_INLINE PyObject* __Pyx_PyCode_New(int a, int p, int k, int l, int s, int f, + PyObject *code, PyObject *c, PyObject* n, PyObject *v, + PyObject *fv, PyObject *cell, PyObject* fn, + PyObject *name, int fline, PyObject *lnos) { + PyObject *exception_table = NULL; + PyObject *types_module=NULL, *code_type=NULL, *result=NULL; + #if __PYX_LIMITED_VERSION_HEX < 0x030B0000 + PyObject *version_info; + PyObject *py_minor_version = NULL; + #endif + long minor_version = 0; + PyObject *type, *value, *traceback; + PyErr_Fetch(&type, &value, &traceback); + #if __PYX_LIMITED_VERSION_HEX >= 0x030B0000 + minor_version = 11; + #else + if (!(version_info = PySys_GetObject("version_info"))) goto end; + if (!(py_minor_version = PySequence_GetItem(version_info, 1))) goto end; + minor_version = PyLong_AsLong(py_minor_version); + Py_DECREF(py_minor_version); + if (minor_version == -1 && PyErr_Occurred()) goto end; + #endif + if (!(types_module = PyImport_ImportModule("types"))) goto end; + if (!(code_type = PyObject_GetAttrString(types_module, "CodeType"))) goto end; + if (minor_version <= 7) { + (void)p; + result = PyObject_CallFunction(code_type, "iiiiiOOOOOOiOO", a, k, l, s, f, code, + c, n, v, fn, name, fline, lnos, fv, cell); + } else if (minor_version <= 10) { + result = PyObject_CallFunction(code_type, "iiiiiiOOOOOOiOO", a,p, k, l, s, f, code, + c, n, v, fn, name, fline, lnos, fv, cell); + } else { + if (!(exception_table = PyBytes_FromStringAndSize(NULL, 0))) goto end; + result = PyObject_CallFunction(code_type, "iiiiiiOOOOOOOiOO", a,p, k, l, s, f, code, + c, n, v, fn, name, name, fline, lnos, exception_table, fv, cell); + } + end: + Py_XDECREF(code_type); + Py_XDECREF(exception_table); + Py_XDECREF(types_module); + if (type) { + PyErr_Restore(type, value, traceback); + } + return result; + } + #ifndef CO_OPTIMIZED + #define CO_OPTIMIZED 0x0001 + #endif + #ifndef CO_NEWLOCALS + #define CO_NEWLOCALS 0x0002 + #endif + #ifndef CO_VARARGS + #define CO_VARARGS 0x0004 + #endif + #ifndef CO_VARKEYWORDS + #define CO_VARKEYWORDS 0x0008 + #endif + #ifndef CO_ASYNC_GENERATOR + #define CO_ASYNC_GENERATOR 0x0200 + #endif + #ifndef CO_GENERATOR + #define CO_GENERATOR 0x0020 + #endif + #ifndef CO_COROUTINE + #define CO_COROUTINE 0x0080 + #endif +#elif PY_VERSION_HEX >= 0x030B0000 + static CYTHON_INLINE PyCodeObject* __Pyx_PyCode_New(int a, int p, int k, int l, int s, int f, + PyObject *code, PyObject *c, PyObject* n, PyObject *v, + PyObject *fv, PyObject *cell, PyObject* fn, + PyObject *name, int fline, PyObject *lnos) { + PyCodeObject *result; + PyObject *empty_bytes = PyBytes_FromStringAndSize("", 0); + if (!empty_bytes) return NULL; + result = + #if PY_VERSION_HEX >= 0x030C0000 + PyUnstable_Code_NewWithPosOnlyArgs + #else + PyCode_NewWithPosOnlyArgs + #endif + (a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, name, fline, lnos, empty_bytes); + Py_DECREF(empty_bytes); + return result; + } +#elif PY_VERSION_HEX >= 0x030800B2 && !CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_NewWithPosOnlyArgs(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#else + #define __Pyx_PyCode_New(a, p, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos)\ + PyCode_New(a, k, l, s, f, code, c, n, v, fv, cell, fn, name, fline, lnos) +#endif +#endif +#if PY_VERSION_HEX >= 0x030900A4 || defined(Py_IS_TYPE) + #define __Pyx_IS_TYPE(ob, type) Py_IS_TYPE(ob, type) +#else + #define __Pyx_IS_TYPE(ob, type) (((const PyObject*)ob)->ob_type == (type)) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_Is) + #define __Pyx_Py_Is(x, y) Py_Is(x, y) +#else + #define __Pyx_Py_Is(x, y) ((x) == (y)) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsNone) + #define __Pyx_Py_IsNone(ob) Py_IsNone(ob) +#else + #define __Pyx_Py_IsNone(ob) __Pyx_Py_Is((ob), Py_None) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsTrue) + #define __Pyx_Py_IsTrue(ob) Py_IsTrue(ob) +#else + #define __Pyx_Py_IsTrue(ob) __Pyx_Py_Is((ob), Py_True) +#endif +#if PY_VERSION_HEX >= 0x030A00B1 || defined(Py_IsFalse) + #define __Pyx_Py_IsFalse(ob) Py_IsFalse(ob) +#else + #define __Pyx_Py_IsFalse(ob) __Pyx_Py_Is((ob), Py_False) +#endif +#define __Pyx_NoneAsNull(obj) (__Pyx_Py_IsNone(obj) ? NULL : (obj)) +#if PY_VERSION_HEX >= 0x030900F0 && !CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyObject_GC_IsFinalized(o) PyObject_GC_IsFinalized(o) +#else + #define __Pyx_PyObject_GC_IsFinalized(o) _PyGC_FINALIZED(o) +#endif +#ifndef CO_COROUTINE + #define CO_COROUTINE 0x80 +#endif +#ifndef CO_ASYNC_GENERATOR + #define CO_ASYNC_GENERATOR 0x200 +#endif +#ifndef Py_TPFLAGS_CHECKTYPES + #define Py_TPFLAGS_CHECKTYPES 0 +#endif +#ifndef Py_TPFLAGS_HAVE_INDEX + #define Py_TPFLAGS_HAVE_INDEX 0 +#endif +#ifndef Py_TPFLAGS_HAVE_NEWBUFFER + #define Py_TPFLAGS_HAVE_NEWBUFFER 0 +#endif +#ifndef Py_TPFLAGS_HAVE_FINALIZE + #define Py_TPFLAGS_HAVE_FINALIZE 0 +#endif +#ifndef Py_TPFLAGS_SEQUENCE + #define Py_TPFLAGS_SEQUENCE 0 +#endif +#ifndef Py_TPFLAGS_MAPPING + #define Py_TPFLAGS_MAPPING 0 +#endif +#ifndef METH_STACKLESS + #define METH_STACKLESS 0 +#endif +#if PY_VERSION_HEX <= 0x030700A3 || !defined(METH_FASTCALL) + #ifndef METH_FASTCALL + #define METH_FASTCALL 0x80 + #endif + typedef PyObject *(*__Pyx_PyCFunctionFast) (PyObject *self, PyObject *const *args, Py_ssize_t nargs); + typedef PyObject *(*__Pyx_PyCFunctionFastWithKeywords) (PyObject *self, PyObject *const *args, + Py_ssize_t nargs, PyObject *kwnames); +#else + #define __Pyx_PyCFunctionFast _PyCFunctionFast + #define __Pyx_PyCFunctionFastWithKeywords _PyCFunctionFastWithKeywords +#endif +#if CYTHON_METH_FASTCALL + #define __Pyx_METH_FASTCALL METH_FASTCALL + #define __Pyx_PyCFunction_FastCall __Pyx_PyCFunctionFast + #define __Pyx_PyCFunction_FastCallWithKeywords __Pyx_PyCFunctionFastWithKeywords +#else + #define __Pyx_METH_FASTCALL METH_VARARGS + #define __Pyx_PyCFunction_FastCall PyCFunction + #define __Pyx_PyCFunction_FastCallWithKeywords PyCFunctionWithKeywords +#endif +#if CYTHON_VECTORCALL + #define __pyx_vectorcallfunc vectorcallfunc + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET PY_VECTORCALL_ARGUMENTS_OFFSET + #define __Pyx_PyVectorcall_NARGS(n) PyVectorcall_NARGS((size_t)(n)) +#elif CYTHON_BACKPORT_VECTORCALL + typedef PyObject *(*__pyx_vectorcallfunc)(PyObject *callable, PyObject *const *args, + size_t nargsf, PyObject *kwnames); + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET ((size_t)1 << (8 * sizeof(size_t) - 1)) + #define __Pyx_PyVectorcall_NARGS(n) ((Py_ssize_t)(((size_t)(n)) & ~__Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET)) +#else + #define __Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET 0 + #define __Pyx_PyVectorcall_NARGS(n) ((Py_ssize_t)(n)) +#endif +#if PY_MAJOR_VERSION >= 0x030900B1 +#define __Pyx_PyCFunction_CheckExact(func) PyCFunction_CheckExact(func) +#else +#define __Pyx_PyCFunction_CheckExact(func) PyCFunction_Check(func) +#endif +#define __Pyx_CyOrPyCFunction_Check(func) PyCFunction_Check(func) +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_CyOrPyCFunction_GET_FUNCTION(func) (((PyCFunctionObject*)(func))->m_ml->ml_meth) +#elif !CYTHON_COMPILING_IN_LIMITED_API +#define __Pyx_CyOrPyCFunction_GET_FUNCTION(func) PyCFunction_GET_FUNCTION(func) +#endif +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_CyOrPyCFunction_GET_FLAGS(func) (((PyCFunctionObject*)(func))->m_ml->ml_flags) +static CYTHON_INLINE PyObject* __Pyx_CyOrPyCFunction_GET_SELF(PyObject *func) { + return (__Pyx_CyOrPyCFunction_GET_FLAGS(func) & METH_STATIC) ? NULL : ((PyCFunctionObject*)func)->m_self; +} +#endif +static CYTHON_INLINE int __Pyx__IsSameCFunction(PyObject *func, void *cfunc) { +#if CYTHON_COMPILING_IN_LIMITED_API + return PyCFunction_Check(func) && PyCFunction_GetFunction(func) == (PyCFunction) cfunc; +#else + return PyCFunction_Check(func) && PyCFunction_GET_FUNCTION(func) == (PyCFunction) cfunc; +#endif +} +#define __Pyx_IsSameCFunction(func, cfunc) __Pyx__IsSameCFunction(func, cfunc) +#if __PYX_LIMITED_VERSION_HEX < 0x030900B1 + #define __Pyx_PyType_FromModuleAndSpec(m, s, b) ((void)m, PyType_FromSpecWithBases(s, b)) + typedef PyObject *(*__Pyx_PyCMethod)(PyObject *, PyTypeObject *, PyObject *const *, size_t, PyObject *); +#else + #define __Pyx_PyType_FromModuleAndSpec(m, s, b) PyType_FromModuleAndSpec(m, s, b) + #define __Pyx_PyCMethod PyCMethod +#endif +#ifndef METH_METHOD + #define METH_METHOD 0x200 +#endif +#if CYTHON_COMPILING_IN_PYPY && !defined(PyObject_Malloc) + #define PyObject_Malloc(s) PyMem_Malloc(s) + #define PyObject_Free(p) PyMem_Free(p) + #define PyObject_Realloc(p) PyMem_Realloc(p) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0) + #define __Pyx_PyFrame_SetLineNumber(frame, lineno) +#else + #define __Pyx_PyCode_HasFreeVars(co) (PyCode_GetNumFree(co) > 0) + #define __Pyx_PyFrame_SetLineNumber(frame, lineno) (frame)->f_lineno = (lineno) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyThreadState_Current PyThreadState_Get() +#elif !CYTHON_FAST_THREAD_STATE + #define __Pyx_PyThreadState_Current PyThreadState_GET() +#elif PY_VERSION_HEX >= 0x030d00A1 + #define __Pyx_PyThreadState_Current PyThreadState_GetUnchecked() +#elif PY_VERSION_HEX >= 0x03060000 + #define __Pyx_PyThreadState_Current _PyThreadState_UncheckedGet() +#elif PY_VERSION_HEX >= 0x03000000 + #define __Pyx_PyThreadState_Current PyThreadState_GET() +#else + #define __Pyx_PyThreadState_Current _PyThreadState_Current +#endif +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE void *__Pyx_PyModule_GetState(PyObject *op) +{ + void *result; + result = PyModule_GetState(op); + if (!result) + Py_FatalError("Couldn't find the module state"); + return result; +} +#endif +#define __Pyx_PyObject_GetSlot(obj, name, func_ctype) __Pyx_PyType_GetSlot(Py_TYPE(obj), name, func_ctype) +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_PyType_GetSlot(type, name, func_ctype) ((func_ctype) PyType_GetSlot((type), Py_##name)) +#else + #define __Pyx_PyType_GetSlot(type, name, func_ctype) ((type)->name) +#endif +#if PY_VERSION_HEX < 0x030700A2 && !defined(PyThread_tss_create) && !defined(Py_tss_NEEDS_INIT) +#include "pythread.h" +#define Py_tss_NEEDS_INIT 0 +typedef int Py_tss_t; +static CYTHON_INLINE int PyThread_tss_create(Py_tss_t *key) { + *key = PyThread_create_key(); + return 0; +} +static CYTHON_INLINE Py_tss_t * PyThread_tss_alloc(void) { + Py_tss_t *key = (Py_tss_t *)PyObject_Malloc(sizeof(Py_tss_t)); + *key = Py_tss_NEEDS_INIT; + return key; +} +static CYTHON_INLINE void PyThread_tss_free(Py_tss_t *key) { + PyObject_Free(key); +} +static CYTHON_INLINE int PyThread_tss_is_created(Py_tss_t *key) { + return *key != Py_tss_NEEDS_INIT; +} +static CYTHON_INLINE void PyThread_tss_delete(Py_tss_t *key) { + PyThread_delete_key(*key); + *key = Py_tss_NEEDS_INIT; +} +static CYTHON_INLINE int PyThread_tss_set(Py_tss_t *key, void *value) { + return PyThread_set_key_value(*key, value); +} +static CYTHON_INLINE void * PyThread_tss_get(Py_tss_t *key) { + return PyThread_get_key_value(*key); +} +#endif +#if PY_MAJOR_VERSION < 3 + #if CYTHON_COMPILING_IN_PYPY + #if PYPY_VERSION_NUM < 0x07030600 + #if defined(__cplusplus) && __cplusplus >= 201402L + [[deprecated("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6")]] + #elif defined(__GNUC__) || defined(__clang__) + __attribute__ ((__deprecated__("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6"))) + #elif defined(_MSC_VER) + __declspec(deprecated("`with nogil:` inside a nogil function will not release the GIL in PyPy2 < 7.3.6")) + #endif + static CYTHON_INLINE int PyGILState_Check(void) { + return 0; + } + #else // PYPY_VERSION_NUM < 0x07030600 + #endif // PYPY_VERSION_NUM < 0x07030600 + #else + static CYTHON_INLINE int PyGILState_Check(void) { + PyThreadState * tstate = _PyThreadState_Current; + return tstate && (tstate == PyGILState_GetThisThreadState()); + } + #endif +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030d0000 || defined(_PyDict_NewPresized) +#define __Pyx_PyDict_NewPresized(n) ((n <= 8) ? PyDict_New() : _PyDict_NewPresized(n)) +#else +#define __Pyx_PyDict_NewPresized(n) PyDict_New() +#endif +#if PY_MAJOR_VERSION >= 3 || CYTHON_FUTURE_DIVISION + #define __Pyx_PyNumber_Divide(x,y) PyNumber_TrueDivide(x,y) + #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceTrueDivide(x,y) +#else + #define __Pyx_PyNumber_Divide(x,y) PyNumber_Divide(x,y) + #define __Pyx_PyNumber_InPlaceDivide(x,y) PyNumber_InPlaceDivide(x,y) +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX > 0x030600B4 && PY_VERSION_HEX < 0x030d0000 && CYTHON_USE_UNICODE_INTERNALS +#define __Pyx_PyDict_GetItemStrWithError(dict, name) _PyDict_GetItem_KnownHash(dict, name, ((PyASCIIObject *) name)->hash) +static CYTHON_INLINE PyObject * __Pyx_PyDict_GetItemStr(PyObject *dict, PyObject *name) { + PyObject *res = __Pyx_PyDict_GetItemStrWithError(dict, name); + if (res == NULL) PyErr_Clear(); + return res; +} +#elif PY_MAJOR_VERSION >= 3 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07020000) +#define __Pyx_PyDict_GetItemStrWithError PyDict_GetItemWithError +#define __Pyx_PyDict_GetItemStr PyDict_GetItem +#else +static CYTHON_INLINE PyObject * __Pyx_PyDict_GetItemStrWithError(PyObject *dict, PyObject *name) { +#if CYTHON_COMPILING_IN_PYPY + return PyDict_GetItem(dict, name); +#else + PyDictEntry *ep; + PyDictObject *mp = (PyDictObject*) dict; + long hash = ((PyStringObject *) name)->ob_shash; + assert(hash != -1); + ep = (mp->ma_lookup)(mp, name, hash); + if (ep == NULL) { + return NULL; + } + return ep->me_value; +#endif +} +#define __Pyx_PyDict_GetItemStr PyDict_GetItem +#endif +#if CYTHON_USE_TYPE_SLOTS + #define __Pyx_PyType_GetFlags(tp) (((PyTypeObject *)tp)->tp_flags) + #define __Pyx_PyType_HasFeature(type, feature) ((__Pyx_PyType_GetFlags(type) & (feature)) != 0) + #define __Pyx_PyObject_GetIterNextFunc(obj) (Py_TYPE(obj)->tp_iternext) +#else + #define __Pyx_PyType_GetFlags(tp) (PyType_GetFlags((PyTypeObject *)tp)) + #define __Pyx_PyType_HasFeature(type, feature) PyType_HasFeature(type, feature) + #define __Pyx_PyObject_GetIterNextFunc(obj) PyIter_Next +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_SetItemOnTypeDict(tp, k, v) PyObject_GenericSetAttr((PyObject*)tp, k, v) +#else + #define __Pyx_SetItemOnTypeDict(tp, k, v) PyDict_SetItem(tp->tp_dict, k, v) +#endif +#if CYTHON_USE_TYPE_SPECS && PY_VERSION_HEX >= 0x03080000 +#define __Pyx_PyHeapTypeObject_GC_Del(obj) {\ + PyTypeObject *type = Py_TYPE((PyObject*)obj);\ + assert(__Pyx_PyType_HasFeature(type, Py_TPFLAGS_HEAPTYPE));\ + PyObject_GC_Del(obj);\ + Py_DECREF(type);\ +} +#else +#define __Pyx_PyHeapTypeObject_GC_Del(obj) PyObject_GC_Del(obj) +#endif +#if CYTHON_COMPILING_IN_LIMITED_API + #define CYTHON_PEP393_ENABLED 1 + #define __Pyx_PyUnicode_READY(op) (0) + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GetLength(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) PyUnicode_ReadChar(u, i) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) ((void)u, 1114111U) + #define __Pyx_PyUnicode_KIND(u) ((void)u, (0)) + #define __Pyx_PyUnicode_DATA(u) ((void*)u) + #define __Pyx_PyUnicode_READ(k, d, i) ((void)k, PyUnicode_ReadChar((PyObject*)(d), i)) + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GetLength(u)) +#elif PY_VERSION_HEX > 0x03030000 && defined(PyUnicode_KIND) + #define CYTHON_PEP393_ENABLED 1 + #if PY_VERSION_HEX >= 0x030C0000 + #define __Pyx_PyUnicode_READY(op) (0) + #else + #define __Pyx_PyUnicode_READY(op) (likely(PyUnicode_IS_READY(op)) ?\ + 0 : _PyUnicode_Ready((PyObject *)(op))) + #endif + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_LENGTH(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) PyUnicode_READ_CHAR(u, i) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) PyUnicode_MAX_CHAR_VALUE(u) + #define __Pyx_PyUnicode_KIND(u) ((int)PyUnicode_KIND(u)) + #define __Pyx_PyUnicode_DATA(u) PyUnicode_DATA(u) + #define __Pyx_PyUnicode_READ(k, d, i) PyUnicode_READ(k, d, i) + #define __Pyx_PyUnicode_WRITE(k, d, i, ch) PyUnicode_WRITE(k, d, i, (Py_UCS4) ch) + #if PY_VERSION_HEX >= 0x030C0000 + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_LENGTH(u)) + #else + #if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x03090000 + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : ((PyCompactUnicodeObject *)(u))->wstr_length)) + #else + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != (likely(PyUnicode_IS_READY(u)) ? PyUnicode_GET_LENGTH(u) : PyUnicode_GET_SIZE(u))) + #endif + #endif +#else + #define CYTHON_PEP393_ENABLED 0 + #define PyUnicode_1BYTE_KIND 1 + #define PyUnicode_2BYTE_KIND 2 + #define PyUnicode_4BYTE_KIND 4 + #define __Pyx_PyUnicode_READY(op) (0) + #define __Pyx_PyUnicode_GET_LENGTH(u) PyUnicode_GET_SIZE(u) + #define __Pyx_PyUnicode_READ_CHAR(u, i) ((Py_UCS4)(PyUnicode_AS_UNICODE(u)[i])) + #define __Pyx_PyUnicode_MAX_CHAR_VALUE(u) ((sizeof(Py_UNICODE) == 2) ? 65535U : 1114111U) + #define __Pyx_PyUnicode_KIND(u) ((int)sizeof(Py_UNICODE)) + #define __Pyx_PyUnicode_DATA(u) ((void*)PyUnicode_AS_UNICODE(u)) + #define __Pyx_PyUnicode_READ(k, d, i) ((void)(k), (Py_UCS4)(((Py_UNICODE*)d)[i])) + #define __Pyx_PyUnicode_WRITE(k, d, i, ch) (((void)(k)), ((Py_UNICODE*)d)[i] = (Py_UNICODE) ch) + #define __Pyx_PyUnicode_IS_TRUE(u) (0 != PyUnicode_GET_SIZE(u)) +#endif +#if CYTHON_COMPILING_IN_PYPY + #define __Pyx_PyUnicode_Concat(a, b) PyNumber_Add(a, b) + #define __Pyx_PyUnicode_ConcatSafe(a, b) PyNumber_Add(a, b) +#else + #define __Pyx_PyUnicode_Concat(a, b) PyUnicode_Concat(a, b) + #define __Pyx_PyUnicode_ConcatSafe(a, b) ((unlikely((a) == Py_None) || unlikely((b) == Py_None)) ?\ + PyNumber_Add(a, b) : __Pyx_PyUnicode_Concat(a, b)) +#endif +#if CYTHON_COMPILING_IN_PYPY + #if !defined(PyUnicode_DecodeUnicodeEscape) + #define PyUnicode_DecodeUnicodeEscape(s, size, errors) PyUnicode_Decode(s, size, "unicode_escape", errors) + #endif + #if !defined(PyUnicode_Contains) || (PY_MAJOR_VERSION == 2 && PYPY_VERSION_NUM < 0x07030500) + #undef PyUnicode_Contains + #define PyUnicode_Contains(u, s) PySequence_Contains(u, s) + #endif + #if !defined(PyByteArray_Check) + #define PyByteArray_Check(obj) PyObject_TypeCheck(obj, &PyByteArray_Type) + #endif + #if !defined(PyObject_Format) + #define PyObject_Format(obj, fmt) PyObject_CallMethod(obj, "__format__", "O", fmt) + #endif +#endif +#define __Pyx_PyString_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyString_Check(b) && !PyString_CheckExact(b)))) ? PyNumber_Remainder(a, b) : __Pyx_PyString_Format(a, b)) +#define __Pyx_PyUnicode_FormatSafe(a, b) ((unlikely((a) == Py_None || (PyUnicode_Check(b) && !PyUnicode_CheckExact(b)))) ? PyNumber_Remainder(a, b) : PyUnicode_Format(a, b)) +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyString_Format(a, b) PyUnicode_Format(a, b) +#else + #define __Pyx_PyString_Format(a, b) PyString_Format(a, b) +#endif +#if PY_MAJOR_VERSION < 3 && !defined(PyObject_ASCII) + #define PyObject_ASCII(o) PyObject_Repr(o) +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyBaseString_Type PyUnicode_Type + #define PyStringObject PyUnicodeObject + #define PyString_Type PyUnicode_Type + #define PyString_Check PyUnicode_Check + #define PyString_CheckExact PyUnicode_CheckExact +#ifndef PyObject_Unicode + #define PyObject_Unicode PyObject_Str +#endif +#endif +#if PY_MAJOR_VERSION >= 3 + #define __Pyx_PyBaseString_Check(obj) PyUnicode_Check(obj) + #define __Pyx_PyBaseString_CheckExact(obj) PyUnicode_CheckExact(obj) +#else + #define __Pyx_PyBaseString_Check(obj) (PyString_Check(obj) || PyUnicode_Check(obj)) + #define __Pyx_PyBaseString_CheckExact(obj) (PyString_CheckExact(obj) || PyUnicode_CheckExact(obj)) +#endif +#if CYTHON_COMPILING_IN_CPYTHON + #define __Pyx_PySequence_ListKeepNew(obj)\ + (likely(PyList_CheckExact(obj) && Py_REFCNT(obj) == 1) ? __Pyx_NewRef(obj) : PySequence_List(obj)) +#else + #define __Pyx_PySequence_ListKeepNew(obj) PySequence_List(obj) +#endif +#ifndef PySet_CheckExact + #define PySet_CheckExact(obj) __Pyx_IS_TYPE(obj, &PySet_Type) +#endif +#if PY_VERSION_HEX >= 0x030900A4 + #define __Pyx_SET_REFCNT(obj, refcnt) Py_SET_REFCNT(obj, refcnt) + #define __Pyx_SET_SIZE(obj, size) Py_SET_SIZE(obj, size) +#else + #define __Pyx_SET_REFCNT(obj, refcnt) Py_REFCNT(obj) = (refcnt) + #define __Pyx_SET_SIZE(obj, size) Py_SIZE(obj) = (size) +#endif +#if CYTHON_ASSUME_SAFE_MACROS + #define __Pyx_PySequence_ITEM(o, i) PySequence_ITEM(o, i) + #define __Pyx_PySequence_SIZE(seq) Py_SIZE(seq) + #define __Pyx_PyTuple_SET_ITEM(o, i, v) (PyTuple_SET_ITEM(o, i, v), (0)) + #define __Pyx_PyList_SET_ITEM(o, i, v) (PyList_SET_ITEM(o, i, v), (0)) + #define __Pyx_PyTuple_GET_SIZE(o) PyTuple_GET_SIZE(o) + #define __Pyx_PyList_GET_SIZE(o) PyList_GET_SIZE(o) + #define __Pyx_PySet_GET_SIZE(o) PySet_GET_SIZE(o) + #define __Pyx_PyBytes_GET_SIZE(o) PyBytes_GET_SIZE(o) + #define __Pyx_PyByteArray_GET_SIZE(o) PyByteArray_GET_SIZE(o) +#else + #define __Pyx_PySequence_ITEM(o, i) PySequence_GetItem(o, i) + #define __Pyx_PySequence_SIZE(seq) PySequence_Size(seq) + #define __Pyx_PyTuple_SET_ITEM(o, i, v) PyTuple_SetItem(o, i, v) + #define __Pyx_PyList_SET_ITEM(o, i, v) PyList_SetItem(o, i, v) + #define __Pyx_PyTuple_GET_SIZE(o) PyTuple_Size(o) + #define __Pyx_PyList_GET_SIZE(o) PyList_Size(o) + #define __Pyx_PySet_GET_SIZE(o) PySet_Size(o) + #define __Pyx_PyBytes_GET_SIZE(o) PyBytes_Size(o) + #define __Pyx_PyByteArray_GET_SIZE(o) PyByteArray_Size(o) +#endif +#if PY_VERSION_HEX >= 0x030d00A1 + #define __Pyx_PyImport_AddModuleRef(name) PyImport_AddModuleRef(name) +#else + static CYTHON_INLINE PyObject *__Pyx_PyImport_AddModuleRef(const char *name) { + PyObject *module = PyImport_AddModule(name); + Py_XINCREF(module); + return module; + } +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyIntObject PyLongObject + #define PyInt_Type PyLong_Type + #define PyInt_Check(op) PyLong_Check(op) + #define PyInt_CheckExact(op) PyLong_CheckExact(op) + #define __Pyx_Py3Int_Check(op) PyLong_Check(op) + #define __Pyx_Py3Int_CheckExact(op) PyLong_CheckExact(op) + #define PyInt_FromString PyLong_FromString + #define PyInt_FromUnicode PyLong_FromUnicode + #define PyInt_FromLong PyLong_FromLong + #define PyInt_FromSize_t PyLong_FromSize_t + #define PyInt_FromSsize_t PyLong_FromSsize_t + #define PyInt_AsLong PyLong_AsLong + #define PyInt_AS_LONG PyLong_AS_LONG + #define PyInt_AsSsize_t PyLong_AsSsize_t + #define PyInt_AsUnsignedLongMask PyLong_AsUnsignedLongMask + #define PyInt_AsUnsignedLongLongMask PyLong_AsUnsignedLongLongMask + #define PyNumber_Int PyNumber_Long +#else + #define __Pyx_Py3Int_Check(op) (PyLong_Check(op) || PyInt_Check(op)) + #define __Pyx_Py3Int_CheckExact(op) (PyLong_CheckExact(op) || PyInt_CheckExact(op)) +#endif +#if PY_MAJOR_VERSION >= 3 + #define PyBoolObject PyLongObject +#endif +#if PY_MAJOR_VERSION >= 3 && CYTHON_COMPILING_IN_PYPY + #ifndef PyUnicode_InternFromString + #define PyUnicode_InternFromString(s) PyUnicode_FromString(s) + #endif +#endif +#if PY_VERSION_HEX < 0x030200A4 + typedef long Py_hash_t; + #define __Pyx_PyInt_FromHash_t PyInt_FromLong + #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsHash_t +#else + #define __Pyx_PyInt_FromHash_t PyInt_FromSsize_t + #define __Pyx_PyInt_AsHash_t __Pyx_PyIndex_AsSsize_t +#endif +#if CYTHON_USE_ASYNC_SLOTS + #if PY_VERSION_HEX >= 0x030500B1 + #define __Pyx_PyAsyncMethodsStruct PyAsyncMethods + #define __Pyx_PyType_AsAsync(obj) (Py_TYPE(obj)->tp_as_async) + #else + #define __Pyx_PyType_AsAsync(obj) ((__Pyx_PyAsyncMethodsStruct*) (Py_TYPE(obj)->tp_reserved)) + #endif +#else + #define __Pyx_PyType_AsAsync(obj) NULL +#endif +#ifndef __Pyx_PyAsyncMethodsStruct + typedef struct { + unaryfunc am_await; + unaryfunc am_aiter; + unaryfunc am_anext; + } __Pyx_PyAsyncMethodsStruct; +#endif + +#if defined(_WIN32) || defined(WIN32) || defined(MS_WINDOWS) + #if !defined(_USE_MATH_DEFINES) + #define _USE_MATH_DEFINES + #endif +#endif +#include +#ifdef NAN +#define __PYX_NAN() ((float) NAN) +#else +static CYTHON_INLINE float __PYX_NAN() { + float value; + memset(&value, 0xFF, sizeof(value)); + return value; +} +#endif +#if defined(__CYGWIN__) && defined(_LDBL_EQ_DBL) +#define __Pyx_truncl trunc +#else +#define __Pyx_truncl truncl +#endif + +#define __PYX_MARK_ERR_POS(f_index, lineno) \ + { __pyx_filename = __pyx_f[f_index]; (void)__pyx_filename; __pyx_lineno = lineno; (void)__pyx_lineno; __pyx_clineno = __LINE__; (void)__pyx_clineno; } +#define __PYX_ERR(f_index, lineno, Ln_error) \ + { __PYX_MARK_ERR_POS(f_index, lineno) goto Ln_error; } + +#ifdef CYTHON_EXTERN_C + #undef __PYX_EXTERN_C + #define __PYX_EXTERN_C CYTHON_EXTERN_C +#elif defined(__PYX_EXTERN_C) + #ifdef _MSC_VER + #pragma message ("Please do not define the '__PYX_EXTERN_C' macro externally. Use 'CYTHON_EXTERN_C' instead.") + #else + #warning Please do not define the '__PYX_EXTERN_C' macro externally. Use 'CYTHON_EXTERN_C' instead. + #endif +#else + #define __PYX_EXTERN_C extern "C++" +#endif + +#define __PYX_HAVE__selfdrive__pandad__pandad_api_impl +#define __PYX_HAVE_API__selfdrive__pandad__pandad_api_impl +/* Early includes */ +#include "ios" +#include "new" +#include "stdexcept" +#include "typeinfo" +#include +#include +#include +#include "panda.h" +#include "can_list_to_can_capnp.cc" +#ifdef _OPENMP +#include +#endif /* _OPENMP */ + +#if defined(PYREX_WITHOUT_ASSERTIONS) && !defined(CYTHON_WITHOUT_ASSERTIONS) +#define CYTHON_WITHOUT_ASSERTIONS +#endif + +typedef struct {PyObject **p; const char *s; const Py_ssize_t n; const char* encoding; + const char is_unicode; const char is_str; const char intern; } __Pyx_StringTabEntry; + +#define __PYX_DEFAULT_STRING_ENCODING_IS_ASCII 0 +#define __PYX_DEFAULT_STRING_ENCODING_IS_UTF8 0 +#define __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT (PY_MAJOR_VERSION >= 3 && __PYX_DEFAULT_STRING_ENCODING_IS_UTF8) +#define __PYX_DEFAULT_STRING_ENCODING "" +#define __Pyx_PyObject_FromString __Pyx_PyBytes_FromString +#define __Pyx_PyObject_FromStringAndSize __Pyx_PyBytes_FromStringAndSize +#define __Pyx_uchar_cast(c) ((unsigned char)c) +#define __Pyx_long_cast(x) ((long)x) +#define __Pyx_fits_Py_ssize_t(v, type, is_signed) (\ + (sizeof(type) < sizeof(Py_ssize_t)) ||\ + (sizeof(type) > sizeof(Py_ssize_t) &&\ + likely(v < (type)PY_SSIZE_T_MAX ||\ + v == (type)PY_SSIZE_T_MAX) &&\ + (!is_signed || likely(v > (type)PY_SSIZE_T_MIN ||\ + v == (type)PY_SSIZE_T_MIN))) ||\ + (sizeof(type) == sizeof(Py_ssize_t) &&\ + (is_signed || likely(v < (type)PY_SSIZE_T_MAX ||\ + v == (type)PY_SSIZE_T_MAX))) ) +static CYTHON_INLINE int __Pyx_is_valid_index(Py_ssize_t i, Py_ssize_t limit) { + return (size_t) i < (size_t) limit; +} +#if defined (__cplusplus) && __cplusplus >= 201103L + #include + #define __Pyx_sst_abs(value) std::abs(value) +#elif SIZEOF_INT >= SIZEOF_SIZE_T + #define __Pyx_sst_abs(value) abs(value) +#elif SIZEOF_LONG >= SIZEOF_SIZE_T + #define __Pyx_sst_abs(value) labs(value) +#elif defined (_MSC_VER) + #define __Pyx_sst_abs(value) ((Py_ssize_t)_abs64(value)) +#elif defined (__STDC_VERSION__) && __STDC_VERSION__ >= 199901L + #define __Pyx_sst_abs(value) llabs(value) +#elif defined (__GNUC__) + #define __Pyx_sst_abs(value) __builtin_llabs(value) +#else + #define __Pyx_sst_abs(value) ((value<0) ? -value : value) +#endif +static CYTHON_INLINE Py_ssize_t __Pyx_ssize_strlen(const char *s); +static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject*); +static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject*, Py_ssize_t* length); +static CYTHON_INLINE PyObject* __Pyx_PyByteArray_FromString(const char*); +#define __Pyx_PyByteArray_FromStringAndSize(s, l) PyByteArray_FromStringAndSize((const char*)s, l) +#define __Pyx_PyBytes_FromString PyBytes_FromString +#define __Pyx_PyBytes_FromStringAndSize PyBytes_FromStringAndSize +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char*); +#if PY_MAJOR_VERSION < 3 + #define __Pyx_PyStr_FromString __Pyx_PyBytes_FromString + #define __Pyx_PyStr_FromStringAndSize __Pyx_PyBytes_FromStringAndSize +#else + #define __Pyx_PyStr_FromString __Pyx_PyUnicode_FromString + #define __Pyx_PyStr_FromStringAndSize __Pyx_PyUnicode_FromStringAndSize +#endif +#define __Pyx_PyBytes_AsWritableString(s) ((char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsWritableSString(s) ((signed char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsWritableUString(s) ((unsigned char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsString(s) ((const char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsSString(s) ((const signed char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyBytes_AsUString(s) ((const unsigned char*) PyBytes_AS_STRING(s)) +#define __Pyx_PyObject_AsWritableString(s) ((char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsWritableSString(s) ((signed char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsWritableUString(s) ((unsigned char*)(__pyx_uintptr_t) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsSString(s) ((const signed char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_AsUString(s) ((const unsigned char*) __Pyx_PyObject_AsString(s)) +#define __Pyx_PyObject_FromCString(s) __Pyx_PyObject_FromString((const char*)s) +#define __Pyx_PyBytes_FromCString(s) __Pyx_PyBytes_FromString((const char*)s) +#define __Pyx_PyByteArray_FromCString(s) __Pyx_PyByteArray_FromString((const char*)s) +#define __Pyx_PyStr_FromCString(s) __Pyx_PyStr_FromString((const char*)s) +#define __Pyx_PyUnicode_FromCString(s) __Pyx_PyUnicode_FromString((const char*)s) +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE size_t __Pyx_Py_UNICODE_strlen(const wchar_t *u) +{ + const wchar_t *u_end = u; + while (*u_end++) ; + return (size_t)(u_end - u - 1); +} +#else +static CYTHON_INLINE size_t __Pyx_Py_UNICODE_strlen(const Py_UNICODE *u) +{ + const Py_UNICODE *u_end = u; + while (*u_end++) ; + return (size_t)(u_end - u - 1); +} +#endif +#define __Pyx_PyUnicode_FromOrdinal(o) PyUnicode_FromOrdinal((int)o) +#define __Pyx_PyUnicode_FromUnicode(u) PyUnicode_FromUnicode(u, __Pyx_Py_UNICODE_strlen(u)) +#define __Pyx_PyUnicode_FromUnicodeAndLength PyUnicode_FromUnicode +#define __Pyx_PyUnicode_AsUnicode PyUnicode_AsUnicode +#define __Pyx_NewRef(obj) (Py_INCREF(obj), obj) +#define __Pyx_Owned_Py_None(b) __Pyx_NewRef(Py_None) +static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b); +static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject*); +static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject*); +static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x); +#define __Pyx_PySequence_Tuple(obj)\ + (likely(PyTuple_CheckExact(obj)) ? __Pyx_NewRef(obj) : PySequence_Tuple(obj)) +static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject*); +static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t); +static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject*); +#if CYTHON_ASSUME_SAFE_MACROS +#define __pyx_PyFloat_AsDouble(x) (PyFloat_CheckExact(x) ? PyFloat_AS_DOUBLE(x) : PyFloat_AsDouble(x)) +#else +#define __pyx_PyFloat_AsDouble(x) PyFloat_AsDouble(x) +#endif +#define __pyx_PyFloat_AsFloat(x) ((float) __pyx_PyFloat_AsDouble(x)) +#if PY_MAJOR_VERSION >= 3 +#define __Pyx_PyNumber_Int(x) (PyLong_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Long(x)) +#else +#define __Pyx_PyNumber_Int(x) (PyInt_CheckExact(x) ? __Pyx_NewRef(x) : PyNumber_Int(x)) +#endif +#if CYTHON_USE_PYLONG_INTERNALS + #if PY_VERSION_HEX >= 0x030C00A7 + #ifndef _PyLong_SIGN_MASK + #define _PyLong_SIGN_MASK 3 + #endif + #ifndef _PyLong_NON_SIZE_BITS + #define _PyLong_NON_SIZE_BITS 3 + #endif + #define __Pyx_PyLong_Sign(x) (((PyLongObject*)x)->long_value.lv_tag & _PyLong_SIGN_MASK) + #define __Pyx_PyLong_IsNeg(x) ((__Pyx_PyLong_Sign(x) & 2) != 0) + #define __Pyx_PyLong_IsNonNeg(x) (!__Pyx_PyLong_IsNeg(x)) + #define __Pyx_PyLong_IsZero(x) (__Pyx_PyLong_Sign(x) & 1) + #define __Pyx_PyLong_IsPos(x) (__Pyx_PyLong_Sign(x) == 0) + #define __Pyx_PyLong_CompactValueUnsigned(x) (__Pyx_PyLong_Digits(x)[0]) + #define __Pyx_PyLong_DigitCount(x) ((Py_ssize_t) (((PyLongObject*)x)->long_value.lv_tag >> _PyLong_NON_SIZE_BITS)) + #define __Pyx_PyLong_SignedDigitCount(x)\ + ((1 - (Py_ssize_t) __Pyx_PyLong_Sign(x)) * __Pyx_PyLong_DigitCount(x)) + #if defined(PyUnstable_Long_IsCompact) && defined(PyUnstable_Long_CompactValue) + #define __Pyx_PyLong_IsCompact(x) PyUnstable_Long_IsCompact((PyLongObject*) x) + #define __Pyx_PyLong_CompactValue(x) PyUnstable_Long_CompactValue((PyLongObject*) x) + #else + #define __Pyx_PyLong_IsCompact(x) (((PyLongObject*)x)->long_value.lv_tag < (2 << _PyLong_NON_SIZE_BITS)) + #define __Pyx_PyLong_CompactValue(x) ((1 - (Py_ssize_t) __Pyx_PyLong_Sign(x)) * (Py_ssize_t) __Pyx_PyLong_Digits(x)[0]) + #endif + typedef Py_ssize_t __Pyx_compact_pylong; + typedef size_t __Pyx_compact_upylong; + #else + #define __Pyx_PyLong_IsNeg(x) (Py_SIZE(x) < 0) + #define __Pyx_PyLong_IsNonNeg(x) (Py_SIZE(x) >= 0) + #define __Pyx_PyLong_IsZero(x) (Py_SIZE(x) == 0) + #define __Pyx_PyLong_IsPos(x) (Py_SIZE(x) > 0) + #define __Pyx_PyLong_CompactValueUnsigned(x) ((Py_SIZE(x) == 0) ? 0 : __Pyx_PyLong_Digits(x)[0]) + #define __Pyx_PyLong_DigitCount(x) __Pyx_sst_abs(Py_SIZE(x)) + #define __Pyx_PyLong_SignedDigitCount(x) Py_SIZE(x) + #define __Pyx_PyLong_IsCompact(x) (Py_SIZE(x) == 0 || Py_SIZE(x) == 1 || Py_SIZE(x) == -1) + #define __Pyx_PyLong_CompactValue(x)\ + ((Py_SIZE(x) == 0) ? (sdigit) 0 : ((Py_SIZE(x) < 0) ? -(sdigit)__Pyx_PyLong_Digits(x)[0] : (sdigit)__Pyx_PyLong_Digits(x)[0])) + typedef sdigit __Pyx_compact_pylong; + typedef digit __Pyx_compact_upylong; + #endif + #if PY_VERSION_HEX >= 0x030C00A5 + #define __Pyx_PyLong_Digits(x) (((PyLongObject*)x)->long_value.ob_digit) + #else + #define __Pyx_PyLong_Digits(x) (((PyLongObject*)x)->ob_digit) + #endif +#endif +#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII +#include +static int __Pyx_sys_getdefaultencoding_not_ascii; +static int __Pyx_init_sys_getdefaultencoding_params(void) { + PyObject* sys; + PyObject* default_encoding = NULL; + PyObject* ascii_chars_u = NULL; + PyObject* ascii_chars_b = NULL; + const char* default_encoding_c; + sys = PyImport_ImportModule("sys"); + if (!sys) goto bad; + default_encoding = PyObject_CallMethod(sys, (char*) "getdefaultencoding", NULL); + Py_DECREF(sys); + if (!default_encoding) goto bad; + default_encoding_c = PyBytes_AsString(default_encoding); + if (!default_encoding_c) goto bad; + if (strcmp(default_encoding_c, "ascii") == 0) { + __Pyx_sys_getdefaultencoding_not_ascii = 0; + } else { + char ascii_chars[128]; + int c; + for (c = 0; c < 128; c++) { + ascii_chars[c] = (char) c; + } + __Pyx_sys_getdefaultencoding_not_ascii = 1; + ascii_chars_u = PyUnicode_DecodeASCII(ascii_chars, 128, NULL); + if (!ascii_chars_u) goto bad; + ascii_chars_b = PyUnicode_AsEncodedString(ascii_chars_u, default_encoding_c, NULL); + if (!ascii_chars_b || !PyBytes_Check(ascii_chars_b) || memcmp(ascii_chars, PyBytes_AS_STRING(ascii_chars_b), 128) != 0) { + PyErr_Format( + PyExc_ValueError, + "This module compiled with c_string_encoding=ascii, but default encoding '%.200s' is not a superset of ascii.", + default_encoding_c); + goto bad; + } + Py_DECREF(ascii_chars_u); + Py_DECREF(ascii_chars_b); + } + Py_DECREF(default_encoding); + return 0; +bad: + Py_XDECREF(default_encoding); + Py_XDECREF(ascii_chars_u); + Py_XDECREF(ascii_chars_b); + return -1; +} +#endif +#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT && PY_MAJOR_VERSION >= 3 +#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_DecodeUTF8(c_str, size, NULL) +#else +#define __Pyx_PyUnicode_FromStringAndSize(c_str, size) PyUnicode_Decode(c_str, size, __PYX_DEFAULT_STRING_ENCODING, NULL) +#if __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT +#include +static char* __PYX_DEFAULT_STRING_ENCODING; +static int __Pyx_init_sys_getdefaultencoding_params(void) { + PyObject* sys; + PyObject* default_encoding = NULL; + char* default_encoding_c; + sys = PyImport_ImportModule("sys"); + if (!sys) goto bad; + default_encoding = PyObject_CallMethod(sys, (char*) (const char*) "getdefaultencoding", NULL); + Py_DECREF(sys); + if (!default_encoding) goto bad; + default_encoding_c = PyBytes_AsString(default_encoding); + if (!default_encoding_c) goto bad; + __PYX_DEFAULT_STRING_ENCODING = (char*) malloc(strlen(default_encoding_c) + 1); + if (!__PYX_DEFAULT_STRING_ENCODING) goto bad; + strcpy(__PYX_DEFAULT_STRING_ENCODING, default_encoding_c); + Py_DECREF(default_encoding); + return 0; +bad: + Py_XDECREF(default_encoding); + return -1; +} +#endif +#endif + + +/* Test for GCC > 2.95 */ +#if defined(__GNUC__) && (__GNUC__ > 2 || (__GNUC__ == 2 && (__GNUC_MINOR__ > 95))) + #define likely(x) __builtin_expect(!!(x), 1) + #define unlikely(x) __builtin_expect(!!(x), 0) +#else /* !__GNUC__ or GCC < 2.95 */ + #define likely(x) (x) + #define unlikely(x) (x) +#endif /* __GNUC__ */ +static CYTHON_INLINE void __Pyx_pretend_to_initialize(void* ptr) { (void)ptr; } + +#if !CYTHON_USE_MODULE_STATE +static PyObject *__pyx_m = NULL; +#endif +static int __pyx_lineno; +static int __pyx_clineno = 0; +static const char * __pyx_cfilenm = __FILE__; +static const char *__pyx_filename; + +/* #### Code section: filename_table ### */ + +static const char *__pyx_f[] = { + "", + "selfdrive/pandad/pandad_api_impl.pyx", +}; +/* #### Code section: utility_code_proto_before_types ### */ +/* ForceInitThreads.proto */ +#ifndef __PYX_FORCE_INIT_THREADS + #define __PYX_FORCE_INIT_THREADS 0 +#endif + +/* #### Code section: numeric_typedefs ### */ +/* #### Code section: complex_type_declarations ### */ +/* #### Code section: type_declarations ### */ + +/*--- Type declarations ---*/ +/* #### Code section: utility_code_proto ### */ + +/* --- Runtime support code (head) --- */ +/* Refnanny.proto */ +#ifndef CYTHON_REFNANNY + #define CYTHON_REFNANNY 0 +#endif +#if CYTHON_REFNANNY + typedef struct { + void (*INCREF)(void*, PyObject*, Py_ssize_t); + void (*DECREF)(void*, PyObject*, Py_ssize_t); + void (*GOTREF)(void*, PyObject*, Py_ssize_t); + void (*GIVEREF)(void*, PyObject*, Py_ssize_t); + void* (*SetupContext)(const char*, Py_ssize_t, const char*); + void (*FinishContext)(void**); + } __Pyx_RefNannyAPIStruct; + static __Pyx_RefNannyAPIStruct *__Pyx_RefNanny = NULL; + static __Pyx_RefNannyAPIStruct *__Pyx_RefNannyImportAPI(const char *modname); + #define __Pyx_RefNannyDeclarations void *__pyx_refnanny = NULL; +#ifdef WITH_THREAD + #define __Pyx_RefNannySetupContext(name, acquire_gil)\ + if (acquire_gil) {\ + PyGILState_STATE __pyx_gilstate_save = PyGILState_Ensure();\ + __pyx_refnanny = __Pyx_RefNanny->SetupContext((name), (__LINE__), (__FILE__));\ + PyGILState_Release(__pyx_gilstate_save);\ + } else {\ + __pyx_refnanny = __Pyx_RefNanny->SetupContext((name), (__LINE__), (__FILE__));\ + } + #define __Pyx_RefNannyFinishContextNogil() {\ + PyGILState_STATE __pyx_gilstate_save = PyGILState_Ensure();\ + __Pyx_RefNannyFinishContext();\ + PyGILState_Release(__pyx_gilstate_save);\ + } +#else + #define __Pyx_RefNannySetupContext(name, acquire_gil)\ + __pyx_refnanny = __Pyx_RefNanny->SetupContext((name), (__LINE__), (__FILE__)) + #define __Pyx_RefNannyFinishContextNogil() __Pyx_RefNannyFinishContext() +#endif + #define __Pyx_RefNannyFinishContextNogil() {\ + PyGILState_STATE __pyx_gilstate_save = PyGILState_Ensure();\ + __Pyx_RefNannyFinishContext();\ + PyGILState_Release(__pyx_gilstate_save);\ + } + #define __Pyx_RefNannyFinishContext()\ + __Pyx_RefNanny->FinishContext(&__pyx_refnanny) + #define __Pyx_INCREF(r) __Pyx_RefNanny->INCREF(__pyx_refnanny, (PyObject *)(r), (__LINE__)) + #define __Pyx_DECREF(r) __Pyx_RefNanny->DECREF(__pyx_refnanny, (PyObject *)(r), (__LINE__)) + #define __Pyx_GOTREF(r) __Pyx_RefNanny->GOTREF(__pyx_refnanny, (PyObject *)(r), (__LINE__)) + #define __Pyx_GIVEREF(r) __Pyx_RefNanny->GIVEREF(__pyx_refnanny, (PyObject *)(r), (__LINE__)) + #define __Pyx_XINCREF(r) do { if((r) == NULL); else {__Pyx_INCREF(r); }} while(0) + #define __Pyx_XDECREF(r) do { if((r) == NULL); else {__Pyx_DECREF(r); }} while(0) + #define __Pyx_XGOTREF(r) do { if((r) == NULL); else {__Pyx_GOTREF(r); }} while(0) + #define __Pyx_XGIVEREF(r) do { if((r) == NULL); else {__Pyx_GIVEREF(r);}} while(0) +#else + #define __Pyx_RefNannyDeclarations + #define __Pyx_RefNannySetupContext(name, acquire_gil) + #define __Pyx_RefNannyFinishContextNogil() + #define __Pyx_RefNannyFinishContext() + #define __Pyx_INCREF(r) Py_INCREF(r) + #define __Pyx_DECREF(r) Py_DECREF(r) + #define __Pyx_GOTREF(r) + #define __Pyx_GIVEREF(r) + #define __Pyx_XINCREF(r) Py_XINCREF(r) + #define __Pyx_XDECREF(r) Py_XDECREF(r) + #define __Pyx_XGOTREF(r) + #define __Pyx_XGIVEREF(r) +#endif +#define __Pyx_Py_XDECREF_SET(r, v) do {\ + PyObject *tmp = (PyObject *) r;\ + r = v; Py_XDECREF(tmp);\ + } while (0) +#define __Pyx_XDECREF_SET(r, v) do {\ + PyObject *tmp = (PyObject *) r;\ + r = v; __Pyx_XDECREF(tmp);\ + } while (0) +#define __Pyx_DECREF_SET(r, v) do {\ + PyObject *tmp = (PyObject *) r;\ + r = v; __Pyx_DECREF(tmp);\ + } while (0) +#define __Pyx_CLEAR(r) do { PyObject* tmp = ((PyObject*)(r)); r = NULL; __Pyx_DECREF(tmp);} while(0) +#define __Pyx_XCLEAR(r) do { if((r) != NULL) {PyObject* tmp = ((PyObject*)(r)); r = NULL; __Pyx_DECREF(tmp);}} while(0) + +/* TupleAndListFromArray.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +static CYTHON_INLINE PyObject* __Pyx_PyList_FromArray(PyObject *const *src, Py_ssize_t n); +static CYTHON_INLINE PyObject* __Pyx_PyTuple_FromArray(PyObject *const *src, Py_ssize_t n); +#endif + +/* IncludeStringH.proto */ +#include + +/* BytesEquals.proto */ +static CYTHON_INLINE int __Pyx_PyBytes_Equals(PyObject* s1, PyObject* s2, int equals); + +/* UnicodeEquals.proto */ +static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int equals); + +/* fastcall.proto */ +#if CYTHON_AVOID_BORROWED_REFS + #define __Pyx_Arg_VARARGS(args, i) PySequence_GetItem(args, i) +#elif CYTHON_ASSUME_SAFE_MACROS + #define __Pyx_Arg_VARARGS(args, i) PyTuple_GET_ITEM(args, i) +#else + #define __Pyx_Arg_VARARGS(args, i) PyTuple_GetItem(args, i) +#endif +#if CYTHON_AVOID_BORROWED_REFS + #define __Pyx_Arg_NewRef_VARARGS(arg) __Pyx_NewRef(arg) + #define __Pyx_Arg_XDECREF_VARARGS(arg) Py_XDECREF(arg) +#else + #define __Pyx_Arg_NewRef_VARARGS(arg) arg + #define __Pyx_Arg_XDECREF_VARARGS(arg) +#endif +#define __Pyx_NumKwargs_VARARGS(kwds) PyDict_Size(kwds) +#define __Pyx_KwValues_VARARGS(args, nargs) NULL +#define __Pyx_GetKwValue_VARARGS(kw, kwvalues, s) __Pyx_PyDict_GetItemStrWithError(kw, s) +#define __Pyx_KwargsAsDict_VARARGS(kw, kwvalues) PyDict_Copy(kw) +#if CYTHON_METH_FASTCALL + #define __Pyx_Arg_FASTCALL(args, i) args[i] + #define __Pyx_NumKwargs_FASTCALL(kwds) PyTuple_GET_SIZE(kwds) + #define __Pyx_KwValues_FASTCALL(args, nargs) ((args) + (nargs)) + static CYTHON_INLINE PyObject * __Pyx_GetKwValue_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues, PyObject *s); +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 + CYTHON_UNUSED static PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues); + #else + #define __Pyx_KwargsAsDict_FASTCALL(kw, kwvalues) _PyStack_AsDict(kwvalues, kw) + #endif + #define __Pyx_Arg_NewRef_FASTCALL(arg) arg /* no-op, __Pyx_Arg_FASTCALL is direct and this needs + to have the same reference counting */ + #define __Pyx_Arg_XDECREF_FASTCALL(arg) +#else + #define __Pyx_Arg_FASTCALL __Pyx_Arg_VARARGS + #define __Pyx_NumKwargs_FASTCALL __Pyx_NumKwargs_VARARGS + #define __Pyx_KwValues_FASTCALL __Pyx_KwValues_VARARGS + #define __Pyx_GetKwValue_FASTCALL __Pyx_GetKwValue_VARARGS + #define __Pyx_KwargsAsDict_FASTCALL __Pyx_KwargsAsDict_VARARGS + #define __Pyx_Arg_NewRef_FASTCALL(arg) __Pyx_Arg_NewRef_VARARGS(arg) + #define __Pyx_Arg_XDECREF_FASTCALL(arg) __Pyx_Arg_XDECREF_VARARGS(arg) +#endif +#if CYTHON_COMPILING_IN_CPYTHON && CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS +#define __Pyx_ArgsSlice_VARARGS(args, start, stop) __Pyx_PyTuple_FromArray(&__Pyx_Arg_VARARGS(args, start), stop - start) +#define __Pyx_ArgsSlice_FASTCALL(args, start, stop) __Pyx_PyTuple_FromArray(&__Pyx_Arg_FASTCALL(args, start), stop - start) +#else +#define __Pyx_ArgsSlice_VARARGS(args, start, stop) PyTuple_GetSlice(args, start, stop) +#define __Pyx_ArgsSlice_FASTCALL(args, start, stop) PyTuple_GetSlice(args, start, stop) +#endif + +/* RaiseDoubleKeywords.proto */ +static void __Pyx_RaiseDoubleKeywordsError(const char* func_name, PyObject* kw_name); + +/* ParseKeywords.proto */ +static int __Pyx_ParseOptionalKeywords(PyObject *kwds, PyObject *const *kwvalues, + PyObject **argnames[], + PyObject *kwds2, PyObject *values[], Py_ssize_t num_pos_args, + const char* function_name); + +/* RaiseArgTupleInvalid.proto */ +static void __Pyx_RaiseArgtupleInvalid(const char* func_name, int exact, + Py_ssize_t num_min, Py_ssize_t num_max, Py_ssize_t num_found); + +/* GetItemInt.proto */ +#define __Pyx_GetItemInt(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_Fast(o, (Py_ssize_t)i, is_list, wraparound, boundscheck) :\ + (is_list ? (PyErr_SetString(PyExc_IndexError, "list index out of range"), (PyObject*)NULL) :\ + __Pyx_GetItemInt_Generic(o, to_py_func(i)))) +#define __Pyx_GetItemInt_List(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_List_Fast(o, (Py_ssize_t)i, wraparound, boundscheck) :\ + (PyErr_SetString(PyExc_IndexError, "list index out of range"), (PyObject*)NULL)) +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, + int wraparound, int boundscheck); +#define __Pyx_GetItemInt_Tuple(o, i, type, is_signed, to_py_func, is_list, wraparound, boundscheck)\ + (__Pyx_fits_Py_ssize_t(i, type, is_signed) ?\ + __Pyx_GetItemInt_Tuple_Fast(o, (Py_ssize_t)i, wraparound, boundscheck) :\ + (PyErr_SetString(PyExc_IndexError, "tuple index out of range"), (PyObject*)NULL)) +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i, + int wraparound, int boundscheck); +static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j); +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, + int is_list, int wraparound, int boundscheck); + +/* MoveIfSupported.proto */ +#if CYTHON_USE_CPP_STD_MOVE + #include + #define __PYX_STD_MOVE_IF_SUPPORTED(x) std::move(x) +#else + #define __PYX_STD_MOVE_IF_SUPPORTED(x) x +#endif + +/* IncludeStructmemberH.proto */ +#include + +/* FixUpExtensionType.proto */ +#if CYTHON_USE_TYPE_SPECS +static int __Pyx_fix_up_extension_type_from_spec(PyType_Spec *spec, PyTypeObject *type); +#endif + +/* FetchSharedCythonModule.proto */ +static PyObject *__Pyx_FetchSharedCythonABIModule(void); + +/* FetchCommonType.proto */ +#if !CYTHON_USE_TYPE_SPECS +static PyTypeObject* __Pyx_FetchCommonType(PyTypeObject* type); +#else +static PyTypeObject* __Pyx_FetchCommonTypeFromSpec(PyObject *module, PyType_Spec *spec, PyObject *bases); +#endif + +/* PyMethodNew.proto */ +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject *__Pyx_PyMethod_New(PyObject *func, PyObject *self, PyObject *typ) { + PyObject *typesModule=NULL, *methodType=NULL, *result=NULL; + CYTHON_UNUSED_VAR(typ); + if (!self) + return __Pyx_NewRef(func); + typesModule = PyImport_ImportModule("types"); + if (!typesModule) return NULL; + methodType = PyObject_GetAttrString(typesModule, "MethodType"); + Py_DECREF(typesModule); + if (!methodType) return NULL; + result = PyObject_CallFunctionObjArgs(methodType, func, self, NULL); + Py_DECREF(methodType); + return result; +} +#elif PY_MAJOR_VERSION >= 3 +static PyObject *__Pyx_PyMethod_New(PyObject *func, PyObject *self, PyObject *typ) { + CYTHON_UNUSED_VAR(typ); + if (!self) + return __Pyx_NewRef(func); + return PyMethod_New(func, self); +} +#else + #define __Pyx_PyMethod_New PyMethod_New +#endif + +/* PyObjectGetAttrStr.proto */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStr(PyObject* obj, PyObject* attr_name); +#else +#define __Pyx_PyObject_GetAttrStr(o,n) PyObject_GetAttr(o,n) +#endif + +/* PyVectorcallFastCallDict.proto */ +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE PyObject *__Pyx_PyVectorcall_FastCallDict(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw); +#endif + +/* CythonFunctionShared.proto */ +#define __Pyx_CyFunction_USED +#define __Pyx_CYFUNCTION_STATICMETHOD 0x01 +#define __Pyx_CYFUNCTION_CLASSMETHOD 0x02 +#define __Pyx_CYFUNCTION_CCLASS 0x04 +#define __Pyx_CYFUNCTION_COROUTINE 0x08 +#define __Pyx_CyFunction_GetClosure(f)\ + (((__pyx_CyFunctionObject *) (f))->func_closure) +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + #define __Pyx_CyFunction_GetClassObj(f)\ + (((__pyx_CyFunctionObject *) (f))->func_classobj) +#else + #define __Pyx_CyFunction_GetClassObj(f)\ + ((PyObject*) ((PyCMethodObject *) (f))->mm_class) +#endif +#define __Pyx_CyFunction_SetClassObj(f, classobj)\ + __Pyx__CyFunction_SetClassObj((__pyx_CyFunctionObject *) (f), (classobj)) +#define __Pyx_CyFunction_Defaults(type, f)\ + ((type *)(((__pyx_CyFunctionObject *) (f))->defaults)) +#define __Pyx_CyFunction_SetDefaultsGetter(f, g)\ + ((__pyx_CyFunctionObject *) (f))->defaults_getter = (g) +typedef struct { +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject_HEAD + PyObject *func; +#elif PY_VERSION_HEX < 0x030900B1 + PyCFunctionObject func; +#else + PyCMethodObject func; +#endif +#if CYTHON_BACKPORT_VECTORCALL + __pyx_vectorcallfunc func_vectorcall; +#endif +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API + PyObject *func_weakreflist; +#endif + PyObject *func_dict; + PyObject *func_name; + PyObject *func_qualname; + PyObject *func_doc; + PyObject *func_globals; + PyObject *func_code; + PyObject *func_closure; +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + PyObject *func_classobj; +#endif + void *defaults; + int defaults_pyobjects; + size_t defaults_size; + int flags; + PyObject *defaults_tuple; + PyObject *defaults_kwdict; + PyObject *(*defaults_getter)(PyObject *); + PyObject *func_annotations; + PyObject *func_is_coroutine; +} __pyx_CyFunctionObject; +#undef __Pyx_CyOrPyCFunction_Check +#define __Pyx_CyFunction_Check(obj) __Pyx_TypeCheck(obj, __pyx_CyFunctionType) +#define __Pyx_CyOrPyCFunction_Check(obj) __Pyx_TypeCheck2(obj, __pyx_CyFunctionType, &PyCFunction_Type) +#define __Pyx_CyFunction_CheckExact(obj) __Pyx_IS_TYPE(obj, __pyx_CyFunctionType) +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc); +#undef __Pyx_IsSameCFunction +#define __Pyx_IsSameCFunction(func, cfunc) __Pyx__IsSameCyOrCFunction(func, cfunc) +static PyObject *__Pyx_CyFunction_Init(__pyx_CyFunctionObject* op, PyMethodDef *ml, + int flags, PyObject* qualname, + PyObject *closure, + PyObject *module, PyObject *globals, + PyObject* code); +static CYTHON_INLINE void __Pyx__CyFunction_SetClassObj(__pyx_CyFunctionObject* f, PyObject* classobj); +static CYTHON_INLINE void *__Pyx_CyFunction_InitDefaults(PyObject *m, + size_t size, + int pyobjects); +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsTuple(PyObject *m, + PyObject *tuple); +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsKwDict(PyObject *m, + PyObject *dict); +static CYTHON_INLINE void __Pyx_CyFunction_SetAnnotationsDict(PyObject *m, + PyObject *dict); +static int __pyx_CyFunction_init(PyObject *module); +#if CYTHON_METH_FASTCALL +static PyObject * __Pyx_CyFunction_Vectorcall_NOARGS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_O(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames); +#if CYTHON_BACKPORT_VECTORCALL +#define __Pyx_CyFunction_func_vectorcall(f) (((__pyx_CyFunctionObject*)f)->func_vectorcall) +#else +#define __Pyx_CyFunction_func_vectorcall(f) (((PyCFunctionObject*)f)->vectorcall) +#endif +#endif + +/* CythonFunction.proto */ +static PyObject *__Pyx_CyFunction_New(PyMethodDef *ml, + int flags, PyObject* qualname, + PyObject *closure, + PyObject *module, PyObject *globals, + PyObject* code); + +/* PyDictVersioning.proto */ +#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS +#define __PYX_DICT_VERSION_INIT ((PY_UINT64_T) -1) +#define __PYX_GET_DICT_VERSION(dict) (((PyDictObject*)(dict))->ma_version_tag) +#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var)\ + (version_var) = __PYX_GET_DICT_VERSION(dict);\ + (cache_var) = (value); +#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) {\ + static PY_UINT64_T __pyx_dict_version = 0;\ + static PyObject *__pyx_dict_cached_value = NULL;\ + if (likely(__PYX_GET_DICT_VERSION(DICT) == __pyx_dict_version)) {\ + (VAR) = __pyx_dict_cached_value;\ + } else {\ + (VAR) = __pyx_dict_cached_value = (LOOKUP);\ + __pyx_dict_version = __PYX_GET_DICT_VERSION(DICT);\ + }\ +} +static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj); +static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj); +static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version); +#else +#define __PYX_GET_DICT_VERSION(dict) (0) +#define __PYX_UPDATE_DICT_CACHE(dict, value, cache_var, version_var) +#define __PYX_PY_DICT_LOOKUP_IF_MODIFIED(VAR, DICT, LOOKUP) (VAR) = (LOOKUP); +#endif + +/* PyErrExceptionMatches.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyErr_ExceptionMatches(err) __Pyx_PyErr_ExceptionMatchesInState(__pyx_tstate, err) +static CYTHON_INLINE int __Pyx_PyErr_ExceptionMatchesInState(PyThreadState* tstate, PyObject* err); +#else +#define __Pyx_PyErr_ExceptionMatches(err) PyErr_ExceptionMatches(err) +#endif + +/* PyThreadStateGet.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyThreadState_declare PyThreadState *__pyx_tstate; +#define __Pyx_PyThreadState_assign __pyx_tstate = __Pyx_PyThreadState_Current; +#if PY_VERSION_HEX >= 0x030C00A6 +#define __Pyx_PyErr_Occurred() (__pyx_tstate->current_exception != NULL) +#define __Pyx_PyErr_CurrentExceptionType() (__pyx_tstate->current_exception ? (PyObject*) Py_TYPE(__pyx_tstate->current_exception) : (PyObject*) NULL) +#else +#define __Pyx_PyErr_Occurred() (__pyx_tstate->curexc_type != NULL) +#define __Pyx_PyErr_CurrentExceptionType() (__pyx_tstate->curexc_type) +#endif +#else +#define __Pyx_PyThreadState_declare +#define __Pyx_PyThreadState_assign +#define __Pyx_PyErr_Occurred() (PyErr_Occurred() != NULL) +#define __Pyx_PyErr_CurrentExceptionType() PyErr_Occurred() +#endif + +/* PyErrFetchRestore.proto */ +#if CYTHON_FAST_THREAD_STATE +#define __Pyx_PyErr_Clear() __Pyx_ErrRestore(NULL, NULL, NULL) +#define __Pyx_ErrRestoreWithState(type, value, tb) __Pyx_ErrRestoreInState(PyThreadState_GET(), type, value, tb) +#define __Pyx_ErrFetchWithState(type, value, tb) __Pyx_ErrFetchInState(PyThreadState_GET(), type, value, tb) +#define __Pyx_ErrRestore(type, value, tb) __Pyx_ErrRestoreInState(__pyx_tstate, type, value, tb) +#define __Pyx_ErrFetch(type, value, tb) __Pyx_ErrFetchInState(__pyx_tstate, type, value, tb) +static CYTHON_INLINE void __Pyx_ErrRestoreInState(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb); +static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb); +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A6 +#define __Pyx_PyErr_SetNone(exc) (Py_INCREF(exc), __Pyx_ErrRestore((exc), NULL, NULL)) +#else +#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc) +#endif +#else +#define __Pyx_PyErr_Clear() PyErr_Clear() +#define __Pyx_PyErr_SetNone(exc) PyErr_SetNone(exc) +#define __Pyx_ErrRestoreWithState(type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetchWithState(type, value, tb) PyErr_Fetch(type, value, tb) +#define __Pyx_ErrRestoreInState(tstate, type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetchInState(tstate, type, value, tb) PyErr_Fetch(type, value, tb) +#define __Pyx_ErrRestore(type, value, tb) PyErr_Restore(type, value, tb) +#define __Pyx_ErrFetch(type, value, tb) PyErr_Fetch(type, value, tb) +#endif + +/* PyObjectGetAttrStrNoError.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name); + +/* CLineInTraceback.proto */ +#ifdef CYTHON_CLINE_IN_TRACEBACK +#define __Pyx_CLineForTraceback(tstate, c_line) (((CYTHON_CLINE_IN_TRACEBACK)) ? c_line : 0) +#else +static int __Pyx_CLineForTraceback(PyThreadState *tstate, int c_line); +#endif + +/* CodeObjectCache.proto */ +#if !CYTHON_COMPILING_IN_LIMITED_API +typedef struct { + PyCodeObject* code_object; + int code_line; +} __Pyx_CodeObjectCacheEntry; +struct __Pyx_CodeObjectCache { + int count; + int max_count; + __Pyx_CodeObjectCacheEntry* entries; +}; +static struct __Pyx_CodeObjectCache __pyx_code_cache = {0,0,NULL}; +static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line); +static PyCodeObject *__pyx_find_code_object(int code_line); +static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object); +#endif + +/* AddTraceback.proto */ +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename); + +/* CppExceptionConversion.proto */ +#ifndef __Pyx_CppExn2PyErr +#include +#include +#include +#include +static void __Pyx_CppExn2PyErr() { + try { + if (PyErr_Occurred()) + ; // let the latest Python exn pass through and ignore the current one + else + throw; + } catch (const std::bad_alloc& exn) { + PyErr_SetString(PyExc_MemoryError, exn.what()); + } catch (const std::bad_cast& exn) { + PyErr_SetString(PyExc_TypeError, exn.what()); + } catch (const std::bad_typeid& exn) { + PyErr_SetString(PyExc_TypeError, exn.what()); + } catch (const std::domain_error& exn) { + PyErr_SetString(PyExc_ValueError, exn.what()); + } catch (const std::invalid_argument& exn) { + PyErr_SetString(PyExc_ValueError, exn.what()); + } catch (const std::ios_base::failure& exn) { + PyErr_SetString(PyExc_IOError, exn.what()); + } catch (const std::out_of_range& exn) { + PyErr_SetString(PyExc_IndexError, exn.what()); + } catch (const std::overflow_error& exn) { + PyErr_SetString(PyExc_OverflowError, exn.what()); + } catch (const std::range_error& exn) { + PyErr_SetString(PyExc_ArithmeticError, exn.what()); + } catch (const std::underflow_error& exn) { + PyErr_SetString(PyExc_ArithmeticError, exn.what()); + } catch (const std::exception& exn) { + PyErr_SetString(PyExc_RuntimeError, exn.what()); + } + catch (...) + { + PyErr_SetString(PyExc_RuntimeError, "Unknown exception"); + } +} +#endif + +/* GCCDiagnostics.proto */ +#if !defined(__INTEL_COMPILER) && defined(__GNUC__) && (__GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ >= 6)) +#define __Pyx_HAS_GCC_DIAGNOSTIC +#endif + +/* CIntToPy.proto */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value); + +/* CIntFromPy.proto */ +static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *); + +/* FormatTypeName.proto */ +#if CYTHON_COMPILING_IN_LIMITED_API +typedef PyObject *__Pyx_TypeName; +#define __Pyx_FMT_TYPENAME "%U" +static __Pyx_TypeName __Pyx_PyType_GetName(PyTypeObject* tp); +#define __Pyx_DECREF_TypeName(obj) Py_XDECREF(obj) +#else +typedef const char *__Pyx_TypeName; +#define __Pyx_FMT_TYPENAME "%.200s" +#define __Pyx_PyType_GetName(tp) ((tp)->tp_name) +#define __Pyx_DECREF_TypeName(obj) +#endif + +/* CIntFromPy.proto */ +static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *); + +/* FastTypeChecks.proto */ +#if CYTHON_COMPILING_IN_CPYTHON +#define __Pyx_TypeCheck(obj, type) __Pyx_IsSubtype(Py_TYPE(obj), (PyTypeObject *)type) +#define __Pyx_TypeCheck2(obj, type1, type2) __Pyx_IsAnySubtype2(Py_TYPE(obj), (PyTypeObject *)type1, (PyTypeObject *)type2) +static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b); +static CYTHON_INLINE int __Pyx_IsAnySubtype2(PyTypeObject *cls, PyTypeObject *a, PyTypeObject *b); +static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches(PyObject *err, PyObject *type); +static CYTHON_INLINE int __Pyx_PyErr_GivenExceptionMatches2(PyObject *err, PyObject *type1, PyObject *type2); +#else +#define __Pyx_TypeCheck(obj, type) PyObject_TypeCheck(obj, (PyTypeObject *)type) +#define __Pyx_TypeCheck2(obj, type1, type2) (PyObject_TypeCheck(obj, (PyTypeObject *)type1) || PyObject_TypeCheck(obj, (PyTypeObject *)type2)) +#define __Pyx_PyErr_GivenExceptionMatches(err, type) PyErr_GivenExceptionMatches(err, type) +#define __Pyx_PyErr_GivenExceptionMatches2(err, type1, type2) (PyErr_GivenExceptionMatches(err, type1) || PyErr_GivenExceptionMatches(err, type2)) +#endif +#define __Pyx_PyErr_ExceptionMatches2(err1, err2) __Pyx_PyErr_GivenExceptionMatches2(__Pyx_PyErr_CurrentExceptionType(), err1, err2) +#define __Pyx_PyException_Check(obj) __Pyx_TypeCheck(obj, PyExc_Exception) + +/* CheckBinaryVersion.proto */ +static unsigned long __Pyx_get_runtime_version(void); +static int __Pyx_check_binary_version(unsigned long ct_version, unsigned long rt_version, int allow_newer); + +/* InitStrings.proto */ +static int __Pyx_InitStrings(__Pyx_StringTabEntry *t); + +/* #### Code section: module_declarations ### */ + +/* Module declarations from "libcpp.vector" */ + +/* Module declarations from "libc.string" */ + +/* Module declarations from "libcpp.string" */ + +/* Module declarations from "libcpp" */ + +/* Module declarations from "selfdrive.pandad.pandad_api_impl" */ +static std::string __pyx_convert_string_from_py_std__in_string(PyObject *); /*proto*/ +static CYTHON_INLINE PyObject *__pyx_convert_PyObject_string_to_py_std__in_string(std::string const &); /*proto*/ +static CYTHON_INLINE PyObject *__pyx_convert_PyUnicode_string_to_py_std__in_string(std::string const &); /*proto*/ +static CYTHON_INLINE PyObject *__pyx_convert_PyStr_string_to_py_std__in_string(std::string const &); /*proto*/ +static CYTHON_INLINE PyObject *__pyx_convert_PyBytes_string_to_py_std__in_string(std::string const &); /*proto*/ +static CYTHON_INLINE PyObject *__pyx_convert_PyByteArray_string_to_py_std__in_string(std::string const &); /*proto*/ +/* #### Code section: typeinfo ### */ +/* #### Code section: before_global_var ### */ +#define __Pyx_MODULE_NAME "selfdrive.pandad.pandad_api_impl" +extern int __pyx_module_is_main_selfdrive__pandad__pandad_api_impl; +int __pyx_module_is_main_selfdrive__pandad__pandad_api_impl = 0; + +/* Implementation of "selfdrive.pandad.pandad_api_impl" */ +/* #### Code section: global_var ### */ +/* #### Code section: string_decls ### */ +static const char __pyx_k_f[] = "f"; +static const char __pyx_k__4[] = "?"; +static const char __pyx_k_can[] = "can"; +static const char __pyx_k_out[] = "out"; +static const char __pyx_k_main[] = "__main__"; +static const char __pyx_k_name[] = "__name__"; +static const char __pyx_k_test[] = "__test__"; +static const char __pyx_k_valid[] = "valid"; +static const char __pyx_k_can_msg[] = "can_msg"; +static const char __pyx_k_msgtype[] = "msgtype"; +static const char __pyx_k_sendcan[] = "sendcan"; +static const char __pyx_k_can_list[] = "can_list"; +static const char __pyx_k_can_msgs[] = "can_msgs"; +static const char __pyx_k_is_coroutine[] = "_is_coroutine"; +static const char __pyx_k_asyncio_coroutines[] = "asyncio.coroutines"; +static const char __pyx_k_cline_in_traceback[] = "cline_in_traceback"; +static const char __pyx_k_can_list_to_can_capnp[] = "can_list_to_can_capnp"; +static const char __pyx_k_selfdrive_pandad_pandad_api_impl[] = "selfdrive/pandad/pandad_api_impl.pyx"; +static const char __pyx_k_selfdrive_pandad_pandad_api_impl_2[] = "selfdrive.pandad.pandad_api_impl"; +/* #### Code section: decls ### */ +static PyObject *__pyx_pf_9selfdrive_6pandad_15pandad_api_impl_can_list_to_can_capnp(CYTHON_UNUSED PyObject *__pyx_self, PyObject *__pyx_v_can_msgs, PyObject *__pyx_v_msgtype, PyObject *__pyx_v_valid); /* proto */ +/* #### Code section: late_includes ### */ +/* #### Code section: module_state ### */ +typedef struct { + PyObject *__pyx_d; + PyObject *__pyx_b; + PyObject *__pyx_cython_runtime; + PyObject *__pyx_empty_tuple; + PyObject *__pyx_empty_bytes; + PyObject *__pyx_empty_unicode; + #ifdef __Pyx_CyFunction_USED + PyTypeObject *__pyx_CyFunctionType; + #endif + #ifdef __Pyx_FusedFunction_USED + PyTypeObject *__pyx_FusedFunctionType; + #endif + #ifdef __Pyx_Generator_USED + PyTypeObject *__pyx_GeneratorType; + #endif + #ifdef __Pyx_IterableCoroutine_USED + PyTypeObject *__pyx_IterableCoroutineType; + #endif + #ifdef __Pyx_Coroutine_USED + PyTypeObject *__pyx_CoroutineAwaitType; + #endif + #ifdef __Pyx_Coroutine_USED + PyTypeObject *__pyx_CoroutineType; + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + #if CYTHON_USE_MODULE_STATE + #endif + PyObject *__pyx_n_s__4; + PyObject *__pyx_n_s_asyncio_coroutines; + PyObject *__pyx_n_u_can; + PyObject *__pyx_n_s_can_list; + PyObject *__pyx_n_s_can_list_to_can_capnp; + PyObject *__pyx_n_s_can_msg; + PyObject *__pyx_n_s_can_msgs; + PyObject *__pyx_n_s_cline_in_traceback; + PyObject *__pyx_n_s_f; + PyObject *__pyx_n_s_is_coroutine; + PyObject *__pyx_n_s_main; + PyObject *__pyx_n_s_msgtype; + PyObject *__pyx_n_s_name; + PyObject *__pyx_n_s_out; + PyObject *__pyx_kp_s_selfdrive_pandad_pandad_api_impl; + PyObject *__pyx_n_s_selfdrive_pandad_pandad_api_impl_2; + PyObject *__pyx_n_u_sendcan; + PyObject *__pyx_n_s_test; + PyObject *__pyx_n_s_valid; + PyObject *__pyx_tuple_; + PyObject *__pyx_tuple__3; + PyObject *__pyx_codeobj__2; +} __pyx_mstate; + +#if CYTHON_USE_MODULE_STATE +#ifdef __cplusplus +namespace { + extern struct PyModuleDef __pyx_moduledef; +} /* anonymous namespace */ +#else +static struct PyModuleDef __pyx_moduledef; +#endif + +#define __pyx_mstate(o) ((__pyx_mstate *)__Pyx_PyModule_GetState(o)) + +#define __pyx_mstate_global (__pyx_mstate(PyState_FindModule(&__pyx_moduledef))) + +#define __pyx_m (PyState_FindModule(&__pyx_moduledef)) +#else +static __pyx_mstate __pyx_mstate_global_static = +#ifdef __cplusplus + {}; +#else + {0}; +#endif +static __pyx_mstate *__pyx_mstate_global = &__pyx_mstate_global_static; +#endif +/* #### Code section: module_state_clear ### */ +#if CYTHON_USE_MODULE_STATE +static int __pyx_m_clear(PyObject *m) { + __pyx_mstate *clear_module_state = __pyx_mstate(m); + if (!clear_module_state) return 0; + Py_CLEAR(clear_module_state->__pyx_d); + Py_CLEAR(clear_module_state->__pyx_b); + Py_CLEAR(clear_module_state->__pyx_cython_runtime); + Py_CLEAR(clear_module_state->__pyx_empty_tuple); + Py_CLEAR(clear_module_state->__pyx_empty_bytes); + Py_CLEAR(clear_module_state->__pyx_empty_unicode); + #ifdef __Pyx_CyFunction_USED + Py_CLEAR(clear_module_state->__pyx_CyFunctionType); + #endif + #ifdef __Pyx_FusedFunction_USED + Py_CLEAR(clear_module_state->__pyx_FusedFunctionType); + #endif + Py_CLEAR(clear_module_state->__pyx_n_s__4); + Py_CLEAR(clear_module_state->__pyx_n_s_asyncio_coroutines); + Py_CLEAR(clear_module_state->__pyx_n_u_can); + Py_CLEAR(clear_module_state->__pyx_n_s_can_list); + Py_CLEAR(clear_module_state->__pyx_n_s_can_list_to_can_capnp); + Py_CLEAR(clear_module_state->__pyx_n_s_can_msg); + Py_CLEAR(clear_module_state->__pyx_n_s_can_msgs); + Py_CLEAR(clear_module_state->__pyx_n_s_cline_in_traceback); + Py_CLEAR(clear_module_state->__pyx_n_s_f); + Py_CLEAR(clear_module_state->__pyx_n_s_is_coroutine); + Py_CLEAR(clear_module_state->__pyx_n_s_main); + Py_CLEAR(clear_module_state->__pyx_n_s_msgtype); + Py_CLEAR(clear_module_state->__pyx_n_s_name); + Py_CLEAR(clear_module_state->__pyx_n_s_out); + Py_CLEAR(clear_module_state->__pyx_kp_s_selfdrive_pandad_pandad_api_impl); + Py_CLEAR(clear_module_state->__pyx_n_s_selfdrive_pandad_pandad_api_impl_2); + Py_CLEAR(clear_module_state->__pyx_n_u_sendcan); + Py_CLEAR(clear_module_state->__pyx_n_s_test); + Py_CLEAR(clear_module_state->__pyx_n_s_valid); + Py_CLEAR(clear_module_state->__pyx_tuple_); + Py_CLEAR(clear_module_state->__pyx_tuple__3); + Py_CLEAR(clear_module_state->__pyx_codeobj__2); + return 0; +} +#endif +/* #### Code section: module_state_traverse ### */ +#if CYTHON_USE_MODULE_STATE +static int __pyx_m_traverse(PyObject *m, visitproc visit, void *arg) { + __pyx_mstate *traverse_module_state = __pyx_mstate(m); 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(result == 0) : (result != 0); + } + } else if ((s1 == Py_None) & PyBytes_CheckExact(s2)) { + return (equals == Py_NE); + } else if ((s2 == Py_None) & PyBytes_CheckExact(s1)) { + return (equals == Py_NE); + } else { + int result; + PyObject* py_result = PyObject_RichCompare(s1, s2, equals); + if (!py_result) + return -1; + result = __Pyx_PyObject_IsTrue(py_result); + Py_DECREF(py_result); + return result; + } +#endif +} + +/* UnicodeEquals */ +static CYTHON_INLINE int __Pyx_PyUnicode_Equals(PyObject* s1, PyObject* s2, int equals) { +#if CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API + return PyObject_RichCompareBool(s1, s2, equals); +#else +#if PY_MAJOR_VERSION < 3 + PyObject* owned_ref = NULL; +#endif + int s1_is_unicode, s2_is_unicode; + if (s1 == s2) { + goto return_eq; + } + s1_is_unicode = PyUnicode_CheckExact(s1); + s2_is_unicode = PyUnicode_CheckExact(s2); +#if PY_MAJOR_VERSION < 3 + if ((s1_is_unicode & (!s2_is_unicode)) && PyString_CheckExact(s2)) { + owned_ref = PyUnicode_FromObject(s2); + if (unlikely(!owned_ref)) + return -1; + s2 = owned_ref; + s2_is_unicode = 1; + } else if ((s2_is_unicode & (!s1_is_unicode)) && PyString_CheckExact(s1)) { + owned_ref = PyUnicode_FromObject(s1); + if (unlikely(!owned_ref)) + return -1; + s1 = owned_ref; + s1_is_unicode = 1; + } else if (((!s2_is_unicode) & (!s1_is_unicode))) { + return __Pyx_PyBytes_Equals(s1, s2, equals); + } +#endif + if (s1_is_unicode & s2_is_unicode) { + Py_ssize_t length; + int kind; + void *data1, *data2; + if (unlikely(__Pyx_PyUnicode_READY(s1) < 0) || unlikely(__Pyx_PyUnicode_READY(s2) < 0)) + return -1; + length = __Pyx_PyUnicode_GET_LENGTH(s1); + if (length != __Pyx_PyUnicode_GET_LENGTH(s2)) { + goto return_ne; + } +#if CYTHON_USE_UNICODE_INTERNALS + { + Py_hash_t hash1, hash2; + #if CYTHON_PEP393_ENABLED + hash1 = ((PyASCIIObject*)s1)->hash; + hash2 = ((PyASCIIObject*)s2)->hash; + #else + hash1 = ((PyUnicodeObject*)s1)->hash; + hash2 = ((PyUnicodeObject*)s2)->hash; + #endif + if (hash1 != hash2 && hash1 != -1 && hash2 != -1) { + goto return_ne; + } + } +#endif + kind = __Pyx_PyUnicode_KIND(s1); + if (kind != __Pyx_PyUnicode_KIND(s2)) { + goto return_ne; + } + data1 = __Pyx_PyUnicode_DATA(s1); + data2 = __Pyx_PyUnicode_DATA(s2); + if (__Pyx_PyUnicode_READ(kind, data1, 0) != __Pyx_PyUnicode_READ(kind, data2, 0)) { + goto return_ne; + } else if (length == 1) { + goto return_eq; + } else { + int result = memcmp(data1, data2, (size_t)(length * kind)); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_EQ) ? (result == 0) : (result != 0); + } + } else if ((s1 == Py_None) & s2_is_unicode) { + goto return_ne; + } else if ((s2 == Py_None) & s1_is_unicode) { + goto return_ne; + } else { + int result; + PyObject* py_result = PyObject_RichCompare(s1, s2, equals); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + if (!py_result) + return -1; + result = __Pyx_PyObject_IsTrue(py_result); + Py_DECREF(py_result); + return result; + } +return_eq: + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_EQ); +return_ne: + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(owned_ref); + #endif + return (equals == Py_NE); +#endif +} + +/* fastcall */ +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE PyObject * __Pyx_GetKwValue_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues, PyObject *s) +{ + Py_ssize_t i, n = PyTuple_GET_SIZE(kwnames); + for (i = 0; i < n; i++) + { + if (s == PyTuple_GET_ITEM(kwnames, i)) return kwvalues[i]; + } + for (i = 0; i < n; i++) + { + int eq = __Pyx_PyUnicode_Equals(s, PyTuple_GET_ITEM(kwnames, i), Py_EQ); + if (unlikely(eq != 0)) { + if (unlikely(eq < 0)) return NULL; + return kwvalues[i]; + } + } + return NULL; +} +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX >= 0x030d0000 +CYTHON_UNUSED static PyObject *__Pyx_KwargsAsDict_FASTCALL(PyObject *kwnames, PyObject *const *kwvalues) { + Py_ssize_t i, nkwargs = PyTuple_GET_SIZE(kwnames); + PyObject *dict; + dict = PyDict_New(); + if (unlikely(!dict)) + return NULL; + for (i=0; i= 3 + "%s() got multiple values for keyword argument '%U'", func_name, kw_name); + #else + "%s() got multiple values for keyword argument '%s'", func_name, + PyString_AsString(kw_name)); + #endif +} + +/* ParseKeywords */ +static int __Pyx_ParseOptionalKeywords( + PyObject *kwds, + PyObject *const *kwvalues, + PyObject **argnames[], + PyObject *kwds2, + PyObject *values[], + Py_ssize_t num_pos_args, + const char* function_name) +{ + PyObject *key = 0, *value = 0; + Py_ssize_t pos = 0; + PyObject*** name; + PyObject*** first_kw_arg = argnames + num_pos_args; + int kwds_is_tuple = CYTHON_METH_FASTCALL && likely(PyTuple_Check(kwds)); + while (1) { + Py_XDECREF(key); key = NULL; + Py_XDECREF(value); value = NULL; + if (kwds_is_tuple) { + Py_ssize_t size; +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(kwds); +#else + size = PyTuple_Size(kwds); + if (size < 0) goto bad; +#endif + if (pos >= size) break; +#if CYTHON_AVOID_BORROWED_REFS + key = __Pyx_PySequence_ITEM(kwds, pos); + if (!key) goto bad; +#elif CYTHON_ASSUME_SAFE_MACROS + key = PyTuple_GET_ITEM(kwds, pos); +#else + key = PyTuple_GetItem(kwds, pos); + if (!key) goto bad; +#endif + value = kwvalues[pos]; + pos++; + } + else + { + if (!PyDict_Next(kwds, &pos, &key, &value)) break; +#if CYTHON_AVOID_BORROWED_REFS + Py_INCREF(key); +#endif + } + name = first_kw_arg; + while (*name && (**name != key)) name++; + if (*name) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + Py_INCREF(value); + Py_DECREF(key); +#endif + key = NULL; + value = NULL; + continue; + } +#if !CYTHON_AVOID_BORROWED_REFS + Py_INCREF(key); +#endif + Py_INCREF(value); + name = first_kw_arg; + #if PY_MAJOR_VERSION < 3 + if (likely(PyString_Check(key))) { + while (*name) { + if ((CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**name) == PyString_GET_SIZE(key)) + && _PyString_Eq(**name, key)) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + value = NULL; +#endif + break; + } + name++; + } + if (*name) continue; + else { + PyObject*** argname = argnames; + while (argname != first_kw_arg) { + if ((**argname == key) || ( + (CYTHON_COMPILING_IN_PYPY || PyString_GET_SIZE(**argname) == PyString_GET_SIZE(key)) + && _PyString_Eq(**argname, key))) { + goto arg_passed_twice; + } + argname++; + } + } + } else + #endif + if (likely(PyUnicode_Check(key))) { + while (*name) { + int cmp = ( + #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 + (__Pyx_PyUnicode_GET_LENGTH(**name) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : + #endif + PyUnicode_Compare(**name, key) + ); + if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; + if (cmp == 0) { + values[name-argnames] = value; +#if CYTHON_AVOID_BORROWED_REFS + value = NULL; +#endif + break; + } + name++; + } + if (*name) continue; + else { + PyObject*** argname = argnames; + while (argname != first_kw_arg) { + int cmp = (**argname == key) ? 0 : + #if !CYTHON_COMPILING_IN_PYPY && PY_MAJOR_VERSION >= 3 + (__Pyx_PyUnicode_GET_LENGTH(**argname) != __Pyx_PyUnicode_GET_LENGTH(key)) ? 1 : + #endif + PyUnicode_Compare(**argname, key); + if (cmp < 0 && unlikely(PyErr_Occurred())) goto bad; + if (cmp == 0) goto arg_passed_twice; + argname++; + } + } + } else + goto invalid_keyword_type; + if (kwds2) { + if (unlikely(PyDict_SetItem(kwds2, key, value))) goto bad; + } else { + goto invalid_keyword; + } + } + Py_XDECREF(key); + Py_XDECREF(value); + return 0; +arg_passed_twice: + __Pyx_RaiseDoubleKeywordsError(function_name, key); + goto bad; +invalid_keyword_type: + PyErr_Format(PyExc_TypeError, + "%.200s() keywords must be strings", function_name); + goto bad; +invalid_keyword: + #if PY_MAJOR_VERSION < 3 + PyErr_Format(PyExc_TypeError, + "%.200s() got an unexpected keyword argument '%.200s'", + function_name, PyString_AsString(key)); + #else + PyErr_Format(PyExc_TypeError, + "%s() got an unexpected keyword argument '%U'", + function_name, key); + #endif +bad: + Py_XDECREF(key); + Py_XDECREF(value); + return -1; +} + +/* RaiseArgTupleInvalid */ +static void __Pyx_RaiseArgtupleInvalid( + const char* func_name, + int exact, + Py_ssize_t num_min, + Py_ssize_t num_max, + Py_ssize_t num_found) +{ + Py_ssize_t num_expected; + const char *more_or_less; + if (num_found < num_min) { + num_expected = num_min; + more_or_less = "at least"; + } else { + num_expected = num_max; + more_or_less = "at most"; + } + if (exact) { + more_or_less = "exactly"; + } + PyErr_Format(PyExc_TypeError, + "%.200s() takes %.8s %" CYTHON_FORMAT_SSIZE_T "d positional argument%.1s (%" CYTHON_FORMAT_SSIZE_T "d given)", + func_name, more_or_less, num_expected, + (num_expected == 1) ? "" : "s", num_found); +} + +/* GetItemInt */ +static PyObject *__Pyx_GetItemInt_Generic(PyObject *o, PyObject* j) { + PyObject *r; + if (unlikely(!j)) return NULL; + r = PyObject_GetItem(o, j); + Py_DECREF(j); + return r; +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_List_Fast(PyObject *o, Py_ssize_t i, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + Py_ssize_t wrapped_i = i; + if (wraparound & unlikely(i < 0)) { + wrapped_i += PyList_GET_SIZE(o); + } + if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyList_GET_SIZE(o)))) { + PyObject *r = PyList_GET_ITEM(o, wrapped_i); + Py_INCREF(r); + return r; + } + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +#else + return PySequence_GetItem(o, i); +#endif +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Tuple_Fast(PyObject *o, Py_ssize_t i, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + Py_ssize_t wrapped_i = i; + if (wraparound & unlikely(i < 0)) { + wrapped_i += PyTuple_GET_SIZE(o); + } + if ((!boundscheck) || likely(__Pyx_is_valid_index(wrapped_i, PyTuple_GET_SIZE(o)))) { + PyObject *r = PyTuple_GET_ITEM(o, wrapped_i); + Py_INCREF(r); + return r; + } + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +#else + return PySequence_GetItem(o, i); +#endif +} +static CYTHON_INLINE PyObject *__Pyx_GetItemInt_Fast(PyObject *o, Py_ssize_t i, int is_list, + CYTHON_NCP_UNUSED int wraparound, + CYTHON_NCP_UNUSED int boundscheck) { +#if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS && CYTHON_USE_TYPE_SLOTS + if (is_list || PyList_CheckExact(o)) { + Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyList_GET_SIZE(o); + if ((!boundscheck) || (likely(__Pyx_is_valid_index(n, PyList_GET_SIZE(o))))) { + PyObject *r = PyList_GET_ITEM(o, n); + Py_INCREF(r); + return r; + } + } + else if (PyTuple_CheckExact(o)) { + Py_ssize_t n = ((!wraparound) | likely(i >= 0)) ? i : i + PyTuple_GET_SIZE(o); + if ((!boundscheck) || likely(__Pyx_is_valid_index(n, PyTuple_GET_SIZE(o)))) { + PyObject *r = PyTuple_GET_ITEM(o, n); + Py_INCREF(r); + return r; + } + } else { + PyMappingMethods *mm = Py_TYPE(o)->tp_as_mapping; + PySequenceMethods *sm = Py_TYPE(o)->tp_as_sequence; + if (mm && mm->mp_subscript) { + PyObject *r, *key = PyInt_FromSsize_t(i); + if (unlikely(!key)) return NULL; + r = mm->mp_subscript(o, key); + Py_DECREF(key); + return r; + } + if (likely(sm && sm->sq_item)) { + if (wraparound && unlikely(i < 0) && likely(sm->sq_length)) { + Py_ssize_t l = sm->sq_length(o); + if (likely(l >= 0)) { + i += l; + } else { + if (!PyErr_ExceptionMatches(PyExc_OverflowError)) + return NULL; + PyErr_Clear(); + } + } + return sm->sq_item(o, i); + } + } +#else + if (is_list || !PyMapping_Check(o)) { + return PySequence_GetItem(o, i); + } +#endif + return __Pyx_GetItemInt_Generic(o, PyInt_FromSsize_t(i)); +} + +/* FixUpExtensionType */ +#if CYTHON_USE_TYPE_SPECS +static int __Pyx_fix_up_extension_type_from_spec(PyType_Spec *spec, PyTypeObject *type) { +#if PY_VERSION_HEX > 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + CYTHON_UNUSED_VAR(spec); + CYTHON_UNUSED_VAR(type); +#else + const PyType_Slot *slot = spec->slots; + while (slot && slot->slot && slot->slot != Py_tp_members) + slot++; + if (slot && slot->slot == Py_tp_members) { + int changed = 0; +#if !(PY_VERSION_HEX <= 0x030900b1 && CYTHON_COMPILING_IN_CPYTHON) + const +#endif + PyMemberDef *memb = (PyMemberDef*) slot->pfunc; + while (memb && memb->name) { + if (memb->name[0] == '_' && memb->name[1] == '_') { +#if PY_VERSION_HEX < 0x030900b1 + if (strcmp(memb->name, "__weaklistoffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); + type->tp_weaklistoffset = memb->offset; + changed = 1; + } + else if (strcmp(memb->name, "__dictoffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); + type->tp_dictoffset = memb->offset; + changed = 1; + } +#if CYTHON_METH_FASTCALL + else if (strcmp(memb->name, "__vectorcalloffset__") == 0) { + assert(memb->type == T_PYSSIZET); + assert(memb->flags == READONLY); +#if PY_VERSION_HEX >= 0x030800b4 + type->tp_vectorcall_offset = memb->offset; +#else + type->tp_print = (printfunc) memb->offset; +#endif + changed = 1; + } +#endif +#else + if ((0)); +#endif +#if PY_VERSION_HEX <= 0x030900b1 && CYTHON_COMPILING_IN_CPYTHON + else if (strcmp(memb->name, "__module__") == 0) { + PyObject *descr; + assert(memb->type == T_OBJECT); + assert(memb->flags == 0 || memb->flags == READONLY); + descr = PyDescr_NewMember(type, memb); + if (unlikely(!descr)) + return -1; + if (unlikely(PyDict_SetItem(type->tp_dict, PyDescr_NAME(descr), descr) < 0)) { + Py_DECREF(descr); + return -1; + } + Py_DECREF(descr); + changed = 1; + } +#endif + } + memb++; + } + if (changed) + PyType_Modified(type); + } +#endif + return 0; +} +#endif + +/* FetchSharedCythonModule */ +static PyObject *__Pyx_FetchSharedCythonABIModule(void) { + return __Pyx_PyImport_AddModuleRef((char*) __PYX_ABI_MODULE_NAME); +} + +/* FetchCommonType */ +static int __Pyx_VerifyCachedType(PyObject *cached_type, + const char *name, + Py_ssize_t basicsize, + Py_ssize_t expected_basicsize) { + if (!PyType_Check(cached_type)) { + PyErr_Format(PyExc_TypeError, + "Shared Cython type %.200s is not a type object", name); + return -1; + } + if (basicsize != expected_basicsize) { + PyErr_Format(PyExc_TypeError, + "Shared Cython type %.200s has the wrong size, try recompiling", + name); + return -1; + } + return 0; +} +#if !CYTHON_USE_TYPE_SPECS +static PyTypeObject* __Pyx_FetchCommonType(PyTypeObject* type) { + PyObject* abi_module; + const char* object_name; + PyTypeObject *cached_type = NULL; + abi_module = __Pyx_FetchSharedCythonABIModule(); + if (!abi_module) return NULL; + object_name = strrchr(type->tp_name, '.'); + object_name = object_name ? object_name+1 : type->tp_name; + cached_type = (PyTypeObject*) PyObject_GetAttrString(abi_module, object_name); + if (cached_type) { + if (__Pyx_VerifyCachedType( + (PyObject *)cached_type, + object_name, + cached_type->tp_basicsize, + type->tp_basicsize) < 0) { + goto bad; + } + goto done; + } + if (!PyErr_ExceptionMatches(PyExc_AttributeError)) goto bad; + PyErr_Clear(); + if (PyType_Ready(type) < 0) goto bad; + if (PyObject_SetAttrString(abi_module, object_name, (PyObject *)type) < 0) + goto bad; + Py_INCREF(type); + cached_type = type; +done: + Py_DECREF(abi_module); + return cached_type; +bad: + Py_XDECREF(cached_type); + cached_type = NULL; + goto done; +} +#else +static PyTypeObject *__Pyx_FetchCommonTypeFromSpec(PyObject *module, PyType_Spec *spec, PyObject *bases) { + PyObject *abi_module, *cached_type = NULL; + const char* object_name = strrchr(spec->name, '.'); + object_name = object_name ? object_name+1 : spec->name; + abi_module = __Pyx_FetchSharedCythonABIModule(); + if (!abi_module) return NULL; + cached_type = PyObject_GetAttrString(abi_module, object_name); + if (cached_type) { + Py_ssize_t basicsize; +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *py_basicsize; + py_basicsize = PyObject_GetAttrString(cached_type, "__basicsize__"); + if (unlikely(!py_basicsize)) goto bad; + basicsize = PyLong_AsSsize_t(py_basicsize); + Py_DECREF(py_basicsize); + py_basicsize = 0; + if (unlikely(basicsize == (Py_ssize_t)-1) && PyErr_Occurred()) goto bad; +#else + basicsize = likely(PyType_Check(cached_type)) ? ((PyTypeObject*) cached_type)->tp_basicsize : -1; +#endif + if (__Pyx_VerifyCachedType( + cached_type, + object_name, + basicsize, + spec->basicsize) < 0) { + goto bad; + } + goto done; + } + if (!PyErr_ExceptionMatches(PyExc_AttributeError)) goto bad; + PyErr_Clear(); + CYTHON_UNUSED_VAR(module); + cached_type = __Pyx_PyType_FromModuleAndSpec(abi_module, spec, bases); + if (unlikely(!cached_type)) goto bad; + if (unlikely(__Pyx_fix_up_extension_type_from_spec(spec, (PyTypeObject *) cached_type) < 0)) goto bad; + if (PyObject_SetAttrString(abi_module, object_name, cached_type) < 0) goto bad; +done: + Py_DECREF(abi_module); + assert(cached_type == NULL || PyType_Check(cached_type)); + return (PyTypeObject *) cached_type; +bad: + Py_XDECREF(cached_type); + cached_type = NULL; + goto done; +} +#endif + +/* PyObjectGetAttrStr */ +#if CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStr(PyObject* obj, PyObject* attr_name) { + PyTypeObject* tp = Py_TYPE(obj); + if (likely(tp->tp_getattro)) + return tp->tp_getattro(obj, attr_name); +#if PY_MAJOR_VERSION < 3 + if (likely(tp->tp_getattr)) + return tp->tp_getattr(obj, PyString_AS_STRING(attr_name)); +#endif + return PyObject_GetAttr(obj, attr_name); +} +#endif + +/* PyVectorcallFastCallDict */ +#if CYTHON_METH_FASTCALL +static PyObject *__Pyx_PyVectorcall_FastCallDict_kw(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw) +{ + PyObject *res = NULL; + PyObject *kwnames; + PyObject **newargs; + PyObject **kwvalues; + Py_ssize_t i, pos; + size_t j; + PyObject *key, *value; + unsigned long keys_are_strings; + Py_ssize_t nkw = PyDict_GET_SIZE(kw); + newargs = (PyObject **)PyMem_Malloc((nargs + (size_t)nkw) * sizeof(args[0])); + if (unlikely(newargs == NULL)) { + PyErr_NoMemory(); + return NULL; + } + for (j = 0; j < nargs; j++) newargs[j] = args[j]; + kwnames = PyTuple_New(nkw); + if (unlikely(kwnames == NULL)) { + PyMem_Free(newargs); + return NULL; + } + kwvalues = newargs + nargs; + pos = i = 0; + keys_are_strings = Py_TPFLAGS_UNICODE_SUBCLASS; + while (PyDict_Next(kw, &pos, &key, &value)) { + keys_are_strings &= Py_TYPE(key)->tp_flags; + Py_INCREF(key); + Py_INCREF(value); + PyTuple_SET_ITEM(kwnames, i, key); + kwvalues[i] = value; + i++; + } + if (unlikely(!keys_are_strings)) { + PyErr_SetString(PyExc_TypeError, "keywords must be strings"); + goto cleanup; + } + res = vc(func, newargs, nargs, kwnames); +cleanup: + Py_DECREF(kwnames); + for (i = 0; i < nkw; i++) + Py_DECREF(kwvalues[i]); + PyMem_Free(newargs); + return res; +} +static CYTHON_INLINE PyObject *__Pyx_PyVectorcall_FastCallDict(PyObject *func, __pyx_vectorcallfunc vc, PyObject *const *args, size_t nargs, PyObject *kw) +{ + if (likely(kw == NULL) || PyDict_GET_SIZE(kw) == 0) { + return vc(func, args, nargs, NULL); + } + return __Pyx_PyVectorcall_FastCallDict_kw(func, vc, args, nargs, kw); +} +#endif + +/* CythonFunctionShared */ +#if CYTHON_COMPILING_IN_LIMITED_API +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc) { + if (__Pyx_CyFunction_Check(func)) { + return PyCFunction_GetFunction(((__pyx_CyFunctionObject*)func)->func) == (PyCFunction) cfunc; + } else if (PyCFunction_Check(func)) { + return PyCFunction_GetFunction(func) == (PyCFunction) cfunc; + } + return 0; +} +#else +static CYTHON_INLINE int __Pyx__IsSameCyOrCFunction(PyObject *func, void *cfunc) { + return __Pyx_CyOrPyCFunction_Check(func) && __Pyx_CyOrPyCFunction_GET_FUNCTION(func) == (PyCFunction) cfunc; +} +#endif +static CYTHON_INLINE void __Pyx__CyFunction_SetClassObj(__pyx_CyFunctionObject* f, PyObject* classobj) { +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + __Pyx_Py_XDECREF_SET( + __Pyx_CyFunction_GetClassObj(f), + ((classobj) ? __Pyx_NewRef(classobj) : NULL)); +#else + __Pyx_Py_XDECREF_SET( + ((PyCMethodObject *) (f))->mm_class, + (PyTypeObject*)((classobj) ? __Pyx_NewRef(classobj) : NULL)); +#endif +} +static PyObject * +__Pyx_CyFunction_get_doc(__pyx_CyFunctionObject *op, void *closure) +{ + CYTHON_UNUSED_VAR(closure); + if (unlikely(op->func_doc == NULL)) { +#if CYTHON_COMPILING_IN_LIMITED_API + op->func_doc = PyObject_GetAttrString(op->func, "__doc__"); + if (unlikely(!op->func_doc)) return NULL; +#else + if (((PyCFunctionObject*)op)->m_ml->ml_doc) { +#if PY_MAJOR_VERSION >= 3 + op->func_doc = PyUnicode_FromString(((PyCFunctionObject*)op)->m_ml->ml_doc); +#else + op->func_doc = PyString_FromString(((PyCFunctionObject*)op)->m_ml->ml_doc); +#endif + if (unlikely(op->func_doc == NULL)) + return NULL; + } else { + Py_INCREF(Py_None); + return Py_None; + } +#endif + } + Py_INCREF(op->func_doc); + return op->func_doc; +} +static int +__Pyx_CyFunction_set_doc(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (value == NULL) { + value = Py_None; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_doc, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_name(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(op->func_name == NULL)) { +#if CYTHON_COMPILING_IN_LIMITED_API + op->func_name = PyObject_GetAttrString(op->func, "__name__"); +#elif PY_MAJOR_VERSION >= 3 + op->func_name = PyUnicode_InternFromString(((PyCFunctionObject*)op)->m_ml->ml_name); +#else + op->func_name = PyString_InternFromString(((PyCFunctionObject*)op)->m_ml->ml_name); +#endif + if (unlikely(op->func_name == NULL)) + return NULL; + } + Py_INCREF(op->func_name); + return op->func_name; +} +static int +__Pyx_CyFunction_set_name(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); +#if PY_MAJOR_VERSION >= 3 + if (unlikely(value == NULL || !PyUnicode_Check(value))) +#else + if (unlikely(value == NULL || !PyString_Check(value))) +#endif + { + PyErr_SetString(PyExc_TypeError, + "__name__ must be set to a string object"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_name, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_qualname(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + Py_INCREF(op->func_qualname); + return op->func_qualname; +} +static int +__Pyx_CyFunction_set_qualname(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); +#if PY_MAJOR_VERSION >= 3 + if (unlikely(value == NULL || !PyUnicode_Check(value))) +#else + if (unlikely(value == NULL || !PyString_Check(value))) +#endif + { + PyErr_SetString(PyExc_TypeError, + "__qualname__ must be set to a string object"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_qualname, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_dict(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(op->func_dict == NULL)) { + op->func_dict = PyDict_New(); + if (unlikely(op->func_dict == NULL)) + return NULL; + } + Py_INCREF(op->func_dict); + return op->func_dict; +} +static int +__Pyx_CyFunction_set_dict(__pyx_CyFunctionObject *op, PyObject *value, void *context) +{ + CYTHON_UNUSED_VAR(context); + if (unlikely(value == NULL)) { + PyErr_SetString(PyExc_TypeError, + "function's dictionary may not be deleted"); + return -1; + } + if (unlikely(!PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "setting function's dictionary to a non-dict"); + return -1; + } + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->func_dict, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_globals(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(context); + Py_INCREF(op->func_globals); + return op->func_globals; +} +static PyObject * +__Pyx_CyFunction_get_closure(__pyx_CyFunctionObject *op, void *context) +{ + CYTHON_UNUSED_VAR(op); + CYTHON_UNUSED_VAR(context); + Py_INCREF(Py_None); + return Py_None; +} +static PyObject * +__Pyx_CyFunction_get_code(__pyx_CyFunctionObject *op, void *context) +{ + PyObject* result = (op->func_code) ? op->func_code : Py_None; + CYTHON_UNUSED_VAR(context); + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_init_defaults(__pyx_CyFunctionObject *op) { + int result = 0; + PyObject *res = op->defaults_getter((PyObject *) op); + if (unlikely(!res)) + return -1; + #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + op->defaults_tuple = PyTuple_GET_ITEM(res, 0); + Py_INCREF(op->defaults_tuple); + op->defaults_kwdict = PyTuple_GET_ITEM(res, 1); + Py_INCREF(op->defaults_kwdict); + #else + op->defaults_tuple = __Pyx_PySequence_ITEM(res, 0); + if (unlikely(!op->defaults_tuple)) result = -1; + else { + op->defaults_kwdict = __Pyx_PySequence_ITEM(res, 1); + if (unlikely(!op->defaults_kwdict)) result = -1; + } + #endif + Py_DECREF(res); + return result; +} +static int +__Pyx_CyFunction_set_defaults(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value) { + value = Py_None; + } else if (unlikely(value != Py_None && !PyTuple_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__defaults__ must be set to a tuple object"); + return -1; + } + PyErr_WarnEx(PyExc_RuntimeWarning, "changes to cyfunction.__defaults__ will not " + "currently affect the values used in function calls", 1); + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->defaults_tuple, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_defaults(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->defaults_tuple; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + if (op->defaults_getter) { + if (unlikely(__Pyx_CyFunction_init_defaults(op) < 0)) return NULL; + result = op->defaults_tuple; + } else { + result = Py_None; + } + } + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_set_kwdefaults(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value) { + value = Py_None; + } else if (unlikely(value != Py_None && !PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__kwdefaults__ must be set to a dict object"); + return -1; + } + PyErr_WarnEx(PyExc_RuntimeWarning, "changes to cyfunction.__kwdefaults__ will not " + "currently affect the values used in function calls", 1); + Py_INCREF(value); + __Pyx_Py_XDECREF_SET(op->defaults_kwdict, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_kwdefaults(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->defaults_kwdict; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + if (op->defaults_getter) { + if (unlikely(__Pyx_CyFunction_init_defaults(op) < 0)) return NULL; + result = op->defaults_kwdict; + } else { + result = Py_None; + } + } + Py_INCREF(result); + return result; +} +static int +__Pyx_CyFunction_set_annotations(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + if (!value || value == Py_None) { + value = NULL; + } else if (unlikely(!PyDict_Check(value))) { + PyErr_SetString(PyExc_TypeError, + "__annotations__ must be set to a dict object"); + return -1; + } + Py_XINCREF(value); + __Pyx_Py_XDECREF_SET(op->func_annotations, value); + return 0; +} +static PyObject * +__Pyx_CyFunction_get_annotations(__pyx_CyFunctionObject *op, void *context) { + PyObject* result = op->func_annotations; + CYTHON_UNUSED_VAR(context); + if (unlikely(!result)) { + result = PyDict_New(); + if (unlikely(!result)) return NULL; + op->func_annotations = result; + } + Py_INCREF(result); + return result; +} +static PyObject * +__Pyx_CyFunction_get_is_coroutine(__pyx_CyFunctionObject *op, void *context) { + int is_coroutine; + CYTHON_UNUSED_VAR(context); + if (op->func_is_coroutine) { + return __Pyx_NewRef(op->func_is_coroutine); + } + is_coroutine = op->flags & __Pyx_CYFUNCTION_COROUTINE; +#if PY_VERSION_HEX >= 0x03050000 + if (is_coroutine) { + PyObject *module, *fromlist, *marker = __pyx_n_s_is_coroutine; + fromlist = PyList_New(1); + if (unlikely(!fromlist)) return NULL; + Py_INCREF(marker); +#if CYTHON_ASSUME_SAFE_MACROS + PyList_SET_ITEM(fromlist, 0, marker); +#else + if (unlikely(PyList_SetItem(fromlist, 0, marker) < 0)) { + Py_DECREF(marker); + Py_DECREF(fromlist); + return NULL; + } +#endif + module = PyImport_ImportModuleLevelObject(__pyx_n_s_asyncio_coroutines, NULL, NULL, fromlist, 0); + Py_DECREF(fromlist); + if (unlikely(!module)) goto ignore; + op->func_is_coroutine = __Pyx_PyObject_GetAttrStr(module, marker); + Py_DECREF(module); + if (likely(op->func_is_coroutine)) { + return __Pyx_NewRef(op->func_is_coroutine); + } +ignore: + PyErr_Clear(); + } +#endif + op->func_is_coroutine = __Pyx_PyBool_FromLong(is_coroutine); + return __Pyx_NewRef(op->func_is_coroutine); +} +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject * +__Pyx_CyFunction_get_module(__pyx_CyFunctionObject *op, void *context) { + CYTHON_UNUSED_VAR(context); + return PyObject_GetAttrString(op->func, "__module__"); +} +static int +__Pyx_CyFunction_set_module(__pyx_CyFunctionObject *op, PyObject* value, void *context) { + CYTHON_UNUSED_VAR(context); + return PyObject_SetAttrString(op->func, "__module__", value); +} +#endif +static PyGetSetDef __pyx_CyFunction_getsets[] = { + {(char *) "func_doc", (getter)__Pyx_CyFunction_get_doc, (setter)__Pyx_CyFunction_set_doc, 0, 0}, + {(char *) "__doc__", (getter)__Pyx_CyFunction_get_doc, (setter)__Pyx_CyFunction_set_doc, 0, 0}, + {(char *) "func_name", (getter)__Pyx_CyFunction_get_name, (setter)__Pyx_CyFunction_set_name, 0, 0}, + {(char *) "__name__", (getter)__Pyx_CyFunction_get_name, (setter)__Pyx_CyFunction_set_name, 0, 0}, + {(char *) "__qualname__", (getter)__Pyx_CyFunction_get_qualname, (setter)__Pyx_CyFunction_set_qualname, 0, 0}, + {(char *) "func_dict", (getter)__Pyx_CyFunction_get_dict, (setter)__Pyx_CyFunction_set_dict, 0, 0}, + {(char *) "__dict__", (getter)__Pyx_CyFunction_get_dict, (setter)__Pyx_CyFunction_set_dict, 0, 0}, + {(char *) "func_globals", (getter)__Pyx_CyFunction_get_globals, 0, 0, 0}, + {(char *) "__globals__", (getter)__Pyx_CyFunction_get_globals, 0, 0, 0}, + {(char *) "func_closure", (getter)__Pyx_CyFunction_get_closure, 0, 0, 0}, + {(char *) "__closure__", (getter)__Pyx_CyFunction_get_closure, 0, 0, 0}, + {(char *) "func_code", (getter)__Pyx_CyFunction_get_code, 0, 0, 0}, + {(char *) "__code__", (getter)__Pyx_CyFunction_get_code, 0, 0, 0}, + {(char *) "func_defaults", (getter)__Pyx_CyFunction_get_defaults, (setter)__Pyx_CyFunction_set_defaults, 0, 0}, + {(char *) "__defaults__", (getter)__Pyx_CyFunction_get_defaults, (setter)__Pyx_CyFunction_set_defaults, 0, 0}, + {(char *) "__kwdefaults__", (getter)__Pyx_CyFunction_get_kwdefaults, (setter)__Pyx_CyFunction_set_kwdefaults, 0, 0}, + {(char *) "__annotations__", (getter)__Pyx_CyFunction_get_annotations, (setter)__Pyx_CyFunction_set_annotations, 0, 0}, + {(char *) "_is_coroutine", (getter)__Pyx_CyFunction_get_is_coroutine, 0, 0, 0}, +#if CYTHON_COMPILING_IN_LIMITED_API + {"__module__", (getter)__Pyx_CyFunction_get_module, (setter)__Pyx_CyFunction_set_module, 0, 0}, +#endif + {0, 0, 0, 0, 0} +}; +static PyMemberDef __pyx_CyFunction_members[] = { +#if !CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__module__", T_OBJECT, offsetof(PyCFunctionObject, m_module), 0, 0}, +#endif +#if CYTHON_USE_TYPE_SPECS + {(char *) "__dictoffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_dict), READONLY, 0}, +#if CYTHON_METH_FASTCALL +#if CYTHON_BACKPORT_VECTORCALL + {(char *) "__vectorcalloffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_vectorcall), READONLY, 0}, +#else +#if !CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__vectorcalloffset__", T_PYSSIZET, offsetof(PyCFunctionObject, vectorcall), READONLY, 0}, +#endif +#endif +#endif +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API + {(char *) "__weaklistoffset__", T_PYSSIZET, offsetof(__pyx_CyFunctionObject, func_weakreflist), READONLY, 0}, +#else + {(char *) "__weaklistoffset__", T_PYSSIZET, offsetof(PyCFunctionObject, m_weakreflist), READONLY, 0}, +#endif +#endif + {0, 0, 0, 0, 0} +}; +static PyObject * +__Pyx_CyFunction_reduce(__pyx_CyFunctionObject *m, PyObject *args) +{ + CYTHON_UNUSED_VAR(args); +#if PY_MAJOR_VERSION >= 3 + Py_INCREF(m->func_qualname); + return m->func_qualname; +#else + return PyString_FromString(((PyCFunctionObject*)m)->m_ml->ml_name); +#endif +} +static PyMethodDef __pyx_CyFunction_methods[] = { + {"__reduce__", (PyCFunction)__Pyx_CyFunction_reduce, METH_VARARGS, 0}, + {0, 0, 0, 0} +}; +#if PY_VERSION_HEX < 0x030500A0 || CYTHON_COMPILING_IN_LIMITED_API +#define __Pyx_CyFunction_weakreflist(cyfunc) ((cyfunc)->func_weakreflist) +#else +#define __Pyx_CyFunction_weakreflist(cyfunc) (((PyCFunctionObject*)cyfunc)->m_weakreflist) +#endif +static PyObject *__Pyx_CyFunction_Init(__pyx_CyFunctionObject *op, PyMethodDef *ml, int flags, PyObject* qualname, + PyObject *closure, PyObject *module, PyObject* globals, PyObject* code) { +#if !CYTHON_COMPILING_IN_LIMITED_API + PyCFunctionObject *cf = (PyCFunctionObject*) op; +#endif + if (unlikely(op == NULL)) + return NULL; +#if CYTHON_COMPILING_IN_LIMITED_API + op->func = PyCFunction_NewEx(ml, (PyObject*)op, module); + if (unlikely(!op->func)) return NULL; +#endif + op->flags = flags; + __Pyx_CyFunction_weakreflist(op) = NULL; +#if !CYTHON_COMPILING_IN_LIMITED_API + cf->m_ml = ml; + cf->m_self = (PyObject *) op; +#endif + Py_XINCREF(closure); + op->func_closure = closure; +#if !CYTHON_COMPILING_IN_LIMITED_API + Py_XINCREF(module); + cf->m_module = module; +#endif + op->func_dict = NULL; + op->func_name = NULL; + Py_INCREF(qualname); + op->func_qualname = qualname; + op->func_doc = NULL; +#if PY_VERSION_HEX < 0x030900B1 || CYTHON_COMPILING_IN_LIMITED_API + op->func_classobj = NULL; +#else + ((PyCMethodObject*)op)->mm_class = NULL; +#endif + op->func_globals = globals; + Py_INCREF(op->func_globals); + Py_XINCREF(code); + op->func_code = code; + op->defaults_pyobjects = 0; + op->defaults_size = 0; + op->defaults = NULL; + op->defaults_tuple = NULL; + op->defaults_kwdict = NULL; + op->defaults_getter = NULL; + op->func_annotations = NULL; + op->func_is_coroutine = NULL; +#if CYTHON_METH_FASTCALL + switch (ml->ml_flags & (METH_VARARGS | METH_FASTCALL | METH_NOARGS | METH_O | METH_KEYWORDS | METH_METHOD)) { + case METH_NOARGS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_NOARGS; + break; + case METH_O: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_O; + break; + case METH_METHOD | METH_FASTCALL | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD; + break; + case METH_FASTCALL | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS; + break; + case METH_VARARGS | METH_KEYWORDS: + __Pyx_CyFunction_func_vectorcall(op) = NULL; + break; + default: + PyErr_SetString(PyExc_SystemError, "Bad call flags for CyFunction"); + Py_DECREF(op); + return NULL; + } +#endif + return (PyObject *) op; +} +static int +__Pyx_CyFunction_clear(__pyx_CyFunctionObject *m) +{ + Py_CLEAR(m->func_closure); +#if CYTHON_COMPILING_IN_LIMITED_API + Py_CLEAR(m->func); +#else + Py_CLEAR(((PyCFunctionObject*)m)->m_module); +#endif + Py_CLEAR(m->func_dict); + Py_CLEAR(m->func_name); + Py_CLEAR(m->func_qualname); + Py_CLEAR(m->func_doc); + Py_CLEAR(m->func_globals); + Py_CLEAR(m->func_code); +#if !CYTHON_COMPILING_IN_LIMITED_API +#if PY_VERSION_HEX < 0x030900B1 + Py_CLEAR(__Pyx_CyFunction_GetClassObj(m)); +#else + { + PyObject *cls = (PyObject*) ((PyCMethodObject *) (m))->mm_class; + ((PyCMethodObject *) (m))->mm_class = NULL; + Py_XDECREF(cls); + } +#endif +#endif + Py_CLEAR(m->defaults_tuple); + Py_CLEAR(m->defaults_kwdict); + Py_CLEAR(m->func_annotations); + Py_CLEAR(m->func_is_coroutine); + if (m->defaults) { + PyObject **pydefaults = __Pyx_CyFunction_Defaults(PyObject *, m); + int i; + for (i = 0; i < m->defaults_pyobjects; i++) + Py_XDECREF(pydefaults[i]); + PyObject_Free(m->defaults); + m->defaults = NULL; + } + return 0; +} +static void __Pyx__CyFunction_dealloc(__pyx_CyFunctionObject *m) +{ + if (__Pyx_CyFunction_weakreflist(m) != NULL) + PyObject_ClearWeakRefs((PyObject *) m); + __Pyx_CyFunction_clear(m); + __Pyx_PyHeapTypeObject_GC_Del(m); +} +static void __Pyx_CyFunction_dealloc(__pyx_CyFunctionObject *m) +{ + PyObject_GC_UnTrack(m); + __Pyx__CyFunction_dealloc(m); +} +static int __Pyx_CyFunction_traverse(__pyx_CyFunctionObject *m, visitproc visit, void *arg) +{ + Py_VISIT(m->func_closure); +#if CYTHON_COMPILING_IN_LIMITED_API + Py_VISIT(m->func); +#else + Py_VISIT(((PyCFunctionObject*)m)->m_module); +#endif + Py_VISIT(m->func_dict); + Py_VISIT(m->func_name); + Py_VISIT(m->func_qualname); + Py_VISIT(m->func_doc); + Py_VISIT(m->func_globals); + Py_VISIT(m->func_code); +#if !CYTHON_COMPILING_IN_LIMITED_API + Py_VISIT(__Pyx_CyFunction_GetClassObj(m)); +#endif + Py_VISIT(m->defaults_tuple); + Py_VISIT(m->defaults_kwdict); + Py_VISIT(m->func_is_coroutine); + if (m->defaults) { + PyObject **pydefaults = __Pyx_CyFunction_Defaults(PyObject *, m); + int i; + for (i = 0; i < m->defaults_pyobjects; i++) + Py_VISIT(pydefaults[i]); + } + return 0; +} +static PyObject* +__Pyx_CyFunction_repr(__pyx_CyFunctionObject *op) +{ +#if PY_MAJOR_VERSION >= 3 + return PyUnicode_FromFormat("", + op->func_qualname, (void *)op); +#else + return PyString_FromFormat("", + PyString_AsString(op->func_qualname), (void *)op); +#endif +} +static PyObject * __Pyx_CyFunction_CallMethod(PyObject *func, PyObject *self, PyObject *arg, PyObject *kw) { +#if CYTHON_COMPILING_IN_LIMITED_API + PyObject *f = ((__pyx_CyFunctionObject*)func)->func; + PyObject *py_name = NULL; + PyCFunction meth; + int flags; + meth = PyCFunction_GetFunction(f); + if (unlikely(!meth)) return NULL; + flags = PyCFunction_GetFlags(f); + if (unlikely(flags < 0)) return NULL; +#else + PyCFunctionObject* f = (PyCFunctionObject*)func; + PyCFunction meth = f->m_ml->ml_meth; + int flags = f->m_ml->ml_flags; +#endif + Py_ssize_t size; + switch (flags & (METH_VARARGS | METH_KEYWORDS | METH_NOARGS | METH_O)) { + case METH_VARARGS: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) + return (*meth)(self, arg); + break; + case METH_VARARGS | METH_KEYWORDS: + return (*(PyCFunctionWithKeywords)(void*)meth)(self, arg, kw); + case METH_NOARGS: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) { +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(arg); +#else + size = PyTuple_Size(arg); + if (unlikely(size < 0)) return NULL; +#endif + if (likely(size == 0)) + return (*meth)(self, NULL); +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, + "%.200S() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + py_name, size); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, + "%.200s() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + f->m_ml->ml_name, size); +#endif + return NULL; + } + break; + case METH_O: + if (likely(kw == NULL || PyDict_Size(kw) == 0)) { +#if CYTHON_ASSUME_SAFE_MACROS + size = PyTuple_GET_SIZE(arg); +#else + size = PyTuple_Size(arg); + if (unlikely(size < 0)) return NULL; +#endif + if (likely(size == 1)) { + PyObject *result, *arg0; + #if CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS + arg0 = PyTuple_GET_ITEM(arg, 0); + #else + arg0 = __Pyx_PySequence_ITEM(arg, 0); if (unlikely(!arg0)) return NULL; + #endif + result = (*meth)(self, arg0); + #if !(CYTHON_ASSUME_SAFE_MACROS && !CYTHON_AVOID_BORROWED_REFS) + Py_DECREF(arg0); + #endif + return result; + } +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, + "%.200S() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + py_name, size); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, + "%.200s() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + f->m_ml->ml_name, size); +#endif + return NULL; + } + break; + default: + PyErr_SetString(PyExc_SystemError, "Bad call flags for CyFunction"); + return NULL; + } +#if CYTHON_COMPILING_IN_LIMITED_API + py_name = __Pyx_CyFunction_get_name((__pyx_CyFunctionObject*)func, NULL); + if (!py_name) return NULL; + PyErr_Format(PyExc_TypeError, "%.200S() takes no keyword arguments", + py_name); + Py_DECREF(py_name); +#else + PyErr_Format(PyExc_TypeError, "%.200s() takes no keyword arguments", + f->m_ml->ml_name); +#endif + return NULL; +} +static CYTHON_INLINE PyObject *__Pyx_CyFunction_Call(PyObject *func, PyObject *arg, PyObject *kw) { + PyObject *self, *result; +#if CYTHON_COMPILING_IN_LIMITED_API + self = PyCFunction_GetSelf(((__pyx_CyFunctionObject*)func)->func); + if (unlikely(!self) && PyErr_Occurred()) return NULL; +#else + self = ((PyCFunctionObject*)func)->m_self; +#endif + result = __Pyx_CyFunction_CallMethod(func, self, arg, kw); + return result; +} +static PyObject *__Pyx_CyFunction_CallAsMethod(PyObject *func, PyObject *args, PyObject *kw) { + PyObject *result; + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *) func; +#if CYTHON_METH_FASTCALL + __pyx_vectorcallfunc vc = __Pyx_CyFunction_func_vectorcall(cyfunc); + if (vc) { +#if CYTHON_ASSUME_SAFE_MACROS + return __Pyx_PyVectorcall_FastCallDict(func, vc, &PyTuple_GET_ITEM(args, 0), (size_t)PyTuple_GET_SIZE(args), kw); +#else + (void) &__Pyx_PyVectorcall_FastCallDict; + return PyVectorcall_Call(func, args, kw); +#endif + } +#endif + if ((cyfunc->flags & __Pyx_CYFUNCTION_CCLASS) && !(cyfunc->flags & __Pyx_CYFUNCTION_STATICMETHOD)) { + Py_ssize_t argc; + PyObject *new_args; + PyObject *self; +#if CYTHON_ASSUME_SAFE_MACROS + argc = PyTuple_GET_SIZE(args); +#else + argc = PyTuple_Size(args); + if (unlikely(!argc) < 0) return NULL; +#endif + new_args = PyTuple_GetSlice(args, 1, argc); + if (unlikely(!new_args)) + return NULL; + self = PyTuple_GetItem(args, 0); + if (unlikely(!self)) { + Py_DECREF(new_args); +#if PY_MAJOR_VERSION > 2 + PyErr_Format(PyExc_TypeError, + "unbound method %.200S() needs an argument", + cyfunc->func_qualname); +#else + PyErr_SetString(PyExc_TypeError, + "unbound method needs an argument"); +#endif + return NULL; + } + result = __Pyx_CyFunction_CallMethod(func, self, new_args, kw); + Py_DECREF(new_args); + } else { + result = __Pyx_CyFunction_Call(func, args, kw); + } + return result; +} +#if CYTHON_METH_FASTCALL +static CYTHON_INLINE int __Pyx_CyFunction_Vectorcall_CheckArgs(__pyx_CyFunctionObject *cyfunc, Py_ssize_t nargs, PyObject *kwnames) +{ + int ret = 0; + if ((cyfunc->flags & __Pyx_CYFUNCTION_CCLASS) && !(cyfunc->flags & __Pyx_CYFUNCTION_STATICMETHOD)) { + if (unlikely(nargs < 1)) { + PyErr_Format(PyExc_TypeError, "%.200s() needs an argument", + ((PyCFunctionObject*)cyfunc)->m_ml->ml_name); + return -1; + } + ret = 1; + } + if (unlikely(kwnames) && unlikely(PyTuple_GET_SIZE(kwnames))) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes no keyword arguments", ((PyCFunctionObject*)cyfunc)->m_ml->ml_name); + return -1; + } + return ret; +} +static PyObject * __Pyx_CyFunction_Vectorcall_NOARGS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, kwnames)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + if (unlikely(nargs != 0)) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes no arguments (%" CYTHON_FORMAT_SSIZE_T "d given)", + def->ml_name, nargs); + return NULL; + } + return def->ml_meth(self, NULL); +} +static PyObject * __Pyx_CyFunction_Vectorcall_O(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, kwnames)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + if (unlikely(nargs != 1)) { + PyErr_Format(PyExc_TypeError, + "%.200s() takes exactly one argument (%" CYTHON_FORMAT_SSIZE_T "d given)", + def->ml_name, nargs); + return NULL; + } + return def->ml_meth(self, args[0]); +} +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, NULL)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + return ((_PyCFunctionFastWithKeywords)(void(*)(void))def->ml_meth)(self, args, nargs, kwnames); +} +static PyObject * __Pyx_CyFunction_Vectorcall_FASTCALL_KEYWORDS_METHOD(PyObject *func, PyObject *const *args, size_t nargsf, PyObject *kwnames) +{ + __pyx_CyFunctionObject *cyfunc = (__pyx_CyFunctionObject *)func; + PyMethodDef* def = ((PyCFunctionObject*)cyfunc)->m_ml; + PyTypeObject *cls = (PyTypeObject *) __Pyx_CyFunction_GetClassObj(cyfunc); +#if CYTHON_BACKPORT_VECTORCALL + Py_ssize_t nargs = (Py_ssize_t)nargsf; +#else + Py_ssize_t nargs = PyVectorcall_NARGS(nargsf); +#endif + PyObject *self; + switch (__Pyx_CyFunction_Vectorcall_CheckArgs(cyfunc, nargs, NULL)) { + case 1: + self = args[0]; + args += 1; + nargs -= 1; + break; + case 0: + self = ((PyCFunctionObject*)cyfunc)->m_self; + break; + default: + return NULL; + } + return ((__Pyx_PyCMethod)(void(*)(void))def->ml_meth)(self, cls, args, (size_t)nargs, kwnames); +} +#endif +#if CYTHON_USE_TYPE_SPECS +static PyType_Slot __pyx_CyFunctionType_slots[] = { + {Py_tp_dealloc, (void *)__Pyx_CyFunction_dealloc}, + {Py_tp_repr, (void *)__Pyx_CyFunction_repr}, + {Py_tp_call, (void *)__Pyx_CyFunction_CallAsMethod}, + {Py_tp_traverse, (void *)__Pyx_CyFunction_traverse}, + {Py_tp_clear, (void *)__Pyx_CyFunction_clear}, + {Py_tp_methods, (void *)__pyx_CyFunction_methods}, + {Py_tp_members, (void *)__pyx_CyFunction_members}, + {Py_tp_getset, (void *)__pyx_CyFunction_getsets}, + {Py_tp_descr_get, (void *)__Pyx_PyMethod_New}, + {0, 0}, +}; +static PyType_Spec __pyx_CyFunctionType_spec = { + __PYX_TYPE_MODULE_PREFIX "cython_function_or_method", + sizeof(__pyx_CyFunctionObject), + 0, +#ifdef Py_TPFLAGS_METHOD_DESCRIPTOR + Py_TPFLAGS_METHOD_DESCRIPTOR | +#endif +#if (defined(_Py_TPFLAGS_HAVE_VECTORCALL) && CYTHON_METH_FASTCALL) + _Py_TPFLAGS_HAVE_VECTORCALL | +#endif + Py_TPFLAGS_DEFAULT | Py_TPFLAGS_HAVE_GC | Py_TPFLAGS_BASETYPE, + __pyx_CyFunctionType_slots +}; +#else +static PyTypeObject __pyx_CyFunctionType_type = { + PyVarObject_HEAD_INIT(0, 0) + __PYX_TYPE_MODULE_PREFIX "cython_function_or_method", + sizeof(__pyx_CyFunctionObject), + 0, + (destructor) __Pyx_CyFunction_dealloc, +#if !CYTHON_METH_FASTCALL + 0, +#elif CYTHON_BACKPORT_VECTORCALL + (printfunc)offsetof(__pyx_CyFunctionObject, func_vectorcall), +#else + offsetof(PyCFunctionObject, vectorcall), +#endif + 0, + 0, +#if PY_MAJOR_VERSION < 3 + 0, +#else + 0, +#endif + (reprfunc) __Pyx_CyFunction_repr, + 0, + 0, + 0, + 0, + __Pyx_CyFunction_CallAsMethod, + 0, + 0, + 0, + 0, +#ifdef Py_TPFLAGS_METHOD_DESCRIPTOR + Py_TPFLAGS_METHOD_DESCRIPTOR | +#endif +#if defined(_Py_TPFLAGS_HAVE_VECTORCALL) && CYTHON_METH_FASTCALL + _Py_TPFLAGS_HAVE_VECTORCALL | +#endif + Py_TPFLAGS_DEFAULT | Py_TPFLAGS_HAVE_GC | Py_TPFLAGS_BASETYPE, + 0, + (traverseproc) __Pyx_CyFunction_traverse, + (inquiry) __Pyx_CyFunction_clear, + 0, +#if PY_VERSION_HEX < 0x030500A0 + offsetof(__pyx_CyFunctionObject, func_weakreflist), +#else + offsetof(PyCFunctionObject, m_weakreflist), +#endif + 0, + 0, + __pyx_CyFunction_methods, + __pyx_CyFunction_members, + __pyx_CyFunction_getsets, + 0, + 0, + __Pyx_PyMethod_New, + 0, + offsetof(__pyx_CyFunctionObject, func_dict), + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, +#if PY_VERSION_HEX >= 0x030400a1 + 0, +#endif +#if PY_VERSION_HEX >= 0x030800b1 && (!CYTHON_COMPILING_IN_PYPY || PYPY_VERSION_NUM >= 0x07030800) + 0, +#endif +#if __PYX_NEED_TP_PRINT_SLOT + 0, +#endif +#if PY_VERSION_HEX >= 0x030C0000 + 0, +#endif +#if CYTHON_COMPILING_IN_PYPY && PY_VERSION_HEX >= 0x03090000 && PY_VERSION_HEX < 0x030a0000 + 0, +#endif +}; +#endif +static int __pyx_CyFunction_init(PyObject *module) { +#if CYTHON_USE_TYPE_SPECS + __pyx_CyFunctionType = __Pyx_FetchCommonTypeFromSpec(module, &__pyx_CyFunctionType_spec, NULL); +#else + CYTHON_UNUSED_VAR(module); + __pyx_CyFunctionType = __Pyx_FetchCommonType(&__pyx_CyFunctionType_type); +#endif + if (unlikely(__pyx_CyFunctionType == NULL)) { + return -1; + } + return 0; +} +static CYTHON_INLINE void *__Pyx_CyFunction_InitDefaults(PyObject *func, size_t size, int pyobjects) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults = PyObject_Malloc(size); + if (unlikely(!m->defaults)) + return PyErr_NoMemory(); + memset(m->defaults, 0, size); + m->defaults_pyobjects = pyobjects; + m->defaults_size = size; + return m->defaults; +} +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsTuple(PyObject *func, PyObject *tuple) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults_tuple = tuple; + Py_INCREF(tuple); +} +static CYTHON_INLINE void __Pyx_CyFunction_SetDefaultsKwDict(PyObject *func, PyObject *dict) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->defaults_kwdict = dict; + Py_INCREF(dict); +} +static CYTHON_INLINE void __Pyx_CyFunction_SetAnnotationsDict(PyObject *func, PyObject *dict) { + __pyx_CyFunctionObject *m = (__pyx_CyFunctionObject *) func; + m->func_annotations = dict; + Py_INCREF(dict); +} + +/* CythonFunction */ +static PyObject *__Pyx_CyFunction_New(PyMethodDef *ml, int flags, PyObject* qualname, + PyObject *closure, PyObject *module, PyObject* globals, PyObject* code) { + PyObject *op = __Pyx_CyFunction_Init( + PyObject_GC_New(__pyx_CyFunctionObject, __pyx_CyFunctionType), + ml, flags, qualname, closure, module, globals, code + ); + if (likely(op)) { + PyObject_GC_Track(op); + } + return op; +} + +/* PyDictVersioning */ +#if CYTHON_USE_DICT_VERSIONS && CYTHON_USE_TYPE_SLOTS +static CYTHON_INLINE PY_UINT64_T __Pyx_get_tp_dict_version(PyObject *obj) { + PyObject *dict = Py_TYPE(obj)->tp_dict; + return likely(dict) ? __PYX_GET_DICT_VERSION(dict) : 0; +} +static CYTHON_INLINE PY_UINT64_T __Pyx_get_object_dict_version(PyObject *obj) { + PyObject **dictptr = NULL; + Py_ssize_t offset = Py_TYPE(obj)->tp_dictoffset; + if (offset) { +#if CYTHON_COMPILING_IN_CPYTHON + dictptr = (likely(offset > 0)) ? (PyObject **) ((char *)obj + offset) : _PyObject_GetDictPtr(obj); +#else + dictptr = _PyObject_GetDictPtr(obj); +#endif + } + return (dictptr && *dictptr) ? __PYX_GET_DICT_VERSION(*dictptr) : 0; +} +static CYTHON_INLINE int __Pyx_object_dict_version_matches(PyObject* obj, PY_UINT64_T tp_dict_version, PY_UINT64_T obj_dict_version) { + PyObject *dict = Py_TYPE(obj)->tp_dict; + if (unlikely(!dict) || unlikely(tp_dict_version != __PYX_GET_DICT_VERSION(dict))) + return 0; + return obj_dict_version == __Pyx_get_object_dict_version(obj); +} +#endif + +/* PyErrExceptionMatches */ +#if CYTHON_FAST_THREAD_STATE +static int __Pyx_PyErr_ExceptionMatchesTuple(PyObject *exc_type, PyObject *tuple) { + Py_ssize_t i, n; + n = PyTuple_GET_SIZE(tuple); +#if PY_MAJOR_VERSION >= 3 + for (i=0; i= 0x030C00A6 + PyObject *current_exception = tstate->current_exception; + if (unlikely(!current_exception)) return 0; + exc_type = (PyObject*) Py_TYPE(current_exception); + if (exc_type == err) return 1; +#else + exc_type = tstate->curexc_type; + if (exc_type == err) return 1; + if (unlikely(!exc_type)) return 0; +#endif + #if CYTHON_AVOID_BORROWED_REFS + Py_INCREF(exc_type); + #endif + if (unlikely(PyTuple_Check(err))) { + result = __Pyx_PyErr_ExceptionMatchesTuple(exc_type, err); + } else { + result = __Pyx_PyErr_GivenExceptionMatches(exc_type, err); + } + #if CYTHON_AVOID_BORROWED_REFS + Py_DECREF(exc_type); + #endif + return result; +} +#endif + +/* PyErrFetchRestore */ +#if CYTHON_FAST_THREAD_STATE +static CYTHON_INLINE void __Pyx_ErrRestoreInState(PyThreadState *tstate, PyObject *type, PyObject *value, PyObject *tb) { +#if PY_VERSION_HEX >= 0x030C00A6 + PyObject *tmp_value; + assert(type == NULL || (value != NULL && type == (PyObject*) Py_TYPE(value))); + if (value) { + #if CYTHON_COMPILING_IN_CPYTHON + if (unlikely(((PyBaseExceptionObject*) value)->traceback != tb)) + #endif + PyException_SetTraceback(value, tb); + } + tmp_value = tstate->current_exception; + tstate->current_exception = value; + Py_XDECREF(tmp_value); + Py_XDECREF(type); + Py_XDECREF(tb); +#else + PyObject *tmp_type, *tmp_value, *tmp_tb; + tmp_type = tstate->curexc_type; + tmp_value = tstate->curexc_value; + tmp_tb = tstate->curexc_traceback; + tstate->curexc_type = type; + tstate->curexc_value = value; + tstate->curexc_traceback = tb; + Py_XDECREF(tmp_type); + Py_XDECREF(tmp_value); + Py_XDECREF(tmp_tb); +#endif +} +static CYTHON_INLINE void __Pyx_ErrFetchInState(PyThreadState *tstate, PyObject **type, PyObject **value, PyObject **tb) { +#if PY_VERSION_HEX >= 0x030C00A6 + PyObject* exc_value; + exc_value = tstate->current_exception; + tstate->current_exception = 0; + *value = exc_value; + *type = NULL; + *tb = NULL; + if (exc_value) { + *type = (PyObject*) Py_TYPE(exc_value); + Py_INCREF(*type); + #if CYTHON_COMPILING_IN_CPYTHON + *tb = ((PyBaseExceptionObject*) exc_value)->traceback; + Py_XINCREF(*tb); + #else + *tb = PyException_GetTraceback(exc_value); + #endif + } +#else + *type = tstate->curexc_type; + *value = tstate->curexc_value; + *tb = tstate->curexc_traceback; + tstate->curexc_type = 0; + tstate->curexc_value = 0; + tstate->curexc_traceback = 0; +#endif +} +#endif + +/* PyObjectGetAttrStrNoError */ +#if __PYX_LIMITED_VERSION_HEX < 0x030d00A1 +static void __Pyx_PyObject_GetAttrStr_ClearAttributeError(void) { + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + if (likely(__Pyx_PyErr_ExceptionMatches(PyExc_AttributeError))) + __Pyx_PyErr_Clear(); +} +#endif +static CYTHON_INLINE PyObject* __Pyx_PyObject_GetAttrStrNoError(PyObject* obj, PyObject* attr_name) { + PyObject *result; +#if __PYX_LIMITED_VERSION_HEX >= 0x030d00A1 + (void) PyObject_GetOptionalAttr(obj, attr_name, &result); + return result; +#else +#if CYTHON_COMPILING_IN_CPYTHON && CYTHON_USE_TYPE_SLOTS && PY_VERSION_HEX >= 0x030700B1 + PyTypeObject* tp = Py_TYPE(obj); + if (likely(tp->tp_getattro == PyObject_GenericGetAttr)) { + return _PyObject_GenericGetAttrWithDict(obj, attr_name, NULL, 1); + } +#endif + result = __Pyx_PyObject_GetAttrStr(obj, attr_name); + if (unlikely(!result)) { + __Pyx_PyObject_GetAttrStr_ClearAttributeError(); + } + return result; +#endif +} + +/* CLineInTraceback */ +#ifndef CYTHON_CLINE_IN_TRACEBACK +static int __Pyx_CLineForTraceback(PyThreadState *tstate, int c_line) { + PyObject *use_cline; + PyObject *ptype, *pvalue, *ptraceback; +#if CYTHON_COMPILING_IN_CPYTHON + PyObject **cython_runtime_dict; +#endif + CYTHON_MAYBE_UNUSED_VAR(tstate); + if (unlikely(!__pyx_cython_runtime)) { + return c_line; + } + __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); +#if CYTHON_COMPILING_IN_CPYTHON + cython_runtime_dict = _PyObject_GetDictPtr(__pyx_cython_runtime); + if (likely(cython_runtime_dict)) { + __PYX_PY_DICT_LOOKUP_IF_MODIFIED( + use_cline, *cython_runtime_dict, + __Pyx_PyDict_GetItemStr(*cython_runtime_dict, __pyx_n_s_cline_in_traceback)) + } else +#endif + { + PyObject *use_cline_obj = __Pyx_PyObject_GetAttrStrNoError(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback); + if (use_cline_obj) { + use_cline = PyObject_Not(use_cline_obj) ? Py_False : Py_True; + Py_DECREF(use_cline_obj); + } else { + PyErr_Clear(); + use_cline = NULL; + } + } + if (!use_cline) { + c_line = 0; + (void) PyObject_SetAttr(__pyx_cython_runtime, __pyx_n_s_cline_in_traceback, Py_False); + } + else if (use_cline == Py_False || (use_cline != Py_True && PyObject_Not(use_cline) != 0)) { + c_line = 0; + } + __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); + return c_line; +} +#endif + +/* CodeObjectCache */ +#if !CYTHON_COMPILING_IN_LIMITED_API +static int __pyx_bisect_code_objects(__Pyx_CodeObjectCacheEntry* entries, int count, int code_line) { + int start = 0, mid = 0, end = count - 1; + if (end >= 0 && code_line > entries[end].code_line) { + return count; + } + while (start < end) { + mid = start + (end - start) / 2; + if (code_line < entries[mid].code_line) { + end = mid; + } else if (code_line > entries[mid].code_line) { + start = mid + 1; + } else { + return mid; + } + } + if (code_line <= entries[mid].code_line) { + return mid; + } else { + return mid + 1; + } +} +static PyCodeObject *__pyx_find_code_object(int code_line) { + PyCodeObject* code_object; + int pos; + if (unlikely(!code_line) || unlikely(!__pyx_code_cache.entries)) { + return NULL; + } + pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); + if (unlikely(pos >= __pyx_code_cache.count) || unlikely(__pyx_code_cache.entries[pos].code_line != code_line)) { + return NULL; + } + code_object = __pyx_code_cache.entries[pos].code_object; + Py_INCREF(code_object); + return code_object; +} +static void __pyx_insert_code_object(int code_line, PyCodeObject* code_object) { + int pos, i; + __Pyx_CodeObjectCacheEntry* entries = __pyx_code_cache.entries; + if (unlikely(!code_line)) { + return; + } + if (unlikely(!entries)) { + entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Malloc(64*sizeof(__Pyx_CodeObjectCacheEntry)); + if (likely(entries)) { + __pyx_code_cache.entries = entries; + __pyx_code_cache.max_count = 64; + __pyx_code_cache.count = 1; + entries[0].code_line = code_line; + entries[0].code_object = code_object; + Py_INCREF(code_object); + } + return; + } + pos = __pyx_bisect_code_objects(__pyx_code_cache.entries, __pyx_code_cache.count, code_line); + if ((pos < __pyx_code_cache.count) && unlikely(__pyx_code_cache.entries[pos].code_line == code_line)) { + PyCodeObject* tmp = entries[pos].code_object; + entries[pos].code_object = code_object; + Py_DECREF(tmp); + return; + } + if (__pyx_code_cache.count == __pyx_code_cache.max_count) { + int new_max = __pyx_code_cache.max_count + 64; + entries = (__Pyx_CodeObjectCacheEntry*)PyMem_Realloc( + __pyx_code_cache.entries, ((size_t)new_max) * sizeof(__Pyx_CodeObjectCacheEntry)); + if (unlikely(!entries)) { + return; + } + __pyx_code_cache.entries = entries; + __pyx_code_cache.max_count = new_max; + } + for (i=__pyx_code_cache.count; i>pos; i--) { + entries[i] = entries[i-1]; + } + entries[pos].code_line = code_line; + entries[pos].code_object = code_object; + __pyx_code_cache.count++; + Py_INCREF(code_object); +} +#endif + +/* AddTraceback */ +#include "compile.h" +#include "frameobject.h" +#include "traceback.h" +#if PY_VERSION_HEX >= 0x030b00a6 && !CYTHON_COMPILING_IN_LIMITED_API + #ifndef Py_BUILD_CORE + #define Py_BUILD_CORE 1 + #endif + #include "internal/pycore_frame.h" +#endif +#if CYTHON_COMPILING_IN_LIMITED_API +static PyObject *__Pyx_PyCode_Replace_For_AddTraceback(PyObject *code, PyObject *scratch_dict, + PyObject *firstlineno, PyObject *name) { + PyObject *replace = NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "co_firstlineno", firstlineno))) return NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "co_name", name))) return NULL; + replace = PyObject_GetAttrString(code, "replace"); + if (likely(replace)) { + PyObject *result; + result = PyObject_Call(replace, __pyx_empty_tuple, scratch_dict); + Py_DECREF(replace); + return result; + } + PyErr_Clear(); + #if __PYX_LIMITED_VERSION_HEX < 0x030780000 + { + PyObject *compiled = NULL, *result = NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "code", code))) return NULL; + if (unlikely(PyDict_SetItemString(scratch_dict, "type", (PyObject*)(&PyType_Type)))) return NULL; + compiled = Py_CompileString( + "out = type(code)(\n" + " code.co_argcount, code.co_kwonlyargcount, code.co_nlocals, code.co_stacksize,\n" + " code.co_flags, code.co_code, code.co_consts, code.co_names,\n" + " code.co_varnames, code.co_filename, co_name, co_firstlineno,\n" + " code.co_lnotab)\n", "", Py_file_input); + if (!compiled) return NULL; + result = PyEval_EvalCode(compiled, scratch_dict, scratch_dict); + Py_DECREF(compiled); + if (!result) PyErr_Print(); + Py_DECREF(result); + result = PyDict_GetItemString(scratch_dict, "out"); + if (result) Py_INCREF(result); + return result; + } + #else + return NULL; + #endif +} +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename) { + PyObject *code_object = NULL, *py_py_line = NULL, *py_funcname = NULL, *dict = NULL; + PyObject *replace = NULL, *getframe = NULL, *frame = NULL; + PyObject *exc_type, *exc_value, *exc_traceback; + int success = 0; + if (c_line) { + (void) __pyx_cfilenm; + (void) __Pyx_CLineForTraceback(__Pyx_PyThreadState_Current, c_line); + } + PyErr_Fetch(&exc_type, &exc_value, &exc_traceback); + code_object = Py_CompileString("_getframe()", filename, Py_eval_input); + if (unlikely(!code_object)) goto bad; + py_py_line = PyLong_FromLong(py_line); + if (unlikely(!py_py_line)) goto bad; + py_funcname = PyUnicode_FromString(funcname); + if (unlikely(!py_funcname)) goto bad; + dict = PyDict_New(); + if (unlikely(!dict)) goto bad; + { + PyObject *old_code_object = code_object; + code_object = __Pyx_PyCode_Replace_For_AddTraceback(code_object, dict, py_py_line, py_funcname); + Py_DECREF(old_code_object); + } + if (unlikely(!code_object)) goto bad; + getframe = PySys_GetObject("_getframe"); + if (unlikely(!getframe)) goto bad; + if (unlikely(PyDict_SetItemString(dict, "_getframe", getframe))) goto bad; + frame = PyEval_EvalCode(code_object, dict, dict); + if (unlikely(!frame) || frame == Py_None) goto bad; + success = 1; + bad: + PyErr_Restore(exc_type, exc_value, exc_traceback); + Py_XDECREF(code_object); + Py_XDECREF(py_py_line); + Py_XDECREF(py_funcname); + Py_XDECREF(dict); + Py_XDECREF(replace); + if (success) { + PyTraceBack_Here( + (struct _frame*)frame); + } + Py_XDECREF(frame); +} +#else +static PyCodeObject* __Pyx_CreateCodeObjectForTraceback( + const char *funcname, int c_line, + int py_line, const char *filename) { + PyCodeObject *py_code = NULL; + PyObject *py_funcname = NULL; + #if PY_MAJOR_VERSION < 3 + PyObject *py_srcfile = NULL; + py_srcfile = PyString_FromString(filename); + if (!py_srcfile) goto bad; + #endif + if (c_line) { + #if PY_MAJOR_VERSION < 3 + py_funcname = PyString_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); + if (!py_funcname) goto bad; + #else + py_funcname = PyUnicode_FromFormat( "%s (%s:%d)", funcname, __pyx_cfilenm, c_line); + if (!py_funcname) goto bad; + funcname = PyUnicode_AsUTF8(py_funcname); + if (!funcname) goto bad; + #endif + } + else { + #if PY_MAJOR_VERSION < 3 + py_funcname = PyString_FromString(funcname); + if (!py_funcname) goto bad; + #endif + } + #if PY_MAJOR_VERSION < 3 + py_code = __Pyx_PyCode_New( + 0, + 0, + 0, + 0, + 0, + 0, + __pyx_empty_bytes, /*PyObject *code,*/ + __pyx_empty_tuple, /*PyObject *consts,*/ + __pyx_empty_tuple, /*PyObject *names,*/ + __pyx_empty_tuple, /*PyObject *varnames,*/ + __pyx_empty_tuple, /*PyObject *freevars,*/ + __pyx_empty_tuple, /*PyObject *cellvars,*/ + py_srcfile, /*PyObject *filename,*/ + py_funcname, /*PyObject *name,*/ + py_line, + __pyx_empty_bytes /*PyObject *lnotab*/ + ); + Py_DECREF(py_srcfile); + #else + py_code = PyCode_NewEmpty(filename, funcname, py_line); + #endif + Py_XDECREF(py_funcname); + return py_code; +bad: + Py_XDECREF(py_funcname); + #if PY_MAJOR_VERSION < 3 + Py_XDECREF(py_srcfile); + #endif + return NULL; +} +static void __Pyx_AddTraceback(const char *funcname, int c_line, + int py_line, const char *filename) { + PyCodeObject *py_code = 0; + PyFrameObject *py_frame = 0; + PyThreadState *tstate = __Pyx_PyThreadState_Current; + PyObject *ptype, *pvalue, *ptraceback; + if (c_line) { + c_line = __Pyx_CLineForTraceback(tstate, c_line); + } + py_code = __pyx_find_code_object(c_line ? -c_line : py_line); + if (!py_code) { + __Pyx_ErrFetchInState(tstate, &ptype, &pvalue, &ptraceback); + py_code = __Pyx_CreateCodeObjectForTraceback( + funcname, c_line, py_line, filename); + if (!py_code) { + /* If the code object creation fails, then we should clear the + fetched exception references and propagate the new exception */ + Py_XDECREF(ptype); + Py_XDECREF(pvalue); + Py_XDECREF(ptraceback); + goto bad; + } + __Pyx_ErrRestoreInState(tstate, ptype, pvalue, ptraceback); + __pyx_insert_code_object(c_line ? -c_line : py_line, py_code); + } + py_frame = PyFrame_New( + tstate, /*PyThreadState *tstate,*/ + py_code, /*PyCodeObject *code,*/ + __pyx_d, /*PyObject *globals,*/ + 0 /*PyObject *locals*/ + ); + if (!py_frame) goto bad; + __Pyx_PyFrame_SetLineNumber(py_frame, py_line); + PyTraceBack_Here(py_frame); +bad: + Py_XDECREF(py_code); + Py_XDECREF(py_frame); +} +#endif + +/* CIntFromPyVerify */ +#define __PYX_VERIFY_RETURN_INT(target_type, func_type, func_value)\ + __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 0) +#define __PYX_VERIFY_RETURN_INT_EXC(target_type, func_type, func_value)\ + __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, 1) +#define __PYX__VERIFY_RETURN_INT(target_type, func_type, func_value, exc)\ + {\ + func_type value = func_value;\ + if (sizeof(target_type) < sizeof(func_type)) {\ + if (unlikely(value != (func_type) (target_type) value)) {\ + func_type zero = 0;\ + if (exc && unlikely(value == (func_type)-1 && PyErr_Occurred()))\ + return (target_type) -1;\ + if (is_unsigned && unlikely(value < zero))\ + goto raise_neg_overflow;\ + else\ + goto raise_overflow;\ + }\ + }\ + return (target_type) value;\ + } + +/* CIntToPy */ +static CYTHON_INLINE PyObject* __Pyx_PyInt_From_long(long value) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const long neg_one = (long) -1, const_zero = (long) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; + if (is_unsigned) { + if (sizeof(long) < sizeof(long)) { + return PyInt_FromLong((long) value); + } else if (sizeof(long) <= sizeof(unsigned long)) { + return PyLong_FromUnsignedLong((unsigned long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(unsigned PY_LONG_LONG)) { + return PyLong_FromUnsignedLongLong((unsigned PY_LONG_LONG) value); +#endif + } + } else { + if (sizeof(long) <= sizeof(long)) { + return PyInt_FromLong((long) value); +#ifdef HAVE_LONG_LONG + } else if (sizeof(long) <= sizeof(PY_LONG_LONG)) { + return PyLong_FromLongLong((PY_LONG_LONG) value); +#endif + } + } + { + int one = 1; int little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&value; +#if !CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030d0000 + return _PyLong_FromByteArray(bytes, sizeof(long), + little, !is_unsigned); +#else + PyObject *from_bytes, *result = NULL; + PyObject *py_bytes = NULL, *arg_tuple = NULL, *kwds = NULL, *order_str = NULL; + from_bytes = PyObject_GetAttrString((PyObject*)&PyLong_Type, "from_bytes"); + if (!from_bytes) return NULL; + py_bytes = PyBytes_FromStringAndSize((char*)bytes, sizeof(long)); + if (!py_bytes) goto limited_bad; + order_str = PyUnicode_FromString(little ? "little" : "big"); + if (!order_str) goto limited_bad; + arg_tuple = PyTuple_Pack(2, py_bytes, order_str); + if (!arg_tuple) goto limited_bad; + if (!is_unsigned) { + kwds = PyDict_New(); + if (!kwds) goto limited_bad; + if (PyDict_SetItemString(kwds, "signed", __Pyx_NewRef(Py_True))) goto limited_bad; + } + result = PyObject_Call(from_bytes, arg_tuple, kwds); + limited_bad: + Py_XDECREF(kwds); + Py_XDECREF(arg_tuple); + Py_XDECREF(order_str); + Py_XDECREF(py_bytes); + Py_XDECREF(from_bytes); + return result; +#endif + } +} + +/* CIntFromPy */ +static CYTHON_INLINE long __Pyx_PyInt_As_long(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const long neg_one = (long) -1, const_zero = (long) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(long) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(long, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (long) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(long, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(long) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 2 * PyLong_SHIFT)) { + return (long) (((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(long) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 3 * PyLong_SHIFT)) { + return (long) (((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(long) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) >= 4 * PyLong_SHIFT)) { + return (long) (((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (long) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(long) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(long, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(long) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(long, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(long, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(long) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(long) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + return (long) ((((((long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(long) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(long) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + return (long) ((((((((long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(long) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 4 * PyLong_SHIFT)) { + return (long) (((long)-1)*(((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(long) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(long, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(long) - 1 > 4 * PyLong_SHIFT)) { + return (long) ((((((((((long)digits[3]) << PyLong_SHIFT) | (long)digits[2]) << PyLong_SHIFT) | (long)digits[1]) << PyLong_SHIFT) | (long)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(long) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(long, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(long) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(long, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + long val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (long) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (long) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (long) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (long) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (long) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(long) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((long) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(long) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((long) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((long) 1) << (sizeof(long) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (long) -1; + } + } else { + long val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (long) -1; + val = __Pyx_PyInt_As_long(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to long"); + return (long) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to long"); + return (long) -1; +} + +/* FormatTypeName */ +#if CYTHON_COMPILING_IN_LIMITED_API +static __Pyx_TypeName +__Pyx_PyType_GetName(PyTypeObject* tp) +{ + PyObject *name = __Pyx_PyObject_GetAttrStr((PyObject *)tp, + __pyx_n_s_name); + if (unlikely(name == NULL) || unlikely(!PyUnicode_Check(name))) { + PyErr_Clear(); + Py_XDECREF(name); + name = __Pyx_NewRef(__pyx_n_s__4); + } + return name; +} +#endif + +/* CIntFromPy */ +static CYTHON_INLINE int __Pyx_PyInt_As_int(PyObject *x) { +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic push +#pragma GCC diagnostic ignored "-Wconversion" +#endif + const int neg_one = (int) -1, const_zero = (int) 0; +#ifdef __Pyx_HAS_GCC_DIAGNOSTIC +#pragma GCC diagnostic pop +#endif + const int is_unsigned = neg_one > const_zero; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x))) { + if ((sizeof(int) < sizeof(long))) { + __PYX_VERIFY_RETURN_INT(int, long, PyInt_AS_LONG(x)) + } else { + long val = PyInt_AS_LONG(x); + if (is_unsigned && unlikely(val < 0)) { + goto raise_neg_overflow; + } + return (int) val; + } + } else +#endif + if (likely(PyLong_Check(x))) { + if (is_unsigned) { +#if CYTHON_USE_PYLONG_INTERNALS + if (unlikely(__Pyx_PyLong_IsNeg(x))) { + goto raise_neg_overflow; + } else if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(int, __Pyx_compact_upylong, __Pyx_PyLong_CompactValueUnsigned(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_DigitCount(x)) { + case 2: + if ((8 * sizeof(int) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 2 * PyLong_SHIFT)) { + return (int) (((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + case 3: + if ((8 * sizeof(int) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 3 * PyLong_SHIFT)) { + return (int) (((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + case 4: + if ((8 * sizeof(int) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) >= 4 * PyLong_SHIFT)) { + return (int) (((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0])); + } + } + break; + } + } +#endif +#if CYTHON_COMPILING_IN_CPYTHON && PY_VERSION_HEX < 0x030C00A7 + if (unlikely(Py_SIZE(x) < 0)) { + goto raise_neg_overflow; + } +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (int) -1; + if (unlikely(result == 1)) + goto raise_neg_overflow; + } +#endif + if ((sizeof(int) <= sizeof(unsigned long))) { + __PYX_VERIFY_RETURN_INT_EXC(int, unsigned long, PyLong_AsUnsignedLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(int) <= sizeof(unsigned PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(int, unsigned PY_LONG_LONG, PyLong_AsUnsignedLongLong(x)) +#endif + } + } else { +#if CYTHON_USE_PYLONG_INTERNALS + if (__Pyx_PyLong_IsCompact(x)) { + __PYX_VERIFY_RETURN_INT(int, __Pyx_compact_pylong, __Pyx_PyLong_CompactValue(x)) + } else { + const digit* digits = __Pyx_PyLong_Digits(x); + assert(__Pyx_PyLong_DigitCount(x) > 1); + switch (__Pyx_PyLong_SignedDigitCount(x)) { + case -2: + if ((8 * sizeof(int) - 1 > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 2: + if ((8 * sizeof(int) > 1 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 2 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + return (int) ((((((int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case -3: + if ((8 * sizeof(int) - 1 > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 3: + if ((8 * sizeof(int) > 2 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 3 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + return (int) ((((((((int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case -4: + if ((8 * sizeof(int) - 1 > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, long, -(long) (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 4 * PyLong_SHIFT)) { + return (int) (((int)-1)*(((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + case 4: + if ((8 * sizeof(int) > 3 * PyLong_SHIFT)) { + if ((8 * sizeof(unsigned long) > 4 * PyLong_SHIFT)) { + __PYX_VERIFY_RETURN_INT(int, unsigned long, (((((((((unsigned long)digits[3]) << PyLong_SHIFT) | (unsigned long)digits[2]) << PyLong_SHIFT) | (unsigned long)digits[1]) << PyLong_SHIFT) | (unsigned long)digits[0]))) + } else if ((8 * sizeof(int) - 1 > 4 * PyLong_SHIFT)) { + return (int) ((((((((((int)digits[3]) << PyLong_SHIFT) | (int)digits[2]) << PyLong_SHIFT) | (int)digits[1]) << PyLong_SHIFT) | (int)digits[0]))); + } + } + break; + } + } +#endif + if ((sizeof(int) <= sizeof(long))) { + __PYX_VERIFY_RETURN_INT_EXC(int, long, PyLong_AsLong(x)) +#ifdef HAVE_LONG_LONG + } else if ((sizeof(int) <= sizeof(PY_LONG_LONG))) { + __PYX_VERIFY_RETURN_INT_EXC(int, PY_LONG_LONG, PyLong_AsLongLong(x)) +#endif + } + } + { + int val; + PyObject *v = __Pyx_PyNumber_IntOrLong(x); +#if PY_MAJOR_VERSION < 3 + if (likely(v) && !PyLong_Check(v)) { + PyObject *tmp = v; + v = PyNumber_Long(tmp); + Py_DECREF(tmp); + } +#endif + if (likely(v)) { + int ret = -1; +#if PY_VERSION_HEX < 0x030d0000 && !(CYTHON_COMPILING_IN_PYPY || CYTHON_COMPILING_IN_LIMITED_API) || defined(_PyLong_AsByteArray) + int one = 1; int is_little = (int)*(unsigned char *)&one; + unsigned char *bytes = (unsigned char *)&val; + ret = _PyLong_AsByteArray((PyLongObject *)v, + bytes, sizeof(val), + is_little, !is_unsigned); +#else + PyObject *stepval = NULL, *mask = NULL, *shift = NULL; + int bits, remaining_bits, is_negative = 0; + long idigit; + int chunk_size = (sizeof(long) < 8) ? 30 : 62; + if (unlikely(!PyLong_CheckExact(v))) { + PyObject *tmp = v; + v = PyNumber_Long(v); + assert(PyLong_CheckExact(v)); + Py_DECREF(tmp); + if (unlikely(!v)) return (int) -1; + } +#if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(x) == 0) + return (int) 0; + is_negative = Py_SIZE(x) < 0; +#else + { + int result = PyObject_RichCompareBool(x, Py_False, Py_LT); + if (unlikely(result < 0)) + return (int) -1; + is_negative = result == 1; + } +#endif + if (is_unsigned && unlikely(is_negative)) { + goto raise_neg_overflow; + } else if (is_negative) { + stepval = PyNumber_Invert(v); + if (unlikely(!stepval)) + return (int) -1; + } else { + stepval = __Pyx_NewRef(v); + } + val = (int) 0; + mask = PyLong_FromLong((1L << chunk_size) - 1); if (unlikely(!mask)) goto done; + shift = PyLong_FromLong(chunk_size); if (unlikely(!shift)) goto done; + for (bits = 0; bits < (int) sizeof(int) * 8 - chunk_size; bits += chunk_size) { + PyObject *tmp, *digit; + digit = PyNumber_And(stepval, mask); + if (unlikely(!digit)) goto done; + idigit = PyLong_AsLong(digit); + Py_DECREF(digit); + if (unlikely(idigit < 0)) goto done; + tmp = PyNumber_Rshift(stepval, shift); + if (unlikely(!tmp)) goto done; + Py_DECREF(stepval); stepval = tmp; + val |= ((int) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + if (Py_SIZE(stepval) == 0) + goto unpacking_done; + #endif + } + idigit = PyLong_AsLong(stepval); + if (unlikely(idigit < 0)) goto done; + remaining_bits = ((int) sizeof(int) * 8) - bits - (is_unsigned ? 0 : 1); + if (unlikely(idigit >= (1L << remaining_bits))) + goto raise_overflow; + val |= ((int) idigit) << bits; + #if CYTHON_COMPILING_IN_LIMITED_API && PY_VERSION_HEX < 0x030B0000 + unpacking_done: + #endif + if (!is_unsigned) { + if (unlikely(val & (((int) 1) << (sizeof(int) * 8 - 1)))) + goto raise_overflow; + if (is_negative) + val = ~val; + } + ret = 0; + done: + Py_XDECREF(shift); + Py_XDECREF(mask); + Py_XDECREF(stepval); +#endif + Py_DECREF(v); + if (likely(!ret)) + return val; + } + return (int) -1; + } + } else { + int val; + PyObject *tmp = __Pyx_PyNumber_IntOrLong(x); + if (!tmp) return (int) -1; + val = __Pyx_PyInt_As_int(tmp); + Py_DECREF(tmp); + return val; + } +raise_overflow: + PyErr_SetString(PyExc_OverflowError, + "value too large to convert to int"); + return (int) -1; +raise_neg_overflow: + PyErr_SetString(PyExc_OverflowError, + "can't convert negative value to int"); + return (int) -1; +} + +/* FastTypeChecks */ +#if CYTHON_COMPILING_IN_CPYTHON +static int __Pyx_InBases(PyTypeObject *a, PyTypeObject *b) { + while (a) { + a = __Pyx_PyType_GetSlot(a, tp_base, PyTypeObject*); + if (a == b) + return 1; + } + return b == &PyBaseObject_Type; +} +static CYTHON_INLINE int __Pyx_IsSubtype(PyTypeObject *a, PyTypeObject *b) { + PyObject *mro; + if (a == b) return 1; + mro = a->tp_mro; + if (likely(mro)) { + Py_ssize_t i, n; + n = PyTuple_GET_SIZE(mro); + for (i = 0; i < n; i++) { + if (PyTuple_GET_ITEM(mro, i) == (PyObject *)b) + return 1; + } + return 0; + } + return __Pyx_InBases(a, b); +} +static CYTHON_INLINE int __Pyx_IsAnySubtype2(PyTypeObject *cls, PyTypeObject *a, PyTypeObject *b) { + PyObject *mro; + if (cls == a || cls == b) return 1; + mro = cls->tp_mro; + if (likely(mro)) { + Py_ssize_t i, n; + n = PyTuple_GET_SIZE(mro); + for (i = 0; i < n; i++) { + PyObject *base = PyTuple_GET_ITEM(mro, i); + if (base == (PyObject *)a || base == (PyObject *)b) + return 1; + } + return 0; + } + return __Pyx_InBases(cls, a) || __Pyx_InBases(cls, b); +} +#if PY_MAJOR_VERSION == 2 +static int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject* exc_type2) { + PyObject *exception, *value, *tb; + int res; + __Pyx_PyThreadState_declare + __Pyx_PyThreadState_assign + __Pyx_ErrFetch(&exception, &value, &tb); + res = exc_type1 ? PyObject_IsSubclass(err, exc_type1) : 0; + if (unlikely(res == -1)) { + PyErr_WriteUnraisable(err); + res = 0; + } + if (!res) { + res = PyObject_IsSubclass(err, exc_type2); + if (unlikely(res == -1)) { + PyErr_WriteUnraisable(err); + res = 0; + } + } + __Pyx_ErrRestore(exception, value, tb); + return res; +} +#else +static CYTHON_INLINE int __Pyx_inner_PyErr_GivenExceptionMatches2(PyObject *err, PyObject* exc_type1, PyObject *exc_type2) { + if (exc_type1) { + return __Pyx_IsAnySubtype2((PyTypeObject*)err, (PyTypeObject*)exc_type1, (PyTypeObject*)exc_type2); + } else { + return __Pyx_IsSubtype((PyTypeObject*)err, (PyTypeObject*)exc_type2); + } +} +#endif +static int __Pyx_PyErr_GivenExceptionMatchesTuple(PyObject *exc_type, PyObject *tuple) { + Py_ssize_t i, n; + assert(PyExceptionClass_Check(exc_type)); + n = PyTuple_GET_SIZE(tuple); +#if PY_MAJOR_VERSION >= 3 + for (i=0; i= 0x030B00A4 + return Py_Version & ~0xFFUL; +#else + const char* rt_version = Py_GetVersion(); + unsigned long version = 0; + unsigned long factor = 0x01000000UL; + unsigned int digit = 0; + int i = 0; + while (factor) { + while ('0' <= rt_version[i] && rt_version[i] <= '9') { + digit = digit * 10 + (unsigned int) (rt_version[i] - '0'); + ++i; + } + version += factor * digit; + if (rt_version[i] != '.') + break; + digit = 0; + factor >>= 8; + ++i; + } + return version; +#endif +} +static int __Pyx_check_binary_version(unsigned long ct_version, unsigned long rt_version, int allow_newer) { + const unsigned long MAJOR_MINOR = 0xFFFF0000UL; + if ((rt_version & MAJOR_MINOR) == (ct_version & MAJOR_MINOR)) + return 0; + if (likely(allow_newer && (rt_version & MAJOR_MINOR) > (ct_version & MAJOR_MINOR))) + return 1; + { + char message[200]; + PyOS_snprintf(message, sizeof(message), + "compile time Python version %d.%d " + "of module '%.100s' " + "%s " + "runtime version %d.%d", + (int) (ct_version >> 24), (int) ((ct_version >> 16) & 0xFF), + __Pyx_MODULE_NAME, + (allow_newer) ? "was newer than" : "does not match", + (int) (rt_version >> 24), (int) ((rt_version >> 16) & 0xFF) + ); + return PyErr_WarnEx(NULL, message, 1); + } +} + +/* InitStrings */ +#if PY_MAJOR_VERSION >= 3 +static int __Pyx_InitString(__Pyx_StringTabEntry t, PyObject **str) { + if (t.is_unicode | t.is_str) { + if (t.intern) { + *str = PyUnicode_InternFromString(t.s); + } else if (t.encoding) { + *str = PyUnicode_Decode(t.s, t.n - 1, t.encoding, NULL); + } else { + *str = PyUnicode_FromStringAndSize(t.s, t.n - 1); + } + } else { + *str = PyBytes_FromStringAndSize(t.s, t.n - 1); + } + if (!*str) + return -1; + if (PyObject_Hash(*str) == -1) + return -1; + return 0; +} +#endif +static int __Pyx_InitStrings(__Pyx_StringTabEntry *t) { + while (t->p) { + #if PY_MAJOR_VERSION >= 3 + __Pyx_InitString(*t, t->p); + #else + if (t->is_unicode) { + *t->p = PyUnicode_DecodeUTF8(t->s, t->n - 1, NULL); + } else if (t->intern) { + *t->p = PyString_InternFromString(t->s); + } else { + *t->p = PyString_FromStringAndSize(t->s, t->n - 1); + } + if (!*t->p) + return -1; + if (PyObject_Hash(*t->p) == -1) + return -1; + #endif + ++t; + } + return 0; +} + +#include +static CYTHON_INLINE Py_ssize_t __Pyx_ssize_strlen(const char *s) { + size_t len = strlen(s); + if (unlikely(len > (size_t) PY_SSIZE_T_MAX)) { + PyErr_SetString(PyExc_OverflowError, "byte string is too long"); + return -1; + } + return (Py_ssize_t) len; +} +static CYTHON_INLINE PyObject* __Pyx_PyUnicode_FromString(const char* c_str) { + Py_ssize_t len = __Pyx_ssize_strlen(c_str); + if (unlikely(len < 0)) return NULL; + return __Pyx_PyUnicode_FromStringAndSize(c_str, len); +} +static CYTHON_INLINE PyObject* __Pyx_PyByteArray_FromString(const char* c_str) { + Py_ssize_t len = __Pyx_ssize_strlen(c_str); + if (unlikely(len < 0)) return NULL; + return PyByteArray_FromStringAndSize(c_str, len); +} +static CYTHON_INLINE const char* __Pyx_PyObject_AsString(PyObject* o) { + Py_ssize_t ignore; + return __Pyx_PyObject_AsStringAndSize(o, &ignore); +} +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT +#if !CYTHON_PEP393_ENABLED +static const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { + char* defenc_c; + PyObject* defenc = _PyUnicode_AsDefaultEncodedString(o, NULL); + if (!defenc) return NULL; + defenc_c = PyBytes_AS_STRING(defenc); +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + { + char* end = defenc_c + PyBytes_GET_SIZE(defenc); + char* c; + for (c = defenc_c; c < end; c++) { + if ((unsigned char) (*c) >= 128) { + PyUnicode_AsASCIIString(o); + return NULL; + } + } + } +#endif + *length = PyBytes_GET_SIZE(defenc); + return defenc_c; +} +#else +static CYTHON_INLINE const char* __Pyx_PyUnicode_AsStringAndSize(PyObject* o, Py_ssize_t *length) { + if (unlikely(__Pyx_PyUnicode_READY(o) == -1)) return NULL; +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + if (likely(PyUnicode_IS_ASCII(o))) { + *length = PyUnicode_GET_LENGTH(o); + return PyUnicode_AsUTF8(o); + } else { + PyUnicode_AsASCIIString(o); + return NULL; + } +#else + return PyUnicode_AsUTF8AndSize(o, length); +#endif +} +#endif +#endif +static CYTHON_INLINE const char* __Pyx_PyObject_AsStringAndSize(PyObject* o, Py_ssize_t *length) { +#if __PYX_DEFAULT_STRING_ENCODING_IS_ASCII || __PYX_DEFAULT_STRING_ENCODING_IS_DEFAULT + if ( +#if PY_MAJOR_VERSION < 3 && __PYX_DEFAULT_STRING_ENCODING_IS_ASCII + __Pyx_sys_getdefaultencoding_not_ascii && +#endif + PyUnicode_Check(o)) { + return __Pyx_PyUnicode_AsStringAndSize(o, length); + } else +#endif +#if (!CYTHON_COMPILING_IN_PYPY && !CYTHON_COMPILING_IN_LIMITED_API) || (defined(PyByteArray_AS_STRING) && defined(PyByteArray_GET_SIZE)) + if (PyByteArray_Check(o)) { + *length = PyByteArray_GET_SIZE(o); + return PyByteArray_AS_STRING(o); + } else +#endif + { + char* result; + int r = PyBytes_AsStringAndSize(o, &result, length); + if (unlikely(r < 0)) { + return NULL; + } else { + return result; + } + } +} +static CYTHON_INLINE int __Pyx_PyObject_IsTrue(PyObject* x) { + int is_true = x == Py_True; + if (is_true | (x == Py_False) | (x == Py_None)) return is_true; + else return PyObject_IsTrue(x); +} +static CYTHON_INLINE int __Pyx_PyObject_IsTrueAndDecref(PyObject* x) { + int retval; + if (unlikely(!x)) return -1; + retval = __Pyx_PyObject_IsTrue(x); + Py_DECREF(x); + return retval; +} +static PyObject* __Pyx_PyNumber_IntOrLongWrongResultType(PyObject* result, const char* type_name) { + __Pyx_TypeName result_type_name = __Pyx_PyType_GetName(Py_TYPE(result)); +#if PY_MAJOR_VERSION >= 3 + if (PyLong_Check(result)) { + if (PyErr_WarnFormat(PyExc_DeprecationWarning, 1, + "__int__ returned non-int (type " __Pyx_FMT_TYPENAME "). " + "The ability to return an instance of a strict subclass of int is deprecated, " + "and may be removed in a future version of Python.", + result_type_name)) { + __Pyx_DECREF_TypeName(result_type_name); + Py_DECREF(result); + return NULL; + } + __Pyx_DECREF_TypeName(result_type_name); + return result; + } +#endif + PyErr_Format(PyExc_TypeError, + "__%.4s__ returned non-%.4s (type " __Pyx_FMT_TYPENAME ")", + type_name, type_name, result_type_name); + __Pyx_DECREF_TypeName(result_type_name); + Py_DECREF(result); + return NULL; +} +static CYTHON_INLINE PyObject* __Pyx_PyNumber_IntOrLong(PyObject* x) { +#if CYTHON_USE_TYPE_SLOTS + PyNumberMethods *m; +#endif + const char *name = NULL; + PyObject *res = NULL; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_Check(x) || PyLong_Check(x))) +#else + if (likely(PyLong_Check(x))) +#endif + return __Pyx_NewRef(x); +#if CYTHON_USE_TYPE_SLOTS + m = Py_TYPE(x)->tp_as_number; + #if PY_MAJOR_VERSION < 3 + if (m && m->nb_int) { + name = "int"; + res = m->nb_int(x); + } + else if (m && m->nb_long) { + name = "long"; + res = m->nb_long(x); + } + #else + if (likely(m && m->nb_int)) { + name = "int"; + res = m->nb_int(x); + } + #endif +#else + if (!PyBytes_CheckExact(x) && !PyUnicode_CheckExact(x)) { + res = PyNumber_Int(x); + } +#endif + if (likely(res)) { +#if PY_MAJOR_VERSION < 3 + if (unlikely(!PyInt_Check(res) && !PyLong_Check(res))) { +#else + if (unlikely(!PyLong_CheckExact(res))) { +#endif + return __Pyx_PyNumber_IntOrLongWrongResultType(res, name); + } + } + else if (!PyErr_Occurred()) { + PyErr_SetString(PyExc_TypeError, + "an integer is required"); + } + return res; +} +static CYTHON_INLINE Py_ssize_t __Pyx_PyIndex_AsSsize_t(PyObject* b) { + Py_ssize_t ival; + PyObject *x; +#if PY_MAJOR_VERSION < 3 + if (likely(PyInt_CheckExact(b))) { + if (sizeof(Py_ssize_t) >= sizeof(long)) + return PyInt_AS_LONG(b); + else + return PyInt_AsSsize_t(b); + } +#endif + if (likely(PyLong_CheckExact(b))) { + #if CYTHON_USE_PYLONG_INTERNALS + if (likely(__Pyx_PyLong_IsCompact(b))) { + return __Pyx_PyLong_CompactValue(b); + } else { + const digit* digits = __Pyx_PyLong_Digits(b); + const Py_ssize_t size = __Pyx_PyLong_SignedDigitCount(b); + switch (size) { + case 2: + if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { + return (Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -2: + if (8 * sizeof(Py_ssize_t) > 2 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case 3: + if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { + return (Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -3: + if (8 * sizeof(Py_ssize_t) > 3 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((((size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case 4: + if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { + return (Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + case -4: + if (8 * sizeof(Py_ssize_t) > 4 * PyLong_SHIFT) { + return -(Py_ssize_t) (((((((((size_t)digits[3]) << PyLong_SHIFT) | (size_t)digits[2]) << PyLong_SHIFT) | (size_t)digits[1]) << PyLong_SHIFT) | (size_t)digits[0])); + } + break; + } + } + #endif + return PyLong_AsSsize_t(b); + } + x = PyNumber_Index(b); + if (!x) return -1; + ival = PyInt_AsSsize_t(x); + Py_DECREF(x); + return ival; +} +static CYTHON_INLINE Py_hash_t __Pyx_PyIndex_AsHash_t(PyObject* o) { + if (sizeof(Py_hash_t) == sizeof(Py_ssize_t)) { + return (Py_hash_t) __Pyx_PyIndex_AsSsize_t(o); +#if PY_MAJOR_VERSION < 3 + } else if (likely(PyInt_CheckExact(o))) { + return PyInt_AS_LONG(o); +#endif + } else { + Py_ssize_t ival; + PyObject *x; + x = PyNumber_Index(o); + if (!x) return -1; + ival = PyInt_AsLong(x); + Py_DECREF(x); + return ival; + } +} +static CYTHON_INLINE PyObject * __Pyx_PyBool_FromLong(long b) { + return b ? __Pyx_NewRef(Py_True) : __Pyx_NewRef(Py_False); +} +static CYTHON_INLINE PyObject * __Pyx_PyInt_FromSize_t(size_t ival) { + return PyInt_FromSize_t(ival); +} + + +/* #### Code section: utility_code_pragmas_end ### */ +#ifdef _MSC_VER +#pragma warning( pop ) +#endif + + + +/* #### Code section: end ### */ +#endif /* Py_PYTHON_H */ diff --git a/selfdrive/pandad/pandad_api_impl.so b/selfdrive/pandad/pandad_api_impl.so new file mode 100644 index 00000000000000..6c1b108d54a450 Binary files /dev/null and b/selfdrive/pandad/pandad_api_impl.so differ diff --git a/selfdrive/pandad/spi.cc b/selfdrive/pandad/spi.cc deleted file mode 100644 index 8f1e29689b6c18..00000000000000 --- a/selfdrive/pandad/spi.cc +++ /dev/null @@ -1,424 +0,0 @@ -#ifndef __APPLE__ -#include -#include -#include - -#include -#include -#include -#include -#include - -#include "common/util.h" -#include "common/timing.h" -#include "common/swaglog.h" -#include "panda/board/comms_definitions.h" -#include "selfdrive/pandad/panda_comms.h" - - -#define SPI_SYNC 0x5AU -#define SPI_HACK 0x79U -#define SPI_DACK 0x85U -#define SPI_NACK 0x1FU -#define SPI_CHECKSUM_START 0xABU - - -enum SpiError { - NACK = -2, - ACK_TIMEOUT = -3, -}; - -const unsigned int SPI_ACK_TIMEOUT = 500; // milliseconds -const std::string SPI_DEVICE = "/dev/spidev0.0"; - -class LockEx { -public: - LockEx(int fd, std::recursive_mutex &m) : fd(fd), m(m) { - m.lock(); - flock(fd, LOCK_EX); - } - - ~LockEx() { - flock(fd, LOCK_UN); - m.unlock(); - } - -private: - int fd; - std::recursive_mutex &m; -}; - -#define SPILOG(fn, fmt, ...) do { \ - fn(fmt, ## __VA_ARGS__); \ - fn(" %d / 0x%x / %d / %d / tx: %s", \ - xfer_count, header.endpoint, header.tx_len, header.max_rx_len, \ - util::hexdump(tx_buf, std::min((int)header.tx_len, 8)).c_str()); \ - } while (0) - -PandaSpiHandle::PandaSpiHandle(std::string serial) : PandaCommsHandle(serial) { - int ret; - const int uid_len = 12; - uint8_t uid[uid_len] = {0}; - - uint32_t spi_mode = SPI_MODE_0; - uint8_t spi_bits_per_word = 8; - - // 50MHz is the max of the 845. note that some older - // revs of the comma three may not support this speed - uint32_t spi_speed = 50000000; - - if (!util::file_exists(SPI_DEVICE)) { - goto fail; - } - - spi_fd = open(SPI_DEVICE.c_str(), O_RDWR); - if (spi_fd < 0) { - LOGE("failed opening SPI device %d", spi_fd); - goto fail; - } - - // SPI settings - ret = util::safe_ioctl(spi_fd, SPI_IOC_WR_MODE, &spi_mode); - if (ret < 0) { - LOGE("failed setting SPI mode %d", ret); - goto fail; - } - - ret = util::safe_ioctl(spi_fd, SPI_IOC_WR_MAX_SPEED_HZ, &spi_speed); - if (ret < 0) { - LOGE("failed setting SPI speed"); - goto fail; - } - - ret = util::safe_ioctl(spi_fd, SPI_IOC_WR_BITS_PER_WORD, &spi_bits_per_word); - if (ret < 0) { - LOGE("failed setting SPI bits per word"); - goto fail; - } - - // get hw UID/serial - ret = control_read(0xc3, 0, 0, uid, uid_len, 100); - if (ret == uid_len) { - std::stringstream stream; - for (int i = 0; i < uid_len; i++) { - stream << std::hex << std::setw(2) << std::setfill('0') << int(uid[i]); - } - hw_serial = stream.str(); - } else { - LOGD("failed to get serial %d", ret); - goto fail; - } - - if (!serial.empty() && (serial != hw_serial)) { - goto fail; - } - - return; - -fail: - cleanup(); - throw std::runtime_error("Error connecting to panda"); -} - -PandaSpiHandle::~PandaSpiHandle() { - std::lock_guard lk(hw_lock); - cleanup(); -} - -void PandaSpiHandle::cleanup() { - if (spi_fd != -1) { - close(spi_fd); - spi_fd = -1; - } -} - - - -int PandaSpiHandle::control_write(uint8_t request, uint16_t param1, uint16_t param2, unsigned int timeout) { - ControlPacket_t packet = { - .request = request, - .param1 = param1, - .param2 = param2, - .length = 0 - }; - return spi_transfer_retry(0, (uint8_t *) &packet, sizeof(packet), NULL, 0, timeout); -} - -int PandaSpiHandle::control_read(uint8_t request, uint16_t param1, uint16_t param2, unsigned char *data, uint16_t length, unsigned int timeout) { - ControlPacket_t packet = { - .request = request, - .param1 = param1, - .param2 = param2, - .length = length - }; - return spi_transfer_retry(0, (uint8_t *) &packet, sizeof(packet), data, length, timeout); -} - -int PandaSpiHandle::bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout) { - return bulk_transfer(endpoint, data, length, NULL, 0, timeout); -} -int PandaSpiHandle::bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout) { - return bulk_transfer(endpoint, NULL, 0, data, length, timeout); -} - -int PandaSpiHandle::bulk_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t rx_len, unsigned int timeout) { - const int xfer_size = SPI_BUF_SIZE - 0x40; - - int ret = 0; - uint16_t length = (tx_data != NULL) ? tx_len : rx_len; - for (int i = 0; i < (int)std::ceil((float)length / xfer_size); i++) { - int d; - if (tx_data != NULL) { - int len = std::min(xfer_size, tx_len - (xfer_size * i)); - d = spi_transfer_retry(endpoint, tx_data + (xfer_size * i), len, NULL, 0, timeout); - } else { - uint16_t to_read = std::min(xfer_size, rx_len - ret); - d = spi_transfer_retry(endpoint, NULL, 0, rx_data + (xfer_size * i), to_read, timeout); - } - - if (d < 0) { - SPILOG(LOGE, "SPI: bulk transfer failed with %d", d); - comms_healthy = false; - return d; - } - - ret += d; - if ((rx_data != NULL) && d < xfer_size) { - break; - } - } - - return ret; -} - -std::vector PandaSpiHandle::list() { - try { - PandaSpiHandle sh(""); - return {sh.hw_serial}; - } catch (std::exception &e) { - // no panda on SPI - } - return {}; -} - -void add_checksum(uint8_t *data, int data_len) { - data[data_len] = SPI_CHECKSUM_START; - for (int i=0; i < data_len; i++) { - data[data_len] ^= data[i]; - } -} - -bool check_checksum(uint8_t *data, int data_len) { - uint8_t checksum = SPI_CHECKSUM_START; - for (uint16_t i = 0U; i < data_len; i++) { - checksum ^= data[i]; - } - return checksum == 0U; -} - - -int PandaSpiHandle::spi_transfer_retry(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len, unsigned int timeout) { - int ret; - int nack_count = 0; - int timeout_count = 0; - bool timed_out = false; - double start_time = millis_since_boot(); - - do { - ret = spi_transfer(endpoint, tx_data, tx_len, rx_data, max_rx_len, timeout); - - if (ret < 0) { - timed_out = (timeout != 0) && (timeout_count > 5); - timeout_count += ret == SpiError::ACK_TIMEOUT; - - // give other threads a chance to run - std::this_thread::yield(); - - if (ret == SpiError::NACK) { - // prevent busy waiting while the panda is NACK'ing - // due to full TX buffers - nack_count += 1; - if (nack_count > 3) { - SPILOG(LOGE, "NACK sleep %d", nack_count); - usleep(std::clamp(nack_count*10, 200, 2000)); - } - } - } - } while (ret < 0 && connected && !timed_out); - - if (ret < 0) { - SPILOG(LOGE, "transfer failed, after %d tries, %.2fms", timeout_count, millis_since_boot() - start_time); - } - - return ret; -} - -int PandaSpiHandle::wait_for_ack(uint8_t ack, uint8_t tx, unsigned int timeout, unsigned int length) { - double start_millis = millis_since_boot(); - if (timeout == 0) { - timeout = SPI_ACK_TIMEOUT; - } - timeout = std::clamp(timeout, 20U, SPI_ACK_TIMEOUT); - - spi_ioc_transfer transfer = { - .tx_buf = (uint64_t)tx_buf, - .rx_buf = (uint64_t)rx_buf, - .len = length, - }; - memset(tx_buf, tx, length); - - while (true) { - int ret = lltransfer(transfer); - if (ret < 0) { - SPILOG(LOGE, "SPI: failed to send ACK request"); - return ret; - } - - if (rx_buf[0] == ack) { - break; - } else if (rx_buf[0] == SPI_NACK) { - SPILOG(LOGD, "SPI: got NACK, waiting for 0x%x", ack); - return SpiError::NACK; - } - - // handle timeout - if (millis_since_boot() - start_millis > timeout) { - SPILOG(LOGW, "SPI: timed out waiting for ACK, waiting for 0x%x", ack); - return SpiError::ACK_TIMEOUT; - } - } - - return 0; -} - -int PandaSpiHandle::lltransfer(spi_ioc_transfer &t) { - static const double err_prob = std::stod(util::getenv("SPI_ERR_PROB", "-1")); - - if (err_prob > 0) { - if ((static_cast(rand()) / RAND_MAX) < err_prob) { - printf("transfer len error\n"); - t.len = rand() % SPI_BUF_SIZE; - } - if ((static_cast(rand()) / RAND_MAX) < err_prob && t.tx_buf != (uint64_t)NULL) { - printf("corrupting TX\n"); - for (int i = 0; i < t.len; i++) { - if ((static_cast(rand()) / RAND_MAX) > 0.9) { - ((uint8_t*)t.tx_buf)[i] = (uint8_t)(rand() % 256); - } - } - } - } - - int ret = util::safe_ioctl(spi_fd, SPI_IOC_MESSAGE(1), &t); - - if (err_prob > 0) { - if ((static_cast(rand()) / RAND_MAX) < err_prob && t.rx_buf != (uint64_t)NULL) { - printf("corrupting RX\n"); - for (int i = 0; i < t.len; i++) { - if ((static_cast(rand()) / RAND_MAX) > 0.9) { - ((uint8_t*)t.rx_buf)[i] = (uint8_t)(rand() % 256); - } - } - } - } - - return ret; -} - -int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len, unsigned int timeout) { - int ret; - uint16_t rx_data_len; - LockEx lock(spi_fd, hw_lock); - - // needs to be less, since we need to have space for the checksum - assert(tx_len < SPI_BUF_SIZE); - assert(max_rx_len < SPI_BUF_SIZE); - - xfer_count++; - header = { - .sync = SPI_SYNC, - .endpoint = endpoint, - .tx_len = tx_len, - .max_rx_len = max_rx_len - }; - - spi_ioc_transfer transfer = { - .tx_buf = (uint64_t)tx_buf, - .rx_buf = (uint64_t)rx_buf - }; - - // Send header - memcpy(tx_buf, &header, sizeof(header)); - add_checksum(tx_buf, sizeof(header)); - transfer.len = sizeof(header) + 1; - ret = lltransfer(transfer); - if (ret < 0) { - SPILOG(LOGE, "SPI: failed to send header"); - goto fail; - } - - // Wait for (N)ACK - ret = wait_for_ack(SPI_HACK, 0x11, timeout, 1); - if (ret < 0) { - goto fail; - } - - // Send data - if (tx_data != NULL) { - memcpy(tx_buf, tx_data, tx_len); - } - add_checksum(tx_buf, tx_len); - transfer.len = tx_len + 1; - ret = lltransfer(transfer); - if (ret < 0) { - SPILOG(LOGE, "SPI: failed to send data"); - goto fail; - } - - // Wait for (N)ACK - ret = wait_for_ack(SPI_DACK, 0x13, timeout, 3); - if (ret < 0) { - goto fail; - } - - // Read data - rx_data_len = *(uint16_t *)(rx_buf+1); - if (rx_data_len >= SPI_BUF_SIZE) { - SPILOG(LOGE, "SPI: RX data len larger than buf size %d", rx_data_len); - goto fail; - } - - transfer.len = rx_data_len + 1; - transfer.rx_buf = (uint64_t)(rx_buf + 2 + 1); - ret = lltransfer(transfer); - if (ret < 0) { - SPILOG(LOGE, "SPI: failed to read rx data"); - goto fail; - } - if (!check_checksum(rx_buf, rx_data_len + 4)) { - SPILOG(LOGE, "SPI: bad checksum"); - goto fail; - } - - if (rx_data != NULL) { - memcpy(rx_data, rx_buf + 3, rx_data_len); - } - - return rx_data_len; - -fail: - // ensure slave is in a consistent state - // and ready for the next transfer - int nack_cnt = 0; - while (nack_cnt < 3) { - if (wait_for_ack(SPI_NACK, 0x14, 1, SPI_BUF_SIZE/2) == 0) { - nack_cnt += 1; - } else { - nack_cnt = 0; - } - } - - if (ret > 0) ret = -1; - return ret; -} -#endif diff --git a/selfdrive/pandad/tests/__init__.py b/selfdrive/pandad/tests/__init__.py deleted file mode 100644 index e69de29bb2d1d6..00000000000000 diff --git a/selfdrive/pandad/tests/bootstub.panda.bin b/selfdrive/pandad/tests/bootstub.panda.bin deleted file mode 100755 index 43db5370613b9a..00000000000000 Binary files a/selfdrive/pandad/tests/bootstub.panda.bin and /dev/null differ diff --git a/selfdrive/pandad/tests/bootstub.panda_h7.bin b/selfdrive/pandad/tests/bootstub.panda_h7.bin deleted file mode 100755 index 1d9445004e33e5..00000000000000 Binary files a/selfdrive/pandad/tests/bootstub.panda_h7.bin and /dev/null differ diff --git a/selfdrive/pandad/tests/bootstub.panda_h7_spiv0.bin b/selfdrive/pandad/tests/bootstub.panda_h7_spiv0.bin deleted file mode 100755 index 5cf2fa45196484..00000000000000 Binary files a/selfdrive/pandad/tests/bootstub.panda_h7_spiv0.bin and /dev/null differ diff --git a/selfdrive/pandad/tests/test_pandad.py b/selfdrive/pandad/tests/test_pandad.py deleted file mode 100644 index 467c7f04c9dde6..00000000000000 --- a/selfdrive/pandad/tests/test_pandad.py +++ /dev/null @@ -1,128 +0,0 @@ -import os -import pytest -import time - -import cereal.messaging as messaging -from cereal import log -from openpilot.common.gpio import gpio_set, gpio_init -from panda import Panda, PandaDFU, PandaProtocolMismatch -from openpilot.system.manager.process_config import managed_processes -from openpilot.system.hardware import HARDWARE -from openpilot.system.hardware.tici.pins import GPIO - -HERE = os.path.dirname(os.path.realpath(__file__)) - - -@pytest.mark.tici -class TestPandad: - - def setup_method(self): - # ensure panda is up - if len(Panda.list()) == 0: - self._run_test(60) - - self.spi = HARDWARE.get_device_type() != 'tici' - - def teardown_method(self): - managed_processes['pandad'].stop() - - def _run_test(self, timeout=30) -> float: - st = time.monotonic() - sm = messaging.SubMaster(['pandaStates']) - - managed_processes['pandad'].start() - while (time.monotonic() - st) < timeout: - sm.update(100) - if len(sm['pandaStates']) and sm['pandaStates'][0].pandaType != log.PandaState.PandaType.unknown: - break - dt = time.monotonic() - st - managed_processes['pandad'].stop() - - if len(sm['pandaStates']) == 0 or sm['pandaStates'][0].pandaType == log.PandaState.PandaType.unknown: - raise Exception("pandad failed to start") - - return dt - - def _go_to_dfu(self): - HARDWARE.recover_internal_panda() - assert Panda.wait_for_dfu(None, 10) - - def _assert_no_panda(self): - assert not Panda.wait_for_dfu(None, 3) - assert not Panda.wait_for_panda(None, 3) - - def _flash_bootstub_and_test(self, fn, expect_mismatch=False): - self._go_to_dfu() - pd = PandaDFU(None) - if fn is None: - fn = os.path.join(HERE, pd.get_mcu_type().config.bootstub_fn) - with open(fn, "rb") as f: - pd.program_bootstub(f.read()) - pd.reset() - HARDWARE.reset_internal_panda() - - assert Panda.wait_for_panda(None, 10) - if expect_mismatch: - with pytest.raises(PandaProtocolMismatch): - Panda() - else: - with Panda() as p: - assert p.bootstub - - self._run_test(45) - - def test_in_dfu(self): - HARDWARE.recover_internal_panda() - self._run_test(60) - - def test_in_bootstub(self): - with Panda() as p: - p.reset(enter_bootstub=True) - assert p.bootstub - self._run_test() - - def test_internal_panda_reset(self): - gpio_init(GPIO.STM_RST_N, True) - gpio_set(GPIO.STM_RST_N, 1) - time.sleep(0.5) - assert all(not Panda(s).is_internal() for s in Panda.list()) - self._run_test() - - assert any(Panda(s).is_internal() for s in Panda.list()) - - def test_best_case_startup_time(self): - # run once so we're up to date - self._run_test(60) - - ts = [] - for _ in range(10): - # should be nearly instant this time - dt = self._run_test(5) - ts.append(dt) - - # 5s for USB (due to enumeration) - # - 0.2s pandad -> pandad - # - plus some buffer - assert 0.1 < (sum(ts)/len(ts)) < (0.5 if self.spi else 5.0) - print("startup times", ts, sum(ts) / len(ts)) - - - def test_protocol_version_check(self): - if not self.spi: - pytest.skip("SPI test") - # flash old fw - fn = os.path.join(HERE, "bootstub.panda_h7_spiv0.bin") - self._flash_bootstub_and_test(fn, expect_mismatch=True) - - def test_release_to_devel_bootstub(self): - self._flash_bootstub_and_test(None) - - def test_recover_from_bad_bootstub(self): - self._go_to_dfu() - with PandaDFU(None) as pd: - pd.program_bootstub(b"\x00"*1024) - pd.reset() - HARDWARE.reset_internal_panda() - self._assert_no_panda() - - self._run_test(60) diff --git a/selfdrive/pandad/tests/test_pandad_loopback.py b/selfdrive/pandad/tests/test_pandad_loopback.py deleted file mode 100644 index d2b6d047d562b8..00000000000000 --- a/selfdrive/pandad/tests/test_pandad_loopback.py +++ /dev/null @@ -1,114 +0,0 @@ -import os -import copy -import random -import time -import pytest -from collections import defaultdict -from pprint import pprint - -import cereal.messaging as messaging -from cereal import car, log -from openpilot.common.retry import retry -from openpilot.common.params import Params -from openpilot.common.timeout import Timeout -from openpilot.selfdrive.pandad import can_list_to_can_capnp -from openpilot.selfdrive.car import make_can_msg -from openpilot.system.hardware import TICI -from openpilot.selfdrive.test.helpers import phone_only, with_processes - - -@retry(attempts=3) -def setup_pandad(num_pandas): - params = Params() - params.clear_all() - params.put_bool("IsOnroad", False) - - sm = messaging.SubMaster(['pandaStates']) - with Timeout(90, "pandad didn't start"): - while sm.recv_frame['pandaStates'] < 1 or len(sm['pandaStates']) == 0 or \ - any(ps.pandaType == log.PandaState.PandaType.unknown for ps in sm['pandaStates']): - sm.update(1000) - - found_pandas = len(sm['pandaStates']) - assert num_pandas == found_pandas, "connected pandas ({found_pandas}) doesn't match expected panda count ({num_pandas}). \ - connect another panda for multipanda tests." - - # pandad safety setting relies on these params - cp = car.CarParams.new_message() - - safety_config = car.CarParams.SafetyConfig.new_message() - safety_config.safetyModel = car.CarParams.SafetyModel.allOutput - cp.safetyConfigs = [safety_config]*num_pandas - - params.put_bool("IsOnroad", True) - params.put_bool("FirmwareQueryDone", True) - params.put_bool("ControlsReady", True) - params.put("CarParams", cp.to_bytes()) - - with Timeout(90, "pandad didn't set safety mode"): - while any(ps.safetyModel != car.CarParams.SafetyModel.allOutput for ps in sm['pandaStates']): - sm.update(1000) - -def send_random_can_messages(sendcan, count, num_pandas=1): - sent_msgs = defaultdict(set) - for _ in range(count): - to_send = [] - for __ in range(random.randrange(20)): - bus = random.choice([b for b in range(3*num_pandas) if b % 4 != 3]) - addr = random.randrange(1, 1<<29) - dat = bytes(random.getrandbits(8) for _ in range(random.randrange(1, 9))) - if (addr, dat) in sent_msgs[bus]: - continue - sent_msgs[bus].add((addr, dat)) - to_send.append(make_can_msg(addr, dat, bus)) - sendcan.send(can_list_to_can_capnp(to_send, msgtype='sendcan')) - return sent_msgs - - -@pytest.mark.tici -class TestBoarddLoopback: - @classmethod - def setup_class(cls): - os.environ['STARTED'] = '1' - os.environ['BOARDD_LOOPBACK'] = '1' - - @phone_only - @with_processes(['pandad']) - def test_loopback(self): - num_pandas = 2 if TICI and "SINGLE_PANDA" not in os.environ else 1 - setup_pandad(num_pandas) - - sendcan = messaging.pub_sock('sendcan') - can = messaging.sub_sock('can', conflate=False, timeout=100) - sm = messaging.SubMaster(['pandaStates']) - time.sleep(1) - - n = 200 - for i in range(n): - print(f"pandad loopback {i}/{n}") - - sent_msgs = send_random_can_messages(sendcan, random.randrange(20, 100), num_pandas) - - sent_loopback = copy.deepcopy(sent_msgs) - sent_loopback.update({k+128: copy.deepcopy(v) for k, v in sent_msgs.items()}) - sent_total = {k: len(v) for k, v in sent_loopback.items()} - for _ in range(100 * 5): - sm.update(0) - recvd = messaging.drain_sock(can, wait_for_one=True) - for msg in recvd: - for m in msg.can: - key = (m.address, m.dat) - assert key in sent_loopback[m.src], f"got unexpected msg: {m.src=} {m.address=} {m.dat=}" - sent_loopback[m.src].discard(key) - - if all(len(v) == 0 for v in sent_loopback.values()): - break - - # if a set isn't empty, messages got dropped - pprint(sent_msgs) - pprint(sent_loopback) - print({k: len(x) for k, x in sent_loopback.items()}) - print(sum([len(x) for x in sent_loopback.values()])) - pprint(sm['pandaStates']) # may drop messages due to RX buffer overflow - for bus in sent_loopback.keys(): - assert not len(sent_loopback[bus]), f"loop {i}: bus {bus} missing {len(sent_loopback[bus])} out of {sent_total[bus]} messages" diff --git a/selfdrive/pandad/tests/test_pandad_spi.py b/selfdrive/pandad/tests/test_pandad_spi.py deleted file mode 100644 index 11e20e72ccde6c..00000000000000 --- a/selfdrive/pandad/tests/test_pandad_spi.py +++ /dev/null @@ -1,106 +0,0 @@ -import os -import time -import numpy as np -import pytest -import random - -import cereal.messaging as messaging -from cereal.services import SERVICE_LIST -from openpilot.system.hardware import HARDWARE -from openpilot.selfdrive.test.helpers import phone_only, with_processes -from openpilot.selfdrive.pandad.tests.test_pandad_loopback import setup_pandad, send_random_can_messages - -JUNGLE_SPAM = "JUNGLE_SPAM" in os.environ - -@pytest.mark.tici -class TestBoarddSpi: - @classmethod - def setup_class(cls): - if HARDWARE.get_device_type() == 'tici': - pytest.skip("only for spi pandas") - os.environ['STARTED'] = '1' - os.environ['SPI_ERR_PROB'] = '0.001' - if not JUNGLE_SPAM: - os.environ['BOARDD_LOOPBACK'] = '1' - - @phone_only - @with_processes(['pandad']) - def test_spi_corruption(self, subtests): - setup_pandad(1) - - sendcan = messaging.pub_sock('sendcan') - socks = {s: messaging.sub_sock(s, conflate=False, timeout=100) for s in ('can', 'pandaStates', 'peripheralState')} - time.sleep(2) - for s in socks.values(): - messaging.drain_sock_raw(s) - - total_recv_count = 0 - total_sent_count = 0 - sent_msgs = {bus: list() for bus in range(3)} - - st = time.monotonic() - ts = {s: list() for s in socks.keys()} - for _ in range(int(os.getenv("TEST_TIME", "20"))): - # send some CAN messages - if not JUNGLE_SPAM: - sent = send_random_can_messages(sendcan, random.randrange(2, 20)) - for k, v in sent.items(): - sent_msgs[k].extend(list(v)) - total_sent_count += len(v) - - for service, sock in socks.items(): - for m in messaging.drain_sock(sock): - ts[service].append(m.logMonoTime) - - # sanity check for corruption - assert m.valid or (service == "can") - if service == "can": - for msg in m.can: - if JUNGLE_SPAM: - # PandaJungle.set_generated_can(True) - i = msg.address - 0x200 - assert msg.address >= 0x200 - assert msg.src == (i%3) - assert msg.dat == b"\xff"*(i%8) - total_recv_count += 1 - continue - - if msg.src > 4: - continue - key = (msg.address, msg.dat) - assert key in sent_msgs[msg.src], f"got unexpected msg: {msg.src=} {msg.address=} {msg.dat=}" - # TODO: enable this - #sent_msgs[msg.src].remove(key) - total_recv_count += 1 - elif service == "pandaStates": - assert len(m.pandaStates) == 1 - ps = m.pandaStates[0] - assert ps.uptime < 1000 - assert ps.pandaType == "tres" - assert ps.ignitionLine - assert not ps.ignitionCan - assert 4000 < ps.voltage < 14000 - elif service == "peripheralState": - ps = m.peripheralState - assert ps.pandaType == "tres" - assert 4000 < ps.voltage < 14000 - assert 100 < ps.current < 1000 - assert ps.fanSpeedRpm < 8000 - - time.sleep(0.5) - et = time.monotonic() - st - - print("\n======== timing report ========") - for service, times in ts.items(): - dts = np.diff(times)/1e6 - print(service.ljust(17), f"{np.mean(dts):7.2f} {np.min(dts):7.2f} {np.max(dts):7.2f}") - with subtests.test(msg="timing check", service=service): - edt = 1e3 / SERVICE_LIST[service].frequency - assert edt*0.9 < np.mean(dts) < edt*1.1 - assert np.max(dts) < edt*8 - assert np.min(dts) < edt - assert len(dts) >= ((et-0.5)*SERVICE_LIST[service].frequency*0.8) - - with subtests.test(msg="CAN traffic"): - print(f"Sent {total_sent_count} CAN messages, got {total_recv_count} back. {total_recv_count/(total_sent_count+1e-4):.2%} received") - assert total_recv_count > 20 diff --git a/selfdrive/pandad/tests/test_pandad_usbprotocol.cc b/selfdrive/pandad/tests/test_pandad_usbprotocol.cc deleted file mode 100644 index 11f7184efdba2f..00000000000000 --- a/selfdrive/pandad/tests/test_pandad_usbprotocol.cc +++ /dev/null @@ -1,135 +0,0 @@ -#define CATCH_CONFIG_MAIN -#define CATCH_CONFIG_ENABLE_BENCHMARKING - -#include "catch2/catch.hpp" -#include "cereal/messaging/messaging.h" -#include "common/util.h" -#include "selfdrive/pandad/panda.h" - -struct PandaTest : public Panda { - PandaTest(uint32_t bus_offset, int can_list_size, cereal::PandaState::PandaType hw_type); - void test_can_send(); - void test_can_recv(uint32_t chunk_size = 0); - void test_chunked_can_recv(); - - std::map test_data; - int can_list_size = 0; - int total_pakets_size = 0; - MessageBuilder msg; - capnp::List::Reader can_data_list; -}; - -PandaTest::PandaTest(uint32_t bus_offset_, int can_list_size, cereal::PandaState::PandaType hw_type) : can_list_size(can_list_size), Panda(bus_offset_) { - this->hw_type = hw_type; - int data_limit = ((hw_type == cereal::PandaState::PandaType::RED_PANDA) ? std::size(dlc_to_len) : 8); - // prepare test data - for (int i = 0; i < data_limit; ++i) { - std::random_device rd; - std::independent_bits_engine rbe(rd()); - - int data_len = dlc_to_len[i]; - std::string bytes(data_len, '\0'); - std::generate(bytes.begin(), bytes.end(), std::ref(rbe)); - test_data[data_len] = bytes; - } - - // generate can messages for this panda - auto can_list = msg.initEvent().initSendcan(can_list_size); - for (uint8_t i = 0; i < can_list_size; ++i) { - auto can = can_list[i]; - uint32_t id = util::random_int(0, std::size(dlc_to_len) - 1); - const std::string &dat = test_data[dlc_to_len[id]]; - can.setAddress(i); - can.setSrc(util::random_int(0, 2) + bus_offset); - can.setDat(kj::ArrayPtr((uint8_t *)dat.data(), dat.size())); - total_pakets_size += sizeof(can_header) + dat.size(); - } - - can_data_list = can_list.asReader(); - INFO("test " << can_list_size << " packets, total size " << total_pakets_size); -} - -void PandaTest::test_can_send() { - std::vector unpacked_data; - this->pack_can_buffer(can_data_list, [&](uint8_t *chunk, size_t size) { - unpacked_data.insert(unpacked_data.end(), chunk, &chunk[size]); - }); - REQUIRE(unpacked_data.size() == total_pakets_size); - - int cnt = 0; - INFO("test can message integrity"); - for (int pos = 0, pckt_len = 0; pos < unpacked_data.size(); pos += pckt_len) { - can_header header; - memcpy(&header, &unpacked_data[pos], sizeof(can_header)); - const uint8_t data_len = dlc_to_len[header.data_len_code]; - pckt_len = sizeof(can_header) + data_len; - - REQUIRE(header.addr == cnt); - REQUIRE(test_data.find(data_len) != test_data.end()); - const std::string &dat = test_data[data_len]; - REQUIRE(memcmp(dat.data(), &unpacked_data[pos + sizeof(can_header)], dat.size()) == 0); - ++cnt; - } - REQUIRE(cnt == can_list_size); -} - -void PandaTest::test_can_recv(uint32_t rx_chunk_size) { - std::vector frames; - this->pack_can_buffer(can_data_list, [&](uint8_t *data, uint32_t size) { - if (rx_chunk_size == 0) { - REQUIRE(this->unpack_can_buffer(data, size, frames)); - } else { - this->receive_buffer_size = 0; - uint32_t pos = 0; - - while (pos < size) { - uint32_t chunk_size = std::min(rx_chunk_size, size - pos); - memcpy(&this->receive_buffer[this->receive_buffer_size], &data[pos], chunk_size); - this->receive_buffer_size += chunk_size; - pos += chunk_size; - - REQUIRE(this->unpack_can_buffer(this->receive_buffer, this->receive_buffer_size, frames)); - } - } - }); - - REQUIRE(frames.size() == can_list_size); - for (int i = 0; i < frames.size(); ++i) { - REQUIRE(frames[i].address == i); - REQUIRE(test_data.find(frames[i].dat.size()) != test_data.end()); - const std::string &dat = test_data[frames[i].dat.size()]; - REQUIRE(memcmp(dat.data(), frames[i].dat.data(), dat.size()) == 0); - } -} - -TEST_CASE("send/recv CAN 2.0 packets") { - auto bus_offset = GENERATE(0, 4); - auto can_list_size = GENERATE(1, 3, 5, 10, 30, 60, 100, 200); - PandaTest test(bus_offset, can_list_size, cereal::PandaState::PandaType::DOS); - - SECTION("can_send") { - test.test_can_send(); - } - SECTION("can_receive") { - test.test_can_recv(); - } - SECTION("chunked_can_receive") { - test.test_can_recv(0x40); - } -} - -TEST_CASE("send/recv CAN FD packets") { - auto bus_offset = GENERATE(0, 4); - auto can_list_size = GENERATE(1, 3, 5, 10, 30, 60, 100, 200); - PandaTest test(bus_offset, can_list_size, cereal::PandaState::PandaType::RED_PANDA); - - SECTION("can_send") { - test.test_can_send(); - } - SECTION("can_receive") { - test.test_can_recv(); - } - SECTION("chunked_can_receive") { - test.test_can_recv(0x40); - } -} diff --git a/selfdrive/test/.gitignore b/selfdrive/test/.gitignore deleted file mode 100644 index 5801faadf4ec84..00000000000000 --- a/selfdrive/test/.gitignore +++ /dev/null @@ -1,9 +0,0 @@ -out/ -docker_out/ - -process_replay/diff.txt -process_replay/model_diff.txt -valgrind_logs.txt - -*.bz2 -*.hevc diff --git a/selfdrive/test/__init__.py b/selfdrive/test/__init__.py deleted file mode 100644 index e69de29bb2d1d6..00000000000000 diff --git a/selfdrive/test/ci_shell.sh b/selfdrive/test/ci_shell.sh deleted file mode 100755 index a5ff714b2d3cdd..00000000000000 --- a/selfdrive/test/ci_shell.sh +++ /dev/null @@ -1,19 +0,0 @@ -#!/bin/bash -e - -DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)" -OP_ROOT="$DIR/../../" - -if [ -z "$BUILD" ]; then - docker pull ghcr.io/commaai/openpilot-base:latest -else - docker build --cache-from ghcr.io/commaai/openpilot-base:latest -t ghcr.io/commaai/openpilot-base:latest -f $OP_ROOT/Dockerfile.openpilot_base . -fi - -docker run \ - -it \ - --rm \ - --volume $OP_ROOT:$OP_ROOT \ - --workdir $PWD \ - --env PYTHONPATH=$OP_ROOT \ - ghcr.io/commaai/openpilot-base:latest \ - /bin/bash diff --git a/selfdrive/test/ciui.py b/selfdrive/test/ciui.py deleted file mode 100755 index f3b0c1a98f357f..00000000000000 --- a/selfdrive/test/ciui.py +++ /dev/null @@ -1,58 +0,0 @@ -#!/usr/bin/env python3 -import signal -import subprocess - -signal.signal(signal.SIGINT, signal.SIG_DFL) -signal.signal(signal.SIGTERM, signal.SIG_DFL) - -from PyQt5.QtCore import QTimer -from PyQt5.QtWidgets import QApplication, QWidget, QVBoxLayout, QLabel -from openpilot.selfdrive.ui.qt.python_helpers import set_main_window - -class Window(QWidget): - def __init__(self, parent=None): - super().__init__(parent) - - layout = QVBoxLayout() - self.setLayout(layout) - - self.l = QLabel("jenkins runner") - layout.addWidget(self.l) - layout.addStretch(1) - layout.setContentsMargins(20, 20, 20, 20) - - cmds = [ - "cat /etc/hostname", - "echo AGNOS v$(cat /VERSION)", - "uptime -p", - ] - self.labels = {} - for c in cmds: - self.labels[c] = QLabel(c) - layout.addWidget(self.labels[c]) - - self.setStyleSheet(""" - * { - color: white; - font-size: 55px; - background-color: black; - font-family: "JetBrains Mono"; - } - """) - - self.timer = QTimer() - self.timer.timeout.connect(self.update) - self.timer.start(10 * 1000) - self.update() - - def update(self): - for cmd, label in self.labels.items(): - out = subprocess.run(cmd, capture_output=True, - shell=True, check=False, encoding='utf8').stdout - label.setText(out.strip()) - -if __name__ == "__main__": - app = QApplication([]) - w = Window() - set_main_window(w) - app.exec_() diff --git a/selfdrive/test/cpp_harness.py b/selfdrive/test/cpp_harness.py deleted file mode 100755 index f9d3e681a54ffa..00000000000000 --- a/selfdrive/test/cpp_harness.py +++ /dev/null @@ -1,11 +0,0 @@ -#!/usr/bin/env python3 -import subprocess -import sys - -from openpilot.common.prefix import OpenpilotPrefix - - -with OpenpilotPrefix(): - ret = subprocess.call(sys.argv[1:]) - -exit(ret) diff --git a/selfdrive/test/docker_build.sh b/selfdrive/test/docker_build.sh deleted file mode 100755 index 4d58a1507c2326..00000000000000 --- a/selfdrive/test/docker_build.sh +++ /dev/null @@ -1,26 +0,0 @@ -#!/usr/bin/env bash -set -e - -# To build sim and docs, you can run the following to mount the scons cache to the same place as in CI: -# mkdir -p .ci_cache/scons_cache -# sudo mount --bind /tmp/scons_cache/ .ci_cache/scons_cache - -SCRIPT_DIR=$(dirname "$0") -OPENPILOT_DIR=$SCRIPT_DIR/../../ -if [ -n "$TARGET_ARCHITECTURE" ]; then - PLATFORM="linux/$TARGET_ARCHITECTURE" - TAG_SUFFIX="-$TARGET_ARCHITECTURE" -else - PLATFORM="linux/$(uname -m)" - TAG_SUFFIX="" -fi - -source $SCRIPT_DIR/docker_common.sh $1 "$TAG_SUFFIX" - -DOCKER_BUILDKIT=1 docker buildx build --provenance false --pull --platform $PLATFORM --load --cache-to type=inline --cache-from type=registry,ref=$REMOTE_TAG -t $DOCKER_IMAGE:latest -t $REMOTE_TAG -t $LOCAL_TAG -f $OPENPILOT_DIR/$DOCKER_FILE $OPENPILOT_DIR - -if [ -n "$PUSH_IMAGE" ]; then - docker push $REMOTE_TAG - docker tag $REMOTE_TAG $REMOTE_SHA_TAG - docker push $REMOTE_SHA_TAG -fi diff --git a/selfdrive/test/docker_common.sh b/selfdrive/test/docker_common.sh deleted file mode 100644 index 2887fff74bc32e..00000000000000 --- a/selfdrive/test/docker_common.sh +++ /dev/null @@ -1,18 +0,0 @@ -if [ "$1" = "base" ]; then - export DOCKER_IMAGE=openpilot-base - export DOCKER_FILE=Dockerfile.openpilot_base -elif [ "$1" = "prebuilt" ]; then - export DOCKER_IMAGE=openpilot-prebuilt - export DOCKER_FILE=Dockerfile.openpilot -else - echo "Invalid docker build image: '$1'" - exit 1 -fi - -export DOCKER_REGISTRY=ghcr.io/commaai -export COMMIT_SHA=$(git rev-parse HEAD) - -TAG_SUFFIX=$2 -LOCAL_TAG=$DOCKER_IMAGE$TAG_SUFFIX -REMOTE_TAG=$DOCKER_REGISTRY/$LOCAL_TAG -REMOTE_SHA_TAG=$DOCKER_REGISTRY/$LOCAL_TAG:$COMMIT_SHA diff --git a/selfdrive/test/docker_tag_multiarch.sh b/selfdrive/test/docker_tag_multiarch.sh deleted file mode 100755 index c1761802c75214..00000000000000 --- a/selfdrive/test/docker_tag_multiarch.sh +++ /dev/null @@ -1,25 +0,0 @@ -#!/usr/bin/env bash -set -e - -if [ $# -lt 2 ]; then - echo "Usage: $0 ..." - exit 1 -fi - -SCRIPT_DIR=$(dirname "$0") -ARCHS=("${@:2}") - -source $SCRIPT_DIR/docker_common.sh $1 - -MANIFEST_AMENDS="" -for ARCH in ${ARCHS[@]}; do - MANIFEST_AMENDS="$MANIFEST_AMENDS --amend $REMOTE_TAG-$ARCH:$COMMIT_SHA" -done - -docker manifest create $REMOTE_TAG $MANIFEST_AMENDS -docker manifest create $REMOTE_SHA_TAG $MANIFEST_AMENDS - -if [[ -n "$PUSH_IMAGE" ]]; then - docker manifest push $REMOTE_TAG - docker manifest push $REMOTE_SHA_TAG -fi diff --git a/selfdrive/test/fuzzy_generation.py b/selfdrive/test/fuzzy_generation.py deleted file mode 100644 index 94eb0dfaa62a75..00000000000000 --- a/selfdrive/test/fuzzy_generation.py +++ /dev/null @@ -1,81 +0,0 @@ -import capnp -import hypothesis.strategies as st -from typing import Any -from collections.abc import Callable -from functools import cache - -from cereal import log - -DrawType = Callable[[st.SearchStrategy], Any] - - -class FuzzyGenerator: - def __init__(self, draw: DrawType, real_floats: bool): - self.draw = draw - self.native_type_map = FuzzyGenerator._get_native_type_map(real_floats) - - def generate_native_type(self, field: str) -> st.SearchStrategy[bool | int | float | str | bytes]: - value_func = self.native_type_map.get(field) - if value_func is not None: - return value_func - else: - raise NotImplementedError(f'Invalid type: {field}') - - def generate_field(self, field: capnp.lib.capnp._StructSchemaField) -> st.SearchStrategy: - def rec(field_type: capnp.lib.capnp._DynamicStructReader) -> st.SearchStrategy: - type_which = field_type.which() - if type_which == 'struct': - return self.generate_struct(field.schema.elementType if base_type == 'list' else field.schema) - elif type_which == 'list': - return st.lists(rec(field_type.list.elementType)) - elif type_which == 'enum': - schema = field.schema.elementType if base_type == 'list' else field.schema - return st.sampled_from(list(schema.enumerants.keys())) - else: - return self.generate_native_type(type_which) - - try: - if hasattr(field.proto, 'slot'): - slot_type = field.proto.slot.type - base_type = slot_type.which() - return rec(slot_type) - else: - return self.generate_struct(field.schema) - except capnp.lib.capnp.KjException: - return self.generate_struct(field.schema) - - def generate_struct(self, schema: capnp.lib.capnp._StructSchema, event: str = None) -> st.SearchStrategy[dict[str, Any]]: - single_fill: tuple[str, ...] = (event,) if event else (self.draw(st.sampled_from(schema.union_fields)),) if schema.union_fields else () - fields_to_generate = schema.non_union_fields + single_fill - return st.fixed_dictionaries({field: self.generate_field(schema.fields[field]) for field in fields_to_generate if not field.endswith('DEPRECATED')}) - - @staticmethod - @cache - def _get_native_type_map(real_floats: bool) -> dict[str, st.SearchStrategy]: - return { - 'bool': st.booleans(), - 'int8': st.integers(min_value=-2**7, max_value=2**7-1), - 'int16': st.integers(min_value=-2**15, max_value=2**15-1), - 'int32': st.integers(min_value=-2**31, max_value=2**31-1), - 'int64': st.integers(min_value=-2**63, max_value=2**63-1), - 'uint8': st.integers(min_value=0, max_value=2**8-1), - 'uint16': st.integers(min_value=0, max_value=2**16-1), - 'uint32': st.integers(min_value=0, max_value=2**32-1), - 'uint64': st.integers(min_value=0, max_value=2**64-1), - 'float32': st.floats(width=32, allow_nan=not real_floats, allow_infinity=not real_floats), - 'float64': st.floats(width=64, allow_nan=not real_floats, allow_infinity=not real_floats), - 'text': st.text(max_size=1000), - 'data': st.binary(max_size=1000), - 'anyPointer': st.text(), # Note: No need to define a separate function for anyPointer - } - - @classmethod - def get_random_msg(cls, draw: DrawType, struct: capnp.lib.capnp._StructModule, real_floats: bool = False) -> dict[str, Any]: - fg = cls(draw, real_floats=real_floats) - data: dict[str, Any] = draw(fg.generate_struct(struct.schema)) - return data - - @classmethod - def get_random_event_msg(cls, draw: DrawType, events: list[str], real_floats: bool = False) -> list[dict[str, Any]]: - fg = cls(draw, real_floats=real_floats) - return [draw(fg.generate_struct(log.Event.schema, e)) for e in sorted(events)] diff --git a/selfdrive/test/helpers.py b/selfdrive/test/helpers.py deleted file mode 100644 index b7f5bb183b7ce8..00000000000000 --- a/selfdrive/test/helpers.py +++ /dev/null @@ -1,137 +0,0 @@ -import contextlib -import http.server -import os -import threading -import time -import pytest - -from functools import wraps - -import cereal.messaging as messaging -from openpilot.common.params import Params -from openpilot.system.manager.process_config import managed_processes -from openpilot.system.hardware import PC -from openpilot.system.version import training_version, terms_version - - -def set_params_enabled(): - os.environ['FINGERPRINT'] = "TOYOTA_COROLLA_TSS2" - os.environ['LOGPRINT'] = "debug" - - params = Params() - params.put("HasAcceptedTerms", terms_version) - params.put("CompletedTrainingVersion", training_version) - params.put_bool("OpenpilotEnabledToggle", True) - - # valid calib - msg = messaging.new_message('liveCalibration') - msg.liveCalibration.validBlocks = 20 - msg.liveCalibration.rpyCalib = [0.0, 0.0, 0.0] - params.put("CalibrationParams", msg.to_bytes()) - -def phone_only(f): - @wraps(f) - def wrap(self, *args, **kwargs): - if PC: - pytest.skip("This test is not meant to run on PC") - return f(self, *args, **kwargs) - return wrap - -def release_only(f): - @wraps(f) - def wrap(self, *args, **kwargs): - if "RELEASE" not in os.environ: - pytest.skip("This test is only for release branches") - f(self, *args, **kwargs) - return wrap - - -@contextlib.contextmanager -def processes_context(processes, init_time=0, ignore_stopped=None): - ignore_stopped = [] if ignore_stopped is None else ignore_stopped - - # start and assert started - for n, p in enumerate(processes): - managed_processes[p].start() - if n < len(processes) - 1: - time.sleep(init_time) - - assert all(managed_processes[name].proc.exitcode is None for name in processes) - - try: - yield [managed_processes[name] for name in processes] - # assert processes are still started - assert all(managed_processes[name].proc.exitcode is None for name in processes if name not in ignore_stopped) - finally: - for p in processes: - managed_processes[p].stop() - - -def with_processes(processes, init_time=0, ignore_stopped=None): - def wrapper(func): - @wraps(func) - def wrap(*args, **kwargs): - with processes_context(processes, init_time, ignore_stopped): - return func(*args, **kwargs) - - return wrap - return wrapper - - -def noop(*args, **kwargs): - pass - - -def read_segment_list(segment_list_path): - with open(segment_list_path) as f: - seg_list = f.read().splitlines() - - return [(platform[2:], segment) for platform, segment in zip(seg_list[::2], seg_list[1::2], strict=True)] - - -@contextlib.contextmanager -def http_server_context(handler, setup=None): - host = '127.0.0.1' - server = http.server.HTTPServer((host, 0), handler) - port = server.server_port - t = threading.Thread(target=server.serve_forever) - t.start() - - if setup is not None: - setup(host, port) - - try: - yield (host, port) - finally: - server.shutdown() - server.server_close() - t.join() - - -def with_http_server(func, handler=http.server.BaseHTTPRequestHandler, setup=None): - @wraps(func) - def inner(*args, **kwargs): - with http_server_context(handler, setup) as (host, port): - return func(*args, f"http://{host}:{port}", **kwargs) - return inner - - -def DirectoryHttpServer(directory) -> type[http.server.SimpleHTTPRequestHandler]: - # creates an http server that serves files from directory - class Handler(http.server.SimpleHTTPRequestHandler): - API_NO_RESPONSE = False - API_BAD_RESPONSE = False - - def do_GET(self): - if self.API_NO_RESPONSE: - return - - if self.API_BAD_RESPONSE: - self.send_response(500, "") - return - super().do_GET() - - def __init__(self, *args, **kwargs): - super().__init__(*args, directory=str(directory), **kwargs) - - return Handler diff --git a/selfdrive/test/longitudinal_maneuvers/.gitignore b/selfdrive/test/longitudinal_maneuvers/.gitignore deleted file mode 100644 index d42ab353abaa34..00000000000000 --- a/selfdrive/test/longitudinal_maneuvers/.gitignore +++ /dev/null @@ -1 +0,0 @@ -out/* diff --git a/selfdrive/test/longitudinal_maneuvers/__init__.py b/selfdrive/test/longitudinal_maneuvers/__init__.py deleted file mode 100644 index e69de29bb2d1d6..00000000000000 diff --git a/selfdrive/test/longitudinal_maneuvers/maneuver.py b/selfdrive/test/longitudinal_maneuvers/maneuver.py deleted file mode 100644 index 301f99dd568afe..00000000000000 --- a/selfdrive/test/longitudinal_maneuvers/maneuver.py +++ /dev/null @@ -1,83 +0,0 @@ -import numpy as np -from openpilot.selfdrive.test.longitudinal_maneuvers.plant import Plant - - -class Maneuver: - def __init__(self, title, duration, **kwargs): - # Was tempted to make a builder class - self.distance_lead = kwargs.get("initial_distance_lead", 200.0) - self.speed = kwargs.get("initial_speed", 0.0) - self.lead_relevancy = kwargs.get("lead_relevancy", 0) - - self.breakpoints = kwargs.get("breakpoints", [0.0, duration]) - self.speed_lead_values = kwargs.get("speed_lead_values", [0.0 for i in range(len(self.breakpoints))]) - self.prob_lead_values = kwargs.get("prob_lead_values", [1.0 for i in range(len(self.breakpoints))]) - self.prob_throttle_values = kwargs.get("prob_throttle_values", [1.0 for i in range(len(self.breakpoints))]) - self.cruise_values = kwargs.get("cruise_values", [50.0 for i in range(len(self.breakpoints))]) - self.pitch_values = kwargs.get("pitch_values", [0.0 for i in range(len(self.breakpoints))]) - - self.only_lead2 = kwargs.get("only_lead2", False) - self.only_radar = kwargs.get("only_radar", False) - self.ensure_start = kwargs.get("ensure_start", False) - self.ensure_slowdown = kwargs.get("ensure_slowdown", False) - self.enabled = kwargs.get("enabled", True) - self.e2e = kwargs.get("e2e", False) - self.personality = kwargs.get("personality", 0) - self.force_decel = kwargs.get("force_decel", False) - - self.duration = duration - self.title = title - - def evaluate(self): - plant = Plant( - lead_relevancy=self.lead_relevancy, - speed=self.speed, - distance_lead=self.distance_lead, - enabled=self.enabled, - only_lead2=self.only_lead2, - only_radar=self.only_radar, - e2e=self.e2e, - personality=self.personality, - force_decel=self.force_decel, - ) - - valid = True - logs = [] - while plant.current_time < self.duration: - speed_lead = np.interp(plant.current_time, self.breakpoints, self.speed_lead_values) - prob_lead = np.interp(plant.current_time, self.breakpoints, self.prob_lead_values) - cruise = np.interp(plant.current_time, self.breakpoints, self.cruise_values) - pitch = np.interp(plant.current_time, self.breakpoints, self.pitch_values) - prob_throttle = np.interp(plant.current_time, self.breakpoints, self.prob_throttle_values) - log = plant.step(speed_lead, prob_lead, cruise, pitch, prob_throttle) - - d_rel = log['distance_lead'] - log['distance'] if self.lead_relevancy else 200. - v_rel = speed_lead - log['speed'] if self.lead_relevancy else 0. - log['d_rel'] = d_rel - log['v_rel'] = v_rel - logs.append(np.array([plant.current_time, - log['distance'], - log['distance_lead'], - log['speed'], - speed_lead, - log['acceleration']])) - - if d_rel < .4 and (self.only_radar or prob_lead > 0.5): - print("Crashed!!!!") - valid = False - - if self.ensure_start and log['v_rel'] > 0 and log['speeds'][-1] <= 0.1: - print('LongitudinalPlanner not starting!') - valid = False - - if self.ensure_slowdown and log['speed'] > 5.5: - print('LongitudinalPlanner not slowing down!') - valid = False - - if self.force_decel and log['speed'] > 1e-1 and log['acceleration'] > -0.04: - print('Not stopping with force decel') - valid = False - - - print("maneuver end", valid) - return valid, np.array(logs) diff --git a/selfdrive/test/longitudinal_maneuvers/plant.py b/selfdrive/test/longitudinal_maneuvers/plant.py deleted file mode 100755 index 7596e194794592..00000000000000 --- a/selfdrive/test/longitudinal_maneuvers/plant.py +++ /dev/null @@ -1,179 +0,0 @@ -#!/usr/bin/env python3 -import time -import numpy as np - -from cereal import log -import cereal.messaging as messaging -from openpilot.common.realtime import Ratekeeper, DT_MDL -from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState -from openpilot.selfdrive.modeld.constants import ModelConstants -from openpilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPlanner -from openpilot.selfdrive.controls.radard import _LEAD_ACCEL_TAU - - -class Plant: - messaging_initialized = False - - def __init__(self, lead_relevancy=False, speed=0.0, distance_lead=2.0, - enabled=True, only_lead2=False, only_radar=False, e2e=False, personality=0, force_decel=False): - self.rate = 1. / DT_MDL - - if not Plant.messaging_initialized: - Plant.radar = messaging.pub_sock('radarState') - Plant.controls_state = messaging.pub_sock('controlsState') - Plant.car_state = messaging.pub_sock('carState') - Plant.plan = messaging.sub_sock('longitudinalPlan') - Plant.messaging_initialized = True - - self.v_lead_prev = 0.0 - - self.distance = 0. - self.speed = speed - self.acceleration = 0.0 - self.speeds = [] - - # lead car - self.lead_relevancy = lead_relevancy - self.distance_lead = distance_lead - self.enabled = enabled - self.only_lead2 = only_lead2 - self.only_radar = only_radar - self.e2e = e2e - self.personality = personality - self.force_decel = force_decel - - self.rk = Ratekeeper(self.rate, print_delay_threshold=100.0) - self.ts = 1. / self.rate - time.sleep(0.1) - self.sm = messaging.SubMaster(['longitudinalPlan']) - - from openpilot.selfdrive.car.honda.values import CAR - from openpilot.selfdrive.car.honda.interface import CarInterface - - self.planner = LongitudinalPlanner(CarInterface.get_non_essential_params(CAR.HONDA_CIVIC), init_v=self.speed) - - @property - def current_time(self): - return float(self.rk.frame) / self.rate - - def step(self, v_lead=0.0, prob_lead=1.0, v_cruise=50., pitch=0.0, prob_throttle=1.0): - # ******** publish a fake model going straight and fake calibration ******** - # note that this is worst case for MPC, since model will delay long mpc by one time step - radar = messaging.new_message('radarState') - control = messaging.new_message('controlsState') - car_state = messaging.new_message('carState') - car_control = messaging.new_message('carControl') - model = messaging.new_message('modelV2') - a_lead = (v_lead - self.v_lead_prev)/self.ts - self.v_lead_prev = v_lead - - if self.lead_relevancy: - d_rel = np.maximum(0., self.distance_lead - self.distance) - v_rel = v_lead - self.speed - if self.only_radar: - status = True - elif prob_lead > .5: - status = True - else: - status = False - else: - d_rel = 200. - v_rel = 0. - prob_lead = 0.0 - status = False - - lead = log.RadarState.LeadData.new_message() - lead.dRel = float(d_rel) - lead.yRel = 0.0 - lead.vRel = float(v_rel) - lead.aRel = float(a_lead - self.acceleration) - lead.vLead = float(v_lead) - lead.vLeadK = float(v_lead) - lead.aLeadK = float(a_lead) - # TODO use real radard logic for this - lead.aLeadTau = float(_LEAD_ACCEL_TAU) - lead.status = status - lead.modelProb = float(prob_lead) - if not self.only_lead2: - radar.radarState.leadOne = lead - radar.radarState.leadTwo = lead - - # Simulate model predicting slightly faster speed - # this is to ensure lead policy is effective when model - # does not predict slowdown in e2e mode - position = log.XYZTData.new_message() - position.x = [float(x) for x in (self.speed + 0.5) * np.array(ModelConstants.T_IDXS)] - model.modelV2.position = position - velocity = log.XYZTData.new_message() - velocity.x = [float(x) for x in (self.speed + 0.5) * np.ones_like(ModelConstants.T_IDXS)] - model.modelV2.velocity = velocity - acceleration = log.XYZTData.new_message() - acceleration.x = [float(x) for x in np.zeros_like(ModelConstants.T_IDXS)] - model.modelV2.acceleration = acceleration - model.modelV2.meta.disengagePredictions.gasPressProbs = [float(prob_throttle) for _ in range(6)] - - control.controlsState.longControlState = LongCtrlState.pid if self.enabled else LongCtrlState.off - control.controlsState.vCruise = float(v_cruise * 3.6) - control.controlsState.experimentalMode = self.e2e - control.controlsState.personality = self.personality - control.controlsState.forceDecel = self.force_decel - car_state.carState.vEgo = float(self.speed) - car_state.carState.standstill = self.speed < 0.01 - car_state.carState.vCruise = float(v_cruise * 3.6) - car_control.carControl.orientationNED = [0., float(pitch), 0.] - - # ******** get controlsState messages for plotting *** - sm = {'radarState': radar.radarState, - 'carState': car_state.carState, - 'carControl': car_control.carControl, - 'controlsState': control.controlsState, - 'modelV2': model.modelV2} - self.planner.update(sm) - self.speed = self.planner.v_desired_filter.x - self.acceleration = self.planner.a_desired - self.speeds = self.planner.v_desired_trajectory.tolist() - fcw = self.planner.fcw - self.distance_lead = self.distance_lead + v_lead * self.ts - - # ******** run the car ******** - #print(self.distance, speed) - if self.speed <= 0: - self.speed = 0 - self.acceleration = 0 - self.distance = self.distance + self.speed * self.ts - - # *** radar model *** - if self.lead_relevancy: - d_rel = np.maximum(0., self.distance_lead - self.distance) - v_rel = v_lead - self.speed - else: - d_rel = 200. - v_rel = 0. - - # print at 5hz - # if (self.rk.frame % (self.rate // 5)) == 0: - # print("%2.2f sec %6.2f m %6.2f m/s %6.2f m/s2 lead_rel: %6.2f m %6.2f m/s" - # % (self.current_time, self.distance, self.speed, self.acceleration, d_rel, v_rel)) - - - # ******** update prevs ******** - self.rk.monitor_time() - - return { - "distance": self.distance, - "speed": self.speed, - "acceleration": self.acceleration, - "speeds": self.speeds, - "distance_lead": self.distance_lead, - "fcw": fcw, - } - -# simple engage in standalone mode -def plant_thread(): - plant = Plant() - while 1: - plant.step() - - -if __name__ == "__main__": - plant_thread() diff --git a/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py b/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py deleted file mode 100644 index 7eea44aae6279e..00000000000000 --- a/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py +++ /dev/null @@ -1,192 +0,0 @@ -import itertools -from parameterized import parameterized_class - -from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import STOP_DISTANCE -from openpilot.selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver - - -# TODO: make new FCW tests -def create_maneuvers(kwargs): - maneuvers = [ - Maneuver( - 'approach stopped car at 25m/s, initial distance: 120m', - duration=20., - initial_speed=25., - lead_relevancy=True, - initial_distance_lead=120., - speed_lead_values=[30., 0.], - breakpoints=[0., 1.], - **kwargs, - ), - Maneuver( - 'approach stopped car at 20m/s, initial distance 90m', - duration=20., - initial_speed=20., - lead_relevancy=True, - initial_distance_lead=90., - speed_lead_values=[20., 0.], - breakpoints=[0., 1.], - **kwargs, - ), - Maneuver( - 'steady state following a car at 20m/s, then lead decel to 0mph at 1m/s^2', - duration=50., - initial_speed=20., - lead_relevancy=True, - initial_distance_lead=35., - speed_lead_values=[20., 20., 0.], - breakpoints=[0., 15., 35.0], - **kwargs, - ), - Maneuver( - 'steady state following a car at 20m/s, then lead decel to 0mph at 2m/s^2', - duration=50., - initial_speed=20., - lead_relevancy=True, - initial_distance_lead=35., - speed_lead_values=[20., 20., 0.], - breakpoints=[0., 15., 25.0], - **kwargs, - ), - Maneuver( - 'steady state following a car at 20m/s, then lead decel to 0mph at 3m/s^2', - duration=50., - initial_speed=20., - lead_relevancy=True, - initial_distance_lead=35., - speed_lead_values=[20., 20., 0.], - breakpoints=[0., 15., 21.66], - **kwargs, - ), - Maneuver( - 'steady state following a car at 20m/s, then lead decel to 0mph at 3+m/s^2', - duration=40., - initial_speed=20., - lead_relevancy=True, - initial_distance_lead=35., - speed_lead_values=[20., 20., 0.], - prob_lead_values=[0., 1., 1.], - cruise_values=[20., 20., 20.], - breakpoints=[2., 2.01, 8.8], - **kwargs, - ), - Maneuver( - "approach stopped car at 20m/s, with prob_lead_values", - duration=30., - initial_speed=20., - lead_relevancy=True, - initial_distance_lead=120., - speed_lead_values=[0.0, 0., 0.], - prob_lead_values=[0.0, 0., 1.], - cruise_values=[20., 20., 20.], - breakpoints=[0.0, 2., 2.01], - **kwargs, - ), - Maneuver( - "approach stopped car at 20m/s, with prob_throttle_values and pitch = -0.1", - duration=30., - initial_speed=20., - lead_relevancy=True, - initial_distance_lead=120., - speed_lead_values=[0.0, 0., 0.], - prob_throttle_values=[1., 0., 0.], - cruise_values=[20., 20., 20.], - pitch_values=[0., -0.1, -0.1], - breakpoints=[0.0, 2., 2.01], - **kwargs, - ), - Maneuver( - "approach stopped car at 20m/s, with prob_throttle_values and pitch = +0.1", - duration=30., - initial_speed=20., - lead_relevancy=True, - initial_distance_lead=120., - speed_lead_values=[0.0, 0., 0.], - prob_throttle_values=[1., 0., 0.], - cruise_values=[20., 20., 20.], - pitch_values=[0., 0.1, 0.1], - breakpoints=[0.0, 2., 2.01], - **kwargs, - ), - Maneuver( - "slow to 5m/s with allow_throttle = False and pitch = +0.1", - duration=25., - initial_speed=20., - lead_relevancy=False, - prob_throttle_values=[1., 0., 0.], - cruise_values=[20., 20., 20.], - pitch_values=[0., 0.1, 0.1], - breakpoints=[0.0, 2., 2.01], - ensure_slowdown=True, - **kwargs, - ), - Maneuver( - "approach slower cut-in car at 20m/s", - duration=20., - initial_speed=20., - lead_relevancy=True, - initial_distance_lead=50., - speed_lead_values=[15., 15.], - breakpoints=[1., 11.], - only_lead2=True, - **kwargs, - ), - Maneuver( - "stay stopped behind radar override lead", - duration=20., - initial_speed=0., - lead_relevancy=True, - initial_distance_lead=10., - speed_lead_values=[0., 0.], - prob_lead_values=[0., 0.], - breakpoints=[1., 11.], - only_radar=True, - **kwargs, - ), - Maneuver( - "NaN recovery", - duration=30., - initial_speed=15., - lead_relevancy=True, - initial_distance_lead=60., - speed_lead_values=[0., 0., 0.0], - breakpoints=[1., 1.01, 11.], - cruise_values=[float("nan"), 15., 15.], - **kwargs, - ), - Maneuver( - 'cruising at 25 m/s while disabled', - duration=20., - initial_speed=25., - lead_relevancy=False, - enabled=False, - **kwargs, - ), - ] - if not kwargs['force_decel']: - # controls relies on planner commanding to move for stock-ACC resume spamming - maneuvers.append(Maneuver( - "resume from a stop", - duration=20., - initial_speed=0., - lead_relevancy=True, - initial_distance_lead=STOP_DISTANCE, - speed_lead_values=[0., 0., 2.], - breakpoints=[1., 10., 15.], - ensure_start=True, - **kwargs, - )) - return maneuvers - - -@parameterized_class(("e2e", "force_decel"), itertools.product([True, False], repeat=2)) -class TestLongitudinalControl: - e2e: bool - force_decel: bool - - def test_maneuver(self, subtests): - for maneuver in create_maneuvers({"e2e": self.e2e, "force_decel": self.force_decel}): - with subtests.test(title=maneuver.title, e2e=maneuver.e2e, force_decel=maneuver.force_decel): - print(maneuver.title, f'in {"e2e" if maneuver.e2e else "acc"} mode') - valid, _ = maneuver.evaluate() - assert valid diff --git a/selfdrive/test/loop_until_fail.sh b/selfdrive/test/loop_until_fail.sh deleted file mode 100755 index b73009dba67cfc..00000000000000 --- a/selfdrive/test/loop_until_fail.sh +++ /dev/null @@ -1,8 +0,0 @@ -#!/usr/bin/env bash -set -e - -# Loop something forever until it fails, for verifying new tests - -while true; do - $@ -done diff --git a/selfdrive/test/process_replay/.gitignore b/selfdrive/test/process_replay/.gitignore deleted file mode 100644 index a35cd58d415c63..00000000000000 --- a/selfdrive/test/process_replay/.gitignore +++ /dev/null @@ -1 +0,0 @@ -fakedata/ diff --git a/selfdrive/test/process_replay/README.md b/selfdrive/test/process_replay/README.md deleted file mode 100644 index 008a9010100756..00000000000000 --- a/selfdrive/test/process_replay/README.md +++ /dev/null @@ -1,126 +0,0 @@ -# Process replay - -Process replay is a regression test designed to identify any changes in the output of a process. This test replays a segment through individual processes and compares the output to a known good replay. Each make is represented in the test with a segment. - -If the test fails, make sure that you didn't unintentionally change anything. If there are intentional changes, the reference logs will be updated. - -Use `test_processes.py` to run the test locally. -Use `FILEREADER_CACHE='1' test_processes.py` to cache log files. - -Currently the following processes are tested: - -* controlsd -* radard -* plannerd -* calibrationd -* dmonitoringd -* locationd -* paramsd -* ubloxd -* torqued - -### Usage -``` -Usage: test_processes.py [-h] [--whitelist-procs PROCS] [--whitelist-cars CARS] [--blacklist-procs PROCS] - [--blacklist-cars CARS] [--ignore-fields FIELDS] [--ignore-msgs MSGS] [--update-refs] [--upload-only] -Regression test to identify changes in a process's output -optional arguments: - -h, --help show this help message and exit - --whitelist-procs PROCS Whitelist given processes from the test (e.g. controlsd) - --whitelist-cars WHITELIST_CARS Whitelist given cars from the test (e.g. HONDA) - --blacklist-procs BLACKLIST_PROCS Blacklist given processes from the test (e.g. controlsd) - --blacklist-cars BLACKLIST_CARS Blacklist given cars from the test (e.g. HONDA) - --ignore-fields IGNORE_FIELDS Extra fields or msgs to ignore (e.g. carState.events) - --ignore-msgs IGNORE_MSGS Msgs to ignore (e.g. onroadEvents) - --update-refs Updates reference logs using current commit - --upload-only Skips testing processes and uploads logs from previous test run -``` - -## Forks - -openpilot forks can use this test with their own reference logs, by default `test_proccess.py` saves logs locally. - -To generate new logs: - -`./test_processes.py` - -Then, check in the new logs using git-lfs. Make sure to also update the `ref_commit` file to the current commit. - -## API - -Process replay test suite exposes programmatic APIs for simultaneously running processes or groups of processes on provided logs. - -```py -def replay_process_with_name(name: Union[str, Iterable[str]], lr: LogIterable, *args, **kwargs) -> List[capnp._DynamicStructReader]: - -def replay_process( - cfg: Union[ProcessConfig, Iterable[ProcessConfig]], lr: LogIterable, frs: Optional[Dict[str, Any]] = None, - fingerprint: Optional[str] = None, return_all_logs: bool = False, custom_params: Optional[Dict[str, Any]] = None, disable_progress: bool = False -) -> List[capnp._DynamicStructReader]: -``` - -Example usage: -```py -from openpilot.selfdrive.test.process_replay import replay_process_with_name -from openpilot.tools.lib.logreader import LogReader - -lr = LogReader(...) - -# provide a name of the process to replay -output_logs = replay_process_with_name('locationd', lr) - -# or list of names -output_logs = replay_process_with_name(['ubloxd', 'locationd'], lr) -``` - -Supported processes: -* controlsd -* radard -* plannerd -* calibrationd -* dmonitoringd -* locationd -* paramsd -* ubloxd -* torqued -* modeld -* dmonitoringmodeld - -Certain processes may require an initial state, which is usually supplied within `Params` and persisting from segment to segment (e.g CalibrationParams, LiveParameters). The `custom_params` is dictionary used to prepopulate `Params` with arbitrary values. The `get_custom_params_from_lr` helper is provided to fetch meaningful values from log files. - -```py -from openpilot.selfdrive.test.process_replay import get_custom_params_from_lr - -previous_segment_lr = LogReader(...) -current_segment_lr = LogReader(...) - -custom_params = get_custom_params_from_lr(previous_segment_lr, 'last') - -output_logs = replay_process_with_name('calibrationd', lr, custom_params=custom_params) -``` - -Replaying processes that use VisionIPC (e.g. modeld, dmonitoringmodeld) require additional `frs` dictionary with camera states as keys and `FrameReader` objects as values. - -```py -from openpilot.tools.lib.framereader import FrameReader - -frs = { - 'roadCameraState': FrameReader(...), - 'wideRoadCameraState': FrameReader(...), - 'driverCameraState': FrameReader(...), -} - -output_logs = replay_process_with_name(['modeld', 'dmonitoringmodeld'], lr, frs=frs) -``` - -To capture stdout/stderr of the replayed process, `captured_output_store` can be provided. - -```py -output_store = dict() -# pass dictionary by reference, it will be filled with standard outputs - even if process replay fails -output_logs = replay_process_with_name(['radard', 'plannerd'], lr, captured_output_store=output_store) - -# entries with captured output in format { 'out': '...', 'err': '...' } will be added to provided dictionary for each replayed process -print(output_store['radard']['out']) # radard stdout -print(output_store['radard']['err']) # radard stderr -``` diff --git a/selfdrive/test/process_replay/__init__.py b/selfdrive/test/process_replay/__init__.py deleted file mode 100644 index b9942771864a51..00000000000000 --- a/selfdrive/test/process_replay/__init__.py +++ /dev/null @@ -1,2 +0,0 @@ -from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, get_process_config, get_custom_params_from_lr, \ - replay_process, replay_process_with_name # noqa: F401 diff --git a/selfdrive/test/process_replay/capture.py b/selfdrive/test/process_replay/capture.py deleted file mode 100644 index 90c279ef35b1e7..00000000000000 --- a/selfdrive/test/process_replay/capture.py +++ /dev/null @@ -1,59 +0,0 @@ -import os -import sys - -from typing import no_type_check - -class FdRedirect: - def __init__(self, file_prefix: str, fd: int): - fname = os.path.join("/tmp", f"{file_prefix}.{fd}") - if os.path.exists(fname): - os.unlink(fname) - self.dest_fd = os.open(fname, os.O_WRONLY | os.O_CREAT) - self.dest_fname = fname - self.source_fd = fd - os.set_inheritable(self.dest_fd, True) - - def __del__(self): - os.close(self.dest_fd) - - def purge(self) -> None: - os.unlink(self.dest_fname) - - def read(self) -> bytes: - with open(self.dest_fname, "rb") as f: - return f.read() or b"" - - def link(self) -> None: - os.dup2(self.dest_fd, self.source_fd) - - -class ProcessOutputCapture: - def __init__(self, proc_name: str, prefix: str): - prefix = f"{proc_name}_{prefix}" - self.stdout_redirect = FdRedirect(prefix, 1) - self.stderr_redirect = FdRedirect(prefix, 2) - - def __del__(self): - self.stdout_redirect.purge() - self.stderr_redirect.purge() - - @no_type_check # ipython classes have incompatible signatures - def link_with_current_proc(self) -> None: - try: - # prevent ipykernel from redirecting stdout/stderr of python subprocesses - from ipykernel.iostream import OutStream - if isinstance(sys.stdout, OutStream): - sys.stdout = sys.__stdout__ - if isinstance(sys.stderr, OutStream): - sys.stderr = sys.__stderr__ - except ImportError: - pass - - # link stdout/stderr to the fifo - self.stdout_redirect.link() - self.stderr_redirect.link() - - def read_outerr(self) -> tuple[str, str]: - out_str = self.stdout_redirect.read().decode() - err_str = self.stderr_redirect.read().decode() - return out_str, err_str diff --git a/selfdrive/test/process_replay/compare_logs.py b/selfdrive/test/process_replay/compare_logs.py deleted file mode 100755 index 673f3b484c740e..00000000000000 --- a/selfdrive/test/process_replay/compare_logs.py +++ /dev/null @@ -1,150 +0,0 @@ -#!/usr/bin/env python3 -import sys -import math -import capnp -import numbers -import dictdiffer -from collections import Counter - -from openpilot.tools.lib.logreader import LogReader - -EPSILON = sys.float_info.epsilon - - -def remove_ignored_fields(msg, ignore): - msg = msg.as_builder() - for key in ignore: - attr = msg - keys = key.split(".") - if msg.which() != keys[0] and len(keys) > 1: - continue - - for k in keys[:-1]: - # indexing into list - if k.isdigit(): - attr = attr[int(k)] - else: - attr = getattr(attr, k) - - v = getattr(attr, keys[-1]) - if isinstance(v, bool): - val = False - elif isinstance(v, numbers.Number): - val = 0 - elif isinstance(v, (list, capnp.lib.capnp._DynamicListBuilder)): - val = [] - else: - raise NotImplementedError(f"Unknown type: {type(v)}") - setattr(attr, keys[-1], val) - return msg - - -def compare_logs(log1, log2, ignore_fields=None, ignore_msgs=None, tolerance=None,): - if ignore_fields is None: - ignore_fields = [] - if ignore_msgs is None: - ignore_msgs = [] - tolerance = EPSILON if tolerance is None else tolerance - - log1, log2 = ( - [m for m in log if m.which() not in ignore_msgs] - for log in (log1, log2) - ) - - if len(log1) != len(log2): - cnt1 = Counter(m.which() for m in log1) - cnt2 = Counter(m.which() for m in log2) - raise Exception(f"logs are not same length: {len(log1)} VS {len(log2)}\n\t\t{cnt1}\n\t\t{cnt2}") - - diff = [] - for msg1, msg2 in zip(log1, log2, strict=True): - if msg1.which() != msg2.which(): - raise Exception("msgs not aligned between logs") - - msg1 = remove_ignored_fields(msg1, ignore_fields) - msg2 = remove_ignored_fields(msg2, ignore_fields) - - if msg1.to_bytes() != msg2.to_bytes(): - msg1_dict = msg1.as_reader().to_dict(verbose=True) - msg2_dict = msg2.as_reader().to_dict(verbose=True) - - dd = dictdiffer.diff(msg1_dict, msg2_dict, ignore=ignore_fields) - - # Dictdiffer only supports relative tolerance, we also want to check for absolute - # TODO: add this to dictdiffer - def outside_tolerance(diff): - try: - if diff[0] == "change": - a, b = diff[2] - finite = math.isfinite(a) and math.isfinite(b) - if finite and isinstance(a, numbers.Number) and isinstance(b, numbers.Number): - return abs(a - b) > max(tolerance, tolerance * max(abs(a), abs(b))) - except TypeError: - pass - return True - - dd = list(filter(outside_tolerance, dd)) - - diff.extend(dd) - return diff - - -def format_process_diff(diff): - diff_short, diff_long = "", "" - - if isinstance(diff, str): - diff_short += f" {diff}\n" - diff_long += f"\t{diff}\n" - else: - cnt: dict[str, int] = {} - for d in diff: - diff_long += f"\t{str(d)}\n" - - k = str(d[1]) - cnt[k] = 1 if k not in cnt else cnt[k] + 1 - - for k, v in sorted(cnt.items()): - diff_short += f" {k}: {v}\n" - - return diff_short, diff_long - - -def format_diff(results, log_paths, ref_commit): - diff_short, diff_long = "", "" - diff_long += f"***** tested against commit {ref_commit} *****\n" - - failed = False - for segment, result in list(results.items()): - diff_short += f"***** results for segment {segment} *****\n" - diff_long += f"***** differences for segment {segment} *****\n" - - for proc, diff in list(result.items()): - diff_long += f"*** process: {proc} ***\n" - diff_long += f"\tref: {log_paths[segment][proc]['ref']}\n" - diff_long += f"\tnew: {log_paths[segment][proc]['new']}\n\n" - - diff_short += f" {proc}\n" - - if isinstance(diff, str) or len(diff): - diff_short += f" ref: {log_paths[segment][proc]['ref']}\n" - diff_short += f" new: {log_paths[segment][proc]['new']}\n\n" - failed = True - - proc_diff_short, proc_diff_long = format_process_diff(diff) - - diff_long += proc_diff_long - diff_short += proc_diff_short - - return diff_short, diff_long, failed - - -if __name__ == "__main__": - log1 = list(LogReader(sys.argv[1])) - log2 = list(LogReader(sys.argv[2])) - ignore_fields = sys.argv[3:] or ["logMonoTime", "controlsState.startMonoTime", "controlsState.cumLagMs"] - results = {"segment": {"proc": compare_logs(log1, log2, ignore_fields)}} - log_paths = {"segment": {"proc": {"ref": sys.argv[1], "new": sys.argv[2]}}} - diff_short, diff_long, failed = format_diff(results, log_paths, None) - - print(diff_long) - print(diff_short) diff --git a/selfdrive/test/process_replay/imgproc_replay_ref_hash b/selfdrive/test/process_replay/imgproc_replay_ref_hash deleted file mode 100644 index defcb3681c691d..00000000000000 --- a/selfdrive/test/process_replay/imgproc_replay_ref_hash +++ /dev/null @@ -1 +0,0 @@ -707434c540e685bbe2886b3ff7c82fd61939d362 \ No newline at end of file diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py deleted file mode 100644 index cba658159980ac..00000000000000 --- a/selfdrive/test/process_replay/migration.py +++ /dev/null @@ -1,254 +0,0 @@ -from collections import defaultdict - -from cereal import messaging -from openpilot.selfdrive.car.fingerprints import MIGRATION -from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_encode_index -from openpilot.selfdrive.car.toyota.values import EPS_SCALE -from openpilot.system.manager.process_config import managed_processes -from panda import Panda - - -# TODO: message migration should happen in-place -def migrate_all(lr, old_logtime=False, manager_states=False, panda_states=False, camera_states=False): - msgs = migrate_sensorEvents(lr, old_logtime) - msgs = migrate_carParams(msgs, old_logtime) - msgs = migrate_gpsLocation(msgs) - msgs = migrate_deviceState(msgs) - msgs = migrate_carOutput(msgs) - if manager_states: - msgs = migrate_managerState(msgs) - if panda_states: - msgs = migrate_pandaStates(msgs) - msgs = migrate_peripheralState(msgs) - if camera_states: - msgs = migrate_cameraStates(msgs) - - return msgs - - -def migrate_managerState(lr): - all_msgs = [] - for msg in lr: - if msg.which() != "managerState": - all_msgs.append(msg) - continue - - new_msg = msg.as_builder() - new_msg.managerState.processes = [{'name': name, 'running': True} for name in managed_processes] - all_msgs.append(new_msg.as_reader()) - - return all_msgs - - -def migrate_gpsLocation(lr): - all_msgs = [] - for msg in lr: - if msg.which() in ('gpsLocation', 'gpsLocationExternal'): - new_msg = msg.as_builder() - g = getattr(new_msg, new_msg.which()) - # hasFix is a newer field - if not g.hasFix and g.flags == 1: - g.hasFix = True - all_msgs.append(new_msg.as_reader()) - else: - all_msgs.append(msg) - return all_msgs - - -def migrate_deviceState(lr): - all_msgs = [] - dt = None - for msg in lr: - if msg.which() == 'initData': - dt = msg.initData.deviceType - if msg.which() == 'deviceState': - n = msg.as_builder() - n.deviceState.deviceType = dt - all_msgs.append(n.as_reader()) - else: - all_msgs.append(msg) - return all_msgs - - -def migrate_carOutput(lr): - # migration needed only for routes before carOutput - if any(msg.which() == 'carOutput' for msg in lr): - return lr - - all_msgs = [] - for msg in lr: - if msg.which() == 'carControl': - co = messaging.new_message('carOutput') - co.valid = msg.valid - co.logMonoTime = msg.logMonoTime - co.carOutput.actuatorsOutput = msg.carControl.actuatorsOutputDEPRECATED - all_msgs.append(co.as_reader()) - all_msgs.append(msg) - return all_msgs - - -def migrate_pandaStates(lr): - all_msgs = [] - # TODO: safety param migration should be handled automatically - safety_param_migration = { - "TOYOTA_PRIUS": EPS_SCALE["TOYOTA_PRIUS"] | Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL, - "TOYOTA_RAV4": EPS_SCALE["TOYOTA_RAV4"] | Panda.FLAG_TOYOTA_ALT_BRAKE | Panda.FLAG_TOYOTA_GAS_INTERCEPTOR, - "KIA_EV6": Panda.FLAG_HYUNDAI_EV_GAS | Panda.FLAG_HYUNDAI_CANFD_HDA2, - } - - # Migrate safety param base on carState - CP = next((m.carParams for m in lr if m.which() == 'carParams'), None) - assert CP is not None, "carParams message not found" - if CP.carFingerprint in safety_param_migration: - safety_param = safety_param_migration[CP.carFingerprint] - elif len(CP.safetyConfigs): - safety_param = CP.safetyConfigs[0].safetyParam - if CP.safetyConfigs[0].safetyParamDEPRECATED != 0: - safety_param = CP.safetyConfigs[0].safetyParamDEPRECATED - else: - safety_param = CP.safetyParamDEPRECATED - - for msg in lr: - if msg.which() == 'pandaStateDEPRECATED': - new_msg = messaging.new_message('pandaStates', 1) - new_msg.valid = msg.valid - new_msg.logMonoTime = msg.logMonoTime - new_msg.pandaStates[0] = msg.pandaStateDEPRECATED - new_msg.pandaStates[0].safetyParam = safety_param - all_msgs.append(new_msg.as_reader()) - elif msg.which() == 'pandaStates': - new_msg = msg.as_builder() - new_msg.pandaStates[-1].safetyParam = safety_param - all_msgs.append(new_msg.as_reader()) - else: - all_msgs.append(msg) - - return all_msgs - - -def migrate_peripheralState(lr): - if any(msg.which() == "peripheralState" for msg in lr): - return lr - - all_msg = [] - for msg in lr: - all_msg.append(msg) - if msg.which() not in ["pandaStates", "pandaStateDEPRECATED"]: - continue - - new_msg = messaging.new_message("peripheralState") - new_msg.valid = msg.valid - new_msg.logMonoTime = msg.logMonoTime - all_msg.append(new_msg.as_reader()) - - return all_msg - - -def migrate_cameraStates(lr): - all_msgs = [] - frame_to_encode_id = defaultdict(dict) - # just for encodeId fallback mechanism - min_frame_id = defaultdict(lambda: float('inf')) - - for msg in lr: - if msg.which() not in ["roadEncodeIdx", "wideRoadEncodeIdx", "driverEncodeIdx"]: - continue - - encode_index = getattr(msg, msg.which()) - meta = meta_from_encode_index(msg.which()) - - assert encode_index.segmentId < 1200, f"Encoder index segmentId greater that 1200: {msg.which()} {encode_index.segmentId}" - frame_to_encode_id[meta.camera_state][encode_index.frameId] = encode_index.segmentId - - for msg in lr: - if msg.which() not in ["roadCameraState", "wideRoadCameraState", "driverCameraState"]: - all_msgs.append(msg) - continue - - camera_state = getattr(msg, msg.which()) - min_frame_id[msg.which()] = min(min_frame_id[msg.which()], camera_state.frameId) - - encode_id = frame_to_encode_id[msg.which()].get(camera_state.frameId) - if encode_id is None: - print(f"Missing encoded frame for camera feed {msg.which()} with frameId: {camera_state.frameId}") - if len(frame_to_encode_id[msg.which()]) != 0: - continue - - # fallback mechanism for logs without encodeIdx (e.g. logs from before 2022 with dcamera recording disabled) - # try to fake encode_id by subtracting lowest frameId - encode_id = camera_state.frameId - min_frame_id[msg.which()] - print(f"Faking encodeId to {encode_id} for camera feed {msg.which()} with frameId: {camera_state.frameId}") - - new_msg = messaging.new_message(msg.which()) - new_camera_state = getattr(new_msg, new_msg.which()) - new_camera_state.frameId = encode_id - new_camera_state.encodeId = encode_id - # timestampSof was added later so it might be missing on some old segments - if camera_state.timestampSof == 0 and camera_state.timestampEof > 25000000: - new_camera_state.timestampSof = camera_state.timestampEof - 18000000 - else: - new_camera_state.timestampSof = camera_state.timestampSof - new_camera_state.timestampEof = camera_state.timestampEof - new_msg.logMonoTime = msg.logMonoTime - new_msg.valid = msg.valid - - all_msgs.append(new_msg.as_reader()) - - return all_msgs - - -def migrate_carParams(lr, old_logtime=False): - all_msgs = [] - for msg in lr: - if msg.which() == 'carParams': - CP = msg.as_builder() - CP.carParams.carFingerprint = MIGRATION.get(CP.carParams.carFingerprint, CP.carParams.carFingerprint) - for car_fw in CP.carParams.carFw: - car_fw.brand = CP.carParams.carName - if old_logtime: - CP.logMonoTime = msg.logMonoTime - msg = CP.as_reader() - all_msgs.append(msg) - - return all_msgs - - -def migrate_sensorEvents(lr, old_logtime=False): - all_msgs = [] - for msg in lr: - if msg.which() != 'sensorEventsDEPRECATED': - all_msgs.append(msg) - continue - - # migrate to split sensor events - for evt in msg.sensorEventsDEPRECATED: - # build new message for each sensor type - sensor_service = '' - if evt.which() == 'acceleration': - sensor_service = 'accelerometer' - elif evt.which() == 'gyro' or evt.which() == 'gyroUncalibrated': - sensor_service = 'gyroscope' - elif evt.which() == 'light' or evt.which() == 'proximity': - sensor_service = 'lightSensor' - elif evt.which() == 'magnetic' or evt.which() == 'magneticUncalibrated': - sensor_service = 'magnetometer' - elif evt.which() == 'temperature': - sensor_service = 'temperatureSensor' - - m = messaging.new_message(sensor_service) - m.valid = True - if old_logtime: - m.logMonoTime = msg.logMonoTime - - m_dat = getattr(m, sensor_service) - m_dat.version = evt.version - m_dat.sensor = evt.sensor - m_dat.type = evt.type - m_dat.source = evt.source - if old_logtime: - m_dat.timestamp = evt.timestamp - setattr(m_dat, evt.which(), getattr(evt, evt.which())) - - all_msgs.append(m.as_reader()) - - return all_msgs diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py deleted file mode 100755 index dc089c5035c209..00000000000000 --- a/selfdrive/test/process_replay/model_replay.py +++ /dev/null @@ -1,183 +0,0 @@ -#!/usr/bin/env python3 -import os -import sys -from collections import defaultdict -from typing import Any - -from openpilot.common.git import get_commit -from openpilot.system.hardware import PC -from openpilot.tools.lib.openpilotci import BASE_URL, get_url -from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs, format_diff -from openpilot.selfdrive.test.process_replay.process_replay import get_process_config, replay_process -from openpilot.tools.lib.framereader import FrameReader -from openpilot.tools.lib.logreader import LogReader -from openpilot.tools.lib.helpers import save_log - -TEST_ROUTE = "2f4452b03ccb98f0|2022-12-03--13-45-30" -SEGMENT = 6 -MAX_FRAMES = 100 if PC else 600 - -NO_MODEL = "NO_MODEL" in os.environ -SEND_EXTRA_INPUTS = bool(int(os.getenv("SEND_EXTRA_INPUTS", "0"))) - - -def get_log_fn(ref_commit, test_route): - return f"{test_route}_model_tici_{ref_commit}.bz2" - - -def trim_logs_to_max_frames(logs, max_frames, frs_types, include_all_types): - all_msgs = [] - cam_state_counts = defaultdict(int) - # keep adding messages until cam states are equal to MAX_FRAMES - for msg in sorted(logs, key=lambda m: m.logMonoTime): - all_msgs.append(msg) - if msg.which() in frs_types: - cam_state_counts[msg.which()] += 1 - - if all(cam_state_counts[state] == max_frames for state in frs_types): - break - - if len(include_all_types) != 0: - other_msgs = [m for m in logs if m.which() in include_all_types] - all_msgs.extend(other_msgs) - - return all_msgs - - -def model_replay(lr, frs): - # modeld is using frame pairs - modeld_logs = trim_logs_to_max_frames(lr, MAX_FRAMES, {"roadCameraState", "wideRoadCameraState"}, {"roadEncodeIdx", "wideRoadEncodeIdx", "carParams"}) - dmodeld_logs = trim_logs_to_max_frames(lr, MAX_FRAMES, {"driverCameraState"}, {"driverEncodeIdx", "carParams"}) - - if not SEND_EXTRA_INPUTS: - modeld_logs = [msg for msg in modeld_logs if msg.which() != 'liveCalibration'] - dmodeld_logs = [msg for msg in dmodeld_logs if msg.which() != 'liveCalibration'] - - # initial setup - for s in ('liveCalibration', 'deviceState'): - msg = next(msg for msg in lr if msg.which() == s).as_builder() - msg.logMonoTime = lr[0].logMonoTime - modeld_logs.insert(1, msg.as_reader()) - dmodeld_logs.insert(1, msg.as_reader()) - - modeld = get_process_config("modeld") - dmonitoringmodeld = get_process_config("dmonitoringmodeld") - - modeld_msgs = replay_process(modeld, modeld_logs, frs) - dmonitoringmodeld_msgs = replay_process(dmonitoringmodeld, dmodeld_logs, frs) - return modeld_msgs + dmonitoringmodeld_msgs - - -if __name__ == "__main__": - update = "--update" in sys.argv - replay_dir = os.path.dirname(os.path.abspath(__file__)) - ref_commit_fn = os.path.join(replay_dir, "model_replay_ref_commit") - - # load logs - lr = list(LogReader(get_url(TEST_ROUTE, SEGMENT))) - frs = { - 'roadCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, log_type="fcamera"), readahead=True), - 'driverCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, log_type="dcamera"), readahead=True), - 'wideRoadCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, log_type="ecamera"), readahead=True) - } - - # Update tile refs - if update: - import urllib - import requests - import threading - import http.server - from openpilot.tools.lib.openpilotci import upload_bytes - os.environ['MAPS_HOST'] = 'http://localhost:5000' - - class HTTPRequestHandler(http.server.BaseHTTPRequestHandler): - def do_GET(self): - assert len(self.path) > 10 # Sanity check on path length - r = requests.get(f'https://api.mapbox.com{self.path}', timeout=30) - upload_bytes(r.content, urllib.parse.urlparse(self.path).path.lstrip('/')) - self.send_response(r.status_code) - self.send_header('Content-type','text/html') - self.end_headers() - self.wfile.write(r.content) - - server = http.server.HTTPServer(("127.0.0.1", 5000), HTTPRequestHandler) - thread = threading.Thread(None, server.serve_forever, daemon=True) - thread.start() - else: - os.environ['MAPS_HOST'] = BASE_URL.rstrip('/') - - log_msgs = [] - # run replays - if not NO_MODEL: - log_msgs += model_replay(lr, frs) - - # get diff - failed = False - if not update: - with open(ref_commit_fn) as f: - ref_commit = f.read().strip() - log_fn = get_log_fn(ref_commit, TEST_ROUTE) - try: - all_logs = list(LogReader(BASE_URL + log_fn)) - cmp_log = [] - - # logs are ordered based on type: modelV2, drivingModelData, driverStateV2 - if not NO_MODEL: - model_start_index = next(i for i, m in enumerate(all_logs) if m.which() in ("modelV2", "drivingModelData", "cameraOdometry")) - cmp_log += all_logs[model_start_index:model_start_index + MAX_FRAMES*3] - dmon_start_index = next(i for i, m in enumerate(all_logs) if m.which() == "driverStateV2") - cmp_log += all_logs[dmon_start_index:dmon_start_index + MAX_FRAMES] - - ignore = [ - 'logMonoTime', - 'modelV2.frameDropPerc', - 'modelV2.modelExecutionTime', - 'driverStateV2.modelExecutionTime', - 'driverStateV2.dspExecutionTime' - ] - if PC: - ignore += [ - 'modelV2.laneLines.0.t', - 'modelV2.laneLines.1.t', - 'modelV2.laneLines.2.t', - 'modelV2.laneLines.3.t', - 'modelV2.roadEdges.0.t', - 'modelV2.roadEdges.1.t', - ] - # TODO this tolerance is absurdly large - tolerance = 2.0 if PC else None - results: Any = {TEST_ROUTE: {}} - log_paths: Any = {TEST_ROUTE: {"models": {'ref': BASE_URL + log_fn, 'new': log_fn}}} - results[TEST_ROUTE]["models"] = compare_logs(cmp_log, log_msgs, tolerance=tolerance, ignore_fields=ignore) - diff_short, diff_long, failed = format_diff(results, log_paths, ref_commit) - - if "CI" in os.environ: - print(diff_long) - print('-------------\n'*5) - print(diff_short) - with open("model_diff.txt", "w") as f: - f.write(diff_long) - except Exception as e: - print(str(e)) - failed = True - - # upload new refs - if (update or failed) and not PC: - from openpilot.tools.lib.openpilotci import upload_file - - print("Uploading new refs") - - new_commit = get_commit() - log_fn = get_log_fn(new_commit, TEST_ROUTE) - save_log(log_fn, log_msgs) - try: - upload_file(log_fn, os.path.basename(log_fn)) - except Exception as e: - print("failed to upload", e) - - with open(ref_commit_fn, 'w') as f: - f.write(str(new_commit)) - - print("\n\nNew ref commit: ", new_commit) - - sys.exit(int(failed)) diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit deleted file mode 100644 index 995e024de06aff..00000000000000 --- a/selfdrive/test/process_replay/model_replay_ref_commit +++ /dev/null @@ -1 +0,0 @@ -b0d295609abb0f84c34ffb104c1b1a0bb855352f \ No newline at end of file diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py deleted file mode 100755 index 4266e340701bbc..00000000000000 --- a/selfdrive/test/process_replay/process_replay.py +++ /dev/null @@ -1,833 +0,0 @@ -#!/usr/bin/env python3 -import os -import time -import copy -import json -import heapq -import signal -import platform -from collections import Counter, OrderedDict -from dataclasses import dataclass, field -from typing import Any -from collections.abc import Callable, Iterable -from tqdm import tqdm -import capnp - -import cereal.messaging as messaging -from cereal import car -from cereal.services import SERVICE_LIST -from msgq.visionipc import VisionIpcServer, get_endpoint_name as vipc_get_endpoint_name -from openpilot.common.params import Params -from openpilot.common.prefix import OpenpilotPrefix -from openpilot.common.timeout import Timeout -from openpilot.common.realtime import DT_CTRL -from panda.python import ALTERNATIVE_EXPERIENCE -from openpilot.selfdrive.car.car_helpers import get_car, interfaces -from openpilot.system.manager.process_config import managed_processes -from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state, available_streams -from openpilot.selfdrive.test.process_replay.migration import migrate_all -from openpilot.selfdrive.test.process_replay.capture import ProcessOutputCapture -from openpilot.tools.lib.logreader import LogIterable -from openpilot.tools.lib.framereader import BaseFrameReader - -# Numpy gives different results based on CPU features after version 19 -NUMPY_TOLERANCE = 1e-7 -PROC_REPLAY_DIR = os.path.dirname(os.path.abspath(__file__)) -FAKEDATA = os.path.join(PROC_REPLAY_DIR, "fakedata/") - -class DummySocket: - def __init__(self): - self.data: list[bytes] = [] - - def receive(self, non_blocking: bool = False) -> bytes | None: - if non_blocking: - return None - - return self.data.pop() - - def send(self, data: bytes): - self.data.append(data) - -class LauncherWithCapture: - def __init__(self, capture: ProcessOutputCapture, launcher: Callable): - self.capture = capture - self.launcher = launcher - - def __call__(self, *args, **kwargs): - self.capture.link_with_current_proc() - self.launcher(*args, **kwargs) - - -class ReplayContext: - def __init__(self, cfg): - self.proc_name = cfg.proc_name - self.pubs = cfg.pubs - self.main_pub = cfg.main_pub - self.main_pub_drained = cfg.main_pub_drained - self.unlocked_pubs = cfg.unlocked_pubs - assert(len(self.pubs) != 0 or self.main_pub is not None) - - def __enter__(self): - self.open_context() - - return self - - def __exit__(self, exc_type, exc_obj, exc_tb): - self.close_context() - - def open_context(self): - messaging.toggle_fake_events(True) - messaging.set_fake_prefix(self.proc_name) - - if self.main_pub is None: - self.events = OrderedDict() - pubs_with_events = [pub for pub in self.pubs if pub not in self.unlocked_pubs] - for pub in pubs_with_events: - self.events[pub] = messaging.fake_event_handle(pub, enable=True) - else: - self.events = {self.main_pub: messaging.fake_event_handle(self.main_pub, enable=True)} - - def close_context(self): - del self.events - - messaging.toggle_fake_events(False) - messaging.delete_fake_prefix() - - @property - def all_recv_called_events(self): - return [man.recv_called_event for man in self.events.values()] - - @property - def all_recv_ready_events(self): - return [man.recv_ready_event for man in self.events.values()] - - def send_sync(self, pm, endpoint, dat): - self.events[endpoint].recv_called_event.wait() - self.events[endpoint].recv_called_event.clear() - pm.send(endpoint, dat) - self.events[endpoint].recv_ready_event.set() - - def unlock_sockets(self): - expected_sets = len(self.events) - while expected_sets > 0: - index = messaging.wait_for_one_event(self.all_recv_called_events) - self.all_recv_called_events[index].clear() - self.all_recv_ready_events[index].set() - expected_sets -= 1 - - def wait_for_recv_called(self): - messaging.wait_for_one_event(self.all_recv_called_events) - - def wait_for_next_recv(self, trigger_empty_recv): - index = messaging.wait_for_one_event(self.all_recv_called_events) - if self.main_pub is not None and self.main_pub_drained and trigger_empty_recv: - self.all_recv_called_events[index].clear() - self.all_recv_ready_events[index].set() - self.all_recv_called_events[index].wait() - - -@dataclass -class ProcessConfig: - proc_name: str - pubs: list[str] - subs: list[str] - ignore: list[str] - config_callback: Callable | None = None - init_callback: Callable | None = None - should_recv_callback: Callable | None = None - tolerance: float | None = None - processing_time: float = 0.001 - timeout: int = 30 - simulation: bool = True - main_pub: str | None = None - main_pub_drained: bool = True - vision_pubs: list[str] = field(default_factory=list) - ignore_alive_pubs: list[str] = field(default_factory=list) - unlocked_pubs: list[str] = field(default_factory=list) - - -class ProcessContainer: - def __init__(self, cfg: ProcessConfig): - self.prefix = OpenpilotPrefix(clean_dirs_on_exit=False) - self.cfg = copy.deepcopy(cfg) - self.process = copy.deepcopy(managed_processes[cfg.proc_name]) - self.msg_queue: list[capnp._DynamicStructReader] = [] - self.cnt = 0 - self.pm: messaging.PubMaster | None = None - self.sockets: list[messaging.SubSocket] | None = None - self.rc: ReplayContext | None = None - self.vipc_server: VisionIpcServer | None = None - self.environ_config: dict[str, Any] | None = None - self.capture: ProcessOutputCapture | None = None - - @property - def has_empty_queue(self) -> bool: - return len(self.msg_queue) == 0 - - @property - def pubs(self) -> list[str]: - return self.cfg.pubs - - @property - def subs(self) -> list[str]: - return self.cfg.subs - - def _clean_env(self): - for k in self.environ_config.keys(): - if k in os.environ: - del os.environ[k] - - for k in ["PROC_NAME", "SIMULATION"]: - if k in os.environ: - del os.environ[k] - - def _setup_env(self, params_config: dict[str, Any], environ_config: dict[str, Any]): - for k, v in environ_config.items(): - if len(v) != 0: - os.environ[k] = v - elif k in os.environ: - del os.environ[k] - - os.environ["PROC_NAME"] = self.cfg.proc_name - if self.cfg.simulation: - os.environ["SIMULATION"] = "1" - elif "SIMULATION" in os.environ: - del os.environ["SIMULATION"] - - params = Params() - for k, v in params_config.items(): - if isinstance(v, bool): - params.put_bool(k, v) - else: - params.put(k, v) - - self.environ_config = environ_config - - def _setup_vision_ipc(self, all_msgs: LogIterable, frs: dict[str, Any]): - assert len(self.cfg.vision_pubs) != 0 - - vipc_server = VisionIpcServer("camerad") - streams_metas = available_streams(all_msgs) - for meta in streams_metas: - if meta.camera_state in self.cfg.vision_pubs: - frame_size = (frs[meta.camera_state].w, frs[meta.camera_state].h) - vipc_server.create_buffers(meta.stream, 2, False, *frame_size) - vipc_server.start_listener() - - self.vipc_server = vipc_server - self.cfg.vision_pubs = [meta.camera_state for meta in streams_metas if meta.camera_state in self.cfg.vision_pubs] - - def _start_process(self): - if self.capture is not None: - self.process.launcher = LauncherWithCapture(self.capture, self.process.launcher) - self.process.prepare() - self.process.start() - - def start( - self, params_config: dict[str, Any], environ_config: dict[str, Any], - all_msgs: LogIterable, frs: dict[str, BaseFrameReader] | None, - fingerprint: str | None, capture_output: bool - ): - with self.prefix as p: - self._setup_env(params_config, environ_config) - - if self.cfg.config_callback is not None: - params = Params() - self.cfg.config_callback(params, self.cfg, all_msgs) - - self.rc = ReplayContext(self.cfg) - self.rc.open_context() - - self.pm = messaging.PubMaster(self.cfg.pubs) - self.sockets = [messaging.sub_sock(s, timeout=100) for s in self.cfg.subs] - - if len(self.cfg.vision_pubs) != 0: - assert frs is not None - self._setup_vision_ipc(all_msgs, frs) - assert self.vipc_server is not None - - if capture_output: - self.capture = ProcessOutputCapture(self.cfg.proc_name, p.prefix) - - self._start_process() - - if self.cfg.init_callback is not None: - self.cfg.init_callback(self.rc, self.pm, all_msgs, fingerprint) - - # wait for process to startup - with Timeout(10, error_msg=f"timed out waiting for process to start: {repr(self.cfg.proc_name)}"): - while not all(self.pm.all_readers_updated(s) for s in self.cfg.pubs if s not in self.cfg.ignore_alive_pubs): - time.sleep(0) - - def stop(self): - with self.prefix: - self.process.signal(signal.SIGKILL) - self.process.stop() - self.rc.close_context() - self.prefix.clean_dirs() - self._clean_env() - - def run_step(self, msg: capnp._DynamicStructReader, frs: dict[str, BaseFrameReader] | None) -> list[capnp._DynamicStructReader]: - assert self.rc and self.pm and self.sockets and self.process.proc - - output_msgs = [] - with self.prefix, Timeout(self.cfg.timeout, error_msg=f"timed out testing process {repr(self.cfg.proc_name)}"): - end_of_cycle = True - if self.cfg.should_recv_callback is not None: - end_of_cycle = self.cfg.should_recv_callback(msg, self.cfg, self.cnt) - - self.msg_queue.append(msg) - if end_of_cycle: - self.rc.wait_for_recv_called() - - # call recv to let sub-sockets reconnect, after we know the process is ready - if self.cnt == 0: - for s in self.sockets: - messaging.recv_one_or_none(s) - - # empty recv on drained pub indicates the end of messages, only do that if there're any - trigger_empty_recv = False - if self.cfg.main_pub and self.cfg.main_pub_drained: - trigger_empty_recv = next((True for m in self.msg_queue if m.which() == self.cfg.main_pub), False) - - for m in self.msg_queue: - self.pm.send(m.which(), m.as_builder()) - # send frames if needed - if self.vipc_server is not None and m.which() in self.cfg.vision_pubs: - camera_state = getattr(m, m.which()) - camera_meta = meta_from_camera_state(m.which()) - assert frs is not None - img = frs[m.which()].get(camera_state.frameId, pix_fmt="nv12")[0] - self.vipc_server.send(camera_meta.stream, img.flatten().tobytes(), - camera_state.frameId, camera_state.timestampSof, camera_state.timestampEof) - self.msg_queue = [] - - self.rc.unlock_sockets() - self.rc.wait_for_next_recv(trigger_empty_recv) - - for socket in self.sockets: - ms = messaging.drain_sock(socket) - for m in ms: - m = m.as_builder() - m.logMonoTime = msg.logMonoTime + int(self.cfg.processing_time * 1e9) - output_msgs.append(m.as_reader()) - self.cnt += 1 - assert self.process.proc.is_alive() - - return output_msgs - - -def card_fingerprint_callback(rc, pm, msgs, fingerprint): - print("start fingerprinting") - params = Params() - canmsgs = [msg for msg in msgs if msg.which() == "can"][:300] - - # card expects one arbitrary can and pandaState - rc.send_sync(pm, "can", messaging.new_message("can", 1)) - pm.send("pandaStates", messaging.new_message("pandaStates", 1)) - rc.send_sync(pm, "can", messaging.new_message("can", 1)) - rc.wait_for_next_recv(True) - - # fingerprinting is done, when CarParams is set - while params.get("CarParams") is None: - if len(canmsgs) == 0: - raise ValueError("Fingerprinting failed. Run out of can msgs") - - m = canmsgs.pop(0) - rc.send_sync(pm, "can", m.as_builder().to_bytes()) - rc.wait_for_next_recv(False) - - -def get_car_params_callback(rc, pm, msgs, fingerprint): - params = Params() - if fingerprint: - CarInterface, _, _ = interfaces[fingerprint] - CP = CarInterface.get_non_essential_params(fingerprint) - else: - can = DummySocket() - sendcan = DummySocket() - - canmsgs = [msg for msg in msgs if msg.which() == "can"] - has_cached_cp = params.get("CarParamsCache") is not None - assert len(canmsgs) != 0, "CAN messages are required for fingerprinting" - assert os.environ.get("SKIP_FW_QUERY", False) or has_cached_cp, \ - "CarParamsCache is required for fingerprinting. Make sure to keep carParams msgs in the logs." - - for m in canmsgs[:300]: - can.send(m.as_builder().to_bytes()) - _, CP = get_car(can, sendcan, Params().get_bool("ExperimentalLongitudinalEnabled")) - - if not params.get_bool("DisengageOnAccelerator"): - CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS - - params.put("CarParams", CP.to_bytes()) - return CP - - -def controlsd_rcv_callback(msg, cfg, frame): - return (frame - 1) == 0 or msg.which() == 'carState' - - -def card_rcv_callback(msg, cfg, frame): - # no sendcan until card is initialized - if msg.which() != "can": - return False - - socks = [ - s for s in cfg.subs if - frame % int(SERVICE_LIST[msg.which()].frequency / SERVICE_LIST[s].frequency) == 0 - ] - if "sendcan" in socks and (frame - 1) < 2000: - socks.remove("sendcan") - return len(socks) > 0 - - -def calibration_rcv_callback(msg, cfg, frame): - # calibrationd publishes 1 calibrationData every 5 cameraOdometry packets. - # should_recv always true to increment frame - return (frame - 1) == 0 or msg.which() == 'cameraOdometry' - - -def torqued_rcv_callback(msg, cfg, frame): - # should_recv always true to increment frame - return (frame - 1) == 0 or msg.which() == 'liveLocationKalman' - - -def dmonitoringmodeld_rcv_callback(msg, cfg, frame): - return msg.which() == "driverCameraState" - - -class ModeldCameraSyncRcvCallback: - def __init__(self): - self.road_present = False - self.wide_road_present = False - self.is_dual_camera = True - - def __call__(self, msg, cfg, frame): - self.is_dual_camera = len(cfg.vision_pubs) == 2 - if msg.which() == "roadCameraState": - self.road_present = True - elif msg.which() == "wideRoadCameraState": - self.wide_road_present = True - - if self.road_present and self.wide_road_present: - self.road_present, self.wide_road_present = False, False - return True - elif self.road_present and not self.is_dual_camera: - self.road_present = False - return True - else: - return False - - -class MessageBasedRcvCallback: - def __init__(self, trigger_msg_type): - self.trigger_msg_type = trigger_msg_type - - def __call__(self, msg, cfg, frame): - return msg.which() == self.trigger_msg_type - - -class FrequencyBasedRcvCallback: - def __init__(self, trigger_msg_type): - self.trigger_msg_type = trigger_msg_type - - def __call__(self, msg, cfg, frame): - if msg.which() != self.trigger_msg_type: - return False - - resp_sockets = [ - s for s in cfg.subs - if frame % max(1, int(SERVICE_LIST[msg.which()].frequency / SERVICE_LIST[s].frequency)) == 0 - ] - return bool(len(resp_sockets)) - - -def controlsd_config_callback(params, cfg, lr): - controlsState = None - initialized = False - for msg in lr: - if msg.which() == "controlsState": - controlsState = msg.controlsState - if initialized: - break - elif msg.which() == "onroadEvents": - initialized = car.CarEvent.EventName.controlsInitializing not in [e.name for e in msg.onroadEvents] - - assert controlsState is not None and initialized, "controlsState never initialized" - params.put("ReplayControlsState", controlsState.as_builder().to_bytes()) - - -def locationd_config_pubsub_callback(params, cfg, lr): - ublox = params.get_bool("UbloxAvailable") - sub_keys = ({"gpsLocation", } if ublox else {"gpsLocationExternal", }) - - cfg.pubs = set(cfg.pubs) - sub_keys - - -CONFIGS = [ - ProcessConfig( - proc_name="controlsd", - pubs=[ - "carState", "deviceState", "pandaStates", "peripheralState", "liveCalibration", "driverMonitoringState", - "longitudinalPlan", "liveLocationKalman", "liveParameters", "radarState", - "modelV2", "driverCameraState", "roadCameraState", "wideRoadCameraState", "managerState", - "testJoystick", "liveTorqueParameters", "accelerometer", "gyroscope", "carOutput" - ], - subs=["controlsState", "carControl", "onroadEvents"], - ignore=["logMonoTime", "controlsState.startMonoTime", "controlsState.cumLagMs"], - config_callback=controlsd_config_callback, - init_callback=get_car_params_callback, - should_recv_callback=controlsd_rcv_callback, - tolerance=NUMPY_TOLERANCE, - processing_time=0.004, - ), - ProcessConfig( - proc_name="card", - pubs=["pandaStates", "carControl", "onroadEvents", "can"], - subs=["sendcan", "carState", "carParams", "carOutput"], - ignore=["logMonoTime", "carState.cumLagMs"], - init_callback=card_fingerprint_callback, - should_recv_callback=card_rcv_callback, - tolerance=NUMPY_TOLERANCE, - processing_time=0.004, - main_pub="can", - ), - ProcessConfig( - proc_name="radard", - pubs=["can", "carState", "modelV2"], - subs=["radarState", "liveTracks"], - ignore=["logMonoTime", "radarState.cumLagMs"], - init_callback=get_car_params_callback, - should_recv_callback=MessageBasedRcvCallback("can"), - main_pub="can", - ), - ProcessConfig( - proc_name="plannerd", - pubs=["modelV2", "carControl", "carState", "controlsState", "radarState"], - subs=["longitudinalPlan", "uiPlan"], - ignore=["logMonoTime", "longitudinalPlan.processingDelay", "longitudinalPlan.solverExecutionTime"], - init_callback=get_car_params_callback, - should_recv_callback=FrequencyBasedRcvCallback("modelV2"), - tolerance=NUMPY_TOLERANCE, - ), - ProcessConfig( - proc_name="calibrationd", - pubs=["carState", "cameraOdometry", "carParams"], - subs=["liveCalibration"], - ignore=["logMonoTime"], - should_recv_callback=calibration_rcv_callback, - ), - ProcessConfig( - proc_name="dmonitoringd", - pubs=["driverStateV2", "liveCalibration", "carState", "modelV2", "controlsState"], - subs=["driverMonitoringState"], - ignore=["logMonoTime"], - should_recv_callback=FrequencyBasedRcvCallback("driverStateV2"), - tolerance=NUMPY_TOLERANCE, - ), - ProcessConfig( - proc_name="locationd", - pubs=[ - "cameraOdometry", "accelerometer", "gyroscope", "gpsLocationExternal", - "liveCalibration", "carState", "gpsLocation" - ], - subs=["liveLocationKalman"], - ignore=["logMonoTime"], - config_callback=locationd_config_pubsub_callback, - tolerance=NUMPY_TOLERANCE, - ), - ProcessConfig( - proc_name="paramsd", - pubs=["liveLocationKalman", "carState"], - subs=["liveParameters"], - ignore=["logMonoTime"], - init_callback=get_car_params_callback, - should_recv_callback=FrequencyBasedRcvCallback("liveLocationKalman"), - tolerance=NUMPY_TOLERANCE, - processing_time=0.004, - ), - ProcessConfig( - proc_name="ubloxd", - pubs=["ubloxRaw"], - subs=["ubloxGnss", "gpsLocationExternal"], - ignore=["logMonoTime"], - ), - ProcessConfig( - proc_name="torqued", - pubs=["liveLocationKalman", "carState", "carControl", "carOutput"], - subs=["liveTorqueParameters"], - ignore=["logMonoTime"], - init_callback=get_car_params_callback, - should_recv_callback=torqued_rcv_callback, - tolerance=NUMPY_TOLERANCE, - ), - ProcessConfig( - proc_name="modeld", - pubs=["deviceState", "roadCameraState", "wideRoadCameraState", "liveCalibration", "driverMonitoringState"], - subs=["modelV2", "drivingModelData", "cameraOdometry"], - ignore=["logMonoTime", "modelV2.frameDropPerc", "modelV2.modelExecutionTime"], - should_recv_callback=ModeldCameraSyncRcvCallback(), - tolerance=NUMPY_TOLERANCE, - processing_time=0.020, - main_pub=vipc_get_endpoint_name("camerad", meta_from_camera_state("roadCameraState").stream), - main_pub_drained=False, - vision_pubs=["roadCameraState", "wideRoadCameraState"], - ignore_alive_pubs=["wideRoadCameraState"], - init_callback=get_car_params_callback, - ), - ProcessConfig( - proc_name="dmonitoringmodeld", - pubs=["liveCalibration", "driverCameraState"], - subs=["driverStateV2"], - ignore=["logMonoTime", "driverStateV2.modelExecutionTime", "driverStateV2.dspExecutionTime"], - should_recv_callback=dmonitoringmodeld_rcv_callback, - tolerance=NUMPY_TOLERANCE, - processing_time=0.020, - main_pub=vipc_get_endpoint_name("camerad", meta_from_camera_state("driverCameraState").stream), - main_pub_drained=False, - vision_pubs=["driverCameraState"], - ignore_alive_pubs=["driverCameraState"], - ), -] - - -def get_process_config(name: str) -> ProcessConfig: - try: - return copy.deepcopy(next(c for c in CONFIGS if c.proc_name == name)) - except StopIteration as ex: - raise Exception(f"Cannot find process config with name: {name}") from ex - - -def get_custom_params_from_lr(lr: LogIterable, initial_state: str = "first") -> dict[str, Any]: - """ - Use this to get custom params dict based on provided logs. - Useful when replaying following processes: calibrationd, paramsd, torqued - The params may be based on first or last message of given type (carParams, liveCalibration, liveParameters, liveTorqueParameters) in the logs. - """ - - car_params = [m for m in lr if m.which() == "carParams"] - live_calibration = [m for m in lr if m.which() == "liveCalibration"] - live_parameters = [m for m in lr if m.which() == "liveParameters"] - live_torque_parameters = [m for m in lr if m.which() == "liveTorqueParameters"] - - assert initial_state in ["first", "last"] - msg_index = 0 if initial_state == "first" else -1 - - assert len(car_params) > 0, "carParams required for initial state of liveParameters and CarParamsPrevRoute" - CP = car_params[msg_index].carParams - - custom_params = { - "CarParamsPrevRoute": CP.as_builder().to_bytes() - } - - if len(live_calibration) > 0: - custom_params["CalibrationParams"] = live_calibration[msg_index].as_builder().to_bytes() - if len(live_parameters) > 0: - lp_dict = live_parameters[msg_index].to_dict() - lp_dict["carFingerprint"] = CP.carFingerprint - custom_params["LiveParameters"] = json.dumps(lp_dict) - if len(live_torque_parameters) > 0: - custom_params["LiveTorqueParameters"] = live_torque_parameters[msg_index].as_builder().to_bytes() - - return custom_params - - -def replay_process_with_name(name: str | Iterable[str], lr: LogIterable, *args, **kwargs) -> list[capnp._DynamicStructReader]: - if isinstance(name, str): - cfgs = [get_process_config(name)] - elif isinstance(name, Iterable): - cfgs = [get_process_config(n) for n in name] - else: - raise ValueError("name must be str or collections of strings") - - return replay_process(cfgs, lr, *args, **kwargs) - - -def replay_process( - cfg: ProcessConfig | Iterable[ProcessConfig], lr: LogIterable, frs: dict[str, BaseFrameReader] = None, - fingerprint: str = None, return_all_logs: bool = False, custom_params: dict[str, Any] = None, - captured_output_store: dict[str, dict[str, str]] = None, disable_progress: bool = False -) -> list[capnp._DynamicStructReader]: - if isinstance(cfg, Iterable): - cfgs = list(cfg) - else: - cfgs = [cfg] - - all_msgs = migrate_all(lr, old_logtime=True, - manager_states=True, - panda_states=any("pandaStates" in cfg.pubs for cfg in cfgs), - camera_states=any(len(cfg.vision_pubs) != 0 for cfg in cfgs)) - process_logs = _replay_multi_process(cfgs, all_msgs, frs, fingerprint, custom_params, captured_output_store, disable_progress) - - if return_all_logs: - keys = {m.which() for m in process_logs} - modified_logs = [m for m in all_msgs if m.which() not in keys] - modified_logs.extend(process_logs) - modified_logs.sort(key=lambda m: int(m.logMonoTime)) - log_msgs = modified_logs - else: - log_msgs = process_logs - - return log_msgs - - -def _replay_multi_process( - cfgs: list[ProcessConfig], lr: LogIterable, frs: dict[str, BaseFrameReader] | None, fingerprint: str | None, - custom_params: dict[str, Any] | None, captured_output_store: dict[str, dict[str, str]] | None, disable_progress: bool -) -> list[capnp._DynamicStructReader]: - if fingerprint is not None: - params_config = generate_params_config(lr=lr, fingerprint=fingerprint, custom_params=custom_params) - env_config = generate_environ_config(fingerprint=fingerprint) - else: - CP = next((m.carParams for m in lr if m.which() == "carParams"), None) - params_config = generate_params_config(lr=lr, CP=CP, custom_params=custom_params) - env_config = generate_environ_config(CP=CP) - - # validate frs and vision pubs - all_vision_pubs = [pub for cfg in cfgs for pub in cfg.vision_pubs] - if len(all_vision_pubs) != 0: - assert frs is not None, "frs must be provided when replaying process using vision streams" - assert all(meta_from_camera_state(st) is not None for st in all_vision_pubs), \ - f"undefined vision stream spotted, probably misconfigured process: (vision pubs: {all_vision_pubs})" - required_vision_pubs = {m.camera_state for m in available_streams(lr)} & set(all_vision_pubs) - assert all(st in frs for st in required_vision_pubs), f"frs for this process must contain following vision streams: {required_vision_pubs}" - - all_msgs = sorted(lr, key=lambda msg: msg.logMonoTime) - log_msgs = [] - try: - containers = [] - for cfg in cfgs: - container = ProcessContainer(cfg) - containers.append(container) - container.start(params_config, env_config, all_msgs, frs, fingerprint, captured_output_store is not None) - - all_pubs = {pub for container in containers for pub in container.pubs} - all_subs = {sub for container in containers for sub in container.subs} - lr_pubs = all_pubs - all_subs - pubs_to_containers = {pub: [container for container in containers if pub in container.pubs] for pub in all_pubs} - - pub_msgs = [msg for msg in all_msgs if msg.which() in lr_pubs] - # external queue for messages taken from logs; internal queue for messages generated by processes, which will be republished - external_pub_queue: list[capnp._DynamicStructReader] = pub_msgs.copy() - internal_pub_queue: list[capnp._DynamicStructReader] = [] - # heap for maintaining the order of messages generated by processes, where each element: (logMonoTime, index in internal_pub_queue) - internal_pub_index_heap: list[tuple[int, int]] = [] - - pbar = tqdm(total=len(external_pub_queue), disable=disable_progress) - while len(external_pub_queue) != 0 or (len(internal_pub_index_heap) != 0 and not all(c.has_empty_queue for c in containers)): - if len(internal_pub_index_heap) == 0 or (len(external_pub_queue) != 0 and external_pub_queue[0].logMonoTime < internal_pub_index_heap[0][0]): - msg = external_pub_queue.pop(0) - pbar.update(1) - else: - _, index = heapq.heappop(internal_pub_index_heap) - msg = internal_pub_queue[index] - - target_containers = pubs_to_containers[msg.which()] - for container in target_containers: - output_msgs = container.run_step(msg, frs) - for m in output_msgs: - if m.which() in all_pubs: - internal_pub_queue.append(m) - heapq.heappush(internal_pub_index_heap, (m.logMonoTime, len(internal_pub_queue) - 1)) - log_msgs.extend(output_msgs) - finally: - for container in containers: - container.stop() - if captured_output_store is not None: - assert container.capture is not None - out, err = container.capture.read_outerr() - captured_output_store[container.cfg.proc_name] = {"out": out, "err": err} - - return log_msgs - - -def generate_params_config(lr=None, CP=None, fingerprint=None, custom_params=None) -> dict[str, Any]: - params_dict = { - "OpenpilotEnabledToggle": True, - "DisengageOnAccelerator": True, - "DisableLogging": False, - } - - if custom_params is not None: - params_dict.update(custom_params) - if lr is not None: - has_ublox = any(msg.which() == "ubloxGnss" for msg in lr) - params_dict["UbloxAvailable"] = has_ublox - is_rhd = next((msg.driverMonitoringState.isRHD for msg in lr if msg.which() == "driverMonitoringState"), False) - params_dict["IsRhdDetected"] = is_rhd - - if CP is not None: - if CP.alternativeExperience == ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS: - params_dict["DisengageOnAccelerator"] = False - - if fingerprint is None: - if CP.fingerprintSource == "fw": - params_dict["CarParamsCache"] = CP.as_builder().to_bytes() - - if CP.openpilotLongitudinalControl: - params_dict["ExperimentalLongitudinalEnabled"] = True - - if CP.notCar: - params_dict["JoystickDebugMode"] = True - - return params_dict - - -def generate_environ_config(CP=None, fingerprint=None, log_dir=None) -> dict[str, Any]: - environ_dict = {} - if platform.system() != "Darwin": - environ_dict["PARAMS_ROOT"] = "/dev/shm/params" - if log_dir is not None: - environ_dict["LOG_ROOT"] = log_dir - - environ_dict["REPLAY"] = "1" - - # Regen or python process - if CP is not None and fingerprint is None: - if CP.fingerprintSource == "fw": - environ_dict['SKIP_FW_QUERY'] = "" - environ_dict['FINGERPRINT'] = "" - else: - environ_dict['SKIP_FW_QUERY'] = "1" - environ_dict['FINGERPRINT'] = CP.carFingerprint - elif fingerprint is not None: - environ_dict['SKIP_FW_QUERY'] = "1" - environ_dict['FINGERPRINT'] = fingerprint - else: - environ_dict["SKIP_FW_QUERY"] = "" - environ_dict["FINGERPRINT"] = "" - - return environ_dict - - -def check_openpilot_enabled(msgs: LogIterable) -> bool: - cur_enabled_count = 0 - max_enabled_count = 0 - for msg in msgs: - if msg.which() == "carParams": - if msg.carParams.notCar: - return True - elif msg.which() == "controlsState": - if msg.controlsState.active: - cur_enabled_count += 1 - else: - cur_enabled_count = 0 - max_enabled_count = max(max_enabled_count, cur_enabled_count) - - return max_enabled_count > int(10. / DT_CTRL) - - -def check_most_messages_valid(msgs: LogIterable, threshold: float = 0.9) -> bool: - msgs_counts = Counter(msg.which() for msg in msgs) - msgs_valid_counts = Counter(msg.which() for msg in msgs if msg.valid) - - most_valid_for_service = {} - for msg_type in msgs_counts.keys(): - valid_share = msgs_valid_counts.get(msg_type, 0) / msgs_counts[msg_type] - ok = valid_share >= threshold - if not ok: - print(f"WARNING: Service {msg_type} has {valid_share * 100:.2f}% valid messages, which is below threshold of {threshold * 100:.2f}%") - most_valid_for_service[msg_type] = ok - - return all(most_valid_for_service.values()) diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit deleted file mode 100644 index 70178b8ea366ce..00000000000000 --- a/selfdrive/test/process_replay/ref_commit +++ /dev/null @@ -1 +0,0 @@ -e536df5586a71b22baa789dc584d7eab67f1fbbb diff --git a/selfdrive/test/process_replay/regen.py b/selfdrive/test/process_replay/regen.py deleted file mode 100755 index bf7a4bfd978a95..00000000000000 --- a/selfdrive/test/process_replay/regen.py +++ /dev/null @@ -1,160 +0,0 @@ -#!/usr/bin/env python3 -import os -import argparse -import time -import capnp -import numpy as np - -from typing import Any -from collections.abc import Iterable - -from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, FAKEDATA, ProcessConfig, replay_process, get_process_config, \ - check_openpilot_enabled, check_most_messages_valid, get_custom_params_from_lr -from openpilot.selfdrive.test.process_replay.vision_meta import DRIVER_CAMERA_FRAME_SIZES -from openpilot.selfdrive.test.update_ci_routes import upload_route -from openpilot.tools.lib.route import Route -from openpilot.tools.lib.framereader import FrameReader, BaseFrameReader, FrameType -from openpilot.tools.lib.logreader import LogReader, LogIterable -from openpilot.tools.lib.helpers import save_log - - -class DummyFrameReader(BaseFrameReader): - def __init__(self, w: int, h: int, frame_count: int, pix_val: int): - self.pix_val = pix_val - self.w, self.h = w, h - self.frame_count = frame_count - self.frame_type = FrameType.raw - - def get(self, idx, count=1, pix_fmt="yuv420p"): - if pix_fmt == "rgb24": - shape = (self.h, self.w, 3) - elif pix_fmt == "nv12" or pix_fmt == "yuv420p": - shape = (int((self.h * self.w) * 3 / 2),) - else: - raise NotImplementedError - - return [np.full(shape, self.pix_val, dtype=np.uint8) for _ in range(count)] - - @staticmethod - def zero_dcamera(): - return DummyFrameReader(*DRIVER_CAMERA_FRAME_SIZES[("tici", "ar0231")], 1200, 0) - - -def regen_segment( - lr: LogIterable, frs: dict[str, Any] = None, - processes: Iterable[ProcessConfig] = CONFIGS, disable_tqdm: bool = False -) -> list[capnp._DynamicStructReader]: - all_msgs = sorted(lr, key=lambda m: m.logMonoTime) - custom_params = get_custom_params_from_lr(all_msgs) - - print("Replayed processes:", [p.proc_name for p in processes]) - print("\n\n", "*"*30, "\n\n", sep="") - - output_logs = replay_process(processes, all_msgs, frs, return_all_logs=True, custom_params=custom_params, disable_progress=disable_tqdm) - - return output_logs - - -def setup_data_readers( - route: str, sidx: int, use_route_meta: bool, - needs_driver_cam: bool = True, needs_road_cam: bool = True, dummy_driver_cam: bool = False -) -> tuple[LogReader, dict[str, Any]]: - if use_route_meta: - r = Route(route) - lr = LogReader(r.log_paths()[sidx]) - frs = {} - if needs_road_cam and len(r.camera_paths()) > sidx and r.camera_paths()[sidx] is not None: - frs['roadCameraState'] = FrameReader(r.camera_paths()[sidx]) - if needs_road_cam and len(r.ecamera_paths()) > sidx and r.ecamera_paths()[sidx] is not None: - frs['wideRoadCameraState'] = FrameReader(r.ecamera_paths()[sidx]) - if needs_driver_cam: - if dummy_driver_cam: - frs['driverCameraState'] = DummyFrameReader.zero_dcamera() - elif len(r.dcamera_paths()) > sidx and r.dcamera_paths()[sidx] is not None: - device_type = next(str(msg.initData.deviceType) for msg in lr if msg.which() == "initData") - assert device_type != "neo", "Driver camera not supported on neo segments. Use dummy dcamera." - frs['driverCameraState'] = FrameReader(r.dcamera_paths()[sidx]) - else: - lr = LogReader(f"cd:/{route.replace('|', '/')}/{sidx}/rlog.bz2") - frs = {} - if needs_road_cam: - frs['roadCameraState'] = FrameReader(f"cd:/{route.replace('|', '/')}/{sidx}/fcamera.hevc") - if next((True for m in lr if m.which() == "wideRoadCameraState"), False): - frs['wideRoadCameraState'] = FrameReader(f"cd:/{route.replace('|', '/')}/{sidx}/ecamera.hevc") - if needs_driver_cam: - if dummy_driver_cam: - frs['driverCameraState'] = DummyFrameReader.zero_dcamera() - else: - device_type = next(str(msg.initData.deviceType) for msg in lr if msg.which() == "initData") - assert device_type != "neo", "Driver camera not supported on neo segments. Use dummy dcamera." - frs['driverCameraState'] = FrameReader(f"cd:/{route.replace('|', '/')}/{sidx}/dcamera.hevc") - - return lr, frs - - -def regen_and_save( - route: str, sidx: int, processes: str | Iterable[str] = "all", outdir: str = FAKEDATA, - upload: bool = False, use_route_meta: bool = False, disable_tqdm: bool = False, dummy_driver_cam: bool = False -) -> str: - if not isinstance(processes, str) and not hasattr(processes, "__iter__"): - raise ValueError("whitelist_proc must be a string or iterable") - - if processes != "all": - if isinstance(processes, str): - raise ValueError(f"Invalid value for processes: {processes}") - - replayed_processes = [] - for d in processes: - cfg = get_process_config(d) - replayed_processes.append(cfg) - else: - replayed_processes = CONFIGS - - all_vision_pubs = {pub for cfg in replayed_processes for pub in cfg.vision_pubs} - lr, frs = setup_data_readers(route, sidx, use_route_meta, - needs_driver_cam="driverCameraState" in all_vision_pubs, - needs_road_cam="roadCameraState" in all_vision_pubs or "wideRoadCameraState" in all_vision_pubs, - dummy_driver_cam=dummy_driver_cam) - output_logs = regen_segment(lr, frs, replayed_processes, disable_tqdm=disable_tqdm) - - log_dir = os.path.join(outdir, time.strftime("%Y-%m-%d--%H-%M-%S--0", time.gmtime())) - rel_log_dir = os.path.relpath(log_dir) - rpath = os.path.join(log_dir, "rlog.bz2") - - os.makedirs(log_dir) - save_log(rpath, output_logs, compress=True) - - print("\n\n", "*"*30, "\n\n", sep="") - print("New route:", rel_log_dir, "\n") - - if not check_openpilot_enabled(output_logs): - raise Exception("Route did not engage for long enough") - if not check_most_messages_valid(output_logs): - raise Exception("Route has too many invalid messages") - - if upload: - upload_route(rel_log_dir) - - return rel_log_dir - - -if __name__ == "__main__": - def comma_separated_list(string): - return string.split(",") - - all_procs = [p.proc_name for p in CONFIGS] - parser = argparse.ArgumentParser(description="Generate new segments from old ones") - parser.add_argument("--upload", action="store_true", help="Upload the new segment to the CI bucket") - parser.add_argument("--outdir", help="log output dir", default=FAKEDATA) - parser.add_argument("--dummy-dcamera", action='store_true', help="Use dummy blank driver camera") - parser.add_argument("--whitelist-procs", type=comma_separated_list, default=all_procs, - help="Comma-separated whitelist of processes to regen (e.g. controlsd,radard)") - parser.add_argument("--blacklist-procs", type=comma_separated_list, default=[], - help="Comma-separated blacklist of processes to regen (e.g. controlsd,radard)") - parser.add_argument("route", type=str, help="The source route") - parser.add_argument("seg", type=int, help="Segment in source route") - args = parser.parse_args() - - blacklist_set = set(args.blacklist_procs) - processes = [p for p in args.whitelist_procs if p not in blacklist_set] - regen_and_save(args.route, args.seg, processes=processes, upload=args.upload, outdir=args.outdir, dummy_driver_cam=args.dummy_dcamera) diff --git a/selfdrive/test/process_replay/regen_all.py b/selfdrive/test/process_replay/regen_all.py deleted file mode 100755 index 656a5b89e1368a..00000000000000 --- a/selfdrive/test/process_replay/regen_all.py +++ /dev/null @@ -1,54 +0,0 @@ -#!/usr/bin/env python3 -import argparse -import concurrent.futures -import os -import random -import traceback -from tqdm import tqdm - -from openpilot.common.prefix import OpenpilotPrefix -from openpilot.selfdrive.test.process_replay.regen import regen_and_save -from openpilot.selfdrive.test.process_replay.test_processes import FAKEDATA, source_segments as segments -from openpilot.tools.lib.route import SegmentName - - -def regen_job(segment, upload, disable_tqdm): - with OpenpilotPrefix(): - sn = SegmentName(segment[1]) - fake_dongle_id = 'regen' + ''.join(random.choice('0123456789ABCDEF') for _ in range(11)) - try: - relr = regen_and_save(sn.route_name.canonical_name, sn.segment_num, upload=upload, use_route_meta=False, - outdir=os.path.join(FAKEDATA, fake_dongle_id), disable_tqdm=disable_tqdm, dummy_driver_cam=True) - relr = '|'.join(relr.split('/')[-2:]) - return f' ("{segment[0]}", "{relr}"), ' - except Exception as e: - err = f" {segment} failed: {str(e)}" - err += traceback.format_exc() - err += "\n\n" - return err - - -if __name__ == "__main__": - all_cars = {car for car, _ in segments} - - parser = argparse.ArgumentParser(description="Generate new segments from old ones") - parser.add_argument("-j", "--jobs", type=int, default=1) - parser.add_argument("--no-upload", action="store_true") - parser.add_argument("--whitelist-cars", type=str, nargs="*", default=all_cars, - help="Whitelist given cars from the test (e.g. HONDA)") - parser.add_argument("--blacklist-cars", type=str, nargs="*", default=[], - help="Blacklist given cars from the test (e.g. HONDA)") - args = parser.parse_args() - - tested_cars = set(args.whitelist_cars) - set(args.blacklist_cars) - tested_cars = {c.upper() for c in tested_cars} - tested_segments = [(car, segment) for car, segment in segments if car in tested_cars] - - with concurrent.futures.ProcessPoolExecutor(max_workers=args.jobs) as pool: - p = pool.map(regen_job, tested_segments, [not args.no_upload] * len(tested_segments), [args.jobs > 1] * len(tested_segments)) - msg = "Copy these new segments into test_processes.py:" - for seg in tqdm(p, desc="Generating segments", total=len(tested_segments)): - msg += "\n" + str(seg) - print() - print() - print(msg) diff --git a/selfdrive/test/process_replay/test_fuzzy.py b/selfdrive/test/process_replay/test_fuzzy.py deleted file mode 100644 index c802d9c573d2c8..00000000000000 --- a/selfdrive/test/process_replay/test_fuzzy.py +++ /dev/null @@ -1,28 +0,0 @@ -import copy -from hypothesis import given, HealthCheck, Phase, settings -import hypothesis.strategies as st -from parameterized import parameterized - -from cereal import log -from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA -from openpilot.selfdrive.test.fuzzy_generation import FuzzyGenerator -import openpilot.selfdrive.test.process_replay.process_replay as pr - -# These processes currently fail because of unrealistic data breaking assumptions -# that openpilot makes causing error with NaN, inf, int size, array indexing ... -# TODO: Make each one testable -NOT_TESTED = ['controlsd', 'card', 'plannerd', 'calibrationd', 'dmonitoringd', 'paramsd', 'dmonitoringmodeld', 'modeld'] - -TEST_CASES = [(cfg.proc_name, copy.deepcopy(cfg)) for cfg in pr.CONFIGS if cfg.proc_name not in NOT_TESTED] - -class TestFuzzProcesses: - - # TODO: make this faster and increase examples - @parameterized.expand(TEST_CASES) - @given(st.data()) - @settings(phases=[Phase.generate, Phase.target], max_examples=10, deadline=1000, suppress_health_check=[HealthCheck.too_slow, HealthCheck.data_too_large]) - def test_fuzz_process(self, proc_name, cfg, data): - msgs = FuzzyGenerator.get_random_event_msg(data.draw, events=cfg.pubs, real_floats=True) - lr = [log.Event.new_message(**m).as_reader() for m in msgs] - cfg.timeout = 5 - pr.replay_process(cfg, lr, fingerprint=TOYOTA.TOYOTA_COROLLA_TSS2, disable_progress=True) diff --git a/selfdrive/test/process_replay/test_imgproc.py b/selfdrive/test/process_replay/test_imgproc.py deleted file mode 100644 index 27d0541a507413..00000000000000 --- a/selfdrive/test/process_replay/test_imgproc.py +++ /dev/null @@ -1,98 +0,0 @@ -import os -import numpy as np -import hashlib - -import pyopencl as cl # install with `PYOPENCL_CL_PRETEND_VERSION=2.0 pip install pyopencl` - -from openpilot.system.hardware import PC, TICI -from openpilot.common.basedir import BASEDIR -from openpilot.common.transformations.camera import DEVICE_CAMERAS -from openpilot.system.camerad.snapshot.snapshot import yuv_to_rgb -from openpilot.tools.lib.logreader import LogReader - -# TODO: check all sensors -TEST_ROUTE = "8345e3b82948d454|2022-05-04--13-45-33/0" - -cam = DEVICE_CAMERAS[("tici", "ar0231")] -FRAME_WIDTH, FRAME_HEIGHT = (cam.dcam.width, cam.dcam.height) -FRAME_STRIDE = FRAME_WIDTH * 12 // 8 + 4 - -UV_WIDTH = FRAME_WIDTH // 2 -UV_HEIGHT = FRAME_HEIGHT // 2 -UV_SIZE = UV_WIDTH * UV_HEIGHT - - -def init_kernels(frame_offset=0): - ctx = cl.create_some_context(interactive=False) - - with open(os.path.join(BASEDIR, 'system/camerad/cameras/process_raw.cl')) as f: - build_args = f' -cl-fast-relaxed-math -cl-denorms-are-zero -cl-single-precision-constant -I{BASEDIR}/system/camerad/sensors ' + \ - f' -DFRAME_WIDTH={FRAME_WIDTH} -DFRAME_HEIGHT={FRAME_WIDTH} -DFRAME_STRIDE={FRAME_STRIDE} -DFRAME_OFFSET={frame_offset} ' + \ - f' -DRGB_WIDTH={FRAME_WIDTH} -DRGB_HEIGHT={FRAME_HEIGHT} -DYUV_STRIDE={FRAME_WIDTH} -DUV_OFFSET={FRAME_WIDTH*FRAME_HEIGHT}' + \ - ' -DSENSOR_ID=1 -DVIGNETTING=0 ' - if PC: - build_args += ' -DHALF_AS_FLOAT=1 -cl-std=CL2.0' - imgproc_prg = cl.Program(ctx, f.read()).build(options=build_args) - - return ctx, imgproc_prg - -def proc_frame(ctx, imgproc_prg, data, rgb=False): - q = cl.CommandQueue(ctx) - - yuv_buff = np.empty(FRAME_WIDTH * FRAME_HEIGHT + UV_SIZE * 2, dtype=np.uint8) - - cam_g = cl.Buffer(ctx, cl.mem_flags.READ_ONLY | cl.mem_flags.COPY_HOST_PTR, hostbuf=data) - yuv_g = cl.Buffer(ctx, cl.mem_flags.WRITE_ONLY, FRAME_WIDTH * FRAME_HEIGHT + UV_SIZE * 2) - - krn = imgproc_prg.process_raw - krn.set_scalar_arg_dtypes([None, None, np.int32]) - local_worksize = (20, 20) if TICI else (4, 4) - - ev1 = krn(q, (FRAME_WIDTH//2, FRAME_HEIGHT//2), local_worksize, cam_g, yuv_g, 1) - cl.enqueue_copy(q, yuv_buff, yuv_g, wait_for=[ev1]).wait() - cl.enqueue_barrier(q) - - y = yuv_buff[:FRAME_WIDTH*FRAME_HEIGHT].reshape((FRAME_HEIGHT, FRAME_WIDTH)) - u = yuv_buff[FRAME_WIDTH*FRAME_HEIGHT::2].reshape((UV_HEIGHT, UV_WIDTH)) - v = yuv_buff[FRAME_WIDTH*FRAME_HEIGHT+1::2].reshape((UV_HEIGHT, UV_WIDTH)) - - if rgb: - return yuv_to_rgb(y, u, v) - else: - return y, u, v - - -def imgproc_replay(lr): - ctx, imgproc_prg = init_kernels() - - frames = [] - for m in lr: - if m.which() == 'roadCameraState': - cs = m.roadCameraState - if cs.image: - data = np.frombuffer(cs.image, dtype=np.uint8) - img = proc_frame(ctx, imgproc_prg, data) - - frames.append(img) - - return frames - - -if __name__ == "__main__": - # load logs - lr = list(LogReader(TEST_ROUTE)) - # run replay - out_frames = imgproc_replay(lr) - - all_pix = np.concatenate([np.concatenate([d.flatten() for d in f]) for f in out_frames]) - pix_hash = hashlib.sha1(all_pix).hexdigest() - - with open('imgproc_replay_ref_hash') as f: - ref_hash = f.read() - - if pix_hash != ref_hash: - print("result changed! please check kernel") - print(f"ref: {ref_hash}") - print(f"new: {pix_hash}") - else: - print("test passed") diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py deleted file mode 100755 index 533ab125f9ab8e..00000000000000 --- a/selfdrive/test/process_replay/test_processes.py +++ /dev/null @@ -1,238 +0,0 @@ -#!/usr/bin/env python3 -import argparse -import concurrent.futures -import os -import sys -from collections import defaultdict -from tqdm import tqdm -from typing import Any - -from openpilot.common.git import get_commit -from openpilot.selfdrive.car.car_helpers import interface_names -from openpilot.tools.lib.openpilotci import get_url, upload_file -from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs, format_diff -from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, PROC_REPLAY_DIR, FAKEDATA, replay_process, \ - check_openpilot_enabled, check_most_messages_valid -from openpilot.tools.lib.filereader import FileReader -from openpilot.tools.lib.logreader import LogReader -from openpilot.tools.lib.helpers import save_log - -source_segments = [ - ("BODY", "937ccb7243511b65|2022-05-24--16-03-09--1"), # COMMA.COMMA_BODY - ("HYUNDAI", "02c45f73a2e5c6e9|2021-01-01--19-08-22--1"), # HYUNDAI.HYUNDAI_SONATA - ("HYUNDAI2", "d545129f3ca90f28|2022-11-07--20-43-08--3"), # HYUNDAI.HYUNDAI_KIA_EV6 (+ QCOM GPS) - ("TOYOTA", "0982d79ebb0de295|2021-01-04--17-13-21--13"), # TOYOTA.TOYOTA_PRIUS - ("TOYOTA2", "0982d79ebb0de295|2021-01-03--20-03-36--6"), # TOYOTA.TOYOTA_RAV4 - ("TOYOTA3", "f7d7e3538cda1a2a|2021-08-16--08-55-34--6"), # TOYOTA.TOYOTA_COROLLA_TSS2 - ("HONDA", "eb140f119469d9ab|2021-06-12--10-46-24--27"), # HONDA.HONDA_CIVIC (NIDEC) - ("HONDA2", "7d2244f34d1bbcda|2021-06-25--12-25-37--26"), # HONDA.HONDA_ACCORD (BOSCH) - ("CHRYSLER", "4deb27de11bee626|2021-02-20--11-28-55--8"), # CHRYSLER.CHRYSLER_PACIFICA_2018_HYBRID - ("RAM", "17fc16d840fe9d21|2023-04-26--13-28-44--5"), # CHRYSLER.RAM_1500_5TH_GEN - ("SUBARU", "341dccd5359e3c97|2022-09-12--10-35-33--3"), # SUBARU.SUBARU_OUTBACK - ("GM", "0c58b6a25109da2b|2021-02-23--16-35-50--11"), # GM.CHEVROLET_VOLT - ("GM2", "376bf99325883932|2022-10-27--13-41-22--1"), # GM.CHEVROLET_BOLT_EUV - ("NISSAN", "35336926920f3571|2021-02-12--18-38-48--46"), # NISSAN.NISSAN_XTRAIL - ("VOLKSWAGEN", "de9592456ad7d144|2021-06-29--11-00-15--6"), # VOLKSWAGEN.VOLKSWAGEN_GOLF - ("MAZDA", "bd6a637565e91581|2021-10-30--15-14-53--4"), # MAZDA.MAZDA_CX9_2021 - ("FORD", "54827bf84c38b14f|2023-01-26--21-59-07--4"), # FORD.FORD_BRONCO_SPORT_MK1 - - # Enable when port is tested and dashcamOnly is no longer set - #("TESLA", "bb50caf5f0945ab1|2021-06-19--17-20-18--3"), # TESLA.TESLA_AP2_MODELS - #("VOLKSWAGEN2", "3cfdec54aa035f3f|2022-07-19--23-45-10--2"), # VOLKSWAGEN.VOLKSWAGEN_PASSAT_NMS -] - -segments = [ - ("BODY", "regen29FD9FF7760|2024-05-21--06-58-51--0"), - ("HYUNDAI", "regen0B1B76A1C27|2024-05-21--06-57-53--0"), - ("HYUNDAI2", "regen3BB55FA5E20|2024-05-21--06-59-03--0"), - ("TOYOTA", "regenF6FB954C1E2|2024-05-21--06-57-53--0"), - ("TOYOTA2", "regen0AC637CE7BA|2024-05-21--06-57-54--0"), - ("TOYOTA3", "regenC7BE3FAE496|2024-05-21--06-59-01--0"), - ("HONDA", "regen58E9F8B695A|2024-05-21--06-57-55--0"), - ("HONDA2", "regen8695608EB15|2024-05-21--06-57-55--0"), - ("CHRYSLER", "regenB0F8C25C902|2024-05-21--06-59-47--0"), - ("RAM", "regenB3B2C7A105B|2024-05-21--07-00-47--0"), - ("SUBARU", "regen860FD736DCC|2024-05-21--07-00-50--0"), - ("GM", "regen8CB3048DEB9|2024-05-21--06-59-49--0"), - ("GM2", "regen379D446541D|2024-05-21--07-00-51--0"), - ("NISSAN", "regen24871108F80|2024-05-21--07-00-38--0"), - ("VOLKSWAGEN", "regenF390392F275|2024-05-21--07-00-52--0"), - ("MAZDA", "regenE5A36020581|2024-05-21--07-01-51--0"), - ("FORD", "regenDC288ED0D78|2024-05-21--07-02-18--0"), -] - -# dashcamOnly makes don't need to be tested until a full port is done -excluded_interfaces = ["mock", "tesla"] - -BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/" -REF_COMMIT_FN = os.path.join(PROC_REPLAY_DIR, "ref_commit") -EXCLUDED_PROCS = {"modeld", "dmonitoringmodeld"} - - -def run_test_process(data): - segment, cfg, args, cur_log_fn, ref_log_path, lr_dat = data - res = None - if not args.upload_only: - lr = LogReader.from_bytes(lr_dat) - res, log_msgs = test_process(cfg, lr, segment, ref_log_path, cur_log_fn, args.ignore_fields, args.ignore_msgs) - # save logs so we can upload when updating refs - save_log(cur_log_fn, log_msgs) - - if args.update_refs or args.upload_only: - print(f'Uploading: {os.path.basename(cur_log_fn)}') - assert os.path.exists(cur_log_fn), f"Cannot find log to upload: {cur_log_fn}" - upload_file(cur_log_fn, os.path.basename(cur_log_fn)) - os.remove(cur_log_fn) - return (segment, cfg.proc_name, res) - - -def get_log_data(segment): - r, n = segment.rsplit("--", 1) - with FileReader(get_url(r, n)) as f: - return (segment, f.read()) - - -def test_process(cfg, lr, segment, ref_log_path, new_log_path, ignore_fields=None, ignore_msgs=None): - if ignore_fields is None: - ignore_fields = [] - if ignore_msgs is None: - ignore_msgs = [] - - ref_log_msgs = list(LogReader(ref_log_path)) - - try: - log_msgs = replay_process(cfg, lr, disable_progress=True) - except Exception as e: - raise Exception("failed on segment: " + segment) from e - - # check to make sure openpilot is engaged in the route - if cfg.proc_name == "controlsd": - if not check_openpilot_enabled(log_msgs): - return f"Route did not enable at all or for long enough: {new_log_path}", log_msgs - if not check_most_messages_valid(log_msgs): - return f"Route did not have enough valid messages: {new_log_path}", log_msgs - - if cfg.proc_name != 'ubloxd' or segment != 'regen3BB55FA5E20|2024-05-21--06-59-03--0': - seen_msgs = {m.which() for m in log_msgs} - expected_msgs = set(cfg.subs) - if seen_msgs != expected_msgs: - return f"Expected messages: {expected_msgs}, but got: {seen_msgs}", log_msgs - - try: - return compare_logs(ref_log_msgs, log_msgs, ignore_fields + cfg.ignore, ignore_msgs, cfg.tolerance), log_msgs - except Exception as e: - return str(e), log_msgs - - -if __name__ == "__main__": - all_cars = {car for car, _ in segments} - all_procs = {cfg.proc_name for cfg in CONFIGS if cfg.proc_name not in EXCLUDED_PROCS} - - cpu_count = os.cpu_count() or 1 - - parser = argparse.ArgumentParser(description="Regression test to identify changes in a process's output") - parser.add_argument("--whitelist-procs", type=str, nargs="*", default=all_procs, - help="Whitelist given processes from the test (e.g. controlsd)") - parser.add_argument("--whitelist-cars", type=str, nargs="*", default=all_cars, - help="Whitelist given cars from the test (e.g. HONDA)") - parser.add_argument("--blacklist-procs", type=str, nargs="*", default=[], - help="Blacklist given processes from the test (e.g. controlsd)") - parser.add_argument("--blacklist-cars", type=str, nargs="*", default=[], - help="Blacklist given cars from the test (e.g. HONDA)") - parser.add_argument("--ignore-fields", type=str, nargs="*", default=[], - help="Extra fields or msgs to ignore (e.g. carState.events)") - parser.add_argument("--ignore-msgs", type=str, nargs="*", default=[], - help="Msgs to ignore (e.g. carEvents)") - parser.add_argument("--update-refs", action="store_true", - help="Updates reference logs using current commit") - parser.add_argument("--upload-only", action="store_true", - help="Skips testing processes and uploads logs from previous test run") - parser.add_argument("-j", "--jobs", type=int, default=max(cpu_count - 2, 1), - help="Max amount of parallel jobs") - args = parser.parse_args() - - tested_procs = set(args.whitelist_procs) - set(args.blacklist_procs) - tested_cars = set(args.whitelist_cars) - set(args.blacklist_cars) - tested_cars = {c.upper() for c in tested_cars} - - full_test = (tested_procs == all_procs) and (tested_cars == all_cars) and all(len(x) == 0 for x in (args.ignore_fields, args.ignore_msgs)) - upload = args.update_refs or args.upload_only - os.makedirs(os.path.dirname(FAKEDATA), exist_ok=True) - - if upload: - assert full_test, "Need to run full test when updating refs" - - try: - with open(REF_COMMIT_FN) as f: - ref_commit = f.read().strip() - except FileNotFoundError: - print("Couldn't find reference commit") - sys.exit(1) - - cur_commit = get_commit() - if not cur_commit: - raise Exception("Couldn't get current commit") - - print(f"***** testing against commit {ref_commit} *****") - - # check to make sure all car brands are tested - if full_test: - untested = (set(interface_names) - set(excluded_interfaces)) - {c.lower() for c in tested_cars} - assert len(untested) == 0, f"Cars missing routes: {str(untested)}" - - log_paths: defaultdict[str, dict[str, dict[str, str]]] = defaultdict(lambda: defaultdict(dict)) - with concurrent.futures.ProcessPoolExecutor(max_workers=args.jobs) as pool: - if not args.upload_only: - download_segments = [seg for car, seg in segments if car in tested_cars] - log_data: dict[str, LogReader] = {} - p1 = pool.map(get_log_data, download_segments) - for segment, lr in tqdm(p1, desc="Getting Logs", total=len(download_segments)): - log_data[segment] = lr - - pool_args: Any = [] - for car_brand, segment in segments: - if car_brand not in tested_cars: - continue - - for cfg in CONFIGS: - if cfg.proc_name not in tested_procs: - continue - - cur_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{cur_commit}.bz2") - if args.update_refs: # reference logs will not exist if routes were just regenerated - ref_log_path = get_url(*segment.rsplit("--", 1)) - else: - ref_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{ref_commit}.bz2") - ref_log_path = ref_log_fn if os.path.exists(ref_log_fn) else BASE_URL + os.path.basename(ref_log_fn) - - dat = None if args.upload_only else log_data[segment] - pool_args.append((segment, cfg, args, cur_log_fn, ref_log_path, dat)) - - log_paths[segment][cfg.proc_name]['ref'] = ref_log_path - log_paths[segment][cfg.proc_name]['new'] = cur_log_fn - - results: Any = defaultdict(dict) - p2 = pool.map(run_test_process, pool_args) - for (segment, proc, result) in tqdm(p2, desc="Running Tests", total=len(pool_args)): - if not args.upload_only: - results[segment][proc] = result - - diff_short, diff_long, failed = format_diff(results, log_paths, ref_commit) - if not upload: - with open(os.path.join(PROC_REPLAY_DIR, "diff.txt"), "w") as f: - f.write(diff_long) - print(diff_short) - - if failed: - print("TEST FAILED") - print("\n\nTo push the new reference logs for this commit run:") - print("./test_processes.py --upload-only") - else: - print("TEST SUCCEEDED") - - else: - with open(REF_COMMIT_FN, "w") as f: - f.write(cur_commit) - print(f"\n\nUpdated reference logs for commit: {cur_commit}") - - sys.exit(int(failed)) diff --git a/selfdrive/test/process_replay/test_regen.py b/selfdrive/test/process_replay/test_regen.py deleted file mode 100644 index 17fefcb4979977..00000000000000 --- a/selfdrive/test/process_replay/test_regen.py +++ /dev/null @@ -1,37 +0,0 @@ -from parameterized import parameterized - -from openpilot.selfdrive.test.process_replay.regen import regen_segment, DummyFrameReader -from openpilot.selfdrive.test.process_replay.process_replay import check_openpilot_enabled -from openpilot.tools.lib.openpilotci import get_url -from openpilot.tools.lib.logreader import LogReader -from openpilot.tools.lib.framereader import FrameReader - -TESTED_SEGMENTS = [ - ("PRIUS_C2", "0982d79ebb0de295|2021-01-04--17-13-21--13"), # TOYOTA.TOYOTA_PRIUS: NEO, pandaStateDEPRECATED, no peripheralState, sensorEventsDEPRECATED - # Enable these once regen on CI becomes faster or use them for different tests running controlsd in isolation - # ("MAZDA_C3", "bd6a637565e91581|2021-10-30--15-14-53--4"), # MAZDA.CX9_2021: TICI, incomplete managerState - # ("FORD_C3", "54827bf84c38b14f|2023-01-26--21-59-07--4"), # FORD.BRONCO_SPORT_MK1: TICI -] - - -def ci_setup_data_readers(route, sidx): - lr = LogReader(get_url(route, sidx, "rlog")) - frs = { - 'roadCameraState': FrameReader(get_url(route, sidx, "fcamera")), - 'driverCameraState': DummyFrameReader.zero_dcamera() - } - if next((True for m in lr if m.which() == "wideRoadCameraState"), False): - frs["wideRoadCameraState"] = FrameReader(get_url(route, sidx, "ecamera")) - - return lr, frs - - -class TestRegen: - @parameterized.expand(TESTED_SEGMENTS) - def test_engaged(self, case_name, segment): - route, sidx = segment.rsplit("--", 1) - lr, frs = ci_setup_data_readers(route, sidx) - output_logs = regen_segment(lr, frs, disable_tqdm=True) - - engaged = check_openpilot_enabled(output_logs) - assert engaged, f"openpilot not engaged in {case_name}" diff --git a/selfdrive/test/process_replay/vision_meta.py b/selfdrive/test/process_replay/vision_meta.py deleted file mode 100644 index 12deb587244134..00000000000000 --- a/selfdrive/test/process_replay/vision_meta.py +++ /dev/null @@ -1,43 +0,0 @@ -from collections import namedtuple -from msgq.visionipc import VisionStreamType -from openpilot.common.realtime import DT_MDL, DT_DMON -from openpilot.common.transformations.camera import DEVICE_CAMERAS - -VideoStreamMeta = namedtuple("VideoStreamMeta", ["camera_state", "encode_index", "stream", "dt", "frame_sizes"]) -ROAD_CAMERA_FRAME_SIZES = {k: (v.dcam.width, v.dcam.height) for k, v in DEVICE_CAMERAS.items()} -WIDE_ROAD_CAMERA_FRAME_SIZES = {k: (v.ecam.width, v.ecam.height) for k, v in DEVICE_CAMERAS.items() if v.ecam is not None} -DRIVER_CAMERA_FRAME_SIZES = {k: (v.dcam.width, v.dcam.height) for k, v in DEVICE_CAMERAS.items()} -VIPC_STREAM_METADATA = [ - # metadata: (state_msg_type, encode_msg_type, stream_type, dt, frame_sizes) - ("roadCameraState", "roadEncodeIdx", VisionStreamType.VISION_STREAM_ROAD, DT_MDL, ROAD_CAMERA_FRAME_SIZES), - ("wideRoadCameraState", "wideRoadEncodeIdx", VisionStreamType.VISION_STREAM_WIDE_ROAD, DT_MDL, WIDE_ROAD_CAMERA_FRAME_SIZES), - ("driverCameraState", "driverEncodeIdx", VisionStreamType.VISION_STREAM_DRIVER, DT_DMON, DRIVER_CAMERA_FRAME_SIZES), -] - - -def meta_from_camera_state(state): - meta = next((VideoStreamMeta(*meta) for meta in VIPC_STREAM_METADATA if meta[0] == state), None) - return meta - - -def meta_from_encode_index(encode_index): - meta = next((VideoStreamMeta(*meta) for meta in VIPC_STREAM_METADATA if meta[1] == encode_index), None) - return meta - - -def meta_from_stream_type(stream_type): - meta = next((VideoStreamMeta(*meta) for meta in VIPC_STREAM_METADATA if meta[2] == stream_type), None) - return meta - - -def available_streams(lr=None): - if lr is None: - return [VideoStreamMeta(*meta) for meta in VIPC_STREAM_METADATA] - - result = [] - for meta in VIPC_STREAM_METADATA: - has_cam_state = next((True for m in lr if m.which() == meta[0]), False) - if has_cam_state: - result.append(VideoStreamMeta(*meta)) - - return result diff --git a/selfdrive/test/profiling/.gitignore b/selfdrive/test/profiling/.gitignore deleted file mode 100644 index 76acac7f93ea12..00000000000000 --- a/selfdrive/test/profiling/.gitignore +++ /dev/null @@ -1,2 +0,0 @@ -cachegrind.out.* -*.prof diff --git a/selfdrive/test/profiling/__init__.py b/selfdrive/test/profiling/__init__.py deleted file mode 100644 index e69de29bb2d1d6..00000000000000 diff --git a/selfdrive/test/profiling/lib.py b/selfdrive/test/profiling/lib.py deleted file mode 100644 index 93ba2153867444..00000000000000 --- a/selfdrive/test/profiling/lib.py +++ /dev/null @@ -1,91 +0,0 @@ -from collections import defaultdict, deque -from cereal.services import SERVICE_LIST -import cereal.messaging as messaging -import capnp - - -class ReplayDone(Exception): - pass - - -class SubSocket: - def __init__(self, msgs, trigger): - self.i = 0 - self.trigger = trigger - self.msgs = [m.as_builder().to_bytes() for m in msgs if m.which() == trigger] - self.max_i = len(self.msgs) - 1 - - def receive(self, non_blocking=False): - if non_blocking: - return None - - if self.i == self.max_i: - raise ReplayDone - - while True: - msg = self.msgs[self.i] - self.i += 1 - return msg - - -class PubSocket: - def send(self, data): - pass - - -class SubMaster(messaging.SubMaster): - def __init__(self, msgs, trigger, services, check_averag_freq=False): - self.frame = 0 - self.data = {} - self.ignore_alive = [] - - self.alive = {s: True for s in services} - self.updated = {s: False for s in services} - self.rcv_time = {s: 0. for s in services} - self.rcv_frame = {s: 0 for s in services} - self.valid = {s: True for s in services} - self.freq_ok = {s: True for s in services} - self.recv_dts = {s: deque([0.0] * messaging.AVG_FREQ_HISTORY, maxlen=messaging.AVG_FREQ_HISTORY) for s in services} - self.logMonoTime = {} - self.sock = {} - self.freq = {} - self.check_average_freq = check_averag_freq - self.non_polled_services = [] - self.ignore_average_freq = [] - - # TODO: specify multiple triggers for service like plannerd that poll on more than one service - cur_msgs = [] - self.msgs = [] - msgs = [m for m in msgs if m.which() in services] - - for msg in msgs: - cur_msgs.append(msg) - if msg.which() == trigger: - self.msgs.append(cur_msgs) - cur_msgs = [] - - self.msgs = list(reversed(self.msgs)) - - for s in services: - self.freq[s] = SERVICE_LIST[s].frequency - try: - data = messaging.new_message(s) - except capnp.lib.capnp.KjException: - # lists - data = messaging.new_message(s, 0) - - self.data[s] = getattr(data, s) - self.logMonoTime[s] = 0 - self.sock[s] = SubSocket(msgs, s) - - def update(self, timeout=None): - if not len(self.msgs): - raise ReplayDone - - cur_msgs = self.msgs.pop() - self.update_msgs(cur_msgs[0].logMonoTime, self.msgs.pop()) - - -class PubMaster(messaging.PubMaster): - def __init__(self): - self.sock = defaultdict(PubSocket) diff --git a/selfdrive/test/profiling/profiler.py b/selfdrive/test/profiling/profiler.py deleted file mode 100755 index 2cd547171a4ac3..00000000000000 --- a/selfdrive/test/profiling/profiler.py +++ /dev/null @@ -1,97 +0,0 @@ -#!/usr/bin/env python3 -import os -import sys -import cProfile -import pprofile -import pyprof2calltree - -from openpilot.common.params import Params -from openpilot.tools.lib.logreader import LogReader -from openpilot.selfdrive.test.profiling.lib import SubMaster, PubMaster, SubSocket, ReplayDone -from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS -from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA -from openpilot.selfdrive.car.honda.values import CAR as HONDA -from openpilot.selfdrive.car.volkswagen.values import CAR as VW - -BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/" - -CARS = { - 'toyota': ("0982d79ebb0de295|2021-01-03--20-03-36/6", TOYOTA.TOYOTA_RAV4), - 'honda': ("0982d79ebb0de295|2021-01-08--10-13-10/6", HONDA.HONDA_CIVIC), - "vw": ("ef895f46af5fd73f|2021-05-22--14-06-35/6", VW.AUDI_A3_MK3), -} - - -def get_inputs(msgs, process, fingerprint): - for config in CONFIGS: - if config.proc_name == process: - sub_socks = list(config.pubs) - trigger = sub_socks[0] - break - - # some procs block on CarParams - for msg in msgs: - if msg.which() == 'carParams': - m = msg.as_builder() - m.carParams.carFingerprint = fingerprint - Params().put("CarParams", m.carParams.copy().to_bytes()) - break - - sm = SubMaster(msgs, trigger, sub_socks) - pm = PubMaster() - if 'can' in sub_socks: - can_sock = SubSocket(msgs, 'can') - else: - can_sock = None - return sm, pm, can_sock - - -def profile(proc, func, car='toyota'): - segment, fingerprint = CARS[car] - segment = segment.replace('|', '/') - rlog_url = f"{BASE_URL}{segment}/rlog.bz2" - msgs = list(LogReader(rlog_url)) * int(os.getenv("LOOP", "1")) - - os.environ['FINGERPRINT'] = fingerprint - os.environ['SKIP_FW_QUERY'] = "1" - os.environ['REPLAY'] = "1" - - def run(sm, pm, can_sock): - try: - if can_sock is not None: - func(sm, pm, can_sock) - else: - func(sm, pm) - except ReplayDone: - pass - - # Statistical - sm, pm, can_sock = get_inputs(msgs, proc, fingerprint) - with pprofile.StatisticalProfile()(period=0.00001) as pr: - run(sm, pm, can_sock) - pr.dump_stats(f'cachegrind.out.{proc}_statistical') - - # Deterministic - sm, pm, can_sock = get_inputs(msgs, proc, fingerprint) - with cProfile.Profile() as pr: - run(sm, pm, can_sock) - pyprof2calltree.convert(pr.getstats(), f'cachegrind.out.{proc}_deterministic') - - -if __name__ == '__main__': - from openpilot.selfdrive.controls.controlsd import main as controlsd_thread - from openpilot.selfdrive.locationd.paramsd import main as paramsd_thread - from openpilot.selfdrive.controls.plannerd import main as plannerd_thread - - procs = { - 'controlsd': controlsd_thread, - 'paramsd': paramsd_thread, - 'plannerd': plannerd_thread, - } - - proc = sys.argv[1] - if proc not in procs: - print(f"{proc} not available") - sys.exit(0) - else: - profile(proc, procs[proc]) diff --git a/selfdrive/test/scons_build_test.sh b/selfdrive/test/scons_build_test.sh deleted file mode 100755 index a3b33f797a852c..00000000000000 --- a/selfdrive/test/scons_build_test.sh +++ /dev/null @@ -1,10 +0,0 @@ -#!/bin/bash - -SCRIPT_DIR=$(dirname "$0") -BASEDIR=$(realpath "$SCRIPT_DIR/../../") -cd $BASEDIR - -# tests that our build system's dependencies are configured properly, -# needs a machine with lots of cores -scons --clean -scons --no-cache --random -j$(nproc) \ No newline at end of file diff --git a/selfdrive/test/setup_device_ci.sh b/selfdrive/test/setup_device_ci.sh deleted file mode 100755 index 84dae25821e2a4..00000000000000 --- a/selfdrive/test/setup_device_ci.sh +++ /dev/null @@ -1,122 +0,0 @@ -#!/usr/bin/bash - -set -e - -if [ -z "$SOURCE_DIR" ]; then - echo "SOURCE_DIR must be set" - exit 1 -fi - -if [ -z "$GIT_COMMIT" ]; then - echo "GIT_COMMIT must be set" - exit 1 -fi - -if [ -z "$TEST_DIR" ]; then - echo "TEST_DIR must be set" - exit 1 -fi - -umount /data/safe_staging/merged/ || true -sudo umount /data/safe_staging/merged/ || true -rm -rf /data/safe_staging/* || true - -CONTINUE_PATH="/data/continue.sh" -tee $CONTINUE_PATH << EOF -#!/usr/bin/bash - -sudo abctl --set_success - -# patch sshd config -sudo mount -o rw,remount / -sudo sed -i "s,/data/params/d/GithubSshKeys,/usr/comma/setup_keys," /etc/ssh/sshd_config -sudo systemctl daemon-reload -sudo systemctl restart ssh -sudo systemctl restart NetworkManager -sudo systemctl disable ssh-param-watcher.path -sudo systemctl disable ssh-param-watcher.service -sudo mount -o ro,remount / - -while true; do - if ! sudo systemctl is-active -q ssh; then - sudo systemctl start ssh - fi - - #if ! pgrep -f 'ciui.py' > /dev/null 2>&1; then - # echo 'starting UI' - # cp $SOURCE_DIR/selfdrive/test/ciui.py /data/ - # /data/ciui.py & - #fi - - sleep 5s -done - -sleep infinity -EOF -chmod +x $CONTINUE_PATH - -safe_checkout() { - # completely clean TEST_DIR - - cd $SOURCE_DIR - - # cleanup orphaned locks - find .git -type f -name "*.lock" -exec rm {} + - - git reset --hard - git fetch --no-tags --no-recurse-submodules -j4 --verbose --depth 1 origin $GIT_COMMIT - find . -maxdepth 1 -not -path './.git' -not -name '.' -not -name '..' -exec rm -rf '{}' \; - git reset --hard $GIT_COMMIT - git checkout $GIT_COMMIT - git clean -xdff - git submodule sync - git submodule foreach --recursive "git reset --hard && git clean -xdff" - git submodule update --init --recursive - git submodule foreach --recursive "git reset --hard && git clean -xdff" - - git lfs pull - (ulimit -n 65535 && git lfs prune) - - echo "git checkout done, t=$SECONDS" - du -hs $SOURCE_DIR $SOURCE_DIR/.git - - rsync -a --delete $SOURCE_DIR $TEST_DIR -} - -unsafe_checkout() { - # checkout directly in test dir, leave old build products - - cd $TEST_DIR - - # cleanup orphaned locks - find .git -type f -name "*.lock" -exec rm {} + - - git fetch --no-tags --no-recurse-submodules -j8 --verbose --depth 1 origin $GIT_COMMIT - git checkout --force --no-recurse-submodules $GIT_COMMIT - git reset --hard $GIT_COMMIT - git clean -df - git submodule sync - git submodule foreach --recursive "git reset --hard && git clean -df" - git submodule update --init --recursive - git submodule foreach --recursive "git reset --hard && git clean -df" - - git lfs pull - (ulimit -n 65535 && git lfs prune) -} - -export GIT_PACK_THREADS=8 - -# set up environment -if [ ! -d "$SOURCE_DIR" ]; then - git clone https://github.com/commaai/openpilot.git $SOURCE_DIR -fi - -if [ ! -z "$UNSAFE" ]; then - echo "doing unsafe checkout" - unsafe_checkout -else - echo "doing safe checkout" - safe_checkout -fi - -echo "$TEST_DIR synced with $GIT_COMMIT, t=$SECONDS" diff --git a/selfdrive/test/setup_vsound.sh b/selfdrive/test/setup_vsound.sh deleted file mode 100755 index a6601d0a61d0ac..00000000000000 --- a/selfdrive/test/setup_vsound.sh +++ /dev/null @@ -1,10 +0,0 @@ -#!/bin/bash - -{ - #start pulseaudio daemon - sudo pulseaudio -D - - # create a virtual null audio and set it to default device - sudo pactl load-module module-null-sink sink_name=virtual_audio - sudo pactl set-default-sink virtual_audio -} > /dev/null 2>&1 diff --git a/selfdrive/test/setup_xvfb.sh b/selfdrive/test/setup_xvfb.sh deleted file mode 100755 index 692b84d65f0aea..00000000000000 --- a/selfdrive/test/setup_xvfb.sh +++ /dev/null @@ -1,19 +0,0 @@ -#!/usr/bin/env bash - -# Sets up a virtual display for running map renderer and simulator without an X11 display - -DISP_ID=99 -export DISPLAY=:$DISP_ID - -sudo Xvfb $DISPLAY -screen 0 2160x1080x24 2>/dev/null & - -# check for x11 socket for the specified display ID -while [ ! -S /tmp/.X11-unix/X$DISP_ID ] -do - echo "Waiting for Xvfb..." - sleep 1 -done - -touch ~/.Xauthority -export XDG_SESSION_TYPE="x11" -xset -q \ No newline at end of file diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py deleted file mode 100644 index 009aa7669d267b..00000000000000 --- a/selfdrive/test/test_onroad.py +++ /dev/null @@ -1,433 +0,0 @@ -import bz2 -import math -import json -import os -import pathlib -import psutil -import pytest -import shutil -import subprocess -import time -import numpy as np -from collections import Counter, defaultdict -from functools import cached_property -from pathlib import Path - -from cereal import car -import cereal.messaging as messaging -from cereal.services import SERVICE_LIST -from openpilot.common.basedir import BASEDIR -from openpilot.common.timeout import Timeout -from openpilot.common.params import Params -from openpilot.selfdrive.controls.lib.events import EVENTS, ET -from openpilot.system.hardware import HARDWARE -from openpilot.selfdrive.test.helpers import set_params_enabled, release_only -from openpilot.system.hardware.hw import Paths -from openpilot.tools.lib.logreader import LogReader - -""" -CPU usage budget -* each process is entitled to at least 8% -* total CPU usage of openpilot (sum(PROCS.values()) - should not exceed MAX_TOTAL_CPU -""" -MAX_TOTAL_CPU = 250. # total for all 8 cores -PROCS = { - # Baseline CPU usage by process - "selfdrive.controls.controlsd": 32.0, - "selfdrive.car.card": 22.0, - "./loggerd": 14.0, - "./encoderd": 17.0, - "./camerad": 14.5, - "./locationd": 11.0, - "selfdrive.controls.plannerd": 11.0, - "./ui": 18.0, - "selfdrive.locationd.paramsd": 9.0, - "./sensord": 7.0, - "selfdrive.controls.radard": 7.0, - "selfdrive.modeld.modeld": 13.0, - "selfdrive.modeld.dmonitoringmodeld": 8.0, - "system.hardware.hardwared": 3.87, - "selfdrive.locationd.calibrationd": 2.0, - "selfdrive.locationd.torqued": 5.0, - "selfdrive.ui.soundd": 3.5, - "selfdrive.monitoring.dmonitoringd": 4.0, - "./proclogd": 1.54, - "system.logmessaged": 0.2, - "system.tombstoned": 0, - "./logcatd": 0, - "system.micd": 6.0, - "system.timed": 0, - "selfdrive.pandad.pandad": 0, - "system.statsd": 0.4, - "selfdrive.navd.navd": 0.4, - "system.loggerd.uploader": (0.5, 15.0), - "system.loggerd.deleter": 0.1, -} - -PROCS.update({ - "tici": { - "./pandad": 4.0, - "./ubloxd": 0.02, - "system.ubloxd.pigeond": 6.0, - }, - "tizi": { - "./pandad": 19.0, - "system.qcomgpsd.qcomgpsd": 1.0, - } -}.get(HARDWARE.get_device_type(), {})) - -TIMINGS = { - # rtols: max/min, rsd - "can": [2.5, 0.35], - "pandaStates": [2.5, 0.35], - "peripheralState": [2.5, 0.35], - "sendcan": [2.5, 0.35], - "carState": [2.5, 0.35], - "carControl": [2.5, 0.35], - "controlsState": [2.5, 0.35], - "longitudinalPlan": [2.5, 0.5], - "roadCameraState": [2.5, 0.35], - "driverCameraState": [2.5, 0.35], - "modelV2": [2.5, 0.35], - "driverStateV2": [2.5, 0.40], - "liveLocationKalman": [2.5, 0.35], - "wideRoadCameraState": [1.5, 0.35], -} - - -def cputime_total(ct): - return ct.cpuUser + ct.cpuSystem + ct.cpuChildrenUser + ct.cpuChildrenSystem - - -@pytest.mark.tici -class TestOnroad: - - @classmethod - def setup_class(cls): - if "DEBUG" in os.environ: - segs = filter(lambda x: os.path.exists(os.path.join(x, "rlog")), Path(Paths.log_root()).iterdir()) - segs = sorted(segs, key=lambda x: x.stat().st_mtime) - print(segs[-3]) - cls.lr = list(LogReader(os.path.join(segs[-3], "rlog"))) - return - - # setup env - params = Params() - params.remove("CurrentRoute") - set_params_enabled() - os.environ['REPLAY'] = '1' - os.environ['TESTING_CLOSET'] = '1' - if os.path.exists(Paths.log_root()): - shutil.rmtree(Paths.log_root()) - - # start manager and run openpilot for a minute - proc = None - try: - manager_path = os.path.join(BASEDIR, "system/manager/manager.py") - proc = subprocess.Popen(["python", manager_path]) - - sm = messaging.SubMaster(['carState']) - with Timeout(150, "controls didn't start"): - while sm.recv_frame['carState'] < 0: - sm.update(1000) - - # make sure we get at least two full segments - route = None - cls.segments = [] - with Timeout(300, "timed out waiting for logs"): - while route is None: - route = params.get("CurrentRoute", encoding="utf-8") - time.sleep(0.1) - - while len(cls.segments) < 3: - segs = set() - if Path(Paths.log_root()).exists(): - segs = set(Path(Paths.log_root()).glob(f"{route}--*")) - cls.segments = sorted(segs, key=lambda s: int(str(s).rsplit('--')[-1])) - time.sleep(2) - - # chop off last, incomplete segment - cls.segments = cls.segments[:-1] - - finally: - cls.gpu_procs = {psutil.Process(int(f.name)).name() for f in pathlib.Path('/sys/devices/virtual/kgsl/kgsl/proc/').iterdir() if f.is_dir()} - - if proc is not None: - proc.terminate() - if proc.wait(60) is None: - proc.kill() - - cls.lrs = [list(LogReader(os.path.join(str(s), "rlog"))) for s in cls.segments] - - # use the second segment by default as it's the first full segment - cls.lr = list(LogReader(os.path.join(str(cls.segments[1]), "rlog"))) - cls.log_path = cls.segments[1] - - cls.log_sizes = {} - for f in cls.log_path.iterdir(): - assert f.is_file() - cls.log_sizes[f] = f.stat().st_size / 1e6 - if f.name in ("qlog", "rlog"): - with open(f, 'rb') as ff: - cls.log_sizes[f] = len(bz2.compress(ff.read())) / 1e6 - - - @cached_property - def service_msgs(self): - msgs = defaultdict(list) - for m in self.lr: - msgs[m.which()].append(m) - return msgs - - def test_service_frequencies(self, subtests): - for s, msgs in self.service_msgs.items(): - if s in ('initData', 'sentinel'): - continue - - # skip gps services for now - if s in ('ubloxGnss', 'ubloxRaw', 'gnssMeasurements', 'gpsLocation', 'gpsLocationExternal', 'qcomGnss'): - continue - - with subtests.test(service=s): - assert len(msgs) >= math.floor(SERVICE_LIST[s].frequency*55) - - def test_cloudlog_size(self): - msgs = [m for m in self.lr if m.which() == 'logMessage'] - - total_size = sum(len(m.as_builder().to_bytes()) for m in msgs) - assert total_size < 3.5e5 - - cnt = Counter(json.loads(m.logMessage)['filename'] for m in msgs) - big_logs = [f for f, n in cnt.most_common(3) if n / sum(cnt.values()) > 30.] - assert len(big_logs) == 0, f"Log spam: {big_logs}" - - def test_log_sizes(self): - for f, sz in self.log_sizes.items(): - if f.name == "qcamera.ts": - assert 2.15 < sz < 2.35 - elif f.name == "qlog": - assert 0.6 < sz < 1.0 - elif f.name == "rlog": - assert 5 < sz < 50 - elif f.name.endswith('.hevc'): - assert 70 < sz < 77 - else: - raise NotImplementedError - - def test_ui_timings(self): - result = "\n" - result += "------------------------------------------------\n" - result += "-------------- UI Draw Timing ------------------\n" - result += "------------------------------------------------\n" - - ts = [m.uiDebug.drawTimeMillis for m in self.service_msgs['uiDebug']] - result += f"min {min(ts):.2f}ms\n" - result += f"max {max(ts):.2f}ms\n" - result += f"std {np.std(ts):.2f}ms\n" - result += f"mean {np.mean(ts):.2f}ms\n" - result += "------------------------------------------------\n" - print(result) - - assert max(ts) < 250. - assert np.mean(ts) < 10. - #self.assertLess(np.std(ts), 5.) - - # some slow frames are expected since camerad/modeld can preempt ui - veryslow = [x for x in ts if x > 40.] - assert len(veryslow) < 5, f"Too many slow frame draw times: {veryslow}" - - def test_cpu_usage(self, subtests): - result = "\n" - result += "------------------------------------------------\n" - result += "------------------ CPU Usage -------------------\n" - result += "------------------------------------------------\n" - - plogs_by_proc = defaultdict(list) - for pl in self.service_msgs['procLog']: - for x in pl.procLog.procs: - if len(x.cmdline) > 0: - n = list(x.cmdline)[0] - plogs_by_proc[n].append(x) - print(plogs_by_proc.keys()) - - cpu_ok = True - dt = (self.service_msgs['procLog'][-1].logMonoTime - self.service_msgs['procLog'][0].logMonoTime) / 1e9 - for proc_name, expected_cpu in PROCS.items(): - - err = "" - cpu_usage = 0. - x = plogs_by_proc[proc_name] - if len(x) > 2: - cpu_time = cputime_total(x[-1]) - cputime_total(x[0]) - cpu_usage = cpu_time / dt * 100. - - if isinstance(expected_cpu, tuple): - exp = str(expected_cpu) - minn, maxx = expected_cpu - else: - exp = f"{expected_cpu:5.2f}" - minn = min(expected_cpu * 0.65, max(expected_cpu - 1.0, 0.0)) - maxx = max(expected_cpu * 1.15, expected_cpu + 5.0) - - if cpu_usage > maxx: - err = "using more CPU than expected" - elif cpu_usage < minn: - err = "using less CPU than expected" - else: - err = "NO METRICS FOUND" - - result += f"{proc_name.ljust(35)} {cpu_usage:5.2f}% ({exp}%) {err}\n" - if len(err) > 0: - cpu_ok = False - result += "------------------------------------------------\n" - - # Ensure there's no missing procs - all_procs = {p.name for p in self.service_msgs['managerState'][0].managerState.processes if p.shouldBeRunning} - for p in all_procs: - with subtests.test(proc=p): - assert any(p in pp for pp in PROCS.keys()), f"Expected CPU usage missing for {p}" - - # total CPU check - procs_tot = sum([(max(x) if isinstance(x, tuple) else x) for x in PROCS.values()]) - with subtests.test(name="total CPU"): - assert procs_tot < MAX_TOTAL_CPU, "Total CPU budget exceeded" - result += "------------------------------------------------\n" - result += f"Total allocated CPU usage is {procs_tot}%, budget is {MAX_TOTAL_CPU}%, {MAX_TOTAL_CPU-procs_tot:.1f}% left\n" - result += "------------------------------------------------\n" - - print(result) - - assert cpu_ok - - def test_memory_usage(self): - mems = [m.deviceState.memoryUsagePercent for m in self.service_msgs['deviceState']] - print("Memory usage: ", mems) - - # check for big leaks. note that memory usage is - # expected to go up while the MSGQ buffers fill up - assert max(mems) - min(mems) <= 3.0 - - def test_gpu_usage(self): - assert self.gpu_procs == {"weston", "ui", "camerad", "selfdrive.modeld.modeld"} - - def test_camera_processing_time(self): - result = "\n" - result += "------------------------------------------------\n" - result += "-------------- ImgProc Timing ------------------\n" - result += "------------------------------------------------\n" - - ts = [getattr(m, m.which()).processingTime for m in self.lr if 'CameraState' in m.which()] - assert min(ts) < 0.025, f"high execution time: {min(ts)}" - result += f"execution time: min {min(ts):.5f}s\n" - result += f"execution time: max {max(ts):.5f}s\n" - result += f"execution time: mean {np.mean(ts):.5f}s\n" - result += "------------------------------------------------\n" - print(result) - - @pytest.mark.skip("TODO: enable once timings are fixed") - def test_camera_frame_timings(self): - result = "\n" - result += "------------------------------------------------\n" - result += "----------------- SoF Timing ------------------\n" - result += "------------------------------------------------\n" - for name in ['roadCameraState', 'wideRoadCameraState', 'driverCameraState']: - ts = [getattr(m, m.which()).timestampSof for m in self.lr if name in m.which()] - d_ms = np.diff(ts) / 1e6 - d50 = np.abs(d_ms-50) - assert max(d50) < 1.0, f"high sof delta vs 50ms: {max(d50)}" - result += f"{name} sof delta vs 50ms: min {min(d50):.5f}s\n" - result += f"{name} sof delta vs 50ms: max {max(d50):.5f}s\n" - result += f"{name} sof delta vs 50ms: mean {d50.mean():.5f}s\n" - result += "------------------------------------------------\n" - print(result) - - def test_mpc_execution_timings(self): - result = "\n" - result += "------------------------------------------------\n" - result += "----------------- MPC Timing ------------------\n" - result += "------------------------------------------------\n" - - cfgs = [("longitudinalPlan", 0.05, 0.05),] - for (s, instant_max, avg_max) in cfgs: - ts = [getattr(m, s).solverExecutionTime for m in self.service_msgs[s]] - assert max(ts) < instant_max, f"high '{s}' execution time: {max(ts)}" - assert np.mean(ts) < avg_max, f"high avg '{s}' execution time: {np.mean(ts)}" - result += f"'{s}' execution time: min {min(ts):.5f}s\n" - result += f"'{s}' execution time: max {max(ts):.5f}s\n" - result += f"'{s}' execution time: mean {np.mean(ts):.5f}s\n" - result += "------------------------------------------------\n" - print(result) - - def test_model_execution_timings(self): - result = "\n" - result += "------------------------------------------------\n" - result += "----------------- Model Timing -----------------\n" - result += "------------------------------------------------\n" - # TODO: this went up when plannerd cpu usage increased, why? - cfgs = [ - ("modelV2", 0.050, 0.036), - ("driverStateV2", 0.050, 0.026), - ] - for (s, instant_max, avg_max) in cfgs: - ts = [getattr(m, s).modelExecutionTime for m in self.service_msgs[s]] - assert max(ts) < instant_max, f"high '{s}' execution time: {max(ts)}" - assert np.mean(ts) < avg_max, f"high avg '{s}' execution time: {np.mean(ts)}" - result += f"'{s}' execution time: min {min(ts):.5f}s\n" - result += f"'{s}' execution time: max {max(ts):.5f}s\n" - result += f"'{s}' execution time: mean {np.mean(ts):.5f}s\n" - result += "------------------------------------------------\n" - print(result) - - def test_timings(self): - passed = True - result = "\n" - result += "------------------------------------------------\n" - result += "----------------- Service Timings --------------\n" - result += "------------------------------------------------\n" - for s, (maxmin, rsd) in TIMINGS.items(): - msgs = [m.logMonoTime for m in self.service_msgs[s]] - if not len(msgs): - raise Exception(f"missing {s}") - - ts = np.diff(msgs) / 1e9 - dt = 1 / SERVICE_LIST[s].frequency - - try: - np.testing.assert_allclose(np.mean(ts), dt, rtol=0.03, err_msg=f"{s} - failed mean timing check") - np.testing.assert_allclose([np.max(ts), np.min(ts)], dt, rtol=maxmin, err_msg=f"{s} - failed max/min timing check") - except Exception as e: - result += str(e) + "\n" - passed = False - - if np.std(ts) / dt > rsd: - result += f"{s} - failed RSD timing check\n" - passed = False - - result += f"{s.ljust(40)}: {np.array([np.mean(ts), np.max(ts), np.min(ts)])*1e3}\n" - result += f"{''.ljust(40)} {np.max(np.absolute([np.max(ts)/dt, np.min(ts)/dt]))} {np.std(ts)/dt}\n" - result += "="*67 - print(result) - assert passed - - @release_only - def test_startup(self): - startup_alert = None - for msg in self.lrs[0]: - # can't use onroadEvents because the first msg can be dropped while loggerd is starting up - if msg.which() == "controlsState": - startup_alert = msg.controlsState.alertText1 - break - expected = EVENTS[car.CarEvent.EventName.startup][ET.PERMANENT].alert_text_1 - assert startup_alert == expected, "wrong startup alert" - - def test_engagable(self): - no_entries = Counter() - for m in self.service_msgs['onroadEvents']: - for evt in m.onroadEvents: - if evt.noEntry: - no_entries[evt.name] += 1 - - eng = [m.controlsState.engageable for m in self.service_msgs['controlsState']] - assert all(eng), \ - f"Not engageable for whole segment:\n- controlsState.engageable: {Counter(eng)}\n- No entry events: {no_entries}" diff --git a/selfdrive/test/test_time_to_onroad.py b/selfdrive/test/test_time_to_onroad.py deleted file mode 100644 index e08d0e676cf974..00000000000000 --- a/selfdrive/test/test_time_to_onroad.py +++ /dev/null @@ -1,58 +0,0 @@ -import os -import pytest -import time -import subprocess - -from cereal import car -import cereal.messaging as messaging -from openpilot.common.basedir import BASEDIR -from openpilot.common.timeout import Timeout -from openpilot.selfdrive.test.helpers import set_params_enabled - -EventName = car.CarEvent.EventName - - -@pytest.mark.tici -def test_time_to_onroad(): - # launch - set_params_enabled() - manager_path = os.path.join(BASEDIR, "system/manager/manager.py") - proc = subprocess.Popen(["python", manager_path]) - - start_time = time.monotonic() - sm = messaging.SubMaster(['controlsState', 'deviceState', 'onroadEvents']) - try: - # wait for onroad. timeout assumes panda is up to date - with Timeout(10, "timed out waiting to go onroad"): - while not sm['deviceState'].started: - sm.update(100) - - # wait for engageability - try: - with Timeout(10, "timed out waiting for engageable"): - initialized = False - while True: - sm.update(100) - - if sm.seen['onroadEvents'] and not any(EventName.controlsInitializing == e.name for e in sm['onroadEvents']): - initialized = True - - if initialized: - sm.update(100) - assert sm['controlsState'].engageable, f"events: {sm['onroadEvents']}" - break - finally: - print(f"onroad events: {sm['onroadEvents']}") - print(f"engageable after {time.monotonic() - start_time:.2f}s") - - # once we're enageable, must stay for the next few seconds - st = time.monotonic() - while (time.monotonic() - st) < 10.: - sm.update(100) - assert sm.all_alive(), sm.alive - assert sm['controlsState'].engageable, f"events: {sm['onroadEvents']}" - assert sm['controlsState'].cumLagMs < 10. - finally: - proc.terminate() - if proc.wait(20) is None: - proc.kill() diff --git a/selfdrive/test/test_updated.py b/selfdrive/test/test_updated.py deleted file mode 100644 index f8eae94823420f..00000000000000 --- a/selfdrive/test/test_updated.py +++ /dev/null @@ -1,296 +0,0 @@ -import datetime -import os -import pytest -import time -import tempfile -import shutil -import signal -import subprocess -import random - -from openpilot.common.basedir import BASEDIR -from openpilot.common.params import Params - - -@pytest.mark.tici -class TestUpdated: - - def setup_method(self): - self.updated_proc = None - - self.tmp_dir = tempfile.TemporaryDirectory() - org_dir = os.path.join(self.tmp_dir.name, "commaai") - - self.basedir = os.path.join(org_dir, "openpilot") - self.git_remote_dir = os.path.join(org_dir, "openpilot_remote") - self.staging_dir = os.path.join(org_dir, "safe_staging") - for d in [org_dir, self.basedir, self.git_remote_dir, self.staging_dir]: - os.mkdir(d) - - self.neos_version = os.path.join(org_dir, "neos_version") - self.neosupdate_dir = os.path.join(org_dir, "neosupdate") - with open(self.neos_version, "w") as f: - v = subprocess.check_output(r"bash -c 'source launch_env.sh && echo $REQUIRED_NEOS_VERSION'", - cwd=BASEDIR, shell=True, encoding='utf8').strip() - f.write(v) - - self.upper_dir = os.path.join(self.staging_dir, "upper") - self.merged_dir = os.path.join(self.staging_dir, "merged") - self.finalized_dir = os.path.join(self.staging_dir, "finalized") - - # setup local submodule remotes - submodules = subprocess.check_output("git submodule --quiet foreach 'echo $name'", - shell=True, cwd=BASEDIR, encoding='utf8').split() - for s in submodules: - sub_path = os.path.join(org_dir, s.split("_repo")[0]) - self._run(f"git clone {s} {sub_path}.git", cwd=BASEDIR) - - # setup two git repos, a remote and one we'll run updated in - self._run([ - f"git clone {BASEDIR} {self.git_remote_dir}", - f"git clone {self.git_remote_dir} {self.basedir}", - f"cd {self.basedir} && git submodule init && git submodule update", - f"cd {self.basedir} && scons -j{os.cpu_count()} cereal/ common/" - ]) - - self.params = Params(os.path.join(self.basedir, "persist/params")) - self.params.clear_all() - os.sync() - - def teardown_method(self): - try: - if self.updated_proc is not None: - self.updated_proc.terminate() - self.updated_proc.wait(30) - except Exception as e: - print(e) - self.tmp_dir.cleanup() - - - # *** test helpers *** - - - def _run(self, cmd, cwd=None): - if not isinstance(cmd, list): - cmd = (cmd,) - - for c in cmd: - subprocess.check_output(c, cwd=cwd, shell=True) - - def _get_updated_proc(self): - os.environ["PYTHONPATH"] = self.basedir - os.environ["GIT_AUTHOR_NAME"] = "testy tester" - os.environ["GIT_COMMITTER_NAME"] = "testy tester" - os.environ["GIT_AUTHOR_EMAIL"] = "testy@tester.test" - os.environ["GIT_COMMITTER_EMAIL"] = "testy@tester.test" - os.environ["UPDATER_TEST_IP"] = "localhost" - os.environ["UPDATER_LOCK_FILE"] = os.path.join(self.tmp_dir.name, "updater.lock") - os.environ["UPDATER_STAGING_ROOT"] = self.staging_dir - os.environ["UPDATER_NEOS_VERSION"] = self.neos_version - os.environ["UPDATER_NEOSUPDATE_DIR"] = self.neosupdate_dir - updated_path = os.path.join(self.basedir, "system/updated.py") - return subprocess.Popen(updated_path, env=os.environ) - - def _start_updater(self, offroad=True, nosleep=False): - self.params.put_bool("IsOffroad", offroad) - self.updated_proc = self._get_updated_proc() - if not nosleep: - time.sleep(1) - - def _update_now(self): - self.updated_proc.send_signal(signal.SIGHUP) - - # TODO: this should be implemented in params - def _read_param(self, key, timeout=1): - ret = None - start_time = time.monotonic() - while ret is None: - ret = self.params.get(key, encoding='utf8') - if time.monotonic() - start_time > timeout: - break - time.sleep(0.01) - return ret - - def _wait_for_update(self, timeout=30, clear_param=False): - if clear_param: - self.params.remove("LastUpdateTime") - - self._update_now() - t = self._read_param("LastUpdateTime", timeout=timeout) - if t is None: - raise Exception("timed out waiting for update to complete") - - def _make_commit(self): - all_dirs, all_files = [], [] - for root, dirs, files in os.walk(self.git_remote_dir): - if ".git" in root: - continue - for d in dirs: - all_dirs.append(os.path.join(root, d)) - for f in files: - all_files.append(os.path.join(root, f)) - - # make a new dir and some new files - new_dir = os.path.join(self.git_remote_dir, "this_is_a_new_dir") - os.mkdir(new_dir) - for _ in range(random.randrange(5, 30)): - for d in (new_dir, random.choice(all_dirs)): - with tempfile.NamedTemporaryFile(dir=d, delete=False) as f: - f.write(os.urandom(random.randrange(1, 1000000))) - - # modify some files - for f in random.sample(all_files, random.randrange(5, 50)): - with open(f, "w+") as ff: - txt = ff.readlines() - ff.seek(0) - for line in txt: - ff.write(line[::-1]) - - # remove some files - for f in random.sample(all_files, random.randrange(5, 50)): - os.remove(f) - - # remove some dirs - for d in random.sample(all_dirs, random.randrange(1, 10)): - shutil.rmtree(d) - - # commit the changes - self._run([ - "git add -A", - "git commit -m 'an update'", - ], cwd=self.git_remote_dir) - - def _check_update_state(self, update_available): - # make sure LastUpdateTime is recent - t = self._read_param("LastUpdateTime") - last_update_time = datetime.datetime.fromisoformat(t) - td = datetime.datetime.utcnow() - last_update_time - assert td.total_seconds() < 10 - self.params.remove("LastUpdateTime") - - # wait a bit for the rest of the params to be written - time.sleep(0.1) - - # check params - update = self._read_param("UpdateAvailable") - assert update == "1" == update_available, f"UpdateAvailable: {repr(update)}" - assert self._read_param("UpdateFailedCount") == "0" - - # TODO: check that the finalized update actually matches remote - # check the .overlay_init and .overlay_consistent flags - assert os.path.isfile(os.path.join(self.basedir, ".overlay_init")) - assert os.path.isfile(os.path.join(self.finalized_dir, ".overlay_consistent")) == update_available - - - # *** test cases *** - - - # Run updated for 100 cycles with no update - def test_no_update(self): - self._start_updater() - for _ in range(100): - self._wait_for_update(clear_param=True) - self._check_update_state(False) - - # Let the updater run with no update for a cycle, then write an update - def test_update(self): - self._start_updater() - - # run for a cycle with no update - self._wait_for_update(clear_param=True) - self._check_update_state(False) - - # write an update to our remote - self._make_commit() - - # run for a cycle to get the update - self._wait_for_update(timeout=60, clear_param=True) - self._check_update_state(True) - - # run another cycle with no update - self._wait_for_update(clear_param=True) - self._check_update_state(True) - - # Let the updater run for 10 cycles, and write an update every cycle - @pytest.mark.skip("need to make this faster") - def test_update_loop(self): - self._start_updater() - - # run for a cycle with no update - self._wait_for_update(clear_param=True) - for _ in range(10): - time.sleep(0.5) - self._make_commit() - self._wait_for_update(timeout=90, clear_param=True) - self._check_update_state(True) - - # Test overlay re-creation after tracking a new file in basedir's git - def test_overlay_reinit(self): - self._start_updater() - - overlay_init_fn = os.path.join(self.basedir, ".overlay_init") - - # run for a cycle with no update - self._wait_for_update(clear_param=True) - self.params.remove("LastUpdateTime") - first_mtime = os.path.getmtime(overlay_init_fn) - - # touch a file in the basedir - self._run("touch new_file && git add new_file", cwd=self.basedir) - - # run another cycle, should have a new mtime - self._wait_for_update(clear_param=True) - second_mtime = os.path.getmtime(overlay_init_fn) - assert first_mtime != second_mtime - - # run another cycle, mtime should be same as last cycle - self._wait_for_update(clear_param=True) - new_mtime = os.path.getmtime(overlay_init_fn) - assert second_mtime == new_mtime - - # Make sure updated exits if another instance is running - def test_multiple_instances(self): - # start updated and let it run for a cycle - self._start_updater() - time.sleep(1) - self._wait_for_update(clear_param=True) - - # start another instance - second_updated = self._get_updated_proc() - ret_code = second_updated.wait(timeout=5) - assert ret_code is not None - - - # *** test cases with NEOS updates *** - - - # Run updated with no update, make sure it clears the old NEOS update - def test_clear_neos_cache(self): - # make the dir and some junk files - os.mkdir(self.neosupdate_dir) - for _ in range(15): - with tempfile.NamedTemporaryFile(dir=self.neosupdate_dir, delete=False) as f: - f.write(os.urandom(random.randrange(1, 1000000))) - - self._start_updater() - self._wait_for_update(clear_param=True) - self._check_update_state(False) - assert not os.path.isdir(self.neosupdate_dir) - - # Let the updater run with no update for a cycle, then write an update - @pytest.mark.skip("TODO: only runs on device") - def test_update_with_neos_update(self): - # bump the NEOS version and commit it - self._run([ - "echo 'export REQUIRED_NEOS_VERSION=3' >> launch_env.sh", - "git -c user.name='testy' -c user.email='testy@tester.test' \ - commit -am 'a neos update'", - ], cwd=self.git_remote_dir) - - # run for a cycle to get the update - self._start_updater() - self._wait_for_update(timeout=60, clear_param=True) - self._check_update_state(True) - - # TODO: more comprehensive check - assert os.path.isdir(self.neosupdate_dir) diff --git a/selfdrive/test/update_ci_routes.py b/selfdrive/test/update_ci_routes.py deleted file mode 100755 index a9f4494ffd9aa6..00000000000000 --- a/selfdrive/test/update_ci_routes.py +++ /dev/null @@ -1,84 +0,0 @@ -#!/usr/bin/env python3 -import os -import re -import subprocess -import sys -from collections.abc import Iterable - -from tqdm import tqdm - -from openpilot.selfdrive.car.tests.routes import routes as test_car_models_routes -from openpilot.selfdrive.test.process_replay.test_processes import source_segments as replay_segments -from openpilot.tools.lib.azure_container import AzureContainer -from openpilot.tools.lib.openpilotcontainers import DataCIContainer, DataProdContainer, OpenpilotCIContainer - -SOURCES: list[AzureContainer] = [ - DataProdContainer, - DataCIContainer -] - -DEST = OpenpilotCIContainer - -def upload_route(path: str, exclude_patterns: Iterable[str] = None) -> None: - if exclude_patterns is None: - exclude_patterns = [r'dcamera\.hevc'] - - r, n = path.rsplit("--", 1) - r = '/'.join(r.split('/')[-2:]) # strip out anything extra in the path - destpath = f"{r}/{n}" - for file in os.listdir(path): - if any(re.search(pattern, file) for pattern in exclude_patterns): - continue - DEST.upload_file(os.path.join(path, file), f"{destpath}/{file}") - - -def sync_to_ci_public(route: str) -> bool: - dest_container, dest_key = DEST.get_client_and_key() - key_prefix = route.replace('|', '/') - dongle_id = key_prefix.split('/')[0] - - if next(dest_container.list_blob_names(name_starts_with=key_prefix), None) is not None: - return True - - print(f"Uploading {route}") - for source_container in SOURCES: - # assumes az login has been run - print(f"Trying {source_container.ACCOUNT}/{source_container.CONTAINER}") - _, source_key = source_container.get_client_and_key() - cmd = [ - "azcopy", - "copy", - f"{source_container.BASE_URL}{key_prefix}?{source_key}", - f"{DEST.BASE_URL}{dongle_id}?{dest_key}", - "--recursive=true", - "--overwrite=false", - "--exclude-pattern=*/dcamera.hevc", - ] - - try: - result = subprocess.call(cmd, stdout=subprocess.DEVNULL) - if result == 0: - print("Success") - return True - except subprocess.CalledProcessError: - print("Failed") - - return False - - -if __name__ == "__main__": - failed_routes = [] - - to_sync = sys.argv[1:] - - if not len(to_sync): - # sync routes from the car tests routes and process replay - to_sync.extend([rt.route for rt in test_car_models_routes]) - to_sync.extend([s[1].rsplit('--', 1)[0] for s in replay_segments]) - - for r in tqdm(to_sync): - if not sync_to_ci_public(r): - failed_routes.append(r) - - if len(failed_routes): - print("failed routes:", failed_routes) diff --git a/selfdrive/ui/_spinner b/selfdrive/ui/_spinner new file mode 100755 index 00000000000000..26a660d30a1256 Binary files /dev/null and b/selfdrive/ui/_spinner differ diff --git a/selfdrive/ui/_text b/selfdrive/ui/_text new file mode 100755 index 00000000000000..ca8ecdee1a9fd0 Binary files /dev/null and b/selfdrive/ui/_text differ diff --git a/selfdrive/ui/installer/installer.cc b/selfdrive/ui/installer/installer.cc deleted file mode 100644 index d43ed37ae8aa92..00000000000000 --- a/selfdrive/ui/installer/installer.cc +++ /dev/null @@ -1,221 +0,0 @@ -#include -#include - -#include -#include -#include -#include - -#include -#include -#include -#include - -#include "selfdrive/ui/installer/installer.h" -#include "selfdrive/ui/qt/util.h" -#include "selfdrive/ui/qt/qt_window.h" - -std::string get_str(std::string const s) { - std::string::size_type pos = s.find('?'); - assert(pos != std::string::npos); - return s.substr(0, pos); -} - -// Leave some extra space for the fork installer -const std::string GIT_URL = get_str("https://github.com/commaai/openpilot.git" "? "); -const std::string BRANCH_STR = get_str(BRANCH "? "); - -#define GIT_SSH_URL "git@github.com:commaai/openpilot.git" -#define CONTINUE_PATH "/data/continue.sh" - -const QString CACHE_PATH = "/data/openpilot.cache"; - -#define INSTALL_PATH "/data/openpilot" -#define TMP_INSTALL_PATH "/data/tmppilot" - -extern const uint8_t str_continue[] asm("_binary_selfdrive_ui_installer_continue_openpilot_sh_start"); -extern const uint8_t str_continue_end[] asm("_binary_selfdrive_ui_installer_continue_openpilot_sh_end"); - -bool time_valid() { - time_t rawtime; - time(&rawtime); - - struct tm * sys_time = gmtime(&rawtime); - return (1900 + sys_time->tm_year) >= 2020; -} - -void run(const char* cmd) { - int err = std::system(cmd); - assert(err == 0); -} - -Installer::Installer(QWidget *parent) : QWidget(parent) { - QVBoxLayout *layout = new QVBoxLayout(this); - layout->setContentsMargins(150, 290, 150, 150); - layout->setSpacing(0); - - QLabel *title = new QLabel(tr("Installing...")); - title->setStyleSheet("font-size: 90px; font-weight: 600;"); - layout->addWidget(title, 0, Qt::AlignTop); - - layout->addSpacing(170); - - bar = new QProgressBar(); - bar->setRange(0, 100); - bar->setTextVisible(false); - bar->setFixedHeight(72); - layout->addWidget(bar, 0, Qt::AlignTop); - - layout->addSpacing(30); - - val = new QLabel("0%"); - val->setStyleSheet("font-size: 70px; font-weight: 300;"); - layout->addWidget(val, 0, Qt::AlignTop); - - layout->addStretch(); - - QObject::connect(&proc, QOverload::of(&QProcess::finished), this, &Installer::cloneFinished); - QObject::connect(&proc, &QProcess::readyReadStandardError, this, &Installer::readProgress); - - QTimer::singleShot(100, this, &Installer::doInstall); - - setStyleSheet(R"( - * { - font-family: Inter; - color: white; - background-color: black; - } - QProgressBar { - border: none; - background-color: #292929; - } - QProgressBar::chunk { - background-color: #364DEF; - } - )"); -} - -void Installer::updateProgress(int percent) { - bar->setValue(percent); - val->setText(QString("%1%").arg(percent)); - update(); -} - -void Installer::doInstall() { - // wait for valid time - while (!time_valid()) { - usleep(500 * 1000); - qDebug() << "Waiting for valid time"; - } - - // cleanup previous install attempts - run("rm -rf " TMP_INSTALL_PATH " " INSTALL_PATH); - - // do the install - if (QDir(CACHE_PATH).exists()) { - cachedFetch(CACHE_PATH); - } else { - freshClone(); - } -} - -void Installer::freshClone() { - qDebug() << "Doing fresh clone"; - proc.start("git", {"clone", "--progress", GIT_URL.c_str(), "-b", BRANCH_STR.c_str(), - "--depth=1", "--recurse-submodules", TMP_INSTALL_PATH}); -} - -void Installer::cachedFetch(const QString &cache) { - qDebug() << "Fetching with cache: " << cache; - - run(QString("cp -rp %1 %2").arg(cache, TMP_INSTALL_PATH).toStdString().c_str()); - int err = chdir(TMP_INSTALL_PATH); - assert(err == 0); - run(("git remote set-branches --add origin " + BRANCH_STR).c_str()); - - updateProgress(10); - - proc.setWorkingDirectory(TMP_INSTALL_PATH); - proc.start("git", {"fetch", "--progress", "origin", BRANCH_STR.c_str()}); -} - -void Installer::readProgress() { - const QVector> stages = { - // prefix, weight in percentage - {"Receiving objects: ", 91}, - {"Resolving deltas: ", 2}, - {"Updating files: ", 7}, - }; - - auto line = QString(proc.readAllStandardError()); - - int base = 0; - for (const QPair kv : stages) { - if (line.startsWith(kv.first)) { - auto perc = line.split(kv.first)[1].split("%")[0]; - int p = base + int(perc.toFloat() / 100. * kv.second); - updateProgress(p); - break; - } - base += kv.second; - } -} - -void Installer::cloneFinished(int exitCode, QProcess::ExitStatus exitStatus) { - qDebug() << "git finished with " << exitCode; - assert(exitCode == 0); - - updateProgress(100); - - // ensure correct branch is checked out - int err = chdir(TMP_INSTALL_PATH); - assert(err == 0); - run(("git checkout " + BRANCH_STR).c_str()); - run(("git reset --hard origin/" + BRANCH_STR).c_str()); - run("git submodule update --init"); - - // move into place - run("mv " TMP_INSTALL_PATH " " INSTALL_PATH); - -#ifdef INTERNAL - run("mkdir -p /data/params/d/"); - - std::map params = { - {"SshEnabled", "1"}, - {"RecordFrontLock", "1"}, - {"GithubSshKeys", SSH_KEYS}, - }; - for (const auto& [key, value] : params) { - std::ofstream param; - param.open("/data/params/d/" + key); - param << value; - param.close(); - } - run("cd " INSTALL_PATH " && " - "git remote set-url origin --push " GIT_SSH_URL " && " - "git config --replace-all remote.origin.fetch \"+refs/heads/*:refs/remotes/origin/*\""); -#endif - - // write continue.sh - FILE *of = fopen("/data/continue.sh.new", "wb"); - assert(of != NULL); - - size_t num = str_continue_end - str_continue; - size_t num_written = fwrite(str_continue, 1, num, of); - assert(num == num_written); - fclose(of); - - run("chmod +x /data/continue.sh.new"); - run("mv /data/continue.sh.new " CONTINUE_PATH); - - // wait for the installed software's UI to take over - QTimer::singleShot(60 * 1000, &QCoreApplication::quit); -} - -int main(int argc, char *argv[]) { - initApp(argc, argv); - QApplication a(argc, argv); - Installer installer; - setMainWindow(&installer); - return a.exec(); -} diff --git a/selfdrive/ui/installer/installer.h b/selfdrive/ui/installer/installer.h deleted file mode 100644 index de3af0ff395021..00000000000000 --- a/selfdrive/ui/installer/installer.h +++ /dev/null @@ -1,28 +0,0 @@ -#pragma once - -#include -#include -#include -#include - -class Installer : public QWidget { - Q_OBJECT - -public: - explicit Installer(QWidget *parent = 0); - -private slots: - void updateProgress(int percent); - - void readProgress(); - void cloneFinished(int exitCode, QProcess::ExitStatus exitStatus); - -private: - QLabel *val; - QProgressBar *bar; - QProcess proc; - - void doInstall(); - void freshClone(); - void cachedFetch(const QString &cache); -}; diff --git a/selfdrive/ui/main.cc b/selfdrive/ui/main.cc deleted file mode 100644 index 4903a3db3dcc07..00000000000000 --- a/selfdrive/ui/main.cc +++ /dev/null @@ -1,30 +0,0 @@ -#include - -#include -#include - -#include "system/hardware/hw.h" -#include "selfdrive/ui/qt/qt_window.h" -#include "selfdrive/ui/qt/util.h" -#include "selfdrive/ui/qt/window.h" - -int main(int argc, char *argv[]) { - setpriority(PRIO_PROCESS, 0, -20); - - qInstallMessageHandler(swagLogMessageHandler); - initApp(argc, argv); - - QTranslator translator; - QString translation_file = QString::fromStdString(Params().get("LanguageSetting")); - if (!translator.load(QString(":/%1").arg(translation_file)) && translation_file.length()) { - qCritical() << "Failed to load translation file:" << translation_file; - } - - QApplication a(argc, argv); - a.installTranslator(&translator); - - MainWindow w; - setMainWindow(&w); - a.installEventFilter(&w); - return a.exec(); -} diff --git a/selfdrive/ui/mui.cc b/selfdrive/ui/mui.cc deleted file mode 100644 index 98029ee3114d4f..00000000000000 --- a/selfdrive/ui/mui.cc +++ /dev/null @@ -1,50 +0,0 @@ -#include -#include -#include - -#include "cereal/messaging/messaging.h" -#include "selfdrive/ui/ui.h" -#include "selfdrive/ui/qt/qt_window.h" - -int main(int argc, char *argv[]) { - QApplication a(argc, argv); - QWidget w; - setMainWindow(&w); - - w.setStyleSheet("background-color: black;"); - - // our beautiful UI - QVBoxLayout *layout = new QVBoxLayout(&w); - QLabel *label = new QLabel("〇"); - layout->addWidget(label, 0, Qt::AlignCenter); - - QTimer timer; - QObject::connect(&timer, &QTimer::timeout, [=]() { - static SubMaster sm({"deviceState", "controlsState"}); - - bool onroad_prev = sm.allAliveAndValid({"deviceState"}) && - sm["deviceState"].getDeviceState().getStarted(); - sm.update(0); - - bool onroad = sm.allAliveAndValid({"deviceState"}) && - sm["deviceState"].getDeviceState().getStarted(); - - if (onroad) { - label->setText("〇"); - auto cs = sm["controlsState"].getControlsState(); - UIStatus status = cs.getEnabled() ? STATUS_ENGAGED : STATUS_DISENGAGED; - label->setStyleSheet(QString("color: %1; font-size: 250px;").arg(bg_colors[status].name())); - } else { - label->setText("offroad"); - label->setStyleSheet("color: grey; font-size: 40px;"); - } - - if ((onroad != onroad_prev) || sm.frame < 2) { - Hardware::set_brightness(50); - Hardware::set_display_power(onroad); - } - }); - timer.start(50); - - return a.exec(); -} diff --git a/selfdrive/ui/qt/api.cc b/selfdrive/ui/qt/api.cc deleted file mode 100644 index 6889b40e51518b..00000000000000 --- a/selfdrive/ui/qt/api.cc +++ /dev/null @@ -1,142 +0,0 @@ -#include "selfdrive/ui/qt/api.h" - -#include -#include - -#include -#include -#include -#include -#include -#include - -#include -#include - -#include "common/util.h" -#include "system/hardware/hw.h" -#include "selfdrive/ui/qt/util.h" - -namespace CommaApi { - -RSA *get_rsa_private_key() { - static std::unique_ptr rsa_private(nullptr, RSA_free); - if (!rsa_private) { - FILE *fp = fopen(Path::rsa_file().c_str(), "rb"); - if (!fp) { - qDebug() << "No RSA private key found, please run manager.py or registration.py"; - return nullptr; - } - rsa_private.reset(PEM_read_RSAPrivateKey(fp, NULL, NULL, NULL)); - fclose(fp); - } - return rsa_private.get(); -} - -QByteArray rsa_sign(const QByteArray &data) { - RSA *rsa_private = get_rsa_private_key(); - if (!rsa_private) return {}; - - QByteArray sig(RSA_size(rsa_private), Qt::Uninitialized); - unsigned int sig_len; - int ret = RSA_sign(NID_sha256, (unsigned char*)data.data(), data.size(), (unsigned char*)sig.data(), &sig_len, rsa_private); - assert(ret == 1); - assert(sig.size() == sig_len); - return sig; -} - -QString create_jwt(const QJsonObject &payloads, int expiry) { - QJsonObject header = {{"alg", "RS256"}}; - - auto t = QDateTime::currentSecsSinceEpoch(); - QJsonObject payload = {{"identity", getDongleId().value_or("")}, {"nbf", t}, {"iat", t}, {"exp", t + expiry}}; - for (auto it = payloads.begin(); it != payloads.end(); ++it) { - payload.insert(it.key(), it.value()); - } - - auto b64_opts = QByteArray::Base64UrlEncoding | QByteArray::OmitTrailingEquals; - QString jwt = QJsonDocument(header).toJson(QJsonDocument::Compact).toBase64(b64_opts) + '.' + - QJsonDocument(payload).toJson(QJsonDocument::Compact).toBase64(b64_opts); - - auto hash = QCryptographicHash::hash(jwt.toUtf8(), QCryptographicHash::Sha256); - return jwt + "." + rsa_sign(hash).toBase64(b64_opts); -} - -} // namespace CommaApi - -HttpRequest::HttpRequest(QObject *parent, bool create_jwt, int timeout) : create_jwt(create_jwt), QObject(parent) { - networkTimer = new QTimer(this); - networkTimer->setSingleShot(true); - networkTimer->setInterval(timeout); - connect(networkTimer, &QTimer::timeout, this, &HttpRequest::requestTimeout); -} - -bool HttpRequest::active() const { - return reply != nullptr; -} - -bool HttpRequest::timeout() const { - return reply && reply->error() == QNetworkReply::OperationCanceledError; -} - -void HttpRequest::sendRequest(const QString &requestURL, const HttpRequest::Method method) { - if (active()) { - qDebug() << "HttpRequest is active"; - return; - } - QString token; - if (create_jwt) { - token = CommaApi::create_jwt(); - } else { - QString token_json = QString::fromStdString(util::read_file(util::getenv("HOME") + "/.comma/auth.json")); - QJsonDocument json_d = QJsonDocument::fromJson(token_json.toUtf8()); - token = json_d["access_token"].toString(); - } - - QNetworkRequest request; - request.setUrl(QUrl(requestURL)); - request.setRawHeader("User-Agent", getUserAgent().toUtf8()); - - if (!token.isEmpty()) { - request.setRawHeader(QByteArray("Authorization"), ("JWT " + token).toUtf8()); - } - - if (method == HttpRequest::Method::GET) { - reply = nam()->get(request); - } else if (method == HttpRequest::Method::DELETE) { - reply = nam()->deleteResource(request); - } - - networkTimer->start(); - connect(reply, &QNetworkReply::finished, this, &HttpRequest::requestFinished); -} - -void HttpRequest::requestTimeout() { - reply->abort(); -} - -void HttpRequest::requestFinished() { - networkTimer->stop(); - - if (reply->error() == QNetworkReply::NoError) { - emit requestDone(reply->readAll(), true, reply->error()); - } else { - QString error; - if (reply->error() == QNetworkReply::OperationCanceledError) { - nam()->clearAccessCache(); - nam()->clearConnectionCache(); - error = "Request timed out"; - } else { - error = reply->errorString(); - } - emit requestDone(error, false, reply->error()); - } - - reply->deleteLater(); - reply = nullptr; -} - -QNetworkAccessManager *HttpRequest::nam() { - static QNetworkAccessManager *networkAccessManager = new QNetworkAccessManager(qApp); - return networkAccessManager; -} diff --git a/selfdrive/ui/qt/api.h b/selfdrive/ui/qt/api.h deleted file mode 100644 index ad64d7e7228320..00000000000000 --- a/selfdrive/ui/qt/api.h +++ /dev/null @@ -1,47 +0,0 @@ -#pragma once - -#include -#include -#include -#include - -#include "common/util.h" - -namespace CommaApi { - -const QString BASE_URL = util::getenv("API_HOST", "https://api.commadotai.com").c_str(); -QByteArray rsa_sign(const QByteArray &data); -QString create_jwt(const QJsonObject &payloads = {}, int expiry = 3600); - -} // namespace CommaApi - -/** - * Makes a request to the request endpoint. - */ - -class HttpRequest : public QObject { - Q_OBJECT - -public: - enum class Method {GET, DELETE}; - - explicit HttpRequest(QObject* parent, bool create_jwt = true, int timeout = 20000); - void sendRequest(const QString &requestURL, const Method method = Method::GET); - bool active() const; - bool timeout() const; - -signals: - void requestDone(const QString &response, bool success, QNetworkReply::NetworkError error); - -protected: - QNetworkReply *reply = nullptr; - -private: - static QNetworkAccessManager *nam(); - QTimer *networkTimer = nullptr; - bool create_jwt; - -private slots: - void requestTimeout(); - void requestFinished(); -}; diff --git a/selfdrive/ui/qt/body.cc b/selfdrive/ui/qt/body.cc deleted file mode 100644 index e01adbe0637811..00000000000000 --- a/selfdrive/ui/qt/body.cc +++ /dev/null @@ -1,161 +0,0 @@ -#include "selfdrive/ui/qt/body.h" - -#include -#include - -#include -#include - -#include "common/params.h" -#include "common/timing.h" - -RecordButton::RecordButton(QWidget *parent) : QPushButton(parent) { - setCheckable(true); - setChecked(false); - setFixedSize(148, 148); - - QObject::connect(this, &QPushButton::toggled, [=]() { - setEnabled(false); - }); -} - -void RecordButton::paintEvent(QPaintEvent *event) { - QPainter p(this); - p.setRenderHint(QPainter::Antialiasing); - - QPoint center(width() / 2, height() / 2); - - QColor bg(isChecked() ? "#FFFFFF" : "#737373"); - QColor accent(isChecked() ? "#FF0000" : "#FFFFFF"); - if (!isEnabled()) { - bg = QColor("#404040"); - accent = QColor("#FFFFFF"); - } - - if (isDown()) { - accent.setAlphaF(0.7); - } - - p.setPen(Qt::NoPen); - p.setBrush(bg); - p.drawEllipse(center, 74, 74); - - p.setPen(QPen(accent, 6)); - p.setBrush(Qt::NoBrush); - p.drawEllipse(center, 42, 42); - - p.setPen(Qt::NoPen); - p.setBrush(accent); - p.drawEllipse(center, 22, 22); -} - - -BodyWindow::BodyWindow(QWidget *parent) : fuel_filter(1.0, 5., 1. / UI_FREQ), QWidget(parent) { - QStackedLayout *layout = new QStackedLayout(this); - layout->setStackingMode(QStackedLayout::StackAll); - - QWidget *w = new QWidget; - QVBoxLayout *vlayout = new QVBoxLayout(w); - vlayout->setMargin(45); - layout->addWidget(w); - - // face - face = new QLabel(); - face->setAlignment(Qt::AlignCenter); - layout->addWidget(face); - awake = new QMovie("../assets/body/awake.gif", {}, this); - awake->setCacheMode(QMovie::CacheAll); - sleep = new QMovie("../assets/body/sleep.gif", {}, this); - sleep->setCacheMode(QMovie::CacheAll); - - // record button - btn = new RecordButton(this); - vlayout->addWidget(btn, 0, Qt::AlignBottom | Qt::AlignRight); - QObject::connect(btn, &QPushButton::clicked, [=](bool checked) { - btn->setEnabled(false); - Params().putBool("DisableLogging", !checked); - last_button = nanos_since_boot(); - }); - w->raise(); - - QObject::connect(uiState(), &UIState::uiUpdate, this, &BodyWindow::updateState); -} - -void BodyWindow::paintEvent(QPaintEvent *event) { - QPainter p(this); - p.setRenderHint(QPainter::Antialiasing); - - p.fillRect(rect(), QColor(0, 0, 0)); - - // battery outline + detail - p.translate(width() - 136, 16); - const QColor gray = QColor("#737373"); - p.setBrush(Qt::NoBrush); - p.setPen(QPen(gray, 4, Qt::SolidLine, Qt::RoundCap, Qt::RoundJoin)); - p.drawRoundedRect(2, 2, 78, 36, 8, 8); - - p.setPen(Qt::NoPen); - p.setBrush(gray); - p.drawRoundedRect(84, 12, 6, 16, 4, 4); - p.drawRect(84, 12, 3, 16); - - // battery level - double fuel = std::clamp(fuel_filter.x(), 0.2f, 1.0f); - const int m = 5; // manual margin since we can't do an inner border - p.setPen(Qt::NoPen); - p.setBrush(fuel > 0.25 ? QColor("#32D74B") : QColor("#FF453A")); - p.drawRoundedRect(2 + m, 2 + m, (78 - 2*m)*fuel, 36 - 2*m, 4, 4); - - // charging status - if (charging) { - p.setPen(Qt::NoPen); - p.setBrush(Qt::white); - const QPolygonF charger({ - QPointF(12.31, 0), - QPointF(12.31, 16.92), - QPointF(18.46, 16.92), - QPointF(6.15, 40), - QPointF(6.15, 23.08), - QPointF(0, 23.08), - }); - p.drawPolygon(charger.translated(98, 0)); - } -} - -void BodyWindow::offroadTransition(bool offroad) { - btn->setChecked(true); - btn->setEnabled(true); - fuel_filter.reset(1.0); -} - -void BodyWindow::updateState(const UIState &s) { - if (!isVisible()) { - return; - } - - const SubMaster &sm = *(s.sm); - auto cs = sm["carState"].getCarState(); - - charging = cs.getCharging(); - fuel_filter.update(cs.getFuelGauge()); - - // TODO: use carState.standstill when that's fixed - const bool standstill = std::abs(cs.getVEgo()) < 0.01; - QMovie *m = standstill ? sleep : awake; - if (m != face->movie()) { - face->setMovie(m); - face->movie()->start(); - } - - // update record button state - if (sm.updated("managerState") && (sm.rcv_time("managerState") - last_button)*1e-9 > 0.5) { - for (auto proc : sm["managerState"].getManagerState().getProcesses()) { - if (proc.getName() == "loggerd") { - btn->setEnabled(true); - btn->setChecked(proc.getRunning()); - } - } - } - - update(); -} diff --git a/selfdrive/ui/qt/body.h b/selfdrive/ui/qt/body.h deleted file mode 100644 index 567a54d49befd5..00000000000000 --- a/selfdrive/ui/qt/body.h +++ /dev/null @@ -1,38 +0,0 @@ -#pragma once - -#include -#include -#include - -#include "common/util.h" -#include "selfdrive/ui/ui.h" - -class RecordButton : public QPushButton { - Q_OBJECT - -public: - RecordButton(QWidget* parent = 0); - -private: - void paintEvent(QPaintEvent*) override; -}; - -class BodyWindow : public QWidget { - Q_OBJECT - -public: - BodyWindow(QWidget* parent = 0); - -private: - bool charging = false; - uint64_t last_button = 0; - FirstOrderFilter fuel_filter; - QLabel *face; - QMovie *awake, *sleep; - RecordButton *btn; - void paintEvent(QPaintEvent*) override; - -private slots: - void updateState(const UIState &s); - void offroadTransition(bool onroad); -}; diff --git a/selfdrive/ui/qt/home.cc b/selfdrive/ui/qt/home.cc deleted file mode 100644 index a5ca809270e93b..00000000000000 --- a/selfdrive/ui/qt/home.cc +++ /dev/null @@ -1,285 +0,0 @@ -#include "selfdrive/ui/qt/home.h" - -#include -#include -#include -#include - -#include "selfdrive/ui/qt/offroad/experimental_mode.h" -#include "selfdrive/ui/qt/util.h" -#include "selfdrive/ui/qt/widgets/prime.h" - -#ifdef ENABLE_MAPS -#include "selfdrive/ui/qt/maps/map_settings.h" -#endif - -#include "selfdrive/frogpilot/ui/qt/widgets/drive_stats.h" -#include "selfdrive/frogpilot/ui/qt/widgets/model_reviewer.h" - -// HomeWindow: the container for the offroad and onroad UIs - -HomeWindow::HomeWindow(QWidget* parent) : QWidget(parent) { - QHBoxLayout *main_layout = new QHBoxLayout(this); - main_layout->setMargin(0); - main_layout->setSpacing(0); - - sidebar = new Sidebar(this); - main_layout->addWidget(sidebar); - QObject::connect(sidebar, &Sidebar::openSettings, this, &HomeWindow::openSettings); - - slayout = new QStackedLayout(); - main_layout->addLayout(slayout); - - home = new OffroadHome(this); - QObject::connect(home, &OffroadHome::openSettings, this, &HomeWindow::openSettings); - slayout->addWidget(home); - - onroad = new OnroadWindow(this); - QObject::connect(onroad, &OnroadWindow::mapPanelRequested, this, [=] { sidebar->hide(); }); - slayout->addWidget(onroad); - - body = new BodyWindow(this); - slayout->addWidget(body); - - driver_view = new DriverViewWindow(this); - connect(driver_view, &DriverViewWindow::done, [=] { - showDriverView(false); - }); - slayout->addWidget(driver_view); - setAttribute(Qt::WA_NoSystemBackground); - QObject::connect(uiState(), &UIState::uiUpdate, this, &HomeWindow::updateState); - QObject::connect(uiState(), &UIState::offroadTransition, this, &HomeWindow::offroadTransition); - QObject::connect(uiState(), &UIState::offroadTransition, sidebar, &Sidebar::offroadTransition); -} - -void HomeWindow::showSidebar(bool show) { - sidebar->setVisible(show); -} - -void HomeWindow::showMapPanel(bool show) { - onroad->showMapPanel(show); -} - -void HomeWindow::updateState(const UIState &s) { - const SubMaster &sm = *(s.sm); - - // switch to the generic robot UI - if (onroad->isVisible() && !body->isEnabled() && sm["carParams"].getCarParams().getNotCar()) { - body->setEnabled(true); - slayout->setCurrentWidget(body); - } - - if (s.scene.started) { - showDriverView(s.scene.driver_camera_timer >= 10, true); - if (s.scene.map_open) { - showSidebar(false); - } - } -} - -void HomeWindow::offroadTransition(bool offroad) { - body->setEnabled(false); - sidebar->setVisible(offroad); - if (offroad) { - slayout->setCurrentWidget(home); - } else { - showSidebar(params.getBool("Sidebar")); - slayout->setCurrentWidget(onroad); - } -} - -void HomeWindow::showDriverView(bool show, bool started) { - if (show) { - emit closeSettings(); - slayout->setCurrentWidget(driver_view); - sidebar->setVisible(show == false); - } else { - if (started) { - slayout->setCurrentWidget(onroad); - sidebar->setVisible(params.getBool("Sidebar")); - } else { - slayout->setCurrentWidget(home); - sidebar->setVisible(show == false); - } - } -} - -void HomeWindow::mousePressEvent(QMouseEvent* e) { - // Handle sidebar collapsing - if ((onroad->isVisible() || body->isVisible()) && (!sidebar->isVisible() || e->x() > sidebar->width())) { - sidebar->setVisible(!sidebar->isVisible() && !onroad->isMapVisible()); - params.putBool("Sidebar", sidebar->isVisible()); - } -} - -void HomeWindow::mouseDoubleClickEvent(QMouseEvent* e) { - HomeWindow::mousePressEvent(e); - const SubMaster &sm = *(uiState()->sm); - if (sm["carParams"].getCarParams().getNotCar()) { - if (onroad->isVisible()) { - slayout->setCurrentWidget(body); - } else if (body->isVisible()) { - slayout->setCurrentWidget(onroad); - } - showSidebar(false); - } -} - -// OffroadHome: the offroad home page - -OffroadHome::OffroadHome(QWidget* parent) : QFrame(parent) { - QVBoxLayout* main_layout = new QVBoxLayout(this); - main_layout->setContentsMargins(40, 40, 40, 40); - - // top header - QHBoxLayout* header_layout = new QHBoxLayout(); - header_layout->setContentsMargins(0, 0, 0, 0); - header_layout->setSpacing(16); - - update_notif = new QPushButton(tr("UPDATE")); - update_notif->setVisible(false); - update_notif->setStyleSheet("background-color: #364DEF;"); - QObject::connect(update_notif, &QPushButton::clicked, [=]() { center_layout->setCurrentIndex(1); }); - header_layout->addWidget(update_notif, 0, Qt::AlignHCenter | Qt::AlignLeft); - - alert_notif = new QPushButton(); - alert_notif->setVisible(false); - alert_notif->setStyleSheet("background-color: #E22C2C;"); - QObject::connect(alert_notif, &QPushButton::clicked, [=] { center_layout->setCurrentIndex(2); }); - header_layout->addWidget(alert_notif, 0, Qt::AlignHCenter | Qt::AlignLeft); - - date = new ElidedLabel(); - header_layout->addWidget(date, 0, Qt::AlignHCenter | Qt::AlignLeft); - - version = new ElidedLabel(); - header_layout->addWidget(version, 0, Qt::AlignHCenter | Qt::AlignRight); - - main_layout->addLayout(header_layout); - - // main content - main_layout->addSpacing(25); - center_layout = new QStackedLayout(); - - QWidget *home_widget = new QWidget(this); - { - QHBoxLayout *home_layout = new QHBoxLayout(home_widget); - home_layout->setContentsMargins(0, 0, 0, 0); - home_layout->setSpacing(30); - - // left: MapSettings - QStackedWidget *left_widget = new QStackedWidget(this); -#ifdef ENABLE_MAPS - left_widget->addWidget(new MapSettings); -#else - left_widget->addWidget(new QWidget); -#endif - left_widget->addWidget(new DriveStats); - - ModelReview *modelReview = new ModelReview(this); - left_widget->addWidget(modelReview); - - left_widget->setStyleSheet("border-radius: 10px;"); - left_widget->setCurrentIndex(1); - - connect(modelReview, &ModelReview::driveRated, [=]() { - left_widget->setCurrentIndex(1); - }); - connect(uiState(), &UIState::reviewModel, [=]() { - left_widget->setCurrentIndex(2); - }); - - home_layout->addWidget(left_widget, 1); - - // right: ExperimentalModeButton, SetupWidget - QWidget* right_widget = new QWidget(this); - QVBoxLayout* right_column = new QVBoxLayout(right_widget); - right_column->setContentsMargins(0, 0, 0, 0); - right_widget->setFixedWidth(750); - right_column->setSpacing(30); - - ExperimentalModeButton *experimental_mode = new ExperimentalModeButton(this); - QObject::connect(experimental_mode, &ExperimentalModeButton::openSettings, this, &OffroadHome::openSettings); - right_column->addWidget(experimental_mode, 1); - - SetupWidget *setup_widget = new SetupWidget; - QObject::connect(setup_widget, &SetupWidget::openSettings, this, &OffroadHome::openSettings); - right_column->addWidget(setup_widget, 1); - - home_layout->addWidget(right_widget, 1); - } - center_layout->addWidget(home_widget); - - // add update & alerts widgets - update_widget = new UpdateAlert(); - QObject::connect(update_widget, &UpdateAlert::dismiss, [=]() { center_layout->setCurrentIndex(0); }); - center_layout->addWidget(update_widget); - alerts_widget = new OffroadAlert(); - QObject::connect(alerts_widget, &OffroadAlert::dismiss, [=]() { center_layout->setCurrentIndex(0); }); - center_layout->addWidget(alerts_widget); - - main_layout->addLayout(center_layout, 1); - - // set up refresh timer - timer = new QTimer(this); - timer->callOnTimeout(this, &OffroadHome::refresh); - - QObject::connect(uiState(), &UIState::togglesUpdated, this, &OffroadHome::refresh); - - setStyleSheet(R"( - * { - color: white; - } - OffroadHome { - background-color: black; - } - OffroadHome > QPushButton { - padding: 15px 30px; - border-radius: 5px; - font-size: 40px; - font-weight: 500; - } - OffroadHome > QLabel { - font-size: 55px; - } - )"); -} - -void OffroadHome::showEvent(QShowEvent *event) { - refresh(); - timer->start(10 * 1000); -} - -void OffroadHome::hideEvent(QHideEvent *event) { - timer->stop(); -} - -void OffroadHome::refresh() { - QString model = processModelName(uiState()->scene.model_name); - - if (uiState()->scene.model_randomizer) { - model = "Mystery Model 👻"; - } - - date->setText(QLocale(uiState()->language.mid(5)).toString(QDateTime::currentDateTime(), "dddd, MMMM d")); - version->setText(getBrand() + " v" + getVersion().left(14).trimmed() + " - " + model); - - bool updateAvailable = update_widget->refresh(); - int alerts = alerts_widget->refresh(); - - // pop-up new notification - int idx = center_layout->currentIndex(); - if (!updateAvailable && !alerts) { - idx = 0; - } else if (updateAvailable && (!update_notif->isVisible() || (!alerts && idx == 2))) { - idx = 1; - } else if (alerts && (!alert_notif->isVisible() || (!updateAvailable && idx == 1))) { - idx = 2; - } - center_layout->setCurrentIndex(idx); - - update_notif->setVisible(updateAvailable); - alert_notif->setVisible(alerts); - if (alerts) { - alert_notif->setText(QString::number(alerts) + (alerts > 1 ? tr(" ALERTS") : tr(" ALERT"))); - } -} diff --git a/selfdrive/ui/qt/home.h b/selfdrive/ui/qt/home.h deleted file mode 100644 index b400b20b158725..00000000000000 --- a/selfdrive/ui/qt/home.h +++ /dev/null @@ -1,80 +0,0 @@ -#pragma once - -#include -#include -#include -#include -#include -#include - -#include "common/params.h" -#include "selfdrive/ui/qt/offroad/driverview.h" -#include "selfdrive/ui/qt/body.h" -#include "selfdrive/ui/qt/onroad/onroad_home.h" -#include "selfdrive/ui/qt/sidebar.h" -#include "selfdrive/ui/qt/widgets/controls.h" -#include "selfdrive/ui/qt/widgets/offroad_alerts.h" -#include "selfdrive/ui/ui.h" - -class OffroadHome : public QFrame { - Q_OBJECT - -public: - explicit OffroadHome(QWidget* parent = 0); - -signals: - void openSettings(int index = 0, const QString ¶m = ""); - -private: - void showEvent(QShowEvent *event) override; - void hideEvent(QHideEvent *event) override; - void refresh(); - - Params params; - - QTimer* timer; - ElidedLabel* version; - QStackedLayout* center_layout; - UpdateAlert *update_widget; - OffroadAlert* alerts_widget; - QPushButton* alert_notif; - QPushButton* update_notif; - - // FrogPilot variables - ElidedLabel* date; -}; - -class HomeWindow : public QWidget { - Q_OBJECT - -public: - explicit HomeWindow(QWidget* parent = 0); - -signals: - void openSettings(int index = 0, const QString ¶m = ""); - void closeSettings(); - -public slots: - void offroadTransition(bool offroad); - void showDriverView(bool show, bool started=false); - void showSidebar(bool show); - void showMapPanel(bool show); - -protected: - void mousePressEvent(QMouseEvent* e) override; - void mouseDoubleClickEvent(QMouseEvent* e) override; - -private: - Sidebar *sidebar; - OffroadHome *home; - OnroadWindow *onroad; - BodyWindow *body; - DriverViewWindow *driver_view; - QStackedLayout *slayout; - - // FrogPilot variables - Params params; - -private slots: - void updateState(const UIState &s); -}; diff --git a/selfdrive/ui/qt/libpython_helpers.so b/selfdrive/ui/qt/libpython_helpers.so new file mode 100644 index 00000000000000..b44c8317f44484 Binary files /dev/null and b/selfdrive/ui/qt/libpython_helpers.so differ diff --git a/selfdrive/ui/qt/maps/map.cc b/selfdrive/ui/qt/maps/map.cc deleted file mode 100644 index bfc2e670d66c36..00000000000000 --- a/selfdrive/ui/qt/maps/map.cc +++ /dev/null @@ -1,485 +0,0 @@ -#include "selfdrive/ui/qt/maps/map.h" - -#include -#include - -#include - -#include "common/swaglog.h" -#include "selfdrive/ui/qt/maps/map_helpers.h" -#include "selfdrive/ui/qt/util.h" -#include "selfdrive/ui/ui.h" - - -const int INTERACTION_TIMEOUT = 100; - -const float MAX_ZOOM = 17; -const float MIN_ZOOM = 14; -const float MAX_PITCH = 50; -const float MIN_PITCH = 0; -const float MAP_SCALE = 2; - -MapWindow::MapWindow(const QMapLibre::Settings &settings) : m_settings(settings), velocity_filter(0, 10, 0.05, false) { - QObject::connect(uiState(), &UIState::uiUpdate, this, &MapWindow::updateState); - - map_overlay = new QWidget (this); - map_overlay->setAttribute(Qt::WA_TranslucentBackground, true); - QVBoxLayout *overlay_layout = new QVBoxLayout(map_overlay); - overlay_layout->setContentsMargins(0, 0, 0, 0); - - // Instructions - map_instructions = new MapInstructions(this); - map_instructions->setVisible(false); - - map_eta = new MapETA(this); - map_eta->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Fixed); - map_eta->setFixedHeight(120); - - error = new QLabel(this); - error->setStyleSheet(R"(color:white;padding:50px 11px;font-size: 90px; background-color:rgba(0, 0, 0, 150);)"); - error->setAlignment(Qt::AlignCenter); - - overlay_layout->addWidget(error); - overlay_layout->addWidget(map_instructions); - overlay_layout->addStretch(1); - overlay_layout->addWidget(map_eta); - - last_position = coordinate_from_param("LastGPSPosition"); - grabGesture(Qt::GestureType::PinchGesture); - qDebug() << "MapWindow initialized"; -} - -MapWindow::~MapWindow() { - makeCurrent(); -} - -void MapWindow::initLayers() { - // This doesn't work from initializeGL - if (!m_map->layerExists("modelPathLayer")) { - qDebug() << "Initializing modelPathLayer"; - QVariantMap modelPath; - //modelPath["id"] = "modelPathLayer"; - modelPath["type"] = "line"; - modelPath["source"] = "modelPathSource"; - m_map->addLayer("modelPathLayer", modelPath); - m_map->setPaintProperty("modelPathLayer", "line-color", QColor("red")); - m_map->setPaintProperty("modelPathLayer", "line-width", 5.0); - m_map->setLayoutProperty("modelPathLayer", "line-cap", "round"); - } - if (!m_map->layerExists("navLayer")) { - qDebug() << "Initializing navLayer"; - QVariantMap nav; - nav["type"] = "line"; - nav["source"] = "navSource"; - m_map->addLayer("navLayer", nav, "road-intersection"); - - QVariantMap transition; - transition["duration"] = 400; // ms - m_map->setPaintProperty("navLayer", "line-color", getNavPathColor(uiState()->scene.navigate_on_openpilot)); - m_map->setPaintProperty("navLayer", "line-color-transition", transition); - m_map->setPaintProperty("navLayer", "line-width", 7.5); - m_map->setLayoutProperty("navLayer", "line-cap", "round"); - } - if (!m_map->layerExists("pinLayer")) { - qDebug() << "Initializing pinLayer"; - m_map->addImage("default_marker", QImage("../assets/navigation/default_marker.svg")); - QVariantMap pin; - pin["type"] = "symbol"; - pin["source"] = "pinSource"; - m_map->addLayer("pinLayer", pin); - m_map->setLayoutProperty("pinLayer", "icon-pitch-alignment", "viewport"); - m_map->setLayoutProperty("pinLayer", "icon-image", "default_marker"); - m_map->setLayoutProperty("pinLayer", "icon-ignore-placement", true); - m_map->setLayoutProperty("pinLayer", "icon-allow-overlap", true); - m_map->setLayoutProperty("pinLayer", "symbol-sort-key", 0); - m_map->setLayoutProperty("pinLayer", "icon-anchor", "bottom"); - } - if (!m_map->layerExists("carPosLayer")) { - qDebug() << "Initializing carPosLayer"; - m_map->addImage("label-arrow", QImage("../assets/images/triangle.svg")); - - QVariantMap carPos; - carPos["type"] = "symbol"; - carPos["source"] = "carPosSource"; - m_map->addLayer("carPosLayer", carPos); - m_map->setLayoutProperty("carPosLayer", "icon-pitch-alignment", "map"); - m_map->setLayoutProperty("carPosLayer", "icon-image", "label-arrow"); - m_map->setLayoutProperty("carPosLayer", "icon-size", 0.5); - m_map->setLayoutProperty("carPosLayer", "icon-ignore-placement", true); - m_map->setLayoutProperty("carPosLayer", "icon-allow-overlap", true); - // TODO: remove, symbol-sort-key does not seem to matter outside of each layer - m_map->setLayoutProperty("carPosLayer", "symbol-sort-key", 0); - } - // Credit goes to jakethesnake420! - if (!m_map->layerExists("buildingsLayer")) { - qDebug() << "Initializing buildingsLayer"; - QVariantMap buildings; - buildings["id"] = "buildingsLayer"; - buildings["source"] = "composite"; - buildings["source-layer"] = "building"; - buildings["type"] = "fill-extrusion"; - buildings["minzoom"] = 15; - m_map->addLayer("buildingsLayer", buildings); - m_map->setFilter("buildingsLayer", QVariantList({"==", "extrude", "true"})); - - QVariantList fillExtrusionHight = { - "interpolate", - QVariantList{"linear"}, - QVariantList{"zoom"}, - 15, 0, - 15.05, QVariantList{"get", "height"} - }; - - QVariantList fillExtrusionBase = { - "interpolate", - QVariantList{"linear"}, - QVariantList{"zoom"}, - 15, 0, - 15.05, QVariantList{"get", "min_height"} - }; - - QVariantList fillExtrusionOpacity = { - "interpolate", - QVariantList{"linear"}, - QVariantList{"zoom"}, - 15, 0, - 15.5, .6, - 17, .6, - 20, 0 - }; - - m_map->setPaintProperty("buildingsLayer", "fill-extrusion-color", QColor("grey")); - m_map->setPaintProperty("buildingsLayer", "fill-extrusion-opacity", fillExtrusionOpacity); - m_map->setPaintProperty("buildingsLayer", "fill-extrusion-height", fillExtrusionHight); - m_map->setPaintProperty("buildingsLayer", "fill-extrusion-base", fillExtrusionBase); - m_map->setLayoutProperty("buildingsLayer", "visibility", "visible"); - } -} - -void MapWindow::updateState(const UIState &s) { - if (!uiState()->scene.started) { - return; - } - const SubMaster &sm = *(s.sm); - update(); - - // on rising edge of a valid system time, reinitialize the map to set a new token - if (sm.valid("clocks") && !prev_time_valid) { - LOGW("Time is now valid, reinitializing map"); - m_settings.setApiKey(get_mapbox_token()); - initializeGL(); - } - prev_time_valid = sm.valid("clocks"); - - if (sm.updated("modelV2")) { - // set path color on change, and show map on rising edge of navigate on openpilot - bool nav_enabled = sm["modelV2"].getModelV2().getNavEnabled() && - (sm["controlsState"].getControlsState().getEnabled() || uiState()->scene.always_on_lateral_active); - if (nav_enabled != uiState()->scene.navigate_on_openpilot) { - if (loaded_once) { - m_map->setPaintProperty("navLayer", "line-color", getNavPathColor(nav_enabled)); - } - if (nav_enabled) { - emit requestVisible(true); - } - } - uiState()->scene.navigate_on_openpilot = nav_enabled; - } - - if (sm.updated("liveLocationKalman")) { - auto locationd_location = sm["liveLocationKalman"].getLiveLocationKalman(); - auto locationd_pos = locationd_location.getPositionGeodetic(); - auto locationd_orientation = locationd_location.getCalibratedOrientationNED(); - auto locationd_velocity = locationd_location.getVelocityCalibrated(); - auto locationd_ecef = locationd_location.getPositionECEF(); - - locationd_valid = (locationd_pos.getValid() && locationd_orientation.getValid() && locationd_velocity.getValid() && locationd_ecef.getValid()); - if (locationd_valid) { - // Check std norm - auto pos_ecef_std = locationd_ecef.getStd(); - bool pos_accurate_enough = sqrt(pow(pos_ecef_std[0], 2) + pow(pos_ecef_std[1], 2) + pow(pos_ecef_std[2], 2)) < 100; - locationd_valid = pos_accurate_enough; - } - - if (locationd_valid) { - last_position = QMapLibre::Coordinate(locationd_pos.getValue()[0], locationd_pos.getValue()[1]); - last_bearing = RAD2DEG(locationd_orientation.getValue()[2]); - velocity_filter.update(std::max(10.0, locationd_velocity.getValue()[0])); - } - } - - if (sm.updated("navRoute") && sm["navRoute"].getNavRoute().getCoordinates().size()) { - auto nav_dest = coordinate_from_param("NavDestination"); - bool allow_open = std::exchange(last_valid_nav_dest, nav_dest) != nav_dest && - nav_dest && !isVisible(); - qWarning() << "Got new navRoute from navd. Opening map:" << allow_open; - - // Show map on destination set/change - if (allow_open) { - emit requestSettings(false); - emit requestVisible(true); - } - } - - loaded_once = loaded_once || (m_map && m_map->isFullyLoaded()); - if (!loaded_once) { - setError(tr("Map Loading")); - return; - } - initLayers(); - - if (!locationd_valid) { - setError(tr("Waiting for GPS")); - } else if (routing_problem) { - setError(tr("Waiting for route")); - } else { - setError(""); - } - - if (locationd_valid) { - // Update current location marker - auto point = coordinate_to_collection(*last_position); - QMapLibre::Feature feature1(QMapLibre::Feature::PointType, point, {}, {}); - QVariantMap carPosSource; - carPosSource["type"] = "geojson"; - carPosSource["data"] = QVariant::fromValue(feature1); - m_map->updateSource("carPosSource", carPosSource); - - // Map bearing isn't updated when interacting, keep location marker up to date - if (last_bearing) { - m_map->setLayoutProperty("carPosLayer", "icon-rotate", *last_bearing - m_map->bearing()); - } - } - - if (interaction_counter == 0) { - if (last_position) m_map->setCoordinate(*last_position); - if (last_bearing) m_map->setBearing(*last_bearing); - m_map->setZoom(util::map_val(velocity_filter.x(), 0, 30, MAX_ZOOM, MIN_ZOOM)); - } else { - interaction_counter--; - } - - if (sm.updated("navInstruction")) { - // an invalid navInstruction packet with a nav destination is only possible if: - // - API exception/no internet - // - route response is empty - // - any time navd is waiting for recompute_countdown - routing_problem = !sm.valid("navInstruction") && coordinate_from_param("NavDestination").has_value(); - - if (sm.valid("navInstruction")) { - auto i = sm["navInstruction"].getNavInstruction(); - map_eta->updateETA(i.getTimeRemaining(), i.getTimeRemainingTypical(), i.getDistanceRemaining()); - - if (locationd_valid) { - m_map->setPitch(MAX_PITCH); // TODO: smooth pitching based on maneuver distance - map_instructions->updateInstructions(i); - } - } else { - clearRoute(); - } - } - - if (sm.rcv_frame("navRoute") != route_rcv_frame) { - qWarning() << "Updating navLayer with new route"; - auto route = sm["navRoute"].getNavRoute(); - auto route_points = capnp_coordinate_list_to_collection(route.getCoordinates()); - QMapLibre::Feature feature(QMapLibre::Feature::LineStringType, route_points, {}, {}); - QVariantMap navSource; - navSource["type"] = "geojson"; - navSource["data"] = QVariant::fromValue(feature); - m_map->updateSource("navSource", navSource); - m_map->setLayoutProperty("navLayer", "visibility", "visible"); - - route_rcv_frame = sm.rcv_frame("navRoute"); - updateDestinationMarker(); - } - - // Credit to jakethesnake420 - if (loaded_once && (sm.rcv_frame("uiPlan") != model_rcv_frame)) { - auto locationd_location = sm["liveLocationKalman"].getLiveLocationKalman(); - auto model_path = model_to_collection(locationd_location.getCalibratedOrientationECEF(), locationd_location.getPositionECEF(), sm["uiPlan"].getUiPlan().getPosition()); - QMapLibre::Feature model_path_feature(QMapLibre::Feature::LineStringType, model_path, {}, {}); - QVariantMap modelV2Path; - modelV2Path["type"] = "geojson"; - modelV2Path["data"] = QVariant::fromValue(model_path_feature); - m_map->updateSource("modelPathSource", modelV2Path); - model_rcv_frame = sm.rcv_frame("uiPlan"); - } - - // Map Styling - Credit goes to OPKR! - int map_style = uiState()->scene.map_style; - - if (map_style != previous_map_style) { - std::array styleUrls = { - "mapbox://styles/commaai/clkqztk0f00ou01qyhsa5bzpj", // Stock openpilot - "mapbox://styles/mapbox/streets-v11", // Mapbox Streets - "mapbox://styles/mapbox/outdoors-v11", // Mapbox Outdoors - "mapbox://styles/mapbox/light-v10", // Mapbox Light - "mapbox://styles/mapbox/dark-v10", // Mapbox Dark - "mapbox://styles/mapbox/satellite-v9", // Mapbox Satellite - "mapbox://styles/mapbox/satellite-streets-v11", // Mapbox Satellite Streets - "mapbox://styles/mapbox/navigation-day-v1", // Mapbox Navigation Day - "mapbox://styles/mapbox/navigation-night-v1", // Mapbox Navigation Night - "mapbox://styles/mapbox/traffic-night-v2", // Mapbox Traffic Night - "mapbox://styles/mike854/clt0hm8mw01ok01p4blkr27jp" // mike854's (Satellite hybrid) - }; - - m_map->setStyleUrl(QString::fromStdString(styleUrls[map_style])); - } - - previous_map_style = map_style; -} - -void MapWindow::setError(const QString &err_str) { - if (err_str != error->text()) { - error->setText(err_str); - error->setVisible(!err_str.isEmpty()); - if (!err_str.isEmpty()) map_instructions->setVisible(false); - } -} - -void MapWindow::resizeGL(int w, int h) { - m_map->resize(size() / MAP_SCALE); - map_overlay->setFixedSize(width(), height()); -} - -void MapWindow::initializeGL() { - m_map.reset(new QMapLibre::Map(this, m_settings, size(), 1)); - - if (last_position) { - m_map->setCoordinateZoom(*last_position, MAX_ZOOM); - } else { - m_map->setCoordinateZoom(QMapLibre::Coordinate(64.31990695292795, -149.79038934046247), MIN_ZOOM); - } - - m_map->setMargins({0, 350, 0, 50}); - m_map->setPitch(MIN_PITCH); - m_map->setStyleUrl("mapbox://styles/commaai/clkqztk0f00ou01qyhsa5bzpj"); - - QObject::connect(m_map.data(), &QMapLibre::Map::mapChanged, [=](QMapLibre::Map::MapChange change) { - // set global animation duration to 0 ms so visibility changes are instant - if (change == QMapLibre::Map::MapChange::MapChangeDidFinishLoadingStyle) { - m_map->setTransitionOptions(0, 0); - } - if (change == QMapLibre::Map::MapChange::MapChangeDidFinishLoadingMap) { - loaded_once = true; - } - }); - - QObject::connect(m_map.data(), &QMapLibre::Map::mapLoadingFailed, [=](QMapLibre::Map::MapLoadingFailure err_code, const QString &reason) { - LOGE("Map loading failed with %d: '%s'\n", err_code, reason.toStdString().c_str()); - }); -} - -void MapWindow::paintGL() { - if (!isVisible() || m_map.isNull()) return; - m_map->render(); -} - -void MapWindow::clearRoute() { - if (!m_map.isNull()) { - m_map->setLayoutProperty("navLayer", "visibility", "none"); - m_map->setPitch(MIN_PITCH); - updateDestinationMarker(); - } - - map_instructions->setVisible(false); - map_eta->setVisible(false); - last_valid_nav_dest = std::nullopt; -} - -void MapWindow::mousePressEvent(QMouseEvent *ev) { - m_lastPos = ev->localPos(); - ev->accept(); -} - -void MapWindow::mouseDoubleClickEvent(QMouseEvent *ev) { - if (last_position) m_map->setCoordinate(*last_position); - if (last_bearing) m_map->setBearing(*last_bearing); - m_map->setZoom(util::map_val(velocity_filter.x(), 0, 30, MAX_ZOOM, MIN_ZOOM)); - update(); - - interaction_counter = 0; -} - -void MapWindow::mouseMoveEvent(QMouseEvent *ev) { - QPointF delta = ev->localPos() - m_lastPos; - - if (!delta.isNull()) { - interaction_counter = INTERACTION_TIMEOUT; - m_map->moveBy(delta / MAP_SCALE); - update(); - } - - m_lastPos = ev->localPos(); - ev->accept(); -} - -void MapWindow::wheelEvent(QWheelEvent *ev) { - if (ev->orientation() == Qt::Horizontal) { - return; - } - - float factor = ev->delta() / 1200.; - if (ev->delta() < 0) { - factor = factor > -1 ? factor : 1 / factor; - } - - m_map->scaleBy(1 + factor, ev->pos() / MAP_SCALE); - update(); - - interaction_counter = INTERACTION_TIMEOUT; - ev->accept(); -} - -bool MapWindow::event(QEvent *event) { - if (event->type() == QEvent::Gesture) { - return gestureEvent(static_cast(event)); - } - - return QWidget::event(event); -} - -bool MapWindow::gestureEvent(QGestureEvent *event) { - if (QGesture *pinch = event->gesture(Qt::PinchGesture)) { - pinchTriggered(static_cast(pinch)); - } - return true; -} - -void MapWindow::pinchTriggered(QPinchGesture *gesture) { - QPinchGesture::ChangeFlags changeFlags = gesture->changeFlags(); - if (changeFlags & QPinchGesture::ScaleFactorChanged) { - // TODO: figure out why gesture centerPoint doesn't work - m_map->scaleBy(gesture->scaleFactor(), {width() / 2.0 / MAP_SCALE, height() / 2.0 / MAP_SCALE}); - update(); - interaction_counter = INTERACTION_TIMEOUT; - } -} - -void MapWindow::offroadTransition(bool offroad) { - if (offroad) { - clearRoute(); - uiState()->scene.navigate_on_openpilot = false; - routing_problem = false; - } else { - auto dest = coordinate_from_param("NavDestination"); - emit requestVisible(dest.has_value()); - } - last_bearing = {}; -} - -void MapWindow::updateDestinationMarker() { - auto nav_dest = coordinate_from_param("NavDestination"); - if (nav_dest.has_value()) { - auto point = coordinate_to_collection(*nav_dest); - QMapLibre::Feature feature(QMapLibre::Feature::PointType, point, {}, {}); - QVariantMap pinSource; - pinSource["type"] = "geojson"; - pinSource["data"] = QVariant::fromValue(feature); - m_map->updateSource("pinSource", pinSource); - m_map->setPaintProperty("pinLayer", "visibility", "visible"); - } else { - m_map->setPaintProperty("pinLayer", "visibility", "none"); - } -} diff --git a/selfdrive/ui/qt/maps/map.h b/selfdrive/ui/qt/maps/map.h deleted file mode 100644 index a15aa4031fa30b..00000000000000 --- a/selfdrive/ui/qt/maps/map.h +++ /dev/null @@ -1,96 +0,0 @@ -#pragma once - -#include - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include "cereal/messaging/messaging.h" -#include "common/params.h" -#include "common/util.h" -#include "selfdrive/ui/ui.h" -#include "selfdrive/ui/qt/maps/map_eta.h" -#include "selfdrive/ui/qt/maps/map_instructions.h" - -class MapWindow : public QOpenGLWidget { - Q_OBJECT - -public: - MapWindow(const QMapLibre::Settings &); - ~MapWindow(); - -private: - void initializeGL() final; - void paintGL() final; - void resizeGL(int w, int h) override; - - QMapLibre::Settings m_settings; - QScopedPointer m_map; - - void initLayers(); - - void mousePressEvent(QMouseEvent *ev) final; - void mouseDoubleClickEvent(QMouseEvent *ev) final; - void mouseMoveEvent(QMouseEvent *ev) final; - void wheelEvent(QWheelEvent *ev) final; - bool event(QEvent *event) final; - bool gestureEvent(QGestureEvent *event); - void pinchTriggered(QPinchGesture *gesture); - void setError(const QString &err_str); - - bool loaded_once = false; - bool prev_time_valid = true; - - // Panning - QPointF m_lastPos; - int interaction_counter = 0; - - // Position - std::optional last_valid_nav_dest; - std::optional last_position; - std::optional last_bearing; - FirstOrderFilter velocity_filter; - bool locationd_valid = false; - bool routing_problem = false; - - QWidget *map_overlay; - QLabel *error; - MapInstructions* map_instructions; - MapETA* map_eta; - - // Blue with normal nav, green when nav is input into the model - QColor getNavPathColor(bool nav_enabled) { - return nav_enabled ? QColor("#31ee73") : QColor("#31a1ee"); - } - - void clearRoute(); - void updateDestinationMarker(); - uint64_t route_rcv_frame = 0; - - // FrogPilot variables - int previous_map_style; - - uint64_t model_rcv_frame = 0; - -private slots: - void updateState(const UIState &s); - -public slots: - void offroadTransition(bool offroad); - -signals: - void requestVisible(bool visible); - void requestSettings(bool settings); -}; diff --git a/selfdrive/ui/qt/maps/map_eta.cc b/selfdrive/ui/qt/maps/map_eta.cc deleted file mode 100644 index 0eb77e36ce6773..00000000000000 --- a/selfdrive/ui/qt/maps/map_eta.cc +++ /dev/null @@ -1,59 +0,0 @@ -#include "selfdrive/ui/qt/maps/map_eta.h" - -#include -#include - -#include "selfdrive/ui/qt/maps/map_helpers.h" -#include "selfdrive/ui/ui.h" - -const float MANEUVER_TRANSITION_THRESHOLD = 10; - -MapETA::MapETA(QWidget *parent) : QWidget(parent) { - setVisible(false); - setAttribute(Qt::WA_TranslucentBackground); - eta_doc.setUndoRedoEnabled(false); - eta_doc.setDefaultStyleSheet("body {font-family:Inter;font-size:70px;color:white;} b{font-weight:600;} td{padding:0 3px;}"); -} - -void MapETA::paintEvent(QPaintEvent *event) { - if (!eta_doc.isEmpty()) { - QPainter p(this); - p.setRenderHint(QPainter::Antialiasing); - p.setPen(Qt::NoPen); - p.setBrush(QColor(0, 0, 0, 255)); - QSizeF txt_size = eta_doc.size(); - p.drawRoundedRect((width() - txt_size.width()) / 2 - UI_BORDER_SIZE, 0, txt_size.width() + UI_BORDER_SIZE * 2, height() + 25, 25, 25); - p.translate((width() - txt_size.width()) / 2, (height() - txt_size.height()) / 2); - eta_doc.drawContents(&p); - } -} - -void MapETA::updateETA(float s, float s_typical, float d) { - // ETA - auto eta_t = QDateTime::currentDateTime().addSecs(s).time(); - auto eta = format_24h ? std::pair{eta_t.toString("HH:mm"), tr("eta")} - : std::pair{eta_t.toString("h:mm a").split(' ')[0], eta_t.toString("a")}; - - // Remaining time - auto remaining = s < 3600 ? std::pair{QString::number(int(s / 60)), tr("min")} - : std::pair{QString("%1:%2").arg((int)s / 3600).arg(((int)s % 3600) / 60, 2, 10, QLatin1Char('0')), tr("hr")}; - QString color = "#25DA6E"; - if (std::abs(s_typical) > 1e-5) { - if (s / s_typical > 1.5) { - color = "#DA3025"; - } else if (s / s_typical > 1.2) { - color = "#DAA725"; - } - } - - // Distance - auto distance = map_format_distance(d, uiState()->scene.is_metric); - - eta_doc.setHtml(QString(R"( - - )") - .arg(eta.first, eta.second, color, remaining.first, remaining.second, distance.first, distance.second)); - - setVisible(d >= MANEUVER_TRANSITION_THRESHOLD); - update(); -} diff --git a/selfdrive/ui/qt/maps/map_eta.h b/selfdrive/ui/qt/maps/map_eta.h deleted file mode 100644 index 6e59837de3d746..00000000000000 --- a/selfdrive/ui/qt/maps/map_eta.h +++ /dev/null @@ -1,23 +0,0 @@ -#pragma once - -#include -#include -#include - -#include "common/params.h" - -class MapETA : public QWidget { - Q_OBJECT - -public: - MapETA(QWidget * parent=nullptr); - void updateETA(float seconds, float seconds_typical, float distance); - -private: - void paintEvent(QPaintEvent *event) override; - void showEvent(QShowEvent *event) override { format_24h = param.getBool("NavSettingTime24h"); } - - bool format_24h = false; - QTextDocument eta_doc; - Params param; -}; diff --git a/selfdrive/ui/qt/maps/map_helpers.cc b/selfdrive/ui/qt/maps/map_helpers.cc deleted file mode 100644 index 16923f7a435c1b..00000000000000 --- a/selfdrive/ui/qt/maps/map_helpers.cc +++ /dev/null @@ -1,153 +0,0 @@ -#include "selfdrive/ui/qt/maps/map_helpers.h" - -#include -#include -#include - -#include -#include - -#include "common/params.h" -#include "system/hardware/hw.h" -#include "selfdrive/ui/qt/api.h" - -QString get_mapbox_token() { - // Valid for 4 weeks since we can't swap tokens on the fly - return MAPBOX_TOKEN.isEmpty() ? CommaApi::create_jwt({}, 4 * 7 * 24 * 3600) : MAPBOX_TOKEN; -} - -QMapLibre::Settings get_mapbox_settings() { - QMapLibre::Settings settings; - settings.setProviderTemplate(QMapLibre::Settings::ProviderTemplate::MapboxProvider); - - if (!Hardware::PC()) { - settings.setCacheDatabasePath(MAPS_CACHE_PATH); - settings.setCacheDatabaseMaximumSize(100 * 1024 * 1024); - } - settings.setApiBaseUrl(MAPS_HOST); - settings.setApiKey(get_mapbox_token()); - - return settings; -} - -QGeoCoordinate to_QGeoCoordinate(const QMapLibre::Coordinate &in) { - return QGeoCoordinate(in.first, in.second); -} - -QMapLibre::CoordinatesCollections model_to_collection( - const cereal::LiveLocationKalman::Measurement::Reader &calibratedOrientationECEF, - const cereal::LiveLocationKalman::Measurement::Reader &positionECEF, - const cereal::XYZTData::Reader &line){ - - Eigen::Vector3d ecef(positionECEF.getValue()[0], positionECEF.getValue()[1], positionECEF.getValue()[2]); - Eigen::Vector3d orient(calibratedOrientationECEF.getValue()[0], calibratedOrientationECEF.getValue()[1], calibratedOrientationECEF.getValue()[2]); - Eigen::Matrix3d ecef_from_local = euler2rot(orient); - - QMapLibre::Coordinates coordinates; - auto x = line.getX(); - auto y = line.getY(); - auto z = line.getZ(); - for (int i = 0; i < x.size(); i++) { - Eigen::Vector3d point_ecef = ecef_from_local * Eigen::Vector3d(x[i], y[i], z[i]) + ecef; - Geodetic point_geodetic = ecef2geodetic((ECEF){.x = point_ecef[0], .y = point_ecef[1], .z = point_ecef[2]}); - coordinates.push_back({point_geodetic.lat, point_geodetic.lon}); - } - - return {QMapLibre::CoordinatesCollection{coordinates}}; -} - -QMapLibre::CoordinatesCollections coordinate_to_collection(const QMapLibre::Coordinate &c) { - QMapLibre::Coordinates coordinates{c}; - return {QMapLibre::CoordinatesCollection{coordinates}}; -} - -QMapLibre::CoordinatesCollections capnp_coordinate_list_to_collection(const capnp::List::Reader& coordinate_list) { - QMapLibre::Coordinates coordinates; - for (auto const &c : coordinate_list) { - coordinates.push_back({c.getLatitude(), c.getLongitude()}); - } - return {QMapLibre::CoordinatesCollection{coordinates}}; -} - -QMapLibre::CoordinatesCollections coordinate_list_to_collection(const QList &coordinate_list) { - QMapLibre::Coordinates coordinates; - for (auto &c : coordinate_list) { - coordinates.push_back({c.latitude(), c.longitude()}); - } - return {QMapLibre::CoordinatesCollection{coordinates}}; -} - -QList polyline_to_coordinate_list(const QString &polylineString) { - QList path; - if (polylineString.isEmpty()) - return path; - - QByteArray data = polylineString.toLatin1(); - - bool parsingLatitude = true; - - int shift = 0; - int value = 0; - - QGeoCoordinate coord(0, 0); - - for (int i = 0; i < data.length(); ++i) { - unsigned char c = data.at(i) - 63; - - value |= (c & 0x1f) << shift; - shift += 5; - - // another chunk - if (c & 0x20) - continue; - - int diff = (value & 1) ? ~(value >> 1) : (value >> 1); - - if (parsingLatitude) { - coord.setLatitude(coord.latitude() + (double)diff/1e6); - } else { - coord.setLongitude(coord.longitude() + (double)diff/1e6); - path.append(coord); - } - - parsingLatitude = !parsingLatitude; - - value = 0; - shift = 0; - } - - return path; -} - -std::optional coordinate_from_param(const std::string ¶m) { - QString json_str = QString::fromStdString(Params().get(param)); - if (json_str.isEmpty()) return {}; - - QJsonDocument doc = QJsonDocument::fromJson(json_str.toUtf8()); - if (doc.isNull()) return {}; - - QJsonObject json = doc.object(); - if (json["latitude"].isDouble() && json["longitude"].isDouble()) { - QMapLibre::Coordinate coord(json["latitude"].toDouble(), json["longitude"].toDouble()); - return coord; - } else { - return {}; - } -} - -// return {distance, unit} -std::pair map_format_distance(float d, bool is_metric) { - auto round_distance = [](float d) -> QString { - return (d > 10) ? QString::number(std::nearbyint(d)) : QString::number(std::nearbyint(d * 10) / 10.0, 'f', 1); - }; - - d = std::max(d, 0.0f); - if (is_metric) { - return (d > 500) ? std::pair{round_distance(d / 1000), QObject::tr("km")} - : std::pair{QString::number(50 * std::nearbyint(d / 50)), QObject::tr("m")}; - } else { - float feet = d * METER_TO_FOOT; - return (feet > 500) ? std::pair{round_distance(d * METER_TO_MILE), QObject::tr("mi")} - : std::pair{QString::number(50 * std::nearbyint(d / 50)), QObject::tr("ft")}; - } -} diff --git a/selfdrive/ui/qt/maps/map_helpers.h b/selfdrive/ui/qt/maps/map_helpers.h deleted file mode 100644 index 2e2145eb5c2c45..00000000000000 --- a/selfdrive/ui/qt/maps/map_helpers.h +++ /dev/null @@ -1,35 +0,0 @@ -#pragma once - -#include -#include -#include -#include -#include -#include -#include - -#include "common/params.h" -#include "common/util.h" -#include "common/transformations/coordinates.hpp" -#include "common/transformations/orientation.hpp" -#include "cereal/messaging/messaging.h" - -const QString MAPBOX_TOKEN = !util::getenv("MAPBOX_TOKEN").empty() ? util::getenv("MAPBOX_TOKEN").c_str() : - !Params().get("MapboxSecretKey").empty() ? QString::fromStdString(Params().get("MapboxSecretKey")) : - QString(); -const QString MAPS_HOST = util::getenv("MAPS_HOST", MAPBOX_TOKEN.isEmpty() ? "https://maps.comma.ai" : "https://api.mapbox.com").c_str(); -const QString MAPS_CACHE_PATH = "/data/mbgl-cache-navd.db"; - -QString get_mapbox_token(); -QMapLibre::Settings get_mapbox_settings(); -QGeoCoordinate to_QGeoCoordinate(const QMapLibre::Coordinate &in); -QMapLibre::CoordinatesCollections model_to_collection( - const cereal::LiveLocationKalman::Measurement::Reader &calibratedOrientationECEF, - const cereal::LiveLocationKalman::Measurement::Reader &positionECEF, - const cereal::XYZTData::Reader &line); -QMapLibre::CoordinatesCollections coordinate_to_collection(const QMapLibre::Coordinate &c); -QMapLibre::CoordinatesCollections capnp_coordinate_list_to_collection(const capnp::List::Reader &coordinate_list); -QMapLibre::CoordinatesCollections coordinate_list_to_collection(const QList &coordinate_list); -QList polyline_to_coordinate_list(const QString &polylineString); -std::optional coordinate_from_param(const std::string ¶m); -std::pair map_format_distance(float d, bool is_metric); diff --git a/selfdrive/ui/qt/maps/map_instructions.cc b/selfdrive/ui/qt/maps/map_instructions.cc deleted file mode 100644 index ba8cb356bd1651..00000000000000 --- a/selfdrive/ui/qt/maps/map_instructions.cc +++ /dev/null @@ -1,144 +0,0 @@ -#include "selfdrive/ui/qt/maps/map_instructions.h" - -#include -#include - -#include "selfdrive/ui/qt/maps/map_helpers.h" -#include "selfdrive/ui/ui.h" - -const QString ICON_SUFFIX = ".png"; - -MapInstructions::MapInstructions(QWidget *parent) : QWidget(parent) { - is_rhd = Params().getBool("IsRhdDetected"); - QVBoxLayout *main_layout = new QVBoxLayout(this); - main_layout->setContentsMargins(11, UI_BORDER_SIZE, 11, 20); - - QHBoxLayout *top_layout = new QHBoxLayout; - top_layout->addWidget(icon_01 = new QLabel, 0, Qt::AlignTop); - - QVBoxLayout *right_layout = new QVBoxLayout; - right_layout->setContentsMargins(9, 9, 9, 0); - right_layout->addWidget(distance = new QLabel); - distance->setStyleSheet(R"(font-size: 90px;)"); - - right_layout->addWidget(primary = new QLabel); - primary->setStyleSheet(R"(font-size: 60px;)"); - primary->setWordWrap(true); - - right_layout->addWidget(secondary = new QLabel); - secondary->setStyleSheet(R"(font-size: 50px;)"); - secondary->setWordWrap(true); - - top_layout->addLayout(right_layout); - - main_layout->addLayout(top_layout); - main_layout->addLayout(lane_layout = new QHBoxLayout); - lane_layout->setAlignment(Qt::AlignHCenter); - lane_layout->setSpacing(10); - - setStyleSheet("color:white"); - QPalette pal = palette(); - pal.setColor(QPalette::Background, QColor(0, 0, 0, 150)); - setAutoFillBackground(true); - setPalette(pal); - - buildPixmapCache(); -} - -void MapInstructions::buildPixmapCache() { - QDir dir("../assets/navigation"); - for (QString fn : dir.entryList({"*" + ICON_SUFFIX}, QDir::Files)) { - QPixmap pm(dir.filePath(fn)); - QString key = fn.left(fn.size() - ICON_SUFFIX.length()); - pm = pm.scaledToWidth(200, Qt::SmoothTransformation); - - // Maneuver icons - pixmap_cache[key] = pm; - // lane direction icons - if (key.contains("turn_")) { - pixmap_cache["lane_" + key] = pm.scaled({125, 125}, Qt::IgnoreAspectRatio, Qt::SmoothTransformation); - } - - // for rhd, reflect direction and then flip - if (key.contains("_left")) { - pixmap_cache["rhd_" + key.replace("_left", "_right")] = pm.transformed(QTransform().scale(-1, 1)); - } else if (key.contains("_right")) { - pixmap_cache["rhd_" + key.replace("_right", "_left")] = pm.transformed(QTransform().scale(-1, 1)); - } - } -} - -void MapInstructions::updateInstructions(cereal::NavInstruction::Reader instruction) { - setUpdatesEnabled(false); - - // Show instruction text - QString primary_str = QString::fromStdString(instruction.getManeuverPrimaryText()); - QString secondary_str = QString::fromStdString(instruction.getManeuverSecondaryText()); - - primary->setText(primary_str); - secondary->setVisible(secondary_str.length() > 0); - secondary->setText(secondary_str); - - auto distance_str_pair = map_format_distance(instruction.getManeuverDistance(), uiState()->scene.is_metric); - distance->setText(QString("%1 %2").arg(distance_str_pair.first, distance_str_pair.second)); - - // Show arrow with direction - QString type = QString::fromStdString(instruction.getManeuverType()); - QString modifier = QString::fromStdString(instruction.getManeuverModifier()); - if (!type.isEmpty()) { - QString fn = "direction_" + type; - if (!modifier.isEmpty()) { - fn += "_" + modifier; - } - fn = fn.replace(' ', '_'); - bool rhd = is_rhd && (fn.contains("_left") || fn.contains("_right")); - icon_01->setPixmap(pixmap_cache[!rhd ? fn : "rhd_" + fn]); - icon_01->setSizePolicy(QSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed)); - icon_01->setVisible(true); - } else { - icon_01->setVisible(false); - } - - // Hide distance after arrival - distance->setVisible(type != "arrive" || instruction.getManeuverDistance() > 0); - - // Show lanes - auto lanes = instruction.getLanes(); - for (int i = 0; i < lanes.size(); ++i) { - bool active = lanes[i].getActive(); - const auto active_direction = lanes[i].getActiveDirection(); - - // TODO: Make more images based on active direction and combined directions - QString fn = "lane_direction_"; - - // active direction has precedence - if (active && active_direction != cereal::NavInstruction::Direction::NONE) { - fn += "turn_" + DIRECTIONS[active_direction]; - } else { - for (auto const &direction : lanes[i].getDirections()) { - if (direction != cereal::NavInstruction::Direction::NONE) { - fn += "turn_" + DIRECTIONS[direction]; - break; - } - } - } - - if (!active) { - fn += "_inactive"; - } - - QLabel *label = (i < lane_labels.size()) ? lane_labels[i] : lane_labels.emplace_back(new QLabel); - if (!label->parentWidget()) { - lane_layout->addWidget(label); - } - label->setPixmap(pixmap_cache[fn]); - label->setVisible(true); - } - - for (int i = lanes.size(); i < lane_labels.size(); ++i) { - lane_labels[i]->setVisible(false); - } - - setUpdatesEnabled(true); - setVisible(true); -} diff --git a/selfdrive/ui/qt/maps/map_instructions.h b/selfdrive/ui/qt/maps/map_instructions.h deleted file mode 100644 index 06a943d27fb0a8..00000000000000 --- a/selfdrive/ui/qt/maps/map_instructions.h +++ /dev/null @@ -1,38 +0,0 @@ -#pragma once - -#include -#include - -#include -#include -#include - -#include "cereal/gen/cpp/log.capnp.h" - -static std::map DIRECTIONS = { - {cereal::NavInstruction::Direction::NONE, "none"}, - {cereal::NavInstruction::Direction::LEFT, "left"}, - {cereal::NavInstruction::Direction::RIGHT, "right"}, - {cereal::NavInstruction::Direction::STRAIGHT, "straight"}, - {cereal::NavInstruction::Direction::SLIGHT_LEFT, "slight_left"}, - {cereal::NavInstruction::Direction::SLIGHT_RIGHT, "slight_right"}, -}; - -class MapInstructions : public QWidget { - Q_OBJECT - -private: - QLabel *distance; - QLabel *primary; - QLabel *secondary; - QLabel *icon_01; - QHBoxLayout *lane_layout; - bool is_rhd = false; - std::vector lane_labels; - QHash pixmap_cache; - -public: - MapInstructions(QWidget * parent=nullptr); - void buildPixmapCache(); - void updateInstructions(cereal::NavInstruction::Reader instruction); -}; diff --git a/selfdrive/ui/qt/maps/map_panel.cc b/selfdrive/ui/qt/maps/map_panel.cc deleted file mode 100644 index ff19f6c25ab388..00000000000000 --- a/selfdrive/ui/qt/maps/map_panel.cc +++ /dev/null @@ -1,51 +0,0 @@ -#include "selfdrive/ui/qt/maps/map_panel.h" - -#include -#include - -#include "selfdrive/ui/qt/maps/map.h" -#include "selfdrive/ui/qt/maps/map_settings.h" -#include "selfdrive/ui/qt/util.h" -#include "selfdrive/ui/ui.h" - -MapPanel::MapPanel(const QMapLibre::Settings &mapboxSettings, QWidget *parent) : QFrame(parent) { - content_stack = new QStackedLayout(this); - content_stack->setContentsMargins(0, 0, 0, 0); - - auto map = new MapWindow(mapboxSettings); - QObject::connect(uiState(), &UIState::offroadTransition, map, &MapWindow::offroadTransition); - QObject::connect(device(), &Device::interactiveTimeout, this, [=]() { - content_stack->setCurrentIndex(0); - }); - QObject::connect(map, &MapWindow::requestVisible, this, [=](bool visible) { - // when we show the map for a new route, signal HomeWindow to hide the sidebar - if (visible) { emit mapPanelRequested(); } - setVisible(visible); - }); - QObject::connect(map, &MapWindow::requestSettings, this, [=](bool settings) { - content_stack->setCurrentIndex(settings ? 1 : 0); - }); - content_stack->addWidget(map); - - auto settings = new MapSettings(true, parent); - QObject::connect(settings, &MapSettings::closeSettings, this, [=]() { - content_stack->setCurrentIndex(0); - }); - content_stack->addWidget(settings); -} - -void MapPanel::toggleMapSettings() { - // show settings if not visible, then toggle between map and settings - int new_index = isVisible() ? (1 - content_stack->currentIndex()) : 1; - content_stack->setCurrentIndex(new_index); - emit mapPanelRequested(); - show(); -} - -void MapPanel::showEvent(QShowEvent *event) { - uiState()->scene.map_open = true; -} - -void MapPanel::hideEvent(QHideEvent *event) { - uiState()->scene.map_open = false; -} diff --git a/selfdrive/ui/qt/maps/map_panel.h b/selfdrive/ui/qt/maps/map_panel.h deleted file mode 100644 index 4e1af240fedcc1..00000000000000 --- a/selfdrive/ui/qt/maps/map_panel.h +++ /dev/null @@ -1,25 +0,0 @@ -#pragma once - -#include -#include -#include - -class MapPanel : public QFrame { - Q_OBJECT - -public: - explicit MapPanel(const QMapLibre::Settings &settings, QWidget *parent = nullptr); - -signals: - void mapPanelRequested(); - -public slots: - void toggleMapSettings(); - -private: - QStackedLayout *content_stack; - - // FrogPilot widgets - void hideEvent(QHideEvent *event); - void showEvent(QShowEvent *event); -}; diff --git a/selfdrive/ui/qt/maps/map_settings.cc b/selfdrive/ui/qt/maps/map_settings.cc deleted file mode 100644 index d6fc72481bc947..00000000000000 --- a/selfdrive/ui/qt/maps/map_settings.cc +++ /dev/null @@ -1,393 +0,0 @@ -#include "selfdrive/ui/qt/maps/map_settings.h" - -#include - -#include -#include - -#include "common/util.h" -#include "selfdrive/ui/qt/request_repeater.h" -#include "selfdrive/ui/qt/widgets/scrollview.h" - -static void swap(QJsonValueRef v1, QJsonValueRef v2) { std::swap(v1, v2); } - -static bool locationEqual(const QJsonValue &v1, const QJsonValue &v2) { - return v1["latitude"] == v2["latitude"] && v1["longitude"] == v2["longitude"]; -} - -static qint64 convertTimestampToEpoch(const QString ×tamp) { - QDateTime dt = QDateTime::fromString(timestamp, Qt::ISODate); - return dt.isValid() ? dt.toSecsSinceEpoch() : 0; -} - -MapSettings::MapSettings(bool closeable, QWidget *parent) : QFrame(parent) { - setContentsMargins(0, 0, 0, 0); - setAttribute(Qt::WA_NoMousePropagation); - - auto *frame = new QVBoxLayout(this); - frame->setContentsMargins(40, 40, 40, 0); - frame->setSpacing(0); - - auto *heading_frame = new QHBoxLayout; - heading_frame->setContentsMargins(0, 0, 0, 0); - heading_frame->setSpacing(32); - { - if (closeable) { - auto *close_btn = new QPushButton("←"); - close_btn->setStyleSheet(R"( - QPushButton { - color: #FFFFFF; - font-size: 100px; - padding-bottom: 8px; - border 1px grey solid; - border-radius: 70px; - background-color: #292929; - font-weight: 500; - } - QPushButton:pressed { - background-color: #3B3B3B; - } - )"); - close_btn->setFixedSize(140, 140); - QObject::connect(close_btn, &QPushButton::clicked, [=]() { emit closeSettings(); }); - // TODO: read map_on_left from ui state - heading_frame->addWidget(close_btn); - } - - auto *heading = new QVBoxLayout; - heading->setContentsMargins(0, 0, 0, 0); - heading->setSpacing(16); - { - auto *title = new QLabel(tr("NAVIGATION"), this); - title->setStyleSheet("color: #FFFFFF; font-size: 54px; font-weight: 600;"); - heading->addWidget(title); - - subtitle = new QLabel(tr("Manage at connect.comma.ai"), this); - subtitle->setStyleSheet("color: #A0A0A0; font-size: 40px; font-weight: 300;"); - heading->addWidget(subtitle); - } - heading_frame->addLayout(heading, 1); - } - frame->addLayout(heading_frame); - frame->addSpacing(32); - - current_widget = new DestinationWidget(this); - QObject::connect(current_widget, &DestinationWidget::actionClicked, - []() { NavManager::instance()->setCurrentDestination({}); }); - frame->addWidget(current_widget); - frame->addSpacing(32); - - QWidget *destinations_container = new QWidget(this); - destinations_layout = new QVBoxLayout(destinations_container); - destinations_layout->setContentsMargins(0, 32, 0, 32); - destinations_layout->setSpacing(20); - destinations_layout->addWidget(home_widget = new DestinationWidget(this)); - destinations_layout->addWidget(work_widget = new DestinationWidget(this)); - QObject::connect(home_widget, &DestinationWidget::navigateTo, this, &MapSettings::navigateTo); - QObject::connect(work_widget, &DestinationWidget::navigateTo, this, &MapSettings::navigateTo); - destinations_layout->addStretch(); - - ScrollView *destinations_scroller = new ScrollView(destinations_container, this); - destinations_scroller->setFrameShape(QFrame::NoFrame); - frame->addWidget(destinations_scroller); - - setStyleSheet("MapSettings { background-color: #333333; }"); - QObject::connect(NavManager::instance(), &NavManager::updated, this, &MapSettings::refresh); - - wifi = new WifiManager(this); -} - -void MapSettings::showEvent(QShowEvent *event) { - refresh(); -} - -void MapSettings::refresh() { - if (!isVisible()) return; - - setUpdatesEnabled(false); - - auto get_w = [this](int i) { - auto w = i < widgets.size() ? widgets[i] : widgets.emplace_back(new DestinationWidget); - if (!w->parentWidget()) { - destinations_layout->insertWidget(destinations_layout->count() - 1, w); - QObject::connect(w, &DestinationWidget::navigateTo, this, &MapSettings::navigateTo); - } - return w; - }; - - const auto current_dest = NavManager::instance()->currentDestination(); - if (!current_dest.isEmpty()) { - current_widget->set(current_dest, true); - } else { - current_widget->unset("", true); - } - home_widget->unset(NAV_FAVORITE_LABEL_HOME); - work_widget->unset(NAV_FAVORITE_LABEL_WORK); - - int n = 0; - for (auto location : NavManager::instance()->currentLocations()) { - DestinationWidget *w = nullptr; - auto dest = location.toObject(); - if (dest["save_type"].toString() == NAV_TYPE_FAVORITE) { - auto label = dest["label"].toString(); - if (label == NAV_FAVORITE_LABEL_HOME) w = home_widget; - if (label == NAV_FAVORITE_LABEL_WORK) w = work_widget; - } - w = w ? w : get_w(n++); - w->set(dest, false); - w->setVisible(!locationEqual(dest, current_dest)); - } - for (; n < widgets.size(); ++n) widgets[n]->setVisible(false); - - setUpdatesEnabled(true); - - // Use IP for NOO without Prime - if (!uiState()->hasPrime()) { - QString ipAddress = QString("%1:8082").arg(wifi->getIp4Address()); - subtitle->setText(tr("Manage at %1").arg(ipAddress)); - } -} - -void MapSettings::navigateTo(const QJsonObject &place) { - NavManager::instance()->setCurrentDestination(place); - emit closeSettings(); -} - -DestinationWidget::DestinationWidget(QWidget *parent) : QPushButton(parent) { - setContentsMargins(0, 0, 0, 0); - - auto *frame = new QHBoxLayout(this); - frame->setContentsMargins(32, 24, 32, 24); - frame->setSpacing(32); - - icon = new QLabel(this); - icon->setAlignment(Qt::AlignCenter); - icon->setFixedSize(96, 96); - icon->setObjectName("icon"); - frame->addWidget(icon); - - auto *inner_frame = new QVBoxLayout; - inner_frame->setContentsMargins(0, 0, 0, 0); - inner_frame->setSpacing(0); - { - title = new ElidedLabel(this); - title->setAttribute(Qt::WA_TransparentForMouseEvents); - inner_frame->addWidget(title); - - subtitle = new ElidedLabel(this); - subtitle->setAttribute(Qt::WA_TransparentForMouseEvents); - subtitle->setObjectName("subtitle"); - inner_frame->addWidget(subtitle); - } - frame->addLayout(inner_frame, 1); - - action = new QPushButton(this); - action->setFixedSize(96, 96); - action->setObjectName("action"); - action->setStyleSheet("font-size: 65px; font-weight: 600;"); - QObject::connect(action, &QPushButton::clicked, this, &QPushButton::clicked); - QObject::connect(action, &QPushButton::clicked, this, &DestinationWidget::actionClicked); - frame->addWidget(action); - - setFixedHeight(164); - setStyleSheet(R"( - DestinationWidget { background-color: #202123; border-radius: 10px; } - QLabel { color: #FFFFFF; font-size: 48px; font-weight: 400; } - #icon { background-color: #3B4356; border-radius: 48px; } - #subtitle { color: #9BA0A5; } - #action { border: none; border-radius: 48px; color: #FFFFFF; padding-bottom: 4px; } - - /* current destination */ - [current="true"] { background-color: #E8E8E8; } - [current="true"] QLabel { color: #000000; } - [current="true"] #icon { background-color: #42906B; } - [current="true"] #subtitle { color: #333333; } - [current="true"] #action { color: #202123; } - - /* no saved destination */ - [set="false"] QLabel { color: #9BA0A5; } - [current="true"][set="false"] QLabel { color: #A0000000; } - - /* pressed */ - [current="false"]:pressed { background-color: #18191B; } - [current="true"] #action:pressed { background-color: #D6D6D6; } - )"); - QObject::connect(this, &QPushButton::clicked, [this]() { if (!dest.isEmpty()) emit navigateTo(dest); }); -} - -void DestinationWidget::set(const QJsonObject &destination, bool current) { - if (dest == destination) return; - - dest = destination; - setProperty("current", current); - setProperty("set", true); - - auto icon_pixmap = current ? icons().directions : icons().recent; - auto title_text = destination["place_name"].toString(); - auto subtitle_text = destination["place_details"].toString(); - - if (destination["save_type"] == NAV_TYPE_FAVORITE) { - if (destination["label"] == NAV_FAVORITE_LABEL_HOME) { - icon_pixmap = icons().home; - subtitle_text = title_text + ", " + subtitle_text; - title_text = tr("Home"); - } else if (destination["label"] == NAV_FAVORITE_LABEL_WORK) { - icon_pixmap = icons().work; - subtitle_text = title_text + ", " + subtitle_text; - title_text = tr("Work"); - } else { - icon_pixmap = icons().favorite; - } - } - - icon->setPixmap(icon_pixmap); - - title->setText(title_text); - subtitle->setText(subtitle_text); - subtitle->setVisible(true); - - // TODO: use pixmap - action->setAttribute(Qt::WA_TransparentForMouseEvents, !current); - action->setText(current ? "×" : "→"); - action->setVisible(true); - - setStyleSheet(styleSheet()); -} - -void DestinationWidget::unset(const QString &label, bool current) { - dest = {}; - setProperty("current", current); - setProperty("set", false); - - if (label.isEmpty()) { - icon->setPixmap(icons().directions); - title->setText(tr("No destination set")); - } else { - QString title_text = label == NAV_FAVORITE_LABEL_HOME ? tr("home") : tr("work"); - icon->setPixmap(label == NAV_FAVORITE_LABEL_HOME ? icons().home : icons().work); - title->setText(tr("No %1 location set").arg(title_text)); - } - - subtitle->setVisible(false); - action->setVisible(false); - - setStyleSheet(styleSheet()); - setVisible(true); -} - -// singleton NavManager - -NavManager *NavManager::instance() { - static NavManager *request = new NavManager(qApp); - return request; -} - -NavManager::NavManager(QObject *parent) : QObject(parent) { - locations = QJsonDocument::fromJson(params.get("NavPastDestinations").c_str()).array(); - current_dest = QJsonDocument::fromJson(params.get("NavDestination").c_str()).object(); - if (auto dongle_id = getDongleId()) { - { - // Fetch favorite and recent locations - QString url = CommaApi::BASE_URL + "/v1/navigation/" + *dongle_id + "/locations"; - RequestRepeater *repeater = new RequestRepeater(this, url, "ApiCache_NavDestinations", 30, true); - QObject::connect(repeater, &RequestRepeater::requestDone, this, &NavManager::parseLocationsResponse); - } - { - auto param_watcher = new ParamWatcher(this); - QObject::connect(param_watcher, &ParamWatcher::paramChanged, this, &NavManager::updated); - - // Destination set while offline - QString url = CommaApi::BASE_URL + "/v1/navigation/" + *dongle_id + "/next"; - HttpRequest *deleter = new HttpRequest(this); - RequestRepeater *repeater = new RequestRepeater(this, url, "", 10, true); - QObject::connect(repeater, &RequestRepeater::requestDone, [=](const QString &resp, bool success) { - if (success && resp != "null") { - if (params.get("NavDestination").empty()) { - qWarning() << "Setting NavDestination from /next" << resp; - params.put("NavDestination", resp.toStdString()); - } else { - qWarning() << "Got location from /next, but NavDestination already set"; - } - // Send DELETE to clear destination server side - deleter->sendRequest(url, HttpRequest::Method::DELETE); - } - - // athena can set destination at any time - param_watcher->addParam("NavDestination"); - current_dest = QJsonDocument::fromJson(params.get("NavDestination").c_str()).object(); - emit updated(); - }); - } - } -} - -void NavManager::parseLocationsResponse(const QString &response, bool success) { - if (!success || response == prev_response) return; - - prev_response = response; - QJsonDocument doc = QJsonDocument::fromJson(response.trimmed().toUtf8()); - if (doc.isNull()) { - qWarning() << "JSON Parse failed on navigation locations" << response; - return; - } - - // set last activity time. - auto remote_locations = doc.array(); - for (QJsonValueRef loc : remote_locations) { - auto obj = loc.toObject(); - auto serverTime = convertTimestampToEpoch(obj["modified"].toString()); - obj.insert("time", qMax(serverTime, getLastActivity(obj))); - loc = obj; - } - - locations = remote_locations; - sortLocations(); - emit updated(); -} - -void NavManager::sortLocations() { - // Sort: alphabetical FAVORITES, and then most recent. - // We don't need to care about the ordering of HOME and WORK. DestinationWidget always displays them at the top. - std::stable_sort(locations.begin(), locations.end(), [](const QJsonValue &a, const QJsonValue &b) { - if (a["save_type"] == NAV_TYPE_FAVORITE || b["save_type"] == NAV_TYPE_FAVORITE) { - return (std::tuple(a["save_type"].toString(), a["place_name"].toString()) < - std::tuple(b["save_type"].toString(), b["place_name"].toString())); - } else { - return a["time"].toVariant().toLongLong() > b["time"].toVariant().toLongLong(); - } - }); - - write_param_future = std::async(std::launch::async, [destinations = QJsonArray(locations)]() { - Params().put("NavPastDestinations", QJsonDocument(destinations).toJson().toStdString()); - }); -} - -qint64 NavManager::getLastActivity(const QJsonObject &loc) const { - qint64 last_activity = 0; - auto it = std::find_if(locations.begin(), locations.end(), - [&loc](const QJsonValue &l) { return locationEqual(loc, l); }); - if (it != locations.end()) { - auto tm = it->toObject().value("time"); - if (!tm.isUndefined() && !tm.isNull()) { - last_activity = tm.toVariant().toLongLong(); - } - } - return last_activity; -} - -void NavManager::setCurrentDestination(const QJsonObject &loc) { - current_dest = loc; - if (!current_dest.isEmpty()) { - current_dest["time"] = QDateTime::currentSecsSinceEpoch(); - auto it = std::find_if(locations.begin(), locations.end(), - [&loc](const QJsonValue &l) { return locationEqual(loc, l); }); - if (it != locations.end()) { - *it = current_dest; - sortLocations(); - } - params.put("NavDestination", QJsonDocument(current_dest).toJson().toStdString()); - } else { - params.remove("NavDestination"); - } - emit updated(); -} diff --git a/selfdrive/ui/qt/maps/map_settings.h b/selfdrive/ui/qt/maps/map_settings.h deleted file mode 100644 index 1a963367a93b94..00000000000000 --- a/selfdrive/ui/qt/maps/map_settings.h +++ /dev/null @@ -1,108 +0,0 @@ -#pragma once - -#include -#include - -#include -#include -#include -#include -#include -#include -#include - -#include "common/params.h" -#include "selfdrive/ui/qt/network/wifi_manager.h" -#include "selfdrive/ui/qt/util.h" -#include "selfdrive/ui/qt/widgets/controls.h" - -const QString NAV_TYPE_FAVORITE = "favorite"; -const QString NAV_TYPE_RECENT = "recent"; - -const QString NAV_FAVORITE_LABEL_HOME = "home"; -const QString NAV_FAVORITE_LABEL_WORK = "work"; - -class DestinationWidget; - -class NavManager : public QObject { - Q_OBJECT - -public: - static NavManager *instance(); - QJsonArray currentLocations() const { return locations; } - QJsonObject currentDestination() const { return current_dest; } - void setCurrentDestination(const QJsonObject &loc); - qint64 getLastActivity(const QJsonObject &loc) const; - -signals: - void updated(); - -private: - NavManager(QObject *parent); - void parseLocationsResponse(const QString &response, bool success); - void sortLocations(); - - Params params; - QString prev_response; - QJsonArray locations; - QJsonObject current_dest; - std::future write_param_future; -}; - -class MapSettings : public QFrame { - Q_OBJECT -public: - explicit MapSettings(bool closeable = false, QWidget *parent = nullptr); - void navigateTo(const QJsonObject &place); - -private: - void showEvent(QShowEvent *event) override; - void refresh(); - - QVBoxLayout *destinations_layout; - DestinationWidget *current_widget; - DestinationWidget *home_widget; - DestinationWidget *work_widget; - std::vector widgets; - - // FrogPilot variables - QLabel *subtitle; - - WifiManager *wifi; - -signals: - void closeSettings(); -}; - -class DestinationWidget : public QPushButton { - Q_OBJECT -public: - explicit DestinationWidget(QWidget *parent = nullptr); - void set(const QJsonObject &location, bool current = false); - void unset(const QString &label, bool current = false); - -signals: - void actionClicked(); - void navigateTo(const QJsonObject &destination); - -private: - struct NavIcons { - QPixmap home, work, favorite, recent, directions; - }; - - static NavIcons icons() { - static NavIcons nav_icons { - loadPixmap("../assets/navigation/icon_home.svg", {48, 48}), - loadPixmap("../assets/navigation/icon_work.svg", {48, 48}), - loadPixmap("../assets/navigation/icon_favorite.svg", {48, 48}), - loadPixmap("../assets/navigation/icon_recent.svg", {48, 48}), - loadPixmap("../assets/navigation/icon_directions.svg", {48, 48}), - }; - return nav_icons; - } - -private: - QLabel *icon, *title, *subtitle; - QPushButton *action; - QJsonObject dest; -}; diff --git a/selfdrive/ui/qt/network/networking.cc b/selfdrive/ui/qt/network/networking.cc deleted file mode 100644 index 21eef39d24fbc1..00000000000000 --- a/selfdrive/ui/qt/network/networking.cc +++ /dev/null @@ -1,400 +0,0 @@ -#include "selfdrive/ui/qt/network/networking.h" - -#include - -#include -#include -#include - -#include "selfdrive/ui/qt/qt_window.h" -#include "selfdrive/ui/qt/util.h" -#include "selfdrive/ui/qt/widgets/controls.h" -#include "selfdrive/ui/qt/widgets/scrollview.h" - -static const int ICON_WIDTH = 49; - -// Networking functions - -Networking::Networking(QWidget* parent, bool show_advanced) : QFrame(parent) { - main_layout = new QStackedLayout(this); - - wifi = new WifiManager(this); - connect(wifi, &WifiManager::refreshSignal, this, &Networking::refresh); - connect(wifi, &WifiManager::wrongPassword, this, &Networking::wrongPassword); - - wifiScreen = new QWidget(this); - QVBoxLayout* vlayout = new QVBoxLayout(wifiScreen); - vlayout->setContentsMargins(20, 20, 20, 20); - if (show_advanced) { - QPushButton* advancedSettings = new QPushButton(tr("Advanced")); - advancedSettings->setObjectName("advanced_btn"); - advancedSettings->setStyleSheet("margin-right: 30px;"); - advancedSettings->setFixedSize(400, 100); - connect(advancedSettings, &QPushButton::clicked, [=]() { main_layout->setCurrentWidget(an); }); - vlayout->addSpacing(10); - vlayout->addWidget(advancedSettings, 0, Qt::AlignRight); - vlayout->addSpacing(10); - } - - wifiWidget = new WifiUI(this, wifi); - wifiWidget->setObjectName("wifiWidget"); - connect(wifiWidget, &WifiUI::connectToNetwork, this, &Networking::connectToNetwork); - - ScrollView *wifiScroller = new ScrollView(wifiWidget, this); - wifiScroller->setVerticalScrollBarPolicy(Qt::ScrollBarAsNeeded); - vlayout->addWidget(wifiScroller, 1); - main_layout->addWidget(wifiScreen); - - an = new AdvancedNetworking(this, wifi); - connect(an, &AdvancedNetworking::backPress, [=]() { main_layout->setCurrentWidget(wifiScreen); }); - connect(an, &AdvancedNetworking::requestWifiScreen, [=]() { main_layout->setCurrentWidget(wifiScreen); }); - main_layout->addWidget(an); - - QPalette pal = palette(); - pal.setColor(QPalette::Window, QColor(0x29, 0x29, 0x29)); - setAutoFillBackground(true); - setPalette(pal); - - setStyleSheet(R"( - #wifiWidget > QPushButton, #back_btn, #advanced_btn { - font-size: 50px; - margin: 0px; - padding: 15px; - border-width: 0; - border-radius: 30px; - color: #dddddd; - background-color: #393939; - } - #back_btn:pressed, #advanced_btn:pressed { - background-color: #4a4a4a; - } - )"); - main_layout->setCurrentWidget(wifiScreen); -} - -void Networking::refresh() { - wifiWidget->refresh(); - an->refresh(); -} - -void Networking::connectToNetwork(const Network n) { - if (wifi->isKnownConnection(n.ssid)) { - wifi->activateWifiConnection(n.ssid); - } else if (n.security_type == SecurityType::OPEN) { - wifi->connect(n, false); - } else if (n.security_type == SecurityType::WPA) { - QString pass = InputDialog::getText(tr("Enter password"), this, tr("for \"%1\"").arg(QString::fromUtf8(n.ssid)), true, 8); - if (!pass.isEmpty()) { - wifi->connect(n, false, pass); - } - } -} - -void Networking::wrongPassword(const QString &ssid) { - if (wifi->seenNetworks.contains(ssid)) { - const Network &n = wifi->seenNetworks.value(ssid); - QString pass = InputDialog::getText(tr("Wrong password"), this, tr("for \"%1\"").arg(QString::fromUtf8(n.ssid)), true, 8); - if (!pass.isEmpty()) { - wifi->connect(n, false, pass); - } - } -} - -void Networking::showEvent(QShowEvent *event) { - wifi->start(); -} - -void Networking::hideEvent(QHideEvent *event) { - main_layout->setCurrentWidget(wifiScreen); - wifi->stop(); -} - -// AdvancedNetworking functions - -AdvancedNetworking::AdvancedNetworking(QWidget* parent, WifiManager* wifi): QWidget(parent), wifi(wifi) { - - QVBoxLayout* main_layout = new QVBoxLayout(this); - main_layout->setMargin(40); - main_layout->setSpacing(20); - - // Back button - QPushButton* back = new QPushButton(tr("Back")); - back->setObjectName("back_btn"); - back->setFixedSize(400, 100); - connect(back, &QPushButton::clicked, [=]() { emit backPress(); }); - main_layout->addWidget(back, 0, Qt::AlignLeft); - - ListWidget *list = new ListWidget(this); - // Enable tethering layout - std::vector tetheringSelection{tr("Off"), tr("Always"), tr("Only Onroad"), tr("Until Reboot")}; - tetheringToggle = new ButtonParamControl("TetheringEnabled", tr("Enable Tethering"), - tr("Allow tethering with your data SIM and keep it active either while driving or continuously."), - "", tetheringSelection); - if (params.getInt("TetheringEnabled") == 3) { - params.remove("TetheringEnabled"); - tetheringToggle->setCheckedButton(0); - } - QButtonGroup *buttonGroup = tetheringToggle->findChild(); - if (buttonGroup) { - QObject::connect(buttonGroup, QOverload::of(&QButtonGroup::buttonClicked), [this](int id) { - toggleTethering(id); - }); - } - list->addItem(tetheringToggle); - - // Change tethering password - ButtonControl *editPasswordButton = new ButtonControl(tr("Tethering Password"), tr("EDIT")); - connect(editPasswordButton, &ButtonControl::clicked, [=]() { - QString pass = InputDialog::getText(tr("Enter new tethering password"), this, "", true, 8, wifi->getTetheringPassword()); - if (!pass.isEmpty()) { - wifi->changeTetheringPassword(pass); - } - }); - list->addItem(editPasswordButton); - - // IP address - ipLabel = new LabelControl(tr("IP Address"), wifi->ipv4_address); - list->addItem(ipLabel); - - // SSH keys - list->addItem(new SshToggle()); - list->addItem(new SshControl()); - - // Roaming toggle - const bool roamingEnabled = params.getBool("GsmRoaming"); - roamingToggle = new ToggleControl(tr("Enable Roaming"), "", "", roamingEnabled); - QObject::connect(roamingToggle, &ToggleControl::toggleFlipped, [=](bool state) { - params.putBool("GsmRoaming", state); - wifi->updateGsmSettings(state, QString::fromStdString(params.get("GsmApn")), params.getBool("GsmMetered")); - }); - list->addItem(roamingToggle); - - // APN settings - editApnButton = new ButtonControl(tr("APN Setting"), tr("EDIT")); - connect(editApnButton, &ButtonControl::clicked, [=]() { - const QString cur_apn = QString::fromStdString(params.get("GsmApn")); - QString apn = InputDialog::getText(tr("Enter APN"), this, tr("leave blank for automatic configuration"), false, -1, cur_apn).trimmed(); - - if (apn.isEmpty()) { - params.remove("GsmApn"); - } else { - params.put("GsmApn", apn.toStdString()); - } - wifi->updateGsmSettings(params.getBool("GsmRoaming"), apn, params.getBool("GsmMetered")); - }); - list->addItem(editApnButton); - - // Metered toggle - const bool metered = params.getBool("GsmMetered"); - meteredToggle = new ToggleControl(tr("Cellular Metered"), tr("Prevent large data uploads when on a metered connection"), "", metered); - QObject::connect(meteredToggle, &SshToggle::toggleFlipped, [=](bool state) { - params.putBool("GsmMetered", state); - wifi->updateGsmSettings(params.getBool("GsmRoaming"), QString::fromStdString(params.get("GsmApn")), state); - }); - list->addItem(meteredToggle); - - // Hidden Network - hiddenNetworkButton = new ButtonControl(tr("Hidden Network"), tr("CONNECT")); - connect(hiddenNetworkButton, &ButtonControl::clicked, [=]() { - QString ssid = InputDialog::getText(tr("Enter SSID"), this, "", false, 1); - if (!ssid.isEmpty()) { - QString pass = InputDialog::getText(tr("Enter password"), this, tr("for \"%1\"").arg(ssid), true, -1); - Network hidden_network; - hidden_network.ssid = ssid.toUtf8(); - if (!pass.isEmpty()) { - hidden_network.security_type = SecurityType::WPA; - wifi->connect(hidden_network, true, pass); - } else { - wifi->connect(hidden_network, true); - } - emit requestWifiScreen(); - } - }); - list->addItem(hiddenNetworkButton); - - // Set initial config - wifi->updateGsmSettings(roamingEnabled, QString::fromStdString(params.get("GsmApn")), metered); - - connect(uiState(), &UIState::primeTypeChanged, this, [=](PrimeType prime_type) { - bool gsmVisible = prime_type == PrimeType::NONE || prime_type == PrimeType::LITE; - roamingToggle->setVisible(gsmVisible); - editApnButton->setVisible(gsmVisible); - meteredToggle->setVisible(gsmVisible); - }); - - main_layout->addWidget(new ScrollView(list, this)); - main_layout->addStretch(1); -} - -void AdvancedNetworking::refresh() { - ipLabel->setText(wifi->ipv4_address); - tetheringToggle->setEnabled(true); - update(); -} - -void AdvancedNetworking::toggleTethering(int id) { - wifi->setTetheringEnabled(id == 1 || id == 3); - tetheringToggle->setEnabled(false); -} - -// WifiUI functions - -WifiUI::WifiUI(QWidget *parent, WifiManager* wifi) : QWidget(parent), wifi(wifi) { - QVBoxLayout *main_layout = new QVBoxLayout(this); - main_layout->setContentsMargins(0, 0, 0, 0); - main_layout->setSpacing(0); - - // load imgs - for (const auto &s : {"low", "medium", "high", "full"}) { - QPixmap pix(ASSET_PATH + "/offroad/icon_wifi_strength_" + s + ".svg"); - strengths.push_back(pix.scaledToHeight(68, Qt::SmoothTransformation)); - } - lock = QPixmap(ASSET_PATH + "offroad/icon_lock_closed.svg").scaledToWidth(ICON_WIDTH, Qt::SmoothTransformation); - checkmark = QPixmap(ASSET_PATH + "offroad/icon_checkmark.svg").scaledToWidth(ICON_WIDTH, Qt::SmoothTransformation); - circled_slash = QPixmap(ASSET_PATH + "img_circled_slash.svg").scaledToWidth(ICON_WIDTH, Qt::SmoothTransformation); - - scanningLabel = new QLabel(tr("Scanning for networks...")); - scanningLabel->setStyleSheet("font-size: 65px;"); - main_layout->addWidget(scanningLabel, 0, Qt::AlignCenter); - - wifi_list_widget = new ListWidget(this); - wifi_list_widget->setVisible(false); - main_layout->addWidget(wifi_list_widget); - - setStyleSheet(R"( - QScrollBar::handle:vertical { - min-height: 0px; - border-radius: 4px; - background-color: #8A8A8A; - } - #forgetBtn { - font-size: 32px; - font-weight: 600; - color: #292929; - background-color: #BDBDBD; - border-width: 1px solid #828282; - border-radius: 5px; - padding: 40px; - padding-bottom: 16px; - padding-top: 16px; - } - #forgetBtn:pressed { - background-color: #828282; - } - #connecting { - font-size: 32px; - font-weight: 600; - color: white; - border-radius: 0; - padding: 27px; - padding-left: 43px; - padding-right: 43px; - background-color: black; - } - #ssidLabel { - text-align: left; - border: none; - padding-top: 50px; - padding-bottom: 50px; - } - #ssidLabel:disabled { - color: #696969; - } - )"); - - // FrogPilot variables - QObject::connect(uiState(), &UIState::uiUpdate, this, &WifiUI::updateState); -} - -void WifiUI::updateState(const UIState &s) { - if (!isVisible() || s.sm->frame % UI_FREQ != 0) { - return; - } - - refresh(); -} - -void WifiUI::refresh() { - bool is_empty = wifi->seenNetworks.isEmpty(); - scanningLabel->setVisible(is_empty); - wifi_list_widget->setVisible(!is_empty); - if (is_empty) return; - - setUpdatesEnabled(false); - - const bool is_tethering_enabled = wifi->isTetheringEnabled(); - QList sortedNetworks = wifi->seenNetworks.values(); - std::sort(sortedNetworks.begin(), sortedNetworks.end(), compare_by_strength); - - int n = 0; - for (Network &network : sortedNetworks) { - QPixmap status_icon; - if (network.connected == ConnectedType::CONNECTED) { - status_icon = checkmark; - } else if (network.security_type == SecurityType::UNSUPPORTED) { - status_icon = circled_slash; - } else if (network.security_type == SecurityType::WPA) { - status_icon = lock; - } - bool show_forget_btn = wifi->isKnownConnection(network.ssid) && !is_tethering_enabled; - QPixmap strength = strengths[strengthLevel(network.strength)]; - - auto item = getItem(n++); - item->setItem(network, status_icon, show_forget_btn, strength); - item->setVisible(true); - } - for (; n < wifi_items.size(); ++n) wifi_items[n]->setVisible(false); - - setUpdatesEnabled(true); -} - -WifiItem *WifiUI::getItem(int n) { - auto item = n < wifi_items.size() ? wifi_items[n] : wifi_items.emplace_back(new WifiItem(tr("CONNECTING..."), tr("FORGET"))); - if (!item->parentWidget()) { - QObject::connect(item, &WifiItem::connectToNetwork, this, &WifiUI::connectToNetwork); - QObject::connect(item, &WifiItem::forgotNetwork, [this](const Network n) { - if (ConfirmationDialog::confirm(tr("Forget Wi-Fi Network \"%1\"?").arg(QString::fromUtf8(n.ssid)), tr("Forget"), this)) - wifi->forgetConnection(n.ssid); - }); - wifi_list_widget->addItem(item); - } - return item; -} - -// WifiItem - -WifiItem::WifiItem(const QString &connecting_text, const QString &forget_text, QWidget *parent) : QWidget(parent) { - QHBoxLayout *hlayout = new QHBoxLayout(this); - hlayout->setContentsMargins(44, 0, 73, 0); - hlayout->setSpacing(50); - - hlayout->addWidget(ssidLabel = new ElidedLabel()); - ssidLabel->setObjectName("ssidLabel"); - ssidLabel->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred); - hlayout->addWidget(connecting = new QPushButton(connecting_text), 0, Qt::AlignRight); - connecting->setObjectName("connecting"); - hlayout->addWidget(forgetBtn = new QPushButton(forget_text), 0, Qt::AlignRight); - forgetBtn->setObjectName("forgetBtn"); - hlayout->addWidget(iconLabel = new QLabel(), 0, Qt::AlignRight); - hlayout->addWidget(strengthLabel = new QLabel(), 0, Qt::AlignRight); - - iconLabel->setFixedWidth(ICON_WIDTH); - QObject::connect(forgetBtn, &QPushButton::clicked, [this]() { emit forgotNetwork(network); }); - QObject::connect(ssidLabel, &ElidedLabel::clicked, [this]() { - if (network.connected == ConnectedType::DISCONNECTED) emit connectToNetwork(network); - }); -} - -void WifiItem::setItem(const Network &n, const QPixmap &status_icon, bool show_forget_btn, const QPixmap &strength_icon) { - network = n; - - ssidLabel->setText(n.ssid); - ssidLabel->setEnabled(n.security_type != SecurityType::UNSUPPORTED); - ssidLabel->setFont(InterFont(55, network.connected == ConnectedType::DISCONNECTED ? QFont::Normal : QFont::Bold)); - - connecting->setVisible(n.connected == ConnectedType::CONNECTING); - forgetBtn->setVisible(show_forget_btn); - - iconLabel->setPixmap(status_icon); - strengthLabel->setPixmap(strength_icon); -} diff --git a/selfdrive/ui/qt/network/networking.h b/selfdrive/ui/qt/network/networking.h deleted file mode 100644 index 6e2c1fa1cd50f7..00000000000000 --- a/selfdrive/ui/qt/network/networking.h +++ /dev/null @@ -1,105 +0,0 @@ -#pragma once - -#include - -#include "selfdrive/ui/qt/network/wifi_manager.h" -#include "selfdrive/ui/qt/widgets/input.h" -#include "selfdrive/ui/qt/widgets/ssh_keys.h" -#include "selfdrive/ui/qt/widgets/toggle.h" -#include "selfdrive/ui/ui.h" - -class WifiItem : public QWidget { - Q_OBJECT -public: - explicit WifiItem(const QString &connecting_text, const QString &forget_text, QWidget* parent = nullptr); - void setItem(const Network& n, const QPixmap &icon, bool show_forget_btn, const QPixmap &strength); - -signals: - // Cannot pass Network by reference. it may change after the signal is sent. - void connectToNetwork(const Network n); - void forgotNetwork(const Network n); - -protected: - ElidedLabel* ssidLabel; - QPushButton* connecting; - QPushButton* forgetBtn; - QLabel* iconLabel; - QLabel* strengthLabel; - Network network; -}; - -class WifiUI : public QWidget { - Q_OBJECT - -public: - explicit WifiUI(QWidget *parent = 0, WifiManager* wifi = 0); - -private: - WifiItem *getItem(int n); - - WifiManager *wifi = nullptr; - QLabel *scanningLabel = nullptr; - QPixmap lock; - QPixmap checkmark; - QPixmap circled_slash; - QVector strengths; - ListWidget *wifi_list_widget = nullptr; - std::vector wifi_items; - - // FrogPilot widgets - void updateState(const UIState &s); - -signals: - void connectToNetwork(const Network n); - -public slots: - void refresh(); -}; - -class AdvancedNetworking : public QWidget { - Q_OBJECT -public: - explicit AdvancedNetworking(QWidget* parent = 0, WifiManager* wifi = 0); - -private: - LabelControl* ipLabel; - ButtonParamControl* tetheringToggle; - ToggleControl* roamingToggle; - ButtonControl* editApnButton; - ButtonControl* hiddenNetworkButton; - ToggleControl* meteredToggle; - WifiManager* wifi = nullptr; - Params params; - -signals: - void backPress(); - void requestWifiScreen(); - -public slots: - void toggleTethering(int id); - void refresh(); -}; - -class Networking : public QFrame { - Q_OBJECT - -public: - explicit Networking(QWidget* parent = 0, bool show_advanced = true); - WifiManager* wifi = nullptr; - -private: - QStackedLayout* main_layout = nullptr; - QWidget* wifiScreen = nullptr; - AdvancedNetworking* an = nullptr; - WifiUI* wifiWidget; - - void showEvent(QShowEvent* event) override; - void hideEvent(QHideEvent* event) override; - -public slots: - void refresh(); - -private slots: - void connectToNetwork(const Network n); - void wrongPassword(const QString &ssid); -}; diff --git a/selfdrive/ui/qt/network/networkmanager.h b/selfdrive/ui/qt/network/networkmanager.h deleted file mode 100644 index 8bdeaf3bbd068c..00000000000000 --- a/selfdrive/ui/qt/network/networkmanager.h +++ /dev/null @@ -1,48 +0,0 @@ -#pragma once - -/** - * We are using a NetworkManager DBUS API : https://developer.gnome.org/NetworkManager/1.26/spec.html - * */ - -// https://developer.gnome.org/NetworkManager/1.26/nm-dbus-types.html#NM80211ApFlags -const int NM_802_11_AP_FLAGS_NONE = 0x00000000; -const int NM_802_11_AP_FLAGS_PRIVACY = 0x00000001; -const int NM_802_11_AP_FLAGS_WPS = 0x00000002; - -// https://developer.gnome.org/NetworkManager/1.26/nm-dbus-types.html#NM80211ApSecurityFlags -const int NM_802_11_AP_SEC_PAIR_WEP40 = 0x00000001; -const int NM_802_11_AP_SEC_PAIR_WEP104 = 0x00000002; -const int NM_802_11_AP_SEC_GROUP_WEP40 = 0x00000010; -const int NM_802_11_AP_SEC_GROUP_WEP104 = 0x00000020; -const int NM_802_11_AP_SEC_KEY_MGMT_PSK = 0x00000100; -const int NM_802_11_AP_SEC_KEY_MGMT_802_1X = 0x00000200; - -const QString NM_DBUS_PATH = "/org/freedesktop/NetworkManager"; -const QString NM_DBUS_PATH_SETTINGS = "/org/freedesktop/NetworkManager/Settings"; - -const QString NM_DBUS_INTERFACE = "org.freedesktop.NetworkManager"; -const QString NM_DBUS_INTERFACE_PROPERTIES = "org.freedesktop.DBus.Properties"; -const QString NM_DBUS_INTERFACE_SETTINGS = "org.freedesktop.NetworkManager.Settings"; -const QString NM_DBUS_INTERFACE_SETTINGS_CONNECTION = "org.freedesktop.NetworkManager.Settings.Connection"; -const QString NM_DBUS_INTERFACE_DEVICE = "org.freedesktop.NetworkManager.Device"; -const QString NM_DBUS_INTERFACE_DEVICE_WIRELESS = "org.freedesktop.NetworkManager.Device.Wireless"; -const QString NM_DBUS_INTERFACE_ACCESS_POINT = "org.freedesktop.NetworkManager.AccessPoint"; -const QString NM_DBUS_INTERFACE_ACTIVE_CONNECTION = "org.freedesktop.NetworkManager.Connection.Active"; -const QString NM_DBUS_INTERFACE_IP4_CONFIG = "org.freedesktop.NetworkManager.IP4Config"; - -const QString NM_DBUS_SERVICE = "org.freedesktop.NetworkManager"; - -const int NM_DEVICE_STATE_UNKNOWN = 0; -const int NM_DEVICE_STATE_ACTIVATED = 100; -const int NM_DEVICE_STATE_NEED_AUTH = 60; -const int NM_DEVICE_TYPE_WIFI = 2; -const int NM_DEVICE_TYPE_MODEM = 8; -const int NM_DEVICE_STATE_REASON_SUPPLICANT_DISCONNECT = 8; -const int DBUS_TIMEOUT = 100; - -// https://developer-old.gnome.org/NetworkManager/1.26/nm-dbus-types.html#NMMetered -const int NM_METERED_UNKNOWN = 0; -const int NM_METERED_YES = 1; -const int NM_METERED_NO = 2; -const int NM_METERED_GUESS_YES = 3; -const int NM_METERED_GUESS_NO = 4; diff --git a/selfdrive/ui/qt/network/wifi_manager.cc b/selfdrive/ui/qt/network/wifi_manager.cc deleted file mode 100644 index 717da47096913e..00000000000000 --- a/selfdrive/ui/qt/network/wifi_manager.cc +++ /dev/null @@ -1,507 +0,0 @@ -#include "selfdrive/ui/qt/network/wifi_manager.h" - -#include - -#include "selfdrive/ui/ui.h" -#include "selfdrive/ui/qt/widgets/prime.h" - -#include "common/params.h" -#include "common/swaglog.h" -#include "selfdrive/ui/qt/util.h" - -bool compare_by_strength(const Network &a, const Network &b) { - return std::tuple(a.connected, strengthLevel(a.strength), b.ssid) > - std::tuple(b.connected, strengthLevel(b.strength), a.ssid); -} - -template -T call(const QString &path, const QString &interface, const QString &method, Args &&...args) { - QDBusInterface nm(NM_DBUS_SERVICE, path, interface, QDBusConnection::systemBus()); - nm.setTimeout(DBUS_TIMEOUT); - - QDBusMessage response = nm.call(method, std::forward(args)...); - if (response.type() == QDBusMessage::ErrorMessage) { - qCritical() << "DBus call error:" << response.errorMessage(); - return T(); - } - - if constexpr (std::is_same_v) { - return response; - } else if (response.arguments().count() >= 1) { - QVariant vFirst = response.arguments().at(0).value().variant(); - if (vFirst.canConvert()) { - return vFirst.value(); - } - QDebug critical = qCritical(); - critical << "Variant unpacking failure :" << method << ','; - (critical << ... << args); - } - return T(); -} - -template -QDBusPendingCall asyncCall(const QString &path, const QString &interface, const QString &method, Args &&...args) { - QDBusInterface nm = QDBusInterface(NM_DBUS_SERVICE, path, interface, QDBusConnection::systemBus()); - return nm.asyncCall(method, args...); -} - -bool emptyPath(const QString &path) { - return path == "" || path == "/"; -} - -WifiManager::WifiManager(QObject *parent) : QObject(parent) { - qDBusRegisterMetaType(); - qDBusRegisterMetaType(); - - // Set tethering ssid as "weedle" + first 4 characters of a dongle id - tethering_ssid = "weedle"; - if (auto dongle_id = getDongleId()) { - tethering_ssid += "-" + dongle_id->left(4); - } - - adapter = getAdapter(); - if (!adapter.isEmpty()) { - setup(); - } else { - QDBusConnection::systemBus().connect(NM_DBUS_SERVICE, NM_DBUS_PATH, NM_DBUS_INTERFACE, "DeviceAdded", this, SLOT(deviceAdded(QDBusObjectPath))); - } - - timer.callOnTimeout(this, &WifiManager::requestScan); - - initConnections(); -} - -void WifiManager::setup() { - auto bus = QDBusConnection::systemBus(); - bus.connect(NM_DBUS_SERVICE, adapter, NM_DBUS_INTERFACE_DEVICE, "StateChanged", this, SLOT(stateChange(unsigned int, unsigned int, unsigned int))); - bus.connect(NM_DBUS_SERVICE, adapter, NM_DBUS_INTERFACE_PROPERTIES, "PropertiesChanged", this, SLOT(propertyChange(QString, QVariantMap, QStringList))); - - bus.connect(NM_DBUS_SERVICE, NM_DBUS_PATH_SETTINGS, NM_DBUS_INTERFACE_SETTINGS, "ConnectionRemoved", this, SLOT(connectionRemoved(QDBusObjectPath))); - bus.connect(NM_DBUS_SERVICE, NM_DBUS_PATH_SETTINGS, NM_DBUS_INTERFACE_SETTINGS, "NewConnection", this, SLOT(newConnection(QDBusObjectPath))); - - raw_adapter_state = call(adapter, NM_DBUS_INTERFACE_PROPERTIES, "Get", NM_DBUS_INTERFACE_DEVICE, "State"); - activeAp = call(adapter, NM_DBUS_INTERFACE_PROPERTIES, "Get", NM_DBUS_INTERFACE_DEVICE_WIRELESS, "ActiveAccessPoint").path(); - - requestScan(); -} - -void WifiManager::start() { - timer.start(5000); - refreshNetworks(); -} - -void WifiManager::stop() { - timer.stop(); -} - -void WifiManager::refreshNetworks() { - if (adapter.isEmpty() || !timer.isActive()) return; - - QDBusPendingCall pending_call = asyncCall(adapter, NM_DBUS_INTERFACE_DEVICE_WIRELESS, "GetAllAccessPoints"); - QDBusPendingCallWatcher *watcher = new QDBusPendingCallWatcher(pending_call); - QObject::connect(watcher, &QDBusPendingCallWatcher::finished, this, &WifiManager::refreshFinished); -} - -void WifiManager::refreshFinished(QDBusPendingCallWatcher *watcher) { - ipv4_address = getIp4Address(); - seenNetworks.clear(); - - const QDBusReply> watcher_reply = *watcher; - if (!watcher_reply.isValid()) { - qCritical() << "Failed to refresh"; - watcher->deleteLater(); - return; - } - - for (const QDBusObjectPath &path : watcher_reply.value()) { - QDBusReply reply = call(path.path(), NM_DBUS_INTERFACE_PROPERTIES, "GetAll", NM_DBUS_INTERFACE_ACCESS_POINT); - if (!reply.isValid()) { - qCritical() << "Failed to retrieve properties for path:" << path.path(); - continue; - } - - auto properties = reply.value(); - const QByteArray ssid = properties["Ssid"].toByteArray(); - if (ssid.isEmpty()) continue; - - // May be multiple access points for each SSID. - // Use first for ssid and security type, then update connected status and strength using all - if (!seenNetworks.contains(ssid)) { - seenNetworks[ssid] = {ssid, 0U, ConnectedType::DISCONNECTED, getSecurityType(properties)}; - } - - if (path.path() == activeAp) { - seenNetworks[ssid].connected = (ssid == connecting_to_network) ? ConnectedType::CONNECTING : ConnectedType::CONNECTED; - } - - uint32_t strength = properties["Strength"].toUInt(); - if (seenNetworks[ssid].strength < strength) { - seenNetworks[ssid].strength = strength; - } - } - - emit refreshSignal(); - watcher->deleteLater(); -} - -QString WifiManager::getIp4Address() { - if (raw_adapter_state != NM_DEVICE_STATE_ACTIVATED) return ""; - - for (const auto &p : getActiveConnections()) { - QString type = call(p.path(), NM_DBUS_INTERFACE_PROPERTIES, "Get", NM_DBUS_INTERFACE_ACTIVE_CONNECTION, "Type"); - if (type == "802-11-wireless") { - auto ip4config = call(p.path(), NM_DBUS_INTERFACE_PROPERTIES, "Get", NM_DBUS_INTERFACE_ACTIVE_CONNECTION, "Ip4Config"); - const auto &arr = call(ip4config.path(), NM_DBUS_INTERFACE_PROPERTIES, "Get", NM_DBUS_INTERFACE_IP4_CONFIG, "AddressData"); - QVariantMap path; - arr.beginArray(); - while (!arr.atEnd()) { - arr >> path; - arr.endArray(); - return path.value("address").value(); - } - arr.endArray(); - } - } - return ""; -} - -SecurityType WifiManager::getSecurityType(const QVariantMap &properties) { - int sflag = properties["Flags"].toUInt(); - int wpaflag = properties["WpaFlags"].toUInt(); - int rsnflag = properties["RsnFlags"].toUInt(); - int wpa_props = wpaflag | rsnflag; - - // obtained by looking at flags of networks in the office as reported by an Android phone - const int supports_wpa = NM_802_11_AP_SEC_PAIR_WEP40 | NM_802_11_AP_SEC_PAIR_WEP104 | NM_802_11_AP_SEC_GROUP_WEP40 | NM_802_11_AP_SEC_GROUP_WEP104 | NM_802_11_AP_SEC_KEY_MGMT_PSK; - - if ((sflag == NM_802_11_AP_FLAGS_NONE) || ((sflag & NM_802_11_AP_FLAGS_WPS) && !(wpa_props & supports_wpa))) { - return SecurityType::OPEN; - } else if ((sflag & NM_802_11_AP_FLAGS_PRIVACY) && (wpa_props & supports_wpa) && !(wpa_props & NM_802_11_AP_SEC_KEY_MGMT_802_1X)) { - return SecurityType::WPA; - } else { - LOGW("Unsupported network! sflag: %d, wpaflag: %d, rsnflag: %d", sflag, wpaflag, rsnflag); - return SecurityType::UNSUPPORTED; - } -} - -void WifiManager::connect(const Network &n, const bool is_hidden, const QString &password, const QString &username) { - setCurrentConnecting(n.ssid); - forgetConnection(n.ssid); // Clear all connections that may already exist to the network we are connecting - Connection connection; - connection["connection"]["type"] = "802-11-wireless"; - connection["connection"]["uuid"] = QUuid::createUuid().toString().remove('{').remove('}'); - connection["connection"]["id"] = "openpilot connection " + QString::fromStdString(n.ssid.toStdString()); - connection["connection"]["autoconnect-retries"] = 0; - - connection["802-11-wireless"]["ssid"] = n.ssid; - connection["802-11-wireless"]["hidden"] = is_hidden; - connection["802-11-wireless"]["mode"] = "infrastructure"; - - if (n.security_type == SecurityType::WPA) { - connection["802-11-wireless-security"]["key-mgmt"] = "wpa-psk"; - connection["802-11-wireless-security"]["auth-alg"] = "open"; - connection["802-11-wireless-security"]["psk"] = password; - } - - connection["ipv4"]["method"] = "auto"; - connection["ipv4"]["dns-priority"] = 600; - connection["ipv6"]["method"] = "ignore"; - - call(NM_DBUS_PATH_SETTINGS, NM_DBUS_INTERFACE_SETTINGS, "AddConnection", QVariant::fromValue(connection)); -} - -void WifiManager::deactivateConnectionBySsid(const QString &ssid) { - for (QDBusObjectPath active_connection : getActiveConnections()) { - auto pth = call(active_connection.path(), NM_DBUS_INTERFACE_PROPERTIES, "Get", NM_DBUS_INTERFACE_ACTIVE_CONNECTION, "SpecificObject"); - if (!emptyPath(pth.path())) { - QString Ssid = get_property(pth.path(), "Ssid"); - if (Ssid == ssid) { - deactivateConnection(active_connection); - return; - } - } - } -} - -void WifiManager::deactivateConnection(const QDBusObjectPath &path) { - asyncCall(NM_DBUS_PATH, NM_DBUS_INTERFACE, "DeactivateConnection", QVariant::fromValue(path)); -} - -QVector WifiManager::getActiveConnections() { - auto result = call(NM_DBUS_PATH, NM_DBUS_INTERFACE_PROPERTIES, "Get", NM_DBUS_INTERFACE, "ActiveConnections"); - return qdbus_cast>(result); -} - -bool WifiManager::isKnownConnection(const QString &ssid) { - return !getConnectionPath(ssid).path().isEmpty(); -} - -void WifiManager::forgetConnection(const QString &ssid) { - const QDBusObjectPath &path = getConnectionPath(ssid); - if (!path.path().isEmpty()) { - call(path.path(), NM_DBUS_INTERFACE_SETTINGS_CONNECTION, "Delete"); - } -} - -void WifiManager::setCurrentConnecting(const QString &ssid) { - connecting_to_network = ssid; - for (auto &network : seenNetworks) { - network.connected = (network.ssid == ssid) ? ConnectedType::CONNECTING : ConnectedType::DISCONNECTED; - } - emit refreshSignal(); -} - -uint WifiManager::getAdapterType(const QDBusObjectPath &path) { - return call(path.path(), NM_DBUS_INTERFACE_PROPERTIES, "Get", NM_DBUS_INTERFACE_DEVICE, "DeviceType"); -} - -void WifiManager::requestScan() { - if (!adapter.isEmpty()) { - asyncCall(adapter, NM_DBUS_INTERFACE_DEVICE_WIRELESS, "RequestScan", QVariantMap()); - } -} - -QByteArray WifiManager::get_property(const QString &network_path , const QString &property) { - return call(network_path, NM_DBUS_INTERFACE_PROPERTIES, "Get", NM_DBUS_INTERFACE_ACCESS_POINT, property); -} - -QString WifiManager::getAdapter(const uint adapter_type) { - QDBusReply> response = call(NM_DBUS_PATH, NM_DBUS_INTERFACE, "GetDevices"); - for (const QDBusObjectPath &path : response.value()) { - if (getAdapterType(path) == adapter_type) { - return path.path(); - } - } - return ""; -} - -void WifiManager::stateChange(unsigned int new_state, unsigned int previous_state, unsigned int change_reason) { - raw_adapter_state = new_state; - if (new_state == NM_DEVICE_STATE_NEED_AUTH && change_reason == NM_DEVICE_STATE_REASON_SUPPLICANT_DISCONNECT && !connecting_to_network.isEmpty()) { - forgetConnection(connecting_to_network); - emit wrongPassword(connecting_to_network); - } else if (new_state == NM_DEVICE_STATE_ACTIVATED) { - connecting_to_network = ""; - refreshNetworks(); - } -} - -// https://developer.gnome.org/NetworkManager/stable/gdbus-org.freedesktop.NetworkManager.Device.Wireless.html -void WifiManager::propertyChange(const QString &interface, const QVariantMap &props, const QStringList &invalidated_props) { - if (interface == NM_DBUS_INTERFACE_DEVICE_WIRELESS && props.contains("LastScan")) { - refreshNetworks(); - } else if (interface == NM_DBUS_INTERFACE_DEVICE_WIRELESS && props.contains("ActiveAccessPoint")) { - activeAp = props.value("ActiveAccessPoint").value().path(); - } -} - -void WifiManager::deviceAdded(const QDBusObjectPath &path) { - if (getAdapterType(path) == NM_DEVICE_TYPE_WIFI && emptyPath(adapter)) { - adapter = path.path(); - setup(); - } -} - -void WifiManager::connectionRemoved(const QDBusObjectPath &path) { - knownConnections.remove(path); -} - -void WifiManager::newConnection(const QDBusObjectPath &path) { - Connection settings = getConnectionSettings(path); - if (settings.value("connection").value("type") == "802-11-wireless") { - knownConnections[path] = settings.value("802-11-wireless").value("ssid").toString(); - if (knownConnections[path] != tethering_ssid) { - activateWifiConnection(knownConnections[path]); - } - } -} - -QDBusObjectPath WifiManager::getConnectionPath(const QString &ssid) { - return knownConnections.key(ssid); -} - -Connection WifiManager::getConnectionSettings(const QDBusObjectPath &path) { - return QDBusReply(call(path.path(), NM_DBUS_INTERFACE_SETTINGS_CONNECTION, "GetSettings")).value(); -} - -void WifiManager::initConnections() { - const QDBusReply> response = call(NM_DBUS_PATH_SETTINGS, NM_DBUS_INTERFACE_SETTINGS, "ListConnections"); - for (const QDBusObjectPath &path : response.value()) { - const Connection settings = getConnectionSettings(path); - if (settings.value("connection").value("type") == "802-11-wireless") { - knownConnections[path] = settings.value("802-11-wireless").value("ssid").toString(); - } else if (settings.value("connection").value("id") == "lte") { - lteConnectionPath = path; - } - } -} - -std::optional WifiManager::activateWifiConnection(const QString &ssid) { - const QDBusObjectPath &path = getConnectionPath(ssid); - if (!path.path().isEmpty()) { - setCurrentConnecting(ssid); - return asyncCall(NM_DBUS_PATH, NM_DBUS_INTERFACE, "ActivateConnection", QVariant::fromValue(path), QVariant::fromValue(QDBusObjectPath(adapter)), QVariant::fromValue(QDBusObjectPath("/"))); - } - return std::nullopt; -} - -void WifiManager::activateModemConnection(const QDBusObjectPath &path) { - QString modem = getAdapter(NM_DEVICE_TYPE_MODEM); - if (!path.path().isEmpty() && !modem.isEmpty()) { - asyncCall(NM_DBUS_PATH, NM_DBUS_INTERFACE, "ActivateConnection", QVariant::fromValue(path), QVariant::fromValue(QDBusObjectPath(modem)), QVariant::fromValue(QDBusObjectPath("/"))); - } -} - -// function matches tici/hardware.py -NetworkType WifiManager::currentNetworkType() { - auto primary_conn = call(NM_DBUS_PATH, NM_DBUS_INTERFACE_PROPERTIES, "Get", NM_DBUS_INTERFACE, "PrimaryConnection"); - auto primary_type = call(primary_conn.path(), NM_DBUS_INTERFACE_PROPERTIES, "Get", NM_DBUS_INTERFACE_ACTIVE_CONNECTION, "Type"); - - if (primary_type == "802-3-ethernet") { - return NetworkType::ETHERNET; - } else if (primary_type == "802-11-wireless" && !isTetheringEnabled()) { - return NetworkType::WIFI; - } else { - for (const QDBusObjectPath &conn : getActiveConnections()) { - auto type = call(conn.path(), NM_DBUS_INTERFACE_PROPERTIES, "Get", NM_DBUS_INTERFACE_ACTIVE_CONNECTION, "Type"); - if (type == "gsm") { - return NetworkType::CELL; - } - } - } - return NetworkType::NONE; -} - -void WifiManager::updateGsmSettings(bool roaming, QString apn, bool metered) { - if (!lteConnectionPath.path().isEmpty()) { - bool changes = false; - bool auto_config = apn.isEmpty(); - Connection settings = getConnectionSettings(lteConnectionPath); - if (settings.value("gsm").value("auto-config").toBool() != auto_config) { - qWarning() << "Changing gsm.auto-config to" << auto_config; - settings["gsm"]["auto-config"] = auto_config; - changes = true; - } - - if (settings.value("gsm").value("apn").toString() != apn) { - qWarning() << "Changing gsm.apn to" << apn; - settings["gsm"]["apn"] = apn; - changes = true; - } - - if (settings.value("gsm").value("home-only").toBool() == roaming) { - qWarning() << "Changing gsm.home-only to" << !roaming; - settings["gsm"]["home-only"] = !roaming; - changes = true; - } - - int meteredInt = metered ? NM_METERED_UNKNOWN : NM_METERED_NO; - if (settings.value("connection").value("metered").toInt() != meteredInt) { - qWarning() << "Changing connection.metered to" << meteredInt; - settings["connection"]["metered"] = meteredInt; - changes = true; - } - - if (changes) { - call(lteConnectionPath.path(), NM_DBUS_INTERFACE_SETTINGS_CONNECTION, "UpdateUnsaved", QVariant::fromValue(settings)); // update is temporary - deactivateConnection(lteConnectionPath); - activateModemConnection(lteConnectionPath); - } - } -} - -// Functions for tethering -void WifiManager::addTetheringConnection() { - Connection connection; - connection["connection"]["id"] = "Hotspot"; - connection["connection"]["uuid"] = QUuid::createUuid().toString().remove('{').remove('}'); - connection["connection"]["type"] = "802-11-wireless"; - connection["connection"]["interface-name"] = "wlan0"; - connection["connection"]["autoconnect"] = false; - - connection["802-11-wireless"]["band"] = "bg"; - connection["802-11-wireless"]["mode"] = "ap"; - connection["802-11-wireless"]["ssid"] = tethering_ssid.toUtf8(); - - connection["802-11-wireless-security"]["group"] = QStringList("ccmp"); - connection["802-11-wireless-security"]["key-mgmt"] = "wpa-psk"; - connection["802-11-wireless-security"]["pairwise"] = QStringList("ccmp"); - connection["802-11-wireless-security"]["proto"] = QStringList("rsn"); - connection["802-11-wireless-security"]["psk"] = defaultTetheringPassword; - - connection["ipv4"]["method"] = "shared"; - QVariantMap address; - address["address"] = "192.168.43.1"; - address["prefix"] = 24u; - connection["ipv4"]["address-data"] = QVariant::fromValue(IpConfig() << address); - connection["ipv4"]["gateway"] = "192.168.43.1"; - connection["ipv4"]["route-metric"] = 1100; - connection["ipv6"]["method"] = "ignore"; - - auto path = call(NM_DBUS_PATH_SETTINGS, NM_DBUS_INTERFACE_SETTINGS, "AddConnection", QVariant::fromValue(connection)); - if (!path.path().isEmpty()) { - knownConnections[path] = tethering_ssid; - } -} - -void WifiManager::tetheringActivated(QDBusPendingCallWatcher *call) { - int prime_type = uiState()->primeType(); - int ipv4_forward = (prime_type == PrimeType::NONE || prime_type == PrimeType::LITE); - - if (!ipv4_forward) { - QTimer::singleShot(5000, this, [=] { - qWarning() << "net.ipv4.ip_forward = 0"; - std::system("sudo sysctl net.ipv4.ip_forward=0"); - }); - } - call->deleteLater(); -} - -void WifiManager::setTetheringEnabled(bool enabled) { - if (enabled) { - if (!isKnownConnection(tethering_ssid)) { - addTetheringConnection(); - } - - auto pending_call = activateWifiConnection(tethering_ssid); - - if (pending_call) { - QDBusPendingCallWatcher *watcher = new QDBusPendingCallWatcher(*pending_call); - QObject::connect(watcher, &QDBusPendingCallWatcher::finished, this, &WifiManager::tetheringActivated); - } - - } else { - deactivateConnectionBySsid(tethering_ssid); - } -} - -bool WifiManager::isTetheringEnabled() { - if (!emptyPath(activeAp)) { - return get_property(activeAp, "Ssid") == tethering_ssid; - } - return false; -} - -QString WifiManager::getTetheringPassword() { - if (!isKnownConnection(tethering_ssid)) { - addTetheringConnection(); - } - const QDBusObjectPath &path = getConnectionPath(tethering_ssid); - if (!path.path().isEmpty()) { - QDBusReply> response = call(path.path(), NM_DBUS_INTERFACE_SETTINGS_CONNECTION, "GetSecrets", "802-11-wireless-security"); - return response.value().value("802-11-wireless-security").value("psk").toString(); - } - return ""; -} - -void WifiManager::changeTetheringPassword(const QString &newPassword) { - const QDBusObjectPath &path = getConnectionPath(tethering_ssid); - if (!path.path().isEmpty()) { - Connection settings = getConnectionSettings(path); - settings["802-11-wireless-security"]["psk"] = newPassword; - call(path.path(), NM_DBUS_INTERFACE_SETTINGS_CONNECTION, "Update", QVariant::fromValue(settings)); - if (isTetheringEnabled()) { - activateWifiConnection(tethering_ssid); - } - } -} diff --git a/selfdrive/ui/qt/network/wifi_manager.h b/selfdrive/ui/qt/network/wifi_manager.h deleted file mode 100644 index 09445ea0b15f7b..00000000000000 --- a/selfdrive/ui/qt/network/wifi_manager.h +++ /dev/null @@ -1,102 +0,0 @@ -#pragma once - -#include -#include -#include - -#include "selfdrive/ui/qt/network/networkmanager.h" - -enum class SecurityType { - OPEN, - WPA, - UNSUPPORTED -}; -enum class ConnectedType { - DISCONNECTED, - CONNECTING, - CONNECTED -}; -enum class NetworkType { - NONE, - WIFI, - CELL, - ETHERNET -}; - -typedef QMap Connection; -typedef QVector IpConfig; - -struct Network { - QByteArray ssid; - unsigned int strength; - ConnectedType connected; - SecurityType security_type; -}; -bool compare_by_strength(const Network &a, const Network &b); -inline int strengthLevel(unsigned int strength) { return std::clamp((int)round(strength / 33.), 0, 3); } - -class WifiManager : public QObject { - Q_OBJECT - -public: - QMap seenNetworks; - QMap knownConnections; - QString ipv4_address; - - explicit WifiManager(QObject* parent); - void start(); - void stop(); - void requestScan(); - void forgetConnection(const QString &ssid); - bool isKnownConnection(const QString &ssid); - std::optional activateWifiConnection(const QString &ssid); - NetworkType currentNetworkType(); - void updateGsmSettings(bool roaming, QString apn, bool metered); - void connect(const Network &ssid, const bool is_hidden = false, const QString &password = {}, const QString &username = {}); - - // Tethering functions - void setTetheringEnabled(bool enabled); - bool isTetheringEnabled(); - void changeTetheringPassword(const QString &newPassword); - QString getIp4Address(); - QString getTetheringPassword(); - -private: - QString adapter; // Path to network manager wifi-device - QTimer timer; - unsigned int raw_adapter_state = NM_DEVICE_STATE_UNKNOWN; // Connection status https://developer.gnome.org/NetworkManager/1.26/nm-dbus-types.html#NMDeviceState - QString connecting_to_network; - QString tethering_ssid; - const QString defaultTetheringPassword = "swagswagcomma"; - QString activeAp; - QDBusObjectPath lteConnectionPath; - - QString getAdapter(const uint = NM_DEVICE_TYPE_WIFI); - uint getAdapterType(const QDBusObjectPath &path); - void deactivateConnectionBySsid(const QString &ssid); - void deactivateConnection(const QDBusObjectPath &path); - QVector getActiveConnections(); - QByteArray get_property(const QString &network_path, const QString &property); - SecurityType getSecurityType(const QVariantMap &properties); - QDBusObjectPath getConnectionPath(const QString &ssid); - Connection getConnectionSettings(const QDBusObjectPath &path); - void initConnections(); - void setup(); - void refreshNetworks(); - void activateModemConnection(const QDBusObjectPath &path); - void addTetheringConnection(); - void setCurrentConnecting(const QString &ssid); - -signals: - void wrongPassword(const QString &ssid); - void refreshSignal(); - -private slots: - void stateChange(unsigned int new_state, unsigned int previous_state, unsigned int change_reason); - void propertyChange(const QString &interface, const QVariantMap &props, const QStringList &invalidated_props); - void deviceAdded(const QDBusObjectPath &path); - void connectionRemoved(const QDBusObjectPath &path); - void newConnection(const QDBusObjectPath &path); - void refreshFinished(QDBusPendingCallWatcher *call); - void tetheringActivated(QDBusPendingCallWatcher *call); -}; diff --git a/selfdrive/ui/qt/offroad/driverview.cc b/selfdrive/ui/qt/offroad/driverview.cc deleted file mode 100644 index df9bb246510cfb..00000000000000 --- a/selfdrive/ui/qt/offroad/driverview.cc +++ /dev/null @@ -1,77 +0,0 @@ -#include "selfdrive/ui/qt/offroad/driverview.h" - -#include -#include - -#include "selfdrive/ui/qt/util.h" - -const int FACE_IMG_SIZE = 130; - -DriverViewWindow::DriverViewWindow(QWidget* parent) : CameraWidget("camerad", VISION_STREAM_DRIVER, true, parent) { - face_img = loadPixmap("../assets/img_driver_face_static.png", {FACE_IMG_SIZE, FACE_IMG_SIZE}); - QObject::connect(this, &CameraWidget::clicked, this, &DriverViewWindow::done); - QObject::connect(device(), &Device::interactiveTimeout, this, [this]() { - if (isVisible()) { - emit done(); - } - }); -} - -void DriverViewWindow::showEvent(QShowEvent* event) { - params.putBool("IsDriverViewEnabled", true); - device()->resetInteractiveTimeout(60); - CameraWidget::showEvent(event); -} - -void DriverViewWindow::hideEvent(QHideEvent* event) { - params.putBool("IsDriverViewEnabled", false); - stopVipcThread(); - CameraWidget::hideEvent(event); -} - -void DriverViewWindow::paintGL() { - CameraWidget::paintGL(); - - std::lock_guard lk(frame_lock); - QPainter p(this); - // startup msg - if (frames.empty()) { - p.setPen(Qt::white); - p.setRenderHint(QPainter::TextAntialiasing); - p.setFont(InterFont(100, QFont::Bold)); - p.drawText(geometry(), Qt::AlignCenter, tr("camera starting")); - return; - } - - const auto &sm = *(uiState()->sm); - cereal::DriverStateV2::Reader driver_state = sm["driverStateV2"].getDriverStateV2(); - bool is_rhd = driver_state.getWheelOnRightProb() > 0.5; - auto driver_data = is_rhd ? driver_state.getRightDriverData() : driver_state.getLeftDriverData(); - - bool face_detected = driver_data.getFaceProb() > 0.7; - if (face_detected) { - auto fxy_list = driver_data.getFacePosition(); - auto std_list = driver_data.getFaceOrientationStd(); - float face_x = fxy_list[0]; - float face_y = fxy_list[1]; - float face_std = std::max(std_list[0], std_list[1]); - - float alpha = 0.7; - if (face_std > 0.15) { - alpha = std::max(0.7 - (face_std-0.15)*3.5, 0.0); - } - const int box_size = 220; - // use approx instead of distort_points - int fbox_x = 1080.0 - 1714.0 * face_x; - int fbox_y = -135.0 + (504.0 + std::abs(face_x)*112.0) + (1205.0 - std::abs(face_x)*724.0) * face_y; - p.setPen(QPen(QColor(255, 255, 255, alpha * 255), 10)); - p.drawRoundedRect(fbox_x - box_size / 2, fbox_y - box_size / 2, box_size, box_size, 35.0, 35.0); - } - - // icon - const int img_offset = 60; - const int img_x = is_rhd ? rect().right() - FACE_IMG_SIZE - img_offset : rect().left() + img_offset; - const int img_y = rect().bottom() - FACE_IMG_SIZE - img_offset; - p.setOpacity(face_detected ? 1.0 : 0.2); - p.drawPixmap(img_x, img_y, face_img); -} diff --git a/selfdrive/ui/qt/offroad/driverview.h b/selfdrive/ui/qt/offroad/driverview.h deleted file mode 100644 index 155e4ede32073d..00000000000000 --- a/selfdrive/ui/qt/offroad/driverview.h +++ /dev/null @@ -1,21 +0,0 @@ -#pragma once - -#include "selfdrive/ui/qt/widgets/cameraview.h" - -class DriverViewWindow : public CameraWidget { - Q_OBJECT - -public: - explicit DriverViewWindow(QWidget *parent); - -signals: - void done(); - -protected: - void showEvent(QShowEvent *event) override; - void hideEvent(QHideEvent *event) override; - void paintGL() override; - - Params params; - QPixmap face_img; -}; diff --git a/selfdrive/ui/qt/offroad/experimental_mode.cc b/selfdrive/ui/qt/offroad/experimental_mode.cc deleted file mode 100644 index b99220c1d18369..00000000000000 --- a/selfdrive/ui/qt/offroad/experimental_mode.cc +++ /dev/null @@ -1,76 +0,0 @@ -#include "selfdrive/ui/qt/offroad/experimental_mode.h" - -#include -#include -#include -#include -#include - -#include "selfdrive/ui/ui.h" - -ExperimentalModeButton::ExperimentalModeButton(QWidget *parent) : QPushButton(parent) { - chill_pixmap = QPixmap("../assets/img_couch.svg").scaledToWidth(img_width, Qt::SmoothTransformation); - experimental_pixmap = QPixmap("../assets/img_experimental_grey.svg").scaledToWidth(img_width, Qt::SmoothTransformation); - - // go to toggles and expand experimental mode description - connect(this, &QPushButton::clicked, [=]() { emit openSettings(2, "ExperimentalMode"); }); - - setFixedHeight(125); - QHBoxLayout *main_layout = new QHBoxLayout; - main_layout->setContentsMargins(horizontal_padding, 0, horizontal_padding, 0); - - mode_label = new QLabel; - mode_icon = new QLabel; - mode_icon->setSizePolicy(QSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed)); - - main_layout->addWidget(mode_label, 1, Qt::AlignLeft); - main_layout->addWidget(mode_icon, 0, Qt::AlignRight); - - setLayout(main_layout); - - setStyleSheet(R"( - QPushButton { - border: none; - } - - QLabel { - font-size: 45px; - font-weight: 300; - text-align: left; - font-family: JetBrainsMono; - color: #000000; - } - )"); -} - -void ExperimentalModeButton::paintEvent(QPaintEvent *event) { - QPainter p(this); - p.setPen(Qt::NoPen); - p.setRenderHint(QPainter::Antialiasing); - - QPainterPath path; - path.addRoundedRect(rect(), 10, 10); - - // gradient - bool pressed = isDown(); - QLinearGradient gradient(rect().left(), 0, rect().right(), 0); - if (experimental_mode) { - gradient.setColorAt(0, QColor(255, 155, 63, pressed ? 0xcc : 0xff)); - gradient.setColorAt(1, QColor(219, 56, 34, pressed ? 0xcc : 0xff)); - } else { - gradient.setColorAt(0, QColor(20, 255, 171, pressed ? 0xcc : 0xff)); - gradient.setColorAt(1, QColor(35, 149, 255, pressed ? 0xcc : 0xff)); - } - p.fillPath(path, gradient); - - // vertical line - p.setPen(QPen(QColor(0, 0, 0, 0x4d), 3, Qt::SolidLine)); - int line_x = rect().right() - img_width - (2 * horizontal_padding); - p.drawLine(line_x, rect().bottom(), line_x, rect().top()); -} - -void ExperimentalModeButton::showEvent(QShowEvent *event) { - experimental_mode = params.getBool("ExperimentalMode"); - mode_icon->setPixmap(experimental_mode ? experimental_pixmap : chill_pixmap); - mode_label->setText(experimental_mode ? tr("EXPERIMENTAL MODE ON") : tr("CHILL MODE ON")); -} diff --git a/selfdrive/ui/qt/offroad/experimental_mode.h b/selfdrive/ui/qt/offroad/experimental_mode.h deleted file mode 100644 index bfb7638bbec4b3..00000000000000 --- a/selfdrive/ui/qt/offroad/experimental_mode.h +++ /dev/null @@ -1,31 +0,0 @@ -#pragma once - -#include -#include - -#include "common/params.h" - -class ExperimentalModeButton : public QPushButton { - Q_OBJECT - -public: - explicit ExperimentalModeButton(QWidget* parent = 0); - -signals: - void openSettings(int index = 0, const QString &toggle = ""); - -private: - void showEvent(QShowEvent *event) override; - - Params params; - bool experimental_mode; - int img_width = 100; - int horizontal_padding = 30; - QPixmap experimental_pixmap; - QPixmap chill_pixmap; - QLabel *mode_label; - QLabel *mode_icon; - -protected: - void paintEvent(QPaintEvent *event) override; -}; diff --git a/selfdrive/ui/qt/offroad/onboarding.cc b/selfdrive/ui/qt/offroad/onboarding.cc deleted file mode 100644 index b1219055fd07ae..00000000000000 --- a/selfdrive/ui/qt/offroad/onboarding.cc +++ /dev/null @@ -1,234 +0,0 @@ -#include "selfdrive/ui/qt/offroad/onboarding.h" - -#include - -#include -#include -#include -#include -#include -#include - -#include "common/util.h" -#include "common/params.h" -#include "selfdrive/ui/qt/util.h" -#include "selfdrive/ui/qt/widgets/input.h" - -TrainingGuide::TrainingGuide(QWidget *parent) : QFrame(parent) { - setAttribute(Qt::WA_OpaquePaintEvent); -} - -void TrainingGuide::mouseReleaseEvent(QMouseEvent *e) { - if (click_timer.elapsed() < 250) { - return; - } - click_timer.restart(); - - auto contains = [this](QRect r, const QPoint &pt) { - if (image.size() != image_raw_size) { - QTransform transform; - transform.translate((width()- image.width()) / 2.0, (height()- image.height()) / 2.0); - transform.scale(image.width() / (float)image_raw_size.width(), image.height() / (float)image_raw_size.height()); - r= transform.mapRect(r); - } - return r.contains(pt); - }; - - if (contains(boundingRect[currentIndex], e->pos())) { - if (currentIndex == 9) { - const QRect yes = QRect(707, 804, 531, 164); - Params().putBool("RecordFront", contains(yes, e->pos())); - } - currentIndex += 1; - } else if (currentIndex == (boundingRect.size() - 2) && contains(boundingRect.last(), e->pos())) { - currentIndex = 0; - } - - if (currentIndex >= (boundingRect.size() - 1)) { - emit completedTraining(); - } else { - update(); - } -} - -void TrainingGuide::showEvent(QShowEvent *event) { - currentIndex = 0; - click_timer.start(); -} - -QImage TrainingGuide::loadImage(int id) { - QImage img(img_path + QString("step%1.png").arg(id)); - image_raw_size = img.size(); - if (image_raw_size != rect().size()) { - img = img.scaled(width(), height(), Qt::KeepAspectRatio, Qt::SmoothTransformation); - } - return img; -} - -void TrainingGuide::paintEvent(QPaintEvent *event) { - QPainter painter(this); - - QRect bg(0, 0, painter.device()->width(), painter.device()->height()); - painter.fillRect(bg, QColor("#000000")); - - image = loadImage(currentIndex); - QRect rect(image.rect()); - rect.moveCenter(bg.center()); - painter.drawImage(rect.topLeft(), image); - - // progress bar - if (currentIndex > 0 && currentIndex < (boundingRect.size() - 2)) { - const int h = 20; - const int w = (currentIndex / (float)(boundingRect.size() - 2)) * width(); - painter.fillRect(QRect(0, height() - h, w, h), QColor("#465BEA")); - } -} - -void TermsPage::showEvent(QShowEvent *event) { - // late init, building QML widget takes 200ms - if (layout()) { - return; - } - - QVBoxLayout *main_layout = new QVBoxLayout(this); - main_layout->setContentsMargins(45, 35, 45, 45); - main_layout->setSpacing(0); - - QLabel *title = new QLabel(tr("Terms & Conditions")); - title->setStyleSheet("font-size: 90px; font-weight: 600;"); - main_layout->addWidget(title); - - main_layout->addSpacing(30); - - QQuickWidget *text = new QQuickWidget(this); - text->setResizeMode(QQuickWidget::SizeRootObjectToView); - text->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding); - text->setAttribute(Qt::WA_AlwaysStackOnTop); - text->setClearColor(QColor("#1B1B1B")); - - QString text_view = util::read_file("../assets/offroad/tc.html").c_str(); - text->rootContext()->setContextProperty("text_view", text_view); - - text->setSource(QUrl::fromLocalFile("qt/offroad/text_view.qml")); - - main_layout->addWidget(text, 1); - main_layout->addSpacing(50); - - QObject *obj = (QObject*)text->rootObject(); - QObject::connect(obj, SIGNAL(scroll()), SLOT(enableAccept())); - - QHBoxLayout* buttons = new QHBoxLayout; - buttons->setMargin(0); - buttons->setSpacing(45); - main_layout->addLayout(buttons); - - QPushButton *decline_btn = new QPushButton(tr("Decline")); - buttons->addWidget(decline_btn); - QObject::connect(decline_btn, &QPushButton::clicked, this, &TermsPage::declinedTerms); - - accept_btn = new QPushButton(tr("Scroll to accept")); - accept_btn->setEnabled(false); - accept_btn->setStyleSheet(R"( - QPushButton { - background-color: #465BEA; - } - QPushButton:pressed { - background-color: #3049F4; - } - QPushButton:disabled { - background-color: #4F4F4F; - } - )"); - buttons->addWidget(accept_btn); - QObject::connect(accept_btn, &QPushButton::clicked, this, &TermsPage::acceptedTerms); -} - -void TermsPage::enableAccept() { - accept_btn->setText(tr("Agree")); - accept_btn->setEnabled(true); -} - -void DeclinePage::showEvent(QShowEvent *event) { - if (layout()) { - return; - } - - QVBoxLayout *main_layout = new QVBoxLayout(this); - main_layout->setMargin(45); - main_layout->setSpacing(40); - - QLabel *text = new QLabel(this); - text->setText(tr("You must accept the Terms and Conditions in order to use openpilot.")); - text->setStyleSheet(R"(font-size: 80px; font-weight: 300; margin: 200px;)"); - text->setWordWrap(true); - main_layout->addWidget(text, 0, Qt::AlignCenter); - - QHBoxLayout* buttons = new QHBoxLayout; - buttons->setSpacing(45); - main_layout->addLayout(buttons); - - QPushButton *back_btn = new QPushButton(tr("Back")); - buttons->addWidget(back_btn); - - QObject::connect(back_btn, &QPushButton::clicked, this, &DeclinePage::getBack); - - QPushButton *uninstall_btn = new QPushButton(tr("Decline, uninstall %1").arg(getBrand())); - uninstall_btn->setStyleSheet("background-color: #B73D3D"); - buttons->addWidget(uninstall_btn); - QObject::connect(uninstall_btn, &QPushButton::clicked, [=]() { - Params().putBool("DoUninstall", true); - }); -} - -void OnboardingWindow::updateActiveScreen() { - if (!accepted_terms) { - setCurrentIndex(0); - } else if (!training_done) { - setCurrentIndex(1); - } else { - emit onboardingDone(); - } -} - -OnboardingWindow::OnboardingWindow(QWidget *parent) : QStackedWidget(parent) { - std::string current_terms_version = params.get("TermsVersion"); - std::string current_training_version = params.get("TrainingVersion"); - accepted_terms = params.get("HasAcceptedTerms") == current_terms_version; - training_done = params.get("CompletedTrainingVersion") == current_training_version; - - TermsPage* terms = new TermsPage(this); - addWidget(terms); - connect(terms, &TermsPage::acceptedTerms, [=]() { - params.put("HasAcceptedTerms", current_terms_version); - accepted_terms = true; - updateActiveScreen(); - }); - connect(terms, &TermsPage::declinedTerms, [=]() { setCurrentIndex(2); }); - - TrainingGuide* tr = new TrainingGuide(this); - addWidget(tr); - connect(tr, &TrainingGuide::completedTraining, [=]() { - training_done = true; - params.put("CompletedTrainingVersion", current_training_version); - updateActiveScreen(); - }); - - DeclinePage* declinePage = new DeclinePage(this); - addWidget(declinePage); - connect(declinePage, &DeclinePage::getBack, [=]() { updateActiveScreen(); }); - - setStyleSheet(R"( - * { - color: white; - background-color: black; - } - QPushButton { - height: 160px; - font-size: 55px; - font-weight: 400; - border-radius: 10px; - background-color: #4F4F4F; - } - )"); - updateActiveScreen(); -} diff --git a/selfdrive/ui/qt/offroad/onboarding.h b/selfdrive/ui/qt/offroad/onboarding.h deleted file mode 100644 index a1b6895ba087d0..00000000000000 --- a/selfdrive/ui/qt/offroad/onboarding.h +++ /dev/null @@ -1,110 +0,0 @@ -#pragma once - -#include -#include -#include -#include -#include -#include - -#include "common/params.h" -#include "selfdrive/ui/qt/qt_window.h" - -class TrainingGuide : public QFrame { - Q_OBJECT - -public: - explicit TrainingGuide(QWidget *parent = 0); - -private: - void showEvent(QShowEvent *event) override; - void paintEvent(QPaintEvent *event) override; - void mouseReleaseEvent(QMouseEvent* e) override; - QImage loadImage(int id); - - QImage image; - QSize image_raw_size; - int currentIndex = 0; - - // Bounding boxes for each training guide step - const QRect continueBtn = {1840, 0, 320, 1080}; - QVector boundingRect { - QRect(112, 804, 618, 164), - continueBtn, - continueBtn, - QRect(1641, 558, 210, 313), - QRect(1662, 528, 184, 108), - continueBtn, - QRect(1814, 621, 211, 170), - QRect(1350, 0, 497, 755), - QRect(1540, 386, 468, 238), - QRect(112, 804, 1126, 164), - QRect(1598, 199, 316, 333), - continueBtn, - QRect(1364, 90, 796, 990), - continueBtn, - QRect(1593, 114, 318, 853), - QRect(1379, 511, 391, 243), - continueBtn, - continueBtn, - QRect(630, 804, 626, 164), - QRect(108, 804, 426, 164), - }; - - const QString img_path = "../assets/training/"; - QElapsedTimer click_timer; - -signals: - void completedTraining(); -}; - - -class TermsPage : public QFrame { - Q_OBJECT - -public: - explicit TermsPage(QWidget *parent = 0) : QFrame(parent) {} - -public slots: - void enableAccept(); - -private: - void showEvent(QShowEvent *event) override; - - QPushButton *accept_btn; - -signals: - void acceptedTerms(); - void declinedTerms(); -}; - -class DeclinePage : public QFrame { - Q_OBJECT - -public: - explicit DeclinePage(QWidget *parent = 0) : QFrame(parent) {} - -private: - void showEvent(QShowEvent *event) override; - -signals: - void getBack(); -}; - -class OnboardingWindow : public QStackedWidget { - Q_OBJECT - -public: - explicit OnboardingWindow(QWidget *parent = 0); - inline void showTrainingGuide() { setCurrentIndex(1); } - inline bool completed() const { return accepted_terms && training_done; } - -private: - void updateActiveScreen(); - - Params params; - bool accepted_terms = false, training_done = false; - -signals: - void onboardingDone(); -}; diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc deleted file mode 100644 index 1332d87ec72928..00000000000000 --- a/selfdrive/ui/qt/offroad/settings.cc +++ /dev/null @@ -1,572 +0,0 @@ -#include -#include -#include -#include -#include - -#include - -#include "common/watchdog.h" -#include "common/util.h" -#include "selfdrive/ui/qt/network/networking.h" -#include "selfdrive/ui/qt/offroad/settings.h" -#include "selfdrive/ui/qt/qt_window.h" -#include "selfdrive/ui/qt/widgets/prime.h" -#include "selfdrive/ui/qt/widgets/scrollview.h" -#include "selfdrive/ui/qt/widgets/ssh_keys.h" - -#include "selfdrive/frogpilot/ui/qt/offroad/frogpilot_settings.h" - -TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { - // param, title, desc, icon - std::vector> toggle_defs{ - { - "OpenpilotEnabledToggle", - tr("Enable openpilot"), - tr("Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off."), - "../assets/offroad/icon_openpilot.png", - }, - { - "ExperimentalLongitudinalEnabled", - tr("openpilot Longitudinal Control (Alpha)"), - QString("%1

%2") - .arg(tr("WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).")) - .arg(tr("On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. " - "Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.")), - "../assets/offroad/icon_speed_limit.png", - }, - { - "ExperimentalMode", - tr("Experimental Mode"), - "", - "../assets/img_experimental_white.svg", - }, - { - "DisengageOnAccelerator", - tr("Disengage on Accelerator Pedal"), - tr("When enabled, pressing the accelerator pedal will disengage openpilot."), - "../assets/offroad/icon_disengage_on_accelerator.svg", - }, - { - "IsLdwEnabled", - tr("Enable Lane Departure Warnings"), - tr("Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h)."), - "../assets/offroad/icon_warning.png", - }, - { - "RecordFront", - tr("Record and Upload Driver Camera"), - tr("Upload data from the driver facing camera and help improve the driver monitoring algorithm."), - "../assets/offroad/icon_monitoring.png", - }, - { - "IsMetric", - tr("Use Metric System"), - tr("Display speed in km/h instead of mph."), - "../assets/offroad/icon_metric.png", - }, -#ifdef ENABLE_MAPS - { - "NavSettingTime24h", - tr("Show ETA in 24h Format"), - tr("Use 24h format instead of am/pm"), - "../assets/offroad/icon_metric.png", - }, - { - "NavSettingLeftSide", - tr("Show Map on Left Side of UI"), - tr("Show map on left side when in split screen view."), - "../assets/offroad/icon_road.png", - }, -#endif - }; - - - std::vector longi_button_texts{tr("Aggressive"), tr("Standard"), tr("Relaxed")}; - long_personality_setting = new ButtonParamControl("LongitudinalPersonality", tr("Driving Personality"), - tr("Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. " - "In relaxed mode openpilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with " - "your steering wheel distance button."), - "../assets/offroad/icon_speed_limit.png", - longi_button_texts); - - // set up uiState update for personality setting - QObject::connect(uiState(), &UIState::uiUpdate, this, &TogglesPanel::updateState); - - for (auto &[param, title, desc, icon] : toggle_defs) { - auto toggle = new ParamControl(param, title, desc, icon, this); - - bool locked = params.getBool((param + "Lock").toStdString()); - toggle->setEnabled(!locked); - - addItem(toggle); - toggles[param.toStdString()] = toggle; - - // insert longitudinal personality after NDOG toggle - if (param == "DisengageOnAccelerator") { - addItem(long_personality_setting); - } - } - - // Toggles with confirmation dialogs - toggles["ExperimentalMode"]->setActiveIcon("../assets/img_experimental.svg"); - toggles["ExperimentalMode"]->setConfirmation(true, true); - toggles["ExperimentalLongitudinalEnabled"]->setConfirmation(true, false); - - connect(toggles["ExperimentalLongitudinalEnabled"], &ToggleControl::toggleFlipped, [=]() { - updateToggles(); - }); - - // FrogPilot signals - connect(toggles["IsMetric"], &ToggleControl::toggleFlipped, [=]() { - updateMetric(); - }); -} - -void TogglesPanel::updateState(const UIState &s) { - const SubMaster &sm = *(s.sm); - - if (sm.updated("controlsState")) { - auto personality = sm["controlsState"].getControlsState().getPersonality(); - if (personality != s.scene.personality && s.scene.started && isVisible()) { - long_personality_setting->setCheckedButton(static_cast(personality)); - } - uiState()->scene.personality = personality; - } -} - -void TogglesPanel::expandToggleDescription(const QString ¶m) { - toggles[param.toStdString()]->showDescription(); -} - -void TogglesPanel::showEvent(QShowEvent *event) { - updateToggles(); -} - -void TogglesPanel::updateToggles() { - UIState *s = uiState(); - UIScene &scene = s->scene; - - auto disengage_on_accelerator_toggle = toggles["DisengageOnAccelerator"]; - disengage_on_accelerator_toggle->setVisible(!scene.always_on_lateral); - auto driver_camera_toggle = toggles["RecordFront"]; - driver_camera_toggle->setVisible(!(scene.no_logging && scene.no_uploads)); - auto nav_settings_left_toggle = toggles["NavSettingLeftSide"]; - nav_settings_left_toggle->setVisible(!scene.full_map); - - auto experimental_mode_toggle = toggles["ExperimentalMode"]; - auto op_long_toggle = toggles["ExperimentalLongitudinalEnabled"]; - const QString e2e_description = QString("%1
" - "

%2


" - "%3
" - "

%4


" - "%5
") - .arg(tr("openpilot defaults to driving in chill mode. Experimental mode enables alpha-level features that aren't ready for chill mode. Experimental features are listed below:")) - .arg(tr("End-to-End Longitudinal Control")) - .arg(tr("Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. " - "Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; " - "mistakes should be expected.")) - .arg(tr("New Driving Visualization")) - .arg(tr("The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.")); - - auto cp_bytes = params.get("CarParamsPersistent"); - if (!cp_bytes.empty()) { - AlignedBuffer aligned_buf; - capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size())); - cereal::CarParams::Reader CP = cmsg.getRoot(); - - if (!CP.getExperimentalLongitudinalAvailable()) { - params.remove("ExperimentalLongitudinalEnabled"); - } - op_long_toggle->setVisible(CP.getExperimentalLongitudinalAvailable()); - if (hasLongitudinalControl(CP)) { - // normal description and toggle - experimental_mode_toggle->setEnabled(true); - experimental_mode_toggle->setDescription(e2e_description); - long_personality_setting->setEnabled(true); - } else { - // no long for now - experimental_mode_toggle->setEnabled(false); - long_personality_setting->setEnabled(false); - params.remove("ExperimentalMode"); - - const QString unavailable = tr("Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control."); - - QString long_desc = unavailable + " " + \ - tr("openpilot longitudinal control may come in a future update."); - if (CP.getExperimentalLongitudinalAvailable()) { - long_desc = tr("Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode."); - } - experimental_mode_toggle->setDescription("" + long_desc + "

" + e2e_description); - } - - experimental_mode_toggle->refresh(); - } else { - experimental_mode_toggle->setDescription(e2e_description); - op_long_toggle->setVisible(false); - } -} - -DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) { - setSpacing(50); - addItem(new LabelControl(tr("Dongle ID"), getDongleId().value_or(tr("N/A")))); - addItem(new LabelControl(tr("Serial"), params.get("HardwareSerial").c_str())); - - pair_device = new ButtonControl(tr("Pair Device"), tr("PAIR"), - tr("Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.")); - connect(pair_device, &ButtonControl::clicked, [=]() { - PairingPopup popup(this); - popup.exec(); - }); - addItem(pair_device); - - // offroad-only buttons - - auto dcamBtn = new ButtonControl(tr("Driver Camera"), tr("PREVIEW"), - tr("Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)")); - connect(dcamBtn, &ButtonControl::clicked, [=]() { emit showDriverView(); }); - addItem(dcamBtn); - - auto resetCalibBtn = new ButtonControl(tr("Reset Calibration"), tr("RESET"), ""); - connect(resetCalibBtn, &ButtonControl::showDescriptionEvent, this, &DevicePanel::updateCalibDescription); - connect(resetCalibBtn, &ButtonControl::clicked, [&]() { - if (ConfirmationDialog::confirm(tr("Are you sure you want to reset calibration?"), tr("Reset"), this)) { - params.remove("CalibrationParams"); - params.remove("LiveTorqueParameters"); - paramsStorage.remove("CalibrationParams"); - paramsStorage.remove("LiveTorqueParameters"); - } - }); - addItem(resetCalibBtn); - - auto retrainingBtn = new ButtonControl(tr("Review Training Guide"), tr("REVIEW"), tr("Review the rules, features, and limitations of openpilot")); - connect(retrainingBtn, &ButtonControl::clicked, [=]() { - if (ConfirmationDialog::confirm(tr("Are you sure you want to review the training guide?"), tr("Review"), this)) { - emit reviewTrainingGuide(); - } - }); - addItem(retrainingBtn); - - if (Hardware::TICI()) { - auto regulatoryBtn = new ButtonControl(tr("Regulatory"), tr("VIEW"), ""); - connect(regulatoryBtn, &ButtonControl::clicked, [=]() { - const std::string txt = util::read_file("../assets/offroad/fcc.html"); - ConfirmationDialog::rich(QString::fromStdString(txt), this); - }); - addItem(regulatoryBtn); - } - - auto translateBtn = new ButtonControl(tr("Change Language"), tr("CHANGE"), ""); - connect(translateBtn, &ButtonControl::clicked, [=]() { - QMap langs = getSupportedLanguages(); - QString selection = MultiOptionDialog::getSelection(tr("Select a language"), langs.keys(), langs.key(uiState()->language), this); - if (!selection.isEmpty()) { - // put language setting, exit Qt UI, and trigger fast restart - params.put("LanguageSetting", langs[selection].toStdString()); - qApp->exit(18); - watchdog_kick(0); - } - }); - addItem(translateBtn); - - QObject::connect(uiState(), &UIState::primeTypeChanged, [this] (PrimeType type) { - pair_device->setVisible(type == PrimeType::UNPAIRED); - }); - QObject::connect(uiState(), &UIState::offroadTransition, [=](bool offroad) { - for (auto btn : findChildren()) { - if (btn != pair_device) { - btn->setEnabled(offroad); - } - } - }); - - // power buttons - QHBoxLayout *power_layout = new QHBoxLayout(); - power_layout->setSpacing(30); - - QPushButton *reboot_btn = new QPushButton(tr("Reboot")); - reboot_btn->setObjectName("reboot_btn"); - power_layout->addWidget(reboot_btn); - QObject::connect(reboot_btn, &QPushButton::clicked, this, &DevicePanel::reboot); - - QPushButton *poweroff_btn = new QPushButton(tr("Power Off")); - poweroff_btn->setObjectName("poweroff_btn"); - power_layout->addWidget(poweroff_btn); - QObject::connect(poweroff_btn, &QPushButton::clicked, this, &DevicePanel::poweroff); - - if (!Hardware::PC()) { - connect(uiState(), &UIState::offroadTransition, poweroff_btn, &QPushButton::setVisible); - } - - setStyleSheet(R"( - #reboot_btn { height: 120px; border-radius: 15px; background-color: #393939; } - #reboot_btn:pressed { background-color: #4a4a4a; } - #poweroff_btn { height: 120px; border-radius: 15px; background-color: #E22C2C; } - #poweroff_btn:pressed { background-color: #FF2424; } - )"); - addItem(power_layout); -} - -void DevicePanel::updateCalibDescription() { - QString desc = - tr("openpilot requires the device to be mounted within 4° left or right and " - "within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required."); - std::string calib_bytes = params.get("CalibrationParams"); - if (!calib_bytes.empty()) { - try { - AlignedBuffer aligned_buf; - capnp::FlatArrayMessageReader cmsg(aligned_buf.align(calib_bytes.data(), calib_bytes.size())); - auto calib = cmsg.getRoot().getLiveCalibration(); - if (calib.getCalStatus() != cereal::LiveCalibrationData::Status::UNCALIBRATED) { - double pitch = calib.getRpyCalib()[1] * (180 / M_PI); - double yaw = calib.getRpyCalib()[2] * (180 / M_PI); - desc += tr(" Your device is pointed %1° %2 and %3° %4.") - .arg(QString::number(std::abs(pitch), 'g', 1), pitch > 0 ? tr("down") : tr("up"), - QString::number(std::abs(yaw), 'g', 1), yaw > 0 ? tr("left") : tr("right")); - } - } catch (kj::Exception) { - qInfo() << "invalid CalibrationParams"; - } - } - qobject_cast(sender())->setDescription(desc); -} - -void DevicePanel::reboot() { - if (!uiState()->engaged()) { - if (ConfirmationDialog::confirm(tr("Are you sure you want to reboot?"), tr("Reboot"), this)) { - // Check engaged again in case it changed while the dialog was open - if (!uiState()->engaged()) { - params.putBool("DoReboot", true); - } - } - } else { - ConfirmationDialog::alert(tr("Disengage to Reboot"), this); - } -} - -void DevicePanel::poweroff() { - if (!uiState()->engaged()) { - if (ConfirmationDialog::confirm(tr("Are you sure you want to power off?"), tr("Power Off"), this)) { - // Check engaged again in case it changed while the dialog was open - if (!uiState()->engaged()) { - params.putBool("DoShutdown", true); - } - } - } else { - ConfirmationDialog::alert(tr("Disengage to Power Off"), this); - } -} - -void DevicePanel::showEvent(QShowEvent *event) { - pair_device->setVisible(uiState()->primeType() == PrimeType::UNPAIRED); - ListWidget::showEvent(event); -} - -void SettingsWindow::hideEvent(QHideEvent *event) { - closeMapBoxInstructions(); - closeMapSelection(); - closePanel(); - closeParentToggle(); - - mapboxInstructionsOpen = false; - mapSelectionOpen = false; - panelOpen = false; - parentToggleOpen = false; - subParentToggleOpen = false; -} - -void SettingsWindow::showEvent(QShowEvent *event) { - setCurrentPanel(0); -} - -void SettingsWindow::setCurrentPanel(int index, const QString ¶m) { - panel_widget->setCurrentIndex(index); - nav_btns->buttons()[index]->setChecked(true); - if (!param.isEmpty()) { - emit expandToggleDescription(param); - } -} - -SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) { - - // setup two main layouts - sidebar_widget = new QWidget; - QVBoxLayout *sidebar_layout = new QVBoxLayout(sidebar_widget); - panel_widget = new QStackedWidget(); - - // close button - QPushButton *close_btn = new QPushButton(tr("← Back")); - close_btn->setStyleSheet(R"( - QPushButton { - font-size: 50px; - border-radius: 25px; - background-color: #292929; - font-weight: 500; - } - QPushButton:pressed { - background-color: #ADADAD; - } - )"); - close_btn->setFixedSize(300, 125); - sidebar_layout->addSpacing(10); - sidebar_layout->addWidget(close_btn, 0, Qt::AlignRight); - QObject::connect(close_btn, &QPushButton::clicked, [this]() { - if (mapboxInstructionsOpen) { - closeMapBoxInstructions(); - mapboxInstructionsOpen = false; - } else if (mapSelectionOpen) { - closeMapSelection(); - mapSelectionOpen = false; - } else if (subParentToggleOpen) { - closeSubParentToggle(); - subParentToggleOpen = false; - } else if (parentToggleOpen) { - closeParentToggle(); - parentToggleOpen = false; - } else if (panelOpen) { - closePanel(); - panelOpen = false; - } else { - closeSettings(); - } - }); - - // setup panels - DevicePanel *device = new DevicePanel(this); - QObject::connect(device, &DevicePanel::reviewTrainingGuide, this, &SettingsWindow::reviewTrainingGuide); - QObject::connect(device, &DevicePanel::showDriverView, this, &SettingsWindow::showDriverView); - - TogglesPanel *toggles = new TogglesPanel(this); - QObject::connect(this, &SettingsWindow::expandToggleDescription, toggles, &TogglesPanel::expandToggleDescription); - - // FrogPilot panels - QObject::connect(toggles, &TogglesPanel::updateMetric, this, &SettingsWindow::updateMetric); - - FrogPilotSettingsWindow *frogpilotSettingsWindow = new FrogPilotSettingsWindow(this); - QObject::connect(frogpilotSettingsWindow, &FrogPilotSettingsWindow::closeMapBoxInstructions, [this]() {mapboxInstructionsOpen=false;}); - QObject::connect(frogpilotSettingsWindow, &FrogPilotSettingsWindow::openMapBoxInstructions, [this]() {mapboxInstructionsOpen=true;}); - QObject::connect(frogpilotSettingsWindow, &FrogPilotSettingsWindow::openMapSelection, [this]() {mapSelectionOpen=true;}); - QObject::connect(frogpilotSettingsWindow, &FrogPilotSettingsWindow::openPanel, [this]() {panelOpen=true;}); - QObject::connect(frogpilotSettingsWindow, &FrogPilotSettingsWindow::openParentToggle, [this]() {parentToggleOpen=true;}); - QObject::connect(frogpilotSettingsWindow, &FrogPilotSettingsWindow::openSubParentToggle, [this]() {subParentToggleOpen=true;}); - - QList> panels = { - {tr("Device"), device}, - {tr("Network"), new Networking(this)}, - {tr("Toggles"), toggles}, - {tr("Software"), new SoftwarePanel(this)}, - {tr("FrogPilot"), frogpilotSettingsWindow}, - }; - - nav_btns = new QButtonGroup(this); - for (auto &[name, panel] : panels) { - QPushButton *btn = new QPushButton(name); - btn->setCheckable(true); - btn->setChecked(nav_btns->buttons().size() == 0); - btn->setStyleSheet(R"( - QPushButton { - color: grey; - border: none; - background: none; - font-size: 65px; - font-weight: 500; - } - QPushButton:checked { - color: white; - } - QPushButton:pressed { - color: #ADADAD; - } - )"); - btn->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Expanding); - nav_btns->addButton(btn); - sidebar_layout->addWidget(btn, 0, Qt::AlignRight); - - const int lr_margin = name != tr("Network") ? 50 : 0; // Network panel handles its own margins - panel->setContentsMargins(lr_margin, 25, lr_margin, 25); - - ScrollView *panel_frame = new ScrollView(panel, this); - panel_widget->addWidget(panel_frame); - - QObject::connect(btn, &QPushButton::clicked, [=, w = panel_frame]() { - if (w->widget() == frogpilotSettingsWindow) { - bool tuningLevelConfirmed = params.getBool("TuningLevelConfirmed"); - - if (!tuningLevelConfirmed) { - int frogpilotHours = paramsTracking.getInt("FrogPilotMinutes") / 60; - int openpilotHours = params.getInt("openpilotMinutes") / 60; - - if (frogpilotHours < 1 && openpilotHours < 100) { - if (FrogPilotConfirmationDialog::toggleAlert(tr("Welcome to FrogPilot! Since you're new to FrogPilot, the 'Minimal' toggle preset has been applied, but you can change this at any time via the 'Tuning Level' button!"), tr("Sounds good!"), this, true)) { - params.putBool("TuningLevelConfirmed", true); - params.putInt("TuningLevel", 0); - } - } else if (frogpilotHours < 50 && openpilotHours < 100) { - if (FrogPilotConfirmationDialog::toggleAlert(tr("Since you're fairly new to FrogPilot, the 'Minimal' toggle preset has been applied, but you can change this at any time via the 'Tuning Level' button!"), tr("Sounds good!"), this, true)) { - params.putBool("TuningLevelConfirmed", true); - params.putInt("TuningLevel", 0); - } - } else if (frogpilotHours < 100) { - if (openpilotHours >= 100) { - if (FrogPilotConfirmationDialog::toggleAlert(tr("Since you're experienced with openpilot, the 'Standard' toggle preset has been applied, but you can change this at any time via the 'Tuning Level' button!"), tr("Sounds good!"), this, true)) { - params.putBool("TuningLevelConfirmed", true); - params.putInt("TuningLevel", 1); - } - } else { - if (FrogPilotConfirmationDialog::toggleAlert(tr("Since you're experienced with FrogPilot, the 'Standard' toggle preset has been applied, but you can change this at any time via the 'Tuning Level' button!"), tr("Sounds good!"), this, true)) { - params.putBool("TuningLevelConfirmed", true); - params.putInt("TuningLevel", 1); - } - } - } else if (frogpilotHours >= 100) { - if (FrogPilotConfirmationDialog::toggleAlert(tr("Since you're very experienced with FrogPilot, the 'Advanced' toggle preset has been applied, but you can change this at any time via the 'Tuning Level' button!"), tr("Sounds good!"), this, true)) { - params.putBool("TuningLevelConfirmed", true); - params.putInt("TuningLevel", 2); - } - } - } - } - - if (mapboxInstructionsOpen) { - closeMapBoxInstructions(); - mapboxInstructionsOpen = false; - } - if (mapSelectionOpen) { - closeMapSelection(); - mapSelectionOpen = false; - } - if (panelOpen) { - closePanel(); - panelOpen = false; - } - if (parentToggleOpen) { - closeParentToggle(); - parentToggleOpen = false; - } - btn->setChecked(true); - panel_widget->setCurrentWidget(w); - }); - } - sidebar_layout->setContentsMargins(50, 50, 100, 50); - - // main settings layout, sidebar + main panel - QHBoxLayout *main_layout = new QHBoxLayout(this); - - sidebar_widget->setFixedWidth(500); - main_layout->addWidget(sidebar_widget); - main_layout->addWidget(panel_widget); - - setStyleSheet(R"( - * { - color: white; - font-size: 50px; - } - SettingsWindow { - background-color: black; - } - QStackedWidget, ScrollView { - background-color: #292929; - border-radius: 30px; - } - )"); -} diff --git a/selfdrive/ui/qt/offroad/settings.h b/selfdrive/ui/qt/offroad/settings.h deleted file mode 100644 index a862106c85cc3e..00000000000000 --- a/selfdrive/ui/qt/offroad/settings.h +++ /dev/null @@ -1,132 +0,0 @@ -#pragma once - -#include -#include - -#include -#include -#include -#include -#include -#include - -#include "selfdrive/ui/ui.h" -#include "selfdrive/ui/qt/util.h" -#include "selfdrive/ui/qt/widgets/controls.h" - -// ********** settings window + top-level panels ********** -class SettingsWindow : public QFrame { - Q_OBJECT - -public: - explicit SettingsWindow(QWidget *parent = 0); - void setCurrentPanel(int index, const QString ¶m = ""); - -protected: - void showEvent(QShowEvent *event) override; - - // FrogPilot widgets - void hideEvent(QHideEvent *event) override; - -signals: - void closeSettings(); - void reviewTrainingGuide(); - void showDriverView(); - void expandToggleDescription(const QString ¶m); - - // FrogPilot signals - void closeMapBoxInstructions(); - void closeMapSelection(); - void closePanel(); - void closeParentToggle(); - void closeSubParentToggle(); - void updateMetric(); - -private: - QPushButton *sidebar_alert_widget; - QWidget *sidebar_widget; - QButtonGroup *nav_btns; - QStackedWidget *panel_widget; - - // FrogPilot variables - Params params; - Params paramsTracking{"/persist/tracking"}; - - bool mapboxInstructionsOpen; - bool mapSelectionOpen; - bool panelOpen; - bool parentToggleOpen; - bool subParentToggleOpen; -}; - -class DevicePanel : public ListWidget { - Q_OBJECT -public: - explicit DevicePanel(SettingsWindow *parent); - void showEvent(QShowEvent *event) override; - -signals: - void reviewTrainingGuide(); - void showDriverView(); - -private slots: - void poweroff(); - void reboot(); - void updateCalibDescription(); - -private: - Params params; - ButtonControl *pair_device; - - // FrogPilot variables - Params paramsStorage{"/persist/params"}; -}; - -class TogglesPanel : public ListWidget { - Q_OBJECT -public: - explicit TogglesPanel(SettingsWindow *parent); - void showEvent(QShowEvent *event) override; - -signals: - // FrogPilot signals - void updateMetric(); - -public slots: - void expandToggleDescription(const QString ¶m); - -private slots: - void updateState(const UIState &s); - -private: - Params params; - std::map toggles; - ButtonParamControl *long_personality_setting; - - void updateToggles(); -}; - -class SoftwarePanel : public ListWidget { - Q_OBJECT -public: - explicit SoftwarePanel(QWidget* parent = nullptr); - -private: - void showEvent(QShowEvent *event) override; - void updateLabels(); - void checkForUpdates(); - - bool is_onroad = false; - - QLabel *onroadLbl; - LabelControl *versionLbl; - ButtonControl *installBtn; - ButtonControl *downloadBtn; - ButtonControl *targetBranchBtn; - - Params params; - ParamWatcher *fs_watch; - - // FrogPilot variables - Params params_memory{"/dev/shm/params"}; -}; diff --git a/selfdrive/ui/qt/offroad/software_settings.cc b/selfdrive/ui/qt/offroad/software_settings.cc deleted file mode 100644 index a23bfae569d020..00000000000000 --- a/selfdrive/ui/qt/offroad/software_settings.cc +++ /dev/null @@ -1,187 +0,0 @@ -#include "selfdrive/ui/qt/offroad/settings.h" - -#include -#include -#include - -#include -#include - -#include "common/params.h" -#include "common/util.h" -#include "selfdrive/ui/ui.h" -#include "selfdrive/ui/qt/util.h" -#include "selfdrive/ui/qt/widgets/controls.h" -#include "selfdrive/ui/qt/widgets/input.h" -#include "system/hardware/hw.h" - - -void SoftwarePanel::checkForUpdates() { - std::system("pkill -SIGUSR1 -f system.updated.updated"); -} - -SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) { - onroadLbl = new QLabel(tr("Updates are only downloaded while the car is off or in park.")); - onroadLbl->setStyleSheet("font-size: 50px; font-weight: 400; text-align: left; padding-top: 30px; padding-bottom: 30px;"); - addItem(onroadLbl); - - // current version - versionLbl = new LabelControl(tr("Current Version"), ""); - addItem(versionLbl); - - // automatic updates toggle - ParamControl *automaticUpdatesToggle = new ParamControl("AutomaticUpdates", tr("Automatically Update FrogPilot"), - tr("FrogPilot will automatically update itself and it's assets when you're offroad and connected to Wi-Fi."), ""); - addItem(automaticUpdatesToggle); - - // download update btn - downloadBtn = new ButtonControl(tr("Download"), tr("CHECK")); - connect(downloadBtn, &ButtonControl::clicked, [=]() { - downloadBtn->setEnabled(false); - if (downloadBtn->text() == tr("CHECK")) { - checkForUpdates(); - } else { - std::system("pkill -SIGHUP -f system.updated.updated"); - } - params_memory.putBool("ManualUpdateInitiated", true); - }); - addItem(downloadBtn); - - // install update btn - installBtn = new ButtonControl(tr("Install Update"), tr("INSTALL")); - connect(installBtn, &ButtonControl::clicked, [=]() { - installBtn->setEnabled(false); - params.putBool("DoReboot", true); - }); - addItem(installBtn); - - // branch selecting - targetBranchBtn = new ButtonControl(tr("Target Branch"), tr("SELECT")); - connect(targetBranchBtn, &ButtonControl::clicked, [=]() { - auto current = params.get("GitBranch"); - QStringList branches = QString::fromStdString(params.get("UpdaterAvailableBranches")).split(","); - if (!uiState()->scene.frogs_go_moo) { - branches.removeAll("FrogPilot-Development"); - branches.removeAll("FrogPilot-New"); - branches.removeAll("FrogPilot-Test"); - branches.removeAll("MAKE-PRS-HERE"); - } - for (QString b : {current.c_str(), "devel-staging", "devel", "nightly", "master-ci", "master"}) { - auto i = branches.indexOf(b); - if (i >= 0) { - branches.removeAt(i); - branches.insert(0, b); - } - } - - QString cur = QString::fromStdString(params.get("UpdaterTargetBranch")); - QString selection = MultiOptionDialog::getSelection(tr("Select a branch"), branches, cur, this); - if (!selection.isEmpty()) { - params.put("UpdaterTargetBranch", selection.toStdString()); - targetBranchBtn->setValue(QString::fromStdString(params.get("UpdaterTargetBranch"))); - checkForUpdates(); - } - }); - addItem(targetBranchBtn); - - // uninstall button - auto uninstallBtn = new ButtonControl(tr("Uninstall %1").arg(getBrand()), tr("UNINSTALL")); - connect(uninstallBtn, &ButtonControl::clicked, [&]() { - if (ConfirmationDialog::confirm(tr("Are you sure you want to uninstall?"), tr("Uninstall"), this)) { - if (FrogPilotConfirmationDialog::yesorno(tr("Do you want to delete deep storage FrogPilot assets? This includes your toggle settings for quick reinstalls."), this)) { - if (FrogPilotConfirmationDialog::yesorno(tr("Are you sure? This is 100% unrecoverable and if you reinstall FrogPilot you'll lose all your previous settings!"), this)) { - std::system("rm -rf /persist/params"); - } - } - params.putBool("DoUninstall", true); - } - }); - addItem(uninstallBtn); - - // error log button - auto errorLogBtn = new ButtonControl(tr("Error Log"), tr("VIEW"), tr("View the error log for openpilot crashes.")); - connect(errorLogBtn, &ButtonControl::clicked, [=]() { - std::string txt = util::read_file("/data/crashes/error.txt"); - ConfirmationDialog::rich(QString::fromStdString(txt), this); - }); - addItem(errorLogBtn); - - fs_watch = new ParamWatcher(this); - QObject::connect(fs_watch, &ParamWatcher::paramChanged, [=](const QString ¶m_name, const QString ¶m_value) { - updateLabels(); - }); - - connect(uiState(), &UIState::offroadTransition, [=](bool offroad) { - is_onroad = !offroad; - updateLabels(); - }); - - updateLabels(); -} - -void SoftwarePanel::showEvent(QShowEvent *event) { - // nice for testing on PC - installBtn->setEnabled(true); - - updateLabels(); -} - -void SoftwarePanel::updateLabels() { - UIState *s = uiState(); - UIScene &scene = s->scene; - - // add these back in case the files got removed - fs_watch->addParam("LastUpdateTime"); - fs_watch->addParam("UpdateFailedCount"); - fs_watch->addParam("UpdaterState"); - fs_watch->addParam("UpdateAvailable"); - - if (!isVisible()) { - scene.keep_screen_on = false; - return; - } - - // updater only runs offroad or when parked - bool parked = scene.parked || scene.frogs_go_moo; - - onroadLbl->setVisible(is_onroad && !parked); - downloadBtn->setVisible(!is_onroad || parked); - - // download update - QString updater_state = QString::fromStdString(params.get("UpdaterState")); - bool failed = std::atoi(params.get("UpdateFailedCount").c_str()) > 0; - if (updater_state != "idle") { - downloadBtn->setEnabled(false); - downloadBtn->setValue(updater_state); - scene.keep_screen_on = true; - } else { - scene.keep_screen_on = false; - if (failed) { - downloadBtn->setText(tr("CHECK")); - downloadBtn->setValue(tr("failed to check for update")); - } else if (params.getBool("UpdaterFetchAvailable")) { - downloadBtn->setText(tr("DOWNLOAD")); - downloadBtn->setValue(tr("update available")); - } else { - QString lastUpdate = tr("never"); - auto tm = params.get("LastUpdateTime"); - if (!tm.empty()) { - lastUpdate = timeAgo(QDateTime::fromString(QString::fromStdString(tm + "Z"), Qt::ISODate)); - } - downloadBtn->setText(tr("CHECK")); - downloadBtn->setValue(tr("up to date, last checked %1").arg(lastUpdate)); - } - downloadBtn->setEnabled(true); - } - targetBranchBtn->setValue(QString::fromStdString(params.get("UpdaterTargetBranch"))); - - // current + new versions - versionLbl->setText(QString::fromStdString(params.get("UpdaterCurrentDescription"))); - versionLbl->setDescription(QString::fromStdString(params.get("UpdaterCurrentReleaseNotes"))); - - installBtn->setVisible((!is_onroad || parked) && params.getBool("UpdateAvailable")); - installBtn->setValue(QString::fromStdString(params.get("UpdaterNewDescription"))); - installBtn->setDescription(QString::fromStdString(params.get("UpdaterNewReleaseNotes"))); - - update(); -} diff --git a/selfdrive/ui/qt/onroad/alerts.cc b/selfdrive/ui/qt/onroad/alerts.cc deleted file mode 100644 index 8e2a2c8464b9ac..00000000000000 --- a/selfdrive/ui/qt/onroad/alerts.cc +++ /dev/null @@ -1,130 +0,0 @@ -#include "selfdrive/ui/qt/onroad/alerts.h" - -#include -#include - -#include "selfdrive/ui/qt/util.h" - -void OnroadAlerts::updateState(const UIState &s) { - Alert a = getAlert(*(s.sm), s.scene.started_frame, s.scene.force_onroad); - if (!alert.equal(a)) { - alert = a; - update(); - } - - // FrogPilot variables - const UIScene &scene = s.scene; - - hide_alerts = scene.hide_alerts; - road_name_ui = scene.road_name_ui; - show_aol_status_bar = scene.aol_status_bar; - show_cem_status_bar = scene.cem_status_bar; -} - -void OnroadAlerts::clear() { - alert = {}; - update(); -} - -OnroadAlerts::Alert OnroadAlerts::getAlert(const SubMaster &sm, uint64_t started_frame, bool force_onroad) { - const cereal::ControlsState::Reader &cs = sm["controlsState"].getControlsState(); - const uint64_t controls_frame = sm.rcv_frame("controlsState"); - - Alert a = {}; - if (controls_frame >= started_frame) { // Don't get old alert. - a = {cs.getAlertText1().cStr(), cs.getAlertText2().cStr(), - cs.getAlertType().cStr(), cs.getAlertSize(), cs.getAlertStatus()}; - } - - if (!sm.updated("controlsState") && (sm.frame - started_frame) > 5 * UI_FREQ && !force_onroad) { - const int CONTROLS_TIMEOUT = 5; - const int controls_missing = (nanos_since_boot() - sm.rcv_time("controlsState")) / 1e9; - - // Handle controls timeout - if (controls_frame < started_frame) { - // car is started, but controlsState hasn't been seen at all - a = {tr("openpilot Unavailable"), tr("Waiting for controls to start"), - "controlsWaiting", cereal::ControlsState::AlertSize::MID, - cereal::ControlsState::AlertStatus::NORMAL}; - } else if (controls_missing > CONTROLS_TIMEOUT && !Hardware::PC()) { - // car is started, but controls is lagging or died - if (cs.getEnabled() && (controls_missing - CONTROLS_TIMEOUT) < 10) { - a = {tr("TAKE CONTROL IMMEDIATELY"), tr("Controls Unresponsive"), - "controlsUnresponsive", cereal::ControlsState::AlertSize::FULL, - cereal::ControlsState::AlertStatus::CRITICAL}; - } else { - a = {tr("Controls Unresponsive"), tr("Reboot Device"), - "controlsUnresponsivePermanent", cereal::ControlsState::AlertSize::MID, - cereal::ControlsState::AlertStatus::NORMAL}; - } - } - } - return a; -} - -void OnroadAlerts::paintEvent(QPaintEvent *event) { - if (alert.size == cereal::ControlsState::AlertSize::NONE) { - alert_height = 0; - return; - } - - if (hide_alerts && alert.status == cereal::ControlsState::AlertStatus::NORMAL) { - alert_height = 0; - return; - } - - static std::map alert_heights = { - {cereal::ControlsState::AlertSize::SMALL, 271}, - {cereal::ControlsState::AlertSize::MID, 420}, - {cereal::ControlsState::AlertSize::FULL, height()}, - }; - int h = alert_heights[alert.size]; - - int margin = 40; - int radius = 30; - int offset = road_name_ui || show_aol_status_bar || show_cem_status_bar ? 25 : 0; - alert_height = h - margin + offset; - if (alert.size == cereal::ControlsState::AlertSize::FULL) { - margin = 0; - radius = 0; - offset = 0; - } - QRect r = QRect(0 + margin, height() - h + margin - offset, width() - margin*2, h - margin*2); - - QPainter p(this); - - // draw background + gradient - p.setPen(Qt::NoPen); - p.setCompositionMode(QPainter::CompositionMode_SourceOver); - p.setBrush(QBrush(alert_colors[alert.status])); - p.drawRoundedRect(r, radius, radius); - - QLinearGradient g(0, r.y(), 0, r.bottom()); - g.setColorAt(0, QColor::fromRgbF(0, 0, 0, 0.05)); - g.setColorAt(1, QColor::fromRgbF(0, 0, 0, 0.35)); - - p.setCompositionMode(QPainter::CompositionMode_DestinationOver); - p.setBrush(QBrush(g)); - p.drawRoundedRect(r, radius, radius); - p.setCompositionMode(QPainter::CompositionMode_SourceOver); - - // text - const QPoint c = r.center(); - p.setPen(QColor(0xff, 0xff, 0xff)); - p.setRenderHint(QPainter::TextAntialiasing); - if (alert.size == cereal::ControlsState::AlertSize::SMALL) { - p.setFont(InterFont(74, QFont::DemiBold)); - p.drawText(r, Qt::AlignCenter, alert.text1); - } else if (alert.size == cereal::ControlsState::AlertSize::MID) { - p.setFont(InterFont(88, QFont::Bold)); - p.drawText(QRect(0, c.y() - 125, width(), 150), Qt::AlignHCenter | Qt::AlignTop, alert.text1); - p.setFont(InterFont(66)); - p.drawText(QRect(0, c.y() + 21, width(), 90), Qt::AlignHCenter, alert.text2); - } else if (alert.size == cereal::ControlsState::AlertSize::FULL) { - bool l = alert.text1.length() > 15; - p.setFont(InterFont(l ? 132 : 177, QFont::Bold)); - p.drawText(QRect(0, r.y() + (l ? 240 : 270), width(), 600), Qt::AlignHCenter | Qt::TextWordWrap, alert.text1); - p.setFont(InterFont(88)); - p.drawText(QRect(0, r.height() - (l ? 361 : 420), width(), 300), Qt::AlignHCenter | Qt::TextWordWrap, alert.text2); - } -} diff --git a/selfdrive/ui/qt/onroad/alerts.h b/selfdrive/ui/qt/onroad/alerts.h deleted file mode 100644 index 0ee444355b4a1b..00000000000000 --- a/selfdrive/ui/qt/onroad/alerts.h +++ /dev/null @@ -1,51 +0,0 @@ -#pragma once - -#include - -#include "selfdrive/ui/ui.h" - -class OnroadAlerts : public QWidget { - Q_OBJECT - -public: - OnroadAlerts(QWidget *parent = 0) : QWidget(parent) {} - void updateState(const UIState &s); - void clear(); - - // FrogPilot variables - int alert_height; - -protected: - struct Alert { - QString text1; - QString text2; - QString type; - cereal::ControlsState::AlertSize size; - cereal::ControlsState::AlertStatus status; - - bool equal(const Alert &other) const { - return text1 == other.text1 && text2 == other.text2 && type == other.type; - } - }; - - const QMap alert_colors = { - {cereal::ControlsState::AlertStatus::NORMAL, QColor(0x15, 0x15, 0x15, 0xf1)}, - {cereal::ControlsState::AlertStatus::USER_PROMPT, QColor(0xDA, 0x6F, 0x25, 0xf1)}, - {cereal::ControlsState::AlertStatus::CRITICAL, QColor(0xC9, 0x22, 0x31, 0xf1)}, - - // FrogPilot alert colors - {cereal::ControlsState::AlertStatus::FROGPILOT, QColor(0x17, 0x86, 0x44, 0xf1)}, - }; - - void paintEvent(QPaintEvent*) override; - OnroadAlerts::Alert getAlert(const SubMaster &sm, uint64_t started_frame, bool force_onroad); - - QColor bg; - Alert alert = {}; - - // FrogPilot variables - bool hide_alerts; - bool road_name_ui; - bool show_aol_status_bar; - bool show_cem_status_bar; -}; diff --git a/selfdrive/ui/qt/onroad/annotated_camera.cc b/selfdrive/ui/qt/onroad/annotated_camera.cc deleted file mode 100644 index 8e81b9f3bdc2b6..00000000000000 --- a/selfdrive/ui/qt/onroad/annotated_camera.cc +++ /dev/null @@ -1,1552 +0,0 @@ -#include "selfdrive/ui/qt/onroad/annotated_camera.h" - -#include -#include -#include - -#include "common/swaglog.h" -#include "selfdrive/ui/qt/onroad/buttons.h" -#include "selfdrive/ui/qt/util.h" - -// Window that shows camera view and variety of info drawn on top -AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget* parent) : fps_filter(UI_FREQ, 3, 1. / UI_FREQ), CameraWidget("camerad", type, true, parent) { - pm = std::make_unique>({"uiDebug"}); - - main_layout = new QVBoxLayout(this); - main_layout->setMargin(UI_BORDER_SIZE); - main_layout->setSpacing(0); - - QHBoxLayout *buttons_layout = new QHBoxLayout(); - buttons_layout->setSpacing(0); - - // Neokii screen recorder - screenRecorder = new ScreenRecorder(this); - buttons_layout->addWidget(screenRecorder); - - experimental_btn = new ExperimentalButton(this); - buttons_layout->addWidget(experimental_btn); - - QVBoxLayout *top_right_layout = new QVBoxLayout(); - top_right_layout->setSpacing(0); - top_right_layout->addLayout(buttons_layout); - - pedal_icons = new PedalIcons(this); - top_right_layout->addWidget(pedal_icons, 0, Qt::AlignRight); - - main_layout->addLayout(top_right_layout, 0); - main_layout->setAlignment(top_right_layout, Qt::AlignTop | Qt::AlignRight); - - map_settings_btn = new MapSettingsButton(this); - main_layout->addWidget(map_settings_btn, 0, Qt::AlignBottom | Qt::AlignRight); - - dm_img = loadPixmap("../assets/img_driver_face.png", {img_size + 5, img_size + 5}); - - // Initialize FrogPilot widgets - initializeFrogPilotWidgets(); -} - -void AnnotatedCameraWidget::updateState(int alert_height, const UIState &s) { - const int SET_SPEED_NA = 255; - const SubMaster &sm = *(s.sm); - - const bool cs_alive = sm.alive("controlsState"); - const bool nav_alive = sm.alive("navInstruction") && sm["navInstruction"].getValid(); - const auto cs = sm["controlsState"].getControlsState(); - const auto car_state = sm["carState"].getCarState(); - const auto nav_instruction = sm["navInstruction"].getNavInstruction(); - - // Handle older routes where vCruiseCluster is not set - float v_cruise = cs.getVCruiseCluster() == 0.0 ? cs.getVCruise() : cs.getVCruiseCluster(); - setSpeed = cs_alive ? v_cruise : SET_SPEED_NA; - is_cruise_set = setSpeed > 0 && (int)setSpeed != SET_SPEED_NA; - if (is_cruise_set && !s.scene.is_metric) { - setSpeed *= KM_TO_MILE; - } - - // Handle older routes where vEgoCluster is not set - v_ego_cluster_seen = v_ego_cluster_seen || car_state.getVEgoCluster() != 0.0; - float v_ego = v_ego_cluster_seen && !s.scene.use_wheel_speed ? car_state.getVEgoCluster() : car_state.getVEgo(); - speed = cs_alive ? std::max(0.0, v_ego) : 0.0; - speed *= s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH; - - auto speed_limit_sign = nav_instruction.getSpeedLimitSign(); - if (s.scene.show_speed_limits || s.scene.speed_limit_controller) { - speedLimit = slcOverridden ? s.scene.speed_limit_overridden_speed : s.scene.speed_limit; - } else { - speedLimit = nav_alive ? nav_instruction.getSpeedLimit() : 0.0; - } - speedLimit *= (s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH); - speedLimit -= (showSLCOffset && !slcOverridden ? slcSpeedLimitOffset : 0); - - has_us_speed_limit = (nav_alive && speed_limit_sign == cereal::NavInstruction::SpeedLimitSign::MUTCD) || !useViennaSLCSign && !hideSpeedLimit; - has_eu_speed_limit = (nav_alive && speed_limit_sign == cereal::NavInstruction::SpeedLimitSign::VIENNA) || useViennaSLCSign && !hideSpeedLimit; - is_metric = s.scene.is_metric; - speedUnit = s.scene.is_metric ? tr("km/h") : tr("mph"); - hideBottomIcons = (cs.getAlertSize() != cereal::ControlsState::AlertSize::NONE); - hideBottomIcons |= turnSignalAnimation && (turnSignalLeft || turnSignalRight) && (signalStyle == "traditional" || signalStyle == "traditional_gif"); - hideBottomIcons |= bigMapOpen; - status = s.status; - - // update engageability/experimental mode button - experimental_btn->updateState(s, leadInfo); - - // update DM icon - auto dm_state = sm["driverMonitoringState"].getDriverMonitoringState(); - dmActive = dm_state.getIsActiveMode(); - rightHandDM = dm_state.getIsRHD(); - // DM icon transition - dm_fade_state = std::clamp(dm_fade_state+0.2*(0.5-dmActive), 0.0, 1.0); - - // hide map settings button for alerts and flip for right hand DM - if (map_settings_btn->isEnabled()) { - map_settings_btn->setVisible(!hideBottomIcons && compass && !hideMapIcon); - main_layout->setAlignment(map_settings_btn, (rightHandDM && !compass || !rightHandDM && compass ? Qt::AlignLeft : Qt::AlignRight) | Qt::AlignBottom); - } - - // Update FrogPilot widgets - updateFrogPilotVariables(alert_height, s.scene); -} - -void AnnotatedCameraWidget::drawHud(QPainter &p) { - p.save(); - - static QElapsedTimer pendingLimitTimer; - if (speedLimitChanged) { - if (!pendingLimitTimer.isValid()) { - pendingLimitTimer.start(); - } - } else { - pendingLimitTimer.invalidate(); - } - QPen pendingLimitPenColor = pendingLimitTimer.isValid() && pendingLimitTimer.elapsed() % 1000 <= 500 ? QPen(redColor(), 6) : QPen(blackColor(), 6); - - // Header gradient - QLinearGradient bg(0, UI_HEADER_HEIGHT - (UI_HEADER_HEIGHT / 2.5), 0, UI_HEADER_HEIGHT); - bg.setColorAt(0, QColor::fromRgbF(0, 0, 0, 0.45)); - bg.setColorAt(1, QColor::fromRgbF(0, 0, 0, 0)); - p.fillRect(0, 0, width(), UI_HEADER_HEIGHT, bg); - - QString mtscSpeedStr = (mtscSpeed > 1) ? QString::number(std::nearbyint(mtscSpeed)) + speedUnit : "–"; - QString newSpeedLimitStr = (unconfirmedSpeedLimit > 1) ? QString::number(std::nearbyint(unconfirmedSpeedLimit)) : "–"; - QString speedLimitStr = (speedLimit > 1) ? QString::number(std::nearbyint(speedLimit)) : "–"; - QString speedLimitOffsetStr = (slcSpeedLimitOffset == 0) ? "–" : QString::number(slcSpeedLimitOffset, 'f', 0).prepend((slcSpeedLimitOffset > 0) ? "+" : ""); - QString speedStr = QString::number(std::nearbyint(speed)); - QString setSpeedStr = is_cruise_set ? QString::number(std::nearbyint(setSpeed)) : "–"; - QString vtscSpeedStr = (vtscSpeed > 1) ? QString::number(std::nearbyint(vtscSpeed)) + speedUnit : "–"; - - // Draw outer box + border to contain set speed and speed limit - const int sign_margin = 12; - const int us_sign_height = 186; - const int eu_sign_size = 176; - - const QSize default_size = {172, 204}; - QSize set_speed_size = default_size; - if (is_metric || has_eu_speed_limit) set_speed_size.rwidth() = 200; - if (has_us_speed_limit && speedLimitStr.size() >= 3) set_speed_size.rwidth() = 223; - - if (has_us_speed_limit) set_speed_size.rheight() += us_sign_height + sign_margin; - else if (has_eu_speed_limit) set_speed_size.rheight() += eu_sign_size + sign_margin; - - int top_radius = 32; - int bottom_radius = has_eu_speed_limit ? 100 : 32; - - QRect set_speed_rect(QPoint(60 + (default_size.width() - set_speed_size.width()) / 2, 45), set_speed_size); - if (trafficModeActive) { - p.setPen(QPen(redColor(), 10)); - } else { - p.setPen(QPen(whiteColor(75), 6)); - } - p.setBrush(blackColor(166)); - drawRoundedRect(p, set_speed_rect, top_radius, top_radius, bottom_radius, bottom_radius); - - QColor max_color = QColor(0x80, 0xd8, 0xa6, 0xff); - QColor set_speed_color = whiteColor(); - if (!hideMaxSpeed) { - // Draw MAX - if (is_cruise_set) { - if (status == STATUS_DISENGAGED) { - max_color = whiteColor(); - } else if (status == STATUS_OVERRIDE) { - max_color = QColor(0x91, 0x9b, 0x95, 0xff); - } else if (speedLimit > 0) { - auto interp_color = [=](QColor c1, QColor c2, QColor c3) { - return speedLimit > 0 ? interpColor(setSpeed, {speedLimit + 5, speedLimit + 15, speedLimit + 25}, {c1, c2, c3}) : c1; - }; - max_color = interp_color(max_color, QColor(0xff, 0xe4, 0xbf), QColor(0xff, 0xbf, 0xbf)); - set_speed_color = interp_color(set_speed_color, QColor(0xff, 0x95, 0x00), QColor(0xff, 0x00, 0x00)); - } - } else { - max_color = QColor(0xa6, 0xa6, 0xa6, 0xff); - set_speed_color = QColor(0x72, 0x72, 0x72, 0xff); - } - p.setFont(InterFont(40, QFont::DemiBold)); - p.setPen(max_color); - p.drawText(set_speed_rect.adjusted(0, 27, 0, 0), Qt::AlignTop | Qt::AlignHCenter, tr("MAX")); - p.setFont(InterFont(90, QFont::Bold)); - p.setPen(set_speed_color); - p.drawText(set_speed_rect.adjusted(0, 77, 0, 0), Qt::AlignTop | Qt::AlignHCenter, setSpeedStr); - } - - if (!speedLimitChanged && is_cruise_set && (setSpeed - mtscSpeed > 1 || setSpeed - vtscSpeed > 1) && !hideCSCUI) { - std::function drawCurveSpeedControl = [&](const QRect &rect, const QString &speedStr, bool isMtsc) { - if (isMtsc && !vtscControllingCurve) { - p.setPen(QPen(greenColor(), 10)); - p.setBrush(greenColor(166)); - p.setFont(InterFont(45, QFont::Bold)); - } else if (!isMtsc && vtscControllingCurve) { - p.setPen(QPen(redColor(), 10)); - p.setBrush(redColor(166)); - p.setFont(InterFont(45, QFont::Bold)); - } else { - p.setPen(QPen(blackColor(), 10)); - p.setBrush(blackColor(166)); - p.setFont(InterFont(35, QFont::DemiBold)); - } - - p.drawRoundedRect(rect, 24, 24); - - p.setPen(QPen(whiteColor(), 6)); - p.drawText(rect.adjusted(20, 0, 0, 0), Qt::AlignVCenter | Qt::AlignLeft, speedStr); - }; - - QRect curveSpeedRect(QPoint(set_speed_rect.right() + 25, set_speed_rect.top()), QSize(default_size.width() * 1.25, default_size.width() * 1.25)); - QPixmap scaledCurveSpeedIcon = (leftCurve ? curveSpeedLeftIcon : curveSpeedRightIcon).scaled(curveSpeedRect.size(), Qt::KeepAspectRatio, Qt::SmoothTransformation); - - p.setOpacity(1.0); - p.setRenderHint(QPainter::Antialiasing); - p.drawPixmap(curveSpeedRect, scaledCurveSpeedIcon); - - if (mtscEnabled) { - QRect mtscRect(curveSpeedRect.topLeft() + QPoint(0, curveSpeedRect.height() + 10), QSize(curveSpeedRect.width(), vtscControllingCurve ? 50 : 100)); - drawCurveSpeedControl(mtscRect, mtscSpeedStr, true); - - if (vtscEnabled) { - QRect vtscRect(mtscRect.topLeft() + QPoint(0, mtscRect.height() + 20), QSize(mtscRect.width(), vtscControllingCurve ? 100 : 50)); - drawCurveSpeedControl(vtscRect, vtscSpeedStr, false); - } - } else if (vtscEnabled) { - QRect vtscRect(curveSpeedRect.topLeft() + QPoint(0, curveSpeedRect.height() + 10), QSize(curveSpeedRect.width(), 150)); - drawCurveSpeedControl(vtscRect, vtscSpeedStr, false); - } - } - - const QRect sign_rect = set_speed_rect.adjusted(sign_margin, default_size.height(), -sign_margin, -sign_margin); - p.save(); - // US/Canada (MUTCD style) sign - if (has_us_speed_limit) { - p.setPen(Qt::NoPen); - p.setBrush(whiteColor()); - p.drawRoundedRect(sign_rect, 24, 24); - p.setPen(QPen(blackColor(), 6)); - p.drawRoundedRect(sign_rect.adjusted(9, 9, -9, -9), 16, 16); - - p.save(); - p.setOpacity(slcOverridden ? 0.25 : 1.0); - if (showSLCOffset && !slcOverridden) { - p.setFont(InterFont(28, QFont::DemiBold)); - p.drawText(sign_rect.adjusted(0, 22, 0, 0), Qt::AlignTop | Qt::AlignHCenter, tr("LIMIT")); - p.setFont(InterFont(70, QFont::Bold)); - p.drawText(sign_rect.adjusted(0, 51, 0, 0), Qt::AlignTop | Qt::AlignHCenter, speedLimitStr); - p.setFont(InterFont(50, QFont::DemiBold)); - p.drawText(sign_rect.adjusted(0, 120, 0, 0), Qt::AlignTop | Qt::AlignHCenter, speedLimitOffsetStr); - } else { - p.setFont(InterFont(28, QFont::DemiBold)); - p.drawText(sign_rect.adjusted(0, 22, 0, 0), Qt::AlignTop | Qt::AlignHCenter, tr("SPEED")); - p.drawText(sign_rect.adjusted(0, 51, 0, 0), Qt::AlignTop | Qt::AlignHCenter, tr("LIMIT")); - p.setFont(InterFont(70, QFont::Bold)); - p.drawText(sign_rect.adjusted(0, 85, 0, 0), Qt::AlignTop | Qt::AlignHCenter, speedLimitStr); - } - p.restore(); - - if (speedLimitChanged && !(setSpeed - mtscSpeed > 1 || setSpeed - vtscSpeed > 1)) { - QRect new_sign_rect(sign_rect.translated(sign_rect.width() + 25, 0)); - new_sign_rect.setWidth(newSpeedLimitStr.size() >= 3 ? 200 : 175); - - newSpeedLimitRect = new_sign_rect; - newSpeedLimitRect.setWidth(new_sign_rect.width()); - newSpeedLimitRect.setHeight(new_sign_rect.height()); - - p.setPen(Qt::NoPen); - p.setBrush(whiteColor()); - p.drawRoundedRect(new_sign_rect, 24, 24); - p.setPen(pendingLimitPenColor); - p.drawRoundedRect(new_sign_rect.adjusted(9, 9, -9, -9), 16, 16); - - p.setFont(InterFont(28, QFont::DemiBold)); - p.drawText(new_sign_rect.adjusted(0, 22, 0, 0), Qt::AlignTop | Qt::AlignHCenter, tr("PENDING")); - p.drawText(new_sign_rect.adjusted(0, 51, 0, 0), Qt::AlignTop | Qt::AlignHCenter, tr("LIMIT")); - p.setFont(InterFont(70, QFont::Bold)); - p.drawText(new_sign_rect.adjusted(0, 85, 0, 0), Qt::AlignTop | Qt::AlignHCenter, newSpeedLimitStr); - } - } - - // EU (Vienna style) sign - if (has_eu_speed_limit) { - p.setPen(Qt::NoPen); - p.setBrush(whiteColor()); - p.drawEllipse(sign_rect); - p.setPen(QPen(Qt::red, 20)); - p.drawEllipse(sign_rect.adjusted(16, 16, -16, -16)); - - p.setOpacity(slcOverridden ? 0.25 : 1.0); - p.setPen(blackColor()); - if (showSLCOffset) { - p.setFont(InterFont((speedLimitStr.size() >= 3) ? 60 : 70, QFont::Bold)); - p.drawText(sign_rect.adjusted(0, -25, 0, 0), Qt::AlignCenter, speedLimitStr); - p.setFont(InterFont(40, QFont::DemiBold)); - p.drawText(sign_rect.adjusted(0, 100, 0, 0), Qt::AlignTop | Qt::AlignHCenter, speedLimitOffsetStr); - } else { - p.setFont(InterFont((speedLimitStr.size() >= 3) ? 60 : 70, QFont::Bold)); - p.drawText(sign_rect, Qt::AlignCenter, speedLimitStr); - } - - if (speedLimitChanged) { - QRect new_sign_rect(sign_rect.translated(sign_rect.width() + 25, 0)); - p.setPen(Qt::NoPen); - p.setBrush(whiteColor()); - p.drawEllipse(new_sign_rect); - p.setPen(QPen(Qt::red, 20)); - p.drawEllipse(new_sign_rect.adjusted(16, 16, -16, -16)); - - p.setOpacity(1.0); - p.setPen(pendingLimitPenColor); - p.setFont(InterFont((newSpeedLimitStr.size() >= 3) ? 60 : 70, QFont::Bold)); - p.drawText(new_sign_rect, Qt::AlignCenter, newSpeedLimitStr); - } - } - - if (speedLimitSources && (has_eu_speed_limit || has_us_speed_limit)) { - std::function drawSource = [&](QRect &rect, const QPixmap &icon, const QString &title, double speedLimitValue) { - if (speedLimitSource == title.toStdString()) { - p.setPen(QPen(redColor(), 10)); - p.setBrush(redColor(166)); - - p.setFont(InterFont(35, QFont::Bold)); - } else { - p.setPen(QPen(blackColor(), 10)); - p.setBrush(blackColor(166)); - - p.setFont(InterFont(35, QFont::DemiBold)); - } - - QRect iconRect(rect.x() + 20, rect.y() + (rect.height() - img_size / 4) / 2, img_size / 4, img_size / 4); - - QString speedText; - if (speedLimitValue > 1) { - speedText = QString::number(std::nearbyint(speedLimitValue)) + " " + speedUnit; - } else { - speedText = "N/A"; - } - - QString fullText = tr(title.toUtf8().constData()) + " - " + speedText; - - p.setOpacity(1.0); - p.drawRoundedRect(rect, 24, 24); - - p.setRenderHint(QPainter::Antialiasing); - p.drawPixmap(iconRect, icon); - - p.setPen(QPen(whiteColor(), 6)); - QRect textRect(iconRect.right() + 10, rect.y(), rect.width() - iconRect.width() - 30, rect.height()); - p.drawText(textRect, Qt::AlignVCenter | Qt::AlignLeft, fullText); - }; - - QRect dashboardRect(sign_rect.x() - sign_margin, sign_rect.y() + sign_rect.height() + 45, 500, 60); - QRect mapDataRect(dashboardRect.x(), dashboardRect.y() + dashboardRect.height() + 15, 500, 60); - QRect navigationRect(mapDataRect.x(), mapDataRect.y() + mapDataRect.height() + 15, 500, 60); - QRect upcomingLimitRect(navigationRect.x(), navigationRect.y() + navigationRect.height() + 15, 500, 60); - - drawSource(dashboardRect, dashboardIcon, "Dashboard", dashboardSpeedLimit); - drawSource(mapDataRect, mapDataIcon, "Map Data", mapsSpeedLimit); - drawSource(navigationRect, navigationIcon, "Navigation", navigationSpeedLimit); - drawSource(upcomingLimitRect, upcomingMapsIcon, "Upcoming", upcomingSpeedLimit); - } - - p.restore(); - - // current speed - if (!(bigMapOpen || hideSpeed)) { - if (standstillDuration > 1) { - float transition = qBound(0.0f, standstillDuration / 120.0f, 1.0f); - QColor start, end; - - if (standstillDuration <= 60) { - start = end = bg_colors[STATUS_ENGAGED]; - } else if (standstillDuration <= 90) { - start = bg_colors[STATUS_ENGAGED]; - end = bg_colors[STATUS_CONDITIONAL_OVERRIDDEN]; - transition = (standstillDuration - 60) / 30.0f; - } else if (standstillDuration <= 120) { - start = bg_colors[STATUS_CONDITIONAL_OVERRIDDEN]; - end = bg_colors[STATUS_TRAFFIC_MODE_ACTIVE]; - transition = (standstillDuration - 90) / 30.0f; - } else { - start = end = bg_colors[STATUS_TRAFFIC_MODE_ACTIVE]; - transition = 0.0f; - } - - QColor blendedColor( - start.red() + transition * (end.red() - start.red()), - start.green() + transition * (end.green() - start.green()), - start.blue() + transition * (end.blue() - start.blue()) - ); - - p.setPen(QPen(blendedColor)); - - int minutes = standstillDuration / 60; - int seconds = standstillDuration % 60; - - p.setFont(InterFont(176, QFont::Bold)); - drawText(p, rect().center().x(), 210, minutes == 1 ? "1 minute" : QString("%1 minutes").arg(minutes), 255, true); - p.setFont(InterFont(66)); - drawText(p, rect().center().x(), 290, QString("%1 seconds").arg(seconds)); - } else { - p.setFont(InterFont(176, QFont::Bold)); - drawText(p, rect().center().x(), 210, speedStr); - p.setFont(InterFont(66)); - drawText(p, rect().center().x(), 290, speedUnit, 200); - } - } - - p.restore(); -} - -void AnnotatedCameraWidget::drawText(QPainter &p, int x, int y, const QString &text, int alpha, bool overridePen) { - QRect real_rect = p.fontMetrics().boundingRect(text); - real_rect.moveCenter({x, y - real_rect.height() / 2}); - - if (!overridePen) { - p.setPen(QColor(0xff, 0xff, 0xff, alpha)); - } - p.drawText(real_rect.x(), real_rect.bottom(), text); -} - -void AnnotatedCameraWidget::initializeGL() { - CameraWidget::initializeGL(); - qInfo() << "OpenGL version:" << QString((const char*)glGetString(GL_VERSION)); - qInfo() << "OpenGL vendor:" << QString((const char*)glGetString(GL_VENDOR)); - qInfo() << "OpenGL renderer:" << QString((const char*)glGetString(GL_RENDERER)); - qInfo() << "OpenGL language version:" << QString((const char*)glGetString(GL_SHADING_LANGUAGE_VERSION)); - - prev_draw_t = millis_since_boot(); - setBackgroundColor(bg_colors[STATUS_DISENGAGED]); -} - -void AnnotatedCameraWidget::updateFrameMat() { - CameraWidget::updateFrameMat(); - UIState *s = uiState(); - int w = width(), h = height(); - - s->fb_w = w; - s->fb_h = h; - - // Apply transformation such that video pixel coordinates match video - // 1) Put (0, 0) in the middle of the video - // 2) Apply same scaling as video - // 3) Put (0, 0) in top left corner of video - s->car_space_transform.reset(); - s->car_space_transform.translate(w / 2 - x_offset, h / 2 - y_offset) - .scale(zoom, zoom) - .translate(-intrinsic_matrix.v[2], -intrinsic_matrix.v[5]); -} - -void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s, float v_ego) { - painter.save(); - - const UIScene &scene = s->scene; - SubMaster &sm = *(s->sm); - - // lanelines - for (int i = 0; i < std::size(scene.lane_line_vertices); ++i) { - if (useStockColors) { - painter.setBrush(QColor::fromRgbF(1.0, 1.0, 1.0, std::clamp(scene.lane_line_probs[i], 0.0, 0.7))); - } else { - painter.setBrush(scene.lane_lines_color); - } - painter.drawPolygon(scene.lane_line_vertices[i]); - } - - // road edges - for (int i = 0; i < std::size(scene.road_edge_vertices); ++i) { - painter.setBrush(QColor::fromRgbF(1.0, 0, 0, std::clamp(1.0 - scene.road_edge_stds[i], 0.0, 1.0))); - painter.drawPolygon(scene.road_edge_vertices[i]); - } - - // paint path - QLinearGradient bg(0, height(), 0, 0); - if (experimentalMode || scene.acceleration_path || scene.rainbow_path) { - // The first half of track_vertices are the points for the right side of the path - // and the indices match the positions of accel from uiPlan - const auto &acceleration_const = sm["uiPlan"].getUiPlan().getAccel(); - const int max_len = std::min(scene.track_vertices.length() / 2, acceleration_const.size()); - - // Copy of the acceleration vector - std::vector acceleration; - acceleration.reserve(acceleration_const.size()); - for (size_t i = 0; i < acceleration_const.size(); ++i) { - acceleration.push_back(acceleration_const[i]); - } - - const float hue_shift_speed = 0.5; // Adjust this value to control the speed of the rainbow scroll - static float hue_base = 0.0; // Base hue that changes over time - hue_base = fmod(hue_base + v_ego * hue_shift_speed, 360.0); // Update base hue to create scrolling effect - - for (int i = 0; i < max_len; ++i) { - // Some points are out of frame - int track_idx = max_len - i - 1; // flip idx to start from bottom right - if (scene.track_vertices[track_idx].y() < 0 || scene.track_vertices[track_idx].y() > height()) continue; - - // Flip so 0 is bottom of frame - float lin_grad_point = (height() - scene.track_vertices[track_idx].y()) / height(); - float acceleration_abs = fabs(acceleration[i]); - - if (acceleration_abs < 0.25 && scene.rainbow_path) { - float saturation = util::map_val(acceleration_abs, 0.0f, 1.0f, 0.6f, 0.8f); - float lightness = util::map_val(acceleration_abs, 0.0f, 1.0f, 0.7f, 0.5f); - float alpha = util::map_val(acceleration_abs, 0.0f, 1.0f, 0.5f, 0.8f); - - float perspective_factor = lin_grad_point; - float rainbow_height = 0.1 + 0.4 * perspective_factor; - - for (int j = 0; j <= 50; ++j) { - float color_position = static_cast(j) / 50.0; - if (color_position >= lin_grad_point - rainbow_height / 2 && color_position <= lin_grad_point + rainbow_height / 2) { - float hue = fmod(hue_base + color_position * 360.0, 360.0); - QColor rainbow_color = QColor::fromHslF(hue / 360.0, saturation, lightness, alpha); - bg.setColorAt(color_position, rainbow_color); - } - } - } else if (acceleration_abs < 0.25 && !useStockColors) { - QColor color = scene.path_color; - bg.setColorAt(0.0f, color); - color.setAlphaF(0.5f); - bg.setColorAt(0.5f, color); - color.setAlphaF(0.1f); - bg.setColorAt(1.0f, color); - } else { - // speed up: 120, slow down: 0 - float path_hue = fmax(fmin(60 + acceleration[i] * 35, 120), 0); - // FIXME: painter.drawPolygon can be slow if hue is not rounded - path_hue = int(path_hue * 100 + 0.5) / 100; - - float saturation = fmin(fabs(acceleration[i] * 1.5), 1); - float lightness = util::map_val(saturation, 0.0f, 1.0f, 0.95f, 0.62f); // lighter when grey - float alpha = util::map_val(lin_grad_point, 0.75f / 2.f, 0.75f, 0.4f, 0.0f); // matches previous alpha fade - bg.setColorAt(lin_grad_point, QColor::fromHslF(path_hue / 360., saturation, lightness, alpha)); - - // Skip a point, unless next is last - i += (i + 2) < max_len ? 1 : 0; - } - } - - } else { - bg.setColorAt(0.0, QColor::fromHslF(148 / 360., 0.94, 0.51, 0.4)); - bg.setColorAt(0.5, QColor::fromHslF(112 / 360., 1.0, 0.68, 0.35)); - bg.setColorAt(1.0, QColor::fromHslF(112 / 360., 1.0, 0.68, 0.0)); - } - - painter.setBrush(bg); - painter.drawPolygon(scene.track_vertices); - - if (scene.show_stopping_point && scene.red_light && speed > 1 && !(conditionalStatus == 1 || conditionalStatus == 3 || conditionalStatus == 5)) { - QPointF last_point = scene.track_vertices.last(); - QPointF adjusted_point = last_point - QPointF(stopSignImg.width() / 2, stopSignImg.height()); - painter.drawPixmap(adjusted_point, stopSignImg); - - if (scene.show_stopping_point_metrics) { - QFont font = InterFont(35, QFont::DemiBold); - QString text = QString::number(std::nearbyint(modelLength * distanceConversion)) + leadDistanceUnit; - int text_width = QFontMetrics(font).horizontalAdvance(text); - QPointF text_position = last_point - QPointF(text_width / 2, stopSignImg.height() + 35); - - painter.save(); - painter.setFont(font); - painter.setPen(Qt::white); - painter.drawText(text_position, text); - painter.restore(); - } - } - - // Paint blindspot path - if (scene.blind_spot_path) { - QLinearGradient bs(0, height(), 0, 0); - - bs.setColorAt(0.0f, QColor::fromHslF(0 / 360.0f, 0.75f, 0.5f, 0.6f)); - bs.setColorAt(0.5f, QColor::fromHslF(0 / 360.0f, 0.75f, 0.5f, 0.4f)); - bs.setColorAt(1.0f, QColor::fromHslF(0 / 360.0f, 0.75f, 0.5f, 0.2f)); - - painter.setBrush(bs); - if (blindSpotLeft) { - painter.drawPolygon(scene.track_adjacent_vertices[4]); - } - if (blindSpotRight) { - painter.drawPolygon(scene.track_adjacent_vertices[5]); - } - } - - // Paint adjacent lane paths - if ((scene.adjacent_path || scene.adjacent_path_metrics) && v_ego >= scene.minimum_lane_change_speed) { - QLinearGradient ap(0, height(), 0, 0); - - std::function setAdjacentPathColors = [&](float hue) { - ap.setColorAt(0.0f, QColor::fromHslF(hue / 360.0f, 0.75f, 0.5f, 0.6f)); - ap.setColorAt(0.5f, QColor::fromHslF(hue / 360.0f, 0.75f, 0.5f, 0.4f)); - ap.setColorAt(1.0f, QColor::fromHslF(hue / 360.0f, 0.75f, 0.5f, 0.2f)); - }; - - std::function drawAdjacentLane = [&](const QPolygonF &lane, float laneWidth, bool isBlindSpot) { - if (isBlindSpot) { - setAdjacentPathColors(0.0f); - } else { - float hue = 120.0f * (1 - fmin(fabs(laneWidth - laneDetectionWidth) / (laneDetectionWidth / 2), 1)); - setAdjacentPathColors(hue); - } - - painter.setBrush(ap); - painter.drawPolygon(lane); - - if (scene.adjacent_path_metrics) { - painter.setFont(InterFont(30, QFont::DemiBold)); - painter.setPen(Qt::white); - - QString text = isBlindSpot ? tr("Vehicle in blind spot") : QString::number(laneWidth * distanceConversion, 'f', 2) + leadDistanceUnit; - painter.drawText(lane.boundingRect(), Qt::AlignCenter, text); - painter.setPen(Qt::NoPen); - } - }; - - drawAdjacentLane(scene.track_adjacent_vertices[4], scene.lane_width_left, blindSpotLeft); - drawAdjacentLane(scene.track_adjacent_vertices[5], scene.lane_width_right, blindSpotRight); - } - - // Paint path edges - QLinearGradient pe(0, height(), 0, 0); - - std::function setPathEdgeColors = [&](QLinearGradient &gradient, const QColor &baseColor) { - gradient.setColorAt(0.0f, baseColor); - QColor color = baseColor; - color.setAlphaF(0.5f); - gradient.setColorAt(0.5f, color); - color.setAlphaF(0.1f); - gradient.setColorAt(1.0f, color); - }; - - if (alwaysOnLateralActive) { - setPathEdgeColors(pe, bg_colors[STATUS_ALWAYS_ON_LATERAL_ACTIVE]); - } else if (conditionalStatus == 1 || conditionalStatus == 3 || conditionalStatus == 5) { - setPathEdgeColors(pe, bg_colors[STATUS_CONDITIONAL_OVERRIDDEN]); - } else if (experimentalMode) { - setPathEdgeColors(pe, bg_colors[STATUS_EXPERIMENTAL_MODE_ACTIVE]); - } else if (trafficModeActive) { - setPathEdgeColors(pe, bg_colors[STATUS_TRAFFIC_MODE_ACTIVE]); - } else if (scene.navigate_on_openpilot) { - setPathEdgeColors(pe, bg_colors[STATUS_NAVIGATION_ACTIVE]); - } else if (!useStockColors) { - setPathEdgeColors(pe, scene.path_edges_color); - } else { - pe.setColorAt(0.0f, QColor::fromHslF(148 / 360.0f, 0.94f, 0.51f, 1.0f)); - pe.setColorAt(0.5f, QColor::fromHslF(112 / 360.0f, 1.00f, 0.68f, 0.5f)); - pe.setColorAt(1.0f, QColor::fromHslF(112 / 360.0f, 1.00f, 0.68f, 0.1f)); - } - - QPainterPath path; - path.addPolygon(scene.track_vertices); - path.addPolygon(scene.track_edge_vertices); - - painter.setBrush(pe); - painter.drawPath(path); - - painter.restore(); -} - -void AnnotatedCameraWidget::drawDriverState(QPainter &painter, const UIState *s) { - const UIScene &scene = s->scene; - - painter.save(); - - // base icon - int offset = UI_BORDER_SIZE + btn_size / 2; - int x = rightHandDM ? width() - offset : offset; - if (rightHandDM && map_settings_btn->isEnabled() && !hideMapIcon) { - x -= 250; - } else if (onroadDistanceButton) { - x += 250; - } - offset += statusBarHeight / 2; - int y = height() - offset; - float opacity = dmActive ? 0.65 : 0.2; - drawIcon(painter, QPoint(x, y), dm_img, blackColor(70), opacity); - - // face - QPointF face_kpts_draw[std::size(default_face_kpts_3d)]; - float kp; - for (int i = 0; i < std::size(default_face_kpts_3d); ++i) { - kp = (scene.face_kpts_draw[i].v[2] - 8) / 120 + 1.0; - face_kpts_draw[i] = QPointF(scene.face_kpts_draw[i].v[0] * kp + x, scene.face_kpts_draw[i].v[1] * kp + y); - } - - painter.setPen(QPen(QColor::fromRgbF(1.0, 1.0, 1.0, opacity), 5.2, Qt::SolidLine, Qt::RoundCap)); - painter.drawPolyline(face_kpts_draw, std::size(default_face_kpts_3d)); - - // tracking arcs - const int arc_l = 133; - const float arc_t_default = 6.7; - const float arc_t_extend = 12.0; - QColor arc_color = QColor::fromRgbF(0.545 - 0.445 * s->engaged(), - 0.545 + 0.4 * s->engaged(), - 0.545 - 0.285 * s->engaged(), - 0.4 * (1.0 - dm_fade_state)); - float delta_x = -scene.driver_pose_sins[1] * arc_l / 2; - float delta_y = -scene.driver_pose_sins[0] * arc_l / 2; - painter.setPen(QPen(arc_color, arc_t_default+arc_t_extend*fmin(1.0, scene.driver_pose_diff[1] * 5.0), Qt::SolidLine, Qt::RoundCap)); - painter.drawArc(QRectF(std::fmin(x + delta_x, x), y - arc_l / 2, fabs(delta_x), arc_l), (scene.driver_pose_sins[1]>0 ? 90 : -90) * 16, 180 * 16); - painter.setPen(QPen(arc_color, arc_t_default+arc_t_extend*fmin(1.0, scene.driver_pose_diff[0] * 5.0), Qt::SolidLine, Qt::RoundCap)); - painter.drawArc(QRectF(x - arc_l / 2, std::fmin(y + delta_y, y), arc_l, fabs(delta_y)), (scene.driver_pose_sins[0]>0 ? 0 : 180) * 16, 180 * 16); - - painter.restore(); -} - -void AnnotatedCameraWidget::drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data, const QPointF &vd, float v_ego, const QColor &lead_marker_color, bool adjacent) { - painter.save(); - - const float speedBuff = 10.; - const float leadBuff = 40.; - const float d_rel = lead_data.getDRel() + (adjacent ? fabs(lead_data.getYRel()) : 0); - const float v_rel = lead_data.getVRel(); - - float fillAlpha = 0; - if (d_rel < leadBuff) { - fillAlpha = 255 * (1.0 - (d_rel / leadBuff)); - if (v_rel < 0) { - fillAlpha += 255 * (-1 * (v_rel / speedBuff)); - } - fillAlpha = (int)(fmin(fillAlpha, 255)); - } - - float sz = std::clamp((25 * 30) / (d_rel / 3 + 30), adjacent ? 5.0f : 15.0f, adjacent ? 20.0f : 30.0f) * 2.35; - float x = std::clamp((float)vd.x(), 0.f, width() - sz / 2); - float y = std::fmin(height() - sz * .6, (float)vd.y()); - - float g_xo = sz / 5; - float g_yo = sz / 10; - - QPointF glow[] = {{x + (sz * 1.35) + g_xo, y + sz + g_yo}, {x, y - g_yo}, {x - (sz * 1.35) - g_xo, y + sz + g_yo}}; - if (!adjacent) { - painter.setBrush(QColor(218, 202, 37, 255)); - } else { - painter.setBrush(QColor(lead_marker_color.red(), lead_marker_color.green(), lead_marker_color.blue(), 255)); - } - painter.drawPolygon(glow, std::size(glow)); - - // chevron - QPointF chevron[] = {{x + (sz * 1.25), y + sz}, {x, y}, {x - (sz * 1.25), y + sz}}; - if (adjacent || useStockColors) { - painter.setBrush(redColor(fillAlpha)); - } else { - painter.setBrush(QColor(lead_marker_color.red(), lead_marker_color.green(), lead_marker_color.blue(), fillAlpha)); - } - painter.drawPolygon(chevron, std::size(chevron)); - - if (leadInfo) { - float lead_speed = std::max(v_rel + v_ego, 0.0f); - - painter.setPen(Qt::white); - painter.setFont(InterFont(35, QFont::Bold)); - - QString text; - if (adjacent) { - text = QString("%1 %2 | %3 %4") - .arg(qRound(d_rel * distanceConversion)) - .arg(leadDistanceUnit) - .arg(qRound(lead_speed * speedConversionMetrics)) - .arg(leadSpeedUnit); - } else { - text = QString("%1 %2 | %3 %4 | %5 %6") - .arg(qRound(d_rel * distanceConversion)) - .arg(leadDistanceUnit) - .arg(qRound(lead_speed * speedConversionMetrics)) - .arg(leadSpeedUnit) - .arg(QString::number(d_rel / std::max(v_ego, 1.0f), 'f', 1)) - .arg("s"); - } - - QFontMetrics metrics(painter.font()); - int middle_x = (chevron[2].x() + chevron[0].x()) / 2; - int textHeight = metrics.height(); - int textWidth = metrics.horizontalAdvance(text); - int text_x = middle_x - textWidth / 2; - int text_y = chevron[0].y() + textHeight + 5; - - if (!adjacent) { - lead_x = x + text_x + textWidth; - lead_y = y + text_y + textHeight; - } - - if (!adjacent || fabs((x + text_x + textWidth) - lead_x) >= textWidth || fabs((y + text_y + textHeight) - lead_y) >= textHeight) { - painter.drawText(text_x, text_y, text); - } - } - - painter.restore(); -} - -void AnnotatedCameraWidget::paintGL() { -} - -void AnnotatedCameraWidget::paintEvent(QPaintEvent *event) { - UIState *s = uiState(); - SubMaster &sm = *(s->sm); - QPainter painter(this); - const double start_draw_t = millis_since_boot(); - const cereal::ModelDataV2::Reader &model = sm["modelV2"].getModelV2(); - const float v_ego = sm["carState"].getCarState().getVEgo(); - - // draw camera frame - { - std::lock_guard lk(frame_lock); - - if (frames.empty()) { - if (skip_frame_count > 0) { - skip_frame_count--; - qDebug() << "skipping frame, not ready"; - return; - } - } else { - // skip drawing up to this many frames if we're - // missing camera frames. this smooths out the - // transitions from the narrow and wide cameras - skip_frame_count = 5; - } - - // Wide or narrow cam dependent on speed - bool has_wide_cam = available_streams.count(VISION_STREAM_WIDE_ROAD); - if (has_wide_cam && cameraView == 0) { - if ((v_ego < 10) || available_streams.size() == 1) { - wide_cam_requested = true; - } else if (v_ego > 15) { - wide_cam_requested = false; - } - wide_cam_requested = wide_cam_requested && experimentalMode; - // for replay of old routes, never go to widecam - wide_cam_requested = wide_cam_requested && s->scene.calibration_wide_valid; - } - CameraWidget::setStreamType(cameraView == 1 ? VISION_STREAM_DRIVER : - cameraView == 3 || wide_cam_requested ? VISION_STREAM_WIDE_ROAD : - VISION_STREAM_ROAD); - - s->scene.wide_cam = CameraWidget::getStreamType() == VISION_STREAM_WIDE_ROAD; - if (s->scene.calibration_valid) { - auto calib = s->scene.wide_cam ? s->scene.view_from_wide_calib : s->scene.view_from_calib; - CameraWidget::updateCalibration(calib); - } else { - CameraWidget::updateCalibration(DEFAULT_CALIBRATION); - } - painter.beginNativePainting(); - CameraWidget::setFrameId(model.getFrameId()); - CameraWidget::paintGL(); - painter.endNativePainting(); - } - - painter.setRenderHint(QPainter::Antialiasing); - painter.setPen(Qt::NoPen); - - if (s->scene.world_objects_visible) { - update_model(s, model, sm["uiPlan"].getUiPlan()); - drawLaneLines(painter, s, v_ego); - - if (s->scene.longitudinal_control && sm.rcv_frame("radarState") > s->scene.started_frame && !s->scene.hide_lead_marker) { - auto radar_state = sm["radarState"].getRadarState(); - update_leads(s, radar_state, model.getPosition()); - auto lead_one = radar_state.getLeadOne(); - auto lead_two = radar_state.getLeadTwo(); - auto lead_far = radar_state.getLeadFar(); - auto lead_left = radar_state.getLeadLeft(); - auto lead_right = radar_state.getLeadRight(); - auto lead_left_far = radar_state.getLeadLeftFar(); - auto lead_right_far = radar_state.getLeadRightFar(); - if (lead_far.getStatus()) { - drawLead(painter, lead_far, s->scene.lead_vertices[2], v_ego, s->scene.lead_marker_color); - } - if (lead_left.getStatus()) { - drawLead(painter, lead_left, s->scene.lead_vertices[3], v_ego, blueColor(), true); - } - if (lead_right.getStatus()) { - drawLead(painter, lead_right, s->scene.lead_vertices[4], v_ego, orangeColor(), true); - } - if (lead_left_far.getStatus()) { - drawLead(painter, lead_left_far, s->scene.lead_vertices[5], v_ego, purpleColor(), true); - } - if (lead_right_far.getStatus()) { - drawLead(painter, lead_right_far, s->scene.lead_vertices[6], v_ego, yellowColor(), true); - } - if (lead_two.getStatus()) { - drawLead(painter, lead_two, s->scene.lead_vertices[1], v_ego, s->scene.lead_marker_color); - } else if (lead_one.getStatus()) { - drawLead(painter, lead_one, s->scene.lead_vertices[0], v_ego, s->scene.lead_marker_color); - } else { - lead_x = 0; - lead_y = 0; - } - } - } - - // DMoji - if (!hideBottomIcons && (sm.rcv_frame("driverStateV2") > s->scene.started_frame)) { - update_dmonitoring(s, sm["driverStateV2"].getDriverStateV2(), dm_fade_state, rightHandDM); - drawDriverState(painter, s); - } - - drawHud(painter); - - double cur_draw_t = millis_since_boot(); - double dt = cur_draw_t - prev_draw_t; - double fps = fps_filter.update(1. / dt * 1000); - s->scene.fps = fps; - if (fps < 15) { - LOGW("slow frame rate: %.2f fps", fps); - } - prev_draw_t = cur_draw_t; - - // publish debug msg - MessageBuilder msg; - auto m = msg.initEvent().initUiDebug(); - m.setDrawTimeMillis(cur_draw_t - start_draw_t); - pm->send("uiDebug", msg); - - // Paint FrogPilot widgets - paintFrogPilotWidgets(painter); -} - -void AnnotatedCameraWidget::showEvent(QShowEvent *event) { - CameraWidget::showEvent(event); - - ui_update_params(uiState()); - prev_draw_t = millis_since_boot(); - - // FrogPilot variables - distance_btn->updateIcon(); - experimental_btn->updateIcon(); - updateSignals(); -} - -// FrogPilot widgets -void AnnotatedCameraWidget::updateSignals() { - blindspotImages.clear(); - signalImages.clear(); - - QDir directory("../frogpilot/assets/active_theme/signals/"); - QFileInfoList allFiles = directory.entryInfoList(QDir::Files | QDir::NoDotAndDotDot, QDir::Name); - - bool isGif = false; - for (QFileInfo &fileInfo : allFiles) { - if (fileInfo.fileName().endsWith(".gif", Qt::CaseInsensitive)) { - QMovie movie(fileInfo.absoluteFilePath()); - movie.start(); - - for (int frameIndex = 0; frameIndex < movie.frameCount(); ++frameIndex) { - movie.jumpToFrame(frameIndex); - QPixmap currentFrame = movie.currentPixmap(); - signalImages.push_back(currentFrame); - signalImages.push_back(currentFrame.transformed(QTransform().scale(-1, 1))); - } - - movie.stop(); - isGif = true; - - } else if (fileInfo.fileName().endsWith(".png", Qt::CaseInsensitive)) { - QVector *targetList = fileInfo.fileName().contains("blindspot") ? &blindspotImages : &signalImages; - QPixmap pixmap(fileInfo.absoluteFilePath()); - targetList->push_back(pixmap); - targetList->push_back(pixmap.transformed(QTransform().scale(-1, 1))); - - } else { - QStringList parts = fileInfo.fileName().split('_'); - if (parts.size() == 2) { - signalStyle = parts[0]; - signalAnimationLength = parts[1].toInt(); - } - } - } - - if (!signalImages.empty()) { - QPixmap &firstImage = signalImages.front(); - signalWidth = firstImage.width(); - signalHeight = firstImage.height(); - totalFrames = signalImages.size() / 2; - turnSignalAnimation = true; - - if (isGif && signalStyle == "traditional") { - signalMovement = (this->size().width() + (signalWidth * 2)) / totalFrames; - signalStyle = "traditional_gif"; - } else { - signalMovement = 0; - } - } else { - signalWidth = 0; - signalHeight = 0; - totalFrames = 0; - turnSignalAnimation = false; - } -} - -void AnnotatedCameraWidget::initializeFrogPilotWidgets() { - bottom_layout = new QHBoxLayout(); - - distance_btn = new DistanceButton(this); - bottom_layout->addWidget(distance_btn); - - QSpacerItem *spacer = new QSpacerItem(0, 0, QSizePolicy::Expanding, QSizePolicy::Minimum); - bottom_layout->addItem(spacer); - - compass_img = new Compass(this); - bottom_layout->addWidget(compass_img); - - map_settings_btn_bottom = new MapSettingsButton(this); - bottom_layout->addWidget(map_settings_btn_bottom); - - main_layout->addLayout(bottom_layout); - - curveSpeedLeftIcon = loadPixmap("../frogpilot/assets/other_images/curve_speed_left.png", QSize(img_size, img_size)); - curveSpeedRightIcon = loadPixmap("../frogpilot/assets/other_images/curve_speed_right.png", QSize(img_size, img_size)); - dashboardIcon = loadPixmap("../frogpilot/assets/other_images/dashboard_icon.png", QSize(img_size / 2, img_size / 2)); - mapDataIcon = loadPixmap("../frogpilot/assets/other_images/offline_maps_icon.png", QSize(img_size / 2, img_size / 2)); - navigationIcon = loadPixmap("../frogpilot/assets/other_images/navigation_icon.png", QSize(img_size / 2, img_size / 2)); - stopSignImg = loadPixmap("../frogpilot/assets/other_images/stop_sign.png", QSize(img_size, img_size)); - upcomingMapsIcon = loadPixmap("../frogpilot/assets/other_images/upcoming_maps_icon.png", QSize(img_size / 2, img_size / 2)); - - animationTimer = new QTimer(this); - QObject::connect(animationTimer, &QTimer::timeout, [this] { - animationFrameIndex = (animationFrameIndex + 1) % totalFrames; - }); - - QObject::connect(uiState(), &UIState::themeUpdated, this, &AnnotatedCameraWidget::updateSignals); - QObject::connect(uiState(), &UIState::themeUpdated, distance_btn, &DistanceButton::updateIcon); - QObject::connect(uiState(), &UIState::themeUpdated, experimental_btn, &ExperimentalButton::updateIcon); -} - -void AnnotatedCameraWidget::updateFrogPilotVariables(int alert_height, const UIScene &scene) { - if (is_metric || useSI) { - accelerationUnit = tr("m/s²"); - leadDistanceUnit = tr(mapOpen ? "m" : "meters"); - leadSpeedUnit = useSI ? tr("m/s") : tr("kph"); - - accelerationConversion = 1.0f; - distanceConversion = 1.0f; - speedConversion = is_metric ? MS_TO_KPH : MS_TO_MPH; - speedConversionMetrics = useSI ? 1.0f : MS_TO_KPH; - } else { - accelerationUnit = tr("ft/s²"); - leadDistanceUnit = tr(mapOpen ? "ft" : "feet"); - leadSpeedUnit = tr("mph"); - - accelerationConversion = METER_TO_FOOT; - distanceConversion = METER_TO_FOOT; - speedConversion = MS_TO_MPH; - speedConversionMetrics = MS_TO_MPH; - } - - alertHeight = alert_height; - - alwaysOnLateralActive = scene.always_on_lateral_active; - showAlwaysOnLateralStatusBar = scene.aol_status_bar; - - blindSpotLeft = scene.blind_spot_left; - blindSpotRight = scene.blind_spot_right; - - cameraView = scene.camera_view; - - compass = scene.compass; - bool enableCompass = compass && !hideBottomIcons; - compass_img->setVisible(enableCompass); - if (enableCompass) { - compass_img->updateState(scene); - bottom_layout->setAlignment(compass_img, (rightHandDM ? Qt::AlignLeft : Qt::AlignRight)); - } - - conditionalSpeed = scene.conditional_limit; - conditionalSpeedLead = scene.conditional_limit_lead; - conditionalStatus = scene.conditional_status; - showConditionalExperimentalStatusBar = scene.cem_status_bar; - - currentAcceleration = scene.acceleration; - - desiredFollow = scene.desired_follow; - stoppedEquivalence = scene.stopped_equivalence; - - experimentalMode = scene.experimental_mode; - - hideCSCUI = scene.hide_csc_ui; - hideMapIcon = scene.hide_map_icon; - hideMaxSpeed = scene.hide_max_speed; - hideSpeed = scene.hide_speed; - hideSpeedLimit = scene.hide_speed_limit; - - laneDetectionWidth = scene.lane_detection_width; - - leadInfo = scene.lead_metrics; - obstacleDistance = scene.obstacle_distance; - obstacleDistanceStock = scene.obstacle_distance_stock; - - leftCurve = scene.left_curve; - - mapOpen = scene.map_open; - bigMapOpen = mapOpen && scene.big_map; - map_settings_btn_bottom->setEnabled(map_settings_btn->isEnabled()); - if (map_settings_btn_bottom->isEnabled()) { - map_settings_btn_bottom->setVisible(!hideBottomIcons && !compass && !hideMapIcon); - bottom_layout->setAlignment(map_settings_btn_bottom, (rightHandDM ? Qt::AlignLeft : Qt::AlignRight) | Qt::AlignBottom); - } - - modelLength = scene.model_length; - - mtscEnabled = scene.mtsc_enabled; - mtscSpeed = mtscEnabled ? scene.mtsc_speed * speedConversion : setSpeed; - - onroadDistanceButton = scene.onroad_distance_button; - bool enableDistanceButton = onroadDistanceButton && !hideBottomIcons; - distance_btn->setVisible(enableDistanceButton); - if (enableDistanceButton) { - distance_btn->updateState(scene); - bottom_layout->setAlignment(distance_btn, (rightHandDM ? Qt::AlignRight : Qt::AlignLeft) | Qt::AlignBottom); - } - - bool enablePedalIcons = scene.pedals_on_ui && !bigMapOpen; - pedal_icons->setVisible(enablePedalIcons); - if (enablePedalIcons) { - pedal_icons->updateState(scene); - } - - roadNameUI = scene.road_name_ui; - - bool enableScreenRecorder = scene.screen_recorder && !mapOpen; - screenRecorder->setVisible(enableScreenRecorder); - if (enableScreenRecorder) { - screenRecorder->updateScreen(scene.fps, scene.started); - } - - dashboardSpeedLimit = scene.dashboard_speed_limit * speedConversion; - mapsSpeedLimit = scene.speed_limit_map * speedConversion; - navigationSpeedLimit = scene.navigation_speed_limit * speedConversion; - showSLCOffset = scene.show_speed_limit_offset; - slcOverridden = scene.speed_limit_overridden; - slcSpeedLimitOffset = scene.speed_limit_offset * speedConversion; - speedLimitChanged = scene.speed_limit_changed; - speedLimitSource = scene.speed_limit_source; - speedLimitSources = scene.speed_limit_sources; - unconfirmedSpeedLimit = scene.unconfirmed_speed_limit * speedConversion; - upcomingSpeedLimit = scene.upcoming_speed_limit * speedConversion; - useViennaSLCSign = scene.speed_limit_vienna; - - bool stoppedTimer = scene.stopped_timer && scene.standstill && scene.started_timer / UI_FREQ >= 10 && !mapOpen; - static QElapsedTimer standstillTimer; - if (stoppedTimer) { - if (!standstillTimer.isValid()) { - standstillTimer.start(); - } - standstillDuration = standstillTimer.elapsed() / 1000.0; - } else { - standstillDuration = 0; - standstillTimer.invalidate(); - } - - trafficModeActive = scene.traffic_mode_active; - - turnSignalLeft = scene.turn_signal_left; - turnSignalRight = scene.turn_signal_right; - - useSI = scene.use_si_metrics; - - useStockColors = scene.use_stock_colors; - - vtscControllingCurve = scene.vtsc_controlling_curve; - vtscEnabled = scene.vtsc_enabled; - vtscSpeed = vtscEnabled ? scene.vtsc_speed * speedConversion : setSpeed; -} - -void AnnotatedCameraWidget::paintFrogPilotWidgets(QPainter &painter) { - if ((showAlwaysOnLateralStatusBar || showConditionalExperimentalStatusBar || roadNameUI) && !bigMapOpen) { - drawStatusBar(painter); - } else { - statusBarHeight = 0; - } - - if (leadInfo && !bigMapOpen) { - drawLeadInfo(painter); - } - - if (turnSignalAnimation && (turnSignalLeft || turnSignalRight) && !bigMapOpen && ((!mapOpen && standstillDuration == 0) || signalStyle != "static")) { - if (!animationTimer->isActive()) { - animationTimer->start(signalAnimationLength); - } - drawTurnSignals(painter); - } else if (animationTimer->isActive()) { - animationTimer->stop(); - } -} - -Compass::Compass(QWidget *parent) : QWidget(parent) { - setFixedSize(btn_size * 1.5, btn_size * 1.5); - - compassSize = btn_size; - circleOffset = compassSize / 2; - degreeLabelOffset = circleOffset + 25; - innerCompass = compassSize / 2; - - x = (btn_size * 1.5) / 2 + 20; - y = (btn_size * 1.5) / 2; - - compassInnerImg = loadPixmap("../frogpilot/assets/other_images/compass_inner.png", QSize(compassSize / 1.75, compassSize / 1.75)); - initializeStaticElements(); -} - -void Compass::initializeStaticElements() { - staticElements = QPixmap(size()); - staticElements.fill(Qt::transparent); - QPainter p(&staticElements); - - p.setRenderHints(QPainter::Antialiasing | QPainter::TextAntialiasing); - p.setPen(QPen(Qt::white, 2)); - p.setBrush(QColor(0, 0, 0, 100)); - - const int xOffset = x - circleOffset; - const int yOffset = y - circleOffset; - - p.drawEllipse(xOffset, yOffset, compassSize, compassSize); - p.setBrush(Qt::NoBrush); - const int innerOffset = innerCompass + 5; - p.drawEllipse(x - innerOffset, y - innerOffset, innerOffset * 2, innerOffset * 2); - p.drawEllipse(x - degreeLabelOffset, y - degreeLabelOffset, degreeLabelOffset * 2, degreeLabelOffset * 2); - - QPainterPath outerCircle, innerCircle; - outerCircle.addEllipse(x - degreeLabelOffset, y - degreeLabelOffset, degreeLabelOffset * 2, degreeLabelOffset * 2); - innerCircle.addEllipse(xOffset, yOffset, compassSize, compassSize); - p.fillPath(outerCircle.subtracted(innerCircle), Qt::black); -} - -void Compass::updateState(const UIScene &scene) { - if (bearingDeg != scene.bearing_deg) { - bearingDeg = (scene.bearing_deg + 360) % 360; - update(); - } -} - -void Compass::paintEvent(QPaintEvent *event) { - QPainter p(this); - p.setRenderHints(QPainter::Antialiasing | QPainter::TextAntialiasing); - p.drawPixmap(0, 0, staticElements); - p.translate(x, y); - p.rotate(bearingDeg); - p.drawPixmap(-compassInnerImg.width() / 2, -compassInnerImg.height() / 2, compassInnerImg); - p.resetTransform(); - - QFont font = InterFont(10, QFont::Normal); - const int halfCompassSize = compassSize / 2; - for (int i = 0; i < 360; i += 15) { - bool isBold = abs(i - bearingDeg) <= 7; - font.setWeight(isBold ? QFont::Bold : QFont::Normal); - p.setFont(font); - p.setPen(QPen(Qt::white, i % 90 == 0 ? 2 : 1)); - - p.save(); - p.translate(x, y); - p.rotate(i); - int lineLength = i % 90 == 0 ? 12 : 8; - p.drawLine(0, -(halfCompassSize - lineLength), 0, -halfCompassSize); - p.translate(0, -(halfCompassSize + 12)); - p.rotate(-i); - p.drawText(QRect(-20, -10, 40, 20), Qt::AlignCenter, QString::number(i)); - p.restore(); - } - - p.setFont(InterFont(20, QFont::Bold)); - const std::map, int, QColor>> directionInfo = { - {"N", {{292.5, 67.5}, Qt::AlignTop | Qt::AlignHCenter, Qt::white}}, - {"E", {{22.5, 157.5}, Qt::AlignRight | Qt::AlignVCenter, Qt::white}}, - {"S", {{112.5, 247.5}, Qt::AlignBottom | Qt::AlignHCenter, Qt::white}}, - {"W", {{202.5, 337.5}, Qt::AlignLeft | Qt::AlignVCenter, Qt::white}} - }; - const int directionOffset = 20; - - for (const auto &[direction, params] : directionInfo) { - const auto &[range, alignmentFlag, color] = params; - const auto &[minRange, maxRange] = range; - - bool isInRange = (minRange > maxRange) ? (bearingDeg >= minRange || bearingDeg <= maxRange) : (bearingDeg >= minRange && bearingDeg <= maxRange); - - QRect textRect(x - innerCompass + directionOffset, y - innerCompass + directionOffset, innerCompass * 2 - 2 * directionOffset, innerCompass * 2 - 2 * directionOffset); - - p.setOpacity(isInRange ? 1.0 : 0.2); - p.setPen(QPen(color)); - p.drawText(textRect, alignmentFlag, direction); - } -} - -void AnnotatedCameraWidget::drawLeadInfo(QPainter &p) { - static QElapsedTimer timer; - - static bool isFiveSecondsPassed = false; - - static double maxAcceleration = 0.0; - constexpr int maxAccelDuration = 5000; - - double acceleration = std::round(currentAcceleration * 100) / 100; - - auto resetTimer = [&]() { - timer.start(); - isFiveSecondsPassed = false; - }; - - if (acceleration > maxAcceleration && (status == STATUS_ENGAGED || status == STATUS_TRAFFIC_MODE_ACTIVE)) { - maxAcceleration = acceleration; - resetTimer(); - } else { - isFiveSecondsPassed = timer.hasExpired(maxAccelDuration); - } - - auto createText = [&](const QString &title, double data) { - return title + QString::number(std::round(data * distanceConversion)) + " " + leadDistanceUnit; - }; - - QString accelText = QString(tr("Accel: %1%2")) - .arg(acceleration * accelerationConversion, 0, 'f', 2) - .arg(accelerationUnit); - - QString maxAccSuffix; - if (!mapOpen) { - maxAccSuffix = QString(tr(" - Max: %1%2")) - .arg(maxAcceleration * accelerationConversion, 0, 'f', 2) - .arg(accelerationUnit); - } - - QString obstacleText = createText(mapOpen ? tr(" | Obstacle: ") : tr(" | Obstacle Factor: "), obstacleDistance); - QString stopText = createText(mapOpen ? tr(" - Stop: ") : tr(" - Stop Factor: "), stoppedEquivalence); - QString followText = " = " + createText(mapOpen ? tr("Follow: ") : tr("Follow Distance: "), desiredFollow); - - auto createDiffText = [&](double data, double stockData) { - double difference = std::round((data - stockData) * distanceConversion); - return difference > 1 ? QString(" (%1%2)").arg(difference > 0 ? "+" : "").arg(difference) : QString(); - }; - - p.save(); - - QRect insightsRect(rect().left() - 1, rect().top() - 60, rect().width() + 2, 100); - p.setBrush(QColor(0, 0, 0, 150)); - p.drawRoundedRect(insightsRect, 30, 30); - p.setFont(InterFont(28, QFont::Bold)); - p.setRenderHint(QPainter::TextAntialiasing); - - QRect adjustedRect(insightsRect.adjusted(0, 27, 0, 27)); - int textBaseLine = adjustedRect.y() + (adjustedRect.height() + p.fontMetrics().height()) / 2 - p.fontMetrics().descent(); - - QStringList texts = {accelText, maxAccSuffix, obstacleText, createDiffText(obstacleDistance, obstacleDistanceStock), stopText, followText}; - QList colors = {Qt::white, isFiveSecondsPassed ? Qt::white : redColor(), Qt::white, (obstacleDistance - obstacleDistanceStock) > 0 ? Qt::green : Qt::red, Qt::white, Qt::white}; - - int totalTextWidth = 0; - for (const auto &text : texts) { - totalTextWidth += p.fontMetrics().horizontalAdvance(text); - } - - int textStartPos = adjustedRect.x() + (adjustedRect.width() - totalTextWidth) / 2; - - for (int i = 0; i < texts.size(); ++i) { - p.setPen(colors[i]); - p.drawText(textStartPos, textBaseLine, texts[i]); - textStartPos += p.fontMetrics().horizontalAdvance(texts[i]); - } - - p.restore(); -} - -PedalIcons::PedalIcons(QWidget *parent) : QWidget(parent) { - setFixedSize(btn_size, btn_size); - - brake_pedal_img = loadPixmap("../frogpilot/assets/other_images/brake_pedal.png", QSize(img_size, img_size)); - gas_pedal_img = loadPixmap("../frogpilot/assets/other_images/gas_pedal.png", QSize(img_size, img_size)); -} - -void PedalIcons::updateState(const UIScene &scene) { - acceleration = scene.acceleration; - brakeLightOn = scene.brake_lights_on; - dynamicPedals = scene.dynamic_pedals_on_ui; - standstill = scene.standstill; - staticPedals = scene.static_pedals_on_ui; - - accelerating = acceleration > 0.25f; - decelerating = acceleration < -0.25f; - - if (accelerating || decelerating) { - update(); - } -} - -void PedalIcons::paintEvent(QPaintEvent *event) { - QPainter p(this); - p.setRenderHint(QPainter::Antialiasing); - - int totalWidth = 2 * img_size; - int startX = (width() - totalWidth) / 2; - - int brakeX = startX + img_size / 2; - int gasX = startX + img_size; - - float brakeOpacity = 1.0f; - float gasOpacity = 1.0f; - - if (dynamicPedals) { - brakeOpacity = standstill ? 1.0f : decelerating ? std::max(0.25f, std::abs(acceleration)) : 0.25f; - gasOpacity = accelerating ? std::max(0.25f, acceleration) : 0.25f; - } else if (staticPedals) { - brakeOpacity = standstill || brakeLightOn || acceleration < -0.5f ? 1.0f : 0.25f; - gasOpacity = !standstill && acceleration > 0 ? 1.0f : 0.25f; - } - - p.setOpacity(brakeOpacity); - p.drawPixmap(brakeX, (height() - img_size) / 2, brake_pedal_img); - - p.setOpacity(gasOpacity); - p.drawPixmap(gasX, (height() - img_size) / 2, gas_pedal_img); -} - -void AnnotatedCameraWidget::drawStatusBar(QPainter &p) { - p.save(); - - static QElapsedTimer timer; - static QString lastShownStatus; - - static bool displayStatusText = false; - - constexpr qreal fadeDuration = 1500.0; - constexpr qreal textDuration = 5000.0; - - static qreal roadNameOpacity = 0.0; - static qreal statusTextOpacity = 0.0; - - QString newStatus; - - int offset = 50; - QRect statusBarRect(rect().left() - 1, rect().bottom() - offset, rect().width() + 2, 100); - statusBarHeight = statusBarRect.height() - offset; - p.setBrush(QColor(0, 0, 0, 150)); - p.setOpacity(1.0); - p.drawRoundedRect(statusBarRect, 30, 30); - - int modelStopTime = std::nearbyint(modelLength / (speed / (is_metric ? MS_TO_KPH : MS_TO_MPH))); - - std::map conditionalStatusMap = { - {0, tr("Conditional Experimental Mode ready")}, - {1, tr("Conditional Experimental overridden")}, - {2, tr("Experimental Mode manually activated")}, - {3, tr("Conditional Experimental overridden")}, - {4, tr("Experimental Mode manually activated")}, - {5, tr("Conditional Experimental overridden")}, - {6, tr("Experimental Mode manually activated")}, - {7, tr("Experimental Mode activated for %1").arg(mapOpen ? tr("low speed") : tr("speed being less than %1 %2").arg(conditionalSpeedLead).arg(speedUnit))}, - {8, tr("Experimental Mode activated for %1").arg(mapOpen ? tr("low speed") : tr("speed being less than %1 %2").arg(conditionalSpeed).arg(speedUnit))}, - {9, tr("Experimental Mode activated for turn") + (mapOpen ? " signal" : tr(" / lane change"))}, - {10, tr("Experimental Mode activated for intersection")}, - {11, tr("Experimental Mode activated for upcoming turn")}, - {12, tr("Experimental Mode activated for curve")}, - {13, tr("Experimental Mode activated for stopped lead")}, - {14, tr("Experimental Mode activated for slower lead")}, - {15, tr("Experimental Mode activated %1").arg(mapOpen || modelStopTime < 1 || speed < 1 ? tr("to stop") : QString("for the model wanting to stop in %1 seconds").arg(modelStopTime))}, - {16, tr("Experimental Mode forced on %1").arg(mapOpen || modelStopTime < 1 || speed < 1 ? tr("to stop") : QString("for the model wanting to stop in %1 seconds").arg(modelStopTime))}, - {17, tr("Experimental Mode activated due to no speed limit")}, - }; - - if (alwaysOnLateralActive && showAlwaysOnLateralStatusBar) { - newStatus = tr("Always On Lateral active") + (mapOpen ? "" : tr(". Press the \"Cruise Control\" button to disable")); - } else if (showConditionalExperimentalStatusBar) { - newStatus = conditionalStatusMap.at(conditionalStatus); - } - - static const std::map suffixMap = { - {1, tr(". Long press the \"distance\" button to revert")}, - {2, tr(". Long press the \"distance\" button to revert")}, - {3, tr(". Click the \"LKAS\" button to revert")}, - {4, tr(". Click the \"LKAS\" button to revert")}, - {5, tr(". Double tap the screen to revert")}, - {6, tr(". Double tap the screen to revert")}, - }; - - if (!alwaysOnLateralActive && !mapOpen && !newStatus.isEmpty()) { - if (suffixMap.find(conditionalStatus) != suffixMap.end()) { - newStatus += suffixMap.at(conditionalStatus); - } - } - - QString roadName = QString::fromStdString(paramsMemory.get("RoadName")); - roadName = (!roadNameUI || roadName.isEmpty() || roadName == "null") ? "" : roadName; - - if (newStatus != lastShownStatus || roadName.isEmpty()) { - lastShownStatus = newStatus; - displayStatusText = true; - timer.restart(); - } else if (displayStatusText && timer.hasExpired(textDuration + fadeDuration)) { - displayStatusText = false; - } - - if (displayStatusText) { - statusTextOpacity = qBound(0.0, 1.0 - (timer.elapsed() - textDuration) / fadeDuration, 1.0); - roadNameOpacity = 1.0 - statusTextOpacity; - } else { - roadNameOpacity = qBound(0.0, timer.elapsed() / fadeDuration, 1.0); - statusTextOpacity = 0.0; - } - - p.setFont(InterFont(40, QFont::Bold)); - p.setOpacity(statusTextOpacity); - p.setPen(Qt::white); - p.setRenderHint(QPainter::TextAntialiasing); - - QRect textRect(p.fontMetrics().boundingRect(statusBarRect, Qt::AlignCenter | Qt::TextWordWrap, newStatus)); - textRect.moveBottom(statusBarRect.bottom() - offset); - p.drawText(textRect, Qt::AlignCenter | Qt::TextWordWrap, newStatus); - - if (!roadName.isEmpty()) { - p.setOpacity(roadNameOpacity); - textRect = p.fontMetrics().boundingRect(statusBarRect, Qt::AlignCenter | Qt::TextWordWrap, roadName); - textRect.moveBottom(statusBarRect.bottom() - offset); - p.drawText(textRect, Qt::AlignCenter | Qt::TextWordWrap, roadName); - } - - p.restore(); -} - -void AnnotatedCameraWidget::drawTurnSignals(QPainter &p) { - p.setRenderHint(QPainter::Antialiasing); - - bool blindspotActive = turnSignalLeft ? blindSpotLeft : blindSpotRight; - - if (signalStyle == "static") { - int signalXPosition = turnSignalLeft ? (rect().center().x() * 0.75) - signalWidth : rect().center().x() * 1.25; - int signalYPosition = signalHeight / 2; - - if (blindspotActive && !blindspotImages.empty()) { - p.drawPixmap(signalXPosition, signalYPosition, signalWidth, signalHeight, blindspotImages[turnSignalLeft ? 0 : 1]); - } else { - p.drawPixmap(signalXPosition, signalYPosition, signalWidth, signalHeight, signalImages[2 * animationFrameIndex + (turnSignalLeft ? 0 : 1)]); - } - } else if (signalStyle == "traditional") { - int signalXPosition = turnSignalLeft ? width() - ((animationFrameIndex + 1) * signalWidth) : animationFrameIndex * signalWidth; - int signalYPosition = height() - signalHeight; - - signalYPosition -= fmax(alertHeight, statusBarHeight); - - if (blindspotActive && !blindspotImages.empty()) { - p.drawPixmap(turnSignalLeft ? width() - signalWidth : 0, signalYPosition, signalWidth, signalHeight, blindspotImages[turnSignalLeft ? 0 : 1]); - } else { - p.drawPixmap(signalXPosition, signalYPosition, signalWidth, signalHeight, signalImages[2 * animationFrameIndex + (turnSignalLeft ? 0 : 1)]); - } - } else if (signalStyle == "traditional_gif") { - int signalXPosition = turnSignalLeft ? width() - (animationFrameIndex * signalMovement) + signalWidth : (animationFrameIndex * signalMovement) - signalWidth; - int signalYPosition = height() - signalHeight; - - signalYPosition -= fmax(alertHeight, statusBarHeight); - - if (blindspotActive && !blindspotImages.empty()) { - p.drawPixmap(turnSignalLeft ? width() - signalWidth : 0, signalYPosition, signalWidth, signalHeight, blindspotImages[turnSignalLeft ? 0 : 1]); - } else { - p.drawPixmap(signalXPosition, signalYPosition, signalWidth, signalHeight, signalImages[2 * animationFrameIndex + (turnSignalLeft ? 0 : 1)]); - } - } -} diff --git a/selfdrive/ui/qt/onroad/annotated_camera.h b/selfdrive/ui/qt/onroad/annotated_camera.h deleted file mode 100644 index 7ba29548ea6135..00000000000000 --- a/selfdrive/ui/qt/onroad/annotated_camera.h +++ /dev/null @@ -1,227 +0,0 @@ -#pragma once - -#include -#include - -#include "selfdrive/ui/qt/onroad/buttons.h" -#include "selfdrive/ui/qt/widgets/cameraview.h" - -#include "selfdrive/frogpilot/screenrecorder/screenrecorder.h" - -class Compass : public QWidget { - Q_OBJECT - -public: - explicit Compass(QWidget *parent = 0); - void updateState(const UIScene &scene); - -private: - void initializeStaticElements(); - void paintEvent(QPaintEvent *event) override; - - int bearingDeg; - int circleOffset; - int compassSize; - int degreeLabelOffset; - int innerCompass; - int x; - int y; - - QPixmap compassInnerImg; - QPixmap staticElements; -}; - -class PedalIcons : public QWidget { - Q_OBJECT - -public: - explicit PedalIcons(QWidget *parent = 0); - void updateState(const UIScene &scene); - -private: - void paintEvent(QPaintEvent *event) override; - - QPixmap brake_pedal_img; - QPixmap gas_pedal_img; - - bool accelerating; - bool brakeLightOn; - bool decelerating; - bool dynamicPedals; - bool standstill; - bool staticPedals; - - float acceleration; -}; - -class AnnotatedCameraWidget : public CameraWidget { - Q_OBJECT - -public: - explicit AnnotatedCameraWidget(VisionStreamType type, QWidget* parent = 0); - void updateState(int alert_height, const UIState &s); - - MapSettingsButton *map_settings_btn; - - // FrogPilot variables - MapSettingsButton *map_settings_btn_bottom; - - QRect newSpeedLimitRect; - -private: - void drawText(QPainter &p, int x, int y, const QString &text, int alpha = 255, bool overridePen = false); - - QVBoxLayout *main_layout; - ExperimentalButton *experimental_btn; - QPixmap dm_img; - float speed; - QString speedUnit; - float setSpeed; - float speedLimit; - bool is_cruise_set = false; - bool is_metric = false; - bool dmActive = false; - bool hideBottomIcons = false; - bool rightHandDM = false; - float dm_fade_state = 1.0; - bool has_us_speed_limit = false; - bool has_eu_speed_limit = false; - bool v_ego_cluster_seen = false; - int status = STATUS_DISENGAGED; - std::unique_ptr pm; - - int skip_frame_count = 0; - bool wide_cam_requested = false; - - // FrogPilot widgets - void drawLeadInfo(QPainter &p); - void drawStatusBar(QPainter &p); - void drawTurnSignals(QPainter &p); - void initializeFrogPilotWidgets(); - void paintFrogPilotWidgets(QPainter &painter); - void updateFrogPilotVariables(int alert_height, const UIScene &scene); - void updateSignals(); - - // FrogPilot variables - Params paramsMemory{"/dev/shm/params"}; - - Compass *compass_img; - DistanceButton *distance_btn; - PedalIcons *pedal_icons; - ScreenRecorder *screenRecorder; - - QHBoxLayout *bottom_layout; - - QPixmap curveSpeedLeftIcon; - QPixmap curveSpeedRightIcon; - QPixmap dashboardIcon; - QPixmap mapDataIcon; - QPixmap navigationIcon; - QPixmap stopSignImg; - QPixmap upcomingMapsIcon; - - QString accelerationUnit; - QString leadDistanceUnit; - QString leadSpeedUnit; - QString signalStyle; - - QTimer *animationTimer; - - QVector blindspotImages; - QVector signalImages; - - bool alwaysOnLateralActive; - bool bigMapOpen; - bool blindSpotLeft; - bool blindSpotRight; - bool compass; - bool experimentalMode; - bool hideCSCUI; - bool hideMapIcon; - bool hideMaxSpeed; - bool hideSpeed; - bool hideSpeedLimit; - bool leadInfo; - bool leftCurve; - bool mapOpen; - bool mtscEnabled; - bool onroadDistanceButton; - bool roadNameUI; - bool showAlwaysOnLateralStatusBar; - bool showConditionalExperimentalStatusBar; - bool showSLCOffset; - bool slcOverridden; - bool speedLimitChanged; - bool speedLimitSources; - bool trafficModeActive; - bool turnSignalAnimation; - bool turnSignalLeft; - bool turnSignalRight; - bool useStockColors; - bool useSI; - bool useViennaSLCSign; - bool vtscControllingCurve; - bool vtscEnabled; - - double currentAcceleration; - - float accelerationConversion; - float dashboardSpeedLimit; - float distanceConversion; - float laneDetectionWidth; - float lead_x; - float lead_y; - float mapsSpeedLimit; - float mtscSpeed; - float navigationSpeedLimit; - float slcSpeedLimitOffset; - float speedConversion; - float speedConversionMetrics; - float unconfirmedSpeedLimit; - float upcomingSpeedLimit; - float vtscSpeed; - - int alertHeight; - int animationFrameIndex; - int cameraView; - int conditionalSpeed; - int conditionalSpeedLead; - int conditionalStatus; - int desiredFollow; - int modelLength; - int obstacleDistance; - int obstacleDistanceStock; - int signalAnimationLength; - int signalHeight; - int signalMovement; - int signalWidth; - int standstillDuration; - int statusBarHeight; - int stoppedEquivalence; - int totalFrames; - - std::string speedLimitSource; - - inline QColor blueColor(int alpha = 255) { return QColor(0, 0, 255, alpha); } - inline QColor greenColor(int alpha = 242) { return QColor(23, 134, 68, alpha); } - inline QColor orangeColor(int alpha = 255) { return QColor(255, 165, 0, alpha); } - inline QColor purpleColor(int alpha = 255) { return QColor(128, 0, 128, alpha); } - inline QColor yellowColor(int alpha = 255) { return QColor(255, 255, 0, alpha); } - -protected: - void paintGL() override; - void initializeGL() override; - void showEvent(QShowEvent *event) override; - void updateFrameMat() override; - void drawLaneLines(QPainter &painter, const UIState *s, float v_ego); - void drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data, const QPointF &vd, float v_ego, const QColor &lead_marker_color, bool adjacent = false); - void drawHud(QPainter &p); - void drawDriverState(QPainter &painter, const UIState *s); - void paintEvent(QPaintEvent *event) override; - inline QColor redColor(int alpha = 255) { return QColor(201, 34, 49, alpha); } - inline QColor whiteColor(int alpha = 255) { return QColor(255, 255, 255, alpha); } - inline QColor blackColor(int alpha = 255) { return QColor(0, 0, 0, alpha); } - - double prev_draw_t = 0; - FirstOrderFilter fps_filter; -}; diff --git a/selfdrive/ui/qt/onroad/buttons.cc b/selfdrive/ui/qt/onroad/buttons.cc deleted file mode 100644 index e524a0dbc9a088..00000000000000 --- a/selfdrive/ui/qt/onroad/buttons.cc +++ /dev/null @@ -1,288 +0,0 @@ -#include "selfdrive/ui/qt/onroad/buttons.h" - -#include - -#include "selfdrive/ui/qt/util.h" - -void drawIcon(QPainter &p, const QPoint ¢er, const QPixmap &img, const QBrush &bg, float opacity, const int angle) { - p.setRenderHint(QPainter::Antialiasing); - p.setOpacity(1.0); // bg dictates opacity of ellipse - p.setPen(Qt::NoPen); - p.setBrush(bg); - p.drawEllipse(center, btn_size / 2, btn_size / 2); - p.save(); - p.translate(center); - p.rotate(angle); - p.setOpacity(opacity); - p.drawPixmap(-QPoint(img.width() / 2, img.height() / 2), img); - p.setOpacity(1.0); - p.restore(); -} - -// ExperimentalButton -ExperimentalButton::ExperimentalButton(QWidget *parent) : experimental_mode(false), engageable(false), QPushButton(parent) { - setFixedSize(btn_size, btn_size + 10); - - engage_img = loadPixmap("../assets/img_chffr_wheel.png", {img_size, img_size}); - experimental_img = loadPixmap("../assets/img_experimental.svg", {img_size, img_size}); - QObject::connect(this, &QPushButton::clicked, this, &ExperimentalButton::changeMode); - - // FrogPilot variables - wheel_gif_path = "../frogpilot/assets/active_theme/steering_wheel/wheel.gif"; - wheel_png_path = "../frogpilot/assets/active_theme/steering_wheel/wheel.png"; - - gif_label = new QLabel(this); - gif_label->setScaledContents(true); -} - -ExperimentalButton::~ExperimentalButton() { - if (gif != nullptr) { - gif->stop(); - delete gif; - gif = nullptr; - gif_label->hide(); - } -} - -void ExperimentalButton::changeMode() { - const auto cp = (*uiState()->sm)["carParams"].getCarParams(); - bool can_change = hasLongitudinalControl(cp) && params.getBool("ExperimentalModeConfirmed"); - if (can_change) { - if (conditional_experimental) { - int override_value = (conditional_status >= 1 && conditional_status <= 6) ? 0 : conditional_status >= 7 ? 5 : 6; - params_memory.putInt("CEStatus", override_value); - } else { - params.putBool("ExperimentalMode", !experimental_mode); - } - } -} - -void ExperimentalButton::updateState(const UIState &s, bool lead_metrics) { - const auto cs = (*s.sm)["controlsState"].getControlsState(); - bool eng = cs.getEngageable() || cs.getEnabled() || always_on_lateral_active; - if ((cs.getExperimentalMode() != experimental_mode) || (eng != engageable)) { - engageable = eng; - experimental_mode = cs.getExperimentalMode(); - update(); - } - - // FrogPilot variables - const UIScene &scene = s.scene; - - always_on_lateral_active = scene.always_on_lateral_active; - big_map = scene.big_map; - conditional_experimental = scene.conditional_experimental; - conditional_status = scene.conditional_status; - map_open = scene.map_open; - navigate_on_openpilot = scene.navigate_on_openpilot; - rotating_wheel = scene.rotating_wheel; - traffic_mode_active = scene.traffic_mode_active; - use_stock_wheel = scene.use_stock_wheel; - y_offset = lead_metrics ? 10 : 0; - - if (rotating_wheel && steering_angle_deg != scene.steering_angle_deg) { - steering_angle_deg = scene.steering_angle_deg; - update(); - } else if (!rotating_wheel) { - steering_angle_deg = 0; - } - - if (params_memory.getBool("UpdateWheelImage")) { - updateIcon(); - params_memory.remove("UpdateWheelImage"); - } -} - -void ExperimentalButton::updateBackgroundColor() { - static const QMap status_color_map { - {"default", QColor(0, 0, 0, 166)}, - {"always_on_lateral_active", bg_colors[STATUS_ALWAYS_ON_LATERAL_ACTIVE]}, - {"conditional_overridden", bg_colors[STATUS_CONDITIONAL_OVERRIDDEN]}, - {"experimental_mode_active", bg_colors[STATUS_EXPERIMENTAL_MODE_ACTIVE]}, - {"navigation_active", bg_colors[STATUS_NAVIGATION_ACTIVE]}, - {"traffic_mode_active", bg_colors[STATUS_TRAFFIC_MODE_ACTIVE]} - }; - - if (isDown() || !engageable || use_stock_wheel) { - background_color = status_color_map["default"]; - return; - } - - if (always_on_lateral_active) { - background_color = status_color_map["always_on_lateral_active"]; - } else if (conditional_status == 1 || conditional_status == 3 || conditional_status == 5) { - background_color = status_color_map["conditional_overridden"]; - } else if (experimental_mode) { - background_color = status_color_map["experimental_mode_active"]; - } else if (navigate_on_openpilot) { - background_color = status_color_map["navigation_active"]; - } else if (traffic_mode_active) { - background_color = status_color_map["traffic_mode_active"]; - } else { - background_color = status_color_map["default"]; - } -} - -void ExperimentalButton::updateIcon() { - if (gif != nullptr) { - gif->stop(); - delete gif; - gif = nullptr; - gif_label->hide(); - } - - if (QFile::exists(wheel_gif_path)) { - gif = new QMovie(wheel_gif_path); - - if (!gif->isValid()) { - delete gif; - gif = nullptr; - return; - } - - gif_label->setMovie(gif); - gif_label->resize(img_size, img_size); - gif_label->move((btn_size - img_size) / 2, (btn_size - img_size) / 2 + y_offset); - gif_label->show(); - - gif->start(); - - use_gif = true; - image_empty = false; - } else if (QFile::exists(wheel_png_path)) { - img = loadPixmap(wheel_png_path, QSize(img_size, img_size)); - - image_empty = false; - use_gif = false; - } else { - image_empty = true; - use_gif = false; - } - - update(); -} - -void ExperimentalButton::paintEvent(QPaintEvent *event) { - if ((big_map && map_open) || image_empty || use_gif) { - return; - } - - QPainter p(this); - if (use_stock_wheel) { - img = experimental_mode ? experimental_img : engage_img; - } - updateBackgroundColor(); - drawIcon(p, QPoint(btn_size / 2, btn_size / 2 + y_offset), img, background_color, (isDown() || !engageable) ? 0.6 : 1.0, steering_angle_deg); -} - -// MapSettingsButton -MapSettingsButton::MapSettingsButton(QWidget *parent) : QPushButton(parent) { - setFixedSize(btn_size, btn_size + 20); - settings_img = loadPixmap("../assets/navigation/icon_directions_outlined.svg", {img_size, img_size}); - - // hidden by default, made visible if map is created (has prime or mapbox token) - setVisible(false); - setEnabled(false); -} - -void MapSettingsButton::paintEvent(QPaintEvent *event) { - QPainter p(this); - drawIcon(p, QPoint(btn_size / 2, btn_size / 2), settings_img, QColor(0, 0, 0, 166), isDown() ? 0.6 : 1.0); -} - -// FrogPilot buttons - -// DistanceButton -DistanceButton::DistanceButton(QWidget *parent) : QPushButton(parent) { - setFixedSize(btn_size * 1.5, btn_size * 1.5); - - gif_label = new QLabel(this); - gif_label->setScaledContents(true); - - connect(this, &QPushButton::pressed, [this] {params_memory.putBool("OnroadDistanceButtonPressed", true);}); - connect(this, &QPushButton::released, [this] {params_memory.putBool("OnroadDistanceButtonPressed", false);}); -} - -DistanceButton::~DistanceButton() { - qDeleteAll(profile_data_gif); - - profile_data_gif.clear(); - profile_data_png.clear(); -} - -void DistanceButton::updateState(const UIScene &scene) { - bool state_changed = (traffic_mode_active != scene.traffic_mode_active) || - (personality != static_cast(scene.personality) + 1 && !traffic_mode_active); - - if (!state_changed) { - return; - } - - personality = static_cast(scene.personality) + 1; - traffic_mode_active = scene.traffic_mode_active; - - int profile_index = traffic_mode_active ? 0 : personality; - - if (QMovie *gif = profile_data_gif.value(profile_index)) { - gif_label->setMovie(gif); - gif_label->resize(btn_size, btn_size); - gif_label->move(UI_BORDER_SIZE, btn_size / 2.5); - gif_label->show(); - - gif->start(); - - use_gif = true; - } else { - gif_label->hide(); - - profile_image = profile_data_png.value(profile_index); - - use_gif = false; - } - - update(); -} - -void DistanceButton::updateIcon() { - qDeleteAll(profile_data_gif); - - profile_data_gif.clear(); - profile_data_png.clear(); - - static const QVector file_names = { - "../frogpilot/assets/active_theme/distance_icons/traffic", - "../frogpilot/assets/active_theme/distance_icons/aggressive", - "../frogpilot/assets/active_theme/distance_icons/standard", - "../frogpilot/assets/active_theme/distance_icons/relaxed" - }; - - for (int i = 0; i < file_names.size(); ++i) { - const QString &file_name = file_names[i]; - QString gif_file = file_name + ".gif"; - QString png_file = file_name + ".png"; - QString fallback_file = QString("../frogpilot/assets/stock_theme/distance_icons/%1.png").arg(QFileInfo(file_name).baseName().toLower()); - - if (QFile::exists(gif_file)) { - QMovie *movie = new QMovie(gif_file); - profile_data_gif.push_back(movie); - profile_data_png.push_back(QPixmap()); - } else { - QPixmap pixmap = loadPixmap(QFile::exists(png_file) ? png_file : fallback_file, QSize(btn_size * 1.25, btn_size * 1.25)); - profile_data_gif.push_back(nullptr); - profile_data_png.push_back(pixmap); - } - } - - personality = 0; -} - -void DistanceButton::paintEvent(QPaintEvent *event) { - if (use_gif) { - return; - } - - QPainter p(this); - p.setRenderHints(QPainter::Antialiasing | QPainter::TextAntialiasing); - - drawIcon(p, QPoint((btn_size / 2) + UI_BORDER_SIZE, btn_size - (UI_BORDER_SIZE * 1.5)), profile_image, Qt::transparent, 1.0); -} diff --git a/selfdrive/ui/qt/onroad/buttons.h b/selfdrive/ui/qt/onroad/buttons.h deleted file mode 100644 index ec08db2b9f12ea..00000000000000 --- a/selfdrive/ui/qt/onroad/buttons.h +++ /dev/null @@ -1,106 +0,0 @@ -#pragma once - -#include -#include -#include - -#include "selfdrive/ui/ui.h" - -const int btn_size = 192; -const int img_size = (btn_size / 4) * 3; - -class ExperimentalButton : public QPushButton { - Q_OBJECT - -public: - explicit ExperimentalButton(QWidget *parent = 0); - void updateState(const UIState &s, bool lead_metrics); - - // FrogPilot widgets - ~ExperimentalButton(); - void updateIcon(); - -private: - void paintEvent(QPaintEvent *event) override; - void changeMode(); - - Params params; - QPixmap engage_img; - QPixmap experimental_img; - bool experimental_mode; - bool engageable; - - // FrogPilot widgets - void updateBackgroundColor(); - - // FrogPilot variables - Params params_memory{"/dev/shm/params"}; - - QColor background_color; - - QLabel *gif_label; - - QMovie *gif; - - QPixmap img; - - QString wheel_gif_path; - QString wheel_png_path; - - bool always_on_lateral_active; - bool big_map; - bool conditional_experimental; - bool image_empty; - bool map_open; - bool navigate_on_openpilot; - bool rotating_wheel; - bool traffic_mode_active; - bool use_gif; - bool use_stock_wheel; - - int conditional_status; - int steering_angle_deg; - int y_offset; -}; - - -class MapSettingsButton : public QPushButton { - Q_OBJECT - -public: - explicit MapSettingsButton(QWidget *parent = 0); - -private: - void paintEvent(QPaintEvent *event) override; - - QPixmap settings_img; -}; - -void drawIcon(QPainter &p, const QPoint ¢er, const QPixmap &img, const QBrush &bg, float opacity, const int angle = 0); - -// FrogPilot buttons -class DistanceButton : public QPushButton { - Q_OBJECT - -public: - explicit DistanceButton(QWidget *parent = 0); - ~DistanceButton(); - void updateIcon(); - void updateState(const UIScene &scene); - -private: - void paintEvent(QPaintEvent *event) override; - - Params params_memory{"/dev/shm/params"}; - - QLabel *gif_label; - QPixmap profile_image; - - QVector profile_data_png; - QVector profile_data_gif; - - bool traffic_mode_active; - bool use_gif; - - int personality; -}; diff --git a/selfdrive/ui/qt/onroad/onroad_home.cc b/selfdrive/ui/qt/onroad/onroad_home.cc deleted file mode 100644 index 5614bfc0e7f44d..00000000000000 --- a/selfdrive/ui/qt/onroad/onroad_home.cc +++ /dev/null @@ -1,430 +0,0 @@ -#include "selfdrive/ui/qt/onroad/onroad_home.h" - -#include -#include -#include - -#ifdef ENABLE_MAPS -#include "selfdrive/ui/qt/maps/map_helpers.h" -#include "selfdrive/ui/qt/maps/map_panel.h" -#endif - -#include "selfdrive/ui/qt/util.h" - -OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent) { - QVBoxLayout *main_layout = new QVBoxLayout(this); - main_layout->setMargin(UI_BORDER_SIZE); - QStackedLayout *stacked_layout = new QStackedLayout; - stacked_layout->setStackingMode(QStackedLayout::StackAll); - main_layout->addLayout(stacked_layout); - - nvg = new AnnotatedCameraWidget(VISION_STREAM_ROAD, this); - - QWidget * split_wrapper = new QWidget; - split = new QHBoxLayout(split_wrapper); - split->setContentsMargins(0, 0, 0, 0); - split->setSpacing(0); - split->addWidget(nvg); - - if (getenv("DUAL_CAMERA_VIEW")) { - CameraWidget *arCam = new CameraWidget("camerad", VISION_STREAM_ROAD, true, this); - split->insertWidget(0, arCam); - } - - if (getenv("MAP_RENDER_VIEW")) { - CameraWidget *map_render = new CameraWidget("navd", VISION_STREAM_MAP, false, this); - split->insertWidget(0, map_render); - } - - stacked_layout->addWidget(split_wrapper); - - alerts = new OnroadAlerts(this); - alerts->setAttribute(Qt::WA_TransparentForMouseEvents, true); - stacked_layout->addWidget(alerts); - - // setup stacking order - alerts->raise(); - - setAttribute(Qt::WA_OpaquePaintEvent); - QObject::connect(uiState(), &UIState::uiUpdate, this, &OnroadWindow::updateState); - QObject::connect(uiState(), &UIState::offroadTransition, this, &OnroadWindow::offroadTransition); - QObject::connect(uiState(), &UIState::primeChanged, this, &OnroadWindow::primeChanged); - - // FrogPilot variables - QObject::connect(&clickTimer, &QTimer::timeout, [this]() { - clickTimer.stop(); - QMouseEvent *event = new QMouseEvent(QEvent::MouseButtonPress, timeoutPoint, Qt::LeftButton, Qt::LeftButton, Qt::NoModifier); - QApplication::postEvent(this, event); - }); -} - -void OnroadWindow::updateState(const UIState &s) { - if (!s.scene.started) { - return; - } - - if (s.scene.map_on_left || s.scene.full_map) { - split->setDirection(QBoxLayout::LeftToRight); - } else { - split->setDirection(QBoxLayout::RightToLeft); - } - - alerts->updateState(s); - nvg->updateState(alerts->alert_height, s); - - bool shouldUpdate = false; - - QColor bgColor = bg_colors[s.status]; - if (bg != bgColor) { - // repaint border - bg = bgColor; - shouldUpdate = true; - } - - // FrogPilot variables - const UIScene &scene = s.scene; - - accelerationJerk = scene.acceleration_jerk; - accelerationJerkDifference = scene.acceleration_jerk_difference; - blindSpotLeft = scene.blind_spot_left; - blindSpotRight = scene.blind_spot_right; - fps = scene.fps; - friction = scene.friction; - hasLead = scene.has_lead; - latAccel = scene.lat_accel; - liveValid = scene.live_valid; - showBlindspot = scene.show_blind_spot && (blindSpotLeft || blindSpotRight); - showFPS = scene.show_fps; - showJerk = scene.jerk_metrics; - showSignal = scene.signal_metrics && (turnSignalLeft || turnSignalRight); - showSteering = scene.steering_metrics; - showTuning = scene.lateral_tuning_metrics; - speedJerk = scene.speed_jerk; - speedJerkDifference = scene.speed_jerk_difference; - steer = scene.steer; - steeringAngleDeg = scene.steering_angle_deg; - turnSignalLeft = scene.turn_signal_left; - turnSignalRight = scene.turn_signal_right; - - if (showBlindspot || showFPS || (showJerk && hasLead) || showSignal || showSteering || showTuning) { - shouldUpdate = true; - } - - if (shouldUpdate) { - update(); - } -} - -void OnroadWindow::mousePressEvent(QMouseEvent* e) { - // FrogPilot variables - UIState *s = uiState(); - UIScene &scene = s->scene; - - // FrogPilot clickable widgets - QPoint pos = e->pos(); - - if (scene.speed_limit_changed && nvg->newSpeedLimitRect.contains(pos)) { - paramsMemory.putBool("SLCConfirmed", true); - return; - } - - if (scene.experimental_mode_via_tap && pos != timeoutPoint) { - if (clickTimer.isActive()) { - clickTimer.stop(); - - if (scene.conditional_experimental) { - int override_value = (scene.conditional_status >= 1 && scene.conditional_status <= 6) ? 0 : (scene.conditional_status >= 7 ? 5 : 6); - paramsMemory.putInt("CEStatus", override_value); - } else { - params.putBoolNonBlocking("ExperimentalMode", !params.getBool("ExperimentalMode")); - } - - } else { - clickTimer.start(500); - } - return; - } - -#ifdef ENABLE_MAPS - if (map != nullptr) { - // Switch between map and sidebar when using navigate on openpilot - bool sidebarVisible = geometry().x() > 0; - bool show_map = scene.navigate_on_openpilot ? sidebarVisible : !sidebarVisible; - map->setVisible(show_map && !map->isVisible()); - if (scene.big_map) { - map->setFixedWidth(width()); - } else { - map->setFixedWidth(topWidget(this)->width() / 2 - UI_BORDER_SIZE); - } - } -#endif - // propagation event to parent(HomeWindow) - QWidget::mousePressEvent(e); -} - -void OnroadWindow::createMapWidget() { -#ifdef ENABLE_MAPS - auto m = new MapPanel(get_mapbox_settings()); - map = m; - QObject::connect(m, &MapPanel::mapPanelRequested, this, &OnroadWindow::mapPanelRequested); - QObject::connect(nvg->map_settings_btn, &MapSettingsButton::clicked, m, &MapPanel::toggleMapSettings); - QObject::connect(nvg->map_settings_btn_bottom, &MapSettingsButton::clicked, m, &MapPanel::toggleMapSettings); - nvg->map_settings_btn->setEnabled(true); - - m->setFixedWidth(topWidget(this)->width() / 2 - UI_BORDER_SIZE); - split->insertWidget(0, m); - // hidden by default, made visible when navRoute is published - m->setVisible(false); -#endif -} - -void OnroadWindow::offroadTransition(bool offroad) { -#ifdef ENABLE_MAPS - if (!offroad) { - if (map == nullptr && (uiState()->hasPrime() || !MAPBOX_TOKEN.isEmpty())) { - createMapWidget(); - } - } -#endif - alerts->clear(); -} - -void OnroadWindow::primeChanged(bool prime) { -#ifdef ENABLE_MAPS - if (map && (!prime && MAPBOX_TOKEN.isEmpty())) { - nvg->map_settings_btn->setEnabled(false); - nvg->map_settings_btn->setVisible(false); - map->deleteLater(); - map = nullptr; - } else if (!map && (prime || !MAPBOX_TOKEN.isEmpty())) { - createMapWidget(); - } -#endif -} - -void OnroadWindow::paintEvent(QPaintEvent *event) { - QPainter p(this); - - // FrogPilot variables - UIState *s = uiState(); - SubMaster &sm = *(s->sm); - - QRect rect = this->rect(); - QColor bgColor(bg.red(), bg.green(), bg.blue(), 255); - p.fillRect(rect, bgColor); - - if (showSteering) { - static float smoothedSteer = 0.0; - - smoothedSteer = 0.1 * std::abs(steer) + 0.9 * smoothedSteer; - - if (std::abs(smoothedSteer - steer) < 0.01) { - smoothedSteer = steer; - } - - int visibleHeight = rect.height() * smoothedSteer; - - QLinearGradient gradient(rect.topLeft(), rect.bottomLeft()); - gradient.setColorAt(0.0, bg_colors[STATUS_TRAFFIC_MODE_ACTIVE]); - gradient.setColorAt(0.15, bg_colors[STATUS_EXPERIMENTAL_MODE_ACTIVE]); - gradient.setColorAt(0.5, bg_colors[STATUS_CONDITIONAL_OVERRIDDEN]); - gradient.setColorAt(0.85, bg_colors[STATUS_ENGAGED]); - gradient.setColorAt(1.0, bg_colors[STATUS_ENGAGED]); - - QBrush brush(gradient); - int fillWidth = UI_BORDER_SIZE; - - if (steeringAngleDeg != 0) { - QRect rectToFill, rectToHide; - if (steeringAngleDeg < 0) { - rectToFill = QRect(rect.x(), rect.y() + rect.height() - visibleHeight, fillWidth, visibleHeight); - rectToHide = QRect(rect.x(), rect.y(), fillWidth, rect.height() - visibleHeight); - } else { - rectToFill = QRect(rect.x() + rect.width() - fillWidth, rect.y() + rect.height() - visibleHeight, fillWidth, visibleHeight); - rectToHide = QRect(rect.x() + rect.width() - fillWidth, rect.y(), fillWidth, rect.height() - visibleHeight); - } - p.fillRect(rectToFill, brush); - p.fillRect(rectToHide, bgColor); - } - } - - if (showBlindspot) { - QColor blindspotColorLeft = bgColor; - QColor blindspotColorRight = bgColor; - - if (blindSpotLeft) { - blindspotColorLeft = bg_colors[STATUS_TRAFFIC_MODE_ACTIVE]; - } - - if (blindSpotRight) { - blindspotColorRight = bg_colors[STATUS_TRAFFIC_MODE_ACTIVE]; - } - - int xLeft = rect.x(); - int xRight = rect.x() + rect.width() / 2; - QRect blindspotRectLeft(xLeft, rect.y(), rect.width() / 2, rect.height()); - QRect blindspotRectRight(xRight, rect.y(), rect.width() / 2, rect.height()); - - p.fillRect(blindspotRectLeft, blindspotColorLeft); - p.fillRect(blindspotRectRight, blindspotColorRight); - } - - if (showSignal) { - static int signalFramesLeft = 0; - static int signalFramesRight = 0; - - bool blindSpotActive = (blindSpotLeft && turnSignalLeft) || (blindSpotRight && turnSignalRight); - bool turnSignalActive = (turnSignalLeft && signalFramesLeft > 0) || (turnSignalRight && signalFramesRight > 0); - - QColor signalBorderColorLeft = bg; - QColor signalBorderColorRight = bg; - - if (blindSpotLeft) { - signalBorderColorLeft = bg_colors[STATUS_TRAFFIC_MODE_ACTIVE]; - } - - if (blindSpotRight) { - signalBorderColorRight = bg_colors[STATUS_TRAFFIC_MODE_ACTIVE]; - } - - if (sm.frame % 20 == 0 || blindSpotActive || turnSignalActive) { - QColor activeColor = bg_colors[STATUS_CONDITIONAL_OVERRIDDEN]; - - if (turnSignalLeft) { - signalFramesLeft = sm.frame % 10 == 0 && blindSpotActive ? 5 : sm.frame % 20 == 0 ? 10 : signalFramesLeft - 1; - if (signalFramesLeft > 0) { - signalBorderColorLeft = activeColor; - } - } - - if (turnSignalRight) { - signalFramesRight = sm.frame % 10 == 0 && blindSpotActive ? 5 : sm.frame % 20 == 0 ? 10 : signalFramesRight - 1; - if (signalFramesRight > 0) { - signalBorderColorRight = activeColor; - } - } - } - - int xLeft = rect.x(); - int xRight = rect.x() + rect.width() / 2; - QRect signalRectLeft(xLeft, rect.y(), rect.width() / 2, rect.height()); - QRect signalRectRight(xRight, rect.y(), rect.width() / 2, rect.height()); - - if (turnSignalLeft) { - p.fillRect(signalRectLeft, signalBorderColorLeft); - } - - if (turnSignalRight) { - p.fillRect(signalRectRight, signalBorderColorRight); - } - } - - QString logicsDisplayString; - if (showJerk) { - logicsDisplayString += QString("Acceleration Jerk: %1 | ").arg(accelerationJerk, 0, 'f', 3); - logicsDisplayString += QString("Speed Jerk: %1").arg(speedJerk, 0, 'f', 3); - } - if (showTuning) { - if (!logicsDisplayString.isEmpty()) { - logicsDisplayString += " | "; - } - logicsDisplayString += QString("Friction: %1 | ").arg(liveValid ? QString::number(friction, 'f', 3) : "Calculating..."); - logicsDisplayString += QString("Lateral Acceleration: %1").arg(liveValid ? QString::number(latAccel, 'f', 3) : "Calculating..."); - } - if (!logicsDisplayString.isEmpty()) { - p.save(); - - p.setFont(InterFont(28, QFont::DemiBold)); - p.setRenderHint(QPainter::TextAntialiasing); - - QFontMetrics fontMetrics(p.font()); - - int x = (rect.width() - fontMetrics.horizontalAdvance(logicsDisplayString)) / 2; - int y = rect.top() + (fontMetrics.height() / 1.5); - - QStringList parts = logicsDisplayString.split("|"); - for (QString part : parts) { - if (part.contains("Acceleration Jerk") && accelerationJerkDifference != 0) { - QString baseText = QString("Acceleration Jerk: %1").arg(accelerationJerk, 0, 'f', 3); - p.setPen(Qt::white); - p.drawText(x, y, baseText); - x += fontMetrics.horizontalAdvance(baseText); - - QString diffText = QString(" (%1) | ").arg(accelerationJerkDifference, 0, 'f', 3); - p.setPen(redColor()); - p.drawText(x, y, diffText); - x += fontMetrics.horizontalAdvance(diffText); - } else if (part.contains("Speed Jerk") && speedJerkDifference != 0) { - QString baseText = QString("Speed Jerk: %1").arg(speedJerk, 0, 'f', 3); - p.setPen(Qt::white); - p.drawText(x, y, baseText); - x += fontMetrics.horizontalAdvance(baseText); - - QString diffText = QString(" (%1)").arg(speedJerkDifference, 0, 'f', 3); - if (showTuning) { - diffText += " | "; - } - p.setPen(redColor()); - p.drawText(x, y, diffText); - x += fontMetrics.horizontalAdvance(diffText); - } else if (part.contains("Speed Jerk") && !showTuning) { - p.setPen(Qt::white); - p.drawText(x, y, part); - x += fontMetrics.horizontalAdvance(part); - } else if (part.contains("Lateral Acceleration")) { - p.setPen(Qt::white); - p.drawText(x, y, part); - x += fontMetrics.horizontalAdvance(part); - } else { - part += " | "; - p.setPen(Qt::white); - p.drawText(x, y, part); - x += fontMetrics.horizontalAdvance(part); - } - } - - p.restore(); - } - - if (showFPS) { - qint64 currentMillis = QDateTime::currentMSecsSinceEpoch(); - static std::queue> fpsQueue; - - static float avgFPS = 0.0; - static float maxFPS = 0.0; - static float minFPS = 99.9; - - minFPS = std::min(minFPS, fps); - maxFPS = std::max(maxFPS, fps); - - fpsQueue.push({currentMillis, fps}); - - while (!fpsQueue.empty() && currentMillis - fpsQueue.front().first > 60000) { - fpsQueue.pop(); - } - - if (!fpsQueue.empty()) { - float totalFPS = 0.0; - for (auto tempQueue = fpsQueue; !tempQueue.empty(); tempQueue.pop()) { - totalFPS += tempQueue.front().second; - } - avgFPS = totalFPS / fpsQueue.size(); - } - - QString fpsDisplayString = QString("FPS: %1 | Min: %3 | Max: %4 | Avg: %5") - .arg(qRound(fps)) - .arg(qRound(minFPS)) - .arg(qRound(maxFPS)) - .arg(qRound(avgFPS)); - - p.setFont(InterFont(28, QFont::DemiBold)); - p.setRenderHint(QPainter::TextAntialiasing); - p.setPen(Qt::white); - - int textWidth = p.fontMetrics().horizontalAdvance(fpsDisplayString); - int xPos = (rect.width() - textWidth) / 2; - int yPos = rect.bottom() - 5; - - p.drawText(xPos, yPos, fpsDisplayString); - } -} diff --git a/selfdrive/ui/qt/onroad/onroad_home.h b/selfdrive/ui/qt/onroad/onroad_home.h deleted file mode 100644 index 9d4a2a256b978a..00000000000000 --- a/selfdrive/ui/qt/onroad/onroad_home.h +++ /dev/null @@ -1,65 +0,0 @@ -#pragma once - -#include "selfdrive/ui/qt/onroad/alerts.h" -#include "selfdrive/ui/qt/onroad/annotated_camera.h" - -class OnroadWindow : public QWidget { - Q_OBJECT - -public: - OnroadWindow(QWidget* parent = 0); - bool isMapVisible() const { return map && map->isVisible(); } - void showMapPanel(bool show) { if (map) map->setVisible(show); } - -signals: - void mapPanelRequested(); - -private: - void createMapWidget(); - void paintEvent(QPaintEvent *event); - void mousePressEvent(QMouseEvent* e) override; - OnroadAlerts *alerts; - AnnotatedCameraWidget *nvg; - QColor bg = bg_colors[STATUS_DISENGAGED]; - QWidget *map = nullptr; - QHBoxLayout* split; - - // FrogPilot variables - bool blindSpotLeft; - bool blindSpotRight; - bool hasLead; - bool liveValid; - bool showBlindspot; - bool showFPS; - bool showJerk; - bool showSignal; - bool showSteering; - bool showTuning; - bool turnSignalLeft; - bool turnSignalRight; - - float accelerationJerk; - float accelerationJerkDifference; - float fps; - float friction; - float latAccel; - float speedJerk; - float speedJerkDifference; - float steer; - - int steeringAngleDeg; - - QPoint timeoutPoint = QPoint(420, 69); - - QTimer clickTimer; - - inline QColor redColor(int alpha = 255) { return QColor(201, 34, 49, alpha); } - - Params params; - Params paramsMemory{"/dev/shm/params"}; - -private slots: - void offroadTransition(bool offroad); - void primeChanged(bool prime); - void updateState(const UIState &s); -}; diff --git a/selfdrive/ui/qt/qt_window.cc b/selfdrive/ui/qt/qt_window.cc deleted file mode 100644 index 8d3d7cf72e400f..00000000000000 --- a/selfdrive/ui/qt/qt_window.cc +++ /dev/null @@ -1,36 +0,0 @@ -#include "selfdrive/ui/qt/qt_window.h" - -void setMainWindow(QWidget *w) { - const float scale = util::getenv("SCALE", 1.0f); - const QSize sz = QGuiApplication::primaryScreen()->size(); - - if (Hardware::PC() && scale == 1.0 && !(sz - DEVICE_SCREEN_SIZE).isValid()) { - w->setMinimumSize(QSize(640, 480)); // allow resize smaller than fullscreen - w->setMaximumSize(DEVICE_SCREEN_SIZE); - w->resize(sz); - } else { - w->setFixedSize(DEVICE_SCREEN_SIZE * scale); - } - w->show(); - -#ifdef QCOM2 - QPlatformNativeInterface *native = QGuiApplication::platformNativeInterface(); - wl_surface *s = reinterpret_cast(native->nativeResourceForWindow("surface", w->windowHandle())); - wl_surface_set_buffer_transform(s, WL_OUTPUT_TRANSFORM_270); - wl_surface_commit(s); - - w->setWindowState(Qt::WindowFullScreen); - w->setVisible(true); - - // ensure we have a valid eglDisplay, otherwise the ui will silently fail - void *egl = native->nativeResourceForWindow("egldisplay", w->windowHandle()); - assert(egl != nullptr); -#endif -} - - -extern "C" { - void set_main_window(void *w) { - setMainWindow((QWidget*)w); - } -} diff --git a/selfdrive/ui/qt/qt_window.h b/selfdrive/ui/qt/qt_window.h deleted file mode 100644 index 6f16e00957485c..00000000000000 --- a/selfdrive/ui/qt/qt_window.h +++ /dev/null @@ -1,20 +0,0 @@ -#pragma once - -#include - -#include -#include -#include - -#ifdef QCOM2 -#include -#include -#include -#endif - -#include "system/hardware/hw.h" - -const QString ASSET_PATH = ":/"; -const QSize DEVICE_SCREEN_SIZE = {2160, 1080}; - -void setMainWindow(QWidget *w); diff --git a/selfdrive/ui/qt/request_repeater.cc b/selfdrive/ui/qt/request_repeater.cc deleted file mode 100644 index 7aa731898c978f..00000000000000 --- a/selfdrive/ui/qt/request_repeater.cc +++ /dev/null @@ -1,27 +0,0 @@ -#include "selfdrive/ui/qt/request_repeater.h" - -RequestRepeater::RequestRepeater(QObject *parent, const QString &requestURL, const QString &cacheKey, - int period, bool while_onroad) : HttpRequest(parent) { - timer = new QTimer(this); - timer->setTimerType(Qt::VeryCoarseTimer); - QObject::connect(timer, &QTimer::timeout, [=]() { - if ((!uiState()->scene.started || while_onroad) && device()->isAwake() && !active()) { - sendRequest(requestURL); - } - }); - - timer->start(period * 1000); - - if (!cacheKey.isEmpty()) { - prevResp = QString::fromStdString(params.get(cacheKey.toStdString())); - if (!prevResp.isEmpty()) { - QTimer::singleShot(500, [=]() { emit requestDone(prevResp, true, QNetworkReply::NoError); }); - } - QObject::connect(this, &HttpRequest::requestDone, [=](const QString &resp, bool success) { - if (success && resp != prevResp) { - params.put(cacheKey.toStdString(), resp.toStdString()); - prevResp = resp; - } - }); - } -} diff --git a/selfdrive/ui/qt/request_repeater.h b/selfdrive/ui/qt/request_repeater.h deleted file mode 100644 index c0e27582736138..00000000000000 --- a/selfdrive/ui/qt/request_repeater.h +++ /dev/null @@ -1,15 +0,0 @@ -#pragma once - -#include "common/util.h" -#include "selfdrive/ui/qt/api.h" -#include "selfdrive/ui/ui.h" - -class RequestRepeater : public HttpRequest { -public: - RequestRepeater(QObject *parent, const QString &requestURL, const QString &cacheKey = "", int period = 0, bool while_onroad=false); - -private: - Params params; - QTimer *timer; - QString prevResp; -}; diff --git a/selfdrive/ui/qt/setup/reset.cc b/selfdrive/ui/qt/setup/reset.cc deleted file mode 100644 index c9e0525784aa7a..00000000000000 --- a/selfdrive/ui/qt/setup/reset.cc +++ /dev/null @@ -1,134 +0,0 @@ -#include -#include -#include -#include -#include -#include - -#include "selfdrive/ui/qt/qt_window.h" -#include "selfdrive/ui/qt/setup/reset.h" - -#define NVME "/dev/nvme0n1" -#define USERDATA "/dev/disk/by-partlabel/userdata" - -void Reset::doErase() { - // best effort to wipe nvme - std::system("sudo umount " NVME); - std::system("yes | sudo mkfs.ext4 " NVME); - - int rm = std::system("sudo rm -rf /data/*"); - std::system("sudo umount " USERDATA); - int fmt = std::system("yes | sudo mkfs.ext4 " USERDATA); - - if (rm == 0 || fmt == 0) { - std::system("sudo reboot"); - } - body->setText(tr("Reset failed. Reboot to try again.")); - rebootBtn->show(); -} - -void Reset::startReset() { - body->setText(tr("Resetting device...\nThis may take up to a minute.")); - rejectBtn->hide(); - rebootBtn->hide(); - confirmBtn->hide(); -#ifdef __aarch64__ - QTimer::singleShot(100, this, &Reset::doErase); -#endif -} - -void Reset::confirm() { - const QString confirm_txt = tr("Are you sure you want to reset your device?"); - if (body->text() != confirm_txt) { - body->setText(confirm_txt); - } else { - startReset(); - } -} - -Reset::Reset(ResetMode mode, QWidget *parent) : QWidget(parent) { - QVBoxLayout *main_layout = new QVBoxLayout(this); - main_layout->setContentsMargins(45, 220, 45, 45); - main_layout->setSpacing(0); - - QLabel *title = new QLabel(tr("System Reset")); - title->setStyleSheet("font-size: 90px; font-weight: 600;"); - main_layout->addWidget(title, 0, Qt::AlignTop | Qt::AlignLeft); - - main_layout->addSpacing(60); - - body = new QLabel(tr("System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot.")); - body->setWordWrap(true); - body->setStyleSheet("font-size: 80px; font-weight: light;"); - main_layout->addWidget(body, 1, Qt::AlignTop | Qt::AlignLeft); - - QHBoxLayout *blayout = new QHBoxLayout(); - main_layout->addLayout(blayout); - blayout->setSpacing(50); - - rejectBtn = new QPushButton(tr("Cancel")); - blayout->addWidget(rejectBtn); - QObject::connect(rejectBtn, &QPushButton::clicked, QCoreApplication::instance(), &QCoreApplication::quit); - - rebootBtn = new QPushButton(tr("Reboot")); - blayout->addWidget(rebootBtn); -#ifdef __aarch64__ - QObject::connect(rebootBtn, &QPushButton::clicked, [=]{ - std::system("sudo reboot"); - }); -#endif - - confirmBtn = new QPushButton(tr("Confirm")); - confirmBtn->setStyleSheet(R"( - QPushButton { - background-color: #465BEA; - } - QPushButton:pressed { - background-color: #3049F4; - } - )"); - blayout->addWidget(confirmBtn); - QObject::connect(confirmBtn, &QPushButton::clicked, this, &Reset::confirm); - - bool recover = mode == ResetMode::RECOVER; - rejectBtn->setVisible(!recover); - rebootBtn->setVisible(recover); - if (recover) { - body->setText(tr("Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device.")); - } - - setStyleSheet(R"( - * { - font-family: Inter; - color: white; - background-color: black; - } - QLabel { - margin-left: 140; - } - QPushButton { - height: 160; - font-size: 55px; - font-weight: 400; - border-radius: 10px; - background-color: #333333; - } - QPushButton:pressed { - background-color: #444444; - } - )"); -} - -int main(int argc, char *argv[]) { - ResetMode mode = ResetMode::USER_RESET; - if (argc > 1) { - if (strcmp(argv[1], "--recover") == 0) { - mode = ResetMode::RECOVER; - } - } - - QApplication a(argc, argv); - Reset reset(mode); - setMainWindow(&reset); - return a.exec(); -} diff --git a/selfdrive/ui/qt/setup/reset.h b/selfdrive/ui/qt/setup/reset.h deleted file mode 100644 index 8bf368e3e8af4d..00000000000000 --- a/selfdrive/ui/qt/setup/reset.h +++ /dev/null @@ -1,26 +0,0 @@ -#include -#include -#include - -enum ResetMode { - USER_RESET, // user initiated a factory reset from openpilot - RECOVER, // userdata is corrupt for some reason, give a chance to recover -}; - -class Reset : public QWidget { - Q_OBJECT - -public: - explicit Reset(ResetMode mode, QWidget *parent = 0); - -private: - QLabel *body; - QPushButton *rejectBtn; - QPushButton *rebootBtn; - QPushButton *confirmBtn; - void doErase(); - void startReset(); - -private slots: - void confirm(); -}; diff --git a/selfdrive/ui/qt/setup/setup.cc b/selfdrive/ui/qt/setup/setup.cc deleted file mode 100644 index aff9b015b3a40d..00000000000000 --- a/selfdrive/ui/qt/setup/setup.cc +++ /dev/null @@ -1,488 +0,0 @@ -#include "selfdrive/ui/qt/setup/setup.h" - -#include -#include -#include -#include - -#include -#include -#include - -#include - -#include "common/util.h" -#include "system/hardware/hw.h" -#include "selfdrive/ui/qt/api.h" -#include "selfdrive/ui/qt/qt_window.h" -#include "selfdrive/ui/qt/network/networking.h" -#include "selfdrive/ui/qt/util.h" -#include "selfdrive/ui/qt/widgets/input.h" - -const std::string USER_AGENT = "AGNOSSetup-"; -const QString OPENPILOT_URL = "https://openpilot.comma.ai"; - -bool is_elf(char *fname) { - FILE *fp = fopen(fname, "rb"); - if (fp == NULL) { - return false; - } - char buf[4]; - size_t n = fread(buf, 1, 4, fp); - fclose(fp); - return n == 4 && buf[0] == 0x7f && buf[1] == 'E' && buf[2] == 'L' && buf[3] == 'F'; -} - -void Setup::download(QString url) { - // autocomplete incomplete urls - if (QRegularExpression("^([^/.]+)/([^/]+)$").match(url).hasMatch()) { - url.prepend("https://installer.comma.ai/"); - } - - CURL *curl = curl_easy_init(); - if (!curl) { - emit finished(url, tr("Something went wrong. Reboot the device.")); - return; - } - - auto version = util::read_file("/VERSION"); - - struct curl_slist *list = NULL; - list = curl_slist_append(list, ("X-openpilot-serial: " + Hardware::get_serial()).c_str()); - - char tmpfile[] = "/tmp/installer_XXXXXX"; - FILE *fp = fdopen(mkstemp(tmpfile), "wb"); - - curl_easy_setopt(curl, CURLOPT_URL, url.toStdString().c_str()); - curl_easy_setopt(curl, CURLOPT_WRITEFUNCTION, NULL); - curl_easy_setopt(curl, CURLOPT_WRITEDATA, fp); - curl_easy_setopt(curl, CURLOPT_VERBOSE, 1L); - curl_easy_setopt(curl, CURLOPT_FOLLOWLOCATION, 1L); - curl_easy_setopt(curl, CURLOPT_USERAGENT, (USER_AGENT + version).c_str()); - curl_easy_setopt(curl, CURLOPT_HTTPHEADER, list); - curl_easy_setopt(curl, CURLOPT_TIMEOUT, 30L); - - int ret = curl_easy_perform(curl); - long res_status = 0; - curl_easy_getinfo(curl, CURLINFO_RESPONSE_CODE, &res_status); - - if (ret != CURLE_OK || res_status != 200) { - emit finished(url, tr("Ensure the entered URL is valid, and the device’s internet connection is good.")); - } else if (!is_elf(tmpfile)) { - emit finished(url, tr("No custom software found at this URL.")); - } else { - rename(tmpfile, "/tmp/installer"); - - FILE *fp_url = fopen("/tmp/installer_url", "w"); - fprintf(fp_url, "%s", url.toStdString().c_str()); - fclose(fp_url); - - emit finished(url); - } - - curl_slist_free_all(list); - curl_easy_cleanup(curl); - fclose(fp); -} - -QWidget * Setup::low_voltage() { - QWidget *widget = new QWidget(); - QVBoxLayout *main_layout = new QVBoxLayout(widget); - main_layout->setContentsMargins(55, 0, 55, 55); - main_layout->setSpacing(0); - - // inner text layout: warning icon, title, and body - QVBoxLayout *inner_layout = new QVBoxLayout(); - inner_layout->setContentsMargins(110, 144, 365, 0); - main_layout->addLayout(inner_layout); - - QLabel *triangle = new QLabel(); - triangle->setPixmap(QPixmap(ASSET_PATH + "offroad/icon_warning.png")); - inner_layout->addWidget(triangle, 0, Qt::AlignTop | Qt::AlignLeft); - inner_layout->addSpacing(80); - - QLabel *title = new QLabel(tr("WARNING: Low Voltage")); - title->setStyleSheet("font-size: 90px; font-weight: 500; color: #FF594F;"); - inner_layout->addWidget(title, 0, Qt::AlignTop | Qt::AlignLeft); - - inner_layout->addSpacing(25); - - QLabel *body = new QLabel(tr("Power your device in a car with a harness or proceed at your own risk.")); - body->setWordWrap(true); - body->setAlignment(Qt::AlignTop | Qt::AlignLeft); - body->setStyleSheet("font-size: 80px; font-weight: 300;"); - inner_layout->addWidget(body); - - inner_layout->addStretch(); - - // power off + continue buttons - QHBoxLayout *blayout = new QHBoxLayout(); - blayout->setSpacing(50); - main_layout->addLayout(blayout, 0); - - QPushButton *poweroff = new QPushButton(tr("Power off")); - poweroff->setObjectName("navBtn"); - blayout->addWidget(poweroff); - QObject::connect(poweroff, &QPushButton::clicked, this, [=]() { - Hardware::poweroff(); - }); - - QPushButton *cont = new QPushButton(tr("Continue")); - cont->setObjectName("navBtn"); - blayout->addWidget(cont); - QObject::connect(cont, &QPushButton::clicked, this, &Setup::nextPage); - - return widget; -} - -QWidget * Setup::getting_started() { - QWidget *widget = new QWidget(); - - QHBoxLayout *main_layout = new QHBoxLayout(widget); - main_layout->setMargin(0); - - QVBoxLayout *vlayout = new QVBoxLayout(); - vlayout->setContentsMargins(165, 280, 100, 0); - main_layout->addLayout(vlayout); - - QLabel *title = new QLabel(tr("Getting Started")); - title->setStyleSheet("font-size: 90px; font-weight: 500;"); - vlayout->addWidget(title, 0, Qt::AlignTop | Qt::AlignLeft); - - vlayout->addSpacing(90); - QLabel *desc = new QLabel(tr("Before we get on the road, let’s finish installation and cover some details.")); - desc->setWordWrap(true); - desc->setStyleSheet("font-size: 80px; font-weight: 300;"); - vlayout->addWidget(desc, 0, Qt::AlignTop | Qt::AlignLeft); - - vlayout->addStretch(); - - QPushButton *btn = new QPushButton(); - btn->setIcon(QIcon(":/img_continue_triangle.svg")); - btn->setIconSize(QSize(54, 106)); - btn->setFixedSize(310, 1080); - btn->setProperty("primary", true); - btn->setStyleSheet("border: none;"); - main_layout->addWidget(btn, 0, Qt::AlignRight); - QObject::connect(btn, &QPushButton::clicked, this, &Setup::nextPage); - - return widget; -} - -QWidget * Setup::network_setup() { - QWidget *widget = new QWidget(); - QVBoxLayout *main_layout = new QVBoxLayout(widget); - main_layout->setContentsMargins(55, 50, 55, 50); - - // title - QLabel *title = new QLabel(tr("Connect to Wi-Fi")); - title->setStyleSheet("font-size: 90px; font-weight: 500;"); - main_layout->addWidget(title, 0, Qt::AlignLeft | Qt::AlignTop); - - main_layout->addSpacing(25); - - // wifi widget - Networking *networking = new Networking(this, false); - networking->setStyleSheet("Networking {background-color: #292929; border-radius: 13px;}"); - main_layout->addWidget(networking, 1); - - main_layout->addSpacing(35); - - // back + continue buttons - QHBoxLayout *blayout = new QHBoxLayout; - main_layout->addLayout(blayout); - blayout->setSpacing(50); - - QPushButton *back = new QPushButton(tr("Back")); - back->setObjectName("navBtn"); - QObject::connect(back, &QPushButton::clicked, this, &Setup::prevPage); - blayout->addWidget(back); - - QPushButton *cont = new QPushButton(); - cont->setObjectName("navBtn"); - cont->setProperty("primary", true); - cont->setEnabled(false); - QObject::connect(cont, &QPushButton::clicked, this, &Setup::nextPage); - blayout->addWidget(cont); - - // setup timer for testing internet connection - HttpRequest *request = new HttpRequest(this, false, 2500); - QObject::connect(request, &HttpRequest::requestDone, [=](const QString &, bool success) { - cont->setEnabled(success); - if (success) { - const bool wifi = networking->wifi->currentNetworkType() == NetworkType::WIFI; - cont->setText(wifi ? tr("Continue") : tr("Continue without Wi-Fi")); - } else { - cont->setText(tr("Waiting for internet")); - } - repaint(); - }); - request->sendRequest(OPENPILOT_URL); - QTimer *timer = new QTimer(this); - QObject::connect(timer, &QTimer::timeout, [=]() { - if (!request->active() && cont->isVisible()) { - request->sendRequest(OPENPILOT_URL); - } - }); - timer->start(1000); - - return widget; -} - -QWidget * radio_button(QString title, QButtonGroup *group) { - QPushButton *btn = new QPushButton(title); - btn->setCheckable(true); - group->addButton(btn); - btn->setStyleSheet(R"( - QPushButton { - height: 230; - padding-left: 100px; - padding-right: 100px; - text-align: left; - font-size: 80px; - font-weight: 400; - border-radius: 10px; - background-color: #4F4F4F; - } - QPushButton:checked { - background-color: #465BEA; - } - )"); - - // checkmark icon - QPixmap pix(":/img_circled_check.svg"); - btn->setIcon(pix); - btn->setIconSize(QSize(0, 0)); - btn->setLayoutDirection(Qt::RightToLeft); - QObject::connect(btn, &QPushButton::toggled, [=](bool checked) { - btn->setIconSize(checked ? QSize(104, 104) : QSize(0, 0)); - }); - return btn; -} - -QWidget * Setup::software_selection() { - QWidget *widget = new QWidget(); - QVBoxLayout *main_layout = new QVBoxLayout(widget); - main_layout->setContentsMargins(55, 50, 55, 50); - main_layout->setSpacing(0); - - // title - QLabel *title = new QLabel(tr("Choose Software to Install")); - title->setStyleSheet("font-size: 90px; font-weight: 500;"); - main_layout->addWidget(title, 0, Qt::AlignLeft | Qt::AlignTop); - - main_layout->addSpacing(50); - - // openpilot + custom radio buttons - QButtonGroup *group = new QButtonGroup(widget); - group->setExclusive(true); - - QWidget *openpilot = radio_button(tr("openpilot"), group); - main_layout->addWidget(openpilot); - - main_layout->addSpacing(30); - - QWidget *custom = radio_button(tr("Custom Software"), group); - main_layout->addWidget(custom); - - main_layout->addStretch(); - - // back + continue buttons - QHBoxLayout *blayout = new QHBoxLayout; - main_layout->addLayout(blayout); - blayout->setSpacing(50); - - QPushButton *back = new QPushButton(tr("Back")); - back->setObjectName("navBtn"); - QObject::connect(back, &QPushButton::clicked, this, &Setup::prevPage); - blayout->addWidget(back); - - QPushButton *cont = new QPushButton(tr("Continue")); - cont->setObjectName("navBtn"); - cont->setEnabled(false); - cont->setProperty("primary", true); - blayout->addWidget(cont); - - QObject::connect(cont, &QPushButton::clicked, [=]() { - auto w = currentWidget(); - QTimer::singleShot(0, [=]() { - setCurrentWidget(downloading_widget); - }); - QString url = OPENPILOT_URL; - if (group->checkedButton() != openpilot) { - url = InputDialog::getText(tr("Enter URL"), this, tr("for Custom Software")); - } - if (!url.isEmpty()) { - QTimer::singleShot(1000, this, [=]() { - download(url); - }); - } else { - setCurrentWidget(w); - } - }); - - connect(group, QOverload::of(&QButtonGroup::buttonClicked), [=](QAbstractButton *btn) { - btn->setChecked(true); - cont->setEnabled(true); - }); - - return widget; -} - -QWidget * Setup::downloading() { - QWidget *widget = new QWidget(); - QVBoxLayout *main_layout = new QVBoxLayout(widget); - QLabel *txt = new QLabel(tr("Downloading...")); - txt->setStyleSheet("font-size: 90px; font-weight: 500;"); - main_layout->addWidget(txt, 0, Qt::AlignCenter); - return widget; -} - -QWidget * Setup::download_failed(QLabel *url, QLabel *body) { - QWidget *widget = new QWidget(); - QVBoxLayout *main_layout = new QVBoxLayout(widget); - main_layout->setContentsMargins(55, 185, 55, 55); - main_layout->setSpacing(0); - - QLabel *title = new QLabel(tr("Download Failed")); - title->setStyleSheet("font-size: 90px; font-weight: 500;"); - main_layout->addWidget(title, 0, Qt::AlignTop | Qt::AlignLeft); - - main_layout->addSpacing(67); - - url->setWordWrap(true); - url->setAlignment(Qt::AlignTop | Qt::AlignLeft); - url->setStyleSheet("font-family: \"JetBrains Mono\"; font-size: 64px; font-weight: 400; margin-right: 100px;"); - main_layout->addWidget(url); - - main_layout->addSpacing(48); - - body->setWordWrap(true); - body->setAlignment(Qt::AlignTop | Qt::AlignLeft); - body->setStyleSheet("font-size: 80px; font-weight: 300; margin-right: 100px;"); - main_layout->addWidget(body); - - main_layout->addStretch(); - - // reboot + start over buttons - QHBoxLayout *blayout = new QHBoxLayout(); - blayout->setSpacing(50); - main_layout->addLayout(blayout, 0); - - QPushButton *reboot = new QPushButton(tr("Reboot device")); - reboot->setObjectName("navBtn"); - blayout->addWidget(reboot); - QObject::connect(reboot, &QPushButton::clicked, this, [=]() { - Hardware::reboot(); - }); - - QPushButton *restart = new QPushButton(tr("Start over")); - restart->setObjectName("navBtn"); - restart->setProperty("primary", true); - blayout->addWidget(restart); - QObject::connect(restart, &QPushButton::clicked, this, [=]() { - setCurrentIndex(1); - }); - - widget->setStyleSheet(R"( - QLabel { - margin-left: 117; - } - )"); - return widget; -} - -void Setup::prevPage() { - setCurrentIndex(currentIndex() - 1); -} - -void Setup::nextPage() { - setCurrentIndex(currentIndex() + 1); -} - -Setup::Setup(QWidget *parent) : QStackedWidget(parent) { - if (std::getenv("MULTILANG")) { - selectLanguage(); - } - - std::stringstream buffer; - buffer << std::ifstream("/sys/class/hwmon/hwmon1/in1_input").rdbuf(); - float voltage = (float)std::atoi(buffer.str().c_str()) / 1000.; - if (voltage < 7) { - addWidget(low_voltage()); - } - - addWidget(getting_started()); - addWidget(network_setup()); - addWidget(software_selection()); - - downloading_widget = downloading(); - addWidget(downloading_widget); - - QLabel *url_label = new QLabel(); - QLabel *body_label = new QLabel(); - failed_widget = download_failed(url_label, body_label); - addWidget(failed_widget); - - QObject::connect(this, &Setup::finished, [=](const QString &url, const QString &error) { - qDebug() << "finished" << url << error; - if (error.isEmpty()) { - // hide setup on success - QTimer::singleShot(3000, this, &QWidget::hide); - } else { - url_label->setText(url); - body_label->setText(error); - setCurrentWidget(failed_widget); - } - }); - - // TODO: revisit pressed bg color - setStyleSheet(R"( - * { - color: white; - font-family: Inter; - } - Setup { - background-color: black; - } - QPushButton#navBtn { - height: 160; - font-size: 55px; - font-weight: 400; - border-radius: 10px; - background-color: #333333; - } - QPushButton#navBtn:disabled, QPushButton[primary='true']:disabled { - color: #808080; - background-color: #333333; - } - QPushButton#navBtn:pressed { - background-color: #444444; - } - QPushButton[primary='true'], #navBtn[primary='true'] { - background-color: #465BEA; - } - QPushButton[primary='true']:pressed, #navBtn:pressed[primary='true'] { - background-color: #3049F4; - } - )"); -} - -void Setup::selectLanguage() { - QMap langs = getSupportedLanguages(); - QString selection = MultiOptionDialog::getSelection(tr("Select a language"), langs.keys(), "", this); - if (!selection.isEmpty()) { - QString selectedLang = langs[selection]; - Params().put("LanguageSetting", selectedLang.toStdString()); - if (translator.load(":/" + selectedLang)) { - qApp->installTranslator(&translator); - } - } -} - -int main(int argc, char *argv[]) { - QApplication a(argc, argv); - Setup setup; - setMainWindow(&setup); - return a.exec(); -} diff --git a/selfdrive/ui/qt/setup/setup.h b/selfdrive/ui/qt/setup/setup.h deleted file mode 100644 index ee5cc854831cf8..00000000000000 --- a/selfdrive/ui/qt/setup/setup.h +++ /dev/null @@ -1,35 +0,0 @@ -#pragma once - -#include -#include -#include -#include -#include - -class Setup : public QStackedWidget { - Q_OBJECT - -public: - explicit Setup(QWidget *parent = 0); - -private: - void selectLanguage(); - QWidget *low_voltage(); - QWidget *getting_started(); - QWidget *network_setup(); - QWidget *software_selection(); - QWidget *downloading(); - QWidget *download_failed(QLabel *url, QLabel *body); - - QWidget *failed_widget; - QWidget *downloading_widget; - QTranslator translator; - -signals: - void finished(const QString &url, const QString &error = ""); - -public slots: - void nextPage(); - void prevPage(); - void download(QString url); -}; diff --git a/selfdrive/ui/qt/setup/updater.cc b/selfdrive/ui/qt/setup/updater.cc deleted file mode 100644 index ed47590aa32501..00000000000000 --- a/selfdrive/ui/qt/setup/updater.cc +++ /dev/null @@ -1,186 +0,0 @@ -#include -#include -#include - -#include "system/hardware/hw.h" -#include "selfdrive/ui/qt/util.h" -#include "selfdrive/ui/qt/qt_window.h" -#include "selfdrive/ui/qt/setup/updater.h" -#include "selfdrive/ui/qt/network/networking.h" - -Updater::Updater(const QString &updater_path, const QString &manifest_path, QWidget *parent) - : updater(updater_path), manifest(manifest_path), QStackedWidget(parent) { - - assert(updater.size()); - assert(manifest.size()); - - // initial prompt screen - prompt = new QWidget; - { - QVBoxLayout *layout = new QVBoxLayout(prompt); - layout->setContentsMargins(100, 250, 100, 100); - - QLabel *title = new QLabel(tr("Update Required")); - title->setStyleSheet("font-size: 80px; font-weight: bold;"); - layout->addWidget(title); - - layout->addSpacing(75); - - QLabel *desc = new QLabel(tr("An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB.")); - desc->setWordWrap(true); - desc->setStyleSheet("font-size: 65px;"); - layout->addWidget(desc); - - layout->addStretch(); - - QHBoxLayout *hlayout = new QHBoxLayout; - hlayout->setSpacing(30); - layout->addLayout(hlayout); - - QPushButton *connect = new QPushButton(tr("Connect to Wi-Fi")); - connect->setObjectName("navBtn"); - QObject::connect(connect, &QPushButton::clicked, [=]() { - setCurrentWidget(wifi); - }); - hlayout->addWidget(connect); - - QPushButton *install = new QPushButton(tr("Install")); - install->setObjectName("navBtn"); - install->setStyleSheet(R"( - QPushButton { - background-color: #465BEA; - } - QPushButton:pressed { - background-color: #3049F4; - } - )"); - QObject::connect(install, &QPushButton::clicked, this, &Updater::installUpdate); - hlayout->addWidget(install); - } - - // wifi connection screen - wifi = new QWidget; - { - QVBoxLayout *layout = new QVBoxLayout(wifi); - layout->setContentsMargins(100, 100, 100, 100); - - Networking *networking = new Networking(this, false); - networking->setStyleSheet("Networking { background-color: #292929; border-radius: 13px; }"); - layout->addWidget(networking, 1); - - QPushButton *back = new QPushButton(tr("Back")); - back->setObjectName("navBtn"); - back->setStyleSheet("padding-left: 60px; padding-right: 60px;"); - QObject::connect(back, &QPushButton::clicked, [=]() { - setCurrentWidget(prompt); - }); - layout->addWidget(back, 0, Qt::AlignLeft); - } - - // progress screen - progress = new QWidget; - { - QVBoxLayout *layout = new QVBoxLayout(progress); - layout->setContentsMargins(150, 330, 150, 150); - layout->setSpacing(0); - - text = new QLabel(tr("Loading...")); - text->setStyleSheet("font-size: 90px; font-weight: 600;"); - layout->addWidget(text, 0, Qt::AlignTop); - - layout->addSpacing(100); - - bar = new QProgressBar(); - bar->setRange(0, 100); - bar->setTextVisible(false); - bar->setFixedHeight(72); - layout->addWidget(bar, 0, Qt::AlignTop); - - layout->addStretch(); - - reboot = new QPushButton(tr("Reboot")); - reboot->setObjectName("navBtn"); - reboot->setStyleSheet("padding-left: 60px; padding-right: 60px;"); - QObject::connect(reboot, &QPushButton::clicked, [=]() { - Hardware::reboot(); - }); - layout->addWidget(reboot, 0, Qt::AlignLeft); - reboot->hide(); - - layout->addStretch(); - } - - addWidget(prompt); - addWidget(wifi); - addWidget(progress); - - setStyleSheet(R"( - * { - color: white; - outline: none; - font-family: Inter; - } - Updater { - color: white; - background-color: black; - } - QPushButton#navBtn { - height: 160; - font-size: 55px; - font-weight: 400; - border-radius: 10px; - background-color: #333333; - } - QPushButton#navBtn:pressed { - background-color: #444444; - } - QProgressBar { - border: none; - background-color: #292929; - } - QProgressBar::chunk { - background-color: #364DEF; - } - )"); -} - -void Updater::installUpdate() { - setCurrentWidget(progress); - QObject::connect(&proc, &QProcess::readyReadStandardOutput, this, &Updater::readProgress); - QObject::connect(&proc, QOverload::of(&QProcess::finished), this, &Updater::updateFinished); - proc.setProcessChannelMode(QProcess::ForwardedErrorChannel); - proc.start(updater, {"--swap", manifest}); -} - -void Updater::readProgress() { - auto lines = QString(proc.readAllStandardOutput()); - for (const QString &line : lines.trimmed().split("\n")) { - auto parts = line.split(":"); - if (parts.size() == 2) { - text->setText(parts[0]); - bar->setValue((int)parts[1].toDouble()); - } else { - qDebug() << line; - } - } - update(); -} - -void Updater::updateFinished(int exitCode, QProcess::ExitStatus exitStatus) { - qDebug() << "finished with " << exitCode; - if (exitCode == 0) { - Hardware::reboot(); - } else { - text->setText(tr("Update failed")); - reboot->show(); - } -} - -int main(int argc, char *argv[]) { - initApp(argc, argv); - QApplication a(argc, argv); - Updater updater(argv[1], argv[2]); - setMainWindow(&updater); - a.installEventFilter(&updater); - return a.exec(); -} diff --git a/selfdrive/ui/qt/setup/updater.h b/selfdrive/ui/qt/setup/updater.h deleted file mode 100644 index ce46c0aabd089a..00000000000000 --- a/selfdrive/ui/qt/setup/updater.h +++ /dev/null @@ -1,29 +0,0 @@ -#pragma once - -#include -#include -#include -#include -#include -#include - -class Updater : public QStackedWidget { - Q_OBJECT - -public: - explicit Updater(const QString &updater_path, const QString &manifest_path, QWidget *parent = 0); - -private slots: - void installUpdate(); - void readProgress(); - void updateFinished(int exitCode, QProcess::ExitStatus exitStatus); - -private: - QProcess proc; - QString updater, manifest; - - QLabel *text; - QProgressBar *bar; - QPushButton *reboot; - QWidget *prompt, *wifi, *progress; -}; diff --git a/selfdrive/ui/qt/sidebar.cc b/selfdrive/ui/qt/sidebar.cc deleted file mode 100644 index 396ad791e7e311..00000000000000 --- a/selfdrive/ui/qt/sidebar.cc +++ /dev/null @@ -1,384 +0,0 @@ -#include "selfdrive/ui/qt/sidebar.h" - -#include - -#include "selfdrive/ui/qt/util.h" - -void Sidebar::drawMetric(QPainter &p, const QPair &label, QColor c, int y) { - const QRect rect = {30, y, 240, 126}; - - p.setPen(Qt::NoPen); - p.setBrush(QBrush(c)); - p.setClipRect(rect.x() + 4, rect.y(), 18, rect.height(), Qt::ClipOperation::ReplaceClip); - p.drawRoundedRect(QRect(rect.x() + 4, rect.y() + 4, 100, 118), 18, 18); - p.setClipping(false); - - QPen pen = QPen(QColor(0xff, 0xff, 0xff, 0x55)); - pen.setWidth(2); - p.setPen(pen); - p.setBrush(Qt::NoBrush); - p.drawRoundedRect(rect, 20, 20); - - p.setPen(QColor(0xff, 0xff, 0xff)); - p.setFont(InterFont(35, QFont::DemiBold)); - p.drawText(rect.adjusted(22, 0, 0, 0), Qt::AlignCenter, label.first + "\n" + label.second); -} - -Sidebar::Sidebar(QWidget *parent) : QFrame(parent), onroad(false), flag_pressed(false), settings_pressed(false) { - connect(this, &Sidebar::valueChanged, [=] { update(); }); - - setAttribute(Qt::WA_OpaquePaintEvent); - setSizePolicy(QSizePolicy::Fixed, QSizePolicy::Expanding); - setFixedWidth(300); - - QObject::connect(uiState(), &UIState::uiUpdate, this, &Sidebar::updateState); - - pm = std::make_unique>({"userFlag"}); - - // FrogPilot variables - home_label = new QLabel(this); - settings_label = new QLabel(this); - - flagPngPath = "../frogpilot/assets/active_theme/icons/button_flag.png"; - homeGifPath = "../frogpilot/assets/active_theme/icons/button_home.gif"; - homePngPath = "../frogpilot/assets/active_theme/icons/button_home.png"; - settingsGifPath = "../frogpilot/assets/active_theme/icons/button_settings.gif"; - settingsPngPath = "../frogpilot/assets/active_theme/icons/button_settings.png"; - - randomEventGifPath = "../frogpilot/assets/random_events/icons/button_home.gif"; - - QObject::connect(uiState(), &UIState::themeUpdated, this, &Sidebar::updateIcons); -} - -void Sidebar::showEvent(QShowEvent *event) { - updateIcons(); -} - -void Sidebar::updateIcons() { - updateIcon(home_label, home_gif, homeGifPath, home_btn, homePngPath, isHomeGif); - updateIcon(settings_label, settings_gif, settingsGifPath, settings_btn, settingsPngPath, isSettingsGif); -} - -void Sidebar::updateIcon(QLabel *&label, QMovie *&gif, const QString &gifPath, const QRect &btnRect, const QString &pngPath, bool &isGif) { - QString selectedGifPath = gifPath; - if (qrand() % 100 == 0 && btnRect == home_btn && isRandomEvents) { - selectedGifPath = randomEventGifPath; - } - - if (gif != nullptr) { - gif->stop(); - delete gif; - gif = nullptr; - if (label) { - label->hide(); - } - } - - if (QFile::exists(selectedGifPath)) { - gif = new QMovie(selectedGifPath); - - if (gif->isValid()) { - gif->setScaledSize(btnRect.size()); - - if (label) { - label->setGeometry(btnRect); - label->setMovie(gif); - label->show(); - } - - gif->start(); - isGif = true; - } else { - delete gif; - gif = nullptr; - isGif = false; - } - } else { - if (btnRect == home_btn) { - home_img = loadPixmap(homePngPath, btnRect.size()); - flag_img = loadPixmap(flagPngPath, btnRect.size()); - } else { - settings_img = loadPixmap(settingsPngPath, btnRect.size(), Qt::IgnoreAspectRatio); - } - - isGif = false; - } -} - -void Sidebar::mousePressEvent(QMouseEvent *event) { - UIState *s = uiState(); - UIScene &scene = s->scene; - - QPoint pos = event->pos(); - - QRect cpuRect = {30, 496, 240, 126}; - QRect memoryRect = {30, 654, 240, 126}; - QRect tempRect = {30, 338, 240, 126}; - - static int showChip = 0; - static int showMemory = 0; - static int showTemp = 0; - - if (cpuRect.contains(pos) && isSidebarMetrics) { - showChip = (showChip + 1) % 3; - - isCPU = (showChip == 1); - isGPU = (showChip == 2); - - scene.cpu_metrics = isCPU; - scene.gpu_metrics = isGPU; - - params.putBoolNonBlocking("ShowCPU", isCPU); - params.putBoolNonBlocking("ShowGPU", isGPU); - - update(); - return; - } - - if (memoryRect.contains(pos) && isSidebarMetrics) { - showMemory = (showMemory + 1) % 4; - - isMemoryUsage = (showMemory == 1); - isStorageLeft = (showMemory == 2); - isStorageUsed = (showMemory == 3); - - scene.memory_metrics = isMemoryUsage; - scene.storage_left_metrics = isStorageLeft; - scene.storage_used_metrics = isStorageUsed; - - params.putBoolNonBlocking("ShowMemoryUsage", isMemoryUsage); - params.putBoolNonBlocking("ShowStorageLeft", isStorageLeft); - params.putBoolNonBlocking("ShowStorageUsed", isStorageUsed); - - update(); - return; - } - - if (tempRect.contains(pos) && isSidebarMetrics) { - showTemp = (showTemp + 1) % 3; - - isFahrenheit = showTemp == 2; - - scene.fahrenheit = isFahrenheit; - scene.numerical_temp = showTemp != 0; - - params.putBoolNonBlocking("Fahrenheit", showTemp == 2); - params.putBoolNonBlocking("NumericalTemp", showTemp != 0); - - update(); - return; - } - - if (onroad && home_btn.contains(pos)) { - flag_pressed = true; - update(); - return; - } - - if (settings_btn.contains(pos)) { - settings_pressed = true; - update(); - return; - } -} - -void Sidebar::mouseReleaseEvent(QMouseEvent *event) { - if (flag_pressed || settings_pressed) { - flag_pressed = settings_pressed = false; - update(); - } - if (onroad && home_btn.contains(event->pos())) { - MessageBuilder msg; - msg.initEvent().initUserFlag(); - pm->send("userFlag", msg); - } else if (settings_btn.contains(event->pos())) { - emit openSettings(); - } -} - -void Sidebar::offroadTransition(bool offroad) { - onroad = !offroad; - update(); -} - -void Sidebar::updateState(const UIState &s) { - if (!isVisible()) { - if (home_gif != nullptr) { - home_gif->stop(); - delete home_gif; - home_gif = nullptr; - home_label->hide(); - } - - if (settings_gif != nullptr) { - settings_gif->stop(); - delete settings_gif; - settings_gif = nullptr; - settings_label->hide(); - } - return; - } - - auto &sm = *(s.sm); - - auto deviceState = sm["deviceState"].getDeviceState(); - setProperty("netType", network_type[deviceState.getNetworkType()]); - int strength = (int)deviceState.getNetworkStrength(); - setProperty("netStrength", strength > 0 ? strength + 1 : 0); - - ItemStatus connectStatus; - auto last_ping = deviceState.getLastAthenaPingTime(); - if (last_ping == 0) { - connectStatus = ItemStatus{{tr("CONNECT"), tr("OFFLINE")}, warning_color}; - } else { - connectStatus = nanos_since_boot() - last_ping < 80e9 - ? ItemStatus{{tr("CONNECT"), tr("ONLINE")}, sidebar_color3} - : ItemStatus{{tr("CONNECT"), tr("ERROR")}, danger_color}; - } - setProperty("connectStatus", QVariant::fromValue(connectStatus)); - - ItemStatus tempStatus = {{tr("TEMP"), isNumericalTemp ? max_temp : tr("HIGH")}, danger_color}; - auto ts = deviceState.getThermalStatus(); - if (ts == cereal::DeviceState::ThermalStatus::GREEN) { - tempStatus = {{tr("TEMP"), isNumericalTemp ? max_temp : tr("GOOD")}, sidebar_color1}; - } else if (ts == cereal::DeviceState::ThermalStatus::YELLOW) { - tempStatus = {{tr("TEMP"), isNumericalTemp ? max_temp : tr("OK")}, warning_color}; - } - setProperty("tempStatus", QVariant::fromValue(tempStatus)); - - ItemStatus pandaStatus = {{tr("VEHICLE"), tr("ONLINE")}, sidebar_color2}; - if (s.scene.pandaType == cereal::PandaState::PandaType::UNKNOWN) { - pandaStatus = {{tr("NO"), tr("PANDA")}, danger_color}; - } else if (s.scene.started && !sm["liveLocationKalman"].getLiveLocationKalman().getGpsOK()) { - pandaStatus = {{tr("GPS"), tr("SEARCH")}, warning_color}; - } - setProperty("pandaStatus", QVariant::fromValue(pandaStatus)); - - // FrogPilot variables - const UIScene &scene = s.scene; - - isCPU = scene.cpu_metrics; - isFahrenheit = scene.fahrenheit; - isGPU = scene.gpu_metrics; - isIP = scene.ip_metrics; - isMemoryUsage = scene.memory_metrics; - isNumericalTemp = scene.numerical_temp; - isRandomEvents = scene.random_events; - isSidebarMetrics = scene.sidebar_metrics; - isStorageLeft = scene.storage_left_metrics; - isStorageUsed = scene.storage_used_metrics; - - bool useStockColors = scene.use_stock_colors; - sidebar_color1 = useStockColors ? good_color : scene.sidebar_color1; - sidebar_color2 = useStockColors ? good_color : scene.sidebar_color2; - sidebar_color3 = useStockColors ? good_color : scene.sidebar_color3; - - const cereal::FrogPilotDeviceState::Reader &frogpilotDeviceState = sm["frogpilotDeviceState"].getFrogpilotDeviceState(); - - int maxTempC = deviceState.getMaxTempC(); - max_temp = isFahrenheit ? QString::number(maxTempC * 9 / 5 + 32) + "°F" : QString::number(maxTempC) + "°C"; - - if (isCPU || isGPU) { - auto cpu_loads = deviceState.getCpuUsagePercent(); - int cpu_usage = cpu_loads.size() != 0 ? std::accumulate(cpu_loads.begin(), cpu_loads.end(), 0) / cpu_loads.size() : 0; - int gpu_usage = deviceState.getGpuUsagePercent(); - int usage = isGPU ? gpu_usage : cpu_usage; - - QString chip_usage = QString::number(usage) + "%"; - - ItemStatus cpuStatus = {{isGPU ? tr("GPU") : tr("CPU"), chip_usage}, sidebar_color2}; - if (usage >= 85) { - cpuStatus = {{isGPU ? tr("GPU") : tr("CPU"), chip_usage}, danger_color}; - } else if (usage >= 70) { - cpuStatus = {{isGPU ? tr("GPU") : tr("CPU"), chip_usage}, warning_color}; - } - setProperty("cpuStatus", QVariant::fromValue(cpuStatus)); - } - - if (isMemoryUsage || isStorageLeft || isStorageUsed) { - int memory_usage = deviceState.getMemoryUsagePercent(); - int storage_left = frogpilotDeviceState.getFreeSpace(); - int storage_used = frogpilotDeviceState.getUsedSpace(); - - QString memory = QString::number(memory_usage) + "%"; - QString storage = QString::number(isStorageLeft ? storage_left : storage_used) + tr(" GB"); - - if (isMemoryUsage) { - ItemStatus memoryStatus = {{tr("MEMORY"), memory}, sidebar_color3}; - if (memory_usage >= 85) { - memoryStatus = {{tr("MEMORY"), memory}, danger_color}; - } else if (memory_usage >= 70) { - memoryStatus = {{tr("MEMORY"), memory}, warning_color}; - } - setProperty("memoryStatus", QVariant::fromValue(memoryStatus)); - } else { - ItemStatus storageStatus = {{isStorageLeft ? tr("LEFT") : tr("USED"), storage}, sidebar_color3}; - if (25 > storage_left && storage_left >= 10) { - storageStatus = {{isStorageLeft ? tr("LEFT") : tr("USED"), storage}, warning_color}; - } else if (10 > storage_left) { - storageStatus = {{isStorageLeft ? tr("LEFT") : tr("USED"), storage}, danger_color}; - } - setProperty("storageStatus", QVariant::fromValue(storageStatus)); - } - } -} - -void Sidebar::paintEvent(QPaintEvent *event) { - QPainter p(this); - p.setPen(Qt::NoPen); - p.setRenderHint(QPainter::Antialiasing); - - p.fillRect(rect(), QColor(57, 57, 57)); - - // buttons - if (!isSettingsGif) { - p.setOpacity(settings_pressed ? 0.65 : 1.0); - p.drawPixmap(settings_btn.x(), settings_btn.y(), settings_img); - } - if (!isHomeGif) { - p.setOpacity(onroad && flag_pressed ? 0.65 : 1.0); - p.drawPixmap(home_btn.x(), home_btn.y(), onroad ? flag_img : home_img); - } - p.setOpacity(1.0); - - // network - int x = 58; - const QColor gray(0x54, 0x54, 0x54); - p.setFont(InterFont(35)); - - if (isIP) { - p.setPen(QColor(0xff, 0xff, 0xff)); - p.save(); - p.setFont(InterFont(30)); - QRect ipBox = QRect(50, 196, 225, 27); - p.drawText(ipBox, Qt::AlignLeft | Qt::AlignVCenter, uiState()->wifi->getIp4Address()); - p.restore(); - } else { - for (int i = 0; i < 5; ++i) { - p.setBrush(i < net_strength ? Qt::white : gray); - p.drawEllipse(x, 196, 27, 27); - x += 37; - } - p.setPen(QColor(0xff, 0xff, 0xff)); - } - - const QRect r = QRect(50, 247, 100, 50); - p.drawText(r, Qt::AlignCenter, net_type); - - // metrics - drawMetric(p, temp_status.first, temp_status.second, 338); - - if (isCPU || isGPU) { - drawMetric(p, cpu_status.first, cpu_status.second, 496); - } else { - drawMetric(p, panda_status.first, panda_status.second, 496); - } - - if (isMemoryUsage) { - drawMetric(p, memory_status.first, memory_status.second, 654); - } else if (isStorageLeft || isStorageUsed) { - drawMetric(p, storage_status.first, storage_status.second, 654); - } else { - drawMetric(p, connect_status.first, connect_status.second, 654); - } -} diff --git a/selfdrive/ui/qt/sidebar.h b/selfdrive/ui/qt/sidebar.h deleted file mode 100644 index 6fa7bac1dca313..00000000000000 --- a/selfdrive/ui/qt/sidebar.h +++ /dev/null @@ -1,110 +0,0 @@ -#pragma once - -#include - -#include -#include -#include -#include - -#include "selfdrive/ui/ui.h" - -typedef QPair, QColor> ItemStatus; -Q_DECLARE_METATYPE(ItemStatus); - -class Sidebar : public QFrame { - Q_OBJECT - Q_PROPERTY(ItemStatus connectStatus MEMBER connect_status NOTIFY valueChanged); - Q_PROPERTY(ItemStatus pandaStatus MEMBER panda_status NOTIFY valueChanged); - Q_PROPERTY(ItemStatus tempStatus MEMBER temp_status NOTIFY valueChanged); - Q_PROPERTY(QString netType MEMBER net_type NOTIFY valueChanged); - Q_PROPERTY(int netStrength MEMBER net_strength NOTIFY valueChanged); - - // FrogPilot properties - Q_PROPERTY(ItemStatus cpuStatus MEMBER cpu_status NOTIFY valueChanged) - Q_PROPERTY(ItemStatus memoryStatus MEMBER memory_status NOTIFY valueChanged) - Q_PROPERTY(ItemStatus storageStatus MEMBER storage_status NOTIFY valueChanged) - -public: - explicit Sidebar(QWidget* parent = 0); - -signals: - void openSettings(int index = 0, const QString ¶m = ""); - void valueChanged(); - -public slots: - void offroadTransition(bool offroad); - void updateState(const UIState &s); - -protected: - void paintEvent(QPaintEvent *event) override; - void mousePressEvent(QMouseEvent *event) override; - void mouseReleaseEvent(QMouseEvent *event) override; - void drawMetric(QPainter &p, const QPair &label, QColor c, int y); - - QPixmap home_img, flag_img, settings_img; - bool onroad, flag_pressed, settings_pressed; - const QMap network_type = { - {cereal::DeviceState::NetworkType::NONE, tr("--")}, - {cereal::DeviceState::NetworkType::WIFI, tr("Wi-Fi")}, - {cereal::DeviceState::NetworkType::ETHERNET, tr("ETH")}, - {cereal::DeviceState::NetworkType::CELL2_G, tr("2G")}, - {cereal::DeviceState::NetworkType::CELL3_G, tr("3G")}, - {cereal::DeviceState::NetworkType::CELL4_G, tr("LTE")}, - {cereal::DeviceState::NetworkType::CELL5_G, tr("5G")} - }; - - const QRect home_btn = QRect(60, 860, 180, 180); - const QRect settings_btn = QRect(50, 35, 200, 117); - const QColor good_color = QColor(255, 255, 255); - const QColor warning_color = QColor(218, 202, 37); - const QColor danger_color = QColor(201, 34, 49); - - ItemStatus connect_status, panda_status, temp_status; - QString net_type; - int net_strength = 0; - -private: - std::unique_ptr pm; - - // FrogPilot widgets - void showEvent(QShowEvent *event); - void updateIcon(QLabel *&label, QMovie *&gif, const QString &gifPath, const QRect &btnRect, const QString &pngPath, bool &isGif); - void updateIcons(); - - // FrogPilot variables - Params params; - - ItemStatus cpu_status, memory_status, storage_status; - - bool isCPU; - bool isFahrenheit; - bool isGPU; - bool isHomeGif; - bool isIP; - bool isMemoryUsage; - bool isNumericalTemp; - bool isRandomEvents; - bool isSettingsGif; - bool isSidebarMetrics; - bool isStorageLeft; - bool isStorageUsed; - - QColor sidebar_color1; - QColor sidebar_color2; - QColor sidebar_color3; - - QLabel *home_label; - QLabel *settings_label; - - QMovie *home_gif; - QMovie *settings_gif; - - QString flagPngPath; - QString homeGifPath; - QString homePngPath; - QString max_temp; - QString randomEventGifPath; - QString settingsGifPath; - QString settingsPngPath; -}; diff --git a/selfdrive/ui/qt/spinner.cc b/selfdrive/ui/qt/spinner.cc deleted file mode 100644 index 7ca2f1a70ca77d..00000000000000 --- a/selfdrive/ui/qt/spinner.cc +++ /dev/null @@ -1,120 +0,0 @@ -#include "selfdrive/ui/qt/spinner.h" - -#include -#include -#include -#include - -#include -#include -#include -#include -#include - -#include "system/hardware/hw.h" -#include "selfdrive/ui/qt/qt_window.h" -#include "selfdrive/ui/qt/util.h" - -TrackWidget::TrackWidget(QWidget *parent) : QWidget(parent) { - setAttribute(Qt::WA_OpaquePaintEvent); - setFixedSize(spinner_size); - - // pre-compute all the track imgs. make this a gif instead? - QPixmap comma_img = loadPixmap("../assets/img_spinner_comma.png", spinner_size); - QPixmap track_img = loadPixmap("../assets/img_spinner_track.png", spinner_size); - - QTransform transform(1, 0, 0, 1, width() / 2, height() / 2); - QPixmap pm(spinner_size); - QPainter p(&pm); - p.setRenderHint(QPainter::SmoothPixmapTransform); - for (int i = 0; i < track_imgs.size(); ++i) { - p.resetTransform(); - p.fillRect(0, 0, spinner_size.width(), spinner_size.height(), Qt::black); - p.drawPixmap(0, 0, comma_img); - p.setTransform(transform.rotate(360 / spinner_fps)); - p.drawPixmap(-width() / 2, -height() / 2, track_img); - track_imgs[i] = pm.copy(); - } - - m_anim.setDuration(1000); - m_anim.setStartValue(0); - m_anim.setEndValue(int(track_imgs.size() -1)); - m_anim.setLoopCount(-1); - m_anim.start(); - connect(&m_anim, SIGNAL(valueChanged(QVariant)), SLOT(update())); -} - -void TrackWidget::paintEvent(QPaintEvent *event) { - QPainter painter(this); - painter.drawPixmap(0, 0, track_imgs[m_anim.currentValue().toInt()]); -} - -// Spinner - -Spinner::Spinner(QWidget *parent) : QWidget(parent) { - QGridLayout *main_layout = new QGridLayout(this); - main_layout->setSpacing(0); - main_layout->setMargin(200); - - main_layout->addWidget(new TrackWidget(this), 0, 0, Qt::AlignHCenter | Qt::AlignVCenter); - - text = new QLabel(); - text->setWordWrap(true); - text->setVisible(false); - text->setAlignment(Qt::AlignCenter); - main_layout->addWidget(text, 1, 0, Qt::AlignHCenter); - - progress_bar = new QProgressBar(); - progress_bar->setRange(5, 100); - progress_bar->setTextVisible(false); - progress_bar->setVisible(false); - progress_bar->setFixedHeight(20); - main_layout->addWidget(progress_bar, 1, 0, Qt::AlignHCenter); - - setStyleSheet(R"( - Spinner { - background-color: black; - } - QLabel { - color: white; - font-size: 80px; - background-color: transparent; - } - QProgressBar { - background-color: #373737; - width: 1000px; - border solid white; - border-radius: 10px; - } - QProgressBar::chunk { - border-radius: 10px; - background-color: rgba(23, 134, 68, 255); - } - )"); - - notifier = new QSocketNotifier(fileno(stdin), QSocketNotifier::Read); - QObject::connect(notifier, &QSocketNotifier::activated, this, &Spinner::update); -} - -void Spinner::update(int n) { - std::string line; - std::getline(std::cin, line); - - if (line.length()) { - bool number = std::all_of(line.begin(), line.end(), ::isdigit); - text->setVisible(!number); - progress_bar->setVisible(number); - text->setText(QString::fromStdString(line)); - if (number) { - progress_bar->setValue(std::stoi(line)); - } - } -} - -int main(int argc, char *argv[]) { - initApp(argc, argv); - QApplication a(argc, argv); - Spinner spinner; - setMainWindow(&spinner); - return a.exec(); -} diff --git a/selfdrive/ui/qt/spinner.h b/selfdrive/ui/qt/spinner.h deleted file mode 100644 index 43d90a75b01036..00000000000000 --- a/selfdrive/ui/qt/spinner.h +++ /dev/null @@ -1,37 +0,0 @@ -#include - -#include -#include -#include -#include -#include -#include - -constexpr int spinner_fps = 30; -constexpr QSize spinner_size = QSize(360, 360); - -class TrackWidget : public QWidget { - Q_OBJECT -public: - TrackWidget(QWidget *parent = nullptr); - -private: - void paintEvent(QPaintEvent *event) override; - std::array track_imgs; - QVariantAnimation m_anim; -}; - -class Spinner : public QWidget { - Q_OBJECT - -public: - explicit Spinner(QWidget *parent = 0); - -private: - QLabel *text; - QProgressBar *progress_bar; - QSocketNotifier *notifier; - -public slots: - void update(int n); -}; diff --git a/selfdrive/ui/qt/text.cc b/selfdrive/ui/qt/text.cc deleted file mode 100644 index 21ec5eedcf6be4..00000000000000 --- a/selfdrive/ui/qt/text.cc +++ /dev/null @@ -1,64 +0,0 @@ -#include -#include -#include -#include -#include -#include - -#include "system/hardware/hw.h" -#include "selfdrive/ui/qt/util.h" -#include "selfdrive/ui/qt/qt_window.h" -#include "selfdrive/ui/qt/widgets/scrollview.h" - -int main(int argc, char *argv[]) { - initApp(argc, argv); - QApplication a(argc, argv); - QWidget window; - setMainWindow(&window); - - QGridLayout *main_layout = new QGridLayout(&window); - main_layout->setMargin(50); - - QLabel *label = new QLabel(argv[1]); - label->setWordWrap(true); - label->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::MinimumExpanding); - ScrollView *scroll = new ScrollView(label); - scroll->setVerticalScrollBarPolicy(Qt::ScrollBarAsNeeded); - main_layout->addWidget(scroll, 0, 0, Qt::AlignTop); - - // Scroll to the bottom - QObject::connect(scroll->verticalScrollBar(), &QAbstractSlider::rangeChanged, [=]() { - scroll->verticalScrollBar()->setValue(scroll->verticalScrollBar()->maximum()); - }); - - QPushButton *btn = new QPushButton(); -#ifdef __aarch64__ - btn->setText(QObject::tr("Reboot")); - QObject::connect(btn, &QPushButton::clicked, [=]() { - Hardware::reboot(); - }); -#else - btn->setText(QObject::tr("Exit")); - QObject::connect(btn, &QPushButton::clicked, &a, &QApplication::quit); -#endif - main_layout->addWidget(btn, 0, 0, Qt::AlignRight | Qt::AlignBottom); - - window.setStyleSheet(R"( - * { - outline: none; - color: white; - background-color: black; - font-size: 60px; - } - QPushButton { - padding: 50px; - padding-right: 100px; - padding-left: 100px; - border: 2px solid white; - border-radius: 20px; - margin-right: 40px; - } - )"); - - return a.exec(); -} diff --git a/selfdrive/ui/qt/util.cc b/selfdrive/ui/qt/util.cc deleted file mode 100644 index 4ae77c74e42b25..00000000000000 --- a/selfdrive/ui/qt/util.cc +++ /dev/null @@ -1,278 +0,0 @@ -#include "selfdrive/ui/qt/util.h" - -#include -#include -#include - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include "common/swaglog.h" -#include "system/hardware/hw.h" - -QString getVersion() { - static QString version = QString::fromStdString(Params().get("Version")); - return version; -} - -QString getBrand() { - return QObject::tr("FrogPilot"); -} - -QString getUserAgent() { - return "openpilot-" + getVersion(); -} - -std::optional getDongleId() { - std::string id = Params().get("DongleId"); - - if (!id.empty() && (id != "UnregisteredDevice")) { - return QString::fromStdString(id); - } else { - return {}; - } -} - -QMap getSupportedLanguages() { - QFile f(":/languages.json"); - f.open(QIODevice::ReadOnly | QIODevice::Text); - QString val = f.readAll(); - - QJsonObject obj = QJsonDocument::fromJson(val.toUtf8()).object(); - QMap map; - for (auto key : obj.keys()) { - map[key] = obj[key].toString(); - } - return map; -} - -QString timeAgo(const QDateTime &date) { - int diff = date.secsTo(QDateTime::currentDateTimeUtc()); - - QString s; - if (diff < 60) { - s = QObject::tr("now"); - } else if (diff < 60 * 60) { - int minutes = diff / 60; - s = QObject::tr("%n minute(s) ago", "", minutes); - } else if (diff < 60 * 60 * 24) { - int hours = diff / (60 * 60); - s = QObject::tr("%n hour(s) ago", "", hours); - } else if (diff < 3600 * 24 * 7) { - int days = diff / (60 * 60 * 24); - s = QObject::tr("%n day(s) ago", "", days); - } else { - s = date.date().toString(); - } - - return s; -} - -void setQtSurfaceFormat() { - QSurfaceFormat fmt; -#ifdef __APPLE__ - fmt.setVersion(3, 2); - fmt.setProfile(QSurfaceFormat::OpenGLContextProfile::CoreProfile); - fmt.setRenderableType(QSurfaceFormat::OpenGL); -#else - fmt.setRenderableType(QSurfaceFormat::OpenGLES); -#endif - fmt.setSamples(16); - fmt.setStencilBufferSize(1); - QSurfaceFormat::setDefaultFormat(fmt); -} - -void sigTermHandler(int s) { - std::signal(s, SIG_DFL); - qApp->quit(); -} - -void initApp(int argc, char *argv[], bool disable_hidpi) { - Hardware::set_display_power(true); - Hardware::set_brightness(65); - - // setup signal handlers to exit gracefully - std::signal(SIGINT, sigTermHandler); - std::signal(SIGTERM, sigTermHandler); - - QString app_dir; -#ifdef __APPLE__ - // Get the devicePixelRatio, and scale accordingly to maintain 1:1 rendering - QApplication tmp(argc, argv); - app_dir = QCoreApplication::applicationDirPath(); - if (disable_hidpi) { - qputenv("QT_SCALE_FACTOR", QString::number(1.0 / tmp.devicePixelRatio()).toLocal8Bit()); - } -#else - app_dir = QFileInfo(util::readlink("/proc/self/exe").c_str()).path(); -#endif - - qputenv("QT_DBL_CLICK_DIST", QByteArray::number(150)); - // ensure the current dir matches the exectuable's directory - QDir::setCurrent(app_dir); - - setQtSurfaceFormat(); -} - -void swagLogMessageHandler(QtMsgType type, const QMessageLogContext &context, const QString &msg) { - static std::map levels = { - {QtMsgType::QtDebugMsg, CLOUDLOG_DEBUG}, - {QtMsgType::QtInfoMsg, CLOUDLOG_INFO}, - {QtMsgType::QtWarningMsg, CLOUDLOG_WARNING}, - {QtMsgType::QtCriticalMsg, CLOUDLOG_ERROR}, - {QtMsgType::QtSystemMsg, CLOUDLOG_ERROR}, - {QtMsgType::QtFatalMsg, CLOUDLOG_CRITICAL}, - }; - - std::string file, function; - if (context.file != nullptr) file = context.file; - if (context.function != nullptr) function = context.function; - - auto bts = msg.toUtf8(); - cloudlog_e(levels[type], file.c_str(), context.line, function.c_str(), "%s", bts.constData()); -} - - -QWidget* topWidget(QWidget* widget) { - while (widget->parentWidget() != nullptr) widget=widget->parentWidget(); - return widget; -} - -QPixmap loadPixmap(const QString &fileName, const QSize &size, Qt::AspectRatioMode aspectRatioMode) { - if (size.isEmpty()) { - return QPixmap(fileName); - } else { - return QPixmap(fileName).scaled(size, aspectRatioMode, Qt::SmoothTransformation); - } -} - -void drawRoundedRect(QPainter &painter, const QRectF &rect, qreal xRadiusTop, qreal yRadiusTop, qreal xRadiusBottom, qreal yRadiusBottom){ - qreal w_2 = rect.width() / 2; - qreal h_2 = rect.height() / 2; - - xRadiusTop = 100 * qMin(xRadiusTop, w_2) / w_2; - yRadiusTop = 100 * qMin(yRadiusTop, h_2) / h_2; - - xRadiusBottom = 100 * qMin(xRadiusBottom, w_2) / w_2; - yRadiusBottom = 100 * qMin(yRadiusBottom, h_2) / h_2; - - qreal x = rect.x(); - qreal y = rect.y(); - qreal w = rect.width(); - qreal h = rect.height(); - - qreal rxx2Top = w*xRadiusTop/100; - qreal ryy2Top = h*yRadiusTop/100; - - qreal rxx2Bottom = w*xRadiusBottom/100; - qreal ryy2Bottom = h*yRadiusBottom/100; - - QPainterPath path; - path.arcMoveTo(x, y, rxx2Top, ryy2Top, 180); - path.arcTo(x, y, rxx2Top, ryy2Top, 180, -90); - path.arcTo(x+w-rxx2Top, y, rxx2Top, ryy2Top, 90, -90); - path.arcTo(x+w-rxx2Bottom, y+h-ryy2Bottom, rxx2Bottom, ryy2Bottom, 0, -90); - path.arcTo(x, y+h-ryy2Bottom, rxx2Bottom, ryy2Bottom, 270, -90); - path.closeSubpath(); - - painter.drawPath(path); -} - -QColor interpColor(float xv, std::vector xp, std::vector fp) { - assert(xp.size() == fp.size()); - - int N = xp.size(); - int hi = 0; - - while (hi < N and xv > xp[hi]) hi++; - int low = hi - 1; - - if (hi == N && xv > xp[low]) { - return fp[fp.size() - 1]; - } else if (hi == 0){ - return fp[0]; - } else { - return QColor( - (xv - xp[low]) * (fp[hi].red() - fp[low].red()) / (xp[hi] - xp[low]) + fp[low].red(), - (xv - xp[low]) * (fp[hi].green() - fp[low].green()) / (xp[hi] - xp[low]) + fp[low].green(), - (xv - xp[low]) * (fp[hi].blue() - fp[low].blue()) / (xp[hi] - xp[low]) + fp[low].blue(), - (xv - xp[low]) * (fp[hi].alpha() - fp[low].alpha()) / (xp[hi] - xp[low]) + fp[low].alpha()); - } -} - -static QHash load_bootstrap_icons() { - QHash icons; - - QFile f(":/bootstrap-icons.svg"); - if (f.open(QIODevice::ReadOnly | QIODevice::Text)) { - QDomDocument xml; - xml.setContent(&f); - QDomNode n = xml.documentElement().firstChild(); - while (!n.isNull()) { - QDomElement e = n.toElement(); - if (!e.isNull() && e.hasAttribute("id")) { - QString svg_str; - QTextStream stream(&svg_str); - n.save(stream, 0); - svg_str.replace("", ""); - icons[e.attribute("id")] = svg_str.toUtf8(); - } - n = n.nextSibling(); - } - } - return icons; -} - -QPixmap bootstrapPixmap(const QString &id) { - static QHash icons = load_bootstrap_icons(); - - QPixmap pixmap; - if (auto it = icons.find(id); it != icons.end()) { - pixmap.loadFromData(it.value(), "svg"); - } - return pixmap; -} - -bool hasLongitudinalControl(const cereal::CarParams::Reader &car_params) { - // Using the experimental longitudinal toggle, returns whether longitudinal control - // will be active without needing a restart of openpilot - Params params = Params(); - return (car_params.getExperimentalLongitudinalAvailable() - ? params.getBool("ExperimentalLongitudinalEnabled") - : car_params.getOpenpilotLongitudinalControl()) && !params.getBool("DisableOpenpilotLongitudinal"); -} - -// ParamWatcher - -ParamWatcher::ParamWatcher(QObject *parent) : QObject(parent) { - watcher = new QFileSystemWatcher(this); - QObject::connect(watcher, &QFileSystemWatcher::fileChanged, this, &ParamWatcher::fileChanged); -} - -void ParamWatcher::fileChanged(const QString &path) { - auto param_name = QFileInfo(path).fileName(); - auto param_value = QString::fromStdString(params.get(param_name.toStdString())); - - auto it = params_hash.find(param_name); - bool content_changed = (it == params_hash.end()) || (it.value() != param_value); - params_hash[param_name] = param_value; - // emit signal when the content changes. - if (content_changed) { - emit paramChanged(param_name, param_value); - } -} - -void ParamWatcher::addParam(const QString ¶m_name) { - watcher->addPath(QString::fromStdString(params.getParamPath(param_name.toStdString()))); -} diff --git a/selfdrive/ui/qt/util.h b/selfdrive/ui/qt/util.h deleted file mode 100644 index 2aae97b8602d3e..00000000000000 --- a/selfdrive/ui/qt/util.h +++ /dev/null @@ -1,57 +0,0 @@ -#pragma once - -#include -#include - -#include -#include -#include -#include -#include -#include - -#include "cereal/gen/cpp/car.capnp.h" -#include "common/params.h" - -QString getVersion(); -QString getBrand(); -QString getUserAgent(); -std::optional getDongleId(); -QMap getSupportedLanguages(); -void setQtSurfaceFormat(); -void sigTermHandler(int s); -QString timeAgo(const QDateTime &date); -void swagLogMessageHandler(QtMsgType type, const QMessageLogContext &context, const QString &msg); -void initApp(int argc, char *argv[], bool disable_hidpi = true); -QWidget* topWidget(QWidget* widget); -QPixmap loadPixmap(const QString &fileName, const QSize &size = {}, Qt::AspectRatioMode aspectRatioMode = Qt::KeepAspectRatio); -QPixmap bootstrapPixmap(const QString &id); - -void drawRoundedRect(QPainter &painter, const QRectF &rect, qreal xRadiusTop, qreal yRadiusTop, qreal xRadiusBottom, qreal yRadiusBottom); -QColor interpColor(float xv, std::vector xp, std::vector fp); -bool hasLongitudinalControl(const cereal::CarParams::Reader &car_params); - -struct InterFont : public QFont { - InterFont(int pixel_size, QFont::Weight weight = QFont::Normal) : QFont("Inter") { - setPixelSize(pixel_size); - setWeight(weight); - } -}; - -class ParamWatcher : public QObject { - Q_OBJECT - -public: - ParamWatcher(QObject *parent); - void addParam(const QString ¶m_name); - -signals: - void paramChanged(const QString ¶m_name, const QString ¶m_value); - -private: - void fileChanged(const QString &path); - - QFileSystemWatcher *watcher; - QHash params_hash; - Params params; -}; diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc deleted file mode 100644 index 914b04b6544445..00000000000000 --- a/selfdrive/ui/qt/widgets/cameraview.cc +++ /dev/null @@ -1,439 +0,0 @@ -#include "selfdrive/ui/qt/widgets/cameraview.h" - -#ifdef __APPLE__ -#include -#else -#include -#endif - -#include -#include -#include -#include - -#include -#include -#include - -namespace { - -const char frame_vertex_shader[] = -#ifdef __APPLE__ - "#version 330 core\n" -#else - "#version 300 es\n" -#endif - "layout(location = 0) in vec4 aPosition;\n" - "layout(location = 1) in vec2 aTexCoord;\n" - "uniform mat4 uTransform;\n" - "out vec2 vTexCoord;\n" - "void main() {\n" - " gl_Position = uTransform * aPosition;\n" - " vTexCoord = aTexCoord;\n" - "}\n"; - -const char frame_fragment_shader[] = -#ifdef QCOM2 - "#version 300 es\n" - "#extension GL_OES_EGL_image_external_essl3 : enable\n" - "precision mediump float;\n" - "uniform samplerExternalOES uTexture;\n" - "in vec2 vTexCoord;\n" - "out vec4 colorOut;\n" - "void main() {\n" - " colorOut = texture(uTexture, vTexCoord);\n" - // gamma to improve worst case visibility when dark - " colorOut.rgb = pow(colorOut.rgb, vec3(1.0/1.28));\n" - "}\n"; -#else -#ifdef __APPLE__ - "#version 330 core\n" -#else - "#version 300 es\n" - "precision mediump float;\n" -#endif - "uniform sampler2D uTextureY;\n" - "uniform sampler2D uTextureUV;\n" - "in vec2 vTexCoord;\n" - "out vec4 colorOut;\n" - "void main() {\n" - " float y = texture(uTextureY, vTexCoord).r;\n" - " vec2 uv = texture(uTextureUV, vTexCoord).rg - 0.5;\n" - " float r = y + 1.402 * uv.y;\n" - " float g = y - 0.344 * uv.x - 0.714 * uv.y;\n" - " float b = y + 1.772 * uv.x;\n" - " colorOut = vec4(r, g, b, 1.0);\n" - "}\n"; -#endif - -mat4 get_driver_view_transform(int screen_width, int screen_height, int stream_width, int stream_height) { - const float driver_view_ratio = 2.0; - const float yscale = stream_height * driver_view_ratio / stream_width; - const float xscale = yscale*screen_height/screen_width*stream_width/stream_height; - mat4 transform = (mat4){{ - xscale, 0.0, 0.0, 0.0, - 0.0, yscale, 0.0, 0.0, - 0.0, 0.0, 1.0, 0.0, - 0.0, 0.0, 0.0, 1.0, - }}; - return transform; -} - -mat4 get_fit_view_transform(float widget_aspect_ratio, float frame_aspect_ratio) { - float zx = 1, zy = 1; - if (frame_aspect_ratio > widget_aspect_ratio) { - zy = widget_aspect_ratio / frame_aspect_ratio; - } else { - zx = frame_aspect_ratio / widget_aspect_ratio; - } - - const mat4 frame_transform = {{ - zx, 0.0, 0.0, 0.0, - 0.0, zy, 0.0, 0.0, - 0.0, 0.0, 1.0, 0.0, - 0.0, 0.0, 0.0, 1.0, - }}; - return frame_transform; -} - -} // namespace - -CameraWidget::CameraWidget(std::string stream_name, VisionStreamType type, bool zoom, QWidget* parent) : - stream_name(stream_name), active_stream_type(type), requested_stream_type(type), zoomed_view(zoom), QOpenGLWidget(parent) { - setAttribute(Qt::WA_OpaquePaintEvent); - qRegisterMetaType>("availableStreams"); - QObject::connect(this, &CameraWidget::vipcThreadConnected, this, &CameraWidget::vipcConnected, Qt::BlockingQueuedConnection); - QObject::connect(this, &CameraWidget::vipcThreadFrameReceived, this, &CameraWidget::vipcFrameReceived, Qt::QueuedConnection); - QObject::connect(this, &CameraWidget::vipcAvailableStreamsUpdated, this, &CameraWidget::availableStreamsUpdated, Qt::QueuedConnection); - QObject::connect(QApplication::instance(), &QCoreApplication::aboutToQuit, this, &CameraWidget::stopVipcThread); -} - -CameraWidget::~CameraWidget() { - makeCurrent(); - stopVipcThread(); - if (isValid()) { - glDeleteVertexArrays(1, &frame_vao); - glDeleteBuffers(1, &frame_vbo); - glDeleteBuffers(1, &frame_ibo); - glDeleteBuffers(2, textures); - } - doneCurrent(); -} - -// Qt uses device-independent pixels, depending on platform this may be -// different to what OpenGL uses -int CameraWidget::glWidth() { - return width() * devicePixelRatio(); -} - -int CameraWidget::glHeight() { - return height() * devicePixelRatio(); -} - -void CameraWidget::initializeGL() { - initializeOpenGLFunctions(); - - program = std::make_unique(context()); - bool ret = program->addShaderFromSourceCode(QOpenGLShader::Vertex, frame_vertex_shader); - assert(ret); - ret = program->addShaderFromSourceCode(QOpenGLShader::Fragment, frame_fragment_shader); - assert(ret); - - program->link(); - GLint frame_pos_loc = program->attributeLocation("aPosition"); - GLint frame_texcoord_loc = program->attributeLocation("aTexCoord"); - - auto [x1, x2, y1, y2] = requested_stream_type == VISION_STREAM_DRIVER ? std::tuple(0.f, 1.f, 1.f, 0.f) : std::tuple(1.f, 0.f, 1.f, 0.f); - const uint8_t frame_indicies[] = {0, 1, 2, 0, 2, 3}; - const float frame_coords[4][4] = { - {-1.0, -1.0, x2, y1}, // bl - {-1.0, 1.0, x2, y2}, // tl - { 1.0, 1.0, x1, y2}, // tr - { 1.0, -1.0, x1, y1}, // br - }; - - glGenVertexArrays(1, &frame_vao); - glBindVertexArray(frame_vao); - glGenBuffers(1, &frame_vbo); - glBindBuffer(GL_ARRAY_BUFFER, frame_vbo); - glBufferData(GL_ARRAY_BUFFER, sizeof(frame_coords), frame_coords, GL_STATIC_DRAW); - glEnableVertexAttribArray(frame_pos_loc); - glVertexAttribPointer(frame_pos_loc, 2, GL_FLOAT, GL_FALSE, - sizeof(frame_coords[0]), (const void *)0); - glEnableVertexAttribArray(frame_texcoord_loc); - glVertexAttribPointer(frame_texcoord_loc, 2, GL_FLOAT, GL_FALSE, - sizeof(frame_coords[0]), (const void *)(sizeof(float) * 2)); - glGenBuffers(1, &frame_ibo); - glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, frame_ibo); - glBufferData(GL_ELEMENT_ARRAY_BUFFER, sizeof(frame_indicies), frame_indicies, GL_STATIC_DRAW); - glBindBuffer(GL_ARRAY_BUFFER, 0); - glBindVertexArray(0); - - glUseProgram(program->programId()); - -#ifdef QCOM2 - glUniform1i(program->uniformLocation("uTexture"), 0); -#else - glGenTextures(2, textures); - glUniform1i(program->uniformLocation("uTextureY"), 0); - glUniform1i(program->uniformLocation("uTextureUV"), 1); -#endif -} - -void CameraWidget::showEvent(QShowEvent *event) { - if (!vipc_thread) { - clearFrames(); - vipc_thread = new QThread(); - connect(vipc_thread, &QThread::started, [=]() { vipcThread(); }); - connect(vipc_thread, &QThread::finished, vipc_thread, &QObject::deleteLater); - vipc_thread->start(); - } -} - -void CameraWidget::stopVipcThread() { - makeCurrent(); - if (vipc_thread) { - vipc_thread->requestInterruption(); - vipc_thread->quit(); - vipc_thread->wait(); - vipc_thread = nullptr; - } - -#ifdef QCOM2 - EGLDisplay egl_display = eglGetCurrentDisplay(); - assert(egl_display != EGL_NO_DISPLAY); - for (auto &pair : egl_images) { - eglDestroyImageKHR(egl_display, pair.second); - assert(eglGetError() == EGL_SUCCESS); - } - egl_images.clear(); -#endif -} - -void CameraWidget::availableStreamsUpdated(std::set streams) { - available_streams = streams; -} - -void CameraWidget::updateFrameMat() { - int w = glWidth(), h = glHeight(); - - if (zoomed_view) { - if (active_stream_type == VISION_STREAM_DRIVER) { - if (stream_width > 0 && stream_height > 0) { - frame_mat = get_driver_view_transform(w, h, stream_width, stream_height); - } - } else { - // Project point at "infinity" to compute x and y offsets - // to ensure this ends up in the middle of the screen - // for narrow come and a little lower for wide cam. - // TODO: use proper perspective transform? - if (active_stream_type == VISION_STREAM_WIDE_ROAD) { - intrinsic_matrix = ECAM_INTRINSIC_MATRIX; - zoom = 2.0; - } else { - intrinsic_matrix = FCAM_INTRINSIC_MATRIX; - zoom = 1.1; - } - const vec3 inf = {{1000., 0., 0.}}; - const vec3 Ep = matvecmul3(calibration, inf); - const vec3 Kep = matvecmul3(intrinsic_matrix, Ep); - - float x_offset_ = (Kep.v[0] / Kep.v[2] - intrinsic_matrix.v[2]) * zoom; - float y_offset_ = (Kep.v[1] / Kep.v[2] - intrinsic_matrix.v[5]) * zoom; - - float max_x_offset = intrinsic_matrix.v[2] * zoom - w / 2 - 5; - float max_y_offset = intrinsic_matrix.v[5] * zoom - h / 2 - 5; - - x_offset = std::clamp(x_offset_, -max_x_offset, max_x_offset); - y_offset = std::clamp(y_offset_, -max_y_offset, max_y_offset); - - float zx = zoom * 2 * intrinsic_matrix.v[2] / w; - float zy = zoom * 2 * intrinsic_matrix.v[5] / h; - const mat4 frame_transform = {{ - zx, 0.0, 0.0, -x_offset / w * 2, - 0.0, zy, 0.0, y_offset / h * 2, - 0.0, 0.0, 1.0, 0.0, - 0.0, 0.0, 0.0, 1.0, - }}; - frame_mat = frame_transform; - } - } else if (stream_width > 0 && stream_height > 0) { - // fit frame to widget size - float widget_aspect_ratio = (float)w / h; - float frame_aspect_ratio = (float)stream_width / stream_height; - frame_mat = get_fit_view_transform(widget_aspect_ratio, frame_aspect_ratio); - } -} - -void CameraWidget::updateCalibration(const mat3 &calib) { - calibration = calib; -} - -void CameraWidget::paintGL() { - glClearColor(bg.redF(), bg.greenF(), bg.blueF(), bg.alphaF()); - glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT); - - std::lock_guard lk(frame_lock); - if (frames.empty()) return; - - int frame_idx = frames.size() - 1; - - // Always draw latest frame until sync logic is more stable - // for (frame_idx = 0; frame_idx < frames.size() - 1; frame_idx++) { - // if (frames[frame_idx].first == draw_frame_id) break; - // } - - // Log duplicate/dropped frames - if (frames[frame_idx].first == prev_frame_id) { - qDebug() << "Drawing same frame twice" << frames[frame_idx].first; - } else if (frames[frame_idx].first != prev_frame_id + 1) { - qDebug() << "Skipped frame" << frames[frame_idx].first; - } - prev_frame_id = frames[frame_idx].first; - VisionBuf *frame = frames[frame_idx].second; - assert(frame != nullptr); - - updateFrameMat(); - - glViewport(0, 0, glWidth(), glHeight()); - glBindVertexArray(frame_vao); - glUseProgram(program->programId()); - glPixelStorei(GL_UNPACK_ALIGNMENT, 1); - -#ifdef QCOM2 - // no frame copy - glActiveTexture(GL_TEXTURE0); - glEGLImageTargetTexture2DOES(GL_TEXTURE_EXTERNAL_OES, egl_images[frame->idx]); - assert(glGetError() == GL_NO_ERROR); -#else - // fallback to copy - glPixelStorei(GL_UNPACK_ROW_LENGTH, stream_stride); - glActiveTexture(GL_TEXTURE0); - glBindTexture(GL_TEXTURE_2D, textures[0]); - glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, stream_width, stream_height, GL_RED, GL_UNSIGNED_BYTE, frame->y); - assert(glGetError() == GL_NO_ERROR); - - glPixelStorei(GL_UNPACK_ROW_LENGTH, stream_stride/2); - glActiveTexture(GL_TEXTURE0 + 1); - glBindTexture(GL_TEXTURE_2D, textures[1]); - glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, stream_width/2, stream_height/2, GL_RG, GL_UNSIGNED_BYTE, frame->uv); - assert(glGetError() == GL_NO_ERROR); -#endif - - glUniformMatrix4fv(program->uniformLocation("uTransform"), 1, GL_TRUE, frame_mat.v); - glEnableVertexAttribArray(0); - glDrawElements(GL_TRIANGLES, 6, GL_UNSIGNED_BYTE, (const void *)0); - glDisableVertexAttribArray(0); - glBindVertexArray(0); - glBindTexture(GL_TEXTURE_2D, 0); - glActiveTexture(GL_TEXTURE0); - glPixelStorei(GL_UNPACK_ALIGNMENT, 4); - glPixelStorei(GL_UNPACK_ROW_LENGTH, 0); -} - -void CameraWidget::vipcConnected(VisionIpcClient *vipc_client) { - makeCurrent(); - stream_width = vipc_client->buffers[0].width; - stream_height = vipc_client->buffers[0].height; - stream_stride = vipc_client->buffers[0].stride; - -#ifdef QCOM2 - EGLDisplay egl_display = eglGetCurrentDisplay(); - assert(egl_display != EGL_NO_DISPLAY); - for (auto &pair : egl_images) { - eglDestroyImageKHR(egl_display, pair.second); - } - egl_images.clear(); - - for (int i = 0; i < vipc_client->num_buffers; i++) { // import buffers into OpenGL - int fd = dup(vipc_client->buffers[i].fd); // eglDestroyImageKHR will close, so duplicate - EGLint img_attrs[] = { - EGL_WIDTH, (int)vipc_client->buffers[i].width, - EGL_HEIGHT, (int)vipc_client->buffers[i].height, - EGL_LINUX_DRM_FOURCC_EXT, DRM_FORMAT_NV12, - EGL_DMA_BUF_PLANE0_FD_EXT, fd, - EGL_DMA_BUF_PLANE0_OFFSET_EXT, 0, - EGL_DMA_BUF_PLANE0_PITCH_EXT, (int)vipc_client->buffers[i].stride, - EGL_DMA_BUF_PLANE1_FD_EXT, fd, - EGL_DMA_BUF_PLANE1_OFFSET_EXT, (int)vipc_client->buffers[i].uv_offset, - EGL_DMA_BUF_PLANE1_PITCH_EXT, (int)vipc_client->buffers[i].stride, - EGL_NONE - }; - egl_images[i] = eglCreateImageKHR(egl_display, EGL_NO_CONTEXT, EGL_LINUX_DMA_BUF_EXT, 0, img_attrs); - assert(eglGetError() == EGL_SUCCESS); - } -#else - glBindTexture(GL_TEXTURE_2D, textures[0]); - glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR); - glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR); - glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE); - glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE); - glTexImage2D(GL_TEXTURE_2D, 0, GL_R8, stream_width, stream_height, 0, GL_RED, GL_UNSIGNED_BYTE, nullptr); - assert(glGetError() == GL_NO_ERROR); - - glBindTexture(GL_TEXTURE_2D, textures[1]); - glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR); - glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR); - glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE); - glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE); - glTexImage2D(GL_TEXTURE_2D, 0, GL_RG8, stream_width/2, stream_height/2, 0, GL_RG, GL_UNSIGNED_BYTE, nullptr); - assert(glGetError() == GL_NO_ERROR); -#endif -} - -void CameraWidget::vipcFrameReceived() { - update(); -} - -void CameraWidget::vipcThread() { - VisionStreamType cur_stream = requested_stream_type; - std::unique_ptr vipc_client; - VisionIpcBufExtra meta_main = {0}; - - while (!QThread::currentThread()->isInterruptionRequested()) { - if (!vipc_client || cur_stream != requested_stream_type) { - clearFrames(); - qDebug().nospace() << "connecting to stream " << requested_stream_type << ", was connected to " << cur_stream; - cur_stream = requested_stream_type; - vipc_client.reset(new VisionIpcClient(stream_name, cur_stream, false)); - } - active_stream_type = cur_stream; - - if (!vipc_client->connected) { - clearFrames(); - auto streams = VisionIpcClient::getAvailableStreams(stream_name, false); - if (streams.empty()) { - QThread::msleep(100); - continue; - } - emit vipcAvailableStreamsUpdated(streams); - - if (!vipc_client->connect(false)) { - QThread::msleep(100); - continue; - } - emit vipcThreadConnected(vipc_client.get()); - } - - if (VisionBuf *buf = vipc_client->recv(&meta_main, 1000)) { - { - std::lock_guard lk(frame_lock); - frames.push_back(std::make_pair(meta_main.frame_id, buf)); - while (frames.size() > FRAME_BUFFER_SIZE) { - frames.pop_front(); - } - } - emit vipcThreadFrameReceived(); - } else { - if (!isVisible()) { - vipc_client->connected = false; - } - } - } -} - -void CameraWidget::clearFrames() { - std::lock_guard lk(frame_lock); - frames.clear(); - available_streams.clear(); -} diff --git a/selfdrive/ui/qt/widgets/cameraview.h b/selfdrive/ui/qt/widgets/cameraview.h deleted file mode 100644 index 85ec49873579dc..00000000000000 --- a/selfdrive/ui/qt/widgets/cameraview.h +++ /dev/null @@ -1,103 +0,0 @@ -#pragma once - -#include -#include -#include -#include -#include -#include -#include - -#include -#include -#include -#include - -#ifdef QCOM2 -#define EGL_EGLEXT_PROTOTYPES -#define EGL_NO_X11 -#define GL_TEXTURE_EXTERNAL_OES 0x8D65 -#include -#include -#include -#endif - -#include "msgq/visionipc/visionipc_client.h" -#include "system/camerad/cameras/camera_common.h" -#include "selfdrive/ui/ui.h" - -const int FRAME_BUFFER_SIZE = 5; -static_assert(FRAME_BUFFER_SIZE <= YUV_BUFFER_COUNT); - -class CameraWidget : public QOpenGLWidget, protected QOpenGLFunctions { - Q_OBJECT - -public: - using QOpenGLWidget::QOpenGLWidget; - explicit CameraWidget(std::string stream_name, VisionStreamType stream_type, bool zoom, QWidget* parent = nullptr); - ~CameraWidget(); - void setBackgroundColor(const QColor &color) { bg = color; } - void setFrameId(int frame_id) { draw_frame_id = frame_id; } - void setStreamType(VisionStreamType type) { requested_stream_type = type; } - VisionStreamType getStreamType() { return active_stream_type; } - void stopVipcThread(); - -signals: - void clicked(); - void vipcThreadConnected(VisionIpcClient *); - void vipcThreadFrameReceived(); - void vipcAvailableStreamsUpdated(std::set); - -protected: - void paintGL() override; - void initializeGL() override; - void resizeGL(int w, int h) override { updateFrameMat(); } - void showEvent(QShowEvent *event) override; - void mouseReleaseEvent(QMouseEvent *event) override { emit clicked(); } - virtual void updateFrameMat(); - void updateCalibration(const mat3 &calib); - void vipcThread(); - void clearFrames(); - - int glWidth(); - int glHeight(); - - bool zoomed_view; - GLuint frame_vao, frame_vbo, frame_ibo; - GLuint textures[2]; - mat4 frame_mat = {}; - std::unique_ptr program; - QColor bg = QColor("#000000"); - -#ifdef QCOM2 - std::map egl_images; -#endif - - std::string stream_name; - int stream_width = 0; - int stream_height = 0; - int stream_stride = 0; - std::atomic active_stream_type; - std::atomic requested_stream_type; - std::set available_streams; - QThread *vipc_thread = nullptr; - - // Calibration - float x_offset = 0; - float y_offset = 0; - float zoom = 1.0; - mat3 calibration = DEFAULT_CALIBRATION; - mat3 intrinsic_matrix = FCAM_INTRINSIC_MATRIX; - - std::recursive_mutex frame_lock; - std::deque> frames; - uint32_t draw_frame_id = 0; - uint32_t prev_frame_id = 0; - -protected slots: - void vipcConnected(VisionIpcClient *vipc_client); - void vipcFrameReceived(); - void availableStreamsUpdated(std::set streams); -}; - -Q_DECLARE_METATYPE(std::set); diff --git a/selfdrive/ui/qt/widgets/controls.cc b/selfdrive/ui/qt/widgets/controls.cc deleted file mode 100644 index 40dda971f51e6f..00000000000000 --- a/selfdrive/ui/qt/widgets/controls.cc +++ /dev/null @@ -1,141 +0,0 @@ -#include "selfdrive/ui/qt/widgets/controls.h" - -#include -#include - -AbstractControl::AbstractControl(const QString &title, const QString &desc, const QString &icon, QWidget *parent) : QFrame(parent) { - QVBoxLayout *main_layout = new QVBoxLayout(this); - main_layout->setMargin(0); - - hlayout = new QHBoxLayout; - hlayout->setMargin(0); - hlayout->setSpacing(20); - - // left icon - icon_label = new QLabel(this); - hlayout->addWidget(icon_label); - if (!icon.isEmpty()) { - icon_pixmap = QPixmap(icon).scaledToWidth(80, Qt::SmoothTransformation); - icon_label->setPixmap(icon_pixmap); - icon_label->setSizePolicy(QSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed)); - } - icon_label->setVisible(!icon.isEmpty()); - - // title - title_label = new QPushButton(title); - title_label->setFixedHeight(120); - title_label->setStyleSheet("font-size: 50px; font-weight: 400; text-align: left; border: none;"); - hlayout->addWidget(title_label, 1); - - // value next to control button - value = new ElidedLabel(); - value->setAlignment(Qt::AlignRight | Qt::AlignVCenter); - value->setStyleSheet("color: #aaaaaa"); - hlayout->addWidget(value); - - main_layout->addLayout(hlayout); - - // description - description = new QLabel(desc); - description->setContentsMargins(40, 20, 40, 20); - description->setStyleSheet("font-size: 40px; color: grey"); - description->setWordWrap(true); - description->setVisible(false); - main_layout->addWidget(description); - - connect(title_label, &QPushButton::clicked, [=]() { - if (!description->isVisible()) { - emit showDescriptionEvent(); - } - - if (!description->text().isEmpty()) { - description->setVisible(!description->isVisible()); - } - }); - - main_layout->addStretch(); -} - -void AbstractControl::hideEvent(QHideEvent *e) { - if (description != nullptr) { - description->hide(); - } -} - -// controls - -ButtonControl::ButtonControl(const QString &title, const QString &text, const QString &desc, QWidget *parent) : AbstractControl(title, desc, "", parent) { - btn.setText(text); - btn.setStyleSheet(R"( - QPushButton { - padding: 0; - border-radius: 50px; - font-size: 35px; - font-weight: 500; - color: #E4E4E4; - background-color: #393939; - } - QPushButton:pressed { - background-color: #4a4a4a; - } - QPushButton:disabled { - color: #33E4E4E4; - } - )"); - btn.setFixedSize(250, 100); - QObject::connect(&btn, &QPushButton::clicked, this, &ButtonControl::clicked); - hlayout->addWidget(&btn); -} - -// ElidedLabel - -ElidedLabel::ElidedLabel(QWidget *parent) : ElidedLabel({}, parent) {} - -ElidedLabel::ElidedLabel(const QString &text, QWidget *parent) : QLabel(text.trimmed(), parent) { - setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Preferred); - setMinimumWidth(1); -} - -void ElidedLabel::resizeEvent(QResizeEvent* event) { - QLabel::resizeEvent(event); - lastText_ = elidedText_ = ""; -} - -void ElidedLabel::paintEvent(QPaintEvent *event) { - const QString curText = text(); - if (curText != lastText_) { - elidedText_ = fontMetrics().elidedText(curText, Qt::ElideRight, contentsRect().width()); - lastText_ = curText; - } - - QPainter painter(this); - drawFrame(&painter); - QStyleOption opt; - opt.initFrom(this); - style()->drawItemText(&painter, contentsRect(), alignment(), opt.palette, isEnabled(), elidedText_, foregroundRole()); -} - -// ParamControl - -ParamControl::ParamControl(const QString ¶m, const QString &title, const QString &desc, const QString &icon, QWidget *parent) - : ToggleControl(title, desc, icon, false, parent) { - key = param.toStdString(); - QObject::connect(this, &ParamControl::toggleFlipped, this, &ParamControl::toggleClicked); -} - -void ParamControl::toggleClicked(bool state) { - auto do_confirm = [this]() { - QString content("

" + title_label->text() + "


" - "

" + getDescription() + "

"); - return ConfirmationDialog(content, tr("Enable"), tr("Cancel"), true, this).exec(); - }; - - bool confirmed = store_confirm && params.getBool(key + "Confirmed"); - if (!confirm || confirmed || !state || do_confirm()) { - if (store_confirm && state) params.putBool(key + "Confirmed", true); - params.putBool(key, state); - setIcon(state); - } else { - toggle.togglePosition(); - } -} diff --git a/selfdrive/ui/qt/widgets/controls.h b/selfdrive/ui/qt/widgets/controls.h deleted file mode 100644 index cd6b1e82799dba..00000000000000 --- a/selfdrive/ui/qt/widgets/controls.h +++ /dev/null @@ -1,323 +0,0 @@ -#pragma once - -#include -#include - -#include -#include -#include -#include -#include -#include - -#include "common/params.h" -#include "selfdrive/ui/qt/widgets/input.h" -#include "selfdrive/ui/qt/widgets/toggle.h" - -class ElidedLabel : public QLabel { - Q_OBJECT - -public: - explicit ElidedLabel(QWidget *parent = 0); - explicit ElidedLabel(const QString &text, QWidget *parent = 0); - -signals: - void clicked(); - -protected: - void paintEvent(QPaintEvent *event) override; - void resizeEvent(QResizeEvent* event) override; - void mouseReleaseEvent(QMouseEvent *event) override { - if (rect().contains(event->pos())) { - emit clicked(); - } - } - QString lastText_, elidedText_; -}; - - -class AbstractControl : public QFrame { - Q_OBJECT - -public: - void setDescription(const QString &desc) { - if (description) description->setText(desc); - } - - void setTitle(const QString &title) { - title_label->setText(title); - } - - void setValue(const QString &val) { - value->setText(val); - } - - const QString getDescription() { - return description->text(); - } - - QLabel *icon_label; - QPixmap icon_pixmap; - -public slots: - void showDescription() { - description->setVisible(true); - } - -signals: - void showDescriptionEvent(); - -protected: - AbstractControl(const QString &title, const QString &desc = "", const QString &icon = "", QWidget *parent = nullptr); - void hideEvent(QHideEvent *e) override; - - QHBoxLayout *hlayout; - QPushButton *title_label; - -private: - ElidedLabel *value; - QLabel *description = nullptr; -}; - -// widget to display a value -class LabelControl : public AbstractControl { - Q_OBJECT - -public: - LabelControl(const QString &title, const QString &text = "", const QString &desc = "", QWidget *parent = nullptr) : AbstractControl(title, desc, "", parent) { - label.setText(text); - label.setAlignment(Qt::AlignRight | Qt::AlignVCenter); - hlayout->addWidget(&label); - } - void setText(const QString &text) { label.setText(text); } - -private: - ElidedLabel label; -}; - -// widget for a button with a label -class ButtonControl : public AbstractControl { - Q_OBJECT - -public: - ButtonControl(const QString &title, const QString &text, const QString &desc = "", QWidget *parent = nullptr); - inline void setText(const QString &text) { btn.setText(text); } - inline QString text() const { return btn.text(); } - -signals: - void clicked(); - -public slots: - void setEnabled(bool enabled) { btn.setEnabled(enabled); } - -private: - QPushButton btn; -}; - -class ToggleControl : public AbstractControl { - Q_OBJECT - -public: - ToggleControl(const QString &title, const QString &desc = "", const QString &icon = "", const bool state = false, QWidget *parent = nullptr) : AbstractControl(title, desc, icon, parent) { - toggle.setFixedSize(150, 100); - if (state) { - toggle.togglePosition(); - } - hlayout->addWidget(&toggle); - QObject::connect(&toggle, &Toggle::stateChanged, this, &ToggleControl::toggleFlipped); - } - - void setEnabled(bool enabled) { - toggle.setEnabled(enabled); - toggle.update(); - } - - void refresh() { - toggle.togglePosition(); - } - -signals: - void toggleFlipped(bool state); - -protected: - Toggle toggle; -}; - -// widget to toggle params -class ParamControl : public ToggleControl { - Q_OBJECT - -public: - ParamControl(const QString ¶m, const QString &title, const QString &desc, const QString &icon, QWidget *parent = nullptr); - void setConfirmation(bool _confirm, bool _store_confirm) { - confirm = _confirm; - store_confirm = _store_confirm; - } - - void setActiveIcon(const QString &icon) { - active_icon_pixmap = QPixmap(icon).scaledToWidth(80, Qt::SmoothTransformation); - } - - void refresh() { - bool state = params.getBool(key); - if (state != toggle.on) { - toggle.togglePosition(); - setIcon(state); - } - } - - void showEvent(QShowEvent *event) override { - refresh(); - } - -private: - void toggleClicked(bool state); - void setIcon(bool state) { - if (state && !active_icon_pixmap.isNull()) { - icon_label->setPixmap(active_icon_pixmap); - } else if (!icon_pixmap.isNull()) { - icon_label->setPixmap(icon_pixmap); - } - } - - std::string key; - Params params; - QPixmap active_icon_pixmap; - bool confirm = false; - bool store_confirm = false; -}; - -class ButtonParamControl : public AbstractControl { - Q_OBJECT -public: - ButtonParamControl(const QString ¶m, const QString &title, const QString &desc, const QString &icon, - const std::vector &button_texts, const int minimum_button_width = 225) : AbstractControl(title, desc, icon) { - const QString style = R"( - QPushButton { - border-radius: 50px; - font-size: 40px; - font-weight: 500; - height:100px; - padding: 0 25 0 25; - color: #E4E4E4; - background-color: #393939; - } - QPushButton:pressed { - background-color: #4a4a4a; - } - QPushButton:checked:enabled { - background-color: #33Ab4C; - } - QPushButton:disabled { - color: #33E4E4E4; - } - )"; - key = param.toStdString(); - int value = atoi(params.get(key).c_str()); - - button_group = new QButtonGroup(this); - button_group->setExclusive(true); - for (int i = 0; i < button_texts.size(); i++) { - QPushButton *button = new QPushButton(button_texts[i], this); - button->setCheckable(true); - button->setChecked(i == value); - button->setStyleSheet(style); - button->setMinimumWidth(minimum_button_width); - hlayout->addWidget(button); - button_group->addButton(button, i); - button->installEventFilter(this); - } - - QObject::connect(button_group, QOverload::of(&QButtonGroup::buttonClicked), [=](int id) { - params.put(key, std::to_string(id)); - emit buttonClicked(id); - }); - } - - void setEnabled(bool enable) { - for (auto btn : button_group->buttons()) { - btn->setEnabled(enable); - } - } - - void setEnabledButtons(int id, bool enable) { - if (QAbstractButton *button = button_group->button(id)) { - button->setEnabled(enable); - } - } - - void setCheckedButton(int id) { - button_group->button(id)->setChecked(true); - } - - void refresh() { - int value = atoi(params.get(key).c_str()); - button_group->button(value)->setChecked(true); - } - - void showEvent(QShowEvent *event) override { - refresh(); - } - -signals: - void buttonClicked(int id); - void disabledButtonClicked(int id); - -protected: - bool eventFilter(QObject *obj, QEvent *event) override { - if (event->type() == QEvent::MouseButtonPress) { - QPushButton *button = qobject_cast(obj); - if (button && !button->isEnabled()) { - emit disabledButtonClicked(button_group->id(button)); - } - } - return AbstractControl::eventFilter(obj, event); - } - -private: - std::string key; - Params params; - QButtonGroup *button_group; -}; - -class ListWidget : public QWidget { - Q_OBJECT - public: - explicit ListWidget(QWidget *parent = 0) : QWidget(parent), outer_layout(this) { - outer_layout.setMargin(0); - outer_layout.setSpacing(0); - outer_layout.addLayout(&inner_layout); - inner_layout.setMargin(0); - inner_layout.setSpacing(25); // default spacing is 25 - outer_layout.addStretch(); - } - inline void addItem(QWidget *w) { inner_layout.addWidget(w); } - inline void addItem(QLayout *layout) { inner_layout.addLayout(layout); } - inline void setSpacing(int spacing) { inner_layout.setSpacing(spacing); } - -private: - void paintEvent(QPaintEvent *) override { - QPainter p(this); - p.setPen(Qt::gray); - for (int i = 0; i < inner_layout.count() - 1; ++i) { - QWidget *widget = inner_layout.itemAt(i)->widget(); - if (widget == nullptr || widget->isVisible()) { - QRect r = inner_layout.itemAt(i)->geometry(); - int bottom = r.bottom() + inner_layout.spacing() / 2; - p.drawLine(r.left() + 40, bottom, r.right() - 40, bottom); - } - } - } - QVBoxLayout outer_layout; - QVBoxLayout inner_layout; -}; - -// convenience class for wrapping layouts -class LayoutWidget : public QWidget { - Q_OBJECT - -public: - LayoutWidget(QLayout *l, QWidget *parent = nullptr) : QWidget(parent) { - setLayout(l); - } -}; diff --git a/selfdrive/ui/qt/widgets/input.cc b/selfdrive/ui/qt/widgets/input.cc deleted file mode 100644 index 0300ff0a4214ae..00000000000000 --- a/selfdrive/ui/qt/widgets/input.cc +++ /dev/null @@ -1,353 +0,0 @@ -#include "selfdrive/ui/qt/widgets/input.h" - -#include -#include - -#include "system/hardware/hw.h" -#include "selfdrive/ui/qt/util.h" -#include "selfdrive/ui/qt/qt_window.h" -#include "selfdrive/ui/qt/widgets/scrollview.h" - - -DialogBase::DialogBase(QWidget *parent) : QDialog(parent) { - Q_ASSERT(parent != nullptr); - parent->installEventFilter(this); - - setStyleSheet(R"( - * { - outline: none; - color: white; - font-family: Inter; - } - DialogBase { - background-color: black; - } - QPushButton { - height: 160; - font-size: 55px; - font-weight: 400; - border-radius: 10px; - color: white; - background-color: #333333; - } - QPushButton:pressed { - background-color: #444444; - } - )"); -} - -bool DialogBase::eventFilter(QObject *o, QEvent *e) { - if (o == parent() && e->type() == QEvent::Hide) { - reject(); - } - return QDialog::eventFilter(o, e); -} - -int DialogBase::exec() { - setMainWindow(this); - return QDialog::exec(); -} - -InputDialog::InputDialog(const QString &title, QWidget *parent, const QString &subtitle, bool secret) : DialogBase(parent) { - main_layout = new QVBoxLayout(this); - main_layout->setContentsMargins(50, 55, 50, 50); - main_layout->setSpacing(0); - - // build header - QHBoxLayout *header_layout = new QHBoxLayout(); - - QVBoxLayout *vlayout = new QVBoxLayout; - header_layout->addLayout(vlayout); - label = new QLabel(title, this); - label->setStyleSheet("font-size: 90px; font-weight: bold;"); - vlayout->addWidget(label, 1, Qt::AlignTop | Qt::AlignLeft); - - if (!subtitle.isEmpty()) { - sublabel = new QLabel(subtitle, this); - sublabel->setStyleSheet("font-size: 55px; font-weight: light; color: #BDBDBD;"); - vlayout->addWidget(sublabel, 1, Qt::AlignTop | Qt::AlignLeft); - } - - QPushButton* cancel_btn = new QPushButton(tr("Cancel")); - cancel_btn->setFixedSize(386, 125); - cancel_btn->setStyleSheet(R"( - QPushButton { - font-size: 48px; - border-radius: 10px; - color: #E4E4E4; - background-color: #333333; - } - QPushButton:pressed { - background-color: #444444; - } - )"); - header_layout->addWidget(cancel_btn, 0, Qt::AlignRight); - QObject::connect(cancel_btn, &QPushButton::clicked, this, &InputDialog::reject); - QObject::connect(cancel_btn, &QPushButton::clicked, this, &InputDialog::cancel); - - main_layout->addLayout(header_layout); - - // text box - main_layout->addStretch(2); - - QWidget *textbox_widget = new QWidget; - textbox_widget->setObjectName("textbox"); - QHBoxLayout *textbox_layout = new QHBoxLayout(textbox_widget); - textbox_layout->setContentsMargins(50, 0, 50, 0); - - textbox_widget->setStyleSheet(R"( - #textbox { - margin-left: 50px; - margin-right: 50px; - border-radius: 0; - border-bottom: 3px solid #BDBDBD; - } - * { - border: none; - font-size: 80px; - font-weight: light; - background-color: transparent; - } - )"); - - line = new QLineEdit(); - line->setStyleSheet("lineedit-password-character: 8226; lineedit-password-mask-delay: 1500;"); - textbox_layout->addWidget(line, 1); - - if (secret) { - eye_btn = new QPushButton(); - eye_btn->setCheckable(true); - eye_btn->setFixedSize(150, 120); - QObject::connect(eye_btn, &QPushButton::toggled, [=](bool checked) { - if (checked) { - eye_btn->setIcon(QIcon(ASSET_PATH + "img_eye_closed.svg")); - eye_btn->setIconSize(QSize(81, 54)); - line->setEchoMode(QLineEdit::Password); - } else { - eye_btn->setIcon(QIcon(ASSET_PATH + "img_eye_open.svg")); - eye_btn->setIconSize(QSize(81, 44)); - line->setEchoMode(QLineEdit::Normal); - } - }); - eye_btn->toggle(); - eye_btn->setChecked(false); - textbox_layout->addWidget(eye_btn); - } - - main_layout->addWidget(textbox_widget, 0, Qt::AlignBottom); - main_layout->addSpacing(25); - - k = new Keyboard(this); - QObject::connect(k, &Keyboard::emitEnter, this, &InputDialog::handleEnter); - QObject::connect(k, &Keyboard::emitBackspace, this, [=]() { - line->backspace(); - updateMaxLengthSublabel(line->text()); - }); - QObject::connect(k, &Keyboard::emitKey, this, [=](const QString &key) { - if (line->text().length() < maxLength || maxLength == DEFAULT_MAX_LENGTH) { - line->insert(key.left(1)); - updateMaxLengthSublabel(line->text()); - } - }); - - main_layout->addWidget(k, 2, Qt::AlignBottom); -} - -QString InputDialog::getText(const QString &prompt, QWidget *parent, const QString &subtitle, - bool secret, int minLength, const QString &defaultText, int maxLength) { - InputDialog d = InputDialog(prompt, parent, subtitle, secret); - d.line->setText(defaultText); - d.setMinLength(minLength); - d.setMaxLength(maxLength); - d.updateMaxLengthSublabel(defaultText); - const int ret = d.exec(); - return ret ? d.text() : QString(); -} - -QString InputDialog::text() { - return line->text(); -} - -void InputDialog::show() { - setMainWindow(this); -} - -void InputDialog::handleEnter() { - if (line->text().length() >= minLength) { - done(QDialog::Accepted); - emitText(line->text()); - } else { - setMessage(tr("Need at least %n character(s)!", "", minLength), false); - } -} - -void InputDialog::setMessage(const QString &message, bool clearInputField) { - label->setText(message); - if (clearInputField) { - line->setText(""); - } -} - -void InputDialog::setMinLength(int length) { - minLength = length; -} - -// FrogPilot functions -void InputDialog::setMaxLength(int length) { - maxLength = length; -} - -void InputDialog::updateMaxLengthSublabel(const QString &text) { - if (maxLength != DEFAULT_MAX_LENGTH) { - sublabel->setText(tr("Characters: %1/%2").arg(text.length()).arg(maxLength)); - } -} - -// ConfirmationDialog - -ConfirmationDialog::ConfirmationDialog(const QString &prompt_text, const QString &confirm_text, const QString &cancel_text, - const bool rich, QWidget *parent, const bool is_long) : DialogBase(parent) { - QFrame *container = new QFrame(this); - container->setStyleSheet(R"( - QFrame { background-color: #1B1B1B; color: #C9C9C9; } - #confirm_btn { background-color: #465BEA; } - #confirm_btn:pressed { background-color: #3049F4; } - )"); - QVBoxLayout *main_layout = new QVBoxLayout(container); - main_layout->setContentsMargins(32, rich || is_long ? 32 : 120, 32, 32); - - QLabel *prompt = new QLabel(prompt_text, this); - prompt->setWordWrap(true); - prompt->setAlignment(rich ? Qt::AlignLeft : Qt::AlignHCenter); - prompt->setStyleSheet((rich ? "font-size: 42px; font-weight: light;" : "font-size: 70px; font-weight: bold;") + QString(" margin: 45px;")); - main_layout->addWidget(rich ? (QWidget*)new ScrollView(prompt, this) : (QWidget*)prompt, 1, Qt::AlignTop); - - // cancel + confirm buttons - QHBoxLayout *btn_layout = new QHBoxLayout(); - btn_layout->setSpacing(30); - main_layout->addLayout(btn_layout); - - if (cancel_text.length()) { - QPushButton* cancel_btn = new QPushButton(cancel_text); - btn_layout->addWidget(cancel_btn); - QObject::connect(cancel_btn, &QPushButton::clicked, this, &ConfirmationDialog::reject); - } - - if (confirm_text.length()) { - QPushButton* confirm_btn = new QPushButton(confirm_text); - confirm_btn->setObjectName("confirm_btn"); - btn_layout->addWidget(confirm_btn); - QObject::connect(confirm_btn, &QPushButton::clicked, this, &ConfirmationDialog::accept); - } - - QVBoxLayout *outer_layout = new QVBoxLayout(this); - int margin = rich ? 100 : 200; - outer_layout->setContentsMargins(margin, margin, margin, margin); - outer_layout->addWidget(container); -} - -bool ConfirmationDialog::alert(const QString &prompt_text, QWidget *parent) { - ConfirmationDialog d = ConfirmationDialog(prompt_text, tr("Ok"), "", false, parent); - return d.exec(); -} - -bool ConfirmationDialog::confirm(const QString &prompt_text, const QString &confirm_text, QWidget *parent) { - ConfirmationDialog d = ConfirmationDialog(prompt_text, confirm_text, tr("Cancel"), false, parent); - return d.exec(); -} - -bool ConfirmationDialog::rich(const QString &prompt_text, QWidget *parent) { - ConfirmationDialog d = ConfirmationDialog(prompt_text, tr("Ok"), "", true, parent); - return d.exec(); -} - -// MultiOptionDialog - -MultiOptionDialog::MultiOptionDialog(const QString &prompt_text, const QStringList &l, const QString ¤t, QWidget *parent) : DialogBase(parent) { - QFrame *container = new QFrame(this); - container->setStyleSheet(R"( - QFrame { background-color: #1B1B1B; } - #confirm_btn[enabled="false"] { background-color: #2B2B2B; } - #confirm_btn:enabled { background-color: #465BEA; } - #confirm_btn:enabled:pressed { background-color: #3049F4; } - )"); - - QVBoxLayout *main_layout = new QVBoxLayout(container); - main_layout->setContentsMargins(55, 50, 55, 50); - - QLabel *title = new QLabel(prompt_text, this); - title->setStyleSheet("font-size: 70px; font-weight: 500;"); - main_layout->addWidget(title, 0, Qt::AlignLeft | Qt::AlignTop); - main_layout->addSpacing(25); - - QWidget *listWidget = new QWidget(this); - QVBoxLayout *listLayout = new QVBoxLayout(listWidget); - listLayout->setSpacing(20); - listWidget->setStyleSheet(R"( - QPushButton { - height: 135; - padding: 0px 50px; - text-align: left; - font-size: 55px; - font-weight: 300; - border-radius: 10px; - background-color: #4F4F4F; - } - QPushButton:checked { background-color: #465BEA; } - )"); - - QButtonGroup *group = new QButtonGroup(listWidget); - group->setExclusive(true); - - QPushButton *confirm_btn = new QPushButton(tr("Select")); - confirm_btn->setObjectName("confirm_btn"); - confirm_btn->setEnabled(false); - - for (const QString &s : l) { - QPushButton *selectionLabel = new QPushButton(s); - selectionLabel->setCheckable(true); - selectionLabel->setChecked(s == current); - QObject::connect(selectionLabel, &QPushButton::toggled, [=](bool checked) { - if (checked) selection = s; - if (selection != current) { - confirm_btn->setEnabled(true); - } else { - confirm_btn->setEnabled(false); - } - }); - - group->addButton(selectionLabel); - listLayout->addWidget(selectionLabel); - } - // add stretch to keep buttons spaced correctly - listLayout->addStretch(1); - - ScrollView *scroll_view = new ScrollView(listWidget, this); - scroll_view->setVerticalScrollBarPolicy(Qt::ScrollBarAsNeeded); - - main_layout->addWidget(scroll_view); - main_layout->addSpacing(35); - - // cancel + confirm buttons - QHBoxLayout *blayout = new QHBoxLayout; - main_layout->addLayout(blayout); - blayout->setSpacing(50); - - QPushButton *cancel_btn = new QPushButton(tr("Cancel")); - QObject::connect(cancel_btn, &QPushButton::clicked, this, &ConfirmationDialog::reject); - QObject::connect(confirm_btn, &QPushButton::clicked, this, &ConfirmationDialog::accept); - blayout->addWidget(cancel_btn); - blayout->addWidget(confirm_btn); - - QVBoxLayout *outer_layout = new QVBoxLayout(this); - outer_layout->setContentsMargins(50, 50, 50, 50); - outer_layout->addWidget(container); -} - -QString MultiOptionDialog::getSelection(const QString &prompt_text, const QStringList &l, const QString ¤t, QWidget *parent) { - MultiOptionDialog d = MultiOptionDialog(prompt_text, l, current, parent); - if (d.exec()) { - return d.selection; - } - return ""; -} diff --git a/selfdrive/ui/qt/widgets/input.h b/selfdrive/ui/qt/widgets/input.h deleted file mode 100644 index fb02351d0c7560..00000000000000 --- a/selfdrive/ui/qt/widgets/input.h +++ /dev/null @@ -1,81 +0,0 @@ -#pragma once - -#include -#include -#include -#include -#include -#include - -#include "selfdrive/ui/qt/widgets/keyboard.h" - -const int DEFAULT_MAX_LENGTH = 512; - -class DialogBase : public QDialog { - Q_OBJECT - -protected: - DialogBase(QWidget *parent); - bool eventFilter(QObject *o, QEvent *e) override; - -public slots: - int exec() override; -}; - -class InputDialog : public DialogBase { - Q_OBJECT - -public: - explicit InputDialog(const QString &title, QWidget *parent, const QString &subtitle = "", bool secret = false); - static QString getText(const QString &title, QWidget *parent, const QString &subtitle = "", - bool secret = false, int minLength = -1, const QString &defaultText = "", int maxLength = DEFAULT_MAX_LENGTH); - QString text(); - void setMessage(const QString &message, bool clearInputField = true); - void setMinLength(int length); - void show(); - - // FrogPilot widgets - void setMaxLength(int length); - -private: - int minLength; - QLineEdit *line; - Keyboard *k; - QLabel *label; - QLabel *sublabel; - QVBoxLayout *main_layout; - QPushButton *eye_btn; - - // FrogPilot widgets - void updateMaxLengthSublabel(const QString &text); - - // FrogPilot variables - int maxLength; - -private slots: - void handleEnter(); - -signals: - void cancel(); - void emitText(const QString &text); -}; - -class ConfirmationDialog : public DialogBase { - Q_OBJECT - -public: - explicit ConfirmationDialog(const QString &prompt_text, const QString &confirm_text, - const QString &cancel_text, const bool rich, QWidget* parent, const bool is_long=false); - static bool alert(const QString &prompt_text, QWidget *parent); - static bool confirm(const QString &prompt_text, const QString &confirm_text, QWidget *parent); - static bool rich(const QString &prompt_text, QWidget *parent); -}; - -class MultiOptionDialog : public DialogBase { - Q_OBJECT - -public: - explicit MultiOptionDialog(const QString &prompt_text, const QStringList &l, const QString ¤t, QWidget *parent); - static QString getSelection(const QString &prompt_text, const QStringList &l, const QString ¤t, QWidget *parent); - QString selection; -}; diff --git a/selfdrive/ui/qt/widgets/keyboard.cc b/selfdrive/ui/qt/widgets/keyboard.cc deleted file mode 100644 index 370e9a53ccb62f..00000000000000 --- a/selfdrive/ui/qt/widgets/keyboard.cc +++ /dev/null @@ -1,167 +0,0 @@ -#include "selfdrive/ui/qt/widgets/keyboard.h" - -#include - -#include -#include -#include -#include -#include - -const QString BACKSPACE_KEY = "⌫"; -const QString ENTER_KEY = "→"; - -const QMap KEY_STRETCH = {{" ", 5}, {ENTER_KEY, 2}}; - -const QStringList CONTROL_BUTTONS = {"↑", "↓", "ABC", "#+=", "123", BACKSPACE_KEY, ENTER_KEY}; - -const float key_spacing_vertical = 20; -const float key_spacing_horizontal = 15; - -KeyButton::KeyButton(const QString &text, QWidget *parent) : QPushButton(text, parent) { - setAttribute(Qt::WA_AcceptTouchEvents); - setFocusPolicy(Qt::NoFocus); -} - -bool KeyButton::event(QEvent *event) { - if (event->type() == QEvent::TouchBegin || event->type() == QEvent::TouchEnd) { - QTouchEvent *touchEvent = static_cast(event); - if (!touchEvent->touchPoints().empty()) { - const QEvent::Type mouseType = event->type() == QEvent::TouchBegin ? QEvent::MouseButtonPress : QEvent::MouseButtonRelease; - QMouseEvent mouseEvent(mouseType, touchEvent->touchPoints().front().pos(), Qt::LeftButton, Qt::LeftButton, Qt::NoModifier); - QPushButton::event(&mouseEvent); - event->accept(); - parentWidget()->update(); - return true; - } - } - return QPushButton::event(event); -} - -KeyboardLayout::KeyboardLayout(QWidget* parent, const std::vector>& layout) : QWidget(parent) { - QVBoxLayout* main_layout = new QVBoxLayout(this); - main_layout->setMargin(0); - main_layout->setSpacing(0); - - QButtonGroup* btn_group = new QButtonGroup(this); - QObject::connect(btn_group, SIGNAL(buttonClicked(QAbstractButton*)), parent, SLOT(handleButton(QAbstractButton*))); - - for (const auto &s : layout) { - QHBoxLayout *hlayout = new QHBoxLayout; - hlayout->setSpacing(0); - - if (main_layout->count() == 1) { - hlayout->addSpacing(90); - } - - for (const QString &p : s) { - KeyButton* btn = new KeyButton(p); - if (p == BACKSPACE_KEY) { - btn->setAutoRepeat(true); - } else if (p == ENTER_KEY) { - btn->setStyleSheet(R"( - QPushButton { - background-color: #465BEA; - } - QPushButton:pressed { - background-color: #444444; - } - )"); - } - btn->setFixedHeight(135 + key_spacing_vertical); - btn_group->addButton(btn); - hlayout->addWidget(btn, KEY_STRETCH.value(p, 1)); - } - - if (main_layout->count() == 1) { - hlayout->addSpacing(90); - } - - main_layout->addLayout(hlayout); - } - - setStyleSheet(QString(R"( - QPushButton { - font-size: 75px; - margin-left: %1px; - margin-right: %1px; - margin-top: %2px; - margin-bottom: %2px; - padding: 0px; - border-radius: 10px; - color: #dddddd; - background-color: #444444; - } - QPushButton:pressed { - background-color: #333333; - } - )").arg(key_spacing_vertical / 2).arg(key_spacing_horizontal / 2)); -} - -Keyboard::Keyboard(QWidget *parent) : QFrame(parent) { - main_layout = new QStackedLayout(this); - main_layout->setMargin(0); - - // lowercase - std::vector> lowercase = { - {"q", "w", "e", "r", "t", "y", "u", "i", "o", "p"}, - {"a", "s", "d", "f", "g", "h", "j", "k", "l"}, - {"↑", "z", "x", "c", "v", "b", "n", "m", BACKSPACE_KEY}, - {"123", " ", ".", ENTER_KEY}, - }; - main_layout->addWidget(new KeyboardLayout(this, lowercase)); - - // uppercase - std::vector> uppercase = { - {"Q", "W", "E", "R", "T", "Y", "U", "I", "O", "P"}, - {"A", "S", "D", "F", "G", "H", "J", "K", "L"}, - {"↓", "Z", "X", "C", "V", "B", "N", "M", BACKSPACE_KEY}, - {"123", " ", ".", ENTER_KEY}, - }; - main_layout->addWidget(new KeyboardLayout(this, uppercase)); - - // numbers + specials - std::vector> numbers = { - {"1", "2", "3", "4", "5", "6", "7", "8", "9", "0"}, - {"-", "/", ":", ";", "(", ")", "$", "&&", "@", "\""}, - {"#+=", ".", ",", "?", "!", "`", BACKSPACE_KEY}, - {"ABC", " ", ".", ENTER_KEY}, - }; - main_layout->addWidget(new KeyboardLayout(this, numbers)); - - // extra specials - std::vector> specials = { - {"[", "]", "{", "}", "#", "%", "^", "*", "+", "="}, - {"_", "\\", "|", "~", "<", ">", "€", "£", "¥", "•"}, - {"123", ".", ",", "?", "!", "'", BACKSPACE_KEY}, - {"ABC", " ", ".", ENTER_KEY}, - }; - main_layout->addWidget(new KeyboardLayout(this, specials)); - - main_layout->setCurrentIndex(0); -} - -void Keyboard::handleButton(QAbstractButton* btn) { - const QString &key = btn->text(); - if (CONTROL_BUTTONS.contains(key)) { - if (key == "↓" || key == "ABC") { - main_layout->setCurrentIndex(0); - } else if (key == "↑") { - main_layout->setCurrentIndex(1); - } else if (key == "123") { - main_layout->setCurrentIndex(2); - } else if (key == "#+=") { - main_layout->setCurrentIndex(3); - } else if (key == ENTER_KEY) { - main_layout->setCurrentIndex(0); - emit emitEnter(); - } else if (key == BACKSPACE_KEY) { - emit emitBackspace(); - } - } else { - if ("A" <= key && key <= "Z") { - main_layout->setCurrentIndex(0); - } - emit emitKey(key); - } -} diff --git a/selfdrive/ui/qt/widgets/keyboard.h b/selfdrive/ui/qt/widgets/keyboard.h deleted file mode 100644 index efc02d075d99ab..00000000000000 --- a/selfdrive/ui/qt/widgets/keyboard.h +++ /dev/null @@ -1,40 +0,0 @@ -#pragma once - -#include - -#include -#include -#include - -class KeyButton : public QPushButton { - Q_OBJECT - -public: - KeyButton(const QString &text, QWidget *parent = 0); - bool event(QEvent *event) override; -}; - -class KeyboardLayout : public QWidget { - Q_OBJECT - -public: - explicit KeyboardLayout(QWidget* parent, const std::vector>& layout); -}; - -class Keyboard : public QFrame { - Q_OBJECT - -public: - explicit Keyboard(QWidget *parent = 0); - -private: - QStackedLayout* main_layout; - -private slots: - void handleButton(QAbstractButton* m_button); - -signals: - void emitKey(const QString &s); - void emitBackspace(); - void emitEnter(); -}; diff --git a/selfdrive/ui/qt/widgets/offroad_alerts.cc b/selfdrive/ui/qt/widgets/offroad_alerts.cc deleted file mode 100644 index a952a2a9b6a031..00000000000000 --- a/selfdrive/ui/qt/widgets/offroad_alerts.cc +++ /dev/null @@ -1,139 +0,0 @@ -#include "selfdrive/ui/qt/widgets/offroad_alerts.h" - -#include -#include -#include -#include - -#include -#include -#include - -#include "common/util.h" -#include "system/hardware/hw.h" -#include "selfdrive/ui/qt/widgets/scrollview.h" - -AbstractAlert::AbstractAlert(bool hasRebootBtn, QWidget *parent) : QFrame(parent) { - QVBoxLayout *main_layout = new QVBoxLayout(this); - main_layout->setMargin(50); - main_layout->setSpacing(30); - - QWidget *widget = new QWidget; - scrollable_layout = new QVBoxLayout(widget); - widget->setStyleSheet("background-color: transparent;"); - main_layout->addWidget(new ScrollView(widget)); - - // bottom footer, dismiss + reboot buttons - QHBoxLayout *footer_layout = new QHBoxLayout(); - main_layout->addLayout(footer_layout); - - QPushButton *dismiss_btn = new QPushButton(tr("Close")); - dismiss_btn->setFixedSize(400, 125); - footer_layout->addWidget(dismiss_btn, 0, Qt::AlignBottom | Qt::AlignLeft); - QObject::connect(dismiss_btn, &QPushButton::clicked, this, &AbstractAlert::dismiss); - - disable_check_btn = new QPushButton(tr("Disable Internet Check")); - disable_check_btn->setVisible(false); - disable_check_btn->setFixedSize(625, 125); - footer_layout->addWidget(disable_check_btn, 1, Qt::AlignBottom | Qt::AlignCenter); - QObject::connect(disable_check_btn, &QPushButton::clicked, [=]() { - params.putBool("DeviceManagement", true); - params.putBool("OfflineMode", true); - }); - QObject::connect(disable_check_btn, &QPushButton::clicked, this, &AbstractAlert::dismiss); - disable_check_btn->setStyleSheet(R"(color: white; background-color: #4F4F4F;)"); - - snooze_btn = new QPushButton(tr("Snooze Update")); - snooze_btn->setVisible(false); - snooze_btn->setFixedSize(550, 125); - footer_layout->addWidget(snooze_btn, 0, Qt::AlignBottom | Qt::AlignRight); - QObject::connect(snooze_btn, &QPushButton::clicked, [=]() { - params.putBool("SnoozeUpdate", true); - }); - QObject::connect(snooze_btn, &QPushButton::clicked, this, &AbstractAlert::dismiss); - snooze_btn->setStyleSheet(R"(color: white; background-color: #4F4F4F;)"); - - if (hasRebootBtn) { - QPushButton *rebootBtn = new QPushButton(tr("Reboot and Update")); - rebootBtn->setFixedSize(600, 125); - footer_layout->addWidget(rebootBtn, 0, Qt::AlignBottom | Qt::AlignRight); - QObject::connect(rebootBtn, &QPushButton::clicked, [=]() { Hardware::reboot(); }); - } - - setStyleSheet(R"( - * { - font-size: 48px; - color: white; - } - QFrame { - border-radius: 30px; - background-color: #393939; - } - QPushButton { - color: black; - font-weight: 500; - border-radius: 30px; - background-color: white; - } - )"); -} - -int OffroadAlert::refresh() { - // build widgets for each offroad alert on first refresh - if (alerts.empty()) { - QString json = util::read_file("../controls/lib/alerts_offroad.json").c_str(); - QJsonObject obj = QJsonDocument::fromJson(json.toUtf8()).object(); - - // descending sort labels by severity - std::vector> sorted; - for (auto it = obj.constBegin(); it != obj.constEnd(); ++it) { - sorted.push_back({it.key().toStdString(), it.value()["severity"].toInt()}); - } - std::sort(sorted.begin(), sorted.end(), [=](auto &l, auto &r) { return l.second > r.second; }); - - for (auto &[key, severity] : sorted) { - QLabel *l = new QLabel(this); - alerts[key] = l; - l->setMargin(60); - l->setWordWrap(true); - l->setStyleSheet(QString("background-color: %1").arg(severity ? "#E22C2C" : "#292929")); - scrollable_layout->addWidget(l); - } - scrollable_layout->addStretch(1); - } - - int alertCount = 0; - for (const auto &[key, label] : alerts) { - QString text; - std::string bytes = params.get(key); - if (bytes.size()) { - auto doc_par = QJsonDocument::fromJson(bytes.c_str()); - text = tr(doc_par["text"].toString().toUtf8().data()); - auto extra = doc_par["extra"].toString(); - if (!extra.isEmpty()) { - text = text.arg(extra); - } - } - label->setText(text); - label->setVisible(!text.isEmpty()); - alertCount += !text.isEmpty(); - } - disable_check_btn->setVisible(!alerts["Offroad_ConnectivityNeeded"]->text().isEmpty()); - snooze_btn->setVisible(!alerts["Offroad_ConnectivityNeeded"]->text().isEmpty()); - return alertCount; -} - -UpdateAlert::UpdateAlert(QWidget *parent) : AbstractAlert(true, parent) { - releaseNotes = new QLabel(this); - releaseNotes->setWordWrap(true); - releaseNotes->setAlignment(Qt::AlignTop); - scrollable_layout->addWidget(releaseNotes); -} - -bool UpdateAlert::refresh() { - bool updateAvailable = params.getBool("UpdateAvailable"); - if (updateAvailable) { - releaseNotes->setText(params.get("UpdaterNewReleaseNotes").c_str()); - } - return updateAvailable; -} diff --git a/selfdrive/ui/qt/widgets/offroad_alerts.h b/selfdrive/ui/qt/widgets/offroad_alerts.h deleted file mode 100644 index abeafd2256c365..00000000000000 --- a/selfdrive/ui/qt/widgets/offroad_alerts.h +++ /dev/null @@ -1,47 +0,0 @@ -#pragma once - -#include -#include - -#include -#include -#include - -#include "common/params.h" - -class AbstractAlert : public QFrame { - Q_OBJECT - -protected: - AbstractAlert(bool hasRebootBtn, QWidget *parent = nullptr); - - QPushButton *disable_check_btn; - QPushButton *snooze_btn; - QVBoxLayout *scrollable_layout; - Params params; - -signals: - void dismiss(); -}; - -class UpdateAlert : public AbstractAlert { - Q_OBJECT - -public: - UpdateAlert(QWidget *parent = 0); - bool refresh(); - -private: - QLabel *releaseNotes = nullptr; -}; - -class OffroadAlert : public AbstractAlert { - Q_OBJECT - -public: - explicit OffroadAlert(QWidget *parent = 0) : AbstractAlert(false, parent) {} - int refresh(); - -private: - std::map alerts; -}; diff --git a/selfdrive/ui/qt/widgets/prime.cc b/selfdrive/ui/qt/widgets/prime.cc deleted file mode 100644 index 2621612f67f432..00000000000000 --- a/selfdrive/ui/qt/widgets/prime.cc +++ /dev/null @@ -1,284 +0,0 @@ -#include "selfdrive/ui/qt/widgets/prime.h" - -#include -#include -#include -#include -#include -#include -#include -#include - -#include - -#include "selfdrive/ui/qt/request_repeater.h" -#include "selfdrive/ui/qt/util.h" -#include "selfdrive/ui/qt/qt_window.h" -#include "selfdrive/ui/qt/widgets/wifi.h" - -using qrcodegen::QrCode; - -PairingQRWidget::PairingQRWidget(QWidget* parent) : QWidget(parent) { - timer = new QTimer(this); - connect(timer, &QTimer::timeout, this, &PairingQRWidget::refresh); -} - -void PairingQRWidget::showEvent(QShowEvent *event) { - refresh(); - timer->start(5 * 60 * 1000); - device()->setOffroadBrightness(100); -} - -void PairingQRWidget::hideEvent(QHideEvent *event) { - timer->stop(); - device()->setOffroadBrightness(BACKLIGHT_OFFROAD); -} - -void PairingQRWidget::refresh() { - QString pairToken = CommaApi::create_jwt({{"pair", true}}); - QString qrString = "https://connect.comma.ai/?pair=" + pairToken; - this->updateQrCode(qrString); - update(); -} - -void PairingQRWidget::updateQrCode(const QString &text) { - QrCode qr = QrCode::encodeText(text.toUtf8().data(), QrCode::Ecc::LOW); - qint32 sz = qr.getSize(); - QImage im(sz, sz, QImage::Format_RGB32); - - QRgb black = qRgb(0, 0, 0); - QRgb white = qRgb(255, 255, 255); - for (int y = 0; y < sz; y++) { - for (int x = 0; x < sz; x++) { - im.setPixel(x, y, qr.getModule(x, y) ? black : white); - } - } - - // Integer division to prevent anti-aliasing - int final_sz = ((width() / sz) - 1) * sz; - img = QPixmap::fromImage(im.scaled(final_sz, final_sz, Qt::KeepAspectRatio), Qt::MonoOnly); -} - -void PairingQRWidget::paintEvent(QPaintEvent *e) { - QPainter p(this); - p.fillRect(rect(), Qt::white); - - QSize s = (size() - img.size()) / 2; - p.drawPixmap(s.width(), s.height(), img); -} - - -PairingPopup::PairingPopup(QWidget *parent) : DialogBase(parent) { - QHBoxLayout *hlayout = new QHBoxLayout(this); - hlayout->setContentsMargins(0, 0, 0, 0); - hlayout->setSpacing(0); - - setStyleSheet("PairingPopup { background-color: #E0E0E0; }"); - - // text - QVBoxLayout *vlayout = new QVBoxLayout(); - vlayout->setContentsMargins(85, 70, 50, 70); - vlayout->setSpacing(50); - hlayout->addLayout(vlayout, 1); - { - QPushButton *close = new QPushButton(QIcon(":/icons/close.svg"), "", this); - close->setIconSize(QSize(80, 80)); - close->setStyleSheet("border: none;"); - vlayout->addWidget(close, 0, Qt::AlignLeft); - QObject::connect(close, &QPushButton::clicked, this, &QDialog::reject); - - vlayout->addSpacing(30); - - QLabel *title = new QLabel(tr("Pair your device to your comma account"), this); - title->setStyleSheet("font-size: 75px; color: black;"); - title->setWordWrap(true); - vlayout->addWidget(title); - - QLabel *instructions = new QLabel(QString(R"( -
    -
  1. %1
    2. -
  2. %2
    3. -
  3. %3
    4. -
- )").arg(tr("Go to https://connect.comma.ai on your phone")) - .arg(tr("Click \"add new device\" and scan the QR code on the right")) - .arg(tr("Bookmark connect.comma.ai to your home screen to use it like an app")), this); - - instructions->setStyleSheet("font-size: 47px; font-weight: bold; color: black;"); - instructions->setWordWrap(true); - vlayout->addWidget(instructions); - - vlayout->addStretch(); - } - - // QR code - PairingQRWidget *qr = new PairingQRWidget(this); - hlayout->addWidget(qr, 1); -} - - -PrimeUserWidget::PrimeUserWidget(QWidget *parent) : QFrame(parent) { - setObjectName("primeWidget"); - QVBoxLayout *mainLayout = new QVBoxLayout(this); - mainLayout->setContentsMargins(56, 40, 56, 40); - mainLayout->setSpacing(20); - - QLabel *subscribed = new QLabel(tr("✓ SUBSCRIBED")); - subscribed->setStyleSheet("font-size: 41px; font-weight: bold; color: #86FF4E;"); - mainLayout->addWidget(subscribed); - - QLabel *commaPrime = new QLabel(tr("comma prime")); - commaPrime->setStyleSheet("font-size: 75px; font-weight: bold;"); - mainLayout->addWidget(commaPrime); -} - - -PrimeAdWidget::PrimeAdWidget(QWidget* parent) : QFrame(parent) { - QVBoxLayout *main_layout = new QVBoxLayout(this); - main_layout->setContentsMargins(80, 90, 80, 60); - main_layout->setSpacing(0); - - QLabel *upgrade = new QLabel(tr("Upgrade Now")); - upgrade->setStyleSheet("font-size: 75px; font-weight: bold;"); - main_layout->addWidget(upgrade, 0, Qt::AlignTop); - main_layout->addSpacing(50); - - QLabel *description = new QLabel(tr("Become a comma prime member at connect.comma.ai")); - description->setStyleSheet("font-size: 56px; font-weight: light; color: white;"); - description->setWordWrap(true); - main_layout->addWidget(description, 0, Qt::AlignTop); - - main_layout->addStretch(); - - QLabel *features = new QLabel(tr("PRIME FEATURES:")); - features->setStyleSheet("font-size: 41px; font-weight: bold; color: #E5E5E5;"); - main_layout->addWidget(features, 0, Qt::AlignBottom); - main_layout->addSpacing(30); - - QVector bullets = {tr("Remote access"), tr("24/7 LTE connectivity"), tr("1 year of drive storage"), tr("Turn-by-turn navigation")}; - for (auto &b : bullets) { - const QString check = "✓ "; - QLabel *l = new QLabel(check + b); - l->setAlignment(Qt::AlignLeft); - l->setStyleSheet("font-size: 50px; margin-bottom: 15px;"); - main_layout->addWidget(l, 0, Qt::AlignBottom); - } - - setStyleSheet(R"( - PrimeAdWidget { - border-radius: 10px; - background-color: #333333; - } - )"); -} - - -SetupWidget::SetupWidget(QWidget* parent) : QFrame(parent) { - mainLayout = new QStackedWidget; - - // Unpaired, registration prompt layout - - QFrame* finishRegistration = new QFrame; - finishRegistration->setObjectName("primeWidget"); - QVBoxLayout* finishRegistationLayout = new QVBoxLayout(finishRegistration); - finishRegistationLayout->setSpacing(38); - finishRegistationLayout->setContentsMargins(64, 48, 64, 48); - - QLabel* registrationTitle = new QLabel(tr("Finish Setup")); - registrationTitle->setStyleSheet("font-size: 75px; font-weight: bold;"); - finishRegistationLayout->addWidget(registrationTitle); - - QLabel* registrationDescription = new QLabel(tr("Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.")); - registrationDescription->setWordWrap(true); - registrationDescription->setStyleSheet("font-size: 50px; font-weight: light;"); - finishRegistationLayout->addWidget(registrationDescription); - - finishRegistationLayout->addStretch(); - - QPushButton* pair = new QPushButton(tr("Pair device")); - pair->setStyleSheet(R"( - QPushButton { - font-size: 55px; - font-weight: 500; - border-radius: 10px; - background-color: #465BEA; - padding: 64px; - } - QPushButton:pressed { - background-color: #3049F4; - } - )"); - finishRegistationLayout->addWidget(pair); - - popup = new PairingPopup(this); - QObject::connect(pair, &QPushButton::clicked, popup, &PairingPopup::exec); - - mainLayout->addWidget(finishRegistration); - - // build stacked layout - QVBoxLayout *outer_layout = new QVBoxLayout(this); - outer_layout->setContentsMargins(0, 0, 0, 0); - outer_layout->addWidget(mainLayout); - - QWidget *content = new QWidget; - QVBoxLayout *content_layout = new QVBoxLayout(content); - content_layout->setContentsMargins(0, 0, 0, 0); - content_layout->setSpacing(30); - - primeUser = new PrimeUserWidget; - content_layout->addWidget(primeUser); - - WiFiPromptWidget *wifi_prompt = new WiFiPromptWidget; - QObject::connect(wifi_prompt, &WiFiPromptWidget::openSettings, this, &SetupWidget::openSettings); - content_layout->addWidget(wifi_prompt); - content_layout->addStretch(); - - mainLayout->addWidget(content); - - primeUser->setVisible(uiState()->hasPrime()); - mainLayout->setCurrentIndex(1); - - setStyleSheet(R"( - #primeWidget { - border-radius: 10px; - background-color: #333333; - } - )"); - - // Retain size while hidden - QSizePolicy sp_retain = sizePolicy(); - sp_retain.setRetainSizeWhenHidden(true); - setSizePolicy(sp_retain); - - // set up API requests - if (auto dongleId = getDongleId()) { - QString url = CommaApi::BASE_URL + "/v1.1/devices/" + *dongleId + "/"; - RequestRepeater* repeater = new RequestRepeater(this, url, "ApiCache_Device", 5); - - QObject::connect(repeater, &RequestRepeater::requestDone, this, &SetupWidget::replyFinished); - } -} - -void SetupWidget::replyFinished(const QString &response, bool success) { - if (!success) return; - - QJsonDocument doc = QJsonDocument::fromJson(response.toUtf8()); - if (doc.isNull()) { - qDebug() << "JSON Parse failed on getting pairing and prime status"; - return; - } - - QJsonObject json = doc.object(); - bool is_paired = json["is_paired"].toBool(); - PrimeType prime_type = static_cast(json["prime_type"].toInt()); - uiState()->setPrimeType(is_paired ? prime_type : PrimeType::UNPAIRED); - - if (!is_paired) { - mainLayout->setCurrentIndex(0); - } else { - popup->reject(); - - primeUser->setVisible(uiState()->hasPrime()); - mainLayout->setCurrentIndex(1); - } -} diff --git a/selfdrive/ui/qt/widgets/prime.h b/selfdrive/ui/qt/widgets/prime.h deleted file mode 100644 index 63341c4ceae8d9..00000000000000 --- a/selfdrive/ui/qt/widgets/prime.h +++ /dev/null @@ -1,73 +0,0 @@ -#pragma once - -#include -#include -#include -#include - -#include "selfdrive/ui/qt/widgets/input.h" - -// pairing QR code -class PairingQRWidget : public QWidget { - Q_OBJECT - -public: - explicit PairingQRWidget(QWidget* parent = 0); - void paintEvent(QPaintEvent*) override; - -private: - QPixmap img; - QTimer *timer; - void updateQrCode(const QString &text); - void showEvent(QShowEvent *event) override; - void hideEvent(QHideEvent *event) override; - -private slots: - void refresh(); -}; - - -// pairing popup widget -class PairingPopup : public DialogBase { - Q_OBJECT - -public: - explicit PairingPopup(QWidget* parent); -}; - - -// widget for paired users with prime -class PrimeUserWidget : public QFrame { - Q_OBJECT - -public: - explicit PrimeUserWidget(QWidget* parent = 0); -}; - - -// widget for paired users without prime -class PrimeAdWidget : public QFrame { - Q_OBJECT -public: - explicit PrimeAdWidget(QWidget* parent = 0); -}; - - -// container widget -class SetupWidget : public QFrame { - Q_OBJECT - -public: - explicit SetupWidget(QWidget* parent = 0); - -signals: - void openSettings(int index = 0, const QString ¶m = ""); - -private: - PairingPopup *popup; - QStackedWidget *mainLayout; - PrimeUserWidget *primeUser; - -private slots: - void replyFinished(const QString &response, bool success); -}; diff --git a/selfdrive/ui/qt/widgets/scrollview.cc b/selfdrive/ui/qt/widgets/scrollview.cc deleted file mode 100644 index 978bf83a63b170..00000000000000 --- a/selfdrive/ui/qt/widgets/scrollview.cc +++ /dev/null @@ -1,49 +0,0 @@ -#include "selfdrive/ui/qt/widgets/scrollview.h" - -#include -#include - -// TODO: disable horizontal scrolling and resize - -ScrollView::ScrollView(QWidget *w, QWidget *parent) : QScrollArea(parent) { - setWidget(w); - setWidgetResizable(true); - setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOff); - setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff); - setStyleSheet("background-color: transparent; border:none"); - - QString style = R"( - QScrollBar:vertical { - border: none; - background: transparent; - width: 10px; - margin: 0; - } - QScrollBar::handle:vertical { - min-height: 0px; - border-radius: 5px; - background-color: white; - } - QScrollBar::add-line:vertical, QScrollBar::sub-line:vertical { - height: 0px; - } - QScrollBar::add-page:vertical, QScrollBar::sub-page:vertical { - background: none; - } - )"; - verticalScrollBar()->setStyleSheet(style); - horizontalScrollBar()->setStyleSheet(style); - - QScroller *scroller = QScroller::scroller(this->viewport()); - QScrollerProperties sp = scroller->scrollerProperties(); - - sp.setScrollMetric(QScrollerProperties::VerticalOvershootPolicy, QVariant::fromValue(QScrollerProperties::OvershootAlwaysOff)); - sp.setScrollMetric(QScrollerProperties::HorizontalOvershootPolicy, QVariant::fromValue(QScrollerProperties::OvershootAlwaysOff)); - sp.setScrollMetric(QScrollerProperties::MousePressEventDelay, 0.01); - scroller->grabGesture(this->viewport(), QScroller::LeftMouseButtonGesture); - scroller->setScrollerProperties(sp); -} - -void ScrollView::hideEvent(QHideEvent *e) { - verticalScrollBar()->setValue(0); -} diff --git a/selfdrive/ui/qt/widgets/scrollview.h b/selfdrive/ui/qt/widgets/scrollview.h deleted file mode 100644 index 024331aa39dd2e..00000000000000 --- a/selfdrive/ui/qt/widgets/scrollview.h +++ /dev/null @@ -1,12 +0,0 @@ -#pragma once - -#include - -class ScrollView : public QScrollArea { - Q_OBJECT - -public: - explicit ScrollView(QWidget *w = nullptr, QWidget *parent = nullptr); -protected: - void hideEvent(QHideEvent *e) override; -}; diff --git a/selfdrive/ui/qt/widgets/ssh_keys.cc b/selfdrive/ui/qt/widgets/ssh_keys.cc deleted file mode 100644 index cb452b4389f8b4..00000000000000 --- a/selfdrive/ui/qt/widgets/ssh_keys.cc +++ /dev/null @@ -1,66 +0,0 @@ -#include "selfdrive/ui/qt/widgets/ssh_keys.h" - -#include "common/params.h" -#include "selfdrive/ui/qt/api.h" -#include "selfdrive/ui/qt/widgets/input.h" - -SshControl::SshControl() : - ButtonControl(tr("SSH Keys"), "", tr("Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username " - "other than your own. A comma employee will NEVER ask you to add their GitHub username.")) { - - QObject::connect(this, &ButtonControl::clicked, [=]() { - if (text() == tr("ADD")) { - QString username = InputDialog::getText(tr("Enter your GitHub username"), this); - if (username.length() > 0) { - setText(tr("LOADING")); - setEnabled(false); - getUserKeys(username); - } - } else { - params.remove("GithubUsername"); - paramsStorage.remove("GithubUsername"); - params.remove("GithubSshKeys"); - paramsStorage.remove("GithubSshKeys"); - refresh(); - } - }); - - refresh(); -} - -void SshControl::refresh() { - QString param = QString::fromStdString(params.get("GithubSshKeys")); - if (param.length()) { - setValue(QString::fromStdString(params.get("GithubUsername"))); - setText(tr("REMOVE")); - } else { - setValue(""); - setText(tr("ADD")); - } - setEnabled(true); -} - -void SshControl::getUserKeys(const QString &username) { - HttpRequest *request = new HttpRequest(this, false); - QObject::connect(request, &HttpRequest::requestDone, [=](const QString &resp, bool success) { - if (success) { - if (!resp.isEmpty()) { - params.put("GithubUsername", username.toStdString()); - params.put("GithubSshKeys", resp.toStdString()); - } else { - ConfirmationDialog::alert(tr("Username '%1' has no keys on GitHub").arg(username), this); - } - } else { - if (request->timeout()) { - ConfirmationDialog::alert(tr("Request timed out"), this); - } else { - ConfirmationDialog::alert(tr("Username '%1' doesn't exist on GitHub").arg(username), this); - } - } - - refresh(); - request->deleteLater(); - }); - - request->sendRequest("https://github.com/" + username + ".keys"); -} diff --git a/selfdrive/ui/qt/widgets/ssh_keys.h b/selfdrive/ui/qt/widgets/ssh_keys.h deleted file mode 100644 index d4a5552bf5b454..00000000000000 --- a/selfdrive/ui/qt/widgets/ssh_keys.h +++ /dev/null @@ -1,35 +0,0 @@ -#pragma once - -#include - -#include "system/hardware/hw.h" -#include "selfdrive/ui/qt/widgets/controls.h" - -// SSH enable toggle -class SshToggle : public ToggleControl { - Q_OBJECT - -public: - SshToggle() : ToggleControl(tr("Enable SSH"), "", "", Hardware::get_ssh_enabled()) { - QObject::connect(this, &SshToggle::toggleFlipped, [=](bool state) { - Hardware::set_ssh_enabled(state); - }); - } -}; - -// SSH key management widget -class SshControl : public ButtonControl { - Q_OBJECT - -public: - SshControl(); - -private: - Params params; - - void refresh(); - void getUserKeys(const QString &username); - - // FrogPilot variables - Params paramsStorage{"/persist/params"}; -}; diff --git a/selfdrive/ui/qt/widgets/toggle.cc b/selfdrive/ui/qt/widgets/toggle.cc deleted file mode 100644 index 1236d25ddd19a4..00000000000000 --- a/selfdrive/ui/qt/widgets/toggle.cc +++ /dev/null @@ -1,83 +0,0 @@ -#include "selfdrive/ui/qt/widgets/toggle.h" - -#include - -Toggle::Toggle(QWidget *parent) : QAbstractButton(parent), -_height(80), -_height_rect(60), -on(false), -_anim(new QPropertyAnimation(this, "offset_circle", this)) -{ - _radius = _height / 2; - _x_circle = _radius; - _y_circle = _radius; - _y_rect = (_height - _height_rect)/2; - circleColor = QColor(0xffffff); // placeholder - green = QColor(0xffffff); // placeholder - setEnabled(true); -} - -void Toggle::paintEvent(QPaintEvent *e) { - this->setFixedHeight(_height); - QPainter p(this); - p.setPen(Qt::NoPen); - p.setRenderHint(QPainter::Antialiasing, true); - - // Draw toggle background left - p.setBrush(green); - p.drawRoundedRect(QRect(0, _y_rect, _x_circle + _radius, _height_rect), _height_rect/2, _height_rect/2); - - // Draw toggle background right - p.setBrush(QColor(0x393939)); - p.drawRoundedRect(QRect(_x_circle - _radius, _y_rect, width() - (_x_circle - _radius), _height_rect), _height_rect/2, _height_rect/2); - - // Draw toggle circle - p.setBrush(circleColor); - p.drawEllipse(QRectF(_x_circle - _radius, _y_circle - _radius, 2 * _radius, 2 * _radius)); -} - -void Toggle::mouseReleaseEvent(QMouseEvent *e) { - if (!enabled) { - return; - } - const int left = _radius; - const int right = width() - _radius; - if ((_x_circle != left && _x_circle != right) || !this->rect().contains(e->localPos().toPoint())) { - // If mouse release isn't in rect or animation is running, don't parse touch events - return; - } - if (e->button() & Qt::LeftButton) { - togglePosition(); - emit stateChanged(on); - } -} - -void Toggle::togglePosition() { - on = !on; - const int left = _radius; - const int right = width() - _radius; - _anim->setStartValue(on ? left + immediateOffset : right - immediateOffset); - _anim->setEndValue(on ? right : left); - _anim->setDuration(animation_duration); - _anim->start(); - repaint(); -} - -void Toggle::enterEvent(QEvent *e) { - QAbstractButton::enterEvent(e); -} - -bool Toggle::getEnabled() { - return enabled; -} - -void Toggle::setEnabled(bool value) { - enabled = value; - if (value) { - circleColor.setRgb(0xfafafa); - green.setRgb(0x178644); - } else { - circleColor.setRgb(0x888888); - green.setRgb(0x227722); - } -} diff --git a/selfdrive/ui/qt/widgets/toggle.h b/selfdrive/ui/qt/widgets/toggle.h deleted file mode 100644 index e7263a008fa183..00000000000000 --- a/selfdrive/ui/qt/widgets/toggle.h +++ /dev/null @@ -1,44 +0,0 @@ -#pragma once - -#include -#include -#include - -class Toggle : public QAbstractButton { - Q_OBJECT - Q_PROPERTY(int offset_circle READ offset_circle WRITE set_offset_circle CONSTANT) - -public: - Toggle(QWidget* parent = nullptr); - void togglePosition(); - bool on; - int animation_duration = 150; - int immediateOffset = 0; - int offset_circle() const { - return _x_circle; - } - - void set_offset_circle(int o) { - _x_circle = o; - update(); - } - bool getEnabled(); - void setEnabled(bool value); - -protected: - void paintEvent(QPaintEvent*) override; - void mouseReleaseEvent(QMouseEvent*) override; - void enterEvent(QEvent*) override; - -private: - QColor circleColor; - QColor green; - bool enabled = true; - int _x_circle, _y_circle; - int _height, _radius; - int _height_rect, _y_rect; - QPropertyAnimation *_anim = nullptr; - -signals: - void stateChanged(bool new_state); -}; diff --git a/selfdrive/ui/qt/widgets/wifi.cc b/selfdrive/ui/qt/widgets/wifi.cc deleted file mode 100644 index 0b41e7580f9eb6..00000000000000 --- a/selfdrive/ui/qt/widgets/wifi.cc +++ /dev/null @@ -1,132 +0,0 @@ -#include "selfdrive/ui/qt/widgets/wifi.h" - -#include -#include -#include -#include - -WiFiPromptWidget::WiFiPromptWidget(QWidget *parent) : QFrame(parent) { - stack = new QStackedLayout(this); - - // Setup Wi-Fi - QFrame *setup = new QFrame; - QVBoxLayout *setup_layout = new QVBoxLayout(setup); - setup_layout->setContentsMargins(56, 40, 56, 40); - setup_layout->setSpacing(20); - { - QHBoxLayout *title_layout = new QHBoxLayout; - title_layout->setSpacing(32); - { - QLabel *icon = new QLabel; - QPixmap pixmap("../assets/offroad/icon_wifi_strength_full.svg"); - icon->setPixmap(pixmap.scaledToWidth(80, Qt::SmoothTransformation)); - title_layout->addWidget(icon); - - QLabel *title = new QLabel(tr("Setup Wi-Fi")); - title->setStyleSheet("font-size: 64px; font-weight: 600;"); - title_layout->addWidget(title); - title_layout->addStretch(); - } - setup_layout->addLayout(title_layout); - - QLabel *desc = new QLabel(tr("Connect to Wi-Fi to upload driving data and help improve openpilot")); - desc->setStyleSheet("font-size: 40px; font-weight: 400;"); - desc->setWordWrap(true); - setup_layout->addWidget(desc); - - QPushButton *settings_btn = new QPushButton(tr("Open Settings")); - connect(settings_btn, &QPushButton::clicked, [=]() { emit openSettings(1); }); - settings_btn->setStyleSheet(R"( - QPushButton { - font-size: 48px; - font-weight: 500; - border-radius: 10px; - background-color: #465BEA; - padding: 32px; - } - QPushButton:pressed { - background-color: #3049F4; - } - )"); - setup_layout->addWidget(settings_btn); - } - stack->addWidget(setup); - - // Uploading data - QWidget *uploading = new QWidget; - QVBoxLayout *uploading_layout = new QVBoxLayout(uploading); - uploading_layout->setContentsMargins(64, 56, 64, 56); - uploading_layout->setSpacing(36); - { - QHBoxLayout *title_layout = new QHBoxLayout; - { - QLabel *title = new QLabel(tr("Ready to upload")); - title->setStyleSheet("font-size: 64px; font-weight: 600;"); - title->setWordWrap(true); - title->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Minimum); - title_layout->addWidget(title); - title_layout->addStretch(); - - QLabel *icon = new QLabel; - QPixmap pixmap("../assets/offroad/icon_wifi_uploading.svg"); - icon->setPixmap(pixmap.scaledToWidth(120, Qt::SmoothTransformation)); - title_layout->addWidget(icon); - } - uploading_layout->addLayout(title_layout); - - QLabel *desc = new QLabel(tr("Training data will be pulled periodically while your device is on Wi-Fi")); - desc->setStyleSheet("font-size: 48px; font-weight: 400;"); - desc->setWordWrap(true); - uploading_layout->addWidget(desc); - } - stack->addWidget(uploading); - - // not uploading data - QWidget *notUploading = new QWidget; - QVBoxLayout *not_uploading_layout = new QVBoxLayout(notUploading); - not_uploading_layout->setContentsMargins(64, 56, 64, 56); - not_uploading_layout->setSpacing(36); - { - QHBoxLayout *title_layout = new QHBoxLayout; - { - QLabel *title = new QLabel(tr("Uploading disabled")); - title->setStyleSheet("font-size: 64px; font-weight: 600;"); - title->setWordWrap(true); - title->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Minimum); - title_layout->addWidget(title); - title_layout->addStretch(); - - QLabel *icon = new QLabel; - QPixmap pixmap("../frogpilot/assets/other_images/icon_wifi_uploading_disabled.svg"); - icon->setPixmap(pixmap.scaledToWidth(120, Qt::SmoothTransformation)); - title_layout->addWidget(icon); - } - not_uploading_layout->addLayout(title_layout); - - QLabel *desc = new QLabel(tr("Toggle off the 'Turn Off Data Uploads' toggle to re-enable uploads.")); - desc->setStyleSheet("font-size: 48px; font-weight: 400;"); - desc->setWordWrap(true); - not_uploading_layout->addWidget(desc); - } - stack->addWidget(notUploading); - - setStyleSheet(R"( - WiFiPromptWidget { - background-color: #333333; - border-radius: 10px; - } - )"); - - QObject::connect(uiState(), &UIState::uiUpdate, this, &WiFiPromptWidget::updateState); -} - -void WiFiPromptWidget::updateState(const UIState &s) { - if (!isVisible()) return; - - auto &sm = *(s.sm); - - auto network_type = sm["deviceState"].getDeviceState().getNetworkType(); - auto uploading = network_type == cereal::DeviceState::NetworkType::WIFI || - network_type == cereal::DeviceState::NetworkType::ETHERNET; - stack->setCurrentIndex(s.scene.no_uploads ? 2 : uploading ? 1 : 0); -} diff --git a/selfdrive/ui/qt/widgets/wifi.h b/selfdrive/ui/qt/widgets/wifi.h deleted file mode 100644 index 30278c1b0131e4..00000000000000 --- a/selfdrive/ui/qt/widgets/wifi.h +++ /dev/null @@ -1,27 +0,0 @@ -#pragma once - -#include -#include -#include - -#include "selfdrive/ui/ui.h" - -class WiFiPromptWidget : public QFrame { - Q_OBJECT - -public: - explicit WiFiPromptWidget(QWidget* parent = 0); - -signals: - void openSettings(int index = 0, const QString ¶m = ""); - -public slots: - void updateState(const UIState &s); - -private: - // FrogPilot variables - Params params; - -protected: - QStackedLayout *stack; -}; diff --git a/selfdrive/ui/qt/window.cc b/selfdrive/ui/qt/window.cc deleted file mode 100644 index 52c4107189401f..00000000000000 --- a/selfdrive/ui/qt/window.cc +++ /dev/null @@ -1,103 +0,0 @@ -#include "selfdrive/ui/qt/window.h" - -#include - -#include "system/hardware/hw.h" - -MainWindow::MainWindow(QWidget *parent) : QWidget(parent) { - main_layout = new QStackedLayout(this); - main_layout->setMargin(0); - - homeWindow = new HomeWindow(this); - main_layout->addWidget(homeWindow); - QObject::connect(homeWindow, &HomeWindow::openSettings, this, &MainWindow::openSettings); - QObject::connect(homeWindow, &HomeWindow::closeSettings, this, &MainWindow::closeSettings); - - settingsWindow = new SettingsWindow(this); - main_layout->addWidget(settingsWindow); - QObject::connect(settingsWindow, &SettingsWindow::closeSettings, this, &MainWindow::closeSettings); - QObject::connect(settingsWindow, &SettingsWindow::reviewTrainingGuide, [=]() { - onboardingWindow->showTrainingGuide(); - main_layout->setCurrentWidget(onboardingWindow); - }); - QObject::connect(settingsWindow, &SettingsWindow::showDriverView, [=] { - homeWindow->showDriverView(true); - }); - - onboardingWindow = new OnboardingWindow(this); - main_layout->addWidget(onboardingWindow); - QObject::connect(onboardingWindow, &OnboardingWindow::onboardingDone, [=]() { - main_layout->setCurrentWidget(homeWindow); - }); - if (!onboardingWindow->completed()) { - main_layout->setCurrentWidget(onboardingWindow); - } - - QObject::connect(uiState(), &UIState::offroadTransition, [=](bool offroad) { - if (!offroad) { - closeSettings(); - } - }); - QObject::connect(device(), &Device::interactiveTimeout, [=]() { - if (main_layout->currentWidget() == settingsWindow) { - closeSettings(); - } - }); - - // load fonts - QFontDatabase::addApplicationFont("../assets/fonts/Inter-Black.ttf"); - QFontDatabase::addApplicationFont("../assets/fonts/Inter-Bold.ttf"); - QFontDatabase::addApplicationFont("../assets/fonts/Inter-ExtraBold.ttf"); - QFontDatabase::addApplicationFont("../assets/fonts/Inter-ExtraLight.ttf"); - QFontDatabase::addApplicationFont("../assets/fonts/Inter-Medium.ttf"); - QFontDatabase::addApplicationFont("../assets/fonts/Inter-Regular.ttf"); - QFontDatabase::addApplicationFont("../assets/fonts/Inter-SemiBold.ttf"); - QFontDatabase::addApplicationFont("../assets/fonts/Inter-Thin.ttf"); - QFontDatabase::addApplicationFont("../assets/fonts/JetBrainsMono-Medium.ttf"); - - // no outline to prevent the focus rectangle - setStyleSheet(R"( - * { - font-family: Inter; - outline: none; - } - )"); - setAttribute(Qt::WA_NoSystemBackground); -} - -void MainWindow::openSettings(int index, const QString ¶m) { - main_layout->setCurrentWidget(settingsWindow); - settingsWindow->setCurrentPanel(index, param); -} - -void MainWindow::closeSettings() { - main_layout->setCurrentWidget(homeWindow); - - if (uiState()->scene.started) { - // Map is always shown when using navigate on openpilot - if (uiState()->scene.navigate_on_openpilot) { - homeWindow->showMapPanel(true); - } else { - homeWindow->showSidebar(params.getBool("Sidebar")); - } - } -} - -bool MainWindow::eventFilter(QObject *obj, QEvent *event) { - bool ignore = false; - switch (event->type()) { - case QEvent::TouchBegin: - case QEvent::TouchUpdate: - case QEvent::TouchEnd: - case QEvent::MouseButtonPress: - case QEvent::MouseMove: { - // ignore events when device is awakened by resetInteractiveTimeout - ignore = !device()->isAwake() || uiState()->scene.driver_camera_timer >= 10; - device()->resetInteractiveTimeout(uiState()->scene.screen_timeout, uiState()->scene.screen_timeout_onroad); - break; - } - default: - break; - } - return ignore; -} diff --git a/selfdrive/ui/qt/window.h b/selfdrive/ui/qt/window.h deleted file mode 100644 index f1389c29f7a809..00000000000000 --- a/selfdrive/ui/qt/window.h +++ /dev/null @@ -1,28 +0,0 @@ -#pragma once - -#include -#include - -#include "selfdrive/ui/qt/home.h" -#include "selfdrive/ui/qt/offroad/onboarding.h" -#include "selfdrive/ui/qt/offroad/settings.h" - -class MainWindow : public QWidget { - Q_OBJECT - -public: - explicit MainWindow(QWidget *parent = 0); - -private: - bool eventFilter(QObject *obj, QEvent *event) override; - void openSettings(int index = 0, const QString ¶m = ""); - void closeSettings(); - - QStackedLayout *main_layout; - HomeWindow *homeWindow; - SettingsWindow *settingsWindow; - OnboardingWindow *onboardingWindow; - - // FrogPilot variables - Params params; -}; diff --git a/selfdrive/ui/tests/.gitignore b/selfdrive/ui/tests/.gitignore deleted file mode 100644 index 6c624b66d3ecc8..00000000000000 --- a/selfdrive/ui/tests/.gitignore +++ /dev/null @@ -1,6 +0,0 @@ -test -playsound -test_sound -test_translations -ui_snapshot -test_ui/report \ No newline at end of file diff --git a/selfdrive/ui/tests/__init__.py b/selfdrive/ui/tests/__init__.py deleted file mode 100644 index e69de29bb2d1d6..00000000000000 diff --git a/selfdrive/ui/tests/body.py b/selfdrive/ui/tests/body.py deleted file mode 100755 index 7e24c2beb77f9e..00000000000000 --- a/selfdrive/ui/tests/body.py +++ /dev/null @@ -1,22 +0,0 @@ -#!/usr/bin/env python3 -import time -import cereal.messaging as messaging - -if __name__ == "__main__": - while True: - pm = messaging.PubMaster(['carParams', 'carState']) - batt = 1. - while True: - msg = messaging.new_message('carParams') - msg.carParams.carName = "BODY" - msg.carParams.notCar = True - pm.send('carParams', msg) - - for b in range(100, 0, -1): - msg = messaging.new_message('carState') - msg.carState.charging = True - msg.carState.fuelGauge = b / 100. - pm.send('carState', msg) - time.sleep(0.1) - - time.sleep(1) diff --git a/selfdrive/ui/tests/create_test_translations.sh b/selfdrive/ui/tests/create_test_translations.sh deleted file mode 100755 index 451a3cbfb04c10..00000000000000 --- a/selfdrive/ui/tests/create_test_translations.sh +++ /dev/null @@ -1,18 +0,0 @@ -#!/bin/bash - -set -e - -UI_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"/.. -TEST_TEXT="(WRAPPED_SOURCE_TEXT)" -TEST_TS_FILE=$UI_DIR/translations/main_test_en.ts -TEST_QM_FILE=$UI_DIR/translations/main_test_en.qm - -# translation strings -UNFINISHED="<\/translation>" -TRANSLATED="$TEST_TEXT<\/translation>" - -mkdir -p $UI_DIR/translations -rm -f $TEST_TS_FILE $TEST_QM_FILE -lupdate -recursive "$UI_DIR" -ts $TEST_TS_FILE -sed -i "s/$UNFINISHED/$TRANSLATED/" $TEST_TS_FILE -lrelease $TEST_TS_FILE diff --git a/selfdrive/ui/tests/cycle_offroad_alerts.py b/selfdrive/ui/tests/cycle_offroad_alerts.py deleted file mode 100755 index 75b19ceb9025fa..00000000000000 --- a/selfdrive/ui/tests/cycle_offroad_alerts.py +++ /dev/null @@ -1,36 +0,0 @@ -#!/usr/bin/env python3 -import os -import sys -import time -import json - -from openpilot.common.basedir import BASEDIR -from openpilot.common.params import Params -from openpilot.selfdrive.controls.lib.alertmanager import set_offroad_alert - -if __name__ == "__main__": - params = Params() - - with open(os.path.join(BASEDIR, "selfdrive/controls/lib/alerts_offroad.json")) as f: - offroad_alerts = json.load(f) - - t = 10 if len(sys.argv) < 2 else int(sys.argv[1]) - while True: - print("setting alert update") - params.put_bool("UpdateAvailable", True) - r = open(os.path.join(BASEDIR, "RELEASES.md")).read() - r = r[:r.find('\n\n')] # Slice latest release notes - params.put("UpdaterNewReleaseNotes", r + "\n") - - time.sleep(t) - params.put_bool("UpdateAvailable", False) - - # cycle through normal alerts - for a in offroad_alerts: - print("setting alert:", a) - set_offroad_alert(a, True) - time.sleep(t) - set_offroad_alert(a, False) - - print("no alert") - time.sleep(t) diff --git a/selfdrive/ui/tests/playsound.cc b/selfdrive/ui/tests/playsound.cc deleted file mode 100644 index 6487d0479038c2..00000000000000 --- a/selfdrive/ui/tests/playsound.cc +++ /dev/null @@ -1,30 +0,0 @@ -#include -#include -#include -#include - -int main(int argc, char **argv) { - - QApplication a(argc, argv); - - QTimer::singleShot(0, [=]{ - QSoundEffect s; - const char *vol = getenv("VOLUME"); - s.setVolume(vol ? atof(vol) : 1.0); - for (int i = 1; i < argc; i++) { - QString fn = argv[i]; - qDebug() << "playing" << fn; - - QEventLoop loop; - s.setSource(QUrl::fromLocalFile(fn)); - QEventLoop::connect(&s, &QSoundEffect::loadedChanged, &loop, &QEventLoop::quit); - loop.exec(); - s.play(); - QEventLoop::connect(&s, &QSoundEffect::playingChanged, &loop, &QEventLoop::quit); - loop.exec(); - } - QCoreApplication::exit(); - }); - - return a.exec(); -} diff --git a/selfdrive/ui/tests/test_runner.cc b/selfdrive/ui/tests/test_runner.cc deleted file mode 100644 index ac63139d178a89..00000000000000 --- a/selfdrive/ui/tests/test_runner.cc +++ /dev/null @@ -1,25 +0,0 @@ -#define CATCH_CONFIG_RUNNER -#include "catch2/catch.hpp" - -#include -#include -#include -#include - -int main(int argc, char **argv) { - // unit tests for Qt - QApplication app(argc, argv); - - QString language_file = "main_test_en"; - qDebug() << "Loading language:" << language_file; - - QTranslator translator; - QString translationsPath = QDir::cleanPath(qApp->applicationDirPath() + "/../translations"); - if (!translator.load(language_file, translationsPath)) { - qDebug() << "Failed to load translation file!"; - } - app.installTranslator(&translator); - - const int res = Catch::Session().run(argc, argv); - return (res < 0xff ? res : 0xff); -} diff --git a/selfdrive/ui/tests/test_soundd.py b/selfdrive/ui/tests/test_soundd.py deleted file mode 100644 index 468bc92cca79ef..00000000000000 --- a/selfdrive/ui/tests/test_soundd.py +++ /dev/null @@ -1,35 +0,0 @@ -from cereal import car -from cereal import messaging -from cereal.messaging import SubMaster, PubMaster -from openpilot.selfdrive.ui.soundd import CONTROLS_TIMEOUT, check_controls_timeout_alert - -import time - -AudibleAlert = car.CarControl.HUDControl.AudibleAlert - - -class TestSoundd: - def test_check_controls_timeout_alert(self): - sm = SubMaster(['controlsState']) - pm = PubMaster(['controlsState']) - - for _ in range(100): - cs = messaging.new_message('controlsState') - cs.controlsState.enabled = True - - pm.send("controlsState", cs) - - time.sleep(0.01) - - sm.update(0) - - assert not check_controls_timeout_alert(sm) - - for _ in range(CONTROLS_TIMEOUT * 110): - sm.update(0) - time.sleep(0.01) - - assert check_controls_timeout_alert(sm) - - # TODO: add test with micd for checking that soundd actually outputs sounds - diff --git a/selfdrive/ui/tests/test_translations.cc b/selfdrive/ui/tests/test_translations.cc deleted file mode 100644 index fcefc5784fee7a..00000000000000 --- a/selfdrive/ui/tests/test_translations.cc +++ /dev/null @@ -1,48 +0,0 @@ -#include "catch2/catch.hpp" - -#include "common/params.h" -#include "selfdrive/ui/qt/window.h" - -const QString TEST_TEXT = "(WRAPPED_SOURCE_TEXT)"; // what each string should be translated to -QRegExp RE_NUM("\\d*"); - -QStringList getParentWidgets(QWidget* widget){ - QStringList parentWidgets; - while (widget->parentWidget() != Q_NULLPTR) { - widget = widget->parentWidget(); - parentWidgets.append(widget->metaObject()->className()); - } - return parentWidgets; -} - -template -void checkWidgetTrWrap(MainWindow &w) { - for (auto widget : w.findChildren()) { - const QString text = widget->text(); - bool isNumber = RE_NUM.exactMatch(text); - bool wrapped = text.contains(TEST_TEXT); - QString parentWidgets = getParentWidgets(widget).join("->"); - - if (!text.isEmpty() && !isNumber && !wrapped) { - FAIL(("\"" + text + "\" must be wrapped. Parent widgets: " + parentWidgets).toStdString()); - } - - // warn if source string wrapped, but UI adds text - // TODO: add way to ignore this - if (wrapped && text != TEST_TEXT) { - WARN(("\"" + text + "\" is dynamic and needs a custom retranslate function. Parent widgets: " + parentWidgets).toStdString()); - } - } -} - -// Tests all strings in the UI are wrapped with tr() -TEST_CASE("UI: test all strings wrapped") { - Params().remove("LanguageSetting"); - Params().remove("HardwareSerial"); - Params().remove("DongleId"); - qputenv("TICI", "1"); - - MainWindow w; - checkWidgetTrWrap(w); - checkWidgetTrWrap(w); -} diff --git a/selfdrive/ui/tests/test_translations.py b/selfdrive/ui/tests/test_translations.py deleted file mode 100644 index 0967152fa4bb95..00000000000000 --- a/selfdrive/ui/tests/test_translations.py +++ /dev/null @@ -1,129 +0,0 @@ -import pytest -import json -import os -import re -import shutil -import tempfile -import xml.etree.ElementTree as ET -import string -import requests -from parameterized import parameterized_class - -from openpilot.selfdrive.ui.update_translations import TRANSLATIONS_DIR, LANGUAGES_FILE, update_translations - -with open(LANGUAGES_FILE) as f: - translation_files = json.load(f) - -UNFINISHED_TRANSLATION_TAG = "" not in cur_translations, \ - f"{self.file} ({self.name}) translation file has obsolete translations. Run selfdrive/ui/update_translations.py --vanish to remove them" - - def test_finished_translations(self): - """ - Tests ran on each translation marked "finished" - Plural: - - that any numerus (plural) translations have all plural forms non-empty - - that the correct format specifier is used (%n) - Non-plural: - - that translation is not empty - - that translation format arguments are consistent - """ - tr_xml = ET.parse(os.path.join(TRANSLATIONS_DIR, f"{self.file}.ts")) - - for context in tr_xml.getroot(): - for message in context.iterfind("message"): - translation = message.find("translation") - source_text = message.find("source").text - - # Do not test unfinished translations - if translation.get("type") == "unfinished": - continue - - if message.get("numerus") == "yes": - numerusform = [t.text for t in translation.findall("numerusform")] - - for nf in numerusform: - assert nf is not None, f"Ensure all plural translation forms are completed: {source_text}" - assert "%n" in nf, "Ensure numerus argument (%n) exists in translation." - assert FORMAT_ARG.search(nf) is None, f"Plural translations must use %n, not %1, %2, etc.: {numerusform}" - - else: - assert translation.text is not None, f"Ensure translation is completed: {source_text}" - - source_args = FORMAT_ARG.findall(source_text) - translation_args = FORMAT_ARG.findall(translation.text) - assert sorted(source_args) == sorted(translation_args), \ - f"Ensure format arguments are consistent: `{source_text}` vs. `{translation.text}`" - - def test_no_locations(self): - for line in self._read_translation_file(TRANSLATIONS_DIR, self.file).splitlines(): - assert not line.strip().startswith(LOCATION_TAG), \ - f"Line contains location tag: {line.strip()}, remove all line numbers." - - def test_entities_error(self): - cur_translations = self._read_translation_file(TRANSLATIONS_DIR, self.file) - matches = re.findall(r'@(\w+);', cur_translations) - assert len(matches) == 0, f"The string(s) {matches} were found with '@' instead of '&'" - - def test_bad_language(self): - IGNORED_WORDS = {'pédale'} - - match = re.search(r'_([a-zA-Z]{2,3})', self.file) - assert match, f"{self.name} - could not parse language" - - response = requests.get(f"https://raw.githubusercontent.com/LDNOOBW/List-of-Dirty-Naughty-Obscene-and-Otherwise-Bad-Words/master/{match.group(1)}") - response.raise_for_status() - - banned_words = {line.strip() for line in response.text.splitlines()} - - for context in ET.parse(os.path.join(TRANSLATIONS_DIR, f"{self.file}.ts")).getroot(): - for message in context.iterfind("message"): - translation = message.find("translation") - if translation.get("type") == "unfinished": - continue - - translation_text = " ".join([t.text for t in translation.findall("numerusform")]) if message.get("numerus") == "yes" else translation.text - - if not translation_text: - continue - - words = set(translation_text.translate(str.maketrans('', '', string.punctuation + '%n')).lower().split()) - bad_words_found = words & (banned_words - IGNORED_WORDS) - assert not bad_words_found, f"Bad language found in {self.name}: '{translation_text}'. Bad word(s): {', '.join(bad_words_found)}" diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py deleted file mode 100644 index 1d33c103a4d02b..00000000000000 --- a/selfdrive/ui/tests/test_ui/run.py +++ /dev/null @@ -1,193 +0,0 @@ -from collections import namedtuple -import pathlib -import shutil -import sys -import jinja2 -import matplotlib.pyplot as plt -import numpy as np -import os -import pywinctl -import time - -from cereal import messaging, car, log -from msgq.visionipc import VisionIpcServer, VisionStreamType - -from cereal.messaging import SubMaster, PubMaster -from openpilot.common.mock import mock_messages -from openpilot.common.params import Params -from openpilot.common.realtime import DT_MDL -from openpilot.common.transformations.camera import DEVICE_CAMERAS -from openpilot.selfdrive.test.helpers import with_processes -from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state -from openpilot.tools.webcam.camera import Camera - -UI_DELAY = 0.5 # may be slower on CI? - -NetworkType = log.DeviceState.NetworkType -NetworkStrength = log.DeviceState.NetworkStrength - -EventName = car.CarEvent.EventName -EVENTS_BY_NAME = {v: k for k, v in EventName.schema.enumerants.items()} - - -def setup_common(click, pm: PubMaster): - Params().put("DongleId", "123456789012345") - dat = messaging.new_message('deviceState') - dat.deviceState.started = True - dat.deviceState.networkType = NetworkType.cell4G - dat.deviceState.networkStrength = NetworkStrength.moderate - dat.deviceState.freeSpacePercent = 80 - dat.deviceState.memoryUsagePercent = 2 - dat.deviceState.cpuTempC = [2,]*3 - dat.deviceState.gpuTempC = [2,]*3 - dat.deviceState.cpuUsagePercent = [2,]*8 - - pm.send("deviceState", dat) - -def setup_homescreen(click, pm: PubMaster): - setup_common(click, pm) - -def setup_settings_device(click, pm: PubMaster): - setup_common(click, pm) - - click(100, 100) - -def setup_settings_network(click, pm: PubMaster): - setup_common(click, pm) - - setup_settings_device(click, pm) - click(300, 600) - -def setup_onroad(click, pm: PubMaster): - setup_common(click, pm) - - dat = messaging.new_message('pandaStates', 1) - dat.pandaStates[0].ignitionLine = True - dat.pandaStates[0].pandaType = log.PandaState.PandaType.uno - - pm.send("pandaStates", dat) - - d = DEVICE_CAMERAS[("tici", "ar0231")] - server = VisionIpcServer("camerad") - server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 40, False, d.fcam.width, d.fcam.height) - server.create_buffers(VisionStreamType.VISION_STREAM_DRIVER, 40, False, d.dcam.width, d.dcam.height) - server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 40, False, d.fcam.width, d.fcam.height) - server.start_listener() - - time.sleep(0.5) # give time for vipc server to start - - IMG = Camera.bgr2nv12(np.random.randint(0, 255, (d.fcam.width, d.fcam.height, 3), dtype=np.uint8)) - IMG_BYTES = IMG.flatten().tobytes() - - cams = ('roadCameraState', 'wideRoadCameraState') - - frame_id = 0 - for cam in cams: - msg = messaging.new_message(cam) - cs = getattr(msg, cam) - cs.frameId = frame_id - cs.timestampSof = int((frame_id * DT_MDL) * 1e9) - cs.timestampEof = int((frame_id * DT_MDL) * 1e9) - cam_meta = meta_from_camera_state(cam) - - pm.send(msg.which(), msg) - server.send(cam_meta.stream, IMG_BYTES, cs.frameId, cs.timestampSof, cs.timestampEof) - -@mock_messages(['liveLocationKalman']) -def setup_onroad_map(click, pm: PubMaster): - setup_onroad(click, pm) - - click(500, 500) - - time.sleep(UI_DELAY) # give time for the map to render - -def setup_onroad_sidebar(click, pm: PubMaster): - setup_onroad_map(click, pm) - click(500, 500) - -CASES = { - "homescreen": setup_homescreen, - "settings_device": setup_settings_device, - "settings_network": setup_settings_network, - "onroad": setup_onroad, - "onroad_map": setup_onroad_map, - "onroad_sidebar": setup_onroad_sidebar -} - -TEST_DIR = pathlib.Path(__file__).parent - -TEST_OUTPUT_DIR = TEST_DIR / "report" -SCREENSHOTS_DIR = TEST_OUTPUT_DIR / "screenshots" - - -class TestUI: - def __init__(self): - os.environ["SCALE"] = "1" - sys.modules["mouseinfo"] = False - - def setup(self): - self.sm = SubMaster(["uiDebug"]) - self.pm = PubMaster(["deviceState", "pandaStates", "controlsState", 'roadCameraState', 'wideRoadCameraState', 'liveLocationKalman']) - while not self.sm.valid["uiDebug"]: - self.sm.update(1) - time.sleep(UI_DELAY) # wait a bit more for the UI to start rendering - try: - self.ui = pywinctl.getWindowsWithTitle("ui")[0] - except Exception as e: - print(f"failed to find ui window, assuming that it's in the top left (for Xvfb) {e}") - self.ui = namedtuple("bb", ["left", "top", "width", "height"])(0,0,2160,1080) - - def screenshot(self): - import pyautogui - im = pyautogui.screenshot(region=(self.ui.left, self.ui.top, self.ui.width, self.ui.height)) - assert im.width == 2160 - assert im.height == 1080 - img = np.array(im) - im.close() - return img - - def click(self, x, y, *args, **kwargs): - import pyautogui - pyautogui.click(self.ui.left + x, self.ui.top + y, *args, **kwargs) - time.sleep(UI_DELAY) # give enough time for the UI to react - - @with_processes(["ui"]) - def test_ui(self, name, setup_case): - self.setup() - - setup_case(self.click, self.pm) - - time.sleep(UI_DELAY) # wait a bit more for the UI to finish rendering - - im = self.screenshot() - plt.imsave(SCREENSHOTS_DIR / f"{name}.png", im) - - -def create_html_report(): - OUTPUT_FILE = TEST_OUTPUT_DIR / "index.html" - - with open(TEST_DIR / "template.html") as f: - template = jinja2.Template(f.read()) - - cases = {f.stem: (str(f.relative_to(TEST_OUTPUT_DIR)), "reference.png") for f in SCREENSHOTS_DIR.glob("*.png")} - cases = dict(sorted(cases.items())) - - with open(OUTPUT_FILE, "w") as f: - f.write(template.render(cases=cases)) - -def create_screenshots(): - if TEST_OUTPUT_DIR.exists(): - shutil.rmtree(TEST_OUTPUT_DIR) - - SCREENSHOTS_DIR.mkdir(parents=True) - - t = TestUI() - for name, setup in CASES.items(): - t.test_ui(name, setup) - -if __name__ == "__main__": - print("creating test screenshots") - create_screenshots() - - print("creating html report") - create_html_report() diff --git a/selfdrive/ui/tests/test_ui/template.html b/selfdrive/ui/tests/test_ui/template.html deleted file mode 100644 index 68df5879e6692c..00000000000000 --- a/selfdrive/ui/tests/test_ui/template.html +++ /dev/null @@ -1,34 +0,0 @@ - - - - -{% for name, (image, ref_image) in cases.items() %} - -

{{name}}

-
-
- -
-
- -
- -{% endfor %} - \ No newline at end of file diff --git a/selfdrive/ui/tests/ui_snapshot.cc b/selfdrive/ui/tests/ui_snapshot.cc deleted file mode 100644 index 14e0fab835fc46..00000000000000 --- a/selfdrive/ui/tests/ui_snapshot.cc +++ /dev/null @@ -1,66 +0,0 @@ -#include "selfdrive/ui/tests/ui_snapshot.h" - -#include -#include -#include -#include -#include - -#include "selfdrive/ui/qt/home.h" -#include "selfdrive/ui/qt/util.h" -#include "selfdrive/ui/qt/window.h" -#include "selfdrive/ui/ui.h" - -void saveWidgetAsImage(QWidget *widget, const QString &fileName) { - QImage image(widget->size(), QImage::Format_ARGB32); - QPainter painter(&image); - widget->render(&painter); - image.save(fileName); -} - -int main(int argc, char *argv[]) { - initApp(argc, argv); - - QApplication app(argc, argv); - - QCommandLineParser parser; - parser.setApplicationDescription("Take a snapshot of the UI."); - parser.addHelpOption(); - parser.addOption(QCommandLineOption(QStringList() << "o" - << "output", - "Output image file path. The file's suffix is used to " - "determine the format. Supports PNG and JPEG formats. " - "Defaults to \"snapshot.png\".", - "file", "snapshot.png")); - parser.process(app); - - const QString output = parser.value("output"); - if (output.isEmpty()) { - qCritical() << "No output file specified"; - return 1; - } - - auto current = QDir::current(); - - // change working directory to find assets - if (!QDir::setCurrent(QCoreApplication::applicationDirPath() + QDir::separator() + "..")) { - qCritical() << "Failed to set current directory"; - return 1; - } - - MainWindow w; - w.setFixedSize(2160, 1080); - w.show(); - app.installEventFilter(&w); - - // restore working directory - QDir::setCurrent(current.absolutePath()); - - // wait for the UI to update - QObject::connect(uiState(), &UIState::uiUpdate, [&](const UIState &s) { - saveWidgetAsImage(&w, output); - app.quit(); - }); - - return app.exec(); -} diff --git a/selfdrive/ui/tests/ui_snapshot.h b/selfdrive/ui/tests/ui_snapshot.h deleted file mode 100644 index b4699f6af58c08..00000000000000 --- a/selfdrive/ui/tests/ui_snapshot.h +++ /dev/null @@ -1,5 +0,0 @@ -#pragma once - -#include - -void saveWidgetAsImage(QWidget *widget, const QString &fileName); diff --git a/selfdrive/ui/translations/README.md b/selfdrive/ui/translations/README.md deleted file mode 100644 index 4f11fe3388bccc..00000000000000 --- a/selfdrive/ui/translations/README.md +++ /dev/null @@ -1,71 +0,0 @@ -# Multilanguage - -[![languages](https://raw.githubusercontent.com/commaai/openpilot/badges/translation_badge.svg)](#) - -## Contributing - -Before getting started, make sure you have set up the openpilot Ubuntu development environment by reading the [tools README.md](/tools/README.md). - -### Policy - -Most of the languages supported by openpilot come from and are maintained by the community via pull requests. A pull request likely to be merged is one that [fixes a translation or adds missing translations.](https://github.com/commaai/openpilot/blob/master/selfdrive/ui/translations/README.md#improving-an-existing-language) - -We also generally merge pull requests adding support for a new language if there are community members willing to maintain it. Maintaining a language is ensuring quality and completion of translations before each openpilot release. - -comma may remove or hide language support from releases depending on translation quality and completeness. - -### Adding a New Language - -openpilot provides a few tools to help contributors manage their translations and to ensure quality. To get started: - -1. Add your new language to [languages.json](/selfdrive/ui/translations/languages.json) with the appropriate [language code](https://en.wikipedia.org/wiki/List_of_ISO_639-1_codes) and the localized language name (Traditional Chinese is `中文（繁體）`). -2. Generate the XML translation file (`*.ts`): - ```shell - selfdrive/ui/update_translations.py - ``` -3. Edit the translation file, marking each translation as completed: - ```shell - linguist selfdrive/ui/translations/your_language_file.ts - ``` -4. View your finished translations by compiling and starting the UI, then find it in the language selector: - ```shell - scons -j$(nproc) selfdrive/ui && selfdrive/ui/ui - ``` -5. Read [Checking the UI](#checking-the-ui) to double-check your translations fit in the UI. - -### Improving an Existing Language - -Follow step 3. above, you can review existing translations and add missing ones. Once you're done, just open a pull request to openpilot. - -### Checking the UI -Different languages use varying space to convey the same message, so it's a good idea to double-check that your translations do not overlap and fit into each widget. Start the UI (step 4. above) and view each page, making adjustments to translations as needed. - -#### To view offroad alerts: - -With the UI started, you can view the offroad alerts with: -```shell -selfdrive/ui/tests/cycle_offroad_alerts.py -``` - -### Updating the UI - -Any time you edit source code in the UI, you need to update the translations to ensure the line numbers and contexts are up to date (first step above). - -### Testing - -openpilot has a few unit tests to make sure all translations are up-to-date and that all strings are wrapped in a translation marker. They are run in CI, but you can also run them locally. - -Tests translation files up to date: - -```shell -selfdrive/ui/tests/test_translations.py -``` - -Tests all static source strings are wrapped: - -```shell -selfdrive/ui/tests/create_test_translations.sh && selfdrive/ui/tests/test_translations -``` - ---- -![multilanguage_onroad](https://user-images.githubusercontent.com/25857203/178912800-2c798af8-78e3-498e-9e19-35906e0bafff.png) diff --git a/selfdrive/ui/translations/main_ar.qm b/selfdrive/ui/translations/main_ar.qm new file mode 100644 index 00000000000000..7ac3ebfa470476 Binary files /dev/null and b/selfdrive/ui/translations/main_ar.qm differ diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts index 2a863df36f4c15..ed04f71dd84348 100644 --- a/selfdrive/ui/translations/main_ar.ts +++ b/selfdrive/ui/translations/main_ar.ts @@ -149,10 +149,6 @@ kph - - ft/s² - - Accel: %1%2 @@ -185,16 +181,6 @@ Follow Distance: - - Confirm speed limit - - - - - Ignore speed limit - - - Conditional Experimental Mode ready @@ -283,6 +269,14 @@ . Double tap the screen to revert + + PENDING + + + + ft/s² + + ConfirmationDialog @@ -532,2841 +526,2932 @@ FrogPilotAdvancedDrivingPanel - Advanced Lateral Tuning - + mph + ميل/س - Advanced settings that control how openpilot manages steering. - + Reset + إعادة الضبط - Friction (Default: %1) - + ADD + إضافة - Friction - + REMOVE + إزالة - The resistance in steering. Higher values provide more stable steering but can make it feel heavy, while lower values allow lighter steering but may feel too sensitive. - + OK + موافق - Kp Factor (Default: %1) - + RESET + إعادة الضبط - Kp Factor - + VIEW + عرض - How aggressively the car corrects its steering. Higher values offer quicker corrections but may feel jerky, while lower values make steering smoother but slower to respond. - + DOWNLOAD + تنزيل - Lateral Accel (Default: %1) - + SELECT + اختيار - Lateral Accel - + openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required. + يحتاج openpilot أن يتم ضبط الجهاز ضمن حدود 4 درجات يميناً أو يساراً و5 درجات نحو الأعلى أو 9 نحو الأسفل. يقوم openpilot بالمعايرة باستمرار، ونادراً ما يحتاج إلى عملية إعادة الضبط. - Adjust how fast the car can steer from side to side. Higher values allow quicker lane changes but can feel unstable, while lower values provide smoother steering but may feel sluggish. - + Your device is pointed %1° %2 and %3° %4. + يشير جهازك إلى %1 درجة %2، و%3 درجة %4. - Steer Ratio (Default: %1) - + down + نحو الأسفل - Steer Ratio - + up + نحو الأعلى - Adjust how much openpilot needs to turn the wheel to steer. Higher values feel like driving a truck, more stable at high speeds, but harder to steer quickly at low speeds, while lower values feel like a go-kart, easier to steer in tight spots but more sensitive and less stable at high speeds. - + left + نحو اليسار - comma's 2022 Taco Bell Turn Hack - + right + نحو اليمين + + + FrogPilotAdvancedVisualsPanel - Use comma's hack they used to help handle left and right turns more precisely during their 2022 'Taco Bell' drive. - + Standard + القياسي + + + FrogPilotConfirmationDialog - Force Auto Tune On + Reboot Later - Forces comma's auto lateral tuning for unsupported vehicles. + Yes - Force Auto Tune Off + No + + + FrogPilotDataPanel - Forces comma's auto lateral tuning off for supported vehicles. + Delete Driving Footage and Data - Force Turn Desires Below Lane Change Speed + DELETE - Force the model to use turn desires when driving below the minimum lane change speed to help make left and right turns more precisely. + Are you sure you want to permanently delete all of your driving footage and data? - Advanced Longitudinal Tuning + Delete - Advanced settings that control how openpilot manages speed and acceleration. + Deleting... - Lead Detection Confidence + Deleted! - How sensitive openpilot is to detecting vehicles ahead. A lower value can help detect vehicles sooner and from farther away, but may occasionally mistake other objects for vehicles. + Screen Recordings - Maximum Acceleration Rate + Manage your screen recordings. - Set a cap on how fast openpilot can accelerate to prevent high acceleration at low speeds. + RENAME - Advanced Quality of Life + Select a recording to delete - Miscellaneous advanced features to improve your overall openpilot experience. + Are you sure you want to delete this recording? - Force Keep openpilot in the Standstill State + Select a recording to rename - Keep openpilot in the 'standstill' state until the gas pedal or 'resume' button is pressed. + Enter a new name - Force Stop for 'Detected' Stop Lights/Signs + Rename Recording - Whenever openpilot 'detects' a potential stop light/stop sign, force a stop where it originally detected it to prevent running the potential red light/stop sign. + Renaming... - Set Speed Offset + Renamed! - How much higher or lower the set speed should be compared to your current set speed. For example, if you prefer to drive 5 mph above the speed limit, this setting will automatically add that difference when you adjust your set speed. + FrogPilot Backups - Customize Driving Personalities + Manage your FrogPilot backups. - Customize the personality profiles to suit your preferences. + BACKUP - Traffic Personality + RESTORE - Customize the 'Traffic' personality profile, tailored for navigating through traffic. + Name your backup - Following Distance + Compressing... - The minimum following distance in 'Traffic Mode.' openpilot will adjust dynamically between this value and the 'Aggressive' profile distance based on your speed. + Select a backup to delete - Acceleration Sensitivity + Are you sure you want to delete this backup? - How sensitive openpilot is to changes in acceleration in 'Traffic Mode.' Higher values result in smoother, more gradual acceleration and deceleration, while lower values allow for faster changes that may feel more abrupt. + Select a restore point - Deceleration Sensitivity + Are you sure you want to restore this version of FrogPilot? - Controls how sensitive openpilot is to changes in deceleration in 'Traffic Mode.' Higher values result in smoother, more gradual braking, while lower values allow for quicker, more responsive braking that may feel abrupt. + Restore - Safety Distance Sensitivity + Restoring... - Adjusts how cautious openpilot is around other vehicles or obstacles in 'Traffic Mode.' Higher values increase following distances and prioritize safety, leading to more cautious driving, while lower values allow for closer following but may reduce reaction time. + Extracting... - Speed Increase Responsiveness + Restored! - Controls how quickly openpilot adjusts speed in 'Traffic Mode.' Higher values ensure smoother, more gradual speed changes, while lower values enable quicker adjustments that might feel sharper or less smooth. + Rebooting... - Speed Decrease Responsiveness + Toggle Backups - Sets how quickly openpilot adjusts to decreasing speeds in 'Traffic Mode.' Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed reductions that might feel sharper. + Manage your toggle backups. - Reset Settings + Are you sure you want to restore this toggle backup? - Restore the 'Traffic Mode' settings to their default values. + Permanently deletes all stored driving footage and data from your device. Ideal for maintaining privacy or freeing up space. - Aggressive Personality + DELETE ALL - Customize the 'Aggressive' personality profile, designed for a more assertive driving style. + Are you sure you want to delete all screen recordings? - Set the following distance for 'Aggressive' mode. This determines roughly how many seconds you'll follow behind the car ahead. - -Default: 1.25 seconds. + Delete All - Controls how sensitive openpilot is to acceleration changes in 'Aggressive' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky. - -Default: 0.5. + A recording with this name already exists. Please choose a different name. - Controls how sensitive openpilot is to deceleration in 'Aggressive' mode. Higher values result in smoother braking, while lower values allow for more immediate braking that may feel abrupt. - -Default: 0.5. + A backup with this name already exists. Please choose a different name. - Adjusts how cautious openpilot is around vehicles or obstacles in 'Aggressive' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking. - -Default: 1.0. + Do you want to compress this backup? The final result will be 2.25x smaller and will run in the background, but can take 10+ minutes. - Controls how quickly openpilot adjusts speed in 'Aggressive' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt. - -Default: 0.5. + Backing up... - Sets how quickly openpilot adjusts to speed reductions in 'Aggressive' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp. - -Default: 0.5. + Backup created! - Restore the 'Aggressive' settings to their default values. + Are you sure you want to delete all FrogPilot backups? - Standard Personality + Are you sure you want to delete all toggle backups? + + + FrogPilotDevicePanel - Customize the 'Standard' personality profile, optimized for balanced driving. + Device Settings - Set the following distance for 'Standard' mode. This determines roughly how many seconds you'll follow behind the car ahead. - -Default: 1.45 seconds. + Device behavior settings. - Controls how sensitive openpilot is to acceleration changes in 'Standard' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky. - -Default: 1.0. + Device Shutdown Timer - Controls how sensitive openpilot is to deceleration in 'Standard' mode. Higher values result in smoother braking, while lower values allow for quicker, more immediate braking that may feel abrupt. - -Default: 1.0. + Disable Internet Requirement - Adjusts how cautious openpilot is around vehicles or obstacles in 'Standard' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking. - -Default: 1.0. + Increase Thermal Safety Limit - Controls how quickly openpilot adjusts speed in 'Standard' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt. - -Default: 1.0. + Low Battery Shutdown Threshold - Sets how quickly openpilot adjusts to speed reductions in 'Standard' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp. - -Default: 1.0. + Turn Off Data Tracking - Restore the 'Standard' settings to their default values. + Turn Off Data Uploads - Relaxed Personality + Screen Settings - Customize the 'Relaxed' personality profile, ideal for a more laid-back driving style. + Screen behavior settings. - Set the following distance for 'Relaxed' mode. This determines roughly how many seconds you'll follow behind the car ahead. - -Default: 1.75 seconds. + Screen Brightness (Offroad) - Controls how sensitive openpilot is to acceleration changes in 'Relaxed' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky. - -Default: 1.0. + Screen Brightness (Onroad) - Controls how sensitive openpilot is to deceleration in 'Relaxed' mode. Higher values result in smoother braking, while lower values allow for quicker, more immediate braking that may feel abrupt. - -Default: 1.0. + Screen Recorder - Adjusts how cautious openpilot is around vehicles or obstacles in 'Relaxed' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking. - -Default: 1.0. + Screen Timeout (Offroad) - Controls how quickly openpilot adjusts speed in 'Relaxed' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt. - -Default: 1.0. + Screen Timeout (Onroad) - Sets how quickly openpilot adjusts to speed reductions in 'Relaxed' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp. - -Default: 1.0. + 5 mins - Restore the 'Relaxed' settings to their default values. + mins - Model Management + hour - Manage the driving models used by openpilot. + hours - Automatically Update and Download Models + Only Onroad - Automatically download new or updated driving models. + volts - Model Randomizer + Auto - A random model is selected and can be reviewed at the end of each drive if it's longer than 15 minutes to help find your preferred model. + seconds - Manage Model Blacklist + WARNING: This can cause premature wear or damage by running the device over comma's recommended temperature limits! - Control which models are blacklisted and won't be used for future drives. + WARNING: This will prevent your drives from being recorded and the data will be unobtainable! - Reset Model Scores + WARNING: This will prevent your drives from appearing on comma connect which may impact debugging and support! - Clear the ratings you've given to the driving models. + Controls how long the device stays on after you stop driving. - Review Model Scores + Allows the device to work without an internet connection. - View the ratings you've assigned to the driving models. + Allows the device to run at higher temperatures than recommended. - Delete Model + Manages the threshold for shutting down the device to protect the car's battery from excessive drain and potential damage. - Remove the selected driving model from your device. + Disables all data tracking to improve privacy. - Download Model + Stops the device from sending any data to the servers. - Download undownloaded driving models. + Controls the screen brightness when you're not driving. - Download All Models + Controls the screen brightness while you're driving. - Download all undownloaded driving models. + Enables a button in the onroad UI to record the screen. - Select Model + Controls how long it takes for the screen to turn off when you're not driving. - Select which model openpilot uses to drive. + Controls how long it takes for the screen to turn off while you're driving. - Reset Model Calibrations + Screen Off + + + FrogPilotLateralPanel - Reset calibration settings for the driving models. + Always on Lateral - mph - ميل/س + openpilot's steering control stays active even when the brake or gas pedals are pressed. + +Deactivate only occurs with the 'Cruise Control' button. + - Reset - إعادة الضبط + Control with LKAS Button + - seconds + Enable with Cruise Control - ADD - إضافة + Pause on Brake Below + - REMOVE - إزالة + Hide the Status Bar + - There's no more models to blacklist! The only available model is "%1"! + Lane Change Settings - OK - موافق + How openpilot handles lane changes. + - Select a model to add to the blacklist + Lane Change Delay - Are you sure you want to add the '%1' model to the blacklist? + Lane Width Requirement - Add + Minimum Speed for Lane Change - Select a model to remove from the blacklist + Lateral Tuning - Are you sure you want to remove the '%1' model from the blacklist? + Neural Network Feedforward (NNFF) - Remove + Smooth Curve Handling - RESET - إعادة الضبط + Quality of Life Improvements + - Reset all model scores? + Miscellaneous lateral focused features to improve your overall openpilot experience. - VIEW - عرض + Pause Steering Below + - DELETE + Pauses steering control when driving below the set speed. - Select a model to delete - + mph + ميل/س - Are you sure you want to delete the '%1' model? + feet - Delete + Reboot required to take effect. - Deleting... + Reboot Now - Deleted! + kph - DOWNLOAD - تنزيل + meters + - CANCEL + Advanced Lateral Tuning - Select a driving model to download + Advanced settings for fine tuning openpilot's lateral controls. - Downloading %1... + Friction (Default: %1) - SELECT - اختيار + Friction + - Select a model - 🗺️ = Navigation | 📡 = Radar | 👀 = VOACC + Adjusts the resistance in steering. Higher values provide more stable steering but can make it feel heavy, while lower values allow lighter steering but may feel too sensitive. - WARNING: This is a very experimental model and may drive dangerously! + Kp Factor (Default: %1) - I understand the risks. + Kp Factor - Start with a fresh calibration for the newly selected model? + Adjusts how aggressively the car corrects its steering. Higher values offer quicker corrections but may feel jerky, while lower values make steering smoother but slower to respond. - Reboot required to take effect. + Lateral Accel (Default: %1) - Reboot Now + Lateral Accel - RESET ALL + Adjusts how fast the car can steer from side to side. Higher values allow quicker lane changes but can feel unstable, while lower values provide smoother steering but may feel sluggish. - RESET ONE + Steer Ratio (Default: %1) - Are you sure you want to completely reset all of your model calibrations? + Steer Ratio - Select a model to reset + Adjusts how much openpilot needs to turn the wheel to steer. Higher values feel like driving a truck, more stable at high speeds, but harder to steer quickly at low speeds, while lower values feel like a go-kart, easier to steer in tight spots but more sensitive and less stable at high speeds. - Are you sure you want to completely reset this model's calibrations? + Force Auto Tune On - The 'Model Randomizer' only works with downloaded models. Do you want to download all the driving models? + Forces comma's auto lateral tuning for unsupported vehicles. - Are you sure you want to completely reset your settings for the 'Traffic Mode' personality? + Force Auto Tune Off - Are you sure you want to completely reset your settings for the 'Aggressive' personality? + Forces comma's auto lateral tuning off for supported vehicles. - Are you sure you want to completely reset your settings for the 'Standard' personality? + Controls the current state of 'Always on Lateral' with the 'LKAS' button. - Are you sure you want to completely reset your settings for the 'Relaxed' personality? + Activates 'Always on Lateral' whenever 'Cruise Control' is active bypassing the requirement to enable openpilot first. - kph + Pauses 'Always on Lateral' when the brake pedal is pressed below the set speed. - Downloading models... + Hides status bar for 'Always On Lateral'. - openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required. - يحتاج openpilot أن يتم ضبط الجهاز ضمن حدود 4 درجات يميناً أو يساراً و5 درجات نحو الأعلى أو 9 نحو الأسفل. يقوم openpilot بالمعايرة باستمرار، ونادراً ما يحتاج إلى عملية إعادة الضبط. + Automatic Lane Changes + - Your device is pointed %1° %2 and %3° %4. - يشير جهازك إلى %1 درجة %2، و%3 درجة %4. + Conducts lane changes without needing to touch the steering wheel upon turn signal activation. + - down - نحو الأسفل + Delays lane changes by the set time to prevent sudden changes. + - up - نحو الأعلى + Sets the minimum lane width for openpilot to detect a lane as a lane. + - left - نحو اليسار + Sets the minimum speed required for openpilot to perform a lane change. + - right - نحو اليمين + Only One Lane Change Per Signal + - - - FrogPilotAdvancedVisualsPanel - Advanced Onroad UI Widgets + Limits lane changes to one per turn signal activation. - Advanced user customizations for the Onroad UI. + Settings for fine tuning openpilot's lateral controls. - Camera View + Force Turn Desires Below Lane Change Speed - Camera view for the onroad UI. This is purely a visual change and doesn't impact how openpilot drives. + Forces the model to use turn desires when driving below the minimum lane change speed to help make left and right turns more precisely. - Display Stopping Points + Uses Twilsonco's 'Neural Network FeedForward' for more precise steering control. - Display an image on the screen where openpilot is detecting a potential red light/stop sign. + Smoothens the steering control when entering and exiting curves by using Twilsonco's torque adjustments. - Hide Lead Marker + seconds + + + FrogPilotLongitudinalPanel - Hide the marker for the vehicle ahead on the screen. + Conditional Experimental Mode - Hide Speed + Below - Hide the speed indicator in the onroad UI. Additional toggle allows it to be hidden/shown via tapping the speed itself. + Curve Detected Ahead - Hide UI Elements + Lead Detected Ahead - Hide the selected UI elements from the onroad screen. + Navigation Data - Use Wheel Speed + openpilot Wants to Stop In - Use the wheel speed instead of the cluster speed in the onroad UI. + Turn Signal Below - Developer UI + Hide the Status Bar - Show detailed information about openpilot's internal operations. + Curve Speed Control - Border Metrics + Automatically slow down for curves detected ahead or through the downloaded maps. - Display performance metrics around the edge of the screen while driving. + Curve Detection Method - FPS Display + Curve Detection Failsafe - Display the 'Frames Per Second' (FPS) at the bottom of the screen while driving. + Experimental Mode Activation - Lateral Metrics + Click the LKAS Button - Display metrics related to steering control at the top of the screen while driving. + Double-Tap the Screen - Longitudinal Metrics + Long Press the Distance Button - Display metrics related to acceleration, speed, and desired following distance at the top of the screen while driving. + Longitudinal Tuning - Numerical Temperature Gauge + Settings that control how openpilot manages speed and acceleration. - Show exact temperature readings instead of general status labels like 'GOOD', 'OK', or 'HIGH' in the sidebar. + Acceleration Profile - Sidebar + Deceleration Profile - Display system information like CPU, GPU, RAM usage, IP address, and storage space in the sidebar. + Human-Like Acceleration - Use International System of Units + Increase Stopped Distance - Display measurements using the 'International System of Units' (SI). + Increases the distance to stop behind vehicles. - Model UI + Quality of Life Improvements - Customize the model visualizations on the screen. + Miscellaneous longitudinal focused features to improve your overall openpilot experience. - Lane Lines Width + Map Accel/Decel to Gears - How thick the lane lines appear on the display. - -Default matches the MUTCD standard of 4 inches. + Reverse Cruise Increase - Path Edges Width + Speed Limit Controller - The width of the edges of the driving path to represent different modes and statuses. - -Default is 20% of the total path width. - -Color Guide: -- Blue: Navigation -- Light Blue: 'Always On Lateral' -- Green: Default -- Orange: 'Experimental Mode' -- Red: 'Traffic Mode' -- Yellow: 'Conditional Experimental Mode' Overridden + Confirm New Speed Limits - Path Width + Fallback Method - How wide the driving path appears on your screen. - -Default (6.1 feet / 1.9 meters) matches the width of a 2019 Lexus ES 350. + Override Method - Road Edges Width + Speed Limit Offsets - How thick the road edges appear on the display. - -Default matches half of the MUTCD standard lane line width of 4 inches. + Speed Limit Offset (0-34 mph) - 'Unlimited' Road UI + Speed Limit Offset (35-54 mph) - Extend the display of the path, lane lines, and road edges as far as the model can see. + Speed Limit Offset (55-64 mph) - Auto + Speed Limit Offset (65-99 mph) - Driver + Miscellaneous 'Speed Limit Controller' focused features to improve your overall openpilot experience. - Standard - القياسي + Force MPH Readings from Dashboard + - Wide + Prepare for Higher Speed Limits - Control Via UI + Prepare for Lower Speed Limits - Alerts + Set Speed to Current Limit - Map Icon - + mph + ميل/س - Max Speed + With Lead - Show Distance + Switches to 'Experimental Mode' when driving below the set speed with a lead vehicle. - Blind Spot + With Lead - Steering Torque + Slower Lead - Turn Signal + Stopped Lead - Adjacent Path Metrics + Intersections - Auto Tune + Turns - Lead Info + Map Based - Longitudinal Jerk + Vision - Fahrenheit - + Standard + القياسي - CPU + Eco - GPU + Sport - IP + Sport+ - RAM + feet - SSD Left + Acceleration - SSD Used + Deceleration - inches + Lower Limits - % + Higher Limits - feet + None - Adjust how thick the lane lines appear on the display. - -Default matches the Vienna standard of 10 centimeters. + Set Speed - Adjust how thick the road edges appear on the display. - -Default matches half of the Vienna standard of 10 centimeters. - + Experimental Mode + الوضع التجريبي - centimeters + Previous Limit - meters - + SELECT + اختيار - Adjust how thick the lane lines appear on the display. - -Default matches the MUTCD standard of 4 inches. + Dashboard - Adjust how thick the road edges appear on the display. - -Default matches half of the MUTCD standard of 4 inches. + Navigation - - - FrogPilotConfirmationDialog - Reboot Later + Highest - Yes + Lowest - No + Select your primary priority - - - FrogPilotDataPanel - Delete Driving Footage and Data + Select your secondary priority - DELETE + Select your tertiary priority - This button provides a swift and secure way to permanently delete all stored driving footage and data from your device. Ideal for maintaining privacy or freeing up space. + MANAGE - Are you sure you want to permanently delete all of your driving footage and data? + seconds - Delete + Speed Limit Offset (0-34 kph) - Deleting... + Speed Limit Offset (35-54 kph) - Deleted! + Speed Limit Offset (55-64 kph) - Screen Recordings + Speed Limit Offset (65-99 kph) - Manage your screen recordings. + kph - RENAME + meters - Select a recording to delete + Automatically switch to 'Experimental Mode' when specific conditions are met. - Are you sure you want to delete this recording? + Triggers 'Experimental Mode' when driving below the set speed without a lead vehicle. - Failed... + Triggers 'Experimental Mode' when a curve is detected in the road ahead. - Select a recording to rename + Triggers 'Experimental Mode' when a slower or stopped vehicle is detected ahead. - Enter a new name + Triggers 'Experimental Mode' based on navigation data, such as upcoming intersections or turns. - Rename Recording + Triggers 'Experimental Mode' when openpilot wants to stop such as for a stop sign or red light. - Renaming... + Triggers 'Experimental Mode' when using turn signals below the set speed. - Renamed! + Hides status bar for 'Conditional Experimental Mode'. - FrogPilot Backups + Uses data from either the downloaded maps or the model to determine where curves are. - Manage your FrogPilot backups. + Triggers 'Curve Speed Control' only when a curve is detected with the model as well when using the 'Map Based' method. - BACKUP + Curve Detection Sensitivity - RESTORE + Controls how sensitive openpilot is to detecting curves. Higher values trigger earlier responses at the risk of triggering too often, while lower values increase confidence at the risk of triggering too infrequently. - Name your backup + Speed Aggressiveness - Do you want to compress this backup? The end file size will be 2.25x smaller, but can take 10+ minutes. + Controls how aggressive openpilot takes turns. Higher values result in faster turns, while lower values result in slower turns. - Backing... + Hide Desired Speed Widget From UI - Compressing... + Hides the desired speed widget from the onroad UI. - Success! + Customize Driving Personalities - Select a backup to delete + Customize the personality profiles to suit your driving style. - Are you sure you want to delete this backup? + Traffic Personality - Select a restore point + Customizes the 'Traffic' personality profile, tailored for navigating through traffic. - Are you sure you want to restore this version of FrogPilot? + Following Distance - Restore + Controls the minimum following distance in 'Traffic' mode. openpilot will automatically dynamically between this value and the 'Aggressive' profile distance based on your current speed. - Restoring... + Acceleration Sensitivity - Extracting... + Controls how sensitive openpilot is to changes in acceleration in 'Traffic' mode. Higher values result in smoother, more gradual acceleration, while lower values allow for quicker, more responsive changes that may feel abrupt. - Restored! + Deceleration Sensitivity - Rebooting... + Controls how sensitive openpilot is to changes in deceleration in 'Traffic' mode. Higher values result in smoother, more gradual deceleration, while lower values allow for quicker, more responsive changes that may feel abrupt. - Toggle Backups + Safety Distance Sensitivity - Manage your toggle backups. + Adjusts how cautious openpilot is around other vehicles or obstacles in 'Traffic' mode. Higher values increase following distances and prioritize safety, leading to more cautious driving, while lower values allow for closer following but may reduce reaction time. - Are you sure you want to restore this toggle backup? + Speed Increase Responsiveness - - - FrogPilotDevicePanel - Device Settings + Controls how quickly openpilot increases speed in 'Traffic' mode. Higher values ensure smoother, more gradual speed changes when accelerating, while lower values allow for quicker, more responsive changes that may feel abrupt. - Device behavior settings. + Speed Decrease Responsiveness - Device Shutdown Timer + Controls how quickly openpilot decreases speed in 'Traffic' mode. Higher values ensure smoother, more gradual speed changes when slowing down, while lower values allow for quicker, more responsive changes that may feel abrupt. - How long the device stays on after you stop driving. + Reset Settings - Disable Internet Requirement + Restores the 'Traffic Mode' settings to their default values. - The device can work without an internet connection for as long as you need. + Aggressive Personality - Increase Thermal Safety Limit + Customize the 'Aggressive' personality profile, designed for a more assertive driving style. - The device can run at higher temperatures than recommended. + Sets the following distance for 'Aggressive' mode. This determines roughly how many seconds you'll follow behind the car ahead. + +Default: 1.25 seconds. - Low Battery Shutdown Threshold + Controls how sensitive openpilot is to changes in acceleration in 'Aggressive' mode. Higher values result in smoother, more gradual acceleration, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 0.5. - Shut down the device when the car's battery gets too low to prevent damage to the 12V battery. + Controls how sensitive openpilot is to changes in deceleration in 'Aggressive' mode. Higher values result in smoother, more gradual deceleration, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 0.5. - Turn Off Data Tracking + Adjusts how cautious openpilot is around other vehicles or obstacles in 'Aggressive' mode. Higher values increase following distances and prioritize safety, leading to more cautious driving, while lower values allow for closer following but may reduce reaction time. + +Default: 1.0. - Disable all tracking to improve privacy. + Controls how quickly openpilot increases speed in 'Aggressive' mode. Higher values ensure smoother, more gradual speed changes when accelerating, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 0.5. - Turn Off Data Uploads + Controls how quickly openpilot decreases speed in 'Aggressive' mode. Higher values ensure smoother, more gradual speed changes when slowing down, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 0.5. - Stop the device from sending any data to the servers. + Restores the 'Aggressive' settings to their default values. - Screen Settings + Standard Personality - Screen behavior settings. + Customize the 'Standard' personality profile, optimized for balanced driving. - Screen Brightness (Offroad) + Set the following distance for 'Standard' mode. This determines roughly how many seconds you'll follow behind the car ahead. + +Default: 1.45 seconds. - The screen brightness when you're not driving. + Controls how sensitive openpilot is to changes in acceleration in 'Standard' mode. Higher values result in smoother, more gradual acceleration, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 1.0. - Screen Brightness (Onroad) + Controls how sensitive openpilot is to changes in deceleration in 'Standard' mode. Higher values result in smoother braking, while lower values allow for quicker, more immediate braking that may feel abrupt. + +Default: 1.0. - The screen brightness while you're driving. + Adjusts how cautious openpilot is around other vehicles or obstacles in 'Standard' mode. Higher values increase following distances and prioritize safety, leading to more cautious driving, while lower values allow for closer following but may reduce reaction time. + +Default: 1.0. - Screen Recorder + Controls how quickly openpilot increases speed in 'Standard' mode. Higher values ensure smoother, more gradual speed changes when accelerating, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 1.0. - Display a button in the onroad UI to record the screen. + Controls how quickly openpilot decreases speed in 'Standard' mode. Higher values ensure smoother, more gradual speed changes when slowing down, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 1.0. - Screen Timeout (Offroad) + Restores the 'Standard' settings to their default values. - How long it takes for the screen to turn off when you're not driving. + Relaxed Personality - Screen Timeout (Onroad) + Customize the 'Relaxed' personality profile, ideal for a more laid-back driving style. - How long it takes for the screen to turn off while you're driving. + Set the following distance for 'Relaxed' mode. This determines roughly how many seconds you'll follow behind the car ahead. + +Default: 1.75 seconds. - 5 mins + Controls how sensitive openpilot is to changes in acceleration in 'Relaxed' mode. Higher values result in smoother, more gradual acceleration, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 1.0. - mins + Controls how sensitive openpilot is to changes in deceleration in 'Relaxed' mode. Higher values result in smoother braking, while lower values allow for quicker, more immediate braking that may feel abrupt. + +Default: 1.0. - hour + Adjusts how cautious openpilot is around other vehicles or obstacles in 'Relaxed' mode. Higher values increase following distances and prioritize safety, leading to more cautious driving, while lower values allow for closer following but may reduce reaction time. + +Default: 1.0. - hours + Controls how quickly openpilot increases speed in 'Relaxed' mode. Higher values ensure smoother, more gradual speed changes when accelerating, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 1.0. - Only Onroad + Controls how quickly openpilot decreases speed in 'Relaxed' mode. Higher values ensure smoother, more gradual speed changes when slowing down, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 1.0. - volts + Restores the 'Relaxed' settings to their default values. - Auto + Toggle 'Experimental Mode' on/off using either the steering wheel buttons or screen. + +This overrides 'Conditional Experimental Mode'. - seconds + Toggles 'Experimental Mode' by pressing the 'LKAS' button on the steering wheel. - WARNING: This can cause premature wear or damage by running the device over comma's recommended temperature limits! + Toggles 'Experimental Mode' by double-tapping the onroad UI within a 0.5 second period. - I understand the risks. + Toggles 'Experimental Mode' by holding down the 'distance' button on the steering wheel for 0.5 seconds. - WARNING: This will prevent your drives from being recorded and the data will be unobtainable! + Enables either a sporty or eco-friendly acceleration rate. 'Sport+' aims to make openpilot accelerate as fast as possible. - WARNING: This will prevent your drives from appearing on comma connect which may impact debugging and support! + Enables either a sporty or eco-friendly deceleration rate. - - - FrogPilotLateralPanel - Always on Lateral + Uses the lead's acceleration rate when at a takeoff and ramps off the acceleration rate when approaching the maximum set speed for a more 'human-like' driving experience. - openpilot's steering control stays active even when the brake or gas pedals are pressed. - -Deactivate only occurs with the 'Cruise Control' button. + Human-Like Approach Behind Leads - Control with LKAS Button + Dynamically adjusts the following distance when approaching slower or stopped vehicles for a more 'human-like' driving experience. - 'Always on Lateral' gets turned on or off using the 'LKAS' button. + Lead Detection Confidence - Enable with Cruise Control + Controls how sensitive openpilot is to detecting vehicles ahead. A lower value can help detect vehicles sooner and from farther away, but increases the chance openpilot mistakes other objects for vehicles. - 'Always on Lateral' gets turned on by pressing the 'Cruise Control' button bypassing the requirement to enable openpilot first. + Maximum Acceleration Rate - Pause on Brake Below + Sets a cap on how fast openpilot can accelerate. - 'Always on Lateral' pauses when the brake pedal is pressed below the set speed. + 'Taco Bell Run' Turn Speed Hack - Hide the Status Bar + Uses comma's speed hack they used to help handle left and right turns more precisely during their 2022 'Taco Bell' drive by reducing the maximum allowed speed and acceleration while turning. - The status bar for 'Always on Lateral' is hidden. + Cruise Increase - Lane Change Settings + Controls the interval used when increasing the cruise control speed. - How openpilot handles lane changes. + Cruise Increase (Long Press) - Hands-Free Lane Change + Controls the interval used when increasing the cruise control speed while holding down the button for 0.5+ seconds. - Lane changes are conducted without needing to touch the steering wheel upon turn signal activation. + Force Keep openpilot in the Standstill State - Lane Change Delay + Keeps openpilot in the 'standstill' state until the gas pedal or 'resume' button is pressed. - How long openpilot waits before changing lanes. + Force Stop for 'Detected' Stop Lights/Signs - Lane Width Requirement + Forces a stop whenever openpilot 'detects' a potential red light/stop sign to prevent it from running the red light/stop sign. - The minimum lane width for openpilot to detect a lane as a lane. + Set Speed Offset - Minimum Speed for Lane Change + Controls how much higher or lower the set speed should be compared to your current set speed. For example, if you prefer to drive 5 mph above the speed limit, this setting will automatically add that difference when you adjust your set speed. - The minimum speed required for openpilot to perform a lane change. + Maps the acceleration and deceleration profiles to your car's 'Eco' or 'Sport' gear modes. - Single Lane Change Per Signal + Reverses the long press cruise increase feature to increase the max speed by 5 mph instead of 1 on short presses. - Lane changes are limited to one per turn signal activation. + Automatically adjust your max speed to match the speed limit using downloaded 'Open Street Maps' data, 'Navigate on openpilot', or your car's dashboard (Toyota/Lexus/HKG only). - Lateral Tuning + Enables manual confirmations before using a new speed limit. - Settings that control how openpilot manages steering. + Controls what happens when no speed limit data is available. - Neural Network Feedforward (NNFF) + Controls how the current speed limit is overriden. + + - Twilsonco's 'Neural Network FeedForward' for more precise steering control. + Forces speed limit readings from the dashboard to MPH if it normally displays them in KPH. - Smooth Curve Handling + Sets a lookahead value to prepare for upcoming higher speed limits when using downloaded map data. - Smoother steering when entering and exiting curves with Twilsonco's torque adjustments. + Sets a lookahead value to prepare for upcoming lower speed limits when using downloaded map data. - Quality of Life Improvements + Sets your max speed to match the current speed limit when enabling openpilot. - Miscellaneous lateral focused features to improve your overall openpilot experience. + Speed Limit Source Priority Order - Pause Steering Below + Sets the order of priority for speed limit data sources. - Pauses steering control when driving below the set speed. + Set speed limit offsets to drive over the posted speed limit. - mph - ميل/س + Sets the speed limit offset for speeds between 0 and 34 mph. + - feet + Sets the speed limit offset for speeds between 35 and 54 mph. - Reboot required to take effect. + Sets the speed limit offset for speeds between 55 and 64 mph. - Reboot Now + Sets the speed limit offset for speeds between 65 and 99 mph. - kph + Show Speed Limit Sources - meters + Displays the speed limit sources in the onroad UI when using 'Speed Limit Controller'. - - - FrogPilotLongitudinalPanel - Conditional Experimental Mode - + Reset + إعادة الضبط - Automatically switches to 'Experimental Mode' when specific conditions are met. + The 'Map Based' option is only available when some 'Map Data' has been downloaded! - Below + Okay - 'Experimental Mode' is active when driving below the set speed without a lead vehicle. + Set With Gas Pedal - Curve Detected Ahead + Max Set Speed - 'Experimental Mode' is active when a curve is detected in the road ahead. + Map Data - Lead Detected Ahead + Are you sure you want to completely reset your settings for 'Traffic Mode'? - 'Experimental Mode' is active when a slower or stopped vehicle is detected ahead. + Are you sure you want to completely reset your settings for the 'Aggressive' personality? - Navigation Data + Are you sure you want to completely reset your settings for the 'Standard' personality? - 'Experimental Mode' is active based on navigation data, such as upcoming intersections or turns. + Are you sure you want to completely reset your settings for the 'Relaxed' personality? - openpilot Wants to Stop In + Sets the speed limit offset for speeds between 0-34 kph. - 'Experimental Mode' is active when openpilot wants to stop such as for a stop sign or red light. + Sets the speed limit offset for speeds between 35-54 kph. - Turn Signal Below + Sets the speed limit offset for speeds between 55-64 kph. - 'Experimental Mode' is active when using turn signals below the set speed. + Sets the speed limit offset for speeds between 65-99 kph. - Hide the Status Bar + Sets the speed limit offset for speeds between 0-34 mph. - The status bar for 'Conditional Experimental Mode' is hidden. + Sets the speed limit offset for speeds between 35-54 mph. - Curve Speed Control + Sets the speed limit offset for speeds between 55-64 mph. - Automatically slow down for curves detected ahead or through the downloaded maps. + Sets the speed limit offset for speeds between 65-99 mph. + + + FrogPilotModelPanel - Curve Detection Method + Automatically Update and Download Models - The method used to detect curves. + Automatically downloads new models and updates existing ones if needed. - Curve Detection Failsafe + Model Randomizer - Curve control is triggered only when a curve is detected ahead. Use this as a failsafe to prevent false positives when using the 'Map Based' method. + Randomly selects a model each drive and brings up a model review prompt at the end to help find your preferred model. - Curve Sensitivity + Manage Model Blacklist - How sensitive openpilot is to detecting curves. Higher values trigger earlier responses at the risk of triggering too often, while lower values increase confidence at the risk of triggering too infrequently. + Manage the blacklisted models that aren't being used with 'Model Randomizer'. - Turn Speed Aggressiveness + Reset Model Scores - How aggressive openpilot takes turns. Higher values result in quicker turns, while lower values provide gentler turns. + Clear the ratings you've given to the driving models. - Disable Speed Value Smoothing In the UI + Review Model Scores - Speed value smoothing is disabled in the UI to instead display the exact speed requested by the curve control. + View the ratings you've assigned to the driving models. - Experimental Mode Activation + Delete Model - 'Experimental Mode' is toggled off/on using the steering wheel buttons or the on-screen controls. - -This overrides 'Conditional Experimental Mode'. + Delete driving models from your device. - Click the LKAS Button + Download Model - 'Experimental Mode' is toggled by pressing the 'LKAS' button on the steering wheel. + Download new driving models. - Double-Tap the Screen + Select Model - 'Experimental Mode' is toggled by double-tapping the onroad UI within 0.5 seconds. + Select your preferred driving model. - Long Press the Distance Button - + ADD + إضافة - 'Experimental Mode' is toggled by holding the 'distance' button on the steering wheel for 0.5+ seconds. - + REMOVE + إزالة - Longitudinal Tuning + REMOVE ALL - Settings that control how openpilot manages speed and acceleration. + There are no more models to blacklist! The only available model is "%1"! - Acceleration Profile - + OK + موافق - Choose between a sporty or eco-friendly acceleration rate. + Select a model to add to the blacklist - Deceleration Profile + Are you sure you want to add the '%1' model to the blacklist? - Choose between a sporty or eco-friendly deceleration rate. + Add - Human-Like Acceleration + Select a model to remove from the blacklist - Uses the lead's acceleration rate when at a takeoff and ramps off the acceleration rate when approaching the maximum set speed for a smoother max speed approach. + Are you sure you want to remove the '%1' model from the blacklist? - Human-Like Following Distance + Remove - Dynamically adjusts the following distance to feel more natural when approaching slower or stopped vehicles. + Are you sure you want to remove all of your blacklisted models? - Increase Stopped Distance - + RESET + إعادة الضبط - Increases the distance to stop behind vehicles. + Are you sure you want to reset all of your model drives and scores? - Quality of Life Improvements - + REVIEW + مراجعة - Miscellaneous longitudinal focused features to improve your overall openpilot experience. + DELETE - Cruise Increase Interval + DELETE ALL - Interval used when increasing the cruise control speed. + Select a driving model to delete - Custom Cruise Interval (Long Press) + Are you sure you want to delete the '%1' model? - Interval used when increasing the cruise control speed when holding down the button for 0.5+ seconds. + Delete - Map Accel/Decel to Gears + Are you sure you want to delete all of your downloaded driving models? - Map the acceleration and deceleration profiles to the 'Eco' or 'Sport' gear modes. - + DOWNLOAD + تنزيل - Onroad Personality Button + DOWNLOAD ALL - The current driving personality is displayed on the screen. Tap to switch personalities, or long press for 2.5 seconds to activate 'Traffic Mode'. + Select a driving model to download - Reverse Cruise Increase - + SELECT + اختيار - The long press feature is reversed in order to increase speed by 5 mph instead of 1. + Select a model - 🗺️ = Navigation | 📡 = Radar | 👀 = VOACC - Speed Limit Controller + Reboot required to take effect. - Automatically adjust your max speed to match the speed limit using 'Open Street Maps', 'Navigate on openpilot', or your car's dashboard (Toyota/Lexus/HKG only). + Reboot Now - Confirm New Speed Limits + The 'Model Randomizer' only works with downloaded models. Do you want to download all the driving models? - Require manual confirmation before using a new speed limit. + CANCEL + + + FrogPilotParamManageControl - Fallback Method + MANAGE + + + FrogPilotSettingsWindow - Choose what happens when no speed limit data is available. + Alerts and Sounds - Override Method + Driving Controls - Choose how you want to override the current speed limit. - - + Navigation - Speed Limit Source Priority + System Management - Set the order of priority for speed limit data sources. + Theme and Appearance - Speed Limit Offsets + Vehicle Controls - Manage toggles related to 'Speed Limit Controller's controls. + Options to customize FrogPilot's sound alerts and notifications. - Speed Limit Offset (0-34 mph) + Tools and system utilities used to maintain and troubleshoot FrogPilot. - Set the speed limit offset for speeds between 0 and 34 mph. + Options for customizing FrogPilot's themes, UI appearance, and onroad widgets. - Speed Limit Offset (35-54 mph) + Vehicle-specific settings and configurations for supported makes and models. - Set the speed limit offset for speeds between 35 and 54 mph. + MANAGE - Speed Limit Offset (55-64 mph) + GAS / BRAKE - Set the speed limit offset for speeds between 55 and 64 mph. + STEERING - Speed Limit Offset (65-99 mph) + DATA - Set the speed limit offset for speeds between 65 and 99 mph. + DEVICE - Miscellaneous 'Speed Limit Controller' focused features to improve your overall openpilot experience. + UTILITIES - Force MPH Readings from Dashboard + APPEARANCE - Force speed limit readings in MPH from the dashboard if it normally displays in KPH. + THEME - Prepare for Higher Speed Limits + Minimal - Set a lookahead value to prepare for upcoming higher speed limits based on map data. + Standard + القياسي + + + Advanced + متقدم + + + Developer - Prepare for Lower Speed Limits + Tuning Level - Set a lookahead value to prepare for upcoming lower speed limits based on map data. + Select the tuning level that best suits your needs. 'Minimal' is ideal for those who prefer simplicity and ease of use, 'Standard' is recommended for most users, offering a balanced experience, 'Advanced' provides more control for experienced users, while 'Developer' unlocks highly customizable settings designed for seasoned enthusiasts. - Set Speed to Current Limit + WARNING: This unlocks some potentially dangerous settings that can DRASTICALLY alter your driving experience! - Set your max speed to match the current speed limit when enabling openpilot. + I understand the risks. - Visual Settings + The 'Developer' preset is only available for users with either over 100 hours on FrogPilot, or 250 hours with openpilot. - Manage visual settings for the 'Speed Limit Controller'. + Okay - Use Vienna-Style Speed Signs + FrogPilot features that impact acceleration, braking, and steering. - Switch to Vienna-style (EU) speed limit signs instead of MUTCD (US). + Map data downloader and 'Navigate On openpilot (NOO)' settings. - Show Speed Limit Offset + DRIVING MODEL - Display the speed limit offset separately in the onroad UI when using the Speed Limit Controller. + MAP DATA - mph - ميل/س + PRIMELESS NAVIGATION + + + + FrogPilotSoundsPanel - With Lead + Alert Volume Controller - Switches to 'Experimental Mode' when driving below the set speed with a lead vehicle. + Control the volume level for each individual sound in openpilot. - With Lead + Disengage Volume - Slower Lead + Related alerts: + +Adaptive Cruise Disabled +Parking Brake Engaged +Brake Pedal Pressed +Speed too Low - Stopped Lead + Engage Volume - Intersections + Related alerts: + +NNFF Torque Controller loaded +openpilot engaged - Turns + Prompt Volume - Off + Related alerts: + +Car Detected in Blindspot +Speed too Low +Steer Unavailable Below 'X' +Take Control, Turn Exceeds Steering Limit - Map Based + Prompt Distracted Volume - Vision + Related alerts: + +Pay Attention, Driver Distracted +Touch Steering Wheel, Driver Unresponsive - Standard - القياسي + Refuse Volume + - Eco + Related alerts: + +openpilot Unavailable - Sport + Warning Soft Volume - Sport+ + Related alerts: + +BRAKE!, Risk of Collision +TAKE CONTROL IMMEDIATELY - feet + Warning Immediate Volume - Acceleration + Related alerts: + +DISENGAGE IMMEDIATELY, Driver Distracted +DISENGAGE IMMEDIATELY, Driver Unresponsive - Deceleration + Custom Alerts - Lower Limits + Goat Scream Steering Saturated Alert - Higher Limits + Green Light Alert - None + Lead Departing Alert - Set Speed + Loud Blindspot Alert - Experimental Mode - الوضع التجريبي + Custom alerts for openpilot events. + - Previous Limit + Enables the famed 'Goat Scream' that has brought both joy and anger to FrogPilot users all around the world! - Gas Pedal Press + Plays an alert when a traffic light changes from red to green. - Cruise Set Speed + Plays an alert when the lead vehicle starts starts to depart when at a standstill. - SELECT - اختيار + Plays a louder alert for when a vehicle is detected in the blindspot when attempting to change lanes. + - Dashboard + Speed Limit Changed Alert - Navigation + Plays an alert when the speed limit changes. - Offline Maps + Auto - Highest + Muted + + + FrogPilotThemesPanel - Lowest + Custom Theme - Select your primary priority + Custom openpilot themes. - Select your secondary priority + Color Scheme - Select your tertiary priority + Icon Pack - MANAGE + Sound Pack - seconds + Steering Wheel - Control Via UI + Turn Signal Animation - Speed Limit Offset (0-34 kph) + Download Status - Speed Limit Offset (35-54 kph) + Holiday Themes - Speed Limit Offset (55-64 kph) + Random Events - Speed Limit Offset (65-99 kph) + Startup Alert - Set speed limit offset for limits between 0-34 kph. + DELETE - Set speed limit offset for limits between 35-54 kph. + DOWNLOAD + تنزيل + + + SELECT + اختيار + + + Select a color scheme to delete - Set speed limit offset for limits between 55-64 kph. + Are you sure you want to delete the '%1' color scheme? - Set speed limit offset for limits between 65-99 kph. + Delete - kph + Select a color scheme to download - meters + Select a color scheme - Set speed limit offset for limits between 0-34 mph. + Select an icon pack to delete - Set speed limit offset for limits between 35-54 mph. + Are you sure you want to delete the '%1' icon pack? - Set speed limit offset for limits between 55-64 mph. + Select an icon pack to download - Set speed limit offset for limits between 65-99 mph. + Select an icon pack - - - FrogPilotParamManageControl - MANAGE + Select a sound pack to delete - - - FrogPilotSettingsWindow - Advanced Settings + Select a sound pack to download - Alerts and Sounds + Select a steering wheel to delete - Driving Controls + Select a steering wheel to download - Navigation + Select a steering wheel - System Management + STOCK - Theme and Appearance + FROGPILOT - Vehicle Controls + CUSTOM - Advanced FrogPilot features for more experienced users. + CLEAR - Options to customize FrogPilot's sound alerts and notifications. + Characters: 0/%1 - FrogPilot features than impact acceleration, braking, and steering. + CANCEL - Offline maps downloader and 'Navigate On openpilot (NOO)' settings. + Changes out openpilot's color scheme. + +Want to submit your own color scheme? Share it in the 'custom-themes' channel on the FrogPilot Discord! - Tools and system utilities used to maintain and troubleshoot FrogPilot. + Changes out openpilot's icon pack. + +Want to submit your own icons? Share them in the 'custom-themes' channel on the FrogPilot Discord! - Options for customizing FrogPilot's themes, UI appearance, and onroad widgets. + Changes out openpilot's sound effects. + +Want to submit your own sounds? Share them in the 'custom-themes' channel on the FrogPilot Discord! - Vehicle-specific settings and configurations for supported makes and models. + Enables a custom steering wheel icon in the top right of the screen. - DRIVING + Enables themed turn signal animations. + +Want to submit your own animations? Share them in the 'custom-themes' channel on the FrogPilot Discord! - VISUALS + Changes the openpilot theme based on the current holiday. Minor holidays last one day, while major holidays (Easter, Christmas, Halloween, etc.) last the entire week. - MANAGE + Rainbow Path - GAS / BRAKE + Swap out the path in the onroad UI for a Mario Kart inspired 'Rainbow Path'. - STEERING + Enables random cosmetic events that happen during certain driving conditions. These events are purely for fun and don't affect driving controls! - DATA + Controls the text of the 'Startup' alert message that appears when you start the drive. - DEVICE + Select a distance icon pack to delete - UTILITIES + Are you sure you want to delete the '%1' distance icon pack? - APPEARANCE + Select a distance icon pack to download - THEME + Select a distance icon pack + + + + Select a signal animation to delete + + + + Are you sure you want to delete the '%1' signal animation? + + + + Select a signal animation to download + + + + Select a signal animation + + + + Are you sure you want to delete the '%1' sound pack? + + + + Select a sound pack + + + + Are you sure you want to delete the '%1' steering wheel? + + + + Enter the text for the top half + + + + Enter the text for the bottom half - FrogPilotSoundsPanel + FrogPilotVehiclesPanel - Alert Volume Controller + Select Make - Control the volume level for each individual sound in openpilot. + SELECT + اختيار + + + Select a Make - Disengage Volume + Select Model - Related alerts: - -Adaptive Cruise Disabled -Parking Brake Engaged -Brake Pedal Pressed -Speed too Low + Select a Model - Engage Volume + Disable Automatic Fingerprint Detection - Related alerts: - -NNFF Torque Controller loaded -openpilot engaged + Forces the selected fingerprint and prevents it from ever changing. - Prompt Volume + Disable openpilot Longitudinal Control - Related alerts: - -Car Detected in Blindspot -Speed too Low -Steer Unavailable Below 'X' -Take Control, Turn Exceeds Steering Limit + Are you sure you want to completely disable openpilot longitudinal control? - Prompt Distracted Volume + Reboot required to take effect. - Related alerts: - -Pay Attention, Driver Distracted -Touch Steering Wheel, Driver Unresponsive + Reboot Now - Refuse Volume + 2017 Volt Stop and Go Hack - Related alerts: - -openpilot Unavailable + Experimental GM Tune - Warning Soft Volume + Uphill/Downhill Smoothing - Related alerts: - -BRAKE!, Risk of Collision -TAKE CONTROL IMMEDIATELY + Use comma's New Longitudinal API - Warning Immediate Volume + Subaru Crosstrek Torque Increase - Related alerts: - -DISENGAGE IMMEDIATELY, Driver Distracted -DISENGAGE IMMEDIATELY, Driver Unresponsive + Increases the maximum allowed torque for the Subaru Crosstrek. - Custom Alerts + Automatically Lock/Unlock Doors + + + + Cluster Speed Offset + + + + FrogsGoMoo's Personal Tweaks + + + + Stop and Go Hack + + + + Lock + + + + Unlock + + + + Disables openpilot longitudinal control and uses the car's stock ACC instead. - Enable custom alerts for openpilot events. + Forces stop and go for the 2017 Chevy Volt. - Goat Scream Steering Saturated Alert + Enables FrogsGoMoo's experimental GM tune that is based on nothing but guesswork. Use at your own risk! - Enable the famed 'Goat Scream' that has brought both joy and anger to FrogPilot users all around the world! + Smoothens the gas and brake response when driving on slopes. - Green Light Alert + Enables comma's new control system that has shown great improvement with acceleration and braking, but has a few issues on some GM vehicles. - Get an alert when a traffic light changes from red to green. + Enables comma's new control system that has shown great improvement with acceleration and braking, but has a few issues on Hyundai/Kia/Genesis. - Lead Departing Alert + Automatically locks the doors when in drive and unlocks when in park. - Get an alert when the lead vehicle starts departing when at a standstill. + Sets the cluster offset openpilot uses to try and match the speed displayed on the dash. - Loud Blindspot Alert + Enables FrogsGoMoo's personal tweaks to the Toyota tune focused around his 2019 Lexus ES 350 to take off a bit quicker and stop a bit smoother. - Enable a louder alert for when a vehicle is detected in the blindspot when attempting to change lanes. + Forces stop and go for vehicles without stock stop and go functionality. + + + FrogPilotVisualsPanel - Speed Limit Change Alert + Custom FrogPilot widgets used in the onroad user interface. - Trigger an alert when the speed limit changes. + Compass - - - FrogPilotThemesPanel - Custom Theme + Dynamic Path Width - Custom openpilot themes. + Road Name - Color Scheme + Rotating Steering Wheel - Themed color schemes. - -Want to submit your own color scheme? Share it in the 'feature-request' channel on the FrogPilot Discord! + Larger Map Display - Icon Pack + Map Style - Themed icon packs. - -Want to submit your own icons? Share them in the 'feature-request' channel on the FrogPilot Discord! + Show Driver Camera When In Reverse - Sound Pack + Stopped Timer - Themed sound effects. - -Want to submit your own sounds? Share them in the 'feature-request' channel on the FrogPilot Discord! + Blind Spot - Steering Wheel + Dynamic - Custom steering wheel icons. + Static - Turn Signal Animation + Full Map - Themed turn signal animations. - -Want to submit your own animations? Share them in the 'feature-request' channel on the FrogPilot Discord! + Mapbox Streets - Download Status + Mapbox Outdoors - Holiday Themes + Mapbox Light - Change the openpilot theme based on the current holiday. Minor holidays last one day, while major holidays (Easter, Christmas, Halloween, etc.) last a week. + Mapbox Dark - Random Events + Mapbox Satellite - Random cosmetic events that happen during certain driving conditions. These events are purely for fun and don't affect driving controls! + Mapbox Satellite Streets - Startup Alert + Mapbox Navigation Day - Custom 'Startup' alert message that appears when you start driving. + Mapbox Navigation Night - DELETE + Mapbox Traffic Night - DOWNLOAD - تنزيل + mike854's (Satellite hybrid) + SELECT اختيار - Select a color scheme to delete + Select a map style - Are you sure you want to delete the '%1' color scheme? + Accessibility - Delete + Visual features to improve your overall openpilot experience. - Select a color scheme to download + Camera View - Select a color scheme + Changes the camera view display. This is purely a visual change and doesn't impact how openpilot drives. - Select an icon pack to delete + On Screen Personality Button - Are you sure you want to delete the '%1' icon pack? + Displays the current driving personality on the screen. Tap to switch personalities, or long press for 2.5 seconds to activate 'Traffic' mode. - Select an icon pack to download + Displays the driver camera feed when the vehicle is in reverse. - Select an icon pack + Standby Mode - Select a signal pack to delete + Turns the screen off when driving and automatically wakes it up if engagement state changes or important alerts occur. - Are you sure you want to delete the '%1' signal pack? + Activates a timer when stopped to indicate how long the vehicle has been stopped for. - Select a signal pack to download + Advanced UI Controls - Select a signal pack + Advanced features to fine tune your personalized UI. - Select a sound pack to delete + Hide Current Speed - Are you sure you want to delete the '%1' sound scheme? + Hides the current speed. - Select a sound pack to download + Hide Lead Marker - Select a sound scheme + Hides the marker for the vehicle ahead. - Select a steering wheel to delete + Hide Map Icon - Are you sure you want to delete the '%1' steering wheel image? + Hides the map icon. - Select a steering wheel to download + Hide Max Speed - Select a steering wheel + Hides the max speed. - STOCK + Hide Non-Critical Alerts - FROGPILOT + Hides non-critical alerts. - CUSTOM + Hide Speed Limits - CLEAR + Hides the speed limits. - Enter your text for the top half + Use Wheel Speed - Characters: 0/%1 + Uses the wheel speed instead of the cluster speed. This is purely a visual change and doesn't impact how openpilot drives. - Enter your text for the bottom half + Developer Metrics - CANCEL + Show detailed information about openpilot's internal operations. - - - FrogPilotVehiclesPanel - Select Make + Border Metrics - SELECT - اختيار + Displays performance metrics around the edge of the screen while driving. + - Select a Make + FPS Display - Select Model + Displays the 'Frames Per Second' (FPS) at the bottom of the screen while driving. - Select a Model + Lateral Metrics - Disable Automatic Fingerprint Detection + Displays metrics related to steering control at the top of the screen while driving. - Forces the selected fingerprint and prevents it from ever changing. + Longitudinal Metrics - Disable openpilot Longitudinal Control + Displays metrics related to acceleration, speed, and desired following distance at the top of the screen while driving. - Disable openpilot longitudinal control and use stock ACC instead. + Numerical Temperature Gauge - Are you sure you want to completely disable openpilot longitudinal control? + Shows exact temperature readings instead of status labels like 'GOOD', 'OK', or 'HIGH' in the sidebar. - Reboot required to take effect. + Sidebar - Reboot Now + Displays system information like CPU, GPU, RAM usage, IP address, and storage space in the sidebar. - 2017 Volt Stop and Go Hack + Use International System of Units - Force stop and go for the 2017 Chevy Volt. + Displays measurements using the 'International System of Units' (SI). - Experimental GM Tune + Model UI - FrogsGoMoo's experimental GM tune that is based on nothing but guesswork. Use at your own risk! + Customize the model visualizations on the screen. - Uphill/Downhill Smoothing + Automatically adjusts the width of the driving path display based on the current engagement state: + +Fully engaged = 100% +Always On Lateral Active = 75% +Fully disengaged = 50% - Smoothen the car’s gas and brake response when driving on slopes. + Lane Lines Width - Use comma's New Longitudinal API + Controls the thickness the lane lines appear on the display. + +Default matches the MUTCD standard of 4 inches. - Comma's new longitudinal control system that has shown great improvement with acceleration and braking, but has a few issues on some GM vehicles. + Path Edges Width - Use comma's new longitudinal control system that has shown great improvement with acceleration and braking, but has a few issues on Hyundai/Kia/Genesis. + Controls the width of the edges of the driving path to represent different modes and statuses. + +Default is 20% of the total path width. + +Color Guide: +- Blue: Navigation +- Light Blue: 'Always On Lateral' +- Green: Default +- Orange: 'Experimental Mode' +- Red: 'Traffic Mode' +- Yellow: 'Conditional Experimental Mode' Overridden - Subaru Crosstrek Torque Increase + Path Width - Increases the maximum allowed torque for the Subaru Crosstrek. + Controls how wide the driving path appears on your screen. + +Default (6.1 feet / 1.9 meters) matches the width of a 2019 Lexus ES 350. - Automatically Lock/Unlock Doors + Road Edges Width - Automatically lock the doors when in drive and unlock when in park. + Controls how thick the road edges appear on the display. + +Default matches half of the MUTCD standard lane line width of 4 inches. - Cluster Speed Offset + Stopping Point - Set the cluster offset openpilot uses to try and match the speed displayed on the dash. + Displays an image on the screen where openpilot is detecting a potential red light/stop sign. - FrogsGoMoo's Personal Tweaks + 'Unlimited' Road UI - Use FrogsGoMoo's personal tweaks to the Toyota tune focused around his 2019 Lexus ES 350 to take off a bit quicker and stop a bit smoother. + Extends the display of the path, lane lines, and road edges as far as the model can see. - Stop and Go Hack + Navigation Widgets - Force stop and go for vehicles without stock stop and go functionality. + Wwidgets focused around navigation. - Lock + Increases the size of the map for easier navigation readings. - Unlock + Swaps out the stock map style for community created ones. - - - FrogPilotVisualsPanel - Onroad UI Widgets + Displays the current road name at the bottom of the screen using data from 'OpenStreetMap'. - Custom FrogPilot widgets used in the onroad user interface. + Show Speed Limit Offset - Compass + Displays the speed limit offset separately in the onroad UI when using 'Speed Limit Controller'. - A compass in the onroad UI to show the current driving direction. + Show Speed Limits - Dynamic Path Width + Displays the currently detected speed limit in the top left corner of the onroad UI. Uses data from your car's dashboard (if supported) and data from 'OpenStreetMaps'. - Automatically adjust the width of the driving path display based on the current engagement state: - -Fully engaged = 100% -Always On Lateral Active = 75% -Fully disengaged = 50% + Use Vienna-Style Speed Signs - Gas/Brake Pedal Indicators + Forces Vienna-style (EU) speed limit signs instead of MUTCD (US). - Pedal indicators in the onroad UI that change opacity based on the pressure applied. + Onroad Screen Widgets - Paths + Acceleration Path - Projected acceleration path, detected lanes, and vehicles in the blind spot. + Projects a path based on openpilot's current desired acceleration or deceleration. - Road Name + Adjacent Lanes - The current road name is displayed at the bottom of the screen using data from 'OpenStreetMap'. + Projects paths for the adjascent lanes. - Rotating Steering Wheel + Blind Spot Path - The steering wheel in the onroad UI rotates along with your steering wheel movements. + Projects a red path when vehicles are detected in the blind spot for the respective lane. - Quality of Life Improvements + Displays a compass to show the current driving direction. - Miscellaneous visual focused features to improve your overall openpilot experience. + Gas / Brake Pedal Indicators - Larger Map Display + Displays pedal indicators to indicate when either of the pedals are currently being used. - A larger size of the map in the onroad UI for easier navigation readings. + Rotates the steering wheel in the onroad UI rotates along with your steering wheel movements. - Map Style + Auto - Custom map styles for the map used during navigation. + Driver - Screen Standby Mode + Standard + القياسي + + + Wide - The screen is turned off after it times out when driving, but it automatically wakes up if engagement state changes or important alerts occur. + Steering Torque - Show Driver Camera When In Reverse + Turn Signal - The driver camera feed is displayed when the vehicle is in reverse. + Adjacent Path Metrics - Stopped Timer + Auto Tune - A timer on the onroad UI to indicate how long the vehicle has been stopped. + Adjacent Leads - Acceleration + Lead Info - Adjacent + Jerk Values - Blind Spot + Fahrenheit - Dynamic + CPU - Static + GPU - Full Map + IP - Stock openpilot + RAM - Mapbox Streets + SSD Left - Mapbox Outdoors + SSD Used - Mapbox Light + inches - Mapbox Dark + % - Mapbox Satellite + feet - Mapbox Satellite Streets + Show Distance - Mapbox Navigation Day + Stock - Mapbox Navigation Night + Adjust how thick the lane lines appear on the display. + +Default matches the Vienna standard of 10 centimeters. - Mapbox Traffic Night + Adjust how thick the road edges appear on the display. + +Default matches half of the Vienna standard of 10 centimeters. - mike854's (Satellite hybrid) + centimeters - SELECT - اختيار + meters + - Select a map style + Adjust how thick the lane lines appear on the display. + +Default matches the MUTCD standard of 4 inches. + + + + Adjust how thick the road edges appear on the display. + +Default matches half of the MUTCD standard of 4 inches. @@ -3780,6 +3865,30 @@ This may take up to a minute. FrogPilot + + Welcome to FrogPilot! Since you're new to FrogPilot, the 'Minimal' toggle preset has been applied, but you can change this at any time via the 'Tuning Level' button! + + + + Sounds good! + + + + Since you're fairly new to FrogPilot, the 'Minimal' toggle preset has been applied, but you can change this at any time via the 'Tuning Level' button! + + + + Since you're experienced with openpilot, the 'Standard' toggle preset has been applied, but you can change this at any time via the 'Tuning Level' button! + + + + Since you're experienced with FrogPilot, the 'Standard' toggle preset has been applied, but you can change this at any time via the 'Tuning Level' button! + + + + Since you're very experienced with FrogPilot, the 'Advanced' toggle preset has been applied, but you can change this at any time via the 'Tuning Level' button! + + Setup @@ -4084,10 +4193,6 @@ This may take up to a minute. FrogPilot will automatically update itself and it's assets when you're offroad and connected to Wi-Fi. - - Do you want to permanently delete any additional FrogPilot assets? This is 100% unrecoverable and includes backups, downloaded models, themes, and long-term storage toggle settings for easy reinstalls. - - Error Log @@ -4100,6 +4205,14 @@ This may take up to a minute. View the error log for openpilot crashes. + + Do you want to delete deep storage FrogPilot assets? This includes your toggle settings for quick reinstalls. + + + + Are you sure? This is 100% unrecoverable and if you reinstall FrogPilot you'll lose all your previous settings! + + SshControl @@ -4342,10 +4455,6 @@ This may take up to a minute. FLASH - - Use this button to flash the Panda device's firmware if you're running into issues. - - Are you sure you want to flash the Panda? @@ -4370,10 +4479,6 @@ This may take up to a minute. Force Started State - - Force openpilot either offroad or onroad. - - OFFROAD @@ -4414,6 +4519,14 @@ This may take up to a minute. Reset! + + Flashes the Panda device's firmware if you're running into issues. + + + + Forces openpilot either offroad or onroad. + + WiFiPromptWidget @@ -4442,7 +4555,7 @@ This may take up to a minute. - Toggle off the 'Disable Uploading' toggle to enable uploads. + Toggle off the 'Turn Off Data Uploads' toggle to re-enable uploads. diff --git a/selfdrive/ui/translations/main_de.qm b/selfdrive/ui/translations/main_de.qm new file mode 100644 index 00000000000000..d63dfd7026ea6f Binary files /dev/null and b/selfdrive/ui/translations/main_de.qm differ diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts index f2d014812f1969..d59df61b299b20 100644 --- a/selfdrive/ui/translations/main_de.ts +++ b/selfdrive/ui/translations/main_de.ts @@ -149,10 +149,6 @@ kph - - ft/s² - - Accel: %1%2 @@ -185,16 +181,6 @@ Follow Distance: - - Confirm speed limit - - - - - Ignore speed limit - - - Conditional Experimental Mode ready @@ -283,6 +269,14 @@ . Double tap the screen to revert + + PENDING + + + + ft/s² + + ConfirmationDialog @@ -532,2399 +526,2453 @@ FrogPilotAdvancedDrivingPanel - Advanced Lateral Tuning - + mph + mph - Advanced settings that control how openpilot manages steering. - + Reset + Zurücksetzen - Friction (Default: %1) - + ADD + HINZUFÜGEN - Friction - + REMOVE + LÖSCHEN - The resistance in steering. Higher values provide more stable steering but can make it feel heavy, while lower values allow lighter steering but may feel too sensitive. - + OK + OK - Kp Factor (Default: %1) - + RESET + RESET - Kp Factor - + VIEW + ANSEHEN - How aggressively the car corrects its steering. Higher values offer quicker corrections but may feel jerky, while lower values make steering smoother but slower to respond. - + SELECT + AUSWÄHLEN - Lateral Accel (Default: %1) - + openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required. + Damit Openpilot funktioniert, darf die Installationsposition nicht mehr als 4° nach rechts/links, 5° nach oben und 9° nach unten abweichen. Openpilot kalibriert sich durchgehend, ein Zurücksetzen ist selten notwendig. - Lateral Accel - + Your device is pointed %1° %2 and %3° %4. + Deine Geräteausrichtung ist %1° %2 und %3° %4. - Adjust how fast the car can steer from side to side. Higher values allow quicker lane changes but can feel unstable, while lower values provide smoother steering but may feel sluggish. - + down + unten - Steer Ratio (Default: %1) - + up + oben - Steer Ratio - + left + links - Adjust how much openpilot needs to turn the wheel to steer. Higher values feel like driving a truck, more stable at high speeds, but harder to steer quickly at low speeds, while lower values feel like a go-kart, easier to steer in tight spots but more sensitive and less stable at high speeds. - + right + rechts + + + FrogPilotConfirmationDialog - comma's 2022 Taco Bell Turn Hack + Reboot Later - Use comma's hack they used to help handle left and right turns more precisely during their 2022 'Taco Bell' drive. + Yes - Force Auto Tune On + No + + + FrogPilotDataPanel - Forces comma's auto lateral tuning for unsupported vehicles. + Delete Driving Footage and Data - Force Auto Tune Off + DELETE - Forces comma's auto lateral tuning off for supported vehicles. + Are you sure you want to permanently delete all of your driving footage and data? - Force Turn Desires Below Lane Change Speed + Delete - Force the model to use turn desires when driving below the minimum lane change speed to help make left and right turns more precisely. + Deleting... - Advanced Longitudinal Tuning + Deleted! - Advanced settings that control how openpilot manages speed and acceleration. + Screen Recordings - Lead Detection Confidence + Manage your screen recordings. - How sensitive openpilot is to detecting vehicles ahead. A lower value can help detect vehicles sooner and from farther away, but may occasionally mistake other objects for vehicles. + RENAME - Maximum Acceleration Rate + Select a recording to delete - Set a cap on how fast openpilot can accelerate to prevent high acceleration at low speeds. + Are you sure you want to delete this recording? - Advanced Quality of Life + Select a recording to rename - Miscellaneous advanced features to improve your overall openpilot experience. + Enter a new name - Force Keep openpilot in the Standstill State + Rename Recording - Keep openpilot in the 'standstill' state until the gas pedal or 'resume' button is pressed. + Renaming... - Force Stop for 'Detected' Stop Lights/Signs + Renamed! - Whenever openpilot 'detects' a potential stop light/stop sign, force a stop where it originally detected it to prevent running the potential red light/stop sign. + FrogPilot Backups - Set Speed Offset + Manage your FrogPilot backups. - How much higher or lower the set speed should be compared to your current set speed. For example, if you prefer to drive 5 mph above the speed limit, this setting will automatically add that difference when you adjust your set speed. + BACKUP - Customize Driving Personalities + RESTORE - Customize the personality profiles to suit your preferences. + Name your backup - Traffic Personality + Compressing... - Customize the 'Traffic' personality profile, tailored for navigating through traffic. + Select a backup to delete - Following Distance + Are you sure you want to delete this backup? - The minimum following distance in 'Traffic Mode.' openpilot will adjust dynamically between this value and the 'Aggressive' profile distance based on your speed. + Select a restore point - Acceleration Sensitivity + Are you sure you want to restore this version of FrogPilot? - How sensitive openpilot is to changes in acceleration in 'Traffic Mode.' Higher values result in smoother, more gradual acceleration and deceleration, while lower values allow for faster changes that may feel more abrupt. + Restore - Deceleration Sensitivity + Restoring... - Controls how sensitive openpilot is to changes in deceleration in 'Traffic Mode.' Higher values result in smoother, more gradual braking, while lower values allow for quicker, more responsive braking that may feel abrupt. + Extracting... - Safety Distance Sensitivity + Restored! - Adjusts how cautious openpilot is around other vehicles or obstacles in 'Traffic Mode.' Higher values increase following distances and prioritize safety, leading to more cautious driving, while lower values allow for closer following but may reduce reaction time. + Rebooting... - Speed Increase Responsiveness + Toggle Backups - Controls how quickly openpilot adjusts speed in 'Traffic Mode.' Higher values ensure smoother, more gradual speed changes, while lower values enable quicker adjustments that might feel sharper or less smooth. + Manage your toggle backups. - Speed Decrease Responsiveness + Are you sure you want to restore this toggle backup? - Sets how quickly openpilot adjusts to decreasing speeds in 'Traffic Mode.' Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed reductions that might feel sharper. + Permanently deletes all stored driving footage and data from your device. Ideal for maintaining privacy or freeing up space. - Reset Settings + DELETE ALL - Restore the 'Traffic Mode' settings to their default values. + Are you sure you want to delete all screen recordings? - Aggressive Personality + Delete All - Customize the 'Aggressive' personality profile, designed for a more assertive driving style. + A recording with this name already exists. Please choose a different name. - Set the following distance for 'Aggressive' mode. This determines roughly how many seconds you'll follow behind the car ahead. - -Default: 1.25 seconds. + A backup with this name already exists. Please choose a different name. - Controls how sensitive openpilot is to acceleration changes in 'Aggressive' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky. - -Default: 0.5. + Do you want to compress this backup? The final result will be 2.25x smaller and will run in the background, but can take 10+ minutes. - Controls how sensitive openpilot is to deceleration in 'Aggressive' mode. Higher values result in smoother braking, while lower values allow for more immediate braking that may feel abrupt. - -Default: 0.5. + Backing up... - Adjusts how cautious openpilot is around vehicles or obstacles in 'Aggressive' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking. - -Default: 1.0. + Backup created! - Controls how quickly openpilot adjusts speed in 'Aggressive' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt. - -Default: 0.5. + Are you sure you want to delete all FrogPilot backups? - Sets how quickly openpilot adjusts to speed reductions in 'Aggressive' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp. - -Default: 0.5. + Are you sure you want to delete all toggle backups? + + + FrogPilotDevicePanel - Restore the 'Aggressive' settings to their default values. + Device Settings - Standard Personality + Device behavior settings. - Customize the 'Standard' personality profile, optimized for balanced driving. + Device Shutdown Timer - Set the following distance for 'Standard' mode. This determines roughly how many seconds you'll follow behind the car ahead. - -Default: 1.45 seconds. + Disable Internet Requirement - Controls how sensitive openpilot is to acceleration changes in 'Standard' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky. - -Default: 1.0. + Increase Thermal Safety Limit - Controls how sensitive openpilot is to deceleration in 'Standard' mode. Higher values result in smoother braking, while lower values allow for quicker, more immediate braking that may feel abrupt. - -Default: 1.0. + Low Battery Shutdown Threshold - Adjusts how cautious openpilot is around vehicles or obstacles in 'Standard' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking. - -Default: 1.0. + Turn Off Data Tracking - Controls how quickly openpilot adjusts speed in 'Standard' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt. - -Default: 1.0. + Turn Off Data Uploads - Sets how quickly openpilot adjusts to speed reductions in 'Standard' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp. - -Default: 1.0. + Screen Settings - Restore the 'Standard' settings to their default values. + Screen behavior settings. - Relaxed Personality + Screen Brightness (Offroad) - Customize the 'Relaxed' personality profile, ideal for a more laid-back driving style. + Screen Brightness (Onroad) - Set the following distance for 'Relaxed' mode. This determines roughly how many seconds you'll follow behind the car ahead. - -Default: 1.75 seconds. + Screen Recorder - Controls how sensitive openpilot is to acceleration changes in 'Relaxed' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky. - -Default: 1.0. + Screen Timeout (Offroad) - Controls how sensitive openpilot is to deceleration in 'Relaxed' mode. Higher values result in smoother braking, while lower values allow for quicker, more immediate braking that may feel abrupt. - -Default: 1.0. + Screen Timeout (Onroad) - Adjusts how cautious openpilot is around vehicles or obstacles in 'Relaxed' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking. - -Default: 1.0. + 5 mins - Controls how quickly openpilot adjusts speed in 'Relaxed' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt. - -Default: 1.0. + mins - Sets how quickly openpilot adjusts to speed reductions in 'Relaxed' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp. - -Default: 1.0. + hour - Restore the 'Relaxed' settings to their default values. + hours - Model Management + Only Onroad - Manage the driving models used by openpilot. + volts - Automatically Update and Download Models + Auto - Automatically download new or updated driving models. + seconds - Model Randomizer + WARNING: This can cause premature wear or damage by running the device over comma's recommended temperature limits! - A random model is selected and can be reviewed at the end of each drive if it's longer than 15 minutes to help find your preferred model. + WARNING: This will prevent your drives from being recorded and the data will be unobtainable! - Manage Model Blacklist + WARNING: This will prevent your drives from appearing on comma connect which may impact debugging and support! - Control which models are blacklisted and won't be used for future drives. + Controls how long the device stays on after you stop driving. - Reset Model Scores + Allows the device to work without an internet connection. - Clear the ratings you've given to the driving models. + Allows the device to run at higher temperatures than recommended. - Review Model Scores + Manages the threshold for shutting down the device to protect the car's battery from excessive drain and potential damage. - View the ratings you've assigned to the driving models. + Disables all data tracking to improve privacy. - Delete Model + Stops the device from sending any data to the servers. - Remove the selected driving model from your device. + Controls the screen brightness when you're not driving. - Download Model + Controls the screen brightness while you're driving. - Download undownloaded driving models. + Enables a button in the onroad UI to record the screen. - Download All Models + Controls how long it takes for the screen to turn off when you're not driving. - Download all undownloaded driving models. + Controls how long it takes for the screen to turn off while you're driving. - Select Model + Screen Off + + + FrogPilotLateralPanel - Select which model openpilot uses to drive. + Always on Lateral - Reset Model Calibrations + openpilot's steering control stays active even when the brake or gas pedals are pressed. + +Deactivate only occurs with the 'Cruise Control' button. - Reset calibration settings for the driving models. + Control with LKAS Button - mph - mph + Enable with Cruise Control + - Reset - Zurücksetzen + Pause on Brake Below + - seconds + Hide the Status Bar - ADD - HINZUFÜGEN + Lane Change Settings + - REMOVE - LÖSCHEN + How openpilot handles lane changes. + - There's no more models to blacklist! The only available model is "%1"! + Lane Change Delay - OK - OK + Lane Width Requirement + - Select a model to add to the blacklist + Minimum Speed for Lane Change - Are you sure you want to add the '%1' model to the blacklist? + Lateral Tuning - Add + Neural Network Feedforward (NNFF) - Select a model to remove from the blacklist + Smooth Curve Handling - Are you sure you want to remove the '%1' model from the blacklist? + Quality of Life Improvements - Remove + Miscellaneous lateral focused features to improve your overall openpilot experience. - RESET - RESET + Pause Steering Below + - Reset all model scores? + Pauses steering control when driving below the set speed. - VIEW - ANSEHEN + mph + mph - DELETE + feet - Select a model to delete + Reboot required to take effect. - Are you sure you want to delete the '%1' model? + Reboot Now - Delete + kph - Deleting... + meters - Deleted! + Advanced Lateral Tuning - DOWNLOAD + Advanced settings for fine tuning openpilot's lateral controls. - CANCEL + Friction (Default: %1) - Select a driving model to download + Friction - Downloading %1... + Adjusts the resistance in steering. Higher values provide more stable steering but can make it feel heavy, while lower values allow lighter steering but may feel too sensitive. - SELECT - AUSWÄHLEN + Kp Factor (Default: %1) + - Select a model - 🗺️ = Navigation | 📡 = Radar | 👀 = VOACC + Kp Factor - WARNING: This is a very experimental model and may drive dangerously! + Adjusts how aggressively the car corrects its steering. Higher values offer quicker corrections but may feel jerky, while lower values make steering smoother but slower to respond. - I understand the risks. + Lateral Accel (Default: %1) - Start with a fresh calibration for the newly selected model? + Lateral Accel - Reboot required to take effect. + Adjusts how fast the car can steer from side to side. Higher values allow quicker lane changes but can feel unstable, while lower values provide smoother steering but may feel sluggish. - Reboot Now + Steer Ratio (Default: %1) - RESET ALL + Steer Ratio - RESET ONE + Adjusts how much openpilot needs to turn the wheel to steer. Higher values feel like driving a truck, more stable at high speeds, but harder to steer quickly at low speeds, while lower values feel like a go-kart, easier to steer in tight spots but more sensitive and less stable at high speeds. - Are you sure you want to completely reset all of your model calibrations? + Force Auto Tune On - Select a model to reset + Forces comma's auto lateral tuning for unsupported vehicles. - Are you sure you want to completely reset this model's calibrations? + Force Auto Tune Off - The 'Model Randomizer' only works with downloaded models. Do you want to download all the driving models? + Forces comma's auto lateral tuning off for supported vehicles. - Are you sure you want to completely reset your settings for the 'Traffic Mode' personality? + Controls the current state of 'Always on Lateral' with the 'LKAS' button. - Are you sure you want to completely reset your settings for the 'Aggressive' personality? + Activates 'Always on Lateral' whenever 'Cruise Control' is active bypassing the requirement to enable openpilot first. - Are you sure you want to completely reset your settings for the 'Standard' personality? + Pauses 'Always on Lateral' when the brake pedal is pressed below the set speed. - Are you sure you want to completely reset your settings for the 'Relaxed' personality? + Hides status bar for 'Always On Lateral'. - kph + Automatic Lane Changes - Downloading models... + Conducts lane changes without needing to touch the steering wheel upon turn signal activation. - openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required. - Damit Openpilot funktioniert, darf die Installationsposition nicht mehr als 4° nach rechts/links, 5° nach oben und 9° nach unten abweichen. Openpilot kalibriert sich durchgehend, ein Zurücksetzen ist selten notwendig. + Delays lane changes by the set time to prevent sudden changes. + - Your device is pointed %1° %2 and %3° %4. - Deine Geräteausrichtung ist %1° %2 und %3° %4. + Sets the minimum lane width for openpilot to detect a lane as a lane. + - down - unten + Sets the minimum speed required for openpilot to perform a lane change. + - up - oben + Only One Lane Change Per Signal + - left - links + Limits lane changes to one per turn signal activation. + - right - rechts + Settings for fine tuning openpilot's lateral controls. + - - - FrogPilotAdvancedVisualsPanel - Advanced Onroad UI Widgets + Force Turn Desires Below Lane Change Speed - Advanced user customizations for the Onroad UI. + Forces the model to use turn desires when driving below the minimum lane change speed to help make left and right turns more precisely. - Camera View + Uses Twilsonco's 'Neural Network FeedForward' for more precise steering control. - Camera view for the onroad UI. This is purely a visual change and doesn't impact how openpilot drives. + Smoothens the steering control when entering and exiting curves by using Twilsonco's torque adjustments. - Display Stopping Points + seconds + + + FrogPilotLongitudinalPanel - Display an image on the screen where openpilot is detecting a potential red light/stop sign. + Conditional Experimental Mode - Hide Lead Marker + Below - Hide the marker for the vehicle ahead on the screen. + Curve Detected Ahead - Hide Speed + Lead Detected Ahead - Hide the speed indicator in the onroad UI. Additional toggle allows it to be hidden/shown via tapping the speed itself. + Navigation Data - Hide UI Elements + openpilot Wants to Stop In - Hide the selected UI elements from the onroad screen. + Turn Signal Below - Use Wheel Speed + Hide the Status Bar - Use the wheel speed instead of the cluster speed in the onroad UI. + Curve Speed Control - Developer UI + Automatically slow down for curves detected ahead or through the downloaded maps. - Show detailed information about openpilot's internal operations. + Curve Detection Method - Border Metrics + Curve Detection Failsafe - Display performance metrics around the edge of the screen while driving. + Experimental Mode Activation - FPS Display + Click the LKAS Button - Display the 'Frames Per Second' (FPS) at the bottom of the screen while driving. + Double-Tap the Screen - Lateral Metrics + Long Press the Distance Button - Display metrics related to steering control at the top of the screen while driving. + Longitudinal Tuning - Longitudinal Metrics + Settings that control how openpilot manages speed and acceleration. - Display metrics related to acceleration, speed, and desired following distance at the top of the screen while driving. + Acceleration Profile - Numerical Temperature Gauge + Deceleration Profile - Show exact temperature readings instead of general status labels like 'GOOD', 'OK', or 'HIGH' in the sidebar. + Human-Like Acceleration - Sidebar + Increase Stopped Distance - Display system information like CPU, GPU, RAM usage, IP address, and storage space in the sidebar. + Increases the distance to stop behind vehicles. - Use International System of Units + Quality of Life Improvements - Display measurements using the 'International System of Units' (SI). + Miscellaneous longitudinal focused features to improve your overall openpilot experience. - Model UI + Map Accel/Decel to Gears - Customize the model visualizations on the screen. + Reverse Cruise Increase - Lane Lines Width + Speed Limit Controller - How thick the lane lines appear on the display. - -Default matches the MUTCD standard of 4 inches. + Confirm New Speed Limits - Path Edges Width + Fallback Method - The width of the edges of the driving path to represent different modes and statuses. - -Default is 20% of the total path width. - -Color Guide: -- Blue: Navigation -- Light Blue: 'Always On Lateral' -- Green: Default -- Orange: 'Experimental Mode' -- Red: 'Traffic Mode' -- Yellow: 'Conditional Experimental Mode' Overridden + Override Method - Path Width + Speed Limit Offsets - How wide the driving path appears on your screen. - -Default (6.1 feet / 1.9 meters) matches the width of a 2019 Lexus ES 350. + Speed Limit Offset (0-34 mph) - Road Edges Width + Speed Limit Offset (35-54 mph) - How thick the road edges appear on the display. - -Default matches half of the MUTCD standard lane line width of 4 inches. + Speed Limit Offset (55-64 mph) - 'Unlimited' Road UI + Speed Limit Offset (65-99 mph) - Extend the display of the path, lane lines, and road edges as far as the model can see. + Miscellaneous 'Speed Limit Controller' focused features to improve your overall openpilot experience. - Auto + Force MPH Readings from Dashboard - Driver + Prepare for Higher Speed Limits - Standard + Prepare for Lower Speed Limits - Wide + Set Speed to Current Limit - Control Via UI - + mph + mph - Alerts + With Lead - Map Icon + Switches to 'Experimental Mode' when driving below the set speed with a lead vehicle. - Max Speed + With Lead - Show Distance + Slower Lead - Blind Spot + Stopped Lead - Steering Torque + Intersections - Turn Signal + Turns - Adjacent Path Metrics + Map Based - Auto Tune + Vision - Lead Info + Standard - Longitudinal Jerk + Eco - Fahrenheit + Sport - CPU + Sport+ - GPU + feet - IP + Acceleration - RAM + Deceleration - SSD Left + Lower Limits - SSD Used + Higher Limits - inches + None - % + Set Speed - feet - + Experimental Mode + Experimenteller Modus - Adjust how thick the lane lines appear on the display. - -Default matches the Vienna standard of 10 centimeters. + Previous Limit - Adjust how thick the road edges appear on the display. - -Default matches half of the Vienna standard of 10 centimeters. - + SELECT + AUSWÄHLEN - centimeters + Dashboard - meters + Navigation - Adjust how thick the lane lines appear on the display. - -Default matches the MUTCD standard of 4 inches. + Highest - Adjust how thick the road edges appear on the display. - -Default matches half of the MUTCD standard of 4 inches. + Lowest - - - FrogPilotConfirmationDialog - Reboot Later + Select your primary priority - Yes + Select your secondary priority - No + Select your tertiary priority - - - FrogPilotDataPanel - Delete Driving Footage and Data + MANAGE - DELETE + seconds - This button provides a swift and secure way to permanently delete all stored driving footage and data from your device. Ideal for maintaining privacy or freeing up space. + Speed Limit Offset (0-34 kph) - Are you sure you want to permanently delete all of your driving footage and data? + Speed Limit Offset (35-54 kph) - Delete + Speed Limit Offset (55-64 kph) - Deleting... + Speed Limit Offset (65-99 kph) - Deleted! + kph - Screen Recordings + meters - Manage your screen recordings. + Automatically switch to 'Experimental Mode' when specific conditions are met. - RENAME + Triggers 'Experimental Mode' when driving below the set speed without a lead vehicle. - Select a recording to delete + Triggers 'Experimental Mode' when a curve is detected in the road ahead. - Are you sure you want to delete this recording? + Triggers 'Experimental Mode' when a slower or stopped vehicle is detected ahead. - Failed... + Triggers 'Experimental Mode' based on navigation data, such as upcoming intersections or turns. - Select a recording to rename + Triggers 'Experimental Mode' when openpilot wants to stop such as for a stop sign or red light. - Enter a new name + Triggers 'Experimental Mode' when using turn signals below the set speed. - Rename Recording + Hides status bar for 'Conditional Experimental Mode'. - Renaming... + Uses data from either the downloaded maps or the model to determine where curves are. - Renamed! + Triggers 'Curve Speed Control' only when a curve is detected with the model as well when using the 'Map Based' method. - FrogPilot Backups + Curve Detection Sensitivity - Manage your FrogPilot backups. + Controls how sensitive openpilot is to detecting curves. Higher values trigger earlier responses at the risk of triggering too often, while lower values increase confidence at the risk of triggering too infrequently. - BACKUP + Speed Aggressiveness - RESTORE + Controls how aggressive openpilot takes turns. Higher values result in faster turns, while lower values result in slower turns. - Name your backup + Hide Desired Speed Widget From UI - Do you want to compress this backup? The end file size will be 2.25x smaller, but can take 10+ minutes. + Hides the desired speed widget from the onroad UI. - Backing... + Customize Driving Personalities - Compressing... + Customize the personality profiles to suit your driving style. - Success! + Traffic Personality - Select a backup to delete + Customizes the 'Traffic' personality profile, tailored for navigating through traffic. - Are you sure you want to delete this backup? + Following Distance - Select a restore point + Controls the minimum following distance in 'Traffic' mode. openpilot will automatically dynamically between this value and the 'Aggressive' profile distance based on your current speed. - Are you sure you want to restore this version of FrogPilot? + Acceleration Sensitivity - Restore + Controls how sensitive openpilot is to changes in acceleration in 'Traffic' mode. Higher values result in smoother, more gradual acceleration, while lower values allow for quicker, more responsive changes that may feel abrupt. - Restoring... + Deceleration Sensitivity - Extracting... + Controls how sensitive openpilot is to changes in deceleration in 'Traffic' mode. Higher values result in smoother, more gradual deceleration, while lower values allow for quicker, more responsive changes that may feel abrupt. - Restored! + Safety Distance Sensitivity - Rebooting... + Adjusts how cautious openpilot is around other vehicles or obstacles in 'Traffic' mode. Higher values increase following distances and prioritize safety, leading to more cautious driving, while lower values allow for closer following but may reduce reaction time. - Toggle Backups + Speed Increase Responsiveness - Manage your toggle backups. + Controls how quickly openpilot increases speed in 'Traffic' mode. Higher values ensure smoother, more gradual speed changes when accelerating, while lower values allow for quicker, more responsive changes that may feel abrupt. - Are you sure you want to restore this toggle backup? + Speed Decrease Responsiveness - - - FrogPilotDevicePanel - Device Settings + Controls how quickly openpilot decreases speed in 'Traffic' mode. Higher values ensure smoother, more gradual speed changes when slowing down, while lower values allow for quicker, more responsive changes that may feel abrupt. - Device behavior settings. + Reset Settings - Device Shutdown Timer + Restores the 'Traffic Mode' settings to their default values. - How long the device stays on after you stop driving. + Aggressive Personality - Disable Internet Requirement + Customize the 'Aggressive' personality profile, designed for a more assertive driving style. - The device can work without an internet connection for as long as you need. + Sets the following distance for 'Aggressive' mode. This determines roughly how many seconds you'll follow behind the car ahead. + +Default: 1.25 seconds. - Increase Thermal Safety Limit + Controls how sensitive openpilot is to changes in acceleration in 'Aggressive' mode. Higher values result in smoother, more gradual acceleration, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 0.5. - The device can run at higher temperatures than recommended. + Controls how sensitive openpilot is to changes in deceleration in 'Aggressive' mode. Higher values result in smoother, more gradual deceleration, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 0.5. - Low Battery Shutdown Threshold + Adjusts how cautious openpilot is around other vehicles or obstacles in 'Aggressive' mode. Higher values increase following distances and prioritize safety, leading to more cautious driving, while lower values allow for closer following but may reduce reaction time. + +Default: 1.0. - Shut down the device when the car's battery gets too low to prevent damage to the 12V battery. + Controls how quickly openpilot increases speed in 'Aggressive' mode. Higher values ensure smoother, more gradual speed changes when accelerating, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 0.5. - Turn Off Data Tracking + Controls how quickly openpilot decreases speed in 'Aggressive' mode. Higher values ensure smoother, more gradual speed changes when slowing down, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 0.5. - Disable all tracking to improve privacy. + Restores the 'Aggressive' settings to their default values. - Turn Off Data Uploads + Standard Personality - Stop the device from sending any data to the servers. + Customize the 'Standard' personality profile, optimized for balanced driving. - Screen Settings + Set the following distance for 'Standard' mode. This determines roughly how many seconds you'll follow behind the car ahead. + +Default: 1.45 seconds. - Screen behavior settings. + Controls how sensitive openpilot is to changes in acceleration in 'Standard' mode. Higher values result in smoother, more gradual acceleration, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 1.0. - Screen Brightness (Offroad) + Controls how sensitive openpilot is to changes in deceleration in 'Standard' mode. Higher values result in smoother braking, while lower values allow for quicker, more immediate braking that may feel abrupt. + +Default: 1.0. - The screen brightness when you're not driving. + Adjusts how cautious openpilot is around other vehicles or obstacles in 'Standard' mode. Higher values increase following distances and prioritize safety, leading to more cautious driving, while lower values allow for closer following but may reduce reaction time. + +Default: 1.0. - Screen Brightness (Onroad) + Controls how quickly openpilot increases speed in 'Standard' mode. Higher values ensure smoother, more gradual speed changes when accelerating, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 1.0. - The screen brightness while you're driving. + Controls how quickly openpilot decreases speed in 'Standard' mode. Higher values ensure smoother, more gradual speed changes when slowing down, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 1.0. - Screen Recorder + Restores the 'Standard' settings to their default values. - Display a button in the onroad UI to record the screen. + Relaxed Personality - Screen Timeout (Offroad) + Customize the 'Relaxed' personality profile, ideal for a more laid-back driving style. - How long it takes for the screen to turn off when you're not driving. + Set the following distance for 'Relaxed' mode. This determines roughly how many seconds you'll follow behind the car ahead. + +Default: 1.75 seconds. - Screen Timeout (Onroad) + Controls how sensitive openpilot is to changes in acceleration in 'Relaxed' mode. Higher values result in smoother, more gradual acceleration, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 1.0. - How long it takes for the screen to turn off while you're driving. + Controls how sensitive openpilot is to changes in deceleration in 'Relaxed' mode. Higher values result in smoother braking, while lower values allow for quicker, more immediate braking that may feel abrupt. + +Default: 1.0. - 5 mins + Adjusts how cautious openpilot is around other vehicles or obstacles in 'Relaxed' mode. Higher values increase following distances and prioritize safety, leading to more cautious driving, while lower values allow for closer following but may reduce reaction time. + +Default: 1.0. - mins + Controls how quickly openpilot increases speed in 'Relaxed' mode. Higher values ensure smoother, more gradual speed changes when accelerating, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 1.0. - hour + Controls how quickly openpilot decreases speed in 'Relaxed' mode. Higher values ensure smoother, more gradual speed changes when slowing down, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 1.0. - hours + Restores the 'Relaxed' settings to their default values. - Only Onroad + Toggle 'Experimental Mode' on/off using either the steering wheel buttons or screen. + +This overrides 'Conditional Experimental Mode'. - volts + Toggles 'Experimental Mode' by pressing the 'LKAS' button on the steering wheel. - Auto + Toggles 'Experimental Mode' by double-tapping the onroad UI within a 0.5 second period. - seconds + Toggles 'Experimental Mode' by holding down the 'distance' button on the steering wheel for 0.5 seconds. - WARNING: This can cause premature wear or damage by running the device over comma's recommended temperature limits! + Enables either a sporty or eco-friendly acceleration rate. 'Sport+' aims to make openpilot accelerate as fast as possible. - I understand the risks. + Enables either a sporty or eco-friendly deceleration rate. - WARNING: This will prevent your drives from being recorded and the data will be unobtainable! + Uses the lead's acceleration rate when at a takeoff and ramps off the acceleration rate when approaching the maximum set speed for a more 'human-like' driving experience. - WARNING: This will prevent your drives from appearing on comma connect which may impact debugging and support! + Human-Like Approach Behind Leads - - - FrogPilotLateralPanel - Always on Lateral + Dynamically adjusts the following distance when approaching slower or stopped vehicles for a more 'human-like' driving experience. - openpilot's steering control stays active even when the brake or gas pedals are pressed. - -Deactivate only occurs with the 'Cruise Control' button. + Lead Detection Confidence - Control with LKAS Button + Controls how sensitive openpilot is to detecting vehicles ahead. A lower value can help detect vehicles sooner and from farther away, but increases the chance openpilot mistakes other objects for vehicles. - 'Always on Lateral' gets turned on or off using the 'LKAS' button. + Maximum Acceleration Rate - Enable with Cruise Control + Sets a cap on how fast openpilot can accelerate. - 'Always on Lateral' gets turned on by pressing the 'Cruise Control' button bypassing the requirement to enable openpilot first. + 'Taco Bell Run' Turn Speed Hack - Pause on Brake Below + Uses comma's speed hack they used to help handle left and right turns more precisely during their 2022 'Taco Bell' drive by reducing the maximum allowed speed and acceleration while turning. - 'Always on Lateral' pauses when the brake pedal is pressed below the set speed. + Cruise Increase - Hide the Status Bar + Controls the interval used when increasing the cruise control speed. - The status bar for 'Always on Lateral' is hidden. + Cruise Increase (Long Press) - Lane Change Settings + Controls the interval used when increasing the cruise control speed while holding down the button for 0.5+ seconds. - How openpilot handles lane changes. + Force Keep openpilot in the Standstill State - Hands-Free Lane Change + Keeps openpilot in the 'standstill' state until the gas pedal or 'resume' button is pressed. - Lane changes are conducted without needing to touch the steering wheel upon turn signal activation. + Force Stop for 'Detected' Stop Lights/Signs - Lane Change Delay + Forces a stop whenever openpilot 'detects' a potential red light/stop sign to prevent it from running the red light/stop sign. - How long openpilot waits before changing lanes. + Set Speed Offset - Lane Width Requirement + Controls how much higher or lower the set speed should be compared to your current set speed. For example, if you prefer to drive 5 mph above the speed limit, this setting will automatically add that difference when you adjust your set speed. - The minimum lane width for openpilot to detect a lane as a lane. + Maps the acceleration and deceleration profiles to your car's 'Eco' or 'Sport' gear modes. - Minimum Speed for Lane Change + Reverses the long press cruise increase feature to increase the max speed by 5 mph instead of 1 on short presses. - The minimum speed required for openpilot to perform a lane change. + Automatically adjust your max speed to match the speed limit using downloaded 'Open Street Maps' data, 'Navigate on openpilot', or your car's dashboard (Toyota/Lexus/HKG only). - Single Lane Change Per Signal + Enables manual confirmations before using a new speed limit. - Lane changes are limited to one per turn signal activation. + Controls what happens when no speed limit data is available. - Lateral Tuning + Controls how the current speed limit is overriden. + + - Settings that control how openpilot manages steering. + Forces speed limit readings from the dashboard to MPH if it normally displays them in KPH. - Neural Network Feedforward (NNFF) + Sets a lookahead value to prepare for upcoming higher speed limits when using downloaded map data. - Twilsonco's 'Neural Network FeedForward' for more precise steering control. + Sets a lookahead value to prepare for upcoming lower speed limits when using downloaded map data. - Smooth Curve Handling + Sets your max speed to match the current speed limit when enabling openpilot. - Smoother steering when entering and exiting curves with Twilsonco's torque adjustments. + Speed Limit Source Priority Order - Quality of Life Improvements + Sets the order of priority for speed limit data sources. - Miscellaneous lateral focused features to improve your overall openpilot experience. + Set speed limit offsets to drive over the posted speed limit. - Pause Steering Below + Sets the speed limit offset for speeds between 0 and 34 mph. - Pauses steering control when driving below the set speed. + Sets the speed limit offset for speeds between 35 and 54 mph. - mph - mph + Sets the speed limit offset for speeds between 55 and 64 mph. + - feet + Sets the speed limit offset for speeds between 65 and 99 mph. - Reboot required to take effect. + Show Speed Limit Sources - Reboot Now + Displays the speed limit sources in the onroad UI when using 'Speed Limit Controller'. - kph + Reset + Zurücksetzen + + + The 'Map Based' option is only available when some 'Map Data' has been downloaded! - meters + Okay - - - FrogPilotLongitudinalPanel - Conditional Experimental Mode + Set With Gas Pedal - Automatically switches to 'Experimental Mode' when specific conditions are met. + Max Set Speed - Below + Map Data - 'Experimental Mode' is active when driving below the set speed without a lead vehicle. + Are you sure you want to completely reset your settings for 'Traffic Mode'? - Curve Detected Ahead + Are you sure you want to completely reset your settings for the 'Aggressive' personality? - 'Experimental Mode' is active when a curve is detected in the road ahead. + Are you sure you want to completely reset your settings for the 'Standard' personality? - Lead Detected Ahead + Are you sure you want to completely reset your settings for the 'Relaxed' personality? - 'Experimental Mode' is active when a slower or stopped vehicle is detected ahead. + Sets the speed limit offset for speeds between 0-34 kph. - Navigation Data + Sets the speed limit offset for speeds between 35-54 kph. - 'Experimental Mode' is active based on navigation data, such as upcoming intersections or turns. + Sets the speed limit offset for speeds between 55-64 kph. - openpilot Wants to Stop In + Sets the speed limit offset for speeds between 65-99 kph. - 'Experimental Mode' is active when openpilot wants to stop such as for a stop sign or red light. + Sets the speed limit offset for speeds between 0-34 mph. - Turn Signal Below + Sets the speed limit offset for speeds between 35-54 mph. - 'Experimental Mode' is active when using turn signals below the set speed. + Sets the speed limit offset for speeds between 55-64 mph. - Hide the Status Bar + Sets the speed limit offset for speeds between 65-99 mph. + + + FrogPilotModelPanel - The status bar for 'Conditional Experimental Mode' is hidden. + Automatically Update and Download Models - Curve Speed Control + Automatically downloads new models and updates existing ones if needed. - Automatically slow down for curves detected ahead or through the downloaded maps. + Model Randomizer - Curve Detection Method + Randomly selects a model each drive and brings up a model review prompt at the end to help find your preferred model. - The method used to detect curves. + Manage Model Blacklist - Curve Detection Failsafe + Manage the blacklisted models that aren't being used with 'Model Randomizer'. - Curve control is triggered only when a curve is detected ahead. Use this as a failsafe to prevent false positives when using the 'Map Based' method. + Reset Model Scores - Curve Sensitivity + Clear the ratings you've given to the driving models. - How sensitive openpilot is to detecting curves. Higher values trigger earlier responses at the risk of triggering too often, while lower values increase confidence at the risk of triggering too infrequently. + Review Model Scores - Turn Speed Aggressiveness + View the ratings you've assigned to the driving models. - How aggressive openpilot takes turns. Higher values result in quicker turns, while lower values provide gentler turns. + Delete Model - Disable Speed Value Smoothing In the UI + Delete driving models from your device. - Speed value smoothing is disabled in the UI to instead display the exact speed requested by the curve control. + Download Model - Experimental Mode Activation + Download new driving models. - 'Experimental Mode' is toggled off/on using the steering wheel buttons or the on-screen controls. - -This overrides 'Conditional Experimental Mode'. + Select Model - Click the LKAS Button + Select your preferred driving model. - 'Experimental Mode' is toggled by pressing the 'LKAS' button on the steering wheel. + ADD + HINZUFÜGEN + + + REMOVE + LÖSCHEN + + + REMOVE ALL - Double-Tap the Screen + There are no more models to blacklist! The only available model is "%1"! - 'Experimental Mode' is toggled by double-tapping the onroad UI within 0.5 seconds. + OK + OK + + + Select a model to add to the blacklist - Long Press the Distance Button + Are you sure you want to add the '%1' model to the blacklist? - 'Experimental Mode' is toggled by holding the 'distance' button on the steering wheel for 0.5+ seconds. + Add - Longitudinal Tuning + Select a model to remove from the blacklist - Settings that control how openpilot manages speed and acceleration. + Are you sure you want to remove the '%1' model from the blacklist? - Acceleration Profile + Remove - Choose between a sporty or eco-friendly acceleration rate. + Are you sure you want to remove all of your blacklisted models? - Deceleration Profile + RESET + RESET + + + Are you sure you want to reset all of your model drives and scores? - Choose between a sporty or eco-friendly deceleration rate. + REVIEW + TRAINING + + + DELETE - Human-Like Acceleration + DELETE ALL - Uses the lead's acceleration rate when at a takeoff and ramps off the acceleration rate when approaching the maximum set speed for a smoother max speed approach. + Select a driving model to delete - Human-Like Following Distance + Are you sure you want to delete the '%1' model? - Dynamically adjusts the following distance to feel more natural when approaching slower or stopped vehicles. + Delete - Increase Stopped Distance + Are you sure you want to delete all of your downloaded driving models? - Increases the distance to stop behind vehicles. + DOWNLOAD - Quality of Life Improvements + DOWNLOAD ALL - Miscellaneous longitudinal focused features to improve your overall openpilot experience. + Select a driving model to download - Cruise Increase Interval + SELECT + AUSWÄHLEN + + + Select a model - 🗺️ = Navigation | 📡 = Radar | 👀 = VOACC - Interval used when increasing the cruise control speed. + Reboot required to take effect. - Custom Cruise Interval (Long Press) + Reboot Now - Interval used when increasing the cruise control speed when holding down the button for 0.5+ seconds. + The 'Model Randomizer' only works with downloaded models. Do you want to download all the driving models? - Map Accel/Decel to Gears + CANCEL + + + FrogPilotParamManageControl - Map the acceleration and deceleration profiles to the 'Eco' or 'Sport' gear modes. + MANAGE + + + FrogPilotSettingsWindow - Onroad Personality Button + Alerts and Sounds - The current driving personality is displayed on the screen. Tap to switch personalities, or long press for 2.5 seconds to activate 'Traffic Mode'. + Driving Controls - Reverse Cruise Increase + Navigation - The long press feature is reversed in order to increase speed by 5 mph instead of 1. + System Management - Speed Limit Controller + Theme and Appearance - Automatically adjust your max speed to match the speed limit using 'Open Street Maps', 'Navigate on openpilot', or your car's dashboard (Toyota/Lexus/HKG only). + Vehicle Controls - Confirm New Speed Limits + Options to customize FrogPilot's sound alerts and notifications. - Require manual confirmation before using a new speed limit. + Tools and system utilities used to maintain and troubleshoot FrogPilot. - Fallback Method + Options for customizing FrogPilot's themes, UI appearance, and onroad widgets. - Choose what happens when no speed limit data is available. + Vehicle-specific settings and configurations for supported makes and models. - Override Method + MANAGE - Choose how you want to override the current speed limit. - - + GAS / BRAKE - Speed Limit Source Priority + STEERING - Set the order of priority for speed limit data sources. + DATA - Speed Limit Offsets + DEVICE - Manage toggles related to 'Speed Limit Controller's controls. + UTILITIES - Speed Limit Offset (0-34 mph) + APPEARANCE - Set the speed limit offset for speeds between 0 and 34 mph. + THEME - Speed Limit Offset (35-54 mph) + Minimal - Set the speed limit offset for speeds between 35 and 54 mph. + Standard - Speed Limit Offset (55-64 mph) + Advanced + Erweitert + + + Developer - Set the speed limit offset for speeds between 55 and 64 mph. + Tuning Level - Speed Limit Offset (65-99 mph) + Select the tuning level that best suits your needs. 'Minimal' is ideal for those who prefer simplicity and ease of use, 'Standard' is recommended for most users, offering a balanced experience, 'Advanced' provides more control for experienced users, while 'Developer' unlocks highly customizable settings designed for seasoned enthusiasts. - Set the speed limit offset for speeds between 65 and 99 mph. + WARNING: This unlocks some potentially dangerous settings that can DRASTICALLY alter your driving experience! - Miscellaneous 'Speed Limit Controller' focused features to improve your overall openpilot experience. + I understand the risks. - Force MPH Readings from Dashboard + The 'Developer' preset is only available for users with either over 100 hours on FrogPilot, or 250 hours with openpilot. - Force speed limit readings in MPH from the dashboard if it normally displays in KPH. + Okay - Prepare for Higher Speed Limits + FrogPilot features that impact acceleration, braking, and steering. - Set a lookahead value to prepare for upcoming higher speed limits based on map data. + Map data downloader and 'Navigate On openpilot (NOO)' settings. - Prepare for Lower Speed Limits + DRIVING MODEL - Set a lookahead value to prepare for upcoming lower speed limits based on map data. + MAP DATA - Set Speed to Current Limit + PRIMELESS NAVIGATION + + + + + FrogPilotSoundsPanel + + Alert Volume Controller - Set your max speed to match the current speed limit when enabling openpilot. + Control the volume level for each individual sound in openpilot. - Visual Settings + Disengage Volume - Manage visual settings for the 'Speed Limit Controller'. + Related alerts: + +Adaptive Cruise Disabled +Parking Brake Engaged +Brake Pedal Pressed +Speed too Low - Use Vienna-Style Speed Signs + Engage Volume - Switch to Vienna-style (EU) speed limit signs instead of MUTCD (US). + Related alerts: + +NNFF Torque Controller loaded +openpilot engaged - Show Speed Limit Offset + Prompt Volume - Display the speed limit offset separately in the onroad UI when using the Speed Limit Controller. + Related alerts: + +Car Detected in Blindspot +Speed too Low +Steer Unavailable Below 'X' +Take Control, Turn Exceeds Steering Limit - mph - mph + Prompt Distracted Volume + - With Lead + Related alerts: + +Pay Attention, Driver Distracted +Touch Steering Wheel, Driver Unresponsive - Switches to 'Experimental Mode' when driving below the set speed with a lead vehicle. + Refuse Volume - With Lead + Related alerts: + +openpilot Unavailable - Slower Lead + Warning Soft Volume - Stopped Lead + Related alerts: + +BRAKE!, Risk of Collision +TAKE CONTROL IMMEDIATELY - Intersections + Warning Immediate Volume - Turns + Related alerts: + +DISENGAGE IMMEDIATELY, Driver Distracted +DISENGAGE IMMEDIATELY, Driver Unresponsive - Off + Custom Alerts - Map Based + Goat Scream Steering Saturated Alert - Vision + Green Light Alert - Standard + Lead Departing Alert - Eco + Loud Blindspot Alert - Sport + Custom alerts for openpilot events. - Sport+ + Enables the famed 'Goat Scream' that has brought both joy and anger to FrogPilot users all around the world! - feet + Plays an alert when a traffic light changes from red to green. - Acceleration + Plays an alert when the lead vehicle starts starts to depart when at a standstill. - Deceleration + Plays a louder alert for when a vehicle is detected in the blindspot when attempting to change lanes. - Lower Limits + Speed Limit Changed Alert - Higher Limits + Plays an alert when the speed limit changes. - None + Auto - Set Speed + Muted + + + FrogPilotThemesPanel - Experimental Mode - Experimenteller Modus + Custom Theme + - Previous Limit + Custom openpilot themes. - Gas Pedal Press + Color Scheme - Cruise Set Speed + Icon Pack - SELECT - AUSWÄHLEN + Sound Pack + - Dashboard + Steering Wheel - Navigation + Turn Signal Animation - Offline Maps + Download Status - Highest + Holiday Themes - Lowest + Random Events - Select your primary priority + Startup Alert - Select your secondary priority + DELETE - Select your tertiary priority + DOWNLOAD - MANAGE + SELECT + AUSWÄHLEN + + + Select a color scheme to delete - seconds + Are you sure you want to delete the '%1' color scheme? - Control Via UI + Delete - Speed Limit Offset (0-34 kph) + Select a color scheme to download - Speed Limit Offset (35-54 kph) + Select a color scheme - Speed Limit Offset (55-64 kph) + Select an icon pack to delete - Speed Limit Offset (65-99 kph) + Are you sure you want to delete the '%1' icon pack? - Set speed limit offset for limits between 0-34 kph. + Select an icon pack to download - Set speed limit offset for limits between 35-54 kph. + Select an icon pack - Set speed limit offset for limits between 55-64 kph. + Select a sound pack to delete - Set speed limit offset for limits between 65-99 kph. + Select a sound pack to download - kph + Select a steering wheel to delete - meters + Select a steering wheel to download - Set speed limit offset for limits between 0-34 mph. + Select a steering wheel - Set speed limit offset for limits between 35-54 mph. + STOCK - Set speed limit offset for limits between 55-64 mph. + FROGPILOT - Set speed limit offset for limits between 65-99 mph. + CUSTOM - - - FrogPilotParamManageControl - MANAGE + CLEAR - - - FrogPilotSettingsWindow - Advanced Settings + Characters: 0/%1 - Alerts and Sounds + CANCEL - Driving Controls + Changes out openpilot's color scheme. + +Want to submit your own color scheme? Share it in the 'custom-themes' channel on the FrogPilot Discord! - Navigation + Changes out openpilot's icon pack. + +Want to submit your own icons? Share them in the 'custom-themes' channel on the FrogPilot Discord! - System Management + Changes out openpilot's sound effects. + +Want to submit your own sounds? Share them in the 'custom-themes' channel on the FrogPilot Discord! - Theme and Appearance + Enables a custom steering wheel icon in the top right of the screen. - Vehicle Controls + Enables themed turn signal animations. + +Want to submit your own animations? Share them in the 'custom-themes' channel on the FrogPilot Discord! - Advanced FrogPilot features for more experienced users. + Changes the openpilot theme based on the current holiday. Minor holidays last one day, while major holidays (Easter, Christmas, Halloween, etc.) last the entire week. - Options to customize FrogPilot's sound alerts and notifications. + Rainbow Path - FrogPilot features than impact acceleration, braking, and steering. + Swap out the path in the onroad UI for a Mario Kart inspired 'Rainbow Path'. - Offline maps downloader and 'Navigate On openpilot (NOO)' settings. + Enables random cosmetic events that happen during certain driving conditions. These events are purely for fun and don't affect driving controls! - Tools and system utilities used to maintain and troubleshoot FrogPilot. + Controls the text of the 'Startup' alert message that appears when you start the drive. - Options for customizing FrogPilot's themes, UI appearance, and onroad widgets. + Select a distance icon pack to delete - Vehicle-specific settings and configurations for supported makes and models. + Are you sure you want to delete the '%1' distance icon pack? - DRIVING + Select a distance icon pack to download - VISUALS + Select a distance icon pack - MANAGE + Select a signal animation to delete - GAS / BRAKE + Are you sure you want to delete the '%1' signal animation? - STEERING + Select a signal animation to download - DATA + Select a signal animation - DEVICE + Are you sure you want to delete the '%1' sound pack? - UTILITIES + Select a sound pack - APPEARANCE + Are you sure you want to delete the '%1' steering wheel? - THEME + Enter the text for the top half + + + + Enter the text for the bottom half - FrogPilotSoundsPanel + FrogPilotVehiclesPanel - Alert Volume Controller + Select Make - Control the volume level for each individual sound in openpilot. + SELECT + AUSWÄHLEN + + + Select a Make - Disengage Volume + Select Model - Related alerts: - -Adaptive Cruise Disabled -Parking Brake Engaged -Brake Pedal Pressed -Speed too Low + Select a Model - Engage Volume + Disable Automatic Fingerprint Detection - Related alerts: - -NNFF Torque Controller loaded -openpilot engaged + Forces the selected fingerprint and prevents it from ever changing. - Prompt Volume + Disable openpilot Longitudinal Control - Related alerts: - -Car Detected in Blindspot -Speed too Low -Steer Unavailable Below 'X' -Take Control, Turn Exceeds Steering Limit + Are you sure you want to completely disable openpilot longitudinal control? - Prompt Distracted Volume + Reboot required to take effect. - Related alerts: - -Pay Attention, Driver Distracted -Touch Steering Wheel, Driver Unresponsive + Reboot Now - Refuse Volume + 2017 Volt Stop and Go Hack - Related alerts: - -openpilot Unavailable + Experimental GM Tune - Warning Soft Volume + Uphill/Downhill Smoothing - Related alerts: - -BRAKE!, Risk of Collision -TAKE CONTROL IMMEDIATELY + Use comma's New Longitudinal API - Warning Immediate Volume + Subaru Crosstrek Torque Increase - Related alerts: - -DISENGAGE IMMEDIATELY, Driver Distracted -DISENGAGE IMMEDIATELY, Driver Unresponsive + Increases the maximum allowed torque for the Subaru Crosstrek. + + + + Automatically Lock/Unlock Doors + + + + Cluster Speed Offset + + + + FrogsGoMoo's Personal Tweaks + + + + Stop and Go Hack + + + + Lock + + + + Unlock - Custom Alerts + Disables openpilot longitudinal control and uses the car's stock ACC instead. - Enable custom alerts for openpilot events. + Forces stop and go for the 2017 Chevy Volt. - Goat Scream Steering Saturated Alert + Enables FrogsGoMoo's experimental GM tune that is based on nothing but guesswork. Use at your own risk! - Enable the famed 'Goat Scream' that has brought both joy and anger to FrogPilot users all around the world! + Smoothens the gas and brake response when driving on slopes. - Green Light Alert + Enables comma's new control system that has shown great improvement with acceleration and braking, but has a few issues on some GM vehicles. - Get an alert when a traffic light changes from red to green. + Enables comma's new control system that has shown great improvement with acceleration and braking, but has a few issues on Hyundai/Kia/Genesis. - Lead Departing Alert + Automatically locks the doors when in drive and unlocks when in park. - Get an alert when the lead vehicle starts departing when at a standstill. + Sets the cluster offset openpilot uses to try and match the speed displayed on the dash. - Loud Blindspot Alert + Enables FrogsGoMoo's personal tweaks to the Toyota tune focused around his 2019 Lexus ES 350 to take off a bit quicker and stop a bit smoother. - Enable a louder alert for when a vehicle is detected in the blindspot when attempting to change lanes. + Forces stop and go for vehicles without stock stop and go functionality. + + + FrogPilotVisualsPanel - Speed Limit Change Alert + Custom FrogPilot widgets used in the onroad user interface. - Trigger an alert when the speed limit changes. + Compass - - - FrogPilotThemesPanel - Custom Theme + Dynamic Path Width - Custom openpilot themes. + Road Name - Color Scheme + Rotating Steering Wheel - Themed color schemes. - -Want to submit your own color scheme? Share it in the 'feature-request' channel on the FrogPilot Discord! + Larger Map Display - Icon Pack + Map Style - Themed icon packs. - -Want to submit your own icons? Share them in the 'feature-request' channel on the FrogPilot Discord! + Show Driver Camera When In Reverse - Sound Pack + Stopped Timer - Themed sound effects. - -Want to submit your own sounds? Share them in the 'feature-request' channel on the FrogPilot Discord! + Blind Spot - Steering Wheel + Dynamic - Custom steering wheel icons. + Static - Turn Signal Animation + Full Map - Themed turn signal animations. - -Want to submit your own animations? Share them in the 'feature-request' channel on the FrogPilot Discord! + Mapbox Streets - Download Status + Mapbox Outdoors - Holiday Themes + Mapbox Light - Change the openpilot theme based on the current holiday. Minor holidays last one day, while major holidays (Easter, Christmas, Halloween, etc.) last a week. + Mapbox Dark - Random Events + Mapbox Satellite - Random cosmetic events that happen during certain driving conditions. These events are purely for fun and don't affect driving controls! + Mapbox Satellite Streets - Startup Alert + Mapbox Navigation Day - Custom 'Startup' alert message that appears when you start driving. + Mapbox Navigation Night - DELETE + Mapbox Traffic Night - DOWNLOAD + mike854's (Satellite hybrid) @@ -2932,441 +2980,467 @@ Want to submit your own animations? Share them in the 'feature-request&apos AUSWÄHLEN - Select a color scheme to delete + Select a map style - Are you sure you want to delete the '%1' color scheme? + Accessibility - Delete + Visual features to improve your overall openpilot experience. - Select a color scheme to download + Camera View - Select a color scheme + Changes the camera view display. This is purely a visual change and doesn't impact how openpilot drives. - Select an icon pack to delete + On Screen Personality Button - Are you sure you want to delete the '%1' icon pack? + Displays the current driving personality on the screen. Tap to switch personalities, or long press for 2.5 seconds to activate 'Traffic' mode. - Select an icon pack to download + Displays the driver camera feed when the vehicle is in reverse. - Select an icon pack + Standby Mode - Select a signal pack to delete + Turns the screen off when driving and automatically wakes it up if engagement state changes or important alerts occur. - Are you sure you want to delete the '%1' signal pack? + Activates a timer when stopped to indicate how long the vehicle has been stopped for. - Select a signal pack to download + Advanced UI Controls - Select a signal pack + Advanced features to fine tune your personalized UI. - Select a sound pack to delete + Hide Current Speed - Are you sure you want to delete the '%1' sound scheme? + Hides the current speed. - Select a sound pack to download + Hide Lead Marker - Select a sound scheme + Hides the marker for the vehicle ahead. - Select a steering wheel to delete + Hide Map Icon - Are you sure you want to delete the '%1' steering wheel image? + Hides the map icon. - Select a steering wheel to download + Hide Max Speed - Select a steering wheel + Hides the max speed. - STOCK + Hide Non-Critical Alerts - FROGPILOT + Hides non-critical alerts. - CUSTOM + Hide Speed Limits - CLEAR + Hides the speed limits. - Enter your text for the top half + Use Wheel Speed - Characters: 0/%1 + Uses the wheel speed instead of the cluster speed. This is purely a visual change and doesn't impact how openpilot drives. - Enter your text for the bottom half + Developer Metrics - CANCEL + Show detailed information about openpilot's internal operations. - - - FrogPilotVehiclesPanel - Select Make + Border Metrics - SELECT - AUSWÄHLEN + Displays performance metrics around the edge of the screen while driving. + - Select a Make + FPS Display - Select Model + Displays the 'Frames Per Second' (FPS) at the bottom of the screen while driving. - Select a Model + Lateral Metrics - Disable Automatic Fingerprint Detection + Displays metrics related to steering control at the top of the screen while driving. - Forces the selected fingerprint and prevents it from ever changing. + Longitudinal Metrics - Disable openpilot Longitudinal Control + Displays metrics related to acceleration, speed, and desired following distance at the top of the screen while driving. - Disable openpilot longitudinal control and use stock ACC instead. + Numerical Temperature Gauge - Are you sure you want to completely disable openpilot longitudinal control? + Shows exact temperature readings instead of status labels like 'GOOD', 'OK', or 'HIGH' in the sidebar. - Reboot required to take effect. + Sidebar - Reboot Now + Displays system information like CPU, GPU, RAM usage, IP address, and storage space in the sidebar. - 2017 Volt Stop and Go Hack + Use International System of Units - Force stop and go for the 2017 Chevy Volt. + Displays measurements using the 'International System of Units' (SI). - Experimental GM Tune + Model UI - FrogsGoMoo's experimental GM tune that is based on nothing but guesswork. Use at your own risk! + Customize the model visualizations on the screen. - Uphill/Downhill Smoothing + Automatically adjusts the width of the driving path display based on the current engagement state: + +Fully engaged = 100% +Always On Lateral Active = 75% +Fully disengaged = 50% - Smoothen the car’s gas and brake response when driving on slopes. + Lane Lines Width - Use comma's New Longitudinal API + Controls the thickness the lane lines appear on the display. + +Default matches the MUTCD standard of 4 inches. - Comma's new longitudinal control system that has shown great improvement with acceleration and braking, but has a few issues on some GM vehicles. + Path Edges Width - Use comma's new longitudinal control system that has shown great improvement with acceleration and braking, but has a few issues on Hyundai/Kia/Genesis. + Controls the width of the edges of the driving path to represent different modes and statuses. + +Default is 20% of the total path width. + +Color Guide: +- Blue: Navigation +- Light Blue: 'Always On Lateral' +- Green: Default +- Orange: 'Experimental Mode' +- Red: 'Traffic Mode' +- Yellow: 'Conditional Experimental Mode' Overridden - Subaru Crosstrek Torque Increase + Path Width - Increases the maximum allowed torque for the Subaru Crosstrek. + Controls how wide the driving path appears on your screen. + +Default (6.1 feet / 1.9 meters) matches the width of a 2019 Lexus ES 350. - Automatically Lock/Unlock Doors + Road Edges Width - Automatically lock the doors when in drive and unlock when in park. + Controls how thick the road edges appear on the display. + +Default matches half of the MUTCD standard lane line width of 4 inches. - Cluster Speed Offset + Stopping Point - Set the cluster offset openpilot uses to try and match the speed displayed on the dash. + Displays an image on the screen where openpilot is detecting a potential red light/stop sign. - FrogsGoMoo's Personal Tweaks + 'Unlimited' Road UI - Use FrogsGoMoo's personal tweaks to the Toyota tune focused around his 2019 Lexus ES 350 to take off a bit quicker and stop a bit smoother. + Extends the display of the path, lane lines, and road edges as far as the model can see. - Stop and Go Hack + Navigation Widgets - Force stop and go for vehicles without stock stop and go functionality. + Wwidgets focused around navigation. - Lock + Increases the size of the map for easier navigation readings. - Unlock + Swaps out the stock map style for community created ones. - - - FrogPilotVisualsPanel - Onroad UI Widgets + Displays the current road name at the bottom of the screen using data from 'OpenStreetMap'. - Custom FrogPilot widgets used in the onroad user interface. + Show Speed Limit Offset - Compass + Displays the speed limit offset separately in the onroad UI when using 'Speed Limit Controller'. - A compass in the onroad UI to show the current driving direction. + Show Speed Limits - Dynamic Path Width + Displays the currently detected speed limit in the top left corner of the onroad UI. Uses data from your car's dashboard (if supported) and data from 'OpenStreetMaps'. - Automatically adjust the width of the driving path display based on the current engagement state: - -Fully engaged = 100% -Always On Lateral Active = 75% -Fully disengaged = 50% + Use Vienna-Style Speed Signs - Gas/Brake Pedal Indicators + Forces Vienna-style (EU) speed limit signs instead of MUTCD (US). - Pedal indicators in the onroad UI that change opacity based on the pressure applied. + Onroad Screen Widgets - Paths + Acceleration Path - Projected acceleration path, detected lanes, and vehicles in the blind spot. + Projects a path based on openpilot's current desired acceleration or deceleration. - Road Name + Adjacent Lanes - The current road name is displayed at the bottom of the screen using data from 'OpenStreetMap'. + Projects paths for the adjascent lanes. - Rotating Steering Wheel + Blind Spot Path - The steering wheel in the onroad UI rotates along with your steering wheel movements. + Projects a red path when vehicles are detected in the blind spot for the respective lane. - Quality of Life Improvements + Displays a compass to show the current driving direction. - Miscellaneous visual focused features to improve your overall openpilot experience. + Gas / Brake Pedal Indicators - Larger Map Display + Displays pedal indicators to indicate when either of the pedals are currently being used. - A larger size of the map in the onroad UI for easier navigation readings. + Rotates the steering wheel in the onroad UI rotates along with your steering wheel movements. - Map Style + Auto - Custom map styles for the map used during navigation. + Driver - Screen Standby Mode + Standard - The screen is turned off after it times out when driving, but it automatically wakes up if engagement state changes or important alerts occur. + Wide - Show Driver Camera When In Reverse + Steering Torque - The driver camera feed is displayed when the vehicle is in reverse. + Turn Signal - Stopped Timer + Adjacent Path Metrics - A timer on the onroad UI to indicate how long the vehicle has been stopped. + Auto Tune - Acceleration + Adjacent Leads - Adjacent + Lead Info - Blind Spot + Jerk Values - Dynamic + Fahrenheit - Static + CPU - Full Map + GPU - Stock openpilot + IP - Mapbox Streets + RAM - Mapbox Outdoors + SSD Left - Mapbox Light + SSD Used - Mapbox Dark + inches - Mapbox Satellite + % - Mapbox Satellite Streets + feet - Mapbox Navigation Day + Show Distance - Mapbox Navigation Night + Stock - Mapbox Traffic Night + Adjust how thick the lane lines appear on the display. + +Default matches the Vienna standard of 10 centimeters. - mike854's (Satellite hybrid) + Adjust how thick the road edges appear on the display. + +Default matches half of the Vienna standard of 10 centimeters. - SELECT - AUSWÄHLEN + centimeters + - Select a map style + meters + + + + Adjust how thick the lane lines appear on the display. + +Default matches the MUTCD standard of 4 inches. + + + + Adjust how thick the road edges appear on the display. + +Default matches half of the MUTCD standard of 4 inches. @@ -3762,6 +3836,30 @@ This may take up to a minute. FrogPilot + + Welcome to FrogPilot! Since you're new to FrogPilot, the 'Minimal' toggle preset has been applied, but you can change this at any time via the 'Tuning Level' button! + + + + Sounds good! + + + + Since you're fairly new to FrogPilot, the 'Minimal' toggle preset has been applied, but you can change this at any time via the 'Tuning Level' button! + + + + Since you're experienced with openpilot, the 'Standard' toggle preset has been applied, but you can change this at any time via the 'Tuning Level' button! + + + + Since you're experienced with FrogPilot, the 'Standard' toggle preset has been applied, but you can change this at any time via the 'Tuning Level' button! + + + + Since you're very experienced with FrogPilot, the 'Advanced' toggle preset has been applied, but you can change this at any time via the 'Tuning Level' button! + + Setup @@ -4068,10 +4166,6 @@ This may take up to a minute. FrogPilot will automatically update itself and it's assets when you're offroad and connected to Wi-Fi. - - Do you want to permanently delete any additional FrogPilot assets? This is 100% unrecoverable and includes backups, downloaded models, themes, and long-term storage toggle settings for easy reinstalls. - - Error Log @@ -4084,6 +4178,14 @@ This may take up to a minute. View the error log for openpilot crashes. + + Do you want to delete deep storage FrogPilot assets? This includes your toggle settings for quick reinstalls. + + + + Are you sure? This is 100% unrecoverable and if you reinstall FrogPilot you'll lose all your previous settings! + + SshControl @@ -4324,10 +4426,6 @@ This may take up to a minute. FLASH - - Use this button to flash the Panda device's firmware if you're running into issues. - - Are you sure you want to flash the Panda? @@ -4352,10 +4450,6 @@ This may take up to a minute. Force Started State - - Force openpilot either offroad or onroad. - - OFFROAD @@ -4396,6 +4490,14 @@ This may take up to a minute. Reset! + + Flashes the Panda device's firmware if you're running into issues. + + + + Forces openpilot either offroad or onroad. + + WiFiPromptWidget @@ -4424,7 +4526,7 @@ This may take up to a minute. - Toggle off the 'Disable Uploading' toggle to enable uploads. + Toggle off the 'Turn Off Data Uploads' toggle to re-enable uploads. diff --git a/selfdrive/ui/translations/main_en.qm b/selfdrive/ui/translations/main_en.qm new file mode 100644 index 00000000000000..dab9f0ee154d8c Binary files /dev/null and b/selfdrive/ui/translations/main_en.qm differ diff --git a/selfdrive/ui/translations/main_fr.qm b/selfdrive/ui/translations/main_fr.qm new file mode 100644 index 00000000000000..3564a181fb54a5 Binary files /dev/null and b/selfdrive/ui/translations/main_fr.qm differ diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts index 938de149a4ecd8..6c27c2f7f8d0af 100644 --- a/selfdrive/ui/translations/main_fr.ts +++ b/selfdrive/ui/translations/main_fr.ts @@ -149,10 +149,6 @@ kph - - ft/s² - - Accel: %1%2 @@ -185,16 +181,6 @@ Follow Distance: - - Confirm speed limit - - - - - Ignore speed limit - - - Conditional Experimental Mode ready @@ -283,6 +269,14 @@ . Double tap the screen to revert + + PENDING + + + + ft/s² + + ConfirmationDialog @@ -532,2841 +526,2932 @@ FrogPilotAdvancedDrivingPanel - Advanced Lateral Tuning - + mph + mi/h - Advanced settings that control how openpilot manages steering. - + Reset + Réinitialiser - Friction (Default: %1) - + ADD + AJOUTER - Friction - + REMOVE + SUPPRIMER - The resistance in steering. Higher values provide more stable steering but can make it feel heavy, while lower values allow lighter steering but may feel too sensitive. - + OK + OK - Kp Factor (Default: %1) - + RESET + RÉINITIALISER - Kp Factor - + VIEW + VOIR - How aggressively the car corrects its steering. Higher values offer quicker corrections but may feel jerky, while lower values make steering smoother but slower to respond. - + DOWNLOAD + TÉLÉCHARGER - Lateral Accel (Default: %1) - + SELECT + SÉLECTIONNER - Lateral Accel - + openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required. + openpilot nécessite que l'appareil soit monté à 4° à gauche ou à droite et à 5° vers le haut ou 9° vers le bas. openpilot se calibre en continu, la réinitialisation est rarement nécessaire. - Adjust how fast the car can steer from side to side. Higher values allow quicker lane changes but can feel unstable, while lower values provide smoother steering but may feel sluggish. - + Your device is pointed %1° %2 and %3° %4. + Votre appareil est orienté %1° %2 et %3° %4. - Steer Ratio (Default: %1) - + down + bas - Steer Ratio - + up + haut - Adjust how much openpilot needs to turn the wheel to steer. Higher values feel like driving a truck, more stable at high speeds, but harder to steer quickly at low speeds, while lower values feel like a go-kart, easier to steer in tight spots but more sensitive and less stable at high speeds. - + left + gauche - comma's 2022 Taco Bell Turn Hack - + right + droite + + + FrogPilotAdvancedVisualsPanel - Use comma's hack they used to help handle left and right turns more precisely during their 2022 'Taco Bell' drive. - + Standard + Standard + + + FrogPilotConfirmationDialog - Force Auto Tune On + Reboot Later - Forces comma's auto lateral tuning for unsupported vehicles. + Yes - Force Auto Tune Off + No + + + FrogPilotDataPanel - Forces comma's auto lateral tuning off for supported vehicles. + Delete Driving Footage and Data - Force Turn Desires Below Lane Change Speed + DELETE - Force the model to use turn desires when driving below the minimum lane change speed to help make left and right turns more precisely. + Are you sure you want to permanently delete all of your driving footage and data? - Advanced Longitudinal Tuning + Delete - Advanced settings that control how openpilot manages speed and acceleration. + Deleting... - Lead Detection Confidence + Deleted! - How sensitive openpilot is to detecting vehicles ahead. A lower value can help detect vehicles sooner and from farther away, but may occasionally mistake other objects for vehicles. + Screen Recordings - Maximum Acceleration Rate + Manage your screen recordings. - Set a cap on how fast openpilot can accelerate to prevent high acceleration at low speeds. + RENAME - Advanced Quality of Life + Select a recording to delete - Miscellaneous advanced features to improve your overall openpilot experience. + Are you sure you want to delete this recording? - Force Keep openpilot in the Standstill State + Select a recording to rename - Keep openpilot in the 'standstill' state until the gas pedal or 'resume' button is pressed. + Enter a new name - Force Stop for 'Detected' Stop Lights/Signs + Rename Recording - Whenever openpilot 'detects' a potential stop light/stop sign, force a stop where it originally detected it to prevent running the potential red light/stop sign. + Renaming... - Set Speed Offset + Renamed! - How much higher or lower the set speed should be compared to your current set speed. For example, if you prefer to drive 5 mph above the speed limit, this setting will automatically add that difference when you adjust your set speed. + FrogPilot Backups - Customize Driving Personalities + Manage your FrogPilot backups. - Customize the personality profiles to suit your preferences. + BACKUP - Traffic Personality + RESTORE - Customize the 'Traffic' personality profile, tailored for navigating through traffic. + Name your backup - Following Distance + Compressing... - The minimum following distance in 'Traffic Mode.' openpilot will adjust dynamically between this value and the 'Aggressive' profile distance based on your speed. + Select a backup to delete - Acceleration Sensitivity + Are you sure you want to delete this backup? - How sensitive openpilot is to changes in acceleration in 'Traffic Mode.' Higher values result in smoother, more gradual acceleration and deceleration, while lower values allow for faster changes that may feel more abrupt. + Select a restore point - Deceleration Sensitivity + Are you sure you want to restore this version of FrogPilot? - Controls how sensitive openpilot is to changes in deceleration in 'Traffic Mode.' Higher values result in smoother, more gradual braking, while lower values allow for quicker, more responsive braking that may feel abrupt. + Restore - Safety Distance Sensitivity + Restoring... - Adjusts how cautious openpilot is around other vehicles or obstacles in 'Traffic Mode.' Higher values increase following distances and prioritize safety, leading to more cautious driving, while lower values allow for closer following but may reduce reaction time. + Extracting... - Speed Increase Responsiveness + Restored! - Controls how quickly openpilot adjusts speed in 'Traffic Mode.' Higher values ensure smoother, more gradual speed changes, while lower values enable quicker adjustments that might feel sharper or less smooth. + Rebooting... - Speed Decrease Responsiveness + Toggle Backups - Sets how quickly openpilot adjusts to decreasing speeds in 'Traffic Mode.' Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed reductions that might feel sharper. + Manage your toggle backups. - Reset Settings + Are you sure you want to restore this toggle backup? - Restore the 'Traffic Mode' settings to their default values. + Permanently deletes all stored driving footage and data from your device. Ideal for maintaining privacy or freeing up space. - Aggressive Personality + DELETE ALL - Customize the 'Aggressive' personality profile, designed for a more assertive driving style. + Are you sure you want to delete all screen recordings? - Set the following distance for 'Aggressive' mode. This determines roughly how many seconds you'll follow behind the car ahead. - -Default: 1.25 seconds. + Delete All - Controls how sensitive openpilot is to acceleration changes in 'Aggressive' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky. - -Default: 0.5. + A recording with this name already exists. Please choose a different name. - Controls how sensitive openpilot is to deceleration in 'Aggressive' mode. Higher values result in smoother braking, while lower values allow for more immediate braking that may feel abrupt. - -Default: 0.5. + A backup with this name already exists. Please choose a different name. - Adjusts how cautious openpilot is around vehicles or obstacles in 'Aggressive' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking. - -Default: 1.0. + Do you want to compress this backup? The final result will be 2.25x smaller and will run in the background, but can take 10+ minutes. - Controls how quickly openpilot adjusts speed in 'Aggressive' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt. - -Default: 0.5. + Backing up... - Sets how quickly openpilot adjusts to speed reductions in 'Aggressive' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp. - -Default: 0.5. + Backup created! - Restore the 'Aggressive' settings to their default values. + Are you sure you want to delete all FrogPilot backups? - Standard Personality + Are you sure you want to delete all toggle backups? + + + FrogPilotDevicePanel - Customize the 'Standard' personality profile, optimized for balanced driving. + Device Settings - Set the following distance for 'Standard' mode. This determines roughly how many seconds you'll follow behind the car ahead. - -Default: 1.45 seconds. + Device behavior settings. - Controls how sensitive openpilot is to acceleration changes in 'Standard' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky. - -Default: 1.0. + Device Shutdown Timer - Controls how sensitive openpilot is to deceleration in 'Standard' mode. Higher values result in smoother braking, while lower values allow for quicker, more immediate braking that may feel abrupt. - -Default: 1.0. + Disable Internet Requirement - Adjusts how cautious openpilot is around vehicles or obstacles in 'Standard' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking. - -Default: 1.0. + Increase Thermal Safety Limit - Controls how quickly openpilot adjusts speed in 'Standard' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt. - -Default: 1.0. + Low Battery Shutdown Threshold - Sets how quickly openpilot adjusts to speed reductions in 'Standard' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp. - -Default: 1.0. + Turn Off Data Tracking - Restore the 'Standard' settings to their default values. + Turn Off Data Uploads - Relaxed Personality + Screen Settings - Customize the 'Relaxed' personality profile, ideal for a more laid-back driving style. + Screen behavior settings. - Set the following distance for 'Relaxed' mode. This determines roughly how many seconds you'll follow behind the car ahead. - -Default: 1.75 seconds. + Screen Brightness (Offroad) - Controls how sensitive openpilot is to acceleration changes in 'Relaxed' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky. - -Default: 1.0. + Screen Brightness (Onroad) - Controls how sensitive openpilot is to deceleration in 'Relaxed' mode. Higher values result in smoother braking, while lower values allow for quicker, more immediate braking that may feel abrupt. - -Default: 1.0. + Screen Recorder - Adjusts how cautious openpilot is around vehicles or obstacles in 'Relaxed' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking. - -Default: 1.0. + Screen Timeout (Offroad) - Controls how quickly openpilot adjusts speed in 'Relaxed' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt. - -Default: 1.0. + Screen Timeout (Onroad) - Sets how quickly openpilot adjusts to speed reductions in 'Relaxed' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp. - -Default: 1.0. + 5 mins - Restore the 'Relaxed' settings to their default values. + mins - Model Management + hour - Manage the driving models used by openpilot. + hours - Automatically Update and Download Models + Only Onroad - Automatically download new or updated driving models. + volts - Model Randomizer + Auto - A random model is selected and can be reviewed at the end of each drive if it's longer than 15 minutes to help find your preferred model. + seconds - Manage Model Blacklist + WARNING: This can cause premature wear or damage by running the device over comma's recommended temperature limits! - Control which models are blacklisted and won't be used for future drives. + WARNING: This will prevent your drives from being recorded and the data will be unobtainable! - Reset Model Scores + WARNING: This will prevent your drives from appearing on comma connect which may impact debugging and support! - Clear the ratings you've given to the driving models. + Controls how long the device stays on after you stop driving. - Review Model Scores + Allows the device to work without an internet connection. - View the ratings you've assigned to the driving models. + Allows the device to run at higher temperatures than recommended. - Delete Model + Manages the threshold for shutting down the device to protect the car's battery from excessive drain and potential damage. - Remove the selected driving model from your device. + Disables all data tracking to improve privacy. - Download Model + Stops the device from sending any data to the servers. - Download undownloaded driving models. + Controls the screen brightness when you're not driving. - Download All Models + Controls the screen brightness while you're driving. - Download all undownloaded driving models. + Enables a button in the onroad UI to record the screen. - Select Model + Controls how long it takes for the screen to turn off when you're not driving. - Select which model openpilot uses to drive. + Controls how long it takes for the screen to turn off while you're driving. - Reset Model Calibrations + Screen Off + + + FrogPilotLateralPanel - Reset calibration settings for the driving models. + Always on Lateral - mph - mi/h + openpilot's steering control stays active even when the brake or gas pedals are pressed. + +Deactivate only occurs with the 'Cruise Control' button. + - Reset - Réinitialiser + Control with LKAS Button + - seconds + Enable with Cruise Control - ADD - AJOUTER + Pause on Brake Below + - REMOVE - SUPPRIMER + Hide the Status Bar + - There's no more models to blacklist! The only available model is "%1"! + Lane Change Settings - OK - OK + How openpilot handles lane changes. + - Select a model to add to the blacklist + Lane Change Delay - Are you sure you want to add the '%1' model to the blacklist? + Lane Width Requirement - Add + Minimum Speed for Lane Change - Select a model to remove from the blacklist + Lateral Tuning - Are you sure you want to remove the '%1' model from the blacklist? + Neural Network Feedforward (NNFF) - Remove + Smooth Curve Handling - RESET - RÉINITIALISER + Quality of Life Improvements + - Reset all model scores? + Miscellaneous lateral focused features to improve your overall openpilot experience. - VIEW - VOIR + Pause Steering Below + - DELETE + Pauses steering control when driving below the set speed. - Select a model to delete - + mph + mi/h - Are you sure you want to delete the '%1' model? + feet - Delete + Reboot required to take effect. - Deleting... + Reboot Now - Deleted! + kph - DOWNLOAD - TÉLÉCHARGER + meters + - CANCEL + Advanced Lateral Tuning - Select a driving model to download + Advanced settings for fine tuning openpilot's lateral controls. - Downloading %1... + Friction (Default: %1) - SELECT - SÉLECTIONNER + Friction + - Select a model - 🗺️ = Navigation | 📡 = Radar | 👀 = VOACC + Adjusts the resistance in steering. Higher values provide more stable steering but can make it feel heavy, while lower values allow lighter steering but may feel too sensitive. - WARNING: This is a very experimental model and may drive dangerously! + Kp Factor (Default: %1) - I understand the risks. + Kp Factor - Start with a fresh calibration for the newly selected model? + Adjusts how aggressively the car corrects its steering. Higher values offer quicker corrections but may feel jerky, while lower values make steering smoother but slower to respond. - Reboot required to take effect. + Lateral Accel (Default: %1) - Reboot Now + Lateral Accel - RESET ALL + Adjusts how fast the car can steer from side to side. Higher values allow quicker lane changes but can feel unstable, while lower values provide smoother steering but may feel sluggish. - RESET ONE + Steer Ratio (Default: %1) - Are you sure you want to completely reset all of your model calibrations? + Steer Ratio - Select a model to reset + Adjusts how much openpilot needs to turn the wheel to steer. Higher values feel like driving a truck, more stable at high speeds, but harder to steer quickly at low speeds, while lower values feel like a go-kart, easier to steer in tight spots but more sensitive and less stable at high speeds. - Are you sure you want to completely reset this model's calibrations? + Force Auto Tune On - The 'Model Randomizer' only works with downloaded models. Do you want to download all the driving models? + Forces comma's auto lateral tuning for unsupported vehicles. - Are you sure you want to completely reset your settings for the 'Traffic Mode' personality? + Force Auto Tune Off - Are you sure you want to completely reset your settings for the 'Aggressive' personality? + Forces comma's auto lateral tuning off for supported vehicles. - Are you sure you want to completely reset your settings for the 'Standard' personality? + Controls the current state of 'Always on Lateral' with the 'LKAS' button. - Are you sure you want to completely reset your settings for the 'Relaxed' personality? + Activates 'Always on Lateral' whenever 'Cruise Control' is active bypassing the requirement to enable openpilot first. - kph + Pauses 'Always on Lateral' when the brake pedal is pressed below the set speed. - Downloading models... + Hides status bar for 'Always On Lateral'. - openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required. - openpilot nécessite que l'appareil soit monté à 4° à gauche ou à droite et à 5° vers le haut ou 9° vers le bas. openpilot se calibre en continu, la réinitialisation est rarement nécessaire. + Automatic Lane Changes + - Your device is pointed %1° %2 and %3° %4. - Votre appareil est orienté %1° %2 et %3° %4. + Conducts lane changes without needing to touch the steering wheel upon turn signal activation. + - down - bas + Delays lane changes by the set time to prevent sudden changes. + - up - haut + Sets the minimum lane width for openpilot to detect a lane as a lane. + - left - gauche + Sets the minimum speed required for openpilot to perform a lane change. + - right - droite + Only One Lane Change Per Signal + - - - FrogPilotAdvancedVisualsPanel - Advanced Onroad UI Widgets + Limits lane changes to one per turn signal activation. - Advanced user customizations for the Onroad UI. + Settings for fine tuning openpilot's lateral controls. - Camera View + Force Turn Desires Below Lane Change Speed - Camera view for the onroad UI. This is purely a visual change and doesn't impact how openpilot drives. + Forces the model to use turn desires when driving below the minimum lane change speed to help make left and right turns more precisely. - Display Stopping Points + Uses Twilsonco's 'Neural Network FeedForward' for more precise steering control. - Display an image on the screen where openpilot is detecting a potential red light/stop sign. + Smoothens the steering control when entering and exiting curves by using Twilsonco's torque adjustments. - Hide Lead Marker + seconds + + + FrogPilotLongitudinalPanel - Hide the marker for the vehicle ahead on the screen. + Conditional Experimental Mode - Hide Speed + Below - Hide the speed indicator in the onroad UI. Additional toggle allows it to be hidden/shown via tapping the speed itself. + Curve Detected Ahead - Hide UI Elements + Lead Detected Ahead - Hide the selected UI elements from the onroad screen. + Navigation Data - Use Wheel Speed + openpilot Wants to Stop In - Use the wheel speed instead of the cluster speed in the onroad UI. + Turn Signal Below - Developer UI + Hide the Status Bar - Show detailed information about openpilot's internal operations. + Curve Speed Control - Border Metrics + Automatically slow down for curves detected ahead or through the downloaded maps. - Display performance metrics around the edge of the screen while driving. + Curve Detection Method - FPS Display + Curve Detection Failsafe - Display the 'Frames Per Second' (FPS) at the bottom of the screen while driving. + Experimental Mode Activation - Lateral Metrics + Click the LKAS Button - Display metrics related to steering control at the top of the screen while driving. + Double-Tap the Screen - Longitudinal Metrics + Long Press the Distance Button - Display metrics related to acceleration, speed, and desired following distance at the top of the screen while driving. + Longitudinal Tuning - Numerical Temperature Gauge + Settings that control how openpilot manages speed and acceleration. - Show exact temperature readings instead of general status labels like 'GOOD', 'OK', or 'HIGH' in the sidebar. + Acceleration Profile - Sidebar + Deceleration Profile - Display system information like CPU, GPU, RAM usage, IP address, and storage space in the sidebar. + Human-Like Acceleration - Use International System of Units + Increase Stopped Distance - Display measurements using the 'International System of Units' (SI). + Increases the distance to stop behind vehicles. - Model UI + Quality of Life Improvements - Customize the model visualizations on the screen. + Miscellaneous longitudinal focused features to improve your overall openpilot experience. - Lane Lines Width + Map Accel/Decel to Gears - How thick the lane lines appear on the display. - -Default matches the MUTCD standard of 4 inches. + Reverse Cruise Increase - Path Edges Width + Speed Limit Controller - The width of the edges of the driving path to represent different modes and statuses. - -Default is 20% of the total path width. - -Color Guide: -- Blue: Navigation -- Light Blue: 'Always On Lateral' -- Green: Default -- Orange: 'Experimental Mode' -- Red: 'Traffic Mode' -- Yellow: 'Conditional Experimental Mode' Overridden + Confirm New Speed Limits - Path Width + Fallback Method - How wide the driving path appears on your screen. - -Default (6.1 feet / 1.9 meters) matches the width of a 2019 Lexus ES 350. + Override Method - Road Edges Width + Speed Limit Offsets - How thick the road edges appear on the display. - -Default matches half of the MUTCD standard lane line width of 4 inches. + Speed Limit Offset (0-34 mph) - 'Unlimited' Road UI + Speed Limit Offset (35-54 mph) - Extend the display of the path, lane lines, and road edges as far as the model can see. + Speed Limit Offset (55-64 mph) - Auto + Speed Limit Offset (65-99 mph) - Driver + Miscellaneous 'Speed Limit Controller' focused features to improve your overall openpilot experience. - Standard - Standard + Force MPH Readings from Dashboard + - Wide + Prepare for Higher Speed Limits - Control Via UI + Prepare for Lower Speed Limits - Alerts + Set Speed to Current Limit - Map Icon - + mph + mi/h - Max Speed + With Lead - Show Distance + Switches to 'Experimental Mode' when driving below the set speed with a lead vehicle. - Blind Spot + With Lead - Steering Torque + Slower Lead - Turn Signal + Stopped Lead - Adjacent Path Metrics + Intersections - Auto Tune + Turns - Lead Info + Map Based - Longitudinal Jerk + Vision - Fahrenheit - + Standard + Standard - CPU + Eco - GPU + Sport - IP + Sport+ - RAM + feet - SSD Left + Acceleration - SSD Used + Deceleration - inches + Lower Limits - % + Higher Limits - feet + None - Adjust how thick the lane lines appear on the display. - -Default matches the Vienna standard of 10 centimeters. + Set Speed - Adjust how thick the road edges appear on the display. - -Default matches half of the Vienna standard of 10 centimeters. - + Experimental Mode + Mode expérimental - centimeters + Previous Limit - meters - + SELECT + SÉLECTIONNER - Adjust how thick the lane lines appear on the display. - -Default matches the MUTCD standard of 4 inches. + Dashboard - Adjust how thick the road edges appear on the display. - -Default matches half of the MUTCD standard of 4 inches. + Navigation - - - FrogPilotConfirmationDialog - Reboot Later + Highest - Yes + Lowest - No + Select your primary priority - - - FrogPilotDataPanel - Delete Driving Footage and Data + Select your secondary priority - DELETE + Select your tertiary priority - This button provides a swift and secure way to permanently delete all stored driving footage and data from your device. Ideal for maintaining privacy or freeing up space. + MANAGE - Are you sure you want to permanently delete all of your driving footage and data? + seconds - Delete + Speed Limit Offset (0-34 kph) - Deleting... + Speed Limit Offset (35-54 kph) - Deleted! + Speed Limit Offset (55-64 kph) - Screen Recordings + Speed Limit Offset (65-99 kph) - Manage your screen recordings. + kph - RENAME + meters - Select a recording to delete + Automatically switch to 'Experimental Mode' when specific conditions are met. - Are you sure you want to delete this recording? + Triggers 'Experimental Mode' when driving below the set speed without a lead vehicle. - Failed... + Triggers 'Experimental Mode' when a curve is detected in the road ahead. - Select a recording to rename + Triggers 'Experimental Mode' when a slower or stopped vehicle is detected ahead. - Enter a new name + Triggers 'Experimental Mode' based on navigation data, such as upcoming intersections or turns. - Rename Recording + Triggers 'Experimental Mode' when openpilot wants to stop such as for a stop sign or red light. - Renaming... + Triggers 'Experimental Mode' when using turn signals below the set speed. - Renamed! + Hides status bar for 'Conditional Experimental Mode'. - FrogPilot Backups + Uses data from either the downloaded maps or the model to determine where curves are. - Manage your FrogPilot backups. + Triggers 'Curve Speed Control' only when a curve is detected with the model as well when using the 'Map Based' method. - BACKUP + Curve Detection Sensitivity - RESTORE + Controls how sensitive openpilot is to detecting curves. Higher values trigger earlier responses at the risk of triggering too often, while lower values increase confidence at the risk of triggering too infrequently. - Name your backup + Speed Aggressiveness - Do you want to compress this backup? The end file size will be 2.25x smaller, but can take 10+ minutes. + Controls how aggressive openpilot takes turns. Higher values result in faster turns, while lower values result in slower turns. - Backing... + Hide Desired Speed Widget From UI - Compressing... + Hides the desired speed widget from the onroad UI. - Success! + Customize Driving Personalities - Select a backup to delete + Customize the personality profiles to suit your driving style. - Are you sure you want to delete this backup? + Traffic Personality - Select a restore point + Customizes the 'Traffic' personality profile, tailored for navigating through traffic. - Are you sure you want to restore this version of FrogPilot? + Following Distance - Restore + Controls the minimum following distance in 'Traffic' mode. openpilot will automatically dynamically between this value and the 'Aggressive' profile distance based on your current speed. - Restoring... + Acceleration Sensitivity - Extracting... + Controls how sensitive openpilot is to changes in acceleration in 'Traffic' mode. Higher values result in smoother, more gradual acceleration, while lower values allow for quicker, more responsive changes that may feel abrupt. - Restored! + Deceleration Sensitivity - Rebooting... + Controls how sensitive openpilot is to changes in deceleration in 'Traffic' mode. Higher values result in smoother, more gradual deceleration, while lower values allow for quicker, more responsive changes that may feel abrupt. - Toggle Backups + Safety Distance Sensitivity - Manage your toggle backups. + Adjusts how cautious openpilot is around other vehicles or obstacles in 'Traffic' mode. Higher values increase following distances and prioritize safety, leading to more cautious driving, while lower values allow for closer following but may reduce reaction time. - Are you sure you want to restore this toggle backup? + Speed Increase Responsiveness - - - FrogPilotDevicePanel - Device Settings + Controls how quickly openpilot increases speed in 'Traffic' mode. Higher values ensure smoother, more gradual speed changes when accelerating, while lower values allow for quicker, more responsive changes that may feel abrupt. - Device behavior settings. + Speed Decrease Responsiveness - Device Shutdown Timer + Controls how quickly openpilot decreases speed in 'Traffic' mode. Higher values ensure smoother, more gradual speed changes when slowing down, while lower values allow for quicker, more responsive changes that may feel abrupt. - How long the device stays on after you stop driving. + Reset Settings - Disable Internet Requirement + Restores the 'Traffic Mode' settings to their default values. - The device can work without an internet connection for as long as you need. + Aggressive Personality - Increase Thermal Safety Limit + Customize the 'Aggressive' personality profile, designed for a more assertive driving style. - The device can run at higher temperatures than recommended. + Sets the following distance for 'Aggressive' mode. This determines roughly how many seconds you'll follow behind the car ahead. + +Default: 1.25 seconds. - Low Battery Shutdown Threshold + Controls how sensitive openpilot is to changes in acceleration in 'Aggressive' mode. Higher values result in smoother, more gradual acceleration, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 0.5. - Shut down the device when the car's battery gets too low to prevent damage to the 12V battery. + Controls how sensitive openpilot is to changes in deceleration in 'Aggressive' mode. Higher values result in smoother, more gradual deceleration, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 0.5. - Turn Off Data Tracking + Adjusts how cautious openpilot is around other vehicles or obstacles in 'Aggressive' mode. Higher values increase following distances and prioritize safety, leading to more cautious driving, while lower values allow for closer following but may reduce reaction time. + +Default: 1.0. - Disable all tracking to improve privacy. + Controls how quickly openpilot increases speed in 'Aggressive' mode. Higher values ensure smoother, more gradual speed changes when accelerating, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 0.5. - Turn Off Data Uploads + Controls how quickly openpilot decreases speed in 'Aggressive' mode. Higher values ensure smoother, more gradual speed changes when slowing down, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 0.5. - Stop the device from sending any data to the servers. + Restores the 'Aggressive' settings to their default values. - Screen Settings + Standard Personality - Screen behavior settings. + Customize the 'Standard' personality profile, optimized for balanced driving. - Screen Brightness (Offroad) + Set the following distance for 'Standard' mode. This determines roughly how many seconds you'll follow behind the car ahead. + +Default: 1.45 seconds. - The screen brightness when you're not driving. + Controls how sensitive openpilot is to changes in acceleration in 'Standard' mode. Higher values result in smoother, more gradual acceleration, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 1.0. - Screen Brightness (Onroad) + Controls how sensitive openpilot is to changes in deceleration in 'Standard' mode. Higher values result in smoother braking, while lower values allow for quicker, more immediate braking that may feel abrupt. + +Default: 1.0. - The screen brightness while you're driving. + Adjusts how cautious openpilot is around other vehicles or obstacles in 'Standard' mode. Higher values increase following distances and prioritize safety, leading to more cautious driving, while lower values allow for closer following but may reduce reaction time. + +Default: 1.0. - Screen Recorder + Controls how quickly openpilot increases speed in 'Standard' mode. Higher values ensure smoother, more gradual speed changes when accelerating, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 1.0. - Display a button in the onroad UI to record the screen. + Controls how quickly openpilot decreases speed in 'Standard' mode. Higher values ensure smoother, more gradual speed changes when slowing down, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 1.0. - Screen Timeout (Offroad) + Restores the 'Standard' settings to their default values. - How long it takes for the screen to turn off when you're not driving. + Relaxed Personality - Screen Timeout (Onroad) + Customize the 'Relaxed' personality profile, ideal for a more laid-back driving style. - How long it takes for the screen to turn off while you're driving. + Set the following distance for 'Relaxed' mode. This determines roughly how many seconds you'll follow behind the car ahead. + +Default: 1.75 seconds. - 5 mins + Controls how sensitive openpilot is to changes in acceleration in 'Relaxed' mode. Higher values result in smoother, more gradual acceleration, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 1.0. - mins + Controls how sensitive openpilot is to changes in deceleration in 'Relaxed' mode. Higher values result in smoother braking, while lower values allow for quicker, more immediate braking that may feel abrupt. + +Default: 1.0. - hour + Adjusts how cautious openpilot is around other vehicles or obstacles in 'Relaxed' mode. Higher values increase following distances and prioritize safety, leading to more cautious driving, while lower values allow for closer following but may reduce reaction time. + +Default: 1.0. - hours + Controls how quickly openpilot increases speed in 'Relaxed' mode. Higher values ensure smoother, more gradual speed changes when accelerating, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 1.0. - Only Onroad + Controls how quickly openpilot decreases speed in 'Relaxed' mode. Higher values ensure smoother, more gradual speed changes when slowing down, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 1.0. - volts + Restores the 'Relaxed' settings to their default values. - Auto + Toggle 'Experimental Mode' on/off using either the steering wheel buttons or screen. + +This overrides 'Conditional Experimental Mode'. - seconds + Toggles 'Experimental Mode' by pressing the 'LKAS' button on the steering wheel. - WARNING: This can cause premature wear or damage by running the device over comma's recommended temperature limits! + Toggles 'Experimental Mode' by double-tapping the onroad UI within a 0.5 second period. - I understand the risks. + Toggles 'Experimental Mode' by holding down the 'distance' button on the steering wheel for 0.5 seconds. - WARNING: This will prevent your drives from being recorded and the data will be unobtainable! + Enables either a sporty or eco-friendly acceleration rate. 'Sport+' aims to make openpilot accelerate as fast as possible. - WARNING: This will prevent your drives from appearing on comma connect which may impact debugging and support! + Enables either a sporty or eco-friendly deceleration rate. - - - FrogPilotLateralPanel - Always on Lateral + Uses the lead's acceleration rate when at a takeoff and ramps off the acceleration rate when approaching the maximum set speed for a more 'human-like' driving experience. - openpilot's steering control stays active even when the brake or gas pedals are pressed. - -Deactivate only occurs with the 'Cruise Control' button. + Human-Like Approach Behind Leads - Control with LKAS Button + Dynamically adjusts the following distance when approaching slower or stopped vehicles for a more 'human-like' driving experience. - 'Always on Lateral' gets turned on or off using the 'LKAS' button. + Lead Detection Confidence - Enable with Cruise Control + Controls how sensitive openpilot is to detecting vehicles ahead. A lower value can help detect vehicles sooner and from farther away, but increases the chance openpilot mistakes other objects for vehicles. - 'Always on Lateral' gets turned on by pressing the 'Cruise Control' button bypassing the requirement to enable openpilot first. + Maximum Acceleration Rate - Pause on Brake Below + Sets a cap on how fast openpilot can accelerate. - 'Always on Lateral' pauses when the brake pedal is pressed below the set speed. + 'Taco Bell Run' Turn Speed Hack - Hide the Status Bar + Uses comma's speed hack they used to help handle left and right turns more precisely during their 2022 'Taco Bell' drive by reducing the maximum allowed speed and acceleration while turning. - The status bar for 'Always on Lateral' is hidden. + Cruise Increase - Lane Change Settings + Controls the interval used when increasing the cruise control speed. - How openpilot handles lane changes. + Cruise Increase (Long Press) - Hands-Free Lane Change + Controls the interval used when increasing the cruise control speed while holding down the button for 0.5+ seconds. - Lane changes are conducted without needing to touch the steering wheel upon turn signal activation. + Force Keep openpilot in the Standstill State - Lane Change Delay + Keeps openpilot in the 'standstill' state until the gas pedal or 'resume' button is pressed. - How long openpilot waits before changing lanes. + Force Stop for 'Detected' Stop Lights/Signs - Lane Width Requirement + Forces a stop whenever openpilot 'detects' a potential red light/stop sign to prevent it from running the red light/stop sign. - The minimum lane width for openpilot to detect a lane as a lane. + Set Speed Offset - Minimum Speed for Lane Change + Controls how much higher or lower the set speed should be compared to your current set speed. For example, if you prefer to drive 5 mph above the speed limit, this setting will automatically add that difference when you adjust your set speed. - The minimum speed required for openpilot to perform a lane change. + Maps the acceleration and deceleration profiles to your car's 'Eco' or 'Sport' gear modes. - Single Lane Change Per Signal + Reverses the long press cruise increase feature to increase the max speed by 5 mph instead of 1 on short presses. - Lane changes are limited to one per turn signal activation. + Automatically adjust your max speed to match the speed limit using downloaded 'Open Street Maps' data, 'Navigate on openpilot', or your car's dashboard (Toyota/Lexus/HKG only). - Lateral Tuning + Enables manual confirmations before using a new speed limit. - Settings that control how openpilot manages steering. + Controls what happens when no speed limit data is available. - Neural Network Feedforward (NNFF) + Controls how the current speed limit is overriden. + + - Twilsonco's 'Neural Network FeedForward' for more precise steering control. + Forces speed limit readings from the dashboard to MPH if it normally displays them in KPH. - Smooth Curve Handling + Sets a lookahead value to prepare for upcoming higher speed limits when using downloaded map data. - Smoother steering when entering and exiting curves with Twilsonco's torque adjustments. + Sets a lookahead value to prepare for upcoming lower speed limits when using downloaded map data. - Quality of Life Improvements + Sets your max speed to match the current speed limit when enabling openpilot. - Miscellaneous lateral focused features to improve your overall openpilot experience. + Speed Limit Source Priority Order - Pause Steering Below + Sets the order of priority for speed limit data sources. - Pauses steering control when driving below the set speed. + Set speed limit offsets to drive over the posted speed limit. - mph - mi/h + Sets the speed limit offset for speeds between 0 and 34 mph. + - feet + Sets the speed limit offset for speeds between 35 and 54 mph. - Reboot required to take effect. + Sets the speed limit offset for speeds between 55 and 64 mph. - Reboot Now + Sets the speed limit offset for speeds between 65 and 99 mph. - kph + Show Speed Limit Sources - meters + Displays the speed limit sources in the onroad UI when using 'Speed Limit Controller'. - - - FrogPilotLongitudinalPanel - Conditional Experimental Mode - + Reset + Réinitialiser - Automatically switches to 'Experimental Mode' when specific conditions are met. + The 'Map Based' option is only available when some 'Map Data' has been downloaded! - Below + Okay - 'Experimental Mode' is active when driving below the set speed without a lead vehicle. + Set With Gas Pedal - Curve Detected Ahead + Max Set Speed - 'Experimental Mode' is active when a curve is detected in the road ahead. + Map Data - Lead Detected Ahead + Are you sure you want to completely reset your settings for 'Traffic Mode'? - 'Experimental Mode' is active when a slower or stopped vehicle is detected ahead. + Are you sure you want to completely reset your settings for the 'Aggressive' personality? - Navigation Data + Are you sure you want to completely reset your settings for the 'Standard' personality? - 'Experimental Mode' is active based on navigation data, such as upcoming intersections or turns. + Are you sure you want to completely reset your settings for the 'Relaxed' personality? - openpilot Wants to Stop In + Sets the speed limit offset for speeds between 0-34 kph. - 'Experimental Mode' is active when openpilot wants to stop such as for a stop sign or red light. + Sets the speed limit offset for speeds between 35-54 kph. - Turn Signal Below + Sets the speed limit offset for speeds between 55-64 kph. - 'Experimental Mode' is active when using turn signals below the set speed. + Sets the speed limit offset for speeds between 65-99 kph. - Hide the Status Bar + Sets the speed limit offset for speeds between 0-34 mph. - The status bar for 'Conditional Experimental Mode' is hidden. + Sets the speed limit offset for speeds between 35-54 mph. - Curve Speed Control + Sets the speed limit offset for speeds between 55-64 mph. - Automatically slow down for curves detected ahead or through the downloaded maps. + Sets the speed limit offset for speeds between 65-99 mph. + + + FrogPilotModelPanel - Curve Detection Method + Automatically Update and Download Models - The method used to detect curves. + Automatically downloads new models and updates existing ones if needed. - Curve Detection Failsafe + Model Randomizer - Curve control is triggered only when a curve is detected ahead. Use this as a failsafe to prevent false positives when using the 'Map Based' method. + Randomly selects a model each drive and brings up a model review prompt at the end to help find your preferred model. - Curve Sensitivity + Manage Model Blacklist - How sensitive openpilot is to detecting curves. Higher values trigger earlier responses at the risk of triggering too often, while lower values increase confidence at the risk of triggering too infrequently. + Manage the blacklisted models that aren't being used with 'Model Randomizer'. - Turn Speed Aggressiveness + Reset Model Scores - How aggressive openpilot takes turns. Higher values result in quicker turns, while lower values provide gentler turns. + Clear the ratings you've given to the driving models. - Disable Speed Value Smoothing In the UI + Review Model Scores - Speed value smoothing is disabled in the UI to instead display the exact speed requested by the curve control. + View the ratings you've assigned to the driving models. - Experimental Mode Activation + Delete Model - 'Experimental Mode' is toggled off/on using the steering wheel buttons or the on-screen controls. - -This overrides 'Conditional Experimental Mode'. + Delete driving models from your device. - Click the LKAS Button + Download Model - 'Experimental Mode' is toggled by pressing the 'LKAS' button on the steering wheel. + Download new driving models. - Double-Tap the Screen + Select Model - 'Experimental Mode' is toggled by double-tapping the onroad UI within 0.5 seconds. + Select your preferred driving model. - Long Press the Distance Button - + ADD + AJOUTER - 'Experimental Mode' is toggled by holding the 'distance' button on the steering wheel for 0.5+ seconds. - + REMOVE + SUPPRIMER - Longitudinal Tuning + REMOVE ALL - Settings that control how openpilot manages speed and acceleration. + There are no more models to blacklist! The only available model is "%1"! - Acceleration Profile - + OK + OK - Choose between a sporty or eco-friendly acceleration rate. + Select a model to add to the blacklist - Deceleration Profile + Are you sure you want to add the '%1' model to the blacklist? - Choose between a sporty or eco-friendly deceleration rate. + Add - Human-Like Acceleration + Select a model to remove from the blacklist - Uses the lead's acceleration rate when at a takeoff and ramps off the acceleration rate when approaching the maximum set speed for a smoother max speed approach. + Are you sure you want to remove the '%1' model from the blacklist? - Human-Like Following Distance + Remove - Dynamically adjusts the following distance to feel more natural when approaching slower or stopped vehicles. + Are you sure you want to remove all of your blacklisted models? - Increase Stopped Distance - + RESET + RÉINITIALISER - Increases the distance to stop behind vehicles. + Are you sure you want to reset all of your model drives and scores? - Quality of Life Improvements - + REVIEW + REVOIR - Miscellaneous longitudinal focused features to improve your overall openpilot experience. + DELETE - Cruise Increase Interval + DELETE ALL - Interval used when increasing the cruise control speed. + Select a driving model to delete - Custom Cruise Interval (Long Press) + Are you sure you want to delete the '%1' model? - Interval used when increasing the cruise control speed when holding down the button for 0.5+ seconds. + Delete - Map Accel/Decel to Gears + Are you sure you want to delete all of your downloaded driving models? - Map the acceleration and deceleration profiles to the 'Eco' or 'Sport' gear modes. - + DOWNLOAD + TÉLÉCHARGER - Onroad Personality Button + DOWNLOAD ALL - The current driving personality is displayed on the screen. Tap to switch personalities, or long press for 2.5 seconds to activate 'Traffic Mode'. + Select a driving model to download - Reverse Cruise Increase - + SELECT + SÉLECTIONNER - The long press feature is reversed in order to increase speed by 5 mph instead of 1. + Select a model - 🗺️ = Navigation | 📡 = Radar | 👀 = VOACC - Speed Limit Controller + Reboot required to take effect. - Automatically adjust your max speed to match the speed limit using 'Open Street Maps', 'Navigate on openpilot', or your car's dashboard (Toyota/Lexus/HKG only). + Reboot Now - Confirm New Speed Limits + The 'Model Randomizer' only works with downloaded models. Do you want to download all the driving models? - Require manual confirmation before using a new speed limit. + CANCEL + + + FrogPilotParamManageControl - Fallback Method + MANAGE + + + FrogPilotSettingsWindow - Choose what happens when no speed limit data is available. + Alerts and Sounds - Override Method + Driving Controls - Choose how you want to override the current speed limit. - - + Navigation - Speed Limit Source Priority + System Management - Set the order of priority for speed limit data sources. + Theme and Appearance - Speed Limit Offsets + Vehicle Controls - Manage toggles related to 'Speed Limit Controller's controls. + Options to customize FrogPilot's sound alerts and notifications. - Speed Limit Offset (0-34 mph) + Tools and system utilities used to maintain and troubleshoot FrogPilot. - Set the speed limit offset for speeds between 0 and 34 mph. + Options for customizing FrogPilot's themes, UI appearance, and onroad widgets. - Speed Limit Offset (35-54 mph) + Vehicle-specific settings and configurations for supported makes and models. - Set the speed limit offset for speeds between 35 and 54 mph. + MANAGE - Speed Limit Offset (55-64 mph) + GAS / BRAKE - Set the speed limit offset for speeds between 55 and 64 mph. + STEERING - Speed Limit Offset (65-99 mph) + DATA - Set the speed limit offset for speeds between 65 and 99 mph. + DEVICE - Miscellaneous 'Speed Limit Controller' focused features to improve your overall openpilot experience. + UTILITIES - Force MPH Readings from Dashboard + APPEARANCE - Force speed limit readings in MPH from the dashboard if it normally displays in KPH. + THEME - Prepare for Higher Speed Limits + Minimal - Set a lookahead value to prepare for upcoming higher speed limits based on map data. + Standard + Standard + + + Advanced + Avancé + + + Developer - Prepare for Lower Speed Limits + Tuning Level - Set a lookahead value to prepare for upcoming lower speed limits based on map data. + Select the tuning level that best suits your needs. 'Minimal' is ideal for those who prefer simplicity and ease of use, 'Standard' is recommended for most users, offering a balanced experience, 'Advanced' provides more control for experienced users, while 'Developer' unlocks highly customizable settings designed for seasoned enthusiasts. - Set Speed to Current Limit + WARNING: This unlocks some potentially dangerous settings that can DRASTICALLY alter your driving experience! - Set your max speed to match the current speed limit when enabling openpilot. + I understand the risks. - Visual Settings + The 'Developer' preset is only available for users with either over 100 hours on FrogPilot, or 250 hours with openpilot. - Manage visual settings for the 'Speed Limit Controller'. + Okay - Use Vienna-Style Speed Signs + FrogPilot features that impact acceleration, braking, and steering. - Switch to Vienna-style (EU) speed limit signs instead of MUTCD (US). + Map data downloader and 'Navigate On openpilot (NOO)' settings. - Show Speed Limit Offset + DRIVING MODEL - Display the speed limit offset separately in the onroad UI when using the Speed Limit Controller. + MAP DATA - mph - mi/h + PRIMELESS NAVIGATION + + + + FrogPilotSoundsPanel - With Lead + Alert Volume Controller - Switches to 'Experimental Mode' when driving below the set speed with a lead vehicle. + Control the volume level for each individual sound in openpilot. - With Lead + Disengage Volume - Slower Lead + Related alerts: + +Adaptive Cruise Disabled +Parking Brake Engaged +Brake Pedal Pressed +Speed too Low - Stopped Lead + Engage Volume - Intersections + Related alerts: + +NNFF Torque Controller loaded +openpilot engaged - Turns + Prompt Volume - Off + Related alerts: + +Car Detected in Blindspot +Speed too Low +Steer Unavailable Below 'X' +Take Control, Turn Exceeds Steering Limit - Map Based + Prompt Distracted Volume - Vision + Related alerts: + +Pay Attention, Driver Distracted +Touch Steering Wheel, Driver Unresponsive - Standard - Standard + Refuse Volume + - Eco + Related alerts: + +openpilot Unavailable - Sport + Warning Soft Volume - Sport+ + Related alerts: + +BRAKE!, Risk of Collision +TAKE CONTROL IMMEDIATELY - feet + Warning Immediate Volume - Acceleration + Related alerts: + +DISENGAGE IMMEDIATELY, Driver Distracted +DISENGAGE IMMEDIATELY, Driver Unresponsive - Deceleration + Custom Alerts - Lower Limits + Goat Scream Steering Saturated Alert - Higher Limits + Green Light Alert - None + Lead Departing Alert - Set Speed + Loud Blindspot Alert - Experimental Mode - Mode expérimental + Custom alerts for openpilot events. + - Previous Limit + Enables the famed 'Goat Scream' that has brought both joy and anger to FrogPilot users all around the world! - Gas Pedal Press + Plays an alert when a traffic light changes from red to green. - Cruise Set Speed + Plays an alert when the lead vehicle starts starts to depart when at a standstill. - SELECT - SÉLECTIONNER + Plays a louder alert for when a vehicle is detected in the blindspot when attempting to change lanes. + - Dashboard + Speed Limit Changed Alert - Navigation + Plays an alert when the speed limit changes. - Offline Maps + Auto - Highest + Muted + + + FrogPilotThemesPanel - Lowest + Custom Theme - Select your primary priority + Custom openpilot themes. - Select your secondary priority + Color Scheme - Select your tertiary priority + Icon Pack - MANAGE + Sound Pack - seconds + Steering Wheel - Control Via UI + Turn Signal Animation - Speed Limit Offset (0-34 kph) + Download Status - Speed Limit Offset (35-54 kph) + Holiday Themes - Speed Limit Offset (55-64 kph) + Random Events - Speed Limit Offset (65-99 kph) + Startup Alert - Set speed limit offset for limits between 0-34 kph. + DELETE - Set speed limit offset for limits between 35-54 kph. + DOWNLOAD + TÉLÉCHARGER + + + SELECT + SÉLECTIONNER + + + Select a color scheme to delete - Set speed limit offset for limits between 55-64 kph. + Are you sure you want to delete the '%1' color scheme? - Set speed limit offset for limits between 65-99 kph. + Delete - kph + Select a color scheme to download - meters + Select a color scheme - Set speed limit offset for limits between 0-34 mph. + Select an icon pack to delete - Set speed limit offset for limits between 35-54 mph. + Are you sure you want to delete the '%1' icon pack? - Set speed limit offset for limits between 55-64 mph. + Select an icon pack to download - Set speed limit offset for limits between 65-99 mph. + Select an icon pack - - - FrogPilotParamManageControl - MANAGE + Select a sound pack to delete - - - FrogPilotSettingsWindow - Advanced Settings + Select a sound pack to download - Alerts and Sounds + Select a steering wheel to delete - Driving Controls + Select a steering wheel to download - Navigation + Select a steering wheel - System Management + STOCK - Theme and Appearance + FROGPILOT - Vehicle Controls + CUSTOM - Advanced FrogPilot features for more experienced users. + CLEAR - Options to customize FrogPilot's sound alerts and notifications. + Characters: 0/%1 - FrogPilot features than impact acceleration, braking, and steering. + CANCEL - Offline maps downloader and 'Navigate On openpilot (NOO)' settings. + Changes out openpilot's color scheme. + +Want to submit your own color scheme? Share it in the 'custom-themes' channel on the FrogPilot Discord! - Tools and system utilities used to maintain and troubleshoot FrogPilot. + Changes out openpilot's icon pack. + +Want to submit your own icons? Share them in the 'custom-themes' channel on the FrogPilot Discord! - Options for customizing FrogPilot's themes, UI appearance, and onroad widgets. + Changes out openpilot's sound effects. + +Want to submit your own sounds? Share them in the 'custom-themes' channel on the FrogPilot Discord! - Vehicle-specific settings and configurations for supported makes and models. + Enables a custom steering wheel icon in the top right of the screen. - DRIVING + Enables themed turn signal animations. + +Want to submit your own animations? Share them in the 'custom-themes' channel on the FrogPilot Discord! - VISUALS + Changes the openpilot theme based on the current holiday. Minor holidays last one day, while major holidays (Easter, Christmas, Halloween, etc.) last the entire week. - MANAGE + Rainbow Path - GAS / BRAKE + Swap out the path in the onroad UI for a Mario Kart inspired 'Rainbow Path'. - STEERING + Enables random cosmetic events that happen during certain driving conditions. These events are purely for fun and don't affect driving controls! - DATA + Controls the text of the 'Startup' alert message that appears when you start the drive. - DEVICE + Select a distance icon pack to delete - UTILITIES + Are you sure you want to delete the '%1' distance icon pack? - APPEARANCE + Select a distance icon pack to download - THEME + Select a distance icon pack + + + + Select a signal animation to delete + + + + Are you sure you want to delete the '%1' signal animation? + + + + Select a signal animation to download + + + + Select a signal animation + + + + Are you sure you want to delete the '%1' sound pack? + + + + Select a sound pack + + + + Are you sure you want to delete the '%1' steering wheel? + + + + Enter the text for the top half + + + + Enter the text for the bottom half - FrogPilotSoundsPanel + FrogPilotVehiclesPanel - Alert Volume Controller + Select Make - Control the volume level for each individual sound in openpilot. + SELECT + SÉLECTIONNER + + + Select a Make - Disengage Volume + Select Model - Related alerts: - -Adaptive Cruise Disabled -Parking Brake Engaged -Brake Pedal Pressed -Speed too Low + Select a Model - Engage Volume + Disable Automatic Fingerprint Detection - Related alerts: - -NNFF Torque Controller loaded -openpilot engaged + Forces the selected fingerprint and prevents it from ever changing. - Prompt Volume + Disable openpilot Longitudinal Control - Related alerts: - -Car Detected in Blindspot -Speed too Low -Steer Unavailable Below 'X' -Take Control, Turn Exceeds Steering Limit + Are you sure you want to completely disable openpilot longitudinal control? - Prompt Distracted Volume + Reboot required to take effect. - Related alerts: - -Pay Attention, Driver Distracted -Touch Steering Wheel, Driver Unresponsive + Reboot Now - Refuse Volume + 2017 Volt Stop and Go Hack - Related alerts: - -openpilot Unavailable + Experimental GM Tune - Warning Soft Volume + Uphill/Downhill Smoothing - Related alerts: - -BRAKE!, Risk of Collision -TAKE CONTROL IMMEDIATELY + Use comma's New Longitudinal API - Warning Immediate Volume + Subaru Crosstrek Torque Increase - Related alerts: - -DISENGAGE IMMEDIATELY, Driver Distracted -DISENGAGE IMMEDIATELY, Driver Unresponsive + Increases the maximum allowed torque for the Subaru Crosstrek. - Custom Alerts + Automatically Lock/Unlock Doors + + + + Cluster Speed Offset + + + + FrogsGoMoo's Personal Tweaks + + + + Stop and Go Hack + + + + Lock + + + + Unlock + + + + Disables openpilot longitudinal control and uses the car's stock ACC instead. - Enable custom alerts for openpilot events. + Forces stop and go for the 2017 Chevy Volt. - Goat Scream Steering Saturated Alert + Enables FrogsGoMoo's experimental GM tune that is based on nothing but guesswork. Use at your own risk! - Enable the famed 'Goat Scream' that has brought both joy and anger to FrogPilot users all around the world! + Smoothens the gas and brake response when driving on slopes. - Green Light Alert + Enables comma's new control system that has shown great improvement with acceleration and braking, but has a few issues on some GM vehicles. - Get an alert when a traffic light changes from red to green. + Enables comma's new control system that has shown great improvement with acceleration and braking, but has a few issues on Hyundai/Kia/Genesis. - Lead Departing Alert + Automatically locks the doors when in drive and unlocks when in park. - Get an alert when the lead vehicle starts departing when at a standstill. + Sets the cluster offset openpilot uses to try and match the speed displayed on the dash. - Loud Blindspot Alert + Enables FrogsGoMoo's personal tweaks to the Toyota tune focused around his 2019 Lexus ES 350 to take off a bit quicker and stop a bit smoother. - Enable a louder alert for when a vehicle is detected in the blindspot when attempting to change lanes. + Forces stop and go for vehicles without stock stop and go functionality. + + + FrogPilotVisualsPanel - Speed Limit Change Alert + Custom FrogPilot widgets used in the onroad user interface. - Trigger an alert when the speed limit changes. + Compass - - - FrogPilotThemesPanel - Custom Theme + Dynamic Path Width - Custom openpilot themes. + Road Name - Color Scheme + Rotating Steering Wheel - Themed color schemes. - -Want to submit your own color scheme? Share it in the 'feature-request' channel on the FrogPilot Discord! + Larger Map Display - Icon Pack + Map Style - Themed icon packs. - -Want to submit your own icons? Share them in the 'feature-request' channel on the FrogPilot Discord! + Show Driver Camera When In Reverse - Sound Pack + Stopped Timer - Themed sound effects. - -Want to submit your own sounds? Share them in the 'feature-request' channel on the FrogPilot Discord! + Blind Spot - Steering Wheel + Dynamic - Custom steering wheel icons. + Static - Turn Signal Animation + Full Map - Themed turn signal animations. - -Want to submit your own animations? Share them in the 'feature-request' channel on the FrogPilot Discord! + Mapbox Streets - Download Status + Mapbox Outdoors - Holiday Themes + Mapbox Light - Change the openpilot theme based on the current holiday. Minor holidays last one day, while major holidays (Easter, Christmas, Halloween, etc.) last a week. + Mapbox Dark - Random Events + Mapbox Satellite - Random cosmetic events that happen during certain driving conditions. These events are purely for fun and don't affect driving controls! + Mapbox Satellite Streets - Startup Alert + Mapbox Navigation Day - Custom 'Startup' alert message that appears when you start driving. + Mapbox Navigation Night - DELETE + Mapbox Traffic Night - DOWNLOAD - TÉLÉCHARGER + mike854's (Satellite hybrid) + SELECT SÉLECTIONNER - Select a color scheme to delete + Select a map style - Are you sure you want to delete the '%1' color scheme? + Accessibility - Delete + Visual features to improve your overall openpilot experience. - Select a color scheme to download + Camera View - Select a color scheme + Changes the camera view display. This is purely a visual change and doesn't impact how openpilot drives. - Select an icon pack to delete + On Screen Personality Button - Are you sure you want to delete the '%1' icon pack? + Displays the current driving personality on the screen. Tap to switch personalities, or long press for 2.5 seconds to activate 'Traffic' mode. - Select an icon pack to download + Displays the driver camera feed when the vehicle is in reverse. - Select an icon pack + Standby Mode - Select a signal pack to delete + Turns the screen off when driving and automatically wakes it up if engagement state changes or important alerts occur. - Are you sure you want to delete the '%1' signal pack? + Activates a timer when stopped to indicate how long the vehicle has been stopped for. - Select a signal pack to download + Advanced UI Controls - Select a signal pack + Advanced features to fine tune your personalized UI. - Select a sound pack to delete + Hide Current Speed - Are you sure you want to delete the '%1' sound scheme? + Hides the current speed. - Select a sound pack to download + Hide Lead Marker - Select a sound scheme + Hides the marker for the vehicle ahead. - Select a steering wheel to delete + Hide Map Icon - Are you sure you want to delete the '%1' steering wheel image? + Hides the map icon. - Select a steering wheel to download + Hide Max Speed - Select a steering wheel + Hides the max speed. - STOCK + Hide Non-Critical Alerts - FROGPILOT + Hides non-critical alerts. - CUSTOM + Hide Speed Limits - CLEAR + Hides the speed limits. - Enter your text for the top half + Use Wheel Speed - Characters: 0/%1 + Uses the wheel speed instead of the cluster speed. This is purely a visual change and doesn't impact how openpilot drives. - Enter your text for the bottom half + Developer Metrics - CANCEL + Show detailed information about openpilot's internal operations. - - - FrogPilotVehiclesPanel - Select Make + Border Metrics - SELECT - SÉLECTIONNER + Displays performance metrics around the edge of the screen while driving. + - Select a Make + FPS Display - Select Model + Displays the 'Frames Per Second' (FPS) at the bottom of the screen while driving. - Select a Model + Lateral Metrics - Disable Automatic Fingerprint Detection + Displays metrics related to steering control at the top of the screen while driving. - Forces the selected fingerprint and prevents it from ever changing. + Longitudinal Metrics - Disable openpilot Longitudinal Control + Displays metrics related to acceleration, speed, and desired following distance at the top of the screen while driving. - Disable openpilot longitudinal control and use stock ACC instead. + Numerical Temperature Gauge - Are you sure you want to completely disable openpilot longitudinal control? + Shows exact temperature readings instead of status labels like 'GOOD', 'OK', or 'HIGH' in the sidebar. - Reboot required to take effect. + Sidebar - Reboot Now + Displays system information like CPU, GPU, RAM usage, IP address, and storage space in the sidebar. - 2017 Volt Stop and Go Hack + Use International System of Units - Force stop and go for the 2017 Chevy Volt. + Displays measurements using the 'International System of Units' (SI). - Experimental GM Tune + Model UI - FrogsGoMoo's experimental GM tune that is based on nothing but guesswork. Use at your own risk! + Customize the model visualizations on the screen. - Uphill/Downhill Smoothing + Automatically adjusts the width of the driving path display based on the current engagement state: + +Fully engaged = 100% +Always On Lateral Active = 75% +Fully disengaged = 50% - Smoothen the car’s gas and brake response when driving on slopes. + Lane Lines Width - Use comma's New Longitudinal API + Controls the thickness the lane lines appear on the display. + +Default matches the MUTCD standard of 4 inches. - Comma's new longitudinal control system that has shown great improvement with acceleration and braking, but has a few issues on some GM vehicles. + Path Edges Width - Use comma's new longitudinal control system that has shown great improvement with acceleration and braking, but has a few issues on Hyundai/Kia/Genesis. + Controls the width of the edges of the driving path to represent different modes and statuses. + +Default is 20% of the total path width. + +Color Guide: +- Blue: Navigation +- Light Blue: 'Always On Lateral' +- Green: Default +- Orange: 'Experimental Mode' +- Red: 'Traffic Mode' +- Yellow: 'Conditional Experimental Mode' Overridden - Subaru Crosstrek Torque Increase + Path Width - Increases the maximum allowed torque for the Subaru Crosstrek. + Controls how wide the driving path appears on your screen. + +Default (6.1 feet / 1.9 meters) matches the width of a 2019 Lexus ES 350. - Automatically Lock/Unlock Doors + Road Edges Width - Automatically lock the doors when in drive and unlock when in park. + Controls how thick the road edges appear on the display. + +Default matches half of the MUTCD standard lane line width of 4 inches. - Cluster Speed Offset + Stopping Point - Set the cluster offset openpilot uses to try and match the speed displayed on the dash. + Displays an image on the screen where openpilot is detecting a potential red light/stop sign. - FrogsGoMoo's Personal Tweaks + 'Unlimited' Road UI - Use FrogsGoMoo's personal tweaks to the Toyota tune focused around his 2019 Lexus ES 350 to take off a bit quicker and stop a bit smoother. + Extends the display of the path, lane lines, and road edges as far as the model can see. - Stop and Go Hack + Navigation Widgets - Force stop and go for vehicles without stock stop and go functionality. + Wwidgets focused around navigation. - Lock + Increases the size of the map for easier navigation readings. - Unlock + Swaps out the stock map style for community created ones. - - - FrogPilotVisualsPanel - Onroad UI Widgets + Displays the current road name at the bottom of the screen using data from 'OpenStreetMap'. - Custom FrogPilot widgets used in the onroad user interface. + Show Speed Limit Offset - Compass + Displays the speed limit offset separately in the onroad UI when using 'Speed Limit Controller'. - A compass in the onroad UI to show the current driving direction. + Show Speed Limits - Dynamic Path Width + Displays the currently detected speed limit in the top left corner of the onroad UI. Uses data from your car's dashboard (if supported) and data from 'OpenStreetMaps'. - Automatically adjust the width of the driving path display based on the current engagement state: - -Fully engaged = 100% -Always On Lateral Active = 75% -Fully disengaged = 50% + Use Vienna-Style Speed Signs - Gas/Brake Pedal Indicators + Forces Vienna-style (EU) speed limit signs instead of MUTCD (US). - Pedal indicators in the onroad UI that change opacity based on the pressure applied. + Onroad Screen Widgets - Paths + Acceleration Path - Projected acceleration path, detected lanes, and vehicles in the blind spot. + Projects a path based on openpilot's current desired acceleration or deceleration. - Road Name + Adjacent Lanes - The current road name is displayed at the bottom of the screen using data from 'OpenStreetMap'. + Projects paths for the adjascent lanes. - Rotating Steering Wheel + Blind Spot Path - The steering wheel in the onroad UI rotates along with your steering wheel movements. + Projects a red path when vehicles are detected in the blind spot for the respective lane. - Quality of Life Improvements + Displays a compass to show the current driving direction. - Miscellaneous visual focused features to improve your overall openpilot experience. + Gas / Brake Pedal Indicators - Larger Map Display + Displays pedal indicators to indicate when either of the pedals are currently being used. - A larger size of the map in the onroad UI for easier navigation readings. + Rotates the steering wheel in the onroad UI rotates along with your steering wheel movements. - Map Style + Auto - Custom map styles for the map used during navigation. + Driver - Screen Standby Mode + Standard + Standard + + + Wide - The screen is turned off after it times out when driving, but it automatically wakes up if engagement state changes or important alerts occur. + Steering Torque - Show Driver Camera When In Reverse + Turn Signal - The driver camera feed is displayed when the vehicle is in reverse. + Adjacent Path Metrics - Stopped Timer + Auto Tune - A timer on the onroad UI to indicate how long the vehicle has been stopped. + Adjacent Leads - Acceleration + Lead Info - Adjacent + Jerk Values - Blind Spot + Fahrenheit - Dynamic + CPU - Static + GPU - Full Map + IP - Stock openpilot + RAM - Mapbox Streets + SSD Left - Mapbox Outdoors + SSD Used - Mapbox Light + inches - Mapbox Dark + % - Mapbox Satellite + feet - Mapbox Satellite Streets + Show Distance - Mapbox Navigation Day + Stock - Mapbox Navigation Night + Adjust how thick the lane lines appear on the display. + +Default matches the Vienna standard of 10 centimeters. - Mapbox Traffic Night + Adjust how thick the road edges appear on the display. + +Default matches half of the Vienna standard of 10 centimeters. - mike854's (Satellite hybrid) + centimeters - SELECT - SÉLECTIONNER + meters + - Select a map style + Adjust how thick the lane lines appear on the display. + +Default matches the MUTCD standard of 4 inches. + + + + Adjust how thick the road edges appear on the display. + +Default matches half of the MUTCD standard of 4 inches. @@ -3764,6 +3849,30 @@ Cela peut prendre jusqu'à une minute. FrogPilot + + Welcome to FrogPilot! Since you're new to FrogPilot, the 'Minimal' toggle preset has been applied, but you can change this at any time via the 'Tuning Level' button! + + + + Sounds good! + + + + Since you're fairly new to FrogPilot, the 'Minimal' toggle preset has been applied, but you can change this at any time via the 'Tuning Level' button! + + + + Since you're experienced with openpilot, the 'Standard' toggle preset has been applied, but you can change this at any time via the 'Tuning Level' button! + + + + Since you're experienced with FrogPilot, the 'Standard' toggle preset has been applied, but you can change this at any time via the 'Tuning Level' button! + + + + Since you're very experienced with FrogPilot, the 'Advanced' toggle preset has been applied, but you can change this at any time via the 'Tuning Level' button! + + Setup @@ -4068,10 +4177,6 @@ Cela peut prendre jusqu'à une minute. FrogPilot will automatically update itself and it's assets when you're offroad and connected to Wi-Fi. - - Do you want to permanently delete any additional FrogPilot assets? This is 100% unrecoverable and includes backups, downloaded models, themes, and long-term storage toggle settings for easy reinstalls. - - Error Log @@ -4084,6 +4189,14 @@ Cela peut prendre jusqu'à une minute. View the error log for openpilot crashes. + + Do you want to delete deep storage FrogPilot assets? This includes your toggle settings for quick reinstalls. + + + + Are you sure? This is 100% unrecoverable and if you reinstall FrogPilot you'll lose all your previous settings! + + SshControl @@ -4326,10 +4439,6 @@ Cela peut prendre jusqu'à une minute. FLASH - - Use this button to flash the Panda device's firmware if you're running into issues. - - Are you sure you want to flash the Panda? @@ -4354,10 +4463,6 @@ Cela peut prendre jusqu'à une minute. Force Started State - - Force openpilot either offroad or onroad. - - OFFROAD @@ -4398,6 +4503,14 @@ Cela peut prendre jusqu'à une minute. Reset! + + Flashes the Panda device's firmware if you're running into issues. + + + + Forces openpilot either offroad or onroad. + + WiFiPromptWidget @@ -4426,7 +4539,7 @@ Cela peut prendre jusqu'à une minute. - Toggle off the 'Disable Uploading' toggle to enable uploads. + Toggle off the 'Turn Off Data Uploads' toggle to re-enable uploads. diff --git a/selfdrive/ui/translations/main_ja.qm b/selfdrive/ui/translations/main_ja.qm new file mode 100644 index 00000000000000..fc1fdf19b348ad Binary files /dev/null and b/selfdrive/ui/translations/main_ja.qm differ diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index 0c2fc5530d3db3..97cfb7202249bc 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -149,10 +149,6 @@ kph - - ft/s² - - Accel: %1%2 @@ -185,16 +181,6 @@ Follow Distance: - - Confirm speed limit - - - - - Ignore speed limit - - - Conditional Experimental Mode ready @@ -283,6 +269,14 @@ . Double tap the screen to revert + + PENDING + + + + ft/s² + + ConfirmationDialog @@ -532,2399 +526,2453 @@ FrogPilotAdvancedDrivingPanel - Advanced Lateral Tuning - + mph + mph - Advanced settings that control how openpilot manages steering. - + Reset + リセット - Friction (Default: %1) - + ADD + 追加 - Friction - + REMOVE + 削除 - The resistance in steering. Higher values provide more stable steering but can make it feel heavy, while lower values allow lighter steering but may feel too sensitive. - + OK + OK - Kp Factor (Default: %1) - + RESET + ﾘｾｯﾄ - Kp Factor - + VIEW + 見る - How aggressively the car corrects its steering. Higher values offer quicker corrections but may feel jerky, while lower values make steering smoother but slower to respond. - + SELECT + 選択 - Lateral Accel (Default: %1) - + openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required. + openpilotの本体は、左右4°以内、上5°、下9°以内の角度で取付ける必要があります。継続してキャリブレーションを続けているので、手動でリセットを行う必要はほぼありません。 - Lateral Accel - + Your device is pointed %1° %2 and %3° %4. + このデバイスは%2 %1°、%4 %3°の向きに設置されています。 - Adjust how fast the car can steer from side to side. Higher values allow quicker lane changes but can feel unstable, while lower values provide smoother steering but may feel sluggish. - + down + 下 - Steer Ratio (Default: %1) - + up + 上 - Steer Ratio - + left + 左 - Adjust how much openpilot needs to turn the wheel to steer. Higher values feel like driving a truck, more stable at high speeds, but harder to steer quickly at low speeds, while lower values feel like a go-kart, easier to steer in tight spots but more sensitive and less stable at high speeds. - + right + 右 + + + FrogPilotConfirmationDialog - comma's 2022 Taco Bell Turn Hack + Reboot Later - Use comma's hack they used to help handle left and right turns more precisely during their 2022 'Taco Bell' drive. + Yes - Force Auto Tune On + No + + + FrogPilotDataPanel - Forces comma's auto lateral tuning for unsupported vehicles. + Delete Driving Footage and Data - Force Auto Tune Off + DELETE - Forces comma's auto lateral tuning off for supported vehicles. + Are you sure you want to permanently delete all of your driving footage and data? - Force Turn Desires Below Lane Change Speed + Delete - Force the model to use turn desires when driving below the minimum lane change speed to help make left and right turns more precisely. + Deleting... - Advanced Longitudinal Tuning + Deleted! - Advanced settings that control how openpilot manages speed and acceleration. + Screen Recordings - Lead Detection Confidence + Manage your screen recordings. - How sensitive openpilot is to detecting vehicles ahead. A lower value can help detect vehicles sooner and from farther away, but may occasionally mistake other objects for vehicles. + RENAME - Maximum Acceleration Rate + Select a recording to delete - Set a cap on how fast openpilot can accelerate to prevent high acceleration at low speeds. + Are you sure you want to delete this recording? - Advanced Quality of Life + Select a recording to rename - Miscellaneous advanced features to improve your overall openpilot experience. + Enter a new name - Force Keep openpilot in the Standstill State + Rename Recording - Keep openpilot in the 'standstill' state until the gas pedal or 'resume' button is pressed. + Renaming... - Force Stop for 'Detected' Stop Lights/Signs + Renamed! - Whenever openpilot 'detects' a potential stop light/stop sign, force a stop where it originally detected it to prevent running the potential red light/stop sign. + FrogPilot Backups - Set Speed Offset + Manage your FrogPilot backups. - How much higher or lower the set speed should be compared to your current set speed. For example, if you prefer to drive 5 mph above the speed limit, this setting will automatically add that difference when you adjust your set speed. + BACKUP - Customize Driving Personalities + RESTORE - Customize the personality profiles to suit your preferences. + Name your backup - Traffic Personality + Compressing... - Customize the 'Traffic' personality profile, tailored for navigating through traffic. + Select a backup to delete - Following Distance + Are you sure you want to delete this backup? - The minimum following distance in 'Traffic Mode.' openpilot will adjust dynamically between this value and the 'Aggressive' profile distance based on your speed. + Select a restore point - Acceleration Sensitivity + Are you sure you want to restore this version of FrogPilot? - How sensitive openpilot is to changes in acceleration in 'Traffic Mode.' Higher values result in smoother, more gradual acceleration and deceleration, while lower values allow for faster changes that may feel more abrupt. + Restore - Deceleration Sensitivity + Restoring... - Controls how sensitive openpilot is to changes in deceleration in 'Traffic Mode.' Higher values result in smoother, more gradual braking, while lower values allow for quicker, more responsive braking that may feel abrupt. + Extracting... - Safety Distance Sensitivity + Restored! - Adjusts how cautious openpilot is around other vehicles or obstacles in 'Traffic Mode.' Higher values increase following distances and prioritize safety, leading to more cautious driving, while lower values allow for closer following but may reduce reaction time. + Rebooting... - Speed Increase Responsiveness + Toggle Backups - Controls how quickly openpilot adjusts speed in 'Traffic Mode.' Higher values ensure smoother, more gradual speed changes, while lower values enable quicker adjustments that might feel sharper or less smooth. + Manage your toggle backups. - Speed Decrease Responsiveness + Are you sure you want to restore this toggle backup? - Sets how quickly openpilot adjusts to decreasing speeds in 'Traffic Mode.' Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed reductions that might feel sharper. + Permanently deletes all stored driving footage and data from your device. Ideal for maintaining privacy or freeing up space. - Reset Settings + DELETE ALL - Restore the 'Traffic Mode' settings to their default values. + Are you sure you want to delete all screen recordings? - Aggressive Personality + Delete All - Customize the 'Aggressive' personality profile, designed for a more assertive driving style. + A recording with this name already exists. Please choose a different name. - Set the following distance for 'Aggressive' mode. This determines roughly how many seconds you'll follow behind the car ahead. - -Default: 1.25 seconds. + A backup with this name already exists. Please choose a different name. - Controls how sensitive openpilot is to acceleration changes in 'Aggressive' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky. - -Default: 0.5. + Do you want to compress this backup? The final result will be 2.25x smaller and will run in the background, but can take 10+ minutes. - Controls how sensitive openpilot is to deceleration in 'Aggressive' mode. Higher values result in smoother braking, while lower values allow for more immediate braking that may feel abrupt. - -Default: 0.5. + Backing up... - Adjusts how cautious openpilot is around vehicles or obstacles in 'Aggressive' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking. - -Default: 1.0. + Backup created! - Controls how quickly openpilot adjusts speed in 'Aggressive' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt. - -Default: 0.5. + Are you sure you want to delete all FrogPilot backups? - Sets how quickly openpilot adjusts to speed reductions in 'Aggressive' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp. - -Default: 0.5. + Are you sure you want to delete all toggle backups? + + + FrogPilotDevicePanel - Restore the 'Aggressive' settings to their default values. + Device Settings - Standard Personality + Device behavior settings. - Customize the 'Standard' personality profile, optimized for balanced driving. + Device Shutdown Timer - Set the following distance for 'Standard' mode. This determines roughly how many seconds you'll follow behind the car ahead. - -Default: 1.45 seconds. + Disable Internet Requirement - Controls how sensitive openpilot is to acceleration changes in 'Standard' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky. - -Default: 1.0. + Increase Thermal Safety Limit - Controls how sensitive openpilot is to deceleration in 'Standard' mode. Higher values result in smoother braking, while lower values allow for quicker, more immediate braking that may feel abrupt. - -Default: 1.0. + Low Battery Shutdown Threshold - Adjusts how cautious openpilot is around vehicles or obstacles in 'Standard' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking. - -Default: 1.0. + Turn Off Data Tracking - Controls how quickly openpilot adjusts speed in 'Standard' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt. - -Default: 1.0. + Turn Off Data Uploads - Sets how quickly openpilot adjusts to speed reductions in 'Standard' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp. - -Default: 1.0. + Screen Settings - Restore the 'Standard' settings to their default values. + Screen behavior settings. - Relaxed Personality + Screen Brightness (Offroad) - Customize the 'Relaxed' personality profile, ideal for a more laid-back driving style. + Screen Brightness (Onroad) - Set the following distance for 'Relaxed' mode. This determines roughly how many seconds you'll follow behind the car ahead. - -Default: 1.75 seconds. + Screen Recorder - Controls how sensitive openpilot is to acceleration changes in 'Relaxed' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky. - -Default: 1.0. + Screen Timeout (Offroad) - Controls how sensitive openpilot is to deceleration in 'Relaxed' mode. Higher values result in smoother braking, while lower values allow for quicker, more immediate braking that may feel abrupt. - -Default: 1.0. + Screen Timeout (Onroad) - Adjusts how cautious openpilot is around vehicles or obstacles in 'Relaxed' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking. - -Default: 1.0. + 5 mins - Controls how quickly openpilot adjusts speed in 'Relaxed' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt. - -Default: 1.0. + mins - Sets how quickly openpilot adjusts to speed reductions in 'Relaxed' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp. - -Default: 1.0. + hour - Restore the 'Relaxed' settings to their default values. + hours - Model Management + Only Onroad - Manage the driving models used by openpilot. + volts - Automatically Update and Download Models + Auto - Automatically download new or updated driving models. + seconds - Model Randomizer + WARNING: This can cause premature wear or damage by running the device over comma's recommended temperature limits! - A random model is selected and can be reviewed at the end of each drive if it's longer than 15 minutes to help find your preferred model. + WARNING: This will prevent your drives from being recorded and the data will be unobtainable! - Manage Model Blacklist + WARNING: This will prevent your drives from appearing on comma connect which may impact debugging and support! - Control which models are blacklisted and won't be used for future drives. + Controls how long the device stays on after you stop driving. - Reset Model Scores + Allows the device to work without an internet connection. - Clear the ratings you've given to the driving models. + Allows the device to run at higher temperatures than recommended. - Review Model Scores + Manages the threshold for shutting down the device to protect the car's battery from excessive drain and potential damage. - View the ratings you've assigned to the driving models. + Disables all data tracking to improve privacy. - Delete Model + Stops the device from sending any data to the servers. - Remove the selected driving model from your device. + Controls the screen brightness when you're not driving. - Download Model + Controls the screen brightness while you're driving. - Download undownloaded driving models. + Enables a button in the onroad UI to record the screen. - Download All Models + Controls how long it takes for the screen to turn off when you're not driving. - Download all undownloaded driving models. + Controls how long it takes for the screen to turn off while you're driving. - Select Model + Screen Off + + + FrogPilotLateralPanel - Select which model openpilot uses to drive. + Always on Lateral - Reset Model Calibrations + openpilot's steering control stays active even when the brake or gas pedals are pressed. + +Deactivate only occurs with the 'Cruise Control' button. - Reset calibration settings for the driving models. + Control with LKAS Button - mph - mph + Enable with Cruise Control + - Reset - リセット + Pause on Brake Below + - seconds + Hide the Status Bar - ADD - 追加 + Lane Change Settings + - REMOVE - 削除 + How openpilot handles lane changes. + - There's no more models to blacklist! The only available model is "%1"! + Lane Change Delay - OK - OK + Lane Width Requirement + - Select a model to add to the blacklist + Minimum Speed for Lane Change - Are you sure you want to add the '%1' model to the blacklist? + Lateral Tuning - Add + Neural Network Feedforward (NNFF) - Select a model to remove from the blacklist + Smooth Curve Handling - Are you sure you want to remove the '%1' model from the blacklist? + Quality of Life Improvements - Remove + Miscellaneous lateral focused features to improve your overall openpilot experience. - RESET - ﾘｾｯﾄ + Pause Steering Below + - Reset all model scores? + Pauses steering control when driving below the set speed. - VIEW - 見る + mph + mph - DELETE + feet - Select a model to delete + Reboot required to take effect. - Are you sure you want to delete the '%1' model? + Reboot Now - Delete + kph - Deleting... + meters - Deleted! + Advanced Lateral Tuning - DOWNLOAD + Advanced settings for fine tuning openpilot's lateral controls. - CANCEL + Friction (Default: %1) - Select a driving model to download + Friction - Downloading %1... + Adjusts the resistance in steering. Higher values provide more stable steering but can make it feel heavy, while lower values allow lighter steering but may feel too sensitive. - SELECT - 選択 + Kp Factor (Default: %1) + - Select a model - 🗺️ = Navigation | 📡 = Radar | 👀 = VOACC + Kp Factor - WARNING: This is a very experimental model and may drive dangerously! + Adjusts how aggressively the car corrects its steering. Higher values offer quicker corrections but may feel jerky, while lower values make steering smoother but slower to respond. - I understand the risks. + Lateral Accel (Default: %1) - Start with a fresh calibration for the newly selected model? + Lateral Accel - Reboot required to take effect. + Adjusts how fast the car can steer from side to side. Higher values allow quicker lane changes but can feel unstable, while lower values provide smoother steering but may feel sluggish. - Reboot Now + Steer Ratio (Default: %1) - RESET ALL + Steer Ratio - RESET ONE + Adjusts how much openpilot needs to turn the wheel to steer. Higher values feel like driving a truck, more stable at high speeds, but harder to steer quickly at low speeds, while lower values feel like a go-kart, easier to steer in tight spots but more sensitive and less stable at high speeds. - Are you sure you want to completely reset all of your model calibrations? + Force Auto Tune On - Select a model to reset + Forces comma's auto lateral tuning for unsupported vehicles. - Are you sure you want to completely reset this model's calibrations? + Force Auto Tune Off - The 'Model Randomizer' only works with downloaded models. Do you want to download all the driving models? + Forces comma's auto lateral tuning off for supported vehicles. - Are you sure you want to completely reset your settings for the 'Traffic Mode' personality? + Controls the current state of 'Always on Lateral' with the 'LKAS' button. - Are you sure you want to completely reset your settings for the 'Aggressive' personality? + Activates 'Always on Lateral' whenever 'Cruise Control' is active bypassing the requirement to enable openpilot first. - Are you sure you want to completely reset your settings for the 'Standard' personality? + Pauses 'Always on Lateral' when the brake pedal is pressed below the set speed. - Are you sure you want to completely reset your settings for the 'Relaxed' personality? + Hides status bar for 'Always On Lateral'. - kph + Automatic Lane Changes - Downloading models... + Conducts lane changes without needing to touch the steering wheel upon turn signal activation. - openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required. - openpilotの本体は、左右4°以内、上5°、下9°以内の角度で取付ける必要があります。継続してキャリブレーションを続けているので、手動でリセットを行う必要はほぼありません。 + Delays lane changes by the set time to prevent sudden changes. + - Your device is pointed %1° %2 and %3° %4. - このデバイスは%2 %1°、%4 %3°の向きに設置されています。 + Sets the minimum lane width for openpilot to detect a lane as a lane. + - down - 下 + Sets the minimum speed required for openpilot to perform a lane change. + - up - 上 + Only One Lane Change Per Signal + - left - 左 + Limits lane changes to one per turn signal activation. + - right - 右 + Settings for fine tuning openpilot's lateral controls. + - - - FrogPilotAdvancedVisualsPanel - Advanced Onroad UI Widgets + Force Turn Desires Below Lane Change Speed - Advanced user customizations for the Onroad UI. + Forces the model to use turn desires when driving below the minimum lane change speed to help make left and right turns more precisely. - Camera View + Uses Twilsonco's 'Neural Network FeedForward' for more precise steering control. - Camera view for the onroad UI. This is purely a visual change and doesn't impact how openpilot drives. + Smoothens the steering control when entering and exiting curves by using Twilsonco's torque adjustments. - Display Stopping Points + seconds + + + FrogPilotLongitudinalPanel - Display an image on the screen where openpilot is detecting a potential red light/stop sign. + Conditional Experimental Mode - Hide Lead Marker + Below - Hide the marker for the vehicle ahead on the screen. + Curve Detected Ahead - Hide Speed + Lead Detected Ahead - Hide the speed indicator in the onroad UI. Additional toggle allows it to be hidden/shown via tapping the speed itself. + Navigation Data - Hide UI Elements + openpilot Wants to Stop In - Hide the selected UI elements from the onroad screen. + Turn Signal Below - Use Wheel Speed + Hide the Status Bar - Use the wheel speed instead of the cluster speed in the onroad UI. + Curve Speed Control - Developer UI + Automatically slow down for curves detected ahead or through the downloaded maps. - Show detailed information about openpilot's internal operations. + Curve Detection Method - Border Metrics + Curve Detection Failsafe - Display performance metrics around the edge of the screen while driving. + Experimental Mode Activation - FPS Display + Click the LKAS Button - Display the 'Frames Per Second' (FPS) at the bottom of the screen while driving. + Double-Tap the Screen - Lateral Metrics + Long Press the Distance Button - Display metrics related to steering control at the top of the screen while driving. + Longitudinal Tuning - Longitudinal Metrics + Settings that control how openpilot manages speed and acceleration. - Display metrics related to acceleration, speed, and desired following distance at the top of the screen while driving. + Acceleration Profile - Numerical Temperature Gauge + Deceleration Profile - Show exact temperature readings instead of general status labels like 'GOOD', 'OK', or 'HIGH' in the sidebar. + Human-Like Acceleration - Sidebar + Increase Stopped Distance - Display system information like CPU, GPU, RAM usage, IP address, and storage space in the sidebar. + Increases the distance to stop behind vehicles. - Use International System of Units + Quality of Life Improvements - Display measurements using the 'International System of Units' (SI). + Miscellaneous longitudinal focused features to improve your overall openpilot experience. - Model UI + Map Accel/Decel to Gears - Customize the model visualizations on the screen. + Reverse Cruise Increase - Lane Lines Width + Speed Limit Controller - How thick the lane lines appear on the display. - -Default matches the MUTCD standard of 4 inches. + Confirm New Speed Limits - Path Edges Width + Fallback Method - The width of the edges of the driving path to represent different modes and statuses. - -Default is 20% of the total path width. - -Color Guide: -- Blue: Navigation -- Light Blue: 'Always On Lateral' -- Green: Default -- Orange: 'Experimental Mode' -- Red: 'Traffic Mode' -- Yellow: 'Conditional Experimental Mode' Overridden + Override Method - Path Width + Speed Limit Offsets - How wide the driving path appears on your screen. - -Default (6.1 feet / 1.9 meters) matches the width of a 2019 Lexus ES 350. + Speed Limit Offset (0-34 mph) - Road Edges Width + Speed Limit Offset (35-54 mph) - How thick the road edges appear on the display. - -Default matches half of the MUTCD standard lane line width of 4 inches. + Speed Limit Offset (55-64 mph) - 'Unlimited' Road UI + Speed Limit Offset (65-99 mph) - Extend the display of the path, lane lines, and road edges as far as the model can see. + Miscellaneous 'Speed Limit Controller' focused features to improve your overall openpilot experience. - Auto + Force MPH Readings from Dashboard - Driver + Prepare for Higher Speed Limits - Standard + Prepare for Lower Speed Limits - Wide + Set Speed to Current Limit - Control Via UI - + mph + mph - Alerts + With Lead - Map Icon + Switches to 'Experimental Mode' when driving below the set speed with a lead vehicle. - Max Speed + With Lead - Show Distance + Slower Lead - Blind Spot + Stopped Lead - Steering Torque + Intersections - Turn Signal + Turns - Adjacent Path Metrics + Map Based - Auto Tune + Vision - Lead Info + Standard - Longitudinal Jerk + Eco - Fahrenheit + Sport - CPU + Sport+ - GPU + feet - IP + Acceleration - RAM + Deceleration - SSD Left + Lower Limits - SSD Used + Higher Limits - inches + None - % + Set Speed - feet - + Experimental Mode + 実験モード - Adjust how thick the lane lines appear on the display. - -Default matches the Vienna standard of 10 centimeters. + Previous Limit - Adjust how thick the road edges appear on the display. - -Default matches half of the Vienna standard of 10 centimeters. - + SELECT + 選択 - centimeters + Dashboard - meters + Navigation - Adjust how thick the lane lines appear on the display. - -Default matches the MUTCD standard of 4 inches. + Highest - Adjust how thick the road edges appear on the display. - -Default matches half of the MUTCD standard of 4 inches. + Lowest - - - FrogPilotConfirmationDialog - Reboot Later + Select your primary priority - Yes + Select your secondary priority - No + Select your tertiary priority - - - FrogPilotDataPanel - Delete Driving Footage and Data + MANAGE - DELETE + seconds - This button provides a swift and secure way to permanently delete all stored driving footage and data from your device. Ideal for maintaining privacy or freeing up space. + Speed Limit Offset (0-34 kph) - Are you sure you want to permanently delete all of your driving footage and data? + Speed Limit Offset (35-54 kph) - Delete + Speed Limit Offset (55-64 kph) - Deleting... + Speed Limit Offset (65-99 kph) - Deleted! + kph - Screen Recordings + meters - Manage your screen recordings. + Automatically switch to 'Experimental Mode' when specific conditions are met. - RENAME + Triggers 'Experimental Mode' when driving below the set speed without a lead vehicle. - Select a recording to delete + Triggers 'Experimental Mode' when a curve is detected in the road ahead. - Are you sure you want to delete this recording? + Triggers 'Experimental Mode' when a slower or stopped vehicle is detected ahead. - Failed... + Triggers 'Experimental Mode' based on navigation data, such as upcoming intersections or turns. - Select a recording to rename + Triggers 'Experimental Mode' when openpilot wants to stop such as for a stop sign or red light. - Enter a new name + Triggers 'Experimental Mode' when using turn signals below the set speed. - Rename Recording + Hides status bar for 'Conditional Experimental Mode'. - Renaming... + Uses data from either the downloaded maps or the model to determine where curves are. - Renamed! + Triggers 'Curve Speed Control' only when a curve is detected with the model as well when using the 'Map Based' method. - FrogPilot Backups + Curve Detection Sensitivity - Manage your FrogPilot backups. + Controls how sensitive openpilot is to detecting curves. Higher values trigger earlier responses at the risk of triggering too often, while lower values increase confidence at the risk of triggering too infrequently. - BACKUP + Speed Aggressiveness - RESTORE + Controls how aggressive openpilot takes turns. Higher values result in faster turns, while lower values result in slower turns. - Name your backup + Hide Desired Speed Widget From UI - Do you want to compress this backup? The end file size will be 2.25x smaller, but can take 10+ minutes. + Hides the desired speed widget from the onroad UI. - Backing... + Customize Driving Personalities - Compressing... + Customize the personality profiles to suit your driving style. - Success! + Traffic Personality - Select a backup to delete + Customizes the 'Traffic' personality profile, tailored for navigating through traffic. - Are you sure you want to delete this backup? + Following Distance - Select a restore point + Controls the minimum following distance in 'Traffic' mode. openpilot will automatically dynamically between this value and the 'Aggressive' profile distance based on your current speed. - Are you sure you want to restore this version of FrogPilot? + Acceleration Sensitivity - Restore + Controls how sensitive openpilot is to changes in acceleration in 'Traffic' mode. Higher values result in smoother, more gradual acceleration, while lower values allow for quicker, more responsive changes that may feel abrupt. - Restoring... + Deceleration Sensitivity - Extracting... + Controls how sensitive openpilot is to changes in deceleration in 'Traffic' mode. Higher values result in smoother, more gradual deceleration, while lower values allow for quicker, more responsive changes that may feel abrupt. - Restored! + Safety Distance Sensitivity - Rebooting... + Adjusts how cautious openpilot is around other vehicles or obstacles in 'Traffic' mode. Higher values increase following distances and prioritize safety, leading to more cautious driving, while lower values allow for closer following but may reduce reaction time. - Toggle Backups + Speed Increase Responsiveness - Manage your toggle backups. + Controls how quickly openpilot increases speed in 'Traffic' mode. Higher values ensure smoother, more gradual speed changes when accelerating, while lower values allow for quicker, more responsive changes that may feel abrupt. - Are you sure you want to restore this toggle backup? + Speed Decrease Responsiveness - - - FrogPilotDevicePanel - Device Settings + Controls how quickly openpilot decreases speed in 'Traffic' mode. Higher values ensure smoother, more gradual speed changes when slowing down, while lower values allow for quicker, more responsive changes that may feel abrupt. - Device behavior settings. + Reset Settings - Device Shutdown Timer + Restores the 'Traffic Mode' settings to their default values. - How long the device stays on after you stop driving. + Aggressive Personality - Disable Internet Requirement + Customize the 'Aggressive' personality profile, designed for a more assertive driving style. - The device can work without an internet connection for as long as you need. + Sets the following distance for 'Aggressive' mode. This determines roughly how many seconds you'll follow behind the car ahead. + +Default: 1.25 seconds. - Increase Thermal Safety Limit + Controls how sensitive openpilot is to changes in acceleration in 'Aggressive' mode. Higher values result in smoother, more gradual acceleration, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 0.5. - The device can run at higher temperatures than recommended. + Controls how sensitive openpilot is to changes in deceleration in 'Aggressive' mode. Higher values result in smoother, more gradual deceleration, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 0.5. - Low Battery Shutdown Threshold + Adjusts how cautious openpilot is around other vehicles or obstacles in 'Aggressive' mode. Higher values increase following distances and prioritize safety, leading to more cautious driving, while lower values allow for closer following but may reduce reaction time. + +Default: 1.0. - Shut down the device when the car's battery gets too low to prevent damage to the 12V battery. + Controls how quickly openpilot increases speed in 'Aggressive' mode. Higher values ensure smoother, more gradual speed changes when accelerating, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 0.5. - Turn Off Data Tracking + Controls how quickly openpilot decreases speed in 'Aggressive' mode. Higher values ensure smoother, more gradual speed changes when slowing down, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 0.5. - Disable all tracking to improve privacy. + Restores the 'Aggressive' settings to their default values. - Turn Off Data Uploads + Standard Personality - Stop the device from sending any data to the servers. + Customize the 'Standard' personality profile, optimized for balanced driving. - Screen Settings + Set the following distance for 'Standard' mode. This determines roughly how many seconds you'll follow behind the car ahead. + +Default: 1.45 seconds. - Screen behavior settings. + Controls how sensitive openpilot is to changes in acceleration in 'Standard' mode. Higher values result in smoother, more gradual acceleration, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 1.0. - Screen Brightness (Offroad) + Controls how sensitive openpilot is to changes in deceleration in 'Standard' mode. Higher values result in smoother braking, while lower values allow for quicker, more immediate braking that may feel abrupt. + +Default: 1.0. - The screen brightness when you're not driving. + Adjusts how cautious openpilot is around other vehicles or obstacles in 'Standard' mode. Higher values increase following distances and prioritize safety, leading to more cautious driving, while lower values allow for closer following but may reduce reaction time. + +Default: 1.0. - Screen Brightness (Onroad) + Controls how quickly openpilot increases speed in 'Standard' mode. Higher values ensure smoother, more gradual speed changes when accelerating, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 1.0. - The screen brightness while you're driving. + Controls how quickly openpilot decreases speed in 'Standard' mode. Higher values ensure smoother, more gradual speed changes when slowing down, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 1.0. - Screen Recorder + Restores the 'Standard' settings to their default values. - Display a button in the onroad UI to record the screen. + Relaxed Personality - Screen Timeout (Offroad) + Customize the 'Relaxed' personality profile, ideal for a more laid-back driving style. - How long it takes for the screen to turn off when you're not driving. + Set the following distance for 'Relaxed' mode. This determines roughly how many seconds you'll follow behind the car ahead. + +Default: 1.75 seconds. - Screen Timeout (Onroad) + Controls how sensitive openpilot is to changes in acceleration in 'Relaxed' mode. Higher values result in smoother, more gradual acceleration, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 1.0. - How long it takes for the screen to turn off while you're driving. + Controls how sensitive openpilot is to changes in deceleration in 'Relaxed' mode. Higher values result in smoother braking, while lower values allow for quicker, more immediate braking that may feel abrupt. + +Default: 1.0. - 5 mins + Adjusts how cautious openpilot is around other vehicles or obstacles in 'Relaxed' mode. Higher values increase following distances and prioritize safety, leading to more cautious driving, while lower values allow for closer following but may reduce reaction time. + +Default: 1.0. - mins + Controls how quickly openpilot increases speed in 'Relaxed' mode. Higher values ensure smoother, more gradual speed changes when accelerating, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 1.0. - hour + Controls how quickly openpilot decreases speed in 'Relaxed' mode. Higher values ensure smoother, more gradual speed changes when slowing down, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 1.0. - hours + Restores the 'Relaxed' settings to their default values. - Only Onroad + Toggle 'Experimental Mode' on/off using either the steering wheel buttons or screen. + +This overrides 'Conditional Experimental Mode'. - volts + Toggles 'Experimental Mode' by pressing the 'LKAS' button on the steering wheel. - Auto + Toggles 'Experimental Mode' by double-tapping the onroad UI within a 0.5 second period. - seconds + Toggles 'Experimental Mode' by holding down the 'distance' button on the steering wheel for 0.5 seconds. - WARNING: This can cause premature wear or damage by running the device over comma's recommended temperature limits! + Enables either a sporty or eco-friendly acceleration rate. 'Sport+' aims to make openpilot accelerate as fast as possible. - I understand the risks. + Enables either a sporty or eco-friendly deceleration rate. - WARNING: This will prevent your drives from being recorded and the data will be unobtainable! + Uses the lead's acceleration rate when at a takeoff and ramps off the acceleration rate when approaching the maximum set speed for a more 'human-like' driving experience. - WARNING: This will prevent your drives from appearing on comma connect which may impact debugging and support! + Human-Like Approach Behind Leads - - - FrogPilotLateralPanel - Always on Lateral + Dynamically adjusts the following distance when approaching slower or stopped vehicles for a more 'human-like' driving experience. - openpilot's steering control stays active even when the brake or gas pedals are pressed. - -Deactivate only occurs with the 'Cruise Control' button. + Lead Detection Confidence - Control with LKAS Button + Controls how sensitive openpilot is to detecting vehicles ahead. A lower value can help detect vehicles sooner and from farther away, but increases the chance openpilot mistakes other objects for vehicles. - 'Always on Lateral' gets turned on or off using the 'LKAS' button. + Maximum Acceleration Rate - Enable with Cruise Control + Sets a cap on how fast openpilot can accelerate. - 'Always on Lateral' gets turned on by pressing the 'Cruise Control' button bypassing the requirement to enable openpilot first. + 'Taco Bell Run' Turn Speed Hack - Pause on Brake Below + Uses comma's speed hack they used to help handle left and right turns more precisely during their 2022 'Taco Bell' drive by reducing the maximum allowed speed and acceleration while turning. - 'Always on Lateral' pauses when the brake pedal is pressed below the set speed. + Cruise Increase - Hide the Status Bar + Controls the interval used when increasing the cruise control speed. - The status bar for 'Always on Lateral' is hidden. + Cruise Increase (Long Press) - Lane Change Settings + Controls the interval used when increasing the cruise control speed while holding down the button for 0.5+ seconds. - How openpilot handles lane changes. + Force Keep openpilot in the Standstill State - Hands-Free Lane Change + Keeps openpilot in the 'standstill' state until the gas pedal or 'resume' button is pressed. - Lane changes are conducted without needing to touch the steering wheel upon turn signal activation. + Force Stop for 'Detected' Stop Lights/Signs - Lane Change Delay + Forces a stop whenever openpilot 'detects' a potential red light/stop sign to prevent it from running the red light/stop sign. - How long openpilot waits before changing lanes. + Set Speed Offset - Lane Width Requirement + Controls how much higher or lower the set speed should be compared to your current set speed. For example, if you prefer to drive 5 mph above the speed limit, this setting will automatically add that difference when you adjust your set speed. - The minimum lane width for openpilot to detect a lane as a lane. + Maps the acceleration and deceleration profiles to your car's 'Eco' or 'Sport' gear modes. - Minimum Speed for Lane Change + Reverses the long press cruise increase feature to increase the max speed by 5 mph instead of 1 on short presses. - The minimum speed required for openpilot to perform a lane change. + Automatically adjust your max speed to match the speed limit using downloaded 'Open Street Maps' data, 'Navigate on openpilot', or your car's dashboard (Toyota/Lexus/HKG only). - Single Lane Change Per Signal + Enables manual confirmations before using a new speed limit. - Lane changes are limited to one per turn signal activation. + Controls what happens when no speed limit data is available. - Lateral Tuning + Controls how the current speed limit is overriden. + + - Settings that control how openpilot manages steering. + Forces speed limit readings from the dashboard to MPH if it normally displays them in KPH. - Neural Network Feedforward (NNFF) + Sets a lookahead value to prepare for upcoming higher speed limits when using downloaded map data. - Twilsonco's 'Neural Network FeedForward' for more precise steering control. + Sets a lookahead value to prepare for upcoming lower speed limits when using downloaded map data. - Smooth Curve Handling + Sets your max speed to match the current speed limit when enabling openpilot. - Smoother steering when entering and exiting curves with Twilsonco's torque adjustments. + Speed Limit Source Priority Order - Quality of Life Improvements + Sets the order of priority for speed limit data sources. - Miscellaneous lateral focused features to improve your overall openpilot experience. + Set speed limit offsets to drive over the posted speed limit. - Pause Steering Below + Sets the speed limit offset for speeds between 0 and 34 mph. - Pauses steering control when driving below the set speed. + Sets the speed limit offset for speeds between 35 and 54 mph. - mph - mph + Sets the speed limit offset for speeds between 55 and 64 mph. + - feet + Sets the speed limit offset for speeds between 65 and 99 mph. - Reboot required to take effect. + Show Speed Limit Sources - Reboot Now + Displays the speed limit sources in the onroad UI when using 'Speed Limit Controller'. - kph + Reset + リセット + + + The 'Map Based' option is only available when some 'Map Data' has been downloaded! - meters + Okay - - - FrogPilotLongitudinalPanel - Conditional Experimental Mode + Set With Gas Pedal - Automatically switches to 'Experimental Mode' when specific conditions are met. + Max Set Speed - Below + Map Data - 'Experimental Mode' is active when driving below the set speed without a lead vehicle. + Are you sure you want to completely reset your settings for 'Traffic Mode'? - Curve Detected Ahead + Are you sure you want to completely reset your settings for the 'Aggressive' personality? - 'Experimental Mode' is active when a curve is detected in the road ahead. + Are you sure you want to completely reset your settings for the 'Standard' personality? - Lead Detected Ahead + Are you sure you want to completely reset your settings for the 'Relaxed' personality? - 'Experimental Mode' is active when a slower or stopped vehicle is detected ahead. + Sets the speed limit offset for speeds between 0-34 kph. - Navigation Data + Sets the speed limit offset for speeds between 35-54 kph. - 'Experimental Mode' is active based on navigation data, such as upcoming intersections or turns. + Sets the speed limit offset for speeds between 55-64 kph. - openpilot Wants to Stop In + Sets the speed limit offset for speeds between 65-99 kph. - 'Experimental Mode' is active when openpilot wants to stop such as for a stop sign or red light. + Sets the speed limit offset for speeds between 0-34 mph. - Turn Signal Below + Sets the speed limit offset for speeds between 35-54 mph. - 'Experimental Mode' is active when using turn signals below the set speed. + Sets the speed limit offset for speeds between 55-64 mph. - Hide the Status Bar + Sets the speed limit offset for speeds between 65-99 mph. + + + FrogPilotModelPanel - The status bar for 'Conditional Experimental Mode' is hidden. + Automatically Update and Download Models - Curve Speed Control + Automatically downloads new models and updates existing ones if needed. - Automatically slow down for curves detected ahead or through the downloaded maps. + Model Randomizer - Curve Detection Method + Randomly selects a model each drive and brings up a model review prompt at the end to help find your preferred model. - The method used to detect curves. + Manage Model Blacklist - Curve Detection Failsafe + Manage the blacklisted models that aren't being used with 'Model Randomizer'. - Curve control is triggered only when a curve is detected ahead. Use this as a failsafe to prevent false positives when using the 'Map Based' method. + Reset Model Scores - Curve Sensitivity + Clear the ratings you've given to the driving models. - How sensitive openpilot is to detecting curves. Higher values trigger earlier responses at the risk of triggering too often, while lower values increase confidence at the risk of triggering too infrequently. + Review Model Scores - Turn Speed Aggressiveness + View the ratings you've assigned to the driving models. - How aggressive openpilot takes turns. Higher values result in quicker turns, while lower values provide gentler turns. + Delete Model - Disable Speed Value Smoothing In the UI + Delete driving models from your device. - Speed value smoothing is disabled in the UI to instead display the exact speed requested by the curve control. + Download Model - Experimental Mode Activation + Download new driving models. - 'Experimental Mode' is toggled off/on using the steering wheel buttons or the on-screen controls. - -This overrides 'Conditional Experimental Mode'. + Select Model - Click the LKAS Button + Select your preferred driving model. - 'Experimental Mode' is toggled by pressing the 'LKAS' button on the steering wheel. + ADD + 追加 + + + REMOVE + 削除 + + + REMOVE ALL - Double-Tap the Screen + There are no more models to blacklist! The only available model is "%1"! - 'Experimental Mode' is toggled by double-tapping the onroad UI within 0.5 seconds. + OK + OK + + + Select a model to add to the blacklist - Long Press the Distance Button + Are you sure you want to add the '%1' model to the blacklist? - 'Experimental Mode' is toggled by holding the 'distance' button on the steering wheel for 0.5+ seconds. + Add - Longitudinal Tuning + Select a model to remove from the blacklist - Settings that control how openpilot manages speed and acceleration. + Are you sure you want to remove the '%1' model from the blacklist? - Acceleration Profile + Remove - Choose between a sporty or eco-friendly acceleration rate. + Are you sure you want to remove all of your blacklisted models? - Deceleration Profile + RESET + ﾘｾｯﾄ + + + Are you sure you want to reset all of your model drives and scores? - Choose between a sporty or eco-friendly deceleration rate. + REVIEW + 見る + + + DELETE - Human-Like Acceleration + DELETE ALL - Uses the lead's acceleration rate when at a takeoff and ramps off the acceleration rate when approaching the maximum set speed for a smoother max speed approach. + Select a driving model to delete - Human-Like Following Distance + Are you sure you want to delete the '%1' model? - Dynamically adjusts the following distance to feel more natural when approaching slower or stopped vehicles. + Delete - Increase Stopped Distance + Are you sure you want to delete all of your downloaded driving models? - Increases the distance to stop behind vehicles. + DOWNLOAD - Quality of Life Improvements + DOWNLOAD ALL - Miscellaneous longitudinal focused features to improve your overall openpilot experience. + Select a driving model to download - Cruise Increase Interval + SELECT + 選択 + + + Select a model - 🗺️ = Navigation | 📡 = Radar | 👀 = VOACC - Interval used when increasing the cruise control speed. + Reboot required to take effect. - Custom Cruise Interval (Long Press) + Reboot Now - Interval used when increasing the cruise control speed when holding down the button for 0.5+ seconds. + The 'Model Randomizer' only works with downloaded models. Do you want to download all the driving models? - Map Accel/Decel to Gears + CANCEL + + + FrogPilotParamManageControl - Map the acceleration and deceleration profiles to the 'Eco' or 'Sport' gear modes. + MANAGE + + + FrogPilotSettingsWindow - Onroad Personality Button + Alerts and Sounds - The current driving personality is displayed on the screen. Tap to switch personalities, or long press for 2.5 seconds to activate 'Traffic Mode'. + Driving Controls - Reverse Cruise Increase + Navigation - The long press feature is reversed in order to increase speed by 5 mph instead of 1. + System Management - Speed Limit Controller + Theme and Appearance - Automatically adjust your max speed to match the speed limit using 'Open Street Maps', 'Navigate on openpilot', or your car's dashboard (Toyota/Lexus/HKG only). + Vehicle Controls - Confirm New Speed Limits + Options to customize FrogPilot's sound alerts and notifications. - Require manual confirmation before using a new speed limit. + Tools and system utilities used to maintain and troubleshoot FrogPilot. - Fallback Method + Options for customizing FrogPilot's themes, UI appearance, and onroad widgets. - Choose what happens when no speed limit data is available. + Vehicle-specific settings and configurations for supported makes and models. - Override Method + MANAGE - Choose how you want to override the current speed limit. - - + GAS / BRAKE - Speed Limit Source Priority + STEERING - Set the order of priority for speed limit data sources. + DATA - Speed Limit Offsets + DEVICE - Manage toggles related to 'Speed Limit Controller's controls. + UTILITIES - Speed Limit Offset (0-34 mph) + APPEARANCE - Set the speed limit offset for speeds between 0 and 34 mph. + THEME - Speed Limit Offset (35-54 mph) + Minimal - Set the speed limit offset for speeds between 35 and 54 mph. + Standard - Speed Limit Offset (55-64 mph) + Advanced + 詳細 + + + Developer - Set the speed limit offset for speeds between 55 and 64 mph. + Tuning Level - Speed Limit Offset (65-99 mph) + Select the tuning level that best suits your needs. 'Minimal' is ideal for those who prefer simplicity and ease of use, 'Standard' is recommended for most users, offering a balanced experience, 'Advanced' provides more control for experienced users, while 'Developer' unlocks highly customizable settings designed for seasoned enthusiasts. - Set the speed limit offset for speeds between 65 and 99 mph. + WARNING: This unlocks some potentially dangerous settings that can DRASTICALLY alter your driving experience! - Miscellaneous 'Speed Limit Controller' focused features to improve your overall openpilot experience. + I understand the risks. - Force MPH Readings from Dashboard + The 'Developer' preset is only available for users with either over 100 hours on FrogPilot, or 250 hours with openpilot. - Force speed limit readings in MPH from the dashboard if it normally displays in KPH. + Okay - Prepare for Higher Speed Limits + FrogPilot features that impact acceleration, braking, and steering. - Set a lookahead value to prepare for upcoming higher speed limits based on map data. + Map data downloader and 'Navigate On openpilot (NOO)' settings. - Prepare for Lower Speed Limits + DRIVING MODEL - Set a lookahead value to prepare for upcoming lower speed limits based on map data. + MAP DATA - Set Speed to Current Limit + PRIMELESS NAVIGATION + + + FrogPilotSoundsPanel - Set your max speed to match the current speed limit when enabling openpilot. + Alert Volume Controller - Visual Settings + Control the volume level for each individual sound in openpilot. - Manage visual settings for the 'Speed Limit Controller'. + Disengage Volume - Use Vienna-Style Speed Signs + Related alerts: + +Adaptive Cruise Disabled +Parking Brake Engaged +Brake Pedal Pressed +Speed too Low - Switch to Vienna-style (EU) speed limit signs instead of MUTCD (US). + Engage Volume - Show Speed Limit Offset + Related alerts: + +NNFF Torque Controller loaded +openpilot engaged - Display the speed limit offset separately in the onroad UI when using the Speed Limit Controller. + Prompt Volume - mph - mph + Related alerts: + +Car Detected in Blindspot +Speed too Low +Steer Unavailable Below 'X' +Take Control, Turn Exceeds Steering Limit + - With Lead + Prompt Distracted Volume - Switches to 'Experimental Mode' when driving below the set speed with a lead vehicle. + Related alerts: + +Pay Attention, Driver Distracted +Touch Steering Wheel, Driver Unresponsive - With Lead + Refuse Volume - Slower Lead + Related alerts: + +openpilot Unavailable - Stopped Lead + Warning Soft Volume - Intersections + Related alerts: + +BRAKE!, Risk of Collision +TAKE CONTROL IMMEDIATELY - Turns + Warning Immediate Volume - Off + Related alerts: + +DISENGAGE IMMEDIATELY, Driver Distracted +DISENGAGE IMMEDIATELY, Driver Unresponsive - Map Based + Custom Alerts - Vision + Goat Scream Steering Saturated Alert - Standard + Green Light Alert - Eco + Lead Departing Alert - Sport + Loud Blindspot Alert - Sport+ + Custom alerts for openpilot events. - feet + Enables the famed 'Goat Scream' that has brought both joy and anger to FrogPilot users all around the world! - Acceleration + Plays an alert when a traffic light changes from red to green. - Deceleration + Plays an alert when the lead vehicle starts starts to depart when at a standstill. - Lower Limits + Plays a louder alert for when a vehicle is detected in the blindspot when attempting to change lanes. - Higher Limits + Speed Limit Changed Alert - None + Plays an alert when the speed limit changes. - Set Speed + Auto - Experimental Mode - 実験モード + Muted + + + + FrogPilotThemesPanel - Previous Limit + Custom Theme - Gas Pedal Press + Custom openpilot themes. - Cruise Set Speed + Color Scheme - SELECT - 選択 + Icon Pack + - Dashboard + Sound Pack - Navigation + Steering Wheel - Offline Maps + Turn Signal Animation - Highest + Download Status - Lowest + Holiday Themes - Select your primary priority + Random Events - Select your secondary priority + Startup Alert - Select your tertiary priority + DELETE - MANAGE + DOWNLOAD - seconds + SELECT + 選択 + + + Select a color scheme to delete - Control Via UI + Are you sure you want to delete the '%1' color scheme? - Speed Limit Offset (0-34 kph) + Delete - Speed Limit Offset (35-54 kph) + Select a color scheme to download - Speed Limit Offset (55-64 kph) + Select a color scheme - Speed Limit Offset (65-99 kph) + Select an icon pack to delete - Set speed limit offset for limits between 0-34 kph. + Are you sure you want to delete the '%1' icon pack? - Set speed limit offset for limits between 35-54 kph. + Select an icon pack to download - Set speed limit offset for limits between 55-64 kph. + Select an icon pack - Set speed limit offset for limits between 65-99 kph. + Select a sound pack to delete - kph + Select a sound pack to download - meters + Select a steering wheel to delete - Set speed limit offset for limits between 0-34 mph. + Select a steering wheel to download - Set speed limit offset for limits between 35-54 mph. + Select a steering wheel - Set speed limit offset for limits between 55-64 mph. + STOCK - Set speed limit offset for limits between 65-99 mph. + FROGPILOT - - - FrogPilotParamManageControl - MANAGE + CUSTOM - - - FrogPilotSettingsWindow - Advanced Settings + CLEAR - Alerts and Sounds + Characters: 0/%1 - Driving Controls + CANCEL - Navigation + Changes out openpilot's color scheme. + +Want to submit your own color scheme? Share it in the 'custom-themes' channel on the FrogPilot Discord! - System Management + Changes out openpilot's icon pack. + +Want to submit your own icons? Share them in the 'custom-themes' channel on the FrogPilot Discord! - Theme and Appearance + Changes out openpilot's sound effects. + +Want to submit your own sounds? Share them in the 'custom-themes' channel on the FrogPilot Discord! - Vehicle Controls + Enables a custom steering wheel icon in the top right of the screen. - Advanced FrogPilot features for more experienced users. + Enables themed turn signal animations. + +Want to submit your own animations? Share them in the 'custom-themes' channel on the FrogPilot Discord! - Options to customize FrogPilot's sound alerts and notifications. + Changes the openpilot theme based on the current holiday. Minor holidays last one day, while major holidays (Easter, Christmas, Halloween, etc.) last the entire week. - FrogPilot features than impact acceleration, braking, and steering. + Rainbow Path - Offline maps downloader and 'Navigate On openpilot (NOO)' settings. + Swap out the path in the onroad UI for a Mario Kart inspired 'Rainbow Path'. - Tools and system utilities used to maintain and troubleshoot FrogPilot. + Enables random cosmetic events that happen during certain driving conditions. These events are purely for fun and don't affect driving controls! - Options for customizing FrogPilot's themes, UI appearance, and onroad widgets. + Controls the text of the 'Startup' alert message that appears when you start the drive. - Vehicle-specific settings and configurations for supported makes and models. + Select a distance icon pack to delete - DRIVING + Are you sure you want to delete the '%1' distance icon pack? - VISUALS + Select a distance icon pack to download - MANAGE + Select a distance icon pack - GAS / BRAKE + Select a signal animation to delete - STEERING + Are you sure you want to delete the '%1' signal animation? - DATA + Select a signal animation to download - DEVICE + Select a signal animation - UTILITIES + Are you sure you want to delete the '%1' sound pack? - APPEARANCE + Select a sound pack - THEME + Are you sure you want to delete the '%1' steering wheel? + + + + Enter the text for the top half + + + + Enter the text for the bottom half - FrogPilotSoundsPanel + FrogPilotVehiclesPanel - Alert Volume Controller + Select Make - Control the volume level for each individual sound in openpilot. + SELECT + 選択 + + + Select a Make - Disengage Volume + Select Model - Related alerts: - -Adaptive Cruise Disabled -Parking Brake Engaged -Brake Pedal Pressed -Speed too Low + Select a Model - Engage Volume + Disable Automatic Fingerprint Detection - Related alerts: - -NNFF Torque Controller loaded -openpilot engaged + Forces the selected fingerprint and prevents it from ever changing. - Prompt Volume + Disable openpilot Longitudinal Control - Related alerts: - -Car Detected in Blindspot -Speed too Low -Steer Unavailable Below 'X' -Take Control, Turn Exceeds Steering Limit + Are you sure you want to completely disable openpilot longitudinal control? - Prompt Distracted Volume + Reboot required to take effect. - Related alerts: - -Pay Attention, Driver Distracted -Touch Steering Wheel, Driver Unresponsive + Reboot Now - Refuse Volume + 2017 Volt Stop and Go Hack - Related alerts: - -openpilot Unavailable + Experimental GM Tune - Warning Soft Volume + Uphill/Downhill Smoothing - Related alerts: - -BRAKE!, Risk of Collision -TAKE CONTROL IMMEDIATELY + Use comma's New Longitudinal API - Warning Immediate Volume + Subaru Crosstrek Torque Increase - Related alerts: - -DISENGAGE IMMEDIATELY, Driver Distracted -DISENGAGE IMMEDIATELY, Driver Unresponsive + Increases the maximum allowed torque for the Subaru Crosstrek. + + + + Automatically Lock/Unlock Doors + + + + Cluster Speed Offset + + + + FrogsGoMoo's Personal Tweaks + + + + Stop and Go Hack + + + + Lock + + + + Unlock - Custom Alerts + Disables openpilot longitudinal control and uses the car's stock ACC instead. - Enable custom alerts for openpilot events. + Forces stop and go for the 2017 Chevy Volt. - Goat Scream Steering Saturated Alert + Enables FrogsGoMoo's experimental GM tune that is based on nothing but guesswork. Use at your own risk! - Enable the famed 'Goat Scream' that has brought both joy and anger to FrogPilot users all around the world! + Smoothens the gas and brake response when driving on slopes. - Green Light Alert + Enables comma's new control system that has shown great improvement with acceleration and braking, but has a few issues on some GM vehicles. - Get an alert when a traffic light changes from red to green. + Enables comma's new control system that has shown great improvement with acceleration and braking, but has a few issues on Hyundai/Kia/Genesis. - Lead Departing Alert + Automatically locks the doors when in drive and unlocks when in park. - Get an alert when the lead vehicle starts departing when at a standstill. + Sets the cluster offset openpilot uses to try and match the speed displayed on the dash. - Loud Blindspot Alert + Enables FrogsGoMoo's personal tweaks to the Toyota tune focused around his 2019 Lexus ES 350 to take off a bit quicker and stop a bit smoother. - Enable a louder alert for when a vehicle is detected in the blindspot when attempting to change lanes. + Forces stop and go for vehicles without stock stop and go functionality. + + + FrogPilotVisualsPanel - Speed Limit Change Alert + Custom FrogPilot widgets used in the onroad user interface. - Trigger an alert when the speed limit changes. + Compass - - - FrogPilotThemesPanel - Custom Theme + Dynamic Path Width - Custom openpilot themes. + Road Name - Color Scheme + Rotating Steering Wheel - Themed color schemes. - -Want to submit your own color scheme? Share it in the 'feature-request' channel on the FrogPilot Discord! + Larger Map Display - Icon Pack + Map Style - Themed icon packs. - -Want to submit your own icons? Share them in the 'feature-request' channel on the FrogPilot Discord! + Show Driver Camera When In Reverse - Sound Pack + Stopped Timer - Themed sound effects. - -Want to submit your own sounds? Share them in the 'feature-request' channel on the FrogPilot Discord! + Blind Spot - Steering Wheel + Dynamic - Custom steering wheel icons. + Static - Turn Signal Animation + Full Map - Themed turn signal animations. - -Want to submit your own animations? Share them in the 'feature-request' channel on the FrogPilot Discord! + Mapbox Streets - Download Status + Mapbox Outdoors - Holiday Themes + Mapbox Light - Change the openpilot theme based on the current holiday. Minor holidays last one day, while major holidays (Easter, Christmas, Halloween, etc.) last a week. + Mapbox Dark - Random Events + Mapbox Satellite - Random cosmetic events that happen during certain driving conditions. These events are purely for fun and don't affect driving controls! + Mapbox Satellite Streets - Startup Alert + Mapbox Navigation Day - Custom 'Startup' alert message that appears when you start driving. + Mapbox Navigation Night - DELETE + Mapbox Traffic Night - DOWNLOAD + mike854's (Satellite hybrid) @@ -2932,441 +2980,467 @@ Want to submit your own animations? Share them in the 'feature-request&apos 選択 - Select a color scheme to delete + Select a map style - Are you sure you want to delete the '%1' color scheme? + Accessibility - Delete + Visual features to improve your overall openpilot experience. - Select a color scheme to download + Camera View - Select a color scheme + Changes the camera view display. This is purely a visual change and doesn't impact how openpilot drives. - Select an icon pack to delete + On Screen Personality Button - Are you sure you want to delete the '%1' icon pack? + Displays the current driving personality on the screen. Tap to switch personalities, or long press for 2.5 seconds to activate 'Traffic' mode. - Select an icon pack to download + Displays the driver camera feed when the vehicle is in reverse. - Select an icon pack + Standby Mode - Select a signal pack to delete + Turns the screen off when driving and automatically wakes it up if engagement state changes or important alerts occur. - Are you sure you want to delete the '%1' signal pack? + Activates a timer when stopped to indicate how long the vehicle has been stopped for. - Select a signal pack to download + Advanced UI Controls - Select a signal pack + Advanced features to fine tune your personalized UI. - Select a sound pack to delete + Hide Current Speed - Are you sure you want to delete the '%1' sound scheme? + Hides the current speed. - Select a sound pack to download + Hide Lead Marker - Select a sound scheme + Hides the marker for the vehicle ahead. - Select a steering wheel to delete + Hide Map Icon - Are you sure you want to delete the '%1' steering wheel image? + Hides the map icon. - Select a steering wheel to download + Hide Max Speed - Select a steering wheel + Hides the max speed. - STOCK + Hide Non-Critical Alerts - FROGPILOT + Hides non-critical alerts. - CUSTOM + Hide Speed Limits - CLEAR + Hides the speed limits. - Enter your text for the top half + Use Wheel Speed - Characters: 0/%1 + Uses the wheel speed instead of the cluster speed. This is purely a visual change and doesn't impact how openpilot drives. - Enter your text for the bottom half + Developer Metrics - CANCEL + Show detailed information about openpilot's internal operations. - - - FrogPilotVehiclesPanel - Select Make + Border Metrics - SELECT - 選択 + Displays performance metrics around the edge of the screen while driving. + - Select a Make + FPS Display - Select Model + Displays the 'Frames Per Second' (FPS) at the bottom of the screen while driving. - Select a Model + Lateral Metrics - Disable Automatic Fingerprint Detection + Displays metrics related to steering control at the top of the screen while driving. - Forces the selected fingerprint and prevents it from ever changing. + Longitudinal Metrics - Disable openpilot Longitudinal Control + Displays metrics related to acceleration, speed, and desired following distance at the top of the screen while driving. - Disable openpilot longitudinal control and use stock ACC instead. + Numerical Temperature Gauge - Are you sure you want to completely disable openpilot longitudinal control? + Shows exact temperature readings instead of status labels like 'GOOD', 'OK', or 'HIGH' in the sidebar. - Reboot required to take effect. + Sidebar - Reboot Now + Displays system information like CPU, GPU, RAM usage, IP address, and storage space in the sidebar. - 2017 Volt Stop and Go Hack + Use International System of Units - Force stop and go for the 2017 Chevy Volt. + Displays measurements using the 'International System of Units' (SI). - Experimental GM Tune + Model UI - FrogsGoMoo's experimental GM tune that is based on nothing but guesswork. Use at your own risk! + Customize the model visualizations on the screen. - Uphill/Downhill Smoothing + Automatically adjusts the width of the driving path display based on the current engagement state: + +Fully engaged = 100% +Always On Lateral Active = 75% +Fully disengaged = 50% - Smoothen the car’s gas and brake response when driving on slopes. + Lane Lines Width - Use comma's New Longitudinal API + Controls the thickness the lane lines appear on the display. + +Default matches the MUTCD standard of 4 inches. - Comma's new longitudinal control system that has shown great improvement with acceleration and braking, but has a few issues on some GM vehicles. + Path Edges Width - Use comma's new longitudinal control system that has shown great improvement with acceleration and braking, but has a few issues on Hyundai/Kia/Genesis. + Controls the width of the edges of the driving path to represent different modes and statuses. + +Default is 20% of the total path width. + +Color Guide: +- Blue: Navigation +- Light Blue: 'Always On Lateral' +- Green: Default +- Orange: 'Experimental Mode' +- Red: 'Traffic Mode' +- Yellow: 'Conditional Experimental Mode' Overridden - Subaru Crosstrek Torque Increase + Path Width - Increases the maximum allowed torque for the Subaru Crosstrek. + Controls how wide the driving path appears on your screen. + +Default (6.1 feet / 1.9 meters) matches the width of a 2019 Lexus ES 350. - Automatically Lock/Unlock Doors + Road Edges Width - Automatically lock the doors when in drive and unlock when in park. + Controls how thick the road edges appear on the display. + +Default matches half of the MUTCD standard lane line width of 4 inches. - Cluster Speed Offset + Stopping Point - Set the cluster offset openpilot uses to try and match the speed displayed on the dash. + Displays an image on the screen where openpilot is detecting a potential red light/stop sign. - FrogsGoMoo's Personal Tweaks + 'Unlimited' Road UI - Use FrogsGoMoo's personal tweaks to the Toyota tune focused around his 2019 Lexus ES 350 to take off a bit quicker and stop a bit smoother. + Extends the display of the path, lane lines, and road edges as far as the model can see. - Stop and Go Hack + Navigation Widgets - Force stop and go for vehicles without stock stop and go functionality. + Wwidgets focused around navigation. - Lock + Increases the size of the map for easier navigation readings. - Unlock + Swaps out the stock map style for community created ones. - - - FrogPilotVisualsPanel - Onroad UI Widgets + Displays the current road name at the bottom of the screen using data from 'OpenStreetMap'. - Custom FrogPilot widgets used in the onroad user interface. + Show Speed Limit Offset - Compass + Displays the speed limit offset separately in the onroad UI when using 'Speed Limit Controller'. - A compass in the onroad UI to show the current driving direction. + Show Speed Limits - Dynamic Path Width + Displays the currently detected speed limit in the top left corner of the onroad UI. Uses data from your car's dashboard (if supported) and data from 'OpenStreetMaps'. - Automatically adjust the width of the driving path display based on the current engagement state: - -Fully engaged = 100% -Always On Lateral Active = 75% -Fully disengaged = 50% + Use Vienna-Style Speed Signs - Gas/Brake Pedal Indicators + Forces Vienna-style (EU) speed limit signs instead of MUTCD (US). - Pedal indicators in the onroad UI that change opacity based on the pressure applied. + Onroad Screen Widgets - Paths + Acceleration Path - Projected acceleration path, detected lanes, and vehicles in the blind spot. + Projects a path based on openpilot's current desired acceleration or deceleration. - Road Name + Adjacent Lanes - The current road name is displayed at the bottom of the screen using data from 'OpenStreetMap'. + Projects paths for the adjascent lanes. - Rotating Steering Wheel + Blind Spot Path - The steering wheel in the onroad UI rotates along with your steering wheel movements. + Projects a red path when vehicles are detected in the blind spot for the respective lane. - Quality of Life Improvements + Displays a compass to show the current driving direction. - Miscellaneous visual focused features to improve your overall openpilot experience. + Gas / Brake Pedal Indicators - Larger Map Display + Displays pedal indicators to indicate when either of the pedals are currently being used. - A larger size of the map in the onroad UI for easier navigation readings. + Rotates the steering wheel in the onroad UI rotates along with your steering wheel movements. - Map Style + Auto - Custom map styles for the map used during navigation. + Driver - Screen Standby Mode + Standard - The screen is turned off after it times out when driving, but it automatically wakes up if engagement state changes or important alerts occur. + Wide - Show Driver Camera When In Reverse + Steering Torque - The driver camera feed is displayed when the vehicle is in reverse. + Turn Signal - Stopped Timer + Adjacent Path Metrics - A timer on the onroad UI to indicate how long the vehicle has been stopped. + Auto Tune - Acceleration + Adjacent Leads - Adjacent + Lead Info - Blind Spot + Jerk Values - Dynamic + Fahrenheit - Static + CPU - Full Map + GPU - Stock openpilot + IP - Mapbox Streets + RAM - Mapbox Outdoors + SSD Left - Mapbox Light + SSD Used - Mapbox Dark + inches - Mapbox Satellite + % - Mapbox Satellite Streets + feet - Mapbox Navigation Day + Show Distance - Mapbox Navigation Night + Stock - Mapbox Traffic Night + Adjust how thick the lane lines appear on the display. + +Default matches the Vienna standard of 10 centimeters. - mike854's (Satellite hybrid) + Adjust how thick the road edges appear on the display. + +Default matches half of the Vienna standard of 10 centimeters. - SELECT - 選択 + centimeters + - Select a map style + meters + + + + Adjust how thick the lane lines appear on the display. + +Default matches the MUTCD standard of 4 inches. + + + + Adjust how thick the road edges appear on the display. + +Default matches half of the MUTCD standard of 4 inches. @@ -3758,6 +3832,30 @@ This may take up to a minute. FrogPilot + + Welcome to FrogPilot! Since you're new to FrogPilot, the 'Minimal' toggle preset has been applied, but you can change this at any time via the 'Tuning Level' button! + + + + Sounds good! + + + + Since you're fairly new to FrogPilot, the 'Minimal' toggle preset has been applied, but you can change this at any time via the 'Tuning Level' button! + + + + Since you're experienced with openpilot, the 'Standard' toggle preset has been applied, but you can change this at any time via the 'Tuning Level' button! + + + + Since you're experienced with FrogPilot, the 'Standard' toggle preset has been applied, but you can change this at any time via the 'Tuning Level' button! + + + + Since you're very experienced with FrogPilot, the 'Advanced' toggle preset has been applied, but you can change this at any time via the 'Tuning Level' button! + + Setup @@ -4062,10 +4160,6 @@ This may take up to a minute. FrogPilot will automatically update itself and it's assets when you're offroad and connected to Wi-Fi. - - Do you want to permanently delete any additional FrogPilot assets? This is 100% unrecoverable and includes backups, downloaded models, themes, and long-term storage toggle settings for easy reinstalls. - - Error Log @@ -4078,6 +4172,14 @@ This may take up to a minute. View the error log for openpilot crashes. + + Do you want to delete deep storage FrogPilot assets? This includes your toggle settings for quick reinstalls. + + + + Are you sure? This is 100% unrecoverable and if you reinstall FrogPilot you'll lose all your previous settings! + + SshControl @@ -4316,10 +4418,6 @@ This may take up to a minute. FLASH - - Use this button to flash the Panda device's firmware if you're running into issues. - - Are you sure you want to flash the Panda? @@ -4344,10 +4442,6 @@ This may take up to a minute. Force Started State - - Force openpilot either offroad or onroad. - - OFFROAD @@ -4388,6 +4482,14 @@ This may take up to a minute. Reset! + + Flashes the Panda device's firmware if you're running into issues. + + + + Forces openpilot either offroad or onroad. + + WiFiPromptWidget @@ -4416,7 +4518,7 @@ This may take up to a minute. - Toggle off the 'Disable Uploading' toggle to enable uploads. + Toggle off the 'Turn Off Data Uploads' toggle to re-enable uploads. diff --git a/selfdrive/ui/translations/main_ko.qm b/selfdrive/ui/translations/main_ko.qm new file mode 100644 index 00000000000000..ee88bd1bf358a1 Binary files /dev/null and b/selfdrive/ui/translations/main_ko.qm differ diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index 66bce55db1ba4b..7ad446356db03a 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -149,10 +149,6 @@ kph - - ft/s² - - Accel: %1%2 @@ -185,16 +181,6 @@ Follow Distance: - - Confirm speed limit - - - - - Ignore speed limit - - - Conditional Experimental Mode ready @@ -283,6 +269,14 @@ . Double tap the screen to revert + + PENDING + + + + ft/s² + + ConfirmationDialog @@ -532,2841 +526,2932 @@ FrogPilotAdvancedDrivingPanel - Advanced Lateral Tuning - + mph + mph - Advanced settings that control how openpilot manages steering. - + Reset + 초기화 - Friction (Default: %1) - + ADD + 추가 - Friction - + REMOVE + 삭제 - The resistance in steering. Higher values provide more stable steering but can make it feel heavy, while lower values allow lighter steering but may feel too sensitive. - + OK + OK - Kp Factor (Default: %1) - + RESET + 초기화 - Kp Factor - + VIEW + 보기 - How aggressively the car corrects its steering. Higher values offer quicker corrections but may feel jerky, while lower values make steering smoother but slower to respond. - + DOWNLOAD + 다운로드 - Lateral Accel (Default: %1) - + SELECT + 선택 - Lateral Accel - + openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required. + openpilot 장치는 좌우 4°, 위로 5°, 아래로 9° 이내 각도로 장착되어야 합니다. openpilot은 지속적으로 자동 보정되며 재설정은 거의 필요하지 않습니다. - Adjust how fast the car can steer from side to side. Higher values allow quicker lane changes but can feel unstable, while lower values provide smoother steering but may feel sluggish. - + Your device is pointed %1° %2 and %3° %4. + 사용자의 장치는 %2 %1° 및 %4 %3° 의 방향으로 장착되어 있습니다. - Steer Ratio (Default: %1) - + down + 아래로 - Steer Ratio - + up + 위로 - Adjust how much openpilot needs to turn the wheel to steer. Higher values feel like driving a truck, more stable at high speeds, but harder to steer quickly at low speeds, while lower values feel like a go-kart, easier to steer in tight spots but more sensitive and less stable at high speeds. - + left + 좌측으로 - comma's 2022 Taco Bell Turn Hack - + right + 우측으로 + + + FrogPilotAdvancedVisualsPanel - Use comma's hack they used to help handle left and right turns more precisely during their 2022 'Taco Bell' drive. - + Standard + 표준 + + + FrogPilotConfirmationDialog - Force Auto Tune On + Reboot Later - Forces comma's auto lateral tuning for unsupported vehicles. + Yes - Force Auto Tune Off + No + + + FrogPilotDataPanel - Forces comma's auto lateral tuning off for supported vehicles. + Delete Driving Footage and Data - Force Turn Desires Below Lane Change Speed + DELETE - Force the model to use turn desires when driving below the minimum lane change speed to help make left and right turns more precisely. + Are you sure you want to permanently delete all of your driving footage and data? - Advanced Longitudinal Tuning + Delete - Advanced settings that control how openpilot manages speed and acceleration. + Deleting... - Lead Detection Confidence + Deleted! - How sensitive openpilot is to detecting vehicles ahead. A lower value can help detect vehicles sooner and from farther away, but may occasionally mistake other objects for vehicles. + Screen Recordings - Maximum Acceleration Rate + Manage your screen recordings. - Set a cap on how fast openpilot can accelerate to prevent high acceleration at low speeds. + RENAME - Advanced Quality of Life + Select a recording to delete - Miscellaneous advanced features to improve your overall openpilot experience. + Are you sure you want to delete this recording? - Force Keep openpilot in the Standstill State + Select a recording to rename - Keep openpilot in the 'standstill' state until the gas pedal or 'resume' button is pressed. + Enter a new name - Force Stop for 'Detected' Stop Lights/Signs + Rename Recording - Whenever openpilot 'detects' a potential stop light/stop sign, force a stop where it originally detected it to prevent running the potential red light/stop sign. + Renaming... - Set Speed Offset + Renamed! - How much higher or lower the set speed should be compared to your current set speed. For example, if you prefer to drive 5 mph above the speed limit, this setting will automatically add that difference when you adjust your set speed. + FrogPilot Backups - Customize Driving Personalities + Manage your FrogPilot backups. - Customize the personality profiles to suit your preferences. + BACKUP - Traffic Personality + RESTORE - Customize the 'Traffic' personality profile, tailored for navigating through traffic. + Name your backup - Following Distance + Compressing... - The minimum following distance in 'Traffic Mode.' openpilot will adjust dynamically between this value and the 'Aggressive' profile distance based on your speed. + Select a backup to delete - Acceleration Sensitivity + Are you sure you want to delete this backup? - How sensitive openpilot is to changes in acceleration in 'Traffic Mode.' Higher values result in smoother, more gradual acceleration and deceleration, while lower values allow for faster changes that may feel more abrupt. + Select a restore point - Deceleration Sensitivity + Are you sure you want to restore this version of FrogPilot? - Controls how sensitive openpilot is to changes in deceleration in 'Traffic Mode.' Higher values result in smoother, more gradual braking, while lower values allow for quicker, more responsive braking that may feel abrupt. + Restore - Safety Distance Sensitivity + Restoring... - Adjusts how cautious openpilot is around other vehicles or obstacles in 'Traffic Mode.' Higher values increase following distances and prioritize safety, leading to more cautious driving, while lower values allow for closer following but may reduce reaction time. + Extracting... - Speed Increase Responsiveness + Restored! - Controls how quickly openpilot adjusts speed in 'Traffic Mode.' Higher values ensure smoother, more gradual speed changes, while lower values enable quicker adjustments that might feel sharper or less smooth. + Rebooting... - Speed Decrease Responsiveness + Toggle Backups - Sets how quickly openpilot adjusts to decreasing speeds in 'Traffic Mode.' Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed reductions that might feel sharper. + Manage your toggle backups. - Reset Settings + Are you sure you want to restore this toggle backup? - Restore the 'Traffic Mode' settings to their default values. + Permanently deletes all stored driving footage and data from your device. Ideal for maintaining privacy or freeing up space. - Aggressive Personality + DELETE ALL - Customize the 'Aggressive' personality profile, designed for a more assertive driving style. + Are you sure you want to delete all screen recordings? - Set the following distance for 'Aggressive' mode. This determines roughly how many seconds you'll follow behind the car ahead. - -Default: 1.25 seconds. + Delete All - Controls how sensitive openpilot is to acceleration changes in 'Aggressive' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky. - -Default: 0.5. + A recording with this name already exists. Please choose a different name. - Controls how sensitive openpilot is to deceleration in 'Aggressive' mode. Higher values result in smoother braking, while lower values allow for more immediate braking that may feel abrupt. - -Default: 0.5. + A backup with this name already exists. Please choose a different name. - Adjusts how cautious openpilot is around vehicles or obstacles in 'Aggressive' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking. - -Default: 1.0. + Do you want to compress this backup? The final result will be 2.25x smaller and will run in the background, but can take 10+ minutes. - Controls how quickly openpilot adjusts speed in 'Aggressive' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt. - -Default: 0.5. + Backing up... - Sets how quickly openpilot adjusts to speed reductions in 'Aggressive' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp. - -Default: 0.5. + Backup created! - Restore the 'Aggressive' settings to their default values. + Are you sure you want to delete all FrogPilot backups? - Standard Personality + Are you sure you want to delete all toggle backups? + + + FrogPilotDevicePanel - Customize the 'Standard' personality profile, optimized for balanced driving. + Device Settings - Set the following distance for 'Standard' mode. This determines roughly how many seconds you'll follow behind the car ahead. - -Default: 1.45 seconds. + Device behavior settings. - Controls how sensitive openpilot is to acceleration changes in 'Standard' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky. - -Default: 1.0. + Device Shutdown Timer - Controls how sensitive openpilot is to deceleration in 'Standard' mode. Higher values result in smoother braking, while lower values allow for quicker, more immediate braking that may feel abrupt. - -Default: 1.0. + Disable Internet Requirement - Adjusts how cautious openpilot is around vehicles or obstacles in 'Standard' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking. - -Default: 1.0. + Increase Thermal Safety Limit - Controls how quickly openpilot adjusts speed in 'Standard' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt. - -Default: 1.0. + Low Battery Shutdown Threshold - Sets how quickly openpilot adjusts to speed reductions in 'Standard' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp. - -Default: 1.0. + Turn Off Data Tracking - Restore the 'Standard' settings to their default values. + Turn Off Data Uploads - Relaxed Personality + Screen Settings - Customize the 'Relaxed' personality profile, ideal for a more laid-back driving style. + Screen behavior settings. - Set the following distance for 'Relaxed' mode. This determines roughly how many seconds you'll follow behind the car ahead. - -Default: 1.75 seconds. + Screen Brightness (Offroad) - Controls how sensitive openpilot is to acceleration changes in 'Relaxed' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky. - -Default: 1.0. + Screen Brightness (Onroad) - Controls how sensitive openpilot is to deceleration in 'Relaxed' mode. Higher values result in smoother braking, while lower values allow for quicker, more immediate braking that may feel abrupt. - -Default: 1.0. + Screen Recorder - Adjusts how cautious openpilot is around vehicles or obstacles in 'Relaxed' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking. - -Default: 1.0. + Screen Timeout (Offroad) - Controls how quickly openpilot adjusts speed in 'Relaxed' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt. - -Default: 1.0. + Screen Timeout (Onroad) - Sets how quickly openpilot adjusts to speed reductions in 'Relaxed' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp. - -Default: 1.0. + 5 mins - Restore the 'Relaxed' settings to their default values. + mins - Model Management + hour - Manage the driving models used by openpilot. + hours - Automatically Update and Download Models + Only Onroad - Automatically download new or updated driving models. + volts - Model Randomizer + Auto - A random model is selected and can be reviewed at the end of each drive if it's longer than 15 minutes to help find your preferred model. + seconds - Manage Model Blacklist + WARNING: This can cause premature wear or damage by running the device over comma's recommended temperature limits! - Control which models are blacklisted and won't be used for future drives. + WARNING: This will prevent your drives from being recorded and the data will be unobtainable! - Reset Model Scores + WARNING: This will prevent your drives from appearing on comma connect which may impact debugging and support! - Clear the ratings you've given to the driving models. + Controls how long the device stays on after you stop driving. - Review Model Scores + Allows the device to work without an internet connection. - View the ratings you've assigned to the driving models. + Allows the device to run at higher temperatures than recommended. - Delete Model + Manages the threshold for shutting down the device to protect the car's battery from excessive drain and potential damage. - Remove the selected driving model from your device. + Disables all data tracking to improve privacy. - Download Model + Stops the device from sending any data to the servers. - Download undownloaded driving models. + Controls the screen brightness when you're not driving. - Download All Models + Controls the screen brightness while you're driving. - Download all undownloaded driving models. + Enables a button in the onroad UI to record the screen. - Select Model + Controls how long it takes for the screen to turn off when you're not driving. - Select which model openpilot uses to drive. + Controls how long it takes for the screen to turn off while you're driving. - Reset Model Calibrations + Screen Off + + + FrogPilotLateralPanel - Reset calibration settings for the driving models. + Always on Lateral - mph - mph + openpilot's steering control stays active even when the brake or gas pedals are pressed. + +Deactivate only occurs with the 'Cruise Control' button. + - Reset - 초기화 + Control with LKAS Button + - seconds + Enable with Cruise Control - ADD - 추가 + Pause on Brake Below + - REMOVE - 삭제 + Hide the Status Bar + - There's no more models to blacklist! The only available model is "%1"! + Lane Change Settings - OK - OK + How openpilot handles lane changes. + - Select a model to add to the blacklist + Lane Change Delay - Are you sure you want to add the '%1' model to the blacklist? + Lane Width Requirement - Add + Minimum Speed for Lane Change - Select a model to remove from the blacklist + Lateral Tuning - Are you sure you want to remove the '%1' model from the blacklist? + Neural Network Feedforward (NNFF) - Remove + Smooth Curve Handling - RESET - 초기화 + Quality of Life Improvements + - Reset all model scores? + Miscellaneous lateral focused features to improve your overall openpilot experience. - VIEW - 보기 + Pause Steering Below + - DELETE + Pauses steering control when driving below the set speed. - Select a model to delete - + mph + mph - Are you sure you want to delete the '%1' model? + feet - Delete + Reboot required to take effect. - Deleting... + Reboot Now - Deleted! + kph - DOWNLOAD - 다운로드 + meters + - CANCEL + Advanced Lateral Tuning - Select a driving model to download + Advanced settings for fine tuning openpilot's lateral controls. - Downloading %1... + Friction (Default: %1) - SELECT - 선택 + Friction + - Select a model - 🗺️ = Navigation | 📡 = Radar | 👀 = VOACC + Adjusts the resistance in steering. Higher values provide more stable steering but can make it feel heavy, while lower values allow lighter steering but may feel too sensitive. - WARNING: This is a very experimental model and may drive dangerously! + Kp Factor (Default: %1) - I understand the risks. + Kp Factor - Start with a fresh calibration for the newly selected model? + Adjusts how aggressively the car corrects its steering. Higher values offer quicker corrections but may feel jerky, while lower values make steering smoother but slower to respond. - Reboot required to take effect. + Lateral Accel (Default: %1) - Reboot Now + Lateral Accel - RESET ALL + Adjusts how fast the car can steer from side to side. Higher values allow quicker lane changes but can feel unstable, while lower values provide smoother steering but may feel sluggish. - RESET ONE + Steer Ratio (Default: %1) - Are you sure you want to completely reset all of your model calibrations? + Steer Ratio - Select a model to reset + Adjusts how much openpilot needs to turn the wheel to steer. Higher values feel like driving a truck, more stable at high speeds, but harder to steer quickly at low speeds, while lower values feel like a go-kart, easier to steer in tight spots but more sensitive and less stable at high speeds. - Are you sure you want to completely reset this model's calibrations? + Force Auto Tune On - The 'Model Randomizer' only works with downloaded models. Do you want to download all the driving models? + Forces comma's auto lateral tuning for unsupported vehicles. - Are you sure you want to completely reset your settings for the 'Traffic Mode' personality? + Force Auto Tune Off - Are you sure you want to completely reset your settings for the 'Aggressive' personality? + Forces comma's auto lateral tuning off for supported vehicles. - Are you sure you want to completely reset your settings for the 'Standard' personality? + Controls the current state of 'Always on Lateral' with the 'LKAS' button. - Are you sure you want to completely reset your settings for the 'Relaxed' personality? + Activates 'Always on Lateral' whenever 'Cruise Control' is active bypassing the requirement to enable openpilot first. - kph + Pauses 'Always on Lateral' when the brake pedal is pressed below the set speed. - Downloading models... + Hides status bar for 'Always On Lateral'. - openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required. - openpilot 장치는 좌우 4°, 위로 5°, 아래로 9° 이내 각도로 장착되어야 합니다. openpilot은 지속적으로 자동 보정되며 재설정은 거의 필요하지 않습니다. + Automatic Lane Changes + - Your device is pointed %1° %2 and %3° %4. - 사용자의 장치는 %2 %1° 및 %4 %3° 의 방향으로 장착되어 있습니다. + Conducts lane changes without needing to touch the steering wheel upon turn signal activation. + - down - 아래로 + Delays lane changes by the set time to prevent sudden changes. + - up - 위로 + Sets the minimum lane width for openpilot to detect a lane as a lane. + - left - 좌측으로 + Sets the minimum speed required for openpilot to perform a lane change. + - right - 우측으로 + Only One Lane Change Per Signal + - - - FrogPilotAdvancedVisualsPanel - Advanced Onroad UI Widgets + Limits lane changes to one per turn signal activation. - Advanced user customizations for the Onroad UI. + Settings for fine tuning openpilot's lateral controls. - Camera View + Force Turn Desires Below Lane Change Speed - Camera view for the onroad UI. This is purely a visual change and doesn't impact how openpilot drives. + Forces the model to use turn desires when driving below the minimum lane change speed to help make left and right turns more precisely. - Display Stopping Points + Uses Twilsonco's 'Neural Network FeedForward' for more precise steering control. - Display an image on the screen where openpilot is detecting a potential red light/stop sign. + Smoothens the steering control when entering and exiting curves by using Twilsonco's torque adjustments. - Hide Lead Marker + seconds + + + FrogPilotLongitudinalPanel - Hide the marker for the vehicle ahead on the screen. + Conditional Experimental Mode - Hide Speed + Below - Hide the speed indicator in the onroad UI. Additional toggle allows it to be hidden/shown via tapping the speed itself. + Curve Detected Ahead - Hide UI Elements + Lead Detected Ahead - Hide the selected UI elements from the onroad screen. + Navigation Data - Use Wheel Speed + openpilot Wants to Stop In - Use the wheel speed instead of the cluster speed in the onroad UI. + Turn Signal Below - Developer UI + Hide the Status Bar - Show detailed information about openpilot's internal operations. + Curve Speed Control - Border Metrics + Automatically slow down for curves detected ahead or through the downloaded maps. - Display performance metrics around the edge of the screen while driving. + Curve Detection Method - FPS Display + Curve Detection Failsafe - Display the 'Frames Per Second' (FPS) at the bottom of the screen while driving. + Experimental Mode Activation - Lateral Metrics + Click the LKAS Button - Display metrics related to steering control at the top of the screen while driving. + Double-Tap the Screen - Longitudinal Metrics + Long Press the Distance Button - Display metrics related to acceleration, speed, and desired following distance at the top of the screen while driving. + Longitudinal Tuning - Numerical Temperature Gauge + Settings that control how openpilot manages speed and acceleration. - Show exact temperature readings instead of general status labels like 'GOOD', 'OK', or 'HIGH' in the sidebar. + Acceleration Profile - Sidebar + Deceleration Profile - Display system information like CPU, GPU, RAM usage, IP address, and storage space in the sidebar. + Human-Like Acceleration - Use International System of Units + Increase Stopped Distance - Display measurements using the 'International System of Units' (SI). + Increases the distance to stop behind vehicles. - Model UI + Quality of Life Improvements - Customize the model visualizations on the screen. + Miscellaneous longitudinal focused features to improve your overall openpilot experience. - Lane Lines Width + Map Accel/Decel to Gears - How thick the lane lines appear on the display. - -Default matches the MUTCD standard of 4 inches. + Reverse Cruise Increase - Path Edges Width + Speed Limit Controller - The width of the edges of the driving path to represent different modes and statuses. - -Default is 20% of the total path width. - -Color Guide: -- Blue: Navigation -- Light Blue: 'Always On Lateral' -- Green: Default -- Orange: 'Experimental Mode' -- Red: 'Traffic Mode' -- Yellow: 'Conditional Experimental Mode' Overridden + Confirm New Speed Limits - Path Width + Fallback Method - How wide the driving path appears on your screen. - -Default (6.1 feet / 1.9 meters) matches the width of a 2019 Lexus ES 350. + Override Method - Road Edges Width + Speed Limit Offsets - How thick the road edges appear on the display. - -Default matches half of the MUTCD standard lane line width of 4 inches. + Speed Limit Offset (0-34 mph) - 'Unlimited' Road UI + Speed Limit Offset (35-54 mph) - Extend the display of the path, lane lines, and road edges as far as the model can see. + Speed Limit Offset (55-64 mph) - Auto + Speed Limit Offset (65-99 mph) - Driver + Miscellaneous 'Speed Limit Controller' focused features to improve your overall openpilot experience. - Standard - 표준 + Force MPH Readings from Dashboard + - Wide + Prepare for Higher Speed Limits - Control Via UI + Prepare for Lower Speed Limits - Alerts + Set Speed to Current Limit - Map Icon - + mph + mph - Max Speed + With Lead - Show Distance + Switches to 'Experimental Mode' when driving below the set speed with a lead vehicle. - Blind Spot + With Lead - Steering Torque + Slower Lead - Turn Signal + Stopped Lead - Adjacent Path Metrics + Intersections - Auto Tune + Turns - Lead Info + Map Based - Longitudinal Jerk + Vision - Fahrenheit - + Standard + 표준 - CPU + Eco - GPU + Sport - IP + Sport+ - RAM + feet - SSD Left + Acceleration - SSD Used + Deceleration - inches + Lower Limits - % + Higher Limits - feet + None - Adjust how thick the lane lines appear on the display. - -Default matches the Vienna standard of 10 centimeters. + Set Speed - Adjust how thick the road edges appear on the display. - -Default matches half of the Vienna standard of 10 centimeters. - + Experimental Mode + 실험 모드 - centimeters + Previous Limit - meters - + SELECT + 선택 - Adjust how thick the lane lines appear on the display. - -Default matches the MUTCD standard of 4 inches. + Dashboard - Adjust how thick the road edges appear on the display. - -Default matches half of the MUTCD standard of 4 inches. + Navigation - - - FrogPilotConfirmationDialog - Reboot Later + Highest - Yes + Lowest - No + Select your primary priority - - - FrogPilotDataPanel - Delete Driving Footage and Data + Select your secondary priority - DELETE + Select your tertiary priority - This button provides a swift and secure way to permanently delete all stored driving footage and data from your device. Ideal for maintaining privacy or freeing up space. + MANAGE - Are you sure you want to permanently delete all of your driving footage and data? + seconds - Delete + Speed Limit Offset (0-34 kph) - Deleting... + Speed Limit Offset (35-54 kph) - Deleted! + Speed Limit Offset (55-64 kph) - Screen Recordings + Speed Limit Offset (65-99 kph) - Manage your screen recordings. + kph - RENAME + meters - Select a recording to delete + Automatically switch to 'Experimental Mode' when specific conditions are met. - Are you sure you want to delete this recording? + Triggers 'Experimental Mode' when driving below the set speed without a lead vehicle. - Failed... + Triggers 'Experimental Mode' when a curve is detected in the road ahead. - Select a recording to rename + Triggers 'Experimental Mode' when a slower or stopped vehicle is detected ahead. - Enter a new name + Triggers 'Experimental Mode' based on navigation data, such as upcoming intersections or turns. - Rename Recording + Triggers 'Experimental Mode' when openpilot wants to stop such as for a stop sign or red light. - Renaming... + Triggers 'Experimental Mode' when using turn signals below the set speed. - Renamed! + Hides status bar for 'Conditional Experimental Mode'. - FrogPilot Backups + Uses data from either the downloaded maps or the model to determine where curves are. - Manage your FrogPilot backups. + Triggers 'Curve Speed Control' only when a curve is detected with the model as well when using the 'Map Based' method. - BACKUP + Curve Detection Sensitivity - RESTORE + Controls how sensitive openpilot is to detecting curves. Higher values trigger earlier responses at the risk of triggering too often, while lower values increase confidence at the risk of triggering too infrequently. - Name your backup + Speed Aggressiveness - Do you want to compress this backup? The end file size will be 2.25x smaller, but can take 10+ minutes. + Controls how aggressive openpilot takes turns. Higher values result in faster turns, while lower values result in slower turns. - Backing... + Hide Desired Speed Widget From UI - Compressing... + Hides the desired speed widget from the onroad UI. - Success! + Customize Driving Personalities - Select a backup to delete + Customize the personality profiles to suit your driving style. - Are you sure you want to delete this backup? + Traffic Personality - Select a restore point + Customizes the 'Traffic' personality profile, tailored for navigating through traffic. - Are you sure you want to restore this version of FrogPilot? + Following Distance - Restore + Controls the minimum following distance in 'Traffic' mode. openpilot will automatically dynamically between this value and the 'Aggressive' profile distance based on your current speed. - Restoring... + Acceleration Sensitivity - Extracting... + Controls how sensitive openpilot is to changes in acceleration in 'Traffic' mode. Higher values result in smoother, more gradual acceleration, while lower values allow for quicker, more responsive changes that may feel abrupt. - Restored! + Deceleration Sensitivity - Rebooting... + Controls how sensitive openpilot is to changes in deceleration in 'Traffic' mode. Higher values result in smoother, more gradual deceleration, while lower values allow for quicker, more responsive changes that may feel abrupt. - Toggle Backups + Safety Distance Sensitivity - Manage your toggle backups. + Adjusts how cautious openpilot is around other vehicles or obstacles in 'Traffic' mode. Higher values increase following distances and prioritize safety, leading to more cautious driving, while lower values allow for closer following but may reduce reaction time. - Are you sure you want to restore this toggle backup? + Speed Increase Responsiveness - - - FrogPilotDevicePanel - Device Settings + Controls how quickly openpilot increases speed in 'Traffic' mode. Higher values ensure smoother, more gradual speed changes when accelerating, while lower values allow for quicker, more responsive changes that may feel abrupt. - Device behavior settings. + Speed Decrease Responsiveness - Device Shutdown Timer + Controls how quickly openpilot decreases speed in 'Traffic' mode. Higher values ensure smoother, more gradual speed changes when slowing down, while lower values allow for quicker, more responsive changes that may feel abrupt. - How long the device stays on after you stop driving. + Reset Settings - Disable Internet Requirement + Restores the 'Traffic Mode' settings to their default values. - The device can work without an internet connection for as long as you need. + Aggressive Personality - Increase Thermal Safety Limit + Customize the 'Aggressive' personality profile, designed for a more assertive driving style. - The device can run at higher temperatures than recommended. + Sets the following distance for 'Aggressive' mode. This determines roughly how many seconds you'll follow behind the car ahead. + +Default: 1.25 seconds. - Low Battery Shutdown Threshold + Controls how sensitive openpilot is to changes in acceleration in 'Aggressive' mode. Higher values result in smoother, more gradual acceleration, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 0.5. - Shut down the device when the car's battery gets too low to prevent damage to the 12V battery. + Controls how sensitive openpilot is to changes in deceleration in 'Aggressive' mode. Higher values result in smoother, more gradual deceleration, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 0.5. - Turn Off Data Tracking + Adjusts how cautious openpilot is around other vehicles or obstacles in 'Aggressive' mode. Higher values increase following distances and prioritize safety, leading to more cautious driving, while lower values allow for closer following but may reduce reaction time. + +Default: 1.0. - Disable all tracking to improve privacy. + Controls how quickly openpilot increases speed in 'Aggressive' mode. Higher values ensure smoother, more gradual speed changes when accelerating, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 0.5. - Turn Off Data Uploads + Controls how quickly openpilot decreases speed in 'Aggressive' mode. Higher values ensure smoother, more gradual speed changes when slowing down, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 0.5. - Stop the device from sending any data to the servers. + Restores the 'Aggressive' settings to their default values. - Screen Settings + Standard Personality - Screen behavior settings. + Customize the 'Standard' personality profile, optimized for balanced driving. - Screen Brightness (Offroad) + Set the following distance for 'Standard' mode. This determines roughly how many seconds you'll follow behind the car ahead. + +Default: 1.45 seconds. - The screen brightness when you're not driving. + Controls how sensitive openpilot is to changes in acceleration in 'Standard' mode. Higher values result in smoother, more gradual acceleration, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 1.0. - Screen Brightness (Onroad) + Controls how sensitive openpilot is to changes in deceleration in 'Standard' mode. Higher values result in smoother braking, while lower values allow for quicker, more immediate braking that may feel abrupt. + +Default: 1.0. - The screen brightness while you're driving. + Adjusts how cautious openpilot is around other vehicles or obstacles in 'Standard' mode. Higher values increase following distances and prioritize safety, leading to more cautious driving, while lower values allow for closer following but may reduce reaction time. + +Default: 1.0. - Screen Recorder + Controls how quickly openpilot increases speed in 'Standard' mode. Higher values ensure smoother, more gradual speed changes when accelerating, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 1.0. - Display a button in the onroad UI to record the screen. + Controls how quickly openpilot decreases speed in 'Standard' mode. Higher values ensure smoother, more gradual speed changes when slowing down, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 1.0. - Screen Timeout (Offroad) + Restores the 'Standard' settings to their default values. - How long it takes for the screen to turn off when you're not driving. + Relaxed Personality - Screen Timeout (Onroad) + Customize the 'Relaxed' personality profile, ideal for a more laid-back driving style. - How long it takes for the screen to turn off while you're driving. + Set the following distance for 'Relaxed' mode. This determines roughly how many seconds you'll follow behind the car ahead. + +Default: 1.75 seconds. - 5 mins + Controls how sensitive openpilot is to changes in acceleration in 'Relaxed' mode. Higher values result in smoother, more gradual acceleration, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 1.0. - mins + Controls how sensitive openpilot is to changes in deceleration in 'Relaxed' mode. Higher values result in smoother braking, while lower values allow for quicker, more immediate braking that may feel abrupt. + +Default: 1.0. - hour + Adjusts how cautious openpilot is around other vehicles or obstacles in 'Relaxed' mode. Higher values increase following distances and prioritize safety, leading to more cautious driving, while lower values allow for closer following but may reduce reaction time. + +Default: 1.0. - hours + Controls how quickly openpilot increases speed in 'Relaxed' mode. Higher values ensure smoother, more gradual speed changes when accelerating, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 1.0. - Only Onroad + Controls how quickly openpilot decreases speed in 'Relaxed' mode. Higher values ensure smoother, more gradual speed changes when slowing down, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 1.0. - volts + Restores the 'Relaxed' settings to their default values. - Auto + Toggle 'Experimental Mode' on/off using either the steering wheel buttons or screen. + +This overrides 'Conditional Experimental Mode'. - seconds + Toggles 'Experimental Mode' by pressing the 'LKAS' button on the steering wheel. - WARNING: This can cause premature wear or damage by running the device over comma's recommended temperature limits! + Toggles 'Experimental Mode' by double-tapping the onroad UI within a 0.5 second period. - I understand the risks. + Toggles 'Experimental Mode' by holding down the 'distance' button on the steering wheel for 0.5 seconds. - WARNING: This will prevent your drives from being recorded and the data will be unobtainable! + Enables either a sporty or eco-friendly acceleration rate. 'Sport+' aims to make openpilot accelerate as fast as possible. - WARNING: This will prevent your drives from appearing on comma connect which may impact debugging and support! + Enables either a sporty or eco-friendly deceleration rate. - - - FrogPilotLateralPanel - Always on Lateral + Uses the lead's acceleration rate when at a takeoff and ramps off the acceleration rate when approaching the maximum set speed for a more 'human-like' driving experience. - openpilot's steering control stays active even when the brake or gas pedals are pressed. - -Deactivate only occurs with the 'Cruise Control' button. + Human-Like Approach Behind Leads - Control with LKAS Button + Dynamically adjusts the following distance when approaching slower or stopped vehicles for a more 'human-like' driving experience. - 'Always on Lateral' gets turned on or off using the 'LKAS' button. + Lead Detection Confidence - Enable with Cruise Control + Controls how sensitive openpilot is to detecting vehicles ahead. A lower value can help detect vehicles sooner and from farther away, but increases the chance openpilot mistakes other objects for vehicles. - 'Always on Lateral' gets turned on by pressing the 'Cruise Control' button bypassing the requirement to enable openpilot first. + Maximum Acceleration Rate - Pause on Brake Below + Sets a cap on how fast openpilot can accelerate. - 'Always on Lateral' pauses when the brake pedal is pressed below the set speed. + 'Taco Bell Run' Turn Speed Hack - Hide the Status Bar + Uses comma's speed hack they used to help handle left and right turns more precisely during their 2022 'Taco Bell' drive by reducing the maximum allowed speed and acceleration while turning. - The status bar for 'Always on Lateral' is hidden. + Cruise Increase - Lane Change Settings + Controls the interval used when increasing the cruise control speed. - How openpilot handles lane changes. + Cruise Increase (Long Press) - Hands-Free Lane Change + Controls the interval used when increasing the cruise control speed while holding down the button for 0.5+ seconds. - Lane changes are conducted without needing to touch the steering wheel upon turn signal activation. + Force Keep openpilot in the Standstill State - Lane Change Delay + Keeps openpilot in the 'standstill' state until the gas pedal or 'resume' button is pressed. - How long openpilot waits before changing lanes. + Force Stop for 'Detected' Stop Lights/Signs - Lane Width Requirement + Forces a stop whenever openpilot 'detects' a potential red light/stop sign to prevent it from running the red light/stop sign. - The minimum lane width for openpilot to detect a lane as a lane. + Set Speed Offset - Minimum Speed for Lane Change + Controls how much higher or lower the set speed should be compared to your current set speed. For example, if you prefer to drive 5 mph above the speed limit, this setting will automatically add that difference when you adjust your set speed. - The minimum speed required for openpilot to perform a lane change. + Maps the acceleration and deceleration profiles to your car's 'Eco' or 'Sport' gear modes. - Single Lane Change Per Signal + Reverses the long press cruise increase feature to increase the max speed by 5 mph instead of 1 on short presses. - Lane changes are limited to one per turn signal activation. + Automatically adjust your max speed to match the speed limit using downloaded 'Open Street Maps' data, 'Navigate on openpilot', or your car's dashboard (Toyota/Lexus/HKG only). - Lateral Tuning + Enables manual confirmations before using a new speed limit. - Settings that control how openpilot manages steering. + Controls what happens when no speed limit data is available. - Neural Network Feedforward (NNFF) + Controls how the current speed limit is overriden. + + - Twilsonco's 'Neural Network FeedForward' for more precise steering control. + Forces speed limit readings from the dashboard to MPH if it normally displays them in KPH. - Smooth Curve Handling + Sets a lookahead value to prepare for upcoming higher speed limits when using downloaded map data. - Smoother steering when entering and exiting curves with Twilsonco's torque adjustments. + Sets a lookahead value to prepare for upcoming lower speed limits when using downloaded map data. - Quality of Life Improvements + Sets your max speed to match the current speed limit when enabling openpilot. - Miscellaneous lateral focused features to improve your overall openpilot experience. + Speed Limit Source Priority Order - Pause Steering Below + Sets the order of priority for speed limit data sources. - Pauses steering control when driving below the set speed. + Set speed limit offsets to drive over the posted speed limit. - mph - mph + Sets the speed limit offset for speeds between 0 and 34 mph. + - feet + Sets the speed limit offset for speeds between 35 and 54 mph. - Reboot required to take effect. + Sets the speed limit offset for speeds between 55 and 64 mph. - Reboot Now + Sets the speed limit offset for speeds between 65 and 99 mph. - kph + Show Speed Limit Sources - meters + Displays the speed limit sources in the onroad UI when using 'Speed Limit Controller'. - - - FrogPilotLongitudinalPanel - Conditional Experimental Mode - + Reset + 초기화 - Automatically switches to 'Experimental Mode' when specific conditions are met. + The 'Map Based' option is only available when some 'Map Data' has been downloaded! - Below + Okay - 'Experimental Mode' is active when driving below the set speed without a lead vehicle. + Set With Gas Pedal - Curve Detected Ahead + Max Set Speed - 'Experimental Mode' is active when a curve is detected in the road ahead. + Map Data - Lead Detected Ahead + Are you sure you want to completely reset your settings for 'Traffic Mode'? - 'Experimental Mode' is active when a slower or stopped vehicle is detected ahead. + Are you sure you want to completely reset your settings for the 'Aggressive' personality? - Navigation Data + Are you sure you want to completely reset your settings for the 'Standard' personality? - 'Experimental Mode' is active based on navigation data, such as upcoming intersections or turns. + Are you sure you want to completely reset your settings for the 'Relaxed' personality? - openpilot Wants to Stop In + Sets the speed limit offset for speeds between 0-34 kph. - 'Experimental Mode' is active when openpilot wants to stop such as for a stop sign or red light. + Sets the speed limit offset for speeds between 35-54 kph. - Turn Signal Below + Sets the speed limit offset for speeds between 55-64 kph. - 'Experimental Mode' is active when using turn signals below the set speed. + Sets the speed limit offset for speeds between 65-99 kph. - Hide the Status Bar + Sets the speed limit offset for speeds between 0-34 mph. - The status bar for 'Conditional Experimental Mode' is hidden. + Sets the speed limit offset for speeds between 35-54 mph. - Curve Speed Control + Sets the speed limit offset for speeds between 55-64 mph. - Automatically slow down for curves detected ahead or through the downloaded maps. + Sets the speed limit offset for speeds between 65-99 mph. + + + FrogPilotModelPanel - Curve Detection Method + Automatically Update and Download Models - The method used to detect curves. + Automatically downloads new models and updates existing ones if needed. - Curve Detection Failsafe + Model Randomizer - Curve control is triggered only when a curve is detected ahead. Use this as a failsafe to prevent false positives when using the 'Map Based' method. + Randomly selects a model each drive and brings up a model review prompt at the end to help find your preferred model. - Curve Sensitivity + Manage Model Blacklist - How sensitive openpilot is to detecting curves. Higher values trigger earlier responses at the risk of triggering too often, while lower values increase confidence at the risk of triggering too infrequently. + Manage the blacklisted models that aren't being used with 'Model Randomizer'. - Turn Speed Aggressiveness + Reset Model Scores - How aggressive openpilot takes turns. Higher values result in quicker turns, while lower values provide gentler turns. + Clear the ratings you've given to the driving models. - Disable Speed Value Smoothing In the UI + Review Model Scores - Speed value smoothing is disabled in the UI to instead display the exact speed requested by the curve control. + View the ratings you've assigned to the driving models. - Experimental Mode Activation + Delete Model - 'Experimental Mode' is toggled off/on using the steering wheel buttons or the on-screen controls. - -This overrides 'Conditional Experimental Mode'. + Delete driving models from your device. - Click the LKAS Button + Download Model - 'Experimental Mode' is toggled by pressing the 'LKAS' button on the steering wheel. + Download new driving models. - Double-Tap the Screen + Select Model - 'Experimental Mode' is toggled by double-tapping the onroad UI within 0.5 seconds. + Select your preferred driving model. - Long Press the Distance Button - + ADD + 추가 - 'Experimental Mode' is toggled by holding the 'distance' button on the steering wheel for 0.5+ seconds. - + REMOVE + 삭제 - Longitudinal Tuning + REMOVE ALL - Settings that control how openpilot manages speed and acceleration. + There are no more models to blacklist! The only available model is "%1"! - Acceleration Profile - + OK + OK - Choose between a sporty or eco-friendly acceleration rate. + Select a model to add to the blacklist - Deceleration Profile + Are you sure you want to add the '%1' model to the blacklist? - Choose between a sporty or eco-friendly deceleration rate. + Add - Human-Like Acceleration + Select a model to remove from the blacklist - Uses the lead's acceleration rate when at a takeoff and ramps off the acceleration rate when approaching the maximum set speed for a smoother max speed approach. + Are you sure you want to remove the '%1' model from the blacklist? - Human-Like Following Distance + Remove - Dynamically adjusts the following distance to feel more natural when approaching slower or stopped vehicles. + Are you sure you want to remove all of your blacklisted models? - Increase Stopped Distance - + RESET + 초기화 - Increases the distance to stop behind vehicles. + Are you sure you want to reset all of your model drives and scores? - Quality of Life Improvements - + REVIEW + 다시보기 - Miscellaneous longitudinal focused features to improve your overall openpilot experience. + DELETE - Cruise Increase Interval + DELETE ALL - Interval used when increasing the cruise control speed. + Select a driving model to delete - Custom Cruise Interval (Long Press) + Are you sure you want to delete the '%1' model? - Interval used when increasing the cruise control speed when holding down the button for 0.5+ seconds. + Delete - Map Accel/Decel to Gears + Are you sure you want to delete all of your downloaded driving models? - Map the acceleration and deceleration profiles to the 'Eco' or 'Sport' gear modes. - + DOWNLOAD + 다운로드 - Onroad Personality Button + DOWNLOAD ALL - The current driving personality is displayed on the screen. Tap to switch personalities, or long press for 2.5 seconds to activate 'Traffic Mode'. + Select a driving model to download - Reverse Cruise Increase - + SELECT + 선택 - The long press feature is reversed in order to increase speed by 5 mph instead of 1. + Select a model - 🗺️ = Navigation | 📡 = Radar | 👀 = VOACC - Speed Limit Controller + Reboot required to take effect. - Automatically adjust your max speed to match the speed limit using 'Open Street Maps', 'Navigate on openpilot', or your car's dashboard (Toyota/Lexus/HKG only). + Reboot Now - Confirm New Speed Limits + The 'Model Randomizer' only works with downloaded models. Do you want to download all the driving models? - Require manual confirmation before using a new speed limit. + CANCEL + + + FrogPilotParamManageControl - Fallback Method + MANAGE + + + FrogPilotSettingsWindow - Choose what happens when no speed limit data is available. + Alerts and Sounds - Override Method + Driving Controls - Choose how you want to override the current speed limit. - - + Navigation - Speed Limit Source Priority + System Management - Set the order of priority for speed limit data sources. + Theme and Appearance - Speed Limit Offsets + Vehicle Controls - Manage toggles related to 'Speed Limit Controller's controls. + Options to customize FrogPilot's sound alerts and notifications. - Speed Limit Offset (0-34 mph) + Tools and system utilities used to maintain and troubleshoot FrogPilot. - Set the speed limit offset for speeds between 0 and 34 mph. + Options for customizing FrogPilot's themes, UI appearance, and onroad widgets. - Speed Limit Offset (35-54 mph) + Vehicle-specific settings and configurations for supported makes and models. - Set the speed limit offset for speeds between 35 and 54 mph. + MANAGE - Speed Limit Offset (55-64 mph) + GAS / BRAKE - Set the speed limit offset for speeds between 55 and 64 mph. + STEERING - Speed Limit Offset (65-99 mph) + DATA - Set the speed limit offset for speeds between 65 and 99 mph. + DEVICE - Miscellaneous 'Speed Limit Controller' focused features to improve your overall openpilot experience. + UTILITIES - Force MPH Readings from Dashboard + APPEARANCE - Force speed limit readings in MPH from the dashboard if it normally displays in KPH. + THEME - Prepare for Higher Speed Limits + Minimal - Set a lookahead value to prepare for upcoming higher speed limits based on map data. + Standard + 표준 + + + Advanced + 고급 설정 + + + Developer - Prepare for Lower Speed Limits + Tuning Level - Set a lookahead value to prepare for upcoming lower speed limits based on map data. + Select the tuning level that best suits your needs. 'Minimal' is ideal for those who prefer simplicity and ease of use, 'Standard' is recommended for most users, offering a balanced experience, 'Advanced' provides more control for experienced users, while 'Developer' unlocks highly customizable settings designed for seasoned enthusiasts. - Set Speed to Current Limit + WARNING: This unlocks some potentially dangerous settings that can DRASTICALLY alter your driving experience! - Set your max speed to match the current speed limit when enabling openpilot. + I understand the risks. - Visual Settings + The 'Developer' preset is only available for users with either over 100 hours on FrogPilot, or 250 hours with openpilot. - Manage visual settings for the 'Speed Limit Controller'. + Okay - Use Vienna-Style Speed Signs + FrogPilot features that impact acceleration, braking, and steering. - Switch to Vienna-style (EU) speed limit signs instead of MUTCD (US). + Map data downloader and 'Navigate On openpilot (NOO)' settings. - Show Speed Limit Offset + DRIVING MODEL - Display the speed limit offset separately in the onroad UI when using the Speed Limit Controller. + MAP DATA - mph - mph + PRIMELESS NAVIGATION + + + + FrogPilotSoundsPanel - With Lead + Alert Volume Controller - Switches to 'Experimental Mode' when driving below the set speed with a lead vehicle. + Control the volume level for each individual sound in openpilot. - With Lead + Disengage Volume - Slower Lead + Related alerts: + +Adaptive Cruise Disabled +Parking Brake Engaged +Brake Pedal Pressed +Speed too Low - Stopped Lead + Engage Volume - Intersections + Related alerts: + +NNFF Torque Controller loaded +openpilot engaged - Turns + Prompt Volume - Off + Related alerts: + +Car Detected in Blindspot +Speed too Low +Steer Unavailable Below 'X' +Take Control, Turn Exceeds Steering Limit - Map Based + Prompt Distracted Volume - Vision + Related alerts: + +Pay Attention, Driver Distracted +Touch Steering Wheel, Driver Unresponsive - Standard - 표준 + Refuse Volume + - Eco + Related alerts: + +openpilot Unavailable - Sport + Warning Soft Volume - Sport+ + Related alerts: + +BRAKE!, Risk of Collision +TAKE CONTROL IMMEDIATELY - feet + Warning Immediate Volume - Acceleration + Related alerts: + +DISENGAGE IMMEDIATELY, Driver Distracted +DISENGAGE IMMEDIATELY, Driver Unresponsive - Deceleration + Custom Alerts - Lower Limits + Goat Scream Steering Saturated Alert - Higher Limits + Green Light Alert - None + Lead Departing Alert - Set Speed + Loud Blindspot Alert - Experimental Mode - 실험 모드 + Custom alerts for openpilot events. + - Previous Limit + Enables the famed 'Goat Scream' that has brought both joy and anger to FrogPilot users all around the world! - Gas Pedal Press + Plays an alert when a traffic light changes from red to green. - Cruise Set Speed + Plays an alert when the lead vehicle starts starts to depart when at a standstill. - SELECT - 선택 + Plays a louder alert for when a vehicle is detected in the blindspot when attempting to change lanes. + - Dashboard + Speed Limit Changed Alert - Navigation + Plays an alert when the speed limit changes. - Offline Maps + Auto - Highest + Muted + + + FrogPilotThemesPanel - Lowest + Custom Theme - Select your primary priority + Custom openpilot themes. - Select your secondary priority + Color Scheme - Select your tertiary priority + Icon Pack - MANAGE + Sound Pack - seconds + Steering Wheel - Control Via UI + Turn Signal Animation - Speed Limit Offset (0-34 kph) + Download Status - Speed Limit Offset (35-54 kph) + Holiday Themes - Speed Limit Offset (55-64 kph) + Random Events - Speed Limit Offset (65-99 kph) + Startup Alert - Set speed limit offset for limits between 0-34 kph. + DELETE - Set speed limit offset for limits between 35-54 kph. + DOWNLOAD + 다운로드 + + + SELECT + 선택 + + + Select a color scheme to delete - Set speed limit offset for limits between 55-64 kph. + Are you sure you want to delete the '%1' color scheme? - Set speed limit offset for limits between 65-99 kph. + Delete - kph + Select a color scheme to download - meters + Select a color scheme - Set speed limit offset for limits between 0-34 mph. + Select an icon pack to delete - Set speed limit offset for limits between 35-54 mph. + Are you sure you want to delete the '%1' icon pack? - Set speed limit offset for limits between 55-64 mph. + Select an icon pack to download - Set speed limit offset for limits between 65-99 mph. + Select an icon pack - - - FrogPilotParamManageControl - MANAGE + Select a sound pack to delete - - - FrogPilotSettingsWindow - Advanced Settings + Select a sound pack to download - Alerts and Sounds + Select a steering wheel to delete - Driving Controls + Select a steering wheel to download - Navigation + Select a steering wheel - System Management + STOCK - Theme and Appearance + FROGPILOT - Vehicle Controls + CUSTOM - Advanced FrogPilot features for more experienced users. + CLEAR - Options to customize FrogPilot's sound alerts and notifications. + Characters: 0/%1 - FrogPilot features than impact acceleration, braking, and steering. + CANCEL - Offline maps downloader and 'Navigate On openpilot (NOO)' settings. + Changes out openpilot's color scheme. + +Want to submit your own color scheme? Share it in the 'custom-themes' channel on the FrogPilot Discord! - Tools and system utilities used to maintain and troubleshoot FrogPilot. + Changes out openpilot's icon pack. + +Want to submit your own icons? Share them in the 'custom-themes' channel on the FrogPilot Discord! - Options for customizing FrogPilot's themes, UI appearance, and onroad widgets. + Changes out openpilot's sound effects. + +Want to submit your own sounds? Share them in the 'custom-themes' channel on the FrogPilot Discord! - Vehicle-specific settings and configurations for supported makes and models. + Enables a custom steering wheel icon in the top right of the screen. - DRIVING + Enables themed turn signal animations. + +Want to submit your own animations? Share them in the 'custom-themes' channel on the FrogPilot Discord! - VISUALS + Changes the openpilot theme based on the current holiday. Minor holidays last one day, while major holidays (Easter, Christmas, Halloween, etc.) last the entire week. - MANAGE + Rainbow Path - GAS / BRAKE + Swap out the path in the onroad UI for a Mario Kart inspired 'Rainbow Path'. - STEERING + Enables random cosmetic events that happen during certain driving conditions. These events are purely for fun and don't affect driving controls! - DATA + Controls the text of the 'Startup' alert message that appears when you start the drive. - DEVICE + Select a distance icon pack to delete - UTILITIES + Are you sure you want to delete the '%1' distance icon pack? - APPEARANCE + Select a distance icon pack to download - THEME + Select a distance icon pack + + + + Select a signal animation to delete + + + + Are you sure you want to delete the '%1' signal animation? + + + + Select a signal animation to download + + + + Select a signal animation + + + + Are you sure you want to delete the '%1' sound pack? + + + + Select a sound pack + + + + Are you sure you want to delete the '%1' steering wheel? + + + + Enter the text for the top half + + + + Enter the text for the bottom half - FrogPilotSoundsPanel + FrogPilotVehiclesPanel - Alert Volume Controller + Select Make - Control the volume level for each individual sound in openpilot. + SELECT + 선택 + + + Select a Make - Disengage Volume + Select Model - Related alerts: - -Adaptive Cruise Disabled -Parking Brake Engaged -Brake Pedal Pressed -Speed too Low + Select a Model - Engage Volume + Disable Automatic Fingerprint Detection - Related alerts: - -NNFF Torque Controller loaded -openpilot engaged + Forces the selected fingerprint and prevents it from ever changing. - Prompt Volume + Disable openpilot Longitudinal Control - Related alerts: - -Car Detected in Blindspot -Speed too Low -Steer Unavailable Below 'X' -Take Control, Turn Exceeds Steering Limit + Are you sure you want to completely disable openpilot longitudinal control? - Prompt Distracted Volume + Reboot required to take effect. - Related alerts: - -Pay Attention, Driver Distracted -Touch Steering Wheel, Driver Unresponsive + Reboot Now - Refuse Volume + 2017 Volt Stop and Go Hack - Related alerts: - -openpilot Unavailable + Experimental GM Tune - Warning Soft Volume + Uphill/Downhill Smoothing - Related alerts: - -BRAKE!, Risk of Collision -TAKE CONTROL IMMEDIATELY + Use comma's New Longitudinal API - Warning Immediate Volume + Subaru Crosstrek Torque Increase - Related alerts: - -DISENGAGE IMMEDIATELY, Driver Distracted -DISENGAGE IMMEDIATELY, Driver Unresponsive + Increases the maximum allowed torque for the Subaru Crosstrek. - Custom Alerts + Automatically Lock/Unlock Doors + + + + Cluster Speed Offset + + + + FrogsGoMoo's Personal Tweaks + + + + Stop and Go Hack + + + + Lock + + + + Unlock + + + + Disables openpilot longitudinal control and uses the car's stock ACC instead. - Enable custom alerts for openpilot events. + Forces stop and go for the 2017 Chevy Volt. - Goat Scream Steering Saturated Alert + Enables FrogsGoMoo's experimental GM tune that is based on nothing but guesswork. Use at your own risk! - Enable the famed 'Goat Scream' that has brought both joy and anger to FrogPilot users all around the world! + Smoothens the gas and brake response when driving on slopes. - Green Light Alert + Enables comma's new control system that has shown great improvement with acceleration and braking, but has a few issues on some GM vehicles. - Get an alert when a traffic light changes from red to green. + Enables comma's new control system that has shown great improvement with acceleration and braking, but has a few issues on Hyundai/Kia/Genesis. - Lead Departing Alert + Automatically locks the doors when in drive and unlocks when in park. - Get an alert when the lead vehicle starts departing when at a standstill. + Sets the cluster offset openpilot uses to try and match the speed displayed on the dash. - Loud Blindspot Alert + Enables FrogsGoMoo's personal tweaks to the Toyota tune focused around his 2019 Lexus ES 350 to take off a bit quicker and stop a bit smoother. - Enable a louder alert for when a vehicle is detected in the blindspot when attempting to change lanes. + Forces stop and go for vehicles without stock stop and go functionality. + + + FrogPilotVisualsPanel - Speed Limit Change Alert + Custom FrogPilot widgets used in the onroad user interface. - Trigger an alert when the speed limit changes. + Compass - - - FrogPilotThemesPanel - Custom Theme + Dynamic Path Width - Custom openpilot themes. + Road Name - Color Scheme + Rotating Steering Wheel - Themed color schemes. - -Want to submit your own color scheme? Share it in the 'feature-request' channel on the FrogPilot Discord! + Larger Map Display - Icon Pack + Map Style - Themed icon packs. - -Want to submit your own icons? Share them in the 'feature-request' channel on the FrogPilot Discord! + Show Driver Camera When In Reverse - Sound Pack + Stopped Timer - Themed sound effects. - -Want to submit your own sounds? Share them in the 'feature-request' channel on the FrogPilot Discord! + Blind Spot - Steering Wheel + Dynamic - Custom steering wheel icons. + Static - Turn Signal Animation + Full Map - Themed turn signal animations. - -Want to submit your own animations? Share them in the 'feature-request' channel on the FrogPilot Discord! + Mapbox Streets - Download Status + Mapbox Outdoors - Holiday Themes + Mapbox Light - Change the openpilot theme based on the current holiday. Minor holidays last one day, while major holidays (Easter, Christmas, Halloween, etc.) last a week. + Mapbox Dark - Random Events + Mapbox Satellite - Random cosmetic events that happen during certain driving conditions. These events are purely for fun and don't affect driving controls! + Mapbox Satellite Streets - Startup Alert + Mapbox Navigation Day - Custom 'Startup' alert message that appears when you start driving. + Mapbox Navigation Night - DELETE + Mapbox Traffic Night - DOWNLOAD - 다운로드 + mike854's (Satellite hybrid) + SELECT 선택 - Select a color scheme to delete + Select a map style - Are you sure you want to delete the '%1' color scheme? + Accessibility - Delete + Visual features to improve your overall openpilot experience. - Select a color scheme to download + Camera View - Select a color scheme + Changes the camera view display. This is purely a visual change and doesn't impact how openpilot drives. - Select an icon pack to delete + On Screen Personality Button - Are you sure you want to delete the '%1' icon pack? + Displays the current driving personality on the screen. Tap to switch personalities, or long press for 2.5 seconds to activate 'Traffic' mode. - Select an icon pack to download + Displays the driver camera feed when the vehicle is in reverse. - Select an icon pack + Standby Mode - Select a signal pack to delete + Turns the screen off when driving and automatically wakes it up if engagement state changes or important alerts occur. - Are you sure you want to delete the '%1' signal pack? + Activates a timer when stopped to indicate how long the vehicle has been stopped for. - Select a signal pack to download + Advanced UI Controls - Select a signal pack + Advanced features to fine tune your personalized UI. - Select a sound pack to delete + Hide Current Speed - Are you sure you want to delete the '%1' sound scheme? + Hides the current speed. - Select a sound pack to download + Hide Lead Marker - Select a sound scheme + Hides the marker for the vehicle ahead. - Select a steering wheel to delete + Hide Map Icon - Are you sure you want to delete the '%1' steering wheel image? + Hides the map icon. - Select a steering wheel to download + Hide Max Speed - Select a steering wheel + Hides the max speed. - STOCK + Hide Non-Critical Alerts - FROGPILOT + Hides non-critical alerts. - CUSTOM + Hide Speed Limits - CLEAR + Hides the speed limits. - Enter your text for the top half + Use Wheel Speed - Characters: 0/%1 + Uses the wheel speed instead of the cluster speed. This is purely a visual change and doesn't impact how openpilot drives. - Enter your text for the bottom half + Developer Metrics - CANCEL + Show detailed information about openpilot's internal operations. - - - FrogPilotVehiclesPanel - Select Make + Border Metrics - SELECT - 선택 + Displays performance metrics around the edge of the screen while driving. + - Select a Make + FPS Display - Select Model + Displays the 'Frames Per Second' (FPS) at the bottom of the screen while driving. - Select a Model + Lateral Metrics - Disable Automatic Fingerprint Detection + Displays metrics related to steering control at the top of the screen while driving. - Forces the selected fingerprint and prevents it from ever changing. + Longitudinal Metrics - Disable openpilot Longitudinal Control + Displays metrics related to acceleration, speed, and desired following distance at the top of the screen while driving. - Disable openpilot longitudinal control and use stock ACC instead. + Numerical Temperature Gauge - Are you sure you want to completely disable openpilot longitudinal control? + Shows exact temperature readings instead of status labels like 'GOOD', 'OK', or 'HIGH' in the sidebar. - Reboot required to take effect. + Sidebar - Reboot Now + Displays system information like CPU, GPU, RAM usage, IP address, and storage space in the sidebar. - 2017 Volt Stop and Go Hack + Use International System of Units - Force stop and go for the 2017 Chevy Volt. + Displays measurements using the 'International System of Units' (SI). - Experimental GM Tune + Model UI - FrogsGoMoo's experimental GM tune that is based on nothing but guesswork. Use at your own risk! + Customize the model visualizations on the screen. - Uphill/Downhill Smoothing + Automatically adjusts the width of the driving path display based on the current engagement state: + +Fully engaged = 100% +Always On Lateral Active = 75% +Fully disengaged = 50% - Smoothen the car’s gas and brake response when driving on slopes. + Lane Lines Width - Use comma's New Longitudinal API + Controls the thickness the lane lines appear on the display. + +Default matches the MUTCD standard of 4 inches. - Comma's new longitudinal control system that has shown great improvement with acceleration and braking, but has a few issues on some GM vehicles. + Path Edges Width - Use comma's new longitudinal control system that has shown great improvement with acceleration and braking, but has a few issues on Hyundai/Kia/Genesis. + Controls the width of the edges of the driving path to represent different modes and statuses. + +Default is 20% of the total path width. + +Color Guide: +- Blue: Navigation +- Light Blue: 'Always On Lateral' +- Green: Default +- Orange: 'Experimental Mode' +- Red: 'Traffic Mode' +- Yellow: 'Conditional Experimental Mode' Overridden - Subaru Crosstrek Torque Increase + Path Width - Increases the maximum allowed torque for the Subaru Crosstrek. + Controls how wide the driving path appears on your screen. + +Default (6.1 feet / 1.9 meters) matches the width of a 2019 Lexus ES 350. - Automatically Lock/Unlock Doors + Road Edges Width - Automatically lock the doors when in drive and unlock when in park. + Controls how thick the road edges appear on the display. + +Default matches half of the MUTCD standard lane line width of 4 inches. - Cluster Speed Offset + Stopping Point - Set the cluster offset openpilot uses to try and match the speed displayed on the dash. + Displays an image on the screen where openpilot is detecting a potential red light/stop sign. - FrogsGoMoo's Personal Tweaks + 'Unlimited' Road UI - Use FrogsGoMoo's personal tweaks to the Toyota tune focused around his 2019 Lexus ES 350 to take off a bit quicker and stop a bit smoother. + Extends the display of the path, lane lines, and road edges as far as the model can see. - Stop and Go Hack + Navigation Widgets - Force stop and go for vehicles without stock stop and go functionality. + Wwidgets focused around navigation. - Lock + Increases the size of the map for easier navigation readings. - Unlock + Swaps out the stock map style for community created ones. - - - FrogPilotVisualsPanel - Onroad UI Widgets + Displays the current road name at the bottom of the screen using data from 'OpenStreetMap'. - Custom FrogPilot widgets used in the onroad user interface. + Show Speed Limit Offset - Compass + Displays the speed limit offset separately in the onroad UI when using 'Speed Limit Controller'. - A compass in the onroad UI to show the current driving direction. + Show Speed Limits - Dynamic Path Width + Displays the currently detected speed limit in the top left corner of the onroad UI. Uses data from your car's dashboard (if supported) and data from 'OpenStreetMaps'. - Automatically adjust the width of the driving path display based on the current engagement state: - -Fully engaged = 100% -Always On Lateral Active = 75% -Fully disengaged = 50% + Use Vienna-Style Speed Signs - Gas/Brake Pedal Indicators + Forces Vienna-style (EU) speed limit signs instead of MUTCD (US). - Pedal indicators in the onroad UI that change opacity based on the pressure applied. + Onroad Screen Widgets - Paths + Acceleration Path - Projected acceleration path, detected lanes, and vehicles in the blind spot. + Projects a path based on openpilot's current desired acceleration or deceleration. - Road Name + Adjacent Lanes - The current road name is displayed at the bottom of the screen using data from 'OpenStreetMap'. + Projects paths for the adjascent lanes. - Rotating Steering Wheel + Blind Spot Path - The steering wheel in the onroad UI rotates along with your steering wheel movements. + Projects a red path when vehicles are detected in the blind spot for the respective lane. - Quality of Life Improvements + Displays a compass to show the current driving direction. - Miscellaneous visual focused features to improve your overall openpilot experience. + Gas / Brake Pedal Indicators - Larger Map Display + Displays pedal indicators to indicate when either of the pedals are currently being used. - A larger size of the map in the onroad UI for easier navigation readings. + Rotates the steering wheel in the onroad UI rotates along with your steering wheel movements. - Map Style + Auto - Custom map styles for the map used during navigation. + Driver - Screen Standby Mode + Standard + 표준 + + + Wide - The screen is turned off after it times out when driving, but it automatically wakes up if engagement state changes or important alerts occur. + Steering Torque - Show Driver Camera When In Reverse + Turn Signal - The driver camera feed is displayed when the vehicle is in reverse. + Adjacent Path Metrics - Stopped Timer + Auto Tune - A timer on the onroad UI to indicate how long the vehicle has been stopped. + Adjacent Leads - Acceleration + Lead Info - Adjacent + Jerk Values - Blind Spot + Fahrenheit - Dynamic + CPU - Static + GPU - Full Map + IP - Stock openpilot + RAM - Mapbox Streets + SSD Left - Mapbox Outdoors + SSD Used - Mapbox Light + inches - Mapbox Dark + % - Mapbox Satellite + feet - Mapbox Satellite Streets + Show Distance - Mapbox Navigation Day + Stock - Mapbox Navigation Night + Adjust how thick the lane lines appear on the display. + +Default matches the Vienna standard of 10 centimeters. - Mapbox Traffic Night + Adjust how thick the road edges appear on the display. + +Default matches half of the Vienna standard of 10 centimeters. - mike854's (Satellite hybrid) + centimeters - SELECT - 선택 + meters + - Select a map style + Adjust how thick the lane lines appear on the display. + +Default matches the MUTCD standard of 4 inches. + + + + Adjust how thick the road edges appear on the display. + +Default matches half of the MUTCD standard of 4 inches. @@ -3760,6 +3845,30 @@ This may take up to a minute. FrogPilot + + Welcome to FrogPilot! Since you're new to FrogPilot, the 'Minimal' toggle preset has been applied, but you can change this at any time via the 'Tuning Level' button! + + + + Sounds good! + + + + Since you're fairly new to FrogPilot, the 'Minimal' toggle preset has been applied, but you can change this at any time via the 'Tuning Level' button! + + + + Since you're experienced with openpilot, the 'Standard' toggle preset has been applied, but you can change this at any time via the 'Tuning Level' button! + + + + Since you're experienced with FrogPilot, the 'Standard' toggle preset has been applied, but you can change this at any time via the 'Tuning Level' button! + + + + Since you're very experienced with FrogPilot, the 'Advanced' toggle preset has been applied, but you can change this at any time via the 'Tuning Level' button! + + Setup @@ -4064,10 +4173,6 @@ This may take up to a minute. FrogPilot will automatically update itself and it's assets when you're offroad and connected to Wi-Fi. - - Do you want to permanently delete any additional FrogPilot assets? This is 100% unrecoverable and includes backups, downloaded models, themes, and long-term storage toggle settings for easy reinstalls. - - Error Log @@ -4080,6 +4185,14 @@ This may take up to a minute. View the error log for openpilot crashes. + + Do you want to delete deep storage FrogPilot assets? This includes your toggle settings for quick reinstalls. + + + + Are you sure? This is 100% unrecoverable and if you reinstall FrogPilot you'll lose all your previous settings! + + SshControl @@ -4322,10 +4435,6 @@ This may take up to a minute. FLASH - - Use this button to flash the Panda device's firmware if you're running into issues. - - Are you sure you want to flash the Panda? @@ -4350,10 +4459,6 @@ This may take up to a minute. Force Started State - - Force openpilot either offroad or onroad. - - OFFROAD @@ -4394,6 +4499,14 @@ This may take up to a minute. Reset! + + Flashes the Panda device's firmware if you're running into issues. + + + + Forces openpilot either offroad or onroad. + + WiFiPromptWidget @@ -4422,7 +4535,7 @@ This may take up to a minute. - Toggle off the 'Disable Uploading' toggle to enable uploads. + Toggle off the 'Turn Off Data Uploads' toggle to re-enable uploads. diff --git a/selfdrive/ui/translations/main_pt-BR.qm b/selfdrive/ui/translations/main_pt-BR.qm new file mode 100644 index 00000000000000..f370bbf39169e9 Binary files /dev/null and b/selfdrive/ui/translations/main_pt-BR.qm differ diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index 0556c2d618d843..94dbcb6bce5006 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -149,10 +149,6 @@ kph - - ft/s² - - Accel: %1%2 @@ -185,16 +181,6 @@ Follow Distance: - - Confirm speed limit - - - - - Ignore speed limit - - - Conditional Experimental Mode ready @@ -283,6 +269,14 @@ . Double tap the screen to revert + + PENDING + + + + ft/s² + + ConfirmationDialog @@ -532,2841 +526,2932 @@ FrogPilotAdvancedDrivingPanel - Advanced Lateral Tuning - + mph + mph - Advanced settings that control how openpilot manages steering. - + Reset + Resetar - Friction (Default: %1) - + ADD + ADICIONAR - Friction - + REMOVE + REMOVER - The resistance in steering. Higher values provide more stable steering but can make it feel heavy, while lower values allow lighter steering but may feel too sensitive. - + OK + OK - Kp Factor (Default: %1) - + RESET + RESET - Kp Factor - + VIEW + VER - How aggressively the car corrects its steering. Higher values offer quicker corrections but may feel jerky, while lower values make steering smoother but slower to respond. - + DOWNLOAD + BAIXAR - Lateral Accel (Default: %1) - + SELECT + SELECIONE - Lateral Accel - + openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required. + O openpilot requer que o dispositivo seja montado dentro de 4° esquerda ou direita e dentro de 5° para cima ou 9° para baixo. O openpilot está continuamente calibrando, resetar raramente é necessário. - Adjust how fast the car can steer from side to side. Higher values allow quicker lane changes but can feel unstable, while lower values provide smoother steering but may feel sluggish. - + Your device is pointed %1° %2 and %3° %4. + Seu dispositivo está montado %1° %2 e %3° %4. - Steer Ratio (Default: %1) - + down + baixo - Steer Ratio - + up + cima - Adjust how much openpilot needs to turn the wheel to steer. Higher values feel like driving a truck, more stable at high speeds, but harder to steer quickly at low speeds, while lower values feel like a go-kart, easier to steer in tight spots but more sensitive and less stable at high speeds. - + left + esquerda - comma's 2022 Taco Bell Turn Hack - + right + direita + + + FrogPilotAdvancedVisualsPanel - Use comma's hack they used to help handle left and right turns more precisely during their 2022 'Taco Bell' drive. - + Standard + Neutro + + + FrogPilotConfirmationDialog - Force Auto Tune On + Reboot Later - Forces comma's auto lateral tuning for unsupported vehicles. + Yes - Force Auto Tune Off + No + + + FrogPilotDataPanel - Forces comma's auto lateral tuning off for supported vehicles. + Delete Driving Footage and Data - Force Turn Desires Below Lane Change Speed + DELETE - Force the model to use turn desires when driving below the minimum lane change speed to help make left and right turns more precisely. + Are you sure you want to permanently delete all of your driving footage and data? - Advanced Longitudinal Tuning + Delete - Advanced settings that control how openpilot manages speed and acceleration. + Deleting... - Lead Detection Confidence + Deleted! - How sensitive openpilot is to detecting vehicles ahead. A lower value can help detect vehicles sooner and from farther away, but may occasionally mistake other objects for vehicles. + Screen Recordings - Maximum Acceleration Rate + Manage your screen recordings. - Set a cap on how fast openpilot can accelerate to prevent high acceleration at low speeds. + RENAME - Advanced Quality of Life + Select a recording to delete - Miscellaneous advanced features to improve your overall openpilot experience. + Are you sure you want to delete this recording? - Force Keep openpilot in the Standstill State + Select a recording to rename - Keep openpilot in the 'standstill' state until the gas pedal or 'resume' button is pressed. + Enter a new name - Force Stop for 'Detected' Stop Lights/Signs + Rename Recording - Whenever openpilot 'detects' a potential stop light/stop sign, force a stop where it originally detected it to prevent running the potential red light/stop sign. + Renaming... - Set Speed Offset + Renamed! - How much higher or lower the set speed should be compared to your current set speed. For example, if you prefer to drive 5 mph above the speed limit, this setting will automatically add that difference when you adjust your set speed. + FrogPilot Backups - Customize Driving Personalities + Manage your FrogPilot backups. - Customize the personality profiles to suit your preferences. + BACKUP - Traffic Personality + RESTORE - Customize the 'Traffic' personality profile, tailored for navigating through traffic. + Name your backup - Following Distance + Compressing... - The minimum following distance in 'Traffic Mode.' openpilot will adjust dynamically between this value and the 'Aggressive' profile distance based on your speed. + Select a backup to delete - Acceleration Sensitivity + Are you sure you want to delete this backup? - How sensitive openpilot is to changes in acceleration in 'Traffic Mode.' Higher values result in smoother, more gradual acceleration and deceleration, while lower values allow for faster changes that may feel more abrupt. + Select a restore point - Deceleration Sensitivity + Are you sure you want to restore this version of FrogPilot? - Controls how sensitive openpilot is to changes in deceleration in 'Traffic Mode.' Higher values result in smoother, more gradual braking, while lower values allow for quicker, more responsive braking that may feel abrupt. + Restore - Safety Distance Sensitivity + Restoring... - Adjusts how cautious openpilot is around other vehicles or obstacles in 'Traffic Mode.' Higher values increase following distances and prioritize safety, leading to more cautious driving, while lower values allow for closer following but may reduce reaction time. + Extracting... - Speed Increase Responsiveness + Restored! - Controls how quickly openpilot adjusts speed in 'Traffic Mode.' Higher values ensure smoother, more gradual speed changes, while lower values enable quicker adjustments that might feel sharper or less smooth. + Rebooting... - Speed Decrease Responsiveness + Toggle Backups - Sets how quickly openpilot adjusts to decreasing speeds in 'Traffic Mode.' Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed reductions that might feel sharper. + Manage your toggle backups. - Reset Settings + Are you sure you want to restore this toggle backup? - Restore the 'Traffic Mode' settings to their default values. + Permanently deletes all stored driving footage and data from your device. Ideal for maintaining privacy or freeing up space. - Aggressive Personality + DELETE ALL - Customize the 'Aggressive' personality profile, designed for a more assertive driving style. + Are you sure you want to delete all screen recordings? - Set the following distance for 'Aggressive' mode. This determines roughly how many seconds you'll follow behind the car ahead. - -Default: 1.25 seconds. + Delete All - Controls how sensitive openpilot is to acceleration changes in 'Aggressive' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky. - -Default: 0.5. + A recording with this name already exists. Please choose a different name. - Controls how sensitive openpilot is to deceleration in 'Aggressive' mode. Higher values result in smoother braking, while lower values allow for more immediate braking that may feel abrupt. - -Default: 0.5. + A backup with this name already exists. Please choose a different name. - Adjusts how cautious openpilot is around vehicles or obstacles in 'Aggressive' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking. - -Default: 1.0. + Do you want to compress this backup? The final result will be 2.25x smaller and will run in the background, but can take 10+ minutes. - Controls how quickly openpilot adjusts speed in 'Aggressive' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt. - -Default: 0.5. + Backing up... - Sets how quickly openpilot adjusts to speed reductions in 'Aggressive' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp. - -Default: 0.5. + Backup created! - Restore the 'Aggressive' settings to their default values. + Are you sure you want to delete all FrogPilot backups? - Standard Personality + Are you sure you want to delete all toggle backups? + + + FrogPilotDevicePanel - Customize the 'Standard' personality profile, optimized for balanced driving. + Device Settings - Set the following distance for 'Standard' mode. This determines roughly how many seconds you'll follow behind the car ahead. - -Default: 1.45 seconds. + Device behavior settings. - Controls how sensitive openpilot is to acceleration changes in 'Standard' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky. - -Default: 1.0. + Device Shutdown Timer - Controls how sensitive openpilot is to deceleration in 'Standard' mode. Higher values result in smoother braking, while lower values allow for quicker, more immediate braking that may feel abrupt. - -Default: 1.0. + Disable Internet Requirement - Adjusts how cautious openpilot is around vehicles or obstacles in 'Standard' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking. - -Default: 1.0. + Increase Thermal Safety Limit - Controls how quickly openpilot adjusts speed in 'Standard' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt. - -Default: 1.0. + Low Battery Shutdown Threshold - Sets how quickly openpilot adjusts to speed reductions in 'Standard' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp. - -Default: 1.0. + Turn Off Data Tracking - Restore the 'Standard' settings to their default values. + Turn Off Data Uploads - Relaxed Personality + Screen Settings - Customize the 'Relaxed' personality profile, ideal for a more laid-back driving style. + Screen behavior settings. - Set the following distance for 'Relaxed' mode. This determines roughly how many seconds you'll follow behind the car ahead. - -Default: 1.75 seconds. + Screen Brightness (Offroad) - Controls how sensitive openpilot is to acceleration changes in 'Relaxed' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky. - -Default: 1.0. + Screen Brightness (Onroad) - Controls how sensitive openpilot is to deceleration in 'Relaxed' mode. Higher values result in smoother braking, while lower values allow for quicker, more immediate braking that may feel abrupt. - -Default: 1.0. + Screen Recorder - Adjusts how cautious openpilot is around vehicles or obstacles in 'Relaxed' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking. - -Default: 1.0. + Screen Timeout (Offroad) - Controls how quickly openpilot adjusts speed in 'Relaxed' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt. - -Default: 1.0. + Screen Timeout (Onroad) - Sets how quickly openpilot adjusts to speed reductions in 'Relaxed' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp. - -Default: 1.0. + 5 mins - Restore the 'Relaxed' settings to their default values. + mins - Model Management + hour - Manage the driving models used by openpilot. + hours - Automatically Update and Download Models + Only Onroad - Automatically download new or updated driving models. + volts - Model Randomizer + Auto - A random model is selected and can be reviewed at the end of each drive if it's longer than 15 minutes to help find your preferred model. + seconds - Manage Model Blacklist + WARNING: This can cause premature wear or damage by running the device over comma's recommended temperature limits! - Control which models are blacklisted and won't be used for future drives. + WARNING: This will prevent your drives from being recorded and the data will be unobtainable! - Reset Model Scores + WARNING: This will prevent your drives from appearing on comma connect which may impact debugging and support! - Clear the ratings you've given to the driving models. + Controls how long the device stays on after you stop driving. - Review Model Scores + Allows the device to work without an internet connection. - View the ratings you've assigned to the driving models. + Allows the device to run at higher temperatures than recommended. - Delete Model + Manages the threshold for shutting down the device to protect the car's battery from excessive drain and potential damage. - Remove the selected driving model from your device. + Disables all data tracking to improve privacy. - Download Model + Stops the device from sending any data to the servers. - Download undownloaded driving models. + Controls the screen brightness when you're not driving. - Download All Models + Controls the screen brightness while you're driving. - Download all undownloaded driving models. + Enables a button in the onroad UI to record the screen. - Select Model + Controls how long it takes for the screen to turn off when you're not driving. - Select which model openpilot uses to drive. + Controls how long it takes for the screen to turn off while you're driving. - Reset Model Calibrations + Screen Off + + + FrogPilotLateralPanel - Reset calibration settings for the driving models. + Always on Lateral - mph - mph + openpilot's steering control stays active even when the brake or gas pedals are pressed. + +Deactivate only occurs with the 'Cruise Control' button. + - Reset - Resetar + Control with LKAS Button + - seconds + Enable with Cruise Control - ADD - ADICIONAR + Pause on Brake Below + - REMOVE - REMOVER + Hide the Status Bar + - There's no more models to blacklist! The only available model is "%1"! + Lane Change Settings - OK - OK + How openpilot handles lane changes. + - Select a model to add to the blacklist + Lane Change Delay - Are you sure you want to add the '%1' model to the blacklist? + Lane Width Requirement - Add + Minimum Speed for Lane Change - Select a model to remove from the blacklist + Lateral Tuning - Are you sure you want to remove the '%1' model from the blacklist? + Neural Network Feedforward (NNFF) - Remove + Smooth Curve Handling - RESET - RESET + Quality of Life Improvements + - Reset all model scores? + Miscellaneous lateral focused features to improve your overall openpilot experience. - VIEW - VER + Pause Steering Below + - DELETE + Pauses steering control when driving below the set speed. - Select a model to delete - + mph + mph - Are you sure you want to delete the '%1' model? + feet - Delete + Reboot required to take effect. - Deleting... + Reboot Now - Deleted! + kph - DOWNLOAD - BAIXAR + meters + - CANCEL + Advanced Lateral Tuning - Select a driving model to download + Advanced settings for fine tuning openpilot's lateral controls. - Downloading %1... + Friction (Default: %1) - SELECT - SELECIONE + Friction + - Select a model - 🗺️ = Navigation | 📡 = Radar | 👀 = VOACC + Adjusts the resistance in steering. Higher values provide more stable steering but can make it feel heavy, while lower values allow lighter steering but may feel too sensitive. - WARNING: This is a very experimental model and may drive dangerously! + Kp Factor (Default: %1) - I understand the risks. + Kp Factor - Start with a fresh calibration for the newly selected model? + Adjusts how aggressively the car corrects its steering. Higher values offer quicker corrections but may feel jerky, while lower values make steering smoother but slower to respond. - Reboot required to take effect. + Lateral Accel (Default: %1) - Reboot Now + Lateral Accel - RESET ALL + Adjusts how fast the car can steer from side to side. Higher values allow quicker lane changes but can feel unstable, while lower values provide smoother steering but may feel sluggish. - RESET ONE + Steer Ratio (Default: %1) - Are you sure you want to completely reset all of your model calibrations? + Steer Ratio - Select a model to reset + Adjusts how much openpilot needs to turn the wheel to steer. Higher values feel like driving a truck, more stable at high speeds, but harder to steer quickly at low speeds, while lower values feel like a go-kart, easier to steer in tight spots but more sensitive and less stable at high speeds. - Are you sure you want to completely reset this model's calibrations? + Force Auto Tune On - The 'Model Randomizer' only works with downloaded models. Do you want to download all the driving models? + Forces comma's auto lateral tuning for unsupported vehicles. - Are you sure you want to completely reset your settings for the 'Traffic Mode' personality? + Force Auto Tune Off - Are you sure you want to completely reset your settings for the 'Aggressive' personality? + Forces comma's auto lateral tuning off for supported vehicles. - Are you sure you want to completely reset your settings for the 'Standard' personality? + Controls the current state of 'Always on Lateral' with the 'LKAS' button. - Are you sure you want to completely reset your settings for the 'Relaxed' personality? + Activates 'Always on Lateral' whenever 'Cruise Control' is active bypassing the requirement to enable openpilot first. - kph + Pauses 'Always on Lateral' when the brake pedal is pressed below the set speed. - Downloading models... + Hides status bar for 'Always On Lateral'. - openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required. - O openpilot requer que o dispositivo seja montado dentro de 4° esquerda ou direita e dentro de 5° para cima ou 9° para baixo. O openpilot está continuamente calibrando, resetar raramente é necessário. + Automatic Lane Changes + - Your device is pointed %1° %2 and %3° %4. - Seu dispositivo está montado %1° %2 e %3° %4. + Conducts lane changes without needing to touch the steering wheel upon turn signal activation. + - down - baixo + Delays lane changes by the set time to prevent sudden changes. + - up - cima + Sets the minimum lane width for openpilot to detect a lane as a lane. + - left - esquerda + Sets the minimum speed required for openpilot to perform a lane change. + - right - direita + Only One Lane Change Per Signal + - - - FrogPilotAdvancedVisualsPanel - Advanced Onroad UI Widgets + Limits lane changes to one per turn signal activation. - Advanced user customizations for the Onroad UI. + Settings for fine tuning openpilot's lateral controls. - Camera View + Force Turn Desires Below Lane Change Speed - Camera view for the onroad UI. This is purely a visual change and doesn't impact how openpilot drives. + Forces the model to use turn desires when driving below the minimum lane change speed to help make left and right turns more precisely. - Display Stopping Points + Uses Twilsonco's 'Neural Network FeedForward' for more precise steering control. - Display an image on the screen where openpilot is detecting a potential red light/stop sign. + Smoothens the steering control when entering and exiting curves by using Twilsonco's torque adjustments. - Hide Lead Marker + seconds + + + FrogPilotLongitudinalPanel - Hide the marker for the vehicle ahead on the screen. + Conditional Experimental Mode - Hide Speed + Below - Hide the speed indicator in the onroad UI. Additional toggle allows it to be hidden/shown via tapping the speed itself. + Curve Detected Ahead - Hide UI Elements + Lead Detected Ahead - Hide the selected UI elements from the onroad screen. + Navigation Data - Use Wheel Speed + openpilot Wants to Stop In - Use the wheel speed instead of the cluster speed in the onroad UI. + Turn Signal Below - Developer UI + Hide the Status Bar - Show detailed information about openpilot's internal operations. + Curve Speed Control - Border Metrics + Automatically slow down for curves detected ahead or through the downloaded maps. - Display performance metrics around the edge of the screen while driving. + Curve Detection Method - FPS Display + Curve Detection Failsafe - Display the 'Frames Per Second' (FPS) at the bottom of the screen while driving. + Experimental Mode Activation - Lateral Metrics + Click the LKAS Button - Display metrics related to steering control at the top of the screen while driving. + Double-Tap the Screen - Longitudinal Metrics + Long Press the Distance Button - Display metrics related to acceleration, speed, and desired following distance at the top of the screen while driving. + Longitudinal Tuning - Numerical Temperature Gauge + Settings that control how openpilot manages speed and acceleration. - Show exact temperature readings instead of general status labels like 'GOOD', 'OK', or 'HIGH' in the sidebar. + Acceleration Profile - Sidebar + Deceleration Profile - Display system information like CPU, GPU, RAM usage, IP address, and storage space in the sidebar. + Human-Like Acceleration - Use International System of Units + Increase Stopped Distance - Display measurements using the 'International System of Units' (SI). + Increases the distance to stop behind vehicles. - Model UI + Quality of Life Improvements - Customize the model visualizations on the screen. + Miscellaneous longitudinal focused features to improve your overall openpilot experience. - Lane Lines Width + Map Accel/Decel to Gears - How thick the lane lines appear on the display. - -Default matches the MUTCD standard of 4 inches. + Reverse Cruise Increase - Path Edges Width + Speed Limit Controller - The width of the edges of the driving path to represent different modes and statuses. - -Default is 20% of the total path width. - -Color Guide: -- Blue: Navigation -- Light Blue: 'Always On Lateral' -- Green: Default -- Orange: 'Experimental Mode' -- Red: 'Traffic Mode' -- Yellow: 'Conditional Experimental Mode' Overridden + Confirm New Speed Limits - Path Width + Fallback Method - How wide the driving path appears on your screen. - -Default (6.1 feet / 1.9 meters) matches the width of a 2019 Lexus ES 350. + Override Method - Road Edges Width + Speed Limit Offsets - How thick the road edges appear on the display. - -Default matches half of the MUTCD standard lane line width of 4 inches. + Speed Limit Offset (0-34 mph) - 'Unlimited' Road UI + Speed Limit Offset (35-54 mph) - Extend the display of the path, lane lines, and road edges as far as the model can see. + Speed Limit Offset (55-64 mph) - Auto + Speed Limit Offset (65-99 mph) - Driver + Miscellaneous 'Speed Limit Controller' focused features to improve your overall openpilot experience. - Standard - Neutro + Force MPH Readings from Dashboard + - Wide + Prepare for Higher Speed Limits - Control Via UI + Prepare for Lower Speed Limits - Alerts + Set Speed to Current Limit - Map Icon - + mph + mph - Max Speed + With Lead - Show Distance + Switches to 'Experimental Mode' when driving below the set speed with a lead vehicle. - Blind Spot + With Lead - Steering Torque + Slower Lead - Turn Signal + Stopped Lead - Adjacent Path Metrics + Intersections - Auto Tune + Turns - Lead Info + Map Based - Longitudinal Jerk + Vision - Fahrenheit - + Standard + Neutro - CPU + Eco - GPU + Sport - IP + Sport+ - RAM + feet - SSD Left + Acceleration - SSD Used + Deceleration - inches + Lower Limits - % + Higher Limits - feet + None - Adjust how thick the lane lines appear on the display. - -Default matches the Vienna standard of 10 centimeters. + Set Speed - Adjust how thick the road edges appear on the display. - -Default matches half of the Vienna standard of 10 centimeters. - + Experimental Mode + Modo Experimental - centimeters + Previous Limit - meters - + SELECT + SELECIONE - Adjust how thick the lane lines appear on the display. - -Default matches the MUTCD standard of 4 inches. + Dashboard - Adjust how thick the road edges appear on the display. - -Default matches half of the MUTCD standard of 4 inches. + Navigation - - - FrogPilotConfirmationDialog - Reboot Later + Highest - Yes + Lowest - No + Select your primary priority - - - FrogPilotDataPanel - Delete Driving Footage and Data + Select your secondary priority - DELETE + Select your tertiary priority - This button provides a swift and secure way to permanently delete all stored driving footage and data from your device. Ideal for maintaining privacy or freeing up space. + MANAGE - Are you sure you want to permanently delete all of your driving footage and data? + seconds - Delete + Speed Limit Offset (0-34 kph) - Deleting... + Speed Limit Offset (35-54 kph) - Deleted! + Speed Limit Offset (55-64 kph) - Screen Recordings + Speed Limit Offset (65-99 kph) - Manage your screen recordings. + kph - RENAME + meters - Select a recording to delete + Automatically switch to 'Experimental Mode' when specific conditions are met. - Are you sure you want to delete this recording? + Triggers 'Experimental Mode' when driving below the set speed without a lead vehicle. - Failed... + Triggers 'Experimental Mode' when a curve is detected in the road ahead. - Select a recording to rename + Triggers 'Experimental Mode' when a slower or stopped vehicle is detected ahead. - Enter a new name + Triggers 'Experimental Mode' based on navigation data, such as upcoming intersections or turns. - Rename Recording + Triggers 'Experimental Mode' when openpilot wants to stop such as for a stop sign or red light. - Renaming... + Triggers 'Experimental Mode' when using turn signals below the set speed. - Renamed! + Hides status bar for 'Conditional Experimental Mode'. - FrogPilot Backups + Uses data from either the downloaded maps or the model to determine where curves are. - Manage your FrogPilot backups. + Triggers 'Curve Speed Control' only when a curve is detected with the model as well when using the 'Map Based' method. - BACKUP + Curve Detection Sensitivity - RESTORE + Controls how sensitive openpilot is to detecting curves. Higher values trigger earlier responses at the risk of triggering too often, while lower values increase confidence at the risk of triggering too infrequently. - Name your backup + Speed Aggressiveness - Do you want to compress this backup? The end file size will be 2.25x smaller, but can take 10+ minutes. + Controls how aggressive openpilot takes turns. Higher values result in faster turns, while lower values result in slower turns. - Backing... + Hide Desired Speed Widget From UI - Compressing... + Hides the desired speed widget from the onroad UI. - Success! + Customize Driving Personalities - Select a backup to delete + Customize the personality profiles to suit your driving style. - Are you sure you want to delete this backup? + Traffic Personality - Select a restore point + Customizes the 'Traffic' personality profile, tailored for navigating through traffic. - Are you sure you want to restore this version of FrogPilot? + Following Distance - Restore + Controls the minimum following distance in 'Traffic' mode. openpilot will automatically dynamically between this value and the 'Aggressive' profile distance based on your current speed. - Restoring... + Acceleration Sensitivity - Extracting... + Controls how sensitive openpilot is to changes in acceleration in 'Traffic' mode. Higher values result in smoother, more gradual acceleration, while lower values allow for quicker, more responsive changes that may feel abrupt. - Restored! + Deceleration Sensitivity - Rebooting... + Controls how sensitive openpilot is to changes in deceleration in 'Traffic' mode. Higher values result in smoother, more gradual deceleration, while lower values allow for quicker, more responsive changes that may feel abrupt. - Toggle Backups + Safety Distance Sensitivity - Manage your toggle backups. + Adjusts how cautious openpilot is around other vehicles or obstacles in 'Traffic' mode. Higher values increase following distances and prioritize safety, leading to more cautious driving, while lower values allow for closer following but may reduce reaction time. - Are you sure you want to restore this toggle backup? + Speed Increase Responsiveness - - - FrogPilotDevicePanel - Device Settings + Controls how quickly openpilot increases speed in 'Traffic' mode. Higher values ensure smoother, more gradual speed changes when accelerating, while lower values allow for quicker, more responsive changes that may feel abrupt. - Device behavior settings. + Speed Decrease Responsiveness - Device Shutdown Timer + Controls how quickly openpilot decreases speed in 'Traffic' mode. Higher values ensure smoother, more gradual speed changes when slowing down, while lower values allow for quicker, more responsive changes that may feel abrupt. - How long the device stays on after you stop driving. + Reset Settings - Disable Internet Requirement + Restores the 'Traffic Mode' settings to their default values. - The device can work without an internet connection for as long as you need. + Aggressive Personality - Increase Thermal Safety Limit + Customize the 'Aggressive' personality profile, designed for a more assertive driving style. - The device can run at higher temperatures than recommended. + Sets the following distance for 'Aggressive' mode. This determines roughly how many seconds you'll follow behind the car ahead. + +Default: 1.25 seconds. - Low Battery Shutdown Threshold + Controls how sensitive openpilot is to changes in acceleration in 'Aggressive' mode. Higher values result in smoother, more gradual acceleration, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 0.5. - Shut down the device when the car's battery gets too low to prevent damage to the 12V battery. + Controls how sensitive openpilot is to changes in deceleration in 'Aggressive' mode. Higher values result in smoother, more gradual deceleration, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 0.5. - Turn Off Data Tracking + Adjusts how cautious openpilot is around other vehicles or obstacles in 'Aggressive' mode. Higher values increase following distances and prioritize safety, leading to more cautious driving, while lower values allow for closer following but may reduce reaction time. + +Default: 1.0. - Disable all tracking to improve privacy. + Controls how quickly openpilot increases speed in 'Aggressive' mode. Higher values ensure smoother, more gradual speed changes when accelerating, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 0.5. - Turn Off Data Uploads + Controls how quickly openpilot decreases speed in 'Aggressive' mode. Higher values ensure smoother, more gradual speed changes when slowing down, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 0.5. - Stop the device from sending any data to the servers. + Restores the 'Aggressive' settings to their default values. - Screen Settings + Standard Personality - Screen behavior settings. + Customize the 'Standard' personality profile, optimized for balanced driving. - Screen Brightness (Offroad) + Set the following distance for 'Standard' mode. This determines roughly how many seconds you'll follow behind the car ahead. + +Default: 1.45 seconds. - The screen brightness when you're not driving. + Controls how sensitive openpilot is to changes in acceleration in 'Standard' mode. Higher values result in smoother, more gradual acceleration, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 1.0. - Screen Brightness (Onroad) + Controls how sensitive openpilot is to changes in deceleration in 'Standard' mode. Higher values result in smoother braking, while lower values allow for quicker, more immediate braking that may feel abrupt. + +Default: 1.0. - The screen brightness while you're driving. + Adjusts how cautious openpilot is around other vehicles or obstacles in 'Standard' mode. Higher values increase following distances and prioritize safety, leading to more cautious driving, while lower values allow for closer following but may reduce reaction time. + +Default: 1.0. - Screen Recorder + Controls how quickly openpilot increases speed in 'Standard' mode. Higher values ensure smoother, more gradual speed changes when accelerating, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 1.0. - Display a button in the onroad UI to record the screen. + Controls how quickly openpilot decreases speed in 'Standard' mode. Higher values ensure smoother, more gradual speed changes when slowing down, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 1.0. - Screen Timeout (Offroad) + Restores the 'Standard' settings to their default values. - How long it takes for the screen to turn off when you're not driving. + Relaxed Personality - Screen Timeout (Onroad) + Customize the 'Relaxed' personality profile, ideal for a more laid-back driving style. - How long it takes for the screen to turn off while you're driving. + Set the following distance for 'Relaxed' mode. This determines roughly how many seconds you'll follow behind the car ahead. + +Default: 1.75 seconds. - 5 mins + Controls how sensitive openpilot is to changes in acceleration in 'Relaxed' mode. Higher values result in smoother, more gradual acceleration, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 1.0. - mins + Controls how sensitive openpilot is to changes in deceleration in 'Relaxed' mode. Higher values result in smoother braking, while lower values allow for quicker, more immediate braking that may feel abrupt. + +Default: 1.0. - hour + Adjusts how cautious openpilot is around other vehicles or obstacles in 'Relaxed' mode. Higher values increase following distances and prioritize safety, leading to more cautious driving, while lower values allow for closer following but may reduce reaction time. + +Default: 1.0. - hours + Controls how quickly openpilot increases speed in 'Relaxed' mode. Higher values ensure smoother, more gradual speed changes when accelerating, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 1.0. - Only Onroad + Controls how quickly openpilot decreases speed in 'Relaxed' mode. Higher values ensure smoother, more gradual speed changes when slowing down, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 1.0. - volts + Restores the 'Relaxed' settings to their default values. - Auto + Toggle 'Experimental Mode' on/off using either the steering wheel buttons or screen. + +This overrides 'Conditional Experimental Mode'. - seconds + Toggles 'Experimental Mode' by pressing the 'LKAS' button on the steering wheel. - WARNING: This can cause premature wear or damage by running the device over comma's recommended temperature limits! + Toggles 'Experimental Mode' by double-tapping the onroad UI within a 0.5 second period. - I understand the risks. + Toggles 'Experimental Mode' by holding down the 'distance' button on the steering wheel for 0.5 seconds. - WARNING: This will prevent your drives from being recorded and the data will be unobtainable! + Enables either a sporty or eco-friendly acceleration rate. 'Sport+' aims to make openpilot accelerate as fast as possible. - WARNING: This will prevent your drives from appearing on comma connect which may impact debugging and support! + Enables either a sporty or eco-friendly deceleration rate. - - - FrogPilotLateralPanel - Always on Lateral + Uses the lead's acceleration rate when at a takeoff and ramps off the acceleration rate when approaching the maximum set speed for a more 'human-like' driving experience. - openpilot's steering control stays active even when the brake or gas pedals are pressed. - -Deactivate only occurs with the 'Cruise Control' button. + Human-Like Approach Behind Leads - Control with LKAS Button + Dynamically adjusts the following distance when approaching slower or stopped vehicles for a more 'human-like' driving experience. - 'Always on Lateral' gets turned on or off using the 'LKAS' button. + Lead Detection Confidence - Enable with Cruise Control + Controls how sensitive openpilot is to detecting vehicles ahead. A lower value can help detect vehicles sooner and from farther away, but increases the chance openpilot mistakes other objects for vehicles. - 'Always on Lateral' gets turned on by pressing the 'Cruise Control' button bypassing the requirement to enable openpilot first. + Maximum Acceleration Rate - Pause on Brake Below + Sets a cap on how fast openpilot can accelerate. - 'Always on Lateral' pauses when the brake pedal is pressed below the set speed. + 'Taco Bell Run' Turn Speed Hack - Hide the Status Bar + Uses comma's speed hack they used to help handle left and right turns more precisely during their 2022 'Taco Bell' drive by reducing the maximum allowed speed and acceleration while turning. - The status bar for 'Always on Lateral' is hidden. + Cruise Increase - Lane Change Settings + Controls the interval used when increasing the cruise control speed. - How openpilot handles lane changes. + Cruise Increase (Long Press) - Hands-Free Lane Change + Controls the interval used when increasing the cruise control speed while holding down the button for 0.5+ seconds. - Lane changes are conducted without needing to touch the steering wheel upon turn signal activation. + Force Keep openpilot in the Standstill State - Lane Change Delay + Keeps openpilot in the 'standstill' state until the gas pedal or 'resume' button is pressed. - How long openpilot waits before changing lanes. + Force Stop for 'Detected' Stop Lights/Signs - Lane Width Requirement + Forces a stop whenever openpilot 'detects' a potential red light/stop sign to prevent it from running the red light/stop sign. - The minimum lane width for openpilot to detect a lane as a lane. + Set Speed Offset - Minimum Speed for Lane Change + Controls how much higher or lower the set speed should be compared to your current set speed. For example, if you prefer to drive 5 mph above the speed limit, this setting will automatically add that difference when you adjust your set speed. - The minimum speed required for openpilot to perform a lane change. + Maps the acceleration and deceleration profiles to your car's 'Eco' or 'Sport' gear modes. - Single Lane Change Per Signal + Reverses the long press cruise increase feature to increase the max speed by 5 mph instead of 1 on short presses. - Lane changes are limited to one per turn signal activation. + Automatically adjust your max speed to match the speed limit using downloaded 'Open Street Maps' data, 'Navigate on openpilot', or your car's dashboard (Toyota/Lexus/HKG only). - Lateral Tuning + Enables manual confirmations before using a new speed limit. - Settings that control how openpilot manages steering. + Controls what happens when no speed limit data is available. - Neural Network Feedforward (NNFF) + Controls how the current speed limit is overriden. + + - Twilsonco's 'Neural Network FeedForward' for more precise steering control. + Forces speed limit readings from the dashboard to MPH if it normally displays them in KPH. - Smooth Curve Handling + Sets a lookahead value to prepare for upcoming higher speed limits when using downloaded map data. - Smoother steering when entering and exiting curves with Twilsonco's torque adjustments. + Sets a lookahead value to prepare for upcoming lower speed limits when using downloaded map data. - Quality of Life Improvements + Sets your max speed to match the current speed limit when enabling openpilot. - Miscellaneous lateral focused features to improve your overall openpilot experience. + Speed Limit Source Priority Order - Pause Steering Below + Sets the order of priority for speed limit data sources. - Pauses steering control when driving below the set speed. + Set speed limit offsets to drive over the posted speed limit. - mph - mph + Sets the speed limit offset for speeds between 0 and 34 mph. + - feet + Sets the speed limit offset for speeds between 35 and 54 mph. - Reboot required to take effect. + Sets the speed limit offset for speeds between 55 and 64 mph. - Reboot Now + Sets the speed limit offset for speeds between 65 and 99 mph. - kph + Show Speed Limit Sources - meters + Displays the speed limit sources in the onroad UI when using 'Speed Limit Controller'. - - - FrogPilotLongitudinalPanel - Conditional Experimental Mode - + Reset + Resetar - Automatically switches to 'Experimental Mode' when specific conditions are met. + The 'Map Based' option is only available when some 'Map Data' has been downloaded! - Below + Okay - 'Experimental Mode' is active when driving below the set speed without a lead vehicle. + Set With Gas Pedal - Curve Detected Ahead + Max Set Speed - 'Experimental Mode' is active when a curve is detected in the road ahead. + Map Data - Lead Detected Ahead + Are you sure you want to completely reset your settings for 'Traffic Mode'? - 'Experimental Mode' is active when a slower or stopped vehicle is detected ahead. + Are you sure you want to completely reset your settings for the 'Aggressive' personality? - Navigation Data + Are you sure you want to completely reset your settings for the 'Standard' personality? - 'Experimental Mode' is active based on navigation data, such as upcoming intersections or turns. + Are you sure you want to completely reset your settings for the 'Relaxed' personality? - openpilot Wants to Stop In + Sets the speed limit offset for speeds between 0-34 kph. - 'Experimental Mode' is active when openpilot wants to stop such as for a stop sign or red light. + Sets the speed limit offset for speeds between 35-54 kph. - Turn Signal Below + Sets the speed limit offset for speeds between 55-64 kph. - 'Experimental Mode' is active when using turn signals below the set speed. + Sets the speed limit offset for speeds between 65-99 kph. - Hide the Status Bar + Sets the speed limit offset for speeds between 0-34 mph. - The status bar for 'Conditional Experimental Mode' is hidden. + Sets the speed limit offset for speeds between 35-54 mph. - Curve Speed Control + Sets the speed limit offset for speeds between 55-64 mph. - Automatically slow down for curves detected ahead or through the downloaded maps. + Sets the speed limit offset for speeds between 65-99 mph. + + + FrogPilotModelPanel - Curve Detection Method + Automatically Update and Download Models - The method used to detect curves. + Automatically downloads new models and updates existing ones if needed. - Curve Detection Failsafe + Model Randomizer - Curve control is triggered only when a curve is detected ahead. Use this as a failsafe to prevent false positives when using the 'Map Based' method. + Randomly selects a model each drive and brings up a model review prompt at the end to help find your preferred model. - Curve Sensitivity + Manage Model Blacklist - How sensitive openpilot is to detecting curves. Higher values trigger earlier responses at the risk of triggering too often, while lower values increase confidence at the risk of triggering too infrequently. + Manage the blacklisted models that aren't being used with 'Model Randomizer'. - Turn Speed Aggressiveness + Reset Model Scores - How aggressive openpilot takes turns. Higher values result in quicker turns, while lower values provide gentler turns. + Clear the ratings you've given to the driving models. - Disable Speed Value Smoothing In the UI + Review Model Scores - Speed value smoothing is disabled in the UI to instead display the exact speed requested by the curve control. + View the ratings you've assigned to the driving models. - Experimental Mode Activation + Delete Model - 'Experimental Mode' is toggled off/on using the steering wheel buttons or the on-screen controls. - -This overrides 'Conditional Experimental Mode'. + Delete driving models from your device. - Click the LKAS Button + Download Model - 'Experimental Mode' is toggled by pressing the 'LKAS' button on the steering wheel. + Download new driving models. - Double-Tap the Screen + Select Model - 'Experimental Mode' is toggled by double-tapping the onroad UI within 0.5 seconds. + Select your preferred driving model. - Long Press the Distance Button - + ADD + ADICIONAR - 'Experimental Mode' is toggled by holding the 'distance' button on the steering wheel for 0.5+ seconds. - + REMOVE + REMOVER - Longitudinal Tuning + REMOVE ALL - Settings that control how openpilot manages speed and acceleration. + There are no more models to blacklist! The only available model is "%1"! - Acceleration Profile - + OK + OK - Choose between a sporty or eco-friendly acceleration rate. + Select a model to add to the blacklist - Deceleration Profile + Are you sure you want to add the '%1' model to the blacklist? - Choose between a sporty or eco-friendly deceleration rate. + Add - Human-Like Acceleration + Select a model to remove from the blacklist - Uses the lead's acceleration rate when at a takeoff and ramps off the acceleration rate when approaching the maximum set speed for a smoother max speed approach. + Are you sure you want to remove the '%1' model from the blacklist? - Human-Like Following Distance + Remove - Dynamically adjusts the following distance to feel more natural when approaching slower or stopped vehicles. + Are you sure you want to remove all of your blacklisted models? - Increase Stopped Distance - + RESET + RESET - Increases the distance to stop behind vehicles. + Are you sure you want to reset all of your model drives and scores? - Quality of Life Improvements - + REVIEW + REVISAR - Miscellaneous longitudinal focused features to improve your overall openpilot experience. + DELETE - Cruise Increase Interval + DELETE ALL - Interval used when increasing the cruise control speed. + Select a driving model to delete - Custom Cruise Interval (Long Press) + Are you sure you want to delete the '%1' model? - Interval used when increasing the cruise control speed when holding down the button for 0.5+ seconds. + Delete - Map Accel/Decel to Gears + Are you sure you want to delete all of your downloaded driving models? - Map the acceleration and deceleration profiles to the 'Eco' or 'Sport' gear modes. - + DOWNLOAD + BAIXAR - Onroad Personality Button + DOWNLOAD ALL - The current driving personality is displayed on the screen. Tap to switch personalities, or long press for 2.5 seconds to activate 'Traffic Mode'. + Select a driving model to download - Reverse Cruise Increase - + SELECT + SELECIONE - The long press feature is reversed in order to increase speed by 5 mph instead of 1. + Select a model - 🗺️ = Navigation | 📡 = Radar | 👀 = VOACC - Speed Limit Controller + Reboot required to take effect. - Automatically adjust your max speed to match the speed limit using 'Open Street Maps', 'Navigate on openpilot', or your car's dashboard (Toyota/Lexus/HKG only). + Reboot Now - Confirm New Speed Limits + The 'Model Randomizer' only works with downloaded models. Do you want to download all the driving models? - Require manual confirmation before using a new speed limit. + CANCEL + + + FrogPilotParamManageControl - Fallback Method + MANAGE + + + FrogPilotSettingsWindow - Choose what happens when no speed limit data is available. + Alerts and Sounds - Override Method + Driving Controls - Choose how you want to override the current speed limit. - - + Navigation - Speed Limit Source Priority + System Management - Set the order of priority for speed limit data sources. + Theme and Appearance - Speed Limit Offsets + Vehicle Controls - Manage toggles related to 'Speed Limit Controller's controls. + Options to customize FrogPilot's sound alerts and notifications. - Speed Limit Offset (0-34 mph) + Tools and system utilities used to maintain and troubleshoot FrogPilot. - Set the speed limit offset for speeds between 0 and 34 mph. + Options for customizing FrogPilot's themes, UI appearance, and onroad widgets. - Speed Limit Offset (35-54 mph) + Vehicle-specific settings and configurations for supported makes and models. - Set the speed limit offset for speeds between 35 and 54 mph. + MANAGE - Speed Limit Offset (55-64 mph) + GAS / BRAKE - Set the speed limit offset for speeds between 55 and 64 mph. + STEERING - Speed Limit Offset (65-99 mph) + DATA - Set the speed limit offset for speeds between 65 and 99 mph. + DEVICE - Miscellaneous 'Speed Limit Controller' focused features to improve your overall openpilot experience. + UTILITIES - Force MPH Readings from Dashboard + APPEARANCE - Force speed limit readings in MPH from the dashboard if it normally displays in KPH. + THEME - Prepare for Higher Speed Limits + Minimal - Set a lookahead value to prepare for upcoming higher speed limits based on map data. + Standard + Neutro + + + Advanced + Avançado + + + Developer - Prepare for Lower Speed Limits + Tuning Level - Set a lookahead value to prepare for upcoming lower speed limits based on map data. + Select the tuning level that best suits your needs. 'Minimal' is ideal for those who prefer simplicity and ease of use, 'Standard' is recommended for most users, offering a balanced experience, 'Advanced' provides more control for experienced users, while 'Developer' unlocks highly customizable settings designed for seasoned enthusiasts. - Set Speed to Current Limit + WARNING: This unlocks some potentially dangerous settings that can DRASTICALLY alter your driving experience! - Set your max speed to match the current speed limit when enabling openpilot. + I understand the risks. - Visual Settings + The 'Developer' preset is only available for users with either over 100 hours on FrogPilot, or 250 hours with openpilot. - Manage visual settings for the 'Speed Limit Controller'. + Okay - Use Vienna-Style Speed Signs + FrogPilot features that impact acceleration, braking, and steering. - Switch to Vienna-style (EU) speed limit signs instead of MUTCD (US). + Map data downloader and 'Navigate On openpilot (NOO)' settings. - Show Speed Limit Offset + DRIVING MODEL - Display the speed limit offset separately in the onroad UI when using the Speed Limit Controller. + MAP DATA - mph - mph + PRIMELESS NAVIGATION + + + + FrogPilotSoundsPanel - With Lead + Alert Volume Controller - Switches to 'Experimental Mode' when driving below the set speed with a lead vehicle. + Control the volume level for each individual sound in openpilot. - With Lead + Disengage Volume - Slower Lead + Related alerts: + +Adaptive Cruise Disabled +Parking Brake Engaged +Brake Pedal Pressed +Speed too Low - Stopped Lead + Engage Volume - Intersections + Related alerts: + +NNFF Torque Controller loaded +openpilot engaged - Turns + Prompt Volume - Off + Related alerts: + +Car Detected in Blindspot +Speed too Low +Steer Unavailable Below 'X' +Take Control, Turn Exceeds Steering Limit - Map Based + Prompt Distracted Volume - Vision + Related alerts: + +Pay Attention, Driver Distracted +Touch Steering Wheel, Driver Unresponsive - Standard - Neutro + Refuse Volume + - Eco + Related alerts: + +openpilot Unavailable - Sport + Warning Soft Volume - Sport+ + Related alerts: + +BRAKE!, Risk of Collision +TAKE CONTROL IMMEDIATELY - feet + Warning Immediate Volume - Acceleration + Related alerts: + +DISENGAGE IMMEDIATELY, Driver Distracted +DISENGAGE IMMEDIATELY, Driver Unresponsive - Deceleration + Custom Alerts - Lower Limits + Goat Scream Steering Saturated Alert - Higher Limits + Green Light Alert - None + Lead Departing Alert - Set Speed + Loud Blindspot Alert - Experimental Mode - Modo Experimental + Custom alerts for openpilot events. + - Previous Limit + Enables the famed 'Goat Scream' that has brought both joy and anger to FrogPilot users all around the world! - Gas Pedal Press + Plays an alert when a traffic light changes from red to green. - Cruise Set Speed + Plays an alert when the lead vehicle starts starts to depart when at a standstill. - SELECT - SELECIONE + Plays a louder alert for when a vehicle is detected in the blindspot when attempting to change lanes. + - Dashboard + Speed Limit Changed Alert - Navigation + Plays an alert when the speed limit changes. - Offline Maps + Auto - Highest + Muted + + + FrogPilotThemesPanel - Lowest + Custom Theme - Select your primary priority + Custom openpilot themes. - Select your secondary priority + Color Scheme - Select your tertiary priority + Icon Pack - MANAGE + Sound Pack - seconds + Steering Wheel - Control Via UI + Turn Signal Animation - Speed Limit Offset (0-34 kph) + Download Status - Speed Limit Offset (35-54 kph) + Holiday Themes - Speed Limit Offset (55-64 kph) + Random Events - Speed Limit Offset (65-99 kph) + Startup Alert - Set speed limit offset for limits between 0-34 kph. + DELETE - Set speed limit offset for limits between 35-54 kph. + DOWNLOAD + BAIXAR + + + SELECT + SELECIONE + + + Select a color scheme to delete - Set speed limit offset for limits between 55-64 kph. + Are you sure you want to delete the '%1' color scheme? - Set speed limit offset for limits between 65-99 kph. + Delete - kph + Select a color scheme to download - meters + Select a color scheme - Set speed limit offset for limits between 0-34 mph. + Select an icon pack to delete - Set speed limit offset for limits between 35-54 mph. + Are you sure you want to delete the '%1' icon pack? - Set speed limit offset for limits between 55-64 mph. + Select an icon pack to download - Set speed limit offset for limits between 65-99 mph. + Select an icon pack - - - FrogPilotParamManageControl - MANAGE + Select a sound pack to delete - - - FrogPilotSettingsWindow - Advanced Settings + Select a sound pack to download - Alerts and Sounds + Select a steering wheel to delete - Driving Controls + Select a steering wheel to download - Navigation + Select a steering wheel - System Management + STOCK - Theme and Appearance + FROGPILOT - Vehicle Controls + CUSTOM - Advanced FrogPilot features for more experienced users. + CLEAR - Options to customize FrogPilot's sound alerts and notifications. + Characters: 0/%1 - FrogPilot features than impact acceleration, braking, and steering. + CANCEL - Offline maps downloader and 'Navigate On openpilot (NOO)' settings. + Changes out openpilot's color scheme. + +Want to submit your own color scheme? Share it in the 'custom-themes' channel on the FrogPilot Discord! - Tools and system utilities used to maintain and troubleshoot FrogPilot. + Changes out openpilot's icon pack. + +Want to submit your own icons? Share them in the 'custom-themes' channel on the FrogPilot Discord! - Options for customizing FrogPilot's themes, UI appearance, and onroad widgets. + Changes out openpilot's sound effects. + +Want to submit your own sounds? Share them in the 'custom-themes' channel on the FrogPilot Discord! - Vehicle-specific settings and configurations for supported makes and models. + Enables a custom steering wheel icon in the top right of the screen. - DRIVING + Enables themed turn signal animations. + +Want to submit your own animations? Share them in the 'custom-themes' channel on the FrogPilot Discord! - VISUALS + Changes the openpilot theme based on the current holiday. Minor holidays last one day, while major holidays (Easter, Christmas, Halloween, etc.) last the entire week. - MANAGE + Rainbow Path - GAS / BRAKE + Swap out the path in the onroad UI for a Mario Kart inspired 'Rainbow Path'. - STEERING + Enables random cosmetic events that happen during certain driving conditions. These events are purely for fun and don't affect driving controls! - DATA + Controls the text of the 'Startup' alert message that appears when you start the drive. - DEVICE + Select a distance icon pack to delete - UTILITIES + Are you sure you want to delete the '%1' distance icon pack? - APPEARANCE + Select a distance icon pack to download - THEME + Select a distance icon pack + + + + Select a signal animation to delete + + + + Are you sure you want to delete the '%1' signal animation? + + + + Select a signal animation to download + + + + Select a signal animation + + + + Are you sure you want to delete the '%1' sound pack? + + + + Select a sound pack + + + + Are you sure you want to delete the '%1' steering wheel? + + + + Enter the text for the top half + + + + Enter the text for the bottom half - FrogPilotSoundsPanel + FrogPilotVehiclesPanel - Alert Volume Controller + Select Make - Control the volume level for each individual sound in openpilot. + SELECT + SELECIONE + + + Select a Make - Disengage Volume + Select Model - Related alerts: - -Adaptive Cruise Disabled -Parking Brake Engaged -Brake Pedal Pressed -Speed too Low + Select a Model - Engage Volume + Disable Automatic Fingerprint Detection - Related alerts: - -NNFF Torque Controller loaded -openpilot engaged + Forces the selected fingerprint and prevents it from ever changing. - Prompt Volume + Disable openpilot Longitudinal Control - Related alerts: - -Car Detected in Blindspot -Speed too Low -Steer Unavailable Below 'X' -Take Control, Turn Exceeds Steering Limit + Are you sure you want to completely disable openpilot longitudinal control? - Prompt Distracted Volume + Reboot required to take effect. - Related alerts: - -Pay Attention, Driver Distracted -Touch Steering Wheel, Driver Unresponsive + Reboot Now - Refuse Volume + 2017 Volt Stop and Go Hack - Related alerts: - -openpilot Unavailable + Experimental GM Tune - Warning Soft Volume + Uphill/Downhill Smoothing - Related alerts: - -BRAKE!, Risk of Collision -TAKE CONTROL IMMEDIATELY + Use comma's New Longitudinal API - Warning Immediate Volume + Subaru Crosstrek Torque Increase - Related alerts: - -DISENGAGE IMMEDIATELY, Driver Distracted -DISENGAGE IMMEDIATELY, Driver Unresponsive + Increases the maximum allowed torque for the Subaru Crosstrek. - Custom Alerts + Automatically Lock/Unlock Doors + + + + Cluster Speed Offset + + + + FrogsGoMoo's Personal Tweaks + + + + Stop and Go Hack + + + + Lock + + + + Unlock + + + + Disables openpilot longitudinal control and uses the car's stock ACC instead. - Enable custom alerts for openpilot events. + Forces stop and go for the 2017 Chevy Volt. - Goat Scream Steering Saturated Alert + Enables FrogsGoMoo's experimental GM tune that is based on nothing but guesswork. Use at your own risk! - Enable the famed 'Goat Scream' that has brought both joy and anger to FrogPilot users all around the world! + Smoothens the gas and brake response when driving on slopes. - Green Light Alert + Enables comma's new control system that has shown great improvement with acceleration and braking, but has a few issues on some GM vehicles. - Get an alert when a traffic light changes from red to green. + Enables comma's new control system that has shown great improvement with acceleration and braking, but has a few issues on Hyundai/Kia/Genesis. - Lead Departing Alert + Automatically locks the doors when in drive and unlocks when in park. - Get an alert when the lead vehicle starts departing when at a standstill. + Sets the cluster offset openpilot uses to try and match the speed displayed on the dash. - Loud Blindspot Alert + Enables FrogsGoMoo's personal tweaks to the Toyota tune focused around his 2019 Lexus ES 350 to take off a bit quicker and stop a bit smoother. - Enable a louder alert for when a vehicle is detected in the blindspot when attempting to change lanes. + Forces stop and go for vehicles without stock stop and go functionality. + + + FrogPilotVisualsPanel - Speed Limit Change Alert + Custom FrogPilot widgets used in the onroad user interface. - Trigger an alert when the speed limit changes. + Compass - - - FrogPilotThemesPanel - Custom Theme + Dynamic Path Width - Custom openpilot themes. + Road Name - Color Scheme + Rotating Steering Wheel - Themed color schemes. - -Want to submit your own color scheme? Share it in the 'feature-request' channel on the FrogPilot Discord! + Larger Map Display - Icon Pack + Map Style - Themed icon packs. - -Want to submit your own icons? Share them in the 'feature-request' channel on the FrogPilot Discord! + Show Driver Camera When In Reverse - Sound Pack + Stopped Timer - Themed sound effects. - -Want to submit your own sounds? Share them in the 'feature-request' channel on the FrogPilot Discord! + Blind Spot - Steering Wheel + Dynamic - Custom steering wheel icons. + Static - Turn Signal Animation + Full Map - Themed turn signal animations. - -Want to submit your own animations? Share them in the 'feature-request' channel on the FrogPilot Discord! + Mapbox Streets - Download Status + Mapbox Outdoors - Holiday Themes + Mapbox Light - Change the openpilot theme based on the current holiday. Minor holidays last one day, while major holidays (Easter, Christmas, Halloween, etc.) last a week. + Mapbox Dark - Random Events + Mapbox Satellite - Random cosmetic events that happen during certain driving conditions. These events are purely for fun and don't affect driving controls! + Mapbox Satellite Streets - Startup Alert + Mapbox Navigation Day - Custom 'Startup' alert message that appears when you start driving. + Mapbox Navigation Night - DELETE + Mapbox Traffic Night - DOWNLOAD - BAIXAR + mike854's (Satellite hybrid) + SELECT SELECIONE - Select a color scheme to delete + Select a map style - Are you sure you want to delete the '%1' color scheme? + Accessibility - Delete + Visual features to improve your overall openpilot experience. - Select a color scheme to download + Camera View - Select a color scheme + Changes the camera view display. This is purely a visual change and doesn't impact how openpilot drives. - Select an icon pack to delete + On Screen Personality Button - Are you sure you want to delete the '%1' icon pack? + Displays the current driving personality on the screen. Tap to switch personalities, or long press for 2.5 seconds to activate 'Traffic' mode. - Select an icon pack to download + Displays the driver camera feed when the vehicle is in reverse. - Select an icon pack + Standby Mode - Select a signal pack to delete + Turns the screen off when driving and automatically wakes it up if engagement state changes or important alerts occur. - Are you sure you want to delete the '%1' signal pack? + Activates a timer when stopped to indicate how long the vehicle has been stopped for. - Select a signal pack to download + Advanced UI Controls - Select a signal pack + Advanced features to fine tune your personalized UI. - Select a sound pack to delete + Hide Current Speed - Are you sure you want to delete the '%1' sound scheme? + Hides the current speed. - Select a sound pack to download + Hide Lead Marker - Select a sound scheme + Hides the marker for the vehicle ahead. - Select a steering wheel to delete + Hide Map Icon - Are you sure you want to delete the '%1' steering wheel image? + Hides the map icon. - Select a steering wheel to download + Hide Max Speed - Select a steering wheel + Hides the max speed. - STOCK + Hide Non-Critical Alerts - FROGPILOT + Hides non-critical alerts. - CUSTOM + Hide Speed Limits - CLEAR + Hides the speed limits. - Enter your text for the top half + Use Wheel Speed - Characters: 0/%1 + Uses the wheel speed instead of the cluster speed. This is purely a visual change and doesn't impact how openpilot drives. - Enter your text for the bottom half + Developer Metrics - CANCEL + Show detailed information about openpilot's internal operations. - - - FrogPilotVehiclesPanel - Select Make + Border Metrics - SELECT - SELECIONE + Displays performance metrics around the edge of the screen while driving. + - Select a Make + FPS Display - Select Model + Displays the 'Frames Per Second' (FPS) at the bottom of the screen while driving. - Select a Model + Lateral Metrics - Disable Automatic Fingerprint Detection + Displays metrics related to steering control at the top of the screen while driving. - Forces the selected fingerprint and prevents it from ever changing. + Longitudinal Metrics - Disable openpilot Longitudinal Control + Displays metrics related to acceleration, speed, and desired following distance at the top of the screen while driving. - Disable openpilot longitudinal control and use stock ACC instead. + Numerical Temperature Gauge - Are you sure you want to completely disable openpilot longitudinal control? + Shows exact temperature readings instead of status labels like 'GOOD', 'OK', or 'HIGH' in the sidebar. - Reboot required to take effect. + Sidebar - Reboot Now + Displays system information like CPU, GPU, RAM usage, IP address, and storage space in the sidebar. - 2017 Volt Stop and Go Hack + Use International System of Units - Force stop and go for the 2017 Chevy Volt. + Displays measurements using the 'International System of Units' (SI). - Experimental GM Tune + Model UI - FrogsGoMoo's experimental GM tune that is based on nothing but guesswork. Use at your own risk! + Customize the model visualizations on the screen. - Uphill/Downhill Smoothing + Automatically adjusts the width of the driving path display based on the current engagement state: + +Fully engaged = 100% +Always On Lateral Active = 75% +Fully disengaged = 50% - Smoothen the car’s gas and brake response when driving on slopes. + Lane Lines Width - Use comma's New Longitudinal API + Controls the thickness the lane lines appear on the display. + +Default matches the MUTCD standard of 4 inches. - Comma's new longitudinal control system that has shown great improvement with acceleration and braking, but has a few issues on some GM vehicles. + Path Edges Width - Use comma's new longitudinal control system that has shown great improvement with acceleration and braking, but has a few issues on Hyundai/Kia/Genesis. + Controls the width of the edges of the driving path to represent different modes and statuses. + +Default is 20% of the total path width. + +Color Guide: +- Blue: Navigation +- Light Blue: 'Always On Lateral' +- Green: Default +- Orange: 'Experimental Mode' +- Red: 'Traffic Mode' +- Yellow: 'Conditional Experimental Mode' Overridden - Subaru Crosstrek Torque Increase + Path Width - Increases the maximum allowed torque for the Subaru Crosstrek. + Controls how wide the driving path appears on your screen. + +Default (6.1 feet / 1.9 meters) matches the width of a 2019 Lexus ES 350. - Automatically Lock/Unlock Doors + Road Edges Width - Automatically lock the doors when in drive and unlock when in park. + Controls how thick the road edges appear on the display. + +Default matches half of the MUTCD standard lane line width of 4 inches. - Cluster Speed Offset + Stopping Point - Set the cluster offset openpilot uses to try and match the speed displayed on the dash. + Displays an image on the screen where openpilot is detecting a potential red light/stop sign. - FrogsGoMoo's Personal Tweaks + 'Unlimited' Road UI - Use FrogsGoMoo's personal tweaks to the Toyota tune focused around his 2019 Lexus ES 350 to take off a bit quicker and stop a bit smoother. + Extends the display of the path, lane lines, and road edges as far as the model can see. - Stop and Go Hack + Navigation Widgets - Force stop and go for vehicles without stock stop and go functionality. + Wwidgets focused around navigation. - Lock + Increases the size of the map for easier navigation readings. - Unlock + Swaps out the stock map style for community created ones. - - - FrogPilotVisualsPanel - Onroad UI Widgets + Displays the current road name at the bottom of the screen using data from 'OpenStreetMap'. - Custom FrogPilot widgets used in the onroad user interface. + Show Speed Limit Offset - Compass + Displays the speed limit offset separately in the onroad UI when using 'Speed Limit Controller'. - A compass in the onroad UI to show the current driving direction. + Show Speed Limits - Dynamic Path Width + Displays the currently detected speed limit in the top left corner of the onroad UI. Uses data from your car's dashboard (if supported) and data from 'OpenStreetMaps'. - Automatically adjust the width of the driving path display based on the current engagement state: - -Fully engaged = 100% -Always On Lateral Active = 75% -Fully disengaged = 50% + Use Vienna-Style Speed Signs - Gas/Brake Pedal Indicators + Forces Vienna-style (EU) speed limit signs instead of MUTCD (US). - Pedal indicators in the onroad UI that change opacity based on the pressure applied. + Onroad Screen Widgets - Paths + Acceleration Path - Projected acceleration path, detected lanes, and vehicles in the blind spot. + Projects a path based on openpilot's current desired acceleration or deceleration. - Road Name + Adjacent Lanes - The current road name is displayed at the bottom of the screen using data from 'OpenStreetMap'. + Projects paths for the adjascent lanes. - Rotating Steering Wheel + Blind Spot Path - The steering wheel in the onroad UI rotates along with your steering wheel movements. + Projects a red path when vehicles are detected in the blind spot for the respective lane. - Quality of Life Improvements + Displays a compass to show the current driving direction. - Miscellaneous visual focused features to improve your overall openpilot experience. + Gas / Brake Pedal Indicators - Larger Map Display + Displays pedal indicators to indicate when either of the pedals are currently being used. - A larger size of the map in the onroad UI for easier navigation readings. + Rotates the steering wheel in the onroad UI rotates along with your steering wheel movements. - Map Style + Auto - Custom map styles for the map used during navigation. + Driver - Screen Standby Mode + Standard + Neutro + + + Wide - The screen is turned off after it times out when driving, but it automatically wakes up if engagement state changes or important alerts occur. + Steering Torque - Show Driver Camera When In Reverse + Turn Signal - The driver camera feed is displayed when the vehicle is in reverse. + Adjacent Path Metrics - Stopped Timer + Auto Tune - A timer on the onroad UI to indicate how long the vehicle has been stopped. + Adjacent Leads - Acceleration + Lead Info - Adjacent + Jerk Values - Blind Spot + Fahrenheit - Dynamic + CPU - Static + GPU - Full Map + IP - Stock openpilot + RAM - Mapbox Streets + SSD Left - Mapbox Outdoors + SSD Used - Mapbox Light + inches - Mapbox Dark + % - Mapbox Satellite + feet - Mapbox Satellite Streets + Show Distance - Mapbox Navigation Day + Stock - Mapbox Navigation Night + Adjust how thick the lane lines appear on the display. + +Default matches the Vienna standard of 10 centimeters. - Mapbox Traffic Night + Adjust how thick the road edges appear on the display. + +Default matches half of the Vienna standard of 10 centimeters. - mike854's (Satellite hybrid) + centimeters - SELECT - SELECIONE + meters + - Select a map style + Adjust how thick the lane lines appear on the display. + +Default matches the MUTCD standard of 4 inches. + + + + Adjust how thick the road edges appear on the display. + +Default matches half of the MUTCD standard of 4 inches. @@ -3764,6 +3849,30 @@ Isso pode levar até um minuto. FrogPilot + + Welcome to FrogPilot! Since you're new to FrogPilot, the 'Minimal' toggle preset has been applied, but you can change this at any time via the 'Tuning Level' button! + + + + Sounds good! + + + + Since you're fairly new to FrogPilot, the 'Minimal' toggle preset has been applied, but you can change this at any time via the 'Tuning Level' button! + + + + Since you're experienced with openpilot, the 'Standard' toggle preset has been applied, but you can change this at any time via the 'Tuning Level' button! + + + + Since you're experienced with FrogPilot, the 'Standard' toggle preset has been applied, but you can change this at any time via the 'Tuning Level' button! + + + + Since you're very experienced with FrogPilot, the 'Advanced' toggle preset has been applied, but you can change this at any time via the 'Tuning Level' button! + + Setup @@ -4068,10 +4177,6 @@ Isso pode levar até um minuto. FrogPilot will automatically update itself and it's assets when you're offroad and connected to Wi-Fi. - - Do you want to permanently delete any additional FrogPilot assets? This is 100% unrecoverable and includes backups, downloaded models, themes, and long-term storage toggle settings for easy reinstalls. - - Error Log @@ -4084,6 +4189,14 @@ Isso pode levar até um minuto. View the error log for openpilot crashes. + + Do you want to delete deep storage FrogPilot assets? This includes your toggle settings for quick reinstalls. + + + + Are you sure? This is 100% unrecoverable and if you reinstall FrogPilot you'll lose all your previous settings! + + SshControl @@ -4334,10 +4447,6 @@ Isso pode levar até um minuto. FLASH - - Use this button to flash the Panda device's firmware if you're running into issues. - - Are you sure you want to flash the Panda? @@ -4362,10 +4471,6 @@ Isso pode levar até um minuto. Force Started State - - Force openpilot either offroad or onroad. - - OFFROAD @@ -4406,6 +4511,14 @@ Isso pode levar até um minuto. Reset! + + Flashes the Panda device's firmware if you're running into issues. + + + + Forces openpilot either offroad or onroad. + + WiFiPromptWidget @@ -4434,7 +4547,7 @@ Isso pode levar até um minuto. - Toggle off the 'Disable Uploading' toggle to enable uploads. + Toggle off the 'Turn Off Data Uploads' toggle to re-enable uploads. diff --git a/selfdrive/ui/translations/main_th.qm b/selfdrive/ui/translations/main_th.qm new file mode 100644 index 00000000000000..69e09ee11aac58 Binary files /dev/null and b/selfdrive/ui/translations/main_th.qm differ diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts index 293ad5bd92f72a..969018cbd1cbb6 100644 --- a/selfdrive/ui/translations/main_th.ts +++ b/selfdrive/ui/translations/main_th.ts @@ -149,10 +149,6 @@ kph - - ft/s² - - Accel: %1%2 @@ -185,16 +181,6 @@ Follow Distance: - - Confirm speed limit - - - - - Ignore speed limit - - - Conditional Experimental Mode ready @@ -283,6 +269,14 @@ . Double tap the screen to revert + + PENDING + + + + ft/s² + + ConfirmationDialog @@ -532,2841 +526,2932 @@ FrogPilotAdvancedDrivingPanel - Advanced Lateral Tuning - + mph + ไมล์/ชม. - Advanced settings that control how openpilot manages steering. - + Reset + รีเซ็ต - Friction (Default: %1) - + ADD + เพิ่ม - Friction - + REMOVE + ลบ - The resistance in steering. Higher values provide more stable steering but can make it feel heavy, while lower values allow lighter steering but may feel too sensitive. - + OK + พอใช้ - Kp Factor (Default: %1) - + RESET + รีเซ็ต - Kp Factor - + VIEW + ดู - How aggressively the car corrects its steering. Higher values offer quicker corrections but may feel jerky, while lower values make steering smoother but slower to respond. - + DOWNLOAD + ดาวน์โหลด - Lateral Accel (Default: %1) - + SELECT + เลือก - Lateral Accel - + openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required. + openpilot กำหนดให้ติดตั้งอุปกรณ์ โดยสามารถเอียงด้านซ้ายหรือขวาไม่เกิน 4° และเอียงขึ้นด้านบนไม่เกิน 5° หรือเอียงลงด้านล่างไม่เกิน 9° openpilot ทำการคาลิเบรทอย่างต่อเนื่อง แทบจะไม่จำเป็นต้องทำการรีเซ็ตการคาลิเบรท - Adjust how fast the car can steer from side to side. Higher values allow quicker lane changes but can feel unstable, while lower values provide smoother steering but may feel sluggish. - + Your device is pointed %1° %2 and %3° %4. + อุปกรณ์ของคุณเอียงไปทาง %2 %1° และ %4 %3° - Steer Ratio (Default: %1) - + down + ด้านล่าง - Steer Ratio - + up + ด้านบน - Adjust how much openpilot needs to turn the wheel to steer. Higher values feel like driving a truck, more stable at high speeds, but harder to steer quickly at low speeds, while lower values feel like a go-kart, easier to steer in tight spots but more sensitive and less stable at high speeds. - + left + ด้านซ้าย - comma's 2022 Taco Bell Turn Hack - + right + ด้านขวา + + + FrogPilotAdvancedVisualsPanel - Use comma's hack they used to help handle left and right turns more precisely during their 2022 'Taco Bell' drive. - + Standard + มาตรฐาน + + + FrogPilotConfirmationDialog - Force Auto Tune On + Reboot Later - Forces comma's auto lateral tuning for unsupported vehicles. + Yes - Force Auto Tune Off + No + + + FrogPilotDataPanel - Forces comma's auto lateral tuning off for supported vehicles. + Delete Driving Footage and Data - Force Turn Desires Below Lane Change Speed + DELETE - Force the model to use turn desires when driving below the minimum lane change speed to help make left and right turns more precisely. + Are you sure you want to permanently delete all of your driving footage and data? - Advanced Longitudinal Tuning + Delete - Advanced settings that control how openpilot manages speed and acceleration. + Deleting... - Lead Detection Confidence + Deleted! - How sensitive openpilot is to detecting vehicles ahead. A lower value can help detect vehicles sooner and from farther away, but may occasionally mistake other objects for vehicles. + Screen Recordings - Maximum Acceleration Rate + Manage your screen recordings. - Set a cap on how fast openpilot can accelerate to prevent high acceleration at low speeds. + RENAME - Advanced Quality of Life + Select a recording to delete - Miscellaneous advanced features to improve your overall openpilot experience. + Are you sure you want to delete this recording? - Force Keep openpilot in the Standstill State + Select a recording to rename - Keep openpilot in the 'standstill' state until the gas pedal or 'resume' button is pressed. + Enter a new name - Force Stop for 'Detected' Stop Lights/Signs + Rename Recording - Whenever openpilot 'detects' a potential stop light/stop sign, force a stop where it originally detected it to prevent running the potential red light/stop sign. + Renaming... - Set Speed Offset + Renamed! - How much higher or lower the set speed should be compared to your current set speed. For example, if you prefer to drive 5 mph above the speed limit, this setting will automatically add that difference when you adjust your set speed. + FrogPilot Backups - Customize Driving Personalities + Manage your FrogPilot backups. - Customize the personality profiles to suit your preferences. + BACKUP - Traffic Personality + RESTORE - Customize the 'Traffic' personality profile, tailored for navigating through traffic. + Name your backup - Following Distance + Compressing... - The minimum following distance in 'Traffic Mode.' openpilot will adjust dynamically between this value and the 'Aggressive' profile distance based on your speed. + Select a backup to delete - Acceleration Sensitivity + Are you sure you want to delete this backup? - How sensitive openpilot is to changes in acceleration in 'Traffic Mode.' Higher values result in smoother, more gradual acceleration and deceleration, while lower values allow for faster changes that may feel more abrupt. + Select a restore point - Deceleration Sensitivity + Are you sure you want to restore this version of FrogPilot? - Controls how sensitive openpilot is to changes in deceleration in 'Traffic Mode.' Higher values result in smoother, more gradual braking, while lower values allow for quicker, more responsive braking that may feel abrupt. + Restore - Safety Distance Sensitivity + Restoring... - Adjusts how cautious openpilot is around other vehicles or obstacles in 'Traffic Mode.' Higher values increase following distances and prioritize safety, leading to more cautious driving, while lower values allow for closer following but may reduce reaction time. + Extracting... - Speed Increase Responsiveness + Restored! - Controls how quickly openpilot adjusts speed in 'Traffic Mode.' Higher values ensure smoother, more gradual speed changes, while lower values enable quicker adjustments that might feel sharper or less smooth. + Rebooting... - Speed Decrease Responsiveness + Toggle Backups - Sets how quickly openpilot adjusts to decreasing speeds in 'Traffic Mode.' Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed reductions that might feel sharper. + Manage your toggle backups. - Reset Settings + Are you sure you want to restore this toggle backup? - Restore the 'Traffic Mode' settings to their default values. + Permanently deletes all stored driving footage and data from your device. Ideal for maintaining privacy or freeing up space. - Aggressive Personality + DELETE ALL - Customize the 'Aggressive' personality profile, designed for a more assertive driving style. + Are you sure you want to delete all screen recordings? - Set the following distance for 'Aggressive' mode. This determines roughly how many seconds you'll follow behind the car ahead. - -Default: 1.25 seconds. + Delete All - Controls how sensitive openpilot is to acceleration changes in 'Aggressive' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky. - -Default: 0.5. + A recording with this name already exists. Please choose a different name. - Controls how sensitive openpilot is to deceleration in 'Aggressive' mode. Higher values result in smoother braking, while lower values allow for more immediate braking that may feel abrupt. - -Default: 0.5. + A backup with this name already exists. Please choose a different name. - Adjusts how cautious openpilot is around vehicles or obstacles in 'Aggressive' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking. - -Default: 1.0. + Do you want to compress this backup? The final result will be 2.25x smaller and will run in the background, but can take 10+ minutes. - Controls how quickly openpilot adjusts speed in 'Aggressive' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt. - -Default: 0.5. + Backing up... - Sets how quickly openpilot adjusts to speed reductions in 'Aggressive' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp. - -Default: 0.5. + Backup created! - Restore the 'Aggressive' settings to their default values. + Are you sure you want to delete all FrogPilot backups? - Standard Personality + Are you sure you want to delete all toggle backups? + + + FrogPilotDevicePanel - Customize the 'Standard' personality profile, optimized for balanced driving. + Device Settings - Set the following distance for 'Standard' mode. This determines roughly how many seconds you'll follow behind the car ahead. - -Default: 1.45 seconds. + Device behavior settings. - Controls how sensitive openpilot is to acceleration changes in 'Standard' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky. - -Default: 1.0. + Device Shutdown Timer - Controls how sensitive openpilot is to deceleration in 'Standard' mode. Higher values result in smoother braking, while lower values allow for quicker, more immediate braking that may feel abrupt. - -Default: 1.0. + Disable Internet Requirement - Adjusts how cautious openpilot is around vehicles or obstacles in 'Standard' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking. - -Default: 1.0. + Increase Thermal Safety Limit - Controls how quickly openpilot adjusts speed in 'Standard' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt. - -Default: 1.0. + Low Battery Shutdown Threshold - Sets how quickly openpilot adjusts to speed reductions in 'Standard' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp. - -Default: 1.0. + Turn Off Data Tracking - Restore the 'Standard' settings to their default values. + Turn Off Data Uploads - Relaxed Personality + Screen Settings - Customize the 'Relaxed' personality profile, ideal for a more laid-back driving style. + Screen behavior settings. - Set the following distance for 'Relaxed' mode. This determines roughly how many seconds you'll follow behind the car ahead. - -Default: 1.75 seconds. + Screen Brightness (Offroad) - Controls how sensitive openpilot is to acceleration changes in 'Relaxed' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky. - -Default: 1.0. + Screen Brightness (Onroad) - Controls how sensitive openpilot is to deceleration in 'Relaxed' mode. Higher values result in smoother braking, while lower values allow for quicker, more immediate braking that may feel abrupt. - -Default: 1.0. + Screen Recorder - Adjusts how cautious openpilot is around vehicles or obstacles in 'Relaxed' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking. - -Default: 1.0. + Screen Timeout (Offroad) - Controls how quickly openpilot adjusts speed in 'Relaxed' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt. - -Default: 1.0. + Screen Timeout (Onroad) - Sets how quickly openpilot adjusts to speed reductions in 'Relaxed' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp. - -Default: 1.0. + 5 mins - Restore the 'Relaxed' settings to their default values. + mins - Model Management + hour - Manage the driving models used by openpilot. + hours - Automatically Update and Download Models + Only Onroad - Automatically download new or updated driving models. + volts - Model Randomizer + Auto - A random model is selected and can be reviewed at the end of each drive if it's longer than 15 minutes to help find your preferred model. + seconds - Manage Model Blacklist + WARNING: This can cause premature wear or damage by running the device over comma's recommended temperature limits! - Control which models are blacklisted and won't be used for future drives. + WARNING: This will prevent your drives from being recorded and the data will be unobtainable! - Reset Model Scores + WARNING: This will prevent your drives from appearing on comma connect which may impact debugging and support! - Clear the ratings you've given to the driving models. + Controls how long the device stays on after you stop driving. - Review Model Scores + Allows the device to work without an internet connection. - View the ratings you've assigned to the driving models. + Allows the device to run at higher temperatures than recommended. - Delete Model + Manages the threshold for shutting down the device to protect the car's battery from excessive drain and potential damage. - Remove the selected driving model from your device. + Disables all data tracking to improve privacy. - Download Model + Stops the device from sending any data to the servers. - Download undownloaded driving models. + Controls the screen brightness when you're not driving. - Download All Models + Controls the screen brightness while you're driving. - Download all undownloaded driving models. + Enables a button in the onroad UI to record the screen. - Select Model + Controls how long it takes for the screen to turn off when you're not driving. - Select which model openpilot uses to drive. + Controls how long it takes for the screen to turn off while you're driving. - Reset Model Calibrations + Screen Off + + + FrogPilotLateralPanel - Reset calibration settings for the driving models. + Always on Lateral - mph - ไมล์/ชม. + openpilot's steering control stays active even when the brake or gas pedals are pressed. + +Deactivate only occurs with the 'Cruise Control' button. + - Reset - รีเซ็ต + Control with LKAS Button + - seconds + Enable with Cruise Control - ADD - เพิ่ม + Pause on Brake Below + - REMOVE - ลบ + Hide the Status Bar + - There's no more models to blacklist! The only available model is "%1"! + Lane Change Settings - OK - พอใช้ + How openpilot handles lane changes. + - Select a model to add to the blacklist + Lane Change Delay - Are you sure you want to add the '%1' model to the blacklist? + Lane Width Requirement - Add + Minimum Speed for Lane Change - Select a model to remove from the blacklist + Lateral Tuning - Are you sure you want to remove the '%1' model from the blacklist? + Neural Network Feedforward (NNFF) - Remove + Smooth Curve Handling - RESET - รีเซ็ต + Quality of Life Improvements + - Reset all model scores? + Miscellaneous lateral focused features to improve your overall openpilot experience. - VIEW - ดู + Pause Steering Below + - DELETE + Pauses steering control when driving below the set speed. - Select a model to delete - + mph + ไมล์/ชม. - Are you sure you want to delete the '%1' model? + feet - Delete + Reboot required to take effect. - Deleting... + Reboot Now - Deleted! + kph - DOWNLOAD - ดาวน์โหลด + meters + - CANCEL + Advanced Lateral Tuning - Select a driving model to download + Advanced settings for fine tuning openpilot's lateral controls. - Downloading %1... + Friction (Default: %1) - SELECT - เลือก + Friction + - Select a model - 🗺️ = Navigation | 📡 = Radar | 👀 = VOACC + Adjusts the resistance in steering. Higher values provide more stable steering but can make it feel heavy, while lower values allow lighter steering but may feel too sensitive. - WARNING: This is a very experimental model and may drive dangerously! + Kp Factor (Default: %1) - I understand the risks. + Kp Factor - Start with a fresh calibration for the newly selected model? + Adjusts how aggressively the car corrects its steering. Higher values offer quicker corrections but may feel jerky, while lower values make steering smoother but slower to respond. - Reboot required to take effect. + Lateral Accel (Default: %1) - Reboot Now + Lateral Accel - RESET ALL + Adjusts how fast the car can steer from side to side. Higher values allow quicker lane changes but can feel unstable, while lower values provide smoother steering but may feel sluggish. - RESET ONE + Steer Ratio (Default: %1) - Are you sure you want to completely reset all of your model calibrations? + Steer Ratio - Select a model to reset + Adjusts how much openpilot needs to turn the wheel to steer. Higher values feel like driving a truck, more stable at high speeds, but harder to steer quickly at low speeds, while lower values feel like a go-kart, easier to steer in tight spots but more sensitive and less stable at high speeds. - Are you sure you want to completely reset this model's calibrations? + Force Auto Tune On - The 'Model Randomizer' only works with downloaded models. Do you want to download all the driving models? + Forces comma's auto lateral tuning for unsupported vehicles. - Are you sure you want to completely reset your settings for the 'Traffic Mode' personality? + Force Auto Tune Off - Are you sure you want to completely reset your settings for the 'Aggressive' personality? + Forces comma's auto lateral tuning off for supported vehicles. - Are you sure you want to completely reset your settings for the 'Standard' personality? + Controls the current state of 'Always on Lateral' with the 'LKAS' button. - Are you sure you want to completely reset your settings for the 'Relaxed' personality? + Activates 'Always on Lateral' whenever 'Cruise Control' is active bypassing the requirement to enable openpilot first. - kph + Pauses 'Always on Lateral' when the brake pedal is pressed below the set speed. - Downloading models... + Hides status bar for 'Always On Lateral'. - openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required. - openpilot กำหนดให้ติดตั้งอุปกรณ์ โดยสามารถเอียงด้านซ้ายหรือขวาไม่เกิน 4° และเอียงขึ้นด้านบนไม่เกิน 5° หรือเอียงลงด้านล่างไม่เกิน 9° openpilot ทำการคาลิเบรทอย่างต่อเนื่อง แทบจะไม่จำเป็นต้องทำการรีเซ็ตการคาลิเบรท + Automatic Lane Changes + - Your device is pointed %1° %2 and %3° %4. - อุปกรณ์ของคุณเอียงไปทาง %2 %1° และ %4 %3° + Conducts lane changes without needing to touch the steering wheel upon turn signal activation. + - down - ด้านล่าง + Delays lane changes by the set time to prevent sudden changes. + - up - ด้านบน + Sets the minimum lane width for openpilot to detect a lane as a lane. + - left - ด้านซ้าย + Sets the minimum speed required for openpilot to perform a lane change. + - right - ด้านขวา + Only One Lane Change Per Signal + - - - FrogPilotAdvancedVisualsPanel - Advanced Onroad UI Widgets + Limits lane changes to one per turn signal activation. - Advanced user customizations for the Onroad UI. + Settings for fine tuning openpilot's lateral controls. - Camera View + Force Turn Desires Below Lane Change Speed - Camera view for the onroad UI. This is purely a visual change and doesn't impact how openpilot drives. + Forces the model to use turn desires when driving below the minimum lane change speed to help make left and right turns more precisely. - Display Stopping Points + Uses Twilsonco's 'Neural Network FeedForward' for more precise steering control. - Display an image on the screen where openpilot is detecting a potential red light/stop sign. + Smoothens the steering control when entering and exiting curves by using Twilsonco's torque adjustments. - Hide Lead Marker + seconds + + + FrogPilotLongitudinalPanel - Hide the marker for the vehicle ahead on the screen. + Conditional Experimental Mode - Hide Speed + Below - Hide the speed indicator in the onroad UI. Additional toggle allows it to be hidden/shown via tapping the speed itself. + Curve Detected Ahead - Hide UI Elements + Lead Detected Ahead - Hide the selected UI elements from the onroad screen. + Navigation Data - Use Wheel Speed + openpilot Wants to Stop In - Use the wheel speed instead of the cluster speed in the onroad UI. + Turn Signal Below - Developer UI + Hide the Status Bar - Show detailed information about openpilot's internal operations. + Curve Speed Control - Border Metrics + Automatically slow down for curves detected ahead or through the downloaded maps. - Display performance metrics around the edge of the screen while driving. + Curve Detection Method - FPS Display + Curve Detection Failsafe - Display the 'Frames Per Second' (FPS) at the bottom of the screen while driving. + Experimental Mode Activation - Lateral Metrics + Click the LKAS Button - Display metrics related to steering control at the top of the screen while driving. + Double-Tap the Screen - Longitudinal Metrics + Long Press the Distance Button - Display metrics related to acceleration, speed, and desired following distance at the top of the screen while driving. + Longitudinal Tuning - Numerical Temperature Gauge + Settings that control how openpilot manages speed and acceleration. - Show exact temperature readings instead of general status labels like 'GOOD', 'OK', or 'HIGH' in the sidebar. + Acceleration Profile - Sidebar + Deceleration Profile - Display system information like CPU, GPU, RAM usage, IP address, and storage space in the sidebar. + Human-Like Acceleration - Use International System of Units + Increase Stopped Distance - Display measurements using the 'International System of Units' (SI). + Increases the distance to stop behind vehicles. - Model UI + Quality of Life Improvements - Customize the model visualizations on the screen. + Miscellaneous longitudinal focused features to improve your overall openpilot experience. - Lane Lines Width + Map Accel/Decel to Gears - How thick the lane lines appear on the display. - -Default matches the MUTCD standard of 4 inches. + Reverse Cruise Increase - Path Edges Width + Speed Limit Controller - The width of the edges of the driving path to represent different modes and statuses. - -Default is 20% of the total path width. - -Color Guide: -- Blue: Navigation -- Light Blue: 'Always On Lateral' -- Green: Default -- Orange: 'Experimental Mode' -- Red: 'Traffic Mode' -- Yellow: 'Conditional Experimental Mode' Overridden + Confirm New Speed Limits - Path Width + Fallback Method - How wide the driving path appears on your screen. - -Default (6.1 feet / 1.9 meters) matches the width of a 2019 Lexus ES 350. + Override Method - Road Edges Width + Speed Limit Offsets - How thick the road edges appear on the display. - -Default matches half of the MUTCD standard lane line width of 4 inches. + Speed Limit Offset (0-34 mph) - 'Unlimited' Road UI + Speed Limit Offset (35-54 mph) - Extend the display of the path, lane lines, and road edges as far as the model can see. + Speed Limit Offset (55-64 mph) - Auto + Speed Limit Offset (65-99 mph) - Driver + Miscellaneous 'Speed Limit Controller' focused features to improve your overall openpilot experience. - Standard - มาตรฐาน + Force MPH Readings from Dashboard + - Wide + Prepare for Higher Speed Limits - Control Via UI + Prepare for Lower Speed Limits - Alerts + Set Speed to Current Limit - Map Icon - + mph + ไมล์/ชม. - Max Speed + With Lead - Show Distance + Switches to 'Experimental Mode' when driving below the set speed with a lead vehicle. - Blind Spot + With Lead - Steering Torque + Slower Lead - Turn Signal + Stopped Lead - Adjacent Path Metrics + Intersections - Auto Tune + Turns - Lead Info + Map Based - Longitudinal Jerk + Vision - Fahrenheit - + Standard + มาตรฐาน - CPU + Eco - GPU + Sport - IP + Sport+ - RAM + feet - SSD Left + Acceleration - SSD Used + Deceleration - inches + Lower Limits - % + Higher Limits - feet + None - Adjust how thick the lane lines appear on the display. - -Default matches the Vienna standard of 10 centimeters. + Set Speed - Adjust how thick the road edges appear on the display. - -Default matches half of the Vienna standard of 10 centimeters. - + Experimental Mode + โหมดทดลอง - centimeters + Previous Limit - meters - + SELECT + เลือก - Adjust how thick the lane lines appear on the display. - -Default matches the MUTCD standard of 4 inches. + Dashboard - Adjust how thick the road edges appear on the display. - -Default matches half of the MUTCD standard of 4 inches. + Navigation - - - FrogPilotConfirmationDialog - Reboot Later + Highest - Yes + Lowest - No + Select your primary priority - - - FrogPilotDataPanel - Delete Driving Footage and Data + Select your secondary priority - DELETE + Select your tertiary priority - This button provides a swift and secure way to permanently delete all stored driving footage and data from your device. Ideal for maintaining privacy or freeing up space. + MANAGE - Are you sure you want to permanently delete all of your driving footage and data? + seconds - Delete + Speed Limit Offset (0-34 kph) - Deleting... + Speed Limit Offset (35-54 kph) - Deleted! + Speed Limit Offset (55-64 kph) - Screen Recordings + Speed Limit Offset (65-99 kph) - Manage your screen recordings. + kph - RENAME + meters - Select a recording to delete + Automatically switch to 'Experimental Mode' when specific conditions are met. - Are you sure you want to delete this recording? + Triggers 'Experimental Mode' when driving below the set speed without a lead vehicle. - Failed... + Triggers 'Experimental Mode' when a curve is detected in the road ahead. - Select a recording to rename + Triggers 'Experimental Mode' when a slower or stopped vehicle is detected ahead. - Enter a new name + Triggers 'Experimental Mode' based on navigation data, such as upcoming intersections or turns. - Rename Recording + Triggers 'Experimental Mode' when openpilot wants to stop such as for a stop sign or red light. - Renaming... + Triggers 'Experimental Mode' when using turn signals below the set speed. - Renamed! + Hides status bar for 'Conditional Experimental Mode'. - FrogPilot Backups + Uses data from either the downloaded maps or the model to determine where curves are. - Manage your FrogPilot backups. + Triggers 'Curve Speed Control' only when a curve is detected with the model as well when using the 'Map Based' method. - BACKUP + Curve Detection Sensitivity - RESTORE + Controls how sensitive openpilot is to detecting curves. Higher values trigger earlier responses at the risk of triggering too often, while lower values increase confidence at the risk of triggering too infrequently. - Name your backup + Speed Aggressiveness - Do you want to compress this backup? The end file size will be 2.25x smaller, but can take 10+ minutes. + Controls how aggressive openpilot takes turns. Higher values result in faster turns, while lower values result in slower turns. - Backing... + Hide Desired Speed Widget From UI - Compressing... + Hides the desired speed widget from the onroad UI. - Success! + Customize Driving Personalities - Select a backup to delete + Customize the personality profiles to suit your driving style. - Are you sure you want to delete this backup? + Traffic Personality - Select a restore point + Customizes the 'Traffic' personality profile, tailored for navigating through traffic. - Are you sure you want to restore this version of FrogPilot? + Following Distance - Restore + Controls the minimum following distance in 'Traffic' mode. openpilot will automatically dynamically between this value and the 'Aggressive' profile distance based on your current speed. - Restoring... + Acceleration Sensitivity - Extracting... + Controls how sensitive openpilot is to changes in acceleration in 'Traffic' mode. Higher values result in smoother, more gradual acceleration, while lower values allow for quicker, more responsive changes that may feel abrupt. - Restored! + Deceleration Sensitivity - Rebooting... + Controls how sensitive openpilot is to changes in deceleration in 'Traffic' mode. Higher values result in smoother, more gradual deceleration, while lower values allow for quicker, more responsive changes that may feel abrupt. - Toggle Backups + Safety Distance Sensitivity - Manage your toggle backups. + Adjusts how cautious openpilot is around other vehicles or obstacles in 'Traffic' mode. Higher values increase following distances and prioritize safety, leading to more cautious driving, while lower values allow for closer following but may reduce reaction time. - Are you sure you want to restore this toggle backup? + Speed Increase Responsiveness - - - FrogPilotDevicePanel - Device Settings + Controls how quickly openpilot increases speed in 'Traffic' mode. Higher values ensure smoother, more gradual speed changes when accelerating, while lower values allow for quicker, more responsive changes that may feel abrupt. - Device behavior settings. + Speed Decrease Responsiveness - Device Shutdown Timer + Controls how quickly openpilot decreases speed in 'Traffic' mode. Higher values ensure smoother, more gradual speed changes when slowing down, while lower values allow for quicker, more responsive changes that may feel abrupt. - How long the device stays on after you stop driving. + Reset Settings - Disable Internet Requirement + Restores the 'Traffic Mode' settings to their default values. - The device can work without an internet connection for as long as you need. + Aggressive Personality - Increase Thermal Safety Limit + Customize the 'Aggressive' personality profile, designed for a more assertive driving style. - The device can run at higher temperatures than recommended. + Sets the following distance for 'Aggressive' mode. This determines roughly how many seconds you'll follow behind the car ahead. + +Default: 1.25 seconds. - Low Battery Shutdown Threshold + Controls how sensitive openpilot is to changes in acceleration in 'Aggressive' mode. Higher values result in smoother, more gradual acceleration, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 0.5. - Shut down the device when the car's battery gets too low to prevent damage to the 12V battery. + Controls how sensitive openpilot is to changes in deceleration in 'Aggressive' mode. Higher values result in smoother, more gradual deceleration, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 0.5. - Turn Off Data Tracking + Adjusts how cautious openpilot is around other vehicles or obstacles in 'Aggressive' mode. Higher values increase following distances and prioritize safety, leading to more cautious driving, while lower values allow for closer following but may reduce reaction time. + +Default: 1.0. - Disable all tracking to improve privacy. + Controls how quickly openpilot increases speed in 'Aggressive' mode. Higher values ensure smoother, more gradual speed changes when accelerating, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 0.5. - Turn Off Data Uploads + Controls how quickly openpilot decreases speed in 'Aggressive' mode. Higher values ensure smoother, more gradual speed changes when slowing down, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 0.5. - Stop the device from sending any data to the servers. + Restores the 'Aggressive' settings to their default values. - Screen Settings + Standard Personality - Screen behavior settings. + Customize the 'Standard' personality profile, optimized for balanced driving. - Screen Brightness (Offroad) + Set the following distance for 'Standard' mode. This determines roughly how many seconds you'll follow behind the car ahead. + +Default: 1.45 seconds. - The screen brightness when you're not driving. + Controls how sensitive openpilot is to changes in acceleration in 'Standard' mode. Higher values result in smoother, more gradual acceleration, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 1.0. - Screen Brightness (Onroad) + Controls how sensitive openpilot is to changes in deceleration in 'Standard' mode. Higher values result in smoother braking, while lower values allow for quicker, more immediate braking that may feel abrupt. + +Default: 1.0. - The screen brightness while you're driving. + Adjusts how cautious openpilot is around other vehicles or obstacles in 'Standard' mode. Higher values increase following distances and prioritize safety, leading to more cautious driving, while lower values allow for closer following but may reduce reaction time. + +Default: 1.0. - Screen Recorder + Controls how quickly openpilot increases speed in 'Standard' mode. Higher values ensure smoother, more gradual speed changes when accelerating, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 1.0. - Display a button in the onroad UI to record the screen. + Controls how quickly openpilot decreases speed in 'Standard' mode. Higher values ensure smoother, more gradual speed changes when slowing down, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 1.0. - Screen Timeout (Offroad) + Restores the 'Standard' settings to their default values. - How long it takes for the screen to turn off when you're not driving. + Relaxed Personality - Screen Timeout (Onroad) + Customize the 'Relaxed' personality profile, ideal for a more laid-back driving style. - How long it takes for the screen to turn off while you're driving. + Set the following distance for 'Relaxed' mode. This determines roughly how many seconds you'll follow behind the car ahead. + +Default: 1.75 seconds. - 5 mins + Controls how sensitive openpilot is to changes in acceleration in 'Relaxed' mode. Higher values result in smoother, more gradual acceleration, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 1.0. - mins + Controls how sensitive openpilot is to changes in deceleration in 'Relaxed' mode. Higher values result in smoother braking, while lower values allow for quicker, more immediate braking that may feel abrupt. + +Default: 1.0. - hour + Adjusts how cautious openpilot is around other vehicles or obstacles in 'Relaxed' mode. Higher values increase following distances and prioritize safety, leading to more cautious driving, while lower values allow for closer following but may reduce reaction time. + +Default: 1.0. - hours + Controls how quickly openpilot increases speed in 'Relaxed' mode. Higher values ensure smoother, more gradual speed changes when accelerating, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 1.0. - Only Onroad + Controls how quickly openpilot decreases speed in 'Relaxed' mode. Higher values ensure smoother, more gradual speed changes when slowing down, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 1.0. - volts + Restores the 'Relaxed' settings to their default values. - Auto + Toggle 'Experimental Mode' on/off using either the steering wheel buttons or screen. + +This overrides 'Conditional Experimental Mode'. - seconds + Toggles 'Experimental Mode' by pressing the 'LKAS' button on the steering wheel. - WARNING: This can cause premature wear or damage by running the device over comma's recommended temperature limits! + Toggles 'Experimental Mode' by double-tapping the onroad UI within a 0.5 second period. - I understand the risks. + Toggles 'Experimental Mode' by holding down the 'distance' button on the steering wheel for 0.5 seconds. - WARNING: This will prevent your drives from being recorded and the data will be unobtainable! + Enables either a sporty or eco-friendly acceleration rate. 'Sport+' aims to make openpilot accelerate as fast as possible. - WARNING: This will prevent your drives from appearing on comma connect which may impact debugging and support! + Enables either a sporty or eco-friendly deceleration rate. - - - FrogPilotLateralPanel - Always on Lateral + Uses the lead's acceleration rate when at a takeoff and ramps off the acceleration rate when approaching the maximum set speed for a more 'human-like' driving experience. - openpilot's steering control stays active even when the brake or gas pedals are pressed. - -Deactivate only occurs with the 'Cruise Control' button. + Human-Like Approach Behind Leads - Control with LKAS Button + Dynamically adjusts the following distance when approaching slower or stopped vehicles for a more 'human-like' driving experience. - 'Always on Lateral' gets turned on or off using the 'LKAS' button. + Lead Detection Confidence - Enable with Cruise Control + Controls how sensitive openpilot is to detecting vehicles ahead. A lower value can help detect vehicles sooner and from farther away, but increases the chance openpilot mistakes other objects for vehicles. - 'Always on Lateral' gets turned on by pressing the 'Cruise Control' button bypassing the requirement to enable openpilot first. + Maximum Acceleration Rate - Pause on Brake Below + Sets a cap on how fast openpilot can accelerate. - 'Always on Lateral' pauses when the brake pedal is pressed below the set speed. + 'Taco Bell Run' Turn Speed Hack - Hide the Status Bar + Uses comma's speed hack they used to help handle left and right turns more precisely during their 2022 'Taco Bell' drive by reducing the maximum allowed speed and acceleration while turning. - The status bar for 'Always on Lateral' is hidden. + Cruise Increase - Lane Change Settings + Controls the interval used when increasing the cruise control speed. - How openpilot handles lane changes. + Cruise Increase (Long Press) - Hands-Free Lane Change + Controls the interval used when increasing the cruise control speed while holding down the button for 0.5+ seconds. - Lane changes are conducted without needing to touch the steering wheel upon turn signal activation. + Force Keep openpilot in the Standstill State - Lane Change Delay + Keeps openpilot in the 'standstill' state until the gas pedal or 'resume' button is pressed. - How long openpilot waits before changing lanes. + Force Stop for 'Detected' Stop Lights/Signs - Lane Width Requirement + Forces a stop whenever openpilot 'detects' a potential red light/stop sign to prevent it from running the red light/stop sign. - The minimum lane width for openpilot to detect a lane as a lane. + Set Speed Offset - Minimum Speed for Lane Change + Controls how much higher or lower the set speed should be compared to your current set speed. For example, if you prefer to drive 5 mph above the speed limit, this setting will automatically add that difference when you adjust your set speed. - The minimum speed required for openpilot to perform a lane change. + Maps the acceleration and deceleration profiles to your car's 'Eco' or 'Sport' gear modes. - Single Lane Change Per Signal + Reverses the long press cruise increase feature to increase the max speed by 5 mph instead of 1 on short presses. - Lane changes are limited to one per turn signal activation. + Automatically adjust your max speed to match the speed limit using downloaded 'Open Street Maps' data, 'Navigate on openpilot', or your car's dashboard (Toyota/Lexus/HKG only). - Lateral Tuning + Enables manual confirmations before using a new speed limit. - Settings that control how openpilot manages steering. + Controls what happens when no speed limit data is available. - Neural Network Feedforward (NNFF) + Controls how the current speed limit is overriden. + + - Twilsonco's 'Neural Network FeedForward' for more precise steering control. + Forces speed limit readings from the dashboard to MPH if it normally displays them in KPH. - Smooth Curve Handling + Sets a lookahead value to prepare for upcoming higher speed limits when using downloaded map data. - Smoother steering when entering and exiting curves with Twilsonco's torque adjustments. + Sets a lookahead value to prepare for upcoming lower speed limits when using downloaded map data. - Quality of Life Improvements + Sets your max speed to match the current speed limit when enabling openpilot. - Miscellaneous lateral focused features to improve your overall openpilot experience. + Speed Limit Source Priority Order - Pause Steering Below + Sets the order of priority for speed limit data sources. - Pauses steering control when driving below the set speed. + Set speed limit offsets to drive over the posted speed limit. - mph - ไมล์/ชม. + Sets the speed limit offset for speeds between 0 and 34 mph. + - feet + Sets the speed limit offset for speeds between 35 and 54 mph. - Reboot required to take effect. + Sets the speed limit offset for speeds between 55 and 64 mph. - Reboot Now + Sets the speed limit offset for speeds between 65 and 99 mph. - kph + Show Speed Limit Sources - meters + Displays the speed limit sources in the onroad UI when using 'Speed Limit Controller'. - - - FrogPilotLongitudinalPanel - Conditional Experimental Mode - + Reset + รีเซ็ต - Automatically switches to 'Experimental Mode' when specific conditions are met. + The 'Map Based' option is only available when some 'Map Data' has been downloaded! - Below + Okay - 'Experimental Mode' is active when driving below the set speed without a lead vehicle. + Set With Gas Pedal - Curve Detected Ahead + Max Set Speed - 'Experimental Mode' is active when a curve is detected in the road ahead. + Map Data - Lead Detected Ahead + Are you sure you want to completely reset your settings for 'Traffic Mode'? - 'Experimental Mode' is active when a slower or stopped vehicle is detected ahead. + Are you sure you want to completely reset your settings for the 'Aggressive' personality? - Navigation Data + Are you sure you want to completely reset your settings for the 'Standard' personality? - 'Experimental Mode' is active based on navigation data, such as upcoming intersections or turns. + Are you sure you want to completely reset your settings for the 'Relaxed' personality? - openpilot Wants to Stop In + Sets the speed limit offset for speeds between 0-34 kph. - 'Experimental Mode' is active when openpilot wants to stop such as for a stop sign or red light. + Sets the speed limit offset for speeds between 35-54 kph. - Turn Signal Below + Sets the speed limit offset for speeds between 55-64 kph. - 'Experimental Mode' is active when using turn signals below the set speed. + Sets the speed limit offset for speeds between 65-99 kph. - Hide the Status Bar + Sets the speed limit offset for speeds between 0-34 mph. - The status bar for 'Conditional Experimental Mode' is hidden. + Sets the speed limit offset for speeds between 35-54 mph. - Curve Speed Control + Sets the speed limit offset for speeds between 55-64 mph. - Automatically slow down for curves detected ahead or through the downloaded maps. + Sets the speed limit offset for speeds between 65-99 mph. + + + FrogPilotModelPanel - Curve Detection Method + Automatically Update and Download Models - The method used to detect curves. + Automatically downloads new models and updates existing ones if needed. - Curve Detection Failsafe + Model Randomizer - Curve control is triggered only when a curve is detected ahead. Use this as a failsafe to prevent false positives when using the 'Map Based' method. + Randomly selects a model each drive and brings up a model review prompt at the end to help find your preferred model. - Curve Sensitivity + Manage Model Blacklist - How sensitive openpilot is to detecting curves. Higher values trigger earlier responses at the risk of triggering too often, while lower values increase confidence at the risk of triggering too infrequently. + Manage the blacklisted models that aren't being used with 'Model Randomizer'. - Turn Speed Aggressiveness + Reset Model Scores - How aggressive openpilot takes turns. Higher values result in quicker turns, while lower values provide gentler turns. + Clear the ratings you've given to the driving models. - Disable Speed Value Smoothing In the UI + Review Model Scores - Speed value smoothing is disabled in the UI to instead display the exact speed requested by the curve control. + View the ratings you've assigned to the driving models. - Experimental Mode Activation + Delete Model - 'Experimental Mode' is toggled off/on using the steering wheel buttons or the on-screen controls. - -This overrides 'Conditional Experimental Mode'. + Delete driving models from your device. - Click the LKAS Button + Download Model - 'Experimental Mode' is toggled by pressing the 'LKAS' button on the steering wheel. + Download new driving models. - Double-Tap the Screen + Select Model - 'Experimental Mode' is toggled by double-tapping the onroad UI within 0.5 seconds. + Select your preferred driving model. - Long Press the Distance Button - + ADD + เพิ่ม - 'Experimental Mode' is toggled by holding the 'distance' button on the steering wheel for 0.5+ seconds. - + REMOVE + ลบ - Longitudinal Tuning + REMOVE ALL - Settings that control how openpilot manages speed and acceleration. + There are no more models to blacklist! The only available model is "%1"! - Acceleration Profile - + OK + พอใช้ - Choose between a sporty or eco-friendly acceleration rate. + Select a model to add to the blacklist - Deceleration Profile + Are you sure you want to add the '%1' model to the blacklist? - Choose between a sporty or eco-friendly deceleration rate. + Add - Human-Like Acceleration + Select a model to remove from the blacklist - Uses the lead's acceleration rate when at a takeoff and ramps off the acceleration rate when approaching the maximum set speed for a smoother max speed approach. + Are you sure you want to remove the '%1' model from the blacklist? - Human-Like Following Distance + Remove - Dynamically adjusts the following distance to feel more natural when approaching slower or stopped vehicles. + Are you sure you want to remove all of your blacklisted models? - Increase Stopped Distance - + RESET + รีเซ็ต - Increases the distance to stop behind vehicles. + Are you sure you want to reset all of your model drives and scores? - Quality of Life Improvements - + REVIEW + ทบทวน - Miscellaneous longitudinal focused features to improve your overall openpilot experience. + DELETE - Cruise Increase Interval + DELETE ALL - Interval used when increasing the cruise control speed. + Select a driving model to delete - Custom Cruise Interval (Long Press) + Are you sure you want to delete the '%1' model? - Interval used when increasing the cruise control speed when holding down the button for 0.5+ seconds. + Delete - Map Accel/Decel to Gears + Are you sure you want to delete all of your downloaded driving models? - Map the acceleration and deceleration profiles to the 'Eco' or 'Sport' gear modes. - + DOWNLOAD + ดาวน์โหลด - Onroad Personality Button + DOWNLOAD ALL - The current driving personality is displayed on the screen. Tap to switch personalities, or long press for 2.5 seconds to activate 'Traffic Mode'. + Select a driving model to download - Reverse Cruise Increase - + SELECT + เลือก - The long press feature is reversed in order to increase speed by 5 mph instead of 1. + Select a model - 🗺️ = Navigation | 📡 = Radar | 👀 = VOACC - Speed Limit Controller + Reboot required to take effect. - Automatically adjust your max speed to match the speed limit using 'Open Street Maps', 'Navigate on openpilot', or your car's dashboard (Toyota/Lexus/HKG only). + Reboot Now - Confirm New Speed Limits + The 'Model Randomizer' only works with downloaded models. Do you want to download all the driving models? - Require manual confirmation before using a new speed limit. + CANCEL + + + FrogPilotParamManageControl - Fallback Method + MANAGE + + + FrogPilotSettingsWindow - Choose what happens when no speed limit data is available. + Alerts and Sounds - Override Method + Driving Controls - Choose how you want to override the current speed limit. - - + Navigation - Speed Limit Source Priority + System Management - Set the order of priority for speed limit data sources. + Theme and Appearance - Speed Limit Offsets + Vehicle Controls - Manage toggles related to 'Speed Limit Controller's controls. + Options to customize FrogPilot's sound alerts and notifications. - Speed Limit Offset (0-34 mph) + Tools and system utilities used to maintain and troubleshoot FrogPilot. - Set the speed limit offset for speeds between 0 and 34 mph. + Options for customizing FrogPilot's themes, UI appearance, and onroad widgets. - Speed Limit Offset (35-54 mph) + Vehicle-specific settings and configurations for supported makes and models. - Set the speed limit offset for speeds between 35 and 54 mph. + MANAGE - Speed Limit Offset (55-64 mph) + GAS / BRAKE - Set the speed limit offset for speeds between 55 and 64 mph. + STEERING - Speed Limit Offset (65-99 mph) + DATA - Set the speed limit offset for speeds between 65 and 99 mph. + DEVICE - Miscellaneous 'Speed Limit Controller' focused features to improve your overall openpilot experience. + UTILITIES - Force MPH Readings from Dashboard + APPEARANCE - Force speed limit readings in MPH from the dashboard if it normally displays in KPH. + THEME - Prepare for Higher Speed Limits + Minimal - Set a lookahead value to prepare for upcoming higher speed limits based on map data. + Standard + มาตรฐาน + + + Advanced + ขั้นสูง + + + Developer - Prepare for Lower Speed Limits + Tuning Level - Set a lookahead value to prepare for upcoming lower speed limits based on map data. + Select the tuning level that best suits your needs. 'Minimal' is ideal for those who prefer simplicity and ease of use, 'Standard' is recommended for most users, offering a balanced experience, 'Advanced' provides more control for experienced users, while 'Developer' unlocks highly customizable settings designed for seasoned enthusiasts. - Set Speed to Current Limit + WARNING: This unlocks some potentially dangerous settings that can DRASTICALLY alter your driving experience! - Set your max speed to match the current speed limit when enabling openpilot. + I understand the risks. - Visual Settings + The 'Developer' preset is only available for users with either over 100 hours on FrogPilot, or 250 hours with openpilot. - Manage visual settings for the 'Speed Limit Controller'. + Okay - Use Vienna-Style Speed Signs + FrogPilot features that impact acceleration, braking, and steering. - Switch to Vienna-style (EU) speed limit signs instead of MUTCD (US). + Map data downloader and 'Navigate On openpilot (NOO)' settings. - Show Speed Limit Offset + DRIVING MODEL - Display the speed limit offset separately in the onroad UI when using the Speed Limit Controller. + MAP DATA - mph - ไมล์/ชม. + PRIMELESS NAVIGATION + + + + FrogPilotSoundsPanel - With Lead + Alert Volume Controller - Switches to 'Experimental Mode' when driving below the set speed with a lead vehicle. + Control the volume level for each individual sound in openpilot. - With Lead + Disengage Volume - Slower Lead + Related alerts: + +Adaptive Cruise Disabled +Parking Brake Engaged +Brake Pedal Pressed +Speed too Low - Stopped Lead + Engage Volume - Intersections + Related alerts: + +NNFF Torque Controller loaded +openpilot engaged - Turns + Prompt Volume - Off + Related alerts: + +Car Detected in Blindspot +Speed too Low +Steer Unavailable Below 'X' +Take Control, Turn Exceeds Steering Limit - Map Based + Prompt Distracted Volume - Vision + Related alerts: + +Pay Attention, Driver Distracted +Touch Steering Wheel, Driver Unresponsive - Standard - มาตรฐาน + Refuse Volume + - Eco + Related alerts: + +openpilot Unavailable - Sport + Warning Soft Volume - Sport+ + Related alerts: + +BRAKE!, Risk of Collision +TAKE CONTROL IMMEDIATELY - feet + Warning Immediate Volume - Acceleration + Related alerts: + +DISENGAGE IMMEDIATELY, Driver Distracted +DISENGAGE IMMEDIATELY, Driver Unresponsive - Deceleration + Custom Alerts - Lower Limits + Goat Scream Steering Saturated Alert - Higher Limits + Green Light Alert - None + Lead Departing Alert - Set Speed + Loud Blindspot Alert - Experimental Mode - โหมดทดลอง + Custom alerts for openpilot events. + - Previous Limit + Enables the famed 'Goat Scream' that has brought both joy and anger to FrogPilot users all around the world! - Gas Pedal Press + Plays an alert when a traffic light changes from red to green. - Cruise Set Speed + Plays an alert when the lead vehicle starts starts to depart when at a standstill. - SELECT - เลือก + Plays a louder alert for when a vehicle is detected in the blindspot when attempting to change lanes. + - Dashboard + Speed Limit Changed Alert - Navigation + Plays an alert when the speed limit changes. - Offline Maps + Auto - Highest + Muted + + + FrogPilotThemesPanel - Lowest + Custom Theme - Select your primary priority + Custom openpilot themes. - Select your secondary priority + Color Scheme - Select your tertiary priority + Icon Pack - MANAGE + Sound Pack - seconds + Steering Wheel - Control Via UI + Turn Signal Animation - Speed Limit Offset (0-34 kph) + Download Status - Speed Limit Offset (35-54 kph) + Holiday Themes - Speed Limit Offset (55-64 kph) + Random Events - Speed Limit Offset (65-99 kph) + Startup Alert - Set speed limit offset for limits between 0-34 kph. + DELETE - Set speed limit offset for limits between 35-54 kph. + DOWNLOAD + ดาวน์โหลด + + + SELECT + เลือก + + + Select a color scheme to delete - Set speed limit offset for limits between 55-64 kph. + Are you sure you want to delete the '%1' color scheme? - Set speed limit offset for limits between 65-99 kph. + Delete - kph + Select a color scheme to download - meters + Select a color scheme - Set speed limit offset for limits between 0-34 mph. + Select an icon pack to delete - Set speed limit offset for limits between 35-54 mph. + Are you sure you want to delete the '%1' icon pack? - Set speed limit offset for limits between 55-64 mph. + Select an icon pack to download - Set speed limit offset for limits between 65-99 mph. + Select an icon pack - - - FrogPilotParamManageControl - MANAGE + Select a sound pack to delete - - - FrogPilotSettingsWindow - Advanced Settings + Select a sound pack to download - Alerts and Sounds + Select a steering wheel to delete - Driving Controls + Select a steering wheel to download - Navigation + Select a steering wheel - System Management + STOCK - Theme and Appearance + FROGPILOT - Vehicle Controls + CUSTOM - Advanced FrogPilot features for more experienced users. + CLEAR - Options to customize FrogPilot's sound alerts and notifications. + Characters: 0/%1 - FrogPilot features than impact acceleration, braking, and steering. + CANCEL - Offline maps downloader and 'Navigate On openpilot (NOO)' settings. + Changes out openpilot's color scheme. + +Want to submit your own color scheme? Share it in the 'custom-themes' channel on the FrogPilot Discord! - Tools and system utilities used to maintain and troubleshoot FrogPilot. + Changes out openpilot's icon pack. + +Want to submit your own icons? Share them in the 'custom-themes' channel on the FrogPilot Discord! - Options for customizing FrogPilot's themes, UI appearance, and onroad widgets. + Changes out openpilot's sound effects. + +Want to submit your own sounds? Share them in the 'custom-themes' channel on the FrogPilot Discord! - Vehicle-specific settings and configurations for supported makes and models. + Enables a custom steering wheel icon in the top right of the screen. - DRIVING + Enables themed turn signal animations. + +Want to submit your own animations? Share them in the 'custom-themes' channel on the FrogPilot Discord! - VISUALS + Changes the openpilot theme based on the current holiday. Minor holidays last one day, while major holidays (Easter, Christmas, Halloween, etc.) last the entire week. - MANAGE + Rainbow Path - GAS / BRAKE + Swap out the path in the onroad UI for a Mario Kart inspired 'Rainbow Path'. - STEERING + Enables random cosmetic events that happen during certain driving conditions. These events are purely for fun and don't affect driving controls! - DATA + Controls the text of the 'Startup' alert message that appears when you start the drive. - DEVICE + Select a distance icon pack to delete - UTILITIES + Are you sure you want to delete the '%1' distance icon pack? - APPEARANCE + Select a distance icon pack to download - THEME + Select a distance icon pack + + + + Select a signal animation to delete + + + + Are you sure you want to delete the '%1' signal animation? + + + + Select a signal animation to download + + + + Select a signal animation + + + + Are you sure you want to delete the '%1' sound pack? + + + + Select a sound pack + + + + Are you sure you want to delete the '%1' steering wheel? + + + + Enter the text for the top half + + + + Enter the text for the bottom half - FrogPilotSoundsPanel + FrogPilotVehiclesPanel - Alert Volume Controller + Select Make - Control the volume level for each individual sound in openpilot. + SELECT + เลือก + + + Select a Make - Disengage Volume + Select Model - Related alerts: - -Adaptive Cruise Disabled -Parking Brake Engaged -Brake Pedal Pressed -Speed too Low + Select a Model - Engage Volume + Disable Automatic Fingerprint Detection - Related alerts: - -NNFF Torque Controller loaded -openpilot engaged + Forces the selected fingerprint and prevents it from ever changing. - Prompt Volume + Disable openpilot Longitudinal Control - Related alerts: - -Car Detected in Blindspot -Speed too Low -Steer Unavailable Below 'X' -Take Control, Turn Exceeds Steering Limit + Are you sure you want to completely disable openpilot longitudinal control? - Prompt Distracted Volume + Reboot required to take effect. - Related alerts: - -Pay Attention, Driver Distracted -Touch Steering Wheel, Driver Unresponsive + Reboot Now - Refuse Volume + 2017 Volt Stop and Go Hack - Related alerts: - -openpilot Unavailable + Experimental GM Tune - Warning Soft Volume + Uphill/Downhill Smoothing - Related alerts: - -BRAKE!, Risk of Collision -TAKE CONTROL IMMEDIATELY + Use comma's New Longitudinal API - Warning Immediate Volume + Subaru Crosstrek Torque Increase - Related alerts: - -DISENGAGE IMMEDIATELY, Driver Distracted -DISENGAGE IMMEDIATELY, Driver Unresponsive + Increases the maximum allowed torque for the Subaru Crosstrek. - Custom Alerts + Automatically Lock/Unlock Doors + + + + Cluster Speed Offset + + + + FrogsGoMoo's Personal Tweaks + + + + Stop and Go Hack + + + + Lock + + + + Unlock + + + + Disables openpilot longitudinal control and uses the car's stock ACC instead. - Enable custom alerts for openpilot events. + Forces stop and go for the 2017 Chevy Volt. - Goat Scream Steering Saturated Alert + Enables FrogsGoMoo's experimental GM tune that is based on nothing but guesswork. Use at your own risk! - Enable the famed 'Goat Scream' that has brought both joy and anger to FrogPilot users all around the world! + Smoothens the gas and brake response when driving on slopes. - Green Light Alert + Enables comma's new control system that has shown great improvement with acceleration and braking, but has a few issues on some GM vehicles. - Get an alert when a traffic light changes from red to green. + Enables comma's new control system that has shown great improvement with acceleration and braking, but has a few issues on Hyundai/Kia/Genesis. - Lead Departing Alert + Automatically locks the doors when in drive and unlocks when in park. - Get an alert when the lead vehicle starts departing when at a standstill. + Sets the cluster offset openpilot uses to try and match the speed displayed on the dash. - Loud Blindspot Alert + Enables FrogsGoMoo's personal tweaks to the Toyota tune focused around his 2019 Lexus ES 350 to take off a bit quicker and stop a bit smoother. - Enable a louder alert for when a vehicle is detected in the blindspot when attempting to change lanes. + Forces stop and go for vehicles without stock stop and go functionality. + + + FrogPilotVisualsPanel - Speed Limit Change Alert + Custom FrogPilot widgets used in the onroad user interface. - Trigger an alert when the speed limit changes. + Compass - - - FrogPilotThemesPanel - Custom Theme + Dynamic Path Width - Custom openpilot themes. + Road Name - Color Scheme + Rotating Steering Wheel - Themed color schemes. - -Want to submit your own color scheme? Share it in the 'feature-request' channel on the FrogPilot Discord! + Larger Map Display - Icon Pack + Map Style - Themed icon packs. - -Want to submit your own icons? Share them in the 'feature-request' channel on the FrogPilot Discord! + Show Driver Camera When In Reverse - Sound Pack + Stopped Timer - Themed sound effects. - -Want to submit your own sounds? Share them in the 'feature-request' channel on the FrogPilot Discord! + Blind Spot - Steering Wheel + Dynamic - Custom steering wheel icons. + Static - Turn Signal Animation + Full Map - Themed turn signal animations. - -Want to submit your own animations? Share them in the 'feature-request' channel on the FrogPilot Discord! + Mapbox Streets - Download Status + Mapbox Outdoors - Holiday Themes + Mapbox Light - Change the openpilot theme based on the current holiday. Minor holidays last one day, while major holidays (Easter, Christmas, Halloween, etc.) last a week. + Mapbox Dark - Random Events + Mapbox Satellite - Random cosmetic events that happen during certain driving conditions. These events are purely for fun and don't affect driving controls! + Mapbox Satellite Streets - Startup Alert + Mapbox Navigation Day - Custom 'Startup' alert message that appears when you start driving. + Mapbox Navigation Night - DELETE + Mapbox Traffic Night - DOWNLOAD - ดาวน์โหลด + mike854's (Satellite hybrid) + SELECT เลือก - Select a color scheme to delete + Select a map style - Are you sure you want to delete the '%1' color scheme? + Accessibility - Delete + Visual features to improve your overall openpilot experience. - Select a color scheme to download + Camera View - Select a color scheme + Changes the camera view display. This is purely a visual change and doesn't impact how openpilot drives. - Select an icon pack to delete + On Screen Personality Button - Are you sure you want to delete the '%1' icon pack? + Displays the current driving personality on the screen. Tap to switch personalities, or long press for 2.5 seconds to activate 'Traffic' mode. - Select an icon pack to download + Displays the driver camera feed when the vehicle is in reverse. - Select an icon pack + Standby Mode - Select a signal pack to delete + Turns the screen off when driving and automatically wakes it up if engagement state changes or important alerts occur. - Are you sure you want to delete the '%1' signal pack? + Activates a timer when stopped to indicate how long the vehicle has been stopped for. - Select a signal pack to download + Advanced UI Controls - Select a signal pack + Advanced features to fine tune your personalized UI. - Select a sound pack to delete + Hide Current Speed - Are you sure you want to delete the '%1' sound scheme? + Hides the current speed. - Select a sound pack to download + Hide Lead Marker - Select a sound scheme + Hides the marker for the vehicle ahead. - Select a steering wheel to delete + Hide Map Icon - Are you sure you want to delete the '%1' steering wheel image? + Hides the map icon. - Select a steering wheel to download + Hide Max Speed - Select a steering wheel + Hides the max speed. - STOCK + Hide Non-Critical Alerts - FROGPILOT + Hides non-critical alerts. - CUSTOM + Hide Speed Limits - CLEAR + Hides the speed limits. - Enter your text for the top half + Use Wheel Speed - Characters: 0/%1 + Uses the wheel speed instead of the cluster speed. This is purely a visual change and doesn't impact how openpilot drives. - Enter your text for the bottom half + Developer Metrics - CANCEL + Show detailed information about openpilot's internal operations. - - - FrogPilotVehiclesPanel - Select Make + Border Metrics - SELECT - เลือก + Displays performance metrics around the edge of the screen while driving. + - Select a Make + FPS Display - Select Model + Displays the 'Frames Per Second' (FPS) at the bottom of the screen while driving. - Select a Model + Lateral Metrics - Disable Automatic Fingerprint Detection + Displays metrics related to steering control at the top of the screen while driving. - Forces the selected fingerprint and prevents it from ever changing. + Longitudinal Metrics - Disable openpilot Longitudinal Control + Displays metrics related to acceleration, speed, and desired following distance at the top of the screen while driving. - Disable openpilot longitudinal control and use stock ACC instead. + Numerical Temperature Gauge - Are you sure you want to completely disable openpilot longitudinal control? + Shows exact temperature readings instead of status labels like 'GOOD', 'OK', or 'HIGH' in the sidebar. - Reboot required to take effect. + Sidebar - Reboot Now + Displays system information like CPU, GPU, RAM usage, IP address, and storage space in the sidebar. - 2017 Volt Stop and Go Hack + Use International System of Units - Force stop and go for the 2017 Chevy Volt. + Displays measurements using the 'International System of Units' (SI). - Experimental GM Tune + Model UI - FrogsGoMoo's experimental GM tune that is based on nothing but guesswork. Use at your own risk! + Customize the model visualizations on the screen. - Uphill/Downhill Smoothing + Automatically adjusts the width of the driving path display based on the current engagement state: + +Fully engaged = 100% +Always On Lateral Active = 75% +Fully disengaged = 50% - Smoothen the car’s gas and brake response when driving on slopes. + Lane Lines Width - Use comma's New Longitudinal API + Controls the thickness the lane lines appear on the display. + +Default matches the MUTCD standard of 4 inches. - Comma's new longitudinal control system that has shown great improvement with acceleration and braking, but has a few issues on some GM vehicles. + Path Edges Width - Use comma's new longitudinal control system that has shown great improvement with acceleration and braking, but has a few issues on Hyundai/Kia/Genesis. + Controls the width of the edges of the driving path to represent different modes and statuses. + +Default is 20% of the total path width. + +Color Guide: +- Blue: Navigation +- Light Blue: 'Always On Lateral' +- Green: Default +- Orange: 'Experimental Mode' +- Red: 'Traffic Mode' +- Yellow: 'Conditional Experimental Mode' Overridden - Subaru Crosstrek Torque Increase + Path Width - Increases the maximum allowed torque for the Subaru Crosstrek. + Controls how wide the driving path appears on your screen. + +Default (6.1 feet / 1.9 meters) matches the width of a 2019 Lexus ES 350. - Automatically Lock/Unlock Doors + Road Edges Width - Automatically lock the doors when in drive and unlock when in park. + Controls how thick the road edges appear on the display. + +Default matches half of the MUTCD standard lane line width of 4 inches. - Cluster Speed Offset + Stopping Point - Set the cluster offset openpilot uses to try and match the speed displayed on the dash. + Displays an image on the screen where openpilot is detecting a potential red light/stop sign. - FrogsGoMoo's Personal Tweaks + 'Unlimited' Road UI - Use FrogsGoMoo's personal tweaks to the Toyota tune focused around his 2019 Lexus ES 350 to take off a bit quicker and stop a bit smoother. + Extends the display of the path, lane lines, and road edges as far as the model can see. - Stop and Go Hack + Navigation Widgets - Force stop and go for vehicles without stock stop and go functionality. + Wwidgets focused around navigation. - Lock + Increases the size of the map for easier navigation readings. - Unlock + Swaps out the stock map style for community created ones. - - - FrogPilotVisualsPanel - Onroad UI Widgets + Displays the current road name at the bottom of the screen using data from 'OpenStreetMap'. - Custom FrogPilot widgets used in the onroad user interface. + Show Speed Limit Offset - Compass + Displays the speed limit offset separately in the onroad UI when using 'Speed Limit Controller'. - A compass in the onroad UI to show the current driving direction. + Show Speed Limits - Dynamic Path Width + Displays the currently detected speed limit in the top left corner of the onroad UI. Uses data from your car's dashboard (if supported) and data from 'OpenStreetMaps'. - Automatically adjust the width of the driving path display based on the current engagement state: - -Fully engaged = 100% -Always On Lateral Active = 75% -Fully disengaged = 50% + Use Vienna-Style Speed Signs - Gas/Brake Pedal Indicators + Forces Vienna-style (EU) speed limit signs instead of MUTCD (US). - Pedal indicators in the onroad UI that change opacity based on the pressure applied. + Onroad Screen Widgets - Paths + Acceleration Path - Projected acceleration path, detected lanes, and vehicles in the blind spot. + Projects a path based on openpilot's current desired acceleration or deceleration. - Road Name + Adjacent Lanes - The current road name is displayed at the bottom of the screen using data from 'OpenStreetMap'. + Projects paths for the adjascent lanes. - Rotating Steering Wheel + Blind Spot Path - The steering wheel in the onroad UI rotates along with your steering wheel movements. + Projects a red path when vehicles are detected in the blind spot for the respective lane. - Quality of Life Improvements + Displays a compass to show the current driving direction. - Miscellaneous visual focused features to improve your overall openpilot experience. + Gas / Brake Pedal Indicators - Larger Map Display + Displays pedal indicators to indicate when either of the pedals are currently being used. - A larger size of the map in the onroad UI for easier navigation readings. + Rotates the steering wheel in the onroad UI rotates along with your steering wheel movements. - Map Style + Auto - Custom map styles for the map used during navigation. + Driver - Screen Standby Mode + Standard + มาตรฐาน + + + Wide - The screen is turned off after it times out when driving, but it automatically wakes up if engagement state changes or important alerts occur. + Steering Torque - Show Driver Camera When In Reverse + Turn Signal - The driver camera feed is displayed when the vehicle is in reverse. + Adjacent Path Metrics - Stopped Timer + Auto Tune - A timer on the onroad UI to indicate how long the vehicle has been stopped. + Adjacent Leads - Acceleration + Lead Info - Adjacent + Jerk Values - Blind Spot + Fahrenheit - Dynamic + CPU - Static + GPU - Full Map + IP - Stock openpilot + RAM - Mapbox Streets + SSD Left - Mapbox Outdoors + SSD Used - Mapbox Light + inches - Mapbox Dark + % - Mapbox Satellite + feet - Mapbox Satellite Streets + Show Distance - Mapbox Navigation Day + Stock - Mapbox Navigation Night + Adjust how thick the lane lines appear on the display. + +Default matches the Vienna standard of 10 centimeters. - Mapbox Traffic Night + Adjust how thick the road edges appear on the display. + +Default matches half of the Vienna standard of 10 centimeters. - mike854's (Satellite hybrid) + centimeters - SELECT - เลือก + meters + - Select a map style + Adjust how thick the lane lines appear on the display. + +Default matches the MUTCD standard of 4 inches. + + + + Adjust how thick the road edges appear on the display. + +Default matches half of the MUTCD standard of 4 inches. @@ -3760,6 +3845,30 @@ This may take up to a minute. FrogPilot + + Welcome to FrogPilot! Since you're new to FrogPilot, the 'Minimal' toggle preset has been applied, but you can change this at any time via the 'Tuning Level' button! + + + + Sounds good! + + + + Since you're fairly new to FrogPilot, the 'Minimal' toggle preset has been applied, but you can change this at any time via the 'Tuning Level' button! + + + + Since you're experienced with openpilot, the 'Standard' toggle preset has been applied, but you can change this at any time via the 'Tuning Level' button! + + + + Since you're experienced with FrogPilot, the 'Standard' toggle preset has been applied, but you can change this at any time via the 'Tuning Level' button! + + + + Since you're very experienced with FrogPilot, the 'Advanced' toggle preset has been applied, but you can change this at any time via the 'Tuning Level' button! + + Setup @@ -4064,10 +4173,6 @@ This may take up to a minute. FrogPilot will automatically update itself and it's assets when you're offroad and connected to Wi-Fi. - - Do you want to permanently delete any additional FrogPilot assets? This is 100% unrecoverable and includes backups, downloaded models, themes, and long-term storage toggle settings for easy reinstalls. - - Error Log @@ -4080,6 +4185,14 @@ This may take up to a minute. View the error log for openpilot crashes. + + Do you want to delete deep storage FrogPilot assets? This includes your toggle settings for quick reinstalls. + + + + Are you sure? This is 100% unrecoverable and if you reinstall FrogPilot you'll lose all your previous settings! + + SshControl @@ -4322,10 +4435,6 @@ This may take up to a minute. FLASH - - Use this button to flash the Panda device's firmware if you're running into issues. - - Are you sure you want to flash the Panda? @@ -4350,10 +4459,6 @@ This may take up to a minute. Force Started State - - Force openpilot either offroad or onroad. - - OFFROAD @@ -4394,6 +4499,14 @@ This may take up to a minute. Reset! + + Flashes the Panda device's firmware if you're running into issues. + + + + Forces openpilot either offroad or onroad. + + WiFiPromptWidget @@ -4422,7 +4535,7 @@ This may take up to a minute. - Toggle off the 'Disable Uploading' toggle to enable uploads. + Toggle off the 'Turn Off Data Uploads' toggle to re-enable uploads. diff --git a/selfdrive/ui/translations/main_tr.qm b/selfdrive/ui/translations/main_tr.qm new file mode 100644 index 00000000000000..8ef248429c0d6f Binary files /dev/null and b/selfdrive/ui/translations/main_tr.qm differ diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts index 69cf1e01d01f9b..b9f5304533434c 100644 --- a/selfdrive/ui/translations/main_tr.ts +++ b/selfdrive/ui/translations/main_tr.ts @@ -149,10 +149,6 @@ kph - - ft/s² - - Accel: %1%2 @@ -185,16 +181,6 @@ Follow Distance: - - Confirm speed limit - - - - - Ignore speed limit - - - Conditional Experimental Mode ready @@ -283,6 +269,14 @@ . Double tap the screen to revert + + PENDING + + + + ft/s² + + ConfirmationDialog @@ -532,2841 +526,2913 @@ FrogPilotAdvancedDrivingPanel - Advanced Lateral Tuning - + mph + mph - Advanced settings that control how openpilot manages steering. - + ADD + EKLE - Friction (Default: %1) - + REMOVE + KALDIR - Friction - + OK + TAMAM - The resistance in steering. Higher values provide more stable steering but can make it feel heavy, while lower values allow lighter steering but may feel too sensitive. - + RESET + SIFIRLA - Kp Factor (Default: %1) - + VIEW + BAK - Kp Factor - + openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required. + openpilot, cihazın 4° sola veya 5° yukarı yada 9° aşağı bakıcak şekilde monte edilmesi gerekmektedir. openpilot sürekli kendisini kalibre edilmektedir ve nadiren sıfırlama gerebilir. - How aggressively the car corrects its steering. Higher values offer quicker corrections but may feel jerky, while lower values make steering smoother but slower to respond. - + Your device is pointed %1° %2 and %3° %4. + Cihazınız %1° %2 ve %3° %4 yönünde ayarlı - Lateral Accel (Default: %1) - + down + aşağı - Lateral Accel - + up + yukarı - Adjust how fast the car can steer from side to side. Higher values allow quicker lane changes but can feel unstable, while lower values provide smoother steering but may feel sluggish. - + left + sol - Steer Ratio (Default: %1) - + right + sağ + + + FrogPilotConfirmationDialog - Steer Ratio + Reboot Later - Adjust how much openpilot needs to turn the wheel to steer. Higher values feel like driving a truck, more stable at high speeds, but harder to steer quickly at low speeds, while lower values feel like a go-kart, easier to steer in tight spots but more sensitive and less stable at high speeds. + Yes - comma's 2022 Taco Bell Turn Hack + No + + + FrogPilotDataPanel - Use comma's hack they used to help handle left and right turns more precisely during their 2022 'Taco Bell' drive. + Delete Driving Footage and Data - Force Auto Tune On + DELETE - Forces comma's auto lateral tuning for unsupported vehicles. + Are you sure you want to permanently delete all of your driving footage and data? - Force Auto Tune Off + Delete - Forces comma's auto lateral tuning off for supported vehicles. + Deleting... - Force Turn Desires Below Lane Change Speed + Deleted! - Force the model to use turn desires when driving below the minimum lane change speed to help make left and right turns more precisely. + Screen Recordings - Advanced Longitudinal Tuning + Manage your screen recordings. - Advanced settings that control how openpilot manages speed and acceleration. + RENAME - Lead Detection Confidence + Select a recording to delete - How sensitive openpilot is to detecting vehicles ahead. A lower value can help detect vehicles sooner and from farther away, but may occasionally mistake other objects for vehicles. + Are you sure you want to delete this recording? - Maximum Acceleration Rate + Select a recording to rename - Set a cap on how fast openpilot can accelerate to prevent high acceleration at low speeds. + Enter a new name - Advanced Quality of Life + Rename Recording - Miscellaneous advanced features to improve your overall openpilot experience. + Renaming... - Force Keep openpilot in the Standstill State + Renamed! - Keep openpilot in the 'standstill' state until the gas pedal or 'resume' button is pressed. + FrogPilot Backups - Force Stop for 'Detected' Stop Lights/Signs + Manage your FrogPilot backups. - Whenever openpilot 'detects' a potential stop light/stop sign, force a stop where it originally detected it to prevent running the potential red light/stop sign. + BACKUP - Set Speed Offset + RESTORE - How much higher or lower the set speed should be compared to your current set speed. For example, if you prefer to drive 5 mph above the speed limit, this setting will automatically add that difference when you adjust your set speed. + Name your backup - Customize Driving Personalities + Compressing... - Customize the personality profiles to suit your preferences. + Select a backup to delete - Traffic Personality + Are you sure you want to delete this backup? - Customize the 'Traffic' personality profile, tailored for navigating through traffic. + Select a restore point - Following Distance + Are you sure you want to restore this version of FrogPilot? - The minimum following distance in 'Traffic Mode.' openpilot will adjust dynamically between this value and the 'Aggressive' profile distance based on your speed. + Restore - Acceleration Sensitivity + Restoring... - How sensitive openpilot is to changes in acceleration in 'Traffic Mode.' Higher values result in smoother, more gradual acceleration and deceleration, while lower values allow for faster changes that may feel more abrupt. + Extracting... - Deceleration Sensitivity + Restored! - Controls how sensitive openpilot is to changes in deceleration in 'Traffic Mode.' Higher values result in smoother, more gradual braking, while lower values allow for quicker, more responsive braking that may feel abrupt. + Rebooting... - Safety Distance Sensitivity + Toggle Backups - Adjusts how cautious openpilot is around other vehicles or obstacles in 'Traffic Mode.' Higher values increase following distances and prioritize safety, leading to more cautious driving, while lower values allow for closer following but may reduce reaction time. + Manage your toggle backups. - Speed Increase Responsiveness + Are you sure you want to restore this toggle backup? - Controls how quickly openpilot adjusts speed in 'Traffic Mode.' Higher values ensure smoother, more gradual speed changes, while lower values enable quicker adjustments that might feel sharper or less smooth. + Permanently deletes all stored driving footage and data from your device. Ideal for maintaining privacy or freeing up space. - Speed Decrease Responsiveness + DELETE ALL - Sets how quickly openpilot adjusts to decreasing speeds in 'Traffic Mode.' Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed reductions that might feel sharper. + Are you sure you want to delete all screen recordings? - Reset Settings + Delete All - Restore the 'Traffic Mode' settings to their default values. + A recording with this name already exists. Please choose a different name. - Aggressive Personality + A backup with this name already exists. Please choose a different name. - Customize the 'Aggressive' personality profile, designed for a more assertive driving style. + Do you want to compress this backup? The final result will be 2.25x smaller and will run in the background, but can take 10+ minutes. - Set the following distance for 'Aggressive' mode. This determines roughly how many seconds you'll follow behind the car ahead. - -Default: 1.25 seconds. + Backing up... - Controls how sensitive openpilot is to acceleration changes in 'Aggressive' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky. - -Default: 0.5. + Backup created! - Controls how sensitive openpilot is to deceleration in 'Aggressive' mode. Higher values result in smoother braking, while lower values allow for more immediate braking that may feel abrupt. - -Default: 0.5. + Are you sure you want to delete all FrogPilot backups? - Adjusts how cautious openpilot is around vehicles or obstacles in 'Aggressive' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking. - -Default: 1.0. + Are you sure you want to delete all toggle backups? + + + FrogPilotDevicePanel - Controls how quickly openpilot adjusts speed in 'Aggressive' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt. - -Default: 0.5. + Device Settings - Sets how quickly openpilot adjusts to speed reductions in 'Aggressive' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp. - -Default: 0.5. + Device behavior settings. - Restore the 'Aggressive' settings to their default values. + Device Shutdown Timer - Standard Personality + Disable Internet Requirement - Customize the 'Standard' personality profile, optimized for balanced driving. + Increase Thermal Safety Limit - Set the following distance for 'Standard' mode. This determines roughly how many seconds you'll follow behind the car ahead. - -Default: 1.45 seconds. + Low Battery Shutdown Threshold - Controls how sensitive openpilot is to acceleration changes in 'Standard' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky. - -Default: 1.0. + Turn Off Data Tracking - Controls how sensitive openpilot is to deceleration in 'Standard' mode. Higher values result in smoother braking, while lower values allow for quicker, more immediate braking that may feel abrupt. - -Default: 1.0. + Turn Off Data Uploads - Adjusts how cautious openpilot is around vehicles or obstacles in 'Standard' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking. - -Default: 1.0. + Screen Settings - Controls how quickly openpilot adjusts speed in 'Standard' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt. - -Default: 1.0. + Screen behavior settings. - Sets how quickly openpilot adjusts to speed reductions in 'Standard' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp. - -Default: 1.0. + Screen Brightness (Offroad) - Restore the 'Standard' settings to their default values. + Screen Brightness (Onroad) - Relaxed Personality + Screen Recorder - Customize the 'Relaxed' personality profile, ideal for a more laid-back driving style. + Screen Timeout (Offroad) - Set the following distance for 'Relaxed' mode. This determines roughly how many seconds you'll follow behind the car ahead. - -Default: 1.75 seconds. + Screen Timeout (Onroad) - Controls how sensitive openpilot is to acceleration changes in 'Relaxed' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky. - -Default: 1.0. + 5 mins - Controls how sensitive openpilot is to deceleration in 'Relaxed' mode. Higher values result in smoother braking, while lower values allow for quicker, more immediate braking that may feel abrupt. - -Default: 1.0. + mins - Adjusts how cautious openpilot is around vehicles or obstacles in 'Relaxed' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking. - -Default: 1.0. + hour - Controls how quickly openpilot adjusts speed in 'Relaxed' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt. - -Default: 1.0. + hours - Sets how quickly openpilot adjusts to speed reductions in 'Relaxed' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp. - -Default: 1.0. + Only Onroad - Restore the 'Relaxed' settings to their default values. + volts - Model Management + Auto - Manage the driving models used by openpilot. + seconds - Automatically Update and Download Models + WARNING: This can cause premature wear or damage by running the device over comma's recommended temperature limits! - Automatically download new or updated driving models. + WARNING: This will prevent your drives from being recorded and the data will be unobtainable! - Model Randomizer + WARNING: This will prevent your drives from appearing on comma connect which may impact debugging and support! - A random model is selected and can be reviewed at the end of each drive if it's longer than 15 minutes to help find your preferred model. + Controls how long the device stays on after you stop driving. - Manage Model Blacklist + Allows the device to work without an internet connection. - Control which models are blacklisted and won't be used for future drives. + Allows the device to run at higher temperatures than recommended. - Reset Model Scores + Manages the threshold for shutting down the device to protect the car's battery from excessive drain and potential damage. - Clear the ratings you've given to the driving models. + Disables all data tracking to improve privacy. - Review Model Scores + Stops the device from sending any data to the servers. - View the ratings you've assigned to the driving models. + Controls the screen brightness when you're not driving. - Delete Model + Controls the screen brightness while you're driving. - Remove the selected driving model from your device. + Enables a button in the onroad UI to record the screen. - Download Model + Controls how long it takes for the screen to turn off when you're not driving. - Download undownloaded driving models. + Controls how long it takes for the screen to turn off while you're driving. - Download All Models + Screen Off + + + FrogPilotLateralPanel - Download all undownloaded driving models. + Always on Lateral - Select Model + openpilot's steering control stays active even when the brake or gas pedals are pressed. + +Deactivate only occurs with the 'Cruise Control' button. - Select which model openpilot uses to drive. + Control with LKAS Button - Reset Model Calibrations + Enable with Cruise Control - Reset calibration settings for the driving models. + Pause on Brake Below - mph - mph + Hide the Status Bar + - Reset + Lane Change Settings - seconds + How openpilot handles lane changes. - ADD - EKLE + Lane Change Delay + - REMOVE - KALDIR + Lane Width Requirement + - There's no more models to blacklist! The only available model is "%1"! + Minimum Speed for Lane Change - OK - TAMAM + Lateral Tuning + - Select a model to add to the blacklist + Neural Network Feedforward (NNFF) - Are you sure you want to add the '%1' model to the blacklist? + Smooth Curve Handling - Add + Quality of Life Improvements - Select a model to remove from the blacklist + Miscellaneous lateral focused features to improve your overall openpilot experience. - Are you sure you want to remove the '%1' model from the blacklist? + Pause Steering Below - Remove + Pauses steering control when driving below the set speed. - RESET - SIFIRLA + mph + mph - Reset all model scores? + feet - VIEW - BAK + Reboot required to take effect. + - DELETE + Reboot Now - Select a model to delete + kph - Are you sure you want to delete the '%1' model? + meters - Delete + Advanced Lateral Tuning - Deleting... + Advanced settings for fine tuning openpilot's lateral controls. - Deleted! + Friction (Default: %1) - DOWNLOAD + Friction - CANCEL + Adjusts the resistance in steering. Higher values provide more stable steering but can make it feel heavy, while lower values allow lighter steering but may feel too sensitive. - Select a driving model to download + Kp Factor (Default: %1) - Downloading %1... + Kp Factor - SELECT + Adjusts how aggressively the car corrects its steering. Higher values offer quicker corrections but may feel jerky, while lower values make steering smoother but slower to respond. - Select a model - 🗺️ = Navigation | 📡 = Radar | 👀 = VOACC + Lateral Accel (Default: %1) - WARNING: This is a very experimental model and may drive dangerously! + Lateral Accel - I understand the risks. + Adjusts how fast the car can steer from side to side. Higher values allow quicker lane changes but can feel unstable, while lower values provide smoother steering but may feel sluggish. - Start with a fresh calibration for the newly selected model? + Steer Ratio (Default: %1) - Reboot required to take effect. + Steer Ratio - Reboot Now + Adjusts how much openpilot needs to turn the wheel to steer. Higher values feel like driving a truck, more stable at high speeds, but harder to steer quickly at low speeds, while lower values feel like a go-kart, easier to steer in tight spots but more sensitive and less stable at high speeds. - RESET ALL + Force Auto Tune On - RESET ONE + Forces comma's auto lateral tuning for unsupported vehicles. - Are you sure you want to completely reset all of your model calibrations? + Force Auto Tune Off - Select a model to reset + Forces comma's auto lateral tuning off for supported vehicles. - Are you sure you want to completely reset this model's calibrations? + Controls the current state of 'Always on Lateral' with the 'LKAS' button. - The 'Model Randomizer' only works with downloaded models. Do you want to download all the driving models? + Activates 'Always on Lateral' whenever 'Cruise Control' is active bypassing the requirement to enable openpilot first. - Are you sure you want to completely reset your settings for the 'Traffic Mode' personality? + Pauses 'Always on Lateral' when the brake pedal is pressed below the set speed. - Are you sure you want to completely reset your settings for the 'Aggressive' personality? + Hides status bar for 'Always On Lateral'. - Are you sure you want to completely reset your settings for the 'Standard' personality? + Automatic Lane Changes - Are you sure you want to completely reset your settings for the 'Relaxed' personality? + Conducts lane changes without needing to touch the steering wheel upon turn signal activation. - kph + Delays lane changes by the set time to prevent sudden changes. - Downloading models... + Sets the minimum lane width for openpilot to detect a lane as a lane. - openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required. - openpilot, cihazın 4° sola veya 5° yukarı yada 9° aşağı bakıcak şekilde monte edilmesi gerekmektedir. openpilot sürekli kendisini kalibre edilmektedir ve nadiren sıfırlama gerebilir. - - - Your device is pointed %1° %2 and %3° %4. - Cihazınız %1° %2 ve %3° %4 yönünde ayarlı + Sets the minimum speed required for openpilot to perform a lane change. + - down - aşağı + Only One Lane Change Per Signal + - up - yukarı + Limits lane changes to one per turn signal activation. + - left - sol + Settings for fine tuning openpilot's lateral controls. + - right - sağ + Force Turn Desires Below Lane Change Speed + - - - FrogPilotAdvancedVisualsPanel - Advanced Onroad UI Widgets + Forces the model to use turn desires when driving below the minimum lane change speed to help make left and right turns more precisely. - Advanced user customizations for the Onroad UI. + Uses Twilsonco's 'Neural Network FeedForward' for more precise steering control. - Camera View + Smoothens the steering control when entering and exiting curves by using Twilsonco's torque adjustments. - Camera view for the onroad UI. This is purely a visual change and doesn't impact how openpilot drives. + seconds + + + FrogPilotLongitudinalPanel - Display Stopping Points + Conditional Experimental Mode - Display an image on the screen where openpilot is detecting a potential red light/stop sign. + Below - Hide Lead Marker + Curve Detected Ahead - Hide the marker for the vehicle ahead on the screen. + Lead Detected Ahead - Hide Speed + Navigation Data - Hide the speed indicator in the onroad UI. Additional toggle allows it to be hidden/shown via tapping the speed itself. + openpilot Wants to Stop In - Hide UI Elements + Turn Signal Below - Hide the selected UI elements from the onroad screen. + Hide the Status Bar - Use Wheel Speed + Curve Speed Control - Use the wheel speed instead of the cluster speed in the onroad UI. + Automatically slow down for curves detected ahead or through the downloaded maps. - Developer UI + Curve Detection Method - Show detailed information about openpilot's internal operations. + Curve Detection Failsafe - Border Metrics + Experimental Mode Activation - Display performance metrics around the edge of the screen while driving. + Click the LKAS Button - FPS Display + Double-Tap the Screen - Display the 'Frames Per Second' (FPS) at the bottom of the screen while driving. + Long Press the Distance Button - Lateral Metrics + Longitudinal Tuning - Display metrics related to steering control at the top of the screen while driving. + Settings that control how openpilot manages speed and acceleration. - Longitudinal Metrics + Acceleration Profile - Display metrics related to acceleration, speed, and desired following distance at the top of the screen while driving. + Deceleration Profile - Numerical Temperature Gauge + Human-Like Acceleration - Show exact temperature readings instead of general status labels like 'GOOD', 'OK', or 'HIGH' in the sidebar. + Increase Stopped Distance - Sidebar + Increases the distance to stop behind vehicles. - Display system information like CPU, GPU, RAM usage, IP address, and storage space in the sidebar. + Quality of Life Improvements - Use International System of Units + Miscellaneous longitudinal focused features to improve your overall openpilot experience. - Display measurements using the 'International System of Units' (SI). + Map Accel/Decel to Gears - Model UI + Reverse Cruise Increase - Customize the model visualizations on the screen. + Speed Limit Controller - Lane Lines Width + Confirm New Speed Limits - How thick the lane lines appear on the display. - -Default matches the MUTCD standard of 4 inches. + Fallback Method - Path Edges Width + Override Method - The width of the edges of the driving path to represent different modes and statuses. - -Default is 20% of the total path width. - -Color Guide: -- Blue: Navigation -- Light Blue: 'Always On Lateral' -- Green: Default -- Orange: 'Experimental Mode' -- Red: 'Traffic Mode' -- Yellow: 'Conditional Experimental Mode' Overridden + Speed Limit Offsets - Path Width + Speed Limit Offset (0-34 mph) - How wide the driving path appears on your screen. - -Default (6.1 feet / 1.9 meters) matches the width of a 2019 Lexus ES 350. + Speed Limit Offset (35-54 mph) - Road Edges Width + Speed Limit Offset (55-64 mph) - How thick the road edges appear on the display. - -Default matches half of the MUTCD standard lane line width of 4 inches. + Speed Limit Offset (65-99 mph) - 'Unlimited' Road UI + Miscellaneous 'Speed Limit Controller' focused features to improve your overall openpilot experience. - Extend the display of the path, lane lines, and road edges as far as the model can see. + Force MPH Readings from Dashboard - Auto + Prepare for Higher Speed Limits - Driver + Prepare for Lower Speed Limits - Standard + Set Speed to Current Limit - Wide - + mph + mph - Control Via UI + With Lead - Alerts + Switches to 'Experimental Mode' when driving below the set speed with a lead vehicle. - Map Icon + With Lead - Max Speed + Slower Lead - Show Distance + Stopped Lead - Blind Spot + Intersections - Steering Torque + Turns - Turn Signal + Map Based - Adjacent Path Metrics + Vision - Auto Tune + Standard - Lead Info + Eco - Longitudinal Jerk + Sport - Fahrenheit + Sport+ - CPU + feet - GPU + Acceleration - IP + Deceleration - RAM + Lower Limits - SSD Left + Higher Limits - SSD Used + None - inches + Set Speed - % + Experimental Mode - feet + Previous Limit - Adjust how thick the lane lines appear on the display. - -Default matches the Vienna standard of 10 centimeters. + SELECT - Adjust how thick the road edges appear on the display. - -Default matches half of the Vienna standard of 10 centimeters. + Dashboard - centimeters + Navigation - meters + Highest - Adjust how thick the lane lines appear on the display. - -Default matches the MUTCD standard of 4 inches. + Lowest - Adjust how thick the road edges appear on the display. - -Default matches half of the MUTCD standard of 4 inches. + Select your primary priority - - - FrogPilotConfirmationDialog - Reboot Later + Select your secondary priority - Yes + Select your tertiary priority - No + MANAGE - - - FrogPilotDataPanel - Delete Driving Footage and Data + seconds - DELETE + Speed Limit Offset (0-34 kph) - This button provides a swift and secure way to permanently delete all stored driving footage and data from your device. Ideal for maintaining privacy or freeing up space. + Speed Limit Offset (35-54 kph) - Are you sure you want to permanently delete all of your driving footage and data? + Speed Limit Offset (55-64 kph) - Delete + Speed Limit Offset (65-99 kph) - Deleting... + kph - Deleted! + meters - Screen Recordings + Automatically switch to 'Experimental Mode' when specific conditions are met. - Manage your screen recordings. + Triggers 'Experimental Mode' when driving below the set speed without a lead vehicle. - RENAME + Triggers 'Experimental Mode' when a curve is detected in the road ahead. - Select a recording to delete + Triggers 'Experimental Mode' when a slower or stopped vehicle is detected ahead. - Are you sure you want to delete this recording? + Triggers 'Experimental Mode' based on navigation data, such as upcoming intersections or turns. - Failed... + Triggers 'Experimental Mode' when openpilot wants to stop such as for a stop sign or red light. - Select a recording to rename + Triggers 'Experimental Mode' when using turn signals below the set speed. - Enter a new name + Hides status bar for 'Conditional Experimental Mode'. - Rename Recording + Uses data from either the downloaded maps or the model to determine where curves are. - Renaming... + Triggers 'Curve Speed Control' only when a curve is detected with the model as well when using the 'Map Based' method. - Renamed! + Curve Detection Sensitivity - FrogPilot Backups + Controls how sensitive openpilot is to detecting curves. Higher values trigger earlier responses at the risk of triggering too often, while lower values increase confidence at the risk of triggering too infrequently. - Manage your FrogPilot backups. + Speed Aggressiveness - BACKUP + Controls how aggressive openpilot takes turns. Higher values result in faster turns, while lower values result in slower turns. - RESTORE + Hide Desired Speed Widget From UI - Name your backup + Hides the desired speed widget from the onroad UI. - Do you want to compress this backup? The end file size will be 2.25x smaller, but can take 10+ minutes. + Customize Driving Personalities - Backing... + Customize the personality profiles to suit your driving style. - Compressing... + Traffic Personality - Success! + Customizes the 'Traffic' personality profile, tailored for navigating through traffic. - Select a backup to delete + Following Distance - Are you sure you want to delete this backup? + Controls the minimum following distance in 'Traffic' mode. openpilot will automatically dynamically between this value and the 'Aggressive' profile distance based on your current speed. - Select a restore point + Acceleration Sensitivity - Are you sure you want to restore this version of FrogPilot? + Controls how sensitive openpilot is to changes in acceleration in 'Traffic' mode. Higher values result in smoother, more gradual acceleration, while lower values allow for quicker, more responsive changes that may feel abrupt. - Restore + Deceleration Sensitivity - Restoring... + Controls how sensitive openpilot is to changes in deceleration in 'Traffic' mode. Higher values result in smoother, more gradual deceleration, while lower values allow for quicker, more responsive changes that may feel abrupt. - Extracting... + Safety Distance Sensitivity - Restored! + Adjusts how cautious openpilot is around other vehicles or obstacles in 'Traffic' mode. Higher values increase following distances and prioritize safety, leading to more cautious driving, while lower values allow for closer following but may reduce reaction time. - Rebooting... + Speed Increase Responsiveness - Toggle Backups + Controls how quickly openpilot increases speed in 'Traffic' mode. Higher values ensure smoother, more gradual speed changes when accelerating, while lower values allow for quicker, more responsive changes that may feel abrupt. - Manage your toggle backups. + Speed Decrease Responsiveness - Are you sure you want to restore this toggle backup? + Controls how quickly openpilot decreases speed in 'Traffic' mode. Higher values ensure smoother, more gradual speed changes when slowing down, while lower values allow for quicker, more responsive changes that may feel abrupt. - - - FrogPilotDevicePanel - Device Settings + Reset Settings - Device behavior settings. + Restores the 'Traffic Mode' settings to their default values. - Device Shutdown Timer + Aggressive Personality - How long the device stays on after you stop driving. + Customize the 'Aggressive' personality profile, designed for a more assertive driving style. - Disable Internet Requirement + Sets the following distance for 'Aggressive' mode. This determines roughly how many seconds you'll follow behind the car ahead. + +Default: 1.25 seconds. - The device can work without an internet connection for as long as you need. + Controls how sensitive openpilot is to changes in acceleration in 'Aggressive' mode. Higher values result in smoother, more gradual acceleration, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 0.5. - Increase Thermal Safety Limit + Controls how sensitive openpilot is to changes in deceleration in 'Aggressive' mode. Higher values result in smoother, more gradual deceleration, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 0.5. - The device can run at higher temperatures than recommended. + Adjusts how cautious openpilot is around other vehicles or obstacles in 'Aggressive' mode. Higher values increase following distances and prioritize safety, leading to more cautious driving, while lower values allow for closer following but may reduce reaction time. + +Default: 1.0. - Low Battery Shutdown Threshold + Controls how quickly openpilot increases speed in 'Aggressive' mode. Higher values ensure smoother, more gradual speed changes when accelerating, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 0.5. - Shut down the device when the car's battery gets too low to prevent damage to the 12V battery. + Controls how quickly openpilot decreases speed in 'Aggressive' mode. Higher values ensure smoother, more gradual speed changes when slowing down, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 0.5. - Turn Off Data Tracking + Restores the 'Aggressive' settings to their default values. - Disable all tracking to improve privacy. + Standard Personality - Turn Off Data Uploads + Customize the 'Standard' personality profile, optimized for balanced driving. - Stop the device from sending any data to the servers. + Set the following distance for 'Standard' mode. This determines roughly how many seconds you'll follow behind the car ahead. + +Default: 1.45 seconds. - Screen Settings + Controls how sensitive openpilot is to changes in acceleration in 'Standard' mode. Higher values result in smoother, more gradual acceleration, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 1.0. - Screen behavior settings. + Controls how sensitive openpilot is to changes in deceleration in 'Standard' mode. Higher values result in smoother braking, while lower values allow for quicker, more immediate braking that may feel abrupt. + +Default: 1.0. - Screen Brightness (Offroad) + Adjusts how cautious openpilot is around other vehicles or obstacles in 'Standard' mode. Higher values increase following distances and prioritize safety, leading to more cautious driving, while lower values allow for closer following but may reduce reaction time. + +Default: 1.0. - The screen brightness when you're not driving. + Controls how quickly openpilot increases speed in 'Standard' mode. Higher values ensure smoother, more gradual speed changes when accelerating, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 1.0. - Screen Brightness (Onroad) + Controls how quickly openpilot decreases speed in 'Standard' mode. Higher values ensure smoother, more gradual speed changes when slowing down, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 1.0. - The screen brightness while you're driving. + Restores the 'Standard' settings to their default values. - Screen Recorder + Relaxed Personality - Display a button in the onroad UI to record the screen. + Customize the 'Relaxed' personality profile, ideal for a more laid-back driving style. - Screen Timeout (Offroad) + Set the following distance for 'Relaxed' mode. This determines roughly how many seconds you'll follow behind the car ahead. + +Default: 1.75 seconds. - How long it takes for the screen to turn off when you're not driving. + Controls how sensitive openpilot is to changes in acceleration in 'Relaxed' mode. Higher values result in smoother, more gradual acceleration, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 1.0. - Screen Timeout (Onroad) + Controls how sensitive openpilot is to changes in deceleration in 'Relaxed' mode. Higher values result in smoother braking, while lower values allow for quicker, more immediate braking that may feel abrupt. + +Default: 1.0. - How long it takes for the screen to turn off while you're driving. + Adjusts how cautious openpilot is around other vehicles or obstacles in 'Relaxed' mode. Higher values increase following distances and prioritize safety, leading to more cautious driving, while lower values allow for closer following but may reduce reaction time. + +Default: 1.0. - 5 mins + Controls how quickly openpilot increases speed in 'Relaxed' mode. Higher values ensure smoother, more gradual speed changes when accelerating, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 1.0. - mins + Controls how quickly openpilot decreases speed in 'Relaxed' mode. Higher values ensure smoother, more gradual speed changes when slowing down, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 1.0. - hour + Restores the 'Relaxed' settings to their default values. - hours + Toggle 'Experimental Mode' on/off using either the steering wheel buttons or screen. + +This overrides 'Conditional Experimental Mode'. - Only Onroad + Toggles 'Experimental Mode' by pressing the 'LKAS' button on the steering wheel. - volts + Toggles 'Experimental Mode' by double-tapping the onroad UI within a 0.5 second period. - Auto + Toggles 'Experimental Mode' by holding down the 'distance' button on the steering wheel for 0.5 seconds. - seconds + Enables either a sporty or eco-friendly acceleration rate. 'Sport+' aims to make openpilot accelerate as fast as possible. - WARNING: This can cause premature wear or damage by running the device over comma's recommended temperature limits! + Enables either a sporty or eco-friendly deceleration rate. - I understand the risks. + Uses the lead's acceleration rate when at a takeoff and ramps off the acceleration rate when approaching the maximum set speed for a more 'human-like' driving experience. - WARNING: This will prevent your drives from being recorded and the data will be unobtainable! + Human-Like Approach Behind Leads - WARNING: This will prevent your drives from appearing on comma connect which may impact debugging and support! + Dynamically adjusts the following distance when approaching slower or stopped vehicles for a more 'human-like' driving experience. - - - FrogPilotLateralPanel - Always on Lateral + Lead Detection Confidence - openpilot's steering control stays active even when the brake or gas pedals are pressed. - -Deactivate only occurs with the 'Cruise Control' button. + Controls how sensitive openpilot is to detecting vehicles ahead. A lower value can help detect vehicles sooner and from farther away, but increases the chance openpilot mistakes other objects for vehicles. - Control with LKAS Button + Maximum Acceleration Rate - 'Always on Lateral' gets turned on or off using the 'LKAS' button. + Sets a cap on how fast openpilot can accelerate. - Enable with Cruise Control + 'Taco Bell Run' Turn Speed Hack - 'Always on Lateral' gets turned on by pressing the 'Cruise Control' button bypassing the requirement to enable openpilot first. + Uses comma's speed hack they used to help handle left and right turns more precisely during their 2022 'Taco Bell' drive by reducing the maximum allowed speed and acceleration while turning. - Pause on Brake Below + Cruise Increase - 'Always on Lateral' pauses when the brake pedal is pressed below the set speed. + Controls the interval used when increasing the cruise control speed. - Hide the Status Bar + Cruise Increase (Long Press) - The status bar for 'Always on Lateral' is hidden. + Controls the interval used when increasing the cruise control speed while holding down the button for 0.5+ seconds. - Lane Change Settings + Force Keep openpilot in the Standstill State - How openpilot handles lane changes. + Keeps openpilot in the 'standstill' state until the gas pedal or 'resume' button is pressed. - Hands-Free Lane Change + Force Stop for 'Detected' Stop Lights/Signs - Lane changes are conducted without needing to touch the steering wheel upon turn signal activation. + Forces a stop whenever openpilot 'detects' a potential red light/stop sign to prevent it from running the red light/stop sign. - Lane Change Delay + Set Speed Offset - How long openpilot waits before changing lanes. + Controls how much higher or lower the set speed should be compared to your current set speed. For example, if you prefer to drive 5 mph above the speed limit, this setting will automatically add that difference when you adjust your set speed. - Lane Width Requirement + Maps the acceleration and deceleration profiles to your car's 'Eco' or 'Sport' gear modes. - The minimum lane width for openpilot to detect a lane as a lane. + Reverses the long press cruise increase feature to increase the max speed by 5 mph instead of 1 on short presses. - Minimum Speed for Lane Change + Automatically adjust your max speed to match the speed limit using downloaded 'Open Street Maps' data, 'Navigate on openpilot', or your car's dashboard (Toyota/Lexus/HKG only). - The minimum speed required for openpilot to perform a lane change. + Enables manual confirmations before using a new speed limit. - Single Lane Change Per Signal + Controls what happens when no speed limit data is available. - Lane changes are limited to one per turn signal activation. + Controls how the current speed limit is overriden. + + - Lateral Tuning + Forces speed limit readings from the dashboard to MPH if it normally displays them in KPH. - Settings that control how openpilot manages steering. + Sets a lookahead value to prepare for upcoming higher speed limits when using downloaded map data. - Neural Network Feedforward (NNFF) + Sets a lookahead value to prepare for upcoming lower speed limits when using downloaded map data. - Twilsonco's 'Neural Network FeedForward' for more precise steering control. + Sets your max speed to match the current speed limit when enabling openpilot. - Smooth Curve Handling + Speed Limit Source Priority Order - Smoother steering when entering and exiting curves with Twilsonco's torque adjustments. + Sets the order of priority for speed limit data sources. - Quality of Life Improvements + Set speed limit offsets to drive over the posted speed limit. - Miscellaneous lateral focused features to improve your overall openpilot experience. + Sets the speed limit offset for speeds between 0 and 34 mph. - Pause Steering Below + Sets the speed limit offset for speeds between 35 and 54 mph. - Pauses steering control when driving below the set speed. + Sets the speed limit offset for speeds between 55 and 64 mph. - mph - mph + Sets the speed limit offset for speeds between 65 and 99 mph. + - feet + Show Speed Limit Sources - Reboot required to take effect. + Displays the speed limit sources in the onroad UI when using 'Speed Limit Controller'. - Reboot Now + Reset - kph + The 'Map Based' option is only available when some 'Map Data' has been downloaded! - meters + Okay - - - FrogPilotLongitudinalPanel - Conditional Experimental Mode + Set With Gas Pedal - Automatically switches to 'Experimental Mode' when specific conditions are met. + Max Set Speed - Below + Map Data - 'Experimental Mode' is active when driving below the set speed without a lead vehicle. + Are you sure you want to completely reset your settings for 'Traffic Mode'? - Curve Detected Ahead + Are you sure you want to completely reset your settings for the 'Aggressive' personality? - 'Experimental Mode' is active when a curve is detected in the road ahead. + Are you sure you want to completely reset your settings for the 'Standard' personality? - Lead Detected Ahead + Are you sure you want to completely reset your settings for the 'Relaxed' personality? - 'Experimental Mode' is active when a slower or stopped vehicle is detected ahead. + Sets the speed limit offset for speeds between 0-34 kph. - Navigation Data + Sets the speed limit offset for speeds between 35-54 kph. - 'Experimental Mode' is active based on navigation data, such as upcoming intersections or turns. + Sets the speed limit offset for speeds between 55-64 kph. - openpilot Wants to Stop In + Sets the speed limit offset for speeds between 65-99 kph. - 'Experimental Mode' is active when openpilot wants to stop such as for a stop sign or red light. + Sets the speed limit offset for speeds between 0-34 mph. - Turn Signal Below + Sets the speed limit offset for speeds between 35-54 mph. - 'Experimental Mode' is active when using turn signals below the set speed. + Sets the speed limit offset for speeds between 55-64 mph. - Hide the Status Bar + Sets the speed limit offset for speeds between 65-99 mph. + + + FrogPilotModelPanel - The status bar for 'Conditional Experimental Mode' is hidden. + Automatically Update and Download Models - Curve Speed Control + Automatically downloads new models and updates existing ones if needed. - Automatically slow down for curves detected ahead or through the downloaded maps. + Model Randomizer - Curve Detection Method + Randomly selects a model each drive and brings up a model review prompt at the end to help find your preferred model. - The method used to detect curves. + Manage Model Blacklist - Curve Detection Failsafe + Manage the blacklisted models that aren't being used with 'Model Randomizer'. - Curve control is triggered only when a curve is detected ahead. Use this as a failsafe to prevent false positives when using the 'Map Based' method. + Reset Model Scores - Curve Sensitivity + Clear the ratings you've given to the driving models. - How sensitive openpilot is to detecting curves. Higher values trigger earlier responses at the risk of triggering too often, while lower values increase confidence at the risk of triggering too infrequently. + Review Model Scores - Turn Speed Aggressiveness + View the ratings you've assigned to the driving models. - How aggressive openpilot takes turns. Higher values result in quicker turns, while lower values provide gentler turns. + Delete Model - Disable Speed Value Smoothing In the UI + Delete driving models from your device. - Speed value smoothing is disabled in the UI to instead display the exact speed requested by the curve control. + Download Model - Experimental Mode Activation + Download new driving models. - 'Experimental Mode' is toggled off/on using the steering wheel buttons or the on-screen controls. - -This overrides 'Conditional Experimental Mode'. + Select Model - Click the LKAS Button + Select your preferred driving model. - 'Experimental Mode' is toggled by pressing the 'LKAS' button on the steering wheel. + ADD + EKLE + + + REMOVE + KALDIR + + + REMOVE ALL - Double-Tap the Screen + There are no more models to blacklist! The only available model is "%1"! - 'Experimental Mode' is toggled by double-tapping the onroad UI within 0.5 seconds. + OK + TAMAM + + + Select a model to add to the blacklist - Long Press the Distance Button + Are you sure you want to add the '%1' model to the blacklist? - 'Experimental Mode' is toggled by holding the 'distance' button on the steering wheel for 0.5+ seconds. + Add - Longitudinal Tuning + Select a model to remove from the blacklist - Settings that control how openpilot manages speed and acceleration. + Are you sure you want to remove the '%1' model from the blacklist? - Acceleration Profile + Remove - Choose between a sporty or eco-friendly acceleration rate. + Are you sure you want to remove all of your blacklisted models? - Deceleration Profile + RESET + SIFIRLA + + + Are you sure you want to reset all of your model drives and scores? - Choose between a sporty or eco-friendly deceleration rate. + REVIEW + GÖZDEN GEÇİR + + + DELETE - Human-Like Acceleration + DELETE ALL - Uses the lead's acceleration rate when at a takeoff and ramps off the acceleration rate when approaching the maximum set speed for a smoother max speed approach. + Select a driving model to delete - Human-Like Following Distance + Are you sure you want to delete the '%1' model? - Dynamically adjusts the following distance to feel more natural when approaching slower or stopped vehicles. + Delete - Increase Stopped Distance + Are you sure you want to delete all of your downloaded driving models? - Increases the distance to stop behind vehicles. + DOWNLOAD - Quality of Life Improvements + DOWNLOAD ALL - Miscellaneous longitudinal focused features to improve your overall openpilot experience. + Select a driving model to download - Cruise Increase Interval + SELECT - Interval used when increasing the cruise control speed. + Select a model - 🗺️ = Navigation | 📡 = Radar | 👀 = VOACC - Custom Cruise Interval (Long Press) + Reboot required to take effect. - Interval used when increasing the cruise control speed when holding down the button for 0.5+ seconds. + Reboot Now - Map Accel/Decel to Gears + The 'Model Randomizer' only works with downloaded models. Do you want to download all the driving models? - Map the acceleration and deceleration profiles to the 'Eco' or 'Sport' gear modes. + CANCEL + + + FrogPilotParamManageControl - Onroad Personality Button + MANAGE + + + FrogPilotSettingsWindow - The current driving personality is displayed on the screen. Tap to switch personalities, or long press for 2.5 seconds to activate 'Traffic Mode'. + Alerts and Sounds - Reverse Cruise Increase + Driving Controls - The long press feature is reversed in order to increase speed by 5 mph instead of 1. + Navigation - Speed Limit Controller + System Management - Automatically adjust your max speed to match the speed limit using 'Open Street Maps', 'Navigate on openpilot', or your car's dashboard (Toyota/Lexus/HKG only). + Theme and Appearance - Confirm New Speed Limits + Vehicle Controls - Require manual confirmation before using a new speed limit. + Options to customize FrogPilot's sound alerts and notifications. - Fallback Method + Tools and system utilities used to maintain and troubleshoot FrogPilot. - Choose what happens when no speed limit data is available. + Options for customizing FrogPilot's themes, UI appearance, and onroad widgets. - Override Method + Vehicle-specific settings and configurations for supported makes and models. - Choose how you want to override the current speed limit. - - + MANAGE - Speed Limit Source Priority + GAS / BRAKE - Set the order of priority for speed limit data sources. + STEERING - Speed Limit Offsets + DATA - Manage toggles related to 'Speed Limit Controller's controls. + DEVICE - Speed Limit Offset (0-34 mph) + UTILITIES - Set the speed limit offset for speeds between 0 and 34 mph. + APPEARANCE - Speed Limit Offset (35-54 mph) + THEME - Set the speed limit offset for speeds between 35 and 54 mph. + Minimal - Speed Limit Offset (55-64 mph) + Standard - Set the speed limit offset for speeds between 55 and 64 mph. + Advanced + Gelişmiş Seçenekler + + + Developer - Speed Limit Offset (65-99 mph) + Tuning Level - Set the speed limit offset for speeds between 65 and 99 mph. + Select the tuning level that best suits your needs. 'Minimal' is ideal for those who prefer simplicity and ease of use, 'Standard' is recommended for most users, offering a balanced experience, 'Advanced' provides more control for experienced users, while 'Developer' unlocks highly customizable settings designed for seasoned enthusiasts. - Miscellaneous 'Speed Limit Controller' focused features to improve your overall openpilot experience. + WARNING: This unlocks some potentially dangerous settings that can DRASTICALLY alter your driving experience! - Force MPH Readings from Dashboard + I understand the risks. - Force speed limit readings in MPH from the dashboard if it normally displays in KPH. + The 'Developer' preset is only available for users with either over 100 hours on FrogPilot, or 250 hours with openpilot. - Prepare for Higher Speed Limits + Okay - Set a lookahead value to prepare for upcoming higher speed limits based on map data. + FrogPilot features that impact acceleration, braking, and steering. - Prepare for Lower Speed Limits + Map data downloader and 'Navigate On openpilot (NOO)' settings. - Set a lookahead value to prepare for upcoming lower speed limits based on map data. + DRIVING MODEL - Set Speed to Current Limit + MAP DATA - Set your max speed to match the current speed limit when enabling openpilot. + PRIMELESS NAVIGATION + + + FrogPilotSoundsPanel - Visual Settings + Alert Volume Controller - Manage visual settings for the 'Speed Limit Controller'. + Control the volume level for each individual sound in openpilot. - Use Vienna-Style Speed Signs + Disengage Volume + + + + Related alerts: + +Adaptive Cruise Disabled +Parking Brake Engaged +Brake Pedal Pressed +Speed too Low - Switch to Vienna-style (EU) speed limit signs instead of MUTCD (US). + Engage Volume - Show Speed Limit Offset + Related alerts: + +NNFF Torque Controller loaded +openpilot engaged - Display the speed limit offset separately in the onroad UI when using the Speed Limit Controller. + Prompt Volume - mph - mph + Related alerts: + +Car Detected in Blindspot +Speed too Low +Steer Unavailable Below 'X' +Take Control, Turn Exceeds Steering Limit + - With Lead + Prompt Distracted Volume - Switches to 'Experimental Mode' when driving below the set speed with a lead vehicle. + Related alerts: + +Pay Attention, Driver Distracted +Touch Steering Wheel, Driver Unresponsive - With Lead + Refuse Volume - Slower Lead + Related alerts: + +openpilot Unavailable - Stopped Lead + Warning Soft Volume - Intersections + Related alerts: + +BRAKE!, Risk of Collision +TAKE CONTROL IMMEDIATELY - Turns + Warning Immediate Volume - Off + Related alerts: + +DISENGAGE IMMEDIATELY, Driver Distracted +DISENGAGE IMMEDIATELY, Driver Unresponsive - Map Based + Custom Alerts - Vision + Goat Scream Steering Saturated Alert - Standard + Green Light Alert - Eco + Lead Departing Alert - Sport + Loud Blindspot Alert - Sport+ + Custom alerts for openpilot events. - feet + Enables the famed 'Goat Scream' that has brought both joy and anger to FrogPilot users all around the world! - Acceleration + Plays an alert when a traffic light changes from red to green. - Deceleration + Plays an alert when the lead vehicle starts starts to depart when at a standstill. - Lower Limits + Plays a louder alert for when a vehicle is detected in the blindspot when attempting to change lanes. - Higher Limits + Speed Limit Changed Alert - None + Plays an alert when the speed limit changes. - Set Speed + Auto - Experimental Mode + Muted + + + FrogPilotThemesPanel - Previous Limit + Custom Theme - Gas Pedal Press + Custom openpilot themes. - Cruise Set Speed + Color Scheme - SELECT + Icon Pack - Dashboard + Sound Pack - Navigation + Steering Wheel - Offline Maps + Turn Signal Animation - Highest + Download Status - Lowest + Holiday Themes - Select your primary priority + Random Events - Select your secondary priority + Startup Alert - Select your tertiary priority + DELETE - MANAGE + DOWNLOAD - seconds + SELECT - Control Via UI + Select a color scheme to delete - Speed Limit Offset (0-34 kph) + Are you sure you want to delete the '%1' color scheme? - Speed Limit Offset (35-54 kph) + Delete - Speed Limit Offset (55-64 kph) + Select a color scheme to download - Speed Limit Offset (65-99 kph) + Select a color scheme - Set speed limit offset for limits between 0-34 kph. + Select an icon pack to delete - Set speed limit offset for limits between 35-54 kph. + Are you sure you want to delete the '%1' icon pack? - Set speed limit offset for limits between 55-64 kph. + Select an icon pack to download - Set speed limit offset for limits between 65-99 kph. + Select an icon pack - kph + Select a sound pack to delete - meters + Select a sound pack to download - Set speed limit offset for limits between 0-34 mph. + Select a steering wheel to delete - Set speed limit offset for limits between 35-54 mph. + Select a steering wheel to download - Set speed limit offset for limits between 55-64 mph. + Select a steering wheel - Set speed limit offset for limits between 65-99 mph. + STOCK - - - FrogPilotParamManageControl - MANAGE + FROGPILOT - - - FrogPilotSettingsWindow - Advanced Settings + CUSTOM - Alerts and Sounds + CLEAR - Driving Controls + Characters: 0/%1 - Navigation + CANCEL - System Management + Changes out openpilot's color scheme. + +Want to submit your own color scheme? Share it in the 'custom-themes' channel on the FrogPilot Discord! - Theme and Appearance + Changes out openpilot's icon pack. + +Want to submit your own icons? Share them in the 'custom-themes' channel on the FrogPilot Discord! - Vehicle Controls + Changes out openpilot's sound effects. + +Want to submit your own sounds? Share them in the 'custom-themes' channel on the FrogPilot Discord! - Advanced FrogPilot features for more experienced users. + Enables a custom steering wheel icon in the top right of the screen. - Options to customize FrogPilot's sound alerts and notifications. + Enables themed turn signal animations. + +Want to submit your own animations? Share them in the 'custom-themes' channel on the FrogPilot Discord! - FrogPilot features than impact acceleration, braking, and steering. + Changes the openpilot theme based on the current holiday. Minor holidays last one day, while major holidays (Easter, Christmas, Halloween, etc.) last the entire week. - Offline maps downloader and 'Navigate On openpilot (NOO)' settings. + Rainbow Path - Tools and system utilities used to maintain and troubleshoot FrogPilot. + Swap out the path in the onroad UI for a Mario Kart inspired 'Rainbow Path'. - Options for customizing FrogPilot's themes, UI appearance, and onroad widgets. + Enables random cosmetic events that happen during certain driving conditions. These events are purely for fun and don't affect driving controls! - Vehicle-specific settings and configurations for supported makes and models. + Controls the text of the 'Startup' alert message that appears when you start the drive. - DRIVING + Select a distance icon pack to delete - VISUALS + Are you sure you want to delete the '%1' distance icon pack? - MANAGE + Select a distance icon pack to download - GAS / BRAKE + Select a distance icon pack - STEERING + Select a signal animation to delete - DATA + Are you sure you want to delete the '%1' signal animation? - DEVICE + Select a signal animation to download - UTILITIES + Select a signal animation - APPEARANCE + Are you sure you want to delete the '%1' sound pack? - THEME + Select a sound pack + + + + Are you sure you want to delete the '%1' steering wheel? + + + + Enter the text for the top half + + + + Enter the text for the bottom half - FrogPilotSoundsPanel + FrogPilotVehiclesPanel - Alert Volume Controller + Select Make - Control the volume level for each individual sound in openpilot. + SELECT - Disengage Volume + Select a Make - Related alerts: - -Adaptive Cruise Disabled -Parking Brake Engaged -Brake Pedal Pressed -Speed too Low + Select Model - Engage Volume + Select a Model - Related alerts: - -NNFF Torque Controller loaded -openpilot engaged + Disable Automatic Fingerprint Detection - Prompt Volume + Forces the selected fingerprint and prevents it from ever changing. - Related alerts: - -Car Detected in Blindspot -Speed too Low -Steer Unavailable Below 'X' -Take Control, Turn Exceeds Steering Limit + Disable openpilot Longitudinal Control - Prompt Distracted Volume + Are you sure you want to completely disable openpilot longitudinal control? - Related alerts: - -Pay Attention, Driver Distracted -Touch Steering Wheel, Driver Unresponsive + Reboot required to take effect. - Refuse Volume + Reboot Now - Related alerts: - -openpilot Unavailable + 2017 Volt Stop and Go Hack - Warning Soft Volume + Experimental GM Tune - Related alerts: - -BRAKE!, Risk of Collision -TAKE CONTROL IMMEDIATELY + Uphill/Downhill Smoothing + + + + Use comma's New Longitudinal API + + + + Subaru Crosstrek Torque Increase + + + + Increases the maximum allowed torque for the Subaru Crosstrek. + + + + Automatically Lock/Unlock Doors + + + + Cluster Speed Offset + + + + FrogsGoMoo's Personal Tweaks + + + + Stop and Go Hack + + + + Lock - Warning Immediate Volume + Unlock - Related alerts: - -DISENGAGE IMMEDIATELY, Driver Distracted -DISENGAGE IMMEDIATELY, Driver Unresponsive + Disables openpilot longitudinal control and uses the car's stock ACC instead. - Custom Alerts + Forces stop and go for the 2017 Chevy Volt. - Enable custom alerts for openpilot events. + Enables FrogsGoMoo's experimental GM tune that is based on nothing but guesswork. Use at your own risk! - Goat Scream Steering Saturated Alert + Smoothens the gas and brake response when driving on slopes. - Enable the famed 'Goat Scream' that has brought both joy and anger to FrogPilot users all around the world! + Enables comma's new control system that has shown great improvement with acceleration and braking, but has a few issues on some GM vehicles. - Green Light Alert + Enables comma's new control system that has shown great improvement with acceleration and braking, but has a few issues on Hyundai/Kia/Genesis. - Get an alert when a traffic light changes from red to green. + Automatically locks the doors when in drive and unlocks when in park. - Lead Departing Alert + Sets the cluster offset openpilot uses to try and match the speed displayed on the dash. - Get an alert when the lead vehicle starts departing when at a standstill. + Enables FrogsGoMoo's personal tweaks to the Toyota tune focused around his 2019 Lexus ES 350 to take off a bit quicker and stop a bit smoother. - Loud Blindspot Alert + Forces stop and go for vehicles without stock stop and go functionality. + + + FrogPilotVisualsPanel - Enable a louder alert for when a vehicle is detected in the blindspot when attempting to change lanes. + Custom FrogPilot widgets used in the onroad user interface. - Speed Limit Change Alert + Compass - Trigger an alert when the speed limit changes. + Dynamic Path Width - - - FrogPilotThemesPanel - Custom Theme + Road Name - Custom openpilot themes. + Rotating Steering Wheel - Color Scheme + Larger Map Display - Themed color schemes. - -Want to submit your own color scheme? Share it in the 'feature-request' channel on the FrogPilot Discord! + Map Style - Icon Pack + Show Driver Camera When In Reverse - Themed icon packs. - -Want to submit your own icons? Share them in the 'feature-request' channel on the FrogPilot Discord! + Stopped Timer - Sound Pack + Blind Spot - Themed sound effects. - -Want to submit your own sounds? Share them in the 'feature-request' channel on the FrogPilot Discord! + Dynamic - Steering Wheel + Static - Custom steering wheel icons. + Full Map - Turn Signal Animation + Mapbox Streets - Themed turn signal animations. - -Want to submit your own animations? Share them in the 'feature-request' channel on the FrogPilot Discord! + Mapbox Outdoors - Download Status + Mapbox Light - Holiday Themes + Mapbox Dark - Change the openpilot theme based on the current holiday. Minor holidays last one day, while major holidays (Easter, Christmas, Halloween, etc.) last a week. + Mapbox Satellite - Random Events + Mapbox Satellite Streets - Random cosmetic events that happen during certain driving conditions. These events are purely for fun and don't affect driving controls! + Mapbox Navigation Day - Startup Alert + Mapbox Navigation Night - Custom 'Startup' alert message that appears when you start driving. + Mapbox Traffic Night - DELETE + mike854's (Satellite hybrid) - DOWNLOAD + SELECT - SELECT + Select a map style - Select a color scheme to delete + Accessibility - Are you sure you want to delete the '%1' color scheme? + Visual features to improve your overall openpilot experience. - Delete + Camera View - Select a color scheme to download + Changes the camera view display. This is purely a visual change and doesn't impact how openpilot drives. - Select a color scheme + On Screen Personality Button - Select an icon pack to delete + Displays the current driving personality on the screen. Tap to switch personalities, or long press for 2.5 seconds to activate 'Traffic' mode. - Are you sure you want to delete the '%1' icon pack? + Displays the driver camera feed when the vehicle is in reverse. - Select an icon pack to download + Standby Mode - Select an icon pack + Turns the screen off when driving and automatically wakes it up if engagement state changes or important alerts occur. - Select a signal pack to delete + Activates a timer when stopped to indicate how long the vehicle has been stopped for. - Are you sure you want to delete the '%1' signal pack? + Advanced UI Controls - Select a signal pack to download + Advanced features to fine tune your personalized UI. - Select a signal pack + Hide Current Speed - Select a sound pack to delete + Hides the current speed. - Are you sure you want to delete the '%1' sound scheme? + Hide Lead Marker - Select a sound pack to download + Hides the marker for the vehicle ahead. - Select a sound scheme + Hide Map Icon - Select a steering wheel to delete + Hides the map icon. - Are you sure you want to delete the '%1' steering wheel image? + Hide Max Speed - Select a steering wheel to download + Hides the max speed. - Select a steering wheel + Hide Non-Critical Alerts - STOCK + Hides non-critical alerts. - FROGPILOT + Hide Speed Limits - CUSTOM + Hides the speed limits. - CLEAR + Use Wheel Speed - Enter your text for the top half + Uses the wheel speed instead of the cluster speed. This is purely a visual change and doesn't impact how openpilot drives. - Characters: 0/%1 + Developer Metrics - Enter your text for the bottom half + Show detailed information about openpilot's internal operations. - CANCEL + Border Metrics - - - FrogPilotVehiclesPanel - Select Make + Displays performance metrics around the edge of the screen while driving. - SELECT + FPS Display - Select a Make + Displays the 'Frames Per Second' (FPS) at the bottom of the screen while driving. - Select Model + Lateral Metrics - Select a Model + Displays metrics related to steering control at the top of the screen while driving. - Disable Automatic Fingerprint Detection + Longitudinal Metrics - Forces the selected fingerprint and prevents it from ever changing. + Displays metrics related to acceleration, speed, and desired following distance at the top of the screen while driving. - Disable openpilot Longitudinal Control + Numerical Temperature Gauge - Disable openpilot longitudinal control and use stock ACC instead. + Shows exact temperature readings instead of status labels like 'GOOD', 'OK', or 'HIGH' in the sidebar. - Are you sure you want to completely disable openpilot longitudinal control? + Sidebar - Reboot required to take effect. + Displays system information like CPU, GPU, RAM usage, IP address, and storage space in the sidebar. - Reboot Now + Use International System of Units - 2017 Volt Stop and Go Hack + Displays measurements using the 'International System of Units' (SI). - Force stop and go for the 2017 Chevy Volt. + Model UI - Experimental GM Tune + Customize the model visualizations on the screen. + + + + Automatically adjusts the width of the driving path display based on the current engagement state: + +Fully engaged = 100% +Always On Lateral Active = 75% +Fully disengaged = 50% - FrogsGoMoo's experimental GM tune that is based on nothing but guesswork. Use at your own risk! + Lane Lines Width - Uphill/Downhill Smoothing + Controls the thickness the lane lines appear on the display. + +Default matches the MUTCD standard of 4 inches. - Smoothen the car’s gas and brake response when driving on slopes. + Path Edges Width - Use comma's New Longitudinal API + Controls the width of the edges of the driving path to represent different modes and statuses. + +Default is 20% of the total path width. + +Color Guide: +- Blue: Navigation +- Light Blue: 'Always On Lateral' +- Green: Default +- Orange: 'Experimental Mode' +- Red: 'Traffic Mode' +- Yellow: 'Conditional Experimental Mode' Overridden - Comma's new longitudinal control system that has shown great improvement with acceleration and braking, but has a few issues on some GM vehicles. + Path Width - Use comma's new longitudinal control system that has shown great improvement with acceleration and braking, but has a few issues on Hyundai/Kia/Genesis. + Controls how wide the driving path appears on your screen. + +Default (6.1 feet / 1.9 meters) matches the width of a 2019 Lexus ES 350. - Subaru Crosstrek Torque Increase + Road Edges Width - Increases the maximum allowed torque for the Subaru Crosstrek. + Controls how thick the road edges appear on the display. + +Default matches half of the MUTCD standard lane line width of 4 inches. - Automatically Lock/Unlock Doors + Stopping Point - Automatically lock the doors when in drive and unlock when in park. + Displays an image on the screen where openpilot is detecting a potential red light/stop sign. - Cluster Speed Offset + 'Unlimited' Road UI - Set the cluster offset openpilot uses to try and match the speed displayed on the dash. + Extends the display of the path, lane lines, and road edges as far as the model can see. - FrogsGoMoo's Personal Tweaks + Navigation Widgets - Use FrogsGoMoo's personal tweaks to the Toyota tune focused around his 2019 Lexus ES 350 to take off a bit quicker and stop a bit smoother. + Wwidgets focused around navigation. - Stop and Go Hack + Increases the size of the map for easier navigation readings. - Force stop and go for vehicles without stock stop and go functionality. + Swaps out the stock map style for community created ones. - Lock + Displays the current road name at the bottom of the screen using data from 'OpenStreetMap'. - Unlock + Show Speed Limit Offset - - - FrogPilotVisualsPanel - Onroad UI Widgets + Displays the speed limit offset separately in the onroad UI when using 'Speed Limit Controller'. - Custom FrogPilot widgets used in the onroad user interface. + Show Speed Limits - Compass + Displays the currently detected speed limit in the top left corner of the onroad UI. Uses data from your car's dashboard (if supported) and data from 'OpenStreetMaps'. - A compass in the onroad UI to show the current driving direction. + Use Vienna-Style Speed Signs - Dynamic Path Width + Forces Vienna-style (EU) speed limit signs instead of MUTCD (US). - Automatically adjust the width of the driving path display based on the current engagement state: - -Fully engaged = 100% -Always On Lateral Active = 75% -Fully disengaged = 50% + Onroad Screen Widgets - Gas/Brake Pedal Indicators + Acceleration Path - Pedal indicators in the onroad UI that change opacity based on the pressure applied. + Projects a path based on openpilot's current desired acceleration or deceleration. - Paths + Adjacent Lanes - Projected acceleration path, detected lanes, and vehicles in the blind spot. + Projects paths for the adjascent lanes. - Road Name + Blind Spot Path - The current road name is displayed at the bottom of the screen using data from 'OpenStreetMap'. + Projects a red path when vehicles are detected in the blind spot for the respective lane. - Rotating Steering Wheel + Displays a compass to show the current driving direction. - The steering wheel in the onroad UI rotates along with your steering wheel movements. + Gas / Brake Pedal Indicators - Quality of Life Improvements + Displays pedal indicators to indicate when either of the pedals are currently being used. - Miscellaneous visual focused features to improve your overall openpilot experience. + Rotates the steering wheel in the onroad UI rotates along with your steering wheel movements. - Larger Map Display + Auto - A larger size of the map in the onroad UI for easier navigation readings. + Driver - Map Style + Standard - Custom map styles for the map used during navigation. + Wide - Screen Standby Mode + Steering Torque - The screen is turned off after it times out when driving, but it automatically wakes up if engagement state changes or important alerts occur. + Turn Signal - Show Driver Camera When In Reverse + Adjacent Path Metrics - The driver camera feed is displayed when the vehicle is in reverse. + Auto Tune - Stopped Timer + Adjacent Leads - A timer on the onroad UI to indicate how long the vehicle has been stopped. + Lead Info - Acceleration + Jerk Values - Adjacent + Fahrenheit - Blind Spot + CPU - Dynamic + GPU - Static + IP - Full Map + RAM - Stock openpilot + SSD Left - Mapbox Streets + SSD Used - Mapbox Outdoors + inches - Mapbox Light + % - Mapbox Dark + feet - Mapbox Satellite + Show Distance - Mapbox Satellite Streets + Stock - Mapbox Navigation Day + Adjust how thick the lane lines appear on the display. + +Default matches the Vienna standard of 10 centimeters. - Mapbox Navigation Night + Adjust how thick the road edges appear on the display. + +Default matches half of the Vienna standard of 10 centimeters. - Mapbox Traffic Night + centimeters - mike854's (Satellite hybrid) + meters - SELECT + Adjust how thick the lane lines appear on the display. + +Default matches the MUTCD standard of 4 inches. - Select a map style + Adjust how thick the road edges appear on the display. + +Default matches half of the MUTCD standard of 4 inches. @@ -3758,6 +3824,30 @@ This may take up to a minute. FrogPilot + + Welcome to FrogPilot! Since you're new to FrogPilot, the 'Minimal' toggle preset has been applied, but you can change this at any time via the 'Tuning Level' button! + + + + Sounds good! + + + + Since you're fairly new to FrogPilot, the 'Minimal' toggle preset has been applied, but you can change this at any time via the 'Tuning Level' button! + + + + Since you're experienced with openpilot, the 'Standard' toggle preset has been applied, but you can change this at any time via the 'Tuning Level' button! + + + + Since you're experienced with FrogPilot, the 'Standard' toggle preset has been applied, but you can change this at any time via the 'Tuning Level' button! + + + + Since you're very experienced with FrogPilot, the 'Advanced' toggle preset has been applied, but you can change this at any time via the 'Tuning Level' button! + + Setup @@ -4058,10 +4148,6 @@ This may take up to a minute. FrogPilot will automatically update itself and it's assets when you're offroad and connected to Wi-Fi. - - Do you want to permanently delete any additional FrogPilot assets? This is 100% unrecoverable and includes backups, downloaded models, themes, and long-term storage toggle settings for easy reinstalls. - - Error Log @@ -4074,6 +4160,14 @@ This may take up to a minute. View the error log for openpilot crashes. + + Do you want to delete deep storage FrogPilot assets? This includes your toggle settings for quick reinstalls. + + + + Are you sure? This is 100% unrecoverable and if you reinstall FrogPilot you'll lose all your previous settings! + + SshControl @@ -4312,10 +4406,6 @@ This may take up to a minute. FLASH - - Use this button to flash the Panda device's firmware if you're running into issues. - - Are you sure you want to flash the Panda? @@ -4340,10 +4430,6 @@ This may take up to a minute. Force Started State - - Force openpilot either offroad or onroad. - - OFFROAD @@ -4384,6 +4470,14 @@ This may take up to a minute. Reset! + + Flashes the Panda device's firmware if you're running into issues. + + + + Forces openpilot either offroad or onroad. + + WiFiPromptWidget @@ -4412,7 +4506,7 @@ This may take up to a minute. - Toggle off the 'Disable Uploading' toggle to enable uploads. + Toggle off the 'Turn Off Data Uploads' toggle to re-enable uploads. diff --git a/selfdrive/ui/translations/main_zh-CHS.qm b/selfdrive/ui/translations/main_zh-CHS.qm new file mode 100644 index 00000000000000..128ae062180cda Binary files /dev/null and b/selfdrive/ui/translations/main_zh-CHS.qm differ diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index 74a98ef1518606..ed46357c8a1682 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -149,10 +149,6 @@ kph - - ft/s² - - Accel: %1%2 @@ -185,16 +181,6 @@ Follow Distance: - - Confirm speed limit - - - - - Ignore speed limit - - - Conditional Experimental Mode ready @@ -283,6 +269,14 @@ . Double tap the screen to revert + + PENDING + + + + ft/s² + + ConfirmationDialog @@ -532,2841 +526,2932 @@ FrogPilotAdvancedDrivingPanel - Advanced Lateral Tuning - + mph + mph - Advanced settings that control how openpilot manages steering. - + Reset + 重置 - Friction (Default: %1) - + ADD + 添加 - Friction - + REMOVE + 删除 - The resistance in steering. Higher values provide more stable steering but can make it feel heavy, while lower values allow lighter steering but may feel too sensitive. - + OK + 一般 - Kp Factor (Default: %1) - + RESET + 重置 - Kp Factor - + VIEW + 查看 - How aggressively the car corrects its steering. Higher values offer quicker corrections but may feel jerky, while lower values make steering smoother but slower to respond. - + DOWNLOAD + 下载 - Lateral Accel (Default: %1) - + SELECT + 选择 - Lateral Accel - + openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required. + openpilot要求设备安装的偏航角在左4°和右4°之间，俯仰角在上5°和下9°之间。一般来说，openpilot会持续更新校准，很少需要重置。 - Adjust how fast the car can steer from side to side. Higher values allow quicker lane changes but can feel unstable, while lower values provide smoother steering but may feel sluggish. - + Your device is pointed %1° %2 and %3° %4. + 您的设备校准为%1° %2、%3° %4。 - Steer Ratio (Default: %1) - + down + 朝下 - Steer Ratio - + up + 朝上 - Adjust how much openpilot needs to turn the wheel to steer. Higher values feel like driving a truck, more stable at high speeds, but harder to steer quickly at low speeds, while lower values feel like a go-kart, easier to steer in tight spots but more sensitive and less stable at high speeds. - + left + 朝左 - comma's 2022 Taco Bell Turn Hack - + right + 朝右 + + + FrogPilotAdvancedVisualsPanel - Use comma's hack they used to help handle left and right turns more precisely during their 2022 'Taco Bell' drive. - + Standard + 标准 + + + FrogPilotConfirmationDialog - Force Auto Tune On + Reboot Later - Forces comma's auto lateral tuning for unsupported vehicles. + Yes - Force Auto Tune Off + No + + + FrogPilotDataPanel - Forces comma's auto lateral tuning off for supported vehicles. + Delete Driving Footage and Data - Force Turn Desires Below Lane Change Speed + DELETE - Force the model to use turn desires when driving below the minimum lane change speed to help make left and right turns more precisely. + Are you sure you want to permanently delete all of your driving footage and data? - Advanced Longitudinal Tuning + Delete - Advanced settings that control how openpilot manages speed and acceleration. + Deleting... - Lead Detection Confidence + Deleted! - How sensitive openpilot is to detecting vehicles ahead. A lower value can help detect vehicles sooner and from farther away, but may occasionally mistake other objects for vehicles. + Screen Recordings - Maximum Acceleration Rate + Manage your screen recordings. - Set a cap on how fast openpilot can accelerate to prevent high acceleration at low speeds. + RENAME - Advanced Quality of Life + Select a recording to delete - Miscellaneous advanced features to improve your overall openpilot experience. + Are you sure you want to delete this recording? - Force Keep openpilot in the Standstill State + Select a recording to rename - Keep openpilot in the 'standstill' state until the gas pedal or 'resume' button is pressed. + Enter a new name - Force Stop for 'Detected' Stop Lights/Signs + Rename Recording - Whenever openpilot 'detects' a potential stop light/stop sign, force a stop where it originally detected it to prevent running the potential red light/stop sign. + Renaming... - Set Speed Offset + Renamed! - How much higher or lower the set speed should be compared to your current set speed. For example, if you prefer to drive 5 mph above the speed limit, this setting will automatically add that difference when you adjust your set speed. + FrogPilot Backups - Customize Driving Personalities + Manage your FrogPilot backups. - Customize the personality profiles to suit your preferences. + BACKUP - Traffic Personality + RESTORE - Customize the 'Traffic' personality profile, tailored for navigating through traffic. + Name your backup - Following Distance + Compressing... - The minimum following distance in 'Traffic Mode.' openpilot will adjust dynamically between this value and the 'Aggressive' profile distance based on your speed. + Select a backup to delete - Acceleration Sensitivity + Are you sure you want to delete this backup? - How sensitive openpilot is to changes in acceleration in 'Traffic Mode.' Higher values result in smoother, more gradual acceleration and deceleration, while lower values allow for faster changes that may feel more abrupt. + Select a restore point - Deceleration Sensitivity + Are you sure you want to restore this version of FrogPilot? - Controls how sensitive openpilot is to changes in deceleration in 'Traffic Mode.' Higher values result in smoother, more gradual braking, while lower values allow for quicker, more responsive braking that may feel abrupt. + Restore - Safety Distance Sensitivity + Restoring... - Adjusts how cautious openpilot is around other vehicles or obstacles in 'Traffic Mode.' Higher values increase following distances and prioritize safety, leading to more cautious driving, while lower values allow for closer following but may reduce reaction time. + Extracting... - Speed Increase Responsiveness + Restored! - Controls how quickly openpilot adjusts speed in 'Traffic Mode.' Higher values ensure smoother, more gradual speed changes, while lower values enable quicker adjustments that might feel sharper or less smooth. + Rebooting... - Speed Decrease Responsiveness + Toggle Backups - Sets how quickly openpilot adjusts to decreasing speeds in 'Traffic Mode.' Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed reductions that might feel sharper. + Manage your toggle backups. - Reset Settings + Are you sure you want to restore this toggle backup? - Restore the 'Traffic Mode' settings to their default values. + Permanently deletes all stored driving footage and data from your device. Ideal for maintaining privacy or freeing up space. - Aggressive Personality + DELETE ALL - Customize the 'Aggressive' personality profile, designed for a more assertive driving style. + Are you sure you want to delete all screen recordings? - Set the following distance for 'Aggressive' mode. This determines roughly how many seconds you'll follow behind the car ahead. - -Default: 1.25 seconds. + Delete All - Controls how sensitive openpilot is to acceleration changes in 'Aggressive' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky. - -Default: 0.5. + A recording with this name already exists. Please choose a different name. - Controls how sensitive openpilot is to deceleration in 'Aggressive' mode. Higher values result in smoother braking, while lower values allow for more immediate braking that may feel abrupt. - -Default: 0.5. + A backup with this name already exists. Please choose a different name. - Adjusts how cautious openpilot is around vehicles or obstacles in 'Aggressive' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking. - -Default: 1.0. + Do you want to compress this backup? The final result will be 2.25x smaller and will run in the background, but can take 10+ minutes. - Controls how quickly openpilot adjusts speed in 'Aggressive' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt. - -Default: 0.5. + Backing up... - Sets how quickly openpilot adjusts to speed reductions in 'Aggressive' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp. - -Default: 0.5. + Backup created! - Restore the 'Aggressive' settings to their default values. + Are you sure you want to delete all FrogPilot backups? - Standard Personality + Are you sure you want to delete all toggle backups? + + + FrogPilotDevicePanel - Customize the 'Standard' personality profile, optimized for balanced driving. + Device Settings - Set the following distance for 'Standard' mode. This determines roughly how many seconds you'll follow behind the car ahead. - -Default: 1.45 seconds. + Device behavior settings. - Controls how sensitive openpilot is to acceleration changes in 'Standard' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky. - -Default: 1.0. + Device Shutdown Timer - Controls how sensitive openpilot is to deceleration in 'Standard' mode. Higher values result in smoother braking, while lower values allow for quicker, more immediate braking that may feel abrupt. - -Default: 1.0. + Disable Internet Requirement - Adjusts how cautious openpilot is around vehicles or obstacles in 'Standard' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking. - -Default: 1.0. + Increase Thermal Safety Limit - Controls how quickly openpilot adjusts speed in 'Standard' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt. - -Default: 1.0. + Low Battery Shutdown Threshold - Sets how quickly openpilot adjusts to speed reductions in 'Standard' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp. - -Default: 1.0. + Turn Off Data Tracking - Restore the 'Standard' settings to their default values. + Turn Off Data Uploads - Relaxed Personality + Screen Settings - Customize the 'Relaxed' personality profile, ideal for a more laid-back driving style. + Screen behavior settings. - Set the following distance for 'Relaxed' mode. This determines roughly how many seconds you'll follow behind the car ahead. - -Default: 1.75 seconds. + Screen Brightness (Offroad) - Controls how sensitive openpilot is to acceleration changes in 'Relaxed' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky. - -Default: 1.0. + Screen Brightness (Onroad) - Controls how sensitive openpilot is to deceleration in 'Relaxed' mode. Higher values result in smoother braking, while lower values allow for quicker, more immediate braking that may feel abrupt. - -Default: 1.0. + Screen Recorder - Adjusts how cautious openpilot is around vehicles or obstacles in 'Relaxed' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking. - -Default: 1.0. + Screen Timeout (Offroad) - Controls how quickly openpilot adjusts speed in 'Relaxed' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt. - -Default: 1.0. + Screen Timeout (Onroad) - Sets how quickly openpilot adjusts to speed reductions in 'Relaxed' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp. - -Default: 1.0. + 5 mins - Restore the 'Relaxed' settings to their default values. + mins - Model Management + hour - Manage the driving models used by openpilot. + hours - Automatically Update and Download Models + Only Onroad - Automatically download new or updated driving models. + volts - Model Randomizer + Auto - A random model is selected and can be reviewed at the end of each drive if it's longer than 15 minutes to help find your preferred model. + seconds - Manage Model Blacklist + WARNING: This can cause premature wear or damage by running the device over comma's recommended temperature limits! - Control which models are blacklisted and won't be used for future drives. + WARNING: This will prevent your drives from being recorded and the data will be unobtainable! - Reset Model Scores + WARNING: This will prevent your drives from appearing on comma connect which may impact debugging and support! - Clear the ratings you've given to the driving models. + Controls how long the device stays on after you stop driving. - Review Model Scores + Allows the device to work without an internet connection. - View the ratings you've assigned to the driving models. + Allows the device to run at higher temperatures than recommended. - Delete Model + Manages the threshold for shutting down the device to protect the car's battery from excessive drain and potential damage. - Remove the selected driving model from your device. + Disables all data tracking to improve privacy. - Download Model + Stops the device from sending any data to the servers. - Download undownloaded driving models. + Controls the screen brightness when you're not driving. - Download All Models + Controls the screen brightness while you're driving. - Download all undownloaded driving models. + Enables a button in the onroad UI to record the screen. - Select Model + Controls how long it takes for the screen to turn off when you're not driving. - Select which model openpilot uses to drive. + Controls how long it takes for the screen to turn off while you're driving. - Reset Model Calibrations + Screen Off + + + FrogPilotLateralPanel - Reset calibration settings for the driving models. + Always on Lateral - mph - mph + openpilot's steering control stays active even when the brake or gas pedals are pressed. + +Deactivate only occurs with the 'Cruise Control' button. + - Reset - 重置 + Control with LKAS Button + - seconds + Enable with Cruise Control - ADD - 添加 + Pause on Brake Below + - REMOVE - 删除 + Hide the Status Bar + - There's no more models to blacklist! The only available model is "%1"! + Lane Change Settings - OK - 一般 + How openpilot handles lane changes. + - Select a model to add to the blacklist + Lane Change Delay - Are you sure you want to add the '%1' model to the blacklist? + Lane Width Requirement - Add + Minimum Speed for Lane Change - Select a model to remove from the blacklist + Lateral Tuning - Are you sure you want to remove the '%1' model from the blacklist? + Neural Network Feedforward (NNFF) - Remove + Smooth Curve Handling - RESET - 重置 + Quality of Life Improvements + - Reset all model scores? + Miscellaneous lateral focused features to improve your overall openpilot experience. - VIEW - 查看 + Pause Steering Below + - DELETE + Pauses steering control when driving below the set speed. - Select a model to delete - + mph + mph - Are you sure you want to delete the '%1' model? + feet - Delete + Reboot required to take effect. - Deleting... + Reboot Now - Deleted! + kph - DOWNLOAD - 下载 + meters + - CANCEL + Advanced Lateral Tuning - Select a driving model to download + Advanced settings for fine tuning openpilot's lateral controls. - Downloading %1... + Friction (Default: %1) - SELECT - 选择 + Friction + - Select a model - 🗺️ = Navigation | 📡 = Radar | 👀 = VOACC + Adjusts the resistance in steering. Higher values provide more stable steering but can make it feel heavy, while lower values allow lighter steering but may feel too sensitive. - WARNING: This is a very experimental model and may drive dangerously! + Kp Factor (Default: %1) - I understand the risks. + Kp Factor - Start with a fresh calibration for the newly selected model? + Adjusts how aggressively the car corrects its steering. Higher values offer quicker corrections but may feel jerky, while lower values make steering smoother but slower to respond. - Reboot required to take effect. + Lateral Accel (Default: %1) - Reboot Now + Lateral Accel - RESET ALL + Adjusts how fast the car can steer from side to side. Higher values allow quicker lane changes but can feel unstable, while lower values provide smoother steering but may feel sluggish. - RESET ONE + Steer Ratio (Default: %1) - Are you sure you want to completely reset all of your model calibrations? + Steer Ratio - Select a model to reset + Adjusts how much openpilot needs to turn the wheel to steer. Higher values feel like driving a truck, more stable at high speeds, but harder to steer quickly at low speeds, while lower values feel like a go-kart, easier to steer in tight spots but more sensitive and less stable at high speeds. - Are you sure you want to completely reset this model's calibrations? + Force Auto Tune On - The 'Model Randomizer' only works with downloaded models. Do you want to download all the driving models? + Forces comma's auto lateral tuning for unsupported vehicles. - Are you sure you want to completely reset your settings for the 'Traffic Mode' personality? + Force Auto Tune Off - Are you sure you want to completely reset your settings for the 'Aggressive' personality? + Forces comma's auto lateral tuning off for supported vehicles. - Are you sure you want to completely reset your settings for the 'Standard' personality? + Controls the current state of 'Always on Lateral' with the 'LKAS' button. - Are you sure you want to completely reset your settings for the 'Relaxed' personality? + Activates 'Always on Lateral' whenever 'Cruise Control' is active bypassing the requirement to enable openpilot first. - kph + Pauses 'Always on Lateral' when the brake pedal is pressed below the set speed. - Downloading models... + Hides status bar for 'Always On Lateral'. - openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required. - openpilot要求设备安装的偏航角在左4°和右4°之间，俯仰角在上5°和下9°之间。一般来说，openpilot会持续更新校准，很少需要重置。 + Automatic Lane Changes + - Your device is pointed %1° %2 and %3° %4. - 您的设备校准为%1° %2、%3° %4。 + Conducts lane changes without needing to touch the steering wheel upon turn signal activation. + - down - 朝下 + Delays lane changes by the set time to prevent sudden changes. + - up - 朝上 + Sets the minimum lane width for openpilot to detect a lane as a lane. + - left - 朝左 + Sets the minimum speed required for openpilot to perform a lane change. + - right - 朝右 + Only One Lane Change Per Signal + - - - FrogPilotAdvancedVisualsPanel - Advanced Onroad UI Widgets + Limits lane changes to one per turn signal activation. - Advanced user customizations for the Onroad UI. + Settings for fine tuning openpilot's lateral controls. - Camera View + Force Turn Desires Below Lane Change Speed - Camera view for the onroad UI. This is purely a visual change and doesn't impact how openpilot drives. + Forces the model to use turn desires when driving below the minimum lane change speed to help make left and right turns more precisely. - Display Stopping Points + Uses Twilsonco's 'Neural Network FeedForward' for more precise steering control. - Display an image on the screen where openpilot is detecting a potential red light/stop sign. + Smoothens the steering control when entering and exiting curves by using Twilsonco's torque adjustments. - Hide Lead Marker + seconds + + + FrogPilotLongitudinalPanel - Hide the marker for the vehicle ahead on the screen. + Conditional Experimental Mode - Hide Speed + Below - Hide the speed indicator in the onroad UI. Additional toggle allows it to be hidden/shown via tapping the speed itself. + Curve Detected Ahead - Hide UI Elements + Lead Detected Ahead - Hide the selected UI elements from the onroad screen. + Navigation Data - Use Wheel Speed + openpilot Wants to Stop In - Use the wheel speed instead of the cluster speed in the onroad UI. + Turn Signal Below - Developer UI + Hide the Status Bar - Show detailed information about openpilot's internal operations. + Curve Speed Control - Border Metrics + Automatically slow down for curves detected ahead or through the downloaded maps. - Display performance metrics around the edge of the screen while driving. + Curve Detection Method - FPS Display + Curve Detection Failsafe - Display the 'Frames Per Second' (FPS) at the bottom of the screen while driving. + Experimental Mode Activation - Lateral Metrics + Click the LKAS Button - Display metrics related to steering control at the top of the screen while driving. + Double-Tap the Screen - Longitudinal Metrics + Long Press the Distance Button - Display metrics related to acceleration, speed, and desired following distance at the top of the screen while driving. + Longitudinal Tuning - Numerical Temperature Gauge + Settings that control how openpilot manages speed and acceleration. - Show exact temperature readings instead of general status labels like 'GOOD', 'OK', or 'HIGH' in the sidebar. + Acceleration Profile - Sidebar + Deceleration Profile - Display system information like CPU, GPU, RAM usage, IP address, and storage space in the sidebar. + Human-Like Acceleration - Use International System of Units + Increase Stopped Distance - Display measurements using the 'International System of Units' (SI). + Increases the distance to stop behind vehicles. - Model UI + Quality of Life Improvements - Customize the model visualizations on the screen. + Miscellaneous longitudinal focused features to improve your overall openpilot experience. - Lane Lines Width + Map Accel/Decel to Gears - How thick the lane lines appear on the display. - -Default matches the MUTCD standard of 4 inches. + Reverse Cruise Increase - Path Edges Width + Speed Limit Controller - The width of the edges of the driving path to represent different modes and statuses. - -Default is 20% of the total path width. - -Color Guide: -- Blue: Navigation -- Light Blue: 'Always On Lateral' -- Green: Default -- Orange: 'Experimental Mode' -- Red: 'Traffic Mode' -- Yellow: 'Conditional Experimental Mode' Overridden + Confirm New Speed Limits - Path Width + Fallback Method - How wide the driving path appears on your screen. - -Default (6.1 feet / 1.9 meters) matches the width of a 2019 Lexus ES 350. + Override Method - Road Edges Width + Speed Limit Offsets - How thick the road edges appear on the display. - -Default matches half of the MUTCD standard lane line width of 4 inches. + Speed Limit Offset (0-34 mph) - 'Unlimited' Road UI + Speed Limit Offset (35-54 mph) - Extend the display of the path, lane lines, and road edges as far as the model can see. + Speed Limit Offset (55-64 mph) - Auto + Speed Limit Offset (65-99 mph) - Driver + Miscellaneous 'Speed Limit Controller' focused features to improve your overall openpilot experience. - Standard - 标准 + Force MPH Readings from Dashboard + - Wide + Prepare for Higher Speed Limits - Control Via UI + Prepare for Lower Speed Limits - Alerts + Set Speed to Current Limit - Map Icon - + mph + mph - Max Speed + With Lead - Show Distance + Switches to 'Experimental Mode' when driving below the set speed with a lead vehicle. - Blind Spot + With Lead - Steering Torque + Slower Lead - Turn Signal + Stopped Lead - Adjacent Path Metrics + Intersections - Auto Tune + Turns - Lead Info + Map Based - Longitudinal Jerk + Vision - Fahrenheit - + Standard + 标准 - CPU + Eco - GPU + Sport - IP + Sport+ - RAM + feet - SSD Left + Acceleration - SSD Used + Deceleration - inches + Lower Limits - % + Higher Limits - feet + None - Adjust how thick the lane lines appear on the display. - -Default matches the Vienna standard of 10 centimeters. + Set Speed - Adjust how thick the road edges appear on the display. - -Default matches half of the Vienna standard of 10 centimeters. - + Experimental Mode + 测试模式 - centimeters + Previous Limit - meters - + SELECT + 选择 - Adjust how thick the lane lines appear on the display. - -Default matches the MUTCD standard of 4 inches. + Dashboard - Adjust how thick the road edges appear on the display. - -Default matches half of the MUTCD standard of 4 inches. + Navigation - - - FrogPilotConfirmationDialog - Reboot Later + Highest - Yes + Lowest - No + Select your primary priority - - - FrogPilotDataPanel - Delete Driving Footage and Data + Select your secondary priority - DELETE + Select your tertiary priority - This button provides a swift and secure way to permanently delete all stored driving footage and data from your device. Ideal for maintaining privacy or freeing up space. + MANAGE - Are you sure you want to permanently delete all of your driving footage and data? + seconds - Delete + Speed Limit Offset (0-34 kph) - Deleting... + Speed Limit Offset (35-54 kph) - Deleted! + Speed Limit Offset (55-64 kph) - Screen Recordings + Speed Limit Offset (65-99 kph) - Manage your screen recordings. + kph - RENAME + meters - Select a recording to delete + Automatically switch to 'Experimental Mode' when specific conditions are met. - Are you sure you want to delete this recording? + Triggers 'Experimental Mode' when driving below the set speed without a lead vehicle. - Failed... + Triggers 'Experimental Mode' when a curve is detected in the road ahead. - Select a recording to rename + Triggers 'Experimental Mode' when a slower or stopped vehicle is detected ahead. - Enter a new name + Triggers 'Experimental Mode' based on navigation data, such as upcoming intersections or turns. - Rename Recording + Triggers 'Experimental Mode' when openpilot wants to stop such as for a stop sign or red light. - Renaming... + Triggers 'Experimental Mode' when using turn signals below the set speed. - Renamed! + Hides status bar for 'Conditional Experimental Mode'. - FrogPilot Backups + Uses data from either the downloaded maps or the model to determine where curves are. - Manage your FrogPilot backups. + Triggers 'Curve Speed Control' only when a curve is detected with the model as well when using the 'Map Based' method. - BACKUP + Curve Detection Sensitivity - RESTORE + Controls how sensitive openpilot is to detecting curves. Higher values trigger earlier responses at the risk of triggering too often, while lower values increase confidence at the risk of triggering too infrequently. - Name your backup + Speed Aggressiveness - Do you want to compress this backup? The end file size will be 2.25x smaller, but can take 10+ minutes. + Controls how aggressive openpilot takes turns. Higher values result in faster turns, while lower values result in slower turns. - Backing... + Hide Desired Speed Widget From UI - Compressing... + Hides the desired speed widget from the onroad UI. - Success! + Customize Driving Personalities - Select a backup to delete + Customize the personality profiles to suit your driving style. - Are you sure you want to delete this backup? + Traffic Personality - Select a restore point + Customizes the 'Traffic' personality profile, tailored for navigating through traffic. - Are you sure you want to restore this version of FrogPilot? + Following Distance - Restore + Controls the minimum following distance in 'Traffic' mode. openpilot will automatically dynamically between this value and the 'Aggressive' profile distance based on your current speed. - Restoring... + Acceleration Sensitivity - Extracting... + Controls how sensitive openpilot is to changes in acceleration in 'Traffic' mode. Higher values result in smoother, more gradual acceleration, while lower values allow for quicker, more responsive changes that may feel abrupt. - Restored! + Deceleration Sensitivity - Rebooting... + Controls how sensitive openpilot is to changes in deceleration in 'Traffic' mode. Higher values result in smoother, more gradual deceleration, while lower values allow for quicker, more responsive changes that may feel abrupt. - Toggle Backups + Safety Distance Sensitivity - Manage your toggle backups. + Adjusts how cautious openpilot is around other vehicles or obstacles in 'Traffic' mode. Higher values increase following distances and prioritize safety, leading to more cautious driving, while lower values allow for closer following but may reduce reaction time. - Are you sure you want to restore this toggle backup? + Speed Increase Responsiveness - - - FrogPilotDevicePanel - Device Settings + Controls how quickly openpilot increases speed in 'Traffic' mode. Higher values ensure smoother, more gradual speed changes when accelerating, while lower values allow for quicker, more responsive changes that may feel abrupt. - Device behavior settings. + Speed Decrease Responsiveness - Device Shutdown Timer + Controls how quickly openpilot decreases speed in 'Traffic' mode. Higher values ensure smoother, more gradual speed changes when slowing down, while lower values allow for quicker, more responsive changes that may feel abrupt. - How long the device stays on after you stop driving. + Reset Settings - Disable Internet Requirement + Restores the 'Traffic Mode' settings to their default values. - The device can work without an internet connection for as long as you need. + Aggressive Personality - Increase Thermal Safety Limit + Customize the 'Aggressive' personality profile, designed for a more assertive driving style. - The device can run at higher temperatures than recommended. + Sets the following distance for 'Aggressive' mode. This determines roughly how many seconds you'll follow behind the car ahead. + +Default: 1.25 seconds. - Low Battery Shutdown Threshold + Controls how sensitive openpilot is to changes in acceleration in 'Aggressive' mode. Higher values result in smoother, more gradual acceleration, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 0.5. - Shut down the device when the car's battery gets too low to prevent damage to the 12V battery. + Controls how sensitive openpilot is to changes in deceleration in 'Aggressive' mode. Higher values result in smoother, more gradual deceleration, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 0.5. - Turn Off Data Tracking + Adjusts how cautious openpilot is around other vehicles or obstacles in 'Aggressive' mode. Higher values increase following distances and prioritize safety, leading to more cautious driving, while lower values allow for closer following but may reduce reaction time. + +Default: 1.0. - Disable all tracking to improve privacy. + Controls how quickly openpilot increases speed in 'Aggressive' mode. Higher values ensure smoother, more gradual speed changes when accelerating, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 0.5. - Turn Off Data Uploads + Controls how quickly openpilot decreases speed in 'Aggressive' mode. Higher values ensure smoother, more gradual speed changes when slowing down, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 0.5. - Stop the device from sending any data to the servers. + Restores the 'Aggressive' settings to their default values. - Screen Settings + Standard Personality - Screen behavior settings. + Customize the 'Standard' personality profile, optimized for balanced driving. - Screen Brightness (Offroad) + Set the following distance for 'Standard' mode. This determines roughly how many seconds you'll follow behind the car ahead. + +Default: 1.45 seconds. - The screen brightness when you're not driving. + Controls how sensitive openpilot is to changes in acceleration in 'Standard' mode. Higher values result in smoother, more gradual acceleration, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 1.0. - Screen Brightness (Onroad) + Controls how sensitive openpilot is to changes in deceleration in 'Standard' mode. Higher values result in smoother braking, while lower values allow for quicker, more immediate braking that may feel abrupt. + +Default: 1.0. - The screen brightness while you're driving. + Adjusts how cautious openpilot is around other vehicles or obstacles in 'Standard' mode. Higher values increase following distances and prioritize safety, leading to more cautious driving, while lower values allow for closer following but may reduce reaction time. + +Default: 1.0. - Screen Recorder + Controls how quickly openpilot increases speed in 'Standard' mode. Higher values ensure smoother, more gradual speed changes when accelerating, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 1.0. - Display a button in the onroad UI to record the screen. + Controls how quickly openpilot decreases speed in 'Standard' mode. Higher values ensure smoother, more gradual speed changes when slowing down, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 1.0. - Screen Timeout (Offroad) + Restores the 'Standard' settings to their default values. - How long it takes for the screen to turn off when you're not driving. + Relaxed Personality - Screen Timeout (Onroad) + Customize the 'Relaxed' personality profile, ideal for a more laid-back driving style. - How long it takes for the screen to turn off while you're driving. + Set the following distance for 'Relaxed' mode. This determines roughly how many seconds you'll follow behind the car ahead. + +Default: 1.75 seconds. - 5 mins + Controls how sensitive openpilot is to changes in acceleration in 'Relaxed' mode. Higher values result in smoother, more gradual acceleration, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 1.0. - mins + Controls how sensitive openpilot is to changes in deceleration in 'Relaxed' mode. Higher values result in smoother braking, while lower values allow for quicker, more immediate braking that may feel abrupt. + +Default: 1.0. - hour + Adjusts how cautious openpilot is around other vehicles or obstacles in 'Relaxed' mode. Higher values increase following distances and prioritize safety, leading to more cautious driving, while lower values allow for closer following but may reduce reaction time. + +Default: 1.0. - hours + Controls how quickly openpilot increases speed in 'Relaxed' mode. Higher values ensure smoother, more gradual speed changes when accelerating, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 1.0. - Only Onroad + Controls how quickly openpilot decreases speed in 'Relaxed' mode. Higher values ensure smoother, more gradual speed changes when slowing down, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 1.0. - volts + Restores the 'Relaxed' settings to their default values. - Auto + Toggle 'Experimental Mode' on/off using either the steering wheel buttons or screen. + +This overrides 'Conditional Experimental Mode'. - seconds + Toggles 'Experimental Mode' by pressing the 'LKAS' button on the steering wheel. - WARNING: This can cause premature wear or damage by running the device over comma's recommended temperature limits! + Toggles 'Experimental Mode' by double-tapping the onroad UI within a 0.5 second period. - I understand the risks. + Toggles 'Experimental Mode' by holding down the 'distance' button on the steering wheel for 0.5 seconds. - WARNING: This will prevent your drives from being recorded and the data will be unobtainable! + Enables either a sporty or eco-friendly acceleration rate. 'Sport+' aims to make openpilot accelerate as fast as possible. - WARNING: This will prevent your drives from appearing on comma connect which may impact debugging and support! + Enables either a sporty or eco-friendly deceleration rate. - - - FrogPilotLateralPanel - Always on Lateral + Uses the lead's acceleration rate when at a takeoff and ramps off the acceleration rate when approaching the maximum set speed for a more 'human-like' driving experience. - openpilot's steering control stays active even when the brake or gas pedals are pressed. - -Deactivate only occurs with the 'Cruise Control' button. + Human-Like Approach Behind Leads - Control with LKAS Button + Dynamically adjusts the following distance when approaching slower or stopped vehicles for a more 'human-like' driving experience. - 'Always on Lateral' gets turned on or off using the 'LKAS' button. + Lead Detection Confidence - Enable with Cruise Control + Controls how sensitive openpilot is to detecting vehicles ahead. A lower value can help detect vehicles sooner and from farther away, but increases the chance openpilot mistakes other objects for vehicles. - 'Always on Lateral' gets turned on by pressing the 'Cruise Control' button bypassing the requirement to enable openpilot first. + Maximum Acceleration Rate - Pause on Brake Below + Sets a cap on how fast openpilot can accelerate. - 'Always on Lateral' pauses when the brake pedal is pressed below the set speed. + 'Taco Bell Run' Turn Speed Hack - Hide the Status Bar + Uses comma's speed hack they used to help handle left and right turns more precisely during their 2022 'Taco Bell' drive by reducing the maximum allowed speed and acceleration while turning. - The status bar for 'Always on Lateral' is hidden. + Cruise Increase - Lane Change Settings + Controls the interval used when increasing the cruise control speed. - How openpilot handles lane changes. + Cruise Increase (Long Press) - Hands-Free Lane Change + Controls the interval used when increasing the cruise control speed while holding down the button for 0.5+ seconds. - Lane changes are conducted without needing to touch the steering wheel upon turn signal activation. + Force Keep openpilot in the Standstill State - Lane Change Delay + Keeps openpilot in the 'standstill' state until the gas pedal or 'resume' button is pressed. - How long openpilot waits before changing lanes. + Force Stop for 'Detected' Stop Lights/Signs - Lane Width Requirement + Forces a stop whenever openpilot 'detects' a potential red light/stop sign to prevent it from running the red light/stop sign. - The minimum lane width for openpilot to detect a lane as a lane. + Set Speed Offset - Minimum Speed for Lane Change + Controls how much higher or lower the set speed should be compared to your current set speed. For example, if you prefer to drive 5 mph above the speed limit, this setting will automatically add that difference when you adjust your set speed. - The minimum speed required for openpilot to perform a lane change. + Maps the acceleration and deceleration profiles to your car's 'Eco' or 'Sport' gear modes. - Single Lane Change Per Signal + Reverses the long press cruise increase feature to increase the max speed by 5 mph instead of 1 on short presses. - Lane changes are limited to one per turn signal activation. + Automatically adjust your max speed to match the speed limit using downloaded 'Open Street Maps' data, 'Navigate on openpilot', or your car's dashboard (Toyota/Lexus/HKG only). - Lateral Tuning + Enables manual confirmations before using a new speed limit. - Settings that control how openpilot manages steering. + Controls what happens when no speed limit data is available. - Neural Network Feedforward (NNFF) + Controls how the current speed limit is overriden. + + - Twilsonco's 'Neural Network FeedForward' for more precise steering control. + Forces speed limit readings from the dashboard to MPH if it normally displays them in KPH. - Smooth Curve Handling + Sets a lookahead value to prepare for upcoming higher speed limits when using downloaded map data. - Smoother steering when entering and exiting curves with Twilsonco's torque adjustments. + Sets a lookahead value to prepare for upcoming lower speed limits when using downloaded map data. - Quality of Life Improvements + Sets your max speed to match the current speed limit when enabling openpilot. - Miscellaneous lateral focused features to improve your overall openpilot experience. + Speed Limit Source Priority Order - Pause Steering Below + Sets the order of priority for speed limit data sources. - Pauses steering control when driving below the set speed. + Set speed limit offsets to drive over the posted speed limit. - mph - mph + Sets the speed limit offset for speeds between 0 and 34 mph. + - feet + Sets the speed limit offset for speeds between 35 and 54 mph. - Reboot required to take effect. + Sets the speed limit offset for speeds between 55 and 64 mph. - Reboot Now + Sets the speed limit offset for speeds between 65 and 99 mph. - kph + Show Speed Limit Sources - meters + Displays the speed limit sources in the onroad UI when using 'Speed Limit Controller'. - - - FrogPilotLongitudinalPanel - Conditional Experimental Mode - + Reset + 重置 - Automatically switches to 'Experimental Mode' when specific conditions are met. + The 'Map Based' option is only available when some 'Map Data' has been downloaded! - Below + Okay - 'Experimental Mode' is active when driving below the set speed without a lead vehicle. + Set With Gas Pedal - Curve Detected Ahead + Max Set Speed - 'Experimental Mode' is active when a curve is detected in the road ahead. + Map Data - Lead Detected Ahead + Are you sure you want to completely reset your settings for 'Traffic Mode'? - 'Experimental Mode' is active when a slower or stopped vehicle is detected ahead. + Are you sure you want to completely reset your settings for the 'Aggressive' personality? - Navigation Data + Are you sure you want to completely reset your settings for the 'Standard' personality? - 'Experimental Mode' is active based on navigation data, such as upcoming intersections or turns. + Are you sure you want to completely reset your settings for the 'Relaxed' personality? - openpilot Wants to Stop In + Sets the speed limit offset for speeds between 0-34 kph. - 'Experimental Mode' is active when openpilot wants to stop such as for a stop sign or red light. + Sets the speed limit offset for speeds between 35-54 kph. - Turn Signal Below + Sets the speed limit offset for speeds between 55-64 kph. - 'Experimental Mode' is active when using turn signals below the set speed. + Sets the speed limit offset for speeds between 65-99 kph. - Hide the Status Bar + Sets the speed limit offset for speeds between 0-34 mph. - The status bar for 'Conditional Experimental Mode' is hidden. + Sets the speed limit offset for speeds between 35-54 mph. - Curve Speed Control + Sets the speed limit offset for speeds between 55-64 mph. - Automatically slow down for curves detected ahead or through the downloaded maps. + Sets the speed limit offset for speeds between 65-99 mph. + + + FrogPilotModelPanel - Curve Detection Method + Automatically Update and Download Models - The method used to detect curves. + Automatically downloads new models and updates existing ones if needed. - Curve Detection Failsafe + Model Randomizer - Curve control is triggered only when a curve is detected ahead. Use this as a failsafe to prevent false positives when using the 'Map Based' method. + Randomly selects a model each drive and brings up a model review prompt at the end to help find your preferred model. - Curve Sensitivity + Manage Model Blacklist - How sensitive openpilot is to detecting curves. Higher values trigger earlier responses at the risk of triggering too often, while lower values increase confidence at the risk of triggering too infrequently. + Manage the blacklisted models that aren't being used with 'Model Randomizer'. - Turn Speed Aggressiveness + Reset Model Scores - How aggressive openpilot takes turns. Higher values result in quicker turns, while lower values provide gentler turns. + Clear the ratings you've given to the driving models. - Disable Speed Value Smoothing In the UI + Review Model Scores - Speed value smoothing is disabled in the UI to instead display the exact speed requested by the curve control. + View the ratings you've assigned to the driving models. - Experimental Mode Activation + Delete Model - 'Experimental Mode' is toggled off/on using the steering wheel buttons or the on-screen controls. - -This overrides 'Conditional Experimental Mode'. + Delete driving models from your device. - Click the LKAS Button + Download Model - 'Experimental Mode' is toggled by pressing the 'LKAS' button on the steering wheel. + Download new driving models. - Double-Tap the Screen + Select Model - 'Experimental Mode' is toggled by double-tapping the onroad UI within 0.5 seconds. + Select your preferred driving model. - Long Press the Distance Button - + ADD + 添加 - 'Experimental Mode' is toggled by holding the 'distance' button on the steering wheel for 0.5+ seconds. - + REMOVE + 删除 - Longitudinal Tuning + REMOVE ALL - Settings that control how openpilot manages speed and acceleration. + There are no more models to blacklist! The only available model is "%1"! - Acceleration Profile - + OK + 一般 - Choose between a sporty or eco-friendly acceleration rate. + Select a model to add to the blacklist - Deceleration Profile + Are you sure you want to add the '%1' model to the blacklist? - Choose between a sporty or eco-friendly deceleration rate. + Add - Human-Like Acceleration + Select a model to remove from the blacklist - Uses the lead's acceleration rate when at a takeoff and ramps off the acceleration rate when approaching the maximum set speed for a smoother max speed approach. + Are you sure you want to remove the '%1' model from the blacklist? - Human-Like Following Distance + Remove - Dynamically adjusts the following distance to feel more natural when approaching slower or stopped vehicles. + Are you sure you want to remove all of your blacklisted models? - Increase Stopped Distance - + RESET + 重置 - Increases the distance to stop behind vehicles. + Are you sure you want to reset all of your model drives and scores? - Quality of Life Improvements - + REVIEW + 查看 - Miscellaneous longitudinal focused features to improve your overall openpilot experience. + DELETE - Cruise Increase Interval + DELETE ALL - Interval used when increasing the cruise control speed. + Select a driving model to delete - Custom Cruise Interval (Long Press) + Are you sure you want to delete the '%1' model? - Interval used when increasing the cruise control speed when holding down the button for 0.5+ seconds. + Delete - Map Accel/Decel to Gears + Are you sure you want to delete all of your downloaded driving models? - Map the acceleration and deceleration profiles to the 'Eco' or 'Sport' gear modes. - + DOWNLOAD + 下载 - Onroad Personality Button + DOWNLOAD ALL - The current driving personality is displayed on the screen. Tap to switch personalities, or long press for 2.5 seconds to activate 'Traffic Mode'. + Select a driving model to download - Reverse Cruise Increase - + SELECT + 选择 - The long press feature is reversed in order to increase speed by 5 mph instead of 1. + Select a model - 🗺️ = Navigation | 📡 = Radar | 👀 = VOACC - Speed Limit Controller + Reboot required to take effect. - Automatically adjust your max speed to match the speed limit using 'Open Street Maps', 'Navigate on openpilot', or your car's dashboard (Toyota/Lexus/HKG only). + Reboot Now - Confirm New Speed Limits + The 'Model Randomizer' only works with downloaded models. Do you want to download all the driving models? - Require manual confirmation before using a new speed limit. + CANCEL + + + FrogPilotParamManageControl - Fallback Method + MANAGE + + + FrogPilotSettingsWindow - Choose what happens when no speed limit data is available. + Alerts and Sounds - Override Method + Driving Controls - Choose how you want to override the current speed limit. - - + Navigation - Speed Limit Source Priority + System Management - Set the order of priority for speed limit data sources. + Theme and Appearance - Speed Limit Offsets + Vehicle Controls - Manage toggles related to 'Speed Limit Controller's controls. + Options to customize FrogPilot's sound alerts and notifications. - Speed Limit Offset (0-34 mph) + Tools and system utilities used to maintain and troubleshoot FrogPilot. - Set the speed limit offset for speeds between 0 and 34 mph. + Options for customizing FrogPilot's themes, UI appearance, and onroad widgets. - Speed Limit Offset (35-54 mph) + Vehicle-specific settings and configurations for supported makes and models. - Set the speed limit offset for speeds between 35 and 54 mph. + MANAGE - Speed Limit Offset (55-64 mph) + GAS / BRAKE - Set the speed limit offset for speeds between 55 and 64 mph. + STEERING - Speed Limit Offset (65-99 mph) + DATA - Set the speed limit offset for speeds between 65 and 99 mph. + DEVICE - Miscellaneous 'Speed Limit Controller' focused features to improve your overall openpilot experience. + UTILITIES - Force MPH Readings from Dashboard + APPEARANCE - Force speed limit readings in MPH from the dashboard if it normally displays in KPH. + THEME - Prepare for Higher Speed Limits + Minimal - Set a lookahead value to prepare for upcoming higher speed limits based on map data. + Standard + 标准 + + + Advanced + 高级 + + + Developer - Prepare for Lower Speed Limits + Tuning Level - Set a lookahead value to prepare for upcoming lower speed limits based on map data. + Select the tuning level that best suits your needs. 'Minimal' is ideal for those who prefer simplicity and ease of use, 'Standard' is recommended for most users, offering a balanced experience, 'Advanced' provides more control for experienced users, while 'Developer' unlocks highly customizable settings designed for seasoned enthusiasts. - Set Speed to Current Limit + WARNING: This unlocks some potentially dangerous settings that can DRASTICALLY alter your driving experience! - Set your max speed to match the current speed limit when enabling openpilot. + I understand the risks. - Visual Settings + The 'Developer' preset is only available for users with either over 100 hours on FrogPilot, or 250 hours with openpilot. - Manage visual settings for the 'Speed Limit Controller'. + Okay - Use Vienna-Style Speed Signs + FrogPilot features that impact acceleration, braking, and steering. - Switch to Vienna-style (EU) speed limit signs instead of MUTCD (US). + Map data downloader and 'Navigate On openpilot (NOO)' settings. - Show Speed Limit Offset + DRIVING MODEL - Display the speed limit offset separately in the onroad UI when using the Speed Limit Controller. + MAP DATA - mph - mph + PRIMELESS NAVIGATION + + + + FrogPilotSoundsPanel - With Lead + Alert Volume Controller - Switches to 'Experimental Mode' when driving below the set speed with a lead vehicle. + Control the volume level for each individual sound in openpilot. - With Lead + Disengage Volume - Slower Lead + Related alerts: + +Adaptive Cruise Disabled +Parking Brake Engaged +Brake Pedal Pressed +Speed too Low - Stopped Lead + Engage Volume - Intersections + Related alerts: + +NNFF Torque Controller loaded +openpilot engaged - Turns + Prompt Volume - Off + Related alerts: + +Car Detected in Blindspot +Speed too Low +Steer Unavailable Below 'X' +Take Control, Turn Exceeds Steering Limit - Map Based + Prompt Distracted Volume - Vision + Related alerts: + +Pay Attention, Driver Distracted +Touch Steering Wheel, Driver Unresponsive - Standard - 标准 + Refuse Volume + - Eco + Related alerts: + +openpilot Unavailable - Sport + Warning Soft Volume - Sport+ + Related alerts: + +BRAKE!, Risk of Collision +TAKE CONTROL IMMEDIATELY - feet + Warning Immediate Volume - Acceleration + Related alerts: + +DISENGAGE IMMEDIATELY, Driver Distracted +DISENGAGE IMMEDIATELY, Driver Unresponsive - Deceleration + Custom Alerts - Lower Limits + Goat Scream Steering Saturated Alert - Higher Limits + Green Light Alert - None + Lead Departing Alert - Set Speed + Loud Blindspot Alert - Experimental Mode - 测试模式 + Custom alerts for openpilot events. + - Previous Limit + Enables the famed 'Goat Scream' that has brought both joy and anger to FrogPilot users all around the world! - Gas Pedal Press + Plays an alert when a traffic light changes from red to green. - Cruise Set Speed + Plays an alert when the lead vehicle starts starts to depart when at a standstill. - SELECT - 选择 + Plays a louder alert for when a vehicle is detected in the blindspot when attempting to change lanes. + - Dashboard + Speed Limit Changed Alert - Navigation + Plays an alert when the speed limit changes. - Offline Maps + Auto - Highest + Muted + + + FrogPilotThemesPanel - Lowest + Custom Theme - Select your primary priority + Custom openpilot themes. - Select your secondary priority + Color Scheme - Select your tertiary priority + Icon Pack - MANAGE + Sound Pack - seconds + Steering Wheel - Control Via UI + Turn Signal Animation - Speed Limit Offset (0-34 kph) + Download Status - Speed Limit Offset (35-54 kph) + Holiday Themes - Speed Limit Offset (55-64 kph) + Random Events - Speed Limit Offset (65-99 kph) + Startup Alert - Set speed limit offset for limits between 0-34 kph. + DELETE - Set speed limit offset for limits between 35-54 kph. + DOWNLOAD + 下载 + + + SELECT + 选择 + + + Select a color scheme to delete - Set speed limit offset for limits between 55-64 kph. + Are you sure you want to delete the '%1' color scheme? - Set speed limit offset for limits between 65-99 kph. + Delete - kph + Select a color scheme to download - meters + Select a color scheme - Set speed limit offset for limits between 0-34 mph. + Select an icon pack to delete - Set speed limit offset for limits between 35-54 mph. + Are you sure you want to delete the '%1' icon pack? - Set speed limit offset for limits between 55-64 mph. + Select an icon pack to download - Set speed limit offset for limits between 65-99 mph. + Select an icon pack - - - FrogPilotParamManageControl - MANAGE + Select a sound pack to delete - - - FrogPilotSettingsWindow - Advanced Settings + Select a sound pack to download - Alerts and Sounds + Select a steering wheel to delete - Driving Controls + Select a steering wheel to download - Navigation + Select a steering wheel - System Management + STOCK - Theme and Appearance + FROGPILOT - Vehicle Controls + CUSTOM - Advanced FrogPilot features for more experienced users. + CLEAR - Options to customize FrogPilot's sound alerts and notifications. + Characters: 0/%1 - FrogPilot features than impact acceleration, braking, and steering. + CANCEL - Offline maps downloader and 'Navigate On openpilot (NOO)' settings. + Changes out openpilot's color scheme. + +Want to submit your own color scheme? Share it in the 'custom-themes' channel on the FrogPilot Discord! - Tools and system utilities used to maintain and troubleshoot FrogPilot. + Changes out openpilot's icon pack. + +Want to submit your own icons? Share them in the 'custom-themes' channel on the FrogPilot Discord! - Options for customizing FrogPilot's themes, UI appearance, and onroad widgets. + Changes out openpilot's sound effects. + +Want to submit your own sounds? Share them in the 'custom-themes' channel on the FrogPilot Discord! - Vehicle-specific settings and configurations for supported makes and models. + Enables a custom steering wheel icon in the top right of the screen. - DRIVING + Enables themed turn signal animations. + +Want to submit your own animations? Share them in the 'custom-themes' channel on the FrogPilot Discord! - VISUALS + Changes the openpilot theme based on the current holiday. Minor holidays last one day, while major holidays (Easter, Christmas, Halloween, etc.) last the entire week. - MANAGE + Rainbow Path - GAS / BRAKE + Swap out the path in the onroad UI for a Mario Kart inspired 'Rainbow Path'. - STEERING + Enables random cosmetic events that happen during certain driving conditions. These events are purely for fun and don't affect driving controls! - DATA + Controls the text of the 'Startup' alert message that appears when you start the drive. - DEVICE + Select a distance icon pack to delete - UTILITIES + Are you sure you want to delete the '%1' distance icon pack? - APPEARANCE + Select a distance icon pack to download - THEME + Select a distance icon pack + + + + Select a signal animation to delete + + + + Are you sure you want to delete the '%1' signal animation? + + + + Select a signal animation to download + + + + Select a signal animation + + + + Are you sure you want to delete the '%1' sound pack? + + + + Select a sound pack + + + + Are you sure you want to delete the '%1' steering wheel? + + + + Enter the text for the top half + + + + Enter the text for the bottom half - FrogPilotSoundsPanel + FrogPilotVehiclesPanel - Alert Volume Controller + Select Make - Control the volume level for each individual sound in openpilot. + SELECT + 选择 + + + Select a Make - Disengage Volume + Select Model - Related alerts: - -Adaptive Cruise Disabled -Parking Brake Engaged -Brake Pedal Pressed -Speed too Low + Select a Model - Engage Volume + Disable Automatic Fingerprint Detection - Related alerts: - -NNFF Torque Controller loaded -openpilot engaged + Forces the selected fingerprint and prevents it from ever changing. - Prompt Volume + Disable openpilot Longitudinal Control - Related alerts: - -Car Detected in Blindspot -Speed too Low -Steer Unavailable Below 'X' -Take Control, Turn Exceeds Steering Limit + Are you sure you want to completely disable openpilot longitudinal control? - Prompt Distracted Volume + Reboot required to take effect. - Related alerts: - -Pay Attention, Driver Distracted -Touch Steering Wheel, Driver Unresponsive + Reboot Now - Refuse Volume + 2017 Volt Stop and Go Hack - Related alerts: - -openpilot Unavailable + Experimental GM Tune - Warning Soft Volume + Uphill/Downhill Smoothing - Related alerts: - -BRAKE!, Risk of Collision -TAKE CONTROL IMMEDIATELY + Use comma's New Longitudinal API - Warning Immediate Volume + Subaru Crosstrek Torque Increase - Related alerts: - -DISENGAGE IMMEDIATELY, Driver Distracted -DISENGAGE IMMEDIATELY, Driver Unresponsive + Increases the maximum allowed torque for the Subaru Crosstrek. - Custom Alerts + Automatically Lock/Unlock Doors + + + + Cluster Speed Offset + + + + FrogsGoMoo's Personal Tweaks + + + + Stop and Go Hack + + + + Lock + + + + Unlock + + + + Disables openpilot longitudinal control and uses the car's stock ACC instead. - Enable custom alerts for openpilot events. + Forces stop and go for the 2017 Chevy Volt. - Goat Scream Steering Saturated Alert + Enables FrogsGoMoo's experimental GM tune that is based on nothing but guesswork. Use at your own risk! - Enable the famed 'Goat Scream' that has brought both joy and anger to FrogPilot users all around the world! + Smoothens the gas and brake response when driving on slopes. - Green Light Alert + Enables comma's new control system that has shown great improvement with acceleration and braking, but has a few issues on some GM vehicles. - Get an alert when a traffic light changes from red to green. + Enables comma's new control system that has shown great improvement with acceleration and braking, but has a few issues on Hyundai/Kia/Genesis. - Lead Departing Alert + Automatically locks the doors when in drive and unlocks when in park. - Get an alert when the lead vehicle starts departing when at a standstill. + Sets the cluster offset openpilot uses to try and match the speed displayed on the dash. - Loud Blindspot Alert + Enables FrogsGoMoo's personal tweaks to the Toyota tune focused around his 2019 Lexus ES 350 to take off a bit quicker and stop a bit smoother. - Enable a louder alert for when a vehicle is detected in the blindspot when attempting to change lanes. + Forces stop and go for vehicles without stock stop and go functionality. + + + FrogPilotVisualsPanel - Speed Limit Change Alert + Custom FrogPilot widgets used in the onroad user interface. - Trigger an alert when the speed limit changes. + Compass - - - FrogPilotThemesPanel - Custom Theme + Dynamic Path Width - Custom openpilot themes. + Road Name - Color Scheme + Rotating Steering Wheel - Themed color schemes. - -Want to submit your own color scheme? Share it in the 'feature-request' channel on the FrogPilot Discord! + Larger Map Display - Icon Pack + Map Style - Themed icon packs. - -Want to submit your own icons? Share them in the 'feature-request' channel on the FrogPilot Discord! + Show Driver Camera When In Reverse - Sound Pack + Stopped Timer - Themed sound effects. - -Want to submit your own sounds? Share them in the 'feature-request' channel on the FrogPilot Discord! + Blind Spot - Steering Wheel + Dynamic - Custom steering wheel icons. + Static - Turn Signal Animation + Full Map - Themed turn signal animations. - -Want to submit your own animations? Share them in the 'feature-request' channel on the FrogPilot Discord! + Mapbox Streets - Download Status + Mapbox Outdoors - Holiday Themes + Mapbox Light - Change the openpilot theme based on the current holiday. Minor holidays last one day, while major holidays (Easter, Christmas, Halloween, etc.) last a week. + Mapbox Dark - Random Events + Mapbox Satellite - Random cosmetic events that happen during certain driving conditions. These events are purely for fun and don't affect driving controls! + Mapbox Satellite Streets - Startup Alert + Mapbox Navigation Day - Custom 'Startup' alert message that appears when you start driving. + Mapbox Navigation Night - DELETE + Mapbox Traffic Night - DOWNLOAD - 下载 + mike854's (Satellite hybrid) + SELECT 选择 - Select a color scheme to delete + Select a map style - Are you sure you want to delete the '%1' color scheme? + Accessibility - Delete + Visual features to improve your overall openpilot experience. - Select a color scheme to download + Camera View - Select a color scheme + Changes the camera view display. This is purely a visual change and doesn't impact how openpilot drives. - Select an icon pack to delete + On Screen Personality Button - Are you sure you want to delete the '%1' icon pack? + Displays the current driving personality on the screen. Tap to switch personalities, or long press for 2.5 seconds to activate 'Traffic' mode. - Select an icon pack to download + Displays the driver camera feed when the vehicle is in reverse. - Select an icon pack + Standby Mode - Select a signal pack to delete + Turns the screen off when driving and automatically wakes it up if engagement state changes or important alerts occur. - Are you sure you want to delete the '%1' signal pack? + Activates a timer when stopped to indicate how long the vehicle has been stopped for. - Select a signal pack to download + Advanced UI Controls - Select a signal pack + Advanced features to fine tune your personalized UI. - Select a sound pack to delete + Hide Current Speed - Are you sure you want to delete the '%1' sound scheme? + Hides the current speed. - Select a sound pack to download + Hide Lead Marker - Select a sound scheme + Hides the marker for the vehicle ahead. - Select a steering wheel to delete + Hide Map Icon - Are you sure you want to delete the '%1' steering wheel image? + Hides the map icon. - Select a steering wheel to download + Hide Max Speed - Select a steering wheel + Hides the max speed. - STOCK + Hide Non-Critical Alerts - FROGPILOT + Hides non-critical alerts. - CUSTOM + Hide Speed Limits - CLEAR + Hides the speed limits. - Enter your text for the top half + Use Wheel Speed - Characters: 0/%1 + Uses the wheel speed instead of the cluster speed. This is purely a visual change and doesn't impact how openpilot drives. - Enter your text for the bottom half + Developer Metrics - CANCEL + Show detailed information about openpilot's internal operations. - - - FrogPilotVehiclesPanel - Select Make + Border Metrics - SELECT - 选择 + Displays performance metrics around the edge of the screen while driving. + - Select a Make + FPS Display - Select Model + Displays the 'Frames Per Second' (FPS) at the bottom of the screen while driving. - Select a Model + Lateral Metrics - Disable Automatic Fingerprint Detection + Displays metrics related to steering control at the top of the screen while driving. - Forces the selected fingerprint and prevents it from ever changing. + Longitudinal Metrics - Disable openpilot Longitudinal Control + Displays metrics related to acceleration, speed, and desired following distance at the top of the screen while driving. - Disable openpilot longitudinal control and use stock ACC instead. + Numerical Temperature Gauge - Are you sure you want to completely disable openpilot longitudinal control? + Shows exact temperature readings instead of status labels like 'GOOD', 'OK', or 'HIGH' in the sidebar. - Reboot required to take effect. + Sidebar - Reboot Now + Displays system information like CPU, GPU, RAM usage, IP address, and storage space in the sidebar. - 2017 Volt Stop and Go Hack + Use International System of Units - Force stop and go for the 2017 Chevy Volt. + Displays measurements using the 'International System of Units' (SI). - Experimental GM Tune + Model UI - FrogsGoMoo's experimental GM tune that is based on nothing but guesswork. Use at your own risk! + Customize the model visualizations on the screen. - Uphill/Downhill Smoothing + Automatically adjusts the width of the driving path display based on the current engagement state: + +Fully engaged = 100% +Always On Lateral Active = 75% +Fully disengaged = 50% - Smoothen the car’s gas and brake response when driving on slopes. + Lane Lines Width - Use comma's New Longitudinal API + Controls the thickness the lane lines appear on the display. + +Default matches the MUTCD standard of 4 inches. - Comma's new longitudinal control system that has shown great improvement with acceleration and braking, but has a few issues on some GM vehicles. + Path Edges Width - Use comma's new longitudinal control system that has shown great improvement with acceleration and braking, but has a few issues on Hyundai/Kia/Genesis. + Controls the width of the edges of the driving path to represent different modes and statuses. + +Default is 20% of the total path width. + +Color Guide: +- Blue: Navigation +- Light Blue: 'Always On Lateral' +- Green: Default +- Orange: 'Experimental Mode' +- Red: 'Traffic Mode' +- Yellow: 'Conditional Experimental Mode' Overridden - Subaru Crosstrek Torque Increase + Path Width - Increases the maximum allowed torque for the Subaru Crosstrek. + Controls how wide the driving path appears on your screen. + +Default (6.1 feet / 1.9 meters) matches the width of a 2019 Lexus ES 350. - Automatically Lock/Unlock Doors + Road Edges Width - Automatically lock the doors when in drive and unlock when in park. + Controls how thick the road edges appear on the display. + +Default matches half of the MUTCD standard lane line width of 4 inches. - Cluster Speed Offset + Stopping Point - Set the cluster offset openpilot uses to try and match the speed displayed on the dash. + Displays an image on the screen where openpilot is detecting a potential red light/stop sign. - FrogsGoMoo's Personal Tweaks + 'Unlimited' Road UI - Use FrogsGoMoo's personal tweaks to the Toyota tune focused around his 2019 Lexus ES 350 to take off a bit quicker and stop a bit smoother. + Extends the display of the path, lane lines, and road edges as far as the model can see. - Stop and Go Hack + Navigation Widgets - Force stop and go for vehicles without stock stop and go functionality. + Wwidgets focused around navigation. - Lock + Increases the size of the map for easier navigation readings. - Unlock + Swaps out the stock map style for community created ones. - - - FrogPilotVisualsPanel - Onroad UI Widgets + Displays the current road name at the bottom of the screen using data from 'OpenStreetMap'. - Custom FrogPilot widgets used in the onroad user interface. + Show Speed Limit Offset - Compass + Displays the speed limit offset separately in the onroad UI when using 'Speed Limit Controller'. - A compass in the onroad UI to show the current driving direction. + Show Speed Limits - Dynamic Path Width + Displays the currently detected speed limit in the top left corner of the onroad UI. Uses data from your car's dashboard (if supported) and data from 'OpenStreetMaps'. - Automatically adjust the width of the driving path display based on the current engagement state: - -Fully engaged = 100% -Always On Lateral Active = 75% -Fully disengaged = 50% + Use Vienna-Style Speed Signs - Gas/Brake Pedal Indicators + Forces Vienna-style (EU) speed limit signs instead of MUTCD (US). - Pedal indicators in the onroad UI that change opacity based on the pressure applied. + Onroad Screen Widgets - Paths + Acceleration Path - Projected acceleration path, detected lanes, and vehicles in the blind spot. + Projects a path based on openpilot's current desired acceleration or deceleration. - Road Name + Adjacent Lanes - The current road name is displayed at the bottom of the screen using data from 'OpenStreetMap'. + Projects paths for the adjascent lanes. - Rotating Steering Wheel + Blind Spot Path - The steering wheel in the onroad UI rotates along with your steering wheel movements. + Projects a red path when vehicles are detected in the blind spot for the respective lane. - Quality of Life Improvements + Displays a compass to show the current driving direction. - Miscellaneous visual focused features to improve your overall openpilot experience. + Gas / Brake Pedal Indicators - Larger Map Display + Displays pedal indicators to indicate when either of the pedals are currently being used. - A larger size of the map in the onroad UI for easier navigation readings. + Rotates the steering wheel in the onroad UI rotates along with your steering wheel movements. - Map Style + Auto - Custom map styles for the map used during navigation. + Driver - Screen Standby Mode + Standard + 标准 + + + Wide - The screen is turned off after it times out when driving, but it automatically wakes up if engagement state changes or important alerts occur. + Steering Torque - Show Driver Camera When In Reverse + Turn Signal - The driver camera feed is displayed when the vehicle is in reverse. + Adjacent Path Metrics - Stopped Timer + Auto Tune - A timer on the onroad UI to indicate how long the vehicle has been stopped. + Adjacent Leads - Acceleration + Lead Info - Adjacent + Jerk Values - Blind Spot + Fahrenheit - Dynamic + CPU - Static + GPU - Full Map + IP - Stock openpilot + RAM - Mapbox Streets + SSD Left - Mapbox Outdoors + SSD Used - Mapbox Light + inches - Mapbox Dark + % - Mapbox Satellite + feet - Mapbox Satellite Streets + Show Distance - Mapbox Navigation Day + Stock - Mapbox Navigation Night + Adjust how thick the lane lines appear on the display. + +Default matches the Vienna standard of 10 centimeters. - Mapbox Traffic Night + Adjust how thick the road edges appear on the display. + +Default matches half of the Vienna standard of 10 centimeters. - mike854's (Satellite hybrid) + centimeters - SELECT - 选择 + meters + - Select a map style + Adjust how thick the lane lines appear on the display. + +Default matches the MUTCD standard of 4 inches. + + + + Adjust how thick the road edges appear on the display. + +Default matches half of the MUTCD standard of 4 inches. @@ -3760,6 +3845,30 @@ This may take up to a minute. FrogPilot + + Welcome to FrogPilot! Since you're new to FrogPilot, the 'Minimal' toggle preset has been applied, but you can change this at any time via the 'Tuning Level' button! + + + + Sounds good! + + + + Since you're fairly new to FrogPilot, the 'Minimal' toggle preset has been applied, but you can change this at any time via the 'Tuning Level' button! + + + + Since you're experienced with openpilot, the 'Standard' toggle preset has been applied, but you can change this at any time via the 'Tuning Level' button! + + + + Since you're experienced with FrogPilot, the 'Standard' toggle preset has been applied, but you can change this at any time via the 'Tuning Level' button! + + + + Since you're very experienced with FrogPilot, the 'Advanced' toggle preset has been applied, but you can change this at any time via the 'Tuning Level' button! + + Setup @@ -4064,10 +4173,6 @@ This may take up to a minute. FrogPilot will automatically update itself and it's assets when you're offroad and connected to Wi-Fi. - - Do you want to permanently delete any additional FrogPilot assets? This is 100% unrecoverable and includes backups, downloaded models, themes, and long-term storage toggle settings for easy reinstalls. - - Error Log @@ -4080,6 +4185,14 @@ This may take up to a minute. View the error log for openpilot crashes. + + Do you want to delete deep storage FrogPilot assets? This includes your toggle settings for quick reinstalls. + + + + Are you sure? This is 100% unrecoverable and if you reinstall FrogPilot you'll lose all your previous settings! + + SshControl @@ -4330,10 +4443,6 @@ This may take up to a minute. FLASH - - Use this button to flash the Panda device's firmware if you're running into issues. - - Are you sure you want to flash the Panda? @@ -4358,10 +4467,6 @@ This may take up to a minute. Force Started State - - Force openpilot either offroad or onroad. - - OFFROAD @@ -4402,6 +4507,14 @@ This may take up to a minute. Reset! + + Flashes the Panda device's firmware if you're running into issues. + + + + Forces openpilot either offroad or onroad. + + WiFiPromptWidget @@ -4430,7 +4543,7 @@ This may take up to a minute. - Toggle off the 'Disable Uploading' toggle to enable uploads. + Toggle off the 'Turn Off Data Uploads' toggle to re-enable uploads. diff --git a/selfdrive/ui/translations/main_zh-CHT.qm b/selfdrive/ui/translations/main_zh-CHT.qm new file mode 100644 index 00000000000000..c7592ec2bd7c97 Binary files /dev/null and b/selfdrive/ui/translations/main_zh-CHT.qm differ diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index 6099a81cafb41d..e98766149ee7cd 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -149,10 +149,6 @@ kph - - ft/s² - - Accel: %1%2 @@ -185,16 +181,6 @@ Follow Distance: - - Confirm speed limit - - - - - Ignore speed limit - - - Conditional Experimental Mode ready @@ -283,6 +269,14 @@ . Double tap the screen to revert + + PENDING + + + + ft/s² + + ConfirmationDialog @@ -532,2841 +526,2932 @@ FrogPilotAdvancedDrivingPanel - Advanced Lateral Tuning - + mph + mph - Advanced settings that control how openpilot manages steering. - + Reset + 重設 - Friction (Default: %1) - + ADD + 新增 - Friction - + REMOVE + 移除 - The resistance in steering. Higher values provide more stable steering but can make it feel heavy, while lower values allow lighter steering but may feel too sensitive. - + OK + 一般 - Kp Factor (Default: %1) - + RESET + 重設 - Kp Factor - + VIEW + 觀看 - How aggressively the car corrects its steering. Higher values offer quicker corrections but may feel jerky, while lower values make steering smoother but slower to respond. - + DOWNLOAD + 下載 - Lateral Accel (Default: %1) - + SELECT + 選取 - Lateral Accel - + openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required. + openpilot 需要將裝置固定在左右偏差 4° 以內，朝上偏差 5° 以內或朝下偏差 9° 以內。鏡頭在後台會持續自動校準，很少有需要重置的情況。 - Adjust how fast the car can steer from side to side. Higher values allow quicker lane changes but can feel unstable, while lower values provide smoother steering but may feel sluggish. - + Your device is pointed %1° %2 and %3° %4. + 你的裝置目前朝%2 %1° 以及朝%4 %3° 。 - Steer Ratio (Default: %1) - + down + 下 - Steer Ratio - + up + 上 - Adjust how much openpilot needs to turn the wheel to steer. Higher values feel like driving a truck, more stable at high speeds, but harder to steer quickly at low speeds, while lower values feel like a go-kart, easier to steer in tight spots but more sensitive and less stable at high speeds. - + left + 左 - comma's 2022 Taco Bell Turn Hack - + right + 右 + + + FrogPilotAdvancedVisualsPanel - Use comma's hack they used to help handle left and right turns more precisely during their 2022 'Taco Bell' drive. - + Standard + 標準 + + + FrogPilotConfirmationDialog - Force Auto Tune On + Reboot Later - Forces comma's auto lateral tuning for unsupported vehicles. + Yes - Force Auto Tune Off + No + + + FrogPilotDataPanel - Forces comma's auto lateral tuning off for supported vehicles. + Delete Driving Footage and Data - Force Turn Desires Below Lane Change Speed + DELETE - Force the model to use turn desires when driving below the minimum lane change speed to help make left and right turns more precisely. + Are you sure you want to permanently delete all of your driving footage and data? - Advanced Longitudinal Tuning + Delete - Advanced settings that control how openpilot manages speed and acceleration. + Deleting... - Lead Detection Confidence + Deleted! - How sensitive openpilot is to detecting vehicles ahead. A lower value can help detect vehicles sooner and from farther away, but may occasionally mistake other objects for vehicles. + Screen Recordings - Maximum Acceleration Rate + Manage your screen recordings. - Set a cap on how fast openpilot can accelerate to prevent high acceleration at low speeds. + RENAME - Advanced Quality of Life + Select a recording to delete - Miscellaneous advanced features to improve your overall openpilot experience. + Are you sure you want to delete this recording? - Force Keep openpilot in the Standstill State + Select a recording to rename - Keep openpilot in the 'standstill' state until the gas pedal or 'resume' button is pressed. + Enter a new name - Force Stop for 'Detected' Stop Lights/Signs + Rename Recording - Whenever openpilot 'detects' a potential stop light/stop sign, force a stop where it originally detected it to prevent running the potential red light/stop sign. + Renaming... - Set Speed Offset + Renamed! - How much higher or lower the set speed should be compared to your current set speed. For example, if you prefer to drive 5 mph above the speed limit, this setting will automatically add that difference when you adjust your set speed. + FrogPilot Backups - Customize Driving Personalities + Manage your FrogPilot backups. - Customize the personality profiles to suit your preferences. + BACKUP - Traffic Personality + RESTORE - Customize the 'Traffic' personality profile, tailored for navigating through traffic. + Name your backup - Following Distance + Compressing... - The minimum following distance in 'Traffic Mode.' openpilot will adjust dynamically between this value and the 'Aggressive' profile distance based on your speed. + Select a backup to delete - Acceleration Sensitivity + Are you sure you want to delete this backup? - How sensitive openpilot is to changes in acceleration in 'Traffic Mode.' Higher values result in smoother, more gradual acceleration and deceleration, while lower values allow for faster changes that may feel more abrupt. + Select a restore point - Deceleration Sensitivity + Are you sure you want to restore this version of FrogPilot? - Controls how sensitive openpilot is to changes in deceleration in 'Traffic Mode.' Higher values result in smoother, more gradual braking, while lower values allow for quicker, more responsive braking that may feel abrupt. + Restore - Safety Distance Sensitivity + Restoring... - Adjusts how cautious openpilot is around other vehicles or obstacles in 'Traffic Mode.' Higher values increase following distances and prioritize safety, leading to more cautious driving, while lower values allow for closer following but may reduce reaction time. + Extracting... - Speed Increase Responsiveness + Restored! - Controls how quickly openpilot adjusts speed in 'Traffic Mode.' Higher values ensure smoother, more gradual speed changes, while lower values enable quicker adjustments that might feel sharper or less smooth. + Rebooting... - Speed Decrease Responsiveness + Toggle Backups - Sets how quickly openpilot adjusts to decreasing speeds in 'Traffic Mode.' Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed reductions that might feel sharper. + Manage your toggle backups. - Reset Settings + Are you sure you want to restore this toggle backup? - Restore the 'Traffic Mode' settings to their default values. + Permanently deletes all stored driving footage and data from your device. Ideal for maintaining privacy or freeing up space. - Aggressive Personality + DELETE ALL - Customize the 'Aggressive' personality profile, designed for a more assertive driving style. + Are you sure you want to delete all screen recordings? - Set the following distance for 'Aggressive' mode. This determines roughly how many seconds you'll follow behind the car ahead. - -Default: 1.25 seconds. + Delete All - Controls how sensitive openpilot is to acceleration changes in 'Aggressive' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky. - -Default: 0.5. + A recording with this name already exists. Please choose a different name. - Controls how sensitive openpilot is to deceleration in 'Aggressive' mode. Higher values result in smoother braking, while lower values allow for more immediate braking that may feel abrupt. - -Default: 0.5. + A backup with this name already exists. Please choose a different name. - Adjusts how cautious openpilot is around vehicles or obstacles in 'Aggressive' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking. - -Default: 1.0. + Do you want to compress this backup? The final result will be 2.25x smaller and will run in the background, but can take 10+ minutes. - Controls how quickly openpilot adjusts speed in 'Aggressive' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt. - -Default: 0.5. + Backing up... - Sets how quickly openpilot adjusts to speed reductions in 'Aggressive' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp. - -Default: 0.5. + Backup created! - Restore the 'Aggressive' settings to their default values. + Are you sure you want to delete all FrogPilot backups? - Standard Personality + Are you sure you want to delete all toggle backups? + + + FrogPilotDevicePanel - Customize the 'Standard' personality profile, optimized for balanced driving. + Device Settings - Set the following distance for 'Standard' mode. This determines roughly how many seconds you'll follow behind the car ahead. - -Default: 1.45 seconds. + Device behavior settings. - Controls how sensitive openpilot is to acceleration changes in 'Standard' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky. - -Default: 1.0. + Device Shutdown Timer - Controls how sensitive openpilot is to deceleration in 'Standard' mode. Higher values result in smoother braking, while lower values allow for quicker, more immediate braking that may feel abrupt. - -Default: 1.0. + Disable Internet Requirement - Adjusts how cautious openpilot is around vehicles or obstacles in 'Standard' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking. - -Default: 1.0. + Increase Thermal Safety Limit - Controls how quickly openpilot adjusts speed in 'Standard' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt. - -Default: 1.0. + Low Battery Shutdown Threshold - Sets how quickly openpilot adjusts to speed reductions in 'Standard' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp. - -Default: 1.0. + Turn Off Data Tracking - Restore the 'Standard' settings to their default values. + Turn Off Data Uploads - Relaxed Personality + Screen Settings - Customize the 'Relaxed' personality profile, ideal for a more laid-back driving style. + Screen behavior settings. - Set the following distance for 'Relaxed' mode. This determines roughly how many seconds you'll follow behind the car ahead. - -Default: 1.75 seconds. + Screen Brightness (Offroad) - Controls how sensitive openpilot is to acceleration changes in 'Relaxed' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky. - -Default: 1.0. + Screen Brightness (Onroad) - Controls how sensitive openpilot is to deceleration in 'Relaxed' mode. Higher values result in smoother braking, while lower values allow for quicker, more immediate braking that may feel abrupt. - -Default: 1.0. + Screen Recorder - Adjusts how cautious openpilot is around vehicles or obstacles in 'Relaxed' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking. - -Default: 1.0. + Screen Timeout (Offroad) - Controls how quickly openpilot adjusts speed in 'Relaxed' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt. - -Default: 1.0. + Screen Timeout (Onroad) - Sets how quickly openpilot adjusts to speed reductions in 'Relaxed' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp. - -Default: 1.0. + 5 mins - Restore the 'Relaxed' settings to their default values. + mins - Model Management + hour - Manage the driving models used by openpilot. + hours - Automatically Update and Download Models + Only Onroad - Automatically download new or updated driving models. + volts - Model Randomizer + Auto - A random model is selected and can be reviewed at the end of each drive if it's longer than 15 minutes to help find your preferred model. + seconds - Manage Model Blacklist + WARNING: This can cause premature wear or damage by running the device over comma's recommended temperature limits! - Control which models are blacklisted and won't be used for future drives. + WARNING: This will prevent your drives from being recorded and the data will be unobtainable! - Reset Model Scores + WARNING: This will prevent your drives from appearing on comma connect which may impact debugging and support! - Clear the ratings you've given to the driving models. + Controls how long the device stays on after you stop driving. - Review Model Scores + Allows the device to work without an internet connection. - View the ratings you've assigned to the driving models. + Allows the device to run at higher temperatures than recommended. - Delete Model + Manages the threshold for shutting down the device to protect the car's battery from excessive drain and potential damage. - Remove the selected driving model from your device. + Disables all data tracking to improve privacy. - Download Model + Stops the device from sending any data to the servers. - Download undownloaded driving models. + Controls the screen brightness when you're not driving. - Download All Models + Controls the screen brightness while you're driving. - Download all undownloaded driving models. + Enables a button in the onroad UI to record the screen. - Select Model + Controls how long it takes for the screen to turn off when you're not driving. - Select which model openpilot uses to drive. + Controls how long it takes for the screen to turn off while you're driving. - Reset Model Calibrations + Screen Off + + + FrogPilotLateralPanel - Reset calibration settings for the driving models. + Always on Lateral - mph - mph + openpilot's steering control stays active even when the brake or gas pedals are pressed. + +Deactivate only occurs with the 'Cruise Control' button. + - Reset - 重設 + Control with LKAS Button + - seconds + Enable with Cruise Control - ADD - 新增 + Pause on Brake Below + - REMOVE - 移除 + Hide the Status Bar + - There's no more models to blacklist! The only available model is "%1"! + Lane Change Settings - OK - 一般 + How openpilot handles lane changes. + - Select a model to add to the blacklist + Lane Change Delay - Are you sure you want to add the '%1' model to the blacklist? + Lane Width Requirement - Add + Minimum Speed for Lane Change - Select a model to remove from the blacklist + Lateral Tuning - Are you sure you want to remove the '%1' model from the blacklist? + Neural Network Feedforward (NNFF) - Remove + Smooth Curve Handling - RESET - 重設 + Quality of Life Improvements + - Reset all model scores? + Miscellaneous lateral focused features to improve your overall openpilot experience. - VIEW - 觀看 + Pause Steering Below + - DELETE + Pauses steering control when driving below the set speed. - Select a model to delete - + mph + mph - Are you sure you want to delete the '%1' model? + feet - Delete + Reboot required to take effect. - Deleting... + Reboot Now - Deleted! + kph - DOWNLOAD - 下載 + meters + - CANCEL + Advanced Lateral Tuning - Select a driving model to download + Advanced settings for fine tuning openpilot's lateral controls. - Downloading %1... + Friction (Default: %1) - SELECT - 選取 + Friction + - Select a model - 🗺️ = Navigation | 📡 = Radar | 👀 = VOACC + Adjusts the resistance in steering. Higher values provide more stable steering but can make it feel heavy, while lower values allow lighter steering but may feel too sensitive. - WARNING: This is a very experimental model and may drive dangerously! + Kp Factor (Default: %1) - I understand the risks. + Kp Factor - Start with a fresh calibration for the newly selected model? + Adjusts how aggressively the car corrects its steering. Higher values offer quicker corrections but may feel jerky, while lower values make steering smoother but slower to respond. - Reboot required to take effect. + Lateral Accel (Default: %1) - Reboot Now + Lateral Accel - RESET ALL + Adjusts how fast the car can steer from side to side. Higher values allow quicker lane changes but can feel unstable, while lower values provide smoother steering but may feel sluggish. - RESET ONE + Steer Ratio (Default: %1) - Are you sure you want to completely reset all of your model calibrations? + Steer Ratio - Select a model to reset + Adjusts how much openpilot needs to turn the wheel to steer. Higher values feel like driving a truck, more stable at high speeds, but harder to steer quickly at low speeds, while lower values feel like a go-kart, easier to steer in tight spots but more sensitive and less stable at high speeds. - Are you sure you want to completely reset this model's calibrations? + Force Auto Tune On - The 'Model Randomizer' only works with downloaded models. Do you want to download all the driving models? + Forces comma's auto lateral tuning for unsupported vehicles. - Are you sure you want to completely reset your settings for the 'Traffic Mode' personality? + Force Auto Tune Off - Are you sure you want to completely reset your settings for the 'Aggressive' personality? + Forces comma's auto lateral tuning off for supported vehicles. - Are you sure you want to completely reset your settings for the 'Standard' personality? + Controls the current state of 'Always on Lateral' with the 'LKAS' button. - Are you sure you want to completely reset your settings for the 'Relaxed' personality? + Activates 'Always on Lateral' whenever 'Cruise Control' is active bypassing the requirement to enable openpilot first. - kph + Pauses 'Always on Lateral' when the brake pedal is pressed below the set speed. - Downloading models... + Hides status bar for 'Always On Lateral'. - openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required. - openpilot 需要將裝置固定在左右偏差 4° 以內，朝上偏差 5° 以內或朝下偏差 9° 以內。鏡頭在後台會持續自動校準，很少有需要重置的情況。 + Automatic Lane Changes + - Your device is pointed %1° %2 and %3° %4. - 你的裝置目前朝%2 %1° 以及朝%4 %3° 。 + Conducts lane changes without needing to touch the steering wheel upon turn signal activation. + - down - 下 + Delays lane changes by the set time to prevent sudden changes. + - up - 上 + Sets the minimum lane width for openpilot to detect a lane as a lane. + - left - 左 + Sets the minimum speed required for openpilot to perform a lane change. + - right - 右 + Only One Lane Change Per Signal + - - - FrogPilotAdvancedVisualsPanel - Advanced Onroad UI Widgets + Limits lane changes to one per turn signal activation. - Advanced user customizations for the Onroad UI. + Settings for fine tuning openpilot's lateral controls. - Camera View + Force Turn Desires Below Lane Change Speed - Camera view for the onroad UI. This is purely a visual change and doesn't impact how openpilot drives. + Forces the model to use turn desires when driving below the minimum lane change speed to help make left and right turns more precisely. - Display Stopping Points + Uses Twilsonco's 'Neural Network FeedForward' for more precise steering control. - Display an image on the screen where openpilot is detecting a potential red light/stop sign. + Smoothens the steering control when entering and exiting curves by using Twilsonco's torque adjustments. - Hide Lead Marker + seconds + + + FrogPilotLongitudinalPanel - Hide the marker for the vehicle ahead on the screen. + Conditional Experimental Mode - Hide Speed + Below - Hide the speed indicator in the onroad UI. Additional toggle allows it to be hidden/shown via tapping the speed itself. + Curve Detected Ahead - Hide UI Elements + Lead Detected Ahead - Hide the selected UI elements from the onroad screen. + Navigation Data - Use Wheel Speed + openpilot Wants to Stop In - Use the wheel speed instead of the cluster speed in the onroad UI. + Turn Signal Below - Developer UI + Hide the Status Bar - Show detailed information about openpilot's internal operations. + Curve Speed Control - Border Metrics + Automatically slow down for curves detected ahead or through the downloaded maps. - Display performance metrics around the edge of the screen while driving. + Curve Detection Method - FPS Display + Curve Detection Failsafe - Display the 'Frames Per Second' (FPS) at the bottom of the screen while driving. + Experimental Mode Activation - Lateral Metrics + Click the LKAS Button - Display metrics related to steering control at the top of the screen while driving. + Double-Tap the Screen - Longitudinal Metrics + Long Press the Distance Button - Display metrics related to acceleration, speed, and desired following distance at the top of the screen while driving. + Longitudinal Tuning - Numerical Temperature Gauge + Settings that control how openpilot manages speed and acceleration. - Show exact temperature readings instead of general status labels like 'GOOD', 'OK', or 'HIGH' in the sidebar. + Acceleration Profile - Sidebar + Deceleration Profile - Display system information like CPU, GPU, RAM usage, IP address, and storage space in the sidebar. + Human-Like Acceleration - Use International System of Units + Increase Stopped Distance - Display measurements using the 'International System of Units' (SI). + Increases the distance to stop behind vehicles. - Model UI + Quality of Life Improvements - Customize the model visualizations on the screen. + Miscellaneous longitudinal focused features to improve your overall openpilot experience. - Lane Lines Width + Map Accel/Decel to Gears - How thick the lane lines appear on the display. - -Default matches the MUTCD standard of 4 inches. + Reverse Cruise Increase - Path Edges Width + Speed Limit Controller - The width of the edges of the driving path to represent different modes and statuses. - -Default is 20% of the total path width. - -Color Guide: -- Blue: Navigation -- Light Blue: 'Always On Lateral' -- Green: Default -- Orange: 'Experimental Mode' -- Red: 'Traffic Mode' -- Yellow: 'Conditional Experimental Mode' Overridden + Confirm New Speed Limits - Path Width + Fallback Method - How wide the driving path appears on your screen. - -Default (6.1 feet / 1.9 meters) matches the width of a 2019 Lexus ES 350. + Override Method - Road Edges Width + Speed Limit Offsets - How thick the road edges appear on the display. - -Default matches half of the MUTCD standard lane line width of 4 inches. + Speed Limit Offset (0-34 mph) - 'Unlimited' Road UI + Speed Limit Offset (35-54 mph) - Extend the display of the path, lane lines, and road edges as far as the model can see. + Speed Limit Offset (55-64 mph) - Auto + Speed Limit Offset (65-99 mph) - Driver + Miscellaneous 'Speed Limit Controller' focused features to improve your overall openpilot experience. - Standard - 標準 + Force MPH Readings from Dashboard + - Wide + Prepare for Higher Speed Limits - Control Via UI + Prepare for Lower Speed Limits - Alerts + Set Speed to Current Limit - Map Icon - + mph + mph - Max Speed + With Lead - Show Distance + Switches to 'Experimental Mode' when driving below the set speed with a lead vehicle. - Blind Spot + With Lead - Steering Torque + Slower Lead - Turn Signal + Stopped Lead - Adjacent Path Metrics + Intersections - Auto Tune + Turns - Lead Info + Map Based - Longitudinal Jerk + Vision - Fahrenheit - + Standard + 標準 - CPU + Eco - GPU + Sport - IP + Sport+ - RAM + feet - SSD Left + Acceleration - SSD Used + Deceleration - inches + Lower Limits - % + Higher Limits - feet + None - Adjust how thick the lane lines appear on the display. - -Default matches the Vienna standard of 10 centimeters. + Set Speed - Adjust how thick the road edges appear on the display. - -Default matches half of the Vienna standard of 10 centimeters. - + Experimental Mode + 實驗模式 - centimeters + Previous Limit - meters - + SELECT + 選取 - Adjust how thick the lane lines appear on the display. - -Default matches the MUTCD standard of 4 inches. + Dashboard - Adjust how thick the road edges appear on the display. - -Default matches half of the MUTCD standard of 4 inches. + Navigation - - - FrogPilotConfirmationDialog - Reboot Later + Highest - Yes + Lowest - No + Select your primary priority - - - FrogPilotDataPanel - Delete Driving Footage and Data + Select your secondary priority - DELETE + Select your tertiary priority - This button provides a swift and secure way to permanently delete all stored driving footage and data from your device. Ideal for maintaining privacy or freeing up space. + MANAGE - Are you sure you want to permanently delete all of your driving footage and data? + seconds - Delete + Speed Limit Offset (0-34 kph) - Deleting... + Speed Limit Offset (35-54 kph) - Deleted! + Speed Limit Offset (55-64 kph) - Screen Recordings + Speed Limit Offset (65-99 kph) - Manage your screen recordings. + kph - RENAME + meters - Select a recording to delete + Automatically switch to 'Experimental Mode' when specific conditions are met. - Are you sure you want to delete this recording? + Triggers 'Experimental Mode' when driving below the set speed without a lead vehicle. - Failed... + Triggers 'Experimental Mode' when a curve is detected in the road ahead. - Select a recording to rename + Triggers 'Experimental Mode' when a slower or stopped vehicle is detected ahead. - Enter a new name + Triggers 'Experimental Mode' based on navigation data, such as upcoming intersections or turns. - Rename Recording + Triggers 'Experimental Mode' when openpilot wants to stop such as for a stop sign or red light. - Renaming... + Triggers 'Experimental Mode' when using turn signals below the set speed. - Renamed! + Hides status bar for 'Conditional Experimental Mode'. - FrogPilot Backups + Uses data from either the downloaded maps or the model to determine where curves are. - Manage your FrogPilot backups. + Triggers 'Curve Speed Control' only when a curve is detected with the model as well when using the 'Map Based' method. - BACKUP + Curve Detection Sensitivity - RESTORE + Controls how sensitive openpilot is to detecting curves. Higher values trigger earlier responses at the risk of triggering too often, while lower values increase confidence at the risk of triggering too infrequently. - Name your backup + Speed Aggressiveness - Do you want to compress this backup? The end file size will be 2.25x smaller, but can take 10+ minutes. + Controls how aggressive openpilot takes turns. Higher values result in faster turns, while lower values result in slower turns. - Backing... + Hide Desired Speed Widget From UI - Compressing... + Hides the desired speed widget from the onroad UI. - Success! + Customize Driving Personalities - Select a backup to delete + Customize the personality profiles to suit your driving style. - Are you sure you want to delete this backup? + Traffic Personality - Select a restore point + Customizes the 'Traffic' personality profile, tailored for navigating through traffic. - Are you sure you want to restore this version of FrogPilot? + Following Distance - Restore + Controls the minimum following distance in 'Traffic' mode. openpilot will automatically dynamically between this value and the 'Aggressive' profile distance based on your current speed. - Restoring... + Acceleration Sensitivity - Extracting... + Controls how sensitive openpilot is to changes in acceleration in 'Traffic' mode. Higher values result in smoother, more gradual acceleration, while lower values allow for quicker, more responsive changes that may feel abrupt. - Restored! + Deceleration Sensitivity - Rebooting... + Controls how sensitive openpilot is to changes in deceleration in 'Traffic' mode. Higher values result in smoother, more gradual deceleration, while lower values allow for quicker, more responsive changes that may feel abrupt. - Toggle Backups + Safety Distance Sensitivity - Manage your toggle backups. + Adjusts how cautious openpilot is around other vehicles or obstacles in 'Traffic' mode. Higher values increase following distances and prioritize safety, leading to more cautious driving, while lower values allow for closer following but may reduce reaction time. - Are you sure you want to restore this toggle backup? + Speed Increase Responsiveness - - - FrogPilotDevicePanel - Device Settings + Controls how quickly openpilot increases speed in 'Traffic' mode. Higher values ensure smoother, more gradual speed changes when accelerating, while lower values allow for quicker, more responsive changes that may feel abrupt. - Device behavior settings. + Speed Decrease Responsiveness - Device Shutdown Timer + Controls how quickly openpilot decreases speed in 'Traffic' mode. Higher values ensure smoother, more gradual speed changes when slowing down, while lower values allow for quicker, more responsive changes that may feel abrupt. - How long the device stays on after you stop driving. + Reset Settings - Disable Internet Requirement + Restores the 'Traffic Mode' settings to their default values. - The device can work without an internet connection for as long as you need. + Aggressive Personality - Increase Thermal Safety Limit + Customize the 'Aggressive' personality profile, designed for a more assertive driving style. - The device can run at higher temperatures than recommended. + Sets the following distance for 'Aggressive' mode. This determines roughly how many seconds you'll follow behind the car ahead. + +Default: 1.25 seconds. - Low Battery Shutdown Threshold + Controls how sensitive openpilot is to changes in acceleration in 'Aggressive' mode. Higher values result in smoother, more gradual acceleration, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 0.5. - Shut down the device when the car's battery gets too low to prevent damage to the 12V battery. + Controls how sensitive openpilot is to changes in deceleration in 'Aggressive' mode. Higher values result in smoother, more gradual deceleration, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 0.5. - Turn Off Data Tracking + Adjusts how cautious openpilot is around other vehicles or obstacles in 'Aggressive' mode. Higher values increase following distances and prioritize safety, leading to more cautious driving, while lower values allow for closer following but may reduce reaction time. + +Default: 1.0. - Disable all tracking to improve privacy. + Controls how quickly openpilot increases speed in 'Aggressive' mode. Higher values ensure smoother, more gradual speed changes when accelerating, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 0.5. - Turn Off Data Uploads + Controls how quickly openpilot decreases speed in 'Aggressive' mode. Higher values ensure smoother, more gradual speed changes when slowing down, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 0.5. - Stop the device from sending any data to the servers. + Restores the 'Aggressive' settings to their default values. - Screen Settings + Standard Personality - Screen behavior settings. + Customize the 'Standard' personality profile, optimized for balanced driving. - Screen Brightness (Offroad) + Set the following distance for 'Standard' mode. This determines roughly how many seconds you'll follow behind the car ahead. + +Default: 1.45 seconds. - The screen brightness when you're not driving. + Controls how sensitive openpilot is to changes in acceleration in 'Standard' mode. Higher values result in smoother, more gradual acceleration, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 1.0. - Screen Brightness (Onroad) + Controls how sensitive openpilot is to changes in deceleration in 'Standard' mode. Higher values result in smoother braking, while lower values allow for quicker, more immediate braking that may feel abrupt. + +Default: 1.0. - The screen brightness while you're driving. + Adjusts how cautious openpilot is around other vehicles or obstacles in 'Standard' mode. Higher values increase following distances and prioritize safety, leading to more cautious driving, while lower values allow for closer following but may reduce reaction time. + +Default: 1.0. - Screen Recorder + Controls how quickly openpilot increases speed in 'Standard' mode. Higher values ensure smoother, more gradual speed changes when accelerating, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 1.0. - Display a button in the onroad UI to record the screen. + Controls how quickly openpilot decreases speed in 'Standard' mode. Higher values ensure smoother, more gradual speed changes when slowing down, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 1.0. - Screen Timeout (Offroad) + Restores the 'Standard' settings to their default values. - How long it takes for the screen to turn off when you're not driving. + Relaxed Personality - Screen Timeout (Onroad) + Customize the 'Relaxed' personality profile, ideal for a more laid-back driving style. - How long it takes for the screen to turn off while you're driving. + Set the following distance for 'Relaxed' mode. This determines roughly how many seconds you'll follow behind the car ahead. + +Default: 1.75 seconds. - 5 mins + Controls how sensitive openpilot is to changes in acceleration in 'Relaxed' mode. Higher values result in smoother, more gradual acceleration, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 1.0. - mins + Controls how sensitive openpilot is to changes in deceleration in 'Relaxed' mode. Higher values result in smoother braking, while lower values allow for quicker, more immediate braking that may feel abrupt. + +Default: 1.0. - hour + Adjusts how cautious openpilot is around other vehicles or obstacles in 'Relaxed' mode. Higher values increase following distances and prioritize safety, leading to more cautious driving, while lower values allow for closer following but may reduce reaction time. + +Default: 1.0. - hours + Controls how quickly openpilot increases speed in 'Relaxed' mode. Higher values ensure smoother, more gradual speed changes when accelerating, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 1.0. - Only Onroad + Controls how quickly openpilot decreases speed in 'Relaxed' mode. Higher values ensure smoother, more gradual speed changes when slowing down, while lower values allow for quicker, more responsive changes that may feel abrupt. + +Default: 1.0. - volts + Restores the 'Relaxed' settings to their default values. - Auto + Toggle 'Experimental Mode' on/off using either the steering wheel buttons or screen. + +This overrides 'Conditional Experimental Mode'. - seconds + Toggles 'Experimental Mode' by pressing the 'LKAS' button on the steering wheel. - WARNING: This can cause premature wear or damage by running the device over comma's recommended temperature limits! + Toggles 'Experimental Mode' by double-tapping the onroad UI within a 0.5 second period. - I understand the risks. + Toggles 'Experimental Mode' by holding down the 'distance' button on the steering wheel for 0.5 seconds. - WARNING: This will prevent your drives from being recorded and the data will be unobtainable! + Enables either a sporty or eco-friendly acceleration rate. 'Sport+' aims to make openpilot accelerate as fast as possible. - WARNING: This will prevent your drives from appearing on comma connect which may impact debugging and support! + Enables either a sporty or eco-friendly deceleration rate. - - - FrogPilotLateralPanel - Always on Lateral + Uses the lead's acceleration rate when at a takeoff and ramps off the acceleration rate when approaching the maximum set speed for a more 'human-like' driving experience. - openpilot's steering control stays active even when the brake or gas pedals are pressed. - -Deactivate only occurs with the 'Cruise Control' button. + Human-Like Approach Behind Leads - Control with LKAS Button + Dynamically adjusts the following distance when approaching slower or stopped vehicles for a more 'human-like' driving experience. - 'Always on Lateral' gets turned on or off using the 'LKAS' button. + Lead Detection Confidence - Enable with Cruise Control + Controls how sensitive openpilot is to detecting vehicles ahead. A lower value can help detect vehicles sooner and from farther away, but increases the chance openpilot mistakes other objects for vehicles. - 'Always on Lateral' gets turned on by pressing the 'Cruise Control' button bypassing the requirement to enable openpilot first. + Maximum Acceleration Rate - Pause on Brake Below + Sets a cap on how fast openpilot can accelerate. - 'Always on Lateral' pauses when the brake pedal is pressed below the set speed. + 'Taco Bell Run' Turn Speed Hack - Hide the Status Bar + Uses comma's speed hack they used to help handle left and right turns more precisely during their 2022 'Taco Bell' drive by reducing the maximum allowed speed and acceleration while turning. - The status bar for 'Always on Lateral' is hidden. + Cruise Increase - Lane Change Settings + Controls the interval used when increasing the cruise control speed. - How openpilot handles lane changes. + Cruise Increase (Long Press) - Hands-Free Lane Change + Controls the interval used when increasing the cruise control speed while holding down the button for 0.5+ seconds. - Lane changes are conducted without needing to touch the steering wheel upon turn signal activation. + Force Keep openpilot in the Standstill State - Lane Change Delay + Keeps openpilot in the 'standstill' state until the gas pedal or 'resume' button is pressed. - How long openpilot waits before changing lanes. + Force Stop for 'Detected' Stop Lights/Signs - Lane Width Requirement + Forces a stop whenever openpilot 'detects' a potential red light/stop sign to prevent it from running the red light/stop sign. - The minimum lane width for openpilot to detect a lane as a lane. + Set Speed Offset - Minimum Speed for Lane Change + Controls how much higher or lower the set speed should be compared to your current set speed. For example, if you prefer to drive 5 mph above the speed limit, this setting will automatically add that difference when you adjust your set speed. - The minimum speed required for openpilot to perform a lane change. + Maps the acceleration and deceleration profiles to your car's 'Eco' or 'Sport' gear modes. - Single Lane Change Per Signal + Reverses the long press cruise increase feature to increase the max speed by 5 mph instead of 1 on short presses. - Lane changes are limited to one per turn signal activation. + Automatically adjust your max speed to match the speed limit using downloaded 'Open Street Maps' data, 'Navigate on openpilot', or your car's dashboard (Toyota/Lexus/HKG only). - Lateral Tuning + Enables manual confirmations before using a new speed limit. - Settings that control how openpilot manages steering. + Controls what happens when no speed limit data is available. - Neural Network Feedforward (NNFF) + Controls how the current speed limit is overriden. + + - Twilsonco's 'Neural Network FeedForward' for more precise steering control. + Forces speed limit readings from the dashboard to MPH if it normally displays them in KPH. - Smooth Curve Handling + Sets a lookahead value to prepare for upcoming higher speed limits when using downloaded map data. - Smoother steering when entering and exiting curves with Twilsonco's torque adjustments. + Sets a lookahead value to prepare for upcoming lower speed limits when using downloaded map data. - Quality of Life Improvements + Sets your max speed to match the current speed limit when enabling openpilot. - Miscellaneous lateral focused features to improve your overall openpilot experience. + Speed Limit Source Priority Order - Pause Steering Below + Sets the order of priority for speed limit data sources. - Pauses steering control when driving below the set speed. + Set speed limit offsets to drive over the posted speed limit. - mph - mph + Sets the speed limit offset for speeds between 0 and 34 mph. + - feet + Sets the speed limit offset for speeds between 35 and 54 mph. - Reboot required to take effect. + Sets the speed limit offset for speeds between 55 and 64 mph. - Reboot Now + Sets the speed limit offset for speeds between 65 and 99 mph. - kph + Show Speed Limit Sources - meters + Displays the speed limit sources in the onroad UI when using 'Speed Limit Controller'. - - - FrogPilotLongitudinalPanel - Conditional Experimental Mode - + Reset + 重設 - Automatically switches to 'Experimental Mode' when specific conditions are met. + The 'Map Based' option is only available when some 'Map Data' has been downloaded! - Below + Okay - 'Experimental Mode' is active when driving below the set speed without a lead vehicle. + Set With Gas Pedal - Curve Detected Ahead + Max Set Speed - 'Experimental Mode' is active when a curve is detected in the road ahead. + Map Data - Lead Detected Ahead + Are you sure you want to completely reset your settings for 'Traffic Mode'? - 'Experimental Mode' is active when a slower or stopped vehicle is detected ahead. + Are you sure you want to completely reset your settings for the 'Aggressive' personality? - Navigation Data + Are you sure you want to completely reset your settings for the 'Standard' personality? - 'Experimental Mode' is active based on navigation data, such as upcoming intersections or turns. + Are you sure you want to completely reset your settings for the 'Relaxed' personality? - openpilot Wants to Stop In + Sets the speed limit offset for speeds between 0-34 kph. - 'Experimental Mode' is active when openpilot wants to stop such as for a stop sign or red light. + Sets the speed limit offset for speeds between 35-54 kph. - Turn Signal Below + Sets the speed limit offset for speeds between 55-64 kph. - 'Experimental Mode' is active when using turn signals below the set speed. + Sets the speed limit offset for speeds between 65-99 kph. - Hide the Status Bar + Sets the speed limit offset for speeds between 0-34 mph. - The status bar for 'Conditional Experimental Mode' is hidden. + Sets the speed limit offset for speeds between 35-54 mph. - Curve Speed Control + Sets the speed limit offset for speeds between 55-64 mph. - Automatically slow down for curves detected ahead or through the downloaded maps. + Sets the speed limit offset for speeds between 65-99 mph. + + + FrogPilotModelPanel - Curve Detection Method + Automatically Update and Download Models - The method used to detect curves. + Automatically downloads new models and updates existing ones if needed. - Curve Detection Failsafe + Model Randomizer - Curve control is triggered only when a curve is detected ahead. Use this as a failsafe to prevent false positives when using the 'Map Based' method. + Randomly selects a model each drive and brings up a model review prompt at the end to help find your preferred model. - Curve Sensitivity + Manage Model Blacklist - How sensitive openpilot is to detecting curves. Higher values trigger earlier responses at the risk of triggering too often, while lower values increase confidence at the risk of triggering too infrequently. + Manage the blacklisted models that aren't being used with 'Model Randomizer'. - Turn Speed Aggressiveness + Reset Model Scores - How aggressive openpilot takes turns. Higher values result in quicker turns, while lower values provide gentler turns. + Clear the ratings you've given to the driving models. - Disable Speed Value Smoothing In the UI + Review Model Scores - Speed value smoothing is disabled in the UI to instead display the exact speed requested by the curve control. + View the ratings you've assigned to the driving models. - Experimental Mode Activation + Delete Model - 'Experimental Mode' is toggled off/on using the steering wheel buttons or the on-screen controls. - -This overrides 'Conditional Experimental Mode'. + Delete driving models from your device. - Click the LKAS Button + Download Model - 'Experimental Mode' is toggled by pressing the 'LKAS' button on the steering wheel. + Download new driving models. - Double-Tap the Screen + Select Model - 'Experimental Mode' is toggled by double-tapping the onroad UI within 0.5 seconds. + Select your preferred driving model. - Long Press the Distance Button - + ADD + 新增 - 'Experimental Mode' is toggled by holding the 'distance' button on the steering wheel for 0.5+ seconds. - + REMOVE + 移除 - Longitudinal Tuning + REMOVE ALL - Settings that control how openpilot manages speed and acceleration. + There are no more models to blacklist! The only available model is "%1"! - Acceleration Profile - + OK + 一般 - Choose between a sporty or eco-friendly acceleration rate. + Select a model to add to the blacklist - Deceleration Profile + Are you sure you want to add the '%1' model to the blacklist? - Choose between a sporty or eco-friendly deceleration rate. + Add - Human-Like Acceleration + Select a model to remove from the blacklist - Uses the lead's acceleration rate when at a takeoff and ramps off the acceleration rate when approaching the maximum set speed for a smoother max speed approach. + Are you sure you want to remove the '%1' model from the blacklist? - Human-Like Following Distance + Remove - Dynamically adjusts the following distance to feel more natural when approaching slower or stopped vehicles. + Are you sure you want to remove all of your blacklisted models? - Increase Stopped Distance - + RESET + 重設 - Increases the distance to stop behind vehicles. + Are you sure you want to reset all of your model drives and scores? - Quality of Life Improvements - + REVIEW + 觀看 - Miscellaneous longitudinal focused features to improve your overall openpilot experience. + DELETE - Cruise Increase Interval + DELETE ALL - Interval used when increasing the cruise control speed. + Select a driving model to delete - Custom Cruise Interval (Long Press) + Are you sure you want to delete the '%1' model? - Interval used when increasing the cruise control speed when holding down the button for 0.5+ seconds. + Delete - Map Accel/Decel to Gears + Are you sure you want to delete all of your downloaded driving models? - Map the acceleration and deceleration profiles to the 'Eco' or 'Sport' gear modes. - + DOWNLOAD + 下載 - Onroad Personality Button + DOWNLOAD ALL - The current driving personality is displayed on the screen. Tap to switch personalities, or long press for 2.5 seconds to activate 'Traffic Mode'. + Select a driving model to download - Reverse Cruise Increase - + SELECT + 選取 - The long press feature is reversed in order to increase speed by 5 mph instead of 1. + Select a model - 🗺️ = Navigation | 📡 = Radar | 👀 = VOACC - Speed Limit Controller + Reboot required to take effect. - Automatically adjust your max speed to match the speed limit using 'Open Street Maps', 'Navigate on openpilot', or your car's dashboard (Toyota/Lexus/HKG only). + Reboot Now - Confirm New Speed Limits + The 'Model Randomizer' only works with downloaded models. Do you want to download all the driving models? - Require manual confirmation before using a new speed limit. + CANCEL + + + FrogPilotParamManageControl - Fallback Method + MANAGE + + + FrogPilotSettingsWindow - Choose what happens when no speed limit data is available. + Alerts and Sounds - Override Method + Driving Controls - Choose how you want to override the current speed limit. - - + Navigation - Speed Limit Source Priority + System Management - Set the order of priority for speed limit data sources. + Theme and Appearance - Speed Limit Offsets + Vehicle Controls - Manage toggles related to 'Speed Limit Controller's controls. + Options to customize FrogPilot's sound alerts and notifications. - Speed Limit Offset (0-34 mph) + Tools and system utilities used to maintain and troubleshoot FrogPilot. - Set the speed limit offset for speeds between 0 and 34 mph. + Options for customizing FrogPilot's themes, UI appearance, and onroad widgets. - Speed Limit Offset (35-54 mph) + Vehicle-specific settings and configurations for supported makes and models. - Set the speed limit offset for speeds between 35 and 54 mph. + MANAGE - Speed Limit Offset (55-64 mph) + GAS / BRAKE - Set the speed limit offset for speeds between 55 and 64 mph. + STEERING - Speed Limit Offset (65-99 mph) + DATA - Set the speed limit offset for speeds between 65 and 99 mph. + DEVICE - Miscellaneous 'Speed Limit Controller' focused features to improve your overall openpilot experience. + UTILITIES - Force MPH Readings from Dashboard + APPEARANCE - Force speed limit readings in MPH from the dashboard if it normally displays in KPH. + THEME - Prepare for Higher Speed Limits + Minimal - Set a lookahead value to prepare for upcoming higher speed limits based on map data. + Standard + 標準 + + + Advanced + 進階 + + + Developer - Prepare for Lower Speed Limits + Tuning Level - Set a lookahead value to prepare for upcoming lower speed limits based on map data. + Select the tuning level that best suits your needs. 'Minimal' is ideal for those who prefer simplicity and ease of use, 'Standard' is recommended for most users, offering a balanced experience, 'Advanced' provides more control for experienced users, while 'Developer' unlocks highly customizable settings designed for seasoned enthusiasts. - Set Speed to Current Limit + WARNING: This unlocks some potentially dangerous settings that can DRASTICALLY alter your driving experience! - Set your max speed to match the current speed limit when enabling openpilot. + I understand the risks. - Visual Settings + The 'Developer' preset is only available for users with either over 100 hours on FrogPilot, or 250 hours with openpilot. - Manage visual settings for the 'Speed Limit Controller'. + Okay - Use Vienna-Style Speed Signs + FrogPilot features that impact acceleration, braking, and steering. - Switch to Vienna-style (EU) speed limit signs instead of MUTCD (US). + Map data downloader and 'Navigate On openpilot (NOO)' settings. - Show Speed Limit Offset + DRIVING MODEL - Display the speed limit offset separately in the onroad UI when using the Speed Limit Controller. + MAP DATA - mph - mph + PRIMELESS NAVIGATION + + + + FrogPilotSoundsPanel - With Lead + Alert Volume Controller - Switches to 'Experimental Mode' when driving below the set speed with a lead vehicle. + Control the volume level for each individual sound in openpilot. - With Lead + Disengage Volume - Slower Lead + Related alerts: + +Adaptive Cruise Disabled +Parking Brake Engaged +Brake Pedal Pressed +Speed too Low - Stopped Lead + Engage Volume - Intersections + Related alerts: + +NNFF Torque Controller loaded +openpilot engaged - Turns + Prompt Volume - Off + Related alerts: + +Car Detected in Blindspot +Speed too Low +Steer Unavailable Below 'X' +Take Control, Turn Exceeds Steering Limit - Map Based + Prompt Distracted Volume - Vision + Related alerts: + +Pay Attention, Driver Distracted +Touch Steering Wheel, Driver Unresponsive - Standard - 標準 + Refuse Volume + - Eco + Related alerts: + +openpilot Unavailable - Sport + Warning Soft Volume - Sport+ + Related alerts: + +BRAKE!, Risk of Collision +TAKE CONTROL IMMEDIATELY - feet + Warning Immediate Volume - Acceleration + Related alerts: + +DISENGAGE IMMEDIATELY, Driver Distracted +DISENGAGE IMMEDIATELY, Driver Unresponsive - Deceleration + Custom Alerts - Lower Limits + Goat Scream Steering Saturated Alert - Higher Limits + Green Light Alert - None + Lead Departing Alert - Set Speed + Loud Blindspot Alert - Experimental Mode - 實驗模式 + Custom alerts for openpilot events. + - Previous Limit + Enables the famed 'Goat Scream' that has brought both joy and anger to FrogPilot users all around the world! - Gas Pedal Press + Plays an alert when a traffic light changes from red to green. - Cruise Set Speed + Plays an alert when the lead vehicle starts starts to depart when at a standstill. - SELECT - 選取 + Plays a louder alert for when a vehicle is detected in the blindspot when attempting to change lanes. + - Dashboard + Speed Limit Changed Alert - Navigation + Plays an alert when the speed limit changes. - Offline Maps + Auto - Highest + Muted + + + FrogPilotThemesPanel - Lowest + Custom Theme - Select your primary priority + Custom openpilot themes. - Select your secondary priority + Color Scheme - Select your tertiary priority + Icon Pack - MANAGE + Sound Pack - seconds + Steering Wheel - Control Via UI + Turn Signal Animation - Speed Limit Offset (0-34 kph) + Download Status - Speed Limit Offset (35-54 kph) + Holiday Themes - Speed Limit Offset (55-64 kph) + Random Events - Speed Limit Offset (65-99 kph) + Startup Alert - Set speed limit offset for limits between 0-34 kph. + DELETE - Set speed limit offset for limits between 35-54 kph. + DOWNLOAD + 下載 + + + SELECT + 選取 + + + Select a color scheme to delete - Set speed limit offset for limits between 55-64 kph. + Are you sure you want to delete the '%1' color scheme? - Set speed limit offset for limits between 65-99 kph. + Delete - kph + Select a color scheme to download - meters + Select a color scheme - Set speed limit offset for limits between 0-34 mph. + Select an icon pack to delete - Set speed limit offset for limits between 35-54 mph. + Are you sure you want to delete the '%1' icon pack? - Set speed limit offset for limits between 55-64 mph. + Select an icon pack to download - Set speed limit offset for limits between 65-99 mph. + Select an icon pack - - - FrogPilotParamManageControl - MANAGE + Select a sound pack to delete - - - FrogPilotSettingsWindow - Advanced Settings + Select a sound pack to download - Alerts and Sounds + Select a steering wheel to delete - Driving Controls + Select a steering wheel to download - Navigation + Select a steering wheel - System Management + STOCK - Theme and Appearance + FROGPILOT - Vehicle Controls + CUSTOM - Advanced FrogPilot features for more experienced users. + CLEAR - Options to customize FrogPilot's sound alerts and notifications. + Characters: 0/%1 - FrogPilot features than impact acceleration, braking, and steering. + CANCEL - Offline maps downloader and 'Navigate On openpilot (NOO)' settings. + Changes out openpilot's color scheme. + +Want to submit your own color scheme? Share it in the 'custom-themes' channel on the FrogPilot Discord! - Tools and system utilities used to maintain and troubleshoot FrogPilot. + Changes out openpilot's icon pack. + +Want to submit your own icons? Share them in the 'custom-themes' channel on the FrogPilot Discord! - Options for customizing FrogPilot's themes, UI appearance, and onroad widgets. + Changes out openpilot's sound effects. + +Want to submit your own sounds? Share them in the 'custom-themes' channel on the FrogPilot Discord! - Vehicle-specific settings and configurations for supported makes and models. + Enables a custom steering wheel icon in the top right of the screen. - DRIVING + Enables themed turn signal animations. + +Want to submit your own animations? Share them in the 'custom-themes' channel on the FrogPilot Discord! - VISUALS + Changes the openpilot theme based on the current holiday. Minor holidays last one day, while major holidays (Easter, Christmas, Halloween, etc.) last the entire week. - MANAGE + Rainbow Path - GAS / BRAKE + Swap out the path in the onroad UI for a Mario Kart inspired 'Rainbow Path'. - STEERING + Enables random cosmetic events that happen during certain driving conditions. These events are purely for fun and don't affect driving controls! - DATA + Controls the text of the 'Startup' alert message that appears when you start the drive. - DEVICE + Select a distance icon pack to delete - UTILITIES + Are you sure you want to delete the '%1' distance icon pack? - APPEARANCE + Select a distance icon pack to download - THEME + Select a distance icon pack + + + + Select a signal animation to delete + + + + Are you sure you want to delete the '%1' signal animation? + + + + Select a signal animation to download + + + + Select a signal animation + + + + Are you sure you want to delete the '%1' sound pack? + + + + Select a sound pack + + + + Are you sure you want to delete the '%1' steering wheel? + + + + Enter the text for the top half + + + + Enter the text for the bottom half - FrogPilotSoundsPanel + FrogPilotVehiclesPanel - Alert Volume Controller + Select Make - Control the volume level for each individual sound in openpilot. + SELECT + 選取 + + + Select a Make - Disengage Volume + Select Model - Related alerts: - -Adaptive Cruise Disabled -Parking Brake Engaged -Brake Pedal Pressed -Speed too Low + Select a Model - Engage Volume + Disable Automatic Fingerprint Detection - Related alerts: - -NNFF Torque Controller loaded -openpilot engaged + Forces the selected fingerprint and prevents it from ever changing. - Prompt Volume + Disable openpilot Longitudinal Control - Related alerts: - -Car Detected in Blindspot -Speed too Low -Steer Unavailable Below 'X' -Take Control, Turn Exceeds Steering Limit + Are you sure you want to completely disable openpilot longitudinal control? - Prompt Distracted Volume + Reboot required to take effect. - Related alerts: - -Pay Attention, Driver Distracted -Touch Steering Wheel, Driver Unresponsive + Reboot Now - Refuse Volume + 2017 Volt Stop and Go Hack - Related alerts: - -openpilot Unavailable + Experimental GM Tune - Warning Soft Volume + Uphill/Downhill Smoothing - Related alerts: - -BRAKE!, Risk of Collision -TAKE CONTROL IMMEDIATELY + Use comma's New Longitudinal API - Warning Immediate Volume + Subaru Crosstrek Torque Increase - Related alerts: - -DISENGAGE IMMEDIATELY, Driver Distracted -DISENGAGE IMMEDIATELY, Driver Unresponsive + Increases the maximum allowed torque for the Subaru Crosstrek. - Custom Alerts + Automatically Lock/Unlock Doors + + + + Cluster Speed Offset + + + + FrogsGoMoo's Personal Tweaks + + + + Stop and Go Hack + + + + Lock + + + + Unlock + + + + Disables openpilot longitudinal control and uses the car's stock ACC instead. - Enable custom alerts for openpilot events. + Forces stop and go for the 2017 Chevy Volt. - Goat Scream Steering Saturated Alert + Enables FrogsGoMoo's experimental GM tune that is based on nothing but guesswork. Use at your own risk! - Enable the famed 'Goat Scream' that has brought both joy and anger to FrogPilot users all around the world! + Smoothens the gas and brake response when driving on slopes. - Green Light Alert + Enables comma's new control system that has shown great improvement with acceleration and braking, but has a few issues on some GM vehicles. - Get an alert when a traffic light changes from red to green. + Enables comma's new control system that has shown great improvement with acceleration and braking, but has a few issues on Hyundai/Kia/Genesis. - Lead Departing Alert + Automatically locks the doors when in drive and unlocks when in park. - Get an alert when the lead vehicle starts departing when at a standstill. + Sets the cluster offset openpilot uses to try and match the speed displayed on the dash. - Loud Blindspot Alert + Enables FrogsGoMoo's personal tweaks to the Toyota tune focused around his 2019 Lexus ES 350 to take off a bit quicker and stop a bit smoother. - Enable a louder alert for when a vehicle is detected in the blindspot when attempting to change lanes. + Forces stop and go for vehicles without stock stop and go functionality. + + + FrogPilotVisualsPanel - Speed Limit Change Alert + Custom FrogPilot widgets used in the onroad user interface. - Trigger an alert when the speed limit changes. + Compass - - - FrogPilotThemesPanel - Custom Theme + Dynamic Path Width - Custom openpilot themes. + Road Name - Color Scheme + Rotating Steering Wheel - Themed color schemes. - -Want to submit your own color scheme? Share it in the 'feature-request' channel on the FrogPilot Discord! + Larger Map Display - Icon Pack + Map Style - Themed icon packs. - -Want to submit your own icons? Share them in the 'feature-request' channel on the FrogPilot Discord! + Show Driver Camera When In Reverse - Sound Pack + Stopped Timer - Themed sound effects. - -Want to submit your own sounds? Share them in the 'feature-request' channel on the FrogPilot Discord! + Blind Spot - Steering Wheel + Dynamic - Custom steering wheel icons. + Static - Turn Signal Animation + Full Map - Themed turn signal animations. - -Want to submit your own animations? Share them in the 'feature-request' channel on the FrogPilot Discord! + Mapbox Streets - Download Status + Mapbox Outdoors - Holiday Themes + Mapbox Light - Change the openpilot theme based on the current holiday. Minor holidays last one day, while major holidays (Easter, Christmas, Halloween, etc.) last a week. + Mapbox Dark - Random Events + Mapbox Satellite - Random cosmetic events that happen during certain driving conditions. These events are purely for fun and don't affect driving controls! + Mapbox Satellite Streets - Startup Alert + Mapbox Navigation Day - Custom 'Startup' alert message that appears when you start driving. + Mapbox Navigation Night - DELETE + Mapbox Traffic Night - DOWNLOAD - 下載 + mike854's (Satellite hybrid) + SELECT 選取 - Select a color scheme to delete + Select a map style - Are you sure you want to delete the '%1' color scheme? + Accessibility - Delete + Visual features to improve your overall openpilot experience. - Select a color scheme to download + Camera View - Select a color scheme + Changes the camera view display. This is purely a visual change and doesn't impact how openpilot drives. - Select an icon pack to delete + On Screen Personality Button - Are you sure you want to delete the '%1' icon pack? + Displays the current driving personality on the screen. Tap to switch personalities, or long press for 2.5 seconds to activate 'Traffic' mode. - Select an icon pack to download + Displays the driver camera feed when the vehicle is in reverse. - Select an icon pack + Standby Mode - Select a signal pack to delete + Turns the screen off when driving and automatically wakes it up if engagement state changes or important alerts occur. - Are you sure you want to delete the '%1' signal pack? + Activates a timer when stopped to indicate how long the vehicle has been stopped for. - Select a signal pack to download + Advanced UI Controls - Select a signal pack + Advanced features to fine tune your personalized UI. - Select a sound pack to delete + Hide Current Speed - Are you sure you want to delete the '%1' sound scheme? + Hides the current speed. - Select a sound pack to download + Hide Lead Marker - Select a sound scheme + Hides the marker for the vehicle ahead. - Select a steering wheel to delete + Hide Map Icon - Are you sure you want to delete the '%1' steering wheel image? + Hides the map icon. - Select a steering wheel to download + Hide Max Speed - Select a steering wheel + Hides the max speed. - STOCK + Hide Non-Critical Alerts - FROGPILOT + Hides non-critical alerts. - CUSTOM + Hide Speed Limits - CLEAR + Hides the speed limits. - Enter your text for the top half + Use Wheel Speed - Characters: 0/%1 + Uses the wheel speed instead of the cluster speed. This is purely a visual change and doesn't impact how openpilot drives. - Enter your text for the bottom half + Developer Metrics - CANCEL + Show detailed information about openpilot's internal operations. - - - FrogPilotVehiclesPanel - Select Make + Border Metrics - SELECT - 選取 + Displays performance metrics around the edge of the screen while driving. + - Select a Make + FPS Display - Select Model + Displays the 'Frames Per Second' (FPS) at the bottom of the screen while driving. - Select a Model + Lateral Metrics - Disable Automatic Fingerprint Detection + Displays metrics related to steering control at the top of the screen while driving. - Forces the selected fingerprint and prevents it from ever changing. + Longitudinal Metrics - Disable openpilot Longitudinal Control + Displays metrics related to acceleration, speed, and desired following distance at the top of the screen while driving. - Disable openpilot longitudinal control and use stock ACC instead. + Numerical Temperature Gauge - Are you sure you want to completely disable openpilot longitudinal control? + Shows exact temperature readings instead of status labels like 'GOOD', 'OK', or 'HIGH' in the sidebar. - Reboot required to take effect. + Sidebar - Reboot Now + Displays system information like CPU, GPU, RAM usage, IP address, and storage space in the sidebar. - 2017 Volt Stop and Go Hack + Use International System of Units - Force stop and go for the 2017 Chevy Volt. + Displays measurements using the 'International System of Units' (SI). - Experimental GM Tune + Model UI - FrogsGoMoo's experimental GM tune that is based on nothing but guesswork. Use at your own risk! + Customize the model visualizations on the screen. - Uphill/Downhill Smoothing + Automatically adjusts the width of the driving path display based on the current engagement state: + +Fully engaged = 100% +Always On Lateral Active = 75% +Fully disengaged = 50% - Smoothen the car’s gas and brake response when driving on slopes. + Lane Lines Width - Use comma's New Longitudinal API + Controls the thickness the lane lines appear on the display. + +Default matches the MUTCD standard of 4 inches. - Comma's new longitudinal control system that has shown great improvement with acceleration and braking, but has a few issues on some GM vehicles. + Path Edges Width - Use comma's new longitudinal control system that has shown great improvement with acceleration and braking, but has a few issues on Hyundai/Kia/Genesis. + Controls the width of the edges of the driving path to represent different modes and statuses. + +Default is 20% of the total path width. + +Color Guide: +- Blue: Navigation +- Light Blue: 'Always On Lateral' +- Green: Default +- Orange: 'Experimental Mode' +- Red: 'Traffic Mode' +- Yellow: 'Conditional Experimental Mode' Overridden - Subaru Crosstrek Torque Increase + Path Width - Increases the maximum allowed torque for the Subaru Crosstrek. + Controls how wide the driving path appears on your screen. + +Default (6.1 feet / 1.9 meters) matches the width of a 2019 Lexus ES 350. - Automatically Lock/Unlock Doors + Road Edges Width - Automatically lock the doors when in drive and unlock when in park. + Controls how thick the road edges appear on the display. + +Default matches half of the MUTCD standard lane line width of 4 inches. - Cluster Speed Offset + Stopping Point - Set the cluster offset openpilot uses to try and match the speed displayed on the dash. + Displays an image on the screen where openpilot is detecting a potential red light/stop sign. - FrogsGoMoo's Personal Tweaks + 'Unlimited' Road UI - Use FrogsGoMoo's personal tweaks to the Toyota tune focused around his 2019 Lexus ES 350 to take off a bit quicker and stop a bit smoother. + Extends the display of the path, lane lines, and road edges as far as the model can see. - Stop and Go Hack + Navigation Widgets - Force stop and go for vehicles without stock stop and go functionality. + Wwidgets focused around navigation. - Lock + Increases the size of the map for easier navigation readings. - Unlock + Swaps out the stock map style for community created ones. - - - FrogPilotVisualsPanel - Onroad UI Widgets + Displays the current road name at the bottom of the screen using data from 'OpenStreetMap'. - Custom FrogPilot widgets used in the onroad user interface. + Show Speed Limit Offset - Compass + Displays the speed limit offset separately in the onroad UI when using 'Speed Limit Controller'. - A compass in the onroad UI to show the current driving direction. + Show Speed Limits - Dynamic Path Width + Displays the currently detected speed limit in the top left corner of the onroad UI. Uses data from your car's dashboard (if supported) and data from 'OpenStreetMaps'. - Automatically adjust the width of the driving path display based on the current engagement state: - -Fully engaged = 100% -Always On Lateral Active = 75% -Fully disengaged = 50% + Use Vienna-Style Speed Signs - Gas/Brake Pedal Indicators + Forces Vienna-style (EU) speed limit signs instead of MUTCD (US). - Pedal indicators in the onroad UI that change opacity based on the pressure applied. + Onroad Screen Widgets - Paths + Acceleration Path - Projected acceleration path, detected lanes, and vehicles in the blind spot. + Projects a path based on openpilot's current desired acceleration or deceleration. - Road Name + Adjacent Lanes - The current road name is displayed at the bottom of the screen using data from 'OpenStreetMap'. + Projects paths for the adjascent lanes. - Rotating Steering Wheel + Blind Spot Path - The steering wheel in the onroad UI rotates along with your steering wheel movements. + Projects a red path when vehicles are detected in the blind spot for the respective lane. - Quality of Life Improvements + Displays a compass to show the current driving direction. - Miscellaneous visual focused features to improve your overall openpilot experience. + Gas / Brake Pedal Indicators - Larger Map Display + Displays pedal indicators to indicate when either of the pedals are currently being used. - A larger size of the map in the onroad UI for easier navigation readings. + Rotates the steering wheel in the onroad UI rotates along with your steering wheel movements. - Map Style + Auto - Custom map styles for the map used during navigation. + Driver - Screen Standby Mode + Standard + 標準 + + + Wide - The screen is turned off after it times out when driving, but it automatically wakes up if engagement state changes or important alerts occur. + Steering Torque - Show Driver Camera When In Reverse + Turn Signal - The driver camera feed is displayed when the vehicle is in reverse. + Adjacent Path Metrics - Stopped Timer + Auto Tune - A timer on the onroad UI to indicate how long the vehicle has been stopped. + Adjacent Leads - Acceleration + Lead Info - Adjacent + Jerk Values - Blind Spot + Fahrenheit - Dynamic + CPU - Static + GPU - Full Map + IP - Stock openpilot + RAM - Mapbox Streets + SSD Left - Mapbox Outdoors + SSD Used - Mapbox Light + inches - Mapbox Dark + % - Mapbox Satellite + feet - Mapbox Satellite Streets + Show Distance - Mapbox Navigation Day + Stock - Mapbox Navigation Night + Adjust how thick the lane lines appear on the display. + +Default matches the Vienna standard of 10 centimeters. - Mapbox Traffic Night + Adjust how thick the road edges appear on the display. + +Default matches half of the Vienna standard of 10 centimeters. - mike854's (Satellite hybrid) + centimeters - SELECT - 選取 + meters + - Select a map style + Adjust how thick the lane lines appear on the display. + +Default matches the MUTCD standard of 4 inches. + + + + Adjust how thick the road edges appear on the display. + +Default matches half of the MUTCD standard of 4 inches. @@ -3760,6 +3845,30 @@ This may take up to a minute. FrogPilot + + Welcome to FrogPilot! Since you're new to FrogPilot, the 'Minimal' toggle preset has been applied, but you can change this at any time via the 'Tuning Level' button! + + + + Sounds good! + + + + Since you're fairly new to FrogPilot, the 'Minimal' toggle preset has been applied, but you can change this at any time via the 'Tuning Level' button! + + + + Since you're experienced with openpilot, the 'Standard' toggle preset has been applied, but you can change this at any time via the 'Tuning Level' button! + + + + Since you're experienced with FrogPilot, the 'Standard' toggle preset has been applied, but you can change this at any time via the 'Tuning Level' button! + + + + Since you're very experienced with FrogPilot, the 'Advanced' toggle preset has been applied, but you can change this at any time via the 'Tuning Level' button! + + Setup @@ -4064,10 +4173,6 @@ This may take up to a minute. FrogPilot will automatically update itself and it's assets when you're offroad and connected to Wi-Fi. - - Do you want to permanently delete any additional FrogPilot assets? This is 100% unrecoverable and includes backups, downloaded models, themes, and long-term storage toggle settings for easy reinstalls. - - Error Log @@ -4080,6 +4185,14 @@ This may take up to a minute. View the error log for openpilot crashes. + + Do you want to delete deep storage FrogPilot assets? This includes your toggle settings for quick reinstalls. + + + + Are you sure? This is 100% unrecoverable and if you reinstall FrogPilot you'll lose all your previous settings! + + SshControl @@ -4330,10 +4443,6 @@ This may take up to a minute. FLASH - - Use this button to flash the Panda device's firmware if you're running into issues. - - Are you sure you want to flash the Panda? @@ -4358,10 +4467,6 @@ This may take up to a minute. Force Started State - - Force openpilot either offroad or onroad. - - OFFROAD @@ -4402,6 +4507,14 @@ This may take up to a minute. Reset! + + Flashes the Panda device's firmware if you're running into issues. + + + + Forces openpilot either offroad or onroad. + + WiFiPromptWidget @@ -4430,7 +4543,7 @@ This may take up to a minute. - Toggle off the 'Disable Uploading' toggle to enable uploads. + Toggle off the 'Turn Off Data Uploads' toggle to re-enable uploads. diff --git a/selfdrive/ui/ui b/selfdrive/ui/ui new file mode 100755 index 00000000000000..9050827a596d09 Binary files /dev/null and b/selfdrive/ui/ui differ diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc deleted file mode 100644 index 349b257dfaded1..00000000000000 --- a/selfdrive/ui/ui.cc +++ /dev/null @@ -1,686 +0,0 @@ -#include "selfdrive/ui/ui.h" - -#include -#include -#include - -#include - -#include "common/transformations/orientation.hpp" -#include "common/params.h" -#include "common/swaglog.h" -#include "common/util.h" -#include "common/watchdog.h" -#include "system/hardware/hw.h" - -#define BACKLIGHT_DT 0.05 -#define BACKLIGHT_TS 10.00 - -// Projects a point in car to space to the corresponding point in full frame -// image space. -static bool calib_frame_to_full_frame(const UIState *s, float in_x, float in_y, float in_z, QPointF *out) { - const float margin = 500.0f; - const QRectF clip_region{-margin, -margin, s->fb_w + 2 * margin, s->fb_h + 2 * margin}; - - const vec3 pt = (vec3){{in_x, in_y, in_z}}; - const vec3 Ep = matvecmul3(s->scene.wide_cam ? s->scene.view_from_wide_calib : s->scene.view_from_calib, pt); - const vec3 KEp = matvecmul3(s->scene.wide_cam ? ECAM_INTRINSIC_MATRIX : FCAM_INTRINSIC_MATRIX, Ep); - - // Project. - QPointF point = s->car_space_transform.map(QPointF{KEp.v[0] / KEp.v[2], KEp.v[1] / KEp.v[2]}); - if (clip_region.contains(point)) { - *out = point; - return true; - } - return false; -} - -int get_path_length_idx(const cereal::XYZTData::Reader &line, const float path_height) { - const auto line_x = line.getX(); - int max_idx = 0; - for (int i = 1; i < line_x.size() && line_x[i] <= path_height; ++i) { - max_idx = i; - } - return max_idx; -} - -void update_leads(UIState *s, const cereal::RadarState::Reader &radar_state, const cereal::XYZTData::Reader &line) { - SubMaster &sm = *(s->sm); - float path_offset_z = sm["liveCalibration"].getLiveCalibration().getHeight()[0]; - - cereal::RadarState::LeadData::Reader (cereal::RadarState::Reader::*get_lead_data[7])() const = { - &cereal::RadarState::Reader::getLeadOne, - &cereal::RadarState::Reader::getLeadTwo, - &cereal::RadarState::Reader::getLeadFar, - &cereal::RadarState::Reader::getLeadLeft, - &cereal::RadarState::Reader::getLeadRight, - &cereal::RadarState::Reader::getLeadLeftFar, - &cereal::RadarState::Reader::getLeadRightFar - }; - - for (int i = 0; i < 7; ++i) { - auto lead_data = (radar_state.*get_lead_data[i])(); - if (lead_data.getStatus()) { - float z = line.getZ()[get_path_length_idx(line, lead_data.getDRel())]; - calib_frame_to_full_frame(s, lead_data.getDRel(), -lead_data.getYRel(), z + path_offset_z, &s->scene.lead_vertices[i]); - } - } -} - -void update_line_data(const UIState *s, const cereal::XYZTData::Reader &line, - float y_off, float z_off, QPolygonF *pvd, int max_idx, bool allow_invert=true) { - const auto line_x = line.getX(), line_y = line.getY(), line_z = line.getZ(); - QPointF left, right; - pvd->clear(); - for (int i = 0; i <= max_idx; i++) { - // highly negative x positions are drawn above the frame and cause flickering, clip to zy plane of camera - if (line_x[i] < 0) continue; - - bool l = calib_frame_to_full_frame(s, line_x[i], line_y[i] - y_off, line_z[i] + z_off, &left); - bool r = calib_frame_to_full_frame(s, line_x[i], line_y[i] + y_off, line_z[i] + z_off, &right); - if (l && r) { - // For wider lines the drawn polygon will "invert" when going over a hill and cause artifacts - if (!allow_invert && pvd->size() && left.y() > pvd->back().y()) { - continue; - } - pvd->push_back(left); - pvd->push_front(right); - } - } -} - -void update_model(UIState *s, - const cereal::ModelDataV2::Reader &model, - const cereal::UiPlan::Reader &plan) { - SubMaster &sm = *(s->sm); - UIScene &scene = s->scene; - scene.left_curve = model.getOrientationRate().getZ()[33 - 1] < 0; - float path_offset_z = sm["liveCalibration"].getLiveCalibration().getHeight()[0]; - auto plan_position = plan.getPosition(); - scene.model_length = model.getPosition().getX()[33 - 1]; - if (plan_position.getX().size() < model.getPosition().getX().size()) { - plan_position = model.getPosition(); - } - float max_distance = scene.unlimited_road_ui_length ? *(plan_position.getX().end() - 1) : - std::clamp(*(plan_position.getX().end() - 1), - MIN_DRAW_DISTANCE, MAX_DRAW_DISTANCE); - - // update lane lines - const auto lane_lines = model.getLaneLines(); - const auto lane_line_probs = model.getLaneLineProbs(); - int max_idx = get_path_length_idx(lane_lines[0], max_distance); - for (int i = 0; i < std::size(scene.lane_line_vertices); i++) { - scene.lane_line_probs[i] = lane_line_probs[i]; - update_line_data(s, lane_lines[i], (scene.model_ui ? scene.lane_line_width : 0.025) * scene.lane_line_probs[i], 0, &scene.lane_line_vertices[i], max_idx); - } - - // update road edges - const auto road_edges = model.getRoadEdges(); - const auto road_edge_stds = model.getRoadEdgeStds(); - for (int i = 0; i < std::size(scene.road_edge_vertices); i++) { - scene.road_edge_stds[i] = road_edge_stds[i]; - update_line_data(s, road_edges[i], scene.model_ui ? scene.road_edge_width : 0.025, 0, &scene.road_edge_vertices[i], max_idx); - } - - // Update adjacent paths - for (int i = 4; i <= 5; i++) { - update_line_data(s, lane_lines[i], (i == 4 ? scene.lane_width_left : scene.lane_width_right) / 2.0f, 0, &scene.track_adjacent_vertices[i], max_idx, false); - } - - // update path - float path_width; - if (scene.dynamic_path_width) { - float multiplier = scene.enabled ? 1.0f : scene.always_on_lateral_active ? 0.75f : 0.50f; - path_width = scene.path_width * multiplier; - } else { - path_width = scene.path_width; - } - - if (scene.radarless_model) { - auto lead_count = model.getLeadsV3().size(); - if (lead_count > 0) { - auto lead_one = model.getLeadsV3()[0]; - scene.has_lead = lead_one.getProb() > scene.lead_detection_probability; - - if (scene.has_lead) { - const float lead_d = lead_one.getX()[0] * 2.; - max_distance = std::clamp((float)(lead_d - fmin(lead_d * 0.35, 10.)), 0.0f, max_distance); - } - } else { - scene.has_lead = false; - } - } else { - auto lead_one = (*s->sm)["radarState"].getRadarState().getLeadOne(); - scene.has_lead = lead_one.getModelProb() > scene.lead_detection_probability; - - if (scene.has_lead) { - const float lead_d = lead_one.getDRel() * 2.; - max_distance = std::clamp((float)(lead_d - fmin(lead_d * 0.35, 10.)), 0.0f, max_distance); - } - } - max_idx = get_path_length_idx(plan_position, max_distance); - update_line_data(s, plan_position, scene.model_ui ? path_width * (1 - (scene.path_edge_width / 100.0f)) : 0.9, path_offset_z, &scene.track_vertices, max_idx, false); - - // Update path edges - update_line_data(s, plan_position, scene.model_ui ? path_width : 0, path_offset_z, &scene.track_edge_vertices, max_idx, false); -} - -void update_dmonitoring(UIState *s, const cereal::DriverStateV2::Reader &driverstate, float dm_fade_state, bool is_rhd) { - UIScene &scene = s->scene; - const auto driver_orient = is_rhd ? driverstate.getRightDriverData().getFaceOrientation() : driverstate.getLeftDriverData().getFaceOrientation(); - for (int i = 0; i < std::size(scene.driver_pose_vals); i++) { - float v_this = (i == 0 ? (driver_orient[i] < 0 ? 0.7 : 0.9) : 0.4) * driver_orient[i]; - scene.driver_pose_diff[i] = fabs(scene.driver_pose_vals[i] - v_this); - scene.driver_pose_vals[i] = 0.8 * v_this + (1 - 0.8) * scene.driver_pose_vals[i]; - scene.driver_pose_sins[i] = sinf(scene.driver_pose_vals[i]*(1.0-dm_fade_state)); - scene.driver_pose_coss[i] = cosf(scene.driver_pose_vals[i]*(1.0-dm_fade_state)); - } - - auto [sin_y, sin_x, sin_z] = scene.driver_pose_sins; - auto [cos_y, cos_x, cos_z] = scene.driver_pose_coss; - - const mat3 r_xyz = (mat3){{ - cos_x * cos_z, - cos_x * sin_z, - -sin_x, - - -sin_y * sin_x * cos_z - cos_y * sin_z, - -sin_y * sin_x * sin_z + cos_y * cos_z, - -sin_y * cos_x, - - cos_y * sin_x * cos_z - sin_y * sin_z, - cos_y * sin_x * sin_z + sin_y * cos_z, - cos_y * cos_x, - }}; - - // transform vertices - for (int kpi = 0; kpi < std::size(default_face_kpts_3d); kpi++) { - vec3 kpt_this = matvecmul3(r_xyz, default_face_kpts_3d[kpi]); - scene.face_kpts_draw[kpi] = (vec3){{kpt_this.v[0], kpt_this.v[1], (float)(kpt_this.v[2] * (1.0-dm_fade_state) + 8 * dm_fade_state)}}; - } -} - -static void update_sockets(UIState *s) { - s->sm->update(0); -} - -static void update_state(UIState *s) { - Params params = Params(); - SubMaster &sm = *(s->sm); - UIScene &scene = s->scene; - - if (sm.updated("liveCalibration")) { - auto live_calib = sm["liveCalibration"].getLiveCalibration(); - auto rpy_list = live_calib.getRpyCalib(); - auto wfde_list = live_calib.getWideFromDeviceEuler(); - Eigen::Vector3d rpy; - Eigen::Vector3d wfde; - if (rpy_list.size() == 3) rpy << rpy_list[0], rpy_list[1], rpy_list[2]; - if (wfde_list.size() == 3) wfde << wfde_list[0], wfde_list[1], wfde_list[2]; - Eigen::Matrix3d device_from_calib = euler2rot(rpy); - Eigen::Matrix3d wide_from_device = euler2rot(wfde); - Eigen::Matrix3d view_from_device; - view_from_device << 0, 1, 0, - 0, 0, 1, - 1, 0, 0; - Eigen::Matrix3d view_from_calib = view_from_device * device_from_calib; - Eigen::Matrix3d view_from_wide_calib = view_from_device * wide_from_device * device_from_calib; - for (int i = 0; i < 3; i++) { - for (int j = 0; j < 3; j++) { - scene.view_from_calib.v[i*3 + j] = view_from_calib(i, j); - scene.view_from_wide_calib.v[i*3 + j] = view_from_wide_calib(i, j); - } - } - scene.calibration_valid = live_calib.getCalStatus() == cereal::LiveCalibrationData::Status::CALIBRATED; - scene.calibration_wide_valid = wfde_list.size() == 3; - } - if (sm.updated("pandaStates")) { - auto pandaStates = sm["pandaStates"].getPandaStates(); - if (pandaStates.size() > 0) { - scene.pandaType = pandaStates[0].getPandaType(); - - if (scene.pandaType != cereal::PandaState::PandaType::UNKNOWN) { - scene.ignition = false; - for (const auto& pandaState : pandaStates) { - scene.ignition |= pandaState.getIgnitionLine() || pandaState.getIgnitionCan(); - } - } - } - } else if ((s->sm->frame - s->sm->rcv_frame("pandaStates")) > 5*UI_FREQ) { - scene.pandaType = cereal::PandaState::PandaType::UNKNOWN; - } - if (sm.updated("carControl")) { - auto carControl = sm["carControl"].getCarControl(); - scene.steer = carControl.getActuators().getSteer(); - } - if (sm.updated("carParams")) { - scene.longitudinal_control = sm["carParams"].getCarParams().getOpenpilotLongitudinalControl(); - } - if (sm.updated("carState")) { - auto carState = sm["carState"].getCarState(); - scene.acceleration = carState.getAEgo(); - scene.blind_spot_left = carState.getLeftBlindspot(); - scene.blind_spot_right = carState.getRightBlindspot(); - scene.parked = carState.getGearShifter() == cereal::CarState::GearShifter::PARK; - scene.reverse = carState.getGearShifter() == cereal::CarState::GearShifter::REVERSE; - scene.standstill = carState.getStandstill() && !scene.reverse; - scene.steering_angle_deg = -carState.getSteeringAngleDeg(); - scene.turn_signal_left = carState.getLeftBlinker(); - scene.turn_signal_right = carState.getRightBlinker(); - } - if (sm.updated("controlsState")) { - auto controlsState = sm["controlsState"].getControlsState(); - scene.enabled = controlsState.getEnabled(); - scene.experimental_mode = scene.enabled && controlsState.getExperimentalMode(); - } - if (sm.updated("deviceState")) { - auto deviceState = sm["deviceState"].getDeviceState(); - scene.online = deviceState.getNetworkType() != cereal::DeviceState::NetworkType::NONE; - } - if (sm.updated("frogpilotCarControl")) { - auto frogpilotCarControl = sm["frogpilotCarControl"].getFrogpilotCarControl(); - scene.always_on_lateral_active = !scene.enabled && frogpilotCarControl.getAlwaysOnLateralActive(); - } - if (sm.updated("frogpilotCarState")) { - auto frogpilotCarState = sm["frogpilotCarState"].getFrogpilotCarState(); - scene.brake_lights_on = frogpilotCarState.getBrakeLights(); - scene.dashboard_speed_limit = frogpilotCarState.getDashboardSpeedLimit(); - scene.traffic_mode_active = frogpilotCarState.getTrafficModeActive(); - } - if (sm.updated("frogpilotNavigation")) { - auto frogpilotNavigation = sm["frogpilotNavigation"].getFrogpilotNavigation(); - scene.navigation_speed_limit = frogpilotNavigation.getNavigationSpeedLimit(); - } - if (sm.updated("frogpilotPlan")) { - auto frogpilotPlan = sm["frogpilotPlan"].getFrogpilotPlan(); - scene.acceleration_jerk = frogpilotPlan.getAccelerationJerk(); - scene.acceleration_jerk_difference = frogpilotPlan.getAccelerationJerkStock() - scene.acceleration_jerk; - scene.desired_follow = frogpilotPlan.getDesiredFollowDistance(); - scene.lane_width_left = frogpilotPlan.getLaneWidthLeft(); - scene.lane_width_right = frogpilotPlan.getLaneWidthRight(); - scene.mtsc_speed = frogpilotPlan.getMtscSpeed(); - scene.obstacle_distance = frogpilotPlan.getSafeObstacleDistance(); - scene.obstacle_distance_stock = frogpilotPlan.getSafeObstacleDistanceStock(); - scene.red_light = frogpilotPlan.getRedLight(); - scene.speed_jerk = frogpilotPlan.getSpeedJerk(); - scene.speed_jerk_difference = frogpilotPlan.getSpeedJerkStock() - scene.speed_jerk; - scene.speed_limit = frogpilotPlan.getSlcSpeedLimit(); - scene.speed_limit_changed = scene.speed_limit_controller && frogpilotPlan.getSpeedLimitChanged(); - scene.speed_limit_map = frogpilotPlan.getSlcMapSpeedLimit(); - scene.speed_limit_offset = frogpilotPlan.getSlcSpeedLimitOffset(); - scene.speed_limit_overridden = frogpilotPlan.getSlcOverridden(); - scene.speed_limit_overridden_speed = frogpilotPlan.getSlcOverriddenSpeed(); - scene.speed_limit_source = frogpilotPlan.getSlcSpeedLimitSource().cStr(); - scene.stopped_equivalence = frogpilotPlan.getStoppedEquivalenceFactor(); - scene.unconfirmed_speed_limit = frogpilotPlan.getUnconfirmedSlcSpeedLimit(); - scene.upcoming_speed_limit = frogpilotPlan.getUpcomingSLCSpeedLimit(); - scene.vtsc_controlling_curve = frogpilotPlan.getVtscControllingCurve(); - scene.vtsc_speed = frogpilotPlan.getVtscSpeed(); - if (frogpilotPlan.getTogglesUpdated()) { - scene.frogpilot_toggles = QJsonDocument::fromJson(QString::fromStdString(s->params_memory.get("FrogPilotToggles", true)).toUtf8()).object(); - ui_update_params(s); - if (frogpilotPlan.getThemeUpdated()) { - ui_update_theme(s); - } - } - } - if (sm.updated("liveLocationKalman")) { - auto liveLocationKalman = sm["liveLocationKalman"].getLiveLocationKalman(); - auto orientation = liveLocationKalman.getCalibratedOrientationNED(); - if (orientation.getValid()) { - scene.bearing_deg = RAD2DEG(orientation.getValue()[2]); - } - } - if (sm.updated("liveTorqueParameters")) { - auto liveTorqueParameters = sm["liveTorqueParameters"].getLiveTorqueParameters(); - scene.friction = liveTorqueParameters.getFrictionCoefficientFiltered(); - scene.lat_accel = liveTorqueParameters.getLatAccelFactorFiltered(); - scene.live_valid = liveTorqueParameters.getLiveValid(); - } - if (sm.updated("wideRoadCameraState")) { - auto cam_state = sm["wideRoadCameraState"].getWideRoadCameraState(); - float scale = (cam_state.getSensor() == cereal::FrameData::ImageSensor::AR0231) ? 6.0f : 1.0f; - scene.light_sensor = std::max(100.0f - scale * cam_state.getExposureValPercent(), 0.0f); - } else if (!sm.allAliveAndValid({"wideRoadCameraState"})) { - scene.light_sensor = -1; - } - scene.started = sm["deviceState"].getDeviceState().getStarted() && scene.ignition; - - scene.world_objects_visible = scene.world_objects_visible || - (scene.started && - sm.rcv_frame("liveCalibration") > scene.started_frame && - sm.rcv_frame("modelV2") > scene.started_frame && - sm.rcv_frame("uiPlan") > scene.started_frame); -} - -void ui_update_params(UIState *s) { - auto params = Params(); - s->scene.is_metric = params.getBool("IsMetric"); - s->scene.map_on_left = params.getBool("NavSettingLeftSide"); - - ui_update_frogpilot_params(s); -} - -void ui_update_frogpilot_params(UIState *s) { - UIScene &scene = s->scene; - - scene.acceleration_path = scene.frogpilot_toggles.value("acceleration_path").toBool(); - scene.adjacent_path = scene.frogpilot_toggles.value("adjacent_paths").toBool(); - scene.adjacent_path_metrics = scene.frogpilot_toggles.value("adjacent_path_metrics").toBool(); - scene.always_on_lateral = scene.frogpilot_toggles.value("always_on_lateral").toBool(); - scene.aol_status_bar = scene.frogpilot_toggles.value("always_on_lateral_status_bar").toBool(); - scene.big_map = scene.frogpilot_toggles.value("big_map").toBool(); - scene.blind_spot_path = scene.frogpilot_toggles.value("blind_spot_path").toBool(); - scene.camera_view = scene.frogpilot_toggles.value("camera_view").toDouble(); - scene.cem_status_bar = scene.frogpilot_toggles.value("conditional_status_bar").toBool(); - scene.compass = scene.frogpilot_toggles.value("compass").toBool(); - scene.conditional_experimental = scene.frogpilot_toggles.value("conditional_experimental_mode").toBool(); - scene.conditional_limit = scene.frogpilot_toggles.value("conditional_limit").toDouble(); - scene.conditional_limit_lead = scene.frogpilot_toggles.value("conditional_limit_lead").toDouble(); - scene.cpu_metrics = scene.frogpilot_toggles.value("cpu_metrics").toBool(); - scene.driver_camera_in_reverse = scene.frogpilot_toggles.value("driver_camera_in_reverse").toBool(); - scene.dynamic_path_width = scene.frogpilot_toggles.value("dynamic_path_width").toBool(); - scene.dynamic_pedals_on_ui = scene.frogpilot_toggles.value("dynamic_pedals_on_ui").toBool(); - scene.experimental_mode_via_tap = scene.frogpilot_toggles.value("experimental_mode_via_tap").toBool(); - scene.fahrenheit = scene.frogpilot_toggles.value("fahrenheit").toBool(); - scene.frogs_go_moo = scene.frogpilot_toggles.value("frogs_go_moo").toBool(); - scene.full_map = scene.frogpilot_toggles.value("full_map").toBool(); - scene.gpu_metrics = scene.frogpilot_toggles.value("gpu_metrics").toBool(); - scene.hide_alerts = scene.frogpilot_toggles.value("hide_alerts").toBool(); - scene.hide_csc_ui = scene.frogpilot_toggles.value("hide_csc_ui").toBool(); - scene.hide_lead_marker = scene.frogpilot_toggles.value("hide_lead_marker").toBool(); - scene.hide_map_icon = scene.frogpilot_toggles.value("hide_map_icon").toBool(); - scene.hide_max_speed = scene.frogpilot_toggles.value("hide_max_speed").toBool(); - scene.hide_speed = scene.frogpilot_toggles.value("hide_speed").toBool(); - scene.hide_speed_limit = scene.frogpilot_toggles.value("hide_speed_limit").toBool(); - scene.ip_metrics = scene.frogpilot_toggles.value("ip_metrics").toBool(); - scene.jerk_metrics = scene.frogpilot_toggles.value("jerk_metrics").toBool(); - scene.lateral_tuning_metrics = scene.frogpilot_toggles.value("lateral_tuning_metrics").toBool(); - scene.lane_detection_width = scene.frogpilot_toggles.value("lane_detection_width").toDouble(); - scene.lane_line_width = scene.frogpilot_toggles.value("lane_line_width").toDouble(); - scene.lead_detection_probability = scene.frogpilot_toggles.value("lead_detection_probability").toDouble(); - scene.lead_metrics = scene.frogpilot_toggles.value("lead_metrics").toBool(); - scene.map_style = scene.frogpilot_toggles.value("map_style").toDouble(); - scene.memory_metrics = scene.frogpilot_toggles.value("memory_metrics").toBool(); - scene.minimum_lane_change_speed = scene.frogpilot_toggles.value("minimum_lane_change_speed").toDouble(); - scene.model_name = scene.frogpilot_toggles.value("model_name").toString(); - scene.model_randomizer = scene.frogpilot_toggles.value("model_randomizer").toBool(); - scene.model_ui = scene.frogpilot_toggles.value("model_ui").toBool(); - scene.mtsc_enabled = scene.frogpilot_toggles.value("map_turn_speed_controller").toBool(); - scene.no_logging = scene.frogpilot_toggles.value("no_logging").toBool(); - scene.no_uploads = scene.frogpilot_toggles.value("no_uploads").toBool(); - scene.numerical_temp = scene.frogpilot_toggles.value("numerical_temp").toBool(); - scene.onroad_distance_button = scene.frogpilot_toggles.value("onroad_distance_button").toBool(); - scene.path_edge_width = scene.frogpilot_toggles.value("path_edge_width").toDouble(); - scene.path_width = scene.frogpilot_toggles.value("path_width").toDouble(); - scene.pedals_on_ui = scene.frogpilot_toggles.value("pedals_on_ui").toBool(); - scene.radarless_model = scene.frogpilot_toggles.value("radarless_model").toBool(); - scene.random_events = scene.frogpilot_toggles.value("random_events").toBool(); - scene.rainbow_path = scene.frogpilot_toggles.value("rainbow_path").toBool(); - scene.road_edge_width = scene.frogpilot_toggles.value("road_edge_width").toDouble(); - scene.road_name_ui = scene.frogpilot_toggles.value("road_name_ui").toBool(); - scene.rotating_wheel = scene.frogpilot_toggles.value("rotating_wheel").toBool(); - if (scene.screen_brightness == -1) { - scene.screen_brightness = scene.frogpilot_toggles.value("screen_brightness").toDouble(); - } - if (scene.screen_brightness_onroad == -1) { - scene.screen_brightness_onroad = scene.frogpilot_toggles.value("screen_brightness_onroad").toDouble(); - } - scene.screen_recorder = scene.frogpilot_toggles.value("screen_recorder").toBool(); - scene.screen_timeout = scene.frogpilot_toggles.value("screen_timeout").toDouble(); - scene.screen_timeout_onroad = scene.frogpilot_toggles.value("screen_timeout_onroad").toDouble(); - scene.show_blind_spot = scene.frogpilot_toggles.value("blind_spot_metrics").toBool(); - scene.show_fps = scene.frogpilot_toggles.value("show_fps").toBool(); - scene.show_speed_limit_offset = scene.frogpilot_toggles.value("show_speed_limit_offset").toBool(); - scene.show_speed_limits = scene.frogpilot_toggles.value("show_speed_limits").toBool(); - scene.show_stopping_point = scene.frogpilot_toggles.value("show_stopping_point").toBool(); - scene.show_stopping_point_metrics = scene.frogpilot_toggles.value("show_stopping_point_metrics").toBool(); - scene.sidebar_metrics = scene.frogpilot_toggles.value("sidebar_metrics").toBool(); - scene.signal_metrics = scene.frogpilot_toggles.value("signal_metrics").toBool(); - scene.speed_limit_controller = scene.frogpilot_toggles.value("speed_limit_controller").toBool(); - scene.speed_limit_sources = scene.frogpilot_toggles.value("speed_limit_sources").toBool(); - scene.speed_limit_vienna = scene.frogpilot_toggles.value("speed_limit_vienna").toBool(); - scene.standby_mode = scene.frogpilot_toggles.value("standby_mode").toBool(); - scene.static_pedals_on_ui = scene.frogpilot_toggles.value("static_pedals_on_ui").toBool(); - scene.steering_metrics = scene.frogpilot_toggles.value("steering_metrics").toBool(); - scene.stopped_timer = scene.frogpilot_toggles.value("stopped_timer").toBool(); - scene.storage_left_metrics = scene.frogpilot_toggles.value("storage_left_metrics").toBool(); - scene.storage_used_metrics = scene.frogpilot_toggles.value("storage_used_metrics").toBool(); - scene.tethering_config = scene.frogpilot_toggles.value("tethering_config").toDouble(); - scene.unlimited_road_ui_length = scene.frogpilot_toggles.value("unlimited_road_ui_length").toBool(); - scene.use_si_metrics = scene.frogpilot_toggles.value("use_si_metrics").toBool(); - scene.use_wheel_speed = scene.frogpilot_toggles.value("use_wheel_speed").toBool(); - scene.vtsc_enabled = scene.frogpilot_toggles.value("vision_turn_controller").toBool(); - - if (scene.tethering_config == 1) { - s->wifi->setTetheringEnabled(true); - } - - emit s->togglesUpdated(); -} - -void ui_update_theme(UIState *s) { - UIScene &scene = s->scene; - - scene.use_stock_colors = scene.frogpilot_toggles.value("color_scheme").toString() == "stock" && scene.frogpilot_toggles.value("current_holiday_theme").toString() == "stock"; - scene.use_stock_wheel = scene.frogpilot_toggles.value("wheel_image").toString() == "stock" && scene.frogpilot_toggles.value("current_holiday_theme").toString() == "stock"; - - if (!scene.use_stock_colors) { - scene.use_stock_colors |= !loadThemeColors("", true).isValid(); - - scene.lane_lines_color = loadThemeColors("LaneLines"); - scene.lead_marker_color = loadThemeColors("LeadMarker"); - scene.path_color = loadThemeColors("Path"); - scene.path_edges_color = loadThemeColors("PathEdge"); - scene.sidebar_color1 = loadThemeColors("Sidebar1"); - scene.sidebar_color2 = loadThemeColors("Sidebar2"); - scene.sidebar_color3 = loadThemeColors("Sidebar3"); - } - - emit s->themeUpdated(); -} - -void UIState::updateStatus() { - if (scene.started && sm->updated("controlsState")) { - auto controls_state = (*sm)["controlsState"].getControlsState(); - auto state = controls_state.getState(); - auto previous_status = status; - if (state == cereal::ControlsState::OpenpilotState::PRE_ENABLED || state == cereal::ControlsState::OpenpilotState::OVERRIDING) { - status = STATUS_OVERRIDE; - } else if (scene.always_on_lateral_active) { - status = STATUS_ALWAYS_ON_LATERAL_ACTIVE; - } else if (scene.traffic_mode_active && scene.enabled) { - status = STATUS_TRAFFIC_MODE_ACTIVE; - } else { - status = scene.enabled ? STATUS_ENGAGED : STATUS_DISENGAGED; - } - - scene.wake_up_screen = controls_state.getAlertStatus() != cereal::ControlsState::AlertStatus::NORMAL || status != previous_status; - } - - scene.started |= scene.force_onroad; - scene.started &= !params_memory.getBool("ForceOffroad"); - - // Handle onroad/offroad transition - if (scene.started != started_prev || sm->frame == 1) { - if (scene.started) { - status = STATUS_DISENGAGED; - scene.started_frame = sm->frame; - } else if (scene.started_timer > 15*60*UI_FREQ && scene.model_randomizer) { - emit reviewModel(); - } - started_prev = scene.started; - scene.world_objects_visible = false; - emit offroadTransition(!scene.started); - if (scene.tethering_config == 2) { - wifi->setTetheringEnabled(scene.started); - } - } -} - -UIState::UIState(QObject *parent) : QObject(parent) { - sm = std::make_unique>({ - "modelV2", "controlsState", "liveCalibration", "radarState", "deviceState", - "pandaStates", "carParams", "driverMonitoringState", "carState", "liveLocationKalman", "driverStateV2", - "wideRoadCameraState", "managerState", "navInstruction", "navRoute", "uiPlan", "clocks", - "carControl", "liveTorqueParameters", "frogpilotCarControl", "frogpilotCarState", "frogpilotDeviceState", - "frogpilotNavigation", "frogpilotPlan", - }); - - Params params; - language = QString::fromStdString(params.get("LanguageSetting")); - auto prime_value = params.get("PrimeType"); - if (!prime_value.empty()) { - prime_type = static_cast(std::atoi(prime_value.c_str())); - } - - // update timer - timer = new QTimer(this); - QObject::connect(timer, &QTimer::timeout, this, &UIState::update); - timer->start(1000 / UI_FREQ); - - // FrogPilot variables - wifi = new WifiManager(this); - - scene.frogpilot_toggles = QJsonDocument::fromJson(QString::fromStdString(params_memory.get("FrogPilotToggles", true)).toUtf8()).object(); - ui_update_params(this); - ui_update_theme(this); -} - -void UIState::update() { - update_sockets(this); - update_state(this); - updateStatus(); - - if (sm->frame % UI_FREQ == 0) { - watchdog_kick(nanos_since_boot()); - } - emit uiUpdate(*this); - - // FrogPilot variables - scene.conditional_status = scene.conditional_experimental && scene.enabled ? params_memory.getInt("CEStatus") : 0; - scene.driver_camera_timer = scene.driver_camera_in_reverse && scene.reverse ? scene.driver_camera_timer + 1 : 0; - scene.force_onroad = params_memory.getBool("ForceOnroad"); - scene.started_timer = scene.started || started_prev ? scene.started_timer + 1 : 0; - - if (scene.keep_screen_on) { - device()->resetInteractiveTimeout(scene.screen_timeout, scene.screen_timeout_onroad); - } -} - -void UIState::setPrimeType(PrimeType type) { - if (type != prime_type) { - bool prev_prime = hasPrime(); - - prime_type = type; - Params().put("PrimeType", std::to_string(prime_type)); - emit primeTypeChanged(prime_type); - - bool prime = hasPrime(); - if (prev_prime != prime) { - emit primeChanged(prime); - } - } -} - -Device::Device(QObject *parent) : brightness_filter(BACKLIGHT_OFFROAD, BACKLIGHT_TS, BACKLIGHT_DT), QObject(parent) { - setAwake(true); - resetInteractiveTimeout(); - - QObject::connect(uiState(), &UIState::uiUpdate, this, &Device::update); -} - -void Device::update(const UIState &s) { - updateBrightness(s); - updateWakefulness(s); -} - -void Device::setAwake(bool on) { - if (on != awake) { - awake = on; - Hardware::set_display_power(awake); - LOGD("setting display power %d", awake); - emit displayPowerChanged(awake); - } -} - -void Device::resetInteractiveTimeout(int timeout, int timeout_onroad) { - if (timeout == -1) { - timeout = (ignition_on ? 10 : 30); - } else { - timeout = (ignition_on ? timeout_onroad : timeout); - } - interactive_timeout = timeout * UI_FREQ; -} - -void Device::updateBrightness(const UIState &s) { - float clipped_brightness = offroad_brightness; - if (s.scene.started && s.scene.light_sensor >= 0) { - clipped_brightness = s.scene.light_sensor; - - // CIE 1931 - https://www.photonstophotos.net/GeneralTopics/Exposure/Psychometric_Lightness_and_Gamma.htm - if (clipped_brightness <= 8) { - clipped_brightness = (clipped_brightness / 903.3); - } else { - clipped_brightness = std::pow((clipped_brightness + 16.0) / 116.0, 3.0); - } - - // Scale back to 10% to 100% - clipped_brightness = std::clamp(100.0f * clipped_brightness, 10.0f, 100.0f); - } - - int brightness = brightness_filter.update(clipped_brightness); - if (!awake) { - brightness = 0; - } else if (s.scene.started && s.scene.standby_mode && !s.scene.wake_up_screen && interactive_timeout == 0) { - brightness = 0; - } else if (s.scene.started && s.scene.screen_brightness_onroad != 101) { - brightness = interactive_timeout > 0 ? fmax(5, s.scene.screen_brightness_onroad) : s.scene.screen_brightness_onroad; - } else if (s.scene.screen_brightness != 101) { - brightness = s.scene.screen_brightness; - } - - if (brightness != last_brightness) { - if (!brightness_future.isRunning()) { - brightness_future = QtConcurrent::run(Hardware::set_brightness, brightness); - last_brightness = brightness; - } - } -} - -void Device::updateWakefulness(const UIState &s) { - bool ignition_state_changed = s.scene.ignition != ignition_on; - ignition_on = s.scene.ignition; - - if (ignition_on && s.scene.standby_mode) { - if (s.scene.wake_up_screen) { - resetInteractiveTimeout(s.scene.screen_timeout, s.scene.screen_timeout_onroad); - } - } - - if (ignition_state_changed) { - if (ignition_on && s.scene.screen_brightness_onroad == 0 && !s.scene.standby_mode) { - resetInteractiveTimeout(0, 0); - } else { - resetInteractiveTimeout(s.scene.screen_timeout, s.scene.screen_timeout_onroad); - } - } else if (interactive_timeout > 0 && --interactive_timeout == 0) { - emit interactiveTimeout(); - } - - if (s.scene.screen_brightness_onroad != 0) { - setAwake(s.scene.ignition || interactive_timeout > 0); - } else { - setAwake(interactive_timeout > 0); - } -} - -UIState *uiState() { - static UIState ui_state; - return &ui_state; -} - -Device *device() { - static Device _device; - return &_device; -} diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h deleted file mode 100644 index cbfeb3ccc42676..00000000000000 --- a/selfdrive/ui/ui.h +++ /dev/null @@ -1,391 +0,0 @@ -#pragma once - -#include -#include -#include - -#include -#include -#include -#include -#include -#include - -#include "cereal/messaging/messaging.h" -#include "common/mat.h" -#include "common/params.h" -#include "common/timing.h" -#include "selfdrive/ui/qt/network/wifi_manager.h" -#include "selfdrive/ui/qt/util.h" -#include "system/hardware/hw.h" - -#include "selfdrive/frogpilot/ui/qt/widgets/frogpilot_controls.h" - -const int UI_BORDER_SIZE = 30; -const int UI_HEADER_HEIGHT = 420; - -const int UI_FREQ = 20; // Hz -const int BACKLIGHT_OFFROAD = 50; - -const float MIN_DRAW_DISTANCE = 10.0; -const float MAX_DRAW_DISTANCE = 100.0; -constexpr mat3 DEFAULT_CALIBRATION = {{ 0.0, 1.0, 0.0, 0.0, 0.0, 1.0, 1.0, 0.0, 0.0 }}; -constexpr mat3 FCAM_INTRINSIC_MATRIX = (mat3){{2648.0, 0.0, 1928.0 / 2, - 0.0, 2648.0, 1208.0 / 2, - 0.0, 0.0, 1.0}}; -// tici ecam focal probably wrong? magnification is not consistent across frame -// Need to retrain model before this can be changed -constexpr mat3 ECAM_INTRINSIC_MATRIX = (mat3){{567.0, 0.0, 1928.0 / 2, - 0.0, 567.0, 1208.0 / 2, - 0.0, 0.0, 1.0}}; - - -constexpr vec3 default_face_kpts_3d[] = { - {-5.98, -51.20, 8.00}, {-17.64, -49.14, 8.00}, {-23.81, -46.40, 8.00}, {-29.98, -40.91, 8.00}, {-32.04, -37.49, 8.00}, - {-34.10, -32.00, 8.00}, {-36.16, -21.03, 8.00}, {-36.16, 6.40, 8.00}, {-35.47, 10.51, 8.00}, {-32.73, 19.43, 8.00}, - {-29.30, 26.29, 8.00}, {-24.50, 33.83, 8.00}, {-19.01, 41.37, 8.00}, {-14.21, 46.17, 8.00}, {-12.16, 47.54, 8.00}, - {-4.61, 49.60, 8.00}, {4.99, 49.60, 8.00}, {12.53, 47.54, 8.00}, {14.59, 46.17, 8.00}, {19.39, 41.37, 8.00}, - {24.87, 33.83, 8.00}, {29.67, 26.29, 8.00}, {33.10, 19.43, 8.00}, {35.84, 10.51, 8.00}, {36.53, 6.40, 8.00}, - {36.53, -21.03, 8.00}, {34.47, -32.00, 8.00}, {32.42, -37.49, 8.00}, {30.36, -40.91, 8.00}, {24.19, -46.40, 8.00}, - {18.02, -49.14, 8.00}, {6.36, -51.20, 8.00}, {-5.98, -51.20, 8.00}, -}; - - -typedef enum UIStatus { - STATUS_DISENGAGED, - STATUS_OVERRIDE, - STATUS_ENGAGED, - - // FrogPilot statuses - STATUS_ALWAYS_ON_LATERAL_ACTIVE, - STATUS_CONDITIONAL_OVERRIDDEN, - STATUS_EXPERIMENTAL_MODE_ACTIVE, - STATUS_NAVIGATION_ACTIVE, - STATUS_TRAFFIC_MODE_ACTIVE, -} UIStatus; - -enum PrimeType { - UNKNOWN = -2, - UNPAIRED = -1, - NONE = 0, - MAGENTA = 1, - LITE = 2, - BLUE = 3, - MAGENTA_NEW = 4, - PURPLE = 5, -}; - -const QColor bg_colors [] = { - [STATUS_DISENGAGED] = QColor(0x17, 0x33, 0x49, 0xc8), - [STATUS_OVERRIDE] = QColor(0x91, 0x9b, 0x95, 0xf1), - [STATUS_ENGAGED] = QColor(0x17, 0x86, 0x44, 0xf1), - - // FrogPilot colors - [STATUS_ALWAYS_ON_LATERAL_ACTIVE] = QColor(0x0a, 0xba, 0xb5, 0xf1), - [STATUS_CONDITIONAL_OVERRIDDEN] = QColor(0xff, 0xff, 0x00, 0xf1), - [STATUS_EXPERIMENTAL_MODE_ACTIVE] = QColor(0xda, 0x6f, 0x25, 0xf1), - [STATUS_NAVIGATION_ACTIVE] = QColor(0x31, 0xa1, 0xee, 0xf1), - [STATUS_TRAFFIC_MODE_ACTIVE] = QColor(0xc9, 0x22, 0x31, 0xf1), -}; - - -typedef struct UIScene { - bool calibration_valid = false; - bool calibration_wide_valid = false; - bool wide_cam = true; - mat3 view_from_calib = DEFAULT_CALIBRATION; - mat3 view_from_wide_calib = DEFAULT_CALIBRATION; - cereal::PandaState::PandaType pandaType; - - // modelV2 - float lane_line_probs[4]; - float road_edge_stds[2]; - QPolygonF track_vertices; - QPolygonF lane_line_vertices[4]; - QPolygonF road_edge_vertices[2]; - - // lead - QPointF lead_vertices[7]; - - // DMoji state - float driver_pose_vals[3]; - float driver_pose_diff[3]; - float driver_pose_sins[3]; - float driver_pose_coss[3]; - vec3 face_kpts_draw[std::size(default_face_kpts_3d)]; - - bool navigate_on_openpilot = false; - cereal::LongitudinalPersonality personality; - - float light_sensor = -1; - bool started, ignition, is_metric, map_on_left, longitudinal_control; - bool world_objects_visible = false; - uint64_t started_frame; - - // FrogPilot variables - QColor lane_lines_color; - QColor lead_marker_color; - QColor path_color; - QColor path_edges_color; - QColor sidebar_color1; - QColor sidebar_color2; - QColor sidebar_color3; - - QJsonObject frogpilot_toggles; - - QPolygonF track_adjacent_vertices[6]; - QPolygonF track_edge_vertices; - - QString model_name; - - bool acceleration_path; - bool adjacent_path; - bool adjacent_path_metrics; - bool always_on_lateral; - bool always_on_lateral_active; - bool aol_status_bar; - bool big_map; - bool blind_spot_left; - bool blind_spot_path; - bool blind_spot_right; - bool brake_lights_on; - bool cem_status_bar; - bool compass; - bool conditional_experimental; - bool cpu_metrics; - bool driver_camera_in_reverse; - bool dynamic_path_width; - bool dynamic_pedals_on_ui; - bool enabled; - bool experimental_mode; - bool experimental_mode_via_tap; - bool fahrenheit; - bool force_onroad; - bool frogs_go_moo; - bool full_map; - bool gpu_metrics; - bool has_lead; - bool hide_alerts; - bool hide_csc_ui; - bool hide_lead_marker; - bool hide_map_icon; - bool hide_max_speed; - bool hide_speed; - bool hide_speed_limit; - bool ip_metrics; - bool jerk_metrics; - bool keep_screen_on; - bool lateral_tuning_metrics; - bool lead_metrics; - bool left_curve; - bool live_valid; - bool map_open; - bool memory_metrics; - bool model_randomizer; - bool model_ui; - bool mtsc_enabled; - bool no_logging; - bool no_uploads; - bool numerical_temp; - bool online; - bool onroad_distance_button; - bool parked; - bool pedals_on_ui; - bool radarless_model; - bool rainbow_path; - bool random_events; - bool red_light; - bool reverse; - bool road_name_ui; - bool rotating_wheel; - bool screen_recorder; - bool show_blind_spot; - bool show_fps; - bool show_speed_limit_offset; - bool show_speed_limits; - bool show_stopping_point; - bool show_stopping_point_metrics; - bool sidebar_metrics; - bool signal_metrics; - bool speed_limit_changed; - bool speed_limit_controller; - bool speed_limit_overridden; - bool speed_limit_sources; - bool speed_limit_vienna; - bool standby_mode; - bool standstill; - bool static_pedals_on_ui; - bool steering_metrics; - bool stopped_timer; - bool storage_left_metrics; - bool storage_used_metrics; - bool tethering_enabled; - bool traffic_mode; - bool traffic_mode_active; - bool turn_signal_left; - bool turn_signal_right; - bool unlimited_road_ui_length; - bool use_si_metrics; - bool use_stock_colors; - bool use_stock_wheel; - bool use_wheel_speed; - bool vtsc_controlling_curve; - bool vtsc_enabled; - bool wake_up_screen; - - double fps; - - float acceleration; - float acceleration_jerk; - float acceleration_jerk_difference; - float dashboard_speed_limit; - float friction; - float lane_detection_width; - float lane_line_width; - float lane_width_left; - float lane_width_right; - float lat_accel; - float lead_detection_probability; - float mtsc_speed; - float navigation_speed_limit; - float path_edge_width; - float path_width; - float road_edge_width; - float speed_jerk; - float speed_jerk_difference; - float speed_limit; - float speed_limit_map; - float speed_limit_offset; - float speed_limit_overridden_speed; - float steer; - float unconfirmed_speed_limit; - float upcoming_speed_limit; - float vtsc_speed; - - int bearing_deg; - int camera_view; - int conditional_limit; - int conditional_limit_lead; - int conditional_status; - int desired_follow; - int driver_camera_timer; - int map_style; - int minimum_lane_change_speed; - int model_length; - int obstacle_distance; - int obstacle_distance_stock; - int screen_brightness = -1; - int screen_brightness_onroad = -1; - int screen_timeout; - int screen_timeout_onroad; - int started_timer; - int steering_angle_deg; - int stopped_equivalence; - int tethering_config; - - std::string speed_limit_source; - -} UIScene; - -class UIState : public QObject { - Q_OBJECT - -public: - UIState(QObject* parent = 0); - void updateStatus(); - inline bool engaged() const { - return scene.started && (*sm)["controlsState"].getControlsState().getEnabled(); - } - - void setPrimeType(PrimeType type); - inline PrimeType primeType() const { return prime_type; } - inline bool hasPrime() const { return prime_type > PrimeType::NONE; } - - int fb_w = 0, fb_h = 0; - - std::unique_ptr sm; - - UIStatus status; - UIScene scene = {}; - - QString language; - - QTransform car_space_transform; - - // FrogPilot variables - Params params_memory{"/dev/shm/params"}; - - WifiManager *wifi = nullptr; - -signals: - void uiUpdate(const UIState &s); - void offroadTransition(bool offroad); - void primeChanged(bool prime); - void primeTypeChanged(PrimeType prime_type); - - // FrogPilot signals - void driveRated(); - void reviewModel(); - void themeUpdated(); - void togglesUpdated(); - -private slots: - void update(); - -private: - QTimer *timer; - bool started_prev = false; - PrimeType prime_type = PrimeType::UNKNOWN; -}; - -UIState *uiState(); - -// device management class -class Device : public QObject { - Q_OBJECT - -public: - Device(QObject *parent = 0); - bool isAwake() { return awake; } - void setOffroadBrightness(int brightness) { - offroad_brightness = std::clamp(brightness, 0, 100); - } - -private: - bool awake = false; - int interactive_timeout = 0; - bool ignition_on = false; - - int offroad_brightness = BACKLIGHT_OFFROAD; - int last_brightness = 0; - FirstOrderFilter brightness_filter; - QFuture brightness_future; - - void updateBrightness(const UIState &s); - void updateWakefulness(const UIState &s); - void setAwake(bool on); - -signals: - void displayPowerChanged(bool on); - void interactiveTimeout(); - -public slots: - void resetInteractiveTimeout(int timeout = -1, int timeout_onroad = -1); - void update(const UIState &s); -}; - -Device *device(); - -void ui_update_params(UIState *s); -int get_path_length_idx(const cereal::XYZTData::Reader &line, const float path_height); -void update_model(UIState *s, - const cereal::ModelDataV2::Reader &model, - const cereal::UiPlan::Reader &plan); -void update_dmonitoring(UIState *s, const cereal::DriverStateV2::Reader &driverstate, float dm_fade_state, bool is_rhd); -void update_leads(UIState *s, const cereal::RadarState::Reader &radar_state, const cereal::XYZTData::Reader &line); -void update_line_data(const UIState *s, const cereal::XYZTData::Reader &line, - float y_off, float z_off, QPolygonF *pvd, int max_idx, bool allow_invert); - -// FrogPilot functions -void ui_update_frogpilot_params(UIState *s); -void ui_update_theme(UIState *s); diff --git a/selfdrive/ui/watch3.cc b/selfdrive/ui/watch3.cc deleted file mode 100644 index ec35c29b6b4c55..00000000000000 --- a/selfdrive/ui/watch3.cc +++ /dev/null @@ -1,34 +0,0 @@ -#include -#include - -#include "selfdrive/ui/qt/qt_window.h" -#include "selfdrive/ui/qt/util.h" -#include "selfdrive/ui/qt/widgets/cameraview.h" - -int main(int argc, char *argv[]) { - initApp(argc, argv); - - QApplication a(argc, argv); - QWidget w; - setMainWindow(&w); - - QVBoxLayout *layout = new QVBoxLayout(&w); - layout->setMargin(0); - layout->setSpacing(0); - - { - QHBoxLayout *hlayout = new QHBoxLayout(); - layout->addLayout(hlayout); - hlayout->addWidget(new CameraWidget("navd", VISION_STREAM_MAP, false)); - hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_ROAD, false)); - } - - { - QHBoxLayout *hlayout = new QHBoxLayout(); - layout->addLayout(hlayout); - hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_DRIVER, false)); - hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_WIDE_ROAD, false)); - } - - return a.exec(); -} diff --git a/system/athena/tests/__init__.py b/system/athena/tests/__init__.py deleted file mode 100644 index e69de29bb2d1d6..00000000000000 diff --git a/system/athena/tests/helpers.py b/system/athena/tests/helpers.py deleted file mode 100644 index a0a9cccdc1d187..00000000000000 --- a/system/athena/tests/helpers.py +++ /dev/null @@ -1,70 +0,0 @@ -import http.server -import socket - - -class MockResponse: - def __init__(self, json, status_code): - self.json = json - self.text = json - self.status_code = status_code - - -class EchoSocket: - def __init__(self, port): - self.socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM) - self.socket.bind(('127.0.0.1', port)) - self.socket.listen(1) - - def run(self): - conn, _ = self.socket.accept() - conn.settimeout(5.0) - - try: - while True: - data = conn.recv(4096) - if data: - print(f'EchoSocket got {data}') - conn.sendall(data) - else: - break - finally: - conn.shutdown(0) - conn.close() - self.socket.shutdown(0) - self.socket.close() - - -class MockApi: - def __init__(self, dongle_id): - pass - - def get_token(self): - return "fake-token" - - -class MockWebsocket: - sock = socket.socket() - - def __init__(self, recv_queue, send_queue): - self.recv_queue = recv_queue - self.send_queue = send_queue - - def recv(self): - data = self.recv_queue.get() - if isinstance(data, Exception): - raise data - return data - - def send(self, data, opcode): - self.send_queue.put_nowait((data, opcode)) - - def close(self): - pass - - -class HTTPRequestHandler(http.server.SimpleHTTPRequestHandler): - def do_PUT(self): - length = int(self.headers['Content-Length']) - self.rfile.read(length) - self.send_response(201, "Created") - self.end_headers() diff --git a/system/athena/tests/test_athenad.py b/system/athena/tests/test_athenad.py deleted file mode 100644 index 48519a0ffd2a0e..00000000000000 --- a/system/athena/tests/test_athenad.py +++ /dev/null @@ -1,423 +0,0 @@ -import pytest -from functools import wraps -import json -import multiprocessing -import os -import requests -import shutil -import time -import threading -import queue -from dataclasses import asdict, replace -from datetime import datetime, timedelta - -from websocket import ABNF -from websocket._exceptions import WebSocketConnectionClosedException - -from cereal import messaging - -from openpilot.common.params import Params -from openpilot.common.timeout import Timeout -from openpilot.system.athena import athenad -from openpilot.system.athena.athenad import MAX_RETRY_COUNT, dispatcher -from openpilot.system.athena.tests.helpers import HTTPRequestHandler, MockWebsocket, MockApi, EchoSocket -from openpilot.selfdrive.test.helpers import http_server_context -from openpilot.system.hardware.hw import Paths - - -def seed_athena_server(host, port): - with Timeout(2, 'HTTP Server seeding failed'): - while True: - try: - requests.put(f'http://{host}:{port}/qlog.bz2', data='', timeout=10) - break - except requests.exceptions.ConnectionError: - time.sleep(0.1) - -def with_upload_handler(func): - @wraps(func) - def wrapper(*args, **kwargs): - end_event = threading.Event() - thread = threading.Thread(target=athenad.upload_handler, args=(end_event,)) - thread.start() - try: - return func(*args, **kwargs) - finally: - end_event.set() - thread.join() - return wrapper - -@pytest.fixture -def mock_create_connection(mocker): - return mocker.patch('openpilot.system.athena.athenad.create_connection') - -@pytest.fixture -def host(): - with http_server_context(handler=HTTPRequestHandler, setup=seed_athena_server) as (host, port): - yield f"http://{host}:{port}" - -class TestAthenadMethods: - @classmethod - def setup_class(cls): - cls.SOCKET_PORT = 45454 - athenad.Api = MockApi - athenad.LOCAL_PORT_WHITELIST = {cls.SOCKET_PORT} - - def setup_method(self): - self.default_params = { - "DongleId": "0000000000000000", - "GithubSshKeys": b"ssh-rsa AAAAB3NzaC1yc2EAAAADAQABAAABAQC307aE+nuHzTAgaJhzSf5v7ZZQW9gaperjhCmyPyl4PzY7T1mDGenTlVTN7yoVFZ9UfO9oMQqo0n1OwDIiqbIFxqnhrHU0cYfj88rI85m5BEKlNu5RdaVTj1tcbaPpQc5kZEolaI1nDDjzV0lwS7jo5VYDHseiJHlik3HH1SgtdtsuamGR2T80q1SyW+5rHoMOJG73IH2553NnWuikKiuikGHUYBd00K1ilVAK2xSiMWJp55tQfZ0ecr9QjEsJ+J/efL4HqGNXhffxvypCXvbUYAFSddOwXUPo5BTKevpxMtH+2YrkpSjocWA04VnTYFiPG6U4ItKmbLOTFZtPzoez private", # noqa: E501 - "GithubUsername": b"commaci", - "AthenadUploadQueue": '[]', - } - - self.params = Params() - for k, v in self.default_params.items(): - self.params.put(k, v) - self.params.put_bool("GsmMetered", True) - - athenad.upload_queue = queue.Queue() - athenad.cur_upload_items.clear() - athenad.cancelled_uploads.clear() - - for i in os.listdir(Paths.log_root()): - p = os.path.join(Paths.log_root(), i) - if os.path.isdir(p): - shutil.rmtree(p) - else: - os.unlink(p) - - # *** test helpers *** - - @staticmethod - def _wait_for_upload(): - now = time.time() - while time.time() - now < 5: - if athenad.upload_queue.qsize() == 0: - break - - @staticmethod - def _create_file(file: str, parent: str = None, data: bytes = b'') -> str: - fn = os.path.join(Paths.log_root() if parent is None else parent, file) - os.makedirs(os.path.dirname(fn), exist_ok=True) - with open(fn, 'wb') as f: - f.write(data) - return fn - - - # *** test cases *** - - def test_echo(self): - assert dispatcher["echo"]("bob") == "bob" - - def test_get_message(self): - with pytest.raises(TimeoutError) as _: - dispatcher["getMessage"]("controlsState") - - end_event = multiprocessing.Event() - - pub_sock = messaging.pub_sock("deviceState") - - def send_deviceState(): - while not end_event.is_set(): - msg = messaging.new_message('deviceState') - pub_sock.send(msg.to_bytes()) - time.sleep(0.01) - - p = multiprocessing.Process(target=send_deviceState) - p.start() - time.sleep(0.1) - try: - deviceState = dispatcher["getMessage"]("deviceState") - assert deviceState['deviceState'] - finally: - end_event.set() - p.join() - - def test_list_data_directory(self): - route = '2021-03-29--13-32-47' - segments = [0, 1, 2, 3, 11] - - filenames = ['qlog', 'qcamera.ts', 'rlog', 'fcamera.hevc', 'ecamera.hevc', 'dcamera.hevc'] - files = [f'{route}--{s}/{f}' for s in segments for f in filenames] - for file in files: - self._create_file(file) - - resp = dispatcher["listDataDirectory"]() - assert resp, 'list empty!' - assert len(resp) == len(files) - - resp = dispatcher["listDataDirectory"](f'{route}--123') - assert len(resp) == 0 - - prefix = f'{route}' - expected = list(filter(lambda f: f.startswith(prefix), files)) - resp = dispatcher["listDataDirectory"](prefix) - assert resp, 'list empty!' - assert len(resp) == len(expected) - - prefix = f'{route}--1' - expected = list(filter(lambda f: f.startswith(prefix), files)) - resp = dispatcher["listDataDirectory"](prefix) - assert resp, 'list empty!' - assert len(resp) == len(expected) - - prefix = f'{route}--1/' - expected = list(filter(lambda f: f.startswith(prefix), files)) - resp = dispatcher["listDataDirectory"](prefix) - assert resp, 'list empty!' - assert len(resp) == len(expected) - - prefix = f'{route}--1/q' - expected = list(filter(lambda f: f.startswith(prefix), files)) - resp = dispatcher["listDataDirectory"](prefix) - assert resp, 'list empty!' - assert len(resp) == len(expected) - - def test_strip_bz2_extension(self): - fn = self._create_file('qlog.bz2') - if fn.endswith('.bz2'): - assert athenad.strip_bz2_extension(fn) == fn[:-4] - - @pytest.mark.parametrize("compress", [True, False]) - def test_do_upload(self, host, compress): - # random bytes to ensure rather large object post-compression - fn = self._create_file('qlog', data=os.urandom(10000 * 1024)) - - upload_fn = fn + ('.bz2' if compress else '') - item = athenad.UploadItem(path=upload_fn, url="http://localhost:1238", headers={}, created_at=int(time.time()*1000), id='') - with pytest.raises(requests.exceptions.ConnectionError): - athenad._do_upload(item) - - item = athenad.UploadItem(path=upload_fn, url=f"{host}/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='') - resp = athenad._do_upload(item) - assert resp.status_code == 201 - - def test_upload_file_to_url(self, host): - fn = self._create_file('qlog.bz2') - - resp = dispatcher["uploadFileToUrl"]("qlog.bz2", f"{host}/qlog.bz2", {}) - assert resp['enqueued'] == 1 - assert 'failed' not in resp - assert {"path": fn, "url": f"{host}/qlog.bz2", "headers": {}}.items() <= resp['items'][0].items() - assert resp['items'][0].get('id') is not None - assert athenad.upload_queue.qsize() == 1 - - def test_upload_file_to_url_duplicate(self, host): - self._create_file('qlog.bz2') - - url1 = f"{host}/qlog.bz2?sig=sig1" - dispatcher["uploadFileToUrl"]("qlog.bz2", url1, {}) - - # Upload same file again, but with different signature - url2 = f"{host}/qlog.bz2?sig=sig2" - resp = dispatcher["uploadFileToUrl"]("qlog.bz2", url2, {}) - assert resp == {'enqueued': 0, 'items': []} - - def test_upload_file_to_url_does_not_exist(self, host): - not_exists_resp = dispatcher["uploadFileToUrl"]("does_not_exist.bz2", "http://localhost:1238", {}) - assert not_exists_resp == {'enqueued': 0, 'items': [], 'failed': ['does_not_exist.bz2']} - - @with_upload_handler - def test_upload_handler(self, host): - fn = self._create_file('qlog.bz2') - item = athenad.UploadItem(path=fn, url=f"{host}/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True) - - athenad.upload_queue.put_nowait(item) - self._wait_for_upload() - time.sleep(0.1) - - # TODO: verify that upload actually succeeded - # TODO: also check that end_event and metered network raises AbortTransferException - assert athenad.upload_queue.qsize() == 0 - - @pytest.mark.parametrize("status,retry", [(500,True), (412,False)]) - @with_upload_handler - def test_upload_handler_retry(self, mocker, host, status, retry): - mock_put = mocker.patch('requests.put') - mock_put.return_value.status_code = status - fn = self._create_file('qlog.bz2') - item = athenad.UploadItem(path=fn, url=f"{host}/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True) - - athenad.upload_queue.put_nowait(item) - self._wait_for_upload() - time.sleep(0.1) - - assert athenad.upload_queue.qsize() == (1 if retry else 0) - - if retry: - assert athenad.upload_queue.get().retry_count == 1 - - @with_upload_handler - def test_upload_handler_timeout(self): - """When an upload times out or fails to connect it should be placed back in the queue""" - fn = self._create_file('qlog.bz2') - item = athenad.UploadItem(path=fn, url="http://localhost:44444/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True) - item_no_retry = replace(item, retry_count=MAX_RETRY_COUNT) - - athenad.upload_queue.put_nowait(item_no_retry) - self._wait_for_upload() - time.sleep(0.1) - - # Check that upload with retry count exceeded is not put back - assert athenad.upload_queue.qsize() == 0 - - athenad.upload_queue.put_nowait(item) - self._wait_for_upload() - time.sleep(0.1) - - # Check that upload item was put back in the queue with incremented retry count - assert athenad.upload_queue.qsize() == 1 - assert athenad.upload_queue.get().retry_count == 1 - - @with_upload_handler - def test_cancel_upload(self): - item = athenad.UploadItem(path="qlog.bz2", url="http://localhost:44444/qlog.bz2", headers={}, - created_at=int(time.time()*1000), id='id', allow_cellular=True) - athenad.upload_queue.put_nowait(item) - dispatcher["cancelUpload"](item.id) - - assert item.id in athenad.cancelled_uploads - - self._wait_for_upload() - time.sleep(0.1) - - assert athenad.upload_queue.qsize() == 0 - assert len(athenad.cancelled_uploads) == 0 - - @with_upload_handler - def test_cancel_expiry(self): - t_future = datetime.now() - timedelta(days=40) - ts = int(t_future.strftime("%s")) * 1000 - - # Item that would time out if actually uploaded - fn = self._create_file('qlog.bz2') - item = athenad.UploadItem(path=fn, url="http://localhost:44444/qlog.bz2", headers={}, created_at=ts, id='', allow_cellular=True) - - athenad.upload_queue.put_nowait(item) - self._wait_for_upload() - time.sleep(0.1) - - assert athenad.upload_queue.qsize() == 0 - - def test_list_upload_queue_empty(self): - items = dispatcher["listUploadQueue"]() - assert len(items) == 0 - - @with_upload_handler - def test_list_upload_queue_current(self, host: str): - fn = self._create_file('qlog.bz2') - item = athenad.UploadItem(path=fn, url=f"{host}/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True) - - athenad.upload_queue.put_nowait(item) - self._wait_for_upload() - - items = dispatcher["listUploadQueue"]() - assert len(items) == 1 - assert items[0]['current'] - - def test_list_upload_queue(self): - item = athenad.UploadItem(path="qlog.bz2", url="http://localhost:44444/qlog.bz2", headers={}, - created_at=int(time.time()*1000), id='id', allow_cellular=True) - athenad.upload_queue.put_nowait(item) - - items = dispatcher["listUploadQueue"]() - assert len(items) == 1 - assert items[0] == asdict(item) - assert not items[0]['current'] - - athenad.cancelled_uploads.add(item.id) - items = dispatcher["listUploadQueue"]() - assert len(items) == 0 - - def test_upload_queue_persistence(self): - item1 = athenad.UploadItem(path="_", url="_", headers={}, created_at=int(time.time()), id='id1') - item2 = athenad.UploadItem(path="_", url="_", headers={}, created_at=int(time.time()), id='id2') - - athenad.upload_queue.put_nowait(item1) - athenad.upload_queue.put_nowait(item2) - - # Ensure cancelled items are not persisted - athenad.cancelled_uploads.add(item2.id) - - # serialize item - athenad.UploadQueueCache.cache(athenad.upload_queue) - - # deserialize item - athenad.upload_queue.queue.clear() - athenad.UploadQueueCache.initialize(athenad.upload_queue) - - assert athenad.upload_queue.qsize() == 1 - assert asdict(athenad.upload_queue.queue[-1]) == asdict(item1) - - def test_start_local_proxy(self, mock_create_connection): - end_event = threading.Event() - - ws_recv = queue.Queue() - ws_send = queue.Queue() - mock_ws = MockWebsocket(ws_recv, ws_send) - mock_create_connection.return_value = mock_ws - - echo_socket = EchoSocket(self.SOCKET_PORT) - socket_thread = threading.Thread(target=echo_socket.run) - socket_thread.start() - - athenad.startLocalProxy(end_event, 'ws://localhost:1234', self.SOCKET_PORT) - - ws_recv.put_nowait(b'ping') - try: - recv = ws_send.get(timeout=5) - assert recv == (b'ping', ABNF.OPCODE_BINARY), recv - finally: - # signal websocket close to athenad.ws_proxy_recv - ws_recv.put_nowait(WebSocketConnectionClosedException()) - socket_thread.join() - - def test_get_ssh_authorized_keys(self): - keys = dispatcher["getSshAuthorizedKeys"]() - assert keys == self.default_params["GithubSshKeys"].decode('utf-8') - - def test_get_github_username(self): - keys = dispatcher["getGithubUsername"]() - assert keys == self.default_params["GithubUsername"].decode('utf-8') - - def test_get_version(self): - resp = dispatcher["getVersion"]() - keys = ["version", "remote", "branch", "commit"] - assert list(resp.keys()) == keys - for k in keys: - assert isinstance(resp[k], str), f"{k} is not a string" - assert len(resp[k]) > 0, f"{k} has no value" - - def test_jsonrpc_handler(self): - end_event = threading.Event() - thread = threading.Thread(target=athenad.jsonrpc_handler, args=(end_event,)) - thread.daemon = True - thread.start() - try: - # with params - athenad.recv_queue.put_nowait(json.dumps({"method": "echo", "params": ["hello"], "jsonrpc": "2.0", "id": 0})) - resp = athenad.send_queue.get(timeout=3) - assert json.loads(resp) == {'result': 'hello', 'id': 0, 'jsonrpc': '2.0'} - # without params - athenad.recv_queue.put_nowait(json.dumps({"method": "getNetworkType", "jsonrpc": "2.0", "id": 0})) - resp = athenad.send_queue.get(timeout=3) - assert json.loads(resp) == {'result': 1, 'id': 0, 'jsonrpc': '2.0'} - # log forwarding - athenad.recv_queue.put_nowait(json.dumps({'result': {'success': 1}, 'id': 0, 'jsonrpc': '2.0'})) - resp = athenad.log_recv_queue.get(timeout=3) - assert json.loads(resp) == {'result': {'success': 1}, 'id': 0, 'jsonrpc': '2.0'} - finally: - end_event.set() - thread.join() - - def test_get_logs_to_send_sorted(self): - fl = list() - for i in range(10): - file = f'swaglog.{i:010}' - self._create_file(file, Paths.swaglog_root()) - fl.append(file) - - # ensure the list is all logs except most recent - sl = athenad.get_logs_to_send_sorted() - assert sl == fl[:-1] diff --git a/system/athena/tests/test_athenad_ping.py b/system/athena/tests/test_athenad_ping.py deleted file mode 100644 index 73fe7783afc8e3..00000000000000 --- a/system/athena/tests/test_athenad_ping.py +++ /dev/null @@ -1,102 +0,0 @@ -import pytest -import subprocess -import threading -import time -from typing import cast - -from openpilot.common.params import Params -from openpilot.common.timeout import Timeout -from openpilot.system.athena import athenad -from openpilot.system.manager.helpers import write_onroad_params -from openpilot.system.hardware import TICI - -TIMEOUT_TOLERANCE = 20 # seconds - - -def wifi_radio(on: bool) -> None: - if not TICI: - return - print(f"wifi {'on' if on else 'off'}") - subprocess.run(["nmcli", "radio", "wifi", "on" if on else "off"], check=True) - - -class TestAthenadPing: - params: Params - dongle_id: str - - athenad: threading.Thread - exit_event: threading.Event - - def _get_ping_time(self) -> str | None: - return cast(str | None, self.params.get("LastAthenaPingTime", encoding="utf-8")) - - def _clear_ping_time(self) -> None: - self.params.remove("LastAthenaPingTime") - - def _received_ping(self) -> bool: - return self._get_ping_time() is not None - - @classmethod - def teardown_class(cls) -> None: - wifi_radio(True) - - def setup_method(self) -> None: - self.params = Params() - self.dongle_id = self.params.get("DongleId", encoding="utf-8") - - wifi_radio(True) - self._clear_ping_time() - - self.exit_event = threading.Event() - self.athenad = threading.Thread(target=athenad.main, args=(self.exit_event,)) - - def teardown_method(self) -> None: - if self.athenad.is_alive(): - self.exit_event.set() - self.athenad.join() - - def assertTimeout(self, reconnect_time: float, subtests, mocker) -> None: - self.athenad.start() - - mock_create_connection = mocker.patch('openpilot.system.athena.athenad.create_connection', - new_callable=lambda: mocker.MagicMock(wraps=athenad.create_connection)) - - time.sleep(1) - mock_create_connection.assert_called_once() - mock_create_connection.reset_mock() - - # check normal behaviour, server pings on connection - with subtests.test("Wi-Fi: receives ping"), Timeout(70, "no ping received"): - while not self._received_ping(): - time.sleep(0.1) - print("ping received") - - mock_create_connection.assert_not_called() - - # websocket should attempt reconnect after short time - with subtests.test("LTE: attempt reconnect"): - wifi_radio(False) - print("waiting for reconnect attempt") - start_time = time.monotonic() - with Timeout(reconnect_time, "no reconnect attempt"): - while not mock_create_connection.called: - time.sleep(0.1) - print(f"reconnect attempt after {time.monotonic() - start_time:.2f}s") - - self._clear_ping_time() - - # check ping received after reconnect - with subtests.test("LTE: receives ping"), Timeout(70, "no ping received"): - while not self._received_ping(): - time.sleep(0.1) - print("ping received") - - @pytest.mark.skipif(not TICI, reason="only run on desk") - def test_offroad(self, subtests, mocker) -> None: - write_onroad_params(False, self.params) - self.assertTimeout(60 + TIMEOUT_TOLERANCE, subtests, mocker) # based using TCP keepalive settings - - @pytest.mark.skipif(not TICI, reason="only run on desk") - def test_onroad(self, subtests, mocker) -> None: - write_onroad_params(True, self.params) - self.assertTimeout(21 + TIMEOUT_TOLERANCE, subtests, mocker) diff --git a/system/athena/tests/test_registration.py b/system/athena/tests/test_registration.py deleted file mode 100644 index 4f663fbc0ad834..00000000000000 --- a/system/athena/tests/test_registration.py +++ /dev/null @@ -1,74 +0,0 @@ -import json -from Crypto.PublicKey import RSA -from pathlib import Path - -from openpilot.common.params import Params -from openpilot.system.athena.registration import register, UNREGISTERED_DONGLE_ID -from openpilot.system.athena.tests.helpers import MockResponse -from openpilot.system.hardware.hw import Paths - - -class TestRegistration: - - def setup_method(self): - # clear params and setup key paths - self.params = Params() - self.params.clear_all() - - persist_dir = Path(Paths.persist_root()) / "comma" - persist_dir.mkdir(parents=True, exist_ok=True) - - self.priv_key = persist_dir / "id_rsa" - self.pub_key = persist_dir / "id_rsa.pub" - - def _generate_keys(self): - self.pub_key.touch() - k = RSA.generate(2048) - with open(self.priv_key, "wb") as f: - f.write(k.export_key()) - with open(self.pub_key, "wb") as f: - f.write(k.publickey().export_key()) - - def test_valid_cache(self, mocker): - # if all params are written, return the cached dongle id - self.params.put("IMEI", "imei") - self.params.put("HardwareSerial", "serial") - self._generate_keys() - - m = mocker.patch("openpilot.system.athena.registration.api_get", autospec=True) - dongle = "DONGLE_ID_123" - self.params.put("DongleId", dongle) - assert register() == dongle - assert not m.called - - def test_no_keys(self, mocker): - # missing pubkey - m = mocker.patch("openpilot.system.athena.registration.api_get", autospec=True) - dongle = register() - assert m.call_count == 0 - assert dongle == UNREGISTERED_DONGLE_ID - assert self.params.get("DongleId", encoding='utf-8') == dongle - - def test_missing_cache(self, mocker): - # keys exist but no dongle id - self._generate_keys() - m = mocker.patch("openpilot.system.athena.registration.api_get", autospec=True) - dongle = "DONGLE_ID_123" - m.return_value = MockResponse(json.dumps({'dongle_id': dongle}), 200) - assert register() == dongle - assert m.call_count == 1 - - # call again, shouldn't hit the API this time - assert register() == dongle - assert m.call_count == 1 - assert self.params.get("DongleId", encoding='utf-8') == dongle - - def test_unregistered(self, mocker): - # keys exist, but unregistered - self._generate_keys() - m = mocker.patch("openpilot.system.athena.registration.api_get", autospec=True) - m.return_value = MockResponse(None, 402) - dongle = register() - assert m.call_count == 1 - assert dongle == UNREGISTERED_DONGLE_ID - assert self.params.get("DongleId", encoding='utf-8') == dongle diff --git a/system/camerad/camerad b/system/camerad/camerad new file mode 100755 index 00000000000000..5fd43ec8451303 Binary files /dev/null and b/system/camerad/camerad differ diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc deleted file mode 100644 index 9d82284d9f97b8..00000000000000 --- a/system/camerad/cameras/camera_common.cc +++ /dev/null @@ -1,352 +0,0 @@ -#include "system/camerad/cameras/camera_common.h" - -#include -#include - -#include "third_party/libyuv/include/libyuv.h" -#include - -#include "common/clutil.h" -#include "common/swaglog.h" -#include "third_party/linux/include/msm_media_info.h" - -#include "system/camerad/cameras/camera_qcom2.h" -#ifdef QCOM2 -#include "CL/cl_ext_qcom.h" -#endif - -ExitHandler do_exit; - -class ImgProc { -public: - ImgProc(cl_device_id device_id, cl_context context, const CameraBuf *b, const CameraState *s, int buf_width, int uv_offset) { - char args[4096]; - const SensorInfo *ci = s->ci.get(); - snprintf(args, sizeof(args), - "-cl-fast-relaxed-math -cl-denorms-are-zero -Isensors " - "-DFRAME_WIDTH=%d -DFRAME_HEIGHT=%d -DFRAME_STRIDE=%d -DFRAME_OFFSET=%d " - "-DRGB_WIDTH=%d -DRGB_HEIGHT=%d -DYUV_STRIDE=%d -DUV_OFFSET=%d " - "-DSENSOR_ID=%hu -DHDR_OFFSET=%d -DVIGNETTING=%d ", - ci->frame_width, ci->frame_height, ci->hdr_offset > 0 ? ci->frame_stride * 2 : ci->frame_stride, ci->frame_offset, - b->rgb_width, b->rgb_height, buf_width, uv_offset, - static_cast(ci->image_sensor), ci->hdr_offset, s->camera_num == 1); - const char *cl_file = "cameras/process_raw.cl"; - cl_program prg_imgproc = cl_program_from_file(context, device_id, cl_file, args); - krnl_ = CL_CHECK_ERR(clCreateKernel(prg_imgproc, "process_raw", &err)); - CL_CHECK(clReleaseProgram(prg_imgproc)); - - } - - void queue(cl_command_queue q, cl_mem cam_buf_cl, cl_mem buf_cl, int width, int height, cl_event *imgproc_event, int expo_time) { - CL_CHECK(clSetKernelArg(krnl_, 0, sizeof(cl_mem), &cam_buf_cl)); - CL_CHECK(clSetKernelArg(krnl_, 1, sizeof(cl_mem), &buf_cl)); - CL_CHECK(clSetKernelArg(krnl_, 2, sizeof(cl_int), &expo_time)); - - const size_t globalWorkSize[] = {size_t(width / 2), size_t(height / 2)}; - const int imgproc_local_worksize = 16; - const size_t localWorkSize[] = {imgproc_local_worksize, imgproc_local_worksize}; - CL_CHECK(clEnqueueNDRangeKernel(q, krnl_, 2, NULL, globalWorkSize, localWorkSize, 0, 0, imgproc_event)); - } - - ~ImgProc() { - CL_CHECK(clReleaseKernel(krnl_)); - } - -private: - cl_kernel krnl_; -}; - -void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s, VisionIpcServer * v, int frame_cnt, VisionStreamType type) { - vipc_server = v; - stream_type = type; - frame_buf_count = frame_cnt; - - const SensorInfo *ci = s->ci.get(); - // RAW frame - const int frame_size = (ci->frame_height + ci->extra_height) * ci->frame_stride; - camera_bufs = std::make_unique(frame_buf_count); - camera_bufs_metadata = std::make_unique(frame_buf_count); - - for (int i = 0; i < frame_buf_count; i++) { - camera_bufs[i].allocate(frame_size); - camera_bufs[i].init_cl(device_id, context); - } - LOGD("allocated %d CL buffers", frame_buf_count); - - rgb_width = ci->frame_width; - rgb_height = ci->hdr_offset > 0 ? (ci->frame_height - ci->hdr_offset) / 2 : ci->frame_height; - - int nv12_width = VENUS_Y_STRIDE(COLOR_FMT_NV12, rgb_width); - int nv12_height = VENUS_Y_SCANLINES(COLOR_FMT_NV12, rgb_height); - assert(nv12_width == VENUS_UV_STRIDE(COLOR_FMT_NV12, rgb_width)); - assert(nv12_height/2 == VENUS_UV_SCANLINES(COLOR_FMT_NV12, rgb_height)); - size_t nv12_uv_offset = nv12_width * nv12_height; - - // the encoder HW tells us the size it wants after setting it up. - // TODO: VENUS_BUFFER_SIZE should give the size, but it's too small. dependent on encoder settings? - size_t nv12_size = (rgb_width >= 2688 ? 2900 : 2346)*nv12_width; - - vipc_server->create_buffers_with_sizes(stream_type, YUV_BUFFER_COUNT, false, rgb_width, rgb_height, nv12_size, nv12_width, nv12_uv_offset); - LOGD("created %d YUV vipc buffers with size %dx%d", YUV_BUFFER_COUNT, nv12_width, nv12_height); - - imgproc = new ImgProc(device_id, context, this, s, nv12_width, nv12_uv_offset); - - const cl_queue_properties props[] = {0}; //CL_QUEUE_PRIORITY_KHR, CL_QUEUE_PRIORITY_HIGH_KHR, 0}; - q = CL_CHECK_ERR(clCreateCommandQueueWithProperties(context, device_id, props, &err)); -} - -CameraBuf::~CameraBuf() { - for (int i = 0; i < frame_buf_count; i++) { - camera_bufs[i].free(); - } - if (imgproc) delete imgproc; - if (q) CL_CHECK(clReleaseCommandQueue(q)); -} - -bool CameraBuf::acquire() { - if (!safe_queue.try_pop(cur_buf_idx, 50)) return false; - - if (camera_bufs_metadata[cur_buf_idx].frame_id == -1) { - LOGE("no frame data? wtf"); - return false; - } - - cur_frame_data = camera_bufs_metadata[cur_buf_idx]; - cur_yuv_buf = vipc_server->get_buffer(stream_type); - cur_camera_buf = &camera_bufs[cur_buf_idx]; - - double start_time = millis_since_boot(); - cl_event event; - imgproc->queue(q, camera_bufs[cur_buf_idx].buf_cl, cur_yuv_buf->buf_cl, rgb_width, rgb_height, &event, cur_frame_data.integ_lines); - clWaitForEvents(1, &event); - CL_CHECK(clReleaseEvent(event)); - cur_frame_data.processing_time = (millis_since_boot() - start_time) / 1000.0; - - VisionIpcBufExtra extra = { - cur_frame_data.frame_id, - cur_frame_data.timestamp_sof, - cur_frame_data.timestamp_eof, - }; - cur_yuv_buf->set_frame_id(cur_frame_data.frame_id); - vipc_server->send(cur_yuv_buf, &extra); - - return true; -} - -void CameraBuf::queue(size_t buf_idx) { - safe_queue.push(buf_idx); -} - -// common functions - -void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &frame_data, CameraState *c) { - framed.setFrameId(frame_data.frame_id); - framed.setRequestId(frame_data.request_id); - framed.setTimestampEof(frame_data.timestamp_eof); - framed.setTimestampSof(frame_data.timestamp_sof); - framed.setIntegLines(frame_data.integ_lines); - framed.setGain(frame_data.gain); - framed.setHighConversionGain(frame_data.high_conversion_gain); - framed.setMeasuredGreyFraction(frame_data.measured_grey_fraction); - framed.setTargetGreyFraction(frame_data.target_grey_fraction); - framed.setProcessingTime(frame_data.processing_time); - - const float ev = c->cur_ev[frame_data.frame_id % 3]; - const float perc = util::map_val(ev, c->ci->min_ev, c->ci->max_ev, 0.0f, 100.0f); - framed.setExposureValPercent(perc); - framed.setSensor(c->ci->image_sensor); -} - -kj::Array get_raw_frame_image(const CameraBuf *b) { - const uint8_t *dat = (const uint8_t *)b->cur_camera_buf->addr; - - kj::Array frame_image = kj::heapArray(b->cur_camera_buf->len); - uint8_t *resized_dat = frame_image.begin(); - - memcpy(resized_dat, dat, b->cur_camera_buf->len); - - return kj::mv(frame_image); -} - -static kj::Array yuv420_to_jpeg(const CameraBuf *b, int thumbnail_width, int thumbnail_height) { - int downscale = b->cur_yuv_buf->width / thumbnail_width; - assert(downscale * thumbnail_height == b->cur_yuv_buf->height); - int in_stride = b->cur_yuv_buf->stride; - - // make the buffer big enough. jpeg_write_raw_data requires 16-pixels aligned height to be used. - std::unique_ptr buf(new uint8_t[(thumbnail_width * ((thumbnail_height + 15) & ~15) * 3) / 2]); - uint8_t *y_plane = buf.get(); - uint8_t *u_plane = y_plane + thumbnail_width * thumbnail_height; - uint8_t *v_plane = u_plane + (thumbnail_width * thumbnail_height) / 4; - { - // subsampled conversion from nv12 to yuv - for (int hy = 0; hy < thumbnail_height/2; hy++) { - for (int hx = 0; hx < thumbnail_width/2; hx++) { - int ix = hx * downscale + (downscale-1)/2; - int iy = hy * downscale + (downscale-1)/2; - y_plane[(hy*2 + 0)*thumbnail_width + (hx*2 + 0)] = b->cur_yuv_buf->y[(iy*2 + 0) * in_stride + ix*2 + 0]; - y_plane[(hy*2 + 0)*thumbnail_width + (hx*2 + 1)] = b->cur_yuv_buf->y[(iy*2 + 0) * in_stride + ix*2 + 1]; - y_plane[(hy*2 + 1)*thumbnail_width + (hx*2 + 0)] = b->cur_yuv_buf->y[(iy*2 + 1) * in_stride + ix*2 + 0]; - y_plane[(hy*2 + 1)*thumbnail_width + (hx*2 + 1)] = b->cur_yuv_buf->y[(iy*2 + 1) * in_stride + ix*2 + 1]; - u_plane[hy*thumbnail_width/2 + hx] = b->cur_yuv_buf->uv[iy*in_stride + ix*2 + 0]; - v_plane[hy*thumbnail_width/2 + hx] = b->cur_yuv_buf->uv[iy*in_stride + ix*2 + 1]; - } - } - } - - struct jpeg_compress_struct cinfo; - struct jpeg_error_mgr jerr; - cinfo.err = jpeg_std_error(&jerr); - jpeg_create_compress(&cinfo); - - uint8_t *thumbnail_buffer = nullptr; - size_t thumbnail_len = 0; - jpeg_mem_dest(&cinfo, &thumbnail_buffer, &thumbnail_len); - - cinfo.image_width = thumbnail_width; - cinfo.image_height = thumbnail_height; - cinfo.input_components = 3; - - jpeg_set_defaults(&cinfo); - jpeg_set_colorspace(&cinfo, JCS_YCbCr); - // configure sampling factors for yuv420. - cinfo.comp_info[0].h_samp_factor = 2; // Y - cinfo.comp_info[0].v_samp_factor = 2; - cinfo.comp_info[1].h_samp_factor = 1; // U - cinfo.comp_info[1].v_samp_factor = 1; - cinfo.comp_info[2].h_samp_factor = 1; // V - cinfo.comp_info[2].v_samp_factor = 1; - cinfo.raw_data_in = TRUE; - - jpeg_set_quality(&cinfo, 50, TRUE); - jpeg_start_compress(&cinfo, TRUE); - - JSAMPROW y[16], u[8], v[8]; - JSAMPARRAY planes[3]{y, u, v}; - - for (int line = 0; line < cinfo.image_height; line += 16) { - for (int i = 0; i < 16; ++i) { - y[i] = y_plane + (line + i) * cinfo.image_width; - if (i % 2 == 0) { - int offset = (cinfo.image_width / 2) * ((i + line) / 2); - u[i / 2] = u_plane + offset; - v[i / 2] = v_plane + offset; - } - } - jpeg_write_raw_data(&cinfo, planes, 16); - } - - jpeg_finish_compress(&cinfo); - jpeg_destroy_compress(&cinfo); - - kj::Array dat = kj::heapArray(thumbnail_buffer, thumbnail_len); - free(thumbnail_buffer); - return dat; -} - -static void publish_thumbnail(PubMaster *pm, const CameraBuf *b) { - auto thumbnail = yuv420_to_jpeg(b, b->rgb_width / 4, b->rgb_height / 4); - if (thumbnail.size() == 0) return; - - MessageBuilder msg; - auto thumbnaild = msg.initEvent().initThumbnail(); - thumbnaild.setFrameId(b->cur_frame_data.frame_id); - thumbnaild.setTimestampEof(b->cur_frame_data.timestamp_eof); - thumbnaild.setThumbnail(thumbnail); - - pm->send("thumbnail", msg); -} - -float set_exposure_target(const CameraBuf *b, Rect ae_xywh, int x_skip, int y_skip) { - int lum_med; - uint32_t lum_binning[256] = {0}; - const uint8_t *pix_ptr = b->cur_yuv_buf->y; - - unsigned int lum_total = 0; - for (int y = ae_xywh.y; y < ae_xywh.y + ae_xywh.h; y += y_skip) { - for (int x = ae_xywh.x; x < ae_xywh.x + ae_xywh.w; x += x_skip) { - uint8_t lum = pix_ptr[(y * b->rgb_width) + x]; - lum_binning[lum]++; - lum_total += 1; - } - } - - // Find mean lumimance value - unsigned int lum_cur = 0; - for (lum_med = 255; lum_med >= 0; lum_med--) { - lum_cur += lum_binning[lum_med]; - - if (lum_cur >= lum_total / 2) { - break; - } - } - - return lum_med / 256.0; -} - -void *processing_thread(MultiCameraState *cameras, CameraState *cs, process_thread_cb callback) { - const char *thread_name = nullptr; - if (cs == &cameras->road_cam) { - thread_name = "RoadCamera"; - } else if (cs == &cameras->driver_cam) { - thread_name = "DriverCamera"; - } else { - thread_name = "WideRoadCamera"; - } - util::set_thread_name(thread_name); - - uint32_t cnt = 0; - while (!do_exit) { - if (!cs->buf.acquire()) continue; - - callback(cameras, cs, cnt); - - if (cs == &(cameras->road_cam) && cameras->pm && cnt % 100 == 3) { - // this takes 10ms??? - publish_thumbnail(cameras->pm, &(cs->buf)); - } - ++cnt; - } - return NULL; -} - -std::thread start_process_thread(MultiCameraState *cameras, CameraState *cs, process_thread_cb callback) { - return std::thread(processing_thread, cameras, cs, callback); -} - -void camerad_thread() { - cl_device_id device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT); -#ifdef QCOM2 - const cl_context_properties props[] = {CL_CONTEXT_PRIORITY_HINT_QCOM, CL_PRIORITY_HINT_HIGH_QCOM, 0}; - cl_context context = CL_CHECK_ERR(clCreateContext(props, 1, &device_id, NULL, NULL, &err)); -#else - cl_context context = CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err)); -#endif - - { - MultiCameraState cameras = {}; - VisionIpcServer vipc_server("camerad", device_id, context); - - cameras_open(&cameras); - cameras_init(&vipc_server, &cameras, device_id, context); - - vipc_server.start_listener(); - - cameras_run(&cameras); - } - - CL_CHECK(clReleaseContext(context)); -} - -int open_v4l_by_name_and_index(const char name[], int index, int flags) { - for (int v4l_index = 0; /**/; ++v4l_index) { - std::string v4l_name = util::read_file(util::string_format("/sys/class/video4linux/v4l-subdev%d/name", v4l_index)); - if (v4l_name.empty()) return -1; - if (v4l_name.find(name) == 0) { - if (index == 0) { - return HANDLE_EINTR(open(util::string_format("/dev/v4l-subdev%d", v4l_index).c_str(), flags)); - } - index--; - } - } -} diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h deleted file mode 100644 index 555362ab8bc7ab..00000000000000 --- a/system/camerad/cameras/camera_common.h +++ /dev/null @@ -1,88 +0,0 @@ -#pragma once - -#include -#include -#include - -#include "cereal/messaging/messaging.h" -#include "msgq/visionipc/visionipc_server.h" -#include "common/queue.h" -#include "common/util.h" - -const int YUV_BUFFER_COUNT = 20; - -enum CameraType { - RoadCam = 0, - DriverCam, - WideRoadCam -}; - -// for debugging -const bool env_disable_road = getenv("DISABLE_ROAD") != NULL; -const bool env_disable_wide_road = getenv("DISABLE_WIDE_ROAD") != NULL; -const bool env_disable_driver = getenv("DISABLE_DRIVER") != NULL; -const bool env_debug_frames = getenv("DEBUG_FRAMES") != NULL; -const bool env_log_raw_frames = getenv("LOG_RAW_FRAMES") != NULL; -const bool env_ctrl_exp_from_params = getenv("CTRL_EXP_FROM_PARAMS") != NULL; - -typedef struct FrameMetadata { - uint32_t frame_id; - uint32_t request_id; - - // Timestamps - uint64_t timestamp_sof; - uint64_t timestamp_eof; - - // Exposure - unsigned int integ_lines; - bool high_conversion_gain; - float gain; - float measured_grey_fraction; - float target_grey_fraction; - - float processing_time; -} FrameMetadata; - -struct MultiCameraState; -class CameraState; -class ImgProc; - -class CameraBuf { -private: - VisionIpcServer *vipc_server; - ImgProc *imgproc = nullptr; - VisionStreamType stream_type; - int cur_buf_idx; - SafeQueue safe_queue; - int frame_buf_count; - -public: - cl_command_queue q; - FrameMetadata cur_frame_data; - VisionBuf *cur_yuv_buf; - VisionBuf *cur_camera_buf; - std::unique_ptr camera_bufs; - std::unique_ptr camera_bufs_metadata; - int rgb_width, rgb_height; - - CameraBuf() = default; - ~CameraBuf(); - void init(cl_device_id device_id, cl_context context, CameraState *s, VisionIpcServer * v, int frame_cnt, VisionStreamType type); - bool acquire(); - void queue(size_t buf_idx); -}; - -typedef void (*process_thread_cb)(MultiCameraState *s, CameraState *c, int cnt); - -void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &frame_data, CameraState *c); -kj::Array get_raw_frame_image(const CameraBuf *b); -float set_exposure_target(const CameraBuf *b, Rect ae_xywh, int x_skip, int y_skip); -std::thread start_process_thread(MultiCameraState *cameras, CameraState *cs, process_thread_cb callback); - -void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_id, cl_context ctx); -void cameras_open(MultiCameraState *s); -void cameras_run(MultiCameraState *s); -void cameras_close(MultiCameraState *s); -void camerad_thread(); - -int open_v4l_by_name_and_index(const char name[], int index = 0, int flags = O_RDWR | O_NONBLOCK); diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc deleted file mode 100644 index 096e288cc2e4a2..00000000000000 --- a/system/camerad/cameras/camera_qcom2.cc +++ /dev/null @@ -1,1026 +0,0 @@ -#include "system/camerad/cameras/camera_qcom2.h" - -#include -#include - -#include -#include -#include -#include -#include -#include -#include - -#include "media/cam_defs.h" -#include "media/cam_isp.h" -#include "media/cam_isp_ife.h" -#include "media/cam_req_mgr.h" -#include "media/cam_sensor_cmn_header.h" -#include "media/cam_sync.h" -#include "common/swaglog.h" - -const int MIPI_SETTLE_CNT = 33; // Calculated by camera_freqs.py - -// For debugging: -// echo "4294967295" > /sys/module/cam_debug_util/parameters/debug_mdl - -extern ExitHandler do_exit; - -int CameraState::clear_req_queue() { - struct cam_req_mgr_flush_info req_mgr_flush_request = {0}; - req_mgr_flush_request.session_hdl = session_handle; - req_mgr_flush_request.link_hdl = link_handle; - req_mgr_flush_request.flush_type = CAM_REQ_MGR_FLUSH_TYPE_ALL; - int ret = do_cam_control(multi_cam_state->video0_fd, CAM_REQ_MGR_FLUSH_REQ, &req_mgr_flush_request, sizeof(req_mgr_flush_request)); - // LOGD("flushed all req: %d", ret); - return ret; -} - -// ************** high level camera helpers **************** - -void CameraState::sensors_start() { - if (!enabled) return; - LOGD("starting sensor %d", camera_num); - sensors_i2c(ci->start_reg_array.data(), ci->start_reg_array.size(), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, ci->data_word); -} - -void CameraState::sensors_poke(int request_id) { - uint32_t cam_packet_handle = 0; - int size = sizeof(struct cam_packet); - auto pkt = mm.alloc(size, &cam_packet_handle); - pkt->num_cmd_buf = 0; - pkt->kmd_cmd_buf_index = -1; - pkt->header.size = size; - pkt->header.op_code = CAM_SENSOR_PACKET_OPCODE_SENSOR_NOP; - pkt->header.request_id = request_id; - - int ret = device_config(sensor_fd, session_handle, sensor_dev_handle, cam_packet_handle); - if (ret != 0) { - LOGE("** sensor %d FAILED poke, disabling", camera_num); - enabled = false; - return; - } -} - -void CameraState::sensors_i2c(const struct i2c_random_wr_payload* dat, int len, int op_code, bool data_word) { - // LOGD("sensors_i2c: %d", len); - uint32_t cam_packet_handle = 0; - int size = sizeof(struct cam_packet)+sizeof(struct cam_cmd_buf_desc)*1; - auto pkt = mm.alloc(size, &cam_packet_handle); - pkt->num_cmd_buf = 1; - pkt->kmd_cmd_buf_index = -1; - pkt->header.size = size; - pkt->header.op_code = op_code; - struct cam_cmd_buf_desc *buf_desc = (struct cam_cmd_buf_desc *)&pkt->payload; - - buf_desc[0].size = buf_desc[0].length = sizeof(struct i2c_rdwr_header) + len*sizeof(struct i2c_random_wr_payload); - buf_desc[0].type = CAM_CMD_BUF_I2C; - - auto i2c_random_wr = mm.alloc(buf_desc[0].size, (uint32_t*)&buf_desc[0].mem_handle); - i2c_random_wr->header.count = len; - i2c_random_wr->header.op_code = 1; - i2c_random_wr->header.cmd_type = CAMERA_SENSOR_CMD_TYPE_I2C_RNDM_WR; - i2c_random_wr->header.data_type = data_word ? CAMERA_SENSOR_I2C_TYPE_WORD : CAMERA_SENSOR_I2C_TYPE_BYTE; - i2c_random_wr->header.addr_type = CAMERA_SENSOR_I2C_TYPE_WORD; - memcpy(i2c_random_wr->random_wr_payload, dat, len*sizeof(struct i2c_random_wr_payload)); - - int ret = device_config(sensor_fd, session_handle, sensor_dev_handle, cam_packet_handle); - if (ret != 0) { - LOGE("** sensor %d FAILED i2c, disabling", camera_num); - enabled = false; - return; - } -} - -static cam_cmd_power *power_set_wait(cam_cmd_power *power, int16_t delay_ms) { - cam_cmd_unconditional_wait *unconditional_wait = (cam_cmd_unconditional_wait *)((char *)power + (sizeof(struct cam_cmd_power) + (power->count - 1) * sizeof(struct cam_power_settings))); - unconditional_wait->cmd_type = CAMERA_SENSOR_CMD_TYPE_WAIT; - unconditional_wait->delay = delay_ms; - unconditional_wait->op_code = CAMERA_SENSOR_WAIT_OP_SW_UCND; - return (struct cam_cmd_power *)(unconditional_wait + 1); -} - -int CameraState::sensors_init() { - uint32_t cam_packet_handle = 0; - int size = sizeof(struct cam_packet)+sizeof(struct cam_cmd_buf_desc)*2; - auto pkt = mm.alloc(size, &cam_packet_handle); - pkt->num_cmd_buf = 2; - pkt->kmd_cmd_buf_index = -1; - pkt->header.op_code = 0x1000000 | CAM_SENSOR_PACKET_OPCODE_SENSOR_PROBE; - pkt->header.size = size; - struct cam_cmd_buf_desc *buf_desc = (struct cam_cmd_buf_desc *)&pkt->payload; - - buf_desc[0].size = buf_desc[0].length = sizeof(struct cam_cmd_i2c_info) + sizeof(struct cam_cmd_probe); - buf_desc[0].type = CAM_CMD_BUF_LEGACY; - auto i2c_info = mm.alloc(buf_desc[0].size, (uint32_t*)&buf_desc[0].mem_handle); - auto probe = (struct cam_cmd_probe *)(i2c_info.get() + 1); - - probe->camera_id = camera_num; - i2c_info->slave_addr = ci->getSlaveAddress(camera_num); - // 0(I2C_STANDARD_MODE) = 100khz, 1(I2C_FAST_MODE) = 400khz - //i2c_info->i2c_freq_mode = I2C_STANDARD_MODE; - i2c_info->i2c_freq_mode = I2C_FAST_MODE; - i2c_info->cmd_type = CAMERA_SENSOR_CMD_TYPE_I2C_INFO; - - probe->data_type = CAMERA_SENSOR_I2C_TYPE_WORD; - probe->addr_type = CAMERA_SENSOR_I2C_TYPE_WORD; - probe->op_code = 3; // don't care? - probe->cmd_type = CAMERA_SENSOR_CMD_TYPE_PROBE; - probe->reg_addr = ci->probe_reg_addr; - probe->expected_data = ci->probe_expected_data; - probe->data_mask = 0; - - //buf_desc[1].size = buf_desc[1].length = 148; - buf_desc[1].size = buf_desc[1].length = 196; - buf_desc[1].type = CAM_CMD_BUF_I2C; - auto power_settings = mm.alloc(buf_desc[1].size, (uint32_t*)&buf_desc[1].mem_handle); - - // power on - struct cam_cmd_power *power = power_settings.get(); - power->count = 4; - power->cmd_type = CAMERA_SENSOR_CMD_TYPE_PWR_UP; - power->power_settings[0].power_seq_type = 3; // clock?? - power->power_settings[1].power_seq_type = 1; // analog - power->power_settings[2].power_seq_type = 2; // digital - power->power_settings[3].power_seq_type = 8; // reset low - power = power_set_wait(power, 1); - - // set clock - power->count = 1; - power->cmd_type = CAMERA_SENSOR_CMD_TYPE_PWR_UP; - power->power_settings[0].power_seq_type = 0; - power->power_settings[0].config_val_low = ci->mclk_frequency; - power = power_set_wait(power, 1); - - // reset high - power->count = 1; - power->cmd_type = CAMERA_SENSOR_CMD_TYPE_PWR_UP; - power->power_settings[0].power_seq_type = 8; - power->power_settings[0].config_val_low = 1; - // wait 650000 cycles @ 19.2 mhz = 33.8 ms - power = power_set_wait(power, 34); - - // probe happens here - - // disable clock - power->count = 1; - power->cmd_type = CAMERA_SENSOR_CMD_TYPE_PWR_DOWN; - power->power_settings[0].power_seq_type = 0; - power->power_settings[0].config_val_low = 0; - power = power_set_wait(power, 1); - - // reset high - power->count = 1; - power->cmd_type = CAMERA_SENSOR_CMD_TYPE_PWR_DOWN; - power->power_settings[0].power_seq_type = 8; - power->power_settings[0].config_val_low = 1; - power = power_set_wait(power, 1); - - // reset low - power->count = 1; - power->cmd_type = CAMERA_SENSOR_CMD_TYPE_PWR_DOWN; - power->power_settings[0].power_seq_type = 8; - power->power_settings[0].config_val_low = 0; - power = power_set_wait(power, 1); - - // power off - power->count = 3; - power->cmd_type = CAMERA_SENSOR_CMD_TYPE_PWR_DOWN; - power->power_settings[0].power_seq_type = 2; - power->power_settings[1].power_seq_type = 1; - power->power_settings[2].power_seq_type = 3; - - int ret = do_cam_control(sensor_fd, CAM_SENSOR_PROBE_CMD, (void *)(uintptr_t)cam_packet_handle, 0); - LOGD("probing the sensor: %d", ret); - return ret; -} - -void CameraState::config_isp(int io_mem_handle, int fence, int request_id, int buf0_mem_handle, int buf0_offset) { - uint32_t cam_packet_handle = 0; - int size = sizeof(struct cam_packet)+sizeof(struct cam_cmd_buf_desc)*2; - if (io_mem_handle != 0) { - size += sizeof(struct cam_buf_io_cfg); - } - auto pkt = mm.alloc(size, &cam_packet_handle); - pkt->num_cmd_buf = 2; - pkt->kmd_cmd_buf_index = 0; - // YUV has kmd_cmd_buf_offset = 1780 - // I guess this is the ISP command - // YUV also has patch_offset = 0x1030 and num_patches = 10 - - if (io_mem_handle != 0) { - pkt->io_configs_offset = sizeof(struct cam_cmd_buf_desc)*pkt->num_cmd_buf; - pkt->num_io_configs = 1; - } - - if (io_mem_handle != 0) { - pkt->header.op_code = 0xf000001; - pkt->header.request_id = request_id; - } else { - pkt->header.op_code = 0xf000000; - } - pkt->header.size = size; - struct cam_cmd_buf_desc *buf_desc = (struct cam_cmd_buf_desc *)&pkt->payload; - struct cam_buf_io_cfg *io_cfg = (struct cam_buf_io_cfg *)((char*)&pkt->payload + pkt->io_configs_offset); - - // TODO: support MMU - buf_desc[0].size = 65624; - buf_desc[0].length = 0; - buf_desc[0].type = CAM_CMD_BUF_DIRECT; - buf_desc[0].meta_data = 3; - buf_desc[0].mem_handle = buf0_mem_handle; - buf_desc[0].offset = buf0_offset; - - // parsed by cam_isp_packet_generic_blob_handler - struct isp_packet { - uint32_t type_0; - cam_isp_resource_hfr_config resource_hfr; - - uint32_t type_1; - cam_isp_clock_config clock; - uint64_t extra_rdi_hz[3]; - - uint32_t type_2; - cam_isp_bw_config bw; - struct cam_isp_bw_vote extra_rdi_vote[6]; - } __attribute__((packed)) tmp; - memset(&tmp, 0, sizeof(tmp)); - - tmp.type_0 = CAM_ISP_GENERIC_BLOB_TYPE_HFR_CONFIG; - tmp.type_0 |= sizeof(cam_isp_resource_hfr_config) << 8; - static_assert(sizeof(cam_isp_resource_hfr_config) == 0x20); - tmp.resource_hfr = { - .num_ports = 1, // 10 for YUV (but I don't think we need them) - .port_hfr_config[0] = { - .resource_type = CAM_ISP_IFE_OUT_RES_RDI_0, // CAM_ISP_IFE_OUT_RES_FULL for YUV - .subsample_pattern = 1, - .subsample_period = 0, - .framedrop_pattern = 1, - .framedrop_period = 0, - }}; - - tmp.type_1 = CAM_ISP_GENERIC_BLOB_TYPE_CLOCK_CONFIG; - tmp.type_1 |= (sizeof(cam_isp_clock_config) + sizeof(tmp.extra_rdi_hz)) << 8; - static_assert((sizeof(cam_isp_clock_config) + sizeof(tmp.extra_rdi_hz)) == 0x38); - tmp.clock = { - .usage_type = 1, // dual mode - .num_rdi = 4, - .left_pix_hz = 404000000, - .right_pix_hz = 404000000, - .rdi_hz[0] = 404000000, - }; - - - tmp.type_2 = CAM_ISP_GENERIC_BLOB_TYPE_BW_CONFIG; - tmp.type_2 |= (sizeof(cam_isp_bw_config) + sizeof(tmp.extra_rdi_vote)) << 8; - static_assert((sizeof(cam_isp_bw_config) + sizeof(tmp.extra_rdi_vote)) == 0xe0); - tmp.bw = { - .usage_type = 1, // dual mode - .num_rdi = 4, - .left_pix_vote = { - .resource_id = 0, - .cam_bw_bps = 450000000, - .ext_bw_bps = 450000000, - }, - .rdi_vote[0] = { - .resource_id = 0, - .cam_bw_bps = 8706200000, - .ext_bw_bps = 8706200000, - }, - }; - - static_assert(offsetof(struct isp_packet, type_2) == 0x60); - - buf_desc[1].size = sizeof(tmp); - buf_desc[1].offset = io_mem_handle != 0 ? 0x60 : 0; - buf_desc[1].length = buf_desc[1].size - buf_desc[1].offset; - buf_desc[1].type = CAM_CMD_BUF_GENERIC; - buf_desc[1].meta_data = CAM_ISP_PACKET_META_GENERIC_BLOB_COMMON; - auto buf2 = mm.alloc(buf_desc[1].size, (uint32_t*)&buf_desc[1].mem_handle); - memcpy(buf2.get(), &tmp, sizeof(tmp)); - - if (io_mem_handle != 0) { - io_cfg[0].mem_handle[0] = io_mem_handle; - io_cfg[0].planes[0] = (struct cam_plane_cfg){ - .width = ci->frame_width, - .height = ci->frame_height + ci->extra_height, - .plane_stride = ci->frame_stride, - .slice_height = ci->frame_height + ci->extra_height, - .meta_stride = 0x0, // YUV has meta(stride=0x400, size=0x5000) - .meta_size = 0x0, - .meta_offset = 0x0, - .packer_config = 0x0, // 0xb for YUV - .mode_config = 0x0, // 0x9ef for YUV - .tile_config = 0x0, - .h_init = 0x0, - .v_init = 0x0, - }; - io_cfg[0].format = ci->mipi_format; // CAM_FORMAT_UBWC_TP10 for YUV - io_cfg[0].color_space = CAM_COLOR_SPACE_BASE; // CAM_COLOR_SPACE_BT601_FULL for YUV - io_cfg[0].color_pattern = 0x5; // 0x0 for YUV - io_cfg[0].bpp = (ci->mipi_format == CAM_FORMAT_MIPI_RAW_10 ? 0xa : 0xc); // bits per pixel - io_cfg[0].resource_type = CAM_ISP_IFE_OUT_RES_RDI_0; // CAM_ISP_IFE_OUT_RES_FULL for YUV - io_cfg[0].fence = fence; - io_cfg[0].direction = CAM_BUF_OUTPUT; - io_cfg[0].subsample_pattern = 0x1; - io_cfg[0].framedrop_pattern = 0x1; - } - - int ret = device_config(multi_cam_state->isp_fd, session_handle, isp_dev_handle, cam_packet_handle); - assert(ret == 0); - if (ret != 0) { - LOGE("isp config failed"); - } -} - -void CameraState::enqueue_buffer(int i, bool dp) { - int ret; - int request_id = request_ids[i]; - - if (buf_handle[i] && sync_objs[i]) { - // wait - struct cam_sync_wait sync_wait = {0}; - sync_wait.sync_obj = sync_objs[i]; - sync_wait.timeout_ms = 50; // max dt tolerance, typical should be 23 - ret = do_cam_control(multi_cam_state->cam_sync_fd, CAM_SYNC_WAIT, &sync_wait, sizeof(sync_wait)); - if (ret != 0) { - LOGE("failed to wait for sync: %d %d", ret, sync_wait.sync_obj); - // TODO: handle frame drop cleanly - } - - buf.camera_bufs_metadata[i].timestamp_eof = (uint64_t)nanos_since_boot(); // set true eof - if (dp) buf.queue(i); - - // destroy old output fence - struct cam_sync_info sync_destroy = {0}; - sync_destroy.sync_obj = sync_objs[i]; - ret = do_cam_control(multi_cam_state->cam_sync_fd, CAM_SYNC_DESTROY, &sync_destroy, sizeof(sync_destroy)); - if (ret != 0) { - LOGE("failed to destroy sync object: %d %d", ret, sync_destroy.sync_obj); - } - } - - // create output fence - struct cam_sync_info sync_create = {0}; - strcpy(sync_create.name, "NodeOutputPortFence"); - ret = do_cam_control(multi_cam_state->cam_sync_fd, CAM_SYNC_CREATE, &sync_create, sizeof(sync_create)); - if (ret != 0) { - LOGE("failed to create fence: %d %d", ret, sync_create.sync_obj); - } - sync_objs[i] = sync_create.sync_obj; - - // schedule request with camera request manager - struct cam_req_mgr_sched_request req_mgr_sched_request = {0}; - req_mgr_sched_request.session_hdl = session_handle; - req_mgr_sched_request.link_hdl = link_handle; - req_mgr_sched_request.req_id = request_id; - ret = do_cam_control(multi_cam_state->video0_fd, CAM_REQ_MGR_SCHED_REQ, &req_mgr_sched_request, sizeof(req_mgr_sched_request)); - if (ret != 0) { - LOGE("failed to schedule cam mgr request: %d %d", ret, request_id); - } - - // poke sensor, must happen after schedule - sensors_poke(request_id); - - // submit request to the ife - config_isp(buf_handle[i], sync_objs[i], request_id, buf0_handle, 65632*(i+1)); -} - -void CameraState::enqueue_req_multi(int start, int n, bool dp) { - for (int i=start; i> ae_targets = { - // (Rect, F) - std::make_pair((Rect){96, 250, 1734, 524}, 567.0), // wide - std::make_pair((Rect){96, 160, 1734, 986}, 2648.0), // road - std::make_pair((Rect){96, 242, 1736, 906}, 567.0) // driver - }; - int h_ref = 1208; - /* - exposure target intrinics is - [ - [F, 0, 0.5*ae_xywh[2]] - [0, F, 0.5*H-ae_xywh[1]] - [0, 0, 1] - ] - */ - auto ae_target = ae_targets[camera_num]; - Rect xywh_ref = ae_target.first; - float fl_ref = ae_target.second; - - ae_xywh = (Rect){ - std::max(0, buf.rgb_width / 2 - (int)(fl_pix / fl_ref * xywh_ref.w / 2)), - std::max(0, buf.rgb_height / 2 - (int)(fl_pix / fl_ref * (h_ref / 2 - xywh_ref.y))), - std::min((int)(fl_pix / fl_ref * xywh_ref.w), buf.rgb_width / 2 + (int)(fl_pix / fl_ref * xywh_ref.w / 2)), - std::min((int)(fl_pix / fl_ref * xywh_ref.h), buf.rgb_height / 2 + (int)(fl_pix / fl_ref * (h_ref / 2 - xywh_ref.y))) - }; -} - -void CameraState::sensor_set_parameters() { - target_grey_fraction = 0.3; - - dc_gain_enabled = false; - dc_gain_weight = ci->dc_gain_min_weight; - gain_idx = ci->analog_gain_rec_idx; - exposure_time = 5; - cur_ev[0] = cur_ev[1] = cur_ev[2] = (1 + dc_gain_weight * (ci->dc_gain_factor-1) / ci->dc_gain_max_weight) * ci->sensor_analog_gains[gain_idx] * exposure_time; -} - -void CameraState::camera_map_bufs(MultiCameraState *s) { - for (int i = 0; i < FRAME_BUF_COUNT; i++) { - // configure ISP to put the image in place - struct cam_mem_mgr_map_cmd mem_mgr_map_cmd = {0}; - mem_mgr_map_cmd.mmu_hdls[0] = s->device_iommu; - mem_mgr_map_cmd.num_hdl = 1; - mem_mgr_map_cmd.flags = CAM_MEM_FLAG_HW_READ_WRITE; - mem_mgr_map_cmd.fd = buf.camera_bufs[i].fd; - int ret = do_cam_control(s->video0_fd, CAM_REQ_MGR_MAP_BUF, &mem_mgr_map_cmd, sizeof(mem_mgr_map_cmd)); - LOGD("map buf req: (fd: %d) 0x%x %d", buf.camera_bufs[i].fd, mem_mgr_map_cmd.out.buf_handle, ret); - buf_handle[i] = mem_mgr_map_cmd.out.buf_handle; - } - enqueue_req_multi(1, FRAME_BUF_COUNT, 0); -} - -void CameraState::camera_init(MultiCameraState *s, VisionIpcServer * v, cl_device_id device_id, cl_context ctx, VisionStreamType yuv_type, float focal_len) { - if (!enabled) return; - - LOGD("camera init %d", camera_num); - request_id_last = 0; - skipped = true; - - buf.init(device_id, ctx, this, v, FRAME_BUF_COUNT, yuv_type); - camera_map_bufs(s); - - fl_pix = focal_len / ci->pixel_size_mm; - set_exposure_rect(); -} - -void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num_, bool enabled_) { - multi_cam_state = multi_cam_state_; - camera_num = camera_num_; - enabled = enabled_; - if (!enabled) return; - - sensor_fd = open_v4l_by_name_and_index("cam-sensor-driver", camera_num); - assert(sensor_fd >= 0); - LOGD("opened sensor for %d", camera_num); - - // init memorymanager for this camera - mm.init(multi_cam_state->video0_fd); - - LOGD("-- Probing sensor %d", camera_num); - - auto init_sensor_lambda = [this](SensorInfo *sensor) { - ci.reset(sensor); - int ret = sensors_init(); - if (ret == 0) { - sensor_set_parameters(); - } - return ret == 0; - }; - - // Try different sensors one by one until it success. - if (!init_sensor_lambda(new AR0231) && - !init_sensor_lambda(new OX03C10) && - !init_sensor_lambda(new OS04C10)) { - LOGE("** sensor %d FAILED bringup, disabling", camera_num); - enabled = false; - return; - } - LOGD("-- Probing sensor %d success", camera_num); - - // create session - struct cam_req_mgr_session_info session_info = {}; - int ret = do_cam_control(multi_cam_state->video0_fd, CAM_REQ_MGR_CREATE_SESSION, &session_info, sizeof(session_info)); - LOGD("get session: %d 0x%X", ret, session_info.session_hdl); - session_handle = session_info.session_hdl; - - // access the sensor - LOGD("-- Accessing sensor"); - auto sensor_dev_handle_ = device_acquire(sensor_fd, session_handle, nullptr); - assert(sensor_dev_handle_); - sensor_dev_handle = *sensor_dev_handle_; - LOGD("acquire sensor dev"); - - LOG("-- Configuring sensor"); - sensors_i2c(ci->init_reg_array.data(), ci->init_reg_array.size(), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, ci->data_word); - - // NOTE: to be able to disable road and wide road, we still have to configure the sensor over i2c - // If you don't do this, the strobe GPIO is an output (even in reset it seems!) - if (!enabled) return; - - struct cam_isp_in_port_info in_port_info = { - .res_type = (uint32_t[]){CAM_ISP_IFE_IN_RES_PHY_0, CAM_ISP_IFE_IN_RES_PHY_1, CAM_ISP_IFE_IN_RES_PHY_2}[camera_num], - - .lane_type = CAM_ISP_LANE_TYPE_DPHY, - .lane_num = 4, - .lane_cfg = 0x3210, - - .vc = 0x0, - .dt = ci->frame_data_type, - .format = ci->mipi_format, - - .test_pattern = 0x2, // 0x3? - .usage_type = 0x0, - - .left_start = 0, - .left_stop = ci->frame_width - 1, - .left_width = ci->frame_width, - - .right_start = 0, - .right_stop = ci->frame_width - 1, - .right_width = ci->frame_width, - - .line_start = 0, - .line_stop = ci->frame_height + ci->extra_height - 1, - .height = ci->frame_height + ci->extra_height, - - .pixel_clk = 0x0, - .batch_size = 0x0, - .dsp_mode = CAM_ISP_DSP_MODE_NONE, - .hbi_cnt = 0x0, - .custom_csid = 0x0, - - .num_out_res = 0x1, - .data[0] = (struct cam_isp_out_port_info){ - .res_type = CAM_ISP_IFE_OUT_RES_RDI_0, - .format = ci->mipi_format, - .width = ci->frame_width, - .height = ci->frame_height + ci->extra_height, - .comp_grp_id = 0x0, .split_point = 0x0, .secure_mode = 0x0, - }, - }; - struct cam_isp_resource isp_resource = { - .resource_id = CAM_ISP_RES_ID_PORT, - .handle_type = CAM_HANDLE_USER_POINTER, - .res_hdl = (uint64_t)&in_port_info, - .length = sizeof(in_port_info), - }; - - auto isp_dev_handle_ = device_acquire(multi_cam_state->isp_fd, session_handle, &isp_resource); - assert(isp_dev_handle_); - isp_dev_handle = *isp_dev_handle_; - LOGD("acquire isp dev"); - - csiphy_fd = open_v4l_by_name_and_index("cam-csiphy-driver", camera_num); - assert(csiphy_fd >= 0); - LOGD("opened csiphy for %d", camera_num); - - struct cam_csiphy_acquire_dev_info csiphy_acquire_dev_info = {.combo_mode = 0}; - auto csiphy_dev_handle_ = device_acquire(csiphy_fd, session_handle, &csiphy_acquire_dev_info); - assert(csiphy_dev_handle_); - csiphy_dev_handle = *csiphy_dev_handle_; - LOGD("acquire csiphy dev"); - - // config ISP - alloc_w_mmu_hdl(multi_cam_state->video0_fd, 984480, (uint32_t*)&buf0_handle, 0x20, CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | - CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE, multi_cam_state->device_iommu, multi_cam_state->cdm_iommu); - config_isp(0, 0, 1, buf0_handle, 0); - - // config csiphy - LOG("-- Config CSI PHY"); - { - uint32_t cam_packet_handle = 0; - int size = sizeof(struct cam_packet)+sizeof(struct cam_cmd_buf_desc)*1; - auto pkt = mm.alloc(size, &cam_packet_handle); - pkt->num_cmd_buf = 1; - pkt->kmd_cmd_buf_index = -1; - pkt->header.size = size; - struct cam_cmd_buf_desc *buf_desc = (struct cam_cmd_buf_desc *)&pkt->payload; - - buf_desc[0].size = buf_desc[0].length = sizeof(struct cam_csiphy_info); - buf_desc[0].type = CAM_CMD_BUF_GENERIC; - - auto csiphy_info = mm.alloc(buf_desc[0].size, (uint32_t*)&buf_desc[0].mem_handle); - csiphy_info->lane_mask = 0x1f; - csiphy_info->lane_assign = 0x3210;// skip clk. How is this 16 bit for 5 channels?? - csiphy_info->csiphy_3phase = 0x0; // no 3 phase, only 2 conductors per lane - csiphy_info->combo_mode = 0x0; - csiphy_info->lane_cnt = 0x4; - csiphy_info->secure_mode = 0x0; - csiphy_info->settle_time = MIPI_SETTLE_CNT * 200000000ULL; - csiphy_info->data_rate = 48000000; // Calculated by camera_freqs.py - - int ret_ = device_config(csiphy_fd, session_handle, csiphy_dev_handle, cam_packet_handle); - assert(ret_ == 0); - } - - // link devices - LOG("-- Link devices"); - struct cam_req_mgr_link_info req_mgr_link_info = {0}; - req_mgr_link_info.session_hdl = session_handle; - req_mgr_link_info.num_devices = 2; - req_mgr_link_info.dev_hdls[0] = isp_dev_handle; - req_mgr_link_info.dev_hdls[1] = sensor_dev_handle; - ret = do_cam_control(multi_cam_state->video0_fd, CAM_REQ_MGR_LINK, &req_mgr_link_info, sizeof(req_mgr_link_info)); - link_handle = req_mgr_link_info.link_hdl; - LOGD("link: %d session: 0x%X isp: 0x%X sensors: 0x%X link: 0x%X", ret, session_handle, isp_dev_handle, sensor_dev_handle, link_handle); - - struct cam_req_mgr_link_control req_mgr_link_control = {0}; - req_mgr_link_control.ops = CAM_REQ_MGR_LINK_ACTIVATE; - req_mgr_link_control.session_hdl = session_handle; - req_mgr_link_control.num_links = 1; - req_mgr_link_control.link_hdls[0] = link_handle; - ret = do_cam_control(multi_cam_state->video0_fd, CAM_REQ_MGR_LINK_CONTROL, &req_mgr_link_control, sizeof(req_mgr_link_control)); - LOGD("link control: %d", ret); - - ret = device_control(csiphy_fd, CAM_START_DEV, session_handle, csiphy_dev_handle); - LOGD("start csiphy: %d", ret); - ret = device_control(multi_cam_state->isp_fd, CAM_START_DEV, session_handle, isp_dev_handle); - LOGD("start isp: %d", ret); - assert(ret == 0); - - // TODO: this is unneeded, should we be doing the start i2c in a different way? - //ret = device_control(sensor_fd, CAM_START_DEV, session_handle, sensor_dev_handle); - //LOGD("start sensor: %d", ret); -} - -void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_id, cl_context ctx) { - s->driver_cam.camera_init(s, v, device_id, ctx, VISION_STREAM_DRIVER, DRIVER_FL_MM); - s->road_cam.camera_init(s, v, device_id, ctx, VISION_STREAM_ROAD, ROAD_FL_MM); - s->wide_road_cam.camera_init(s, v, device_id, ctx, VISION_STREAM_WIDE_ROAD, WIDE_FL_MM); - - s->pm = new PubMaster({"roadCameraState", "driverCameraState", "wideRoadCameraState", "thumbnail"}); -} - -void cameras_open(MultiCameraState *s) { - LOG("-- Opening devices"); - // video0 is req_mgr, the target of many ioctls - s->video0_fd = HANDLE_EINTR(open("/dev/v4l/by-path/platform-soc:qcom_cam-req-mgr-video-index0", O_RDWR | O_NONBLOCK)); - assert(s->video0_fd >= 0); - LOGD("opened video0"); - - // video1 is cam_sync, the target of some ioctls - s->cam_sync_fd = HANDLE_EINTR(open("/dev/v4l/by-path/platform-cam_sync-video-index0", O_RDWR | O_NONBLOCK)); - assert(s->cam_sync_fd >= 0); - LOGD("opened video1 (cam_sync)"); - - // looks like there's only one of these - s->isp_fd = open_v4l_by_name_and_index("cam-isp"); - assert(s->isp_fd >= 0); - LOGD("opened isp"); - - // query icp for MMU handles - LOG("-- Query ICP for MMU handles"); - struct cam_isp_query_cap_cmd isp_query_cap_cmd = {0}; - struct cam_query_cap_cmd query_cap_cmd = {0}; - query_cap_cmd.handle_type = 1; - query_cap_cmd.caps_handle = (uint64_t)&isp_query_cap_cmd; - query_cap_cmd.size = sizeof(isp_query_cap_cmd); - int ret = do_cam_control(s->isp_fd, CAM_QUERY_CAP, &query_cap_cmd, sizeof(query_cap_cmd)); - assert(ret == 0); - LOGD("using MMU handle: %x", isp_query_cap_cmd.device_iommu.non_secure); - LOGD("using MMU handle: %x", isp_query_cap_cmd.cdm_iommu.non_secure); - s->device_iommu = isp_query_cap_cmd.device_iommu.non_secure; - s->cdm_iommu = isp_query_cap_cmd.cdm_iommu.non_secure; - - // subscribe - LOG("-- Subscribing"); - struct v4l2_event_subscription sub = {0}; - sub.type = V4L_EVENT_CAM_REQ_MGR_EVENT; - sub.id = V4L_EVENT_CAM_REQ_MGR_SOF_BOOT_TS; - ret = HANDLE_EINTR(ioctl(s->video0_fd, VIDIOC_SUBSCRIBE_EVENT, &sub)); - LOGD("req mgr subscribe: %d", ret); - - s->driver_cam.camera_open(s, 2, !env_disable_driver); - LOGD("driver camera opened"); - s->road_cam.camera_open(s, 1, !env_disable_road); - LOGD("road camera opened"); - s->wide_road_cam.camera_open(s, 0, !env_disable_wide_road); - LOGD("wide road camera opened"); -} - -void CameraState::camera_close() { - // stop devices - LOG("-- Stop devices %d", camera_num); - - if (enabled) { - // ret = device_control(sensor_fd, CAM_STOP_DEV, session_handle, sensor_dev_handle); - // LOGD("stop sensor: %d", ret); - int ret = device_control(multi_cam_state->isp_fd, CAM_STOP_DEV, session_handle, isp_dev_handle); - LOGD("stop isp: %d", ret); - ret = device_control(csiphy_fd, CAM_STOP_DEV, session_handle, csiphy_dev_handle); - LOGD("stop csiphy: %d", ret); - // link control stop - LOG("-- Stop link control"); - struct cam_req_mgr_link_control req_mgr_link_control = {0}; - req_mgr_link_control.ops = CAM_REQ_MGR_LINK_DEACTIVATE; - req_mgr_link_control.session_hdl = session_handle; - req_mgr_link_control.num_links = 1; - req_mgr_link_control.link_hdls[0] = link_handle; - ret = do_cam_control(multi_cam_state->video0_fd, CAM_REQ_MGR_LINK_CONTROL, &req_mgr_link_control, sizeof(req_mgr_link_control)); - LOGD("link control stop: %d", ret); - - // unlink - LOG("-- Unlink"); - struct cam_req_mgr_unlink_info req_mgr_unlink_info = {0}; - req_mgr_unlink_info.session_hdl = session_handle; - req_mgr_unlink_info.link_hdl = link_handle; - ret = do_cam_control(multi_cam_state->video0_fd, CAM_REQ_MGR_UNLINK, &req_mgr_unlink_info, sizeof(req_mgr_unlink_info)); - LOGD("unlink: %d", ret); - - // release devices - LOGD("-- Release devices"); - ret = device_control(multi_cam_state->isp_fd, CAM_RELEASE_DEV, session_handle, isp_dev_handle); - LOGD("release isp: %d", ret); - ret = device_control(csiphy_fd, CAM_RELEASE_DEV, session_handle, csiphy_dev_handle); - LOGD("release csiphy: %d", ret); - - for (int i = 0; i < FRAME_BUF_COUNT; i++) { - release(multi_cam_state->video0_fd, buf_handle[i]); - } - LOGD("released buffers"); - } - - int ret = device_control(sensor_fd, CAM_RELEASE_DEV, session_handle, sensor_dev_handle); - LOGD("release sensor: %d", ret); - - // destroyed session - struct cam_req_mgr_session_info session_info = {.session_hdl = session_handle}; - ret = do_cam_control(multi_cam_state->video0_fd, CAM_REQ_MGR_DESTROY_SESSION, &session_info, sizeof(session_info)); - LOGD("destroyed session %d: %d", camera_num, ret); -} - -void cameras_close(MultiCameraState *s) { - s->driver_cam.camera_close(); - s->road_cam.camera_close(); - s->wide_road_cam.camera_close(); - - delete s->pm; -} - -void CameraState::handle_camera_event(void *evdat) { - if (!enabled) return; - struct cam_req_mgr_message *event_data = (struct cam_req_mgr_message *)evdat; - assert(event_data->session_hdl == session_handle); - assert(event_data->u.frame_msg.link_hdl == link_handle); - - uint64_t timestamp = event_data->u.frame_msg.timestamp; - int main_id = event_data->u.frame_msg.frame_id; - int real_id = event_data->u.frame_msg.request_id; - - if (real_id != 0) { // next ready - if (real_id == 1) {idx_offset = main_id;} - int buf_idx = (real_id - 1) % FRAME_BUF_COUNT; - - // check for skipped frames - if (main_id > frame_id_last + 1 && !skipped) { - LOGE("camera %d realign", camera_num); - clear_req_queue(); - enqueue_req_multi(real_id + 1, FRAME_BUF_COUNT - 1, 0); - skipped = true; - } else if (main_id == frame_id_last + 1) { - skipped = false; - } - - // check for dropped requests - if (real_id > request_id_last + 1) { - LOGE("camera %d dropped requests %d %d", camera_num, real_id, request_id_last); - enqueue_req_multi(request_id_last + 1 + FRAME_BUF_COUNT, real_id - (request_id_last + 1), 0); - } - - // metas - frame_id_last = main_id; - request_id_last = real_id; - - auto &meta_data = buf.camera_bufs_metadata[buf_idx]; - meta_data.frame_id = main_id - idx_offset; - meta_data.request_id = real_id; - meta_data.timestamp_sof = timestamp; - exp_lock.lock(); - meta_data.gain = analog_gain_frac * (1 + dc_gain_weight * (ci->dc_gain_factor-1) / ci->dc_gain_max_weight); - meta_data.high_conversion_gain = dc_gain_enabled; - meta_data.integ_lines = exposure_time; - meta_data.measured_grey_fraction = measured_grey_fraction; - meta_data.target_grey_fraction = target_grey_fraction; - exp_lock.unlock(); - - // dispatch - enqueue_req_multi(real_id + FRAME_BUF_COUNT, 1, 1); - } else { // not ready - if (main_id > frame_id_last + 10) { - LOGE("camera %d reset after half second of no response", camera_num); - clear_req_queue(); - enqueue_req_multi(request_id_last + 1, FRAME_BUF_COUNT, 0); - frame_id_last = main_id; - skipped = true; - } - } -} - -void CameraState::update_exposure_score(float desired_ev, int exp_t, int exp_g_idx, float exp_gain) { - float score = ci->getExposureScore(desired_ev, exp_t, exp_g_idx, exp_gain, gain_idx); - if (score < best_ev_score) { - new_exp_t = exp_t; - new_exp_g = exp_g_idx; - best_ev_score = score; - } -} - -void CameraState::set_camera_exposure(float grey_frac) { - if (!enabled) return; - const float dt = 0.05; - - const float ts_grey = 10.0; - const float ts_ev = 0.05; - - const float k_grey = (dt / ts_grey) / (1.0 + dt / ts_grey); - const float k_ev = (dt / ts_ev) / (1.0 + dt / ts_ev); - - // It takes 3 frames for the commanded exposure settings to take effect. The first frame is already started by the time - // we reach this function, the other 2 are due to the register buffering in the sensor. - // Therefore we use the target EV from 3 frames ago, the grey fraction that was just measured was the result of that control action. - // TODO: Lower latency to 2 frames, by using the histogram outputted by the sensor we can do AE before the debayering is complete - - const float cur_ev_ = cur_ev[buf.cur_frame_data.frame_id % 3]; - - // Scale target grey between 0.1 and 0.4 depending on lighting conditions - float new_target_grey = std::clamp(0.4 - 0.3 * log2(1.0 + ci->target_grey_factor*cur_ev_) / log2(6000.0), 0.1, 0.4); - float target_grey = (1.0 - k_grey) * target_grey_fraction + k_grey * new_target_grey; - - float desired_ev = std::clamp(cur_ev_ * target_grey / grey_frac, ci->min_ev, ci->max_ev); - float k = (1.0 - k_ev) / 3.0; - desired_ev = (k * cur_ev[0]) + (k * cur_ev[1]) + (k * cur_ev[2]) + (k_ev * desired_ev); - - best_ev_score = 1e6; - new_exp_g = 0; - new_exp_t = 0; - - // Hysteresis around high conversion gain - // We usually want this on since it results in lower noise, but turn off in very bright day scenes - bool enable_dc_gain = dc_gain_enabled; - if (!enable_dc_gain && target_grey < ci->dc_gain_on_grey) { - enable_dc_gain = true; - dc_gain_weight = ci->dc_gain_min_weight; - } else if (enable_dc_gain && target_grey > ci->dc_gain_off_grey) { - enable_dc_gain = false; - dc_gain_weight = ci->dc_gain_max_weight; - } - - if (enable_dc_gain && dc_gain_weight < ci->dc_gain_max_weight) {dc_gain_weight += 1;} - if (!enable_dc_gain && dc_gain_weight > ci->dc_gain_min_weight) {dc_gain_weight -= 1;} - - std::string gain_bytes, time_bytes; - if (env_ctrl_exp_from_params) { - gain_bytes = params.get("CameraDebugExpGain"); - time_bytes = params.get("CameraDebugExpTime"); - } - - if (gain_bytes.size() > 0 && time_bytes.size() > 0) { - // Override gain and exposure time - gain_idx = std::stoi(gain_bytes); - exposure_time = std::stoi(time_bytes); - - new_exp_g = gain_idx; - new_exp_t = exposure_time; - enable_dc_gain = false; - } else { - // Simple brute force optimizer to choose sensor parameters - // to reach desired EV - for (int g = std::max((int)ci->analog_gain_min_idx, gain_idx - 1); g <= std::min((int)ci->analog_gain_max_idx, gain_idx + 1); g++) { - float gain = ci->sensor_analog_gains[g] * (1 + dc_gain_weight * (ci->dc_gain_factor-1) / ci->dc_gain_max_weight); - - // Compute optimal time for given gain - int t = std::clamp(int(std::round(desired_ev / gain)), ci->exposure_time_min, ci->exposure_time_max); - - // Only go below recommended gain when absolutely necessary to not overexpose - if (g < ci->analog_gain_rec_idx && t > 20 && g < gain_idx) { - continue; - } - - update_exposure_score(desired_ev, t, g, gain); - } - } - - exp_lock.lock(); - - measured_grey_fraction = grey_frac; - target_grey_fraction = target_grey; - - analog_gain_frac = ci->sensor_analog_gains[new_exp_g]; - gain_idx = new_exp_g; - exposure_time = new_exp_t; - dc_gain_enabled = enable_dc_gain; - - float gain = analog_gain_frac * (1 + dc_gain_weight * (ci->dc_gain_factor-1) / ci->dc_gain_max_weight); - cur_ev[buf.cur_frame_data.frame_id % 3] = exposure_time * gain; - - exp_lock.unlock(); - - // Processing a frame takes right about 50ms, so we need to wait a few ms - // so we don't send i2c commands around the frame start. - int ms = (nanos_since_boot() - buf.cur_frame_data.timestamp_sof) / 1000000; - if (ms < 60) { - util::sleep_for(60 - ms); - } - // LOGE("ae - camera %d, cur_t %.5f, sof %.5f, dt %.5f", camera_num, 1e-9 * nanos_since_boot(), 1e-9 * buf.cur_frame_data.timestamp_sof, 1e-9 * (nanos_since_boot() - buf.cur_frame_data.timestamp_sof)); - - auto exp_reg_array = ci->getExposureRegisters(exposure_time, new_exp_g, dc_gain_enabled); - sensors_i2c(exp_reg_array.data(), exp_reg_array.size(), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, ci->data_word); -} - -static void process_driver_camera(MultiCameraState *s, CameraState *c, int cnt) { - c->set_camera_exposure(set_exposure_target(&c->buf, c->ae_xywh, 2, 4)); - - MessageBuilder msg; - auto framed = msg.initEvent().initDriverCameraState(); - framed.setFrameType(cereal::FrameData::FrameType::FRONT); - fill_frame_data(framed, c->buf.cur_frame_data, c); - - c->ci->processRegisters(c, framed); - s->pm->send("driverCameraState", msg); -} - -void process_road_camera(MultiCameraState *s, CameraState *c, int cnt) { - const CameraBuf *b = &c->buf; - - MessageBuilder msg; - auto framed = c == &s->road_cam ? msg.initEvent().initRoadCameraState() : msg.initEvent().initWideRoadCameraState(); - fill_frame_data(framed, b->cur_frame_data, c); - if (env_log_raw_frames && c == &s->road_cam && cnt % 100 == 5) { // no overlap with qlog decimation - framed.setImage(get_raw_frame_image(b)); - } - LOGT(c->buf.cur_frame_data.frame_id, "%s: Image set", c == &s->road_cam ? "RoadCamera" : "WideRoadCamera"); - - c->ci->processRegisters(c, framed); - s->pm->send(c == &s->road_cam ? "roadCameraState" : "wideRoadCameraState", msg); - - const int skip = 2; - c->set_camera_exposure(set_exposure_target(b, c->ae_xywh, skip, skip)); -} - -void cameras_run(MultiCameraState *s) { - LOG("-- Starting threads"); - std::vector threads; - if (s->driver_cam.enabled) threads.push_back(start_process_thread(s, &s->driver_cam, process_driver_camera)); - if (s->road_cam.enabled) threads.push_back(start_process_thread(s, &s->road_cam, process_road_camera)); - if (s->wide_road_cam.enabled) threads.push_back(start_process_thread(s, &s->wide_road_cam, process_road_camera)); - - // start devices - LOG("-- Starting devices"); - s->driver_cam.sensors_start(); - s->road_cam.sensors_start(); - s->wide_road_cam.sensors_start(); - - // poll events - LOG("-- Dequeueing Video events"); - while (!do_exit) { - struct pollfd fds[1] = {{0}}; - - fds[0].fd = s->video0_fd; - fds[0].events = POLLPRI; - - int ret = poll(fds, std::size(fds), 1000); - if (ret < 0) { - if (errno == EINTR || errno == EAGAIN) continue; - LOGE("poll failed (%d - %d)", ret, errno); - break; - } - - if (!fds[0].revents) continue; - - struct v4l2_event ev = {0}; - ret = HANDLE_EINTR(ioctl(fds[0].fd, VIDIOC_DQEVENT, &ev)); - if (ret == 0) { - if (ev.type == V4L_EVENT_CAM_REQ_MGR_EVENT) { - struct cam_req_mgr_message *event_data = (struct cam_req_mgr_message *)ev.u.data; - if (env_debug_frames) { - printf("sess_hdl 0x%6X, link_hdl 0x%6X, frame_id %lu, req_id %lu, timestamp %.2f ms, sof_status %d\n", event_data->session_hdl, event_data->u.frame_msg.link_hdl, - event_data->u.frame_msg.frame_id, event_data->u.frame_msg.request_id, event_data->u.frame_msg.timestamp/1e6, event_data->u.frame_msg.sof_status); - } - - // for debugging - //do_exit = do_exit || event_data->u.frame_msg.frame_id > (30*20); - - if (event_data->session_hdl == s->road_cam.session_handle) { - s->road_cam.handle_camera_event(event_data); - } else if (event_data->session_hdl == s->wide_road_cam.session_handle) { - s->wide_road_cam.handle_camera_event(event_data); - } else if (event_data->session_hdl == s->driver_cam.session_handle) { - s->driver_cam.handle_camera_event(event_data); - } else { - LOGE("Unknown vidioc event source"); - assert(false); - } - } else { - LOGE("unhandled event %d\n", ev.type); - } - } else { - LOGE("VIDIOC_DQEVENT failed, errno=%d", errno); - } - } - - LOG(" ************** STOPPING **************"); - - for (auto &t : threads) t.join(); - - cameras_close(s); -} diff --git a/system/camerad/cameras/camera_qcom2.h b/system/camerad/cameras/camera_qcom2.h deleted file mode 100644 index 0b15c9c3f04f06..00000000000000 --- a/system/camerad/cameras/camera_qcom2.h +++ /dev/null @@ -1,105 +0,0 @@ -#pragma once - -#include -#include - -#include "system/camerad/cameras/camera_common.h" -#include "system/camerad/cameras/camera_util.h" -#include "system/camerad/sensors/sensor.h" -#include "common/params.h" -#include "common/util.h" - -#define FRAME_BUF_COUNT 4 - -#define ROAD_FL_MM 8.0f -#define WIDE_FL_MM 1.71f -#define DRIVER_FL_MM 1.71f - -class CameraState { -public: - MultiCameraState *multi_cam_state; - std::unique_ptr ci; - bool enabled; - - std::mutex exp_lock; - - int exposure_time; - bool dc_gain_enabled; - int dc_gain_weight; - int gain_idx; - float analog_gain_frac; - - float cur_ev[3]; - float best_ev_score; - int new_exp_g; - int new_exp_t; - - Rect ae_xywh; - float measured_grey_fraction; - float target_grey_fraction; - - unique_fd sensor_fd; - unique_fd csiphy_fd; - - int camera_num; - float fl_pix; - - void handle_camera_event(void *evdat); - void update_exposure_score(float desired_ev, int exp_t, int exp_g_idx, float exp_gain); - void set_camera_exposure(float grey_frac); - - void sensors_start(); - - void camera_open(MultiCameraState *multi_cam_state, int camera_num, bool enabled); - void set_exposure_rect(); - void sensor_set_parameters(); - void camera_map_bufs(MultiCameraState *s); - void camera_init(MultiCameraState *s, VisionIpcServer *v, cl_device_id device_id, cl_context ctx, VisionStreamType yuv_type, float focal_len); - void camera_close(); - - int32_t session_handle; - int32_t sensor_dev_handle; - int32_t isp_dev_handle; - int32_t csiphy_dev_handle; - - int32_t link_handle; - - int buf0_handle; - int buf_handle[FRAME_BUF_COUNT]; - int sync_objs[FRAME_BUF_COUNT]; - int request_ids[FRAME_BUF_COUNT]; - int request_id_last; - int frame_id_last; - int idx_offset; - bool skipped; - - CameraBuf buf; - MemoryManager mm; - - void config_isp(int io_mem_handle, int fence, int request_id, int buf0_mem_handle, int buf0_offset); - void enqueue_req_multi(int start, int n, bool dp); - void enqueue_buffer(int i, bool dp); - int clear_req_queue(); - - int sensors_init(); - void sensors_poke(int request_id); - void sensors_i2c(const struct i2c_random_wr_payload* dat, int len, int op_code, bool data_word); - -private: - // for debugging - Params params; -}; - -typedef struct MultiCameraState { - unique_fd video0_fd; - unique_fd cam_sync_fd; - unique_fd isp_fd; - int device_iommu; - int cdm_iommu; - - CameraState road_cam; - CameraState wide_road_cam; - CameraState driver_cam; - - PubMaster *pm; -} MultiCameraState; diff --git a/system/camerad/cameras/camera_util.cc b/system/camerad/cameras/camera_util.cc deleted file mode 100644 index 7bd23fd9fe7e40..00000000000000 --- a/system/camerad/cameras/camera_util.cc +++ /dev/null @@ -1,137 +0,0 @@ -#include "system/camerad/cameras/camera_util.h" - -#include - -#include - -#include -#include - -#include "common/swaglog.h" -#include "common/util.h" - -// ************** low level camera helpers **************** -int do_cam_control(int fd, int op_code, void *handle, int size) { - struct cam_control camcontrol = {0}; - camcontrol.op_code = op_code; - camcontrol.handle = (uint64_t)handle; - if (size == 0) { - camcontrol.size = 8; - camcontrol.handle_type = CAM_HANDLE_MEM_HANDLE; - } else { - camcontrol.size = size; - camcontrol.handle_type = CAM_HANDLE_USER_POINTER; - } - - int ret = HANDLE_EINTR(ioctl(fd, VIDIOC_CAM_CONTROL, &camcontrol)); - if (ret == -1) { - LOGE("VIDIOC_CAM_CONTROL error: op_code %d - errno %d", op_code, errno); - } - return ret; -} - -std::optional device_acquire(int fd, int32_t session_handle, void *data, uint32_t num_resources) { - struct cam_acquire_dev_cmd cmd = { - .session_handle = session_handle, - .handle_type = CAM_HANDLE_USER_POINTER, - .num_resources = (uint32_t)(data ? num_resources : 0), - .resource_hdl = (uint64_t)data, - }; - int err = do_cam_control(fd, CAM_ACQUIRE_DEV, &cmd, sizeof(cmd)); - return err == 0 ? std::make_optional(cmd.dev_handle) : std::nullopt; -} - -int device_config(int fd, int32_t session_handle, int32_t dev_handle, uint64_t packet_handle) { - struct cam_config_dev_cmd cmd = { - .session_handle = session_handle, - .dev_handle = dev_handle, - .packet_handle = packet_handle, - }; - return do_cam_control(fd, CAM_CONFIG_DEV, &cmd, sizeof(cmd)); -} - -int device_control(int fd, int op_code, int session_handle, int dev_handle) { - // start stop and release are all the same - struct cam_start_stop_dev_cmd cmd { .session_handle = session_handle, .dev_handle = dev_handle }; - return do_cam_control(fd, op_code, &cmd, sizeof(cmd)); -} - -void *alloc_w_mmu_hdl(int video0_fd, int len, uint32_t *handle, int align, int flags, int mmu_hdl, int mmu_hdl2) { - struct cam_mem_mgr_alloc_cmd mem_mgr_alloc_cmd = {0}; - mem_mgr_alloc_cmd.len = len; - mem_mgr_alloc_cmd.align = align; - mem_mgr_alloc_cmd.flags = flags; - mem_mgr_alloc_cmd.num_hdl = 0; - if (mmu_hdl != 0) { - mem_mgr_alloc_cmd.mmu_hdls[0] = mmu_hdl; - mem_mgr_alloc_cmd.num_hdl++; - } - if (mmu_hdl2 != 0) { - mem_mgr_alloc_cmd.mmu_hdls[1] = mmu_hdl2; - mem_mgr_alloc_cmd.num_hdl++; - } - - do_cam_control(video0_fd, CAM_REQ_MGR_ALLOC_BUF, &mem_mgr_alloc_cmd, sizeof(mem_mgr_alloc_cmd)); - *handle = mem_mgr_alloc_cmd.out.buf_handle; - - void *ptr = NULL; - if (mem_mgr_alloc_cmd.out.fd > 0) { - ptr = mmap(NULL, len, PROT_READ | PROT_WRITE, MAP_SHARED, mem_mgr_alloc_cmd.out.fd, 0); - assert(ptr != MAP_FAILED); - } - - // LOGD("allocated: %x %d %llx mapped %p", mem_mgr_alloc_cmd.out.buf_handle, mem_mgr_alloc_cmd.out.fd, mem_mgr_alloc_cmd.out.vaddr, ptr); - - return ptr; -} - -void release(int video0_fd, uint32_t handle) { - struct cam_mem_mgr_release_cmd mem_mgr_release_cmd = {0}; - mem_mgr_release_cmd.buf_handle = handle; - - int ret = do_cam_control(video0_fd, CAM_REQ_MGR_RELEASE_BUF, &mem_mgr_release_cmd, sizeof(mem_mgr_release_cmd)); - assert(ret == 0); -} - -void release_fd(int video0_fd, uint32_t handle) { - // handle to fd - close(handle>>16); - release(video0_fd, handle); -} - -void *MemoryManager::alloc_buf(int size, uint32_t *handle) { - lock.lock(); - void *ptr; - if (!cached_allocations[size].empty()) { - ptr = cached_allocations[size].front(); - cached_allocations[size].pop(); - *handle = handle_lookup[ptr]; - } else { - ptr = alloc_w_mmu_hdl(video0_fd, size, handle); - handle_lookup[ptr] = *handle; - size_lookup[ptr] = size; - } - lock.unlock(); - memset(ptr, 0, size); - return ptr; -} - -void MemoryManager::free(void *ptr) { - lock.lock(); - cached_allocations[size_lookup[ptr]].push(ptr); - lock.unlock(); -} - -MemoryManager::~MemoryManager() { - for (auto& x : cached_allocations) { - while (!x.second.empty()) { - void *ptr = x.second.front(); - x.second.pop(); - LOGD("freeing cached allocation %p with size %d", ptr, size_lookup[ptr]); - munmap(ptr, size_lookup[ptr]); - release_fd(video0_fd, handle_lookup[ptr]); - handle_lookup.erase(ptr); - size_lookup.erase(ptr); - } - } -} diff --git a/system/camerad/cameras/camera_util.h b/system/camerad/cameras/camera_util.h deleted file mode 100644 index 891ce3e793a5b8..00000000000000 --- a/system/camerad/cameras/camera_util.h +++ /dev/null @@ -1,39 +0,0 @@ -#pragma once - -#include -#include -#include -#include -#include -#include - -#include - -std::optional device_acquire(int fd, int32_t session_handle, void *data, uint32_t num_resources=1); -int device_config(int fd, int32_t session_handle, int32_t dev_handle, uint64_t packet_handle); -int device_control(int fd, int op_code, int session_handle, int dev_handle); -int do_cam_control(int fd, int op_code, void *handle, int size); -void *alloc_w_mmu_hdl(int video0_fd, int len, uint32_t *handle, int align = 8, int flags = CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE, - int mmu_hdl = 0, int mmu_hdl2 = 0); -void release(int video0_fd, uint32_t handle); - -class MemoryManager { - public: - void init(int _video0_fd) { video0_fd = _video0_fd; } - ~MemoryManager(); - - template - auto alloc(int len, uint32_t *handle) { - return std::unique_ptr>((T*)alloc_buf(len, handle), [this](void *ptr) { this->free(ptr); }); - } - - private: - void *alloc_buf(int len, uint32_t *handle); - void free(void *ptr); - - std::mutex lock; - std::map handle_lookup; - std::map size_lookup; - std::map > cached_allocations; - int video0_fd; -}; diff --git a/system/camerad/main.cc b/system/camerad/main.cc deleted file mode 100644 index b86b4f57ff737e..00000000000000 --- a/system/camerad/main.cc +++ /dev/null @@ -1,22 +0,0 @@ -#include "system/camerad/cameras/camera_common.h" - -#include - -#include "common/params.h" -#include "common/util.h" -#include "system/hardware/hw.h" - -int main(int argc, char *argv[]) { - if (Hardware::PC()) { - printf("exiting, camerad is not meant to run on PC\n"); - return 0; - } - - int ret = util::set_realtime_priority(53); - assert(ret == 0); - ret = util::set_core_affinity({6}); - assert(ret == 0 || Params().getBool("IsOffroad")); // failure ok while offroad due to offlining cores - - camerad_thread(); - return 0; -} diff --git a/system/camerad/sensors/ar0231.cc b/system/camerad/sensors/ar0231.cc deleted file mode 100644 index 9b688389c4460b..00000000000000 --- a/system/camerad/sensors/ar0231.cc +++ /dev/null @@ -1,172 +0,0 @@ -#include - -#include "common/swaglog.h" -#include "system/camerad/cameras/camera_common.h" -#include "system/camerad/cameras/camera_qcom2.h" -#include "system/camerad/sensors/sensor.h" - -namespace { - -const size_t AR0231_REGISTERS_HEIGHT = 2; -// TODO: this extra height is universal and doesn't apply per camera -const size_t AR0231_STATS_HEIGHT = 2 + 8; - -const float sensor_analog_gains_AR0231[] = { - 1.0 / 8.0, 2.0 / 8.0, 2.0 / 7.0, 3.0 / 7.0, // 0, 1, 2, 3 - 3.0 / 6.0, 4.0 / 6.0, 4.0 / 5.0, 5.0 / 5.0, // 4, 5, 6, 7 - 5.0 / 4.0, 6.0 / 4.0, 6.0 / 3.0, 7.0 / 3.0, // 8, 9, 10, 11 - 7.0 / 2.0, 8.0 / 2.0, 8.0 / 1.0}; // 12, 13, 14, 15 = bypass - -std::map> ar0231_build_register_lut(CameraState *c, uint8_t *data) { - // This function builds a lookup table from register address, to a pair of indices in the - // buffer where to read this address. The buffer contains padding bytes, - // as well as markers to indicate the type of the next byte. - // - // 0xAA is used to indicate the MSB of the address, 0xA5 for the LSB of the address. - // Every byte of data (MSB and LSB) is preceded by 0x5A. Specifying an address is optional - // for contiguous ranges. See page 27-29 of the AR0231 Developer guide for more information. - - int max_i[] = {1828 / 2 * 3, 1500 / 2 * 3}; - auto get_next_idx = [](int cur_idx) { - return (cur_idx % 3 == 1) ? cur_idx + 2 : cur_idx + 1; // Every third byte is padding - }; - - std::map> registers; - for (int register_row = 0; register_row < 2; register_row++) { - uint8_t *registers_raw = data + c->ci->frame_stride * register_row; - assert(registers_raw[0] == 0x0a); // Start of line - - int value_tag_count = 0; - int first_val_idx = 0; - uint16_t cur_addr = 0; - - for (int i = 1; i <= max_i[register_row]; i = get_next_idx(get_next_idx(i))) { - int val_idx = get_next_idx(i); - - uint8_t tag = registers_raw[i]; - uint16_t val = registers_raw[val_idx]; - - if (tag == 0xAA) { // Register MSB tag - cur_addr = val << 8; - } else if (tag == 0xA5) { // Register LSB tag - cur_addr |= val; - cur_addr -= 2; // Next value tag will increment address again - } else if (tag == 0x5A) { // Value tag - - // First tag - if (value_tag_count % 2 == 0) { - cur_addr += 2; - first_val_idx = val_idx; - } else { - registers[cur_addr] = std::make_pair(first_val_idx + c->ci->frame_stride * register_row, val_idx + c->ci->frame_stride * register_row); - } - - value_tag_count++; - } - } - } - return registers; -} - -float ar0231_parse_temp_sensor(uint16_t calib1, uint16_t calib2, uint16_t data_reg) { - // See AR0231 Developer Guide - page 36 - float slope = (125.0 - 55.0) / ((float)calib1 - (float)calib2); - float t0 = 55.0 - slope * (float)calib2; - return t0 + slope * (float)data_reg; -} - -} // namespace - -AR0231::AR0231() { - image_sensor = cereal::FrameData::ImageSensor::AR0231; - pixel_size_mm = 0.003; - data_word = true; - frame_width = 1928; - frame_height = 1208; - frame_stride = (frame_width * 12 / 8) + 4; - extra_height = AR0231_REGISTERS_HEIGHT + AR0231_STATS_HEIGHT; - - registers_offset = 0; - frame_offset = AR0231_REGISTERS_HEIGHT; - stats_offset = AR0231_REGISTERS_HEIGHT + frame_height; - - start_reg_array.assign(std::begin(start_reg_array_ar0231), std::end(start_reg_array_ar0231)); - init_reg_array.assign(std::begin(init_array_ar0231), std::end(init_array_ar0231)); - probe_reg_addr = 0x3000; - probe_expected_data = 0x354; - mipi_format = CAM_FORMAT_MIPI_RAW_12; - frame_data_type = 0x12; // Changing stats to 0x2C doesn't work, so change pixels to 0x12 instead - mclk_frequency = 19200000; //Hz - - dc_gain_factor = 2.5; - dc_gain_min_weight = 0; - dc_gain_max_weight = 1; - dc_gain_on_grey = 0.2; - dc_gain_off_grey = 0.3; - exposure_time_min = 2; // with HDR, fastest ss - exposure_time_max = 0x0855; // with HDR, slowest ss, 40ms - analog_gain_min_idx = 0x1; // 0.25x - analog_gain_rec_idx = 0x6; // 0.8x - analog_gain_max_idx = 0xD; // 4.0x - analog_gain_cost_delta = 0; - analog_gain_cost_low = 0.1; - analog_gain_cost_high = 5.0; - for (int i = 0; i <= analog_gain_max_idx; i++) { - sensor_analog_gains[i] = sensor_analog_gains_AR0231[i]; - } - min_ev = exposure_time_min * sensor_analog_gains[analog_gain_min_idx]; - max_ev = exposure_time_max * dc_gain_factor * sensor_analog_gains[analog_gain_max_idx]; - target_grey_factor = 1.0; -} - -void AR0231::processRegisters(CameraState *c, cereal::FrameData::Builder &framed) const { - const uint8_t expected_preamble[] = {0x0a, 0xaa, 0x55, 0x20, 0xa5, 0x55}; - uint8_t *data = (uint8_t *)c->buf.cur_camera_buf->addr + c->ci->registers_offset; - - if (memcmp(data, expected_preamble, std::size(expected_preamble)) != 0) { - LOGE("unexpected register data found"); - return; - } - - if (ar0231_register_lut.empty()) { - ar0231_register_lut = ar0231_build_register_lut(c, data); - } - std::map registers; - for (uint16_t addr : {0x2000, 0x2002, 0x20b0, 0x20b2, 0x30c6, 0x30c8, 0x30ca, 0x30cc}) { - auto offset = ar0231_register_lut[addr]; - registers[addr] = ((uint16_t)data[offset.first] << 8) | data[offset.second]; - } - - uint32_t frame_id = ((uint32_t)registers[0x2000] << 16) | registers[0x2002]; - framed.setFrameIdSensor(frame_id); - - float temp_0 = ar0231_parse_temp_sensor(registers[0x30c6], registers[0x30c8], registers[0x20b0]); - float temp_1 = ar0231_parse_temp_sensor(registers[0x30ca], registers[0x30cc], registers[0x20b2]); - framed.setTemperaturesC({temp_0, temp_1}); -} - - -std::vector AR0231::getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const { - uint16_t analog_gain_reg = 0xFF00 | (new_exp_g << 4) | new_exp_g; - return { - {0x3366, analog_gain_reg}, - {0x3362, (uint16_t)(dc_gain_enabled ? 0x1 : 0x0)}, - {0x3012, (uint16_t)exposure_time}, - }; -} - -int AR0231::getSlaveAddress(int port) const { - assert(port >= 0 && port <= 2); - return (int[]){0x20, 0x30, 0x20}[port]; -} - -float AR0231::getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const { - // Cost of ev diff - float score = std::abs(desired_ev - (exp_t * exp_gain)) * 10; - // Cost of absolute gain - float m = exp_g_idx > analog_gain_rec_idx ? analog_gain_cost_high : analog_gain_cost_low; - score += std::abs(exp_g_idx - (int)analog_gain_rec_idx) * m; - // Cost of changing gain - score += std::abs(exp_g_idx - gain_idx) * (score + 1.0) / 10.0; - return score; -} diff --git a/system/camerad/sensors/os04c10.cc b/system/camerad/sensors/os04c10.cc deleted file mode 100644 index 97a317407ab1e1..00000000000000 --- a/system/camerad/sensors/os04c10.cc +++ /dev/null @@ -1,87 +0,0 @@ -#include "system/camerad/sensors/sensor.h" - -namespace { - -const float sensor_analog_gains_OS04C10[] = { - 1.0, 1.0625, 1.125, 1.1875, 1.25, 1.3125, 1.375, 1.4375, 1.5, 1.5625, 1.6875, - 1.8125, 1.9375, 2.0, 2.125, 2.25, 2.375, 2.5, 2.625, 2.75, 2.875, 3.0, - 3.125, 3.375, 3.625, 3.875, 4.0, 4.25, 4.5, 4.75, 5.0, 5.25, 5.5, - 5.75, 6.0, 6.25, 6.5, 7.0, 7.5, 8.0, 8.5, 9.0, 9.5, 10.0, - 10.5, 11.0, 11.5, 12.0, 12.5, 13.0, 13.5, 14.0, 14.5, 15.0, 15.5}; - -const uint32_t os04c10_analog_gains_reg[] = { - 0x080, 0x088, 0x090, 0x098, 0x0A0, 0x0A8, 0x0B0, 0x0B8, 0x0C0, 0x0C8, 0x0D8, - 0x0E8, 0x0F8, 0x100, 0x110, 0x120, 0x130, 0x140, 0x150, 0x160, 0x170, 0x180, - 0x190, 0x1B0, 0x1D0, 0x1F0, 0x200, 0x220, 0x240, 0x260, 0x280, 0x2A0, 0x2C0, - 0x2E0, 0x300, 0x320, 0x340, 0x380, 0x3C0, 0x400, 0x440, 0x480, 0x4C0, 0x500, - 0x540, 0x580, 0x5C0, 0x600, 0x640, 0x680, 0x6C0, 0x700, 0x740, 0x780, 0x7C0}; - -} // namespace - -OS04C10::OS04C10() { - image_sensor = cereal::FrameData::ImageSensor::OS04C10; - pixel_size_mm = 0.002; - data_word = false; - - hdr_offset = 64 * 2 + 8; // stagger - frame_width = 2688; - frame_height = 1520 * 2 + hdr_offset; - frame_stride = (frame_width * 10 / 8); // no alignment - - extra_height = 0; - frame_offset = 0; - - start_reg_array.assign(std::begin(start_reg_array_os04c10), std::end(start_reg_array_os04c10)); - init_reg_array.assign(std::begin(init_array_os04c10), std::end(init_array_os04c10)); - probe_reg_addr = 0x300a; - probe_expected_data = 0x5304; - mipi_format = CAM_FORMAT_MIPI_RAW_10; - frame_data_type = 0x2b; - mclk_frequency = 24000000; // Hz - - dc_gain_factor = 1; - dc_gain_min_weight = 1; // always on is fine - dc_gain_max_weight = 1; - dc_gain_on_grey = 0.9; - dc_gain_off_grey = 1.0; - exposure_time_min = 2; - exposure_time_max = 2400; - analog_gain_min_idx = 0x0; - analog_gain_rec_idx = 0x0; // 1x - analog_gain_max_idx = 0x36; - analog_gain_cost_delta = -1; - analog_gain_cost_low = 0.4; - analog_gain_cost_high = 6.4; - for (int i = 0; i <= analog_gain_max_idx; i++) { - sensor_analog_gains[i] = sensor_analog_gains_OS04C10[i]; - } - min_ev = (exposure_time_min) * sensor_analog_gains[analog_gain_min_idx]; - max_ev = exposure_time_max * dc_gain_factor * sensor_analog_gains[analog_gain_max_idx]; - target_grey_factor = 0.01; -} - -std::vector OS04C10::getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const { - uint32_t long_time = exposure_time; - uint32_t real_gain = os04c10_analog_gains_reg[new_exp_g]; - - return { - {0x3501, long_time>>8}, {0x3502, long_time&0xFF}, - {0x3508, real_gain>>8}, {0x3509, real_gain&0xFF}, - {0x350c, real_gain>>8}, {0x350d, real_gain&0xFF}, - }; -} - -int OS04C10::getSlaveAddress(int port) const { - assert(port >= 0 && port <= 2); - return (int[]){0x6C, 0x20, 0x6C}[port]; -} - -float OS04C10::getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const { - float score = std::abs(desired_ev - (exp_t * exp_gain)); - float m = exp_g_idx > analog_gain_rec_idx ? analog_gain_cost_high : analog_gain_cost_low; - score += std::abs(exp_g_idx - (int)analog_gain_rec_idx) * m; - score += ((1 - analog_gain_cost_delta) + - analog_gain_cost_delta * (exp_g_idx - analog_gain_min_idx) / (analog_gain_max_idx - analog_gain_min_idx)) * - std::abs(exp_g_idx - gain_idx) * 3.0; - return score; -} diff --git a/system/camerad/sensors/ox03c10.cc b/system/camerad/sensors/ox03c10.cc deleted file mode 100644 index 94efa0ea24bb07..00000000000000 --- a/system/camerad/sensors/ox03c10.cc +++ /dev/null @@ -1,95 +0,0 @@ -#include "system/camerad/sensors/sensor.h" - -namespace { - -const float sensor_analog_gains_OX03C10[] = { - 1.0, 1.0625, 1.125, 1.1875, 1.25, 1.3125, 1.375, 1.4375, 1.5, 1.5625, 1.6875, - 1.8125, 1.9375, 2.0, 2.125, 2.25, 2.375, 2.5, 2.625, 2.75, 2.875, 3.0, - 3.125, 3.375, 3.625, 3.875, 4.0, 4.25, 4.5, 4.75, 5.0, 5.25, 5.5, - 5.75, 6.0, 6.25, 6.5, 7.0, 7.5, 8.0, 8.5, 9.0, 9.5, 10.0, - 10.5, 11.0, 11.5, 12.0, 12.5, 13.0, 13.5, 14.0, 14.5, 15.0, 15.5}; - -const uint32_t ox03c10_analog_gains_reg[] = { - 0x100, 0x110, 0x120, 0x130, 0x140, 0x150, 0x160, 0x170, 0x180, 0x190, 0x1B0, - 0x1D0, 0x1F0, 0x200, 0x220, 0x240, 0x260, 0x280, 0x2A0, 0x2C0, 0x2E0, 0x300, - 0x320, 0x360, 0x3A0, 0x3E0, 0x400, 0x440, 0x480, 0x4C0, 0x500, 0x540, 0x580, - 0x5C0, 0x600, 0x640, 0x680, 0x700, 0x780, 0x800, 0x880, 0x900, 0x980, 0xA00, - 0xA80, 0xB00, 0xB80, 0xC00, 0xC80, 0xD00, 0xD80, 0xE00, 0xE80, 0xF00, 0xF80}; - -const uint32_t VS_TIME_MIN_OX03C10 = 1; -const uint32_t VS_TIME_MAX_OX03C10 = 34; // vs < 35 - -} // namespace - -OX03C10::OX03C10() { - image_sensor = cereal::FrameData::ImageSensor::OX03C10; - pixel_size_mm = 0.003; - data_word = false; - frame_width = 1928; - frame_height = 1208; - frame_stride = (frame_width * 12 / 8) + 4; - extra_height = 16; // top 2 + bot 14 - frame_offset = 2; - - start_reg_array.assign(std::begin(start_reg_array_ox03c10), std::end(start_reg_array_ox03c10)); - init_reg_array.assign(std::begin(init_array_ox03c10), std::end(init_array_ox03c10)); - probe_reg_addr = 0x300a; - probe_expected_data = 0x5803; - mipi_format = CAM_FORMAT_MIPI_RAW_12; - frame_data_type = 0x2c; // one is 0x2a, two are 0x2b - mclk_frequency = 24000000; //Hz - - dc_gain_factor = 7.32; - dc_gain_min_weight = 1; // always on is fine - dc_gain_max_weight = 1; - dc_gain_on_grey = 0.9; - dc_gain_off_grey = 1.0; - exposure_time_min = 2; // 1x - exposure_time_max = 2016; - analog_gain_min_idx = 0x0; - analog_gain_rec_idx = 0x0; // 1x - analog_gain_max_idx = 0x36; - analog_gain_cost_delta = -1; - analog_gain_cost_low = 0.4; - analog_gain_cost_high = 6.4; - for (int i = 0; i <= analog_gain_max_idx; i++) { - sensor_analog_gains[i] = sensor_analog_gains_OX03C10[i]; - } - min_ev = (exposure_time_min + VS_TIME_MIN_OX03C10) * sensor_analog_gains[analog_gain_min_idx]; - max_ev = exposure_time_max * dc_gain_factor * sensor_analog_gains[analog_gain_max_idx]; - target_grey_factor = 0.01; -} - -std::vector OX03C10::getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const { - // t_HCG&t_LCG + t_VS on LPD, t_SPD on SPD - uint32_t hcg_time = exposure_time; - uint32_t lcg_time = hcg_time; - uint32_t spd_time = std::min(std::max((uint32_t)exposure_time, (exposure_time_max + VS_TIME_MAX_OX03C10) / 3), exposure_time_max + VS_TIME_MAX_OX03C10); - uint32_t vs_time = std::min(std::max((uint32_t)exposure_time / 40, VS_TIME_MIN_OX03C10), VS_TIME_MAX_OX03C10); - - uint32_t real_gain = ox03c10_analog_gains_reg[new_exp_g]; - - return { - {0x3501, hcg_time>>8}, {0x3502, hcg_time&0xFF}, - {0x3581, lcg_time>>8}, {0x3582, lcg_time&0xFF}, - {0x3541, spd_time>>8}, {0x3542, spd_time&0xFF}, - {0x35c2, vs_time&0xFF}, - - {0x3508, real_gain>>8}, {0x3509, real_gain&0xFF}, - }; -} - -int OX03C10::getSlaveAddress(int port) const { - assert(port >= 0 && port <= 2); - return (int[]){0x6C, 0x20, 0x6C}[port]; -} - -float OX03C10::getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const { - float score = std::abs(desired_ev - (exp_t * exp_gain)); - float m = exp_g_idx > analog_gain_rec_idx ? analog_gain_cost_high : analog_gain_cost_low; - score += std::abs(exp_g_idx - (int)analog_gain_rec_idx) * m; - score += ((1 - analog_gain_cost_delta) + - analog_gain_cost_delta * (exp_g_idx - analog_gain_min_idx) / (analog_gain_max_idx - analog_gain_min_idx)) * - std::abs(exp_g_idx - gain_idx) * 5.0; - return score; -} diff --git a/system/camerad/test/.gitignore b/system/camerad/test/.gitignore deleted file mode 100644 index d67473ebcdb088..00000000000000 --- a/system/camerad/test/.gitignore +++ /dev/null @@ -1,2 +0,0 @@ -jpegs/ -test_ae_gray diff --git a/system/camerad/test/check_skips.py b/system/camerad/test/check_skips.py deleted file mode 100755 index 0814ce44ff80ee..00000000000000 --- a/system/camerad/test/check_skips.py +++ /dev/null @@ -1,27 +0,0 @@ -#!/usr/bin/env python3 -# type: ignore -import cereal.messaging as messaging - -all_sockets = ['roadCameraState', 'driverCameraState', 'wideRoadCameraState'] -prev_id = [None,None,None] -this_id = [None,None,None] -dt = [None,None,None] -num_skipped = [0,0,0] - -if __name__ == "__main__": - sm = messaging.SubMaster(all_sockets) - while True: - sm.update() - - for i in range(len(all_sockets)): - if not sm.updated[all_sockets[i]]: - continue - this_id[i] = sm[all_sockets[i]].frameId - if prev_id[i] is None: - prev_id[i] = this_id[i] - continue - dt[i] = this_id[i] - prev_id[i] - if dt[i] != 1: - num_skipped[i] += dt[i] - 1 - print(all_sockets[i] ,dt[i] - 1, num_skipped[i]) - prev_id[i] = this_id[i] diff --git a/system/camerad/test/get_thumbnails_for_segment.py b/system/camerad/test/get_thumbnails_for_segment.py deleted file mode 100755 index 21409f398d03d1..00000000000000 --- a/system/camerad/test/get_thumbnails_for_segment.py +++ /dev/null @@ -1,24 +0,0 @@ -#!/usr/bin/env python3 -import argparse -import os -from tqdm import tqdm - -from openpilot.tools.lib.logreader import LogReader - -if __name__ == "__main__": - parser = argparse.ArgumentParser() - parser.add_argument("route", help="The route name") - args = parser.parse_args() - - out_path = os.path.join("jpegs", f"{args.route.replace('|', '_').replace('/', '_')}") - os.makedirs(out_path, exist_ok=True) - - lr = LogReader(args.route) - - for msg in tqdm(lr): - if msg.which() == 'thumbnail': - with open(os.path.join(out_path, f"{msg.thumbnail.frameId}.jpg"), 'wb') as f: - f.write(msg.thumbnail.thumbnail) - elif msg.which() == 'navThumbnail': - with open(os.path.join(out_path, f"nav_{msg.navThumbnail.frameId}.jpg"), 'wb') as f: - f.write(msg.navThumbnail.thumbnail) diff --git a/system/camerad/test/stress_restart.sh b/system/camerad/test/stress_restart.sh deleted file mode 100755 index 0445dcba798229..00000000000000 --- a/system/camerad/test/stress_restart.sh +++ /dev/null @@ -1,9 +0,0 @@ -#!/bin/sh -cd .. -while :; do - ./camerad & - pid="$!" - sleep 2 - kill -2 $pid - wait $pid -done diff --git a/system/camerad/test/test_ae_gray.cc b/system/camerad/test/test_ae_gray.cc deleted file mode 100644 index be9a0cc59f20f8..00000000000000 --- a/system/camerad/test/test_ae_gray.cc +++ /dev/null @@ -1,84 +0,0 @@ -#define CATCH_CONFIG_MAIN -#include "catch2/catch.hpp" - -#include - -#include -#include - -#include "common/util.h" -#include "system/camerad/cameras/camera_common.h" - -#define W 240 -#define H 160 - - -#define TONE_SPLITS 3 - -float gts[TONE_SPLITS * TONE_SPLITS * TONE_SPLITS * TONE_SPLITS] = { - 0.917969, 0.917969, 0.375000, 0.917969, 0.375000, 0.375000, 0.187500, 0.187500, 0.187500, 0.917969, - 0.375000, 0.375000, 0.187500, 0.187500, 0.187500, 0.187500, 0.187500, 0.187500, 0.093750, 0.093750, - 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.917969, 0.375000, 0.375000, - 0.187500, 0.187500, 0.187500, 0.187500, 0.187500, 0.187500, 0.093750, 0.093750, 0.093750, 0.093750, - 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, - 0.093750, 0.093750, 0.093750, 0.093750, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, - 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, - 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, - 0.000000}; - - -TEST_CASE("camera.test_set_exposure_target") { - // set up fake camerabuf - CameraBuf cb = {}; - VisionBuf vb = {}; - uint8_t * fb_y = new uint8_t[W*H]; - vb.y = fb_y; - cb.cur_yuv_buf = &vb; - cb.rgb_width = W; - cb.rgb_height = H; - Rect rect = {0, 0, W-1, H-1}; - - printf("AE test patterns %dx%d\n", cb.rgb_width, cb.rgb_height); - - // mix of 5 tones - uint8_t l[5] = {0, 24, 48, 96, 235}; // 235 is yuv max - - bool passed = true; - float rtol = 0.05; - // generate pattern and calculate EV - int cnt = 0; - for (int i_0=0; i_0 rtol*evgt) { - passed = false; - } - - // report - printf("%d/%d/%d/%d/%d: ev %f, gt %f, err %f\n", h_0, h_1, h_2, h_3, h_4, ev, evgt, fabs(ev - evgt) / (evgt != 0 ? evgt : 0.00001f)); - cnt++; - } - } - } - } - assert(passed); - - delete[] fb_y; -} diff --git a/system/camerad/test/test_camerad.py b/system/camerad/test/test_camerad.py deleted file mode 100644 index ada9594895e425..00000000000000 --- a/system/camerad/test/test_camerad.py +++ /dev/null @@ -1,82 +0,0 @@ -import pytest -import time -import numpy as np -from flaky import flaky -from collections import defaultdict - -import cereal.messaging as messaging -from cereal import log -from cereal.services import SERVICE_LIST -from openpilot.system.manager.process_config import managed_processes - -TEST_TIMESPAN = 30 -LAG_FRAME_TOLERANCE = {log.FrameData.ImageSensor.ar0231: 0.5, # ARs use synced pulses for frame starts - log.FrameData.ImageSensor.ox03c10: 1.1} # OXs react to out-of-sync at next frame -FRAME_DELTA_TOLERANCE = {log.FrameData.ImageSensor.ar0231: 1.0, - log.FrameData.ImageSensor.ox03c10: 1.0} - -CAMERAS = ('roadCameraState', 'driverCameraState', 'wideRoadCameraState') - -# TODO: this shouldn't be needed -@flaky(max_runs=3) -@pytest.mark.tici -class TestCamerad: - def setup_method(self): - # run camerad and record logs - managed_processes['camerad'].start() - time.sleep(3) - socks = {c: messaging.sub_sock(c, conflate=False, timeout=100) for c in CAMERAS} - - self.logs = defaultdict(list) - start_time = time.monotonic() - while time.monotonic()- start_time < TEST_TIMESPAN: - for cam, s in socks.items(): - self.logs[cam] += messaging.drain_sock(s) - time.sleep(0.2) - managed_processes['camerad'].stop() - - self.log_by_frame_id = defaultdict(list) - self.sensor_type = None - for cam, msgs in self.logs.items(): - if self.sensor_type is None: - self.sensor_type = getattr(msgs[0], msgs[0].which()).sensor.raw - expected_frames = SERVICE_LIST[cam].frequency * TEST_TIMESPAN - assert expected_frames*0.95 < len(msgs) < expected_frames*1.05, f"unexpected frame count {cam}: {expected_frames=}, got {len(msgs)}" - - dts = np.abs(np.diff([getattr(m, m.which()).timestampSof/1e6 for m in msgs]) - 1000/SERVICE_LIST[cam].frequency) - assert (dts < FRAME_DELTA_TOLERANCE[self.sensor_type]).all(), f"{cam} dts(ms) out of spec: max diff {dts.max()}, 99 percentile {np.percentile(dts, 99)}" - - for m in msgs: - self.log_by_frame_id[getattr(m, m.which()).frameId].append(m) - - # strip beginning and end - for _ in range(3): - mn, mx = min(self.log_by_frame_id.keys()), max(self.log_by_frame_id.keys()) - del self.log_by_frame_id[mn] - del self.log_by_frame_id[mx] - - def test_frame_skips(self): - skips = {} - frame_ids = self.log_by_frame_id.keys() - for frame_id in range(min(frame_ids), max(frame_ids)): - seen_cams = [msg.which() for msg in self.log_by_frame_id[frame_id]] - skip_cams = set(CAMERAS) - set(seen_cams) - if len(skip_cams): - skips[frame_id] = skip_cams - assert len(skips) == 0, f"Found frame skips, missing cameras for the following frames: {skips}" - - def test_frame_sync(self): - frame_times = {frame_id: [getattr(m, m.which()).timestampSof for m in msgs] for frame_id, msgs in self.log_by_frame_id.items()} - diffs = {frame_id: (max(ts) - min(ts))/1e6 for frame_id, ts in frame_times.items()} - - def get_desc(fid, diff): - cam_times = [(m.which(), getattr(m, m.which()).timestampSof/1e6) for m in self.log_by_frame_id[fid]] - return (diff, cam_times) - laggy_frames = {k: get_desc(k, v) for k, v in diffs.items() if v > LAG_FRAME_TOLERANCE[self.sensor_type]} - - def in_tol(diff): - return 50 - LAG_FRAME_TOLERANCE[self.sensor_type] < diff and diff < 50 + LAG_FRAME_TOLERANCE[self.sensor_type] - if len(laggy_frames) != 0 and all( in_tol(laggy_frames[lf][0]) for lf in laggy_frames): - print("TODO: handle camera out of sync") - else: - assert len(laggy_frames) == 0, f"Frames not synced properly: {laggy_frames=}" diff --git a/system/camerad/test/test_exposure.py b/system/camerad/test/test_exposure.py deleted file mode 100644 index dbe6f3d880c20b..00000000000000 --- a/system/camerad/test/test_exposure.py +++ /dev/null @@ -1,50 +0,0 @@ -import time -import numpy as np - -from openpilot.selfdrive.test.helpers import with_processes, phone_only -from openpilot.system.camerad.snapshot.snapshot import get_snapshots - -TEST_TIME = 45 -REPEAT = 5 - -class TestCamerad: - @classmethod - def setup_class(cls): - pass - - def _numpy_rgb2gray(self, im): - ret = np.clip(im[:,:,2] * 0.114 + im[:,:,1] * 0.587 + im[:,:,0] * 0.299, 0, 255).astype(np.uint8) - return ret - - def _is_exposure_okay(self, i, med_mean=None): - if med_mean is None: - med_mean = np.array([[0.2,0.4],[0.2,0.6]]) - h, w = i.shape[:2] - i = i[h//10:9*h//10,w//10:9*w//10] - med_ex, mean_ex = med_mean - i = self._numpy_rgb2gray(i) - i_median = np.median(i) / 255. - i_mean = np.mean(i) / 255. - print([i_median, i_mean]) - return med_ex[0] < i_median < med_ex[1] and mean_ex[0] < i_mean < mean_ex[1] - - @phone_only - @with_processes(['camerad']) - def test_camera_operation(self): - passed = 0 - start = time.time() - while time.time() - start < TEST_TIME and passed < REPEAT: - rpic, dpic = get_snapshots(frame="roadCameraState", front_frame="driverCameraState") - wpic, _ = get_snapshots(frame="wideRoadCameraState") - - res = self._is_exposure_okay(rpic) - res = res and self._is_exposure_okay(dpic) - res = res and self._is_exposure_okay(wpic) - - if passed > 0 and not res: - passed = -passed # fails test if any failure after first sus - break - - passed += int(res) - time.sleep(2) - assert passed >= REPEAT diff --git a/system/hardware/base.h b/system/hardware/base.h deleted file mode 100644 index ca24633a182a91..00000000000000 --- a/system/hardware/base.h +++ /dev/null @@ -1,41 +0,0 @@ -#pragma once - -#include -#include -#include -#include - -#include "cereal/gen/cpp/log.capnp.h" - -// no-op base hw class -class HardwareNone { -public: - static constexpr float MAX_VOLUME = 0.7; - static constexpr float MIN_VOLUME = 0.2; - - static std::string get_os_version() { return ""; } - static std::string get_name() { return ""; } - static cereal::InitData::DeviceType get_device_type() { return cereal::InitData::DeviceType::UNKNOWN; } - static int get_voltage() { return 0; } - static int get_current() { return 0; } - - static std::string get_serial() { return "cccccc"; } - - static std::map get_init_logs() { - return {}; - } - - static void reboot() {} - static void poweroff() {} - static void set_brightness(int percent) {} - static void set_display_power(bool on) {} - - static bool get_ssh_enabled() { return false; } - static void set_ssh_enabled(bool enabled) {} - - static void config_cpu_rendering(bool offscreen); - - static bool PC() { return false; } - static bool TICI() { return false; } - static bool AGNOS() { return false; } -}; diff --git a/system/hardware/hw.h b/system/hardware/hw.h deleted file mode 100644 index 394807ccb574be..00000000000000 --- a/system/hardware/hw.h +++ /dev/null @@ -1,50 +0,0 @@ -#pragma once - -#include - -#include "system/hardware/base.h" -#include "common/util.h" - -#if QCOM2 -#include "system/hardware/tici/hardware.h" -#define Hardware HardwareTici -#else -#include "system/hardware/pc/hardware.h" -#define Hardware HardwarePC -#endif - -namespace Path { - inline std::string openpilot_prefix() { - return util::getenv("OPENPILOT_PREFIX", ""); - } - - inline std::string comma_home() { - return util::getenv("HOME") + "/.comma" + Path::openpilot_prefix(); - } - - inline std::string log_root() { - if (const char *env = getenv("LOG_ROOT")) { - return env; - } - return Hardware::PC() ? Path::comma_home() + "/media/0/realdata" : "/data/media/0/realdata"; - } - - inline std::string params() { - return util::getenv("PARAMS_ROOT", Hardware::PC() ? (Path::comma_home() + "/params") : "/data/params"); - } - - inline std::string rsa_file() { - return Hardware::PC() ? Path::comma_home() + "/persist/comma/id_rsa" : "/persist/comma/id_rsa"; - } - - inline std::string swaglog_ipc() { - return "ipc:///tmp/logmessage" + Path::openpilot_prefix(); - } - - inline std::string download_cache_root() { - if (const char *env = getenv("COMMA_CACHE")) { - return env; - } - return "/tmp/comma_download_cache" + Path::openpilot_prefix() + "/"; - } -} // namespace Path diff --git a/system/hardware/pc/hardware.h b/system/hardware/pc/hardware.h deleted file mode 100644 index 5dea184ca6db91..00000000000000 --- a/system/hardware/pc/hardware.h +++ /dev/null @@ -1,23 +0,0 @@ -#pragma once - -#include - -#include "system/hardware/base.h" - -class HardwarePC : public HardwareNone { -public: - static std::string get_os_version() { return "openpilot for PC"; } - static std::string get_name() { return "pc"; } - static cereal::InitData::DeviceType get_device_type() { return cereal::InitData::DeviceType::PC; } - static bool PC() { return true; } - static bool TICI() { return util::getenv("TICI", 0) == 1; } - static bool AGNOS() { return util::getenv("TICI", 0) == 1; } - - static void config_cpu_rendering(bool offscreen) { - if (offscreen) { - setenv("QT_QPA_PLATFORM", "offscreen", 1); - } - setenv("__GLX_VENDOR_LIBRARY_NAME", "mesa", 1); - setenv("LP_NUM_THREADS", "0", 1); // disable threading so we stay on our assigned CPU - } -}; diff --git a/system/hardware/tests/__init__.py b/system/hardware/tests/__init__.py deleted file mode 100644 index e69de29bb2d1d6..00000000000000 diff --git a/system/hardware/tests/test_fan_controller.py b/system/hardware/tests/test_fan_controller.py deleted file mode 100644 index 002c1edfda50ba..00000000000000 --- a/system/hardware/tests/test_fan_controller.py +++ /dev/null @@ -1,50 +0,0 @@ -import pytest - -from openpilot.system.hardware.fan_controller import TiciFanController - -ALL_CONTROLLERS = [TiciFanController] - -def patched_controller(mocker, controller_class): - mocker.patch("os.system", new=mocker.Mock()) - return controller_class() - -class TestFanController: - def wind_up(self, controller, ignition=True): - for _ in range(1000): - controller.update(100, ignition) - - def wind_down(self, controller, ignition=False): - for _ in range(1000): - controller.update(10, ignition) - - @pytest.mark.parametrize("controller_class", ALL_CONTROLLERS) - def test_hot_onroad(self, mocker, controller_class): - controller = patched_controller(mocker, controller_class) - self.wind_up(controller) - assert controller.update(100, True) >= 70 - - @pytest.mark.parametrize("controller_class", ALL_CONTROLLERS) - def test_offroad_limits(self, mocker, controller_class): - controller = patched_controller(mocker, controller_class) - self.wind_up(controller) - assert controller.update(100, False) <= 30 - - @pytest.mark.parametrize("controller_class", ALL_CONTROLLERS) - def test_no_fan_wear(self, mocker, controller_class): - controller = patched_controller(mocker, controller_class) - self.wind_down(controller) - assert controller.update(10, False) == 0 - - @pytest.mark.parametrize("controller_class", ALL_CONTROLLERS) - def test_limited(self, mocker, controller_class): - controller = patched_controller(mocker, controller_class) - self.wind_up(controller, True) - assert controller.update(100, True) == 100 - - @pytest.mark.parametrize("controller_class", ALL_CONTROLLERS) - def test_windup_speed(self, mocker, controller_class): - controller = patched_controller(mocker, controller_class) - self.wind_down(controller, True) - for _ in range(10): - controller.update(90, True) - assert controller.update(90, True) >= 60 diff --git a/system/hardware/tests/test_power_monitoring.py b/system/hardware/tests/test_power_monitoring.py deleted file mode 100644 index 1dff6c6c5f728e..00000000000000 --- a/system/hardware/tests/test_power_monitoring.py +++ /dev/null @@ -1,199 +0,0 @@ -import pytest - -from openpilot.common.params import Params -from openpilot.system.hardware.power_monitoring import PowerMonitoring, CAR_BATTERY_CAPACITY_uWh, \ - CAR_CHARGING_RATE_W, VBATT_PAUSE_CHARGING, DELAY_SHUTDOWN_TIME_S - -# Create fake time -ssb = 0. -def mock_time_monotonic(): - global ssb - ssb += 1. - return ssb - -TEST_DURATION_S = 50 -GOOD_VOLTAGE = 12 * 1e3 -VOLTAGE_BELOW_PAUSE_CHARGING = (VBATT_PAUSE_CHARGING - 1) * 1e3 - -def pm_patch(mocker, name, value, constant=False): - if constant: - mocker.patch(f"openpilot.system.hardware.power_monitoring.{name}", value) - else: - mocker.patch(f"openpilot.system.hardware.power_monitoring.{name}", return_value=value) - - -@pytest.fixture(autouse=True) -def mock_time(mocker): - mocker.patch("time.monotonic", mock_time_monotonic) - - -class TestPowerMonitoring: - def setup_method(self): - self.params = Params() - - # Test to see that it doesn't do anything when pandaState is None - def test_panda_state_present(self): - pm = PowerMonitoring() - for _ in range(10): - pm.calculate(None, None) - assert pm.get_power_used() == 0 - assert pm.get_car_battery_capacity() == (CAR_BATTERY_CAPACITY_uWh / 10) - - # Test to see that it doesn't integrate offroad when ignition is True - def test_offroad_ignition(self): - pm = PowerMonitoring() - for _ in range(10): - pm.calculate(GOOD_VOLTAGE, True) - assert pm.get_power_used() == 0 - - # Test to see that it integrates with discharging battery - def test_offroad_integration_discharging(self, mocker): - POWER_DRAW = 4 - pm_patch(mocker, "HARDWARE.get_current_power_draw", POWER_DRAW) - pm = PowerMonitoring() - for _ in range(TEST_DURATION_S + 1): - pm.calculate(GOOD_VOLTAGE, False) - expected_power_usage = ((TEST_DURATION_S/3600) * POWER_DRAW * 1e6) - assert abs(pm.get_power_used() - expected_power_usage) < 10 - - # Test to check positive integration of car_battery_capacity - def test_car_battery_integration_onroad(self, mocker): - POWER_DRAW = 4 - pm_patch(mocker, "HARDWARE.get_current_power_draw", POWER_DRAW) - pm = PowerMonitoring() - pm.car_battery_capacity_uWh = 0 - for _ in range(TEST_DURATION_S + 1): - pm.calculate(GOOD_VOLTAGE, True) - expected_capacity = ((TEST_DURATION_S/3600) * CAR_CHARGING_RATE_W * 1e6) - assert abs(pm.get_car_battery_capacity() - expected_capacity) < 10 - - # Test to check positive integration upper limit - def test_car_battery_integration_upper_limit(self, mocker): - POWER_DRAW = 4 - pm_patch(mocker, "HARDWARE.get_current_power_draw", POWER_DRAW) - pm = PowerMonitoring() - pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh - 1000 - for _ in range(TEST_DURATION_S + 1): - pm.calculate(GOOD_VOLTAGE, True) - estimated_capacity = CAR_BATTERY_CAPACITY_uWh + (CAR_CHARGING_RATE_W / 3600 * 1e6) - assert abs(pm.get_car_battery_capacity() - estimated_capacity) < 10 - - # Test to check negative integration of car_battery_capacity - def test_car_battery_integration_offroad(self, mocker): - POWER_DRAW = 4 - pm_patch(mocker, "HARDWARE.get_current_power_draw", POWER_DRAW) - pm = PowerMonitoring() - pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh - for _ in range(TEST_DURATION_S + 1): - pm.calculate(GOOD_VOLTAGE, False) - expected_capacity = CAR_BATTERY_CAPACITY_uWh - ((TEST_DURATION_S/3600) * POWER_DRAW * 1e6) - assert abs(pm.get_car_battery_capacity() - expected_capacity) < 10 - - # Test to check negative integration lower limit - def test_car_battery_integration_lower_limit(self, mocker): - POWER_DRAW = 4 - pm_patch(mocker, "HARDWARE.get_current_power_draw", POWER_DRAW) - pm = PowerMonitoring() - pm.car_battery_capacity_uWh = 1000 - for _ in range(TEST_DURATION_S + 1): - pm.calculate(GOOD_VOLTAGE, False) - estimated_capacity = 0 - ((1/3600) * POWER_DRAW * 1e6) - assert abs(pm.get_car_battery_capacity() - estimated_capacity) < 10 - - # Test to check policy of stopping charging after MAX_TIME_OFFROAD_S - def test_max_time_offroad(self, mocker): - MOCKED_MAX_OFFROAD_TIME = 3600 - POWER_DRAW = 0 # To stop shutting down for other reasons - pm_patch(mocker, "MAX_TIME_OFFROAD_S", MOCKED_MAX_OFFROAD_TIME, constant=True) - pm_patch(mocker, "HARDWARE.get_current_power_draw", POWER_DRAW) - pm = PowerMonitoring() - pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh - start_time = ssb - ignition = False - while ssb <= start_time + MOCKED_MAX_OFFROAD_TIME: - pm.calculate(GOOD_VOLTAGE, ignition) - if (ssb - start_time) % 1000 == 0 and ssb < start_time + MOCKED_MAX_OFFROAD_TIME: - assert not pm.should_shutdown(ignition, True, start_time, False) - assert pm.should_shutdown(ignition, True, start_time, False) - - def test_car_voltage(self, mocker): - POWER_DRAW = 0 # To stop shutting down for other reasons - TEST_TIME = 350 - VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S = 50 - pm_patch(mocker, "VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S", VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S, constant=True) - pm_patch(mocker, "HARDWARE.get_current_power_draw", POWER_DRAW) - pm = PowerMonitoring() - pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh - ignition = False - start_time = ssb - for i in range(TEST_TIME): - pm.calculate(VOLTAGE_BELOW_PAUSE_CHARGING, ignition) - if i % 10 == 0: - assert pm.should_shutdown(ignition, True, start_time, True) == \ - (pm.car_voltage_mV < VBATT_PAUSE_CHARGING * 1e3 and \ - (ssb - start_time) > VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S and \ - (ssb - start_time) > DELAY_SHUTDOWN_TIME_S) - assert pm.should_shutdown(ignition, True, start_time, True) - - # Test to check policy of not stopping charging when DisablePowerDown is set - def test_disable_power_down(self, mocker): - POWER_DRAW = 0 # To stop shutting down for other reasons - TEST_TIME = 100 - self.params.put_bool("DisablePowerDown", True) - pm_patch(mocker, "HARDWARE.get_current_power_draw", POWER_DRAW) - pm = PowerMonitoring() - pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh - ignition = False - for i in range(TEST_TIME): - pm.calculate(VOLTAGE_BELOW_PAUSE_CHARGING, ignition) - if i % 10 == 0: - assert not pm.should_shutdown(ignition, True, ssb, False) - assert not pm.should_shutdown(ignition, True, ssb, False) - - # Test to check policy of not stopping charging when ignition - def test_ignition(self, mocker): - POWER_DRAW = 0 # To stop shutting down for other reasons - TEST_TIME = 100 - pm_patch(mocker, "HARDWARE.get_current_power_draw", POWER_DRAW) - pm = PowerMonitoring() - pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh - ignition = True - for i in range(TEST_TIME): - pm.calculate(VOLTAGE_BELOW_PAUSE_CHARGING, ignition) - if i % 10 == 0: - assert not pm.should_shutdown(ignition, True, ssb, False) - assert not pm.should_shutdown(ignition, True, ssb, False) - - # Test to check policy of not stopping charging when harness is not connected - def test_harness_connection(self, mocker): - POWER_DRAW = 0 # To stop shutting down for other reasons - TEST_TIME = 100 - pm_patch(mocker, "HARDWARE.get_current_power_draw", POWER_DRAW) - pm = PowerMonitoring() - pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh - - ignition = False - for i in range(TEST_TIME): - pm.calculate(VOLTAGE_BELOW_PAUSE_CHARGING, ignition) - if i % 10 == 0: - assert not pm.should_shutdown(ignition, False, ssb, False) - assert not pm.should_shutdown(ignition, False, ssb, False) - - def test_delay_shutdown_time(self): - pm = PowerMonitoring() - pm.car_battery_capacity_uWh = 0 - ignition = False - in_car = True - offroad_timestamp = ssb - started_seen = True - pm.calculate(VOLTAGE_BELOW_PAUSE_CHARGING, ignition) - - while ssb < offroad_timestamp + DELAY_SHUTDOWN_TIME_S: - assert not pm.should_shutdown(ignition, in_car, - offroad_timestamp, - started_seen), \ - f"Should not shutdown before {DELAY_SHUTDOWN_TIME_S} seconds offroad time" - assert pm.should_shutdown(ignition, in_car, - offroad_timestamp, - started_seen), \ - f"Should shutdown after {DELAY_SHUTDOWN_TIME_S} seconds offroad time" diff --git a/system/hardware/tici/hardware.h b/system/hardware/tici/hardware.h deleted file mode 100644 index f1d1f1e717ed88..00000000000000 --- a/system/hardware/tici/hardware.h +++ /dev/null @@ -1,106 +0,0 @@ -#pragma once - -#include -#include -#include -#include - -#include "common/params.h" -#include "common/util.h" -#include "system/hardware/base.h" - -class HardwareTici : public HardwareNone { -public: - static constexpr float MAX_VOLUME = 0.9; - static constexpr float MIN_VOLUME = 0.1; - static bool TICI() { return true; } - static bool AGNOS() { return true; } - static std::string get_os_version() { - return "AGNOS " + util::read_file("/VERSION"); - } - - static std::string get_name() { - std::string model = util::read_file("/sys/firmware/devicetree/base/model"); - return model.substr(std::string("comma ").size()); - } - - static cereal::InitData::DeviceType get_device_type() { - return (get_name() == "tizi") ? cereal::InitData::DeviceType::TIZI : (get_name() == "mici" ? cereal::InitData::DeviceType::MICI : cereal::InitData::DeviceType::TICI); - } - - static int get_voltage() { return std::atoi(util::read_file("/sys/class/hwmon/hwmon1/in1_input").c_str()); } - static int get_current() { return std::atoi(util::read_file("/sys/class/hwmon/hwmon1/curr1_input").c_str()); } - - static std::string get_serial() { - static std::string serial(""); - if (serial.empty()) { - std::ifstream stream("/proc/cmdline"); - std::string cmdline; - std::getline(stream, cmdline); - - auto start = cmdline.find("serialno="); - if (start == std::string::npos) { - serial = "cccccc"; - } else { - auto end = cmdline.find(" ", start + 9); - serial = cmdline.substr(start + 9, end - start - 9); - } - } - return serial; - } - - static void reboot() { std::system("sudo reboot"); } - static void poweroff() { std::system("sudo poweroff"); } - static void set_brightness(int percent) { - std::string max = util::read_file("/sys/class/backlight/panel0-backlight/max_brightness"); - - std::ofstream brightness_control("/sys/class/backlight/panel0-backlight/brightness"); - if (brightness_control.is_open()) { - brightness_control << (int)(percent * (std::stof(max)/100.)) << "\n"; - brightness_control.close(); - } - } - static void set_display_power(bool on) { - std::ofstream bl_power_control("/sys/class/backlight/panel0-backlight/bl_power"); - if (bl_power_control.is_open()) { - bl_power_control << (on ? "0" : "4") << "\n"; - bl_power_control.close(); - } - } - - static std::map get_init_logs() { - std::map ret = { - {"/BUILD", util::read_file("/BUILD")}, - {"lsblk", util::check_output("lsblk -o NAME,SIZE,STATE,VENDOR,MODEL,REV,SERIAL")}, - {"SOM ID", util::read_file("/sys/devices/platform/vendor/vendor:gpio-som-id/som_id")}, - }; - - std::string bs = util::check_output("abctl --boot_slot"); - ret["boot slot"] = bs.substr(0, bs.find_first_of("\n")); - - std::string temp = util::read_file("/dev/disk/by-partlabel/ssd"); - temp.erase(temp.find_last_not_of(std::string("\0\r\n", 3))+1); - ret["boot temp"] = temp; - - // TODO: log something from system and boot - for (std::string part : {"xbl", "abl", "aop", "devcfg", "xbl_config"}) { - for (std::string slot : {"a", "b"}) { - std::string partition = part + "_" + slot; - std::string hash = util::check_output("sha256sum /dev/disk/by-partlabel/" + partition); - ret[partition] = hash.substr(0, hash.find_first_of(" ")); - } - } - - return ret; - } - - static bool get_ssh_enabled() { return Params().getBool("SshEnabled"); } - static void set_ssh_enabled(bool enabled) { Params().putBool("SshEnabled", enabled); } - - static void config_cpu_rendering(bool offscreen) { - if (offscreen) { - setenv("QT_QPA_PLATFORM", "eglfs", 1); // offscreen doesn't work with EGL/GLES - } - setenv("LP_NUM_THREADS", "0", 1); // disable threading so we stay on our assigned CPU - } -}; diff --git a/system/hardware/tici/tests/__init__.py b/system/hardware/tici/tests/__init__.py deleted file mode 100644 index e69de29bb2d1d6..00000000000000 diff --git a/system/hardware/tici/tests/compare_casync_manifest.py b/system/hardware/tici/tests/compare_casync_manifest.py deleted file mode 100755 index 7de66d91d0cdd9..00000000000000 --- a/system/hardware/tici/tests/compare_casync_manifest.py +++ /dev/null @@ -1,73 +0,0 @@ -#!/usr/bin/env python3 -import argparse -import collections -import multiprocessing -import os - -import requests -from tqdm import tqdm - -import openpilot.system.hardware.tici.casync as casync - - -def get_chunk_download_size(chunk): - sha = chunk.sha.hex() - path = os.path.join(remote_url, sha[:4], sha + ".cacnk") - if os.path.isfile(path): - return os.path.getsize(path) - else: - r = requests.head(path, timeout=10) - r.raise_for_status() - return int(r.headers['content-length']) - - -if __name__ == "__main__": - - parser = argparse.ArgumentParser(description='Compute overlap between two casync manifests') - parser.add_argument('frm') - parser.add_argument('to') - args = parser.parse_args() - - frm = casync.parse_caibx(args.frm) - to = casync.parse_caibx(args.to) - remote_url = args.to.replace('.caibx', '') - - most_common = collections.Counter(t.sha for t in to).most_common(1)[0][0] - - frm_dict = casync.build_chunk_dict(frm) - - # Get content-length for each chunk - with multiprocessing.Pool() as pool: - szs = list(tqdm(pool.imap(get_chunk_download_size, to), total=len(to))) - chunk_sizes = {t.sha: sz for (t, sz) in zip(to, szs, strict=True)} - - sources: dict[str, list[int]] = { - 'seed': [], - 'remote_uncompressed': [], - 'remote_compressed': [], - } - - for chunk in to: - # Assume most common chunk is the zero chunk - if chunk.sha == most_common: - continue - - if chunk.sha in frm_dict: - sources['seed'].append(chunk.length) - else: - sources['remote_uncompressed'].append(chunk.length) - sources['remote_compressed'].append(chunk_sizes[chunk.sha]) - - print() - print("Update statistics (excluding zeros)") - print() - print("Download only with no seed:") - print(f" Remote (uncompressed)\t\t{sum(sources['seed'] + sources['remote_uncompressed']) / 1000 / 1000:.2f} MB\tn = {len(to)}") - print(f" Remote (compressed download)\t{sum(chunk_sizes.values()) / 1000 / 1000:.2f} MB\tn = {len(to)}") - print() - print("Upgrade with seed partition:") - print(f" Seed (uncompressed)\t\t{sum(sources['seed']) / 1000 / 1000:.2f} MB\t\t\t\tn = {len(sources['seed'])}") - sz, n = sum(sources['remote_uncompressed']), len(sources['remote_uncompressed']) - print(f" Remote (uncompressed)\t\t{sz / 1000 / 1000:.2f} MB\t(avg {sz / 1000 / 1000 / n:4f} MB)\tn = {n}") - sz, n = sum(sources['remote_compressed']), len(sources['remote_compressed']) - print(f" Remote (compressed download)\t{sz / 1000 / 1000:.2f} MB\t(avg {sz / 1000 / 1000 / n:4f} MB)\tn = {n}") diff --git a/system/hardware/tici/tests/test_agnos_updater.py b/system/hardware/tici/tests/test_agnos_updater.py deleted file mode 100644 index a1bbd363fd04d0..00000000000000 --- a/system/hardware/tici/tests/test_agnos_updater.py +++ /dev/null @@ -1,20 +0,0 @@ -import json -import os -import requests - -TEST_DIR = os.path.join(os.path.dirname(os.path.abspath(__file__))) -MANIFEST = os.path.join(TEST_DIR, "../agnos.json") - - -class TestAgnosUpdater: - - def test_manifest(self): - with open(MANIFEST) as f: - m = json.load(f) - - for img in m: - r = requests.head(img['url'], timeout=10) - r.raise_for_status() - assert r.headers['Content-Type'] == "application/x-xz" - if not img['sparse']: - assert img['hash'] == img['hash_raw'] diff --git a/system/hardware/tici/tests/test_amplifier.py b/system/hardware/tici/tests/test_amplifier.py deleted file mode 100644 index 3f75436db1874f..00000000000000 --- a/system/hardware/tici/tests/test_amplifier.py +++ /dev/null @@ -1,70 +0,0 @@ -import pytest -import time -import random -import subprocess - -from panda import Panda -from openpilot.system.hardware import TICI, HARDWARE -from openpilot.system.hardware.tici.hardware import Tici -from openpilot.system.hardware.tici.amplifier import Amplifier - - -class TestAmplifier: - - @classmethod - def setup_class(cls): - if not TICI: - pytest.skip() - - def setup_method(self): - # clear dmesg - subprocess.check_call("sudo dmesg -C", shell=True) - - HARDWARE.reset_internal_panda() - Panda.wait_for_panda(None, 30) - self.panda = Panda() - - def teardown_method(self): - HARDWARE.reset_internal_panda() - - def _check_for_i2c_errors(self, expected): - dmesg = subprocess.check_output("dmesg", shell=True, encoding='utf8') - i2c_lines = [l for l in dmesg.strip().splitlines() if 'i2c_geni a88000.i2c' in l] - i2c_str = '\n'.join(i2c_lines) - - if not expected: - return len(i2c_lines) == 0 - else: - return "i2c error :-107" in i2c_str or "Bus arbitration lost" in i2c_str - - def test_init(self): - amp = Amplifier(debug=True) - r = amp.initialize_configuration(Tici().get_device_type()) - assert r - assert self._check_for_i2c_errors(False) - - def test_shutdown(self): - amp = Amplifier(debug=True) - for _ in range(10): - r = amp.set_global_shutdown(True) - r = amp.set_global_shutdown(False) - # amp config should be successful, with no i2c errors - assert r - assert self._check_for_i2c_errors(False) - - def test_init_while_siren_play(self): - for _ in range(10): - self.panda.set_siren(False) - time.sleep(0.1) - - self.panda.set_siren(True) - time.sleep(random.randint(0, 5)) - - amp = Amplifier(debug=True) - r = amp.initialize_configuration(Tici().get_device_type()) - assert r - - if self._check_for_i2c_errors(True): - break - else: - pytest.fail("didn't hit any i2c errors") diff --git a/system/hardware/tici/tests/test_hardware.py b/system/hardware/tici/tests/test_hardware.py deleted file mode 100644 index 75f53e7cdb8efc..00000000000000 --- a/system/hardware/tici/tests/test_hardware.py +++ /dev/null @@ -1,26 +0,0 @@ -import pytest -import time -import numpy as np - -from openpilot.system.hardware.tici.hardware import Tici - -HARDWARE = Tici() - - -@pytest.mark.tici -class TestHardware: - - def test_power_save_time(self): - ts = {True: [], False: []} - for _ in range(5): - for on in (True, False): - st = time.monotonic() - HARDWARE.set_power_save(on) - ts[on].append(time.monotonic() - st) - - # disabling power save is the main time-critical one - assert 0.1 < np.mean(ts[False]) < 0.15 - assert max(ts[False]) < 0.2 - - assert 0.1 < np.mean(ts[True]) < 0.35 - assert max(ts[True]) < 0.4 diff --git a/system/hardware/tici/tests/test_power_draw.py b/system/hardware/tici/tests/test_power_draw.py deleted file mode 100644 index 866f7d118809d0..00000000000000 --- a/system/hardware/tici/tests/test_power_draw.py +++ /dev/null @@ -1,127 +0,0 @@ -from collections import defaultdict, deque -import pytest -import time -import numpy as np -from dataclasses import dataclass -from tabulate import tabulate - -import cereal.messaging as messaging -from cereal.services import SERVICE_LIST -from openpilot.common.mock import mock_messages -from openpilot.selfdrive.car.car_helpers import write_car_param -from openpilot.system.hardware.tici.power_monitor import get_power -from openpilot.system.manager.process_config import managed_processes -from openpilot.system.manager.manager import manager_cleanup - -SAMPLE_TIME = 8 # seconds to sample power -MAX_WARMUP_TIME = 30 # seconds to wait for SAMPLE_TIME consecutive valid samples - -@dataclass -class Proc: - procs: list[str] - power: float - msgs: list[str] - rtol: float = 0.05 - atol: float = 0.12 - - @property - def name(self): - return '+'.join(self.procs) - - -PROCS = [ - Proc(['camerad'], 2.1, msgs=['roadCameraState', 'wideRoadCameraState', 'driverCameraState']), - Proc(['modeld'], 1.12, atol=0.2, msgs=['modelV2']), - Proc(['dmonitoringmodeld'], 0.4, msgs=['driverStateV2']), - Proc(['encoderd'], 0.23, msgs=[]), -] - - -@pytest.mark.tici -class TestPowerDraw: - - def setup_method(self): - write_car_param() - - # wait a bit for power save to disable - time.sleep(5) - - def teardown_method(self): - manager_cleanup() - - def get_expected_messages(self, proc): - return int(sum(SAMPLE_TIME * SERVICE_LIST[msg].frequency for msg in proc.msgs)) - - def valid_msg_count(self, proc, msg_counts): - msgs_received = sum(msg_counts[msg] for msg in proc.msgs) - msgs_expected = self.get_expected_messages(proc) - return np.core.numeric.isclose(msgs_expected, msgs_received, rtol=.02, atol=2) - - def valid_power_draw(self, proc, used): - return np.core.numeric.isclose(used, proc.power, rtol=proc.rtol, atol=proc.atol) - - def tabulate_msg_counts(self, msgs_and_power): - msg_counts = defaultdict(int) - for _, counts in msgs_and_power: - for msg, count in counts.items(): - msg_counts[msg] += count - return msg_counts - - def get_power_with_warmup_for_target(self, proc, prev): - socks = {msg: messaging.sub_sock(msg) for msg in proc.msgs} - for sock in socks.values(): - messaging.drain_sock_raw(sock) - - msgs_and_power = deque([], maxlen=SAMPLE_TIME) - - start_time = time.monotonic() - - while (time.monotonic() - start_time) < MAX_WARMUP_TIME: - power = get_power(1) - iteration_msg_counts = {} - for msg,sock in socks.items(): - iteration_msg_counts[msg] = len(messaging.drain_sock_raw(sock)) - msgs_and_power.append((power, iteration_msg_counts)) - - if len(msgs_and_power) < SAMPLE_TIME: - continue - - msg_counts = self.tabulate_msg_counts(msgs_and_power) - now = np.mean([m[0] for m in msgs_and_power]) - - if self.valid_msg_count(proc, msg_counts) and self.valid_power_draw(proc, now - prev): - break - - return now, msg_counts, time.monotonic() - start_time - SAMPLE_TIME - - @mock_messages(['liveLocationKalman']) - def test_camera_procs(self, subtests): - baseline = get_power() - - prev = baseline - used = {} - warmup_time = {} - msg_counts = {} - - for proc in PROCS: - for p in proc.procs: - managed_processes[p].start() - now, local_msg_counts, warmup_time[proc.name] = self.get_power_with_warmup_for_target(proc, prev) - msg_counts.update(local_msg_counts) - - used[proc.name] = now - prev - prev = now - - manager_cleanup() - - tab = [['process', 'expected (W)', 'measured (W)', '# msgs expected', '# msgs received', "warmup time (s)"]] - for proc in PROCS: - cur = used[proc.name] - expected = proc.power - msgs_received = sum(msg_counts[msg] for msg in proc.msgs) - tab.append([proc.name, round(expected, 2), round(cur, 2), self.get_expected_messages(proc), msgs_received, round(warmup_time[proc.name], 2)]) - with subtests.test(proc=proc.name): - assert self.valid_msg_count(proc, msg_counts), f"expected {self.get_expected_messages(proc)} msgs, got {msgs_received} msgs" - assert self.valid_power_draw(proc, cur), f"expected {expected:.2f}W, got {cur:.2f}W" - print(tabulate(tab)) - print(f"Baseline {baseline:.2f}W\n") diff --git a/system/logcatd/logcatd b/system/logcatd/logcatd new file mode 100755 index 00000000000000..0b8db7346e0cd9 Binary files /dev/null and b/system/logcatd/logcatd differ diff --git a/system/logcatd/logcatd_systemd.cc b/system/logcatd/logcatd_systemd.cc deleted file mode 100644 index 54b37821328203..00000000000000 --- a/system/logcatd/logcatd_systemd.cc +++ /dev/null @@ -1,75 +0,0 @@ -#include - -#include -#include -#include -#include - -#include "third_party/json11/json11.hpp" - -#include "cereal/messaging/messaging.h" -#include "common/timing.h" -#include "common/util.h" - -ExitHandler do_exit; -int main(int argc, char *argv[]) { - - PubMaster pm({"androidLog"}); - - sd_journal *journal; - int err = sd_journal_open(&journal, 0); - assert(err >= 0); - err = sd_journal_get_fd(journal); // needed so sd_journal_wait() works properly if files rotate - assert(err >= 0); - err = sd_journal_seek_tail(journal); - assert(err >= 0); - - // workaround for bug https://github.com/systemd/systemd/issues/9934 - // call sd_journal_previous_skip after sd_journal_seek_tail (like journalctl -f does) to makes things work. - sd_journal_previous_skip(journal, 1); - - while (!do_exit) { - err = sd_journal_next(journal); - assert(err >= 0); - - // Wait for new message if we didn't receive anything - if (err == 0) { - err = sd_journal_wait(journal, 1000 * 1000); - assert(err >= 0); - continue; // Try again - } - - uint64_t timestamp = 0; - err = sd_journal_get_realtime_usec(journal, ×tamp); - assert(err >= 0); - - const void *data; - size_t length; - std::map kv; - - SD_JOURNAL_FOREACH_DATA(journal, data, length) { - std::string str((char*)data, length); - - // Split "KEY=VALUE"" on "=" and put in map - std::size_t found = str.find("="); - if (found != std::string::npos) { - kv[str.substr(0, found)] = str.substr(found + 1, std::string::npos); - } - } - - MessageBuilder msg; - - // Build message - auto androidEntry = msg.initEvent().initAndroidLog(); - androidEntry.setTs(timestamp); - androidEntry.setMessage(json11::Json(kv).dump()); - if (kv.count("_PID")) androidEntry.setPid(std::atoi(kv["_PID"].c_str())); - if (kv.count("PRIORITY")) androidEntry.setPriority(std::atoi(kv["PRIORITY"].c_str())); - if (kv.count("SYSLOG_IDENTIFIER")) androidEntry.setTag(kv["SYSLOG_IDENTIFIER"]); - - pm.send("androidLog", msg); - } - - sd_journal_close(journal); - return 0; -} diff --git a/system/loggerd/README.md b/system/loggerd/README.md deleted file mode 100644 index 714e4242a04508..00000000000000 --- a/system/loggerd/README.md +++ /dev/null @@ -1,30 +0,0 @@ -# loggerd - -openpilot records routes in one minute chunks called segments. A route starts on the rising edge of ignition and ends on the falling edge. - -Check out our [python library](https://github.com/commaai/openpilot/blob/master/tools/lib/logreader.py) for reading openpilot logs. Also checkout our [tools](https://github.com/commaai/openpilot/tree/master/tools) to replay and view your data. These are the same tools we use to debug and develop openpilot. - -## log types - -For each segment, openpilot records the following log types: - -## rlog.bz2 - -rlogs contain all the messages passed amongst openpilot's processes. See [cereal/services.py](https://github.com/commaai/cereal/blob/master/services.py) for a list of all the logged services. They're a bzip2 archive of the serialized capnproto messages. - -## {f,e,d}camera.hevc - -Each camera stream is H.265 encoded and written to its respective file. -* fcamera.hevc is the road camera -* ecamera.hevc is the wide road camera -* dcamera.hevc is the driver camera - -## qlog.bz2 & qcamera.ts - -qlogs are a decimated subset of the rlogs. Check out [cereal/services.py](https://github.com/commaai/cereal/blob/master/services.py) for the decimation. - - -qcameras are H.264 encoded, lower res versions of the fcamera.hevc. The video shown in [comma connect](https://connect.comma.ai/) is from the qcameras. - - -qlogs and qcameras are designed to be small enough to upload instantly on slow internet and store forever, yet useful enough for most analysis and debugging. diff --git a/system/loggerd/bootlog b/system/loggerd/bootlog new file mode 100755 index 00000000000000..cdc786eb83912b Binary files /dev/null and b/system/loggerd/bootlog differ diff --git a/system/loggerd/bootlog.cc b/system/loggerd/bootlog.cc deleted file mode 100644 index b8257b6d696d4c..00000000000000 --- a/system/loggerd/bootlog.cc +++ /dev/null @@ -1,70 +0,0 @@ -#include -#include - -#include "cereal/messaging/messaging.h" -#include "common/params.h" -#include "common/swaglog.h" -#include "system/loggerd/logger.h" - - -static kj::Array build_boot_log() { - MessageBuilder msg; - auto boot = msg.initEvent().initBoot(); - - boot.setWallTimeNanos(nanos_since_epoch()); - - std::string pstore = "/sys/fs/pstore"; - std::map pstore_map = util::read_files_in_dir(pstore); - - int i = 0; - auto lpstore = boot.initPstore().initEntries(pstore_map.size()); - for (auto& kv : pstore_map) { - auto lentry = lpstore[i]; - lentry.setKey(kv.first); - lentry.setValue(capnp::Data::Reader((const kj::byte*)kv.second.data(), kv.second.size())); - i++; - } - - // Gather output of commands - std::vector bootlog_commands = { - "[ -x \"$(command -v journalctl)\" ] && journalctl", - }; - - if (Hardware::TICI()) { - bootlog_commands.push_back("[ -e /dev/nvme0 ] && sudo nvme smart-log --output-format=json /dev/nvme0"); - } - - auto commands = boot.initCommands().initEntries(bootlog_commands.size()); - for (int j = 0; j < bootlog_commands.size(); j++) { - auto lentry = commands[j]; - - lentry.setKey(bootlog_commands[j]); - - const std::string result = util::check_output(bootlog_commands[j]); - lentry.setValue(capnp::Data::Reader((const kj::byte*)result.data(), result.size())); - } - - boot.setLaunchLog(util::read_file("/tmp/launch_log")); - return capnp::messageToFlatArray(msg); -} - -int main(int argc, char** argv) { - const std::string id = logger_get_identifier("BootCount"); - const std::string path = Path::log_root() + "/boot/" + id; - LOGW("bootlog to %s", path.c_str()); - - // Open bootlog - bool r = util::create_directories(Path::log_root() + "/boot/", 0775); - assert(r); - - RawFile file(path.c_str()); - // Write initdata - file.write(logger_build_init_data().asBytes()); - // Write bootlog - file.write(build_boot_log().asBytes()); - - // Write out bootlog param to match routes with bootlog - Params().put("CurrentBootlog", id.c_str()); - - return 0; -} diff --git a/system/loggerd/encoder/encoder.cc b/system/loggerd/encoder/encoder.cc deleted file mode 100644 index 313a0f57a142c4..00000000000000 --- a/system/loggerd/encoder/encoder.cc +++ /dev/null @@ -1,59 +0,0 @@ -#include "system/loggerd/encoder/encoder.h" - -VideoEncoder::VideoEncoder(const EncoderInfo &encoder_info, int in_width, int in_height) - : encoder_info(encoder_info), in_width(in_width), in_height(in_height) { - - out_width = encoder_info.frame_width > 0 ? encoder_info.frame_width : in_width; - out_height = encoder_info.frame_height > 0 ? encoder_info.frame_height : in_height; - - - std::vector pubs = {encoder_info.publish_name}; - if (encoder_info.thumbnail_name != NULL) { - pubs.push_back(encoder_info.thumbnail_name); - } - pm.reset(new PubMaster(pubs)); -} - -void VideoEncoder::publisher_publish(VideoEncoder *e, int segment_num, uint32_t idx, VisionIpcBufExtra &extra, - unsigned int flags, kj::ArrayPtr header, kj::ArrayPtr dat) { - // broadcast packet - MessageBuilder msg; - auto event = msg.initEvent(true); - auto edat = (event.*(e->encoder_info.init_encode_data_func))(); - auto edata = edat.initIdx(); - struct timespec ts; - timespec_get(&ts, TIME_UTC); - edat.setUnixTimestampNanos((uint64_t)ts.tv_sec*1000000000 + ts.tv_nsec); - edata.setFrameId(extra.frame_id); - edata.setTimestampSof(extra.timestamp_sof); - edata.setTimestampEof(extra.timestamp_eof); - edata.setType(e->encoder_info.encode_type); - edata.setEncodeId(e->cnt++); - edata.setSegmentNum(segment_num); - edata.setSegmentId(idx); - edata.setFlags(flags); - edata.setLen(dat.size()); - edat.setData(dat); - edat.setWidth(out_width); - edat.setHeight(out_height); - if (flags & V4L2_BUF_FLAG_KEYFRAME) edat.setHeader(header); - - uint32_t bytes_size = capnp::computeSerializedSizeInWords(msg) * sizeof(capnp::word); - if (e->msg_cache.size() < bytes_size) { - e->msg_cache.resize(bytes_size); - } - kj::ArrayOutputStream output_stream(kj::ArrayPtr(e->msg_cache.data(), bytes_size)); - capnp::writeMessage(output_stream, msg); - e->pm->send(e->encoder_info.publish_name, e->msg_cache.data(), bytes_size); - - // Publish keyframe thumbnail - if ((flags & V4L2_BUF_FLAG_KEYFRAME) && e->encoder_info.thumbnail_name != NULL) { - MessageBuilder tm; - auto thumbnail = tm.initEvent().initThumbnail(); - thumbnail.setFrameId(extra.frame_id); - thumbnail.setTimestampEof(extra.timestamp_eof); - thumbnail.setThumbnail(dat); - thumbnail.setEncoding(cereal::Thumbnail::Encoding::KEYFRAME); - pm->send(e->encoder_info.thumbnail_name, tm); - } -} \ No newline at end of file diff --git a/system/loggerd/encoder/encoder.h b/system/loggerd/encoder/encoder.h deleted file mode 100644 index 72848609efbf4b..00000000000000 --- a/system/loggerd/encoder/encoder.h +++ /dev/null @@ -1,39 +0,0 @@ -#pragma once - -#include -#include -#include -#include -#include - -#include "cereal/messaging/messaging.h" -#include "msgq/visionipc/visionipc.h" -#include "common/queue.h" -#include "system/camerad/cameras/camera_common.h" -#include "system/loggerd/loggerd.h" - -#define V4L2_BUF_FLAG_KEYFRAME 8 - -class VideoEncoder { -public: - VideoEncoder(const EncoderInfo &encoder_info, int in_width, int in_height); - virtual ~VideoEncoder() {} - virtual int encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra) = 0; - virtual void encoder_open(const char* path) = 0; - virtual void encoder_close() = 0; - - void publisher_publish(VideoEncoder *e, int segment_num, uint32_t idx, VisionIpcBufExtra &extra, unsigned int flags, kj::ArrayPtr header, kj::ArrayPtr dat); - -protected: - void publish_thumbnail(uint32_t frame_id, uint64_t timestamp_eof, kj::ArrayPtr dat); - - int in_width, in_height; - int out_width, out_height; - const EncoderInfo encoder_info; - -private: - // total frames encoded - int cnt = 0; - std::unique_ptr pm; - std::vector msg_cache; -}; diff --git a/system/loggerd/encoder/ffmpeg_encoder.cc b/system/loggerd/encoder/ffmpeg_encoder.cc deleted file mode 100644 index 9d992f088ddcd7..00000000000000 --- a/system/loggerd/encoder/ffmpeg_encoder.cc +++ /dev/null @@ -1,150 +0,0 @@ -#pragma clang diagnostic ignored "-Wdeprecated-declarations" - -#include "system/loggerd/encoder/ffmpeg_encoder.h" - -#include -#include - -#include -#include -#include - -#define __STDC_CONSTANT_MACROS - -#include "third_party/libyuv/include/libyuv.h" - -extern "C" { -#include -#include -#include -} - -#include "common/swaglog.h" -#include "common/util.h" - -const int env_debug_encoder = (getenv("DEBUG_ENCODER") != NULL) ? atoi(getenv("DEBUG_ENCODER")) : 0; - -FfmpegEncoder::FfmpegEncoder(const EncoderInfo &encoder_info, int in_width, int in_height) - : VideoEncoder(encoder_info, in_width, in_height) { - frame = av_frame_alloc(); - assert(frame); - frame->format = AV_PIX_FMT_YUV420P; - frame->width = out_width; - frame->height = out_height; - frame->linesize[0] = out_width; - frame->linesize[1] = out_width/2; - frame->linesize[2] = out_width/2; - - convert_buf.resize(in_width * in_height * 3 / 2); - - if (in_width != out_width || in_height != out_height) { - downscale_buf.resize(out_width * out_height * 3 / 2); - } -} - -FfmpegEncoder::~FfmpegEncoder() { - encoder_close(); - av_frame_free(&frame); -} - -void FfmpegEncoder::encoder_open(const char* path) { - const AVCodec *codec = avcodec_find_encoder(AV_CODEC_ID_FFVHUFF); - - this->codec_ctx = avcodec_alloc_context3(codec); - assert(this->codec_ctx); - this->codec_ctx->width = frame->width; - this->codec_ctx->height = frame->height; - this->codec_ctx->pix_fmt = AV_PIX_FMT_YUV420P; - this->codec_ctx->time_base = (AVRational){ 1, encoder_info.fps }; - int err = avcodec_open2(this->codec_ctx, codec, NULL); - assert(err >= 0); - - is_open = true; - segment_num++; - counter = 0; -} - -void FfmpegEncoder::encoder_close() { - if (!is_open) return; - - avcodec_free_context(&codec_ctx); - is_open = false; -} - -int FfmpegEncoder::encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra) { - assert(buf->width == this->in_width); - assert(buf->height == this->in_height); - - uint8_t *cy = convert_buf.data(); - uint8_t *cu = cy + in_width * in_height; - uint8_t *cv = cu + (in_width / 2) * (in_height / 2); - libyuv::NV12ToI420(buf->y, buf->stride, - buf->uv, buf->stride, - cy, in_width, - cu, in_width/2, - cv, in_width/2, - in_width, in_height); - - if (downscale_buf.size() > 0) { - uint8_t *out_y = downscale_buf.data(); - uint8_t *out_u = out_y + frame->width * frame->height; - uint8_t *out_v = out_u + (frame->width / 2) * (frame->height / 2); - libyuv::I420Scale(cy, in_width, - cu, in_width/2, - cv, in_width/2, - in_width, in_height, - out_y, frame->width, - out_u, frame->width/2, - out_v, frame->width/2, - frame->width, frame->height, - libyuv::kFilterNone); - frame->data[0] = out_y; - frame->data[1] = out_u; - frame->data[2] = out_v; - } else { - frame->data[0] = cy; - frame->data[1] = cu; - frame->data[2] = cv; - } - frame->pts = counter*50*1000; // 50ms per frame - - int ret = counter; - - int err = avcodec_send_frame(this->codec_ctx, frame); - if (err < 0) { - LOGE("avcodec_send_frame error %d", err); - ret = -1; - } - - AVPacket pkt; - av_init_packet(&pkt); - pkt.data = NULL; - pkt.size = 0; - while (ret >= 0) { - err = avcodec_receive_packet(this->codec_ctx, &pkt); - if (err == AVERROR_EOF) { - break; - } else if (err == AVERROR(EAGAIN)) { - // Encoder might need a few frames on startup to get started. Keep going - ret = 0; - break; - } else if (err < 0) { - LOGE("avcodec_receive_packet error %d", err); - ret = -1; - break; - } - - if (env_debug_encoder) { - printf("%20s got %8d bytes flags %8x idx %4d id %8d\n", encoder_info.publish_name, pkt.size, pkt.flags, counter, extra->frame_id); - } - - publisher_publish(this, segment_num, counter, *extra, - (pkt.flags & AV_PKT_FLAG_KEY) ? V4L2_BUF_FLAG_KEYFRAME : 0, - kj::arrayPtr(pkt.data, (size_t)0), // TODO: get the header - kj::arrayPtr(pkt.data, pkt.size)); - - counter++; - } - av_packet_unref(&pkt); - return ret; -} diff --git a/system/loggerd/encoder/ffmpeg_encoder.h b/system/loggerd/encoder/ffmpeg_encoder.h deleted file mode 100644 index 9e45a3d82db5ea..00000000000000 --- a/system/loggerd/encoder/ffmpeg_encoder.h +++ /dev/null @@ -1,34 +0,0 @@ -#pragma once - -#include -#include -#include -#include - -extern "C" { -#include -#include -#include -} - -#include "system/loggerd/encoder/encoder.h" -#include "system/loggerd/loggerd.h" - -class FfmpegEncoder : public VideoEncoder { -public: - FfmpegEncoder(const EncoderInfo &encoder_info, int in_width, int in_height); - ~FfmpegEncoder(); - int encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra); - void encoder_open(const char* path); - void encoder_close(); - -private: - int segment_num = -1; - int counter = 0; - bool is_open = false; - - AVCodecContext *codec_ctx; - AVFrame *frame = NULL; - std::vector convert_buf; - std::vector downscale_buf; -}; diff --git a/system/loggerd/encoder/v4l_encoder.cc b/system/loggerd/encoder/v4l_encoder.cc deleted file mode 100644 index 853a17abbecf4e..00000000000000 --- a/system/loggerd/encoder/v4l_encoder.cc +++ /dev/null @@ -1,331 +0,0 @@ -#include -#include -#include -#include - -#include "system/loggerd/encoder/v4l_encoder.h" -#include "common/util.h" -#include "common/timing.h" - -#include "third_party/libyuv/include/libyuv.h" -#include "third_party/linux/include/msm_media_info.h" - -// has to be in this order -#include "third_party/linux/include/v4l2-controls.h" -#include -#define V4L2_QCOM_BUF_FLAG_CODECCONFIG 0x00020000 -#define V4L2_QCOM_BUF_FLAG_EOS 0x02000000 - -/* - kernel debugging: - echo 0xff > /sys/module/videobuf2_core/parameters/debug - echo 0x7fffffff > /sys/kernel/debug/msm_vidc/debug_level - echo 0xff > /sys/devices/platform/soc/aa00000.qcom,vidc/video4linux/video33/dev_debug -*/ -const int env_debug_encoder = (getenv("DEBUG_ENCODER") != NULL) ? atoi(getenv("DEBUG_ENCODER")) : 0; - -static void checked_ioctl(int fd, unsigned long request, void *argp) { - int ret = util::safe_ioctl(fd, request, argp); - if (ret != 0) { - LOGE("checked_ioctl failed with error %d (%d %lx %p)", errno, fd, request, argp); - assert(0); - } -} - -static void dequeue_buffer(int fd, v4l2_buf_type buf_type, unsigned int *index=NULL, unsigned int *bytesused=NULL, unsigned int *flags=NULL, struct timeval *timestamp=NULL) { - v4l2_plane plane = {0}; - v4l2_buffer v4l_buf = { - .type = buf_type, - .memory = V4L2_MEMORY_USERPTR, - .m = { .planes = &plane, }, - .length = 1, - }; - checked_ioctl(fd, VIDIOC_DQBUF, &v4l_buf); - - if (index) *index = v4l_buf.index; - if (bytesused) *bytesused = v4l_buf.m.planes[0].bytesused; - if (flags) *flags = v4l_buf.flags; - if (timestamp) *timestamp = v4l_buf.timestamp; - assert(v4l_buf.m.planes[0].data_offset == 0); -} - -static void queue_buffer(int fd, v4l2_buf_type buf_type, unsigned int index, VisionBuf *buf, struct timeval timestamp={}) { - v4l2_plane plane = { - .length = (unsigned int)buf->len, - .m = { .userptr = (unsigned long)buf->addr, }, - .bytesused = (uint32_t)buf->len, - .reserved = {(unsigned int)buf->fd} - }; - - v4l2_buffer v4l_buf = { - .type = buf_type, - .index = index, - .memory = V4L2_MEMORY_USERPTR, - .m = { .planes = &plane, }, - .length = 1, - .flags = V4L2_BUF_FLAG_TIMESTAMP_COPY, - .timestamp = timestamp - }; - - checked_ioctl(fd, VIDIOC_QBUF, &v4l_buf); -} - -static void request_buffers(int fd, v4l2_buf_type buf_type, unsigned int count) { - struct v4l2_requestbuffers reqbuf = { - .type = buf_type, - .memory = V4L2_MEMORY_USERPTR, - .count = count - }; - checked_ioctl(fd, VIDIOC_REQBUFS, &reqbuf); -} - -void V4LEncoder::dequeue_handler(V4LEncoder *e) { - std::string dequeue_thread_name = "dq-"+std::string(e->encoder_info.publish_name); - util::set_thread_name(dequeue_thread_name.c_str()); - - e->segment_num++; - uint32_t idx = -1; - bool exit = false; - - // POLLIN is capture, POLLOUT is frame - struct pollfd pfd; - pfd.events = POLLIN | POLLOUT; - pfd.fd = e->fd; - - // save the header - kj::Array header; - - while (!exit) { - int rc = poll(&pfd, 1, 1000); - if (rc < 0) { - if (errno != EINTR) { - // TODO: exit encoder? - // ignore the error and keep going - LOGE("poll failed (%d - %d)", rc, errno); - } - continue; - } else if (rc == 0) { - LOGE("encoder dequeue poll timeout"); - continue; - } - - if (env_debug_encoder >= 2) { - printf("%20s poll %x at %.2f ms\n", e->encoder_info.publish_name, pfd.revents, millis_since_boot()); - } - - int frame_id = -1; - if (pfd.revents & POLLIN) { - unsigned int bytesused, flags, index; - struct timeval timestamp; - dequeue_buffer(e->fd, V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE, &index, &bytesused, &flags, ×tamp); - e->buf_out[index].sync(VISIONBUF_SYNC_FROM_DEVICE); - uint8_t *buf = (uint8_t*)e->buf_out[index].addr; - int64_t ts = timestamp.tv_sec * 1000000 + timestamp.tv_usec; - - // eof packet, we exit - if (flags & V4L2_QCOM_BUF_FLAG_EOS) { - exit = true; - } else if (flags & V4L2_QCOM_BUF_FLAG_CODECCONFIG) { - // save header - header = kj::heapArray(buf, bytesused); - } else { - VisionIpcBufExtra extra = e->extras.pop(); - assert(extra.timestamp_eof/1000 == ts); // stay in sync - frame_id = extra.frame_id; - ++idx; - e->publisher_publish(e, e->segment_num, idx, extra, flags, header, kj::arrayPtr(buf, bytesused)); - } - - if (env_debug_encoder) { - printf("%20s got(%d) %6d bytes flags %8x idx %3d/%4d id %8d ts %ld lat %.2f ms (%lu frames free)\n", - e->encoder_info.publish_name, index, bytesused, flags, e->segment_num, idx, frame_id, ts, millis_since_boot()-(ts/1000.), e->free_buf_in.size()); - } - - // requeue the buffer - queue_buffer(e->fd, V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE, index, &e->buf_out[index]); - } - - if (pfd.revents & POLLOUT) { - unsigned int index; - dequeue_buffer(e->fd, V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE, &index); - e->free_buf_in.push(index); - } - } -} - -V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_height) - : VideoEncoder(encoder_info, in_width, in_height) { - fd = open("/dev/v4l/by-path/platform-aa00000.qcom_vidc-video-index1", O_RDWR|O_NONBLOCK); - assert(fd >= 0); - - struct v4l2_capability cap; - checked_ioctl(fd, VIDIOC_QUERYCAP, &cap); - LOGD("opened encoder device %s %s = %d", cap.driver, cap.card, fd); - assert(strcmp((const char *)cap.driver, "msm_vidc_driver") == 0); - assert(strcmp((const char *)cap.card, "msm_vidc_venc") == 0); - - struct v4l2_format fmt_out = { - .type = V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE, - .fmt = { - .pix_mp = { - // downscales are free with v4l - .width = (unsigned int)(out_width), - .height = (unsigned int)(out_height), - .pixelformat = (encoder_info.encode_type == cereal::EncodeIndex::Type::FULL_H_E_V_C) ? V4L2_PIX_FMT_HEVC : V4L2_PIX_FMT_H264, - .field = V4L2_FIELD_ANY, - .colorspace = V4L2_COLORSPACE_DEFAULT, - } - } - }; - checked_ioctl(fd, VIDIOC_S_FMT, &fmt_out); - - v4l2_streamparm streamparm = { - .type = V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE, - .parm = { - .output = { - // TODO: more stuff here? we don't know - .timeperframe = { - .numerator = 1, - .denominator = 20 - } - } - } - }; - checked_ioctl(fd, VIDIOC_S_PARM, &streamparm); - - struct v4l2_format fmt_in = { - .type = V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE, - .fmt = { - .pix_mp = { - .width = (unsigned int)in_width, - .height = (unsigned int)in_height, - .pixelformat = V4L2_PIX_FMT_NV12, - .field = V4L2_FIELD_ANY, - .colorspace = V4L2_COLORSPACE_470_SYSTEM_BG, - } - } - }; - checked_ioctl(fd, VIDIOC_S_FMT, &fmt_in); - - LOGD("in buffer size %d, out buffer size %d", - fmt_in.fmt.pix_mp.plane_fmt[0].sizeimage, - fmt_out.fmt.pix_mp.plane_fmt[0].sizeimage); - - // shared ctrls - { - struct v4l2_control ctrls[] = { - { .id = V4L2_CID_MPEG_VIDEO_HEADER_MODE, .value = V4L2_MPEG_VIDEO_HEADER_MODE_SEPARATE}, - { .id = V4L2_CID_MPEG_VIDEO_BITRATE, .value = encoder_info.bitrate}, - { .id = V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL, .value = V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL_VBR_CFR}, - { .id = V4L2_CID_MPEG_VIDC_VIDEO_PRIORITY, .value = V4L2_MPEG_VIDC_VIDEO_PRIORITY_REALTIME_DISABLE}, - { .id = V4L2_CID_MPEG_VIDC_VIDEO_IDR_PERIOD, .value = 1}, - }; - for (auto ctrl : ctrls) { - checked_ioctl(fd, VIDIOC_S_CTRL, &ctrl); - } - } - - if (encoder_info.encode_type == cereal::EncodeIndex::Type::FULL_H_E_V_C) { - struct v4l2_control ctrls[] = { - { .id = V4L2_CID_MPEG_VIDC_VIDEO_HEVC_PROFILE, .value = V4L2_MPEG_VIDC_VIDEO_HEVC_PROFILE_MAIN}, - { .id = V4L2_CID_MPEG_VIDC_VIDEO_HEVC_TIER_LEVEL, .value = V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_HIGH_TIER_LEVEL_5}, - { .id = V4L2_CID_MPEG_VIDC_VIDEO_VUI_TIMING_INFO, .value = V4L2_MPEG_VIDC_VIDEO_VUI_TIMING_INFO_ENABLED}, - { .id = V4L2_CID_MPEG_VIDC_VIDEO_NUM_P_FRAMES, .value = 29}, - { .id = V4L2_CID_MPEG_VIDC_VIDEO_NUM_B_FRAMES, .value = 0}, - }; - for (auto ctrl : ctrls) { - checked_ioctl(fd, VIDIOC_S_CTRL, &ctrl); - } - } else { - struct v4l2_control ctrls[] = { - { .id = V4L2_CID_MPEG_VIDEO_H264_PROFILE, .value = V4L2_MPEG_VIDEO_H264_PROFILE_HIGH}, - { .id = V4L2_CID_MPEG_VIDEO_H264_LEVEL, .value = V4L2_MPEG_VIDEO_H264_LEVEL_UNKNOWN}, - { .id = V4L2_CID_MPEG_VIDC_VIDEO_NUM_P_FRAMES, .value = 14}, - { .id = V4L2_CID_MPEG_VIDC_VIDEO_NUM_B_FRAMES, .value = 0}, - { .id = V4L2_CID_MPEG_VIDEO_H264_ENTROPY_MODE, .value = V4L2_MPEG_VIDEO_H264_ENTROPY_MODE_CABAC}, - { .id = V4L2_CID_MPEG_VIDC_VIDEO_H264_CABAC_MODEL, .value = V4L2_CID_MPEG_VIDC_VIDEO_H264_CABAC_MODEL_0}, - { .id = V4L2_CID_MPEG_VIDEO_H264_LOOP_FILTER_MODE, .value = 0}, - { .id = V4L2_CID_MPEG_VIDEO_H264_LOOP_FILTER_ALPHA, .value = 0}, - { .id = V4L2_CID_MPEG_VIDEO_H264_LOOP_FILTER_BETA, .value = 0}, - { .id = V4L2_CID_MPEG_VIDEO_MULTI_SLICE_MODE, .value = 0}, - }; - for (auto ctrl : ctrls) { - checked_ioctl(fd, VIDIOC_S_CTRL, &ctrl); - } - } - - // allocate buffers - request_buffers(fd, V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE, BUF_OUT_COUNT); - request_buffers(fd, V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE, BUF_IN_COUNT); - - // start encoder - v4l2_buf_type buf_type = V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE; - checked_ioctl(fd, VIDIOC_STREAMON, &buf_type); - buf_type = V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE; - checked_ioctl(fd, VIDIOC_STREAMON, &buf_type); - - // queue up output buffers - for (unsigned int i = 0; i < BUF_OUT_COUNT; i++) { - buf_out[i].allocate(fmt_out.fmt.pix_mp.plane_fmt[0].sizeimage); - queue_buffer(fd, V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE, i, &buf_out[i]); - } - // queue up input buffers - for (unsigned int i = 0; i < BUF_IN_COUNT; i++) { - free_buf_in.push(i); - } -} - -void V4LEncoder::encoder_open(const char* path) { - dequeue_handler_thread = std::thread(V4LEncoder::dequeue_handler, this); - this->is_open = true; - this->counter = 0; -} - -int V4LEncoder::encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra) { - struct timeval timestamp { - .tv_sec = (long)(extra->timestamp_eof/1000000000), - .tv_usec = (long)((extra->timestamp_eof/1000) % 1000000), - }; - - // reserve buffer - int buffer_in = free_buf_in.pop(); - - // push buffer - extras.push(*extra); - //buf->sync(VISIONBUF_SYNC_TO_DEVICE); - queue_buffer(fd, V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE, buffer_in, buf, timestamp); - - return this->counter++; -} - -void V4LEncoder::encoder_close() { - if (this->is_open) { - // pop all the frames before closing, then put the buffers back - for (int i = 0; i < BUF_IN_COUNT; i++) free_buf_in.pop(); - for (int i = 0; i < BUF_IN_COUNT; i++) free_buf_in.push(i); - // no frames, stop the encoder - struct v4l2_encoder_cmd encoder_cmd = { .cmd = V4L2_ENC_CMD_STOP }; - checked_ioctl(fd, VIDIOC_ENCODER_CMD, &encoder_cmd); - // join waits for V4L2_QCOM_BUF_FLAG_EOS - dequeue_handler_thread.join(); - assert(extras.empty()); - } - this->is_open = false; -} - -V4LEncoder::~V4LEncoder() { - encoder_close(); - v4l2_buf_type buf_type = V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE; - checked_ioctl(fd, VIDIOC_STREAMOFF, &buf_type); - request_buffers(fd, V4L2_BUF_TYPE_VIDEO_OUTPUT_MPLANE, 0); - buf_type = V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE; - checked_ioctl(fd, VIDIOC_STREAMOFF, &buf_type); - request_buffers(fd, V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE, 0); - close(fd); - - for (int i = 0; i < BUF_OUT_COUNT; i++) { - if (buf_out[i].free() != 0) { - LOGE("Failed to free buffer"); - } - } -} diff --git a/system/loggerd/encoder/v4l_encoder.h b/system/loggerd/encoder/v4l_encoder.h deleted file mode 100644 index 9336bf3d8b81bc..00000000000000 --- a/system/loggerd/encoder/v4l_encoder.h +++ /dev/null @@ -1,30 +0,0 @@ -#pragma once - -#include "common/queue.h" -#include "system/loggerd/encoder/encoder.h" - -#define BUF_IN_COUNT 7 -#define BUF_OUT_COUNT 6 - -class V4LEncoder : public VideoEncoder { -public: - V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_height); - ~V4LEncoder(); - int encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra); - void encoder_open(const char* path); - void encoder_close(); -private: - int fd; - - bool is_open = false; - int segment_num = -1; - int counter = 0; - - SafeQueue extras; - - static void dequeue_handler(V4LEncoder *e); - std::thread dequeue_handler_thread; - - VisionBuf buf_out[BUF_OUT_COUNT]; - SafeQueue free_buf_in; -}; diff --git a/system/loggerd/encoderd b/system/loggerd/encoderd new file mode 100755 index 00000000000000..18a64291d634a3 Binary files /dev/null and b/system/loggerd/encoderd differ diff --git a/system/loggerd/encoderd.cc b/system/loggerd/encoderd.cc deleted file mode 100644 index 1b45df68278fb2..00000000000000 --- a/system/loggerd/encoderd.cc +++ /dev/null @@ -1,161 +0,0 @@ -#include - -#include "system/loggerd/loggerd.h" - -#ifdef QCOM2 -#include "system/loggerd/encoder/v4l_encoder.h" -#define Encoder V4LEncoder -#else -#include "system/loggerd/encoder/ffmpeg_encoder.h" -#define Encoder FfmpegEncoder -#endif - -ExitHandler do_exit; - -struct EncoderdState { - int max_waiting = 0; - - // Sync logic for startup - std::atomic encoders_ready = 0; - std::atomic start_frame_id = 0; - bool camera_ready[WideRoadCam + 1] = {}; - bool camera_synced[WideRoadCam + 1] = {}; -}; - -// Handle initial encoder syncing by waiting for all encoders to reach the same frame id -bool sync_encoders(EncoderdState *s, CameraType cam_type, uint32_t frame_id) { - if (s->camera_synced[cam_type]) return true; - - if (s->max_waiting > 1 && s->encoders_ready != s->max_waiting) { - // add a small margin to the start frame id in case one of the encoders already dropped the next frame - update_max_atomic(s->start_frame_id, frame_id + 2); - if (std::exchange(s->camera_ready[cam_type], true) == false) { - ++s->encoders_ready; - LOGD("camera %d encoder ready", cam_type); - } - return false; - } else { - if (s->max_waiting == 1) update_max_atomic(s->start_frame_id, frame_id); - bool synced = frame_id >= s->start_frame_id; - s->camera_synced[cam_type] = synced; - if (!synced) LOGD("camera %d waiting for frame %d, cur %d", cam_type, (int)s->start_frame_id, frame_id); - return synced; - } -} - - -void encoder_thread(EncoderdState *s, const LogCameraInfo &cam_info) { - util::set_thread_name(cam_info.thread_name); - - std::vector> encoders; - VisionIpcClient vipc_client = VisionIpcClient("camerad", cam_info.stream_type, false); - - int cur_seg = 0; - while (!do_exit) { - if (!vipc_client.connect(false)) { - util::sleep_for(5); - continue; - } - - // init encoders - if (encoders.empty()) { - VisionBuf buf_info = vipc_client.buffers[0]; - LOGW("encoder %s init %zux%zu", cam_info.thread_name, buf_info.width, buf_info.height); - assert(buf_info.width > 0 && buf_info.height > 0); - - for (const auto &encoder_info : cam_info.encoder_infos) { - auto &e = encoders.emplace_back(new Encoder(encoder_info, buf_info.width, buf_info.height)); - e->encoder_open(nullptr); - } - } - - bool lagging = false; - while (!do_exit) { - VisionIpcBufExtra extra; - VisionBuf* buf = vipc_client.recv(&extra); - if (buf == nullptr) continue; - - // detect loop around and drop the frames - if (buf->get_frame_id() != extra.frame_id) { - if (!lagging) { - LOGE("encoder %s lag buffer id: %" PRIu64 " extra id: %d", cam_info.thread_name, buf->get_frame_id(), extra.frame_id); - lagging = true; - } - continue; - } - lagging = false; - - if (!sync_encoders(s, cam_info.type, extra.frame_id)) { - continue; - } - if (do_exit) break; - - // do rotation if required - const int frames_per_seg = SEGMENT_LENGTH * MAIN_FPS; - if (cur_seg >= 0 && extra.frame_id >= ((cur_seg + 1) * frames_per_seg) + s->start_frame_id) { - for (auto &e : encoders) { - e->encoder_close(); - e->encoder_open(NULL); - } - ++cur_seg; - } - - // encode a frame - for (int i = 0; i < encoders.size(); ++i) { - int out_id = encoders[i]->encode_frame(buf, &extra); - - if (out_id == -1) { - LOGE("Failed to encode frame. frame_id: %d", extra.frame_id); - } - } - } - } -} - -template -void encoderd_thread(const LogCameraInfo (&cameras)[N]) { - EncoderdState s; - - std::set streams; - while (!do_exit) { - streams = VisionIpcClient::getAvailableStreams("camerad", false); - if (!streams.empty()) { - break; - } - util::sleep_for(100); - } - - if (!streams.empty()) { - std::vector encoder_threads; - for (auto stream : streams) { - auto it = std::find_if(std::begin(cameras), std::end(cameras), - [stream](auto &cam) { return cam.stream_type == stream; }); - assert(it != std::end(cameras)); - ++s.max_waiting; - encoder_threads.push_back(std::thread(encoder_thread, &s, *it)); - } - - for (auto &t : encoder_threads) t.join(); - } -} - -int main(int argc, char* argv[]) { - if (!Hardware::PC()) { - int ret; - ret = util::set_realtime_priority(52); - assert(ret == 0); - ret = util::set_core_affinity({3}); - assert(ret == 0); - } - if (argc > 1) { - std::string arg1(argv[1]); - if (arg1 == "--stream") { - encoderd_thread(stream_cameras_logged); - } else { - LOGE("Argument '%s' is not supported", arg1.c_str()); - } - } else { - encoderd_thread(cameras_logged); - } - return 0; -} diff --git a/system/loggerd/logger.cc b/system/loggerd/logger.cc deleted file mode 100644 index 8234cd84ade9d4..00000000000000 --- a/system/loggerd/logger.cc +++ /dev/null @@ -1,163 +0,0 @@ -#include "system/loggerd/logger.h" - -#include -#include -#include -#include -#include -#include - -#include "common/params.h" -#include "common/swaglog.h" -#include "common/version.h" - -// ***** log metadata ***** -kj::Array logger_build_init_data() { - uint64_t wall_time = nanos_since_epoch(); - - MessageBuilder msg; - auto init = msg.initEvent().initInitData(); - - init.setWallTimeNanos(wall_time); - init.setVersion(COMMA_VERSION); - init.setDirty(!getenv("CLEAN")); - init.setDeviceType(Hardware::get_device_type()); - - // log kernel args - std::ifstream cmdline_stream("/proc/cmdline"); - std::vector kernel_args; - std::string buf; - while (cmdline_stream >> buf) { - kernel_args.push_back(buf); - } - - auto lkernel_args = init.initKernelArgs(kernel_args.size()); - for (int i=0; i params_map = params.readAll(); - - init.setGitCommit(params_map["GitCommit"]); - init.setGitCommitDate(params_map["GitCommitDate"]); - init.setGitBranch(params_map["GitBranch"]); - init.setGitRemote(params_map["GitRemote"]); - init.setPassive(false); - init.setDongleId(params_map["DongleId"]); - - auto lparams = init.initParams().initEntries(params_map.size()); - int j = 0; - for (auto& [key, value] : params_map) { - auto lentry = lparams[j]; - lentry.setKey(key); - if ( !(params.getKeyType(key) & DONT_LOG) ) { - lentry.setValue(capnp::Data::Reader((const kj::byte*)value.data(), value.size())); - } - j++; - } - - // log commands - std::vector log_commands = { - "df -h", // usage for all filesystems - }; - - auto hw_logs = Hardware::get_init_logs(); - - auto commands = init.initCommands().initEntries(log_commands.size() + hw_logs.size()); - for (int i = 0; i < log_commands.size(); i++) { - auto lentry = commands[i]; - - lentry.setKey(log_commands[i]); - - const std::string result = util::check_output(log_commands[i]); - lentry.setValue(capnp::Data::Reader((const kj::byte*)result.data(), result.size())); - } - - int i = log_commands.size(); - for (auto &[key, value] : hw_logs) { - auto lentry = commands[i]; - lentry.setKey(key); - lentry.setValue(capnp::Data::Reader((const kj::byte*)value.data(), value.size())); - i++; - } - - return capnp::messageToFlatArray(msg); -} - -std::string logger_get_identifier(std::string key) { - // a log identifier is a 32 bit counter, plus a 10 character unique ID. - // e.g. 000001a3--c20ba54385 - - Params params; - uint32_t cnt; - try { - cnt = std::stoul(params.get(key)); - } catch (std::exception &e) { - cnt = 0; - } - params.put(key, std::to_string(cnt + 1)); - - std::stringstream ss; - std::random_device rd; - std::mt19937 mt(rd()); - std::uniform_int_distribution dist(0, 15); - for (int i = 0; i < 10; ++i) { - ss << std::hex << dist(mt); - } - - return util::string_format("%08x--%s", cnt, ss.str().c_str()); -} - -static void log_sentinel(LoggerState *log, SentinelType type, int exit_signal = 0) { - MessageBuilder msg; - auto sen = msg.initEvent().initSentinel(); - sen.setType(type); - sen.setSignal(exit_signal); - log->write(msg.toBytes(), true); -} - -LoggerState::LoggerState(const std::string &log_root) { - route_name = logger_get_identifier("RouteCount"); - route_path = log_root + "/" + route_name; - init_data = logger_build_init_data(); -} - -LoggerState::~LoggerState() { - if (rlog) { - log_sentinel(this, SentinelType::END_OF_ROUTE, exit_signal); - std::remove(lock_file.c_str()); - } -} - -bool LoggerState::next() { - if (rlog) { - log_sentinel(this, SentinelType::END_OF_SEGMENT); - std::remove(lock_file.c_str()); - } - - segment_path = route_path + "--" + std::to_string(++part); - bool ret = util::create_directories(segment_path, 0775); - assert(ret == true); - - const std::string rlog_path = segment_path + "/rlog"; - lock_file = rlog_path + ".lock"; - std::ofstream{lock_file}; - - rlog.reset(new RawFile(rlog_path)); - qlog.reset(new RawFile(segment_path + "/qlog")); - - // log init data & sentinel type. - write(init_data.asBytes(), true); - log_sentinel(this, part > 0 ? SentinelType::START_OF_SEGMENT : SentinelType::START_OF_ROUTE); - return true; -} - -void LoggerState::write(uint8_t* data, size_t size, bool in_qlog) { - rlog->write(data, size); - if (in_qlog) qlog->write(data, size); -} diff --git a/system/loggerd/logger.h b/system/loggerd/logger.h deleted file mode 100644 index 7a8490d57a1300..00000000000000 --- a/system/loggerd/logger.h +++ /dev/null @@ -1,55 +0,0 @@ -#pragma once - -#include -#include -#include - -#include "cereal/messaging/messaging.h" -#include "common/util.h" -#include "system/hardware/hw.h" - -class RawFile { - public: - RawFile(const std::string &path) { - file = util::safe_fopen(path.c_str(), "wb"); - assert(file != nullptr); - } - ~RawFile() { - util::safe_fflush(file); - int err = fclose(file); - assert(err == 0); - } - inline void write(void* data, size_t size) { - int written = util::safe_fwrite(data, 1, size, file); - assert(written == size); - } - inline void write(kj::ArrayPtr array) { write(array.begin(), array.size()); } - - private: - FILE* file = nullptr; -}; - -typedef cereal::Sentinel::SentinelType SentinelType; - - -class LoggerState { -public: - LoggerState(const std::string& log_root = Path::log_root()); - ~LoggerState(); - bool next(); - void write(uint8_t* data, size_t size, bool in_qlog); - inline int segment() const { return part; } - inline const std::string& segmentPath() const { return segment_path; } - inline const std::string& routeName() const { return route_name; } - inline void write(kj::ArrayPtr bytes, bool in_qlog) { write(bytes.begin(), bytes.size(), in_qlog); } - inline void setExitSignal(int signal) { exit_signal = signal; } - -protected: - int part = -1, exit_signal = 0; - std::string route_path, route_name, segment_path, lock_file; - kj::Array init_data; - std::unique_ptr rlog, qlog; -}; - -kj::Array logger_build_init_data(); -std::string logger_get_identifier(std::string key); diff --git a/system/loggerd/loggerd b/system/loggerd/loggerd new file mode 100755 index 00000000000000..6f83d800fb6557 Binary files /dev/null and b/system/loggerd/loggerd differ diff --git a/system/loggerd/loggerd.cc b/system/loggerd/loggerd.cc deleted file mode 100644 index a324479fb5de8f..00000000000000 --- a/system/loggerd/loggerd.cc +++ /dev/null @@ -1,313 +0,0 @@ -#include - -#include -#include -#include -#include -#include - -#include "common/params.h" -#include "system/loggerd/encoder/encoder.h" -#include "system/loggerd/loggerd.h" -#include "system/loggerd/video_writer.h" - -ExitHandler do_exit; - -struct LoggerdState { - LoggerState logger; - std::atomic last_camera_seen_tms; - std::atomic ready_to_rotate; // count of encoders ready to rotate - int max_waiting = 0; - double last_rotate_tms = 0.; // last rotate time in ms -}; - -void logger_rotate(LoggerdState *s) { - bool ret =s->logger.next(); - assert(ret); - s->ready_to_rotate = 0; - s->last_rotate_tms = millis_since_boot(); - LOGW((s->logger.segment() == 0) ? "logging to %s" : "rotated to %s", s->logger.segmentPath().c_str()); -} - -void rotate_if_needed(LoggerdState *s) { - // all encoders ready, trigger rotation - bool all_ready = s->ready_to_rotate == s->max_waiting; - - // fallback logic to prevent extremely long segments in the case of camera, encoder, etc. malfunctions - bool timed_out = false; - double tms = millis_since_boot(); - double seg_length_secs = (tms - s->last_rotate_tms) / 1000.; - if ((seg_length_secs > SEGMENT_LENGTH) && !LOGGERD_TEST) { - // TODO: might be nice to put these reasons in the sentinel - if ((tms - s->last_camera_seen_tms) > NO_CAMERA_PATIENCE) { - timed_out = true; - LOGE("no camera packets seen. auto rotating"); - } else if (seg_length_secs > SEGMENT_LENGTH*1.2) { - timed_out = true; - LOGE("segment too long. auto rotating"); - } - } - - if (all_ready || timed_out) { - logger_rotate(s); - } -} - -struct RemoteEncoder { - std::unique_ptr writer; - int encoderd_segment_offset; - int current_segment = -1; - std::vector q; - int dropped_frames = 0; - bool recording = false; - bool marked_ready_to_rotate = false; - bool seen_first_packet = false; -}; - -int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct RemoteEncoder &re, const EncoderInfo &encoder_info) { - int bytes_count = 0; - - // extract the message - capnp::FlatArrayMessageReader cmsg(kj::ArrayPtr((capnp::word *)msg->getData(), msg->getSize() / sizeof(capnp::word))); - auto event = cmsg.getRoot(); - auto edata = (event.*(encoder_info.get_encode_data_func))(); - auto idx = edata.getIdx(); - auto flags = idx.getFlags(); - - // encoderd can have started long before loggerd - if (!re.seen_first_packet) { - re.seen_first_packet = true; - re.encoderd_segment_offset = idx.getSegmentNum(); - LOGD("%s: has encoderd offset %d", name.c_str(), re.encoderd_segment_offset); - } - int offset_segment_num = idx.getSegmentNum() - re.encoderd_segment_offset; - - if (offset_segment_num == s->logger.segment()) { - // loggerd is now on the segment that matches this packet - - // if this is a new segment, we close any possible old segments, move to the new, and process any queued packets - if (re.current_segment != s->logger.segment()) { - if (re.recording) { - re.writer.reset(); - re.recording = false; - } - re.current_segment = s->logger.segment(); - re.marked_ready_to_rotate = false; - // we are in this segment now, process any queued messages before this one - if (!re.q.empty()) { - for (auto &qmsg : re.q) { - bytes_count += handle_encoder_msg(s, qmsg, name, re, encoder_info); - } - re.q.clear(); - } - } - - // if we aren't recording yet, try to start, since we are in the correct segment - if (!re.recording) { - if (flags & V4L2_BUF_FLAG_KEYFRAME) { - // only create on iframe - if (re.dropped_frames) { - // this should only happen for the first segment, maybe - LOGW("%s: dropped %d non iframe packets before init", name.c_str(), re.dropped_frames); - re.dropped_frames = 0; - } - // if we aren't actually recording, don't create the writer - if (encoder_info.record) { - assert(encoder_info.filename != NULL); - re.writer.reset(new VideoWriter(s->logger.segmentPath().c_str(), - encoder_info.filename, idx.getType() != cereal::EncodeIndex::Type::FULL_H_E_V_C, - edata.getWidth(), edata.getHeight(), encoder_info.fps, idx.getType())); - // write the header - auto header = edata.getHeader(); - re.writer->write((uint8_t *)header.begin(), header.size(), idx.getTimestampEof()/1000, true, false); - } - re.recording = true; - } else { - // this is a sad case when we aren't recording, but don't have an iframe - // nothing we can do but drop the frame - delete msg; - ++re.dropped_frames; - return bytes_count; - } - } - - // we have to be recording if we are here - assert(re.recording); - - // if we are actually writing the video file, do so - if (re.writer) { - auto data = edata.getData(); - re.writer->write((uint8_t *)data.begin(), data.size(), idx.getTimestampEof()/1000, false, flags & V4L2_BUF_FLAG_KEYFRAME); - } - - // put it in log stream as the idx packet - MessageBuilder bmsg; - auto evt = bmsg.initEvent(event.getValid()); - evt.setLogMonoTime(event.getLogMonoTime()); - (evt.*(encoder_info.set_encode_idx_func))(idx); - auto new_msg = bmsg.toBytes(); - s->logger.write((uint8_t *)new_msg.begin(), new_msg.size(), true); // always in qlog? - bytes_count += new_msg.size(); - - // free the message, we used it - delete msg; - } else if (offset_segment_num > s->logger.segment()) { - // encoderd packet has a newer segment, this means encoderd has rolled over - if (!re.marked_ready_to_rotate) { - re.marked_ready_to_rotate = true; - ++s->ready_to_rotate; - LOGD("rotate %d -> %d ready %d/%d for %s", - s->logger.segment(), offset_segment_num, - s->ready_to_rotate.load(), s->max_waiting, name.c_str()); - } - // queue up all the new segment messages, they go in after the rotate - re.q.push_back(msg); - } else { - LOGE("%s: encoderd packet has a older segment!!! idx.getSegmentNum():%d s->logger.segment():%d re.encoderd_segment_offset:%d", - name.c_str(), idx.getSegmentNum(), s->logger.segment(), re.encoderd_segment_offset); - // free the message, it's useless. this should never happen - // actually, this can happen if you restart encoderd - re.encoderd_segment_offset = -s->logger.segment(); - delete msg; - } - - return bytes_count; -} - -void handle_user_flag(LoggerdState *s) { - static int prev_segment = -1; - if (s->logger.segment() == prev_segment) return; - - LOGW("preserving %s", s->logger.segmentPath().c_str()); - -#ifdef __APPLE__ - int ret = setxattr(s->logger.segmentPath().c_str(), PRESERVE_ATTR_NAME, &PRESERVE_ATTR_VALUE, 1, 0, 0); -#else - int ret = setxattr(s->logger.segmentPath().c_str(), PRESERVE_ATTR_NAME, &PRESERVE_ATTR_VALUE, 1, 0); -#endif - if (ret) { - LOGE("setxattr %s failed for %s: %s", PRESERVE_ATTR_NAME, s->logger.segmentPath().c_str(), strerror(errno)); - } - - // mark route for uploading - Params params; - std::string routes = Params().get("AthenadRecentlyViewedRoutes"); - params.put("AthenadRecentlyViewedRoutes", routes + "," + s->logger.routeName()); - - prev_segment = s->logger.segment(); -} - -void loggerd_thread() { - // setup messaging - typedef struct ServiceState { - std::string name; - int counter, freq; - bool encoder, user_flag; - } ServiceState; - std::unordered_map service_state; - std::unordered_map remote_encoders; - - std::unique_ptr ctx(Context::create()); - std::unique_ptr poller(Poller::create()); - - // subscribe to all socks - for (const auto& [_, it] : services) { - const bool encoder = util::ends_with(it.name, "EncodeData"); - const bool livestream_encoder = util::starts_with(it.name, "livestream"); - if (!it.should_log && (!encoder || livestream_encoder)) continue; - LOGD("logging %s", it.name.c_str()); - - SubSocket * sock = SubSocket::create(ctx.get(), it.name); - assert(sock != NULL); - poller->registerSocket(sock); - service_state[sock] = { - .name = it.name, - .counter = 0, - .freq = it.decimation, - .encoder = encoder, - .user_flag = it.name == "userFlag", - }; - } - - LoggerdState s; - // init logger - logger_rotate(&s); - Params().put("CurrentRoute", s.logger.routeName()); - - std::map encoder_infos_dict; - for (const auto &cam : cameras_logged) { - for (const auto &encoder_info : cam.encoder_infos) { - encoder_infos_dict[encoder_info.publish_name] = encoder_info; - s.max_waiting++; - } - } - - uint64_t msg_count = 0, bytes_count = 0; - double start_ts = millis_since_boot(); - while (!do_exit) { - // poll for new messages on all sockets - for (auto sock : poller->poll(1000)) { - if (do_exit) break; - - ServiceState &service = service_state[sock]; - if (service.user_flag) { - handle_user_flag(&s); - } - - // drain socket - int count = 0; - Message *msg = nullptr; - while (!do_exit && (msg = sock->receive(true))) { - const bool in_qlog = service.freq != -1 && (service.counter++ % service.freq == 0); - if (service.encoder) { - s.last_camera_seen_tms = millis_since_boot(); - bytes_count += handle_encoder_msg(&s, msg, service.name, remote_encoders[sock], encoder_infos_dict[service.name]); - } else { - s.logger.write((uint8_t *)msg->getData(), msg->getSize(), in_qlog); - bytes_count += msg->getSize(); - delete msg; - } - - rotate_if_needed(&s); - - if ((++msg_count % 1000) == 0) { - double seconds = (millis_since_boot() - start_ts) / 1000.0; - LOGD("%" PRIu64 " messages, %.2f msg/sec, %.2f KB/sec", msg_count, msg_count / seconds, bytes_count * 0.001 / seconds); - } - - count++; - if (count >= 200) { - LOGD("large volume of '%s' messages", service.name.c_str()); - break; - } - } - } - } - - LOGW("closing logger"); - s.logger.setExitSignal(do_exit.signal); - - if (do_exit.power_failure) { - LOGE("power failure"); - sync(); - LOGE("sync done"); - } - - // messaging cleanup - for (auto &[sock, service] : service_state) delete sock; -} - -int main(int argc, char** argv) { - if (!Hardware::PC()) { - int ret; - ret = util::set_core_affinity({0, 1, 2, 3}); - assert(ret == 0); - // TODO: why does this impact camerad timings? - //ret = util::set_realtime_priority(1); - //assert(ret == 0); - } - - loggerd_thread(); - - return 0; -} diff --git a/system/loggerd/loggerd.h b/system/loggerd/loggerd.h deleted file mode 100644 index 7c80ba51a214cd..00000000000000 --- a/system/loggerd/loggerd.h +++ /dev/null @@ -1,156 +0,0 @@ -#pragma once - -#include - -#include "cereal/messaging/messaging.h" -#include "cereal/services.h" -#include "msgq/visionipc/visionipc_client.h" -#include "system/camerad/cameras/camera_common.h" -#include "system/hardware/hw.h" -#include "common/params.h" -#include "common/swaglog.h" -#include "common/util.h" - -#include "system/loggerd/logger.h" - -constexpr int MAIN_FPS = 20; -const int MAIN_BITRATE = 1e7; -const int LIVESTREAM_BITRATE = 1e6; -const int QCAM_BITRATE = 256000; - -#define NO_CAMERA_PATIENCE 500 // fall back to time-based rotation if all cameras are dead - -#define INIT_ENCODE_FUNCTIONS(encode_type) \ - .get_encode_data_func = &cereal::Event::Reader::get##encode_type##Data, \ - .set_encode_idx_func = &cereal::Event::Builder::set##encode_type##Idx, \ - .init_encode_data_func = &cereal::Event::Builder::init##encode_type##Data - -const bool LOGGERD_TEST = getenv("LOGGERD_TEST"); -const int SEGMENT_LENGTH = LOGGERD_TEST ? atoi(getenv("LOGGERD_SEGMENT_LENGTH")) : 60; - -constexpr char PRESERVE_ATTR_NAME[] = "user.preserve"; -constexpr char PRESERVE_ATTR_VALUE = '1'; -class EncoderInfo { -public: - const char *publish_name; - const char *thumbnail_name = NULL; - const char *filename = NULL; - bool record = true; - int frame_width = -1; - int frame_height = -1; - int fps = MAIN_FPS; - int bitrate = MAIN_BITRATE; - cereal::EncodeIndex::Type encode_type = Hardware::PC() ? cereal::EncodeIndex::Type::BIG_BOX_LOSSLESS - : cereal::EncodeIndex::Type::FULL_H_E_V_C; - ::cereal::EncodeData::Reader (cereal::Event::Reader::*get_encode_data_func)() const; - void (cereal::Event::Builder::*set_encode_idx_func)(::cereal::EncodeIndex::Reader); - cereal::EncodeData::Builder (cereal::Event::Builder::*init_encode_data_func)(); -}; - -class LogCameraInfo { -public: - const char *thread_name; - int fps = MAIN_FPS; - CameraType type; - VisionStreamType stream_type; - std::vector encoder_infos; -}; - -const EncoderInfo main_road_encoder_info = { - .publish_name = "roadEncodeData", - .filename = "fcamera.hevc", - INIT_ENCODE_FUNCTIONS(RoadEncode), -}; - -const EncoderInfo main_wide_road_encoder_info = { - .publish_name = "wideRoadEncodeData", - .filename = "ecamera.hevc", - INIT_ENCODE_FUNCTIONS(WideRoadEncode), -}; - -const EncoderInfo main_driver_encoder_info = { - .publish_name = "driverEncodeData", - .filename = "dcamera.hevc", - .record = Params().getBool("RecordFront"), - INIT_ENCODE_FUNCTIONS(DriverEncode), -}; - -const EncoderInfo stream_road_encoder_info = { - .publish_name = "livestreamRoadEncodeData", - //.thumbnail_name = "thumbnail", - .encode_type = cereal::EncodeIndex::Type::QCAMERA_H264, - .record = false, - .bitrate = LIVESTREAM_BITRATE, - INIT_ENCODE_FUNCTIONS(LivestreamRoadEncode), -}; - -const EncoderInfo stream_wide_road_encoder_info = { - .publish_name = "livestreamWideRoadEncodeData", - .encode_type = cereal::EncodeIndex::Type::QCAMERA_H264, - .record = false, - .bitrate = LIVESTREAM_BITRATE, - INIT_ENCODE_FUNCTIONS(LivestreamWideRoadEncode), -}; - -const EncoderInfo stream_driver_encoder_info = { - .publish_name = "livestreamDriverEncodeData", - .encode_type = cereal::EncodeIndex::Type::QCAMERA_H264, - .record = false, - .bitrate = LIVESTREAM_BITRATE, - INIT_ENCODE_FUNCTIONS(LivestreamDriverEncode), -}; - -const EncoderInfo qcam_encoder_info = { - .publish_name = "qRoadEncodeData", - .filename = "qcamera.ts", - .bitrate = QCAM_BITRATE, - .encode_type = cereal::EncodeIndex::Type::QCAMERA_H264, - .frame_width = 526, - .frame_height = 330, - INIT_ENCODE_FUNCTIONS(QRoadEncode), -}; - -const LogCameraInfo road_camera_info{ - .thread_name = "road_cam_encoder", - .type = RoadCam, - .stream_type = VISION_STREAM_ROAD, - .encoder_infos = {main_road_encoder_info, qcam_encoder_info} -}; - -const LogCameraInfo wide_road_camera_info{ - .thread_name = "wide_road_cam_encoder", - .type = WideRoadCam, - .stream_type = VISION_STREAM_WIDE_ROAD, - .encoder_infos = {main_wide_road_encoder_info} -}; - -const LogCameraInfo driver_camera_info{ - .thread_name = "driver_cam_encoder", - .type = DriverCam, - .stream_type = VISION_STREAM_DRIVER, - .encoder_infos = {main_driver_encoder_info} -}; - -const LogCameraInfo stream_road_camera_info{ - .thread_name = "road_cam_encoder", - .type = RoadCam, - .stream_type = VISION_STREAM_ROAD, - .encoder_infos = {stream_road_encoder_info} -}; - -const LogCameraInfo stream_wide_road_camera_info{ - .thread_name = "wide_road_cam_encoder", - .type = WideRoadCam, - .stream_type = VISION_STREAM_WIDE_ROAD, - .encoder_infos = {stream_wide_road_encoder_info} -}; - -const LogCameraInfo stream_driver_camera_info{ - .thread_name = "driver_cam_encoder", - .type = DriverCam, - .stream_type = VISION_STREAM_DRIVER, - .encoder_infos = {stream_driver_encoder_info} -}; - -const LogCameraInfo cameras_logged[] = {road_camera_info, wide_road_camera_info, driver_camera_info}; -const LogCameraInfo stream_cameras_logged[] = {stream_road_camera_info, stream_wide_road_camera_info, stream_driver_camera_info}; diff --git a/system/loggerd/tests/__init__.py b/system/loggerd/tests/__init__.py deleted file mode 100644 index e69de29bb2d1d6..00000000000000 diff --git a/system/loggerd/tests/loggerd_tests_common.py b/system/loggerd/tests/loggerd_tests_common.py deleted file mode 100644 index 15fd997eb84f3a..00000000000000 --- a/system/loggerd/tests/loggerd_tests_common.py +++ /dev/null @@ -1,90 +0,0 @@ -import os -import random -from pathlib import Path - - -import openpilot.system.loggerd.deleter as deleter -import openpilot.system.loggerd.uploader as uploader -from openpilot.common.params import Params -from openpilot.system.hardware.hw import Paths -from openpilot.system.loggerd.xattr_cache import setxattr - - -def create_random_file(file_path: Path, size_mb: float, lock: bool = False, upload_xattr: bytes = None) -> None: - file_path.parent.mkdir(parents=True, exist_ok=True) - - if lock: - lock_path = str(file_path) + ".lock" - os.close(os.open(lock_path, os.O_CREAT | os.O_EXCL)) - - chunks = 128 - chunk_bytes = int(size_mb * 1024 * 1024 / chunks) - data = os.urandom(chunk_bytes) - - with open(file_path, "wb") as f: - for _ in range(chunks): - f.write(data) - - if upload_xattr is not None: - setxattr(str(file_path), uploader.UPLOAD_ATTR_NAME, upload_xattr) - -class MockResponse: - def __init__(self, text, status_code): - self.text = text - self.status_code = status_code - -class MockApi: - def __init__(self, dongle_id): - pass - - def get(self, *args, **kwargs): - return MockResponse('{"url": "http://localhost/does/not/exist", "headers": {}}', 200) - - def get_token(self): - return "fake-token" - -class MockApiIgnore: - def __init__(self, dongle_id): - pass - - def get(self, *args, **kwargs): - return MockResponse('', 412) - - def get_token(self): - return "fake-token" - -class UploaderTestCase: - f_type = "UNKNOWN" - - root: Path - seg_num: int - seg_format: str - seg_format2: str - seg_dir: str - - def set_ignore(self): - uploader.Api = MockApiIgnore - - def setup_method(self): - uploader.Api = MockApi - uploader.fake_upload = True - uploader.force_wifi = True - uploader.allow_sleep = False - self.seg_num = random.randint(1, 300) - self.seg_format = "00000004--0ac3964c96--{}" - self.seg_format2 = "00000005--4c4e99b08b--{}" - self.seg_dir = self.seg_format.format(self.seg_num) - - self.params = Params() - self.params.put("IsOffroad", "1") - self.params.put("DongleId", "0000000000000000") - - def make_file_with_data(self, f_dir: str, fn: str, size_mb: float = .1, lock: bool = False, - upload_xattr: bytes = None, preserve_xattr: bytes = None) -> Path: - file_path = Path(Paths.log_root()) / f_dir / fn - create_random_file(file_path, size_mb, lock, upload_xattr) - - if preserve_xattr is not None: - setxattr(str(file_path.parent), deleter.PRESERVE_ATTR_NAME, preserve_xattr) - - return file_path diff --git a/system/loggerd/tests/test_deleter.py b/system/loggerd/tests/test_deleter.py deleted file mode 100644 index 6222ea253ba0db..00000000000000 --- a/system/loggerd/tests/test_deleter.py +++ /dev/null @@ -1,117 +0,0 @@ -import time -import threading -from collections import namedtuple -from pathlib import Path -from collections.abc import Sequence - -import openpilot.system.loggerd.deleter as deleter -from openpilot.common.timeout import Timeout, TimeoutException -from openpilot.system.loggerd.tests.loggerd_tests_common import UploaderTestCase - -Stats = namedtuple("Stats", ['f_bavail', 'f_blocks', 'f_frsize']) - - -class TestDeleter(UploaderTestCase): - def fake_statvfs(self, d): - return self.fake_stats - - def setup_method(self): - self.f_type = "fcamera.hevc" - super().setup_method() - self.fake_stats = Stats(f_bavail=0, f_blocks=10, f_frsize=4096) - deleter.os.statvfs = self.fake_statvfs - - def start_thread(self): - self.end_event = threading.Event() - self.del_thread = threading.Thread(target=deleter.deleter_thread, args=[self.end_event]) - self.del_thread.daemon = True - self.del_thread.start() - - def join_thread(self): - self.end_event.set() - self.del_thread.join() - - def test_delete(self): - f_path = self.make_file_with_data(self.seg_dir, self.f_type, 1) - - self.start_thread() - - try: - with Timeout(2, "Timeout waiting for file to be deleted"): - while f_path.exists(): - time.sleep(0.01) - finally: - self.join_thread() - - def assertDeleteOrder(self, f_paths: Sequence[Path], timeout: int = 5) -> None: - deleted_order = [] - - self.start_thread() - try: - with Timeout(timeout, "Timeout waiting for files to be deleted"): - while True: - for f in f_paths: - if not f.exists() and f not in deleted_order: - deleted_order.append(f) - if len(deleted_order) == len(f_paths): - break - time.sleep(0.01) - except TimeoutException: - print("Not deleted:", [f for f in f_paths if f not in deleted_order]) - raise - finally: - self.join_thread() - - assert deleted_order == f_paths, "Files not deleted in expected order" - - def test_delete_order(self): - self.assertDeleteOrder([ - self.make_file_with_data(self.seg_format.format(0), self.f_type), - self.make_file_with_data(self.seg_format.format(1), self.f_type), - self.make_file_with_data(self.seg_format2.format(0), self.f_type), - ]) - - def test_delete_many_preserved(self): - self.assertDeleteOrder([ - self.make_file_with_data(self.seg_format.format(0), self.f_type), - self.make_file_with_data(self.seg_format.format(1), self.f_type, preserve_xattr=deleter.PRESERVE_ATTR_VALUE), - self.make_file_with_data(self.seg_format.format(2), self.f_type), - ] + [ - self.make_file_with_data(self.seg_format2.format(i), self.f_type, preserve_xattr=deleter.PRESERVE_ATTR_VALUE) - for i in range(5) - ]) - - def test_delete_last(self): - self.assertDeleteOrder([ - self.make_file_with_data(self.seg_format.format(1), self.f_type), - self.make_file_with_data(self.seg_format2.format(0), self.f_type), - self.make_file_with_data(self.seg_format.format(0), self.f_type, preserve_xattr=deleter.PRESERVE_ATTR_VALUE), - self.make_file_with_data("boot", self.seg_format[:-4]), - self.make_file_with_data("crash", self.seg_format2[:-4]), - ]) - - def test_no_delete_when_available_space(self): - f_path = self.make_file_with_data(self.seg_dir, self.f_type) - - block_size = 4096 - available = (10 * 1024 * 1024 * 1024) / block_size # 10GB free - self.fake_stats = Stats(f_bavail=available, f_blocks=10, f_frsize=block_size) - - self.start_thread() - start_time = time.monotonic() - while f_path.exists() and time.monotonic() - start_time < 2: - time.sleep(0.01) - self.join_thread() - - assert f_path.exists(), "File deleted with available space" - - def test_no_delete_with_lock_file(self): - f_path = self.make_file_with_data(self.seg_dir, self.f_type, lock=True) - - self.start_thread() - start_time = time.monotonic() - while f_path.exists() and time.monotonic() - start_time < 2: - time.sleep(0.01) - self.join_thread() - - assert f_path.exists(), "File deleted when locked" diff --git a/system/loggerd/tests/test_encoder.py b/system/loggerd/tests/test_encoder.py deleted file mode 100644 index 75862a9d457969..00000000000000 --- a/system/loggerd/tests/test_encoder.py +++ /dev/null @@ -1,150 +0,0 @@ -import math -import os -import pytest -import random -import shutil -import subprocess -import time -from pathlib import Path - -from parameterized import parameterized -from tqdm import trange - -from openpilot.common.params import Params -from openpilot.common.timeout import Timeout -from openpilot.system.hardware import TICI -from openpilot.system.manager.process_config import managed_processes -from openpilot.tools.lib.logreader import LogReader -from openpilot.system.hardware.hw import Paths - -SEGMENT_LENGTH = 2 -FULL_SIZE = 2507572 -CAMERAS = [ - ("fcamera.hevc", 20, FULL_SIZE, "roadEncodeIdx"), - ("dcamera.hevc", 20, FULL_SIZE, "driverEncodeIdx"), - ("ecamera.hevc", 20, FULL_SIZE, "wideRoadEncodeIdx"), - ("qcamera.ts", 20, 130000, None), -] - -# we check frame count, so we don't have to be too strict on size -FILE_SIZE_TOLERANCE = 0.7 - - -@pytest.mark.tici # TODO: all of loggerd should work on PC -class TestEncoder: - - def setup_method(self): - self._clear_logs() - os.environ["LOGGERD_TEST"] = "1" - os.environ["LOGGERD_SEGMENT_LENGTH"] = str(SEGMENT_LENGTH) - - def teardown_method(self): - self._clear_logs() - - def _clear_logs(self): - if os.path.exists(Paths.log_root()): - shutil.rmtree(Paths.log_root()) - - def _get_latest_segment_path(self): - last_route = sorted(Path(Paths.log_root()).iterdir())[-1] - return os.path.join(Paths.log_root(), last_route) - - # TODO: this should run faster than real time - @parameterized.expand([(True, ), (False, )]) - def test_log_rotation(self, record_front): - Params().put_bool("RecordFront", record_front) - - managed_processes['sensord'].start() - managed_processes['loggerd'].start() - managed_processes['encoderd'].start() - - time.sleep(1.0) - managed_processes['camerad'].start() - - num_segments = int(os.getenv("SEGMENTS", random.randint(10, 15))) - - # wait for loggerd to make the dir for first segment - route_prefix_path = None - with Timeout(int(SEGMENT_LENGTH*3)): - while route_prefix_path is None: - try: - route_prefix_path = self._get_latest_segment_path().rsplit("--", 1)[0] - except Exception: - time.sleep(0.1) - - def check_seg(i): - # check each camera file size - counts = [] - first_frames = [] - for camera, fps, size, encode_idx_name in CAMERAS: - if not record_front and "dcamera" in camera: - continue - - file_path = f"{route_prefix_path}--{i}/{camera}" - - # check file exists - assert os.path.exists(file_path), f"segment #{i}: '{file_path}' missing" - - # TODO: this ffprobe call is really slow - # check frame count - cmd = f"ffprobe -v error -select_streams v:0 -count_packets -show_entries stream=nb_read_packets -of csv=p=0 {file_path}" - if TICI: - cmd = "LD_LIBRARY_PATH=/usr/local/lib " + cmd - - expected_frames = fps * SEGMENT_LENGTH - probe = subprocess.check_output(cmd, shell=True, encoding='utf8') - frame_count = int(probe.split('\n')[0].strip()) - counts.append(frame_count) - - assert frame_count == expected_frames, \ - f"segment #{i}: {camera} failed frame count check: expected {expected_frames}, got {frame_count}" - - # sanity check file size - file_size = os.path.getsize(file_path) - assert math.isclose(file_size, size, rel_tol=FILE_SIZE_TOLERANCE), \ - f"{file_path} size {file_size} isn't close to target size {size}" - - # Check encodeIdx - if encode_idx_name is not None: - rlog_path = f"{route_prefix_path}--{i}/rlog" - msgs = [m for m in LogReader(rlog_path) if m.which() == encode_idx_name] - encode_msgs = [getattr(m, encode_idx_name) for m in msgs] - - valid = [m.valid for m in msgs] - segment_idxs = [m.segmentId for m in encode_msgs] - encode_idxs = [m.encodeId for m in encode_msgs] - frame_idxs = [m.frameId for m in encode_msgs] - - # Check frame count - assert frame_count == len(segment_idxs) - assert frame_count == len(encode_idxs) - - # Check for duplicates or skips - assert 0 == segment_idxs[0] - assert len(set(segment_idxs)) == len(segment_idxs) - - assert all(valid) - - assert expected_frames * i == encode_idxs[0] - first_frames.append(frame_idxs[0]) - assert len(set(encode_idxs)) == len(encode_idxs) - - assert 1 == len(set(first_frames)) - - if TICI: - expected_frames = fps * SEGMENT_LENGTH - assert min(counts) == expected_frames - shutil.rmtree(f"{route_prefix_path}--{i}") - - try: - for i in trange(num_segments): - # poll for next segment - with Timeout(int(SEGMENT_LENGTH*10), error_msg=f"timed out waiting for segment {i}"): - while Path(f"{route_prefix_path}--{i+1}") not in Path(Paths.log_root()).iterdir(): - time.sleep(0.1) - check_seg(i) - finally: - managed_processes['loggerd'].stop() - managed_processes['encoderd'].stop() - managed_processes['camerad'].stop() - managed_processes['sensord'].stop() diff --git a/system/loggerd/tests/test_logger.cc b/system/loggerd/tests/test_logger.cc deleted file mode 100644 index 2dae136e13c0bc..00000000000000 --- a/system/loggerd/tests/test_logger.cc +++ /dev/null @@ -1,74 +0,0 @@ -#include "catch2/catch.hpp" -#include "system/loggerd/logger.h" - -typedef cereal::Sentinel::SentinelType SentinelType; - -void verify_segment(const std::string &route_path, int segment, int max_segment, int required_event_cnt) { - const std::string segment_path = route_path + "--" + std::to_string(segment); - SentinelType begin_sentinel = segment == 0 ? SentinelType::START_OF_ROUTE : SentinelType::START_OF_SEGMENT; - SentinelType end_sentinel = segment == max_segment - 1 ? SentinelType::END_OF_ROUTE : SentinelType::END_OF_SEGMENT; - - REQUIRE(!util::file_exists(segment_path + "/rlog.lock")); - for (const char *fn : {"/rlog", "/qlog"}) { - const std::string log_file = segment_path + fn; - std::string log = util::read_file(log_file); - REQUIRE(!log.empty()); - int event_cnt = 0, i = 0; - kj::ArrayPtr words((capnp::word *)log.data(), log.size() / sizeof(capnp::word)); - while (words.size() > 0) { - try { - capnp::FlatArrayMessageReader reader(words); - auto event = reader.getRoot(); - words = kj::arrayPtr(reader.getEnd(), words.end()); - if (i == 0) { - REQUIRE(event.which() == cereal::Event::INIT_DATA); - } else if (i == 1) { - REQUIRE(event.which() == cereal::Event::SENTINEL); - REQUIRE(event.getSentinel().getType() == begin_sentinel); - REQUIRE(event.getSentinel().getSignal() == 0); - } else if (words.size() > 0) { - REQUIRE(event.which() == cereal::Event::CLOCKS); - ++event_cnt; - } else { - // the last event must be SENTINEL - REQUIRE(event.which() == cereal::Event::SENTINEL); - REQUIRE(event.getSentinel().getType() == end_sentinel); - REQUIRE(event.getSentinel().getSignal() == (end_sentinel == SentinelType::END_OF_ROUTE ? 1 : 0)); - } - ++i; - } catch (const kj::Exception &ex) { - INFO("failed parse " << i << " exception :" << ex.getDescription()); - REQUIRE(0); - break; - } - } - REQUIRE(event_cnt == required_event_cnt); - } -} - -void write_msg(LoggerState *logger) { - MessageBuilder msg; - msg.initEvent().initClocks(); - logger->write(msg.toBytes(), true); -} - -TEST_CASE("logger") { - const int segment_cnt = 100; - const std::string log_root = "/tmp/test_logger"; - system(("rm " + log_root + " -rf").c_str()); - std::string route_name; - { - LoggerState logger(log_root); - route_name = logger.routeName(); - for (int i = 0; i < segment_cnt; ++i) { - REQUIRE(logger.next()); - REQUIRE(util::file_exists(logger.segmentPath() + "/rlog.lock")); - REQUIRE(logger.segment() == i); - write_msg(&logger); - } - logger.setExitSignal(1); - } - for (int i = 0; i < segment_cnt; ++i) { - verify_segment(log_root + "/" + route_name, i, segment_cnt, 1); - } -} diff --git a/system/loggerd/tests/test_loggerd.py b/system/loggerd/tests/test_loggerd.py deleted file mode 100644 index 6a24540acf7510..00000000000000 --- a/system/loggerd/tests/test_loggerd.py +++ /dev/null @@ -1,284 +0,0 @@ -import numpy as np -import os -import re -import random -import string -import subprocess -import time -from collections import defaultdict -from pathlib import Path -from flaky import flaky - -import cereal.messaging as messaging -from cereal import log -from cereal.services import SERVICE_LIST -from openpilot.common.basedir import BASEDIR -from openpilot.common.params import Params -from openpilot.common.timeout import Timeout -from openpilot.system.hardware.hw import Paths -from openpilot.system.loggerd.xattr_cache import getxattr -from openpilot.system.loggerd.deleter import PRESERVE_ATTR_NAME, PRESERVE_ATTR_VALUE -from openpilot.system.manager.process_config import managed_processes -from openpilot.system.version import get_version -from openpilot.tools.lib.helpers import RE -from openpilot.tools.lib.logreader import LogReader -from msgq.visionipc import VisionIpcServer, VisionStreamType -from openpilot.common.transformations.camera import DEVICE_CAMERAS - -SentinelType = log.Sentinel.SentinelType - -CEREAL_SERVICES = [f for f in log.Event.schema.union_fields if f in SERVICE_LIST - and SERVICE_LIST[f].should_log and "encode" not in f.lower()] - - -class TestLoggerd: - def _get_latest_log_dir(self): - log_dirs = sorted(Path(Paths.log_root()).iterdir(), key=lambda f: f.stat().st_mtime) - return log_dirs[-1] - - def _get_log_dir(self, x): - for l in x.splitlines(): - for p in l.split(' '): - path = Path(p.strip()) - if path.is_dir(): - return path - return None - - def _get_log_fn(self, x): - for l in x.splitlines(): - for p in l.split(' '): - path = Path(p.strip()) - if path.is_file(): - return path - return None - - def _gen_bootlog(self): - with Timeout(5): - out = subprocess.check_output("./bootlog", cwd=os.path.join(BASEDIR, "system/loggerd"), encoding='utf-8') - - log_fn = self._get_log_fn(out) - - # check existence - assert log_fn is not None - - return log_fn - - def _check_init_data(self, msgs): - msg = msgs[0] - assert msg.which() == 'initData' - - def _check_sentinel(self, msgs, route): - start_type = SentinelType.startOfRoute if route else SentinelType.startOfSegment - assert msgs[1].sentinel.type == start_type - - end_type = SentinelType.endOfRoute if route else SentinelType.endOfSegment - assert msgs[-1].sentinel.type == end_type - - def _publish_random_messages(self, services: list[str]) -> dict[str, list]: - pm = messaging.PubMaster(services) - - managed_processes["loggerd"].start() - for s in services: - assert pm.wait_for_readers_to_update(s, timeout=5) - - sent_msgs = defaultdict(list) - for _ in range(random.randint(2, 10) * 100): - for s in services: - try: - m = messaging.new_message(s) - except Exception: - m = messaging.new_message(s, random.randint(2, 10)) - pm.send(s, m) - sent_msgs[s].append(m) - - for s in services: - assert pm.wait_for_readers_to_update(s, timeout=5) - managed_processes["loggerd"].stop() - - return sent_msgs - - def test_init_data_values(self): - os.environ["CLEAN"] = random.choice(["0", "1"]) - - dongle = ''.join(random.choice(string.printable) for n in range(random.randint(1, 100))) - fake_params = [ - # param, initData field, value - ("DongleId", "dongleId", dongle), - ("GitCommit", "gitCommit", "commit"), - ("GitCommitDate", "gitCommitDate", "date"), - ("GitBranch", "gitBranch", "branch"), - ("GitRemote", "gitRemote", "remote"), - ] - params = Params() - for k, _, v in fake_params: - params.put(k, v) - params.put("AccessToken", "abc") - - lr = list(LogReader(str(self._gen_bootlog()))) - initData = lr[0].initData - - assert initData.dirty != bool(os.environ["CLEAN"]) - assert initData.version == get_version() - - if os.path.isfile("/proc/cmdline"): - with open("/proc/cmdline") as f: - assert list(initData.kernelArgs) == f.read().strip().split(" ") - - with open("/proc/version") as f: - assert initData.kernelVersion == f.read() - - # check params - logged_params = {entry.key: entry.value for entry in initData.params.entries} - expected_params = {k for k, _, __ in fake_params} | {'AccessToken', 'BootCount'} - assert set(logged_params.keys()) == expected_params, set(logged_params.keys()) ^ expected_params - assert logged_params['AccessToken'] == b'', f"DONT_LOG param value was logged: {repr(logged_params['AccessToken'])}" - for param_key, initData_key, v in fake_params: - assert getattr(initData, initData_key) == v - assert logged_params[param_key].decode() == v - - @flaky(max_runs=3) - def test_rotation(self): - os.environ["LOGGERD_TEST"] = "1" - Params().put("RecordFront", "1") - - d = DEVICE_CAMERAS[("tici", "ar0231")] - expected_files = {"rlog", "qlog", "qcamera.ts", "fcamera.hevc", "dcamera.hevc", "ecamera.hevc"} - streams = [(VisionStreamType.VISION_STREAM_ROAD, (d.fcam.width, d.fcam.height, 2048*2346, 2048, 2048*1216), "roadCameraState"), - (VisionStreamType.VISION_STREAM_DRIVER, (d.dcam.width, d.dcam.height, 2048*2346, 2048, 2048*1216), "driverCameraState"), - (VisionStreamType.VISION_STREAM_WIDE_ROAD, (d.ecam.width, d.ecam.height, 2048*2346, 2048, 2048*1216), "wideRoadCameraState")] - - pm = messaging.PubMaster(["roadCameraState", "driverCameraState", "wideRoadCameraState"]) - vipc_server = VisionIpcServer("camerad") - for stream_type, frame_spec, _ in streams: - vipc_server.create_buffers_with_sizes(stream_type, 40, False, *(frame_spec)) - vipc_server.start_listener() - - num_segs = random.randint(2, 5) - length = random.randint(1, 3) - os.environ["LOGGERD_SEGMENT_LENGTH"] = str(length) - managed_processes["loggerd"].start() - managed_processes["encoderd"].start() - assert pm.wait_for_readers_to_update("roadCameraState", timeout=5) - - fps = 20.0 - for n in range(1, int(num_segs*length*fps)+1): - for stream_type, frame_spec, state in streams: - dat = np.empty(frame_spec[2], dtype=np.uint8) - vipc_server.send(stream_type, dat[:].flatten().tobytes(), n, n/fps, n/fps) - - camera_state = messaging.new_message(state) - frame = getattr(camera_state, state) - frame.frameId = n - pm.send(state, camera_state) - - for _, _, state in streams: - assert pm.wait_for_readers_to_update(state, timeout=5, dt=0.001) - - managed_processes["loggerd"].stop() - managed_processes["encoderd"].stop() - - route_path = str(self._get_latest_log_dir()).rsplit("--", 1)[0] - for n in range(num_segs): - p = Path(f"{route_path}--{n}") - logged = {f.name for f in p.iterdir() if f.is_file()} - diff = logged ^ expected_files - assert len(diff) == 0, f"didn't get all expected files. run={_} seg={n} {route_path=}, {diff=}\n{logged=} {expected_files=}" - - def test_bootlog(self): - # generate bootlog with fake launch log - launch_log = ''.join(str(random.choice(string.printable)) for _ in range(100)) - with open("/tmp/launch_log", "w") as f: - f.write(launch_log) - - bootlog_path = self._gen_bootlog() - lr = list(LogReader(str(bootlog_path))) - - # check length - assert len(lr) == 2 # boot + initData - - self._check_init_data(lr) - - # check msgs - bootlog_msgs = [m for m in lr if m.which() == 'boot'] - assert len(bootlog_msgs) == 1 - - # sanity check values - boot = bootlog_msgs.pop().boot - assert abs(boot.wallTimeNanos - time.time_ns()) < 5*1e9 # within 5s - assert boot.launchLog == launch_log - - for fn in ["console-ramoops", "pmsg-ramoops-0"]: - path = Path(os.path.join("/sys/fs/pstore/", fn)) - if path.is_file(): - with open(path, "rb") as f: - expected_val = f.read() - bootlog_val = [e.value for e in boot.pstore.entries if e.key == fn][0] - assert expected_val == bootlog_val - - # next one should increment by one - bl1 = re.match(RE.LOG_ID_V2, bootlog_path.name) - bl2 = re.match(RE.LOG_ID_V2, self._gen_bootlog().name) - assert bl1.group('uid') != bl2.group('uid') - assert int(bl1.group('count')) == 0 and int(bl2.group('count')) == 1 - - def test_qlog(self): - qlog_services = [s for s in CEREAL_SERVICES if SERVICE_LIST[s].decimation is not None] - no_qlog_services = [s for s in CEREAL_SERVICES if SERVICE_LIST[s].decimation is None] - - services = random.sample(qlog_services, random.randint(2, min(10, len(qlog_services)))) + \ - random.sample(no_qlog_services, random.randint(2, min(10, len(no_qlog_services)))) - sent_msgs = self._publish_random_messages(services) - - qlog_path = os.path.join(self._get_latest_log_dir(), "qlog") - lr = list(LogReader(qlog_path)) - - # check initData and sentinel - self._check_init_data(lr) - self._check_sentinel(lr, True) - - recv_msgs = defaultdict(list) - for m in lr: - recv_msgs[m.which()].append(m) - - for s, msgs in sent_msgs.items(): - recv_cnt = len(recv_msgs[s]) - - if s in no_qlog_services: - # check services with no specific decimation aren't in qlog - assert recv_cnt == 0, f"got {recv_cnt} {s} msgs in qlog" - else: - # check logged message count matches decimation - expected_cnt = (len(msgs) - 1) // SERVICE_LIST[s].decimation + 1 - assert recv_cnt == expected_cnt, f"expected {expected_cnt} msgs for {s}, got {recv_cnt}" - - def test_rlog(self): - services = random.sample(CEREAL_SERVICES, random.randint(5, 10)) - sent_msgs = self._publish_random_messages(services) - - lr = list(LogReader(os.path.join(self._get_latest_log_dir(), "rlog"))) - - # check initData and sentinel - self._check_init_data(lr) - self._check_sentinel(lr, True) - - # check all messages were logged and in order - lr = lr[2:-1] # slice off initData and both sentinels - for m in lr: - sent = sent_msgs[m.which()].pop(0) - sent.clear_write_flag() - assert sent.to_bytes() == m.as_builder().to_bytes() - - def test_preserving_flagged_segments(self): - services = set(random.sample(CEREAL_SERVICES, random.randint(5, 10))) | {"userFlag"} - self._publish_random_messages(services) - - segment_dir = self._get_latest_log_dir() - assert getxattr(segment_dir, PRESERVE_ATTR_NAME) == PRESERVE_ATTR_VALUE - - def test_not_preserving_unflagged_segments(self): - services = set(random.sample(CEREAL_SERVICES, random.randint(5, 10))) - {"userFlag"} - self._publish_random_messages(services) - - segment_dir = self._get_latest_log_dir() - assert getxattr(segment_dir, PRESERVE_ATTR_NAME) is None - diff --git a/system/loggerd/tests/test_runner.cc b/system/loggerd/tests/test_runner.cc deleted file mode 100644 index 62bf7476a18996..00000000000000 --- a/system/loggerd/tests/test_runner.cc +++ /dev/null @@ -1,2 +0,0 @@ -#define CATCH_CONFIG_MAIN -#include "catch2/catch.hpp" diff --git a/system/loggerd/tests/test_uploader.py b/system/loggerd/tests/test_uploader.py deleted file mode 100644 index 6591198281b992..00000000000000 --- a/system/loggerd/tests/test_uploader.py +++ /dev/null @@ -1,184 +0,0 @@ -import os -import time -import threading -import logging -import json -from pathlib import Path -from openpilot.system.hardware.hw import Paths - -from openpilot.common.swaglog import cloudlog -from openpilot.system.loggerd.uploader import main, UPLOAD_ATTR_NAME, UPLOAD_ATTR_VALUE - -from openpilot.system.loggerd.tests.loggerd_tests_common import UploaderTestCase - - -class FakeLogHandler(logging.Handler): - def __init__(self): - logging.Handler.__init__(self) - self.reset() - - def reset(self): - self.upload_order = list() - self.upload_ignored = list() - - def emit(self, record): - try: - j = json.loads(record.getMessage()) - if j["event"] == "upload_success": - self.upload_order.append(j["key"]) - if j["event"] == "upload_ignored": - self.upload_ignored.append(j["key"]) - except Exception: - pass - -log_handler = FakeLogHandler() -cloudlog.addHandler(log_handler) - - -class TestUploader(UploaderTestCase): - def setup_method(self): - super().setup_method() - log_handler.reset() - - def start_thread(self): - self.end_event = threading.Event() - self.up_thread = threading.Thread(target=main, args=[self.end_event]) - self.up_thread.daemon = True - self.up_thread.start() - - def join_thread(self): - self.end_event.set() - self.up_thread.join() - - def gen_files(self, lock=False, xattr: bytes = None, boot=True) -> list[Path]: - f_paths = [] - for t in ["qlog", "rlog", "dcamera.hevc", "fcamera.hevc"]: - f_paths.append(self.make_file_with_data(self.seg_dir, t, 1, lock=lock, upload_xattr=xattr)) - - if boot: - f_paths.append(self.make_file_with_data("boot", f"{self.seg_dir}", 1, lock=lock, upload_xattr=xattr)) - return f_paths - - def gen_order(self, seg1: list[int], seg2: list[int], boot=True) -> list[str]: - keys = [] - if boot: - keys += [f"boot/{self.seg_format.format(i)}.bz2" for i in seg1] - keys += [f"boot/{self.seg_format2.format(i)}.bz2" for i in seg2] - keys += [f"{self.seg_format.format(i)}/qlog.bz2" for i in seg1] - keys += [f"{self.seg_format2.format(i)}/qlog.bz2" for i in seg2] - return keys - - def test_upload(self): - self.gen_files(lock=False) - - self.start_thread() - # allow enough time that files could upload twice if there is a bug in the logic - time.sleep(5) - self.join_thread() - - exp_order = self.gen_order([self.seg_num], []) - - assert len(log_handler.upload_ignored) == 0, "Some files were ignored" - assert not len(log_handler.upload_order) < len(exp_order), "Some files failed to upload" - assert not len(log_handler.upload_order) > len(exp_order), "Some files were uploaded twice" - for f_path in exp_order: - assert os.getxattr((Path(Paths.log_root()) / f_path).with_suffix(""), UPLOAD_ATTR_NAME) == UPLOAD_ATTR_VALUE, "All files not uploaded" - - assert log_handler.upload_order == exp_order, "Files uploaded in wrong order" - - def test_upload_with_wrong_xattr(self): - self.gen_files(lock=False, xattr=b'0') - - self.start_thread() - # allow enough time that files could upload twice if there is a bug in the logic - time.sleep(5) - self.join_thread() - - exp_order = self.gen_order([self.seg_num], []) - - assert len(log_handler.upload_ignored) == 0, "Some files were ignored" - assert not len(log_handler.upload_order) < len(exp_order), "Some files failed to upload" - assert not len(log_handler.upload_order) > len(exp_order), "Some files were uploaded twice" - for f_path in exp_order: - assert os.getxattr((Path(Paths.log_root()) / f_path).with_suffix(""), UPLOAD_ATTR_NAME) == UPLOAD_ATTR_VALUE, "All files not uploaded" - - assert log_handler.upload_order == exp_order, "Files uploaded in wrong order" - - def test_upload_ignored(self): - self.set_ignore() - self.gen_files(lock=False) - - self.start_thread() - # allow enough time that files could upload twice if there is a bug in the logic - time.sleep(5) - self.join_thread() - - exp_order = self.gen_order([self.seg_num], []) - - assert len(log_handler.upload_order) == 0, "Some files were not ignored" - assert not len(log_handler.upload_ignored) < len(exp_order), "Some files failed to ignore" - assert not len(log_handler.upload_ignored) > len(exp_order), "Some files were ignored twice" - for f_path in exp_order: - assert os.getxattr((Path(Paths.log_root()) / f_path).with_suffix(""), UPLOAD_ATTR_NAME) == UPLOAD_ATTR_VALUE, "All files not ignored" - - assert log_handler.upload_ignored == exp_order, "Files ignored in wrong order" - - def test_upload_files_in_create_order(self): - seg1_nums = [0, 1, 2, 10, 20] - for i in seg1_nums: - self.seg_dir = self.seg_format.format(i) - self.gen_files(boot=False) - seg2_nums = [5, 50, 51] - for i in seg2_nums: - self.seg_dir = self.seg_format2.format(i) - self.gen_files(boot=False) - - exp_order = self.gen_order(seg1_nums, seg2_nums, boot=False) - - self.start_thread() - # allow enough time that files could upload twice if there is a bug in the logic - time.sleep(5) - self.join_thread() - - assert len(log_handler.upload_ignored) == 0, "Some files were ignored" - assert not len(log_handler.upload_order) < len(exp_order), "Some files failed to upload" - assert not len(log_handler.upload_order) > len(exp_order), "Some files were uploaded twice" - for f_path in exp_order: - assert os.getxattr((Path(Paths.log_root()) / f_path).with_suffix(""), UPLOAD_ATTR_NAME) == UPLOAD_ATTR_VALUE, "All files not uploaded" - - assert log_handler.upload_order == exp_order, "Files uploaded in wrong order" - - def test_no_upload_with_lock_file(self): - self.start_thread() - - time.sleep(0.25) - f_paths = self.gen_files(lock=True, boot=False) - - # allow enough time that files should have been uploaded if they would be uploaded - time.sleep(5) - self.join_thread() - - for f_path in f_paths: - fn = f_path.with_suffix(f_path.suffix.replace(".bz2", "")) - uploaded = UPLOAD_ATTR_NAME in os.listxattr(fn) and os.getxattr(fn, UPLOAD_ATTR_NAME) == UPLOAD_ATTR_VALUE - assert not uploaded, "File upload when locked" - - def test_no_upload_with_xattr(self): - self.gen_files(lock=False, xattr=UPLOAD_ATTR_VALUE) - - self.start_thread() - # allow enough time that files could upload twice if there is a bug in the logic - time.sleep(5) - self.join_thread() - - assert len(log_handler.upload_order) == 0, "File uploaded again" - - def test_clear_locks_on_startup(self): - f_paths = self.gen_files(lock=True, boot=False) - self.start_thread() - time.sleep(1) - self.join_thread() - - for f_path in f_paths: - lock_path = f_path.with_suffix(f_path.suffix + ".lock") - assert not lock_path.is_file(), "File lock not cleared on startup" diff --git a/system/loggerd/video_writer.cc b/system/loggerd/video_writer.cc deleted file mode 100644 index 90b5f1af3d1b94..00000000000000 --- a/system/loggerd/video_writer.cc +++ /dev/null @@ -1,112 +0,0 @@ -#pragma clang diagnostic ignored "-Wdeprecated-declarations" -#include - -#include "system/loggerd/video_writer.h" -#include "common/swaglog.h" -#include "common/util.h" - -VideoWriter::VideoWriter(const char *path, const char *filename, bool remuxing, int width, int height, int fps, cereal::EncodeIndex::Type codec) - : remuxing(remuxing) { - vid_path = util::string_format("%s/%s", path, filename); - lock_path = util::string_format("%s/%s.lock", path, filename); - - int lock_fd = HANDLE_EINTR(open(lock_path.c_str(), O_RDWR | O_CREAT, 0664)); - assert(lock_fd >= 0); - close(lock_fd); - - LOGD("encoder_open %s remuxing:%d", this->vid_path.c_str(), this->remuxing); - if (this->remuxing) { - bool raw = (codec == cereal::EncodeIndex::Type::BIG_BOX_LOSSLESS); - avformat_alloc_output_context2(&this->ofmt_ctx, NULL, raw ? "matroska" : NULL, this->vid_path.c_str()); - assert(this->ofmt_ctx); - - // set codec correctly. needed? - assert(codec != cereal::EncodeIndex::Type::FULL_H_E_V_C); - const AVCodec *avcodec = avcodec_find_encoder(raw ? AV_CODEC_ID_FFVHUFF : AV_CODEC_ID_H264); - assert(avcodec); - - this->codec_ctx = avcodec_alloc_context3(avcodec); - assert(this->codec_ctx); - this->codec_ctx->width = width; - this->codec_ctx->height = height; - this->codec_ctx->pix_fmt = AV_PIX_FMT_YUV420P; - this->codec_ctx->time_base = (AVRational){ 1, fps }; - - if (codec == cereal::EncodeIndex::Type::BIG_BOX_LOSSLESS) { - // without this, there's just noise - int err = avcodec_open2(this->codec_ctx, avcodec, NULL); - assert(err >= 0); - } - - this->out_stream = avformat_new_stream(this->ofmt_ctx, raw ? avcodec : NULL); - assert(this->out_stream); - - int err = avio_open(&this->ofmt_ctx->pb, this->vid_path.c_str(), AVIO_FLAG_WRITE); - assert(err >= 0); - - } else { - this->of = util::safe_fopen(this->vid_path.c_str(), "wb"); - assert(this->of); - } -} - -void VideoWriter::write(uint8_t *data, int len, long long timestamp, bool codecconfig, bool keyframe) { - if (of && data) { - size_t written = util::safe_fwrite(data, 1, len, of); - if (written != len) { - LOGE("failed to write file.errno=%d", errno); - } - } - - if (remuxing) { - if (codecconfig) { - if (len > 0) { - codec_ctx->extradata = (uint8_t*)av_mallocz(len + AV_INPUT_BUFFER_PADDING_SIZE); - codec_ctx->extradata_size = len; - memcpy(codec_ctx->extradata, data, len); - } - int err = avcodec_parameters_from_context(out_stream->codecpar, codec_ctx); - assert(err >= 0); - err = avformat_write_header(ofmt_ctx, NULL); - assert(err >= 0); - } else { - // input timestamps are in microseconds - AVRational in_timebase = {1, 1000000}; - - AVPacket pkt; - av_init_packet(&pkt); - pkt.data = data; - pkt.size = len; - - enum AVRounding rnd = static_cast(AV_ROUND_NEAR_INF|AV_ROUND_PASS_MINMAX); - pkt.pts = pkt.dts = av_rescale_q_rnd(timestamp, in_timebase, ofmt_ctx->streams[0]->time_base, rnd); - pkt.duration = av_rescale_q(50*1000, in_timebase, ofmt_ctx->streams[0]->time_base); - - if (keyframe) { - pkt.flags |= AV_PKT_FLAG_KEY; - } - - // TODO: can use av_write_frame for non raw? - int err = av_interleaved_write_frame(ofmt_ctx, &pkt); - if (err < 0) { LOGW("ts encoder write issue len: %d ts: %lld", len, timestamp); } - - av_packet_unref(&pkt); - } - } -} - -VideoWriter::~VideoWriter() { - if (this->remuxing) { - int err = av_write_trailer(this->ofmt_ctx); - if (err != 0) LOGE("av_write_trailer failed %d", err); - avcodec_free_context(&this->codec_ctx); - err = avio_closep(&this->ofmt_ctx->pb); - if (err != 0) LOGE("avio_closep failed %d", err); - avformat_free_context(this->ofmt_ctx); - } else { - util::safe_fflush(this->of); - fclose(this->of); - this->of = nullptr; - } - unlink(this->lock_path.c_str()); -} diff --git a/system/loggerd/video_writer.h b/system/loggerd/video_writer.h deleted file mode 100644 index 1aa758b42b78b0..00000000000000 --- a/system/loggerd/video_writer.h +++ /dev/null @@ -1,25 +0,0 @@ -#pragma once - -#include - -extern "C" { -#include -#include -} - -#include "cereal/messaging/messaging.h" - -class VideoWriter { -public: - VideoWriter(const char *path, const char *filename, bool remuxing, int width, int height, int fps, cereal::EncodeIndex::Type codec); - void write(uint8_t *data, int len, long long timestamp, bool codecconfig, bool keyframe); - ~VideoWriter(); -private: - std::string vid_path, lock_path; - FILE *of = nullptr; - - AVCodecContext *codec_ctx; - AVFormatContext *ofmt_ctx; - AVStream *out_stream; - bool remuxing; -}; diff --git a/system/manager/test/__init__.py b/system/manager/test/__init__.py deleted file mode 100644 index e69de29bb2d1d6..00000000000000 diff --git a/system/manager/test/test_manager.py b/system/manager/test/test_manager.py deleted file mode 100644 index e5960d1113632c..00000000000000 --- a/system/manager/test/test_manager.py +++ /dev/null @@ -1,76 +0,0 @@ -import os -import pytest -import signal -import time - -from parameterized import parameterized - -from cereal import car -from openpilot.common.params import Params -import openpilot.system.manager.manager as manager -from openpilot.system.manager.process import ensure_running -from openpilot.system.manager.process_config import managed_processes -from openpilot.system.hardware import HARDWARE - -os.environ['FAKEUPLOAD'] = "1" - -MAX_STARTUP_TIME = 3 -BLACKLIST_PROCS = ['manage_athenad', 'pandad', 'pigeond'] - - -@pytest.mark.tici -class TestManager: - def setup_method(self): - HARDWARE.set_power_save(False) - - # ensure clean CarParams - params = Params() - params.clear_all() - - def teardown_method(self): - manager.manager_cleanup() - - def test_manager_prepare(self): - os.environ['PREPAREONLY'] = '1' - manager.main() - - def test_blacklisted_procs(self): - # TODO: ensure there are blacklisted procs until we have a dedicated test - assert len(BLACKLIST_PROCS), "No blacklisted procs to test not_run" - - @parameterized.expand([(i,) for i in range(10)]) - def test_startup_time(self, index): - start = time.monotonic() - os.environ['PREPAREONLY'] = '1' - manager.main() - t = time.monotonic() - start - assert t < MAX_STARTUP_TIME, f"startup took {t}s, expected <{MAX_STARTUP_TIME}s" - - @pytest.mark.skip("this test is flaky the way it's currently written, should be moved to test_onroad") - def test_clean_exit(self, subtests): - """ - Ensure all processes exit cleanly when stopped. - """ - HARDWARE.set_power_save(False) - manager.manager_init() - - CP = car.CarParams.new_message() - procs = ensure_running(managed_processes.values(), True, Params(), CP, not_run=BLACKLIST_PROCS) - - time.sleep(10) - - for p in procs: - with subtests.test(proc=p.name): - state = p.get_process_state_msg() - assert state.running, f"{p.name} not running" - exit_code = p.stop(retry=False) - - assert p.name not in BLACKLIST_PROCS, f"{p.name} was started" - - assert exit_code is not None, f"{p.name} failed to exit" - - # TODO: interrupted blocking read exits with 1 in cereal. use a more unique return code - exit_codes = [0, 1] - if p.sigkill: - exit_codes = [-signal.SIGKILL] - assert exit_code in exit_codes, f"{p.name} died with {exit_code}" diff --git a/system/proclogd/main.cc b/system/proclogd/main.cc deleted file mode 100644 index 3f8a889eea9aec..00000000000000 --- a/system/proclogd/main.cc +++ /dev/null @@ -1,25 +0,0 @@ - -#include - -#include "common/ratekeeper.h" -#include "common/util.h" -#include "system/proclogd/proclog.h" - -ExitHandler do_exit; - -int main(int argc, char **argv) { - setpriority(PRIO_PROCESS, 0, -15); - - RateKeeper rk("proclogd", 0.5); - PubMaster publisher({"procLog"}); - - while (!do_exit) { - MessageBuilder msg; - buildProcLogMessage(msg); - publisher.send("procLog", msg); - - rk.keepTime(); - } - - return 0; -} diff --git a/system/proclogd/proclog.cc b/system/proclogd/proclog.cc deleted file mode 100644 index 09ab4f559e5c63..00000000000000 --- a/system/proclogd/proclog.cc +++ /dev/null @@ -1,239 +0,0 @@ -#include "system/proclogd/proclog.h" - -#include - -#include -#include -#include -#include - -#include "common/swaglog.h" -#include "common/util.h" - -namespace Parser { - -// parse /proc/stat -std::vector cpuTimes(std::istream &stream) { - std::vector cpu_times; - std::string line; - // skip the first line for cpu total - std::getline(stream, line); - while (std::getline(stream, line)) { - if (line.compare(0, 3, "cpu") != 0) break; - - CPUTime t = {}; - std::istringstream iss(line); - if (iss.ignore(3) >> t.id >> t.utime >> t.ntime >> t.stime >> t.itime >> t.iowtime >> t.irqtime >> t.sirqtime) - cpu_times.push_back(t); - } - return cpu_times; -} - -// parse /proc/meminfo -std::unordered_map memInfo(std::istream &stream) { - std::unordered_map mem_info; - std::string line, key; - while (std::getline(stream, line)) { - uint64_t val = 0; - std::istringstream iss(line); - if (iss >> key >> val) { - mem_info[key] = val * 1024; - } - } - return mem_info; -} - -// field position (https://man7.org/linux/man-pages/man5/proc.5.html) -enum StatPos { - pid = 1, - state = 3, - ppid = 4, - utime = 14, - stime = 15, - cutime = 16, - cstime = 17, - priority = 18, - nice = 19, - num_threads = 20, - starttime = 22, - vsize = 23, - rss = 24, - processor = 39, - MAX_FIELD = 52, -}; - -// parse /proc/pid/stat -std::optional procStat(std::string stat) { - // To avoid being fooled by names containing a closing paren, scan backwards. - auto open_paren = stat.find('('); - auto close_paren = stat.rfind(')'); - if (open_paren == std::string::npos || close_paren == std::string::npos || open_paren > close_paren) { - return std::nullopt; - } - - std::string name = stat.substr(open_paren + 1, close_paren - open_paren - 1); - // replace space in name with _ - std::replace(&stat[open_paren], &stat[close_paren], ' ', '_'); - std::istringstream iss(stat); - std::vector v{std::istream_iterator(iss), - std::istream_iterator()}; - try { - if (v.size() != StatPos::MAX_FIELD) { - throw std::invalid_argument("stat"); - } - ProcStat p = { - .name = name, - .pid = stoi(v[StatPos::pid - 1]), - .state = v[StatPos::state - 1][0], - .ppid = stoi(v[StatPos::ppid - 1]), - .utime = stoul(v[StatPos::utime - 1]), - .stime = stoul(v[StatPos::stime - 1]), - .cutime = stol(v[StatPos::cutime - 1]), - .cstime = stol(v[StatPos::cstime - 1]), - .priority = stol(v[StatPos::priority - 1]), - .nice = stol(v[StatPos::nice - 1]), - .num_threads = stol(v[StatPos::num_threads - 1]), - .starttime = stoull(v[StatPos::starttime - 1]), - .vms = stoul(v[StatPos::vsize - 1]), - .rss = stol(v[StatPos::rss - 1]), - .processor = stoi(v[StatPos::processor - 1]), - }; - return p; - } catch (const std::invalid_argument &e) { - LOGE("failed to parse procStat (%s) :%s", e.what(), stat.c_str()); - } catch (const std::out_of_range &e) { - LOGE("failed to parse procStat (%s) :%s", e.what(), stat.c_str()); - } - return std::nullopt; -} - -// return list of PIDs from /proc -std::vector pids() { - std::vector ids; - DIR *d = opendir("/proc"); - assert(d); - char *p_end; - struct dirent *de = NULL; - while ((de = readdir(d))) { - if (de->d_type == DT_DIR) { - int pid = strtol(de->d_name, &p_end, 10); - if (p_end == (de->d_name + strlen(de->d_name))) { - ids.push_back(pid); - } - } - } - closedir(d); - return ids; -} - -// null-delimited cmdline arguments to vector -std::vector cmdline(std::istream &stream) { - std::vector ret; - std::string line; - while (std::getline(stream, line, '\0')) { - if (!line.empty()) { - ret.push_back(line); - } - } - return ret; -} - -const ProcCache &getProcExtraInfo(int pid, const std::string &name) { - static std::unordered_map proc_cache; - ProcCache &cache = proc_cache[pid]; - if (cache.pid != pid || cache.name != name) { - cache.pid = pid; - cache.name = name; - std::string proc_path = "/proc/" + std::to_string(pid); - cache.exe = util::readlink(proc_path + "/exe"); - std::ifstream stream(proc_path + "/cmdline"); - cache.cmdline = cmdline(stream); - } - return cache; -} - -} // namespace Parser - -const double jiffy = sysconf(_SC_CLK_TCK); -const size_t page_size = sysconf(_SC_PAGE_SIZE); - -void buildCPUTimes(cereal::ProcLog::Builder &builder) { - std::ifstream stream("/proc/stat"); - std::vector stats = Parser::cpuTimes(stream); - - auto log_cpu_times = builder.initCpuTimes(stats.size()); - for (int i = 0; i < stats.size(); ++i) { - auto l = log_cpu_times[i]; - const CPUTime &r = stats[i]; - l.setCpuNum(r.id); - l.setUser(r.utime / jiffy); - l.setNice(r.ntime / jiffy); - l.setSystem(r.stime / jiffy); - l.setIdle(r.itime / jiffy); - l.setIowait(r.iowtime / jiffy); - l.setIrq(r.irqtime / jiffy); - l.setSoftirq(r.sirqtime / jiffy); - } -} - -void buildMemInfo(cereal::ProcLog::Builder &builder) { - std::ifstream stream("/proc/meminfo"); - auto mem_info = Parser::memInfo(stream); - - auto mem = builder.initMem(); - mem.setTotal(mem_info["MemTotal:"]); - mem.setFree(mem_info["MemFree:"]); - mem.setAvailable(mem_info["MemAvailable:"]); - mem.setBuffers(mem_info["Buffers:"]); - mem.setCached(mem_info["Cached:"]); - mem.setActive(mem_info["Active:"]); - mem.setInactive(mem_info["Inactive:"]); - mem.setShared(mem_info["Shmem:"]); -} - -void buildProcs(cereal::ProcLog::Builder &builder) { - auto pids = Parser::pids(); - std::vector proc_stats; - proc_stats.reserve(pids.size()); - for (int pid : pids) { - std::string path = "/proc/" + std::to_string(pid) + "/stat"; - if (auto stat = Parser::procStat(util::read_file(path))) { - proc_stats.push_back(*stat); - } - } - - auto procs = builder.initProcs(proc_stats.size()); - for (size_t i = 0; i < proc_stats.size(); i++) { - auto l = procs[i]; - const ProcStat &r = proc_stats[i]; - l.setPid(r.pid); - l.setState(r.state); - l.setPpid(r.ppid); - l.setCpuUser(r.utime / jiffy); - l.setCpuSystem(r.stime / jiffy); - l.setCpuChildrenUser(r.cutime / jiffy); - l.setCpuChildrenSystem(r.cstime / jiffy); - l.setPriority(r.priority); - l.setNice(r.nice); - l.setNumThreads(r.num_threads); - l.setStartTime(r.starttime / jiffy); - l.setMemVms(r.vms); - l.setMemRss((uint64_t)r.rss * page_size); - l.setProcessor(r.processor); - l.setName(r.name); - - const ProcCache &extra_info = Parser::getProcExtraInfo(r.pid, r.name); - l.setExe(extra_info.exe); - auto lcmdline = l.initCmdline(extra_info.cmdline.size()); - for (size_t j = 0; j < lcmdline.size(); j++) { - lcmdline.set(j, extra_info.cmdline[j]); - } - } -} - -void buildProcLogMessage(MessageBuilder &msg) { - auto procLog = msg.initEvent().initProcLog(); - buildProcs(procLog); - buildCPUTimes(procLog); - buildMemInfo(procLog); -} diff --git a/system/proclogd/proclog.h b/system/proclogd/proclog.h deleted file mode 100644 index 49f97cdd36bed7..00000000000000 --- a/system/proclogd/proclog.h +++ /dev/null @@ -1,40 +0,0 @@ -#include -#include -#include -#include - -#include "cereal/messaging/messaging.h" - -struct CPUTime { - int id; - unsigned long utime, ntime, stime, itime; - unsigned long iowtime, irqtime, sirqtime; -}; - -struct ProcCache { - int pid; - std::string name, exe; - std::vector cmdline; -}; - -struct ProcStat { - int pid, ppid, processor; - char state; - long cutime, cstime, priority, nice, num_threads, rss; - unsigned long utime, stime, vms; - unsigned long long starttime; - std::string name; -}; - -namespace Parser { - -std::vector pids(); -std::optional procStat(std::string stat); -std::vector cmdline(std::istream &stream); -std::vector cpuTimes(std::istream &stream); -std::unordered_map memInfo(std::istream &stream); -const ProcCache &getProcExtraInfo(int pid, const std::string &name); - -}; // namespace Parser - -void buildProcLogMessage(MessageBuilder &msg); diff --git a/system/proclogd/proclogd b/system/proclogd/proclogd new file mode 100755 index 00000000000000..a29c3d1170a9e5 Binary files /dev/null and b/system/proclogd/proclogd differ diff --git a/system/proclogd/tests/.gitignore b/system/proclogd/tests/.gitignore deleted file mode 100644 index 5230b1598dfbd2..00000000000000 --- a/system/proclogd/tests/.gitignore +++ /dev/null @@ -1 +0,0 @@ -test_proclog diff --git a/system/proclogd/tests/test_proclog.cc b/system/proclogd/tests/test_proclog.cc deleted file mode 100644 index b86229a4996cd1..00000000000000 --- a/system/proclogd/tests/test_proclog.cc +++ /dev/null @@ -1,142 +0,0 @@ -#define CATCH_CONFIG_MAIN -#include "catch2/catch.hpp" -#include "common/util.h" -#include "system/proclogd/proclog.h" - -const std::string allowed_states = "RSDTZtWXxKWPI"; - -TEST_CASE("Parser::procStat") { - SECTION("from string") { - const std::string stat_str = - "33012 (code )) S 32978 6620 6620 0 -1 4194368 2042377 0 144 0 24510 11627 0 " - "0 20 0 39 0 53077 830029824 62214 18446744073709551615 94257242783744 94257366235808 " - "140735738643248 0 0 0 0 4098 1073808632 0 0 0 17 2 0 0 2 0 0 94257370858656 94257371248232 " - "94257404952576 140735738648768 140735738648823 140735738648823 140735738650595 0"; - auto stat = Parser::procStat(stat_str); - REQUIRE(stat); - REQUIRE(stat->pid == 33012); - REQUIRE(stat->name == "code )"); - REQUIRE(stat->state == 'S'); - REQUIRE(stat->ppid == 32978); - REQUIRE(stat->utime == 24510); - REQUIRE(stat->stime == 11627); - REQUIRE(stat->cutime == 0); - REQUIRE(stat->cstime == 0); - REQUIRE(stat->priority == 20); - REQUIRE(stat->nice == 0); - REQUIRE(stat->num_threads == 39); - REQUIRE(stat->starttime == 53077); - REQUIRE(stat->vms == 830029824); - REQUIRE(stat->rss == 62214); - REQUIRE(stat->processor == 2); - } - SECTION("all processes") { - std::vector pids = Parser::pids(); - REQUIRE(pids.size() > 1); - for (int pid : pids) { - std::string stat_path = "/proc/" + std::to_string(pid) + "/stat"; - INFO(stat_path); - if (auto stat = Parser::procStat(util::read_file(stat_path))) { - REQUIRE(stat->pid == pid); - REQUIRE(allowed_states.find(stat->state) != std::string::npos); - } else { - REQUIRE(util::file_exists(stat_path) == false); - } - } - } -} - -TEST_CASE("Parser::cpuTimes") { - SECTION("from string") { - std::string stat = - "cpu 0 0 0 0 0 0 0 0 0 0\n" - "cpu0 1 2 3 4 5 6 7 8 9 10\n" - "cpu1 1 2 3 4 5 6 7 8 9 10\n"; - std::istringstream stream(stat); - auto stats = Parser::cpuTimes(stream); - REQUIRE(stats.size() == 2); - for (int i = 0; i < stats.size(); ++i) { - REQUIRE(stats[i].id == i); - REQUIRE(stats[i].utime == 1); - REQUIRE(stats[i].ntime ==2); - REQUIRE(stats[i].stime == 3); - REQUIRE(stats[i].itime == 4); - REQUIRE(stats[i].iowtime == 5); - REQUIRE(stats[i].irqtime == 6); - REQUIRE(stats[i].sirqtime == 7); - } - } - SECTION("all cpus") { - std::istringstream stream(util::read_file("/proc/stat")); - auto stats = Parser::cpuTimes(stream); - REQUIRE(stats.size() == sysconf(_SC_NPROCESSORS_ONLN)); - for (int i = 0; i < stats.size(); ++i) { - REQUIRE(stats[i].id == i); - } - } -} - -TEST_CASE("Parser::memInfo") { - SECTION("from string") { - std::istringstream stream("MemTotal: 1024 kb\nMemFree: 2048 kb\n"); - auto meminfo = Parser::memInfo(stream); - REQUIRE(meminfo["MemTotal:"] == 1024 * 1024); - REQUIRE(meminfo["MemFree:"] == 2048 * 1024); - } - SECTION("from /proc/meminfo") { - std::string require_keys[] = {"MemTotal:", "MemFree:", "MemAvailable:", "Buffers:", "Cached:", "Active:", "Inactive:", "Shmem:"}; - std::istringstream stream(util::read_file("/proc/meminfo")); - auto meminfo = Parser::memInfo(stream); - for (auto &key : require_keys) { - REQUIRE(meminfo.find(key) != meminfo.end()); - REQUIRE(meminfo[key] > 0); - } - } -} - -void test_cmdline(std::string cmdline, const std::vector requires) { - std::stringstream ss; - ss.write(&cmdline[0], cmdline.size()); - auto cmds = Parser::cmdline(ss); - REQUIRE(cmds.size() == requires.size()); - for (int i = 0; i < requires.size(); ++i) { - REQUIRE(cmds[i] == requires[i]); - } -} -TEST_CASE("Parser::cmdline") { - test_cmdline(std::string("a\0b\0c\0", 7), {"a", "b", "c"}); - test_cmdline(std::string("a\0\0c\0", 6), {"a", "c"}); - test_cmdline(std::string("a\0b\0c\0\0\0", 9), {"a", "b", "c"}); -} - -TEST_CASE("buildProcLoggerMessage") { - MessageBuilder msg; - buildProcLogMessage(msg); - - kj::Array buf = capnp::messageToFlatArray(msg); - capnp::FlatArrayMessageReader reader(buf); - auto log = reader.getRoot().getProcLog(); - REQUIRE(log.totalSize().wordCount > 0); - - // test cereal::ProcLog::CPUTimes - auto cpu_times = log.getCpuTimes(); - REQUIRE(cpu_times.size() == sysconf(_SC_NPROCESSORS_ONLN)); - REQUIRE(cpu_times[cpu_times.size() - 1].getCpuNum() == cpu_times.size() - 1); - - // test cereal::ProcLog::Mem - auto mem = log.getMem(); - REQUIRE(mem.getTotal() > 0); - REQUIRE(mem.getShared() > 0); - - // test cereal::ProcLog::Process - auto procs = log.getProcs(); - for (auto p : procs) { - REQUIRE(allowed_states.find(p.getState()) != std::string::npos); - if (p.getPid() == ::getpid()) { - REQUIRE(p.getName() == "test_proclog"); - REQUIRE(p.getState() == 'R'); - REQUIRE_THAT(p.getExe().cStr(), Catch::Matchers::Contains("test_proclog")); - REQUIRE_THAT(p.getCmdline()[0], Catch::Matchers::Contains("test_proclog")); - } - } -} diff --git a/system/qcomgpsd/tests/test_qcomgpsd.py b/system/qcomgpsd/tests/test_qcomgpsd.py deleted file mode 100644 index ef23737dd7e68c..00000000000000 --- a/system/qcomgpsd/tests/test_qcomgpsd.py +++ /dev/null @@ -1,119 +0,0 @@ -import os -import pytest -import json -import time -import datetime -import subprocess - -import cereal.messaging as messaging -from openpilot.system.qcomgpsd.qcomgpsd import at_cmd, wait_for_modem -from openpilot.system.manager.process_config import managed_processes - -GOOD_SIGNAL = bool(int(os.getenv("GOOD_SIGNAL", '0'))) - - -@pytest.mark.tici -class TestRawgpsd: - @classmethod - def setup_class(cls): - os.system("sudo systemctl start systemd-resolved") - os.system("sudo systemctl restart ModemManager lte") - wait_for_modem() - - @classmethod - def teardown_class(cls): - managed_processes['qcomgpsd'].stop() - os.system("sudo systemctl restart systemd-resolved") - os.system("sudo systemctl restart ModemManager lte") - - def setup_method(self): - at_cmd("AT+QGPSDEL=0") - self.sm = messaging.SubMaster(['qcomGnss', 'gpsLocation', 'gnssMeasurements']) - - def teardown_method(self): - managed_processes['qcomgpsd'].stop() - os.system("sudo systemctl restart systemd-resolved") - - def _wait_for_output(self, t): - dt = 0.1 - for _ in range(t*int(1/dt)): - self.sm.update(0) - if self.sm.updated['qcomGnss']: - break - time.sleep(dt) - return self.sm.updated['qcomGnss'] - - def test_no_crash_double_command(self): - at_cmd("AT+QGPSDEL=0") - at_cmd("AT+QGPSDEL=0") - - def test_wait_for_modem(self): - os.system("sudo systemctl stop ModemManager") - managed_processes['qcomgpsd'].start() - assert not self._wait_for_output(5) - - os.system("sudo systemctl restart ModemManager") - assert self._wait_for_output(30) - - def test_startup_time(self, subtests): - for internet in (True, False): - if not internet: - os.system("sudo systemctl stop systemd-resolved") - with subtests.test(internet=internet): - managed_processes['qcomgpsd'].start() - assert self._wait_for_output(7) - managed_processes['qcomgpsd'].stop() - - def test_turns_off_gnss(self, subtests): - for s in (0.1, 1, 5): - with subtests.test(runtime=s): - managed_processes['qcomgpsd'].start() - time.sleep(s) - managed_processes['qcomgpsd'].stop() - - ls = subprocess.check_output("mmcli -m any --location-status --output-json", shell=True, encoding='utf-8') - loc_status = json.loads(ls) - assert set(loc_status['modem']['location']['enabled']) <= {'3gpp-lac-ci'} - - - def check_assistance(self, should_be_loaded): - # after QGPSDEL: '+QGPSXTRADATA: 0,"1980/01/05,19:00:00"' - # after loading: '+QGPSXTRADATA: 10080,"2023/06/24,19:00:00"' - out = at_cmd("AT+QGPSXTRADATA?") - out = out.split("+QGPSXTRADATA:")[1].split("'")[0].strip() - valid_duration, injected_time_str = out.split(",", 1) - if should_be_loaded: - assert valid_duration == "10080" # should be max time - injected_time = datetime.datetime.strptime(injected_time_str.replace("\"", ""), "%Y/%m/%d,%H:%M:%S") - assert abs((datetime.datetime.utcnow() - injected_time).total_seconds()) < 60*60*12 - else: - valid_duration, injected_time_str = out.split(",", 1) - injected_time_str = injected_time_str.replace('\"', '').replace('\'', '') - assert injected_time_str[:] == '1980/01/05,19:00:00'[:] - assert valid_duration == '0' - - def test_assistance_loading(self): - managed_processes['qcomgpsd'].start() - assert self._wait_for_output(10) - managed_processes['qcomgpsd'].stop() - self.check_assistance(True) - - def test_no_assistance_loading(self): - os.system("sudo systemctl stop systemd-resolved") - - managed_processes['qcomgpsd'].start() - assert self._wait_for_output(10) - managed_processes['qcomgpsd'].stop() - self.check_assistance(False) - - def test_late_assistance_loading(self): - os.system("sudo systemctl stop systemd-resolved") - - managed_processes['qcomgpsd'].start() - self._wait_for_output(17) - assert self.sm.updated['qcomGnss'] - - os.system("sudo systemctl restart systemd-resolved") - time.sleep(15) - managed_processes['qcomgpsd'].stop() - self.check_assistance(True) diff --git a/system/sensord/sensord b/system/sensord/sensord new file mode 100755 index 00000000000000..4ba94c989e7faa Binary files /dev/null and b/system/sensord/sensord differ diff --git a/system/sensord/sensors/bmx055_accel.cc b/system/sensord/sensors/bmx055_accel.cc deleted file mode 100644 index bdb0113de3e14c..00000000000000 --- a/system/sensord/sensors/bmx055_accel.cc +++ /dev/null @@ -1,78 +0,0 @@ -#include "system/sensord/sensors/bmx055_accel.h" - -#include - -#include "common/swaglog.h" -#include "common/timing.h" -#include "common/util.h" - -BMX055_Accel::BMX055_Accel(I2CBus *bus) : I2CSensor(bus) {} - -int BMX055_Accel::init() { - int ret = verify_chip_id(BMX055_ACCEL_I2C_REG_ID, {BMX055_ACCEL_CHIP_ID}); - if (ret == -1) return -1; - - ret = set_register(BMX055_ACCEL_I2C_REG_PMU, BMX055_ACCEL_NORMAL_MODE); - if (ret < 0) { - goto fail; - } - // bmx055 accel has a 1.3ms wakeup time from deep suspend mode - util::sleep_for(10); - - // High bandwidth - // ret = set_register(BMX055_ACCEL_I2C_REG_HBW, BMX055_ACCEL_HBW_ENABLE); - // if (ret < 0) { - // goto fail; - // } - - // Low bandwidth - ret = set_register(BMX055_ACCEL_I2C_REG_HBW, BMX055_ACCEL_HBW_DISABLE); - if (ret < 0) { - goto fail; - } - - ret = set_register(BMX055_ACCEL_I2C_REG_BW, BMX055_ACCEL_BW_125HZ); - if (ret < 0) { - goto fail; - } - -fail: - return ret; -} - -int BMX055_Accel::shutdown() { - // enter deep suspend mode (lowest power mode) - int ret = set_register(BMX055_ACCEL_I2C_REG_PMU, BMX055_ACCEL_DEEP_SUSPEND); - if (ret < 0) { - LOGE("Could not move BMX055 ACCEL in deep suspend mode!"); - } - - return ret; -} - -bool BMX055_Accel::get_event(MessageBuilder &msg, uint64_t ts) { - uint64_t start_time = nanos_since_boot(); - uint8_t buffer[6]; - int len = read_register(BMX055_ACCEL_I2C_REG_X_LSB, buffer, sizeof(buffer)); - assert(len == 6); - - // 12 bit = +-2g - float scale = 9.81 * 2.0f / (1 << 11); - float x = -read_12_bit(buffer[0], buffer[1]) * scale; - float y = -read_12_bit(buffer[2], buffer[3]) * scale; - float z = read_12_bit(buffer[4], buffer[5]) * scale; - - auto event = msg.initEvent().initAccelerometer2(); - event.setSource(cereal::SensorEventData::SensorSource::BMX055); - event.setVersion(1); - event.setSensor(SENSOR_ACCELEROMETER); - event.setType(SENSOR_TYPE_ACCELEROMETER); - event.setTimestamp(start_time); - - float xyz[] = {x, y, z}; - auto svec = event.initAcceleration(); - svec.setV(xyz); - svec.setStatus(true); - - return true; -} diff --git a/system/sensord/sensors/bmx055_accel.h b/system/sensord/sensors/bmx055_accel.h deleted file mode 100644 index 2cc316e992521b..00000000000000 --- a/system/sensord/sensors/bmx055_accel.h +++ /dev/null @@ -1,41 +0,0 @@ -#pragma once - -#include "system/sensord/sensors/i2c_sensor.h" - -// Address of the chip on the bus -#define BMX055_ACCEL_I2C_ADDR 0x18 - -// Registers of the chip -#define BMX055_ACCEL_I2C_REG_ID 0x00 -#define BMX055_ACCEL_I2C_REG_X_LSB 0x02 -#define BMX055_ACCEL_I2C_REG_TEMP 0x08 -#define BMX055_ACCEL_I2C_REG_BW 0x10 -#define BMX055_ACCEL_I2C_REG_PMU 0x11 -#define BMX055_ACCEL_I2C_REG_HBW 0x13 -#define BMX055_ACCEL_I2C_REG_FIFO 0x3F - -// Constants -#define BMX055_ACCEL_CHIP_ID 0xFA - -#define BMX055_ACCEL_HBW_ENABLE 0b10000000 -#define BMX055_ACCEL_HBW_DISABLE 0b00000000 -#define BMX055_ACCEL_DEEP_SUSPEND 0b00100000 -#define BMX055_ACCEL_NORMAL_MODE 0b00000000 - -#define BMX055_ACCEL_BW_7_81HZ 0b01000 -#define BMX055_ACCEL_BW_15_63HZ 0b01001 -#define BMX055_ACCEL_BW_31_25HZ 0b01010 -#define BMX055_ACCEL_BW_62_5HZ 0b01011 -#define BMX055_ACCEL_BW_125HZ 0b01100 -#define BMX055_ACCEL_BW_250HZ 0b01101 -#define BMX055_ACCEL_BW_500HZ 0b01110 -#define BMX055_ACCEL_BW_1000HZ 0b01111 - -class BMX055_Accel : public I2CSensor { - uint8_t get_device_address() {return BMX055_ACCEL_I2C_ADDR;} -public: - BMX055_Accel(I2CBus *bus); - int init(); - bool get_event(MessageBuilder &msg, uint64_t ts = 0); - int shutdown(); -}; diff --git a/system/sensord/sensors/bmx055_gyro.cc b/system/sensord/sensors/bmx055_gyro.cc deleted file mode 100644 index 411b2f445e25d5..00000000000000 --- a/system/sensord/sensors/bmx055_gyro.cc +++ /dev/null @@ -1,88 +0,0 @@ -#include "system/sensord/sensors/bmx055_gyro.h" - -#include -#include - -#include "common/swaglog.h" -#include "common/util.h" - -#define DEG2RAD(x) ((x) * M_PI / 180.0) - - -BMX055_Gyro::BMX055_Gyro(I2CBus *bus) : I2CSensor(bus) {} - -int BMX055_Gyro::init() { - int ret = verify_chip_id(BMX055_GYRO_I2C_REG_ID, {BMX055_GYRO_CHIP_ID}); - if (ret == -1) return -1; - - ret = set_register(BMX055_GYRO_I2C_REG_LPM1, BMX055_GYRO_NORMAL_MODE); - if (ret < 0) { - goto fail; - } - // bmx055 gyro has a 30ms wakeup time from deep suspend mode - util::sleep_for(50); - - // High bandwidth - // ret = set_register(BMX055_GYRO_I2C_REG_HBW, BMX055_GYRO_HBW_ENABLE); - // if (ret < 0) { - // goto fail; - // } - - // Low bandwidth - ret = set_register(BMX055_GYRO_I2C_REG_HBW, BMX055_GYRO_HBW_DISABLE); - if (ret < 0) { - goto fail; - } - - // 116 Hz filter - ret = set_register(BMX055_GYRO_I2C_REG_BW, BMX055_GYRO_BW_116HZ); - if (ret < 0) { - goto fail; - } - - // +- 125 deg/s range - ret = set_register(BMX055_GYRO_I2C_REG_RANGE, BMX055_GYRO_RANGE_125); - if (ret < 0) { - goto fail; - } - -fail: - return ret; -} - -int BMX055_Gyro::shutdown() { - // enter deep suspend mode (lowest power mode) - int ret = set_register(BMX055_GYRO_I2C_REG_LPM1, BMX055_GYRO_DEEP_SUSPEND); - if (ret < 0) { - LOGE("Could not move BMX055 GYRO in deep suspend mode!"); - } - - return ret; -} - -bool BMX055_Gyro::get_event(MessageBuilder &msg, uint64_t ts) { - uint64_t start_time = nanos_since_boot(); - uint8_t buffer[6]; - int len = read_register(BMX055_GYRO_I2C_REG_RATE_X_LSB, buffer, sizeof(buffer)); - assert(len == 6); - - // 16 bit = +- 125 deg/s - float scale = 125.0f / (1 << 15); - float x = -DEG2RAD(read_16_bit(buffer[0], buffer[1]) * scale); - float y = -DEG2RAD(read_16_bit(buffer[2], buffer[3]) * scale); - float z = DEG2RAD(read_16_bit(buffer[4], buffer[5]) * scale); - - auto event = msg.initEvent().initGyroscope2(); - event.setSource(cereal::SensorEventData::SensorSource::BMX055); - event.setVersion(1); - event.setSensor(SENSOR_GYRO_UNCALIBRATED); - event.setType(SENSOR_TYPE_GYROSCOPE_UNCALIBRATED); - event.setTimestamp(start_time); - - float xyz[] = {x, y, z}; - auto svec = event.initGyroUncalibrated(); - svec.setV(xyz); - svec.setStatus(true); - - return true; -} diff --git a/system/sensord/sensors/bmx055_gyro.h b/system/sensord/sensors/bmx055_gyro.h deleted file mode 100644 index 7be3e56563c6be..00000000000000 --- a/system/sensord/sensors/bmx055_gyro.h +++ /dev/null @@ -1,41 +0,0 @@ -#pragma once - -#include "system/sensord/sensors/i2c_sensor.h" - -// Address of the chip on the bus -#define BMX055_GYRO_I2C_ADDR 0x68 - -// Registers of the chip -#define BMX055_GYRO_I2C_REG_ID 0x00 -#define BMX055_GYRO_I2C_REG_RATE_X_LSB 0x02 -#define BMX055_GYRO_I2C_REG_RANGE 0x0F -#define BMX055_GYRO_I2C_REG_BW 0x10 -#define BMX055_GYRO_I2C_REG_LPM1 0x11 -#define BMX055_GYRO_I2C_REG_HBW 0x13 -#define BMX055_GYRO_I2C_REG_FIFO 0x3F - -// Constants -#define BMX055_GYRO_CHIP_ID 0x0F - -#define BMX055_GYRO_HBW_ENABLE 0b10000000 -#define BMX055_GYRO_HBW_DISABLE 0b00000000 -#define BMX055_GYRO_DEEP_SUSPEND 0b00100000 -#define BMX055_GYRO_NORMAL_MODE 0b00000000 - -#define BMX055_GYRO_RANGE_2000 0b000 -#define BMX055_GYRO_RANGE_1000 0b001 -#define BMX055_GYRO_RANGE_500 0b010 -#define BMX055_GYRO_RANGE_250 0b011 -#define BMX055_GYRO_RANGE_125 0b100 - -#define BMX055_GYRO_BW_116HZ 0b0010 - - -class BMX055_Gyro : public I2CSensor { - uint8_t get_device_address() {return BMX055_GYRO_I2C_ADDR;} -public: - BMX055_Gyro(I2CBus *bus); - int init(); - bool get_event(MessageBuilder &msg, uint64_t ts = 0); - int shutdown(); -}; diff --git a/system/sensord/sensors/bmx055_magn.cc b/system/sensord/sensors/bmx055_magn.cc deleted file mode 100644 index 3d0d3d2fc600b4..00000000000000 --- a/system/sensord/sensors/bmx055_magn.cc +++ /dev/null @@ -1,256 +0,0 @@ -#include "system/sensord/sensors/bmx055_magn.h" - -#include - -#include -#include -#include - -#include "common/swaglog.h" -#include "common/util.h" - -static int16_t compensate_x(trim_data_t trim_data, int16_t mag_data_x, uint16_t data_rhall) { - uint16_t process_comp_x0 = data_rhall; - int32_t process_comp_x1 = ((int32_t)trim_data.dig_xyz1) * 16384; - uint16_t process_comp_x2 = ((uint16_t)(process_comp_x1 / process_comp_x0)) - ((uint16_t)0x4000); - int16_t retval = ((int16_t)process_comp_x2); - int32_t process_comp_x3 = (((int32_t)retval) * ((int32_t)retval)); - int32_t process_comp_x4 = (((int32_t)trim_data.dig_xy2) * (process_comp_x3 / 128)); - int32_t process_comp_x5 = (int32_t)(((int16_t)trim_data.dig_xy1) * 128); - int32_t process_comp_x6 = ((int32_t)retval) * process_comp_x5; - int32_t process_comp_x7 = (((process_comp_x4 + process_comp_x6) / 512) + ((int32_t)0x100000)); - int32_t process_comp_x8 = ((int32_t)(((int16_t)trim_data.dig_x2) + ((int16_t)0xA0))); - int32_t process_comp_x9 = ((process_comp_x7 * process_comp_x8) / 4096); - int32_t process_comp_x10 = ((int32_t)mag_data_x) * process_comp_x9; - retval = ((int16_t)(process_comp_x10 / 8192)); - retval = (retval + (((int16_t)trim_data.dig_x1) * 8)) / 16; - - return retval; -} - -static int16_t compensate_y(trim_data_t trim_data, int16_t mag_data_y, uint16_t data_rhall) { - uint16_t process_comp_y0 = trim_data.dig_xyz1; - int32_t process_comp_y1 = (((int32_t)trim_data.dig_xyz1) * 16384) / process_comp_y0; - uint16_t process_comp_y2 = ((uint16_t)process_comp_y1) - ((uint16_t)0x4000); - int16_t retval = ((int16_t)process_comp_y2); - int32_t process_comp_y3 = ((int32_t) retval) * ((int32_t)retval); - int32_t process_comp_y4 = ((int32_t)trim_data.dig_xy2) * (process_comp_y3 / 128); - int32_t process_comp_y5 = ((int32_t)(((int16_t)trim_data.dig_xy1) * 128)); - int32_t process_comp_y6 = ((process_comp_y4 + (((int32_t)retval) * process_comp_y5)) / 512); - int32_t process_comp_y7 = ((int32_t)(((int16_t)trim_data.dig_y2) + ((int16_t)0xA0))); - int32_t process_comp_y8 = (((process_comp_y6 + ((int32_t)0x100000)) * process_comp_y7) / 4096); - int32_t process_comp_y9 = (((int32_t)mag_data_y) * process_comp_y8); - retval = (int16_t)(process_comp_y9 / 8192); - retval = (retval + (((int16_t)trim_data.dig_y1) * 8)) / 16; - - return retval; -} - -static int16_t compensate_z(trim_data_t trim_data, int16_t mag_data_z, uint16_t data_rhall) { - int16_t process_comp_z0 = ((int16_t)data_rhall) - ((int16_t) trim_data.dig_xyz1); - int32_t process_comp_z1 = (((int32_t)trim_data.dig_z3) * ((int32_t)(process_comp_z0))) / 4; - int32_t process_comp_z2 = (((int32_t)(mag_data_z - trim_data.dig_z4)) * 32768); - int32_t process_comp_z3 = ((int32_t)trim_data.dig_z1) * (((int16_t)data_rhall) * 2); - int16_t process_comp_z4 = (int16_t)((process_comp_z3 + (32768)) / 65536); - int32_t retval = ((process_comp_z2 - process_comp_z1) / (trim_data.dig_z2 + process_comp_z4)); - - /* saturate result to +/- 2 micro-tesla */ - retval = std::clamp(retval, -32767, 32767); - - /* Conversion of LSB to micro-tesla*/ - retval = retval / 16; - - return (int16_t)retval; -} - -BMX055_Magn::BMX055_Magn(I2CBus *bus) : I2CSensor(bus) {} - -int BMX055_Magn::init() { - uint8_t trim_x1y1[2] = {0}; - uint8_t trim_x2y2[2] = {0}; - uint8_t trim_xy1xy2[2] = {0}; - uint8_t trim_z1[2] = {0}; - uint8_t trim_z2[2] = {0}; - uint8_t trim_z3[2] = {0}; - uint8_t trim_z4[2] = {0}; - uint8_t trim_xyz1[2] = {0}; - - // suspend -> sleep - int ret = set_register(BMX055_MAGN_I2C_REG_PWR_0, 0x01); - if (ret < 0) { - LOGE("Enabling power failed: %d", ret); - goto fail; - } - util::sleep_for(5); // wait until the chip is powered on - - ret = verify_chip_id(BMX055_MAGN_I2C_REG_ID, {BMX055_MAGN_CHIP_ID}); - if (ret == -1) { - goto fail; - } - - // Load magnetometer trim - ret = read_register(BMX055_MAGN_I2C_REG_DIG_X1, trim_x1y1, 2); - if (ret < 0) goto fail; - ret = read_register(BMX055_MAGN_I2C_REG_DIG_X2, trim_x2y2, 2); - if (ret < 0) goto fail; - ret = read_register(BMX055_MAGN_I2C_REG_DIG_XY2, trim_xy1xy2, 2); - if (ret < 0) goto fail; - ret = read_register(BMX055_MAGN_I2C_REG_DIG_Z1_LSB, trim_z1, 2); - if (ret < 0) goto fail; - ret = read_register(BMX055_MAGN_I2C_REG_DIG_Z2_LSB, trim_z2, 2); - if (ret < 0) goto fail; - ret = read_register(BMX055_MAGN_I2C_REG_DIG_Z3_LSB, trim_z3, 2); - if (ret < 0) goto fail; - ret = read_register(BMX055_MAGN_I2C_REG_DIG_Z4_LSB, trim_z4, 2); - if (ret < 0) goto fail; - ret = read_register(BMX055_MAGN_I2C_REG_DIG_XYZ1_LSB, trim_xyz1, 2); - if (ret < 0) goto fail; - - // Read trim data - trim_data.dig_x1 = trim_x1y1[0]; - trim_data.dig_y1 = trim_x1y1[1]; - - trim_data.dig_x2 = trim_x2y2[0]; - trim_data.dig_y2 = trim_x2y2[1]; - - trim_data.dig_xy1 = trim_xy1xy2[1]; // NB: MSB/LSB swapped - trim_data.dig_xy2 = trim_xy1xy2[0]; - - trim_data.dig_z1 = read_16_bit(trim_z1[0], trim_z1[1]); - trim_data.dig_z2 = read_16_bit(trim_z2[0], trim_z2[1]); - trim_data.dig_z3 = read_16_bit(trim_z3[0], trim_z3[1]); - trim_data.dig_z4 = read_16_bit(trim_z4[0], trim_z4[1]); - - trim_data.dig_xyz1 = read_16_bit(trim_xyz1[0], trim_xyz1[1] & 0x7f); - assert(trim_data.dig_xyz1 != 0); - - perform_self_test(); - - // f_max = 1 / (145us * nXY + 500us * NZ + 980us) - // Chose NXY = 7, NZ = 12, which gives 125 Hz, - // and has the same ratio as the high accuracy preset - ret = set_register(BMX055_MAGN_I2C_REG_REPXY, (7 - 1) / 2); - if (ret < 0) { - goto fail; - } - - ret = set_register(BMX055_MAGN_I2C_REG_REPZ, 12 - 1); - if (ret < 0) { - goto fail; - } - - - return 0; - - fail: - return ret; -} - -int BMX055_Magn::shutdown() { - // move to suspend mode - int ret = set_register(BMX055_MAGN_I2C_REG_PWR_0, 0); - if (ret < 0) { - LOGE("Could not move BMX055 MAGN in suspend mode!"); - } - - return ret; -} - -bool BMX055_Magn::perform_self_test() { - uint8_t buffer[8]; - int16_t x, y; - int16_t neg_z, pos_z; - - // Increase z reps for less false positives (~30 Hz ODR) - set_register(BMX055_MAGN_I2C_REG_REPXY, 1); - set_register(BMX055_MAGN_I2C_REG_REPZ, 64 - 1); - - // Clean existing measurement - read_register(BMX055_MAGN_I2C_REG_DATAX_LSB, buffer, sizeof(buffer)); - - uint8_t forced = BMX055_MAGN_FORCED; - - // Negative current - set_register(BMX055_MAGN_I2C_REG_MAG, forced | (uint8_t(0b10) << 6)); - util::sleep_for(100); - - read_register(BMX055_MAGN_I2C_REG_DATAX_LSB, buffer, sizeof(buffer)); - parse_xyz(buffer, &x, &y, &neg_z); - - // Positive current - set_register(BMX055_MAGN_I2C_REG_MAG, forced | (uint8_t(0b11) << 6)); - util::sleep_for(100); - - read_register(BMX055_MAGN_I2C_REG_DATAX_LSB, buffer, sizeof(buffer)); - parse_xyz(buffer, &x, &y, &pos_z); - - // Put back in normal mode - set_register(BMX055_MAGN_I2C_REG_MAG, 0); - - int16_t diff = pos_z - neg_z; - bool passed = (diff > 180) && (diff < 240); - - if (!passed) { - LOGE("self test failed: neg %d pos %d diff %d", neg_z, pos_z, diff); - } - - return passed; -} - -bool BMX055_Magn::parse_xyz(uint8_t buffer[8], int16_t *x, int16_t *y, int16_t *z) { - bool ready = buffer[6] & 0x1; - if (ready) { - int16_t mdata_x = (int16_t) (((int16_t)buffer[1] << 8) | buffer[0]) >> 3; - int16_t mdata_y = (int16_t) (((int16_t)buffer[3] << 8) | buffer[2]) >> 3; - int16_t mdata_z = (int16_t) (((int16_t)buffer[5] << 8) | buffer[4]) >> 1; - uint16_t data_r = (uint16_t) (((uint16_t)buffer[7] << 8) | buffer[6]) >> 2; - assert(data_r != 0); - - *x = compensate_x(trim_data, mdata_x, data_r); - *y = compensate_y(trim_data, mdata_y, data_r); - *z = compensate_z(trim_data, mdata_z, data_r); - } - return ready; -} - - -bool BMX055_Magn::get_event(MessageBuilder &msg, uint64_t ts) { - uint64_t start_time = nanos_since_boot(); - uint8_t buffer[8]; - int16_t _x, _y, x, y, z; - - int len = read_register(BMX055_MAGN_I2C_REG_DATAX_LSB, buffer, sizeof(buffer)); - assert(len == sizeof(buffer)); - - bool parsed = parse_xyz(buffer, &_x, &_y, &z); - if (parsed) { - - auto event = msg.initEvent().initMagnetometer(); - event.setSource(cereal::SensorEventData::SensorSource::BMX055); - event.setVersion(2); - event.setSensor(SENSOR_MAGNETOMETER_UNCALIBRATED); - event.setType(SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED); - event.setTimestamp(start_time); - - // Move magnetometer into same reference frame as accel/gryo - x = -_y; - y = _x; - - // Axis convention - x = -x; - y = -y; - - float xyz[] = {(float)x, (float)y, (float)z}; - auto svec = event.initMagneticUncalibrated(); - svec.setV(xyz); - svec.setStatus(true); - } - - // The BMX055 Magnetometer has no FIFO mode. Self running mode only goes - // up to 30 Hz. Therefore we put in forced mode, and request measurements - // at a 100 Hz. When reading the registers we have to check the ready bit - // To verify the measurement was completed this cycle. - set_register(BMX055_MAGN_I2C_REG_MAG, BMX055_MAGN_FORCED); - - return parsed; -} diff --git a/system/sensord/sensors/bmx055_magn.h b/system/sensord/sensors/bmx055_magn.h deleted file mode 100644 index 15c4e734b9c691..00000000000000 --- a/system/sensord/sensors/bmx055_magn.h +++ /dev/null @@ -1,64 +0,0 @@ -#pragma once -#include - -#include "system/sensord/sensors/i2c_sensor.h" - -// Address of the chip on the bus -#define BMX055_MAGN_I2C_ADDR 0x10 - -// Registers of the chip -#define BMX055_MAGN_I2C_REG_ID 0x40 -#define BMX055_MAGN_I2C_REG_PWR_0 0x4B -#define BMX055_MAGN_I2C_REG_MAG 0x4C -#define BMX055_MAGN_I2C_REG_DATAX_LSB 0x42 -#define BMX055_MAGN_I2C_REG_RHALL_LSB 0x48 -#define BMX055_MAGN_I2C_REG_REPXY 0x51 -#define BMX055_MAGN_I2C_REG_REPZ 0x52 - -#define BMX055_MAGN_I2C_REG_DIG_X1 0x5D -#define BMX055_MAGN_I2C_REG_DIG_Y1 0x5E -#define BMX055_MAGN_I2C_REG_DIG_Z4_LSB 0x62 -#define BMX055_MAGN_I2C_REG_DIG_Z4_MSB 0x63 -#define BMX055_MAGN_I2C_REG_DIG_X2 0x64 -#define BMX055_MAGN_I2C_REG_DIG_Y2 0x65 -#define BMX055_MAGN_I2C_REG_DIG_Z2_LSB 0x68 -#define BMX055_MAGN_I2C_REG_DIG_Z2_MSB 0x69 -#define BMX055_MAGN_I2C_REG_DIG_Z1_LSB 0x6A -#define BMX055_MAGN_I2C_REG_DIG_Z1_MSB 0x6B -#define BMX055_MAGN_I2C_REG_DIG_XYZ1_LSB 0x6C -#define BMX055_MAGN_I2C_REG_DIG_XYZ1_MSB 0x6D -#define BMX055_MAGN_I2C_REG_DIG_Z3_LSB 0x6E -#define BMX055_MAGN_I2C_REG_DIG_Z3_MSB 0x6F -#define BMX055_MAGN_I2C_REG_DIG_XY2 0x70 -#define BMX055_MAGN_I2C_REG_DIG_XY1 0x71 - -// Constants -#define BMX055_MAGN_CHIP_ID 0x32 -#define BMX055_MAGN_FORCED (0b01 << 1) - -struct trim_data_t { - int8_t dig_x1; - int8_t dig_y1; - int8_t dig_x2; - int8_t dig_y2; - uint16_t dig_z1; - int16_t dig_z2; - int16_t dig_z3; - int16_t dig_z4; - uint8_t dig_xy1; - int8_t dig_xy2; - uint16_t dig_xyz1; -}; - - -class BMX055_Magn : public I2CSensor{ - uint8_t get_device_address() {return BMX055_MAGN_I2C_ADDR;} - trim_data_t trim_data = {0}; - bool perform_self_test(); - bool parse_xyz(uint8_t buffer[8], int16_t *x, int16_t *y, int16_t *z); -public: - BMX055_Magn(I2CBus *bus); - int init(); - bool get_event(MessageBuilder &msg, uint64_t ts = 0); - int shutdown(); -}; diff --git a/system/sensord/sensors/bmx055_temp.cc b/system/sensord/sensors/bmx055_temp.cc deleted file mode 100644 index da7b86476cfa7c..00000000000000 --- a/system/sensord/sensors/bmx055_temp.cc +++ /dev/null @@ -1,31 +0,0 @@ -#include "system/sensord/sensors/bmx055_temp.h" - -#include - -#include "system/sensord/sensors/bmx055_accel.h" -#include "common/swaglog.h" -#include "common/timing.h" - -BMX055_Temp::BMX055_Temp(I2CBus *bus) : I2CSensor(bus) {} - -int BMX055_Temp::init() { - return verify_chip_id(BMX055_ACCEL_I2C_REG_ID, {BMX055_ACCEL_CHIP_ID}) == -1 ? -1 : 0; -} - -bool BMX055_Temp::get_event(MessageBuilder &msg, uint64_t ts) { - uint64_t start_time = nanos_since_boot(); - uint8_t buffer[1]; - int len = read_register(BMX055_ACCEL_I2C_REG_TEMP, buffer, sizeof(buffer)); - assert(len == sizeof(buffer)); - - float temp = 23.0f + int8_t(buffer[0]) / 2.0f; - - auto event = msg.initEvent().initTemperatureSensor(); - event.setSource(cereal::SensorEventData::SensorSource::BMX055); - event.setVersion(1); - event.setType(SENSOR_TYPE_AMBIENT_TEMPERATURE); - event.setTimestamp(start_time); - event.setTemperature(temp); - - return true; -} diff --git a/system/sensord/sensors/bmx055_temp.h b/system/sensord/sensors/bmx055_temp.h deleted file mode 100644 index a2eabae395c4b1..00000000000000 --- a/system/sensord/sensors/bmx055_temp.h +++ /dev/null @@ -1,13 +0,0 @@ -#pragma once - -#include "system/sensord/sensors/bmx055_accel.h" -#include "system/sensord/sensors/i2c_sensor.h" - -class BMX055_Temp : public I2CSensor { - uint8_t get_device_address() {return BMX055_ACCEL_I2C_ADDR;} -public: - BMX055_Temp(I2CBus *bus); - int init(); - bool get_event(MessageBuilder &msg, uint64_t ts = 0); - int shutdown() { return 0; } -}; diff --git a/system/sensord/sensors/constants.h b/system/sensord/sensors/constants.h deleted file mode 100644 index c216f838a5ab0e..00000000000000 --- a/system/sensord/sensors/constants.h +++ /dev/null @@ -1,18 +0,0 @@ -#pragma once - - -#define SENSOR_ACCELEROMETER 1 -#define SENSOR_MAGNETOMETER 2 -#define SENSOR_MAGNETOMETER_UNCALIBRATED 3 -#define SENSOR_GYRO 4 -#define SENSOR_GYRO_UNCALIBRATED 5 -#define SENSOR_LIGHT 7 - -#define SENSOR_TYPE_ACCELEROMETER 1 -#define SENSOR_TYPE_GEOMAGNETIC_FIELD 2 -#define SENSOR_TYPE_GYROSCOPE 4 -#define SENSOR_TYPE_LIGHT 5 -#define SENSOR_TYPE_AMBIENT_TEMPERATURE 13 -#define SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED 14 -#define SENSOR_TYPE_MAGNETIC_FIELD SENSOR_TYPE_GEOMAGNETIC_FIELD -#define SENSOR_TYPE_GYROSCOPE_UNCALIBRATED 16 diff --git a/system/sensord/sensors/i2c_sensor.cc b/system/sensord/sensors/i2c_sensor.cc deleted file mode 100644 index 90220f551dcb7b..00000000000000 --- a/system/sensord/sensors/i2c_sensor.cc +++ /dev/null @@ -1,50 +0,0 @@ -#include "system/sensord/sensors/i2c_sensor.h" - -int16_t read_12_bit(uint8_t lsb, uint8_t msb) { - uint16_t combined = (uint16_t(msb) << 8) | uint16_t(lsb & 0xF0); - return int16_t(combined) / (1 << 4); -} - -int16_t read_16_bit(uint8_t lsb, uint8_t msb) { - uint16_t combined = (uint16_t(msb) << 8) | uint16_t(lsb); - return int16_t(combined); -} - -int32_t read_20_bit(uint8_t b2, uint8_t b1, uint8_t b0) { - uint32_t combined = (uint32_t(b0) << 16) | (uint32_t(b1) << 8) | uint32_t(b2); - return int32_t(combined) / (1 << 4); -} - -I2CSensor::I2CSensor(I2CBus *bus, int gpio_nr, bool shared_gpio) : - bus(bus), gpio_nr(gpio_nr), shared_gpio(shared_gpio) {} - -I2CSensor::~I2CSensor() { - if (gpio_fd != -1) { - close(gpio_fd); - } -} - -int I2CSensor::read_register(uint register_address, uint8_t *buffer, uint8_t len) { - return bus->read_register(get_device_address(), register_address, buffer, len); -} - -int I2CSensor::set_register(uint register_address, uint8_t data) { - return bus->set_register(get_device_address(), register_address, data); -} - -int I2CSensor::init_gpio() { - if (shared_gpio || gpio_nr == 0) { - return 0; - } - - gpio_fd = gpiochip_get_ro_value_fd("sensord", GPIOCHIP_INT, gpio_nr); - if (gpio_fd < 0) { - return -1; - } - - return 0; -} - -bool I2CSensor::has_interrupt_enabled() { - return gpio_nr != 0; -} diff --git a/system/sensord/sensors/i2c_sensor.h b/system/sensord/sensors/i2c_sensor.h deleted file mode 100644 index ba100c3b0128c2..00000000000000 --- a/system/sensord/sensors/i2c_sensor.h +++ /dev/null @@ -1,51 +0,0 @@ -#pragma once - -#include -#include -#include -#include "cereal/gen/cpp/log.capnp.h" - -#include "common/i2c.h" -#include "common/gpio.h" - -#include "common/swaglog.h" -#include "system/sensord/sensors/constants.h" -#include "system/sensord/sensors/sensor.h" - -int16_t read_12_bit(uint8_t lsb, uint8_t msb); -int16_t read_16_bit(uint8_t lsb, uint8_t msb); -int32_t read_20_bit(uint8_t b2, uint8_t b1, uint8_t b0); - - -class I2CSensor : public Sensor { -private: - I2CBus *bus; - int gpio_nr; - bool shared_gpio; - virtual uint8_t get_device_address() = 0; - -public: - I2CSensor(I2CBus *bus, int gpio_nr = 0, bool shared_gpio = false); - ~I2CSensor(); - int read_register(uint register_address, uint8_t *buffer, uint8_t len); - int set_register(uint register_address, uint8_t data); - int init_gpio(); - bool has_interrupt_enabled(); - virtual int init() = 0; - virtual bool get_event(MessageBuilder &msg, uint64_t ts = 0) = 0; - virtual int shutdown() = 0; - - int verify_chip_id(uint8_t address, const std::vector &expected_ids) { - uint8_t chip_id = 0; - int ret = read_register(address, &chip_id, 1); - if (ret < 0) { - LOGE("Reading chip ID failed: %d", ret); - return -1; - } - for (int i = 0; i < expected_ids.size(); ++i) { - if (chip_id == expected_ids[i]) return chip_id; - } - LOGE("Chip ID wrong. Got: %d, Expected %d", chip_id, expected_ids[0]); - return -1; - } -}; diff --git a/system/sensord/sensors/lsm6ds3_accel.cc b/system/sensord/sensors/lsm6ds3_accel.cc deleted file mode 100644 index 03533e0657c6bc..00000000000000 --- a/system/sensord/sensors/lsm6ds3_accel.cc +++ /dev/null @@ -1,250 +0,0 @@ -#include "system/sensord/sensors/lsm6ds3_accel.h" - -#include -#include -#include - -#include "common/swaglog.h" -#include "common/timing.h" -#include "common/util.h" - -LSM6DS3_Accel::LSM6DS3_Accel(I2CBus *bus, int gpio_nr, bool shared_gpio) : - I2CSensor(bus, gpio_nr, shared_gpio) {} - -void LSM6DS3_Accel::wait_for_data_ready() { - uint8_t drdy = 0; - uint8_t buffer[6]; - - do { - read_register(LSM6DS3_ACCEL_I2C_REG_STAT_REG, &drdy, sizeof(drdy)); - drdy &= LSM6DS3_ACCEL_DRDY_XLDA; - } while (drdy == 0); - - read_register(LSM6DS3_ACCEL_I2C_REG_OUTX_L_XL, buffer, sizeof(buffer)); -} - -void LSM6DS3_Accel::read_and_avg_data(float* out_buf) { - uint8_t drdy = 0; - uint8_t buffer[6]; - - float scaling = 0.061f; - if (source == cereal::SensorEventData::SensorSource::LSM6DS3TRC) { - scaling = 0.122f; - } - - for (int i = 0; i < 5; i++) { - do { - read_register(LSM6DS3_ACCEL_I2C_REG_STAT_REG, &drdy, sizeof(drdy)); - drdy &= LSM6DS3_ACCEL_DRDY_XLDA; - } while (drdy == 0); - - int len = read_register(LSM6DS3_ACCEL_I2C_REG_OUTX_L_XL, buffer, sizeof(buffer)); - assert(len == sizeof(buffer)); - - for (int j = 0; j < 3; j++) { - out_buf[j] += (float)read_16_bit(buffer[j*2], buffer[j*2+1]) * scaling; - } - } - - for (int i = 0; i < 3; i++) { - out_buf[i] /= 5.0f; - } -} - -int LSM6DS3_Accel::self_test(int test_type) { - float val_st_off[3] = {0}; - float val_st_on[3] = {0}; - float test_val[3] = {0}; - uint8_t ODR_FS_MO = LSM6DS3_ACCEL_ODR_52HZ; // full scale: +-2g, ODR: 52Hz - - // prepare sensor for self-test - - // enable block data update and automatic increment - int ret = set_register(LSM6DS3_ACCEL_I2C_REG_CTRL3_C, LSM6DS3_ACCEL_IF_INC_BDU); - if (ret < 0) { - return ret; - } - - if (source == cereal::SensorEventData::SensorSource::LSM6DS3TRC) { - ODR_FS_MO = LSM6DS3_ACCEL_FS_4G | LSM6DS3_ACCEL_ODR_52HZ; - } - ret = set_register(LSM6DS3_ACCEL_I2C_REG_CTRL1_XL, ODR_FS_MO); - if (ret < 0) { - return ret; - } - - // wait for stable output, and discard first values - util::sleep_for(100); - wait_for_data_ready(); - read_and_avg_data(val_st_off); - - // enable Self Test positive (or negative) - ret = set_register(LSM6DS3_ACCEL_I2C_REG_CTRL5_C, test_type); - if (ret < 0) { - return ret; - } - - // wait for stable output, and discard first values - util::sleep_for(100); - wait_for_data_ready(); - read_and_avg_data(val_st_on); - - // disable sensor - ret = set_register(LSM6DS3_ACCEL_I2C_REG_CTRL1_XL, 0); - if (ret < 0) { - return ret; - } - - // disable self test - ret = set_register(LSM6DS3_ACCEL_I2C_REG_CTRL5_C, 0); - if (ret < 0) { - return ret; - } - - // calculate the mg values for self test - for (int i = 0; i < 3; i++) { - test_val[i] = fabs(val_st_on[i] - val_st_off[i]); - } - - // verify test result - for (int i = 0; i < 3; i++) { - if ((LSM6DS3_ACCEL_MIN_ST_LIMIT_mg > test_val[i]) || - (test_val[i] > LSM6DS3_ACCEL_MAX_ST_LIMIT_mg)) { - return -1; - } - } - - return ret; -} - -int LSM6DS3_Accel::init() { - uint8_t value = 0; - bool do_self_test = false; - - const char* env_lsm_selftest = std::getenv("LSM_SELF_TEST"); - if (env_lsm_selftest != nullptr && strncmp(env_lsm_selftest, "1", 1) == 0) { - do_self_test = true; - } - - int ret = verify_chip_id(LSM6DS3_ACCEL_I2C_REG_ID, {LSM6DS3_ACCEL_CHIP_ID, LSM6DS3TRC_ACCEL_CHIP_ID}); - if (ret == -1) return -1; - - if (ret == LSM6DS3TRC_ACCEL_CHIP_ID) { - source = cereal::SensorEventData::SensorSource::LSM6DS3TRC; - } - - ret = self_test(LSM6DS3_ACCEL_POSITIVE_TEST); - if (ret < 0) { - LOGE("LSM6DS3 accel positive self-test failed!"); - if (do_self_test) goto fail; - } - - ret = self_test(LSM6DS3_ACCEL_NEGATIVE_TEST); - if (ret < 0) { - LOGE("LSM6DS3 accel negative self-test failed!"); - if (do_self_test) goto fail; - } - - ret = init_gpio(); - if (ret < 0) { - goto fail; - } - - // enable continuous update, and automatic increase - ret = set_register(LSM6DS3_ACCEL_I2C_REG_CTRL3_C, LSM6DS3_ACCEL_IF_INC); - if (ret < 0) { - goto fail; - } - - // TODO: set scale and bandwidth. Default is +- 2G, 50 Hz - ret = set_register(LSM6DS3_ACCEL_I2C_REG_CTRL1_XL, LSM6DS3_ACCEL_ODR_104HZ); - if (ret < 0) { - goto fail; - } - - ret = set_register(LSM6DS3_ACCEL_I2C_REG_DRDY_CFG, LSM6DS3_ACCEL_DRDY_PULSE_MODE); - if (ret < 0) { - goto fail; - } - - // enable data ready interrupt for accel on INT1 - // (without resetting existing interrupts) - ret = read_register(LSM6DS3_ACCEL_I2C_REG_INT1_CTRL, &value, 1); - if (ret < 0) { - goto fail; - } - - value |= LSM6DS3_ACCEL_INT1_DRDY_XL; - ret = set_register(LSM6DS3_ACCEL_I2C_REG_INT1_CTRL, value); - -fail: - return ret; -} - -int LSM6DS3_Accel::shutdown() { - int ret = 0; - - // disable data ready interrupt for accel on INT1 - uint8_t value = 0; - ret = read_register(LSM6DS3_ACCEL_I2C_REG_INT1_CTRL, &value, 1); - if (ret < 0) { - goto fail; - } - - value &= ~(LSM6DS3_ACCEL_INT1_DRDY_XL); - ret = set_register(LSM6DS3_ACCEL_I2C_REG_INT1_CTRL, value); - if (ret < 0) { - LOGE("Could not disable lsm6ds3 acceleration interrupt!"); - goto fail; - } - - // enable power-down mode - value = 0; - ret = read_register(LSM6DS3_ACCEL_I2C_REG_CTRL1_XL, &value, 1); - if (ret < 0) { - goto fail; - } - - value &= 0x0F; - ret = set_register(LSM6DS3_ACCEL_I2C_REG_CTRL1_XL, value); - if (ret < 0) { - LOGE("Could not power-down lsm6ds3 accelerometer!"); - goto fail; - } - -fail: - return ret; -} - -bool LSM6DS3_Accel::get_event(MessageBuilder &msg, uint64_t ts) { - - // INT1 shared with gyro, check STATUS_REG who triggered - uint8_t status_reg = 0; - read_register(LSM6DS3_ACCEL_I2C_REG_STAT_REG, &status_reg, sizeof(status_reg)); - if ((status_reg & LSM6DS3_ACCEL_DRDY_XLDA) == 0) { - return false; - } - - uint8_t buffer[6]; - int len = read_register(LSM6DS3_ACCEL_I2C_REG_OUTX_L_XL, buffer, sizeof(buffer)); - assert(len == sizeof(buffer)); - - float scale = 9.81 * 2.0f / (1 << 15); - float x = read_16_bit(buffer[0], buffer[1]) * scale; - float y = read_16_bit(buffer[2], buffer[3]) * scale; - float z = read_16_bit(buffer[4], buffer[5]) * scale; - - auto event = msg.initEvent().initAccelerometer(); - event.setSource(source); - event.setVersion(1); - event.setSensor(SENSOR_ACCELEROMETER); - event.setType(SENSOR_TYPE_ACCELEROMETER); - event.setTimestamp(ts); - - float xyz[] = {y, -x, z}; - auto svec = event.initAcceleration(); - svec.setV(xyz); - svec.setStatus(true); - - return true; -} diff --git a/system/sensord/sensors/lsm6ds3_accel.h b/system/sensord/sensors/lsm6ds3_accel.h deleted file mode 100644 index 69667cb759ec2a..00000000000000 --- a/system/sensord/sensors/lsm6ds3_accel.h +++ /dev/null @@ -1,49 +0,0 @@ -#pragma once - -#include "system/sensord/sensors/i2c_sensor.h" - -// Address of the chip on the bus -#define LSM6DS3_ACCEL_I2C_ADDR 0x6A - -// Registers of the chip -#define LSM6DS3_ACCEL_I2C_REG_DRDY_CFG 0x0B -#define LSM6DS3_ACCEL_I2C_REG_ID 0x0F -#define LSM6DS3_ACCEL_I2C_REG_INT1_CTRL 0x0D -#define LSM6DS3_ACCEL_I2C_REG_CTRL1_XL 0x10 -#define LSM6DS3_ACCEL_I2C_REG_CTRL3_C 0x12 -#define LSM6DS3_ACCEL_I2C_REG_CTRL5_C 0x14 -#define LSM6DS3_ACCEL_I2C_REG_CTR9_XL 0x18 -#define LSM6DS3_ACCEL_I2C_REG_STAT_REG 0x1E -#define LSM6DS3_ACCEL_I2C_REG_OUTX_L_XL 0x28 - -// Constants -#define LSM6DS3_ACCEL_CHIP_ID 0x69 -#define LSM6DS3TRC_ACCEL_CHIP_ID 0x6A -#define LSM6DS3_ACCEL_FS_4G (0b10 << 2) -#define LSM6DS3_ACCEL_ODR_52HZ (0b0011 << 4) -#define LSM6DS3_ACCEL_ODR_104HZ (0b0100 << 4) -#define LSM6DS3_ACCEL_INT1_DRDY_XL 0b1 -#define LSM6DS3_ACCEL_DRDY_XLDA 0b1 -#define LSM6DS3_ACCEL_DRDY_PULSE_MODE (1 << 7) -#define LSM6DS3_ACCEL_IF_INC 0b00000100 -#define LSM6DS3_ACCEL_IF_INC_BDU 0b01000100 -#define LSM6DS3_ACCEL_XYZ_DEN 0b11100000 -#define LSM6DS3_ACCEL_POSITIVE_TEST 0b01 -#define LSM6DS3_ACCEL_NEGATIVE_TEST 0b10 -#define LSM6DS3_ACCEL_MIN_ST_LIMIT_mg 90.0f -#define LSM6DS3_ACCEL_MAX_ST_LIMIT_mg 1700.0f - -class LSM6DS3_Accel : public I2CSensor { - uint8_t get_device_address() {return LSM6DS3_ACCEL_I2C_ADDR;} - cereal::SensorEventData::SensorSource source = cereal::SensorEventData::SensorSource::LSM6DS3; - - // self test functions - int self_test(int test_type); - void wait_for_data_ready(); - void read_and_avg_data(float* val_st_off); -public: - LSM6DS3_Accel(I2CBus *bus, int gpio_nr = 0, bool shared_gpio = false); - int init(); - bool get_event(MessageBuilder &msg, uint64_t ts = 0); - int shutdown(); -}; diff --git a/system/sensord/sensors/lsm6ds3_gyro.cc b/system/sensord/sensors/lsm6ds3_gyro.cc deleted file mode 100644 index 0459b6ad64779c..00000000000000 --- a/system/sensord/sensors/lsm6ds3_gyro.cc +++ /dev/null @@ -1,233 +0,0 @@ -#include "system/sensord/sensors/lsm6ds3_gyro.h" - -#include -#include -#include - -#include "common/swaglog.h" -#include "common/timing.h" -#include "common/util.h" - -#define DEG2RAD(x) ((x) * M_PI / 180.0) - -LSM6DS3_Gyro::LSM6DS3_Gyro(I2CBus *bus, int gpio_nr, bool shared_gpio) : - I2CSensor(bus, gpio_nr, shared_gpio) {} - -void LSM6DS3_Gyro::wait_for_data_ready() { - uint8_t drdy = 0; - uint8_t buffer[6]; - - do { - read_register(LSM6DS3_GYRO_I2C_REG_STAT_REG, &drdy, sizeof(drdy)); - drdy &= LSM6DS3_GYRO_DRDY_GDA; - } while (drdy == 0); - - read_register(LSM6DS3_GYRO_I2C_REG_OUTX_L_G, buffer, sizeof(buffer)); -} - -void LSM6DS3_Gyro::read_and_avg_data(float* out_buf) { - uint8_t drdy = 0; - uint8_t buffer[6]; - - for (int i = 0; i < 5; i++) { - do { - read_register(LSM6DS3_GYRO_I2C_REG_STAT_REG, &drdy, sizeof(drdy)); - drdy &= LSM6DS3_GYRO_DRDY_GDA; - } while (drdy == 0); - - int len = read_register(LSM6DS3_GYRO_I2C_REG_OUTX_L_G, buffer, sizeof(buffer)); - assert(len == sizeof(buffer)); - - for (int j = 0; j < 3; j++) { - out_buf[j] += (float)read_16_bit(buffer[j*2], buffer[j*2+1]) * 70.0f; - } - } - - // calculate the mg average values - for (int i = 0; i < 3; i++) { - out_buf[i] /= 5.0f; - } -} - -int LSM6DS3_Gyro::self_test(int test_type) { - float val_st_off[3] = {0}; - float val_st_on[3] = {0}; - float test_val[3] = {0}; - - // prepare sensor for self-test - - // full scale: 2000dps, ODR: 208Hz - int ret = set_register(LSM6DS3_GYRO_I2C_REG_CTRL2_G, LSM6DS3_GYRO_ODR_208HZ | LSM6DS3_GYRO_FS_2000dps); - if (ret < 0) { - return ret; - } - - // wait for stable output, and discard first values - util::sleep_for(150); - wait_for_data_ready(); - read_and_avg_data(val_st_off); - - // enable Self Test positive (or negative) - ret = set_register(LSM6DS3_GYRO_I2C_REG_CTRL5_C, test_type); - if (ret < 0) { - return ret; - } - - // wait for stable output, and discard first values - util::sleep_for(50); - wait_for_data_ready(); - read_and_avg_data(val_st_on); - - // disable sensor - ret = set_register(LSM6DS3_GYRO_I2C_REG_CTRL2_G, 0); - if (ret < 0) { - return ret; - } - - // disable self test - ret = set_register(LSM6DS3_GYRO_I2C_REG_CTRL5_C, 0); - if (ret < 0) { - return ret; - } - - // calculate the mg values for self test - for (int i = 0; i < 3; i++) { - test_val[i] = fabs(val_st_on[i] - val_st_off[i]); - } - - // verify test result - for (int i = 0; i < 3; i++) { - if ((LSM6DS3_GYRO_MIN_ST_LIMIT_mdps > test_val[i]) || - (test_val[i] > LSM6DS3_GYRO_MAX_ST_LIMIT_mdps)) { - return -1; - } - } - - return ret; -} - -int LSM6DS3_Gyro::init() { - uint8_t value = 0; - bool do_self_test = false; - - const char* env_lsm_selftest =env_lsm_selftest = std::getenv("LSM_SELF_TEST"); - if (env_lsm_selftest != nullptr && strncmp(env_lsm_selftest, "1", 1) == 0) { - do_self_test = true; - } - - int ret = verify_chip_id(LSM6DS3_GYRO_I2C_REG_ID, {LSM6DS3_GYRO_CHIP_ID, LSM6DS3TRC_GYRO_CHIP_ID}); - if (ret == -1) return -1; - - if (ret == LSM6DS3TRC_GYRO_CHIP_ID) { - source = cereal::SensorEventData::SensorSource::LSM6DS3TRC; - } - - ret = init_gpio(); - if (ret < 0) { - goto fail; - } - - ret = self_test(LSM6DS3_GYRO_POSITIVE_TEST); - if (ret < 0) { - LOGE("LSM6DS3 gyro positive self-test failed!"); - if (do_self_test) goto fail; - } - - ret = self_test(LSM6DS3_GYRO_NEGATIVE_TEST); - if (ret < 0) { - LOGE("LSM6DS3 gyro negative self-test failed!"); - if (do_self_test) goto fail; - } - - // TODO: set scale. Default is +- 250 deg/s - ret = set_register(LSM6DS3_GYRO_I2C_REG_CTRL2_G, LSM6DS3_GYRO_ODR_104HZ); - if (ret < 0) { - goto fail; - } - - ret = set_register(LSM6DS3_GYRO_I2C_REG_DRDY_CFG, LSM6DS3_GYRO_DRDY_PULSE_MODE); - if (ret < 0) { - goto fail; - } - - // enable data ready interrupt for gyro on INT1 - // (without resetting existing interrupts) - ret = read_register(LSM6DS3_GYRO_I2C_REG_INT1_CTRL, &value, 1); - if (ret < 0) { - goto fail; - } - - value |= LSM6DS3_GYRO_INT1_DRDY_G; - ret = set_register(LSM6DS3_GYRO_I2C_REG_INT1_CTRL, value); - -fail: - return ret; -} - -int LSM6DS3_Gyro::shutdown() { - int ret = 0; - - // disable data ready interrupt for gyro on INT1 - uint8_t value = 0; - ret = read_register(LSM6DS3_GYRO_I2C_REG_INT1_CTRL, &value, 1); - if (ret < 0) { - goto fail; - } - - value &= ~(LSM6DS3_GYRO_INT1_DRDY_G); - ret = set_register(LSM6DS3_GYRO_I2C_REG_INT1_CTRL, value); - if (ret < 0) { - LOGE("Could not disable lsm6ds3 gyroscope interrupt!"); - goto fail; - } - - // enable power-down mode - value = 0; - ret = read_register(LSM6DS3_GYRO_I2C_REG_CTRL2_G, &value, 1); - if (ret < 0) { - goto fail; - } - - value &= 0x0F; - ret = set_register(LSM6DS3_GYRO_I2C_REG_CTRL2_G, value); - if (ret < 0) { - LOGE("Could not power-down lsm6ds3 gyroscope!"); - goto fail; - } - -fail: - return ret; -} - -bool LSM6DS3_Gyro::get_event(MessageBuilder &msg, uint64_t ts) { - - // INT1 shared with accel, check STATUS_REG who triggered - uint8_t status_reg = 0; - read_register(LSM6DS3_GYRO_I2C_REG_STAT_REG, &status_reg, sizeof(status_reg)); - if ((status_reg & LSM6DS3_GYRO_DRDY_GDA) == 0) { - return false; - } - - uint8_t buffer[6]; - int len = read_register(LSM6DS3_GYRO_I2C_REG_OUTX_L_G, buffer, sizeof(buffer)); - assert(len == sizeof(buffer)); - - float scale = 8.75 / 1000.0; - float x = DEG2RAD(read_16_bit(buffer[0], buffer[1]) * scale); - float y = DEG2RAD(read_16_bit(buffer[2], buffer[3]) * scale); - float z = DEG2RAD(read_16_bit(buffer[4], buffer[5]) * scale); - - auto event = msg.initEvent().initGyroscope(); - event.setSource(source); - event.setVersion(2); - event.setSensor(SENSOR_GYRO_UNCALIBRATED); - event.setType(SENSOR_TYPE_GYROSCOPE_UNCALIBRATED); - event.setTimestamp(ts); - - float xyz[] = {y, -x, z}; - auto svec = event.initGyroUncalibrated(); - svec.setV(xyz); - svec.setStatus(true); - - return true; -} diff --git a/system/sensord/sensors/lsm6ds3_gyro.h b/system/sensord/sensors/lsm6ds3_gyro.h deleted file mode 100644 index adaae62dd28dcd..00000000000000 --- a/system/sensord/sensors/lsm6ds3_gyro.h +++ /dev/null @@ -1,45 +0,0 @@ -#pragma once - -#include "system/sensord/sensors/i2c_sensor.h" - -// Address of the chip on the bus -#define LSM6DS3_GYRO_I2C_ADDR 0x6A - -// Registers of the chip -#define LSM6DS3_GYRO_I2C_REG_DRDY_CFG 0x0B -#define LSM6DS3_GYRO_I2C_REG_ID 0x0F -#define LSM6DS3_GYRO_I2C_REG_INT1_CTRL 0x0D -#define LSM6DS3_GYRO_I2C_REG_CTRL2_G 0x11 -#define LSM6DS3_GYRO_I2C_REG_CTRL5_C 0x14 -#define LSM6DS3_GYRO_I2C_REG_STAT_REG 0x1E -#define LSM6DS3_GYRO_I2C_REG_OUTX_L_G 0x22 -#define LSM6DS3_GYRO_POSITIVE_TEST (0b01 << 2) -#define LSM6DS3_GYRO_NEGATIVE_TEST (0b11 << 2) - -// Constants -#define LSM6DS3_GYRO_CHIP_ID 0x69 -#define LSM6DS3TRC_GYRO_CHIP_ID 0x6A -#define LSM6DS3_GYRO_FS_2000dps (0b11 << 2) -#define LSM6DS3_GYRO_ODR_104HZ (0b0100 << 4) -#define LSM6DS3_GYRO_ODR_208HZ (0b0101 << 4) -#define LSM6DS3_GYRO_INT1_DRDY_G 0b10 -#define LSM6DS3_GYRO_DRDY_GDA 0b10 -#define LSM6DS3_GYRO_DRDY_PULSE_MODE (1 << 7) -#define LSM6DS3_GYRO_MIN_ST_LIMIT_mdps 150000.0f -#define LSM6DS3_GYRO_MAX_ST_LIMIT_mdps 700000.0f - - -class LSM6DS3_Gyro : public I2CSensor { - uint8_t get_device_address() {return LSM6DS3_GYRO_I2C_ADDR;} - cereal::SensorEventData::SensorSource source = cereal::SensorEventData::SensorSource::LSM6DS3; - - // self test functions - int self_test(int test_type); - void wait_for_data_ready(); - void read_and_avg_data(float* val_st_off); -public: - LSM6DS3_Gyro(I2CBus *bus, int gpio_nr = 0, bool shared_gpio = false); - int init(); - bool get_event(MessageBuilder &msg, uint64_t ts = 0); - int shutdown(); -}; diff --git a/system/sensord/sensors/lsm6ds3_temp.cc b/system/sensord/sensors/lsm6ds3_temp.cc deleted file mode 100644 index f481614154ba01..00000000000000 --- a/system/sensord/sensors/lsm6ds3_temp.cc +++ /dev/null @@ -1,37 +0,0 @@ -#include "system/sensord/sensors/lsm6ds3_temp.h" - -#include - -#include "common/swaglog.h" -#include "common/timing.h" - -LSM6DS3_Temp::LSM6DS3_Temp(I2CBus *bus) : I2CSensor(bus) {} - -int LSM6DS3_Temp::init() { - int ret = verify_chip_id(LSM6DS3_TEMP_I2C_REG_ID, {LSM6DS3_TEMP_CHIP_ID, LSM6DS3TRC_TEMP_CHIP_ID}); - if (ret == -1) return -1; - - if (ret == LSM6DS3TRC_TEMP_CHIP_ID) { - source = cereal::SensorEventData::SensorSource::LSM6DS3TRC; - } - return 0; -} - -bool LSM6DS3_Temp::get_event(MessageBuilder &msg, uint64_t ts) { - uint64_t start_time = nanos_since_boot(); - uint8_t buffer[2]; - int len = read_register(LSM6DS3_TEMP_I2C_REG_OUT_TEMP_L, buffer, sizeof(buffer)); - assert(len == sizeof(buffer)); - - float scale = (source == cereal::SensorEventData::SensorSource::LSM6DS3TRC) ? 256.0f : 16.0f; - float temp = 25.0f + read_16_bit(buffer[0], buffer[1]) / scale; - - auto event = msg.initEvent().initTemperatureSensor(); - event.setSource(source); - event.setVersion(1); - event.setType(SENSOR_TYPE_AMBIENT_TEMPERATURE); - event.setTimestamp(start_time); - event.setTemperature(temp); - - return true; -} diff --git a/system/sensord/sensors/lsm6ds3_temp.h b/system/sensord/sensors/lsm6ds3_temp.h deleted file mode 100644 index 1b5b6218143fab..00000000000000 --- a/system/sensord/sensors/lsm6ds3_temp.h +++ /dev/null @@ -1,26 +0,0 @@ -#pragma once - -#include "system/sensord/sensors/i2c_sensor.h" - -// Address of the chip on the bus -#define LSM6DS3_TEMP_I2C_ADDR 0x6A - -// Registers of the chip -#define LSM6DS3_TEMP_I2C_REG_ID 0x0F -#define LSM6DS3_TEMP_I2C_REG_OUT_TEMP_L 0x20 - -// Constants -#define LSM6DS3_TEMP_CHIP_ID 0x69 -#define LSM6DS3TRC_TEMP_CHIP_ID 0x6A - - -class LSM6DS3_Temp : public I2CSensor { - uint8_t get_device_address() {return LSM6DS3_TEMP_I2C_ADDR;} - cereal::SensorEventData::SensorSource source = cereal::SensorEventData::SensorSource::LSM6DS3; - -public: - LSM6DS3_Temp(I2CBus *bus); - int init(); - bool get_event(MessageBuilder &msg, uint64_t ts = 0); - int shutdown() { return 0; } -}; diff --git a/system/sensord/sensors/mmc5603nj_magn.cc b/system/sensord/sensors/mmc5603nj_magn.cc deleted file mode 100644 index 0e8ba967e3c264..00000000000000 --- a/system/sensord/sensors/mmc5603nj_magn.cc +++ /dev/null @@ -1,108 +0,0 @@ -#include "system/sensord/sensors/mmc5603nj_magn.h" - -#include -#include -#include - -#include "common/swaglog.h" -#include "common/timing.h" -#include "common/util.h" - -MMC5603NJ_Magn::MMC5603NJ_Magn(I2CBus *bus) : I2CSensor(bus) {} - -int MMC5603NJ_Magn::init() { - int ret = verify_chip_id(MMC5603NJ_I2C_REG_ID, {MMC5603NJ_CHIP_ID}); - if (ret == -1) return -1; - - // Set ODR to 0 - ret = set_register(MMC5603NJ_I2C_REG_ODR, 0); - if (ret < 0) { - goto fail; - } - - // Set BW to 0b01 for 1-150 Hz operation - ret = set_register(MMC5603NJ_I2C_REG_INTERNAL_1, 0b01); - if (ret < 0) { - goto fail; - } - -fail: - return ret; -} - -int MMC5603NJ_Magn::shutdown() { - int ret = 0; - - // disable auto reset of measurements - uint8_t value = 0; - ret = read_register(MMC5603NJ_I2C_REG_INTERNAL_0, &value, 1); - if (ret < 0) { - goto fail; - } - - value &= ~(MMC5603NJ_CMM_FREQ_EN | MMC5603NJ_AUTO_SR_EN); - ret = set_register(MMC5603NJ_I2C_REG_INTERNAL_0, value); - if (ret < 0) { - goto fail; - } - - // set ODR to 0 to leave continuous mode - ret = set_register(MMC5603NJ_I2C_REG_ODR, 0); - if (ret < 0) { - goto fail; - } - return ret; - -fail: - LOGE("Could not disable mmc5603nj auto set reset"); - return ret; -} - -void MMC5603NJ_Magn::start_measurement() { - set_register(MMC5603NJ_I2C_REG_INTERNAL_0, 0b01); - util::sleep_for(5); -} - -std::vector MMC5603NJ_Magn::read_measurement() { - int len; - uint8_t buffer[9]; - len = read_register(MMC5603NJ_I2C_REG_XOUT0, buffer, sizeof(buffer)); - assert(len == sizeof(buffer)); - float scale = 1.0 / 16384.0; - float x = (read_20_bit(buffer[6], buffer[1], buffer[0]) * scale) - 32.0; - float y = (read_20_bit(buffer[7], buffer[3], buffer[2]) * scale) - 32.0; - float z = (read_20_bit(buffer[8], buffer[5], buffer[4]) * scale) - 32.0; - std::vector xyz = {x, y, z}; - return xyz; -} - -bool MMC5603NJ_Magn::get_event(MessageBuilder &msg, uint64_t ts) { - uint64_t start_time = nanos_since_boot(); - // SET - RESET cycle - set_register(MMC5603NJ_I2C_REG_INTERNAL_0, MMC5603NJ_SET); - util::sleep_for(5); - MMC5603NJ_Magn::start_measurement(); - std::vector xyz = MMC5603NJ_Magn::read_measurement(); - - set_register(MMC5603NJ_I2C_REG_INTERNAL_0, MMC5603NJ_RESET); - util::sleep_for(5); - MMC5603NJ_Magn::start_measurement(); - std::vector reset_xyz = MMC5603NJ_Magn::read_measurement(); - - auto event = msg.initEvent().initMagnetometer(); - event.setSource(cereal::SensorEventData::SensorSource::MMC5603NJ); - event.setVersion(1); - event.setSensor(SENSOR_MAGNETOMETER_UNCALIBRATED); - event.setType(SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED); - event.setTimestamp(start_time); - - float vals[] = {xyz[0], xyz[1], xyz[2], reset_xyz[0], reset_xyz[1], reset_xyz[2]}; - bool valid = true; - if (std::any_of(std::begin(vals), std::end(vals), [](float val) { return val == -32.0; })) { - valid = false; - } - auto svec = event.initMagneticUncalibrated(); - svec.setV(vals); - svec.setStatus(valid); - return true; -} diff --git a/system/sensord/sensors/mmc5603nj_magn.h b/system/sensord/sensors/mmc5603nj_magn.h deleted file mode 100644 index 9c0fbd252129f0..00000000000000 --- a/system/sensord/sensors/mmc5603nj_magn.h +++ /dev/null @@ -1,37 +0,0 @@ -#pragma once - -#include - -#include "system/sensord/sensors/i2c_sensor.h" - -// Address of the chip on the bus -#define MMC5603NJ_I2C_ADDR 0x30 - -// Registers of the chip -#define MMC5603NJ_I2C_REG_XOUT0 0x00 -#define MMC5603NJ_I2C_REG_ODR 0x1A -#define MMC5603NJ_I2C_REG_INTERNAL_0 0x1B -#define MMC5603NJ_I2C_REG_INTERNAL_1 0x1C -#define MMC5603NJ_I2C_REG_INTERNAL_2 0x1D -#define MMC5603NJ_I2C_REG_ID 0x39 - -// Constants -#define MMC5603NJ_CHIP_ID 0x10 -#define MMC5603NJ_CMM_FREQ_EN (1 << 7) -#define MMC5603NJ_AUTO_SR_EN (1 << 5) -#define MMC5603NJ_CMM_EN (1 << 4) -#define MMC5603NJ_EN_PRD_SET (1 << 3) -#define MMC5603NJ_SET (1 << 3) -#define MMC5603NJ_RESET (1 << 4) - -class MMC5603NJ_Magn : public I2CSensor { -private: - uint8_t get_device_address() {return MMC5603NJ_I2C_ADDR;} - void start_measurement(); - std::vector read_measurement(); -public: - MMC5603NJ_Magn(I2CBus *bus); - int init(); - bool get_event(MessageBuilder &msg, uint64_t ts = 0); - int shutdown(); -}; diff --git a/system/sensord/sensors/sensor.h b/system/sensord/sensors/sensor.h deleted file mode 100644 index 1b0e3be0dc6065..00000000000000 --- a/system/sensord/sensors/sensor.h +++ /dev/null @@ -1,22 +0,0 @@ -#pragma once - -#include "cereal/messaging/messaging.h" - -class Sensor { -public: - int gpio_fd = -1; - uint64_t start_ts = 0; - uint64_t init_delay = 500e6; // default dealy 500ms - virtual ~Sensor() {} - virtual int init() = 0; - virtual bool get_event(MessageBuilder &msg, uint64_t ts = 0) = 0; - virtual bool has_interrupt_enabled() = 0; - virtual int shutdown() = 0; - - virtual bool is_data_valid(uint64_t current_ts) { - if (start_ts == 0) { - start_ts = current_ts; - } - return (current_ts - start_ts) > init_delay; - } -}; diff --git a/system/sensord/sensors_qcom2.cc b/system/sensord/sensors_qcom2.cc deleted file mode 100644 index 9cbc24864d35f9..00000000000000 --- a/system/sensord/sensors_qcom2.cc +++ /dev/null @@ -1,168 +0,0 @@ -#include - -#include -#include -#include -#include -#include -#include - -#include "cereal/services.h" -#include "cereal/messaging/messaging.h" -#include "common/i2c.h" -#include "common/ratekeeper.h" -#include "common/swaglog.h" -#include "common/timing.h" -#include "common/util.h" -#include "system/sensord/sensors/bmx055_accel.h" -#include "system/sensord/sensors/bmx055_gyro.h" -#include "system/sensord/sensors/bmx055_magn.h" -#include "system/sensord/sensors/bmx055_temp.h" -#include "system/sensord/sensors/constants.h" -#include "system/sensord/sensors/lsm6ds3_accel.h" -#include "system/sensord/sensors/lsm6ds3_gyro.h" -#include "system/sensord/sensors/lsm6ds3_temp.h" -#include "system/sensord/sensors/mmc5603nj_magn.h" - -#define I2C_BUS_IMU 1 - -ExitHandler do_exit; - -void interrupt_loop(std::vector> sensors) { - PubMaster pm({"gyroscope", "accelerometer"}); - - int fd = -1; - for (auto &[sensor, msg_name] : sensors) { - if (sensor->has_interrupt_enabled()) { - fd = sensor->gpio_fd; - break; - } - } - - struct pollfd fd_list[1] = {0}; - fd_list[0].fd = fd; - fd_list[0].events = POLLIN | POLLPRI; - - while (!do_exit) { - int err = poll(fd_list, 1, 100); - if (err == -1) { - if (errno == EINTR) { - continue; - } - return; - } else if (err == 0) { - LOGE("poll timed out"); - continue; - } - - if ((fd_list[0].revents & (POLLIN | POLLPRI)) == 0) { - LOGE("no poll events set"); - continue; - } - - // Read all events - struct gpioevent_data evdata[16]; - err = read(fd, evdata, sizeof(evdata)); - if (err < 0 || err % sizeof(*evdata) != 0) { - LOGE("error reading event data %d", err); - continue; - } - - int num_events = err / sizeof(*evdata); - uint64_t offset = nanos_since_epoch() - nanos_since_boot(); - uint64_t ts = evdata[num_events - 1].timestamp - offset; - - for (auto &[sensor, msg_name] : sensors) { - if (!sensor->has_interrupt_enabled()) { - continue; - } - - MessageBuilder msg; - if (!sensor->get_event(msg, ts)) { - continue; - } - - if (!sensor->is_data_valid(ts)) { - continue; - } - - pm.send(msg_name.c_str(), msg); - } - } -} - -void polling_loop(Sensor *sensor, std::string msg_name) { - PubMaster pm({msg_name.c_str()}); - RateKeeper rk(msg_name, services.at(msg_name).frequency); - while (!do_exit) { - MessageBuilder msg; - if (sensor->get_event(msg) && sensor->is_data_valid(nanos_since_boot())) { - pm.send(msg_name.c_str(), msg); - } - rk.keepTime(); - } -} - -int sensor_loop(I2CBus *i2c_bus_imu) { - // Sensor init - std::vector> sensors_init = { - {new BMX055_Accel(i2c_bus_imu), "accelerometer2"}, - {new BMX055_Gyro(i2c_bus_imu), "gyroscope2"}, - {new BMX055_Magn(i2c_bus_imu), "magnetometer"}, - {new BMX055_Temp(i2c_bus_imu), "temperatureSensor2"}, - - {new LSM6DS3_Accel(i2c_bus_imu, GPIO_LSM_INT), "accelerometer"}, - {new LSM6DS3_Gyro(i2c_bus_imu, GPIO_LSM_INT, true), "gyroscope"}, - {new LSM6DS3_Temp(i2c_bus_imu), "temperatureSensor"}, - - {new MMC5603NJ_Magn(i2c_bus_imu), "magnetometer"}, - }; - - // Initialize sensors - std::vector threads; - for (auto &[sensor, msg_name] : sensors_init) { - int err = sensor->init(); - if (err < 0) { - continue; - } - - if (!sensor->has_interrupt_enabled()) { - threads.emplace_back(polling_loop, sensor, msg_name); - } - } - - // increase interrupt quality by pinning interrupt and process to core 1 - setpriority(PRIO_PROCESS, 0, -18); - util::set_core_affinity({1}); - - // TODO: get the IRQ number from gpiochip - std::string irq_path = "/proc/irq/336/smp_affinity_list"; - if (!util::file_exists(irq_path)) { - irq_path = "/proc/irq/335/smp_affinity_list"; - } - std::system(util::string_format("sudo su -c 'echo 1 > %s'", irq_path.c_str()).c_str()); - - // thread for reading events via interrupts - threads.emplace_back(&interrupt_loop, std::ref(sensors_init)); - - // wait for all threads to finish - for (auto &t : threads) { - t.join(); - } - - for (auto &[sensor, msg_name] : sensors_init) { - sensor->shutdown(); - delete sensor; - } - return 0; -} - -int main(int argc, char *argv[]) { - try { - auto i2c_bus_imu = std::make_unique(I2C_BUS_IMU); - return sensor_loop(i2c_bus_imu.get()); - } catch (std::exception &e) { - LOGE("I2CBus init failed"); - return -1; - } -} diff --git a/system/sensord/tests/__init__.py b/system/sensord/tests/__init__.py deleted file mode 100644 index e69de29bb2d1d6..00000000000000 diff --git a/system/sensord/tests/test_sensord.py b/system/sensord/tests/test_sensord.py deleted file mode 100644 index 1871012dd6fd70..00000000000000 --- a/system/sensord/tests/test_sensord.py +++ /dev/null @@ -1,246 +0,0 @@ -import os -import pytest -import time -import numpy as np -from collections import namedtuple, defaultdict - -import cereal.messaging as messaging -from cereal import log -from cereal.services import SERVICE_LIST -from openpilot.common.gpio import get_irqs_for_action -from openpilot.common.timeout import Timeout -from openpilot.system.manager.process_config import managed_processes - -BMX = { - ('bmx055', 'acceleration'), - ('bmx055', 'gyroUncalibrated'), - ('bmx055', 'magneticUncalibrated'), - ('bmx055', 'temperature'), -} - -LSM = { - ('lsm6ds3', 'acceleration'), - ('lsm6ds3', 'gyroUncalibrated'), - ('lsm6ds3', 'temperature'), -} -LSM_C = {(x[0]+'trc', x[1]) for x in LSM} - -MMC = { - ('mmc5603nj', 'magneticUncalibrated'), -} - -SENSOR_CONFIGURATIONS = ( - (BMX | LSM), - (MMC | LSM), - (BMX | LSM_C), - (MMC| LSM_C), -) - -Sensor = log.SensorEventData.SensorSource -SensorConfig = namedtuple('SensorConfig', ['type', 'sanity_min', 'sanity_max']) -ALL_SENSORS = { - Sensor.lsm6ds3: { - SensorConfig("acceleration", 5, 15), - SensorConfig("gyroUncalibrated", 0, .2), - SensorConfig("temperature", 0, 60), - }, - - Sensor.lsm6ds3trc: { - SensorConfig("acceleration", 5, 15), - SensorConfig("gyroUncalibrated", 0, .2), - SensorConfig("temperature", 0, 60), - }, - - Sensor.bmx055: { - SensorConfig("acceleration", 5, 15), - SensorConfig("gyroUncalibrated", 0, .2), - SensorConfig("magneticUncalibrated", 0, 300), - SensorConfig("temperature", 0, 60), - }, - - Sensor.mmc5603nj: { - SensorConfig("magneticUncalibrated", 0, 300), - } -} - - -def get_irq_count(irq: int): - with open(f"/sys/kernel/irq/{irq}/per_cpu_count") as f: - per_cpu = map(int, f.read().split(",")) - return sum(per_cpu) - -def read_sensor_events(duration_sec): - sensor_types = ['accelerometer', 'gyroscope', 'magnetometer', 'accelerometer2', - 'gyroscope2', 'temperatureSensor', 'temperatureSensor2'] - socks = {} - poller = messaging.Poller() - events = defaultdict(list) - for stype in sensor_types: - socks[stype] = messaging.sub_sock(stype, poller=poller, timeout=100) - - # wait for sensors to come up - with Timeout(int(os.environ.get("SENSOR_WAIT", "5")), "sensors didn't come up"): - while len(poller.poll(250)) == 0: - pass - time.sleep(1) - for s in socks.values(): - messaging.drain_sock_raw(s) - - st = time.monotonic() - while time.monotonic() - st < duration_sec: - for s in socks: - events[s] += messaging.drain_sock(socks[s]) - time.sleep(0.1) - - assert sum(map(len, events.values())) != 0, "No sensor events collected!" - - return {k: v for k, v in events.items() if len(v) > 0} - -@pytest.mark.tici -class TestSensord: - @classmethod - def setup_class(cls): - # enable LSM self test - os.environ["LSM_SELF_TEST"] = "1" - - # read initial sensor values every test case can use - os.system("pkill -f \\\\./sensord") - try: - managed_processes["sensord"].start() - cls.sample_secs = int(os.getenv("SAMPLE_SECS", "10")) - cls.events = read_sensor_events(cls.sample_secs) - - # determine sensord's irq - cls.sensord_irq = get_irqs_for_action("sensord")[0] - finally: - # teardown won't run if this doesn't succeed - managed_processes["sensord"].stop() - - @classmethod - def teardown_class(cls): - managed_processes["sensord"].stop() - - def teardown_method(self): - managed_processes["sensord"].stop() - - def test_sensors_present(self): - # verify correct sensors configuration - seen = set() - for etype in self.events: - for measurement in self.events[etype]: - m = getattr(measurement, measurement.which()) - seen.add((str(m.source), m.which())) - - assert seen in SENSOR_CONFIGURATIONS - - def test_lsm6ds3_timing(self, subtests): - # verify measurements are sampled and published at 104Hz - - sensor_t = { - 1: [], # accel - 5: [], # gyro - } - - for measurement in self.events['accelerometer']: - m = getattr(measurement, measurement.which()) - sensor_t[m.sensor].append(m.timestamp) - - for measurement in self.events['gyroscope']: - m = getattr(measurement, measurement.which()) - sensor_t[m.sensor].append(m.timestamp) - - for s, vals in sensor_t.items(): - with subtests.test(sensor=s): - assert len(vals) > 0 - tdiffs = np.diff(vals) / 1e6 # millis - - high_delay_diffs = list(filter(lambda d: d >= 20., tdiffs)) - assert len(high_delay_diffs) < 15, f"Too many large diffs: {high_delay_diffs}" - - avg_diff = sum(tdiffs)/len(tdiffs) - avg_freq = 1. / (avg_diff * 1e-3) - assert 92. < avg_freq < 114., f"avg freq {avg_freq}Hz wrong, expected 104Hz" - - stddev = np.std(tdiffs) - assert stddev < 2.0, f"Standard-dev to big {stddev}" - - def test_sensor_frequency(self, subtests): - for s, msgs in self.events.items(): - with subtests.test(sensor=s): - freq = len(msgs) / self.sample_secs - ef = SERVICE_LIST[s].frequency - assert ef*0.85 <= freq <= ef*1.15 - - def test_logmonottime_timestamp_diff(self): - # ensure diff between the message logMonotime and sample timestamp is small - - tdiffs = list() - for etype in self.events: - for measurement in self.events[etype]: - m = getattr(measurement, measurement.which()) - - # check if gyro and accel timestamps are before logMonoTime - if str(m.source).startswith("lsm6ds3") and m.which() != 'temperature': - err_msg = f"Timestamp after logMonoTime: {m.timestamp} > {measurement.logMonoTime}" - assert m.timestamp < measurement.logMonoTime, err_msg - - # negative values might occur, as non interrupt packages created - # before the sensor is read - tdiffs.append(abs(measurement.logMonoTime - m.timestamp) / 1e6) - - # some sensors have a read procedure that will introduce an expected diff on the order of 20ms - high_delay_diffs = set(filter(lambda d: d >= 25., tdiffs)) - assert len(high_delay_diffs) < 20, f"Too many measurements published: {high_delay_diffs}" - - avg_diff = round(sum(tdiffs)/len(tdiffs), 4) - assert avg_diff < 4, f"Avg packet diff: {avg_diff:.1f}ms" - - def test_sensor_values(self): - sensor_values = dict() - for etype in self.events: - for measurement in self.events[etype]: - m = getattr(measurement, measurement.which()) - key = (m.source.raw, m.which()) - values = getattr(m, m.which()) - - if hasattr(values, 'v'): - values = values.v - values = np.atleast_1d(values) - - if key in sensor_values: - sensor_values[key].append(values) - else: - sensor_values[key] = [values] - - # Sanity check sensor values - for sensor, stype in sensor_values: - for s in ALL_SENSORS[sensor]: - if s.type != stype: - continue - - key = (sensor, s.type) - mean_norm = np.mean(np.linalg.norm(sensor_values[key], axis=1)) - err_msg = f"Sensor '{sensor} {s.type}' failed sanity checks {mean_norm} is not between {s.sanity_min} and {s.sanity_max}" - assert s.sanity_min <= mean_norm <= s.sanity_max, err_msg - - def test_sensor_verify_no_interrupts_after_stop(self): - managed_processes["sensord"].start() - time.sleep(3) - - # read /proc/interrupts to verify interrupts are received - state_one = get_irq_count(self.sensord_irq) - time.sleep(1) - state_two = get_irq_count(self.sensord_irq) - - error_msg = f"no interrupts received after sensord start!\n{state_one} {state_two}" - assert state_one != state_two, error_msg - - managed_processes["sensord"].stop() - time.sleep(1) - - # read /proc/interrupts to verify no more interrupts are received - state_one = get_irq_count(self.sensord_irq) - time.sleep(1) - state_two = get_irq_count(self.sensord_irq) - assert state_one == state_two, "Interrupts received after sensord stop!" - diff --git a/system/sensord/tests/ttff_test.py b/system/sensord/tests/ttff_test.py deleted file mode 100755 index a9cc16d7079de7..00000000000000 --- a/system/sensord/tests/ttff_test.py +++ /dev/null @@ -1,48 +0,0 @@ -#!/usr/bin/env python3 - -import time -import atexit - -from cereal import messaging -from openpilot.system.manager.process_config import managed_processes - -TIMEOUT = 10*60 - -def kill(): - for proc in ['ubloxd', 'pigeond']: - managed_processes[proc].stop(retry=True, block=True) - -if __name__ == "__main__": - # start ubloxd - managed_processes['ubloxd'].start() - atexit.register(kill) - - sm = messaging.SubMaster(['ubloxGnss']) - - times = [] - for i in range(20): - # start pigeond - st = time.monotonic() - managed_processes['pigeond'].start() - - # wait for a >4 satellite fix - while True: - sm.update(0) - msg = sm['ubloxGnss'] - if msg.which() == 'measurementReport' and sm.updated["ubloxGnss"]: - report = msg.measurementReport - if report.numMeas > 4: - times.append(time.monotonic() - st) - print(f"\033[94m{i}: Got a fix in {round(times[-1], 2)} seconds\033[0m") - break - - if time.monotonic() - st > TIMEOUT: - raise TimeoutError("\033[91mFailed to get a fix in {TIMEOUT} seconds!\033[0m") - - time.sleep(0.1) - - # stop pigeond - managed_processes['pigeond'].stop(retry=True, block=True) - time.sleep(20) - - print(f"\033[92mAverage TTFF: {round(sum(times) / len(times), 2)}s\033[0m") diff --git a/system/tests/__init__.py b/system/tests/__init__.py deleted file mode 100644 index e69de29bb2d1d6..00000000000000 diff --git a/system/tests/test_logmessaged.py b/system/tests/test_logmessaged.py deleted file mode 100644 index 3baf5300c0c13e..00000000000000 --- a/system/tests/test_logmessaged.py +++ /dev/null @@ -1,55 +0,0 @@ -import glob -import os -import time - -import cereal.messaging as messaging -from openpilot.system.manager.process_config import managed_processes -from openpilot.system.hardware.hw import Paths -from openpilot.common.swaglog import cloudlog, ipchandler - - -class TestLogmessaged: - def setup_method(self): - # clear the IPC buffer in case some other tests used cloudlog and filled it - ipchandler.close() - ipchandler.connect() - - managed_processes['logmessaged'].start() - self.sock = messaging.sub_sock("logMessage", timeout=1000, conflate=False) - self.error_sock = messaging.sub_sock("logMessage", timeout=1000, conflate=False) - - # ensure sockets are connected - time.sleep(1) - messaging.drain_sock(self.sock) - messaging.drain_sock(self.error_sock) - - def teardown_method(self): - del self.sock - del self.error_sock - managed_processes['logmessaged'].stop(block=True) - - def _get_log_files(self): - return list(glob.glob(os.path.join(Paths.swaglog_root(), "swaglog.*"))) - - def test_simple_log(self): - msgs = [f"abc {i}" for i in range(10)] - for m in msgs: - cloudlog.error(m) - time.sleep(3) - m = messaging.drain_sock(self.sock) - assert len(m) == len(msgs) - assert len(self._get_log_files()) >= 1 - - def test_big_log(self): - n = 10 - msg = "a"*3*1024*1024 - for _ in range(n): - cloudlog.info(msg) - time.sleep(3) - - msgs = messaging.drain_sock(self.sock) - assert len(msgs) == 0 - - logsize = sum([os.path.getsize(f) for f in self._get_log_files()]) - assert (n*len(msg)) < logsize < (n*(len(msg)+1024)) - diff --git a/system/ubloxd/generated/glonass.h b/system/ubloxd/generated/glonass.h deleted file mode 100644 index 19867ba22b220e..00000000000000 --- a/system/ubloxd/generated/glonass.h +++ /dev/null @@ -1,375 +0,0 @@ -#ifndef GLONASS_H_ -#define GLONASS_H_ - -// This is a generated file! Please edit source .ksy file and use kaitai-struct-compiler to rebuild - -#include "kaitai/kaitaistruct.h" -#include - -#if KAITAI_STRUCT_VERSION < 9000L -#error "Incompatible Kaitai Struct C++/STL API: version 0.9 or later is required" -#endif - -class glonass_t : public kaitai::kstruct { - -public: - class string_4_t; - class string_non_immediate_t; - class string_5_t; - class string_1_t; - class string_2_t; - class string_3_t; - - glonass_t(kaitai::kstream* p__io, kaitai::kstruct* p__parent = 0, glonass_t* p__root = 0); - -private: - void _read(); - void _clean_up(); - -public: - ~glonass_t(); - - class string_4_t : public kaitai::kstruct { - - public: - - string_4_t(kaitai::kstream* p__io, glonass_t* p__parent = 0, glonass_t* p__root = 0); - - private: - void _read(); - void _clean_up(); - - public: - ~string_4_t(); - - private: - bool f_tau_n; - int32_t m_tau_n; - - public: - int32_t tau_n(); - - private: - bool f_delta_tau_n; - int32_t m_delta_tau_n; - - public: - int32_t delta_tau_n(); - - private: - bool m_tau_n_sign; - uint64_t m_tau_n_value; - bool m_delta_tau_n_sign; - uint64_t m_delta_tau_n_value; - uint64_t m_e_n; - uint64_t m_not_used_1; - bool m_p4; - uint64_t m_f_t; - uint64_t m_not_used_2; - uint64_t m_n_t; - uint64_t m_n; - uint64_t m_m; - glonass_t* m__root; - glonass_t* m__parent; - - public: - bool tau_n_sign() const { return m_tau_n_sign; } - uint64_t tau_n_value() const { return m_tau_n_value; } - bool delta_tau_n_sign() const { return m_delta_tau_n_sign; } - uint64_t delta_tau_n_value() const { return m_delta_tau_n_value; } - uint64_t e_n() const { return m_e_n; } - uint64_t not_used_1() const { return m_not_used_1; } - bool p4() const { return m_p4; } - uint64_t f_t() const { return m_f_t; } - uint64_t not_used_2() const { return m_not_used_2; } - uint64_t n_t() const { return m_n_t; } - uint64_t n() const { return m_n; } - uint64_t m() const { return m_m; } - glonass_t* _root() const { return m__root; } - glonass_t* _parent() const { return m__parent; } - }; - - class string_non_immediate_t : public kaitai::kstruct { - - public: - - string_non_immediate_t(kaitai::kstream* p__io, glonass_t* p__parent = 0, glonass_t* p__root = 0); - - private: - void _read(); - void _clean_up(); - - public: - ~string_non_immediate_t(); - - private: - uint64_t m_data_1; - uint64_t m_data_2; - glonass_t* m__root; - glonass_t* m__parent; - - public: - uint64_t data_1() const { return m_data_1; } - uint64_t data_2() const { return m_data_2; } - glonass_t* _root() const { return m__root; } - glonass_t* _parent() const { return m__parent; } - }; - - class string_5_t : public kaitai::kstruct { - - public: - - string_5_t(kaitai::kstream* p__io, glonass_t* p__parent = 0, glonass_t* p__root = 0); - - private: - void _read(); - void _clean_up(); - - public: - ~string_5_t(); - - private: - uint64_t m_n_a; - uint64_t m_tau_c; - bool m_not_used; - uint64_t m_n_4; - uint64_t m_tau_gps; - bool m_l_n; - glonass_t* m__root; - glonass_t* m__parent; - - public: - uint64_t n_a() const { return m_n_a; } - uint64_t tau_c() const { return m_tau_c; } - bool not_used() const { return m_not_used; } - uint64_t n_4() const { return m_n_4; } - uint64_t tau_gps() const { return m_tau_gps; } - bool l_n() const { return m_l_n; } - glonass_t* _root() const { return m__root; } - glonass_t* _parent() const { return m__parent; } - }; - - class string_1_t : public kaitai::kstruct { - - public: - - string_1_t(kaitai::kstream* p__io, glonass_t* p__parent = 0, glonass_t* p__root = 0); - - private: - void _read(); - void _clean_up(); - - public: - ~string_1_t(); - - private: - bool f_x_vel; - int32_t m_x_vel; - - public: - int32_t x_vel(); - - private: - bool f_x_accel; - int32_t m_x_accel; - - public: - int32_t x_accel(); - - private: - bool f_x; - int32_t m_x; - - public: - int32_t x(); - - private: - uint64_t m_not_used; - uint64_t m_p1; - uint64_t m_t_k; - bool m_x_vel_sign; - uint64_t m_x_vel_value; - bool m_x_accel_sign; - uint64_t m_x_accel_value; - bool m_x_sign; - uint64_t m_x_value; - glonass_t* m__root; - glonass_t* m__parent; - - public: - uint64_t not_used() const { return m_not_used; } - uint64_t p1() const { return m_p1; } - uint64_t t_k() const { return m_t_k; } - bool x_vel_sign() const { return m_x_vel_sign; } - uint64_t x_vel_value() const { return m_x_vel_value; } - bool x_accel_sign() const { return m_x_accel_sign; } - uint64_t x_accel_value() const { return m_x_accel_value; } - bool x_sign() const { return m_x_sign; } - uint64_t x_value() const { return m_x_value; } - glonass_t* _root() const { return m__root; } - glonass_t* _parent() const { return m__parent; } - }; - - class string_2_t : public kaitai::kstruct { - - public: - - string_2_t(kaitai::kstream* p__io, glonass_t* p__parent = 0, glonass_t* p__root = 0); - - private: - void _read(); - void _clean_up(); - - public: - ~string_2_t(); - - private: - bool f_y_vel; - int32_t m_y_vel; - - public: - int32_t y_vel(); - - private: - bool f_y_accel; - int32_t m_y_accel; - - public: - int32_t y_accel(); - - private: - bool f_y; - int32_t m_y; - - public: - int32_t y(); - - private: - uint64_t m_b_n; - bool m_p2; - uint64_t m_t_b; - uint64_t m_not_used; - bool m_y_vel_sign; - uint64_t m_y_vel_value; - bool m_y_accel_sign; - uint64_t m_y_accel_value; - bool m_y_sign; - uint64_t m_y_value; - glonass_t* m__root; - glonass_t* m__parent; - - public: - uint64_t b_n() const { return m_b_n; } - bool p2() const { return m_p2; } - uint64_t t_b() const { return m_t_b; } - uint64_t not_used() const { return m_not_used; } - bool y_vel_sign() const { return m_y_vel_sign; } - uint64_t y_vel_value() const { return m_y_vel_value; } - bool y_accel_sign() const { return m_y_accel_sign; } - uint64_t y_accel_value() const { return m_y_accel_value; } - bool y_sign() const { return m_y_sign; } - uint64_t y_value() const { return m_y_value; } - glonass_t* _root() const { return m__root; } - glonass_t* _parent() const { return m__parent; } - }; - - class string_3_t : public kaitai::kstruct { - - public: - - string_3_t(kaitai::kstream* p__io, glonass_t* p__parent = 0, glonass_t* p__root = 0); - - private: - void _read(); - void _clean_up(); - - public: - ~string_3_t(); - - private: - bool f_gamma_n; - int32_t m_gamma_n; - - public: - int32_t gamma_n(); - - private: - bool f_z_vel; - int32_t m_z_vel; - - public: - int32_t z_vel(); - - private: - bool f_z_accel; - int32_t m_z_accel; - - public: - int32_t z_accel(); - - private: - bool f_z; - int32_t m_z; - - public: - int32_t z(); - - private: - bool m_p3; - bool m_gamma_n_sign; - uint64_t m_gamma_n_value; - bool m_not_used; - uint64_t m_p; - bool m_l_n; - bool m_z_vel_sign; - uint64_t m_z_vel_value; - bool m_z_accel_sign; - uint64_t m_z_accel_value; - bool m_z_sign; - uint64_t m_z_value; - glonass_t* m__root; - glonass_t* m__parent; - - public: - bool p3() const { return m_p3; } - bool gamma_n_sign() const { return m_gamma_n_sign; } - uint64_t gamma_n_value() const { return m_gamma_n_value; } - bool not_used() const { return m_not_used; } - uint64_t p() const { return m_p; } - bool l_n() const { return m_l_n; } - bool z_vel_sign() const { return m_z_vel_sign; } - uint64_t z_vel_value() const { return m_z_vel_value; } - bool z_accel_sign() const { return m_z_accel_sign; } - uint64_t z_accel_value() const { return m_z_accel_value; } - bool z_sign() const { return m_z_sign; } - uint64_t z_value() const { return m_z_value; } - glonass_t* _root() const { return m__root; } - glonass_t* _parent() const { return m__parent; } - }; - -private: - bool m_idle_chip; - uint64_t m_string_number; - kaitai::kstruct* m_data; - uint64_t m_hamming_code; - uint64_t m_pad_1; - uint64_t m_superframe_number; - uint64_t m_pad_2; - uint64_t m_frame_number; - glonass_t* m__root; - kaitai::kstruct* m__parent; - -public: - bool idle_chip() const { return m_idle_chip; } - uint64_t string_number() const { return m_string_number; } - kaitai::kstruct* data() const { return m_data; } - uint64_t hamming_code() const { return m_hamming_code; } - uint64_t pad_1() const { return m_pad_1; } - uint64_t superframe_number() const { return m_superframe_number; } - uint64_t pad_2() const { return m_pad_2; } - uint64_t frame_number() const { return m_frame_number; } - glonass_t* _root() const { return m__root; } - kaitai::kstruct* _parent() const { return m__parent; } -}; - -#endif // GLONASS_H_ diff --git a/system/ubloxd/generated/gps.h b/system/ubloxd/generated/gps.h deleted file mode 100644 index 9dfc5031f505c9..00000000000000 --- a/system/ubloxd/generated/gps.h +++ /dev/null @@ -1,359 +0,0 @@ -#ifndef GPS_H_ -#define GPS_H_ - -// This is a generated file! Please edit source .ksy file and use kaitai-struct-compiler to rebuild - -#include "kaitai/kaitaistruct.h" -#include - -#if KAITAI_STRUCT_VERSION < 9000L -#error "Incompatible Kaitai Struct C++/STL API: version 0.9 or later is required" -#endif - -class gps_t : public kaitai::kstruct { - -public: - class subframe_1_t; - class subframe_3_t; - class subframe_4_t; - class how_t; - class tlm_t; - class subframe_2_t; - - gps_t(kaitai::kstream* p__io, kaitai::kstruct* p__parent = 0, gps_t* p__root = 0); - -private: - void _read(); - void _clean_up(); - -public: - ~gps_t(); - - class subframe_1_t : public kaitai::kstruct { - - public: - - subframe_1_t(kaitai::kstream* p__io, gps_t* p__parent = 0, gps_t* p__root = 0); - - private: - void _read(); - void _clean_up(); - - public: - ~subframe_1_t(); - - private: - bool f_af_0; - int32_t m_af_0; - - public: - int32_t af_0(); - - private: - uint64_t m_week_no; - uint64_t m_code; - uint64_t m_sv_accuracy; - uint64_t m_sv_health; - uint64_t m_iodc_msb; - bool m_l2_p_data_flag; - uint64_t m_reserved1; - uint64_t m_reserved2; - uint64_t m_reserved3; - uint64_t m_reserved4; - int8_t m_t_gd; - uint8_t m_iodc_lsb; - uint16_t m_t_oc; - int8_t m_af_2; - int16_t m_af_1; - bool m_af_0_sign; - uint64_t m_af_0_value; - uint64_t m_reserved5; - gps_t* m__root; - gps_t* m__parent; - - public: - uint64_t week_no() const { return m_week_no; } - uint64_t code() const { return m_code; } - uint64_t sv_accuracy() const { return m_sv_accuracy; } - uint64_t sv_health() const { return m_sv_health; } - uint64_t iodc_msb() const { return m_iodc_msb; } - bool l2_p_data_flag() const { return m_l2_p_data_flag; } - uint64_t reserved1() const { return m_reserved1; } - uint64_t reserved2() const { return m_reserved2; } - uint64_t reserved3() const { return m_reserved3; } - uint64_t reserved4() const { return m_reserved4; } - int8_t t_gd() const { return m_t_gd; } - uint8_t iodc_lsb() const { return m_iodc_lsb; } - uint16_t t_oc() const { return m_t_oc; } - int8_t af_2() const { return m_af_2; } - int16_t af_1() const { return m_af_1; } - bool af_0_sign() const { return m_af_0_sign; } - uint64_t af_0_value() const { return m_af_0_value; } - uint64_t reserved5() const { return m_reserved5; } - gps_t* _root() const { return m__root; } - gps_t* _parent() const { return m__parent; } - }; - - class subframe_3_t : public kaitai::kstruct { - - public: - - subframe_3_t(kaitai::kstream* p__io, gps_t* p__parent = 0, gps_t* p__root = 0); - - private: - void _read(); - void _clean_up(); - - public: - ~subframe_3_t(); - - private: - bool f_omega_dot; - int32_t m_omega_dot; - - public: - int32_t omega_dot(); - - private: - bool f_idot; - int32_t m_idot; - - public: - int32_t idot(); - - private: - int16_t m_c_ic; - int32_t m_omega_0; - int16_t m_c_is; - int32_t m_i_0; - int16_t m_c_rc; - int32_t m_omega; - bool m_omega_dot_sign; - uint64_t m_omega_dot_value; - uint8_t m_iode; - bool m_idot_sign; - uint64_t m_idot_value; - uint64_t m_reserved; - gps_t* m__root; - gps_t* m__parent; - - public: - int16_t c_ic() const { return m_c_ic; } - int32_t omega_0() const { return m_omega_0; } - int16_t c_is() const { return m_c_is; } - int32_t i_0() const { return m_i_0; } - int16_t c_rc() const { return m_c_rc; } - int32_t omega() const { return m_omega; } - bool omega_dot_sign() const { return m_omega_dot_sign; } - uint64_t omega_dot_value() const { return m_omega_dot_value; } - uint8_t iode() const { return m_iode; } - bool idot_sign() const { return m_idot_sign; } - uint64_t idot_value() const { return m_idot_value; } - uint64_t reserved() const { return m_reserved; } - gps_t* _root() const { return m__root; } - gps_t* _parent() const { return m__parent; } - }; - - class subframe_4_t : public kaitai::kstruct { - - public: - class ionosphere_data_t; - - subframe_4_t(kaitai::kstream* p__io, gps_t* p__parent = 0, gps_t* p__root = 0); - - private: - void _read(); - void _clean_up(); - - public: - ~subframe_4_t(); - - class ionosphere_data_t : public kaitai::kstruct { - - public: - - ionosphere_data_t(kaitai::kstream* p__io, gps_t::subframe_4_t* p__parent = 0, gps_t* p__root = 0); - - private: - void _read(); - void _clean_up(); - - public: - ~ionosphere_data_t(); - - private: - int8_t m_a0; - int8_t m_a1; - int8_t m_a2; - int8_t m_a3; - int8_t m_b0; - int8_t m_b1; - int8_t m_b2; - int8_t m_b3; - gps_t* m__root; - gps_t::subframe_4_t* m__parent; - - public: - int8_t a0() const { return m_a0; } - int8_t a1() const { return m_a1; } - int8_t a2() const { return m_a2; } - int8_t a3() const { return m_a3; } - int8_t b0() const { return m_b0; } - int8_t b1() const { return m_b1; } - int8_t b2() const { return m_b2; } - int8_t b3() const { return m_b3; } - gps_t* _root() const { return m__root; } - gps_t::subframe_4_t* _parent() const { return m__parent; } - }; - - private: - uint64_t m_data_id; - uint64_t m_page_id; - ionosphere_data_t* m_body; - bool n_body; - - public: - bool _is_null_body() { body(); return n_body; }; - - private: - gps_t* m__root; - gps_t* m__parent; - - public: - uint64_t data_id() const { return m_data_id; } - uint64_t page_id() const { return m_page_id; } - ionosphere_data_t* body() const { return m_body; } - gps_t* _root() const { return m__root; } - gps_t* _parent() const { return m__parent; } - }; - - class how_t : public kaitai::kstruct { - - public: - - how_t(kaitai::kstream* p__io, gps_t* p__parent = 0, gps_t* p__root = 0); - - private: - void _read(); - void _clean_up(); - - public: - ~how_t(); - - private: - uint64_t m_tow_count; - bool m_alert; - bool m_anti_spoof; - uint64_t m_subframe_id; - uint64_t m_reserved; - gps_t* m__root; - gps_t* m__parent; - - public: - uint64_t tow_count() const { return m_tow_count; } - bool alert() const { return m_alert; } - bool anti_spoof() const { return m_anti_spoof; } - uint64_t subframe_id() const { return m_subframe_id; } - uint64_t reserved() const { return m_reserved; } - gps_t* _root() const { return m__root; } - gps_t* _parent() const { return m__parent; } - }; - - class tlm_t : public kaitai::kstruct { - - public: - - tlm_t(kaitai::kstream* p__io, gps_t* p__parent = 0, gps_t* p__root = 0); - - private: - void _read(); - void _clean_up(); - - public: - ~tlm_t(); - - private: - std::string m_preamble; - uint64_t m_tlm; - bool m_integrity_status; - bool m_reserved; - gps_t* m__root; - gps_t* m__parent; - - public: - std::string preamble() const { return m_preamble; } - uint64_t tlm() const { return m_tlm; } - bool integrity_status() const { return m_integrity_status; } - bool reserved() const { return m_reserved; } - gps_t* _root() const { return m__root; } - gps_t* _parent() const { return m__parent; } - }; - - class subframe_2_t : public kaitai::kstruct { - - public: - - subframe_2_t(kaitai::kstream* p__io, gps_t* p__parent = 0, gps_t* p__root = 0); - - private: - void _read(); - void _clean_up(); - - public: - ~subframe_2_t(); - - private: - uint8_t m_iode; - int16_t m_c_rs; - int16_t m_delta_n; - int32_t m_m_0; - int16_t m_c_uc; - int32_t m_e; - int16_t m_c_us; - uint32_t m_sqrt_a; - uint16_t m_t_oe; - bool m_fit_interval_flag; - uint64_t m_aoda; - uint64_t m_reserved; - gps_t* m__root; - gps_t* m__parent; - - public: - uint8_t iode() const { return m_iode; } - int16_t c_rs() const { return m_c_rs; } - int16_t delta_n() const { return m_delta_n; } - int32_t m_0() const { return m_m_0; } - int16_t c_uc() const { return m_c_uc; } - int32_t e() const { return m_e; } - int16_t c_us() const { return m_c_us; } - uint32_t sqrt_a() const { return m_sqrt_a; } - uint16_t t_oe() const { return m_t_oe; } - bool fit_interval_flag() const { return m_fit_interval_flag; } - uint64_t aoda() const { return m_aoda; } - uint64_t reserved() const { return m_reserved; } - gps_t* _root() const { return m__root; } - gps_t* _parent() const { return m__parent; } - }; - -private: - tlm_t* m_tlm; - how_t* m_how; - kaitai::kstruct* m_body; - bool n_body; - -public: - bool _is_null_body() { body(); return n_body; }; - -private: - gps_t* m__root; - kaitai::kstruct* m__parent; - -public: - tlm_t* tlm() const { return m_tlm; } - how_t* how() const { return m_how; } - kaitai::kstruct* body() const { return m_body; } - gps_t* _root() const { return m__root; } - kaitai::kstruct* _parent() const { return m__parent; } -}; - -#endif // GPS_H_ diff --git a/system/ubloxd/generated/ubx.h b/system/ubloxd/generated/ubx.h deleted file mode 100644 index 022108489ff27a..00000000000000 --- a/system/ubloxd/generated/ubx.h +++ /dev/null @@ -1,484 +0,0 @@ -#ifndef UBX_H_ -#define UBX_H_ - -// This is a generated file! Please edit source .ksy file and use kaitai-struct-compiler to rebuild - -#include "kaitai/kaitaistruct.h" -#include -#include - -#if KAITAI_STRUCT_VERSION < 9000L -#error "Incompatible Kaitai Struct C++/STL API: version 0.9 or later is required" -#endif - -class ubx_t : public kaitai::kstruct { - -public: - class rxm_rawx_t; - class rxm_sfrbx_t; - class nav_sat_t; - class nav_pvt_t; - class mon_hw2_t; - class mon_hw_t; - - enum gnss_type_t { - GNSS_TYPE_GPS = 0, - GNSS_TYPE_SBAS = 1, - GNSS_TYPE_GALILEO = 2, - GNSS_TYPE_BEIDOU = 3, - GNSS_TYPE_IMES = 4, - GNSS_TYPE_QZSS = 5, - GNSS_TYPE_GLONASS = 6 - }; - - ubx_t(kaitai::kstream* p__io, kaitai::kstruct* p__parent = 0, ubx_t* p__root = 0); - -private: - void _read(); - void _clean_up(); - -public: - ~ubx_t(); - - class rxm_rawx_t : public kaitai::kstruct { - - public: - class measurement_t; - - rxm_rawx_t(kaitai::kstream* p__io, ubx_t* p__parent = 0, ubx_t* p__root = 0); - - private: - void _read(); - void _clean_up(); - - public: - ~rxm_rawx_t(); - - class measurement_t : public kaitai::kstruct { - - public: - - measurement_t(kaitai::kstream* p__io, ubx_t::rxm_rawx_t* p__parent = 0, ubx_t* p__root = 0); - - private: - void _read(); - void _clean_up(); - - public: - ~measurement_t(); - - private: - double m_pr_mes; - double m_cp_mes; - float m_do_mes; - gnss_type_t m_gnss_id; - uint8_t m_sv_id; - std::string m_reserved2; - uint8_t m_freq_id; - uint16_t m_lock_time; - uint8_t m_cno; - uint8_t m_pr_stdev; - uint8_t m_cp_stdev; - uint8_t m_do_stdev; - uint8_t m_trk_stat; - std::string m_reserved3; - ubx_t* m__root; - ubx_t::rxm_rawx_t* m__parent; - - public: - double pr_mes() const { return m_pr_mes; } - double cp_mes() const { return m_cp_mes; } - float do_mes() const { return m_do_mes; } - gnss_type_t gnss_id() const { return m_gnss_id; } - uint8_t sv_id() const { return m_sv_id; } - std::string reserved2() const { return m_reserved2; } - uint8_t freq_id() const { return m_freq_id; } - uint16_t lock_time() const { return m_lock_time; } - uint8_t cno() const { return m_cno; } - uint8_t pr_stdev() const { return m_pr_stdev; } - uint8_t cp_stdev() const { return m_cp_stdev; } - uint8_t do_stdev() const { return m_do_stdev; } - uint8_t trk_stat() const { return m_trk_stat; } - std::string reserved3() const { return m_reserved3; } - ubx_t* _root() const { return m__root; } - ubx_t::rxm_rawx_t* _parent() const { return m__parent; } - }; - - private: - double m_rcv_tow; - uint16_t m_week; - int8_t m_leap_s; - uint8_t m_num_meas; - uint8_t m_rec_stat; - std::string m_reserved1; - std::vector* m_meas; - ubx_t* m__root; - ubx_t* m__parent; - std::vector* m__raw_meas; - std::vector* m__io__raw_meas; - - public: - double rcv_tow() const { return m_rcv_tow; } - uint16_t week() const { return m_week; } - int8_t leap_s() const { return m_leap_s; } - uint8_t num_meas() const { return m_num_meas; } - uint8_t rec_stat() const { return m_rec_stat; } - std::string reserved1() const { return m_reserved1; } - std::vector* meas() const { return m_meas; } - ubx_t* _root() const { return m__root; } - ubx_t* _parent() const { return m__parent; } - std::vector* _raw_meas() const { return m__raw_meas; } - std::vector* _io__raw_meas() const { return m__io__raw_meas; } - }; - - class rxm_sfrbx_t : public kaitai::kstruct { - - public: - - rxm_sfrbx_t(kaitai::kstream* p__io, ubx_t* p__parent = 0, ubx_t* p__root = 0); - - private: - void _read(); - void _clean_up(); - - public: - ~rxm_sfrbx_t(); - - private: - gnss_type_t m_gnss_id; - uint8_t m_sv_id; - std::string m_reserved1; - uint8_t m_freq_id; - uint8_t m_num_words; - std::string m_reserved2; - uint8_t m_version; - std::string m_reserved3; - std::vector* m_body; - ubx_t* m__root; - ubx_t* m__parent; - - public: - gnss_type_t gnss_id() const { return m_gnss_id; } - uint8_t sv_id() const { return m_sv_id; } - std::string reserved1() const { return m_reserved1; } - uint8_t freq_id() const { return m_freq_id; } - uint8_t num_words() const { return m_num_words; } - std::string reserved2() const { return m_reserved2; } - uint8_t version() const { return m_version; } - std::string reserved3() const { return m_reserved3; } - std::vector* body() const { return m_body; } - ubx_t* _root() const { return m__root; } - ubx_t* _parent() const { return m__parent; } - }; - - class nav_sat_t : public kaitai::kstruct { - - public: - class nav_t; - - nav_sat_t(kaitai::kstream* p__io, ubx_t* p__parent = 0, ubx_t* p__root = 0); - - private: - void _read(); - void _clean_up(); - - public: - ~nav_sat_t(); - - class nav_t : public kaitai::kstruct { - - public: - - nav_t(kaitai::kstream* p__io, ubx_t::nav_sat_t* p__parent = 0, ubx_t* p__root = 0); - - private: - void _read(); - void _clean_up(); - - public: - ~nav_t(); - - private: - gnss_type_t m_gnss_id; - uint8_t m_sv_id; - uint8_t m_cno; - int8_t m_elev; - int16_t m_azim; - int16_t m_pr_res; - uint32_t m_flags; - ubx_t* m__root; - ubx_t::nav_sat_t* m__parent; - - public: - gnss_type_t gnss_id() const { return m_gnss_id; } - uint8_t sv_id() const { return m_sv_id; } - uint8_t cno() const { return m_cno; } - int8_t elev() const { return m_elev; } - int16_t azim() const { return m_azim; } - int16_t pr_res() const { return m_pr_res; } - uint32_t flags() const { return m_flags; } - ubx_t* _root() const { return m__root; } - ubx_t::nav_sat_t* _parent() const { return m__parent; } - }; - - private: - uint32_t m_itow; - uint8_t m_version; - uint8_t m_num_svs; - std::string m_reserved; - std::vector* m_svs; - ubx_t* m__root; - ubx_t* m__parent; - std::vector* m__raw_svs; - std::vector* m__io__raw_svs; - - public: - uint32_t itow() const { return m_itow; } - uint8_t version() const { return m_version; } - uint8_t num_svs() const { return m_num_svs; } - std::string reserved() const { return m_reserved; } - std::vector* svs() const { return m_svs; } - ubx_t* _root() const { return m__root; } - ubx_t* _parent() const { return m__parent; } - std::vector* _raw_svs() const { return m__raw_svs; } - std::vector* _io__raw_svs() const { return m__io__raw_svs; } - }; - - class nav_pvt_t : public kaitai::kstruct { - - public: - - nav_pvt_t(kaitai::kstream* p__io, ubx_t* p__parent = 0, ubx_t* p__root = 0); - - private: - void _read(); - void _clean_up(); - - public: - ~nav_pvt_t(); - - private: - uint32_t m_i_tow; - uint16_t m_year; - uint8_t m_month; - uint8_t m_day; - uint8_t m_hour; - uint8_t m_min; - uint8_t m_sec; - uint8_t m_valid; - uint32_t m_t_acc; - int32_t m_nano; - uint8_t m_fix_type; - uint8_t m_flags; - uint8_t m_flags2; - uint8_t m_num_sv; - int32_t m_lon; - int32_t m_lat; - int32_t m_height; - int32_t m_h_msl; - uint32_t m_h_acc; - uint32_t m_v_acc; - int32_t m_vel_n; - int32_t m_vel_e; - int32_t m_vel_d; - int32_t m_g_speed; - int32_t m_head_mot; - int32_t m_s_acc; - uint32_t m_head_acc; - uint16_t m_p_dop; - uint8_t m_flags3; - std::string m_reserved1; - int32_t m_head_veh; - int16_t m_mag_dec; - uint16_t m_mag_acc; - ubx_t* m__root; - ubx_t* m__parent; - - public: - uint32_t i_tow() const { return m_i_tow; } - uint16_t year() const { return m_year; } - uint8_t month() const { return m_month; } - uint8_t day() const { return m_day; } - uint8_t hour() const { return m_hour; } - uint8_t min() const { return m_min; } - uint8_t sec() const { return m_sec; } - uint8_t valid() const { return m_valid; } - uint32_t t_acc() const { return m_t_acc; } - int32_t nano() const { return m_nano; } - uint8_t fix_type() const { return m_fix_type; } - uint8_t flags() const { return m_flags; } - uint8_t flags2() const { return m_flags2; } - uint8_t num_sv() const { return m_num_sv; } - int32_t lon() const { return m_lon; } - int32_t lat() const { return m_lat; } - int32_t height() const { return m_height; } - int32_t h_msl() const { return m_h_msl; } - uint32_t h_acc() const { return m_h_acc; } - uint32_t v_acc() const { return m_v_acc; } - int32_t vel_n() const { return m_vel_n; } - int32_t vel_e() const { return m_vel_e; } - int32_t vel_d() const { return m_vel_d; } - int32_t g_speed() const { return m_g_speed; } - int32_t head_mot() const { return m_head_mot; } - int32_t s_acc() const { return m_s_acc; } - uint32_t head_acc() const { return m_head_acc; } - uint16_t p_dop() const { return m_p_dop; } - uint8_t flags3() const { return m_flags3; } - std::string reserved1() const { return m_reserved1; } - int32_t head_veh() const { return m_head_veh; } - int16_t mag_dec() const { return m_mag_dec; } - uint16_t mag_acc() const { return m_mag_acc; } - ubx_t* _root() const { return m__root; } - ubx_t* _parent() const { return m__parent; } - }; - - class mon_hw2_t : public kaitai::kstruct { - - public: - - enum config_source_t { - CONFIG_SOURCE_FLASH = 102, - CONFIG_SOURCE_OTP = 111, - CONFIG_SOURCE_CONFIG_PINS = 112, - CONFIG_SOURCE_ROM = 113 - }; - - mon_hw2_t(kaitai::kstream* p__io, ubx_t* p__parent = 0, ubx_t* p__root = 0); - - private: - void _read(); - void _clean_up(); - - public: - ~mon_hw2_t(); - - private: - int8_t m_ofs_i; - uint8_t m_mag_i; - int8_t m_ofs_q; - uint8_t m_mag_q; - config_source_t m_cfg_source; - std::string m_reserved1; - uint32_t m_low_lev_cfg; - std::string m_reserved2; - uint32_t m_post_status; - std::string m_reserved3; - ubx_t* m__root; - ubx_t* m__parent; - - public: - int8_t ofs_i() const { return m_ofs_i; } - uint8_t mag_i() const { return m_mag_i; } - int8_t ofs_q() const { return m_ofs_q; } - uint8_t mag_q() const { return m_mag_q; } - config_source_t cfg_source() const { return m_cfg_source; } - std::string reserved1() const { return m_reserved1; } - uint32_t low_lev_cfg() const { return m_low_lev_cfg; } - std::string reserved2() const { return m_reserved2; } - uint32_t post_status() const { return m_post_status; } - std::string reserved3() const { return m_reserved3; } - ubx_t* _root() const { return m__root; } - ubx_t* _parent() const { return m__parent; } - }; - - class mon_hw_t : public kaitai::kstruct { - - public: - - enum antenna_status_t { - ANTENNA_STATUS_INIT = 0, - ANTENNA_STATUS_DONTKNOW = 1, - ANTENNA_STATUS_OK = 2, - ANTENNA_STATUS_SHORT = 3, - ANTENNA_STATUS_OPEN = 4 - }; - - enum antenna_power_t { - ANTENNA_POWER_FALSE = 0, - ANTENNA_POWER_TRUE = 1, - ANTENNA_POWER_DONTKNOW = 2 - }; - - mon_hw_t(kaitai::kstream* p__io, ubx_t* p__parent = 0, ubx_t* p__root = 0); - - private: - void _read(); - void _clean_up(); - - public: - ~mon_hw_t(); - - private: - uint32_t m_pin_sel; - uint32_t m_pin_bank; - uint32_t m_pin_dir; - uint32_t m_pin_val; - uint16_t m_noise_per_ms; - uint16_t m_agc_cnt; - antenna_status_t m_a_status; - antenna_power_t m_a_power; - uint8_t m_flags; - std::string m_reserved1; - uint32_t m_used_mask; - std::string m_vp; - uint8_t m_jam_ind; - std::string m_reserved2; - uint32_t m_pin_irq; - uint32_t m_pull_h; - uint32_t m_pull_l; - ubx_t* m__root; - ubx_t* m__parent; - - public: - uint32_t pin_sel() const { return m_pin_sel; } - uint32_t pin_bank() const { return m_pin_bank; } - uint32_t pin_dir() const { return m_pin_dir; } - uint32_t pin_val() const { return m_pin_val; } - uint16_t noise_per_ms() const { return m_noise_per_ms; } - uint16_t agc_cnt() const { return m_agc_cnt; } - antenna_status_t a_status() const { return m_a_status; } - antenna_power_t a_power() const { return m_a_power; } - uint8_t flags() const { return m_flags; } - std::string reserved1() const { return m_reserved1; } - uint32_t used_mask() const { return m_used_mask; } - std::string vp() const { return m_vp; } - uint8_t jam_ind() const { return m_jam_ind; } - std::string reserved2() const { return m_reserved2; } - uint32_t pin_irq() const { return m_pin_irq; } - uint32_t pull_h() const { return m_pull_h; } - uint32_t pull_l() const { return m_pull_l; } - ubx_t* _root() const { return m__root; } - ubx_t* _parent() const { return m__parent; } - }; - -private: - bool f_checksum; - uint16_t m_checksum; - -public: - uint16_t checksum(); - -private: - std::string m_magic; - uint16_t m_msg_type; - uint16_t m_length; - kaitai::kstruct* m_body; - bool n_body; - -public: - bool _is_null_body() { body(); return n_body; }; - -private: - ubx_t* m__root; - kaitai::kstruct* m__parent; - -public: - std::string magic() const { return m_magic; } - uint16_t msg_type() const { return m_msg_type; } - uint16_t length() const { return m_length; } - kaitai::kstruct* body() const { return m_body; } - ubx_t* _root() const { return m__root; } - kaitai::kstruct* _parent() const { return m__parent; } -}; - -#endif // UBX_H_ diff --git a/system/ubloxd/glonass.ksy b/system/ubloxd/glonass.ksy deleted file mode 100644 index be99f6e497ab37..00000000000000 --- a/system/ubloxd/glonass.ksy +++ /dev/null @@ -1,176 +0,0 @@ -# http://gauss.gge.unb.ca/GLONASS.ICD.pdf -# some variables are misprinted but good in the old doc -# https://www.unavco.org/help/glossary/docs/ICD_GLONASS_4.0_(1998)_en.pdf -meta: - id: glonass - endian: be - bit-endian: be -seq: - - id: idle_chip - type: b1 - - id: string_number - type: b4 - - id: data - type: - switch-on: string_number - cases: - 1: string_1 - 2: string_2 - 3: string_3 - 4: string_4 - 5: string_5 - _: string_non_immediate - - id: hamming_code - type: b8 - - id: pad_1 - type: b11 - - id: superframe_number - type: b16 - - id: pad_2 - type: b8 - - id: frame_number - type: b8 - -types: - string_1: - seq: - - id: not_used - type: b2 - - id: p1 - type: b2 - - id: t_k - type: b12 - - id: x_vel_sign - type: b1 - - id: x_vel_value - type: b23 - - id: x_accel_sign - type: b1 - - id: x_accel_value - type: b4 - - id: x_sign - type: b1 - - id: x_value - type: b26 - instances: - x_vel: - value: 'x_vel_sign ? (x_vel_value * (-1)) : x_vel_value' - x_accel: - value: 'x_accel_sign ? (x_accel_value * (-1)) : x_accel_value' - x: - value: 'x_sign ? (x_value * (-1)) : x_value' - string_2: - seq: - - id: b_n - type: b3 - - id: p2 - type: b1 - - id: t_b - type: b7 - - id: not_used - type: b5 - - id: y_vel_sign - type: b1 - - id: y_vel_value - type: b23 - - id: y_accel_sign - type: b1 - - id: y_accel_value - type: b4 - - id: y_sign - type: b1 - - id: y_value - type: b26 - instances: - y_vel: - value: 'y_vel_sign ? (y_vel_value * (-1)) : y_vel_value' - y_accel: - value: 'y_accel_sign ? (y_accel_value * (-1)) : y_accel_value' - y: - value: 'y_sign ? (y_value * (-1)) : y_value' - string_3: - seq: - - id: p3 - type: b1 - - id: gamma_n_sign - type: b1 - - id: gamma_n_value - type: b10 - - id: not_used - type: b1 - - id: p - type: b2 - - id: l_n - type: b1 - - id: z_vel_sign - type: b1 - - id: z_vel_value - type: b23 - - id: z_accel_sign - type: b1 - - id: z_accel_value - type: b4 - - id: z_sign - type: b1 - - id: z_value - type: b26 - instances: - gamma_n: - value: 'gamma_n_sign ? (gamma_n_value * (-1)) : gamma_n_value' - z_vel: - value: 'z_vel_sign ? (z_vel_value * (-1)) : z_vel_value' - z_accel: - value: 'z_accel_sign ? (z_accel_value * (-1)) : z_accel_value' - z: - value: 'z_sign ? (z_value * (-1)) : z_value' - string_4: - seq: - - id: tau_n_sign - type: b1 - - id: tau_n_value - type: b21 - - id: delta_tau_n_sign - type: b1 - - id: delta_tau_n_value - type: b4 - - id: e_n - type: b5 - - id: not_used_1 - type: b14 - - id: p4 - type: b1 - - id: f_t - type: b4 - - id: not_used_2 - type: b3 - - id: n_t - type: b11 - - id: n - type: b5 - - id: m - type: b2 - instances: - tau_n: - value: 'tau_n_sign ? (tau_n_value * (-1)) : tau_n_value' - delta_tau_n: - value: 'delta_tau_n_sign ? (delta_tau_n_value * (-1)) : delta_tau_n_value' - string_5: - seq: - - id: n_a - type: b11 - - id: tau_c - type: b32 - - id: not_used - type: b1 - - id: n_4 - type: b5 - - id: tau_gps - type: b22 - - id: l_n - type: b1 - string_non_immediate: - seq: - - id: data_1 - type: b64 - - id: data_2 - type: b8 diff --git a/system/ubloxd/glonass_fix.patch b/system/ubloxd/glonass_fix.patch deleted file mode 100644 index 7eb973a3480f5c..00000000000000 --- a/system/ubloxd/glonass_fix.patch +++ /dev/null @@ -1,13 +0,0 @@ -diff --git a/system/ubloxd/generated/glonass.cpp b/system/ubloxd/generated/glonass.cpp -index 5b17bc327..b5c6aa610 100644 ---- a/system/ubloxd/generated/glonass.cpp -+++ b/system/ubloxd/generated/glonass.cpp -@@ -17,7 +17,7 @@ glonass_t::glonass_t(kaitai::kstream* p__io, kaitai::kstruct* p__parent, glonass - void glonass_t::_read() { - m_idle_chip = m__io->read_bits_int_be(1); - m_string_number = m__io->read_bits_int_be(4); -- m__io->align_to_byte(); -+ //m__io->align_to_byte(); - switch (string_number()) { - case 4: { - m_data = new string_4_t(m__io, this, m__root); diff --git a/system/ubloxd/gps.ksy b/system/ubloxd/gps.ksy deleted file mode 100644 index 893ad1b25bee5e..00000000000000 --- a/system/ubloxd/gps.ksy +++ /dev/null @@ -1,189 +0,0 @@ -# https://www.gps.gov/technical/icwg/IS-GPS-200E.pdf -meta: - id: gps - endian: be - bit-endian: be -seq: - - id: tlm - type: tlm - - id: how - type: how - - id: body - type: - switch-on: how.subframe_id - cases: - 1: subframe_1 - 2: subframe_2 - 3: subframe_3 - 4: subframe_4 -types: - tlm: - seq: - - id: preamble - contents: [0x8b] - - id: tlm - type: b14 - - id: integrity_status - type: b1 - - id: reserved - type: b1 - how: - seq: - - id: tow_count - type: b17 - - id: alert - type: b1 - - id: anti_spoof - type: b1 - - id: subframe_id - type: b3 - - id: reserved - type: b2 - subframe_1: - seq: - # Word 3 - - id: week_no - type: b10 - - id: code - type: b2 - - id: sv_accuracy - type: b4 - - id: sv_health - type: b6 - - id: iodc_msb - type: b2 - # Word 4 - - id: l2_p_data_flag - type: b1 - - id: reserved1 - type: b23 - # Word 5 - - id: reserved2 - type: b24 - # Word 6 - - id: reserved3 - type: b24 - # Word 7 - - id: reserved4 - type: b16 - - id: t_gd - type: s1 - # Word 8 - - id: iodc_lsb - type: u1 - - id: t_oc - type: u2 - # Word 9 - - id: af_2 - type: s1 - - id: af_1 - type: s2 - # Word 10 - - id: af_0_sign - type: b1 - - id: af_0_value - type: b21 - - id: reserved5 - type: b2 - instances: - af_0: - value: 'af_0_sign ? (af_0_value - (1 << 21)) : af_0_value' - subframe_2: - seq: - # Word 3 - - id: iode - type: u1 - - id: c_rs - type: s2 - # Word 4 & 5 - - id: delta_n - type: s2 - - id: m_0 - type: s4 - # Word 6 & 7 - - id: c_uc - type: s2 - - id: e - type: s4 - # Word 8 & 9 - - id: c_us - type: s2 - - id: sqrt_a - type: u4 - # Word 10 - - id: t_oe - type: u2 - - id: fit_interval_flag - type: b1 - - id: aoda - type: b5 - - id: reserved - type: b2 - subframe_3: - seq: - # Word 3 & 4 - - id: c_ic - type: s2 - - id: omega_0 - type: s4 - # Word 5 & 6 - - id: c_is - type: s2 - - id: i_0 - type: s4 - # Word 7 & 8 - - id: c_rc - type: s2 - - id: omega - type: s4 - # Word 9 - - id: omega_dot_sign - type: b1 - - id: omega_dot_value - type: b23 - # Word 10 - - id: iode - type: u1 - - id: idot_sign - type: b1 - - id: idot_value - type: b13 - - id: reserved - type: b2 - instances: - omega_dot: - value: 'omega_dot_sign ? (omega_dot_value - (1 << 23)) : omega_dot_value' - idot: - value: 'idot_sign ? (idot_value - (1 << 13)) : idot_value' - subframe_4: - seq: - # Word 3 - - id: data_id - type: b2 - - id: page_id - type: b6 - - id: body - type: - switch-on: page_id - cases: - 56: ionosphere_data - types: - ionosphere_data: - seq: - - id: a0 - type: s1 - - id: a1 - type: s1 - - id: a2 - type: s1 - - id: a3 - type: s1 - - id: b0 - type: s1 - - id: b1 - type: s1 - - id: b2 - type: s1 - - id: b3 - type: s1 - diff --git a/system/ubloxd/tests/print_gps_stats.py b/system/ubloxd/tests/print_gps_stats.py deleted file mode 100755 index edf94c060a938d..00000000000000 --- a/system/ubloxd/tests/print_gps_stats.py +++ /dev/null @@ -1,20 +0,0 @@ -#!/usr/bin/env python3 -import time -import cereal.messaging as messaging - -if __name__ == "__main__": - sm = messaging.SubMaster(['ubloxGnss', 'gpsLocationExternal']) - - while 1: - ug = sm['ubloxGnss'] - gle = sm['gpsLocationExternal'] - - try: - cnos = [] - for m in ug.measurementReport.measurements: - cnos.append(m.cno) - print("Sats: %d Accuracy: %.2f m cnos" % (ug.measurementReport.numMeas, gle.horizontalAccuracy), sorted(cnos)) - except Exception: - pass - sm.update() - time.sleep(0.1) diff --git a/system/ubloxd/tests/test_glonass_kaitai.cc b/system/ubloxd/tests/test_glonass_kaitai.cc deleted file mode 100644 index 96f43742b4c0c9..00000000000000 --- a/system/ubloxd/tests/test_glonass_kaitai.cc +++ /dev/null @@ -1,360 +0,0 @@ -#include -#include -#include -#include -#include -#include - -#include "catch2/catch.hpp" -#include "system/ubloxd/generated/glonass.h" - -typedef std::vector> string_data; - -#define IDLE_CHIP_IDX 0 -#define STRING_NUMBER_IDX 1 -// string data 1-5 -#define HC_IDX 0 -#define PAD1_IDX 1 -#define SUPERFRAME_IDX 2 -#define PAD2_IDX 3 -#define FRAME_IDX 4 - -// Indexes for string number 1 -#define ST1_NU_IDX 2 -#define ST1_P1_IDX 3 -#define ST1_T_K_IDX 4 -#define ST1_X_VEL_S_IDX 5 -#define ST1_X_VEL_V_IDX 6 -#define ST1_X_ACCEL_S_IDX 7 -#define ST1_X_ACCEL_V_IDX 8 -#define ST1_X_S_IDX 9 -#define ST1_X_V_IDX 10 -#define ST1_HC_OFF 11 - -// Indexes for string number 2 -#define ST2_BN_IDX 2 -#define ST2_P2_IDX 3 -#define ST2_TB_IDX 4 -#define ST2_NU_IDX 5 -#define ST2_Y_VEL_S_IDX 6 -#define ST2_Y_VEL_V_IDX 7 -#define ST2_Y_ACCEL_S_IDX 8 -#define ST2_Y_ACCEL_V_IDX 9 -#define ST2_Y_S_IDX 10 -#define ST2_Y_V_IDX 11 -#define ST2_HC_OFF 12 - -// Indexes for string number 3 -#define ST3_P3_IDX 2 -#define ST3_GAMMA_N_S_IDX 3 -#define ST3_GAMMA_N_V_IDX 4 -#define ST3_NU_1_IDX 5 -#define ST3_P_IDX 6 -#define ST3_L_N_IDX 7 -#define ST3_Z_VEL_S_IDX 8 -#define ST3_Z_VEL_V_IDX 9 -#define ST3_Z_ACCEL_S_IDX 10 -#define ST3_Z_ACCEL_V_IDX 11 -#define ST3_Z_S_IDX 12 -#define ST3_Z_V_IDX 13 -#define ST3_HC_OFF 14 - -// Indexes for string number 4 -#define ST4_TAU_N_S_IDX 2 -#define ST4_TAU_N_V_IDX 3 -#define ST4_DELTA_TAU_N_S_IDX 4 -#define ST4_DELTA_TAU_N_V_IDX 5 -#define ST4_E_N_IDX 6 -#define ST4_NU_1_IDX 7 -#define ST4_P4_IDX 8 -#define ST4_F_T_IDX 9 -#define ST4_NU_2_IDX 10 -#define ST4_N_T_IDX 11 -#define ST4_N_IDX 12 -#define ST4_M_IDX 13 -#define ST4_HC_OFF 14 - -// Indexes for string number 5 -#define ST5_N_A_IDX 2 -#define ST5_TAU_C_IDX 3 -#define ST5_NU_IDX 4 -#define ST5_N_4_IDX 5 -#define ST5_TAU_GPS_IDX 6 -#define ST5_L_N_IDX 7 -#define ST5_HC_OFF 8 - -// Indexes for non immediate -#define ST6_DATA_1_IDX 2 -#define ST6_DATA_2_IDX 3 -#define ST6_HC_OFF 4 - - -std::string generate_inp_data(string_data& data) { - std::string inp_data = ""; - for (auto& [b, v] : data) { - std::string tmp = std::bitset<64>(v).to_string(); - inp_data += tmp.substr(64-b, b); - } - assert(inp_data.size() == 128); - - std::string string_data; - string_data.reserve(16); - for (int i = 0; i < 128; i+=8) { - std::string substr = inp_data.substr(i, 8); - string_data.push_back((uint8_t)std::stoi(substr.c_str(), 0, 2)); - } - - return string_data; -} - -string_data generate_string_data(uint8_t string_number) { - - srand((unsigned)time(0)); - string_data data; // - data.push_back({1, 0}); // idle chip - data.push_back({4, string_number}); // string number - - if (string_number == 1) { - data.push_back({2, 3}); // not_used - data.push_back({2, 1}); // p1 - data.push_back({12, 113}); // t_k - data.push_back({1, rand() & 1}); // x_vel_sign - data.push_back({23, 7122}); // x_vel_value - data.push_back({1, rand() & 1}); // x_accel_sign - data.push_back({4, 3}); // x_accel_value - data.push_back({1, rand() & 1}); // x_sign - data.push_back({26, 33554431}); // x_value - } else if (string_number == 2) { - data.push_back({3, 3}); // b_n - data.push_back({1, 1}); // p2 - data.push_back({7, 123}); // t_b - data.push_back({5, 31}); // not_used - data.push_back({1, rand() & 1}); // y_vel_sign - data.push_back({23, 7422}); // y_vel_value - data.push_back({1, rand() & 1}); // y_accel_sign - data.push_back({4, 3}); // y_accel_value - data.push_back({1, rand() & 1}); // y_sign - data.push_back({26, 67108863}); // y_value - } else if (string_number == 3) { - data.push_back({1, 0}); // p3 - data.push_back({1, 1}); // gamma_n_sign - data.push_back({10, 123}); // gamma_n_value - data.push_back({1, 0}); // not_used - data.push_back({2, 2}); // p - data.push_back({1, 1}); // l_n - data.push_back({1, rand() & 1}); // z_vel_sign - data.push_back({23, 1337}); // z_vel_value - data.push_back({1, rand() & 1}); // z_accel_sign - data.push_back({4, 9}); // z_accel_value - data.push_back({1, rand() & 1}); // z_sign - data.push_back({26, 100023}); // z_value - } else if (string_number == 4) { - data.push_back({1, rand() & 1}); // tau_n_sign - data.push_back({21, 197152}); // tau_n_value - data.push_back({1, rand() & 1}); // delta_tau_n_sign - data.push_back({4, 4}); // delta_tau_n_value - data.push_back({5, 0}); // e_n - data.push_back({14, 2}); // not_used_1 - data.push_back({1, 1}); // p4 - data.push_back({4, 9}); // f_t - data.push_back({3, 3}); // not_used_2 - data.push_back({11, 2047}); // n_t - data.push_back({5, 2}); // n - data.push_back({2, 1}); // m - } else if (string_number == 5) { - data.push_back({11, 2047}); // n_a - data.push_back({32, 4294767295}); // tau_c - data.push_back({1, 0}); // not_used_1 - data.push_back({5, 2}); // n_4 - data.push_back({22, 4114304}); // tau_gps - data.push_back({1, 0}); // l_n - } else { // non-immediate data is not parsed - data.push_back({64, rand()}); // data_1 - data.push_back({8, 6}); // data_2 - } - - data.push_back({8, rand() & 0xFF}); // hamming code - data.push_back({11, rand() & 0x7FF}); // pad - data.push_back({16, rand() & 0xFFFF}); // superframe - data.push_back({8, rand() & 0xFF}); // pad - data.push_back({8, rand() & 0xFF}); // frame - return data; -} - -TEST_CASE("parse_string_number_1"){ - string_data data = generate_string_data(1); - std::string inp_data = generate_inp_data(data); - - kaitai::kstream stream(inp_data); - glonass_t gl_string(&stream); - - REQUIRE(gl_string.idle_chip() == data[IDLE_CHIP_IDX].second); - REQUIRE(gl_string.string_number() == data[STRING_NUMBER_IDX].second); - REQUIRE(gl_string.hamming_code() == data[ST1_HC_OFF + HC_IDX].second); - REQUIRE(gl_string.pad_1() == data[ST1_HC_OFF + PAD1_IDX].second); - REQUIRE(gl_string.superframe_number() == data[ST1_HC_OFF + SUPERFRAME_IDX].second); - REQUIRE(gl_string.pad_2() == data[ST1_HC_OFF + PAD2_IDX].second); - REQUIRE(gl_string.frame_number() == data[ST1_HC_OFF + FRAME_IDX].second); - - kaitai::kstream str1(inp_data); - glonass_t str1_data(&str1); - glonass_t::string_1_t* s1 = static_cast(str1_data.data()); - - REQUIRE(s1->not_used() == data[ST1_NU_IDX].second); - REQUIRE(s1->p1() == data[ST1_P1_IDX].second); - REQUIRE(s1->t_k() == data[ST1_T_K_IDX].second); - - int mul = s1->x_vel_sign() ? (-1) : 1; - REQUIRE(s1->x_vel() == (data[ST1_X_VEL_V_IDX].second * mul)); - mul = s1->x_accel_sign() ? (-1) : 1; - REQUIRE(s1->x_accel() == (data[ST1_X_ACCEL_V_IDX].second * mul)); - mul = s1->x_sign() ? (-1) : 1; - REQUIRE(s1->x() == (data[ST1_X_V_IDX].second * mul)); -} - -TEST_CASE("parse_string_number_2"){ - string_data data = generate_string_data(2); - std::string inp_data = generate_inp_data(data); - - kaitai::kstream stream(inp_data); - glonass_t gl_string(&stream); - - REQUIRE(gl_string.idle_chip() == data[IDLE_CHIP_IDX].second); - REQUIRE(gl_string.string_number() == data[STRING_NUMBER_IDX].second); - REQUIRE(gl_string.hamming_code() == data[ST2_HC_OFF + HC_IDX].second); - REQUIRE(gl_string.pad_1() == data[ST2_HC_OFF + PAD1_IDX].second); - REQUIRE(gl_string.superframe_number() == data[ST2_HC_OFF + SUPERFRAME_IDX].second); - REQUIRE(gl_string.pad_2() == data[ST2_HC_OFF + PAD2_IDX].second); - REQUIRE(gl_string.frame_number() == data[ST2_HC_OFF + FRAME_IDX].second); - - kaitai::kstream str2(inp_data); - glonass_t str2_data(&str2); - glonass_t::string_2_t* s2 = static_cast(str2_data.data()); - - REQUIRE(s2->b_n() == data[ST2_BN_IDX].second); - REQUIRE(s2->not_used() == data[ST2_NU_IDX].second); - REQUIRE(s2->p2() == data[ST2_P2_IDX].second); - REQUIRE(s2->t_b() == data[ST2_TB_IDX].second); - int mul = s2->y_vel_sign() ? (-1) : 1; - REQUIRE(s2->y_vel() == (data[ST2_Y_VEL_V_IDX].second * mul)); - mul = s2->y_accel_sign() ? (-1) : 1; - REQUIRE(s2->y_accel() == (data[ST2_Y_ACCEL_V_IDX].second * mul)); - mul = s2->y_sign() ? (-1) : 1; - REQUIRE(s2->y() == (data[ST2_Y_V_IDX].second * mul)); -} - -TEST_CASE("parse_string_number_3"){ - string_data data = generate_string_data(3); - std::string inp_data = generate_inp_data(data); - - kaitai::kstream stream(inp_data); - glonass_t gl_string(&stream); - - REQUIRE(gl_string.idle_chip() == data[IDLE_CHIP_IDX].second); - REQUIRE(gl_string.string_number() == data[STRING_NUMBER_IDX].second); - REQUIRE(gl_string.hamming_code() == data[ST3_HC_OFF + HC_IDX].second); - REQUIRE(gl_string.pad_1() == data[ST3_HC_OFF + PAD1_IDX].second); - REQUIRE(gl_string.superframe_number() == data[ST3_HC_OFF + SUPERFRAME_IDX].second); - REQUIRE(gl_string.pad_2() == data[ST3_HC_OFF + PAD2_IDX].second); - REQUIRE(gl_string.frame_number() == data[ST3_HC_OFF + FRAME_IDX].second); - - kaitai::kstream str3(inp_data); - glonass_t str3_data(&str3); - glonass_t::string_3_t* s3 = static_cast(str3_data.data()); - - REQUIRE(s3->p3() == data[ST3_P3_IDX].second); - int mul = s3->gamma_n_sign() ? (-1) : 1; - REQUIRE(s3->gamma_n() == (data[ST3_GAMMA_N_V_IDX].second * mul)); - REQUIRE(s3->not_used() == data[ST3_NU_1_IDX].second); - REQUIRE(s3->p() == data[ST3_P_IDX].second); - REQUIRE(s3->l_n() == data[ST3_L_N_IDX].second); - mul = s3->z_vel_sign() ? (-1) : 1; - REQUIRE(s3->z_vel() == (data[ST3_Z_VEL_V_IDX].second * mul)); - mul = s3->z_accel_sign() ? (-1) : 1; - REQUIRE(s3->z_accel() == (data[ST3_Z_ACCEL_V_IDX].second * mul)); - mul = s3->z_sign() ? (-1) : 1; - REQUIRE(s3->z() == (data[ST3_Z_V_IDX].second * mul)); -} - -TEST_CASE("parse_string_number_4"){ - string_data data = generate_string_data(4); - std::string inp_data = generate_inp_data(data); - - kaitai::kstream stream(inp_data); - glonass_t gl_string(&stream); - - REQUIRE(gl_string.idle_chip() == data[IDLE_CHIP_IDX].second); - REQUIRE(gl_string.string_number() == data[STRING_NUMBER_IDX].second); - REQUIRE(gl_string.hamming_code() == data[ST4_HC_OFF + HC_IDX].second); - REQUIRE(gl_string.pad_1() == data[ST4_HC_OFF + PAD1_IDX].second); - REQUIRE(gl_string.superframe_number() == data[ST4_HC_OFF + SUPERFRAME_IDX].second); - REQUIRE(gl_string.pad_2() == data[ST4_HC_OFF + PAD2_IDX].second); - REQUIRE(gl_string.frame_number() == data[ST4_HC_OFF + FRAME_IDX].second); - - kaitai::kstream str4(inp_data); - glonass_t str4_data(&str4); - glonass_t::string_4_t* s4 = static_cast(str4_data.data()); - - int mul = s4->tau_n_sign() ? (-1) : 1; - REQUIRE(s4->tau_n() == (data[ST4_TAU_N_V_IDX].second * mul)); - mul = s4->delta_tau_n_sign() ? (-1) : 1; - REQUIRE(s4->delta_tau_n() == (data[ST4_DELTA_TAU_N_V_IDX].second * mul)); - REQUIRE(s4->e_n() == data[ST4_E_N_IDX].second); - REQUIRE(s4->not_used_1() == data[ST4_NU_1_IDX].second); - REQUIRE(s4->p4() == data[ST4_P4_IDX].second); - REQUIRE(s4->f_t() == data[ST4_F_T_IDX].second); - REQUIRE(s4->not_used_2() == data[ST4_NU_2_IDX].second); - REQUIRE(s4->n_t() == data[ST4_N_T_IDX].second); - REQUIRE(s4->n() == data[ST4_N_IDX].second); - REQUIRE(s4->m() == data[ST4_M_IDX].second); -} - -TEST_CASE("parse_string_number_5"){ - string_data data = generate_string_data(5); - std::string inp_data = generate_inp_data(data); - - kaitai::kstream stream(inp_data); - glonass_t gl_string(&stream); - - REQUIRE(gl_string.idle_chip() == data[IDLE_CHIP_IDX].second); - REQUIRE(gl_string.string_number() == data[STRING_NUMBER_IDX].second); - REQUIRE(gl_string.hamming_code() == data[ST5_HC_OFF + HC_IDX].second); - REQUIRE(gl_string.pad_1() == data[ST5_HC_OFF + PAD1_IDX].second); - REQUIRE(gl_string.superframe_number() == data[ST5_HC_OFF + SUPERFRAME_IDX].second); - REQUIRE(gl_string.pad_2() == data[ST5_HC_OFF + PAD2_IDX].second); - REQUIRE(gl_string.frame_number() == data[ST5_HC_OFF + FRAME_IDX].second); - - kaitai::kstream str5(inp_data); - glonass_t str5_data(&str5); - glonass_t::string_5_t* s5 = static_cast(str5_data.data()); - - REQUIRE(s5->n_a() == data[ST5_N_A_IDX].second); - REQUIRE(s5->tau_c() == data[ST5_TAU_C_IDX].second); - REQUIRE(s5->not_used() == data[ST5_NU_IDX].second); - REQUIRE(s5->n_4() == data[ST5_N_4_IDX].second); - REQUIRE(s5->tau_gps() == data[ST5_TAU_GPS_IDX].second); - REQUIRE(s5->l_n() == data[ST5_L_N_IDX].second); -} - -TEST_CASE("parse_string_number_NI"){ - string_data data = generate_string_data((rand() % 10) + 6); - std::string inp_data = generate_inp_data(data); - - kaitai::kstream stream(inp_data); - glonass_t gl_string(&stream); - - REQUIRE(gl_string.idle_chip() == data[IDLE_CHIP_IDX].second); - REQUIRE(gl_string.string_number() == data[STRING_NUMBER_IDX].second); - REQUIRE(gl_string.hamming_code() == data[ST6_HC_OFF + HC_IDX].second); - REQUIRE(gl_string.pad_1() == data[ST6_HC_OFF + PAD1_IDX].second); - REQUIRE(gl_string.superframe_number() == data[ST6_HC_OFF + SUPERFRAME_IDX].second); - REQUIRE(gl_string.pad_2() == data[ST6_HC_OFF + PAD2_IDX].second); - REQUIRE(gl_string.frame_number() == data[ST6_HC_OFF + FRAME_IDX].second); - - kaitai::kstream strni(inp_data); - glonass_t strni_data(&strni); - glonass_t::string_non_immediate_t* sni = static_cast(strni_data.data()); - - REQUIRE(sni->data_1() == data[ST6_DATA_1_IDX].second); - REQUIRE(sni->data_2() == data[ST6_DATA_2_IDX].second); -} diff --git a/system/ubloxd/tests/test_glonass_runner.cc b/system/ubloxd/tests/test_glonass_runner.cc deleted file mode 100644 index 62bf7476a18996..00000000000000 --- a/system/ubloxd/tests/test_glonass_runner.cc +++ /dev/null @@ -1,2 +0,0 @@ -#define CATCH_CONFIG_MAIN -#include "catch2/catch.hpp" diff --git a/system/ubloxd/tests/test_pigeond.py b/system/ubloxd/tests/test_pigeond.py deleted file mode 100644 index 202820e4125125..00000000000000 --- a/system/ubloxd/tests/test_pigeond.py +++ /dev/null @@ -1,54 +0,0 @@ -import pytest -import time - -import cereal.messaging as messaging -from cereal.services import SERVICE_LIST -from openpilot.common.gpio import gpio_read -from openpilot.selfdrive.test.helpers import with_processes -from openpilot.system.manager.process_config import managed_processes -from openpilot.system.hardware.tici.pins import GPIO - - -# TODO: test TTFF when we have good A-GNSS -@pytest.mark.tici -class TestPigeond: - - def teardown_method(self): - managed_processes['pigeond'].stop() - - @with_processes(['pigeond']) - def test_frequency(self): - sm = messaging.SubMaster(['ubloxRaw']) - - # setup time - for _ in range(int(5 * SERVICE_LIST['ubloxRaw'].frequency)): - sm.update() - - for _ in range(int(10 * SERVICE_LIST['ubloxRaw'].frequency)): - sm.update() - assert sm.all_checks() - - def test_startup_time(self): - for _ in range(5): - sm = messaging.SubMaster(['ubloxRaw']) - managed_processes['pigeond'].start() - - start_time = time.monotonic() - for __ in range(10): - sm.update(1 * 1000) - if sm.updated['ubloxRaw']: - break - assert sm.recv_frame['ubloxRaw'] > 0, "pigeond didn't start outputting messages in time" - - et = time.monotonic() - start_time - assert et < 5, f"pigeond took {et:.1f}s to start" - managed_processes['pigeond'].stop() - - def test_turns_off_ublox(self): - for s in (0.1, 0.5, 1, 5): - managed_processes['pigeond'].start() - time.sleep(s) - managed_processes['pigeond'].stop() - - assert gpio_read(GPIO.UBLOX_RST_N) == 0 - assert gpio_read(GPIO.GNSS_PWR_EN) == 0 diff --git a/system/ubloxd/tests/ubloxd.py b/system/ubloxd/tests/ubloxd.py deleted file mode 100755 index c17387114fd32e..00000000000000 --- a/system/ubloxd/tests/ubloxd.py +++ /dev/null @@ -1,89 +0,0 @@ -#!/usr/bin/env python3 -# type: ignore - -from openpilot.selfdrive.locationd.test import ublox -import struct - -baudrate = 460800 -rate = 100 # send new data every 100ms - - -def configure_ublox(dev): - # configure ports and solution parameters and rate - dev.configure_port(port=ublox.PORT_USB, inMask=1, outMask=1) # enable only UBX on USB - dev.configure_port(port=0, inMask=0, outMask=0) # disable DDC - - payload = struct.pack(' - -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include "common/swaglog.h" - -const double gpsPi = 3.1415926535898; -#define UBLOX_MSG_SIZE(hdr) (*(uint16_t *)&hdr[4]) - -inline static bool bit_to_bool(uint8_t val, int shifts) { - return (bool)(val & (1 << shifts)); -} - -inline int UbloxMsgParser::needed_bytes() { - // Msg header incomplete? - if (bytes_in_parse_buf < ublox::UBLOX_HEADER_SIZE) - return ublox::UBLOX_HEADER_SIZE + ublox::UBLOX_CHECKSUM_SIZE - bytes_in_parse_buf; - uint16_t needed = UBLOX_MSG_SIZE(msg_parse_buf) + ublox::UBLOX_HEADER_SIZE + ublox::UBLOX_CHECKSUM_SIZE; - // too much data - if (needed < (uint16_t)bytes_in_parse_buf) - return -1; - return needed - (uint16_t)bytes_in_parse_buf; -} - -inline bool UbloxMsgParser::valid_cheksum() { - uint8_t ck_a = 0, ck_b = 0; - for (int i = 2; i < bytes_in_parse_buf - ublox::UBLOX_CHECKSUM_SIZE; i++) { - ck_a = (ck_a + msg_parse_buf[i]) & 0xFF; - ck_b = (ck_b + ck_a) & 0xFF; - } - if (ck_a != msg_parse_buf[bytes_in_parse_buf - 2]) { - LOGD("Checksum a mismatch: %02X, %02X", ck_a, msg_parse_buf[6]); - return false; - } - if (ck_b != msg_parse_buf[bytes_in_parse_buf - 1]) { - LOGD("Checksum b mismatch: %02X, %02X", ck_b, msg_parse_buf[7]); - return false; - } - return true; -} - -inline bool UbloxMsgParser::valid() { - return bytes_in_parse_buf >= ublox::UBLOX_HEADER_SIZE + ublox::UBLOX_CHECKSUM_SIZE && - needed_bytes() == 0 && valid_cheksum(); -} - -inline bool UbloxMsgParser::valid_so_far() { - if (bytes_in_parse_buf > 0 && msg_parse_buf[0] != ublox::PREAMBLE1) { - return false; - } - if (bytes_in_parse_buf > 1 && msg_parse_buf[1] != ublox::PREAMBLE2) { - return false; - } - if (needed_bytes() == 0 && !valid()) { - return false; - } - return true; -} - -bool UbloxMsgParser::add_data(float log_time, const uint8_t *incoming_data, uint32_t incoming_data_len, size_t &bytes_consumed) { - last_log_time = log_time; - int needed = needed_bytes(); - if (needed > 0) { - bytes_consumed = std::min((uint32_t)needed, incoming_data_len); - // Add data to buffer - memcpy(msg_parse_buf + bytes_in_parse_buf, incoming_data, bytes_consumed); - bytes_in_parse_buf += bytes_consumed; - } else { - bytes_consumed = incoming_data_len; - } - - // Validate msg format, detect invalid header and invalid checksum. - while (!valid_so_far() && bytes_in_parse_buf != 0) { - // Corrupted msg, drop a byte. - bytes_in_parse_buf -= 1; - if (bytes_in_parse_buf > 0) - memmove(&msg_parse_buf[0], &msg_parse_buf[1], bytes_in_parse_buf); - } - - // There is redundant data at the end of buffer, reset the buffer. - if (needed_bytes() == -1) { - bytes_in_parse_buf = 0; - } - return valid(); -} - - -std::pair> UbloxMsgParser::gen_msg() { - std::string dat = data(); - kaitai::kstream stream(dat); - - ubx_t ubx_message(&stream); - auto body = ubx_message.body(); - - switch (ubx_message.msg_type()) { - case 0x0107: - return {"gpsLocationExternal", gen_nav_pvt(static_cast(body))}; - case 0x0213: // UBX-RXM-SFRB (Broadcast Navigation Data Subframe) - return {"ubloxGnss", gen_rxm_sfrbx(static_cast(body))}; - case 0x0215: // UBX-RXM-RAW (Multi-GNSS Raw Measurement Data) - return {"ubloxGnss", gen_rxm_rawx(static_cast(body))}; - case 0x0a09: - return {"ubloxGnss", gen_mon_hw(static_cast(body))}; - case 0x0a0b: - return {"ubloxGnss", gen_mon_hw2(static_cast(body))}; - case 0x0135: - return {"ubloxGnss", gen_nav_sat(static_cast(body))}; - default: - LOGE("Unknown message type %x", ubx_message.msg_type()); - return {"ubloxGnss", kj::Array()}; - } -} - - -kj::Array UbloxMsgParser::gen_nav_pvt(ubx_t::nav_pvt_t *msg) { - MessageBuilder msg_builder; - auto gpsLoc = msg_builder.initEvent().initGpsLocationExternal(); - gpsLoc.setSource(cereal::GpsLocationData::SensorSource::UBLOX); - gpsLoc.setFlags(msg->flags()); - gpsLoc.setHasFix((msg->flags() % 2) == 1); - gpsLoc.setLatitude(msg->lat() * 1e-07); - gpsLoc.setLongitude(msg->lon() * 1e-07); - gpsLoc.setAltitude(msg->height() * 1e-03); - gpsLoc.setSpeed(msg->g_speed() * 1e-03); - gpsLoc.setBearingDeg(msg->head_mot() * 1e-5); - gpsLoc.setHorizontalAccuracy(msg->h_acc() * 1e-03); - std::tm timeinfo = std::tm(); - timeinfo.tm_year = msg->year() - 1900; - timeinfo.tm_mon = msg->month() - 1; - timeinfo.tm_mday = msg->day(); - timeinfo.tm_hour = msg->hour(); - timeinfo.tm_min = msg->min(); - timeinfo.tm_sec = msg->sec(); - - std::time_t utc_tt = timegm(&timeinfo); - gpsLoc.setUnixTimestampMillis(utc_tt * 1e+03 + msg->nano() * 1e-06); - float f[] = { msg->vel_n() * 1e-03f, msg->vel_e() * 1e-03f, msg->vel_d() * 1e-03f }; - gpsLoc.setVNED(f); - gpsLoc.setVerticalAccuracy(msg->v_acc() * 1e-03); - gpsLoc.setSpeedAccuracy(msg->s_acc() * 1e-03); - gpsLoc.setBearingAccuracyDeg(msg->head_acc() * 1e-05); - return capnp::messageToFlatArray(msg_builder); -} - -kj::Array UbloxMsgParser::parse_gps_ephemeris(ubx_t::rxm_sfrbx_t *msg) { - // GPS subframes are packed into 10x 4 bytes, each containing 3 actual bytes - // We will first need to separate the data from the padding and parity - auto body = *msg->body(); - assert(body.size() == 10); - - std::string subframe_data; - subframe_data.reserve(30); - for (uint32_t word : body) { - word = word >> 6; // TODO: Verify parity - subframe_data.push_back(word >> 16); - subframe_data.push_back(word >> 8); - subframe_data.push_back(word >> 0); - } - - // Collect subframes in map and parse when we have all the parts - { - kaitai::kstream stream(subframe_data); - gps_t subframe(&stream); - - int subframe_id = subframe.how()->subframe_id(); - if (subframe_id > 3 || subframe_id < 1) { - // dont parse almanac subframes - return kj::Array(); - } - gps_subframes[msg->sv_id()][subframe_id] = subframe_data; - } - - // publish if subframes 1-3 have been collected - if (gps_subframes[msg->sv_id()].size() == 3) { - MessageBuilder msg_builder; - auto eph = msg_builder.initEvent().initUbloxGnss().initEphemeris(); - eph.setSvId(msg->sv_id()); - - int iode_s2 = 0; - int iode_s3 = 0; - int iodc_lsb = 0; - int week; - - // Subframe 1 - { - kaitai::kstream stream(gps_subframes[msg->sv_id()][1]); - gps_t subframe(&stream); - gps_t::subframe_1_t* subframe_1 = static_cast(subframe.body()); - - // Each message is incremented to be greater or equal than week 1877 (2015-12-27). - // To skip this use the current_time argument - week = subframe_1->week_no(); - week += 1024; - if (week < 1877) { - week += 1024; - } - //eph.setGpsWeek(subframe_1->week_no()); - eph.setTgd(subframe_1->t_gd() * pow(2, -31)); - eph.setToc(subframe_1->t_oc() * pow(2, 4)); - eph.setAf2(subframe_1->af_2() * pow(2, -55)); - eph.setAf1(subframe_1->af_1() * pow(2, -43)); - eph.setAf0(subframe_1->af_0() * pow(2, -31)); - eph.setSvHealth(subframe_1->sv_health()); - eph.setTowCount(subframe.how()->tow_count()); - iodc_lsb = subframe_1->iodc_lsb(); - } - - // Subframe 2 - { - kaitai::kstream stream(gps_subframes[msg->sv_id()][2]); - gps_t subframe(&stream); - gps_t::subframe_2_t* subframe_2 = static_cast(subframe.body()); - - // GPS week refers to current week, the ephemeris can be valid for the next - // if toe equals 0, this can be verified by the TOW count if it is within the - // last 2 hours of the week (gps ephemeris valid for 4hours) - if (subframe_2->t_oe() == 0 and subframe.how()->tow_count()*6 >= (SECS_IN_WEEK - 2*SECS_IN_HR)){ - week += 1; - } - eph.setCrs(subframe_2->c_rs() * pow(2, -5)); - eph.setDeltaN(subframe_2->delta_n() * pow(2, -43) * gpsPi); - eph.setM0(subframe_2->m_0() * pow(2, -31) * gpsPi); - eph.setCuc(subframe_2->c_uc() * pow(2, -29)); - eph.setEcc(subframe_2->e() * pow(2, -33)); - eph.setCus(subframe_2->c_us() * pow(2, -29)); - eph.setA(pow(subframe_2->sqrt_a() * pow(2, -19), 2.0)); - eph.setToe(subframe_2->t_oe() * pow(2, 4)); - iode_s2 = subframe_2->iode(); - } - - // Subframe 3 - { - kaitai::kstream stream(gps_subframes[msg->sv_id()][3]); - gps_t subframe(&stream); - gps_t::subframe_3_t* subframe_3 = static_cast(subframe.body()); - - eph.setCic(subframe_3->c_ic() * pow(2, -29)); - eph.setOmega0(subframe_3->omega_0() * pow(2, -31) * gpsPi); - eph.setCis(subframe_3->c_is() * pow(2, -29)); - eph.setI0(subframe_3->i_0() * pow(2, -31) * gpsPi); - eph.setCrc(subframe_3->c_rc() * pow(2, -5)); - eph.setOmega(subframe_3->omega() * pow(2, -31) * gpsPi); - eph.setOmegaDot(subframe_3->omega_dot() * pow(2, -43) * gpsPi); - eph.setIode(subframe_3->iode()); - eph.setIDot(subframe_3->idot() * pow(2, -43) * gpsPi); - iode_s3 = subframe_3->iode(); - } - - eph.setToeWeek(week); - eph.setTocWeek(week); - - gps_subframes[msg->sv_id()].clear(); - if (iodc_lsb != iode_s2 || iodc_lsb != iode_s3) { - // data set cutover, reject ephemeris - return kj::Array(); - } - return capnp::messageToFlatArray(msg_builder); - } - return kj::Array(); -} - -kj::Array UbloxMsgParser::parse_glonass_ephemeris(ubx_t::rxm_sfrbx_t *msg) { - // This parser assumes that no 2 satellites of the same frequency - // can be in view at the same time - auto body = *msg->body(); - assert(body.size() == 4); - { - std::string string_data; - string_data.reserve(16); - for (uint32_t word : body) { - for (int i = 3; i >= 0; i--) - string_data.push_back(word >> 8*i); - } - - kaitai::kstream stream(string_data); - glonass_t gl_string(&stream); - int string_number = gl_string.string_number(); - if (string_number < 1 || string_number > 5 || gl_string.idle_chip()) { - // dont parse non immediate data, idle_chip == 0 - return kj::Array(); - } - - // Check if new string either has same superframe_id or log transmission times make sense - bool superframe_unknown = false; - bool needs_clear = false; - for (int i = 1; i <= 5; i++) { - if (glonass_strings[msg->freq_id()].find(i) == glonass_strings[msg->freq_id()].end()) - continue; - if (glonass_string_superframes[msg->freq_id()][i] == 0 || gl_string.superframe_number() == 0) { - superframe_unknown = true; - } else if (glonass_string_superframes[msg->freq_id()][i] != gl_string.superframe_number()) { - needs_clear = true; - } - // Check if string times add up to being from the same frame - // If superframe is known this is redundant - // Strings are sent 2s apart and frames are 30s apart - if (superframe_unknown && - std::abs((glonass_string_times[msg->freq_id()][i] - 2.0 * i) - (last_log_time - 2.0 * string_number)) > 10) - needs_clear = true; - } - if (needs_clear) { - glonass_strings[msg->freq_id()].clear(); - glonass_string_superframes[msg->freq_id()].clear(); - glonass_string_times[msg->freq_id()].clear(); - } - glonass_strings[msg->freq_id()][string_number] = string_data; - glonass_string_superframes[msg->freq_id()][string_number] = gl_string.superframe_number(); - glonass_string_times[msg->freq_id()][string_number] = last_log_time; - } - if (msg->sv_id() == 255) { - // data can be decoded before identifying the SV number, in this case 255 - // is returned, which means "unknown" (ublox p32) - return kj::Array(); - } - - // publish if strings 1-5 have been collected - if (glonass_strings[msg->freq_id()].size() != 5) { - return kj::Array(); - } - - MessageBuilder msg_builder; - auto eph = msg_builder.initEvent().initUbloxGnss().initGlonassEphemeris(); - eph.setSvId(msg->sv_id()); - eph.setFreqNum(msg->freq_id() - 7); - - uint16_t current_day = 0; - uint16_t tk = 0; - - // string number 1 - { - kaitai::kstream stream(glonass_strings[msg->freq_id()][1]); - glonass_t gl_stream(&stream); - glonass_t::string_1_t* data = static_cast(gl_stream.data()); - - eph.setP1(data->p1()); - tk = data->t_k(); - eph.setTkDEPRECATED(tk); - eph.setXVel(data->x_vel() * pow(2, -20)); - eph.setXAccel(data->x_accel() * pow(2, -30)); - eph.setX(data->x() * pow(2, -11)); - } - - // string number 2 - { - kaitai::kstream stream(glonass_strings[msg->freq_id()][2]); - glonass_t gl_stream(&stream); - glonass_t::string_2_t* data = static_cast(gl_stream.data()); - - eph.setSvHealth(data->b_n()>>2); // MSB indicates health - eph.setP2(data->p2()); - eph.setTb(data->t_b()); - eph.setYVel(data->y_vel() * pow(2, -20)); - eph.setYAccel(data->y_accel() * pow(2, -30)); - eph.setY(data->y() * pow(2, -11)); - } - - // string number 3 - { - kaitai::kstream stream(glonass_strings[msg->freq_id()][3]); - glonass_t gl_stream(&stream); - glonass_t::string_3_t* data = static_cast(gl_stream.data()); - - eph.setP3(data->p3()); - eph.setGammaN(data->gamma_n() * pow(2, -40)); - eph.setSvHealth(eph.getSvHealth() | data->l_n()); - eph.setZVel(data->z_vel() * pow(2, -20)); - eph.setZAccel(data->z_accel() * pow(2, -30)); - eph.setZ(data->z() * pow(2, -11)); - } - - // string number 4 - { - kaitai::kstream stream(glonass_strings[msg->freq_id()][4]); - glonass_t gl_stream(&stream); - glonass_t::string_4_t* data = static_cast(gl_stream.data()); - - current_day = data->n_t(); - eph.setNt(current_day); - eph.setTauN(data->tau_n() * pow(2, -30)); - eph.setDeltaTauN(data->delta_tau_n() * pow(2, -30)); - eph.setAge(data->e_n()); - eph.setP4(data->p4()); - eph.setSvURA(glonass_URA_lookup.at(data->f_t())); - if (msg->sv_id() != data->n()) { - LOGE("SV_ID != SLOT_NUMBER: %d %" PRIu64, msg->sv_id(), data->n()); - } - eph.setSvType(data->m()); - } - - // string number 5 - { - kaitai::kstream stream(glonass_strings[msg->freq_id()][5]); - glonass_t gl_stream(&stream); - glonass_t::string_5_t* data = static_cast(gl_stream.data()); - - // string5 parsing is only needed to get the year, this can be removed and - // the year can be fetched later in laika (note rollovers and leap year) - eph.setN4(data->n_4()); - int tk_seconds = SECS_IN_HR * ((tk>>7) & 0x1F) + SECS_IN_MIN * ((tk>>1) & 0x3F) + (tk & 0x1) * 30; - eph.setTkSeconds(tk_seconds); - } - - glonass_strings[msg->freq_id()].clear(); - return capnp::messageToFlatArray(msg_builder); -} - - -kj::Array UbloxMsgParser::gen_rxm_sfrbx(ubx_t::rxm_sfrbx_t *msg) { - switch (msg->gnss_id()) { - case ubx_t::gnss_type_t::GNSS_TYPE_GPS: - return parse_gps_ephemeris(msg); - case ubx_t::gnss_type_t::GNSS_TYPE_GLONASS: - return parse_glonass_ephemeris(msg); - default: - return kj::Array(); - } -} - -kj::Array UbloxMsgParser::gen_rxm_rawx(ubx_t::rxm_rawx_t *msg) { - MessageBuilder msg_builder; - auto mr = msg_builder.initEvent().initUbloxGnss().initMeasurementReport(); - mr.setRcvTow(msg->rcv_tow()); - mr.setGpsWeek(msg->week()); - mr.setLeapSeconds(msg->leap_s()); - mr.setGpsWeek(msg->week()); - - auto mb = mr.initMeasurements(msg->num_meas()); - auto measurements = *msg->meas(); - for (int8_t i = 0; i < msg->num_meas(); i++) { - mb[i].setSvId(measurements[i]->sv_id()); - mb[i].setPseudorange(measurements[i]->pr_mes()); - mb[i].setCarrierCycles(measurements[i]->cp_mes()); - mb[i].setDoppler(measurements[i]->do_mes()); - mb[i].setGnssId(measurements[i]->gnss_id()); - mb[i].setGlonassFrequencyIndex(measurements[i]->freq_id()); - mb[i].setLocktime(measurements[i]->lock_time()); - mb[i].setCno(measurements[i]->cno()); - mb[i].setPseudorangeStdev(0.01 * (pow(2, (measurements[i]->pr_stdev() & 15)))); // weird scaling, might be wrong - mb[i].setCarrierPhaseStdev(0.004 * (measurements[i]->cp_stdev() & 15)); - mb[i].setDopplerStdev(0.002 * (pow(2, (measurements[i]->do_stdev() & 15)))); // weird scaling, might be wrong - - auto ts = mb[i].initTrackingStatus(); - auto trk_stat = measurements[i]->trk_stat(); - ts.setPseudorangeValid(bit_to_bool(trk_stat, 0)); - ts.setCarrierPhaseValid(bit_to_bool(trk_stat, 1)); - ts.setHalfCycleValid(bit_to_bool(trk_stat, 2)); - ts.setHalfCycleSubtracted(bit_to_bool(trk_stat, 3)); - } - - mr.setNumMeas(msg->num_meas()); - auto rs = mr.initReceiverStatus(); - rs.setLeapSecValid(bit_to_bool(msg->rec_stat(), 0)); - rs.setClkReset(bit_to_bool(msg->rec_stat(), 2)); - return capnp::messageToFlatArray(msg_builder); -} - -kj::Array UbloxMsgParser::gen_nav_sat(ubx_t::nav_sat_t *msg) { - MessageBuilder msg_builder; - auto sr = msg_builder.initEvent().initUbloxGnss().initSatReport(); - sr.setITow(msg->itow()); - - auto svs = sr.initSvs(msg->num_svs()); - auto svs_data = *msg->svs(); - for (int8_t i = 0; i < msg->num_svs(); i++) { - svs[i].setSvId(svs_data[i]->sv_id()); - svs[i].setGnssId(svs_data[i]->gnss_id()); - svs[i].setFlagsBitfield(svs_data[i]->flags()); - } - - return capnp::messageToFlatArray(msg_builder); -} - -kj::Array UbloxMsgParser::gen_mon_hw(ubx_t::mon_hw_t *msg) { - MessageBuilder msg_builder; - auto hwStatus = msg_builder.initEvent().initUbloxGnss().initHwStatus(); - hwStatus.setNoisePerMS(msg->noise_per_ms()); - hwStatus.setFlags(msg->flags()); - hwStatus.setAgcCnt(msg->agc_cnt()); - hwStatus.setAStatus((cereal::UbloxGnss::HwStatus::AntennaSupervisorState) msg->a_status()); - hwStatus.setAPower((cereal::UbloxGnss::HwStatus::AntennaPowerStatus) msg->a_power()); - hwStatus.setJamInd(msg->jam_ind()); - return capnp::messageToFlatArray(msg_builder); -} - -kj::Array UbloxMsgParser::gen_mon_hw2(ubx_t::mon_hw2_t *msg) { - MessageBuilder msg_builder; - auto hwStatus = msg_builder.initEvent().initUbloxGnss().initHwStatus2(); - hwStatus.setOfsI(msg->ofs_i()); - hwStatus.setMagI(msg->mag_i()); - hwStatus.setOfsQ(msg->ofs_q()); - hwStatus.setMagQ(msg->mag_q()); - - switch (msg->cfg_source()) { - case ubx_t::mon_hw2_t::config_source_t::CONFIG_SOURCE_ROM: - hwStatus.setCfgSource(cereal::UbloxGnss::HwStatus2::ConfigSource::ROM); - break; - case ubx_t::mon_hw2_t::config_source_t::CONFIG_SOURCE_OTP: - hwStatus.setCfgSource(cereal::UbloxGnss::HwStatus2::ConfigSource::OTP); - break; - case ubx_t::mon_hw2_t::config_source_t::CONFIG_SOURCE_CONFIG_PINS: - hwStatus.setCfgSource(cereal::UbloxGnss::HwStatus2::ConfigSource::CONFIGPINS); - break; - case ubx_t::mon_hw2_t::config_source_t::CONFIG_SOURCE_FLASH: - hwStatus.setCfgSource(cereal::UbloxGnss::HwStatus2::ConfigSource::FLASH); - break; - default: - hwStatus.setCfgSource(cereal::UbloxGnss::HwStatus2::ConfigSource::UNDEFINED); - break; - } - - hwStatus.setLowLevCfg(msg->low_lev_cfg()); - hwStatus.setPostStatus(msg->post_status()); - - return capnp::messageToFlatArray(msg_builder); -} diff --git a/system/ubloxd/ublox_msg.h b/system/ubloxd/ublox_msg.h deleted file mode 100644 index d21760edc28498..00000000000000 --- a/system/ubloxd/ublox_msg.h +++ /dev/null @@ -1,131 +0,0 @@ -#pragma once - -#include -#include -#include -#include -#include -#include -#include - -#include "cereal/messaging/messaging.h" -#include "common/util.h" -#include "system/ubloxd/generated/gps.h" -#include "system/ubloxd/generated/glonass.h" -#include "system/ubloxd/generated/ubx.h" - -using namespace std::string_literals; - -const int SECS_IN_MIN = 60; -const int SECS_IN_HR = 60 * SECS_IN_MIN; -const int SECS_IN_DAY = 24 * SECS_IN_HR; -const int SECS_IN_WEEK = 7 * SECS_IN_DAY; - -// protocol constants -namespace ublox { - const uint8_t PREAMBLE1 = 0xb5; - const uint8_t PREAMBLE2 = 0x62; - - const int UBLOX_HEADER_SIZE = 6; - const int UBLOX_CHECKSUM_SIZE = 2; - const int UBLOX_MAX_MSG_SIZE = 65536; - - struct ubx_mga_ini_time_utc_t { - uint8_t type; - uint8_t version; - uint8_t ref; - int8_t leapSecs; - uint16_t year; - uint8_t month; - uint8_t day; - uint8_t hour; - uint8_t minute; - uint8_t second; - uint8_t reserved1; - uint32_t ns; - uint16_t tAccS; - uint16_t reserved2; - uint32_t tAccNs; - } __attribute__((packed)); - - inline std::string ubx_add_checksum(const std::string &msg) { - assert(msg.size() > 2); - - uint8_t ck_a = 0, ck_b = 0; - for (int i = 2; i < msg.size(); i++) { - ck_a = (ck_a + msg[i]) & 0xFF; - ck_b = (ck_b + ck_a) & 0xFF; - } - - std::string r = msg; - r.push_back(ck_a); - r.push_back(ck_b); - return r; - } - - inline std::string build_ubx_mga_ini_time_utc(struct tm time) { - ublox::ubx_mga_ini_time_utc_t payload = { - .type = 0x10, - .version = 0x0, - .ref = 0x0, - .leapSecs = -128, // Unknown - .year = (uint16_t)(1900 + time.tm_year), - .month = (uint8_t)(1 + time.tm_mon), - .day = (uint8_t)time.tm_mday, - .hour = (uint8_t)time.tm_hour, - .minute = (uint8_t)time.tm_min, - .second = (uint8_t)time.tm_sec, - .reserved1 = 0x0, - .ns = 0, - .tAccS = 30, - .reserved2 = 0x0, - .tAccNs = 0, - }; - assert(sizeof(payload) == 24); - - std::string msg = "\xb5\x62\x13\x40\x18\x00"s; - msg += std::string((char*)&payload, sizeof(payload)); - - return ubx_add_checksum(msg); - } -} - -class UbloxMsgParser { - public: - bool add_data(float log_time, const uint8_t *incoming_data, uint32_t incoming_data_len, size_t &bytes_consumed); - inline void reset() {bytes_in_parse_buf = 0;} - inline int needed_bytes(); - inline std::string data() {return std::string((const char*)msg_parse_buf, bytes_in_parse_buf);} - - std::pair> gen_msg(); - kj::Array gen_nav_pvt(ubx_t::nav_pvt_t *msg); - kj::Array gen_rxm_sfrbx(ubx_t::rxm_sfrbx_t *msg); - kj::Array gen_rxm_rawx(ubx_t::rxm_rawx_t *msg); - kj::Array gen_mon_hw(ubx_t::mon_hw_t *msg); - kj::Array gen_mon_hw2(ubx_t::mon_hw2_t *msg); - kj::Array gen_nav_sat(ubx_t::nav_sat_t *msg); - - private: - inline bool valid_cheksum(); - inline bool valid(); - inline bool valid_so_far(); - - kj::Array parse_gps_ephemeris(ubx_t::rxm_sfrbx_t *msg); - kj::Array parse_glonass_ephemeris(ubx_t::rxm_sfrbx_t *msg); - - std::unordered_map> gps_subframes; - - float last_log_time = 0.0; - size_t bytes_in_parse_buf = 0; - uint8_t msg_parse_buf[ublox::UBLOX_HEADER_SIZE + ublox::UBLOX_MAX_MSG_SIZE]; - - // user range accuracy in meters - const std::unordered_map glonass_URA_lookup = - {{ 0, 1}, { 1, 2}, { 2, 2.5}, { 3, 4}, { 4, 5}, {5, 7}, - { 6, 10}, { 7, 12}, { 8, 14}, { 9, 16}, {10, 32}, - {11, 64}, {12, 128}, {13, 256}, {14, 512}, {15, 1024}}; - - std::unordered_map> glonass_strings; - std::unordered_map> glonass_string_times; - std::unordered_map> glonass_string_superframes; -}; diff --git a/system/ubloxd/ubloxd b/system/ubloxd/ubloxd new file mode 100755 index 00000000000000..6cda47ebc64c09 Binary files /dev/null and b/system/ubloxd/ubloxd differ diff --git a/system/ubloxd/ubloxd.cc b/system/ubloxd/ubloxd.cc deleted file mode 100644 index 668c1a7ec07a47..00000000000000 --- a/system/ubloxd/ubloxd.cc +++ /dev/null @@ -1,65 +0,0 @@ -#include - -#include - -#include "cereal/messaging/messaging.h" -#include "common/swaglog.h" -#include "common/util.h" -#include "system/ubloxd/ublox_msg.h" - -ExitHandler do_exit; -using namespace ublox; - -int main() { - LOGW("starting ubloxd"); - AlignedBuffer aligned_buf; - UbloxMsgParser parser; - - PubMaster pm({"ubloxGnss", "gpsLocationExternal"}); - - std::unique_ptr context(Context::create()); - std::unique_ptr subscriber(SubSocket::create(context.get(), "ubloxRaw")); - assert(subscriber != NULL); - subscriber->setTimeout(100); - - - while (!do_exit) { - std::unique_ptr msg(subscriber->receive()); - if (!msg) { - if (errno == EINTR) { - do_exit = true; - } - continue; - } - - capnp::FlatArrayMessageReader cmsg(aligned_buf.align(msg.get())); - cereal::Event::Reader event = cmsg.getRoot(); - auto ubloxRaw = event.getUbloxRaw(); - float log_time = 1e-9 * event.getLogMonoTime(); - - const uint8_t *data = ubloxRaw.begin(); - size_t len = ubloxRaw.size(); - size_t bytes_consumed = 0; - - while (bytes_consumed < len && !do_exit) { - size_t bytes_consumed_this_time = 0U; - if (parser.add_data(log_time, data + bytes_consumed, (uint32_t)(len - bytes_consumed), bytes_consumed_this_time)) { - - try { - auto ublox_msg = parser.gen_msg(); - if (ublox_msg.second.size() > 0) { - auto bytes = ublox_msg.second.asBytes(); - pm.send(ublox_msg.first.c_str(), bytes.begin(), bytes.size()); - } - } catch (const std::exception& e) { - LOGE("Error parsing ublox message %s", e.what()); - } - - parser.reset(); - } - bytes_consumed += bytes_consumed_this_time; - } - } - - return 0; -} diff --git a/system/ubloxd/ubx.ksy b/system/ubloxd/ubx.ksy deleted file mode 100644 index 02c757fe71797f..00000000000000 --- a/system/ubloxd/ubx.ksy +++ /dev/null @@ -1,293 +0,0 @@ -meta: - id: ubx - endian: le -seq: - - id: magic - contents: [0xb5, 0x62] - - id: msg_type - type: u2be - - id: length - type: u2 - - id: body - type: - switch-on: msg_type - cases: - 0x0107: nav_pvt - 0x0213: rxm_sfrbx - 0x0215: rxm_rawx - 0x0a09: mon_hw - 0x0a0b: mon_hw2 - 0x0135: nav_sat -instances: - checksum: - pos: length + 6 - type: u2 - -types: - mon_hw: - seq: - - id: pin_sel - type: u4 - - id: pin_bank - type: u4 - - id: pin_dir - type: u4 - - id: pin_val - type: u4 - - id: noise_per_ms - type: u2 - - id: agc_cnt - type: u2 - - id: a_status - type: u1 - enum: antenna_status - - id: a_power - type: u1 - enum: antenna_power - - id: flags - type: u1 - - id: reserved1 - size: 1 - - id: used_mask - type: u4 - - id: vp - size: 17 - - id: jam_ind - type: u1 - - id: reserved2 - size: 2 - - id: pin_irq - type: u4 - - id: pull_h - type: u4 - - id: pull_l - type: u4 - enums: - antenna_status: - 0: init - 1: dontknow - 2: ok - 3: short - 4: open - antenna_power: - 0: off - 1: on - 2: dontknow - - mon_hw2: - seq: - - id: ofs_i - type: s1 - - id: mag_i - type: u1 - - id: ofs_q - type: s1 - - id: mag_q - type: u1 - - id: cfg_source - type: u1 - enum: config_source - - id: reserved1 - size: 3 - - id: low_lev_cfg - type: u4 - - id: reserved2 - size: 8 - - id: post_status - type: u4 - - id: reserved3 - size: 4 - - enums: - config_source: - 113: rom - 111: otp - 112: config_pins - 102: flash - - rxm_sfrbx: - seq: - - id: gnss_id - type: u1 - enum: gnss_type - - id: sv_id - type: u1 - - id: reserved1 - size: 1 - - id: freq_id - type: u1 - - id: num_words - type: u1 - - id: reserved2 - size: 1 - - id: version - type: u1 - - id: reserved3 - size: 1 - - id: body - type: u4 - repeat: expr - repeat-expr: num_words - - rxm_rawx: - seq: - - id: rcv_tow - type: f8 - - id: week - type: u2 - - id: leap_s - type: s1 - - id: num_meas - type: u1 - - id: rec_stat - type: u1 - - id: reserved1 - size: 3 - - id: meas - type: measurement - size: 32 - repeat: expr - repeat-expr: num_meas - types: - measurement: - seq: - - id: pr_mes - type: f8 - - id: cp_mes - type: f8 - - id: do_mes - type: f4 - - id: gnss_id - type: u1 - enum: gnss_type - - id: sv_id - type: u1 - - id: reserved2 - size: 1 - - id: freq_id - type: u1 - - id: lock_time - type: u2 - - id: cno - type: u1 - - id: pr_stdev - type: u1 - - id: cp_stdev - type: u1 - - id: do_stdev - type: u1 - - id: trk_stat - type: u1 - - id: reserved3 - size: 1 - nav_sat: - seq: - - id: itow - type: u4 - - id: version - type: u1 - - id: num_svs - type: u1 - - id: reserved - size: 2 - - id: svs - type: nav - size: 12 - repeat: expr - repeat-expr: num_svs - types: - nav: - seq: - - id: gnss_id - type: u1 - enum: gnss_type - - id: sv_id - type: u1 - - id: cno - type: u1 - - id: elev - type: s1 - - id: azim - type: s2 - - id: pr_res - type: s2 - - id: flags - type: u4 - - nav_pvt: - seq: - - id: i_tow - type: u4 - - id: year - type: u2 - - id: month - type: u1 - - id: day - type: u1 - - id: hour - type: u1 - - id: min - type: u1 - - id: sec - type: u1 - - id: valid - type: u1 - - id: t_acc - type: u4 - - id: nano - type: s4 - - id: fix_type - type: u1 - - id: flags - type: u1 - - id: flags2 - type: u1 - - id: num_sv - type: u1 - - id: lon - type: s4 - - id: lat - type: s4 - - id: height - type: s4 - - id: h_msl - type: s4 - - id: h_acc - type: u4 - - id: v_acc - type: u4 - - id: vel_n - type: s4 - - id: vel_e - type: s4 - - id: vel_d - type: s4 - - id: g_speed - type: s4 - - id: head_mot - type: s4 - - id: s_acc - type: s4 - - id: head_acc - type: u4 - - id: p_dop - type: u2 - - id: flags3 - type: u1 - - id: reserved1 - size: 5 - - id: head_veh - type: s4 - - id: mag_dec - type: s2 - - id: mag_acc - type: u2 -enums: - gnss_type: - 0: gps - 1: sbas - 2: galileo - 3: beidou - 4: imes - 5: qzss - 6: glonass diff --git a/system/updated/casync/tests/test_casync.py b/system/updated/casync/tests/test_casync.py deleted file mode 100644 index bc171e7432b415..00000000000000 --- a/system/updated/casync/tests/test_casync.py +++ /dev/null @@ -1,264 +0,0 @@ -import pytest -import os -import pathlib -import tempfile -import subprocess - -from openpilot.system.updated.casync import casync -from openpilot.system.updated.casync import tar - -# dd if=/dev/zero of=/tmp/img.raw bs=1M count=2 -# sudo losetup -f /tmp/img.raw -# losetup -a | grep img.raw -LOOPBACK = os.environ.get('LOOPBACK', None) - - -@pytest.mark.skip("not used yet") -class TestCasync: - @classmethod - def setup_class(cls): - cls.tmpdir = tempfile.TemporaryDirectory() - - # Build example contents - chunk_a = [i % 256 for i in range(1024)] * 512 - chunk_b = [(256 - i) % 256 for i in range(1024)] * 512 - zeroes = [0] * (1024 * 128) - contents = chunk_a + chunk_b + zeroes + chunk_a - - cls.contents = bytes(contents) - - # Write to file - cls.orig_fn = os.path.join(cls.tmpdir.name, 'orig.bin') - with open(cls.orig_fn, 'wb') as f: - f.write(cls.contents) - - # Create casync files - cls.manifest_fn = os.path.join(cls.tmpdir.name, 'orig.caibx') - cls.store_fn = os.path.join(cls.tmpdir.name, 'store') - subprocess.check_output(["casync", "make", "--compression=xz", "--store", cls.store_fn, cls.manifest_fn, cls.orig_fn]) - - target = casync.parse_caibx(cls.manifest_fn) - hashes = [c.sha.hex() for c in target] - - # Ensure we have chunk reuse - assert len(hashes) > len(set(hashes)) - - def setup_method(self): - # Clear target_lo - if LOOPBACK is not None: - self.target_lo = LOOPBACK - with open(self.target_lo, 'wb') as f: - f.write(b"0" * len(self.contents)) - - self.target_fn = os.path.join(self.tmpdir.name, next(tempfile._get_candidate_names())) - self.seed_fn = os.path.join(self.tmpdir.name, next(tempfile._get_candidate_names())) - - def teardown_method(self): - for fn in [self.target_fn, self.seed_fn]: - try: - os.unlink(fn) - except FileNotFoundError: - pass - - def test_simple_extract(self): - target = casync.parse_caibx(self.manifest_fn) - - sources = [('remote', casync.RemoteChunkReader(self.store_fn), casync.build_chunk_dict(target))] - stats = casync.extract(target, sources, self.target_fn) - - with open(self.target_fn, 'rb') as target_f: - assert target_f.read() == self.contents - - assert stats['remote'] == len(self.contents) - - def test_seed(self): - target = casync.parse_caibx(self.manifest_fn) - - # Populate seed with half of the target contents - with open(self.seed_fn, 'wb') as seed_f: - seed_f.write(self.contents[:len(self.contents) // 2]) - - sources = [('seed', casync.FileChunkReader(self.seed_fn), casync.build_chunk_dict(target))] - sources += [('remote', casync.RemoteChunkReader(self.store_fn), casync.build_chunk_dict(target))] - stats = casync.extract(target, sources, self.target_fn) - - with open(self.target_fn, 'rb') as target_f: - assert target_f.read() == self.contents - - assert stats['seed'] > 0 - assert stats['remote'] < len(self.contents) - - def test_already_done(self): - """Test that an already flashed target doesn't download any chunks""" - target = casync.parse_caibx(self.manifest_fn) - - with open(self.target_fn, 'wb') as f: - f.write(self.contents) - - sources = [('target', casync.FileChunkReader(self.target_fn), casync.build_chunk_dict(target))] - sources += [('remote', casync.RemoteChunkReader(self.store_fn), casync.build_chunk_dict(target))] - - stats = casync.extract(target, sources, self.target_fn) - - with open(self.target_fn, 'rb') as f: - assert f.read() == self.contents - - assert stats['target'] == len(self.contents) - - def test_chunk_reuse(self): - """Test that chunks that are reused are only downloaded once""" - target = casync.parse_caibx(self.manifest_fn) - - # Ensure target exists - with open(self.target_fn, 'wb'): - pass - - sources = [('target', casync.FileChunkReader(self.target_fn), casync.build_chunk_dict(target))] - sources += [('remote', casync.RemoteChunkReader(self.store_fn), casync.build_chunk_dict(target))] - - stats = casync.extract(target, sources, self.target_fn) - - with open(self.target_fn, 'rb') as f: - assert f.read() == self.contents - - assert stats['remote'] < len(self.contents) - - @pytest.mark.skipif(not LOOPBACK, reason="requires loopback device") - def test_lo_simple_extract(self): - target = casync.parse_caibx(self.manifest_fn) - sources = [('remote', casync.RemoteChunkReader(self.store_fn), casync.build_chunk_dict(target))] - - stats = casync.extract(target, sources, self.target_lo) - - with open(self.target_lo, 'rb') as target_f: - assert target_f.read(len(self.contents)) == self.contents - - assert stats['remote'] == len(self.contents) - - @pytest.mark.skipif(not LOOPBACK, reason="requires loopback device") - def test_lo_chunk_reuse(self): - """Test that chunks that are reused are only downloaded once""" - target = casync.parse_caibx(self.manifest_fn) - - sources = [('target', casync.FileChunkReader(self.target_lo), casync.build_chunk_dict(target))] - sources += [('remote', casync.RemoteChunkReader(self.store_fn), casync.build_chunk_dict(target))] - - stats = casync.extract(target, sources, self.target_lo) - - with open(self.target_lo, 'rb') as f: - assert f.read(len(self.contents)) == self.contents - - assert stats['remote'] < len(self.contents) - - -@pytest.mark.skip("not used yet") -class TestCasyncDirectory: - """Tests extracting a directory stored as a casync tar archive""" - - NUM_FILES = 16 - - @classmethod - def setup_cache(cls, directory, files=None): - if files is None: - files = range(cls.NUM_FILES) - - chunk_a = [i % 256 for i in range(1024)] * 512 - chunk_b = [(256 - i) % 256 for i in range(1024)] * 512 - zeroes = [0] * (1024 * 128) - cls.contents = chunk_a + chunk_b + zeroes + chunk_a - cls.contents = bytes(cls.contents) - - for i in files: - with open(os.path.join(directory, f"file_{i}.txt"), "wb") as f: - f.write(cls.contents) - - os.symlink(f"file_{i}.txt", os.path.join(directory, f"link_{i}.txt")) - - @classmethod - def setup_class(cls): - cls.tmpdir = tempfile.TemporaryDirectory() - - # Create casync files - cls.manifest_fn = os.path.join(cls.tmpdir.name, 'orig.caibx') - cls.store_fn = os.path.join(cls.tmpdir.name, 'store') - - cls.directory_to_extract = tempfile.TemporaryDirectory() - cls.setup_cache(cls.directory_to_extract.name) - - cls.orig_fn = os.path.join(cls.tmpdir.name, 'orig.tar') - tar.create_tar_archive(cls.orig_fn, pathlib.Path(cls.directory_to_extract.name)) - - subprocess.check_output(["casync", "make", "--compression=xz", "--store", cls.store_fn, cls.manifest_fn, cls.orig_fn]) - - @classmethod - def teardown_class(cls): - cls.tmpdir.cleanup() - cls.directory_to_extract.cleanup() - - def setup_method(self): - self.cache_dir = tempfile.TemporaryDirectory() - self.working_dir = tempfile.TemporaryDirectory() - self.out_dir = tempfile.TemporaryDirectory() - - def teardown_method(self): - self.cache_dir.cleanup() - self.working_dir.cleanup() - self.out_dir.cleanup() - - def run_test(self): - target = casync.parse_caibx(self.manifest_fn) - - cache_filename = os.path.join(self.working_dir.name, "cache.tar") - tmp_filename = os.path.join(self.working_dir.name, "tmp.tar") - - sources = [('cache', casync.DirectoryTarChunkReader(self.cache_dir.name, cache_filename), casync.build_chunk_dict(target))] - sources += [('remote', casync.RemoteChunkReader(self.store_fn), casync.build_chunk_dict(target))] - - stats = casync.extract_directory(target, sources, pathlib.Path(self.out_dir.name), tmp_filename) - - with open(os.path.join(self.out_dir.name, "file_0.txt"), "rb") as f: - assert f.read() == self.contents - - with open(os.path.join(self.out_dir.name, "link_0.txt"), "rb") as f: - assert f.read() == self.contents - assert os.readlink(os.path.join(self.out_dir.name, "link_0.txt")) == "file_0.txt" - - return stats - - def test_no_cache(self): - self.setup_cache(self.cache_dir.name, []) - stats = self.run_test() - assert stats['remote'] > 0 - assert stats['cache'] == 0 - - def test_full_cache(self): - self.setup_cache(self.cache_dir.name, range(self.NUM_FILES)) - stats = self.run_test() - assert stats['remote'] == 0 - assert stats['cache'] > 0 - - def test_one_file_cache(self): - self.setup_cache(self.cache_dir.name, range(1)) - stats = self.run_test() - assert stats['remote'] > 0 - assert stats['cache'] > 0 - assert stats['cache'] < stats['remote'] - - def test_one_file_incorrect_cache(self): - self.setup_cache(self.cache_dir.name, range(self.NUM_FILES)) - with open(os.path.join(self.cache_dir.name, "file_0.txt"), "wb") as f: - f.write(b"1234") - - stats = self.run_test() - assert stats['remote'] > 0 - assert stats['cache'] > 0 - assert stats['cache'] > stats['remote'] - - def test_one_file_missing_cache(self): - self.setup_cache(self.cache_dir.name, range(self.NUM_FILES)) - os.unlink(os.path.join(self.cache_dir.name, "file_12.txt")) - - stats = self.run_test() - assert stats['remote'] > 0 - assert stats['cache'] > 0 - assert stats['cache'] > stats['remote'] diff --git a/system/updated/tests/test_base.py b/system/updated/tests/test_base.py deleted file mode 100644 index 928d07cbe35892..00000000000000 --- a/system/updated/tests/test_base.py +++ /dev/null @@ -1,259 +0,0 @@ -import os -import pathlib -import shutil -import signal -import stat -import subprocess -import tempfile -import time -import pytest - -from openpilot.common.params import Params -from openpilot.system.manager.process import ManagerProcess -from openpilot.selfdrive.test.helpers import processes_context - - -def get_consistent_flag(path: str) -> bool: - consistent_file = pathlib.Path(os.path.join(path, ".overlay_consistent")) - return consistent_file.is_file() - - -def run(args, **kwargs): - return subprocess.check_output(args, **kwargs) - - -def update_release(directory, name, version, agnos_version, release_notes): - with open(directory / "RELEASES.md", "w") as f: - f.write(release_notes) - - (directory / "common").mkdir(exist_ok=True) - - with open(directory / "common" / "version.h", "w") as f: - f.write(f'#define COMMA_VERSION "{version}"') - - launch_env = directory / "launch_env.sh" - with open(launch_env, "w") as f: - f.write(f'export AGNOS_VERSION="{agnos_version}"') - - st = os.stat(launch_env) - os.chmod(launch_env, st.st_mode | stat.S_IEXEC) - - test_symlink = directory / "test_symlink" - if not os.path.exists(str(test_symlink)): - os.symlink("common/version.h", test_symlink) - - -def get_version(path: str) -> str: - with open(os.path.join(path, "common", "version.h")) as f: - return f.read().split('"')[1] - - -@pytest.mark.slow # TODO: can we test overlayfs in GHA? -class TestBaseUpdate: - @classmethod - def setup_class(cls): - if "Base" in cls.__name__: - pytest.skip() - - def setup_method(self): - self.tmpdir = tempfile.mkdtemp() - - run(["sudo", "mount", "-t", "tmpfs", "tmpfs", self.tmpdir]) # overlayfs doesn't work inside of docker unless this is a tmpfs - - self.mock_update_path = pathlib.Path(self.tmpdir) - - self.params = Params() - - self.basedir = self.mock_update_path / "openpilot" - self.basedir.mkdir() - - self.staging_root = self.mock_update_path / "safe_staging" - self.staging_root.mkdir() - - self.remote_dir = self.mock_update_path / "remote" - self.remote_dir.mkdir() - - os.environ["UPDATER_STAGING_ROOT"] = str(self.staging_root) - os.environ["UPDATER_LOCK_FILE"] = str(self.mock_update_path / "safe_staging_overlay.lock") - - self.MOCK_RELEASES = { - "release3": ("0.1.2", "1.2", "0.1.2 release notes"), - "master": ("0.1.3", "1.2", "0.1.3 release notes"), - } - - @pytest.fixture(autouse=True) - def mock_basedir(self, mocker): - mocker.patch("openpilot.common.basedir.BASEDIR", self.basedir) - - def set_target_branch(self, branch): - self.params.put("UpdaterTargetBranch", branch) - - def setup_basedir_release(self, release): - self.params = Params() - self.set_target_branch(release) - - def update_remote_release(self, release): - raise NotImplementedError("") - - def setup_remote_release(self, release): - raise NotImplementedError("") - - def additional_context(self): - raise NotImplementedError("") - - def teardown_method(self): - try: - run(["sudo", "umount", "-l", str(self.staging_root / "merged")]) - run(["sudo", "umount", "-l", self.tmpdir]) - shutil.rmtree(self.tmpdir) - except Exception: - print("cleanup failed...") - - def wait_for_condition(self, condition, timeout=12): - start = time.monotonic() - while True: - waited = time.monotonic() - start - if condition(): - print(f"waited {waited}s for condition ") - return waited - - if waited > timeout: - raise TimeoutError("timed out waiting for condition") - - time.sleep(1) - - def _test_finalized_update(self, branch, version, agnos_version, release_notes): - assert get_version(str(self.staging_root / "finalized")) == version - assert get_consistent_flag(str(self.staging_root / "finalized")) - assert os.access(str(self.staging_root / "finalized" / "launch_env.sh"), os.X_OK) - - with open(self.staging_root / "finalized" / "test_symlink") as f: - assert version in f.read() - -class ParamsBaseUpdateTest(TestBaseUpdate): - def _test_finalized_update(self, branch, version, agnos_version, release_notes): - assert self.params.get("UpdaterNewDescription", encoding="utf-8").startswith(f"{version} / {branch}") - assert self.params.get("UpdaterNewReleaseNotes", encoding="utf-8") == f"

{release_notes}

\n" - super()._test_finalized_update(branch, version, agnos_version, release_notes) - - def send_check_for_updates_signal(self, updated: ManagerProcess): - updated.signal(signal.SIGUSR1.value) - - def send_download_signal(self, updated: ManagerProcess): - updated.signal(signal.SIGHUP.value) - - def _test_params(self, branch, fetch_available, update_available): - assert self.params.get("UpdaterTargetBranch", encoding="utf-8") == branch - assert self.params.get_bool("UpdaterFetchAvailable") == fetch_available - assert self.params.get_bool("UpdateAvailable") == update_available - - def wait_for_idle(self): - self.wait_for_condition(lambda: self.params.get("UpdaterState", encoding="utf-8") == "idle") - - def wait_for_failed(self): - self.wait_for_condition(lambda: self.params.get("UpdateFailedCount", encoding="utf-8") is not None and \ - int(self.params.get("UpdateFailedCount", encoding="utf-8")) > 0) - - def wait_for_fetch_available(self): - self.wait_for_condition(lambda: self.params.get_bool("UpdaterFetchAvailable")) - - def wait_for_update_available(self): - self.wait_for_condition(lambda: self.params.get_bool("UpdateAvailable")) - - def test_no_update(self): - # Start on release3, ensure we don't fetch any updates - self.setup_remote_release("release3") - self.setup_basedir_release("release3") - - with self.additional_context(), processes_context(["updated"]) as [updated]: - self._test_params("release3", False, False) - self.wait_for_idle() - self._test_params("release3", False, False) - - self.send_check_for_updates_signal(updated) - - self.wait_for_idle() - - self._test_params("release3", False, False) - - def test_new_release(self): - # Start on release3, simulate a release3 commit, ensure we fetch that update properly - self.setup_remote_release("release3") - self.setup_basedir_release("release3") - - with self.additional_context(), processes_context(["updated"]) as [updated]: - self._test_params("release3", False, False) - self.wait_for_idle() - self._test_params("release3", False, False) - - self.MOCK_RELEASES["release3"] = ("0.1.3", "1.2", "0.1.3 release notes") - self.update_remote_release("release3") - - self.send_check_for_updates_signal(updated) - - self.wait_for_fetch_available() - - self._test_params("release3", True, False) - - self.send_download_signal(updated) - - self.wait_for_update_available() - - self._test_params("release3", False, True) - self._test_finalized_update("release3", *self.MOCK_RELEASES["release3"]) - - def test_switch_branches(self): - # Start on release3, request to switch to master manually, ensure we switched - self.setup_remote_release("release3") - self.setup_remote_release("master") - self.setup_basedir_release("release3") - - with self.additional_context(), processes_context(["updated"]) as [updated]: - self._test_params("release3", False, False) - self.wait_for_idle() - self._test_params("release3", False, False) - - self.set_target_branch("master") - self.send_check_for_updates_signal(updated) - - self.wait_for_fetch_available() - - self._test_params("master", True, False) - - self.send_download_signal(updated) - - self.wait_for_update_available() - - self._test_params("master", False, True) - self._test_finalized_update("master", *self.MOCK_RELEASES["master"]) - - def test_agnos_update(self, mocker): - # Start on release3, push an update with an agnos change - self.setup_remote_release("release3") - self.setup_basedir_release("release3") - - with self.additional_context(), processes_context(["updated"]) as [updated]: - mocker.patch("openpilot.system.hardware.AGNOS", "True") - mocker.patch("openpilot.system.hardware.tici.hardware.Tici.get_os_version", "1.2") - mocker.patch("openpilot.system.hardware.tici.agnos.get_target_slot_number") - mocker.patch("openpilot.system.hardware.tici.agnos.flash_agnos_update") - - self._test_params("release3", False, False) - self.wait_for_idle() - self._test_params("release3", False, False) - - self.MOCK_RELEASES["release3"] = ("0.1.3", "1.3", "0.1.3 release notes") - self.update_remote_release("release3") - - self.send_check_for_updates_signal(updated) - - self.wait_for_fetch_available() - - self._test_params("release3", True, False) - - self.send_download_signal(updated) - - self.wait_for_update_available() - - self._test_params("release3", False, True) - self._test_finalized_update("release3", *self.MOCK_RELEASES["release3"]) diff --git a/system/updated/tests/test_git.py b/system/updated/tests/test_git.py deleted file mode 100644 index 5a5a27000b0c18..00000000000000 --- a/system/updated/tests/test_git.py +++ /dev/null @@ -1,22 +0,0 @@ -import contextlib -from openpilot.system.updated.tests.test_base import ParamsBaseUpdateTest, run, update_release - - -class TestUpdateDGitStrategy(ParamsBaseUpdateTest): - def update_remote_release(self, release): - update_release(self.remote_dir, release, *self.MOCK_RELEASES[release]) - run(["git", "add", "."], cwd=self.remote_dir) - run(["git", "commit", "-m", f"openpilot release {release}"], cwd=self.remote_dir) - - def setup_remote_release(self, release): - run(["git", "init"], cwd=self.remote_dir) - run(["git", "checkout", "-b", release], cwd=self.remote_dir) - self.update_remote_release(release) - - def setup_basedir_release(self, release): - super().setup_basedir_release(release) - run(["git", "clone", "-b", release, self.remote_dir, self.basedir]) - - @contextlib.contextmanager - def additional_context(self): - yield diff --git a/system/webrtc/tests/test_stream_session.py b/system/webrtc/tests/test_stream_session.py deleted file mode 100644 index e89e42e440b47a..00000000000000 --- a/system/webrtc/tests/test_stream_session.py +++ /dev/null @@ -1,100 +0,0 @@ -import asyncio -import json -# for aiortc and its dependencies -import warnings -warnings.filterwarnings("ignore", category=DeprecationWarning) - -from aiortc import RTCDataChannel -from aiortc.mediastreams import VIDEO_CLOCK_RATE, VIDEO_TIME_BASE -import capnp -import pyaudio -from cereal import messaging, log - -from openpilot.system.webrtc.webrtcd import CerealOutgoingMessageProxy, CerealIncomingMessageProxy -from openpilot.system.webrtc.device.video import LiveStreamVideoStreamTrack -from openpilot.system.webrtc.device.audio import AudioInputStreamTrack -from openpilot.common.realtime import DT_DMON - - -class TestStreamSession: - def setup_method(self): - self.loop = asyncio.new_event_loop() - - def teardown_method(self): - self.loop.stop() - self.loop.close() - - def test_outgoing_proxy(self, mocker): - test_msg = log.Event.new_message() - test_msg.logMonoTime = 123 - test_msg.valid = True - test_msg.customReservedRawData0 = b"test" - expected_dict = {"type": "customReservedRawData0", "logMonoTime": 123, "valid": True, "data": "test"} - expected_json = json.dumps(expected_dict).encode() - - channel = mocker.Mock(spec=RTCDataChannel) - mocked_submaster = messaging.SubMaster(["customReservedRawData0"]) - def mocked_update(t): - mocked_submaster.update_msgs(0, [test_msg]) - - mocker.patch.object(messaging.SubMaster, "update", side_effect=mocked_update) - proxy = CerealOutgoingMessageProxy(mocked_submaster) - proxy.add_channel(channel) - - proxy.update() - - channel.send.assert_called_once_with(expected_json) - - def test_incoming_proxy(self, mocker): - tested_msgs = [ - {"type": "customReservedRawData0", "data": "test"}, # primitive - {"type": "can", "data": [{"address": 0, "busTime": 0, "dat": "", "src": 0}]}, # list - {"type": "testJoystick", "data": {"axes": [0, 0], "buttons": [False]}}, # dict - ] - - mocked_pubmaster = mocker.MagicMock(spec=messaging.PubMaster) - - proxy = CerealIncomingMessageProxy(mocked_pubmaster) - - for msg in tested_msgs: - proxy.send(json.dumps(msg).encode()) - - mocked_pubmaster.send.assert_called_once() - mt, md = mocked_pubmaster.send.call_args.args - assert mt == msg["type"] - assert isinstance(md, capnp._DynamicStructBuilder) - assert hasattr(md, msg["type"]) - - mocked_pubmaster.reset_mock() - - def test_livestream_track(self, mocker): - fake_msg = messaging.new_message("livestreamDriverEncodeData") - - config = {"receive.return_value": fake_msg.to_bytes()} - mocker.patch("msgq.SubSocket", spec=True, **config) - track = LiveStreamVideoStreamTrack("driver") - - assert track.id.startswith("driver") - assert track.codec_preference() == "H264" - - for i in range(5): - packet = self.loop.run_until_complete(track.recv()) - assert packet.time_base == VIDEO_TIME_BASE - assert packet.pts == int(i * DT_DMON * VIDEO_CLOCK_RATE) - assert packet.size == 0 - - def test_input_audio_track(self, mocker): - packet_time, rate = 0.02, 16000 - sample_count = int(packet_time * rate) - mocked_stream = mocker.MagicMock(spec=pyaudio.Stream) - mocked_stream.read.return_value = b"\x00" * 2 * sample_count - - config = {"open.side_effect": lambda *args, **kwargs: mocked_stream} - mocker.patch("pyaudio.PyAudio", spec=True, **config) - track = AudioInputStreamTrack(audio_format=pyaudio.paInt16, packet_time=packet_time, rate=rate) - - for i in range(5): - frame = self.loop.run_until_complete(track.recv()) - assert frame.rate == rate - assert frame.samples == sample_count - assert frame.pts == i * sample_count diff --git a/system/webrtc/tests/test_webrtcd.py b/system/webrtc/tests/test_webrtcd.py deleted file mode 100644 index d4b659a3aa0e5d..00000000000000 --- a/system/webrtc/tests/test_webrtcd.py +++ /dev/null @@ -1,64 +0,0 @@ -import pytest -import asyncio -import json -# for aiortc and its dependencies -import warnings -warnings.filterwarnings("ignore", category=DeprecationWarning) - -from openpilot.system.webrtc.webrtcd import get_stream - -import aiortc -from teleoprtc import WebRTCOfferBuilder -from parameterized import parameterized_class - - -@parameterized_class(("in_services", "out_services"), [ - (["testJoystick"], ["carState"]), - ([], ["carState"]), - (["testJoystick"], []), - ([], []), -]) -@pytest.mark.asyncio -class TestWebrtcdProc: - async def assertCompletesWithTimeout(self, awaitable, timeout=1): - try: - async with asyncio.timeout(timeout): - await awaitable - except TimeoutError: - pytest.fail("Timeout while waiting for awaitable to complete") - - async def test_webrtcd(self, mocker): - mock_request = mocker.MagicMock() - async def connect(offer): - body = {'sdp': offer.sdp, 'cameras': offer.video, 'bridge_services_in': self.in_services, 'bridge_services_out': self.out_services} - mock_request.json.side_effect = mocker.AsyncMock(return_value=body) - response = await get_stream(mock_request) - response_json = json.loads(response.text) - return aiortc.RTCSessionDescription(**response_json) - - builder = WebRTCOfferBuilder(connect) - builder.offer_to_receive_video_stream("road") - builder.offer_to_receive_audio_stream() - if len(self.in_services) > 0 or len(self.out_services) > 0: - builder.add_messaging() - - stream = builder.stream() - - await self.assertCompletesWithTimeout(stream.start()) - await self.assertCompletesWithTimeout(stream.wait_for_connection()) - - assert stream.has_incoming_video_track("road") - assert stream.has_incoming_audio_track() - assert stream.has_messaging_channel() == (len(self.in_services) > 0 or len(self.out_services) > 0) - - video_track, audio_track = stream.get_incoming_video_track("road"), stream.get_incoming_audio_track() - await self.assertCompletesWithTimeout(video_track.recv()) - await self.assertCompletesWithTimeout(audio_track.recv()) - - await self.assertCompletesWithTimeout(stream.stop()) - - # cleanup, very implementation specific, test may break if it changes - assert mock_request.app["streams"].__setitem__.called, "Implementation changed, please update this test" - _, session = mock_request.app["streams"].__setitem__.call_args.args - await self.assertCompletesWithTimeout(session.post_run_cleanup()) - diff --git a/teleoprtc b/teleoprtc deleted file mode 120000 index 3d3dbc8dea1ac6..00000000000000 --- a/teleoprtc +++ /dev/null @@ -1 +0,0 @@ -teleoprtc_repo/teleoprtc \ No newline at end of file diff --git a/teleoprtc_repo/.github/workflows/release.yaml b/teleoprtc_repo/.github/workflows/release.yaml deleted file mode 100644 index b388ddaebce3b9..00000000000000 --- a/teleoprtc_repo/.github/workflows/release.yaml +++ /dev/null @@ -1,28 +0,0 @@ -name: release - -on: - workflow_dispatch: - -jobs: - publish_pypi: - name: "Publish package on PyPI" - runs-on: ubuntu-latest - if: github.ref == 'refs/heads/master' && github.repository == 'commaai/teleoprtc' - steps: - - uses: actions/checkout@v4 - with: - fetch-tags: true - - uses: actions/setup-python@v5 - with: - python-version: '3.11' - - name: Bump version and tag - run: | - git config --global user.name "Vehicle Researcher" - git config --global user.email "user@comma.ai" - - bash scripts/bump_tag.sh - - git push --no-verify --force-with-lease --tags origin master - - name: Build and publish - run: | - bash scripts/publish_pypi.sh "${{ secrets.PYPI_PAT }}" diff --git a/teleoprtc_repo/.github/workflows/tests.yaml b/teleoprtc_repo/.github/workflows/tests.yaml deleted file mode 100644 index 293fc8b397d390..00000000000000 --- a/teleoprtc_repo/.github/workflows/tests.yaml +++ /dev/null @@ -1,37 +0,0 @@ -name: tests - -on: [push, pull_request] - -jobs: - test: - runs-on: ubuntu-latest - strategy: - fail-fast: false - matrix: - python-version: ["3.8", "3.9", "3.10", "3.11", "3.12"] - steps: - - uses: actions/checkout@v4 - - uses: actions/setup-python@v5 - with: - python-version: ${{ matrix.python-version }} - - name: Install aiortc dependencies - run: | - sudo apt update - sudo apt install libavdevice-dev libavfilter-dev libopus-dev libvpx-dev libsrtp2-dev pkg-config - - name: Install package - run: pip install -e .[dev] - - name: Unit Tests - run: | - cd tests/; python -m unittest discover - static_analysis: - runs-on: ubuntu-latest - steps: - - uses: actions/checkout@v4 - - uses: actions/setup-python@v5 - with: - python-version: '3.11' - - name: Install pre-commit - run: pip install pre-commit - - name: Static analysis - run: | - pre-commit run --all diff --git a/teleoprtc_repo/.gitignore b/teleoprtc_repo/.gitignore deleted file mode 100644 index e9863cb7eec930..00000000000000 --- a/teleoprtc_repo/.gitignore +++ /dev/null @@ -1,163 +0,0 @@ -# Byte-compiled / optimized / DLL files -__pycache__/ -*.py[cod] -*$py.class - -# C extensions -*.so - -# Distribution / packaging -.Python -build/ -develop-eggs/ -dist/ -downloads/ -eggs/ -.eggs/ -lib/ -lib64/ -parts/ -sdist/ -var/ -wheels/ -share/python-wheels/ -*.egg-info/ -.installed.cfg -*.egg -MANIFEST - -# PyInstaller -# Usually these files are written by a python script from a template -# before PyInstaller builds the exe, so as to inject date/other infos into it. -*.manifest -*.spec - -# Installer logs -pip-log.txt -pip-delete-this-directory.txt - -# Unit test / coverage reports -htmlcov/ -.tox/ -.nox/ -.coverage -.coverage.* -.cache -nosetests.xml -coverage.xml -*.cover -*.py,cover -.hypothesis/ -.pytest_cache/ -cover/ - -# Translations -*.mo -*.pot - -# Django stuff: -*.log -local_settings.py -db.sqlite3 -db.sqlite3-journal - -# Flask stuff: -instance/ -.webassets-cache - -# Scrapy stuff: -.scrapy - -# Sphinx documentation -docs/_build/ - -# PyBuilder -.pybuilder/ -target/ - -# Jupyter Notebook -.ipynb_checkpoints - -# IPython -profile_default/ -ipython_config.py - -# pyenv -# For a library or package, you might want to ignore these files since the code is -# intended to run in multiple environments; otherwise, check them in: -# .python-version - -# pipenv -# According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control. -# However, in case of collaboration, if having platform-specific dependencies or dependencies -# having no cross-platform support, pipenv may install dependencies that don't work, or not -# install all needed dependencies. -#Pipfile.lock - -# poetry -# Similar to Pipfile.lock, it is generally recommended to include poetry.lock in version control. -# This is especially recommended for binary packages to ensure reproducibility, and is more -# commonly ignored for libraries. -# https://python-poetry.org/docs/basic-usage/#commit-your-poetrylock-file-to-version-control -#poetry.lock - -# pdm -# Similar to Pipfile.lock, it is generally recommended to include pdm.lock in version control. -#pdm.lock -# pdm stores project-wide configurations in .pdm.toml, but it is recommended to not include it -# in version control. -# https://pdm.fming.dev/#use-with-ide -.pdm.toml - -# PEP 582; used by e.g. github.com/David-OConnor/pyflow and github.com/pdm-project/pdm -__pypackages__/ - -# Celery stuff -celerybeat-schedule -celerybeat.pid - -# SageMath parsed files -*.sage.py - -# Environments -.env -.venv -env/ -venv/ -ENV/ -env.bak/ -venv.bak/ - -# Spyder project settings -.spyderproject -.spyproject - -# Rope project settings -.ropeproject - -# mkdocs documentation -/site - -# mypy -.mypy_cache/ -.dmypy.json -dmypy.json - -# Pyre type checker -.pyre/ - -# pytype static type analyzer -.pytype/ - -# Cython debug symbols -cython_debug/ - -# PyCharm -# JetBrains specific template is maintained in a separate JetBrains.gitignore that can -# be found at https://github.com/github/gitignore/blob/main/Global/JetBrains.gitignore -# and can be added to the global gitignore or merged into this file. For a more nuclear -# option (not recommended) you can uncomment the following to ignore the entire idea folder. -#.idea/ - -*.swp -*.swo \ No newline at end of file diff --git a/teleoprtc_repo/.pre-commit-config.yaml b/teleoprtc_repo/.pre-commit-config.yaml deleted file mode 100644 index 89e745c07683e0..00000000000000 --- a/teleoprtc_repo/.pre-commit-config.yaml +++ /dev/null @@ -1,20 +0,0 @@ -repos: -- repo: https://github.com/pre-commit/pre-commit-hooks - rev: v4.5.0 - hooks: - - id: check-ast - - id: check-json - - id: check-xml - - id: check-yaml - - id: check-merge-conflict - - id: check-symlinks - - id: check-executables-have-shebangs - - id: check-shebang-scripts-are-executable -- repo: https://github.com/pre-commit/mirrors-mypy - rev: v1.7.1 - hooks: - - id: mypy -- repo: https://github.com/astral-sh/ruff-pre-commit - rev: v0.2.2 - hooks: - - id: ruff diff --git a/teleoprtc_repo/LICENSE b/teleoprtc_repo/LICENSE deleted file mode 100644 index cae6fd0a189ee2..00000000000000 --- a/teleoprtc_repo/LICENSE +++ /dev/null @@ -1,21 +0,0 @@ -MIT License - -Copyright (c) 2023, Comma.ai, Inc. - -Permission is hereby granted, free of charge, to any person obtaining a copy -of this software and associated documentation files (the "Software"), to deal -in the Software without restriction, including without limitation the rights -to use, copy, modify, merge, publish, distribute, sublicense, and/or sell -copies of the Software, and to permit persons to whom the Software is -furnished to do so, subject to the following conditions: - -The above copyright notice and this permission notice shall be included in all -copies or substantial portions of the Software. - -THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR -IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, -FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE -AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER -LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, -OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE -SOFTWARE. diff --git a/teleoprtc_repo/README.md b/teleoprtc_repo/README.md deleted file mode 100644 index f20d25db50b7a9..00000000000000 --- a/teleoprtc_repo/README.md +++ /dev/null @@ -1,4 +0,0 @@ -# teleoprtc - -Set of abstractions for webRTC communication with [openpilot](https://github.com/commaai/openpilot). - diff --git a/teleoprtc_repo/examples/face_detection/README.md b/teleoprtc_repo/examples/face_detection/README.md deleted file mode 100644 index 74d6ea2cf0a992..00000000000000 --- a/teleoprtc_repo/examples/face_detection/README.md +++ /dev/null @@ -1,10 +0,0 @@ -## Face detection demo - -Run simple face detection model on video stream from driver camera of comma three. - -This example streams video frames, runs face-detection model and displays window with live detection results (bounding boxes). - -```sh -# pass the ip address of comma three, if running remotely (by default localhost) -python3 face_detection.py [--host comma-ip-address] -``` \ No newline at end of file diff --git a/teleoprtc_repo/examples/face_detection/face_detection.py b/teleoprtc_repo/examples/face_detection/face_detection.py deleted file mode 100755 index f6fba90640fb2e..00000000000000 --- a/teleoprtc_repo/examples/face_detection/face_detection.py +++ /dev/null @@ -1,119 +0,0 @@ -#!/usr/bin/env python3 - -import argparse -import asyncio - -import aiortc -import aiohttp -import cv2 -import pygame - -from teleoprtc import WebRTCOfferBuilder, StreamingOffer - - -def pygame_should_quit(): - for event in pygame.event.get(): - if event.type == pygame.QUIT: - return True - return False - - -class WebrtcdConnectionProvider: - """ - Connection provider reaching webrtcd server on comma three - """ - def __init__(self, host, port=5001): - self.url = f"http://{host}:{port}/stream" - - async def __call__(self, offer: StreamingOffer) -> aiortc.RTCSessionDescription: - async with aiohttp.ClientSession() as session: - body = {'sdp': offer.sdp, 'cameras': offer.video, 'bridge_services_in': [], 'bridge_services_out': []} - async with session.post(self.url, json=body) as resp: - payload = await resp.json() - answer = aiortc.RTCSessionDescription(**payload) - return answer - - -class FaceDetector: - """ - Simple face detector using opencv - """ - def __init__(self): - self.classifier = cv2.CascadeClassifier(cv2.data.haarcascades + 'haarcascade_frontalface_default.xml') - - def detect(self, array): - gray_array = cv2.cvtColor(array, cv2.COLOR_RGB2GRAY) - faces = self.classifier.detectMultiScale(gray_array, scaleFactor=1.1, minNeighbors=5, minSize=(30, 30)) - return faces - - def draw(self, array, faces): - for (x, y, w, h) in faces: - cv2.rectangle(array, (x, y), (x + w, y + h), (0, 255, 0), 2) - return array - - -async def run_face_detection(stream): - # setup pygame window - pygame.init() - screen_width, screen_height = 1280, 720 - screen = pygame.display.set_mode((screen_width, screen_height)) - pygame.display.set_caption("Face detection demo") - surface = pygame.Surface((screen_width, screen_height)) - - # get the driver camera video track from the stream - # generally its better to reuse the track object instead of getting it every time - track = stream.get_incoming_video_track("driver", buffered=False) - # cv2 face detector - detector = FaceDetector() - while stream.is_connected_and_ready and not pygame_should_quit(): - try: - # receive frame as pyAV VideoFrame, convert to rgb24 numpy array - frame = await track.recv() - array = frame.to_ndarray(format="rgb24") - - # detect faces and draw rects around them - resized_array = cv2.resize(array, (screen_width, screen_height)) - faces = detector.detect(resized_array) - detector.draw(resized_array, faces) - - # display the image - pygame.surfarray.blit_array(surface, resized_array.swapaxes(0, 1)) - screen.blit(surface, (0, 0)) - pygame.display.flip() - - print("Received frame from", "driver", frame.time) - except aiortc.mediastreams.MediaStreamError: - break - - pygame.quit() - await stream.stop() - - -async def run(args): - # build your own the offer stream - builder = WebRTCOfferBuilder(WebrtcdConnectionProvider(args.host)) - # request video stream from drivers camera - builder.offer_to_receive_video_stream("driver") - # add cereal messaging streaming support - builder.add_messaging() - - stream = builder.stream() - - # start the stream then wait for connection - # server will receive the offer and attempt to fulfill it - await stream.start() - await stream.wait_for_connection() - # all the tracks and channel are ready to be used at this point - - assert stream.has_incoming_video_track("driver") and stream.has_messaging_channel() - - # run face detection loop on the drivers camera - await run_face_detection(stream) - - -if __name__=='__main__': - parser = argparse.ArgumentParser() - parser.add_argument("--host", default="localhost", help="Host for webrtcd server") - - args = parser.parse_args() - asyncio.run(run(args)) diff --git a/teleoprtc_repo/examples/videostream_cli/README.md b/teleoprtc_repo/examples/videostream_cli/README.md deleted file mode 100644 index 02b49b1085e154..00000000000000 --- a/teleoprtc_repo/examples/videostream_cli/README.md +++ /dev/null @@ -1 +0,0 @@ -# VideoStream CLI diff --git a/teleoprtc_repo/examples/videostream_cli/cli.py b/teleoprtc_repo/examples/videostream_cli/cli.py deleted file mode 100755 index 9640edc1977d92..00000000000000 --- a/teleoprtc_repo/examples/videostream_cli/cli.py +++ /dev/null @@ -1,111 +0,0 @@ -#!/usr/bin/env python - -import argparse -import asyncio -import dataclasses -import json -import logging - -import aiortc -from aiortc.mediastreams import VideoStreamTrack, AudioStreamTrack - -from teleoprtc import WebRTCOfferBuilder, WebRTCAnswerBuilder -from teleoprtc.stream import StreamingOffer -from teleoprtc.info import parse_info_from_offer - - -async def async_input(): - return await asyncio.to_thread(input) - - -async def StdioConnectionProvider(offer: StreamingOffer) -> aiortc.RTCSessionDescription: - print("-- Please send this JSON to server --") - print(json.dumps(dataclasses.asdict(offer))) - print("-- Press enter when the answer is ready --") - raw_payload = await async_input() - payload = json.loads(raw_payload) - answer = aiortc.RTCSessionDescription(**payload) - - return answer - - -async def run_answer(args): - streams = [] - while True: - print("-- Please enter a JSON from client --") - raw_payload = await async_input() - - payload = json.loads(raw_payload) - offer = StreamingOffer(**payload) - info = parse_info_from_offer(offer.sdp) - assert len(offer.video) == info.n_expected_camera_tracks - video_tracks = [VideoStreamTrack() for _ in offer.video] - audio_tracks = [AudioStreamTrack()] if info.expected_audio_track else [] - - stream_builder = WebRTCAnswerBuilder(offer.sdp) - for cam, track in zip(offer.video, video_tracks, strict=True): - stream_builder.add_video_stream(cam, track) - for track in audio_tracks: - stream_builder.add_audio_stream(track) - stream = stream_builder.stream() - answer = await stream.start() - streams.append(stream) - - print("-- Please send this JSON to client --") - print(json.dumps({"sdp": answer.sdp, "type": answer.type})) - - await stream.wait_for_connection() - - -async def run_offer(args): - stream_builder = WebRTCOfferBuilder(StdioConnectionProvider) - for cam in args.cameras: - stream_builder.offer_to_receive_video_stream(cam) - if args.audio: - stream_builder.offer_to_receive_audio_stream() - if args.messaging: - stream_builder.add_messaging() - stream = stream_builder.stream() - _ = await stream.start() - await stream.wait_for_connection() - print("Connection established and all tracks are ready") - - video_tracks = [stream.get_incoming_video_track(cam, False) for cam in args.cameras] - audio_track = None - if stream.has_incoming_audio_track(): - audio_track = stream.get_incoming_audio_track(False) - while True: - try: - frames = await asyncio.gather(*[track.recv() for track in video_tracks]) - for key, frame in zip(args.cameras, frames, strict=True): - print("Received frame from", key, frame.time) - if audio_track: - frame = await audio_track.recv() - print("Received frame from audio", frame.time) - except aiortc.mediastreams.MediaStreamError: - return - print("=====================================") - - -if __name__ == "__main__": - parser = argparse.ArgumentParser() - subparsers = parser.add_subparsers(dest="command", required=True) - - offer_parser = subparsers.add_parser("offer", description="Create offer stream") - offer_parser.add_argument("--audio", action="store_true", help="Offer to receive audio") - offer_parser.add_argument("--messaging", action="store_true", help="Add messaging support") - offer_parser.add_argument("cameras", metavar="CAMERA", type=str, nargs="+", default=[], help="Camera types to stream") - - answer_parser = subparsers.add_parser("answer", description="Create answer stream") - - args = parser.parse_args() - - logging.basicConfig(level=logging.CRITICAL, handlers=[logging.StreamHandler()]) - logger = logging.getLogger("WebRTCStream") - logger.setLevel(logging.DEBUG) - - loop = asyncio.get_event_loop() - if args.command == "offer": - loop.run_until_complete(run_offer(args)) - elif args.command == "answer": - loop.run_until_complete(run_answer(args)) diff --git a/teleoprtc_repo/pyproject.toml b/teleoprtc_repo/pyproject.toml deleted file mode 100644 index ffdef0380d5684..00000000000000 --- a/teleoprtc_repo/pyproject.toml +++ /dev/null @@ -1,43 +0,0 @@ -[build-system] -requires = ["setuptools"] -build-backend = "setuptools.build_meta" - -[project] -name = "teleoprtc" -version = "1.0.1" -authors = [{ name="Vehicle Researcher", email="user@comma.ai" }] -description = "Comma webRTC abstractions" -readme = "README.md" -license = { file="LICENSE" } -requires-python = ">=3.8" -classifiers = [ - "Programming Language :: Python :: 3", - "License :: OSI Approved :: MIT License", - "Operating System :: OS Independent", -] -dependencies = [ - "aiortc>=1.6.0", - "aiohttp>=3.7.0", - "av>=11.0.0,<13.0.0", - "numpy>=1.19.0", -] - -[project.optional-dependencies] -dev = [ - "parameterized>=0.8", - "pre-commit" -] - -[project.urls] -"Homepage" = "https://github.com/commaai/teleoprtc" -"Bug Tracker" = "https://github.com/commaai/teleoprtc/issues" - -# https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml -[tool.ruff] -line-length = 160 -target-version="py38" - -[tool.ruff.lint] -select = ["E", "F", "W", "PIE", "C4", "ISC", "RUF008", "RUF100", "A", "B", "TID251"] -ignore = ["W292", "E741", "E402", "C408", "ISC003", "B027", "B024"] -flake8-implicit-str-concat.allow-multiline=false diff --git a/teleoprtc_repo/scripts/bump_tag.sh b/teleoprtc_repo/scripts/bump_tag.sh deleted file mode 100755 index 0f15c558e03155..00000000000000 --- a/teleoprtc_repo/scripts/bump_tag.sh +++ /dev/null @@ -1,29 +0,0 @@ -#!/usr/bin/env bash - -BRANCH="$(git branch --show-current)" -TOML_VERSION="$(python3 -c 'import tomllib; print(tomllib.load(open("pyproject.toml", "rb"))["project"]["version"])')" -LATEST_TAG_VERSION="$(git tag --list | sort -V -r | head -n 1)" -TAGGED_VERSION="" - -if [[ "$BRANCH" != "master" ]]; then - echo "Not on master branch." - exit 1 -fi - -if [[ "$TOML_VERSION" == "$LATEST_TAG_VERSION" ]]; then - TAGGED_VERSION=$(echo "$TOML_VERSION" | python3 -c "v = input().split('.'); v[-1]=str(int(v[-1])+1); print('.'.join(v))") - sed -i "s/version = \"$TOML_VERSION\"/version = \"$TAGGED_VERSION\"/" pyproject.toml -elif [[ -z "$LATEST_TAG_VERSION" ]] || printf "$LATEST_TAG_VERSION\n$TOML_VERSION" | sort -V -C; then - TAGGED_VERSION="$TOML_VERSION" -else - echo "Version in pyproject.toml is lower than the latest tag version." - exit 1 -fi - -echo "Tagging $TAGGED_VERSION..." -if [[ -n "$(git ls-files -m | grep pyproject.toml)" ]]; then - echo "Commiting pyproject.toml..." - git add pyproject.toml - git commit --no-verify -m "Bump version to $TAGGED_VERSION" -fi -git tag "$TAGGED_VERSION" diff --git a/teleoprtc_repo/scripts/publish_pypi.sh b/teleoprtc_repo/scripts/publish_pypi.sh deleted file mode 100755 index 1cb0563ee0565b..00000000000000 --- a/teleoprtc_repo/scripts/publish_pypi.sh +++ /dev/null @@ -1,23 +0,0 @@ -#!/usr/bin/env bash - -set -e - -if [[ -z "$1" ]]; then - echo "Usage: $0 " - exit 1 -fi -PYPI_TOKEN="$1" - -# install required packages -pip install --upgrade twine build - -# build the package -python3 -m build - -# upload to PyPI -REPOSITORY="" -if [[ -n "$TEST_UPLOAD" ]]; then - REPOSITORY="--repository testpypi" -fi - -python3 -m twine upload $REPOSITORY --username __token__ --password "$PYPI_TOKEN" dist/* diff --git a/teleoprtc_repo/teleoprtc/__init__.py b/teleoprtc_repo/teleoprtc/__init__.py deleted file mode 100644 index 4104f949bc4823..00000000000000 --- a/teleoprtc_repo/teleoprtc/__init__.py +++ /dev/null @@ -1,2 +0,0 @@ -from teleoprtc.builder import WebRTCOfferBuilder, WebRTCAnswerBuilder # noqa -from teleoprtc.stream import WebRTCBaseStream, StreamingOffer, ConnectionProvider, MessageHandler # noqa \ No newline at end of file diff --git a/teleoprtc_repo/teleoprtc/builder.py b/teleoprtc_repo/teleoprtc/builder.py deleted file mode 100644 index d054f9feda41c3..00000000000000 --- a/teleoprtc_repo/teleoprtc/builder.py +++ /dev/null @@ -1,79 +0,0 @@ -import abc -from typing import Dict, List - -import aiortc - -from teleoprtc.stream import WebRTCBaseStream, WebRTCOfferStream, WebRTCAnswerStream, ConnectionProvider -from teleoprtc.tracks import TiciVideoStreamTrack, TiciTrackWrapper - - -class WebRTCStreamBuilder(abc.ABC): - @abc.abstractmethod - def stream(self) -> WebRTCBaseStream: - raise NotImplementedError - - -class WebRTCOfferBuilder(WebRTCStreamBuilder): - def __init__(self, connection_provider: ConnectionProvider): - self.connection_provider = connection_provider - self.requested_camera_types: List[str] = [] - self.requested_audio = False - self.audio_tracks: List[aiortc.MediaStreamTrack] = [] - self.messaging_enabled = False - - def offer_to_receive_video_stream(self, camera_type: str): - assert camera_type in ["driver", "wideRoad", "road"] - self.requested_camera_types.append(camera_type) - - def offer_to_receive_audio_stream(self): - self.requested_audio = True - - def add_audio_stream(self, track: aiortc.MediaStreamTrack): - assert len(self.audio_tracks) == 0 - self.audio_tracks = [track] - - def add_messaging(self): - self.messaging_enabled = True - - def stream(self) -> WebRTCBaseStream: - return WebRTCOfferStream( - self.connection_provider, - consumed_camera_types=self.requested_camera_types, - consume_audio=self.requested_audio, - video_producer_tracks=[], - audio_producer_tracks=self.audio_tracks, - should_add_data_channel=self.messaging_enabled, - ) - - -class WebRTCAnswerBuilder(WebRTCStreamBuilder): - def __init__(self, offer_sdp: str): - self.offer_sdp = offer_sdp - self.video_tracks: Dict[str, aiortc.MediaStreamTrack] = dict() - self.requested_audio = False - self.audio_tracks: List[aiortc.MediaStreamTrack] = [] - - def offer_to_receive_audio_stream(self): - self.requested_audio = True - - def add_video_stream(self, camera_type: str, track: aiortc.MediaStreamTrack): - assert camera_type not in self.video_tracks - assert camera_type in ["driver", "wideRoad", "road"] - if not isinstance(track, TiciVideoStreamTrack): - track = TiciTrackWrapper(camera_type, track) - self.video_tracks[camera_type] = track - - def add_audio_stream(self, track: aiortc.MediaStreamTrack): - assert len(self.audio_tracks) == 0 - self.audio_tracks = [track] - - def stream(self) -> WebRTCBaseStream: - description = aiortc.RTCSessionDescription(sdp=self.offer_sdp, type="offer") - return WebRTCAnswerStream( - description, - consumed_camera_types=[], - consume_audio=self.requested_audio, - video_producer_tracks=list(self.video_tracks.values()), - audio_producer_tracks=self.audio_tracks, - should_add_data_channel=False, - ) diff --git a/teleoprtc_repo/teleoprtc/info.py b/teleoprtc_repo/teleoprtc/info.py deleted file mode 100644 index fb786feda1fb51..00000000000000 --- a/teleoprtc_repo/teleoprtc/info.py +++ /dev/null @@ -1,26 +0,0 @@ -import dataclasses - -import aiortc - - -@dataclasses.dataclass -class StreamingMediaInfo: - n_expected_camera_tracks: int - expected_audio_track: bool - incoming_audio_track: bool - incoming_datachannel: bool - - -def parse_info_from_offer(sdp: str) -> StreamingMediaInfo: - """ - helper function to parse info about outgoing and incoming streams from an offer sdp - """ - desc = aiortc.sdp.SessionDescription.parse(sdp) - audio_tracks = [m for m in desc.media if m.kind == "audio"] - video_tracks = [m for m in desc.media if m.kind == "video" and m.direction in ["recvonly", "sendrecv"]] - application_tracks = [m for m in desc.media if m.kind == "application"] - has_incoming_audio_track = next((t for t in audio_tracks if t.direction in ["sendonly", "sendrecv"]), None) is not None - has_incoming_datachannel = len(application_tracks) > 0 - expects_outgoing_audio_track = next((t for t in audio_tracks if t.direction in ["recvonly", "sendrecv"]), None) is not None - - return StreamingMediaInfo(len(video_tracks), expects_outgoing_audio_track, has_incoming_audio_track, has_incoming_datachannel) diff --git a/teleoprtc_repo/teleoprtc/stream.py b/teleoprtc_repo/teleoprtc/stream.py deleted file mode 100644 index 7b4172098e886d..00000000000000 --- a/teleoprtc_repo/teleoprtc/stream.py +++ /dev/null @@ -1,302 +0,0 @@ -import abc -import asyncio -import dataclasses -import logging -from typing import Any, Awaitable, Callable, Dict, List, Optional - -import aiortc -from aiortc.contrib.media import MediaRelay - -from teleoprtc.tracks import parse_video_track_id - - -@dataclasses.dataclass -class StreamingOffer: - sdp: str - video: List[str] - - -ConnectionProvider = Callable[[StreamingOffer], Awaitable[aiortc.RTCSessionDescription]] -MessageHandler = Callable[[bytes], Awaitable[None]] - - -class WebRTCBaseStream(abc.ABC): - def __init__(self, - consumed_camera_types: List[str], - consume_audio: bool, - video_producer_tracks: List[aiortc.MediaStreamTrack], - audio_producer_tracks: List[aiortc.MediaStreamTrack], - should_add_data_channel: bool): - self.peer_connection = aiortc.RTCPeerConnection() - self.media_relay = MediaRelay() - self.expected_incoming_camera_types = consumed_camera_types - self.expected_incoming_audio = consume_audio - self.expected_number_of_incoming_media: Optional[int] = None - - self.incoming_camera_tracks: Dict[str, aiortc.MediaStreamTrack] = dict() - self.incoming_audio_tracks: List[aiortc.MediaStreamTrack] = [] - self.outgoing_video_tracks: List[aiortc.MediaStreamTrack] = video_producer_tracks - self.outgoing_audio_tracks: List[aiortc.MediaStreamTrack] = audio_producer_tracks - - self.should_add_data_channel = should_add_data_channel - self.messaging_channel: Optional[aiortc.RTCDataChannel] = None - self.incoming_message_handlers: List[MessageHandler] = [] - - self.incoming_media_ready_event = asyncio.Event() - self.messaging_channel_ready_event = asyncio.Event() - self.connection_attempted_event = asyncio.Event() - self.connection_stopped_event = asyncio.Event() - - self.peer_connection.on("connectionstatechange", self._on_connectionstatechange) - self.peer_connection.on("datachannel", self._on_incoming_datachannel) - self.peer_connection.on("track", self._on_incoming_track) - - self.logger = logging.getLogger("WebRTCStream") - - def _log_debug(self, msg: Any, *args): - self.logger.debug(f"{type(self)}() {msg}", *args) - - @property - def _number_of_incoming_media(self) -> int: - media = len(self.incoming_camera_tracks) + len(self.incoming_audio_tracks) - # if stream does not add data_channel, then it means its incoming - media += int(self.messaging_channel is not None) if not self.should_add_data_channel else 0 - return media - - def _add_consumer_transceivers(self): - for _ in self.expected_incoming_camera_types: - self.peer_connection.addTransceiver("video", direction="recvonly") - if self.expected_incoming_audio: - self.peer_connection.addTransceiver("audio", direction="recvonly") - - def _find_trackless_transceiver(self, kind: str) -> Optional[aiortc.RTCRtpTransceiver]: - transceivers = self.peer_connection.getTransceivers() - target_transceiver = None - for t in transceivers: - if t.kind == kind and t.sender.track is None: - target_transceiver = t - break - - return target_transceiver - - def _add_producer_tracks(self): - for track in self.outgoing_video_tracks: - target_transceiver = self._find_trackless_transceiver(track.kind) - if target_transceiver is None: - self.peer_connection.addTransceiver(track.kind, direction="sendonly") - - sender = self.peer_connection.addTrack(track) - if hasattr(track, "codec_preference") and track.codec_preference() is not None: - transceiver = next(t for t in self.peer_connection.getTransceivers() if t.sender == sender) - self._force_codec(transceiver, track.codec_preference(), "video") - for track in self.outgoing_audio_tracks: - target_transceiver = self._find_trackless_transceiver(track.kind) - if target_transceiver is None: - self.peer_connection.addTransceiver(track.kind, direction="sendonly") - - self.peer_connection.addTrack(track) - - def _add_messaging_channel(self, channel: Optional[aiortc.RTCDataChannel] = None): - if not channel: - channel = self.peer_connection.createDataChannel("data", ordered=True) - - for handler in self.incoming_message_handlers: - channel.on("message", handler) - - if channel.readyState == "open": - self.messaging_channel_ready_event.set() - else: - channel.on("open", lambda: self.messaging_channel_ready_event.set()) - self.messaging_channel = channel - - def _force_codec(self, transceiver: aiortc.RTCRtpTransceiver, codec: str, stream_type: str): - codec_mime = f"{stream_type}/{codec.upper()}" - rtp_codecs = aiortc.RTCRtpSender.getCapabilities(stream_type).codecs - rtp_codec = [c for c in rtp_codecs if c.mimeType == codec_mime] - transceiver.setCodecPreferences(rtp_codec) - - def _on_connectionstatechange(self): - self._log_debug("connection state is %s", self.peer_connection.connectionState) - if self.peer_connection.connectionState in ['connected', 'failed']: - self.connection_attempted_event.set() - if self.peer_connection.connectionState in ['disconnected', 'closed', 'failed']: - self.connection_stopped_event.set() - - def _on_incoming_track(self, track: aiortc.MediaStreamTrack): - self._log_debug("got track: %s %s", track.kind, track.id) - if track.kind == "video": - camera_type, _ = parse_video_track_id(track.id) - if camera_type in self.expected_incoming_camera_types: - self.incoming_camera_tracks[camera_type] = track - elif track.kind == "audio": - if self.expected_incoming_audio: - self.incoming_audio_tracks.append(track) - self._on_after_media() - - def _on_incoming_datachannel(self, channel: aiortc.RTCDataChannel): - self._log_debug("got data channel: %s", channel.label) - if channel.label == "data" and self.messaging_channel is None: - self._add_messaging_channel(channel) - self._on_after_media() - - def _on_after_media(self): - if self._number_of_incoming_media == self.expected_number_of_incoming_media: - self.incoming_media_ready_event.set() - - def _parse_incoming_streams(self, remote_sdp: str): - desc = aiortc.sdp.SessionDescription.parse(remote_sdp) - sending_medias = [m for m in desc.media if m.direction in ["sendonly", "sendrecv"]] - incoming_media_count = len(sending_medias) - if not self.should_add_data_channel: - channel_medias = [m for m in desc.media if m.kind == "application"] - incoming_media_count += len(channel_medias) - self.expected_number_of_incoming_media = incoming_media_count - - def has_incoming_video_track(self, camera_type: str) -> bool: - return camera_type in self.incoming_camera_tracks - - def has_incoming_audio_track(self) -> bool: - return len(self.incoming_audio_tracks) > 0 - - def has_messaging_channel(self) -> bool: - return self.messaging_channel is not None - - def get_incoming_video_track(self, camera_type: str, buffered: bool = False) -> aiortc.MediaStreamTrack: - assert camera_type in self.incoming_camera_tracks, "Video tracks are not enabled on this stream" - assert self.is_started, "Stream must be started" - - track = self.incoming_camera_tracks[camera_type] - relay_track = self.media_relay.subscribe(track, buffered=buffered) - return relay_track - - def get_incoming_audio_track(self, buffered: bool = False) -> aiortc.MediaStreamTrack: - assert len(self.incoming_audio_tracks) > 0, "Audio tracks are not enabled on this stream" - assert self.is_started, "Stream must be started" - - track = self.incoming_audio_tracks[0] - relay_track = self.media_relay.subscribe(track, buffered=buffered) - return relay_track - - def get_messaging_channel(self) -> aiortc.RTCDataChannel: - assert self.messaging_channel is not None, "Messaging channel is not enabled on this stream" - assert self.is_started, "Stream must be started" - - return self.messaging_channel - - def set_message_handler(self, message_handler: MessageHandler): - self.incoming_message_handlers.append(message_handler) - if self.messaging_channel is not None: - self.messaging_channel.on("message", message_handler) - - @property - def is_started(self) -> bool: - return self.peer_connection is not None and \ - self.peer_connection.localDescription is not None and \ - self.peer_connection.remoteDescription is not None and \ - self.peer_connection.connectionState != "closed" - - @property - def is_connected_and_ready(self) -> bool: - return self.peer_connection is not None and \ - self.peer_connection.connectionState == "connected" and \ - (self.expected_number_of_incoming_media == 0 or self.incoming_media_ready_event.is_set()) - - async def wait_for_connection(self): - assert self.is_started - await self.connection_attempted_event.wait() - if self.peer_connection.connectionState != 'connected': - raise ValueError("Connection failed.") - if self.expected_number_of_incoming_media: - await self.incoming_media_ready_event.wait() - if self.messaging_channel is not None: - await self.messaging_channel_ready_event.wait() - - async def wait_for_disconnection(self): - assert self.is_connected_and_ready, "Stream is not connected/ready yet (make sure wait_for_connection was awaited)" - await self.connection_stopped_event.wait() - - async def stop(self): - await self.peer_connection.close() - - @abc.abstractmethod - async def start(self) -> aiortc.RTCSessionDescription: - raise NotImplementedError - - -class WebRTCOfferStream(WebRTCBaseStream): - def __init__(self, session_provider: ConnectionProvider, *args, **kwargs): - super().__init__(*args, **kwargs) - self.session_provider = session_provider - - async def start(self) -> aiortc.RTCSessionDescription: - self._add_consumer_transceivers() - if self.should_add_data_channel: - self._add_messaging_channel() - self._add_producer_tracks() - - offer = await self.peer_connection.createOffer() - await self.peer_connection.setLocalDescription(offer) - actual_offer = self.peer_connection.localDescription - - streaming_offer = StreamingOffer( - sdp=actual_offer.sdp, - video=list(self.expected_incoming_camera_types), - ) - remote_answer = await self.session_provider(streaming_offer) - self._parse_incoming_streams(remote_sdp=remote_answer.sdp) - await self.peer_connection.setRemoteDescription(remote_answer) - actual_answer = self.peer_connection.remoteDescription - - return actual_answer - - -class WebRTCAnswerStream(WebRTCBaseStream): - def __init__(self, session: aiortc.RTCSessionDescription, *args, **kwargs): - super().__init__(*args, **kwargs) - self.session = session - - def _probe_video_codecs(self) -> List[str]: - codecs = [] - for track in self.outgoing_video_tracks: - if hasattr(track, "codec_preference") and track.codec_preference() is not None: - codecs.append(track.codec_preference()) - - return codecs - - def _override_incoming_video_codecs(self, remote_sdp: str, codecs: List[str]) -> str: - desc = aiortc.sdp.SessionDescription.parse(remote_sdp) - codec_mimes = [f"video/{c}" for c in codecs] - for m in desc.media: - if m.kind != "video": - continue - - preferred_codecs: List[aiortc.RTCRtpCodecParameters] = [c for c in m.rtp.codecs if c.mimeType in codec_mimes] - if len(preferred_codecs) == 0: - raise ValueError(f"None of {preferred_codecs} codecs is supported in remote SDP") - - m.rtp.codecs = preferred_codecs - m.fmt = [c.payloadType for c in preferred_codecs] - - return str(desc) - - async def start(self) -> aiortc.RTCSessionDescription: - assert self.peer_connection.remoteDescription is None, "Connection already established" - - self._add_consumer_transceivers() - - # since we sent already encoded frames in some cases (e.g. livestream video tracks are in H264), we need to force aiortc to actually use it - # we do that by overriding supported codec information on incoming sdp - preferred_codecs = self._probe_video_codecs() - if len(preferred_codecs) > 0: - self.session.sdp = self._override_incoming_video_codecs(self.session.sdp, preferred_codecs) - - self._parse_incoming_streams(remote_sdp=self.session.sdp) - await self.peer_connection.setRemoteDescription(self.session) - - self._add_producer_tracks() - - answer = await self.peer_connection.createAnswer() - await self.peer_connection.setLocalDescription(answer) - actual_answer = self.peer_connection.localDescription - - return actual_answer diff --git a/teleoprtc_repo/teleoprtc/tracks.py b/teleoprtc_repo/teleoprtc/tracks.py deleted file mode 100644 index 2e583666a97ef0..00000000000000 --- a/teleoprtc_repo/teleoprtc/tracks.py +++ /dev/null @@ -1,76 +0,0 @@ -import asyncio -import logging -import time -import fractions -from typing import Any, Optional, Tuple - -import aiortc -from aiortc.mediastreams import VIDEO_CLOCK_RATE, VIDEO_TIME_BASE - - -def video_track_id(camera_type: str, track_id: str) -> str: - return f"{camera_type}:{track_id}" - - -def parse_video_track_id(track_id: str) -> Tuple[str, str]: - parts = track_id.split(":") - if len(parts) != 2: - raise ValueError(f"Invalid video track id: {track_id}") - - camera_type, track_id = parts - return camera_type, track_id - - -class TiciVideoStreamTrack(aiortc.MediaStreamTrack): - """ - Abstract video track which associates video track with camera_type - """ - kind = "video" - - def __init__(self, camera_type: str, dt: float, time_base: fractions.Fraction = VIDEO_TIME_BASE, clock_rate: int = VIDEO_CLOCK_RATE): - assert camera_type in ["driver", "wideRoad", "road"] - super().__init__() - # override track id to include camera type - client needs that for identification - self._id: str = video_track_id(camera_type, self._id) - self._dt: float = dt - self._time_base: fractions.Fraction = time_base - self._clock_rate: int = clock_rate - self._start: Optional[float] = None - self._logger = logging.getLogger("WebRTCStream") - - def log_debug(self, msg: Any, *args): - self._logger.debug(f"{type(self)}() {msg}", *args) - - async def next_pts(self, current_pts) -> float: - pts: float = current_pts + self._dt * self._clock_rate - - data_time = pts * self._time_base - if self._start is None: - self._start = time.time() - data_time - else: - wait_time = self._start + data_time - time.time() - await asyncio.sleep(wait_time) - - return pts - - def codec_preference(self) -> Optional[str]: - return None - - -class TiciTrackWrapper(aiortc.MediaStreamTrack): - """ - Associates video track with camera_type - """ - def __init__(self, camera_type: str, track: aiortc.MediaStreamTrack): - assert track.kind == "video" - assert not isinstance(track, TiciVideoStreamTrack) - super().__init__() - self._id = video_track_id(camera_type, track.id) - self._track = track - - @property - def kind(self) -> str: - return self._track.kind - - async def recv(self): - return await self._track.recv() diff --git a/teleoprtc_repo/tests/test_info.py b/teleoprtc_repo/tests/test_info.py deleted file mode 100755 index 893d8a426b4e10..00000000000000 --- a/teleoprtc_repo/tests/test_info.py +++ /dev/null @@ -1,152 +0,0 @@ -#!/usr/bin/env python3 - -import unittest - -from teleoprtc.info import parse_info_from_offer - - -def lf2crlf(x): - return x.replace("\n", "\r\n") - - -class TestStream(unittest.TestCase): - def test_double_video_tracks(self): - sdp = """v=0 -o=- 3910210993 3910210993 IN IP4 0.0.0.0 -s=- -t=0 0 -a=group:BUNDLE 0 1 -a=msid-semantic:WMS * -m=video 9 UDP/TLS/RTP/SAVPF 97 98 99 100 101 102 -c=IN IP4 0.0.0.0 -a=recvonly -a=extmap:1 urn:ietf:params:rtp-hdrext:sdes:mid -a=extmap:2 http://www.webrtc.org/experiments/rtp-hdrext/abs-send-time -a=mid:0 -a=msid:e123f852-010c-4b7b-8761-71b72fbfd013 2b75cb0e-6b34-48d6-8bf9-21b809f2e08e -a=rtcp:9 IN IP4 0.0.0.0 -a=rtcp-mux -a=ssrc-group:FID 1048118556 4149054509 -a=ssrc:1048118556 cname:61992fce-bab5-42a0-ab8c-7112adfb1857 -a=ssrc:4149054509 cname:61992fce-bab5-42a0-ab8c-7112adfb1857 -a=rtpmap:97 VP8/90000 -a=rtcp-fb:97 nack -a=rtcp-fb:97 nack pli -a=rtcp-fb:97 goog-remb -a=rtpmap:98 rtx/90000 -a=fmtp:98 apt=97 -a=rtpmap:99 H264/90000 -a=rtcp-fb:99 nack -a=rtcp-fb:99 nack pli -a=rtcp-fb:99 goog-remb -a=fmtp:99 level-asymmetry-allowed=1;packetization-mode=1;profile-level-id=42001f -a=rtpmap:100 rtx/90000 -a=fmtp:100 apt=99 -a=rtpmap:101 H264/90000 -a=rtcp-fb:101 nack -a=rtcp-fb:101 nack pli -a=rtcp-fb:101 goog-remb -a=fmtp:101 level-asymmetry-allowed=1;packetization-mode=1;profile-level-id=42e01f -a=rtpmap:102 rtx/90000 -a=fmtp:102 apt=101 -a=ice-ufrag:jxQW -a=ice-pwd:KpJ0tfaY2RxnIYpTHqPSSv -a=fingerprint:sha-256 70:3A:2D:37:3C:52:96:0E:10:F6:4D:7A:EB:18:38:1B:FD:CA:A5:90:D7:6C:DA:A9:39:76:C9:2F:FB:FF:56:0C -a=setup:actpass -m=video 9 UDP/TLS/RTP/SAVPF 97 98 99 100 101 102 -c=IN IP4 0.0.0.0 -a=recvonly -a=extmap:1 urn:ietf:params:rtp-hdrext:sdes:mid -a=extmap:2 http://www.webrtc.org/experiments/rtp-hdrext/abs-send-time -a=mid:1 -a=msid:e123f852-010c-4b7b-8761-71b72fbfd013 311db759-8d51-479c-a5b4-5c8d055c43ec -a=rtcp:9 IN IP4 0.0.0.0 -a=rtcp-mux -a=ssrc-group:FID 4096183284 2713379498 -a=ssrc:4096183284 cname:61992fce-bab5-42a0-ab8c-7112adfb1857 -a=ssrc:2713379498 cname:61992fce-bab5-42a0-ab8c-7112adfb1857 -a=rtpmap:97 VP8/90000 -a=rtcp-fb:97 nack -a=rtcp-fb:97 nack pli -a=rtcp-fb:97 goog-remb -a=rtpmap:98 rtx/90000 -a=fmtp:98 apt=97 -a=rtpmap:99 H264/90000 -a=rtcp-fb:99 nack -a=rtcp-fb:99 nack pli -a=rtcp-fb:99 goog-remb -a=fmtp:99 level-asymmetry-allowed=1;packetization-mode=1;profile-level-id=42001f -a=rtpmap:100 rtx/90000 -a=fmtp:100 apt=99 -a=rtpmap:101 H264/90000 -a=rtcp-fb:101 nack -a=rtcp-fb:101 nack pli -a=rtcp-fb:101 goog-remb -a=fmtp:101 level-asymmetry-allowed=1;packetization-mode=1;profile-level-id=42e01f -a=rtpmap:102 rtx/90000 -a=fmtp:102 apt=101 -a=ice-ufrag:1234 -a=ice-pwd:1234 -a=fingerprint:sha-256 70:3A:2D:37:3C:52:96:0E:10:F6:4D:7A:EB:18:38:1B:FD:CA:A5:90:D7:6C:DA:A9:39:76:C9:2F:FB:FF:56:0C -a=setup:actpass""" - info = parse_info_from_offer(lf2crlf(sdp)) - self.assertEqual(info.n_expected_camera_tracks, 2) - self.assertFalse(info.expected_audio_track) - self.assertFalse(info.incoming_audio_track) - self.assertFalse(info.incoming_datachannel) - - def test_recvonly_audio(self): - sdp = """v=0 -o=- 3910210904 3910210904 IN IP4 0.0.0.0 -s=- -t=0 0 -a=group:BUNDLE 0 -a=msid-semantic:WMS * -m=audio 9 UDP/TLS/RTP/SAVPF 96 0 8 -c=IN IP4 0.0.0.0 -a=recvonly -a=extmap:1 urn:ietf:params:rtp-hdrext:sdes:mid -a=extmap:2 urn:ietf:params:rtp-hdrext:ssrc-audio-level -a=mid:0 -a=msid:eb1d3f1a-569a-465f-b419-319477bfded6 e44eecb2-1a04-4547-97d8-481389f50d5b -a=rtcp:9 IN IP4 0.0.0.0 -a=rtcp-mux -a=ssrc:1233332626 cname:ca4dede8-4994-4a6d-9ae3-923b28177ca5 -a=rtpmap:96 opus/48000/2 -a=rtpmap:0 PCMU/8000 -a=rtpmap:8 PCMA/8000 -a=ice-ufrag:1234 -a=ice-pwd:1234 -a=fingerprint:sha-256 40:4B:14:CF:70:B8:67:E1:B1:FF:7E:F9:22:6E:60:7D:73:B5:1E:38:4B:10:20:9C:CD:1C:47:02:52:ED:45:25 -a=setup:actpass""" - info = parse_info_from_offer(lf2crlf(sdp)) - self.assertEqual(info.n_expected_camera_tracks, 0) - self.assertTrue(info.expected_audio_track) - self.assertFalse(info.incoming_audio_track) - self.assertFalse(info.incoming_datachannel) - - def test_incoming_datachanel(self): - sdp = """v=0 -o=- 3910211092 3910211092 IN IP4 0.0.0.0 -s=- -t=0 0 -a=group:BUNDLE 0 -a=msid-semantic:WMS * -m=application 9 DTLS/SCTP 5000 -c=IN IP4 0.0.0.0 -a=mid:0 -a=sctpmap:5000 webrtc-datachannel 65535 -a=max-message-size:65536 -a=ice-ufrag:1234 -a=ice-pwd:1234 -a=fingerprint:sha-256 9B:C0:F3:35:8E:05:A1:15:DB:F8:39:0E:B0:E0:0C:EB:82:E4:B9:26:18:A6:43:2D:B9:9A:23:96:0A:59:B6:58 -a=setup:actpass""" - info = parse_info_from_offer(lf2crlf(sdp)) - self.assertEqual(info.n_expected_camera_tracks, 0) - self.assertFalse(info.expected_audio_track) - self.assertFalse(info.incoming_audio_track) - self.assertTrue(info.incoming_datachannel) - - -if __name__ == '__main__': - unittest.main() diff --git a/teleoprtc_repo/tests/test_integration.py b/teleoprtc_repo/tests/test_integration.py deleted file mode 100755 index 5377bcece9ef4b..00000000000000 --- a/teleoprtc_repo/tests/test_integration.py +++ /dev/null @@ -1,137 +0,0 @@ -#!/usr/bin/env python3 - -import asyncio -import sys -import unittest - -from aiortc.mediastreams import AudioStreamTrack, VideoStreamTrack -from parameterized import parameterized - -from teleoprtc.builder import WebRTCOfferBuilder, WebRTCAnswerBuilder -from teleoprtc.stream import StreamingOffer -from teleoprtc.info import parse_info_from_offer - - -if sys.version_info >= (3, 11): - timeout = asyncio.timeout -else: - class Timeout: - def __init__(self, delay: float): - self._delay = delay - self._task = None - self._timeout_handle = None - - def _timeout(self): - if self._task: - self._task.cancel() - - async def __aenter__(self): - self._task = asyncio.current_task() - loop = asyncio.events.get_running_loop() - self._timeout_handle = loop.call_later(self._delay, self._timeout) - return self - - async def __aexit__(self, exc_type, exc, tb): - if self._timeout_handle: - self._timeout_handle.cancel() - if exc_type is asyncio.CancelledError and self._task and self._task.cancelled(): - raise asyncio.TimeoutError from exc - return False - - def timeout(delay): - return Timeout(delay) - - -class SimpleAnswerProvider: - def __init__(self): - self.stream = None - - async def __call__(self, offer: StreamingOffer): - assert self.stream is None, "This may only be called once" - - info = parse_info_from_offer(offer.sdp) - - builder = WebRTCAnswerBuilder(offer.sdp) - for cam in offer.video: - builder.add_video_stream(cam, VideoStreamTrack()) - if info.expected_audio_track: - builder.add_audio_stream(AudioStreamTrack()) - if info.incoming_audio_track: - builder.offer_to_receive_audio_stream() - - self.stream = builder.stream() - answer = await self.stream.start() - - return answer - - -class TestStreamIntegration(unittest.IsolatedAsyncioTestCase): - @parameterized.expand([ - # name, recv_cameras, recv_audio, messaging - ("multi_camera", ["driver", "wideRoad", "road"], False, False), - ("camera_and_audio", ["driver"], True, False), - ("camera_and__messaging", ["driver"], False, True), - ("camera_and_audio_and_messaging", ["driver", "wideRoad", "road"], True, True), - ]) - async def test_multi_camera(self, name, cameras, recv_audio, add_messaging): - simple_answerer = SimpleAnswerProvider() - offer_builder = WebRTCOfferBuilder(simple_answerer) - for cam in cameras: - offer_builder.offer_to_receive_video_stream(cam) - if recv_audio: - offer_builder.offer_to_receive_audio_stream() - if add_messaging: - offer_builder.add_messaging() - stream = offer_builder.stream() - - _ = await stream.start() - self.assertTrue(stream.is_started) - - try: - async with timeout(2): - await stream.wait_for_connection() - except TimeoutError: - self.fail("Timed out waiting for connection") - self.assertTrue(stream.is_connected_and_ready) - - self.assertEqual(stream.has_messaging_channel(), add_messaging) - if stream.has_messaging_channel(): - channel = stream.get_messaging_channel() - self.assertIsNotNone(channel) - self.assertEqual(channel.readyState, "open") - - self.assertEqual(stream.has_incoming_audio_track(), recv_audio) - if stream.has_incoming_audio_track(): - track = stream.get_incoming_audio_track(False) - self.assertIsNotNone(track) - self.assertEqual(track.readyState, "live") - self.assertEqual(track.kind, "audio") - # test audio recv - try: - async with timeout(1): - await track.recv() - except TimeoutError: - self.fail("Timed out waiting for audio frame") - - for cam in cameras: - self.assertTrue(stream.has_incoming_video_track(cam)) - if stream.has_incoming_video_track(cam): - track = stream.get_incoming_video_track(cam, False) - self.assertIsNotNone(track) - self.assertEqual(track.readyState, "live") - self.assertEqual(track.kind, "video") - # test video recv - try: - async with timeout(1): - await stream.get_incoming_video_track(cam, False).recv() - except TimeoutError: - self.fail("Timed out waiting for video frame") - - await stream.stop() - await simple_answerer.stream.stop() - self.assertFalse(stream.is_started) - self.assertFalse(stream.is_connected_and_ready) - - -if __name__ == '__main__': - unittest.main() diff --git a/teleoprtc_repo/tests/test_stream.py b/teleoprtc_repo/tests/test_stream.py deleted file mode 100755 index 7882eed9c92f08..00000000000000 --- a/teleoprtc_repo/tests/test_stream.py +++ /dev/null @@ -1,155 +0,0 @@ -#!/usr/bin/env python3 - -import unittest - -import aiortc -from aiortc.mediastreams import AudioStreamTrack - -from teleoprtc.builder import WebRTCOfferBuilder, WebRTCAnswerBuilder -from teleoprtc.info import parse_info_from_offer -from teleoprtc.tracks import TiciVideoStreamTrack - - -class OfferCapture: - def __init__(self): - self.offer = None - - async def __call__(self, offer): - self.offer = offer - raise Exception("Offer captured") - - -class DummyH264VideoStreamTrack(TiciVideoStreamTrack): - kind = "video" - - async def recv(self): - raise NotImplementedError() - - def codec_preference(self): - return "H264" - - -class TestOfferStream(unittest.IsolatedAsyncioTestCase): - async def test_offer_stream_sdp_recvonly_audio(self): - capture = OfferCapture() - builder = WebRTCOfferBuilder(capture) - builder.offer_to_receive_audio_stream() - stream = builder.stream() - - try: - _ = await stream.start() - except Exception: - pass - - info = parse_info_from_offer(capture.offer.sdp) - self.assertTrue(info.expected_audio_track) - self.assertFalse(info.incoming_audio_track) - - async def test_offer_stream_sdp_sendonly_audio(self): - capture = OfferCapture() - builder = WebRTCOfferBuilder(capture) - builder.add_audio_stream(AudioStreamTrack()) - stream = builder.stream() - - try: - _ = await stream.start() - except Exception: - pass - - info = parse_info_from_offer(capture.offer.sdp) - self.assertFalse(info.expected_audio_track) - self.assertTrue(info.incoming_audio_track) - - async def test_offer_stream_sdp_channel(self): - capture = OfferCapture() - builder = WebRTCOfferBuilder(capture) - builder.add_messaging() - stream = builder.stream() - - try: - _ = await stream.start() - except Exception: - pass - - info = parse_info_from_offer(capture.offer.sdp) - self.assertTrue(info.incoming_datachannel) - - -class TestAnswerStream(unittest.IsolatedAsyncioTestCase): - async def test_codec_preference(self): - offer_sdp = """v=0 -o=- 3910274679 3910274679 IN IP4 0.0.0.0 -s=- -t=0 0 -a=group:BUNDLE 0 -a=msid-semantic:WMS * -m=video 1337 UDP/TLS/RTP/SAVPF 97 98 99 100 101 102 -c=IN IP4 0.0.0.0 -a=recvonly -a=mid:0 -a=msid:34803878-98f8-4245-b45c-f773e5f926df 881dbc20-356a-499c-b4e8-695303bb901d -a=rtcp:9 IN IP4 0.0.0.0 -a=rtcp-mux -a=ssrc-group:FID 1303546896 3784011659 -a=ssrc:1303546896 cname:a59185ac-c115-48d3-b39b-db7d615a6966 -a=ssrc:3784011659 cname:a59185ac-c115-48d3-b39b-db7d615a6966 -a=rtpmap:97 VP8/90000 -a=rtcp-fb:97 nack -a=rtcp-fb:97 nack pli -a=rtcp-fb:97 goog-remb -a=rtpmap:99 H264/90000 -a=rtcp-fb:99 nack -a=rtcp-fb:99 nack pli -a=rtcp-fb:99 goog-remb -a=fmtp:99 level-asymmetry-allowed=1;packetization-mode=1;profile-level-id=42001f -a=ice-ufrag:1234 -a=ice-pwd:1234 -a=fingerprint:sha-256 15:F3:F0:23:67:44:EE:2C:AA:8C:D9:50:95:26:42:7C:67:EA:1F:D2:92:C5:97:01:7B:2E:57:C9:A3:13:00:4A -a=setup:actpass""" - - builder = WebRTCAnswerBuilder(offer_sdp) - builder.add_video_stream("road", DummyH264VideoStreamTrack("road", 0.05)) - stream = builder.stream() - answer = await stream.start() - - sdp_desc = aiortc.sdp.SessionDescription.parse(answer.sdp) - video_desc = [m for m in sdp_desc.media if m.kind == "video"][0] - codecs = video_desc.rtp.codecs - self.assertEqual(codecs[0].mimeType, "video/H264") - - async def test_fail_if_preferred_codec_not_in_offer(self): - offer_sdp = """v=0 -o=- 3910274679 3910274679 IN IP4 0.0.0.0 -s=- -t=0 0 -a=group:BUNDLE 0 -a=msid-semantic:WMS * -m=video 1337 UDP/TLS/RTP/SAVPF 97 98 99 100 101 102 -c=IN IP4 0.0.0.0 -a=recvonly -a=mid:0 -a=msid:34803878-98f8-4245-b45c-f773e5f926df 881dbc20-356a-499c-b4e8-695303bb901d -a=rtcp:9 IN IP4 0.0.0.0 -a=rtcp-mux -a=ssrc-group:FID 1303546896 3784011659 -a=ssrc:1303546896 cname:a59185ac-c115-48d3-b39b-db7d615a6966 -a=ssrc:3784011659 cname:a59185ac-c115-48d3-b39b-db7d615a6966 -a=rtpmap:97 VP8/90000 -a=rtcp-fb:97 nack -a=rtcp-fb:97 nack pli -a=rtcp-fb:97 goog-remb -a=ice-ufrag:1234 -a=ice-pwd:1234 -a=fingerprint:sha-256 15:F3:F0:23:67:44:EE:2C:AA:8C:D9:50:95:26:42:7C:67:EA:1F:D2:92:C5:97:01:7B:2E:57:C9:A3:13:00:4A -a=setup:actpass""" - - builder = WebRTCAnswerBuilder(offer_sdp) - builder.add_video_stream("road", DummyH264VideoStreamTrack("road", 0.05)) - stream = builder.stream() - - with self.assertRaises(ValueError): - _ = await stream.start() - - -if __name__=="__main__": - unittest.main() \ No newline at end of file diff --git a/teleoprtc_repo/tests/test_track.py b/teleoprtc_repo/tests/test_track.py deleted file mode 100755 index 3c8fcbb274fff3..00000000000000 --- a/teleoprtc_repo/tests/test_track.py +++ /dev/null @@ -1,38 +0,0 @@ -#!/usr/bin/env python3 - -import unittest - -import aiortc - -from teleoprtc.tracks import video_track_id, parse_video_track_id, TiciVideoStreamTrack, TiciTrackWrapper - - -class TestTracks(unittest.TestCase): - def test_track_id(self): - expected_camera_type, expected_track_id = "driver", "test" - track_id = video_track_id(expected_camera_type, expected_track_id) - camera_type, track_id = parse_video_track_id(track_id) - self.assertEqual(expected_camera_type, camera_type) - self.assertEqual(expected_track_id, track_id) - - def test_track_id_invalid(self): - with self.assertRaises(ValueError): - parse_video_track_id("test") - - def test_tici_track_id(self): - class VideoStream(TiciVideoStreamTrack): - async def recv(self): - raise NotImplementedError() - - track = VideoStream("driver", 0.1) - camera_type, _ = parse_video_track_id(track.id) - self.assertEqual("driver", camera_type) - - def test_tici_wrapper_id(self): - track = TiciTrackWrapper("driver", aiortc.mediastreams.VideoStreamTrack()) - camera_type, _ = parse_video_track_id(track.id) - self.assertEqual("driver", camera_type) - - -if __name__ == '__main__': - unittest.main() diff --git a/third_party/acados/Darwin/t_renderer b/third_party/acados/Darwin/t_renderer deleted file mode 100644 index fa8e9933a896ba..00000000000000 Binary files a/third_party/acados/Darwin/t_renderer and /dev/null differ diff --git a/third_party/acados/aarch64 b/third_party/acados/aarch64 deleted file mode 120000 index 062c65e8d99c64..00000000000000 --- a/third_party/acados/aarch64 +++ /dev/null @@ -1 +0,0 @@ -larch64/ \ No newline at end of file diff --git a/third_party/acados/acados_template/c_templates_tera/Makefile.in b/third_party/acados/acados_template/c_templates_tera/Makefile.in deleted file mode 100644 index fbefc08e380d9c..00000000000000 --- a/third_party/acados/acados_template/c_templates_tera/Makefile.in +++ /dev/null @@ -1,468 +0,0 @@ -# -# Copyright (c) The acados authors. -# -# This file is part of acados. -# -# The 2-Clause BSD License -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions are met: -# -# 1. Redistributions of source code must retain the above copyright notice, -# this list of conditions and the following disclaimer. -# -# 2. Redistributions in binary form must reproduce the above copyright notice, -# this list of conditions and the following disclaimer in the documentation -# and/or other materials provided with the distribution. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE -# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE -# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR -# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF -# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS -# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN -# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) -# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE.; -# - -{%- if solver_options.qp_solver %} - {%- set qp_solver = solver_options.qp_solver %} -{%- else %} - {%- set qp_solver = "FULL_CONDENSING_HPIPM" %} -{%- endif %} - -{%- if solver_options.hessian_approx %} - {%- set hessian_approx = solver_options.hessian_approx %} -{%- elif solver_options.sens_hess %} - {%- set hessian_approx = "EXACT" %} -{%- else %} - {%- set hessian_approx = "GAUSS_NEWTON" %} -{%- endif %} - -{%- if constraints.constr_type %} - {%- set constr_type = constraints.constr_type %} -{%- else %} - {%- set constr_type = "NONE" %} -{%- endif %} - -{%- if constraints.constr_type_e %} - {%- set constr_type_e = constraints.constr_type_e %} -{%- else %} - {%- set constr_type_e = "NONE" %} -{%- endif %} - -{%- if cost.cost_type %} - {%- set cost_type = cost.cost_type %} -{%- else %} - {%- set cost_type = "NONE" %} -{%- endif %} - -{%- if cost.cost_type_e %} - {%- set cost_type_e = cost.cost_type_e %} -{%- else %} - {%- set cost_type_e = "NONE" %} -{%- endif %} - -{%- if cost.cost_type_0 %} - {%- set cost_type_0 = cost.cost_type_0 %} -{%- else %} - {%- set cost_type_0 = "NONE" %} -{%- endif %} - -{%- if dims.nh %} - {%- set dims_nh = dims.nh %} -{%- else %} - {%- set dims_nh = 0 %} -{%- endif %} - -{%- if dims.nphi %} - {%- set dims_nphi = dims.nphi %} -{%- else %} - {%- set dims_nphi = 0 %} -{%- endif %} - -{%- if dims.nh_e %} - {%- set dims_nh_e = dims.nh_e %} -{%- else %} - {%- set dims_nh_e = 0 %} -{%- endif %} - -{%- if dims.nphi_e %} - {%- set dims_nphi_e = dims.nphi_e %} -{%- else %} - {%- set dims_nphi_e = 0 %} -{%- endif %} -{%- if solver_options.model_external_shared_lib_dir %} - {%- set model_external_shared_lib_dir = solver_options.model_external_shared_lib_dir %} -{%- endif %} -{%- if solver_options.model_external_shared_lib_name %} - {%- set model_external_shared_lib_name = solver_options.model_external_shared_lib_name %} -{%- endif %} - -{# control operator #} -{%- if os and os == "pc" %} - {%- set control = "&" %} -{%- else %} - {%- set control = ";" %} -{%- endif %} - -{# acados linking libraries and flags #} -{%- if acados_link_libs and os and os == "pc" %} - {%- set link_libs = acados_link_libs.qpoases ~ " " ~ acados_link_libs.hpmpc ~ " " ~ acados_link_libs.osqp -%} - {%- set openmp_flag = acados_link_libs.openmp %} -{%- else %} - {%- set openmp_flag = " " %} - {%- if qp_solver == "FULL_CONDENSING_QPOASES" %} - {%- set link_libs = "-lqpOASES_e" %} - {%- elif qp_solver == "FULL_CONDENSING_DAQP" %} - {%- set link_libs = "-ldaqp" %} - {%- else %} - {%- set link_libs = "" %} - {%- endif %} -{%- endif %} - -# define sources and use make's implicit rules to generate object files (*.o) - -# model -MODEL_SRC= - {%- if model.dyn_ext_fun_type == "casadi" %} -{%- if solver_options.integrator_type == "ERK" %} -MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_expl_ode_fun.c -MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_expl_vde_forw.c -MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_expl_vde_adj.c - {%- if hessian_approx == "EXACT" %} -MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_expl_ode_hess.c - {%- endif %} -{%- elif solver_options.integrator_type == "IRK" %} -MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_fun.c -MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_fun_jac_x_xdot_z.c -MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_jac_x_xdot_u_z.c - {%- if hessian_approx == "EXACT" %} -MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_hess.c - {%- endif %} -{%- elif solver_options.integrator_type == "LIFTED_IRK" %} -MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_fun.c -MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_fun_jac_x_xdot_u.c - {%- if hessian_approx == "EXACT" %} -MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_hess.c - {%- endif %} -{%- elif solver_options.integrator_type == "GNSF" %} - {% if model.gnsf.purely_linear != 1 %} -MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_gnsf_phi_fun.c -MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_gnsf_phi_fun_jac_y.c -MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_gnsf_phi_jac_y_uhat.c - {% if model.gnsf.nontrivial_f_LO == 1 %} -MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz.c - {%- endif %} - {%- endif %} -MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_gnsf_get_matrices_fun.c -{%- elif solver_options.integrator_type == "DISCRETE" %} -MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun.c -MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun_jac.c - {%- if hessian_approx == "EXACT" %} -MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun_jac_hess.c - {%- endif %} -{%- endif %} - {%- else %} -MODEL_SRC+= {{ model.name }}_model/{{ model.dyn_generic_source }} - {%- endif %} -MODEL_OBJ := $(MODEL_SRC:.c=.o) - -# optimal control problem - mostly CasADi exports -OCP_SRC= -{%- if constr_type == "BGP" and dims_nphi > 0 %} -OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_phi_constraint.c -{%- endif %} -{%- if constr_type_e == "BGP" and dims_nphi_e > 0 %} -OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_phi_e_constraint.c -{%- endif %} - -{%- if constr_type == "BGH" and dims_nh > 0 %} -OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_constr_h_fun_jac_uxt_zt.c -OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_constr_h_fun.c - {%- if hessian_approx == "EXACT" %} -OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_constr_h_fun_jac_uxt_zt_hess.c - {%- endif %} -{%- endif %} - -{%- if constr_type_e == "BGH" and dims_nh_e > 0 %} -OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun_jac_uxt_zt.c -OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun.c - {%- if hessian_approx == "EXACT" %} -OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess.c - {%- endif %} -{%- endif %} - -{%- if cost_type_0 == "NONLINEAR_LS" %} -OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_0_fun.c -OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_0_fun_jac_ut_xt.c -OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_0_hess.c -{%- elif cost_type_0 == "CONVEX_OVER_NONLINEAR" %} -OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_conl_cost_0_fun.c -OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_conl_cost_0_fun_jac_hess.c -{%- elif cost_type_0 == "EXTERNAL" %} - {%- if cost.cost_ext_fun_type_0 == "casadi" %} -OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun.c -OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun_jac.c -OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun_jac_hess.c - {%- else %} -OCP_SRC+= {{ model.name }}_cost/{{ cost.cost_source_ext_cost_0 }} - {%- endif %} -{%- endif %} -{%- if cost_type == "NONLINEAR_LS" %} -OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_fun.c -OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_fun_jac_ut_xt.c -OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_hess.c -{%- elif cost_type == "CONVEX_OVER_NONLINEAR" %} -OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_conl_cost_fun.c -OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_conl_cost_fun_jac_hess.c -{%- elif cost_type == "EXTERNAL" %} - {%- if cost.cost_ext_fun_type == "casadi" %} -OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun.c -OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun_jac.c -OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun_jac_hess.c - {%- elif cost.cost_source_ext_cost != cost.cost_source_ext_cost_0 %} -OCP_SRC+= {{ model.name }}_cost/{{ cost.cost_source_ext_cost }} - {%- endif %} -{%- endif %} -{%- if cost_type_e == "NONLINEAR_LS" %} -OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_e_fun.c -OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_e_fun_jac_ut_xt.c -OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_e_hess.c -{%- elif cost_type_e == "CONVEX_OVER_NONLINEAR" %} -OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_conl_cost_e_fun.c -OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_conl_cost_e_fun_jac_hess.c -{%- elif cost_type_e == "EXTERNAL" %} - {%- if cost.cost_ext_fun_type_e == "casadi" %} -OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun.c -OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun_jac.c -OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun_jac_hess.c - {%- elif cost.cost_source_ext_cost_e != cost.cost_source_ext_cost_0 %} -OCP_SRC+= {{ model.name }}_cost/{{ cost.cost_source_ext_cost_e }} - {%- endif %} -{%- endif %} -{%- if solver_options.custom_update_filename %} - {%- if solver_options.custom_update_filename != "" %} -OCP_SRC+= {{ solver_options.custom_update_filename }} - {%- endif %} -{%- endif %} - -OCP_SRC+= acados_solver_{{ model.name }}.c -OCP_OBJ := $(OCP_SRC:.c=.o) - -# for sim solver -SIM_SRC= acados_sim_solver_{{ model.name }}.c -SIM_OBJ := $(SIM_SRC:.c=.o) - -# for target example -EX_SRC= main_{{ model.name }}.c -EX_OBJ := $(EX_SRC:.c=.o) -EX_EXE := $(EX_SRC:.c=) - -# for target example_sim -EX_SIM_SRC= main_sim_{{ model.name }}.c -EX_SIM_OBJ := $(EX_SIM_SRC:.c=.o) -EX_SIM_EXE := $(EX_SIM_SRC:.c=) - -# combine model, sim and ocp object files -OBJ= -OBJ+= $(MODEL_OBJ) -{%- if solver_options.integrator_type != "DISCRETE" %} -OBJ+= $(SIM_OBJ) -{%- endif %} -OBJ+= $(OCP_OBJ) - -EXTERNAL_DIR= -EXTERNAL_LIB= - -{%- if model_external_shared_lib_dir and model_external_shared_lib_name %} -EXTERNAL_DIR+= {{ model_external_shared_lib_dir }} -EXTERNAL_LIB+= {{ model_external_shared_lib_name }} -{%- endif %} - -INCLUDE_PATH = {{ acados_include_path }} -LIB_PATH = {{ acados_lib_path }} - -# preprocessor flags for make's implicit rules -{%- if qp_solver == "FULL_CONDENSING_QPOASES" %} -CPPFLAGS += -DACADOS_WITH_QPOASES -{%- endif %} -{%- if qp_solver == "FULL_CONDENSING_DAQP" %} -CPPFLAGS += -DACADOS_WITH_DAQP -{%- endif %} -{%- if qp_solver == "PARTIAL_CONDENSING_OSQP" %} -CPPFLAGS += -DACADOS_WITH_OSQP -{%- endif %} -{%- if qp_solver == "PARTIAL_CONDENSING_QPDUNES" %} -CPPFLAGS += -DACADOS_WITH_QPDUNES -{%- endif %} -CPPFLAGS+= -I$(INCLUDE_PATH) -CPPFLAGS+= -I$(INCLUDE_PATH)/acados -CPPFLAGS+= -I$(INCLUDE_PATH)/blasfeo/include -CPPFLAGS+= -I$(INCLUDE_PATH)/hpipm/include - {%- if qp_solver == "FULL_CONDENSING_QPOASES" %} -CPPFLAGS+= -I $(INCLUDE_PATH)/qpOASES_e/ - {%- endif %} - {%- if qp_solver == "FULL_CONDENSING_DAQP" %} -CPPFLAGS+= -I $(INCLUDE_PATH)/daqp/include - {%- endif %} - -{# c-compiler flags #} -# define the c-compiler flags for make's implicit rules -CFLAGS = -fPIC -std=c99 {{ openmp_flag }} {{ solver_options.ext_fun_compile_flags }}#-fno-diagnostics-show-line-numbers -g -# # Debugging -# CFLAGS += -g3 - -# linker flags -LDFLAGS+= -L$(LIB_PATH) - -# link to libraries -LDLIBS+= -lacados -LDLIBS+= -lhpipm -LDLIBS+= -lblasfeo -LDLIBS+= -lm -LDLIBS+= {{ link_libs }} - -# libraries -LIBACADOS_SOLVER=libacados_solver_{{ model.name }}{{ shared_lib_ext }} -LIBACADOS_OCP_SOLVER=libacados_ocp_solver_{{ model.name }}{{ shared_lib_ext }} -LIBACADOS_SIM_SOLVER=lib$(SIM_SRC:.c={{ shared_lib_ext }}) - -# virtual targets -.PHONY : all clean - -#all: clean example_sim example shared_lib -{% if solver_options.integrator_type == "DISCRETE" -%} -all: clean example -shared_lib: ocp_shared_lib -{%- else %} -all: clean example_sim example -shared_lib: bundled_shared_lib ocp_shared_lib sim_shared_lib -{%- endif %} - -# some linker targets -example: $(EX_OBJ) $(OBJ) - $(CC) $^ -o $(EX_EXE) $(LDFLAGS) $(LDLIBS) - -example_sim: $(EX_SIM_OBJ) $(MODEL_OBJ) $(SIM_OBJ) - $(CC) $^ -o $(EX_SIM_EXE) $(LDFLAGS) $(LDLIBS) - -{% if solver_options.integrator_type != "DISCRETE" -%} -bundled_shared_lib: $(OBJ) - $(CC) -shared $^ -o $(LIBACADOS_SOLVER) $(LDFLAGS) $(LDLIBS) -{%- endif %} - -ocp_shared_lib: $(OCP_OBJ) $(MODEL_OBJ) - $(CC) -shared $^ -o $(LIBACADOS_OCP_SOLVER) $(LDFLAGS) $(LDLIBS) \ - -L$(EXTERNAL_DIR) -l$(EXTERNAL_LIB) - -sim_shared_lib: $(SIM_OBJ) $(MODEL_OBJ) - $(CC) -shared $^ -o $(LIBACADOS_SIM_SOLVER) $(LDFLAGS) $(LDLIBS) - - -# Cython targets -ocp_cython_c: ocp_shared_lib - cython \ - -o acados_ocp_solver_pyx.c \ - -I $(INCLUDE_PATH)/../interfaces/acados_template/acados_template \ - $(INCLUDE_PATH)/../interfaces/acados_template/acados_template/acados_ocp_solver_pyx.pyx \ - -I {{ code_export_directory }} \ - -ocp_cython_o: ocp_cython_c - $(CC) $(ACADOS_FLAGS) -c -O2 \ - -fPIC \ - -o acados_ocp_solver_pyx.o \ - -I $(INCLUDE_PATH)/blasfeo/include/ \ - -I $(INCLUDE_PATH)/hpipm/include/ \ - -I $(INCLUDE_PATH) \ - {%- for path in cython_include_dirs %} - -I {{ path }} \ - {%- endfor %} - acados_ocp_solver_pyx.c \ - -ocp_cython: ocp_cython_o - $(CC) $(ACADOS_FLAGS) -shared \ - -o acados_ocp_solver_pyx{{ shared_lib_ext }} \ - -Wl,-rpath=$(LIB_PATH) \ - acados_ocp_solver_pyx.o \ - $(abspath .)/libacados_ocp_solver_{{ model.name }}{{ shared_lib_ext }} \ - $(LDFLAGS) $(LDLIBS) - -# Sim Cython targets -sim_cython_c: sim_shared_lib - cython \ - -o acados_sim_solver_pyx.c \ - -I $(INCLUDE_PATH)/../interfaces/acados_template/acados_template \ - $(INCLUDE_PATH)/../interfaces/acados_template/acados_template/acados_sim_solver_pyx.pyx \ - -I {{ code_export_directory }} \ - -sim_cython_o: sim_cython_c - $(CC) $(ACADOS_FLAGS) -c -O2 \ - -fPIC \ - -o acados_sim_solver_pyx.o \ - -I $(INCLUDE_PATH)/blasfeo/include/ \ - -I $(INCLUDE_PATH)/hpipm/include/ \ - -I $(INCLUDE_PATH) \ - {%- for path in cython_include_dirs %} - -I {{ path }} \ - {%- endfor %} - acados_sim_solver_pyx.c \ - -sim_cython: sim_cython_o - $(CC) $(ACADOS_FLAGS) -shared \ - -o acados_sim_solver_pyx{{ shared_lib_ext }} \ - -Wl,-rpath=$(LIB_PATH) \ - acados_sim_solver_pyx.o \ - $(abspath .)/libacados_sim_solver_{{ model.name }}{{ shared_lib_ext }} \ - $(LDFLAGS) $(LDLIBS) - -{%- if os and os == "pc" %} - -clean: - del \Q *.o 2>nul - del \Q *{{ shared_lib_ext }} 2>nul - del \Q main_{{ model.name }} 2>nul - -clean_ocp_shared_lib: - del \Q libacados_ocp_solver_{{ model.name }}{{ shared_lib_ext }} 2>nul - del \Q acados_solver_{{ model.name }}.o 2>nul - -clean_ocp_cython: - del \Q libacados_ocp_solver_{{ model.name }}{{ shared_lib_ext }} 2>nul - del \Q acados_solver_{{ model.name }}.o 2>nul - del \Q acados_ocp_solver_pyx{{ shared_lib_ext }} 2>nul - del \Q acados_ocp_solver_pyx.o 2>nul - -clean_sim_cython: - del \Q libacados_sim_solver_{{ model.name }}{{ shared_lib_ext }} 2>nul - del \Q acados_sim_solver_{{ model.name }}.o 2>nul - del \Q acados_sim_solver_pyx{{ shared_lib_ext }} 2>nul - del \Q acados_sim_solver_pyx.o 2>nul - -{%- else %} - -clean: - $(RM) $(OBJ) $(EX_OBJ) $(EX_SIM_OBJ) - $(RM) $(LIBACADOS_SOLVER) $(LIBACADOS_OCP_SOLVER) $(LIBACADOS_SIM_SOLVER) - $(RM) $(EX_EXE) $(EX_SIM_EXE) - -clean_ocp_shared_lib: - $(RM) $(LIBACADOS_OCP_SOLVER) - $(RM) $(OCP_OBJ) - -clean_ocp_cython: - $(RM) libacados_ocp_solver_{{ model.name }}{{ shared_lib_ext }} - $(RM) acados_solver_{{ model.name }}.o - $(RM) acados_ocp_solver_pyx{{ shared_lib_ext }} - $(RM) acados_ocp_solver_pyx.o - -clean_sim_cython: - $(RM) libacados_sim_solver_{{ model.name }}{{ shared_lib_ext }} - $(RM) acados_sim_solver_{{ model.name }}.o - $(RM) acados_sim_solver_pyx{{ shared_lib_ext }} - $(RM) acados_sim_solver_pyx.o - -{%- endif %} diff --git a/third_party/acados/acados_template/c_templates_tera/acados_sim_solver.in.c b/third_party/acados/acados_template/c_templates_tera/acados_sim_solver.in.c deleted file mode 100644 index 0cd098273c6e65..00000000000000 --- a/third_party/acados/acados_template/c_templates_tera/acados_sim_solver.in.c +++ /dev/null @@ -1,526 +0,0 @@ -/* - * Copyright (c) The acados authors. - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - -{%- if solver_options.hessian_approx %} - {%- set hessian_approx = solver_options.hessian_approx %} -{%- elif solver_options.sens_hess %} - {%- set hessian_approx = "EXACT" %} -{%- else %} - {%- set hessian_approx = "GAUSS_NEWTON" %} -{%- endif %} -// standard -#include -#include - -// acados -#include "acados_c/external_function_interface.h" -#include "acados_c/sim_interface.h" -#include "acados_c/external_function_interface.h" - -#include "acados/sim/sim_common.h" -#include "acados/utils/external_function_generic.h" -#include "acados/utils/print.h" - - -// example specific -#include "{{ model.name }}_model/{{ model.name }}_model.h" -#include "acados_sim_solver_{{ model.name }}.h" - - -// ** solver data ** - -sim_solver_capsule * {{ model.name }}_acados_sim_solver_create_capsule() -{ - void* capsule_mem = malloc(sizeof(sim_solver_capsule)); - sim_solver_capsule *capsule = (sim_solver_capsule *) capsule_mem; - - return capsule; -} - - -int {{ model.name }}_acados_sim_solver_free_capsule(sim_solver_capsule * capsule) -{ - free(capsule); - return 0; -} - - -int {{ model.name }}_acados_sim_create(sim_solver_capsule * capsule) -{ - // initialize - const int nx = {{ model.name | upper }}_NX; - const int nu = {{ model.name | upper }}_NU; - const int nz = {{ model.name | upper }}_NZ; - const int np = {{ model.name | upper }}_NP; - bool tmp_bool; - - {#// double Tsim = {{ solver_options.tf / dims.N }};#} - double Tsim = {{ solver_options.Tsim }}; - - {% if solver_options.integrator_type == "IRK" %} - capsule->sim_impl_dae_fun = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})); - capsule->sim_impl_dae_fun_jac_x_xdot_z = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})); - capsule->sim_impl_dae_jac_x_xdot_u_z = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})); - - {%- if model.dyn_ext_fun_type == "casadi" %} - // external functions (implicit model) - capsule->sim_impl_dae_fun->casadi_fun = &{{ model.name }}_impl_dae_fun; - capsule->sim_impl_dae_fun->casadi_work = &{{ model.name }}_impl_dae_fun_work; - capsule->sim_impl_dae_fun->casadi_sparsity_in = &{{ model.name }}_impl_dae_fun_sparsity_in; - capsule->sim_impl_dae_fun->casadi_sparsity_out = &{{ model.name }}_impl_dae_fun_sparsity_out; - capsule->sim_impl_dae_fun->casadi_n_in = &{{ model.name }}_impl_dae_fun_n_in; - capsule->sim_impl_dae_fun->casadi_n_out = &{{ model.name }}_impl_dae_fun_n_out; - external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_impl_dae_fun, np); - - capsule->sim_impl_dae_fun_jac_x_xdot_z->casadi_fun = &{{ model.name }}_impl_dae_fun_jac_x_xdot_z; - capsule->sim_impl_dae_fun_jac_x_xdot_z->casadi_work = &{{ model.name }}_impl_dae_fun_jac_x_xdot_z_work; - capsule->sim_impl_dae_fun_jac_x_xdot_z->casadi_sparsity_in = &{{ model.name }}_impl_dae_fun_jac_x_xdot_z_sparsity_in; - capsule->sim_impl_dae_fun_jac_x_xdot_z->casadi_sparsity_out = &{{ model.name }}_impl_dae_fun_jac_x_xdot_z_sparsity_out; - capsule->sim_impl_dae_fun_jac_x_xdot_z->casadi_n_in = &{{ model.name }}_impl_dae_fun_jac_x_xdot_z_n_in; - capsule->sim_impl_dae_fun_jac_x_xdot_z->casadi_n_out = &{{ model.name }}_impl_dae_fun_jac_x_xdot_z_n_out; - external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_impl_dae_fun_jac_x_xdot_z, np); - - // external_function_param_{{ model.dyn_ext_fun_type }} impl_dae_jac_x_xdot_u_z; - capsule->sim_impl_dae_jac_x_xdot_u_z->casadi_fun = &{{ model.name }}_impl_dae_jac_x_xdot_u_z; - capsule->sim_impl_dae_jac_x_xdot_u_z->casadi_work = &{{ model.name }}_impl_dae_jac_x_xdot_u_z_work; - capsule->sim_impl_dae_jac_x_xdot_u_z->casadi_sparsity_in = &{{ model.name }}_impl_dae_jac_x_xdot_u_z_sparsity_in; - capsule->sim_impl_dae_jac_x_xdot_u_z->casadi_sparsity_out = &{{ model.name }}_impl_dae_jac_x_xdot_u_z_sparsity_out; - capsule->sim_impl_dae_jac_x_xdot_u_z->casadi_n_in = &{{ model.name }}_impl_dae_jac_x_xdot_u_z_n_in; - capsule->sim_impl_dae_jac_x_xdot_u_z->casadi_n_out = &{{ model.name }}_impl_dae_jac_x_xdot_u_z_n_out; - external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_impl_dae_jac_x_xdot_u_z, np); - {%- else %} - capsule->sim_impl_dae_fun->fun = &{{ model.dyn_impl_dae_fun }}; - capsule->sim_impl_dae_fun_jac_x_xdot_z->fun = &{{ model.dyn_impl_dae_fun_jac }}; - capsule->sim_impl_dae_jac_x_xdot_u_z->fun = &{{ model.dyn_impl_dae_jac }}; - {%- endif %} - -{%- if hessian_approx == "EXACT" %} - capsule->sim_impl_dae_hess = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})); - // external_function_param_{{ model.dyn_ext_fun_type }} impl_dae_jac_x_xdot_u_z; - capsule->sim_impl_dae_hess->casadi_fun = &{{ model.name }}_impl_dae_hess; - capsule->sim_impl_dae_hess->casadi_work = &{{ model.name }}_impl_dae_hess_work; - capsule->sim_impl_dae_hess->casadi_sparsity_in = &{{ model.name }}_impl_dae_hess_sparsity_in; - capsule->sim_impl_dae_hess->casadi_sparsity_out = &{{ model.name }}_impl_dae_hess_sparsity_out; - capsule->sim_impl_dae_hess->casadi_n_in = &{{ model.name }}_impl_dae_hess_n_in; - capsule->sim_impl_dae_hess->casadi_n_out = &{{ model.name }}_impl_dae_hess_n_out; - external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_impl_dae_hess, np); -{%- endif %} - - {% elif solver_options.integrator_type == "ERK" %} - // explicit ode - capsule->sim_forw_vde_casadi = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})); - capsule->sim_vde_adj_casadi = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})); - capsule->sim_expl_ode_fun_casadi = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})); - - capsule->sim_forw_vde_casadi->casadi_fun = &{{ model.name }}_expl_vde_forw; - capsule->sim_forw_vde_casadi->casadi_n_in = &{{ model.name }}_expl_vde_forw_n_in; - capsule->sim_forw_vde_casadi->casadi_n_out = &{{ model.name }}_expl_vde_forw_n_out; - capsule->sim_forw_vde_casadi->casadi_sparsity_in = &{{ model.name }}_expl_vde_forw_sparsity_in; - capsule->sim_forw_vde_casadi->casadi_sparsity_out = &{{ model.name }}_expl_vde_forw_sparsity_out; - capsule->sim_forw_vde_casadi->casadi_work = &{{ model.name }}_expl_vde_forw_work; - external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_forw_vde_casadi, np); - - capsule->sim_vde_adj_casadi->casadi_fun = &{{ model.name }}_expl_vde_adj; - capsule->sim_vde_adj_casadi->casadi_n_in = &{{ model.name }}_expl_vde_adj_n_in; - capsule->sim_vde_adj_casadi->casadi_n_out = &{{ model.name }}_expl_vde_adj_n_out; - capsule->sim_vde_adj_casadi->casadi_sparsity_in = &{{ model.name }}_expl_vde_adj_sparsity_in; - capsule->sim_vde_adj_casadi->casadi_sparsity_out = &{{ model.name }}_expl_vde_adj_sparsity_out; - capsule->sim_vde_adj_casadi->casadi_work = &{{ model.name }}_expl_vde_adj_work; - external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_vde_adj_casadi, np); - - capsule->sim_expl_ode_fun_casadi->casadi_fun = &{{ model.name }}_expl_ode_fun; - capsule->sim_expl_ode_fun_casadi->casadi_n_in = &{{ model.name }}_expl_ode_fun_n_in; - capsule->sim_expl_ode_fun_casadi->casadi_n_out = &{{ model.name }}_expl_ode_fun_n_out; - capsule->sim_expl_ode_fun_casadi->casadi_sparsity_in = &{{ model.name }}_expl_ode_fun_sparsity_in; - capsule->sim_expl_ode_fun_casadi->casadi_sparsity_out = &{{ model.name }}_expl_ode_fun_sparsity_out; - capsule->sim_expl_ode_fun_casadi->casadi_work = &{{ model.name }}_expl_ode_fun_work; - external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_expl_ode_fun_casadi, np); - -{%- if hessian_approx == "EXACT" %} - capsule->sim_expl_ode_hess = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})); - // external_function_param_{{ model.dyn_ext_fun_type }} impl_dae_jac_x_xdot_u_z; - capsule->sim_expl_ode_hess->casadi_fun = &{{ model.name }}_expl_ode_hess; - capsule->sim_expl_ode_hess->casadi_work = &{{ model.name }}_expl_ode_hess_work; - capsule->sim_expl_ode_hess->casadi_sparsity_in = &{{ model.name }}_expl_ode_hess_sparsity_in; - capsule->sim_expl_ode_hess->casadi_sparsity_out = &{{ model.name }}_expl_ode_hess_sparsity_out; - capsule->sim_expl_ode_hess->casadi_n_in = &{{ model.name }}_expl_ode_hess_n_in; - capsule->sim_expl_ode_hess->casadi_n_out = &{{ model.name }}_expl_ode_hess_n_out; - external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_expl_ode_hess, np); -{%- endif %} - - {% elif solver_options.integrator_type == "GNSF" -%} - {% if model.gnsf.purely_linear != 1 %} - capsule->sim_gnsf_phi_fun = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})); - capsule->sim_gnsf_phi_fun_jac_y = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})); - capsule->sim_gnsf_phi_jac_y_uhat = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})); - {% if model.gnsf.nontrivial_f_LO == 1 %} - capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})); - {%- endif %} - {%- endif %} - capsule->sim_gnsf_get_matrices_fun = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})); - - {% if model.gnsf.purely_linear != 1 %} - capsule->sim_gnsf_phi_fun->casadi_fun = &{{ model.name }}_gnsf_phi_fun; - capsule->sim_gnsf_phi_fun->casadi_n_in = &{{ model.name }}_gnsf_phi_fun_n_in; - capsule->sim_gnsf_phi_fun->casadi_n_out = &{{ model.name }}_gnsf_phi_fun_n_out; - capsule->sim_gnsf_phi_fun->casadi_sparsity_in = &{{ model.name }}_gnsf_phi_fun_sparsity_in; - capsule->sim_gnsf_phi_fun->casadi_sparsity_out = &{{ model.name }}_gnsf_phi_fun_sparsity_out; - capsule->sim_gnsf_phi_fun->casadi_work = &{{ model.name }}_gnsf_phi_fun_work; - external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_gnsf_phi_fun, np); - - capsule->sim_gnsf_phi_fun_jac_y->casadi_fun = &{{ model.name }}_gnsf_phi_fun_jac_y; - capsule->sim_gnsf_phi_fun_jac_y->casadi_n_in = &{{ model.name }}_gnsf_phi_fun_jac_y_n_in; - capsule->sim_gnsf_phi_fun_jac_y->casadi_n_out = &{{ model.name }}_gnsf_phi_fun_jac_y_n_out; - capsule->sim_gnsf_phi_fun_jac_y->casadi_sparsity_in = &{{ model.name }}_gnsf_phi_fun_jac_y_sparsity_in; - capsule->sim_gnsf_phi_fun_jac_y->casadi_sparsity_out = &{{ model.name }}_gnsf_phi_fun_jac_y_sparsity_out; - capsule->sim_gnsf_phi_fun_jac_y->casadi_work = &{{ model.name }}_gnsf_phi_fun_jac_y_work; - external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_gnsf_phi_fun_jac_y, np); - - capsule->sim_gnsf_phi_jac_y_uhat->casadi_fun = &{{ model.name }}_gnsf_phi_jac_y_uhat; - capsule->sim_gnsf_phi_jac_y_uhat->casadi_n_in = &{{ model.name }}_gnsf_phi_jac_y_uhat_n_in; - capsule->sim_gnsf_phi_jac_y_uhat->casadi_n_out = &{{ model.name }}_gnsf_phi_jac_y_uhat_n_out; - capsule->sim_gnsf_phi_jac_y_uhat->casadi_sparsity_in = &{{ model.name }}_gnsf_phi_jac_y_uhat_sparsity_in; - capsule->sim_gnsf_phi_jac_y_uhat->casadi_sparsity_out = &{{ model.name }}_gnsf_phi_jac_y_uhat_sparsity_out; - capsule->sim_gnsf_phi_jac_y_uhat->casadi_work = &{{ model.name }}_gnsf_phi_jac_y_uhat_work; - external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_gnsf_phi_jac_y_uhat, np); - - {% if model.gnsf.nontrivial_f_LO == 1 %} - capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z->casadi_fun = &{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz; - capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z->casadi_n_in = &{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_n_in; - capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z->casadi_n_out = &{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_n_out; - capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z->casadi_sparsity_in = &{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_sparsity_in; - capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z->casadi_sparsity_out = &{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_sparsity_out; - capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z->casadi_work = &{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_work; - external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z, np); - {%- endif %} - {%- endif %} - - capsule->sim_gnsf_get_matrices_fun->casadi_fun = &{{ model.name }}_gnsf_get_matrices_fun; - capsule->sim_gnsf_get_matrices_fun->casadi_n_in = &{{ model.name }}_gnsf_get_matrices_fun_n_in; - capsule->sim_gnsf_get_matrices_fun->casadi_n_out = &{{ model.name }}_gnsf_get_matrices_fun_n_out; - capsule->sim_gnsf_get_matrices_fun->casadi_sparsity_in = &{{ model.name }}_gnsf_get_matrices_fun_sparsity_in; - capsule->sim_gnsf_get_matrices_fun->casadi_sparsity_out = &{{ model.name }}_gnsf_get_matrices_fun_sparsity_out; - capsule->sim_gnsf_get_matrices_fun->casadi_work = &{{ model.name }}_gnsf_get_matrices_fun_work; - external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_gnsf_get_matrices_fun, np); - {% endif %} - - // sim plan & config - sim_solver_plan_t plan; - plan.sim_solver = {{ solver_options.integrator_type }}; - - // create correct config based on plan - sim_config * {{ model.name }}_sim_config = sim_config_create(plan); - capsule->acados_sim_config = {{ model.name }}_sim_config; - - // sim dims - void *{{ model.name }}_sim_dims = sim_dims_create({{ model.name }}_sim_config); - capsule->acados_sim_dims = {{ model.name }}_sim_dims; - sim_dims_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims, "nx", &nx); - sim_dims_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims, "nu", &nu); - sim_dims_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims, "nz", &nz); -{% if solver_options.integrator_type == "GNSF" %} - int gnsf_nx1 = {{ dims.gnsf_nx1 }}; - int gnsf_nz1 = {{ dims.gnsf_nz1 }}; - int gnsf_nout = {{ dims.gnsf_nout }}; - int gnsf_ny = {{ dims.gnsf_ny }}; - int gnsf_nuhat = {{ dims.gnsf_nuhat }}; - - sim_dims_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims, "nx1", &gnsf_nx1); - sim_dims_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims, "nz1", &gnsf_nz1); - sim_dims_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims, "nout", &gnsf_nout); - sim_dims_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims, "ny", &gnsf_ny); - sim_dims_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims, "nuhat", &gnsf_nuhat); -{% endif %} - - // sim opts - sim_opts *{{ model.name }}_sim_opts = sim_opts_create({{ model.name }}_sim_config, {{ model.name }}_sim_dims); - capsule->acados_sim_opts = {{ model.name }}_sim_opts; - int tmp_int = {{ solver_options.sim_method_newton_iter }}; - sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "newton_iter", &tmp_int); - double tmp_double = {{ solver_options.sim_method_newton_tol }}; - sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "newton_tol", &tmp_double); - sim_collocation_type collocation_type = {{ solver_options.collocation_type }}; - sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "collocation_type", &collocation_type); - -{% if problem_class == "SIM" %} - tmp_int = {{ solver_options.sim_method_num_stages }}; - sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "num_stages", &tmp_int); - tmp_int = {{ solver_options.sim_method_num_steps }}; - sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "num_steps", &tmp_int); - - // options that are not available to AcadosOcpSolver - // (in OCP they will be determined by other options, like exact_hessian) - tmp_bool = {{ solver_options.sens_forw }}; - sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "sens_forw", &tmp_bool); - tmp_bool = {{ solver_options.sens_adj }}; - sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "sens_adj", &tmp_bool); - tmp_bool = {{ solver_options.sens_algebraic }}; - sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "sens_algebraic", &tmp_bool); - tmp_bool = {{ solver_options.sens_hess }}; - sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "sens_hess", &tmp_bool); - tmp_bool = {{ solver_options.output_z }}; - sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "output_z", &tmp_bool); - -{% else %} {# num_stages and num_steps of first shooting interval are used #} - tmp_int = {{ solver_options.sim_method_num_stages[0] }}; - sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "num_stages", &tmp_int); - tmp_int = {{ solver_options.sim_method_num_steps[0] }}; - sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "num_steps", &tmp_int); - tmp_bool = {{ solver_options.sim_method_jac_reuse[0] }}; - sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "jac_reuse", &tmp_bool); -{% endif %} - - // sim in / out - sim_in *{{ model.name }}_sim_in = sim_in_create({{ model.name }}_sim_config, {{ model.name }}_sim_dims); - capsule->acados_sim_in = {{ model.name }}_sim_in; - sim_out *{{ model.name }}_sim_out = sim_out_create({{ model.name }}_sim_config, {{ model.name }}_sim_dims); - capsule->acados_sim_out = {{ model.name }}_sim_out; - - sim_in_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims, - {{ model.name }}_sim_in, "T", &Tsim); - - // model functions -{%- if solver_options.integrator_type == "IRK" %} - {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model, - "impl_ode_fun", capsule->sim_impl_dae_fun); - {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model, - "impl_ode_fun_jac_x_xdot", capsule->sim_impl_dae_fun_jac_x_xdot_z); - {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model, - "impl_ode_jac_x_xdot_u", capsule->sim_impl_dae_jac_x_xdot_u_z); -{%- if hessian_approx == "EXACT" %} - {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model, - "impl_dae_hess", capsule->sim_impl_dae_hess); -{%- endif %} - -{%- elif solver_options.integrator_type == "ERK" %} - {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model, - "expl_vde_forw", capsule->sim_forw_vde_casadi); - {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model, - "expl_vde_adj", capsule->sim_vde_adj_casadi); - {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model, - "expl_ode_fun", capsule->sim_expl_ode_fun_casadi); -{%- if hessian_approx == "EXACT" %} - {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model, - "expl_ode_hess", capsule->sim_expl_ode_hess); -{%- endif %} -{%- elif solver_options.integrator_type == "GNSF" %} - {% if model.gnsf.purely_linear != 1 %} - {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model, - "phi_fun", capsule->sim_gnsf_phi_fun); - {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model, - "phi_fun_jac_y", capsule->sim_gnsf_phi_fun_jac_y); - {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model, - "phi_jac_y_uhat", capsule->sim_gnsf_phi_jac_y_uhat); - {% if model.gnsf.nontrivial_f_LO == 1 %} - {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model, - "f_lo_jac_x1_x1dot_u_z", capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z); - {%- endif %} - {%- endif %} - {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model, - "gnsf_get_matrices_fun", capsule->sim_gnsf_get_matrices_fun); -{%- endif %} - - // sim solver - sim_solver *{{ model.name }}_sim_solver = sim_solver_create({{ model.name }}_sim_config, - {{ model.name }}_sim_dims, {{ model.name }}_sim_opts); - capsule->acados_sim_solver = {{ model.name }}_sim_solver; - -{% if dims.np > 0 %} - /* initialize parameter values */ - double* p = calloc(np, sizeof(double)); - {% for item in parameter_values %} - {%- if item != 0 %} - p[{{ loop.index0 }}] = {{ item }}; - {%- endif %} - {%- endfor %} - - {{ model.name }}_acados_sim_update_params(capsule, p, np); - free(p); -{% endif %}{# if dims.np #} - - /* initialize input */ - // x - double x0[{{ dims.nx }}]; - for (int ii = 0; ii < {{ dims.nx }}; ii++) - x0[ii] = 0.0; - - sim_in_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims, - {{ model.name }}_sim_in, "x", x0); - - - // u - double u0[{{ dims.nu }}]; - for (int ii = 0; ii < {{ dims.nu }}; ii++) - u0[ii] = 0.0; - - sim_in_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims, - {{ model.name }}_sim_in, "u", u0); - - // S_forw - double S_forw[{{ dims.nx * (dims.nx + dims.nu) }}]; - for (int ii = 0; ii < {{ dims.nx * (dims.nx + dims.nu) }}; ii++) - S_forw[ii] = 0.0; - for (int ii = 0; ii < {{ dims.nx }}; ii++) - S_forw[ii + ii * {{ dims.nx }} ] = 1.0; - - - sim_in_set({{ model.name }}_sim_config, {{ model.name }}_sim_dims, - {{ model.name }}_sim_in, "S_forw", S_forw); - - int status = sim_precompute({{ model.name }}_sim_solver, {{ model.name }}_sim_in, {{ model.name }}_sim_out); - - return status; -} - - -int {{ model.name }}_acados_sim_solve(sim_solver_capsule *capsule) -{ - // integrate dynamics using acados sim_solver - int status = sim_solve(capsule->acados_sim_solver, - capsule->acados_sim_in, capsule->acados_sim_out); - if (status != 0) - printf("error in {{ model.name }}_acados_sim_solve()! Exiting.\n"); - - return status; -} - - -int {{ model.name }}_acados_sim_free(sim_solver_capsule *capsule) -{ - // free memory - sim_solver_destroy(capsule->acados_sim_solver); - sim_in_destroy(capsule->acados_sim_in); - sim_out_destroy(capsule->acados_sim_out); - sim_opts_destroy(capsule->acados_sim_opts); - sim_dims_destroy(capsule->acados_sim_dims); - sim_config_destroy(capsule->acados_sim_config); - - // free external function -{%- if solver_options.integrator_type == "IRK" %} - external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_impl_dae_fun); - external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_impl_dae_fun_jac_x_xdot_z); - external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_impl_dae_jac_x_xdot_u_z); -{%- if hessian_approx == "EXACT" %} - external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_impl_dae_hess); -{%- endif %} -{%- elif solver_options.integrator_type == "ERK" %} - external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_forw_vde_casadi); - external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_vde_adj_casadi); - external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_expl_ode_fun_casadi); -{%- if hessian_approx == "EXACT" %} - external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_expl_ode_hess); -{%- endif %} -{%- elif solver_options.integrator_type == "GNSF" %} - {% if model.gnsf.purely_linear != 1 %} - external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_gnsf_phi_fun); - external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_gnsf_phi_fun_jac_y); - external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_gnsf_phi_jac_y_uhat); - {% if model.gnsf.nontrivial_f_LO == 1 %} - external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z); - {%- endif %} - {%- endif %} - external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_gnsf_get_matrices_fun); -{% endif %} - - return 0; -} - - -int {{ model.name }}_acados_sim_update_params(sim_solver_capsule *capsule, double *p, int np) -{ - int status = 0; - int casadi_np = {{ model.name | upper }}_NP; - - if (casadi_np != np) { - printf("{{ model.name }}_acados_sim_update_params: trying to set %i parameters for external functions." - " External function has %i parameters. Exiting.\n", np, casadi_np); - exit(1); - } - -{%- if solver_options.integrator_type == "ERK" %} - capsule->sim_forw_vde_casadi[0].set_param(capsule->sim_forw_vde_casadi, p); - capsule->sim_vde_adj_casadi[0].set_param(capsule->sim_vde_adj_casadi, p); - capsule->sim_expl_ode_fun_casadi[0].set_param(capsule->sim_expl_ode_fun_casadi, p); -{%- if hessian_approx == "EXACT" %} - capsule->sim_expl_ode_hess[0].set_param(capsule->sim_expl_ode_hess, p); -{%- endif %} -{%- elif solver_options.integrator_type == "IRK" %} - capsule->sim_impl_dae_fun[0].set_param(capsule->sim_impl_dae_fun, p); - capsule->sim_impl_dae_fun_jac_x_xdot_z[0].set_param(capsule->sim_impl_dae_fun_jac_x_xdot_z, p); - capsule->sim_impl_dae_jac_x_xdot_u_z[0].set_param(capsule->sim_impl_dae_jac_x_xdot_u_z, p); -{%- if hessian_approx == "EXACT" %} - capsule->sim_impl_dae_hess[0].set_param(capsule->sim_impl_dae_hess, p); -{%- endif %} -{%- elif solver_options.integrator_type == "GNSF" %} - {% if model.gnsf.purely_linear != 1 %} - capsule->sim_gnsf_phi_fun[0].set_param(capsule->sim_gnsf_phi_fun, p); - capsule->sim_gnsf_phi_fun_jac_y[0].set_param(capsule->sim_gnsf_phi_fun_jac_y, p); - capsule->sim_gnsf_phi_jac_y_uhat[0].set_param(capsule->sim_gnsf_phi_jac_y_uhat, p); - {% if model.gnsf.nontrivial_f_LO == 1 %} - capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z[0].set_param(capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z, p); - {%- endif %} - {%- endif %} - capsule->sim_gnsf_get_matrices_fun[0].set_param(capsule->sim_gnsf_get_matrices_fun, p); -{% endif %} - - return status; -} - -/* getters pointers to C objects*/ -sim_config * {{ model.name }}_acados_get_sim_config(sim_solver_capsule *capsule) -{ - return capsule->acados_sim_config; -}; - -sim_in * {{ model.name }}_acados_get_sim_in(sim_solver_capsule *capsule) -{ - return capsule->acados_sim_in; -}; - -sim_out * {{ model.name }}_acados_get_sim_out(sim_solver_capsule *capsule) -{ - return capsule->acados_sim_out; -}; - -void * {{ model.name }}_acados_get_sim_dims(sim_solver_capsule *capsule) -{ - return capsule->acados_sim_dims; -}; - -sim_opts * {{ model.name }}_acados_get_sim_opts(sim_solver_capsule *capsule) -{ - return capsule->acados_sim_opts; -}; - -sim_solver * {{ model.name }}_acados_get_sim_solver(sim_solver_capsule *capsule) -{ - return capsule->acados_sim_solver; -}; - diff --git a/third_party/acados/acados_template/c_templates_tera/acados_sim_solver.in.h b/third_party/acados/acados_template/c_templates_tera/acados_sim_solver.in.h deleted file mode 100644 index 59aee62f49fd3f..00000000000000 --- a/third_party/acados/acados_template/c_templates_tera/acados_sim_solver.in.h +++ /dev/null @@ -1,101 +0,0 @@ -/* - * Copyright (c) The acados authors. - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - -#ifndef ACADOS_SIM_{{ model.name }}_H_ -#define ACADOS_SIM_{{ model.name }}_H_ - -#include "acados_c/sim_interface.h" -#include "acados_c/external_function_interface.h" - -#define {{ model.name | upper }}_NX {{ dims.nx }} -#define {{ model.name | upper }}_NZ {{ dims.nz }} -#define {{ model.name | upper }}_NU {{ dims.nu }} -#define {{ model.name | upper }}_NP {{ dims.np }} - -#ifdef __cplusplus -extern "C" { -#endif - - -// ** capsule for solver data ** -typedef struct sim_solver_capsule -{ - // acados objects - sim_in *acados_sim_in; - sim_out *acados_sim_out; - sim_solver *acados_sim_solver; - sim_opts *acados_sim_opts; - sim_config *acados_sim_config; - void *acados_sim_dims; - - /* external functions */ - // ERK - external_function_param_{{ model.dyn_ext_fun_type }} * sim_forw_vde_casadi; - external_function_param_{{ model.dyn_ext_fun_type }} * sim_vde_adj_casadi; - external_function_param_{{ model.dyn_ext_fun_type }} * sim_expl_ode_fun_casadi; - external_function_param_{{ model.dyn_ext_fun_type }} * sim_expl_ode_hess; - - // IRK - external_function_param_{{ model.dyn_ext_fun_type }} * sim_impl_dae_fun; - external_function_param_{{ model.dyn_ext_fun_type }} * sim_impl_dae_fun_jac_x_xdot_z; - external_function_param_{{ model.dyn_ext_fun_type }} * sim_impl_dae_jac_x_xdot_u_z; - external_function_param_{{ model.dyn_ext_fun_type }} * sim_impl_dae_hess; - - // GNSF - external_function_param_{{ model.dyn_ext_fun_type }} * sim_gnsf_phi_fun; - external_function_param_{{ model.dyn_ext_fun_type }} * sim_gnsf_phi_fun_jac_y; - external_function_param_{{ model.dyn_ext_fun_type }} * sim_gnsf_phi_jac_y_uhat; - external_function_param_{{ model.dyn_ext_fun_type }} * sim_gnsf_f_lo_jac_x1_x1dot_u_z; - external_function_param_{{ model.dyn_ext_fun_type }} * sim_gnsf_get_matrices_fun; - -} sim_solver_capsule; - - -ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_sim_create(sim_solver_capsule *capsule); -ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_sim_solve(sim_solver_capsule *capsule); -ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_sim_free(sim_solver_capsule *capsule); -ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_sim_update_params(sim_solver_capsule *capsule, double *value, int np); - -ACADOS_SYMBOL_EXPORT sim_config * {{ model.name }}_acados_get_sim_config(sim_solver_capsule *capsule); -ACADOS_SYMBOL_EXPORT sim_in * {{ model.name }}_acados_get_sim_in(sim_solver_capsule *capsule); -ACADOS_SYMBOL_EXPORT sim_out * {{ model.name }}_acados_get_sim_out(sim_solver_capsule *capsule); -ACADOS_SYMBOL_EXPORT void * {{ model.name }}_acados_get_sim_dims(sim_solver_capsule *capsule); -ACADOS_SYMBOL_EXPORT sim_opts * {{ model.name }}_acados_get_sim_opts(sim_solver_capsule *capsule); -ACADOS_SYMBOL_EXPORT sim_solver * {{ model.name }}_acados_get_sim_solver(sim_solver_capsule *capsule); - - -ACADOS_SYMBOL_EXPORT sim_solver_capsule * {{ model.name }}_acados_sim_solver_create_capsule(void); -ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_sim_solver_free_capsule(sim_solver_capsule *capsule); - -#ifdef __cplusplus -} -#endif - -#endif // ACADOS_SIM_{{ model.name }}_H_ diff --git a/third_party/acados/acados_template/c_templates_tera/acados_solver.in.c b/third_party/acados/acados_template/c_templates_tera/acados_solver.in.c deleted file mode 100644 index 5e36a53d1001d3..00000000000000 --- a/third_party/acados/acados_template/c_templates_tera/acados_solver.in.c +++ /dev/null @@ -1,2741 +0,0 @@ -/* - * Copyright (c) The acados authors. - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - -// standard -#include -#include -#include -// acados -// #include "acados/utils/print.h" -#include "acados_c/ocp_nlp_interface.h" -#include "acados_c/external_function_interface.h" - -// example specific -#include "{{ model.name }}_model/{{ model.name }}_model.h" -#include "{{ model.name }}_constraints/{{ model.name }}_constraints.h" - -{%- if cost.cost_type != "LINEAR_LS" or cost.cost_type_e != "LINEAR_LS" or cost.cost_type_0 != "LINEAR_LS" %} -#include "{{ model.name }}_cost/{{ model.name }}_cost.h" -{%- endif %} - -{%- if not solver_options.custom_update_filename %} - {%- set custom_update_filename = "" %} -{% else %} - {%- set custom_update_filename = solver_options.custom_update_filename %} -{%- endif %} -{%- if not solver_options.custom_update_header_filename %} - {%- set custom_update_header_filename = "" %} -{% else %} - {%- set custom_update_header_filename = solver_options.custom_update_header_filename %} -{%- endif %} -{%- if custom_update_header_filename != "" %} -#include "{{ custom_update_header_filename }}" -{%- endif %} - - -#include "acados_solver_{{ model.name }}.h" - -#define NX {{ model.name | upper }}_NX -#define NZ {{ model.name | upper }}_NZ -#define NU {{ model.name | upper }}_NU -#define NP {{ model.name | upper }}_NP -#define NBX {{ model.name | upper }}_NBX -#define NBX0 {{ model.name | upper }}_NBX0 -#define NBU {{ model.name | upper }}_NBU -#define NSBX {{ model.name | upper }}_NSBX -#define NSBU {{ model.name | upper }}_NSBU -#define NSH {{ model.name | upper }}_NSH -#define NSG {{ model.name | upper }}_NSG -#define NSPHI {{ model.name | upper }}_NSPHI -#define NSHN {{ model.name | upper }}_NSHN -#define NSGN {{ model.name | upper }}_NSGN -#define NSPHIN {{ model.name | upper }}_NSPHIN -#define NSBXN {{ model.name | upper }}_NSBXN -#define NS {{ model.name | upper }}_NS -#define NSN {{ model.name | upper }}_NSN -#define NG {{ model.name | upper }}_NG -#define NBXN {{ model.name | upper }}_NBXN -#define NGN {{ model.name | upper }}_NGN -#define NY0 {{ model.name | upper }}_NY0 -#define NY {{ model.name | upper }}_NY -#define NYN {{ model.name | upper }}_NYN -// #define N {{ model.name | upper }}_N -#define NH {{ model.name | upper }}_NH -#define NPHI {{ model.name | upper }}_NPHI -#define NHN {{ model.name | upper }}_NHN -#define NPHIN {{ model.name | upper }}_NPHIN -#define NR {{ model.name | upper }}_NR - - -// ** solver data ** - -{{ model.name }}_solver_capsule * {{ model.name }}_acados_create_capsule(void) -{ - void* capsule_mem = malloc(sizeof({{ model.name }}_solver_capsule)); - {{ model.name }}_solver_capsule *capsule = ({{ model.name }}_solver_capsule *) capsule_mem; - - return capsule; -} - - -int {{ model.name }}_acados_free_capsule({{ model.name }}_solver_capsule *capsule) -{ - free(capsule); - return 0; -} - - -int {{ model.name }}_acados_create({{ model.name }}_solver_capsule* capsule) -{ - int N_shooting_intervals = {{ model.name | upper }}_N; - double* new_time_steps = NULL; // NULL -> don't alter the code generated time-steps - return {{ model.name }}_acados_create_with_discretization(capsule, N_shooting_intervals, new_time_steps); -} - - -int {{ model.name }}_acados_update_time_steps({{ model.name }}_solver_capsule* capsule, int N, double* new_time_steps) -{ - if (N != capsule->nlp_solver_plan->N) { - fprintf(stderr, "{{ model.name }}_acados_update_time_steps: given number of time steps (= %d) " \ - "differs from the currently allocated number of " \ - "time steps (= %d)!\n" \ - "Please recreate with new discretization and provide a new vector of time_stamps!\n", - N, capsule->nlp_solver_plan->N); - return 1; - } - - ocp_nlp_config * nlp_config = capsule->nlp_config; - ocp_nlp_dims * nlp_dims = capsule->nlp_dims; - ocp_nlp_in * nlp_in = capsule->nlp_in; - - for (int i = 0; i < N; i++) - { - ocp_nlp_in_set(nlp_config, nlp_dims, nlp_in, i, "Ts", &new_time_steps[i]); - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "scaling", &new_time_steps[i]); - } - return 0; -} - -/** - * Internal function for {{ model.name }}_acados_create: step 1 - */ -void {{ model.name }}_acados_create_1_set_plan(ocp_nlp_plan_t* nlp_solver_plan, const int N) -{ - assert(N == nlp_solver_plan->N); - - /************************************************ - * plan - ************************************************/ - - {%- if solver_options.nlp_solver_type == "SQP" %} - nlp_solver_plan->nlp_solver = SQP; - {%- else %} - nlp_solver_plan->nlp_solver = SQP_RTI; - {%- endif %} - - nlp_solver_plan->ocp_qp_solver_plan.qp_solver = {{ solver_options.qp_solver }}; - - nlp_solver_plan->nlp_cost[0] = {{ cost.cost_type_0 }}; - for (int i = 1; i < N; i++) - nlp_solver_plan->nlp_cost[i] = {{ cost.cost_type }}; - - nlp_solver_plan->nlp_cost[N] = {{ cost.cost_type_e }}; - - for (int i = 0; i < N; i++) - { - {%- if solver_options.integrator_type == "DISCRETE" %} - nlp_solver_plan->nlp_dynamics[i] = DISCRETE_MODEL; - // discrete dynamics does not need sim solver option, this field is ignored - nlp_solver_plan->sim_solver_plan[i].sim_solver = INVALID_SIM_SOLVER; - {%- else %} - nlp_solver_plan->nlp_dynamics[i] = CONTINUOUS_MODEL; - nlp_solver_plan->sim_solver_plan[i].sim_solver = {{ solver_options.integrator_type }}; - {%- endif %} - } - - for (int i = 0; i < N; i++) - { - {%- if constraints.constr_type == "BGP" %} - nlp_solver_plan->nlp_constraints[i] = BGP; - {%- else -%} - nlp_solver_plan->nlp_constraints[i] = BGH; - {%- endif %} - } - - {%- if constraints.constr_type_e == "BGP" %} - nlp_solver_plan->nlp_constraints[N] = BGP; - {%- else %} - nlp_solver_plan->nlp_constraints[N] = BGH; - {%- endif %} - - {%- if solver_options.regularize_method == "NO_REGULARIZE" %} - nlp_solver_plan->regularization = NO_REGULARIZE; - {%- elif solver_options.regularize_method == "MIRROR" %} - nlp_solver_plan->regularization = MIRROR; - {%- elif solver_options.regularize_method == "PROJECT" %} - nlp_solver_plan->regularization = PROJECT; - {%- elif solver_options.regularize_method == "PROJECT_REDUC_HESS" %} - nlp_solver_plan->regularization = PROJECT_REDUC_HESS; - {%- elif solver_options.regularize_method == "CONVEXIFY" %} - nlp_solver_plan->regularization = CONVEXIFY; - {%- endif %} -} - - -/** - * Internal function for {{ model.name }}_acados_create: step 2 - */ -ocp_nlp_dims* {{ model.name }}_acados_create_2_create_and_set_dimensions({{ model.name }}_solver_capsule* capsule) -{ - ocp_nlp_plan_t* nlp_solver_plan = capsule->nlp_solver_plan; - const int N = nlp_solver_plan->N; - ocp_nlp_config* nlp_config = capsule->nlp_config; - - /************************************************ - * dimensions - ************************************************/ - #define NINTNP1MEMS 17 - int* intNp1mem = (int*)malloc( (N+1)*sizeof(int)*NINTNP1MEMS ); - - int* nx = intNp1mem + (N+1)*0; - int* nu = intNp1mem + (N+1)*1; - int* nbx = intNp1mem + (N+1)*2; - int* nbu = intNp1mem + (N+1)*3; - int* nsbx = intNp1mem + (N+1)*4; - int* nsbu = intNp1mem + (N+1)*5; - int* nsg = intNp1mem + (N+1)*6; - int* nsh = intNp1mem + (N+1)*7; - int* nsphi = intNp1mem + (N+1)*8; - int* ns = intNp1mem + (N+1)*9; - int* ng = intNp1mem + (N+1)*10; - int* nh = intNp1mem + (N+1)*11; - int* nphi = intNp1mem + (N+1)*12; - int* nz = intNp1mem + (N+1)*13; - int* ny = intNp1mem + (N+1)*14; - int* nr = intNp1mem + (N+1)*15; - int* nbxe = intNp1mem + (N+1)*16; - - for (int i = 0; i < N+1; i++) - { - // common - nx[i] = NX; - nu[i] = NU; - nz[i] = NZ; - ns[i] = NS; - // cost - ny[i] = NY; - // constraints - nbx[i] = NBX; - nbu[i] = NBU; - nsbx[i] = NSBX; - nsbu[i] = NSBU; - nsg[i] = NSG; - nsh[i] = NSH; - nsphi[i] = NSPHI; - ng[i] = NG; - nh[i] = NH; - nphi[i] = NPHI; - nr[i] = NR; - nbxe[i] = 0; - } - - // for initial state - nbx[0] = NBX0; - nsbx[0] = 0; - ns[0] = NS - NSBX; - nbxe[0] = {{ dims.nbxe_0 }}; - ny[0] = NY0; - - // terminal - common - nu[N] = 0; - nz[N] = 0; - ns[N] = NSN; - // cost - ny[N] = NYN; - // constraint - nbx[N] = NBXN; - nbu[N] = 0; - ng[N] = NGN; - nh[N] = NHN; - nphi[N] = NPHIN; - nr[N] = {{ dims.nr_e }}; - - nsbx[N] = NSBXN; - nsbu[N] = 0; - nsg[N] = NSGN; - nsh[N] = NSHN; - nsphi[N] = NSPHIN; - - /* create and set ocp_nlp_dims */ - ocp_nlp_dims * nlp_dims = ocp_nlp_dims_create(nlp_config); - - ocp_nlp_dims_set_opt_vars(nlp_config, nlp_dims, "nx", nx); - ocp_nlp_dims_set_opt_vars(nlp_config, nlp_dims, "nu", nu); - ocp_nlp_dims_set_opt_vars(nlp_config, nlp_dims, "nz", nz); - ocp_nlp_dims_set_opt_vars(nlp_config, nlp_dims, "ns", ns); - - for (int i = 0; i <= N; i++) - { - ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nbx", &nbx[i]); - ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nbu", &nbu[i]); - ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nsbx", &nsbx[i]); - ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nsbu", &nsbu[i]); - ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "ng", &ng[i]); - ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nsg", &nsg[i]); - ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nbxe", &nbxe[i]); - } - -{%- if cost.cost_type_0 == "NONLINEAR_LS" or cost.cost_type_0 == "LINEAR_LS" or cost.cost_type_0 == "CONVEX_OVER_NONLINEAR"%} - ocp_nlp_dims_set_cost(nlp_config, nlp_dims, 0, "ny", &ny[0]); -{%- endif %} - -{%- if cost.cost_type == "NONLINEAR_LS" or cost.cost_type == "LINEAR_LS" or cost.cost_type == "CONVEX_OVER_NONLINEAR"%} - for (int i = 1; i < N; i++) - ocp_nlp_dims_set_cost(nlp_config, nlp_dims, i, "ny", &ny[i]); -{%- endif %} - - for (int i = 0; i < N; i++) - { - {%- if constraints.constr_type == "BGH" and dims.nh > 0 %} - ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nh", &nh[i]); - ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nsh", &nsh[i]); - {%- elif constraints.constr_type == "BGP" and dims.nphi > 0 %} - ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nr", &nr[i]); - ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nphi", &nphi[i]); - ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nsphi", &nsphi[i]); - {%- endif %} - } - -{%- if constraints.constr_type_e == "BGH" %} - ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, N, "nh", &nh[N]); - ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, N, "nsh", &nsh[N]); -{%- elif constraints.constr_type_e == "BGP" %} - ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, N, "nr", &nr[N]); - ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, N, "nphi", &nphi[N]); - ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, N, "nsphi", &nsphi[N]); -{%- endif %} -{%- if cost.cost_type_e == "NONLINEAR_LS" or cost.cost_type_e == "LINEAR_LS" or cost.cost_type_e == "CONVEX_OVER_NONLINEAR"%} - ocp_nlp_dims_set_cost(nlp_config, nlp_dims, N, "ny", &ny[N]); -{%- endif %} - free(intNp1mem); - -{%- if solver_options.integrator_type == "GNSF" -%} - // GNSF specific dimensions - int gnsf_nx1 = {{ dims.gnsf_nx1 }}; - int gnsf_nz1 = {{ dims.gnsf_nz1 }}; - int gnsf_nout = {{ dims.gnsf_nout }}; - int gnsf_ny = {{ dims.gnsf_ny }}; - int gnsf_nuhat = {{ dims.gnsf_nuhat }}; - - for (int i = 0; i < N; i++) - { - if (nlp_solver_plan->sim_solver_plan[i].sim_solver == GNSF) - { - ocp_nlp_dims_set_dynamics(nlp_config, nlp_dims, i, "gnsf_nx1", &gnsf_nx1); - ocp_nlp_dims_set_dynamics(nlp_config, nlp_dims, i, "gnsf_nz1", &gnsf_nz1); - ocp_nlp_dims_set_dynamics(nlp_config, nlp_dims, i, "gnsf_nout", &gnsf_nout); - ocp_nlp_dims_set_dynamics(nlp_config, nlp_dims, i, "gnsf_ny", &gnsf_ny); - ocp_nlp_dims_set_dynamics(nlp_config, nlp_dims, i, "gnsf_nuhat", &gnsf_nuhat); - } - } -{%- endif %} -return nlp_dims; -} - - -/** - * Internal function for {{ model.name }}_acados_create: step 3 - */ -void {{ model.name }}_acados_create_3_create_and_set_functions({{ model.name }}_solver_capsule* capsule) -{ - const int N = capsule->nlp_solver_plan->N; - - /************************************************ - * external functions - ************************************************/ - -#define MAP_CASADI_FNC(__CAPSULE_FNC__, __MODEL_BASE_FNC__) do{ \ - capsule->__CAPSULE_FNC__.casadi_fun = & __MODEL_BASE_FNC__ ;\ - capsule->__CAPSULE_FNC__.casadi_n_in = & __MODEL_BASE_FNC__ ## _n_in; \ - capsule->__CAPSULE_FNC__.casadi_n_out = & __MODEL_BASE_FNC__ ## _n_out; \ - capsule->__CAPSULE_FNC__.casadi_sparsity_in = & __MODEL_BASE_FNC__ ## _sparsity_in; \ - capsule->__CAPSULE_FNC__.casadi_sparsity_out = & __MODEL_BASE_FNC__ ## _sparsity_out; \ - capsule->__CAPSULE_FNC__.casadi_work = & __MODEL_BASE_FNC__ ## _work; \ - external_function_param_casadi_create(&capsule->__CAPSULE_FNC__ , {{ dims.np }}); \ - }while(false) - -{% if constraints.constr_type == "BGP" %} - // constraints.constr_type == "BGP" - capsule->phi_constraint = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); - for (int i = 0; i < N; i++) - { - // nonlinear part of convex-composite constraint - MAP_CASADI_FNC(phi_constraint[i], {{ model.name }}_phi_constraint); - } -{%- endif %} - -{%- if constraints.constr_type_e == "BGP" %} - // constraints.constr_type_e == "BGP" - // nonlinear part of convex-composite constraint - MAP_CASADI_FNC(phi_e_constraint, {{ model.name }}_phi_e_constraint); -{%- endif %} - -{%- if constraints.constr_type == "BGH" and dims.nh > 0 %} - // constraints.constr_type == "BGH" and dims.nh > 0 - capsule->nl_constr_h_fun_jac = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); - for (int i = 0; i < N; i++) { - MAP_CASADI_FNC(nl_constr_h_fun_jac[i], {{ model.name }}_constr_h_fun_jac_uxt_zt); - } - capsule->nl_constr_h_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); - for (int i = 0; i < N; i++) { - MAP_CASADI_FNC(nl_constr_h_fun[i], {{ model.name }}_constr_h_fun); - } - {% if solver_options.hessian_approx == "EXACT" %} - capsule->nl_constr_h_fun_jac_hess = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); - for (int i = 0; i < N; i++) { - MAP_CASADI_FNC(nl_constr_h_fun_jac_hess[i], {{ model.name }}_constr_h_fun_jac_uxt_zt_hess); - } - {% endif %} -{% endif %} - -{%- if constraints.constr_type_e == "BGH" and dims.nh_e > 0 %} - MAP_CASADI_FNC(nl_constr_h_e_fun_jac, {{ model.name }}_constr_h_e_fun_jac_uxt_zt); - MAP_CASADI_FNC(nl_constr_h_e_fun, {{ model.name }}_constr_h_e_fun); - - {%- if solver_options.hessian_approx == "EXACT" %} - MAP_CASADI_FNC(nl_constr_h_e_fun_jac_hess, {{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess); - {% endif %} -{%- endif %} - -{% if solver_options.integrator_type == "ERK" %} - // explicit ode - capsule->forw_vde_casadi = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); - for (int i = 0; i < N; i++) { - MAP_CASADI_FNC(forw_vde_casadi[i], {{ model.name }}_expl_vde_forw); - } - - capsule->expl_ode_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); - for (int i = 0; i < N; i++) { - MAP_CASADI_FNC(expl_ode_fun[i], {{ model.name }}_expl_ode_fun); - } - - {%- if solver_options.hessian_approx == "EXACT" %} - capsule->hess_vde_casadi = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); - for (int i = 0; i < N; i++) { - MAP_CASADI_FNC(hess_vde_casadi[i], {{ model.name }}_expl_ode_hess); - } - {%- endif %} - -{% elif solver_options.integrator_type == "IRK" %} - // implicit dae - capsule->impl_dae_fun = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})*N); - for (int i = 0; i < N; i++) { - {%- if model.dyn_ext_fun_type == "casadi" %} - MAP_CASADI_FNC(impl_dae_fun[i], {{ model.name }}_impl_dae_fun); - {%- else %} - capsule->impl_dae_fun[i].fun = &{{ model.dyn_impl_dae_fun }}; - external_function_param_{{ model.dyn_ext_fun_type }}_create(&capsule->impl_dae_fun[i], {{ dims.np }}); - {%- endif %} - } - - capsule->impl_dae_fun_jac_x_xdot_z = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})*N); - for (int i = 0; i < N; i++) { - {%- if model.dyn_ext_fun_type == "casadi" %} - MAP_CASADI_FNC(impl_dae_fun_jac_x_xdot_z[i], {{ model.name }}_impl_dae_fun_jac_x_xdot_z); - {%- else %} - capsule->impl_dae_fun_jac_x_xdot_z[i].fun = &{{ model.dyn_impl_dae_fun_jac }}; - external_function_param_{{ model.dyn_ext_fun_type }}_create(&capsule->impl_dae_fun_jac_x_xdot_z[i], {{ dims.np }}); - {%- endif %} - } - - capsule->impl_dae_jac_x_xdot_u_z = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})*N); - for (int i = 0; i < N; i++) { - {%- if model.dyn_ext_fun_type == "casadi" %} - MAP_CASADI_FNC(impl_dae_jac_x_xdot_u_z[i], {{ model.name }}_impl_dae_jac_x_xdot_u_z); - {%- else %} - capsule->impl_dae_jac_x_xdot_u_z[i].fun = &{{ model.dyn_impl_dae_jac }}; - external_function_param_{{ model.dyn_ext_fun_type }}_create(&capsule->impl_dae_jac_x_xdot_u_z[i], {{ dims.np }}); - {%- endif %} - } - - {%- if solver_options.hessian_approx == "EXACT" %} - capsule->impl_dae_hess = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})*N); - for (int i = 0; i < N; i++) { - MAP_CASADI_FNC(impl_dae_hess[i], {{ model.name }}_impl_dae_hess); - } - {%- endif %} -{% elif solver_options.integrator_type == "LIFTED_IRK" %} - // external functions (implicit model) - capsule->impl_dae_fun = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})*N); - for (int i = 0; i < N; i++) { - MAP_CASADI_FNC(impl_dae_fun[i], {{ model.name }}_impl_dae_fun); - } - - capsule->impl_dae_fun_jac_x_xdot_u = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})*N); - for (int i = 0; i < N; i++) { - MAP_CASADI_FNC(impl_dae_fun_jac_x_xdot_u[i], {{ model.name }}_impl_dae_fun_jac_x_xdot_u); - } - -{% elif solver_options.integrator_type == "GNSF" %} - {% if model.gnsf.purely_linear != 1 %} - capsule->gnsf_phi_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); - for (int i = 0; i < N; i++) { - MAP_CASADI_FNC(gnsf_phi_fun[i], {{ model.name }}_gnsf_phi_fun); - } - - capsule->gnsf_phi_fun_jac_y = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); - for (int i = 0; i < N; i++) { - MAP_CASADI_FNC(gnsf_phi_fun_jac_y[i], {{ model.name }}_gnsf_phi_fun_jac_y); - } - - capsule->gnsf_phi_jac_y_uhat = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); - for (int i = 0; i < N; i++) { - MAP_CASADI_FNC(gnsf_phi_jac_y_uhat[i], {{ model.name }}_gnsf_phi_jac_y_uhat); - } - - {% if model.gnsf.nontrivial_f_LO == 1 %} - capsule->gnsf_f_lo_jac_x1_x1dot_u_z = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); - for (int i = 0; i < N; i++) { - MAP_CASADI_FNC(gnsf_f_lo_jac_x1_x1dot_u_z[i], {{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz); - } - {%- endif %} - {%- endif %} - capsule->gnsf_get_matrices_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); - for (int i = 0; i < N; i++) { - MAP_CASADI_FNC(gnsf_get_matrices_fun[i], {{ model.name }}_gnsf_get_matrices_fun); - } -{% elif solver_options.integrator_type == "DISCRETE" %} - // discrete dynamics - capsule->discr_dyn_phi_fun = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})*N); - for (int i = 0; i < N; i++) - { - {%- if model.dyn_ext_fun_type == "casadi" %} - MAP_CASADI_FNC(discr_dyn_phi_fun[i], {{ model.name }}_dyn_disc_phi_fun); - {%- else %} - capsule->discr_dyn_phi_fun[i].fun = &{{ model.dyn_disc_fun }}; - external_function_param_{{ model.dyn_ext_fun_type }}_create(&capsule->discr_dyn_phi_fun[i], {{ dims.np }}); - {%- endif %} - } - - capsule->discr_dyn_phi_fun_jac_ut_xt = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})*N); - for (int i = 0; i < N; i++) - { - {%- if model.dyn_ext_fun_type == "casadi" %} - MAP_CASADI_FNC(discr_dyn_phi_fun_jac_ut_xt[i], {{ model.name }}_dyn_disc_phi_fun_jac); - {%- else %} - capsule->discr_dyn_phi_fun_jac_ut_xt[i].fun = &{{ model.dyn_disc_fun_jac }}; - external_function_param_{{ model.dyn_ext_fun_type }}_create(&capsule->discr_dyn_phi_fun_jac_ut_xt[i], {{ dims.np }}); - {%- endif %} - } - - {%- if solver_options.hessian_approx == "EXACT" %} - capsule->discr_dyn_phi_fun_jac_ut_xt_hess = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})*N); - for (int i = 0; i < N; i++) - { - {%- if model.dyn_ext_fun_type == "casadi" %} - MAP_CASADI_FNC(discr_dyn_phi_fun_jac_ut_xt_hess[i], {{ model.name }}_dyn_disc_phi_fun_jac_hess); - {%- else %} - capsule->discr_dyn_phi_fun_jac_ut_xt_hess[i].fun = &{{ model.dyn_disc_fun_jac_hess }}; - external_function_param_{{ model.dyn_ext_fun_type }}_create(&capsule->discr_dyn_phi_fun_jac_ut_xt_hess[i], {{ dims.np }}); - {%- endif %} - } - {%- endif %} -{%- endif %} - - -{%- if cost.cost_type_0 == "NONLINEAR_LS" %} - // nonlinear least squares function - MAP_CASADI_FNC(cost_y_0_fun, {{ model.name }}_cost_y_0_fun); - MAP_CASADI_FNC(cost_y_0_fun_jac_ut_xt, {{ model.name }}_cost_y_0_fun_jac_ut_xt); - MAP_CASADI_FNC(cost_y_0_hess, {{ model.name }}_cost_y_0_hess); - -{%- elif cost.cost_type_0 == "CONVEX_OVER_NONLINEAR" %} - // convex-over-nonlinear cost - MAP_CASADI_FNC(conl_cost_0_fun, {{ model.name }}_conl_cost_0_fun); - MAP_CASADI_FNC(conl_cost_0_fun_jac_hess, {{ model.name }}_conl_cost_0_fun_jac_hess); - -{%- elif cost.cost_type_0 == "EXTERNAL" %} - // external cost - {%- if cost.cost_ext_fun_type_0 == "casadi" %} - MAP_CASADI_FNC(ext_cost_0_fun, {{ model.name }}_cost_ext_cost_0_fun); - {%- else %} - capsule->ext_cost_0_fun.fun = &{{ cost.cost_function_ext_cost_0 }}; - external_function_param_{{ cost.cost_ext_fun_type_0 }}_create(&capsule->ext_cost_0_fun, {{ dims.np }}); - {%- endif %} - - // external cost - {%- if cost.cost_ext_fun_type_0 == "casadi" %} - MAP_CASADI_FNC(ext_cost_0_fun_jac, {{ model.name }}_cost_ext_cost_0_fun_jac); - {%- else %} - capsule->ext_cost_0_fun_jac.fun = &{{ cost.cost_function_ext_cost_0 }}; - external_function_param_{{ cost.cost_ext_fun_type_0 }}_create(&capsule->ext_cost_0_fun_jac, {{ dims.np }}); - {%- endif %} - - // external cost - {%- if cost.cost_ext_fun_type_0 == "casadi" %} - MAP_CASADI_FNC(ext_cost_0_fun_jac_hess, {{ model.name }}_cost_ext_cost_0_fun_jac_hess); - {%- else %} - capsule->ext_cost_0_fun_jac_hess.fun = &{{ cost.cost_function_ext_cost_0 }}; - external_function_param_{{ cost.cost_ext_fun_type_0 }}_create(&capsule->ext_cost_0_fun_jac_hess, {{ dims.np }}); - {%- endif %} -{%- endif %} - -{%- if cost.cost_type == "NONLINEAR_LS" %} - // nonlinear least squares cost - capsule->cost_y_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); - for (int i = 0; i < N-1; i++) - { - MAP_CASADI_FNC(cost_y_fun[i], {{ model.name }}_cost_y_fun); - } - - capsule->cost_y_fun_jac_ut_xt = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); - for (int i = 0; i < N-1; i++) - { - MAP_CASADI_FNC(cost_y_fun_jac_ut_xt[i], {{ model.name }}_cost_y_fun_jac_ut_xt); - } - - capsule->cost_y_hess = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); - for (int i = 0; i < N-1; i++) - { - MAP_CASADI_FNC(cost_y_hess[i], {{ model.name }}_cost_y_hess); - } - -{%- elif cost.cost_type_0 == "CONVEX_OVER_NONLINEAR" %} - // convex-over-nonlinear cost - capsule->conl_cost_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); - for (int i = 0; i < N-1; i++) - { - MAP_CASADI_FNC(conl_cost_fun[i], {{ model.name }}_conl_cost_fun); - } - capsule->conl_cost_fun_jac_hess = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N); - for (int i = 0; i < N-1; i++) - { - MAP_CASADI_FNC(conl_cost_fun_jac_hess[i], {{ model.name }}_conl_cost_fun_jac_hess); - } - -{%- elif cost.cost_type == "EXTERNAL" %} - // external cost - capsule->ext_cost_fun = (external_function_param_{{ cost.cost_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ cost.cost_ext_fun_type }})*N); - for (int i = 0; i < N-1; i++) - { - {%- if cost.cost_ext_fun_type == "casadi" %} - MAP_CASADI_FNC(ext_cost_fun[i], {{ model.name }}_cost_ext_cost_fun); - {%- else %} - capsule->ext_cost_fun[i].fun = &{{ cost.cost_function_ext_cost }}; - external_function_param_{{ cost.cost_ext_fun_type }}_create(&capsule->ext_cost_fun[i], {{ dims.np }}); - {%- endif %} - } - - capsule->ext_cost_fun_jac = (external_function_param_{{ cost.cost_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ cost.cost_ext_fun_type }})*N); - for (int i = 0; i < N-1; i++) - { - {%- if cost.cost_ext_fun_type == "casadi" %} - MAP_CASADI_FNC(ext_cost_fun_jac[i], {{ model.name }}_cost_ext_cost_fun_jac); - {%- else %} - capsule->ext_cost_fun_jac[i].fun = &{{ cost.cost_function_ext_cost }}; - external_function_param_{{ cost.cost_ext_fun_type }}_create(&capsule->ext_cost_fun_jac[i], {{ dims.np }}); - {%- endif %} - } - - capsule->ext_cost_fun_jac_hess = (external_function_param_{{ cost.cost_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ cost.cost_ext_fun_type }})*N); - for (int i = 0; i < N-1; i++) - { - {%- if cost.cost_ext_fun_type == "casadi" %} - MAP_CASADI_FNC(ext_cost_fun_jac_hess[i], {{ model.name }}_cost_ext_cost_fun_jac_hess); - {%- else %} - capsule->ext_cost_fun_jac_hess[i].fun = &{{ cost.cost_function_ext_cost }}; - external_function_param_{{ cost.cost_ext_fun_type }}_create(&capsule->ext_cost_fun_jac_hess[i], {{ dims.np }}); - {%- endif %} - } -{%- endif %} - -{%- if cost.cost_type_e == "NONLINEAR_LS" %} - // nonlinear least square function - MAP_CASADI_FNC(cost_y_e_fun, {{ model.name }}_cost_y_e_fun); - MAP_CASADI_FNC(cost_y_e_fun_jac_ut_xt, {{ model.name }}_cost_y_e_fun_jac_ut_xt); - MAP_CASADI_FNC(cost_y_e_hess, {{ model.name }}_cost_y_e_hess); - -{%- elif cost.cost_type_e == "CONVEX_OVER_NONLINEAR" %} - // convex-over-nonlinear cost - MAP_CASADI_FNC(conl_cost_e_fun, {{ model.name }}_conl_cost_e_fun); - MAP_CASADI_FNC(conl_cost_e_fun_jac_hess, {{ model.name }}_conl_cost_e_fun_jac_hess); - -{%- elif cost.cost_type_e == "EXTERNAL" %} - // external cost - function - {%- if cost.cost_ext_fun_type_e == "casadi" %} - MAP_CASADI_FNC(ext_cost_e_fun, {{ model.name }}_cost_ext_cost_e_fun); - {% else %} - capsule->ext_cost_e_fun.fun = &{{ cost.cost_function_ext_cost_e }}; - external_function_param_{{ cost.cost_ext_fun_type_e }}_create(&capsule->ext_cost_e_fun, {{ dims.np }}); - {%- endif %} - - // external cost - jacobian - {%- if cost.cost_ext_fun_type_e == "casadi" %} - MAP_CASADI_FNC(ext_cost_e_fun_jac, {{ model.name }}_cost_ext_cost_e_fun_jac); - {%- else %} - capsule->ext_cost_e_fun_jac.fun = &{{ cost.cost_function_ext_cost_e }}; - external_function_param_{{ cost.cost_ext_fun_type_e }}_create(&capsule->ext_cost_e_fun_jac, {{ dims.np }}); - {%- endif %} - - // external cost - hessian - {%- if cost.cost_ext_fun_type_e == "casadi" %} - MAP_CASADI_FNC(ext_cost_e_fun_jac_hess, {{ model.name }}_cost_ext_cost_e_fun_jac_hess); - {%- else %} - capsule->ext_cost_e_fun_jac_hess.fun = &{{ cost.cost_function_ext_cost_e }}; - external_function_param_{{ cost.cost_ext_fun_type_e }}_create(&capsule->ext_cost_e_fun_jac_hess, {{ dims.np }}); - {%- endif %} -{%- endif %} - -#undef MAP_CASADI_FNC -} - - -/** - * Internal function for {{ model.name }}_acados_create: step 4 - */ -void {{ model.name }}_acados_create_4_set_default_parameters({{ model.name }}_solver_capsule* capsule) { -{%- if dims.np > 0 %} - const int N = capsule->nlp_solver_plan->N; - // initialize parameters to nominal value - double* p = calloc(NP, sizeof(double)); - {%- for item in parameter_values %} - {%- if item != 0 %} - p[{{ loop.index0 }}] = {{ item }}; - {%- endif %} - {%- endfor %} - - for (int i = 0; i <= N; i++) { - {{ model.name }}_acados_update_params(capsule, i, p, NP); - } - free(p); -{%- else %} - // no parameters defined -{%- endif %}{# if dims.np #} -} - - -/** - * Internal function for {{ model.name }}_acados_create: step 5 - */ -void {{ model.name }}_acados_create_5_set_nlp_in({{ model.name }}_solver_capsule* capsule, const int N, double* new_time_steps) -{ - assert(N == capsule->nlp_solver_plan->N); - ocp_nlp_config* nlp_config = capsule->nlp_config; - ocp_nlp_dims* nlp_dims = capsule->nlp_dims; - - /************************************************ - * nlp_in - ************************************************/ -// ocp_nlp_in * nlp_in = ocp_nlp_in_create(nlp_config, nlp_dims); -// capsule->nlp_in = nlp_in; - ocp_nlp_in * nlp_in = capsule->nlp_in; - - // set up time_steps - {% set all_equal = true -%} - {%- set val = solver_options.time_steps[0] %} - {%- for j in range(start=1, end=dims.N) %} - {%- if val != solver_options.time_steps[j] %} - {%- set_global all_equal = false %} - {%- break %} - {%- endif %} - {%- endfor %} - - if (new_time_steps) { - {{ model.name }}_acados_update_time_steps(capsule, N, new_time_steps); - } else { - {%- if all_equal == true -%} - // all time_steps are identical - double time_step = {{ solver_options.time_steps[0] }}; - for (int i = 0; i < N; i++) - { - ocp_nlp_in_set(nlp_config, nlp_dims, nlp_in, i, "Ts", &time_step); - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "scaling", &time_step); - } - {%- else -%} - // time_steps are different - double* time_steps = malloc(N*sizeof(double)); - {%- for j in range(end=dims.N) %} - time_steps[{{ j }}] = {{ solver_options.time_steps[j] }}; - {%- endfor %} - {{ model.name }}_acados_update_time_steps(capsule, N, time_steps); - free(time_steps); - {%- endif %} - } - - /**** Dynamics ****/ - for (int i = 0; i < N; i++) - { - {%- if solver_options.integrator_type == "ERK" %} - ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "expl_vde_forw", &capsule->forw_vde_casadi[i]); - ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "expl_ode_fun", &capsule->expl_ode_fun[i]); - {%- if solver_options.hessian_approx == "EXACT" %} - ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "expl_ode_hess", &capsule->hess_vde_casadi[i]); - {%- endif %} - {% elif solver_options.integrator_type == "IRK" %} - ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "impl_dae_fun", &capsule->impl_dae_fun[i]); - ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, - "impl_dae_fun_jac_x_xdot_z", &capsule->impl_dae_fun_jac_x_xdot_z[i]); - ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, - "impl_dae_jac_x_xdot_u", &capsule->impl_dae_jac_x_xdot_u_z[i]); - {%- if solver_options.hessian_approx == "EXACT" %} - ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "impl_dae_hess", &capsule->impl_dae_hess[i]); - {%- endif %} - {% elif solver_options.integrator_type == "LIFTED_IRK" %} - ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "impl_dae_fun", &capsule->impl_dae_fun[i]); - ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, - "impl_dae_fun_jac_x_xdot_u", &capsule->impl_dae_fun_jac_x_xdot_u[i]); - {% elif solver_options.integrator_type == "GNSF" %} - {% if model.gnsf.purely_linear != 1 %} - ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "phi_fun", &capsule->gnsf_phi_fun[i]); - ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "phi_fun_jac_y", &capsule->gnsf_phi_fun_jac_y[i]); - ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "phi_jac_y_uhat", &capsule->gnsf_phi_jac_y_uhat[i]); - {% if model.gnsf.nontrivial_f_LO == 1 %} - ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "f_lo_jac_x1_x1dot_u_z", - &capsule->gnsf_f_lo_jac_x1_x1dot_u_z[i]); - {%- endif %} - {%- endif %} - ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "gnsf_get_matrices_fun", - &capsule->gnsf_get_matrices_fun[i]); - {% elif solver_options.integrator_type == "DISCRETE" %} - ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "disc_dyn_fun", &capsule->discr_dyn_phi_fun[i]); - ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "disc_dyn_fun_jac", - &capsule->discr_dyn_phi_fun_jac_ut_xt[i]); - {%- if solver_options.hessian_approx == "EXACT" %} - ocp_nlp_dynamics_model_set(nlp_config, nlp_dims, nlp_in, i, "disc_dyn_fun_jac_hess", - &capsule->discr_dyn_phi_fun_jac_ut_xt_hess[i]); - {%- endif %} - {%- endif %} - } - - /**** Cost ****/ - -{%- if dims.ny_0 == 0 %} -{%- elif cost.cost_type_0 == "NONLINEAR_LS" or cost.cost_type_0 == "LINEAR_LS" or cost.cost_type_0 == "CONVEX_OVER_NONLINEAR" %} - double* yref_0 = calloc(NY0, sizeof(double)); - // change only the non-zero elements: - {%- for j in range(end=dims.ny_0) %} - {%- if cost.yref_0[j] != 0 %} - yref_0[{{ j }}] = {{ cost.yref_0[j] }}; - {%- endif %} - {%- endfor %} - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "yref", yref_0); - free(yref_0); -{%- endif %} - - -{%- if dims.ny == 0 %} -{%- elif cost.cost_type == "NONLINEAR_LS" or cost.cost_type == "LINEAR_LS" or cost.cost_type == "CONVEX_OVER_NONLINEAR" %} - double* yref = calloc(NY, sizeof(double)); - // change only the non-zero elements: - {%- for j in range(end=dims.ny) %} - {%- if cost.yref[j] != 0 %} - yref[{{ j }}] = {{ cost.yref[j] }}; - {%- endif %} - {%- endfor %} - - for (int i = 1; i < N; i++) - { - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "yref", yref); - } - free(yref); -{%- endif %} - - -{%- if dims.ny_e == 0 %} -{%- elif cost.cost_type_e == "NONLINEAR_LS" or cost.cost_type_e == "LINEAR_LS" or cost.cost_type_e == "CONVEX_OVER_NONLINEAR" %} - double* yref_e = calloc(NYN, sizeof(double)); - // change only the non-zero elements: - {%- for j in range(end=dims.ny_e) %} - {%- if cost.yref_e[j] != 0 %} - yref_e[{{ j }}] = {{ cost.yref_e[j] }}; - {%- endif %} - {%- endfor %} - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "yref", yref_e); - free(yref_e); -{%- endif %} - -{%- if dims.ny_0 == 0 %} -{%- elif cost.cost_type_0 == "NONLINEAR_LS" or cost.cost_type_0 == "LINEAR_LS" %} - double* W_0 = calloc(NY0*NY0, sizeof(double)); - // change only the non-zero elements: - {%- for j in range(end=dims.ny_0) %} - {%- for k in range(end=dims.ny_0) %} - {%- if cost.W_0[j][k] != 0 %} - W_0[{{ j }}+(NY0) * {{ k }}] = {{ cost.W_0[j][k] }}; - {%- endif %} - {%- endfor %} - {%- endfor %} - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "W", W_0); - free(W_0); -{%- endif %} - -{%- if dims.ny == 0 %} -{%- elif cost.cost_type == "NONLINEAR_LS" or cost.cost_type == "LINEAR_LS" %} - double* W = calloc(NY*NY, sizeof(double)); - // change only the non-zero elements: - {%- for j in range(end=dims.ny) %} - {%- for k in range(end=dims.ny) %} - {%- if cost.W[j][k] != 0 %} - W[{{ j }}+(NY) * {{ k }}] = {{ cost.W[j][k] }}; - {%- endif %} - {%- endfor %} - {%- endfor %} - - for (int i = 1; i < N; i++) - { - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "W", W); - } - free(W); -{%- endif %} - -{%- if dims.ny_e == 0 %} -{%- elif cost.cost_type_e == "NONLINEAR_LS" or cost.cost_type_e == "LINEAR_LS" %} - double* W_e = calloc(NYN*NYN, sizeof(double)); - // change only the non-zero elements: - {%- for j in range(end=dims.ny_e) %} - {%- for k in range(end=dims.ny_e) %} - {%- if cost.W_e[j][k] != 0 %} - W_e[{{ j }}+(NYN) * {{ k }}] = {{ cost.W_e[j][k] }}; - {%- endif %} - {%- endfor %} - {%- endfor %} - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "W", W_e); - free(W_e); -{%- endif %} - -{%- if dims.ny_0 == 0 %} -{%- elif cost.cost_type_0 == "LINEAR_LS" %} - double* Vx_0 = calloc(NY0*NX, sizeof(double)); - // change only the non-zero elements: - {%- for j in range(end=dims.ny_0) %} - {%- for k in range(end=dims.nx) %} - {%- if cost.Vx_0[j][k] != 0 %} - Vx_0[{{ j }}+(NY0) * {{ k }}] = {{ cost.Vx_0[j][k] }}; - {%- endif %} - {%- endfor %} - {%- endfor %} - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "Vx", Vx_0); - free(Vx_0); - - {%- if dims.nu > 0 %} - double* Vu_0 = calloc(NY0*NU, sizeof(double)); - // change only the non-zero elements: - {%- for j in range(end=dims.ny_0) %} - {%- for k in range(end=dims.nu) %} - {%- if cost.Vu_0[j][k] != 0 %} - Vu_0[{{ j }}+(NY0) * {{ k }}] = {{ cost.Vu_0[j][k] }}; - {%- endif %} - {%- endfor %} - {%- endfor %} - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "Vu", Vu_0); - free(Vu_0); - {%- endif %} - - {%- if dims.nz > 0 %} - double* Vz_0 = calloc(NY0*NZ, sizeof(double)); - // change only the non-zero elements: - {% for j in range(end=dims.ny_0) %} - {%- for k in range(end=dims.nz) %} - {%- if cost.Vz_0[j][k] != 0 %} - Vz_0[{{ j }}+(NY0) * {{ k }}] = {{ cost.Vz_0[j][k] }}; - {%- endif %} - {%- endfor %} - {%- endfor %} - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "Vz", Vz_0); - free(Vz_0); - {%- endif %} -{%- endif %} - -{%- if dims.ny == 0 %} -{%- elif cost.cost_type == "LINEAR_LS" %} - double* Vx = calloc(NY*NX, sizeof(double)); - // change only the non-zero elements: - {%- for j in range(end=dims.ny) %} - {%- for k in range(end=dims.nx) %} - {%- if cost.Vx[j][k] != 0 %} - Vx[{{ j }}+(NY) * {{ k }}] = {{ cost.Vx[j][k] }}; - {%- endif %} - {%- endfor %} - {%- endfor %} - for (int i = 1; i < N; i++) - { - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "Vx", Vx); - } - free(Vx); - - {% if dims.nu > 0 %} - double* Vu = calloc(NY*NU, sizeof(double)); - // change only the non-zero elements: - {% for j in range(end=dims.ny) %} - {%- for k in range(end=dims.nu) %} - {%- if cost.Vu[j][k] != 0 %} - Vu[{{ j }}+(NY) * {{ k }}] = {{ cost.Vu[j][k] }}; - {%- endif %} - {%- endfor %} - {%- endfor %} - - for (int i = 1; i < N; i++) - { - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "Vu", Vu); - } - free(Vu); - {%- endif %} - - {%- if dims.nz > 0 %} - double* Vz = calloc(NY*NZ, sizeof(double)); - // change only the non-zero elements: - {% for j in range(end=dims.ny) %} - {%- for k in range(end=dims.nz) %} - {%- if cost.Vz[j][k] != 0 %} - Vz[{{ j }}+(NY) * {{ k }}] = {{ cost.Vz[j][k] }}; - {%- endif %} - {%- endfor %} - {%- endfor %} - - for (int i = 1; i < N; i++) - { - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "Vz", Vz); - } - free(Vz); - {%- endif %} -{%- endif %}{# LINEAR LS #} - -{%- if dims.ny_e == 0 %} -{%- elif cost.cost_type_e == "LINEAR_LS" %} - double* Vx_e = calloc(NYN*NX, sizeof(double)); - // change only the non-zero elements: - {% for j in range(end=dims.ny_e) %} - {%- for k in range(end=dims.nx) %} - {%- if cost.Vx_e[j][k] != 0 %} - Vx_e[{{ j }}+(NYN) * {{ k }}] = {{ cost.Vx_e[j][k] }}; - {%- endif %} - {%- endfor %} - {%- endfor %} - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "Vx", Vx_e); - free(Vx_e); -{%- endif %} - -{%- if cost.cost_type_0 == "NONLINEAR_LS" %} - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "nls_y_fun", &capsule->cost_y_0_fun); - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "nls_y_fun_jac", &capsule->cost_y_0_fun_jac_ut_xt); - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "nls_y_hess", &capsule->cost_y_0_hess); -{%- elif cost.cost_type_0 == "CONVEX_OVER_NONLINEAR" %} - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "conl_cost_fun", &capsule->conl_cost_0_fun); - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "conl_cost_fun_jac_hess", &capsule->conl_cost_0_fun_jac_hess); -{%- elif cost.cost_type_0 == "EXTERNAL" %} - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "ext_cost_fun", &capsule->ext_cost_0_fun); - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "ext_cost_fun_jac", &capsule->ext_cost_0_fun_jac); - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "ext_cost_fun_jac_hess", &capsule->ext_cost_0_fun_jac_hess); -{%- endif %} - -{%- if cost.cost_type == "NONLINEAR_LS" %} - for (int i = 1; i < N; i++) - { - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "nls_y_fun", &capsule->cost_y_fun[i-1]); - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "nls_y_fun_jac", &capsule->cost_y_fun_jac_ut_xt[i-1]); - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "nls_y_hess", &capsule->cost_y_hess[i-1]); - } -{%- elif cost.cost_type == "CONVEX_OVER_NONLINEAR" %} - for (int i = 1; i < N; i++) - { - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "conl_cost_fun", &capsule->conl_cost_fun[i-1]); - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "conl_cost_fun_jac_hess", &capsule->conl_cost_fun_jac_hess[i-1]); - } -{%- elif cost.cost_type == "EXTERNAL" %} - for (int i = 1; i < N; i++) - { - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "ext_cost_fun", &capsule->ext_cost_fun[i-1]); - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "ext_cost_fun_jac", &capsule->ext_cost_fun_jac[i-1]); - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "ext_cost_fun_jac_hess", &capsule->ext_cost_fun_jac_hess[i-1]); - } -{%- endif %} - -{%- if cost.cost_type_e == "NONLINEAR_LS" %} - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "nls_y_fun", &capsule->cost_y_e_fun); - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "nls_y_fun_jac", &capsule->cost_y_e_fun_jac_ut_xt); - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "nls_y_hess", &capsule->cost_y_e_hess); - -{%- elif cost.cost_type_e == "CONVEX_OVER_NONLINEAR" %} - - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "conl_cost_fun", &capsule->conl_cost_e_fun); - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "conl_cost_fun_jac_hess", &capsule->conl_cost_e_fun_jac_hess); - -{%- elif cost.cost_type_e == "EXTERNAL" %} - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "ext_cost_fun", &capsule->ext_cost_e_fun); - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "ext_cost_fun_jac", &capsule->ext_cost_e_fun_jac); - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "ext_cost_fun_jac_hess", &capsule->ext_cost_e_fun_jac_hess); -{%- endif %} - - -{%- if dims.ns > 0 %} - // slacks - double* zlumem = calloc(4*NS, sizeof(double)); - double* Zl = zlumem+NS*0; - double* Zu = zlumem+NS*1; - double* zl = zlumem+NS*2; - double* zu = zlumem+NS*3; - // change only the non-zero elements: - {%- for j in range(end=dims.ns) %} - {%- if cost.Zl[j] != 0 %} - Zl[{{ j }}] = {{ cost.Zl[j] }}; - {%- endif %} - {%- endfor %} - - {%- for j in range(end=dims.ns) %} - {%- if cost.Zu[j] != 0 %} - Zu[{{ j }}] = {{ cost.Zu[j] }}; - {%- endif %} - {%- endfor %} - - {%- for j in range(end=dims.ns) %} - {%- if cost.zl[j] != 0 %} - zl[{{ j }}] = {{ cost.zl[j] }}; - {%- endif %} - {%- endfor %} - - {%- for j in range(end=dims.ns) %} - {%- if cost.zu[j] != 0 %} - zu[{{ j }}] = {{ cost.zu[j] }}; - {%- endif %} - {%- endfor %} - - for (int i = 0; i < N; i++) - { - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "Zl", Zl); - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "Zu", Zu); - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "zl", zl); - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "zu", zu); - } - free(zlumem); -{%- endif %} - -{% if dims.ns_e > 0 %} - // slacks terminal - double* zluemem = calloc(4*NSN, sizeof(double)); - double* Zl_e = zluemem+NSN*0; - double* Zu_e = zluemem+NSN*1; - double* zl_e = zluemem+NSN*2; - double* zu_e = zluemem+NSN*3; - - // change only the non-zero elements: - {% for j in range(end=dims.ns_e) %} - {%- if cost.Zl_e[j] != 0 %} - Zl_e[{{ j }}] = {{ cost.Zl_e[j] }}; - {%- endif %} - {%- endfor %} - - {% for j in range(end=dims.ns_e) %} - {%- if cost.Zu_e[j] != 0 %} - Zu_e[{{ j }}] = {{ cost.Zu_e[j] }}; - {%- endif %} - {%- endfor %} - - {% for j in range(end=dims.ns_e) %} - {%- if cost.zl_e[j] != 0 %} - zl_e[{{ j }}] = {{ cost.zl_e[j] }}; - {%- endif %} - {%- endfor %} - - {% for j in range(end=dims.ns_e) %} - {%- if cost.zu_e[j] != 0 %} - zu_e[{{ j }}] = {{ cost.zu_e[j] }}; - {%- endif %} - {%- endfor %} - - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "Zl", Zl_e); - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "Zu", Zu_e); - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "zl", zl_e); - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "zu", zu_e); - free(zluemem); -{%- endif %} - - /**** Constraints ****/ - - // bounds for initial stage -{%- if dims.nbx_0 > 0 %} - // x0 - int* idxbx0 = malloc(NBX0 * sizeof(int)); - {%- for i in range(end=dims.nbx_0) %} - idxbx0[{{ i }}] = {{ constraints.idxbx_0[i] }}; - {%- endfor %} - - double* lubx0 = calloc(2*NBX0, sizeof(double)); - double* lbx0 = lubx0; - double* ubx0 = lubx0 + NBX0; - // change only the non-zero elements: - {%- for i in range(end=dims.nbx_0) %} - {%- if constraints.lbx_0[i] != 0 %} - lbx0[{{ i }}] = {{ constraints.lbx_0[i] }}; - {%- endif %} - {%- if constraints.ubx_0[i] != 0 %} - ubx0[{{ i }}] = {{ constraints.ubx_0[i] }}; - {%- endif %} - {%- endfor %} - - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "idxbx", idxbx0); - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "lbx", lbx0); - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "ubx", ubx0); - free(idxbx0); - free(lubx0); -{%- endif %} - -{%- if dims.nbxe_0 > 0 %} - // idxbxe_0 - int* idxbxe_0 = malloc({{ dims.nbxe_0 }} * sizeof(int)); - {% for i in range(end=dims.nbxe_0) %} - idxbxe_0[{{ i }}] = {{ constraints.idxbxe_0[i] }}; - {%- endfor %} - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "idxbxe", idxbxe_0); - free(idxbxe_0); -{%- endif %} - - /* constraints that are the same for initial and intermediate */ -{%- if dims.nsbx > 0 %} -{# TODO: introduce nsbx0 & move this block down!! #} - // ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "idxsbx", idxsbx); - // ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "lsbx", lsbx); - // ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "usbx", usbx); - - // soft bounds on x - int* idxsbx = malloc(NSBX * sizeof(int)); - {%- for i in range(end=dims.nsbx) %} - idxsbx[{{ i }}] = {{ constraints.idxsbx[i] }}; - {%- endfor %} - - double* lusbx = calloc(2*NSBX, sizeof(double)); - double* lsbx = lusbx; - double* usbx = lusbx + NSBX; - {%- for i in range(end=dims.nsbx) %} - {%- if constraints.lsbx[i] != 0 %} - lsbx[{{ i }}] = {{ constraints.lsbx[i] }}; - {%- endif %} - {%- if constraints.usbx[i] != 0 %} - usbx[{{ i }}] = {{ constraints.usbx[i] }}; - {%- endif %} - {%- endfor %} - - for (int i = 1; i < N; i++) - { - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "idxsbx", idxsbx); - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lsbx", lsbx); - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "usbx", usbx); - } - free(idxsbx); - free(lusbx); -{%- endif %} - - -{%- if dims.nbu > 0 %} - // u - int* idxbu = malloc(NBU * sizeof(int)); - {% for i in range(end=dims.nbu) %} - idxbu[{{ i }}] = {{ constraints.idxbu[i] }}; - {%- endfor %} - double* lubu = calloc(2*NBU, sizeof(double)); - double* lbu = lubu; - double* ubu = lubu + NBU; - {% for i in range(end=dims.nbu) %} - {%- if constraints.lbu[i] != 0 %} - lbu[{{ i }}] = {{ constraints.lbu[i] }}; - {%- endif %} - {%- if constraints.ubu[i] != 0 %} - ubu[{{ i }}] = {{ constraints.ubu[i] }}; - {%- endif %} - {%- endfor %} - - for (int i = 0; i < N; i++) - { - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "idxbu", idxbu); - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lbu", lbu); - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "ubu", ubu); - } - free(idxbu); - free(lubu); -{%- endif %} - -{%- if dims.nsbu > 0 %} - // set up soft bounds for u - int* idxsbu = malloc(NSBU * sizeof(int)); - {% for i in range(end=dims.nsbu) %} - idxsbu[{{ i }}] = {{ constraints.idxsbu[i] }}; - {%- endfor %} - double* lusbu = calloc(2*NSBU, sizeof(double)); - double* lsbu = lusbu; - double* usbu = lusbu + NSBU; - {% for i in range(end=dims.nsbu) %} - {%- if constraints.lsbu[i] != 0 %} - lsbu[{{ i }}] = {{ constraints.lsbu[i] }}; - {%- endif %} - {%- if constraints.usbu[i] != 0 %} - usbu[{{ i }}] = {{ constraints.usbu[i] }}; - {%- endif %} - {%- endfor %} - for (int i = 0; i < N; i++) - { - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "idxsbu", idxsbu); - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lsbu", lsbu); - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "usbu", usbu); - } - free(idxsbu); - free(lusbu); -{%- endif %} - -{% if dims.nsg > 0 %} - // set up soft bounds for general linear constraints - int* idxsg = malloc(NSG * sizeof(int)); - {% for i in range(end=dims.nsg) %} - idxsg[{{ i }}] = {{ constraints.idxsg[i] }}; - {%- endfor %} - double* lusg = calloc(2*NSG, sizeof(double)); - double* lsg = lusg; - double* usg = lusg + NSG; - {% for i in range(end=dims.nsg) %} - {%- if constraints.lsg[i] != 0 %} - lsg[{{ i }}] = {{ constraints.lsg[i] }}; - {%- endif %} - {%- if constraints.usg[i] != 0 %} - usg[{{ i }}] = {{ constraints.usg[i] }}; - {%- endif %} - {%- endfor %} - - for (int i = 0; i < N; i++) - { - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "idxsg", idxsg); - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lsg", lsg); - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "usg", usg); - } - free(idxsg); - free(lusg); -{%- endif %} - -{% if dims.nsh > 0 %} - // set up soft bounds for nonlinear constraints - int* idxsh = malloc(NSH * sizeof(int)); - {% for i in range(end=dims.nsh) %} - idxsh[{{ i }}] = {{ constraints.idxsh[i] }}; - {%- endfor %} - double* lush = calloc(2*NSH, sizeof(double)); - double* lsh = lush; - double* ush = lush + NSH; - {% for i in range(end=dims.nsh) %} - {%- if constraints.lsh[i] != 0 %} - lsh[{{ i }}] = {{ constraints.lsh[i] }}; - {%- endif %} - {%- if constraints.ush[i] != 0 %} - ush[{{ i }}] = {{ constraints.ush[i] }}; - {%- endif %} - {%- endfor %} - - for (int i = 0; i < N; i++) - { - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "idxsh", idxsh); - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lsh", lsh); - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "ush", ush); - } - free(idxsh); - free(lush); -{%- endif %} - -{% if dims.nsphi > 0 %} - // set up soft bounds for convex-over-nonlinear constraints - int* idxsphi = malloc(NSPHI * sizeof(int)); - {% for i in range(end=dims.nsphi) %} - idxsphi[{{ i }}] = {{ constraints.idxsphi[i] }}; - {%- endfor %} - double* lusphi = calloc(2*NSPHI, sizeof(double)); - double* lsphi = lusphi; - double* usphi = lusphi + NSPHI; - {% for i in range(end=dims.nsphi) %} - {%- if constraints.lsphi[i] != 0 %} - lsphi[{{ i }}] = {{ constraints.lsphi[i] }}; - {%- endif %} - {%- if constraints.usphi[i] != 0 %} - usphi[{{ i }}] = {{ constraints.usphi[i] }}; - {%- endif %} - {%- endfor %} - - for (int i = 0; i < N; i++) - { - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "idxsphi", idxsphi); - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lsphi", lsphi); - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "usphi", usphi); - } - free(idxsphi); - free(lusphi); -{%- endif %} - -{% if dims.nbx > 0 %} - // x - int* idxbx = malloc(NBX * sizeof(int)); - {% for i in range(end=dims.nbx) %} - idxbx[{{ i }}] = {{ constraints.idxbx[i] }}; - {%- endfor %} - double* lubx = calloc(2*NBX, sizeof(double)); - double* lbx = lubx; - double* ubx = lubx + NBX; - {% for i in range(end=dims.nbx) %} - {%- if constraints.lbx[i] != 0 %} - lbx[{{ i }}] = {{ constraints.lbx[i] }}; - {%- endif %} - {%- if constraints.ubx[i] != 0 %} - ubx[{{ i }}] = {{ constraints.ubx[i] }}; - {%- endif %} - {%- endfor %} - - for (int i = 1; i < N; i++) - { - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "idxbx", idxbx); - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lbx", lbx); - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "ubx", ubx); - } - free(idxbx); - free(lubx); -{%- endif %} - -{% if dims.ng > 0 %} - // set up general constraints for stage 0 to N-1 - double* D = calloc(NG*NU, sizeof(double)); - double* C = calloc(NG*NX, sizeof(double)); - double* lug = calloc(2*NG, sizeof(double)); - double* lg = lug; - double* ug = lug + NG; - - {% for j in range(end=dims.ng) -%} - {% for k in range(end=dims.nu) %} - {%- if constraints.D[j][k] != 0 %} - D[{{ j }}+NG * {{ k }}] = {{ constraints.D[j][k] }}; - {%- endif %} - {%- endfor %} - {%- endfor %} - - {% for j in range(end=dims.ng) -%} - {% for k in range(end=dims.nx) %} - {%- if constraints.C[j][k] != 0 %} - C[{{ j }}+NG * {{ k }}] = {{ constraints.C[j][k] }}; - {%- endif %} - {%- endfor %} - {%- endfor %} - - {% for i in range(end=dims.ng) %} - {%- if constraints.lg[i] != 0 %} - lg[{{ i }}] = {{ constraints.lg[i] }}; - {%- endif %} - {%- endfor %} - - {% for i in range(end=dims.ng) %} - {%- if constraints.ug[i] != 0 %} - ug[{{ i }}] = {{ constraints.ug[i] }}; - {%- endif %} - {%- endfor %} - - for (int i = 0; i < N; i++) - { - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "D", D); - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "C", C); - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lg", lg); - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "ug", ug); - } - free(D); - free(C); - free(lug); -{%- endif %} - -{% if dims.nh > 0 %} - // set up nonlinear constraints for stage 0 to N-1 - double* luh = calloc(2*NH, sizeof(double)); - double* lh = luh; - double* uh = luh + NH; - - {% for i in range(end=dims.nh) %} - {%- if constraints.lh[i] != 0 %} - lh[{{ i }}] = {{ constraints.lh[i] }}; - {%- endif %} - {%- endfor %} - - {% for i in range(end=dims.nh) %} - {%- if constraints.uh[i] != 0 %} - uh[{{ i }}] = {{ constraints.uh[i] }}; - {%- endif %} - {%- endfor %} - - for (int i = 0; i < N; i++) - { - // nonlinear constraints for stages 0 to N-1 - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "nl_constr_h_fun_jac", - &capsule->nl_constr_h_fun_jac[i]); - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "nl_constr_h_fun", - &capsule->nl_constr_h_fun[i]); - {% if solver_options.hessian_approx == "EXACT" %} - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, - "nl_constr_h_fun_jac_hess", &capsule->nl_constr_h_fun_jac_hess[i]); - {% endif %} - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lh", lh); - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "uh", uh); - } - free(luh); -{%- endif %} - -{% if dims.nphi > 0 and constraints.constr_type == "BGP" %} - // set up convex-over-nonlinear constraints for stage 0 to N-1 - double* luphi = calloc(2*NPHI, sizeof(double)); - double* lphi = luphi; - double* uphi = luphi + NPHI; - {% for i in range(end=dims.nphi) %} - {%- if constraints.lphi[i] != 0 %} - lphi[{{ i }}] = {{ constraints.lphi[i] }}; - {%- endif %} - {%- endfor %} - - {% for i in range(end=dims.nphi) %} - {%- if constraints.uphi[i] != 0 %} - uphi[{{ i }}] = {{ constraints.uphi[i] }}; - {%- endif %} - {%- endfor %} - - for (int i = 0; i < N; i++) - { - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, - "nl_constr_phi_o_r_fun_phi_jac_ux_z_phi_hess_r_jac_ux", &capsule->phi_constraint[i]); - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lphi", lphi); - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "uphi", uphi); - } - free(luphi); -{%- endif %} - - /* terminal constraints */ -{% if dims.nbx_e > 0 %} - // set up bounds for last stage - // x - int* idxbx_e = malloc(NBXN * sizeof(int)); - {% for i in range(end=dims.nbx_e) %} - idxbx_e[{{ i }}] = {{ constraints.idxbx_e[i] }}; - {%- endfor %} - double* lubx_e = calloc(2*NBXN, sizeof(double)); - double* lbx_e = lubx_e; - double* ubx_e = lubx_e + NBXN; - {% for i in range(end=dims.nbx_e) %} - {%- if constraints.lbx_e[i] != 0 %} - lbx_e[{{ i }}] = {{ constraints.lbx_e[i] }}; - {%- endif %} - {%- if constraints.ubx_e[i] != 0 %} - ubx_e[{{ i }}] = {{ constraints.ubx_e[i] }}; - {%- endif %} - {%- endfor %} - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "idxbx", idxbx_e); - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lbx", lbx_e); - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "ubx", ubx_e); - free(idxbx_e); - free(lubx_e); -{%- endif %} - -{% if dims.nsg_e > 0 %} - // set up soft bounds for general linear constraints - int* idxsg_e = calloc(NSGN, sizeof(int)); - {% for i in range(end=dims.nsg_e) %} - idxsg_e[{{ i }}] = {{ constraints.idxsg_e[i] }}; - {%- endfor %} - double* lusg_e = calloc(2*NSGN, sizeof(double)); - double* lsg_e = lusg_e; - double* usg_e = lusg_e + NSGN; - {% for i in range(end=dims.nsg_e) %} - {%- if constraints.lsg_e[i] != 0 %} - lsg_e[{{ i }}] = {{ constraints.lsg_e[i] }}; - {%- endif %} - {%- if constraints.usg_e[i] != 0 %} - usg_e[{{ i }}] = {{ constraints.usg_e[i] }}; - {%- endif %} - {%- endfor %} - - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "idxsg", idxsg_e); - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lsg", lsg_e); - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "usg", usg_e); - free(idxsg_e); - free(lusg_e); -{%- endif %} - -{% if dims.nsh_e > 0 %} - // set up soft bounds for nonlinear constraints - int* idxsh_e = malloc(NSHN * sizeof(int)); - {% for i in range(end=dims.nsh_e) %} - idxsh_e[{{ i }}] = {{ constraints.idxsh_e[i] }}; - {%- endfor %} - double* lush_e = calloc(2*NSHN, sizeof(double)); - double* lsh_e = lush_e; - double* ush_e = lush_e + NSHN; - {% for i in range(end=dims.nsh_e) %} - {%- if constraints.lsh_e[i] != 0 %} - lsh_e[{{ i }}] = {{ constraints.lsh_e[i] }}; - {%- endif %} - {%- if constraints.ush_e[i] != 0 %} - ush_e[{{ i }}] = {{ constraints.ush_e[i] }}; - {%- endif %} - {%- endfor %} - - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "idxsh", idxsh_e); - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lsh", lsh_e); - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "ush", ush_e); - free(idxsh_e); - free(lush_e); -{%- endif %} - -{% if dims.nsphi_e > 0 %} - // set up soft bounds for convex-over-nonlinear constraints - int* idxsphi_e = malloc(NSPHIN * sizeof(int)); - {% for i in range(end=dims.nsphi_e) %} - idxsphi_e[{{ i }}] = {{ constraints.idxsphi_e[i] }}; - {%- endfor %} - double* lusphi_e = calloc(2*NSPHIN, sizeof(double)); - double* lsphi_e = lusphi_e; - double* usphi_e = lusphi_e + NSPHIN; - {% for i in range(end=dims.nsphi_e) %} - {%- if constraints.lsphi_e[i] != 0 %} - lsphi_e[{{ i }}] = {{ constraints.lsphi_e[i] }}; - {%- endif %} - {%- if constraints.usphi_e[i] != 0 %} - usphi_e[{{ i }}] = {{ constraints.usphi_e[i] }}; - {%- endif %} - {%- endfor %} - - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "idxsphi", idxsphi_e); - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lsphi", lsphi_e); - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "usphi", usphi_e); - free(idxsphi_e); - free(lusphi_e); -{%- endif %} - -{% if dims.nsbx_e > 0 %} - // soft bounds on x - int* idxsbx_e = malloc(NSBXN * sizeof(int)); - {% for i in range(end=dims.nsbx_e) %} - idxsbx_e[{{ i }}] = {{ constraints.idxsbx_e[i] }}; - {%- endfor %} - double* lusbx_e = calloc(2*NSBXN, sizeof(double)); - double* lsbx_e = lusbx_e; - double* usbx_e = lusbx_e + NSBXN; - {% for i in range(end=dims.nsbx_e) %} - {%- if constraints.lsbx_e[i] != 0 %} - lsbx_e[{{ i }}] = {{ constraints.lsbx_e[i] }}; - {%- endif %} - {%- if constraints.usbx_e[i] != 0 %} - usbx_e[{{ i }}] = {{ constraints.usbx_e[i] }}; - {%- endif %} - {%- endfor %} - - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "idxsbx", idxsbx_e); - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lsbx", lsbx_e); - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "usbx", usbx_e); - free(idxsbx_e); - free(lusbx_e); -{% endif %} - -{% if dims.ng_e > 0 %} - // set up general constraints for last stage - double* C_e = calloc(NGN*NX, sizeof(double)); - double* lug_e = calloc(2*NGN, sizeof(double)); - double* lg_e = lug_e; - double* ug_e = lug_e + NGN; - - {% for j in range(end=dims.ng_e) %} - {%- for k in range(end=dims.nx) %} - {%- if constraints.C_e[j][k] != 0 %} - C_e[{{ j }}+NGN * {{ k }}] = {{ constraints.C_e[j][k] }}; - {%- endif %} - {%- endfor %} - {%- endfor %} - - {% for i in range(end=dims.ng_e) %} - {%- if constraints.lg_e[i] != 0 %} - lg_e[{{ i }}] = {{ constraints.lg_e[i] }}; - {%- endif %} - {%- if constraints.ug_e[i] != 0 %} - ug_e[{{ i }}] = {{ constraints.ug_e[i] }}; - {%- endif %} - {%- endfor %} - - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "C", C_e); - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lg", lg_e); - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "ug", ug_e); - free(C_e); - free(lug_e); -{%- endif %} - -{% if dims.nh_e > 0 %} - // set up nonlinear constraints for last stage - double* luh_e = calloc(2*NHN, sizeof(double)); - double* lh_e = luh_e; - double* uh_e = luh_e + NHN; - {% for i in range(end=dims.nh_e) %} - {%- if constraints.lh_e[i] != 0 %} - lh_e[{{ i }}] = {{ constraints.lh_e[i] }}; - {%- endif %} - {%- endfor %} - - {% for i in range(end=dims.nh_e) %} - {%- if constraints.uh_e[i] != 0 %} - uh_e[{{ i }}] = {{ constraints.uh_e[i] }}; - {%- endif %} - {%- endfor %} - - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "nl_constr_h_fun_jac", &capsule->nl_constr_h_e_fun_jac); - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "nl_constr_h_fun", &capsule->nl_constr_h_e_fun); - {% if solver_options.hessian_approx == "EXACT" %} - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "nl_constr_h_fun_jac_hess", - &capsule->nl_constr_h_e_fun_jac_hess); - {% endif %} - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lh", lh_e); - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "uh", uh_e); - free(luh_e); -{%- endif %} - -{% if dims.nphi_e > 0 and constraints.constr_type_e == "BGP" %} - // set up convex-over-nonlinear constraints for last stage - double* luphi_e = calloc(2*NPHIN, sizeof(double)); - double* lphi_e = luphi_e; - double* uphi_e = luphi_e + NPHIN; - {% for i in range(end=dims.nphi_e) %} - {%- if constraints.lphi_e[i] != 0 %} - lphi_e[{{ i }}] = {{ constraints.lphi_e[i] }}; - {%- endif %} - {%- if constraints.uphi_e[i] != 0 %} - uphi_e[{{ i }}] = {{ constraints.uphi_e[i] }}; - {%- endif %} - {%- endfor %} - - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lphi", lphi_e); - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "uphi", uphi_e); - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, - "nl_constr_phi_o_r_fun_phi_jac_ux_z_phi_hess_r_jac_ux", &capsule->phi_e_constraint); - free(luphi_e); -{% endif %} -} - - -/** - * Internal function for {{ model.name }}_acados_create: step 6 - */ -void {{ model.name }}_acados_create_6_set_opts({{ model.name }}_solver_capsule* capsule) -{ - const int N = capsule->nlp_solver_plan->N; - ocp_nlp_config* nlp_config = capsule->nlp_config; - void *nlp_opts = capsule->nlp_opts; - - /************************************************ - * opts - ************************************************/ - -{% if solver_options.hessian_approx == "EXACT" %} - int nlp_solver_exact_hessian = 1; - ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "exact_hess", &nlp_solver_exact_hessian); - - int exact_hess_dyn = {{ solver_options.exact_hess_dyn }}; - ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "exact_hess_dyn", &exact_hess_dyn); - - int exact_hess_cost = {{ solver_options.exact_hess_cost }}; - ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "exact_hess_cost", &exact_hess_cost); - - int exact_hess_constr = {{ solver_options.exact_hess_constr }}; - ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "exact_hess_constr", &exact_hess_constr); -{%- endif -%} - -{%- if solver_options.globalization == "FIXED_STEP" %} - ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "globalization", "fixed_step"); -{%- elif solver_options.globalization == "MERIT_BACKTRACKING" %} - ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "globalization", "merit_backtracking"); - - double alpha_min = {{ solver_options.alpha_min }}; - ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "alpha_min", &alpha_min); - - double alpha_reduction = {{ solver_options.alpha_reduction }}; - ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "alpha_reduction", &alpha_reduction); - - int line_search_use_sufficient_descent = {{ solver_options.line_search_use_sufficient_descent }}; - ocp_nlp_solver_opts_set(nlp_config, capsule->nlp_opts, "line_search_use_sufficient_descent", &line_search_use_sufficient_descent); - - int globalization_use_SOC = {{ solver_options.globalization_use_SOC }}; - ocp_nlp_solver_opts_set(nlp_config, capsule->nlp_opts, "globalization_use_SOC", &globalization_use_SOC); - - double eps_sufficient_descent = {{ solver_options.eps_sufficient_descent }}; - ocp_nlp_solver_opts_set(nlp_config, capsule->nlp_opts, "eps_sufficient_descent", &eps_sufficient_descent); -{%- endif -%} - int full_step_dual = {{ solver_options.full_step_dual }}; - ocp_nlp_solver_opts_set(nlp_config, capsule->nlp_opts, "full_step_dual", &full_step_dual); - -{%- if dims.nz > 0 %} - // TODO: these options are lower level -> should be encapsulated! maybe through hessian approx option. - bool output_z_val = true; - bool sens_algebraic_val = true; - - for (int i = 0; i < N; i++) - ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_output_z", &output_z_val); - for (int i = 0; i < N; i++) - ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_sens_algebraic", &sens_algebraic_val); -{%- endif %} - -{%- if solver_options.integrator_type != "DISCRETE" %} - - // set collocation type (relevant for implicit integrators) - sim_collocation_type collocation_type = {{ solver_options.collocation_type }}; - for (int i = 0; i < N; i++) - ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_collocation_type", &collocation_type); - - // set up sim_method_num_steps - {%- set all_equal = true %} - {%- set val = solver_options.sim_method_num_steps[0] %} - {%- for j in range(start=1, end=dims.N) %} - {%- if val != solver_options.sim_method_num_steps[j] %} - {%- set_global all_equal = false %} - {%- break %} - {%- endif %} - {%- endfor %} - - {%- if all_equal == true %} - // all sim_method_num_steps are identical - int sim_method_num_steps = {{ solver_options.sim_method_num_steps[0] }}; - for (int i = 0; i < N; i++) - ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_num_steps", &sim_method_num_steps); - {%- else %} - // sim_method_num_steps are different - int* sim_method_num_steps = malloc(N*sizeof(int)); - {%- for j in range(end=dims.N) %} - sim_method_num_steps[{{ j }}] = {{ solver_options.sim_method_num_steps[j] }}; - {%- endfor %} - - for (int i = 0; i < N; i++) - ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_num_steps", &sim_method_num_steps[i]); - free(sim_method_num_steps); - {%- endif %} - - // set up sim_method_num_stages - {%- set all_equal = true %} - {%- set val = solver_options.sim_method_num_stages[0] %} - {%- for j in range(start=1, end=dims.N) %} - {%- if val != solver_options.sim_method_num_stages[j] %} - {%- set_global all_equal = false %} - {%- break %} - {%- endif %} - {%- endfor %} - - {%- if all_equal == true %} - // all sim_method_num_stages are identical - int sim_method_num_stages = {{ solver_options.sim_method_num_stages[0] }}; - for (int i = 0; i < N; i++) - ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_num_stages", &sim_method_num_stages); - {%- else %} - int* sim_method_num_stages = malloc(N*sizeof(int)); - {%- for j in range(end=dims.N) %} - sim_method_num_stages[{{ j }}] = {{ solver_options.sim_method_num_stages[j] }}; - {%- endfor %} - - for (int i = 0; i < N; i++) - ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_num_stages", &sim_method_num_stages[i]); - free(sim_method_num_stages); - {%- endif %} - - int newton_iter_val = {{ solver_options.sim_method_newton_iter }}; - for (int i = 0; i < N; i++) - ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_newton_iter", &newton_iter_val); - - - // set up sim_method_jac_reuse - {%- set all_equal = true %} - {%- set val = solver_options.sim_method_jac_reuse[0] %} - {%- for j in range(start=1, end=dims.N) %} - {%- if val != solver_options.sim_method_jac_reuse[j] %} - {%- set_global all_equal = false %} - {%- break %} - {%- endif %} - {%- endfor %} - {%- if all_equal == true %} - bool tmp_bool = (bool) {{ solver_options.sim_method_jac_reuse[0] }}; - for (int i = 0; i < N; i++) - ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_jac_reuse", &tmp_bool); - {%- else %} - bool* sim_method_jac_reuse = malloc(N*sizeof(bool)); - {%- for j in range(end=dims.N) %} - sim_method_jac_reuse[{{ j }}] = (bool){{ solver_options.sim_method_jac_reuse[j] }}; - {%- endfor %} - - for (int i = 0; i < N; i++) - ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "dynamics_jac_reuse", &sim_method_jac_reuse[i]); - free(sim_method_jac_reuse); - {%- endif %} - -{%- endif %} - - double nlp_solver_step_length = {{ solver_options.nlp_solver_step_length }}; - ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "step_length", &nlp_solver_step_length); - - {%- if solver_options.nlp_solver_warm_start_first_qp %} - int nlp_solver_warm_start_first_qp = {{ solver_options.nlp_solver_warm_start_first_qp }}; - ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "warm_start_first_qp", &nlp_solver_warm_start_first_qp); - {%- endif %} - - double levenberg_marquardt = {{ solver_options.levenberg_marquardt }}; - ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "levenberg_marquardt", &levenberg_marquardt); - - /* options QP solver */ -{%- if solver_options.qp_solver is starting_with("PARTIAL_CONDENSING") %} - int qp_solver_cond_N; - - {% if solver_options.qp_solver_cond_N -%} - const int qp_solver_cond_N_ori = {{ solver_options.qp_solver_cond_N }}; - qp_solver_cond_N = N < qp_solver_cond_N_ori ? N : qp_solver_cond_N_ori; // use the minimum value here - {%- else %} - // NOTE: there is no condensing happening here! - qp_solver_cond_N = N; - {%- endif %} - ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_cond_N", &qp_solver_cond_N); -{%- endif %} - - int nlp_solver_ext_qp_res = {{ solver_options.nlp_solver_ext_qp_res }}; - ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "ext_qp_res", &nlp_solver_ext_qp_res); - -{%- if solver_options.qp_solver is containing("HPIPM") %} - // set HPIPM mode: should be done before setting other QP solver options - ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_hpipm_mode", "{{ solver_options.hpipm_mode }}"); -{%- endif %} - -{% if solver_options.nlp_solver_type == "SQP" %} - // set SQP specific options - double nlp_solver_tol_stat = {{ solver_options.nlp_solver_tol_stat }}; - ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "tol_stat", &nlp_solver_tol_stat); - - double nlp_solver_tol_eq = {{ solver_options.nlp_solver_tol_eq }}; - ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "tol_eq", &nlp_solver_tol_eq); - - double nlp_solver_tol_ineq = {{ solver_options.nlp_solver_tol_ineq }}; - ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "tol_ineq", &nlp_solver_tol_ineq); - - double nlp_solver_tol_comp = {{ solver_options.nlp_solver_tol_comp }}; - ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "tol_comp", &nlp_solver_tol_comp); - - int nlp_solver_max_iter = {{ solver_options.nlp_solver_max_iter }}; - ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "max_iter", &nlp_solver_max_iter); - - int initialize_t_slacks = {{ solver_options.initialize_t_slacks }}; - ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "initialize_t_slacks", &initialize_t_slacks); -{%- endif %} - - int qp_solver_iter_max = {{ solver_options.qp_solver_iter_max }}; - ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_iter_max", &qp_solver_iter_max); - -{# NOTE: qp_solver tolerances must be set after NLP ones, since the setter for NLP tolerances sets the QP tolerances to the sam values. #} - {%- if solver_options.qp_solver_tol_stat %} - double qp_solver_tol_stat = {{ solver_options.qp_solver_tol_stat }}; - ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_tol_stat", &qp_solver_tol_stat); - {%- endif -%} - - {%- if solver_options.qp_solver_tol_eq %} - double qp_solver_tol_eq = {{ solver_options.qp_solver_tol_eq }}; - ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_tol_eq", &qp_solver_tol_eq); - {%- endif -%} - - {%- if solver_options.qp_solver_tol_ineq %} - double qp_solver_tol_ineq = {{ solver_options.qp_solver_tol_ineq }}; - ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_tol_ineq", &qp_solver_tol_ineq); - {%- endif -%} - - {%- if solver_options.qp_solver_tol_comp %} - double qp_solver_tol_comp = {{ solver_options.qp_solver_tol_comp }}; - ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_tol_comp", &qp_solver_tol_comp); - {%- endif -%} - - {%- if solver_options.qp_solver_warm_start %} - int qp_solver_warm_start = {{ solver_options.qp_solver_warm_start }}; - ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_warm_start", &qp_solver_warm_start); - {%- endif -%} - - int print_level = {{ solver_options.print_level }}; - ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "print_level", &print_level); - -{%- if solver_options.qp_solver is containing('PARTIAL_CONDENSING') %} - int qp_solver_cond_ric_alg = {{ solver_options.qp_solver_cond_ric_alg }}; - ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_cond_ric_alg", &qp_solver_cond_ric_alg); -{% endif %} - -{%- if solver_options.qp_solver == 'PARTIAL_CONDENSING_HPIPM' %} - int qp_solver_ric_alg = {{ solver_options.qp_solver_ric_alg }}; - ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_ric_alg", &qp_solver_ric_alg); -{% endif %} - - int ext_cost_num_hess = {{ solver_options.ext_cost_num_hess }}; -{%- if cost.cost_type == "EXTERNAL" %} - for (int i = 0; i < N; i++) - { - ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, i, "cost_numerical_hessian", &ext_cost_num_hess); - } -{%- endif %} -{%- if cost.cost_type_e == "EXTERNAL" %} - ocp_nlp_solver_opts_set_at_stage(nlp_config, nlp_opts, N, "cost_numerical_hessian", &ext_cost_num_hess); -{%- endif %} -} - - -/** - * Internal function for {{ model.name }}_acados_create: step 7 - */ -void {{ model.name }}_acados_create_7_set_nlp_out({{ model.name }}_solver_capsule* capsule) -{ - const int N = capsule->nlp_solver_plan->N; - ocp_nlp_config* nlp_config = capsule->nlp_config; - ocp_nlp_dims* nlp_dims = capsule->nlp_dims; - ocp_nlp_out* nlp_out = capsule->nlp_out; - - // initialize primal solution - double* xu0 = calloc(NX+NU, sizeof(double)); - double* x0 = xu0; -{% if dims.nbx_0 == dims.nx %} - // initialize with x0 - {% for item in constraints.lbx_0 %} - {%- if item != 0 %} - x0[{{ loop.index0 }}] = {{ item }}; - {%- endif %} - {%- endfor %} -{% else %} - // initialize with zeros -{%- endif %} - - double* u0 = xu0 + NX; - - for (int i = 0; i < N; i++) - { - // x0 - ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "x", x0); - // u0 - ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "u", u0); - } - ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, N, "x", x0); - free(xu0); -} - - -/** - * Internal function for {{ model.name }}_acados_create: step 8 - */ -//void {{ model.name }}_acados_create_8_create_solver({{ model.name }}_solver_capsule* capsule) -//{ -// capsule->nlp_solver = ocp_nlp_solver_create(capsule->nlp_config, capsule->nlp_dims, capsule->nlp_opts); -//} - -/** - * Internal function for {{ model.name }}_acados_create: step 9 - */ -int {{ model.name }}_acados_create_9_precompute({{ model.name }}_solver_capsule* capsule) { - int status = ocp_nlp_precompute(capsule->nlp_solver, capsule->nlp_in, capsule->nlp_out); - - if (status != ACADOS_SUCCESS) { - printf("\nocp_nlp_precompute failed!\n\n"); - exit(1); - } - - return status; -} - - -int {{ model.name }}_acados_create_with_discretization({{ model.name }}_solver_capsule* capsule, int N, double* new_time_steps) -{ - // If N does not match the number of shooting intervals used for code generation, new_time_steps must be given. - if (N != {{ model.name | upper }}_N && !new_time_steps) { - fprintf(stderr, "{{ model.name }}_acados_create_with_discretization: new_time_steps is NULL " \ - "but the number of shooting intervals (= %d) differs from the number of " \ - "shooting intervals (= %d) during code generation! Please provide a new vector of time_stamps!\n", \ - N, {{ model.name | upper }}_N); - return 1; - } - - // number of expected runtime parameters - capsule->nlp_np = NP; - - // 1) create and set nlp_solver_plan; create nlp_config - capsule->nlp_solver_plan = ocp_nlp_plan_create(N); - {{ model.name }}_acados_create_1_set_plan(capsule->nlp_solver_plan, N); - capsule->nlp_config = ocp_nlp_config_create(*capsule->nlp_solver_plan); - - // 3) create and set dimensions - capsule->nlp_dims = {{ model.name }}_acados_create_2_create_and_set_dimensions(capsule); - {{ model.name }}_acados_create_3_create_and_set_functions(capsule); - - // 4) set default parameters in functions - {{ model.name }}_acados_create_4_set_default_parameters(capsule); - - // 5) create and set nlp_in - capsule->nlp_in = ocp_nlp_in_create(capsule->nlp_config, capsule->nlp_dims); - {{ model.name }}_acados_create_5_set_nlp_in(capsule, N, new_time_steps); - - // 6) create and set nlp_opts - capsule->nlp_opts = ocp_nlp_solver_opts_create(capsule->nlp_config, capsule->nlp_dims); - {{ model.name }}_acados_create_6_set_opts(capsule); - - // 7) create and set nlp_out - // 7.1) nlp_out - capsule->nlp_out = ocp_nlp_out_create(capsule->nlp_config, capsule->nlp_dims); - // 7.2) sens_out - capsule->sens_out = ocp_nlp_out_create(capsule->nlp_config, capsule->nlp_dims); - {{ model.name }}_acados_create_7_set_nlp_out(capsule); - - // 8) create solver - capsule->nlp_solver = ocp_nlp_solver_create(capsule->nlp_config, capsule->nlp_dims, capsule->nlp_opts); - //{{ model.name }}_acados_create_8_create_solver(capsule); - - // 9) do precomputations - int status = {{ model.name }}_acados_create_9_precompute(capsule); - - {%- if custom_update_filename != "" %} - // Initialize custom update function - custom_update_init_function(capsule); - {%- endif %} - - return status; -} - -/** - * This function is for updating an already initialized solver with a different number of qp_cond_N. It is useful for code reuse after code export. - */ -int {{ model.name }}_acados_update_qp_solver_cond_N({{ model.name }}_solver_capsule* capsule, int qp_solver_cond_N) -{ -{%- if solver_options.qp_solver is starting_with("PARTIAL_CONDENSING") %} - // 1) destroy solver - ocp_nlp_solver_destroy(capsule->nlp_solver); - - // 2) set new value for "qp_cond_N" - const int N = capsule->nlp_solver_plan->N; - if(qp_solver_cond_N > N) - printf("Warning: qp_solver_cond_N = %d > N = %d\n", qp_solver_cond_N, N); - ocp_nlp_solver_opts_set(capsule->nlp_config, capsule->nlp_opts, "qp_cond_N", &qp_solver_cond_N); - - // 3) continue with the remaining steps from {{ model.name }}_acados_create_with_discretization(...): - // -> 8) create solver - capsule->nlp_solver = ocp_nlp_solver_create(capsule->nlp_config, capsule->nlp_dims, capsule->nlp_opts); - - // -> 9) do precomputations - int status = {{ model.name }}_acados_create_9_precompute(capsule); - return status; -{%- else %} - printf("\nacados_update_qp_solver_cond_N() failed, since no partial condensing solver is used!\n\n"); - // Todo: what is an adequate behavior here? - exit(1); - return -1; -{%- endif %} -} - - -int {{ model.name }}_acados_reset({{ model.name }}_solver_capsule* capsule, int reset_qp_solver_mem) -{ - - // set initialization to all zeros -{# TODO: use guess values / initial state value from json instead?! #} - const int N = capsule->nlp_solver_plan->N; - ocp_nlp_config* nlp_config = capsule->nlp_config; - ocp_nlp_dims* nlp_dims = capsule->nlp_dims; - ocp_nlp_out* nlp_out = capsule->nlp_out; - ocp_nlp_in* nlp_in = capsule->nlp_in; - ocp_nlp_solver* nlp_solver = capsule->nlp_solver; - - double* buffer = calloc(NX+NU+NZ+2*NS+2*NSN+NBX+NBU+NG+NH+NPHI+NBX0+NBXN+NHN+NPHIN+NGN, sizeof(double)); - - for(int i=0; i reset memory - int qp_status; - ocp_nlp_get(capsule->nlp_config, capsule->nlp_solver, "qp_status", &qp_status); - if (reset_qp_solver_mem || (qp_status == 3)) - { - // printf("\nin reset qp_status %d -> resetting QP memory\n", qp_status); - ocp_nlp_solver_reset_qp_memory(nlp_solver, nlp_in, nlp_out); - } -{%- endif %} - - free(buffer); - return 0; -} - - - - -int {{ model.name }}_acados_update_params({{ model.name }}_solver_capsule* capsule, int stage, double *p, int np) -{ - int solver_status = 0; - - int casadi_np = {{ dims.np }}; - if (casadi_np != np) { - printf("acados_update_params: trying to set %i parameters for external functions." - " External function has %i parameters. Exiting.\n", np, casadi_np); - exit(1); - } - - const int N = capsule->nlp_solver_plan->N; - if (stage < N && stage >= 0) - { - {%- if solver_options.integrator_type == "IRK" %} - capsule->impl_dae_fun[stage].set_param(capsule->impl_dae_fun+stage, p); - capsule->impl_dae_fun_jac_x_xdot_z[stage].set_param(capsule->impl_dae_fun_jac_x_xdot_z+stage, p); - capsule->impl_dae_jac_x_xdot_u_z[stage].set_param(capsule->impl_dae_jac_x_xdot_u_z+stage, p); - - {%- if solver_options.hessian_approx == "EXACT" %} - capsule->impl_dae_hess[stage].set_param(capsule->impl_dae_hess+stage, p); - {%- endif %} - {% elif solver_options.integrator_type == "LIFTED_IRK" %} - capsule->impl_dae_fun[stage].set_param(capsule->impl_dae_fun+stage, p); - capsule->impl_dae_fun_jac_x_xdot_u[stage].set_param(capsule->impl_dae_fun_jac_x_xdot_u+stage, p); - {% elif solver_options.integrator_type == "ERK" %} - capsule->forw_vde_casadi[stage].set_param(capsule->forw_vde_casadi+stage, p); - capsule->expl_ode_fun[stage].set_param(capsule->expl_ode_fun+stage, p); - - {%- if solver_options.hessian_approx == "EXACT" %} - capsule->hess_vde_casadi[stage].set_param(capsule->hess_vde_casadi+stage, p); - {%- endif %} - {% elif solver_options.integrator_type == "GNSF" %} - {% if model.gnsf.purely_linear != 1 %} - capsule->gnsf_phi_fun[stage].set_param(capsule->gnsf_phi_fun+stage, p); - capsule->gnsf_phi_fun_jac_y[stage].set_param(capsule->gnsf_phi_fun_jac_y+stage, p); - capsule->gnsf_phi_jac_y_uhat[stage].set_param(capsule->gnsf_phi_jac_y_uhat+stage, p); - {% if model.gnsf.nontrivial_f_LO == 1 %} - capsule->gnsf_f_lo_jac_x1_x1dot_u_z[stage].set_param(capsule->gnsf_f_lo_jac_x1_x1dot_u_z+stage, p); - {%- endif %} - {%- endif %} - {% elif solver_options.integrator_type == "DISCRETE" %} - capsule->discr_dyn_phi_fun[stage].set_param(capsule->discr_dyn_phi_fun+stage, p); - capsule->discr_dyn_phi_fun_jac_ut_xt[stage].set_param(capsule->discr_dyn_phi_fun_jac_ut_xt+stage, p); - {%- if solver_options.hessian_approx == "EXACT" %} - capsule->discr_dyn_phi_fun_jac_ut_xt_hess[stage].set_param(capsule->discr_dyn_phi_fun_jac_ut_xt_hess+stage, p); - {% endif %} - {%- endif %}{# integrator_type #} - - // constraints - {% if constraints.constr_type == "BGP" %} - capsule->phi_constraint[stage].set_param(capsule->phi_constraint+stage, p); - {% elif constraints.constr_type == "BGH" and dims.nh > 0 %} - capsule->nl_constr_h_fun_jac[stage].set_param(capsule->nl_constr_h_fun_jac+stage, p); - capsule->nl_constr_h_fun[stage].set_param(capsule->nl_constr_h_fun+stage, p); - {%- if solver_options.hessian_approx == "EXACT" %} - capsule->nl_constr_h_fun_jac_hess[stage].set_param(capsule->nl_constr_h_fun_jac_hess+stage, p); - {%- endif %} - {%- endif %} - - // cost - if (stage == 0) - { - {%- if cost.cost_type_0 == "NONLINEAR_LS" %} - capsule->cost_y_0_fun.set_param(&capsule->cost_y_0_fun, p); - capsule->cost_y_0_fun_jac_ut_xt.set_param(&capsule->cost_y_0_fun_jac_ut_xt, p); - capsule->cost_y_0_hess.set_param(&capsule->cost_y_0_hess, p); - {%- elif cost.cost_type_0 == "CONVEX_OVER_NONLINEAR" %} - capsule->conl_cost_0_fun.set_param(&capsule->conl_cost_0_fun, p); - capsule->conl_cost_0_fun_jac_hess.set_param(&capsule->conl_cost_0_fun_jac_hess, p); - {%- elif cost.cost_type_0 == "EXTERNAL" %} - capsule->ext_cost_0_fun.set_param(&capsule->ext_cost_0_fun, p); - capsule->ext_cost_0_fun_jac.set_param(&capsule->ext_cost_0_fun_jac, p); - capsule->ext_cost_0_fun_jac_hess.set_param(&capsule->ext_cost_0_fun_jac_hess, p); - {% endif %} - } - else // 0 < stage < N - { - {%- if cost.cost_type == "NONLINEAR_LS" %} - capsule->cost_y_fun[stage-1].set_param(capsule->cost_y_fun+stage-1, p); - capsule->cost_y_fun_jac_ut_xt[stage-1].set_param(capsule->cost_y_fun_jac_ut_xt+stage-1, p); - capsule->cost_y_hess[stage-1].set_param(capsule->cost_y_hess+stage-1, p); - {%- elif cost.cost_type == "CONVEX_OVER_NONLINEAR" %} - capsule->conl_cost_fun[stage-1].set_param(capsule->conl_cost_fun+stage-1, p); - capsule->conl_cost_fun_jac_hess[stage-1].set_param(capsule->conl_cost_fun_jac_hess+stage-1, p); - {%- elif cost.cost_type == "EXTERNAL" %} - capsule->ext_cost_fun[stage-1].set_param(capsule->ext_cost_fun+stage-1, p); - capsule->ext_cost_fun_jac[stage-1].set_param(capsule->ext_cost_fun_jac+stage-1, p); - capsule->ext_cost_fun_jac_hess[stage-1].set_param(capsule->ext_cost_fun_jac_hess+stage-1, p); - {%- endif %} - } - } - - else // stage == N - { - // terminal shooting node has no dynamics - // cost - {%- if cost.cost_type_e == "NONLINEAR_LS" %} - capsule->cost_y_e_fun.set_param(&capsule->cost_y_e_fun, p); - capsule->cost_y_e_fun_jac_ut_xt.set_param(&capsule->cost_y_e_fun_jac_ut_xt, p); - capsule->cost_y_e_hess.set_param(&capsule->cost_y_e_hess, p); - {%- elif cost.cost_type_e == "CONVEX_OVER_NONLINEAR" %} - capsule->conl_cost_e_fun.set_param(&capsule->conl_cost_e_fun, p); - capsule->conl_cost_e_fun_jac_hess.set_param(&capsule->conl_cost_e_fun_jac_hess, p); - {%- elif cost.cost_type_e == "EXTERNAL" %} - capsule->ext_cost_e_fun.set_param(&capsule->ext_cost_e_fun, p); - capsule->ext_cost_e_fun_jac.set_param(&capsule->ext_cost_e_fun_jac, p); - capsule->ext_cost_e_fun_jac_hess.set_param(&capsule->ext_cost_e_fun_jac_hess, p); - {% endif %} - // constraints - {% if constraints.constr_type_e == "BGP" %} - capsule->phi_e_constraint.set_param(&capsule->phi_e_constraint, p); - {% elif constraints.constr_type_e == "BGH" and dims.nh_e > 0 %} - capsule->nl_constr_h_e_fun_jac.set_param(&capsule->nl_constr_h_e_fun_jac, p); - capsule->nl_constr_h_e_fun.set_param(&capsule->nl_constr_h_e_fun, p); - {%- if solver_options.hessian_approx == "EXACT" %} - capsule->nl_constr_h_e_fun_jac_hess.set_param(&capsule->nl_constr_h_e_fun_jac_hess, p); - {%- endif %} - {% endif %} - } - - return solver_status; -} - - -int {{ model.name }}_acados_update_params_sparse({{ model.name }}_solver_capsule * capsule, int stage, int *idx, double *p, int n_update) -{ - int solver_status = 0; - - int casadi_np = {{ dims.np }}; - if (casadi_np < n_update) { - printf("{{ model.name }}_acados_update_params_sparse: trying to set %d parameters for external functions." - " External function has %d parameters. Exiting.\n", n_update, casadi_np); - exit(1); - } - // for (int i = 0; i < n_update; i++) - // { - // if (idx[i] > casadi_np) { - // printf("{{ model.name }}_acados_update_params_sparse: attempt to set parameters with index %d, while" - // " external functions only has %d parameters. Exiting.\n", idx[i], casadi_np); - // exit(1); - // } - // printf("param %d value %e\n", idx[i], p[i]); - // } - -{%- if dims.np > 0 %} - const int N = capsule->nlp_solver_plan->N; - if (stage < N && stage >= 0) - { - {%- if solver_options.integrator_type == "IRK" %} - capsule->impl_dae_fun[stage].set_param_sparse(capsule->impl_dae_fun+stage, n_update, idx, p); - capsule->impl_dae_fun_jac_x_xdot_z[stage].set_param_sparse(capsule->impl_dae_fun_jac_x_xdot_z+stage, n_update, idx, p); - capsule->impl_dae_jac_x_xdot_u_z[stage].set_param_sparse(capsule->impl_dae_jac_x_xdot_u_z+stage, n_update, idx, p); - - {%- if solver_options.hessian_approx == "EXACT" %} - capsule->impl_dae_hess[stage].set_param_sparse(capsule->impl_dae_hess+stage, n_update, idx, p); - {%- endif %} - {% elif solver_options.integrator_type == "LIFTED_IRK" %} - capsule->impl_dae_fun[stage].set_param_sparse(capsule->impl_dae_fun+stage, n_update, idx, p); - capsule->impl_dae_fun_jac_x_xdot_u[stage].set_param_sparse(capsule->impl_dae_fun_jac_x_xdot_u+stage, n_update, idx, p); - {% elif solver_options.integrator_type == "ERK" %} - capsule->forw_vde_casadi[stage].set_param_sparse(capsule->forw_vde_casadi+stage, n_update, idx, p); - capsule->expl_ode_fun[stage].set_param_sparse(capsule->expl_ode_fun+stage, n_update, idx, p); - - {%- if solver_options.hessian_approx == "EXACT" %} - capsule->hess_vde_casadi[stage].set_param_sparse(capsule->hess_vde_casadi+stage, n_update, idx, p); - {%- endif %} - {% elif solver_options.integrator_type == "GNSF" %} - {% if model.gnsf.purely_linear != 1 %} - capsule->gnsf_phi_fun[stage].set_param_sparse(capsule->gnsf_phi_fun+stage, n_update, idx, p); - capsule->gnsf_phi_fun_jac_y[stage].set_param_sparse(capsule->gnsf_phi_fun_jac_y+stage, n_update, idx, p); - capsule->gnsf_phi_jac_y_uhat[stage].set_param_sparse(capsule->gnsf_phi_jac_y_uhat+stage, n_update, idx, p); - {% if model.gnsf.nontrivial_f_LO == 1 %} - capsule->gnsf_f_lo_jac_x1_x1dot_u_z[stage].set_param_sparse(capsule->gnsf_f_lo_jac_x1_x1dot_u_z+stage, n_update, idx, p); - {%- endif %} - {%- endif %} - {% elif solver_options.integrator_type == "DISCRETE" %} - capsule->discr_dyn_phi_fun[stage].set_param_sparse(capsule->discr_dyn_phi_fun+stage, n_update, idx, p); - capsule->discr_dyn_phi_fun_jac_ut_xt[stage].set_param_sparse(capsule->discr_dyn_phi_fun_jac_ut_xt+stage, n_update, idx, p); - {%- if solver_options.hessian_approx == "EXACT" %} - capsule->discr_dyn_phi_fun_jac_ut_xt_hess[stage].set_param_sparse(capsule->discr_dyn_phi_fun_jac_ut_xt_hess+stage, n_update, idx, p); - {% endif %} - {%- endif %}{# integrator_type #} - - // constraints - {% if constraints.constr_type == "BGP" %} - capsule->phi_constraint[stage].set_param_sparse(capsule->phi_constraint+stage, n_update, idx, p); - {% elif constraints.constr_type == "BGH" and dims.nh > 0 %} - capsule->nl_constr_h_fun_jac[stage].set_param_sparse(capsule->nl_constr_h_fun_jac+stage, n_update, idx, p); - capsule->nl_constr_h_fun[stage].set_param_sparse(capsule->nl_constr_h_fun+stage, n_update, idx, p); - {%- if solver_options.hessian_approx == "EXACT" %} - capsule->nl_constr_h_fun_jac_hess[stage].set_param_sparse(capsule->nl_constr_h_fun_jac_hess+stage, n_update, idx, p); - {%- endif %} - {%- endif %} - - // cost - if (stage == 0) - { - {%- if cost.cost_type_0 == "NONLINEAR_LS" %} - capsule->cost_y_0_fun.set_param_sparse(&capsule->cost_y_0_fun, n_update, idx, p); - capsule->cost_y_0_fun_jac_ut_xt.set_param_sparse(&capsule->cost_y_0_fun_jac_ut_xt, n_update, idx, p); - capsule->cost_y_0_hess.set_param_sparse(&capsule->cost_y_0_hess, n_update, idx, p); - {%- elif cost.cost_type_0 == "CONVEX_OVER_NONLINEAR" %} - capsule->conl_cost_0_fun.set_param_sparse(&capsule->conl_cost_0_fun, n_update, idx, p); - capsule->conl_cost_0_fun_jac_hess.set_param_sparse(&capsule->conl_cost_0_fun_jac_hess, n_update, idx, p); - {%- elif cost.cost_type_0 == "EXTERNAL" %} - capsule->ext_cost_0_fun.set_param_sparse(&capsule->ext_cost_0_fun, n_update, idx, p); - capsule->ext_cost_0_fun_jac.set_param_sparse(&capsule->ext_cost_0_fun_jac, n_update, idx, p); - capsule->ext_cost_0_fun_jac_hess.set_param_sparse(&capsule->ext_cost_0_fun_jac_hess, n_update, idx, p); - {% endif %} - } - else // 0 < stage < N - { - {%- if cost.cost_type == "NONLINEAR_LS" %} - capsule->cost_y_fun[stage-1].set_param_sparse(capsule->cost_y_fun+stage-1, n_update, idx, p); - capsule->cost_y_fun_jac_ut_xt[stage-1].set_param_sparse(capsule->cost_y_fun_jac_ut_xt+stage-1, n_update, idx, p); - capsule->cost_y_hess[stage-1].set_param_sparse(capsule->cost_y_hess+stage-1, n_update, idx, p); - {%- elif cost.cost_type == "CONVEX_OVER_NONLINEAR" %} - capsule->conl_cost_fun[stage-1].set_param_sparse(capsule->conl_cost_fun+stage-1, n_update, idx, p); - capsule->conl_cost_fun_jac_hess[stage-1].set_param_sparse(capsule->conl_cost_fun_jac_hess+stage-1, n_update, idx, p); - {%- elif cost.cost_type == "EXTERNAL" %} - capsule->ext_cost_fun[stage-1].set_param_sparse(capsule->ext_cost_fun+stage-1, n_update, idx, p); - capsule->ext_cost_fun_jac[stage-1].set_param_sparse(capsule->ext_cost_fun_jac+stage-1, n_update, idx, p); - capsule->ext_cost_fun_jac_hess[stage-1].set_param_sparse(capsule->ext_cost_fun_jac_hess+stage-1, n_update, idx, p); - {%- endif %} - } - } - - else // stage == N - { - // terminal shooting node has no dynamics - // cost - {%- if cost.cost_type_e == "NONLINEAR_LS" %} - capsule->cost_y_e_fun.set_param_sparse(&capsule->cost_y_e_fun, n_update, idx, p); - capsule->cost_y_e_fun_jac_ut_xt.set_param_sparse(&capsule->cost_y_e_fun_jac_ut_xt, n_update, idx, p); - capsule->cost_y_e_hess.set_param_sparse(&capsule->cost_y_e_hess, n_update, idx, p); - {%- elif cost.cost_type_e == "CONVEX_OVER_NONLINEAR" %} - capsule->conl_cost_e_fun.set_param_sparse(&capsule->conl_cost_e_fun, n_update, idx, p); - capsule->conl_cost_e_fun_jac_hess.set_param_sparse(&capsule->conl_cost_e_fun_jac_hess, n_update, idx, p); - {%- elif cost.cost_type_e == "EXTERNAL" %} - capsule->ext_cost_e_fun.set_param_sparse(&capsule->ext_cost_e_fun, n_update, idx, p); - capsule->ext_cost_e_fun_jac.set_param_sparse(&capsule->ext_cost_e_fun_jac, n_update, idx, p); - capsule->ext_cost_e_fun_jac_hess.set_param_sparse(&capsule->ext_cost_e_fun_jac_hess, n_update, idx, p); - {% endif %} - // constraints - {% if constraints.constr_type_e == "BGP" %} - capsule->phi_e_constraint.set_param_sparse(&capsule->phi_e_constraint, n_update, idx, p); - {% elif constraints.constr_type_e == "BGH" and dims.nh_e > 0 %} - capsule->nl_constr_h_e_fun_jac.set_param_sparse(&capsule->nl_constr_h_e_fun_jac, n_update, idx, p); - capsule->nl_constr_h_e_fun.set_param_sparse(&capsule->nl_constr_h_e_fun, n_update, idx, p); - {%- if solver_options.hessian_approx == "EXACT" %} - capsule->nl_constr_h_e_fun_jac_hess.set_param_sparse(&capsule->nl_constr_h_e_fun_jac_hess, n_update, idx, p); - {%- endif %} - {% endif %} - } -{% endif %}{# if dims.np #} - - return solver_status; -} - -int {{ model.name }}_acados_solve({{ model.name }}_solver_capsule* capsule) -{ - // solve NLP - int solver_status = ocp_nlp_solve(capsule->nlp_solver, capsule->nlp_in, capsule->nlp_out); - - return solver_status; -} - - -int {{ model.name }}_acados_free({{ model.name }}_solver_capsule* capsule) -{ - // before destroying, keep some info - const int N = capsule->nlp_solver_plan->N; - {%- if custom_update_filename != "" %} - custom_update_terminate_function(capsule); - {%- endif %} - // free memory - ocp_nlp_solver_opts_destroy(capsule->nlp_opts); - ocp_nlp_in_destroy(capsule->nlp_in); - ocp_nlp_out_destroy(capsule->nlp_out); - ocp_nlp_out_destroy(capsule->sens_out); - ocp_nlp_solver_destroy(capsule->nlp_solver); - ocp_nlp_dims_destroy(capsule->nlp_dims); - ocp_nlp_config_destroy(capsule->nlp_config); - ocp_nlp_plan_destroy(capsule->nlp_solver_plan); - - /* free external function */ - // dynamics -{%- if solver_options.integrator_type == "IRK" %} - for (int i = 0; i < N; i++) - { - external_function_param_{{ model.dyn_ext_fun_type }}_free(&capsule->impl_dae_fun[i]); - external_function_param_{{ model.dyn_ext_fun_type }}_free(&capsule->impl_dae_fun_jac_x_xdot_z[i]); - external_function_param_{{ model.dyn_ext_fun_type }}_free(&capsule->impl_dae_jac_x_xdot_u_z[i]); - {%- if solver_options.hessian_approx == "EXACT" %} - external_function_param_{{ model.dyn_ext_fun_type }}_free(&capsule->impl_dae_hess[i]); - {%- endif %} - } - free(capsule->impl_dae_fun); - free(capsule->impl_dae_fun_jac_x_xdot_z); - free(capsule->impl_dae_jac_x_xdot_u_z); - {%- if solver_options.hessian_approx == "EXACT" %} - free(capsule->impl_dae_hess); - {%- endif %} - -{%- elif solver_options.integrator_type == "LIFTED_IRK" %} - for (int i = 0; i < N; i++) - { - external_function_param_{{ model.dyn_ext_fun_type }}_free(&capsule->impl_dae_fun[i]); - external_function_param_{{ model.dyn_ext_fun_type }}_free(&capsule->impl_dae_fun_jac_x_xdot_u[i]); - } - free(capsule->impl_dae_fun); - free(capsule->impl_dae_fun_jac_x_xdot_u); - -{%- elif solver_options.integrator_type == "ERK" %} - for (int i = 0; i < N; i++) - { - external_function_param_casadi_free(&capsule->forw_vde_casadi[i]); - external_function_param_casadi_free(&capsule->expl_ode_fun[i]); - {%- if solver_options.hessian_approx == "EXACT" %} - external_function_param_casadi_free(&capsule->hess_vde_casadi[i]); - {%- endif %} - } - free(capsule->forw_vde_casadi); - free(capsule->expl_ode_fun); - {%- if solver_options.hessian_approx == "EXACT" %} - free(capsule->hess_vde_casadi); - {%- endif %} - -{%- elif solver_options.integrator_type == "GNSF" %} - for (int i = 0; i < N; i++) - { - {% if model.gnsf.purely_linear != 1 %} - external_function_param_casadi_free(&capsule->gnsf_phi_fun[i]); - external_function_param_casadi_free(&capsule->gnsf_phi_fun_jac_y[i]); - external_function_param_casadi_free(&capsule->gnsf_phi_jac_y_uhat[i]); - {% if model.gnsf.nontrivial_f_LO == 1 %} - external_function_param_casadi_free(&capsule->gnsf_f_lo_jac_x1_x1dot_u_z[i]); - {%- endif %} - {%- endif %} - external_function_param_casadi_free(&capsule->gnsf_get_matrices_fun[i]); - } - {% if model.gnsf.purely_linear != 1 %} - free(capsule->gnsf_phi_fun); - free(capsule->gnsf_phi_fun_jac_y); - free(capsule->gnsf_phi_jac_y_uhat); - {% if model.gnsf.nontrivial_f_LO == 1 %} - free(capsule->gnsf_f_lo_jac_x1_x1dot_u_z); - {%- endif %} - {%- endif %} - free(capsule->gnsf_get_matrices_fun); -{%- elif solver_options.integrator_type == "DISCRETE" %} - for (int i = 0; i < N; i++) - { - external_function_param_{{ model.dyn_ext_fun_type }}_free(&capsule->discr_dyn_phi_fun[i]); - external_function_param_{{ model.dyn_ext_fun_type }}_free(&capsule->discr_dyn_phi_fun_jac_ut_xt[i]); - {%- if solver_options.hessian_approx == "EXACT" %} - external_function_param_{{ model.dyn_ext_fun_type }}_free(&capsule->discr_dyn_phi_fun_jac_ut_xt_hess[i]); - {%- endif %} - } - free(capsule->discr_dyn_phi_fun); - free(capsule->discr_dyn_phi_fun_jac_ut_xt); - {%- if solver_options.hessian_approx == "EXACT" %} - free(capsule->discr_dyn_phi_fun_jac_ut_xt_hess); - {%- endif %} - -{%- endif %} - - // cost -{%- if cost.cost_type_0 == "NONLINEAR_LS" %} - external_function_param_casadi_free(&capsule->cost_y_0_fun); - external_function_param_casadi_free(&capsule->cost_y_0_fun_jac_ut_xt); - external_function_param_casadi_free(&capsule->cost_y_0_hess); -{%- elif cost.cost_type_0 == "CONVEX_OVER_NONLINEAR" %} - external_function_param_casadi_free(&capsule->conl_cost_0_fun); - external_function_param_casadi_free(&capsule->conl_cost_0_fun_jac_hess); -{%- elif cost.cost_type_0 == "EXTERNAL" %} - external_function_param_{{ cost.cost_ext_fun_type_0 }}_free(&capsule->ext_cost_0_fun); - external_function_param_{{ cost.cost_ext_fun_type_0 }}_free(&capsule->ext_cost_0_fun_jac); - external_function_param_{{ cost.cost_ext_fun_type_0 }}_free(&capsule->ext_cost_0_fun_jac_hess); -{%- endif %} -{%- if cost.cost_type == "NONLINEAR_LS" %} - for (int i = 0; i < N - 1; i++) - { - external_function_param_casadi_free(&capsule->cost_y_fun[i]); - external_function_param_casadi_free(&capsule->cost_y_fun_jac_ut_xt[i]); - external_function_param_casadi_free(&capsule->cost_y_hess[i]); - } - free(capsule->cost_y_fun); - free(capsule->cost_y_fun_jac_ut_xt); - free(capsule->cost_y_hess); -{%- elif cost.cost_type == "CONVEX_OVER_NONLINEAR" %} - for (int i = 0; i < N - 1; i++) - { - external_function_param_casadi_free(&capsule->conl_cost_fun[i]); - external_function_param_casadi_free(&capsule->conl_cost_fun_jac_hess[i]); - } - free(capsule->conl_cost_fun); - free(capsule->conl_cost_fun_jac_hess); -{%- elif cost.cost_type == "EXTERNAL" %} - for (int i = 0; i < N - 1; i++) - { - external_function_param_{{ cost.cost_ext_fun_type }}_free(&capsule->ext_cost_fun[i]); - external_function_param_{{ cost.cost_ext_fun_type }}_free(&capsule->ext_cost_fun_jac[i]); - external_function_param_{{ cost.cost_ext_fun_type }}_free(&capsule->ext_cost_fun_jac_hess[i]); - } - free(capsule->ext_cost_fun); - free(capsule->ext_cost_fun_jac); - free(capsule->ext_cost_fun_jac_hess); -{%- endif %} -{%- if cost.cost_type_e == "NONLINEAR_LS" %} - external_function_param_casadi_free(&capsule->cost_y_e_fun); - external_function_param_casadi_free(&capsule->cost_y_e_fun_jac_ut_xt); - external_function_param_casadi_free(&capsule->cost_y_e_hess); -{%- elif cost.cost_type_e == "CONVEX_OVER_NONLINEAR" %} - external_function_param_casadi_free(&capsule->conl_cost_e_fun); - external_function_param_casadi_free(&capsule->conl_cost_e_fun_jac_hess); -{%- elif cost.cost_type_e == "EXTERNAL" %} - external_function_param_{{ cost.cost_ext_fun_type_e }}_free(&capsule->ext_cost_e_fun); - external_function_param_{{ cost.cost_ext_fun_type_e }}_free(&capsule->ext_cost_e_fun_jac); - external_function_param_{{ cost.cost_ext_fun_type_e }}_free(&capsule->ext_cost_e_fun_jac_hess); -{%- endif %} - - // constraints -{%- if constraints.constr_type == "BGH" and dims.nh > 0 %} - for (int i = 0; i < N; i++) - { - external_function_param_casadi_free(&capsule->nl_constr_h_fun_jac[i]); - external_function_param_casadi_free(&capsule->nl_constr_h_fun[i]); - } - {%- if solver_options.hessian_approx == "EXACT" %} - for (int i = 0; i < N; i++) - { - external_function_param_casadi_free(&capsule->nl_constr_h_fun_jac_hess[i]); - } - {%- endif %} - free(capsule->nl_constr_h_fun_jac); - free(capsule->nl_constr_h_fun); - {%- if solver_options.hessian_approx == "EXACT" %} - free(capsule->nl_constr_h_fun_jac_hess); - {%- endif %} - -{%- elif constraints.constr_type == "BGP" and dims.nphi > 0 %} - for (int i = 0; i < N; i++) - { - external_function_param_casadi_free(&capsule->phi_constraint[i]); - } - free(capsule->phi_constraint); -{%- endif %} - -{%- if constraints.constr_type_e == "BGH" and dims.nh_e > 0 %} - external_function_param_casadi_free(&capsule->nl_constr_h_e_fun_jac); - external_function_param_casadi_free(&capsule->nl_constr_h_e_fun); -{%- if solver_options.hessian_approx == "EXACT" %} - external_function_param_casadi_free(&capsule->nl_constr_h_e_fun_jac_hess); -{%- endif %} -{%- elif constraints.constr_type_e == "BGP" and dims.nphi_e > 0 %} - external_function_param_casadi_free(&capsule->phi_e_constraint); -{%- endif %} - - return 0; -} - - -void {{ model.name }}_acados_print_stats({{ model.name }}_solver_capsule* capsule) -{ - int sqp_iter, stat_m, stat_n, tmp_int; - ocp_nlp_get(capsule->nlp_config, capsule->nlp_solver, "sqp_iter", &sqp_iter); - ocp_nlp_get(capsule->nlp_config, capsule->nlp_solver, "stat_n", &stat_n); - ocp_nlp_get(capsule->nlp_config, capsule->nlp_solver, "stat_m", &stat_m); - - {% set stat_n_max = 12 %} - double stat[{{ solver_options.nlp_solver_max_iter * stat_n_max }}]; - ocp_nlp_get(capsule->nlp_config, capsule->nlp_solver, "statistics", stat); - - int nrow = sqp_iter+1 < stat_m ? sqp_iter+1 : stat_m; - - printf("iter\tres_stat\tres_eq\t\tres_ineq\tres_comp\tqp_stat\tqp_iter\talpha"); - if (stat_n > 8) - printf("\t\tqp_res_stat\tqp_res_eq\tqp_res_ineq\tqp_res_comp"); - printf("\n"); - -{%- if solver_options.nlp_solver_type == "SQP" %} - - for (int i = 0; i < nrow; i++) - { - for (int j = 0; j < stat_n + 1; j++) - { - if (j == 0 || j == 5 || j == 6) - { - tmp_int = (int) stat[i + j * nrow]; - printf("%d\t", tmp_int); - } - else - { - printf("%e\t", stat[i + j * nrow]); - } - } - printf("\n"); - } -{% else %} - printf("iter\tqp_stat\tqp_iter\n"); - for (int i = 0; i < nrow; i++) - { - for (int j = 0; j < stat_n + 1; j++) - { - tmp_int = (int) stat[i + j * nrow]; - printf("%d\t", tmp_int); - } - printf("\n"); - } -{%- endif %} -} - -int {{ model.name }}_acados_custom_update({{ model.name }}_solver_capsule* capsule, double* data, int data_len) -{ -{%- if custom_update_filename == "" %} - (void)capsule; - (void)data; - (void)data_len; - printf("\ndummy function that can be called in between solver calls to update parameters or numerical data efficiently in C.\n"); - printf("nothing set yet..\n"); - return 1; -{% else %} - custom_update_function(capsule, data, data_len); -{%- endif %} -} - - - -ocp_nlp_in *{{ model.name }}_acados_get_nlp_in({{ model.name }}_solver_capsule* capsule) { return capsule->nlp_in; } -ocp_nlp_out *{{ model.name }}_acados_get_nlp_out({{ model.name }}_solver_capsule* capsule) { return capsule->nlp_out; } -ocp_nlp_out *{{ model.name }}_acados_get_sens_out({{ model.name }}_solver_capsule* capsule) { return capsule->sens_out; } -ocp_nlp_solver *{{ model.name }}_acados_get_nlp_solver({{ model.name }}_solver_capsule* capsule) { return capsule->nlp_solver; } -ocp_nlp_config *{{ model.name }}_acados_get_nlp_config({{ model.name }}_solver_capsule* capsule) { return capsule->nlp_config; } -void *{{ model.name }}_acados_get_nlp_opts({{ model.name }}_solver_capsule* capsule) { return capsule->nlp_opts; } -ocp_nlp_dims *{{ model.name }}_acados_get_nlp_dims({{ model.name }}_solver_capsule* capsule) { return capsule->nlp_dims; } -ocp_nlp_plan_t *{{ model.name }}_acados_get_nlp_plan({{ model.name }}_solver_capsule* capsule) { return capsule->nlp_solver_plan; } diff --git a/third_party/acados/acados_template/c_templates_tera/acados_solver.in.h b/third_party/acados/acados_template/c_templates_tera/acados_solver.in.h deleted file mode 100644 index 5cf38aa8c8ff3b..00000000000000 --- a/third_party/acados/acados_template/c_templates_tera/acados_solver.in.h +++ /dev/null @@ -1,241 +0,0 @@ -/* - * Copyright (c) The acados authors. - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - -#ifndef ACADOS_SOLVER_{{ model.name }}_H_ -#define ACADOS_SOLVER_{{ model.name }}_H_ - -#include "acados/utils/types.h" - -#include "acados_c/ocp_nlp_interface.h" -#include "acados_c/external_function_interface.h" - -#define {{ model.name | upper }}_NX {{ dims.nx }} -#define {{ model.name | upper }}_NZ {{ dims.nz }} -#define {{ model.name | upper }}_NU {{ dims.nu }} -#define {{ model.name | upper }}_NP {{ dims.np }} -#define {{ model.name | upper }}_NBX {{ dims.nbx }} -#define {{ model.name | upper }}_NBX0 {{ dims.nbx_0 }} -#define {{ model.name | upper }}_NBU {{ dims.nbu }} -#define {{ model.name | upper }}_NSBX {{ dims.nsbx }} -#define {{ model.name | upper }}_NSBU {{ dims.nsbu }} -#define {{ model.name | upper }}_NSH {{ dims.nsh }} -#define {{ model.name | upper }}_NSG {{ dims.nsg }} -#define {{ model.name | upper }}_NSPHI {{ dims.nsphi }} -#define {{ model.name | upper }}_NSHN {{ dims.nsh_e }} -#define {{ model.name | upper }}_NSGN {{ dims.nsg_e }} -#define {{ model.name | upper }}_NSPHIN {{ dims.nsphi_e }} -#define {{ model.name | upper }}_NSBXN {{ dims.nsbx_e }} -#define {{ model.name | upper }}_NS {{ dims.ns }} -#define {{ model.name | upper }}_NSN {{ dims.ns_e }} -#define {{ model.name | upper }}_NG {{ dims.ng }} -#define {{ model.name | upper }}_NBXN {{ dims.nbx_e }} -#define {{ model.name | upper }}_NGN {{ dims.ng_e }} -#define {{ model.name | upper }}_NY0 {{ dims.ny_0 }} -#define {{ model.name | upper }}_NY {{ dims.ny }} -#define {{ model.name | upper }}_NYN {{ dims.ny_e }} -#define {{ model.name | upper }}_N {{ dims.N }} -#define {{ model.name | upper }}_NH {{ dims.nh }} -#define {{ model.name | upper }}_NPHI {{ dims.nphi }} -#define {{ model.name | upper }}_NHN {{ dims.nh_e }} -#define {{ model.name | upper }}_NPHIN {{ dims.nphi_e }} -#define {{ model.name | upper }}_NR {{ dims.nr }} - -#ifdef __cplusplus -extern "C" { -#endif - -{%- if not solver_options.custom_update_filename %} - {%- set custom_update_filename = "" %} -{% else %} - {%- set custom_update_filename = solver_options.custom_update_filename %} -{%- endif %} - -// ** capsule for solver data ** -typedef struct {{ model.name }}_solver_capsule -{ - // acados objects - ocp_nlp_in *nlp_in; - ocp_nlp_out *nlp_out; - ocp_nlp_out *sens_out; - ocp_nlp_solver *nlp_solver; - void *nlp_opts; - ocp_nlp_plan_t *nlp_solver_plan; - ocp_nlp_config *nlp_config; - ocp_nlp_dims *nlp_dims; - - // number of expected runtime parameters - unsigned int nlp_np; - - /* external functions */ - // dynamics -{% if solver_options.integrator_type == "ERK" %} - external_function_param_casadi *forw_vde_casadi; - external_function_param_casadi *expl_ode_fun; -{% if solver_options.hessian_approx == "EXACT" %} - external_function_param_casadi *hess_vde_casadi; -{%- endif %} -{% elif solver_options.integrator_type == "IRK" %} - external_function_param_{{ model.dyn_ext_fun_type }} *impl_dae_fun; - external_function_param_{{ model.dyn_ext_fun_type }} *impl_dae_fun_jac_x_xdot_z; - external_function_param_{{ model.dyn_ext_fun_type }} *impl_dae_jac_x_xdot_u_z; -{% if solver_options.hessian_approx == "EXACT" %} - external_function_param_{{ model.dyn_ext_fun_type }} *impl_dae_hess; -{%- endif %} -{% elif solver_options.integrator_type == "LIFTED_IRK" %} - external_function_param_{{ model.dyn_ext_fun_type }} *impl_dae_fun; - external_function_param_{{ model.dyn_ext_fun_type }} *impl_dae_fun_jac_x_xdot_u; -{% elif solver_options.integrator_type == "GNSF" %} - external_function_param_casadi *gnsf_phi_fun; - external_function_param_casadi *gnsf_phi_fun_jac_y; - external_function_param_casadi *gnsf_phi_jac_y_uhat; - external_function_param_casadi *gnsf_f_lo_jac_x1_x1dot_u_z; - external_function_param_casadi *gnsf_get_matrices_fun; -{% elif solver_options.integrator_type == "DISCRETE" %} - external_function_param_{{ model.dyn_ext_fun_type }} *discr_dyn_phi_fun; - external_function_param_{{ model.dyn_ext_fun_type }} *discr_dyn_phi_fun_jac_ut_xt; -{%- if solver_options.hessian_approx == "EXACT" %} - external_function_param_{{ model.dyn_ext_fun_type }} *discr_dyn_phi_fun_jac_ut_xt_hess; -{%- endif %} -{%- endif %} - - - // cost -{% if cost.cost_type == "NONLINEAR_LS" %} - external_function_param_casadi *cost_y_fun; - external_function_param_casadi *cost_y_fun_jac_ut_xt; - external_function_param_casadi *cost_y_hess; -{% elif cost.cost_type == "CONVEX_OVER_NONLINEAR" %} - external_function_param_casadi *conl_cost_fun; - external_function_param_casadi *conl_cost_fun_jac_hess; -{%- elif cost.cost_type == "EXTERNAL" %} - external_function_param_{{ cost.cost_ext_fun_type }} *ext_cost_fun; - external_function_param_{{ cost.cost_ext_fun_type }} *ext_cost_fun_jac; - external_function_param_{{ cost.cost_ext_fun_type }} *ext_cost_fun_jac_hess; -{% endif %} - -{% if cost.cost_type_0 == "NONLINEAR_LS" %} - external_function_param_casadi cost_y_0_fun; - external_function_param_casadi cost_y_0_fun_jac_ut_xt; - external_function_param_casadi cost_y_0_hess; -{% elif cost.cost_type_0 == "CONVEX_OVER_NONLINEAR" %} - external_function_param_casadi conl_cost_0_fun; - external_function_param_casadi conl_cost_0_fun_jac_hess; -{% elif cost.cost_type_0 == "EXTERNAL" %} - external_function_param_{{ cost.cost_ext_fun_type_0 }} ext_cost_0_fun; - external_function_param_{{ cost.cost_ext_fun_type_0 }} ext_cost_0_fun_jac; - external_function_param_{{ cost.cost_ext_fun_type_0 }} ext_cost_0_fun_jac_hess; -{%- endif %} - -{% if cost.cost_type_e == "NONLINEAR_LS" %} - external_function_param_casadi cost_y_e_fun; - external_function_param_casadi cost_y_e_fun_jac_ut_xt; - external_function_param_casadi cost_y_e_hess; -{% elif cost.cost_type_e == "CONVEX_OVER_NONLINEAR" %} - external_function_param_casadi conl_cost_e_fun; - external_function_param_casadi conl_cost_e_fun_jac_hess; -{% elif cost.cost_type_e == "EXTERNAL" %} - external_function_param_{{ cost.cost_ext_fun_type_e }} ext_cost_e_fun; - external_function_param_{{ cost.cost_ext_fun_type_e }} ext_cost_e_fun_jac; - external_function_param_{{ cost.cost_ext_fun_type_e }} ext_cost_e_fun_jac_hess; -{%- endif %} - - // constraints -{%- if constraints.constr_type == "BGP" %} - external_function_param_casadi *phi_constraint; -{% elif constraints.constr_type == "BGH" and dims.nh > 0 %} - external_function_param_casadi *nl_constr_h_fun_jac; - external_function_param_casadi *nl_constr_h_fun; -{%- if solver_options.hessian_approx == "EXACT" %} - external_function_param_casadi *nl_constr_h_fun_jac_hess; -{%- endif %} -{%- endif %} - - -{% if constraints.constr_type_e == "BGP" %} - external_function_param_casadi phi_e_constraint; -{% elif constraints.constr_type_e == "BGH" and dims.nh_e > 0 %} - external_function_param_casadi nl_constr_h_e_fun_jac; - external_function_param_casadi nl_constr_h_e_fun; -{%- if solver_options.hessian_approx == "EXACT" %} - external_function_param_casadi nl_constr_h_e_fun_jac_hess; -{%- endif %} -{%- endif %} - -{%- if custom_update_filename != "" %} - void * custom_update_memory; -{%- endif %} - -} {{ model.name }}_solver_capsule; - -ACADOS_SYMBOL_EXPORT {{ model.name }}_solver_capsule * {{ model.name }}_acados_create_capsule(void); -ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_free_capsule({{ model.name }}_solver_capsule *capsule); - -ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_create({{ model.name }}_solver_capsule * capsule); - -ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_reset({{ model.name }}_solver_capsule* capsule, int reset_qp_solver_mem); - -/** - * Generic version of {{ model.name }}_acados_create which allows to use a different number of shooting intervals than - * the number used for code generation. If new_time_steps=NULL and n_time_steps matches the number used for code - * generation, the time-steps from code generation is used. - */ -ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_create_with_discretization({{ model.name }}_solver_capsule * capsule, int n_time_steps, double* new_time_steps); -/** - * Update the time step vector. Number N must be identical to the currently set number of shooting nodes in the - * nlp_solver_plan. Returns 0 if no error occurred and a otherwise a value other than 0. - */ -ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_update_time_steps({{ model.name }}_solver_capsule * capsule, int N, double* new_time_steps); -/** - * This function is used for updating an already initialized solver with a different number of qp_cond_N. - */ -ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_update_qp_solver_cond_N({{ model.name }}_solver_capsule * capsule, int qp_solver_cond_N); -ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_update_params({{ model.name }}_solver_capsule * capsule, int stage, double *value, int np); -ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_update_params_sparse({{ model.name }}_solver_capsule * capsule, int stage, int *idx, double *p, int n_update); - -ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_solve({{ model.name }}_solver_capsule * capsule); -ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_free({{ model.name }}_solver_capsule * capsule); -ACADOS_SYMBOL_EXPORT void {{ model.name }}_acados_print_stats({{ model.name }}_solver_capsule * capsule); -ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_custom_update({{ model.name }}_solver_capsule* capsule, double* data, int data_len); - - -ACADOS_SYMBOL_EXPORT ocp_nlp_in *{{ model.name }}_acados_get_nlp_in({{ model.name }}_solver_capsule * capsule); -ACADOS_SYMBOL_EXPORT ocp_nlp_out *{{ model.name }}_acados_get_nlp_out({{ model.name }}_solver_capsule * capsule); -ACADOS_SYMBOL_EXPORT ocp_nlp_out *{{ model.name }}_acados_get_sens_out({{ model.name }}_solver_capsule * capsule); -ACADOS_SYMBOL_EXPORT ocp_nlp_solver *{{ model.name }}_acados_get_nlp_solver({{ model.name }}_solver_capsule * capsule); -ACADOS_SYMBOL_EXPORT ocp_nlp_config *{{ model.name }}_acados_get_nlp_config({{ model.name }}_solver_capsule * capsule); -ACADOS_SYMBOL_EXPORT void *{{ model.name }}_acados_get_nlp_opts({{ model.name }}_solver_capsule * capsule); -ACADOS_SYMBOL_EXPORT ocp_nlp_dims *{{ model.name }}_acados_get_nlp_dims({{ model.name }}_solver_capsule * capsule); -ACADOS_SYMBOL_EXPORT ocp_nlp_plan_t *{{ model.name }}_acados_get_nlp_plan({{ model.name }}_solver_capsule * capsule); - -#ifdef __cplusplus -} /* extern "C" */ -#endif - -#endif // ACADOS_SOLVER_{{ model.name }}_H_ diff --git a/third_party/acados/acados_template/c_templates_tera/constraints.in.h b/third_party/acados/acados_template/c_templates_tera/constraints.in.h deleted file mode 100644 index d71ce5cc221f1b..00000000000000 --- a/third_party/acados/acados_template/c_templates_tera/constraints.in.h +++ /dev/null @@ -1,110 +0,0 @@ -/* - * Copyright (c) The acados authors. - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - -#ifndef {{ model.name }}_CONSTRAINTS -#define {{ model.name }}_CONSTRAINTS - -#ifdef __cplusplus -extern "C" { -#endif - -{% if dims.nphi > 0 %} -int {{ model.name }}_phi_constraint(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); -int {{ model.name }}_phi_constraint_work(int *, int *, int *, int *); -const int *{{ model.name }}_phi_constraint_sparsity_in(int); -const int *{{ model.name }}_phi_constraint_sparsity_out(int); -int {{ model.name }}_phi_constraint_n_in(void); -int {{ model.name }}_phi_constraint_n_out(void); -{% endif %} - -{% if dims.nphi_e > 0 %} -int {{ model.name }}_phi_e_constraint(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); -int {{ model.name }}_phi_e_constraint_work(int *, int *, int *, int *); -const int *{{ model.name }}_phi_e_constraint_sparsity_in(int); -const int *{{ model.name }}_phi_e_constraint_sparsity_out(int); -int {{ model.name }}_phi_e_constraint_n_in(void); -int {{ model.name }}_phi_e_constraint_n_out(void); -{% endif %} - -{% if dims.nh > 0 %} -int {{ model.name }}_constr_h_fun_jac_uxt_zt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); -int {{ model.name }}_constr_h_fun_jac_uxt_zt_work(int *, int *, int *, int *); -const int *{{ model.name }}_constr_h_fun_jac_uxt_zt_sparsity_in(int); -const int *{{ model.name }}_constr_h_fun_jac_uxt_zt_sparsity_out(int); -int {{ model.name }}_constr_h_fun_jac_uxt_zt_n_in(void); -int {{ model.name }}_constr_h_fun_jac_uxt_zt_n_out(void); - -int {{ model.name }}_constr_h_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); -int {{ model.name }}_constr_h_fun_work(int *, int *, int *, int *); -const int *{{ model.name }}_constr_h_fun_sparsity_in(int); -const int *{{ model.name }}_constr_h_fun_sparsity_out(int); -int {{ model.name }}_constr_h_fun_n_in(void); -int {{ model.name }}_constr_h_fun_n_out(void); - -{% if solver_options.hessian_approx == "EXACT" -%} -int {{ model.name }}_constr_h_fun_jac_uxt_zt_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); -int {{ model.name }}_constr_h_fun_jac_uxt_zt_hess_work(int *, int *, int *, int *); -const int *{{ model.name }}_constr_h_fun_jac_uxt_zt_hess_sparsity_in(int); -const int *{{ model.name }}_constr_h_fun_jac_uxt_zt_hess_sparsity_out(int); -int {{ model.name }}_constr_h_fun_jac_uxt_zt_hess_n_in(void); -int {{ model.name }}_constr_h_fun_jac_uxt_zt_hess_n_out(void); -{% endif %} -{% endif %} - -{% if dims.nh_e > 0 %} -int {{ model.name }}_constr_h_e_fun_jac_uxt_zt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); -int {{ model.name }}_constr_h_e_fun_jac_uxt_zt_work(int *, int *, int *, int *); -const int *{{ model.name }}_constr_h_e_fun_jac_uxt_zt_sparsity_in(int); -const int *{{ model.name }}_constr_h_e_fun_jac_uxt_zt_sparsity_out(int); -int {{ model.name }}_constr_h_e_fun_jac_uxt_zt_n_in(void); -int {{ model.name }}_constr_h_e_fun_jac_uxt_zt_n_out(void); - -int {{ model.name }}_constr_h_e_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); -int {{ model.name }}_constr_h_e_fun_work(int *, int *, int *, int *); -const int *{{ model.name }}_constr_h_e_fun_sparsity_in(int); -const int *{{ model.name }}_constr_h_e_fun_sparsity_out(int); -int {{ model.name }}_constr_h_e_fun_n_in(void); -int {{ model.name }}_constr_h_e_fun_n_out(void); - -{% if solver_options.hessian_approx == "EXACT" -%} -int {{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); -int {{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess_work(int *, int *, int *, int *); -const int *{{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess_sparsity_in(int); -const int *{{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess_sparsity_out(int); -int {{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess_n_in(void); -int {{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess_n_out(void); -{% endif %} -{% endif %} - -#ifdef __cplusplus -} /* extern "C" */ -#endif - -#endif // {{ model.name }}_CONSTRAINTS diff --git a/third_party/acados/acados_template/c_templates_tera/cost.in.h b/third_party/acados/acados_template/c_templates_tera/cost.in.h deleted file mode 100644 index 45eb09c12e2b3b..00000000000000 --- a/third_party/acados/acados_template/c_templates_tera/cost.in.h +++ /dev/null @@ -1,238 +0,0 @@ -/* - * Copyright (c) The acados authors. - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - - -#ifndef {{ model.name }}_COST -#define {{ model.name }}_COST - -#ifdef __cplusplus -extern "C" { -#endif - - -// Cost at initial shooting node -{% if cost.cost_type_0 == "NONLINEAR_LS" %} -int {{ model.name }}_cost_y_0_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); -int {{ model.name }}_cost_y_0_fun_work(int *, int *, int *, int *); -const int *{{ model.name }}_cost_y_0_fun_sparsity_in(int); -const int *{{ model.name }}_cost_y_0_fun_sparsity_out(int); -int {{ model.name }}_cost_y_0_fun_n_in(void); -int {{ model.name }}_cost_y_0_fun_n_out(void); - -int {{ model.name }}_cost_y_0_fun_jac_ut_xt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); -int {{ model.name }}_cost_y_0_fun_jac_ut_xt_work(int *, int *, int *, int *); -const int *{{ model.name }}_cost_y_0_fun_jac_ut_xt_sparsity_in(int); -const int *{{ model.name }}_cost_y_0_fun_jac_ut_xt_sparsity_out(int); -int {{ model.name }}_cost_y_0_fun_jac_ut_xt_n_in(void); -int {{ model.name }}_cost_y_0_fun_jac_ut_xt_n_out(void); - -int {{ model.name }}_cost_y_0_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); -int {{ model.name }}_cost_y_0_hess_work(int *, int *, int *, int *); -const int *{{ model.name }}_cost_y_0_hess_sparsity_in(int); -const int *{{ model.name }}_cost_y_0_hess_sparsity_out(int); -int {{ model.name }}_cost_y_0_hess_n_in(void); -int {{ model.name }}_cost_y_0_hess_n_out(void); -{% elif cost.cost_type_0 == "CONVEX_OVER_NONLINEAR" %} - -int {{ model.name }}_conl_cost_0_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); -int {{ model.name }}_conl_cost_0_fun_work(int *, int *, int *, int *); -const int *{{ model.name }}_conl_cost_0_fun_sparsity_in(int); -const int *{{ model.name }}_conl_cost_0_fun_sparsity_out(int); -int {{ model.name }}_conl_cost_0_fun_n_in(void); -int {{ model.name }}_conl_cost_0_fun_n_out(void); - -int {{ model.name }}_conl_cost_0_fun_jac_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); -int {{ model.name }}_conl_cost_0_fun_jac_hess_work(int *, int *, int *, int *); -const int *{{ model.name }}_conl_cost_0_fun_jac_hess_sparsity_in(int); -const int *{{ model.name }}_conl_cost_0_fun_jac_hess_sparsity_out(int); -int {{ model.name }}_conl_cost_0_fun_jac_hess_n_in(void); -int {{ model.name }}_conl_cost_0_fun_jac_hess_n_out(void); - -{% elif cost.cost_type_0 == "EXTERNAL" %} - {%- if cost.cost_ext_fun_type_0 == "casadi" %} -int {{ model.name }}_cost_ext_cost_0_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); -int {{ model.name }}_cost_ext_cost_0_fun_work(int *, int *, int *, int *); -const int *{{ model.name }}_cost_ext_cost_0_fun_sparsity_in(int); -const int *{{ model.name }}_cost_ext_cost_0_fun_sparsity_out(int); -int {{ model.name }}_cost_ext_cost_0_fun_n_in(void); -int {{ model.name }}_cost_ext_cost_0_fun_n_out(void); - -int {{ model.name }}_cost_ext_cost_0_fun_jac_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); -int {{ model.name }}_cost_ext_cost_0_fun_jac_hess_work(int *, int *, int *, int *); -const int *{{ model.name }}_cost_ext_cost_0_fun_jac_hess_sparsity_in(int); -const int *{{ model.name }}_cost_ext_cost_0_fun_jac_hess_sparsity_out(int); -int {{ model.name }}_cost_ext_cost_0_fun_jac_hess_n_in(void); -int {{ model.name }}_cost_ext_cost_0_fun_jac_hess_n_out(void); - -int {{ model.name }}_cost_ext_cost_0_fun_jac(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); -int {{ model.name }}_cost_ext_cost_0_fun_jac_work(int *, int *, int *, int *); -const int *{{ model.name }}_cost_ext_cost_0_fun_jac_sparsity_in(int); -const int *{{ model.name }}_cost_ext_cost_0_fun_jac_sparsity_out(int); -int {{ model.name }}_cost_ext_cost_0_fun_jac_n_in(void); -int {{ model.name }}_cost_ext_cost_0_fun_jac_n_out(void); - {%- else %} -int {{ cost.cost_function_ext_cost_0 }}(void **, void **, void *); - {%- endif %} -{% endif %} - - -// Cost at path shooting node -{% if cost.cost_type == "NONLINEAR_LS" %} -int {{ model.name }}_cost_y_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); -int {{ model.name }}_cost_y_fun_work(int *, int *, int *, int *); -const int *{{ model.name }}_cost_y_fun_sparsity_in(int); -const int *{{ model.name }}_cost_y_fun_sparsity_out(int); -int {{ model.name }}_cost_y_fun_n_in(void); -int {{ model.name }}_cost_y_fun_n_out(void); - -int {{ model.name }}_cost_y_fun_jac_ut_xt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); -int {{ model.name }}_cost_y_fun_jac_ut_xt_work(int *, int *, int *, int *); -const int *{{ model.name }}_cost_y_fun_jac_ut_xt_sparsity_in(int); -const int *{{ model.name }}_cost_y_fun_jac_ut_xt_sparsity_out(int); -int {{ model.name }}_cost_y_fun_jac_ut_xt_n_in(void); -int {{ model.name }}_cost_y_fun_jac_ut_xt_n_out(void); - -int {{ model.name }}_cost_y_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); -int {{ model.name }}_cost_y_hess_work(int *, int *, int *, int *); -const int *{{ model.name }}_cost_y_hess_sparsity_in(int); -const int *{{ model.name }}_cost_y_hess_sparsity_out(int); -int {{ model.name }}_cost_y_hess_n_in(void); -int {{ model.name }}_cost_y_hess_n_out(void); - -{% elif cost.cost_type == "CONVEX_OVER_NONLINEAR" %} -int {{ model.name }}_conl_cost_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); -int {{ model.name }}_conl_cost_fun_work(int *, int *, int *, int *); -const int *{{ model.name }}_conl_cost_fun_sparsity_in(int); -const int *{{ model.name }}_conl_cost_fun_sparsity_out(int); -int {{ model.name }}_conl_cost_fun_n_in(void); -int {{ model.name }}_conl_cost_fun_n_out(void); - -int {{ model.name }}_conl_cost_fun_jac_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); -int {{ model.name }}_conl_cost_fun_jac_hess_work(int *, int *, int *, int *); -const int *{{ model.name }}_conl_cost_fun_jac_hess_sparsity_in(int); -const int *{{ model.name }}_conl_cost_fun_jac_hess_sparsity_out(int); -int {{ model.name }}_conl_cost_fun_jac_hess_n_in(void); -int {{ model.name }}_conl_cost_fun_jac_hess_n_out(void); -{% elif cost.cost_type == "EXTERNAL" %} - {%- if cost.cost_ext_fun_type == "casadi" %} -int {{ model.name }}_cost_ext_cost_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); -int {{ model.name }}_cost_ext_cost_fun_work(int *, int *, int *, int *); -const int *{{ model.name }}_cost_ext_cost_fun_sparsity_in(int); -const int *{{ model.name }}_cost_ext_cost_fun_sparsity_out(int); -int {{ model.name }}_cost_ext_cost_fun_n_in(void); -int {{ model.name }}_cost_ext_cost_fun_n_out(void); - -int {{ model.name }}_cost_ext_cost_fun_jac_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); -int {{ model.name }}_cost_ext_cost_fun_jac_hess_work(int *, int *, int *, int *); -const int *{{ model.name }}_cost_ext_cost_fun_jac_hess_sparsity_in(int); -const int *{{ model.name }}_cost_ext_cost_fun_jac_hess_sparsity_out(int); -int {{ model.name }}_cost_ext_cost_fun_jac_hess_n_in(void); -int {{ model.name }}_cost_ext_cost_fun_jac_hess_n_out(void); - -int {{ model.name }}_cost_ext_cost_fun_jac(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); -int {{ model.name }}_cost_ext_cost_fun_jac_work(int *, int *, int *, int *); -const int *{{ model.name }}_cost_ext_cost_fun_jac_sparsity_in(int); -const int *{{ model.name }}_cost_ext_cost_fun_jac_sparsity_out(int); -int {{ model.name }}_cost_ext_cost_fun_jac_n_in(void); -int {{ model.name }}_cost_ext_cost_fun_jac_n_out(void); - {%- else %} -int {{ cost.cost_function_ext_cost }}(void **, void **, void *); - {%- endif %} -{% endif %} - -// Cost at terminal shooting node -{% if cost.cost_type_e == "NONLINEAR_LS" %} -int {{ model.name }}_cost_y_e_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); -int {{ model.name }}_cost_y_e_fun_work(int *, int *, int *, int *); -const int *{{ model.name }}_cost_y_e_fun_sparsity_in(int); -const int *{{ model.name }}_cost_y_e_fun_sparsity_out(int); -int {{ model.name }}_cost_y_e_fun_n_in(void); -int {{ model.name }}_cost_y_e_fun_n_out(void); - -int {{ model.name }}_cost_y_e_fun_jac_ut_xt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); -int {{ model.name }}_cost_y_e_fun_jac_ut_xt_work(int *, int *, int *, int *); -const int *{{ model.name }}_cost_y_e_fun_jac_ut_xt_sparsity_in(int); -const int *{{ model.name }}_cost_y_e_fun_jac_ut_xt_sparsity_out(int); -int {{ model.name }}_cost_y_e_fun_jac_ut_xt_n_in(void); -int {{ model.name }}_cost_y_e_fun_jac_ut_xt_n_out(void); - -int {{ model.name }}_cost_y_e_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); -int {{ model.name }}_cost_y_e_hess_work(int *, int *, int *, int *); -const int *{{ model.name }}_cost_y_e_hess_sparsity_in(int); -const int *{{ model.name }}_cost_y_e_hess_sparsity_out(int); -int {{ model.name }}_cost_y_e_hess_n_in(void); -int {{ model.name }}_cost_y_e_hess_n_out(void); -{% elif cost.cost_type_e == "CONVEX_OVER_NONLINEAR" %} -int {{ model.name }}_conl_cost_e_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); -int {{ model.name }}_conl_cost_e_fun_work(int *, int *, int *, int *); -const int *{{ model.name }}_conl_cost_e_fun_sparsity_in(int); -const int *{{ model.name }}_conl_cost_e_fun_sparsity_out(int); -int {{ model.name }}_conl_cost_e_fun_n_in(void); -int {{ model.name }}_conl_cost_e_fun_n_out(void); - -int {{ model.name }}_conl_cost_e_fun_jac_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); -int {{ model.name }}_conl_cost_e_fun_jac_hess_work(int *, int *, int *, int *); -const int *{{ model.name }}_conl_cost_e_fun_jac_hess_sparsity_in(int); -const int *{{ model.name }}_conl_cost_e_fun_jac_hess_sparsity_out(int); -int {{ model.name }}_conl_cost_e_fun_jac_hess_n_in(void); -int {{ model.name }}_conl_cost_e_fun_jac_hess_n_out(void); -{% elif cost.cost_type_e == "EXTERNAL" %} - {%- if cost.cost_ext_fun_type_e == "casadi" %} -int {{ model.name }}_cost_ext_cost_e_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); -int {{ model.name }}_cost_ext_cost_e_fun_work(int *, int *, int *, int *); -const int *{{ model.name }}_cost_ext_cost_e_fun_sparsity_in(int); -const int *{{ model.name }}_cost_ext_cost_e_fun_sparsity_out(int); -int {{ model.name }}_cost_ext_cost_e_fun_n_in(void); -int {{ model.name }}_cost_ext_cost_e_fun_n_out(void); - -int {{ model.name }}_cost_ext_cost_e_fun_jac_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); -int {{ model.name }}_cost_ext_cost_e_fun_jac_hess_work(int *, int *, int *, int *); -const int *{{ model.name }}_cost_ext_cost_e_fun_jac_hess_sparsity_in(int); -const int *{{ model.name }}_cost_ext_cost_e_fun_jac_hess_sparsity_out(int); -int {{ model.name }}_cost_ext_cost_e_fun_jac_hess_n_in(void); -int {{ model.name }}_cost_ext_cost_e_fun_jac_hess_n_out(void); - -int {{ model.name }}_cost_ext_cost_e_fun_jac(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); -int {{ model.name }}_cost_ext_cost_e_fun_jac_work(int *, int *, int *, int *); -const int *{{ model.name }}_cost_ext_cost_e_fun_jac_sparsity_in(int); -const int *{{ model.name }}_cost_ext_cost_e_fun_jac_sparsity_out(int); -int {{ model.name }}_cost_ext_cost_e_fun_jac_n_in(void); -int {{ model.name }}_cost_ext_cost_e_fun_jac_n_out(void); - {%- else %} -int {{ cost.cost_function_ext_cost_e }}(void **, void **, void *); - {%- endif %} -{% endif %} - - -#ifdef __cplusplus -} /* extern "C" */ -#endif - -#endif // {{ model.name }}_COST diff --git a/third_party/acados/acados_template/c_templates_tera/main.in.c b/third_party/acados/acados_template/c_templates_tera/main.in.c deleted file mode 100644 index 92a8b33eac2d61..00000000000000 --- a/third_party/acados/acados_template/c_templates_tera/main.in.c +++ /dev/null @@ -1,226 +0,0 @@ -/* - * Copyright (c) The acados authors. - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - -{%- if not solver_options.custom_update_filename %} - {%- set custom_update_filename = "" %} -{% else %} - {%- set custom_update_filename = solver_options.custom_update_filename %} -{%- endif %} - -// standard -#include -#include -// acados -#include "acados/utils/print.h" -#include "acados/utils/math.h" -#include "acados_c/ocp_nlp_interface.h" -#include "acados_c/external_function_interface.h" -#include "acados_solver_{{ model.name }}.h" - -// blasfeo -#include "blasfeo/include/blasfeo_d_aux_ext_dep.h" - -#define NX {{ model.name | upper }}_NX -#define NZ {{ model.name | upper }}_NZ -#define NU {{ model.name | upper }}_NU -#define NP {{ model.name | upper }}_NP -#define NBX {{ model.name | upper }}_NBX -#define NBX0 {{ model.name | upper }}_NBX0 -#define NBU {{ model.name | upper }}_NBU -#define NSBX {{ model.name | upper }}_NSBX -#define NSBU {{ model.name | upper }}_NSBU -#define NSH {{ model.name | upper }}_NSH -#define NSG {{ model.name | upper }}_NSG -#define NSPHI {{ model.name | upper }}_NSPHI -#define NSHN {{ model.name | upper }}_NSHN -#define NSGN {{ model.name | upper }}_NSGN -#define NSPHIN {{ model.name | upper }}_NSPHIN -#define NSBXN {{ model.name | upper }}_NSBXN -#define NS {{ model.name | upper }}_NS -#define NSN {{ model.name | upper }}_NSN -#define NG {{ model.name | upper }}_NG -#define NBXN {{ model.name | upper }}_NBXN -#define NGN {{ model.name | upper }}_NGN -#define NY0 {{ model.name | upper }}_NY0 -#define NY {{ model.name | upper }}_NY -#define NYN {{ model.name | upper }}_NYN -#define NH {{ model.name | upper }}_NH -#define NPHI {{ model.name | upper }}_NPHI -#define NHN {{ model.name | upper }}_NHN -#define NPHIN {{ model.name | upper }}_NPHIN -#define NR {{ model.name | upper }}_NR - - -int main() -{ - - {{ model.name }}_solver_capsule *acados_ocp_capsule = {{ model.name }}_acados_create_capsule(); - // there is an opportunity to change the number of shooting intervals in C without new code generation - int N = {{ model.name | upper }}_N; - // allocate the array and fill it accordingly - double* new_time_steps = NULL; - int status = {{ model.name }}_acados_create_with_discretization(acados_ocp_capsule, N, new_time_steps); - - if (status) - { - printf("{{ model.name }}_acados_create() returned status %d. Exiting.\n", status); - exit(1); - } - - ocp_nlp_config *nlp_config = {{ model.name }}_acados_get_nlp_config(acados_ocp_capsule); - ocp_nlp_dims *nlp_dims = {{ model.name }}_acados_get_nlp_dims(acados_ocp_capsule); - ocp_nlp_in *nlp_in = {{ model.name }}_acados_get_nlp_in(acados_ocp_capsule); - ocp_nlp_out *nlp_out = {{ model.name }}_acados_get_nlp_out(acados_ocp_capsule); - ocp_nlp_solver *nlp_solver = {{ model.name }}_acados_get_nlp_solver(acados_ocp_capsule); - void *nlp_opts = {{ model.name }}_acados_get_nlp_opts(acados_ocp_capsule); - - // initial condition - int idxbx0[NBX0]; - {%- for i in range(end=dims.nbx_0) %} - idxbx0[{{ i }}] = {{ constraints.idxbx_0[i] }}; - {%- endfor %} - - double lbx0[NBX0]; - double ubx0[NBX0]; - {%- for i in range(end=dims.nbx_0) %} - lbx0[{{ i }}] = {{ constraints.lbx_0[i] }}; - ubx0[{{ i }}] = {{ constraints.ubx_0[i] }}; - {%- endfor %} - - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "idxbx", idxbx0); - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "lbx", lbx0); - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "ubx", ubx0); - - // initialization for state values - double x_init[NX]; - {%- for i in range(end=dims.nx) %} - x_init[{{ i }}] = 0.0; - {%- endfor %} - - // initial value for control input - double u0[NU]; - {%- for i in range(end=dims.nu) %} - u0[{{ i }}] = 0.0; - {%- endfor %} - - - {%- if dims.np > 0 %} - // set parameters - double p[NP]; - {%- for item in parameter_values %} - p[{{ loop.index0 }}] = {{ item }}; - {%- endfor %} - - for (int ii = 0; ii <= N; ii++) - { - {{ model.name }}_acados_update_params(acados_ocp_capsule, ii, p, NP); - } - {% endif %}{# if np > 0 #} - - // prepare evaluation - int NTIMINGS = 1; - double min_time = 1e12; - double kkt_norm_inf; - double elapsed_time; - int sqp_iter; - - double xtraj[NX * (N+1)]; - double utraj[NU * N]; - - - // solve ocp in loop - int rti_phase = 0; - - for (int ii = 0; ii < NTIMINGS; ii++) - { - // initialize solution - for (int i = 0; i < N; i++) - { - ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "x", x_init); - ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "u", u0); - } - ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, N, "x", x_init); - ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "rti_phase", &rti_phase); - status = {{ model.name }}_acados_solve(acados_ocp_capsule); - ocp_nlp_get(nlp_config, nlp_solver, "time_tot", &elapsed_time); - min_time = MIN(elapsed_time, min_time); - } - - /* print solution and statistics */ - for (int ii = 0; ii <= nlp_dims->N; ii++) - ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, ii, "x", &xtraj[ii*NX]); - for (int ii = 0; ii < nlp_dims->N; ii++) - ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, ii, "u", &utraj[ii*NU]); - - printf("\n--- xtraj ---\n"); - d_print_exp_tran_mat( NX, N+1, xtraj, NX); - printf("\n--- utraj ---\n"); - d_print_exp_tran_mat( NU, N, utraj, NU ); - // ocp_nlp_out_print(nlp_solver->dims, nlp_out); - - printf("\nsolved ocp %d times, solution printed above\n\n", NTIMINGS); - - if (status == ACADOS_SUCCESS) - { - printf("{{ model.name }}_acados_solve(): SUCCESS!\n"); - } - else - { - printf("{{ model.name }}_acados_solve() failed with status %d.\n", status); - } - - -{%- if custom_update_filename != "" %} - {{ model.name }}_acados_custom_update(acados_ocp_capsule, xtraj, NX*(N+1)); -{%- endif %} - - // get solution - ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, 0, "kkt_norm_inf", &kkt_norm_inf); - ocp_nlp_get(nlp_config, nlp_solver, "sqp_iter", &sqp_iter); - - {{ model.name }}_acados_print_stats(acados_ocp_capsule); - - printf("\nSolver info:\n"); - printf(" SQP iterations %2d\n minimum time for %d solve %f [ms]\n KKT %e\n", - sqp_iter, NTIMINGS, min_time*1000, kkt_norm_inf); - - // free solver - status = {{ model.name }}_acados_free(acados_ocp_capsule); - if (status) { - printf("{{ model.name }}_acados_free() returned status %d. \n", status); - } - // free solver capsule - status = {{ model.name }}_acados_free_capsule(acados_ocp_capsule); - if (status) { - printf("{{ model.name }}_acados_free_capsule() returned status %d. \n", status); - } - - return status; -} diff --git a/third_party/acados/acados_template/c_templates_tera/main_sim.in.c b/third_party/acados/acados_template/c_templates_tera/main_sim.in.c deleted file mode 100644 index 8960aa00354bde..00000000000000 --- a/third_party/acados/acados_template/c_templates_tera/main_sim.in.c +++ /dev/null @@ -1,132 +0,0 @@ -/* - * Copyright (c) The acados authors. - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - - -// standard -#include -#include -// acados -#include "acados/utils/print.h" -#include "acados/utils/math.h" -#include "acados_c/sim_interface.h" -#include "acados_sim_solver_{{ model.name }}.h" - -#define NX {{ model.name | upper }}_NX -#define NZ {{ model.name | upper }}_NZ -#define NU {{ model.name | upper }}_NU -#define NP {{ model.name | upper }}_NP - - -int main() -{ - int status = 0; - sim_solver_capsule *capsule = {{ model.name }}_acados_sim_solver_create_capsule(); - status = {{ model.name }}_acados_sim_create(capsule); - - if (status) - { - printf("acados_create() returned status %d. Exiting.\n", status); - exit(1); - } - - sim_config *acados_sim_config = {{ model.name }}_acados_get_sim_config(capsule); - sim_in *acados_sim_in = {{ model.name }}_acados_get_sim_in(capsule); - sim_out *acados_sim_out = {{ model.name }}_acados_get_sim_out(capsule); - void *acados_sim_dims = {{ model.name }}_acados_get_sim_dims(capsule); - - // initial condition - double x_current[NX]; - {%- for i in range(end=dims.nx) %} - x_current[{{ i }}] = 0.0; - {%- endfor %} - - {% if constraints.lbx_0 %} - {%- for i in range(end=dims.nbx_0) %} - x_current[{{ constraints.idxbx_0[i] }}] = {{ constraints.lbx_0[i] }}; - {%- endfor %} - {% if dims.nbx_0 != dims.nx %} - printf("main_sim: NOTE: initial state not fully defined via lbx_0, using 0.0 for indices that are not in idxbx_0."); - {%- endif %} - {% else %} - printf("main_sim: initial state not defined, should be in lbx_0, using zero vector."); - {%- endif %} - - - // initial value for control input - double u0[NU]; - {%- for i in range(end=dims.nu) %} - u0[{{ i }}] = 0.0; - {%- endfor %} - - {%- if dims.np > 0 %} - // set parameters - double p[NP]; - {%- for item in parameter_values %} - p[{{ loop.index0 }}] = {{ item }}; - {%- endfor %} - - {{ model.name }}_acados_sim_update_params(capsule, p, NP); - {% endif %}{# if np > 0 #} - - int n_sim_steps = 3; - // solve ocp in loop - for (int ii = 0; ii < n_sim_steps; ii++) - { - sim_in_set(acados_sim_config, acados_sim_dims, - acados_sim_in, "x", x_current); - status = {{ model.name }}_acados_sim_solve(capsule); - - if (status != ACADOS_SUCCESS) - { - printf("acados_solve() failed with status %d.\n", status); - } - - sim_out_get(acados_sim_config, acados_sim_dims, - acados_sim_out, "x", x_current); - - printf("\nx_current, %d\n", ii); - for (int jj = 0; jj < NX; jj++) - { - printf("%e\n", x_current[jj]); - } - } - - printf("\nPerformed %d simulation steps with acados integrator successfully.\n\n", n_sim_steps); - - // free solver - status = {{ model.name }}_acados_sim_free(capsule); - if (status) { - printf("{{ model.name }}_acados_sim_free() returned status %d. \n", status); - } - - {{ model.name }}_acados_sim_solver_free_capsule(capsule); - - return status; -} diff --git a/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_mex_create.in.c b/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_mex_create.in.c deleted file mode 100644 index 24ae94ac2cc96d..00000000000000 --- a/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_mex_create.in.c +++ /dev/null @@ -1,384 +0,0 @@ -/* - * Copyright (c) The acados authors. - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - - -// standard -#include -#include -#include - -// acados -#include "acados/utils/print.h" -#include "acados_c/ocp_nlp_interface.h" -#include "acados_solver_{{ model.name }}.h" - -// mex -#include "mex.h" - - -void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[]) -{ - long long *l_ptr; - int status = 0; - - // create solver - {{ model.name }}_solver_capsule *acados_ocp_capsule = {{ model.name }}_acados_create_capsule(); - - status = {{ model.name }}_acados_create(acados_ocp_capsule); - - if (status) - { - mexPrintf("{{ model.name }}_acados_create() returned status %d.\n", status); - } - mexPrintf("{{ model.name }}_acados_create() -> success!\n"); - - // get pointers to nlp solver related objects - ocp_nlp_plan_t *nlp_plan = {{ model.name }}_acados_get_nlp_plan(acados_ocp_capsule); - ocp_nlp_config *nlp_config = {{ model.name }}_acados_get_nlp_config(acados_ocp_capsule); - ocp_nlp_dims *nlp_dims = {{ model.name }}_acados_get_nlp_dims(acados_ocp_capsule); - ocp_nlp_in *nlp_in = {{ model.name }}_acados_get_nlp_in(acados_ocp_capsule); - ocp_nlp_out *nlp_out = {{ model.name }}_acados_get_nlp_out(acados_ocp_capsule); - ocp_nlp_solver *nlp_solver = {{ model.name }}_acados_get_nlp_solver(acados_ocp_capsule); - void *nlp_opts = {{ model.name }}_acados_get_nlp_opts(acados_ocp_capsule); - - // mexPrintf("acados: got pointer to objectes!\n"); - - // field names of output struct - #define FIELDS_OCP 9 - #define FIELDS_EXT_FUN 25 - #define MAX_FIELDS 25 - char *fieldnames[MAX_FIELDS]; - - for (int i = 0; i < MAX_FIELDS; i++) - { - fieldnames[i] = (char*) mxMalloc(50); - } - - memcpy(fieldnames[0],"config",sizeof("config")); - memcpy(fieldnames[1],"dims",sizeof("dims")); - memcpy(fieldnames[2],"opts",sizeof("opts")); - memcpy(fieldnames[3],"in",sizeof("in")); - memcpy(fieldnames[4],"out",sizeof("out")); - memcpy(fieldnames[5],"solver",sizeof("solver")); - memcpy(fieldnames[6],"sens_out",sizeof("sens_out")); - memcpy(fieldnames[7],"plan",sizeof("plan")); - memcpy(fieldnames[8],"capsule",sizeof("capsule")); - - // create output struct - C_ocp - plhs[0] = mxCreateStructMatrix(1, 1, 9, (const char **) fieldnames); - - // MEX: config, dims, opts, in, out, solver, sens_out, plan - // plan - mxArray *plan_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL); - l_ptr = mxGetData(plan_mat); - l_ptr[0] = (long long) nlp_plan; - mxSetField(plhs[0], 0, "plan", plan_mat); - - // config - mxArray *config_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL); - l_ptr = mxGetData(config_mat); - l_ptr[0] = (long long) nlp_config; - mxSetField(plhs[0], 0, "config", config_mat); - - // dims - mxArray *dims_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL); - l_ptr = mxGetData(dims_mat); - l_ptr[0] = (long long) nlp_dims; - mxSetField(plhs[0], 0, "dims", dims_mat); - - // opts - mxArray *opts_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL); - l_ptr = mxGetData(opts_mat); - l_ptr[0] = (long long) nlp_opts; - mxSetField(plhs[0], 0, "opts", opts_mat); - - // in - mxArray *in_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL); - l_ptr = mxGetData(in_mat); - l_ptr[0] = (long long) nlp_in; - mxSetField(plhs[0], 0, "in", in_mat); - - // out - mxArray *out_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL); - l_ptr = mxGetData(out_mat); - l_ptr[0] = (long long) nlp_out; - mxSetField(plhs[0], 0, "out", out_mat); - - // solver - mxArray *solver_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL); - l_ptr = mxGetData(solver_mat); - l_ptr[0] = (long long) nlp_solver; - mxSetField(plhs[0], 0, "solver", solver_mat); - - // TODO: sens_out not actually implemented in templates.. - // sens_out - mxArray *sens_out_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL); - l_ptr = mxGetData(sens_out_mat); - l_ptr[0] = (long long) 1; - mxSetField(plhs[0], 0, "sens_out", sens_out_mat); - - // capsule - mxArray *capsule_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL); - l_ptr = mxGetData(capsule_mat); - l_ptr[0] = (long long) acados_ocp_capsule; - mxSetField(plhs[0], 0, "capsule", capsule_mat); - - /* store external function pointers */ - // dyn - memcpy(fieldnames[0],"expl_ode_fun",sizeof("expl_ode_fun")); - memcpy(fieldnames[1],"forw_vde",sizeof("forw_vde")); - memcpy(fieldnames[2],"hess_vde",sizeof("hess_vde")); - memcpy(fieldnames[3],"impl_dae_fun",sizeof("impl_dae_fun")); - memcpy(fieldnames[4],"impl_dae_fun_jac_x_xdot_z",sizeof("impl_dae_fun_jac_x_xdot_z")); - memcpy(fieldnames[5],"impl_dae_jac_x_xdot_u_z",sizeof("impl_dae_jac_x_xdot_u_z")); - memcpy(fieldnames[6],"impl_dae_hess",sizeof("impl_dae_hess")); - - memcpy(fieldnames[7],"gnsf_phi_fun",sizeof("gnsf_phi_fun")); - memcpy(fieldnames[8],"gnsf_phi_fun_jac_y",sizeof("gnsf_phi_fun_jac_y")); - memcpy(fieldnames[9],"gnsf_phi_jac_y_uhat",sizeof("gnsf_phi_jac_y_uhat")); - memcpy(fieldnames[10],"gnsf_f_lo_jac_x1_x1dot_u_z",sizeof("gnsf_f_lo_jac_x1_x1dot_u_z")); - memcpy(fieldnames[11],"gnsf_get_matrices_fun",sizeof("gnsf_get_matrices_fun")); - - memcpy(fieldnames[12],"disc_phi_fun",sizeof("disc_phi_fun")); - memcpy(fieldnames[13],"disc_phi_fun_jac",sizeof("disc_phi_fun_jac")); - memcpy(fieldnames[14],"disc_phi_fun_jac_hess",sizeof("disc_phi_fun_jac_hess")); - - // cost - memcpy(fieldnames[15],"cost_y_fun",sizeof("cost_y_fun")); - memcpy(fieldnames[16],"cost_y_fun_jac_ut_xt",sizeof("cost_y_fun_jac_ut_xt")); - memcpy(fieldnames[17],"cost_y_hess",sizeof("cost_y_hess")); - memcpy(fieldnames[18],"ext_cost_fun",sizeof("ext_cost_fun")); - memcpy(fieldnames[19],"ext_cost_fun_jac",sizeof("ext_cost_fun_jac")); - memcpy(fieldnames[20],"ext_cost_fun_jac_hess",sizeof("ext_cost_fun_jac_hess")); - - // constraints - memcpy(fieldnames[21],"phi_constraint",sizeof("phi_constraint")); - memcpy(fieldnames[22],"nl_constr_h_fun_jac",sizeof("nl_constr_h_fun_jac")); - memcpy(fieldnames[23],"nl_constr_h_fun",sizeof("nl_constr_h_fun")); - memcpy(fieldnames[24],"nl_constr_h_fun_jac_hess",sizeof("nl_constr_h_fun_jac_hess")); - - - // create output struct - C_ocp_ext_fun - plhs[1] = mxCreateStructMatrix(1, 1, FIELDS_EXT_FUN, (const char **) fieldnames); - - - for (int i = 0; i < FIELDS_EXT_FUN; i++) - { - mxFree( fieldnames[i] ); - } - -/* dynamics */ - mxArray *expl_ode_fun_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL); - mxArray *forw_vde_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL); - mxArray *hess_vde_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL); - mxArray *impl_dae_fun_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL); - mxArray *impl_dae_fun_jac_x_xdot_z_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL); - mxArray *impl_dae_jac_x_xdot_u_z_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL); - mxArray *impl_dae_hess_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL); - - mxArray *gnsf_phi_fun_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL); - mxArray *gnsf_phi_fun_jac_y_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL); - mxArray *gnsf_phi_jac_y_uhat_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL); - mxArray *gnsf_f_lo_jac_x1_x1dot_u_z_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL); - mxArray *gnsf_get_matrices_fun_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL); - - mxArray *disc_phi_fun_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL); - mxArray *disc_phi_fun_jac_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL); - mxArray *disc_phi_fun_jac_hess_mat = mxCreateNumericMatrix(1, 1, mxINT64_CLASS, mxREAL); - -{% if solver_options.integrator_type == "ERK" %} - {# TODO: remove _casadi from these names.. #} - l_ptr = mxGetData(forw_vde_mat); - l_ptr[0] = (long long) acados_ocp_capsule->forw_vde_casadi; - l_ptr = mxGetData(expl_ode_fun_mat); - l_ptr[0] = (long long) acados_ocp_capsule->expl_ode_fun; -{% if solver_options.hessian_approx == "EXACT" %} - l_ptr = mxGetData(hess_vde_mat); - l_ptr[0] = (long long) acados_ocp_capsule->hess_vde_casadi; -{%- endif %} -{% elif solver_options.integrator_type == "IRK" %} - l_ptr = mxGetData(impl_dae_fun_mat); - l_ptr[0] = (long long) acados_ocp_capsule->impl_dae_fun; - l_ptr = mxGetData(impl_dae_fun_jac_x_xdot_z_mat); - l_ptr[0] = (long long) acados_ocp_capsule->impl_dae_fun_jac_x_xdot_z; - l_ptr = mxGetData(impl_dae_jac_x_xdot_u_z_mat); - l_ptr[0] = (long long) acados_ocp_capsule->impl_dae_jac_x_xdot_u_z; -{% if solver_options.hessian_approx == "EXACT" %} - l_ptr = mxGetData(impl_dae_hess_mat); - l_ptr[0] = (long long) acados_ocp_capsule->impl_dae_hess; -{%- endif %} -{% elif solver_options.integrator_type == "GNSF" %} - {% if model.gnsf.purely_linear != 1 %} - l_ptr = mxGetData(gnsf_phi_fun_mat); - l_ptr[0] = (long long) acados_ocp_capsule->gnsf_phi_fun; - l_ptr = mxGetData(gnsf_phi_fun_jac_y_mat); - l_ptr[0] = (long long) acados_ocp_capsule->gnsf_phi_fun_jac_y; - l_ptr = mxGetData(gnsf_phi_jac_y_uhat_mat); - l_ptr[0] = (long long) acados_ocp_capsule->gnsf_phi_jac_y_uhat; - {% if model.gnsf.nontrivial_f_LO == 1 %} - l_ptr = mxGetData(gnsf_f_lo_jac_x1_x1dot_u_z_mat); - l_ptr[0] = (long long) acados_ocp_capsule->gnsf_f_lo_jac_x1_x1dot_u_z; - {%- endif %} - {%- endif %} - l_ptr = mxGetData(gnsf_get_matrices_fun_mat); - l_ptr[0] = (long long) acados_ocp_capsule->gnsf_get_matrices_fun; -{% elif solver_options.integrator_type == "DISCRETE" %} - l_ptr = mxGetData(disc_phi_fun_mat); - l_ptr[0] = (long long) acados_ocp_capsule->discr_dyn_phi_fun; - l_ptr = mxGetData(disc_phi_fun_jac_mat); - l_ptr[0] = (long long) acados_ocp_capsule->discr_dyn_phi_fun_jac_ut_xt; -{% if solver_options.hessian_approx == "EXACT" %} - l_ptr = mxGetData(disc_phi_fun_jac_hess_mat); - l_ptr[0] = (long long) acados_ocp_capsule->discr_dyn_phi_fun_jac_ut_xt_hess; -{%- endif %} -{%- endif %} - mxSetField(plhs[1], 0, "expl_ode_fun", expl_ode_fun_mat); - mxSetField(plhs[1], 0, "forw_vde", forw_vde_mat); - mxSetField(plhs[1], 0, "hess_vde", hess_vde_mat); - - mxSetField(plhs[1], 0, "gnsf_phi_fun", gnsf_phi_fun_mat); - mxSetField(plhs[1], 0, "gnsf_phi_fun_jac_y", gnsf_phi_fun_jac_y_mat); - mxSetField(plhs[1], 0, "gnsf_phi_jac_y_uhat", gnsf_phi_jac_y_uhat_mat); - mxSetField(plhs[1], 0, "gnsf_f_lo_jac_x1_x1dot_u_z", gnsf_f_lo_jac_x1_x1dot_u_z_mat); - mxSetField(plhs[1], 0, "gnsf_get_matrices_fun", gnsf_get_matrices_fun_mat); - - mxSetField(plhs[1], 0, "impl_dae_fun", impl_dae_fun_mat); - mxSetField(plhs[1], 0, "impl_dae_fun_jac_x_xdot_z", impl_dae_fun_jac_x_xdot_z_mat); - mxSetField(plhs[1], 0, "impl_dae_jac_x_xdot_u_z", impl_dae_jac_x_xdot_u_z_mat); - mxSetField(plhs[1], 0, "impl_dae_hess", impl_dae_hess_mat); - - mxSetField(plhs[1], 0, "disc_phi_fun", disc_phi_fun_mat); - mxSetField(plhs[1], 0, "disc_phi_fun_jac", disc_phi_fun_jac_mat); - mxSetField(plhs[1], 0, "disc_phi_fun_jac_hess", disc_phi_fun_jac_hess_mat); -/* constaints */ - mxArray *phi_constraint_mat = mxCreateNumericMatrix(1, 2, mxINT64_CLASS, mxREAL); - l_ptr = mxGetData(phi_constraint_mat); -{%- if constraints.constr_type == "BGP" %} - l_ptr[0] = (long long) acados_ocp_capsule->phi_constraint; -{% endif %} -{% if constraints.constr_type_e == "BGP" %} - l_ptr[1] = (long long) &acados_ocp_capsule->phi_e_constraint; -{% endif %} - mxSetField(plhs[1], 0, "phi_constraint", phi_constraint_mat); - - mxArray *nl_constr_h_fun_jac_mat = mxCreateNumericMatrix(1, 2, mxINT64_CLASS, mxREAL); - l_ptr = mxGetData(nl_constr_h_fun_jac_mat); -{% if constraints.constr_type == "BGH" and dims.nh > 0 %} - l_ptr[0] = (long long) acados_ocp_capsule->nl_constr_h_fun_jac; -{% endif %} -{% if constraints.constr_type_e == "BGH" and dims.nh_e > 0 %} - l_ptr[1] = (long long) &acados_ocp_capsule->nl_constr_h_e_fun_jac; -{%- endif %} - mxSetField(plhs[1], 0, "nl_constr_h_fun_jac", nl_constr_h_fun_jac_mat); - - mxArray *nl_constr_h_fun_mat = mxCreateNumericMatrix(1, 2, mxINT64_CLASS, mxREAL); - l_ptr = mxGetData(nl_constr_h_fun_mat); -{% if constraints.constr_type == "BGH" and dims.nh > 0 %} - l_ptr[0] = (long long) acados_ocp_capsule->nl_constr_h_fun; -{% endif %} -{% if constraints.constr_type_e == "BGH" and dims.nh_e > 0 %} - l_ptr[1] = (long long) &acados_ocp_capsule->nl_constr_h_e_fun; -{%- endif %} - mxSetField(plhs[1], 0, "nl_constr_h_fun", nl_constr_h_fun_mat); - - mxArray *nl_constr_h_fun_jac_hess_mat = mxCreateNumericMatrix(1, 2, mxINT64_CLASS, mxREAL); - l_ptr = mxGetData(nl_constr_h_fun_jac_hess_mat); -{% if constraints.constr_type == "BGH" and dims.nh > 0 and solver_options.hessian_approx == "EXACT" %} - l_ptr[0] = (long long) acados_ocp_capsule->nl_constr_h_fun_jac_hess; -{% endif %} -{% if constraints.constr_type_e == "BGH" and dims.nh_e > 0 and solver_options.hessian_approx == "EXACT" %} - l_ptr[1] = (long long) &acados_ocp_capsule->nl_constr_h_e_fun_jac_hess; -{%- endif %} - mxSetField(plhs[1], 0, "nl_constr_h_fun_jac_hess", nl_constr_h_fun_jac_hess_mat); - -/* cost */ - mxArray *cost_y_fun_mat = mxCreateNumericMatrix(1, 2, mxINT64_CLASS, mxREAL); - l_ptr = mxGetData(cost_y_fun_mat); -{% if cost.cost_type == "NONLINEAR_LS" %} - l_ptr[0] = (long long) acados_ocp_capsule->cost_y_fun; -{% endif %} -{% if cost.cost_type_e == "NONLINEAR_LS" %} - l_ptr[1] = (long long) &acados_ocp_capsule->cost_y_e_fun; -{%- endif %} - mxSetField(plhs[1], 0, "cost_y_fun", cost_y_fun_mat); - - mxArray *cost_y_fun_jac_ut_xt_mat = mxCreateNumericMatrix(1, 2, mxINT64_CLASS, mxREAL); - l_ptr = mxGetData(cost_y_fun_jac_ut_xt_mat); -{% if cost.cost_type == "NONLINEAR_LS" %} - l_ptr[0] = (long long) acados_ocp_capsule->cost_y_fun_jac_ut_xt; -{% endif %} -{% if cost.cost_type_e == "NONLINEAR_LS" %} - l_ptr[1] = (long long) &acados_ocp_capsule->cost_y_e_fun_jac_ut_xt; -{%- endif %} - mxSetField(plhs[1], 0, "cost_y_fun_jac_ut_xt", cost_y_fun_jac_ut_xt_mat); - - mxArray *cost_y_hess_mat = mxCreateNumericMatrix(1, 2, mxINT64_CLASS, mxREAL); - l_ptr = mxGetData(cost_y_hess_mat); -{% if cost.cost_type == "NONLINEAR_LS" %} - l_ptr[0] = (long long) acados_ocp_capsule->cost_y_hess; -{% endif %} -{% if cost.cost_type_e == "NONLINEAR_LS" %} - l_ptr[1] = (long long) &acados_ocp_capsule->cost_y_e_hess; -{%- endif %} - mxSetField(plhs[1], 0, "cost_y_hess", cost_y_hess_mat); - - mxArray *ext_cost_fun_mat = mxCreateNumericMatrix(1, 2, mxINT64_CLASS, mxREAL); - l_ptr = mxGetData(ext_cost_fun_mat); -{% if cost.cost_type == "EXTERNAL" %} - l_ptr[0] = (long long) acados_ocp_capsule->ext_cost_fun; -{% endif -%} -{% if cost.cost_type_e == "EXTERNAL" %} - l_ptr[1] = (long long) &acados_ocp_capsule->ext_cost_e_fun; -{%- endif %} - mxSetField(plhs[1], 0, "ext_cost_fun", ext_cost_fun_mat); - - mxArray *ext_cost_fun_jac_mat = mxCreateNumericMatrix(1, 2, mxINT64_CLASS, mxREAL); - l_ptr = mxGetData(ext_cost_fun_jac_mat); -{% if cost.cost_type == "EXTERNAL" %} - l_ptr[0] = (long long) acados_ocp_capsule->ext_cost_fun_jac; -{% endif -%} -{% if cost.cost_type_e == "EXTERNAL" %} - l_ptr[1] = (long long) &acados_ocp_capsule->ext_cost_e_fun_jac; -{%- endif %} - mxSetField(plhs[1], 0, "ext_cost_fun_jac", ext_cost_fun_jac_mat); - - mxArray *ext_cost_fun_jac_hess_mat = mxCreateNumericMatrix(1, 2, mxINT64_CLASS, mxREAL); - l_ptr = mxGetData(ext_cost_fun_jac_hess_mat); -{% if cost.cost_type == "EXTERNAL" %} - l_ptr[0] = (long long) acados_ocp_capsule->ext_cost_fun_jac_hess; -{% endif -%} -{% if cost.cost_type_e == "EXTERNAL" %} - l_ptr[1] = (long long) &acados_ocp_capsule->ext_cost_e_fun_jac_hess; -{%- endif %} - mxSetField(plhs[1], 0, "ext_cost_fun_jac_hess", ext_cost_fun_jac_hess_mat); - - - return; -} diff --git a/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_mex_free.in.c b/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_mex_free.in.c deleted file mode 100644 index bd457969b27408..00000000000000 --- a/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_mex_free.in.c +++ /dev/null @@ -1,67 +0,0 @@ -/* - * Copyright (c) The acados authors. - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - -// system -#include -#include -#include -// acados -#include "acados_solver_{{ model.name }}.h" - -// mex -#include "mex.h" - - -void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[]) -{ - int status = 0; - long long *ptr; - - // mexPrintf("\nin mex_acados_free\n"); - const mxArray *C_ocp = prhs[0]; - // capsule - ptr = (long long *) mxGetData( mxGetField( C_ocp, 0, "capsule" ) ); - {{ model.name }}_solver_capsule *capsule = ({{ model.name }}_solver_capsule *) ptr[0]; - - status = {{ model.name }}_acados_free(capsule); - if (status) - { - mexPrintf("{{ model.name }}_acados_free() returned status %d.\n", status); - } - - status = {{ model.name }}_acados_free_capsule(capsule); - if (status) - { - mexPrintf("{{ model.name }}_acados_free_capsule() returned status %d.\n", status); - } - - return; -} - diff --git a/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_mex_set.in.c b/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_mex_set.in.c deleted file mode 100644 index 78a308df495b36..00000000000000 --- a/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_mex_set.in.c +++ /dev/null @@ -1,632 +0,0 @@ -/* - * Copyright (c) The acados authors. - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - - -// standard -#include -#include -#include - -// acados -#include "acados/utils/print.h" -#include "acados_c/ocp_nlp_interface.h" -#include "acados_solver_{{ model.name }}.h" - -// mex -#include "mex.h" -#include "mex_macros.h" - - -void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[]) -{ - - long long *ptr; - int acados_size; - mxArray *mex_field; - char fun_name[20] = "ocp_set"; - char buffer [500]; // for error messages - - /* RHS */ - int min_nrhs = 6; - - // C ocp - const mxArray *C_ocp = prhs[2]; - // capsule - ptr = (long long *) mxGetData( mxGetField( C_ocp, 0, "capsule" ) ); - {{ model.name }}_solver_capsule *capsule = ({{ model.name }}_solver_capsule *) ptr[0]; - // plan - ptr = (long long *) mxGetData( mxGetField( C_ocp, 0, "plan" ) ); - ocp_nlp_plan_t *plan = (ocp_nlp_plan_t *) ptr[0]; - // config - ptr = (long long *) mxGetData( mxGetField( C_ocp, 0, "config" ) ); - ocp_nlp_config *config = (ocp_nlp_config *) ptr[0]; - // dims - ptr = (long long *) mxGetData( mxGetField( C_ocp, 0, "dims" ) ); - ocp_nlp_dims *dims = (ocp_nlp_dims *) ptr[0]; - // opts - ptr = (long long *) mxGetData( mxGetField( C_ocp, 0, "opts" ) ); - void *opts = (void *) ptr[0]; - // in - ptr = (long long *) mxGetData( mxGetField( C_ocp, 0, "in" ) ); - ocp_nlp_in *in = (ocp_nlp_in *) ptr[0]; - // out - ptr = (long long *) mxGetData( mxGetField( C_ocp, 0, "out" ) ); - ocp_nlp_out *out = (ocp_nlp_out *) ptr[0]; - // solver - ptr = (long long *) mxGetData( mxGetField( C_ocp, 0, "solver" ) ); - ocp_nlp_solver *solver = (ocp_nlp_solver *) ptr[0]; - - const mxArray *C_ext_fun_pointers = prhs[3]; - // field - char *field = mxArrayToString( prhs[4] ); - // value - double *value = mxGetPr( prhs[5] ); - - // for checks - int matlab_size = (int) mxGetNumberOfElements( prhs[5] ); - int nrow = (int) mxGetM( prhs[5] ); - int ncol = (int) mxGetN( prhs[5] ); - - int N = dims->N; - int nu = dims->nu[0]; - int nx = dims->nx[0]; - - // stage - int s0, se; - if (nrhs==min_nrhs) - { - s0 = 0; - se = N; - } - else if (nrhs==min_nrhs+1) - { - s0 = mxGetScalar( prhs[6] ); - if (s0 > N) - { - sprintf(buffer, "ocp_set: N < specified stage = %d\n", s0); - mexErrMsgTxt(buffer); - } - se = s0 + 1; - } - else - { - sprintf(buffer, "ocp_set: wrong nrhs: %d\n", nrhs); - mexErrMsgTxt(buffer); - } - - /* Set value */ - // constraints - if (!strcmp(field, "constr_x0")) - { - acados_size = nx; - MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size); - ocp_nlp_constraints_model_set(config, dims, in, 0, "lbx", value); - ocp_nlp_constraints_model_set(config, dims, in, 0, "ubx", value); - } - else if (!strcmp(field, "constr_C")) - { - for (int ii=s0; iinlp_cost[ii] == LINEAR_LS) || (plan->nlp_cost[ii] == NONLINEAR_LS)) - { - acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, ii, "y_ref"); - MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size); - ocp_nlp_cost_model_set(config, dims, in, ii, "y_ref", value); - } - else - { - MEX_FIELD_NOT_SUPPORTED_FOR_COST_STAGE(fun_name, field, plan->nlp_cost[ii], ii); - } - } - } - else if (!strcmp(field, "cost_y_ref_e")) - { - acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, N, "y_ref"); - MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size); - ocp_nlp_cost_model_set(config, dims, in, N, "y_ref", value); - } - else if (!strcmp(field, "cost_Vu")) - { - for (int ii=s0; iinlp_cost[ii] == LINEAR_LS) || (plan->nlp_cost[ii] == NONLINEAR_LS)) - { - int ny = ocp_nlp_dims_get_from_attr(config, dims, out, ii, "y_ref"); - int nu = ocp_nlp_dims_get_from_attr(config, dims, out, ii, "u"); - acados_size = ny * nu; - MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size); - ocp_nlp_cost_model_set(config, dims, in, ii, "Vu", value); - } - else - { - MEX_FIELD_NOT_SUPPORTED_FOR_COST_STAGE(fun_name, field, plan->nlp_cost[ii], ii); - } - } - } - else if (!strcmp(field, "cost_Vx")) - { - for (int ii=s0; iinlp_cost[ii] == LINEAR_LS) || (plan->nlp_cost[ii] == NONLINEAR_LS)) - { - int ny = ocp_nlp_dims_get_from_attr(config, dims, out, ii, "y_ref"); - int nx = ocp_nlp_dims_get_from_attr(config, dims, out, ii, "x"); - acados_size = ny * nx; - MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size); - ocp_nlp_cost_model_set(config, dims, in, ii, "Vx", value); - } - else - { - MEX_FIELD_NOT_SUPPORTED_FOR_COST_STAGE(fun_name, field, plan->nlp_cost[ii], ii); - } - } - } - else if (!strcmp(field, "cost_W")) - { - for (int ii=s0; iinlp_cost[ii] == LINEAR_LS) || (plan->nlp_cost[ii] == NONLINEAR_LS)) - { - int ny = ocp_nlp_dims_get_from_attr(config, dims, out, s0, "y_ref"); - acados_size = ny * ny; - MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size); - ocp_nlp_cost_model_set(config, dims, in, ii, "W", value); - } - else - { - MEX_FIELD_NOT_SUPPORTED_FOR_COST_STAGE(fun_name, field, plan->nlp_cost[ii], ii); - } - } - } - else if (!strcmp(field, "cost_Z")) - { - acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, s0, "cost_Z"); - MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size); - for (int ii=s0; iisim_solver_plan[0]; - sim_solver_t type = sim_plan.sim_solver; - if (type == IRK) - { - int nz = ocp_nlp_dims_get_from_attr(config, dims, out, 0, "z"); - if (nrhs==min_nrhs) - { - acados_size = N*nz; - MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size); - for (int ii=0; iisim_solver_plan[0]; - sim_solver_t type = sim_plan.sim_solver; - if (type == IRK) - { - int nx = ocp_nlp_dims_get_from_attr(config, dims, out, 0, "x"); - if (nrhs==min_nrhs) - { - acados_size = N*nx; - MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size); - for (int ii=0; iisim_solver_plan[0]; - sim_solver_t type = sim_plan.sim_solver; - if (type == GNSF) - { - int nout = ocp_nlp_dims_get_from_attr(config, dims, out, 0, "init_gnsf_phi"); - - if (nrhs==min_nrhs) - { - acados_size = N*nout; - MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size); - for (int ii=0; iinlp_solver == SQP && rti_phase != 0) - { - MEX_FIELD_ONLY_SUPPORTED_FOR_SOLVER(fun_name, field, "sqp_rti") - } - ocp_nlp_solver_opts_set(config, opts, "rti_phase", &rti_phase); - } - else if (!strcmp(field, "qp_warm_start")) - { - acados_size = 1; - MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size); - int qp_warm_start = (int) value[0]; - ocp_nlp_solver_opts_set(config, opts, "qp_warm_start", &qp_warm_start); - } - else if (!strcmp(field, "warm_start_first_qp")) - { - acados_size = 1; - MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size); - int warm_start_first_qp = (int) value[0]; - ocp_nlp_solver_opts_set(config, opts, "warm_start_first_qp", &warm_start_first_qp); - } - else if (!strcmp(field, "print_level")) - { - acados_size = 1; - MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size); - int print_level = (int) value[0]; - ocp_nlp_solver_opts_set(config, opts, "print_level", &print_level); - } - else - { - MEX_FIELD_NOT_SUPPORTED_SUGGEST(fun_name, field, "p, constr_x0,\ - constr_lbx, constr_ubx, constr_C, constr_D, constr_lg, constr_ug, constr_lh, constr_uh,\ - constr_lbu, constr_ubu, cost_y_ref[_e], sl, su, x, xdot, u, pi, lam, z, \ - cost_Vu, cost_Vx, cost_Vz, cost_W, cost_Z, cost_Zl, cost_Zu, cost_z,\ - cost_zl, cost_zu, init_x, init_u, init_z, init_xdot, init_gnsf_phi,\ - init_pi, nlp_solver_max_iter, qp_warm_start, warm_start_first_qp, print_level"); - } - - return; -} - diff --git a/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_mex_solve.in.c b/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_mex_solve.in.c deleted file mode 100644 index 300a440cc928ca..00000000000000 --- a/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_mex_solve.in.c +++ /dev/null @@ -1,56 +0,0 @@ -/* - * Copyright (c) The acados authors. - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - -// system -#include -#include -#include -// acados -#include "acados_solver_{{ model.name }}.h" - -// mex -#include "mex.h" - - - -void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[]) -{ - // C_ocp - long long *ptr; - const mxArray *C_ocp = prhs[0]; - - // capsule - ptr = (long long *) mxGetData( mxGetField( C_ocp, 0, "capsule" ) ); - {{ model.name }}_solver_capsule *capsule = ({{ model.name }}_solver_capsule *) ptr[0]; - - // solve - {{ model.name }}_acados_solve(capsule); - -} diff --git a/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_sim_solver_sfun.in.c b/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_sim_solver_sfun.in.c deleted file mode 100644 index bd73ff69a45e99..00000000000000 --- a/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_sim_solver_sfun.in.c +++ /dev/null @@ -1,230 +0,0 @@ -/* - * Copyright (c) The acados authors. - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - -#define S_FUNCTION_NAME acados_sim_solver_sfunction_{{ model.name }} -#define S_FUNCTION_LEVEL 2 - -#define MDL_START - -// acados -// #include "acados/utils/print.h" -#include "acados_c/ocp_nlp_interface.h" -#include "acados_c/external_function_interface.h" - -// example specific -#include "{{ model.name }}_model/{{ model.name }}_model.h" -#include "acados_sim_solver_{{ model.name }}.h" - -#include "simstruc.h" - -#define SAMPLINGTIME {{ solver_options.Tsim }} - - -static void mdlInitializeSizes (SimStruct *S) -{ - // specify the number of continuous and discrete states - ssSetNumContStates(S, 0); - ssSetNumDiscStates(S, 0); - - {# compute number of input ports #} - {%- set n_inputs = 1 %} {# x0 #} - {%- if dims.nu > 0 %} {# u0 -#} - {%- set n_inputs = n_inputs + 1 -%} - {%- endif %} - {%- if dims.np > 0 %} {# parameters #} - {%- set n_inputs = n_inputs + 1 -%} - {%- endif %} - - // specify the number of input ports - if ( !ssSetNumInputPorts(S, {{ n_inputs }}) ) - return; - - // specify the number of output ports - if ( !ssSetNumOutputPorts(S, 1) ) - return; - - // specify dimension information for the input ports - {%- set i_input = 0 %} - // x0 - ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.nx }}); - - {%- if dims.nu > 0 %} - {%- set i_input = i_input + 1 %} - // u0 - ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.nu }}); - {%- endif %} - - {%- if dims.np > 0 %} - {%- set i_input = i_input + 1 %} - // parameters - ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.np }}); - {%- endif %} - - // specify dimension information for the output ports - ssSetOutputPortVectorDimension(S, 0, {{ dims.nx }} ); // xnext - - // specify the direct feedthrough status - // should be set to 1 for all inputs used in mdlOutputs - {%- for i in range(end=n_inputs) %} - ssSetInputPortDirectFeedThrough(S, {{ i }}, 1); - {%- endfor %} - - // one sample time - ssSetNumSampleTimes(S, 1); -} - - -#if defined(MATLAB_MEX_FILE) - -#define MDL_SET_INPUT_PORT_DIMENSION_INFO -#define MDL_SET_OUTPUT_PORT_DIMENSION_INFO - -static void mdlSetInputPortDimensionInfo(SimStruct *S, int_T port, const DimsInfo_T *dimsInfo) -{ - if ( !ssSetInputPortDimensionInfo(S, port, dimsInfo) ) - return; -} - -static void mdlSetOutputPortDimensionInfo(SimStruct *S, int_T port, const DimsInfo_T *dimsInfo) -{ - if ( !ssSetOutputPortDimensionInfo(S, port, dimsInfo) ) - return; -} - -#endif /* MATLAB_MEX_FILE */ - - -static void mdlInitializeSampleTimes(SimStruct *S) -{ - ssSetSampleTime(S, 0, SAMPLINGTIME); - ssSetOffsetTime(S, 0, 0.0); -} - - -static void mdlStart(SimStruct *S) -{ - sim_solver_capsule *capsule = {{ model.name }}_acados_sim_solver_create_capsule(); - {{ model.name }}_acados_sim_create(capsule); - - ssSetUserData(S, (void*)capsule); -} - -static void mdlOutputs(SimStruct *S, int_T tid) -{ - sim_solver_capsule *capsule = ssGetUserData(S); - - sim_config *acados_sim_config = {{ model.name }}_acados_get_sim_config(capsule); - sim_in *acados_sim_in = {{ model.name }}_acados_get_sim_in(capsule); - sim_out *acados_sim_out = {{ model.name }}_acados_get_sim_out(capsule); - void *acados_sim_dims = {{ model.name }}_acados_get_sim_dims(capsule); - // sim_opts * {{ model.name }}_acados_get_sim_opts(capsule); - // sim_solver * {{ model.name }}_acados_get_sim_solver(capsule); - - InputRealPtrsType in_sign; - {% set input_sizes = [dims.nx, dims.nu, dims.np] %} - - // local buffer - {%- set buffer_size = input_sizes | sort | last %} - real_t buffer[{{ buffer_size }}]; - - - /* go through inputs */ - {%- set i_input = 0 %} - // initial condition - in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }}); - for (int i = 0; i < {{ dims.nx }}; i++) - buffer[i] = (double)(*in_sign[i]); - - sim_in_set(acados_sim_config, acados_sim_dims, - acados_sim_in, "x", buffer); - - - // ssPrintf("\nin acados sim:\n"); - // for (int i = 0; i < {{ dims.nx }}; i++) ssPrintf("x0[%d] = %f\n", i, buffer[i]); - // ssPrintf("\n"); - -{% if dims.nu > 0 %} - // control input - u - {%- set i_input = i_input + 1 %} - in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }}); - - for (int i = 0; i < {{ dims.nu }}; i++) - buffer[i] = (double)(*in_sign[i]); - - sim_in_set(acados_sim_config, acados_sim_dims, - acados_sim_in, "u", buffer); -{%- endif %} - - -{% if dims.np > 0 %} - // parameters - {%- set i_input = i_input + 1 %} - in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }}); - - for (int i = 0; i < {{ dims.np }}; i++) - buffer[i] = (double)(*in_sign[i]); - - // update value of parameters - {{ model.name }}_acados_sim_update_params(capsule, buffer, {{ dims.np }}); -{%- endif %} - - - /* call solver */ - int acados_status = {{ model.name }}_acados_sim_solve(capsule); - - - /* set outputs */ - real_t *out_x = ssGetOutputPortRealSignal(S, 0); - - // get simulated state - sim_out_get(acados_sim_config, acados_sim_dims, acados_sim_out, - "xn", (void *) out_x); - - // ssPrintf("\nacados sim solve: returned %d\n", acados_status); - // for (int i = 0; i < {{ dims.nx }}; i++) ssPrintf("x_sim[%d] = %f\n", i, out_x[i]); - // ssPrintf("\n"); - -} - - -static void mdlTerminate(SimStruct *S) -{ - sim_solver_capsule *capsule = ssGetUserData(S); - - {{ model.name }}_acados_sim_free(capsule); - {{ model.name }}_acados_sim_solver_free_capsule(capsule); -} - - -#ifdef MATLAB_MEX_FILE -#include "simulink.c" -#else -#include "cg_sfun.h" -#endif diff --git a/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_solver_sfun.in.c b/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_solver_sfun.in.c deleted file mode 100644 index 3dd248037aeedd..00000000000000 --- a/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_solver_sfun.in.c +++ /dev/null @@ -1,853 +0,0 @@ -/* - * Copyright (c) The acados authors. - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - -#define S_FUNCTION_NAME acados_solver_sfunction_{{ model.name }} -#define S_FUNCTION_LEVEL 2 - -#define MDL_START - -// acados -// #include "acados/utils/print.h" -#include "acados_c/sim_interface.h" -#include "acados_c/external_function_interface.h" - -// example specific -#include "{{ model.name }}_model/{{ model.name }}_model.h" -#include "acados_solver_{{ model.name }}.h" - -#include "simstruc.h" - -{% if simulink_opts.samplingtime == "t0" -%} -#define SAMPLINGTIME {{ solver_options.time_steps[0] }} -{%- elif simulink_opts.samplingtime == "-1" -%} -#define SAMPLINGTIME -1 -{%- else -%} - {{ throw(message = "simulink_opts.samplingtime must be '-1' or 't0', got val") }} -{%- endif %} - -static void mdlInitializeSizes (SimStruct *S) -{ - // specify the number of continuous and discrete states - ssSetNumContStates(S, 0); - ssSetNumDiscStates(S, 0); - - int N = {{ model.name | upper }}_N; - - {%- for key, val in simulink_opts.inputs -%} - {%- if val != 0 and val != 1 -%} - {{ throw(message = "simulink_opts.inputs must be 0 or 1, got val") }} - {%- endif -%} - {%- endfor -%} - - {#- compute number of input ports #} - {%- set n_inputs = 0 -%} - {%- if dims.nbx_0 > 0 and simulink_opts.inputs.lbx_0 -%} {#- lbx_0 #} - {%- set n_inputs = n_inputs + 1 -%} - {%- endif -%} - {%- if dims.nbx_0 > 0 and simulink_opts.inputs.ubx_0 -%} {#- ubx_0 #} - {%- set n_inputs = n_inputs + 1 -%} - {%- endif -%} - {%- if dims.np > 0 and simulink_opts.inputs.parameter_traj -%} {#- parameter_traj #} - {%- set n_inputs = n_inputs + 1 -%} - {%- endif -%} - {%- if dims.ny_0 > 0 and simulink_opts.inputs.y_ref_0 -%} {#- y_ref_0 -#} - {%- set n_inputs = n_inputs + 1 -%} - {%- endif -%} - {%- if dims.ny > 0 and dims.N > 1 and simulink_opts.inputs.y_ref -%} {#- y_ref -#} - {%- set n_inputs = n_inputs + 1 -%} - {%- endif -%} - {%- if dims.ny_e > 0 and dims.N > 0 and simulink_opts.inputs.y_ref_e -%} {#- y_ref_e #} - {%- set n_inputs = n_inputs + 1 -%} - {%- endif -%} - {%- if dims.nbx > 0 and dims.N > 1 and simulink_opts.inputs.lbx -%} {#- lbx #} - {%- set n_inputs = n_inputs + 1 -%} - {%- endif -%} - {%- if dims.nbx > 0 and dims.N > 1 and simulink_opts.inputs.ubx -%} {#- ubx #} - {%- set n_inputs = n_inputs + 1 -%} - {%- endif -%} - {%- if dims.nbx_e > 0 and dims.N > 0 and simulink_opts.inputs.lbx_e -%} {#- lbx_e #} - {%- set n_inputs = n_inputs + 1 -%} - {%- endif -%} - {%- if dims.nbx_e > 0 and dims.N > 0 and simulink_opts.inputs.ubx_e -%} {#- ubx_e #} - {%- set n_inputs = n_inputs + 1 -%} - {%- endif -%} - {%- if dims.nbu > 0 and dims.N > 0 and simulink_opts.inputs.lbu -%} {#- lbu #} - {%- set n_inputs = n_inputs + 1 -%} - {%- endif -%} - {%- if dims.nbu > 0 and dims.N > 0 and simulink_opts.inputs.ubu -%} {#- ubu #} - {%- set n_inputs = n_inputs + 1 -%} - {%- endif -%} - {%- if dims.ng > 0 and simulink_opts.inputs.lg -%} {#- lg #} - {%- set n_inputs = n_inputs + 1 -%} - {%- endif -%} - {%- if dims.ng > 0 and simulink_opts.inputs.ug -%} {#- ug #} - {%- set n_inputs = n_inputs + 1 -%} - {%- endif -%} - {%- if dims.nh > 0 and simulink_opts.inputs.lh -%} {#- lh #} - {%- set n_inputs = n_inputs + 1 -%} - {%- endif -%} - {%- if dims.nh > 0 and simulink_opts.inputs.uh -%} {#- uh #} - {%- set n_inputs = n_inputs + 1 -%} - {%- endif -%} - {%- if dims.nh_e > 0 and simulink_opts.inputs.lh_e -%} {#- lh_e #} - {%- set n_inputs = n_inputs + 1 -%} - {%- endif -%} - {%- if dims.nh_e > 0 and simulink_opts.inputs.uh_e -%} {#- uh_e #} - {%- set n_inputs = n_inputs + 1 -%} - {%- endif -%} - - {%- for key, val in simulink_opts.inputs -%} - {%- if val != 0 and val != 1 -%} - {{ throw(message = "simulink_opts.inputs must be 0 or 1, got val") }} - {%- endif -%} - {%- endfor -%} - {%- if dims.ny_0 > 0 and simulink_opts.inputs.cost_W_0 %} {#- cost_W_0 #} - {%- set n_inputs = n_inputs + 1 %} - {%- endif -%} - {%- if dims.ny > 0 and simulink_opts.inputs.cost_W %} {#- cost_W #} - {%- set n_inputs = n_inputs + 1 %} - {%- endif -%} - {%- if dims.ny_e > 0 and simulink_opts.inputs.cost_W_e %} {#- cost_W_e #} - {%- set n_inputs = n_inputs + 1 -%} - {%- endif -%} - - {%- if simulink_opts.inputs.reset_solver -%} {#- reset_solver #} - {%- set n_inputs = n_inputs + 1 -%} - {%- endif -%} - - {%- if simulink_opts.inputs.x_init -%} {#- x_init #} - {%- set n_inputs = n_inputs + 1 -%} - {%- endif -%} - - {%- if simulink_opts.inputs.u_init -%} {#- u_init #} - {%- set n_inputs = n_inputs + 1 -%} - {%- endif -%} - - // specify the number of input ports - if ( !ssSetNumInputPorts(S, {{ n_inputs }}) ) - return; - - // specify the number of output ports - {%- set_global n_outputs = 0 %} - {%- for key, val in simulink_opts.outputs %} - {%- if val == 1 %} - {%- set_global n_outputs = n_outputs + val %} - {%- elif val != 0 %} - {{ throw(message = "simulink_opts.outputs must be 0 or 1, got val") }} - {%- endif %} - {%- endfor %} - if ( !ssSetNumOutputPorts(S, {{ n_outputs }}) ) - return; - - // specify dimension information for the input ports - {%- set i_input = -1 %}{# note here i_input is 0-based #} - {%- if dims.nbx_0 > 0 and simulink_opts.inputs.lbx_0 -%} {#- lbx_0 #} - {%- set i_input = i_input + 1 %} - // lbx_0 - ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.nbx_0 }}); - {%- endif %} - {%- if dims.nbx_0 > 0 and simulink_opts.inputs.ubx_0 -%} {#- ubx_0 #} - {%- set i_input = i_input + 1 %} - // ubx_0 - ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.nbx_0 }}); - {%- endif %} - - {%- if dims.np > 0 and simulink_opts.inputs.parameter_traj -%} {#- parameter_traj #} - {%- set i_input = i_input + 1 %} - // parameters - ssSetInputPortVectorDimension(S, {{ i_input }}, (N+1) * {{ dims.np }}); - {%- endif %} - - {%- if dims.ny > 0 and simulink_opts.inputs.y_ref_0 %} - {%- set i_input = i_input + 1 %} - // y_ref_0 - ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.ny_0 }}); - {%- endif %} - - {%- if dims.ny > 0 and dims.N > 1 and simulink_opts.inputs.y_ref %} - {%- set i_input = i_input + 1 %} - // y_ref - ssSetInputPortVectorDimension(S, {{ i_input }}, {{ (dims.N-1) * dims.ny }}); - {%- endif %} - - {%- if dims.ny_e > 0 and dims.N > 0 and simulink_opts.inputs.y_ref_e %} - {%- set i_input = i_input + 1 %} - // y_ref_e - ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.ny_e }}); - {%- endif %} - - {%- if dims.nbx > 0 and dims.N > 1 and simulink_opts.inputs.lbx -%} {#- lbx #} - {%- set i_input = i_input + 1 %} - // lbx - ssSetInputPortVectorDimension(S, {{ i_input }}, {{ (dims.N-1) * dims.nbx }}); - {%- endif %} - {%- if dims.nbx > 0 and dims.N > 1 and simulink_opts.inputs.ubx -%} {#- ubx #} - {%- set i_input = i_input + 1 %} - // ubx - ssSetInputPortVectorDimension(S, {{ i_input }}, {{ (dims.N-1) * dims.nbx }}); - {%- endif %} - - {%- if dims.nbx_e > 0 and dims.N > 0 and simulink_opts.inputs.lbx_e -%} {#- lbx_e #} - {%- set i_input = i_input + 1 %} - // lbx_e - ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.nbx_e }}); - {%- endif %} - {%- if dims.nbx_e > 0 and dims.N > 0 and simulink_opts.inputs.ubx_e -%} {#- ubx_e #} - {%- set i_input = i_input + 1 %} - // ubx_e - ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.nbx_e }}); - {%- endif %} - - {%- if dims.nbu > 0 and dims.N > 0 and simulink_opts.inputs.lbu -%} {#- lbu #} - {%- set i_input = i_input + 1 %} - // lbu - ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.N*dims.nbu }}); - {%- endif -%} - {%- if dims.nbu > 0 and dims.N > 0 and simulink_opts.inputs.ubu -%} {#- ubu #} - {%- set i_input = i_input + 1 %} - // ubu - ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.N*dims.nbu }}); - {%- endif -%} - - - {%- if dims.ng > 0 and simulink_opts.inputs.lg -%} {#- lg #} - {%- set i_input = i_input + 1 %} - // lg - ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.N*dims.ng }}); - {%- endif -%} - {%- if dims.ng > 0 and simulink_opts.inputs.ug -%} {#- ug #} - {%- set i_input = i_input + 1 %} - // ug - ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.N*dims.ng }}); - {%- endif -%} - - {%- if dims.nh > 0 and simulink_opts.inputs.lh -%} {#- lh #} - {%- set i_input = i_input + 1 %} - // lh - ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.N*dims.nh }}); - {%- endif -%} - {%- if dims.nh > 0 and simulink_opts.inputs.uh -%} {#- uh #} - {%- set i_input = i_input + 1 %} - // uh - ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.N*dims.nh }}); - {%- endif -%} - - {%- if dims.nh_e > 0 and simulink_opts.inputs.lh_e -%} {#- lh_e #} - {%- set i_input = i_input + 1 %} - // lh_e - ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.nh_e }}); - {%- endif -%} - {%- if dims.nh_e > 0 and simulink_opts.inputs.uh_e -%} {#- uh_e #} - {%- set i_input = i_input + 1 %} - // uh_e - ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.nh_e }}); - {%- endif -%} - - {%- if dims.ny_0 > 0 and simulink_opts.inputs.cost_W_0 %} {#- cost_W_0 #} - {%- set i_input = i_input + 1 %} - // cost_W_0 - ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.ny_0 * dims.ny_0 }}); - {%- endif %} - - {%- if dims.ny > 0 and simulink_opts.inputs.cost_W %} {#- cost_W #} - {%- set i_input = i_input + 1 %} - // cost_W - ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.ny * dims.ny }}); - {%- endif %} - - {%- if dims.ny_e > 0 and simulink_opts.inputs.cost_W_e %} {#- cost_W_e #} - {%- set i_input = i_input + 1 %} - // cost_W_e - ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.ny_e * dims.ny_e }}); - {%- endif %} - - {%- if simulink_opts.inputs.reset_solver -%} {#- reset_solver #} - {%- set i_input = i_input + 1 %} - // reset_solver - ssSetInputPortVectorDimension(S, {{ i_input }}, 1); - {%- endif -%} - - {%- if simulink_opts.inputs.x_init -%} {#- x_init #} - {%- set i_input = i_input + 1 %} - // x_init - ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.nx * (dims.N+1) }}); - {%- endif -%} - - {%- if simulink_opts.inputs.u_init -%} {#- u_init #} - {%- set i_input = i_input + 1 %} - // u_init - ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.nu * (dims.N) }}); - {%- endif -%} - - /* specify dimension information for the OUTPUT ports */ - {%- set i_output = -1 %}{# note here i_output is 0-based #} - {%- if dims.nu > 0 and simulink_opts.outputs.u0 == 1 %} - {%- set i_output = i_output + 1 %} - ssSetOutputPortVectorDimension(S, {{ i_output }}, {{ dims.nu }} ); - {%- endif %} - - {%- if simulink_opts.outputs.utraj == 1 %} - {%- set i_output = i_output + 1 %} - ssSetOutputPortVectorDimension(S, {{ i_output }}, {{ dims.nu * dims.N }} ); - {%- endif %} - - {%- if simulink_opts.outputs.xtraj == 1 %} - {%- set i_output = i_output + 1 %} - ssSetOutputPortVectorDimension(S, {{ i_output }}, {{ dims.nx * (dims.N+1) }} ); - {%- endif %} - - {%- if simulink_opts.outputs.solver_status == 1 %} - {%- set i_output = i_output + 1 %} - ssSetOutputPortVectorDimension(S, {{ i_output }}, 1 ); - {%- endif %} - - {%- if simulink_opts.outputs.cost_value == 1 %} - {%- set i_output = i_output + 1 %} - ssSetOutputPortVectorDimension(S, {{ i_output }}, 1 ); - {%- endif %} - - {%- if simulink_opts.outputs.KKT_residual == 1 %} - {%- set i_output = i_output + 1 %} - ssSetOutputPortVectorDimension(S, {{ i_output }}, 1 ); - {%- endif %} - - {%- if simulink_opts.outputs.KKT_residuals == 1 %} - {%- set i_output = i_output + 1 %} - ssSetOutputPortVectorDimension(S, {{ i_output }}, 4 ); - {%- endif %} - - {%- if dims.N > 0 and simulink_opts.outputs.x1 == 1 %} - {%- set i_output = i_output + 1 %} - ssSetOutputPortVectorDimension(S, {{ i_output }}, {{ dims.nx }} ); // state at shooting node 1 - {%- endif %} - - {%- if simulink_opts.outputs.CPU_time == 1 %} - {%- set i_output = i_output + 1 %} - ssSetOutputPortVectorDimension(S, {{ i_output }}, 1); - {%- endif %} - - {%- if simulink_opts.outputs.CPU_time_sim == 1 %} - {%- set i_output = i_output + 1 %} - ssSetOutputPortVectorDimension(S, {{ i_output }}, 1); - {%- endif %} - - {%- if simulink_opts.outputs.CPU_time_qp == 1 %} - {%- set i_output = i_output + 1 %} - ssSetOutputPortVectorDimension(S, {{ i_output }}, 1); - {%- endif %} - - {%- if simulink_opts.outputs.CPU_time_lin == 1 %} - {%- set i_output = i_output + 1 %} - ssSetOutputPortVectorDimension(S, {{ i_output }}, 1); - {%- endif %} - - {%- if simulink_opts.outputs.sqp_iter == 1 %} - {%- set i_output = i_output + 1 %} - ssSetOutputPortVectorDimension(S, {{ i_output }}, 1 ); - {%- endif %} - - // specify the direct feedthrough status - // should be set to 1 for all inputs used in mdlOutputs - {%- for i in range(end=n_inputs) %} - ssSetInputPortDirectFeedThrough(S, {{ i }}, 1); - {%- endfor %} - - // one sample time - ssSetNumSampleTimes(S, 1); -} - - -#if defined(MATLAB_MEX_FILE) - -#define MDL_SET_INPUT_PORT_DIMENSION_INFO -#define MDL_SET_OUTPUT_PORT_DIMENSION_INFO - -static void mdlSetInputPortDimensionInfo(SimStruct *S, int_T port, const DimsInfo_T *dimsInfo) -{ - if ( !ssSetInputPortDimensionInfo(S, port, dimsInfo) ) - return; -} - -static void mdlSetOutputPortDimensionInfo(SimStruct *S, int_T port, const DimsInfo_T *dimsInfo) -{ - if ( !ssSetOutputPortDimensionInfo(S, port, dimsInfo) ) - return; -} - -#endif /* MATLAB_MEX_FILE */ - - -static void mdlInitializeSampleTimes(SimStruct *S) -{ - ssSetSampleTime(S, 0, SAMPLINGTIME); - ssSetOffsetTime(S, 0, 0.0); -} - - -static void mdlStart(SimStruct *S) -{ - {{ model.name }}_solver_capsule *capsule = {{ model.name }}_acados_create_capsule(); - {{ model.name }}_acados_create(capsule); - - ssSetUserData(S, (void*)capsule); -} - - -static void mdlOutputs(SimStruct *S, int_T tid) -{ - {{ model.name }}_solver_capsule *capsule = ssGetUserData(S); - ocp_nlp_config *nlp_config = {{ model.name }}_acados_get_nlp_config(capsule); - ocp_nlp_dims *nlp_dims = {{ model.name }}_acados_get_nlp_dims(capsule); - ocp_nlp_in *nlp_in = {{ model.name }}_acados_get_nlp_in(capsule); - ocp_nlp_out *nlp_out = {{ model.name }}_acados_get_nlp_out(capsule); - - InputRealPtrsType in_sign; - - int N = {{ model.name | upper }}_N; - - {%- set buffer_sizes = [dims.nbx_0, dims.np, dims.nbx, dims.nbx_e, dims.nbu, dims.ng, dims.nh, dims.ng_e, dims.nh_e] -%} - - {%- if dims.ny_0 > 0 and simulink_opts.inputs.y_ref_0 %} {# y_ref_0 #} - {%- set buffer_sizes = buffer_sizes | concat(with=(dims.ny_0)) %} - {%- endif %} - {%- if dims.ny > 0 and dims.N > 1 and simulink_opts.inputs.y_ref %} {# y_ref #} - {%- set buffer_sizes = buffer_sizes | concat(with=(dims.ny)) %} - {%- endif %} - {%- if dims.ny_e > 0 and dims.N > 0 and simulink_opts.inputs.y_ref_e %} {# y_ref_e #} - {%- set buffer_sizes = buffer_sizes | concat(with=(dims.ny_e)) %} - {%- endif %} - - {%- if dims.ny_0 > 0 and simulink_opts.inputs.cost_W_0 %} {#- cost_W_0 #} - {%- set buffer_sizes = buffer_sizes | concat(with=(dims.ny_0 * dims.ny_0)) %} - {%- endif %} - {%- if dims.ny > 0 and simulink_opts.inputs.cost_W %} {#- cost_W #} - {%- set buffer_sizes = buffer_sizes | concat(with=(dims.ny * dims.ny)) %} - {%- endif %} - {%- if dims.ny_e > 0 and simulink_opts.inputs.cost_W_e %} {#- cost_W_e #} - {%- set buffer_sizes = buffer_sizes | concat(with=(dims.ny_e * dims.ny_e)) %} - {%- endif %} - - // local buffer - {%- set buffer_size = buffer_sizes | sort | last %} - real_t buffer[{{ buffer_size }}]; - - /* go through inputs */ - {%- set i_input = -1 %} - {%- if dims.nbx_0 > 0 and simulink_opts.inputs.lbx_0 -%} {#- lbx_0 #} - // lbx_0 - {%- set i_input = i_input + 1 %} - in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }}); - for (int i = 0; i < {{ dims.nbx_0 }}; i++) - buffer[i] = (double)(*in_sign[i]); - - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "lbx", buffer); - {%- endif %} - - {%- if dims.nbx_0 > 0 and simulink_opts.inputs.ubx_0 -%} {#- ubx_0 #} - // ubx_0 - {%- set i_input = i_input + 1 %} - in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }}); - for (int i = 0; i < {{ dims.nbx_0 }}; i++) - buffer[i] = (double)(*in_sign[i]); - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "ubx", buffer); - {%- endif %} - - {%- if dims.np > 0 and simulink_opts.inputs.parameter_traj -%} {#- parameter_traj #} - // parameters - stage-variant !!! - {%- set i_input = i_input + 1 %} - in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }}); - - // update value of parameters - for (int ii = 0; ii <= N; ii++) - { - for (int jj = 0; jj < {{ dims.np }}; jj++) - buffer[jj] = (double)(*in_sign[ii*{{dims.np}}+jj]); - {{ model.name }}_acados_update_params(capsule, ii, buffer, {{ dims.np }}); - } - {%- endif %} - - {% if dims.ny_0 > 0 and simulink_opts.inputs.y_ref_0 %} - // y_ref_0 - {%- set i_input = i_input + 1 %} - in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }}); - - for (int i = 0; i < {{ dims.ny_0 }}; i++) - buffer[i] = (double)(*in_sign[i]); - - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "yref", (void *) buffer); - {%- endif %} - - {% if dims.ny > 0 and dims.N > 1 and simulink_opts.inputs.y_ref %} - // y_ref - for stages 1 to N-1 - {%- set i_input = i_input + 1 %} - in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }}); - - for (int ii = 1; ii < N; ii++) - { - for (int jj = 0; jj < {{ dims.ny }}; jj++) - buffer[jj] = (double)(*in_sign[(ii-1)*{{ dims.ny }}+jj]); - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, ii, "yref", (void *) buffer); - } - {%- endif %} - - {% if dims.ny_e > 0 and dims.N > 0 and simulink_opts.inputs.y_ref_e %} - // y_ref_e - {%- set i_input = i_input + 1 %} - in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }}); - - for (int i = 0; i < {{ dims.ny_e }}; i++) - buffer[i] = (double)(*in_sign[i]); - - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "yref", (void *) buffer); - {%- endif %} - - {%- if dims.nbx > 0 and dims.N > 1 and simulink_opts.inputs.lbx -%} {#- lbx #} - // lbx - {%- set i_input = i_input + 1 %} - in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }}); - for (int ii = 1; ii < N; ii++) - { - for (int jj = 0; jj < {{ dims.nbx }}; jj++) - buffer[jj] = (double)(*in_sign[(ii-1)*{{ dims.nbx }}+jj]); - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "lbx", (void *) buffer); - } - {%- endif %} - {%- if dims.nbx > 0 and dims.N > 1 and simulink_opts.inputs.ubx -%} {#- ubx #} - // ubx - {%- set i_input = i_input + 1 %} - in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }}); - for (int ii = 1; ii < N; ii++) - { - for (int jj = 0; jj < {{ dims.nbx }}; jj++) - buffer[jj] = (double)(*in_sign[(ii-1)*{{ dims.nbx }}+jj]); - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "ubx", (void *) buffer); - } - {%- endif %} - - - {%- if dims.nbx_e > 0 and dims.N > 0 and simulink_opts.inputs.lbx_e -%} {#- lbx_e #} - // lbx_e - {%- set i_input = i_input + 1 %} - in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }}); - - for (int i = 0; i < {{ dims.nbx_e }}; i++) - buffer[i] = (double)(*in_sign[i]); - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lbx", buffer); - {%- endif %} - {%- if dims.nbx_e > 0 and dims.N > 0 and simulink_opts.inputs.ubx_e -%} {#- ubx_e #} - // ubx_e - {%- set i_input = i_input + 1 %} - in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }}); - - for (int i = 0; i < {{ dims.nbx_e }}; i++) - buffer[i] = (double)(*in_sign[i]); - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "ubx", buffer); - {%- endif %} - - - {%- if dims.nbu > 0 and dims.N > 0 and simulink_opts.inputs.lbu -%} {#- lbu #} - // lbu - {%- set i_input = i_input + 1 %} - in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }}); - for (int ii = 0; ii < N; ii++) - { - for (int jj = 0; jj < {{ dims.nbu }}; jj++) - buffer[jj] = (double)(*in_sign[ii*{{ dims.nbu }}+jj]); - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "lbu", (void *) buffer); - } - {%- endif -%} - {%- if dims.nbu > 0 and dims.N > 0 and simulink_opts.inputs.ubu -%} {#- ubu #} - // ubu - {%- set i_input = i_input + 1 %} - in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }}); - for (int ii = 0; ii < N; ii++) - { - for (int jj = 0; jj < {{ dims.nbu }}; jj++) - buffer[jj] = (double)(*in_sign[ii*{{ dims.nbu }}+jj]); - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "ubu", (void *) buffer); - } - {%- endif -%} - - {%- if dims.ng > 0 and simulink_opts.inputs.lg -%} {#- lg #} - // lg - {%- set i_input = i_input + 1 %} - in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }}); - - for (int ii = 0; ii < N; ii++) - { - for (int jj = 0; jj < {{ dims.ng }}; jj++) - buffer[jj] = (double)(*in_sign[ii*{{ dims.ng }}+jj]); - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "lg", (void *) buffer); - } - {%- endif -%} - {%- if dims.ng > 0 and simulink_opts.inputs.ug -%} {#- ug #} - // ug - {%- set i_input = i_input + 1 %} - in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }}); - - for (int ii = 0; ii < N; ii++) - { - for (int jj = 0; jj < {{ dims.ng }}; jj++) - buffer[jj] = (double)(*in_sign[ii*{{ dims.ng }}+jj]); - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "ug", (void *) buffer); - } - {%- endif -%} - - {%- if dims.nh > 0 and simulink_opts.inputs.lh -%} {#- lh #} - // lh - {%- set i_input = i_input + 1 %} - in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }}); - - for (int ii = 0; ii < N; ii++) - { - for (int jj = 0; jj < {{ dims.nh }}; jj++) - buffer[jj] = (double)(*in_sign[ii*{{ dims.nh }}+jj]); - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "lh", (void *) buffer); - } - {%- endif -%} - {%- if dims.nh > 0 and simulink_opts.inputs.uh -%} {#- uh #} - // uh - {%- set i_input = i_input + 1 %} - in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }}); - - for (int ii = 0; ii < N; ii++) - { - for (int jj = 0; jj < {{ dims.nh }}; jj++) - buffer[jj] = (double)(*in_sign[ii*{{ dims.nh }}+jj]); - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "uh", (void *) buffer); - } - {%- endif -%} - - - {%- if dims.nh_e > 0 and simulink_opts.inputs.lh_e -%} {#- lh_e #} - // lh_e - {%- set i_input = i_input + 1 %} - in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }}); - for (int i = 0; i < {{ dims.nh_e }}; i++) - buffer[i] = (double)(*in_sign[i]); - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lh", buffer); - {%- endif -%} - {%- if dims.nh_e > 0 and simulink_opts.inputs.uh_e -%} {#- uh_e #} - // uh_e - {%- set i_input = i_input + 1 %} - in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }}); - for (int i = 0; i < {{ dims.nh_e }}; i++) - buffer[i] = (double)(*in_sign[i]); - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "uh", buffer); - {%- endif -%} - - {%- if dims.ny_0 > 0 and simulink_opts.inputs.cost_W_0 %} {#- cost_W_0 #} - // cost_W_0 - {%- set i_input = i_input + 1 %} - in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }}); - for (int i = 0; i < {{ dims.ny_0 * dims.ny_0 }}; i++) - buffer[i] = (double)(*in_sign[i]); - - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "W", buffer); - {%- endif %} - - {%- if dims.ny > 0 and simulink_opts.inputs.cost_W %} {#- cost_W #} - // cost_W - {%- set i_input = i_input + 1 %} - in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }}); - for (int i = 0; i < {{ dims.ny * dims.ny }}; i++) - buffer[i] = (double)(*in_sign[i]); - - for (int ii = 1; ii < N; ii++) - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, ii, "W", buffer); - {%- endif %} - - {%- if dims.ny_e > 0 and simulink_opts.inputs.cost_W_e %} {#- cost_W_e #} - // cost_W_e - {%- set i_input = i_input + 1 %} - in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }}); - for (int i = 0; i < {{ dims.ny_e * dims.ny_e }}; i++) - buffer[i] = (double)(*in_sign[i]); - - ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "W", buffer); - {%- endif %} - - {%- if simulink_opts.inputs.reset_solver %} {#- reset_solver #} - // reset_solver - {%- set i_input = i_input + 1 %} - in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }}); - double reset = (double)(*in_sign[0]); - if (reset) - { - {{ model.name }}_acados_reset(capsule, 1); - } - {%- endif %} - - {%- if simulink_opts.inputs.x_init %} {#- x_init #} - // x_init - {%- set i_input = i_input + 1 %} - in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }}); - for (int ii = 0; ii < {{ dims.N + 1 }}; ii++) - { - for (int jj = 0; jj < {{ dims.nx }}; jj++) - buffer[jj] = (double)(*in_sign[(ii)*{{ dims.nx }}+jj]); - ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, ii, "x", (void *) buffer); - } - {%- endif %} - - {%- if simulink_opts.inputs.u_init %} {#- u_init #} - // u_init - {%- set i_input = i_input + 1 %} - in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }}); - for (int ii = 0; ii < N; ii++) - { - for (int jj = 0; jj < {{ dims.nu }}; jj++) - buffer[jj] = (double)(*in_sign[(ii)*{{ dims.nu }}+jj]); - ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, ii, "u", (void *) buffer); - } - {%- endif %} - - /* call solver */ - int rti_phase = 0; - ocp_nlp_solver_opts_set(nlp_config, capsule->nlp_opts, "rti_phase", &rti_phase); - int acados_status = {{ model.name }}_acados_solve(capsule); - - - /* set outputs */ - // assign pointers to output signals - real_t *out_u0, *out_utraj, *out_xtraj, *out_status, *out_sqp_iter, *out_KKT_res, *out_KKT_residuals, *out_x1, *out_cpu_time, *out_cpu_time_sim, *out_cpu_time_qp, *out_cpu_time_lin, *out_cost_value; - int tmp_int; - - {%- set i_output = -1 -%}{# note here i_output is 0-based #} - {%- if dims.nu > 0 and simulink_opts.outputs.u0 == 1 %} - {%- set i_output = i_output + 1 %} - out_u0 = ssGetOutputPortRealSignal(S, {{ i_output }}); - ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, 0, "u", (void *) out_u0); - {%- endif %} - - {%- if simulink_opts.outputs.utraj == 1 %} - {%- set i_output = i_output + 1 %} - out_utraj = ssGetOutputPortRealSignal(S, {{ i_output }}); - for (int ii = 0; ii < N; ii++) - ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, ii, - "u", (void *) (out_utraj + ii * {{ dims.nu }})); - {%- endif %} - - {% if simulink_opts.outputs.xtraj == 1 %} - {%- set i_output = i_output + 1 %} - - out_xtraj = ssGetOutputPortRealSignal(S, {{ i_output }}); - for (int ii = 0; ii < {{ dims.N + 1 }}; ii++) - ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, ii, - "x", (void *) (out_xtraj + ii * {{ dims.nx }})); - {%- endif %} - - {%- if simulink_opts.outputs.solver_status == 1 %} - {%- set i_output = i_output + 1 %} - out_status = ssGetOutputPortRealSignal(S, {{ i_output }}); - *out_status = (real_t) acados_status; - {%- endif %} - - {%- if simulink_opts.outputs.cost_value == 1 %} - {%- set i_output = i_output + 1 %} - out_cost_value = ssGetOutputPortRealSignal(S, {{ i_output }}); - ocp_nlp_eval_cost(capsule->nlp_solver, nlp_in, nlp_out); - ocp_nlp_get(nlp_config, capsule->nlp_solver, "cost_value", (void *) out_cost_value); - {%- endif %} - - {%- if simulink_opts.outputs.KKT_residual == 1 %} - {%- set i_output = i_output + 1 %} - out_KKT_res = ssGetOutputPortRealSignal(S, {{ i_output }}); - *out_KKT_res = (real_t) nlp_out->inf_norm_res; - {%- endif %} - - {%- if simulink_opts.outputs.KKT_residuals == 1 %} - {%- set i_output = i_output + 1 %} - out_KKT_residuals = ssGetOutputPortRealSignal(S, {{ i_output }}); - - {%- if solver_options.nlp_solver_type == "SQP_RTI" %} - ocp_nlp_eval_residuals(capsule->nlp_solver, nlp_in, nlp_out); - {%- endif %} - ocp_nlp_get(nlp_config, capsule->nlp_solver, "res_stat", (void *) &out_KKT_residuals[0]); - ocp_nlp_get(nlp_config, capsule->nlp_solver, "res_eq", (void *) &out_KKT_residuals[1]); - ocp_nlp_get(nlp_config, capsule->nlp_solver, "res_ineq", (void *) &out_KKT_residuals[2]); - ocp_nlp_get(nlp_config, capsule->nlp_solver, "res_comp", (void *) &out_KKT_residuals[3]); - {%- endif %} - - {%- if dims.N > 0 and simulink_opts.outputs.x1 == 1 %} - {%- set i_output = i_output + 1 %} - out_x1 = ssGetOutputPortRealSignal(S, {{ i_output }}); - ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, 1, "x", (void *) out_x1); - {%- endif %} - - {%- if simulink_opts.outputs.CPU_time == 1 %} - {%- set i_output = i_output + 1 %} - out_cpu_time = ssGetOutputPortRealSignal(S, {{ i_output }}); - // get solution time - ocp_nlp_get(nlp_config, capsule->nlp_solver, "time_tot", (void *) out_cpu_time); - {%- endif -%} - - {%- if simulink_opts.outputs.CPU_time_sim == 1 %} - {%- set i_output = i_output + 1 %} - out_cpu_time_sim = ssGetOutputPortRealSignal(S, {{ i_output }}); - ocp_nlp_get(nlp_config, capsule->nlp_solver, "time_sim", (void *) out_cpu_time_sim); - {%- endif -%} - - {%- if simulink_opts.outputs.CPU_time_qp == 1 %} - {%- set i_output = i_output + 1 %} - out_cpu_time_qp = ssGetOutputPortRealSignal(S, {{ i_output }}); - ocp_nlp_get(nlp_config, capsule->nlp_solver, "time_qp", (void *) out_cpu_time_qp); - {%- endif -%} - - {%- if simulink_opts.outputs.CPU_time_lin == 1 %} - {%- set i_output = i_output + 1 %} - out_cpu_time_lin = ssGetOutputPortRealSignal(S, {{ i_output }}); - ocp_nlp_get(nlp_config, capsule->nlp_solver, "time_lin", (void *) out_cpu_time_lin); - {%- endif -%} - - {%- if simulink_opts.outputs.sqp_iter == 1 %} - {%- set i_output = i_output + 1 %} - out_sqp_iter = ssGetOutputPortRealSignal(S, {{ i_output }}); - // get sqp iter - ocp_nlp_get(nlp_config, capsule->nlp_solver, "sqp_iter", (void *) &tmp_int); - *out_sqp_iter = (real_t) tmp_int; - {%- endif %} - -} - -static void mdlTerminate(SimStruct *S) -{ - {{ model.name }}_solver_capsule *capsule = ssGetUserData(S); - - {{ model.name }}_acados_free(capsule); - {{ model.name }}_acados_free_capsule(capsule); -} - - -#ifdef MATLAB_MEX_FILE -#include "simulink.c" -#else -#include "cg_sfun.h" -#endif diff --git a/third_party/acados/acados_template/c_templates_tera/matlab_templates/main_mex.in.c b/third_party/acados/acados_template/c_templates_tera/matlab_templates/main_mex.in.c deleted file mode 100644 index 851a3cc04f6fd3..00000000000000 --- a/third_party/acados/acados_template/c_templates_tera/matlab_templates/main_mex.in.c +++ /dev/null @@ -1,181 +0,0 @@ -/* - * Copyright (c) The acados authors. - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - - -// standard -#include -#include -// acados -#include "acados/utils/print.h" -#include "acados/utils/math.h" -#include "acados_c/ocp_nlp_interface.h" -#include "acados_solver_{{ model.name }}.h" -// mex -#include "mex.h" - -/* auxilary mex */ -// prints a matrix in column-major format (exponential notation) -void MEX_print_exp_mat(int m, int n, double *A, int lda) -{ - for (int i=0; iN; i++) - { - ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "x", x_init); - ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "u", u0); - } - status = {{ model.name }}_acados_solve(); - ocp_nlp_get(nlp_config, nlp_solver, "time_tot", &elapsed_time); - min_time = MIN(elapsed_time, min_time); - } - - /* print solution and statistics */ - for (int ii = 0; ii <= nlp_dims->N; ii++) - ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, ii, "x", &xtraj[ii*{{ dims.nx }}]); - for (int ii = 0; ii < nlp_dims->N; ii++) - ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, ii, "u", &utraj[ii*{{ dims.nu }}]); - - mexPrintf("\n--- xtraj ---\n"); - MEX_print_exp_tran_mat( {{ dims.nx }}, {{ dims.N }}+1, xtraj, {{ dims.nx }} ); - mexPrintf("\n--- utraj ---\n"); - MEX_print_exp_tran_mat( {{ dims.nu }}, {{ dims.N }}, utraj, {{ dims.nu }} ); - - mexPrintf("\nsolved ocp %d times, solution printed above\n\n", NTIMINGS); - - if (status == ACADOS_SUCCESS) - mexPrintf("{{ model.name }}_acados_solve(): SUCCESS!\n"); - else - mexPrintf("{{ model.name }}_acados_solve() failed with status %d.\n", status); - - // get solution - ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, 0, "kkt_norm_inf", &kkt_norm_inf); - ocp_nlp_get(nlp_config, nlp_solver, "sqp_iter", &sqp_iter); - - mexPrintf("\nSolver info:\n"); - mexPrintf(" SQP iterations %2d\n minimum time for 1 solve %f [ms]\n KKT %e\n", - sqp_iter, min_time*1000, kkt_norm_inf); - - // free solver - status = {{ model.name }}_acados_free(); - if (status) - { - mexPrintf("{{ model.name }}_acados_free() returned status %d.\n", status); - } - - return; -} diff --git a/third_party/acados/acados_template/c_templates_tera/matlab_templates/make_main_mex.in.m b/third_party/acados/acados_template/c_templates_tera/matlab_templates/make_main_mex.in.m deleted file mode 100644 index d217948456b898..00000000000000 --- a/third_party/acados/acados_template/c_templates_tera/matlab_templates/make_main_mex.in.m +++ /dev/null @@ -1,103 +0,0 @@ -% -% Copyright (c) The acados authors. -% -% This file is part of acados. -% -% The 2-Clause BSD License -% -% Redistribution and use in source and binary forms, with or without -% modification, are permitted provided that the following conditions are met: -% -% 1. Redistributions of source code must retain the above copyright notice, -% this list of conditions and the following disclaimer. -% -% 2. Redistributions in binary form must reproduce the above copyright notice, -% this list of conditions and the following disclaimer in the documentation -% and/or other materials provided with the distribution. -% -% THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -% AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -% IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE -% ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE -% LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR -% CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF -% SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS -% INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN -% CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) -% ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -% POSSIBILITY OF SUCH DAMAGE.; - -% - -function make_main_mex_{{ model.name }}() - - opts.output_dir = pwd; - - % get acados folder - acados_folder = getenv('ACADOS_INSTALL_DIR'); - - % set paths - acados_include = ['-I' fullfile(acados_folder, 'include')]; - template_lib_include = ['-l' 'acados_solver_{{ model.name }}']; - template_lib_path = ['-L' fullfile(pwd)]; - - acados_lib_path = ['-L' fullfile(acados_folder, 'lib')]; - external_include = ['-I', fullfile(acados_folder, 'external')]; - blasfeo_include = ['-I', fullfile(acados_folder, 'external', 'blasfeo', 'include')]; - hpipm_include = ['-I', fullfile(acados_folder, 'external', 'hpipm', 'include')]; - - mex_names = { ... - 'main_mex_{{ model.name }}' ... - }; - - mex_files = cell(length(mex_names), 1); - for k=1:length(mex_names) - mex_files{k} = fullfile([mex_names{k}, '.c']); - end - - %% octave C flags - if is_octave() - if ~exist(fullfile(opts.output_dir, 'cflags_octave.txt'), 'file') - diary(fullfile(opts.output_dir, 'cflags_octave.txt')); - diary on - mkoctfile -p CFLAGS - diary off - input_file = fopen(fullfile(opts.output_dir, 'cflags_octave.txt'), 'r'); - cflags_tmp = fscanf(input_file, '%[^\n]s'); - fclose(input_file); - if ~ismac() - cflags_tmp = [cflags_tmp, ' -std=c99 -fopenmp']; - else - cflags_tmp = [cflags_tmp, ' -std=c99']; - end - input_file = fopen(fullfile(opts.output_dir, 'cflags_octave.txt'), 'w'); - fprintf(input_file, '%s', cflags_tmp); - fclose(input_file); - end - % read cflags from file - input_file = fopen(fullfile(opts.output_dir, 'cflags_octave.txt'), 'r'); - cflags_tmp = fscanf(input_file, '%[^\n]s'); - fclose(input_file); - setenv('CFLAGS', cflags_tmp); - end - - %% compile mex - for ii=1:length(mex_files) - disp(['compiling ', mex_files{ii}]) - if is_octave() - % mkoctfile -p CFLAGS - mex(acados_include, template_lib_include, external_include, blasfeo_include, hpipm_include,... - acados_lib_path, template_lib_path, '-lacados', '-lhpipm', '-lblasfeo', mex_files{ii}) - else - if ismac() - FLAGS = 'CFLAGS=$CFLAGS -std=c99'; - else - FLAGS = 'CFLAGS=$CFLAGS -std=c99 -fopenmp'; - end - mex(FLAGS, acados_include, template_lib_include, external_include, blasfeo_include, hpipm_include,... - acados_lib_path, template_lib_path, '-lacados', '-lhpipm', '-lblasfeo', mex_files{ii}) - end - end - - -end \ No newline at end of file diff --git a/third_party/acados/acados_template/c_templates_tera/matlab_templates/make_mex.in.m b/third_party/acados/acados_template/c_templates_tera/matlab_templates/make_mex.in.m deleted file mode 100644 index 5e358271374ea2..00000000000000 --- a/third_party/acados/acados_template/c_templates_tera/matlab_templates/make_mex.in.m +++ /dev/null @@ -1,127 +0,0 @@ -% -% Copyright (c) The acados authors. -% -% This file is part of acados. -% -% The 2-Clause BSD License -% -% Redistribution and use in source and binary forms, with or without -% modification, are permitted provided that the following conditions are met: -% -% 1. Redistributions of source code must retain the above copyright notice, -% this list of conditions and the following disclaimer. -% -% 2. Redistributions in binary form must reproduce the above copyright notice, -% this list of conditions and the following disclaimer in the documentation -% and/or other materials provided with the distribution. -% -% THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -% AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -% IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE -% ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE -% LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR -% CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF -% SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS -% INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN -% CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) -% ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -% POSSIBILITY OF SUCH DAMAGE.; - -% - -function make_mex_{{ model.name }}() - - opts.output_dir = pwd; - - % get acados folder - acados_folder = getenv('ACADOS_INSTALL_DIR'); - - % set paths - acados_include = ['-I' fullfile(acados_folder, 'include')]; - template_lib_include = ['-l' 'acados_ocp_solver_{{ model.name }}']; - template_lib_path = ['-L' fullfile(pwd)]; - - acados_lib_path = ['-L' fullfile(acados_folder, 'lib')]; - external_include = ['-I', fullfile(acados_folder, 'external')]; - blasfeo_include = ['-I', fullfile(acados_folder, 'external', 'blasfeo', 'include')]; - hpipm_include = ['-I', fullfile(acados_folder, 'external', 'hpipm', 'include')]; - - % load linking information of compiled acados - link_libs_core_filename = fullfile(acados_folder, 'lib', 'link_libs.json'); - addpath(fullfile(acados_folder, 'external', 'jsonlab')); - link_libs = loadjson(link_libs_core_filename); - - % add necessary link instructs - acados_lib_extra = {}; - lib_names = fieldnames(link_libs); - for idx = 1 : numel(lib_names) - lib_name = lib_names{idx}; - link_arg = link_libs.(lib_name); - if ~isempty(link_arg) - acados_lib_extra = [acados_lib_extra, link_arg]; - end - end - - - mex_include = ['-I', fullfile(acados_folder, 'interfaces', 'acados_matlab_octave')]; - - mex_names = { ... - 'acados_mex_create_{{ model.name }}' ... - 'acados_mex_free_{{ model.name }}' ... - 'acados_mex_solve_{{ model.name }}' ... - 'acados_mex_set_{{ model.name }}' ... - }; - - mex_files = cell(length(mex_names), 1); - for k=1:length(mex_names) - mex_files{k} = fullfile([mex_names{k}, '.c']); - end - - %% octave C flags - if is_octave() - if ~exist(fullfile(opts.output_dir, 'cflags_octave.txt'), 'file') - diary(fullfile(opts.output_dir, 'cflags_octave.txt')); - diary on - mkoctfile -p CFLAGS - diary off - input_file = fopen(fullfile(opts.output_dir, 'cflags_octave.txt'), 'r'); - cflags_tmp = fscanf(input_file, '%[^\n]s'); - fclose(input_file); - if ~ismac() - cflags_tmp = [cflags_tmp, ' -std=c99 -fopenmp']; - else - cflags_tmp = [cflags_tmp, ' -std=c99']; - end - input_file = fopen(fullfile(opts.output_dir, 'cflags_octave.txt'), 'w'); - fprintf(input_file, '%s', cflags_tmp); - fclose(input_file); - end - % read cflags from file - input_file = fopen(fullfile(opts.output_dir, 'cflags_octave.txt'), 'r'); - cflags_tmp = fscanf(input_file, '%[^\n]s'); - fclose(input_file); - setenv('CFLAGS', cflags_tmp); - end - - %% compile mex - for ii=1:length(mex_files) - disp(['compiling ', mex_files{ii}]) - if is_octave() - % mkoctfile -p CFLAGS - mex(acados_include, template_lib_include, external_include, blasfeo_include, hpipm_include,... - template_lib_path, mex_include, acados_lib_path, '-lacados', '-lhpipm', '-lblasfeo',... - acados_lib_extra{:}, mex_files{ii}) - else - if ismac() - FLAGS = 'CFLAGS=$CFLAGS -std=c99'; - else - FLAGS = 'CFLAGS=$CFLAGS -std=c99 -fopenmp'; - end - mex(FLAGS, acados_include, template_lib_include, external_include, blasfeo_include, hpipm_include,... - template_lib_path, mex_include, acados_lib_path, '-lacados', '-lhpipm', '-lblasfeo',... - acados_lib_extra{:}, mex_files{ii}) - end - end - - -end \ No newline at end of file diff --git a/third_party/acados/acados_template/c_templates_tera/matlab_templates/make_sfun.in.m b/third_party/acados/acados_template/c_templates_tera/matlab_templates/make_sfun.in.m deleted file mode 100644 index 5d74c523f88bd0..00000000000000 --- a/third_party/acados/acados_template/c_templates_tera/matlab_templates/make_sfun.in.m +++ /dev/null @@ -1,432 +0,0 @@ -% -% Copyright (c) The acados authors. -% -% This file is part of acados. -% -% The 2-Clause BSD License -% -% Redistribution and use in source and binary forms, with or without -% modification, are permitted provided that the following conditions are met: -% -% 1. Redistributions of source code must retain the above copyright notice, -% this list of conditions and the following disclaimer. -% -% 2. Redistributions in binary form must reproduce the above copyright notice, -% this list of conditions and the following disclaimer in the documentation -% and/or other materials provided with the distribution. -% -% THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -% AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -% IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE -% ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE -% LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR -% CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF -% SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS -% INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN -% CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) -% ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -% POSSIBILITY OF SUCH DAMAGE.; - -% - -SOURCES = { ... - {%- if solver_options.integrator_type == 'ERK' %} - '{{ model.name }}_model/{{ model.name }}_expl_ode_fun.c', ... - '{{ model.name }}_model/{{ model.name }}_expl_vde_forw.c',... - {%- if solver_options.hessian_approx == 'EXACT' %} - '{{ model.name }}_model/{{ model.name }}_expl_ode_hess.c',... - {%- endif %} - {%- elif solver_options.integrator_type == "IRK" %} - '{{ model.name }}_model/{{ model.name }}_impl_dae_fun.c', ... - '{{ model.name }}_model/{{ model.name }}_impl_dae_fun_jac_x_xdot_z.c', ... - '{{ model.name }}_model/{{ model.name }}_impl_dae_jac_x_xdot_u_z.c', ... - {%- if solver_options.hessian_approx == 'EXACT' %} - '{{ model.name }}_model/{{ model.name }}_impl_dae_hess.c',... - {%- endif %} - {%- elif solver_options.integrator_type == "GNSF" %} - {% if model.gnsf.purely_linear != 1 %} - '{{ model.name }}_model/{{ model.name }}_gnsf_phi_fun.c',... - '{{ model.name }}_model/{{ model.name }}_gnsf_phi_fun_jac_y.c',... - '{{ model.name }}_model/{{ model.name }}_gnsf_phi_jac_y_uhat.c',... - {% if model.gnsf.nontrivial_f_LO == 1 %} - '{{ model.name }}_model/{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz.c',... - {%- endif %} - {%- endif %} - '{{ model.name }}_model/{{ model.name }}_gnsf_get_matrices_fun.c',... - {%- elif solver_options.integrator_type == "DISCRETE" %} - '{{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun.c',... - '{{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun_jac.c',... - {%- if solver_options.hessian_approx == "EXACT" %} - '{{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun_jac_hess.c',... - {%- endif %} - {%- endif %} - {%- if cost.cost_type_0 == "NONLINEAR_LS" %} - '{{ model.name }}_cost/{{ model.name }}_cost_y_0_fun.c',... - '{{ model.name }}_cost/{{ model.name }}_cost_y_0_fun_jac_ut_xt.c',... - '{{ model.name }}_cost/{{ model.name }}_cost_y_0_hess.c',... - {%- elif cost.cost_type_0 == "EXTERNAL" %} - '{{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun.c',... - '{{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun_jac.c',... - '{{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun_jac_hess.c',... - {%- endif %} - - {%- if cost.cost_type == "NONLINEAR_LS" %} - '{{ model.name }}_cost/{{ model.name }}_cost_y_fun.c',... - '{{ model.name }}_cost/{{ model.name }}_cost_y_fun_jac_ut_xt.c',... - '{{ model.name }}_cost/{{ model.name }}_cost_y_hess.c',... - {%- elif cost.cost_type == "EXTERNAL" %} - '{{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun.c',... - '{{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun_jac.c',... - '{{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun_jac_hess.c',... - {%- endif %} - {%- if cost.cost_type_e == "NONLINEAR_LS" %} - '{{ model.name }}_cost/{{ model.name }}_cost_y_e_fun.c',... - '{{ model.name }}_cost/{{ model.name }}_cost_y_e_fun_jac_ut_xt.c',... - '{{ model.name }}_cost/{{ model.name }}_cost_y_e_hess.c',... - {%- elif cost.cost_type_e == "EXTERNAL" %} - '{{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun.c',... - '{{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun_jac.c',... - '{{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun_jac_hess.c',... - {%- endif %} - {%- if constraints.constr_type == "BGH" and dims.nh > 0 %} - '{{ model.name }}_constraints/{{ model.name }}_constr_h_fun.c', ... - '{{ model.name }}_constraints/{{ model.name }}_constr_h_fun_jac_uxt_zt_hess.c', ... - '{{ model.name }}_constraints/{{ model.name }}_constr_h_fun_jac_uxt_zt.c', ... - {%- elif constraints.constr_type == "BGP" and dims.nphi > 0 %} - '{{ model.name }}_constraints/{{ model.name }}_phi_constraint.c', ... - {%- endif %} - {%- if constraints.constr_type_e == "BGH" and dims.nh_e > 0 %} - '{{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun.c', ... - '{{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess.c', ... - '{{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun_jac_uxt_zt.c', ... - {%- elif constraints.constr_type_e == "BGP" and dims.nphi_e > 0 %} - '{{ model.name }}_constraints/{{ model.name }}_phi_e_constraint.c', ... - {%- endif %} - 'acados_solver_sfunction_{{ model.name }}.c', ... - 'acados_solver_{{ model.name }}.c' - }; - -INC_PATH = '{{ acados_include_path }}'; - -INCS = {['-I', fullfile(INC_PATH, 'blasfeo', 'include')], ... - ['-I', fullfile(INC_PATH, 'hpipm', 'include')], ... - ['-I', fullfile(INC_PATH, 'acados')], ... - ['-I', fullfile(INC_PATH)]}; - -{% if solver_options.qp_solver is containing("QPOASES") %} -INCS{end+1} = ['-I', fullfile(INC_PATH, 'qpOASES_e')]; -{% endif %} - -CFLAGS = 'CFLAGS=$CFLAGS'; -LDFLAGS = 'LDFLAGS=$LDFLAGS'; -COMPFLAGS = 'COMPFLAGS=$COMPFLAGS'; -COMPDEFINES = 'COMPDEFINES=$COMPDEFINES'; - -{% if solver_options.qp_solver is containing("QPOASES") %} -CFLAGS = [ CFLAGS, ' -DACADOS_WITH_QPOASES ' ]; -COMPDEFINES = [ COMPDEFINES, ' -DACADOS_WITH_QPOASES ' ]; -{%- elif solver_options.qp_solver is containing("OSQP") %} -CFLAGS = [ CFLAGS, ' -DACADOS_WITH_OSQP ' ]; -COMPDEFINES = [ COMPDEFINES, ' -DACADOS_WITH_OSQP ' ]; -{%- elif solver_options.qp_solver is containing("QPDUNES") %} -CFLAGS = [ CFLAGS, ' -DACADOS_WITH_QPDUNES ' ]; -COMPDEFINES = [ COMPDEFINES, ' -DACADOS_WITH_QPDUNES ' ]; -{%- elif solver_options.qp_solver is containing("DAQP") %} -CFLAGS = [ CFLAGS, ' -DACADOS_WITH_DAQP' ]; -COMPDEFINES = [ COMPDEFINES, ' -DACADOS_WITH_DAQP' ]; -{%- elif solver_options.qp_solver is containing("HPMPC") %} -CFLAGS = [ CFLAGS, ' -DACADOS_WITH_HPMPC ' ]; -COMPDEFINES = [ COMPDEFINES, ' -DACADOS_WITH_HPMPC ' ]; -{% endif %} - -LIB_PATH = ['-L', fullfile('{{ acados_lib_path }}')]; - -LIBS = {'-lacados', '-lhpipm', '-lblasfeo'}; - -% acados linking libraries and flags -{%- if acados_link_libs and os and os == "pc" %} -LDFLAGS = [LDFLAGS ' {{ acados_link_libs.openmp }}']; -COMPFLAGS = [COMPFLAGS ' {{ acados_link_libs.openmp }}']; -LIBS{end+1} = '{{ acados_link_libs.qpoases }}'; -LIBS{end+1} = '{{ acados_link_libs.hpmpc }}'; -LIBS{end+1} = '{{ acados_link_libs.osqp }}'; -{%- else %} - {% if solver_options.qp_solver is containing("QPOASES") %} -LIBS{end+1} = '-lqpOASES_e'; - {% endif %} - {% if solver_options.qp_solver is containing("DAQP") %} -LIBS{end+1} = '-ldaqp'; - {% endif %} -{%- endif %} - - -try - % mex('-v', '-O', CFLAGS, LDFLAGS, COMPFLAGS, COMPDEFINES, INCS{:}, ... - mex('-O', CFLAGS, LDFLAGS, COMPFLAGS, COMPDEFINES, INCS{:}, ... - LIB_PATH, LIBS{:}, SOURCES{:}, ... - '-output', 'acados_solver_sfunction_{{ model.name }}' ); -catch exception - disp('make_sfun failed with the following exception:') - disp(exception); - disp('Try adding -v to the mex command above to get more information.') - keyboard -end - -fprintf( [ '\n\nSuccessfully created sfunction:\nacados_solver_sfunction_{{ model.name }}', '.', ... - eval('mexext')] ); - - -%% print note on usage of s-function, and create I/O port names vectors -fprintf('\n\nNote: Usage of Sfunction is as follows:\n') -input_note = 'Inputs are:\n'; -i_in = 1; - -global sfun_input_names -sfun_input_names = {}; - -{%- if dims.nbx_0 > 0 and simulink_opts.inputs.lbx_0 -%} {#- lbx_0 #} -input_note = strcat(input_note, num2str(i_in), ') lbx_0 - lower bound on x for stage 0,',... - ' size [{{ dims.nbx_0 }}]\n '); -sfun_input_names = [sfun_input_names; 'lbx_0 [{{ dims.nbx_0 }}]']; -i_in = i_in + 1; -{%- endif %} - -{%- if dims.nbx_0 > 0 and simulink_opts.inputs.ubx_0 -%} {#- ubx_0 #} -input_note = strcat(input_note, num2str(i_in), ') ubx_0 - upper bound on x for stage 0,',... - ' size [{{ dims.nbx_0 }}]\n '); -sfun_input_names = [sfun_input_names; 'ubx_0 [{{ dims.nbx_0 }}]']; -i_in = i_in + 1; -{%- endif %} - -{%- if dims.np > 0 and simulink_opts.inputs.parameter_traj -%} {#- parameter_traj #} -input_note = strcat(input_note, num2str(i_in), ') parameters - concatenated for all shooting nodes 0 to N,',... - ' size [{{ (dims.N+1)*dims.np }}]\n '); -sfun_input_names = [sfun_input_names; 'parameter_traj [{{ (dims.N+1)*dims.np }}]']; -i_in = i_in + 1; -{%- endif %} - -{%- if dims.ny_0 > 0 and simulink_opts.inputs.y_ref_0 %} -input_note = strcat(input_note, num2str(i_in), ') y_ref_0, size [{{ dims.ny_0 }}]\n '); -sfun_input_names = [sfun_input_names; 'y_ref_0 [{{ dims.ny_0 }}]']; -i_in = i_in + 1; -{%- endif %} - -{%- if dims.ny > 0 and dims.N > 1 and simulink_opts.inputs.y_ref %} -input_note = strcat(input_note, num2str(i_in), ') y_ref - concatenated for shooting nodes 1 to N-1,',... - ' size [{{ (dims.N-1) * dims.ny }}]\n '); -sfun_input_names = [sfun_input_names; 'y_ref [{{ (dims.N-1) * dims.ny }}]']; -i_in = i_in + 1; -{%- endif %} - -{%- if dims.ny_e > 0 and dims.N > 0 and simulink_opts.inputs.y_ref_e %} -input_note = strcat(input_note, num2str(i_in), ') y_ref_e, size [{{ dims.ny_e }}]\n '); -sfun_input_names = [sfun_input_names; 'y_ref_e [{{ dims.ny_e }}]']; -i_in = i_in + 1; -{%- endif %} - -{%- if dims.nbx > 0 and dims.N > 1 and simulink_opts.inputs.lbx -%} {#- lbx #} -input_note = strcat(input_note, num2str(i_in), ') lbx for shooting nodes 1 to N-1, size [{{ (dims.N-1) * dims.nbx }}]\n '); -sfun_input_names = [sfun_input_names; 'lbx [{{ (dims.N-1) * dims.nbx }}]']; -i_in = i_in + 1; -{%- endif %} -{%- if dims.nbx > 0 and dims.N > 1 and simulink_opts.inputs.ubx -%} {#- ubx #} -input_note = strcat(input_note, num2str(i_in), ') ubx for shooting nodes 1 to N-1, size [{{ (dims.N-1) * dims.nbx }}]\n '); -sfun_input_names = [sfun_input_names; 'ubx [{{ (dims.N-1) * dims.nbx }}]']; -i_in = i_in + 1; -{%- endif %} - - -{%- if dims.nbx_e > 0 and dims.N > 0 and simulink_opts.inputs.lbx_e -%} {#- lbx_e #} -input_note = strcat(input_note, num2str(i_in), ') lbx_e (lbx at shooting node N), size [{{ dims.nbx_e }}]\n '); -sfun_input_names = [sfun_input_names; 'lbx_e [{{ dims.nbx_e }}]']; -i_in = i_in + 1; -{%- endif %} -{%- if dims.nbx_e > 0 and dims.N > 0 and simulink_opts.inputs.ubx_e -%} {#- ubx_e #} -input_note = strcat(input_note, num2str(i_in), ') ubx_e (ubx at shooting node N), size [{{ dims.nbx_e }}]\n '); -sfun_input_names = [sfun_input_names; 'ubx_e [{{ dims.nbx_e }}]']; -i_in = i_in + 1; -{%- endif %} - -{%- if dims.nbu > 0 and dims.N > 0 and simulink_opts.inputs.lbu -%} {#- lbu #} -input_note = strcat(input_note, num2str(i_in), ') lbu for shooting nodes 0 to N-1, size [{{ dims.N*dims.nbu }}]\n '); -sfun_input_names = [sfun_input_names; 'lbu [{{ dims.N*dims.nbu }}]']; -i_in = i_in + 1; -{%- endif -%} -{%- if dims.nbu > 0 and dims.N > 0 and simulink_opts.inputs.ubu -%} {#- ubu #} -input_note = strcat(input_note, num2str(i_in), ') ubu for shooting nodes 0 to N-1, size [{{ dims.N*dims.nbu }}]\n '); -sfun_input_names = [sfun_input_names; 'ubu [{{ dims.N*dims.nbu }}]']; -i_in = i_in + 1; -{%- endif -%} - -{%- if dims.ng > 0 and simulink_opts.inputs.lg -%} {#- lg #} -input_note = strcat(input_note, num2str(i_in), ') lg for shooting nodes 0 to N-1, size [{{ dims.N*dims.ng }}]\n '); -sfun_input_names = [sfun_input_names; 'lg [{{ dims.N*dims.ng }}]']; -i_in = i_in + 1; -{%- endif %} -{%- if dims.ng > 0 and simulink_opts.inputs.ug -%} {#- ug #} -input_note = strcat(input_note, num2str(i_in), ') ug for shooting nodes 0 to N-1, size [{{ dims.N*dims.ng }}]\n '); -sfun_input_names = [sfun_input_names; 'ug [{{ dims.N*dims.ng }}]']; -i_in = i_in + 1; -{%- endif %} - -{%- if dims.nh > 0 and simulink_opts.inputs.lh -%} {#- lh #} -input_note = strcat(input_note, num2str(i_in), ') lh for shooting nodes 0 to N-1, size [{{ dims.N*dims.nh }}]\n '); -sfun_input_names = [sfun_input_names; 'lh [{{ dims.N*dims.nh }}]']; -i_in = i_in + 1; -{%- endif %} -{%- if dims.nh > 0 and simulink_opts.inputs.uh -%} {#- uh #} -input_note = strcat(input_note, num2str(i_in), ') uh for shooting nodes 0 to N-1, size [{{ dims.N*dims.nh }}]\n '); -sfun_input_names = [sfun_input_names; 'uh [{{ dims.N*dims.nh }}]']; -i_in = i_in + 1; -{%- endif %} - -{%- if dims.nh_e > 0 and simulink_opts.inputs.lh_e -%} {#- lh_e #} -input_note = strcat(input_note, num2str(i_in), ') lh_e, size [{{ dims.nh_e }}]\n '); -sfun_input_names = [sfun_input_names; 'lh_e [{{ dims.nh_e }}]']; -i_in = i_in + 1; -{%- endif %} -{%- if dims.nh_e > 0 and simulink_opts.inputs.uh_e -%} {#- uh_e #} -input_note = strcat(input_note, num2str(i_in), ') uh_e, size [{{ dims.nh_e }}]\n '); -sfun_input_names = [sfun_input_names; 'uh_e [{{ dims.nh_e }}]']; -i_in = i_in + 1; -{%- endif %} - -{%- if dims.ny_0 > 0 and simulink_opts.inputs.cost_W_0 %} {#- cost_W_0 #} -input_note = strcat(input_note, num2str(i_in), ') cost_W_0 in column-major format, size [{{ dims.ny_0 * dims.ny_0 }}]\n '); -sfun_input_names = [sfun_input_names; 'cost_W_0 [{{ dims.ny_0 * dims.ny_0 }}]']; -i_in = i_in + 1; -{%- endif %} - -{%- if dims.ny > 0 and simulink_opts.inputs.cost_W %} {#- cost_W #} -input_note = strcat(input_note, num2str(i_in), ') cost_W in column-major format, that is set for all intermediate shooting nodes: 1 to N-1, size [{{ dims.ny * dims.ny }}]\n '); -sfun_input_names = [sfun_input_names; 'cost_W [{{ dims.ny * dims.ny }}]']; -i_in = i_in + 1; -{%- endif %} - -{%- if dims.ny_e > 0 and simulink_opts.inputs.cost_W_e %} {#- cost_W_e #} -input_note = strcat(input_note, num2str(i_in), ') cost_W_e in column-major format, size [{{ dims.ny_e * dims.ny_e }}]\n '); -sfun_input_names = [sfun_input_names; 'cost_W_e [{{ dims.ny_e * dims.ny_e }}]']; -i_in = i_in + 1; -{%- endif %} - -{%- if simulink_opts.inputs.reset_solver %} {#- reset_solver #} -input_note = strcat(input_note, num2str(i_in), ') reset_solver determines if iterate is set to all zeros before other initializations (x_init, u_init) are set and before solver is called, size [1]\n '); -sfun_input_names = [sfun_input_names; 'reset_solver [1]']; -i_in = i_in + 1; -{%- endif %} - -{%- if simulink_opts.inputs.x_init %} {#- x_init #} -input_note = strcat(input_note, num2str(i_in), ') initialization of x for all shooting nodes, size [{{ dims.nx * (dims.N+1) }}]\n '); -sfun_input_names = [sfun_input_names; 'x_init [{{ dims.nx * (dims.N+1) }}]']; -i_in = i_in + 1; -{%- endif %} - -{%- if simulink_opts.inputs.u_init %} {#- u_init #} -input_note = strcat(input_note, num2str(i_in), ') initialization of u for shooting nodes 0 to N-1, size [{{ dims.nu * (dims.N) }}]\n '); -sfun_input_names = [sfun_input_names; 'u_init [{{ dims.nu * (dims.N) }}]']; -i_in = i_in + 1; -{%- endif %} - -fprintf(input_note) - -disp(' ') - -output_note = 'Outputs are:\n'; -i_out = 0; - -global sfun_output_names -sfun_output_names = {}; - -{%- if dims.nu > 0 and simulink_opts.outputs.u0 == 1 %} -i_out = i_out + 1; -output_note = strcat(output_note, num2str(i_out), ') u0, control input at node 0, size [{{ dims.nu }}]\n '); -sfun_output_names = [sfun_output_names; 'u0 [{{ dims.nu }}]']; -{%- endif %} - -{%- if simulink_opts.outputs.utraj == 1 %} -i_out = i_out + 1; -output_note = strcat(output_note, num2str(i_out), ') utraj, control input concatenated for nodes 0 to N-1, size [{{ dims.nu * dims.N }}]\n '); -sfun_output_names = [sfun_output_names; 'utraj [{{ dims.nu * dims.N }}]']; -{%- endif %} - -{%- if simulink_opts.outputs.xtraj == 1 %} -i_out = i_out + 1; -output_note = strcat(output_note, num2str(i_out), ') xtraj, state concatenated for nodes 0 to N, size [{{ dims.nx * (dims.N + 1) }}]\n '); -sfun_output_names = [sfun_output_names; 'xtraj [{{ dims.nx * (dims.N + 1) }}]']; -{%- endif %} - -{%- if simulink_opts.outputs.solver_status == 1 %} -i_out = i_out + 1; -output_note = strcat(output_note, num2str(i_out), ') acados solver status (0 = SUCCESS)\n '); -sfun_output_names = [sfun_output_names; 'solver_status']; -{%- endif %} - -{%- if simulink_opts.outputs.cost_value == 1 %} -i_out = i_out + 1; -output_note = strcat(output_note, num2str(i_out), ') cost function value\n '); -sfun_output_names = [sfun_output_names; 'cost_value']; -{%- endif %} - - -{%- if simulink_opts.outputs.KKT_residual == 1 %} -i_out = i_out + 1; -output_note = strcat(output_note, num2str(i_out), ') KKT residual\n '); -sfun_output_names = [sfun_output_names; 'KKT_residual']; -{%- endif %} - -{%- if simulink_opts.outputs.KKT_residuals == 1 %} -i_out = i_out + 1; -output_note = strcat(output_note, num2str(i_out), ') KKT residuals, size [4] (stat, eq, ineq, comp)\n '); -sfun_output_names = [sfun_output_names; 'KKT_residuals [4]']; -{%- endif %} - -{%- if dims.N > 0 and simulink_opts.outputs.x1 == 1 %} -i_out = i_out + 1; -output_note = strcat(output_note, num2str(i_out), ') x1, state at node 1\n '); -sfun_output_names = [sfun_output_names; 'x1']; -{%- endif %} - -{%- if simulink_opts.outputs.CPU_time == 1 %} -i_out = i_out + 1; -output_note = strcat(output_note, num2str(i_out), ') CPU time\n '); -sfun_output_names = [sfun_output_names; 'CPU_time']; -{%- endif %} - -{%- if simulink_opts.outputs.CPU_time_sim == 1 %} -i_out = i_out + 1; -output_note = strcat(output_note, num2str(i_out), ') CPU time integrator\n '); -sfun_output_names = [sfun_output_names; 'CPU_time_sim']; -{%- endif %} - -{%- if simulink_opts.outputs.CPU_time_qp == 1 %} -i_out = i_out + 1; -output_note = strcat(output_note, num2str(i_out), ') CPU time QP solution\n '); -sfun_output_names = [sfun_output_names; 'CPU_time_qp']; -{%- endif %} - -{%- if simulink_opts.outputs.CPU_time_lin == 1 %} -i_out = i_out + 1; -output_note = strcat(output_note, num2str(i_out), ') CPU time linearization (including integrator)\n '); -sfun_output_names = [sfun_output_names; 'CPU_time_lin']; -{%- endif %} - -{%- if simulink_opts.outputs.sqp_iter == 1 %} -i_out = i_out + 1; -output_note = strcat(output_note, num2str(i_out), ') SQP iterations\n '); -sfun_output_names = [sfun_output_names; 'sqp_iter']; -{%- endif %} - -fprintf(output_note) - -% The mask drawing command is: -% --- -% global sfun_input_names sfun_output_names -% for i = 1:length(sfun_input_names) -% port_label('input', i, sfun_input_names{i}) -% end -% for i = 1:length(sfun_output_names) -% port_label('output', i, sfun_output_names{i}) -% end -% --- -% It can be used by copying it in sfunction/Mask/Edit mask/Icon drawing commands -% (you can access it wirth ctrl+M on the s-function) \ No newline at end of file diff --git a/third_party/acados/acados_template/c_templates_tera/matlab_templates/make_sfun_sim.in.m b/third_party/acados/acados_template/c_templates_tera/matlab_templates/make_sfun_sim.in.m deleted file mode 100644 index e4c32a8c19a9d2..00000000000000 --- a/third_party/acados/acados_template/c_templates_tera/matlab_templates/make_sfun_sim.in.m +++ /dev/null @@ -1,137 +0,0 @@ -% -% Copyright (c) The acados authors. -% -% This file is part of acados. -% -% The 2-Clause BSD License -% -% Redistribution and use in source and binary forms, with or without -% modification, are permitted provided that the following conditions are met: -% -% 1. Redistributions of source code must retain the above copyright notice, -% this list of conditions and the following disclaimer. -% -% 2. Redistributions in binary form must reproduce the above copyright notice, -% this list of conditions and the following disclaimer in the documentation -% and/or other materials provided with the distribution. -% -% THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -% AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -% IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE -% ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE -% LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR -% CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF -% SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS -% INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN -% CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) -% ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -% POSSIBILITY OF SUCH DAMAGE.; - -% - -SOURCES = [ 'acados_sim_solver_sfunction_{{ model.name }}.c ', ... - 'acados_sim_solver_{{ model.name }}.c ', ... - {%- if solver_options.integrator_type == 'ERK' %} - '{{ model.name }}_model/{{ model.name }}_expl_ode_fun.c ',... - '{{ model.name }}_model/{{ model.name }}_expl_vde_forw.c ',... - '{{ model.name }}_model/{{ model.name }}_expl_vde_adj.c ',... - {%- if solver_options.hessian_approx == 'EXACT' %} - '{{ model.name }}_model/{{ model.name }}_expl_ode_hess.c ',... - {%- endif %} - {%- elif solver_options.integrator_type == "IRK" %} - '{{ model.name }}_model/{{ model.name }}_impl_dae_fun.c ', ... - '{{ model.name }}_model/{{ model.name }}_impl_dae_fun_jac_x_xdot_z.c ', ... - '{{ model.name }}_model/{{ model.name }}_impl_dae_jac_x_xdot_u_z.c ', ... - {%- if solver_options.hessian_approx == 'EXACT' %} - '{{ model.name }}_model/{{ model.name }}_impl_dae_hess.c ',... - {%- endif %} - {%- elif solver_options.integrator_type == "GNSF" %} - {%- if model.gnsf.purely_linear != 1 %} - '{{ model.name }}_model/{{ model.name }}_gnsf_phi_fun.c ',... - '{{ model.name }}_model/{{ model.name }}_gnsf_phi_fun_jac_y.c ',... - '{{ model.name }}_model/{{ model.name }}_gnsf_phi_jac_y_uhat.c ',... - {%- if model.gnsf.nontrivial_f_LO == 1 %} - '{{ model.name }}_model/{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz.c ',... - {%- endif %} - {%- endif %} - '{{ model.name }}_model/{{ model.name }}_gnsf_get_matrices_fun.c ',... - {%- endif %} - ]; - -INC_PATH = '{{ acados_include_path }}'; - -INCS = [ ' -I', fullfile(INC_PATH, 'blasfeo', 'include'), ... - ' -I', fullfile(INC_PATH, 'hpipm', 'include'), ... - ' -I', INC_PATH, ' -I', fullfile(INC_PATH, 'acados'), ' ']; - -CFLAGS = ' -O'; - -LIB_PATH = '{{ acados_lib_path }}'; - -LIBS = '-lacados -lblasfeo -lhpipm'; - -try - % eval( [ 'mex -v -output acados_sim_solver_sfunction_{{ model.name }} ', ... - eval( [ 'mex -output acados_sim_solver_sfunction_{{ model.name }} ', ... - CFLAGS, INCS, ' ', SOURCES, ' -L', LIB_PATH, ' ', LIBS ]); - -catch exception - disp('make_sfun failed with the following exception:') - disp(exception); - disp('Try adding -v to the mex command above to get more information.') - keyboard -end - - -fprintf( [ '\n\nSuccessfully created sfunction:\nacados_sim_solver_sfunction_{{ model.name }}', '.', ... - eval('mexext')] ); - - -global sfun_sim_input_names -sfun_sim_input_names = {}; - -%% print note on usage of s-function -fprintf('\n\nNote: Usage of Sfunction is as follows:\n') -input_note = 'Inputs are:\n1) x0, initial state, size [{{ dims.nx }}]\n '; -i_in = 2; -sfun_sim_input_names = [sfun_sim_input_names; 'x0 [{{ dims.nx }}]']; - -{%- if dims.nu > 0 %} -input_note = strcat(input_note, num2str(i_in), ') u, size [{{ dims.nu }}]\n '); -i_in = i_in + 1; -sfun_sim_input_names = [sfun_sim_input_names; 'u [{{ dims.nu }}]']; -{%- endif %} - -{%- if dims.np > 0 %} -input_note = strcat(input_note, num2str(i_in), ') parameters, size [{{ dims.np }}]\n '); -i_in = i_in + 1; -sfun_sim_input_names = [sfun_sim_input_names; 'p [{{ dims.np }}]']; -{%- endif %} - - -fprintf(input_note) - -disp(' ') - -global sfun_sim_output_names -sfun_sim_output_names = {}; - -output_note = strcat('Outputs are:\n', ... - '1) x1 - simulated state, size [{{ dims.nx }}]\n'); -sfun_sim_output_names = [sfun_sim_output_names; 'x1 [{{ dims.nx }}]']; - -fprintf(output_note) - - -% The mask drawing command is: -% --- -% global sfun_sim_input_names sfun_sim_output_names -% for i = 1:length(sfun_sim_input_names) -% port_label('input', i, sfun_sim_input_names{i}) -% end -% for i = 1:length(sfun_sim_output_names) -% port_label('output', i, sfun_sim_output_names{i}) -% end -% --- -% It can be used by copying it in sfunction/Mask/Edit mask/Icon drawing commands -% (you can access it wirth ctrl+M on the s-function) \ No newline at end of file diff --git a/third_party/acados/acados_template/c_templates_tera/matlab_templates/mex_solver.in.m b/third_party/acados/acados_template/c_templates_tera/matlab_templates/mex_solver.in.m deleted file mode 100644 index 374321283099bd..00000000000000 --- a/third_party/acados/acados_template/c_templates_tera/matlab_templates/mex_solver.in.m +++ /dev/null @@ -1,270 +0,0 @@ -% -% Copyright (c) The acados authors. -% -% This file is part of acados. -% -% The 2-Clause BSD License -% -% Redistribution and use in source and binary forms, with or without -% modification, are permitted provided that the following conditions are met: -% -% 1. Redistributions of source code must retain the above copyright notice, -% this list of conditions and the following disclaimer. -% -% 2. Redistributions in binary form must reproduce the above copyright notice, -% this list of conditions and the following disclaimer in the documentation -% and/or other materials provided with the distribution. -% -% THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -% AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -% IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE -% ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE -% LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR -% CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF -% SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS -% INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN -% CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) -% ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -% POSSIBILITY OF SUCH DAMAGE.; - -% - -classdef {{ model.name }}_mex_solver < handle - - properties - C_ocp - C_ocp_ext_fun - cost_ext_fun_type - cost_ext_fun_type_e - N - name - code_gen_dir - end % properties - - - - methods - - % constructor - function obj = {{ model.name }}_mex_solver() - make_mex_{{ model.name }}(); - [obj.C_ocp, obj.C_ocp_ext_fun] = acados_mex_create_{{ model.name }}(); - % to have path to destructor when changing directory - addpath('.') - obj.cost_ext_fun_type = '{{ cost.cost_ext_fun_type }}'; - obj.cost_ext_fun_type_e = '{{ cost.cost_ext_fun_type_e }}'; - obj.N = {{ dims.N }}; - obj.name = '{{ model.name }}'; - obj.code_gen_dir = pwd(); - end - - % destructor - function delete(obj) - disp("delete template..."); - return_dir = pwd(); - cd(obj.code_gen_dir); - if ~isempty(obj.C_ocp) - acados_mex_free_{{ model.name }}(obj.C_ocp); - end - cd(return_dir); - disp("done."); - end - - % solve - function solve(obj) - acados_mex_solve_{{ model.name }}(obj.C_ocp); - end - - % set -- borrowed from MEX interface - function set(varargin) - obj = varargin{1}; - field = varargin{2}; - value = varargin{3}; - if ~isa(field, 'char') - error('field must be a char vector, use '' '''); - end - if nargin==3 - acados_mex_set_{{ model.name }}(obj.cost_ext_fun_type, obj.cost_ext_fun_type_e, obj.C_ocp, obj.C_ocp_ext_fun, field, value); - elseif nargin==4 - stage = varargin{4}; - acados_mex_set_{{ model.name }}(obj.cost_ext_fun_type, obj.cost_ext_fun_type_e, obj.C_ocp, obj.C_ocp_ext_fun, field, value, stage); - else - disp('acados_ocp.set: wrong number of input arguments (2 or 3 allowed)'); - end - end - - function value = get_cost(obj) - value = ocp_get_cost(obj.C_ocp); - end - - % get -- borrowed from MEX interface - function value = get(varargin) - % usage: - % obj.get(field, value, [stage]) - obj = varargin{1}; - field = varargin{2}; - if any(strfind('sens', field)) - error('field sens* (sensitivities of optimal solution) not yet supported for templated MEX.') - end - if ~isa(field, 'char') - error('field must be a char vector, use '' '''); - end - - if nargin==2 - value = ocp_get(obj.C_ocp, field); - elseif nargin==3 - stage = varargin{3}; - value = ocp_get(obj.C_ocp, field, stage); - else - disp('acados_ocp.get: wrong number of input arguments (1 or 2 allowed)'); - end - end - - - function [] = store_iterate(varargin) - %%% Stores the current iterate of the ocp solver in a json file. - %%% param1: filename: if not set, use model_name + timestamp + '.json' - %%% param2: overwrite: if false and filename exists add timestamp to filename - - obj = varargin{1}; - filename = ''; - overwrite = false; - - if nargin>=2 - filename = varargin{2}; - if ~isa(filename, 'char') - error('filename must be a char vector, use '' '''); - end - end - - if nargin==3 - overwrite = varargin{3}; - end - - if nargin > 3 - disp('acados_ocp.get: wrong number of input arguments (1 or 2 allowed)'); - end - - if strcmp(filename,'') - filename = [obj.name '_iterate.json']; - end - if ~overwrite - % append timestamp - if exist(filename, 'file') - filename = filename(1:end-5); - filename = [filename '_' datestr(now,'yyyy-mm-dd-HH:MM:SS') '.json']; - end - end - filename = fullfile(pwd, filename); - - % get iterate: - solution = struct(); - for i=0:obj.N - solution.(['x_' num2str(i)]) = obj.get('x', i); - solution.(['lam_' num2str(i)]) = obj.get('lam', i); - solution.(['t_' num2str(i)]) = obj.get('t', i); - solution.(['sl_' num2str(i)]) = obj.get('sl', i); - solution.(['su_' num2str(i)]) = obj.get('su', i); - end - for i=0:obj.N-1 - solution.(['z_' num2str(i)]) = obj.get('z', i); - solution.(['u_' num2str(i)]) = obj.get('u', i); - solution.(['pi_' num2str(i)]) = obj.get('pi', i); - end - - acados_folder = getenv('ACADOS_INSTALL_DIR'); - addpath(fullfile(acados_folder, 'external', 'jsonlab')); - savejson('', solution, filename); - - json_string = savejson('', solution, 'ForceRootName', 0); - - fid = fopen(filename, 'w'); - if fid == -1, error('store_iterate: Cannot create JSON file'); end - fwrite(fid, json_string, 'char'); - fclose(fid); - - disp(['stored current iterate in ' filename]); - end - - - function [] = load_iterate(obj, filename) - %%% Loads the iterate stored in json file with filename into the ocp solver. - acados_folder = getenv('ACADOS_INSTALL_DIR'); - addpath(fullfile(acados_folder, 'external', 'jsonlab')); - filename = fullfile(pwd, filename); - - if ~exist(filename, 'file') - error(['load_iterate: failed, file does not exist: ' filename]) - end - - solution = loadjson(filename); - keys = fieldnames(solution); - - for k = 1:numel(keys) - key = keys{k}; - key_parts = strsplit(key, '_'); - field = key_parts{1}; - stage = key_parts{2}; - - val = solution.(key); - - % check if array is empty (can happen for z) - if numel(val) > 0 - obj.set(field, val, str2num(stage)) - end - end - end - - - % print - function print(varargin) - if nargin < 2 - field = 'stat'; - else - field = varargin{2}; - end - - obj = varargin{1}; - - if strcmp(field, 'stat') - stat = obj.get('stat'); - {%- if solver_options.nlp_solver_type == "SQP" %} - fprintf('\niter\tres_stat\tres_eq\t\tres_ineq\tres_comp\tqp_stat\tqp_iter\talpha'); - if size(stat,2)>8 - fprintf('\tqp_res_stat\tqp_res_eq\tqp_res_ineq\tqp_res_comp'); - end - fprintf('\n'); - for jj=1:size(stat,1) - fprintf('%d\t%e\t%e\t%e\t%e\t%d\t%d\t%e', stat(jj,1), stat(jj,2), stat(jj,3), stat(jj,4), stat(jj,5), stat(jj,6), stat(jj,7), stat(jj, 8)); - if size(stat,2)>8 - fprintf('\t%e\t%e\t%e\t%e', stat(jj,9), stat(jj,10), stat(jj,11), stat(jj,12)); - end - fprintf('\n'); - end - fprintf('\n'); - {%- else %} - fprintf('\niter\tqp_status\tqp_iter'); - if size(stat,2)>3 - fprintf('\tqp_res_stat\tqp_res_eq\tqp_res_ineq\tqp_res_comp'); - end - fprintf('\n'); - for jj=1:size(stat,1) - fprintf('%d\t%d\t\t%d', stat(jj,1), stat(jj,2), stat(jj,3)); - if size(stat,2)>3 - fprintf('\t%e\t%e\t%e\t%e', stat(jj,4), stat(jj,5), stat(jj,6), stat(jj,7)); - end - fprintf('\n'); - end - {% endif %} - - else - fprintf('unsupported field in function print of acados_ocp.print, got %s', field); - keyboard - end - - end - - end % methods - -end % class - diff --git a/third_party/acados/acados_template/c_templates_tera/model.in.h b/third_party/acados/acados_template/c_templates_tera/model.in.h deleted file mode 100644 index e5059df9ffa90b..00000000000000 --- a/third_party/acados/acados_template/c_templates_tera/model.in.h +++ /dev/null @@ -1,218 +0,0 @@ -/* - * Copyright (c) The acados authors. - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - -#ifndef {{ model.name }}_MODEL -#define {{ model.name }}_MODEL - -#ifdef __cplusplus -extern "C" { -#endif - -{%- if solver_options.hessian_approx %} - {%- set hessian_approx = solver_options.hessian_approx %} -{%- elif solver_options.sens_hess %} - {%- set hessian_approx = "EXACT" %} -{%- else %} - {%- set hessian_approx = "GAUSS_NEWTON" %} -{%- endif %} - -{% if solver_options.integrator_type == "IRK" or solver_options.integrator_type == "LIFTED_IRK" %} - {% if model.dyn_ext_fun_type == "casadi" %} -// implicit ODE: function -int {{ model.name }}_impl_dae_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); -int {{ model.name }}_impl_dae_fun_work(int *, int *, int *, int *); -const int *{{ model.name }}_impl_dae_fun_sparsity_in(int); -const int *{{ model.name }}_impl_dae_fun_sparsity_out(int); -int {{ model.name }}_impl_dae_fun_n_in(void); -int {{ model.name }}_impl_dae_fun_n_out(void); - -// implicit ODE: function + jacobians -int {{ model.name }}_impl_dae_fun_jac_x_xdot_z(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); -int {{ model.name }}_impl_dae_fun_jac_x_xdot_z_work(int *, int *, int *, int *); -const int *{{ model.name }}_impl_dae_fun_jac_x_xdot_z_sparsity_in(int); -const int *{{ model.name }}_impl_dae_fun_jac_x_xdot_z_sparsity_out(int); -int {{ model.name }}_impl_dae_fun_jac_x_xdot_z_n_in(void); -int {{ model.name }}_impl_dae_fun_jac_x_xdot_z_n_out(void); - -// implicit ODE: jacobians only -int {{ model.name }}_impl_dae_jac_x_xdot_u_z(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); -int {{ model.name }}_impl_dae_jac_x_xdot_u_z_work(int *, int *, int *, int *); -const int *{{ model.name }}_impl_dae_jac_x_xdot_u_z_sparsity_in(int); -const int *{{ model.name }}_impl_dae_jac_x_xdot_u_z_sparsity_out(int); -int {{ model.name }}_impl_dae_jac_x_xdot_u_z_n_in(void); -int {{ model.name }}_impl_dae_jac_x_xdot_u_z_n_out(void); - -// implicit ODE - for lifted_irk -int {{ model.name }}_impl_dae_fun_jac_x_xdot_u(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); -int {{ model.name }}_impl_dae_fun_jac_x_xdot_u_work(int *, int *, int *, int *); -const int *{{ model.name }}_impl_dae_fun_jac_x_xdot_u_sparsity_in(int); -const int *{{ model.name }}_impl_dae_fun_jac_x_xdot_u_sparsity_out(int); -int {{ model.name }}_impl_dae_fun_jac_x_xdot_u_n_in(void); -int {{ model.name }}_impl_dae_fun_jac_x_xdot_u_n_out(void); - - {%- if hessian_approx == "EXACT" %} -// implicit ODE - hessian -int {{ model.name }}_impl_dae_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); -int {{ model.name }}_impl_dae_hess_work(int *, int *, int *, int *); -const int *{{ model.name }}_impl_dae_hess_sparsity_in(int); -const int *{{ model.name }}_impl_dae_hess_sparsity_out(int); -int {{ model.name }}_impl_dae_hess_n_in(void); -int {{ model.name }}_impl_dae_hess_n_out(void); - {% endif %} - {% else %}{# ext_fun_type #} - {%- if hessian_approx == "EXACT" %} -int {{ model.dyn_impl_dae_hess }}(void **, void **, void *); - {% endif %} -int {{ model.dyn_impl_dae_fun_jac }}(void **, void **, void *); -int {{ model.dyn_impl_dae_jac }}(void **, void **, void *); -int {{ model.dyn_impl_dae_fun }}(void **, void **, void *); - {% endif %}{# ext_fun_type #} - -{% elif solver_options.integrator_type == "GNSF" %} -/* GNSF Functions */ - {% if model.gnsf.purely_linear != 1 %} -// phi_fun -int {{ model.name }}_gnsf_phi_fun(const double** arg, double** res, int* iw, double* w, void *mem); -int {{ model.name }}_gnsf_phi_fun_work(int *, int *, int *, int *); -const int *{{ model.name }}_gnsf_phi_fun_sparsity_in(int); -const int *{{ model.name }}_gnsf_phi_fun_sparsity_out(int); -int {{ model.name }}_gnsf_phi_fun_n_in(void); -int {{ model.name }}_gnsf_phi_fun_n_out(void); - -// phi_fun_jac_y -int {{ model.name }}_gnsf_phi_fun_jac_y(const double** arg, double** res, int* iw, double* w, void *mem); -int {{ model.name }}_gnsf_phi_fun_jac_y_work(int *, int *, int *, int *); -const int *{{ model.name }}_gnsf_phi_fun_jac_y_sparsity_in(int); -const int *{{ model.name }}_gnsf_phi_fun_jac_y_sparsity_out(int); -int {{ model.name }}_gnsf_phi_fun_jac_y_n_in(void); -int {{ model.name }}_gnsf_phi_fun_jac_y_n_out(void); - -// phi_jac_y_uhat -int {{ model.name }}_gnsf_phi_jac_y_uhat(const double** arg, double** res, int* iw, double* w, void *mem); -int {{ model.name }}_gnsf_phi_jac_y_uhat_work(int *, int *, int *, int *); -const int *{{ model.name }}_gnsf_phi_jac_y_uhat_sparsity_in(int); -const int *{{ model.name }}_gnsf_phi_jac_y_uhat_sparsity_out(int); -int {{ model.name }}_gnsf_phi_jac_y_uhat_n_in(void); -int {{ model.name }}_gnsf_phi_jac_y_uhat_n_out(void); - {% if model.gnsf.nontrivial_f_LO == 1 %} -// f_lo_fun_jac_x1k1uz -int {{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz(const double** arg, double** res, int* iw, double* w, void *mem); -int {{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_work(int *, int *, int *, int *); -const int *{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_sparsity_in(int); -const int *{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_sparsity_out(int); -int {{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_n_in(void); -int {{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_n_out(void); - {%- endif %} - {%- endif %} -// used to import model matrices -int {{ model.name }}_gnsf_get_matrices_fun(const double** arg, double** res, int* iw, double* w, void *mem); -int {{ model.name }}_gnsf_get_matrices_fun_work(int *, int *, int *, int *); -const int *{{ model.name }}_gnsf_get_matrices_fun_sparsity_in(int); -const int *{{ model.name }}_gnsf_get_matrices_fun_sparsity_out(int); -int {{ model.name }}_gnsf_get_matrices_fun_n_in(void); -int {{ model.name }}_gnsf_get_matrices_fun_n_out(void); - -{% elif solver_options.integrator_type == "ERK" %} -/* explicit ODE */ - -// explicit ODE -int {{ model.name }}_expl_ode_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); -int {{ model.name }}_expl_ode_fun_work(int *, int *, int *, int *); -const int *{{ model.name }}_expl_ode_fun_sparsity_in(int); -const int *{{ model.name }}_expl_ode_fun_sparsity_out(int); -int {{ model.name }}_expl_ode_fun_n_in(void); -int {{ model.name }}_expl_ode_fun_n_out(void); - -// explicit forward VDE -int {{ model.name }}_expl_vde_forw(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); -int {{ model.name }}_expl_vde_forw_work(int *, int *, int *, int *); -const int *{{ model.name }}_expl_vde_forw_sparsity_in(int); -const int *{{ model.name }}_expl_vde_forw_sparsity_out(int); -int {{ model.name }}_expl_vde_forw_n_in(void); -int {{ model.name }}_expl_vde_forw_n_out(void); - -// explicit adjoint VDE -int {{ model.name }}_expl_vde_adj(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); -int {{ model.name }}_expl_vde_adj_work(int *, int *, int *, int *); -const int *{{ model.name }}_expl_vde_adj_sparsity_in(int); -const int *{{ model.name }}_expl_vde_adj_sparsity_out(int); -int {{ model.name }}_expl_vde_adj_n_in(void); -int {{ model.name }}_expl_vde_adj_n_out(void); - -{%- if hessian_approx == "EXACT" %} -int {{ model.name }}_expl_ode_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); -int {{ model.name }}_expl_ode_hess_work(int *, int *, int *, int *); -const int *{{ model.name }}_expl_ode_hess_sparsity_in(int); -const int *{{ model.name }}_expl_ode_hess_sparsity_out(int); -int {{ model.name }}_expl_ode_hess_n_in(void); -int {{ model.name }}_expl_ode_hess_n_out(void); -{%- endif %} - -{% elif solver_options.integrator_type == "DISCRETE" %} - -{% if model.dyn_ext_fun_type == "casadi" %} -int {{ model.name }}_dyn_disc_phi_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); -int {{ model.name }}_dyn_disc_phi_fun_work(int *, int *, int *, int *); -const int *{{ model.name }}_dyn_disc_phi_fun_sparsity_in(int); -const int *{{ model.name }}_dyn_disc_phi_fun_sparsity_out(int); -int {{ model.name }}_dyn_disc_phi_fun_n_in(void); -int {{ model.name }}_dyn_disc_phi_fun_n_out(void); - -int {{ model.name }}_dyn_disc_phi_fun_jac(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); -int {{ model.name }}_dyn_disc_phi_fun_jac_work(int *, int *, int *, int *); -const int *{{ model.name }}_dyn_disc_phi_fun_jac_sparsity_in(int); -const int *{{ model.name }}_dyn_disc_phi_fun_jac_sparsity_out(int); -int {{ model.name }}_dyn_disc_phi_fun_jac_n_in(void); -int {{ model.name }}_dyn_disc_phi_fun_jac_n_out(void); - -{%- if hessian_approx == "EXACT" %} -int {{ model.name }}_dyn_disc_phi_fun_jac_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem); -int {{ model.name }}_dyn_disc_phi_fun_jac_hess_work(int *, int *, int *, int *); -const int *{{ model.name }}_dyn_disc_phi_fun_jac_hess_sparsity_in(int); -const int *{{ model.name }}_dyn_disc_phi_fun_jac_hess_sparsity_out(int); -int {{ model.name }}_dyn_disc_phi_fun_jac_hess_n_in(void); -int {{ model.name }}_dyn_disc_phi_fun_jac_hess_n_out(void); -{%- endif %} -{% else %} - {%- if hessian_approx == "EXACT" %} -int {{ model.dyn_disc_fun_jac_hess }}(void **, void **, void *); - {% endif %} -int {{ model.dyn_disc_fun_jac }}(void **, void **, void *); -int {{ model.dyn_disc_fun }}(void **, void **, void *); -{% endif %} - - -{% endif %} - -#ifdef __cplusplus -} /* extern "C" */ -#endif - -#endif // {{ model.name }}_MODEL diff --git a/third_party/acados/acados_template/custom_update_templates/custom_update_function_zoro_template.in.c b/third_party/acados/acados_template/custom_update_templates/custom_update_function_zoro_template.in.c deleted file mode 100644 index b39ff2e23baf15..00000000000000 --- a/third_party/acados/acados_template/custom_update_templates/custom_update_function_zoro_template.in.c +++ /dev/null @@ -1,819 +0,0 @@ -/* - * Copyright (c) The acados authors. - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - -// This is a template based custom_update function -#include -#include -#include -#include - -#include "custom_update_function.h" -#include "acados_solver_{{ model.name }}.h" -#include "acados_c/ocp_nlp_interface.h" -#include "acados/utils/mem.h" - -#include "blasfeo/include/blasfeo_d_aux_ext_dep.h" -#include "blasfeo/include/blasfeo_d_blasfeo_api.h" - - -typedef struct custom_memory -{ - // covariance matrics - struct blasfeo_dmat *uncertainty_matrix_buffer; // shape = (N+1, nx, nx) - // covariance matrix of the additive disturbance - struct blasfeo_dmat W_mat; // shape = (nw, nw) - struct blasfeo_dmat unc_jac_G_mat; // shape = (nx, nw) - struct blasfeo_dmat temp_GW_mat; // shape = (nx, nw) - struct blasfeo_dmat GWG_mat; // shape = (nx, nx) - // sensitivity matrices - struct blasfeo_dmat A_mat; // shape = (nx, nx) - struct blasfeo_dmat B_mat; // shape = (nx, nu) - // matrix in linear constraints - struct blasfeo_dmat Cg_mat; // shape = (ng, nx) - struct blasfeo_dmat Dg_mat; // shape = (ng, nu) - struct blasfeo_dmat Cg_e_mat; // shape = (ng_e, nx) - struct blasfeo_dmat dummy_Dgh_e_mat; // shape = (ngh_e_max, nu) - // matrix in nonlinear constraints - struct blasfeo_dmat Ch_mat; // shape = (nh, nx) - struct blasfeo_dmat Dh_mat; // shape = (nh, nu) - struct blasfeo_dmat Ch_e_mat; // shape = (nh_e, nx) - // feedback gain matrix - struct blasfeo_dmat K_mat; // shape = (nu, nx) - // AK = A - B@K - struct blasfeo_dmat AK_mat; // shape = (nx, nx) - // A@P_k - struct blasfeo_dmat temp_AP_mat; // shape = (nx, nx) - // K@P_k, K@P_k@K^T - struct blasfeo_dmat temp_KP_mat; // shape = (nu, nx) - struct blasfeo_dmat temp_KPK_mat; // shape = (nu, nu) - // C + D @ K, (C + D @ K) @ P_k - struct blasfeo_dmat temp_CaDK_mat; // shape = (ngh_me_max, nx) - struct blasfeo_dmat temp_CaDKmP_mat; // shape = (ngh_me_max, nx) - struct blasfeo_dmat temp_beta_mat; // shape = (ngh_me_max, ngh_me_max) - - double *d_A_mat; // shape = (nx, nx) - double *d_B_mat; // shape = (nx, nu) - double *d_Cg_mat; // shape = (ng, nx) - double *d_Dg_mat; // shape = (ng, nu) - double *d_Cg_e_mat; // shape = (ng_e, nx) - double *d_Cgh_mat; // shape = (ng+nh, nx) - double *d_Dgh_mat; // shape = (ng+nh, nu) - double *d_Cgh_e_mat; // shape = (ng_e+nh_e, nx) - double *d_state_vec; - // upper and lower bounds on state variables - double *d_lbx; // shape = (nbx,) - double *d_ubx; // shape = (nbx,) - double *d_lbx_e; // shape = (nbx_e,) - double *d_ubx_e; // shape = (nbx_e,) - // tightened upper and lower bounds on state variables - double *d_lbx_tightened; // shape = (nbx,) - double *d_ubx_tightened; // shape = (nbx,) - double *d_lbx_e_tightened; // shape = (nbx_e,) - double *d_ubx_e_tightened; // shape = (nbx_e,) - // upper and lower bounds on control inputs - double *d_lbu; // shape = (nbu,) - double *d_ubu; // shape = (nbu,) - // tightened upper and lower bounds on control inputs - double *d_lbu_tightened; // shape = (nbu,) - double *d_ubu_tightened; // shape = (nbu,) - // upper and lower bounds on polytopic constraints - double *d_lg; // shape = (ng,) - double *d_ug; // shape = (ng,) - double *d_lg_e; // shape = (ng_e,) - double *d_ug_e; // shape = (ng_e,) - // tightened lower bounds on polytopic constraints - double *d_lg_tightened; // shape = (ng,) - double *d_ug_tightened; // shape = (ng,) - double *d_lg_e_tightened; // shape = (ng_e,) - double *d_ug_e_tightened; // shape = (ng_e,) - // upper and lower bounds on nonlinear constraints - double *d_lh; // shape = (nh,) - double *d_uh; // shape = (nh,) - double *d_lh_e; // shape = (nh_e,) - double *d_uh_e; // shape = (nh_e,) - // tightened upper and lower bounds on nonlinear constraints - double *d_lh_tightened; // shape = (nh,) - double *d_uh_tightened; // shape = (nh,) - double *d_lh_e_tightened; // shape = (nh_e,) - double *d_uh_e_tightened; // shape = (nh_e,) - - int *idxbx; // shape = (nbx,) - int *idxbu; // shape = (nbu,) - int *idxbx_e; // shape = (nbx_e,) - - void *raw_memory; // Pointer to allocated memory, to be used for freeing -} custom_memory; - -static int int_max(int num1, int num2) -{ - return (num1 > num2 ) ? num1 : num2; -} - - -static int custom_memory_calculate_size(ocp_nlp_config *nlp_config, ocp_nlp_dims *nlp_dims) -{ - int N = nlp_dims->N; - int nx = {{ dims.nx }}; - int nu = {{ dims.nu }}; - int nw = {{ zoro_description.nw }}; - - int ng = {{ dims.ng }}; - int nh = {{ dims.nh }}; - int nbx = {{ dims.nbx }}; - int nbu = {{ dims.nbu }}; - - int ng_e = {{ dims.ng_e }}; - int nh_e = {{ dims.nh_e }}; - int ngh_e_max = int_max(ng_e, nh_e); - int ngh_me_max = int_max(ngh_e_max, int_max(ng, nh)); - int nbx_e = {{ dims.nbx_e }}; - - assert({{zoro_description.nlbx_t}} <= nbx); - assert({{zoro_description.nubx_t}} <= nbx); - assert({{zoro_description.nlbu_t}} <= nbu); - assert({{zoro_description.nubu_t}} <= nbu); - assert({{zoro_description.nlg_t}} <= ng); - assert({{zoro_description.nug_t}} <= ng); - assert({{zoro_description.nlh_t}} <= nh); - assert({{zoro_description.nuh_t}} <= nh); - assert({{zoro_description.nlbx_e_t}} <= nbx_e); - assert({{zoro_description.nubx_e_t}} <= nbx_e); - assert({{zoro_description.nlg_e_t}} <= ng_e); - assert({{zoro_description.nug_e_t}} <= ng_e); - assert({{zoro_description.nlh_e_t}} <= nh_e); - assert({{zoro_description.nuh_e_t}} <= nh_e); - - acados_size_t size = sizeof(custom_memory); - size += nbx * sizeof(int); - /* blasfeo structs */ - size += (N + 1) * sizeof(struct blasfeo_dmat); - /* blasfeo mem: mat */ - size += (N + 1) * blasfeo_memsize_dmat(nx, nx); // uncertainty_matrix_buffer - size += blasfeo_memsize_dmat(nw, nw); // W_mat - size += 2 * blasfeo_memsize_dmat(nx, nw); // unc_jac_G_mat, temp_GW_mat - size += 4 * blasfeo_memsize_dmat(nx, nx); // GWG_mat, A_mat, AK_mat, temp_AP_mat - size += blasfeo_memsize_dmat(nx, nu); // B_mat - size += 2 * blasfeo_memsize_dmat(nu, nx); // K_mat, temp_KP_mat - size += blasfeo_memsize_dmat(nu, nu); // temp_KPK_mat - size += blasfeo_memsize_dmat(ng, nx); // Cg_mat - size += blasfeo_memsize_dmat(ng, nu); // Dg_mat - size += blasfeo_memsize_dmat(ng_e, nx); // Cg_e_mat - size += blasfeo_memsize_dmat(ngh_e_max, nu); // dummy_Dgh_e_mat - size += blasfeo_memsize_dmat(nh, nx); // Ch_mat - size += blasfeo_memsize_dmat(nh, nu); // Dh_mat - size += blasfeo_memsize_dmat(nh_e, nx); // Ch_e_mat - size += 2 * blasfeo_memsize_dmat(ngh_me_max, nx); // temp_CaDK_mat, temp_CaDKmP_mat - size += blasfeo_memsize_dmat(ngh_me_max, ngh_me_max); // temp_beta_mat - /* blasfeo mem: vec */ - /* Arrays */ - size += nx*nx *sizeof(double); // d_A_mat - size += nx*nu *sizeof(double); // d_B_mat - size += (ng + ng_e) * nx * sizeof(double); // d_Cg_mat, d_Cg_e_mat - size += (ng) * nu * sizeof(double); // d_Dg_mat - size += (nh + nh_e + ng + ng_e) * nx * sizeof(double); // d_Cgh_mat, d_Cgh_e_mat - size += (nh + ng) * nu * sizeof(double); // d_Dgh_mat - // d_state_vec - size += nx *sizeof(double); - // constraints and tightened constraints - size += 4 * (nbx + nbu + ng + nh)*sizeof(double); - size += 4 * (nbx_e + ng_e + nh_e)*sizeof(double); - size += (nbx + nbu + nbx_e)*sizeof(int); // idxbx, idxbu, idxbx_e - - size += 1 * 8; // initial alignment - make_int_multiple_of(64, &size); - size += 1 * 64; - - return size; -} - - -static custom_memory *custom_memory_assign(ocp_nlp_config *nlp_config, ocp_nlp_dims *nlp_dims, void *raw_memory) -{ - int N = nlp_dims->N; - int nx = {{ dims.nx }}; - int nu = {{ dims.nu }}; - int nw = {{ zoro_description.nw }}; - - int ng = {{ dims.ng }}; - int nh = {{ dims.nh }}; - int nbx = {{ dims.nbx }}; - int nbu = {{ dims.nbu }}; - - int ng_e = {{ dims.ng_e }}; - int nh_e = {{ dims.nh_e }}; - int ngh_e_max = int_max(ng_e, nh_e); - int ngh_me_max = int_max(ngh_e_max, int_max(ng, nh)); - int nbx_e = {{ dims.nbx_e }}; - - char *c_ptr = (char *) raw_memory; - custom_memory *mem = (custom_memory *) c_ptr; - c_ptr += sizeof(custom_memory); - - align_char_to(8, &c_ptr); - assign_and_advance_blasfeo_dmat_structs(N+1, &mem->uncertainty_matrix_buffer, &c_ptr); - - align_char_to(64, &c_ptr); - - for (int ii = 0; ii <= N; ii++) - { - assign_and_advance_blasfeo_dmat_mem(nx, nx, &mem->uncertainty_matrix_buffer[ii], &c_ptr); - } - // Disturbance Dynamics - assign_and_advance_blasfeo_dmat_mem(nw, nw, &mem->W_mat, &c_ptr); - assign_and_advance_blasfeo_dmat_mem(nx, nw, &mem->unc_jac_G_mat, &c_ptr); - assign_and_advance_blasfeo_dmat_mem(nx, nw, &mem->temp_GW_mat, &c_ptr); - assign_and_advance_blasfeo_dmat_mem(nx, nx, &mem->GWG_mat, &c_ptr); - // System Dynamics - assign_and_advance_blasfeo_dmat_mem(nx, nx, &mem->A_mat, &c_ptr); - assign_and_advance_blasfeo_dmat_mem(nx, nu, &mem->B_mat, &c_ptr); - assign_and_advance_blasfeo_dmat_mem(ng, nx, &mem->Cg_mat, &c_ptr); - assign_and_advance_blasfeo_dmat_mem(ng, nu, &mem->Dg_mat, &c_ptr); - assign_and_advance_blasfeo_dmat_mem(ng_e, nx, &mem->Cg_e_mat, &c_ptr); - assign_and_advance_blasfeo_dmat_mem(ngh_e_max, nu, &mem->dummy_Dgh_e_mat, &c_ptr); - assign_and_advance_blasfeo_dmat_mem(nh, nx, &mem->Ch_mat, &c_ptr); - assign_and_advance_blasfeo_dmat_mem(nh, nu, &mem->Dh_mat, &c_ptr); - assign_and_advance_blasfeo_dmat_mem(nh_e, nx, &mem->Ch_e_mat, &c_ptr); - assign_and_advance_blasfeo_dmat_mem(nu, nx, &mem->K_mat, &c_ptr); - assign_and_advance_blasfeo_dmat_mem(nx, nx, &mem->AK_mat, &c_ptr); - assign_and_advance_blasfeo_dmat_mem(nx, nx, &mem->temp_AP_mat, &c_ptr); - assign_and_advance_blasfeo_dmat_mem(nu, nx, &mem->temp_KP_mat, &c_ptr); - assign_and_advance_blasfeo_dmat_mem(nu, nu, &mem->temp_KPK_mat, &c_ptr); - assign_and_advance_blasfeo_dmat_mem(ngh_me_max, nx, &mem->temp_CaDK_mat, &c_ptr); - assign_and_advance_blasfeo_dmat_mem(ngh_me_max, nx, &mem->temp_CaDKmP_mat, &c_ptr); - assign_and_advance_blasfeo_dmat_mem(ngh_me_max, ngh_me_max, &mem->temp_beta_mat, &c_ptr); - - assign_and_advance_double(nx*nx, &mem->d_A_mat, &c_ptr); - assign_and_advance_double(nx*nu, &mem->d_B_mat, &c_ptr); - assign_and_advance_double(ng*nx, &mem->d_Cg_mat, &c_ptr); - assign_and_advance_double(ng*nu, &mem->d_Dg_mat, &c_ptr); - assign_and_advance_double(ng_e*nx, &mem->d_Cg_e_mat, &c_ptr); - assign_and_advance_double((ng + nh)*nx, &mem->d_Cgh_mat, &c_ptr); - assign_and_advance_double((ng + nh)*nu, &mem->d_Dgh_mat, &c_ptr); - assign_and_advance_double((ng_e + nh_e)*nx, &mem->d_Cgh_e_mat, &c_ptr); - assign_and_advance_double(nx, &mem->d_state_vec, &c_ptr); - assign_and_advance_double(nbx, &mem->d_lbx, &c_ptr); - assign_and_advance_double(nbx, &mem->d_ubx, &c_ptr); - assign_and_advance_double(nbx_e, &mem->d_lbx_e, &c_ptr); - assign_and_advance_double(nbx_e, &mem->d_ubx_e, &c_ptr); - assign_and_advance_double(nbx, &mem->d_lbx_tightened, &c_ptr); - assign_and_advance_double(nbx, &mem->d_ubx_tightened, &c_ptr); - assign_and_advance_double(nbx_e, &mem->d_lbx_e_tightened, &c_ptr); - assign_and_advance_double(nbx_e, &mem->d_ubx_e_tightened, &c_ptr); - assign_and_advance_double(nbu, &mem->d_lbu, &c_ptr); - assign_and_advance_double(nbu, &mem->d_ubu, &c_ptr); - assign_and_advance_double(nbu, &mem->d_lbu_tightened, &c_ptr); - assign_and_advance_double(nbu, &mem->d_ubu_tightened, &c_ptr); - assign_and_advance_double(ng, &mem->d_lg, &c_ptr); - assign_and_advance_double(ng, &mem->d_ug, &c_ptr); - assign_and_advance_double(ng_e, &mem->d_lg_e, &c_ptr); - assign_and_advance_double(ng_e, &mem->d_ug_e, &c_ptr); - assign_and_advance_double(ng, &mem->d_lg_tightened, &c_ptr); - assign_and_advance_double(ng, &mem->d_ug_tightened, &c_ptr); - assign_and_advance_double(ng_e, &mem->d_lg_e_tightened, &c_ptr); - assign_and_advance_double(ng_e, &mem->d_ug_e_tightened, &c_ptr); - assign_and_advance_double(nh, &mem->d_lh, &c_ptr); - assign_and_advance_double(nh, &mem->d_uh, &c_ptr); - assign_and_advance_double(nh_e, &mem->d_lh_e, &c_ptr); - assign_and_advance_double(nh_e, &mem->d_uh_e, &c_ptr); - assign_and_advance_double(nh, &mem->d_lh_tightened, &c_ptr); - assign_and_advance_double(nh, &mem->d_uh_tightened, &c_ptr); - assign_and_advance_double(nh_e, &mem->d_lh_e_tightened, &c_ptr); - assign_and_advance_double(nh_e, &mem->d_uh_e_tightened, &c_ptr); - - assign_and_advance_int(nbx, &mem->idxbx, &c_ptr); - assign_and_advance_int(nbu, &mem->idxbu, &c_ptr); - assign_and_advance_int(nbx_e, &mem->idxbx_e, &c_ptr); - - assert((char *) raw_memory + custom_memory_calculate_size(nlp_config, nlp_dims) >= c_ptr); - mem->raw_memory = raw_memory; - - return mem; -} - - - -static void *custom_memory_create({{ model.name }}_solver_capsule* capsule) -{ - printf("\nin custom_memory_create_function\n"); - - ocp_nlp_dims *nlp_dims = {{ model.name }}_acados_get_nlp_dims(capsule); - ocp_nlp_config *nlp_config = {{ model.name }}_acados_get_nlp_config(capsule); - acados_size_t bytes = custom_memory_calculate_size(nlp_config, nlp_dims); - - void *ptr = acados_calloc(1, bytes); - - custom_memory *custom_mem = custom_memory_assign(nlp_config, nlp_dims, ptr); - custom_mem->raw_memory = ptr; - - return custom_mem; -} - - -static void custom_val_init_function(ocp_nlp_dims *nlp_dims, ocp_nlp_in *nlp_in, ocp_nlp_solver *nlp_solver, custom_memory *custom_mem) -{ - int N = nlp_dims->N; - int nx = {{ dims.nx }}; - int nu = {{ dims.nu }}; - int nw = {{ zoro_description.nw }}; - - int ng = {{ dims.ng }}; - int nh = {{ dims.nh }}; - int nbx = {{ dims.nbx }}; - int nbu = {{ dims.nbu }}; - - int ng_e = {{ dims.ng_e }}; - int nh_e = {{ dims.nh_e }}; - int ngh_e_max = int_max(ng_e, nh_e); - int nbx_e = {{ dims.nbx_e }}; - - /* Get the state constraint bounds */ - ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "idxbx", custom_mem->idxbx); - ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "idxbx", custom_mem->idxbx_e); - ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "lbx", custom_mem->d_lbx); - ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "ubx", custom_mem->d_ubx); - ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "lbx", custom_mem->d_lbx_e); - ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "ubx", custom_mem->d_ubx_e); - ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "idxbu", custom_mem->idxbu); - ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "lbu", custom_mem->d_lbu); - ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "ubu", custom_mem->d_ubu); - // Get the Jacobians and the bounds of the linear constraints - ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "lg", custom_mem->d_lg); - ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "ug", custom_mem->d_ug); - ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "lg", custom_mem->d_lg_e); - ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "ug", custom_mem->d_ug_e); - ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "C", custom_mem->d_Cg_mat); - ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "D", custom_mem->d_Dg_mat); - ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "C", custom_mem->d_Cg_e_mat); - blasfeo_pack_dmat(ng, nx, custom_mem->d_Cg_mat, ng, &custom_mem->Cg_mat, 0, 0); - blasfeo_pack_dmat(ng, nu, custom_mem->d_Dg_mat, ng, &custom_mem->Dg_mat, 0, 0); - blasfeo_pack_dmat(ng_e, nx, custom_mem->d_Cg_e_mat, ng_e, &custom_mem->Cg_e_mat, 0, 0); - blasfeo_dgese(ngh_e_max, nu, 0., &custom_mem->dummy_Dgh_e_mat, 0, 0); //fill with zeros - // NOTE: fixed lower and upper bounds of nonlinear constraints - ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "lh", custom_mem->d_lh); - ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "uh", custom_mem->d_uh); - ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "lh", custom_mem->d_lh_e); - ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "uh", custom_mem->d_uh_e); - - /* Initilize tightened constraints*/ - // NOTE: tightened constraints are only initialized once - ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "lbx", custom_mem->d_lbx_tightened); - ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "ubx", custom_mem->d_ubx_tightened); - ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "lbx", custom_mem->d_lbx_e_tightened); - ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "ubx", custom_mem->d_ubx_e_tightened); - ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "lbu", custom_mem->d_lbu_tightened); - ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "ubu", custom_mem->d_ubu_tightened); - ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "lg", custom_mem->d_lg_tightened); - ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "ug", custom_mem->d_ug_tightened); - ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "lg", custom_mem->d_lg_e_tightened); - ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "ug", custom_mem->d_ug_e_tightened); - ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "lh", custom_mem->d_lh_tightened); - ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "uh", custom_mem->d_uh_tightened); - ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "lh", custom_mem->d_lh_e_tightened); - ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "uh", custom_mem->d_uh_e_tightened); - - /* Initialize the W matrix */ - // blasfeo_dgese(nw, nw, 0., &custom_mem->W_mat, 0, 0); -{%- for ir in range(end=zoro_description.nw) %} - {%- for ic in range(end=zoro_description.nw) %} - blasfeo_dgein1({{zoro_description.W_mat[ir][ic]}}, &custom_mem->W_mat, {{ir}}, {{ic}}); - {%- endfor %} -{%- endfor %} - -{%- for ir in range(end=dims.nx) %} - {%- for ic in range(end=zoro_description.nw) %} - blasfeo_dgein1({{zoro_description.unc_jac_G_mat[ir][ic]}}, &custom_mem->unc_jac_G_mat, {{ir}}, {{ic}}); - {%- endfor %} -{%- endfor %} - - // NOTE: if G is changing this is not in init! - // temp_GW_mat = unc_jac_G_mat * W_mat - blasfeo_dgemm_nn(nx, nw, nw, 1.0, &custom_mem->unc_jac_G_mat, 0, 0, - &custom_mem->W_mat, 0, 0, 0.0, - &custom_mem->temp_GW_mat, 0, 0, &custom_mem->temp_GW_mat, 0, 0); - // GWG_mat = temp_GW_mat * unc_jac_G_mat^T - blasfeo_dgemm_nt(nx, nx, nw, 1.0, &custom_mem->temp_GW_mat, 0, 0, - &custom_mem->unc_jac_G_mat, 0, 0, 0.0, - &custom_mem->GWG_mat, 0, 0, &custom_mem->GWG_mat, 0, 0); - - /* Initialize the uncertainty_matrix_buffer[0] */ -{%- for ir in range(end=dims.nx) %} - {%- for ic in range(end=dims.nx) %} - blasfeo_dgein1({{zoro_description.P0_mat[ir][ic]}}, &custom_mem->uncertainty_matrix_buffer[0], {{ir}}, {{ic}}); - {%- endfor %} -{%- endfor %} - - /* Initialize the feedback gain matrix */ -{%- for ir in range(end=dims.nu) %} - {%- for ic in range(end=dims.nx) %} - blasfeo_dgein1({{zoro_description.fdbk_K_mat[ir][ic]}}, &custom_mem->K_mat, {{ir}}, {{ic}}); - {%- endfor %} -{%- endfor %} -} - - -int custom_update_init_function({{ model.name }}_solver_capsule* capsule) -{ - capsule->custom_update_memory = custom_memory_create(capsule); - ocp_nlp_in *nlp_in = {{ model.name }}_acados_get_nlp_in(capsule); - - ocp_nlp_dims *nlp_dims = {{ model.name }}_acados_get_nlp_dims(capsule); - ocp_nlp_solver *nlp_solver = {{ model.name }}_acados_get_nlp_solver(capsule); - custom_val_init_function(nlp_dims, nlp_in, nlp_solver, capsule->custom_update_memory); - return 1; -} - -static void compute_gh_beta(struct blasfeo_dmat* K_mat, struct blasfeo_dmat* C_mat, - struct blasfeo_dmat* D_mat, struct blasfeo_dmat* CaDK_mat, - struct blasfeo_dmat* CaDKmP_mat, struct blasfeo_dmat* beta_mat, - struct blasfeo_dmat* P_mat, - int n_cstr, int nx, int nu) -{ - // (C+DK)@P@(C^T+K^TD^T) - // CaDK_mat = C_mat + D_mat @ K_mat - blasfeo_dgemm_nn(n_cstr, nx, nu, 1.0, D_mat, 0, 0, - K_mat, 0, 0, 1.0, - C_mat, 0, 0, CaDK_mat, 0, 0); - // CaDKmP_mat = CaDK_mat @ P_mat - blasfeo_dgemm_nn(n_cstr, nx, nx, 1.0, CaDK_mat, 0, 0, - P_mat, 0, 0, 0.0, - CaDKmP_mat, 0, 0, CaDKmP_mat, 0, 0); - // beta_mat = CaDKmP_mat @ CaDK_mat^T - blasfeo_dgemm_nt(n_cstr, n_cstr, nx, 1.0, CaDKmP_mat, 0, 0, - CaDK_mat, 0, 0, 0.0, - beta_mat, 0, 0, beta_mat, 0, 0); -} - -static void compute_KPK(struct blasfeo_dmat* K_mat, struct blasfeo_dmat* temp_KP_mat, - struct blasfeo_dmat* temp_KPK_mat, struct blasfeo_dmat* P_mat, - int nx, int nu) -{ - // K @ P_k @ K^T - // temp_KP_mat = K_mat @ P_mat - blasfeo_dgemm_nn(nu, nx, nx, 1.0, K_mat, 0, 0, - P_mat, 0, 0, 0.0, - temp_KP_mat, 0, 0, temp_KP_mat, 0, 0); - // temp_KPK_mat = temp_KP_mat @ K_mat^T - blasfeo_dgemm_nt(nu, nu, nx, 1.0, temp_KP_mat, 0, 0, - K_mat, 0, 0, 0.0, - temp_KPK_mat, 0, 0, temp_KPK_mat, 0, 0); -} - -static void compute_next_P_matrix(struct blasfeo_dmat* P_mat, struct blasfeo_dmat* P_next_mat, - struct blasfeo_dmat* A_mat, struct blasfeo_dmat* B_mat, - struct blasfeo_dmat* K_mat, struct blasfeo_dmat* W_mat, - struct blasfeo_dmat* AK_mat, struct blasfeo_dmat* temp_AP_mat, int nx, int nu) -{ - // AK_mat = -B@K + A - blasfeo_dgemm_nn(nx, nx, nu, -1.0, B_mat, 0, 0, K_mat, 0, 0, - 1.0, A_mat, 0, 0, AK_mat, 0, 0); - // temp_AP_mat = AK_mat @ P_k - blasfeo_dgemm_nn(nx, nx, nx, 1.0, AK_mat, 0, 0, - P_mat, 0, 0, 0.0, - temp_AP_mat, 0, 0, temp_AP_mat, 0, 0); - // P_{k+1} = temp_AP_mat @ AK_mat^T + GWG_mat - blasfeo_dgemm_nt(nx, nx, nx, 1.0, temp_AP_mat, 0, 0, - AK_mat, 0, 0, 1.0, - W_mat, 0, 0, P_next_mat, 0, 0); -} - -static void reset_P0_matrix(ocp_nlp_dims *nlp_dims, struct blasfeo_dmat* P_mat, double* data) -{ - int nx = nlp_dims->nx[0]; - blasfeo_pack_dmat(nx, nx, data, nx, P_mat, 0, 0); -} - -static void uncertainty_propagate_and_update(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out, custom_memory *custom_mem) -{ - ocp_nlp_config *nlp_config = solver->config; - ocp_nlp_dims *nlp_dims = solver->dims; - - int N = nlp_dims->N; - int nx = nlp_dims->nx[0]; - int nu = nlp_dims->nu[0]; - int nx_sqr = nx*nx; - int nbx = {{ dims.nbx }}; - int nbu = {{ dims.nbu }}; - int ng = {{ dims.ng }}; - int nh = {{ dims.nh }}; - int ng_e = {{ dims.ng_e }}; - int nh_e = {{ dims.nh_e }}; - int nbx_e = {{ dims.nbx_e }}; - double backoff_scaling_gamma = {{ zoro_description.backoff_scaling_gamma }}; - - // First Stage - // NOTE: lbx_0 and ubx_0 should not be tightened. - // NOTE: lg_0 and ug_0 are not tightened. - // NOTE: lh_0 and uh_0 are not tightened. -{%- if zoro_description.nlbu_t + zoro_description.nubu_t > 0 %} - compute_KPK(&custom_mem->K_mat, &custom_mem->temp_KP_mat, - &custom_mem->temp_KPK_mat, &(custom_mem->uncertainty_matrix_buffer[0]), nx, nu); - -{%- if zoro_description.nlbu_t > 0 %} - // backoff lbu - {%- for it in zoro_description.idx_lbu_t %} - custom_mem->d_lbu_tightened[{{it}}] - = custom_mem->d_lbu[{{it}}] - + backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_KPK_mat, - custom_mem->idxbu[{{it}}],custom_mem->idxbu[{{it}}])); - {%- endfor %} - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "lbu", custom_mem->d_lbu_tightened); -{%- endif %} -{%- if zoro_description.nubu_t > 0 %} - // backoff ubu - {%- for it in zoro_description.idx_ubu_t %} - custom_mem->d_ubu_tightened[{{it}}] - = custom_mem->d_ubu[{{it}}] - - backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_KPK_mat, - custom_mem->idxbu[{{it}}],custom_mem->idxbu[{{it}}])); - {%- endfor %} - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "ubu", custom_mem->d_ubu_tightened); -{%- endif %} -{%- endif %} - // Middle Stages - // constraint tightening: for next stage based on dynamics of ii stage - // P[ii+1] = (A-B@K) @ P[ii] @ (A-B@K).T + G@W@G.T - for (int ii = 0; ii < N-1; ii++) - { - // get and pack: A, B - ocp_nlp_get_at_stage(nlp_config, nlp_dims, solver, ii, "A", custom_mem->d_A_mat); - blasfeo_pack_dmat(nx, nx, custom_mem->d_A_mat, nx, &custom_mem->A_mat, 0, 0); - ocp_nlp_get_at_stage(nlp_config, nlp_dims, solver, ii, "B", custom_mem->d_B_mat); - blasfeo_pack_dmat(nx, nu, custom_mem->d_B_mat, nx, &custom_mem->B_mat, 0, 0); - - compute_next_P_matrix(&(custom_mem->uncertainty_matrix_buffer[ii]), - &(custom_mem->uncertainty_matrix_buffer[ii+1]), - &custom_mem->A_mat, &custom_mem->B_mat, - &custom_mem->K_mat, &custom_mem->GWG_mat, - &custom_mem->AK_mat, &custom_mem->temp_AP_mat, nx, nu); - - // state constraints -{%- if zoro_description.nlbx_t + zoro_description.nubx_t> 0 %} - {%- if zoro_description.nlbx_t > 0 %} - // lbx - {%- for it in zoro_description.idx_lbx_t %} - custom_mem->d_lbx_tightened[{{it}}] - = custom_mem->d_lbx[{{it}}] - + backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->uncertainty_matrix_buffer[ii+1], - custom_mem->idxbx[{{it}}],custom_mem->idxbx[{{it}}])); - {%- endfor %} - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii+1, "lbx", custom_mem->d_lbx_tightened); - {%- endif %} - {% if zoro_description.nubx_t > 0 %} - // ubx - {%- for it in zoro_description.idx_ubx_t %} - custom_mem->d_ubx_tightened[{{it}}] = custom_mem->d_ubx[{{it}}] - - backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->uncertainty_matrix_buffer[ii+1], - custom_mem->idxbx[{{it}}],custom_mem->idxbx[{{it}}])); - {%- endfor %} - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii+1, "ubx", custom_mem->d_ubx_tightened); - {%- endif %} -{%- endif %} - -{%- if zoro_description.nlbu_t + zoro_description.nubu_t > 0 %} - // input constraints - compute_KPK(&custom_mem->K_mat, &custom_mem->temp_KP_mat, - &custom_mem->temp_KPK_mat, &(custom_mem->uncertainty_matrix_buffer[ii+1]), nx, nu); - - {%- if zoro_description.nlbu_t > 0 %} - {%- for it in zoro_description.idx_lbu_t %} - custom_mem->d_lbu_tightened[{{it}}] = custom_mem->d_lbu[{{it}}] - + backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_KPK_mat, - custom_mem->idxbu[{{it}}], custom_mem->idxbu[{{it}}])); - {%- endfor %} - - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii+1, "lbu", custom_mem->d_lbu_tightened); - {%- endif %} - {%- if zoro_description.nubu_t > 0 %} - {%- for it in zoro_description.idx_ubu_t %} - custom_mem->d_ubu_tightened[{{it}}] = custom_mem->d_ubu[{{it}}] - - backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_KPK_mat, - custom_mem->idxbu[{{it}}], custom_mem->idxbu[{{it}}])); - {%- endfor %} - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii+1, "ubu", custom_mem->d_ubu_tightened); - {%- endif %} -{%- endif %} - -{%- if zoro_description.nlg_t + zoro_description.nug_t > 0 %} - // Linear constraints: g - compute_gh_beta(&custom_mem->K_mat, &custom_mem->Cg_mat, - &custom_mem->Dg_mat, &custom_mem->temp_CaDK_mat, - &custom_mem->temp_CaDKmP_mat, &custom_mem->temp_beta_mat, - &custom_mem->uncertainty_matrix_buffer[ii+1], ng, nx, nu); - - {%- if zoro_description.nlg_t > 0 %} - {%- for it in zoro_description.idx_lg_t %} - custom_mem->d_lg_tightened[{{it}}] - = custom_mem->d_lg[{{it}}] - + backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_beta_mat, {{it}}, {{it}})); - {%- endfor %} - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii+1, "lg", custom_mem->d_lg_tightened); - {%- endif %} - {%- if zoro_description.nug_t > 0 %} - {%- for it in zoro_description.idx_ug_t %} - custom_mem->d_ug_tightened[{{it}}] - = custom_mem->d_ug[{{it}}] - - backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_beta_mat, {{it}}, {{it}})); - {%- endfor %} - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii+1, "ug", custom_mem->d_ug_tightened); - {%- endif %} -{%- endif %} - - -{%- if zoro_description.nlh_t + zoro_description.nuh_t > 0 %} - // nonlinear constraints: h - // Get C_{k+1} and D_{k+1} - ocp_nlp_get_at_stage(solver->config, nlp_dims, solver, ii+1, "C", custom_mem->d_Cgh_mat); - ocp_nlp_get_at_stage(solver->config, nlp_dims, solver, ii+1, "D", custom_mem->d_Dgh_mat); - // NOTE: the d_Cgh_mat is column-major, the first ng rows are the Jacobians of the linear constraints - blasfeo_pack_dmat(nh, nx, custom_mem->d_Cgh_mat+ng, ng+nh, &custom_mem->Ch_mat, 0, 0); - blasfeo_pack_dmat(nh, nu, custom_mem->d_Dgh_mat+ng, ng+nh, &custom_mem->Dh_mat, 0, 0); - - compute_gh_beta(&custom_mem->K_mat, &custom_mem->Ch_mat, - &custom_mem->Dh_mat, &custom_mem->temp_CaDK_mat, - &custom_mem->temp_CaDKmP_mat, &custom_mem->temp_beta_mat, - &custom_mem->uncertainty_matrix_buffer[ii+1], nh, nx, nu); - - {%- if zoro_description.nlh_t > 0 %} - {%- for it in zoro_description.idx_lh_t %} - custom_mem->d_lh_tightened[{{it}}] - = custom_mem->d_lh[{{it}}] - + backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_beta_mat, {{it}}, {{it}})); - {%- endfor %} - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii+1, "lh", custom_mem->d_lh_tightened); - {%- endif %} - {%- if zoro_description.nuh_t > 0 %} - {%- for it in zoro_description.idx_uh_t %} - custom_mem->d_uh_tightened[{{it}}] = custom_mem->d_uh[{{it}}] - - backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_beta_mat, {{it}}, {{it}})); - {%- endfor %} - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii+1, "uh", custom_mem->d_uh_tightened); - {%- endif %} -{%- endif %} - } - - // Last stage - // get and pack: A, B - ocp_nlp_get_at_stage(nlp_config, nlp_dims, solver, N-1, "A", custom_mem->d_A_mat); - blasfeo_pack_dmat(nx, nx, custom_mem->d_A_mat, nx, &custom_mem->A_mat, 0, 0); - ocp_nlp_get_at_stage(nlp_config, nlp_dims, solver, N-1, "B", custom_mem->d_B_mat); - blasfeo_pack_dmat(nx, nu, custom_mem->d_B_mat, nx, &custom_mem->B_mat, 0, 0); - // AK_mat = -B*K + A - compute_next_P_matrix(&(custom_mem->uncertainty_matrix_buffer[N-1]), - &(custom_mem->uncertainty_matrix_buffer[N]), - &custom_mem->A_mat, &custom_mem->B_mat, - &custom_mem->K_mat, &custom_mem->GWG_mat, - &custom_mem->AK_mat, &custom_mem->temp_AP_mat, nx, nu); - - // state constraints nlbx_e_t -{%- if zoro_description.nlbx_e_t + zoro_description.nubx_e_t> 0 %} -{%- if zoro_description.nlbx_e_t > 0 %} - // lbx_e - {%- for it in zoro_description.idx_lbx_e_t %} - custom_mem->d_lbx_e_tightened[{{it}}] - = custom_mem->d_lbx_e[{{it}}] - + backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->uncertainty_matrix_buffer[N], - custom_mem->idxbx_e[{{it}}],custom_mem->idxbx_e[{{it}}])); - {%- endfor %} - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lbx", custom_mem->d_lbx_e_tightened); -{%- endif %} -{% if zoro_description.nubx_e_t > 0 %} - // ubx_e - {%- for it in zoro_description.idx_ubx_e_t %} - custom_mem->d_ubx_e_tightened[{{it}}] = custom_mem->d_ubx_e[{{it}}] - - backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->uncertainty_matrix_buffer[N], - custom_mem->idxbx_e[{{it}}],custom_mem->idxbx_e[{{it}}])); - {%- endfor %} - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "ubx", custom_mem->d_ubx_e_tightened); -{%- endif %} -{%- endif %} - -{%- if zoro_description.nlg_e_t + zoro_description.nug_e_t > 0 %} - // Linear constraints: g - compute_gh_beta(&custom_mem->K_mat, &custom_mem->Cg_mat, - &custom_mem->dummy_Dgh_e_mat, &custom_mem->temp_CaDK_mat, - &custom_mem->temp_CaDKmP_mat, &custom_mem->temp_beta_mat, - &custom_mem->uncertainty_matrix_buffer[N], ng, nx, nu); - -{%- if zoro_description.nlg_e_t > 0 %} - {%- for it in zoro_description.idx_lg_e_t %} - custom_mem->d_lg_e_tightened[{{it}}] - = custom_mem->d_lg_e[{{it}}] - + backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_beta_mat, {{it}}, {{it}})); - {%- endfor %} - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lg", custom_mem->d_lg_e_tightened); -{%- endif %} -{%- if zoro_description.nug_e_t > 0 %} - {%- for it in zoro_description.idx_ug_e_t %} - custom_mem->d_ug_e_tightened[{{it}}] - = custom_mem->d_ug_e[{{it}}] - - backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_beta_mat, {{it}}, {{it}})); - {%- endfor %} - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "ug", custom_mem->d_ug_e_tightened); -{%- endif %} -{%- endif %} - - -{%- if zoro_description.nlh_e_t + zoro_description.nuh_e_t > 0 %} - // nonlinear constraints: h - // Get C_{k+1} and D_{k+1} - ocp_nlp_get_at_stage(solver->config, nlp_dims, solver, N, "C", custom_mem->d_Cgh_mat); - // NOTE: the d_Cgh_mat is column-major, the first ng rows are the Jacobians of the linear constraints - blasfeo_pack_dmat(nh, nx, custom_mem->d_Cgh_mat+ng, ng+nh, &custom_mem->Ch_mat, 0, 0); - - compute_gh_beta(&custom_mem->K_mat, &custom_mem->Ch_mat, - &custom_mem->dummy_Dgh_e_mat, &custom_mem->temp_CaDK_mat, - &custom_mem->temp_CaDKmP_mat, &custom_mem->temp_beta_mat, - &custom_mem->uncertainty_matrix_buffer[N], nh, nx, nu); - - {%- if zoro_description.nlh_e_t > 0 %} - {%- for it in zoro_description.idx_lh_e_t %} - custom_mem->d_lh_e_tightened[{{it}}] - = custom_mem->d_lh_e[{{it}}] - + backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_beta_mat, {{it}}, {{it}})); - {%- endfor %} - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lh", custom_mem->d_lh_e_tightened); - {%- endif %} - {%- if zoro_description.nuh_e_t > 0 %} - {%- for it in zoro_description.idx_uh_e_t %} - custom_mem->d_uh_e_tightened[{{it}}] = custom_mem->d_uh_e[{{it}}] - - backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_beta_mat, {{it}}, {{it}})); - {%- endfor %} - ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "uh", custom_mem->d_uh_e_tightened); - {%- endif %} -{%- endif %} - -} - - -int custom_update_function({{ model.name }}_solver_capsule* capsule, double* data, int data_len) -{ - custom_memory *custom_mem = (custom_memory *) capsule->custom_update_memory; - ocp_nlp_config *nlp_config = {{ model.name }}_acados_get_nlp_config(capsule); - ocp_nlp_dims *nlp_dims = {{ model.name }}_acados_get_nlp_dims(capsule); - ocp_nlp_in *nlp_in = {{ model.name }}_acados_get_nlp_in(capsule); - ocp_nlp_out *nlp_out = {{ model.name }}_acados_get_nlp_out(capsule); - ocp_nlp_solver *nlp_solver = {{ model.name }}_acados_get_nlp_solver(capsule); - void *nlp_opts = {{ model.name }}_acados_get_nlp_opts(capsule); - - if (data_len > 0) - { - reset_P0_matrix(nlp_dims, &custom_mem->uncertainty_matrix_buffer[0], data); - } - uncertainty_propagate_and_update(nlp_solver, nlp_in, nlp_out, custom_mem); - - return 1; -} - - -int custom_update_terminate_function({{ model.name }}_solver_capsule* capsule) -{ - custom_memory *mem = capsule->custom_update_memory; - - free(mem->raw_memory); - return 1; -} - -// useful prints for debugging - -/* -printf("A_mat:\n"); -blasfeo_print_exp_dmat(nx, nx, &custom_mem->A_mat, 0, 0); -printf("B_mat:\n"); -blasfeo_print_exp_dmat(nx, nu, &custom_mem->B_mat, 0, 0); -printf("K_mat:\n"); -blasfeo_print_exp_dmat(nu, nx, &custom_mem->K_mat, 0, 0); -printf("AK_mat:\n"); -blasfeo_print_exp_dmat(nx, nx, &custom_mem->AK_mat, 0, 0); -printf("temp_AP_mat:\n"); -blasfeo_print_exp_dmat(nx, nx, &custom_mem->temp_AP_mat, 0, 0); -printf("W_mat:\n"); -blasfeo_print_exp_dmat(nx, nx, &custom_mem->W_mat, 0, 0); -printf("P_k+1:\n"); -blasfeo_print_exp_dmat(nx, nx, &(custom_mem->uncertainty_matrix_buffer[ii+1]), 0, 0);*/ \ No newline at end of file diff --git a/third_party/acados/acados_template/custom_update_templates/custom_update_function_zoro_template.in.h b/third_party/acados/acados_template/custom_update_templates/custom_update_function_zoro_template.in.h deleted file mode 100644 index 9611ea210c9578..00000000000000 --- a/third_party/acados/acados_template/custom_update_templates/custom_update_function_zoro_template.in.h +++ /dev/null @@ -1,44 +0,0 @@ -/* - * Copyright (c) The acados authors. - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - -#include "acados_solver_{{ model.name }}.h" - -// Called at the end of solver creation. -// This is allowed to allocate memory and store the pointer to it into capsule->custom_update_memory. -int custom_update_init_function({{ model.name }}_solver_capsule* capsule); - - -// Custom update function that can be called between solver calls -int custom_update_function({{ model.name }}_solver_capsule* capsule, double* data, int data_len); - - -// Called just before destroying the solver. -// Responsible to free allocated memory, stored at capsule->custom_update_memory. -int custom_update_terminate_function({{ model.name }}_solver_capsule* capsule); diff --git a/third_party/acados/acados_template/gnsf/matlab to python.md b/third_party/acados/acados_template/gnsf/matlab to python.md deleted file mode 100644 index 53a0ed971e5b65..00000000000000 --- a/third_party/acados/acados_template/gnsf/matlab to python.md +++ /dev/null @@ -1,43 +0,0 @@ -# matlab to python - -% -> # - -; -> - -from casadi import * --> -from casadi import * - - -print\('(.*)'\) -print('$1') - -print\(\['(.*)'\]\) -print(f'$1') - -keyboard -import pdb; pdb.set_trace() - - -range((([^))]*)) -range($1) - -\s*end --> -nothing - - -if (.*) -if $1: - -else -else: - -num2str -str - -for ([a-z_]*) = -for $1 in - -length\( -len( \ No newline at end of file diff --git a/third_party/acados/include/acados/dense_qp/dense_qp_common.h b/third_party/acados/include/acados/dense_qp/dense_qp_common.h deleted file mode 100644 index 2a9a974f99b0d2..00000000000000 --- a/third_party/acados/include/acados/dense_qp/dense_qp_common.h +++ /dev/null @@ -1,147 +0,0 @@ -/* - * Copyright (c) The acados authors. - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - - -#ifndef ACADOS_DENSE_QP_DENSE_QP_COMMON_H_ -#define ACADOS_DENSE_QP_DENSE_QP_COMMON_H_ - -#ifdef __cplusplus -extern "C" { -#endif - -// hpipm -#include "hpipm/include/hpipm_d_dense_qp.h" -#include "hpipm/include/hpipm_d_dense_qp_res.h" -#include "hpipm/include/hpipm_d_dense_qp_sol.h" -// acados -#include "acados/utils/types.h" - -typedef struct d_dense_qp_dim dense_qp_dims; -typedef struct d_dense_qp dense_qp_in; -typedef struct d_dense_qp_sol dense_qp_out; -typedef struct d_dense_qp_res dense_qp_res; -typedef struct d_dense_qp_res_ws dense_qp_res_ws; - - - -#ifndef QP_SOLVER_CONFIG_ -#define QP_SOLVER_CONFIG_ -typedef struct -{ - void (*dims_set)(void *config_, void *dims_, const char *field, const int* value); - acados_size_t (*opts_calculate_size)(void *config, void *dims); - void *(*opts_assign)(void *config, void *dims, void *raw_memory); - void (*opts_initialize_default)(void *config, void *dims, void *args); - void (*opts_update)(void *config, void *dims, void *args); - void (*opts_set)(void *config_, void *opts_, const char *field, void* value); - acados_size_t (*memory_calculate_size)(void *config, void *dims, void *args); - void *(*memory_assign)(void *config, void *dims, void *args, void *raw_memory); - void (*memory_get)(void *config_, void *mem_, const char *field, void* value); - acados_size_t (*workspace_calculate_size)(void *config, void *dims, void *args); - int (*evaluate)(void *config, void *qp_in, void *qp_out, void *args, void *mem, void *work); - void (*eval_sens)(void *config, void *qp_in, void *qp_out, void *opts, void *mem, void *work); -} qp_solver_config; -#endif - - - -#ifndef QP_INFO_ -#define QP_INFO_ -typedef struct -{ - double solve_QP_time; - double condensing_time; - double interface_time; - double total_time; - int num_iter; - int t_computed; -} qp_info; -#endif - - - -/* config */ -// -acados_size_t dense_qp_solver_config_calculate_size(); -// -qp_solver_config *dense_qp_solver_config_assign(void *raw_memory); - -/* dims */ -// -acados_size_t dense_qp_dims_calculate_size(); -// -dense_qp_dims *dense_qp_dims_assign(void *raw_memory); -// -void dense_qp_dims_set(void *config_, void *dims_, const char *field, const int* value); -// - -/* in */ -// -acados_size_t dense_qp_in_calculate_size(dense_qp_dims *dims); -// -dense_qp_in *dense_qp_in_assign(dense_qp_dims *dims, void *raw_memory); - -/* out */ -// -acados_size_t dense_qp_out_calculate_size(dense_qp_dims *dims); -// -dense_qp_out *dense_qp_out_assign(dense_qp_dims *dims, void *raw_memory); -// -void dense_qp_out_get(dense_qp_out *out, const char *field, void *value); - -/* res */ -// -acados_size_t dense_qp_res_calculate_size(dense_qp_dims *dims); -// -dense_qp_res *dense_qp_res_assign(dense_qp_dims *dims, void *raw_memory); -// -acados_size_t dense_qp_res_workspace_calculate_size(dense_qp_dims *dims); -// -dense_qp_res_ws *dense_qp_res_workspace_assign(dense_qp_dims *dims, void *raw_memory); -// -void dense_qp_compute_t(dense_qp_in *qp_in, dense_qp_out *qp_out); -// -void dense_qp_res_compute(dense_qp_in *qp_in, dense_qp_out *qp_out, dense_qp_res *qp_res, dense_qp_res_ws *res_ws); -// -void dense_qp_res_compute_nrm_inf(dense_qp_res *qp_res, double res[4]); - -/* misc */ -// -void dense_qp_stack_slacks_dims(dense_qp_dims *in, dense_qp_dims *out); -// -void dense_qp_stack_slacks(dense_qp_in *in, dense_qp_in *out); -// -void dense_qp_unstack_slacks(dense_qp_out *in, dense_qp_in *qp_out, dense_qp_out *out); - -#ifdef __cplusplus -} /* extern "C" */ -#endif - -#endif // ACADOS_DENSE_QP_DENSE_QP_COMMON_H_ diff --git a/third_party/acados/include/acados/dense_qp/dense_qp_daqp.h b/third_party/acados/include/acados/dense_qp/dense_qp_daqp.h deleted file mode 100644 index b262089b4ffe0e..00000000000000 --- a/third_party/acados/include/acados/dense_qp/dense_qp_daqp.h +++ /dev/null @@ -1,110 +0,0 @@ -/* - * Copyright (c) The acados authors. - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - - -#ifndef ACADOS_DENSE_QP_DENSE_QP_DAQP_H_ -#define ACADOS_DENSE_QP_DENSE_QP_DAQP_H_ - -#ifdef __cplusplus -extern "C" { -#endif - -// blasfeo -#include "blasfeo/include/blasfeo_common.h" - -// daqp -#include "daqp/include/types.h" - -// acados -#include "acados/dense_qp/dense_qp_common.h" -#include "acados/utils/types.h" - - -typedef struct dense_qp_daqp_opts_ -{ - DAQPSettings* daqp_opts; - int warm_start; -} dense_qp_daqp_opts; - - -typedef struct dense_qp_daqp_memory_ -{ - double* lb_tmp; - double* ub_tmp; - int* idxb; - int* idxv_to_idxb; - int* idxs; - int* idxdaqp_to_idxs; - - double* Zl; - double* Zu; - double* zl; - double* zu; - double* d_ls; - double* d_us; - - double time_qp_solver_call; - int iter; - DAQPWorkspace * daqp_work; - -} dense_qp_daqp_memory; - -// opts -acados_size_t dense_qp_daqp_opts_calculate_size(void *config, dense_qp_dims *dims); -// -void *dense_qp_daqp_opts_assign(void *config, dense_qp_dims *dims, void *raw_memory); -// -void dense_qp_daqp_opts_initialize_default(void *config, dense_qp_dims *dims, void *opts_); -// -void dense_qp_daqp_opts_update(void *config, dense_qp_dims *dims, void *opts_); -// -// memory -acados_size_t dense_qp_daqp_workspace_calculate_size(void *config, dense_qp_dims *dims, void *opts_); -// -void *dense_qp_daqp_workspace_assign(void *config, dense_qp_dims *dims, void *raw_memory); -// -acados_size_t dense_qp_daqp_memory_calculate_size(void *config, dense_qp_dims *dims, void *opts_); -// -void *dense_qp_daqp_memory_assign(void *config, dense_qp_dims *dims, void *opts_, void *raw_memory); -// -// functions -int dense_qp_daqp(void *config, dense_qp_in *qp_in, dense_qp_out *qp_out, void *opts_, void *memory_, void *work_); -// -void dense_qp_daqp_eval_sens(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_); -// -void dense_qp_daqp_memory_reset(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_); -// -void dense_qp_daqp_config_initialize_default(void *config_); - -#ifdef __cplusplus -} /* extern "C" */ -#endif - -#endif // ACADOS_DENSE_QP_DENSE_QP_DAQP_H_ diff --git a/third_party/acados/include/acados/dense_qp/dense_qp_hpipm.h b/third_party/acados/include/acados/dense_qp/dense_qp_hpipm.h deleted file mode 100644 index 136279d666144f..00000000000000 --- a/third_party/acados/include/acados/dense_qp/dense_qp_hpipm.h +++ /dev/null @@ -1,91 +0,0 @@ -/* - * Copyright (c) The acados authors. - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - - -#ifndef ACADOS_DENSE_QP_DENSE_QP_HPIPM_H_ -#define ACADOS_DENSE_QP_DENSE_QP_HPIPM_H_ - -#ifdef __cplusplus -extern "C" { -#endif - -// hpipm -#include "hpipm/include/hpipm_d_dense_qp.h" -#include "hpipm/include/hpipm_d_dense_qp_ipm.h" -#include "hpipm/include/hpipm_d_dense_qp_sol.h" -// acados -#include "acados/dense_qp/dense_qp_common.h" -#include "acados/utils/types.h" - - - -typedef struct dense_qp_hpipm_opts_ -{ - struct d_dense_qp_ipm_arg *hpipm_opts; -} dense_qp_hpipm_opts; - - - -typedef struct dense_qp_hpipm_memory_ -{ - struct d_dense_qp_ipm_ws *hpipm_workspace; - double time_qp_solver_call; - int iter; - -} dense_qp_hpipm_memory; - - - -// -acados_size_t dense_qp_hpipm_opts_calculate_size(void *config, void *dims); -// -void *dense_qp_hpipm_opts_assign(void *config, void *dims, void *raw_memory); -// -void dense_qp_hpipm_opts_initialize_default(void *config, void *dims, void *opts_); -// -void dense_qp_hpipm_opts_update(void *config, void *dims, void *opts_); -// -acados_size_t dense_qp_hpipm_calculate_memory_size(void *dims, void *opts_); -// -void *dense_qp_hpipm_assign_memory(void *dims, void *opts_, void *raw_memory); -// -acados_size_t dense_qp_hpipm_calculate_workspace_size(void *dims, void *opts_); -// -int dense_qp_hpipm(void *config, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_); -// -void dense_qp_hpipm_eval_sens(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_); -// -void dense_qp_hpipm_config_initialize_default(void *config_); - -#ifdef __cplusplus -} /* extern "C" */ -#endif - -#endif // ACADOS_DENSE_QP_DENSE_QP_HPIPM_H_ diff --git a/third_party/acados/include/acados/dense_qp/dense_qp_ooqp.h b/third_party/acados/include/acados/dense_qp/dense_qp_ooqp.h deleted file mode 100644 index d051cb15f70281..00000000000000 --- a/third_party/acados/include/acados/dense_qp/dense_qp_ooqp.h +++ /dev/null @@ -1,125 +0,0 @@ -/* - * Copyright (c) The acados authors. - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - - -#ifndef ACADOS_DENSE_QP_DENSE_QP_OOQP_H_ -#define ACADOS_DENSE_QP_DENSE_QP_OOQP_H_ - -#ifdef __cplusplus -extern "C" { -#endif - -#include "acados/dense_qp/dense_qp_common.h" -#include "acados/utils/types.h" - -enum dense_qp_ooqp_termination_code -{ - DENSE_SUCCESSFUL_TERMINATION = 0, - DENSE_NOT_FINISHED, - DENSE_MAX_ITS_EXCEEDED, - DENSE_INFEASIBLE, - DENSE_UNKNOWN -}; - -typedef struct dense_qp_ooqp_opts_ -{ - int printLevel; - int useDiagonalWeights; // TODO(dimitris): implement option - int fixHessian; - int fixDynamics; - int fixInequalities; -} dense_qp_ooqp_opts; - -typedef struct dense_qp_ooqp_workspace_ -{ - double *x; - double *gamma; - double *phi; - double *y; - double *z; - double *lambda; - double *pi; - double objectiveValue; -} dense_qp_ooqp_workspace; - -typedef struct dense_qp_ooqp_memory_ -{ - int firstRun; - int nx; - int my; - int mz; - double *c; - double *dQ; - double *xlow; - char *ixlow; - double *xupp; - char *ixupp; - double *dA; - double *bA; - double *dC; - double *clow; - char *iclow; - double *cupp; - char *icupp; - double time_qp_solver_call; - int iter; - -} dense_qp_ooqp_memory; - -// -acados_size_t dense_qp_ooqp_opts_calculate_size(void *config_, dense_qp_dims *dims); -// -void *dense_qp_ooqp_opts_assign(void *config_, dense_qp_dims *dims, void *raw_memory); -// -void dense_qp_ooqp_opts_initialize_default(void *config_, dense_qp_dims *dims, void *opts_); -// -void dense_qp_ooqp_opts_update(void *config_, dense_qp_dims *dims, void *opts_); -// -acados_size_t dense_qp_ooqp_memory_calculate_size(void *config_, dense_qp_dims *dims, void *opts_); -// -void *dense_qp_ooqp_memory_assign(void *config_, dense_qp_dims *dims, void *opts_, - void *raw_memory); -// -acados_size_t dense_qp_ooqp_workspace_calculate_size(void *config_, dense_qp_dims *dims, void *opts_); -// -int dense_qp_ooqp(void *config_, dense_qp_in *qp_in, dense_qp_out *qp_out, void *opts_, - void *memory_, void *work_); -// -void dense_qp_ooqp_destroy(void *mem_, void *work); -// -void dense_qp_ooqp_eval_sens(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_); -// -void dense_qp_ooqp_config_initialize_default(void *config_); - -#ifdef __cplusplus -} /* extern "C" */ -#endif - -#endif // ACADOS_DENSE_QP_DENSE_QP_OOQP_H_ diff --git a/third_party/acados/include/acados/dense_qp/dense_qp_qore.h b/third_party/acados/include/acados/dense_qp/dense_qp_qore.h deleted file mode 100644 index 392e472918d613..00000000000000 --- a/third_party/acados/include/acados/dense_qp/dense_qp_qore.h +++ /dev/null @@ -1,124 +0,0 @@ -/* - * Copyright (c) The acados authors. - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - - -#ifndef ACADOS_DENSE_QP_DENSE_QP_QORE_H_ -#define ACADOS_DENSE_QP_DENSE_QP_QORE_H_ - -#ifdef __cplusplus -extern "C" { -#endif - -// qore -#include "qore/QPSOLVER_DENSE/include/qpsolver_dense.h" -// acados -#include "acados/dense_qp/dense_qp_common.h" -#include "acados/utils/types.h" - -typedef struct dense_qp_qore_opts_ -{ - int nsmax; // maximum size of Schur complement - int print_freq; // print frequency, - // prtfreq < 0: disable printing; - // prtfreq == 0: print on each call and include working set changes; - // prtfreq > 0: print on every prtfreq seconds, but do not include working set - // changes; - int warm_start; // warm start with updated matrices H and C - int warm_strategy; // 0: ramp-up from zero homotopy; 1: setup homotopy from the previous - // solution - int hot_start; // hot start with unchanged matrices H and C - int max_iter; // maximum number of iterations - int compute_t; // compute t in qp_out (to have correct residuals in NLP) -} dense_qp_qore_opts; - -typedef struct dense_qp_qore_memory_ -{ - double *H; - double *HH; - double *g; - double *gg; - double *Zl; - double *Zu; - double *zl; - double *zu; - double *A; - double *b; - double *C; - double *CC; - double *Ct; - double *CCt; - double *d_lb0; - double *d_ub0; - double *d_lb; - double *d_ub; - double *d_lg; - double *d_ug; - double *d_ls; - double *d_us; - double *lb; - double *ub; - int *idxb; - int *idxb_stacked; - int *idxs; - double *prim_sol; - double *dual_sol; - QoreProblemDense *QP; - int num_iter; - dense_qp_in *qp_stacked; - double time_qp_solver_call; - int iter; - -} dense_qp_qore_memory; - -acados_size_t dense_qp_qore_opts_calculate_size(void *config, dense_qp_dims *dims); -// -void *dense_qp_qore_opts_assign(void *config, dense_qp_dims *dims, void *raw_memory); -// -void dense_qp_qore_opts_initialize_default(void *config, dense_qp_dims *dims, void *opts_); -// -void dense_qp_qore_opts_update(void *config, dense_qp_dims *dims, void *opts_); -// -acados_size_t dense_qp_qore_memory_calculate_size(void *config, dense_qp_dims *dims, void *opts_); -// -void *dense_qp_qore_memory_assign(void *config, dense_qp_dims *dims, void *opts_, void *raw_memory); -// -acados_size_t dense_qp_qore_workspace_calculate_size(void *config, dense_qp_dims *dims, void *opts_); -// -int dense_qp_qore(void *config, dense_qp_in *qp_in, dense_qp_out *qp_out, void *opts_, void *memory_, void *work_); -// -void dense_qp_qore_eval_sens(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_); -// -void dense_qp_qore_config_initialize_default(void *config); - -#ifdef __cplusplus -} /* extern "C" */ -#endif - -#endif // ACADOS_DENSE_QP_DENSE_QP_QORE_H_ diff --git a/third_party/acados/include/acados/dense_qp/dense_qp_qpoases.h b/third_party/acados/include/acados/dense_qp/dense_qp_qpoases.h deleted file mode 100644 index 0e13d3ef64ef6e..00000000000000 --- a/third_party/acados/include/acados/dense_qp/dense_qp_qpoases.h +++ /dev/null @@ -1,126 +0,0 @@ -/* - * Copyright (c) The acados authors. - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - - -#ifndef ACADOS_DENSE_QP_DENSE_QP_QPOASES_H_ -#define ACADOS_DENSE_QP_DENSE_QP_QPOASES_H_ - -#ifdef __cplusplus -extern "C" { -#endif - -// blasfeo -#include "blasfeo/include/blasfeo_common.h" - -// acados -#include "acados/dense_qp/dense_qp_common.h" -#include "acados/utils/types.h" - -typedef struct dense_qp_qpoases_opts_ -{ - double max_cputime; // maximum cpu time in seconds - int max_nwsr; // maximum number of working set recalculations - int warm_start; // warm start with dual_sol in memory - int use_precomputed_cholesky; - int hotstart; // this option requires constant data matrices! (eg linear MPC, inexact schemes - // with frozen sensitivities) - int set_acado_opts; // use same options as in acado code generation - int compute_t; // compute t in qp_out (to have correct residuals in NLP) - double tolerance; // terminationTolerance -} dense_qp_qpoases_opts; - -typedef struct dense_qp_qpoases_memory_ -{ - double *H; - double *HH; - double *R; - double *g; - double *gg; - double *Zl; - double *Zu; - double *zl; - double *zu; - double *A; - double *b; - double *d_lb0; - double *d_ub0; - double *d_lb; - double *d_ub; - double *C; - double *CC; - double *d_lg0; - double *d_ug0; - double *d_lg; - double *d_ug; - double *d_ls; - double *d_us; - int *idxb; - int *idxb_stacked; - int *idxs; - double *prim_sol; - double *dual_sol; - void *QPB; // NOTE(giaf): cast to QProblemB to use - void *QP; // NOTE(giaf): cast to QProblem to use - double cputime; // cputime of qpoases - int nwsr; // performed number of working set recalculations - int first_it; // to be used with hotstart - dense_qp_in *qp_stacked; - double time_qp_solver_call; // equal to cputime - int iter; - -} dense_qp_qpoases_memory; - -acados_size_t dense_qp_qpoases_opts_calculate_size(void *config, dense_qp_dims *dims); -// -void *dense_qp_qpoases_opts_assign(void *config, dense_qp_dims *dims, void *raw_memory); -// -void dense_qp_qpoases_opts_initialize_default(void *config, dense_qp_dims *dims, void *opts_); -// -void dense_qp_qpoases_opts_update(void *config, dense_qp_dims *dims, void *opts_); -// -acados_size_t dense_qp_qpoases__memorycalculate_size(void *config, dense_qp_dims *dims, void *opts_); -// -void *dense_qp_qpoases_memory_assign(void *config, dense_qp_dims *dims, void *opts_, void *raw_memory); -// -acados_size_t dense_qp_qpoases_workspace_calculate_size(void *config, dense_qp_dims *dims, void *opts_); -// -int dense_qp_qpoases(void *config, dense_qp_in *qp_in, dense_qp_out *qp_out, void *opts_, void *memory_, void *work_); -// -void dense_qp_qpoases_eval_sens(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_); -// -void dense_qp_qpoases_memory_reset(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_); -// -void dense_qp_qpoases_config_initialize_default(void *config_); - -#ifdef __cplusplus -} /* extern "C" */ -#endif - -#endif // ACADOS_DENSE_QP_DENSE_QP_QPOASES_H_ diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_common.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_common.h deleted file mode 100644 index ba97db97684245..00000000000000 --- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_common.h +++ /dev/null @@ -1,446 +0,0 @@ -/* - * Copyright (c) The acados authors. - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - - - -/// \defgroup ocp_nlp ocp_nlp -/// @{ -/// @} - -/// \defgroup ocp_nlp_solver ocp_nlp_solver -/// @{ -/// @} - -/// \ingroup ocp_nlp -/// @{ - -/// \ingroup ocp_nlp_solver -/// @{ - -/// \defgroup ocp_nlp_common ocp_nlp_common -/// @{ - -#ifndef ACADOS_OCP_NLP_OCP_NLP_COMMON_H_ -#define ACADOS_OCP_NLP_OCP_NLP_COMMON_H_ - -#ifdef __cplusplus -extern "C" { -#endif - -#include "acados/ocp_nlp/ocp_nlp_constraints_common.h" -#include "acados/ocp_nlp/ocp_nlp_cost_common.h" -#include "acados/ocp_nlp/ocp_nlp_dynamics_common.h" -#include "acados/ocp_nlp/ocp_nlp_reg_common.h" -#include "acados/ocp_qp/ocp_qp_common.h" -#include "acados/ocp_qp/ocp_qp_xcond_solver.h" -#include "acados/sim/sim_common.h" -#include "acados/utils/external_function_generic.h" -#include "acados/utils/types.h" - - - -/************************************************ - * config - ************************************************/ - -typedef struct ocp_nlp_config -{ - int N; // number of stages - - // solver-specific implementations of memory management functions - acados_size_t (*opts_calculate_size)(void *config, void *dims); - void *(*opts_assign)(void *config, void *dims, void *raw_memory); - void (*opts_initialize_default)(void *config, void *dims, void *opts_); - void (*opts_update)(void *config, void *dims, void *opts_); - acados_size_t (*memory_calculate_size)(void *config, void *dims, void *opts_); - void *(*memory_assign)(void *config, void *dims, void *opts_, void *raw_memory); - acados_size_t (*workspace_calculate_size)(void *config, void *dims, void *opts_); - void (*opts_set)(void *config_, void *opts_, const char *field, void* value); - void (*opts_set_at_stage)(void *config_, void *opts_, size_t stage, const char *field, void* value); - // evaluate solver // TODO rename into solve - int (*evaluate)(void *config, void *dims, void *nlp_in, void *nlp_out, void *opts_, void *mem, void *work); - void (*eval_param_sens)(void *config, void *dims, void *opts_, void *mem, void *work, - char *field, int stage, int index, void *sens_nlp_out); - // prepare memory - int (*precompute)(void *config, void *dims, void *nlp_in, void *nlp_out, void *opts_, void *mem, void *work); - void (*memory_reset_qp_solver)(void *config, void *dims, void *nlp_in, void *nlp_out, void *opts_, void *mem, void *work); - // initalize this struct with default values - void (*config_initialize_default)(void *config); - // general getter - void (*get)(void *config_, void *dims, void *mem_, const char *field, void *return_value_); - void (*opts_get)(void *config_, void *dims, void *opts_, const char *field, void *return_value_); - void (*work_get)(void *config_, void *dims, void *work_, const char *field, void *return_value_); - // config structs of submodules - ocp_qp_xcond_solver_config *qp_solver; // TODO rename xcond_solver - ocp_nlp_dynamics_config **dynamics; - ocp_nlp_cost_config **cost; - ocp_nlp_constraints_config **constraints; - ocp_nlp_reg_config *regularize; - -} ocp_nlp_config; - -// -acados_size_t ocp_nlp_config_calculate_size(int N); -// -ocp_nlp_config *ocp_nlp_config_assign(int N, void *raw_memory); - - - -/************************************************ - * dims - ************************************************/ - -/// Structure to store dimensions/number of variables. -typedef struct ocp_nlp_dims -{ - void **cost; - void **dynamics; - void **constraints; - ocp_qp_xcond_solver_dims *qp_solver; // xcond solver instead ?? - ocp_nlp_reg_dims *regularize; - - int *nv; // number of primal variables (states+controls+slacks) - int *nx; // number of differential states - int *nu; // number of inputs - int *ni; // number of two-sided inequality constraints: nb+ng+nh+ns - int *nz; // number of algebraic variables - int *ns; // number of slack variables - int N; // number of shooting nodes - - void *raw_memory; // Pointer to allocated memory, to be used for freeing -} ocp_nlp_dims; - -// -acados_size_t ocp_nlp_dims_calculate_size(void *config); -// -ocp_nlp_dims *ocp_nlp_dims_assign(void *config, void *raw_memory); - -/// Sets the dimension of optimization variables -/// (states, constrols, algebraic variables, slack variables). -/// -/// \param config_ The configuration struct. -/// \param dims_ The dimension struct. -/// \param field The type of optimization variables, either nx, nu, nz, or ns. -/// \param value_array Number of variables for each stage. -void ocp_nlp_dims_set_opt_vars(void *config_, void *dims_, - const char *field, const void* value_array); - -/// Sets the dimensions of constraints functions for a stage -/// (bounds on states, bounds on controls, equality constraints, -/// inequality constraints). -/// -/// \param config_ The configuration struct. -/// \param dims_ The dimension struct. -/// \param stage Stage number. -/// \param field The type of constraint/bound, either nbx, nbu, ng, or nh. -/// \param value_field Number of constraints/bounds for the given stage. -void ocp_nlp_dims_set_constraints(void *config_, void *dims_, int stage, - const char *field, const void* value_field); - -/// Sets the dimensions of the cost terms for a stage. -/// -/// \param config_ The configuration struct. -/// \param dims_ The dimension struct. -/// \param stage Stage number. -/// \param field Type of cost term, can be eiter ny. -/// \param value_field Number of cost terms/residuals for the given stage. -void ocp_nlp_dims_set_cost(void *config_, void *dims_, int stage, const char *field, - const void* value_field); - -/// Sets the dimensions of the dynamics for a stage. -/// -/// \param config_ The configuration struct. -/// \param dims_ The dimension struct. -/// \param stage Stage number. -/// \param field TBD -/// \param value TBD -void ocp_nlp_dims_set_dynamics(void *config_, void *dims_, int stage, const char *field, - const void* value); - -/************************************************ - * Inputs - ************************************************/ - -/// Struct for storing the inputs of an OCP NLP solver -typedef struct ocp_nlp_in -{ - /// Length of sampling intervals/timesteps. - double *Ts; - - /// Pointers to cost functions (TBC). - void **cost; - - /// Pointers to dynamics functions (TBC). - void **dynamics; - - /// Pointers to constraints functions (TBC). - void **constraints; - - /// Pointer to allocated memory, to be used for freeing. - void *raw_memory; - -} ocp_nlp_in; - -// -acados_size_t ocp_nlp_in_calculate_size_self(int N); -// -acados_size_t ocp_nlp_in_calculate_size(ocp_nlp_config *config, ocp_nlp_dims *dims); -// -ocp_nlp_in *ocp_nlp_in_assign_self(int N, void *raw_memory); -// -ocp_nlp_in *ocp_nlp_in_assign(ocp_nlp_config *config, ocp_nlp_dims *dims, void *raw_memory); - - -/************************************************ - * out - ************************************************/ - -typedef struct ocp_nlp_out -{ - struct blasfeo_dvec *ux; // NOTE: this contains [u; x; s_l; s_u]! - rename to uxs? - struct blasfeo_dvec *z; // algebraic vairables - struct blasfeo_dvec *pi; // multipliers for dynamics - struct blasfeo_dvec *lam; // inequality mulitpliers - struct blasfeo_dvec *t; // slack variables corresponding to evaluation of all inequalities (at the solution) - - // NOTE: the inequalities are internally organized in the following order: - // [ lbu lbx lg lh lphi ubu ubx ug uh uphi; lsbu lsbx lsg lsh lsphi usbu usbx usg ush usphi] - double inf_norm_res; - - void *raw_memory; // Pointer to allocated memory, to be used for freeing - -} ocp_nlp_out; - -// -acados_size_t ocp_nlp_out_calculate_size(ocp_nlp_config *config, ocp_nlp_dims *dims); -// -ocp_nlp_out *ocp_nlp_out_assign(ocp_nlp_config *config, ocp_nlp_dims *dims, - void *raw_memory); - - - -/************************************************ - * options - ************************************************/ - -/// Globalization types -typedef enum -{ - FIXED_STEP, - MERIT_BACKTRACKING, -} ocp_nlp_globalization_t; - -typedef struct ocp_nlp_opts -{ - ocp_qp_xcond_solver_opts *qp_solver_opts; // xcond solver opts instead ??? - void *regularize; - void **dynamics; // dynamics_opts - void **cost; // cost_opts - void **constraints; // constraints_opts - double step_length; // step length in case of FIXED_STEP - double levenberg_marquardt; // LM factor to be added to the hessian before regularization - int reuse_workspace; - int num_threads; - int print_level; - - // TODO: move to separate struct? - ocp_nlp_globalization_t globalization; - int full_step_dual; - int line_search_use_sufficient_descent; - int globalization_use_SOC; - double alpha_min; - double alpha_reduction; - double eps_sufficient_descent; -} ocp_nlp_opts; - -// -acados_size_t ocp_nlp_opts_calculate_size(void *config, void *dims); -// -void *ocp_nlp_opts_assign(void *config, void *dims, void *raw_memory); -// -void ocp_nlp_opts_initialize_default(void *config, void *dims, void *opts); -// -void ocp_nlp_opts_update(void *config, void *dims, void *opts); -// -void ocp_nlp_opts_set(void *config_, void *opts_, const char *field, void* value); -// -void ocp_nlp_opts_set_at_stage(void *config, void *opts, int stage, const char *field, void *value); - - -/************************************************ - * residuals - ************************************************/ - -typedef struct ocp_nlp_res -{ - struct blasfeo_dvec *res_stat; // stationarity - struct blasfeo_dvec *res_eq; // dynamics - struct blasfeo_dvec *res_ineq; // inequality constraints - struct blasfeo_dvec *res_comp; // complementarity - struct blasfeo_dvec tmp; // tmp - double inf_norm_res_stat; - double inf_norm_res_eq; - double inf_norm_res_ineq; - double inf_norm_res_comp; - acados_size_t memsize; -} ocp_nlp_res; - -// -acados_size_t ocp_nlp_res_calculate_size(ocp_nlp_dims *dims); -// -ocp_nlp_res *ocp_nlp_res_assign(ocp_nlp_dims *dims, void *raw_memory); -// -void ocp_nlp_res_get_inf_norm(ocp_nlp_res *res, double *out); - -/************************************************ - * memory - ************************************************/ - -typedef struct ocp_nlp_memory -{ -// void *qp_solver_mem; // xcond solver mem instead ??? - ocp_qp_xcond_solver_memory *qp_solver_mem; // xcond solver mem instead ??? - void *regularize_mem; - void **dynamics; // dynamics memory - void **cost; // cost memory - void **constraints; // constraints memory - - // residuals - ocp_nlp_res *nlp_res; - - // qp in & out - ocp_qp_in *qp_in; - ocp_qp_out *qp_out; - // QP stuff not entering the qp_in struct - struct blasfeo_dmat *dzduxt; // dzdux transposed - struct blasfeo_dvec *z_alg; // z_alg, output algebraic variables - - struct blasfeo_dvec *cost_grad; - struct blasfeo_dvec *ineq_fun; - struct blasfeo_dvec *ineq_adj; - struct blasfeo_dvec *dyn_fun; - struct blasfeo_dvec *dyn_adj; - - double cost_value; - - bool *set_sim_guess; // indicate if there is new explicitly provided guess for integration variables - struct blasfeo_dvec *sim_guess; - - int *sqp_iter; // pointer to iteration number - -} ocp_nlp_memory; - -// -acados_size_t ocp_nlp_memory_calculate_size(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_opts *opts); -// -ocp_nlp_memory *ocp_nlp_memory_assign(ocp_nlp_config *config, ocp_nlp_dims *dims, - ocp_nlp_opts *opts, void *raw_memory); - - - -/************************************************ - * workspace - ************************************************/ - -typedef struct ocp_nlp_workspace -{ - - void *qp_work; - void **dynamics; // dynamics_workspace - void **cost; // cost_workspace - void **constraints; // constraints_workspace - - // for globalization: -> move to module?! - ocp_nlp_out *tmp_nlp_out; - ocp_nlp_out *weight_merit_fun; - struct blasfeo_dvec tmp_nxu; - struct blasfeo_dvec tmp_ni; - struct blasfeo_dvec dxnext_dy; - -} ocp_nlp_workspace; - -// -acados_size_t ocp_nlp_workspace_calculate_size(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_opts *opts); -// -ocp_nlp_workspace *ocp_nlp_workspace_assign(ocp_nlp_config *config, ocp_nlp_dims *dims, - ocp_nlp_opts *opts, ocp_nlp_memory *mem, void *raw_memory); - - - -/************************************************ - * function - ************************************************/ - -void ocp_nlp_alias_memory_to_submodules(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in, - ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work); -// -void ocp_nlp_initialize_submodules(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in, - ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work); -// -void ocp_nlp_approximate_qp_matrices(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in, - ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work); -// -void ocp_nlp_approximate_qp_vectors_sqp(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in, - ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work); -// -void ocp_nlp_embed_initial_value(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in, - ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work); -// -void ocp_nlp_update_variables_sqp(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in, - ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work, double alpha); -// -int ocp_nlp_precompute_common(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in, - ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work); -// -double ocp_nlp_line_search(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in, - ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work, - int check_early_termination); -// -double ocp_nlp_evaluate_merit_fun(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in, - ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work); -// -void ocp_nlp_initialize_t_slacks(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in, - ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work); -// -void ocp_nlp_res_compute(ocp_nlp_dims *dims, ocp_nlp_in *in, ocp_nlp_out *out, - ocp_nlp_res *res, ocp_nlp_memory *mem); -// -void ocp_nlp_cost_compute(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in, - ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work); - - -#ifdef __cplusplus -} /* extern "C" */ -#endif - -#endif // ACADOS_OCP_NLP_OCP_NLP_COMMON_H_ -/// @} -/// @} -/// @} diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_bgh.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_bgh.h deleted file mode 100644 index 9dbf16f6dc2df3..00000000000000 --- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_bgh.h +++ /dev/null @@ -1,238 +0,0 @@ -/* - * Copyright (c) The acados authors. - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - - -/// \addtogroup ocp_nlp -/// @{ -/// \addtogroup ocp_nlp_constraints -/// @{ - -#ifndef ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_BGH_H_ -#define ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_BGH_H_ - -#ifdef __cplusplus -extern "C" { -#endif - -// acados -#include "acados/ocp_qp/ocp_qp_common.h" -#include "acados/ocp_nlp/ocp_nlp_constraints_common.h" -#include "acados/utils/external_function_generic.h" -#include "acados/utils/types.h" - - - -/************************************************ - * dims - ************************************************/ - -typedef struct -{ - int nx; - int nu; - int nz; - int nb; // nbx + nbu - int nbu; // number of input box constraints - int nbx; // number of state box constraints - int ng; // number of general linear constraints - int nh; // number of nonlinear path constraints - int ns; // nsbu + nsbx + nsg + nsh - int nsbu; // number of softened input bounds - int nsbx; // number of softened state bounds - int nsg; // number of softened general linear constraints - int nsh; // number of softened nonlinear constraints - int nbue; // number of input box constraints which are equality - int nbxe; // number of state box constraints which are equality - int nge; // number of general linear constraints which are equality - int nhe; // number of nonlinear path constraints which are equality -} ocp_nlp_constraints_bgh_dims; - -// -acados_size_t ocp_nlp_constraints_bgh_dims_calculate_size(void *config); -// -void *ocp_nlp_constraints_bgh_dims_assign(void *config, void *raw_memory); -// -void ocp_nlp_constraints_bgh_dims_get(void *config_, void *dims_, const char *field, int* value); -// -void ocp_nlp_constraints_bgh_dims_set(void *config_, void *dims_, - const char *field, const int* value); - - -/************************************************ - * model - ************************************************/ - -typedef struct -{ - int *idxb; - int *idxs; - int *idxe; - struct blasfeo_dvec d; // gathers bounds - struct blasfeo_dmat DCt; // general linear constraint matrix - // lg <= [D, C] * [u; x] <= ug - external_function_generic *nl_constr_h_fun; // nonlinear: lh <= h(x,u) <= uh - external_function_generic *nl_constr_h_fun_jac; // nonlinear: lh <= h(x,u) <= uh - external_function_generic *nl_constr_h_fun_jac_hess; // nonlinear: lh <= h(x,u) <= uh -} ocp_nlp_constraints_bgh_model; - -// -acados_size_t ocp_nlp_constraints_bgh_model_calculate_size(void *config, void *dims); -// -void *ocp_nlp_constraints_bgh_model_assign(void *config, void *dims, void *raw_memory); -// -int ocp_nlp_constraints_bgh_model_set(void *config_, void *dims_, - void *model_, const char *field, void *value); - -// -void ocp_nlp_constraints_bgh_model_get(void *config_, void *dims_, - void *model_, const char *field, void *value); - - -/************************************************ - * options - ************************************************/ - -typedef struct -{ - int compute_adj; - int compute_hess; -} ocp_nlp_constraints_bgh_opts; - -// -acados_size_t ocp_nlp_constraints_bgh_opts_calculate_size(void *config, void *dims); -// -void *ocp_nlp_constraints_bgh_opts_assign(void *config, void *dims, void *raw_memory); -// -void ocp_nlp_constraints_bgh_opts_initialize_default(void *config, void *dims, void *opts); -// -void ocp_nlp_constraints_bgh_opts_update(void *config, void *dims, void *opts); -// -void ocp_nlp_constraints_bgh_opts_set(void *config, void *opts, char *field, void *value); - - - -/************************************************ - * memory - ************************************************/ - -typedef struct -{ - struct blasfeo_dvec fun; - struct blasfeo_dvec adj; - struct blasfeo_dvec *ux; // pointer to ux in nlp_out - struct blasfeo_dvec *tmp_ux; // pointer to ux in tmp_nlp_out - struct blasfeo_dvec *lam; // pointer to lam in nlp_out - struct blasfeo_dvec *tmp_lam;// pointer to lam in tmp_nlp_out - struct blasfeo_dvec *z_alg; // pointer to z_alg in ocp_nlp memory - struct blasfeo_dmat *DCt; // pointer to DCt in qp_in - struct blasfeo_dmat *RSQrq; // pointer to RSQrq in qp_in - struct blasfeo_dmat *dzduxt; // pointer to dzduxt in ocp_nlp memory - int *idxb; // pointer to idxb[ii] in qp_in - int *idxs_rev; // pointer to idxs_rev[ii] in qp_in - int *idxe; // pointer to idxe[ii] in qp_in -} ocp_nlp_constraints_bgh_memory; - -// -acados_size_t ocp_nlp_constraints_bgh_memory_calculate_size(void *config, void *dims, void *opts); -// -void *ocp_nlp_constraints_bgh_memory_assign(void *config, void *dims, void *opts, void *raw_memory); -// -struct blasfeo_dvec *ocp_nlp_constraints_bgh_memory_get_fun_ptr(void *memory_); -// -struct blasfeo_dvec *ocp_nlp_constraints_bgh_memory_get_adj_ptr(void *memory_); -// -void ocp_nlp_constraints_bgh_memory_set_ux_ptr(struct blasfeo_dvec *ux, void *memory_); -// -void ocp_nlp_constraints_bgh_memory_set_tmp_ux_ptr(struct blasfeo_dvec *tmp_ux, void *memory_); -// -void ocp_nlp_constraints_bgh_memory_set_lam_ptr(struct blasfeo_dvec *lam, void *memory_); -// -void ocp_nlp_constraints_bgh_memory_set_tmp_lam_ptr(struct blasfeo_dvec *tmp_lam, void *memory_); -// -void ocp_nlp_constraints_bgh_memory_set_DCt_ptr(struct blasfeo_dmat *DCt, void *memory); -// -void ocp_nlp_constraints_bgh_memory_set_RSQrq_ptr(struct blasfeo_dmat *RSQrq, void *memory_); -// -void ocp_nlp_constraints_bgh_memory_set_z_alg_ptr(struct blasfeo_dvec *z_alg, void *memory_); -// -void ocp_nlp_constraints_bgh_memory_set_dzduxt_ptr(struct blasfeo_dmat *dzduxt, void *memory_); -// -void ocp_nlp_constraints_bgh_memory_set_idxb_ptr(int *idxb, void *memory_); -// -void ocp_nlp_constraints_bgh_memory_set_idxs_rev_ptr(int *idxs_rev, void *memory_); -// -void ocp_nlp_constraints_bgh_memory_set_idxe_ptr(int *idxe, void *memory_); - - - -/************************************************ - * workspace - ************************************************/ - -typedef struct -{ - struct blasfeo_dmat tmp_nv_nv; - struct blasfeo_dmat tmp_nz_nh; - struct blasfeo_dmat tmp_nv_nh; - struct blasfeo_dmat tmp_nz_nv; - struct blasfeo_dmat hess_z; - struct blasfeo_dvec tmp_ni; - struct blasfeo_dvec tmp_nh; -} ocp_nlp_constraints_bgh_workspace; - -// -acados_size_t ocp_nlp_constraints_bgh_workspace_calculate_size(void *config, void *dims, void *opts); - -/* functions */ - -// -void ocp_nlp_constraints_bgh_config_initialize_default(void *config); -// -void ocp_nlp_constraints_bgh_initialize(void *config, void *dims, void *model, void *opts, - void *mem, void *work); -// -void ocp_nlp_constraints_bgh_update_qp_matrices(void *config_, void *dims, void *model_, - void *opts_, void *memory_, void *work_); - -// -void ocp_nlp_constraints_bgh_compute_fun(void *config_, void *dims, void *model_, - void *opts_, void *memory_, void *work_); -// -void ocp_nlp_constraints_bgh_bounds_update(void *config_, void *dims, void *model_, - void *opts_, void *memory_, void *work_); - - -#ifdef __cplusplus -} /* extern "C" */ -#endif - -#endif // ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_BGH_H_ -/// @} -/// @} diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_bgp.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_bgp.h deleted file mode 100644 index eb05edf7a6bf2d..00000000000000 --- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_bgp.h +++ /dev/null @@ -1,218 +0,0 @@ -/* - * Copyright (c) The acados authors. - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - - -/// \addtogroup ocp_nlp -/// @{ -/// \addtogroup ocp_nlp_constraints -/// @{ - -#ifndef ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_BGP_H_ -#define ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_BGP_H_ - -#ifdef __cplusplus -extern "C" { -#endif - -// acados -#include "acados/ocp_qp/ocp_qp_common.h" -#include "acados/ocp_nlp/ocp_nlp_constraints_common.h" -#include "acados/utils/external_function_generic.h" -#include "acados/utils/types.h" - - - -/* dims */ - -typedef struct -{ - int nx; - int nu; - int nz; - int nb; // nbx + nbu - int nbu; - int nbx; - int ng; // number of general linear constraints - int nphi; // dimension of convex outer part - int ns; // nsbu + nsbx + nsg + nsphi - int nsbu; // number of softened input bounds - int nsbx; // number of softened state bounds - int nsg; // number of softened general linear constraints - int nsphi; // number of softened nonlinear constraints - int nr; // dimension of nonlinear function in convex_over_nonlinear constraint - int nbue; // number of input box constraints which are equality - int nbxe; // number of state box constraints which are equality - int nge; // number of general linear constraints which are equality - int nphie; // number of nonlinear path constraints which are equality -} ocp_nlp_constraints_bgp_dims; - -// -acados_size_t ocp_nlp_constraints_bgp_dims_calculate_size(void *config); -// -void *ocp_nlp_constraints_bgp_dims_assign(void *config, void *raw_memory); -// -void ocp_nlp_constraints_bgp_dims_get(void *config_, void *dims_, const char *field, int* value); - - -/* model */ - -typedef struct -{ - // ocp_nlp_constraints_bgp_dims *dims; - int *idxb; - int *idxs; - int *idxe; - struct blasfeo_dvec d; - struct blasfeo_dmat DCt; - external_function_generic *nl_constr_phi_o_r_fun_phi_jac_ux_z_phi_hess_r_jac_ux; - external_function_generic *nl_constr_phi_o_r_fun; - external_function_generic *nl_constr_r_fun_jac; -} ocp_nlp_constraints_bgp_model; - -// -acados_size_t ocp_nlp_constraints_bgp_calculate_size(void *config, void *dims); -// -void *ocp_nlp_constraints_bgp_assign(void *config, void *dims, void *raw_memory); -// -int ocp_nlp_constraints_bgp_model_set(void *config_, void *dims_, - void *model_, const char *field, void *value); -// -void ocp_nlp_constraints_bgp_model_get(void *config_, void *dims_, - void *model_, const char *field, void *value); - -/* options */ - -typedef struct -{ - int compute_adj; - int compute_hess; -} ocp_nlp_constraints_bgp_opts; - -// -acados_size_t ocp_nlp_constraints_bgp_opts_calculate_size(void *config, void *dims); -// -void *ocp_nlp_constraints_bgp_opts_assign(void *config, void *dims, void *raw_memory); -// -void ocp_nlp_constraints_bgp_opts_initialize_default(void *config, void *dims, void *opts); -// -void ocp_nlp_constraints_bgp_opts_update(void *config, void *dims, void *opts); -// -void ocp_nlp_constraints_bgp_opts_set(void *config, void *opts, char *field, void *value); - -/* memory */ - -typedef struct -{ - struct blasfeo_dvec fun; - struct blasfeo_dvec adj; - struct blasfeo_dvec *ux; // pointer to ux in nlp_out - struct blasfeo_dvec *tmp_ux; // pointer to ux in tmp_nlp_out - struct blasfeo_dvec *lam; // pointer to lam in nlp_out - struct blasfeo_dvec *tmp_lam;// pointer to lam in tmp_nlp_out - struct blasfeo_dvec *z_alg; // pointer to z_alg in ocp_nlp memory - struct blasfeo_dmat *DCt; // pointer to DCt in qp_in - struct blasfeo_dmat *RSQrq; // pointer to RSQrq in qp_in - struct blasfeo_dmat *dzduxt; // pointer to dzduxt in ocp_nlp memory - int *idxb; // pointer to idxb[ii] in qp_in - int *idxs_rev; // pointer to idxs_rev[ii] in qp_in - int *idxe; // pointer to idxe[ii] in qp_in -} ocp_nlp_constraints_bgp_memory; - -// -acados_size_t ocp_nlp_constraints_bgp_memory_calculate_size(void *config, void *dims, void *opts); -// -void *ocp_nlp_constraints_bgp_memory_assign(void *config, void *dims, void *opts, - void *raw_memory); -// -struct blasfeo_dvec *ocp_nlp_constraints_bgp_memory_get_fun_ptr(void *memory_); -// -struct blasfeo_dvec *ocp_nlp_constraints_bgp_memory_get_adj_ptr(void *memory_); -// -void ocp_nlp_constraints_bgp_memory_set_ux_ptr(struct blasfeo_dvec *ux, void *memory_); -// -void ocp_nlp_constraints_bgp_memory_set_tmp_ux_ptr(struct blasfeo_dvec *tmp_ux, void *memory_); -// -void ocp_nlp_constraints_bgp_memory_set_lam_ptr(struct blasfeo_dvec *lam, void *memory_); -// -void ocp_nlp_constraints_bgp_memory_set_tmp_lam_ptr(struct blasfeo_dvec *tmp_lam, void *memory_); -// -void ocp_nlp_constraints_bgp_memory_set_DCt_ptr(struct blasfeo_dmat *DCt, void *memory); -// -void ocp_nlp_constraints_bgp_memory_set_z_alg_ptr(struct blasfeo_dvec *z_alg, void *memory_); -// -void ocp_nlp_constraints_bgp_memory_set_dzduxt_ptr(struct blasfeo_dmat *dzduxt, void *memory_); -// -void ocp_nlp_constraints_bgp_memory_set_idxb_ptr(int *idxb, void *memory_); -// -void ocp_nlp_constraints_bgp_memory_set_idxs_rev_ptr(int *idxs_rev, void *memory_); -// -void ocp_nlp_constraints_bgh_memory_set_idxe_ptr(int *idxe, void *memory_); - -/* workspace */ - -typedef struct -{ - struct blasfeo_dvec tmp_ni; - struct blasfeo_dmat jac_r_ux_tran; - struct blasfeo_dmat tmp_nr_nphi_nr; - struct blasfeo_dmat tmp_nv_nr; - struct blasfeo_dmat tmp_nv_nphi; - struct blasfeo_dmat tmp_nz_nphi; -} ocp_nlp_constraints_bgp_workspace; - -// -acados_size_t ocp_nlp_constraints_bgp_workspace_calculate_size(void *config, void *dims, void *opts); - -/* functions */ - -// -void ocp_nlp_constraints_bgp_config_initialize_default(void *config); -// -void ocp_nlp_constraints_bgp_initialize(void *config, void *dims, void *model, - void *opts, void *mem, void *work); -// -void ocp_nlp_constraints_bgp_update_qp_matrices(void *config_, void *dims, - void *model_, void *opts_, void *memory_, void *work_); -// -void ocp_nlp_constraints_bgp_compute_fun(void *config_, void *dims, - void *model_, void *opts_, void *memory_, void *work_); -// -void ocp_nlp_constraints_bgp_bounds_update(void *config_, void *dims, void *model_, - void *opts_, void *memory_, void *work_); - - - -#ifdef __cplusplus -} /* extern "C" */ -#endif - -#endif // ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_BGP_H_ -/// @} -/// @} diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_common.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_common.h deleted file mode 100644 index bb73c468deb377..00000000000000 --- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_common.h +++ /dev/null @@ -1,108 +0,0 @@ -/* - * Copyright (c) The acados authors. - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - - -/// \ingroup ocp_nlp -/// @{ - -/// \defgroup ocp_nlp_constraints ocp_nlp_constraints -/// @{ - -#ifndef ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_COMMON_H_ -#define ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_COMMON_H_ - -#ifdef __cplusplus -extern "C" { -#endif - -// acados -#include "acados/ocp_qp/ocp_qp_common.h" -#include "acados/utils/external_function_generic.h" -#include "acados/utils/types.h" - - - -/************************************************ - * config - ************************************************/ - -typedef struct -{ - acados_size_t (*dims_calculate_size)(void *config); - void *(*dims_assign)(void *config, void *raw_memory); - acados_size_t (*model_calculate_size)(void *config, void *dims); - void *(*model_assign)(void *config, void *dims, void *raw_memory); - int (*model_set)(void *config_, void *dims_, void *model_, const char *field, void *value); - void (*model_get)(void *config_, void *dims_, void *model_, const char *field, void *value); - acados_size_t (*opts_calculate_size)(void *config, void *dims); - void *(*opts_assign)(void *config, void *dims, void *raw_memory); - void (*opts_initialize_default)(void *config, void *dims, void *opts); - void (*opts_update)(void *config, void *dims, void *opts); - void (*opts_set)(void *config, void *opts, char *field, void *value); - acados_size_t (*memory_calculate_size)(void *config, void *dims, void *opts); - struct blasfeo_dvec *(*memory_get_fun_ptr)(void *memory); - struct blasfeo_dvec *(*memory_get_adj_ptr)(void *memory); - void (*memory_set_ux_ptr)(struct blasfeo_dvec *ux, void *memory); - void (*memory_set_tmp_ux_ptr)(struct blasfeo_dvec *tmp_ux, void *memory); - void (*memory_set_lam_ptr)(struct blasfeo_dvec *lam, void *memory); - void (*memory_set_tmp_lam_ptr)(struct blasfeo_dvec *tmp_lam, void *memory); - void (*memory_set_DCt_ptr)(struct blasfeo_dmat *DCt, void *memory); - void (*memory_set_RSQrq_ptr)(struct blasfeo_dmat *RSQrq, void *memory); - void (*memory_set_z_alg_ptr)(struct blasfeo_dvec *z_alg, void *memory); - void (*memory_set_dzdux_tran_ptr)(struct blasfeo_dmat *dzduxt, void *memory); - void (*memory_set_idxb_ptr)(int *idxb, void *memory); - void (*memory_set_idxs_rev_ptr)(int *idxs_rev, void *memory); - void (*memory_set_idxe_ptr)(int *idxe, void *memory); - void *(*memory_assign)(void *config, void *dims, void *opts, void *raw_memory); - acados_size_t (*workspace_calculate_size)(void *config, void *dims, void *opts); - void (*initialize)(void *config, void *dims, void *model, void *opts, void *mem, void *work); - void (*update_qp_matrices)(void *config, void *dims, void *model, void *opts, void *mem, void *work); - void (*compute_fun)(void *config, void *dims, void *model, void *opts, void *mem, void *work); - void (*bounds_update)(void *config, void *dims, void *model, void *opts, void *mem, void *work); - void (*config_initialize_default)(void *config); - // dimension setters - void (*dims_set)(void *config_, void *dims_, const char *field, const int *value); - void (*dims_get)(void *config_, void *dims_, const char *field, int* value); -} ocp_nlp_constraints_config; - -// -acados_size_t ocp_nlp_constraints_config_calculate_size(); -// -ocp_nlp_constraints_config *ocp_nlp_constraints_config_assign(void *raw_memory); - - - -#ifdef __cplusplus -} /* extern "C" */ -#endif - -#endif // ACADOS_OCP_NLP_OCP_NLP_CONSTRAINTS_COMMON_H_ -/// @} -/// @} diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_common.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_common.h deleted file mode 100644 index eb4056403648c6..00000000000000 --- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_common.h +++ /dev/null @@ -1,107 +0,0 @@ -/* - * Copyright (c) The acados authors. - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - - -/// -/// \defgroup ocp_nlp_cost ocp_nlp_cost -/// - -/// \addtogroup ocp_nlp_cost ocp_nlp_cost -/// @{ -/// \addtogroup ocp_nlp_cost_common ocp_nlp_cost_common -/// @{ - -#ifndef ACADOS_OCP_NLP_OCP_NLP_COST_COMMON_H_ -#define ACADOS_OCP_NLP_OCP_NLP_COST_COMMON_H_ - -#ifdef __cplusplus -extern "C" { -#endif - -// acados -#include "acados/utils/external_function_generic.h" -#include "acados/utils/types.h" - - - -/************************************************ - * config - ************************************************/ - -typedef struct -{ - acados_size_t (*dims_calculate_size)(void *config); - void *(*dims_assign)(void *config, void *raw_memory); - void (*dims_set)(void *config_, void *dims_, const char *field, int *value); - void (*dims_get)(void *config_, void *dims_, const char *field, int *value); - acados_size_t (*model_calculate_size)(void *config, void *dims); - void *(*model_assign)(void *config, void *dims, void *raw_memory); - int (*model_set)(void *config_, void *dims_, void *model_, const char *field, void *value_); - acados_size_t (*opts_calculate_size)(void *config, void *dims); - void *(*opts_assign)(void *config, void *dims, void *raw_memory); - void (*opts_initialize_default)(void *config, void *dims, void *opts); - void (*opts_update)(void *config, void *dims, void *opts); - void (*opts_set)(void *config, void *opts, const char *field, void *value); - acados_size_t (*memory_calculate_size)(void *config, void *dims, void *opts); - double *(*memory_get_fun_ptr)(void *memory); - struct blasfeo_dvec *(*memory_get_grad_ptr)(void *memory); - void (*memory_set_ux_ptr)(struct blasfeo_dvec *ux, void *memory); - void (*memory_set_tmp_ux_ptr)(struct blasfeo_dvec *tmp_ux, void *memory); - void (*memory_set_z_alg_ptr)(struct blasfeo_dvec *z_alg, void *memory); - void (*memory_set_dzdux_tran_ptr)(struct blasfeo_dmat *dzdux, void *memory); - void (*memory_set_RSQrq_ptr)(struct blasfeo_dmat *RSQrq, void *memory); - void (*memory_set_Z_ptr)(struct blasfeo_dvec *Z, void *memory); - void *(*memory_assign)(void *config, void *dims, void *opts, void *raw_memory); - acados_size_t (*workspace_calculate_size)(void *config, void *dims, void *opts); - void (*initialize)(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_); - - // computes the function value, gradient and hessian (approximation) of the cost function - void (*update_qp_matrices)(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_); - // computes the cost function value (intended for globalization) - void (*compute_fun)(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_); - void (*config_initialize_default)(void *config); - void (*precompute)(void *config_, void *dims_, void *model_, void *opts_, void *memory_, void *work_); - -} ocp_nlp_cost_config; - -// -acados_size_t ocp_nlp_cost_config_calculate_size(); -// -ocp_nlp_cost_config *ocp_nlp_cost_config_assign(void *raw_memory); - - - -#ifdef __cplusplus -} /* extern "C" */ -#endif - -#endif // ACADOS_OCP_NLP_OCP_NLP_COST_COMMON_H_ -/// @} -/// @} diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_conl.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_conl.h deleted file mode 100644 index 2eb3f5d127a7a9..00000000000000 --- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_conl.h +++ /dev/null @@ -1,207 +0,0 @@ -/* - * Copyright (c) The acados authors. - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - - -/// \addtogroup ocp_nlp -/// @{ -/// \addtogroup ocp_nlp_cost ocp_nlp_cost -/// @{ -/// \addtogroup ocp_nlp_cost_conl ocp_nlp_cost_conl -/// \brief This module implements convex-over-nonlinear costs of the form -/// \f$\min_{x,u,z} \psi(y(x,u,z,p) - y_{\text{ref}}, p)\f$, - - -#ifndef ACADOS_OCP_NLP_OCP_NLP_COST_CONL_H_ -#define ACADOS_OCP_NLP_OCP_NLP_COST_CONL_H_ - -#ifdef __cplusplus -extern "C" { -#endif - -// blasfeo -#include "blasfeo/include/blasfeo_common.h" - -// acados -#include "acados/ocp_nlp/ocp_nlp_cost_common.h" -#include "acados/utils/external_function_generic.h" -#include "acados/utils/types.h" - - - -/************************************************ - * dims - ************************************************/ - -typedef struct -{ - int nx; // number of states - int nz; // number of algebraic variables - int nu; // number of inputs - int ny; // number of outputs - int ns; // number of slacks -} ocp_nlp_cost_conl_dims; - -// -acados_size_t ocp_nlp_cost_conl_dims_calculate_size(void *config); -// -void *ocp_nlp_cost_conl_dims_assign(void *config, void *raw_memory); -// -void ocp_nlp_cost_conl_dims_initialize(void *config, void *dims, int nx, int nu, int ny, int ns, int nz); -// -void ocp_nlp_cost_conl_dims_set(void *config_, void *dims_, const char *field, int* value); -// -void ocp_nlp_cost_conl_dims_get(void *config_, void *dims_, const char *field, int* value); - - - -/************************************************ - * model - ************************************************/ - -typedef struct -{ - // slack penalty has the form z^T * s + .5 * s^T * Z * s - external_function_generic *conl_cost_fun; - external_function_generic *conl_cost_fun_jac_hess; - struct blasfeo_dvec y_ref; - struct blasfeo_dvec Z; // diagonal Hessian of slacks as vector - struct blasfeo_dvec z; // gradient of slacks as vector - double scaling; -} ocp_nlp_cost_conl_model; - -// -acados_size_t ocp_nlp_cost_conl_model_calculate_size(void *config, void *dims); -// -void *ocp_nlp_cost_conl_model_assign(void *config, void *dims, void *raw_memory); -// -int ocp_nlp_cost_conl_model_set(void *config_, void *dims_, void *model_, const char *field, void *value_); - - - -/************************************************ - * options - ************************************************/ - -typedef struct -{ - bool gauss_newton_hess; // dummy options, we always use a gauss-newton hessian -} ocp_nlp_cost_conl_opts; - -// -acados_size_t ocp_nlp_cost_conl_opts_calculate_size(void *config, void *dims); -// -void *ocp_nlp_cost_conl_opts_assign(void *config, void *dims, void *raw_memory); -// -void ocp_nlp_cost_conl_opts_initialize_default(void *config, void *dims, void *opts); -// -void ocp_nlp_cost_conl_opts_update(void *config, void *dims, void *opts); -// -void ocp_nlp_cost_conl_opts_set(void *config, void *opts, const char *field, void *value); - - - -/************************************************ - * memory - ************************************************/ -typedef struct -{ - struct blasfeo_dvec grad; // gradient of cost function - struct blasfeo_dvec *ux; // pointer to ux in nlp_out - struct blasfeo_dvec *tmp_ux; // pointer to ux in tmp_nlp_out - struct blasfeo_dmat *RSQrq; // pointer to RSQrq in qp_in - struct blasfeo_dvec *Z; // pointer to Z in qp_in - struct blasfeo_dvec *z_alg; ///< pointer to z in sim_out - struct blasfeo_dmat *dzdux_tran; ///< pointer to sensitivity of a wrt ux in sim_out - double fun; ///< value of the cost function -} ocp_nlp_cost_conl_memory; - -// -acados_size_t ocp_nlp_cost_conl_memory_calculate_size(void *config, void *dims, void *opts); -// -void *ocp_nlp_cost_conl_memory_assign(void *config, void *dims, void *opts, void *raw_memory); -// -double *ocp_nlp_cost_conl_memory_get_fun_ptr(void *memory_); -// -struct blasfeo_dvec *ocp_nlp_cost_conl_memory_get_grad_ptr(void *memory_); -// -void ocp_nlp_cost_conl_memory_set_RSQrq_ptr(struct blasfeo_dmat *RSQrq, void *memory); -// -void ocp_nlp_cost_conl_memory_set_Z_ptr(struct blasfeo_dvec *Z, void *memory); -// -void ocp_nlp_cost_conl_memory_set_ux_ptr(struct blasfeo_dvec *ux, void *memory_); -// -void ocp_nlp_cost_conl_memory_set_tmp_ux_ptr(struct blasfeo_dvec *tmp_ux, void *memory_); -// -void ocp_nlp_cost_conl_memory_set_z_alg_ptr(struct blasfeo_dvec *z_alg, void *memory_); -// -void ocp_nlp_cost_conl_memory_set_dzdux_tran_ptr(struct blasfeo_dmat *dzdux_tran, void *memory_); - -/************************************************ - * workspace - ************************************************/ - -typedef struct -{ - struct blasfeo_dmat W; // hessian of outer loss function - struct blasfeo_dmat W_chol; // cholesky factor of hessian of outer loss function - struct blasfeo_dmat Jt_ux; // jacobian of inner residual function - struct blasfeo_dmat Jt_ux_tilde; // jacobian of inner residual function plus gradient contribution of algebraic variables - struct blasfeo_dmat Jt_z; // jacobian of inner residual function wrt algebraic variables - struct blasfeo_dmat tmp_nv_ny; - struct blasfeo_dvec tmp_ny; - struct blasfeo_dvec tmp_2ns; -} ocp_nlp_cost_conl_workspace; - -// -acados_size_t ocp_nlp_cost_conl_workspace_calculate_size(void *config, void *dims, void *opts); - -/************************************************ - * functions - ************************************************/ - -// -void ocp_nlp_cost_conl_precompute(void *config_, void *dims_, void *model_, void *opts_, void *memory_, void *work_); -// -void ocp_nlp_cost_conl_config_initialize_default(void *config); -// -void ocp_nlp_cost_conl_initialize(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_); -// -void ocp_nlp_cost_conl_update_qp_matrices(void *config_, void *dims, void *model_, void *opts_, void *memory_, void *work_); -// -void ocp_nlp_cost_conl_compute_fun(void *config_, void *dims, void *model_, void *opts_, void *memory_, void *work_); - -#ifdef __cplusplus -} /* extern "C" */ -#endif - -#endif // ACADOS_OCP_NLP_OCP_NLP_COST_CONL_H_ -/// @} -/// @} -/// @} diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_external.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_external.h deleted file mode 100644 index 78958270ded651..00000000000000 --- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_external.h +++ /dev/null @@ -1,187 +0,0 @@ -/* - * Copyright (c) The acados authors. - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - - -#ifndef ACADOS_OCP_NLP_OCP_NLP_COST_EXTERNAL_H_ -#define ACADOS_OCP_NLP_OCP_NLP_COST_EXTERNAL_H_ - -#ifdef __cplusplus -extern "C" { -#endif - -// blasfeo -#include "blasfeo/include/blasfeo_common.h" - -// acados -#include "acados/ocp_nlp/ocp_nlp_cost_common.h" -#include "acados/utils/external_function_generic.h" -#include "acados/utils/types.h" - -/************************************************ - * dims - ************************************************/ - -typedef struct -{ - int nx; // number of states - int nz; // number of algebraic variables - int nu; // number of inputs - int ns; // number of slacks -} ocp_nlp_cost_external_dims; - -// -acados_size_t ocp_nlp_cost_external_dims_calculate_size(void *config); -// -void *ocp_nlp_cost_external_dims_assign(void *config, void *raw_memory); -// -void ocp_nlp_cost_external_dims_set(void *config_, void *dims_, const char *field, int* value); -// -void ocp_nlp_cost_external_dims_get(void *config_, void *dims_, const char *field, int* value); - -/************************************************ - * model - ************************************************/ - -typedef struct -{ - external_function_generic *ext_cost_fun; // function - external_function_generic *ext_cost_fun_jac_hess; // function, gradient and hessian - external_function_generic *ext_cost_fun_jac; // function, gradient - struct blasfeo_dvec Z; - struct blasfeo_dvec z; - struct blasfeo_dmat numerical_hessian; // custom hessian approximation - double scaling; -} ocp_nlp_cost_external_model; - -// -acados_size_t ocp_nlp_cost_external_model_calculate_size(void *config, void *dims); -// -void *ocp_nlp_cost_external_model_assign(void *config, void *dims, void *raw_memory); - - - -/************************************************ - * options - ************************************************/ - -typedef struct -{ - int use_numerical_hessian; // > 0 indicating custom hessian is used instead of CasADi evaluation -} ocp_nlp_cost_external_opts; - -// -acados_size_t ocp_nlp_cost_external_opts_calculate_size(void *config, void *dims); -// -void *ocp_nlp_cost_external_opts_assign(void *config, void *dims, void *raw_memory); -// -void ocp_nlp_cost_external_opts_initialize_default(void *config, void *dims, void *opts); -// -void ocp_nlp_cost_external_opts_update(void *config, void *dims, void *opts); -// -void ocp_nlp_cost_external_opts_set(void *config, void *opts, const char *field, void *value); - - - -/************************************************ - * memory - ************************************************/ - -typedef struct -{ - struct blasfeo_dvec grad; // gradient of cost function - struct blasfeo_dvec *ux; // pointer to ux in nlp_out - struct blasfeo_dvec *tmp_ux; // pointer to tmp_ux in nlp_out - struct blasfeo_dmat *RSQrq; // pointer to RSQrq in qp_in - struct blasfeo_dvec *Z; // pointer to Z in qp_in - struct blasfeo_dvec *z_alg; ///< pointer to z in sim_out - struct blasfeo_dmat *dzdux_tran; ///< pointer to sensitivity of a wrt ux in sim_out - double fun; ///< value of the cost function -} ocp_nlp_cost_external_memory; - -// -acados_size_t ocp_nlp_cost_external_memory_calculate_size(void *config, void *dims, void *opts); -// -void *ocp_nlp_cost_external_memory_assign(void *config, void *dims, void *opts, void *raw_memory); -// -double *ocp_nlp_cost_external_memory_get_fun_ptr(void *memory_); -// -struct blasfeo_dvec *ocp_nlp_cost_external_memory_get_grad_ptr(void *memory_); -// -void ocp_nlp_cost_external_memory_set_RSQrq_ptr(struct blasfeo_dmat *RSQrq, void *memory); -// -void ocp_nlp_cost_ls_memory_set_Z_ptr(struct blasfeo_dvec *Z, void *memory); -// -void ocp_nlp_cost_external_memory_set_ux_ptr(struct blasfeo_dvec *ux, void *memory_); -// -void ocp_nlp_cost_external_memory_set_tmp_ux_ptr(struct blasfeo_dvec *tmp_ux, void *memory_); -// -void ocp_nlp_cost_external_memory_set_z_alg_ptr(struct blasfeo_dvec *z_alg, void *memory_); -// -void ocp_nlp_cost_external_memory_set_dzdux_tran_ptr(struct blasfeo_dmat *dzdux_tran, void *memory_); - -/************************************************ - * workspace - ************************************************/ - -typedef struct -{ - struct blasfeo_dmat tmp_nunx_nunx; - struct blasfeo_dmat tmp_nz_nz; - struct blasfeo_dmat tmp_nz_nunx; - struct blasfeo_dvec tmp_nunxnz; - struct blasfeo_dvec tmp_2ns; // temporary vector of dimension 2*ns -} ocp_nlp_cost_external_workspace; - -// -acados_size_t ocp_nlp_cost_external_workspace_calculate_size(void *config, void *dims, void *opts); - -/************************************************ - * functions - ************************************************/ - -// -void ocp_nlp_cost_external_precompute(void *config_, void *dims_, void *model_, void *opts_, void *memory_, void *work_); -// -void ocp_nlp_cost_external_config_initialize_default(void *config); -// -void ocp_nlp_cost_external_initialize(void *config_, void *dims, void *model_, - void *opts_, void *mem_, void *work_); -// -void ocp_nlp_cost_external_update_qp_matrices(void *config_, void *dims, void *model_, - void *opts_, void *memory_, void *work_); -// -void ocp_nlp_cost_external_compute_fun(void *config_, void *dims, void *model_, - void *opts_, void *memory_, void *work_); - -#ifdef __cplusplus -} /* extern "C" */ -#endif - -#endif // ACADOS_OCP_NLP_OCP_NLP_COST_EXTERNAL_H_ diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_ls.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_ls.h deleted file mode 100644 index 801e9a5b87b2d6..00000000000000 --- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_ls.h +++ /dev/null @@ -1,243 +0,0 @@ -/* - * Copyright (c) The acados authors. - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - - -/// \addtogroup ocp_nlp -/// @{ -/// \addtogroup ocp_nlp_cost ocp_nlp_cost -/// @{ -/// \addtogroup ocp_nlp_cost_ls ocp_nlp_cost_ls -/// \brief This module implements linear-least squares costs of the form -/// \f$\min_{x,u,z} \| V_x x + V_u u + V_z z - y_{\text{ref}}\|_W^2\f$. -/// @{ - - - -#ifndef ACADOS_OCP_NLP_OCP_NLP_COST_LS_H_ -#define ACADOS_OCP_NLP_OCP_NLP_COST_LS_H_ - -#ifdef __cplusplus -extern "C" { -#endif - -// blasfeo -#include "blasfeo/include/blasfeo_common.h" - -// acados -#include "acados/ocp_nlp/ocp_nlp_cost_common.h" -#include "acados/utils/external_function_generic.h" -#include "acados/utils/types.h" - - -//////////////////////////////////////////////////////////////////////////////// -// dims // -//////////////////////////////////////////////////////////////////////////////// - -typedef struct -{ - int nx; // number of states - int nz; // number of algebraic variables - int nu; // number of inputs - int ny; // number of outputs - int ns; // number of slacks -} ocp_nlp_cost_ls_dims; - - -/// Calculate the size of the ocp_nlp_cost_ls_dims struct -/// -/// \param[in] config_ structure containing configuration of ocp_nlp_cost -/// module -/// \param[out] [] -/// \return \c size of ocp_nlp_dims struct -acados_size_t ocp_nlp_cost_ls_dims_calculate_size(void *config); - - -/// Assign memory pointed to by raw_memory to ocp_nlp-cost_ls dims struct -/// -/// \param[in] config structure containing configuration of ocp_nlp_cost -/// module -/// \param[in] raw_memory pointer to memory location -/// \param[out] [] -/// \return dims -void *ocp_nlp_cost_ls_dims_assign(void *config, void *raw_memory); -// -void ocp_nlp_cost_ls_dims_set(void *config_, void *dims_, const char *field, int* value); -// -void ocp_nlp_cost_ls_dims_get(void *config_, void *dims_, const char *field, int* value); - - -//////////////////////////////////////////////////////////////////////////////// -// model // -//////////////////////////////////////////////////////////////////////////////// - - -/// structure containing the data describing the linear least-square cost -typedef struct -{ - // slack penalty has the form z^T * s + .5 * s^T * Z * s - struct blasfeo_dmat Cyt; ///< output matrix: Cy * [u,x] = y; in transposed form - struct blasfeo_dmat Vz; ///< Vz in ls cost Vx*x + Vu*u + Vz*z - struct blasfeo_dmat W; ///< ls norm corresponding to this matrix - struct blasfeo_dvec y_ref; ///< yref - struct blasfeo_dvec Z; ///< diagonal Hessian of slacks as vector (lower and upper) - struct blasfeo_dvec z; ///< gradient of slacks as vector (lower and upper) - double scaling; - int W_changed; ///< flag indicating whether W has changed and needs to be refactorized - int Cyt_or_scaling_changed; ///< flag indicating whether Cyt or scaling has changed and Hessian needs to be recomputed -} ocp_nlp_cost_ls_model; - -// -acados_size_t ocp_nlp_cost_ls_model_calculate_size(void *config, void *dims); -// -void *ocp_nlp_cost_ls_model_assign(void *config, void *dims, void *raw_memory); -// -int ocp_nlp_cost_ls_model_set(void *config_, void *dims_, void *model_, - const char *field, void *value_); - - - -//////////////////////////////////////////////////////////////////////////////// -// options // -//////////////////////////////////////////////////////////////////////////////// - - - -typedef struct -{ - int dummy; // struct can't be void -} ocp_nlp_cost_ls_opts; - -// -acados_size_t ocp_nlp_cost_ls_opts_calculate_size(void *config, void *dims); -// -void *ocp_nlp_cost_ls_opts_assign(void *config, void *dims, void *raw_memory); -// -void ocp_nlp_cost_ls_opts_initialize_default(void *config, void *dims, void *opts); -// -void ocp_nlp_cost_ls_opts_update(void *config, void *dims, void *opts); -// -void ocp_nlp_cost_ls_opts_set(void *config, void *opts, const char *field, void *value); - - - -//////////////////////////////////////////////////////////////////////////////// -// memory // -//////////////////////////////////////////////////////////////////////////////// - - - -/// structure containing the memory associated with cost_ls component -/// of the ocp_nlp module -typedef struct -{ - struct blasfeo_dmat hess; ///< hessian of cost function - struct blasfeo_dmat W_chol; ///< cholesky factor of weight matrix - struct blasfeo_dvec res; ///< ls residual r(x) - struct blasfeo_dvec grad; ///< gradient of cost function - struct blasfeo_dvec *ux; ///< pointer to ux in nlp_out - struct blasfeo_dvec *tmp_ux; ///< pointer to ux in tmp_nlp_out - struct blasfeo_dvec *z_alg; ///< pointer to z in sim_out - struct blasfeo_dmat *dzdux_tran; ///< pointer to sensitivity of a wrt ux in sim_out - struct blasfeo_dmat *RSQrq; ///< pointer to RSQrq in qp_in - struct blasfeo_dvec *Z; ///< pointer to Z in qp_in - double fun; ///< value of the cost function -} ocp_nlp_cost_ls_memory; - -// -acados_size_t ocp_nlp_cost_ls_memory_calculate_size(void *config, void *dims, void *opts); -// -void *ocp_nlp_cost_ls_memory_assign(void *config, void *dims, void *opts, void *raw_memory); -// -double *ocp_nlp_cost_ls_memory_get_fun_ptr(void *memory_); -// -struct blasfeo_dvec *ocp_nlp_cost_ls_memory_get_grad_ptr(void *memory_); -// -void ocp_nlp_cost_ls_memory_set_RSQrq_ptr(struct blasfeo_dmat *RSQrq, void *memory); -// -void ocp_nlp_cost_ls_memory_set_Z_ptr(struct blasfeo_dvec *Z, void *memory); -// -void ocp_nlp_cost_ls_memory_set_ux_ptr(struct blasfeo_dvec *ux, void *memory_); -// -void ocp_nlp_cost_ls_memory_set_tmp_ux_ptr(struct blasfeo_dvec *tmp_ux, void *memory_); -// -void ocp_nlp_cost_ls_memory_set_z_alg_ptr(struct blasfeo_dvec *z_alg, void *memory_); -// -void ocp_nlp_cost_ls_memory_set_dzdux_tran_ptr(struct blasfeo_dmat *dzdux_tran, void *memory_); - - - -//////////////////////////////////////////////////////////////////////////////// -// workspace // -//////////////////////////////////////////////////////////////////////////////// - - - -typedef struct -{ - struct blasfeo_dmat tmp_nv_ny; // temporary matrix of dimensions nv, ny - struct blasfeo_dmat Cyt_tilde; // updated Cyt (after z elimination) - struct blasfeo_dmat dzdux_tran; // derivatives of z wrt u and x (tran) - struct blasfeo_dvec tmp_ny; // temporary vector of dimension ny - struct blasfeo_dvec tmp_2ns; // temporary vector of dimension ny - struct blasfeo_dvec tmp_nz; // temporary vector of dimension nz - struct blasfeo_dvec y_ref_tilde; // updated y_ref (after z elimination) -} ocp_nlp_cost_ls_workspace; - -// -acados_size_t ocp_nlp_cost_ls_workspace_calculate_size(void *config, void *dims, void *opts); - - - -//////////////////////////////////////////////////////////////////////////////// -// functions // -//////////////////////////////////////////////////////////////////////////////// - - -// computations that are done once when solver is created -void ocp_nlp_cost_ls_precompute(void *config_, void *dims_, void *model_, void *opts_, void *memory_, void *work_); -// -void ocp_nlp_cost_ls_config_initialize_default(void *config); -// -void ocp_nlp_cost_ls_initialize(void *config_, void *dims, void *model_, void *opts_, - void *mem_, void *work_); -// -void ocp_nlp_cost_ls_update_qp_matrices(void *config_, void *dims, void *model_, - void *opts_, void *memory_, void *work_); -// -void ocp_nlp_cost_ls_compute_fun(void *config_, void *dims, void *model_, void *opts_, void *memory_, void *work_); - -#ifdef __cplusplus -} /* extern "C" */ -#endif - -#endif // ACADOS_OCP_NLP_OCP_NLP_COST_LS_H_ -/// @} -/// @} -/// @} diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_nls.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_nls.h deleted file mode 100644 index 5ec68cf580a3e8..00000000000000 --- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_nls.h +++ /dev/null @@ -1,211 +0,0 @@ -/* - * Copyright (c) The acados authors. - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - - -/// \addtogroup ocp_nlp -/// @{ -/// \addtogroup ocp_nlp_cost ocp_nlp_cost -/// @{ -/// \addtogroup ocp_nlp_cost_nls ocp_nlp_cost_nls -/// \brief This module implements nonlinear-least squares costs of the form -/// \f$\min_{x,u,z} \| y(x,u,z,p) - y_{\text{ref}} \|_W^2\f$, - -#ifndef ACADOS_OCP_NLP_OCP_NLP_COST_NLS_H_ -#define ACADOS_OCP_NLP_OCP_NLP_COST_NLS_H_ - -#ifdef __cplusplus -extern "C" { -#endif - -// blasfeo -#include "blasfeo/include/blasfeo_common.h" - -// acados -#include "acados/ocp_nlp/ocp_nlp_cost_common.h" -#include "acados/utils/external_function_generic.h" -#include "acados/utils/types.h" - - - -/************************************************ - * dims - ************************************************/ - -typedef struct -{ - int nx; // number of states - int nz; // number of algebraic variables - int nu; // number of inputs - int ny; // number of outputs - int ns; // number of slacks -} ocp_nlp_cost_nls_dims; - -// -acados_size_t ocp_nlp_cost_nls_dims_calculate_size(void *config); -// -void *ocp_nlp_cost_nls_dims_assign(void *config, void *raw_memory); -// -void ocp_nlp_cost_nls_dims_set(void *config_, void *dims_, const char *field, int* value); -// -void ocp_nlp_cost_nls_dims_get(void *config_, void *dims_, const char *field, int* value); - - - -/************************************************ - * model - ************************************************/ - -typedef struct -{ - // nonliner function nls_y(x,u) replaces Cy * [x,u] in ls_cost - // slack penalty has the form z^T * s + .5 * s^T * Z * s - external_function_generic *nls_y_fun; // evaluation of nls function - external_function_generic *nls_y_fun_jac; // evaluation nls function and jacobian - external_function_generic *nls_y_hess; // hessian*seeds of nls residuals - struct blasfeo_dmat W; // - struct blasfeo_dvec y_ref; - struct blasfeo_dvec Z; // diagonal Hessian of slacks as vector - struct blasfeo_dvec z; // gradient of slacks as vector - double scaling; - int W_changed; ///< flag indicating whether W has changed and needs to be refactorized -} ocp_nlp_cost_nls_model; - -// -acados_size_t ocp_nlp_cost_nls_model_calculate_size(void *config, void *dims); -// -void *ocp_nlp_cost_nls_model_assign(void *config, void *dims, void *raw_memory); -// -int ocp_nlp_cost_nls_model_set(void *config_, void *dims_, void *model_, const char *field, void *value_); - - - -/************************************************ - * options - ************************************************/ - -typedef struct -{ - bool gauss_newton_hess; // gauss-newton hessian approximation -} ocp_nlp_cost_nls_opts; - -// -acados_size_t ocp_nlp_cost_nls_opts_calculate_size(void *config, void *dims); -// -void *ocp_nlp_cost_nls_opts_assign(void *config, void *dims, void *raw_memory); -// -void ocp_nlp_cost_nls_opts_initialize_default(void *config, void *dims, void *opts); -// -void ocp_nlp_cost_nls_opts_update(void *config, void *dims, void *opts); -// -void ocp_nlp_cost_nls_opts_set(void *config, void *opts, const char *field, void *value); - - - -/************************************************ - * memory - ************************************************/ - -typedef struct -{ - struct blasfeo_dmat W_chol; // cholesky factor of weight matrix - struct blasfeo_dmat Jt; // jacobian of nls fun - struct blasfeo_dvec res; // nls residual r(x) - struct blasfeo_dvec grad; // gradient of cost function - struct blasfeo_dvec *ux; // pointer to ux in nlp_out - struct blasfeo_dvec *tmp_ux; // pointer to ux in tmp_nlp_out - struct blasfeo_dmat *RSQrq; // pointer to RSQrq in qp_in - struct blasfeo_dvec *Z; // pointer to Z in qp_in - struct blasfeo_dvec *z_alg; ///< pointer to z in sim_out - struct blasfeo_dmat *dzdux_tran; ///< pointer to sensitivity of a wrt ux in sim_out - double fun; ///< value of the cost function -} ocp_nlp_cost_nls_memory; - -// -acados_size_t ocp_nlp_cost_nls_memory_calculate_size(void *config, void *dims, void *opts); -// -void *ocp_nlp_cost_nls_memory_assign(void *config, void *dims, void *opts, void *raw_memory); -// -double *ocp_nlp_cost_nls_memory_get_fun_ptr(void *memory_); -// -struct blasfeo_dvec *ocp_nlp_cost_nls_memory_get_grad_ptr(void *memory_); -// -void ocp_nlp_cost_nls_memory_set_RSQrq_ptr(struct blasfeo_dmat *RSQrq, void *memory); -// -void ocp_nlp_cost_nls_memory_set_Z_ptr(struct blasfeo_dvec *Z, void *memory); -// -void ocp_nlp_cost_nls_memory_set_ux_ptr(struct blasfeo_dvec *ux, void *memory_); -// -void ocp_nlp_cost_nls_memory_set_tmp_ux_ptr(struct blasfeo_dvec *tmp_ux, void *memory_); -// -void ocp_nlp_cost_nls_memory_set_z_alg_ptr(struct blasfeo_dvec *z_alg, void *memory_); -// -void ocp_nlp_cost_nls_memory_set_dzdux_tran_ptr(struct blasfeo_dmat *dzdux_tran, void *memory_); - -/************************************************ - * workspace - ************************************************/ - -typedef struct -{ - struct blasfeo_dmat tmp_nv_ny; - struct blasfeo_dmat tmp_nv_nv; - struct blasfeo_dmat Vz; - struct blasfeo_dmat Cyt_tilde; - struct blasfeo_dvec tmp_ny; - struct blasfeo_dvec tmp_2ns; - struct blasfeo_dvec tmp_nz; -} ocp_nlp_cost_nls_workspace; - -// -acados_size_t ocp_nlp_cost_nls_workspace_calculate_size(void *config, void *dims, void *opts); - -/************************************************ - * functions - ************************************************/ - -// -void ocp_nlp_cost_nls_precompute(void *config_, void *dims_, void *model_, void *opts_, void *memory_, void *work_); -// -void ocp_nlp_cost_nls_config_initialize_default(void *config); -// -void ocp_nlp_cost_nls_initialize(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_); -// -void ocp_nlp_cost_nls_update_qp_matrices(void *config_, void *dims, void *model_, void *opts_, void *memory_, void *work_); -// -void ocp_nlp_cost_nls_compute_fun(void *config_, void *dims, void *model_, void *opts_, void *memory_, void *work_); - -#ifdef __cplusplus -} /* extern "C" */ -#endif - -#endif // ACADOS_OCP_NLP_OCP_NLP_COST_NLS_H_ -/// @} -/// @} -/// @} diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_common.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_common.h deleted file mode 100644 index 43fe71b12fcfbc..00000000000000 --- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_common.h +++ /dev/null @@ -1,119 +0,0 @@ -/* - * Copyright (c) The acados authors. - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - - -/// \ingroup ocp_nlp -/// @{ - -/// \defgroup ocp_nlp_dynamics ocp_nlp_dynamics -/// @{ - -#ifndef ACADOS_OCP_NLP_OCP_NLP_DYNAMICS_COMMON_H_ -#define ACADOS_OCP_NLP_OCP_NLP_DYNAMICS_COMMON_H_ - -#ifdef __cplusplus -extern "C" { -#endif - - - -// blasfeo -#include "blasfeo/include/blasfeo_common.h" - -// acados -#include "acados/sim/sim_common.h" -#include "acados/utils/external_function_generic.h" -#include "acados/utils/types.h" - - - -/************************************************ - * config - ************************************************/ - -typedef struct -{ - void (*config_initialize_default)(void *config); - sim_config *sim_solver; - /* dims */ - acados_size_t (*dims_calculate_size)(void *config); - void *(*dims_assign)(void *config, void *raw_memory); - void (*dims_set)(void *config_, void *dims_, const char *field, int *value); - void (*dims_get)(void *config_, void *dims_, const char *field, int* value); - /* model */ - acados_size_t (*model_calculate_size)(void *config, void *dims); - void *(*model_assign)(void *config, void *dims, void *raw_memory); - void (*model_set)(void *config_, void *dims_, void *model_, const char *field, void *value_); - /* opts */ - acados_size_t (*opts_calculate_size)(void *config, void *dims); - void *(*opts_assign)(void *config, void *dims, void *raw_memory); - void (*opts_initialize_default)(void *config, void *dims, void *opts); - void (*opts_set)(void *config_, void *opts_, const char *field, void *value); - void (*opts_update)(void *config, void *dims, void *opts); - /* memory */ - acados_size_t (*memory_calculate_size)(void *config, void *dims, void *opts); - void *(*memory_assign)(void *config, void *dims, void *opts, void *raw_memory); - // get shooting node gap x_next(x_n, u_n) - x_{n+1} - struct blasfeo_dvec *(*memory_get_fun_ptr)(void *memory_); - struct blasfeo_dvec *(*memory_get_adj_ptr)(void *memory_); - void (*memory_set_ux_ptr)(struct blasfeo_dvec *ux, void *memory_); - void (*memory_set_tmp_ux_ptr)(struct blasfeo_dvec *tmp_ux, void *memory_); - void (*memory_set_ux1_ptr)(struct blasfeo_dvec *ux1, void *memory_); - void (*memory_set_tmp_ux1_ptr)(struct blasfeo_dvec *tmp_ux1, void *memory_); - void (*memory_set_pi_ptr)(struct blasfeo_dvec *pi, void *memory_); - void (*memory_set_tmp_pi_ptr)(struct blasfeo_dvec *tmp_pi, void *memory_); - void (*memory_set_BAbt_ptr)(struct blasfeo_dmat *BAbt, void *memory_); - void (*memory_set_RSQrq_ptr)(struct blasfeo_dmat *RSQrq, void *memory_); - void (*memory_set_dzduxt_ptr)(struct blasfeo_dmat *mat, void *memory_); - void (*memory_set_sim_guess_ptr)(struct blasfeo_dvec *vec, bool *bool_ptr, void *memory_); - void (*memory_set_z_alg_ptr)(struct blasfeo_dvec *vec, void *memory_); - void (*memory_get)(void *config, void *dims, void *mem, const char *field, void* value); - /* workspace */ - acados_size_t (*workspace_calculate_size)(void *config, void *dims, void *opts); - void (*initialize)(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_); - void (*update_qp_matrices)(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_); - void (*compute_fun)(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_); - int (*precompute)(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_); -} ocp_nlp_dynamics_config; - -// -acados_size_t ocp_nlp_dynamics_config_calculate_size(); -// -ocp_nlp_dynamics_config *ocp_nlp_dynamics_config_assign(void *raw_memory); - - - -#ifdef __cplusplus -} /* extern "C" */ -#endif - -#endif // ACADOS_OCP_NLP_OCP_NLP_DYNAMICS_COMMON_H_ -/// @} -/// @} diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_cont.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_cont.h deleted file mode 100644 index 3afdc9f4ed83f2..00000000000000 --- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_cont.h +++ /dev/null @@ -1,209 +0,0 @@ -/* - * Copyright (c) The acados authors. - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - - -/// \addtogroup ocp_nlp -/// @{ -/// \addtogroup ocp_nlp_dynamics -/// @{ - -#ifndef ACADOS_OCP_NLP_OCP_NLP_DYNAMICS_CONT_H_ -#define ACADOS_OCP_NLP_OCP_NLP_DYNAMICS_CONT_H_ - -#ifdef __cplusplus -extern "C" { -#endif - - - -// blasfeo -#include "blasfeo/include/blasfeo_common.h" - -// acados -#include "acados/ocp_nlp/ocp_nlp_dynamics_common.h" -#include "acados/utils/external_function_generic.h" -#include "acados/utils/types.h" -#include "acados_c/sim_interface.h" - - - -/************************************************ - * dims - ************************************************/ - -typedef struct -{ - void *sim; - int nx; // number of states at the current stage - int nz; // number of algebraic states at the current stage - int nu; // number of inputs at the current stage - int nx1; // number of states at the next stage - int nu1; // number of inputes at the next stage -} ocp_nlp_dynamics_cont_dims; - -// -acados_size_t ocp_nlp_dynamics_cont_dims_calculate_size(void *config); -// -void *ocp_nlp_dynamics_cont_dims_assign(void *config, void *raw_memory); -// -void ocp_nlp_dynamics_cont_dims_set(void *config_, void *dims_, const char *field, int* value); - -/************************************************ - * options - ************************************************/ - -typedef struct -{ - void *sim_solver; - int compute_adj; - int compute_hess; -} ocp_nlp_dynamics_cont_opts; - -// -acados_size_t ocp_nlp_dynamics_cont_opts_calculate_size(void *config, void *dims); -// -void *ocp_nlp_dynamics_cont_opts_assign(void *config, void *dims, void *raw_memory); -// -void ocp_nlp_dynamics_cont_opts_initialize_default(void *config, void *dims, void *opts); -// -void ocp_nlp_dynamics_cont_opts_update(void *config, void *dims, void *opts); -// -void ocp_nlp_dynamics_cont_opts_set(void *config, void *opts, const char *field, void* value); - - - -/************************************************ - * memory - ************************************************/ - -typedef struct -{ - struct blasfeo_dvec fun; - struct blasfeo_dvec adj; - struct blasfeo_dvec *ux; // pointer to ux in nlp_out at current stage - struct blasfeo_dvec *tmp_ux; // pointer to ux in tmp_nlp_out at current stage - struct blasfeo_dvec *ux1; // pointer to ux in nlp_out at next stage - struct blasfeo_dvec *tmp_ux1; // pointer to ux in tmp_nlp_out at next stage - struct blasfeo_dvec *pi; // pointer to pi in nlp_out at current stage - struct blasfeo_dvec *tmp_pi; // pointer to pi in tmp_nlp_out at current stage - struct blasfeo_dmat *BAbt; // pointer to BAbt in qp_in - struct blasfeo_dmat *RSQrq; // pointer to RSQrq in qp_in - struct blasfeo_dvec *z_alg; // pointer to output z at t = 0 - bool *set_sim_guess; // indicate if initialization for integrator is set from outside - struct blasfeo_dvec *sim_guess; // initializations for integrator - // struct blasfeo_dvec *z; // pointer to (input) z in nlp_out at current stage - struct blasfeo_dmat *dzduxt; // pointer to dzdux transposed - void *sim_solver; // sim solver memory -} ocp_nlp_dynamics_cont_memory; - -// -acados_size_t ocp_nlp_dynamics_cont_memory_calculate_size(void *config, void *dims, void *opts); -// -void *ocp_nlp_dynamics_cont_memory_assign(void *config, void *dims, void *opts, void *raw_memory); -// -struct blasfeo_dvec *ocp_nlp_dynamics_cont_memory_get_fun_ptr(void *memory); -// -struct blasfeo_dvec *ocp_nlp_dynamics_cont_memory_get_adj_ptr(void *memory); -// -void ocp_nlp_dynamics_cont_memory_set_ux_ptr(struct blasfeo_dvec *ux, void *memory); -// -void ocp_nlp_dynamics_cont_memory_set_tmp_ux_ptr(struct blasfeo_dvec *tmp_ux, void *memory); -// -void ocp_nlp_dynamics_cont_memory_set_ux1_ptr(struct blasfeo_dvec *ux1, void *memory); -// -void ocp_nlp_dynamics_cont_memory_set_tmp_ux1_ptr(struct blasfeo_dvec *tmp_ux1, void *memory); -// -void ocp_nlp_dynamics_cont_memory_set_pi_ptr(struct blasfeo_dvec *pi, void *memory); -// -void ocp_nlp_dynamics_cont_memory_set_tmp_pi_ptr(struct blasfeo_dvec *tmp_pi, void *memory); -// -void ocp_nlp_dynamics_cont_memory_set_BAbt_ptr(struct blasfeo_dmat *BAbt, void *memory); - - - -/************************************************ - * workspace - ************************************************/ - -typedef struct -{ - struct blasfeo_dmat hess; - sim_in *sim_in; - sim_out *sim_out; - void *sim_solver; // sim solver workspace -} ocp_nlp_dynamics_cont_workspace; - -acados_size_t ocp_nlp_dynamics_cont_workspace_calculate_size(void *config, void *dims, void *opts); - - - -/************************************************ - * model - ************************************************/ - -typedef struct -{ - void *sim_model; - // double *state_transition; // TODO - double T; // simulation time -} ocp_nlp_dynamics_cont_model; - -// -acados_size_t ocp_nlp_dynamics_cont_model_calculate_size(void *config, void *dims); -// -void *ocp_nlp_dynamics_cont_model_assign(void *config, void *dims, void *raw_memory); -// -void ocp_nlp_dynamics_cont_model_set(void *config_, void *dims_, void *model_, const char *field, void *value); - - - -/************************************************ - * functions - ************************************************/ - -// -void ocp_nlp_dynamics_cont_config_initialize_default(void *config); -// -void ocp_nlp_dynamics_cont_initialize(void *config_, void *dims, void *model_, void *opts, void *mem, void *work_); -// -void ocp_nlp_dynamics_cont_update_qp_matrices(void *config_, void *dims, void *model_, void *opts, void *mem, void *work_); -// -void ocp_nlp_dynamics_cont_compute_fun(void *config_, void *dims, void *model_, void *opts, void *mem, void *work_); -// -int ocp_nlp_dynamics_cont_precompute(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_); - - -#ifdef __cplusplus -} /* extern "C" */ -#endif - -#endif // ACADOS_OCP_NLP_OCP_NLP_DYNAMICS_CONT_H_ -/// @} -/// @} diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_disc.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_disc.h deleted file mode 100644 index 6ea26a70106fc6..00000000000000 --- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_disc.h +++ /dev/null @@ -1,192 +0,0 @@ -/* - * Copyright (c) The acados authors. - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - - -/// \addtogroup ocp_nlp -/// @{ -/// \addtogroup ocp_nlp_dynamics -/// @{ - -#ifndef ACADOS_OCP_NLP_OCP_NLP_DYNAMICS_DISC_H_ -#define ACADOS_OCP_NLP_OCP_NLP_DYNAMICS_DISC_H_ - -#ifdef __cplusplus -extern "C" { -#endif - -// blasfeo -#include "blasfeo/include/blasfeo_common.h" - -// acados -#include "acados/ocp_nlp/ocp_nlp_dynamics_common.h" -#include "acados/utils/external_function_generic.h" -#include "acados/utils/types.h" - -/************************************************ - * dims - ************************************************/ - -typedef struct -{ - int nx; // number of states at the current stage - int nu; // number of inputs at the current stage - int nx1; // number of states at the next stage - int nu1; // number of inputes at the next stage -} ocp_nlp_dynamics_disc_dims; - -// -acados_size_t ocp_nlp_dynamics_disc_dims_calculate_size(void *config); -// -void *ocp_nlp_dynamics_disc_dims_assign(void *config, void *raw_memory); -// -void ocp_nlp_dynamics_disc_dims_set(void *config_, void *dims_, const char *dim, int* value); - - -/************************************************ - * options - ************************************************/ - -typedef struct -{ - int compute_adj; - int compute_hess; -} ocp_nlp_dynamics_disc_opts; - -// -acados_size_t ocp_nlp_dynamics_disc_opts_calculate_size(void *config, void *dims); -// -void *ocp_nlp_dynamics_disc_opts_assign(void *config, void *dims, void *raw_memory); -// -void ocp_nlp_dynamics_disc_opts_initialize_default(void *config, void *dims, void *opts); -// -void ocp_nlp_dynamics_disc_opts_update(void *config, void *dims, void *opts); -// -int ocp_nlp_dynamics_disc_precompute(void *config_, void *dims, void *model_, void *opts_, - void *mem_, void *work_); - - -/************************************************ - * memory - ************************************************/ - -typedef struct -{ - struct blasfeo_dvec fun; - struct blasfeo_dvec adj; - struct blasfeo_dvec *ux; // pointer to ux in nlp_out at current stage - struct blasfeo_dvec *tmp_ux; // pointer to ux in tmp_nlp_out at current stage - struct blasfeo_dvec *ux1; // pointer to ux in nlp_out at next stage - struct blasfeo_dvec *tmp_ux1;// pointer to ux in tmp_nlp_out at next stage - struct blasfeo_dvec *pi; // pointer to pi in nlp_out at current stage - struct blasfeo_dvec *tmp_pi; // pointer to pi in tmp_nlp_out at current stage - struct blasfeo_dmat *BAbt; // pointer to BAbt in qp_in - struct blasfeo_dmat *RSQrq; // pointer to RSQrq in qp_in -} ocp_nlp_dynamics_disc_memory; - -// -acados_size_t ocp_nlp_dynamics_disc_memory_calculate_size(void *config, void *dims, void *opts); -// -void *ocp_nlp_dynamics_disc_memory_assign(void *config, void *dims, void *opts, void *raw_memory); -// -struct blasfeo_dvec *ocp_nlp_dynamics_disc_memory_get_fun_ptr(void *memory); -// -struct blasfeo_dvec *ocp_nlp_dynamics_disc_memory_get_adj_ptr(void *memory); -// -void ocp_nlp_dynamics_disc_memory_set_ux_ptr(struct blasfeo_dvec *ux, void *memory); -// -void ocp_nlp_dynamics_disc_memory_set_tmp_ux_ptr(struct blasfeo_dvec *tmp_ux, void *memory); -// -void ocp_nlp_dynamics_disc_memory_set_ux1_ptr(struct blasfeo_dvec *ux1, void *memory); -// -void ocp_nlp_dynamics_disc_memory_set_tmp_ux1_ptr(struct blasfeo_dvec *tmp_ux1, void *memory); -// -void ocp_nlp_dynamics_disc_memory_set_pi_ptr(struct blasfeo_dvec *pi, void *memory); -// -void ocp_nlp_dynamics_disc_memory_set_tmp_pi_ptr(struct blasfeo_dvec *tmp_pi, void *memory); -// -void ocp_nlp_dynamics_disc_memory_set_BAbt_ptr(struct blasfeo_dmat *BAbt, void *memory); - - - -/************************************************ - * workspace - ************************************************/ - -typedef struct -{ - struct blasfeo_dmat tmp_nv_nv; -} ocp_nlp_dynamics_disc_workspace; - -acados_size_t ocp_nlp_dynamics_disc_workspace_calculate_size(void *config, void *dims, void *opts); - - - -/************************************************ - * model - ************************************************/ - -typedef struct -{ - external_function_generic *disc_dyn_fun; - external_function_generic *disc_dyn_fun_jac; - external_function_generic *disc_dyn_fun_jac_hess; -} ocp_nlp_dynamics_disc_model; - -// -acados_size_t ocp_nlp_dynamics_disc_model_calculate_size(void *config, void *dims); -// -void *ocp_nlp_dynamics_disc_model_assign(void *config, void *dims, void *raw_memory); -// -void ocp_nlp_dynamics_disc_model_set(void *config_, void *dims_, void *model_, const char *field, void *value); - - - -/************************************************ - * functions - ************************************************/ - -// -void ocp_nlp_dynamics_disc_config_initialize_default(void *config); -// -void ocp_nlp_dynamics_disc_initialize(void *config_, void *dims, void *model_, void *opts, void *mem, void *work_); -// -void ocp_nlp_dynamics_disc_update_qp_matrices(void *config_, void *dims, void *model_, void *opts, void *mem, void *work_); -// -void ocp_nlp_dynamics_disc_compute_fun(void *config_, void *dims, void *model_, void *opts, void *mem, void *work_); - - - -#ifdef __cplusplus -} /* extern "C" */ -#endif - -#endif // ACADOS_OCP_NLP_OCP_NLP_DYNAMICS_DISC_H_ -/// @} -/// @} diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_common.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_common.h deleted file mode 100644 index 9388f3fd24651a..00000000000000 --- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_common.h +++ /dev/null @@ -1,122 +0,0 @@ -/* - * Copyright (c) The acados authors. - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - - -/// \ingroup ocp_nlp -/// @{ - -/// \defgroup ocp_nlp_reg ocp_nlp_reg -/// @{ - -#ifndef ACADOS_OCP_NLP_OCP_NLP_REG_COMMON_H_ -#define ACADOS_OCP_NLP_OCP_NLP_REG_COMMON_H_ - -#ifdef __cplusplus -extern "C" { -#endif - -#include "acados/ocp_qp/ocp_qp_common.h" - - - -/* dims */ - -//typedef ocp_qp_dims ocp_nlp_reg_dims; -typedef struct -{ - int *nx; - int *nu; - int *nbu; - int *nbx; - int *ng; - int N; -} ocp_nlp_reg_dims; - -// -acados_size_t ocp_nlp_reg_dims_calculate_size(int N); -// -ocp_nlp_reg_dims *ocp_nlp_reg_dims_assign(int N, void *raw_memory); -// -void ocp_nlp_reg_dims_set(void *config_, ocp_nlp_reg_dims *dims, int stage, char *field, int* value); - - - -/* config */ - -typedef struct -{ - /* dims */ - acados_size_t (*dims_calculate_size)(int N); - ocp_nlp_reg_dims *(*dims_assign)(int N, void *raw_memory); - void (*dims_set)(void *config, ocp_nlp_reg_dims *dims, int stage, char *field, int *value); - /* opts */ - acados_size_t (*opts_calculate_size)(void); - void *(*opts_assign)(void *raw_memory); - void (*opts_initialize_default)(void *config, ocp_nlp_reg_dims *dims, void *opts); - void (*opts_set)(void *config, ocp_nlp_reg_dims *dims, void *opts, char *field, void* value); - /* memory */ - acados_size_t (*memory_calculate_size)(void *config, ocp_nlp_reg_dims *dims, void *opts); - void *(*memory_assign)(void *config, ocp_nlp_reg_dims *dims, void *opts, void *raw_memory); - void (*memory_set)(void *config, ocp_nlp_reg_dims *dims, void *memory, char *field, void* value); - void (*memory_set_RSQrq_ptr)(ocp_nlp_reg_dims *dims, struct blasfeo_dmat *mat, void *memory); - void (*memory_set_rq_ptr)(ocp_nlp_reg_dims *dims, struct blasfeo_dvec *vec, void *memory); - void (*memory_set_BAbt_ptr)(ocp_nlp_reg_dims *dims, struct blasfeo_dmat *mat, void *memory); - void (*memory_set_b_ptr)(ocp_nlp_reg_dims *dims, struct blasfeo_dvec *vec, void *memory); - void (*memory_set_idxb_ptr)(ocp_nlp_reg_dims *dims, int **idxb, void *memory); - void (*memory_set_DCt_ptr)(ocp_nlp_reg_dims *dims, struct blasfeo_dmat *mat, void *memory); - void (*memory_set_ux_ptr)(ocp_nlp_reg_dims *dims, struct blasfeo_dvec *vec, void *memory); - void (*memory_set_pi_ptr)(ocp_nlp_reg_dims *dims, struct blasfeo_dvec *vec, void *memory); - void (*memory_set_lam_ptr)(ocp_nlp_reg_dims *dims, struct blasfeo_dvec *vec, void *memory); - /* functions */ - void (*regularize_hessian)(void *config, ocp_nlp_reg_dims *dims, void *opts, void *memory); - void (*correct_dual_sol)(void *config, ocp_nlp_reg_dims *dims, void *opts, void *memory); -} ocp_nlp_reg_config; - -// -acados_size_t ocp_nlp_reg_config_calculate_size(void); -// -void *ocp_nlp_reg_config_assign(void *raw_memory); - - - -/* regularization help functions */ -void acados_reconstruct_A(int dim, double *A, double *V, double *d); -void acados_mirror(int dim, double *A, double *V, double *d, double *e, double epsilon); -void acados_project(int dim, double *A, double *V, double *d, double *e, double epsilon); - - - -#ifdef __cplusplus -} -#endif - -#endif // ACADOS_OCP_NLP_OCP_NLP_REG_COMMON_H_ -/// @} -/// @} diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_convexify.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_convexify.h deleted file mode 100644 index cb523525e188bd..00000000000000 --- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_convexify.h +++ /dev/null @@ -1,146 +0,0 @@ -/* - * Copyright (c) The acados authors. - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - - -/// \addtogroup ocp_nlp -/// @{ -/// \addtogroup ocp_nlp_reg -/// @{ - -#ifndef ACADOS_OCP_NLP_OCP_NLP_REG_CONVEXIFY_H_ -#define ACADOS_OCP_NLP_OCP_NLP_REG_CONVEXIFY_H_ - -#ifdef __cplusplus -extern "C" { -#endif - - - -// blasfeo -#include "blasfeo/include/blasfeo_common.h" - -// acados -#include "acados/ocp_nlp/ocp_nlp_reg_common.h" - - - -/************************************************ - * dims - ************************************************/ - -// use the functions in ocp_nlp_reg_common - -/************************************************ - * options - ************************************************/ - -typedef struct -{ - double delta; - double epsilon; -// double gamma; // 0.0 -} ocp_nlp_reg_convexify_opts; - -// -acados_size_t ocp_nlp_reg_convexify_opts_calculate_size(void); -// -void *ocp_nlp_reg_convexify_opts_assign(void *raw_memory); -// -void ocp_nlp_reg_convexify_opts_initialize_default(void *config_, ocp_nlp_reg_dims *dims, void *opts_); -// -void ocp_nlp_reg_convexify_opts_set(void *config_, ocp_nlp_reg_dims *dims, void *opts_, char *field, void* value); - - - -/************************************************ - * memory - ************************************************/ - -typedef struct { - double *R; - double *V; // TODO move to workspace - double *d; // TODO move to workspace - double *e; // TODO move to workspace - double *reg_hess; // TODO move to workspace - - struct blasfeo_dmat Q_tilde; - struct blasfeo_dmat Q_bar; - struct blasfeo_dmat BAQ; - struct blasfeo_dmat L; - struct blasfeo_dmat delta_eye; - struct blasfeo_dmat St_copy; - - struct blasfeo_dmat *original_RSQrq; - struct blasfeo_dmat tmp_RSQ; - - struct blasfeo_dvec tmp_nuxM; - struct blasfeo_dvec tmp_nbgM; - -// struct blasfeo_dvec grad; -// struct blasfeo_dvec b2; - - // giaf's - struct blasfeo_dmat **RSQrq; // pointer to RSQrq in qp_in - struct blasfeo_dvec **rq; // pointer to rq in qp_in - struct blasfeo_dmat **BAbt; // pointer to BAbt in qp_in - struct blasfeo_dvec **b; // pointer to b in qp_in - struct blasfeo_dmat **DCt; // pointer to DCt in qp_in - struct blasfeo_dvec **ux; // pointer to ux in qp_out - struct blasfeo_dvec **pi; // pointer to pi in qp_out - struct blasfeo_dvec **lam; // pointer to lam in qp_out - int **idxb; // pointer to idxb in qp_in - -} ocp_nlp_reg_convexify_memory; - -// -acados_size_t ocp_nlp_reg_convexify_calculate_memory_size(void *config, ocp_nlp_reg_dims *dims, void *opts); -// -void *ocp_nlp_reg_convexify_assign_memory(void *config, ocp_nlp_reg_dims *dims, void *opts, void *raw_memory); - -/************************************************ - * workspace - ************************************************/ - - // TODO - -/************************************************ - * functions - ************************************************/ - -// -void ocp_nlp_reg_convexify_config_initialize_default(ocp_nlp_reg_config *config); - -#ifdef __cplusplus -} -#endif - -#endif // ACADOS_OCP_NLP_OCP_NLP_REG_CONVEXIFY_H_ -/// @} -/// @} diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_mirror.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_mirror.h deleted file mode 100644 index 84a023cb69f077..00000000000000 --- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_mirror.h +++ /dev/null @@ -1,121 +0,0 @@ -/* - * Copyright (c) The acados authors. - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - - -/// \addtogroup ocp_nlp -/// @{ -/// \addtogroup ocp_nlp_reg -/// @{ - -#ifndef ACADOS_OCP_NLP_OCP_NLP_REG_MIRROR_H_ -#define ACADOS_OCP_NLP_OCP_NLP_REG_MIRROR_H_ - -#ifdef __cplusplus -extern "C" { -#endif - - - -// blasfeo -#include "blasfeo/include/blasfeo_common.h" - -// acados -#include "acados/ocp_nlp/ocp_nlp_reg_common.h" - - - -/************************************************ - * dims - ************************************************/ - -// use the functions in ocp_nlp_reg_common - -/************************************************ - * options - ************************************************/ - -typedef struct -{ - double epsilon; -} ocp_nlp_reg_mirror_opts; - -// -acados_size_t ocp_nlp_reg_mirror_opts_calculate_size(void); -// -void *ocp_nlp_reg_mirror_opts_assign(void *raw_memory); -// -void ocp_nlp_reg_mirror_opts_initialize_default(void *config_, ocp_nlp_reg_dims *dims, void *opts_); -// -void ocp_nlp_reg_mirror_opts_set(void *config_, ocp_nlp_reg_dims *dims, void *opts_, char *field, void* value); - - - -/************************************************ - * memory - ************************************************/ - -typedef struct -{ - double *reg_hess; // TODO move to workspace - double *V; // TODO move to workspace - double *d; // TODO move to workspace - double *e; // TODO move to workspace - - // giaf's - struct blasfeo_dmat **RSQrq; // pointer to RSQrq in qp_in -} ocp_nlp_reg_mirror_memory; - -// -acados_size_t ocp_nlp_reg_mirror_memory_calculate_size(void *config, ocp_nlp_reg_dims *dims, void *opts); -// -void *ocp_nlp_reg_mirror_memory_assign(void *config, ocp_nlp_reg_dims *dims, void *opts, void *raw_memory); - -/************************************************ - * workspace - ************************************************/ - - // TODO - -/************************************************ - * functions - ************************************************/ - -// -void ocp_nlp_reg_mirror_config_initialize_default(ocp_nlp_reg_config *config); - - - -#ifdef __cplusplus -} -#endif - -#endif // ACADOS_OCP_NLP_OCP_NLP_REG_MIRROR_H_ -/// @} -/// @} diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_noreg.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_noreg.h deleted file mode 100644 index b571f3bac1508d..00000000000000 --- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_noreg.h +++ /dev/null @@ -1,106 +0,0 @@ -/* - * Copyright (c) The acados authors. - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - - -/// \addtogroup ocp_nlp -/// @{ -/// \addtogroup ocp_nlp_reg -/// @{ - -#ifndef ACADOS_OCP_NLP_OCP_NLP_REG_NOREG_H_ -#define ACADOS_OCP_NLP_OCP_NLP_REG_NOREG_H_ - -#ifdef __cplusplus -extern "C" { -#endif - - - -// blasfeo -#include "blasfeo/include/blasfeo_common.h" - -// acados -#include "acados/ocp_nlp/ocp_nlp_reg_common.h" - - - -/************************************************ - * dims - ************************************************/ - -// use the functions in ocp_nlp_reg_common - - -/************************************************ - * options - ************************************************/ - -// -acados_size_t ocp_nlp_reg_noreg_opts_calculate_size(void); -// -void *ocp_nlp_reg_noreg_opts_assign(void *raw_memory); -// -void ocp_nlp_reg_noreg_opts_initialize_default(void *config_, ocp_nlp_reg_dims *dims, void *opts_); -// -void ocp_nlp_reg_noreg_opts_set(void *config_, ocp_nlp_reg_dims *dims, void *opts_, char *field, void* value); - - - -/************************************************ - * memory - ************************************************/ -// -acados_size_t ocp_nlp_reg_noreg_memory_calculate_size(void *config, ocp_nlp_reg_dims *dims, void *opts); -// -void *ocp_nlp_reg_noreg_memory_assign(void *config, ocp_nlp_reg_dims *dims, void *opts, void *raw_memory); - -/************************************************ - * workspace - ************************************************/ - -// not needed - -/************************************************ - * functions - ************************************************/ - -// -void ocp_nlp_reg_noreg_config_initialize_default(ocp_nlp_reg_config *config); - - - -#ifdef __cplusplus -} -#endif - -#endif // ACADOS_OCP_NLP_OCP_NLP_REG_NOREG_H_ - -/// @} -/// @} diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_project.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_project.h deleted file mode 100644 index 682ea206dc50ae..00000000000000 --- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_project.h +++ /dev/null @@ -1,121 +0,0 @@ -/* - * Copyright (c) The acados authors. - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - - -/// \addtogroup ocp_nlp -/// @{ -/// \addtogroup ocp_nlp_reg -/// @{ - -#ifndef ACADOS_OCP_NLP_OCP_NLP_REG_PROJECT_H_ -#define ACADOS_OCP_NLP_OCP_NLP_REG_PROJECT_H_ - -#ifdef __cplusplus -extern "C" { -#endif - - - -// blasfeo -#include "blasfeo/include/blasfeo_common.h" - -// acados -#include "acados/ocp_nlp/ocp_nlp_reg_common.h" - - - -/************************************************ - * dims - ************************************************/ - -// use the functions in ocp_nlp_reg_common - -/************************************************ - * options - ************************************************/ - -typedef struct -{ - double epsilon; -} ocp_nlp_reg_project_opts; - -// -acados_size_t ocp_nlp_reg_project_opts_calculate_size(void); -// -void *ocp_nlp_reg_project_opts_assign(void *raw_memory); -// -void ocp_nlp_reg_project_opts_initialize_default(void *config_, ocp_nlp_reg_dims *dims, void *opts_); -// -void ocp_nlp_reg_project_opts_set(void *config_, ocp_nlp_reg_dims *dims, void *opts_, char *field, void* value); - - - -/************************************************ - * memory - ************************************************/ - -typedef struct -{ - double *reg_hess; // TODO move to workspace - double *V; // TODO move to workspace - double *d; // TODO move to workspace - double *e; // TODO move to workspace - - // giaf's - struct blasfeo_dmat **RSQrq; // pointer to RSQrq in qp_in -} ocp_nlp_reg_project_memory; - -// -acados_size_t ocp_nlp_reg_project_memory_calculate_size(void *config, ocp_nlp_reg_dims *dims, void *opts); -// -void *ocp_nlp_reg_project_memory_assign(void *config, ocp_nlp_reg_dims *dims, void *opts, void *raw_memory); - -/************************************************ - * workspace - ************************************************/ - - // TODO - -/************************************************ - * functions - ************************************************/ - -// -void ocp_nlp_reg_project_config_initialize_default(ocp_nlp_reg_config *config); - - - -#ifdef __cplusplus -} -#endif - -#endif // ACADOS_OCP_NLP_OCP_NLP_REG_PROJECT_H_ -/// @} -/// @} diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_project_reduc_hess.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_project_reduc_hess.h deleted file mode 100644 index 7e12952c15265a..00000000000000 --- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_project_reduc_hess.h +++ /dev/null @@ -1,132 +0,0 @@ -/* - * Copyright (c) The acados authors. - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - - -/// \addtogroup ocp_nlp -/// @{ -/// \addtogroup ocp_nlp_reg -/// @{ - -#ifndef ACADOS_OCP_NLP_OCP_NLP_REG_PROJECT_REDUC_HESS_H_ -#define ACADOS_OCP_NLP_OCP_NLP_REG_PROJECT_REDUC_HESS_H_ - -#ifdef __cplusplus -extern "C" { -#endif - - - -// blasfeo -#include "blasfeo/include/blasfeo_common.h" - -// acados -#include "acados/ocp_nlp/ocp_nlp_reg_common.h" - - - -/************************************************ - * dims - ************************************************/ - -// use the functions in ocp_nlp_reg_common - -/************************************************ - * options - ************************************************/ - -typedef struct -{ - double thr_eig; - double min_eig; - double min_pivot; - int pivoting; -} ocp_nlp_reg_project_reduc_hess_opts; - -// -acados_size_t ocp_nlp_reg_project_reduc_hess_opts_calculate_size(void); -// -void *ocp_nlp_reg_project_reduc_hess_opts_assign(void *raw_memory); -// -void ocp_nlp_reg_project_reduc_hess_opts_initialize_default(void *config_, ocp_nlp_reg_dims *dims, void *opts_); -// -void ocp_nlp_reg_project_reduc_hess_opts_set(void *config_, ocp_nlp_reg_dims *dims, void *opts_, char *field, void* value); - - - -/************************************************ - * memory - ************************************************/ - -typedef struct -{ - double *reg_hess; // TODO move to workspace - double *V; // TODO move to workspace - double *d; // TODO move to workspace - double *e; // TODO move to workspace - - // giaf's - struct blasfeo_dmat L; // TODO move to workspace - struct blasfeo_dmat L2; // TODO move to workspace - struct blasfeo_dmat L3; // TODO move to workspace - struct blasfeo_dmat Ls; // TODO move to workspace - struct blasfeo_dmat P; // TODO move to workspace - struct blasfeo_dmat AL; // TODO move to workspace - - struct blasfeo_dmat **RSQrq; // pointer to RSQrq in qp_in - struct blasfeo_dmat **BAbt; // pointer to RSQrq in qp_in -} ocp_nlp_reg_project_reduc_hess_memory; - -// -acados_size_t ocp_nlp_reg_project_reduc_hess_memory_calculate_size(void *config, ocp_nlp_reg_dims *dims, void *opts); -// -void *ocp_nlp_reg_project_reduc_hess_memory_assign(void *config, ocp_nlp_reg_dims *dims, void *opts, void *raw_memory); - -/************************************************ - * workspace - ************************************************/ - - // TODO - -/************************************************ - * functions - ************************************************/ - -// -void ocp_nlp_reg_project_reduc_hess_config_initialize_default(ocp_nlp_reg_config *config); - - - -#ifdef __cplusplus -} -#endif - -#endif // ACADOS_OCP_NLP_OCP_NLP_REG_PROJECT_REDUC_HESS_H_ -/// @} -/// @} diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_sqp.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_sqp.h deleted file mode 100644 index fdb96417f94d71..00000000000000 --- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_sqp.h +++ /dev/null @@ -1,170 +0,0 @@ -/* - * Copyright (c) The acados authors. - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - - -/// \addtogroup ocp_nlp -/// @{ -/// \addtogroup ocp_nlp_solver -/// @{ -/// \addtogroup ocp_nlp_sqp ocp_nlp_sqp -/// @{ - -#ifndef ACADOS_OCP_NLP_OCP_NLP_SQP_H_ -#define ACADOS_OCP_NLP_OCP_NLP_SQP_H_ - -#ifdef __cplusplus -extern "C" { -#endif - -// acados -#include "acados/ocp_nlp/ocp_nlp_common.h" -#include "acados/utils/types.h" - - - -/************************************************ - * options - ************************************************/ - -typedef struct -{ - ocp_nlp_opts *nlp_opts; - double tol_stat; // exit tolerance on stationarity condition - double tol_eq; // exit tolerance on equality constraints - double tol_ineq; // exit tolerance on inequality constraints - double tol_comp; // exit tolerance on complementarity condition - int max_iter; - int ext_qp_res; // compute external QP residuals (i.e. at SQP level) at each SQP iteration (for debugging) - int qp_warm_start; // qp_warm_start in all but the first sqp iterations - bool warm_start_first_qp; // to set qp_warm_start in first iteration - int rti_phase; // only phase 0 at the moment - int initialize_t_slacks; // 0-false or 1-true - -} ocp_nlp_sqp_opts; - -// -acados_size_t ocp_nlp_sqp_opts_calculate_size(void *config, void *dims); -// -void *ocp_nlp_sqp_opts_assign(void *config, void *dims, void *raw_memory); -// -void ocp_nlp_sqp_opts_initialize_default(void *config, void *dims, void *opts); -// -void ocp_nlp_sqp_opts_update(void *config, void *dims, void *opts); -// -void ocp_nlp_sqp_opts_set(void *config_, void *opts_, const char *field, void* value); -// -void ocp_nlp_sqp_opts_set_at_stage(void *config_, void *opts_, size_t stage, const char *field, void* value); - - - -/************************************************ - * memory - ************************************************/ - -typedef struct -{ - // nlp memory - ocp_nlp_memory *nlp_mem; - - double time_qp_sol; - double time_qp_solver_call; - double time_qp_xcond; - double time_lin; - double time_reg; - double time_tot; - double time_glob; - double time_sim; - double time_sim_la; - double time_sim_ad; - double time_solution_sensitivities; - - // statistics - double *stat; - int stat_m; - int stat_n; - - int status; - int sqp_iter; - -} ocp_nlp_sqp_memory; - -// -acados_size_t ocp_nlp_sqp_memory_calculate_size(void *config, void *dims, void *opts_); -// -void *ocp_nlp_sqp_memory_assign(void *config, void *dims, void *opts_, void *raw_memory); -// -void ocp_nlp_sqp_memory_reset_qp_solver(void *config_, void *dims_, void *nlp_in_, void *nlp_out_, - void *opts_, void *mem_, void *work_); - - -/************************************************ - * workspace - ************************************************/ - -typedef struct -{ - ocp_nlp_workspace *nlp_work; - - // temp QP in & out (to be used as workspace in param sens) - ocp_qp_in *tmp_qp_in; - ocp_qp_out *tmp_qp_out; - - // qp residuals - ocp_qp_res *qp_res; - ocp_qp_res_ws *qp_res_ws; - -} ocp_nlp_sqp_workspace; - -// -acados_size_t ocp_nlp_sqp_workspace_calculate_size(void *config, void *dims, void *opts_); - - - -/************************************************ - * functions - ************************************************/ - -// -int ocp_nlp_sqp(void *config, void *dims, void *nlp_in, void *nlp_out, - void *args, void *mem, void *work_); -// -void ocp_nlp_sqp_config_initialize_default(void *config_); -// -int ocp_nlp_sqp_precompute(void *config_, void *dims_, void *nlp_in_, void *nlp_out_, - void *opts_, void *mem_, void *work_); - -#ifdef __cplusplus -} /* extern "C" */ -#endif - -#endif // ACADOS_OCP_NLP_OCP_NLP_SQP_H_ -/// @} -/// @} -/// @} diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_sqp_rti.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_sqp_rti.h deleted file mode 100644 index 364d0f47178835..00000000000000 --- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_sqp_rti.h +++ /dev/null @@ -1,163 +0,0 @@ -/* - * Copyright (c) The acados authors. - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - - -/// \addtogroup ocp_nlp -/// @{ -/// \addtogroup ocp_nlp_solver -/// @{ -/// \addtogroup ocp_nlp_sqp_rti ocp_nlp_sqp_rti -/// @{ - -#ifndef ACADOS_OCP_NLP_OCP_NLP_SQP_RTI_H_ -#define ACADOS_OCP_NLP_OCP_NLP_SQP_RTI_H_ - -#ifdef __cplusplus -extern "C" { -#endif - -// acados -#include "acados/ocp_nlp/ocp_nlp_common.h" -#include "acados/utils/types.h" - - - -/************************************************ - * options - ************************************************/ - -typedef struct -{ - ocp_nlp_opts *nlp_opts; - int compute_dual_sol; - int ext_qp_res; // compute external QP residuals (i.e. at SQP level) at each SQP iteration (for debugging) - int qp_warm_start; // NOTE: this is not actually setting the warm_start! Just for compatibility with sqp. - bool warm_start_first_qp; // to set qp_warm_start in first iteration - int rti_phase; // phase of RTI. Possible values 1 (preparation), 2 (feedback) 0 (both) - -} ocp_nlp_sqp_rti_opts; - -// -acados_size_t ocp_nlp_sqp_rti_opts_calculate_size(void *config_, void *dims_); -// -void *ocp_nlp_sqp_rti_opts_assign(void *config_, void *dims_, void *raw_memory); -// -void ocp_nlp_sqp_rti_opts_initialize_default(void *config_, void *dims_, void *opts_); -// -void ocp_nlp_sqp_rti_opts_update(void *config_, void *dims_, void *opts_); -// -void ocp_nlp_sqp_rti_opts_set(void *config_, void *opts_, const char *field, void* value); -// -void ocp_nlp_sqp_rti_opts_set_at_stage(void *config_, void *opts_, size_t stage, - const char *field, void* value); - - - -/************************************************ - * memory - ************************************************/ - -typedef struct -{ - // nlp memory - ocp_nlp_memory *nlp_mem; - - double time_qp_sol; - double time_qp_solver_call; - double time_qp_xcond; - double time_lin; - double time_reg; - double time_tot; - double time_glob; - double time_solution_sensitivities; - - // statistics - double *stat; - int stat_m; - int stat_n; - - int status; - -} ocp_nlp_sqp_rti_memory; - -// -acados_size_t ocp_nlp_sqp_rti_memory_calculate_size(void *config_, void *dims_, void *opts_); -// -void *ocp_nlp_sqp_rti_memory_assign(void *config_, void *dims_, void *opts_, - void *raw_memory); - - - -/************************************************ - * workspace - ************************************************/ - -typedef struct -{ - ocp_nlp_workspace *nlp_work; - - // temp QP in & out (to be used as workspace in param sens) - ocp_qp_in *tmp_qp_in; - ocp_qp_out *tmp_qp_out; - - // qp residuals - ocp_qp_res *qp_res; - ocp_qp_res_ws *qp_res_ws; - - -} ocp_nlp_sqp_rti_workspace; - -// -acados_size_t ocp_nlp_sqp_rti_workspace_calculate_size(void *config_, void *dims_, void *opts_); - - - -/************************************************ - * functions - ************************************************/ -// -int ocp_nlp_sqp_rti(void *config_, void *dims_, void *nlp_in_, void *nlp_out_, - void *opts_, void *mem_, void *work_); -// -void ocp_nlp_sqp_rti_config_initialize_default(void *config_); -// -int ocp_nlp_sqp_rti_precompute(void *config_, void *dims_, - void *nlp_in_, void *nlp_out_, void *opts_, void *mem_, void *work_); - - - -#ifdef __cplusplus -} /* extern "C" */ -#endif - -#endif // ACADOS_OCP_NLP_OCP_NLP_SQP_RTI_H_ -/// @} -/// @} -/// @} diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_common.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_common.h deleted file mode 100644 index d1a45635e40547..00000000000000 --- a/third_party/acados/include/acados/ocp_qp/ocp_qp_common.h +++ /dev/null @@ -1,180 +0,0 @@ -/* - * Copyright (c) The acados authors. - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - - -#ifndef ACADOS_OCP_QP_OCP_QP_COMMON_H_ -#define ACADOS_OCP_QP_OCP_QP_COMMON_H_ - -#ifdef __cplusplus -extern "C" { -#endif - -// hpipm -#include "hpipm/include/hpipm_d_ocp_qp.h" -#include "hpipm/include/hpipm_d_ocp_qp_dim.h" -#include "hpipm/include/hpipm_d_ocp_qp_res.h" -#include "hpipm/include/hpipm_d_ocp_qp_sol.h" -// acados -#include "acados/utils/types.h" - - - -typedef struct d_ocp_qp_dim ocp_qp_dims; -typedef struct d_ocp_qp ocp_qp_in; -typedef struct d_ocp_qp_sol ocp_qp_out; -typedef struct d_ocp_qp_res ocp_qp_res; -typedef struct d_ocp_qp_res_ws ocp_qp_res_ws; - - - -#ifndef QP_SOLVER_CONFIG_ -#define QP_SOLVER_CONFIG_ -typedef struct -{ - void (*dims_set)(void *config_, void *dims_, int stage, const char *field, int* value); - acados_size_t (*opts_calculate_size)(void *config, void *dims); - void *(*opts_assign)(void *config, void *dims, void *raw_memory); - void (*opts_initialize_default)(void *config, void *dims, void *opts); - void (*opts_update)(void *config, void *dims, void *opts); - void (*opts_set)(void *config_, void *opts_, const char *field, void* value); - acados_size_t (*memory_calculate_size)(void *config, void *dims, void *opts); - void *(*memory_assign)(void *config, void *dims, void *opts, void *raw_memory); - void (*memory_get)(void *config_, void *mem_, const char *field, void* value); - acados_size_t (*workspace_calculate_size)(void *config, void *dims, void *opts); - int (*evaluate)(void *config, void *qp_in, void *qp_out, void *opts, void *mem, void *work); - void (*memory_reset)(void *config, void *qp_in, void *qp_out, void *opts, void *mem, void *work); - void (*eval_sens)(void *config, void *qp_in, void *qp_out, void *opts, void *mem, void *work); -} qp_solver_config; -#endif - - - -typedef struct -{ - acados_size_t (*dims_calculate_size)(void *config, int N); - void *(*dims_assign)(void *config, int N, void *raw_memory); - void (*dims_set)(void *config, void *dims_, int stage, const char *field, int* value); - void (*dims_get)(void *config, void *dims, const char *field, void* value); - // TODO add config everywhere !!!!! - acados_size_t (*opts_calculate_size)(void *dims); - void *(*opts_assign)(void *dims, void *raw_memory); - void (*opts_initialize_default)(void *dims, void *opts); - void (*opts_update)(void *dims, void *opts); - void (*opts_set)(void *opts_, const char *field, void* value); - acados_size_t (*memory_calculate_size)(void *dims, void *opts); - void *(*memory_assign)(void *dims, void *opts, void *raw_memory); - void (*memory_get)(void *config, void *mem, const char *field, void* value); - acados_size_t (*workspace_calculate_size)(void *dims, void *opts); - int (*condensing)(void *qp_in, void *qp_out, void *opts, void *mem, void *work); - int (*condensing_rhs)(void *qp_in, void *qp_out, void *opts, void *mem, void *work); - int (*expansion)(void *qp_in, void *qp_out, void *opts, void *mem, void *work); -} ocp_qp_xcond_config; - - - -/// Struct containing metrics of the qp solver. -#ifndef QP_INFO_ -#define QP_INFO_ -typedef struct -{ - double solve_QP_time; - double condensing_time; - double interface_time; - double total_time; - int num_iter; - int t_computed; -} qp_info; -#endif - - - -/* config */ -// -acados_size_t ocp_qp_solver_config_calculate_size(); -// -qp_solver_config *ocp_qp_solver_config_assign(void *raw_memory); -// -acados_size_t ocp_qp_condensing_config_calculate_size(); -// -ocp_qp_xcond_config *ocp_qp_condensing_config_assign(void *raw_memory); - - -/* dims */ -// -acados_size_t ocp_qp_dims_calculate_size(int N); -// -ocp_qp_dims *ocp_qp_dims_assign(int N, void *raw_memory); -// -void ocp_qp_dims_set(void *config_, void *dims, int stage, const char *field, int* value); -// -void ocp_qp_dims_get(void *config_, void *dims, int stage, const char *field, int* value); - - -/* in */ -// -acados_size_t ocp_qp_in_calculate_size(ocp_qp_dims *dims); -// -ocp_qp_in *ocp_qp_in_assign(ocp_qp_dims *dims, void *raw_memory); - - -/* out */ -// -acados_size_t ocp_qp_out_calculate_size(ocp_qp_dims *dims); -// -ocp_qp_out *ocp_qp_out_assign(ocp_qp_dims *dims, void *raw_memory); - -/* res */ -// -acados_size_t ocp_qp_res_calculate_size(ocp_qp_dims *dims); -// -ocp_qp_res *ocp_qp_res_assign(ocp_qp_dims *dims, void *raw_memory); -// -acados_size_t ocp_qp_res_workspace_calculate_size(ocp_qp_dims *dims); -// -ocp_qp_res_ws *ocp_qp_res_workspace_assign(ocp_qp_dims *dims, void *raw_memory); -// -void ocp_qp_res_compute(ocp_qp_in *qp_in, ocp_qp_out *qp_out, ocp_qp_res *qp_res, ocp_qp_res_ws *res_ws); -// -void ocp_qp_res_compute_nrm_inf(ocp_qp_res *qp_res, double res[4]); - - -/* misc */ -// -void ocp_qp_stack_slacks_dims(ocp_qp_dims *in, ocp_qp_dims *out); -// -void ocp_qp_stack_slacks(ocp_qp_in *in, ocp_qp_in *out); -// -void ocp_qp_compute_t(ocp_qp_in *qp_in, ocp_qp_out *qp_out); - -#ifdef __cplusplus -} /* extern "C" */ -#endif - -#endif // ACADOS_OCP_QP_OCP_QP_COMMON_H_ diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_common_frontend.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_common_frontend.h deleted file mode 100644 index f65f602c15c304..00000000000000 --- a/third_party/acados/include/acados/ocp_qp/ocp_qp_common_frontend.h +++ /dev/null @@ -1,118 +0,0 @@ -/* - * Copyright (c) The acados authors. - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - - -#ifndef ACADOS_OCP_QP_OCP_QP_COMMON_FRONTEND_H_ -#define ACADOS_OCP_QP_OCP_QP_COMMON_FRONTEND_H_ - -#ifdef __cplusplus -extern "C" { -#endif - -#include "acados/ocp_qp/ocp_qp_common.h" - -typedef struct -{ - int N; - int *nx; - int *nu; - int *nb; - int *nc; - double **A; - double **B; - double **b; - double **Q; - double **S; - double **R; - double **q; - double **r; - int **idxb; - double **lb; - double **ub; - double **Cx; - double **Cu; - double **lc; - double **uc; -} colmaj_ocp_qp_in; - -typedef struct -{ - double **x; - double **u; - double **pi; - double **lam; -} colmaj_ocp_qp_out; - -typedef struct -{ - double **res_r; - double **res_q; - double **res_ls; - double **res_us; - double **res_b; - double **res_d_lb; - double **res_d_ub; - double **res_d_lg; - double **res_d_ug; - double **res_d_ls; - double **res_d_us; - double **res_m_lb; - double **res_m_ub; - double **res_m_lg; - double **res_m_ug; - double **res_m_ls; - double **res_m_us; - double res_nrm_inf[4]; -} colmaj_ocp_qp_res; - -// -acados_size_t colmaj_ocp_qp_in_calculate_size(ocp_qp_dims *dims); -// -char *assign_colmaj_ocp_qp_in(ocp_qp_dims *dims, colmaj_ocp_qp_in **qp_in, void *ptr); -// -acados_size_t colmaj_ocp_qp_out_calculate_size(ocp_qp_dims *dims); -// -char *assign_colmaj_ocp_qp_out(ocp_qp_dims *dims, colmaj_ocp_qp_out **qp_out, void *ptr); -// -acados_size_t colmaj_ocp_qp_res_calculate_size(ocp_qp_dims *dims); -// -char *assign_colmaj_ocp_qp_res(ocp_qp_dims *dims, colmaj_ocp_qp_res **qp_res, void *ptr); -// -void convert_colmaj_to_ocp_qp_in(colmaj_ocp_qp_in *cm_qp_in, ocp_qp_in *qp_in); -// -void convert_ocp_qp_out_to_colmaj(ocp_qp_out *qp_out, colmaj_ocp_qp_out *cm_qp_out); -// -void convert_ocp_qp_res_to_colmaj(ocp_qp_res *qp_res, colmaj_ocp_qp_res *cm_qp_res); - -#ifdef __cplusplus -} /* extern "C" */ -#endif - -#endif // ACADOS_OCP_QP_OCP_QP_COMMON_FRONTEND_H_ diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_full_condensing.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_full_condensing.h deleted file mode 100644 index d23e658b4806c4..00000000000000 --- a/third_party/acados/include/acados/ocp_qp/ocp_qp_full_condensing.h +++ /dev/null @@ -1,114 +0,0 @@ -/* - * Copyright (c) The acados authors. - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - - -#ifndef ACADOS_OCP_QP_OCP_QP_FULL_CONDENSING_H_ -#define ACADOS_OCP_QP_OCP_QP_FULL_CONDENSING_H_ - -#ifdef __cplusplus -extern "C" { -#endif - -// hpipm -#include "hpipm/include/hpipm_d_ocp_qp_red.h" -// acados -#include "acados/dense_qp/dense_qp_common.h" -#include "acados/ocp_qp/ocp_qp_common.h" -#include "acados/utils/types.h" - - - -typedef struct -{ - ocp_qp_dims *orig_dims; - ocp_qp_dims *red_dims; // dims of reduced qp - dense_qp_dims *fcond_dims; -} ocp_qp_full_condensing_dims; - - - -typedef struct ocp_qp_full_condensing_opts_ -{ - struct d_cond_qp_arg *hpipm_cond_opts; - struct d_ocp_qp_reduce_eq_dof_arg *hpipm_red_opts; -// dense_qp_dims *fcond_dims; // TODO(all): move to dims - int cond_hess; // 0 cond only rhs, 1 cond hess + rhs - int expand_dual_sol; // 0 primal sol only, 1 primal + dual sol - int ric_alg; - int mem_qp_in; // allocate qp_in in memory -} ocp_qp_full_condensing_opts; - - - -typedef struct ocp_qp_full_condensing_memory_ -{ - struct d_cond_qp_ws *hpipm_cond_work; - struct d_ocp_qp_reduce_eq_dof_ws *hpipm_red_work; - // in memory - dense_qp_in *fcond_qp_in; - dense_qp_out *fcond_qp_out; - ocp_qp_in *red_qp; // reduced qp - ocp_qp_out *red_sol; // reduced qp sol - // only pointer - ocp_qp_in *ptr_qp_in; - qp_info *qp_out_info; // info in fcond_qp_in - double time_qp_xcond; -} ocp_qp_full_condensing_memory; - - - -// -acados_size_t ocp_qp_full_condensing_opts_calculate_size(void *dims); -// -void *ocp_qp_full_condensing_opts_assign(void *dims, void *raw_memory); -// -void ocp_qp_full_condensing_opts_initialize_default(void *dims, void *opts_); -// -void ocp_qp_full_condensing_opts_update(void *dims, void *opts_); -// -void ocp_qp_full_condensing_opts_set(void *opts_, const char *field, void* value); -// -acados_size_t ocp_qp_full_condensing_memory_calculate_size(void *dims, void *opts_); -// -void *ocp_qp_full_condensing_memory_assign(void *dims, void *opts_, void *raw_memory); -// -acados_size_t ocp_qp_full_condensing_workspace_calculate_size(void *dims, void *opts_); -// -int ocp_qp_full_condensing(void *in, void *out, void *opts, void *mem, void *work); -// -int ocp_qp_full_expansion(void *in, void *out, void *opts, void *mem, void *work); -// -void ocp_qp_full_condensing_config_initialize_default(void *config_); - -#ifdef __cplusplus -} /* extern "C" */ -#endif - -#endif // ACADOS_OCP_QP_OCP_QP_FULL_CONDENSING_H_ diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_hpipm.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_hpipm.h deleted file mode 100644 index 261606b8423a6a..00000000000000 --- a/third_party/acados/include/acados/ocp_qp/ocp_qp_hpipm.h +++ /dev/null @@ -1,100 +0,0 @@ -/* - * Copyright (c) The acados authors. - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - - -#ifndef ACADOS_OCP_QP_OCP_QP_HPIPM_H_ -#define ACADOS_OCP_QP_OCP_QP_HPIPM_H_ - -#ifdef __cplusplus -extern "C" { -#endif - -// hpipm -#include "hpipm/include/hpipm_d_ocp_qp_ipm.h" -// acados -#include "acados/ocp_qp/ocp_qp_common.h" -#include "acados/utils/types.h" - - - -// struct of arguments to the solver -// TODO(roversch): why not make this a typedef of the underlying struct? -typedef struct ocp_qp_hpipm_opts_ -{ - struct d_ocp_qp_ipm_arg *hpipm_opts; -} ocp_qp_hpipm_opts; - - - -// TODO(roversch): why not make this a typedef of the underlying struct? -// struct of the solver memory -typedef struct ocp_qp_hpipm_memory_ -{ - struct d_ocp_qp_ipm_ws *hpipm_workspace; - double time_qp_solver_call; - int iter; - int status; - -} ocp_qp_hpipm_memory; - - - -// -acados_size_t ocp_qp_hpipm_opts_calculate_size(void *config, void *dims); -// -void *ocp_qp_hpipm_opts_assign(void *config, void *dims, void *raw_memory); -// -void ocp_qp_hpipm_opts_initialize_default(void *config, void *dims, void *opts_); -// -void ocp_qp_hpipm_opts_update(void *config, void *dims, void *opts_); -// -void ocp_qp_hpipm_opts_set(void *config_, void *opts_, const char *field, void *value); -// -acados_size_t ocp_qp_hpipm_memory_calculate_size(void *config, void *dims, void *opts_); -// -void *ocp_qp_hpipm_memory_assign(void *config, void *dims, void *opts_, void *raw_memory); -// -acados_size_t ocp_qp_hpipm_workspace_calculate_size(void *config, void *dims, void *opts_); -// -int ocp_qp_hpipm(void *config, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_); -// -void ocp_qp_hpipm_memory_reset(void *config_, void *qp_in_, void *qp_out_, void *opts_, void *mem_, void *work_); -// -void ocp_qp_hpipm_eval_sens(void *config, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_); -// -void ocp_qp_hpipm_config_initialize_default(void *config); - - - -#ifdef __cplusplus -} /* extern "C" */ -#endif - -#endif // ACADOS_OCP_QP_OCP_QP_HPIPM_H_ diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_hpmpc.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_hpmpc.h deleted file mode 100644 index 8db53a279dbca6..00000000000000 --- a/third_party/acados/include/acados/ocp_qp/ocp_qp_hpmpc.h +++ /dev/null @@ -1,127 +0,0 @@ -/* - * Copyright (c) The acados authors. - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - - -#ifndef ACADOS_OCP_QP_OCP_QP_HPMPC_H_ -#define ACADOS_OCP_QP_OCP_QP_HPMPC_H_ - -#ifdef __cplusplus -extern "C" { -#endif - -#include "acados/ocp_qp/ocp_qp_common.h" -#include "acados/utils/types.h" - -typedef enum hpmpc_options_t_ { HPMPC_DEFAULT_ARGUMENTS } hpmpc_options_t; - -typedef struct ocp_qp_hpmpc_opts_ -{ - double tol; - int max_iter; - double mu0; - double alpha_min; - int warm_start; - int N2; // horizion length of the partially condensed problem - - // partial tightening - double sigma_mu; - int N; - int M; -} ocp_qp_hpmpc_opts; - -// struct of the solver memory -typedef struct ocp_qp_hpmpc_memory_ -{ - struct blasfeo_dvec *hpi; - double *stats; - - // workspace - void *hpmpc_work; // raw workspace - - // partial tightening-specific (init of extra variables) - struct blasfeo_dvec *lam0; - struct blasfeo_dvec *ux0; - struct blasfeo_dvec *pi0; - struct blasfeo_dvec *t0; - - // 2. workspace - struct blasfeo_dmat *hsL; - struct blasfeo_dmat *hsric_work_mat; - struct blasfeo_dmat sLxM; - struct blasfeo_dmat sPpM; - - struct blasfeo_dvec *hsQx; - struct blasfeo_dvec *hsqx; - struct blasfeo_dvec *hstinv; - struct blasfeo_dvec *hsrq; - struct blasfeo_dvec *hsdux; - - struct blasfeo_dvec *hsdlam; - struct blasfeo_dvec *hsdt; - struct blasfeo_dvec *hsdpi; - struct blasfeo_dvec *hslamt; - - struct blasfeo_dvec *hsPb; - - void *work_ric; - - int out_iter; - - double time_qp_solver_call; - int iter; - int status; - -} ocp_qp_hpmpc_memory; - -acados_size_t ocp_qp_hpmpc_opts_calculate_size(void *config_, ocp_qp_dims *dims); -// -void *ocp_qp_hpmpc_opts_assign(void *config_, ocp_qp_dims *dims, void *raw_memory); -// -void ocp_qp_hpmpc_opts_initialize_default(void *config_, ocp_qp_dims *dims, void *opts_); -// -void ocp_qp_hpmpc_opts_update(void *config_, ocp_qp_dims *dims, void *opts_); -// -acados_size_t ocp_qp_hpmpc_memory_calculate_size(void *config_, ocp_qp_dims *dims, void *opts_); -// -void *ocp_qp_hpmpc_memory_assign(void *config_, ocp_qp_dims *dims, void *opts_, void *raw_memory); -// -acados_size_t ocp_qp_hpmpc_workspace_calculate_size(void *config_, ocp_qp_dims *dims, void *opts_); -// -int ocp_qp_hpmpc(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_); -// -void ocp_qp_hpmpc_eval_sens(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_); -// -void ocp_qp_hpmpc_config_initialize_default(void *config_); - -#ifdef __cplusplus -} /* extern "C" */ -#endif - -#endif // ACADOS_OCP_QP_OCP_QP_HPMPC_H_ diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_ooqp.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_ooqp.h deleted file mode 100644 index a535503f215118..00000000000000 --- a/third_party/acados/include/acados/ocp_qp/ocp_qp_ooqp.h +++ /dev/null @@ -1,144 +0,0 @@ -/* - * Copyright (c) The acados authors. - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - - -#ifndef ACADOS_OCP_QP_OCP_QP_OOQP_H_ -#define ACADOS_OCP_QP_OCP_QP_OOQP_H_ - -#ifdef __cplusplus -extern "C" { -#endif - -#include "acados/ocp_qp/ocp_qp_common.h" -#include "acados/utils/types.h" - -enum ocp_qp_ooqp_termination_code -{ - SPARSE_SUCCESSFUL_TERMINATION = 0, - SPARSE_NOT_FINISHED, - SPARSE_MAX_ITS_EXCEEDED, - SPARSE_INFEASIBLE, - SPARSE_UNKNOWN -}; - -typedef struct ocp_qp_ooqp_opts_ -{ - int printLevel; - int useDiagonalWeights; // TODO(dimitris): implement option - int fixHessian; - int fixHessianSparsity; - int fixDynamics; - int fixDynamicsSparsity; - int fixInequalities; - int fixInequalitiesSparsity; -} ocp_qp_ooqp_opts; - -typedef struct ocp_qp_ooqp_workspace_ -{ - double *x; - double *gamma; - double *phi; - double *y; - double *z; - double *lambda; - double *pi; - double objectiveValue; - int *tmpInt; // temporary vector to sort indicies sparse matrices - double *tmpReal; // temporary vector to sort data of sparse matrices - // int ierr; -} ocp_qp_ooqp_workspace; - -typedef struct ocp_qp_ooqp_memory_ -{ - int firstRun; - double *c; - int nx; - int *irowQ; - int nnzQ; - int *jcolQ; - int *orderQ; - double *dQ; - double *xlow; - char *ixlow; - double *xupp; - char *ixupp; - int *irowA; - int nnzA; - int *jcolA; - int *orderA; - double *dA; - double *bA; - int my; - int *irowC; - int nnzC; - int *jcolC; - int *orderC; - double *dC; - double *clow; - int mz; - char *iclow; - double *cupp; - char *icupp; - int nnz; // max(nnzQ, nnzA, nnzC) - double time_qp_solver_call; - int iter; - int status; - -} ocp_qp_ooqp_memory; - -// -acados_size_t ocp_qp_ooqp_opts_calculate_size(void *config_, ocp_qp_dims *dims); -// -void *ocp_qp_ooqp_opts_assign(void *config_, ocp_qp_dims *dims, void *raw_memory); -// -void ocp_qp_ooqp_opts_initialize_default(void *config_, ocp_qp_dims *dims, void *opts_); -// -void ocp_qp_ooqp_opts_update(void *config_, ocp_qp_dims *dims, void *opts_); -// -acados_size_t ocp_qp_ooqp_memory_calculate_size(void *config_, ocp_qp_dims *dims, void *opts_); -// -void *ocp_qp_ooqp_memory_assign(void *config_, ocp_qp_dims *dims, void *opts_, void *raw_memory); -// -acados_size_t ocp_qp_ooqp_workspace_calculate_size(void *config_, ocp_qp_dims *dims, void *opts_); -// -int ocp_qp_ooqp(void *config_, ocp_qp_in *qp_in, ocp_qp_out *qp_out, void *opts_, void *memory_, - void *work_); -// -void ocp_qp_ooqp_destroy(void *mem_, void *work); -// -void ocp_qp_ooqp_eval_sens(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_); -// -void ocp_qp_ooqp_config_initialize_default(void *config_); - -#ifdef __cplusplus -} /* extern "C" */ -#endif - -#endif // ACADOS_OCP_QP_OCP_QP_OOQP_H_ diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_osqp.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_osqp.h deleted file mode 100644 index 51df1b1cd68067..00000000000000 --- a/third_party/acados/include/acados/ocp_qp/ocp_qp_osqp.h +++ /dev/null @@ -1,103 +0,0 @@ -/* - * Copyright (c) The acados authors. - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - - -#ifndef ACADOS_OCP_QP_OCP_QP_OSQP_H_ -#define ACADOS_OCP_QP_OCP_QP_OSQP_H_ - -#ifdef __cplusplus -extern "C" { -#endif - -// osqp -#include "osqp/include/types.h" - -// acados -#include "acados/ocp_qp/ocp_qp_common.h" -#include "acados/utils/types.h" - -typedef struct ocp_qp_osqp_opts_ -{ - OSQPSettings *osqp_opts; -} ocp_qp_osqp_opts; - - -typedef struct ocp_qp_osqp_memory_ -{ - c_int first_run; - - c_float *q; - c_float *l; - c_float *u; - - c_int P_nnzmax; - c_int *P_i; - c_int *P_p; - c_float *P_x; - - c_int A_nnzmax; - c_int *A_i; - c_int *A_p; - c_float *A_x; - - OSQPData *osqp_data; - OSQPWorkspace *osqp_work; - - double time_qp_solver_call; - int iter; - int status; - -} ocp_qp_osqp_memory; - -acados_size_t ocp_qp_osqp_opts_calculate_size(void *config, void *dims); -// -void *ocp_qp_osqp_opts_assign(void *config, void *dims, void *raw_memory); -// -void ocp_qp_osqp_opts_initialize_default(void *config, void *dims, void *opts_); -// -void ocp_qp_osqp_opts_update(void *config, void *dims, void *opts_); -// -acados_size_t ocp_qp_osqp_memory_calculate_size(void *config, void *dims, void *opts_); -// -void *ocp_qp_osqp_memory_assign(void *config, void *dims, void *opts_, void *raw_memory); -// -acados_size_t ocp_qp_osqp_workspace_calculate_size(void *config, void *dims, void *opts_); -// -int ocp_qp_osqp(void *config, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_); -// -void ocp_qp_osqp_eval_sens(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_); -// -void ocp_qp_osqp_config_initialize_default(void *config); - -#ifdef __cplusplus -} /* extern "C" */ -#endif - -#endif // ACADOS_OCP_QP_OCP_QP_OSQP_H_ diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_partial_condensing.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_partial_condensing.h deleted file mode 100644 index 844f6048fe6220..00000000000000 --- a/third_party/acados/include/acados/ocp_qp/ocp_qp_partial_condensing.h +++ /dev/null @@ -1,120 +0,0 @@ -/* - * Copyright (c) The acados authors. - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - - -#ifndef ACADOS_OCP_QP_OCP_QP_PARTIAL_CONDENSING_H_ -#define ACADOS_OCP_QP_OCP_QP_PARTIAL_CONDENSING_H_ - -#ifdef __cplusplus -extern "C" { -#endif - -// hpipm -#include "hpipm/include/hpipm_d_ocp_qp_red.h" -// acados -#include "acados/ocp_qp/ocp_qp_common.h" - - - -typedef struct -{ - ocp_qp_dims *orig_dims; - ocp_qp_dims *red_dims; // dims of reduced qp - ocp_qp_dims *pcond_dims; - int *block_size; - int N2; - int N2_bkp; -} ocp_qp_partial_condensing_dims; - - - -typedef struct ocp_qp_partial_condensing_opts_ -{ - struct d_part_cond_qp_arg *hpipm_pcond_opts; - struct d_ocp_qp_reduce_eq_dof_arg *hpipm_red_opts; -// ocp_qp_dims *pcond_dims; // TODO(all): move to dims -// int *block_size; - int N2; - int N2_bkp; -// int expand_dual_sol; // 0 primal sol only, 1 primal + dual sol - int ric_alg; - int mem_qp_in; // allocate qp_in in memory -} ocp_qp_partial_condensing_opts; - - - -typedef struct ocp_qp_partial_condensing_memory_ -{ - struct d_part_cond_qp_ws *hpipm_pcond_work; - struct d_ocp_qp_reduce_eq_dof_ws *hpipm_red_work; - // in memory - ocp_qp_in *pcond_qp_in; - ocp_qp_out *pcond_qp_out; - ocp_qp_in *red_qp; // reduced qp - ocp_qp_out *red_sol; // reduced qp sol - // only pointer - ocp_qp_in *ptr_qp_in; - ocp_qp_in *ptr_pcond_qp_in; - qp_info *qp_out_info; // info in pcond_qp_in - double time_qp_xcond; -} ocp_qp_partial_condensing_memory; - - - -// -acados_size_t ocp_qp_partial_condensing_opts_calculate_size(void *dims); -// -void *ocp_qp_partial_condensing_opts_assign(void *dims, void *raw_memory); -// -void ocp_qp_partial_condensing_opts_initialize_default(void *dims, void *opts_); -// -void ocp_qp_partial_condensing_opts_update(void *dims, void *opts_); -// -void ocp_qp_partial_condensing_opts_set(void *opts_, const char *field, void* value); -// -acados_size_t ocp_qp_partial_condensing_memory_calculate_size(void *dims, void *opts_); -// -void *ocp_qp_partial_condensing_memory_assign(void *dims, void *opts, void *raw_memory); -// -acados_size_t ocp_qp_partial_condensing_workspace_calculate_size(void *dims, void *opts_); -// -int ocp_qp_partial_condensing(void *in, void *out, void *opts, void *mem, void *work); -// -int ocp_qp_partial_expansion(void *in, void *out, void *opts, void *mem, void *work); -// -void ocp_qp_partial_condensing_config_initialize_default(void *config_); - - - -#ifdef __cplusplus -} /* extern "C" */ -#endif - -#endif // ACADOS_OCP_QP_OCP_QP_PARTIAL_CONDENSING_H_ diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_qpdunes.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_qpdunes.h deleted file mode 100644 index 3b875caeb50419..00000000000000 --- a/third_party/acados/include/acados/ocp_qp/ocp_qp_qpdunes.h +++ /dev/null @@ -1,119 +0,0 @@ -/* - * Copyright (c) The acados authors. - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - - -#ifndef ACADOS_OCP_QP_OCP_QP_QPDUNES_H_ -#define ACADOS_OCP_QP_OCP_QP_QPDUNES_H_ - -#ifdef __cplusplus -extern "C" { -#endif - -#include "qpDUNES.h" - -#include "acados/ocp_qp/ocp_qp_common.h" -#include "acados/utils/types.h" - -typedef enum qpdunes_options_t_ { - QPDUNES_DEFAULT_ARGUMENTS, - QPDUNES_LINEAR_MPC, // TODO(dimitris): partly implemented - QPDUNES_NONLINEAR_MPC, // TODO(dimitris): not implemented yet - QPDUNES_ACADO_SETTINGS -} qpdunes_options_t; - -typedef enum { QPDUNES_WITH_QPOASES, QPDUNES_WITH_CLIPPING } qpdunes_stage_qp_solver_t; - -typedef struct ocp_qp_qpdunes_opts_ -{ - qpOptions_t options; - qpdunes_stage_qp_solver_t stageQpSolver; - int warmstart; // warmstart = 0: all multipliers set to zero, warmstart = 1: use previous mult. - bool isLinearMPC; -} ocp_qp_qpdunes_opts; - -typedef struct ocp_qp_qpdunes_memory_ -{ - int firstRun; - int nx; - int nu; - int nz; - int nDmax; // max(dims->ng) - qpData_t qpData; - double time_qp_solver_call; - int iter; - int status; - -} ocp_qp_qpdunes_memory; - -typedef struct ocp_qp_qpdunes_workspace_ -{ - double *H; - double *Q; - double *R; - double *S; - double *g; - double *ABt; - double *b; - double *Ct; - double *lc; - double *uc; - double *zLow; - double *zUpp; -} ocp_qp_qpdunes_workspace; - -// -acados_size_t ocp_qp_qpdunes_opts_calculate_size(void *config_, ocp_qp_dims *dims); -// -void *ocp_qp_qpdunes_opts_assign(void *config_, ocp_qp_dims *dims, void *raw_memory); -// -void ocp_qp_qpdunes_opts_initialize_default(void *config_, ocp_qp_dims *dims, void *opts_); -// -void ocp_qp_qpdunes_opts_update(void *config_, ocp_qp_dims *dims, void *opts_); -// -acados_size_t ocp_qp_qpdunes_memory_calculate_size(void *config_, ocp_qp_dims *dims, void *opts_); -// -void *ocp_qp_qpdunes_memory_assign(void *config_, ocp_qp_dims *dims, void *opts_, void *raw_memory); -// -acados_size_t ocp_qp_qpdunes_workspace_calculate_size(void *config_, ocp_qp_dims *dims, void *opts_); -// -int ocp_qp_qpdunes(void *config_, ocp_qp_in *qp_in, ocp_qp_out *qp_out, void *opts_, void *memory_, - void *work_); -// -void ocp_qp_qpdunes_free_memory(void *mem_); -// -void ocp_qp_qpdunes_eval_sens(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_); -// -void ocp_qp_qpdunes_config_initialize_default(void *config_); - -#ifdef __cplusplus -} /* extern "C" */ -#endif - -#endif // ACADOS_OCP_QP_OCP_QP_QPDUNES_H_ diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_xcond_solver.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_xcond_solver.h deleted file mode 100644 index a78bc65bb9c621..00000000000000 --- a/third_party/acados/include/acados/ocp_qp/ocp_qp_xcond_solver.h +++ /dev/null @@ -1,150 +0,0 @@ -/* - * Copyright (c) The acados authors. - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - - -#ifndef ACADOS_OCP_QP_OCP_QP_PARTIAL_CONDENSING_SOLVER_H_ -#define ACADOS_OCP_QP_OCP_QP_PARTIAL_CONDENSING_SOLVER_H_ - -#ifdef __cplusplus -extern "C" { -#endif - -// acados -#include "acados/ocp_qp/ocp_qp_common.h" -#include "acados/utils/types.h" - - - -typedef struct -{ - ocp_qp_dims *orig_dims; - void *xcond_dims; -} ocp_qp_xcond_solver_dims; - - - -typedef struct ocp_qp_xcond_solver_opts_ -{ - void *xcond_opts; - void *qp_solver_opts; -} ocp_qp_xcond_solver_opts; - - - -typedef struct ocp_qp_xcond_solver_memory_ -{ - void *xcond_memory; - void *solver_memory; - void *xcond_qp_in; - void *xcond_qp_out; -} ocp_qp_xcond_solver_memory; - - - -typedef struct ocp_qp_xcond_solver_workspace_ -{ - void *xcond_work; - void *qp_solver_work; -} ocp_qp_xcond_solver_workspace; - - - -typedef struct -{ - acados_size_t (*dims_calculate_size)(void *config, int N); - ocp_qp_xcond_solver_dims *(*dims_assign)(void *config, int N, void *raw_memory); - void (*dims_set)(void *config_, ocp_qp_xcond_solver_dims *dims, int stage, const char *field, int* value); - void (*dims_get)(void *config_, ocp_qp_xcond_solver_dims *dims, int stage, const char *field, int* value); - acados_size_t (*opts_calculate_size)(void *config, ocp_qp_xcond_solver_dims *dims); - void *(*opts_assign)(void *config, ocp_qp_xcond_solver_dims *dims, void *raw_memory); - void (*opts_initialize_default)(void *config, ocp_qp_xcond_solver_dims *dims, void *opts); - void (*opts_update)(void *config, ocp_qp_xcond_solver_dims *dims, void *opts); - void (*opts_set)(void *config_, void *opts_, const char *field, void* value); - acados_size_t (*memory_calculate_size)(void *config, ocp_qp_xcond_solver_dims *dims, void *opts); - void *(*memory_assign)(void *config, ocp_qp_xcond_solver_dims *dims, void *opts, void *raw_memory); - void (*memory_get)(void *config_, void *mem_, const char *field, void* value); - void (*memory_reset)(void *config, ocp_qp_xcond_solver_dims *dims, ocp_qp_in *qp_in, ocp_qp_out *qp_out, void *opts, void *mem, void *work); - acados_size_t (*workspace_calculate_size)(void *config, ocp_qp_xcond_solver_dims *dims, void *opts); - int (*evaluate)(void *config, ocp_qp_xcond_solver_dims *dims, ocp_qp_in *qp_in, ocp_qp_out *qp_out, void *opts, void *mem, void *work); - void (*eval_sens)(void *config, ocp_qp_xcond_solver_dims *dims, ocp_qp_in *param_qp_in, ocp_qp_out *sens_qp_out, void *opts, void *mem, void *work); - qp_solver_config *qp_solver; // either ocp_qp_solver or dense_solver - ocp_qp_xcond_config *xcond; -} ocp_qp_xcond_solver_config; // pcond - partial condensing or fcond - full condensing - - - -/* config */ -// -acados_size_t ocp_qp_xcond_solver_config_calculate_size(); -// -ocp_qp_xcond_solver_config *ocp_qp_xcond_solver_config_assign(void *raw_memory); - -/* dims */ -// -acados_size_t ocp_qp_xcond_solver_dims_calculate_size(void *config, int N); -// -ocp_qp_xcond_solver_dims *ocp_qp_xcond_solver_dims_assign(void *config, int N, void *raw_memory); -// -void ocp_qp_xcond_solver_dims_set_(void *config, ocp_qp_xcond_solver_dims *dims, int stage, const char *field, int* value); - -/* opts */ -// -acados_size_t ocp_qp_xcond_solver_opts_calculate_size(void *config, ocp_qp_xcond_solver_dims *dims); -// -void *ocp_qp_xcond_solver_opts_assign(void *config, ocp_qp_xcond_solver_dims *dims, void *raw_memory); -// -void ocp_qp_xcond_solver_opts_initialize_default(void *config, ocp_qp_xcond_solver_dims *dims, void *opts_); -// -void ocp_qp_xcond_solver_opts_update(void *config, ocp_qp_xcond_solver_dims *dims, void *opts_); -// -void ocp_qp_xcond_solver_opts_set_(void *config_, void *opts_, const char *field, void* value); - -/* memory */ -// -acados_size_t ocp_qp_xcond_solver_memory_calculate_size(void *config, ocp_qp_xcond_solver_dims *dims, void *opts_); -// -void *ocp_qp_xcond_solver_memory_assign(void *config, ocp_qp_xcond_solver_dims *dims, void *opts_, void *raw_memory); - -/* workspace */ -// -acados_size_t ocp_qp_xcond_solver_workspace_calculate_size(void *config, ocp_qp_xcond_solver_dims *dims, void *opts_); - -/* config */ -// -int ocp_qp_xcond_solver(void *config, ocp_qp_xcond_solver_dims *dims, ocp_qp_in *qp_in, ocp_qp_out *qp_out, void *opts_, void *mem_, void *work_); - -// -void ocp_qp_xcond_solver_config_initialize_default(void *config_); - -#ifdef __cplusplus -} /* extern "C" */ -#endif - -#endif // ACADOS_OCP_QP_OCP_QP_PARTIAL_CONDENSING_SOLVER_H_ diff --git a/third_party/acados/include/acados/sim/sim_collocation_utils.h b/third_party/acados/include/acados/sim/sim_collocation_utils.h deleted file mode 100644 index 045d165cbccee2..00000000000000 --- a/third_party/acados/include/acados/sim/sim_collocation_utils.h +++ /dev/null @@ -1,97 +0,0 @@ -/* - * Copyright (c) The acados authors. - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - - -#ifndef ACADOS_SIM_SIM_COLLOCATION_UTILS_H_ -#define ACADOS_SIM_SIM_COLLOCATION_UTILS_H_ - -#ifdef __cplusplus -extern "C" { -#endif - -#include "acados/utils/types.h" - - - -// enum Newton_type_collocation -// { -// exact = 0, -// simplified_in, -// simplified_inis -// }; - - - -// typedef struct -// { -// enum Newton_type_collocation type; -// double *eig; -// double *low_tria; -// bool single; -// bool freeze; - -// double *transf1; -// double *transf2; - -// double *transf1_T; -// double *transf2_T; -// } Newton_scheme; - - -typedef enum -{ - GAUSS_LEGENDRE, - GAUSS_RADAU_IIA, -} sim_collocation_type; - - -// -// acados_size_t gauss_legendre_nodes_work_calculate_size(int ns); -// -// void gauss_legendre_nodes(int ns, double *nodes, void *raw_memory); -// -// acados_size_t gauss_simplified_work_calculate_size(int ns); -// // -// void gauss_simplified(int ns, Newton_scheme *scheme, void *work); -// -acados_size_t butcher_tableau_work_calculate_size(int ns); -// -// void calculate_butcher_tableau_from_nodes(int ns, double *nodes, double *b, double *A, void *work); -// -void calculate_butcher_tableau(int ns, sim_collocation_type collocation_type, double *c_vec, - double *b_vec, double *A_mat, void *work); - - - -#ifdef __cplusplus -} /* extern "C" */ -#endif - -#endif // ACADOS_SIM_SIM_COLLOCATION_UTILS_H_ diff --git a/third_party/acados/include/acados/sim/sim_common.h b/third_party/acados/include/acados/sim/sim_common.h deleted file mode 100644 index c4bbd6ed2b8de1..00000000000000 --- a/third_party/acados/include/acados/sim/sim_common.h +++ /dev/null @@ -1,221 +0,0 @@ -/* - * Copyright (c) The acados authors. - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - - -#ifndef ACADOS_SIM_SIM_COMMON_H_ -#define ACADOS_SIM_SIM_COMMON_H_ - -#include - -#include "acados/sim/sim_collocation_utils.h" -#include "acados/utils/timing.h" -#include "acados/utils/types.h" - -#include "acados/utils/external_function_generic.h" - -// maximum number of integration stages -#define NS_MAX 15 - - - -typedef enum -{ - // ERK and LIFTED_ERK - EXPL_ODE_FUN, - EXPL_ODE_HES, // wrt x and u ??? - EXPL_VDE_FOR, - EXPL_VDE_ADJ, - // IRK - IMPL_ODE_FUN, - IMPL_ODE_FUN_JAC_X_XDOT, - IMPL_ODE_JAC_X_XDOT_U, - IMPL_ODE_FUN_JAC_X_XDOT_U, - IMPL_ODE_HESS, - // gnsf - PHI_FUN, - PHI_FUN_JAC_Y, - PHI_JAC_Y_UHAT, - LO_FUN, - GET_GNSF_MATRICES -} sim_function_t; - - - -typedef struct -{ - void *dims; - - double *x; // x[NX] - initial state value for simulation - double *u; // u[NU] - control - constant over simulation time - - double *S_forw; // forward seed [Sx, Su] - double *S_adj; // backward seed - - bool identity_seed; // indicating if S_forw = [eye(nx), zeros(nx x nu)] - - void *model; - - double T; // simulation time - -} sim_in; - - - -typedef struct -{ - double CPUtime; // in seconds - double LAtime; // in seconds - double ADtime; // in seconds - -} sim_info; - - - -typedef struct -{ - double *xn; // xn[NX] - double *S_forw; // S_forw[NX*(NX+NU)] - double *S_adj; // - double *S_hess; // - - double *zn; // z - algebraic variables - reported at start of simulation interval - double *S_algebraic; // sensitivities of reported value of algebraic variables w.r.t. - // initial stat & control (x_n,u) - - double *grad; // gradient correction - - sim_info *info; - -} sim_out; - - - -typedef struct -{ - int ns; // number of integration stages - - int num_steps; - int num_forw_sens; - - int tableau_size; // check that is consistent with ns - // only update when butcher tableau is changed - // kind of private -> no setter! - double *A_mat; - double *c_vec; - double *b_vec; - - bool sens_forw; - bool sens_adj; - bool sens_hess; - - bool output_z; // 1 -- if zn should be computed - bool sens_algebraic; // 1 -- if S_algebraic should be computed - bool exact_z_output; // 1 -- if z, S_algebraic should be computed exactly, extra Newton iterations - sim_collocation_type collocation_type; - - // for explicit integrators: newton_iter == 0 && scheme == NULL - // && jac_reuse=false - int newton_iter; - bool jac_reuse; - // Newton_scheme *scheme; - - double newton_tol; // optinally used in implicit integrators - - // workspace - void *work; - -} sim_opts; - - - -typedef struct -{ - int (*evaluate)(void *config_, sim_in *in, sim_out *out, void *opts, void *mem, void *work); - int (*precompute)(void *config_, sim_in *in, sim_out *out, void *opts, void *mem, void *work); - // opts - acados_size_t (*opts_calculate_size)(void *config_, void *dims); - void *(*opts_assign)(void *config_, void *dims, void *raw_memory); - void (*opts_initialize_default)(void *config_, void *dims, void *opts); - void (*opts_update)(void *config_, void *dims, void *opts); - void (*opts_set)(void *config_, void *opts_, const char *field, void *value); - void (*opts_get)(void *config_, void *opts_, const char *field, void *value); - // mem - acados_size_t (*memory_calculate_size)(void *config, void *dims, void *opts); - void *(*memory_assign)(void *config, void *dims, void *opts, void *raw_memory); - int (*memory_set)(void *config, void *dims, void *mem, const char *field, void *value); - int (*memory_set_to_zero)(void *config, void *dims, void *opts, void *mem, const char *field); - void (*memory_get)(void *config, void *dims, void *mem, const char *field, void *value); - // work - acados_size_t (*workspace_calculate_size)(void *config, void *dims, void *opts); - // model - acados_size_t (*model_calculate_size)(void *config, void *dims); - void *(*model_assign)(void *config, void *dims, void *raw_memory); - int (*model_set)(void *model, const char *field, void *value); - // config - void (*config_initialize_default)(void *config); - // dims - acados_size_t (*dims_calculate_size)(); - void *(*dims_assign)(void *config, void *raw_memory); - void (*dims_set)(void *config, void *dims, const char *field, const int *value); - void (*dims_get)(void *config, void *dims, const char *field, int *value); - -} sim_config; - - - -/* config */ -// -acados_size_t sim_config_calculate_size(); -// -sim_config *sim_config_assign(void *raw_memory); - -/* in */ -// -acados_size_t sim_in_calculate_size(void *config, void *dims); -// -sim_in *sim_in_assign(void *config, void *dims, void *raw_memory); -// -int sim_in_set_(void *config_, void *dims_, sim_in *in, const char *field, void *value); - -/* out */ -// -acados_size_t sim_out_calculate_size(void *config, void *dims); -// -sim_out *sim_out_assign(void *config, void *dims, void *raw_memory); -// -int sim_out_get_(void *config, void *dims, sim_out *out, const char *field, void *value); - -/* opts */ -// -void sim_opts_set_(sim_opts *opts, const char *field, void *value); -// -void sim_opts_get_(sim_config *config, sim_opts *opts, const char *field, void *value); - -#endif // ACADOS_SIM_SIM_COMMON_H_ diff --git a/third_party/acados/include/acados/sim/sim_erk_integrator.h b/third_party/acados/include/acados/sim/sim_erk_integrator.h deleted file mode 100644 index fd46cb4d99c035..00000000000000 --- a/third_party/acados/include/acados/sim/sim_erk_integrator.h +++ /dev/null @@ -1,140 +0,0 @@ -/* - * Copyright (c) The acados authors. - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - - -#ifndef ACADOS_SIM_SIM_ERK_INTEGRATOR_H_ -#define ACADOS_SIM_SIM_ERK_INTEGRATOR_H_ - -#ifdef __cplusplus -extern "C" { -#endif - -#include "acados/sim/sim_common.h" -#include "acados/utils/types.h" - - - -typedef struct -{ - int nx; - int nu; - int nz; -} sim_erk_dims; - - - -typedef struct -{ - /* external functions */ - // explicit ode - external_function_generic *expl_ode_fun; - // hessian explicit ode - external_function_generic *expl_ode_hes; - // forward explicit vde - external_function_generic *expl_vde_for; - // adjoint explicit vde - external_function_generic *expl_vde_adj; - -} erk_model; - - - -typedef struct -{ - // memory - double time_sim; - double time_ad; - double time_la; - - // workspace structs -} sim_erk_memory; - - - -typedef struct -{ - // workspace mem - double *rhs_forw_in; // x + S + p - - double *K_traj; // (stages*nX) or (steps*stages*nX) for adj - double *out_forw_traj; // S or (steps+1)*nX for adj - - double *rhs_adj_in; - double *out_adj_tmp; - double *adj_traj; - -} sim_erk_workspace; - - - -// dims -acados_size_t sim_erk_dims_calculate_size(); -void *sim_erk_dims_assign(void *config_, void *raw_memory); -void sim_erk_dims_set(void *config_, void *dims_, const char *field, const int* value); -void sim_erk_dims_get(void *config_, void *dims_, const char *field, int* value); - -// model -acados_size_t sim_erk_model_calculate_size(void *config, void *dims); -void *sim_erk_model_assign(void *config, void *dims, void *raw_memory); -int sim_erk_model_set(void *model, const char *field, void *value); - -// opts -acados_size_t sim_erk_opts_calculate_size(void *config, void *dims); -// -void sim_erk_opts_update(void *config_, void *dims, void *opts_); -// -void *sim_erk_opts_assign(void *config, void *dims, void *raw_memory); -// -void sim_erk_opts_initialize_default(void *config, void *dims, void *opts_); -// -void sim_erk_opts_set(void *config_, void *opts_, const char *field, void *value); - - -// memory -acados_size_t sim_erk_memory_calculate_size(void *config, void *dims, void *opts_); -// -void *sim_erk_memory_assign(void *config, void *dims, void *opts_, void *raw_memory); -// -int sim_erk_memory_set(void *config_, void *dims_, void *mem_, const char *field, void *value); - - -// workspace -acados_size_t sim_erk_workspace_calculate_size(void *config, void *dims, void *opts_); - -// -int sim_erk(void *config, sim_in *in, sim_out *out, void *opts_, void *mem_, void *work_); -// -void sim_erk_config_initialize_default(void *config); - -#ifdef __cplusplus -} /* extern "C" */ -#endif - -#endif // ACADOS_SIM_SIM_ERK_INTEGRATOR_H_ diff --git a/third_party/acados/include/acados/sim/sim_gnsf.h b/third_party/acados/include/acados/sim/sim_gnsf.h deleted file mode 100644 index 404532a7327622..00000000000000 --- a/third_party/acados/include/acados/sim/sim_gnsf.h +++ /dev/null @@ -1,364 +0,0 @@ -/* - * Copyright (c) The acados authors. - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - - -#ifndef ACADOS_SIM_SIM_GNSF_H_ -#define ACADOS_SIM_SIM_GNSF_H_ - -#ifdef __cplusplus -extern "C" { -#endif - -#include - -#include "acados/utils/timing.h" -#include "acados/utils/types.h" -#include "acados/sim/sim_common.h" - -#include "blasfeo/include/blasfeo_common.h" -// #include "blasfeo/include/blasfeo_d_aux.h" -// #include "blasfeo/include/blasfeo_d_aux_ext_dep.h" -// #include "blasfeo/include/blasfeo_d_blas.h" -// #include "blasfeo/include/blasfeo_d_kernel.h" -// #include "blasfeo/include/blasfeo_i_aux_ext_dep.h" -// #include "blasfeo/include/blasfeo_target.h" - -/* -GNSF - Generalized Nonlinear Static Feedback Model -has the following form -https://github.com/acados/acados/files/3359595/gnsf_structure_blo.pdf - -Details on the algorithm can be found in master thesis of Jonathan Frey, -which presents a slightly different format without the terms B_LO, c_LO. -https://github.com/acados/acados/files/2318322/gnsf_structure.pdf -https://cdn.syscop.de/publications/Frey2018.pdf -https://cdn.syscop.de/publications/Frey2019.pdf -*/ - -typedef struct -{ - int nx; // total number of differential states - int nu; // total number of inputs - int nz; // total number of algebraic states - int nx1; // number of differential states in NSF part - int nz1; // number of algebraic states in NSF part - int n_out; // output dimension of phi - int ny; // dimension of first input of phi - int nuhat; // dimension of second input of phi - -} sim_gnsf_dims; - - - -typedef struct -{ - /* external functions */ - // phi: nonlinearity function - external_function_generic *phi_fun; - external_function_generic *phi_fun_jac_y; - external_function_generic *phi_jac_y_uhat; - - // f_lo: linear output function - external_function_generic *f_lo_fun_jac_x1_x1dot_u_z; - - // to import model matrices - external_function_generic *get_gnsf_matrices; - - // flag indicating, if model defining matrices are imported via external (casadi) function, - // [default]: true -> auto; - bool auto_import_gnsf; - - // booleans from structure detection - bool nontrivial_f_LO; // indicates if f_LO is constant zero function - bool fully_linear; // indicates if model is fully linear LOS - - /* model defining matrices */ - // TODO: add setters to set manually - double *A; - double *B; - double *C; - double *E; - - double *L_x; - double *L_xdot; - double *L_z; - double *L_u; - - double *A_LO; - double *B_LO; - double *E_LO; - - /* constant vector */ - double *c; - double *c_LO; - - // permutation vector - to have GNSF order of x, z within sim_gnsf only - int *ipiv_x; - int *ipiv_z; - - double *ipiv_x_double; - double *ipiv_z_double; - -} gnsf_model; - - - -// pre_workspace - workspace used in the precomputation phase -typedef struct -{ - struct blasfeo_dmat E11; - struct blasfeo_dmat E12; - struct blasfeo_dmat E21; - struct blasfeo_dmat E22; - - struct blasfeo_dmat A1; - struct blasfeo_dmat A2; - struct blasfeo_dmat B1; - struct blasfeo_dmat B2; - struct blasfeo_dmat C1; - struct blasfeo_dmat C2; - - struct blasfeo_dmat AA1; - struct blasfeo_dmat AA2; - struct blasfeo_dmat BB1; - struct blasfeo_dmat BB2; - struct blasfeo_dmat CC1; - struct blasfeo_dmat CC2; - struct blasfeo_dmat DD1; - struct blasfeo_dmat DD2; - struct blasfeo_dmat EE1; - struct blasfeo_dmat EE2; - - struct blasfeo_dmat QQ1; - - struct blasfeo_dmat LLZ; - struct blasfeo_dmat LLx; - struct blasfeo_dmat LLK; - - int *ipivEE1; // index of pivot vector - int *ipivEE2; - int *ipivQQ1; - - // for algebraic sensitivity propagation - struct blasfeo_dmat Q1; - - // for constant term in NSF - struct blasfeo_dvec cc1; - struct blasfeo_dvec cc2; - -} gnsf_pre_workspace; - - - -// workspace -typedef struct -{ - double *Z_work; // used to perform computations to get out->zn - - int *ipiv; // index of pivot vector - - struct blasfeo_dvec *vv_traj; - struct blasfeo_dvec *yy_traj; - struct blasfeo_dmat *f_LO_jac_traj; - - struct blasfeo_dvec K2_val; - struct blasfeo_dvec x0_traj; - struct blasfeo_dvec res_val; - struct blasfeo_dvec u0; - struct blasfeo_dvec lambda; - struct blasfeo_dvec lambda_old; - - struct blasfeo_dvec yyu; - struct blasfeo_dvec yyss; - - struct blasfeo_dvec K1_val; - struct blasfeo_dvec f_LO_val; - struct blasfeo_dvec x1_stage_val; - struct blasfeo_dvec Z1_val; - - struct blasfeo_dvec K1u; - struct blasfeo_dvec Zu; - struct blasfeo_dvec ALOtimesx02; - struct blasfeo_dvec BLOtimesu0; - - struct blasfeo_dvec uhat; - - struct blasfeo_dmat J_r_vv; - struct blasfeo_dmat J_r_x1u; - - struct blasfeo_dmat dK1_dx1; - struct blasfeo_dmat dK1_du; - struct blasfeo_dmat dZ_dx1; - struct blasfeo_dmat dZ_du; - struct blasfeo_dmat J_G2_K1; - - struct blasfeo_dmat dK2_dx1; - struct blasfeo_dmat dK2_dvv; - struct blasfeo_dmat dxf_dwn; - struct blasfeo_dmat S_forw_new; - struct blasfeo_dmat S_algebraic_aux; - - struct blasfeo_dmat dPsi_dvv; - struct blasfeo_dmat dPsi_dx; - struct blasfeo_dmat dPsi_du; - - struct blasfeo_dmat dPHI_dyuhat; - struct blasfeo_dvec z0; - - // memory only available if (opts->sens_algebraic) - // struct blasfeo_dvec y_one_stage; - // struct blasfeo_dvec x0dot_1; - // struct blasfeo_dmat dz10_dx1u; // (nz1) * (nx1+nu); - // struct blasfeo_dmat dr0_dvv0; // (n_out * n_out) - // struct blasfeo_dmat f_LO_jac0; // (nx2+nz2) * (2*nx1 + nz1 + nu) - // struct blasfeo_dmat sens_z2_rhs; // (nx2 + nz2) * (nx1 + nu) - // int *ipiv_vv0; - -} gnsf_workspace; - - - -// memory -typedef struct -{ - bool first_call; - - // simulation time for one step - double dt; - - // (scaled) butcher table - double *A_dt; - double *b_dt; - double *c_butcher; - - // value used to initialize integration variables - corresponding to value of phi - double *phi_guess; // n_out - - struct blasfeo_dmat S_forw; - struct blasfeo_dmat S_algebraic; - - // precomputed matrices - struct blasfeo_dmat KKv; - struct blasfeo_dmat KKx; - struct blasfeo_dmat KKu; - - struct blasfeo_dmat YYv; - struct blasfeo_dmat YYx; - struct blasfeo_dmat YYu; - - struct blasfeo_dmat ZZv; - struct blasfeo_dmat ZZx; - struct blasfeo_dmat ZZu; - - struct blasfeo_dmat ALO; - struct blasfeo_dmat BLO; - struct blasfeo_dmat M2_LU; - int *ipivM2; - - struct blasfeo_dmat dK2_dx2; - struct blasfeo_dmat dK2_du; - struct blasfeo_dmat dx2f_dx2u; - - struct blasfeo_dmat Lu; - - // precomputed vectors for constant term in NSF - struct blasfeo_dvec KK0; - struct blasfeo_dvec YY0; - struct blasfeo_dvec ZZ0; - - // for algebraic sensitivities only; - // struct blasfeo_dmat *Z0x; - // struct blasfeo_dmat *Z0u; - // struct blasfeo_dmat *Z0v; - - // struct blasfeo_dmat *Y0x; - // struct blasfeo_dmat *Y0u; - // struct blasfeo_dmat *Y0v; - - // struct blasfeo_dmat *K0x; - // struct blasfeo_dmat *K0u; - // struct blasfeo_dmat *K0v; - - // struct blasfeo_dmat *ELO_LU; - // int *ipiv_ELO; - // struct blasfeo_dmat *ELO_inv_ALO; - - // struct blasfeo_dmat *Lx; - // struct blasfeo_dmat *Lxdot; - // struct blasfeo_dmat *Lz; - - double time_sim; - double time_ad; - double time_la; - -} sim_gnsf_memory; - - - -// gnsf dims -acados_size_t sim_gnsf_dims_calculate_size(); -void *sim_gnsf_dims_assign(void *config_, void *raw_memory); - -// get & set functions -void sim_gnsf_dims_set(void *config_, void *dims_, const char *field, const int *value); -void sim_gnsf_dims_get(void *config_, void *dims_, const char *field, int* value); - -// opts -acados_size_t sim_gnsf_opts_calculate_size(void *config, void *dims); -void *sim_gnsf_opts_assign(void *config, void *dims, void *raw_memory); -void sim_gnsf_opts_initialize_default(void *config, void *dims, void *opts_); -void sim_gnsf_opts_update(void *config_, void *dims, void *opts_); -void sim_gnsf_opts_set(void *config_, void *opts_, const char *field, void *value); - -// model -acados_size_t sim_gnsf_model_calculate_size(void *config, void *dims_); -void *sim_gnsf_model_assign(void *config, void *dims_, void *raw_memory); -int sim_gnsf_model_set(void *model_, const char *field, void *value); - -// precomputation -int sim_gnsf_precompute(void *config_, sim_in *in, sim_out *out, void *opts_, void *mem_, - void *work_); - -// workspace & memory -acados_size_t sim_gnsf_workspace_calculate_size(void *config, void *dims_, void *args); -acados_size_t sim_gnsf_memory_calculate_size(void *config, void *dims_, void *opts_); -void *sim_gnsf_memory_assign(void *config, void *dims_, void *opts_, void *raw_memory); - -// interface -void sim_gnsf_config_initialize_default(void *config_); - -// integrator -int sim_gnsf(void *config, sim_in *in, sim_out *out, void *opts, void *mem_, void *work_); - -#ifdef __cplusplus -} /* extern "C" */ -#endif - -#endif // ACADOS_SIM_SIM_GNSF_H_ diff --git a/third_party/acados/include/acados/sim/sim_irk_integrator.h b/third_party/acados/include/acados/sim/sim_irk_integrator.h deleted file mode 100644 index 5090aa0bb52604..00000000000000 --- a/third_party/acados/include/acados/sim/sim_irk_integrator.h +++ /dev/null @@ -1,183 +0,0 @@ -/* - * Copyright (c) The acados authors. - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - - -#ifndef ACADOS_SIM_SIM_IRK_INTEGRATOR_H_ -#define ACADOS_SIM_SIM_IRK_INTEGRATOR_H_ - -#ifdef __cplusplus -extern "C" { -#endif - -#include "acados/sim/sim_common.h" -#include "acados/utils/types.h" - -#include "blasfeo/include/blasfeo_common.h" - -typedef struct -{ - int nx; - int nu; - int nz; - -} sim_irk_dims; - - - -typedef struct -{ - /* external functions */ - // implicit fun - can either be fully implicit ode or dae - // - i.e. dae has z as additional last argument & nz > 0 - external_function_generic *impl_ode_fun; - // implicit ode & jac_x & jax_xdot & jac_z - external_function_generic *impl_ode_fun_jac_x_xdot_z; - // jax_x & jac_xdot & jac_u & jac_z of implicit ode - external_function_generic *impl_ode_jac_x_xdot_u_z; - // hessian of implicit ode: - external_function_generic *impl_ode_hess; -} irk_model; - - - -typedef struct -{ - struct blasfeo_dvec *rG; // residuals of G (nx*ns) - struct blasfeo_dvec *K; // internal K variables ((nx+nz)*ns) - struct blasfeo_dvec *xt; // temporary x - struct blasfeo_dvec *xn; // x at each integration step - struct blasfeo_dvec xtdot; // temporary xdot - - struct blasfeo_dvec *lambda; // adjoint sensitivities (nx + nu) - struct blasfeo_dvec *lambdaK; // auxiliary variable ((nx+nz)*ns) for adjoint propagation - - struct blasfeo_dmat df_dx; // temporary Jacobian of ode w.r.t x (nx+nz, nx) - struct blasfeo_dmat df_dxdot; // temporary Jacobian of ode w.r.t xdot (nx+nz, nx) - struct blasfeo_dmat df_du; // temporary Jacobian of ode w.r.t u (nx+nz, nu) - struct blasfeo_dmat df_dz; // temporary Jacobian of ode w.r.t z (nx+nz, nu) - - /* NOTE: the memory allocation corresponding to the following fields is CONDITIONAL */ - - // only allocated if (opts->sens_algebraic || opts->output_z) - int *ipiv_one_stage; // index of pivot vector (nx + nz) - double *Z_work; // used to perform computations to get out->zn (ns) - - // df_dxdotz, dk0_dxu, only allocated if (opts->sens_algebraic && opts->exact_z_output) - // used for algebraic sensitivity generation - struct blasfeo_dmat df_dxdotz; // temporary Jacobian of ode w.r.t. xdot,z (nx+nz, nx+nz); - struct blasfeo_dmat dk0_dxu; // intermediate result, (nx+nz, nx+nu) - - // dK_dxu: if (!opts->sens_hess) - single blasfeo_dmat that is reused - // if ( opts->sens_hess) - array of (num_steps) blasfeo_dmat - // to store intermediate results - struct blasfeo_dmat *dK_dxu; // jacobian of (K,Z) over x and u ((nx+nz)*ns, nx+nu); - - // S_forw: if (!opts->sens_hess) - single blasfeo_dmat that is reused - // if ( opts->sens_hess) - array of (num_steps + 1) blasfeo_dmat - // to store intermediate results - struct blasfeo_dmat *S_forw; // forward sensitivities (nx, nx+nu) - - // dG_dxu: if (!opts->sens_hess) - single blasfeo_dmat that is reused - // if ( opts->sens_hess) - array of blasfeo_dmat to store intermediate results - struct blasfeo_dmat *dG_dxu; // jacobian of G over x and u ((nx+nz)*ns, nx+nu) - - // dG_dK: if (!opts->sens_hess) - single blasfeo_dmat that is reused - // if ( opts->sens_hess) - array of blasfeo_dmat to store intermediate results - struct blasfeo_dmat *dG_dK; // jacobian of G over K ((nx+nz)*ns, (nx+nz)*ns) - - // ipiv: index of pivot vector - // if (!opts->sens_hess) - array (ns * (nx + nz)) that is reused - // if ( opts->sens_hess) - array (ns * (nx + nz)) * num_steps, to store all - // pivot vectors for dG_dxu - int *ipiv; // index of pivot vector - - // xn_traj, K_traj only available if( opts->sens_adj || opts->sens_hess ) - struct blasfeo_dvec *xn_traj; // xn trajectory - struct blasfeo_dvec *K_traj; // K trajectory - - /* the following variables are only available if (opts->sens_hess) */ - // For Hessian propagation - struct blasfeo_dmat Hess; // temporary Hessian (nx + nu, nx + nu) - // output of impl_ode_hess - struct blasfeo_dmat f_hess; // size: (nx + nu, nx + nu) - struct blasfeo_dmat dxkzu_dw0; // size (2*nx + nu + nz) x (nx + nu) - struct blasfeo_dmat tmp_dxkzu_dw0; // size (2*nx + nu + nz) x (nx + nu) - -} sim_irk_workspace; - - -typedef struct -{ - double *xdot; // xdot[NX] - initialization for state derivatives k within the integrator - double *z; // z[NZ] - initialization for algebraic variables z - - double time_sim; - double time_ad; - double time_la; -} sim_irk_memory; - - -// get & set functions -void sim_irk_dims_set(void *config_, void *dims_, const char *field, const int *value); -void sim_irk_dims_get(void *config_, void *dims_, const char *field, int* value); - -// dims -acados_size_t sim_irk_dims_calculate_size(); -void *sim_irk_dims_assign(void *config_, void *raw_memory); - -// model -acados_size_t sim_irk_model_calculate_size(void *config, void *dims); -void *sim_irk_model_assign(void *config, void *dims, void *raw_memory); -int sim_irk_model_set(void *model, const char *field, void *value); - -// opts -acados_size_t sim_irk_opts_calculate_size(void *config, void *dims); -void *sim_irk_opts_assign(void *config, void *dims, void *raw_memory); -void sim_irk_opts_initialize_default(void *config, void *dims, void *opts_); -void sim_irk_opts_update(void *config_, void *dims, void *opts_); -void sim_irk_opts_set(void *config_, void *opts_, const char *field, void *value); - -// memory -acados_size_t sim_irk_memory_calculate_size(void *config, void *dims, void *opts_); -void *sim_irk_memory_assign(void *config, void *dims, void *opts_, void *raw_memory); -int sim_irk_memory_set(void *config_, void *dims_, void *mem_, const char *field, void *value); - -// workspace -acados_size_t sim_irk_workspace_calculate_size(void *config, void *dims, void *opts_); -void sim_irk_config_initialize_default(void *config); - -// main -int sim_irk(void *config, sim_in *in, sim_out *out, void *opts_, void *mem_, void *work_); - -#ifdef __cplusplus -} /* extern "C" */ -#endif - -#endif // ACADOS_SIM_SIM_IRK_INTEGRATOR_H_ diff --git a/third_party/acados/include/acados/sim/sim_lifted_irk_integrator.h b/third_party/acados/include/acados/sim/sim_lifted_irk_integrator.h deleted file mode 100644 index e60bb80ebf8b2f..00000000000000 --- a/third_party/acados/include/acados/sim/sim_lifted_irk_integrator.h +++ /dev/null @@ -1,157 +0,0 @@ -/* - * Copyright (c) The acados authors. - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - - -#ifndef ACADOS_SIM_SIM_LIFTED_IRK_INTEGRATOR_H_ -#define ACADOS_SIM_SIM_LIFTED_IRK_INTEGRATOR_H_ - -#ifdef __cplusplus -extern "C" { -#endif - -#include "acados/sim/sim_common.h" -#include "acados/utils/types.h" - -typedef struct -{ - int nx; - int nu; - int nz; -} sim_lifted_irk_dims; - - - -typedef struct -{ - /* external functions */ - // implicit ode - external_function_generic *impl_ode_fun; - // implicit ode & jax_x & jac_xdot & jac_u implicit ode - external_function_generic *impl_ode_fun_jac_x_xdot_u; - -} lifted_irk_model; - - - -typedef struct -{ - - struct blasfeo_dmat *J_temp_x; // temporary Jacobian of ode w.r.t x (nx, nx) - struct blasfeo_dmat *J_temp_xdot; // temporary Jacobian of ode w.r.t xdot (nx, nx) - struct blasfeo_dmat *J_temp_u; // temporary Jacobian of ode w.r.t u (nx, nu) - - struct blasfeo_dvec *rG; // residuals of G (nx*ns) - struct blasfeo_dvec *xt; // temporary x - struct blasfeo_dvec *xn; // x at each integration step (for evaluations) - struct blasfeo_dvec *xn_out; // x at each integration step (output) - struct blasfeo_dvec *dxn; // dx at each integration step - struct blasfeo_dvec *w; // stacked x and u - - int *ipiv; // index of pivot vector - -} sim_lifted_irk_workspace; - - - -typedef struct -{ - // memory for lifted integrators - struct blasfeo_dmat *S_forw; // forward sensitivities - struct blasfeo_dmat *JGK; // jacobian of G over K (nx*ns, nx*ns) - struct blasfeo_dmat *JGf; // jacobian of G over x and u (nx*ns, nx+nu); - struct blasfeo_dmat *JKf; // jacobian of K over x and u (nx*ns, nx+nu); - - struct blasfeo_dvec *K; // internal variables (nx*ns) - struct blasfeo_dvec *x; // states (nx) -- for expansion step - struct blasfeo_dvec *u; // controls (nu) -- for expansion step - - int update_sens; - // int init_K; - - double time_sim; - double time_ad; - double time_la; - -} sim_lifted_irk_memory; - - - -/* dims */ -void sim_lifted_irk_dims_set(void *config_, void *dims_, const char *field, const int *value); -void sim_lifted_irk_dims_get(void *config_, void *dims_, const char *field, int* value); - -acados_size_t sim_lifted_irk_dims_calculate_size(); -// -void *sim_lifted_irk_dims_assign(void* config_, void *raw_memory); - -/* model */ -// -acados_size_t sim_lifted_irk_model_calculate_size(void *config, void *dims); -// -void *sim_lifted_irk_model_assign(void *config, void *dims, void *raw_memory); -// -int sim_lifted_irk_model_set(void *model_, const char *field, void *value); - -/* opts */ -// -acados_size_t sim_lifted_irk_opts_calculate_size(void *config, void *dims); -// -void *sim_lifted_irk_opts_assign(void *config, void *dims, void *raw_memory); -// -void sim_lifted_irk_opts_initialize_default(void *config, void *dims, void *opts_); -// -void sim_lifted_irk_opts_update(void *config_, void *dims, void *opts_); -// -void sim_lifted_irk_opts_set(void *config_, void *opts_, const char *field, void *value); - -/* memory */ -// -acados_size_t sim_lifted_irk_memory_calculate_size(void *config, void *dims, void *opts_); -// -void *sim_lifted_irk_memory_assign(void *config, void *dims, void *opts_, void *raw_memory); - -/* workspace */ -// -acados_size_t sim_lifted_irk_workspace_calculate_size(void *config, void *dims, void *opts_); -// -void sim_lifted_irk_config_initialize_default(void *config); - -/* solver */ -// -int sim_lifted_irk(void *config, sim_in *in, sim_out *out, void *opts_, - void *mem_, void *work_); - - - -#ifdef __cplusplus -} /* extern "C" */ -#endif - -#endif // ACADOS_SIM_SIM_LIFTED_IRK_INTEGRATOR_H_ diff --git a/third_party/acados/include/acados/utils/external_function_generic.h b/third_party/acados/include/acados/utils/external_function_generic.h deleted file mode 100644 index 1e68dc155db82d..00000000000000 --- a/third_party/acados/include/acados/utils/external_function_generic.h +++ /dev/null @@ -1,242 +0,0 @@ -/* - * Copyright (c) The acados authors. - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - - -#ifndef ACADOS_UTILS_EXTERNAL_FUNCTION_GENERIC_H_ -#define ACADOS_UTILS_EXTERNAL_FUNCTION_GENERIC_H_ - -#ifdef __cplusplus -extern "C" { -#endif - -#include "acados/utils/types.h" - -/************************************************ - * generic external function - ************************************************/ - -// type of arguments -typedef enum { - COLMAJ, - BLASFEO_DMAT, - BLASFEO_DVEC, - COLMAJ_ARGS, - BLASFEO_DMAT_ARGS, - BLASFEO_DVEC_ARGS, - IGNORE_ARGUMENT -} ext_fun_arg_t; - -struct colmaj_args -{ - double *A; - int lda; -}; - -struct blasfeo_dmat_args -{ - struct blasfeo_dmat *A; - int ai; - int aj; -}; - -struct blasfeo_dvec_args -{ - struct blasfeo_dvec *x; - int xi; -}; - -// prototype of an external function -typedef struct -{ - // public members (have to be before private ones) - void (*evaluate)(void *, ext_fun_arg_t *, void **, ext_fun_arg_t *, void **); - // private members - // ..... -} external_function_generic; - - - -/************************************************ - * generic external parametric function - ************************************************/ - -// prototype of a parametric external function -typedef struct -{ - // public members for core (have to be before private ones) - void (*evaluate)(void *, ext_fun_arg_t *, void **, ext_fun_arg_t *, void **); - // public members for interfaces - void (*get_nparam)(void *, int *); - void (*set_param)(void *, double *); - void (*set_param_sparse)(void *, int n_update, int *idx, double *); - // private members - void *ptr_ext_mem; // pointer to external memory - int (*fun)(void **, void **, void *); - double *p; // parameters - int np; // number of parameters - // ..... -} external_function_param_generic; - -// -acados_size_t external_function_param_generic_struct_size(); -// -void external_function_param_generic_set_fun(external_function_param_generic *fun, void *value); -// -acados_size_t external_function_param_generic_calculate_size(external_function_param_generic *fun, int np); -// -void external_function_param_generic_assign(external_function_param_generic *fun, void *mem); -// -void external_function_param_generic_wrapper(void *self, ext_fun_arg_t *type_in, void **in, ext_fun_arg_t *type_out, void **out); -// -void external_function_param_generic_get_nparam(void *self, int *np); -// -void external_function_param_generic_set_param(void *self, double *p); - - -/************************************************ - * casadi external function - ************************************************/ - -typedef struct -{ - // public members (have to be the same as in the prototype, and before the private ones) - void (*evaluate)(void *, ext_fun_arg_t *, void **, ext_fun_arg_t *, void **); - // private members - void *ptr_ext_mem; // pointer to external memory - int (*casadi_fun)(const double **, double **, int *, double *, void *); - int (*casadi_work)(int *, int *, int *, int *); - const int *(*casadi_sparsity_in)(int); - const int *(*casadi_sparsity_out)(int); - int (*casadi_n_in)(void); - int (*casadi_n_out)(void); - double **args; - double **res; - double *w; - int *iw; - int *args_size; // size of args[i] - int *res_size; // size of res[i] - int args_num; // number of args arrays - int args_size_tot; // total size of args arrays - int res_num; // number of res arrays - int res_size_tot; // total size of res arrays - int in_num; // number of input arrays - int out_num; // number of output arrays - int iw_size; // number of ints for worksapce - int w_size; // number of doubles for workspace -} external_function_casadi; - -// -acados_size_t external_function_casadi_struct_size(); -// -void external_function_casadi_set_fun(external_function_casadi *fun, void *value); -// -void external_function_casadi_set_work(external_function_casadi *fun, void *value); -// -void external_function_casadi_set_sparsity_in(external_function_casadi *fun, void *value); -// -void external_function_casadi_set_sparsity_out(external_function_casadi *fun, void *value); -// -void external_function_casadi_set_n_in(external_function_casadi *fun, void *value); -// -void external_function_casadi_set_n_out(external_function_casadi *fun, void *value); -// -acados_size_t external_function_casadi_calculate_size(external_function_casadi *fun); -// -void external_function_casadi_assign(external_function_casadi *fun, void *mem); -// -void external_function_casadi_wrapper(void *self, ext_fun_arg_t *type_in, void **in, - ext_fun_arg_t *type_out, void **out); - -/************************************************ - * casadi external parametric function - ************************************************/ - -typedef struct -{ - // public members for core (have to be the same as in the prototype, and before the private ones) - void (*evaluate)(void *, ext_fun_arg_t *, void **, ext_fun_arg_t *, void **); - // public members for interfaces - void (*get_nparam)(void *, int *); - void (*set_param)(void *, double *); - void (*set_param_sparse)(void *, int n_update, int *idx, double *); - // private members - void *ptr_ext_mem; // pointer to external memory - int (*casadi_fun)(const double **, double **, int *, double *, void *); - int (*casadi_work)(int *, int *, int *, int *); - const int *(*casadi_sparsity_in)(int); - const int *(*casadi_sparsity_out)(int); - int (*casadi_n_in)(void); - int (*casadi_n_out)(void); - double **args; - double **res; - double *w; - int *iw; - int *args_size; // size of args[i] - int *res_size; // size of res[i] - int args_num; // number of args arrays - int args_size_tot; // total size of args arrays - int res_num; // number of res arrays - int res_size_tot; // total size of res arrays - int in_num; // number of input arrays - int out_num; // number of output arrays - int iw_size; // number of ints for worksapce - int w_size; // number of doubles for workspace - int np; // number of parameters -} external_function_param_casadi; - -// -acados_size_t external_function_param_casadi_struct_size(); -// -void external_function_param_casadi_set_fun(external_function_param_casadi *fun, void *value); -// -void external_function_param_casadi_set_work(external_function_param_casadi *fun, void *value); -// -void external_function_param_casadi_set_sparsity_in(external_function_param_casadi *fun, void *value); -// -void external_function_param_casadi_set_sparsity_out(external_function_param_casadi *fun, void *value); -// -void external_function_param_casadi_set_n_in(external_function_param_casadi *fun, void *value); -// -void external_function_param_casadi_set_n_out(external_function_param_casadi *fun, void *value); -// -acados_size_t external_function_param_casadi_calculate_size(external_function_param_casadi *fun, int np); -// -void external_function_param_casadi_assign(external_function_param_casadi *fun, void *mem); -// -void external_function_param_casadi_wrapper(void *self, ext_fun_arg_t *type_in, void **in, - ext_fun_arg_t *type_out, void **out); -// -void external_function_param_casadi_get_nparam(void *self, int *np); - -#ifdef __cplusplus -} /* extern "C" */ -#endif - -#endif // ACADOS_UTILS_EXTERNAL_FUNCTION_GENERIC_H_ diff --git a/third_party/acados/include/acados/utils/math.h b/third_party/acados/include/acados/utils/math.h deleted file mode 100644 index 7156a82084267f..00000000000000 --- a/third_party/acados/include/acados/utils/math.h +++ /dev/null @@ -1,103 +0,0 @@ -/* - * Copyright (c) The acados authors. - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - -#ifndef ACADOS_UTILS_MATH_H_ -#define ACADOS_UTILS_MATH_H_ - -#ifdef __cplusplus -extern "C" { -#endif - -#include "acados/utils/types.h" - -#if defined(__MABX2__) -double fmax(double a, double b); -int isnan(double x); -#endif - -#define MIN(a,b) (((a)<(b))?(a):(b)) -#define MAX(a,b) (((a)>(b))?(a):(b)) - -void dgemm_nn_3l(int m, int n, int k, double *A, int lda, double *B, int ldb, double *C, int ldc); -// void dgemv_n_3l(int m, int n, double *A, int lda, double *x, double *y); -// void dgemv_t_3l(int m, int n, double *A, int lda, double *x, double *y); -// void dcopy_3l(int n, double *x, int incx, double *y, int incy); -void daxpy_3l(int n, double da, double *dx, double *dy); -void dscal_3l(int n, double da, double *dx); -double twonormv(int n, double *ptrv); - -/* copies a matrix into another matrix */ -void dmcopy(int row, int col, double *ptrA, int lda, double *ptrB, int ldb); - -/* solution of a system of linear equations */ -void dgesv_3l(int n, int nrhs, double *A, int lda, int *ipiv, double *B, int ldb, int *info); - -/* matrix exponential */ -void expm(int row, double *A); - -int idamax_3l(int n, double *x); - -void dswap_3l(int n, double *x, int incx, double *y, int incy); - -void dger_3l(int m, int n, double alpha, double *x, int incx, double *y, int incy, double *A, - int lda); - -void dgetf2_3l(int m, int n, double *A, int lda, int *ipiv, int *info); - -void dlaswp_3l(int n, double *A, int lda, int k1, int k2, int *ipiv); - -void dtrsm_l_l_n_u_3l(int m, int n, double *A, int lda, double *B, int ldb); - -void dgetrs_3l(int n, int nrhs, double *A, int lda, int *ipiv, double *B, int ldb); - -void dgesv_3l(int n, int nrhs, double *A, int lda, int *ipiv, double *B, int ldb, int *info); - -double onenorm(int row, int col, double *ptrA); - -// double twonormv(int n, double *ptrv); - -void padeapprox(int m, int row, double *A); - -void expm(int row, double *A); - -// void d_compute_qp_size_ocp2dense_rev(int N, int *nx, int *nu, int *nb, int **hidxb, int *ng, -// int *nvd, int *ned, int *nbd, int *ngd); - -void acados_eigen_decomposition(int dim, double *A, double *V, double *d, double *e); - -double minimum_of_doubles(double *x, int n); - -void neville_algorithm(double xx, int n, double *x, double *Q, double *out); - -#ifdef __cplusplus -} /* extern "C" */ -#endif - -#endif // ACADOS_UTILS_MATH_H_ diff --git a/third_party/acados/include/acados/utils/mem.h b/third_party/acados/include/acados/utils/mem.h deleted file mode 100644 index 681a371e360f64..00000000000000 --- a/third_party/acados/include/acados/utils/mem.h +++ /dev/null @@ -1,110 +0,0 @@ -/* - * Copyright (c) The acados authors. - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - - -#ifndef ACADOS_UTILS_MEM_H_ -#define ACADOS_UTILS_MEM_H_ - -#ifdef __cplusplus -extern "C" { -#endif - -#include -#include - -#include "types.h" - -// blasfeo -#include "blasfeo/include/blasfeo_d_aux.h" -#include "blasfeo/include/blasfeo_d_aux_ext_dep.h" - -// TODO(dimitris): probably does not belong here -typedef struct -{ - int (*fun)(void *); - acados_size_t (*calculate_args_size)(void *); - void *(*assign_args)(void *); - void (*initialize_default_args)(void *); - acados_size_t (*calculate_memory_size)(void *); - void *(*assign_memory)(void *); - acados_size_t (*calculate_workspace_size)(void *); -} module_solver; - -// make int counter of memory multiple of a number (typically 8 or 64) -void make_int_multiple_of(acados_size_t num, acados_size_t *size); - -// align char pointer to number (typically 8 for pointers and doubles, -// 64 for blasfeo structs) and return offset -int align_char_to(int num, char **c_ptr); - -// switch between malloc and calloc (for valgrinding) -void *acados_malloc(size_t nitems, acados_size_t size); - -// uses always calloc -void *acados_calloc(size_t nitems, acados_size_t size); - -// allocate vector of pointers to vectors of doubles and advance pointer -void assign_and_advance_double_ptrs(int n, double ***v, char **ptr); - -// allocate vector of pointers to vectors of ints and advance pointer -void assign_and_advance_int_ptrs(int n, int ***v, char **ptr); - -// allocate vector of pointers to strvecs and advance pointer -void assign_and_advance_blasfeo_dvec_structs(int n, struct blasfeo_dvec **sv, char **ptr); - -// allocate vector of pointers to strmats and advance pointer -void assign_and_advance_blasfeo_dmat_structs(int n, struct blasfeo_dmat **sm, char **ptr); - -// allocate vector of pointers to vector of pointers to strmats and advance pointer -void assign_and_advance_blasfeo_dmat_ptrs(int n, struct blasfeo_dmat ***sm, char **ptr); - -// allocate vector of chars and advance pointer -void assign_and_advance_char(int n, char **v, char **ptr); - -// allocate vector of ints and advance pointer -void assign_and_advance_int(int n, int **v, char **ptr); - -// allocate vector of bools and advance pointer -void assign_and_advance_bool(int n, bool **v, char **ptr); - -// allocate vector of doubles and advance pointer -void assign_and_advance_double(int n, double **v, char **ptr); - -// allocate strvec and advance pointer -void assign_and_advance_blasfeo_dvec_mem(int n, struct blasfeo_dvec *sv, char **ptr); - -// allocate strmat and advance pointer -void assign_and_advance_blasfeo_dmat_mem(int m, int n, struct blasfeo_dmat *sA, char **ptr); - -#ifdef __cplusplus -} /* extern "C" */ -#endif - -#endif // ACADOS_UTILS_MEM_H_ diff --git a/third_party/acados/include/acados/utils/print.h b/third_party/acados/include/acados/utils/print.h deleted file mode 100644 index 824d3cee224a99..00000000000000 --- a/third_party/acados/include/acados/utils/print.h +++ /dev/null @@ -1,110 +0,0 @@ -/* - * Copyright (c) The acados authors. - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - - -#ifndef ACADOS_UTILS_PRINT_H_ -#define ACADOS_UTILS_PRINT_H_ - -#ifdef __cplusplus -extern "C" { -#endif - -#include "acados/dense_qp/dense_qp_common.h" -#include "acados/ocp_nlp/ocp_nlp_common.h" -#include "acados/ocp_qp/ocp_qp_common.h" -#include "acados/ocp_qp/ocp_qp_common_frontend.h" -#include "acados/utils/types.h" - -// void print_matrix(char *file_name, const real_t *matrix, const int_t nrows, const int_t ncols); - -// void print_matrix_name(char *file_name, char *name, const real_t *matrix, const int_t nrows, -// const int_t ncols); - -// void print_int_matrix(char *file_name, const int_t *matrix, const int_t nrows, const int_t ncols); - -// void print_array(char *file_name, real_t *array, int_t size); - -// void print_int_array(char *file_name, const int_t *array, int_t size); - -void read_matrix(const char *file_name, real_t *array, const int_t nrows, const int_t ncols); - -void write_double_vector_to_txt(real_t *vec, int_t n, const char *fname); - -// ocp nlp -// TODO(andrea): inconsistent naming -void ocp_nlp_dims_print(ocp_nlp_dims *dims); -// TODO(andrea): inconsistent naming -void ocp_nlp_out_print(ocp_nlp_dims *dims, ocp_nlp_out *nlp_out); -// TODO(andrea): inconsistent naming -void ocp_nlp_res_print(ocp_nlp_dims *dims, ocp_nlp_res *nlp_res); - -// ocp qp -// TODO: move printing routines below that print qp structures to HPIPM! -void print_ocp_qp_dims(ocp_qp_dims *dims); - -// void print_dense_qp_dims(dense_qp_dims *dims); - -void print_ocp_qp_in(ocp_qp_in *qp_in); - -void print_ocp_qp_in_to_file(FILE *file, ocp_qp_in *qp_in); - -void print_ocp_qp_out(ocp_qp_out *qp_out); - -void print_ocp_qp_out_to_file(FILE *file, ocp_qp_out *qp_out); - -void print_ocp_qp_res(ocp_qp_res *qp_res); - -void print_dense_qp_in(dense_qp_in *qp_in); -// void print_ocp_qp_in_to_string(char string_out[], ocp_qp_in *qp_in); - -// void print_ocp_qp_out_to_string(char string_out[], ocp_qp_out *qp_out); - -// void print_colmaj_ocp_qp_in(colmaj_ocp_qp_in *qp); - -// void print_colmaj_ocp_qp_in_to_file(colmaj_ocp_qp_in *qp); - -// void print_colmaj_ocp_qp_out(char *filename, colmaj_ocp_qp_in *qp, colmaj_ocp_qp_out *out); - -void print_qp_info(qp_info *info); - -// void acados_warning(char warning_string[]); - -// void acados_error(char error_string[]); - -// void acados_not_implemented(char feature_string[]); - -// blasfeo -// void print_blasfeo_target(); - -#ifdef __cplusplus -} /* extern "C" */ -#endif - -#endif // ACADOS_UTILS_PRINT_H_ diff --git a/third_party/acados/include/acados/utils/strsep.h b/third_party/acados/include/acados/utils/strsep.h deleted file mode 100644 index 62bdfb48913266..00000000000000 --- a/third_party/acados/include/acados/utils/strsep.h +++ /dev/null @@ -1,69 +0,0 @@ -/* - * Copyright (c) The acados authors. - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - - -#ifndef ACADOS_UTILS_STRSEP_H_ -#define ACADOS_UTILS_STRSEP_H_ - -#ifdef __cplusplus -#include -#define STD(x) std::x -namespace std -{ -#else -#include -#define STD(x) x -#endif - -char* strsep_acados(char** stringp, const char* delim) -{ - char* result; - - if ((stringp == NULL) || (*stringp == NULL)) return NULL; - - result = *stringp; - - while (**stringp && !STD(strchr)(delim, **stringp)) ++*stringp; - - if (**stringp) - *(*stringp)++ = '\0'; - else - *stringp = NULL; - - return result; -} - -#ifdef __cplusplus -} // namespace std -#endif - -#undef STD - -#endif // ACADOS_UTILS_STRSEP_H_ diff --git a/third_party/acados/include/acados/utils/timing.h b/third_party/acados/include/acados/utils/timing.h deleted file mode 100644 index b0955932da3a2f..00000000000000 --- a/third_party/acados/include/acados/utils/timing.h +++ /dev/null @@ -1,122 +0,0 @@ -/* - * Copyright (c) The acados authors. - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - - -#ifndef ACADOS_UTILS_TIMING_H_ -#define ACADOS_UTILS_TIMING_H_ - -#include "acados/utils/types.h" - -#ifdef __cplusplus -extern "C" { -#endif - -#ifdef MEASURE_TIMINGS -#if (defined _WIN32 || defined _WIN64) && !(defined __MINGW32__ || defined __MINGW64__) - -/* Use Windows QueryPerformanceCounter for timing. */ -#include - -/** A structure for keeping internal timer data. */ -typedef struct acados_timer_ -{ - LARGE_INTEGER tic; - LARGE_INTEGER toc; - LARGE_INTEGER freq; -} acados_timer; - -#elif defined(__APPLE__) - -#include - -/** A structure for keeping internal timer data. */ -typedef struct acados_timer_ -{ - uint64_t tic; - uint64_t toc; - mach_timebase_info_data_t tinfo; -} acados_timer; - -#elif defined(__MABX2__) - -#include - -typedef struct acados_timer_ -{ - double time; -} acados_timer; - -#else - -/* Use POSIX clock_gettime() for timing on non-Windows machines. */ -#include - -#if (__STDC_VERSION__ >= 199901L) && !(defined __MINGW32__ || defined __MINGW64__) // C99 Mode - -#include -#include - -typedef struct acados_timer_ -{ - struct timeval tic; - struct timeval toc; -} acados_timer; - -#else // ANSI C Mode - -/** A structure for keeping internal timer data. */ -typedef struct acados_timer_ -{ - struct timespec tic; - struct timespec toc; -} acados_timer; - -#endif // __STDC_VERSION__ >= 199901L - -#endif // (defined _WIN32 || defined _WIN64) - -#else - -// Dummy type when timings are off -typedef real_t acados_timer; - -#endif // MEASURE_TIMINGS - -/** A function for measurement of the current time. */ -void acados_tic(acados_timer* t); - -/** A function which returns the elapsed time. */ -real_t acados_toc(acados_timer* t); - -#ifdef __cplusplus -} /* extern "C" */ -#endif - -#endif // ACADOS_UTILS_TIMING_H_ diff --git a/third_party/acados/include/acados/utils/types.h b/third_party/acados/include/acados/utils/types.h deleted file mode 100644 index a27ef9e552ce62..00000000000000 --- a/third_party/acados/include/acados/utils/types.h +++ /dev/null @@ -1,91 +0,0 @@ -/* - * Copyright (c) The acados authors. - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - - -#ifndef ACADOS_UTILS_TYPES_H_ -#define ACADOS_UTILS_TYPES_H_ - -/* Symbol visibility in DLLs */ -#ifndef ACADOS_SYMBOL_EXPORT - #if defined(_WIN32) || defined(__WIN32__) || defined(__CYGWIN__) - #if defined(STATIC_LINKED) - #define ACADOS_SYMBOL_EXPORT - #else - #define ACADOS_SYMBOL_EXPORT __declspec(dllexport) - #endif - #elif defined(__GNUC__) && ((__GNUC__ >= 4) || (__GNUC__ == 3 && __GNUC_MINOR__ >= 4)) - #define ACADOS_SYMBOL_EXPORT __attribute__ ((visibility ("default"))) - #else - #define ACADOS_SYMBOL_EXPORT - #endif -#endif - -#ifdef __cplusplus -extern "C" { -#endif - -#include -#include - -#define MAX_STR_LEN 256 -#define ACADOS_EPS 1e-12 -#define ACADOS_NEG_INFTY -1.0e9 -#define ACADOS_POS_INFTY +1.0e9 -#define UNUSED(x) ((void)(x)) - - - -typedef double real_t; -typedef int int_t; -typedef size_t acados_size_t; - - -typedef int (*casadi_function_t)(const double** arg, double** res, int* iw, double* w, void* mem); - - - -// enum of return values -enum return_values -{ - ACADOS_SUCCESS, - ACADOS_NAN_DETECTED, - ACADOS_MAXITER, - ACADOS_MINSTEP, - ACADOS_QP_FAILURE, - ACADOS_READY, -}; - - - -#ifdef __cplusplus -} /* extern "C" */ -#endif - -#endif // ACADOS_UTILS_TYPES_H_ diff --git a/third_party/acados/include/acados_c/condensing_interface.h b/third_party/acados/include/acados_c/condensing_interface.h deleted file mode 100644 index b4302078d63516..00000000000000 --- a/third_party/acados/include/acados_c/condensing_interface.h +++ /dev/null @@ -1,81 +0,0 @@ -/* - * Copyright (c) The acados authors. - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - - -#ifndef INTERFACES_ACADOS_C_CONDENSING_INTERFACE_H_ -#define INTERFACES_ACADOS_C_CONDENSING_INTERFACE_H_ - -#ifdef __cplusplus -extern "C" { -#endif - -#include "acados/ocp_qp/ocp_qp_full_condensing.h" -#include "acados/ocp_qp/ocp_qp_partial_condensing.h" - -typedef enum { - PARTIAL_CONDENSING, - FULL_CONDENSING, -} condensing_t; - -typedef struct -{ - condensing_t condensing_type; -} condensing_plan; - -typedef struct -{ - ocp_qp_xcond_config *config; - void *dims; - void *opts; - void *mem; - void *work; -} condensing_module; - -ocp_qp_xcond_config *ocp_qp_condensing_config_create(condensing_plan *plan); -// -void *ocp_qp_condensing_opts_create(ocp_qp_xcond_config *config, void *dims_); -// -acados_size_t ocp_qp_condensing_calculate_size(ocp_qp_xcond_config *config, void *dims_, void *opts_); -// -condensing_module *ocp_qp_condensing_assign(ocp_qp_xcond_config *config, void *dims_, - void *opts_, void *raw_memory); -// -condensing_module *ocp_qp_condensing_create(ocp_qp_xcond_config *config, void *dims_, - void *opts_); -// -int ocp_qp_condense(condensing_module *module, void *qp_in, void *qp_out); -// -int ocp_qp_expand(condensing_module *module, void *qp_in, void *qp_out); - -#ifdef __cplusplus -} /* extern "C" */ -#endif - -#endif // INTERFACES_ACADOS_C_CONDENSING_INTERFACE_H_ diff --git a/third_party/acados/include/acados_c/dense_qp_interface.h b/third_party/acados/include/acados_c/dense_qp_interface.h deleted file mode 100644 index b3af4bf68250a2..00000000000000 --- a/third_party/acados/include/acados_c/dense_qp_interface.h +++ /dev/null @@ -1,91 +0,0 @@ -/* - * Copyright (c) The acados authors. - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - - -#ifndef INTERFACES_ACADOS_C_DENSE_QP_INTERFACE_H_ -#define INTERFACES_ACADOS_C_DENSE_QP_INTERFACE_H_ - -#ifdef __cplusplus -extern "C" { -#endif - -#include "acados/dense_qp/dense_qp_common.h" - -typedef enum { DENSE_QP_HPIPM, DENSE_QP_QORE, DENSE_QP_QPOASES, DENSE_QP_OOQP, DENSE_QP_DAQP } dense_qp_solver_t; - -typedef struct -{ - dense_qp_solver_t qp_solver; -} dense_qp_solver_plan; - -typedef struct -{ - qp_solver_config *config; - void *dims; - void *opts; - void *mem; - void *work; -} dense_qp_solver; - -qp_solver_config *dense_qp_config_create(dense_qp_solver_plan *plan); -// -dense_qp_dims *dense_qp_dims_create(); -// -dense_qp_in *dense_qp_in_create(qp_solver_config *config, dense_qp_dims *dims); -// -dense_qp_out *dense_qp_out_create(qp_solver_config *config, dense_qp_dims *dims); -// -void *dense_qp_opts_create(qp_solver_config *config, dense_qp_dims *dims); -// -acados_size_t dense_qp_calculate_size(qp_solver_config *config, dense_qp_dims *dims, void *opts_); -// -dense_qp_solver *dense_qp_assign(qp_solver_config *config, dense_qp_dims *dims, void *opts_, - void *raw_memory); -// -dense_qp_solver *dense_qp_create(qp_solver_config *config, dense_qp_dims *dims, void *opts_); -// -int dense_qp_solve(dense_qp_solver *solver, dense_qp_in *qp_in, dense_qp_out *qp_out); -// -void dense_qp_inf_norm_residuals(dense_qp_dims *dims, dense_qp_in *qp_in, dense_qp_out *qp_out, - double *res); -// -bool dense_qp_set_field_double_array(const char *field, double *arr, dense_qp_in *qp_in); -// -bool dense_qp_set_field_int_array(const char *field, int *arr, dense_qp_in *qp_in); -// -bool dense_qp_get_field_double_array(const char *field, dense_qp_in *qp_in, double *arr); -// -bool dense_qp_get_field_int_array(const char *field, dense_qp_in *qp_in, int *arr); - -#ifdef __cplusplus -} /* extern "C" */ -#endif - -#endif // INTERFACES_ACADOS_C_DENSE_QP_INTERFACE_H_ diff --git a/third_party/acados/include/acados_c/external_function_interface.h b/third_party/acados/include/acados_c/external_function_interface.h deleted file mode 100644 index d4f52db8505981..00000000000000 --- a/third_party/acados/include/acados_c/external_function_interface.h +++ /dev/null @@ -1,89 +0,0 @@ -/* - * Copyright (c) The acados authors. - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - - -#ifndef INTERFACES_ACADOS_C_EXTERNAL_FUNCTION_INTERFACE_H_ -#define INTERFACES_ACADOS_C_EXTERNAL_FUNCTION_INTERFACE_H_ - -#ifdef __cplusplus -extern "C" { -#endif - -#include "acados/utils/external_function_generic.h" - - - -/************************************************ - * generic external parametric function - ************************************************/ - -// -void external_function_param_generic_create(external_function_param_generic *fun, int np); -// -void external_function_param_generic_free(external_function_param_generic *fun); - - - -/************************************************ - * casadi external function - ************************************************/ - -// -void external_function_casadi_create(external_function_casadi *fun); -// -void external_function_casadi_free(external_function_casadi *fun); -// -void external_function_casadi_create_array(int size, external_function_casadi *funs); -// -void external_function_casadi_free_array(int size, external_function_casadi *funs); - - - -/************************************************ - * casadi external parametric function - ************************************************/ - -// -void external_function_param_casadi_create(external_function_param_casadi *fun, int np); -// -void external_function_param_casadi_free(external_function_param_casadi *fun); -// -void external_function_param_casadi_create_array(int size, external_function_param_casadi *funs, - int np); -// -void external_function_param_casadi_free_array(int size, external_function_param_casadi *funs); - - - -#ifdef __cplusplus -} /* extern "C" */ -#endif - -#endif // INTERFACES_ACADOS_C_EXTERNAL_FUNCTION_INTERFACE_H_ diff --git a/third_party/acados/include/acados_c/ocp_nlp_interface.h b/third_party/acados/include/acados_c/ocp_nlp_interface.h deleted file mode 100644 index dd3e596f8be763..00000000000000 --- a/third_party/acados/include/acados_c/ocp_nlp_interface.h +++ /dev/null @@ -1,428 +0,0 @@ -/* - * Copyright (c) The acados authors. - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - - -#ifndef INTERFACES_ACADOS_C_OCP_NLP_INTERFACE_H_ -#define INTERFACES_ACADOS_C_OCP_NLP_INTERFACE_H_ - -#ifdef __cplusplus -extern "C" { -#endif - -// acados -#include "acados/ocp_nlp/ocp_nlp_common.h" -#include "acados/ocp_nlp/ocp_nlp_constraints_bgh.h" -#include "acados/sim/sim_erk_integrator.h" -#include "acados/sim/sim_irk_integrator.h" -#include "acados/sim/sim_lifted_irk_integrator.h" -#include "acados/sim/sim_gnsf.h" -#include "acados/utils/types.h" -// acados_c -#include "acados_c/ocp_qp_interface.h" -#include "acados_c/sim_interface.h" - - -/// Solution methods for optimal control problems. -typedef enum -{ - SQP, - SQP_RTI, - INVALID_NLP_SOLVER, -} ocp_nlp_solver_t; - - -/// Types of the cost function. -typedef enum -{ - LINEAR_LS, - NONLINEAR_LS, - CONVEX_OVER_NONLINEAR, - EXTERNAL, - INVALID_COST, -} ocp_nlp_cost_t; - - -/// Types of the system dynamics, discrete or continuous time. -typedef enum -{ - CONTINUOUS_MODEL, - DISCRETE_MODEL, - INVALID_DYNAMICS, -} ocp_nlp_dynamics_t; - - -/// Constraint types -typedef enum -{ - /// Comprises simple bounds, polytopic constraints, - /// general non-linear constraints. - BGH, - - /// Comprises simple bounds, polytopic constraints, - /// general non-linear constraints, and positive definite constraints. - BGP, - - INVALID_CONSTRAINT, -} ocp_nlp_constraints_t; - - -/// Regularization types -typedef enum -{ - NO_REGULARIZE, - MIRROR, - PROJECT, - PROJECT_REDUC_HESS, - CONVEXIFY, - INVALID_REGULARIZE, -} ocp_nlp_reg_t; - - -/// Structure to store the configuration of a non-linear program -typedef struct ocp_nlp_plan_t -{ - /// QP solver configuration. - ocp_qp_solver_plan_t ocp_qp_solver_plan; - - /// Simulation solver configuration for each stage. - sim_solver_plan_t *sim_solver_plan; - - /// Nlp solver type. - ocp_nlp_solver_t nlp_solver; - - /// Regularization type, defaults to no regularization. - ocp_nlp_reg_t regularization; - - /// Cost type for each stage. - ocp_nlp_cost_t *nlp_cost; - - /// Dynamics type for each stage. - ocp_nlp_dynamics_t *nlp_dynamics; - - /// Constraints type for each stage. - ocp_nlp_constraints_t *nlp_constraints; - - /// Horizon length. - int N; - -} ocp_nlp_plan_t; - - -/// Structure to store the state/configuration for the non-linear programming solver -typedef struct ocp_nlp_solver -{ - ocp_nlp_config *config; - void *dims; - void *opts; - void *mem; - void *work; -} ocp_nlp_solver; - - -/// Constructs an empty plan struct (user nlp configuration), all fields are set to a -/// default/invalid state. -/// -/// \param N Horizon length -ACADOS_SYMBOL_EXPORT ocp_nlp_plan_t *ocp_nlp_plan_create(int N); - -/// Destructor for plan struct, frees memory. -/// -/// \param plan_ The plan struct to destroy. -ACADOS_SYMBOL_EXPORT void ocp_nlp_plan_destroy(void* plan_); - - -/// Constructs an nlp configuration struct from a plan. -/// -/// \param plan The plan (user nlp configuration). -ACADOS_SYMBOL_EXPORT ocp_nlp_config *ocp_nlp_config_create(ocp_nlp_plan_t plan); - -/// Desctructor of the nlp configuration. -/// -/// \param config_ The configuration struct. -ACADOS_SYMBOL_EXPORT void ocp_nlp_config_destroy(void *config_); - - -/// Constructs an struct that contains the dimensions of the variables. -/// -/// \param config_ The configuration struct. -ACADOS_SYMBOL_EXPORT ocp_nlp_dims *ocp_nlp_dims_create(void *config_); - -/// Destructor of The dimension struct. -/// -/// \param dims_ The dimension struct. -ACADOS_SYMBOL_EXPORT void ocp_nlp_dims_destroy(void *dims_); - - -/// Constructs an input struct for a non-linear programs. -/// -/// \param config The configuration struct. -/// \param dims The dimension struct. -ACADOS_SYMBOL_EXPORT ocp_nlp_in *ocp_nlp_in_create(ocp_nlp_config *config, ocp_nlp_dims *dims); - -/// Destructor of the inputs struct. -/// -/// \param in The inputs struct. -ACADOS_SYMBOL_EXPORT void ocp_nlp_in_destroy(void *in); - - -/// Sets the sampling times for the given stage. -/// -/// \param config The configuration struct. -/// \param dims The dimension struct. -/// \param in The inputs struct. -/// \param stage Stage number. -/// \param field Has to be "Ts" (TBC other options). -/// \param value The sampling times (floating point). -ACADOS_SYMBOL_EXPORT void ocp_nlp_in_set(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in, int stage, - const char *field, void *value); - -/// -// void ocp_nlp_in_get(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in, int stage, -// const char *field, void *value); - -/// Sets the function pointers to the dynamics functions for the given stage. -/// -/// \param config The configuration struct. -/// \param dims The dimension struct. -/// \param in The inputs struct. -/// \param stage Stage number. -/// \param fun_type The name of the function type, either impl_ode_fun, -/// impl_ode_fun_jac_x_xdot, impl_ode_jac_x_xdot_u (TBC) -/// \param fun_ptr Function pointer to the dynamics function. -ACADOS_SYMBOL_EXPORT int ocp_nlp_dynamics_model_set(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in, - int stage, const char *fun_type, void *fun_ptr); - - -/// Sets the function pointers to the cost functions for the given stage. -/// -/// \param config The configuration struct. -/// \param dims The dimension struct. -/// \param in The inputs struct. -/// \param stage Stage number. -/// \param field The name of the field, either nls_res_jac, -/// y_ref, W (others TBC) -/// \param value Cost values. -ACADOS_SYMBOL_EXPORT int ocp_nlp_cost_model_set(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in, - int stage, const char *field, void *value); - - -/// Sets the function pointers to the constraints functions for the given stage. -/// -/// \param config The configuration struct. -/// \param dims The dimension struct. -/// \param in The inputs struct. -/// \param stage Stage number. -/// \param field The name of the field, either lb, ub (others TBC) -/// \param value Constraints function or values. -ACADOS_SYMBOL_EXPORT int ocp_nlp_constraints_model_set(ocp_nlp_config *config, ocp_nlp_dims *dims, - ocp_nlp_in *in, int stage, const char *field, void *value); - -/// -ACADOS_SYMBOL_EXPORT void ocp_nlp_constraints_model_get(ocp_nlp_config *config, ocp_nlp_dims *dims, - ocp_nlp_in *in, int stage, const char *field, void *value); - -/* out */ - -/// Constructs an output struct for the non-linear program. -/// -/// \param config The configuration struct. -/// \param dims The dimension struct. -ACADOS_SYMBOL_EXPORT ocp_nlp_out *ocp_nlp_out_create(ocp_nlp_config *config, ocp_nlp_dims *dims); - -/// Destructor of the output struct. -/// -/// \param out The output struct. -ACADOS_SYMBOL_EXPORT void ocp_nlp_out_destroy(void *out); - - -/// Sets fields in the output struct of an nlp solver, used to initialize the solver. -/// -/// \param config The configuration struct. -/// \param dims The dimension struct. -/// \param out The output struct. -/// \param stage Stage number. -/// \param field The name of the field, either x, u, pi. -/// \param value Initialization values. -ACADOS_SYMBOL_EXPORT void ocp_nlp_out_set(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out, - int stage, const char *field, void *value); - - -/// Gets values of fields in the output struct of an nlp solver. -/// -/// \param config The configuration struct. -/// \param dims The dimension struct. -/// \param out The output struct. -/// \param stage Stage number. -/// \param field The name of the field, either x, u, z, pi. -/// \param value Pointer to the output memory. -ACADOS_SYMBOL_EXPORT void ocp_nlp_out_get(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out, - int stage, const char *field, void *value); - -// -ACADOS_SYMBOL_EXPORT void ocp_nlp_get_at_stage(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_solver *solver, - int stage, const char *field, void *value); - -// TODO(andrea): remove this once/if the MATLAB interface uses the new setters below? -ACADOS_SYMBOL_EXPORT int ocp_nlp_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out, - int stage, const char *field); - -ACADOS_SYMBOL_EXPORT void ocp_nlp_constraint_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out, - int stage, const char *field, int *dims_out); - -ACADOS_SYMBOL_EXPORT void ocp_nlp_cost_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out, - int stage, const char *field, int *dims_out); - -ACADOS_SYMBOL_EXPORT void ocp_nlp_qp_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out, - int stage, const char *field, int *dims_out); - -/* opts */ - -/// Creates an options struct for the non-linear program. -/// -/// \param config The configuration struct. -/// \param dims The dimension struct. -ACADOS_SYMBOL_EXPORT void *ocp_nlp_solver_opts_create(ocp_nlp_config *config, ocp_nlp_dims *dims); - -/// Destructor of the options. -/// -/// \param opts The options struct. -ACADOS_SYMBOL_EXPORT void ocp_nlp_solver_opts_destroy(void *opts); - -/// Sets an option. -/// -/// \param config The configuration struct. -/// \param opts_ The options struct. -/// \param field Name of the option. -/// \param value Value of the option. -ACADOS_SYMBOL_EXPORT void ocp_nlp_solver_opts_set(ocp_nlp_config *config, void *opts_, const char *field, void* value); - - -// ACADOS_SYMBOL_EXPORT void ocp_nlp_solver_opts_get(ocp_nlp_config *config, void *opts_, const char *field, void* value); - - -ACADOS_SYMBOL_EXPORT void ocp_nlp_solver_opts_set_at_stage(ocp_nlp_config *config, void *opts_, int stage, const char *field, void* value); - - -/// TBC -/// Updates the options. -/// -/// \param config The configuration struct. -/// \param dims The dimension struct. -/// \param opts_ The options struct. -ACADOS_SYMBOL_EXPORT void ocp_nlp_solver_opts_update(ocp_nlp_config *config, ocp_nlp_dims *dims, void *opts_); - - -/* solver */ - -/// Creates an ocp solver. -/// -/// \param config The configuration struct. -/// \param dims The dimension struct. -/// \param opts_ The options struct. -/// \return The solver. -ACADOS_SYMBOL_EXPORT ocp_nlp_solver *ocp_nlp_solver_create(ocp_nlp_config *config, ocp_nlp_dims *dims, void *opts_); - -/// Destructor of the solver. -/// -/// \param solver The solver struct. -ACADOS_SYMBOL_EXPORT void ocp_nlp_solver_destroy(void *solver); - -/// Solves the optimal control problem. Call ocp_nlp_precompute before -/// calling this functions (TBC). -/// -/// \param solver The solver struct. -/// \param nlp_in The inputs struct. -/// \param nlp_out The output struct. -ACADOS_SYMBOL_EXPORT int ocp_nlp_solve(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out); - - - -/// Resets the memory of the QP solver -/// -/// \param solver The solver struct. -/// \param nlp_in The inputs struct. -/// \param nlp_out The output struct. -ACADOS_SYMBOL_EXPORT void ocp_nlp_solver_reset_qp_memory(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out); - - -/// Performs precomputations for the solver. Needs to be called before -/// ocl_nlp_solve (TBC). -/// -/// \param solver The solver struct. -/// \param nlp_in The inputs struct. -/// \param nlp_out The output struct. -ACADOS_SYMBOL_EXPORT int ocp_nlp_precompute(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out); - - -/// Computes cost function value. -/// -/// \param solver The solver struct. -/// \param nlp_in The inputs struct. -/// \param nlp_out The output struct. -ACADOS_SYMBOL_EXPORT void ocp_nlp_eval_cost(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out); - - -/// Computes the residuals. -/// -/// \param solver The solver struct. -/// \param nlp_in The inputs struct. -/// \param nlp_out The output struct. -ACADOS_SYMBOL_EXPORT void ocp_nlp_eval_residuals(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out); - - -// -ACADOS_SYMBOL_EXPORT void ocp_nlp_eval_param_sens(ocp_nlp_solver *solver, char *field, int stage, int index, ocp_nlp_out *sens_nlp_out); - -/* get */ -/// \param config The configuration struct. -/// \param solver The solver struct. -/// \param field Supports "sqp_iter", "status", "nlp_res", "time_tot", ... -/// \param return_value_ Pointer to the output memory. -ACADOS_SYMBOL_EXPORT void ocp_nlp_get(ocp_nlp_config *config, ocp_nlp_solver *solver, - const char *field, void *return_value_); - -/* set */ -/// Sets the initial guesses for the integrator for the given stage. -/// -/// \param config The configuration struct. -/// \param solver The ocp_nlp_solver struct. -/// \param stage Stage number. -/// \param field Supports "z_guess", "xdot_guess" (IRK), "phi_guess" (GNSF-IRK) -/// \param value The initial guess for the algebraic variables in the integrator (if continuous model is used). -ACADOS_SYMBOL_EXPORT void ocp_nlp_set(ocp_nlp_config *config, ocp_nlp_solver *solver, - int stage, const char *field, void *value); - - - -#ifdef __cplusplus -} /* extern "C" */ -#endif - -#endif // INTERFACES_ACADOS_C_OCP_NLP_INTERFACE_H_ diff --git a/third_party/acados/include/acados_c/ocp_qp_interface.h b/third_party/acados/include/acados_c/ocp_qp_interface.h deleted file mode 100644 index 3dc3f1a532e50c..00000000000000 --- a/third_party/acados/include/acados_c/ocp_qp_interface.h +++ /dev/null @@ -1,263 +0,0 @@ -/* - * Copyright (c) The acados authors. - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - - -#ifndef INTERFACES_ACADOS_C_OCP_QP_INTERFACE_H_ -#define INTERFACES_ACADOS_C_OCP_QP_INTERFACE_H_ - -#ifdef __cplusplus -extern "C" { -#endif - -#include "acados/ocp_qp/ocp_qp_common.h" -#include "acados/ocp_qp/ocp_qp_xcond_solver.h" - - -/// QP solver types (Enumeration). -/// -/// Full list of fields: -/// PARTIAL_CONDENSING_HPIPM -/// PARTIAL_CONDENSING_HPMPC -/// PARTIAL_CONDENSING_OOQP -/// PARTIAL_CONDENSING_OSQP -/// PARTIAL_CONDENSING_QPDUNES -/// FULL_CONDENSING_HPIPM -/// FULL_CONDENSING_QPOASES -/// FULL_CONDENSING_QORE -/// FULL_CONDENSING_OOQP -/// INVALID_QP_SOLVER -/// -/// Note: In this enumeration the partial condensing solvers have to be -/// specified before the full condensing solvers. -typedef enum { - PARTIAL_CONDENSING_HPIPM, -#ifdef ACADOS_WITH_HPMPC - PARTIAL_CONDENSING_HPMPC, -#else - PARTIAL_CONDENSING_HPMPC_NOT_AVAILABLE, -#endif -#ifdef ACADOS_WITH_OOQP - PARTIAL_CONDENSING_OOQP, -#else - PARTIAL_CONDENSING_OOQP_NOT_AVAILABLE, -#endif -#ifdef ACADOS_WITH_OSQP - PARTIAL_CONDENSING_OSQP, -#else - PARTIAL_CONDENSING_OSQP_NOT_AVAILABLE, -#endif -#ifdef ACADOS_WITH_QPDUNES - PARTIAL_CONDENSING_QPDUNES, -#else - PARTIAL_CONDENSING_QPDUNES_NOT_AVAILABLE, -#endif - FULL_CONDENSING_HPIPM, -#ifdef ACADOS_WITH_QPOASES - FULL_CONDENSING_QPOASES, -#else - FULL_CONDENSING_QPOASES_NOT_AVAILABLE, -#endif -#ifdef ACADOS_WITH_DAQP - FULL_CONDENSING_DAQP, -#else - FULL_CONDENSING_DAQP_NOT_AVAILABLE, -#endif -#ifdef ACADOS_WITH_QORE - FULL_CONDENSING_QORE, -#else - FULL_CONDENSING_QORE_NOT_AVAILABLE, -#endif -#ifdef ACADOS_WITH_OOQP - FULL_CONDENSING_OOQP, -#else - FULL_CONDENSING_OOQP_NOT_AVAILABLE, -#endif - INVALID_QP_SOLVER, -} ocp_qp_solver_t; - - -/// Struct containing qp solver -typedef struct -{ - ocp_qp_solver_t qp_solver; -} ocp_qp_solver_plan_t; - - -/// Linear ocp configuration. -typedef struct -{ - ocp_qp_xcond_solver_config *config; - ocp_qp_xcond_solver_dims *dims; - void *opts; - void *mem; - void *work; -} ocp_qp_solver; - - -/// Initializes the qp solver configuration. -/// TBC should this be private/static - no, used in ocp_nlp -void ocp_qp_xcond_solver_config_initialize_from_plan( - ocp_qp_solver_t solver_name, ocp_qp_xcond_solver_config *solver_config); - -/// Constructs a qp solver config and Initializes with default values. -/// -/// \param plan The qp solver plan struct. -ocp_qp_xcond_solver_config *ocp_qp_xcond_solver_config_create(ocp_qp_solver_plan_t plan); - -/// Destructor for config struct, frees memory. -/// -/// \param config The config object to destroy. -void ocp_qp_xcond_solver_config_free(ocp_qp_xcond_solver_config *config); - - -/// Constructs a struct that contains the dimensions for the variables of the qp. -/// -/// \param N The number of variables. -ocp_qp_dims *ocp_qp_dims_create(int N); - -/// Destructor of The dimension struct. -/// -/// \param dims The dimension struct. -void ocp_qp_dims_free(void *dims); - -// -ocp_qp_xcond_solver_dims *ocp_qp_xcond_solver_dims_create(ocp_qp_xcond_solver_config *config, int N); -// -ocp_qp_xcond_solver_dims *ocp_qp_xcond_solver_dims_create_from_ocp_qp_dims( - ocp_qp_xcond_solver_config *config, ocp_qp_dims *dims); -// -void ocp_qp_xcond_solver_dims_free(ocp_qp_xcond_solver_dims *dims_); - -void ocp_qp_xcond_solver_dims_set(void *config_, ocp_qp_xcond_solver_dims *dims, - int stage, const char *field, int* value); - - -/// Constructs an input object for the qp. -/// -/// \param dims The dimension struct. -ocp_qp_in *ocp_qp_in_create(ocp_qp_dims *dims); - - -void ocp_qp_in_set(ocp_qp_xcond_solver_config *config, ocp_qp_in *in, - int stage, char *field, void *value); - -/// Destructor of the inputs struct. -/// -/// \param in_ The inputs struct. -void ocp_qp_in_free(void *in_); - - -/// Constructs an outputs object for the qp. -/// -/// \param dims The dimension struct. -ocp_qp_out *ocp_qp_out_create(ocp_qp_dims *dims); - -/// Destructor of the output struct. -/// -/// \param out_ The output struct. -void ocp_qp_out_free(void *out_); - - -/// Getter of output struct -void ocp_qp_out_get(ocp_qp_out *out, const char *field, void *value); - - -/// Constructs an options object for the qp. -/// -/// \param config The configuration struct. -/// \param dims The dimension struct. -void *ocp_qp_xcond_solver_opts_create(ocp_qp_xcond_solver_config *config, - ocp_qp_xcond_solver_dims *dims); - -/// Destructor of the options struct. -/// -/// \param opts The options struct to destroy. -void ocp_qp_xcond_solver_opts_free(ocp_qp_xcond_solver_opts *opts); - - -/// Setter of the options struct. -/// -/// \param opts The options struct. -void ocp_qp_xcond_solver_opts_set(ocp_qp_xcond_solver_config *config, - ocp_qp_xcond_solver_opts *opts, const char *field, void* value); - -/// TBC Should be private/static? -acados_size_t ocp_qp_calculate_size(ocp_qp_xcond_solver_config *config, ocp_qp_xcond_solver_dims *dims, void *opts_); - - -/// TBC Reserves memory? TBC Should this be private? -/// -/// \param config The configuration struct. -/// \param dims The dimension struct. -/// \param opts_ The options struct. -/// \param raw_memory Pointer to raw memory to assign to qp solver. -ocp_qp_solver *ocp_qp_assign(ocp_qp_xcond_solver_config *config, ocp_qp_xcond_solver_dims *dims, - void *opts_, void *raw_memory); - -/// Creates a qp solver. Reserves memory. -/// -/// \param config The configuration struct. -/// \param dims The dimension struct. -/// \param opts_ The options struct. -ocp_qp_solver *ocp_qp_create(ocp_qp_xcond_solver_config *config, - ocp_qp_xcond_solver_dims *dims, void *opts_); - - -/// Destroys a qp solver. Frees memory. -/// -/// \param solver The qp solver -void ocp_qp_solver_destroy(ocp_qp_solver *solver); - -void ocp_qp_x_cond_solver_free(ocp_qp_xcond_solver_config *config, - ocp_qp_xcond_solver_dims *dims, void *opts_); - - -/// Solves the qp. -/// -/// \param solver The solver. -/// \param qp_in The inputs struct. -/// \param qp_out The output struct. -int ocp_qp_solve(ocp_qp_solver *solver, ocp_qp_in *qp_in, ocp_qp_out *qp_out); - - -/// Calculates the infinity norm of the residuals. -/// -/// \param dims The dimension struct. -/// \param qp_in The inputs struct. -/// \param qp_out The output struct. -/// \param res Output array for the residuals. -void ocp_qp_inf_norm_residuals(ocp_qp_dims *dims, ocp_qp_in *qp_in, ocp_qp_out *qp_out, - double *res); - -#ifdef __cplusplus -} /* extern "C" */ -#endif - -#endif // INTERFACES_ACADOS_C_OCP_QP_INTERFACE_H_ diff --git a/third_party/acados/include/acados_c/sim_interface.h b/third_party/acados/include/acados_c/sim_interface.h deleted file mode 100644 index 09a05d6995cf3d..00000000000000 --- a/third_party/acados/include/acados_c/sim_interface.h +++ /dev/null @@ -1,137 +0,0 @@ -/* - * Copyright (c) The acados authors. - * - * This file is part of acados. - * - * The 2-Clause BSD License - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, - * this list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE.; - */ - - -#ifndef INTERFACES_ACADOS_C_SIM_INTERFACE_H_ -#define INTERFACES_ACADOS_C_SIM_INTERFACE_H_ - -#ifdef __cplusplus -extern "C" { -#endif - -#include "acados/sim/sim_common.h" - - - -typedef enum -{ - ERK, - IRK, - GNSF, - LIFTED_IRK, - INVALID_SIM_SOLVER, -} sim_solver_t; - - - -typedef struct -{ - sim_solver_t sim_solver; -} sim_solver_plan_t; - - - -typedef struct -{ - sim_config *config; - void *dims; - void *opts; - void *mem; - void *work; -} sim_solver; - - - -/* config */ -// -ACADOS_SYMBOL_EXPORT sim_config *sim_config_create(sim_solver_plan_t plan); -// -ACADOS_SYMBOL_EXPORT void sim_config_destroy(void *config); - -/* dims */ -// -ACADOS_SYMBOL_EXPORT void *sim_dims_create(void *config_); -// -ACADOS_SYMBOL_EXPORT void sim_dims_destroy(void *dims); -// -ACADOS_SYMBOL_EXPORT void sim_dims_set(sim_config *config, void *dims, const char *field, const int* value); -// -ACADOS_SYMBOL_EXPORT void sim_dims_get(sim_config *config, void *dims, const char *field, int* value); -// -ACADOS_SYMBOL_EXPORT void sim_dims_get_from_attr(sim_config *config, void *dims, const char *field, int *dims_out); - -/* in */ -// -ACADOS_SYMBOL_EXPORT sim_in *sim_in_create(sim_config *config, void *dims); -// -ACADOS_SYMBOL_EXPORT void sim_in_destroy(void *out); -// -ACADOS_SYMBOL_EXPORT int sim_in_set(void *config_, void *dims_, sim_in *in, const char *field, void *value); - - -/* out */ -// -ACADOS_SYMBOL_EXPORT sim_out *sim_out_create(sim_config *config, void *dims); -// -ACADOS_SYMBOL_EXPORT void sim_out_destroy(void *out); -// -ACADOS_SYMBOL_EXPORT int sim_out_get(void *config, void *dims, sim_out *out, const char *field, void *value); - -/* opts */ -// -ACADOS_SYMBOL_EXPORT void *sim_opts_create(sim_config *config, void *dims); -// -ACADOS_SYMBOL_EXPORT void sim_opts_destroy(void *opts); -// -ACADOS_SYMBOL_EXPORT void sim_opts_set(sim_config *config, void *opts, const char *field, void *value); -// -ACADOS_SYMBOL_EXPORT void sim_opts_get(sim_config *config, void *opts, const char *field, void *value); - -/* solver */ -// -ACADOS_SYMBOL_EXPORT acados_size_t sim_calculate_size(sim_config *config, void *dims, void *opts_); -// -ACADOS_SYMBOL_EXPORT sim_solver *sim_assign(sim_config *config, void *dims, void *opts_, void *raw_memory); -// -ACADOS_SYMBOL_EXPORT sim_solver *sim_solver_create(sim_config *config, void *dims, void *opts_); -// -ACADOS_SYMBOL_EXPORT void sim_solver_destroy(void *solver); -// -ACADOS_SYMBOL_EXPORT int sim_solve(sim_solver *solver, sim_in *in, sim_out *out); -// -ACADOS_SYMBOL_EXPORT int sim_precompute(sim_solver *solver, sim_in *in, sim_out *out); -// -ACADOS_SYMBOL_EXPORT int sim_solver_set(sim_solver *solver, const char *field, void *value); - -#ifdef __cplusplus -} /* extern "C" */ -#endif - -#endif // INTERFACES_ACADOS_C_SIM_INTERFACE_H_ diff --git a/third_party/acados/include/blasfeo/include/blasfeo.h b/third_party/acados/include/blasfeo/include/blasfeo.h deleted file mode 100644 index c8549181937dee..00000000000000 --- a/third_party/acados/include/blasfeo/include/blasfeo.h +++ /dev/null @@ -1,52 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of BLASFEO. * -* * -* BLASFEO -- BLAS For Embedded Optimization. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#include "blasfeo_processor_features.h" -#include "blasfeo_target.h" -#include "blasfeo_block_size.h" -#include "blasfeo_stdlib.h" -#include "blasfeo_common.h" -#include "blasfeo_d_aux.h" -#include "blasfeo_d_aux_ext_dep.h" -#include "blasfeo_d_kernel.h" -#include "blasfeo_d_blas.h" -#include "blasfeo_s_aux.h" -#include "blasfeo_s_aux_ext_dep.h" -#include "blasfeo_s_kernel.h" -#include "blasfeo_s_blas.h" -#include "blasfeo_i_aux_ext_dep.h" -#include "blasfeo_v_aux_ext_dep.h" -#include "blasfeo_timing.h" -#include "blasfeo_memory.h" diff --git a/third_party/acados/include/blasfeo/include/blasfeo_block_size.h b/third_party/acados/include/blasfeo/include/blasfeo_block_size.h deleted file mode 100644 index 5d0907a61cfea2..00000000000000 --- a/third_party/acados/include/blasfeo/include/blasfeo_block_size.h +++ /dev/null @@ -1,447 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of BLASFEO. * -* * -* BLASFEO -- BLAS For Embedded Optimization. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef BLASFEO_BLOCK_SIZE_H_ -#define BLASFEO_BLOCK_SIZE_H_ - - - -#define D_EL_SIZE 8 // double precision -#define S_EL_SIZE 4 // single precision - - - -#if defined( TARGET_X64_INTEL_SKYLAKE_X ) -// common -#define CACHE_LINE_SIZE 64 // data cache size: 64 bytes -#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB, 8-way -#define L2_CACHE_SIZE (256*1024) //(1024*1024) // L2 data cache size: 1 MB ; DTLB1 64*4 kB = 256 kB -#define LLC_CACHE_SIZE (6*1024*1024) //(8*1024*1024) // LLC cache size: 8 MB ; TLB 1536*4 kB = 6 MB -// double -#define D_PS 8 // panel size -#define D_PLD 8 // 4 // GCD of panel length -#define D_M_KERNEL 24 // max kernel size -#define D_N_KERNEL 8 // max kernel size -#define D_KC 128 //256 // 192 -#define D_NC 144 //72 //96 //72 // 120 // 512 -#define D_MC 2400 // 6000 -// single -#define S_PS 16 // panel size -#define S_PLD 4 // GCD of panel length TODO probably 16 when writing assebly -#define S_M_KERNEL 32 // max kernel size -#define S_N_KERNEL 8 // max kernel size -#define S_KC 128 //256 -#define S_NC 128 //144 -#define S_MC 3000 - -#elif defined( TARGET_X64_INTEL_HASWELL ) -// common -#define CACHE_LINE_SIZE 64 // data cache size: 64 bytes -#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB, 8-way -#define L2_CACHE_SIZE (256*1024) // L2 data cache size: 256 kB ; DTLB1 64*4 kB = 256 kB -#define LLC_CACHE_SIZE (6*1024*1024) // LLC cache size: 6 MB ; TLB 1024*4 kB = 4 MB -// double -#define D_PS 4 // panel size -#define D_PLD 4 // 2 // GCD of panel length -#define D_M_KERNEL 12 // max kernel size -#define D_N_KERNEL 8 // max kernel size -#define D_KC 256 // 192 -#define D_NC 64 //96 //72 // 120 // 512 -#define D_MC 1500 -// single -#define S_PS 8 // panel size -#define S_PLD 4 // 2 // GCD of panel length -#define S_M_KERNEL 24 // max kernel size -#define S_N_KERNEL 8 // max kernel size -#define S_KC 256 -#define S_NC 144 -#define S_MC 3000 - -#elif defined( TARGET_X64_INTEL_SANDY_BRIDGE ) -// common -#define CACHE_LINE_SIZE 64 // data cache size: 64 bytes -#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB, 8-way -#define L2_CACHE_SIZE (256*1024) // L2 data cache size: 256 kB ; DTLB1 64*4 kB = 256 kB -#define LLC_CACHE_SIZE (4*1024*1024) // LLC cache size: 4 MB ; TLB 1024*4 kB = 4 MB -// double -#define D_PS 4 // panel size -#define D_PLD 4 // 2 // GCD of panel length -#define D_M_KERNEL 8 // max kernel size -#define D_N_KERNEL 4 // max kernel size -#define D_KC 256 //320 //256 //320 -#define D_NC 72 //64 //72 //60 // 120 -#define D_MC 1000 // 800 -// single -#define S_PS 8 // panel size -#define S_PLD 4 // 2 // GCD of panel length -#define S_M_KERNEL 16 // max kernel size -#define S_N_KERNEL 8 // max kernel size -#define S_KC 256 -#define S_NC 144 -#define S_MC 2000 - -#elif defined( TARGET_X64_INTEL_CORE ) -// common -#define CACHE_LINE_SIZE 64 -#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB -// double -#define D_PS 4 // panel size -#define D_PLD 4 // 2 // GCD of panel length -#define D_M_KERNEL 4 // max kernel size -#define D_N_KERNEL 4 // max kernel size -#define D_KC 256 -#define D_NC 128 // TODO these are just dummy -#define D_MC 3000 // TODO these are just dummy -// single -#define S_PS 4 -#define S_PLD 4 //2 -#define S_M_KERNEL 4 // max kernel size -#define S_N_KERNEL 4 // max kernel size -#define S_KC 256 -#define S_NC 128 // TODO these are just dummy -#define S_MC 3000 // TODO these are just dummy - -#elif defined( TARGET_X64_AMD_BULLDOZER ) -// common -#define CACHE_LINE_SIZE 64 -#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB -// double -#define D_PS 4 // panel size -#define D_PLD 4 // 2 // GCD of panel length -#define D_M_KERNEL 4 // max kernel size -#define D_N_KERNEL 4 // max kernel size -#define D_KC 256 -#define D_NC 128 // TODO these are just dummy -#define D_MC 3000 // TODO these are just dummy -// single -#define S_PS 4 -#define S_PLD 4 //2 -#define S_M_KERNEL 4 // max kernel size -#define S_N_KERNEL 4 // max kernel size -#define S_KC 256 -#define S_NC 128 // TODO these are just dummy -#define S_MC 3000 // TODO these are just dummy - - -#elif defined( TARGET_X86_AMD_JAGUAR ) -// common -#define CACHE_LINE_SIZE 64 -#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB -// double -#define D_PS 4 // panel size -#define D_PLD 4 // 2 // GCD of panel length -#define D_M_KERNEL 4 // max kernel size -#define D_N_KERNEL 4 // max kernel size -#define D_KC 256 -#define D_NC 128 // TODO these are just dummy -#define D_MC 3000 // TODO these are just dummy -// single -#define S_PS 4 -#define S_PLD 4 //2 -#define S_M_KERNEL 4 // max kernel size -#define S_N_KERNEL 4 // max kernel size -#define S_KC 256 -#define S_NC 128 // TODO these are just dummy -#define S_MC 3000 // TODO these are just dummy - - -#elif defined( TARGET_X86_AMD_BARCELONA ) -// common -#define CACHE_LINE_SIZE 64 -#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB -// double -#define D_PS 4 // panel size -#define D_PLD 4 // 2 // GCD of panel length -#define D_M_KERNEL 4 // max kernel size -#define D_N_KERNEL 4 // max kernel size -#define D_KC 256 -#define D_NC 128 // TODO these are just dummy -#define D_MC 3000 // TODO these are just dummy -// single -#define S_PS 4 -#define S_PLD 4 //2 -#define S_M_KERNEL 4 // max kernel size -#define S_N_KERNEL 4 // max kernel size -#define S_KC 256 -#define S_NC 128 // TODO these are just dummy -#define S_MC 3000 // TODO these are just dummy - - -#elif defined(TARGET_ARMV8A_APPLE_M1) -// common -#define CACHE_LINE_SIZE 64 -#define L1_CACHE_SIZE (128*1024) // L1 data cache size (big cores): 64 kB, ?-way ; DTLB1 ? -#define LLC_CACHE_SIZE (12*1024*1024) // LLC (L2) cache size (big cores): 12 MB -// double -#define D_PS 4 // panel size -#define D_PLD 4 // 2 // GCD of panel length -#define D_M_KERNEL 8 // max kernel size -#define D_N_KERNEL 4 // max kernel size -#define D_KC 512 //256 -#define D_NC 128 //256 -#define D_MC 6000 -// single -#define S_PS 4 -#define S_PLD 4 //2 -#define S_M_KERNEL 8 // max kernel size -#define S_N_KERNEL 8 // max kernel size -#define S_KC 512 -#define S_NC 256 -#define S_MC 6000 - - -#elif defined(TARGET_ARMV8A_ARM_CORTEX_A76) -// common -#define CACHE_LINE_SIZE 64 -#define L1_CACHE_SIZE (64*1024) // L1 data cache size: 64 kB, 4-way ; DTLB1 48*4 kB = 192 kB -#define LLC_CACHE_SIZE (1*1024*1024) // LLC cache size: 1 MB -// double -#define D_PS 4 // panel size -#define D_PLD 4 // 2 // GCD of panel length -#define D_M_KERNEL 8 // max kernel size -#define D_N_KERNEL 4 // max kernel size -#define D_KC 512 //256 -#define D_NC 128 //256 -#define D_MC 6000 -// single -#define S_PS 4 -#define S_PLD 4 //2 -#define S_M_KERNEL 8 // max kernel size -#define S_N_KERNEL 8 // max kernel size -#define S_KC 512 -#define S_NC 256 -#define S_MC 6000 - - -#elif defined(TARGET_ARMV8A_ARM_CORTEX_A73) -// common -#define CACHE_LINE_SIZE 64 -#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 (64?) kB, 4-way, seen as 8-(16-)way ; DTLB1 48*4 kB = 192 kB -#define LLC_CACHE_SIZE (1*1024*1024) // LLC cache size: 1 MB -// double -#define D_PS 4 // panel size -#define D_PLD 4 // 2 // GCD of panel length -#define D_M_KERNEL 8 // max kernel size -#define D_N_KERNEL 4 // max kernel size -#define D_KC 320 -#define D_NC 256 -#define D_MC 6000 -// single -#define S_PS 4 -#define S_PLD 4 //2 -#define S_M_KERNEL 8 // max kernel size -#define S_N_KERNEL 8 // max kernel size -#define S_KC 256 -#define S_NC 128 // TODO these are just dummy -#define S_MC 3000 // TODO these are just dummy - - -#elif defined(TARGET_ARMV8A_ARM_CORTEX_A57) -// common -#define CACHE_LINE_SIZE 64 -#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB, 2-way ; DTLB1 32*4 kB = 128 kB -#define LLC_CACHE_SIZE (1*1024*1024) // LLC cache size: 1 MB // 2 MB ??? -// double -#define D_PS 4 // panel size -#define D_PLD 4 // 2 // GCD of panel length -#define D_M_KERNEL 8 // max kernel size -#define D_N_KERNEL 4 // max kernel size -#define D_KC 128 //224 //256 //192 -#define D_NC 72 //40 //36 //48 -#define D_MC (4*192) //512 //488 //600 -// single -#define S_PS 4 -#define S_PLD 4 //2 -#define S_M_KERNEL 8 // max kernel size -#define S_N_KERNEL 8 // max kernel size -#define S_KC 256 -#define S_NC 128 // TODO these are just dummy -#define S_MC 3000 // TODO these are just dummy - - -#elif defined(TARGET_ARMV8A_ARM_CORTEX_A55) -// common -#define CACHE_LINE_SIZE 64 -#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB, 4-way ; DTLB1 16*4 kB = 64 kB -#define LLC_CACHE_SIZE (512*1024) // LLC cache size: 512 kB -// double -#define D_PS 4 // panel size -#define D_PLD 4 // 2 // GCD of panel length -#define D_M_KERNEL 12 // max kernel size -#define D_N_KERNEL 4 // max kernel size -#define D_KC 224 -#define D_NC 160 -#define D_MC 6000 -// single -#define S_PS 4 -#define S_PLD 4 //2 -#define S_M_KERNEL 8 // max kernel size -#define S_N_KERNEL 8 // max kernel size -#define S_KC 256 -#define S_NC 128 // TODO these are just dummy -#define S_MC 3000 // TODO these are just dummy - - -#elif defined(TARGET_ARMV8A_ARM_CORTEX_A53) -// common -#define CACHE_LINE_SIZE 64 -#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB, 4-way ??? ; DTLB1 10*4 kB = 40 kB -#define LLC_CACHE_SIZE (256*1024) // LLC cache size: 256 kB -// double -#define D_PS 4 // panel size -#define D_PLD 4 // 2 // GCD of panel length -#define D_M_KERNEL 12 // max kernel size -#define D_N_KERNEL 4 // max kernel size -#define D_KC 160 -#define D_NC 128 -#define D_MC 6000 -// single -#define S_PS 4 -#define S_PLD 4 //2 -#define S_M_KERNEL 8 // max kernel size -#define S_N_KERNEL 8 // max kernel size -#define S_KC 256 -#define S_NC 128 // TODO these are just dummy -#define S_MC 3000 // TODO these are just dummy - - -#elif defined( TARGET_ARMV7A_ARM_CORTEX_A15 ) -// common -#define CACHE_LINE_SIZE 64 -#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB -// double -#define D_PS 4 // panel size -#define D_PLD 4 // 2 // GCD of panel length -#define D_M_KERNEL 4 // max kernel size -#define D_N_KERNEL 4 // max kernel size -#define D_KC 256 -#define D_NC 128 // TODO these are just dummy -#define D_MC 3000 // TODO these are just dummy -// single -#define S_PS 4 -#define S_PLD 4 //2 -#define S_M_KERNEL 4 // max kernel size -#define S_N_KERNEL 4 // max kernel size -#define S_KC 256 -#define S_NC 128 // TODO these are just dummy -#define S_MC 3000 // TODO these are just dummy - - -#elif defined( TARGET_ARMV7A_ARM_CORTEX_A7 ) -// common -#define CACHE_LINE_SIZE 64 -#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB -// double -#define D_PS 4 // panel size -#define D_PLD 4 // 2 // GCD of panel length -#define D_M_KERNEL 4 // max kernel size -#define D_N_KERNEL 4 // max kernel size -#define D_KC 256 -#define D_NC 128 // TODO these are just dummy -#define D_MC 3000 // TODO these are just dummy -// single -#define S_PS 4 -#define S_PLD 4 //2 -#define S_M_KERNEL 4 // max kernel size -#define S_N_KERNEL 4 // max kernel size -#define S_KC 256 -#define S_NC 128 // TODO these are just dummy -#define S_MC 3000 // TODO these are just dummy - - -#elif defined( TARGET_ARMV7A_ARM_CORTEX_A9 ) -// common -#define CACHE_LINE_SIZE 32 -#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB -// double -#define D_PS 4 // panel size -#define D_PLD 4 // 2 // GCD of panel length -#define D_M_KERNEL 4 // max kernel size -#define D_N_KERNEL 4 // max kernel size -#define D_KC 256 -#define D_NC 128 // TODO these are just dummy -#define D_MC 3000 // TODO these are just dummy -// single -#define S_PS 4 -#define S_PLD 4 //2 -#define S_M_KERNEL 4 // max kernel size -#define S_N_KERNEL 4 // max kernel size -#define S_KC 256 -#define S_NC 128 // TODO these are just dummy -#define S_MC 3000 // TODO these are just dummy - - -#elif defined( TARGET_GENERIC ) -// common -#define CACHE_LINE_SIZE 64 -#define L1_CACHE_SIZE (32*1024) // L1 data cache size: 32 kB -// double -#define D_PS 4 // panel size -#define D_PLD 4 // 2 // GCD of panel length -#define D_M_KERNEL 4 // max kernel size -#define D_N_KERNEL 4 // max kernel size -#define D_KC 256 -#define D_NC 128 // TODO these are just dummy -#define D_MC 3000 // TODO these are just dummy - -// single -#define S_PS 4 -#define S_PLD 4 //2 -#define S_M_KERNEL 4 // max kernel size -#define S_N_KERNEL 4 // max kernel size -#define S_KC 256 -#define S_NC 128 // TODO these are just dummy -#define S_MC 3000 // TODO these are just dummy - - -#else -#error "Unknown architecture" -#endif - - - -#define D_CACHE_LINE_EL (CACHE_LINE_SIZE/D_EL_SIZE) -#define D_L1_CACHE_EL (L1_CACHE_SIZE/D_EL_SIZE) -#define D_L2_CACHE_EL (L2_CACHE_SIZE/D_EL_SIZE) -#define D_LLC_CACHE_EL (LLC_CACHE_SIZE/D_EL_SIZE) - -#define S_CACHE_LINE_EL (CACHE_LINE_SIZE/S_EL_SIZE) -#define S_L1_CACHE_EL (L1_CACHE_SIZE/S_EL_SIZE) -#define S_L2_CACHE_EL (L2_CACHE_SIZE/S_EL_SIZE) -#define S_LLC_CACHE_EL (LLC_CACHE_SIZE/S_EL_SIZE) - - - -#endif // BLASFEO_BLOCK_SIZE_H_ diff --git a/third_party/acados/include/blasfeo/include/blasfeo_common.h b/third_party/acados/include/blasfeo/include/blasfeo_common.h deleted file mode 100644 index 03b6c36d84b9bd..00000000000000 --- a/third_party/acados/include/blasfeo/include/blasfeo_common.h +++ /dev/null @@ -1,274 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of BLASFEO. * -* * -* BLASFEO -- BLAS For Embedded Optimization. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef BLASFEO_COMMON_H_ -#define BLASFEO_COMMON_H_ - - - -#include "blasfeo_target.h" - - - -#ifdef __cplusplus -extern "C" { -#endif - - - -#if defined(__GNUC__) || defined(__clang__) || defined(__INTEL_COMPILER) || defined(__ICL) || defined(__ICC) || defined(__INTEL_LLVM_COMPILER) -#define ALIGNED(VEC, BYTES) VEC __attribute__ ((aligned ( BYTES ))) -#elif defined (_MSC_VER) -#define ALIGNED(VEC, BYTES) __declspec(align( BYTES )) VEC -#else -#define ALIGNED(VEC, BYTES) VEC -#endif - - - - -#if ( defined(LA_HIGH_PERFORMANCE) & defined(MF_PANELMAJ) ) | ( defined(LA_REFERENCE) & defined(MF_PANELMAJ) ) - -#include "blasfeo_block_size.h" - -// matrix structure -struct blasfeo_dmat - { - double *mem; // pointer to passed chunk of memory - double *pA; // pointer to a pm*pn array of doubles, the first is aligned to cache line size - double *dA; // pointer to a min(m,n) (or max???) array of doubles - int m; // rows - int n; // cols - int pm; // packed number or rows - int cn; // packed number or cols - int use_dA; // flag to tell if dA can be used - int memsize; // size of needed memory - }; - -struct blasfeo_smat - { - float *mem; // pointer to passed chunk of memory - float *pA; // pointer to a pm*pn array of floats, the first is aligned to cache line size - float *dA; // pointer to a min(m,n) (or max???) array of floats - int m; // rows - int n; // cols - int pm; // packed number or rows - int cn; // packed number or cols - int use_dA; // flag to tell if dA can be used - int memsize; // size of needed memory - }; - -// vector structure -struct blasfeo_dvec - { - double *mem; // pointer to passed chunk of memory - double *pa; // pointer to a pm array of doubles, the first is aligned to cache line size - int m; // size - int pm; // packed size - int memsize; // size of needed memory - }; - -struct blasfeo_svec - { - float *mem; // pointer to passed chunk of memory - float *pa; // pointer to a pm array of floats, the first is aligned to cache line size - int m; // size - int pm; // packed size - int memsize; // size of needed memory - }; - -#define BLASFEO_DMATEL(sA,ai,aj) ((sA)->pA[((ai)-((ai)&(D_PS-1)))*(sA)->cn+(aj)*D_PS+((ai)&(D_PS-1))]) -#define BLASFEO_SMATEL(sA,ai,aj) ((sA)->pA[((ai)-((ai)&(S_PS-1)))*(sA)->cn+(aj)*S_PS+((ai)&(S_PS-1))]) -#define BLASFEO_DVECEL(sa,ai) ((sa)->pa[ai]) -#define BLASFEO_SVECEL(sa,ai) ((sa)->pa[ai]) - -#elif ( defined(LA_HIGH_PERFORMANCE) & defined(MF_COLMAJ) ) | ( defined(LA_REFERENCE) & defined(MF_COLMAJ) ) | defined(LA_EXTERNAL_BLAS_WRAPPER) - -// matrix structure -struct blasfeo_dmat - { - double *mem; // pointer to passed chunk of memory - double *pA; // pointer to a m*n array of doubles - double *dA; // pointer to a min(m,n) (or max???) array of doubles - int m; // rows - int n; // cols - int use_dA; // flag to tell if dA can be used - int memsize; // size of needed memory - }; - -struct blasfeo_smat - { - float *mem; // pointer to passed chunk of memory - float *pA; // pointer to a m*n array of floats - float *dA; // pointer to a min(m,n) (or max???) array of floats - int m; // rows - int n; // cols - int use_dA; // flag to tell if dA can be used - int memsize; // size of needed memory - }; - -// vector structure -struct blasfeo_dvec - { - double *mem; // pointer to passed chunk of memory - double *pa; // pointer to a m array of doubles, the first is aligned to cache line size - int m; // size - int memsize; // size of needed memory - }; - -struct blasfeo_svec - { - float *mem; // pointer to passed chunk of memory - float *pa; // pointer to a m array of floats, the first is aligned to cache line size - int m; // size - int memsize; // size of needed memory - }; - -#define BLASFEO_DMATEL(sA,ai,aj) ((sA)->pA[(ai)+(aj)*(sA)->m]) -#define BLASFEO_SMATEL(sA,ai,aj) ((sA)->pA[(ai)+(aj)*(sA)->m]) -#define BLASFEO_DVECEL(sa,ai) ((sa)->pa[ai]) -#define BLASFEO_SVECEL(sa,ai) ((sa)->pa[ai]) - -#else - -#error : wrong LA or MF choice - -#endif - - - -// Explicitly panel-major matrix structure -struct blasfeo_pm_dmat - { - double *mem; // pointer to passed chunk of memory - double *pA; // pointer to a pm*pn array of doubles, the first is aligned to cache line size - double *dA; // pointer to a min(m,n) (or max???) array of doubles - int m; // rows - int n; // cols - int pm; // packed number or rows - int cn; // packed number or cols - int use_dA; // flag to tell if dA can be used - int ps; // panel size - int memsize; // size of needed memory - }; - -struct blasfeo_pm_smat - { - float *mem; // pointer to passed chunk of memory - float *pA; // pointer to a pm*pn array of floats, the first is aligned to cache line size - float *dA; // pointer to a min(m,n) (or max???) array of floats - int m; // rows - int n; // cols - int pm; // packed number or rows - int cn; // packed number or cols - int use_dA; // flag to tell if dA can be used - int ps; // panel size - int memsize; // size of needed memory - }; - -struct blasfeo_pm_dvec - { - double *mem; // pointer to passed chunk of memory - double *pa; // pointer to a pm array of doubles, the first is aligned to cache line size - int m; // size - int pm; // packed size - int memsize; // size of needed memory - }; - -struct blasfeo_pm_svec - { - float *mem; // pointer to passed chunk of memory - float *pa; // pointer to a pm array of floats, the first is aligned to cache line size - int m; // size - int pm; // packed size - int memsize; // size of needed memory - }; - -// Explicitly column-major matrix structure -struct blasfeo_cm_dmat - { - double *mem; // pointer to passed chunk of memory - double *pA; // pointer to a m*n array of doubles - double *dA; // pointer to a min(m,n) (or max???) array of doubles - int m; // rows - int n; // cols - int use_dA; // flag to tell if dA can be used - int memsize; // size of needed memory - }; - -struct blasfeo_cm_smat - { - float *mem; // pointer to passed chunk of memory - float *pA; // pointer to a m*n array of floats - float *dA; // pointer to a min(m,n) (or max???) array of floats - int m; // rows - int n; // cols - int use_dA; // flag to tell if dA can be used - int memsize; // size of needed memory - }; - -struct blasfeo_cm_dvec - { - double *mem; // pointer to passed chunk of memory - double *pa; // pointer to a m array of doubles, the first is aligned to cache line size - int m; // size - int memsize; // size of needed memory - }; - -struct blasfeo_cm_svec - { - float *mem; // pointer to passed chunk of memory - float *pa; // pointer to a m array of floats, the first is aligned to cache line size - int m; // size - int memsize; // size of needed memory - }; - - -#define BLASFEO_PM_DMATEL(sA,ai,aj) ((sA)->pA[((ai)-((ai)&((sA)->ps-1)))*(sA)->cn+(aj)*((sA)->ps)+((ai)&((sA)->ps-1))]) -#define BLASFEO_PM_SMATEL(sA,ai,aj) ((sA)->pA[((ai)-((ai)&((sA)->ps-1)))*(sA)->cn+(aj)*((sA)->ps)+((ai)&((sA)->ps-1))]) -#define BLASFEO_PM_DVECEL(sa,ai) ((sa)->pa[ai]) -#define BLASFEO_PM_SVECEL(sa,ai) ((sa)->pa[ai]) -#define BLASFEO_CM_DMATEL(sA,ai,aj) ((sA)->pA[(ai)+(aj)*(sA)->m]) -#define BLASFEO_CM_SMATEL(sA,ai,aj) ((sA)->pA[(ai)+(aj)*(sA)->m]) -#define BLASFEO_CM_DVECEL(sa,ai) ((sa)->pa[ai]) -#define BLASFEO_CM_SVECEL(sa,ai) ((sa)->pa[ai]) - - - -#ifdef __cplusplus -} -#endif - -#endif // BLASFEO_COMMON_H_ diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_aux.h b/third_party/acados/include/blasfeo/include/blasfeo_d_aux.h deleted file mode 100644 index a6d6119c6c1446..00000000000000 --- a/third_party/acados/include/blasfeo/include/blasfeo_d_aux.h +++ /dev/null @@ -1,255 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of BLASFEO. * -* * -* BLASFEO -- BLAS For Embedded Optimization. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -/* - * auxiliary algebra operations header - * - * include/blasfeo_aux_lib*.h - * - */ - -#ifndef BLASFEO_D_AUX_H_ -#define BLASFEO_D_AUX_H_ - - - -#include - -#include "blasfeo_common.h" -#include "blasfeo_d_aux_old.h" - - - -#ifdef __cplusplus -extern "C" { -#endif - - -// --- memory size calculations -// -// returns the memory size (in bytes) needed for a dmat -size_t blasfeo_memsize_dmat(int m, int n); -// returns the memory size (in bytes) needed for the diagonal of a dmat -size_t blasfeo_memsize_diag_dmat(int m, int n); -// returns the memory size (in bytes) needed for a dvec -size_t blasfeo_memsize_dvec(int m); - -// --- creation -// -// create a strmat for a matrix of size m*n by using memory passed by a pointer (pointer is not updated) -void blasfeo_create_dmat(int m, int n, struct blasfeo_dmat *sA, void *memory); -// create a strvec for a vector of size m by using memory passed by a pointer (pointer is not updated) -void blasfeo_create_dvec(int m, struct blasfeo_dvec *sA, void *memory); - -// --- packing -// pack the column-major matrix A into the matrix struct B -void blasfeo_pack_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sB, int bi, int bj); -// pack the lower-triangular column-major matrix A into the matrix struct B -void blasfeo_pack_l_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sB, int bi, int bj); -// pack the upper-triangular column-major matrix A into the matrix struct B -void blasfeo_pack_u_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sB, int bi, int bj); -// transpose and pack the column-major matrix A into the matrix struct B -void blasfeo_pack_tran_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sB, int bi, int bj); -// pack the vector x into the vector structure y -void blasfeo_pack_dvec(int m, double *x, int xi, struct blasfeo_dvec *sy, int yi); -// unpack the matrix structure A into the column-major matrix B -void blasfeo_unpack_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, double *B, int ldb); -// transpose and unpack the matrix structure A into the column-major matrix B -void blasfeo_unpack_tran_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, double *B, int ldb); -// pack the vector structure x into the vector y -void blasfeo_unpack_dvec(int m, struct blasfeo_dvec *sx, int xi, double *y, int yi); - -// --- cast -// -//void d_cast_mat2strmat(double *A, struct blasfeo_dmat *sA); // TODO -//void d_cast_diag_mat2strmat(double *dA, struct blasfeo_dmat *sA); // TODO -//void d_cast_vec2vecmat(double *a, struct blasfeo_dvec *sx); // TODO - - -// ge -// --- insert/extract -// -// sA[ai, aj] <= a -void blasfeo_dgein1(double a, struct blasfeo_dmat *sA, int ai, int aj); -// <= sA[ai, aj] -double blasfeo_dgeex1(struct blasfeo_dmat *sA, int ai, int aj); - -// --- set -// A <= alpha -void blasfeo_dgese(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj); - -// --- copy / scale -// B <= A -void blasfeo_dgecp(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj); -// A <= alpha*A -void blasfeo_dgesc(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj); -// B <= alpha*A -void blasfeo_dgecpsc(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj); -// B <= A, A lower triangular -void blasfeo_dtrcp_l(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj); -void blasfeo_dtrcpsc_l(int m, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj); -void blasfeo_dtrsc_l(int m, double alpha, struct blasfeo_dmat *sA, int ai, int aj); - -// --- sum -// B <= B + alpha*A -void blasfeo_dgead(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj); -// y <= y + alpha*x -void blasfeo_dvecad(int m, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi); - -// --- traspositions -// B <= A' -void blasfeo_dgetr(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj); -// B <= A', A lower triangular -void blasfeo_dtrtr_l(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj); -// B <= A', A upper triangular -void blasfeo_dtrtr_u(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj); - -// dia -// diag(A) += alpha -void blasfeo_ddiare(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj); -// diag(A) <= alpha*x -void blasfeo_ddiain(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj); -// diag(A)[idx] <= alpha*x -void blasfeo_ddiain_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj); -// x <= diag(A) -void blasfeo_ddiaex(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi); -// x <= diag(A)[idx] -void blasfeo_ddiaex_sp(int kmax, double alpha, int *idx, struct blasfeo_dmat *sD, int di, int dj, struct blasfeo_dvec *sx, int xi); -// diag(A) += alpha*x -void blasfeo_ddiaad(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj); -// diag(A)[idx] += alpha*x -void blasfeo_ddiaad_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj); -// diag(A)[idx] = y + alpha*x -void blasfeo_ddiaadin_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, int *idx, struct blasfeo_dmat *sD, int di, int dj); - -// row -void blasfeo_drowin(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj); -void blasfeo_drowex(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi); -void blasfeo_drowad(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj); -void blasfeo_drowad_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj); -void blasfeo_drowsw(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj); -void blasfeo_drowpe(int kmax, int *ipiv, struct blasfeo_dmat *sA); -void blasfeo_drowpei(int kmax, int *ipiv, struct blasfeo_dmat *sA); - -// col -void blasfeo_dcolex(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi); -void blasfeo_dcolin(int kmax, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj); -void blasfeo_dcolad(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj); -void blasfeo_dcolsc(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj); -void blasfeo_dcolsw(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj); -void blasfeo_dcolpe(int kmax, int *ipiv, struct blasfeo_dmat *sA); -void blasfeo_dcolpei(int kmax, int *ipiv, struct blasfeo_dmat *sA); - -// vec -// a <= alpha -void blasfeo_dvecse(int m, double alpha, struct blasfeo_dvec *sx, int xi); -// sx[xi] <= a -void blasfeo_dvecin1(double a, struct blasfeo_dvec *sx, int xi); -// <= sx[xi] -double blasfeo_dvecex1(struct blasfeo_dvec *sx, int xi); -// y <= x -void blasfeo_dveccp(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi); -// x <= alpha*x -void blasfeo_dvecsc(int m, double alpha, struct blasfeo_dvec *sx, int xi); -// y <= alpha*x -void blasfeo_dveccpsc(int m, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi); -// z[idx] += alpha * x -void blasfeo_dvecad_sp(int m, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dvec *sz, int zi); -// z[idx] <= alpha * x -void blasfeo_dvecin_sp(int m, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dvec *sz, int zi); -// z <= alpha * x[idx] -void blasfeo_dvecex_sp(int m, double alpha, int *idx, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi); -// z += alpha * x[idx] -void blasfeo_dvecexad_sp(int m, double alpha, int *idx, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi); - -void blasfeo_dveccl(int m, - struct blasfeo_dvec *sxm, int xim, struct blasfeo_dvec *sx, int xi, - struct blasfeo_dvec *sxp, int xip, struct blasfeo_dvec *sz, int zi); - -void blasfeo_dveccl_mask(int m, - struct blasfeo_dvec *sxm, int xim, struct blasfeo_dvec *sx, int xi, - struct blasfeo_dvec *sxp, int xip, struct blasfeo_dvec *sz, int zi, - struct blasfeo_dvec *sm, int mi); - -void blasfeo_dvecze(int m, struct blasfeo_dvec *sm, int mi, struct blasfeo_dvec *sv, int vi, struct blasfeo_dvec *se, int ei); -void blasfeo_dvecnrm_inf(int m, struct blasfeo_dvec *sx, int xi, double *ptr_norm); -void blasfeo_dvecnrm_2(int m, struct blasfeo_dvec *sx, int xi, double *ptr_norm); -void blasfeo_dvecpe(int kmax, int *ipiv, struct blasfeo_dvec *sx, int xi); -void blasfeo_dvecpei(int kmax, int *ipiv, struct blasfeo_dvec *sx, int xi); - - - - - -/* -* Explicitly panel-major matrix format -*/ - -// returns the memory size (in bytes) needed for a dmat -size_t blasfeo_pm_memsize_dmat(int ps, int m, int n); -// create a strmat for a matrix of size m*n by using memory passed by a pointer (pointer is not updated) -void blasfeo_pm_create_dmat(int ps, int m, int n, struct blasfeo_pm_dmat *sA, void *memory); -// print -void blasfeo_pm_print_dmat(int m, int n, struct blasfeo_pm_dmat *sA, int ai, int aj); - - - -/* -* Explicitly panel-major matrix format -*/ - -// returns the memory size (in bytes) needed for a dmat -size_t blasfeo_cm_memsize_dmat(int m, int n); -// create a strmat for a matrix of size m*n by using memory passed by a pointer (pointer is not updated) -void blasfeo_cm_create_dmat(int m, int n, struct blasfeo_pm_dmat *sA, void *memory); - - - -// -// BLAS API helper functions -// - -#if ( defined(BLAS_API) & defined(MF_PANELMAJ) ) -// aux -void blasfeo_cm_dgetr(int m, int n, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj); -#endif - - - -#ifdef __cplusplus -} -#endif - -#endif // BLASFEO_D_AUX_H_ diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_aux_ext_dep.h b/third_party/acados/include/blasfeo/include/blasfeo_d_aux_ext_dep.h deleted file mode 100644 index bee9e986f15d8f..00000000000000 --- a/third_party/acados/include/blasfeo/include/blasfeo_d_aux_ext_dep.h +++ /dev/null @@ -1,145 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of BLASFEO. * -* * -* BLASFEO -- BLAS For Embedded Optimization. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -/* - * auxiliary algebra operation external dependancies header - * - * include/blasfeo_d_aux_ext_dep.h - * - * - dynamic memory allocation - * - print - * - */ - -#ifndef BLASFEO_D_AUX_EXT_DEP_H_ -#define BLASFEO_D_AUX_EXT_DEP_H_ - - - -#include - - - -#include "blasfeo_common.h" - - - -#ifdef __cplusplus -extern "C" { -#endif - - - -#ifdef EXT_DEP - -/* column-major matrices */ - -// dynamically allocate row*col doubles of memory and set accordingly a pointer to double; set allocated memory to zero -void d_zeros(double **pA, int row, int col); -// dynamically allocate row*col doubles of memory aligned to 64-byte boundaries and set accordingly a pointer to double; set allocated memory to zero -void d_zeros_align(double **pA, int row, int col); -// dynamically allocate size bytes of memory aligned to 64-byte boundaries and set accordingly a pointer to double; set allocated memory to zero -void d_zeros_align_bytes(double **pA, int size); -// free the memory allocated by d_zeros -void d_free(double *pA); -// free the memory allocated by d_zeros_align or d_zeros_align_bytes -void d_free_align(double *pA); -// print a column-major matrix -void d_print_mat(int m, int n, double *A, int lda); -// print the transposed of a column-major matrix -void d_print_tran_mat(int row, int col, double *A, int lda); -// print to file a column-major matrix -void d_print_to_file_mat(FILE *file, int row, int col, double *A, int lda); -// print to file a column-major matrix in exponential format -void d_print_to_file_exp_mat(FILE *file, int row, int col, double *A, int lda); -// print to string a column-major matrix -void d_print_to_string_mat(char **buf_out, int row, int col, double *A, int lda); -// print to file the transposed of a column-major matrix -void d_print_tran_to_file_mat(FILE *file, int row, int col, double *A, int lda); -// print to file the transposed of a column-major matrix in exponential format -void d_print_tran_to_file_exp_mat(FILE *file, int row, int col, double *A, int lda); -// print in exponential notation a column-major matrix -void d_print_exp_mat(int m, int n, double *A, int lda); -// print in exponential notation the transposed of a column-major matrix -void d_print_exp_tran_mat(int row, int col, double *A, int lda); - -/* strmat and strvec */ - -// create a strmat for a matrix of size m*n by dynamically allocating memory -void blasfeo_allocate_dmat(int m, int n, struct blasfeo_dmat *sA); -// create a strvec for a vector of size m by dynamically allocating memory -void blasfeo_allocate_dvec(int m, struct blasfeo_dvec *sa); -// free the memory allocated by blasfeo_allocate_dmat -void blasfeo_free_dmat(struct blasfeo_dmat *sA); -// free the memory allocated by blasfeo_allocate_dvec -void blasfeo_free_dvec(struct blasfeo_dvec *sa); -// print a strmat -void blasfeo_print_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj); -// print in exponential notation a strmat -void blasfeo_print_exp_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj); -// print to file a strmat -void blasfeo_print_to_file_dmat(FILE *file, int m, int n, struct blasfeo_dmat *sA, int ai, int aj); -// print to file a strmat in exponential format -void blasfeo_print_to_file_exp_dmat(FILE *file, int m, int n, struct blasfeo_dmat *sA, int ai, int aj); -// print to string a strmat -void blasfeo_print_to_string_dmat(char **buf_out, int m, int n, struct blasfeo_dmat *sA, int ai, int aj); -// print the transposed of a strmat -void blasfeo_print_tran_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj); -// print a strvec -void blasfeo_print_dvec(int m, struct blasfeo_dvec *sa, int ai); -// print in exponential notation a strvec -void blasfeo_print_exp_dvec(int m, struct blasfeo_dvec *sa, int ai); -// print to file a strvec -void blasfeo_print_to_file_dvec(FILE *file, int m, struct blasfeo_dvec *sa, int ai); -// print to string a strvec -void blasfeo_print_to_string_dvec(char **buf_out, int m, struct blasfeo_dvec *sa, int ai); -// print the transposed of a strvec -void blasfeo_print_tran_dvec(int m, struct blasfeo_dvec *sa, int ai); -// print in exponential notation the transposed of a strvec -void blasfeo_print_exp_tran_dvec(int m, struct blasfeo_dvec *sa, int ai); -// print to file the transposed of a strvec -void blasfeo_print_to_file_tran_dvec(FILE *file, int m, struct blasfeo_dvec *sa, int ai); -// print to string the transposed of a strvec -void blasfeo_print_to_string_tran_dvec(char **buf_out, int m, struct blasfeo_dvec *sa, int ai); - -#endif // EXT_DEP - - - -#ifdef __cplusplus -} -#endif - -#endif // BLASFEO_D_AUX_EXT_DEP_H_ diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_aux_ext_dep_ref.h b/third_party/acados/include/blasfeo/include/blasfeo_d_aux_ext_dep_ref.h deleted file mode 100644 index 81b811f0325039..00000000000000 --- a/third_party/acados/include/blasfeo/include/blasfeo_d_aux_ext_dep_ref.h +++ /dev/null @@ -1,84 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of BLASFEO. * -* * -* BLASFEO -- BLAS For Embedded Optimization. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -/* - * auxiliary algebra operation external dependancies header - * - * include/blasfeo_d_aux_ext_dep.h - * - * - dynamic memory allocation - * - print - * - */ - -#ifndef BLASFEO_D_AUX_EXT_DEP_REF_H_ -#define BLASFEO_D_AUX_EXT_DEP_REF_H_ - - -#include - -#include "blasfeo_common.h" - -#ifdef __cplusplus -extern "C" { -#endif - -// expose reference BLASFEO for testing -// see blasfeo_d_aux_exp_dep.h for help - -void blasfeo_print_dmat_ref(int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj); -void blasfeo_allocate_dmat_ref(int m, int n, struct blasfeo_dmat_ref *sA); -void blasfeo_allocate_dvec_ref(int m, struct blasfeo_dvec_ref *sa); -void blasfeo_free_dmat_ref(struct blasfeo_dmat_ref *sA); -void blasfeo_free_dvec_ref(struct blasfeo_dvec_ref *sa); -void blasfeo_print_dmat_ref(int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj); -void blasfeo_print_exp_dmat_ref(int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj); -void blasfeo_print_to_file_dmat_ref(FILE *file, int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj); -void blasfeo_print_to_file_exp_dmat_ref(FILE *file, int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj); -void blasfeo_print_to_string_dmat_ref(char **buf_out, int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj); -void blasfeo_print_dvec(int m, struct blasfeo_dvec *sa, int ai); -void blasfeo_print_exp_dvec(int m, struct blasfeo_dvec *sa, int ai); -void blasfeo_print_to_file_dvec(FILE *file, int m, struct blasfeo_dvec *sa, int ai); -void blasfeo_print_to_string_dvec(char **buf_out, int m, struct blasfeo_dvec *sa, int ai); -void blasfeo_print_tran_dvec(int m, struct blasfeo_dvec *sa, int ai); -void blasfeo_print_exp_tran_dvec(int m, struct blasfeo_dvec *sa, int ai); -void blasfeo_print_to_file_tran_dvec(FILE *file, int m, struct blasfeo_dvec *sa, int ai); -void blasfeo_print_to_string_tran_dvec(char **buf_out, int m, struct blasfeo_dvec *sa, int ai); - -#ifdef __cplusplus -} -#endif - -#endif // BLASFEO_D_AUX_EXT_DEP_REF_H_ diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_aux_old.h b/third_party/acados/include/blasfeo/include/blasfeo_d_aux_old.h deleted file mode 100644 index 3a1847a6a0191d..00000000000000 --- a/third_party/acados/include/blasfeo/include/blasfeo_d_aux_old.h +++ /dev/null @@ -1,75 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of BLASFEO. * -* * -* BLASFEO -- BLAS For Embedded Optimization. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -/* - * ----------- TOMOVE - * - * expecting column major matrices - * - */ - -#include "blasfeo_common.h" - - -void dtrcp_l_lib(int m, double alpha, int offsetA, double *A, int sda, int offsetB, double *B, int sdb); -void dgead_lib(int m, int n, double alpha, int offsetA, double *A, int sda, int offsetB, double *B, int sdb); -// TODO remove ??? -void ddiain_sqrt_lib(int kmax, double *x, int offset, double *pD, int sdd); -// TODO ddiaad1 -void ddiareg_lib(int kmax, double reg, int offset, double *pD, int sdd); - - -void dgetr_lib(int m, int n, double alpha, int offsetA, double *pA, int sda, int offsetC, double *pC, int sdc); -void dtrtr_l_lib(int m, double alpha, int offsetA, double *pA, int sda, int offsetC, double *pC, int sdc); -void dtrtr_u_lib(int m, double alpha, int offsetA, double *pA, int sda, int offsetC, double *pC, int sdc); -void ddiaex_lib(int kmax, double alpha, int offset, double *pD, int sdd, double *x); -void ddiaad_lib(int kmax, double alpha, double *x, int offset, double *pD, int sdd); -void ddiain_libsp(int kmax, int *idx, double alpha, double *x, double *pD, int sdd); -void ddiaex_libsp(int kmax, int *idx, double alpha, double *pD, int sdd, double *x); -void ddiaad_libsp(int kmax, int *idx, double alpha, double *x, double *pD, int sdd); -void ddiaadin_libsp(int kmax, int *idx, double alpha, double *x, double *y, double *pD, int sdd); -void drowin_lib(int kmax, double alpha, double *x, double *pD); -void drowex_lib(int kmax, double alpha, double *pD, double *x); -void drowad_lib(int kmax, double alpha, double *x, double *pD); -void drowin_libsp(int kmax, double alpha, int *idx, double *x, double *pD); -void drowad_libsp(int kmax, int *idx, double alpha, double *x, double *pD); -void drowadin_libsp(int kmax, int *idx, double alpha, double *x, double *y, double *pD); -void dcolin_lib(int kmax, double *x, int offset, double *pD, int sdd); -void dcolad_lib(int kmax, double alpha, double *x, int offset, double *pD, int sdd); -void dcolin_libsp(int kmax, int *idx, double *x, double *pD, int sdd); -void dcolad_libsp(int kmax, double alpha, int *idx, double *x, double *pD, int sdd); -void dcolsw_lib(int kmax, int offsetA, double *pA, int sda, int offsetC, double *pC, int sdc); -void dvecin_libsp(int kmax, int *idx, double *x, double *y); -void dvecad_libsp(int kmax, int *idx, double alpha, double *x, double *y); diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_aux_ref.h b/third_party/acados/include/blasfeo/include/blasfeo_d_aux_ref.h deleted file mode 100644 index 1e007fa89e4bd6..00000000000000 --- a/third_party/acados/include/blasfeo/include/blasfeo_d_aux_ref.h +++ /dev/null @@ -1,208 +0,0 @@ - -/************************************************************************************************** -* * -* This file is part of BLASFEO. * -* * -* BLASFEO -- BLAS For Embedded Optimization. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef BLASFEO_D_AUX_REF_H_ -#define BLASFEO_D_AUX_REF_H_ - - - -#include - -#include "blasfeo_common.h" -#include "blasfeo_d_aux_old.h" - - - -#ifdef __cplusplus -extern "C" { -#endif - - -// --- memory calculations -// -// returns the memory size (in bytes) needed for a dmat -size_t blasfeo_ref_memsize_dmat(int m, int n); -// returns the memory size (in bytes) needed for the diagonal of a dmat -size_t blasfeo_ref_memsize_diag_dmat(int m, int n); -// returns the memory size (in bytes) needed for a dvec -size_t blasfeo_ref_memsize_dvec(int m); - -// --- creation -// -// create a strmat for a matrix of size m*n by using memory passed by a pointer (pointer is not updated) -void blasfeo_ref_create_dmat(int m, int n, struct blasfeo_dmat *sA, void *memory); -// create a strvec for a vector of size m by using memory passed by a pointer (pointer is not updated) -void blasfeo_ref_create_dvec(int m, struct blasfeo_dvec *sA, void *memory); - -// --- packing -// pack the column-major matrix A into the matrix struct B -void blasfeo_ref_pack_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sB, int bi, int bj); -// pack the lower-triangular column-major matrix A into the matrix struct B -void blasfeo_ref_pack_l_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sB, int bi, int bj); -// pack the upper-triangular column-major matrix A into the matrix struct B -void blasfeo_ref_pack_u_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sB, int bi, int bj); -// transpose and pack the column-major matrix A into the matrix struct B -void blasfeo_ref_pack_tran_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sB, int bi, int bj); -// pack the vector x into the vector structure y -void blasfeo_ref_pack_dvec(int m, double *x, int xi, struct blasfeo_dvec *sy, int yi); -// unpack the matrix structure A into the column-major matrix B -void blasfeo_ref_unpack_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, double *B, int ldb); -// transpose and unpack the matrix structure A into the column-major matrix B -void blasfeo_ref_unpack_tran_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, double *B, int ldb); -// pack the vector structure x into the vector y -void blasfeo_ref_unpack_dvec(int m, struct blasfeo_dvec *sx, int xi, double *y, int yi); - -// --- cast -// -void ref_d_cast_mat2strmat(double *A, struct blasfeo_dmat *sA); // TODO -void ref_d_cast_diag_mat2strmat(double *dA, struct blasfeo_dmat *sA); // TODO -void ref_d_cast_vec2vecmat(double *a, struct blasfeo_dvec *sx); // TODO - - -// ge -// --- insert/extract -// -// sA[ai, aj] <= a -void blasfeo_ref_dgein1(double a, struct blasfeo_dmat *sA, int ai, int aj); -// <= sA[ai, aj] -double blasfeo_ref_dgeex1(struct blasfeo_dmat *sA, int ai, int aj); - -// --- set -// A <= alpha -void blasfeo_ref_dgese(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj); - -// --- copy / scale -// B <= A -void blasfeo_ref_dgecp(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj); -// A <= alpha*A -void blasfeo_ref_dgesc(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj); -// B <= alpha*A -void blasfeo_ref_dgecpsc(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj); -// B <= A, A lower triangular -void blasfeo_ref_dtrcp_l(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj); -void blasfeo_ref_dtrcpsc_l(int m, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj); -void blasfeo_ref_dtrsc_l(int m, double alpha, struct blasfeo_dmat *sA, int ai, int aj); - -// --- sum -// B <= B + alpha*A -void blasfeo_ref_dgead(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int yi, int cj); -// y <= y + alpha*x -void blasfeo_ref_dvecad(int m, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi); - -// --- traspositions -// B <= A' -void blasfeo_ref_dgetr(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj); -// B <= A', A lower triangular -void blasfeo_ref_dtrtr_l(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj); -// B <= A', A upper triangular -void blasfeo_ref_dtrtr_u(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj); - -// dia -// diag(A) += alpha -void blasfeo_ref_ddiare(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj); -// diag(A) <= alpha*x -void blasfeo_ref_ddiain(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj); -// diag(A)[idx] <= alpha*x -void blasfeo_ref_ddiain_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj); -// x <= diag(A) -void blasfeo_ref_ddiaex(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi); -// x <= diag(A)[idx] -void blasfeo_ref_ddiaex_sp(int kmax, double alpha, int *idx, struct blasfeo_dmat *sD, int di, int dj, struct blasfeo_dvec *sx, int xi); -// diag(A) += alpha*x -void blasfeo_ref_ddiaad(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj); -// diag(A)[idx] += alpha*x -void blasfeo_ref_ddiaad_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj); -// diag(A)[idx] = y + alpha*x -void blasfeo_ref_ddiaadin_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, int *idx, struct blasfeo_dmat *sD, int di, int dj); - -// row -void blasfeo_ref_drowin(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj); -void blasfeo_ref_drowex(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi); -void blasfeo_ref_drowad(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj); -void blasfeo_ref_drowad_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj); -void blasfeo_ref_drowsw(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj); -void blasfeo_ref_drowpe(int kmax, int *ipiv, struct blasfeo_dmat *sA); -void blasfeo_ref_drowpei(int kmax, int *ipiv, struct blasfeo_dmat *sA); - -// col -void blasfeo_ref_dcolex(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi); -void blasfeo_ref_dcolin(int kmax, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj); -void blasfeo_ref_dcolad(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj); -void blasfeo_ref_dcolsc(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj); -void blasfeo_ref_dcolsw(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj); -void blasfeo_ref_dcolpe(int kmax, int *ipiv, struct blasfeo_dmat *sA); -void blasfeo_ref_dcolpei(int kmax, int *ipiv, struct blasfeo_dmat *sA); - -// vec -// a <= alpha -void blasfeo_ref_dvecse(int m, double alpha, struct blasfeo_dvec *sx, int xi); -// sx[xi] <= a -void blasfeo_ref_dvecin1(double a, struct blasfeo_dvec *sx, int xi); -// <= sx[xi] -double blasfeo_ref_dvecex1(struct blasfeo_dvec *sx, int xi); -// y <= x -void blasfeo_ref_dveccp(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi); -// x <= alpha*x -void blasfeo_ref_dvecsc(int m, double alpha, struct blasfeo_dvec *sx, int xi); -// y <= alpha*x -void blasfeo_ref_dveccpsc(int m, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi); -void blasfeo_ref_dvecad_sp(int m, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dvec *sz, int zi); -void blasfeo_ref_dvecin_sp(int m, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dvec *sz, int zi); -void blasfeo_ref_dvecex_sp(int m, double alpha, int *idx, struct blasfeo_dvec *sx, int x, struct blasfeo_dvec *sz, int zi); -// z += alpha * x[idx] -void blasfeo_ref_dvecexad_sp(int m, double alpha, int *idx, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi); - -void blasfeo_ref_dveccl(int m, - struct blasfeo_dvec *sxm, int xim, struct blasfeo_dvec *sx, int xi, - struct blasfeo_dvec *sxp, int xip, struct blasfeo_dvec *sz, int zi); - -void blasfeo_ref_dveccl_mask(int m, - struct blasfeo_dvec *sxm, int xim, struct blasfeo_dvec *sx, int xi, - struct blasfeo_dvec *sxp, int xip, struct blasfeo_dvec *sz, int zi, - struct blasfeo_dvec *sm, int mi); - -void blasfeo_ref_dvecze(int m, struct blasfeo_dvec *sm, int mi, struct blasfeo_dvec *sv, int vi, struct blasfeo_dvec *se, int ei); -void blasfeo_ref_dvecnrm_inf(int m, struct blasfeo_dvec *sx, int xi, double *ptr_norm); -void blasfeo_ref_dvecpe(int kmax, int *ipiv, struct blasfeo_dvec *sx, int xi); -void blasfeo_ref_dvecpei(int kmax, int *ipiv, struct blasfeo_dvec *sx, int xi); - - - -#ifdef __cplusplus -} -#endif - -#endif // BLASFEO_D_AUX_REF_H_ diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_aux_test.h b/third_party/acados/include/blasfeo/include/blasfeo_d_aux_test.h deleted file mode 100644 index 1c61635f3ffbfa..00000000000000 --- a/third_party/acados/include/blasfeo/include/blasfeo_d_aux_test.h +++ /dev/null @@ -1,226 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of BLASFEO. * -* * -* BLASFEO -- BLAS For Embedded Optimization. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -/* - * auxiliary algebra operations header - * - * include/blasfeo_aux_lib*.h - * - */ - -#ifndef BLASFEO_D_AUX_TEST_H_ -#define BLASFEO_D_AUX_TEST_H_ - -#include "blasfeo_common.h" - - -#ifdef __cplusplus -extern "C" { -#endif - -// --- memory calculations -int test_blasfeo_memsize_dmat(int m, int n); -int test_blasfeo_memsize_diag_dmat(int m, int n); -int test_blasfeo_memsize_dvec(int m); - -// --- creation -void test_blasfeo_create_dmat(int m, int n, struct blasfeo_dmat *sA, void *memory); -void test_blasfeo_create_dvec(int m, struct blasfeo_dvec *sA, void *memory); - -// --- conversion -void test_blasfeo_pack_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sA, int ai, int aj); -void test_blasfeo_pack_dvec(int m, double *x, int xi, struct blasfeo_dvec *sa, int ai); -void test_blasfeo_pack_tran_dmat(int m, int n, double *A, int lda, struct blasfeo_dmat *sA, int ai, int aj); -void test_blasfeo_unpack_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, double *A, int lda); -void test_blasfeo_unpack_dvec(int m, struct blasfeo_dvec *sa, int ai, double *x, int xi); -void test_blasfeo_unpack_tran_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, double *A, int lda); - -// --- cast -void test_d_cast_mat2strmat(double *A, struct blasfeo_dmat *sA); -void test_d_cast_diag_mat2strmat(double *dA, struct blasfeo_dmat *sA); -void test_d_cast_vec2vecmat(double *a, struct blasfeo_dvec *sa); - -// ------ copy / scale - -// B <= A -void test_blasfeo_dgecp(int m, int n, - struct blasfeo_dmat *sA, int ai, int aj, - struct blasfeo_dmat *sB, int bi, int bj); - -// A <= alpha*A -void test_blasfeo_dgesc(int m, int n, - double alpha, - struct blasfeo_dmat *sA, int ai, int aj); - -// B <= alpha*A -void test_blasfeo_dgecpsc(int m, int n, - double alpha, - struct blasfeo_dmat *sA, int ai, int aj, - struct blasfeo_dmat *sB, int bi, int bj); - -// // --- insert/extract -// // -// // <= sA[ai, aj] -// void test_blasfeo_dgein1(double a, struct blasfeo_dmat *sA, int ai, int aj); -// // <= sA[ai, aj] -// double blasfeo_dgeex1(struct blasfeo_dmat *sA, int ai, int aj); -// // sx[xi] <= a -// void test_blasfeo_dvecin1(double a, struct blasfeo_dvec *sx, int xi); -// // <= sx[xi] -// double blasfeo_dvecex1(struct blasfeo_dvec *sx, int xi); -// // A <= alpha - -// // --- set -// void test_blasfeo_dgese(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj); -// // a <= alpha -// void test_blasfeo_dvecse(int m, double alpha, struct blasfeo_dvec *sx, int xi); -// // B <= A - - -// // --- vector -// // y <= x -// void test_blasfeo_dveccp(int m, struct blasfeo_dvec *sa, int ai, struct blasfeo_dvec *sc, int ci); -// // x <= alpha*x -// void test_blasfeo_dvecsc(int m, double alpha, struct blasfeo_dvec *sa, int ai); -// // TODO -// // x <= alpha*x -// void test_blasfeo_dveccpsc(int m, double alpha, struct blasfeo_dvec *sa, int ai, struct blasfeo_dvec *sc, int ci); - - -// // B <= A, A lower triangular -// void test_blasfeo_dtrcp_l(int m, -// struct blasfeo_dmat *sA, int ai, int aj, -// struct blasfeo_dmat *sB, int bi, int bj); - -// void test_blasfeo_dtrcpsc_l(int m, double alpha, -// struct blasfeo_dmat *sA, int ai, int aj, -// struct blasfeo_dmat *sB, int bi, int bj); - -// void test_blasfeo_dtrsc_l(int m, double alpha, -// struct blasfeo_dmat *sA, int ai, int aj); - - -// // B <= B + alpha*A -// void test_blasfeo_dgead(int m, int n, double alpha, -// struct blasfeo_dmat *sA, int ai, int aj, -// struct blasfeo_dmat *sC, int ci, int cj); - -// // y <= y + alpha*x -// void test_blasfeo_dvecad(int m, double alpha, -// struct blasfeo_dvec *sa, int ai, -// struct blasfeo_dvec *sc, int ci); - -// // --- traspositions -// void test_dgetr_lib(int m, int n, double alpha, int offsetA, double *pA, int sda, int offsetC, double *pC, int sdc); -// void test_blasfeo_dgetr(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj); -// void test_dtrtr_l_lib(int m, double alpha, int offsetA, double *pA, int sda, int offsetC, double *pC, int sdc); -// void test_blasfeo_dtrtr_l(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj); -// void test_dtrtr_u_lib(int m, double alpha, int offsetA, double *pA, int sda, int offsetC, double *pC, int sdc); -// void test_blasfeo_dtrtr_u(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj); -// void test_blasfeo_ddiare(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj); -// void test_blasfeo_ddiain(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj); -// void test_ddiaex_lib(int kmax, double alpha, int offset, double *pD, int sdd, double *x); -// void test_ddiaad_lib(int kmax, double alpha, double *x, int offset, double *pD, int sdd); -// void test_ddiain_libsp(int kmax, int *idx, double alpha, double *x, double *pD, int sdd); -// void test_blasfeo_ddiain_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj); -// void test_ddiaex_libsp(int kmax, int *idx, double alpha, double *pD, int sdd, double *x); -// void test_blasfeo_ddiaex(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi); -// void test_blasfeo_ddiaex_sp(int kmax, double alpha, int *idx, struct blasfeo_dmat *sD, int di, int dj, struct blasfeo_dvec *sx, int xi); -// void test_blasfeo_ddiaad(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj); -// void test_ddiaad_libsp(int kmax, int *idx, double alpha, double *x, double *pD, int sdd); -// void test_blasfeo_ddiaad_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj); -// void test_ddiaadin_libsp(int kmax, int *idx, double alpha, double *x, double *y, double *pD, int sdd); -// void test_blasfeo_ddiaadin_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, int *idx, struct blasfeo_dmat *sD, int di, int dj); -// void test_drowin_lib(int kmax, double alpha, double *x, double *pD); -// void test_blasfeo_drowin(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj); -// void test_drowex_lib(int kmax, double alpha, double *pD, double *x); -// void test_blasfeo_drowex(int kmax, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi); -// void test_drowad_lib(int kmax, double alpha, double *x, double *pD); -// void test_blasfeo_drowad(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj); -// void test_drowin_libsp(int kmax, double alpha, int *idx, double *x, double *pD); -// void test_drowad_libsp(int kmax, int *idx, double alpha, double *x, double *pD); -// void test_blasfeo_drowad_sp(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dmat *sD, int di, int dj); -// void test_drowadin_libsp(int kmax, int *idx, double alpha, double *x, double *y, double *pD); -// void test_drowsw_lib(int kmax, double *pA, double *pC); -// void test_blasfeo_drowsw(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj); -// void test_blasfeo_drowpe(int kmax, int *ipiv, struct blasfeo_dmat *sA); -// void test_blasfeo_dcolex(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi); -// void test_dcolin_lib(int kmax, double *x, int offset, double *pD, int sdd); -// void test_blasfeo_dcolin(int kmax, struct blasfeo_dvec *sx, int xi, struct blasfeo_dmat *sA, int ai, int aj); -// void test_dcolad_lib(int kmax, double alpha, double *x, int offset, double *pD, int sdd); -// void test_dcolin_libsp(int kmax, int *idx, double *x, double *pD, int sdd); -// void test_dcolad_libsp(int kmax, double alpha, int *idx, double *x, double *pD, int sdd); -// void test_dcolsw_lib(int kmax, int offsetA, double *pA, int sda, int offsetC, double *pC, int sdc); -// void test_blasfeo_dcolsw(int kmax, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sC, int ci, int cj); -// void test_blasfeo_dcolpe(int kmax, int *ipiv, struct blasfeo_dmat *sA); -// void test_dvecin_libsp(int kmax, int *idx, double *x, double *y); -// void test_dvecad_libsp(int kmax, int *idx, double alpha, double *x, double *y); -// void test_blasfeo_dvecad_sp(int m, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dvec *sz, int zi); -// void test_blasfeo_dvecin_sp(int m, double alpha, struct blasfeo_dvec *sx, int xi, int *idx, struct blasfeo_dvec *sz, int zi); -// void test_blasfeo_dvecex_sp(int m, double alpha, int *idx, struct blasfeo_dvec *sx, int x, struct blasfeo_dvec *sz, int zi); -// void test_blasfeo_dveccl(int m, struct blasfeo_dvec *sxm, int xim, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sxp, int xip, struct blasfeo_dvec *sz, int zi); -// void test_blasfeo_dveccl_mask(int m, struct blasfeo_dvec *sxm, int xim, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sxp, int xip, struct blasfeo_dvec *sz, int zi, struct blasfeo_dvec *sm, int mi); -// void test_blasfeo_dvecze(int m, struct blasfeo_dvec *sm, int mi, struct blasfeo_dvec *sv, int vi, struct blasfeo_dvec *se, int ei); -// void test_blasfeo_dvecnrm_inf(int m, struct blasfeo_dvec *sx, int xi, double *ptr_norm); -// void test_blasfeo_dvecpe(int kmax, int *ipiv, struct blasfeo_dvec *sx, int xi); -// void test_blasfeo_dvecpei(int kmax, int *ipiv, struct blasfeo_dvec *sx, int xi); - -// ext_dep - -void test_blasfeo_allocate_dmat(int m, int n, struct blasfeo_dmat *sA); -void test_blasfeo_allocate_dvec(int m, struct blasfeo_dvec *sa); - -void test_blasfeo_free_dmat(struct blasfeo_dmat *sA); -void test_blasfeo_free_dvec(struct blasfeo_dvec *sa); - -void test_blasfeo_print_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj); -void test_blasfeo_print_dvec(int m, struct blasfeo_dvec *sa, int ai); -void test_blasfeo_print_tran_dvec(int m, struct blasfeo_dvec *sa, int ai); - -void test_blasfeo_print_to_file_dmat(FILE *file, int m, int n, struct blasfeo_dmat *sA, int ai, int aj); -void test_blasfeo_print_to_file_dvec(FILE *file, int m, struct blasfeo_dvec *sa, int ai); -void test_blasfeo_print_to_file_tran_dvec(FILE *file, int m, struct blasfeo_dvec *sa, int ai); - -void test_blasfeo_print_exp_dmat(int m, int n, struct blasfeo_dmat *sA, int ai, int aj); -void test_blasfeo_print_exp_dvec(int m, struct blasfeo_dvec *sa, int ai); -void test_blasfeo_print_exp_tran_dvec(int m, struct blasfeo_dvec *sa, int ai); - - - -#ifdef __cplusplus -} -#endif - -#endif // BLASFEO_D_AUX_TEST_H_ diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_blas.h b/third_party/acados/include/blasfeo/include/blasfeo_d_blas.h deleted file mode 100644 index ea8d00673128bd..00000000000000 --- a/third_party/acados/include/blasfeo/include/blasfeo_d_blas.h +++ /dev/null @@ -1,46 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of BLASFEO. * -* * -* BLASFEO -- BLAS For Embedded Optimization. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef BLASFEO_D_BLAS_H_ -#define BLASFEO_D_BLAS_H_ - - - -#include "blasfeo_d_blasfeo_api.h" -#include "blasfeo_d_blas_api.h" - - - -#endif // BLASFEO_D_BLAS_H_ diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_blas_api.h b/third_party/acados/include/blasfeo/include/blasfeo_d_blas_api.h deleted file mode 100644 index 2eab1e40949c22..00000000000000 --- a/third_party/acados/include/blasfeo/include/blasfeo_d_blas_api.h +++ /dev/null @@ -1,281 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of BLASFEO. * -* * -* BLASFEO -- BLAS For Embedded Optimization. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - - - -#ifndef BLASFEO_D_BLAS_API_H_ -#define BLASFEO_D_BLAS_API_H_ - - - -#include "blasfeo_target.h" - - - -#ifdef BLAS_API -#ifdef CBLAS_API -#ifndef BLASFEO_CBLAS_ENUM -#define BLASFEO_CBLAS_ENUM -#ifdef FORTRAN_BLAS_API -#ifndef CBLAS_H -enum CBLAS_LAYOUT {CblasRowMajor=101, CblasColMajor=102}; -enum CBLAS_TRANSPOSE {CblasNoTrans=111, CblasTrans=112, CblasConjTrans=113}; -enum CBLAS_UPLO {CblasUpper=121, CblasLower=122}; -enum CBLAS_DIAG {CblasNonUnit=131, CblasUnit=132}; -enum CBLAS_SIDE {CblasLeft=141, CblasRight=142}; -#define CBLAS_ORDER CBLAS_LAYOUT /* this for backward compatibility with CBLAS_ORDER */ -#endif // CBLAS_H -#else // FORTRAN_BLAS_API -enum BLASFEO_CBLAS_LAYOUT {BlasfeoCblasRowMajor=101, BlasfeoCblasColMajor=102}; -enum BLASFEO_CBLAS_TRANSPOSE {BlasfeoCblasNoTrans=111, BlasfeoCblasTrans=112, BlasfeoCblasConjTrans=113}; -enum BLASFEO_CBLAS_UPLO {BlasfeoCblasUpper=121, BlasfeoCblasLower=122}; -enum BLASFEO_CBLAS_DIAG {BlasfeoCblasNonUnit=131, BlasfeoCblasUnit=132}; -enum BLASFEO_CBLAS_SIDE {BlasfeoCblasLeft=141, BlasfeoCblasRight=142}; -#define BLASFEO_CBLAS_ORDER BLASFEO_CBLAS_LAYOUT /* this for backward compatibility with BLASFEO_CBLAS_ORDER */ -#endif // FORTRAN_BLAS_API -#endif // BLASFEO_CBLAS_ENUM -#endif // CBLAS_API -#endif // BLAS_API - - -#ifdef __cplusplus -extern "C" { -#endif - - - -#ifdef BLAS_API - - - -#ifdef FORTRAN_BLAS_API - - - -// BLAS 1 -// -void daxpy_(int *n, double *alpha, double *x, int *incx, double *y, int *incy); -// -void dcopy_(int *n, double *x, int *incx, double *y, int *incy); -// -double ddot_(int *n, double *x, int *incx, double *y, int *incy); - -// BLAS 2 -// -void dgemv_(char *tran, int *m, int *n, double *alpha, double *A, int *lda, double *x, int *incx, double *beta, double *y, int *incy); -// -void dsymv_(char *uplo, int *n, double *alpha, double *A, int *lda, double *x, int *incx, double *beta, double *y, int *incy); -// -void dger_(int *m, int *n, double *alpha, double *x, int *incx, double *y, int *incy, double *A, int *lda); - -// BLAS 3 -// -void dgemm_(char *ta, char *tb, int *m, int *n, int *k, double *alpha, double *A, int *lda, double *B, int *ldb, double *beta, double *C, int *ldc); -// -void dsyrk_(char *uplo, char *ta, int *m, int *k, double *alpha, double *A, int *lda, double *beta, double *C, int *ldc); -// -void dtrmm_(char *side, char *uplo, char *transa, char *diag, int *m, int *n, double *alpha, double *A, int *lda, double *B, int *ldb); -// -void dtrsm_(char *side, char *uplo, char *transa, char *diag, int *m, int *n, double *alpha, double *A, int *lda, double *B, int *ldb); -// -void dsyr2k_(char *uplo, char *ta, int *m, int *k, double *alpha, double *A, int *lda, double *B, int *ldb, double *beta, double *C, int *ldc); - - - -// LAPACK -// -void dgesv_(int *m, int *n, double *A, int *lda, int *ipiv, double *B, int *ldb, int *info); -// -void dgetrf_(int *m, int *n, double *A, int *lda, int *ipiv, int *info); -// -void dgetrf_np_(int *m, int *n, double *A, int *lda, int *info); -// -void dgetrs_(char *trans, int *m, int *n, double *A, int *lda, int *ipiv, double *B, int *ldb, int *info); -// -void dlaswp_(int *n, double *A, int *lda, int *k1, int *k2, int *ipiv, int *incx); -// -void dposv_(char *uplo, int *m, int *n, double *A, int *lda, double *B, int *ldb, int *info); -// -void dpotrf_(char *uplo, int *m, double *A, int *lda, int *info); -// -void dpotrs_(char *uplo, int *m, int *n, double *A, int *lda, double *B, int *ldb, int *info); -// -void dtrtrs_(char *uplo, char *trans, char *diag, int *m, int *n, double *A, int *lda, double *B, int *ldb, int *info); - - - -// aux -void dgetr_(int *m, int *n, double *A, int *lda, double *B, int *ldb); - - - -#ifdef CBLAS_API - - - -// CBLAS 1 -// -void cblas_daxpy(const int N, const double alpha, const double *X, const int incX, double *Y, const int incY); -// -void cblas_dswap(const int N, double *X, const int incX, double *Y, const int incY); -// -void cblas_dcopy(const int N, const double *X, const int incX, double *Y, const int incY); - -// CBLAS 2 -// -void cblas_dgemv(const enum CBLAS_LAYOUT layout, const enum CBLAS_TRANSPOSE TransA, const int M, const int N, const int K, const double alpha, const double *A, const int lda, const double *X, const int incX, const double beta, double *Y, const int incY); - -// CBLAS 3 -// -void cblas_dgemm(const enum CBLAS_LAYOUT layout, const enum CBLAS_TRANSPOSE TransA, const enum CBLAS_TRANSPOSE TransB, const int M, const int N, const int K, const double alpha, const double *A, const int lda, const double *B, const int ldb, const double beta, double *C, const int ldc); -// -void cblas_dsyrk(const enum CBLAS_LAYOUT layout, const enum CBLAS_UPLO Uplo, const enum CBLAS_TRANSPOSE Trans, const int N, const int K, const double alpha, const double *A, const int lda, const double beta, double *C, const int ldc); -// -void cblas_dtrmm(const enum CBLAS_LAYOUT layout, const enum CBLAS_SIDE Side, const enum CBLAS_UPLO Uplo, const enum CBLAS_TRANSPOSE TransA, const enum CBLAS_DIAG Diag, const int M, const int N, const double alpha, const double *A, const int lda, double *B, const int ldb); -// -void cblas_dtrsm(const enum CBLAS_LAYOUT layout, const enum CBLAS_SIDE Side, const enum CBLAS_UPLO Uplo, const enum CBLAS_TRANSPOSE TransA, const enum CBLAS_DIAG Diag, const int M, const int N, const double alpha, const double *A, const int lda, double *B, const int ldb); - - - -#endif // CBLAS_API - - - -#else // BLASFEO_API - - - -// BLAS 1 -// -void blasfeo_blas_daxpy(int *n, double *alpha, double *x, int *incx, double *y, int *incy); -// -double blasfeo_blas_ddot(int *n, double *x, int *incx, double *y, int *incy); -// -void blasfeo_blas_dcopy(int *n, double *x, int *incx, double *y, int *incy); - -// BLAS 2 -// -void blasfeo_blas_dgemv(char *trans, int *m, int *n, double *alpha, double *A, int *lda, double *x, int *incx, double *beta, double *y, int *incy); -// -void blasfeo_blas_dsymv(char *uplo, int *n, double *alpha, double *A, int *lda, double *x, int *incx, double *beta, double *y, int *incy); -// -void blasfeo_blas_dger(int *m, int *n, double *alpha, double *x, int *incx, double *y, int *incy, double *A, int *lda); - -// BLAS 3 -// -void blasfeo_blas_dgemm(char *ta, char *tb, int *m, int *n, int *k, double *alpha, double *A, int *lda, double *B, int *ldb, double *beta, double *C, int *ldc); -// -void blasfeo_blas_dsyrk(char *uplo, char *ta, int *m, int *k, double *alpha, double *A, int *lda, double *beta, double *C, int *ldc); -// -void blasfeo_blas_dtrmm(char *side, char *uplo, char *transa, char *diag, int *m, int *n, double *alpha, double *A, int *lda, double *B, int *ldb); -// -void blasfeo_blas_dtrsm(char *side, char *uplo, char *transa, char *diag, int *m, int *n, double *alpha, double *A, int *lda, double *B, int *ldb); -// -void blasfeo_blas_dsyr2k(char *uplo, char *ta, int *m, int *k, double *alpha, double *A, int *lda, double *B, int *ldb, double *beta, double *C, int *ldc); - - - -// LAPACK -// -void blasfeo_lapack_dgesv(int *m, int *n, double *A, int *lda, int *ipiv, double *B, int *ldb, int *info); -// -void blasfeo_lapack_dgetrf(int *m, int *n, double *A, int *lda, int *ipiv, int *info); -// -void blasfeo_lapack_dgetrf_np(int *m, int *n, double *A, int *lda, int *info); -// -void blasfeo_lapack_dgetrs(char *trans, int *m, int *n, double *A, int *lda, int *ipiv, double *B, int *ldb, int *info); -// -void blasfeo_lapack_dlaswp(int *n, double *A, int *lda, int *k1, int *k2, int *ipiv, int *incx); -// -void blasfeo_lapack_dposv(char *uplo, int *m, int *n, double *A, int *lda, double *B, int *ldb, int *info); -// -void blasfeo_lapack_dpotrf(char *uplo, int *m, double *A, int *lda, int *info); -// -void blasfeo_lapack_dpotrs(char *uplo, int *m, int *n, double *A, int *lda, double *B, int *ldb, int *info); -// -void blasfeo_lapack_dtrtrs(char *uplo, char *trans, char *diag, int *m, int *n, double *A, int *lda, double *B, int *ldb, int *info); - - - -// aux -void blasfeo_blas_dgetr(int *m, int *n, double *A, int *lda, double *B, int *ldb); - - - -#ifdef CBLAS_API - - - -// CBLAS 1 -// -void blasfeo_cblas_daxpy(const int N, const double alpha, const double *X, const int incX, double *Y, const int incY); -// -void blasfeo_cblas_dswap(const int N, double *X, const int incX, double *Y, const int incY); -// -void blasfeo_cblas_dcopy(const int N, const double *X, const int incX, double *Y, const int incY); - -// CBLAS 2 -// -void blasfeo_cblas_dgemv(const enum BLASFEO_CBLAS_LAYOUT layout, const enum BLASFEO_CBLAS_TRANSPOSE TransA, const int M, const int N, const double alpha, const double *A, const int lda, const double *X, const int incX, const double beta, double *Y, const int incY); - -// CBLAS 3 -// -void blasfeo_cblas_dgemm(const enum BLASFEO_CBLAS_LAYOUT layout, const enum BLASFEO_CBLAS_TRANSPOSE TransA, const enum BLASFEO_CBLAS_TRANSPOSE TransB, const int M, const int N, const int K, const double alpha, const double *A, const int lda, const double *B, const int ldb, const double beta, double *C, const int ldc); -// -void blasfeo_cblas_dsyrk(const enum BLASFEO_CBLAS_LAYOUT layout, const enum BLASFEO_CBLAS_UPLO Uplo, const enum BLASFEO_CBLAS_TRANSPOSE Trans, const int N, const int K, const double alpha, const double *A, const int lda, const double beta, double *C, const int ldc); -// -void blasfeo_cblas_dtrmm(const enum BLASFEO_CBLAS_LAYOUT layout, const enum BLASFEO_CBLAS_SIDE Side, const enum BLASFEO_CBLAS_UPLO Uplo, const enum BLASFEO_CBLAS_TRANSPOSE TransA, const enum BLASFEO_CBLAS_DIAG Diag, const int M, const int N, const double alpha, const double *A, const int lda, double *B, const int ldb); -// -void blasfeo_cblas_dtrsm(const enum BLASFEO_CBLAS_LAYOUT layout, const enum BLASFEO_CBLAS_SIDE Side, const enum BLASFEO_CBLAS_UPLO Uplo, const enum BLASFEO_CBLAS_TRANSPOSE TransA, const enum BLASFEO_CBLAS_DIAG Diag, const int M, const int N, const double alpha, const double *A, const int lda, double *B, const int ldb); - - - -#endif // CBLAS_API - - - -#endif // BLASFEO_API - - - -#endif // BLAS_API - - - -#ifdef __cplusplus -} -#endif - -#endif // BLASFEO_D_BLAS_API_H_ diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_api.h b/third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_api.h deleted file mode 100644 index 88bb3fce226248..00000000000000 --- a/third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_api.h +++ /dev/null @@ -1,364 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of BLASFEO. * -* * -* BLASFEO -- BLAS For Embedded Optimization. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef BLASFEO_D_BLASFEO_API_H_ -#define BLASFEO_D_BLASFEO_API_H_ - - - -#include "blasfeo_common.h" - - - -#ifdef __cplusplus -extern "C" { -#endif - - - -// -// level 1 BLAS -// - -// z = y + alpha*x -// z[zi:zi+n] = alpha*x[xi:xi+n] + y[yi:yi+n] -// NB: Different arguments semantic compare to equivalent standard BLAS routine -void blasfeo_daxpy(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi); -// z = beta*y + alpha*x -void blasfeo_daxpby(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi); -// z = x .* y -void blasfeo_dvecmul(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi); -// z += x .* y -void blasfeo_dvecmulacc(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi); -// z = x .* y, return sum(z) = x^T * y -double blasfeo_dvecmuldot(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi); -// return x^T * y -double blasfeo_ddot(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi); -// construct givens plane rotation -void blasfeo_drotg(double a, double b, double *c, double *s); -// apply plane rotation [a b] [c -s; s; c] to the aj0 and aj1 columns of A at row index ai -void blasfeo_dcolrot(int m, struct blasfeo_dmat *sA, int ai, int aj0, int aj1, double c, double s); -// apply plane rotation [c s; -s c] [a; b] to the ai0 and ai1 rows of A at column index aj -void blasfeo_drowrot(int m, struct blasfeo_dmat *sA, int ai0, int ai1, int aj, double c, double s); - - - -// -// level 2 BLAS -// - -// dense - -// z <= beta * y + alpha * A * x -void blasfeo_dgemv_n(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi); -// z <= beta * y + alpha * A^T * x -void blasfeo_dgemv_t(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi); -// z <= inv( A ) * x, A (m)x(n) -void blasfeo_dtrsv_lnn_mn(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi); -// z <= inv( A^T ) * x, A (m)x(n) -void blasfeo_dtrsv_ltn_mn(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi); -// z <= inv( A ) * x, A (m)x(m) lower, not_transposed, not_unit -void blasfeo_dtrsv_lnn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi); -// z <= inv( A ) * x, A (m)x(m) lower, not_transposed, unit -void blasfeo_dtrsv_lnu(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi); -// z <= inv( A^T ) * x, A (m)x(m) lower, transposed, not_unit -void blasfeo_dtrsv_ltn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi); -// z <= inv( A^T ) * x, A (m)x(m) lower, transposed, unit -void blasfeo_dtrsv_ltu(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi); -// z <= inv( A^T ) * x, A (m)x(m) upper, not_transposed, not_unit -void blasfeo_dtrsv_unn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi); -// z <= inv( A^T ) * x, A (m)x(m) upper, transposed, not_unit -void blasfeo_dtrsv_utn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi); -// z <= A * x ; A lower triangular -void blasfeo_dtrmv_lnn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi); -// z <= A * x ; A lower triangular, unit diagonal -void blasfeo_dtrmv_lnu(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi); -// z <= A^T * x ; A lower triangular -void blasfeo_dtrmv_ltn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi); -// z <= A^T * x ; A lower triangular, unit diagonal -void blasfeo_dtrmv_ltu(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi); -// z <= beta * y + alpha * A * x ; A upper triangular -void blasfeo_dtrmv_unn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi); -// z <= A^T * x ; A upper triangular -void blasfeo_dtrmv_utn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi); -// z_n <= beta_n * y_n + alpha_n * A * x_n -// z_t <= beta_t * y_t + alpha_t * A^T * x_t -void blasfeo_dgemv_nt(int m, int n, double alpha_n, double alpha_t, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx_n, int xi_n, struct blasfeo_dvec *sx_t, int xi_t, double beta_n, double beta_t, struct blasfeo_dvec *sy_n, int yi_n, struct blasfeo_dvec *sy_t, int yi_t, struct blasfeo_dvec *sz_n, int zi_n, struct blasfeo_dvec *sz_t, int zi_t); -// z <= beta * y + alpha * A * x, where A is symmetric and only the lower triangular patr of A is accessed -void blasfeo_dsymv_l(int m, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi); -void blasfeo_dsymv_l_mn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi); -// z <= beta * y + alpha * A * x, where A is symmetric and only the upper triangular patr of A is accessed -void blasfeo_dsymv_u(int m, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi); -// D = C + alpha * x * y^T -void blasfeo_dger(int m, int n, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); - -// diagonal - -// z <= beta * y + alpha * A * x, A diagonal -void blasfeo_dgemv_d(int m, double alpha, struct blasfeo_dvec *sA, int ai, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi); - - - -// -// level 3 BLAS -// - -// dense - -// D <= beta * C + alpha * A * B -void blasfeo_dgemm_nn(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); -// D <= beta * C + alpha * A * B^T -void blasfeo_dgemm_nt(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); -// D <= beta * C + alpha * A^T * B -void blasfeo_dgemm_tn(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); -// D <= beta * C + alpha * A^T * B^T -void blasfeo_dgemm_tt(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); -// D <= beta * C + alpha * A * B^T ; C, D lower triangular -void blasfeo_dsyrk_ln(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); -void blasfeo_dsyrk_ln_mn(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); -#if ( defined(LA_HIGH_PERFORMANCE) & defined(MF_COLMAJ) ) -void blasfeo_dsyrk3_ln(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); -#endif -// D <= beta * C + alpha * A^T * B ; C, D lower triangular -void blasfeo_dsyrk_lt(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); -#if ( defined(LA_HIGH_PERFORMANCE) & defined(MF_COLMAJ) ) -void blasfeo_dsyrk3_lt(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); -#endif -// D <= beta * C + alpha * A * B^T ; C, D upper triangular -void blasfeo_dsyrk_un(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); -#if ( defined(LA_HIGH_PERFORMANCE) & defined(MF_COLMAJ) ) -void blasfeo_dsyrk3_un(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); -#endif -// D <= beta * C + alpha * A^T * B ; C, D upper triangular -void blasfeo_dsyrk_ut(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); -#if ( defined(LA_HIGH_PERFORMANCE) & defined(MF_COLMAJ) ) -void blasfeo_dsyrk3_ut(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); -#endif -// D <= alpha * A * B ; A lower triangular -void blasfeo_dtrmm_llnn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); -// D <= alpha * A * B ; A lower triangular -void blasfeo_dtrmm_llnu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); -// D <= alpha * A^T * B ; A lower triangular -void blasfeo_dtrmm_lltn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); -// D <= alpha * A^T * B ; A lower triangular -void blasfeo_dtrmm_lltu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); -// D <= alpha * A * B ; A upper triangular -void blasfeo_dtrmm_lunn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); -// D <= alpha * A * B ; A upper triangular -void blasfeo_dtrmm_lunu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); -// D <= alpha * A^T * B ; A upper triangular -void blasfeo_dtrmm_lutn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); -// D <= alpha * A^T * B ; A upper triangular -void blasfeo_dtrmm_lutu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); -// D <= alpha * B * A ; A lower triangular -void blasfeo_dtrmm_rlnn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); -// D <= alpha * B * A ; A lower triangular -void blasfeo_dtrmm_rlnu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); -// D <= alpha * B * A^T ; A lower triangular -void blasfeo_dtrmm_rltn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); -// D <= alpha * B * A^T ; A lower triangular -void blasfeo_dtrmm_rltu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); -// D <= alpha * B * A ; A upper triangular -void blasfeo_dtrmm_runn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); -// D <= alpha * B * A ; A upper triangular -void blasfeo_dtrmm_runu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); -// D <= alpha * B * A^T ; A upper triangular -void blasfeo_dtrmm_rutn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); -// D <= alpha * B * A^T ; A upper triangular -void blasfeo_dtrmm_rutu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); -// D <= alpha * A^{-1} * B , with A lower triangular employint explicit inverse of diagonal -// D <= alpha * A^{-1} * B , with A lower triangular employing explicit inverse of diagonal -void blasfeo_dtrsm_llnn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); -// D <= alpha * A^{-1} * B , with A lower triangular with unit diagonal -void blasfeo_dtrsm_llnu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); -// D <= alpha * A^{-T} * B , with A lower triangular employing explicit inverse of diagonal -void blasfeo_dtrsm_lltn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); -// D <= alpha * A^{-T} * B , with A lower triangular with unit diagonal -void blasfeo_dtrsm_lltu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); -// D <= alpha * A^{-1} * B , with A upper triangular employing explicit inverse of diagonal -void blasfeo_dtrsm_lunn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); -// D <= alpha * A^{-1} * B , with A upper triangular with unit diagonal -void blasfeo_dtrsm_lunu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); -// D <= alpha * A^{-T} * B , with A upper triangular employing explicit inverse of diagonal -void blasfeo_dtrsm_lutn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); -// D <= alpha * A^{-T} * B , with A upper triangular with unit diagonal -void blasfeo_dtrsm_lutu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); -// D <= alpha * B * A^{-1} , with A lower triangular employing explicit inverse of diagonal -void blasfeo_dtrsm_rlnn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); -// D <= alpha * B * A^{-1} , with A lower triangular with unit diagonal -void blasfeo_dtrsm_rlnu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); -// D <= alpha * B * A^{-T} , with A lower triangular employing explicit inverse of diagonal -void blasfeo_dtrsm_rltn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); -// D <= alpha * B * A^{-T} , with A lower triangular with unit diagonal -void blasfeo_dtrsm_rltu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); -// D <= alpha * B * A^{-1} , with A upper triangular employing explicit inverse of diagonal -void blasfeo_dtrsm_runn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); -// D <= alpha * B * A^{-1} , with A upper triangular with unit diagonal -void blasfeo_dtrsm_runu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); -// D <= alpha * B * A^{-T} , with A upper triangular employing explicit inverse of diagonal -void blasfeo_dtrsm_rutn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); -// D <= alpha * B * A^{-T} , with A upper triangular with unit diagonal -void blasfeo_dtrsm_rutu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); -// D <= beta * C + alpha * A * B^T + alpha * B * A^T; C, D lower triangular -void blasfeo_dsyr2k_ln(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); -// D <= beta * C + alpha * A^T * B + alpha * B^T * A; C, D lower triangular -void blasfeo_dsyr2k_lt(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); -// D <= beta * C + alpha * A * B^T + alpha * B * A^T; C, D upper triangular -void blasfeo_dsyr2k_un(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); -// D <= beta * C + alpha * A^T * B + alpha * B^T * A; C, D upper triangular -void blasfeo_dsyr2k_ut(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); - -// diagonal - -// D <= alpha * A * B + beta * C, with A diagonal (stored as strvec) -void dgemm_diag_left_lib(int m, int n, double alpha, double *dA, double *pB, int sdb, double beta, double *pC, int sdc, double *pD, int sdd); -void blasfeo_dgemm_dn(int m, int n, double alpha, struct blasfeo_dvec *sA, int ai, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); -// D <= alpha * A * B + beta * C, with B diagonal (stored as strvec) -void blasfeo_dgemm_nd(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sB, int bi, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); - - - -// -// LAPACK -// - -// D <= chol( C ) ; C, D lower triangular -void blasfeo_dpotrf_l(int m, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); -void blasfeo_dpotrf_l_mn(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); -// D <= chol( C ) ; C, D upper triangular -void blasfeo_dpotrf_u(int m, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); -// D <= chol( C + A * B' ) ; C, D lower triangular -// D <= chol( C + A * B^T ) ; C, D lower triangular -void blasfeo_dsyrk_dpotrf_ln(int m, int k, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); -void blasfeo_dsyrk_dpotrf_ln_mn(int m, int n, int k, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); -// D <= lu( C ) ; no pivoting -void blasfeo_dgetrf_np(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); -// D <= lu( C ) ; row pivoting -void blasfeo_dgetrf_rp(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, int *ipiv); -// D <= qr( C ) -int blasfeo_dgeqrf_worksize(int m, int n); // in bytes -void blasfeo_dgeqrf(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, void *work); -// D <= Q factor, where C is the output of the LQ factorization -int blasfeo_dorglq_worksize(int m, int n, int k); // in bytes -void blasfeo_dorglq(int m, int n, int k, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, void *work); -// D <= lq( C ) -void blasfeo_dgelqf(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, void *work); -int blasfeo_dgelqf_worksize(int m, int n); // in bytes -// D <= lq( C ), positive diagonal elements -void blasfeo_dgelqf_pd(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, void *work); -// [L, A] <= lq( [L, A] ), positive diagonal elements, array of matrices, with -// L lower triangular, of size (m)x(m) -// A full, of size (m)x(n1) -void blasfeo_dgelqf_pd_la(int m, int n1, struct blasfeo_dmat *sL, int li, int lj, struct blasfeo_dmat *sA, int ai, int aj, void *work); -// [L, L, A] <= lq( [L, L, A] ), positive diagonal elements, array of matrices, with: -// L lower triangular, of size (m)x(m) -// A full, of size (m)x(n1) -void blasfeo_dgelqf_pd_lla(int m, int n1, struct blasfeo_dmat *sL0, int l0i, int l0j, struct blasfeo_dmat *sL1, int l1i, int l1j, struct blasfeo_dmat *sA, int ai, int aj, void *work); - - - -// -// BLAS API helper functions -// - -#if ( defined(BLAS_API) & defined(MF_PANELMAJ) ) -// BLAS 3 -void blasfeo_cm_dgemm_nn(int m, int n, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj); -void blasfeo_cm_dgemm_nt(int m, int n, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj); -void blasfeo_cm_dgemm_tn(int m, int n, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj); -void blasfeo_cm_dgemm_tt(int m, int n, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj); -void blasfeo_cm_dsyrk_ln(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj); -void blasfeo_cm_dsyrk_lt(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj); -void blasfeo_cm_dsyrk_un(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj); -void blasfeo_cm_dsyrk_ut(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj); -void blasfeo_cm_dsyrk3_ln(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj); -void blasfeo_cm_dsyrk3_lt(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj); -void blasfeo_cm_dsyrk3_un(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj); -void blasfeo_cm_dsyrk3_ut(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj); -void blasfeo_cm_dtrsm_llnn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj); -void blasfeo_cm_dtrsm_llnu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj); -void blasfeo_cm_dtrsm_lltn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj); -void blasfeo_cm_dtrsm_lltu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj); -void blasfeo_cm_dtrsm_lunn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj); -void blasfeo_cm_dtrsm_lunu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj); -void blasfeo_cm_dtrsm_lutn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj); -void blasfeo_cm_dtrsm_lutu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj); -void blasfeo_cm_dtrsm_rlnn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj); -void blasfeo_cm_dtrsm_rlnu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj); -void blasfeo_cm_dtrsm_rltn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj); -void blasfeo_cm_dtrsm_rltu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj); -void blasfeo_cm_dtrsm_runn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj); -void blasfeo_cm_dtrsm_runu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj); -void blasfeo_cm_dtrsm_rutn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj); -void blasfeo_cm_dtrsm_rutu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj); -void blasfeo_cm_dtrmm_llnn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj); -void blasfeo_cm_dtrmm_llnu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj); -void blasfeo_cm_dtrmm_lltn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj); -void blasfeo_cm_dtrmm_lltu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj); -void blasfeo_cm_dtrmm_lunn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj); -void blasfeo_cm_dtrmm_lunu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj); -void blasfeo_cm_dtrmm_lutn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj); -void blasfeo_cm_dtrmm_lutu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj); -void blasfeo_cm_dtrmm_rlnn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj); -void blasfeo_cm_dtrmm_rlnu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj); -void blasfeo_cm_dtrmm_rltn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj); -void blasfeo_cm_dtrmm_rltu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj); -void blasfeo_cm_dtrmm_runn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj); -void blasfeo_cm_dtrmm_runu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj); -void blasfeo_cm_dtrmm_rutn(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj); -void blasfeo_cm_dtrmm_rutu(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, struct blasfeo_cm_dmat *sD, int di, int dj); -void blasfeo_cm_dsyr2k_ln(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj); -void blasfeo_cm_dsyr2k_lt(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj); -void blasfeo_cm_dsyr2k_un(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj); -void blasfeo_cm_dsyr2k_ut(int m, int k, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dmat *sB, int bi, int bj, double beta, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj); -// BLAS 2 -void blasfeo_cm_dgemv_n(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dvec *sx, int xi, double beta, struct blasfeo_cm_dvec *sy, int yi, struct blasfeo_cm_dvec *sz, int zi); -void blasfeo_cm_dgemv_t(int m, int n, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dvec *sx, int xi, double beta, struct blasfeo_cm_dvec *sy, int yi, struct blasfeo_cm_dvec *sz, int zi); -void blasfeo_cm_dsymv_l(int m, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dvec *sx, int xi, double beta, struct blasfeo_cm_dvec *sy, int yi, struct blasfeo_cm_dvec *sz, int zi); -void blasfeo_cm_dsymv_u(int m, double alpha, struct blasfeo_cm_dmat *sA, int ai, int aj, struct blasfeo_cm_dvec *sx, int xi, double beta, struct blasfeo_cm_dvec *sy, int yi, struct blasfeo_cm_dvec *sz, int zi); -void blasfeo_cm_dger(int m, int n, double alpha, struct blasfeo_cm_dvec *sx, int xi, struct blasfeo_cm_dvec *sy, int yi, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj); -// LAPACK -void blasfeo_cm_dpotrf_l(int m, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj); -void blasfeo_cm_dpotrf_u(int m, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj); -void blasfeo_cm_dgetrf_rp(int m, int n, struct blasfeo_cm_dmat *sC, int ci, int cj, struct blasfeo_cm_dmat *sD, int di, int dj, int *ipiv); -#endif - - - -#ifdef __cplusplus -} -#endif - -#endif // BLASFEO_D_BLASFEO_API_H_ diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_api_ref.h b/third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_api_ref.h deleted file mode 100644 index 141a1f0f06082c..00000000000000 --- a/third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_api_ref.h +++ /dev/null @@ -1,147 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of BLASFEO. * -* * -* BLASFEO -- BLAS For Embedded Optimization. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef BLASFEO_D_BLASFEO_API_REF_H_ -#define BLASFEO_D_BLASFEO_API_REF_H_ - -#include "blasfeo_common.h" - - -#ifdef __cplusplus -extern "C" { -#endif - - -// expose reference BLASFEO for testing - -// --- level 1 - -void blasfeo_daxpy_ref(int kmax, double alpha, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sy, int yi, struct blasfeo_dvec_ref *sz, int zi); -void blasfeo_daxpby_ref(int kmax, double alpha, struct blasfeo_dvec_ref *sx, int xi, double beta, struct blasfeo_dvec_ref *sy, int yi, struct blasfeo_dvec_ref *sz, int zi); -void blasfeo_dvecmul_ref(int m, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sy, int yi, struct blasfeo_dvec_ref *sz, int zi); -void blasfeo_dvecmulacc_ref(int m, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sy, int yi, struct blasfeo_dvec_ref *sz, int zi); -double blasfeo_dvecmuldot_ref(int m, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sy, int yi, struct blasfeo_dvec_ref *sz, int zi); -double blasfeo_ddot_ref(int m, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sy, int yi); -void blasfeo_drotg_ref(double a, double b, double *c, double *s); -void blasfeo_dcolrot_ref(int m, struct blasfeo_dmat_ref *sA, int ai, int aj0, int aj1, double c, double s); -void blasfeo_drowrot_ref(int m, struct blasfeo_dmat_ref *sA, int ai0, int ai1, int aj, double c, double s); - - -// --- level 2 - -// dense -void blasfeo_dgemv_n_ref(int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, double beta, struct blasfeo_dvec_ref *sy, int yi, struct blasfeo_dvec_ref *sz, int zi); -void blasfeo_dgemv_t_ref(int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, double beta, struct blasfeo_dvec_ref *sy, int yi, struct blasfeo_dvec_ref *sz, int zi); -void blasfeo_dtrsv_lnn_mn_ref(int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi); -void blasfeo_dtrsv_ltn_mn_ref(int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi); -void blasfeo_dtrsv_lnn_ref(int m, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi); -void blasfeo_dtrsv_lnu_ref(int m, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi); -void blasfeo_dtrsv_ltn_ref(int m, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi); -void blasfeo_dtrsv_ltu_ref(int m, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi); -void blasfeo_dtrsv_unn_ref(int m, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi); -void blasfeo_dtrsv_utn_ref(int m, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi); -void blasfeo_dtrmv_unn_ref(int m, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi); -void blasfeo_dtrmv_utn_ref(int m, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi); -void blasfeo_dtrmv_lnn_ref(int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi); -void blasfeo_dtrmv_ltn_ref(int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi); -void blasfeo_dtrmv_lnu_ref(int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi); -void blasfeo_dtrmv_ltu_ref(int m, int n, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, struct blasfeo_dvec_ref *sz, int zi); -void blasfeo_dgemv_nt_ref(int m, int n, double alpha_n, double alpha_t, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx_n, int xi_n, struct blasfeo_dvec_ref *sx_t, int xi_t, double beta_n, double beta_t, struct blasfeo_dvec_ref *sy_n, int yi_n, struct blasfeo_dvec_ref *sy_t, int yi_t, struct blasfeo_dvec_ref *sz_n, int zi_n, struct blasfeo_dvec_ref *sz_t, int zi_t); -void blasfeo_dsymv_l_ref(int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sx, int xi, double beta, struct blasfeo_dvec_ref *sy, int yi, struct blasfeo_dvec_ref *sz, int zi); - -// diagonal -void blasfeo_dgemv_d_ref(int m, double alpha, struct blasfeo_dvec_ref *sA, int ai, struct blasfeo_dvec_ref *sx, int xi, double beta, struct blasfeo_dvec_ref *sy, int yi, struct blasfeo_dvec_ref *sz, int zi); - - -// --- level 3 - -// dense -void blasfeo_dgemm_nn_ref( int m, int n, int k, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj); -void blasfeo_dgemm_nt_ref( int m, int n, int k, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj); -void blasfeo_dgemm_tn_ref(int m, int n, int k, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj); -void blasfeo_dgemm_tt_ref(int m, int n, int k, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj); - -void blasfeo_dsyrk_ln_mn_ref( int m, int n, int k, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj); -void blasfeo_dsyrk_ln_ref( int m, int k, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj); -void blasfeo_dsyrk_lt_ref( int m, int k, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj); -void blasfeo_dsyrk_un_ref( int m, int k, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj); -void blasfeo_dsyrk_ut_ref( int m, int k, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj); - -void blasfeo_dtrmm_rutn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj); -void blasfeo_dtrmm_rlnn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj); - -void blasfeo_dtrsm_lunu_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj); -void blasfeo_dtrsm_lunn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj); -void blasfeo_dtrsm_lutu_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj); -void blasfeo_dtrsm_lutn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj); -void blasfeo_dtrsm_llnu_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj); -void blasfeo_dtrsm_llnn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj); -void blasfeo_dtrsm_lltu_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj); -void blasfeo_dtrsm_lltn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj); -void blasfeo_dtrsm_runu_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj); -void blasfeo_dtrsm_runn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj); -void blasfeo_dtrsm_rutu_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj); -void blasfeo_dtrsm_rutn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj); -void blasfeo_dtrsm_rlnu_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj); -void blasfeo_dtrsm_rlnn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj); -void blasfeo_dtrsm_rltu_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj); -void blasfeo_dtrsm_rltn_ref( int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sD, int di, int dj); - -// diagonal -void dgemm_diag_left_lib_ref(int m, int n, double alpha, double *dA, double *pB, int sdb, double beta, double *pC, int sdc, double *pD, int sdd); -void blasfeo_dgemm_dn_ref(int m, int n, double alpha, struct blasfeo_dvec_ref *sA, int ai, struct blasfeo_dmat_ref *sB, int bi, int bj, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj); -void blasfeo_dgemm_nd_ref(int m, int n, double alpha, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dvec_ref *sB, int bi, double beta, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj); - -// --- lapack - -void blasfeo_dgetrf_nopivot_ref(int m, int n, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj); -void blasfeo_dgetrf_rowpivot_ref(int m, int n, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj, int *ipiv); -void blasfeo_dpotrf_l_ref(int m, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj); -void blasfeo_dpotrf_l_mn_ref(int m, int n, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj); -void blasfeo_dsyrk_dpotrf_ln_ref(int m, int k, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj); -void blasfeo_dsyrk_dpotrf_ln_mn_ref(int m, int n, int k, struct blasfeo_dmat_ref *sA, int ai, int aj, struct blasfeo_dmat_ref *sB, int bi, int bj, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj); -void blasfeo_dgetrf_nopivot_ref(int m, int n, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj); -void blasfeo_dgetrf_rowpivot_ref(int m, int n, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj, int *ipiv); -void blasfeo_dgeqrf_ref(int m, int n, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj, void *work); -void blasfeo_dgelqf_ref(int m, int n, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj, void *work); -void blasfeo_dgelqf_pd_ref(int m, int n, struct blasfeo_dmat_ref *sC, int ci, int cj, struct blasfeo_dmat_ref *sD, int di, int dj, void *work); -void blasfeo_dgelqf_pd_la_ref(int m, int n1, struct blasfeo_dmat_ref *sL, int li, int lj, struct blasfeo_dmat_ref *sA, int ai, int aj, void *work); -void blasfeo_dgelqf_pd_lla_ref(int m, int n1, struct blasfeo_dmat_ref *sL0, int l0i, int l0j, struct blasfeo_dmat_ref *sL1, int l1i, int l1j, struct blasfeo_dmat_ref *sA, int ai, int aj, void *work); - -#ifdef __cplusplus -} -#endif - -#endif // BLASFEO_D_BLASFEO_API_REF_H_ diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_hp_api.h b/third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_hp_api.h deleted file mode 100644 index 405733f13e89b3..00000000000000 --- a/third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_hp_api.h +++ /dev/null @@ -1,84 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of BLASFEO. * -* * -* BLASFEO -- BLAS For Embedded Optimization. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef BLASFEO_D_BLASFEO_HP_API_H_ -#define BLASFEO_D_BLASFEO_HP_API_H_ - - - -#include "blasfeo_common.h" - - - -#ifdef __cplusplus -extern "C" { -#endif - - - -// -// level 3 BLAS -// - -// dense - - -// D <= beta * C + alpha * A^T * B -void blasfeo_hp_dgemm_tn(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); -// D <= beta * C + alpha * A * B^T; C, D lower triangular -void blasfeo_hp_dsyrk_ln(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); -// D <= beta * C + alpha * A * A^T ; C, D lower triangular -void blasfeo_hp_dsyrk3_ln(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); -// D <= alpha * B * A^{-T} , with A lower triangular -void blasfeo_hp_dtrsm_rltn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); - - -// -// level 2 BLAS -// - -// dense - -// z <= beta * y + alpha * A * x -void blasfeo_hp_dgemv_n(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi); - - - -#ifdef __cplusplus -} -#endif - -#endif // BLASFEO_D_BLASFEO_HP_API_H_ - diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_ref_api.h b/third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_ref_api.h deleted file mode 100644 index 1a8b22c67efc68..00000000000000 --- a/third_party/acados/include/blasfeo/include/blasfeo_d_blasfeo_ref_api.h +++ /dev/null @@ -1,283 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of BLASFEO. * -* * -* BLASFEO -- BLAS For Embedded Optimization. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef BLASFEO_D_BLASFEO_REF_API_H_ -#define BLASFEO_D_BLASFEO_REF_API_H_ - - - -#include "blasfeo_common.h" - - - -#ifdef __cplusplus -extern "C" { -#endif - - - -// -// level 1 BLAS -// - -// z = y + alpha*x -// z[zi:zi+n] = alpha*x[xi:xi+n] + y[yi:yi+n] -// NB: Different arguments semantic compare to equivalent standard BLAS routine -void blasfeo_ref_daxpy(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi); -// z = beta*y + alpha*x -void blasfeo_ref_daxpby(int kmax, double alpha, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi); -// z = x .* y -void blasfeo_ref_dvecmul(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi); -// z += x .* y -void blasfeo_ref_dvecmulacc(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi); -// z = x .* y, return sum(z) = x^T * y -double blasfeo_ref_dvecmuldot(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi); -// return x^T * y -double blasfeo_ref_ddot(int m, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi); -// construct givens plane rotation -void blasfeo_ref_drotg(double a, double b, double *c, double *s); -// apply plane rotation [a b] [c -s; s; c] to the aj0 and aj1 columns of A at row index ai -void blasfeo_ref_dcolrot(int m, struct blasfeo_dmat *sA, int ai, int aj0, int aj1, double c, double s); -// apply plane rotation [c s; -s c] [a; b] to the ai0 and ai1 rows of A at column index aj -void blasfeo_ref_drowrot(int m, struct blasfeo_dmat *sA, int ai0, int ai1, int aj, double c, double s); - - - -// -// level 2 BLAS -// - -// dense - -// z <= beta * y + alpha * A * x -void blasfeo_ref_dgemv_n(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi); -// z <= beta * y + alpha * A' * x -void blasfeo_ref_dgemv_t(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi); -// z <= inv( A ) * x, A (m)x(n) -void blasfeo_ref_dtrsv_lnn_mn(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi); -// z <= inv( A' ) * x, A (m)x(n) -void blasfeo_ref_dtrsv_ltn_mn(int m, int n, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi); -// z <= inv( A ) * x, A (m)x(m) lower, not_transposed, not_unit -void blasfeo_ref_dtrsv_lnn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi); -// z <= inv( A ) * x, A (m)x(m) lower, not_transposed, unit -void blasfeo_ref_dtrsv_lnu(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi); -// z <= inv( A' ) * x, A (m)x(m) lower, transposed, not_unit -void blasfeo_ref_dtrsv_ltn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi); -// z <= inv( A' ) * x, A (m)x(m) lower, transposed, unit -void blasfeo_ref_dtrsv_ltu(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi); -// z <= inv( A' ) * x, A (m)x(m) upper, not_transposed, not_unit -void blasfeo_ref_dtrsv_unn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi); -// z <= inv( A' ) * x, A (m)x(m) upper, transposed, not_unit -void blasfeo_ref_dtrsv_utn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi); -// z <= A * x ; A lower triangular -void blasfeo_ref_dtrmv_lnn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi); -// z <= A * x ; A lower triangular, unit diagonal -void blasfeo_ref_dtrmv_lnu(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi); -// z <= A' * x ; A lower triangular -void blasfeo_ref_dtrmv_ltn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi); -// z <= A' * x ; A lower triangular, unit diagonal -void blasfeo_ref_dtrmv_ltu(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi); -// z <= beta * y + alpha * A * x ; A upper triangular -void blasfeo_ref_dtrmv_unn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi); -// z <= A' * x ; A upper triangular -void blasfeo_ref_dtrmv_utn(int m, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sz, int zi); -// z_n <= beta_n * y_n + alpha_n * A * x_n -// z_t <= beta_t * y_t + alpha_t * A' * x_t -void blasfeo_ref_dgemv_nt(int m, int n, double alpha_n, double alpha_t, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx_n, int xi_n, struct blasfeo_dvec *sx_t, int xi_t, double beta_n, double beta_t, struct blasfeo_dvec *sy_n, int yi_n, struct blasfeo_dvec *sy_t, int yi_t, struct blasfeo_dvec *sz_n, int zi_n, struct blasfeo_dvec *sz_t, int zi_t); -// z <= beta * y + alpha * A * x, where A is symmetric and only the lower triangular patr of A is accessed -void blasfeo_ref_dsymv_l(int m, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi); -void blasfeo_ref_dsymv_l_mn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi); -// z <= beta * y + alpha * A * x, where A is symmetric and only the upper triangular patr of A is accessed -void blasfeo_ref_dsymv_u(int m, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi); -// D = C + alpha * x * y^T -void blasfeo_ref_dger(int m, int n, double alpha, struct blasfeo_dvec *sx, int xi, struct blasfeo_dvec *sy, int yi, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); - -// diagonal - -// z <= beta * y + alpha * A * x, A diagonal -void blasfeo_ref_dgemv_d(int m, double alpha, struct blasfeo_dvec *sA, int ai, struct blasfeo_dvec *sx, int xi, double beta, struct blasfeo_dvec *sy, int yi, struct blasfeo_dvec *sz, int zi); - - - -// -// level 3 BLAS -// - -// dense - -// D <= beta * C + alpha * A * B -void blasfeo_ref_dgemm_nn(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); -// D <= beta * C + alpha * A * B^T -void blasfeo_ref_dgemm_nt(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); -// D <= beta * C + alpha * A^T * B -void blasfeo_ref_dgemm_tn(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); -// D <= beta * C + alpha * A^T * B^T -void blasfeo_ref_dgemm_tt(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); -// D <= beta * C + alpha * A * B^T ; C, D lower triangular -void blasfeo_ref_dsyrk_ln(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); -void blasfeo_ref_dsyrk_ln_mn(int m, int n, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); -// D <= beta * C + alpha * A^T * B ; C, D lower triangular -void blasfeo_ref_dsyrk_lt(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); -// D <= beta * C + alpha * A * B^T ; C, D upper triangular -void blasfeo_ref_dsyrk_un(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); -// D <= beta * C + alpha * A^T * B ; C, D upper triangular -void blasfeo_ref_dsyrk_ut(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); -// D <= alpha * A * B ; A lower triangular -void blasfeo_ref_dtrmm_llnn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); -// D <= alpha * A * B ; A lower triangular -void blasfeo_ref_dtrmm_llnu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); -// D <= alpha * A^T * B ; A lower triangular -void blasfeo_ref_dtrmm_lltn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); -// D <= alpha * A^T * B ; A lower triangular -void blasfeo_ref_dtrmm_lltu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); -// D <= alpha * A * B ; A upper triangular -void blasfeo_ref_dtrmm_lunn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); -// D <= alpha * A * B ; A upper triangular -void blasfeo_ref_dtrmm_lunu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); -// D <= alpha * A^T * B ; A upper triangular -void blasfeo_ref_dtrmm_lutn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); -// D <= alpha * A^T * B ; A upper triangular -void blasfeo_ref_dtrmm_lutu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); -// D <= alpha * B * A ; A lower triangular -void blasfeo_ref_dtrmm_rlnn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); -// D <= alpha * B * A ; A lower triangular -void blasfeo_ref_dtrmm_rlnu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); -// D <= alpha * B * A^T ; A lower triangular -void blasfeo_ref_dtrmm_rltn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); -// D <= alpha * B * A^T ; A lower triangular -void blasfeo_ref_dtrmm_rltu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); -// D <= alpha * B * A ; A upper triangular -void blasfeo_ref_dtrmm_runn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); -// D <= alpha * B * A ; A upper triangular -void blasfeo_ref_dtrmm_runu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); -// D <= alpha * B * A^T ; A upper triangular -void blasfeo_ref_dtrmm_rutn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); -// D <= alpha * B * A^T ; A upper triangular -void blasfeo_ref_dtrmm_rutu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); -// D <= alpha * A^{-1} * B , with A lower triangular employint explicit inverse of diagonal -void blasfeo_ref_dtrsm_llnn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); -// D <= alpha * A^{-1} * B , with A lower triangular with unit diagonal -void blasfeo_ref_dtrsm_llnu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); -// D <= alpha * A^{-T} * B , with A lower triangular employint explicit inverse of diagonal -void blasfeo_ref_dtrsm_lltn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); -// D <= alpha * A^{-T} * B , with A lower triangular with unit diagonal -void blasfeo_ref_dtrsm_lltu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); -// D <= alpha * A^{-1} * B , with A upper triangular employing explicit inverse of diagonal -void blasfeo_ref_dtrsm_lunn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); -// D <= alpha * A^{-1} * B , with A upper triangular withunit diagonal -void blasfeo_ref_dtrsm_lunu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); -// D <= alpha * A^{-T} * B , with A upper triangular employing explicit inverse of diagonal -void blasfeo_ref_dtrsm_lutn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); -// D <= alpha * A^{-T} * B , with A upper triangular withunit diagonal -void blasfeo_ref_dtrsm_lutu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); -// D <= alpha * B * A^{-1} , with A lower triangular employing explicit inverse of diagonal -void blasfeo_ref_dtrsm_rlnn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); -// D <= alpha * B * A^{-1} , with A lower triangular with unit diagonal -void blasfeo_ref_dtrsm_rlnu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); -// D <= alpha * B * A^{-T} , with A lower triangular employing explicit inverse of diagonal -void blasfeo_ref_dtrsm_rltn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); -// D <= alpha * B * A^{-T} , with A lower triangular with unit diagonal -void blasfeo_ref_dtrsm_rltu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); -// D <= alpha * B * A^{-1} , with A upper triangular employing explicit inverse of diagonal -void blasfeo_ref_dtrsm_runn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); -// D <= alpha * B * A^{-1} , with A upper triangular with unit diagonal -void blasfeo_ref_dtrsm_runu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); -// D <= alpha * B * A^{-T} , with A upper triangular employing explicit inverse of diagonal -void blasfeo_ref_dtrsm_rutn(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); -// D <= alpha * B * A^{-T} , with A upper triangular with unit diagonal -void blasfeo_ref_dtrsm_rutu(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sD, int di, int dj); -// D <= beta * C + alpha * A * B^T + alpha * B * A^T ; C, D lower triangular -void blasfeo_ref_dsyr2k_ln(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); -// D <= beta * C + alpha * A^T * B + alpha * B^T * A ; C, D lower triangular -void blasfeo_ref_dsyr2k_lt(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); -// D <= beta * C + alpha * A * B^T + alpha * B * A^T ; C, D upper triangular -void blasfeo_ref_dsyr2k_un(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); -// D <= beta * C + alpha * A^T * B + alpha * B^T * A ; C, D upper triangular -void blasfeo_ref_dsyr2k_ut(int m, int k, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); - -// diagonal - -// D <= alpha * A * B + beta * C, with A diagonal (stored as strvec) -void dgemm_diag_left_lib(int m, int n, double alpha, double *dA, double *pB, int sdb, double beta, double *pC, int sdc, double *pD, int sdd); -void blasfeo_ref_dgemm_dn(int m, int n, double alpha, struct blasfeo_dvec *sA, int ai, struct blasfeo_dmat *sB, int bi, int bj, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); -// D <= alpha * A * B + beta * C, with B diagonal (stored as strvec) -void blasfeo_ref_dgemm_nd(int m, int n, double alpha, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dvec *sB, int bi, double beta, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); - - - -// -// LAPACK -// - -// D <= chol( C ) ; C, D lower triangular -void blasfeo_ref_dpotrf_l(int m, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); -void blasfeo_ref_dpotrf_l_mn(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); -// D <= chol( C ) ; C, D upper triangular -void blasfeo_ref_dpotrf_u(int m, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); -// D <= chol( C + A * B' ) ; C, D lower triangular -void blasfeo_ref_dsyrk_dpotrf_ln(int m, int k, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); -void blasfeo_ref_dsyrk_dpotrf_ln_mn(int m, int n, int k, struct blasfeo_dmat *sA, int ai, int aj, struct blasfeo_dmat *sB, int bi, int bj, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); -// D <= lu( C ) ; no pivoting -void blasfeo_ref_dgetrf_np(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj); -// D <= lu( C ) ; row pivoting -void blasfeo_ref_dgetrf_rp(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, int *ipiv); -// D <= qr( C ) -int blasfeo_ref_dgeqrf_worksize(int m, int n); // in bytes -void blasfeo_ref_dgeqrf(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, void *work); -// D <= Q factor, where C is the output of the LQ factorization -int blasfeo_ref_dorglq_worksize(int m, int n, int k); // in bytes -void blasfeo_ref_dorglq(int m, int n, int k, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, void *work); -// D <= lq( C ) -void blasfeo_ref_dgelqf(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, void *work); -int blasfeo_ref_dgelqf_worksize(int m, int n); // in bytes -// D <= lq( C ), positive diagonal elements -void blasfeo_ref_dgelqf_pd(int m, int n, struct blasfeo_dmat *sC, int ci, int cj, struct blasfeo_dmat *sD, int di, int dj, void *work); -// [L, A] <= lq( [L, A] ), positive diagonal elements, array of matrices, with -// L lower triangular, of size (m)x(m) -// A full, of size (m)x(n1) -void blasfeo_ref_dgelqf_pd_la(int m, int n1, struct blasfeo_dmat *sL, int li, int lj, struct blasfeo_dmat *sA, int ai, int aj, void *work); -// [L, L, A] <= lq( [L, L, A] ), positive diagonal elements, array of matrices, with: -// L lower triangular, of size (m)x(m) -// A full, of size (m)x(n1) -void blasfeo_ref_dgelqf_pd_lla(int m, int n1, struct blasfeo_dmat *sL0, int l0i, int l0j, struct blasfeo_dmat *sL1, int l1i, int l1j, struct blasfeo_dmat *sA, int ai, int aj, void *work); - - - -#ifdef __cplusplus -} -#endif - -#endif // BLASFEO_D_BLASFEO_REF_API_H_ - diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_kernel.h b/third_party/acados/include/blasfeo/include/blasfeo_d_kernel.h deleted file mode 100644 index d20ac38bbd043c..00000000000000 --- a/third_party/acados/include/blasfeo/include/blasfeo_d_kernel.h +++ /dev/null @@ -1,1321 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of BLASFEO. * -* * -* BLASFEO -- BLAS For Embedded Optimization. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef BLASFEO_D_KERNEL_H_ -#define BLASFEO_D_KERNEL_H_ - - - -#include "blasfeo_target.h" - - - -#ifdef __cplusplus -extern "C" { -#endif - - - -// utils -void blasfeo_align_2MB(void *ptr, void **ptr_align); -void blasfeo_align_4096_byte(void *ptr, void **ptr_align); -void blasfeo_align_64_byte(void *ptr, void **ptr_align); - - -// -// lib8 -// - -// 24x8 -void kernel_dgemm_nt_24x8_lib8(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd); // -void kernel_dgemm_nt_24x8_vs_lib8(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); // -void kernel_dtrsm_nt_rl_inv_24x8_lib8(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E); // -void kernel_dpotrf_nt_l_24x8_lib8(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D); -void kernel_dpotrf_nt_l_24x8_vs_lib8(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int m1, int n1); -void kernel_dtrsm_nt_rl_inv_24x8_vs_lib8(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int m1, int n1); // -void kernel_dgemm_dtrsm_nt_rl_inv_24x8_lib8(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E); -void kernel_dgemm_dtrsm_nt_rl_inv_24x8_vs_lib8(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int m1, int n1); -void kernel_dsyrk_dpotrf_nt_l_24x8_lib8(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *inv_diag_D); -void kernel_dsyrk_dpotrf_nt_l_24x8_vs_lib8(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int m1, int n1); -void kernel_dlarfb8_rn_24_lib8(int kmax, double *pV, double *pT, double *pD, int sdd); -// 16x8 -void kernel_dgemm_nt_16x8_lib8(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd); // -void kernel_dgemm_nt_16x8_vs_lib8(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); // -void kernel_dgemm_nt_16x8_gen_lib8(int k, double *alpha, double *A, int sda, double *B, double *beta, int offC, double *C, int sdc, int offD, double *D, int sdd, int m0, int m1, int n0, int n1); // -void kernel_dgemm_nn_16x8_lib8(int k, double *alpha, double *A, int sda, int offB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); // -void kernel_dgemm_nn_16x8_vs_lib8(int k, double *alpha, double *A, int sda, int offB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); // -void kernel_dgemm_nn_16x8_gen_lib8(int k, double *alpha, double *A, int sda, int offB, double *B, int sdb, double *beta, int offC, double *C, int sdc, int offD, double *D, int sdd, int m0, int m1, int n0, int n1); // -void kernel_dsyrk_nt_l_16x8_lib8(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd); // -void kernel_dsyrk_nt_l_16x8_vs_lib8(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); // -void kernel_dsyrk_nt_l_16x8_gen_lib8(int k, double *alpha, double *A, int sda, double *B, double *beta, int offC, double *C, int sdc, int offD, double *D, int sdd, int m0, int m1, int n0, int n1); // -void kernel_dtrmm_nn_rl_16x8_lib8(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *D, int sdd); -void kernel_dtrmm_nn_rl_16x8_vs_lib8(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *D, int sdd, int m1, int n1); -void kernel_dtrmm_nn_rl_16x8_gen_lib8(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, int offD, double *D, int sdd, int m0, int m1, int n0, int n1); -void kernel_dtrsm_nt_rl_inv_16x8_lib8(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E); // -void kernel_dtrsm_nt_rl_inv_16x8_vs_lib8(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int m1, int n1); // -void kernel_dpotrf_nt_l_16x8_lib8(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D); -void kernel_dpotrf_nt_l_16x8_vs_lib8(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int m1, int n1); -void kernel_dgemm_dtrsm_nt_rl_inv_16x8_lib8(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E); -void kernel_dgemm_dtrsm_nt_rl_inv_16x8_vs_lib8(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int m1, int n1); -void kernel_dsyrk_dpotrf_nt_l_16x8_lib8(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *inv_diag_D); -void kernel_dsyrk_dpotrf_nt_l_16x8_vs_lib8(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int m1, int n1); -void kernel_dlarfb8_rn_16_lib8(int kmax, double *pV, double *pT, double *pD, int sdd); -void kernel_dlarfb8_rn_la_16_lib8(int n1, double *pVA, double *pT, double *pD, int sdd, double *pA, int sda); -void kernel_dlarfb8_rn_lla_16_lib8(int n0, int n1, double *pVL, double *pVA, double *pT, double *pD, int sdd, double *pL, int sdl, double *pA, int sda); -// 8x16 -void kernel_dgemm_tt_8x16_lib8(int k, double *alpha, int offA, double *A, int sda, double *B, int sdb, double *beta, double *C, double *D); // -void kernel_dgemm_tt_8x16_vs_lib8(int k, double *alpha, int offA, double *A, int sda, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); // -void kernel_dgemm_tt_8x16_gen_lib8(int k, double *alpha, int offA, double *A, int sda, double *B, int sdb, double *beta, int offC, double *C, int sdc, int offD, double *D, int sdd, int m0, int m1, int n0, int n1); // -void kernel_dgemm_nt_8x16_lib8(int k, double *alpha, double *A, double *B, int sdb, double *beta, double *C, double *D); // -void kernel_dgemm_nt_8x16_vs_lib8(int k, double *alpha, double *A, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); // -// 8x8 -void kernel_dgemm_nt_8x8_lib8(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D); // -void kernel_dgemm_nt_8x8_vs_lib8(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D, int m1, int n1); // -void kernel_dgemm_nt_8x8_gen_lib8(int k, double *alpha, double *A, double *B, double *beta, int offC, double *C, int sdc, int offD, double *D, int sdd, int m0, int m1, int n0, int n1); // -void kernel_dgemm_nn_8x8_lib8(int k, double *alpha, double *A, int offB, double *B, int sdb, double *beta, double *C, double *D); // -void kernel_dgemm_nn_8x8_vs_lib8(int k, double *alpha, double *A, int offB, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); // -void kernel_dgemm_nn_8x8_gen_lib8(int k, double *alpha, double *A, int offB, double *B, int sdb, double *beta, int offC, double *C, int sdc, int offD, double *D, int sdd, int m0, int m1, int n0, int n1); // -void kernel_dgemm_tt_8x8_lib8(int k, double *alpha, int offA, double *A, int sda, double *B, double *beta, double *C, double *D); // -void kernel_dgemm_tt_8x8_vs_lib8(int k, double *alpha, int offA, double *A, int sda, double *B, double *beta, double *C, double *D, int m1, int n1); // -void kernel_dgemm_tt_8x8_gen_lib8(int k, double *alpha, int offA, double *A, int sda, double *B, double *beta, int offc, double *C, int sdc, int offD, double *D, int sdd, int m0, int m1, int n0, int n1); // -void kernel_dsyrk_nt_l_8x8_lib8(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D); // -void kernel_dsyrk_nt_l_8x8_vs_lib8(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D, int m1, int n1); // -void kernel_dsyrk_nt_l_8x8_gen_lib8(int k, double *alpha, double *A, double *B, double *beta, int offC, double *C, int sdc, int offD, double *D, int sdd, int m0, int m1, int n0, int n1); // -void kernel_dtrmm_nn_rl_8x8_lib8(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *D); -void kernel_dtrmm_nn_rl_8x8_vs_lib8(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *D, int m1, int n1); -void kernel_dtrmm_nn_rl_8x8_gen_lib8(int k, double *alpha, double *A, int offsetB, double *B, int sdb, int offD, double *D, int sdd, int m0, int m1, int n0, int n1); -void kernel_dtrsm_nt_rl_inv_8x8_lib8(int k, double *A, double *B, double *beta, double *C, double *D, double *E, double *inv_diag_E); -void kernel_dtrsm_nt_rl_inv_8x8_vs_lib8(int k, double *A, double *B, double *beta, double *C, double *D, double *E, double *inv_diag_E, int m1, int n1); -void kernel_dpotrf_nt_l_8x8_lib8(int k, double *A, double *B, double *C, double *D, double *inv_diag_D); -void kernel_dpotrf_nt_l_8x8_vs_lib8(int k, double *A, double *B, double *C, double *D, double *inv_diag_D, int m1, int n1); -void kernel_dgemm_dtrsm_nt_rl_inv_8x8_lib8(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *E, double *inv_diag_E); -void kernel_dgemm_dtrsm_nt_rl_inv_8x8_vs_lib8(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *E, double *inv_diag_E, int m1, int n1); -void kernel_dsyrk_dpotrf_nt_l_8x8_lib8(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *inv_diag_D); -void kernel_dsyrk_dpotrf_nt_l_8x8_vs_lib8(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *inv_diag_D, int m1, int n1); -void kernel_dgelqf_vs_lib8(int m, int n, int k, int offD, double *pD, int sdd, double *dD); -void kernel_dgelqf_pd_vs_lib8(int m, int n, int k, int offD, double *pD, int sdd, double *dD); -void kernel_dgelqf_8_lib8(int kmax, double *pD, double *dD); -void kernel_dgelqf_pd_8_lib8(int kmax, double *pD, double *dD); -void kernel_dlarft_8_lib8(int kmax, double *pD, double *dD, double *pT); -void kernel_dlarfb8_rn_8_lib8(int kmax, double *pV, double *pT, double *pD); -void kernel_dlarfb8_rn_8_vs_lib8(int kmax, double *pV, double *pT, double *pD, int m1); -void kernel_dlarfb8_rn_1_lib8(int kmax, double *pV, double *pT, double *pD); -void kernel_dgelqf_dlarft8_8_lib8(int kmax, double *pD, double *dD, double *pT); -void kernel_dgelqf_pd_dlarft8_8_lib8(int kmax, double *pD, double *dD, double *pT); -void kernel_dgelqf_pd_la_vs_lib8(int m, int n1, int k, int offD, double *pD, int sdd, double *dD, int offA, double *pA, int sda); -void kernel_dgelqf_pd_la_dlarft8_8_lib8(int kmax, double *pD, double *dD, double *pA, double *pT); -void kernel_dlarft_la_8_lib8(int n1, double *dD, double *pA, double *pT); -void kernel_dlarfb8_rn_la_8_lib8(int n1, double *pVA, double *pT, double *pD, double *pA); -void kernel_dlarfb8_rn_la_8_vs_lib8(int n1, double *pVA, double *pT, double *pD, double *pA, int m1); -void kernel_dlarfb8_rn_la_1_lib8(int n1, double *pVA, double *pT, double *pD, double *pA); -void kernel_dgelqf_pd_lla_vs_lib8(int m, int n0, int n1, int k, int offD, double *pD, int sdd, double *dD, int offL, double *pL, int sdl, int offA, double *pA, int sda); -void kernel_dgelqf_pd_lla_dlarft8_8_lib8(int n0, int n1, double *pD, double *dD, double *pL, double *pA, double *pT); -void kernel_dlarft_lla_8_lib8(int n0, int n1, double *dD, double *pL, double *pA, double *pT); -void kernel_dlarfb8_rn_lla_8_lib8(int n0, int n1, double *pVL, double *pVA, double *pT, double *pD, double *pL, double *pA); -void kernel_dlarfb8_rn_lla_8_vs_lib8(int n0, int n1, double *pVL, double *pVA, double *pT, double *pD, double *pL, double *pA, int m1); -void kernel_dlarfb8_rn_lla_1_lib8(int n0, int n1, double *pVL, double *pVA, double *pT, double *pD, double *pL, double *pA); - -// panel copy / pack -// 24 -void kernel_dpack_nn_24_lib8(int kmax, double *A, int lda, double *C, int sdc); -void kernel_dpack_nn_24_vs_lib8(int kmax, double *A, int lda, double *C, int sdc, int m1); -// 16 -void kernel_dpacp_nn_16_lib8(int kmax, int offsetA, double *A, int sda, double *B, int sdb); -void kernel_dpacp_nn_16_vs_lib8(int kmax, int offsetA, double *A, int sda, double *B, int sdb, int m1); -void kernel_dpack_nn_16_lib8(int kmax, double *A, int lda, double *C, int sdc); -void kernel_dpack_nn_16_vs_lib8(int kmax, double *A, int lda, double *C, int sdc, int m1); -// 8 -void kernel_dpacp_nn_8_lib8(int kmax, int offsetA, double *A, int sda, double *B); -void kernel_dpacp_nn_8_vs_lib8(int kmax, int offsetA, double *A, int sda, double *B, int m1); -void kernel_dpacp_tn_8_lib8(int kmax, int offsetA, double *A, int sda, double *B); -void kernel_dpacp_tn_8_vs_lib8(int kmax, int offsetA, double *A, int sda, double *B, int m1); -void kernel_dpacp_l_nn_8_lib8(int kmax, int offsetA, double *A, int sda, double *B); -void kernel_dpacp_l_nn_8_vs_lib8(int kmax, int offsetA, double *A, int sda, double *B, int m1); -void kernel_dpacp_l_tn_8_lib8(int kmax, int offsetA, double *A, int sda, double *B); -void kernel_dpacp_l_tn_8_vs_lib8(int kmax, int offsetA, double *A, int sda, double *B, int m1); -void kernel_dpaad_nn_8_lib8(int kmax, double *alpha, int offsetA, double *A, int sda, double *B); -void kernel_dpaad_nn_8_vs_lib8(int kmax, double *alpha, int offsetA, double *A, int sda, double *B, int m1); -void kernel_dpack_nn_8_lib8(int kmax, double *A, int lda, double *C); -void kernel_dpack_nn_8_vs_lib8(int kmax, double *A, int lda, double *C, int m1); -void kernel_dpack_tn_8_lib8(int kmax, double *A, int lda, double *C); -void kernel_dpack_tn_8_vs_lib8(int kmax, double *A, int lda, double *C, int m1); -// 4 -void kernel_dpack_tt_4_lib8(int kmax, double *A, int lda, double *C, int sdc); // TODO offsetC -void kernel_dpack_tt_4_vs_lib8(int kmax, double *A, int lda, double *C, int sdc, int m1); // TODO offsetC - -// level 2 BLAS -// 16 -void kernel_dgemv_n_16_lib8(int k, double *alpha, double *A, int sda, double *x, double *beta, double *y, double *z); -// 8 -void kernel_dgemv_n_8_lib8(int k, double *alpha, double *A, double *x, double *beta, double *y, double *z); -void kernel_dgemv_n_8_vs_lib8(int k, double *alpha, double *A, double *x, double *beta, double *y, double *z, int m1); -//void kernel_dgemv_n_8_gen_lib8(int k, double *alpha, double *A, double *x, double *beta, double *y, double *z, int m0, int m1); -void kernel_dgemv_n_8_gen_lib8(int k, double *alpha, int offsetA, double *A, double *x, double *beta, double *y, double *z, int m1); -void kernel_dgemv_t_8_lib8(int k, double *alpha, int offsetA, double *A, int sda, double *x, double *beta, double *y, double *z); -void kernel_dgemv_t_8_vs_lib8(int k, double *alpha, int offsetA, double *A, int sda, double *x, double *beta, double *y, double *z, int n1); -void kernel_dgemv_nt_8_lib8(int kmax, double *alpha_n, double *alpha_t, int offsetA, double *A, int sda, double *x_n, double *x_t, double *beta_t, double *y_t, double *z_n, double *z_t); -void kernel_dgemv_nt_8_vs_lib8(int kmax, double *alpha_n, double *alpha_t, int offsetA, double *A, int sda, double *x_n, double *x_t, double *beta_t, double *y_t, double *z_n, double *z_t, int n1); -void kernel_dsymv_l_8_lib8(int kmax, double *alpha, double *A, int sda, double *x, double *z); -void kernel_dsymv_l_8_vs_lib8(int kmax, double *alpha, double *A, int sda, double *x, double *z, int n1); -void kernel_dsymv_l_8_gen_lib8(int kmax, double *alpha, int offsetA, double *A, int sda, double *x, double *z, int n1); -void kernel_dtrmv_n_ln_8_lib8(int k, double *A, double *x, double *z); -void kernel_dtrmv_n_ln_8_vs_lib8(int k, double *A, double *x, double *z, int m1); -void kernel_dtrmv_n_ln_8_gen_lib8(int k, int offsetA, double *A, double *x, double *z, int m1); -void kernel_dtrmv_t_ln_8_lib8(int k, double *A, int sda, double *x, double *z); -void kernel_dtrmv_t_ln_8_vs_lib8(int k, double *A, int sda, double *x, double *z, int n1); -void kernel_dtrmv_t_ln_8_gen_lib8(int k, int offsetA, double *A, int sda, double *x, double *z, int n1); -void kernel_dtrsv_n_l_inv_8_lib8(int k, double *A, double *inv_diag_A, double *x, double *z); -void kernel_dtrsv_n_l_inv_8_vs_lib8(int k, double *A, double *inv_diag_A, double *x, double *z, int m1, int n1); -void kernel_dtrsv_t_l_inv_8_lib8(int k, double *A, int sda, double *inv_diag_A, double *x, double *z); -void kernel_dtrsv_t_l_inv_8_vs_lib8(int k, double *A, int sda, double *inv_diag_A, double *x, double *z, int m1, int n1); - - - -// -// lib4 -// - -// level 2 BLAS -// 12 -void kernel_dgemv_n_12_lib4(int k, double *alpha, double *A, int sda, double *x, double *beta, double *y, double *z); -void kernel_dgemv_t_12_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *x, double *beta, double *y, double *z); -// 8 -void kernel_dgemv_n_8_lib4(int k, double *alpha, double *A, int sda, double *x, double *beta, double *y, double *z); -void kernel_dgemv_t_8_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *x, double *beta, double *y, double *z); -void kernel_dtrmv_un_8_lib4(int k, double *A, int sda, double *x, double *z); -// 4 -void kernel_dgemv_n_4_lib4(int k, double *alpha, double *A, double *x, double *beta, double *y, double *z); -void kernel_dgemv_n_4_vs_lib4(int k, double *alpha, double *A, double *x, double *beta, double *y, double *z, int k1); -void kernel_dgemv_n_4_gen_lib4(int kmax, double *alpha, double *A, double *x, double *beta, double *y, double *z, int k0, int k1); -void kernel_dgemv_t_4_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *x, double *beta, double *y, double *z); -void kernel_dgemv_t_4_vs_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *x, double *beta, double *y, double *z, int k1); -void kernel_dtrsv_ln_inv_4_lib4(int k, double *A, double *inv_diag_A, double *x, double *y, double *z); -void kernel_dtrsv_ln_inv_4_vs_lib4(int k, double *A, double *inv_diag_A, double *x, double *y, double *z, int km, int kn); -void kernel_dtrsv_lt_inv_4_lib4(int k, double *A, int sda, double *inv_diag_A, double *x, double *y, double *z); -void kernel_dtrsv_lt_inv_3_lib4(int k, double *A, int sda, double *inv_diag_A, double *x, double *y, double *z); -void kernel_dtrsv_lt_inv_2_lib4(int k, double *A, int sda, double *inv_diag_A, double *x, double *y, double *z); -void kernel_dtrsv_lt_inv_1_lib4(int k, double *A, int sda, double *inv_diag_A, double *x, double *y, double *z); -void kernel_dtrsv_lt_one_4_lib4(int k, double *A, int sda, double *x, double *y, double *z); -void kernel_dtrsv_lt_one_3_lib4(int k, double *A, int sda, double *x, double *y, double *z); -void kernel_dtrsv_lt_one_2_lib4(int k, double *A, int sda, double *x, double *y, double *z); -void kernel_dtrsv_lt_one_1_lib4(int k, double *A, int sda, double *x, double *y, double *z); -void kernel_dtrsv_ln_one_4_vs_lib4(int kmax, double *A, double *x, double *y, double *z, int km, int kn); -void kernel_dtrsv_ln_one_4_lib4(int kmax, double *A, double *x, double *y, double *z); -void kernel_dtrsv_un_inv_4_lib4(int kmax, double *A, double *inv_diag_A, double *x, double *y, double *z); -void kernel_dtrsv_ut_inv_4_lib4(int kmax, double *A, int sda, double *inv_diag_A, double *x, double *y, double *z); -void kernel_dtrsv_ut_inv_4_vs_lib4(int kmax, double *A, int sda, double *inv_diag_A, double *x, double *y, double *z, int m1, int n1); -void kernel_dtrmv_un_4_lib4(int k, double *A, double *x, double *z); -void kernel_dtrmv_ut_4_lib4(int k, double *A, int sda, double *x, double *z); -void kernel_dtrmv_ut_4_vs_lib4(int k, double *A, int sda, double *x, double *z, int km); -void kernel_dgemv_nt_6_lib4(int kmax, double *alpha_n, double *alpha_t, double *A, int sda, double *x_n, double *x_t, double *beta_t, double *y_t, double *z_n, double *z_t); -void kernel_dgemv_nt_4_lib4(int kmax, double *alpha_n, double *alpha_t, double *A, int sda, double *x_n, double *x_t, double *beta_t, double *y_t, double *z_n, double *z_t); -void kernel_dgemv_nt_4_vs_lib4(int kmax, double *alpha_n, double *alpha_t, double *A, int sda, double *x_n, double *x_t, double *beta_t, double *y_t, double *z_n, double *z_t, int km); -void kernel_dsymv_l_4_lib4(int kmax, double *alpha, double *A, int sda, double *x, double *z); -void kernel_dsymv_l_4_gen_lib4(int kmax, double *alpha, int offA, double *A, int sda, double *x, double *z, int km); - - - -// level 3 BLAS -// 12x4 -void kernel_dgemm_nt_12x4_lib4(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd); // -void kernel_dgemm_nt_12x4_vs_lib4(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, int km, int kn); // -void kernel_dgemm_nt_12x4_gen_lib4(int k, double *alpha, double *A, int sda, double *B, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int k0, int k1); -void kernel_dgemm_nn_12x4_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); // -void kernel_dgemm_nn_12x4_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int km, int kn); // -void kernel_dgemm_nn_12x4_gen_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int n0, int n1); // -void kernel_dgemm_tt_12x4_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd); // -void kernel_dgemm_tt_12x4_vs_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); // -void kernel_dsyrk_nn_u_12x4_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); // -void kernel_dsyrk_nn_u_12x4_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); // -void kernel_dsyrk_nt_l_12x4_lib4(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd); // -void kernel_dsyrk_nt_l_12x4_vs_lib4(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, int km, int kn); // -void kernel_dtrmm_nt_ru_12x4_lib4(int k, double *alpha, double *A, int sda, double *B, double *D, int sdd); // -void kernel_dtrmm_nt_ru_12x4_vs_lib4(int k, double *alpha, double *A, int sda, double *B, double *D, int sdd, int km, int kn); // -void kernel_dtrmm_nn_rl_12x4_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *D, int sdd); -void kernel_dtrmm_nn_rl_12x4_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *D, int sdd, int km, int kn); -void kernel_dtrsm_nt_rl_inv_12x4_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E); -void kernel_dtrsm_nt_rl_inv_12x4_vs_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int km, int kn); -void kernel_dtrsm_nt_rl_one_12x4_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E); -void kernel_dtrsm_nt_rl_one_12x4_vs_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, int km, int kn); -void kernel_dtrsm_nt_ru_inv_12x4_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E); -void kernel_dtrsm_nt_ru_inv_12x4_vs_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int km, int kn); -void kernel_dtrsm_nt_ru_one_12x4_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E); -void kernel_dtrsm_nt_ru_one_12x4_vs_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, int km, int kn); -void kernel_dtrsm_nn_ru_inv_12x4_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E); -void kernel_dtrsm_nn_ru_inv_12x4_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int km, int kn); -void kernel_dtrsm_nn_ll_inv_12x4_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int sde, double *inv_diag_E); -void kernel_dtrsm_nn_ll_inv_12x4_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int sde, double *inv_diag_E, int km, int kn); -void kernel_dtrsm_nn_ll_one_12x4_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int sde); -void kernel_dtrsm_nn_ll_one_12x4_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int sde, int km, int kn); -void kernel_dtrsm_nn_lu_inv_12x4_lib4(int kmax, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *E, int sde, double *inv_diag_E); -void kernel_dtrsm_nn_lu_inv_12x4_vs_lib4(int kmax, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *E, int sde, double *inv_diag_E, int km, int kn); -// 4x12 -void kernel_dgemm_nt_4x12_lib4(int k, double *alpha, double *A, double *B, int sdb, double *beta, double *C, double *D); // -void kernel_dgemm_nt_4x12_vs_lib4(int k, double *alpha, double *A, double *B, int sdb, double *beta, double *C, double *D, int km, int kn); // -void kernel_dgemm_nn_4x12_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D); // -void kernel_dgemm_nn_4x12_vs_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); // -void kernel_dgemm_tt_4x12_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, int sdb, double *beta, double *C, double *D); // -void kernel_dgemm_tt_4x12_vs_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); // -void kernel_dgemm_tt_4x12_gen_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, int sdb, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int n0, int n1); // -void kernel_dtrsm_nt_rl_inv_4x12_lib4(int k, double *A, double *B, int sdb, double *C, double *D, double *E, int sed, double *inv_diag_E); -void kernel_dtrsm_nt_rl_inv_4x12_vs_lib4(int k, double *A, double *B, int sdb, double *C, double *D, double *E, int sed, double *inv_diag_E, int km, int kn); -// 8x8 -void kernel_dgemm_nt_8x8l_lib4(int k, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); // computes [A00 *; A10 A11] -void kernel_dgemm_nt_8x8u_lib4(int k, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); // computes [A00 *; A10 A11] -void kernel_dgemm_nt_8x8l_vs_lib4(int k, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int km, int kn); // computes [A00 *; A10 A11] -void kernel_dgemm_nt_8x8u_vs_lib4(int k, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int km, int kn); // computes [A00 *; A10 A11] -void kernel_dsyrk_nn_u_8x8_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); // -void kernel_dsyrk_nn_u_8x8_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); // -void kernel_dsyrk_nt_l_8x8_lib4(int k, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); // computes [L00 *; A10 L11] -void kernel_dsyrk_nt_l_8x8_vs_lib4(int k, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int km, int kn); // computes [L00 *; A10 L11] -void kernel_dtrsm_nt_rl_inv_8x8l_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *E, int sed, double *inv_diag_E); -void kernel_dtrsm_nt_rl_inv_8x8l_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *E, int sed, double *inv_diag_E, int km, int kn); -void kernel_dtrsm_nt_rl_inv_8x8u_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *E, int sed, double *inv_diag_E); -void kernel_dtrsm_nt_rl_inv_8x8u_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *E, int sed, double *inv_diag_E, int km, int kn); -// 8x4 -void kernel_dgemm_nt_8x4_lib4(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd); // -void kernel_dgemm_nt_8x4_vs_lib4(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, int km, int kn); // -void kernel_dgemm_nt_8x4_gen_lib4(int k, double *alpha, double *A, int sda, double *B, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int k0, int k1); -void kernel_dgemm_nn_8x4_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); // -void kernel_dgemm_nn_8x4_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); // -void kernel_dgemm_nn_8x4_gen_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int n0, int n1); // -void kernel_dgemm_tt_8x4_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd); // -void kernel_dgemm_tt_8x4_vs_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); // -void kernel_dsyrk_nn_u_8x4_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); // -void kernel_dsyrk_nn_u_8x4_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); // -void kernel_dsyrk_nt_l_8x4_lib4(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd); // -void kernel_dsyrk_nt_l_8x4_vs_lib4(int k, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, int km, int kn); // -void kernel_dsyrk_nt_l_8x4_gen_lib4(int k, double *alpha, double *A, int sda, double *B, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int k0, int k1); -void kernel_dtrmm_nt_ru_8x4_lib4(int k, double *alpha, double *A, int sda, double *B, double *D, int sdd); // -void kernel_dtrmm_nt_ru_8x4_vs_lib4(int k, double *alpha, double *A, int sda, double *B, double *D, int sdd, int km, int kn); // -void kernel_dtrmm_nn_rl_8x4_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *D, int sdd); -void kernel_dtrmm_nn_rl_8x4_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *D, int sdd, int km, int kn); -void kernel_dtrmm_nn_rl_8x4_gen_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, int offsetD, double *D, int sdd, int m0, int m1, int n0, int n1); -void kernel_dtrsm_nt_rl_inv_8x4_vs_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int km, int kn); -void kernel_dtrsm_nt_rl_inv_8x4_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E); -void kernel_dtrsm_nt_rl_one_8x4_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E); -void kernel_dtrsm_nt_rl_one_8x4_vs_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, int km, int kn); -void kernel_dtrsm_nt_ru_inv_8x4_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E); -void kernel_dtrsm_nt_ru_inv_8x4_vs_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int km, int kn); -void kernel_dtrsm_nt_ru_one_8x4_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E); -void kernel_dtrsm_nt_ru_one_8x4_vs_lib4(int k, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd, double *E, int km, int kn); -void kernel_dtrsm_nn_ru_inv_8x4_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E); -void kernel_dtrsm_nn_ru_inv_8x4_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int km, int kn); -void kernel_dtrsm_nn_ll_inv_8x4_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int sde, double *inv_diag_E); -void kernel_dtrsm_nn_ll_inv_8x4_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int sde, double *inv_diag_E, int km, int kn); -void kernel_dtrsm_nn_ll_one_8x4_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int sde); -void kernel_dtrsm_nn_ll_one_8x4_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int sde, int km, int kn); -void kernel_dtrsm_nn_lu_inv_8x4_lib4(int kmax, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *E, int sde, double *inv_diag_E); -void kernel_dtrsm_nn_lu_inv_8x4_vs_lib4(int kmax, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *E, int sde, double *inv_diag_E, int km, int kn); -// 4x8 -void kernel_dgemm_nt_4x8_lib4(int k, double *alpha, double *A, double *B, int sdb, double *beta, double *C, double *D); // -void kernel_dgemm_nt_4x8_vs_lib4(int k, double *alpha, double *A, double *B, int sdb, double *beta, double *C, double *D, int km, int kn); // -void kernel_dgemm_nn_4x8_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D); // -void kernel_dgemm_nn_4x8_vs_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); // -void kernel_dgemm_tt_4x8_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, int sdb, double *beta, double *C, double *D); // -void kernel_dgemm_tt_4x8_vs_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); // -void kernel_dgemm_tt_4x8_gen_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, int sdb, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int n0, int n1); // -void kernel_dtrsm_nt_rl_inv_4x8_lib4(int k, double *A, double *B, int sdb, double *C, double *D, double *E, int sed, double *inv_diag_E); -void kernel_dtrsm_nt_rl_inv_4x8_vs_lib4(int k, double *A, double *B, int sdb, double *C, double *D, double *E, int sed, double *inv_diag_E, int km, int kn); -// 8x2 -void kernel_dgemm_nn_8x2_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); // -void kernel_dgemm_nn_8x2_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); // -// 2x8 -void kernel_dgemm_nn_2x8_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D); // -void kernel_dgemm_nn_2x8_vs_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); // -// 10xX -void kernel_dgemm_nn_10x4_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); // -void kernel_dgemm_nn_10x4_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); // -void kernel_dgemm_nn_10x2_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); // -void kernel_dgemm_nn_10x2_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); // -// 6xX -void kernel_dgemm_nn_8x6_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); // -void kernel_dgemm_nn_8x6_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); // -void kernel_dgemm_nn_6x8_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); // -void kernel_dgemm_nn_6x8_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); // -void kernel_dgemm_nn_6x6_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); // -void kernel_dgemm_nn_6x6_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); // -void kernel_dgemm_nn_6x4_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); // -void kernel_dgemm_nn_6x4_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); // -void kernel_dgemm_nn_6x2_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd); // -void kernel_dgemm_nn_6x2_vs_lib4(int k, double *alpha, double *A, int sda, int offsetB, double *B, int sdb, double *beta, double *C, int sdc, double *D, int sdd, int m1, int n1); // -// 4x4 -void kernel_dgemm_nt_4x4_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D); // -void kernel_dgemm_nt_4x4_vs_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D, int km, int kn); // -void kernel_dgemm_nt_4x4_gen_lib4(int k, double *alpha, double *A, double *B, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int n0, int n1); -void kernel_dgemm_nn_4x4_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D); // -void kernel_dgemm_nn_4x4_vs_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); // -void kernel_dgemm_nn_4x4_gen_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int n0, int n1); // -void kernel_dgemm_tt_4x4_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, double *beta, double *C, double *D); // -void kernel_dgemm_tt_4x4_vs_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, double *beta, double *C, double *D, int m1, int n1); // -void kernel_dgemm_tt_4x4_gen_lib4(int k, double *alpha, int offsetA, double *A, int sda, double *B, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int n0, int n1); // -void kernel_dsyrk_nn_u_4x4_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D); // -void kernel_dsyrk_nn_u_4x4_vs_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); // -void kernel_dsyrk_nt_l_4x4_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D); // -void kernel_dsyrk_nt_l_4x4_vs_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D, int km, int kn); // -void kernel_dsyrk_nt_l_4x4_gen_lib4(int k, double *alpha, double *A, double *B, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int n0, int n1); -void kernel_dsyrk_nt_u_4x4_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D); // -void kernel_dsyrk_nt_u_4x4_vs_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D, int km, int kn); // -void kernel_dsyrk_nt_u_4x4_gen_lib4(int k, double *alpha, double *A, double *B, double *beta, int offsetC, double *C, int sdc, int offsetD, double *D, int sdd, int m0, int m1, int n0, int n1); -void kernel_dtrmm_nt_ru_4x4_lib4(int k, double *alpha, double *A, double *B, double *D); // -void kernel_dtrmm_nt_ru_4x4_vs_lib4(int k, double *alpha, double *A, double *B, double *D, int km, int kn); // -void kernel_dtrmm_nn_rl_4x4_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *D); -void kernel_dtrmm_nn_rl_4x4_vs_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *D, int m1, int n1); -void kernel_dtrmm_nn_rl_4x4_gen_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, int offsetD, double *D, int sdd, int m0, int m1, int n0, int n1); -void kernel_dtrsm_nt_rl_inv_4x4_lib4(int k, double *A, double *B, double *beta, double *C, double *D, double *E, double *inv_diag_E); -void kernel_dtrsm_nt_rl_inv_4x4_vs_lib4(int k, double *A, double *B, double *beta, double *C, double *D, double *E, double *inv_diag_E, int km, int kn); -void kernel_dtrsm_nt_rl_one_4x4_lib4(int k, double *A, double *B, double *beta, double *C, double *D, double *E); -void kernel_dtrsm_nt_rl_one_4x4_vs_lib4(int k, double *A, double *B, double *beta, double *C, double *D, double *E, int km, int kn); -void kernel_dtrsm_nt_ru_inv_4x4_lib4(int k, double *A, double *B, double *beta, double *C, double *D, double *E, double *inv_diag_E); -void kernel_dtrsm_nt_ru_inv_4x4_vs_lib4(int k, double *A, double *B, double *beta, double *C, double *D, double *E, double *inv_diag_E, int km, int kn); -void kernel_dtrsm_nt_ru_one_4x4_lib4(int k, double *A, double *B, double *beta, double *C, double *D, double *E); -void kernel_dtrsm_nt_ru_one_4x4_vs_lib4(int k, double *A, double *B, double *beta, double *C, double *D, double *E, int km, int kn); -void kernel_dtrsm_nn_ru_inv_4x4_lib4(int k, double *A, double *B, int sdb, double *beta, double *C, double *D, double *E, double *inv_diag_E); -void kernel_dtrsm_nn_ru_inv_4x4_vs_lib4(int k, double *A, double *B, int sdb, double *beta, double *C, double *D, double *E, double *inv_diag_E, int km, int kn); -void kernel_dtrsm_nn_ll_inv_4x4_lib4(int k, double *A, double *B, int sdb, double *beta, double *C, double *D, double *E, double *inv_diag_E); -void kernel_dtrsm_nn_ll_inv_4x4_vs_lib4(int k, double *A, double *B, int sdb, double *beta, double *C, double *D, double *E, double *inv_diag_E, int km, int kn); -void kernel_dtrsm_nn_ll_one_4x4_lib4(int k, double *A, double *B, int sdb, double *beta, double *C, double *D, double *E); -void kernel_dtrsm_nn_ll_one_4x4_vs_lib4(int k, double *A, double *B, int sdb, double *beta, double *C, double *D, double *E, int km, int kn); -void kernel_dtrsm_nn_lu_inv_4x4_lib4(int kmax, double *A, double *B, int sdb, double *C, double *D, double *E, double *inv_diag_E); -void kernel_dtrsm_nn_lu_inv_4x4_vs_lib4(int kmax, double *A, double *B, int sdb, double *C, double *D, double *E, double *inv_diag_E, int km, int kn); -void kernel_dtrsm_nn_lu_one_4x4_lib4(int kmax, double *A, double *B, int sdb, double *C, double *D, double *E); -void kernel_dtrsm_nn_lu_one_4x4_vs_lib4(int kmax, double *A, double *B, int sdb, double *C, double *D, double *E, int km, int kn); -// 4x2 -void kernel_dgemm_nn_4x2_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D); // -void kernel_dgemm_nn_4x2_vs_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); // -void kernel_dgemm_nt_4x2_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D); -void kernel_dgemm_nt_4x2_vs_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D, int m1, int n1); -void kernel_dsyrk_nt_l_4x2_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D); // -void kernel_dsyrk_nt_l_4x2_vs_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D, int km, int kn); // -void kernel_dtrmm_nn_rl_4x2_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *D); -void kernel_dtrmm_nn_rl_4x2_vs_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *D, int m1, int n1); -void kernel_dtrsm_nt_rl_inv_4x2_lib4(int k, double *A, double *B, double *beta, double *C, double *D, double *E, double *inv_diag_E); -void kernel_dtrsm_nt_rl_inv_4x2_vs_lib4(int k, double *A, double *B, double *beta, double *C, double *D, double *E, double *inv_diag_E, int km, int kn); -// 2x4 -void kernel_dgemm_nn_2x4_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D); // -void kernel_dgemm_nn_2x4_vs_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D, int m1, int n1); // -// 2x2 -void kernel_dgemm_nn_2x2_lib4(int k, double *alpha, double *A, int offsetB, double *B, int sdb, double *beta, double *C, double *D); // -void kernel_dsyrk_nt_l_2x2_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D); // -void kernel_dsyrk_nt_l_2x2_vs_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D, int km, int kn); // -// diag -void kernel_dgemm_diag_right_4_a0_lib4(int kmax, double *alpha, double *A, int sda, double *B, double *D, int sdd); -void kernel_dgemm_diag_right_4_lib4(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd); -void kernel_dgemm_diag_right_3_lib4(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd); -void kernel_dgemm_diag_right_2_lib4(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd); -void kernel_dgemm_diag_right_1_lib4(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int sdd); -void kernel_dgemm_diag_left_4_a0_lib4(int kmax, double *alpha, double *A, double *B, double *D); -void kernel_dgemm_diag_left_4_lib4(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D); -void kernel_dgemm_diag_left_3_lib4(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D); -void kernel_dgemm_diag_left_2_lib4(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D); -void kernel_dgemm_diag_left_1_lib4(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D); -// low rank update -void kernel_dger4_sub_12r_lib4(int k, double *A, int sda, double *B, double *C, int sdc); -void kernel_dger4_sub_12r_vs_lib4(int k, double *A, int sda, double *B, double *C, int sdc, int km); -void kernel_dger4_sub_8r_lib4(int k, double *A, int sda, double *B, double *C, int sdc); -void kernel_dger4_sub_8r_vs_lib4(int k, double *A, int sda, double *B, double *C, int sdc, int km); -void kernel_dger4_sub_4r_lib4(int n, double *A, double *B, double *C); -void kernel_dger4_sub_4r_vs_lib4(int n, double *A, double *B, double *C, int km); - - - -// LAPACK -// 12x4 -void kernel_dpotrf_nt_l_12x4_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D); -void kernel_dpotrf_nt_l_12x4_vs_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn); -void kernel_dgetrf_nn_l_12x4_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D); -void kernel_dgetrf_nn_l_12x4_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn); -void kernel_dgetrf_nn_m_12x4_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D); -void kernel_dgetrf_nn_m_12x4_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn); -void kernel_dgetrf_nn_r_12x4_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D); -void kernel_dgetrf_nn_r_12x4_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn); -void kernel_dgetrf_nt_l_12x4_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D); -void kernel_dgetrf_nt_l_12x4_vs_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn); -void kernel_dgetrf_nt_m_12x4_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D); -void kernel_dgetrf_nt_m_12x4_vs_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn); -void kernel_dgetrf_nt_r_12x4_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D); -void kernel_dgetrf_nt_r_12x4_vs_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn); -// 8x8 -void kernel_dpotrf_nt_l_8x8_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D); -void kernel_dpotrf_nt_l_8x8_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn); -// 8x4 -void kernel_dpotrf_nt_l_8x4_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D); -void kernel_dpotrf_nt_l_8x4_vs_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn); -void kernel_dgetrf_nn_l_8x4_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D); -void kernel_dgetrf_nn_l_8x4_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn); -void kernel_dgetrf_nn_r_8x4_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D); -void kernel_dgetrf_nn_r_8x4_vs_lib4(int k, double *A, int sda, double *B, int sdb, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn); -void kernel_dgetrf_nt_l_8x4_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D); -void kernel_dgetrf_nt_l_8x4_vs_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn); -void kernel_dgetrf_nt_r_8x4_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D); -void kernel_dgetrf_nt_r_8x4_vs_lib4(int k, double *A, int sda, double *B, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn); -// 4x4 -void kernel_dpotrf_nt_l_4x4_lib4(int k, double *A, double *B, double *C, double *D, double *inv_diag_D); -void kernel_dpotrf_nt_l_4x4_vs_lib4(int k, double *A, double *B, double *C, double *D, double *inv_diag_D, int km, int kn); -#if defined(TARGET_X64_INTEL_SANDY_BRIDGE) -void kernel_dlauum_nt_4x4_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D); // -void kernel_dlauum_nt_4x4_vs_lib4(int k, double *alpha, double *A, double *B, double *beta, double *C, double *D, int km, int kn); // -#endif -void kernel_dgetrf_nn_4x4_lib4(int k, double *A, double *B, int sdb, double *C, double *D, double *inv_diag_D); -void kernel_dgetrf_nn_4x4_vs_lib4(int k, double *A, double *B, int sdb, double *C, double *D, double *inv_diag_D, int km, int kn); -void kernel_dgetrf_nt_4x4_lib4(int k, double *A, double *B, double *C, double *D, double *inv_diag_D); -void kernel_dgetrf_nt_4x4_vs_lib4(int k, double *A, double *B, double *C, double *D, double *inv_diag_D, int km, int kn); -void kernel_dgeqrf_4_lib4(int m, double *pD, int sdd, double *dD); -void kernel_dgeqrf_vs_lib4(int m, int n, int k, int offD, double *pD, int sdd, double *dD); -void kernel_dlarf_4_lib4(int m, int n, double *pV, int sdv, double *tau, double *pC, int sdc); // rank-4 reflector -void kernel_dlarf_t_4_lib4(int m, int n, double *pD, int sdd, double *pVt, double *dD, double *pC0, int sdc, double *pW); -void kernel_dgelqf_4_lib4(int n, double *pD, double *dD); -void kernel_dgelqf_vs_lib4(int m, int n, int k, int offD, double *pD, int sdd, double *dD); -void kernel_dlarft_4_lib4(int kmax, double *pD, double *dD, double *pT); -void kernel_dlarft_3_lib4(int kmax, double *pD, double *dD, double *pT); -void kernel_dlarft_2_lib4(int kmax, double *pD, double *dD, double *pT); -void kernel_dlarft_1_lib4(int kmax, double *pD, double *dD, double *pT); -void kernel_dgelqf_dlarft12_12_lib4(int n, double *pD, int sdd, double *dD, double *pT); -void kernel_dgelqf_dlarft4_12_lib4(int n, double *pD, int sdd, double *dD, double *pT); -void kernel_dgelqf_dlarft4_8_lib4(int n, double *pD, int sdd, double *dD, double *pT); -void kernel_dgelqf_dlarft4_4_lib4(int n, double *pD, double *dD, double *pT); -void kernel_dlarfb12_rn_12_lib4(int kmax, double *pV, int sdd, double *pT, double *pD, double *pK); -void kernel_dlarfb12_rn_4_lib4(int kmax, double *pV, int sdd, double *pT, double *pD, double *pK, int km); -void kernel_dlarfb4_rn_12_lib4(int kmax, double *pV, double *pT, double *pD, int sdd); -void kernel_dlarfb4_rn_8_lib4(int kmax, double *pV, double *pT, double *pD, int sdd); -void kernel_dlarfb4_rn_4_lib4(int kmax, double *pV, double *pT, double *pD); -void kernel_dlarfb3_rn_4_lib4(int kmax, double *pV, double *pT, double *pD); -void kernel_dlarfb2_rn_4_lib4(int kmax, double *pV, double *pT, double *pD); -void kernel_dlarfb1_rn_4_lib4(int kmax, double *pV, double *pT, double *pD); -void kernel_dlarfb4_rn_1_lib4(int kmax, double *pV, double *pT, double *pD); -void kernel_dlarfb3_rn_1_lib4(int kmax, double *pV, double *pT, double *pD); -void kernel_dlarfb2_rn_1_lib4(int kmax, double *pV, double *pT, double *pD); -void kernel_dlarfb1_rn_1_lib4(int kmax, double *pV, double *pT, double *pD); -void kernel_dlarfb4_rt_4_lib4(int kmax, double *pV, double *pT, double *pD); -void kernel_dlarfb3_rt_4_lib4(int kmax, double *pV, double *pT, double *pD); -void kernel_dlarfb2_rt_4_lib4(int kmax, double *pV, double *pT, double *pD); -void kernel_dlarfb1_rt_4_lib4(int kmax, double *pV, double *pT, double *pD); -void kernel_dlarfb4_rt_1_lib4(int kmax, double *pV, double *pT, double *pD); -void kernel_dlarfb3_rt_1_lib4(int kmax, double *pV, double *pT, double *pD); -void kernel_dlarfb2_rt_1_lib4(int kmax, double *pV, double *pT, double *pD); -void kernel_dlarfb1_rt_1_lib4(int kmax, double *pV, double *pT, double *pD); -void kernel_dgelqf_pd_dlarft12_12_lib4(int n, double *pD, int sdd, double *dD, double *pT); -void kernel_dgelqf_pd_dlarft4_8_lib4(int n, double *pD, int sdd, double *dD, double *pT); -void kernel_dgelqf_pd_dlarft4_4_lib4(int n, double *pD, double *dD, double *pT); -void kernel_dgelqf_pd_4_lib4(int n, double *pD, double *dD); -void kernel_dgelqf_pd_vs_lib4(int m, int n, int k, int offD, double *pD, int sdd, double *dD); -void kernel_dgelqf_pd_la_vs_lib4(int m, int n1, int k, int offD, double *pD, int sdd, double *dD, int offA, double *pA, int sda); -void kernel_dlarft_4_la_lib4(int n1, double *dD, double *pA, double *pT); -void kernel_dlarfb4_rn_12_la_lib4(int n1, double *pVA, double *pT, double *pD, int sdd, double *pA, int sda); -void kernel_dlarfb4_rn_8_la_lib4(int n1, double *pVA, double *pT, double *pD, int sdd, double *pA, int sda); -void kernel_dlarfb4_rn_4_la_lib4(int n1, double *pVA, double *pT, double *pD, double *pA); -void kernel_dlarfb4_rn_1_la_lib4(int n1, double *pVA, double *pT, double *pD, double *pA); -void kernel_dgelqf_pd_lla_vs_lib4(int m, int n0, int n1, int k, int offD, double *pD, int sdd, double *dD, int offL, double *pL, int sdl, int offA, double *pA, int sda); -void kernel_dlarft_4_lla_lib4(int n0, int n1, double *dD, double *pL, double *pA, double *pT); -void kernel_dlarfb4_rn_12_lla_lib4(int n0, int n1, double *pVL, double *pVA, double *pT, double *pD, int sdd, double *pL, int sdl, double *pA, int sda); -void kernel_dlarfb4_rn_8_lla_lib4(int n0, int n1, double *pVL, double *pVA, double *pT, double *pD, int sdd, double *pL, int sdl, double *pA, int sda); -void kernel_dlarfb4_rn_4_lla_lib4(int n0, int n1, double *pVL, double *pVA, double *pT, double *pD, double *pL, double *pA); -void kernel_dlarfb4_rn_1_lla_lib4(int n0, int n1, double *pVL, double *pVA, double *pT, double *pD, double *pL, double *pA); -// 4x2 -void kernel_dpotrf_nt_l_4x2_lib4(int k, double *A, double *B, double *C, double *D, double *inv_diag_D); -void kernel_dpotrf_nt_l_4x2_vs_lib4(int k, double *A, double *B, double *C, double *D, double *inv_diag_D, int km, int kn); -// 2x2 -void kernel_dpotrf_nt_l_2x2_lib4(int k, double *A, double *B, double *C, double *D, double *inv_diag_D); -void kernel_dpotrf_nt_l_2x2_vs_lib4(int k, double *A, double *B, double *C, double *D, double *inv_diag_D, int km, int kn); -// 12 -void kernel_dgetrf_pivot_12_lib4(int m, double *pA, int sda, double *inv_diag_A, int* ipiv); -void kernel_dgetrf_pivot_12_vs_lib4(int m, double *pA, int sda, double *inv_diag_A, int* ipiv, int n); -// 8 -void kernel_dgetrf_pivot_8_lib4(int m, double *pA, int sda, double *inv_diag_A, int* ipiv); -void kernel_dgetrf_pivot_8_vs_lib4(int m, double *pA, int sda, double *inv_diag_A, int* ipiv, int n); -// 4 -void kernel_dgetrf_pivot_4_lib4(int m, double *pA, int sda, double *inv_diag_A, int* ipiv); -void kernel_dgetrf_pivot_4_vs_lib4(int m, double *pA, int sda, double *inv_diag_A, int* ipiv, int n1); -// vector -void kernel_drowsw_lib4(int kmax, double *pA, double *pC); - - - -// merged routines -// 12x4 -void kernel_dgemm_dtrsm_nt_rl_inv_12x4_lib4(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E); -void kernel_dgemm_dtrsm_nt_rl_inv_12x4_vs_lib4(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int km, int kn); -void kernel_dsyrk_dpotrf_nt_l_12x4_lib4(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *inv_diag_D); -void kernel_dsyrk_dpotrf_nt_l_12x4_vs_lib4(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn); -// 4x12 -void kernel_dgemm_dtrsm_nt_rl_inv_4x12_vs_lib4(int kp, double *Ap, double *Bp, int sdbp, int km_, double *Am, double *Bm, int sdbm, double *C, double *D, double *E, int sde, double *inv_diag_E, int km, int kn); -// 8x8 -void kernel_dsyrk_dpotrf_nt_l_8x8_lib4(int kp, double *Ap, int sdap, double *Bp, int sdbp, int km_, double *Am, int sdam, double *Bm, int sdbm, double *C, int sdc, double *D, int sdd, double *inv_diag_D); -void kernel_dsyrk_dpotrf_nt_l_8x8_vs_lib4(int kp, double *Ap, int sdap, double *Bp, int sdbp, int km_, double *Am, int sdam, double *Bm, int sdbm, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn); -void kernel_dgemm_dtrsm_nt_rl_inv_8x8l_vs_lib4(int kp, double *Ap, int sdap, double *Bp, int sdb, int km_, double *Am, int sdam, double *Bm, int sdbm, double *C, int sdc, double *D, int sdd, double *E, int sde, double *inv_diag_E, int km, int kn); -void kernel_dgemm_dtrsm_nt_rl_inv_8x8u_vs_lib4(int kp, double *Ap, int sdap, double *Bp, int sdb, int km_, double *Am, int sdam, double *Bm, int sdbm, double *C, int sdc, double *D, int sdd, double *E, int sde, double *inv_diag_E, int km, int kn); -// 8x4 -void kernel_dgemm_dtrsm_nt_rl_inv_8x4_lib4(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E); -void kernel_dgemm_dtrsm_nt_rl_inv_8x4_vs_lib4(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *E, double *inv_diag_E, int km, int kn); -void kernel_dsyrk_dpotrf_nt_l_8x4_lib4(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *inv_diag_D); -void kernel_dsyrk_dpotrf_nt_l_8x4_vs_lib4(int kp, double *Ap, int sdap, double *Bp, int km_, double *Am, int sdam, double *Bm, double *C, int sdc, double *D, int sdd, double *inv_diag_D, int km, int kn); -// 4x8 -void kernel_dgemm_dtrsm_nt_rl_inv_4x8_vs_lib4(int kp, double *Ap, double *Bp, int sdbp, int km_, double *Am, double *Bm, int sdbm, double *C, double *D, double *E, int sde, double *inv_diag_E, int km, int kn); -// 4x4 -void kernel_dgemm_dtrsm_nt_rl_inv_4x4_lib4(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *E, double *inv_diag_E); -void kernel_dgemm_dtrsm_nt_rl_inv_4x4_vs_lib4(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *E, double *inv_diag_E, int km, int kn); -void kernel_dsyrk_dpotrf_nt_l_4x4_lib4(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *inv_diag_D); -void kernel_dsyrk_dpotrf_nt_l_4x4_vs_lib4(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *inv_diag_D, int km, int kn); -// 4x2 -void kernel_dgemm_dtrsm_nt_rl_inv_4x2_lib4(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *E, double *inv_diag_E); -void kernel_dgemm_dtrsm_nt_rl_inv_4x2_vs_lib4(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *E, double *inv_diag_E, int km, int kn); -void kernel_dsyrk_dpotrf_nt_l_4x2_lib4(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *inv_diag_D); -void kernel_dsyrk_dpotrf_nt_l_4x2_vs_lib4(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *inv_diag_D, int km, int kn); -// 2x2 -void kernel_dsyrk_dpotrf_nt_l_2x2_lib4(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *inv_diag_D); -void kernel_dsyrk_dpotrf_nt_l_2x2_vs_lib4(int kp, double *Ap, double *Bp, int km_, double *Am, double *Bm, double *C, double *D, double *inv_diag_D, int km, int kn); - -/* - * - * Auxiliary routines - * - * cpsc copy and scale, scale - * cp copy - * add - * set and scale - * transpose and scale - * set and scale - * - */ - -// copy and scale -void kernel_dgecpsc_8_0_lib4(int tri, int kmax, double alpha, double *A0, int sda, double *B, int sdb); -void kernel_dgecpsc_8_1_lib4(int tri, int kmax, double alpha, double *A0, int sda, double *B, int sdb); -void kernel_dgecpsc_8_2_lib4(int tri, int kmax, double alpha, double *A0, int sda, double *B, int sdb); -void kernel_dgecpsc_8_3_lib4(int tri, int kmax, double alpha, double *A0, int sda, double *B, int sdb); - -void kernel_dgecpsc_4_0_lib4(int tri, int kmax, double alpha, double *A, double *B); -void kernel_dgecpsc_4_1_lib4(int tri, int kmax, double alpha, double *A0, int sda, double *B); -void kernel_dgecpsc_4_2_lib4(int tri, int kmax, double alpha, double *A0, int sda, double *B); -void kernel_dgecpsc_4_3_lib4(int tri, int kmax, double alpha, double *A0, int sda, double *B); - -void kernel_dgecpsc_3_0_lib4(int tri, int kmax, double alpha, double *A, double *B); -void kernel_dgecpsc_3_2_lib4(int tri, int kmax, double alpha, double *A0, int sda, double *B); -void kernel_dgecpsc_3_3_lib4(int tri, int kmax, double alpha, double *A0, int sda, double *B); - -void kernel_dgecpsc_2_0_lib4(int tri, int kmax, double alpha, double *A, double *B); -void kernel_dgecpsc_2_3_lib4(int tri, int kmax, double alpha, double *A0, int sda, double *B); - -void kernel_dgecpsc_1_0_lib4(int tri, int kmax, double alpha, double *A, double *B); - -// copy only -void kernel_dgecp_8_0_lib4(int tri, int kmax, double *A, int sda, double *B, int sdb); - -void kernel_dgecp_4_0_lib4(int tri, int kmax, double *A, double *B); - -// add -void kernel_dgead_8_0_lib4(int kmax, double alpha, double *A0, int sda, double *B, int sdb); -void kernel_dgead_8_1_lib4(int kmax, double alpha, double *A0, int sda, double *B, int sdb); -void kernel_dgead_8_2_lib4(int kmax, double alpha, double *A0, int sda, double *B, int sdb); -void kernel_dgead_8_3_lib4(int kmax, double alpha, double *A0, int sda, double *B, int sdb); -void kernel_dgead_4_0_lib4(int kmax, double alpha, double *A, double *B); -void kernel_dgead_4_1_lib4(int kmax, double alpha, double *A0, int sda, double *B); -void kernel_dgead_4_2_lib4(int kmax, double alpha, double *A0, int sda, double *B); -void kernel_dgead_4_3_lib4(int kmax, double alpha, double *A0, int sda, double *B); -void kernel_dgead_3_0_lib4(int kmax, double alpha, double *A, double *B); -void kernel_dgead_3_2_lib4(int kmax, double alpha, double *A0, int sda, double *B); -void kernel_dgead_3_3_lib4(int kmax, double alpha, double *A0, int sda, double *B); -void kernel_dgead_2_0_lib4(int kmax, double alpha, double *A, double *B); -void kernel_dgead_2_3_lib4(int kmax, double alpha, double *A0, int sda, double *B); -void kernel_dgead_1_0_lib4(int kmax, double alpha, double *A, double *B); - -// set -void kernel_dgeset_4_lib4(int kmax, double alpha, double *A); -void kernel_dtrset_4_lib4(int kmax, double alpha, double *A); - -// traspose -void kernel_dgetr_8_lib4(int tri, int kmax, int kna, double alpha, double *A, int sda, double *C, int sdc); -void kernel_dgetr_4_lib4(int tri, int kmax, int kna, double alpha, double *A, double *C, int sdc); -void kernel_dgetr_3_lib4(int tri, int kmax, int kna, double alpha, double *A, double *C, int sdc); -void kernel_dgetr_2_lib4(int tri, int kmax, int kna, double alpha, double *A, double *C, int sdc); -void kernel_dgetr_1_lib4(int tri, int kmax, int kna, double alpha, double *A, double *C, int sdc); -void kernel_dgetr_4_0_lib4(int m, double *A, int sda, double *B); - - - -// pack -// 12 -void kernel_dpack_nn_12_lib4(int kmax, double *A, int lda, double *B, int sdb); -void kernel_dpack_nn_12_vs_lib4(int kmax, double *A, int lda, double *B, int sdb, int m1); -void kernel_dpack_tt_12_lib4(int kmax, double *A, int lda, double *B, int sdb); -// 8 -void kernel_dpack_nn_8_lib4(int kmax, double *A, int lda, double *B, int sdb); -void kernel_dpack_nn_8_vs_lib4(int kmax, double *A, int lda, double *B, int sdb, int m1); -void kernel_dpack_tt_8_lib4(int kmax, double *A, int lda, double *B, int sdb); -// 4 -void kernel_dpack_nn_4_lib4(int kmax, double *A, int lda, double *B); -void kernel_dpack_nn_4_vs_lib4(int kmax, double *A, int lda, double *B, int m1); -void kernel_dpack_tn_4_p0_lib4(int kmax, double *A, int lda, double *B); -void kernel_dpack_tn_4_lib4(int kmax, double *A, int lda, double *B); -void kernel_dpack_tn_4_vs_lib4(int kmax, double *A, int lda, double *B, int m1); -void kernel_dpack_tt_4_lib4(int kmax, double *A, int lda, double *B, int sdb); -void kernel_dpack_tt_4_vs_lib4(int kmax, double *A, int lda, double *B, int sdb, int m1); -// unpack -// 12 -void kernel_dunpack_nn_12_lib4(int kmax, double *A, int sda, double *B, int ldb); -void kernel_dunpack_nn_12_vs_lib4(int kmax, double *A, int sda, double *B, int ldb, int m1); -void kernel_dunpack_tt_12_lib4(int kmax, double *A, int sda, double *B, int ldb); -// 8 -void kernel_dunpack_nn_8_lib4(int kmax, double *A, int sda, double *B, int ldb); -void kernel_dunpack_nn_8_vs_lib4(int kmax, double *A, int sda, double *B, int ldb, int m1); -void kernel_dunpack_tt_8_lib4(int kmax, double *A, int sda, double *B, int ldb); -// 4 -void kernel_dunpack_nn_4_lib4(int kmax, double *A, double *B, int ldb); -void kernel_dunpack_nn_4_vs_lib4(int kmax, double *A, double *B, int ldb, int m1); -void kernel_dunpack_nt_4_lib4(int kmax, double *A, double *B, int ldb); -void kernel_dunpack_nt_4_vs_lib4(int kmax, double *A, double *B, int ldb, int m1); -void kernel_dunpack_tt_4_lib4(int kmax, double *A, int sda, double *B, int ldb); - -// panel copy -// 12 -void kernel_dpacp_nn_12_lib4(int kmax, int offsetA, double *A, int sda, double *B, int sdb); -void kernel_dpacp_nn_12_vs_lib4(int kmax, int offsetA, double *A, int sda, double *B, int sdb, int m1); -// 8 -void kernel_dpacp_nn_8_lib4(int kmax, int offsetA, double *A, int sda, double *B, int sdb); -void kernel_dpacp_nn_8_vs_lib4(int kmax, int offsetA, double *A, int sda, double *B, int sdb, int m1); -// 4 -void kernel_dpacp_nt_4_lib4(int kmax, double *A, int offsetB, double *B, int sdb); -void kernel_dpacp_tn_4_lib4(int kmax, int offsetA, double *A, int sda, double *B); -void kernel_dpacp_nn_4_lib4(int kmax, int offsetA, double *A, int sda, double *B); -void kernel_dpacp_nn_4_vs_lib4(int kmax, int offsetA, double *A, int sda, double *B, int m1); - - - -/************************************************ -* BLAS API kernels -************************************************/ - -//#if defined(BLAS_API) - -// A, B panel-major bs=4; C, D column-major -// 12x4 -void kernel_dgemm_nt_12x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dgemm_nt_12x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -void kernel_dgemm_nt_12x4_p0_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *A_p, double *B_p); -void kernel_dsyrk_nt_l_12x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dsyrk_nt_l_12x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -void kernel_dsyrk_nt_u_12x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dsyrk_nt_u_12x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -void kernel_dger2k_nt_12x4_lib44cc(int kmax, double *alpha, double *A0, int sda0, double *B0, double *A1, int sda1, double *B1, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dger2k_nt_12x4_vs_lib44cc(int kmax, double *alpha, double *A0, int sda0, double *B0, double *A1, int sda1, double *B1, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -void kernel_dsyr2k_nt_l_12x4_lib44cc(int kmax, double *alpha, double *A0, int sda0, double *B0, double *A1, int sda1, double *B1, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dsyr2k_nt_l_12x4_vs_lib44cc(int kmax, double *alpha, double *A0, int sda0, double *B0, double *A1, int sda1, double *B1, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -void kernel_dtrmm_nt_rl_12x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dtrmm_nt_rl_12x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -void kernel_dtrmm_nt_rl_one_12x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dtrmm_nt_rl_one_12x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -void kernel_dtrmm_nt_ru_12x4_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd); -void kernel_dtrmm_nt_ru_12x4_vs_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1); -void kernel_dtrmm_nt_ru_12x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dtrmm_nt_ru_12x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -void kernel_dtrmm_nt_ru_one_12x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dtrmm_nt_ru_one_12x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -void kernel_dtrsm_nt_ll_inv_12x4_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, int sde, double *inv_diag_E); -void kernel_dtrsm_nt_ll_inv_12x4_vs_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, int sde, double *inv_diag_E, int km, int kn); -void kernel_dtrsm_nt_rl_inv_12x4_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE); -void kernel_dtrsm_nt_rl_inv_12x4_vs_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE, int m1, int n1); -void kernel_dtrsm_nt_rl_inv_12x4_lib44ccc(int kmax, double *A, int sda, double *B, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE); -void kernel_dtrsm_nt_rl_inv_12x4_vs_lib44ccc(int kmax, double *A, int sda, double *B, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1); -void kernel_dtrsm_nt_rl_one_12x4_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E); -void kernel_dtrsm_nt_rl_one_12x4_vs_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, int m1, int n1); -void kernel_dtrsm_nt_ru_inv_12x4_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE); -void kernel_dtrsm_nt_ru_inv_12x4_vs_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE, int m1, int n1); -void kernel_dtrsm_nt_ru_one_12x4_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E); -void kernel_dtrsm_nt_ru_one_12x4_vs_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, int m1, int n1); -void kernel_dpotrf_nt_l_12x4_lib44cc(int kmax, double *A, int sda, double *B, double *C, int ldc, double *D, int ldd, double *dD); -void kernel_dpotrf_nt_l_12x4_vs_lib44cc(int kmax, double *A, int sda, double *B, double *C, int ldc, double *D, int ldd, double *dD, int m1, int n1); -// 4x12 -void kernel_dgemm_nt_4x12_lib44cc(int kmax, double *alpha, double *A, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dgemm_nt_4x12_vs_lib44cc(int kmax, double *alpha, double *A, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -void kernel_dgemm_nt_4x12_p0_vs_lib44cc(int kmax, double *alpha, double *A, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1, double *A_p, double *B_p); -void kernel_dtrmm_nt_rl_4x12_tran_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd); -void kernel_dtrmm_nt_rl_4x12_tran_vs_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1); -void kernel_dtrmm_nt_rl_one_4x12_tran_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd); -void kernel_dtrmm_nt_rl_one_4x12_tran_vs_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1); -void kernel_dtrmm_nt_ru_4x12_tran_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd); -void kernel_dtrmm_nt_ru_4x12_tran_vs_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1); -void kernel_dtrmm_nt_ru_one_4x12_tran_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd); -void kernel_dtrmm_nt_ru_one_4x12_tran_vs_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1); -// 8x8 -void kernel_dsyrk_nt_l_8x8_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dsyrk_nt_l_8x8_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -void kernel_dsyrk_nt_u_8x8_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dsyrk_nt_u_8x8_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -void kernel_dger2k_nt_8x8_lib44cc(int kmax, double *alpha, double *A0, int sda0, double *B0, int sdb0, double *A1, int sda1, double *B1, int sdb1, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dger2k_nt_8x8_vs_lib44cc(int kmax, double *alpha, double *A0, int sda0, double *B0, int sdb0, double *A1, int sda1, double *B1, int sdb1, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -void kernel_dsyr2k_nt_l_8x8_lib44cc(int kmax, double *alpha, double *A0, int sda0, double *B0, int sdb0, double *A1, int sda1, double *B1, int sdb1, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dsyr2k_nt_l_8x8_vs_lib44cc(int kmax, double *alpha, double *A0, int sda0, double *B0, int sdb0, double *A1, int sda1, double *B1, int sdb1, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -void kernel_dpotrf_nt_l_8x8_lib44cc(int kmax, double *A, int sda, double *B, int sdb, double *C, int ldc, double *D, int ldd, double *dD); -void kernel_dpotrf_nt_l_8x8_vs_lib44cc(int kmax, double *A, int sda, double *B, int sdb, double *C, int ldc, double *D, int ldd, double *dD, int m1, int n1); -// 8x4 -void kernel_dgemm_nt_8x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dgemm_nt_8x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -void kernel_dgemm_nt_8x4_p0_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *A_p, double *B_p); -void kernel_dgemm_nt_8x4_p_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *A_p); -void kernel_dsyrk_nt_l_8x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dsyrk_nt_l_8x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -void kernel_dsyrk_nt_u_8x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dsyrk_nt_u_8x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -void kernel_dger2k_nt_8x4_lib44cc(int kmax, double *alpha, double *A0, int sda0, double *B0, double *A1, int sda1, double *B1, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dger2k_nt_8x4_vs_lib44cc(int kmax, double *alpha, double *A0, int sda0, double *B0, double *A1, int sda1, double *B1, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -void kernel_dsyr2k_nt_l_8x4_lib44cc(int kmax, double *alpha, double *A0, int sda0, double *B0, double *A1, int sda1, double *B1, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dsyr2k_nt_l_8x4_vs_lib44cc(int kmax, double *alpha, double *A0, int sda0, double *B0, double *A1, int sda1, double *B1, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -void kernel_dtrmm_nt_rl_8x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dtrmm_nt_rl_8x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -void kernel_dtrmm_nt_rl_one_8x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dtrmm_nt_rl_one_8x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -void kernel_dtrmm_nt_ru_8x4_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd); -void kernel_dtrmm_nt_ru_8x4_vs_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1); -void kernel_dtrmm_nt_ru_8x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dtrmm_nt_ru_8x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -void kernel_dtrmm_nt_ru_one_8x4_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dtrmm_nt_ru_one_8x4_vs_lib44cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -void kernel_dtrsm_nt_ll_inv_8x4_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, int sde, double *inv_diag_E); -void kernel_dtrsm_nt_ll_inv_8x4_vs_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, int sde, double *inv_diag_E, int km, int kn); -void kernel_dtrsm_nt_rl_inv_8x4_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE); -void kernel_dtrsm_nt_rl_inv_8x4_vs_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE, int m1, int n1); -void kernel_dtrsm_nt_rl_inv_8x4_lib44ccc(int kmax, double *A, int sda, double *B, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE); -void kernel_dtrsm_nt_rl_inv_8x4_vs_lib44ccc(int kmax, double *A, int sda, double *B, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1); -void kernel_dtrsm_nt_rl_one_8x4_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E); -void kernel_dtrsm_nt_rl_one_8x4_vs_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, int m1, int n1); -void kernel_dtrsm_nt_ru_inv_8x4_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE); -void kernel_dtrsm_nt_ru_inv_8x4_vs_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE, int m1, int n1); -void kernel_dtrsm_nt_ru_one_8x4_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E); -void kernel_dtrsm_nt_ru_one_8x4_vs_lib44cc4(int kmax, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, int m1, int n1); -void kernel_dpotrf_nt_l_8x4_lib44cc(int kmax, double *A, int sda, double *B, double *C, int ldc, double *D, int ldd, double *dD); -void kernel_dpotrf_nt_l_8x4_vs_lib44cc(int kmax, double *A, int sda, double *B, double *C, int ldc, double *D, int ldd, double *dD, int m1, int n1); -// 4x8 -void kernel_dgemm_nt_4x8_lib44cc(int kmax, double *alpha, double *A, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dgemm_nt_4x8_vs_lib44cc(int kmax, double *alpha, double *A, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -void kernel_dtrmm_nt_rl_4x8_tran_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd); -void kernel_dtrmm_nt_rl_4x8_tran_vs_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1); -void kernel_dtrmm_nt_rl_one_4x8_tran_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd); -void kernel_dtrmm_nt_rl_one_4x8_tran_vs_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1); -void kernel_dtrmm_nt_ru_4x8_tran_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd); -void kernel_dtrmm_nt_ru_4x8_tran_vs_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1); -void kernel_dtrmm_nt_ru_one_4x8_tran_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd); -void kernel_dtrmm_nt_ru_one_4x8_tran_vs_lib444c(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1); -// 4x4 -void kernel_dgemm_nt_4x4_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dgemm_nt_4x4_vs_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -void kernel_dsyrk_nt_l_4x4_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dsyrk_nt_l_4x4_vs_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -void kernel_dsyrk_nt_u_4x4_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dsyrk_nt_u_4x4_vs_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -void kernel_dger2k_nt_4x4_lib44cc(int kmax, double *alpha, double *A0, double *B0, double *A1, double *B1, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dger2k_nt_4x4_vs_lib44cc(int kmax, double *alpha, double *A0, double *B0, double *A1, double *B1, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -void kernel_dsyr2k_nt_l_4x4_lib44cc(int kmax, double *alpha, double *A0, double *B0, double *A1, double *B1, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dsyr2k_nt_l_4x4_vs_lib44cc(int kmax, double *alpha, double *A0, double *B0, double *A1, double *B1, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -void kernel_dtrmm_nt_rl_4x4_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dtrmm_nt_rl_4x4_vs_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -void kernel_dtrmm_nt_rl_4x4_tran_lib444c(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D, int ldd); -void kernel_dtrmm_nt_rl_4x4_tran_vs_lib444c(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D, int ldd, int m1, int n1); -void kernel_dtrmm_nt_rl_one_4x4_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dtrmm_nt_rl_one_4x4_vs_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -void kernel_dtrmm_nt_rl_one_4x4_tran_lib444c(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D, int ldd); -void kernel_dtrmm_nt_rl_one_4x4_tran_vs_lib444c(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D, int ldd, int m1, int n1); -void kernel_dtrmm_nt_ru_4x4_lib444c(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D, int ldd); -void kernel_dtrmm_nt_ru_4x4_vs_lib444c(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D, int ldd, int m1, int n1); -void kernel_dtrmm_nt_ru_4x4_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dtrmm_nt_ru_4x4_vs_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -void kernel_dtrmm_nt_ru_4x4_tran_lib444c(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D, int ldd); -void kernel_dtrmm_nt_ru_4x4_tran_vs_lib444c(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D, int ldd, int m1, int n1); -void kernel_dtrmm_nt_ru_one_4x4_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dtrmm_nt_ru_one_4x4_vs_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -void kernel_dtrmm_nt_ru_one_4x4_tran_lib444c(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D, int ldd); -void kernel_dtrmm_nt_ru_one_4x4_tran_vs_lib444c(int kmax, double *alpha, double *A, double *B, double *beta, double *C, double *D, int ldd, int m1, int n1); -void kernel_dtrsm_nt_ll_inv_4x4_lib44cc4(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *inv_diag_E); -void kernel_dtrsm_nt_ll_inv_4x4_vs_lib44cc4(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *inv_diag_E, int km, int kn); -void kernel_dtrsm_nt_rl_inv_4x4_lib44cc4(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE); -void kernel_dtrsm_nt_rl_inv_4x4_vs_lib44cc4(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE, int m1, int n1); -void kernel_dtrsm_nt_rl_inv_4x4_lib44ccc(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE); -void kernel_dtrsm_nt_rl_inv_4x4_vs_lib44ccc(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1); -void kernel_dtrsm_nt_rl_one_4x4_lib44cc4(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E); -void kernel_dtrsm_nt_rl_one_4x4_vs_lib44cc4(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, int m1, int n1); -void kernel_dtrsm_nt_ru_inv_4x4_lib44cc4(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE); -void kernel_dtrsm_nt_ru_inv_4x4_vs_lib44cc4(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *dE, int m1, int n1); -void kernel_dtrsm_nt_ru_one_4x4_lib44cc4(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E); -void kernel_dtrsm_nt_ru_one_4x4_vs_lib44cc4(int kmax, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, double *E, int m1, int n1); -void kernel_dpotrf_nt_l_4x4_lib44cc(int kmax, double *A, double *B, double *C, int ldc, double *D, int ldd, double *dD); -void kernel_dpotrf_nt_l_4x4_vs_lib44cc(int kmax, double *A, double *B, double *C, int ldc, double *D, int ldd, double *dD, int m1, int n1); -// 4x2 -void kernel_dgemm_nt_4x2_lib44cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd); - -// A panel-major bs=4; B, C, D column-major -// 12x4 -void kernel_dgemm_nn_12x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dgemm_nn_12x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -void kernel_dgemm_nt_12x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dgemm_nt_12x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -void kernel_dsyrk_nt_l_12x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dsyrk_nt_l_12x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -void kernel_dger2k_nt_12x4_lib4ccc(int kmax, double *alpha, double *A0, int sda0, double *B0, int ldb0, double *A1, int sda1, double *B1, int ldb1, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dger2k_nt_12x4_vs_lib4ccc(int kmax, double *alpha, double *A0, int sda0, double *B0, int ldb0, double *A1, int sda1, double *B1, int ldb1, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -void kernel_dtrmm_nn_rl_12x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dtrmm_nn_rl_12x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -void kernel_dtrmm_nn_rl_one_12x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dtrmm_nn_rl_one_12x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -void kernel_dtrmm_nn_ru_12x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dtrmm_nn_ru_12x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -void kernel_dtrmm_nn_ru_one_12x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dtrmm_nn_ru_one_12x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -void kernel_dtrmm_nt_rl_12x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dtrmm_nt_rl_12x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -void kernel_dtrmm_nt_rl_one_12x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dtrmm_nt_rl_one_12x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -void kernel_dtrmm_nt_ru_12x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dtrmm_nt_ru_12x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -void kernel_dtrmm_nt_ru_one_12x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dtrmm_nt_ru_one_12x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -void kernel_dtrsm_nn_ll_inv_12x4_lib4ccc4(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int sde, double *inv_diag_E); -void kernel_dtrsm_nn_ll_inv_12x4_vs_lib4ccc4(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int sde, double *inv_diag_E, int km, int kn); -void kernel_dtrsm_nn_ll_one_12x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde); -void kernel_dtrsm_nn_ll_one_12x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1); -void kernel_dtrsm_nn_rl_inv_12x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE); -void kernel_dtrsm_nn_rl_inv_12x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1); -void kernel_dtrsm_nn_rl_one_12x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde); -void kernel_dtrsm_nn_rl_one_12x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1); -void kernel_dtrsm_nt_rl_inv_12x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE); -void kernel_dtrsm_nt_rl_inv_12x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1); -void kernel_dtrsm_nt_rl_one_12x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde); -void kernel_dtrsm_nt_rl_one_12x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1); -void kernel_dtrsm_nn_ru_inv_12x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE); -void kernel_dtrsm_nn_ru_inv_12x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1); -void kernel_dtrsm_nn_ru_one_12x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde); -void kernel_dtrsm_nn_ru_one_12x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1); -void kernel_dtrsm_nt_ru_inv_12x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE); -void kernel_dtrsm_nt_ru_inv_12x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1); -void kernel_dtrsm_nt_ru_one_12x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde); -void kernel_dtrsm_nt_ru_one_12x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1); -void kernel_dgetrf_nn_l_12x4_lib4ccc(int kmax, double *A, int sda, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag); -void kernel_dgetrf_nn_l_12x4_vs_lib4ccc(int kmax, double *A, int sda, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag, int m1, int n1); -void kernel_dgetrf_nn_m_12x4_lib4ccc(int kmax, double *A, int sda, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag); -void kernel_dgetrf_nn_m_12x4_vs_lib4ccc(int kmax, double *A, int sda, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag, int m1, int n1); -void kernel_dgetrf_nn_r_12x4_lib4ccc(int kmax, double *A, int sda, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag); -void kernel_dgetrf_nn_r_12x4_vs_lib4ccc(int kmax, double *A, int sda, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag, int m1, int n1); -// 4x12 -void kernel_dgemm_nn_4x12_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dgemm_nn_4x12_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -void kernel_dgemm_nt_4x12_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dgemm_nt_4x12_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -void kernel_dtrmm_nn_rl_4x12_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd); -void kernel_dtrmm_nn_rl_4x12_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1); -void kernel_dtrmm_nn_rl_one_4x12_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd); -void kernel_dtrmm_nn_rl_one_4x12_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1); -void kernel_dtrmm_nn_ru_4x12_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd); -void kernel_dtrmm_nn_ru_4x12_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1); -void kernel_dtrmm_nn_ru_one_4x12_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd); -void kernel_dtrmm_nn_ru_one_4x12_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1); -void kernel_dtrmm_nt_rl_4x12_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd); -void kernel_dtrmm_nt_rl_4x12_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1); -void kernel_dtrmm_nt_rl_one_4x12_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd); -void kernel_dtrmm_nt_rl_one_4x12_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1); -void kernel_dtrmm_nt_ru_4x12_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd); -void kernel_dtrmm_nt_ru_4x12_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1); -void kernel_dtrmm_nt_ru_one_4x12_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd); -void kernel_dtrmm_nt_ru_one_4x12_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1); -// 8x4 -void kernel_dgemm_nn_8x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dgemm_nn_8x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -void kernel_dgemm_nt_8x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dgemm_nt_8x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -void kernel_dsyrk_nt_l_8x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dsyrk_nt_l_8x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -void kernel_dger2k_nt_8x4_lib4ccc(int kmax, double *alpha, double *A0, int sda0, double *B0, int ldb0, double *A1, int sda1, double *B1, int ldb1, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dger2k_nt_8x4_vs_lib4ccc(int kmax, double *alpha, double *A0, int sda0, double *B0, int ldb0, double *A1, int sda1, double *B1, int ldb1, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -void kernel_dtrmm_nn_rl_8x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dtrmm_nn_rl_8x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -void kernel_dtrmm_nn_rl_one_8x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dtrmm_nn_rl_one_8x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -void kernel_dtrmm_nn_ru_8x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dtrmm_nn_ru_8x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -void kernel_dtrmm_nn_ru_one_8x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dtrmm_nn_ru_one_8x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -void kernel_dtrmm_nt_rl_8x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dtrmm_nt_rl_8x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -void kernel_dtrmm_nt_rl_one_8x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dtrmm_nt_rl_one_8x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -void kernel_dtrmm_nt_ru_8x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dtrmm_nt_ru_8x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -void kernel_dtrmm_nt_ru_one_8x4_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dtrmm_nt_ru_one_8x4_vs_lib4ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -void kernel_dtrsm_nn_ll_inv_8x4_lib4ccc4(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int sde, double *inv_diag_E); -void kernel_dtrsm_nn_ll_inv_8x4_vs_lib4ccc4(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int sde, double *inv_diag_E, int km, int kn); -void kernel_dtrsm_nn_ll_one_8x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde); -void kernel_dtrsm_nn_ll_one_8x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1); -void kernel_dtrsm_nn_rl_inv_8x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE); -void kernel_dtrsm_nn_rl_inv_8x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1); -void kernel_dtrsm_nn_rl_one_8x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde); -void kernel_dtrsm_nn_rl_one_8x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1); -void kernel_dtrsm_nt_rl_inv_8x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE); -void kernel_dtrsm_nt_rl_inv_8x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1); -void kernel_dtrsm_nt_rl_one_8x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde); -void kernel_dtrsm_nt_rl_one_8x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1); -void kernel_dtrsm_nn_ru_inv_8x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE); -void kernel_dtrsm_nn_ru_inv_8x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1); -void kernel_dtrsm_nn_ru_one_8x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde); -void kernel_dtrsm_nn_ru_one_8x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1); -void kernel_dtrsm_nt_ru_inv_8x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE); -void kernel_dtrsm_nt_ru_inv_8x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1); -void kernel_dtrsm_nt_ru_one_8x4_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde); -void kernel_dtrsm_nt_ru_one_8x4_vs_lib4cccc(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1); -void kernel_dgetrf_nn_l_8x4_lib4ccc(int kmax, double *A, int sda, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag); -void kernel_dgetrf_nn_l_8x4_vs_lib4ccc(int kmax, double *A, int sda, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag, int m1, int n1); -void kernel_dgetrf_nn_r_8x4_lib4ccc(int kmax, double *A, int sda, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag); -void kernel_dgetrf_nn_r_8x4_vs_lib4ccc(int kmax, double *A, int sda, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag, int m1, int n1); -// 4x8 -void kernel_dgemm_nn_4x8_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dgemm_nn_4x8_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -void kernel_dgemm_nt_4x8_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dgemm_nt_4x8_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -void kernel_dtrmm_nn_rl_4x8_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd); -void kernel_dtrmm_nn_rl_4x8_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1); -void kernel_dtrmm_nn_rl_one_4x8_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd); -void kernel_dtrmm_nn_rl_one_4x8_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1); -void kernel_dtrmm_nn_ru_4x8_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd); -void kernel_dtrmm_nn_ru_4x8_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1); -void kernel_dtrmm_nn_ru_one_4x8_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd); -void kernel_dtrmm_nn_ru_one_4x8_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1); -void kernel_dtrmm_nt_rl_4x8_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd); -void kernel_dtrmm_nt_rl_4x8_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1); -void kernel_dtrmm_nt_rl_one_4x8_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd); -void kernel_dtrmm_nt_rl_one_4x8_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1); -void kernel_dtrmm_nt_ru_4x8_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd); -void kernel_dtrmm_nt_ru_4x8_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1); -void kernel_dtrmm_nt_ru_one_4x8_tran_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd); -void kernel_dtrmm_nt_ru_one_4x8_tran_vs_lib4c4c(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int ldd, int m1, int n1); -// 4x4 -void kernel_dgemm_nn_4x4_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dgemm_nn_4x4_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -void kernel_dgemm_nt_4x4_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dgemm_nt_4x4_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -void kernel_dsyrk_nt_l_4x4_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dsyrk_nt_l_4x4_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -void kernel_dger2k_nt_4x4_lib4ccc(int kmax, double *alpha, double *A0, double *B0, int ldb0, double *A1, double *B1, int ldb1, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dger2k_nt_4x4_vs_lib4ccc(int kmax, double *alpha, double *A0, double *B0, int ldb0, double *A1, double *B1, int ldb1, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -void kernel_dtrmm_nn_rl_4x4_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dtrmm_nn_rl_4x4_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -void kernel_dtrmm_nn_rl_4x4_tran_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd); -void kernel_dtrmm_nn_rl_4x4_tran_vs_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd, int m1, int n1); -void kernel_dtrmm_nn_rl_one_4x4_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dtrmm_nn_rl_one_4x4_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -void kernel_dtrmm_nn_rl_one_4x4_tran_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd); -void kernel_dtrmm_nn_rl_one_4x4_tran_vs_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd, int m1, int n1); -void kernel_dtrmm_nn_ru_4x4_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dtrmm_nn_ru_4x4_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -void kernel_dtrmm_nn_ru_4x4_tran_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd); -void kernel_dtrmm_nn_ru_4x4_tran_vs_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd, int m1, int n1); -void kernel_dtrmm_nn_ru_one_4x4_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dtrmm_nn_ru_one_4x4_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -void kernel_dtrmm_nn_ru_one_4x4_tran_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd); -void kernel_dtrmm_nn_ru_one_4x4_tran_vs_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd, int m1, int n1); -void kernel_dtrmm_nt_rl_4x4_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dtrmm_nt_rl_4x4_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -void kernel_dtrmm_nt_rl_4x4_tran_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd); -void kernel_dtrmm_nt_rl_4x4_tran_vs_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd, int m1, int n1); -void kernel_dtrmm_nt_rl_one_4x4_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dtrmm_nt_rl_one_4x4_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -void kernel_dtrmm_nt_rl_one_4x4_tran_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd); -void kernel_dtrmm_nt_rl_one_4x4_tran_vs_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd, int m1, int n1); -void kernel_dtrmm_nt_ru_4x4_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dtrmm_nt_ru_4x4_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -void kernel_dtrmm_nt_ru_4x4_tran_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd); -void kernel_dtrmm_nt_ru_4x4_tran_vs_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd, int m1, int n1); -void kernel_dtrmm_nt_ru_one_4x4_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dtrmm_nt_ru_one_4x4_vs_lib4ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -void kernel_dtrmm_nt_ru_one_4x4_tran_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd); -void kernel_dtrmm_nt_ru_one_4x4_tran_vs_lib4c4c(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, double *D, int ldd, int m1, int n1); -void kernel_dtrsm_nn_ll_inv_4x4_lib4ccc4(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *inv_diag_E); -void kernel_dtrsm_nn_ll_inv_4x4_vs_lib4ccc4(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, double *inv_diag_E, int km, int kn); -void kernel_dtrsm_nn_ll_one_4x4_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde); -void kernel_dtrsm_nn_ll_one_4x4_vs_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1); -void kernel_dtrsm_nn_rl_inv_4x4_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE); -void kernel_dtrsm_nn_rl_inv_4x4_vs_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1); -void kernel_dtrsm_nn_rl_one_4x4_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde); -void kernel_dtrsm_nn_rl_one_4x4_vs_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1); -void kernel_dtrsm_nt_rl_inv_4x4_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE); -void kernel_dtrsm_nt_rl_inv_4x4_vs_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1); -void kernel_dtrsm_nt_rl_one_4x4_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde); -void kernel_dtrsm_nt_rl_one_4x4_vs_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1); -void kernel_dtrsm_nn_ru_inv_4x4_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE); -void kernel_dtrsm_nn_ru_inv_4x4_vs_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1); -void kernel_dtrsm_nn_ru_one_4x4_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde); -void kernel_dtrsm_nn_ru_one_4x4_vs_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1); -void kernel_dtrsm_nt_ru_inv_4x4_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE); -void kernel_dtrsm_nt_ru_inv_4x4_vs_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, double *dE, int m1, int n1); -void kernel_dtrsm_nt_ru_one_4x4_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde); -void kernel_dtrsm_nt_ru_one_4x4_vs_lib4cccc(int kmax, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, double *E, int lde, int m1, int n1); -void kernel_dgetrf_nn_4x4_lib4ccc(int kmax, double *A, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag); -void kernel_dgetrf_nn_4x4_vs_lib4ccc(int kmax, double *A, double *B, int ldb, double *C, int ldc, double *D, int ldd, double *diag, int m1, int n1); - -// B panel-major bs=4; A, C, D column-major -// 12x4 -void kernel_dgemm_nt_12x4_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dgemm_nt_12x4_vs_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -void kernel_dgemm_tt_12x4_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dgemm_tt_12x4_vs_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -// 4x12 -void kernel_dgemm_nt_4x12_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dgemm_nt_4x12_vs_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -void kernel_dgemm_tt_4x12_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dgemm_tt_4x12_vs_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -// 8x4 -void kernel_dgemm_nt_8x4_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dgemm_nt_8x4_vs_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -void kernel_dgemm_tt_8x4_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dgemm_tt_8x4_vs_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -// 4x8 -void kernel_dgemm_nt_4x8_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dgemm_nt_4x8_vs_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -void kernel_dgemm_tt_4x8_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dgemm_tt_4x8_vs_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -// 4x4 -void kernel_dgemm_nt_4x4_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dgemm_nt_4x4_vs_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -void kernel_dgemm_tt_4x4_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dgemm_tt_4x4_vs_libc4cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); - -// A, C, D panel-major; B, E column-major -// TODO merge with above -// 12x4 -void kernel_dtrsm_nn_rl_inv_12x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE); -void kernel_dtrsm_nn_rl_inv_12x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE, int m1, int n1); -void kernel_dtrsm_nn_rl_one_12x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde); -void kernel_dtrsm_nn_rl_one_12x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, int m1, int n1); -void kernel_dtrsm_nn_ru_inv_12x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE); -void kernel_dtrsm_nn_ru_inv_12x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE, int m1, int n1); -void kernel_dtrsm_nn_ru_one_12x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde); -void kernel_dtrsm_nn_ru_one_12x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, int m1, int n1); -void kernel_dtrsm_nt_rl_inv_12x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE); -void kernel_dtrsm_nt_rl_inv_12x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE, int m1, int n1); -void kernel_dtrsm_nt_rl_one_12x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde); -void kernel_dtrsm_nt_rl_one_12x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, int m1, int n1); -void kernel_dtrsm_nt_ru_inv_12x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE); -void kernel_dtrsm_nt_ru_inv_12x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE, int m1, int n1); -void kernel_dtrsm_nt_ru_one_12x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde); -void kernel_dtrsm_nt_ru_one_12x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, int m1, int n1); -// 8x4 -void kernel_dtrsm_nn_rl_inv_8x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE); -void kernel_dtrsm_nn_rl_inv_8x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE, int m1, int n1); -void kernel_dtrsm_nn_rl_one_8x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde); -void kernel_dtrsm_nn_rl_one_8x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, int m1, int n1); -void kernel_dtrsm_nn_ru_inv_8x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE); -void kernel_dtrsm_nn_ru_inv_8x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE, int m1, int n1); -void kernel_dtrsm_nn_ru_one_8x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde); -void kernel_dtrsm_nn_ru_one_8x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, int m1, int n1); -void kernel_dtrsm_nt_rl_inv_8x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE); -void kernel_dtrsm_nt_rl_inv_8x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE, int m1, int n1); -void kernel_dtrsm_nt_rl_one_8x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde); -void kernel_dtrsm_nt_rl_one_8x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, int m1, int n1); -void kernel_dtrsm_nt_ru_inv_8x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE); -void kernel_dtrsm_nt_ru_inv_8x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, double *dE, int m1, int n1); -void kernel_dtrsm_nt_ru_one_8x4_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde); -void kernel_dtrsm_nt_ru_one_8x4_vs_lib4c44c(int kmax, double *A, int sda, double *B, int ldb, double *beta, double *C, int sdc, double *D, int sdd, double *E, int lde, int m1, int n1); -// 4x4 -void kernel_dtrsm_nn_rl_inv_4x4_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, double *dE); -void kernel_dtrsm_nn_rl_inv_4x4_vs_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, double *dE, int m1, int n1); -void kernel_dtrsm_nn_rl_one_4x4_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde); -void kernel_dtrsm_nn_rl_one_4x4_vs_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, int m1, int n1); -void kernel_dtrsm_nn_ru_inv_4x4_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, double *dE); -void kernel_dtrsm_nn_ru_inv_4x4_vs_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, double *dE, int m1, int n1); -void kernel_dtrsm_nn_ru_one_4x4_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde); -void kernel_dtrsm_nn_ru_one_4x4_vs_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, int m1, int n1); -void kernel_dtrsm_nt_rl_inv_4x4_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, double *dE); -void kernel_dtrsm_nt_rl_inv_4x4_vs_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, double *dE, int m1, int n1); -void kernel_dtrsm_nt_rl_one_4x4_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde); -void kernel_dtrsm_nt_rl_one_4x4_vs_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, int m1, int n1); -void kernel_dtrsm_nt_ru_inv_4x4_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, double *dE); -void kernel_dtrsm_nt_ru_inv_4x4_vs_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, double *dE, int m1, int n1); -void kernel_dtrsm_nt_ru_one_4x4_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde); -void kernel_dtrsm_nt_ru_one_4x4_vs_lib4c44c(int kmax, double *A, double *B, int ldb, double *beta, double *C, double *D, double *E, int lde, int m1, int n1); - -// A, B, C, D column-major -// 12x4 -void kernel_dgemm_nn_12x4_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dgemm_nn_12x4_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -void kernel_dgemm_nt_12x4_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dgemm_nt_12x4_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -void kernel_dgemm_tt_12x4_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dgemm_tt_12x4_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -// 4x12 -void kernel_dgemm_nn_4x12_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dgemm_nn_4x12_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -void kernel_dgemm_nt_4x12_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dgemm_nt_4x12_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -void kernel_dgemm_tt_4x12_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dgemm_tt_4x12_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -// 8x4 -void kernel_dgemm_nn_8x4_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dgemm_nn_8x4_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -void kernel_dgemm_nt_8x4_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dgemm_nt_8x4_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -void kernel_dgemm_tt_8x4_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dgemm_tt_8x4_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -// 4x8 -void kernel_dgemm_nn_4x8_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dgemm_nn_4x8_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -void kernel_dgemm_nt_4x8_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dgemm_nt_4x8_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -void kernel_dgemm_tt_4x8_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dgemm_tt_4x8_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -// 4x4 -void kernel_dgemm_nn_4x4_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dgemm_nn_4x4_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -void kernel_dgemm_nt_4x4_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dgemm_nt_4x4_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -void kernel_dgemm_tt_4x4_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dgemm_tt_4x4_vs_libcccc(int kmax, double *alpha, double *A, int lda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); - -// A column-major -// 12 -void kernel_dgetrf_pivot_12_lib(int m, double *pA, int lda, double *inv_diag_A, int* ipiv); -void kernel_dgetrf_pivot_12_vs_lib(int m, double *pA, int lda, double *inv_diag_A, int* ipiv, int n); -// 8 -void kernel_dgetrf_pivot_8_lib(int m, double *pA, int lda, double *inv_diag_A, int* ipiv); -void kernel_dgetrf_pivot_8_vs_lib(int m, double *pA, int lda, double *inv_diag_A, int* ipiv, int n); -// 4 -void kernel_dgetrf_pivot_4_lib(int m, double *pA, int lda, double *inv_diag_A, int* ipiv); -void kernel_dgetrf_pivot_4_vs_lib(int m, double *pA, int lda, double *inv_diag_A, int* ipiv, int n); - -// vector -void kernel_ddot_11_lib(int n, double *x, double *y, double *res); -void kernel_daxpy_11_lib(int n, double *alpha, double *x, double *y); -void kernel_drowsw_lib(int kmax, double *pA, int lda, double *pC, int ldc); - -//#endif // BLAS_API - - - -// larger kernels -// 12 -void kernel_dgemm_nt_12xn_p0_lib44cc(int n, int k, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, double *A_p, double *B_p); -void kernel_dgemm_nt_12xn_pl_lib44cc(int n, int k, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, double *A_p, double *B_p); -void kernel_dgemm_nt_mx12_p0_lib44cc(int m, int k, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, double *A_p, double *B_p); -// 8 -void kernel_dgemm_nt_8xn_p0_lib44cc(int n, int k, double *alpha, double *A, int sda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, double *A_p, double *B_p); - - - -// A, B panel-major bs=8; C, D column-major -// 24x8 -void kernel_dgemm_nt_24x8_lib88cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dgemm_nt_24x8_vs_lib88cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -// 16x8 -void kernel_dgemm_nt_16x8_lib88cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dgemm_nt_16x8_vs_lib88cc(int kmax, double *alpha, double *A, int sda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -// 8x8 -void kernel_dgemm_nt_8x8_lib88cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dgemm_nt_8x8_vs_lib88cc(int kmax, double *alpha, double *A, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); - -// A, panel-major bs=8; B, C, D column-major -// 24x8 -void kernel_dgemm_nt_24x8_lib8ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dgemm_nt_24x8_vs_lib8ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -void kernel_dgemm_nn_24x8_lib8ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dgemm_nn_24x8_vs_lib8ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -// 16x8 -void kernel_dgemm_nt_16x8_lib8ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dgemm_nt_16x8_vs_lib8ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -void kernel_dgemm_nn_16x8_lib8ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dgemm_nn_16x8_vs_lib8ccc(int kmax, double *alpha, double *A, int sda, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -// 8x8 -void kernel_dgemm_nt_8x8_lib8ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dgemm_nt_8x8_vs_lib8ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -void kernel_dgemm_nn_8x8_lib8ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dgemm_nn_8x8_vs_lib8ccc(int kmax, double *alpha, double *A, double *B, int ldb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); - -// B, panel-major bs=8; A, C, D column-major -// 8x24 -void kernel_dgemm_nt_8x24_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dgemm_nt_8x24_vs_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -void kernel_dgemm_tt_8x24_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dgemm_tt_8x24_vs_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -// 8x16 -void kernel_dgemm_nt_8x16_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dgemm_nt_8x16_vs_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -void kernel_dgemm_tt_8x16_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dgemm_tt_8x16_vs_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, int sdb, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -// 8x8 -void kernel_dgemm_nt_8x8_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dgemm_nt_8x8_vs_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); -void kernel_dgemm_tt_8x8_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd); -void kernel_dgemm_tt_8x8_vs_libc8cc(int kmax, double *alpha, double *A, int lda, double *B, double *beta, double *C, int ldc, double *D, int ldd, int m1, int n1); - - -// level 2 BLAS -void kernel_dgemv_n_4_libc(int kmax, double *alpha, double *A, int lda, double *x, double *z); -void kernel_dgemv_n_4_vs_libc(int kmax, double *alpha, double *A, int lda, double *x, double *z, int km); -void kernel_dgemv_t_4_libc(int kmax, double *alpha, double *A, int lda, double *x, double *beta, double *y, double *z); -void kernel_dgemv_t_4_vs_libc(int kmax, double *alpha, double *A, int lda, double *x, double *beta, double *y, double *z, int km); -void kernel_dsymv_l_4_libc(int kmax, double *alpha, double *A, int lda, double *x, double *z); -void kernel_dsymv_l_4_vs_libc(int kmax, double *alpha, double *A, int lda, double *x, double *z, int km); -void kernel_dsymv_u_4_libc(int kmax, double *alpha, double *A, int lda, double *x, double *z); -void kernel_dsymv_u_4_vs_libc(int kmax, double *alpha, double *A, int lda, double *x, double *z, int km); -void kernel_dger_4_libc(int kmax, double *alpha, double *x, double *y, double *C, int ldc, double *D, int ldd); -void kernel_dger_4_vs_libc(int kmax, double *alpha, double *x, double *y, double *C, int ldc, double *D, int ldd, int km); - - - -// aux -void kernel_dvecld_inc1(int kmax, double *x); -void kernel_dveccp_inc1(int kmax, double *x, double *y); - -//void kernel_dgetr_nt_8_p0_lib(int kmax, double *A, int lda, double *C, int ldc, double *Ap, double *Bp); -//void kernel_dgetr_nt_8_lib(int kmax, double *A, int lda, double *C, int ldc); -//void kernel_dgetr_nt_4_lib(int kmax, double *A, int lda, double *C, int ldc); -void kernel_dgetr_tn_8_p0_lib(int kmax, double *A, int lda, double *C, int ldc, double *Ap, double *Bp); -void kernel_dgetr_tn_8_lib(int kmax, double *A, int lda, double *C, int ldc); -void kernel_dgetr_tn_4_lib(int kmax, double *A, int lda, double *C, int ldc); -void kernel_dgetr_tn_4_vs_lib(int kmax, double *A, int lda, double *C, int ldc, int m1); - - -// building blocks for blocked algorithms -// -void blasfeo_hp_dgemm_nt_m2(int m, int n, int k, double alpha, double *pA, int sda, double *pB, int sdb, double beta, double *C, int ldc, double *D, int ldd); -void blasfeo_hp_dgemm_nt_n2(int m, int n, int k, double alpha, double *pA, int sda, double *pB, int sdb, double beta, double *C, int ldc, double *D, int ldd); -// -void kernel_dpack_buffer_fn(int m, int n, double *A, int lda, double *pA, int sda); -void kernel_dpack_buffer_ft(int m, int n, double *A, int lda, double *pA, int sda); -void kernel_dpack_buffer_ln(int m, double *A, int lda, double *pA, int sda); -void kernel_dpack_buffer_lt(int m, double *A, int lda, double *pA, int sda); -void kernel_dpack_buffer_ut(int m, double *A, int lda, double *pA, int sda); - - - -#ifdef __cplusplus -} -#endif - -#endif // BLASFEO_D_KERNEL_H_ diff --git a/third_party/acados/include/blasfeo/include/blasfeo_i_aux_ext_dep.h b/third_party/acados/include/blasfeo/include/blasfeo_i_aux_ext_dep.h deleted file mode 100644 index 74c3fb5c0a22ff..00000000000000 --- a/third_party/acados/include/blasfeo/include/blasfeo_i_aux_ext_dep.h +++ /dev/null @@ -1,69 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of BLASFEO. * -* * -* BLASFEO -- BLAS For Embedded Optimization. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef BLASFEO_I_AUX_EXT_DEP_H_ -#define BLASFEO_I_AUX_EXT_DEP_H_ - - - -#include "blasfeo_target.h" - - - -#ifdef __cplusplus -extern "C" { -#endif - - - -#ifdef EXT_DEP - -// i_aux_extern_depend_lib -void int_zeros(int **pA, int row, int col); -void int_zeros_align(int **pA, int row, int col); -void int_free(int *pA); -void int_free_align(int *pA); -void int_print_mat(int row, int col, int *A, int lda); -int int_print_to_string_mat(char **buf_out, int row, int col, int *A, int lda); - -#endif // EXT_DEP - - - -#ifdef __cplusplus -} -#endif - -#endif // BLASFEO_I_AUX_EXT_DEP_H_ diff --git a/third_party/acados/include/blasfeo/include/blasfeo_m_aux.h b/third_party/acados/include/blasfeo/include/blasfeo_m_aux.h deleted file mode 100644 index 6248853e292fd2..00000000000000 --- a/third_party/acados/include/blasfeo/include/blasfeo_m_aux.h +++ /dev/null @@ -1,57 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of BLASFEO. * -* * -* BLASFEO -- BLAS For Embedded Optimization. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef BLASFEO_M_AUX_H_ -#define BLASFEO_M_AUX_H_ - -#include "blasfeo_common.h" - -#ifdef __cplusplus -extern "C" { -#endif - - - -void blasfeo_cvt_d2s_vec(int m, struct blasfeo_dvec *vd, int vdi, struct blasfeo_svec *vs, int vsi); -void blasfeo_cvt_s2d_vec(int m, struct blasfeo_svec *vs, int vsi, struct blasfeo_dvec *vd, int vdi); -void blasfeo_cvt_d2s_mat(int m, int n, struct blasfeo_dmat *Md, int mid, int nid, struct blasfeo_smat *Ms, int mis, int nis); -void blasfeo_cvt_s2d_mat(int m, int n, struct blasfeo_smat *Ms, int mis, int nis, struct blasfeo_dmat *Md, int mid, int nid); - - -#ifdef __cplusplus -} -#endif - -#endif // BLASFEO_M_AUX_H_ diff --git a/third_party/acados/include/blasfeo/include/blasfeo_memory.h b/third_party/acados/include/blasfeo/include/blasfeo_memory.h deleted file mode 100644 index da4e7fa090078a..00000000000000 --- a/third_party/acados/include/blasfeo/include/blasfeo_memory.h +++ /dev/null @@ -1,62 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of BLASFEO. * -* * -* BLASFEO -- BLAS For Embedded Optimization. * -* Copyright (C) 2020 by Gianluca Frison. * -* All rights reserved. * -* * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - - -#ifndef BLASFEO_MEMORY_H_ -#define BLASFEO_MEMORY_H_ - -#ifdef __cplusplus -extern "C" { -#endif - - - -// -int blasfeo_is_init(); -// -void blasfeo_init(); -// -void blasfeo_quit(); -// -void *blasfeo_get_buffer(); - - - - -#ifdef __cplusplus -} -#endif - -#endif // BLASFEO_MEMORY_H_ diff --git a/third_party/acados/include/blasfeo/include/blasfeo_naming.h b/third_party/acados/include/blasfeo/include/blasfeo_naming.h deleted file mode 100644 index c289443b176793..00000000000000 --- a/third_party/acados/include/blasfeo/include/blasfeo_naming.h +++ /dev/null @@ -1,77 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of BLASFEO. * -* * -* BLASFEO -- BLAS For Embedded Optimization. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - - -/* - * ----------- Naming conventions - * - * (precision)(data) - * - * 1) d(double) - * s(single) - * - * 2) ge(general) - * tr(triangular) - * vec(vector) - * row(row) - * col(column) - * dia(diagonal) - * - * 3) se(set) - * cp(copy) - * sc(scale) - * ad(add) - * tr(transpose) - * in(insert) - * ex(extract) - * pe(premute) - * sw(swap) - * - * f(factorization) - * - * lqf(LQ factorization) - * qrf (factorization) - * trf (LU factorization using partial pivoting with row interchanges.) - * - * 4) _l(lower) / _u(upper) - * _lib8 (hp implementation, 8 rows kernel) - * _lib4 (hp implementation, 4 rows kernel) - * _lib0 (hp interface with reference implentation) - * _lib (reference implementation) - * _libref (reference implementation with dedicated namespace) - * - * 5) _sp(sparse) - * _exp(exponential format) - */ diff --git a/third_party/acados/include/blasfeo/include/blasfeo_processor_features.h b/third_party/acados/include/blasfeo/include/blasfeo_processor_features.h deleted file mode 100644 index 67a0a4da049bfb..00000000000000 --- a/third_party/acados/include/blasfeo/include/blasfeo_processor_features.h +++ /dev/null @@ -1,88 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of BLASFEO. * -* * -* BLASFEO -- BLAS For Embedded Optimization. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Ian McInerney * -* * -**************************************************************************************************/ - -#ifndef BLASFEO_PROCESSOR_FEATURES_H_ -#define BLASFEO_PROCESSOR_FEATURES_H_ - -/** - * Flags to indicate the different processor features - */ -//enum -//{ -// // x86-64 CPU features -// BLASFEO_PROCESSOR_FEATURE_AVX = 0x0001, /// AVX instruction set -// BLASFEO_PROCESSOR_FEATURE_AVX2 = 0x0002, /// AVX2 instruction set -// BLASFEO_PROCESSOR_FEATURE_FMA = 0x0004, /// FMA instruction set -// BLASFEO_PROCESSOR_FEATURE_SSE3 = 0x0008, /// SSE3 instruction set -// -// // ARM CPU features -// BLASFEO_PROCESSOR_FEATURE_VFPv3 = 0x0100, /// VFPv3 instruction set -// BLASFEO_PROCESSOR_FEATURE_NEON = 0x0100, /// NEON instruction set -// BLASFEO_PROCESSOR_FEATURE_VFPv4 = 0x0100, /// VFPv4 instruction set -// BLASFEO_PROCESSOR_FEATURE_NEONv2 = 0x0100, /// NEONv2 instruction set -//} BLASFEO_PROCESSOR_FEATURES; - -/** - * Test the features that this processor provides against what the library was compiled with. - * - * @param features - Pointer to an integer to store the supported feature set (using the flags in the BLASFEO_PROCESSOR_FEATURES enum) - * @return 0 if current processor doesn't support all features required for this library, 1 otherwise - */ -int blasfeo_processor_cpu_features( int* features ); - -/** - * Test the features that this processor provides against what the library was compiled with. - * - * @param features - Pointer to an integer to store the supported feature set (using the flags in the BLASFEO_PROCESSOR_FEATURES enum) - * @return 0 if current processor doesn't support all features required for this library, 1 otherwise - */ -void blasfeo_processor_library_features( int* features ); - -/** - * Create a string listing the features the current processor supports. - * - * @param features - Flags from the BLASFEO_PROCESSOR_FEATURES enum indicating the features supported - * @param featureString - Character array to store the feature string in - */ -void blasfeo_processor_feature_string( int features, char* featureString ); - -/** - * Get a string listing the processor features that this library version needs to run. - * - * @param featureString - Character array to store the feature string in - */ -void blasfeo_processor_library_string( char* featureString ); - -#endif // BLASFEO_PROCESSOR_FEATURES_H_ diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_aux.h b/third_party/acados/include/blasfeo/include/blasfeo_s_aux.h deleted file mode 100644 index f43f5e83ce9b31..00000000000000 --- a/third_party/acados/include/blasfeo/include/blasfeo_s_aux.h +++ /dev/null @@ -1,168 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of BLASFEO. * -* * -* BLASFEO -- BLAS For Embedded Optimization. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef BLASFEO_S_AUX_H_ -#define BLASFEO_S_AUX_H_ - - - -#include - -#include "blasfeo_s_aux_old.h" -#include "blasfeo_common.h" - - - -#ifdef __cplusplus -extern "C" { -#endif - - -/************************************************ -* d_aux_lib.c -************************************************/ - -// returns the memory size (in bytes) needed for a smat -size_t blasfeo_memsize_smat(int m, int n); -size_t blasfeo_memsize_smat_ps(int ps, int m, int n); -// returns the memory size (in bytes) needed for the diagonal of a smat -size_t blasfeo_memsize_diag_smat(int m, int n); -// returns the memory size (in bytes) needed for a svec -size_t blasfeo_memsize_svec(int m); -// create a strmat for a matrix of size m*n by using memory passed by a pointer (pointer is not updated) -void blasfeo_create_smat(int m, int n, struct blasfeo_smat *sA, void *memory); -void blasfeo_create_smat_ps(int ps, int m, int n, struct blasfeo_smat *sA, void *memory); -// create a strvec for a vector of size m by using memory passed by a pointer (pointer is not updated) -void blasfeo_create_svec(int m, struct blasfeo_svec *sA, void *memory); -void blasfeo_pack_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sA, int ai, int aj); -void blasfeo_pack_l_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sA, int ai, int aj); -void blasfeo_pack_u_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sA, int ai, int aj); -void blasfeo_pack_tran_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sA, int ai, int aj); -void blasfeo_pack_svec(int m, float *x, int xi, struct blasfeo_svec *sa, int ai); -void blasfeo_unpack_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj, float *A, int lda); -void blasfeo_unpack_tran_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj, float *A, int lda); -void blasfeo_unpack_svec(int m, struct blasfeo_svec *sa, int ai, float *x, int xi); -//void s_cast_mat2strmat(float *A, struct blasfeo_smat *sA); -//void s_cast_diag_mat2strmat(float *dA, struct blasfeo_smat *sA); -//void s_cast_vec2vecmat(float *a, struct blasfeo_svec *sa); - -// ge -void blasfeo_sgese(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj); -void blasfeo_sgecpsc(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj); -void blasfeo_sgecp(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj); -void blasfeo_sgesc(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj); -void blasfeo_sgein1(float a, struct blasfeo_smat *sA, int ai, int aj); -float blasfeo_sgeex1(struct blasfeo_smat *sA, int ai, int aj); -void blasfeo_sgead(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj); -void blasfeo_sgetr(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj); -// tr -void blasfeo_strcp_l(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj); -void blasfeo_strtr_l(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj); -void blasfeo_strtr_u(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj); -// dia -void blasfeo_sdiare(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj); -void blasfeo_sdiaex(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi); -void blasfeo_sdiain(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj); -void blasfeo_sdiain_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj); -void blasfeo_sdiaex_sp(int kmax, float alpha, int *idx, struct blasfeo_smat *sD, int di, int dj, struct blasfeo_svec *sx, int xi); -void blasfeo_sdiaad(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj); -void blasfeo_sdiaad_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj); -void blasfeo_sdiaadin_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, int *idx, struct blasfeo_smat *sD, int di, int dj); -// row -void blasfeo_srowin(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj); -void blasfeo_srowex(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi); -void blasfeo_srowad(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj); -void blasfeo_srowad_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj); -void blasfeo_srowsw(int kmax, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj); -void blasfeo_srowpe(int kmax, int *ipiv, struct blasfeo_smat *sA); -void blasfeo_srowpei(int kmax, int *ipiv, struct blasfeo_smat *sA); -// col -void blasfeo_scolex(int kmax, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi); -void blasfeo_scolin(int kmax, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj); -void blasfeo_scolad(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj); -void blasfeo_scolsc(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj); -void blasfeo_scolsw(int kmax, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj); -void blasfeo_scolpe(int kmax, int *ipiv, struct blasfeo_smat *sA); -void blasfeo_scolpei(int kmax, int *ipiv, struct blasfeo_smat *sA); -// vec -void blasfeo_svecse(int m, float alpha, struct blasfeo_svec *sx, int xi); -void blasfeo_sveccp(int m, struct blasfeo_svec *sa, int ai, struct blasfeo_svec *sc, int ci); -void blasfeo_svecsc(int m, float alpha, struct blasfeo_svec *sa, int ai); -void blasfeo_sveccpsc(int m, float alpha, struct blasfeo_svec *sa, int ai, struct blasfeo_svec *sc, int ci); -void blasfeo_svecad(int m, float alpha, struct blasfeo_svec *sa, int ai, struct blasfeo_svec *sc, int ci); -void blasfeo_svecin1(float a, struct blasfeo_svec *sx, int xi); -float blasfeo_svecex1(struct blasfeo_svec *sx, int xi); -void blasfeo_svecad_sp(int m, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_svec *sz, int zi); -void blasfeo_svecin_sp(int m, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_svec *sz, int zi); -void blasfeo_svecex_sp(int m, float alpha, int *idx, struct blasfeo_svec *sx, int x, struct blasfeo_svec *sz, int zi); -// z += alpha * x[idx] -void blasfeo_svecexad_sp(int m, double alpha, int *idx, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi); -void blasfeo_sveccl(int m, struct blasfeo_svec *sxm, int xim, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sxp, int xip, struct blasfeo_svec *sz, int zi); -void blasfeo_sveccl_mask(int m, struct blasfeo_svec *sxm, int xim, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sxp, int xip, struct blasfeo_svec *sz, int zi, struct blasfeo_svec *sm, int mi); -void blasfeo_svecze(int m, struct blasfeo_svec *sm, int mi, struct blasfeo_svec *sv, int vi, struct blasfeo_svec *se, int ei); -void blasfeo_svecnrm_inf(int m, struct blasfeo_svec *sx, int xi, float *ptr_norm); -void blasfeo_svecnrm_2(int m, struct blasfeo_svec *sx, int xi, float *ptr_norm); -void blasfeo_svecpe(int kmax, int *ipiv, struct blasfeo_svec *sx, int xi); -void blasfeo_svecpei(int kmax, int *ipiv, struct blasfeo_svec *sx, int xi); - - - -/* -* Explicitly panel-major matrix format -*/ - -// returns the memory size (in bytes) needed for a dmat -size_t blasfeo_pm_memsize_smat(int ps, int m, int n); -// create a strmat for a matrix of size m*n by using memory passed by a pointer (pointer is not updated) -void blasfeo_pm_create_smat(int ps, int m, int n, struct blasfeo_pm_smat *sA, void *memory); - - - -/* -* Explicitly column-major matrix format -*/ - -// returns the memory size (in bytes) needed for a dmat -size_t blasfeo_cm_memsize_smat(int m, int n); -// create a strmat for a matrix of size m*n by using memory passed by a pointer (pointer is not updated) -void blasfeo_cm_create_smat(int m, int n, struct blasfeo_pm_smat *sA, void *memory); - - - -#ifdef __cplusplus -} -#endif - -#endif // BLASFEO_S_AUX_H_ diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_aux_ext_dep.h b/third_party/acados/include/blasfeo/include/blasfeo_s_aux_ext_dep.h deleted file mode 100644 index 5209d20d377c21..00000000000000 --- a/third_party/acados/include/blasfeo/include/blasfeo_s_aux_ext_dep.h +++ /dev/null @@ -1,141 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of BLASFEO. * -* * -* BLASFEO -- BLAS For Embedded Optimization. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef BLASFEO_S_AUX_EXT_DEP_H_ -#define BLASFEO_S_AUX_EXT_DEP_H_ - - - -#include - - - -#include "blasfeo_common.h" - - - -#ifdef __cplusplus -extern "C" { -#endif - - - -#ifdef EXT_DEP - -/************************************************ -* s_aux_extern_depend_lib.c -************************************************/ - -/* column-major matrices */ - -// dynamically allocate row*col floats of memory and set accordingly a pointer to float; set allocated memory to zero -void s_zeros(float **pA, int row, int col); -// dynamically allocate row*col floats of memory aligned to 64-byte boundaries and set accordingly a pointer to float; set allocated memory to zero -void s_zeros_align(float **pA, int row, int col); -// dynamically allocate size bytes of memory aligned to 64-byte boundaries and set accordingly a pointer to float; set allocated memory to zero -void s_zeros_align_bytes(float **pA, int size); -// free the memory allocated by d_zeros -void s_free(float *pA); -// free the memory allocated by d_zeros_align or d_zeros_align_bytes -void s_free_align(float *pA); -// print a column-major matrix -void s_print_mat(int m, int n, float *A, int lda); -// print the transposed of a column-major matrix -void s_print_tran_mat(int row, int col, float *A, int lda); -// print to file a column-major matrix -void s_print_to_file_mat(FILE *file, int row, int col, float *A, int lda); -// print to file a column-major matrix in exponential format -void s_print_to_file_exp_mat(FILE *file, int row, int col, float *A, int lda); -// print to string a column-major matrix -void s_print_to_string_mat(char **buf_out, int row, int col, float *A, int lda); -// print to file the transposed of a column-major matrix -void s_print_tran_to_file_mat(FILE *file, int row, int col, float *A, int lda); -// print to file the transposed of a column-major matrix in exponential format -void s_print_tran_to_file_exp_mat(FILE *file, int row, int col, float *A, int lda); -// print in exponential notation a column-major matrix -void s_print_exp_mat(int m, int n, float *A, int lda); -// print in exponential notation the transposed of a column-major matrix -void s_print_exp_tran_mat(int row, int col, float *A, int lda); - -/* strmat and strvec */ - -// create a strmat for a matrix of size m*n by dynamically allocating memory -void blasfeo_allocate_smat(int m, int n, struct blasfeo_smat *sA); -// create a strvec for a vector of size m by dynamically allocating memory -void blasfeo_allocate_svec(int m, struct blasfeo_svec *sa); -// free the memory allocated by blasfeo_allocate_dmat -void blasfeo_free_smat(struct blasfeo_smat *sA); -// free the memory allocated by blasfeo_allocate_dvec -void blasfeo_free_svec(struct blasfeo_svec *sa); -// print a strmat -void blasfeo_print_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj); -// print in exponential notation a strmat -void blasfeo_print_exp_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj); -// print to file a strmat -void blasfeo_print_to_file_smat(FILE *file, int m, int n, struct blasfeo_smat *sA, int ai, int aj); -// print to file a strmat in exponential format -void blasfeo_print_to_file_exp_smat(FILE *file, int m, int n, struct blasfeo_smat *sA, int ai, int aj); -// print to string a strmat -void blasfeo_print_to_string_smat(char **buf_out, int m, int n, struct blasfeo_smat *sA, int ai, int aj); -// print the transpose of a strmat -void blasfeo_print_tran_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj); -// print a strvec -void blasfeo_print_svec(int m, struct blasfeo_svec *sa, int ai); -// print in exponential notation a strvec -void blasfeo_print_exp_svec(int m, struct blasfeo_svec *sa, int ai); -// print to file a strvec -void blasfeo_print_to_file_svec(FILE *file, int m, struct blasfeo_svec *sa, int ai); -// print to string a strvec -void blasfeo_print_to_string_svec(char **buf_out, int m, struct blasfeo_svec *sa, int ai); -// print the transposed of a strvec -void blasfeo_print_tran_svec(int m, struct blasfeo_svec *sa, int ai); -// print in exponential notation the transposed of a strvec -void blasfeo_print_exp_tran_svec(int m, struct blasfeo_svec *sa, int ai); -// print to file the transposed of a strvec -void blasfeo_print_to_file_tran_svec(FILE *file, int m, struct blasfeo_svec *sa, int ai); -// print to string the transposed of a strvec -void blasfeo_print_to_string_tran_svec(char **buf_out, int m, struct blasfeo_svec *sa, int ai); - -#endif // EXT_DEP - - - -#ifdef __cplusplus -} -#endif - - - -#endif // BLASFEO_S_AUX_EXT_DEP_H_ diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_aux_ext_dep_ref.h b/third_party/acados/include/blasfeo/include/blasfeo_s_aux_ext_dep_ref.h deleted file mode 100644 index 6640e20a406c85..00000000000000 --- a/third_party/acados/include/blasfeo/include/blasfeo_s_aux_ext_dep_ref.h +++ /dev/null @@ -1,82 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of BLASFEO. * -* * -* BLASFEO -- BLAS For Embedded Optimization. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef BLASFEO_S_AUX_EXT_DEP_REF_H_ -#define BLASFEO_S_AUX_EXT_DEP_REF_H_ - -#if defined(EXT_DEP) - - - -#include - -#include "blasfeo_common.h" - -#ifdef __cplusplus -extern "C" { -#endif - -// expose reference BLASFEO for testing -// see blasfeo_s_aux_exp_dep.h for help - -void blasfeo_print_smat_ref(int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj); -void blasfeo_allocate_smat_ref(int m, int n, struct blasfeo_smat_ref *sA); -void blasfeo_allocate_svec_ref(int m, struct blasfeo_svec_ref *sa); -void blasfeo_free_smat_ref(struct blasfeo_smat_ref *sA); -void blasfeo_free_svec_ref(struct blasfeo_svec_ref *sa); -void blasfeo_print_smat_ref(int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj); -void blasfeo_print_exp_smat_ref(int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj); -void blasfeo_print_to_file_smat_ref(FILE *file, int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj); -void blasfeo_print_to_file_exp_smat_ref(FILE *file, int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj); -void blasfeo_print_to_string_smat_ref(char **buf_out, int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj); -void blasfeo_print_svec(int m, struct blasfeo_svec *sa, int ai); -void blasfeo_print_exp_svec(int m, struct blasfeo_svec *sa, int ai); -void blasfeo_print_to_file_svec(FILE *file, int m, struct blasfeo_svec *sa, int ai); -void blasfeo_print_to_string_svec(char **buf_out, int m, struct blasfeo_svec *sa, int ai); -void blasfeo_print_tran_svec(int m, struct blasfeo_svec *sa, int ai); -void blasfeo_print_exp_tran_svec(int m, struct blasfeo_svec *sa, int ai); -void blasfeo_print_to_file_tran_svec(FILE *file, int m, struct blasfeo_svec *sa, int ai); -void blasfeo_print_to_string_tran_svec(char **buf_out, int m, struct blasfeo_svec *sa, int ai); - - -#ifdef __cplusplus -} -#endif - - - -#endif // EXT_DEP - -#endif // BLASFEO_S_AUX_EXT_DEP_REF_H_ diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_aux_old.h b/third_party/acados/include/blasfeo/include/blasfeo_s_aux_old.h deleted file mode 100644 index 5c6db37bab1b1d..00000000000000 --- a/third_party/acados/include/blasfeo/include/blasfeo_s_aux_old.h +++ /dev/null @@ -1,64 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of BLASFEO. * -* * -* BLASFEO -- BLAS For Embedded Optimization. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -// TODO remove -// -void strcp_l_lib(int m, float alpha, int offsetA, float *A, int sda, int offsetB, float *B, int sdb); -void sgead_lib(int m, int n, float alpha, int offsetA, float *A, int sda, int offsetB, float *B, int sdb); -void sgetr_lib(int m, int n, float alpha, int offsetA, float *pA, int sda, int offsetC, float *pC, int sdc); -void strtr_l_lib(int m, float alpha, int offsetA, float *pA, int sda, int offsetC, float *pC, int sdc); -void strtr_u_lib(int m, float alpha, int offsetA, float *pA, int sda, int offsetC, float *pC, int sdc); -void sdiareg_lib(int kmax, float reg, int offset, float *pD, int sdd); -void sdiain_sqrt_lib(int kmax, float *x, int offset, float *pD, int sdd); -void sdiaex_lib(int kmax, float alpha, int offset, float *pD, int sdd, float *x); -void sdiaad_lib(int kmax, float alpha, float *x, int offset, float *pD, int sdd); -void sdiain_libsp(int kmax, int *idx, float alpha, float *x, float *pD, int sdd); -void sdiaex_libsp(int kmax, int *idx, float alpha, float *pD, int sdd, float *x); -void sdiaad_libsp(int kmax, int *idx, float alpha, float *x, float *pD, int sdd); -void sdiaadin_libsp(int kmax, int *idx, float alpha, float *x, float *y, float *pD, int sdd); -void srowin_lib(int kmax, float alpha, float *x, float *pD); -void srowex_lib(int kmax, float alpha, float *pD, float *x); -void srowad_lib(int kmax, float alpha, float *x, float *pD); -void srowin_libsp(int kmax, float alpha, int *idx, float *x, float *pD); -void srowad_libsp(int kmax, int *idx, float alpha, float *x, float *pD); -void srowadin_libsp(int kmax, int *idx, float alpha, float *x, float *y, float *pD); -void srowsw_lib(int kmax, float *pA, float *pC); -void scolin_lib(int kmax, float *x, int offset, float *pD, int sdd); -void scolad_lib(int kmax, float alpha, float *x, int offset, float *pD, int sdd); -void scolin_libsp(int kmax, int *idx, float *x, float *pD, int sdd); -void scolad_libsp(int kmax, float alpha, int *idx, float *x, float *pD, int sdd); -void scolsw_lib(int kmax, int offsetA, float *pA, int sda, int offsetC, float *pC, int sdc); -void svecin_libsp(int kmax, int *idx, float *x, float *y); -void svecad_libsp(int kmax, int *idx, float alpha, float *x, float *y); diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_aux_ref.h b/third_party/acados/include/blasfeo/include/blasfeo_s_aux_ref.h deleted file mode 100644 index 998e1d89997175..00000000000000 --- a/third_party/acados/include/blasfeo/include/blasfeo_s_aux_ref.h +++ /dev/null @@ -1,147 +0,0 @@ - -/************************************************************************************************** -* * -* This file is part of BLASFEO. * -* * -* BLASFEO -- BLAS For Embedded Optimization. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef BLASFEO_S_AUX_REF_H_ -#define BLASFEO_S_AUX_REF_H_ - - - -#include - -#include "blasfeo_s_aux_old.h" -#include "blasfeo_common.h" - - - -#ifdef __cplusplus -extern "C" { -#endif - - -/************************************************ -* d_aux_lib.c -************************************************/ - -// returns the memory size (in bytes) needed for a smat -size_t blasfeo_ref_memsize_smat(int m, int n); -size_t blasfeo_ref_memsize_smat_ps(int ps, int m, int n); -// returns the memory size (in bytes) needed for the diagonal of a smat -size_t blasfeo_ref_memsize_diag_smat(int m, int n); -// returns the memory size (in bytes) needed for a svec -size_t blasfeo_ref_memsize_svec(int m); -// create a strmat for a matrix of size m*n by using memory passed by a pointer (pointer is not updated) -void blasfeo_ref_create_smat(int m, int n, struct blasfeo_smat *sA, void *memory); -void blasfeo_ref_create_smat_ps(int ps, int m, int n, struct blasfeo_smat *sA, void *memory); -// create a strvec for a vector of size m by using memory passed by a pointer (pointer is not updated) -void blasfeo_ref_create_svec(int m, struct blasfeo_svec *sA, void *memory); -void blasfeo_ref_pack_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sA, int ai, int aj); -void blasfeo_ref_pack_l_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sB, int bi, int bj); -void blasfeo_ref_pack_l_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sB, int bi, int bj); -void blasfeo_ref_pack_tran_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sA, int ai, int aj); -void blasfeo_ref_pack_svec(int m, float *x, int xi, struct blasfeo_svec *sa, int ai); -void blasfeo_ref_unpack_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj, float *A, int lda); -void blasfeo_ref_unpack_tran_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj, float *A, int lda); -void blasfeo_ref_unpack_svec(int m, struct blasfeo_svec *sa, int ai, float *x, int xi); -void ref_s_cast_mat2strmat(float *A, struct blasfeo_smat *sA); -void ref_s_cast_diag_mat2strmat(float *dA, struct blasfeo_smat *sA); -void ref_s_cast_vec2vecmat(float *a, struct blasfeo_svec *sa); - -// ge -void blasfeo_ref_sgese(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj); -void blasfeo_ref_sgecpsc(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj); -void blasfeo_ref_sgecp(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj); -void blasfeo_ref_sgesc(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj); -void blasfeo_ref_sgein1(float a, struct blasfeo_smat *sA, int ai, int aj); -float blasfeo_ref_sgeex1(struct blasfeo_smat *sA, int ai, int aj); -void blasfeo_ref_sgead(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj); -void blasfeo_ref_sgetr(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj); -// tr -void blasfeo_ref_strcp_l(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj); -void blasfeo_ref_strtr_l(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj); -void blasfeo_ref_strtr_u(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj); -// dia -void blasfeo_ref_sdiare(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj); -void blasfeo_ref_sdiaex(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi); -void blasfeo_ref_sdiain(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj); -void blasfeo_ref_sdiain_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj); -void blasfeo_ref_sdiaex_sp(int kmax, float alpha, int *idx, struct blasfeo_smat *sD, int di, int dj, struct blasfeo_svec *sx, int xi); -void blasfeo_ref_sdiaad(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj); -void blasfeo_ref_sdiaad_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj); -void blasfeo_ref_sdiaadin_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, int *idx, struct blasfeo_smat *sD, int di, int dj); -// row -void blasfeo_ref_srowin(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj); -void blasfeo_ref_srowex(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi); -void blasfeo_ref_srowad(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj); -void blasfeo_ref_srowad_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj); -void blasfeo_ref_srowsw(int kmax, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj); -void blasfeo_ref_srowpe(int kmax, int *ipiv, struct blasfeo_smat *sA); -void blasfeo_ref_srowpei(int kmax, int *ipiv, struct blasfeo_smat *sA); -// col -void blasfeo_ref_scolex(int kmax, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi); -void blasfeo_ref_scolin(int kmax, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj); -void blasfeo_ref_scolad(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj); -void blasfeo_ref_scolsc(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj); -void blasfeo_ref_scolsw(int kmax, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj); -void blasfeo_ref_scolpe(int kmax, int *ipiv, struct blasfeo_smat *sA); -void blasfeo_ref_scolpei(int kmax, int *ipiv, struct blasfeo_smat *sA); -// vec -void blasfeo_ref_svecse(int m, float alpha, struct blasfeo_svec *sx, int xi); -void blasfeo_ref_sveccp(int m, struct blasfeo_svec *sa, int ai, struct blasfeo_svec *sc, int ci); -void blasfeo_ref_svecsc(int m, float alpha, struct blasfeo_svec *sa, int ai); -void blasfeo_ref_sveccpsc(int m, float alpha, struct blasfeo_svec *sa, int ai, struct blasfeo_svec *sc, int ci); -void blasfeo_ref_svecad(int m, float alpha, struct blasfeo_svec *sa, int ai, struct blasfeo_svec *sc, int ci); -void blasfeo_ref_svecin1(float a, struct blasfeo_svec *sx, int xi); -float blasfeo_ref_svecex1(struct blasfeo_svec *sx, int xi); -void blasfeo_ref_svecad_sp(int m, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_svec *sz, int zi); -void blasfeo_ref_svecin_sp(int m, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_svec *sz, int zi); -void blasfeo_ref_svecex_sp(int m, float alpha, int *idx, struct blasfeo_svec *sx, int x, struct blasfeo_svec *sz, int zi); -// z += alpha * x[idx] -void blasfeo_ref_svecexad_sp(int m, double alpha, int *idx, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi); -void blasfeo_ref_sveccl(int m, struct blasfeo_svec *sxm, int xim, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sxp, int xip, struct blasfeo_svec *sz, int zi); -void blasfeo_ref_sveccl_mask(int m, struct blasfeo_svec *sxm, int xim, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sxp, int xip, struct blasfeo_svec *sz, int zi, struct blasfeo_svec *sm, int mi); -void blasfeo_ref_svecze(int m, struct blasfeo_svec *sm, int mi, struct blasfeo_svec *sv, int vi, struct blasfeo_svec *se, int ei); -void blasfeo_ref_svecnrm_inf(int m, struct blasfeo_svec *sx, int xi, float *ptr_norm); -void blasfeo_ref_svecpe(int kmax, int *ipiv, struct blasfeo_svec *sx, int xi); -void blasfeo_ref_svecpei(int kmax, int *ipiv, struct blasfeo_svec *sx, int xi); - - - -#ifdef __cplusplus -} -#endif - -#endif // BLASFEO_S_AUX_REF_H_ - diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_aux_test.h b/third_party/acados/include/blasfeo/include/blasfeo_s_aux_test.h deleted file mode 100644 index 08d9a14a6a7de4..00000000000000 --- a/third_party/acados/include/blasfeo/include/blasfeo_s_aux_test.h +++ /dev/null @@ -1,177 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of BLASFEO. * -* * -* BLASFEO -- BLAS For Embedded Optimization. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef BLASFEO_S_AUX_TEST_H_ -#define BLASFEO_S_AUX_TEST_H_ - -#include - -#include "blasfeo_common.h" - -#ifdef __cplusplus -extern "C" { -#endif - - - -/************************************************ -* d_aux_lib.c -************************************************/ - -int test_blasfeo_memsize_smat(int m, int n); -int test_blasfeo_memsize_diag_smat(int m, int n); -int test_blasfeo_memsize_svec(int m); - -void test_blasfeo_create_smat(int m, int n, struct blasfeo_smat *sA, void *memory); -void test_blasfeo_create_svec(int m, struct blasfeo_svec *sA, void *memory); - -void test_blasfeo_pack_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sA, int ai, int aj); -void test_blasfeo_pack_svec(int m, float *x, int xi, struct blasfeo_svec *sa, int ai); -void test_blasfeo_pack_tran_smat(int m, int n, float *A, int lda, struct blasfeo_smat *sA, int ai, int aj); -void test_blasfeo_unpack_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj, float *A, int lda); -void test_blasfeo_unpack_svec(int m, struct blasfeo_svec *sa, int ai, float *x, int xi); -void test_blasfeo_unpack_tran_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj, float *A, int lda); - -void test_s_cast_mat2strmat(float *A, struct blasfeo_smat *sA); -void test_s_cast_diag_mat2strmat(float *dA, struct blasfeo_smat *sA); -void test_s_cast_vec2vecmat(float *a, struct blasfeo_svec *sa); -// copy and scale -void test_blasfeo_sgecpsc(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj); -void test_blasfeo_sgecp(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj); -void test_blasfeo_sgesc(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj); - -// void test_blasfeo_sgein1(float a, struct blasfeo_smat *sA, int ai, int aj); -// float test_blasfeo_sgeex1(struct blasfeo_smat *sA, int ai, int aj); -// void test_blasfeo_svecin1(float a, struct blasfeo_svec *sx, int xi); -// float test_blasfeo_svecex1(struct blasfeo_svec *sx, int xi); - -// // A <= alpha -// void test_blasfeo_sgese(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj); -// // a <= alpha -// void test_blasfeo_svecse(int m, float alpha, struct blasfeo_svec *sx, int xi); - - -// void test_blasfeo_sveccp(int m, struct blasfeo_svec *sa, int ai, struct blasfeo_svec *sc, int ci); -// void test_blasfeo_svecsc(int m, float alpha, struct blasfeo_svec *sa, int ai); - -// void test_strcp_l_lib(int m, float alpha, int offsetA, float *A, int sda, int offsetB, float *B, int sdb); -// void test_blasfeo_strcp_l(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj); - -// void test_sgead_lib(int m, int n, float alpha, int offsetA, float *A, int sda, int offsetB, float *B, int sdb); -// void test_blasfeo_sgead(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj); -// void test_blasfeo_svecad(int m, float alpha, struct blasfeo_svec *sa, int ai, struct blasfeo_svec *sc, int ci); - -// void test_sgetr_lib(int m, int n, float alpha, int offsetA, float *pA, int sda, int offsetC, float *pC, int sdc); -// void test_blasfeo_sgetr(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj); - -// void test_strtr_l_lib(int m, float alpha, int offsetA, float *pA, int sda, int offsetC, float *pC, int sdc); -// void test_blasfeo_strtr_l(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj); -// void test_strtr_u_lib(int m, float alpha, int offsetA, float *pA, int sda, int offsetC, float *pC, int sdc); -// void test_blasfeo_strtr_u(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj); - -// void test_sdiareg_lib(int kmax, float reg, int offset, float *pD, int sdd); -// void test_blasfeo_sdiaex(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi); -// void test_blasfeo_sdiain(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj); -// void test_sdiain_sqrt_lib(int kmax, float *x, int offset, float *pD, int sdd); -// void test_sdiaex_lib(int kmax, float alpha, int offset, float *pD, int sdd, float *x); -// void test_sdiaad_lib(int kmax, float alpha, float *x, int offset, float *pD, int sdd); -// void test_sdiain_libsp(int kmax, int *idx, float alpha, float *x, float *pD, int sdd); -// void test_blasfeo_sdiain_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj); -// void test_sdiaex_libsp(int kmax, int *idx, float alpha, float *pD, int sdd, float *x); -// void test_blasfeo_sdiaex_sp(int kmax, float alpha, int *idx, struct blasfeo_smat *sD, int di, int dj, struct blasfeo_svec *sx, int xi); -// void test_blasfeo_sdiaad(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj); -// void test_sdiaad_libsp(int kmax, int *idx, float alpha, float *x, float *pD, int sdd); -// void test_blasfeo_sdiaad_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj); -// void test_sdiaadin_libsp(int kmax, int *idx, float alpha, float *x, float *y, float *pD, int sdd); -// void test_blasfeo_sdiaadin_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, int *idx, struct blasfeo_smat *sD, int di, int dj); -// void test_srowin_lib(int kmax, float alpha, float *x, float *pD); -// void test_blasfeo_srowin(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj); -// void test_srowex_lib(int kmax, float alpha, float *pD, float *x); -// void test_blasfeo_srowex(int kmax, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi); -// void test_srowad_lib(int kmax, float alpha, float *x, float *pD); -// void test_blasfeo_srowad(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj); -// void test_srowin_libsp(int kmax, float alpha, int *idx, float *x, float *pD); -// void test_srowad_libsp(int kmax, int *idx, float alpha, float *x, float *pD); -// void test_blasfeo_srowad_sp(int kmax, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_smat *sD, int di, int dj); -// void test_srowadin_libsp(int kmax, int *idx, float alpha, float *x, float *y, float *pD); -// void test_srowsw_lib(int kmax, float *pA, float *pC); -// void test_blasfeo_srowsw(int kmax, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj); -// void test_blasfeo_srowpe(int kmax, int *ipiv, struct blasfeo_smat *sA); -// void test_scolin_lib(int kmax, float *x, int offset, float *pD, int sdd); -// void test_blasfeo_scolin(int kmax, struct blasfeo_svec *sx, int xi, struct blasfeo_smat *sA, int ai, int aj); -// void test_scolad_lib(int kmax, float alpha, float *x, int offset, float *pD, int sdd); -// void test_scolin_libsp(int kmax, int *idx, float *x, float *pD, int sdd); -// void test_scolad_libsp(int kmax, float alpha, int *idx, float *x, float *pD, int sdd); -// void test_scolsw_lib(int kmax, int offsetA, float *pA, int sda, int offsetC, float *pC, int sdc); -// void test_blasfeo_scolsw(int kmax, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sC, int ci, int cj); -// void test_blasfeo_scolpe(int kmax, int *ipiv, struct blasfeo_smat *sA); -// void test_svecin_libsp(int kmax, int *idx, float *x, float *y); -// void test_svecad_libsp(int kmax, int *idx, float alpha, float *x, float *y); -// void test_blasfeo_svecad_sp(int m, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_svec *sz, int zi); -// void test_blasfeo_svecin_sp(int m, float alpha, struct blasfeo_svec *sx, int xi, int *idx, struct blasfeo_svec *sz, int zi); -// void test_blasfeo_svecex_sp(int m, float alpha, int *idx, struct blasfeo_svec *sx, int x, struct blasfeo_svec *sz, int zi); -// void test_blasfeo_sveccl(int m, struct blasfeo_svec *sxm, int xim, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sxp, int xip, struct blasfeo_svec *sz, int zi); -// void test_blasfeo_sveccl_mask(int m, struct blasfeo_svec *sxm, int xim, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sxp, int xip, struct blasfeo_svec *sz, int zi, struct blasfeo_svec *sm, int mi); -// void test_blasfeo_svecze(int m, struct blasfeo_svec *sm, int mi, struct blasfeo_svec *sv, int vi, struct blasfeo_svec *se, int ei); -// void test_blasfeo_svecnrm_inf(int m, struct blasfeo_svec *sx, int xi, float *ptr_norm); -// void test_blasfeo_svecpe(int kmax, int *ipiv, struct blasfeo_svec *sx, int xi); - - -// ext_dep - -void test_blasfeo_allocate_smat(int m, int n, struct blasfeo_smat *sA); -void test_blasfeo_allocate_svec(int m, struct blasfeo_svec *sa); - -void test_blasfeo_free_smat(struct blasfeo_smat *sA); -void test_blasfeo_free_svec(struct blasfeo_svec *sa); - -void test_blasfeo_print_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj); -void test_blasfeo_print_svec(int m, struct blasfeo_svec *sa, int ai); -void test_blasfeo_print_tran_svec(int m, struct blasfeo_svec *sa, int ai); - -void test_blasfeo_print_to_file_smat(FILE *file, int m, int n, struct blasfeo_smat *sA, int ai, int aj); -void test_blasfeo_print_to_file_svec(FILE *file, int m, struct blasfeo_svec *sa, int ai); -void test_blasfeo_print_to_file_tran_svec(FILE *file, int m, struct blasfeo_svec *sa, int ai); - -void test_blasfeo_print_exp_smat(int m, int n, struct blasfeo_smat *sA, int ai, int aj); -void test_blasfeo_print_exp_svec(int m, struct blasfeo_svec *sa, int ai); -void test_blasfeo_print_exp_tran_svec(int m, struct blasfeo_svec *sa, int ai); - - -#ifdef __cplusplus -} -#endif - -#endif // BLASFEO_S_AUX_TEST_H_ diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_blas.h b/third_party/acados/include/blasfeo/include/blasfeo_s_blas.h deleted file mode 100644 index 200f1f51b1daac..00000000000000 --- a/third_party/acados/include/blasfeo/include/blasfeo_s_blas.h +++ /dev/null @@ -1,46 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of BLASFEO. * -* * -* BLASFEO -- BLAS For Embedded Optimization. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef BLASFEO_S_BLAS_H_ -#define BLASFEO_S_BLAS_H_ - - - -#include "blasfeo_s_blasfeo_api.h" -#include "blasfeo_s_blas_api.h" - - - -#endif // BLASFEO_S_BLAS_H_ diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_blas_api.h b/third_party/acados/include/blasfeo/include/blasfeo_s_blas_api.h deleted file mode 100644 index cf2b3e0a2d1d36..00000000000000 --- a/third_party/acados/include/blasfeo/include/blasfeo_s_blas_api.h +++ /dev/null @@ -1,182 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of BLASFEO. * -* * -* BLASFEO -- BLAS For Embedded Optimization. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - - - -#ifndef BLASFEO_S_BLAS_API_H_ -#define BLASFEO_S_BLAS_API_H_ - - - -#include "blasfeo_target.h" - - - -#ifdef BLAS_API -#ifdef CBLAS_API -#ifndef BLASFEO_CBLAS_ENUM -#define BLASFEO_CBLAS_ENUM -#ifdef FORTRAN_BLAS_API -#ifndef CBLAS_H -enum CBLAS_ORDER {CblasRowMajor=101, CblasColMajor=102}; -enum CBLAS_TRANSPOSE {CblasNoTrans=111, CblasTrans=112, CblasConjTrans=113}; -enum CBLAS_UPLO {CblasUpper=121, CblasLower=122}; -enum CBLAS_DIAG {CblasNonUnit=131, CblasUnit=132}; -enum CBLAS_SIDE {CblasLeft=141, CblasRight=142}; -#endif // CBLAS_H -#else // FORTRAN_BLAS_API -enum BLASFEO_CBLAS_ORDER {CblasRowMajor=101, CblasColMajor=102}; -enum BLASFEO_CBLAS_TRANSPOSE {CblasNoTrans=111, CblasTrans=112, CblasConjTrans=113}; -enum BLASFEO_CBLAS_UPLO {CblasUpper=121, CblasLower=122}; -enum BLASFEO_CBLAS_DIAG {CblasNonUnit=131, CblasUnit=132}; -enum BLASFEO_CBLAS_SIDE {CblasLeft=141, CblasRight=142}; -#endif // FORTRAN_BLAS_API -#endif // BLASFEO_CBLAS_ENUM -#endif // CBLAS_API -#endif // BLAS_API - - - -#ifdef __cplusplus -extern "C" { -#endif - - - -#ifdef BLAS_API - - - -#ifdef FORTRAN_BLAS_API - - - -// BLAS 1 -// -void saxpy_(int *n, float *alpha, float *x, int *incx, float *y, int *incy); -// -float sdot_(int *n, float *x, int *incx, float *y, int *incy); - -// BLAS 3 -// -void sgemm_(char *ta, char *tb, int *m, int *n, int *k, float *alpha, float *A, int *lda, float *B, int *ldb, float *beta, float *C, int *ldc); -// -void strsm_(char *side, char *uplo, char *transa, char *diag, int *m, int *n, float *alpha, float *A, int *lda, float *B, int *ldb); - - - -// LAPACK -// -void spotrf_(char *uplo, int *m, float *A, int *lda, int *info); - - - -#ifdef CBLAS_API - - - -// CBLAS 1 -// -void cblas_saxpy(const int N, const float alpha, const float *X, const int incX, float *Y, const int incY); - -// CBLAS 3 -// -void cblas_sgemm(const enum CBLAS_ORDER Order, const enum CBLAS_TRANSPOSE TransA, const enum CBLAS_TRANSPOSE TransB, const int M, const int N, const int K, const float alpha, const float *A, const int lda, const float *B, const int ldb, const float beta, float *C, const int ldc); -// -void cblas_strsm(const enum CBLAS_ORDER Order, const enum CBLAS_SIDE Side, const enum CBLAS_UPLO Uplo, const enum CBLAS_TRANSPOSE TransA, const enum CBLAS_DIAG Diag, const int M, const int N, const float alpha, const float *A, const int lda, float *B, const int ldb); - - - -#endif // CBLAS_API - - - -#else // BLASFEO_API - - - -// BLAS 1 -// -void blasfeo_blas_saxpy(int *n, float *alpha, float *x, int *incx, float *y, int *incy); -// -float blasfeo_blas_sdot(int *n, float *x, int *incx, float *y, int *incy); - -// BLAS 3 -// -void blasfeo_blas_sgemm(char *ta, char *tb, int *m, int *n, int *k, float *alpha, float *A, int *lda, float *B, int *ldb, float *beta, float *C, int *ldc); -// -void blasfeo_blas_strsm(char *side, char *uplo, char *transa, char *diag, int *m, int *n, float *alpha, float *A, int *lda, float *B, int *ldb); - - - -// LAPACK -// -void blasfeo_lapack_spotrf(char *uplo, int *m, float *A, int *lda, int *info); - - - -#ifdef CBLAS_API - - - -// CBLAS 1 -// -void blasfeo_cblas_saxpy(const int N, const float alpha, const float *X, const int incX, float *Y, const int incY); - -// CBLAS 3 -// -void blasfeo_cblas_sgemm(const enum BLASFEO_CBLAS_ORDER Order, const enum BLASFEO_CBLAS_TRANSPOSE TransA, const enum BLASFEO_CBLAS_TRANSPOSE TransB, const int M, const int N, const int K, const float alpha, const float *A, const int lda, const float *B, const int ldb, const float beta, float *C, const int ldc); -// -void blasfeo_cblas_strsm(const enum BLASFEO_CBLAS_ORDER Order, const enum BLASFEO_CBLAS_SIDE Side, const enum BLASFEO_CBLAS_UPLO Uplo, const enum BLASFEO_CBLAS_TRANSPOSE TransA, const enum BLASFEO_CBLAS_DIAG Diag, const int M, const int N, const float alpha, const float *A, const int lda, float *B, const int ldb); - - - -#endif // CBLAS_API - - - -#endif // BLASFEO_API - - - -#endif // BLAS_API - - - -#ifdef __cplusplus -} -#endif - -#endif // BLASFEO_S_BLAS_API_H_ diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_blasfeo_api.h b/third_party/acados/include/blasfeo/include/blasfeo_s_blasfeo_api.h deleted file mode 100644 index 8b98104735fc6f..00000000000000 --- a/third_party/acados/include/blasfeo/include/blasfeo_s_blasfeo_api.h +++ /dev/null @@ -1,284 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of BLASFEO. * -* * -* BLASFEO -- BLAS For Embedded Optimization. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef BLASFEO_S_BLASFEO_API_H_ -#define BLASFEO_S_BLASFEO_API_H_ - - - -#include "blasfeo_common.h" - - - -#ifdef __cplusplus -extern "C" { -#endif - -// -// level 1 BLAS -// - -// z = y + alpha*x -void blasfeo_saxpy(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi); -// z = beta*y + alpha*x -void blasfeo_saxpby(int kmax, float alpha, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi); -// z = x .* y -void blasfeo_svecmul(int m, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi); -// z += x .* y -void blasfeo_svecmulacc(int m, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi); -// z = x .* y, return sum(z) = x^T * y -float blasfeo_svecmuldot(int m, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi); -// return x^T * y -float blasfeo_sdot(int m, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi); -// construct givens plane rotation -void blasfeo_srotg(float a, float b, float *c, float *s); -// apply plane rotation [a b] [c -s; s; c] to the aj0 and aj1 columns of A at row index ai -void blasfeo_scolrot(int m, struct blasfeo_smat *sA, int ai, int aj0, int aj1, float c, float s); -// apply plane rotation [c s; -s c] [a; b] to the ai0 and ai1 rows of A at column index aj -void blasfeo_srowrot(int m, struct blasfeo_smat *sA, int ai0, int ai1, int aj, float c, float s); - - - -// -// level 2 BLAS -// - -// dense - -// z <= beta * y + alpha * A * x -void blasfeo_sgemv_n(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi); -// z <= beta * y + alpha * A' * x -void blasfeo_sgemv_t(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi); -// z <= inv( A ) * x, A (m)x(n) -void blasfeo_strsv_lnn_mn(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi); -// z <= inv( A' ) * x, A (m)x(n) -void blasfeo_strsv_ltn_mn(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi); -// z <= inv( A ) * x, A (m)x(m) lower, not_transposed, not_unit -void blasfeo_strsv_lnn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi); -// z <= inv( A ) * x, A (m)x(m) lower, not_transposed, unit -void blasfeo_strsv_lnu(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi); -// z <= inv( A' ) * x, A (m)x(m) lower, transposed, not_unit -void blasfeo_strsv_ltn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi); -// z <= inv( A' ) * x, A (m)x(m) lower, transposed, unit -void blasfeo_strsv_ltu(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi); -// z <= inv( A' ) * x, A (m)x(m) upper, not_transposed, not_unit -void blasfeo_strsv_unn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi); -// z <= inv( A' ) * x, A (m)x(m) upper, transposed, not_unit -void blasfeo_strsv_utn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi); -// z <= A * x ; A lower triangular -void blasfeo_strmv_lnn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi); -// z <= A * x ; A lower triangular, unit diagonal -void blasfeo_strmv_lnu(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi); -// z <= A' * x ; A lower triangular -void blasfeo_strmv_ltn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi); -// z <= A' * x ; A lower triangular, unit diagonal -void blasfeo_strmv_ltu(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi); -// z <= beta * y + alpha * A * x ; A upper triangular -void blasfeo_strmv_unn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi); -// z <= A' * x ; A upper triangular -void blasfeo_strmv_utn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi); -// z_n <= beta_n * y_n + alpha_n * A * x_n -// z_t <= beta_t * y_t + alpha_t * A' * x_t -void blasfeo_sgemv_nt(int m, int n, float alpha_n, float alpha_t, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx_n, int xi_n, struct blasfeo_svec *sx_t, int xi_t, float beta_n, float beta_t, struct blasfeo_svec *sy_n, int yi_n, struct blasfeo_svec *sy_t, int yi_t, struct blasfeo_svec *sz_n, int zi_n, struct blasfeo_svec *sz_t, int zi_t); -// z <= beta * y + alpha * A * x, where A is symmetric and only the lower triangular patr of A is accessed -void blasfeo_ssymv_l(int m, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi); -void blasfeo_ssymv_l_mn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi); -// z <= beta * y + alpha * A * x, where A is symmetric and only the upper triangular patr of A is accessed -void blasfeo_ssymv_u(int m, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi); -// D = C + alpha * x * y^T -void blasfeo_sger(int m, int n, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj); - -// diagonal - -// z <= beta * y + alpha * A * x, A diagonal -void blasfeo_sgemv_d(int m, float alpha, struct blasfeo_svec *sA, int ai, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi); - - - -// -// level 3 BLAS -// - -// dense - -// D <= beta * C + alpha * A * B -void blasfeo_sgemm_nn(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj); -// D <= beta * C + alpha * A * B^T -void blasfeo_sgemm_nt(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj); -// D <= beta * C + alpha * A^T * B -void blasfeo_sgemm_tn(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj); -// D <= beta * C + alpha * A^T * B -void blasfeo_sgemm_tt(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj); -// D <= beta * C + alpha * A * B^T ; C, D lower triangular -void blasfeo_ssyrk_ln(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj); -void blasfeo_ssyrk_ln_mn(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj); -// D <= beta * C + alpha * A^T * B ; C, D lower triangular -void blasfeo_ssyrk_lt(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj); -// D <= beta * C + alpha * A * B^T ; C, D upper triangular -void blasfeo_ssyrk_un(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj); -// D <= beta * C + alpha * A^T * B ; C, D upper triangular -void blasfeo_ssyrk_ut(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj); -// D <= alpha * B * A^T ; B upper triangular -void blasfeo_strmm_rutn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj); -// D <= alpha * B * A ; A lower triangular -void blasfeo_strmm_rlnn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj); -// D <= alpha * A^{-1} * B , with A lower triangular employint explicit inverse of diagonal -void blasfeo_strsm_llnn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj); -// D <= alpha * A^{-1} * B , with A lower triangular with unit diagonal -void blasfeo_strsm_llnu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj); -// D <= alpha * A^{-T} * B , with A lower triangular employint explicit inverse of diagonal -void blasfeo_strsm_lltn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj); -// D <= alpha * A^{-T} * B , with A lower triangular with unit diagonal -void blasfeo_strsm_lltu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj); -// D <= alpha * A^{-1} * B , with A upper triangular employing explicit inverse of diagonal -void blasfeo_strsm_lunn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj); -// D <= alpha * A^{-1} * B , with A upper triangular withunit diagonal -void blasfeo_strsm_lunu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj); -// D <= alpha * A^{-T} * B , with A upper triangular employing explicit inverse of diagonal -void blasfeo_strsm_lutn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj); -// D <= alpha * A^{-T} * B , with A upper triangular withunit diagonal -void blasfeo_strsm_lutu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj); -// D <= alpha * B * A^{-1} , with A lower triangular employing explicit inverse of diagonal -void blasfeo_strsm_rlnn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj); -// D <= alpha * B * A^{-1} , with A lower triangular with unit diagonal -void blasfeo_strsm_rlnu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj); -// D <= alpha * B * A^{-T} , with A lower triangular employing explicit inverse of diagonal -void blasfeo_strsm_rltn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj); -// D <= alpha * B * A^{-T} , with A lower triangular with unit diagonal -void blasfeo_strsm_rltu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj); -// D <= alpha * B * A^{-1} , with A upper triangular employing explicit inverse of diagonal -void blasfeo_strsm_runn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj); -// D <= alpha * B * A^{-1} , with A upper triangular with unit diagonal -void blasfeo_strsm_runu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj); -// D <= alpha * B * A^{-T} , with A upper triangular employing explicit inverse of diagonal -void blasfeo_strsm_rutn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj); -// D <= alpha * B * A^{-T} , with A upper triangular with unit diagonal -void blasfeo_strsm_rutu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj); -// D <= beta * C + alpha * A * B^T + alpha * B * A^T; C, D lower triangular -void blasfeo_ssyr2k_ln(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj); -// D <= beta * C + alpha * A^T * B + alpha * B^T * A; C, D lower triangular -void blasfeo_ssyr2k_lt(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj); -// D <= beta * C + alpha * A * B^T + alpha * B * A^T; C, D upper triangular -void blasfeo_ssyr2k_un(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj); -// D <= beta * C + alpha * A^T * B + alpha * B^T * A; C, D upper triangular -void blasfeo_ssyr2k_ut(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj); - -// diagonal - -// D <= alpha * A * B + beta * C, with A diagonal (stored as strvec) -void sgemm_diag_left_ib(int m, int n, float alpha, float *dA, float *pB, int sdb, float beta, float *pC, int sdc, float *pD, int sdd); -void blasfeo_sgemm_dn(int m, int n, float alpha, struct blasfeo_svec *sA, int ai, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj); -// D <= alpha * A * B + beta * C, with B diagonal (stored as strvec) -void blasfeo_sgemm_nd(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sB, int bi, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj); - - - -// -// LAPACK -// - -// D <= chol( C ) ; C, D lower triangular -void blasfeo_spotrf_l(int m, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj); -void blasfeo_spotrf_l_mn(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj); -// D <= chol( C ) ; C, D upper triangular -void blasfeo_spotrf_u(int m, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj); -// D <= chol( C + A * B' ) ; C, D lower triangular -void blasfeo_ssyrk_spotrf_ln(int m, int k, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj); -void blasfeo_ssyrk_spotrf_ln_mn(int m, int n, int k, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj); -// D <= lu( C ) ; no pivoting -void blasfeo_sgetrf_np(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj); -// D <= lu( C ) ; row pivoting -void blasfeo_sgetrf_rp(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, int *ipiv); -// D <= qr( C ) -void blasfeo_sgeqrf(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, void *work); -int blasfeo_sgeqrf_worksize(int m, int n); // in bytes -// D <= Q factor, where C is the output of the LQ factorization -int blasfeo_sorglq_worksize(int m, int n, int k); // in bytes -void blasfeo_sorglq(int m, int n, int k, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, void *work); -// D <= lq( C ) -void blasfeo_sgelqf(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, void *work); -int blasfeo_sgelqf_worksize(int m, int n); // in bytes -// D <= lq( C ), positive diagonal elements -void blasfeo_sgelqf_pd(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, void *work); -// [L, A] <= lq( [L, A] ), positive diagonal elements, array of matrices, with -// L lower triangular, of size (m)x(m) -// A full, of size (m)x(n1) -void blasfeo_sgelqf_pd_la(int m, int n1, struct blasfeo_smat *sL, int li, int lj, struct blasfeo_smat *sA, int ai, int aj, void *work); -// [L, L, A] <= lq( [L, L, A] ), positive diagonal elements, array of matrices, with: -// L lower triangular, of size (m)x(m) -// A full, of size (m)x(n1) -void blasfeo_sgelqf_pd_lla(int m, int n1, struct blasfeo_smat *sL0, int l0i, int l0j, struct blasfeo_smat *sL1, int l1i, int l1j, struct blasfeo_smat *sA, int ai, int aj, void *work); - - - - -// -// BLAS API helper functions -// - -#if ( defined(BLAS_API) & defined(MF_PANELMAJ) ) -// BLAS 3 -void blasfeo_cm_sgemm_nn(int m, int n, int k, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, float beta, struct blasfeo_cm_smat *sC, int ci, int cj, struct blasfeo_cm_smat *sD, int di, int dj); -void blasfeo_cm_sgemm_nt(int m, int n, int k, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, float beta, struct blasfeo_cm_smat *sC, int ci, int cj, struct blasfeo_cm_smat *sD, int di, int dj); -void blasfeo_cm_sgemm_tn(int m, int n, int k, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, float beta, struct blasfeo_cm_smat *sC, int ci, int cj, struct blasfeo_cm_smat *sD, int di, int dj); -void blasfeo_cm_sgemm_tt(int m, int n, int k, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, float beta, struct blasfeo_cm_smat *sC, int ci, int cj, struct blasfeo_cm_smat *sD, int di, int dj); -void blasfeo_cm_strsm_llnn(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj); -void blasfeo_cm_strsm_llnu(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj); -void blasfeo_cm_strsm_lltn(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj); -void blasfeo_cm_strsm_lltu(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj); -void blasfeo_cm_strsm_lunn(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj); -void blasfeo_cm_strsm_lunu(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj); -void blasfeo_cm_strsm_lutn(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj); -void blasfeo_cm_strsm_lutu(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj); -void blasfeo_cm_strsm_rlnn(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj); -void blasfeo_cm_strsm_rlnu(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj); -void blasfeo_cm_strsm_rltn(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj); -void blasfeo_cm_strsm_rltu(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj); -void blasfeo_cm_strsm_runn(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj); -void blasfeo_cm_strsm_runu(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj); -void blasfeo_cm_strsm_rutn(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj); -void blasfeo_cm_strsm_rutu(int m, int n, float alpha, struct blasfeo_cm_smat *sA, int ai, int aj, struct blasfeo_cm_smat *sB, int bi, int bj, struct blasfeo_cm_smat *sD, int di, int dj); -// LAPACK -void blasfeo_cm_spotrf_l(int m, struct blasfeo_cm_smat *sC, int ci, int cj, struct blasfeo_cm_smat *sD, int di, int dj); -void blasfeo_cm_spotrf_u(int m, struct blasfeo_cm_smat *sC, int ci, int cj, struct blasfeo_cm_smat *sD, int di, int dj); -#endif - - - -#ifdef __cplusplus -} -#endif - -#endif // BLASFEO_S_BLASFEO_API_H_ diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_blasfeo_api_ref.h b/third_party/acados/include/blasfeo/include/blasfeo_s_blasfeo_api_ref.h deleted file mode 100644 index f429a79dc3f45d..00000000000000 --- a/third_party/acados/include/blasfeo/include/blasfeo_s_blasfeo_api_ref.h +++ /dev/null @@ -1,135 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of BLASFEO. * -* * -* BLASFEO -- BLAS For Embedded Optimization. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef BLASFEO_S_BLASFEO_API_REF_H_ -#define BLASFEO_S_BLASFEO_API_REF_H_ - -#include "blasfeo_common.h" - - -#ifdef __cplusplus -extern "C" { -#endif - - -// expose reference BLASFEO for testing - -// --- level 1 - -void blasfeo_saxpy_ref(int kmax, float alpha, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sy, int yi, struct blasfeo_svec_ref *sz, int zi); -void blasfeo_saxpby_ref(int kmax, float alpha, struct blasfeo_svec_ref *sx, int xi, float beta, struct blasfeo_svec_ref *sy, int yi, struct blasfeo_svec_ref *sz, int zi); -void blasfeo_svecmul_ref(int m, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sy, int yi, struct blasfeo_svec_ref *sz, int zi); -void blasfeo_svecmulacc_ref(int m, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sy, int yi, struct blasfeo_svec_ref *sz, int zi); -float blasfeo_svecmuldot_ref(int m, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sy, int yi, struct blasfeo_svec_ref *sz, int zi); -float blasfeo_sdot_ref(int m, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sy, int yi); -void blasfeo_srotg_ref(float a, float b, float *c, float *s); -void blasfeo_scolrot_ref(int m, struct blasfeo_smat_ref *sA, int ai, int aj0, int aj1, float c, float s); -void blasfeo_srowrot_ref(int m, struct blasfeo_smat_ref *sA, int ai0, int ai1, int aj, float c, float s); - - -// --- level 2 - -// dense -void blasfeo_sgemv_n_ref(int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, float beta, struct blasfeo_svec_ref *sy, int yi, struct blasfeo_svec_ref *sz, int zi); -void blasfeo_sgemv_t_ref(int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, float beta, struct blasfeo_svec_ref *sy, int yi, struct blasfeo_svec_ref *sz, int zi); -void blasfeo_strsv_lnn_mn_ref(int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi); -void blasfeo_strsv_ltn_mn_ref(int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi); -void blasfeo_strsv_lnn_ref(int m, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi); -void blasfeo_strsv_lnu_ref(int m, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi); -void blasfeo_strsv_ltn_ref(int m, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi); -void blasfeo_strsv_ltu_ref(int m, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi); -void blasfeo_strsv_unn_ref(int m, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi); -void blasfeo_strsv_utn_ref(int m, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi); -void blasfeo_strmv_unn_ref(int m, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi); -void blasfeo_strmv_utn_ref(int m, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi); -void blasfeo_strmv_lnn_ref(int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi); -void blasfeo_strmv_ltn_ref(int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi); -void blasfeo_strmv_lnu_ref(int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi); -void blasfeo_strmv_ltu_ref(int m, int n, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, struct blasfeo_svec_ref *sz, int zi); -void blasfeo_sgemv_nt_ref(int m, int n, float alpha_n, float alpha_t, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx_n, int xi_n, struct blasfeo_svec_ref *sx_t, int xi_t, float beta_n, float beta_t, struct blasfeo_svec_ref *sy_n, int yi_n, struct blasfeo_svec_ref *sy_t, int yi_t, struct blasfeo_svec_ref *sz_n, int zi_n, struct blasfeo_svec_ref *sz_t, int zi_t); -void blasfeo_ssymv_l_ref(int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sx, int xi, float beta, struct blasfeo_svec_ref *sy, int yi, struct blasfeo_svec_ref *sz, int zi); - -// diagonal -void blasfeo_sgemv_d_ref(int m, float alpha, struct blasfeo_svec_ref *sA, int ai, struct blasfeo_svec_ref *sx, int xi, float beta, struct blasfeo_svec_ref *sy, int yi, struct blasfeo_svec_ref *sz, int zi); - - -// --- level 3 - -// dense -void blasfeo_sgemm_nn_ref( int m, int n, int k, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj); -void blasfeo_sgemm_nt_ref( int m, int n, int k, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj); -void blasfeo_sgemm_tn_ref(int m, int n, int k, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj); -void blasfeo_sgemm_tt_ref(int m, int n, int k, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj); - -void blasfeo_ssyrk_ln_mn_ref( int m, int n, int k, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj); -void blasfeo_ssyrk_ln_ref( int m, int k, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj); -void blasfeo_ssyrk_lt_ref( int m, int k, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj); -void blasfeo_ssyrk_un_ref( int m, int k, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj); -void blasfeo_ssyrk_ut_ref( int m, int k, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj); - -void blasfeo_strmm_rutn_ref( int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, struct blasfeo_smat_ref *sD, int di, int dj); -void blasfeo_strmm_rlnn_ref( int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, struct blasfeo_smat_ref *sD, int di, int dj); -void blasfeo_strsm_rltn_ref( int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, struct blasfeo_smat_ref *sD, int di, int dj); -void blasfeo_strsm_rltu_ref( int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, struct blasfeo_smat_ref *sD, int di, int dj); -void blasfeo_strsm_rutn_ref( int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, struct blasfeo_smat_ref *sD, int di, int dj); -void blasfeo_strsm_llnu_ref( int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, struct blasfeo_smat_ref *sD, int di, int dj); -void blasfeo_strsm_lunn_ref( int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, struct blasfeo_smat_ref *sD, int di, int dj); - -// diagonal -void dgemm_diag_left_lib_ref(int m, int n, float alpha, float *dA, float *pB, int sdb, float beta, float *pC, int sdc, float *pD, int sdd); -void blasfeo_sgemm_dn_ref(int m, int n, float alpha, struct blasfeo_svec_ref *sA, int ai, struct blasfeo_smat_ref *sB, int bi, int bj, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj); -void blasfeo_sgemm_nd_ref(int m, int n, float alpha, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_svec_ref *sB, int bi, float beta, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj); - -// --- lapack - -void blasfeo_sgetrf_nopivot_ref(int m, int n, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj); -void blasfeo_sgetrf_rowpivot_ref(int m, int n, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj, int *ipiv); -void blasfeo_spotrf_l_ref(int m, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj); -void blasfeo_spotrf_l_mn_ref(int m, int n, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj); -void blasfeo_ssyrk_dpotrf_ln_ref(int m, int k, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj); -void blasfeo_ssyrk_dpotrf_ln_mn_ref(int m, int n, int k, struct blasfeo_smat_ref *sA, int ai, int aj, struct blasfeo_smat_ref *sB, int bi, int bj, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj); -void blasfeo_sgetrf_nopivot_ref(int m, int n, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj); -void blasfeo_sgetrf_rowpivot_ref(int m, int n, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj, int *ipiv); -void blasfeo_sgeqrf_ref(int m, int n, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj, void *work); -void blasfeo_sgelqf_ref(int m, int n, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj, void *work); -void blasfeo_sgelqf_pd_ref(int m, int n, struct blasfeo_smat_ref *sC, int ci, int cj, struct blasfeo_smat_ref *sD, int di, int dj, void *work); -void blasfeo_sgelqf_pd_la_ref(int m, int n1, struct blasfeo_smat_ref *sL, int li, int lj, struct blasfeo_smat_ref *sA, int ai, int aj, void *work); -void blasfeo_sgelqf_pd_lla_ref(int m, int n1, struct blasfeo_smat_ref *sL0, int l0i, int l0j, struct blasfeo_smat_ref *sL1, int l1i, int l1j, struct blasfeo_smat_ref *sA, int ai, int aj, void *work); - -#ifdef __cplusplus -} -#endif - -#endif // BLASFEO_S_BLASFEO_API_REF_H_ diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_blasfeo_ref_api.h b/third_party/acados/include/blasfeo/include/blasfeo_s_blasfeo_ref_api.h deleted file mode 100644 index 17cb17969577ef..00000000000000 --- a/third_party/acados/include/blasfeo/include/blasfeo_s_blasfeo_ref_api.h +++ /dev/null @@ -1,252 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of BLASFEO. * -* * -* BLASFEO -- BLAS For Embedded Optimization. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef BLASFEO_S_BLASFEO_REF_API_H_ -#define BLASFEO_S_BLASFEO_REF_API_H_ - - - -#include "blasfeo_common.h" - - - -#ifdef __cplusplus -extern "C" { -#endif - -// -// level 1 BLAS -// - -// z = y + alpha*x -void blasfeo_ref_saxpy(int kmax, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi); -// z = beta*y + alpha*x -void blasfeo_ref_saxpby(int kmax, float alpha, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi); -// z = x .* y -void blasfeo_ref_svecmul(int m, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi); -// z += x .* y -void blasfeo_ref_svecmulacc(int m, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi); -// z = x .* y, return sum(z) = x^T * y -float blasfeo_ref_svecmuldot(int m, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi); -// return x^T * y -float blasfeo_ref_sdot(int m, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi); -// construct givens plane rotation -void blasfeo_ref_srotg(float a, float b, float *c, float *s); -// apply plane rotation [a b] [c -s; s; c] to the aj0 and aj1 columns of A at row index ai -void blasfeo_ref_scolrot(int m, struct blasfeo_smat *sA, int ai, int aj0, int aj1, float c, float s); -// apply plane rotation [c s; -s c] [a; b] to the ai0 and ai1 rows of A at column index aj -void blasfeo_ref_srowrot(int m, struct blasfeo_smat *sA, int ai0, int ai1, int aj, float c, float s); - - - -// -// level 2 BLAS -// - -// dense - -// z <= beta * y + alpha * A * x -void blasfeo_ref_sgemv_n(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi); -// z <= beta * y + alpha * A' * x -void blasfeo_ref_sgemv_t(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi); -// z <= inv( A ) * x, A (m)x(n) -void blasfeo_ref_strsv_lnn_mn(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi); -// z <= inv( A' ) * x, A (m)x(n) -void blasfeo_ref_strsv_ltn_mn(int m, int n, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi); -// z <= inv( A ) * x, A (m)x(m) lower, not_transposed, not_unit -void blasfeo_ref_strsv_lnn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi); -// z <= inv( A ) * x, A (m)x(m) lower, not_transposed, unit -void blasfeo_ref_strsv_lnu(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi); -// z <= inv( A' ) * x, A (m)x(m) lower, transposed, not_unit -void blasfeo_ref_strsv_ltn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi); -// z <= inv( A' ) * x, A (m)x(m) lower, transposed, unit -void blasfeo_ref_strsv_ltu(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi); -// z <= inv( A' ) * x, A (m)x(m) upper, not_transposed, not_unit -void blasfeo_ref_strsv_unn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi); -// z <= inv( A' ) * x, A (m)x(m) upper, transposed, not_unit -void blasfeo_ref_strsv_utn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi); -// z <= A * x ; A lower triangular -void blasfeo_ref_strmv_lnn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi); -// z <= A * x ; A lower triangular, unit diagonal -void blasfeo_ref_strmv_lnu(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi); -// z <= A' * x ; A lower triangular -void blasfeo_ref_strmv_ltn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi); -// z <= A' * x ; A lower triangular, unit diagonal -void blasfeo_ref_strmv_ltu(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi); -// z <= beta * y + alpha * A * x ; A upper triangular -void blasfeo_ref_strmv_unn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi); -// z <= A' * x ; A upper triangular -void blasfeo_ref_strmv_utn(int m, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sz, int zi); -// z_n <= beta_n * y_n + alpha_n * A * x_n -// z_t <= beta_t * y_t + alpha_t * A' * x_t -void blasfeo_ref_sgemv_nt(int m, int n, float alpha_n, float alpha_t, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx_n, int xi_n, struct blasfeo_svec *sx_t, int xi_t, float beta_n, float beta_t, struct blasfeo_svec *sy_n, int yi_n, struct blasfeo_svec *sy_t, int yi_t, struct blasfeo_svec *sz_n, int zi_n, struct blasfeo_svec *sz_t, int zi_t); -// z <= beta * y + alpha * A * x, where A is symmetric and only the lower triangular patr of A is accessed -void blasfeo_ref_ssymv_l(int m, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi); -void blasfeo_ref_ssymv_l_mn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi); -// z <= beta * y + alpha * A * x, where A is symmetric and only the upper triangular patr of A is accessed -void blasfeo_ref_ssymv_u(int m, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi); -// D = C + alpha * x * y^T -void blasfeo_ref_sger(int m, int n, float alpha, struct blasfeo_svec *sx, int xi, struct blasfeo_svec *sy, int yi, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj); - -// diagonal - -// z <= beta * y + alpha * A * x, A diagonal -void blasfeo_ref_sgemv_d(int m, float alpha, struct blasfeo_svec *sA, int ai, struct blasfeo_svec *sx, int xi, float beta, struct blasfeo_svec *sy, int yi, struct blasfeo_svec *sz, int zi); - - - -// -// level 3 BLAS -// - -// dense - -// D <= beta * C + alpha * A * B -void blasfeo_ref_sgemm_nn(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj); -// D <= beta * C + alpha * A * B^T -void blasfeo_ref_sgemm_nt(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj); -// D <= beta * C + alpha * A^T * B -void blasfeo_ref_sgemm_tn(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj); -// D <= beta * C + alpha * A^T * B -void blasfeo_ref_sgemm_tt(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj); -// D <= beta * C + alpha * A * B^T ; C, D lower triangular -void blasfeo_ref_ssyrk_ln(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj); -void blasfeo_ref_ssyrk_ln_mn(int m, int n, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj); -// D <= beta * C + alpha * A^T * B ; C, D lower triangular -void blasfeo_ref_ssyrk_lt(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj); -// D <= beta * C + alpha * A * B^T ; C, D upper triangular -void blasfeo_ref_ssyrk_un(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj); -// D <= beta * C + alpha * A^T * B ; C, D upper triangular -void blasfeo_ref_ssyrk_ut(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj); -// D <= alpha * B * A^T ; B upper triangular -void blasfeo_ref_strmm_rutn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj); -// D <= alpha * B * A ; A lower triangular -void blasfeo_ref_strmm_rlnn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj); -// D <= alpha * A^{-1} * B , with A lower triangular employint explicit inverse of diagonal -void blasfeo_ref_strsm_llnn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj); -// D <= alpha * A^{-1} * B , with A lower triangular with unit diagonal -void blasfeo_ref_strsm_llnu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj); -// D <= alpha * A^{-T} * B , with A lower triangular employint explicit inverse of diagonal -void blasfeo_ref_strsm_lltn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj); -// D <= alpha * A^{-T} * B , with A lower triangular with unit diagonal -void blasfeo_ref_strsm_lltu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj); -// D <= alpha * A^{-1} * B , with A upper triangular employing explicit inverse of diagonal -void blasfeo_ref_strsm_lunn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj); -// D <= alpha * A^{-1} * B , with A upper triangular withunit diagonal -void blasfeo_ref_strsm_lunu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj); -// D <= alpha * A^{-T} * B , with A upper triangular employing explicit inverse of diagonal -void blasfeo_ref_strsm_lutn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj); -// D <= alpha * A^{-T} * B , with A upper triangular withunit diagonal -void blasfeo_ref_strsm_lutu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj); -// D <= alpha * B * A^{-1} , with A lower triangular employing explicit inverse of diagonal -void blasfeo_ref_strsm_rlnn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj); -// D <= alpha * B * A^{-1} , with A lower triangular with unit diagonal -void blasfeo_ref_strsm_rlnu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj); -// D <= alpha * B * A^{-T} , with A lower triangular employing explicit inverse of diagonal -void blasfeo_ref_strsm_rltn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj); -// D <= alpha * B * A^{-T} , with A lower triangular with unit diagonal -void blasfeo_ref_strsm_rltu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj); -// D <= alpha * B * A^{-1} , with A upper triangular employing explicit inverse of diagonal -void blasfeo_ref_strsm_runn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj); -// D <= alpha * B * A^{-1} , with A upper triangular with unit diagonal -void blasfeo_ref_strsm_runu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj); -// D <= alpha * B * A^{-T} , with A upper triangular employing explicit inverse of diagonal -void blasfeo_ref_strsm_rutn(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj); -// D <= alpha * B * A^{-T} , with A upper triangular with unit diagonal -void blasfeo_ref_strsm_rutu(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sD, int di, int dj); -// D <= beta * C + alpha * A * B^T + alpha * B * A^T ; C, D lower triangular -void blasfeo_ref_ssyr2k_ln(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj); -// D <= beta * C + alpha * A^T * B + alpha * B^T * A ; C, D lower triangular -void blasfeo_ref_ssyr2k_lt(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj); -// D <= beta * C + alpha * A * B^T + alpha * B * A^T ; C, D upper triangular -void blasfeo_ref_ssyr2k_un(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj); -// D <= beta * C + alpha * A^T * B + alpha * B^T * A ; C, D upper triangular -void blasfeo_ref_ssyr2k_ut(int m, int k, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj); - -// diagonal - -// D <= alpha * A * B + beta * C, with A diagonal (stored as strvec) -void sgemm_diag_left_ib(int m, int n, float alpha, float *dA, float *pB, int sdb, float beta, float *pC, int sdc, float *pD, int sdd); -void blasfeo_ref_sgemm_dn(int m, int n, float alpha, struct blasfeo_svec *sA, int ai, struct blasfeo_smat *sB, int bi, int bj, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj); -// D <= alpha * A * B + beta * C, with B diagonal (stored as strvec) -void blasfeo_ref_sgemm_nd(int m, int n, float alpha, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_svec *sB, int bi, float beta, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj); - - - -// -// LAPACK -// - -// D <= chol( C ) ; C, D lower triangular -void blasfeo_ref_spotrf_l(int m, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj); -void blasfeo_ref_spotrf_l_mn(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj); -// D <= chol( C ) ; C, D upper triangular -void blasfeo_ref_spotrf_u(int m, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj); -// D <= chol( C + A * B' ) ; C, D lower triangular -void blasfeo_ref_ssyrk_spotrf_ln(int m, int k, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj); -void blasfeo_ref_ssyrk_spotrf_ln_mn(int m, int n, int k, struct blasfeo_smat *sA, int ai, int aj, struct blasfeo_smat *sB, int bi, int bj, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj); -// D <= lu( C ) ; no pivoting -void blasfeo_ref_sgetrf_np(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj); -// D <= lu( C ) ; row pivoting -void blasfeo_ref_sgetrf_rp(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, int *ipiv); -// D <= qr( C ) -void blasfeo_ref_sgeqrf(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, void *work); -int blasfeo_ref_sgeqrf_worksize(int m, int n); // in bytes -// D <= Q factor, where C is the output of the LQ factorization -int blasfeo_ref_sorglq_worksize(int m, int n, int k); // in bytes -void blasfeo_ref_sorglq(int m, int n, int k, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, void *work); -// D <= lq( C ) -void blasfeo_ref_sgelqf(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, void *work); -int blasfeo_ref_sgelqf_worksize(int m, int n); // in bytes -// D <= lq( C ), positive diagonal elements -void blasfeo_ref_sgelqf_pd(int m, int n, struct blasfeo_smat *sC, int ci, int cj, struct blasfeo_smat *sD, int di, int dj, void *work); -// [L, A] <= lq( [L, A] ), positive diagonal elements, array of matrices, with -// L lower triangular, of size (m)x(m) -// A full, of size (m)x(n1) -void blasfeo_ref_sgelqf_pd_la(int m, int n1, struct blasfeo_smat *sL, int li, int lj, struct blasfeo_smat *sA, int ai, int aj, void *work); -// [L, L, A] <= lq( [L, L, A] ), positive diagonal elements, array of matrices, with: -// L lower triangular, of size (m)x(m) -// A full, of size (m)x(n1) -void blasfeo_ref_sgelqf_pd_lla(int m, int n1, struct blasfeo_smat *sL0, int l0i, int l0j, struct blasfeo_smat *sL1, int l1i, int l1j, struct blasfeo_smat *sA, int ai, int aj, void *work); - - - - -#ifdef __cplusplus -} -#endif - -#endif // BLASFEO_S_BLASFEO_REF_API_H_ - diff --git a/third_party/acados/include/blasfeo/include/blasfeo_s_kernel.h b/third_party/acados/include/blasfeo/include/blasfeo_s_kernel.h deleted file mode 100644 index 99d2b28c823d57..00000000000000 --- a/third_party/acados/include/blasfeo/include/blasfeo_s_kernel.h +++ /dev/null @@ -1,692 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of BLASFEO. * -* * -* BLASFEO -- BLAS For Embedded Optimization. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef BLASFEO_S_KERNEL_H_ -#define BLASFEO_S_KERNEL_H_ - - - -#ifdef __cplusplus -extern "C" { -#endif - - - -// utils -void blasfeo_align_2MB(void *ptr, void **ptr_align); -void blasfeo_align_4096_byte(void *ptr, void **ptr_align); -void blasfeo_align_64_byte(void *ptr, void **ptr_align); - - - -// -// lib8 -// - -// 24x4 -void kernel_sgemm_nt_24x4_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd); -void kernel_sgemm_nt_24x4_vs_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int km, int kn); -void kernel_sgemm_nt_24x4_gen_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1); -void kernel_sgemm_nn_24x4_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd); -void kernel_sgemm_nn_24x4_vs_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd, int km, int kn); -void kernel_sgemm_nn_24x4_gen_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1); -void kernel_ssyrk_nt_l_24x4_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd); -void kernel_ssyrk_nt_l_24x4_vs_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int km, int kn); -void kernel_ssyrk_nt_l_20x4_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd); -void kernel_ssyrk_nt_l_20x4_vs_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int km, int kn); -void kernel_spotrf_nt_l_24x4_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D); -void kernel_spotrf_nt_l_24x4_vs_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int km, int kn); -void kernel_spotrf_nt_l_20x4_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D); -void kernel_spotrf_nt_l_20x4_vs_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int km, int kn); -void kernel_strsm_nt_rl_inv_24x4_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E); -void kernel_strsm_nt_rl_inv_24x4_vs_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E, int km, int kn); -void kernel_sgemm_strsm_nt_rl_inv_24x4_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E); -void kernel_sgemm_strsm_nt_rl_inv_24x4_vs_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E, int km, int kn); -void kernel_ssyrk_spotrf_nt_l_20x4_vs_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int km, int kn); -void kernel_ssyrk_spotrf_nt_l_20x4_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *inv_diag_D); -void kernel_ssyrk_spotrf_nt_l_24x4_vs_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int km, int kn); -void kernel_ssyrk_spotrf_nt_l_24x4_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *inv_diag_D); -void kernel_strmm_nn_rl_24x4_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *D, int sdd); -void kernel_strmm_nn_rl_24x4_vs_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *D, int sdd, int km, int kn); - -// 16x8 -void kernel_sgemm_nt_16x8_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, float *spil); - -// 16x4 -void kernel_sgemm_nt_16x4_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd); -void kernel_sgemm_nt_16x4_vs_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int km, int kn); -void kernel_sgemm_nt_16x4_gen_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1); -void kernel_sgemm_nn_16x4_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd); -void kernel_sgemm_nn_16x4_vs_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd, int km, int kn); -void kernel_sgemm_nn_16x4_gen_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1); -void kernel_ssyrk_nt_l_16x4_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd); -void kernel_ssyrk_nt_l_16x4_vs_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int km, int kn); -void kernel_ssyrk_nt_l_12x4_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd); -void kernel_ssyrk_nt_l_12x4_vs_lib8(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int km, int kn); -void kernel_spotrf_nt_l_16x4_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D); -void kernel_spotrf_nt_l_16x4_vs_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int km, int kn); -void kernel_spotrf_nt_l_12x4_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D); -void kernel_spotrf_nt_l_12x4_vs_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int km, int kn); -void kernel_strsm_nt_rl_inv_16x4_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E); -void kernel_strsm_nt_rl_inv_16x4_vs_lib8(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E, int km, int kn); -void kernel_sgemm_strsm_nt_rl_inv_16x4_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E); -void kernel_sgemm_strsm_nt_rl_inv_16x4_vs_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E, int km, int kn); -void kernel_ssyrk_spotrf_nt_l_12x4_vs_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int km, int kn); -void kernel_ssyrk_spotrf_nt_l_12x4_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *inv_diag_D); -void kernel_ssyrk_spotrf_nt_l_16x4_vs_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int km, int kn); -void kernel_ssyrk_spotrf_nt_l_16x4_lib8(int kp, float *Ap, int sdap, float *Bp, int km_, float *Am, int sdam, float *Bm, float *C, int sdc, float *D, int sdd, float *inv_diag_D); -void kernel_strmm_nn_rl_16x4_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *D, int sdd); -void kernel_strmm_nn_rl_16x4_vs_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *D, int sdd, int km, int kn); -void kernel_strmm_nn_rl_16x4_gen_lib8(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1); - -// 8x8 -void kernel_sgemm_nt_8x8_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D); -void kernel_sgemm_nt_8x8_vs_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D, int km, int kn); -void kernel_sgemm_nt_8x8_gen_lib8(int k, float *alpha, float *A, float *B, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1); -void kernel_sgemm_nn_8x8_lib8(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *beta, float *C, float *D); -void kernel_sgemm_nn_8x8_vs_lib8(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *beta, float *C, float *D, int km, int kn); -void kernel_sgemm_nn_8x8_gen_lib8(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1); -void kernel_ssyrk_nt_l_8x8_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D); -void kernel_ssyrk_nt_l_8x8_vs_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D, int km, int kn); -void kernel_spotrf_nt_l_8x8_lib8(int k, float *A, float *B, float *C, float *D, float *inv_diag_D); -void kernel_spotrf_nt_l_8x8_vs_lib8(int k, float *A, float *B, float *C, float *D, float *inv_diag_D, int km, int kn); -void kernel_strsm_nt_rl_inv_8x8_lib8(int k, float *A, float *B, float *C, float *D, float *E, float *inv_diag_E); -void kernel_strsm_nt_rl_inv_8x8_vs_lib8(int k, float *A, float *B, float *C, float *D, float *E, float *inv_diag_E, int km, int kn); -void kernel_sgemm_strsm_nt_rl_inv_8x8_lib8(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *E, float *inv_diag_E); -void kernel_sgemm_strsm_nt_rl_inv_8x8_vs_lib8(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *E, float *inv_diag_E, int km, int kn); -void kernel_ssyrk_spotrf_nt_l_8x8_vs_lib8(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *inv_diag_D, int km, int kn); -void kernel_ssyrk_spotrf_nt_l_8x8_lib8(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *inv_diag_D); - -// 8x4 -void kernel_sgemm_nt_8x4_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D); -void kernel_sgemm_nt_8x4_vs_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D, int km, int kn); -void kernel_sgemm_nt_8x4_gen_lib8(int k, float *alpha, float *A, float *B, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1); -void kernel_sgemm_nn_8x4_lib8(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *beta, float *C, float *D); -void kernel_sgemm_nn_8x4_vs_lib8(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *beta, float *C, float *D, int km, int kn); -void kernel_sgemm_nn_8x4_gen_lib8(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1); -//void kernel_ssyrk_nt_l_8x4_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D); -void kernel_ssyrk_nt_l_8x4_vs_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D, int km, int kn); -void kernel_spotrf_nt_l_8x4_lib8(int k, float *A, float *B, float *C, float *D, float *inv_diag_D); -void kernel_spotrf_nt_l_8x4_vs_lib8(int k, float *A, float *B, float *C, float *D, float *inv_diag_D, int km, int kn); -void kernel_strsm_nt_rl_inv_8x4_lib8(int k, float *A, float *B, float *C, float *D, float *E, float *inv_diag_E); -void kernel_strsm_nt_rl_inv_8x4_vs_lib8(int k, float *A, float *B, float *C, float *D, float *E, float *inv_diag_E, int km, int kn); -void kernel_sgemm_strsm_nt_rl_inv_8x4_lib8(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *E, float *inv_diag_E); -void kernel_sgemm_strsm_nt_rl_inv_8x4_vs_lib8(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *E, float *inv_diag_E, int km, int kn); -void kernel_ssyrk_spotrf_nt_l_8x4_vs_lib8(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *inv_diag_D, int km, int kn); -void kernel_ssyrk_spotrf_nt_l_8x4_lib8(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *inv_diag_D); -void kernel_strmm_nn_rl_8x4_lib8(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *D); -void kernel_strmm_nn_rl_8x4_vs_lib8(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *D, int km, int kn); -void kernel_strmm_nn_rl_8x4_gen_lib8(int k, float *alpha, float *A, int offsetB, float *B, int sdb, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1); -void kernel_strmm_nt_ru_8x4_lib8(int k, float *alpha, float *A, float *B, float *D); -void kernel_strmm_nt_ru_8x4_vs_lib8(int k, float *alpha, float *A, float *B, float *D, int km, int kn); - -// 4x8 -void kernel_sgemm_nt_4x8_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D); -void kernel_sgemm_nt_4x8_vs_lib8(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D, int km, int kn); -void kernel_sgemm_nt_4x8_gen_lib8(int k, float *alpha, float *A, float *B, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1); -void kernel_strsm_nt_rl_inv_4x8_lib8(int k, float *A, float *B, float *C, float *D, float *E, float *inv_diag_E); -void kernel_strsm_nt_rl_inv_4x8_vs_lib8(int k, float *A, float *B, float *C, float *D, float *E, float *inv_diag_E, int km, int kn); - -// 8 -void kernel_sgemv_n_8_lib8(int k, float *alpha, float *A, float *x, float *beta, float *y, float *z); -void kernel_sgemv_n_8_vs_lib8(int k, float *alpha, float *A, float *x, float *beta, float *y, float *z, int k1); -void kernel_sgemv_n_8_gen_lib8(int kmax, float *alpha, float *A, float *x, float *beta, float *y, float *z, int k0, int k1); -void kernel_sgemv_t_8_lib8(int k, float *alpha, int offsetA, float *A, int sda, float *x, float *beta, float *y, float *z); -void kernel_sgemv_t_8_vs_lib8(int k, float *alpha, int offsetA, float *A, int sda, float *x, float *beta, float *y, float *z, int k1); -void kernel_sgemv_t_4_lib8(int k, float *alpha, int offsetA, float *A, int sda, float *x, float *beta, float *y, float *z); -void kernel_sgemv_t_4_vs_lib8(int k, float *alpha, int offsetA, float *A, int sda, float *x, float *beta, float *y, float *z, int k1); -void kernel_strsv_ln_inv_8_lib8(int k, float *A, float *inv_diag_A, float *x, float *y, float *z); -void kernel_strsv_ln_inv_8_vs_lib8(int k, float *A, float *inv_diag_A, float *x, float *y, float *z, int km, int kn); -void kernel_strsv_lt_inv_8_lib8(int k, float *A, int sda, float *inv_diag_A, float *x, float *y, float *z); -void kernel_strsv_lt_inv_8_vs_lib8(int k, float *A, int sda, float *inv_diag_A, float *x, float *y, float *z, int km, int kn); -void kernel_sgemv_nt_4_lib8(int kmax, float *alpha_n, float *alpha_t, float *A, int sda, float *x_n, float *x_t, float *beta_t, float *y_t, float *z_n, float *z_t); -void kernel_sgemv_nt_4_vs_lib8(int kmax, float *alpha_n, float *alpha_t, float *A, int sda, float *x_n, float *x_t, float *beta_t, float *y_t, float *z_n, float *z_t, int km); -void kernel_ssymv_l_4l_lib8(int kmax, float *alpha, float *A, int sda, float *x, float *z); -void kernel_ssymv_l_4r_lib8(int kmax, float *alpha, float *A, int sda, float *x, float *z); -void kernel_ssymv_l_4l_gen_lib8(int kmax, float *alpha, int offA, float *A, int sda, float *x, float *z, int km); -void kernel_ssymv_l_4r_gen_lib8(int kmax, float *alpha, int offA, float *A, int sda, float *x, float *z, int km); - -// -------- aux - -// ---- copy - -// lib4 -// -void kernel_sgecpsc_4_0_lib4(int kmax, float *alpha, float *A, float *B); -void kernel_sgecp_4_0_lib4(int kmax, float *A, float *B); - -void kernel_sgecpsc_4_1_lib4(int kmax, float *alpha, float *A0, int sda, float *B); -void kernel_sgecp_4_1_lib4(int kmax, float *A0, int sda, float *B); -void kernel_sgecpsc_4_2_lib4(int kmax, float *alpha, float *A0, int sda, float *B); -void kernel_sgecp_4_2_lib4(int kmax, float *A0, int sda, float *B); -void kernel_sgecpsc_4_3_lib4(int kmax, float *alpha, float *A0, int sda, float *B); -void kernel_sgecp_4_3_lib4(int kmax, float *A0, int sda, float *B); - -void kernel_sgecpsc_3_0_lib4(int kmax, float *alpha, float *A, float *B); -void kernel_sgecp_3_0_lib4(int kmax, float *A, float *B); -void kernel_sgecpsc_3_2_lib4(int kmax, float *alpha, float *A0, int sda, float *B); -void kernel_sgecp_3_2_lib4(int kmax, float *A0, int sda, float *B); -void kernel_sgecpsc_3_3_lib4(int kmax, float *alpha, float *A0, int sda, float *B); -void kernel_sgecp_3_3_lib4(int kmax, float *A0, int sda, float *B); - -void kernel_sgecpsc_2_0_lib4(int kmax, float *alpha, float *A, float *B); -void kernel_sgecp_2_0_lib4(int kmax, float *A, float *B); -void kernel_sgecpsc_2_3_lib4(int kmax, float *alpha, float *A0, int sda, float *B); -void kernel_sgecp_2_3_lib4(int kmax, float *A0, int sda, float *B); - -void kernel_sgecpsc_1_0_lib4(int kmax, float *alpha, float *A, float *B); -void kernel_sgecp_1_0_lib4(int kmax, float *A, float *B); - -// lib8 -// -void kernel_sgecp_8_0_lib8(int m, float *A, float *B); -void kernel_sgecp_8_0_gen_lib8(int m, float *A, float *B, int m1); -void kernel_sgecp_8_0_gen_u_lib8(int m, float *A, float *B, int m1); - -void kernel_sgesc_8_0_lib8(int m, float *alpha, float *A); -void kernel_sgesc_8_0_gen_lib8(int m, float *alpha, float *A, int m1); -void kernel_sgesc_8_0_gen_u_lib8(int m, float *alpha, float *A, int m1); - -void kernel_sgecpsc_8_0_lib8(int m, float *alpha, float *A, float *B); -void kernel_sgecpsc_8_0_gen_lib8(int m, float *alpha, float *A, float *B, int m1); -void kernel_sgecpsc_8_0_gen_u_lib8(int m, float *alpha, float *A, float *B, int m1); - -void kernel_sgecp_8_1_lib8(int m, float *A, int sda, float *B); -void kernel_sgecp_8_1_gen_lib8(int m, float *A, int sda, float *B, int m1); -void kernel_sgecpsc_8_1_lib8(int m, float *alpha, float *A, int sda, float *B); -void kernel_sgecpsc_8_1_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1); - -void kernel_sgecp_8_2_lib8(int m, float *A, int sda, float *B); -void kernel_sgecp_8_2_gen_lib8(int m, float *A, int sda, float *B, int m1); -void kernel_sgecpsc_8_2_lib8(int m, float *alpha, float *A, int sda, float *B); -void kernel_sgecpsc_8_2_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1); - -void kernel_sgecp_8_3_lib8(int m, float *A, int sda, float *B); -void kernel_sgecp_8_3_gen_lib8(int m, float *A, int sda, float *B, int m1); -void kernel_sgecpsc_8_3_lib8(int m, float *alpha, float *A, int sda, float *B); -void kernel_sgecpsc_8_3_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1); - -void kernel_sgecp_8_4_lib8(int m, float *A, int sda, float *B); -void kernel_sgecp_8_4_gen_lib8(int m, float *A, int sda, float *B, int m1); -void kernel_sgecpsc_8_4_lib8(int m, float *alpha, float *A, int sda, float *B); -void kernel_sgecpsc_8_4_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1); - -void kernel_sgecp_8_5_lib8(int m, float *A, int sda, float *B); -void kernel_sgecp_8_5_gen_lib8(int m, float *A, int sda, float *B, int m1); -void kernel_sgecpsc_8_5_lib8(int m, float *alpha, float *A, int sda, float *B); -void kernel_sgecpsc_8_5_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1); - -void kernel_sgecp_8_6_lib8(int m, float *A, int sda, float *B); -void kernel_sgecp_8_6_gen_lib8(int m, float *A, int sda, float *B, int m1); -void kernel_sgecpsc_8_6_lib8(int m, float *alpha, float *A, int sda, float *B); -void kernel_sgecpsc_8_6_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1); - -void kernel_sgecp_8_7_lib8(int m, float *A, int sda, float *B); -void kernel_sgecp_8_7_gen_lib8(int m, float *A, int sda, float *B, int m1); -void kernel_sgecpsc_8_7_lib8(int m, float *alpha, float *A, int sda, float *B); -void kernel_sgecpsc_8_7_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1); - -// transpose -// -void kernel_sgetr_8_0_lib8(int m, float *A, int sda, float *B); -void kernel_sgetr_8_0_gen_lib8(int m, float *A, int sda, float *B, int m1); -void kernel_sgetr_8_1_lib8(int m, float *A, int sda, float *B); -void kernel_sgetr_8_1_gen_lib8(int m, float *A, int sda, float *B, int m1); -void kernel_sgetr_8_2_lib8(int m, float *A, int sda, float *B); -void kernel_sgetr_8_2_gen_lib8(int m, float *A, int sda, float *B, int m1); -void kernel_sgetr_8_3_lib8(int m, float *A, int sda, float *B); -void kernel_sgetr_8_3_gen_lib8(int m, float *A, int sda, float *B, int m1); -void kernel_sgetr_8_4_lib8(int m, float *A, int sda, float *B); -void kernel_sgetr_8_4_gen_lib8(int m, float *A, int sda, float *B, int m1); -void kernel_sgetr_8_5_lib8(int m, float *A, int sda, float *B); -void kernel_sgetr_8_5_gen_lib8(int m, float *A, int sda, float *B, int m1); -void kernel_sgetr_8_6_lib8(int m, float *A, int sda, float *B); -void kernel_sgetr_8_6_gen_lib8(int m, float *A, int sda, float *B, int m1); -void kernel_sgetr_8_7_lib8(int m, float *A, int sda, float *B); -void kernel_sgetr_8_7_gen_lib8(int m, float *A, int sda, float *B, int m1); - -// add -// -void kernel_sgead_8_0_lib8(int m, float *alpha, float *A, float *B); -void kernel_sgead_8_0_gen_lib8(int m, float *alpha, float *A, float *B, int m1); -void kernel_sgead_8_1_lib8(int m, float *alpha, float *A, int sda, float *B); -void kernel_sgead_8_1_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1); -void kernel_sgead_8_2_lib8(int m, float *alpha, float *A, int sda, float *B); -void kernel_sgead_8_2_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1); -void kernel_sgead_8_3_lib8(int m, float *alpha, float *A, int sda, float *B); -void kernel_sgead_8_3_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1); -void kernel_sgead_8_4_lib8(int m, float *alpha, float *A, int sda, float *B); -void kernel_sgead_8_4_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1); -void kernel_sgead_8_5_lib8(int m, float *alpha, float *A, int sda, float *B); -void kernel_sgead_8_5_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1); -void kernel_sgead_8_6_lib8(int m, float *alpha, float *A, int sda, float *B); -void kernel_sgead_8_6_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1); -void kernel_sgead_8_7_lib8(int m, float *alpha, float *A, int sda, float *B); -void kernel_sgead_8_7_gen_lib8(int m, float *alpha, float *A, int sda, float *B, int m1); - - -// -// lib4 -// - - - -// level 2 BLAS -// 4 -void kernel_sgemv_n_4_lib4(int k, float *alpha, float *A, float *x, float *beta, float *y, float *z); -void kernel_sgemv_n_4_vs_lib4(int k, float *alpha, float *A, float *x, float *beta, float *y, float *z, int k1); -void kernel_sgemv_n_4_gen_lib4(int kmax, float *alpha, float *A, float *x, float *beta, float *y, float *z, int k0, int k1); -void kernel_sgemv_t_4_lib4(int k, float *alpha, int offsetA, float *A, int sda, float *x, float *beta, float *y, float *z); -void kernel_sgemv_t_4_vs_lib4(int k, float *alpha, int offsetA, float *A, int sda, float *x, float *beta, float *y, float *z, int k1); -void kernel_strsv_ln_inv_4_lib4(int k, float *A, float *inv_diag_A, float *x, float *y, float *z); -void kernel_strsv_ln_inv_4_vs_lib4(int k, float *A, float *inv_diag_A, float *x, float *y, float *z, int km, int kn); -void kernel_strsv_lt_inv_4_lib4(int k, float *A, int sda, float *inv_diag_A, float *x, float *y, float *z); -void kernel_strsv_lt_inv_3_lib4(int k, float *A, int sda, float *inv_diag_A, float *x, float *y, float *z); -void kernel_strsv_lt_inv_2_lib4(int k, float *A, int sda, float *inv_diag_A, float *x, float *y, float *z); -void kernel_strsv_lt_inv_1_lib4(int k, float *A, int sda, float *inv_diag_A, float *x, float *y, float *z); -void kernel_strmv_un_4_lib4(int k, float *A, float *x, float *z); -void kernel_strmv_ut_4_lib4(int k, float *A, int sda, float *x, float *z); -void kernel_strmv_ut_4_vs_lib4(int k, float *A, int sda, float *x, float *z, int km); -void kernel_sgemv_nt_6_lib4(int kmax, float *alpha_n, float *alpha_t, float *A, int sda, float *x_n, float *x_t, float *beta_t, float *y_t, float *z_n, float *z_t); -void kernel_sgemv_nt_4_lib4(int kmax, float *alpha_n, float *alpha_t, float *A, int sda, float *x_n, float *x_t, float *beta_t, float *y_t, float *z_n, float *z_t); -void kernel_sgemv_nt_4_vs_lib4(int kmax, float *alpha_n, float *alpha_t, float *A, int sda, float *x_n, float *x_t, float *beta_t, float *y_t, float *z_n, float *z_t, int km); -void kernel_ssymv_l_4_lib4(int kmax, float *alpha, float *A, int sda, float *x_n, float *z_n); -void kernel_ssymv_l_4_gen_lib4(int kmax, float *alpha, int offA, float *A, int sda, float *x_n, float *z_n, int km); - - - -// level 3 BLAS -// 12x4 -void kernel_sgemm_nt_16x4_lib4(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd); // -void kernel_sgemm_nt_16x4_vs_lib4(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int m1, int n1); // -void kernel_strsm_nt_rl_inv_16x4_lib4(int k, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E); -void kernel_strsm_nt_rl_inv_16x4_vs_lib4(int k, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E, int m1, int n1); -// 12x4 -void kernel_sgemm_nt_12x4_lib4(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd); // -void kernel_sgemm_nt_12x4_vs_lib4(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int m1, int n1); // -void kernel_strsm_nt_rl_inv_12x4_lib4(int k, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E); -void kernel_strsm_nt_rl_inv_12x4_vs_lib4(int k, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E, int m1, int n1); -// 8x8 -void kernel_sgemm_nt_8x8_lib4(int k, float *alpha, float *A, int sda, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd); // -void kernel_sgemm_nt_8x8_vs_lib4(int k, float *alpha, float *A, int sda, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd, int m1, int n1); // -void kernel_sgemm_nn_8x8_lib4(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd); // -void kernel_sgemm_nn_8x8_vs_lib4(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd, int m1, int n1); // -// 8x4 -void kernel_sgemm_nt_8x4_lib4(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd); // -void kernel_sgemm_nt_8x4_vs_lib4(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int m1, int n1); // -void kernel_sgemm_nn_8x4_lib4(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd); // -void kernel_sgemm_nn_8x4_vs_lib4(int k, float *alpha, float *A, int sda, int offsetB, float *B, int sdb, float *beta, float *C, int sdc, float *D, int sdd, int m1, int n1); // -void kernel_ssyrk_nt_l_8x4_lib4(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd); // -void kernel_ssyrk_nt_l_8x4_vs_lib4(int k, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, int km, int kn); // -void kernel_strsm_nt_rl_inv_8x4_lib4(int k, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E); -void kernel_strsm_nt_rl_inv_8x4_vs_lib4(int k, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd, float *E, float *inv_diag_E, int m1, int n1); -// 4x4 -void kernel_sgemm_nt_4x4_lib4(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D); // -void kernel_sgemm_nt_4x4_vs_lib4(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D, int km, int kn); // -void kernel_sgemm_nt_4x4_gen_lib4(int k, float *alpha, float *A, float *B, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int k0, int k1); -void kernel_sgemm_nn_4x4_lib4(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *beta, float *C, float *D); // -void kernel_sgemm_nn_4x4_vs_lib4(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *beta, float *C, float *D, int km, int kn); // -void kernel_sgemm_nn_4x4_gen_lib4(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1); // -void kernel_ssyrk_nt_l_4x4_lib4(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D); // -void kernel_ssyrk_nt_l_4x4_vs_lib4(int k, float *alpha, float *A, float *B, float *beta, float *C, float *D, int km, int kn); // -void kernel_ssyrk_nt_l_4x4_gen_lib4(int k, float *alpha, float *A, float *B, float *beta, int offsetC, float *C, int sdc, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1); -void kernel_strmm_nt_ru_4x4_lib4(int k, float *alpha, float *A, float *B, float *D); // -void kernel_strmm_nt_ru_4x4_vs_lib4(int k, float *alpha, float *A, float *B, float *D, int km, int kn); // -void kernel_strmm_nn_rl_4x4_lib4(int k, float *alpha, float *A, int offsetB, float *B, int sdb, float *D); -void kernel_strmm_nn_rl_4x4_gen_lib4(int k, float *alpha, float *A, int offsetB, float *B, int sdb, int offsetD, float *D, int sdd, int m0, int m1, int n0, int n1); -void kernel_strsm_nt_rl_inv_4x4_lib4(int k, float *A, float *B, float *beta, float *C, float *D, float *E, float *inv_diag_E); -void kernel_strsm_nt_rl_inv_4x4_vs_lib4(int k, float *A, float *B, float *beta, float *C, float *D, float *E, float *inv_diag_E, int km, int kn); -void kernel_strsm_nt_rl_one_4x4_lib4(int k, float *A, float *B, float *beta, float *C, float *D, float *E); -void kernel_strsm_nt_rl_one_4x4_vs_lib4(int k, float *A, float *B, float *beta, float *C, float *D, float *E, int km, int kn); -void kernel_strsm_nt_ru_inv_4x4_lib4(int k, float *A, float *B, float *beta, float *C, float *D, float *E, float *inv_diag_E); -void kernel_strsm_nt_ru_inv_4x4_vs_lib4(int k, float *A, float *B, float *beta, float *C, float *D, float *E, float *inv_diag_E, int km, int kn); -void kernel_strsm_nt_ru_one_4x4_lib4(int k, float *A, float *B, float *beta, float *C, float *D, float *E); -void kernel_strsm_nt_ru_one_4x4_vs_lib4(int k, float *A, float *B, float *beta, float *C, float *D, float *E, int km, int kn); -void kernel_strsm_nn_ru_inv_4x4_lib4(int k, float *A, float *B, int sdb, float *beta, float *C, float *D, float *E, float *inv_diag_E); -void kernel_strsm_nn_ru_inv_4x4_vs_lib4(int k, float *A, float *B, int sdb, float *beta, float *C, float *D, float *E, float *inv_diag_E, int km, int kn); -void kernel_strsm_nn_ll_one_4x4_lib4(int k, float *A, float *B, int sdb, float *C, float *D, float *E); -void kernel_strsm_nn_ll_one_4x4_vs_lib4(int k, float *A, float *B, int sdb, float *C, float *D, float *E, int km, int kn); -void kernel_strsm_nn_lu_inv_4x4_lib4(int kmax, float *A, float *B, int sdb, float *C, float *D, float *E, float *inv_diag_E); -void kernel_strsm_nn_lu_inv_4x4_vs_lib4(int kmax, float *A, float *B, int sdb, float *C, float *D, float *E, float *inv_diag_E, int km, int kn); -// diag -void kernel_sgemm_diag_right_4_a0_lib4(int kmax, float *alpha, float *A, int sda, float *B, float *D, int sdd); -void kernel_sgemm_diag_right_4_lib4(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd); -void kernel_sgemm_diag_right_3_lib4(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd); -void kernel_sgemm_diag_right_2_lib4(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd); -void kernel_sgemm_diag_right_1_lib4(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int sdc, float *D, int sdd); -void kernel_sgemm_diag_left_4_a0_lib4(int kmax, float *alpha, float *A, float *B, float *D); -void kernel_sgemm_diag_left_4_lib4(int kmax, float *alpha, float *A, float *B, float *beta, float *C, float *D); -void kernel_sgemm_diag_left_3_lib4(int kmax, float *alpha, float *A, float *B, float *beta, float *C, float *D); -void kernel_sgemm_diag_left_2_lib4(int kmax, float *alpha, float *A, float *B, float *beta, float *C, float *D); -void kernel_sgemm_diag_left_1_lib4(int kmax, float *alpha, float *A, float *B, float *beta, float *C, float *D); - - - -// LAPACK -// 16x4 -void kernel_spotrf_nt_l_16x4_lib4(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D); -void kernel_spotrf_nt_l_16x4_vs_lib4(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int m1, int n1); -// 12x4 -void kernel_spotrf_nt_l_12x4_lib4(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D); -void kernel_spotrf_nt_l_12x4_vs_lib4(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int m1, int n1); -// 8x4 -void kernel_spotrf_nt_l_8x4_lib4(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D); -void kernel_spotrf_nt_l_8x4_vs_lib4(int k, float *A, int sda, float *B, float *C, int sdc, float *D, int sdd, float *inv_diag_D, int m1, int n1); -// 4x4 -void kernel_spotrf_nt_l_4x4_lib4(int k, float *A, float *B, float *C, float *D, float *inv_diag_D); -void kernel_spotrf_nt_l_4x4_vs_lib4(int k, float *A, float *B, float *C, float *D, float *inv_diag_D, int km, int kn); -void kernel_sgetrf_nn_4x4_lib4(int k, float *A, float *B, int sdb, float *C, float *D, float *inv_diag_D); -void kernel_sgetrf_nn_4x4_vs_lib4(int k, float *A, float *B, int sdb, float *C, float *D, float *inv_diag_D, int km, int kn); -void kernel_sgetrf_pivot_4_lib4(int m, float *pA, int sda, float *inv_diag_A, int* ipiv); -void kernel_sgetrf_pivot_4_vs_lib4(int m, int n, float *pA, int sda, float *inv_diag_A, int* ipiv); - - - -// merged routines -// 4x4 -void kernel_sgemm_strsm_nt_rl_inv_4x4_lib4(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *E, float *inv_diag_E); -void kernel_sgemm_strsm_nt_rl_inv_4x4_vs_lib4(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *E, float *inv_diag_E, int km, int kn); -void kernel_ssyrk_spotrf_nt_l_4x4_vs_lib4(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *inv_diag_D, int km, int kn); -void kernel_ssyrk_spotrf_nt_l_4x4_lib4(int kp, float *Ap, float *Bp, int km_, float *Am, float *Bm, float *C, float *D, float *inv_diag_D); - - - -// auxiliary routines -void kernel_strcp_l_4_0_lib4(int kmax, float *A, float *B); -void kernel_strcp_l_4_1_lib4(int kmax, float *A0, int sda, float *B); -void kernel_strcp_l_4_2_lib4(int kmax, float *A0, int sda, float *B); -void kernel_strcp_l_4_3_lib4(int kmax, float *A0, int sda, float *B); -void kernel_strcp_l_3_0_lib4(int kmax, float *A, float *B); -void kernel_strcp_l_3_2_lib4(int kmax, float *A0, int sda, float *B); -void kernel_strcp_l_3_3_lib4(int kmax, float *A0, int sda, float *B); -void kernel_strcp_l_2_0_lib4(int kmax, float *A, float *B); -void kernel_strcp_l_2_3_lib4(int kmax, float *A0, int sda, float *B); -void kernel_strcp_l_1_0_lib4(int kmax, float *A, float *B); -void kernel_sgead_4_0_lib4(int kmax, float *alpha, float *A, float *B); -void kernel_sgead_4_1_lib4(int kmax, float *alpha, float *A0, int sda, float *B); -void kernel_sgead_4_2_lib4(int kmax, float *alpha, float *A0, int sda, float *B); -void kernel_sgead_4_3_lib4(int kmax, float *alpha, float *A0, int sda, float *B); -void kernel_sgead_3_0_lib4(int kmax, float *alpha, float *A, float *B); -void kernel_sgead_3_2_lib4(int kmax, float *alpha, float *A0, int sda, float *B); -void kernel_sgead_3_3_lib4(int kmax, float *alpha, float *A0, int sda, float *B); -void kernel_sgead_2_0_lib4(int kmax, float *alpha, float *A, float *B); -void kernel_sgead_2_3_lib4(int kmax, float *alpha, float *A0, int sda, float *B); -void kernel_sgead_1_0_lib4(int kmax, float *alpha, float *A, float *B); -// TODO -void kernel_sgeset_4_lib4(int kmax, float alpha, float *A); -void kernel_strset_4_lib4(int kmax, float alpha, float *A); -void kernel_sgetr_4_lib4(int tri, int kmax, int kna, float alpha, float *A, float *C, int sdc); -void kernel_sgetr_3_lib4(int tri, int kmax, int kna, float alpha, float *A, float *C, int sdc); -void kernel_sgetr_2_lib4(int tri, int kmax, int kna, float alpha, float *A, float *C, int sdc); -void kernel_sgetr_1_lib4(int tri, int kmax, int kna, float alpha, float *A, float *C, int sdc); - - - -// pack -// 24 lib 8 -void kernel_spack_nn_24_lib8(int kmax, float *A, int lda, float *B, int sdb); -void kernel_spack_nn_24_vs_lib8(int kmax, float *A, int lda, float *B, int sdb, int m1); -// 16 lib 8 -void kernel_spack_nn_16_lib8(int kmax, float *A, int lda, float *B, int sdb); -void kernel_spack_nn_16_vs_lib8(int kmax, float *A, int lda, float *B, int sdb, int m1); -// 8 lib 8 -void kernel_spack_nn_8_lib8(int kmax, float *A, int lda, float *B); -void kernel_spack_nn_8_vs_lib8(int kmax, float *A, int lda, float *B, int m1); -void kernel_spack_tn_8_lib8(int kmax, float *A, int lda, float *B); -void kernel_spack_tn_8_vs_lib8(int kmax, float *A, int lda, float *B, int m1); -void kernel_spack_tt_8_lib8(int kmax, float *A, int lda, float *B, int sdb); -void kernel_spack_tt_8_vs_lib8(int kmax, float *A, int lda, float *B, int sdb, int m1); -// 8 lib 4 -void kernel_spack_nn_8_lib4(int kmax, float *A, int lda, float *B, int sdb); -void kernel_spack_nn_8_vs_lib4(int kmax, float *A, int lda, float *B, int sdb, int m1); -//void kernel_spack_tt_8_lib4(int kmax, float *A, int lda, float *B, int sdb); -// 4 -void kernel_spack_nn_4_lib4(int kmax, float *A, int lda, float *B); -void kernel_spack_nn_4_vs_lib4(int kmax, float *A, int lda, float *B, int m1); -void kernel_spack_tn_4_lib4(int kmax, float *A, int lda, float *B); -void kernel_spack_tn_4_vs_lib4(int kmax, float *A, int lda, float *B, int m1); -void kernel_spack_tt_4_lib4(int kmax, float *A, int lda, float *B, int sdb); -void kernel_spack_tt_4_vs_lib4(int kmax, float *A, int lda, float *B, int sdb, int m1); -// unpack -// 8 -void kernel_sunpack_nn_8_lib4(int kmax, float *A, int sda, float *B, int ldb); -void kernel_sunpack_nn_8_vs_lib4(int kmax, float *A, int sda, float *B, int ldb, int m1); -//void kernel_sunpack_tt_8_lib4(int kmax, float *A, int sda, float *B, int ldb); -// 4 -void kernel_sunpack_nn_4_lib4(int kmax, float *A, float *B, int ldb); -void kernel_sunpack_nn_4_vs_lib4(int kmax, float *A, float *B, int ldb, int m1); -void kernel_sunpack_nt_4_lib4(int kmax, float *A, float *B, int ldb); -void kernel_sunpack_nt_4_vs_lib4(int kmax, float *A, float *B, int ldb, int m1); -void kernel_sunpack_tt_4_lib4(int kmax, float *A, int sda, float *B, int ldb); - -// panel copy -// 4 -void kernel_spacp_nt_4_lib4(int kmax, float *A, int offsetB, float *B, int sdb); -void kernel_spacp_tn_4_lib4(int kmax, int offsetA, float *A, int sda, float *B); -void kernel_spacp_nn_4_lib4(int kmax, int offsetA, float *A, int sda, float *B); -void kernel_spacp_nn_4_vs_lib4(int kmax, int offsetA, float *A, int sda, float *B, int m1); - - - -/************************************************ -* BLAS API kernels -************************************************/ - -//#if defined(BLAS_API) - -// A, B panel-major bs=8; C, D column-major -// 24x4 -void kernel_sgemm_nt_24x4_lib88cc(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int ldc, float *D, int ldd); -void kernel_sgemm_nt_24x4_vs_lib88cc(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1); -// 16x4 -void kernel_sgemm_nt_16x4_lib88cc(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int ldc, float *D, int ldd); -void kernel_sgemm_nt_16x4_vs_lib88cc(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1); -// 8x8 -void kernel_sgemm_nt_8x8_lib88cc(int kmax, float *alpha, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd); -void kernel_sgemm_nt_8x8_vs_lib88cc(int kmax, float *alpha, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1); -void kernel_spotrf_nt_l_8x8_lib88cc(int kmax, float *A, float *B, float *C, int ldc, float *D, int ldd, float *dD); -void kernel_spotrf_nt_l_8x8_vs_lib88cc(int kmax, float *A, float *B, float *C, int ldc, float *D, int ldd, float *dD, int m1, int n1); -void kernel_strsm_nt_rl_inv_8x8_lib88ccc(int kmax, float *A, float *B, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE); -void kernel_strsm_nt_rl_inv_8x8_vs_lib88ccc(int kmax, float *A, float *B, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE, int m1, int n1); -// 8x4 -void kernel_sgemm_nt_8x4_lib88cc(int kmax, float *alpha, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd); -void kernel_sgemm_nt_8x4_vs_lib88cc(int kmax, float *alpha, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1); - -// A, B panel-major bs=4; C, D column-major -// 8x8 -void kernel_sgemm_nt_8x8_lib44cc(int kmax, float *alpha, float *A, int sda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd); -// 8x4 -void kernel_sgemm_nt_8x4_lib44cc(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int ldc, float *D, int ldd); -void kernel_sgemm_nt_8x4_vs_lib44cc(int kmax, float *alpha, float *A, int sda, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1); -void kernel_spotrf_nt_l_8x4_lib44cc(int kmax, float *A, int sda, float *B, float *C, int ldc, float *D, int ldd, float *dD); -void kernel_strsm_nt_rl_inv_8x4_lib44ccc(int kmax, float *A, int sda, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE); -void kernel_strsm_nt_rl_inv_8x4_vs_lib44ccc(int kmax, float *A, int sda, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE, int m1, int n1); -// 4x4 -void kernel_sgemm_nt_4x4_lib44cc(int kmax, float *alpha, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd); -void kernel_sgemm_nt_4x4_vs_lib44cc(int kmax, float *alpha, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1); -void kernel_strsm_nt_rl_inv_4x4_lib44cc4(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, float *dE); -void kernel_strsm_nt_rl_inv_4x4_vs_lib44cc4(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, float *dE, int m1, int n1); -void kernel_strsm_nt_rl_inv_4x4_lib44ccc(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE); -void kernel_strsm_nt_rl_inv_4x4_vs_lib44ccc(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE, int m1, int n1); -void kernel_strsm_nt_rl_one_4x4_lib44cc4(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E); -void kernel_strsm_nt_rl_one_4x4_vs_lib44cc4(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, int m1, int n1); -void kernel_strsm_nt_ru_inv_4x4_lib44cc4(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, float *dE); -void kernel_strsm_nt_ru_inv_4x4_vs_lib44cc4(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, float *dE, int m1, int n1); -void kernel_strsm_nt_ru_one_4x4_lib44cc4(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E); -void kernel_strsm_nt_ru_one_4x4_vs_lib44cc4(int kmax, float *A, float *B, float *beta, float *C, int ldc, float *D, int ldd, float *E, int m1, int n1); -void kernel_spotrf_nt_l_4x4_lib44cc(int kmax, float *A, float *B, float *C, int ldc, float *D, int ldd, float *dD); -void kernel_spotrf_nt_l_4x4_vs_lib44cc(int kmax, float *A, float *B, float *C, int ldc, float *D, int ldd, float *dD, int m1, int n1); - -// B panel-major bs=8; A, C, D column-major -// 4x24 -void kernel_sgemm_nt_4x24_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd); -void kernel_sgemm_nt_4x24_vs_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1); -void kernel_sgemm_tt_4x24_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd); -void kernel_sgemm_tt_4x24_vs_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1); -// 4x16 -void kernel_sgemm_nt_4x16_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd); -void kernel_sgemm_nt_4x16_vs_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1); -void kernel_sgemm_tt_4x16_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd); -void kernel_sgemm_tt_4x16_vs_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1); -// 8x8 -void kernel_sgemm_nt_8x8_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd); -void kernel_sgemm_nt_8x8_vs_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1); -void kernel_sgemm_tt_8x8_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd); -void kernel_sgemm_tt_8x8_vs_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1); -// 4x8 -void kernel_sgemm_nt_4x8_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd); -void kernel_sgemm_nt_4x8_vs_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1); -void kernel_sgemm_tt_4x8_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd); -void kernel_sgemm_tt_4x8_vs_libc8cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1); - -// B panel-major bs=4; A, C, D column-major -// 8x8 -void kernel_sgemm_nt_8x8_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd); -void kernel_sgemm_nt_8x8_vs_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1); -void kernel_sgemm_tt_8x8_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd); -void kernel_sgemm_tt_8x8_vs_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1); -// 4x8 -void kernel_sgemm_nt_4x8_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd); -void kernel_sgemm_nt_4x8_vs_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1); -void kernel_sgemm_tt_4x8_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd); -void kernel_sgemm_tt_4x8_vs_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1); -// 4x4 -void kernel_sgemm_nt_4x4_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd); -void kernel_sgemm_nt_4x4_vs_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1); -void kernel_sgemm_tt_4x4_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd); -void kernel_sgemm_tt_4x4_vs_libc4cc(int kmax, float *alpha, float *A, int lda, float *B, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1); - -// A panel-major bs=8; B, C, D column-major -// 24x4 -void kernel_sgemm_nn_24x4_lib8ccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd); -void kernel_sgemm_nn_24x4_vs_lib8ccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1); -void kernel_sgemm_nt_24x4_lib8ccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd); -void kernel_sgemm_nt_24x4_vs_lib8ccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1); -// 16x4 -void kernel_sgemm_nn_16x4_lib8ccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd); -void kernel_sgemm_nn_16x4_vs_lib8ccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1); -void kernel_sgemm_nt_16x4_lib8ccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd); -void kernel_sgemm_nt_16x4_vs_lib8ccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1); -// 8x8 -void kernel_sgemm_nn_8x8_lib8ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd); -void kernel_sgemm_nn_8x8_vs_lib8ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1); -void kernel_sgemm_nt_8x8_lib8ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd); -void kernel_sgemm_nt_8x8_vs_lib8ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1); -// 8x4 -void kernel_sgemm_nn_8x4_lib8ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd); -void kernel_sgemm_nn_8x4_vs_lib8ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1); -void kernel_sgemm_nt_8x4_lib8ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd); -void kernel_sgemm_nt_8x4_vs_lib8ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1); - -// A panel-major bs=4; B, C, D column-major -// 8x8 -void kernel_sgemm_nn_8x8_lib4ccc(int kmax, float *alpha, float *A, int sda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd); -void kernel_sgemm_nt_8x8_lib4ccc(int kmax, float *alpha, float *A, int sda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd); -// 8x4 -void kernel_sgemm_nn_8x4_lib4ccc(int kmax, float *alpha, float *A, int sda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd); -void kernel_sgemm_nn_8x4_vs_lib4ccc(int kmax, float *alpha, float *A, int sda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1); -void kernel_sgemm_nt_8x4_lib4ccc(int kmax, float *alpha, float *A, int sda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd); -void kernel_sgemm_nt_8x4_vs_lib4ccc(int kmax, float *alpha, float *A, int sda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1); -// 4x4 -void kernel_sgemm_nn_4x4_lib4ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd); -void kernel_sgemm_nn_4x4_vs_lib4ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1); -void kernel_sgemm_nt_4x4_lib4ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd); -void kernel_sgemm_nt_4x4_vs_lib4ccc(int kmax, float *alpha, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1); -void kernel_strsm_nn_rl_inv_4x4_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE); -void kernel_strsm_nn_rl_inv_4x4_vs_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE, int m1, int n1); -void kernel_strsm_nn_rl_one_4x4_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde); -void kernel_strsm_nn_rl_one_4x4_vs_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, int m1, int n1); -void kernel_strsm_nt_rl_inv_4x4_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE); -void kernel_strsm_nt_rl_inv_4x4_vs_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE, int m1, int n1); -void kernel_strsm_nt_rl_one_4x4_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde); -void kernel_strsm_nt_rl_one_4x4_vs_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, int m1, int n1); -void kernel_strsm_nn_ru_inv_4x4_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE); -void kernel_strsm_nn_ru_inv_4x4_vs_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE, int m1, int n1); -void kernel_strsm_nn_ru_one_4x4_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde); -void kernel_strsm_nn_ru_one_4x4_vs_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, int m1, int n1); -void kernel_strsm_nt_ru_inv_4x4_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE); -void kernel_strsm_nt_ru_inv_4x4_vs_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, float *dE, int m1, int n1); -void kernel_strsm_nt_ru_one_4x4_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde); -void kernel_strsm_nt_ru_one_4x4_vs_lib4cccc(int kmax, float *A, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, float *E, int lde, int m1, int n1); - -// A, C, D panel-major; B, E column-major -// TODO merge with above -// 4x4 -void kernel_strsm_nn_rl_inv_4x4_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, float *dE); -void kernel_strsm_nn_rl_inv_4x4_vs_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, float *dE, int m1, int n1); -void kernel_strsm_nn_rl_one_4x4_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde); -void kernel_strsm_nn_rl_one_4x4_vs_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, int m1, int n1); -void kernel_strsm_nn_ru_inv_4x4_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, float *dE); -void kernel_strsm_nn_ru_inv_4x4_vs_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, float *dE, int m1, int n1); -void kernel_strsm_nn_ru_one_4x4_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde); -void kernel_strsm_nn_ru_one_4x4_vs_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, int m1, int n1); -void kernel_strsm_nt_rl_inv_4x4_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, float *dE); -void kernel_strsm_nt_rl_inv_4x4_vs_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, float *dE, int m1, int n1); -void kernel_strsm_nt_rl_one_4x4_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde); -void kernel_strsm_nt_rl_one_4x4_vs_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, int m1, int n1); -void kernel_strsm_nt_ru_inv_4x4_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, float *dE); -void kernel_strsm_nt_ru_inv_4x4_vs_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, float *dE, int m1, int n1); -void kernel_strsm_nt_ru_one_4x4_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde); -void kernel_strsm_nt_ru_one_4x4_vs_lib4c44c(int kmax, float *A, float *B, int ldb, float *beta, float *C, float *D, float *E, int lde, int m1, int n1); - -// A, B, C, D column-major -void kernel_sgemm_nn_4x4_libcccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd); -void kernel_sgemm_nn_4x4_vs_libcccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1); -void kernel_sgemm_nt_4x4_libcccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd); -void kernel_sgemm_nt_4x4_vs_libcccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1); -void kernel_sgemm_tt_4x4_libcccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd); -void kernel_sgemm_tt_4x4_vs_libcccc(int kmax, float *alpha, float *A, int lda, float *B, int ldb, float *beta, float *C, int ldc, float *D, int ldd, int m1, int n1); - -// vector -void kernel_sdot_11_lib(int n, float *x, float *y, float *res); -void kernel_saxpy_11_lib(int n, float *alpha, float *x, float *y); - - -//#endif // BLAS_API - - - -// larger kernels -// 24 -void kernel_sgemm_nt_24xn_p0_lib88cc(int n, int k, float *alpha, float *A, int sda, float *B, int sdb, float *beta, float *C, int ldc, float *D, int ldd, float *A_p, float *B_p); - - - - -#ifdef __cplusplus -} -#endif - -#endif // BLASFEO_S_KERNEL_H_ diff --git a/third_party/acados/include/blasfeo/include/blasfeo_stdlib.h b/third_party/acados/include/blasfeo/include/blasfeo_stdlib.h deleted file mode 100644 index 9bd248b1d4f702..00000000000000 --- a/third_party/acados/include/blasfeo/include/blasfeo_stdlib.h +++ /dev/null @@ -1,62 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of BLASFEO. * -* * -* BLASFEO -- BLAS For Embedded Optimization. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef BLASFEO_STDLIB_H_ -#define BLASFEO_STDLIB_H_ - -#ifdef __cplusplus -extern "C" { -#endif - - - -#include - -// -void blasfeo_malloc(void **ptr, size_t size); -// -void blasfeo_malloc_align(void **ptr, size_t size); -// -void blasfeo_free(void *ptr); -// -void blasfeo_free_align(void *ptr); - - - -#ifdef __cplusplus -} -#endif - -#endif // BLASFEO_STDLIB_H_ diff --git a/third_party/acados/include/blasfeo/include/blasfeo_target.h b/third_party/acados/include/blasfeo/include/blasfeo_target.h deleted file mode 100644 index 51f617a6499273..00000000000000 --- a/third_party/acados/include/blasfeo/include/blasfeo_target.h +++ /dev/null @@ -1,73 +0,0 @@ -#ifndef TARGET_X64_INTEL_HASWELL -#define TARGET_X64_INTEL_HASWELL -#endif - -#ifndef TARGET_NEED_FEATURE_AVX2 -#define TARGET_NEED_FEATURE_AVX2 1 -#endif - -#ifndef TARGET_NEED_FEATURE_FMA -#define TARGET_NEED_FEATURE_FMA 1 -#endif - -#ifndef TARGET_NEED_FEATURE_SSE3 -/* #undef TARGET_NEED_FEATURE_SSE3 */ -#endif - -#ifndef TARGET_NEED_FEATURE_AVX -/* #undef TARGET_NEED_FEATURE_AVX */ -#endif - -#ifndef TARGET_NEED_FEATURE_VFPv3 -/* #undef TARGET_NEED_FEATURE_VFPv3 */ -#endif - -#ifndef TARGET_NEED_FEATURE_NEON -/* #undef TARGET_NEED_FEATURE_NEON */ -#endif - -#ifndef TARGET_NEED_FEATURE_VFPv4 -/* #undef TARGET_NEED_FEATURE_VFPv4 */ -#endif - -#ifndef TARGET_NEED_FEATURE_NEONv2 -/* #undef TARGET_NEED_FEATURE_NEONv2 */ -#endif - -#ifndef LA_HIGH_PERFORMANCE -#define LA_HIGH_PERFORMANCE -#endif - -#ifndef MF_PANELMAJ -#define MF_PANELMAJ -#endif - -#ifndef EXT_DEP -#define ON 1 -#define OFF 0 -#if ON==ON -#define EXT_DEP -#endif -#undef ON -#undef OFF -#endif - -#ifndef BLAS_API -#define ON 1 -#define OFF 0 -#if OFF==ON -#define BLAS_API -#endif -#undef ON -#undef OFF -#endif - -#ifndef FORTRAN_BLAS_API -#define ON 1 -#define OFF 0 -#if OFF==ON -#define FORTRAN_BLAS_API -#endif -#undef ON -#undef OFF -#endif diff --git a/third_party/acados/include/blasfeo/include/blasfeo_timing.h b/third_party/acados/include/blasfeo/include/blasfeo_timing.h deleted file mode 100644 index 5671b888feec39..00000000000000 --- a/third_party/acados/include/blasfeo/include/blasfeo_timing.h +++ /dev/null @@ -1,114 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of BLASFEO. * -* * -* BLASFEO -- BLAS For Embedded Optimization. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef BLASFEO_TIMING_H_ -#define BLASFEO_TIMING_H_ - -//#include - -#if (defined _WIN32 || defined _WIN64) && !(defined __MINGW32__ || defined __MINGW64__) - - /* Use Windows QueryPerformanceCounter for timing. */ - #include - - /** A structure for keeping internal timer data. */ - typedef struct blasfeo_timer_ { - LARGE_INTEGER tic; - LARGE_INTEGER toc; - LARGE_INTEGER freq; - } blasfeo_timer; - -#elif(defined __APPLE__) - - #include - - /** A structure for keeping internal timer data. */ - typedef struct blasfeo_timer_ { - uint64_t tic; - uint64_t toc; - mach_timebase_info_data_t tinfo; - } blasfeo_timer; - -#elif(defined __DSPACE__) - - #include - - typedef struct blasfeo_timer_ { - double time; - } blasfeo_timer; - -#elif(defined __XILINX_NONE_ELF__ || defined __XILINX_ULTRASCALE_NONE_ELF_JAILHOUSE__) - - #include "xtime_l.h" - - typedef struct blasfeo_timer_ { - uint64_t tic; - uint64_t toc; - } blasfeo_timer; - -#else - - /* Use POSIX clock_gettime() for timing on non-Windows machines. */ - #include - - #if __STDC_VERSION__ >= 199901L // C99 Mode - - #include - #include - - typedef struct blasfeo_timer_ { - struct timeval tic; - struct timeval toc; - } blasfeo_timer; - - #else // ANSI C Mode - - /** A structure for keeping internal timer data. */ - typedef struct blasfeo_timer_ { - struct timespec tic; - struct timespec toc; - } blasfeo_timer; - - #endif // __STDC_VERSION__ >= 199901L - -#endif // (defined _WIN32 || defined _WIN64) - -/** A function for measurement of the current time. */ -void blasfeo_tic(blasfeo_timer* t); - -/** A function which returns the elapsed time. */ -double blasfeo_toc(blasfeo_timer* t); - -#endif // BLASFEO_TIMING_H_ diff --git a/third_party/acados/include/blasfeo/include/blasfeo_v_aux_ext_dep.h b/third_party/acados/include/blasfeo/include/blasfeo_v_aux_ext_dep.h deleted file mode 100644 index 1598551185cc68..00000000000000 --- a/third_party/acados/include/blasfeo/include/blasfeo_v_aux_ext_dep.h +++ /dev/null @@ -1,83 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of BLASFEO. * -* * -* BLASFEO -- BLAS For Embedded Optimization. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef BLASFEO_V_AUX_EXT_DEP_H_ -#define BLASFEO_V_AUX_EXT_DEP_H_ - - - -#include "blasfeo_target.h" - - - -#ifdef __cplusplus -extern "C" { -#endif - - - -/************************************************ -* d_aux_extern_depend_lib.c -************************************************/ - -#ifdef EXT_DEP - -void v_zeros(void **ptrA, int size); -// dynamically allocate size bytes of memory aligned to 64-byte boundaries and set accordingly a pointer to void; set allocated memory to zero -void v_zeros_align(void **ptrA, int size); -// free the memory allocated by v_zeros -void v_free(void *ptrA); -// free the memory allocated by v_zeros_aligned -void v_free_align(void *ptrA); -// dynamically allocate size bytes of memory and set accordingly a pointer to char; set allocated memory to zero -void c_zeros(char **ptrA, int size); -// dynamically allocate size bytes of memory aligned to 64-byte boundaries and set accordingly a pointer to char; set allocated memory to zero -void c_zeros_align(char **ptrA, int size); -// free the memory allocated by c_zeros -void c_free(char *ptrA); -// free the memory allocated by c_zeros_aligned -void c_free_align(char *ptrA); - -#endif // EXT_DEP - - - -#ifdef __cplusplus -} -#endif - - - -#endif // BLASFEO_V_AUX_EXT_DEP_H_ diff --git a/third_party/acados/include/blasfeo/include/d_blas.h b/third_party/acados/include/blasfeo/include/d_blas.h deleted file mode 100644 index ffd2578da3c54d..00000000000000 --- a/third_party/acados/include/blasfeo/include/d_blas.h +++ /dev/null @@ -1,78 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of BLASFEO. * -* * -* BLASFEO -- BLAS For Embedded Optimization. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifdef __cplusplus -extern "C" { -#endif - - - -// headers to reference BLAS and LAPACK routines employed in BLASFEO WR - -// level 1 -double ddot_(int *m, double *x, int *incx, double *y, int *incy); -void dcopy_(int *m, double *x, int *incx, double *y, int *incy); -void daxpy_(int *m, double *alpha, double *x, int *incx, double *y, int *incy); -void dscal_(int *m, double *alpha, double *x, int *incx); -void drot_(int *m, double *x, int *incx, double *y, int *incy, double *c, double *s); -void drotg_(double *a, double *b, double *c, double *s); - -// level 2 -void dgemv_(char *ta, int *m, int *n, double *alpha, double *A, int *lda, double *x, int *incx, double *beta, double *y, int *incy); -void dsymv_(char *uplo, int *m, double *alpha, double *A, int *lda, double *x, int *incx, double *beta, double *y, int *incy); -void dtrmv_(char *uplo, char *trans, char *diag, int *n, double *A, int *lda, double *x, int *incx); -void dtrsv_(char *uplo, char *trans, char *diag, int *n, double *A, int *lda, double *x, int *incx); -void dger_(int *m, int *n, double *alpha, double *x, int *incx, double *y, int *incy, double *A, int *lda); - -// level 3 -void dgemm_(char *ta, char *tb, int *m, int *n, int *k, double *alpha, double *A, int *lda, double *B, int *ldb, double *beta, double *C, int *ldc); -void dsyrk_(char *uplo, char *trans, int *n, int *k, double *alpha, double *A, int *lda, double *beta, double *C, int *ldc); -void dtrmm_(char *side, char *uplo, char *trans, char *diag, int *m, int *n, double *alpha, double *A, int *lda, double *B, int *ldb); -void dtrsm_(char *side, char *uplo, char *trans, char *diag, int *m, int *n, double *alpha, double *A, int *lda, double *B, int *ldb); -void dsyr2k_(char *uplo, char *trans, int *n, int *k, double *alpha, double *A, int *lda, double *B, int *ldb, double *beta, double *C, int *ldc); - -// lapack -void dpotrf_(char *uplo, int *m, double *A, int *lda, int *info); -void dgetrf_(int *m, int *n, double *A, int *lda, int *ipiv, int *info); -void dgeqrf_(int *m, int *n, double *A, int *lda, double *tau, double *work, int *lwork, int *info); -void dgeqr2_(int *m, int *n, double *A, int *lda, double *tau, double *work, int *info); -void dgelqf_(int *m, int *n, double *A, int *lda, double *tau, double *work, int *lwork, int *info); -void dorglq_(int *m, int *n, int *k, double *A, int *lda, double *tau, double *work, int *lwork, int *info); - - - -#ifdef __cplusplus -} -#endif diff --git a/third_party/acados/include/blasfeo/include/d_blas_64.h b/third_party/acados/include/blasfeo/include/d_blas_64.h deleted file mode 100644 index 4f40d00dfb3fe8..00000000000000 --- a/third_party/acados/include/blasfeo/include/d_blas_64.h +++ /dev/null @@ -1,73 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of BLASFEO. * -* * -* BLASFEO -- BLAS For Embedded Optimization. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifdef __cplusplus -extern "C" { -#endif - - - -// headers to reference BLAS and LAPACK routines employed in BLASFEO WR - -// level 1 -double ddot_(long long *m, double *x, long long *incx, double *y, long long *incy); -void dcopy_(long long *m, double *x, long long *incx, double *y, long long *incy); -void daxpy_(long long *m, double *alpha, double *x, long long *incx, double *y, long long *incy); -void dscal_(long long *m, double *alpha, double *x, long long *incx); - -// level 2 -void dgemv_(char *ta, long long *m, long long *n, double *alpha, double *A, long long *lda, double *x, long long *incx, double *beta, double *y, long long *incy); -void dsymv_(char *uplo, long long *m, double *alpha, double *A, long long *lda, double *x, long long *incx, double *beta, double *y, long long *incy); -void dtrmv_(char *uplo, char *trans, char *diag, long long *n, double *A, long long *lda, double *x, long long *incx); -void dtrsv_(char *uplo, char *trans, char *diag, long long *n, double *A, long long *lda, double *x, long long *incx); -void dger_(long long *m, long long *n, double *alpha, double *x, long long *incx, double *y, long long *incy, double *A, long long *lda); - -// level 3 -void dgemm_(char *ta, char *tb, long long *m, long long *n, long long *k, double *alpha, double *A, long long *lda, double *B, long long *ldb, double *beta, double *C, long long *ldc); -void dsyrk_(char *uplo, char *trans, long long *n, long long *k, double *alpha, double *A, long long *lda, double *beta, double *C, long long *ldc); -void dtrmm_(char *side, char *uplo, char *trans, char *diag, long long *m, long long *n, double *alpha, double *A, long long *lda, double *B, long long *ldb); -void dtrsm_(char *side, char *uplo, char *trans, char *diag, long long *m, long long *n, double *alpha, double *A, long long *lda, double *B, long long *ldb); - -// lapack -void dpotrf_(char *uplo, long long *m, double *A, long long *lda, long long *info); -void dgetrf_(long long *m, long long *n, double *A, long long *lda, long long *ipiv, long long *info); -void dgeqrf_(long long *m, long long *n, double *A, long long *lda, double *tau, double *work, long long *lwork, long long *info); -void dgeqr2_(long long *m, long long *n, double *A, long long *lda, double *tau, double *work, long long *info); - - - -#ifdef __cplusplus -} -#endif diff --git a/third_party/acados/include/blasfeo/include/s_blas.h b/third_party/acados/include/blasfeo/include/s_blas.h deleted file mode 100644 index 3b299ce64cdef6..00000000000000 --- a/third_party/acados/include/blasfeo/include/s_blas.h +++ /dev/null @@ -1,78 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of BLASFEO. * -* * -* BLASFEO -- BLAS For Embedded Optimization. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifdef __cplusplus -extern "C" { -#endif - - - -// headers to reference BLAS and LAPACK routines employed in BLASFEO WR - -// level 1 -float sdot_(int *m, float *x, int *incx, float *y, int *incy); -void scopy_(int *m, float *x, int *incx, float *y, int *incy); -void saxpy_(int *m, float *alpha, float *x, int *incx, float *y, int *incy); -void sscal_(int *m, float *alpha, float *x, int *incx); -void srot_(int *m, float *x, int *incx, float *y, int *incy, float *c, float *s); -void srotg_(float *a, float *b, float *c, float *s); - -// level 2 -void sgemv_(char *ta, int *m, int *n, float *alpha, float *A, int *lda, float *x, int *incx, float *beta, float *y, int *incy); -void ssymv_(char *uplo, int *m, float *alpha, float *A, int *lda, float *x, int *incx, float *beta, float *y, int *incy); -void strmv_(char *uplo, char *trans, char *diag, int *n, float *A, int *lda, float *x, int *incx); -void strsv_(char *uplo, char *trans, char *diag, int *n, float *A, int *lda, float *x, int *incx); -void sger_(int *m, int *n, float *alpha, float *x, int *incx, float *y, int *incy, float *A, int *lda); - -// level 3 -void sgemm_(char *ta, char *tb, int *m, int *n, int *k, float *alpha, float *A, int *lda, float *B, int *ldb, float *beta, float *C, int *ldc); -void ssyrk_(char *uplo, char *trans, int *n, int *k, float *alpha, float *A, int *lda, float *beta, float *C, int *ldc); -void strmm_(char *side, char *uplo, char *transa, char *diag, int *m, int *n, float *alpha, float *A, int *lda, float *B, int *ldb); -void strsm_(char *side, char *uplo, char *transa, char *diag, int *m, int *n, float *alpha, float *A, int *lda, float *B, int *ldb); -void ssyr2k_(char *uplo, char *trans, int *n, int *k, float *alpha, float *A, int *lda, float *B, int *ldb, float *beta, float *C, int *ldc); - -// lapack -void spotrf_(char *uplo, int *m, float *A, int *lda, int *info); -void sgetrf_(int *m, int *n, float *A, int *lda, int *ipiv, int *info); -void sgeqrf_(int *m, int *n, float *A, int *lda, float *tau, float *work, int *lwork, int *info); -void sgeqr2_(int *m, int *n, float *A, int *lda, float *tau, float *work, int *info); -void sgelqf_(int *m, int *n, float *A, int *lda, float *tau, float *work, int *lwork, int *info); -void sorglq_(int *m, int *n, int *k, float *A, int *lda, float *tau, float *work, int *lwork, int *info); - - - -#ifdef __cplusplus -} -#endif diff --git a/third_party/acados/include/blasfeo/include/s_blas_64.h b/third_party/acados/include/blasfeo/include/s_blas_64.h deleted file mode 100644 index b9efab6c236ed1..00000000000000 --- a/third_party/acados/include/blasfeo/include/s_blas_64.h +++ /dev/null @@ -1,73 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of BLASFEO. * -* * -* BLASFEO -- BLAS For Embedded Optimization. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifdef __cplusplus -extern "C" { -#endif - - - -// headers to reference BLAS and LAPACK routines employed in BLASFEO WR - -// level 1 -float sdot_(long long *m, float *x, long long *incx, float *y, long long *incy); -void scopy_(long long *m, float *x, long long *incx, float *y, long long *incy); -void saxpy_(long long *m, float *alpha, float *x, long long *incx, float *y, long long *incy); -void sscal_(long long *m, float *alpha, float *x, long long *incx); - -// level 2 -void sgemv_(char *ta, long long *m, long long *n, float *alpha, float *A, long long *lda, float *x, long long *incx, float *beta, float *y, long long *incy); -void ssymv_(char *uplo, long long *m, float *alpha, float *A, long long *lda, float *x, long long *incx, float *beta, float *y, long long *incy); -void strmv_(char *uplo, char *trans, char *diag, long long *n, float *A, long long *lda, float *x, long long *incx); -void strsv_(char *uplo, char *trans, char *diag, long long *n, float *A, long long *lda, float *x, long long *incx); -void sger_(long long *m, long long *n, float *alpha, float *x, long long *incx, float *y, long long *incy, float *A, long long *lda); - -// level 3 -void sgemm_(char *ta, char *tb, long long *m, long long *n, long long *k, float *alpha, float *A, long long *lda, float *B, long long *ldb, float *beta, float *C, long long *ldc); -void ssyrk_(char *uplo, char *trans, long long *n, long long *k, float *alpha, float *A, long long *lda, float *beta, float *C, long long *ldc); -void strmm_(char *side, char *uplo, char *transa, char *diag, long long *m, long long *n, float *alpha, float *A, long long *lda, float *B, long long *ldb); -void strsm_(char *side, char *uplo, char *transa, char *diag, long long *m, long long *n, float *alpha, float *A, long long *lda, float *B, long long *ldb); - -// lapack -void spotrf_(char *uplo, long long *m, float *A, long long *lda, long long *info); -void sgetrf_(long long *m, long long *n, float *A, long long *lda, long long *ipiv, long long *info); -void sgeqrf_(long long *m, long long *n, float *A, long long *lda, float *tau, float *work, long long *lwork, long long *info); -void sgeqr2_(long long *m, long long *n, float *A, long long *lda, float *tau, float *work, long long *info); - - - -#ifdef __cplusplus -} -#endif diff --git a/third_party/acados/include/hpipm/include/hpipm_aux_mem.h b/third_party/acados/include/hpipm/include/hpipm_aux_mem.h deleted file mode 100644 index 7bd3d7e8bc53e9..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_aux_mem.h +++ /dev/null @@ -1,52 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef HPIPM_AUX_MEM_H_ -#define HPIPM_AUX_MEM_H_ - -#include "hpipm_common.h" - -#ifdef __cplusplus -extern "C" { -#endif - -void hpipm_zero_memset(hpipm_size_t memsize, void *mem); - -#ifdef __cplusplus -} /* extern "C" */ -#endif - -#endif // HPIPM_AUX_MEM_H_ - diff --git a/third_party/acados/include/hpipm/include/hpipm_aux_string.h b/third_party/acados/include/hpipm/include/hpipm_aux_string.h deleted file mode 100644 index 804cba5dc1a88d..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_aux_string.h +++ /dev/null @@ -1,50 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef HPIPM_AUX_STRING_H_ -#define HPIPM_AUX_STRING_H_ - -#ifdef __cplusplus -extern "C" { -#endif - -#define MAX_STR_LEN 5 -int hpipm_strcmp(char *str1, char *str2); - -#ifdef __cplusplus -} /* extern "C" */ -#endif - -#endif // HPIPM_AUX_STRING_H_ diff --git a/third_party/acados/include/hpipm/include/hpipm_common.h b/third_party/acados/include/hpipm/include/hpipm_common.h deleted file mode 100644 index 0cc96a7b506568..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_common.h +++ /dev/null @@ -1,76 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - - - -#ifndef HPIPM_COMMON_H_ -#define HPIPM_COMMON_H_ - -#include - -#ifdef __cplusplus -extern "C" { -#endif - -typedef size_t hpipm_size_t; - -enum hpipm_mode - { - SPEED_ABS, // focus on speed, absolute IPM formulation - SPEED, // focus on speed, relative IPM formulation - BALANCE, // balanced mode, relative IPM formulation - ROBUST, // focus on robustness, relative IPM formulation - }; - -enum hpipm_status - { - SUCCESS, // found solution satisfying accuracy tolerance - MAX_ITER, // maximum iteration number reached - MIN_STEP, // minimum step length reached - NAN_SOL, // NaN in solution detected - INCONS_EQ, // unconsistent equality constraints - }; - - - -#ifdef __cplusplus -} /* extern "C" */ -#endif - - - -#endif // HPIPM_COMMON_H_ - - diff --git a/third_party/acados/include/hpipm/include/hpipm_d_cast_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_d_cast_qcqp.h deleted file mode 100644 index 0e4c41f22159ac..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_d_cast_qcqp.h +++ /dev/null @@ -1,71 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - - - -#ifndef HPIPM_D_CAST_QCQP_H_ -#define HPIPM_D_CAST_QCQP_H_ - - - -#include -#include - -#include "hpipm_d_dense_qcqp.h" -#include "hpipm_d_dense_qcqp_sol.h" -#include "hpipm_d_ocp_qcqp.h" -#include "hpipm_d_ocp_qcqp_dim.h" -#include "hpipm_d_ocp_qcqp_sol.h" - -#ifdef __cplusplus -extern "C" { -#endif - - - -// -void d_cast_qcqp_compute_dim(struct d_ocp_qcqp_dim *ocp_dim, struct d_dense_qcqp_dim *dense_dim); -// -void d_cast_qcqp_cond(struct d_ocp_qcqp *ocp_qp, struct d_dense_qcqp *dense_qp); - - -#ifdef __cplusplus -} /* extern "C" */ -#endif - - - -#endif // HPIPM_D_CAST_QCQP_H_ - diff --git a/third_party/acados/include/hpipm/include/hpipm_d_cond.h b/third_party/acados/include/hpipm/include/hpipm_d_cond.h deleted file mode 100644 index 5900a2ab10201e..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_d_cond.h +++ /dev/null @@ -1,135 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - - - -#ifndef HPIPM_D_COND_H_ -#define HPIPM_D_COND_H_ - - - -#include -#include - -#include "hpipm_d_dense_qp.h" -#include "hpipm_d_dense_qp_sol.h" -#include "hpipm_d_ocp_qp.h" -#include "hpipm_d_ocp_qp_dim.h" -#include "hpipm_d_ocp_qp_sol.h" - -#ifdef __cplusplus -extern "C" { -#endif - - - -struct d_cond_qp_arg - { - int cond_last_stage; // condense last stage - int cond_alg; // condensing algorithm: 0 N2-nx3, 1 N3-nx2 - int comp_prim_sol; // primal solution (v) - int comp_dual_sol_eq; // dual solution equality constr (pi) - int comp_dual_sol_ineq; // dual solution inequality constr (lam t) - int square_root_alg; // square root algorithm (faster but requires RSQ>0) - hpipm_size_t memsize; - }; - - - -struct d_cond_qp_ws - { - struct blasfeo_dmat *Gamma; - struct blasfeo_dmat *GammaQ; - struct blasfeo_dmat *L; - struct blasfeo_dmat *Lx; - struct blasfeo_dmat *AL; - struct blasfeo_dvec *Gammab; - struct blasfeo_dvec *l; - struct blasfeo_dvec *tmp_nbgM; - struct blasfeo_dvec *tmp_nuxM; - int bs; // block size - hpipm_size_t memsize; - }; - - - -// -hpipm_size_t d_cond_qp_arg_memsize(); -// -void d_cond_qp_arg_create(struct d_cond_qp_arg *cond_arg, void *mem); -// -void d_cond_qp_arg_set_default(struct d_cond_qp_arg *cond_arg); -// condensing algorithm: 0 N2-nx3, 1 N3-nx2 -void d_cond_qp_arg_set_cond_alg(int cond_alg, struct d_cond_qp_arg *cond_arg); -// set riccati-like algorithm: 0 classical, 1 square-root -void d_cond_qp_arg_set_ric_alg(int ric_alg, struct d_cond_qp_arg *cond_arg); -// condense last stage: 0 last stage disregarded, 1 last stage condensed too -void d_cond_qp_arg_set_cond_last_stage(int cond_last_stage, struct d_cond_qp_arg *cond_arg); -// -void d_cond_qp_arg_set_comp_prim_sol(int value, struct d_cond_qp_arg *cond_arg); -// -void d_cond_qp_arg_set_comp_dual_sol_eq(int value, struct d_cond_qp_arg *cond_arg); -// -void d_cond_qp_arg_set_comp_dual_sol_ineq(int value, struct d_cond_qp_arg *cond_arg); - -// -void d_cond_qp_compute_dim(struct d_ocp_qp_dim *ocp_dim, struct d_dense_qp_dim *dense_dim); -// -hpipm_size_t d_cond_qp_ws_memsize(struct d_ocp_qp_dim *ocp_dim, struct d_cond_qp_arg *cond_arg); -// -void d_cond_qp_ws_create(struct d_ocp_qp_dim *ocp_dim, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws, void *mem); -// -void d_cond_qp_cond(struct d_ocp_qp *ocp_qp, struct d_dense_qp *dense_qp, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws); -// -void d_cond_qp_cond_lhs(struct d_ocp_qp *ocp_qp, struct d_dense_qp *dense_qp, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws); -// -void d_cond_qp_cond_rhs(struct d_ocp_qp *ocp_qp, struct d_dense_qp *dense_qp, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws); -// -void d_cond_qp_expand_sol(struct d_ocp_qp *ocp_qp, struct d_dense_qp_sol *dense_qp_sol, struct d_ocp_qp_sol *ocp_qp_sol, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws); -// TODO remove -void d_cond_qp_expand_primal_sol(struct d_ocp_qp *ocp_qp, struct d_dense_qp_sol *dense_qp_sol, struct d_ocp_qp_sol *ocp_qp_sol, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws); - -// -void d_cond_qp_update(int *idxc, struct d_ocp_qp *ocp_qp, struct d_dense_qp *dense_qp, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws); - - - -#ifdef __cplusplus -} /* extern "C" */ -#endif - - - -#endif // HPIPM_D_COND_H_ diff --git a/third_party/acados/include/hpipm/include/hpipm_d_cond_aux.h b/third_party/acados/include/hpipm/include/hpipm_d_cond_aux.h deleted file mode 100644 index 73afba3c7e75e2..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_d_cond_aux.h +++ /dev/null @@ -1,92 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - - - -#ifndef HPIPM_D_COND_AUX_H_ -#define HPIPM_D_COND_AUX_H_ - - - -#include -#include - - - -#ifdef __cplusplus -extern "C" { -#endif - - - -// -void d_cond_BAbt(struct d_ocp_qp *ocp_qp, struct blasfeo_dmat *BAbt2, struct blasfeo_dvec *b, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws); -// -void d_cond_BAt(struct d_ocp_qp *ocp_qp, struct blasfeo_dmat *BAbt2, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws); -// -void d_cond_b(struct d_ocp_qp *ocp_qp, struct blasfeo_dvec *b, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws); -// -void d_cond_RSQrq(struct d_ocp_qp *ocp_qp, struct blasfeo_dmat *RSQrq2, struct blasfeo_dvec *rq, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws); -// -void d_cond_RSQ(struct d_ocp_qp *ocp_qp, struct blasfeo_dmat *RSQrq2, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws); -// -void d_cond_rq(struct d_ocp_qp *ocp_qp, struct blasfeo_dvec *rq, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws); -// -void d_cond_DCtd(struct d_ocp_qp *ocp_qp, int *idxb2, struct blasfeo_dmat *DCt2, struct blasfeo_dvec *d2, struct blasfeo_dvec *d_mask2, int *idxs_rev2, struct blasfeo_dvec *Z2, struct blasfeo_dvec *z, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws); -// -void d_cond_DCt(struct d_ocp_qp *ocp_qp, int *idxb2, struct blasfeo_dmat *DCt2, int *idxs_rev2, struct blasfeo_dvec *Z2, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws); -// -void d_cond_d(struct d_ocp_qp *ocp_qp, struct blasfeo_dvec *d2, struct blasfeo_dvec *d_mask2, struct blasfeo_dvec *z, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws); -// -void d_expand_sol(struct d_ocp_qp *ocp_qp, struct d_dense_qp_sol *dense_qp_sol, struct d_ocp_qp_sol *ocp_qp_so, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws); -// -void d_expand_primal_sol(struct d_ocp_qp *ocp_qp, struct d_dense_qp_sol *dense_qp_sol, struct d_ocp_qp_sol *ocp_qp_so, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws); - -// -void d_update_cond_BAbt(int *idxc, struct d_ocp_qp *ocp_qp, struct blasfeo_dmat *BAbt2, struct blasfeo_dvec *b, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws); -// -void d_update_cond_RSQrq_N2nx3(int *idxc, struct d_ocp_qp *ocp_qp, struct blasfeo_dmat *RSQrq2, struct blasfeo_dvec *rq, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws); -// -void d_update_cond_DCtd(int *idxc, struct d_ocp_qp *ocp_qp, int *idxb2, struct blasfeo_dmat *DCt2, struct blasfeo_dvec *d2, int *idxs2, struct blasfeo_dvec *Z2, struct blasfeo_dvec *z, struct d_cond_qp_arg *cond_arg, struct d_cond_qp_ws *cond_ws); - - - -#ifdef __cplusplus -} /* extern "C" */ -#endif - - - -#endif // HPIPM_D_COND_AUX_H_ diff --git a/third_party/acados/include/hpipm/include/hpipm_d_cond_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_d_cond_qcqp.h deleted file mode 100644 index 266567bb8dfeaf..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_d_cond_qcqp.h +++ /dev/null @@ -1,129 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - - - -#ifndef HPIPM_D_COND_QCQP_H_ -#define HPIPM_D_COND_QCQP_H_ - - - -#include -#include - -#include "hpipm_d_dense_qcqp.h" -#include "hpipm_d_dense_qcqp_sol.h" -#include "hpipm_d_ocp_qcqp.h" -#include "hpipm_d_ocp_qcqp_dim.h" -#include "hpipm_d_ocp_qcqp_sol.h" - -#ifdef __cplusplus -extern "C" { -#endif - - - -struct d_cond_qcqp_arg - { - struct d_cond_qp_arg *qp_arg; - int cond_last_stage; // condense last stage -// int cond_variant; // TODO - int comp_prim_sol; // primal solution (v) - int comp_dual_sol_eq; // dual solution equality constr (pi) - int comp_dual_sol_ineq; // dual solution equality constr (lam t) - int square_root_alg; // square root algorithm (faster but requires RSQ>0) - hpipm_size_t memsize; - }; - - - -struct d_cond_qcqp_ws - { - struct d_cond_qp_ws *qp_ws; - struct blasfeo_dmat *hess_array; // TODO remove - struct blasfeo_dmat *zero_hess; // TODO remove - struct blasfeo_dvec *grad_array; // TODO remove - struct blasfeo_dvec *zero_grad; // TODO remove - struct blasfeo_dvec *tmp_nvc; - struct blasfeo_dvec *tmp_nuxM; - struct blasfeo_dmat *GammaQ; - struct blasfeo_dmat *tmp_DCt; - struct blasfeo_dmat *tmp_nuM_nxM; -// struct blasfeo_dvec *d_qp; -// struct blasfeo_dvec *d_mask_qp; - hpipm_size_t memsize; - }; - - -// -hpipm_size_t d_cond_qcqp_arg_memsize(); -// -void d_cond_qcqp_arg_create(struct d_cond_qcqp_arg *cond_arg, void *mem); -// -void d_cond_qcqp_arg_set_default(struct d_cond_qcqp_arg *cond_arg); -// set riccati-like algorithm: 0 classical, 1 square-root -void d_cond_qcqp_arg_set_ric_alg(int ric_alg, struct d_cond_qcqp_arg *cond_arg); -// condense last stage: 0 last stage disregarded, 1 last stage condensed too -void d_cond_qcqp_arg_set_cond_last_stage(int cond_last_stage, struct d_cond_qcqp_arg *cond_arg); - -// -void d_cond_qcqp_compute_dim(struct d_ocp_qcqp_dim *ocp_dim, struct d_dense_qcqp_dim *dense_dim); -// -hpipm_size_t d_cond_qcqp_ws_memsize(struct d_ocp_qcqp_dim *ocp_dim, struct d_cond_qcqp_arg *cond_arg); -// -void d_cond_qcqp_ws_create(struct d_ocp_qcqp_dim *ocp_dim, struct d_cond_qcqp_arg *cond_arg, struct d_cond_qcqp_ws *cond_ws, void *mem); -// -void d_cond_qcqp_qc(struct d_ocp_qcqp *ocp_qp, struct blasfeo_dmat *Hq2, int *Hq_nzero2, struct blasfeo_dmat *Ct2, struct blasfeo_dvec *d2, struct d_cond_qcqp_arg *cond_arg, struct d_cond_qcqp_ws *cond_ws); -// -void d_cond_qcqp_qc_lhs(struct d_ocp_qcqp *ocp_qp, struct blasfeo_dmat *Hq2, int *Hq_nzero2, struct blasfeo_dmat *Ct2, struct d_cond_qcqp_arg *cond_arg, struct d_cond_qcqp_ws *cond_ws); -// -void d_cond_qcqp_qc_rhs(struct d_ocp_qcqp *ocp_qp, struct blasfeo_dvec *d2, struct d_cond_qcqp_arg *cond_arg, struct d_cond_qcqp_ws *cond_ws); -// -void d_cond_qcqp_cond(struct d_ocp_qcqp *ocp_qp, struct d_dense_qcqp *dense_qp, struct d_cond_qcqp_arg *cond_arg, struct d_cond_qcqp_ws *cond_ws); -// -void d_cond_qcqp_cond_rhs(struct d_ocp_qcqp *ocp_qp, struct d_dense_qcqp *dense_qp, struct d_cond_qcqp_arg *cond_arg, struct d_cond_qcqp_ws *cond_ws); -// -void d_cond_qcqp_cond_lhs(struct d_ocp_qcqp *ocp_qp, struct d_dense_qcqp *dense_qp, struct d_cond_qcqp_arg *cond_arg, struct d_cond_qcqp_ws *cond_ws); -// -void d_cond_qcqp_expand_sol(struct d_ocp_qcqp *ocp_qp, struct d_dense_qcqp_sol *dense_qp_sol, struct d_ocp_qcqp_sol *ocp_qp_sol, struct d_cond_qcqp_arg *cond_arg, struct d_cond_qcqp_ws *cond_ws); - - -#ifdef __cplusplus -} /* extern "C" */ -#endif - - - -#endif // HPIPM_D_COND_QCQP_H_ diff --git a/third_party/acados/include/hpipm/include/hpipm_d_core_qp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_d_core_qp_ipm.h deleted file mode 100644 index f39d9a9b507a92..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_d_core_qp_ipm.h +++ /dev/null @@ -1,101 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef HPIPM_D_CORE_QP_IPM_ -#define HPIPM_D_CORE_QP_IPM_ - -#include "hpipm_common.h" - -#ifdef __cplusplus -extern "C" { -#endif - -struct d_core_qp_ipm_workspace - { - double *v; // primal variables - double *pi; // equality constraints multipliers - double *lam; // inequality constraints multipliers - double *t; // inequality constraints slacks - double *t_inv; // inverse of t - double *v_bkp; // backup of primal variables - double *pi_bkp; // backup of equality constraints multipliers - double *lam_bkp; // backup of inequality constraints multipliers - double *t_bkp; // backup of inequality constraints slacks - double *dv; // step in v - double *dpi; // step in pi - double *dlam; // step in lam - double *dt; // step in t - double *res_g; // q-residuals - double *res_b; // b-residuals - double *res_d; // d-residuals - double *res_m; // m-residuals - double *res_m_bkp; // m-residuals - double *Gamma; // Hessian update - double *gamma; // gradient update - double alpha; // step length - double alpha_prim; // step length - double alpha_dual; // step length - double sigma; // centering XXX - double mu; // duality measuere - double mu_aff; // affine duality measuere - double nc_inv; // 1.0/nc, where nc is the total number of inequality constraints - double nc_mask_inv; // 1.0/nc_mask - double lam_min; // min value in lam vector - double t_min; // min value in t vector - double t_min_inv; // inverse of min value in t vector - double tau_min; // min value of barrier parameter - int nv; // number of primal variables - int ne; // number of equality constraints - int nc; // (twice the) number of (two-sided) inequality constraints - int nc_mask; // total number of ineq constr after masking - int split_step; // use different step for primal and dual variables - int t_lam_min; // clip t and lam also in solution, or only in Gamma computation - hpipm_size_t memsize; // memory size (in bytes) of workspace - }; - - - -// -hpipm_size_t d_memsize_core_qp_ipm(int nv, int ne, int nc); -// -void d_create_core_qp_ipm(int nv, int ne, int nc, struct d_core_qp_ipm_workspace *workspace, void *mem); -// -void d_core_qp_ipm(struct d_core_qp_ipm_workspace *workspace); - -#ifdef __cplusplus -} /* extern "C" */ -#endif - -#endif // HPIPM_D_CORE_QP_IPM_ diff --git a/third_party/acados/include/hpipm/include/hpipm_d_core_qp_ipm_aux.h b/third_party/acados/include/hpipm/include/hpipm_d_core_qp_ipm_aux.h deleted file mode 100644 index 30cc824badba3a..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_d_core_qp_ipm_aux.h +++ /dev/null @@ -1,68 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef HPIPM_S_CORE_QP_IPM_AUX_ -#define HPIPM_S_CORE_QP_IPM_AUX_ - -#ifdef __cplusplus -extern "C" { -#endif - -// -void d_compute_Gamma_gamma_qp(double *res_d, double *res_m, struct d_core_qp_ipm_workspace *rws); -// -void d_compute_gamma_qp(double *res_d, double *res_m, struct d_core_qp_ipm_workspace *rws); -// -void d_compute_lam_t_qp(double *res_d, double *res_m, double *dlam, double *dt, struct d_core_qp_ipm_workspace *rws); -// -void d_compute_alpha_qp(struct d_core_qp_ipm_workspace *rws); -// -void d_update_var_qp(struct d_core_qp_ipm_workspace *rws); -// -void d_compute_mu_aff_qp(struct d_core_qp_ipm_workspace *rws); -// -void d_backup_res_m(struct d_core_qp_ipm_workspace *rws); -// -void d_compute_centering_correction_qp(struct d_core_qp_ipm_workspace *rws); -// -void d_compute_centering_qp(struct d_core_qp_ipm_workspace *rws); -// -void d_compute_tau_min_qp(struct d_core_qp_ipm_workspace *rws); - -#ifdef __cplusplus -} /* extern "C" */ -#endif - -#endif // HPIPM_S_CORE_QP_IPM_AUX_ diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp.h deleted file mode 100644 index 3da57164937a91..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp.h +++ /dev/null @@ -1,199 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - - - -#ifndef HPIPM_D_DENSE_QCQP_H_ -#define HPIPM_D_DENSE_QCQP_H_ - - - -#include -#include - -#include "hpipm_d_dense_qcqp_dim.h" - - - -#ifdef __cplusplus -extern "C" { -#endif - - - -struct d_dense_qcqp - { - struct d_dense_qcqp_dim *dim; - struct blasfeo_dmat *Hv; // hessian of cost & vector work space - struct blasfeo_dmat *A; // equality constraint matrix - struct blasfeo_dmat *Ct; // inequality constraints matrix - struct blasfeo_dmat *Hq; // hessians of quadratic constraints - struct blasfeo_dvec *gz; // gradient of cost & gradient of slacks - struct blasfeo_dvec *b; // equality constraint vector - struct blasfeo_dvec *d; // inequality constraints vector - struct blasfeo_dvec *d_mask; // inequality constraints mask vector - struct blasfeo_dvec *m; // rhs of complementarity condition - struct blasfeo_dvec *Z; // (diagonal) hessian of slacks - int *idxb; // indices of box constrained variables within [u; x] - int *idxs_rev; // index of soft constraints (reverse storage) - int *Hq_nzero; // for each int, the last 3 bits ...abc, {a,b,c}=0 => {R,S,Q}=0 - hpipm_size_t memsize; // memory size in bytes - }; - - - -// -hpipm_size_t d_dense_qcqp_memsize(struct d_dense_qcqp_dim *dim); -// -void d_dense_qcqp_create(struct d_dense_qcqp_dim *dim, struct d_dense_qcqp *qp, void *memory); - -// -void d_dense_qcqp_set(char *field, void *value, struct d_dense_qcqp *qp); -// -void d_dense_qcqp_set_H(double *H, struct d_dense_qcqp *qp); -// -void d_dense_qcqp_set_g(double *g, struct d_dense_qcqp *qp); -// -void d_dense_qcqp_set_A(double *A, struct d_dense_qcqp *qp); -// -void d_dense_qcqp_set_b(double *b, struct d_dense_qcqp *qp); -// -void d_dense_qcqp_set_idxb(int *idxb, struct d_dense_qcqp *qp); -// -void d_dense_qcqp_set_lb(double *lb, struct d_dense_qcqp *qp); -// -void d_dense_qcqp_set_lb_mask(double *lb, struct d_dense_qcqp *qp); -// -void d_dense_qcqp_set_ub(double *ub, struct d_dense_qcqp *qp); -// -void d_dense_qcqp_set_ub_mask(double *ub, struct d_dense_qcqp *qp); -// -void d_dense_qcqp_set_C(double *C, struct d_dense_qcqp *qp); -// -void d_dense_qcqp_set_lg(double *lg, struct d_dense_qcqp *qp); -// -void d_dense_qcqp_set_lg_mask(double *lg, struct d_dense_qcqp *qp); -// -void d_dense_qcqp_set_ug(double *ug, struct d_dense_qcqp *qp); -// -void d_dense_qcqp_set_ug_mask(double *ug, struct d_dense_qcqp *qp); -// -void d_dense_qcqp_set_Hq(double *Hq, struct d_dense_qcqp *qp); -// -void d_dense_qcqp_set_gq(double *gq, struct d_dense_qcqp *qp); -// -void d_dense_qcqp_set_uq(double *uq, struct d_dense_qcqp *qp); -// -void d_dense_qcqp_set_uq_mask(double *uq, struct d_dense_qcqp *qp); -// -void d_dense_qcqp_set_idxs(int *idxs, struct d_dense_qcqp *qp); -// -void d_dense_qcqp_set_idxs_rev(int *idxs_rev, struct d_dense_qcqp *qp); -// -void d_dense_qcqp_set_Zl(double *Zl, struct d_dense_qcqp *qp); -// -void d_dense_qcqp_set_Zu(double *Zu, struct d_dense_qcqp *qp); -// -void d_dense_qcqp_set_zl(double *zl, struct d_dense_qcqp *qp); -// -void d_dense_qcqp_set_zu(double *zu, struct d_dense_qcqp *qp); -// -void d_dense_qcqp_set_ls(double *ls, struct d_dense_qcqp *qp); -// -void d_dense_qcqp_set_ls_mask(double *ls, struct d_dense_qcqp *qp); -// -void d_dense_qcqp_set_us(double *us, struct d_dense_qcqp *qp); -// -void d_dense_qcqp_set_us_mask(double *us, struct d_dense_qcqp *qp); - -// getters (COLMAJ) - -void d_dense_qcqp_get_H(struct d_dense_qcqp *qp, double *H); -// -void d_dense_qcqp_get_g(struct d_dense_qcqp *qp, double *g); -// -void d_dense_qcqp_get_A(struct d_dense_qcqp *qp, double *A); -// -void d_dense_qcqp_get_b(struct d_dense_qcqp *qp, double *b); -// -void d_dense_qcqp_get_idxb(struct d_dense_qcqp *qp, int *idxb); -// -void d_dense_qcqp_get_lb(struct d_dense_qcqp *qp, double *lb); -// -void d_dense_qcqp_get_lb_mask(struct d_dense_qcqp *qp, double *lb); -// -void d_dense_qcqp_get_ub(struct d_dense_qcqp *qp, double *ub); -// -void d_dense_qcqp_get_ub_mask(struct d_dense_qcqp *qp, double *ub); -// -void d_dense_qcqp_get_C(struct d_dense_qcqp *qp, double *C); -// -void d_dense_qcqp_get_lg(struct d_dense_qcqp *qp, double *lg); -// -void d_dense_qcqp_get_lg_mask(struct d_dense_qcqp *qp, double *lg); -// -void d_dense_qcqp_get_ug(struct d_dense_qcqp *qp, double *ug); -// -void d_dense_qcqp_get_ug_mask(struct d_dense_qcqp *qp, double *ug); -// -void d_dense_qcqp_get_idxs(struct d_dense_qcqp *qp, int *idxs); -// -void d_dense_qcqp_get_idxs_rev(struct d_dense_qcqp *qp, int *idxs_rev); -// -void d_dense_qcqp_get_Zl(struct d_dense_qcqp *qp, double *Zl); -// -void d_dense_qcqp_get_Zu(struct d_dense_qcqp *qp, double *Zu); -// -void d_dense_qcqp_get_zl(struct d_dense_qcqp *qp, double *zl); -// -void d_dense_qcqp_get_zu(struct d_dense_qcqp *qp, double *zu); -// -void d_dense_qcqp_get_ls(struct d_dense_qcqp *qp, double *ls); -// -void d_dense_qcqp_get_ls_mask(struct d_dense_qcqp *qp, double *ls); -// -void d_dense_qcqp_get_us(struct d_dense_qcqp *qp, double *us); -// -void d_dense_qcqp_get_us_mask(struct d_dense_qcqp *qp, double *us); - - -#ifdef __cplusplus -} /* extern "C" */ -#endif - - - -#endif // HPIPM_D_DENSE_QCQP_H_ - diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_dim.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_dim.h deleted file mode 100644 index fa8c574a1ef0e2..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_dim.h +++ /dev/null @@ -1,98 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef HPIPM_D_DENSE_QCQP_DIM_H_ -#define HPIPM_D_DENSE_QCQP_DIM_H_ - -#include "hpipm_common.h" - -#ifdef __cplusplus -extern "C" { -#endif - - - -struct d_dense_qcqp_dim - { - struct d_dense_qp_dim *qp_dim; // dim of qp approximation - int nv; // number of variables - int ne; // number of equality constraints - int nb; // number of box constraints - int ng; // number of general constraints - int nq; // number of quadratic constraints - int nsb; // number of softened box constraints - int nsg; // number of softened general constraints - int nsq; // number of softened quadratic constraints - int ns; // number of softened constraints (nsb+nsg+nsq) TODO number of slacks - hpipm_size_t memsize; - }; - - - -// -hpipm_size_t d_dense_qcqp_dim_memsize(); -// -void d_dense_qcqp_dim_create(struct d_dense_qcqp_dim *dim, void *memory); -// -void d_dense_qcqp_dim_set(char *field_name, int value, struct d_dense_qcqp_dim *dim); -// -void d_dense_qcqp_dim_set_nv(int value, struct d_dense_qcqp_dim *dim); -// -void d_dense_qcqp_dim_set_ne(int value, struct d_dense_qcqp_dim *dim); -// -void d_dense_qcqp_dim_set_nb(int value, struct d_dense_qcqp_dim *dim); -// -void d_dense_qcqp_dim_set_ng(int value, struct d_dense_qcqp_dim *dim); -// -void d_dense_qcqp_dim_set_nq(int value, struct d_dense_qcqp_dim *dim); -// -void d_dense_qcqp_dim_set_nsb(int value, struct d_dense_qcqp_dim *dim); -// -void d_dense_qcqp_dim_set_nsg(int value, struct d_dense_qcqp_dim *dim); -// -void d_dense_qcqp_dim_set_nsq(int value, struct d_dense_qcqp_dim *dim); -// -void d_dense_qcqp_dim_set_ns(int value, struct d_dense_qcqp_dim *dim); - - - -#ifdef __cplusplus -} // #extern "C" -#endif - - - -#endif // HPIPM_D_DENSE_QCQP_DIM_H_ - diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_ipm.h deleted file mode 100644 index fa3f98fa79a6ca..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_ipm.h +++ /dev/null @@ -1,193 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - - - -#ifndef HPIPM_D_DENSE_QCQP_IPM_H_ -#define HPIPM_D_DENSE_QCQP_IPM_H_ - - - -#include -#include - -#include -#include -#include -#include -#include - - -#ifdef __cplusplus -extern "C" { -#endif - - - -struct d_dense_qcqp_ipm_arg - { - struct d_dense_qp_ipm_arg *qp_arg; - double mu0; // initial value for duality measure - double alpha_min; // exit cond on step length - double res_g_max; // exit cond on inf norm of residuals - double res_b_max; // exit cond on inf norm of residuals - double res_d_max; // exit cond on inf norm of residuals - double res_m_max; // exit cond on inf norm of residuals - double reg_prim; // reg of primal hessian - double reg_dual; // reg of dual hessian - double lam_min; // min value in lam vector - double t_min; // min value in t vector - int iter_max; // exit cond in iter number - int stat_max; // iterations saved in stat - int pred_corr; // Mehrotra's predictor-corrector IPM algirthm - int cond_pred_corr; // conditional Mehrotra's predictor-corrector - int scale; // scale hessian - int itref_pred_max; // max number of iterative refinement steps for predictor step - int itref_corr_max; // max number of iterative refinement steps for corrector step - int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol - int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq - int abs_form; // absolute IPM formulation - int comp_res_exit; // compute residuals on exit (only for abs_form==1) - int comp_res_pred; // compute residuals of prediction - int split_step; // use different step for primal and dual variables - int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution - int mode; - hpipm_size_t memsize; - }; - - - -struct d_dense_qcqp_ipm_ws - { - struct d_dense_qp_ipm_ws *qp_ws; - struct d_dense_qp *qp; - struct d_dense_qp_sol *qp_sol; - struct d_dense_qcqp_res_ws *qcqp_res_ws; - struct d_dense_qcqp_res *qcqp_res; - struct blasfeo_dvec *tmp_nv; - int iter; // iteration number - int status; - hpipm_size_t memsize; // memory size (in bytes) of workspace - }; - - - -// -hpipm_size_t d_dense_qcqp_ipm_arg_memsize(struct d_dense_qcqp_dim *dim); -// -void d_dense_qcqp_ipm_arg_create(struct d_dense_qcqp_dim *dim, struct d_dense_qcqp_ipm_arg *arg, void *mem); -// -void d_dense_qcqp_ipm_arg_set_default(enum hpipm_mode mode, struct d_dense_qcqp_ipm_arg *arg); -// -void d_dense_qcqp_ipm_arg_set(char *field, void *value, struct d_dense_qcqp_ipm_arg *arg); -// -void d_dense_qcqp_ipm_arg_set_iter_max(int *iter_max, struct d_dense_qcqp_ipm_arg *arg); -// -void d_dense_qcqp_ipm_arg_set_alpha_min(double *alpha_min, struct d_dense_qcqp_ipm_arg *arg); -// -void d_dense_qcqp_ipm_arg_set_mu0(double *mu0, struct d_dense_qcqp_ipm_arg *arg); -// -void d_dense_qcqp_ipm_arg_set_tol_stat(double *tol_stat, struct d_dense_qcqp_ipm_arg *arg); -// -void d_dense_qcqp_ipm_arg_set_tol_eq(double *tol_eq, struct d_dense_qcqp_ipm_arg *arg); -// -void d_dense_qcqp_ipm_arg_set_tol_ineq(double *tol_ineq, struct d_dense_qcqp_ipm_arg *arg); -// -void d_dense_qcqp_ipm_arg_set_tol_comp(double *tol_comp, struct d_dense_qcqp_ipm_arg *arg); -// -void d_dense_qcqp_ipm_arg_set_reg_prim(double *reg, struct d_dense_qcqp_ipm_arg *arg); -// -void d_dense_qcqp_ipm_arg_set_reg_dual(double *reg, struct d_dense_qcqp_ipm_arg *arg); -// -void d_dense_qcqp_ipm_arg_set_warm_start(int *warm_start, struct d_dense_qcqp_ipm_arg *arg); -// -void d_dense_qcqp_ipm_arg_set_pred_corr(int *pred_corr, struct d_dense_qcqp_ipm_arg *arg); -// -void d_dense_qcqp_ipm_arg_set_cond_pred_corr(int *cond_pred_corr, struct d_dense_qcqp_ipm_arg *arg); -// -void d_dense_qcqp_ipm_arg_set_comp_res_pred(int *comp_res_pred, struct d_dense_qcqp_ipm_arg *arg); -// -void d_dense_qcqp_ipm_arg_set_comp_res_exit(int *comp_res_exit, struct d_dense_qcqp_ipm_arg *arg); -// -void d_dense_qcqp_ipm_arg_set_lam_min(double *value, struct d_dense_qcqp_ipm_arg *arg); -// -void d_dense_qcqp_ipm_arg_set_t_min(double *value, struct d_dense_qcqp_ipm_arg *arg); -// -void d_dense_qcqp_ipm_arg_set_split_step(int *value, struct d_dense_qcqp_ipm_arg *arg); -// -void d_dense_qcqp_ipm_arg_set_t_lam_min(int *value, struct d_dense_qcqp_ipm_arg *arg); - -// -hpipm_size_t d_dense_qcqp_ipm_ws_memsize(struct d_dense_qcqp_dim *qp_dim, struct d_dense_qcqp_ipm_arg *arg); -// -void d_dense_qcqp_ipm_ws_create(struct d_dense_qcqp_dim *qp_dim, struct d_dense_qcqp_ipm_arg *arg, struct d_dense_qcqp_ipm_ws *ws, void *mem); -// -void d_dense_qcqp_ipm_get(char *field, struct d_dense_qcqp_ipm_ws *ws, void *value); -// -void d_dense_qcqp_ipm_get_status(struct d_dense_qcqp_ipm_ws *ws, int *status); -// -void d_dense_qcqp_ipm_get_iter(struct d_dense_qcqp_ipm_ws *ws, int *iter); -// -void d_dense_qcqp_ipm_get_max_res_stat(struct d_dense_qcqp_ipm_ws *ws, double *res_stat); -// -void d_dense_qcqp_ipm_get_max_res_eq(struct d_dense_qcqp_ipm_ws *ws, double *res_eq); -// -void d_dense_qcqp_ipm_get_max_res_ineq(struct d_dense_qcqp_ipm_ws *ws, double *res_ineq); -// -void d_dense_qcqp_ipm_get_max_res_comp(struct d_dense_qcqp_ipm_ws *ws, double *res_comp); -// -void d_dense_qcqp_ipm_get_stat(struct d_dense_qcqp_ipm_ws *ws, double **stat); -// -void d_dense_qcqp_ipm_get_stat_m(struct d_dense_qcqp_ipm_ws *ws, int *stat_m); -// -void d_dense_qcqp_init_var(struct d_dense_qcqp *qp, struct d_dense_qcqp_sol *qp_sol, struct d_dense_qcqp_ipm_arg *arg, struct d_dense_qcqp_ipm_ws *ws); -// -void d_dense_qcqp_ipm_solve(struct d_dense_qcqp *qp, struct d_dense_qcqp_sol *qp_sol, struct d_dense_qcqp_ipm_arg *arg, struct d_dense_qcqp_ipm_ws *ws); -#if 0 -// -void d_dense_qcqp_ipm_predict(struct d_dense_qcqp *qp, struct d_dense_qcqp_sol *qp_sol, struct d_dense_qcqp_ipm_arg *arg, struct d_dense_qcqp_ipm_ws *ws); -// -void d_dense_qcqp_ipm_sens(struct d_dense_qcqp *qp, struct d_dense_qcqp_sol *qp_sol, struct d_dense_qcqp_ipm_arg *arg, struct d_dense_qcqp_ipm_ws *ws); -#endif - - -#ifdef __cplusplus -} /* extern "C" */ -#endif - - - -#endif // HPIPM_D_DENSE_QCQP_IPM_H_ - diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_res.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_res.h deleted file mode 100644 index a76f16215e3e45..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_res.h +++ /dev/null @@ -1,107 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef HPIPM_D_DENSE_QCQP_RES_H_ -#define HPIPM_D_DENSE_QCQP_RES_H_ - - - -#include -#include - -#include -#include -#include - - - -#ifdef __cplusplus -extern "C" { -#endif - - - -struct d_dense_qcqp_res - { - struct d_dense_qcqp_dim *dim; - struct blasfeo_dvec *res_g; // q-residuals - struct blasfeo_dvec *res_b; // b-residuals - struct blasfeo_dvec *res_d; // d-residuals - struct blasfeo_dvec *res_m; // m-residuals - double res_max[4]; // infinity norm of residuals - double res_mu; // mu-residual - hpipm_size_t memsize; - }; - - - -struct d_dense_qcqp_res_ws - { - struct blasfeo_dvec *tmp_nv; // work space of size nv - struct blasfeo_dvec *tmp_nbgq; // work space of size nbM+ngM+nqM - struct blasfeo_dvec *tmp_ns; // work space of size nsM - struct blasfeo_dvec *q_fun; // value for evaluation of quadr constr - struct blasfeo_dvec *q_adj; // value for adjoint of quadr constr - int use_q_fun; // reuse cached value for evaluation of quadr constr - int use_q_adj; // reuse cached value for adjoint of quadr constr - hpipm_size_t memsize; - }; - - - -// -hpipm_size_t d_dense_qcqp_res_memsize(struct d_dense_qcqp_dim *dim); -// -void d_dense_qcqp_res_create(struct d_dense_qcqp_dim *dim, struct d_dense_qcqp_res *res, void *mem); -// -hpipm_size_t d_dense_qcqp_res_ws_memsize(struct d_dense_qcqp_dim *dim); -// -void d_dense_qcqp_res_ws_create(struct d_dense_qcqp_dim *dim, struct d_dense_qcqp_res_ws *workspace, void *mem); -// -void d_dense_qcqp_res_compute(struct d_dense_qcqp *qp, struct d_dense_qcqp_sol *qp_sol, struct d_dense_qcqp_res *res, struct d_dense_qcqp_res_ws *ws); -// -void d_dense_qcqp_res_compute_inf_norm(struct d_dense_qcqp_res *res); - - - -#ifdef __cplusplus -} // #extern "C" -#endif - - -#endif // HPIPM_D_DENSE_QCQP_RES_H_ - - - diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_sol.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_sol.h deleted file mode 100644 index 6c697a8e693b20..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_sol.h +++ /dev/null @@ -1,85 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - - - -#ifndef HPIPM_D_DENSE_QCQP_SOL_H_ -#define HPIPM_D_DENSE_QCQP_SOL_H_ - - - -#include -#include - -#include "hpipm_d_dense_qcqp_dim.h" - - - -#ifdef __cplusplus -extern "C" { -#endif - - - -struct d_dense_qcqp_sol - { - struct d_dense_qcqp_dim *dim; - struct blasfeo_dvec *v; - struct blasfeo_dvec *pi; - struct blasfeo_dvec *lam; - struct blasfeo_dvec *t; - void *misc; - hpipm_size_t memsize; - }; - - - -// -hpipm_size_t d_dense_qcqp_sol_memsize(struct d_dense_qcqp_dim *dim); -// -void d_dense_qcqp_sol_create(struct d_dense_qcqp_dim *dim, struct d_dense_qcqp_sol *qp_sol, void *memory); -// -void d_dense_qcqp_sol_get_v(struct d_dense_qcqp_sol *qp_sol, double *v); - - - -#ifdef __cplusplus -} /* extern "C" */ -#endif - - - -#endif // HPIPM_D_DENSE_QCQP_SOL_H_ - diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_utils.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_utils.h deleted file mode 100644 index a34218bae4831a..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_d_dense_qcqp_utils.h +++ /dev/null @@ -1,82 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef HPIPM_D_DENSE_QCQP_UTILS_H_ -#define HPIPM_D_DENSE_QCQP_UTILS_H_ - - - -#include -#include - -#include "hpipm_d_dense_qcqp_dim.h" -#include "hpipm_d_dense_qcqp.h" -#include "hpipm_d_dense_qcqp_sol.h" -//#include "hpipm_d_dense_qcqp_ipm.h" - - - -#ifdef __cplusplus -extern "C" { -#endif - - - -// -void d_dense_qcqp_dim_print(struct d_dense_qcqp_dim *qp_dim); -// -//void d_dense_qcqp_dim_codegen(char *file_name, char *mode, struct d_dense_qcqp_dim *qp_dim); -// -void d_dense_qcqp_print(struct d_dense_qcqp_dim *qp_dim, struct d_dense_qcqp *qp); -// -//void d_dense_qcqp_codegen(char *file_name, char *mode, struct d_dense_qcqp_dim *qp_dim, struct d_dense_qcqp *qp); -// -void d_dense_qcqp_sol_print(struct d_dense_qcqp_dim *qp_dim, struct d_dense_qcqp_sol *dense_qcqp_sol); -// -//void d_dense_qcqp_ipm_arg_codegen(char *file_name, char *mode, struct d_dense_qcqp_dim *qp_dim, struct d_dense_qcqp_ipm_arg *arg); -// -void d_dense_qcqp_res_print(struct d_dense_qcqp_dim *qp_dim, struct d_dense_qcqp_res *dense_qcqp_res); - - - -#ifdef __cplusplus -} // #extern "C" -#endif - - - -#endif // HPIPM_D_DENSE_QCQP_UTILS_H_ - - diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qp.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qp.h deleted file mode 100644 index 02fba5a9229a21..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_d_dense_qp.h +++ /dev/null @@ -1,207 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - - - -#ifndef HPIPM_D_DENSE_QP_H_ -#define HPIPM_D_DENSE_QP_H_ - - - -#include -#include - -#include "hpipm_d_dense_qp_dim.h" - - - -#ifdef __cplusplus -extern "C" { -#endif - - - -struct d_dense_qp - { - struct d_dense_qp_dim *dim; - struct blasfeo_dmat *Hv; // hessian of cost & vector work space - struct blasfeo_dmat *A; // equality constraint matrix - struct blasfeo_dmat *Ct; // inequality constraints matrix - struct blasfeo_dvec *gz; // gradient of cost & gradient of slacks - struct blasfeo_dvec *b; // equality constraint vector - struct blasfeo_dvec *d; // inequality constraints vector - struct blasfeo_dvec *d_mask; // inequality constraints mask vector - struct blasfeo_dvec *m; // rhs of complementarity condition - struct blasfeo_dvec *Z; // (diagonal) hessian of slacks - int *idxb; // indices of box constrained variables within [u; x] - int *idxs_rev; // index of soft constraints (reverse storage) - hpipm_size_t memsize; // memory size in bytes - }; - - - -// -hpipm_size_t d_dense_qp_memsize(struct d_dense_qp_dim *dim); -// -void d_dense_qp_create(struct d_dense_qp_dim *dim, struct d_dense_qp *qp, void *memory); - -// setters - colmaj -// -void d_dense_qp_set_all(double *H, double *g, double *A, double *b, int *idxb, double *d_lb, double *d_ub, double *C, double *d_lg, double *d_ug, double *Zl, double *Zu, double *zl, double *zu, int *idxs, double *d_ls, double *d_us, struct d_dense_qp *qp); -// -void d_dense_qp_get_all(struct d_dense_qp *qp, double *H, double *g, double *A, double *b, int *idxb, double *d_lb, double *d_ub, double *C, double *d_lg, double *d_ug, double *Zl, double *Zu, double *zl, double *zu, int *idxs, double *d_ls, double *d_us); -// -void d_dense_qp_set(char *field, void *value, struct d_dense_qp *qp); -// -void d_dense_qp_set_H(double *H, struct d_dense_qp *qp); -// -void d_dense_qp_set_g(double *g, struct d_dense_qp *qp); -// -void d_dense_qp_set_A(double *A, struct d_dense_qp *qp); -// -void d_dense_qp_set_b(double *b, struct d_dense_qp *qp); -// -void d_dense_qp_set_idxb(int *idxb, struct d_dense_qp *qp); -// -void d_dense_qp_set_Jb(double *Jb, struct d_dense_qp *qp); -// -void d_dense_qp_set_lb(double *lb, struct d_dense_qp *qp); -// -void d_dense_qp_set_lb_mask(double *lb, struct d_dense_qp *qp); -// -void d_dense_qp_set_ub(double *ub, struct d_dense_qp *qp); -// -void d_dense_qp_set_ub_mask(double *ub, struct d_dense_qp *qp); -// -void d_dense_qp_set_C(double *C, struct d_dense_qp *qp); -// -void d_dense_qp_set_lg(double *lg, struct d_dense_qp *qp); -// -void d_dense_qp_set_lg_mask(double *lg, struct d_dense_qp *qp); -// -void d_dense_qp_set_ug(double *ug, struct d_dense_qp *qp); -// -void d_dense_qp_set_ug_mask(double *ug, struct d_dense_qp *qp); -// -void d_dense_qp_set_idxs(int *idxs, struct d_dense_qp *qp); -// -void d_dense_qp_set_idxs_rev(int *idxs_rev, struct d_dense_qp *qp); -// -void d_dense_qp_set_Jsb(double *Jsb, struct d_dense_qp *qp); -// -void d_dense_qp_set_Jsg(double *Jsg, struct d_dense_qp *qp); -// -void d_dense_qp_set_Zl(double *Zl, struct d_dense_qp *qp); -// -void d_dense_qp_set_Zu(double *Zu, struct d_dense_qp *qp); -// -void d_dense_qp_set_zl(double *zl, struct d_dense_qp *qp); -// -void d_dense_qp_set_zu(double *zu, struct d_dense_qp *qp); -// -void d_dense_qp_set_ls(double *ls, struct d_dense_qp *qp); -// -void d_dense_qp_set_ls_mask(double *ls, struct d_dense_qp *qp); -// -void d_dense_qp_set_us(double *us, struct d_dense_qp *qp); -// -void d_dense_qp_set_us_mask(double *us, struct d_dense_qp *qp); - -// getters - colmaj -// -void d_dense_qp_get_H(struct d_dense_qp *qp, double *H); -// -void d_dense_qp_get_g(struct d_dense_qp *qp, double *g); -// -void d_dense_qp_get_A(struct d_dense_qp *qp, double *A); -// -void d_dense_qp_get_b(struct d_dense_qp *qp, double *b); -// -void d_dense_qp_get_idxb(struct d_dense_qp *qp, int *idxb); -// -void d_dense_qp_get_lb(struct d_dense_qp *qp, double *lb); -// -void d_dense_qp_get_lb_mask(struct d_dense_qp *qp, double *lb); -// -void d_dense_qp_get_ub(struct d_dense_qp *qp, double *ub); -// -void d_dense_qp_get_ub_mask(struct d_dense_qp *qp, double *ub); -// -void d_dense_qp_get_C(struct d_dense_qp *qp, double *C); -// -void d_dense_qp_get_lg(struct d_dense_qp *qp, double *lg); -// -void d_dense_qp_get_lg_mask(struct d_dense_qp *qp, double *lg); -// -void d_dense_qp_get_ug(struct d_dense_qp *qp, double *ug); -// -void d_dense_qp_get_ug_mask(struct d_dense_qp *qp, double *ug); -// -void d_dense_qp_get_idxs(struct d_dense_qp *qp, int *idxs); -// -void d_dense_qp_get_idxs_rev(struct d_dense_qp *qp, int *idxs_rev); -// -void d_dense_qp_get_Zl(struct d_dense_qp *qp, double *Zl); -// -void d_dense_qp_get_Zu(struct d_dense_qp *qp, double *Zu); -// -void d_dense_qp_get_zl(struct d_dense_qp *qp, double *zl); -// -void d_dense_qp_get_zu(struct d_dense_qp *qp, double *zu); -// -void d_dense_qp_get_ls(struct d_dense_qp *qp, double *ls); -// -void d_dense_qp_get_ls_mask(struct d_dense_qp *qp, double *ls); -// -void d_dense_qp_get_us(struct d_dense_qp *qp, double *us); -// -void d_dense_qp_get_us_mask(struct d_dense_qp *qp, double *us); - -// setters - rowmaj -// -void d_dense_qp_set_all_rowmaj(double *H, double *g, double *A, double *b, int *idxb, double *d_lb, double *d_ub, double *C, double *d_lg, double *d_ug, double *Zl, double *Zu, double *zl, double *zu, int *idxs, double *d_ls, double *d_us, struct d_dense_qp *qp); - -// getters - rowmaj -// -void d_dense_qp_get_all_rowmaj(struct d_dense_qp *qp, double *H, double *g, double *A, double *b, int *idxb, double *d_lb, double *d_ub, double *C, double *d_lg, double *d_ug, double *Zl, double *Zu, double *zl, double *zu, int *idxs, double *d_ls, double *d_us); - - -#ifdef __cplusplus -} /* extern "C" */ -#endif - - - -#endif // HPIPM_D_DENSE_QP_H_ diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_dim.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_dim.h deleted file mode 100644 index 98a551f31258bf..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_dim.h +++ /dev/null @@ -1,92 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef HPIPM_D_DENSE_QP_DIM_H_ -#define HPIPM_D_DENSE_QP_DIM_H_ - -#include "hpipm_common.h" - -#ifdef __cplusplus -extern "C" { -#endif - - - -struct d_dense_qp_dim - { - int nv; // number of variables - int ne; // number of equality constraints - int nb; // number of box constraints - int ng; // number of general constraints - int nsb; // number of softened box constraints - int nsg; // number of softened general constraints - int ns; // number of softened constraints (nsb+nsg) - hpipm_size_t memsize; - }; - - - -// -hpipm_size_t d_dense_qp_dim_memsize(); -// -void d_dense_qp_dim_create(struct d_dense_qp_dim *qp_dim, void *memory); -// -void d_dense_qp_dim_set_all(int nv, int ne, int nb, int ng, int nsb, int nsg, struct d_dense_qp_dim *dim); -// -void d_dense_qp_dim_set(char *field_name, int value, struct d_dense_qp_dim *dim); -// -void d_dense_qp_dim_set_nv(int value, struct d_dense_qp_dim *dim); -// -void d_dense_qp_dim_set_ne(int value, struct d_dense_qp_dim *dim); -// -void d_dense_qp_dim_set_nb(int value, struct d_dense_qp_dim *dim); -// -void d_dense_qp_dim_set_ng(int value, struct d_dense_qp_dim *dim); -// -void d_dense_qp_dim_set_nsb(int value, struct d_dense_qp_dim *dim); -// -void d_dense_qp_dim_set_nsg(int value, struct d_dense_qp_dim *dim); -// -void d_dense_qp_dim_set_ns(int value, struct d_dense_qp_dim *dim); - - - -#ifdef __cplusplus -} // #extern "C" -#endif - - - -#endif // HPIPM_D_DENSE_QP_DIM_H_ diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_ipm.h deleted file mode 100644 index e6e5d5d9b5b89a..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_ipm.h +++ /dev/null @@ -1,260 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - - - -#ifndef HPIPM_D_DENSE_QP_IPM_H_ -#define HPIPM_D_DENSE_QP_IPM_H_ - - - -#include -#include - -#include -#include -#include -#include -#include - - - -#ifdef __cplusplus -extern "C" { -#endif - - - -struct d_dense_qp_ipm_arg - { - double mu0; // initial value for duality measure - double alpha_min; // exit cond on step length - double res_g_max; // exit cond on inf norm of residuals - double res_b_max; // exit cond on inf norm of residuals - double res_d_max; // exit cond on inf norm of residuals - double res_m_max; // exit cond on inf norm of residuals - double reg_prim; // reg of primal hessian - double reg_dual; // reg of dual hessian - double lam_min; // min value in lam vector - double t_min; // min value in t vector - double tau_min; // min value of barrier parameter - int iter_max; // exit cond in iter number - int stat_max; // iterations saved in stat - int pred_corr; // Mehrotra's predictor-corrector IPM algirthm - int cond_pred_corr; // conditional Mehrotra's predictor-corrector - int scale; // scale hessian - int itref_pred_max; // max number of iterative refinement steps for predictor step - int itref_corr_max; // max number of iterative refinement steps for corrector step - int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol - int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq - int abs_form; // absolute IPM formulation - int comp_res_exit; // compute residuals on exit (only for abs_form==1) - int comp_res_pred; // compute residuals of prediction - int kkt_fact_alg; // 0 null-space, 1 schur-complement - int remove_lin_dep_eq; // 0 do not, 1 do check and remove linearly dependent equality constraints - int compute_obj; // compute obj on exit - int split_step; // use different steps for primal and dual variables - int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution - int mode; - hpipm_size_t memsize; - }; - - - -struct d_dense_qp_ipm_ws - { - struct d_core_qp_ipm_workspace *core_workspace; - struct d_dense_qp_res_ws *res_ws; - struct d_dense_qp_sol *sol_step; - struct d_dense_qp_sol *sol_itref; - struct d_dense_qp *qp_step; - struct d_dense_qp *qp_itref; - struct d_dense_qp_res *res; - struct d_dense_qp_res *res_itref; - struct d_dense_qp_res *res_step; - struct blasfeo_dvec *Gamma; // - struct blasfeo_dvec *gamma; // - struct blasfeo_dvec *Zs_inv; // - struct blasfeo_dmat *Lv; // - struct blasfeo_dmat *AL; // - struct blasfeo_dmat *Le; // - struct blasfeo_dmat *Ctx; // - struct blasfeo_dvec *lv; // - struct blasfeo_dvec *sv; // scale for Lv - struct blasfeo_dvec *se; // scale for Le - struct blasfeo_dvec *tmp_nbg; // work space of size nb+ng - struct blasfeo_dvec *tmp_ns; // work space of size ns - struct blasfeo_dmat *lq0; - struct blasfeo_dmat *lq1; - struct blasfeo_dvec *tmp_m; - struct blasfeo_dmat *A_LQ; - struct blasfeo_dmat *A_Q; - struct blasfeo_dmat *Zt; - struct blasfeo_dmat *ZtH; - struct blasfeo_dmat *ZtHZ; - struct blasfeo_dvec *xy; - struct blasfeo_dvec *Yxy; - struct blasfeo_dvec *xz; - struct blasfeo_dvec *tmp_nv; - struct blasfeo_dvec *tmp_2ns; - struct blasfeo_dvec *tmp_nv2ns; - struct blasfeo_dmat *A_li; // A of linearly independent equality constraints - struct blasfeo_dvec *b_li; // b of linearly independent equality constraints - struct blasfeo_dmat *A_bkp; // pointer to backup A - struct blasfeo_dvec *b_bkp; // pointer to backup b - struct blasfeo_dmat *Ab_LU; - double *stat; // convergence statistics - int *ipiv_v; - int *ipiv_e; - int *ipiv_e1; - void *lq_work0; - void *lq_work1; - void *lq_work_null; - void *orglq_work_null; - int iter; // iteration number - int stat_max; // iterations saved in stat - int stat_m; // numer of recorded stat per ipm iter - int scale; - int use_hess_fact; - int use_A_fact; - int status; - int lq_fact; // cache from arg - int mask_constr; // use constr mask - int ne_li; // number of linearly independent equality constraints - int ne_bkp; // ne backup - hpipm_size_t memsize; // memory size (in bytes) of workspace - }; - - - -// -hpipm_size_t d_dense_qp_ipm_arg_memsize(struct d_dense_qp_dim *dim); -// -void d_dense_qp_ipm_arg_create(struct d_dense_qp_dim *dim, struct d_dense_qp_ipm_arg *arg, void *mem); -// -void d_dense_qp_ipm_arg_set_default(enum hpipm_mode mode, struct d_dense_qp_ipm_arg *arg); -// -void d_dense_qp_ipm_arg_set(char *field, void *value, struct d_dense_qp_ipm_arg *arg); -// -void d_dense_qp_ipm_arg_set_iter_max(int *iter_max, struct d_dense_qp_ipm_arg *arg); -// -void d_dense_qp_ipm_arg_set_alpha_min(double *alpha_min, struct d_dense_qp_ipm_arg *arg); -// -void d_dense_qp_ipm_arg_set_mu0(double *mu0, struct d_dense_qp_ipm_arg *arg); -// -void d_dense_qp_ipm_arg_set_tol_stat(double *tol_stat, struct d_dense_qp_ipm_arg *arg); -// -void d_dense_qp_ipm_arg_set_tol_eq(double *tol_eq, struct d_dense_qp_ipm_arg *arg); -// -void d_dense_qp_ipm_arg_set_tol_ineq(double *tol_ineq, struct d_dense_qp_ipm_arg *arg); -// -void d_dense_qp_ipm_arg_set_tol_comp(double *tol_comp, struct d_dense_qp_ipm_arg *arg); -// -void d_dense_qp_ipm_arg_set_reg_prim(double *reg, struct d_dense_qp_ipm_arg *arg); -// -void d_dense_qp_ipm_arg_set_reg_dual(double *reg, struct d_dense_qp_ipm_arg *arg); -// -void d_dense_qp_ipm_arg_set_warm_start(int *warm_start, struct d_dense_qp_ipm_arg *arg); -// -void d_dense_qp_ipm_arg_set_pred_corr(int *pred_corr, struct d_dense_qp_ipm_arg *arg); -// -void d_dense_qp_ipm_arg_set_cond_pred_corr(int *cond_pred_corr, struct d_dense_qp_ipm_arg *arg); -// -void d_dense_qp_ipm_arg_set_comp_res_pred(int *comp_res_pred, struct d_dense_qp_ipm_arg *arg); -// -void d_dense_qp_ipm_arg_set_comp_res_exit(int *comp_res_exit, struct d_dense_qp_ipm_arg *arg); -// -void d_dense_qp_ipm_arg_set_lam_min(double *value, struct d_dense_qp_ipm_arg *arg); -// -void d_dense_qp_ipm_arg_set_t_min(double *value, struct d_dense_qp_ipm_arg *arg); -// -void d_dense_qp_ipm_arg_set_tau_min(double *value, struct d_dense_qp_ipm_arg *arg); -// -void d_dense_qp_ipm_arg_set_kkt_fact_alg(int *value, struct d_dense_qp_ipm_arg *arg); -// -void d_dense_qp_ipm_arg_set_remove_lin_dep_eq(int *value, struct d_dense_qp_ipm_arg *arg); -// -void d_dense_qp_ipm_arg_set_compute_obj(int *value, struct d_dense_qp_ipm_arg *arg); -// -void d_dense_qp_ipm_arg_set_t_lam_min(int *value, struct d_dense_qp_ipm_arg *arg); - -// -void d_dense_qp_ipm_arg_set_split_step(int *value, struct d_dense_qp_ipm_arg *arg); - -// -hpipm_size_t d_dense_qp_ipm_ws_memsize(struct d_dense_qp_dim *qp_dim, struct d_dense_qp_ipm_arg *arg); -// -void d_dense_qp_ipm_ws_create(struct d_dense_qp_dim *qp_dim, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws, void *mem); -// -void d_dense_qp_ipm_get(char *field, struct d_dense_qp_ipm_ws *ws, void *value); -// -void d_dense_qp_ipm_get_status(struct d_dense_qp_ipm_ws *ws, int *status); -// -void d_dense_qp_ipm_get_iter(struct d_dense_qp_ipm_ws *ws, int *iter); -// -void d_dense_qp_ipm_get_max_res_stat(struct d_dense_qp_ipm_ws *ws, double *res_stat); -// -void d_dense_qp_ipm_get_max_res_eq(struct d_dense_qp_ipm_ws *ws, double *res_eq); -// -void d_dense_qp_ipm_get_max_res_ineq(struct d_dense_qp_ipm_ws *ws, double *res_ineq); -// -void d_dense_qp_ipm_get_max_res_comp(struct d_dense_qp_ipm_ws *ws, double *res_comp); -// -void d_dense_qp_ipm_get_stat(struct d_dense_qp_ipm_ws *ws, double **stat); -// -void d_dense_qp_ipm_get_stat_m(struct d_dense_qp_ipm_ws *ws, int *stat_m); -// -void d_dense_qp_init_var(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws); -// -void d_dense_qp_ipm_abs_step(int kk, struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws); -// -void d_dense_qp_ipm_delta_step(int kk, struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws); -// -void d_dense_qp_ipm_solve(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws); -// -void d_dense_qp_ipm_predict(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws); -// -void d_dense_qp_ipm_sens(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws); -// -void d_dense_qp_compute_step_length(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws); - - -#ifdef __cplusplus -} /* extern "C" */ -#endif - - - -#endif // HPIPM_D_DENSE_QP_IPM_H_ diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_kkt.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_kkt.h deleted file mode 100644 index 6d05779f4bab57..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_kkt.h +++ /dev/null @@ -1,72 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - - - -#ifndef HPIPM_D_DENSE_QP_KKT_H_ -#define HPIPM_D_DENSE_QP_KKT_H_ - - - -#ifdef __cplusplus -extern "C" { -#endif - - - -// -void d_fact_solve_kkt_unconstr_dense_qp(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws); -// -void d_fact_solve_kkt_step_dense_qp(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws); -// -void d_fact_lq_solve_kkt_step_dense_qp(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws); -// -void d_solve_kkt_step_dense_qp(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws); -// -void d_dense_qp_remove_lin_dep_eq(struct d_dense_qp *qp, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws); -// -void d_dense_qp_restore_lin_dep_eq(struct d_dense_qp *qp, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws); -// -void d_dense_qp_compute_obj(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_ipm_arg *arg, struct d_dense_qp_ipm_ws *ws); - - - -#ifdef __cplusplus -} /* extern "C" */ -#endif - - - -#endif // HPIPM_D_DENSE_QP_KKT_H_ diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_res.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_res.h deleted file mode 100644 index 7c2023257a3c18..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_res.h +++ /dev/null @@ -1,105 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef HPIPM_D_DENSE_QP_RES_H_ -#define HPIPM_D_DENSE_QP_RES_H_ - - - -#include -#include - -#include -#include -#include - - - -#ifdef __cplusplus -extern "C" { -#endif - - - -struct d_dense_qp_res - { - struct d_dense_qp_dim *dim; - struct blasfeo_dvec *res_g; // q-residuals - struct blasfeo_dvec *res_b; // b-residuals - struct blasfeo_dvec *res_d; // d-residuals - struct blasfeo_dvec *res_m; // m-residuals - double res_max[4]; // max of residuals - double res_mu; // mu-residual - hpipm_size_t memsize; - }; - - - -struct d_dense_qp_res_ws - { - struct blasfeo_dvec *tmp_nbg; // work space of size nbM+ngM - struct blasfeo_dvec *tmp_ns; // work space of size nsM - hpipm_size_t memsize; - }; - - - -// -hpipm_size_t d_dense_qp_res_memsize(struct d_dense_qp_dim *dim); -// -void d_dense_qp_res_create(struct d_dense_qp_dim *dim, struct d_dense_qp_res *res, void *mem); -// -hpipm_size_t d_dense_qp_res_ws_memsize(struct d_dense_qp_dim *dim); -// -void d_dense_qp_res_ws_create(struct d_dense_qp_dim *dim, struct d_dense_qp_res_ws *workspace, void *mem); -// -void d_dense_qp_res_compute(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_res *res, struct d_dense_qp_res_ws *ws); -// -void d_dense_qp_res_compute_lin(struct d_dense_qp *qp, struct d_dense_qp_sol *qp_sol, struct d_dense_qp_sol *qp_step, struct d_dense_qp_res *res, struct d_dense_qp_res_ws *ws); -// -void d_dense_qp_res_compute_inf_norm(struct d_dense_qp_res *res); -// -void d_dense_qp_res_get_all(struct d_dense_qp_res *res, double *res_g, double *res_ls, double *res_us, double *res_b, double *res_d_lb, double *res_d_ub, double *res_d_lg, double *res_d_ug, double *res_d_ls, double *res_d_us, double *res_m_lb, double *res_m_ub, double *res_m_lg, double *res_m_ug, double *res_m_ls, double *res_m_us); - - - -#ifdef __cplusplus -} // #extern "C" -#endif - - -#endif // HPIPM_D_DENSE_QP_RES_H_ - - diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_sol.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_sol.h deleted file mode 100644 index aaa3fdb0e4904a..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_sol.h +++ /dev/null @@ -1,94 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - - - -#ifndef HPIPM_D_DENSE_QP_SOL_H_ -#define HPIPM_D_DENSE_QP_SOL_H_ - - - -#include -#include - -#include "hpipm_d_dense_qp_dim.h" - - - -#ifdef __cplusplus -extern "C" { -#endif - - - -struct d_dense_qp_sol - { - struct d_dense_qp_dim *dim; - struct blasfeo_dvec *v; - struct blasfeo_dvec *pi; - struct blasfeo_dvec *lam; - struct blasfeo_dvec *t; - void *misc; - double obj; - int valid_obj; - hpipm_size_t memsize; - }; - - - -// -hpipm_size_t d_dense_qp_sol_memsize(struct d_dense_qp_dim *dim); -// -void d_dense_qp_sol_create(struct d_dense_qp_dim *dim, struct d_dense_qp_sol *qp_sol, void *memory); -// -void d_dense_qp_sol_get_all(struct d_dense_qp_sol *qp_sol, double *v, double *ls, double *us, double *pi, double *lam_lb, double *lam_ub, double *lam_lg, double *lam_ug, double *lam_ls, double *lam_us); -// -void d_dense_qp_sol_get(char *field, struct d_dense_qp_sol *sol, void *value); -// -void d_dense_qp_sol_get_v(struct d_dense_qp_sol *sol, double *v); -// -void d_dense_qp_sol_get_valid_obj(struct d_dense_qp_sol *sol, int *valid_obj); -// -void d_dense_qp_sol_get_obj(struct d_dense_qp_sol *sol, double *obj); - - - -#ifdef __cplusplus -} /* extern "C" */ -#endif - - - -#endif // HPIPM_D_DENSE_QP_SOL_H_ diff --git a/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_utils.h b/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_utils.h deleted file mode 100644 index ccb77aaca3cee7..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_d_dense_qp_utils.h +++ /dev/null @@ -1,83 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef HPIPM_D_DENSE_QP_UTILS_H_ -#define HPIPM_D_DENSE_QP_UTILS_H_ - - - -#include -#include - -#include "hpipm_d_dense_qp_dim.h" -#include "hpipm_d_dense_qp.h" -#include "hpipm_d_dense_qp_sol.h" -#include "hpipm_d_dense_qp_ipm.h" - - - -#ifdef __cplusplus -extern "C" { -#endif - - - -// -void d_dense_qp_dim_print(struct d_dense_qp_dim *qp_dim); -// -//void d_dense_qp_dim_codegen(char *file_name, char *mode, struct d_dense_qp_dim *qp_dim); -// -void d_dense_qp_print(struct d_dense_qp_dim *qp_dim, struct d_dense_qp *qp); -// -//void d_dense_qp_codegen(char *file_name, char *mode, struct d_dense_qp_dim *qp_dim, struct d_dense_qp *qp); -// -void d_dense_qp_sol_print(struct d_dense_qp_dim *qp_dim, struct d_dense_qp_sol *dense_qp_sol); -// -//void d_dense_qp_ipm_arg_codegen(char *file_name, char *mode, struct d_dense_qp_dim *qp_dim, struct d_dense_qp_ipm_arg *arg); -// -void d_dense_qp_res_print(struct d_dense_qp_dim *qp_dim, struct d_dense_qp_res *dense_qp_res); -// -void d_dense_qp_arg_print(struct d_dense_qp_dim *qp_dim, struct d_dense_qp_ipm_arg *qp_ipm_arg); - - - -#ifdef __cplusplus -} // #extern "C" -#endif - - - -#endif // HPIPM_D_DENSE_QP_UTILS_H_ - diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp.h deleted file mode 100644 index 240c9b04be7578..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp.h +++ /dev/null @@ -1,303 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef HPIPM_D_OCP_QCQP_H_ -#define HPIPM_D_OCP_QCQP_H_ - - - -#include -#include - -#include "hpipm_d_ocp_qcqp_dim.h" - - - -#ifdef __cplusplus -extern "C" { -#endif - - - -struct d_ocp_qcqp - { - struct d_ocp_qcqp_dim *dim; - struct blasfeo_dmat *BAbt; // dynamics matrix & vector work space - struct blasfeo_dmat *RSQrq; // hessian of cost & vector work space - struct blasfeo_dmat *DCt; // inequality constraints matrix - struct blasfeo_dmat **Hq; // hessians of quadratic constraints - struct blasfeo_dvec *b; // dynamics vector - struct blasfeo_dvec *rqz; // gradient of cost & gradient of slacks - struct blasfeo_dvec *d; // inequality constraints vector - struct blasfeo_dvec *d_mask; // inequality constraints mask vector - struct blasfeo_dvec *m; // rhs of complementarity condition - struct blasfeo_dvec *Z; // (diagonal) hessian of slacks - int **idxb; // indices of box constrained variables within [u; x] - int **idxs_rev; // index of soft constraints (reverse storage) - int **Hq_nzero; // for each int, the last 3 bits ...abc, {a,b,c}=0 => {R,S,Q}=0 - hpipm_size_t memsize; // memory size in bytes - }; - - - -// -hpipm_size_t d_ocp_qcqp_strsize(); -// -hpipm_size_t d_ocp_qcqp_memsize(struct d_ocp_qcqp_dim *dim); -// -void d_ocp_qcqp_create(struct d_ocp_qcqp_dim *dim, struct d_ocp_qcqp *qp, void *memory); -// -void d_ocp_qcqp_copy_all(struct d_ocp_qcqp *qp_orig, struct d_ocp_qcqp *qp_dest); - -// setters -// -void d_ocp_qcqp_set_all_zero(struct d_ocp_qcqp *qp); -// -void d_ocp_qcqp_set_rhs_zero(struct d_ocp_qcqp *qp); -// -void d_ocp_qcqp_set(char *field_name, int stage, void *value, struct d_ocp_qcqp *qp); -// -void d_ocp_qcqp_set_el(char *field_name, int stage, int index, void *value, struct d_ocp_qcqp *qp); -// -void d_ocp_qcqp_set_A(int stage, double *mat, struct d_ocp_qcqp *qp); -// -void d_ocp_qcqp_set_B(int stage, double *mat, struct d_ocp_qcqp *qp); -// -void d_ocp_qcqp_set_b(int stage, double *vec, struct d_ocp_qcqp *qp); -// -void d_ocp_qcqp_set_Q(int stage, double *mat, struct d_ocp_qcqp *qp); -// -void d_ocp_qcqp_set_S(int stage, double *mat, struct d_ocp_qcqp *qp); -// -void d_ocp_qcqp_set_R(int stage, double *mat, struct d_ocp_qcqp *qp); -// -void d_ocp_qcqp_set_q(int stage, double *vec, struct d_ocp_qcqp *qp); -// -void d_ocp_qcqp_set_r(int stage, double *vec, struct d_ocp_qcqp *qp); -// -void d_ocp_qcqp_set_lb(int stage, double *vec, struct d_ocp_qcqp *qp); -// -void d_ocp_qcqp_set_lb_mask(int stage, double *vec, struct d_ocp_qcqp *qp); -// -void d_ocp_qcqp_set_ub(int stage, double *vec, struct d_ocp_qcqp *qp); -// -void d_ocp_qcqp_set_ub_mask(int stage, double *vec, struct d_ocp_qcqp *qp); -// -void d_ocp_qcqp_set_lbx(int stage, double *vec, struct d_ocp_qcqp *qp); -// -void d_ocp_qcqp_set_lbx_mask(int stage, double *vec, struct d_ocp_qcqp *qp); -// -void d_ocp_qcqp_set_el_lbx(int stage, int index, double *elem, struct d_ocp_qcqp *qp); -// -void d_ocp_qcqp_set_ubx(int stage, double *vec, struct d_ocp_qcqp *qp); -// -void d_ocp_qcqp_set_ubx_mask(int stage, double *vec, struct d_ocp_qcqp *qp); -// -void d_ocp_qcqp_set_el_ubx(int stage, int index, double *elem, struct d_ocp_qcqp *qp); -// -void d_ocp_qcqp_set_lbu(int stage, double *vec, struct d_ocp_qcqp *qp); -// -void d_ocp_qcqp_set_lbu_mask(int stage, double *vec, struct d_ocp_qcqp *qp); -// -void d_ocp_qcqp_set_ubu(int stage, double *vec, struct d_ocp_qcqp *qp); -// -void d_ocp_qcqp_set_ubu_mask(int stage, double *vec, struct d_ocp_qcqp *qp); -// -void d_ocp_qcqp_set_idxb(int stage, int *vec, struct d_ocp_qcqp *qp); -// -void d_ocp_qcqp_set_idxbx(int stage, int *vec, struct d_ocp_qcqp *qp); -// -void d_ocp_qcqp_set_Jbx(int stage, double *vec, struct d_ocp_qcqp *qp); -// -void d_ocp_qcqp_set_idxbu(int stage, int *vec, struct d_ocp_qcqp *qp); -// -void d_ocp_qcqp_set_Jbu(int stage, double *vec, struct d_ocp_qcqp *qp); -// -void d_ocp_qcqp_set_C(int stage, double *mat, struct d_ocp_qcqp *qp); -// -void d_ocp_qcqp_set_D(int stage, double *mat, struct d_ocp_qcqp *qp); -// -void d_ocp_qcqp_set_lg(int stage, double *vec, struct d_ocp_qcqp *qp); -// -void d_ocp_qcqp_set_lg_mask(int stage, double *vec, struct d_ocp_qcqp *qp); -// -void d_ocp_qcqp_set_ug(int stage, double *vec, struct d_ocp_qcqp *qp); -// -void d_ocp_qcqp_set_ug_mask(int stage, double *vec, struct d_ocp_qcqp *qp); -// -void d_ocp_qcqp_set_Qq(int stage, double *mat, struct d_ocp_qcqp *qp); -// -void d_ocp_qcqp_set_Sq(int stage, double *mat, struct d_ocp_qcqp *qp); -// -void d_ocp_qcqp_set_Rq(int stage, double *mat, struct d_ocp_qcqp *qp); -// -void d_ocp_qcqp_set_qq(int stage, double *vec, struct d_ocp_qcqp *qp); -// -void d_ocp_qcqp_set_rq(int stage, double *vec, struct d_ocp_qcqp *qp); -// -void d_ocp_qcqp_set_uq(int stage, double *vec, struct d_ocp_qcqp *qp); -// -void d_ocp_qcqp_set_uq_mask(int stage, double *vec, struct d_ocp_qcqp *qp); -// -void d_ocp_qcqp_set_Zl(int stage, double *vec, struct d_ocp_qcqp *qp); -// -void d_ocp_qcqp_set_Zu(int stage, double *vec, struct d_ocp_qcqp *qp); -// -void d_ocp_qcqp_set_zl(int stage, double *vec, struct d_ocp_qcqp *qp); -// -void d_ocp_qcqp_set_zu(int stage, double *vec, struct d_ocp_qcqp *qp); -// -void d_ocp_qcqp_set_lls(int stage, double *vec, struct d_ocp_qcqp *qp); -// -void d_ocp_qcqp_set_lls_mask(int stage, double *vec, struct d_ocp_qcqp *qp); -// -void d_ocp_qcqp_set_lus(int stage, double *vec, struct d_ocp_qcqp *qp); -// -void d_ocp_qcqp_set_lus_mask(int stage, double *vec, struct d_ocp_qcqp *qp); -// -void d_ocp_qcqp_set_idxs(int stage, int *vec, struct d_ocp_qcqp *qp); -// -void d_ocp_qcqp_set_idxs_rev(int stage, int *vec, struct d_ocp_qcqp *qp); -// -void d_ocp_qcqp_set_Jsbu(int stage, double *vec, struct d_ocp_qcqp *qp); -// -void d_ocp_qcqp_set_Jsbx(int stage, double *vec, struct d_ocp_qcqp *qp); -// -void d_ocp_qcqp_set_Jsg(int stage, double *vec, struct d_ocp_qcqp *qp); -// -void d_ocp_qcqp_set_Jsq(int stage, double *vec, struct d_ocp_qcqp *qp); - -// getters -// -void d_ocp_qcqp_get(char *field, int stage, struct d_ocp_qcqp *qp, void *value); -// -void d_ocp_qcqp_get_A(int stage, struct d_ocp_qcqp *qp, double *mat); -// -void d_ocp_qcqp_get_B(int stage, struct d_ocp_qcqp *qp, double *mat); -// -void d_ocp_qcqp_get_b(int stage, struct d_ocp_qcqp *qp, double *vec); -// -void d_ocp_qcqp_get_Q(int stage, struct d_ocp_qcqp *qp, double *mat); -// -void d_ocp_qcqp_get_S(int stage, struct d_ocp_qcqp *qp, double *mat); -// -void d_ocp_qcqp_get_R(int stage, struct d_ocp_qcqp *qp, double *mat); -// -void d_ocp_qcqp_get_q(int stage, struct d_ocp_qcqp *qp, double *vec); -// -void d_ocp_qcqp_get_r(int stage, struct d_ocp_qcqp *qp, double *vec); -// -void d_ocp_qcqp_get_ub(int stage, struct d_ocp_qcqp *qp, double *vec); -// -void d_ocp_qcqp_get_ub_mask(int stage, struct d_ocp_qcqp *qp, double *vec); -// -void d_ocp_qcqp_get_lb(int stage, struct d_ocp_qcqp *qp, double *vec); -// -void d_ocp_qcqp_get_lb_mask(int stage, struct d_ocp_qcqp *qp, double *vec); -// -void d_ocp_qcqp_get_lbx(int stage, struct d_ocp_qcqp *qp, double *vec); -// -void d_ocp_qcqp_get_lbx_mask(int stage, struct d_ocp_qcqp *qp, double *vec); -// -void d_ocp_qcqp_get_ubx(int stage, struct d_ocp_qcqp *qp, double *vec); -// -void d_ocp_qcqp_get_ubx_mask(int stage, struct d_ocp_qcqp *qp, double *vec); -// -void d_ocp_qcqp_get_lbu(int stage, struct d_ocp_qcqp *qp, double *vec); -// -void d_ocp_qcqp_get_lbu_mask(int stage, struct d_ocp_qcqp *qp, double *vec); -// -void d_ocp_qcqp_get_ubu(int stage, struct d_ocp_qcqp *qp, double *vec); -// -void d_ocp_qcqp_get_ubu_mask(int stage, struct d_ocp_qcqp *qp, double *vec); -// -void d_ocp_qcqp_get_idxb(int stage, struct d_ocp_qcqp *qp, int *vec); -// -//void d_ocp_qcqp_get_idxbx(int stage, struct d_ocp_qcqp *qp, int *vec); -// -//void d_ocp_qcqp_get_Jbx(int stage, struct d_ocp_qcqp *qp, double *vec); -// -//void d_ocp_qcqp_get_idxbu(int stage, struct d_ocp_qcqp *qp, int *vec); -// -//void d_ocp_qcqp_get_Jbu(int stage, struct d_ocp_qcqp *qp, double *vec); -// -void d_ocp_qcqp_get_C(int stage, struct d_ocp_qcqp *qp, double *mat); -// -void d_ocp_qcqp_get_D(int stage, struct d_ocp_qcqp *qp, double *mat); -// -void d_ocp_qcqp_get_lg(int stage, struct d_ocp_qcqp *qp, double *vec); -// -void d_ocp_qcqp_get_lg_mask(int stage, struct d_ocp_qcqp *qp, double *vec); -// -void d_ocp_qcqp_get_ug(int stage, struct d_ocp_qcqp *qp, double *vec); -// -void d_ocp_qcqp_get_ug_mask(int stage, struct d_ocp_qcqp *qp, double *vec); -// -void d_ocp_qcqp_get_Zl(int stage, struct d_ocp_qcqp *qp, double *vec); -// -void d_ocp_qcqp_get_Zu(int stage, struct d_ocp_qcqp *qp, double *vec); -// -void d_ocp_qcqp_get_zl(int stage, struct d_ocp_qcqp *qp, double *vec); -// -void d_ocp_qcqp_get_zu(int stage, struct d_ocp_qcqp *qp, double *vec); -// -void d_ocp_qcqp_get_lls(int stage, struct d_ocp_qcqp *qp, double *vec); -// -void d_ocp_qcqp_get_lls_mask(int stage, struct d_ocp_qcqp *qp, double *vec); -// -void d_ocp_qcqp_get_lus(int stage, struct d_ocp_qcqp *qp, double *vec); -// -void d_ocp_qcqp_get_lus_mask(int stage, struct d_ocp_qcqp *qp, double *vec); -// XXX only valid if there is one slack per softed constraint !!! -void d_ocp_qcqp_get_idxs(int stage, struct d_ocp_qcqp *qp, int *vec); -// -void d_ocp_qcqp_get_idxs_rev(int stage, struct d_ocp_qcqp *qp, int *vec); -// -//void d_ocp_qcqp_get_Jsbu(int stage, struct d_ocp_qcqp *qp, float *vec); -// -//void d_ocp_qcqp_get_Jsbx(int stage, struct d_ocp_qcqp *qp, float *vec); -// -//void d_ocp_qcqp_get_Jsg(int stage, struct d_ocp_qcqp *qp, float *vec); - - - -#ifdef __cplusplus -} // #extern "C" -#endif - - - -#endif // HPIPM_D_OCP_QCQP_H_ - diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_dim.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_dim.h deleted file mode 100644 index 268628a2b2bfc5..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_dim.h +++ /dev/null @@ -1,118 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef HPIPM_D_OCP_QCQP_DIM_H_ -#define HPIPM_D_OCP_QCQP_DIM_H_ - -#include "hpipm_common.h" - -#ifdef __cplusplus -extern "C" { -#endif - - - -struct d_ocp_qcqp_dim - { - struct d_ocp_qp_dim *qp_dim; // dim of qp approximation - int *nx; // number of states - int *nu; // number of inputs - int *nb; // number of box constraints - int *nbx; // number of (two-sided) state box constraints - int *nbu; // number of (two-sided) input box constraints - int *ng; // number of (two-sided) general constraints - int *nq; // number of (upper) quadratic constraints - int *ns; // number of soft constraints - int *nsbx; // number of (two-sided) soft state box constraints - int *nsbu; // number of (two-sided) soft input box constraints - int *nsg; // number of (two-sided) soft general constraints - int *nsq; // number of (upper) soft quadratic constraints - int N; // horizon length - hpipm_size_t memsize; - }; - - - -// -hpipm_size_t d_ocp_qcqp_dim_strsize(); -// -hpipm_size_t d_ocp_qcqp_dim_memsize(int N); -// -void d_ocp_qcqp_dim_create(int N, struct d_ocp_qcqp_dim *qp_dim, void *memory); -// -void d_ocp_qcqp_dim_copy_all(struct d_ocp_qcqp_dim *dim_orig, struct d_ocp_qcqp_dim *dim_dest); -// -void d_ocp_qcqp_dim_set(char *field, int stage, int value, struct d_ocp_qcqp_dim *dim); -// -void d_ocp_qcqp_dim_set_nx(int stage, int value, struct d_ocp_qcqp_dim *dim); -// -void d_ocp_qcqp_dim_set_nu(int stage, int value, struct d_ocp_qcqp_dim *dim); -// -void d_ocp_qcqp_dim_set_nbx(int stage, int value, struct d_ocp_qcqp_dim *dim); -// -void d_ocp_qcqp_dim_set_nbu(int stage, int value, struct d_ocp_qcqp_dim *dim); -// -void d_ocp_qcqp_dim_set_ng(int stage, int value, struct d_ocp_qcqp_dim *dim); -// -void d_ocp_qcqp_dim_set_nq(int stage, int value, struct d_ocp_qcqp_dim *dim); -// -void d_ocp_qcqp_dim_set_ns(int stage, int value, struct d_ocp_qcqp_dim *dim); -// -void d_ocp_qcqp_dim_set_nsbx(int stage, int value, struct d_ocp_qcqp_dim *dim); -// -void d_ocp_qcqp_dim_set_nsbu(int stage, int value, struct d_ocp_qcqp_dim *dim); -// -void d_ocp_qcqp_dim_set_nsg(int stage, int value, struct d_ocp_qcqp_dim *dim); -// -void d_ocp_qcqp_dim_set_nsq(int stage, int value, struct d_ocp_qcqp_dim *dim); -// -void d_ocp_qcqp_dim_get(struct d_ocp_qcqp_dim *dim, char *field, int stage, int *value); -// -void d_ocp_qcqp_dim_get_N(struct d_ocp_qcqp_dim *dim, int *value); -// -void d_ocp_qcqp_dim_get_nx(struct d_ocp_qcqp_dim *dim, int stage, int *value); -// -void d_ocp_qcqp_dim_get_nu(struct d_ocp_qcqp_dim *dim, int stage, int *value); - - - -#ifdef __cplusplus -} // #extern "C" -#endif - - - -#endif // HPIPM_D_OCP_QCQP_DIM_H_ - diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_ipm.h deleted file mode 100644 index 99f2329dcc3f16..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_ipm.h +++ /dev/null @@ -1,190 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef HPIPM_D_OCP_QCQP_IPM_H_ -#define HPIPM_D_OCP_QCQP_IPM_H_ - - - -#include -#include - -#include -#include -#include -#include -#include - - - -#ifdef __cplusplus -extern "C" { -#endif - - - -struct d_ocp_qcqp_ipm_arg - { - struct d_ocp_qp_ipm_arg *qp_arg; - double mu0; // initial value for complementarity slackness - double alpha_min; // exit cond on step length - double res_g_max; // exit cond on inf norm of residuals - double res_b_max; // exit cond on inf norm of residuals - double res_d_max; // exit cond on inf norm of residuals - double res_m_max; // exit cond on inf norm of residuals - double reg_prim; // reg of primal hessian - double lam_min; // min value in lam vector - double t_min; // min value in t vector - int iter_max; // exit cond in iter number - int stat_max; // iterations saved in stat - int pred_corr; // use Mehrotra's predictor-corrector IPM algirthm - int cond_pred_corr; // conditional Mehrotra's predictor-corrector - int itref_pred_max; // max number of iterative refinement steps for predictor step - int itref_corr_max; // max number of iterative refinement steps for corrector step - int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol - int square_root_alg; // 0 classical Riccati, 1 square-root Riccati - int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq (for square_root_alg==1) - int abs_form; // absolute IPM formulation - int comp_dual_sol_eq; // dual solution of equality constrains (only for abs_form==1) - int comp_res_exit; // compute residuals on exit (only for abs_form==1 and comp_dual_sol_eq==1) - int comp_res_pred; // compute residuals of prediction - int split_step; // use different step for primal and dual variables - int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution - int mode; - hpipm_size_t memsize; - }; - - - -struct d_ocp_qcqp_ipm_ws - { - struct d_ocp_qp_ipm_ws *qp_ws; - struct d_ocp_qp *qp; - struct d_ocp_qp_sol *qp_sol; - struct d_ocp_qcqp_res_ws *qcqp_res_ws; - struct d_ocp_qcqp_res *qcqp_res; - struct blasfeo_dvec *tmp_nuxM; - int iter; // iteration number - int status; - hpipm_size_t memsize; - }; - - - -// -hpipm_size_t d_ocp_qcqp_ipm_arg_strsize(); -// -hpipm_size_t d_ocp_qcqp_ipm_arg_memsize(struct d_ocp_qcqp_dim *ocp_dim); -// -void d_ocp_qcqp_ipm_arg_create(struct d_ocp_qcqp_dim *ocp_dim, struct d_ocp_qcqp_ipm_arg *arg, void *mem); -// -void d_ocp_qcqp_ipm_arg_set_default(enum hpipm_mode mode, struct d_ocp_qcqp_ipm_arg *arg); -// -void d_ocp_qcqp_ipm_arg_set(char *field, void *value, struct d_ocp_qcqp_ipm_arg *arg); -// set maximum number of iterations -void d_ocp_qcqp_ipm_arg_set_iter_max(int *value, struct d_ocp_qcqp_ipm_arg *arg); -// set minimum step lenght -void d_ocp_qcqp_ipm_arg_set_alpha_min(double *value, struct d_ocp_qcqp_ipm_arg *arg); -// set initial value of barrier parameter -void d_ocp_qcqp_ipm_arg_set_mu0(double *value, struct d_ocp_qcqp_ipm_arg *arg); -// set exit tolerance on stationarity condition -void d_ocp_qcqp_ipm_arg_set_tol_stat(double *value, struct d_ocp_qcqp_ipm_arg *arg); -// set exit tolerance on equality constr -void d_ocp_qcqp_ipm_arg_set_tol_eq(double *value, struct d_ocp_qcqp_ipm_arg *arg); -// set exit tolerance on inequality constr -void d_ocp_qcqp_ipm_arg_set_tol_ineq(double *value, struct d_ocp_qcqp_ipm_arg *arg); -// set exit tolerance on complementarity condition -void d_ocp_qcqp_ipm_arg_set_tol_comp(double *value, struct d_ocp_qcqp_ipm_arg *arg); -// set regularization of primal variables -void d_ocp_qcqp_ipm_arg_set_reg_prim(double *value, struct d_ocp_qcqp_ipm_arg *arg); -// set warm start: 0 no warm start, 1 primal var -void d_ocp_qcqp_ipm_arg_set_warm_start(int *value, struct d_ocp_qcqp_ipm_arg *arg); -// Mehrotra's predictor-corrector IPM algorithm: 0 no predictor-corrector, 1 use predictor-corrector -void d_ocp_qcqp_ipm_arg_set_pred_corr(int *value, struct d_ocp_qcqp_ipm_arg *arg); -// conditional predictor-corrector: 0 no conditinal predictor-corrector, 1 conditional predictor-corrector -void d_ocp_qcqp_ipm_arg_set_cond_pred_corr(int *value, struct d_ocp_qcqp_ipm_arg *arg); -// set riccati algorithm: 0 classic, 1 square-root -void d_ocp_qcqp_ipm_arg_set_ric_alg(int *value, struct d_ocp_qcqp_ipm_arg *arg); -// compute residuals after solution -void d_ocp_qcqp_ipm_arg_set_comp_res_exit(int *value, struct d_ocp_qcqp_ipm_arg *arg); -// compute residuals of prediction -void d_ocp_qcqp_ipm_arg_set_comp_res_pred(int *value, struct d_ocp_qcqp_ipm_arg *arg); -// min value of lam in the solution -void d_ocp_qcqp_ipm_arg_set_lam_min(double *value, struct d_ocp_qcqp_ipm_arg *arg); -// min value of t in the solution -void d_ocp_qcqp_ipm_arg_set_t_min(double *value, struct d_ocp_qcqp_ipm_arg *arg); -// use different step for primal and dual variables -void d_ocp_qcqp_ipm_arg_set_split_step(int *value, struct d_ocp_qcqp_ipm_arg *arg); -// clip t and lam: 0 no, 1 in Gamma computation, 2 in solution -void d_ocp_qcqp_ipm_arg_set_t_lam_min(int *value, struct d_ocp_qcqp_ipm_arg *arg); - -// -hpipm_size_t d_ocp_qcqp_ipm_ws_strsize(); -// -hpipm_size_t d_ocp_qcqp_ipm_ws_memsize(struct d_ocp_qcqp_dim *ocp_dim, struct d_ocp_qcqp_ipm_arg *arg); -// -void d_ocp_qcqp_ipm_ws_create(struct d_ocp_qcqp_dim *ocp_dim, struct d_ocp_qcqp_ipm_arg *arg, struct d_ocp_qcqp_ipm_ws *ws, void *mem); -// -void d_ocp_qcqp_ipm_get(char *field, struct d_ocp_qcqp_ipm_ws *ws, void *value); -// -void d_ocp_qcqp_ipm_get_status(struct d_ocp_qcqp_ipm_ws *ws, int *status); -// -void d_ocp_qcqp_ipm_get_iter(struct d_ocp_qcqp_ipm_ws *ws, int *iter); -// -void d_ocp_qcqp_ipm_get_max_res_stat(struct d_ocp_qcqp_ipm_ws *ws, double *res_stat); -// -void d_ocp_qcqp_ipm_get_max_res_eq(struct d_ocp_qcqp_ipm_ws *ws, double *res_eq); -// -void d_ocp_qcqp_ipm_get_max_res_ineq(struct d_ocp_qcqp_ipm_ws *ws, double *res_ineq); -// -void d_ocp_qcqp_ipm_get_max_res_comp(struct d_ocp_qcqp_ipm_ws *ws, double *res_comp); -// -void d_ocp_qcqp_ipm_get_stat(struct d_ocp_qcqp_ipm_ws *ws, double **stat); -// -void d_ocp_qcqp_ipm_get_stat_m(struct d_ocp_qcqp_ipm_ws *ws, int *stat_m); -// -void d_ocp_qcqp_init_var(struct d_ocp_qcqp *qp, struct d_ocp_qcqp_sol *qp_sol, struct d_ocp_qcqp_ipm_arg *arg, struct d_ocp_qcqp_ipm_ws *ws); -// -void d_ocp_qcqp_ipm_solve(struct d_ocp_qcqp *qp, struct d_ocp_qcqp_sol *qp_sol, struct d_ocp_qcqp_ipm_arg *arg, struct d_ocp_qcqp_ipm_ws *ws); - - - -#ifdef __cplusplus -} // #extern "C" -#endif - - -#endif // HPIPM_D_OCP_QCQP_IPM_H_ - diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_res.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_res.h deleted file mode 100644 index 077f134677a2cc..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_res.h +++ /dev/null @@ -1,114 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef HPIPM_D_OCP_QCQP_RES_H_ -#define HPIPM_D_OCP_QCQP_RES_H_ - - - -#include -#include - -#include -#include -#include -#include - - - -#ifdef __cplusplus -extern "C" { -#endif - - - -struct d_ocp_qcqp_res - { - struct d_ocp_qcqp_dim *dim; - struct blasfeo_dvec *res_g; // q-residuals - struct blasfeo_dvec *res_b; // b-residuals - struct blasfeo_dvec *res_d; // d-residuals - struct blasfeo_dvec *res_m; // m-residuals - double res_max[4]; // max of residuals - double res_mu; // mu-residual - hpipm_size_t memsize; - }; - - - -struct d_ocp_qcqp_res_ws - { - struct blasfeo_dvec *tmp_nuxM; // work space of size nuM+nxM - struct blasfeo_dvec *tmp_nbgqM; // work space of size nbM+ngM+nqM - struct blasfeo_dvec *tmp_nsM; // work space of size nsM - struct blasfeo_dvec *q_fun; // value for evaluation of quadr constr - struct blasfeo_dvec *q_adj; // value for adjoint of quadr constr - int use_q_fun; // reuse cached value for evaluation of quadr constr - int use_q_adj; // reuse cached value for adjoint of quadr constr - hpipm_size_t memsize; - }; - - - -// -hpipm_size_t d_ocp_qcqp_res_memsize(struct d_ocp_qcqp_dim *ocp_dim); -// -void d_ocp_qcqp_res_create(struct d_ocp_qcqp_dim *ocp_dim, struct d_ocp_qcqp_res *res, void *mem); -// -hpipm_size_t d_ocp_qcqp_res_ws_memsize(struct d_ocp_qcqp_dim *ocp_dim); -// -void d_ocp_qcqp_res_ws_create(struct d_ocp_qcqp_dim *ocp_dim, struct d_ocp_qcqp_res_ws *workspace, void *mem); -// -void d_ocp_qcqp_res_compute(struct d_ocp_qcqp *qp, struct d_ocp_qcqp_sol *qp_sol, struct d_ocp_qcqp_res *res, struct d_ocp_qcqp_res_ws *ws); -// -void d_ocp_qcqp_res_compute_inf_norm(struct d_ocp_qcqp_res *res); -// -void d_ocp_qcqp_res_get_max_res_stat(struct d_ocp_qcqp_res *res, double *value); -// -void d_ocp_qcqp_res_get_max_res_eq(struct d_ocp_qcqp_res *res, double *value); -// -void d_ocp_qcqp_res_get_max_res_ineq(struct d_ocp_qcqp_res *res, double *value); -// -void d_ocp_qcqp_res_get_max_res_comp(struct d_ocp_qcqp_res *res, double *value); - - - -#ifdef __cplusplus -} // #extern "C" -#endif - - -#endif // HPIPM_D_OCP_QCQP_RES_H_ - diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_sol.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_sol.h deleted file mode 100644 index 68adbfce2d0296..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_sol.h +++ /dev/null @@ -1,114 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef HPIPM_D_OCP_QCQP_SOL_H_ -#define HPIPM_D_OCP_QCQP_SOL_H_ - - - -#include -#include - -#include "hpipm_d_ocp_qcqp_dim.h" - - - -#ifdef __cplusplus -extern "C" { -#endif - - - -struct d_ocp_qcqp_sol - { - struct d_ocp_qcqp_dim *dim; - struct blasfeo_dvec *ux; - struct blasfeo_dvec *pi; - struct blasfeo_dvec *lam; - struct blasfeo_dvec *t; - hpipm_size_t memsize; // memory size in bytes - }; - - - -// -hpipm_size_t d_ocp_qcqp_sol_strsize(); -// -hpipm_size_t d_ocp_qcqp_sol_memsize(struct d_ocp_qcqp_dim *dim); -// -void d_ocp_qcqp_sol_create(struct d_ocp_qcqp_dim *dim, struct d_ocp_qcqp_sol *qp_sol, void *memory); -// -void d_ocp_qcqp_sol_copy_all(struct d_ocp_qcqp_sol *qp_sol_orig, struct d_ocp_qcqp_sol *qp_sol_dest); -// -void d_ocp_qcqp_sol_get(char *field, int stage, struct d_ocp_qcqp_sol *qp_sol, double *vec); -// -void d_ocp_qcqp_sol_get_u(int stage, struct d_ocp_qcqp_sol *qp_sol, double *vec); -// -void d_ocp_qcqp_sol_get_x(int stage, struct d_ocp_qcqp_sol *qp_sol, double *vec); -// -void d_ocp_qcqp_sol_get_sl(int stage, struct d_ocp_qcqp_sol *qp_sol, double *vec); -// -void d_ocp_qcqp_sol_get_su(int stage, struct d_ocp_qcqp_sol *qp_sol, double *vec); -// -void d_ocp_qcqp_sol_get_pi(int stage, struct d_ocp_qcqp_sol *qp_sol, double *vec); -// -void d_ocp_qcqp_sol_get_lam_lb(int stage, struct d_ocp_qcqp_sol *qp_sol, double *vec); -// -void d_ocp_qcqp_sol_get_lam_ub(int stage, struct d_ocp_qcqp_sol *qp_sol, double *vec); -// -void d_ocp_qcqp_sol_get_lam_lg(int stage, struct d_ocp_qcqp_sol *qp_sol, double *vec); -// -void d_ocp_qcqp_sol_get_lam_ug(int stage, struct d_ocp_qcqp_sol *qp_sol, double *vec); -// -void d_ocp_qcqp_sol_set(char *field, int stage, double *vec, struct d_ocp_qcqp_sol *qp_sol); -// -void d_ocp_qcqp_sol_set_u(int stage, double *vec, struct d_ocp_qcqp_sol *qp_sol); -// -void d_ocp_qcqp_sol_set_x(int stage, double *vec, struct d_ocp_qcqp_sol *qp_sol); -// -void d_ocp_qcqp_sol_set_sl(int stage, double *vec, struct d_ocp_qcqp_sol *qp_sol); -// -void d_ocp_qcqp_sol_set_su(int stage, double *vec, struct d_ocp_qcqp_sol *qp_sol); - - - -#ifdef __cplusplus -} // #extern "C" -#endif - - - -#endif // HPIPM_D_OCP_QCQP_SOL_H_ - diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_utils.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_utils.h deleted file mode 100644 index 00248f1dbe65e3..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qcqp_utils.h +++ /dev/null @@ -1,81 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef HPIPM_D_OCP_QCQP_UTILS_H_ -#define HPIPM_D_OCP_QCQP_UTILS_H_ - - - -#include -#include - -#include "hpipm_d_ocp_qcqp_dim.h" -#include "hpipm_d_ocp_qp.h" -#include "hpipm_d_ocp_qcqp_sol.h" -#include "hpipm_d_ocp_qcqp_ipm.h" - - - -#ifdef __cplusplus -extern "C" { -#endif - - - -// -void d_ocp_qcqp_dim_print(struct d_ocp_qcqp_dim *qcqp_dim); -// -void d_ocp_qcqp_dim_codegen(char *file_name, char *mode, struct d_ocp_qcqp_dim *qcqp_dim); -// -void d_ocp_qcqp_print(struct d_ocp_qcqp_dim *qcqp_dim, struct d_ocp_qcqp *qp); -// -void d_ocp_qcqp_codegen(char *file_name, char *mode, struct d_ocp_qcqp_dim *qcqp_dim, struct d_ocp_qcqp *qp); -// -void d_ocp_qcqp_sol_print(struct d_ocp_qcqp_dim *qcqp_dim, struct d_ocp_qcqp_sol *ocp_qcqp_sol); -// -void d_ocp_qcqp_ipm_arg_codegen(char *file_name, char *mode, struct d_ocp_qcqp_dim *qcqp_dim, struct d_ocp_qcqp_ipm_arg *arg); -// -void d_ocp_qcqp_res_print(struct d_ocp_qcqp_dim *qcqp_dim, struct d_ocp_qcqp_res *ocp_qcqp_res); - - - -#ifdef __cplusplus -} // #extern "C" -#endif - - - -#endif // HPIPM_D_OCP_QCQP_UTILS_H_ - diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp.h deleted file mode 100644 index ca26cdba3406a1..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp.h +++ /dev/null @@ -1,306 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef HPIPM_D_OCP_QP_H_ -#define HPIPM_D_OCP_QP_H_ - - - -#include -#include - -#include "hpipm_d_ocp_qp_dim.h" - - - -#ifdef __cplusplus -extern "C" { -#endif - - - -struct d_ocp_qp - { - struct d_ocp_qp_dim *dim; - struct blasfeo_dmat *BAbt; // dynamics matrix & vector work space - struct blasfeo_dmat *RSQrq; // hessian of cost & vector work space - struct blasfeo_dmat *DCt; // inequality constraints matrix - struct blasfeo_dvec *b; // dynamics vector - struct blasfeo_dvec *rqz; // gradient of cost & gradient of slacks - struct blasfeo_dvec *d; // inequality constraints vector - struct blasfeo_dvec *d_mask; // inequality constraints mask vector - struct blasfeo_dvec *m; // rhs of complementarity condition - struct blasfeo_dvec *Z; // (diagonal) hessian of slacks - int **idxb; // indices of box constrained variables within [u; x] - int **idxs_rev; // index of soft constraints (reverse storage) - int **idxe; // indices of constraints within [bu, bx, g] that are equalities, subset of [0, ..., nbu+nbx+ng-1] - int *diag_H_flag; // flag the fact that Hessian is diagonal - hpipm_size_t memsize; // memory size in bytes - }; - - - -// -hpipm_size_t d_ocp_qp_strsize(); -// -hpipm_size_t d_ocp_qp_memsize(struct d_ocp_qp_dim *dim); -// -void d_ocp_qp_create(struct d_ocp_qp_dim *dim, struct d_ocp_qp *qp, void *memory); -// -void d_ocp_qp_copy_all(struct d_ocp_qp *qp_orig, struct d_ocp_qp *qp_dest); - -// setters -// -void d_ocp_qp_set_all_zero(struct d_ocp_qp *qp); -// -void d_ocp_qp_set_rhs_zero(struct d_ocp_qp *qp); -// -void d_ocp_qp_set_all(double **A, double **B, double **b, double **Q, double **S, double **R, double **q, double **r, int **idxbx, double **lbx, double **ubx, int **idxbu, double **lbu, double **ubu, double **C, double **D, double **lg, double **ug, double **Zl, double **Zu, double **zl, double **zu, int **idxs, double **ls, double **us, struct d_ocp_qp *qp); -// -void d_ocp_qp_set_all_rowmaj(double **A, double **B, double **b, double **Q, double **S, double **R, double **q, double **r, int **idxbx, double **lbx, double **ubx, int **idxbu, double **lbu, double **ubu, double **C, double **D, double **lg, double **ug, double **Zl, double **Zu, double **zl, double **zu, int **idxs, double **ls, double **us, struct d_ocp_qp *qp); -// -void d_ocp_qp_set(char *field_name, int stage, void *value, struct d_ocp_qp *qp); -// -void d_ocp_qp_set_el(char *field_name, int stage, int index, void *value, struct d_ocp_qp *qp); -// -void d_ocp_qp_set_A(int stage, double *mat, struct d_ocp_qp *qp); -// -void d_ocp_qp_set_B(int stage, double *mat, struct d_ocp_qp *qp); -// -void d_ocp_qp_set_b(int stage, double *vec, struct d_ocp_qp *qp); -// -void d_ocp_qp_set_Q(int stage, double *mat, struct d_ocp_qp *qp); -// -void d_ocp_qp_set_S(int stage, double *mat, struct d_ocp_qp *qp); -// -void d_ocp_qp_set_R(int stage, double *mat, struct d_ocp_qp *qp); -// -void d_ocp_qp_set_q(int stage, double *vec, struct d_ocp_qp *qp); -// -void d_ocp_qp_set_r(int stage, double *vec, struct d_ocp_qp *qp); -// -void d_ocp_qp_set_lb(int stage, double *vec, struct d_ocp_qp *qp); -// -void d_ocp_qp_set_lb_mask(int stage, double *vec, struct d_ocp_qp *qp); -// -void d_ocp_qp_set_ub(int stage, double *vec, struct d_ocp_qp *qp); -// -void d_ocp_qp_set_ub_mask(int stage, double *vec, struct d_ocp_qp *qp); -// -void d_ocp_qp_set_lbx(int stage, double *vec, struct d_ocp_qp *qp); -// -void d_ocp_qp_set_lbx_mask(int stage, double *vec, struct d_ocp_qp *qp); -// -void d_ocp_qp_set_el_lbx(int stage, int index, double *elem, struct d_ocp_qp *qp); -// -void d_ocp_qp_set_ubx(int stage, double *vec, struct d_ocp_qp *qp); -// -void d_ocp_qp_set_ubx_mask(int stage, double *vec, struct d_ocp_qp *qp); -// -void d_ocp_qp_set_el_ubx(int stage, int index, double *elem, struct d_ocp_qp *qp); -// -void d_ocp_qp_set_lbu(int stage, double *vec, struct d_ocp_qp *qp); -// -void d_ocp_qp_set_lbu_mask(int stage, double *vec, struct d_ocp_qp *qp); -// -void d_ocp_qp_set_ubu(int stage, double *vec, struct d_ocp_qp *qp); -// -void d_ocp_qp_set_ubu_mask(int stage, double *vec, struct d_ocp_qp *qp); -// -void d_ocp_qp_set_idxb(int stage, int *vec, struct d_ocp_qp *qp); -// -void d_ocp_qp_set_idxbx(int stage, int *vec, struct d_ocp_qp *qp); -// -void d_ocp_qp_set_Jbx(int stage, double *vec, struct d_ocp_qp *qp); -// -void d_ocp_qp_set_idxbu(int stage, int *vec, struct d_ocp_qp *qp); -// -void d_ocp_qp_set_Jbu(int stage, double *vec, struct d_ocp_qp *qp); -// -void d_ocp_qp_set_C(int stage, double *mat, struct d_ocp_qp *qp); -// -void d_ocp_qp_set_D(int stage, double *mat, struct d_ocp_qp *qp); -// -void d_ocp_qp_set_lg(int stage, double *vec, struct d_ocp_qp *qp); -// -void d_ocp_qp_set_lg_mask(int stage, double *vec, struct d_ocp_qp *qp); -// -void d_ocp_qp_set_ug(int stage, double *vec, struct d_ocp_qp *qp); -// -void d_ocp_qp_set_ug_mask(int stage, double *vec, struct d_ocp_qp *qp); -// -void d_ocp_qp_set_Zl(int stage, double *vec, struct d_ocp_qp *qp); -// -void d_ocp_qp_set_Zu(int stage, double *vec, struct d_ocp_qp *qp); -// -void d_ocp_qp_set_zl(int stage, double *vec, struct d_ocp_qp *qp); -// -void d_ocp_qp_set_zu(int stage, double *vec, struct d_ocp_qp *qp); -// -void d_ocp_qp_set_lls(int stage, double *vec, struct d_ocp_qp *qp); -// -void d_ocp_qp_set_lls_mask(int stage, double *vec, struct d_ocp_qp *qp); -// -void d_ocp_qp_set_lus(int stage, double *vec, struct d_ocp_qp *qp); -// -void d_ocp_qp_set_lus_mask(int stage, double *vec, struct d_ocp_qp *qp); -// -void d_ocp_qp_set_idxs(int stage, int *vec, struct d_ocp_qp *qp); -// -void d_ocp_qp_set_idxs_rev(int stage, int *vec, struct d_ocp_qp *qp); -// -void d_ocp_qp_set_Jsbu(int stage, double *vec, struct d_ocp_qp *qp); -// -void d_ocp_qp_set_Jsbx(int stage, double *vec, struct d_ocp_qp *qp); -// -void d_ocp_qp_set_Jsg(int stage, double *vec, struct d_ocp_qp *qp); -// -void d_ocp_qp_set_idxe(int stage, int *vec, struct d_ocp_qp *qp); -// -void d_ocp_qp_set_idxbxe(int stage, int *vec, struct d_ocp_qp *qp); -// -void d_ocp_qp_set_idxbue(int stage, int *vec, struct d_ocp_qp *qp); -// -void d_ocp_qp_set_idxge(int stage, int *vec, struct d_ocp_qp *qp); -// -void d_ocp_qp_set_Jbxe(int stage, double *vec, struct d_ocp_qp *qp); -// -void d_ocp_qp_set_Jbue(int stage, double *vec, struct d_ocp_qp *qp); -// -void d_ocp_qp_set_Jge(int stage, double *vec, struct d_ocp_qp *qp); -// -void d_ocp_qp_set_diag_H_flag(int stage, int *value, struct d_ocp_qp *qp); - -// getters -// -void d_ocp_qp_get(char *field, int stage, struct d_ocp_qp *qp, void *value); -// -void d_ocp_qp_get_A(int stage, struct d_ocp_qp *qp, double *mat); -// -void d_ocp_qp_get_B(int stage, struct d_ocp_qp *qp, double *mat); -// -void d_ocp_qp_get_b(int stage, struct d_ocp_qp *qp, double *vec); -// -void d_ocp_qp_get_Q(int stage, struct d_ocp_qp *qp, double *mat); -// -void d_ocp_qp_get_S(int stage, struct d_ocp_qp *qp, double *mat); -// -void d_ocp_qp_get_R(int stage, struct d_ocp_qp *qp, double *mat); -// -void d_ocp_qp_get_q(int stage, struct d_ocp_qp *qp, double *vec); -// -void d_ocp_qp_get_r(int stage, struct d_ocp_qp *qp, double *vec); -// -void d_ocp_qp_get_ub(int stage, struct d_ocp_qp *qp, double *vec); -// -void d_ocp_qp_get_ub_mask(int stage, struct d_ocp_qp *qp, double *vec); -// -void d_ocp_qp_get_lb(int stage, struct d_ocp_qp *qp, double *vec); -// -void d_ocp_qp_get_lb_mask(int stage, struct d_ocp_qp *qp, double *vec); -// -void d_ocp_qp_get_lbx(int stage, struct d_ocp_qp *qp, double *vec); -// -void d_ocp_qp_get_lbx_mask(int stage, struct d_ocp_qp *qp, double *vec); -// -void d_ocp_qp_get_ubx(int stage, struct d_ocp_qp *qp, double *vec); -// -void d_ocp_qp_get_ubx_mask(int stage, struct d_ocp_qp *qp, double *vec); -// -void d_ocp_qp_get_lbu(int stage, struct d_ocp_qp *qp, double *vec); -// -void d_ocp_qp_get_lbu_mask(int stage, struct d_ocp_qp *qp, double *vec); -// -void d_ocp_qp_get_ubu(int stage, struct d_ocp_qp *qp, double *vec); -// -void d_ocp_qp_get_ubu_mask(int stage, struct d_ocp_qp *qp, double *vec); -// -void d_ocp_qp_get_idxb(int stage, struct d_ocp_qp *qp, int *vec); -// -//void d_ocp_qp_get_idxbx(int stage, struct d_ocp_qp *qp, int *vec); -// -//void d_ocp_qp_get_Jbx(int stage, struct d_ocp_qp *qp, double *vec); -// -//void d_ocp_qp_get_idxbu(int stage, struct d_ocp_qp *qp, int *vec); -// -//void d_ocp_qp_get_Jbu(int stage, struct d_ocp_qp *qp, double *vec); -// -void d_ocp_qp_get_C(int stage, struct d_ocp_qp *qp, double *mat); -// -void d_ocp_qp_get_D(int stage, struct d_ocp_qp *qp, double *mat); -// -void d_ocp_qp_get_lg(int stage, struct d_ocp_qp *qp, double *vec); -// -void d_ocp_qp_get_lg_mask(int stage, struct d_ocp_qp *qp, double *vec); -// -void d_ocp_qp_get_ug(int stage, struct d_ocp_qp *qp, double *vec); -// -void d_ocp_qp_get_ug_mask(int stage, struct d_ocp_qp *qp, double *vec); -// -void d_ocp_qp_get_Zl(int stage, struct d_ocp_qp *qp, double *vec); -// -void d_ocp_qp_get_Zu(int stage, struct d_ocp_qp *qp, double *vec); -// -void d_ocp_qp_get_zl(int stage, struct d_ocp_qp *qp, double *vec); -// -void d_ocp_qp_get_zu(int stage, struct d_ocp_qp *qp, double *vec); -// -void d_ocp_qp_get_lls(int stage, struct d_ocp_qp *qp, double *vec); -// -void d_ocp_qp_get_lls_mask(int stage, struct d_ocp_qp *qp, double *vec); -// -void d_ocp_qp_get_lus(int stage, struct d_ocp_qp *qp, double *vec); -// -void d_ocp_qp_get_lus_mask(int stage, struct d_ocp_qp *qp, double *vec); -// XXX only valid if there is one slack per softed constraint !!! -void d_ocp_qp_get_idxs(int stage, struct d_ocp_qp *qp, int *vec); -// -void d_ocp_qp_get_idxs_rev(int stage, struct d_ocp_qp *qp, int *vec); -// -//void d_ocp_qp_get_Jsbu(int stage, struct d_ocp_qp *qp, float *vec); -// -//void d_ocp_qp_get_Jsbx(int stage, struct d_ocp_qp *qp, float *vec); -// -//void d_ocp_qp_get_Jsg(int stage, struct d_ocp_qp *qp, float *vec); - - - -#ifdef __cplusplus -} // #extern "C" -#endif - - - -#endif // HPIPM_D_OCP_QP_H_ diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_dim.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_dim.h deleted file mode 100644 index dcfb801d31fdde..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_dim.h +++ /dev/null @@ -1,142 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef HPIPM_D_OCP_QP_DIM_H_ -#define HPIPM_D_OCP_QP_DIM_H_ - -#include "hpipm_common.h" - -#ifdef __cplusplus -extern "C" { -#endif - - - -struct d_ocp_qp_dim - { - int *nx; // number of states - int *nu; // number of inputs - int *nb; // number of box constraints - int *nbx; // number of state box constraints - int *nbu; // number of input box constraints - int *ng; // number of general constraints - int *ns; // number of soft constraints - int *nsbx; // number of soft state box constraints - int *nsbu; // number of soft input box constraints - int *nsg; // number of soft general constraints - int *nbxe; // number of state box constraints which are equality - int *nbue; // number of input box constraints which are equality - int *nge; // number of general constraints which are equality - int N; // horizon length - hpipm_size_t memsize; - }; - - - -// -hpipm_size_t d_ocp_qp_dim_strsize(); -// -hpipm_size_t d_ocp_qp_dim_memsize(int N); -// -void d_ocp_qp_dim_create(int N, struct d_ocp_qp_dim *qp_dim, void *memory); -// -void d_ocp_qp_dim_copy_all(struct d_ocp_qp_dim *dim_orig, struct d_ocp_qp_dim *dim_dest); -// -void d_ocp_qp_dim_set_all(int *nx, int *nu, int *nbx, int *nbu, int *ng, int *nsbx, int *nsbu, int *nsg, struct d_ocp_qp_dim *dim); -// -void d_ocp_qp_dim_set(char *field, int stage, int value, struct d_ocp_qp_dim *dim); -// -void d_ocp_qp_dim_set_nx(int stage, int value, struct d_ocp_qp_dim *dim); -// -void d_ocp_qp_dim_set_nu(int stage, int value, struct d_ocp_qp_dim *dim); -// -void d_ocp_qp_dim_set_nbx(int stage, int value, struct d_ocp_qp_dim *dim); -// -void d_ocp_qp_dim_set_nbu(int stage, int value, struct d_ocp_qp_dim *dim); -// -void d_ocp_qp_dim_set_ng(int stage, int value, struct d_ocp_qp_dim *dim); -// -void d_ocp_qp_dim_set_ns(int stage, int value, struct d_ocp_qp_dim *dim); -// -void d_ocp_qp_dim_set_nsbx(int stage, int value, struct d_ocp_qp_dim *dim); -// -void d_ocp_qp_dim_set_nsbu(int stage, int value, struct d_ocp_qp_dim *dim); -// -void d_ocp_qp_dim_set_nsg(int stage, int value, struct d_ocp_qp_dim *dim); -// -void d_ocp_qp_dim_set_nbxe(int stage, int value, struct d_ocp_qp_dim *dim); -// -void d_ocp_qp_dim_set_nbue(int stage, int value, struct d_ocp_qp_dim *dim); -// -void d_ocp_qp_dim_set_nge(int stage, int value, struct d_ocp_qp_dim *dim); -// -void d_ocp_qp_dim_get(struct d_ocp_qp_dim *dim, char *field, int stage, int *value); -// -void d_ocp_qp_dim_get_N(struct d_ocp_qp_dim *dim, int *value); -// -void d_ocp_qp_dim_get_nx(struct d_ocp_qp_dim *dim, int stage, int *value); -// -void d_ocp_qp_dim_get_nu(struct d_ocp_qp_dim *dim, int stage, int *value); -// -void d_ocp_qp_dim_get_nbx(struct d_ocp_qp_dim *dim, int stage, int *value); -// -void d_ocp_qp_dim_get_nbu(struct d_ocp_qp_dim *dim, int stage, int *value); -// -void d_ocp_qp_dim_get_ng(struct d_ocp_qp_dim *dim, int stage, int *value); -// -void d_ocp_qp_dim_get_ns(struct d_ocp_qp_dim *dim, int stage, int *value); -// -void d_ocp_qp_dim_get_nsbx(struct d_ocp_qp_dim *dim, int stage, int *value); -// -void d_ocp_qp_dim_get_nsbu(struct d_ocp_qp_dim *dim, int stage, int *value); -// -void d_ocp_qp_dim_get_nsg(struct d_ocp_qp_dim *dim, int stage, int *value); -// -void d_ocp_qp_dim_get_nbxe(struct d_ocp_qp_dim *dim, int stage, int *value); -// -void d_ocp_qp_dim_get_nbue(struct d_ocp_qp_dim *dim, int stage, int *value); -// -void d_ocp_qp_dim_get_nge(struct d_ocp_qp_dim *dim, int stage, int *value); - - - - -#ifdef __cplusplus -} // #extern "C" -#endif - - - -#endif // HPIPM_D_OCP_QP_DIM_H_ diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_ipm.h deleted file mode 100644 index d2a2833f224df8..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_ipm.h +++ /dev/null @@ -1,250 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef HPIPM_D_OCP_QP_IPM_H_ -#define HPIPM_D_OCP_QP_IPM_H_ - - - -#include -#include - -#include -#include -#include -#include -#include - - - -#ifdef __cplusplus -extern "C" { -#endif - - - -struct d_ocp_qp_ipm_arg - { - double mu0; // initial value for complementarity slackness - double alpha_min; // exit cond on step length - double res_g_max; // exit cond on inf norm of residuals - double res_b_max; // exit cond on inf norm of residuals - double res_d_max; // exit cond on inf norm of residuals - double res_m_max; // exit cond on inf norm of residuals - double reg_prim; // reg of primal hessian - double lam_min; // min value in lam vector - double t_min; // min value in t vector - double tau_min; // min value of barrier parameter - int iter_max; // exit cond in iter number - int stat_max; // iterations saved in stat - int pred_corr; // use Mehrotra's predictor-corrector IPM algirthm - int cond_pred_corr; // conditional Mehrotra's predictor-corrector - int itref_pred_max; // max number of iterative refinement steps for predictor step - int itref_corr_max; // max number of iterative refinement steps for corrector step - int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol - int square_root_alg; // 0 classical Riccati, 1 square-root Riccati - int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq (for square_root_alg==1) - int abs_form; // absolute IPM formulation - int comp_dual_sol_eq; // dual solution of equality constraints (only for abs_form==1) - int comp_res_exit; // compute residuals on exit (only for abs_form==1 and comp_dual_sol_eq==1) - int comp_res_pred; // compute residuals of prediction - int split_step; // use different steps for primal and dual variables - int var_init_scheme; // variables initialization scheme - int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution - int mode; - hpipm_size_t memsize; - }; - - - -struct d_ocp_qp_ipm_ws - { - double qp_res[4]; // infinity norm of residuals - struct d_core_qp_ipm_workspace *core_workspace; - struct d_ocp_qp_dim *dim; // cache dim - struct d_ocp_qp_res_ws *res_workspace; - struct d_ocp_qp_sol *sol_step; - struct d_ocp_qp_sol *sol_itref; - struct d_ocp_qp *qp_step; - struct d_ocp_qp *qp_itref; - struct d_ocp_qp_res *res_itref; - struct d_ocp_qp_res *res; - struct blasfeo_dvec *Gamma; // hessian update - struct blasfeo_dvec *gamma; // hessian update - struct blasfeo_dvec *tmp_nuxM; // work space of size nxM - struct blasfeo_dvec *tmp_nbgM; // work space of size nbM+ngM - struct blasfeo_dvec *tmp_nsM; // work space of size nsM - struct blasfeo_dvec *Pb; // Pb - struct blasfeo_dvec *Zs_inv; - struct blasfeo_dvec *tmp_m; - struct blasfeo_dvec *l; // cache linear part for _get_ric_xxx - struct blasfeo_dmat *L; - struct blasfeo_dmat *Ls; - struct blasfeo_dmat *P; - struct blasfeo_dmat *Lh; - struct blasfeo_dmat *AL; - struct blasfeo_dmat *lq0; - struct blasfeo_dmat *tmp_nxM_nxM; - double *stat; // convergence statistics - int *use_hess_fact; - void *lq_work0; - int iter; // iteration number - int stat_max; // iterations saved in stat - int stat_m; // number of recorded stat per IPM iter - int use_Pb; - int status; // solver status - int square_root_alg; // cache from arg - int lq_fact; // cache from arg - int mask_constr; // use constr mask - int valid_ric_vec; // meaningful riccati vectors - int valid_ric_p; // form of riccati p: 0 p*inv(L), 1 p - hpipm_size_t memsize; - }; - - - -// -hpipm_size_t d_ocp_qp_ipm_arg_strsize(); -// -hpipm_size_t d_ocp_qp_ipm_arg_memsize(struct d_ocp_qp_dim *ocp_dim); -// -void d_ocp_qp_ipm_arg_create(struct d_ocp_qp_dim *ocp_dim, struct d_ocp_qp_ipm_arg *arg, void *mem); -// -void d_ocp_qp_ipm_arg_set_default(enum hpipm_mode mode, struct d_ocp_qp_ipm_arg *arg); -// -void d_ocp_qp_ipm_arg_set(char *field, void *value, struct d_ocp_qp_ipm_arg *arg); -// set maximum number of iterations -void d_ocp_qp_ipm_arg_set_iter_max(int *iter_max, struct d_ocp_qp_ipm_arg *arg); -// set minimum step lenght -void d_ocp_qp_ipm_arg_set_alpha_min(double *alpha_min, struct d_ocp_qp_ipm_arg *arg); -// set initial value of barrier parameter -void d_ocp_qp_ipm_arg_set_mu0(double *mu0, struct d_ocp_qp_ipm_arg *arg); -// set exit tolerance on stationarity condition -void d_ocp_qp_ipm_arg_set_tol_stat(double *tol_stat, struct d_ocp_qp_ipm_arg *arg); -// set exit tolerance on equality constr -void d_ocp_qp_ipm_arg_set_tol_eq(double *tol_eq, struct d_ocp_qp_ipm_arg *arg); -// set exit tolerance on inequality constr -void d_ocp_qp_ipm_arg_set_tol_ineq(double *tol_ineq, struct d_ocp_qp_ipm_arg *arg); -// set exit tolerance on complementarity condition -void d_ocp_qp_ipm_arg_set_tol_comp(double *tol_comp, struct d_ocp_qp_ipm_arg *arg); -// set regularization of primal variables -void d_ocp_qp_ipm_arg_set_reg_prim(double *tol_comp, struct d_ocp_qp_ipm_arg *arg); -// set warm start: 0 no warm start, 1 primal var -void d_ocp_qp_ipm_arg_set_warm_start(int *warm_start, struct d_ocp_qp_ipm_arg *arg); -// Mehrotra's predictor-corrector IPM algorithm: 0 no predictor-corrector, 1 use predictor-corrector -void d_ocp_qp_ipm_arg_set_pred_corr(int *pred_corr, struct d_ocp_qp_ipm_arg *arg); -// conditional predictor-corrector: 0 no conditinal predictor-corrector, 1 conditional predictor-corrector -void d_ocp_qp_ipm_arg_set_cond_pred_corr(int *value, struct d_ocp_qp_ipm_arg *arg); -// set riccati algorithm: 0 classic, 1 square-root -void d_ocp_qp_ipm_arg_set_ric_alg(int *value, struct d_ocp_qp_ipm_arg *arg); -// dual solution of equality constraints (only for abs_form==1) -void d_ocp_qp_ipm_arg_set_comp_dual_sol_eq(int *value, struct d_ocp_qp_ipm_arg *arg); -// compute residuals after solution -void d_ocp_qp_ipm_arg_set_comp_res_exit(int *value, struct d_ocp_qp_ipm_arg *arg); -// compute residuals of prediction -void d_ocp_qp_ipm_arg_set_comp_res_pred(int *value, struct d_ocp_qp_ipm_arg *arg); -// min value of lam in the solution -void d_ocp_qp_ipm_arg_set_lam_min(double *value, struct d_ocp_qp_ipm_arg *arg); -// min value of t in the solution -void d_ocp_qp_ipm_arg_set_t_min(double *value, struct d_ocp_qp_ipm_arg *arg); -// min value of tau in the solution -void d_ocp_qp_ipm_arg_set_tau_min(double *value, struct d_ocp_qp_ipm_arg *arg); -// set split step: 0 same step, 1 different step for primal and dual variables -void d_ocp_qp_ipm_arg_set_split_step(int *value, struct d_ocp_qp_ipm_arg *arg); -// variables initialization scheme -void d_ocp_qp_ipm_arg_set_var_init_scheme(int *value, struct d_ocp_qp_ipm_arg *arg); -// clip t and lam: 0 no, 1 in Gamma computation, 2 in solution -void d_ocp_qp_ipm_arg_set_t_lam_min(int *value, struct d_ocp_qp_ipm_arg *arg); - -// -hpipm_size_t d_ocp_qp_ipm_ws_strsize(); -// -hpipm_size_t d_ocp_qp_ipm_ws_memsize(struct d_ocp_qp_dim *ocp_dim, struct d_ocp_qp_ipm_arg *arg); -// -void d_ocp_qp_ipm_ws_create(struct d_ocp_qp_dim *ocp_dim, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws, void *mem); -// -void d_ocp_qp_ipm_get(char *field, struct d_ocp_qp_ipm_ws *ws, void *value); -// -void d_ocp_qp_ipm_get_status(struct d_ocp_qp_ipm_ws *ws, int *status); -// -void d_ocp_qp_ipm_get_iter(struct d_ocp_qp_ipm_ws *ws, int *iter); -// -void d_ocp_qp_ipm_get_max_res_stat(struct d_ocp_qp_ipm_ws *ws, double *res_stat); -// -void d_ocp_qp_ipm_get_max_res_eq(struct d_ocp_qp_ipm_ws *ws, double *res_eq); -// -void d_ocp_qp_ipm_get_max_res_ineq(struct d_ocp_qp_ipm_ws *ws, double *res_ineq); -// -void d_ocp_qp_ipm_get_max_res_comp(struct d_ocp_qp_ipm_ws *ws, double *res_comp); -// -void d_ocp_qp_ipm_get_stat(struct d_ocp_qp_ipm_ws *ws, double **stat); -// -void d_ocp_qp_ipm_get_stat_m(struct d_ocp_qp_ipm_ws *ws, int *stat_m); -// -void d_ocp_qp_ipm_get_ric_Lr(struct d_ocp_qp *qp, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws, int stage, double *Lr); -// -void d_ocp_qp_ipm_get_ric_Ls(struct d_ocp_qp *qp, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws, int stage, double *Ls); -// -void d_ocp_qp_ipm_get_ric_P(struct d_ocp_qp *qp, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws, int stage, double *P); -// -void d_ocp_qp_ipm_get_ric_lr(struct d_ocp_qp *qp, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws, int stage, double *lr); -// -void d_ocp_qp_ipm_get_ric_p(struct d_ocp_qp *qp, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws, int stage, double *p); -// feedback control gain in the form u = K x + k -void d_ocp_qp_ipm_get_ric_K(struct d_ocp_qp *qp, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws, int stage, double *K); -// feedback control gain in the form u = K x + k -void d_ocp_qp_ipm_get_ric_k(struct d_ocp_qp *qp, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws, int stage, double *k); -// -void d_ocp_qp_init_var(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws); -// -void d_ocp_qp_ipm_abs_step(int kk, struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws); -// -void d_ocp_qp_ipm_delta_step(int kk, struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws); -// -void d_ocp_qp_ipm_solve(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws); -// -void d_ocp_qp_ipm_predict(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws); -// -void d_ocp_qp_ipm_sens(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws); - - - - -#ifdef __cplusplus -} // #extern "C" -#endif - - -#endif // HPIPM_D_OCP_QP_IPM_H_ diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_kkt.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_kkt.h deleted file mode 100644 index 19dcec32caa974..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_kkt.h +++ /dev/null @@ -1,66 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef HPIPM_D_OCP_QP_KKT_H_ -#define HPIPM_D_OCP_QP_KKT_H_ - -#include -#include -#include - - - -#ifdef __cplusplus -extern "C" { -#endif - - -// -void d_ocp_qp_fact_solve_kkt_unconstr(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws); -// -void d_ocp_qp_fact_solve_kkt_step(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws); -// -void d_ocp_qp_fact_lq_solve_kkt_step(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws); -// -void d_ocp_qp_solve_kkt_step(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_ipm_arg *arg, struct d_ocp_qp_ipm_ws *ws); - - - -#ifdef __cplusplus -} /* extern "C" */ -#endif - - -#endif // HPIPM_D_OCP_QP_KKT_H_ diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_red.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_red.h deleted file mode 100644 index f0482b04441eb9..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_red.h +++ /dev/null @@ -1,117 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef HPIPM_D_OCP_QP_RED_H_ -#define HPIPM_D_OCP_QP_RED_H_ - - - -#include -#include - -#include -#include -#include - - - -#ifdef __cplusplus -extern "C" { -#endif - - - -struct d_ocp_qp_reduce_eq_dof_arg - { - double lam_min; - double t_min; - int alias_unchanged; // do not keep copy unchanged stage - int comp_prim_sol; // primal solution (v) - int comp_dual_sol_eq; // dual solution equality constr (pi) - int comp_dual_sol_ineq; // dual solution inequality constr (lam t) - hpipm_size_t memsize; // memory size in bytes - }; - - - -struct d_ocp_qp_reduce_eq_dof_ws - { - struct blasfeo_dvec *tmp_nuxM; - struct blasfeo_dvec *tmp_nbgM; - int *e_imask_ux; - int *e_imask_d; - hpipm_size_t memsize; // memory size in bytes - }; - - - -// -void d_ocp_qp_dim_reduce_eq_dof(struct d_ocp_qp_dim *dim, struct d_ocp_qp_dim *dim_red); -// -hpipm_size_t d_ocp_qp_reduce_eq_dof_arg_memsize(); -// -void d_ocp_qp_reduce_eq_dof_arg_create(struct d_ocp_qp_reduce_eq_dof_arg *arg, void *mem); -// -void d_ocp_qp_reduce_eq_dof_arg_set_default(struct d_ocp_qp_reduce_eq_dof_arg *arg); -// -void d_ocp_qp_reduce_eq_dof_arg_set_alias_unchanged(struct d_ocp_qp_reduce_eq_dof_arg *arg, int value); -// -void d_ocp_qp_reduce_eq_dof_arg_set_comp_prim_sol(struct d_ocp_qp_reduce_eq_dof_arg *arg, int value); -// -void d_ocp_qp_reduce_eq_dof_arg_set_comp_dual_sol_eq(struct d_ocp_qp_reduce_eq_dof_arg *arg, int value); -// -void d_ocp_qp_reduce_eq_dof_arg_set_comp_dual_sol_ineq(struct d_ocp_qp_reduce_eq_dof_arg *arg, int value); -// -hpipm_size_t d_ocp_qp_reduce_eq_dof_ws_memsize(struct d_ocp_qp_dim *dim); -// -void d_ocp_qp_reduce_eq_dof_ws_create(struct d_ocp_qp_dim *dim, struct d_ocp_qp_reduce_eq_dof_ws *work, void *mem); -// -void d_ocp_qp_reduce_eq_dof(struct d_ocp_qp *qp, struct d_ocp_qp *qp_red, struct d_ocp_qp_reduce_eq_dof_arg *arg, struct d_ocp_qp_reduce_eq_dof_ws *work); -// -void d_ocp_qp_reduce_eq_dof_lhs(struct d_ocp_qp *qp, struct d_ocp_qp *qp_red, struct d_ocp_qp_reduce_eq_dof_arg *arg, struct d_ocp_qp_reduce_eq_dof_ws *work); -// -void d_ocp_qp_reduce_eq_dof_rhs(struct d_ocp_qp *qp, struct d_ocp_qp *qp_red, struct d_ocp_qp_reduce_eq_dof_arg *arg, struct d_ocp_qp_reduce_eq_dof_ws *work); -// -void d_ocp_qp_restore_eq_dof(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol_red, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_reduce_eq_dof_arg *arg, struct d_ocp_qp_reduce_eq_dof_ws *work); - - - -#ifdef __cplusplus -} // #extern "C" -#endif - - - -#endif // HPIPM_D_OCP_QP_RED_H_ diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_res.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_res.h deleted file mode 100644 index 061c5729cd6e76..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_res.h +++ /dev/null @@ -1,112 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef HPIPM_D_OCP_QP_RES_H_ -#define HPIPM_D_OCP_QP_RES_H_ - - - -#include -#include - -#include -#include -#include -#include - - - -#ifdef __cplusplus -extern "C" { -#endif - - - -struct d_ocp_qp_res - { - struct d_ocp_qp_dim *dim; - struct blasfeo_dvec *res_g; // q-residuals - struct blasfeo_dvec *res_b; // b-residuals - struct blasfeo_dvec *res_d; // d-residuals - struct blasfeo_dvec *res_m; // m-residuals - double res_max[4]; // max of residuals - double res_mu; // mu-residual - hpipm_size_t memsize; - }; - - - -struct d_ocp_qp_res_ws - { - struct blasfeo_dvec *tmp_nbgM; // work space of size nbM+ngM - struct blasfeo_dvec *tmp_nsM; // work space of size nsM - hpipm_size_t memsize; - }; - - - -// -hpipm_size_t d_ocp_qp_res_memsize(struct d_ocp_qp_dim *ocp_dim); -// -void d_ocp_qp_res_create(struct d_ocp_qp_dim *ocp_dim, struct d_ocp_qp_res *res, void *mem); -// -hpipm_size_t d_ocp_qp_res_ws_memsize(struct d_ocp_qp_dim *ocp_dim); -// -void d_ocp_qp_res_ws_create(struct d_ocp_qp_dim *ocp_dim, struct d_ocp_qp_res_ws *workspace, void *mem); -// -void d_ocp_qp_res_compute(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_res *res, struct d_ocp_qp_res_ws *ws); -// -void d_ocp_qp_res_compute_lin(struct d_ocp_qp *qp, struct d_ocp_qp_sol *qp_sol, struct d_ocp_qp_sol *qp_step, struct d_ocp_qp_res *res, struct d_ocp_qp_res_ws *ws); -// -void d_ocp_qp_res_compute_inf_norm(struct d_ocp_qp_res *res); -// -void d_ocp_qp_res_get_all(struct d_ocp_qp_res *res, double **res_r, double **res_q, double **res_ls, double **res_us, double **res_b, double **res_d_lb, double **res_d_ub, double **res_d_lg, double **res_d_ug, double **res_d_ls, double **res_d_us, double **res_m_lb, double **res_m_ub, double **res_m_lg, double **res_m_ug, double **res_m_ls, double **res_m_us); -// -void d_ocp_qp_res_get_max_res_stat(struct d_ocp_qp_res *res, double *value); -// -void d_ocp_qp_res_get_max_res_eq(struct d_ocp_qp_res *res, double *value); -// -void d_ocp_qp_res_get_max_res_ineq(struct d_ocp_qp_res *res, double *value); -// -void d_ocp_qp_res_get_max_res_comp(struct d_ocp_qp_res *res, double *value); - - - -#ifdef __cplusplus -} // #extern "C" -#endif - - -#endif // HPIPM_D_OCP_QP_RES_H_ diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_sol.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_sol.h deleted file mode 100644 index eb91f3a7b1451f..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_sol.h +++ /dev/null @@ -1,128 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef HPIPM_D_OCP_QP_SOL_H_ -#define HPIPM_D_OCP_QP_SOL_H_ - - - -#include -#include - -#include "hpipm_d_ocp_qp_dim.h" - - - -#ifdef __cplusplus -extern "C" { -#endif - - - -struct d_ocp_qp_sol - { - struct d_ocp_qp_dim *dim; - struct blasfeo_dvec *ux; - struct blasfeo_dvec *pi; - struct blasfeo_dvec *lam; - struct blasfeo_dvec *t; - void *misc; - hpipm_size_t memsize; // memory size in bytes - }; - - - -// -hpipm_size_t d_ocp_qp_sol_strsize(); -// -hpipm_size_t d_ocp_qp_sol_memsize(struct d_ocp_qp_dim *dim); -// -void d_ocp_qp_sol_create(struct d_ocp_qp_dim *dim, struct d_ocp_qp_sol *qp_sol, void *memory); -// -void d_ocp_qp_sol_copy_all(struct d_ocp_qp_sol *qp_sol_orig, struct d_ocp_qp_sol *qp_sol_dest); -// -void d_ocp_qp_sol_get_all(struct d_ocp_qp_sol *qp_sol, double **u, double **x, double **ls, double **us, double **pi, double **lam_lb, double **lam_ub, double **lam_lg, double **lam_ug, double **lam_ls, double **lam_us); -// -void d_ocp_qp_sol_get_all_rowmaj(struct d_ocp_qp_sol *qp_sol, double **u, double **x, double **ls, double **us, double **pi, double **lam_lb, double **lam_ub, double **lam_lg, double **lam_ug, double **lam_ls, double **lam_us); -// -void d_ocp_qp_sol_set_all(double **u, double **x, double **ls, double **us, double **pi, double **lam_lb, double **lam_ub, double **lam_lg, double **lam_ug, double **lam_ls, double **lam_us, struct d_ocp_qp_sol *qp_sol); -// -void d_ocp_qp_sol_get(char *field, int stage, struct d_ocp_qp_sol *qp_sol, double *vec); -// -void d_ocp_qp_sol_get_u(int stage, struct d_ocp_qp_sol *qp_sol, double *vec); -// -void d_ocp_qp_sol_get_x(int stage, struct d_ocp_qp_sol *qp_sol, double *vec); -// -void d_ocp_qp_sol_get_sl(int stage, struct d_ocp_qp_sol *qp_sol, double *vec); -// -void d_ocp_qp_sol_get_su(int stage, struct d_ocp_qp_sol *qp_sol, double *vec); -// -void d_ocp_qp_sol_get_pi(int stage, struct d_ocp_qp_sol *qp_sol, double *vec); -// -void d_ocp_qp_sol_get_lam_lb(int stage, struct d_ocp_qp_sol *qp_sol, double *vec); -// -void d_ocp_qp_sol_get_lam_lbu(int stage, struct d_ocp_qp_sol *qp_sol, double *vec); -// -void d_ocp_qp_sol_get_lam_lbx(int stage, struct d_ocp_qp_sol *qp_sol, double *vec); -// -void d_ocp_qp_sol_get_lam_ub(int stage, struct d_ocp_qp_sol *qp_sol, double *vec); -// -void d_ocp_qp_sol_get_lam_ubu(int stage, struct d_ocp_qp_sol *qp_sol, double *vec); -// -void d_ocp_qp_sol_get_lam_ubx(int stage, struct d_ocp_qp_sol *qp_sol, double *vec); -// -void d_ocp_qp_sol_get_lam_lg(int stage, struct d_ocp_qp_sol *qp_sol, double *vec); -// -void d_ocp_qp_sol_get_lam_ug(int stage, struct d_ocp_qp_sol *qp_sol, double *vec); -// -void d_ocp_qp_sol_set(char *field, int stage, double *vec, struct d_ocp_qp_sol *qp_sol); -// -void d_ocp_qp_sol_set_u(int stage, double *vec, struct d_ocp_qp_sol *qp_sol); -// -void d_ocp_qp_sol_set_x(int stage, double *vec, struct d_ocp_qp_sol *qp_sol); -// -void d_ocp_qp_sol_set_sl(int stage, double *vec, struct d_ocp_qp_sol *qp_sol); -// -void d_ocp_qp_sol_set_su(int stage, double *vec, struct d_ocp_qp_sol *qp_sol); - - - -#ifdef __cplusplus -} // #extern "C" -#endif - - - -#endif // HPIPM_D_OCP_QP_SOL_H_ diff --git a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_utils.h b/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_utils.h deleted file mode 100644 index 217e9d94ae7116..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_d_ocp_qp_utils.h +++ /dev/null @@ -1,82 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef HPIPM_D_OCP_QP_UTILS_H_ -#define HPIPM_D_OCP_QP_UTILS_H_ - - - -#include -#include - -#include "hpipm_d_ocp_qp_dim.h" -#include "hpipm_d_ocp_qp.h" -#include "hpipm_d_ocp_qp_sol.h" -#include "hpipm_d_ocp_qp_ipm.h" - - - -#ifdef __cplusplus -extern "C" { -#endif - - - -// -void d_ocp_qp_dim_print(struct d_ocp_qp_dim *qp_dim); -// -void d_ocp_qp_dim_codegen(char *file_name, char *mode, struct d_ocp_qp_dim *qp_dim); -// -void d_ocp_qp_print(struct d_ocp_qp_dim *qp_dim, struct d_ocp_qp *qp); -// -void d_ocp_qp_codegen(char *file_name, char *mode, struct d_ocp_qp_dim *qp_dim, struct d_ocp_qp *qp); -// -void d_ocp_qp_sol_print(struct d_ocp_qp_dim *qp_dim, struct d_ocp_qp_sol *ocp_qp_sol); -// -void d_ocp_qp_ipm_arg_print(struct d_ocp_qp_dim *qp_dim, struct d_ocp_qp_ipm_arg *arg); -// -void d_ocp_qp_ipm_arg_codegen(char *file_name, char *mode, struct d_ocp_qp_dim *qp_dim, struct d_ocp_qp_ipm_arg *arg); -// -void d_ocp_qp_res_print(struct d_ocp_qp_dim *qp_dim, struct d_ocp_qp_res *ocp_qp_res); - - - -#ifdef __cplusplus -} // #extern "C" -#endif - - - -#endif // HPIPM_D_OCP_QP_UTILS_H_ diff --git a/third_party/acados/include/hpipm/include/hpipm_d_part_cond.h b/third_party/acados/include/hpipm/include/hpipm_d_part_cond.h deleted file mode 100644 index 1c5f7850356a67..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_d_part_cond.h +++ /dev/null @@ -1,115 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - - - -#ifndef HPIPM_D_PART_COND_H_ -#define HPIPM_D_PART_COND_H_ - - - -#include -#include - -#include "hpipm_common.h" -#include "hpipm_d_cond.h" - - -#ifdef __cplusplus -extern "C" { -#endif - - - -struct d_part_cond_qp_arg - { - struct d_cond_qp_arg *cond_arg; - int N2; - hpipm_size_t memsize; - }; - - - -struct d_part_cond_qp_ws - { - struct d_cond_qp_ws *cond_workspace; - hpipm_size_t memsize; - }; - - - -// -hpipm_size_t d_part_cond_qp_arg_memsize(int N2); -// -void d_part_cond_qp_arg_create(int N2, struct d_part_cond_qp_arg *cond_arg, void *mem); -// -void d_part_cond_qp_arg_set_default(struct d_part_cond_qp_arg *cond_arg); -// set riccati-like algorithm: 0 classical, 1 squre-root -void d_part_cond_qp_arg_set_ric_alg(int ric_alg, struct d_part_cond_qp_arg *cond_arg); -// -void d_part_cond_qp_arg_set_comp_prim_sol(int value, struct d_part_cond_qp_arg *cond_arg); -// -void d_part_cond_qp_arg_set_comp_dual_sol_eq(int value, struct d_part_cond_qp_arg *cond_arg); -// -void d_part_cond_qp_arg_set_comp_dual_sol_ineq(int value, struct d_part_cond_qp_arg *cond_arg); - -// -void d_part_cond_qp_compute_block_size(int N, int N2, int *block_size); -// -void d_part_cond_qp_compute_dim(struct d_ocp_qp_dim *ocp_dim, int *block_size, struct d_ocp_qp_dim *part_dense_dim); -// -hpipm_size_t d_part_cond_qp_ws_memsize(struct d_ocp_qp_dim *ocp_dim, int *block_size, struct d_ocp_qp_dim *part_dense_dim, struct d_part_cond_qp_arg *cond_arg); -// -void d_part_cond_qp_ws_create(struct d_ocp_qp_dim *ocp_dim, int *block_size, struct d_ocp_qp_dim *part_dense_dim, struct d_part_cond_qp_arg *cond_arg, struct d_part_cond_qp_ws *cond_ws, void *mem); -// -void d_part_cond_qp_cond(struct d_ocp_qp *ocp_qp, struct d_ocp_qp *part_dense_qp, struct d_part_cond_qp_arg *cond_arg, struct d_part_cond_qp_ws *cond_ws); -// -void d_part_cond_qp_cond_lhs(struct d_ocp_qp *ocp_qp, struct d_ocp_qp *part_dense_qp, struct d_part_cond_qp_arg *cond_arg, struct d_part_cond_qp_ws *cond_ws); -// -void d_part_cond_qp_cond_rhs(struct d_ocp_qp *ocp_qp, struct d_ocp_qp *part_dense_qp, struct d_part_cond_qp_arg *cond_arg, struct d_part_cond_qp_ws *cond_ws); -// -void d_part_cond_qp_expand_sol(struct d_ocp_qp *ocp_qp, struct d_ocp_qp *part_dense_qp, struct d_ocp_qp_sol *part_dense_qp_sol, struct d_ocp_qp_sol *ocp_qp_sol, struct d_part_cond_qp_arg *cond_arg, struct d_part_cond_qp_ws *cond_ws); - -// -void d_part_cond_qp_update(int *idxc, struct d_ocp_qp *ocp_qp, struct d_ocp_qp *part_dense_qp, struct d_part_cond_qp_arg *cond_arg, struct d_part_cond_qp_ws *cond_ws); - - -#ifdef __cplusplus -} /* extern "C" */ -#endif - - - -#endif // HPIPM_D_PART_COND_H_ diff --git a/third_party/acados/include/hpipm/include/hpipm_d_part_cond_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_d_part_cond_qcqp.h deleted file mode 100644 index 2d6624e5bbd0e6..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_d_part_cond_qcqp.h +++ /dev/null @@ -1,106 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - - - -#ifndef HPIPM_D_PART_COND_QCQP_H_ -#define HPIPM_D_PART_COND_QCQP_H_ - - - -#include -#include - -#include "hpipm_d_cond_qcqp.h" - - -#ifdef __cplusplus -extern "C" { -#endif - - - -struct d_part_cond_qcqp_arg - { - struct d_cond_qcqp_arg *cond_arg; - int N2; - hpipm_size_t memsize; - }; - - - -struct d_part_cond_qcqp_ws - { - struct d_cond_qcqp_ws *cond_ws; - hpipm_size_t memsize; - }; - - - -// -hpipm_size_t d_part_cond_qcqp_arg_memsize(int N2); -// -void d_part_cond_qcqp_arg_create(int N2, struct d_part_cond_qcqp_arg *cond_arg, void *mem); -// -void d_part_cond_qcqp_arg_set_default(struct d_part_cond_qcqp_arg *cond_arg); -// set riccati-like algorithm: 0 classical, 1 squre-root -void d_part_cond_qcqp_arg_set_ric_alg(int ric_alg, struct d_part_cond_qcqp_arg *cond_arg); - -// -void d_part_cond_qcqp_compute_block_size(int N, int N2, int *block_size); -// -void d_part_cond_qcqp_compute_dim(struct d_ocp_qcqp_dim *ocp_dim, int *block_size, struct d_ocp_qcqp_dim *part_dense_dim); -// -hpipm_size_t d_part_cond_qcqp_ws_memsize(struct d_ocp_qcqp_dim *ocp_dim, int *block_size, struct d_ocp_qcqp_dim *part_dense_dim, struct d_part_cond_qcqp_arg *cond_arg); -// -void d_part_cond_qcqp_ws_create(struct d_ocp_qcqp_dim *ocp_dim, int *block_size, struct d_ocp_qcqp_dim *part_dense_dim, struct d_part_cond_qcqp_arg *cond_arg, struct d_part_cond_qcqp_ws *cond_ws, void *mem); -// -void d_part_cond_qcqp_cond(struct d_ocp_qcqp *ocp_qp, struct d_ocp_qcqp *part_dense_qp, struct d_part_cond_qcqp_arg *cond_arg, struct d_part_cond_qcqp_ws *cond_ws); -// -void d_part_cond_qcqp_cond_lhs(struct d_ocp_qcqp *ocp_qp, struct d_ocp_qcqp *part_dense_qp, struct d_part_cond_qcqp_arg *cond_arg, struct d_part_cond_qcqp_ws *cond_ws); -// -void d_part_cond_qcqp_cond_rhs(struct d_ocp_qcqp *ocp_qp, struct d_ocp_qcqp *part_dense_qp, struct d_part_cond_qcqp_arg *cond_arg, struct d_part_cond_qcqp_ws *cond_ws); -// -void d_part_cond_qcqp_expand_sol(struct d_ocp_qcqp *ocp_qp, struct d_ocp_qcqp *part_dense_qp, struct d_ocp_qcqp_sol *part_dense_qp_sol, struct d_ocp_qcqp_sol *ocp_qp_sol, struct d_part_cond_qcqp_arg *cond_arg, struct d_part_cond_qcqp_ws *cond_ws); - - -#ifdef __cplusplus -} /* extern "C" */ -#endif - - - -#endif // HPIPM_D_PART_COND_H_ - diff --git a/third_party/acados/include/hpipm/include/hpipm_d_sim_erk.h b/third_party/acados/include/hpipm/include/hpipm_d_sim_erk.h deleted file mode 100644 index 320b66bb28c201..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_d_sim_erk.h +++ /dev/null @@ -1,122 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef HPIPM_D_SIM_ERK_H_ -#define HPIPM_D_SIM_ERK_H_ - -#include "hpipm_common.h" - -#ifdef __cplusplus -extern "C" { -#endif - -struct d_sim_erk_arg - { - struct d_sim_rk_data *rk_data; // integrator data - double h; // step size - int steps; // number of steps -// int for_sens; // compute adjoint sensitivities -// int adj_sens; // compute adjoint sensitivities - hpipm_size_t memsize; - }; - - - -struct d_sim_erk_ws - { - void (*ode)(int t, double *x, double *p, void *ode_args, double *xdot); // function pointer to ode - void (*vde_for)(int t, double *x, double *p, void *ode_args, double *xdot); // function pointer to forward vde - void (*vde_adj)(int t, double *adj_in, void *ode_args, double *adj_out); // function pointer to adjoint vde - void *ode_args; // pointer to ode args - struct d_sim_erk_arg *erk_arg; // erk arg - double *K; // internal variables - double *x_for; // states and forward sensitivities - double *x_traj; // states at all steps - double *l; // adjoint sensitivities - double *p; // parameter - double *x_tmp; // temporary states and forward sensitivities - double *adj_in; - double *adj_tmp; - int nx; // number of states - int np; // number of parameters - int nf; // number of forward sensitivities - int na; // number of adjoint sensitivities - int nf_max; // max number of forward sensitivities - int na_max; // max number of adjoint sensitivities - hpipm_size_t memsize; - }; - - - -// -hpipm_size_t d_sim_erk_arg_memsize(); -// -void d_sim_erk_arg_create(struct d_sim_erk_arg *erk_arg, void *mem); -// -void d_sim_erk_arg_set_all(struct d_sim_rk_data *rk_data, double h, int steps, struct d_sim_erk_arg *erk_arg); - -// -hpipm_size_t d_sim_erk_ws_memsize(struct d_sim_erk_arg *erk_arg, int nx, int np, int nf_max, int na_max); -// -void d_sim_erk_ws_create(struct d_sim_erk_arg *erk_arg, int nx, int np, int nf_max, int na_max, struct d_sim_erk_ws *work, void *memory); -// -void d_sim_erk_ws_set_all(int nf, int na, double *x, double *fs, double *bs, double *p, void (*ode)(int t, double *x, double *p, void *ode_args, double *xdot), void (*vde_for)(int t, double *x, double *p, void *ode_args, double *xdot), void (*vde_adj)(int t, double *adj_in, void *ode_args, double *adj_out), void *ode_args, struct d_sim_erk_ws *work); -// number of directions for forward sensitivities -void d_sim_erk_ws_set_nf(int *nf, struct d_sim_erk_ws *work); -// parameters (e.g. inputs) -void d_sim_erk_ws_set_p(double *p, struct d_sim_erk_ws *work); -// state -void d_sim_erk_ws_set_x(double *x, struct d_sim_erk_ws *work); -// forward sensitivities -void d_sim_erk_ws_set_fs(double *fs, struct d_sim_erk_ws *work); -// ode funtion -void d_sim_erk_ws_set_ode(void (*ode)(int t, double *x, double *p, void *ode_args, double *xdot), struct d_sim_erk_ws *work); -// forward vde function -void d_sim_erk_ws_set_vde_for(void (*ode)(int t, double *x, double *p, void *ode_args, double *xdot), struct d_sim_erk_ws *work); -// ode_args, passed straight to the ode/vde_for/vde_adj functions -void d_sim_erk_ws_set_ode_args(void *ode_args, struct d_sim_erk_ws *work); -// state -void d_sim_erk_ws_get_x(struct d_sim_erk_ws *work, double *x); -// forward sensitivities -void d_sim_erk_ws_get_fs(struct d_sim_erk_ws *work, double *fs); -// -void d_sim_erk_solve(struct d_sim_erk_arg *arg, struct d_sim_erk_ws *work); - -#ifdef __cplusplus -} /* extern "C" */ -#endif - -#endif // HPIPM_D_SIM_ERK_H_ - diff --git a/third_party/acados/include/hpipm/include/hpipm_d_sim_rk.h b/third_party/acados/include/hpipm/include/hpipm_d_sim_rk.h deleted file mode 100644 index a50dcbb491ceea..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_d_sim_rk.h +++ /dev/null @@ -1,71 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef HPIPM_D_SIM_RK_H_ -#define HPIPM_D_SIM_RK_H_ - -#include "hpipm_common.h" - -#ifdef __cplusplus -extern "C" { -#endif - -struct d_sim_rk_data - { - double *A_rk; // A in butcher tableau - double *B_rk; // b in butcher tableau - double *C_rk; // c in butcher tableau - int expl; // erk vs irk - int ns; // number of stages - hpipm_size_t memsize; - }; - - - -// -hpipm_size_t d_sim_rk_data_memsize(int ns); -// -void d_sim_rk_data_create(int ns, struct d_sim_rk_data *rk_data, void *memory); -// -void d_sim_rk_data_init_default(char *field, struct d_sim_rk_data *rk_data); -// -void d_sim_rk_data_set_all(int expl, double *A_rk, double *B_rk, double *C_rk, struct d_sim_rk_data *rk_data); - -#ifdef __cplusplus -} /* extern "C" */ -#endif - -#endif // HPIPM_D_SIM_RK_H_ - diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp.h deleted file mode 100644 index f36b51a06433f1..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp.h +++ /dev/null @@ -1,213 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef HPIPM_D_TREE_OCP_QCQP_H_ -#define HPIPM_D_TREE_OCP_QCQP_H_ - - - -#include -#include - -#include "hpipm_common.h" -#include "hpipm_d_tree_ocp_qcqp_dim.h" - - - -#ifdef __cplusplus -extern "C" { -#endif - - - -struct d_tree_ocp_qcqp - { - struct d_tree_ocp_qcqp_dim *dim; - struct blasfeo_dmat *BAbt; // Nn-1 - struct blasfeo_dmat *RSQrq; // Nn - struct blasfeo_dmat *DCt; // Nn - struct blasfeo_dmat **Hq; // Nn - struct blasfeo_dvec *b; // Nn-1 - struct blasfeo_dvec *rqz; // Nn - struct blasfeo_dvec *d; // Nn - struct blasfeo_dvec *d_mask; // Nn - struct blasfeo_dvec *m; // Nn - struct blasfeo_dvec *Z; // Nn - int **idxb; // indices of box constrained variables within [u; x] // Nn - int **idxs_rev; // index of soft constraints - hpipm_size_t memsize; // memory size in bytes - }; - - - -// -hpipm_size_t d_tree_ocp_qcqp_memsize(struct d_tree_ocp_qcqp_dim *dim); -// -void d_tree_ocp_qcqp_create(struct d_tree_ocp_qcqp_dim *dim, struct d_tree_ocp_qcqp *qp, void *memory); -// -void d_tree_ocp_qcqp_set_all(double **A, double **B, double **b, double **Q, double **S, double **R, double **q, double **r, int **idxb, double **d_lb, double **d_ub, double **C, double **D, double **d_lg, double **d_ug, double **Zl, double **Zu, double **zl, double **zu, int **idxs, double **d_ls, double **d_us, struct d_tree_ocp_qcqp *qp); -// -void d_tree_ocp_qcqp_set(char *field_name, int node_edge, void *value, struct d_tree_ocp_qcqp *qp); -// -void d_tree_ocp_qcqp_set_A(int edge, double *mat, struct d_tree_ocp_qcqp *qp); -// -void d_tree_ocp_qcqp_set_B(int edge, double *mat, struct d_tree_ocp_qcqp *qp); -// -void d_tree_ocp_qcqp_set_b(int edge, double *vec, struct d_tree_ocp_qcqp *qp); -// -void d_tree_ocp_qcqp_set_Q(int node, double *mat, struct d_tree_ocp_qcqp *qp); -// -void d_tree_ocp_qcqp_set_S(int node, double *mat, struct d_tree_ocp_qcqp *qp); -// -void d_tree_ocp_qcqp_set_R(int node, double *mat, struct d_tree_ocp_qcqp *qp); -// -void d_tree_ocp_qcqp_set_q(int node, double *vec, struct d_tree_ocp_qcqp *qp); -// -void d_tree_ocp_qcqp_set_r(int node, double *vec, struct d_tree_ocp_qcqp *qp); -// -void d_tree_ocp_qcqp_set_lb(int node, double *vec, struct d_tree_ocp_qcqp *qp); -// -void d_tree_ocp_qcqp_set_lb_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp); -// -void d_tree_ocp_qcqp_set_ub(int node, double *vec, struct d_tree_ocp_qcqp *qp); -// -void d_tree_ocp_qcqp_set_ub_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp); -// -void d_tree_ocp_qcqp_set_lbx(int node, double *vec, struct d_tree_ocp_qcqp *qp); -// -void d_tree_ocp_qcqp_set_lbx_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp); -// -void d_tree_ocp_qcqp_set_ubx(int node, double *vec, struct d_tree_ocp_qcqp *qp); -// -void d_tree_ocp_qcqp_set_ubx_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp); -// -void d_tree_ocp_qcqp_set_lbu(int node, double *vec, struct d_tree_ocp_qcqp *qp); -// -void d_tree_ocp_qcqp_set_lbu_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp); -// -void d_tree_ocp_qcqp_set_ubu(int node, double *vec, struct d_tree_ocp_qcqp *qp); -// -void d_tree_ocp_qcqp_set_ubu_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp); -// -void d_tree_ocp_qcqp_set_idxb(int node, int *vec, struct d_tree_ocp_qcqp *qp); -// -void d_tree_ocp_qcqp_set_idxbx(int node, int *vec, struct d_tree_ocp_qcqp *qp); -// -void d_tree_ocp_qcqp_set_Jbx(int node, double *vec, struct d_tree_ocp_qcqp *qp); -// -void d_tree_ocp_qcqp_set_idxbu(int node, int *vec, struct d_tree_ocp_qcqp *qp); -// -void d_tree_ocp_qcqp_set_Jbu(int node, double *vec, struct d_tree_ocp_qcqp *qp); -// -void d_tree_ocp_qcqp_set_C(int node, double *mat, struct d_tree_ocp_qcqp *qp); -// -void d_tree_ocp_qcqp_set_D(int node, double *mat, struct d_tree_ocp_qcqp *qp); -// -void d_tree_ocp_qcqp_set_lg(int node, double *vec, struct d_tree_ocp_qcqp *qp); -// -void d_tree_ocp_qcqp_set_lg_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp); -// -void d_tree_ocp_qcqp_set_ug(int node, double *vec, struct d_tree_ocp_qcqp *qp); -// -void d_tree_ocp_qcqp_set_ug_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp); -// -void d_tree_ocp_qcqp_set_Qq(int node, double *mat, struct d_tree_ocp_qcqp *qp); -// -void d_tree_ocp_qcqp_set_Sq(int node, double *mat, struct d_tree_ocp_qcqp *qp); -// -void d_tree_ocp_qcqp_set_Rq(int node, double *mat, struct d_tree_ocp_qcqp *qp); -// -void d_tree_ocp_qcqp_set_qq(int node, double *vec, struct d_tree_ocp_qcqp *qp); -// -void d_tree_ocp_qcqp_set_rq(int node, double *vec, struct d_tree_ocp_qcqp *qp); -// -void d_tree_ocp_qcqp_set_uq(int node, double *vec, struct d_tree_ocp_qcqp *qp); -// -void d_tree_ocp_qcqp_set_uq_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp); -// -void d_tree_ocp_qcqp_set_Zl(int node, double *vec, struct d_tree_ocp_qcqp *qp); -// -void d_tree_ocp_qcqp_set_Zu(int node, double *vec, struct d_tree_ocp_qcqp *qp); -// -void d_tree_ocp_qcqp_set_zl(int node, double *vec, struct d_tree_ocp_qcqp *qp); -// -void d_tree_ocp_qcqp_set_zu(int node, double *vec, struct d_tree_ocp_qcqp *qp); -// -void d_tree_ocp_qcqp_set_lls(int node, double *vec, struct d_tree_ocp_qcqp *qp); -// -void d_tree_ocp_qcqp_set_lls_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp); -// -void d_tree_ocp_qcqp_set_lus(int node, double *vec, struct d_tree_ocp_qcqp *qp); -// -void d_tree_ocp_qcqp_set_lus_mask(int node, double *vec, struct d_tree_ocp_qcqp *qp); -// -void d_tree_ocp_qcqp_set_idxs(int node, int *vec, struct d_tree_ocp_qcqp *qp); -// -void d_tree_ocp_qcqp_set_idxs_rev(int node, int *vec, struct d_tree_ocp_qcqp *qp); -// -void d_tree_ocp_qcqp_set_Jsbu(int node, double *vec, struct d_tree_ocp_qcqp *qp); -// -void d_tree_ocp_qcqp_set_Jsbx(int node, double *vec, struct d_tree_ocp_qcqp *qp); -// -void d_tree_ocp_qcqp_set_Jsg(int node, double *vec, struct d_tree_ocp_qcqp *qp); -// -void d_tree_ocp_qcqp_set_Jsq(int node, double *vec, struct d_tree_ocp_qcqp *qp); -// -//void d_tree_ocp_qcqp_set_idxe(int node, int *vec, struct d_tree_ocp_qcqp *qp); -// -//void d_tree_ocp_qcqp_set_idxbxe(int node, int *vec, struct d_tree_ocp_qcqp *qp); -// -//void d_tree_ocp_qcqp_set_idxbue(int node, int *vec, struct d_tree_ocp_qcqp *qp); -// -//void d_tree_ocp_qcqp_set_idxge(int node, int *vec, struct d_tree_ocp_qcqp *qp); -// -//void d_tree_ocp_qcqp_set_Jbxe(int node, double *vec, struct d_tree_ocp_qcqp *qp); -// -//void d_tree_ocp_qcqp_set_Jbue(int node, double *vec, struct d_tree_ocp_qcqp *qp); -// -//void d_tree_ocp_qcqp_set_Jge(int node, double *vec, struct d_tree_ocp_qcqp *qp); -// -//void d_tree_ocp_qcqp_set_diag_H_flag(int node, int *value, struct d_tree_ocp_qcqp *qp); - - - -#ifdef __cplusplus -} /* extern "C" */ -#endif - - - -#endif // HPIPM_D_TREE_OCP_QCQP_H_ - diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_dim.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_dim.h deleted file mode 100644 index 257b82b2522bfe..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_dim.h +++ /dev/null @@ -1,117 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef HPIPM_D_TREE_OCP_QCQP_DIM_H_ -#define HPIPM_D_TREE_OCP_QCQP_DIM_H_ - -#include "hpipm_common.h" - -#ifdef __cplusplus -extern "C" { -#endif - - - -struct d_tree_ocp_qcqp_dim - { - struct d_tree_ocp_qp_dim *qp_dim; // dim of qp approximation - struct tree *ttree; // tree describing node conndection - int *nx; // number of states // Nn - int *nu; // number of inputs // Nn - int *nb; // number of box constraints // Nn - int *nbx; // number of state box constraints // Nn - int *nbu; // number of input box constraints // Nn - int *ng; // number of general constraints // Nn - int *nq; // number of (upper) quadratic constraints - int *ns; // number of soft constraints // Nn - int *nsbx; // number of soft state box constraints - int *nsbu; // number of soft input box constraints - int *nsg; // number of soft general constraints - int *nsq; // number of (upper) soft quadratic constraints - int Nn; // number of nodes - hpipm_size_t memsize; - }; - - - -// -hpipm_size_t d_tree_ocp_qcqp_dim_strsize(); -// -hpipm_size_t d_tree_ocp_qcqp_dim_memsize(int Nn); -// -void d_tree_ocp_qcqp_dim_create(int Nn, struct d_tree_ocp_qcqp_dim *qp_dim, void *memory); -// -void d_tree_ocp_qcqp_dim_set_tree(struct tree *ttree, struct d_tree_ocp_qcqp_dim *dim); -// -void d_tree_ocp_qcqp_dim_set(char *field, int stage, int value, struct d_tree_ocp_qcqp_dim *dim); -// -void d_tree_ocp_qcqp_dim_set_nx(int stage, int value, struct d_tree_ocp_qcqp_dim *dim); -// -void d_tree_ocp_qcqp_dim_set_nu(int stage, int value, struct d_tree_ocp_qcqp_dim *dim); -// -void d_tree_ocp_qcqp_dim_set_nbx(int stage, int value, struct d_tree_ocp_qcqp_dim *dim); -// -void d_tree_ocp_qcqp_dim_set_nbu(int stage, int value, struct d_tree_ocp_qcqp_dim *dim); -// -void d_tree_ocp_qcqp_dim_set_ng(int stage, int value, struct d_tree_ocp_qcqp_dim *dim); -// -void d_tree_ocp_qcqp_dim_set_nq(int stage, int value, struct d_tree_ocp_qcqp_dim *dim); -// -void d_tree_ocp_qcqp_dim_set_ns(int stage, int value, struct d_tree_ocp_qcqp_dim *dim); -// -void d_tree_ocp_qcqp_dim_set_nsbx(int stage, int value, struct d_tree_ocp_qcqp_dim *dim); -// -void d_tree_ocp_qcqp_dim_set_nsbu(int stage, int value, struct d_tree_ocp_qcqp_dim *dim); -// -void d_tree_ocp_qcqp_dim_set_nsg(int stage, int value, struct d_tree_ocp_qcqp_dim *dim); -// -void d_tree_ocp_qcqp_dim_set_nsq(int stage, int value, struct d_tree_ocp_qcqp_dim *dim); -// -//void d_tree_ocp_qcqp_dim_set_nbxe(int stage, int value, struct d_tree_ocp_qcqp_dim *dim); -// -//void d_tree_ocp_qcqp_dim_set_nbue(int stage, int value, struct d_tree_ocp_qcqp_dim *dim); -// -//void d_tree_ocp_qcqp_dim_set_nge(int stage, int value, struct d_tree_ocp_qcqp_dim *dim); - - - -#ifdef __cplusplus -} // #extern "C" -#endif - - - -#endif // HPIPM_D_TREE_OCP_QCQP_DIM_H_ - diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_ipm.h deleted file mode 100644 index 4a0fed1067aac8..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_ipm.h +++ /dev/null @@ -1,191 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef HPIPM_D_TREE_OCP_QCQP_IPM_H_ -#define HPIPM_D_TREE_OCP_QCQP_IPM_H_ - - - -#include -#include - -#include -#include -#include -#include -#include - - - -#ifdef __cplusplus -extern "C" { -#endif - - - -struct d_tree_ocp_qcqp_ipm_arg - { - struct d_tree_ocp_qp_ipm_arg *qp_arg; - double mu0; // initial value for complementarity slackness - double alpha_min; // exit cond on step length - double res_g_max; // exit cond on inf norm of residuals - double res_b_max; // exit cond on inf norm of residuals - double res_d_max; // exit cond on inf norm of residuals - double res_m_max; // exit cond on inf norm of residuals - double reg_prim; // reg of primal hessian - double lam_min; // min value in lam vector - double t_min; // min value in t vector - int iter_max; // exit cond in iter number - int stat_max; // iterations saved in stat - int pred_corr; // use Mehrotra's predictor-corrector IPM algirthm - int cond_pred_corr; // conditional Mehrotra's predictor-corrector - int itref_pred_max; // max number of iterative refinement steps for predictor step - int itref_corr_max; // max number of iterative refinement steps for corrector step - int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol -// int square_root_alg; // 0 classical Riccati, 1 square-root Riccati - int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq (for square_root_alg==1) - int abs_form; // absolute IPM formulation - int comp_dual_sol_eq; // dual solution of equality constrains (only for abs_form==1) - int comp_res_exit; // compute residuals on exit (only for abs_form==1 and comp_dual_sol_eq==1) -// int comp_res_pred; // compute residuals of prediction - int split_step; // use different step for primal and dual variables - int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution - int mode; - hpipm_size_t memsize; - }; - - - -struct d_tree_ocp_qcqp_ipm_ws - { - struct d_tree_ocp_qp_ipm_ws *qp_ws; - struct d_tree_ocp_qp *qp; - struct d_tree_ocp_qp_sol *qp_sol; - struct d_tree_ocp_qcqp_res_ws *qcqp_res_ws; - struct d_tree_ocp_qcqp_res *qcqp_res; - struct blasfeo_dvec *tmp_nuxM; - int iter; // iteration number - int status; - hpipm_size_t memsize; - }; - - - -// -hpipm_size_t d_tree_ocp_qcqp_ipm_arg_strsize(); -// -hpipm_size_t d_tree_ocp_qcqp_ipm_arg_memsize(struct d_tree_ocp_qcqp_dim *ocp_dim); -// -void d_tree_ocp_qcqp_ipm_arg_create(struct d_tree_ocp_qcqp_dim *ocp_dim, struct d_tree_ocp_qcqp_ipm_arg *arg, void *mem); -// -void d_tree_ocp_qcqp_ipm_arg_set_default(enum hpipm_mode mode, struct d_tree_ocp_qcqp_ipm_arg *arg); -// -void d_tree_ocp_qcqp_ipm_arg_set(char *field, void *value, struct d_tree_ocp_qcqp_ipm_arg *arg); -// set maximum number of iterations -void d_tree_ocp_qcqp_ipm_arg_set_iter_max(int *value, struct d_tree_ocp_qcqp_ipm_arg *arg); -// set minimum step lenght -void d_tree_ocp_qcqp_ipm_arg_set_alpha_min(double *value, struct d_tree_ocp_qcqp_ipm_arg *arg); -// set initial value of barrier parameter -void d_tree_ocp_qcqp_ipm_arg_set_mu0(double *value, struct d_tree_ocp_qcqp_ipm_arg *arg); -// set exit tolerance on stationarity condition -void d_tree_ocp_qcqp_ipm_arg_set_tol_stat(double *value, struct d_tree_ocp_qcqp_ipm_arg *arg); -// set exit tolerance on equality constr -void d_tree_ocp_qcqp_ipm_arg_set_tol_eq(double *value, struct d_tree_ocp_qcqp_ipm_arg *arg); -// set exit tolerance on inequality constr -void d_tree_ocp_qcqp_ipm_arg_set_tol_ineq(double *value, struct d_tree_ocp_qcqp_ipm_arg *arg); -// set exit tolerance on complementarity condition -void d_tree_ocp_qcqp_ipm_arg_set_tol_comp(double *value, struct d_tree_ocp_qcqp_ipm_arg *arg); -// set regularization of primal variables -void d_tree_ocp_qcqp_ipm_arg_set_reg_prim(double *value, struct d_tree_ocp_qcqp_ipm_arg *arg); -// set warm start: 0 no warm start, 1 primal var -void d_tree_ocp_qcqp_ipm_arg_set_warm_start(int *value, struct d_tree_ocp_qcqp_ipm_arg *arg); -// Mehrotra's predictor-corrector IPM algorithm: 0 no predictor-corrector, 1 use predictor-corrector -void d_tree_ocp_qcqp_ipm_arg_set_pred_corr(int *value, struct d_tree_ocp_qcqp_ipm_arg *arg); -// conditional predictor-corrector: 0 no conditinal predictor-corrector, 1 conditional predictor-corrector -void d_tree_ocp_qcqp_ipm_arg_set_cond_pred_corr(int *value, struct d_tree_ocp_qcqp_ipm_arg *arg); -// set riccati algorithm: 0 classic, 1 square-root -//void d_tree_ocp_qcqp_ipm_arg_set_ric_alg(int *value, struct d_tree_ocp_qcqp_ipm_arg *arg); -// compute residuals after solution -void d_tree_ocp_qcqp_ipm_arg_set_comp_res_exit(int *value, struct d_tree_ocp_qcqp_ipm_arg *arg); -// compute residuals of prediction -//void d_tree_ocp_qcqp_ipm_arg_set_comp_res_pred(int *value, struct d_tree_ocp_qcqp_ipm_arg *arg); -// min value of lam in the solution -void d_tree_ocp_qcqp_ipm_arg_set_lam_min(double *value, struct d_tree_ocp_qcqp_ipm_arg *arg); -// min value of t in the solution -void d_tree_ocp_qcqp_ipm_arg_set_t_min(double *value, struct d_tree_ocp_qcqp_ipm_arg *arg); -// use different step for primal and dual variables -void d_tree_ocp_qcqp_ipm_arg_set_split_step(int *value, struct d_tree_ocp_qcqp_ipm_arg *arg); -// clip t and lam: 0 no, 1 in Gamma computation, 2 in solution -void d_tree_ocp_qcqp_ipm_arg_set_t_lam_min(int *value, struct d_tree_ocp_qcqp_ipm_arg *arg); - -// -hpipm_size_t d_tree_ocp_qcqp_ipm_ws_strsize(); -// -hpipm_size_t d_tree_ocp_qcqp_ipm_ws_memsize(struct d_tree_ocp_qcqp_dim *ocp_dim, struct d_tree_ocp_qcqp_ipm_arg *arg); -// -void d_tree_ocp_qcqp_ipm_ws_create(struct d_tree_ocp_qcqp_dim *ocp_dim, struct d_tree_ocp_qcqp_ipm_arg *arg, struct d_tree_ocp_qcqp_ipm_ws *ws, void *mem); -// -void d_tree_ocp_qcqp_ipm_get(char *field, struct d_tree_ocp_qcqp_ipm_ws *ws, void *value); -// -void d_tree_ocp_qcqp_ipm_get_status(struct d_tree_ocp_qcqp_ipm_ws *ws, int *status); -// -void d_tree_ocp_qcqp_ipm_get_iter(struct d_tree_ocp_qcqp_ipm_ws *ws, int *iter); -// -void d_tree_ocp_qcqp_ipm_get_max_res_stat(struct d_tree_ocp_qcqp_ipm_ws *ws, double *res_stat); -// -void d_tree_ocp_qcqp_ipm_get_max_res_eq(struct d_tree_ocp_qcqp_ipm_ws *ws, double *res_eq); -// -void d_tree_ocp_qcqp_ipm_get_max_res_ineq(struct d_tree_ocp_qcqp_ipm_ws *ws, double *res_ineq); -// -void d_tree_ocp_qcqp_ipm_get_max_res_comp(struct d_tree_ocp_qcqp_ipm_ws *ws, double *res_comp); -// -void d_tree_ocp_qcqp_ipm_get_stat(struct d_tree_ocp_qcqp_ipm_ws *ws, double **stat); -// -void d_tree_ocp_qcqp_ipm_get_stat_m(struct d_tree_ocp_qcqp_ipm_ws *ws, int *stat_m); -// -void d_tree_ocp_qcqp_init_var(struct d_tree_ocp_qcqp *qp, struct d_tree_ocp_qcqp_sol *qp_sol, struct d_tree_ocp_qcqp_ipm_arg *arg, struct d_tree_ocp_qcqp_ipm_ws *ws); -// -void d_tree_ocp_qcqp_ipm_solve(struct d_tree_ocp_qcqp *qp, struct d_tree_ocp_qcqp_sol *qp_sol, struct d_tree_ocp_qcqp_ipm_arg *arg, struct d_tree_ocp_qcqp_ipm_ws *ws); - - - -#ifdef __cplusplus -} // #extern "C" -#endif - - -#endif // HPIPM_D_TREE_OCP_QCQP_IPM_H_ - - diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_res.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_res.h deleted file mode 100644 index 69eebb1ba4d674..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_res.h +++ /dev/null @@ -1,108 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef HPIPM_D_TREE_OCP_QCQP_RES_H_ -#define HPIPM_D_TREE_OCP_QCQP_RES_H_ - - - -#include -#include - -#include -#include -#include -#include - - - -#ifdef __cplusplus -extern "C" { -#endif - - - -struct d_tree_ocp_qcqp_res - { - struct d_tree_ocp_qcqp_dim *dim; - struct blasfeo_dvec *res_g; // q-residuals - struct blasfeo_dvec *res_b; // b-residuals - struct blasfeo_dvec *res_d; // d-residuals - struct blasfeo_dvec *res_m; // m-residuals - double res_max[4]; // max of residuals - double res_mu; // mu-residual - hpipm_size_t memsize; - }; - - - -struct d_tree_ocp_qcqp_res_ws - { - struct blasfeo_dvec *tmp_nuxM; // work space of size nuM+nxM - struct blasfeo_dvec *tmp_nbgqM; // work space of size nbM+ngM+nqM - struct blasfeo_dvec *tmp_nsM; // work space of size nsM - struct blasfeo_dvec *q_fun; // value for evaluation of quadr constr - struct blasfeo_dvec *q_adj; // value for adjoint of quadr constr - int use_q_fun; // reuse cached value for evaluation of quadr constr - int use_q_adj; // reuse cached value for adjoint of quadr constr - hpipm_size_t memsize; - }; - - - -// -hpipm_size_t d_tree_ocp_qcqp_res_memsize(struct d_tree_ocp_qcqp_dim *ocp_dim); -// -void d_tree_ocp_qcqp_res_create(struct d_tree_ocp_qcqp_dim *ocp_dim, struct d_tree_ocp_qcqp_res *res, void *mem); -// -hpipm_size_t d_tree_ocp_qcqp_res_ws_memsize(struct d_tree_ocp_qcqp_dim *ocp_dim); -// -void d_tree_ocp_qcqp_res_ws_create(struct d_tree_ocp_qcqp_dim *ocp_dim, struct d_tree_ocp_qcqp_res_ws *ws, void *mem); -// -void d_tree_ocp_qcqp_res_compute(struct d_tree_ocp_qcqp *qp, struct d_tree_ocp_qcqp_sol *qp_sol, struct d_tree_ocp_qcqp_res *res, struct d_tree_ocp_qcqp_res_ws *ws); -// -void d_tree_ocp_qcqp_res_compute_inf_norm(struct d_tree_ocp_qcqp_res *res); - - - -#ifdef __cplusplus -} // #extern "C" -#endif - - -#endif // HPIPM_D_TREE_OCP_QCQP_RES_H_ - - - diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_sol.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_sol.h deleted file mode 100644 index cde8de5c51b769..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_sol.h +++ /dev/null @@ -1,99 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef HPIPM_D_TREE_OCP_QCQP_SOL_H_ -#define HPIPM_D_TREE_OCP_QCQP_SOL_H_ - - - -#include -#include - -#include "hpipm_d_tree_ocp_qcqp_dim.h" - - - -#ifdef __cplusplus -extern "C" { -#endif - -struct d_tree_ocp_qcqp_sol - { - struct d_tree_ocp_qcqp_dim *dim; - struct blasfeo_dvec *ux; - struct blasfeo_dvec *pi; - struct blasfeo_dvec *lam; - struct blasfeo_dvec *t; - void *misc; - hpipm_size_t memsize; // memory size in bytes - }; - - - -// -hpipm_size_t d_tree_ocp_qcqp_sol_memsize(struct d_tree_ocp_qcqp_dim *dim); -// -void d_tree_ocp_qcqp_sol_create(struct d_tree_ocp_qcqp_dim *dim, struct d_tree_ocp_qcqp_sol *qp_sol, void *memory); -// -void d_tree_ocp_qcqp_sol_get(char *field, int node_edge, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec); -// -void d_tree_ocp_qcqp_sol_get_u(int node, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec); -// -void d_tree_ocp_qcqp_sol_get_x(int node, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec); -// -void d_tree_ocp_qcqp_sol_get_sl(int node, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec); -// -void d_tree_ocp_qcqp_sol_get_su(int node, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec); -// -void d_tree_ocp_qcqp_sol_get_pi(int edge, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec); -// -void d_tree_ocp_qcqp_sol_get_lam_lb(int node, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec); -// -void d_tree_ocp_qcqp_sol_get_lam_ub(int node, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec); -// -void d_tree_ocp_qcqp_sol_get_lam_lg(int node, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec); -// -void d_tree_ocp_qcqp_sol_get_lam_ug(int node, struct d_tree_ocp_qcqp_sol *qp_sol, double *vec); - - - -#ifdef __cplusplus -} /* extern "C" */ -#endif - - - -#endif // HPIPM_D_TREE_OCP_QCQP_SOL_H_ - diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_utils.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_utils.h deleted file mode 100644 index 5ef04fcf66fc56..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qcqp_utils.h +++ /dev/null @@ -1,84 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef HPIPM_D_TREE_OCP_QP_UTILS_H_ -#define HPIPM_D_TREE_OCP_QP_UTILS_H_ - - - -#include -#include - -#include "hpipm_d_tree_ocp_qcqp_dim.h" -#include "hpipm_d_tree_ocp_qcqp.h" -#include "hpipm_d_tree_ocp_qcqp_sol.h" -#include "hpipm_d_tree_ocp_qcqp_ipm.h" - - - -#ifdef __cplusplus -extern "C" { -#endif - - - -// -void d_tree_ocp_qcqp_dim_print(struct d_tree_ocp_qcqp_dim *qp_dim); -// -//void d_tree_ocp_qcqp_dim_codegen(char *file_name, char *mode, struct d_tree_ocp_qcqp_dim *qp_dim); -// -void d_tree_ocp_qcqp_print(struct d_tree_ocp_qcqp_dim *qp_dim, struct d_tree_ocp_qcqp *qp); -// -//void d_tree_ocp_qcqp_codegen(char *file_name, char *mode, struct d_tree_ocp_qcqp_dim *qp_dim, struct d_tree_ocp_qcqp *qp); -// -void d_tree_ocp_qcqp_sol_print(struct d_tree_ocp_qcqp_dim *qp_dim, struct d_tree_ocp_qcqp_sol *ocp_qcqp_sol); -// -void d_tree_ocp_qcqp_ipm_arg_print(struct d_tree_ocp_qcqp_dim *qp_dim, struct d_tree_ocp_qcqp_ipm_arg *arg); -// -//void d_tree_ocp_qcqp_ipm_arg_codegen(char *file_name, char *mode, struct d_tree_ocp_qcqp_dim *qp_dim, struct d_tree_ocp_qcqp_ipm_arg *arg); -// -void d_tree_ocp_qcqp_res_print(struct d_tree_ocp_qcqp_dim *qp_dim, struct d_tree_ocp_qcqp_res *ocp_qcqp_res); - - - -#ifdef __cplusplus -} // #extern "C" -#endif - - - -#endif // HPIPM_D_TREE_OCP_QP_UTILS_H_ - - diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp.h deleted file mode 100644 index 1666ad7c71bc3a..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp.h +++ /dev/null @@ -1,195 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef HPIPM_D_TREE_OCP_QP_H_ -#define HPIPM_D_TREE_OCP_QP_H_ - - - -#include -#include - -#include "hpipm_d_tree_ocp_qp_dim.h" - - - -#ifdef __cplusplus -extern "C" { -#endif - - - -struct d_tree_ocp_qp - { - struct d_tree_ocp_qp_dim *dim; - struct blasfeo_dmat *BAbt; // Nn-1 - struct blasfeo_dmat *RSQrq; // Nn - struct blasfeo_dmat *DCt; // Nn - struct blasfeo_dvec *b; // Nn-1 - struct blasfeo_dvec *rqz; // Nn - struct blasfeo_dvec *d; // Nn - struct blasfeo_dvec *d_mask; // Nn - struct blasfeo_dvec *m; // Nn - struct blasfeo_dvec *Z; // Nn - int **idxb; // indices of box constrained variables within [u; x] // Nn -// int **idxs; // index of soft constraints - int **idxs_rev; // index of soft constraints - hpipm_size_t memsize; // memory size in bytes - }; - - - -// -hpipm_size_t d_tree_ocp_qp_memsize(struct d_tree_ocp_qp_dim *dim); -// -void d_tree_ocp_qp_create(struct d_tree_ocp_qp_dim *dim, struct d_tree_ocp_qp *qp, void *memory); -// -void d_tree_ocp_qp_set_all(double **A, double **B, double **b, double **Q, double **S, double **R, double **q, double **r, int **idxb, double **d_lb, double **d_ub, double **C, double **D, double **d_lg, double **d_ug, double **Zl, double **Zu, double **zl, double **zu, int **idxs, double **d_ls, double **d_us, struct d_tree_ocp_qp *qp); -// -void d_tree_ocp_qp_set(char *field_name, int node_edge, void *value, struct d_tree_ocp_qp *qp); -// -void d_tree_ocp_qp_set_A(int edge, double *mat, struct d_tree_ocp_qp *qp); -// -void d_tree_ocp_qp_set_B(int edge, double *mat, struct d_tree_ocp_qp *qp); -// -void d_tree_ocp_qp_set_b(int edge, double *vec, struct d_tree_ocp_qp *qp); -// -void d_tree_ocp_qp_set_Q(int node, double *mat, struct d_tree_ocp_qp *qp); -// -void d_tree_ocp_qp_set_S(int node, double *mat, struct d_tree_ocp_qp *qp); -// -void d_tree_ocp_qp_set_R(int node, double *mat, struct d_tree_ocp_qp *qp); -// -void d_tree_ocp_qp_set_q(int node, double *vec, struct d_tree_ocp_qp *qp); -// -void d_tree_ocp_qp_set_r(int node, double *vec, struct d_tree_ocp_qp *qp); -// -void d_tree_ocp_qp_set_lb(int node, double *vec, struct d_tree_ocp_qp *qp); -// -void d_tree_ocp_qp_set_lb_mask(int node, double *vec, struct d_tree_ocp_qp *qp); -// -void d_tree_ocp_qp_set_ub(int node, double *vec, struct d_tree_ocp_qp *qp); -// -void d_tree_ocp_qp_set_ub_mask(int node, double *vec, struct d_tree_ocp_qp *qp); -// -void d_tree_ocp_qp_set_lbx(int node, double *vec, struct d_tree_ocp_qp *qp); -// -void d_tree_ocp_qp_set_lbx_mask(int node, double *vec, struct d_tree_ocp_qp *qp); -// -void d_tree_ocp_qp_set_ubx(int node, double *vec, struct d_tree_ocp_qp *qp); -// -void d_tree_ocp_qp_set_ubx_mask(int node, double *vec, struct d_tree_ocp_qp *qp); -// -void d_tree_ocp_qp_set_lbu(int node, double *vec, struct d_tree_ocp_qp *qp); -// -void d_tree_ocp_qp_set_lbu_mask(int node, double *vec, struct d_tree_ocp_qp *qp); -// -void d_tree_ocp_qp_set_ubu(int node, double *vec, struct d_tree_ocp_qp *qp); -// -void d_tree_ocp_qp_set_ubu_mask(int node, double *vec, struct d_tree_ocp_qp *qp); -// -void d_tree_ocp_qp_set_idxb(int node, int *vec, struct d_tree_ocp_qp *qp); -// -void d_tree_ocp_qp_set_idxbx(int node, int *vec, struct d_tree_ocp_qp *qp); -// -void d_tree_ocp_qp_set_Jbx(int node, double *vec, struct d_tree_ocp_qp *qp); -// -void d_tree_ocp_qp_set_idxbu(int node, int *vec, struct d_tree_ocp_qp *qp); -// -void d_tree_ocp_qp_set_Jbu(int node, double *vec, struct d_tree_ocp_qp *qp); -// -void d_tree_ocp_qp_set_C(int node, double *mat, struct d_tree_ocp_qp *qp); -// -void d_tree_ocp_qp_set_D(int node, double *mat, struct d_tree_ocp_qp *qp); -// -void d_tree_ocp_qp_set_lg(int node, double *vec, struct d_tree_ocp_qp *qp); -// -void d_tree_ocp_qp_set_lg_mask(int node, double *vec, struct d_tree_ocp_qp *qp); -// -void d_tree_ocp_qp_set_ug(int node, double *vec, struct d_tree_ocp_qp *qp); -// -void d_tree_ocp_qp_set_ug_mask(int node, double *vec, struct d_tree_ocp_qp *qp); -// -void d_tree_ocp_qp_set_Zl(int node, double *vec, struct d_tree_ocp_qp *qp); -// -void d_tree_ocp_qp_set_Zu(int node, double *vec, struct d_tree_ocp_qp *qp); -// -void d_tree_ocp_qp_set_zl(int node, double *vec, struct d_tree_ocp_qp *qp); -// -void d_tree_ocp_qp_set_zu(int node, double *vec, struct d_tree_ocp_qp *qp); -// -void d_tree_ocp_qp_set_lls(int node, double *vec, struct d_tree_ocp_qp *qp); -// -void d_tree_ocp_qp_set_lls_mask(int node, double *vec, struct d_tree_ocp_qp *qp); -// -void d_tree_ocp_qp_set_lus(int node, double *vec, struct d_tree_ocp_qp *qp); -// -void d_tree_ocp_qp_set_lus_mask(int node, double *vec, struct d_tree_ocp_qp *qp); -// -void d_tree_ocp_qp_set_idxs(int node, int *vec, struct d_tree_ocp_qp *qp); -// -void d_tree_ocp_qp_set_idxs_rev(int node, int *vec, struct d_tree_ocp_qp *qp); -// -void d_tree_ocp_qp_set_Jsbu(int node, double *vec, struct d_tree_ocp_qp *qp); -// -void d_tree_ocp_qp_set_Jsbx(int node, double *vec, struct d_tree_ocp_qp *qp); -// -void d_tree_ocp_qp_set_Jsg(int node, double *vec, struct d_tree_ocp_qp *qp); -// -//void d_tree_ocp_qp_set_idxe(int node, int *vec, struct d_tree_ocp_qp *qp); -// -//void d_tree_ocp_qp_set_idxbxe(int node, int *vec, struct d_tree_ocp_qp *qp); -// -//void d_tree_ocp_qp_set_idxbue(int node, int *vec, struct d_tree_ocp_qp *qp); -// -//void d_tree_ocp_qp_set_idxge(int node, int *vec, struct d_tree_ocp_qp *qp); -// -//void d_tree_ocp_qp_set_Jbxe(int node, double *vec, struct d_tree_ocp_qp *qp); -// -//void d_tree_ocp_qp_set_Jbue(int node, double *vec, struct d_tree_ocp_qp *qp); -// -//void d_tree_ocp_qp_set_Jge(int node, double *vec, struct d_tree_ocp_qp *qp); -// -//void d_tree_ocp_qp_set_diag_H_flag(int node, int *value, struct d_tree_ocp_qp *qp); - - - -#ifdef __cplusplus -} /* extern "C" */ -#endif - - - -#endif // HPIPM_D_TREE_OCP_QP_H_ diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_dim.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_dim.h deleted file mode 100644 index 659b664594263e..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_dim.h +++ /dev/null @@ -1,111 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef HPIPM_D_TREE_OCP_QP_DIM_H_ -#define HPIPM_D_TREE_OCP_QP_DIM_H_ - -#include "hpipm_common.h" - -#ifdef __cplusplus -extern "C" { -#endif - - - -struct d_tree_ocp_qp_dim - { - struct tree *ttree; // tree describing node conndection - int *nx; // number of states // Nn - int *nu; // number of inputs // Nn - int *nb; // number of box constraints // Nn - int *nbx; // number of state box constraints // Nn - int *nbu; // number of input box constraints // Nn - int *ng; // number of general constraints // Nn - int *ns; // number of soft constraints // Nn - int *nsbx; // number of soft state box constraints - int *nsbu; // number of soft input box constraints - int *nsg; // number of soft general constraints - int Nn; // number of nodes - hpipm_size_t memsize; - }; - - - -// -hpipm_size_t d_tree_ocp_qp_dim_strsize(); -// -hpipm_size_t d_tree_ocp_qp_dim_memsize(int Nn); -// -void d_tree_ocp_qp_dim_create(int Nn, struct d_tree_ocp_qp_dim *qp_dim, void *memory); -// -void d_tree_ocp_qp_dim_set_all(struct tree *ttree, int *nx, int *nu, int *nbx, int *nbu, int *ng, int *nsbx, int *nsbu, int *nsg, struct d_tree_ocp_qp_dim *dim); -// -void d_tree_ocp_qp_dim_set_tree(struct tree *ttree, struct d_tree_ocp_qp_dim *dim); -// -void d_tree_ocp_qp_dim_set(char *field, int stage, int value, struct d_tree_ocp_qp_dim *dim); -// -void d_tree_ocp_qp_dim_set_nx(int stage, int value, struct d_tree_ocp_qp_dim *dim); -// -void d_tree_ocp_qp_dim_set_nu(int stage, int value, struct d_tree_ocp_qp_dim *dim); -// -void d_tree_ocp_qp_dim_set_nbx(int stage, int value, struct d_tree_ocp_qp_dim *dim); -// -void d_tree_ocp_qp_dim_set_nbu(int stage, int value, struct d_tree_ocp_qp_dim *dim); -// -void d_tree_ocp_qp_dim_set_ng(int stage, int value, struct d_tree_ocp_qp_dim *dim); -// -void d_tree_ocp_qp_dim_set_ns(int stage, int value, struct d_tree_ocp_qp_dim *dim); -// -void d_tree_ocp_qp_dim_set_nsbx(int stage, int value, struct d_tree_ocp_qp_dim *dim); -// -void d_tree_ocp_qp_dim_set_nsbu(int stage, int value, struct d_tree_ocp_qp_dim *dim); -// -void d_tree_ocp_qp_dim_set_nsg(int stage, int value, struct d_tree_ocp_qp_dim *dim); -// -void d_tree_ocp_qp_dim_set_nbxe(int stage, int value, struct d_tree_ocp_qp_dim *dim); -// -void d_tree_ocp_qp_dim_set_nbue(int stage, int value, struct d_tree_ocp_qp_dim *dim); -// -void d_tree_ocp_qp_dim_set_nge(int stage, int value, struct d_tree_ocp_qp_dim *dim); - - - -#ifdef __cplusplus -} // #extern "C" -#endif - - - -#endif // HPIPM_D_TREE_OCP_QP_DIM_H_ diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_ipm.h deleted file mode 100644 index fb634208ce8845..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_ipm.h +++ /dev/null @@ -1,209 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - - - -#ifndef HPIPM_D_TREE_OCP_QP_IPM_H_ -#define HPIPM_D_TREE_OCP_QP_IPM_H_ - - - -#include -#include - -#include -#include -#include -#include -#include - - - -#ifdef __cplusplus -extern "C" { -#endif - - - -struct d_tree_ocp_qp_ipm_arg - { - double mu0; // initial value for duality measure - double alpha_min; // exit cond on step length - double res_g_max; // exit cond on inf norm of residuals - double res_b_max; // exit cond on inf norm of residuals - double res_d_max; // exit cond on inf norm of residuals - double res_m_max; // exit cond on inf norm of residuals - double reg_prim; // reg of primal hessian - double lam_min; // min value in lam vector - double t_min; // min value in t vector - double tau_min; // min value of barrier parameter - int iter_max; // exit cond in iter number - int stat_max; // iterations saved in stat - int pred_corr; // use Mehrotra's predictor-corrector IPM algirthm - int cond_pred_corr; // conditional Mehrotra's predictor-corrector - int itref_pred_max; // max number of iterative refinement steps for predictor step - int itref_corr_max; // max number of iterative refinement steps for corrector step - int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol - int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq - int abs_form; // absolute IPM formulation - int comp_dual_sol_eq; // dual solution (only for abs_form==1) - int comp_res_exit; // compute residuals on exit (only for abs_form==1 and comp_dual_sol==1) - int split_step; // use different steps for primal and dual variables - int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution - int mode; - hpipm_size_t memsize; - }; - - - -struct d_tree_ocp_qp_ipm_ws - { - struct d_core_qp_ipm_workspace *core_workspace; - struct d_tree_ocp_qp_res_ws *res_workspace; - struct d_tree_ocp_qp_sol *sol_step; - struct d_tree_ocp_qp_sol *sol_itref; - struct d_tree_ocp_qp *qp_step; - struct d_tree_ocp_qp *qp_itref; - struct d_tree_ocp_qp_res *res_itref; - struct d_tree_ocp_qp_res *res; - struct blasfeo_dvec *Gamma; // hessian update - struct blasfeo_dvec *gamma; // hessian update - struct blasfeo_dvec *tmp_nxM; // work space of size nxM - struct blasfeo_dvec *tmp_nbgM; // work space of size nbgM - struct blasfeo_dvec *tmp_nsM; // work space of size nsM - struct blasfeo_dvec *Pb; // Pb - struct blasfeo_dvec *Zs_inv; - struct blasfeo_dmat *L; - struct blasfeo_dmat *Lh; - struct blasfeo_dmat *AL; - struct blasfeo_dmat *lq0; - struct blasfeo_dvec *tmp_m; - double *stat; // convergence statistics - int *use_hess_fact; - void *lq_work0; - double qp_res[4]; // infinity norm of residuals - int iter; // iteration number - int stat_max; // iterations saved in stat - int stat_m; // number of recorded stat per IPM iter - int use_Pb; - int status; // solver status - int lq_fact; // cache from arg - int mask_constr; // use constr mask - hpipm_size_t memsize; - }; - - - -// -hpipm_size_t d_tree_ocp_qp_ipm_arg_memsize(struct d_tree_ocp_qp_dim *dim); -// -void d_tree_ocp_qp_ipm_arg_create(struct d_tree_ocp_qp_dim *dim, struct d_tree_ocp_qp_ipm_arg *arg, void *mem); -// -void d_tree_ocp_qp_ipm_arg_set_default(enum hpipm_mode mode, struct d_tree_ocp_qp_ipm_arg *arg); -// -void d_tree_ocp_qp_ipm_arg_set_iter_max(int *iter_max, struct d_tree_ocp_qp_ipm_arg *arg); -// -void d_tree_ocp_qp_ipm_arg_set_alpha_min(double *alpha_min, struct d_tree_ocp_qp_ipm_arg *arg); -// -void d_tree_ocp_qp_ipm_arg_set_mu0(double *mu0, struct d_tree_ocp_qp_ipm_arg *arg); -// -void d_tree_ocp_qp_ipm_arg_set_tol_stat(double *tol_stat, struct d_tree_ocp_qp_ipm_arg *arg); -// -void d_tree_ocp_qp_ipm_arg_set_tol_eq(double *tol_eq, struct d_tree_ocp_qp_ipm_arg *arg); -// -void d_tree_ocp_qp_ipm_arg_set_tol_ineq(double *tol_ineq, struct d_tree_ocp_qp_ipm_arg *arg); -// -void d_tree_ocp_qp_ipm_arg_set_tol_comp(double *tol_comp, struct d_tree_ocp_qp_ipm_arg *arg); -// -void d_tree_ocp_qp_ipm_arg_set_reg_prim(double *reg, struct d_tree_ocp_qp_ipm_arg *arg); -// -void d_tree_ocp_qp_ipm_arg_set_warm_start(int *warm_start, struct d_tree_ocp_qp_ipm_arg *arg); -// -void d_tree_ocp_qp_ipm_arg_set_pred_corr(int *pred_corr, struct d_tree_ocp_qp_ipm_arg *arg); -// -void d_tree_ocp_qp_ipm_arg_set_cond_pred_corr(int *value, struct d_tree_ocp_qp_ipm_arg *arg); -// -void d_tree_ocp_qp_ipm_arg_set_comp_dual_sol_eq(int *value, struct d_tree_ocp_qp_ipm_arg *arg); -// -void d_tree_ocp_qp_ipm_arg_set_comp_res_exit(int *value, struct d_tree_ocp_qp_ipm_arg *arg); -// -void d_tree_ocp_qp_ipm_arg_set_lam_min(double *value, struct d_tree_ocp_qp_ipm_arg *arg); -// -void d_tree_ocp_qp_ipm_arg_set_t_min(double *value, struct d_tree_ocp_qp_ipm_arg *arg); -// -void d_tree_ocp_qp_ipm_arg_set_tau_min(double *value, struct d_tree_ocp_qp_ipm_arg *arg); -// -void d_tree_ocp_qp_ipm_arg_set_split_step(int *value, struct d_tree_ocp_qp_ipm_arg *arg); -// -void d_tree_ocp_qp_ipm_arg_set_t_lam_min(int *value, struct d_tree_ocp_qp_ipm_arg *arg); - -// -hpipm_size_t d_tree_ocp_qp_ipm_ws_memsize(struct d_tree_ocp_qp_dim *dim, struct d_tree_ocp_qp_ipm_arg *arg); -// -void d_tree_ocp_qp_ipm_ws_create(struct d_tree_ocp_qp_dim *dim, struct d_tree_ocp_qp_ipm_arg *arg, struct d_tree_ocp_qp_ipm_ws *ws, void *mem); -// -void d_tree_ocp_qp_ipm_get_status(struct d_tree_ocp_qp_ipm_ws *ws, int *status); -// -void d_tree_ocp_qp_ipm_get_iter(struct d_tree_ocp_qp_ipm_ws *ws, int *iter); -// -void d_tree_ocp_qp_ipm_get_max_res_stat(struct d_tree_ocp_qp_ipm_ws *ws, double *res_stat); -// -void d_tree_ocp_qp_ipm_get_max_res_eq(struct d_tree_ocp_qp_ipm_ws *ws, double *res_eq); -// -void d_tree_ocp_qp_ipm_get_max_res_ineq(struct d_tree_ocp_qp_ipm_ws *ws, double *res_ineq); -// -void d_tree_ocp_qp_ipm_get_max_res_comp(struct d_tree_ocp_qp_ipm_ws *ws, double *res_comp); -// -void d_tree_ocp_qp_ipm_get_stat(struct d_tree_ocp_qp_ipm_ws *ws, double **stat); -// -void d_tree_ocp_qp_ipm_get_stat_m(struct d_tree_ocp_qp_ipm_ws *ws, int *stat_m); -// -void d_tree_ocp_qp_init_var(struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, struct d_tree_ocp_qp_ipm_arg *arg, struct d_tree_ocp_qp_ipm_ws *ws); -// -void d_tree_ocp_qp_ipm_abs_step(int kk, struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, struct d_tree_ocp_qp_ipm_arg *arg, struct d_tree_ocp_qp_ipm_ws *ws); -// -void d_tree_ocp_qp_ipm_delta_step(int kk, struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, struct d_tree_ocp_qp_ipm_arg *arg, struct d_tree_ocp_qp_ipm_ws *ws); -// -void d_tree_ocp_qp_ipm_solve(struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, struct d_tree_ocp_qp_ipm_arg *arg, struct d_tree_ocp_qp_ipm_ws *ws); - - - -#ifdef __cplusplus -} /* extern "C" */ -#endif - - - -#endif // HPIPM_D_TREE_OCP_QP_IPM_H_ diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_kkt.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_kkt.h deleted file mode 100644 index 4afd52fe4bf1cc..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_kkt.h +++ /dev/null @@ -1,52 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifdef __cplusplus -extern "C" { -#endif - - -// -void d_tree_ocp_qp_fact_solve_kkt_unconstr(struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, struct d_tree_ocp_qp_ipm_arg *arg, struct d_tree_ocp_qp_ipm_ws *ws); -// -void d_tree_ocp_qp_fact_solve_kkt_step(struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, struct d_tree_ocp_qp_ipm_arg *arg, struct d_tree_ocp_qp_ipm_ws *ws); -// -void d_tree_ocp_qp_fact_lq_solve_kkt_step(struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, struct d_tree_ocp_qp_ipm_arg *arg, struct d_tree_ocp_qp_ipm_ws *ws); -// -void d_tree_ocp_qp_solve_kkt_step(struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, struct d_tree_ocp_qp_ipm_arg *arg, struct d_tree_ocp_qp_ipm_ws *ws); - -#ifdef __cplusplus -} /* extern "C" */ -#endif diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_res.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_res.h deleted file mode 100644 index fe499080ea89a3..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_res.h +++ /dev/null @@ -1,106 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef HPIPM_D_TREE_OCP_QP_RES_H_ -#define HPIPM_D_TREE_OCP_QP_RES_H_ - - - -#include -#include - -#include -#include -#include -#include - - - -#ifdef __cplusplus -extern "C" { -#endif - - - -struct d_tree_ocp_qp_res - { - struct d_tree_ocp_qp_dim *dim; - struct blasfeo_dvec *res_g; // q-residuals - struct blasfeo_dvec *res_b; // b-residuals - struct blasfeo_dvec *res_d; // d-residuals - struct blasfeo_dvec *res_m; // m-residuals - double res_max[4]; // max of residuals - double res_mu; // mu-residual - hpipm_size_t memsize; - }; - - - -struct d_tree_ocp_qp_res_ws - { - struct blasfeo_dvec *tmp_nbgM; // work space of size nbM+ngM - struct blasfeo_dvec *tmp_nsM; // work space of size nsM - hpipm_size_t memsize; - }; - - - -// -hpipm_size_t d_tree_ocp_qp_res_memsize(struct d_tree_ocp_qp_dim *ocp_dim); -// -void d_tree_ocp_qp_res_create(struct d_tree_ocp_qp_dim *ocp_dim, struct d_tree_ocp_qp_res *res, void *mem); -// -hpipm_size_t d_tree_ocp_qp_res_ws_memsize(struct d_tree_ocp_qp_dim *ocp_dim); -// -void d_tree_ocp_qp_res_ws_create(struct d_tree_ocp_qp_dim *ocp_dim, struct d_tree_ocp_qp_res_ws *ws, void *mem); -// -void d_tree_ocp_qp_res_get_all(struct d_tree_ocp_qp_res *res, double **res_r, double **res_q, double **res_ls, double **res_us, double **res_b, double **res_d_lb, double **res_d_ub, double **res_d_lg, double **res_d_ug, double **res_d_ls, double **res_d_us, double **res_m_lb, double **res_m_ub, double **res_m_lg, double **res_m_ug, double **res_m_ls, double **res_m_us); -// -void d_tree_ocp_qp_res_compute(struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, struct d_tree_ocp_qp_res *res, struct d_tree_ocp_qp_res_ws *ws); -// -void d_tree_ocp_qp_res_compute_lin(struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, struct d_tree_ocp_qp_sol *qp_step, struct d_tree_ocp_qp_res *res, struct d_tree_ocp_qp_res_ws *ws); -// -void d_tree_ocp_qp_res_compute_inf_norm(struct d_tree_ocp_qp_res *res); - - - -#ifdef __cplusplus -} // #extern "C" -#endif - - -#endif // HPIPM_D_TREE_OCP_QP_RES_H_ - - diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_sol.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_sol.h deleted file mode 100644 index 343d5e8ca6a171..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_sol.h +++ /dev/null @@ -1,100 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef HPIPM_D_TREE_OCP_QP_SOL_H_ -#define HPIPM_D_TREE_OCP_QP_SOL_H_ - - - -#include -#include - -#include "hpipm_d_tree_ocp_qp_dim.h" - - - -#ifdef __cplusplus -extern "C" { -#endif - -struct d_tree_ocp_qp_sol - { - struct d_tree_ocp_qp_dim *dim; - struct blasfeo_dvec *ux; - struct blasfeo_dvec *pi; - struct blasfeo_dvec *lam; - struct blasfeo_dvec *t; - void *misc; - hpipm_size_t memsize; // memory size in bytes - }; - - - -// -hpipm_size_t d_tree_ocp_qp_sol_memsize(struct d_tree_ocp_qp_dim *dim); -// -void d_tree_ocp_qp_sol_create(struct d_tree_ocp_qp_dim *dim, struct d_tree_ocp_qp_sol *qp_sol, void *memory); -// -void d_tree_ocp_qp_sol_get_all(struct d_tree_ocp_qp *qp, struct d_tree_ocp_qp_sol *qp_sol, double **u, double **x, double **ls, double **us, double **pi, double **lam_lb, double **lam_ub, double **lam_lg, double **lam_ug, double **lam_ls, double **lam_us); -// -void d_tree_ocp_qp_sol_get(char *field, int node_edge, struct d_tree_ocp_qp_sol *qp_sol, double *vec); -// -void d_tree_ocp_qp_sol_get_u(int node, struct d_tree_ocp_qp_sol *qp_sol, double *vec); -// -void d_tree_ocp_qp_sol_get_x(int node, struct d_tree_ocp_qp_sol *qp_sol, double *vec); -// -void d_tree_ocp_qp_sol_get_sl(int node, struct d_tree_ocp_qp_sol *qp_sol, double *vec); -// -void d_tree_ocp_qp_sol_get_su(int node, struct d_tree_ocp_qp_sol *qp_sol, double *vec); -// -void d_tree_ocp_qp_sol_get_pi(int edge, struct d_tree_ocp_qp_sol *qp_sol, double *vec); -// -void d_tree_ocp_qp_sol_get_lam_lb(int node, struct d_tree_ocp_qp_sol *qp_sol, double *vec); -// -void d_tree_ocp_qp_sol_get_lam_ub(int node, struct d_tree_ocp_qp_sol *qp_sol, double *vec); -// -void d_tree_ocp_qp_sol_get_lam_lg(int node, struct d_tree_ocp_qp_sol *qp_sol, double *vec); -// -void d_tree_ocp_qp_sol_get_lam_ug(int node, struct d_tree_ocp_qp_sol *qp_sol, double *vec); - - - -#ifdef __cplusplus -} /* extern "C" */ -#endif - - - -#endif // HPIPM_D_TREE_OCP_QP_SOL_H_ diff --git a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_utils.h b/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_utils.h deleted file mode 100644 index b689fdc0fa2d59..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_d_tree_ocp_qp_utils.h +++ /dev/null @@ -1,83 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef HPIPM_D_TREE_OCP_QP_UTILS_H_ -#define HPIPM_D_TREE_OCP_QP_UTILS_H_ - - - -#include -#include - -#include "hpipm_d_tree_ocp_qp_dim.h" -#include "hpipm_d_tree_ocp_qp.h" -#include "hpipm_d_tree_ocp_qp_sol.h" -#include "hpipm_d_tree_ocp_qp_ipm.h" - - - -#ifdef __cplusplus -extern "C" { -#endif - - - -// -void d_tree_ocp_qp_dim_print(struct d_tree_ocp_qp_dim *qp_dim); -// -//void d_tree_ocp_qp_dim_codegen(char *file_name, char *mode, struct d_tree_ocp_qp_dim *qp_dim); -// -void d_tree_ocp_qp_print(struct d_tree_ocp_qp_dim *qp_dim, struct d_tree_ocp_qp *qp); -// -//void d_tree_ocp_qp_codegen(char *file_name, char *mode, struct d_tree_ocp_qp_dim *qp_dim, struct d_tree_ocp_qp *qp); -// -void d_tree_ocp_qp_sol_print(struct d_tree_ocp_qp_dim *qp_dim, struct d_tree_ocp_qp_sol *ocp_qp_sol); -// -void d_tree_ocp_qp_ipm_arg_print(struct d_tree_ocp_qp_dim *qp_dim, struct d_tree_ocp_qp_ipm_arg *arg); -// -//void d_tree_ocp_qp_ipm_arg_codegen(char *file_name, char *mode, struct d_tree_ocp_qp_dim *qp_dim, struct d_tree_ocp_qp_ipm_arg *arg); -// -void d_tree_ocp_qp_res_print(struct d_tree_ocp_qp_dim *qp_dim, struct d_tree_ocp_qp_res *ocp_qp_res); - - - -#ifdef __cplusplus -} // #extern "C" -#endif - - - -#endif // HPIPM_D_TREE_OCP_QP_UTILS_H_ - diff --git a/third_party/acados/include/hpipm/include/hpipm_m_dense_qp.h b/third_party/acados/include/hpipm/include/hpipm_m_dense_qp.h deleted file mode 100644 index 8bc101003e208a..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_m_dense_qp.h +++ /dev/null @@ -1,68 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - - - - -#ifndef HPIPM_M_DENSE_QP_H_ -#define HPIPM_M_DENSE_QP_H_ - - - -#include -#include - -#include "hpipm_d_dense_qp.h" -#include "hpipm_s_dense_qp.h" - - - -#ifdef __cplusplus -extern "C" { -#endif - - - -void cvt_d2s_dense_qp(struct d_dense_qp *qpd, struct s_dense_qp *qps); - - - -#ifdef __cplusplus -} /* extern "C" */ -#endif - - - -#endif // HPIPM_M_DENSE_QP_H_ diff --git a/third_party/acados/include/hpipm/include/hpipm_m_dense_qp_dim.h b/third_party/acados/include/hpipm/include/hpipm_m_dense_qp_dim.h deleted file mode 100644 index 4610321b970c9e..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_m_dense_qp_dim.h +++ /dev/null @@ -1,68 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - - - - -#ifndef HPIPM_M_DENSE_QP_DIM_H_ -#define HPIPM_M_DENSE_QP_DIM_H_ - - - -#include -#include - -#include "hpipm_d_dense_qp_dim.h" -#include "hpipm_s_dense_qp_dim.h" - - - -#ifdef __cplusplus -extern "C" { -#endif - - - -void cvt_d2s_dense_qp_dim(struct d_dense_qp_dim *qpd, struct s_dense_qp_dim *qps); - - - -#ifdef __cplusplus -} /* extern "C" */ -#endif - - - -#endif // HPIPM_M_DENSE_QP_DIM_H_ diff --git a/third_party/acados/include/hpipm/include/hpipm_m_ocp_qp.h b/third_party/acados/include/hpipm/include/hpipm_m_ocp_qp.h deleted file mode 100644 index 95c3dad1aa02be..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_m_ocp_qp.h +++ /dev/null @@ -1,49 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - - - -#include -#include - -#ifdef __cplusplus -extern "C" { -#endif - -void m_cvt_d_ocp_qp_to_s_ocp_qp(struct d_ocp_qp *d_qp, struct s_ocp_qp *s_qp); - -#ifdef __cplusplus -} /* extern "C" */ -#endif diff --git a/third_party/acados/include/hpipm/include/hpipm_m_ocp_qp_ipm_hard.h b/third_party/acados/include/hpipm/include/hpipm_m_ocp_qp_ipm_hard.h deleted file mode 100644 index 1c44acee2e8497..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_m_ocp_qp_ipm_hard.h +++ /dev/null @@ -1,115 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - - - -#include -#include - -#ifdef __cplusplus -extern "C" { -#endif - - -struct m_ipm_hard_ocp_qp_workspace - { - struct d_ipm_hard_core_qp_workspace *core_workspace; - struct blasfeo_dvec *dux; - struct blasfeo_dvec *dpi; - struct blasfeo_dvec *dt_lb; - struct blasfeo_dvec *dt_lg; - struct blasfeo_svec *sdux; // XXX - struct blasfeo_svec *sdpi; // XXX - struct blasfeo_dvec *res_g; // q-residuals - struct blasfeo_dvec *res_b; // b-residuals - struct blasfeo_dvec *res_d; // d-residuals XXX remove ??? - struct blasfeo_dvec *res_d_lb; // d-residuals - struct blasfeo_dvec *res_d_ub; // d-residuals - struct blasfeo_dvec *res_d_lg; // d-residuals - struct blasfeo_dvec *res_d_ug; // d-residuals - struct blasfeo_dvec *res_m; // m-residuals - struct blasfeo_dvec *res_m_lb; // m-residuals - struct blasfeo_dvec *res_m_ub; // m-residuals - struct blasfeo_dvec *res_m_lg; // m-residuals - struct blasfeo_dvec *res_m_ug; // m-residuals - struct blasfeo_svec *sres_g; // q-residuals // XXX - struct blasfeo_svec *sres_b; // b-residuals // XXX - struct blasfeo_dvec *Qx_lb; // hessian update - struct blasfeo_dvec *Qx_lg; // hessian update - struct blasfeo_dvec *qx_lb; // gradient update - struct blasfeo_dvec *qx_lg; // gradient update - struct blasfeo_svec *sQx_lb; // hessian update // XXX - struct blasfeo_svec *sQx_lg; // hessian update // XXX - struct blasfeo_svec *sqx_lb; // gradient update // XXX - struct blasfeo_svec *sqx_lg; // gradient update // XXX - struct blasfeo_dvec *tmp_nbM; // work space of size nbM - struct blasfeo_svec *tmp_nxM; // work space of size nxM // XXX - struct blasfeo_dvec *tmp_ngM; // work space of size ngM - struct blasfeo_svec *Pb; // Pb // XXX - struct blasfeo_smat *L; // XXX - struct blasfeo_smat *AL; // XXX - struct blasfeo_svec *sSx; // scaling - struct blasfeo_svec *sSi; // scaling inverted - double *stat; // convergence statistics - double res_mu; // mu-residual - int iter; // iteration number - int compute_Pb; - int scale; - }; - - - -struct m_ipm_hard_ocp_qp_arg - { - double alpha_min; // exit cond on step length - double mu_max; // exit cond on duality measure - double mu0; // initial value for duality measure - int iter_max; // exit cond in iter number - }; - - - -// -hpipm_size_t m_memsize_ipm_hard_ocp_qp(struct d_ocp_qp *d_qp, struct s_ocp_qp *s_qp, struct m_ipm_hard_ocp_qp_arg *arg); -// -void m_create_ipm_hard_ocp_qp(struct d_ocp_qp *d_qp, struct s_ocp_qp *s_qp, struct m_ipm_hard_ocp_qp_arg *arg, struct m_ipm_hard_ocp_qp_workspace *ws, void *mem); -// -void m_solve_ipm_hard_ocp_qp(struct d_ocp_qp *d_qp, struct s_ocp_qp *s_qp, struct d_ocp_qp_sol *qp_sol, struct m_ipm_hard_ocp_qp_workspace *ws); -// -void m_solve_ipm2_hard_ocp_qp(struct d_ocp_qp *d_qp, struct s_ocp_qp *s_qp, struct d_ocp_qp_sol *qp_sol, struct m_ipm_hard_ocp_qp_workspace *ws); - -#ifdef __cplusplus -} /* extern "C" */ -#endif diff --git a/third_party/acados/include/hpipm/include/hpipm_m_ocp_qp_kkt.h b/third_party/acados/include/hpipm/include/hpipm_m_ocp_qp_kkt.h deleted file mode 100644 index 032fe95b1f9897..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_m_ocp_qp_kkt.h +++ /dev/null @@ -1,45 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifdef __cplusplus -extern "C" { -#endif - -void m_fact_solve_kkt_step_hard_ocp_qp(struct d_ocp_qp *d_qp, struct s_ocp_qp *s_qp, struct m_ipm_hard_ocp_qp_workspace *ws); -void m_solve_kkt_step_hard_ocp_qp(struct d_ocp_qp *d_qp, struct s_ocp_qp *s_qp, struct m_ipm_hard_ocp_qp_workspace *ws); - -#ifdef __cplusplus -} /* extern "C" */ -#endif diff --git a/third_party/acados/include/hpipm/include/hpipm_s_cast_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_s_cast_qcqp.h deleted file mode 100644 index ba01ecb3bd437e..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_s_cast_qcqp.h +++ /dev/null @@ -1,72 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - - - -#ifndef HPIPM_S_CAST_QCQP_H_ -#define HPIPM_S_CAST_QCQP_H_ - - - -#include -#include - -#include "hpipm_s_dense_qcqp.h" -#include "hpipm_s_dense_qcqp_sol.h" -#include "hpipm_s_ocp_qcqp.h" -#include "hpipm_s_ocp_qcqp_dim.h" -#include "hpipm_s_ocp_qcqp_sol.h" - -#ifdef __cplusplus -extern "C" { -#endif - - - -// -void s_cast_qcqp_compute_dim(struct s_ocp_qcqp_dim *ocp_dim, struct s_dense_qcqp_dim *dense_dim); -// -void s_cast_qcqp_cond(struct s_ocp_qcqp *ocp_qp, struct s_dense_qcqp *dense_qp); - - -#ifdef __cplusplus -} /* extern "C" */ -#endif - - - -#endif // HPIPM_S_CAST_QCQP_H_ - - diff --git a/third_party/acados/include/hpipm/include/hpipm_s_cond.h b/third_party/acados/include/hpipm/include/hpipm_s_cond.h deleted file mode 100644 index 30116798b77599..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_s_cond.h +++ /dev/null @@ -1,137 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - - - -#ifndef HPIPM_S_COND_H_ -#define HPIPM_S_COND_H_ - - - -#include -#include - -#include "hpipm_s_dense_qp.h" -#include "hpipm_s_dense_qp_sol.h" -#include "hpipm_s_ocp_qp.h" -#include "hpipm_s_ocp_qp_dim.h" -#include "hpipm_s_ocp_qp_sol.h" - - - -#ifdef __cplusplus -extern "C" { -#endif - - - -struct s_cond_qp_arg - { - int cond_last_stage; // condense last stage - int cond_alg; // condensing algorithm: 0 N2-nx3, 1 N3-nx2 - int comp_prim_sol; // primal solution (v) - int comp_dual_sol_eq; // dual solution equality constr (pi) - int comp_dual_sol_ineq; // dual solution inequality constr (lam t) - int square_root_alg; // square root algorithm (faster but requires RSQ>0) - hpipm_size_t memsize; - }; - - - -struct s_cond_qp_ws - { - struct blasfeo_smat *Gamma; - struct blasfeo_smat *GammaQ; - struct blasfeo_smat *L; - struct blasfeo_smat *Lx; - struct blasfeo_smat *AL; - struct blasfeo_svec *Gammab; - struct blasfeo_svec *l; - struct blasfeo_svec *tmp_nbgM; - struct blasfeo_svec *tmp_nuxM; - int bs; // block size - hpipm_size_t memsize; - }; - - - -// -hpipm_size_t s_cond_qp_arg_memsize(); -// -void s_cond_qp_arg_create(struct s_cond_qp_arg *cond_arg, void *mem); -// -void s_cond_qp_arg_set_default(struct s_cond_qp_arg *cond_arg); -// condensing algorithm: 0 N2-nx3, 1 N3-nx2 -void s_cond_qp_arg_set_cond_alg(int cond_alg, struct s_cond_qp_arg *cond_arg); -// set riccati-like algorithm: 0 classical, 1 square-root -void s_cond_qp_arg_set_ric_alg(int ric_alg, struct s_cond_qp_arg *cond_arg); -// condense last stage: 0 last stage disregarded, 1 last stage condensed too -void s_cond_qp_arg_set_cond_last_stage(int cond_last_stage, struct s_cond_qp_arg *cond_arg); -// -void s_cond_qp_arg_set_comp_prim_sol(int value, struct s_cond_qp_arg *cond_arg); -// -void s_cond_qp_arg_set_comp_dual_sol_eq(int value, struct s_cond_qp_arg *cond_arg); -// -void s_cond_qp_arg_set_comp_dual_sol_ineq(int value, struct s_cond_qp_arg *cond_arg); - -// -void s_cond_qp_compute_dim(struct s_ocp_qp_dim *ocp_dim, struct s_dense_qp_dim *dense_dim); -// -hpipm_size_t s_cond_qp_ws_memsize(struct s_ocp_qp_dim *ocp_dim, struct s_cond_qp_arg *cond_arg); -// -void s_cond_qp_ws_create(struct s_ocp_qp_dim *ocp_dim, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws, void *mem); -// -void s_cond_qp_cond(struct s_ocp_qp *ocp_qp, struct s_dense_qp *dense_qp, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws); -// -void s_cond_qp_cond_lhs(struct s_ocp_qp *ocp_qp, struct s_dense_qp *dense_qp, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws); -// -void s_cond_qp_cond_rhs(struct s_ocp_qp *ocp_qp, struct s_dense_qp *dense_qp, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws); -// -void s_cond_qp_expand_sol(struct s_ocp_qp *ocp_qp, struct s_dense_qp_sol *dense_qp_sol, struct s_ocp_qp_sol *ocp_qp_sol, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws); -// TODO remove -void s_cond_qp_expand_primal_sol(struct s_ocp_qp *ocp_qp, struct s_dense_qp_sol *dense_qp_sol, struct s_ocp_qp_sol *ocp_qp_sol, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws); - -// -void s_cond_qp_update(int *idxc, struct s_ocp_qp *ocp_qp, struct s_dense_qp *dense_qp, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws); - - - -#ifdef __cplusplus -} /* extern "C" */ -#endif - - - -#endif // HPIPM_S_COND_H_ diff --git a/third_party/acados/include/hpipm/include/hpipm_s_cond_aux.h b/third_party/acados/include/hpipm/include/hpipm_s_cond_aux.h deleted file mode 100644 index 003472ab9f3069..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_s_cond_aux.h +++ /dev/null @@ -1,92 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - - - -#ifndef HPIPM_S_COND_AUX_H_ -#define HPIPM_S_COND_AUX_H_ - - - -#include -#include - - - -#ifdef __cplusplus -extern "C" { -#endif - - - -// -void s_cond_BAbt(struct s_ocp_qp *ocp_qp, struct blasfeo_smat *BAbt2, struct blasfeo_svec *b2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws); -// -void s_cond_BAt(struct s_ocp_qp *ocp_qp, struct blasfeo_smat *BAbt2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws); -// -void s_cond_b(struct s_ocp_qp *ocp_qp, struct blasfeo_svec *b2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws); -// -void s_cond_RSQrq(struct s_ocp_qp *ocp_qp, struct blasfeo_smat *RSQrq2, struct blasfeo_svec *rq2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws); -// -void s_cond_RSQ(struct s_ocp_qp *ocp_qp, struct blasfeo_smat *RSQrq2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws); -// -void s_cond_rq(struct s_ocp_qp *ocp_qp, struct blasfeo_svec *rq2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws); -// -void s_cond_DCtd(struct s_ocp_qp *ocp_qp, int *idxb2, struct blasfeo_smat *DCt2, struct blasfeo_svec *d2, struct blasfeo_svec *d_mask2, int *idxs_rev2, struct blasfeo_svec *Z2, struct blasfeo_svec *z2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws); -// -void s_cond_DCt(struct s_ocp_qp *ocp_qp, int *idxb2, struct blasfeo_smat *DCt2, int *idxs_rev2, struct blasfeo_svec *Z2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws); -// -void s_cond_d(struct s_ocp_qp *ocp_qp, struct blasfeo_svec *d2, struct blasfeo_svec *d_mask2, struct blasfeo_svec *z2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws); -// -void s_expand_sol(struct s_ocp_qp *ocp_qp, struct s_dense_qp_sol *dense_qp_sol, struct s_ocp_qp_sol *ocp_qp_sol, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws); -// -void s_expand_primal_sol(struct s_ocp_qp *ocp_qp, struct s_dense_qp_sol *dense_qp_sol, struct s_ocp_qp_sol *ocp_qp_sol, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws); - -// -void s_update_cond_BAbt(int *idxc, struct s_ocp_qp *ocp_qp, struct blasfeo_smat *BAbt2, struct blasfeo_svec *b2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws); -// -void s_update_cond_RSQrq_N2nx3(int *idxc, struct s_ocp_qp *ocp_qp, struct blasfeo_smat *RSQrq2, struct blasfeo_svec *rq2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws); -// -void s_update_cond_DCtd(int *idxc, struct s_ocp_qp *ocp_qp, int *idxb2, struct blasfeo_smat *DCt2, struct blasfeo_svec *d2, int *idxs2, struct blasfeo_svec *Z2, struct blasfeo_svec *z2, struct s_cond_qp_arg *cond_arg, struct s_cond_qp_ws *cond_ws); - - - -#ifdef __cplusplus -} /* extern "C" */ -#endif - - - -#endif // HPIPM_S_COND_AUX_H_ diff --git a/third_party/acados/include/hpipm/include/hpipm_s_cond_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_s_cond_qcqp.h deleted file mode 100644 index c36678abd55953..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_s_cond_qcqp.h +++ /dev/null @@ -1,130 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - - - -#ifndef HPIPM_S_COND_QCQP_H_ -#define HPIPM_S_COND_QCQP_H_ - - - -#include -#include - -#include "hpipm_s_dense_qcqp.h" -#include "hpipm_s_dense_qcqp_sol.h" -#include "hpipm_s_ocp_qcqp.h" -#include "hpipm_s_ocp_qcqp_dim.h" -#include "hpipm_s_ocp_qcqp_sol.h" - -#ifdef __cplusplus -extern "C" { -#endif - - - -struct s_cond_qcqp_arg - { - struct s_cond_qp_arg *qp_arg; - int cond_last_stage; // condense last stage -// int cond_variant; // TODO - int comp_prim_sol; // primal solution (v) - int comp_dual_sol_eq; // dual solution equality constr (pi) - int comp_dual_sol_ineq; // dual solution equality constr (lam t) - int square_root_alg; // square root algorithm (faster but requires RSQ>0) - hpipm_size_t memsize; - }; - - - -struct s_cond_qcqp_ws - { - struct s_cond_qp_ws *qp_ws; - struct blasfeo_smat *hess_array; // TODO remove - struct blasfeo_smat *zero_hess; // TODO remove - struct blasfeo_svec *zero_grad; // TODO remove - struct blasfeo_svec *grad_array; // TODO remove - struct blasfeo_svec *tmp_nvc; - struct blasfeo_svec *tmp_nuxM; - struct blasfeo_smat *GammaQ; - struct blasfeo_smat *tmp_DCt; - struct blasfeo_smat *tmp_nuM_nxM; -// struct blasfeo_svec *d_qp; -// struct blasfeo_svec *d_mask_qp; - hpipm_size_t memsize; - }; - - -// -hpipm_size_t s_cond_qcqp_arg_memsize(); -// -void s_cond_qcqp_arg_create(struct s_cond_qcqp_arg *cond_arg, void *mem); -// -void s_cond_qcqp_arg_set_default(struct s_cond_qcqp_arg *cond_arg); -// set riccati-like algorithm: 0 classical, 1 square-root -void s_cond_qcqp_arg_set_ric_alg(int ric_alg, struct s_cond_qcqp_arg *cond_arg); -// condense last stage: 0 last stage disregarded, 1 last stage condensed too -void s_cond_qcqp_arg_set_cond_last_stage(int cond_last_stage, struct s_cond_qcqp_arg *cond_arg); - -// -void s_cond_qcqp_compute_dim(struct s_ocp_qcqp_dim *ocp_dim, struct s_dense_qcqp_dim *dense_dim); -// -hpipm_size_t s_cond_qcqp_ws_memsize(struct s_ocp_qcqp_dim *ocp_dim, struct s_cond_qcqp_arg *cond_arg); -// -void s_cond_qcqp_ws_create(struct s_ocp_qcqp_dim *ocp_dim, struct s_cond_qcqp_arg *cond_arg, struct s_cond_qcqp_ws *cond_ws, void *mem); -// -void s_cond_qcqp_qc(struct s_ocp_qcqp *ocp_qp, struct blasfeo_smat *Hq2, int *Hq_nzero2, struct blasfeo_smat *Ct2, struct blasfeo_svec *d2, struct s_cond_qcqp_arg *cond_arg, struct s_cond_qcqp_ws *cond_ws); -// -void s_cond_qcqp_qc_lhs(struct s_ocp_qcqp *ocp_qp, struct blasfeo_smat *Hq2, int *Hq_nzero2, struct blasfeo_smat *Ct2, struct s_cond_qcqp_arg *cond_arg, struct s_cond_qcqp_ws *cond_ws); -// -void s_cond_qcqp_qc_rhs(struct s_ocp_qcqp *ocp_qp, struct blasfeo_svec *d2, struct s_cond_qcqp_arg *cond_arg, struct s_cond_qcqp_ws *cond_ws); -// -void s_cond_qcqp_cond(struct s_ocp_qcqp *ocp_qp, struct s_dense_qcqp *dense_qp, struct s_cond_qcqp_arg *cond_arg, struct s_cond_qcqp_ws *cond_ws); -// -void s_cond_qcqp_cond_rhs(struct s_ocp_qcqp *ocp_qp, struct s_dense_qcqp *dense_qp, struct s_cond_qcqp_arg *cond_arg, struct s_cond_qcqp_ws *cond_ws); -// -void s_cond_qcqp_cond_lhs(struct s_ocp_qcqp *ocp_qp, struct s_dense_qcqp *dense_qp, struct s_cond_qcqp_arg *cond_arg, struct s_cond_qcqp_ws *cond_ws); -// -void s_cond_qcqp_expand_sol(struct s_ocp_qcqp *ocp_qp, struct s_dense_qcqp_sol *dense_qp_sol, struct s_ocp_qcqp_sol *ocp_qp_sol, struct s_cond_qcqp_arg *cond_arg, struct s_cond_qcqp_ws *cond_ws); - - -#ifdef __cplusplus -} /* extern "C" */ -#endif - - - -#endif // HPIPM_S_COND_QCQP_H_ - diff --git a/third_party/acados/include/hpipm/include/hpipm_s_core_qp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_s_core_qp_ipm.h deleted file mode 100644 index 480392c7d91f11..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_s_core_qp_ipm.h +++ /dev/null @@ -1,101 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef HPIPM_S_CORE_QP_IPM_ -#define HPIPM_S_CORE_QP_IPM_ - -#include "hpipm_common.h" - -#ifdef __cplusplus -extern "C" { -#endif - -struct s_core_qp_ipm_workspace - { - float *v; // primal variables - float *pi; // equality constraints multipliers - float *lam; // inequality constraints multipliers - float *t; // inequality constraints slacks - float *t_inv; // inverse of t - float *v_bkp; // backup of primal variables - float *pi_bkp; // backup of equality constraints multipliers - float *lam_bkp; // backup of inequality constraints multipliers - float *t_bkp; // backup of inequality constraints slacks - float *dv; // step in v - float *dpi; // step in pi - float *dlam; // step in lam - float *dt; // step in t - float *res_g; // q-residuals - float *res_b; // b-residuals - float *res_d; // d-residuals - float *res_m; // m-residuals - float *res_m_bkp; // m-residuals - float *Gamma; // Hessian update - float *gamma; // gradient update - float alpha_prim; // step length - float alpha_dual; // step length - float alpha; // step length - float sigma; // centering XXX - float mu; // duality measuere - float mu_aff; // affine duality measuere - float nc_inv; // 1.0/nc, where nc is the total number of constraints - float nc_mask_inv; // 1.0/nc_mask - float lam_min; // min value in lam vector - float t_min; // min value in t vector - float t_min_inv; // inverse of min value in t vector - float tau_min; // min value of barrier parameter - int nv; // number of primal variables - int ne; // number of equality constraints - int nc; // (twice the) number of (two-sided) inequality constraints - int nc_mask; // total number of ineq constr after masking - int split_step; // use different step for primal and dual variables - int t_lam_min; // clip t and lam also in solution, or only in Gamma computation - hpipm_size_t memsize; // memory size (in bytes) of workspace - }; - - - -// -hpipm_size_t s_memsize_core_qp_ipm(int nv, int ne, int nc); -// -void s_create_core_qp_ipm(int nv, int ne, int nc, struct s_core_qp_ipm_workspace *workspace, void *mem); -// -void s_core_qp_ipm(struct s_core_qp_ipm_workspace *workspace); - -#ifdef __cplusplus -} /* extern "C" */ -#endif - -#endif // HPIPM_S_CORE_QP_IPM_ diff --git a/third_party/acados/include/hpipm/include/hpipm_s_core_qp_ipm_aux.h b/third_party/acados/include/hpipm/include/hpipm_s_core_qp_ipm_aux.h deleted file mode 100644 index 1ac3d7ede9bba8..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_s_core_qp_ipm_aux.h +++ /dev/null @@ -1,68 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef HPIPM_S_CORE_QP_IPM_AUX_ -#define HPIPM_S_CORE_QP_IPM_AUX_ - -#ifdef __cplusplus -extern "C" { -#endif - -// -void s_compute_Gamma_gamma_qp(float *res_d, float *res_m, struct s_core_qp_ipm_workspace *rws); -// -void s_compute_gamma_qp(float *res_d, float *res_m, struct s_core_qp_ipm_workspace *rws); -// -void s_compute_lam_t_qp(float *res_d, float *res_m, float *dlam, float *dt, struct s_core_qp_ipm_workspace *rws); -// -void s_compute_alpha_qp(struct s_core_qp_ipm_workspace *rws); -// -void s_update_var_qp(struct s_core_qp_ipm_workspace *rws); -// -void s_compute_mu_aff_qp(struct s_core_qp_ipm_workspace *rws); -// -void s_backup_res_m(struct s_core_qp_ipm_workspace *rws); -// -void s_compute_centering_correction_qp(struct s_core_qp_ipm_workspace *rws); -// -void s_compute_centering_qp(struct s_core_qp_ipm_workspace *rws); -// -void s_compute_tau_min_qp(struct s_core_qp_ipm_workspace *rws); - -#ifdef __cplusplus -} /* extern "C" */ -#endif - -#endif // HPIPM_S_CORE_QP_IPM_AUX_ diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp.h deleted file mode 100644 index d03c065375f323..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp.h +++ /dev/null @@ -1,200 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - - - -#ifndef HPIPM_S_DENSE_QCQP_H_ -#define HPIPM_S_DENSE_QCQP_H_ - - - -#include -#include - -#include "hpipm_s_dense_qcqp_dim.h" - - - -#ifdef __cplusplus -extern "C" { -#endif - - - -struct s_dense_qcqp - { - struct s_dense_qcqp_dim *dim; - struct blasfeo_smat *Hv; // hessian of cost & vector work space - struct blasfeo_smat *A; // equality constraint matrix - struct blasfeo_smat *Ct; // inequality constraints matrix - struct blasfeo_smat *Hq; // hessians of quadratic constraints - struct blasfeo_svec *gz; // gradient of cost & gradient of slacks - struct blasfeo_svec *b; // equality constraint vector - struct blasfeo_svec *d; // inequality constraints vector - struct blasfeo_svec *d_mask; // inequality constraints mask vector - struct blasfeo_svec *m; // rhs of complementarity condition - struct blasfeo_svec *Z; // (diagonal) hessian of slacks - int *idxb; // indices of box constrained variables within [u; x] - int *idxs_rev; // index of soft constraints (reverse storage) - int *Hq_nzero; // for each int, the last 3 bits ...abc, {a,b,c}=0 => {R,S,Q}=0 - hpipm_size_t memsize; // memory size in bytes - }; - - - -// -hpipm_size_t s_dense_qcqp_memsize(struct s_dense_qcqp_dim *dim); -// -void s_dense_qcqp_create(struct s_dense_qcqp_dim *dim, struct s_dense_qcqp *qp, void *memory); - -// -void s_dense_qcqp_set(char *field, void *value, struct s_dense_qcqp *qp); -// -void s_dense_qcqp_set_H(float *H, struct s_dense_qcqp *qp); -// -void s_dense_qcqp_set_g(float *g, struct s_dense_qcqp *qp); -// -void s_dense_qcqp_set_A(float *A, struct s_dense_qcqp *qp); -// -void s_dense_qcqp_set_b(float *b, struct s_dense_qcqp *qp); -// -void s_dense_qcqp_set_idxb(int *idxb, struct s_dense_qcqp *qp); -// -void s_dense_qcqp_set_lb(float *lb, struct s_dense_qcqp *qp); -// -void s_dense_qcqp_set_lb_mask(float *lb, struct s_dense_qcqp *qp); -// -void s_dense_qcqp_set_ub(float *ub, struct s_dense_qcqp *qp); -// -void s_dense_qcqp_set_ub_mask(float *ub, struct s_dense_qcqp *qp); -// -void s_dense_qcqp_set_C(float *C, struct s_dense_qcqp *qp); -// -void s_dense_qcqp_set_lg(float *lg, struct s_dense_qcqp *qp); -// -void s_dense_qcqp_set_lg_mask(float *lg, struct s_dense_qcqp *qp); -// -void s_dense_qcqp_set_ug(float *ug, struct s_dense_qcqp *qp); -// -void s_dense_qcqp_set_ug_mask(float *ug, struct s_dense_qcqp *qp); -// -void s_dense_qcqp_set_Hq(float *Hq, struct s_dense_qcqp *qp); -// -void s_dense_qcqp_set_gq(float *gq, struct s_dense_qcqp *qp); -// -void s_dense_qcqp_set_uq(float *uq, struct s_dense_qcqp *qp); -// -void s_dense_qcqp_set_uq_mask(float *uq, struct s_dense_qcqp *qp); -// -void s_dense_qcqp_set_idxs(int *idxs, struct s_dense_qcqp *qp); -// -void s_dense_qcqp_set_idxs_rev(int *idxs_rev, struct s_dense_qcqp *qp); -// -void s_dense_qcqp_set_Zl(float *Zl, struct s_dense_qcqp *qp); -// -void s_dense_qcqp_set_Zu(float *Zu, struct s_dense_qcqp *qp); -// -void s_dense_qcqp_set_zl(float *zl, struct s_dense_qcqp *qp); -// -void s_dense_qcqp_set_zu(float *zu, struct s_dense_qcqp *qp); -// -void s_dense_qcqp_set_ls(float *ls, struct s_dense_qcqp *qp); -// -void s_dense_qcqp_set_ls_mask(float *ls, struct s_dense_qcqp *qp); -// -void s_dense_qcqp_set_us(float *us, struct s_dense_qcqp *qp); -// -void s_dense_qcqp_set_us_mask(float *us, struct s_dense_qcqp *qp); - -// getters (COLMAJ) - -void s_dense_qcqp_get_H(struct s_dense_qcqp *qp, float *H); -// -void s_dense_qcqp_get_g(struct s_dense_qcqp *qp, float *g); -// -void s_dense_qcqp_get_A(struct s_dense_qcqp *qp, float *A); -// -void s_dense_qcqp_get_b(struct s_dense_qcqp *qp, float *b); -// -void s_dense_qcqp_get_idxb(struct s_dense_qcqp *qp, int *idxb); -// -void s_dense_qcqp_get_lb(struct s_dense_qcqp *qp, float *lb); -// -void s_dense_qcqp_get_lb_mask(struct s_dense_qcqp *qp, float *lb); -// -void s_dense_qcqp_get_ub(struct s_dense_qcqp *qp, float *ub); -// -void s_dense_qcqp_get_ub_mask(struct s_dense_qcqp *qp, float *ub); -// -void s_dense_qcqp_get_C(struct s_dense_qcqp *qp, float *C); -// -void s_dense_qcqp_get_lg(struct s_dense_qcqp *qp, float *lg); -// -void s_dense_qcqp_get_lg_mask(struct s_dense_qcqp *qp, float *lg); -// -void s_dense_qcqp_get_ug(struct s_dense_qcqp *qp, float *ug); -// -void s_dense_qcqp_get_ug_mask(struct s_dense_qcqp *qp, float *ug); -// -void s_dense_qcqp_get_idxs(struct s_dense_qcqp *qp, int *idxs); -// -void s_dense_qcqp_get_idxs_rev(struct s_dense_qcqp *qp, int *idxs_rev); -// -void s_dense_qcqp_get_Zl(struct s_dense_qcqp *qp, float *Zl); -// -void s_dense_qcqp_get_Zu(struct s_dense_qcqp *qp, float *Zu); -// -void s_dense_qcqp_get_zl(struct s_dense_qcqp *qp, float *zl); -// -void s_dense_qcqp_get_zu(struct s_dense_qcqp *qp, float *zu); -// -void s_dense_qcqp_get_ls(struct s_dense_qcqp *qp, float *ls); -// -void s_dense_qcqp_get_ls_mask(struct s_dense_qcqp *qp, float *ls); -// -void s_dense_qcqp_get_us(struct s_dense_qcqp *qp, float *us); -// -void s_dense_qcqp_get_us_mask(struct s_dense_qcqp *qp, float *us); - - -#ifdef __cplusplus -} /* extern "C" */ -#endif - - - -#endif // HPIPM_S_DENSE_QCQP_H_ - - diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_dim.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_dim.h deleted file mode 100644 index 04908c2c3ad97f..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_dim.h +++ /dev/null @@ -1,99 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef HPIPM_S_DENSE_QCQP_DIM_H_ -#define HPIPM_S_DENSE_QCQP_DIM_H_ - -#include "hpipm_common.h" - -#ifdef __cplusplus -extern "C" { -#endif - - - -struct s_dense_qcqp_dim - { - struct s_dense_qp_dim *qp_dim; // dim of qp approximation - int nv; // number of variables - int ne; // number of equality constraints - int nb; // number of box constraints - int ng; // number of general constraints - int nq; // number of quadratic constraints - int nsb; // number of softened box constraints - int nsg; // number of softened general constraints - int nsq; // number of softened quadratic constraints - int ns; // number of softened constraints (nsb+nsg+nsq) TODO number of slacks - hpipm_size_t memsize; - }; - - - -// -hpipm_size_t s_dense_qcqp_dim_memsize(); -// -void s_dense_qcqp_dim_create(struct s_dense_qcqp_dim *dim, void *memory); -// -void s_dense_qcqp_dim_set(char *fiels_name, int value, struct s_dense_qcqp_dim *dim); -// -void s_dense_qcqp_dim_set_nv(int value, struct s_dense_qcqp_dim *dim); -// -void s_dense_qcqp_dim_set_ne(int value, struct s_dense_qcqp_dim *dim); -// -void s_dense_qcqp_dim_set_nb(int value, struct s_dense_qcqp_dim *dim); -// -void s_dense_qcqp_dim_set_ng(int value, struct s_dense_qcqp_dim *dim); -// -void s_dense_qcqp_dim_set_nq(int value, struct s_dense_qcqp_dim *dim); -// -void s_dense_qcqp_dim_set_nsb(int value, struct s_dense_qcqp_dim *dim); -// -void s_dense_qcqp_dim_set_nsg(int value, struct s_dense_qcqp_dim *dim); -// -void s_dense_qcqp_dim_set_nsq(int value, struct s_dense_qcqp_dim *dim); -// -void s_dense_qcqp_dim_set_ns(int value, struct s_dense_qcqp_dim *dim); - - - -#ifdef __cplusplus -} // #extern "C" -#endif - - - -#endif // HPIPM_S_DENSE_QCQP_DIM_H_ - - diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_ipm.h deleted file mode 100644 index 8f85768ee3d777..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_ipm.h +++ /dev/null @@ -1,204 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - - - -#ifndef HPIPM_S_DENSE_QCQP_IPM_H_ -#define HPIPM_S_DENSE_QCQP_IPM_H_ - - - -#include -#include - -#include -#include -#include -#include -#include - - -#ifdef __cplusplus -extern "C" { -#endif - - - -struct s_dense_qcqp_ipm_arg - { - struct s_dense_qp_ipm_arg *qp_arg; - float mu0; // initial value for duality measure - float alpha_min; // exit cond on step length - float res_g_max; // exit cond on inf norm of residuals - float res_b_max; // exit cond on inf norm of residuals - float res_d_max; // exit cond on inf norm of residuals - float res_m_max; // exit cond on inf norm of residuals - float reg_prim; // reg of primal hessian - float reg_dual; // reg of dual hessian - float lam_min; // min value in lam vector - float t_min; // min value in t vector - int iter_max; // exit cond in iter number - int stat_max; // iterations saved in stat - int pred_corr; // Mehrotra's predictor-corrector IPM algirthm - int cond_pred_corr; // conditional Mehrotra's predictor-corrector - int scale; // scale hessian - int itref_pred_max; // max number of iterative refinement steps for predictor step - int itref_corr_max; // max number of iterative refinement steps for corrector step - int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol - int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq - int abs_form; // absolute IPM formulation - int comp_res_exit; // compute residuals on exit (only for abs_form==1) - int comp_res_pred; // compute residuals of prediction - int split_step; // use different step for primal and dual variables - int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution - int mode; - hpipm_size_t memsize; - }; - - - -struct s_dense_qcqp_ipm_ws - { -// float qp_res[4]; // infinity norm of residuals - struct s_dense_qp_ipm_ws *qp_ws; - struct s_dense_qp *qp; - struct s_dense_qp_sol *qp_sol; - struct s_dense_qcqp_res_ws *qcqp_res_ws; - struct s_dense_qcqp_res *qcqp_res; - struct blasfeo_svec *tmp_nv; -// float *stat; // convergence statistics -// void *lq_work0; -// void *lq_work1; - int iter; // iteration number -// int stat_max; // iterations saved in stat -// int stat_m; // numer of recorded stat per ipm iter -// int scale; -// int use_hess_fact; - int status; - hpipm_size_t memsize; // memory size (in bytes) of workspace - }; - - - -// -hpipm_size_t s_dense_qcqp_ipm_arg_memsize(struct s_dense_qcqp_dim *dim); -// -void s_dense_qcqp_ipm_arg_create(struct s_dense_qcqp_dim *dim, struct s_dense_qcqp_ipm_arg *arg, void *mem); -// -void s_dense_qcqp_ipm_arg_set_default(enum hpipm_mode mode, struct s_dense_qcqp_ipm_arg *arg); -// -void s_dense_qcqp_ipm_arg_set(char *field, void *value, struct s_dense_qcqp_ipm_arg *arg); -// -void s_dense_qcqp_ipm_arg_set_iter_max(int *iter_max, struct s_dense_qcqp_ipm_arg *arg); -// -void s_dense_qcqp_ipm_arg_set_alpha_min(float *alpha_min, struct s_dense_qcqp_ipm_arg *arg); -// -void s_dense_qcqp_ipm_arg_set_mu0(float *mu0, struct s_dense_qcqp_ipm_arg *arg); -// -void s_dense_qcqp_ipm_arg_set_tol_stat(float *tol_stat, struct s_dense_qcqp_ipm_arg *arg); -// -void s_dense_qcqp_ipm_arg_set_tol_eq(float *tol_eq, struct s_dense_qcqp_ipm_arg *arg); -// -void s_dense_qcqp_ipm_arg_set_tol_ineq(float *tol_ineq, struct s_dense_qcqp_ipm_arg *arg); -// -void s_dense_qcqp_ipm_arg_set_tol_comp(float *tol_comp, struct s_dense_qcqp_ipm_arg *arg); -// -void s_dense_qcqp_ipm_arg_set_reg_prim(float *reg, struct s_dense_qcqp_ipm_arg *arg); -// -void s_dense_qcqp_ipm_arg_set_reg_dual(float *reg, struct s_dense_qcqp_ipm_arg *arg); -// -void s_dense_qcqp_ipm_arg_set_warm_start(int *warm_start, struct s_dense_qcqp_ipm_arg *arg); -// -void s_dense_qcqp_ipm_arg_set_pred_corr(int *pred_corr, struct s_dense_qcqp_ipm_arg *arg); -// -void s_dense_qcqp_ipm_arg_set_cond_pred_corr(int *cond_pred_corr, struct s_dense_qcqp_ipm_arg *arg); -// -void s_dense_qcqp_ipm_arg_set_comp_res_pred(int *comp_res_pred, struct s_dense_qcqp_ipm_arg *arg); -// -void s_dense_qcqp_ipm_arg_set_comp_res_exit(int *comp_res_exit, struct s_dense_qcqp_ipm_arg *arg); -// -void s_dense_qcqp_ipm_arg_set_lam_min(float *value, struct s_dense_qcqp_ipm_arg *arg); -// -void s_dense_qcqp_ipm_arg_set_t_min(float *value, struct s_dense_qcqp_ipm_arg *arg); -// -void s_dense_qcqp_ipm_arg_set_split_step(int *value, struct s_dense_qcqp_ipm_arg *arg); -// -void s_dense_qcqp_ipm_arg_set_t_lam_min(int *value, struct s_dense_qcqp_ipm_arg *arg); - -// -hpipm_size_t s_dense_qcqp_ipm_ws_memsize(struct s_dense_qcqp_dim *qp_dim, struct s_dense_qcqp_ipm_arg *arg); -// -void s_dense_qcqp_ipm_ws_create(struct s_dense_qcqp_dim *qp_dim, struct s_dense_qcqp_ipm_arg *arg, struct s_dense_qcqp_ipm_ws *ws, void *mem); -// -void s_dense_qcqp_ipm_get(char *field, struct s_dense_qcqp_ipm_ws *ws, void *value); -// -void s_dense_qcqp_ipm_get_status(struct s_dense_qcqp_ipm_ws *ws, int *status); -// -void s_dense_qcqp_ipm_get_iter(struct s_dense_qcqp_ipm_ws *ws, int *iter); -// -void s_dense_qcqp_ipm_get_max_res_stat(struct s_dense_qcqp_ipm_ws *ws, float *res_stat); -// -void s_dense_qcqp_ipm_get_max_res_eq(struct s_dense_qcqp_ipm_ws *ws, float *res_eq); -// -void s_dense_qcqp_ipm_get_max_res_ineq(struct s_dense_qcqp_ipm_ws *ws, float *res_ineq); -// -void s_dense_qcqp_ipm_get_max_res_comp(struct s_dense_qcqp_ipm_ws *ws, float *res_comp); -// -void s_dense_qcqp_ipm_get_stat(struct s_dense_qcqp_ipm_ws *ws, float **stat); -// -void s_dense_qcqp_ipm_get_stat_m(struct s_dense_qcqp_ipm_ws *ws, int *stat_m); -#if 0 -// -void s_dense_qcqp_init_var(struct s_dense_qcqp *qp, struct s_dense_qcqp_sol *qp_sol, struct s_dense_qcqp_ipm_arg *arg, struct s_dense_qcqp_ipm_ws *ws); -#endif -// -void s_dense_qcqp_ipm_solve(struct s_dense_qcqp *qp, struct s_dense_qcqp_sol *qp_sol, struct s_dense_qcqp_ipm_arg *arg, struct s_dense_qcqp_ipm_ws *ws); -#if 0 -// -void s_dense_qcqp_ipm_predict(struct s_dense_qcqp *qp, struct s_dense_qcqp_sol *qp_sol, struct s_dense_qcqp_ipm_arg *arg, struct s_dense_qcqp_ipm_ws *ws); -// -void s_dense_qcqp_ipm_sens(struct s_dense_qcqp *qp, struct s_dense_qcqp_sol *qp_sol, struct s_dense_qcqp_ipm_arg *arg, struct s_dense_qcqp_ipm_ws *ws); -#endif - - -#ifdef __cplusplus -} /* extern "C" */ -#endif - - - -#endif // HPIPM_S_DENSE_QCQP_IPM_H_ - - diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_res.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_res.h deleted file mode 100644 index 779658cc8f8b0a..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_res.h +++ /dev/null @@ -1,108 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef HPIPM_S_DENSE_QCQP_RES_H_ -#define HPIPM_S_DENSE_QCQP_RES_H_ - - - -#include -#include - -#include -#include -#include - - - -#ifdef __cplusplus -extern "C" { -#endif - - - -struct s_dense_qcqp_res - { - struct s_dense_qcqp_dim *dim; - struct blasfeo_svec *res_g; // q-residuals - struct blasfeo_svec *res_b; // b-residuals - struct blasfeo_svec *res_d; // d-residuals - struct blasfeo_svec *res_m; // m-residuals - float res_max[4]; // infinity norm of residuals - float res_mu; // mu-residual - hpipm_size_t memsize; - }; - - - -struct s_dense_qcqp_res_ws - { - struct blasfeo_svec *tmp_nv; // work space of size nv - struct blasfeo_svec *tmp_nbgq; // work space of size nbM+ngM+nqM - struct blasfeo_svec *tmp_ns; // work space of size nsM - struct blasfeo_svec *q_fun; // value for evaluation of quadr constr - struct blasfeo_svec *q_adj; // value for adjoint of quadr constr - int use_q_fun; // reuse cached value for evaluation of quadr constr - int use_q_adj; // reuse cached value for adjoint of quadr constr - hpipm_size_t memsize; - }; - - - -// -hpipm_size_t s_dense_qcqp_res_memsize(struct s_dense_qcqp_dim *dim); -// -void s_dense_qcqp_res_create(struct s_dense_qcqp_dim *dim, struct s_dense_qcqp_res *res, void *mem); -// -hpipm_size_t s_dense_qcqp_res_ws_memsize(struct s_dense_qcqp_dim *dim); -// -void s_dense_qcqp_res_ws_create(struct s_dense_qcqp_dim *dim, struct s_dense_qcqp_res_ws *workspace, void *mem); -// -void s_dense_qcqp_res_compute(struct s_dense_qcqp *qp, struct s_dense_qcqp_sol *qp_sol, struct s_dense_qcqp_res *res, struct s_dense_qcqp_res_ws *ws); -// -void s_dense_qcqp_res_compute_inf_norm(struct s_dense_qcqp_res *res); - - - -#ifdef __cplusplus -} // #extern "C" -#endif - - -#endif // HPIPM_S_DENSE_QCQP_RES_H_ - - - - diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_sol.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_sol.h deleted file mode 100644 index 197a690e520ffa..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_sol.h +++ /dev/null @@ -1,86 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - - - -#ifndef HPIPM_S_DENSE_QCQP_SOL_H_ -#define HPIPM_S_DENSE_QCQP_SOL_H_ - - - -#include -#include - -#include "hpipm_s_dense_qcqp_dim.h" - - - -#ifdef __cplusplus -extern "C" { -#endif - - - -struct s_dense_qcqp_sol - { - struct s_dense_qcqp_dim *dim; - struct blasfeo_svec *v; - struct blasfeo_svec *pi; - struct blasfeo_svec *lam; - struct blasfeo_svec *t; - void *misc; - hpipm_size_t memsize; - }; - - - -// -hpipm_size_t s_dense_qcqp_sol_memsize(struct s_dense_qcqp_dim *dim); -// -void s_dense_qcqp_sol_create(struct s_dense_qcqp_dim *dim, struct s_dense_qcqp_sol *qp_sol, void *memory); -// -void s_dense_qcqp_sol_get_v(struct s_dense_qcqp_sol *qp_sol, float *v); - - - -#ifdef __cplusplus -} /* extern "C" */ -#endif - - - -#endif // HPIPM_S_DENSE_QCQP_SOL_H_ - - diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_utils.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_utils.h deleted file mode 100644 index 4f5aae26eb1aba..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_s_dense_qcqp_utils.h +++ /dev/null @@ -1,83 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef HPIPM_S_DENSE_QCQP_UTILS_H_ -#define HPIPM_S_DENSE_QCQP_UTILS_H_ - - - -#include -#include - -#include "hpipm_s_dense_qcqp_dim.h" -#include "hpipm_s_dense_qcqp.h" -#include "hpipm_s_dense_qcqp_sol.h" -//#include "hpipm_s_dense_qcqp_ipm.h" - - - -#ifdef __cplusplus -extern "C" { -#endif - - - -// -void s_dense_qcqp_dim_print(struct s_dense_qcqp_dim *qp_dim); -// -//void s_dense_qcqp_dim_codegen(char *file_name, char *mode, struct s_dense_qcqp_dim *qp_dim); -// -void s_dense_qcqp_print(struct s_dense_qcqp_dim *qp_dim, struct s_dense_qcqp *qp); -// -//void s_dense_qcqp_codegen(char *file_name, char *mode, struct s_dense_qcqp_dim *qp_dim, struct s_dense_qcqp *qp); -// -void s_dense_qcqp_sol_print(struct s_dense_qcqp_dim *qp_dim, struct s_dense_qcqp_sol *dense_qcqp_sol); -// -//void s_dense_qcqp_ipm_arg_codegen(char *file_name, char *mode, struct s_dense_qcqp_dim *qp_dim, struct s_dense_qcqp_ipm_arg *arg); -// -void s_dense_qcqp_res_print(struct s_dense_qcqp_dim *qp_dim, struct s_dense_qcqp_res *dense_qcqp_res); - - - -#ifdef __cplusplus -} // #extern "C" -#endif - - - -#endif // HPIPM_S_DENSE_QCQP_UTILS_H_ - - - diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qp.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qp.h deleted file mode 100644 index 3c2517fe1b76fc..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_s_dense_qp.h +++ /dev/null @@ -1,207 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - - - -#ifndef HPIPM_S_DENSE_QP_H_ -#define HPIPM_S_DENSE_QP_H_ - - - -#include -#include - -#include "hpipm_s_dense_qp_dim.h" - - - -#ifdef __cplusplus -extern "C" { -#endif - - - -struct s_dense_qp - { - struct s_dense_qp_dim *dim; - struct blasfeo_smat *Hv; // hessian & gradient - struct blasfeo_smat *A; // dynamics matrix - struct blasfeo_smat *Ct; // constraints matrix - struct blasfeo_svec *gz; // gradient & gradient of slacks - struct blasfeo_svec *b; // dynamics vector - struct blasfeo_svec *d; // constraints vector - struct blasfeo_svec *d_mask; // inequality constraints mask vector - struct blasfeo_svec *m; // rhs of complementarity condition - struct blasfeo_svec *Z; // (diagonal) hessian of slacks - int *idxb; // indices of box constrained variables within [u; x] - int *idxs_rev; // index of soft constraints (reverse storage) - hpipm_size_t memsize; // memory size in bytes - }; - - - -// -hpipm_size_t s_dense_qp_memsize(struct s_dense_qp_dim *dim); -// -void s_dense_qp_create(struct s_dense_qp_dim *dim, struct s_dense_qp *qp, void *memory); - -// setters - colmaj -// -void s_dense_qp_set_all(float *H, float *g, float *A, float *b, int *idxb, float *d_lb, float *d_ub, float *C, float *d_lg, float *d_ug, float *Zl, float *Zu, float *zl, float *zu, int *idxs, float *d_ls, float *d_us, struct s_dense_qp *qp); -// -void s_dense_qp_get_all(struct s_dense_qp *qp, float *H, float *g, float *A, float *b, int *idxb, float *d_lb, float *d_ub, float *C, float *d_lg, float *d_ug, float *Zl, float *Zu, float *zl, float *zu, int *idxs, float *d_ls, float *d_us); -// -void s_dense_qp_set(char *field, void *value, struct s_dense_qp *qp); -// -void s_dense_qp_set_H(float *H, struct s_dense_qp *qp); -// -void s_dense_qp_set_g(float *g, struct s_dense_qp *qp); -// -void s_dense_qp_set_A(float *A, struct s_dense_qp *qp); -// -void s_dense_qp_set_b(float *b, struct s_dense_qp *qp); -// -void s_dense_qp_set_idxb(int *idxb, struct s_dense_qp *qp); -// -void s_dense_qp_set_Jb(float *Jb, struct s_dense_qp *qp); -// -void s_dense_qp_set_lb(float *lb, struct s_dense_qp *qp); -// -void s_dense_qp_set_lb_mask(float *lb, struct s_dense_qp *qp); -// -void s_dense_qp_set_ub(float *ub, struct s_dense_qp *qp); -// -void s_dense_qp_set_ub_mask(float *ub, struct s_dense_qp *qp); -// -void s_dense_qp_set_C(float *C, struct s_dense_qp *qp); -// -void s_dense_qp_set_lg(float *lg, struct s_dense_qp *qp); -// -void s_dense_qp_set_lg_mask(float *lg, struct s_dense_qp *qp); -// -void s_dense_qp_set_ug(float *ug, struct s_dense_qp *qp); -// -void s_dense_qp_set_ug_mask(float *ug, struct s_dense_qp *qp); -// -void s_dense_qp_set_idxs(int *idxs, struct s_dense_qp *qp); -// -void s_dense_qp_set_idxs_rev(int *idxs_rev, struct s_dense_qp *qp); -// -void s_dense_qp_set_Jsb(float *Jsb, struct s_dense_qp *qp); -// -void s_dense_qp_set_Jsg(float *Jsg, struct s_dense_qp *qp); -// -void s_dense_qp_set_Zl(float *Zl, struct s_dense_qp *qp); -// -void s_dense_qp_set_Zu(float *Zu, struct s_dense_qp *qp); -// -void s_dense_qp_set_zl(float *zl, struct s_dense_qp *qp); -// -void s_dense_qp_set_zu(float *zu, struct s_dense_qp *qp); -// -void s_dense_qp_set_ls(float *ls, struct s_dense_qp *qp); -// -void s_dense_qp_set_ls_mask(float *ls, struct s_dense_qp *qp); -// -void s_dense_qp_set_us(float *us, struct s_dense_qp *qp); -// -void s_dense_qp_set_us_mask(float *us, struct s_dense_qp *qp); - -// getters - colmaj -// -void s_dense_qp_get_H(struct s_dense_qp *qp, float *H); -// -void s_dense_qp_get_g(struct s_dense_qp *qp, float *g); -// -void s_dense_qp_get_A(struct s_dense_qp *qp, float *A); -// -void s_dense_qp_get_b(struct s_dense_qp *qp, float *b); -// -void s_dense_qp_get_idxb(struct s_dense_qp *qp, int *idxb); -// -void s_dense_qp_get_lb(struct s_dense_qp *qp, float *lb); -// -void s_dense_qp_get_lb_mask(struct s_dense_qp *qp, float *lb); -// -void s_dense_qp_get_ub(struct s_dense_qp *qp, float *ub); -// -void s_dense_qp_get_ub_mask(struct s_dense_qp *qp, float *ub); -// -void s_dense_qp_get_C(struct s_dense_qp *qp, float *C); -// -void s_dense_qp_get_lg(struct s_dense_qp *qp, float *lg); -// -void s_dense_qp_get_lg_mask(struct s_dense_qp *qp, float *lg); -// -void s_dense_qp_get_ug(struct s_dense_qp *qp, float *ug); -// -void s_dense_qp_get_ug_mask(struct s_dense_qp *qp, float *ug); -// -void s_dense_qp_get_idxs(struct s_dense_qp *qp, int *idxs); -// -void s_dense_qp_get_idxs_rev(struct s_dense_qp *qp, int *idxs_rev); -// -void s_dense_qp_get_Zl(struct s_dense_qp *qp, float *Zl); -// -void s_dense_qp_get_Zu(struct s_dense_qp *qp, float *Zu); -// -void s_dense_qp_get_zl(struct s_dense_qp *qp, float *zl); -// -void s_dense_qp_get_zu(struct s_dense_qp *qp, float *zu); -// -void s_dense_qp_get_ls(struct s_dense_qp *qp, float *ls); -// -void s_dense_qp_get_ls_mask(struct s_dense_qp *qp, float *ls); -// -void s_dense_qp_get_us(struct s_dense_qp *qp, float *us); -// -void s_dense_qp_get_us_mask(struct s_dense_qp *qp, float *us); - -// setters - rowmaj -// -void s_dense_qp_set_all_rowmaj(float *H, float *g, float *A, float *b, int *idxb, float *d_lb, float *d_ub, float *C, float *d_lg, float *d_ug, float *Zl, float *Zu, float *zl, float *zu, int *idxs, float *d_ls, float *d_us, struct s_dense_qp *qp); - -// getters - rowmaj -// -void s_dense_qp_get_all_rowmaj(struct s_dense_qp *qp, float *H, float *g, float *A, float *b, int *idxb, float *d_lb, float *d_ub, float *C, float *d_lg, float *d_ug, float *Zl, float *Zu, float *zl, float *zu, int *idxs, float *d_ls, float *d_us); - - -#ifdef __cplusplus -} /* extern "C" */ -#endif - - - -#endif // HPIPM_S_DENSE_QP_H_ diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_dim.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_dim.h deleted file mode 100644 index b979d24432a9ee..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_dim.h +++ /dev/null @@ -1,94 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef HPIPM_S_DENSE_QP_DIM_H_ -#define HPIPM_S_DENSE_QP_DIM_H_ - -#include "hpipm_common.h" - -#ifdef __cplusplus -extern "C" { -#endif - - - -struct s_dense_qp_dim - { - int nv; // number of variables - int ne; // number of equality constraints - int nb; // number of box constraints - int ng; // number of general constraints - int nsb; // number of softened box constraints - int nsg; // number of softened general constraints - int ns; // number of softened constraints (nsb+nsg) - hpipm_size_t memsize; - }; - - - -// -hpipm_size_t s_dense_qp_dim_memsize(); -// -void s_dense_qp_dim_create(struct s_dense_qp_dim *qp_dim, void *memory); -// -void s_dense_qp_dim_set_all(int nv, int ne, int nb, int ng, int nsb, int nsg, struct s_dense_qp_dim *dim); -// -void s_dense_qp_dim_set(char *fiels_name, int value, struct s_dense_qp_dim *dim); -// -void s_dense_qp_dim_set_nv(int value, struct s_dense_qp_dim *dim); -// -void s_dense_qp_dim_set_ne(int value, struct s_dense_qp_dim *dim); -// -void s_dense_qp_dim_set_nb(int value, struct s_dense_qp_dim *dim); -// -void s_dense_qp_dim_set_ng(int value, struct s_dense_qp_dim *dim); -// -void s_dense_qp_dim_set_nsb(int value, struct s_dense_qp_dim *dim); -// -void s_dense_qp_dim_set_nsg(int value, struct s_dense_qp_dim *dim); -// -void s_dense_qp_dim_set_ns(int value, struct s_dense_qp_dim *dim); - - - -#ifdef __cplusplus -} // #extern "C" -#endif - - - -#endif // HPIPM_S_DENSE_QP_DIM_H_ - - diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_ipm.h deleted file mode 100644 index f2d56d45299574..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_ipm.h +++ /dev/null @@ -1,260 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - - - -#ifndef HPIPM_S_DENSE_QP_IPM_H_ -#define HPIPM_S_DENSE_QP_IPM_H_ - - - -#include -#include - -#include -#include -#include -#include -#include - - - -#ifdef __cplusplus -extern "C" { -#endif - - - -struct s_dense_qp_ipm_arg - { - float mu0; // initial value for duality measure - float alpha_min; // exit cond on step length - float res_g_max; // exit cond on inf norm of residuals - float res_b_max; // exit cond on inf norm of residuals - float res_d_max; // exit cond on inf norm of residuals - float res_m_max; // exit cond on inf norm of residuals - float reg_prim; // reg of primal hessian - float reg_dual; // reg of dual hessian - float lam_min; // min value in lam vector - float t_min; // min value in t vector - float tau_min; // min value of barrier parameter - int iter_max; // exit cond in iter number - int stat_max; // iterations saved in stat - int pred_corr; // Mehrotra's predictor-corrector IPM algirthm - int cond_pred_corr; // conditional Mehrotra's predictor-corrector - int scale; // scale hessian - int itref_pred_max; // max number of iterative refinement steps for predictor step - int itref_corr_max; // max number of iterative refinement steps for corrector step - int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol - int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq - int abs_form; // absolute IPM formulation - int comp_res_exit; // compute residuals on exit (only for abs_form==1) - int comp_res_pred; // compute residuals of prediction - int kkt_fact_alg; // 0 null-space, 1 schur-complement - int remove_lin_dep_eq; // 0 do not, 1 do check and remove linearly dependent equality constraints - int compute_obj; // compute obj on exit - int split_step; // use different steps for primal and dual variables - int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution - int mode; - hpipm_size_t memsize; - }; - - - -struct s_dense_qp_ipm_ws - { - struct s_core_qp_ipm_workspace *core_workspace; - struct s_dense_qp_res_ws *res_ws; - struct s_dense_qp_sol *sol_step; - struct s_dense_qp_sol *sol_itref; - struct s_dense_qp *qp_step; - struct s_dense_qp *qp_itref; - struct s_dense_qp_res *res; - struct s_dense_qp_res *res_itref; - struct s_dense_qp_res *res_step; - struct blasfeo_svec *Gamma; // - struct blasfeo_svec *gamma; // - struct blasfeo_svec *Zs_inv; // - struct blasfeo_smat *Lv; // - struct blasfeo_smat *AL; // - struct blasfeo_smat *Le; // - struct blasfeo_smat *Ctx; // - struct blasfeo_svec *lv; // - struct blasfeo_svec *sv; // scale for Lv - struct blasfeo_svec *se; // scale for Le - struct blasfeo_svec *tmp_nbg; // work space of size nb+ng - struct blasfeo_svec *tmp_ns; // work space of size ns - struct blasfeo_smat *lq0; - struct blasfeo_smat *lq1; - struct blasfeo_svec *tmp_m; - struct blasfeo_smat *A_LQ; - struct blasfeo_smat *A_Q; - struct blasfeo_smat *Zt; - struct blasfeo_smat *ZtH; - struct blasfeo_smat *ZtHZ; - struct blasfeo_svec *xy; - struct blasfeo_svec *Yxy; - struct blasfeo_svec *xz; - struct blasfeo_svec *tmp_nv; - struct blasfeo_svec *tmp_2ns; - struct blasfeo_svec *tmp_nv2ns; - struct blasfeo_smat *A_li; // A of linearly independent equality constraints - struct blasfeo_svec *b_li; // b of linearly independent equality constraints - struct blasfeo_smat *A_bkp; // pointer to backup A - struct blasfeo_svec *b_bkp; // pointer to backup b - struct blasfeo_smat *Ab_LU; - float *stat; // convergence statistics - int *ipiv_v; - int *ipiv_e; - int *ipiv_e1; - void *lq_work0; - void *lq_work1; - void *lq_work_null; - void *orglq_work_null; - int iter; // iteration number - int stat_max; // iterations saved in stat - int stat_m; // numer of recorded stat per ipm iter - int scale; - int use_hess_fact; - int use_A_fact; - int status; - int lq_fact; // cache from arg - int mask_constr; // use constr mask - int ne_li; // number of linearly independent equality constraints - int ne_bkp; // ne backup - hpipm_size_t memsize; // memory size (in bytes) of workspace - }; - - - -// -hpipm_size_t s_dense_qp_ipm_arg_memsize(struct s_dense_qp_dim *qp_dim); -// -void s_dense_qp_ipm_arg_create(struct s_dense_qp_dim *qp_dim, struct s_dense_qp_ipm_arg *arg, void *mem); -// -void s_dense_qp_ipm_arg_set_default(enum hpipm_mode mode, struct s_dense_qp_ipm_arg *arg); -// -void s_dense_qp_ipm_arg_set(char *field, void *value, struct s_dense_qp_ipm_arg *arg); -// -void s_dense_qp_ipm_arg_set_iter_max(int *iter_max, struct s_dense_qp_ipm_arg *arg); -// -void s_dense_qp_ipm_arg_set_alpha_min(float *alpha_min, struct s_dense_qp_ipm_arg *arg); -// -void s_dense_qp_ipm_arg_set_mu0(float *mu0, struct s_dense_qp_ipm_arg *arg); -// -void s_dense_qp_ipm_arg_set_tol_stat(float *tol_stat, struct s_dense_qp_ipm_arg *arg); -// -void s_dense_qp_ipm_arg_set_tol_eq(float *tol_eq, struct s_dense_qp_ipm_arg *arg); -// -void s_dense_qp_ipm_arg_set_tol_ineq(float *tol_ineq, struct s_dense_qp_ipm_arg *arg); -// -void s_dense_qp_ipm_arg_set_tol_comp(float *tol_comp, struct s_dense_qp_ipm_arg *arg); -// -void s_dense_qp_ipm_arg_set_reg_prim(float *reg, struct s_dense_qp_ipm_arg *arg); -// -void s_dense_qp_ipm_arg_set_reg_dual(float *reg, struct s_dense_qp_ipm_arg *arg); -// -void s_dense_qp_ipm_arg_set_warm_start(int *warm_start, struct s_dense_qp_ipm_arg *arg); -// -void s_dense_qp_ipm_arg_set_pred_corr(int *pred_corr, struct s_dense_qp_ipm_arg *arg); -// -void s_dense_qp_ipm_arg_set_cond_pred_corr(int *cond_pred_corr, struct s_dense_qp_ipm_arg *arg); -// -void s_dense_qp_ipm_arg_set_comp_res_pred(int *comp_res_pred, struct s_dense_qp_ipm_arg *arg); -// -void s_dense_qp_ipm_arg_set_comp_res_exit(int *comp_res_exit, struct s_dense_qp_ipm_arg *arg); -// -void s_dense_qp_ipm_arg_set_lam_min(float *value, struct s_dense_qp_ipm_arg *arg); -// -void s_dense_qp_ipm_arg_set_t_min(float *value, struct s_dense_qp_ipm_arg *arg); -// -void s_dense_qp_ipm_arg_set_tau_min(float *value, struct s_dense_qp_ipm_arg *arg); -// -void s_dense_qp_ipm_arg_set_kkt_fact_alg(int *value, struct s_dense_qp_ipm_arg *arg); -// -void s_dense_qp_ipm_arg_set_remove_lin_dep_eq(int *value, struct s_dense_qp_ipm_arg *arg); -// -void s_dense_qp_ipm_arg_set_compute_obj(int *value, struct s_dense_qp_ipm_arg *arg); -// -void s_dense_qp_ipm_arg_set_split_step(int *value, struct s_dense_qp_ipm_arg *arg); -// -void s_dense_qp_ipm_arg_set_t_lam_min(int *value, struct s_dense_qp_ipm_arg *arg); - -// -hpipm_size_t s_dense_qp_ipm_ws_memsize(struct s_dense_qp_dim *qp_dim, struct s_dense_qp_ipm_arg *arg); -// -void s_dense_qp_ipm_ws_create(struct s_dense_qp_dim *qp_dim, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws, void *mem); -// -void s_dense_qp_ipm_get(char *field, struct s_dense_qp_ipm_ws *ws, void *value); -// -void s_dense_qp_ipm_get_status(struct s_dense_qp_ipm_ws *ws, int *status); -// -void s_dense_qp_ipm_get_iter(struct s_dense_qp_ipm_ws *ws, int *iter); -// -void s_dense_qp_ipm_get_max_res_stat(struct s_dense_qp_ipm_ws *ws, float *res_stat); -// -void s_dense_qp_ipm_get_max_res_eq(struct s_dense_qp_ipm_ws *ws, float *res_eq); -// -void s_dense_qp_ipm_get_max_res_ineq(struct s_dense_qp_ipm_ws *ws, float *res_ineq); -// -void s_dense_qp_ipm_get_max_res_comp(struct s_dense_qp_ipm_ws *ws, float *res_comp); -// -void s_dense_qp_ipm_get_stat(struct s_dense_qp_ipm_ws *ws, float **stat); -// -void s_dense_qp_ipm_get_stat_m(struct s_dense_qp_ipm_ws *ws, int *stat_m); -// -void s_dense_qp_init_var(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws); -// -void s_dense_qp_ipm_abs_step(int kk, struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws); -// -void s_dense_qp_ipm_delta_step(int kk, struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws); -// -void s_dense_qp_ipm_solve(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws); -// -void s_dense_qp_ipm_predict(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws); -// -void s_dense_qp_ipm_sens(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws); -// -void s_dense_qp_compute_step_length(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws); - - - -#ifdef __cplusplus -} /* extern "C" */ -#endif - - - -#endif // HPIPM_S_DENSE_QP_IPM_H_ diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_kkt.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_kkt.h deleted file mode 100644 index 260dc0ab21d5ef..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_kkt.h +++ /dev/null @@ -1,72 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - - - -#ifndef HPIPM_S_DENSE_QP_KKT_H_ -#define HPIPM_S_DENSE_QP_KKT_H_ - - - -#ifdef __cplusplus -extern "C" { -#endif - - - -// -void s_fact_solve_kkt_unconstr_dense_qp(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws); -// -void s_fact_solve_kkt_step_dense_qp(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws); -// -void s_fact_lq_solve_kkt_step_dense_qp(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws); -// -void s_solve_kkt_step_dense_qp(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws); -// -void s_dense_qp_remove_lin_dep_eq(struct s_dense_qp *qp, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws); -// -void s_dense_qp_restore_lin_dep_eq(struct s_dense_qp *qp, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws); -// -void s_dense_qp_compute_obj(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_ipm_arg *arg, struct s_dense_qp_ipm_ws *ws); - - - -#ifdef __cplusplus -} /* extern "C" */ -#endif - - - -#endif // HPIPM_S_DENSE_QP_KKT_H_ diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_res.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_res.h deleted file mode 100644 index 06b609c537cb1e..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_res.h +++ /dev/null @@ -1,106 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef HPIPM_S_DENSE_QP_RES_H_ -#define HPIPM_S_DENSE_QP_RES_H_ - - - -#include -#include - -#include -#include -#include - - - -#ifdef __cplusplus -extern "C" { -#endif - - - -struct s_dense_qp_res - { - struct s_dense_qp_dim *dim; - struct blasfeo_svec *res_g; // q-residuals - struct blasfeo_svec *res_b; // b-residuals - struct blasfeo_svec *res_d; // d-residuals - struct blasfeo_svec *res_m; // m-residuals - float res_max[4]; // max of residuals - float res_mu; // mu-residual - hpipm_size_t memsize; - }; - - - -struct s_dense_qp_res_ws - { - struct blasfeo_svec *tmp_nbg; // work space of size nbM+ngM - struct blasfeo_svec *tmp_ns; // work space of size nsM - hpipm_size_t memsize; - }; - - - -// -hpipm_size_t s_dense_qp_res_memsize(struct s_dense_qp_dim *dim); -// -void s_dense_qp_res_create(struct s_dense_qp_dim *dim, struct s_dense_qp_res *res, void *mem); -// -hpipm_size_t s_dense_qp_res_ws_memsize(struct s_dense_qp_dim *dim); -// -void s_dense_qp_res_ws_create(struct s_dense_qp_dim *dim, struct s_dense_qp_res_ws *workspace, void *mem); -// -void s_dense_qp_res_compute(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_res *res, struct s_dense_qp_res_ws *ws); -// -void s_dense_qp_res_compute_lin(struct s_dense_qp *qp, struct s_dense_qp_sol *qp_sol, struct s_dense_qp_sol *qp_step, struct s_dense_qp_res *res, struct s_dense_qp_res_ws *ws); -// -void s_dense_qp_res_compute_inf_norm(struct s_dense_qp_res *res); -// -void s_dense_qp_res_get_all(struct s_dense_qp_res *res, float *res_g, float *res_ls, float *res_us, float *res_b, float *res_d_lb, float *res_d_ub, float *res_d_lg, float *res_d_ug, float *res_d_ls, float *res_d_us, float *res_m_lb, float *res_m_ub, float *res_m_lg, float *res_m_ug, float *res_m_ls, float *res_m_us); - - - -#ifdef __cplusplus -} // #extern "C" -#endif - - -#endif // HPIPM_D_DENSE_QP_RES_H_ - - - diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_sol.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_sol.h deleted file mode 100644 index 1f40076378d833..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_sol.h +++ /dev/null @@ -1,94 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - - - -#ifndef HPIPM_S_DENSE_QP_SOL_H_ -#define HPIPM_S_DENSE_QP_SOL_H_ - - - -#include -#include - -#include "hpipm_s_dense_qp_dim.h" - - - -#ifdef __cplusplus -extern "C" { -#endif - - - -struct s_dense_qp_sol - { - struct s_dense_qp_dim *dim; - struct blasfeo_svec *v; - struct blasfeo_svec *pi; - struct blasfeo_svec *lam; - struct blasfeo_svec *t; - void *misc; - float obj; - int valid_obj; - hpipm_size_t memsize; - }; - - - -// -hpipm_size_t s_dense_qp_sol_memsize(struct s_dense_qp_dim *dim); -// -void s_dense_qp_sol_create(struct s_dense_qp_dim *dim, struct s_dense_qp_sol *qp_sol, void *memory); -// -void s_dense_qp_sol_get_all(struct s_dense_qp_sol *qp_sol, float *v, float *ls, float *us, float *pi, float *lam_lb, float *lam_ub, float *lam_lg, float *lam_ug, float *lam_ls, float *lam_us); -// -void s_dense_qp_sol_get(char *field, struct s_dense_qp_sol *sol, void *value); -// -void s_dense_qp_sol_get_v(struct s_dense_qp_sol *sol, float *v); -// -void s_dense_qp_sol_get_valid_obj(struct s_dense_qp_sol *sol, int *valid_obj); -// -void s_dense_qp_sol_get_obj(struct s_dense_qp_sol *sol, float *obj); - - - -#ifdef __cplusplus -} /* extern "C" */ -#endif - - - -#endif // HPIPM_S_DENSE_QP_SOL_H_ diff --git a/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_utils.h b/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_utils.h deleted file mode 100644 index 3dd93259a55a58..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_s_dense_qp_utils.h +++ /dev/null @@ -1,84 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef HPIPM_S_DENSE_QP_UTILS_H_ -#define HPIPM_S_DENSE_QP_UTILS_H_ - - - -#include -#include - -#include "hpipm_s_dense_qp_dim.h" -#include "hpipm_s_dense_qp.h" -#include "hpipm_s_dense_qp_sol.h" -#include "hpipm_s_dense_qp_ipm.h" - - - -#ifdef __cplusplus -extern "C" { -#endif - - - -// -void s_dense_qp_dim_print(struct s_dense_qp_dim *qp_dim); -// -//void s_dense_qp_dim_codegen(char *file_name, char *mode, struct s_dense_qp_dim *qp_dim); -// -void s_dense_qp_print(struct s_dense_qp_dim *qp_dim, struct s_dense_qp *qp); -// -//void s_dense_qp_codegen(char *file_name, char *mode, struct s_dense_qp_dim *qp_dim, struct s_dense_qp *qp); -// -void s_dense_qp_sol_print(struct s_dense_qp_dim *qp_dim, struct s_dense_qp_sol *dense_qp_sol); -// -//void s_dense_qp_ipm_arg_codegen(char *file_name, char *mode, struct s_dense_qp_dim *qp_dim, struct s_dense_qp_ipm_arg *arg); -// -void s_dense_qp_res_print(struct s_dense_qp_dim *qp_dim, struct s_dense_qp_res *dense_qp_res); -// -void s_dense_qp_arg_print(struct s_dense_qp_dim *qp_dim, struct s_dense_qp_ipm_arg *qp_ipm_arg); - - - -#ifdef __cplusplus -} // #extern "C" -#endif - - - -#endif // HPIPM_S_DENSE_QP_UTILS_H_ - - diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp.h deleted file mode 100644 index b90b2ac6337580..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp.h +++ /dev/null @@ -1,303 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef HPIPM_S_OCP_QCQP_H_ -#define HPIPM_S_OCP_QCQP_H_ - - - -#include -#include - -#include "hpipm_s_ocp_qcqp_dim.h" - - - -#ifdef __cplusplus -extern "C" { -#endif - - - -struct s_ocp_qcqp - { - struct s_ocp_qcqp_dim *dim; - struct blasfeo_smat *BAbt; // dynamics matrix & vector work space - struct blasfeo_smat *RSQrq; // hessian of cost & vector work space - struct blasfeo_smat *DCt; // inequality constraints matrix - struct blasfeo_smat **Hq; // hessians of quadratic constraints - struct blasfeo_svec *b; // dynamics vector - struct blasfeo_svec *rqz; // gradient of cost & gradient of slacks - struct blasfeo_svec *d; // inequality constraints vector - struct blasfeo_svec *d_mask; // inequality constraints mask vector - struct blasfeo_svec *m; // rhs of complementarity condition - struct blasfeo_svec *Z; // (diagonal) hessian of slacks - int **idxb; // indices of box constrained variables within [u; x] - int **idxs_rev; // index of soft constraints (reverse storage) - int **Hq_nzero; // for each int, the last 3 bits ...abc, {a,b,c}=0 => {R,S,Q}=0 - hpipm_size_t memsize; // memory size in bytes - }; - - - -// -hpipm_size_t s_ocp_qcqp_strsize(); -// -hpipm_size_t s_ocp_qcqp_memsize(struct s_ocp_qcqp_dim *dim); -// -void s_ocp_qcqp_create(struct s_ocp_qcqp_dim *dim, struct s_ocp_qcqp *qp, void *memory); -// -void s_ocp_qcqp_copy_all(struct s_ocp_qcqp *qp_orig, struct s_ocp_qcqp *qp_dest); - -// setters -// -void s_ocp_qcqp_set_all_zero(struct s_ocp_qcqp *qp); -// -void s_ocp_qcqp_set_rhs_zero(struct s_ocp_qcqp *qp); -// -void s_ocp_qcqp_set(char *fiels_name, int stage, void *value, struct s_ocp_qcqp *qp); -// -void s_ocp_qcqp_set_el(char *fiels_name, int stage, int index, void *value, struct s_ocp_qcqp *qp); -// -void s_ocp_qcqp_set_A(int stage, float *mat, struct s_ocp_qcqp *qp); -// -void s_ocp_qcqp_set_B(int stage, float *mat, struct s_ocp_qcqp *qp); -// -void s_ocp_qcqp_set_b(int stage, float *vec, struct s_ocp_qcqp *qp); -// -void s_ocp_qcqp_set_Q(int stage, float *mat, struct s_ocp_qcqp *qp); -// -void s_ocp_qcqp_set_S(int stage, float *mat, struct s_ocp_qcqp *qp); -// -void s_ocp_qcqp_set_R(int stage, float *mat, struct s_ocp_qcqp *qp); -// -void s_ocp_qcqp_set_q(int stage, float *vec, struct s_ocp_qcqp *qp); -// -void s_ocp_qcqp_set_r(int stage, float *vec, struct s_ocp_qcqp *qp); -// -void s_ocp_qcqp_set_lb(int stage, float *vec, struct s_ocp_qcqp *qp); -// -void s_ocp_qcqp_set_lb_mask(int stage, float *vec, struct s_ocp_qcqp *qp); -// -void s_ocp_qcqp_set_ub(int stage, float *vec, struct s_ocp_qcqp *qp); -// -void s_ocp_qcqp_set_ub_mask(int stage, float *vec, struct s_ocp_qcqp *qp); -// -void s_ocp_qcqp_set_lbx(int stage, float *vec, struct s_ocp_qcqp *qp); -// -void s_ocp_qcqp_set_lbx_mask(int stage, float *vec, struct s_ocp_qcqp *qp); -// -void s_ocp_qcqp_set_el_lbx(int stage, int index, float *elem, struct s_ocp_qcqp *qp); -// -void s_ocp_qcqp_set_ubx(int stage, float *vec, struct s_ocp_qcqp *qp); -// -void s_ocp_qcqp_set_ubx_mask(int stage, float *vec, struct s_ocp_qcqp *qp); -// -void s_ocp_qcqp_set_el_ubx(int stage, int index, float *elem, struct s_ocp_qcqp *qp); -// -void s_ocp_qcqp_set_lbu(int stage, float *vec, struct s_ocp_qcqp *qp); -// -void s_ocp_qcqp_set_lbu_mask(int stage, float *vec, struct s_ocp_qcqp *qp); -// -void s_ocp_qcqp_set_ubu(int stage, float *vec, struct s_ocp_qcqp *qp); -// -void s_ocp_qcqp_set_ubu_mask(int stage, float *vec, struct s_ocp_qcqp *qp); -// -void s_ocp_qcqp_set_idxb(int stage, int *vec, struct s_ocp_qcqp *qp); -// -void s_ocp_qcqp_set_idxbx(int stage, int *vec, struct s_ocp_qcqp *qp); -// -void s_ocp_qcqp_set_Jbx(int stage, float *vec, struct s_ocp_qcqp *qp); -// -void s_ocp_qcqp_set_idxbu(int stage, int *vec, struct s_ocp_qcqp *qp); -// -void s_ocp_qcqp_set_Jbu(int stage, float *vec, struct s_ocp_qcqp *qp); -// -void s_ocp_qcqp_set_C(int stage, float *mat, struct s_ocp_qcqp *qp); -// -void s_ocp_qcqp_set_D(int stage, float *mat, struct s_ocp_qcqp *qp); -// -void s_ocp_qcqp_set_lg(int stage, float *vec, struct s_ocp_qcqp *qp); -// -void s_ocp_qcqp_set_lg_mask(int stage, float *vec, struct s_ocp_qcqp *qp); -// -void s_ocp_qcqp_set_ug(int stage, float *vec, struct s_ocp_qcqp *qp); -// -void s_ocp_qcqp_set_ug_mask(int stage, float *vec, struct s_ocp_qcqp *qp); -// -void s_ocp_qcqp_set_Qq(int stage, float *mat, struct s_ocp_qcqp *qp); -// -void s_ocp_qcqp_set_Sq(int stage, float *mat, struct s_ocp_qcqp *qp); -// -void s_ocp_qcqp_set_Rq(int stage, float *mat, struct s_ocp_qcqp *qp); -// -void s_ocp_qcqp_set_qq(int stage, float *vec, struct s_ocp_qcqp *qp); -// -void s_ocp_qcqp_set_rq(int stage, float *vec, struct s_ocp_qcqp *qp); -// -void s_ocp_qcqp_set_uq(int stage, float *vec, struct s_ocp_qcqp *qp); -// -void s_ocp_qcqp_set_uq_mask(int stage, float *vec, struct s_ocp_qcqp *qp); -// -void s_ocp_qcqp_set_Zl(int stage, float *vec, struct s_ocp_qcqp *qp); -// -void s_ocp_qcqp_set_Zu(int stage, float *vec, struct s_ocp_qcqp *qp); -// -void s_ocp_qcqp_set_zl(int stage, float *vec, struct s_ocp_qcqp *qp); -// -void s_ocp_qcqp_set_zu(int stage, float *vec, struct s_ocp_qcqp *qp); -// -void s_ocp_qcqp_set_lls(int stage, float *vec, struct s_ocp_qcqp *qp); -// -void s_ocp_qcqp_set_lls_mask(int stage, float *vec, struct s_ocp_qcqp *qp); -// -void s_ocp_qcqp_set_lus(int stage, float *vec, struct s_ocp_qcqp *qp); -// -void s_ocp_qcqp_set_lus_mask(int stage, float *vec, struct s_ocp_qcqp *qp); -// -void s_ocp_qcqp_set_idxs(int stage, int *vec, struct s_ocp_qcqp *qp); -// -void s_ocp_qcqp_set_idxs_rev(int stage, int *vec, struct s_ocp_qcqp *qp); -// -void s_ocp_qcqp_set_Jsbu(int stage, float *vec, struct s_ocp_qcqp *qp); -// -void s_ocp_qcqp_set_Jsbx(int stage, float *vec, struct s_ocp_qcqp *qp); -// -void s_ocp_qcqp_set_Jsg(int stage, float *vec, struct s_ocp_qcqp *qp); -// -void s_ocp_qcqp_set_Jsq(int stage, float *vec, struct s_ocp_qcqp *qp); - -// getters -// -void s_ocp_qcqp_get(char *field, int stage, struct s_ocp_qcqp *qp, void *value); -// -void s_ocp_qcqp_get_A(int stage, struct s_ocp_qcqp *qp, float *mat); -// -void s_ocp_qcqp_get_B(int stage, struct s_ocp_qcqp *qp, float *mat); -// -void s_ocp_qcqp_get_b(int stage, struct s_ocp_qcqp *qp, float *vec); -// -void s_ocp_qcqp_get_Q(int stage, struct s_ocp_qcqp *qp, float *mat); -// -void s_ocp_qcqp_get_S(int stage, struct s_ocp_qcqp *qp, float *mat); -// -void s_ocp_qcqp_get_R(int stage, struct s_ocp_qcqp *qp, float *mat); -// -void s_ocp_qcqp_get_q(int stage, struct s_ocp_qcqp *qp, float *vec); -// -void s_ocp_qcqp_get_r(int stage, struct s_ocp_qcqp *qp, float *vec); -// -void s_ocp_qcqp_get_ub(int stage, struct s_ocp_qcqp *qp, float *vec); -// -void s_ocp_qcqp_get_ub_mask(int stage, struct s_ocp_qcqp *qp, float *vec); -// -void s_ocp_qcqp_get_lb(int stage, struct s_ocp_qcqp *qp, float *vec); -// -void s_ocp_qcqp_get_lb_mask(int stage, struct s_ocp_qcqp *qp, float *vec); -// -void s_ocp_qcqp_get_lbx(int stage, struct s_ocp_qcqp *qp, float *vec); -// -void s_ocp_qcqp_get_lbx_mask(int stage, struct s_ocp_qcqp *qp, float *vec); -// -void s_ocp_qcqp_get_ubx(int stage, struct s_ocp_qcqp *qp, float *vec); -// -void s_ocp_qcqp_get_ubx_mask(int stage, struct s_ocp_qcqp *qp, float *vec); -// -void s_ocp_qcqp_get_lbu(int stage, struct s_ocp_qcqp *qp, float *vec); -// -void s_ocp_qcqp_get_lbu_mask(int stage, struct s_ocp_qcqp *qp, float *vec); -// -void s_ocp_qcqp_get_ubu(int stage, struct s_ocp_qcqp *qp, float *vec); -// -void s_ocp_qcqp_get_ubu_mask(int stage, struct s_ocp_qcqp *qp, float *vec); -// -void s_ocp_qcqp_get_idxb(int stage, struct s_ocp_qcqp *qp, int *vec); -// -//void s_ocp_qcqp_get_idxbx(int stage, struct s_ocp_qcqp *qp, int *vec); -// -//void s_ocp_qcqp_get_Jbx(int stage, struct s_ocp_qcqp *qp, float *vec); -// -//void s_ocp_qcqp_get_idxbu(int stage, struct s_ocp_qcqp *qp, int *vec); -// -//void s_ocp_qcqp_get_Jbu(int stage, struct s_ocp_qcqp *qp, float *vec); -// -void s_ocp_qcqp_get_C(int stage, struct s_ocp_qcqp *qp, float *mat); -// -void s_ocp_qcqp_get_D(int stage, struct s_ocp_qcqp *qp, float *mat); -// -void s_ocp_qcqp_get_lg(int stage, struct s_ocp_qcqp *qp, float *vec); -// -void s_ocp_qcqp_get_lg_mask(int stage, struct s_ocp_qcqp *qp, float *vec); -// -void s_ocp_qcqp_get_ug(int stage, struct s_ocp_qcqp *qp, float *vec); -// -void s_ocp_qcqp_get_ug_mask(int stage, struct s_ocp_qcqp *qp, float *vec); -// -void s_ocp_qcqp_get_Zl(int stage, struct s_ocp_qcqp *qp, float *vec); -// -void s_ocp_qcqp_get_Zu(int stage, struct s_ocp_qcqp *qp, float *vec); -// -void s_ocp_qcqp_get_zl(int stage, struct s_ocp_qcqp *qp, float *vec); -// -void s_ocp_qcqp_get_zu(int stage, struct s_ocp_qcqp *qp, float *vec); -// -void s_ocp_qcqp_get_lls(int stage, struct s_ocp_qcqp *qp, float *vec); -// -void s_ocp_qcqp_get_lls_mask(int stage, struct s_ocp_qcqp *qp, float *vec); -// -void s_ocp_qcqp_get_lus(int stage, struct s_ocp_qcqp *qp, float *vec); -// -void s_ocp_qcqp_get_lus_mask(int stage, struct s_ocp_qcqp *qp, float *vec); -// XXX only valid if there is one slack per softed constraint !!! -void s_ocp_qcqp_get_idxs(int stage, struct s_ocp_qcqp *qp, int *vec); -// -void s_ocp_qcqp_get_idxs_rev(int stage, struct s_ocp_qcqp *qp, int *vec); -// -//void s_ocp_qcqp_get_Jsbu(int stage, struct s_ocp_qcqp *qp, float *vec); -// -//void s_ocp_qcqp_get_Jsbx(int stage, struct s_ocp_qcqp *qp, float *vec); -// -//void s_ocp_qcqp_get_Jsg(int stage, struct s_ocp_qcqp *qp, float *vec); - - - -#ifdef __cplusplus -} /* extern "C" */ -#endif - - - -#endif // HPIPM_S_OCP_QCQP_H_ - diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_dim.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_dim.h deleted file mode 100644 index c09903f07448ea..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_dim.h +++ /dev/null @@ -1,119 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef HPIPM_S_OCP_QCQP_DIM_H_ -#define HPIPM_S_OCP_QCQP_DIM_H_ - -#include "hpipm_common.h" - -#ifdef __cplusplus -extern "C" { -#endif - - - -struct s_ocp_qcqp_dim - { - struct s_ocp_qp_dim *qp_dim; // dim of qp approximation - int *nx; // number of states - int *nu; // number of inputs - int *nb; // number of box constraints - int *nbx; // number of (two-sided) state box constraints - int *nbu; // number of (two-sided) input box constraints - int *ng; // number of (two-sided) general constraints - int *nq; // number of (upper) quadratic constraints - int *ns; // number of soft constraints - int *nsbx; // number of (two-sided) soft state box constraints - int *nsbu; // number of (two-sided) soft input box constraints - int *nsg; // number of (two-sided) soft general constraints - int *nsq; // number of (upper) soft quadratic constraints - int N; // horizon length - hpipm_size_t memsize; - }; - - - -// -hpipm_size_t s_ocp_qcqp_dim_strsize(); -// -hpipm_size_t s_ocp_qcqp_dim_memsize(int N); -// -void s_ocp_qcqp_dim_create(int N, struct s_ocp_qcqp_dim *qp_dim, void *memory); -// -void s_ocp_qcqp_dim_copy_all(struct s_ocp_qcqp_dim *dim_orig, struct s_ocp_qcqp_dim *dim_dest); -// -void s_ocp_qcqp_dim_set(char *field, int stage, int value, struct s_ocp_qcqp_dim *dim); -// -void s_ocp_qcqp_dim_set_nx(int stage, int value, struct s_ocp_qcqp_dim *dim); -// -void s_ocp_qcqp_dim_set_nu(int stage, int value, struct s_ocp_qcqp_dim *dim); -// -void s_ocp_qcqp_dim_set_nbx(int stage, int value, struct s_ocp_qcqp_dim *dim); -// -void s_ocp_qcqp_dim_set_nbu(int stage, int value, struct s_ocp_qcqp_dim *dim); -// -void s_ocp_qcqp_dim_set_ng(int stage, int value, struct s_ocp_qcqp_dim *dim); -// -void s_ocp_qcqp_dim_set_nq(int stage, int value, struct s_ocp_qcqp_dim *dim); -// -void s_ocp_qcqp_dim_set_ns(int stage, int value, struct s_ocp_qcqp_dim *dim); -// -void s_ocp_qcqp_dim_set_nsbx(int stage, int value, struct s_ocp_qcqp_dim *dim); -// -void s_ocp_qcqp_dim_set_nsbu(int stage, int value, struct s_ocp_qcqp_dim *dim); -// -void s_ocp_qcqp_dim_set_nsg(int stage, int value, struct s_ocp_qcqp_dim *dim); -// -void s_ocp_qcqp_dim_set_nsq(int stage, int value, struct s_ocp_qcqp_dim *dim); -// -void s_ocp_qcqp_dim_get(struct s_ocp_qcqp_dim *dim, char *field, int stage, int *value); -// -void s_ocp_qcqp_dim_get_N(struct s_ocp_qcqp_dim *dim, int *value); -// -void s_ocp_qcqp_dim_get_nx(struct s_ocp_qcqp_dim *dim, int stage, int *value); -// -void s_ocp_qcqp_dim_get_nu(struct s_ocp_qcqp_dim *dim, int stage, int *value); - - - -#ifdef __cplusplus -} // #extern "C" -#endif - - - -#endif // HPIPM_S_OCP_QCQP_DIM_H_ - - diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_ipm.h deleted file mode 100644 index c14fc1c9fd27a9..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_ipm.h +++ /dev/null @@ -1,191 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef HPIPM_S_OCP_QCQP_IPM_H_ -#define HPIPM_S_OCP_QCQP_IPM_H_ - - - -#include -#include - -#include -#include -#include -#include -#include - - - -#ifdef __cplusplus -extern "C" { -#endif - - - -struct s_ocp_qcqp_ipm_arg - { - struct s_ocp_qp_ipm_arg *qp_arg; - float mu0; // initial value for complementarity slackness - float alpha_min; // exit cond on step length - float res_g_max; // exit cond on inf norm of residuals - float res_b_max; // exit cond on inf norm of residuals - float res_d_max; // exit cond on inf norm of residuals - float res_m_max; // exit cond on inf norm of residuals - float reg_prim; // reg of primal hessian - float lam_min; // min value in lam vector - float t_min; // min value in t vector - int iter_max; // exit cond in iter number - int stat_max; // iterations saved in stat - int pred_corr; // use Mehrotra's predictor-corrector IPM algirthm - int cond_pred_corr; // conditional Mehrotra's predictor-corrector - int itref_pred_max; // max number of iterative refinement steps for predictor step - int itref_corr_max; // max number of iterative refinement steps for corrector step - int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol - int square_root_alg; // 0 classical Riccati, 1 square-root Riccati - int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq (for square_root_alg==1) - int abs_form; // absolute IPM formulation - int comp_dual_sol_eq; // dual solution of equality constraints (only for abs_form==1) - int comp_res_exit; // compute residuals on exit (only for abs_form==1 and comp_dual_sol_eq==1) - int comp_res_pred; // compute residuals of prediction - int split_step; // use different step for primal and dual variables - int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution - int mode; - hpipm_size_t memsize; - }; - - - -struct s_ocp_qcqp_ipm_ws - { - struct s_ocp_qp_ipm_ws *qp_ws; - struct s_ocp_qp *qp; - struct s_ocp_qp_sol *qp_sol; - struct s_ocp_qcqp_res_ws *qcqp_res_ws; - struct s_ocp_qcqp_res *qcqp_res; - struct blasfeo_svec *tmp_nuxM; - int iter; // iteration number - int status; - hpipm_size_t memsize; - }; - - - -// -hpipm_size_t s_ocp_qcqp_ipm_arg_strsize(); -// -hpipm_size_t s_ocp_qcqp_ipm_arg_memsize(struct s_ocp_qcqp_dim *ocp_dim); -// -void s_ocp_qcqp_ipm_arg_create(struct s_ocp_qcqp_dim *ocp_dim, struct s_ocp_qcqp_ipm_arg *arg, void *mem); -// -void s_ocp_qcqp_ipm_arg_set_default(enum hpipm_mode mode, struct s_ocp_qcqp_ipm_arg *arg); -// -void s_ocp_qcqp_ipm_arg_set(char *field, void *value, struct s_ocp_qcqp_ipm_arg *arg); -// set maximum number of iterations -void s_ocp_qcqp_ipm_arg_set_iter_max(int *value, struct s_ocp_qcqp_ipm_arg *arg); -// set minimum step lenght -void s_ocp_qcqp_ipm_arg_set_alpha_min(float *value, struct s_ocp_qcqp_ipm_arg *arg); -// set initial value of barrier parameter -void s_ocp_qcqp_ipm_arg_set_mu0(float *value, struct s_ocp_qcqp_ipm_arg *arg); -// set exit tolerance on stationarity condition -void s_ocp_qcqp_ipm_arg_set_tol_stat(float *value, struct s_ocp_qcqp_ipm_arg *arg); -// set exit tolerance on equality constr -void s_ocp_qcqp_ipm_arg_set_tol_eq(float *value, struct s_ocp_qcqp_ipm_arg *arg); -// set exit tolerance on inequality constr -void s_ocp_qcqp_ipm_arg_set_tol_ineq(float *value, struct s_ocp_qcqp_ipm_arg *arg); -// set exit tolerance on complementarity condition -void s_ocp_qcqp_ipm_arg_set_tol_comp(float *value, struct s_ocp_qcqp_ipm_arg *arg); -// set regularization of primal variables -void s_ocp_qcqp_ipm_arg_set_reg_prim(float *value, struct s_ocp_qcqp_ipm_arg *arg); -// set warm start: 0 no warm start, 1 primal var -void s_ocp_qcqp_ipm_arg_set_warm_start(int *value, struct s_ocp_qcqp_ipm_arg *arg); -// Mehrotra's predictor-corrector IPM algorithm: 0 no predictor-corrector, 1 use predictor-corrector -void s_ocp_qcqp_ipm_arg_set_pred_corr(int *value, struct s_ocp_qcqp_ipm_arg *arg); -// conditional predictor-corrector: 0 no conditinal predictor-corrector, 1 conditional predictor-corrector -void s_ocp_qcqp_ipm_arg_set_cond_pred_corr(int *value, struct s_ocp_qcqp_ipm_arg *arg); -// set riccati algorithm: 0 classic, 1 square-root -void s_ocp_qcqp_ipm_arg_set_ric_alg(int *value, struct s_ocp_qcqp_ipm_arg *arg); -// compute residuals after solution -void s_ocp_qcqp_ipm_arg_set_comp_res_exit(int *value, struct s_ocp_qcqp_ipm_arg *arg); -// compute residuals of prediction -void s_ocp_qcqp_ipm_arg_set_comp_res_pred(int *value, struct s_ocp_qcqp_ipm_arg *arg); -// min value of lam in the solution -void s_ocp_qcqp_ipm_arg_set_lam_min(float *value, struct s_ocp_qcqp_ipm_arg *arg); -// min value of t in the solution -void s_ocp_qcqp_ipm_arg_set_t_min(float *value, struct s_ocp_qcqp_ipm_arg *arg); -// use different step for primal and dual variables -void s_ocp_qcqp_ipm_arg_set_split_step(int *value, struct s_ocp_qcqp_ipm_arg *arg); -// clip t and lam: 0 no, 1 in Gamma computation, 2 in solution -void s_ocp_qcqp_ipm_arg_set_t_lam_min(int *value, struct s_ocp_qcqp_ipm_arg *arg); - -// -hpipm_size_t s_ocp_qcqp_ipm_ws_strsize(); -// -hpipm_size_t s_ocp_qcqp_ipm_ws_memsize(struct s_ocp_qcqp_dim *ocp_dim, struct s_ocp_qcqp_ipm_arg *arg); -// -void s_ocp_qcqp_ipm_ws_create(struct s_ocp_qcqp_dim *ocp_dim, struct s_ocp_qcqp_ipm_arg *arg, struct s_ocp_qcqp_ipm_ws *ws, void *mem); -// -void s_ocp_qcqp_ipm_get(char *field, struct s_ocp_qcqp_ipm_ws *ws, void *value); -// -void s_ocp_qcqp_ipm_get_status(struct s_ocp_qcqp_ipm_ws *ws, int *status); -// -void s_ocp_qcqp_ipm_get_iter(struct s_ocp_qcqp_ipm_ws *ws, int *iter); -// -void s_ocp_qcqp_ipm_get_max_res_stat(struct s_ocp_qcqp_ipm_ws *ws, float *res_stat); -// -void s_ocp_qcqp_ipm_get_max_res_eq(struct s_ocp_qcqp_ipm_ws *ws, float *res_eq); -// -void s_ocp_qcqp_ipm_get_max_res_ineq(struct s_ocp_qcqp_ipm_ws *ws, float *res_ineq); -// -void s_ocp_qcqp_ipm_get_max_res_comp(struct s_ocp_qcqp_ipm_ws *ws, float *res_comp); -// -void s_ocp_qcqp_ipm_get_stat(struct s_ocp_qcqp_ipm_ws *ws, float **stat); -// -void s_ocp_qcqp_ipm_get_stat_m(struct s_ocp_qcqp_ipm_ws *ws, int *stat_m); -// -void s_ocp_qcqp_init_var(struct s_ocp_qcqp *qp, struct s_ocp_qcqp_sol *qp_sol, struct s_ocp_qcqp_ipm_arg *arg, struct s_ocp_qcqp_ipm_ws *ws); -// -void s_ocp_qcqp_ipm_solve(struct s_ocp_qcqp *qp, struct s_ocp_qcqp_sol *qp_sol, struct s_ocp_qcqp_ipm_arg *arg, struct s_ocp_qcqp_ipm_ws *ws); - - - -#ifdef __cplusplus -} // #extern "C" -#endif - - -#endif // HPIPM_S_OCP_QCQP_IPM_H_ - - diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_res.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_res.h deleted file mode 100644 index 1ceeec93b7ec5c..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_res.h +++ /dev/null @@ -1,115 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef HPIPM_S_OCP_QCQP_RES_H_ -#define HPIPM_S_OCP_QCQP_RES_H_ - - - -#include -#include - -#include -#include -#include -#include - - - -#ifdef __cplusplus -extern "C" { -#endif - - - -struct s_ocp_qcqp_res - { - struct s_ocp_qcqp_dim *dim; - struct blasfeo_svec *res_g; // q-residuals - struct blasfeo_svec *res_b; // b-residuals - struct blasfeo_svec *res_d; // d-residuals - struct blasfeo_svec *res_m; // m-residuals - float res_max[4]; // max of residuals - float res_mu; // mu-residual - hpipm_size_t memsize; - }; - - - -struct s_ocp_qcqp_res_ws - { - struct blasfeo_svec *tmp_nuxM; // work space of size nuM+nxM - struct blasfeo_svec *tmp_nbgqM; // work space of size nbM+ngM+nqM - struct blasfeo_svec *tmp_nsM; // work space of size nsM - struct blasfeo_svec *q_fun; // value for evaluation of quadr constr - struct blasfeo_svec *q_adj; // value for adjoint of quadr constr - int use_q_fun; // reuse cached value for evaluation of quadr constr - int use_q_adj; // reuse cached value for adjoint of quadr constr - hpipm_size_t memsize; - }; - - - -// -hpipm_size_t s_ocp_qcqp_res_memsize(struct s_ocp_qcqp_dim *ocp_dim); -// -void s_ocp_qcqp_res_create(struct s_ocp_qcqp_dim *ocp_dim, struct s_ocp_qcqp_res *res, void *mem); -// -hpipm_size_t s_ocp_qcqp_res_ws_memsize(struct s_ocp_qcqp_dim *ocp_dim); -// -void s_ocp_qcqp_res_ws_create(struct s_ocp_qcqp_dim *ocp_dim, struct s_ocp_qcqp_res_ws *workspace, void *mem); -// -void s_ocp_qcqp_res_compute(struct s_ocp_qcqp *qp, struct s_ocp_qcqp_sol *qp_sol, struct s_ocp_qcqp_res *res, struct s_ocp_qcqp_res_ws *ws); -// -void s_ocp_qcqp_res_compute_inf_norm(struct s_ocp_qcqp_res *res); -// -void s_ocp_qcqp_res_get_max_res_stat(struct s_ocp_qcqp_res *res, float *value); -// -void s_ocp_qcqp_res_get_max_res_eq(struct s_ocp_qcqp_res *res, float *value); -// -void s_ocp_qcqp_res_get_max_res_ineq(struct s_ocp_qcqp_res *res, float *value); -// -void s_ocp_qcqp_res_get_max_res_comp(struct s_ocp_qcqp_res *res, float *value); - - - -#ifdef __cplusplus -} // #extern "C" -#endif - - -#endif // HPIPM_S_OCP_QCQP_RES_H_ - - diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_sol.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_sol.h deleted file mode 100644 index 3d58022cc9c8ff..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_sol.h +++ /dev/null @@ -1,115 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef HPIPM_S_OCP_QCQP_SOL_H_ -#define HPIPM_S_OCP_QCQP_SOL_H_ - - - -#include -#include - -#include "hpipm_s_ocp_qcqp_dim.h" - - - -#ifdef __cplusplus -extern "C" { -#endif - - - -struct s_ocp_qcqp_sol - { - struct s_ocp_qcqp_dim *dim; - struct blasfeo_svec *ux; - struct blasfeo_svec *pi; - struct blasfeo_svec *lam; - struct blasfeo_svec *t; - hpipm_size_t memsize; // memory size in bytes - }; - - - -// -hpipm_size_t s_ocp_qcqp_sol_strsize(); -// -hpipm_size_t s_ocp_qcqp_sol_memsize(struct s_ocp_qcqp_dim *dim); -// -void s_ocp_qcqp_sol_create(struct s_ocp_qcqp_dim *dim, struct s_ocp_qcqp_sol *qp_sol, void *memory); -// -void s_ocp_qcqp_sol_copy_all(struct s_ocp_qcqp_sol *qp_sol_orig, struct s_ocp_qcqp_sol *qp_sol_dest); -// -void s_ocp_qcqp_sol_get(char *field, int stage, struct s_ocp_qcqp_sol *qp_sol, float *vec); -// -void s_ocp_qcqp_sol_get_u(int stage, struct s_ocp_qcqp_sol *qp_sol, float *vec); -// -void s_ocp_qcqp_sol_get_x(int stage, struct s_ocp_qcqp_sol *qp_sol, float *vec); -// -void s_ocp_qcqp_sol_get_sl(int stage, struct s_ocp_qcqp_sol *qp_sol, float *vec); -// -void s_ocp_qcqp_sol_get_su(int stage, struct s_ocp_qcqp_sol *qp_sol, float *vec); -// -void s_ocp_qcqp_sol_get_pi(int stage, struct s_ocp_qcqp_sol *qp_sol, float *vec); -// -void s_ocp_qcqp_sol_get_lam_lb(int stage, struct s_ocp_qcqp_sol *qp_sol, float *vec); -// -void s_ocp_qcqp_sol_get_lam_ub(int stage, struct s_ocp_qcqp_sol *qp_sol, float *vec); -// -void s_ocp_qcqp_sol_get_lam_lg(int stage, struct s_ocp_qcqp_sol *qp_sol, float *vec); -// -void s_ocp_qcqp_sol_get_lam_ug(int stage, struct s_ocp_qcqp_sol *qp_sol, float *vec); -// -void s_ocp_qcqp_sol_set(char *field, int stage, float *vec, struct s_ocp_qcqp_sol *qp_sol); -// -void s_ocp_qcqp_sol_set_u(int stage, float *vec, struct s_ocp_qcqp_sol *qp_sol); -// -void s_ocp_qcqp_sol_set_x(int stage, float *vec, struct s_ocp_qcqp_sol *qp_sol); -// -void s_ocp_qcqp_sol_set_sl(int stage, float *vec, struct s_ocp_qcqp_sol *qp_sol); -// -void s_ocp_qcqp_sol_set_su(int stage, float *vec, struct s_ocp_qcqp_sol *qp_sol); - - - -#ifdef __cplusplus -} // #extern "C" -#endif - - - -#endif // HPIPM_S_OCP_QCQP_SOL_H_ - - diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_utils.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_utils.h deleted file mode 100644 index d64e3aabe73742..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qcqp_utils.h +++ /dev/null @@ -1,82 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef HPIPM_S_OCP_QCQP_UTILS_H_ -#define HPIPM_S_OCP_QCQP_UTILS_H_ - - - -#include -#include - -#include "hpipm_s_ocp_qcqp_dim.h" -#include "hpipm_s_ocp_qp.h" -#include "hpipm_s_ocp_qcqp_sol.h" -#include "hpipm_s_ocp_qcqp_ipm.h" - - - -#ifdef __cplusplus -extern "C" { -#endif - - - -// -void s_ocp_qcqp_dim_print(struct s_ocp_qcqp_dim *qcqp_dim); -// -void s_ocp_qcqp_dim_codegen(char *file_name, char *mode, struct s_ocp_qcqp_dim *qcqp_dim); -// -void s_ocp_qcqp_print(struct s_ocp_qcqp_dim *qcqp_dim, struct s_ocp_qcqp *qp); -// -void s_ocp_qcqp_codegen(char *file_name, char *mode, struct s_ocp_qcqp_dim *qcqp_dim, struct s_ocp_qcqp *qp); -// -void s_ocp_qcqp_sol_print(struct s_ocp_qcqp_dim *qcqp_dim, struct s_ocp_qcqp_sol *ocp_qcqp_sol); -// -void s_ocp_qcqp_ipm_arg_codegen(char *file_name, char *mode, struct s_ocp_qcqp_dim *qcqp_dim, struct s_ocp_qcqp_ipm_arg *arg); -// -void s_ocp_qcqp_res_print(struct s_ocp_qcqp_dim *qcqp_dim, struct s_ocp_qcqp_res *ocp_qcqp_res); - - - -#ifdef __cplusplus -} // #extern "C" -#endif - - - -#endif // HPIPM_S_OCP_QCQP_UTILS_H_ - - diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp.h deleted file mode 100644 index b49191f192d83c..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp.h +++ /dev/null @@ -1,306 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef HPIPM_S_OCP_QP_H_ -#define HPIPM_S_OCP_QP_H_ - - - -#include -#include - -#include "hpipm_s_ocp_qp_dim.h" - - - -#ifdef __cplusplus -extern "C" { -#endif - - - -struct s_ocp_qp - { - struct s_ocp_qp_dim *dim; - struct blasfeo_smat *BAbt; // dynamics matrix & vector work space - struct blasfeo_smat *RSQrq; // hessian of cost & vector work space - struct blasfeo_smat *DCt; // inequality constraints matrix - struct blasfeo_svec *b; // dynamics vector - struct blasfeo_svec *rqz; // gradient of cost & gradient of slacks - struct blasfeo_svec *d; // inequality constraints vector - struct blasfeo_svec *d_mask; // inequality constraints mask vector - struct blasfeo_svec *m; // rhs of complementarity condition - struct blasfeo_svec *Z; // (diagonal) hessian of slacks - int **idxb; // indices of box constrained variables within [u; x] - int **idxs_rev; // index of soft constraints (reverse storage) - int **idxe; // indices of constraints within [bu, bx, g] that are equalities, subset of [0, ..., nbu+nbx+ng-1] - int *diag_H_flag; // flag the fact that Hessian is diagonal - hpipm_size_t memsize; // memory size in bytes - }; - - - -// -hpipm_size_t s_ocp_qp_strsize(); -// -hpipm_size_t s_ocp_qp_memsize(struct s_ocp_qp_dim *dim); -// -void s_ocp_qp_create(struct s_ocp_qp_dim *dim, struct s_ocp_qp *qp, void *memory); -// -void s_ocp_qp_copy_all(struct s_ocp_qp *qp_orig, struct s_ocp_qp *qp_dest); - -// setters -// -void s_ocp_qp_set_all_zero(struct s_ocp_qp *qp); -// -void s_ocp_qp_set_rhs_zero(struct s_ocp_qp *qp); -// -void s_ocp_qp_set_all(float **A, float **B, float **b, float **Q, float **S, float **R, float **q, float **r, int **idxbx, float **lbx, float **ubx, int **idxbu, float **lbu, float **ubu, float **C, float **D, float **lg, float **ug, float **Zl, float **Zu, float **zl, float **zu, int **idxs, float **ls, float **us, struct s_ocp_qp *qp); -// -void s_ocp_qp_set_all_rowmaj(float **A, float **B, float **b, float **Q, float **S, float **R, float **q, float **r, int **idxbx, float **lbx, float **ubx, int **idxbu, float **lbu, float **ubu, float **C, float **D, float **lg, float **ug, float **Zl, float **Zu, float **zl, float **zu, int **idxs, float **ls, float **us, struct s_ocp_qp *qp); -// -void s_ocp_qp_set(char *fiels_name, int stage, void *value, struct s_ocp_qp *qp); -// -void s_ocp_qp_set_el(char *fiels_name, int stage, int index, void *value, struct s_ocp_qp *qp); -// -void s_ocp_qp_set_A(int stage, float *mat, struct s_ocp_qp *qp); -// -void s_ocp_qp_set_B(int stage, float *mat, struct s_ocp_qp *qp); -// -void s_ocp_qp_set_b(int stage, float *vec, struct s_ocp_qp *qp); -// -void s_ocp_qp_set_Q(int stage, float *mat, struct s_ocp_qp *qp); -// -void s_ocp_qp_set_S(int stage, float *mat, struct s_ocp_qp *qp); -// -void s_ocp_qp_set_R(int stage, float *mat, struct s_ocp_qp *qp); -// -void s_ocp_qp_set_q(int stage, float *vec, struct s_ocp_qp *qp); -// -void s_ocp_qp_set_r(int stage, float *vec, struct s_ocp_qp *qp); -// -void s_ocp_qp_set_lb(int stage, float *vec, struct s_ocp_qp *qp); -// -void s_ocp_qp_set_lb_mask(int stage, float *vec, struct s_ocp_qp *qp); -// -void s_ocp_qp_set_ub(int stage, float *vec, struct s_ocp_qp *qp); -// -void s_ocp_qp_set_ub_mask(int stage, float *vec, struct s_ocp_qp *qp); -// -void s_ocp_qp_set_lbx(int stage, float *vec, struct s_ocp_qp *qp); -// -void s_ocp_qp_set_lbx_mask(int stage, float *vec, struct s_ocp_qp *qp); -// -void s_ocp_qp_set_el_lbx(int stage, int index, float *elem, struct s_ocp_qp *qp); -// -void s_ocp_qp_set_ubx(int stage, float *vec, struct s_ocp_qp *qp); -// -void s_ocp_qp_set_ubx_mask(int stage, float *vec, struct s_ocp_qp *qp); -// -void s_ocp_qp_set_el_ubx(int stage, int index, float *elem, struct s_ocp_qp *qp); -// -void s_ocp_qp_set_lbu(int stage, float *vec, struct s_ocp_qp *qp); -// -void s_ocp_qp_set_lbu_mask(int stage, float *vec, struct s_ocp_qp *qp); -// -void s_ocp_qp_set_ubu(int stage, float *vec, struct s_ocp_qp *qp); -// -void s_ocp_qp_set_ubu_mask(int stage, float *vec, struct s_ocp_qp *qp); -// -void s_ocp_qp_set_idxb(int stage, int *vec, struct s_ocp_qp *qp); -// -void s_ocp_qp_set_idxbx(int stage, int *vec, struct s_ocp_qp *qp); -// -void s_ocp_qp_set_Jbx(int stage, float *vec, struct s_ocp_qp *qp); -// -void s_ocp_qp_set_idxbu(int stage, int *vec, struct s_ocp_qp *qp); -// -void s_ocp_qp_set_Jbu(int stage, float *vec, struct s_ocp_qp *qp); -// -void s_ocp_qp_set_C(int stage, float *mat, struct s_ocp_qp *qp); -// -void s_ocp_qp_set_D(int stage, float *mat, struct s_ocp_qp *qp); -// -void s_ocp_qp_set_lg(int stage, float *vec, struct s_ocp_qp *qp); -// -void s_ocp_qp_set_lg_mask(int stage, float *vec, struct s_ocp_qp *qp); -// -void s_ocp_qp_set_ug(int stage, float *vec, struct s_ocp_qp *qp); -// -void s_ocp_qp_set_ug_mask(int stage, float *vec, struct s_ocp_qp *qp); -// -void s_ocp_qp_set_Zl(int stage, float *vec, struct s_ocp_qp *qp); -// -void s_ocp_qp_set_Zu(int stage, float *vec, struct s_ocp_qp *qp); -// -void s_ocp_qp_set_zl(int stage, float *vec, struct s_ocp_qp *qp); -// -void s_ocp_qp_set_zu(int stage, float *vec, struct s_ocp_qp *qp); -// -void s_ocp_qp_set_lls(int stage, float *vec, struct s_ocp_qp *qp); -// -void s_ocp_qp_set_lls_mask(int stage, float *vec, struct s_ocp_qp *qp); -// -void s_ocp_qp_set_lus(int stage, float *vec, struct s_ocp_qp *qp); -// -void s_ocp_qp_set_lus_mask(int stage, float *vec, struct s_ocp_qp *qp); -// -void s_ocp_qp_set_idxs(int stage, int *vec, struct s_ocp_qp *qp); -// -void s_ocp_qp_set_idxs_rev(int stage, int *vec, struct s_ocp_qp *qp); -// -void s_ocp_qp_set_Jsbu(int stage, float *vec, struct s_ocp_qp *qp); -// -void s_ocp_qp_set_Jsbx(int stage, float *vec, struct s_ocp_qp *qp); -// -void s_ocp_qp_set_Jsg(int stage, float *vec, struct s_ocp_qp *qp); -// -void s_ocp_qp_set_idxe(int stage, int *vec, struct s_ocp_qp *qp); -// -void s_ocp_qp_set_idxbxe(int stage, int *vec, struct s_ocp_qp *qp); -// -void s_ocp_qp_set_idxbue(int stage, int *vec, struct s_ocp_qp *qp); -// -void s_ocp_qp_set_idxge(int stage, int *vec, struct s_ocp_qp *qp); -// -void s_ocp_qp_set_Jbxe(int stage, float *vec, struct s_ocp_qp *qp); -// -void s_ocp_qp_set_Jbue(int stage, float *vec, struct s_ocp_qp *qp); -// -void s_ocp_qp_set_Jge(int stage, float *vec, struct s_ocp_qp *qp); -// -void s_ocp_qp_set_diag_H_flag(int stage, int *value, struct s_ocp_qp *qp); - -// getters -// -void s_ocp_qp_get(char *field, int stage, struct s_ocp_qp *qp, void *value); -// -void s_ocp_qp_get_A(int stage, struct s_ocp_qp *qp, float *mat); -// -void s_ocp_qp_get_B(int stage, struct s_ocp_qp *qp, float *mat); -// -void s_ocp_qp_get_b(int stage, struct s_ocp_qp *qp, float *vec); -// -void s_ocp_qp_get_Q(int stage, struct s_ocp_qp *qp, float *mat); -// -void s_ocp_qp_get_S(int stage, struct s_ocp_qp *qp, float *mat); -// -void s_ocp_qp_get_R(int stage, struct s_ocp_qp *qp, float *mat); -// -void s_ocp_qp_get_q(int stage, struct s_ocp_qp *qp, float *vec); -// -void s_ocp_qp_get_r(int stage, struct s_ocp_qp *qp, float *vec); -// -void s_ocp_qp_get_ub(int stage, struct s_ocp_qp *qp, float *vec); -// -void s_ocp_qp_get_ub_mask(int stage, struct s_ocp_qp *qp, float *vec); -// -void s_ocp_qp_get_lb(int stage, struct s_ocp_qp *qp, float *vec); -// -void s_ocp_qp_get_lb_mask(int stage, struct s_ocp_qp *qp, float *vec); -// -void s_ocp_qp_get_lbx(int stage, struct s_ocp_qp *qp, float *vec); -// -void s_ocp_qp_get_lbx_mask(int stage, struct s_ocp_qp *qp, float *vec); -// -void s_ocp_qp_get_ubx(int stage, struct s_ocp_qp *qp, float *vec); -// -void s_ocp_qp_get_ubx_mask(int stage, struct s_ocp_qp *qp, float *vec); -// -void s_ocp_qp_get_lbu(int stage, struct s_ocp_qp *qp, float *vec); -// -void s_ocp_qp_get_lbu_mask(int stage, struct s_ocp_qp *qp, float *vec); -// -void s_ocp_qp_get_ubu(int stage, struct s_ocp_qp *qp, float *vec); -// -void s_ocp_qp_get_ubu_mask(int stage, struct s_ocp_qp *qp, float *vec); -// -void s_ocp_qp_get_idxb(int stage, struct s_ocp_qp *qp, int *vec); -// -//void s_ocp_qp_get_idxbx(int stage, struct s_ocp_qp *qp, int *vec); -// -//void s_ocp_qp_get_Jbx(int stage, struct s_ocp_qp *qp, float *vec); -// -//void s_ocp_qp_get_idxbu(int stage, struct s_ocp_qp *qp, int *vec); -// -//void s_ocp_qp_get_Jbu(int stage, struct s_ocp_qp *qp, float *vec); -// -void s_ocp_qp_get_C(int stage, struct s_ocp_qp *qp, float *mat); -// -void s_ocp_qp_get_D(int stage, struct s_ocp_qp *qp, float *mat); -// -void s_ocp_qp_get_lg(int stage, struct s_ocp_qp *qp, float *vec); -// -void s_ocp_qp_get_lg_mask(int stage, struct s_ocp_qp *qp, float *vec); -// -void s_ocp_qp_get_ug(int stage, struct s_ocp_qp *qp, float *vec); -// -void s_ocp_qp_get_ug_mask(int stage, struct s_ocp_qp *qp, float *vec); -// -void s_ocp_qp_get_Zl(int stage, struct s_ocp_qp *qp, float *vec); -// -void s_ocp_qp_get_Zu(int stage, struct s_ocp_qp *qp, float *vec); -// -void s_ocp_qp_get_zl(int stage, struct s_ocp_qp *qp, float *vec); -// -void s_ocp_qp_get_zu(int stage, struct s_ocp_qp *qp, float *vec); -// -void s_ocp_qp_get_lls(int stage, struct s_ocp_qp *qp, float *vec); -// -void s_ocp_qp_get_lls_mask(int stage, struct s_ocp_qp *qp, float *vec); -// -void s_ocp_qp_get_lus(int stage, struct s_ocp_qp *qp, float *vec); -// -void s_ocp_qp_get_lus_mask(int stage, struct s_ocp_qp *qp, float *vec); -// XXX only valid if there is one slack per softed constraint !!! -void s_ocp_qp_get_idxs(int stage, struct s_ocp_qp *qp, int *vec); -// -void s_ocp_qp_get_idxs_rev(int stage, struct s_ocp_qp *qp, int *vec); -// -//void s_ocp_qp_get_Jsbu(int stage, struct s_ocp_qp *qp, float *vec); -// -//void s_ocp_qp_get_Jsbx(int stage, struct s_ocp_qp *qp, float *vec); -// -//void s_ocp_qp_get_Jsg(int stage, struct s_ocp_qp *qp, float *vec); - - - -#ifdef __cplusplus -} /* extern "C" */ -#endif - - - -#endif // HPIPM_S_OCP_QP_H_ diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_dim.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_dim.h deleted file mode 100644 index bce80243b3eb2e..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_dim.h +++ /dev/null @@ -1,141 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef HPIPM_S_OCP_QP_DIM_H_ -#define HPIPM_S_OCP_QP_DIM_H_ - -#include "hpipm_common.h" - -#ifdef __cplusplus -extern "C" { -#endif - - - -struct s_ocp_qp_dim - { - int *nx; // number of states - int *nu; // number of inputs - int *nb; // number of box constraints - int *nbx; // number of state box constraints - int *nbu; // number of input box constraints - int *ng; // number of general constraints - int *ns; // number of soft constraints - int *nsbx; // number of soft state box constraints - int *nsbu; // number of soft input box constraints - int *nsg; // number of soft general constraints - int *nbxe; // number of state box constraints which are equality - int *nbue; // number of input box constraints which are equality - int *nge; // number of general constraints which are equality - int N; // horizon length - hpipm_size_t memsize; - }; - - - -// -hpipm_size_t s_ocp_qp_dim_strsize(); -// -hpipm_size_t s_ocp_qp_dim_memsize(int N); -// -void s_ocp_qp_dim_create(int N, struct s_ocp_qp_dim *qp_dim, void *memory); -// -void s_ocp_qp_dim_copy_all(struct s_ocp_qp_dim *dim_orig, struct s_ocp_qp_dim *dim_dest); -// -void s_ocp_qp_dim_set_all(int *nx, int *nu, int *nbx, int *nbu, int *ng, int *nsbx, int *nsbu, int *nsg, struct s_ocp_qp_dim *dim); -// -void s_ocp_qp_dim_set(char *field, int stage, int value, struct s_ocp_qp_dim *dim); -// -void s_ocp_qp_dim_set_nx(int stage, int value, struct s_ocp_qp_dim *dim); -// -void s_ocp_qp_dim_set_nu(int stage, int value, struct s_ocp_qp_dim *dim); -// -void s_ocp_qp_dim_set_nbx(int stage, int value, struct s_ocp_qp_dim *dim); -// -void s_ocp_qp_dim_set_nbu(int stage, int value, struct s_ocp_qp_dim *dim); -// -void s_ocp_qp_dim_set_ng(int stage, int value, struct s_ocp_qp_dim *dim); -// -void s_ocp_qp_dim_set_ns(int stage, int value, struct s_ocp_qp_dim *dim); -// -void s_ocp_qp_dim_set_nsbx(int stage, int value, struct s_ocp_qp_dim *dim); -// -void s_ocp_qp_dim_set_nsbu(int stage, int value, struct s_ocp_qp_dim *dim); -// -void s_ocp_qp_dim_set_nsg(int stage, int value, struct s_ocp_qp_dim *dim); -// -void s_ocp_qp_dim_set_nbxe(int stage, int value, struct s_ocp_qp_dim *dim); -// -void s_ocp_qp_dim_set_nbue(int stage, int value, struct s_ocp_qp_dim *dim); -// -void s_ocp_qp_dim_set_nge(int stage, int value, struct s_ocp_qp_dim *dim); -// -void s_ocp_qp_dim_get(struct s_ocp_qp_dim *dim, char *field, int stage, int *value); -// -void s_ocp_qp_dim_get_N(struct s_ocp_qp_dim *dim, int *value); -// -void s_ocp_qp_dim_get_nx(struct s_ocp_qp_dim *dim, int stage, int *value); -// -void s_ocp_qp_dim_get_nu(struct s_ocp_qp_dim *dim, int stage, int *value); -// -void s_ocp_qp_dim_get_nbx(struct s_ocp_qp_dim *dim, int stage, int *value); -// -void s_ocp_qp_dim_get_nbu(struct s_ocp_qp_dim *dim, int stage, int *value); -// -void s_ocp_qp_dim_get_ng(struct s_ocp_qp_dim *dim, int stage, int *value); -// -void s_ocp_qp_dim_get_ns(struct s_ocp_qp_dim *dim, int stage, int *value); -// -void s_ocp_qp_dim_get_nsbx(struct s_ocp_qp_dim *dim, int stage, int *value); -// -void s_ocp_qp_dim_get_nsbu(struct s_ocp_qp_dim *dim, int stage, int *value); -// -void s_ocp_qp_dim_get_nsg(struct s_ocp_qp_dim *dim, int stage, int *value); -// -void s_ocp_qp_dim_get_nbxe(struct s_ocp_qp_dim *dim, int stage, int *value); -// -void s_ocp_qp_dim_get_nbue(struct s_ocp_qp_dim *dim, int stage, int *value); -// -void s_ocp_qp_dim_get_nge(struct s_ocp_qp_dim *dim, int stage, int *value); - - - -#ifdef __cplusplus -} // #extern "C" -#endif - - - -#endif // HPIPM_S_OCP_QP_DIM_H_ diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_ipm.h deleted file mode 100644 index 11f3c47be6ecd2..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_ipm.h +++ /dev/null @@ -1,250 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef HPIPM_S_OCP_QP_IPM_H_ -#define HPIPM_S_OCP_QP_IPM_H_ - - - -#include -#include - -#include -#include -#include -#include -#include - - - -#ifdef __cplusplus -extern "C" { -#endif - - - -struct s_ocp_qp_ipm_arg - { - float mu0; // initial value for complementarity slackness - float alpha_min; // exit cond on step length - float res_g_max; // exit cond on inf norm of residuals - float res_b_max; // exit cond on inf norm of residuals - float res_d_max; // exit cond on inf norm of residuals - float res_m_max; // exit cond on inf norm of residuals - float reg_prim; // reg of primal hessian - float lam_min; // min value in lam vector - float t_min; // min value in t vector - float tau_min; // min value of barrier parameter - int iter_max; // exit cond in iter number - int stat_max; // iterations saved in stat - int pred_corr; // use Mehrotra's predictor-corrector IPM algirthm - int cond_pred_corr; // conditional Mehrotra's predictor-corrector - int itref_pred_max; // max number of iterative refinement steps for predictor step - int itref_corr_max; // max number of iterative refinement steps for corrector step - int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol - int square_root_alg; // 0 classical Riccati, 1 square-root Riccati - int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq (for square_root_alg==1) - int abs_form; // absolute IPM formulation - int comp_dual_sol_eq; // dual solution of equality constraints (only for abs_form==1) - int comp_res_exit; // compute residuals on exit (only for abs_form==1 and comp_dual_sol_eq==1) - int comp_res_pred; // compute residuals of prediction - int split_step; // use different steps for primal and dual variables - int var_init_scheme; // variables initialization scheme - int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution - int mode; - hpipm_size_t memsize; - }; - - - -struct s_ocp_qp_ipm_ws - { - struct s_core_qp_ipm_workspace *core_workspace; - struct s_ocp_qp_res_ws *res_workspace; - struct s_ocp_qp_dim *dim; // cache dim - struct s_ocp_qp_sol *sol_step; - struct s_ocp_qp_sol *sol_itref; - struct s_ocp_qp *qp_step; - struct s_ocp_qp *qp_itref; - struct s_ocp_qp_res *res; - struct s_ocp_qp_res *res_itref; - struct blasfeo_svec *Gamma; // hessian update - struct blasfeo_svec *gamma; // hessian update - struct blasfeo_svec *tmp_nuxM; // work space of size nxM - struct blasfeo_svec *tmp_nbgM; // work space of size nbM+ngM - struct blasfeo_svec *tmp_nsM; // work space of size nsM - struct blasfeo_svec *Pb; // Pb - struct blasfeo_svec *Zs_inv; - struct blasfeo_svec *tmp_m; - struct blasfeo_svec *l; // cache linear part for _get_ric_xxx - struct blasfeo_smat *L; - struct blasfeo_smat *Ls; - struct blasfeo_smat *P; - struct blasfeo_smat *Lh; - struct blasfeo_smat *AL; - struct blasfeo_smat *lq0; - struct blasfeo_smat *tmp_nxM_nxM; - float *stat; // convergence statistics - int *use_hess_fact; - void *lq_work0; - float qp_res[4]; // infinity norm of residuals - int iter; // iteration number - int stat_max; // iterations saved in stat - int stat_m; // number of recorded stat per IPM iter - int use_Pb; - int status; // solver status - int square_root_alg; // cache from arg - int lq_fact; // cache from arg - int mask_constr; // use constr mask - int valid_ric_vec; // meaningful riccati vectors - int valid_ric_p; // form of riccati p: 0 p*inv(L), 1 p - hpipm_size_t memsize; - }; - - - -// -hpipm_size_t s_ocp_qp_ipm_arg_strsize(); -// -hpipm_size_t s_ocp_qp_ipm_arg_memsize(struct s_ocp_qp_dim *ocp_dim); -// -void s_ocp_qp_ipm_arg_create(struct s_ocp_qp_dim *ocp_dim, struct s_ocp_qp_ipm_arg *arg, void *mem); -// -void s_ocp_qp_ipm_arg_set_default(enum hpipm_mode mode, struct s_ocp_qp_ipm_arg *arg); -// -void s_ocp_qp_ipm_arg_set(char *field, void *value, struct s_ocp_qp_ipm_arg *arg); -// set maximum number of iterations -void s_ocp_qp_ipm_arg_set_iter_max(int *iter_max, struct s_ocp_qp_ipm_arg *arg); -// set minimum step lenght -void s_ocp_qp_ipm_arg_set_alpha_min(float *alpha_min, struct s_ocp_qp_ipm_arg *arg); -// set initial value of barrier parameter -void s_ocp_qp_ipm_arg_set_mu0(float *mu0, struct s_ocp_qp_ipm_arg *arg); -// set exit tolerance on stationarity condition -void s_ocp_qp_ipm_arg_set_tol_stat(float *tol_stat, struct s_ocp_qp_ipm_arg *arg); -// set exit tolerance on equality constr -void s_ocp_qp_ipm_arg_set_tol_eq(float *tol_eq, struct s_ocp_qp_ipm_arg *arg); -// set exit tolerance on inequality constr -void s_ocp_qp_ipm_arg_set_tol_ineq(float *tol_ineq, struct s_ocp_qp_ipm_arg *arg); -// set exit tolerance on complementarity condition -void s_ocp_qp_ipm_arg_set_tol_comp(float *tol_comp, struct s_ocp_qp_ipm_arg *arg); -// set regularization of primal variables -void s_ocp_qp_ipm_arg_set_reg_prim(float *tol_comp, struct s_ocp_qp_ipm_arg *arg); -// set warm start: 0 no warm start, 1 primal var -void s_ocp_qp_ipm_arg_set_warm_start(int *warm_start, struct s_ocp_qp_ipm_arg *arg); -// Mehrotra's predictor-corrector IPM algorithm: 0 no predictor-corrector, 1 use predictor-corrector -void s_ocp_qp_ipm_arg_set_pred_corr(int *pred_corr, struct s_ocp_qp_ipm_arg *arg); -// conditional predictor-corrector: 0 no conditinal predictor-corrector, 1 conditional predictor-corrector -void s_ocp_qp_ipm_arg_set_cond_pred_corr(int *value, struct s_ocp_qp_ipm_arg *arg); -// set riccati algorithm: 0 classic, 1 square-root -void s_ocp_qp_ipm_arg_set_ric_alg(int *alg, struct s_ocp_qp_ipm_arg *arg); -// dual solution of equality constraints (only for abs_form==1) -void s_ocp_qp_ipm_arg_set_comp_dual_sol_eq(int *value, struct s_ocp_qp_ipm_arg *arg); -// compute residuals after solution -void s_ocp_qp_ipm_arg_set_comp_res_exit(int *value, struct s_ocp_qp_ipm_arg *arg); -// compute residuals of prediction -void s_ocp_qp_ipm_arg_set_comp_res_pred(int *alg, struct s_ocp_qp_ipm_arg *arg); -// min value of lam in the solution -void s_ocp_qp_ipm_arg_set_lam_min(float *value, struct s_ocp_qp_ipm_arg *arg); -// min value of t in the solution -void s_ocp_qp_ipm_arg_set_t_min(float *value, struct s_ocp_qp_ipm_arg *arg); -// min value of tau in the solution -void s_ocp_qp_ipm_arg_set_tau_min(float *value, struct s_ocp_qp_ipm_arg *arg); -// set split step: 0 same step, 1 different step for primal and dual variables -void s_ocp_qp_ipm_arg_set_split_step(int *value, struct s_ocp_qp_ipm_arg *arg); -// variables initialization scheme -void s_ocp_qp_ipm_arg_set_var_init_scheme(int *value, struct s_ocp_qp_ipm_arg *arg); -// clip t and lam: 0 no, 1 in Gamma computation, 2 in solution -void s_ocp_qp_ipm_arg_set_t_lam_min(int *value, struct s_ocp_qp_ipm_arg *arg); - -// -hpipm_size_t s_ocp_qp_ipm_ws_strsize(); -// -hpipm_size_t s_ocp_qp_ipm_ws_memsize(struct s_ocp_qp_dim *ocp_dim, struct s_ocp_qp_ipm_arg *arg); -// -void s_ocp_qp_ipm_ws_create(struct s_ocp_qp_dim *ocp_dim, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws, void *mem); -// -void s_ocp_qp_ipm_get(char *field, struct s_ocp_qp_ipm_ws *ws, void *value); -// -void s_ocp_qp_ipm_get_status(struct s_ocp_qp_ipm_ws *ws, int *status); -// -void s_ocp_qp_ipm_get_iter(struct s_ocp_qp_ipm_ws *ws, int *iter); -// -void s_ocp_qp_ipm_get_max_res_stat(struct s_ocp_qp_ipm_ws *ws, float *res_stat); -// -void s_ocp_qp_ipm_get_max_res_eq(struct s_ocp_qp_ipm_ws *ws, float *res_eq); -// -void s_ocp_qp_ipm_get_max_res_ineq(struct s_ocp_qp_ipm_ws *ws, float *res_ineq); -// -void s_ocp_qp_ipm_get_max_res_comp(struct s_ocp_qp_ipm_ws *ws, float *res_comp); -// -void s_ocp_qp_ipm_get_stat(struct s_ocp_qp_ipm_ws *ws, float **stat); -// -void s_ocp_qp_ipm_get_stat_m(struct s_ocp_qp_ipm_ws *ws, int *stat_m); -// -void s_ocp_qp_ipm_get_ric_Lr(struct s_ocp_qp *qp, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws, int stage, float *Lr); -// -void s_ocp_qp_ipm_get_ric_Ls(struct s_ocp_qp *qp, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws, int stage, float *Ls); -// -void s_ocp_qp_ipm_get_ric_P(struct s_ocp_qp *qp, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws, int stage, float *P); -// -void s_ocp_qp_ipm_get_ric_lr(struct s_ocp_qp *qp, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws, int stage, float *lr); -// -void s_ocp_qp_ipm_get_ric_p(struct s_ocp_qp *qp, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws, int stage, float *p); -// feedback control gain in the form u = K x + k -void s_ocp_qp_ipm_get_ric_K(struct s_ocp_qp *qp, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws, int stage, float *K); -// feedback control gain in the form u = K x + k -void s_ocp_qp_ipm_get_ric_k(struct s_ocp_qp *qp, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws, int stage, float *k); -// -void s_ocp_qp_init_var(struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws); -// -void s_ocp_qp_ipm_abs_step(int kk, struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws); -// -void s_ocp_qp_ipm_delta_step(int kk, struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws); -// -void s_ocp_qp_ipm_solve(struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws); -// -void s_ocp_qp_ipm_predict(struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws); -// -void s_ocp_qp_ipm_sens(struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws); - - - -#ifdef __cplusplus -} /* extern "C" */ -#endif - - - -#endif // HPIPM_S_OCP_QP_IPM_H_ diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_kkt.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_kkt.h deleted file mode 100644 index 3eb1f4aae878d0..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_kkt.h +++ /dev/null @@ -1,66 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - - -#ifndef HPIPM_S_OCP_QP_KKT_H_ -#define HPIPM_S_OCP_QP_KKT_H_ - -#include -#include -#include - - - -#ifdef __cplusplus -extern "C" { -#endif - -// -void s_ocp_qp_fact_solve_kkt_unconstr(struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws); -// -void s_ocp_qp_fact_solve_kkt_step(struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws); -// -void s_ocp_qp_fact_lq_solve_kkt_step(struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws); -// -void s_ocp_qp_solve_kkt_step(struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_ipm_arg *arg, struct s_ocp_qp_ipm_ws *ws); - - - -#ifdef __cplusplus -} /* extern "C" */ -#endif - - -#endif // HPIPM_S_OCP_QP_KKT_H_ diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_red.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_red.h deleted file mode 100644 index 5a7b3b070302b0..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_red.h +++ /dev/null @@ -1,118 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef HPIPM_S_OCP_QP_RED_H_ -#define HPIPM_S_OCP_QP_RED_H_ - - - -#include -#include - -#include -#include -#include - - - -#ifdef __cplusplus -extern "C" { -#endif - - - -struct s_ocp_qp_reduce_eq_dof_arg - { - float lam_min; - float t_min; - int alias_unchanged; // do not keep copy unchanged stage - int comp_prim_sol; // primal solution (v) - int comp_dual_sol_eq; // dual solution equality constr (pi) - int comp_dual_sol_ineq; // dual solution inequality constr (lam t) - hpipm_size_t memsize; // memory size in bytes - }; - - - -struct s_ocp_qp_reduce_eq_dof_ws - { - struct blasfeo_svec *tmp_nuxM; - struct blasfeo_svec *tmp_nbgM; - int *e_imask_ux; - int *e_imask_d; - hpipm_size_t memsize; // memory size in bytes - }; - - - -// -void s_ocp_qp_dim_reduce_eq_dof(struct s_ocp_qp_dim *dim, struct s_ocp_qp_dim *dim_red); -// -hpipm_size_t s_ocp_qp_reduce_eq_dof_arg_memsize(); -// -void s_ocp_qp_reduce_eq_dof_arg_create(struct s_ocp_qp_reduce_eq_dof_arg *arg, void *mem); -// -void s_ocp_qp_reduce_eq_dof_arg_set_default(struct s_ocp_qp_reduce_eq_dof_arg *arg); -// -void s_ocp_qp_reduce_eq_dof_arg_set_alias_unchanged(struct s_ocp_qp_reduce_eq_dof_arg *arg, int value); -// -void s_ocp_qp_reduce_eq_dof_arg_set_comp_prim_sol(struct s_ocp_qp_reduce_eq_dof_arg *arg, int value); -// -void s_ocp_qp_reduce_eq_dof_arg_set_comp_dual_sol_eq(struct s_ocp_qp_reduce_eq_dof_arg *arg, int value); -// -void s_ocp_qp_reduce_eq_dof_arg_set_comp_dual_sol_ineq(struct s_ocp_qp_reduce_eq_dof_arg *arg, int value); -// -hpipm_size_t s_ocp_qp_reduce_eq_dof_ws_memsize(struct s_ocp_qp_dim *dim); -// -void s_ocp_qp_reduce_eq_dof_ws_create(struct s_ocp_qp_dim *dim, struct s_ocp_qp_reduce_eq_dof_ws *work, void *mem); -// -void s_ocp_qp_reduce_eq_dof(struct s_ocp_qp *qp, struct s_ocp_qp *qp_red, struct s_ocp_qp_reduce_eq_dof_arg *arg, struct s_ocp_qp_reduce_eq_dof_ws *work); -// -void s_ocp_qp_reduce_eq_dof_lhs(struct s_ocp_qp *qp, struct s_ocp_qp *qp_red, struct s_ocp_qp_reduce_eq_dof_arg *arg, struct s_ocp_qp_reduce_eq_dof_ws *work); -// -void s_ocp_qp_reduce_eq_dof_rhs(struct s_ocp_qp *qp, struct s_ocp_qp *qp_red, struct s_ocp_qp_reduce_eq_dof_arg *arg, struct s_ocp_qp_reduce_eq_dof_ws *work); -// -void s_ocp_qp_restore_eq_dof(struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol_red, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_reduce_eq_dof_arg *arg, struct s_ocp_qp_reduce_eq_dof_ws *work); - - - -#ifdef __cplusplus -} // #extern "C" -#endif - - - -#endif // HPIPM_S_OCP_QP_RED_H_ - diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_res.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_res.h deleted file mode 100644 index 821585da6583dd..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_res.h +++ /dev/null @@ -1,114 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef HPIPM_S_OCP_QP_RES_H_ -#define HPIPM_S_OCP_QP_RES_H_ - - - -#include -#include - -#include -#include -#include -#include - - - -#ifdef __cplusplus -extern "C" { -#endif - - - -struct s_ocp_qp_res - { - struct s_ocp_qp_dim *dim; - struct blasfeo_svec *res_g; // q-residuals - struct blasfeo_svec *res_b; // b-residuals - struct blasfeo_svec *res_d; // d-residuals - struct blasfeo_svec *res_m; // m-residuals - float res_max[4]; // max of residuals - float res_mu; // mu-residual - hpipm_size_t memsize; - }; - - - -struct s_ocp_qp_res_ws - { - struct blasfeo_svec *tmp_nbgM; // work space of size nbM+ngM - struct blasfeo_svec *tmp_nsM; // work space of size nsM - hpipm_size_t memsize; - }; - - - -// -hpipm_size_t s_ocp_qp_res_memsize(struct s_ocp_qp_dim *ocp_dim); -// -void s_ocp_qp_res_create(struct s_ocp_qp_dim *ocp_dim, struct s_ocp_qp_res *res, void *mem); -// -hpipm_size_t s_ocp_qp_res_ws_memsize(struct s_ocp_qp_dim *ocp_dim); -// -void s_ocp_qp_res_ws_create(struct s_ocp_qp_dim *ocp_dim, struct s_ocp_qp_res_ws *workspace, void *mem); -// -void s_ocp_qp_res_compute(struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_res *res, struct s_ocp_qp_res_ws *ws); -// -void s_ocp_qp_res_compute_lin(struct s_ocp_qp *qp, struct s_ocp_qp_sol *qp_sol, struct s_ocp_qp_sol *qp_step, struct s_ocp_qp_res *res, struct s_ocp_qp_res_ws *ws); -// -void s_ocp_qp_res_compute_inf_norm(struct s_ocp_qp_res *res); -// -void s_ocp_qp_res_get_all(struct s_ocp_qp_res *res, float **res_r, float **res_q, float **res_ls, float **res_us, float **res_b, float **res_d_lb, float **res_d_ub, float **res_d_lg, float **res_d_ug, float **res_d_ls, float **res_d_us, float **res_m_lb, float **res_m_ub, float **res_m_lg, float **res_m_ug, float **res_m_ls, float **res_m_us); -// -void s_ocp_qp_res_get_max_res_stat(struct s_ocp_qp_res *res, float *value); -// -void s_ocp_qp_res_get_max_res_eq(struct s_ocp_qp_res *res, float *value); -// -void s_ocp_qp_res_get_max_res_ineq(struct s_ocp_qp_res *res, float *value); -// -void s_ocp_qp_res_get_max_res_comp(struct s_ocp_qp_res *res, float *value); - - - -#ifdef __cplusplus -} // #extern "C" -#endif - - -#endif // HPIPM_S_OCP_QP_RES_H_ - - diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_sol.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_sol.h deleted file mode 100644 index 94dfa0d003b5d2..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_sol.h +++ /dev/null @@ -1,128 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef HPIPM_S_OCP_QP_SOL_H_ -#define HPIPM_S_OCP_QP_SOL_H_ - - - -#include -#include - -#include "hpipm_s_ocp_qp_dim.h" - - - -#ifdef __cplusplus -extern "C" { -#endif - - - -struct s_ocp_qp_sol - { - struct s_ocp_qp_dim *dim; - struct blasfeo_svec *ux; - struct blasfeo_svec *pi; - struct blasfeo_svec *lam; - struct blasfeo_svec *t; - void *misc; - hpipm_size_t memsize; // memory size in bytes - }; - - - -// -hpipm_size_t s_ocp_qp_sol_strsize(); -// -hpipm_size_t s_ocp_qp_sol_memsize(struct s_ocp_qp_dim *dim); -// -void s_ocp_qp_sol_create(struct s_ocp_qp_dim *dim, struct s_ocp_qp_sol *qp_sol, void *memory); -// -void s_ocp_qp_sol_copy_all(struct s_ocp_qp_sol *qp_sol_orig, struct s_ocp_qp_sol *qp_sol_dest); -// -void s_qp_sol_get_all(struct s_ocp_qp_sol *qp_sol, float **u, float **x, float **ls, float **us, float **pi, float **lam_lb, float **lam_ub, float **lam_lg, float **lam_ug, float **lam_ls, float **lam_us); -// -void s_qp_sol_get_all_rowmaj(struct s_ocp_qp_sol *qp_sol, float **u, float **x, float **ls, float **us, float **pi, float **lam_lb, float **lam_ub, float **lam_lg, float **lam_ug, float **lam_ls, float **lam_us); -// -void s_ocp_qp_sol_set_all(float **u, float **x, float **ls, float **us, float **pi, float **lam_lb, float **lam_ub, float **lam_lg, float **lam_ug, float **lam_ls, float **lam_us, struct s_ocp_qp_sol *qp_sol); -// -void s_ocp_qp_sol_get(char *field, int stage, struct s_ocp_qp_sol *qp_sol, float *vec); -// -void s_ocp_qp_sol_get_u(int stage, struct s_ocp_qp_sol *qp_sol, float *vec); -// -void s_ocp_qp_sol_get_x(int stage, struct s_ocp_qp_sol *qp_sol, float *vec); -// -void s_ocp_qp_sol_get_sl(int stage, struct s_ocp_qp_sol *qp_sol, float *vec); -// -void s_ocp_qp_sol_get_su(int stage, struct s_ocp_qp_sol *qp_sol, float *vec); -// -void s_ocp_qp_sol_get_pi(int stage, struct s_ocp_qp_sol *qp_sol, float *vec); -// -void s_ocp_qp_sol_get_lam_lb(int stage, struct s_ocp_qp_sol *qp_sol, float *vec); -// -void s_ocp_qp_sol_get_lam_lbu(int stage, struct s_ocp_qp_sol *qp_sol, float *vec); -// -void s_ocp_qp_sol_get_lam_lbx(int stage, struct s_ocp_qp_sol *qp_sol, float *vec); -// -void s_ocp_qp_sol_get_lam_ub(int stage, struct s_ocp_qp_sol *qp_sol, float *vec); -// -void s_ocp_qp_sol_get_lam_ubu(int stage, struct s_ocp_qp_sol *qp_sol, float *vec); -// -void s_ocp_qp_sol_get_lam_ubx(int stage, struct s_ocp_qp_sol *qp_sol, float *vec); -// -void s_ocp_qp_sol_get_lam_lg(int stage, struct s_ocp_qp_sol *qp_sol, float *vec); -// -void s_ocp_qp_sol_get_lam_ug(int stage, struct s_ocp_qp_sol *qp_sol, float *vec); -// -void s_ocp_qp_sol_set(char *field, int stage, float *vec, struct s_ocp_qp_sol *qp_sol); -// -void s_ocp_qp_sol_set_u(int stage, float *vec, struct s_ocp_qp_sol *qp_sol); -// -void s_ocp_qp_sol_set_x(int stage, float *vec, struct s_ocp_qp_sol *qp_sol); -// -void s_ocp_qp_sol_set_sl(int stage, float *vec, struct s_ocp_qp_sol *qp_sol); -// -void s_ocp_qp_sol_set_su(int stage, float *vec, struct s_ocp_qp_sol *qp_sol); - - - -#ifdef __cplusplus -} /* extern "C" */ -#endif - - - -#endif // HPIPM_S_OCP_QP_SOL_H_ diff --git a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_utils.h b/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_utils.h deleted file mode 100644 index a4f832a5eac05b..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_s_ocp_qp_utils.h +++ /dev/null @@ -1,83 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef HPIPM_S_OCP_QP_UTILS_H_ -#define HPIPM_S_OCP_QP_UTILS_H_ - - - -#include -#include - -#include "hpipm_s_ocp_qp_dim.h" -#include "hpipm_s_ocp_qp.h" -#include "hpipm_s_ocp_qp_sol.h" -#include "hpipm_s_ocp_qp_ipm.h" - - - -#ifdef __cplusplus -extern "C" { -#endif - - - -// -void s_ocp_qp_dim_print(struct s_ocp_qp_dim *qp_dim); -// -void s_ocp_qp_dim_codegen(char *file_name, char *mode, struct s_ocp_qp_dim *qp_dim); -// -void s_ocp_qp_print(struct s_ocp_qp_dim *qp_dim, struct s_ocp_qp *qp); -// -void s_ocp_qp_codegen(char *file_name, char *mode, struct s_ocp_qp_dim *qp_dim, struct s_ocp_qp *qp); -// -void s_ocp_qp_sol_print(struct s_ocp_qp_dim *qp_dim, struct s_ocp_qp_sol *ocp_qp_sol); -// -void s_ocp_qp_ipm_arg_print(struct s_ocp_qp_dim *qp_dim, struct s_ocp_qp_ipm_arg *arg); -// -void s_ocp_qp_ipm_arg_codegen(char *file_name, char *mode, struct s_ocp_qp_dim *qp_dim, struct s_ocp_qp_ipm_arg *arg); -// -void s_ocp_qp_res_print(struct s_ocp_qp_dim *qp_dim, struct s_ocp_qp_res *ocp_qp_res); - - - -#ifdef __cplusplus -} // #extern "C" -#endif - - - -#endif // HPIPM_D_OCP_QP_UTILS_H_ - diff --git a/third_party/acados/include/hpipm/include/hpipm_s_part_cond.h b/third_party/acados/include/hpipm/include/hpipm_s_part_cond.h deleted file mode 100644 index e40511e69f0c12..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_s_part_cond.h +++ /dev/null @@ -1,115 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - - - -#ifndef HPIPM_S_PART_COND_H_ -#define HPIPM_S_PART_COND_H_ - - - -#include -#include - -#include "hpipm_s_cond.h" - - - -#ifdef __cplusplus -extern "C" { -#endif - - - -struct s_part_cond_qp_arg - { - struct s_cond_qp_arg *cond_arg; - int N2; - hpipm_size_t memsize; - }; - - - -struct s_part_cond_qp_ws - { - struct s_cond_qp_ws *cond_workspace; - hpipm_size_t memsize; - }; - - - -// -hpipm_size_t s_part_cond_qp_arg_memsize(int N2); -// -void s_part_cond_qp_arg_create(int N2, struct s_part_cond_qp_arg *cond_arg, void *mem); -// -void s_part_cond_qp_arg_set_default(struct s_part_cond_qp_arg *cond_arg); -// set riccati-like algorithm: 0 classical, 1 squre-root -void s_part_cond_qp_arg_set_ric_alg(int ric_alg, struct s_part_cond_qp_arg *cond_arg); -// -void s_part_cond_qp_arg_set_comp_prim_sol(int value, struct s_part_cond_qp_arg *cond_arg); -// -void s_part_cond_qp_arg_set_comp_dual_sol_eq(int value, struct s_part_cond_qp_arg *cond_arg); -// -void s_part_cond_qp_arg_set_comp_dual_sol_ineq(int value, struct s_part_cond_qp_arg *cond_arg); - -// -void s_part_cond_qp_compute_block_size(int N, int N2, int *block_size); -// -void s_part_cond_qp_compute_dim(struct s_ocp_qp_dim *ocp_dim, int *block_size, struct s_ocp_qp_dim *part_dense_dim); -// -hpipm_size_t s_part_cond_qp_ws_memsize(struct s_ocp_qp_dim *ocp_dim, int *block_size, struct s_ocp_qp_dim *part_dense_dim, struct s_part_cond_qp_arg *cond_arg); -// -void s_part_cond_qp_ws_create(struct s_ocp_qp_dim *ocp_dim, int *block_size, struct s_ocp_qp_dim *part_dense_dim, struct s_part_cond_qp_arg *cond_arg, struct s_part_cond_qp_ws *cond_ws, void *mem); -// -void s_part_cond_qp_cond(struct s_ocp_qp *ocp_qp, struct s_ocp_qp *part_dense_qp, struct s_part_cond_qp_arg *cond_arg, struct s_part_cond_qp_ws *cond_ws); -// -void s_part_cond_qp_cond_lhs(struct s_ocp_qp *ocp_qp, struct s_ocp_qp *part_dense_qp, struct s_part_cond_qp_arg *cond_arg, struct s_part_cond_qp_ws *cond_ws); -// -void s_part_cond_qp_cond_rhs(struct s_ocp_qp *ocp_qp, struct s_ocp_qp *part_dense_qp, struct s_part_cond_qp_arg *cond_arg, struct s_part_cond_qp_ws *cond_ws); -// -void s_part_cond_qp_expand_sol(struct s_ocp_qp *ocp_qp, struct s_ocp_qp *part_dense_qp, struct s_ocp_qp_sol *part_dense_qp_sol, struct s_ocp_qp_sol *ocp_qp_sol, struct s_part_cond_qp_arg *cond_arg, struct s_part_cond_qp_ws *cond_ws); - -// -void s_part_cond_qp_update(int *idxc, struct s_ocp_qp *ocp_qp, struct s_ocp_qp *part_dense_qp, struct s_part_cond_qp_arg *cond_arg, struct s_part_cond_qp_ws *cond_ws); - - -#ifdef __cplusplus -} /* extern "C" */ -#endif - - - -#endif // HPIPM_S_PART_COND_H_ diff --git a/third_party/acados/include/hpipm/include/hpipm_s_part_cond_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_s_part_cond_qcqp.h deleted file mode 100644 index 311f7000bf28ac..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_s_part_cond_qcqp.h +++ /dev/null @@ -1,107 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - - - -#ifndef HPIPM_S_PART_COND_QCQP_H_ -#define HPIPM_S_PART_COND_QCQP_H_ - - - -#include -#include - -#include "hpipm_s_cond_qcqp.h" - - -#ifdef __cplusplus -extern "C" { -#endif - - - -struct s_part_cond_qcqp_arg - { - struct s_cond_qcqp_arg *cond_arg; - int N2; - hpipm_size_t memsize; - }; - - - -struct s_part_cond_qcqp_ws - { - struct s_cond_qcqp_ws *cond_ws; - hpipm_size_t memsize; - }; - - - -// -hpipm_size_t s_part_cond_qcqp_arg_memsize(int N2); -// -void s_part_cond_qcqp_arg_create(int N2, struct s_part_cond_qcqp_arg *cond_arg, void *mem); -// -void s_part_cond_qcqp_arg_set_default(struct s_part_cond_qcqp_arg *cond_arg); -// set riccati-like algorithm: 0 classical, 1 squre-root -void s_part_cond_qcqp_arg_set_ric_alg(int ric_alg, struct s_part_cond_qcqp_arg *cond_arg); - -// -void s_part_cond_qcqp_compute_block_size(int N, int N2, int *block_size); -// -void s_part_cond_qcqp_compute_dim(struct s_ocp_qcqp_dim *ocp_dim, int *block_size, struct s_ocp_qcqp_dim *part_dense_dim); -// -hpipm_size_t s_part_cond_qcqp_ws_memsize(struct s_ocp_qcqp_dim *ocp_dim, int *block_size, struct s_ocp_qcqp_dim *part_dense_dim, struct s_part_cond_qcqp_arg *cond_arg); -// -void s_part_cond_qcqp_ws_create(struct s_ocp_qcqp_dim *ocp_dim, int *block_size, struct s_ocp_qcqp_dim *part_dense_dim, struct s_part_cond_qcqp_arg *cond_arg, struct s_part_cond_qcqp_ws *cond_ws, void *mem); -// -void s_part_cond_qcqp_cond(struct s_ocp_qcqp *ocp_qp, struct s_ocp_qcqp *part_dense_qp, struct s_part_cond_qcqp_arg *cond_arg, struct s_part_cond_qcqp_ws *cond_ws); -// -void s_part_cond_qcqp_cond_lhs(struct s_ocp_qcqp *ocp_qp, struct s_ocp_qcqp *part_dense_qp, struct s_part_cond_qcqp_arg *cond_arg, struct s_part_cond_qcqp_ws *cond_ws); -// -void s_part_cond_qcqp_cond_rhs(struct s_ocp_qcqp *ocp_qp, struct s_ocp_qcqp *part_dense_qp, struct s_part_cond_qcqp_arg *cond_arg, struct s_part_cond_qcqp_ws *cond_ws); -// -void s_part_cond_qcqp_expand_sol(struct s_ocp_qcqp *ocp_qp, struct s_ocp_qcqp *part_dense_qp, struct s_ocp_qcqp_sol *part_dense_qp_sol, struct s_ocp_qcqp_sol *ocp_qp_sol, struct s_part_cond_qcqp_arg *cond_arg, struct s_part_cond_qcqp_ws *cond_ws); - - -#ifdef __cplusplus -} /* extern "C" */ -#endif - - - -#endif // HPIPM_D_PART_COND_H_ - - diff --git a/third_party/acados/include/hpipm/include/hpipm_s_sim_erk.h b/third_party/acados/include/hpipm/include/hpipm_s_sim_erk.h deleted file mode 100644 index 1a05ad1a283f85..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_s_sim_erk.h +++ /dev/null @@ -1,121 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef HPIPM_S_SIM_ERK_H_ -#define HPIPM_S_SIM_ERK_H_ - -#ifdef __cplusplus -extern "C" { -#endif - -struct s_sim_erk_arg - { - struct s_sim_rk_data *rk_data; // integrator data - float h; // step size - int steps; // number of steps -// int for_sens; // compute adjoint sensitivities -// int adj_sens; // compute adjoint sensitivities - hpipm_size_t memsize; - }; - - - -struct s_sim_erk_ws - { - void (*ode)(int t, float *x, float *p, void *ode_args, float *xdot); // function pointer to ode - void (*vde_for)(int t, float *x, float *p, void *ode_args, float *xdot); // function pointer to forward vde - void (*vde_adj)(int t, float *adj_in, void *ode_args, float *adj_out); // function pointer to adjoint vde - void *ode_args; // pointer to ode args - struct s_sim_erk_arg *erk_arg; // erk arg - float *K; // internal variables - float *x_for; // states and forward sensitivities - float *x_traj; // states at all steps - float *l; // adjoint sensitivities - float *p; // parameter - float *x_tmp; // temporary states and forward sensitivities - float *adj_in; - float *adj_tmp; - int nx; // number of states - int np; // number of parameters - int nf; // number of forward sensitivities - int na; // number of adjoint sensitivities - int nf_max; // max number of forward sensitivities - int na_max; // max number of adjoint sensitivities - hpipm_size_t memsize; - }; - - - -// -hpipm_size_t s_sim_erk_arg_memsize(); -// -void s_sim_erk_arg_create(struct s_sim_erk_arg *erk_arg, void *mem); -// -void s_sim_erk_arg_set_all(struct s_sim_rk_data *rk_data, float h, int steps, struct s_sim_erk_arg *erk_arg); - -// -hpipm_size_t s_sim_erk_ws_memsize(struct s_sim_erk_arg *erk_arg, int nx, int np, int nf_max, int na_max); -// -void s_sim_erk_ws_create(struct s_sim_erk_arg *erk_arg, int nx, int np, int nf_max, int na_max, struct s_sim_erk_ws *work, void *memory); -// -void s_sim_erk_ws_set_all(int nf, int na, float *x, float *fs, float *bs, float *p, void (*ode)(int t, float *x, float *p, void *ode_args, float *xdot), void (*vde_for)(int t, float *x, float *p, void *ode_args, float *xdot), void (*vde_adj)(int t, float *adj_in, void *ode_args, float *adj_out), void *ode_args, struct s_sim_erk_ws *work); -// number of directions for forward sensitivities -void s_sim_erk_ws_set_nf(int *nf, struct s_sim_erk_ws *work); -// parameters (e.g. inputs) -void s_sim_erk_ws_set_p(float *p, struct s_sim_erk_ws *work); -// state -void s_sim_erk_ws_set_x(float *x, struct s_sim_erk_ws *work); -// forward sensitivities -void s_sim_erk_ws_set_fs(float *fs, struct s_sim_erk_ws *work); -// ode funtion -void s_sim_erk_ws_set_ode(void (*ode)(int t, float *x, float *p, void *ode_args, float *xdot), struct s_sim_erk_ws *work); -// forward vde function -void s_sim_erk_ws_set_vde_for(void (*ode)(int t, float *x, float *p, void *ode_args, float *xdot), struct s_sim_erk_ws *work); -// ode_args, passed straight to the ode/vde_for/vde_adj functions -void s_sim_erk_ws_set_ode_args(void *ode_args, struct s_sim_erk_ws *work); -// state -void s_sim_erk_ws_get_x(struct s_sim_erk_ws *work, float *x); -// forward sensitivities -void s_sim_erk_ws_get_fs(struct s_sim_erk_ws *work, float *fs); -// -void s_sim_erk_solve(struct s_sim_erk_arg *arg, struct s_sim_erk_ws *work); - -#ifdef __cplusplus -} /* extern "C" */ -#endif - -#endif // HPIPM_D_SIM_ERK_H_ - - diff --git a/third_party/acados/include/hpipm/include/hpipm_s_sim_rk.h b/third_party/acados/include/hpipm/include/hpipm_s_sim_rk.h deleted file mode 100644 index 53acd71498f033..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_s_sim_rk.h +++ /dev/null @@ -1,72 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef HPIPM_S_SIM_RK_H_ -#define HPIPM_S_SIM_RK_H_ - -#include "hpipm_common.h" - -#ifdef __cplusplus -extern "C" { -#endif - -struct s_sim_rk_data - { - float *A_rk; // A in butcher tableau - float *B_rk; // b in butcher tableau - float *C_rk; // c in butcher tableau - int expl; // erk vs irk - int ns; // number of stages - hpipm_size_t memsize; - }; - - - -// -hpipm_size_t s_sim_rk_data_memsize(int ns); -// -void s_sim_rk_data_create(int ns, struct s_sim_rk_data *rk_data, void *memory); -// -void s_sim_rk_data_init_default(char *field, struct s_sim_rk_data *rk_data); -// -void s_sim_rk_data_set_all(int expl, float *A_rk, float *B_rk, float *C_rk, struct s_sim_rk_data *rk_data); - -#ifdef __cplusplus -} /* extern "C" */ -#endif - -#endif // HPIPM_S_SIM_RK_H_ - - diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp.h deleted file mode 100644 index 450e992624b22b..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp.h +++ /dev/null @@ -1,213 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef HPIPM_S_TREE_OCP_QCQP_H_ -#define HPIPM_S_TREE_OCP_QCQP_H_ - - - -#include -#include - -#include "hpipm_s_tree_ocp_qcqp_dim.h" - - - -#ifdef __cplusplus -extern "C" { -#endif - - - -struct s_tree_ocp_qcqp - { - struct s_tree_ocp_qcqp_dim *dim; - struct blasfeo_smat *BAbt; // Nn-1 - struct blasfeo_smat *RSQrq; // Nn - struct blasfeo_smat *DCt; // Nn - struct blasfeo_smat **Hq; // Nn - struct blasfeo_svec *b; // Nn-1 - struct blasfeo_svec *rqz; // Nn - struct blasfeo_svec *d; // Nn - struct blasfeo_svec *d_mask; // Nn - struct blasfeo_svec *m; // Nn - struct blasfeo_svec *Z; // Nn - int **idxb; // indices of box constrained variables within [u; x] // Nn - int **idxs_rev; // index of soft constraints - hpipm_size_t memsize; // memory size in bytes - }; - - - -// -hpipm_size_t s_tree_ocp_qcqp_memsize(struct s_tree_ocp_qcqp_dim *dim); -// -void s_tree_ocp_qcqp_create(struct s_tree_ocp_qcqp_dim *dim, struct s_tree_ocp_qcqp *qp, void *memory); -// -void s_tree_ocp_qcqp_set_all(float **A, float **B, float **b, float **Q, float **S, float **R, float **q, float **r, int **idxb, float **d_lb, float **d_ub, float **C, float **D, float **d_lg, float **d_ug, float **Zl, float **Zu, float **zl, float **zu, int **idxs, float **d_ls, float **d_us, struct s_tree_ocp_qcqp *qp); -// -void s_tree_ocp_qcqp_set(char *field_name, int node_edge, void *value, struct s_tree_ocp_qcqp *qp); -// -void s_tree_ocp_qcqp_set_A(int edge, float *mat, struct s_tree_ocp_qcqp *qp); -// -void s_tree_ocp_qcqp_set_B(int edge, float *mat, struct s_tree_ocp_qcqp *qp); -// -void s_tree_ocp_qcqp_set_b(int edge, float *vec, struct s_tree_ocp_qcqp *qp); -// -void s_tree_ocp_qcqp_set_Q(int node, float *mat, struct s_tree_ocp_qcqp *qp); -// -void s_tree_ocp_qcqp_set_S(int node, float *mat, struct s_tree_ocp_qcqp *qp); -// -void s_tree_ocp_qcqp_set_R(int node, float *mat, struct s_tree_ocp_qcqp *qp); -// -void s_tree_ocp_qcqp_set_q(int node, float *vec, struct s_tree_ocp_qcqp *qp); -// -void s_tree_ocp_qcqp_set_r(int node, float *vec, struct s_tree_ocp_qcqp *qp); -// -void s_tree_ocp_qcqp_set_lb(int node, float *vec, struct s_tree_ocp_qcqp *qp); -// -void s_tree_ocp_qcqp_set_lb_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp); -// -void s_tree_ocp_qcqp_set_ub(int node, float *vec, struct s_tree_ocp_qcqp *qp); -// -void s_tree_ocp_qcqp_set_ub_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp); -// -void s_tree_ocp_qcqp_set_lbx(int node, float *vec, struct s_tree_ocp_qcqp *qp); -// -void s_tree_ocp_qcqp_set_lbx_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp); -// -void s_tree_ocp_qcqp_set_ubx(int node, float *vec, struct s_tree_ocp_qcqp *qp); -// -void s_tree_ocp_qcqp_set_ubx_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp); -// -void s_tree_ocp_qcqp_set_lbu(int node, float *vec, struct s_tree_ocp_qcqp *qp); -// -void s_tree_ocp_qcqp_set_lbu_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp); -// -void s_tree_ocp_qcqp_set_ubu(int node, float *vec, struct s_tree_ocp_qcqp *qp); -// -void s_tree_ocp_qcqp_set_ubu_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp); -// -void s_tree_ocp_qcqp_set_idxb(int node, int *vec, struct s_tree_ocp_qcqp *qp); -// -void s_tree_ocp_qcqp_set_idxbx(int node, int *vec, struct s_tree_ocp_qcqp *qp); -// -void s_tree_ocp_qcqp_set_Jbx(int node, float *vec, struct s_tree_ocp_qcqp *qp); -// -void s_tree_ocp_qcqp_set_idxbu(int node, int *vec, struct s_tree_ocp_qcqp *qp); -// -void s_tree_ocp_qcqp_set_Jbu(int node, float *vec, struct s_tree_ocp_qcqp *qp); -// -void s_tree_ocp_qcqp_set_C(int node, float *mat, struct s_tree_ocp_qcqp *qp); -// -void s_tree_ocp_qcqp_set_D(int node, float *mat, struct s_tree_ocp_qcqp *qp); -// -void s_tree_ocp_qcqp_set_lg(int node, float *vec, struct s_tree_ocp_qcqp *qp); -// -void s_tree_ocp_qcqp_set_lg_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp); -// -void s_tree_ocp_qcqp_set_ug(int node, float *vec, struct s_tree_ocp_qcqp *qp); -// -void s_tree_ocp_qcqp_set_ug_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp); -// -void s_tree_ocp_qcqp_set_Qq(int node, float *mat, struct s_tree_ocp_qcqp *qp); -// -void s_tree_ocp_qcqp_set_Sq(int node, float *mat, struct s_tree_ocp_qcqp *qp); -// -void s_tree_ocp_qcqp_set_Rq(int node, float *mat, struct s_tree_ocp_qcqp *qp); -// -void s_tree_ocp_qcqp_set_qq(int node, float *vec, struct s_tree_ocp_qcqp *qp); -// -void s_tree_ocp_qcqp_set_rq(int node, float *vec, struct s_tree_ocp_qcqp *qp); -// -void s_tree_ocp_qcqp_set_uq(int node, float *vec, struct s_tree_ocp_qcqp *qp); -// -void s_tree_ocp_qcqp_set_uq_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp); -// -void s_tree_ocp_qcqp_set_Zl(int node, float *vec, struct s_tree_ocp_qcqp *qp); -// -void s_tree_ocp_qcqp_set_Zu(int node, float *vec, struct s_tree_ocp_qcqp *qp); -// -void s_tree_ocp_qcqp_set_zl(int node, float *vec, struct s_tree_ocp_qcqp *qp); -// -void s_tree_ocp_qcqp_set_zu(int node, float *vec, struct s_tree_ocp_qcqp *qp); -// -void s_tree_ocp_qcqp_set_lls(int node, float *vec, struct s_tree_ocp_qcqp *qp); -// -void s_tree_ocp_qcqp_set_lls_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp); -// -void s_tree_ocp_qcqp_set_lus(int node, float *vec, struct s_tree_ocp_qcqp *qp); -// -void s_tree_ocp_qcqp_set_lus_mask(int node, float *vec, struct s_tree_ocp_qcqp *qp); -// -void s_tree_ocp_qcqp_set_idxs(int node, int *vec, struct s_tree_ocp_qcqp *qp); -// -void s_tree_ocp_qcqp_set_idxs_rev(int node, int *vec, struct s_tree_ocp_qcqp *qp); -// -void s_tree_ocp_qcqp_set_Jsbu(int node, float *vec, struct s_tree_ocp_qcqp *qp); -// -void s_tree_ocp_qcqp_set_Jsbx(int node, float *vec, struct s_tree_ocp_qcqp *qp); -// -void s_tree_ocp_qcqp_set_Jsg(int node, float *vec, struct s_tree_ocp_qcqp *qp); -// -void s_tree_ocp_qcqp_set_Jsq(int node, float *vec, struct s_tree_ocp_qcqp *qp); -// -//void s_tree_ocp_qcqp_set_idxe(int node, int *vec, struct s_tree_ocp_qcqp *qp); -// -//void s_tree_ocp_qcqp_set_idxbxe(int node, int *vec, struct s_tree_ocp_qcqp *qp); -// -//void s_tree_ocp_qcqp_set_idxbue(int node, int *vec, struct s_tree_ocp_qcqp *qp); -// -//void s_tree_ocp_qcqp_set_idxge(int node, int *vec, struct s_tree_ocp_qcqp *qp); -// -//void s_tree_ocp_qcqp_set_Jbxe(int node, float *vec, struct s_tree_ocp_qcqp *qp); -// -//void s_tree_ocp_qcqp_set_Jbue(int node, float *vec, struct s_tree_ocp_qcqp *qp); -// -//void s_tree_ocp_qcqp_set_Jge(int node, float *vec, struct s_tree_ocp_qcqp *qp); -// -//void s_tree_ocp_qcqp_set_diag_H_flag(int node, int *value, struct s_tree_ocp_qcqp *qp); - - - - -#ifdef __cplusplus -} /* extern "C" */ -#endif - - - -#endif // HPIPM_S_TREE_OCP_QCQP_H_ - diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_dim.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_dim.h deleted file mode 100644 index 7a49d519959afb..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_dim.h +++ /dev/null @@ -1,118 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef HPIPM_S_TREE_OCP_QCQP_DIM_H_ -#define HPIPM_S_TREE_OCP_QCQP_DIM_H_ - - - -#ifdef __cplusplus -extern "C" { -#endif - - - -struct s_tree_ocp_qcqp_dim - { - struct s_tree_ocp_qp_dim *qp_dim; // dim of qp approximation - struct tree *ttree; // tree describing node conndection - int *nx; // number of states // Nn - int *nu; // number of inputs // Nn - int *nb; // number of box constraints // Nn - int *nbx; // number of state box constraints // Nn - int *nbu; // number of input box constraints // Nn - int *ng; // number of general constraints // Nn - int *nq; // number of (upper) quadratic constraints - int *ns; // number of soft constraints // Nn - int *nsbx; // number of soft state box constraints - int *nsbu; // number of soft input box constraints - int *nsg; // number of soft general constraints - int *nsq; // number of (upper) soft quadratic constraints - int Nn; // number of nodes - hpipm_size_t memsize; - }; - - - -// -hpipm_size_t s_tree_ocp_qcqp_dim_strsize(); -// -hpipm_size_t s_tree_ocp_qcqp_dim_memsize(int Nn); -// -void s_tree_ocp_qcqp_dim_create(int Nn, struct s_tree_ocp_qcqp_dim *qp_dim, void *memory); -// -void s_tree_ocp_qcqp_dim_set_tree(struct tree *ttree, struct s_tree_ocp_qcqp_dim *dim); -// -void s_tree_ocp_qcqp_dim_set(char *field, int stage, int value, struct s_tree_ocp_qcqp_dim *dim); -// -void s_tree_ocp_qcqp_dim_set_nx(int stage, int value, struct s_tree_ocp_qcqp_dim *dim); -// -void s_tree_ocp_qcqp_dim_set_nu(int stage, int value, struct s_tree_ocp_qcqp_dim *dim); -// -void s_tree_ocp_qcqp_dim_set_nbx(int stage, int value, struct s_tree_ocp_qcqp_dim *dim); -// -void s_tree_ocp_qcqp_dim_set_nbu(int stage, int value, struct s_tree_ocp_qcqp_dim *dim); -// -void s_tree_ocp_qcqp_dim_set_ng(int stage, int value, struct s_tree_ocp_qcqp_dim *dim); -// -void s_tree_ocp_qcqp_dim_set_nq(int stage, int value, struct s_tree_ocp_qcqp_dim *dim); -// -void s_tree_ocp_qcqp_dim_set_ns(int stage, int value, struct s_tree_ocp_qcqp_dim *dim); -// -void s_tree_ocp_qcqp_dim_set_nsbx(int stage, int value, struct s_tree_ocp_qcqp_dim *dim); -// -void s_tree_ocp_qcqp_dim_set_nsbu(int stage, int value, struct s_tree_ocp_qcqp_dim *dim); -// -void s_tree_ocp_qcqp_dim_set_nsg(int stage, int value, struct s_tree_ocp_qcqp_dim *dim); -// -void s_tree_ocp_qcqp_dim_set_nsq(int stage, int value, struct s_tree_ocp_qcqp_dim *dim); -// -//void s_tree_ocp_qcqp_dim_set_nbxe(int stage, int value, struct s_tree_ocp_qcqp_dim *dim); -// -//void s_tree_ocp_qcqp_dim_set_nbue(int stage, int value, struct s_tree_ocp_qcqp_dim *dim); -// -//void s_tree_ocp_qcqp_dim_set_nge(int stage, int value, struct s_tree_ocp_qcqp_dim *dim); - - - -#ifdef __cplusplus -} // #extern "C" -#endif - - - -#endif // HPIPM_S_TREE_OCP_QCQP_DIM_H_ - - diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_ipm.h deleted file mode 100644 index 69d65914c527c4..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_ipm.h +++ /dev/null @@ -1,192 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef HPIPM_S_TREE_OCP_QCQP_IPM_H_ -#define HPIPM_S_TREE_OCP_QCQP_IPM_H_ - - - -#include -#include - -#include -#include -#include -#include -#include - - - -#ifdef __cplusplus -extern "C" { -#endif - - - -struct s_tree_ocp_qcqp_ipm_arg - { - struct s_tree_ocp_qp_ipm_arg *qp_arg; - float mu0; // initial value for complementarity slackness - float alpha_min; // exit cond on step length - float res_g_max; // exit cond on inf norm of residuals - float res_b_max; // exit cond on inf norm of residuals - float res_d_max; // exit cond on inf norm of residuals - float res_m_max; // exit cond on inf norm of residuals - float reg_prim; // reg of primal hessian - float lam_min; // min value in lam vector - float t_min; // min value in t vector - int iter_max; // exit cond in iter number - int stat_max; // iterations saved in stat - int pred_corr; // use Mehrotra's predictor-corrector IPM algirthm - int cond_pred_corr; // conditional Mehrotra's predictor-corrector - int itref_pred_max; // max number of iterative refinement steps for predictor step - int itref_corr_max; // max number of iterative refinement steps for corrector step - int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol -// int square_root_alg; // 0 classical Riccati, 1 square-root Riccati - int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq (for square_root_alg==1) - int abs_form; // absolute IPM formulation - int comp_dual_sol_eq; // dual solution of equality constraints (only for abs_form==1) - int comp_res_exit; // compute residuals on exit (only for abs_form==1 and comp_dual_sol_eq==1) -// int comp_res_pred; // compute residuals of prediction - int split_step; // use different step for primal and dual variables - int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution - int mode; - hpipm_size_t memsize; - }; - - - -struct s_tree_ocp_qcqp_ipm_ws - { - struct s_tree_ocp_qp_ipm_ws *qp_ws; - struct s_tree_ocp_qp *qp; - struct s_tree_ocp_qp_sol *qp_sol; - struct s_tree_ocp_qcqp_res_ws *qcqp_res_ws; - struct s_tree_ocp_qcqp_res *qcqp_res; - struct blasfeo_svec *tmp_nuxM; - int iter; // iteration number - int status; - hpipm_size_t memsize; - }; - - - -// -hpipm_size_t s_tree_ocp_qcqp_ipm_arg_strsize(); -// -hpipm_size_t s_tree_ocp_qcqp_ipm_arg_memsize(struct s_tree_ocp_qcqp_dim *ocp_dim); -// -void s_tree_ocp_qcqp_ipm_arg_create(struct s_tree_ocp_qcqp_dim *ocp_dim, struct s_tree_ocp_qcqp_ipm_arg *arg, void *mem); -// -void s_tree_ocp_qcqp_ipm_arg_set_default(enum hpipm_mode mode, struct s_tree_ocp_qcqp_ipm_arg *arg); -// -void s_tree_ocp_qcqp_ipm_arg_set(char *field, void *value, struct s_tree_ocp_qcqp_ipm_arg *arg); -// set maximum number of iterations -void s_tree_ocp_qcqp_ipm_arg_set_iter_max(int *value, struct s_tree_ocp_qcqp_ipm_arg *arg); -// set minimum step lenght -void s_tree_ocp_qcqp_ipm_arg_set_alpha_min(float *value, struct s_tree_ocp_qcqp_ipm_arg *arg); -// set initial value of barrier parameter -void s_tree_ocp_qcqp_ipm_arg_set_mu0(float *value, struct s_tree_ocp_qcqp_ipm_arg *arg); -// set exit tolerance on stationarity condition -void s_tree_ocp_qcqp_ipm_arg_set_tol_stat(float *value, struct s_tree_ocp_qcqp_ipm_arg *arg); -// set exit tolerance on equality constr -void s_tree_ocp_qcqp_ipm_arg_set_tol_eq(float *value, struct s_tree_ocp_qcqp_ipm_arg *arg); -// set exit tolerance on inequality constr -void s_tree_ocp_qcqp_ipm_arg_set_tol_ineq(float *value, struct s_tree_ocp_qcqp_ipm_arg *arg); -// set exit tolerance on complementarity condition -void s_tree_ocp_qcqp_ipm_arg_set_tol_comp(float *value, struct s_tree_ocp_qcqp_ipm_arg *arg); -// set regularization of primal variables -void s_tree_ocp_qcqp_ipm_arg_set_reg_prim(float *value, struct s_tree_ocp_qcqp_ipm_arg *arg); -// set warm start: 0 no warm start, 1 primal var -void s_tree_ocp_qcqp_ipm_arg_set_warm_start(int *value, struct s_tree_ocp_qcqp_ipm_arg *arg); -// Mehrotra's predictor-corrector IPM algorithm: 0 no predictor-corrector, 1 use predictor-corrector -void s_tree_ocp_qcqp_ipm_arg_set_pred_corr(int *value, struct s_tree_ocp_qcqp_ipm_arg *arg); -// conditional predictor-corrector: 0 no conditinal predictor-corrector, 1 conditional predictor-corrector -void s_tree_ocp_qcqp_ipm_arg_set_cond_pred_corr(int *value, struct s_tree_ocp_qcqp_ipm_arg *arg); -// set riccati algorithm: 0 classic, 1 square-root -//void s_tree_ocp_qcqp_ipm_arg_set_ric_alg(int *value, struct s_tree_ocp_qcqp_ipm_arg *arg); -// compute residuals after solution -void s_tree_ocp_qcqp_ipm_arg_set_comp_res_exit(int *value, struct s_tree_ocp_qcqp_ipm_arg *arg); -// compute residuals of prediction -//void s_tree_ocp_qcqp_ipm_arg_set_comp_res_pred(int *value, struct s_tree_ocp_qcqp_ipm_arg *arg); -// min value of lam in the solution -void s_tree_ocp_qcqp_ipm_arg_set_lam_min(float *value, struct s_tree_ocp_qcqp_ipm_arg *arg); -// min value of t in the solution -void s_tree_ocp_qcqp_ipm_arg_set_t_min(float *value, struct s_tree_ocp_qcqp_ipm_arg *arg); -// use different step for primal and dual variables -void s_tree_ocp_qcqp_ipm_arg_set_split_step(int *value, struct s_tree_ocp_qcqp_ipm_arg *arg); -// clip t and lam: 0 no, 1 in Gamma computation, 2 in solution -void s_tree_ocp_qcqp_ipm_arg_set_t_lam_min(int *value, struct s_tree_ocp_qcqp_ipm_arg *arg); - -// -hpipm_size_t s_tree_ocp_qcqp_ipm_ws_strsize(); -// -hpipm_size_t s_tree_ocp_qcqp_ipm_ws_memsize(struct s_tree_ocp_qcqp_dim *ocp_dim, struct s_tree_ocp_qcqp_ipm_arg *arg); -// -void s_tree_ocp_qcqp_ipm_ws_create(struct s_tree_ocp_qcqp_dim *ocp_dim, struct s_tree_ocp_qcqp_ipm_arg *arg, struct s_tree_ocp_qcqp_ipm_ws *ws, void *mem); -// -void s_tree_ocp_qcqp_ipm_get(char *field, struct s_tree_ocp_qcqp_ipm_ws *ws, void *value); -// -void s_tree_ocp_qcqp_ipm_get_status(struct s_tree_ocp_qcqp_ipm_ws *ws, int *status); -// -void s_tree_ocp_qcqp_ipm_get_iter(struct s_tree_ocp_qcqp_ipm_ws *ws, int *iter); -// -void s_tree_ocp_qcqp_ipm_get_max_res_stat(struct s_tree_ocp_qcqp_ipm_ws *ws, float *res_stat); -// -void s_tree_ocp_qcqp_ipm_get_max_res_eq(struct s_tree_ocp_qcqp_ipm_ws *ws, float *res_eq); -// -void s_tree_ocp_qcqp_ipm_get_max_res_ineq(struct s_tree_ocp_qcqp_ipm_ws *ws, float *res_ineq); -// -void s_tree_ocp_qcqp_ipm_get_max_res_comp(struct s_tree_ocp_qcqp_ipm_ws *ws, float *res_comp); -// -void s_tree_ocp_qcqp_ipm_get_stat(struct s_tree_ocp_qcqp_ipm_ws *ws, float **stat); -// -void s_tree_ocp_qcqp_ipm_get_stat_m(struct s_tree_ocp_qcqp_ipm_ws *ws, int *stat_m); -// -void s_tree_ocp_qcqp_init_var(struct s_tree_ocp_qcqp *qp, struct s_tree_ocp_qcqp_sol *qp_sol, struct s_tree_ocp_qcqp_ipm_arg *arg, struct s_tree_ocp_qcqp_ipm_ws *ws); -// -void s_tree_ocp_qcqp_ipm_solve(struct s_tree_ocp_qcqp *qp, struct s_tree_ocp_qcqp_sol *qp_sol, struct s_tree_ocp_qcqp_ipm_arg *arg, struct s_tree_ocp_qcqp_ipm_ws *ws); - - - -#ifdef __cplusplus -} // #extern "C" -#endif - - -#endif // HPIPM_S_TREE_OCP_QCQP_IPM_H_ - - - diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_res.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_res.h deleted file mode 100644 index d0d84a6f23952f..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_res.h +++ /dev/null @@ -1,109 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef HPIPM_S_TREE_OCP_QCQP_RES_H_ -#define HPIPM_S_TREE_OCP_QCQP_RES_H_ - - - -#include -#include - -#include -#include -#include -#include - - - -#ifdef __cplusplus -extern "C" { -#endif - - - -struct s_tree_ocp_qcqp_res - { - struct s_tree_ocp_qcqp_dim *dim; - struct blasfeo_svec *res_g; // q-residuals - struct blasfeo_svec *res_b; // b-residuals - struct blasfeo_svec *res_d; // d-residuals - struct blasfeo_svec *res_m; // m-residuals - float res_max[4]; // max of residuals - float res_mu; // mu-residual - hpipm_size_t memsize; - }; - - - -struct s_tree_ocp_qcqp_res_ws - { - struct blasfeo_svec *tmp_nuxM; // work space of size nuM+nxM - struct blasfeo_svec *tmp_nbgqM; // work space of size nbM+ngM+nqM - struct blasfeo_svec *tmp_nsM; // work space of size nsM - struct blasfeo_svec *q_fun; // value for evaluation of quadr constr - struct blasfeo_svec *q_adj; // value for adjoint of quadr constr - int use_q_fun; // reuse cached value for evaluation of quadr constr - int use_q_adj; // reuse cached value for adjoint of quadr constr - hpipm_size_t memsize; - }; - - - -// -hpipm_size_t s_tree_ocp_qcqp_res_memsize(struct s_tree_ocp_qcqp_dim *ocp_dim); -// -void s_tree_ocp_qcqp_res_create(struct s_tree_ocp_qcqp_dim *ocp_dim, struct s_tree_ocp_qcqp_res *res, void *mem); -// -hpipm_size_t s_tree_ocp_qcqp_res_ws_memsize(struct s_tree_ocp_qcqp_dim *ocp_dim); -// -void s_tree_ocp_qcqp_res_ws_create(struct s_tree_ocp_qcqp_dim *ocp_dim, struct s_tree_ocp_qcqp_res_ws *ws, void *mem); -// -void s_tree_ocp_qcqp_res_compute(struct s_tree_ocp_qcqp *qp, struct s_tree_ocp_qcqp_sol *qp_sol, struct s_tree_ocp_qcqp_res *res, struct s_tree_ocp_qcqp_res_ws *ws); -// -void s_tree_ocp_qcqp_res_compute_inf_norm(struct s_tree_ocp_qcqp_res *res); - - - -#ifdef __cplusplus -} // #extern "C" -#endif - - -#endif // HPIPM_S_TREE_OCP_QCQP_RES_H_ - - - - diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_sol.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_sol.h deleted file mode 100644 index 47f038c6b3dfe5..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_sol.h +++ /dev/null @@ -1,97 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef HPIPM_S_TREE_OCP_QCQP_SOL_H_ -#define HPIPM_S_TREE_OCP_QCQP_SOL_H_ - - - -#include -#include - -#include "hpipm_s_tree_ocp_qcqp_dim.h" - - - -#ifdef __cplusplus -extern "C" { -#endif - -struct s_tree_ocp_qcqp_sol - { - struct s_tree_ocp_qcqp_dim *dim; - struct blasfeo_svec *ux; - struct blasfeo_svec *pi; - struct blasfeo_svec *lam; - struct blasfeo_svec *t; - void *misc; - hpipm_size_t memsize; // memory size in bytes - }; - - - -// -hpipm_size_t s_tree_ocp_qcqp_sol_memsize(struct s_tree_ocp_qcqp_dim *dim); -// -void s_tree_ocp_qcqp_sol_create(struct s_tree_ocp_qcqp_dim *dim, struct s_tree_ocp_qcqp_sol *qp_sol, void *memory); -// -void s_tree_ocp_qcqp_sol_get_u(int node, struct s_tree_ocp_qcqp_sol *qp_sol, float *vec); -// -void s_tree_ocp_qcqp_sol_get_x(int node, struct s_tree_ocp_qcqp_sol *qp_sol, float *vec); -// -void s_tree_ocp_qcqp_sol_get_sl(int node, struct s_tree_ocp_qcqp_sol *qp_sol, float *vec); -// -void s_tree_ocp_qcqp_sol_get_su(int node, struct s_tree_ocp_qcqp_sol *qp_sol, float *vec); -// -void s_tree_ocp_qcqp_sol_get_pi(int edge, struct s_tree_ocp_qcqp_sol *qp_sol, float *vec); -// -void s_tree_ocp_qcqp_sol_get_lam_lb(int node, struct s_tree_ocp_qcqp_sol *qp_sol, float *vec); -// -void s_tree_ocp_qcqp_sol_get_lam_ub(int node, struct s_tree_ocp_qcqp_sol *qp_sol, float *vec); -// -void s_tree_ocp_qcqp_sol_get_lam_lg(int node, struct s_tree_ocp_qcqp_sol *qp_sol, float *vec); -// -void s_tree_ocp_qcqp_sol_get_lam_ug(int node, struct s_tree_ocp_qcqp_sol *qp_sol, float *vec); - - - -#ifdef __cplusplus -} /* extern "C" */ -#endif - - - -#endif // HPIPM_S_TREE_OCP_QCQP_SOL_H_ - diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_utils.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_utils.h deleted file mode 100644 index 79528de1ce74fa..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qcqp_utils.h +++ /dev/null @@ -1,85 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef HPIPM_S_TREE_OCP_QCQP_UTILS_H_ -#define HPIPM_S_TREE_OCP_QCQP_UTILS_H_ - - - -#include -#include - -#include "hpipm_s_tree_ocp_qcqp_dim.h" -#include "hpipm_s_tree_ocp_qcqp.h" -#include "hpipm_s_tree_ocp_qcqp_sol.h" -#include "hpipm_s_tree_ocp_qcqp_ipm.h" - - - -#ifdef __cplusplus -extern "C" { -#endif - - - -// -void s_tree_ocp_qcqp_dim_print(struct s_tree_ocp_qcqp_dim *qp_dim); -// -//void s_tree_ocp_qcqp_dim_codegen(char *file_name, char *mode, struct s_tree_ocp_qcqp_dim *qp_dim); -// -void s_tree_ocp_qcqp_print(struct s_tree_ocp_qcqp_dim *qp_dim, struct s_tree_ocp_qcqp *qp); -// -//void s_tree_ocp_qcqp_codegen(char *file_name, char *mode, struct s_tree_ocp_qcqp_dim *qp_dim, struct s_tree_ocp_qcqp *qp); -// -void s_tree_ocp_qcqp_sol_print(struct s_tree_ocp_qcqp_dim *qp_dim, struct s_tree_ocp_qcqp_sol *ocp_qcqp_sol); -// -void s_tree_ocp_qcqp_ipm_arg_print(struct s_tree_ocp_qcqp_dim *qp_dim, struct s_tree_ocp_qcqp_ipm_arg *arg); -// -//void s_tree_ocp_qcqp_ipm_arg_codegen(char *file_name, char *mode, struct s_tree_ocp_qcqp_dim *qp_dim, struct s_tree_ocp_qcqp_ipm_arg *arg); -// -void s_tree_ocp_qcqp_res_print(struct s_tree_ocp_qcqp_dim *qp_dim, struct s_tree_ocp_qcqp_res *ocp_qcqp_res); - - - -#ifdef __cplusplus -} // #extern "C" -#endif - - - -#endif // HPIPM_S_TREE_OCP_QCQP_UTILS_H_ - - - diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp.h deleted file mode 100644 index 722b930b9a45c8..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp.h +++ /dev/null @@ -1,196 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef HPIPM_S_TREE_OCP_QP_H_ -#define HPIPM_S_TREE_OCP_QP_H_ - - - -#include -#include - -#include "hpipm_s_tree_ocp_qp_dim.h" - - - -#ifdef __cplusplus -extern "C" { -#endif - - - -struct s_tree_ocp_qp - { - struct s_tree_ocp_qp_dim *dim; - struct blasfeo_smat *BAbt; // Nn-1 - struct blasfeo_smat *RSQrq; // Nn - struct blasfeo_smat *DCt; // Nn - struct blasfeo_svec *b; // Nn-1 - struct blasfeo_svec *rqz; // Nn - struct blasfeo_svec *d; // Nn - struct blasfeo_svec *d_mask; // Nn - struct blasfeo_svec *m; // Nn - struct blasfeo_svec *Z; // Nn - int **idxb; // indices of box constrained variables within [u; x] // Nn -// int **idxs; // index of soft constraints - int **idxs_rev; // index of soft constraints - hpipm_size_t memsize; // memory size in bytes - }; - - - -// -hpipm_size_t s_tree_ocp_qp_memsize(struct s_tree_ocp_qp_dim *dim); -// -void s_tree_ocp_qp_create(struct s_tree_ocp_qp_dim *dim, struct s_tree_ocp_qp *qp, void *memory); -// -void s_tree_ocp_qp_set_all(float **A, float **B, float **b, float **Q, float **S, float **R, float **q, float **r, int **idxb, float **d_lb, float **d_ub, float **C, float **D, float **d_lg, float **d_ug, float **Zl, float **Zu, float **zl, float **zu, int **idxs, float **d_ls, float **d_us, struct s_tree_ocp_qp *qp); -// -void s_tree_ocp_qp_set(char *field_name, int node_edge, void *value, struct s_tree_ocp_qp *qp); -// -void s_tree_ocp_qp_set_A(int edge, float *mat, struct s_tree_ocp_qp *qp); -// -void s_tree_ocp_qp_set_B(int edge, float *mat, struct s_tree_ocp_qp *qp); -// -void s_tree_ocp_qp_set_b(int edge, float *vec, struct s_tree_ocp_qp *qp); -// -void s_tree_ocp_qp_set_Q(int node, float *mat, struct s_tree_ocp_qp *qp); -// -void s_tree_ocp_qp_set_S(int node, float *mat, struct s_tree_ocp_qp *qp); -// -void s_tree_ocp_qp_set_R(int node, float *mat, struct s_tree_ocp_qp *qp); -// -void s_tree_ocp_qp_set_q(int node, float *vec, struct s_tree_ocp_qp *qp); -// -void s_tree_ocp_qp_set_r(int node, float *vec, struct s_tree_ocp_qp *qp); -// -void s_tree_ocp_qp_set_lb(int node, float *vec, struct s_tree_ocp_qp *qp); -// -void s_tree_ocp_qp_set_lb_mask(int node, float *vec, struct s_tree_ocp_qp *qp); -// -void s_tree_ocp_qp_set_ub(int node, float *vec, struct s_tree_ocp_qp *qp); -// -void s_tree_ocp_qp_set_ub_mask(int node, float *vec, struct s_tree_ocp_qp *qp); -// -void s_tree_ocp_qp_set_lbx(int node, float *vec, struct s_tree_ocp_qp *qp); -// -void s_tree_ocp_qp_set_lbx_mask(int node, float *vec, struct s_tree_ocp_qp *qp); -// -void s_tree_ocp_qp_set_ubx(int node, float *vec, struct s_tree_ocp_qp *qp); -// -void s_tree_ocp_qp_set_ubx_mask(int node, float *vec, struct s_tree_ocp_qp *qp); -// -void s_tree_ocp_qp_set_lbu(int node, float *vec, struct s_tree_ocp_qp *qp); -// -void s_tree_ocp_qp_set_lbu_mask(int node, float *vec, struct s_tree_ocp_qp *qp); -// -void s_tree_ocp_qp_set_ubu(int node, float *vec, struct s_tree_ocp_qp *qp); -// -void s_tree_ocp_qp_set_ubu_mask(int node, float *vec, struct s_tree_ocp_qp *qp); -// -void s_tree_ocp_qp_set_idxb(int node, int *vec, struct s_tree_ocp_qp *qp); -// -void s_tree_ocp_qp_set_idxbx(int node, int *vec, struct s_tree_ocp_qp *qp); -// -void s_tree_ocp_qp_set_Jbx(int node, float *vec, struct s_tree_ocp_qp *qp); -// -void s_tree_ocp_qp_set_idxbu(int node, int *vec, struct s_tree_ocp_qp *qp); -// -void s_tree_ocp_qp_set_Jbu(int node, float *vec, struct s_tree_ocp_qp *qp); -// -void s_tree_ocp_qp_set_C(int node, float *mat, struct s_tree_ocp_qp *qp); -// -void s_tree_ocp_qp_set_D(int node, float *mat, struct s_tree_ocp_qp *qp); -// -void s_tree_ocp_qp_set_lg(int node, float *vec, struct s_tree_ocp_qp *qp); -// -void s_tree_ocp_qp_set_lg_mask(int node, float *vec, struct s_tree_ocp_qp *qp); -// -void s_tree_ocp_qp_set_ug(int node, float *vec, struct s_tree_ocp_qp *qp); -// -void s_tree_ocp_qp_set_ug_mask(int node, float *vec, struct s_tree_ocp_qp *qp); -// -void s_tree_ocp_qp_set_Zl(int node, float *vec, struct s_tree_ocp_qp *qp); -// -void s_tree_ocp_qp_set_Zu(int node, float *vec, struct s_tree_ocp_qp *qp); -// -void s_tree_ocp_qp_set_zl(int node, float *vec, struct s_tree_ocp_qp *qp); -// -void s_tree_ocp_qp_set_zu(int node, float *vec, struct s_tree_ocp_qp *qp); -// -void s_tree_ocp_qp_set_lls(int node, float *vec, struct s_tree_ocp_qp *qp); -// -void s_tree_ocp_qp_set_lls_mask(int node, float *vec, struct s_tree_ocp_qp *qp); -// -void s_tree_ocp_qp_set_lus(int node, float *vec, struct s_tree_ocp_qp *qp); -// -void s_tree_ocp_qp_set_lus_mask(int node, float *vec, struct s_tree_ocp_qp *qp); -// -void s_tree_ocp_qp_set_idxs(int node, int *vec, struct s_tree_ocp_qp *qp); -// -void s_tree_ocp_qp_set_idxs_rev(int node, int *vec, struct s_tree_ocp_qp *qp); -// -void s_tree_ocp_qp_set_Jsbu(int node, float *vec, struct s_tree_ocp_qp *qp); -// -void s_tree_ocp_qp_set_Jsbx(int node, float *vec, struct s_tree_ocp_qp *qp); -// -void s_tree_ocp_qp_set_Jsg(int node, float *vec, struct s_tree_ocp_qp *qp); -// -//void s_tree_ocp_qp_set_idxe(int node, int *vec, struct s_tree_ocp_qp *qp); -// -//void s_tree_ocp_qp_set_idxbxe(int node, int *vec, struct s_tree_ocp_qp *qp); -// -//void s_tree_ocp_qp_set_idxbue(int node, int *vec, struct s_tree_ocp_qp *qp); -// -//void s_tree_ocp_qp_set_idxge(int node, int *vec, struct s_tree_ocp_qp *qp); -// -//void s_tree_ocp_qp_set_Jbxe(int node, float *vec, struct s_tree_ocp_qp *qp); -// -//void s_tree_ocp_qp_set_Jbue(int node, float *vec, struct s_tree_ocp_qp *qp); -// -//void s_tree_ocp_qp_set_Jge(int node, float *vec, struct s_tree_ocp_qp *qp); -// -//void s_tree_ocp_qp_set_diag_H_flag(int node, int *value, struct s_tree_ocp_qp *qp); - - - - -#ifdef __cplusplus -} /* extern "C" */ -#endif - - - -#endif // HPIPM_S_TREE_OCP_QP_H_ diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_dim.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_dim.h deleted file mode 100644 index 90df57182b7993..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_dim.h +++ /dev/null @@ -1,111 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef HPIPM_S_TREE_OCP_QP_DIM_H_ -#define HPIPM_S_TREE_OCP_QP_DIM_H_ - -#include "hpipm_common.h" - -#ifdef __cplusplus -extern "C" { -#endif - - - -struct s_tree_ocp_qp_dim - { - struct tree *ttree; // tree describing node conndection - int *nx; // number of states // Nn - int *nu; // number of inputs // Nn - int *nb; // number of box constraints // Nn - int *nbx; // number of state box constraints // Nn - int *nbu; // number of input box constraints // Nn - int *ng; // number of general constraints // Nn - int *ns; // number of soft constraints // Nn - int *nsbx; // number of soft state box constraints - int *nsbu; // number of soft input box constraints - int *nsg; // number of soft general constraints - int Nn; // number of nodes - hpipm_size_t memsize; - }; - - - -// -hpipm_size_t s_tree_ocp_qp_dim_strsize(); -// -hpipm_size_t s_tree_ocp_qp_dim_memsize(int Nn); -// -void s_tree_ocp_qp_dim_create(int Nn, struct s_tree_ocp_qp_dim *qp_dim, void *memory); -// -void s_tree_ocp_qp_dim_set_all(struct tree *ttree, int *nx, int *nu, int *nbx, int *nbu, int *ng, int *nsbx, int *nsbu, int *nsg, struct s_tree_ocp_qp_dim *dim); -// -void s_tree_ocp_qp_dim_set_tree(struct tree *ttree, struct s_tree_ocp_qp_dim *dim); -// -void s_tree_ocp_qp_dim_set(char *field, int stage, int value, struct s_tree_ocp_qp_dim *dim); -// -void s_tree_ocp_qp_dim_set_nx(int stage, int value, struct s_tree_ocp_qp_dim *dim); -// -void s_tree_ocp_qp_dim_set_nu(int stage, int value, struct s_tree_ocp_qp_dim *dim); -// -void s_tree_ocp_qp_dim_set_nbx(int stage, int value, struct s_tree_ocp_qp_dim *dim); -// -void s_tree_ocp_qp_dim_set_nbu(int stage, int value, struct s_tree_ocp_qp_dim *dim); -// -void s_tree_ocp_qp_dim_set_ng(int stage, int value, struct s_tree_ocp_qp_dim *dim); -// -void s_tree_ocp_qp_dim_set_ns(int stage, int value, struct s_tree_ocp_qp_dim *dim); -// -void s_tree_ocp_qp_dim_set_nsbx(int stage, int value, struct s_tree_ocp_qp_dim *dim); -// -void s_tree_ocp_qp_dim_set_nsbu(int stage, int value, struct s_tree_ocp_qp_dim *dim); -// -void s_tree_ocp_qp_dim_set_nsg(int stage, int value, struct s_tree_ocp_qp_dim *dim); -// -void s_tree_ocp_qp_dim_set_nbxe(int stage, int value, struct s_tree_ocp_qp_dim *dim); -// -void s_tree_ocp_qp_dim_set_nbue(int stage, int value, struct s_tree_ocp_qp_dim *dim); -// -void s_tree_ocp_qp_dim_set_nge(int stage, int value, struct s_tree_ocp_qp_dim *dim); - - - -#ifdef __cplusplus -} // #extern "C" -#endif - - - -#endif // HPIPM_S_TREE_OCP_QP_DIM_H_ diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_ipm.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_ipm.h deleted file mode 100644 index f8c26d31737f0d..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_ipm.h +++ /dev/null @@ -1,208 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - - - -#ifndef HPIPM_S_TREE_OCP_QP_IPM_H_ -#define HPIPM_S_TREE_OCP_QP_IPM_H_ - - - -#include -#include - -#include -#include -#include -#include -#include - - - -#ifdef __cplusplus -extern "C" { -#endif - - - -struct s_tree_ocp_qp_ipm_arg - { - float mu0; // initial value for duality measure - float alpha_min; // exit cond on step length - float res_g_max; // exit cond on inf norm of residuals - float res_b_max; // exit cond on inf norm of residuals - float res_d_max; // exit cond on inf norm of residuals - float res_m_max; // exit cond on inf norm of residuals - float reg_prim; // reg of primal hessian - float lam_min; // min value in lam vector - float t_min; // min value in t vector - float tau_min; // min value of barrier parameter - int iter_max; // exit cond in iter number - int stat_max; // iterations saved in stat - int stat_m; // number of recorded stat per IPM iter - int pred_corr; // use Mehrotra's predictor-corrector IPM algirthm - int cond_pred_corr; // conditional Mehrotra's predictor-corrector - int itref_pred_max; // max number of iterative refinement steps for predictor step - int itref_corr_max; // max number of iterative refinement steps for corrector step - int warm_start; // 0 no warm start, 1 warm start primal sol, 2 warm start primal and dual sol - int lq_fact; // 0 syrk+potrf, 1 mix, 2 lq - int abs_form; // absolute IPM formulation - int comp_dual_sol_eq; // dual solution (only for abs_form==1) - int comp_res_exit; // compute residuals on exit (only for abs_form==1 and comp_dual_sol==1) - int split_step; // use different steps for primal and dual variables - int t_lam_min; // clip t and lam: 0 no, 1 in Gamma computation, 2 in solution - int mode; - hpipm_size_t memsize; - }; - - - -struct s_tree_ocp_qp_ipm_ws - { - struct s_core_qp_ipm_workspace *core_workspace; - struct s_tree_ocp_qp_res_ws *res_workspace; - struct s_tree_ocp_qp_sol *sol_step; - struct s_tree_ocp_qp_sol *sol_itref; - struct s_tree_ocp_qp *qp_step; - struct s_tree_ocp_qp *qp_itref; - struct s_tree_ocp_qp_res *res_itref; - struct s_tree_ocp_qp_res *res; - struct blasfeo_svec *Gamma; // hessian update - struct blasfeo_svec *gamma; // hessian update - struct blasfeo_svec *tmp_nxM; // work space of size nxM - struct blasfeo_svec *tmp_nbgM; // work space of size nbgM - struct blasfeo_svec *tmp_nsM; // work space of size nsM - struct blasfeo_svec *Pb; // Pb - struct blasfeo_svec *Zs_inv; - struct blasfeo_smat *L; - struct blasfeo_smat *Lh; - struct blasfeo_smat *AL; - struct blasfeo_smat *lq0; - struct blasfeo_svec *tmp_m; - float *stat; // convergence statistics - int *use_hess_fact; - void *lq_work0; - float qp_res[4]; // infinity norm of residuals - int iter; // iteration number - int stat_max; // iterations saved in stat - int stat_m; // number of recorded stat per IPM iter - int use_Pb; - int status; // solver status - int lq_fact; // cache from arg - int mask_constr; // use constr mask - hpipm_size_t memsize; - }; - - - -// -hpipm_size_t s_tree_ocp_qp_ipm_arg_memsize(struct s_tree_ocp_qp_dim *dim); -// -void s_tree_ocp_qp_ipm_arg_create(struct s_tree_ocp_qp_dim *dim, struct s_tree_ocp_qp_ipm_arg *arg, void *mem); -// -void s_tree_ocp_qp_ipm_arg_set_default(enum hpipm_mode mode, struct s_tree_ocp_qp_ipm_arg *arg); -// -void s_tree_ocp_qp_ipm_arg_set_iter_max(int *iter_max, struct s_tree_ocp_qp_ipm_arg *arg); -// -void s_tree_ocp_qp_ipm_arg_set_alpha_min(float *alpha_min, struct s_tree_ocp_qp_ipm_arg *arg); -// -void s_tree_ocp_qp_ipm_arg_set_mu0(float *mu0, struct s_tree_ocp_qp_ipm_arg *arg); -// -void s_tree_ocp_qp_ipm_arg_set_tol_stat(float *tol_stat, struct s_tree_ocp_qp_ipm_arg *arg); -// -void s_tree_ocp_qp_ipm_arg_set_tol_eq(float *tol_eq, struct s_tree_ocp_qp_ipm_arg *arg); -// -void s_tree_ocp_qp_ipm_arg_set_tol_ineq(float *tol_ineq, struct s_tree_ocp_qp_ipm_arg *arg); -// -void s_tree_ocp_qp_ipm_arg_set_tol_comp(float *tol_comp, struct s_tree_ocp_qp_ipm_arg *arg); -// -void s_tree_ocp_qp_ipm_arg_set_reg_prim(float *reg, struct s_tree_ocp_qp_ipm_arg *arg); -// -void s_tree_ocp_qp_ipm_arg_set_warm_start(int *warm_start, struct s_tree_ocp_qp_ipm_arg *arg); -// -void s_tree_ocp_qp_ipm_arg_set_pred_corr(int *pred_corr, struct s_tree_ocp_qp_ipm_arg *arg); -// -void s_tree_ocp_qp_ipm_arg_set_cond_pred_corr(int *value, struct s_tree_ocp_qp_ipm_arg *arg); -// -void s_tree_ocp_qp_ipm_arg_set_comp_dual_sol_eq(int *value, struct s_tree_ocp_qp_ipm_arg *arg); -// -void s_tree_ocp_qp_ipm_arg_set_comp_res_exit(int *value, struct s_tree_ocp_qp_ipm_arg *arg); -// -void s_tree_ocp_qp_ipm_arg_set_lam_min(float *value, struct s_tree_ocp_qp_ipm_arg *arg); -// -void s_tree_ocp_qp_ipm_arg_set_t_min(float *value, struct s_tree_ocp_qp_ipm_arg *arg); -// -void s_tree_ocp_qp_ipm_arg_set_tau_min(float *value, struct s_tree_ocp_qp_ipm_arg *arg); -// -void s_tree_ocp_qp_ipm_arg_set_split_step(int *value, struct s_tree_ocp_qp_ipm_arg *arg); -// -void s_tree_ocp_qp_ipm_arg_set_t_lam_min(int *value, struct s_tree_ocp_qp_ipm_arg *arg); - -// -hpipm_size_t s_tree_ocp_qp_ipm_ws_memsize(struct s_tree_ocp_qp_dim *dim, struct s_tree_ocp_qp_ipm_arg *arg); -// -void s_tree_ocp_qp_ipm_ws_create(struct s_tree_ocp_qp_dim *dim, struct s_tree_ocp_qp_ipm_arg *arg, struct s_tree_ocp_qp_ipm_ws *ws, void *mem); -// -void s_tree_ocp_qp_ipm_get_status(struct s_tree_ocp_qp_ipm_ws *ws, int *status); -// -void s_tree_ocp_qp_ipm_get_iter(struct s_tree_ocp_qp_ipm_ws *ws, int *iter); -// -void s_tree_ocp_qp_ipm_get_max_res_stat(struct s_tree_ocp_qp_ipm_ws *ws, float *res_stat); -// -void s_tree_ocp_qp_ipm_get_max_res_eq(struct s_tree_ocp_qp_ipm_ws *ws, float *res_eq); -// -void s_tree_ocp_qp_ipm_get_max_res_ineq(struct s_tree_ocp_qp_ipm_ws *ws, float *res_ineq); -// -void s_tree_ocp_qp_ipm_get_max_res_comp(struct s_tree_ocp_qp_ipm_ws *ws, float *res_comp); -// -void s_tree_ocp_qp_ipm_get_stat(struct s_tree_ocp_qp_ipm_ws *ws, float **stat); -// -void s_tree_ocp_qp_ipm_get_stat_m(struct s_tree_ocp_qp_ipm_ws *ws, int *stat_m); -// -void s_tree_ocp_qp_init_var(struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, struct s_tree_ocp_qp_ipm_arg *arg, struct s_tree_ocp_qp_ipm_ws *ws); -// -void s_tree_ocp_qp_ipm_abs_step(int kk, struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, struct s_tree_ocp_qp_ipm_arg *arg, struct s_tree_ocp_qp_ipm_ws *ws); -// -void s_tree_ocp_qp_ipm_delta_step(int kk, struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, struct s_tree_ocp_qp_ipm_arg *arg, struct s_tree_ocp_qp_ipm_ws *ws); -// -void s_tree_ocp_qp_ipm_solve(struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, struct s_tree_ocp_qp_ipm_arg *arg, struct s_tree_ocp_qp_ipm_ws *ws); - -#ifdef __cplusplus -} /* extern "C" */ -#endif - - - -#endif // HPIPM_S_TREE_OCP_QP_IPM_H_ diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_kkt.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_kkt.h deleted file mode 100644 index bcf7354783d2c3..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_kkt.h +++ /dev/null @@ -1,54 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - - -#ifdef __cplusplus -extern "C" { -#endif - -// -void s_tree_ocp_qp_fact_solve_kkt_unconstr(struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, struct s_tree_ocp_qp_ipm_arg *arg, struct s_tree_ocp_qp_ipm_ws *ws); -// -void s_tree_ocp_qp_fact_solve_kkt_step(struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, struct s_tree_ocp_qp_ipm_arg *arg, struct s_tree_ocp_qp_ipm_ws *ws); -// -void s_tree_ocp_qp_fact_lq_solve_kkt_step(struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, struct s_tree_ocp_qp_ipm_arg *arg, struct s_tree_ocp_qp_ipm_ws *ws); -// -void s_tree_ocp_qp_solve_kkt_step(struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, struct s_tree_ocp_qp_ipm_arg *arg, struct s_tree_ocp_qp_ipm_ws *ws); - - -#ifdef __cplusplus -} /* extern "C" */ -#endif - diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_res.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_res.h deleted file mode 100644 index 5c6797204f847a..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_res.h +++ /dev/null @@ -1,107 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef HPIPM_S_TREE_OCP_QP_RES_H_ -#define HPIPM_S_TREE_OCP_QP_RES_H_ - - - -#include -#include - -#include -#include -#include -#include - - - -#ifdef __cplusplus -extern "C" { -#endif - - - -struct s_tree_ocp_qp_res - { - struct s_tree_ocp_qp_dim *dim; - struct blasfeo_svec *res_g; // q-residuals - struct blasfeo_svec *res_b; // b-residuals - struct blasfeo_svec *res_d; // d-residuals - struct blasfeo_svec *res_m; // m-residuals - float res_max[4]; // max of residuals - float res_mu; // mu-residual - hpipm_size_t memsize; - }; - - - -struct s_tree_ocp_qp_res_ws - { - struct blasfeo_svec *tmp_nbgM; // work space of size nbM+ngM - struct blasfeo_svec *tmp_nsM; // work space of size nsM - hpipm_size_t memsize; - }; - - - -// -hpipm_size_t s_tree_ocp_qp_res_memsize(struct s_tree_ocp_qp_dim *ocp_dim); -// -void s_tree_ocp_qp_res_create(struct s_tree_ocp_qp_dim *ocp_dim, struct s_tree_ocp_qp_res *res, void *mem); -// -hpipm_size_t s_tree_ocp_qp_res_ws_memsize(struct s_tree_ocp_qp_dim *ocp_dim); -// -void s_tree_ocp_qp_res_ws_create(struct s_tree_ocp_qp_dim *ocp_dim, struct s_tree_ocp_qp_res_ws *ws, void *mem); -// -void s_tree_ocp_qp_res_get_all(struct s_tree_ocp_qp_res *res, float **res_r, float **res_q, float **res_ls, float **res_us, float **res_b, float **res_d_lb, float **res_d_ub, float **res_d_lg, float **res_d_ug, float **res_d_ls, float **res_d_us, float **res_m_lb, float **res_m_ub, float **res_m_lg, float **res_m_ug, float **res_m_ls, float **res_m_us); -// -void s_tree_ocp_qp_res_compute(struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, struct s_tree_ocp_qp_res *res, struct s_tree_ocp_qp_res_ws *ws); -// -void s_tree_ocp_qp_res_compute_lin(struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, struct s_tree_ocp_qp_sol *qp_step, struct s_tree_ocp_qp_res *res, struct s_tree_ocp_qp_res_ws *ws); -// -void s_tree_ocp_qp_res_compute_inf_norm(struct s_tree_ocp_qp_res *res); - - - -#ifdef __cplusplus -} // #extern "C" -#endif - - -#endif // HPIPM_S_TREE_OCP_QP_RES_H_ - - - diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_sol.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_sol.h deleted file mode 100644 index 71e887675bc3d0..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_sol.h +++ /dev/null @@ -1,98 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef HPIPM_S_TREE_OCP_QP_SOL_H_ -#define HPIPM_S_TREE_OCP_QP_SOL_H_ - - - -#include -#include - -#include "hpipm_s_tree_ocp_qp_dim.h" - - - -#ifdef __cplusplus -extern "C" { -#endif - -struct s_tree_ocp_qp_sol - { - struct s_tree_ocp_qp_dim *dim; - struct blasfeo_svec *ux; - struct blasfeo_svec *pi; - struct blasfeo_svec *lam; - struct blasfeo_svec *t; - void *misc; - hpipm_size_t memsize; // memory size in bytes - }; - - - -// -hpipm_size_t s_tree_ocp_qp_sol_memsize(struct s_tree_ocp_qp_dim *dim); -// -void s_tree_ocp_qp_sol_create(struct s_tree_ocp_qp_dim *dim, struct s_tree_ocp_qp_sol *qp_sol, void *memory); -// -void s_tree_ocp_qp_sol_get_all(struct s_tree_ocp_qp *qp, struct s_tree_ocp_qp_sol *qp_sol, float **u, float **x, float **ls, float **us, float **pi, float **lam_lb, float **lam_ub, float **lam_lg, float **lam_ug, float **lam_ls, float **lam_us); -// -void s_tree_ocp_qp_sol_get_u(int node, struct s_tree_ocp_qp_sol *qp_sol, float *vec); -// -void s_tree_ocp_qp_sol_get_x(int node, struct s_tree_ocp_qp_sol *qp_sol, float *vec); -// -void s_tree_ocp_qp_sol_get_sl(int node, struct s_tree_ocp_qp_sol *qp_sol, float *vec); -// -void s_tree_ocp_qp_sol_get_su(int node, struct s_tree_ocp_qp_sol *qp_sol, float *vec); -// -void s_tree_ocp_qp_sol_get_pi(int edge, struct s_tree_ocp_qp_sol *qp_sol, float *vec); -// -void s_tree_ocp_qp_sol_get_lam_lb(int node, struct s_tree_ocp_qp_sol *qp_sol, float *vec); -// -void s_tree_ocp_qp_sol_get_lam_ub(int node, struct s_tree_ocp_qp_sol *qp_sol, float *vec); -// -void s_tree_ocp_qp_sol_get_lam_lg(int node, struct s_tree_ocp_qp_sol *qp_sol, float *vec); -// -void s_tree_ocp_qp_sol_get_lam_ug(int node, struct s_tree_ocp_qp_sol *qp_sol, float *vec); - - - -#ifdef __cplusplus -} /* extern "C" */ -#endif - - - -#endif // HPIPM_S_TREE_OCP_QP_SOL_H_ diff --git a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_utils.h b/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_utils.h deleted file mode 100644 index ec1747568f08a8..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_s_tree_ocp_qp_utils.h +++ /dev/null @@ -1,84 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef HPIPM_S_TREE_OCP_QP_UTILS_H_ -#define HPIPM_S_TREE_OCP_QP_UTILS_H_ - - - -#include -#include - -#include "hpipm_s_tree_ocp_qp_dim.h" -#include "hpipm_s_tree_ocp_qp.h" -#include "hpipm_s_tree_ocp_qp_sol.h" -#include "hpipm_s_tree_ocp_qp_ipm.h" - - - -#ifdef __cplusplus -extern "C" { -#endif - - - -// -void s_tree_ocp_qp_dim_print(struct s_tree_ocp_qp_dim *qp_dim); -// -//void s_tree_ocp_qp_dim_codegen(char *file_name, char *mode, struct s_tree_ocp_qp_dim *qp_dim); -// -void s_tree_ocp_qp_print(struct s_tree_ocp_qp_dim *qp_dim, struct s_tree_ocp_qp *qp); -// -//void s_tree_ocp_qp_codegen(char *file_name, char *mode, struct s_tree_ocp_qp_dim *qp_dim, struct s_tree_ocp_qp *qp); -// -void s_tree_ocp_qp_sol_print(struct s_tree_ocp_qp_dim *qp_dim, struct s_tree_ocp_qp_sol *ocp_qp_sol); -// -void s_tree_ocp_qp_ipm_arg_print(struct s_tree_ocp_qp_dim *qp_dim, struct s_tree_ocp_qp_ipm_arg *arg); -// -//void s_tree_ocp_qp_ipm_arg_codegen(char *file_name, char *mode, struct s_tree_ocp_qp_dim *qp_dim, struct s_tree_ocp_qp_ipm_arg *arg); -// -void s_tree_ocp_qp_res_print(struct s_tree_ocp_qp_dim *qp_dim, struct s_tree_ocp_qp_res *ocp_qp_res); - - - -#ifdef __cplusplus -} // #extern "C" -#endif - - - -#endif // HPIPM_S_TREE_OCP_QP_UTILS_H_ - - diff --git a/third_party/acados/include/hpipm/include/hpipm_scenario_tree.h b/third_party/acados/include/hpipm/include/hpipm_scenario_tree.h deleted file mode 100644 index a3c77a670a1d02..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_scenario_tree.h +++ /dev/null @@ -1,70 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef HPIPM_SCENARIO_TREE_H_ -#define HPIPM_SCENARIO_TREE_H_ - -#ifdef __cplusplus -extern "C" { -#endif - - - -struct sctree - { - struct node *root; // pointer to root - int *kids; // pointer to array of kids - int Nn; // numer of nodes - int md; // number of realizations - int Nr; // robust horizion - int Nh; // control horizion - hpipm_size_t memsize; - }; - - - -// -hpipm_size_t sctree_memsize(int md, int Nr, int Nh); -// -void sctree_create(int md, int Nr, int Nh, struct sctree *st, void *memory); -// -void sctree_cast_to_tree(struct sctree *st, struct tree *tt); - - -#ifdef __cplusplus -} /* extern "C" */ -#endif - -#endif // HPIPM_SCENARIO_TREE_H_ diff --git a/third_party/acados/include/hpipm/include/hpipm_timing.h b/third_party/acados/include/hpipm/include/hpipm_timing.h deleted file mode 100644 index bd0f2dbcb34c5f..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_timing.h +++ /dev/null @@ -1,67 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - -#ifndef HPIPM_TIMING_H_ -#define HPIPM_TIMING_H_ - - - -#include - - - -#ifdef __cplusplus -extern "C" { -#endif - - - -typedef blasfeo_timer hpipm_timer; - - - -// -void hpipm_tic(hpipm_timer *t); -// -double hpipm_toc(hpipm_timer *t); - - - -#ifdef __cplusplus -} // #extern "C" -#endif - - -#endif // HPIPM_TIMING_H_ diff --git a/third_party/acados/include/hpipm/include/hpipm_tree.h b/third_party/acados/include/hpipm/include/hpipm_tree.h deleted file mode 100644 index f9d69ecdddda74..00000000000000 --- a/third_party/acados/include/hpipm/include/hpipm_tree.h +++ /dev/null @@ -1,76 +0,0 @@ -/************************************************************************************************** -* * -* This file is part of HPIPM. * -* * -* HPIPM -- High-Performance Interior Point Method. * -* Copyright (C) 2019 by Gianluca Frison. * -* Developed at IMTEK (University of Freiburg) under the supervision of Moritz Diehl. * -* All rights reserved. * -* * -* The 2-Clause BSD License * -* * -* Redistribution and use in source and binary forms, with or without * -* modification, are permitted provided that the following conditions are met: * -* * -* 1. Redistributions of source code must retain the above copyright notice, this * -* list of conditions and the following disclaimer. * -* 2. Redistributions in binary form must reproduce the above copyright notice, * -* this list of conditions and the following disclaimer in the documentation * -* and/or other materials provided with the distribution. * -* * -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND * -* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * -* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * -* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR * -* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * -* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * -* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * -* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * -* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * -* * -* Author: Gianluca Frison, gianluca.frison (at) imtek.uni-freiburg.de * -* * -**************************************************************************************************/ - - -#ifndef HPIPM_TREE_H_ -#define HPIPM_TREE_H_ - -#include "hpipm_common.h" - -#ifdef __cplusplus -extern "C" { -#endif - - - -struct node - { - int *kids; // 64 bits - int idx; // 32 bits - int dad; // 32 bits - int nkids; // 32 bits - int stage; // 32 bits - int real; // 32 bits - int idxkid; // 32 bits // XXX needed ??? - // total 256 bits - }; - - - -struct tree - { - struct node *root; // pointer to root - int *kids; // pointer to array of kids - int Nn; // numer of nodes - hpipm_size_t memsize; - }; - - - -#ifdef __cplusplus -} /* extern "C" */ -#endif - -#endif // HPIPM_TREE_H_ diff --git a/third_party/acados/include/qpOASES_e/Bounds.h b/third_party/acados/include/qpOASES_e/Bounds.h deleted file mode 100644 index 4e41c1d163b63d..00000000000000 --- a/third_party/acados/include/qpOASES_e/Bounds.h +++ /dev/null @@ -1,543 +0,0 @@ -/* - * This file is part of qpOASES. - * - * qpOASES -- An Implementation of the Online Active Set Strategy. - * Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka, - * Christian Kirches et al. All rights reserved. - * - * qpOASES is free software; you can redistribute it and/or - * modify it under the terms of the GNU Lesser General Public - * License as published by the Free Software Foundation; either - * version 2.1 of the License, or (at your option) any later version. - * - * qpOASES is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. - * See the GNU Lesser General Public License for more details. - * - * You should have received a copy of the GNU Lesser General Public - * License along with qpOASES; if not, write to the Free Software - * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA - * - */ - - -/** - * \file include/qpOASES_e/Bounds.h - * \author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches - * \version 3.1embedded - * \date 2007-2015 - * - * Declaration of the Bounds class designed to manage working sets of - * bounds within a QProblem. - */ - - -#ifndef QPOASES_BOUNDS_H -#define QPOASES_BOUNDS_H - - -#include - - -BEGIN_NAMESPACE_QPOASES - - -/** - * \brief Manages working sets of bounds (= box constraints). - * - * This class manages working sets of bounds (= box constraints) - * by storing index sets and other status information. - * - * \author Hans Joachim Ferreau - * \version 3.1embedded - * \date 2007-2015 - */ -typedef struct -{ - Indexlist *freee; /**< Index list of free variables. */ - Indexlist *fixed; /**< Index list of fixed variables. */ - - Indexlist *shiftedFreee; /**< Memory for shifting free variables. */ - Indexlist *shiftedFixed; /**< Memory for shifting fixed variables. */ - - Indexlist *rotatedFreee; /**< Memory for rotating free variables. */ - Indexlist *rotatedFixed; /**< Memory for rotating fixed variables. */ - - SubjectToType *type; /**< Type of bounds. */ - SubjectToStatus *status; /**< Status of bounds. */ - - SubjectToType *typeTmp; /**< Temp memory for type of bounds. */ - SubjectToStatus *statusTmp; /**< Temp memory for status of bounds. */ - - BooleanType noLower; /**< This flag indicates if there is no lower bound on any variable. */ - BooleanType noUpper; /**< This flag indicates if there is no upper bound on any variable. */ - - int n; /**< Total number of bounds. */ -} Bounds; - -int Bounds_calculateMemorySize( int n); - -char *Bounds_assignMemory(int n, Bounds **mem, void *raw_memory); - -Bounds *Bounds_createMemory( int n ); - -/** Constructor which takes the number of bounds. */ -void BoundsCON( Bounds* _THIS, - int _n /**< Number of bounds. */ - ); - -/** Copies all members from given rhs object. - * \return SUCCESSFUL_RETURN */ -void BoundsCPY( Bounds* FROM, - Bounds* TO - ); - - -/** Initialises object with given number of bounds. - * \return SUCCESSFUL_RETURN \n - RET_INVALID_ARGUMENTS */ -returnValue Bounds_init( Bounds* _THIS, - int _n /**< Number of bounds. */ - ); - - -/** Initially adds number of a new (i.e. not yet in the list) bound to - * given index set. - * \return SUCCESSFUL_RETURN \n - RET_SETUP_BOUND_FAILED \n - RET_INDEX_OUT_OF_BOUNDS \n - RET_INVALID_ARGUMENTS */ -returnValue Bounds_setupBound( Bounds* _THIS, - int number, /**< Number of new bound. */ - SubjectToStatus _status /**< Status of new bound. */ - ); - -/** Initially adds all numbers of new (i.e. not yet in the list) bounds to - * to the index set of free bounds; the order depends on the SujectToType - * of each index. - * \return SUCCESSFUL_RETURN \n - RET_SETUP_BOUND_FAILED */ -returnValue Bounds_setupAllFree( Bounds* _THIS - ); - -/** Initially adds all numbers of new (i.e. not yet in the list) bounds to - * to the index set of fixed bounds (on their lower bounds); - * the order depends on the SujectToType of each index. - * \return SUCCESSFUL_RETURN \n - RET_SETUP_BOUND_FAILED */ -returnValue Bounds_setupAllLower( Bounds* _THIS - ); - -/** Initially adds all numbers of new (i.e. not yet in the list) bounds to - * to the index set of fixed bounds (on their upper bounds); - * the order depends on the SujectToType of each index. - * \return SUCCESSFUL_RETURN \n - RET_SETUP_BOUND_FAILED */ -returnValue Bounds_setupAllUpper( Bounds* _THIS - ); - - -/** Moves index of a bound from index list of fixed to that of free bounds. - * \return SUCCESSFUL_RETURN \n - RET_MOVING_BOUND_FAILED \n - RET_INDEX_OUT_OF_BOUNDS */ -returnValue Bounds_moveFixedToFree( Bounds* _THIS, - int number /**< Number of bound to be freed. */ - ); - -/** Moves index of a bound from index list of free to that of fixed bounds. - * \return SUCCESSFUL_RETURN \n - RET_MOVING_BOUND_FAILED \n - RET_INDEX_OUT_OF_BOUNDS */ -returnValue Bounds_moveFreeToFixed( Bounds* _THIS, - int number, /**< Number of bound to be fixed. */ - SubjectToStatus _status /**< Status of bound to be fixed. */ - ); - -/** Flip fixed bound. - * \return SUCCESSFUL_RETURN \n - RET_MOVING_BOUND_FAILED \n - RET_INDEX_OUT_OF_BOUNDS */ -returnValue Bounds_flipFixed( Bounds* _THIS, - int number - ); - -/** Swaps the indices of two free bounds within the index set. - * \return SUCCESSFUL_RETURN \n - RET_SWAPINDEX_FAILED */ -returnValue Bounds_swapFree( Bounds* _THIS, - int number1, /**< Number of first bound. */ - int number2 /**< Number of second bound. */ - ); - - -/** Returns number of variables. - * \return Number of variables. */ -static inline int Bounds_getNV( Bounds* _THIS - ); - -/** Returns number of implicitly fixed variables. - * \return Number of implicitly fixed variables. */ -static inline int Bounds_getNFV( Bounds* _THIS - ); - -/** Returns number of bounded (but possibly free) variables. - * \return Number of bounded (but possibly free) variables. */ -static inline int Bounds_getNBV( Bounds* _THIS - ); - -/** Returns number of unbounded variables. - * \return Number of unbounded variables. */ -static inline int Bounds_getNUV( Bounds* _THIS - ); - -/** Returns number of free variables. - * \return Number of free variables. */ -static inline int Bounds_getNFR( Bounds* _THIS - ); - -/** Returns number of fixed variables. - * \return Number of fixed variables. */ -static inline int Bounds_getNFX( Bounds* _THIS - ); - - -/** Returns a pointer to free variables index list. - * \return Pointer to free variables index list. */ -static inline Indexlist* Bounds_getFree( Bounds* _THIS - ); - -/** Returns a pointer to fixed variables index list. - * \return Pointer to fixed variables index list. */ -static inline Indexlist* Bounds_getFixed( Bounds* _THIS - ); - - -/** Returns number of bounds with given SubjectTo type. - * \return Number of bounds with given type. */ -static inline int Bounds_getNumberOfType( Bounds* _THIS, - SubjectToType _type /**< Type of bound. */ - ); - - -/** Returns type of bound. - * \return Type of bound \n - RET_INDEX_OUT_OF_BOUNDS */ -static inline SubjectToType Bounds_getType( Bounds* _THIS, - int i /**< Number of bound. */ - ); - -/** Returns status of bound. - * \return Status of bound \n - ST_UNDEFINED */ -static inline SubjectToStatus Bounds_getStatus( Bounds* _THIS, - int i /**< Number of bound. */ - ); - - -/** Sets type of bound. - * \return SUCCESSFUL_RETURN \n - RET_INDEX_OUT_OF_BOUNDS */ -static inline returnValue Bounds_setType( Bounds* _THIS, - int i, /**< Number of bound. */ - SubjectToType value /**< Type of bound. */ - ); - -/** Sets status of bound. - * \return SUCCESSFUL_RETURN \n - RET_INDEX_OUT_OF_BOUNDS */ -static inline returnValue Bounds_setStatus( Bounds* _THIS, - int i, /**< Number of bound. */ - SubjectToStatus value /**< Status of bound. */ - ); - - -/** Sets status of lower bounds. */ -static inline void Bounds_setNoLower( Bounds* _THIS, - BooleanType _status /**< Status of lower bounds. */ - ); - -/** Sets status of upper bounds. */ -static inline void Bounds_setNoUpper( Bounds* _THIS, - BooleanType _status /**< Status of upper bounds. */ - ); - - -/** Returns status of lower bounds. - * \return BT_TRUE if there is no lower bound on any variable. */ -static inline BooleanType Bounds_hasNoLower( Bounds* _THIS - ); - -/** Returns status of upper bounds. - * \return BT_TRUE if there is no upper bound on any variable. */ -static inline BooleanType Bounds_hasNoUpper( Bounds* _THIS - ); - - -/** Shifts forward type and status of all bounds by a given - * offset. This offset has to lie within the range [0,n/2] and has to - * be an integer divisor of the total number of bounds n. - * Type and status of the first \ bounds is thrown away, - * type and status of the last \ bounds is doubled, - * e.g. for offset = 2: \n - * shift( {b1,b2,b3,b4,b5,b6} ) = {b3,b4,b5,b6,b5,b6} - * \return SUCCESSFUL_RETURN \n - RET_INDEX_OUT_OF_BOUNDS \n - RET_INVALID_ARGUMENTS \n - RET_SHIFTING_FAILED */ -returnValue Bounds_shift( Bounds* _THIS, - int offset /**< Shift offset within the range [0,n/2] and integer divisor of n. */ - ); - -/** Rotates forward type and status of all bounds by a given - * offset. This offset has to lie within the range [0,n]. - * Example for offset = 2: \n - * rotate( {b1,b2,b3,b4,b5,b6} ) = {b3,b4,b5,b6,b1,b2} - * \return SUCCESSFUL_RETURN \n - RET_INDEX_OUT_OF_BOUNDS \n - RET_ROTATING_FAILED */ -returnValue Bounds_rotate( Bounds* _THIS, - int offset /**< Rotation offset within the range [0,n]. */ - ); - - -/** Prints information on bounds object - * (in particular, lists of free and fixed bounds. - * \return SUCCESSFUL_RETURN \n - RET_INDEXLIST_CORRUPTED */ -returnValue Bounds_print( Bounds* _THIS - ); - - -/** Initially adds all numbers of new (i.e. not yet in the list) bounds to - * to the index set corresponding to the desired status; - * the order depends on the SujectToType of each index. - * \return SUCCESSFUL_RETURN \n - RET_SETUP_BOUND_FAILED */ -returnValue Bounds_setupAll( Bounds* _THIS, - SubjectToStatus _status /**< Desired initial status for all bounds. */ - ); - - -/** Adds the index of a new bound to index set. - * \return SUCCESSFUL_RETURN \n - RET_ADDINDEX_FAILED \n - RET_INVALID_ARGUMENTS */ -returnValue Bounds_addIndex( Bounds* _THIS, - Indexlist* const indexlist, /**< Index list to which the new index shall be added. */ - int newnumber, /**< Number of new bound. */ - SubjectToStatus newstatus /**< Status of new bound. */ - ); - -/** Removes the index of a bound from index set. - * \return SUCCESSFUL_RETURN \n - RET_REMOVEINDEX_FAILED \n - RET_INVALID_ARGUMENTS */ -returnValue Bounds_removeIndex( Bounds* _THIS, - Indexlist* const indexlist, /**< Index list from which the new index shall be removed. */ - int removenumber /**< Number of bound to be removed. */ - ); - -/** Swaps the indices of two constraints or bounds within the index set. - * \return SUCCESSFUL_RETURN \n - RET_SWAPINDEX_FAILED \n - RET_INVALID_ARGUMENTS */ -returnValue Bounds_swapIndex( Bounds* _THIS, - Indexlist* const indexlist, /**< Index list in which the indices shold be swapped. */ - int number1, /**< Number of first bound. */ - int number2 /**< Number of second bound. */ - ); - - - -/* - * g e t N u m b e r O f T y p e - */ -static inline int Bounds_getNumberOfType( Bounds* _THIS, SubjectToType _type ) -{ - int i; - int numberOfType = 0; - - if ( _THIS->type != 0 ) - { - for( i=0; i<_THIS->n; ++i ) - if ( _THIS->type[i] == _type ) - ++numberOfType; - } - - return numberOfType; -} - - -/* - * g e t T y p e - */ -static inline SubjectToType Bounds_getType( Bounds* _THIS, int i ) -{ - if ( ( i >= 0 ) && ( i < _THIS->n ) ) - return _THIS->type[i]; - - return ST_UNKNOWN; -} - - -/* - * g e t S t a t u s - */ -static inline SubjectToStatus Bounds_getStatus( Bounds* _THIS, int i ) -{ - if ( ( i >= 0 ) && ( i < _THIS->n ) ) - return _THIS->status[i]; - - return ST_UNDEFINED; -} - - -/* - * s e t T y p e - */ -static inline returnValue Bounds_setType( Bounds* _THIS, int i, SubjectToType value ) -{ - if ( ( i >= 0 ) && ( i < _THIS->n ) ) - { - _THIS->type[i] = value; - return SUCCESSFUL_RETURN; - } - else - return THROWERROR( RET_INDEX_OUT_OF_BOUNDS ); -} - - -/* - * s e t S t a t u s - */ -static inline returnValue Bounds_setStatus( Bounds* _THIS, int i, SubjectToStatus value ) -{ - if ( ( i >= 0 ) && ( i < _THIS->n ) ) - { - _THIS->status[i] = value; - return SUCCESSFUL_RETURN; - } - else - return THROWERROR( RET_INDEX_OUT_OF_BOUNDS ); -} - - -/* - * s e t N o L o w e r - */ -static inline void Bounds_setNoLower( Bounds* _THIS, BooleanType _status ) -{ - _THIS->noLower = _status; -} - - -/* - * s e t N o U p p e r - */ -static inline void Bounds_setNoUpper( Bounds* _THIS, BooleanType _status ) -{ - _THIS->noUpper = _status; -} - - -/* - * h a s N o L o w e r - */ -static inline BooleanType Bounds_hasNoLower( Bounds* _THIS ) -{ - return _THIS->noLower; -} - - -/* - * h a s N o U p p p e r - */ -static inline BooleanType Bounds_hasNoUpper( Bounds* _THIS ) -{ - return _THIS->noUpper; -} - - - -/* - * g e t N V - */ -static inline int Bounds_getNV( Bounds* _THIS ) -{ - return _THIS->n; -} - - -/* - * g e t N F V - */ -static inline int Bounds_getNFV( Bounds* _THIS ) -{ - return Bounds_getNumberOfType( _THIS,ST_EQUALITY ); -} - - -/* - * g e t N B V - */ -static inline int Bounds_getNBV( Bounds* _THIS ) -{ - return Bounds_getNumberOfType( _THIS,ST_BOUNDED ); -} - - -/* - * g e t N U V - */ -static inline int Bounds_getNUV( Bounds* _THIS ) -{ - return Bounds_getNumberOfType( _THIS,ST_UNBOUNDED ); -} - - -/* - * g e t N F R - */ -static inline int Bounds_getNFR( Bounds* _THIS ) -{ - return Indexlist_getLength( _THIS->freee ); -} - - -/* - * g e t N F X - */ -static inline int Bounds_getNFX( Bounds* _THIS ) -{ - return Indexlist_getLength( _THIS->fixed ); -} - - -/* - * g e t F r e e - */ -static inline Indexlist* Bounds_getFree( Bounds* _THIS ) -{ - return _THIS->freee; -} - - -/* - * g e t F i x e d - */ -static inline Indexlist* Bounds_getFixed( Bounds* _THIS ) -{ - return _THIS->fixed; -} - - -END_NAMESPACE_QPOASES - -#endif /* QPOASES_BOUNDS_H */ - - -/* - * end of file - */ diff --git a/third_party/acados/include/qpOASES_e/Constants.h b/third_party/acados/include/qpOASES_e/Constants.h deleted file mode 100644 index 13c777d75b83a3..00000000000000 --- a/third_party/acados/include/qpOASES_e/Constants.h +++ /dev/null @@ -1,134 +0,0 @@ -/* - * This file is part of qpOASES. - * - * qpOASES -- An Implementation of the Online Active Set Strategy. - * Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka, - * Christian Kirches et al. All rights reserved. - * - * qpOASES is free software; you can redistribute it and/or - * modify it under the terms of the GNU Lesser General Public - * License as published by the Free Software Foundation; either - * version 2.1 of the License, or (at your option) any later version. - * - * qpOASES is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. - * See the GNU Lesser General Public License for more details. - * - * You should have received a copy of the GNU Lesser General Public - * License along with qpOASES; if not, write to the Free Software - * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA - * - */ - - -/** - * \file include/qpOASES_e/Constants.h - * \author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches - * \version 3.1embedded - * \date 2007-2015 - * - * Definition of all global constants. - */ - - -#ifndef QPOASES_CONSTANTS_H -#define QPOASES_CONSTANTS_H - - -#include - -#ifdef __CODE_GENERATION__ - - #define CONVERTTOSTRINGAUX(x) #x - #define CONVERTTOSTRING(x) CONVERTTOSTRINGAUX(x) - - #ifndef QPOASES_CUSTOM_INTERFACE - #include "acado_qpoases3_interface.h" - #else - #include CONVERTTOSTRING(QPOASES_CUSTOM_INTERFACE) - #endif - -#endif - - -BEGIN_NAMESPACE_QPOASES - - -#ifndef __EXTERNAL_DIMENSIONS__ - - /*#define QPOASES_NVMAX 50 - #define QPOASES_NCMAX 100*/ - #define QPOASES_NVMAX 287 - #define QPOASES_NCMAX 709 - -#endif /* __EXTERNAL_DIMENSIONS__ */ - - -/** Maximum number of variables within a QP formulation. - * Note: this value has to be positive! */ -#define NVMAX QPOASES_NVMAX - -/** Maximum number of constraints within a QP formulation. - * Note: this value has to be positive! */ -#define NCMAX QPOASES_NCMAX - -#if ( QPOASES_NVMAX > QPOASES_NCMAX ) -#define NVCMAX QPOASES_NVMAX -#else -#define NVCMAX QPOASES_NCMAX -#endif - -#if ( QPOASES_NVMAX > QPOASES_NCMAX ) -#define NVCMIN QPOASES_NCMAX -#else -#define NVCMIN QPOASES_NVMAX -#endif - - -/** Maximum number of QPs in a sequence solved by means of the OQP interface. - * Note: this value has to be positive! */ -#define NQPMAX 1000 - - -/** Numerical value of machine precision (min eps, s.t. 1+eps > 1). - * Note: this value has to be positive! */ -#ifndef __CODE_GENERATION__ - - #ifdef __USE_SINGLE_PRECISION__ - static const real_t QPOASES_EPS = 1.193e-07; - #else - static const real_t QPOASES_EPS = 2.221e-16; - #endif /* __USE_SINGLE_PRECISION__ */ - -#endif /* __CODE_GENERATION__ */ - - -/** Numerical value of zero (for situations in which it would be - * unreasonable to compare with 0.0). - * Note: this value has to be positive! */ -static const real_t QPOASES_ZERO = 1.0e-25; - -/** Numerical value of infinity (e.g. for non-existing bounds). - * Note: this value has to be positive! */ -static const real_t QPOASES_INFTY = 1.0e20; - -/** Tolerance to used for isEqual, isZero etc. - * Note: this value has to be positive! */ -static const real_t QPOASES_TOL = 1.0e-25; - - -/** Maximum number of characters within a string. - * Note: this value should be at least 41! */ -#define QPOASES_MAX_STRING_LENGTH 160 - - -END_NAMESPACE_QPOASES - - -#endif /* QPOASES_CONSTANTS_H */ - - -/* - * end of file - */ diff --git a/third_party/acados/include/qpOASES_e/ConstraintProduct.h b/third_party/acados/include/qpOASES_e/ConstraintProduct.h deleted file mode 100644 index eb5400c6cb91fa..00000000000000 --- a/third_party/acados/include/qpOASES_e/ConstraintProduct.h +++ /dev/null @@ -1,62 +0,0 @@ -/* - * This file is part of qpOASES. - * - * qpOASES -- An Implementation of the Online Active Set Strategy. - * Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka, - * Christian Kirches et al. All rights reserved. - * - * qpOASES is free software; you can redistribute it and/or - * modify it under the terms of the GNU Lesser General Public - * License as published by the Free Software Foundation; either - * version 2.1 of the License, or (at your option) any later version. - * - * qpOASES is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. - * See the GNU Lesser General Public License for more details. - * - * You should have received a copy of the GNU Lesser General Public - * License along with qpOASES; if not, write to the Free Software - * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA - * - */ - - -/** - * \file include/qpOASES_e/ConstraintProduct.h - * \author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches (thanks to D. Kwame Minde Kufoalor) - * \version 3.1embedded - * \date 2009-2015 - * - * Declaration of the ConstraintProduct interface which allows to specify a - * user-defined function for evaluating the constraint product at the - * current iterate to speed-up QP solution in case of a specially structured - * constraint matrix. - */ - - - -#ifndef QPOASES_CONSTRAINT_PRODUCT_H -#define QPOASES_CONSTRAINT_PRODUCT_H - - -BEGIN_NAMESPACE_QPOASES - - -/** - * \brief Interface for specifying user-defined evaluations of constraint products. - * - * An interface which allows to specify a user-defined function for evaluating the - * constraint product at the current iterate to speed-up QP solution in case - * of a specially structured constraint matrix. - * - * \author Hans Joachim Ferreau (thanks to Kwame Minde Kufoalor) - * \version 3.1embedded - * \date 2009-2015 - */ -typedef int(*ConstraintProduct)( int, const real_t* const, real_t* const ); - - -END_NAMESPACE_QPOASES - -#endif /* QPOASES_CONSTRAINT_PRODUCT_H */ diff --git a/third_party/acados/include/qpOASES_e/Constraints.h b/third_party/acados/include/qpOASES_e/Constraints.h deleted file mode 100644 index 8aca10d5d979a8..00000000000000 --- a/third_party/acados/include/qpOASES_e/Constraints.h +++ /dev/null @@ -1,535 +0,0 @@ -/* - * This file is part of qpOASES. - * - * qpOASES -- An Implementation of the Online Active Set Strategy. - * Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka, - * Christian Kirches et al. All rights reserved. - * - * qpOASES is free software; you can redistribute it and/or - * modify it under the terms of the GNU Lesser General Public - * License as published by the Free Software Foundation; either - * version 2.1 of the License, or (at your option) any later version. - * - * qpOASES is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. - * See the GNU Lesser General Public License for more details. - * - * You should have received a copy of the GNU Lesser General Public - * License along with qpOASES; if not, write to the Free Software - * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA - * - */ - - -/** - * \file include/qpOASES_e/Constraints.h - * \author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches - * \version 3.1embedded - * \date 2007-2015 - * - * Declaration of the Constraints class designed to manage working sets of - * constraints within a QProblem. - */ - - -#ifndef QPOASES_CONSTRAINTS_H -#define QPOASES_CONSTRAINTS_H - - -#include - - -BEGIN_NAMESPACE_QPOASES - - -/** - * \brief Manages working sets of constraints. - * - * This class manages working sets of constraints by storing - * index sets and other status information. - * - * \author Hans Joachim Ferreau - * \version 3.1embedded - * \date 2007-2015 - */ -typedef struct -{ - Indexlist *active; /**< Index list of active constraints. */ - Indexlist *inactive; /**< Index list of inactive constraints. */ - - Indexlist *shiftedActive; /**< Memory for shifting active constraints. */ - Indexlist *shiftedInactive; /**< Memory for shifting inactive constraints. */ - - Indexlist *rotatedActive; /**< Memory for rotating active constraints. */ - Indexlist *rotatedInactive; /**< Memory for rotating inactive constraints. */ - - SubjectToType *type; /**< Type of constraints. */ - SubjectToStatus *status; /**< Status of constraints. */ - - SubjectToType *typeTmp; /**< Temp memory for type of constraints. */ - SubjectToStatus *statusTmp; /**< Temp memory for status of constraints. */ - - BooleanType noLower; /**< This flag indicates if there is no lower bound on any variable. */ - BooleanType noUpper; /**< This flag indicates if there is no upper bound on any variable. */ - - int n; /**< Total number of constraints. */ -} Constraints; - -int Constraints_calculateMemorySize( int n); - -char *Constraints_assignMemory(int n, Constraints **mem, void *raw_memory); - -Constraints *Constraints_createMemory( int n ); - -/** Constructor which takes the number of constraints. */ -void ConstraintsCON( Constraints* _THIS, - int _n /**< Number of constraints. */ - ); - -/** Copies all members from given rhs object. - * \return SUCCESSFUL_RETURN */ -void ConstraintsCPY( Constraints* FROM, - Constraints* TO - ); - - -/** Initialises object with given number of constraints. - * \return SUCCESSFUL_RETURN \n - RET_INVALID_ARGUMENTS */ -returnValue Constraints_init( Constraints* _THIS, - int _n /**< Number of constraints. */ - ); - - -/** Initially adds number of a new (i.e. not yet in the list) constraint to - * a given index set. - * \return SUCCESSFUL_RETURN \n - RET_SETUP_CONSTRAINT_FAILED \n - RET_INDEX_OUT_OF_BOUNDS \n - RET_INVALID_ARGUMENTS */ -returnValue Constraints_setupConstraint( Constraints* _THIS, - int number, /**< Number of new constraint. */ - SubjectToStatus _status /**< Status of new constraint. */ - ); - -/** Initially adds all enabled numbers of new (i.e. not yet in the list) constraints to - * to the index set of inactive constraints; the order depends on the SujectToType - * of each index. Only disabled constraints are added to index set of disabled constraints! - * \return SUCCESSFUL_RETURN \n - RET_SETUP_CONSTRAINT_FAILED */ -returnValue Constraints_setupAllInactive( Constraints* _THIS - ); - -/** Initially adds all enabled numbers of new (i.e. not yet in the list) constraints to - * to the index set of active constraints (on their lower bounds); the order depends on the SujectToType - * of each index. Only disabled constraints are added to index set of disabled constraints! - * \return SUCCESSFUL_RETURN \n - RET_SETUP_CONSTRAINT_FAILED */ -returnValue Constraints_setupAllLower( Constraints* _THIS - ); - -/** Initially adds all enabled numbers of new (i.e. not yet in the list) constraints to - * to the index set of active constraints (on their upper bounds); the order depends on the SujectToType - * of each index. Only disabled constraints are added to index set of disabled constraints! - * \return SUCCESSFUL_RETURN \n - RET_SETUP_CONSTRAINT_FAILED */ -returnValue Constraints_setupAllUpper( Constraints* _THIS - ); - - -/** Moves index of a constraint from index list of active to that of inactive constraints. - * \return SUCCESSFUL_RETURN \n - RET_MOVING_CONSTRAINT_FAILED */ -returnValue Constraints_moveActiveToInactive( Constraints* _THIS, - int number /**< Number of constraint to become inactive. */ - ); - -/** Moves index of a constraint from index list of inactive to that of active constraints. - * \return SUCCESSFUL_RETURN \n - RET_MOVING_CONSTRAINT_FAILED */ -returnValue Constraints_moveInactiveToActive( Constraints* _THIS, - int number, /**< Number of constraint to become active. */ - SubjectToStatus _status /**< Status of constraint to become active. */ - ); - -/** Flip fixed constraint. - * \return SUCCESSFUL_RETURN \n - RET_MOVING_CONSTRAINT_FAILED \n - RET_INDEX_OUT_OF_BOUNDS */ -returnValue Constraints_flipFixed( Constraints* _THIS, - int number - ); - - -/** Returns the number of constraints. - * \return Number of constraints. */ -static inline int Constraints_getNC( Constraints* _THIS - ); - -/** Returns the number of implicit equality constraints. - * \return Number of implicit equality constraints. */ -static inline int Constraints_getNEC( Constraints* _THIS - ); - -/** Returns the number of "real" inequality constraints. - * \return Number of "real" inequality constraints. */ -static inline int Constraints_getNIC( Constraints* _THIS - ); - -/** Returns the number of unbounded constraints (i.e. without any bounds). - * \return Number of unbounded constraints (i.e. without any bounds). */ -static inline int Constraints_getNUC( Constraints* _THIS - ); - -/** Returns the number of active constraints. - * \return Number of active constraints. */ -static inline int Constraints_getNAC( Constraints* _THIS - ); - -/** Returns the number of inactive constraints. - * \return Number of inactive constraints. */ -static inline int Constraints_getNIAC( Constraints* _THIS - ); - - -/** Returns a pointer to active constraints index list. - * \return Pointer to active constraints index list. */ -static inline Indexlist* Constraints_getActive( Constraints* _THIS - ); - -/** Returns a pointer to inactive constraints index list. - * \return Pointer to inactive constraints index list. */ -static inline Indexlist* Constraints_getInactive( Constraints* _THIS - ); - - -/** Returns number of constraints with given SubjectTo type. - * \return Number of constraints with given type. */ -static inline int Constraints_getNumberOfType( Constraints* _THIS, - SubjectToType _type /**< Type of constraints' bound. */ - ); - - -/** Returns type of constraints' bound. - * \return Type of constraints' bound \n - RET_INDEX_OUT_OF_BOUNDS */ -static inline SubjectToType Constraints_getType( Constraints* _THIS, - int i /**< Number of constraints' bound. */ - ); - -/** Returns status of constraints' bound. - * \return Status of constraints' bound \n - ST_UNDEFINED */ -static inline SubjectToStatus Constraints_getStatus( Constraints* _THIS, - int i /**< Number of constraints' bound. */ - ); - - -/** Sets type of constraints' bound. - * \return SUCCESSFUL_RETURN \n - RET_INDEX_OUT_OF_BOUNDS */ -static inline returnValue Constraints_setType( Constraints* _THIS, - int i, /**< Number of constraints' bound. */ - SubjectToType value /**< Type of constraints' bound. */ - ); - -/** Sets status of constraints' bound. - * \return SUCCESSFUL_RETURN \n - RET_INDEX_OUT_OF_BOUNDS */ -static inline returnValue Constraints_setStatus( Constraints* _THIS, - int i, /**< Number of constraints' bound. */ - SubjectToStatus value /**< Status of constraints' bound. */ - ); - - -/** Sets status of lower constraints' bounds. */ -static inline void Constraints_setNoLower( Constraints* _THIS, - BooleanType _status /**< Status of lower constraints' bounds. */ - ); - -/** Sets status of upper constraints' bounds. */ -static inline void Constraints_setNoUpper( Constraints* _THIS, - BooleanType _status /**< Status of upper constraints' bounds. */ - ); - - -/** Returns status of lower constraints' bounds. - * \return BT_TRUE if there is no lower constraints' bound on any variable. */ -static inline BooleanType Constraints_hasNoLower( Constraints* _THIS - ); - -/** Returns status of upper bounds. - * \return BT_TRUE if there is no upper constraints' bound on any variable. */ -static inline BooleanType Constraints_hasNoUpper( Constraints* _THIS - ); - - -/** Shifts forward type and status of all constraints by a given - * offset. This offset has to lie within the range [0,n/2] and has to - * be an integer divisor of the total number of constraints n. - * Type and status of the first \ constraints is thrown away, - * type and status of the last \ constraints is doubled, - * e.g. for offset = 2: \n - * shift( {c/b1,c/b2,c/b3,c/b4,c/b5,c/b6} ) = {c/b3,c/b4,c/b5,c/b6,c/b5,c/b6} - * \return SUCCESSFUL_RETURN \n - RET_INDEX_OUT_OF_BOUNDS \n - RET_INVALID_ARGUMENTS \n - RET_SHIFTING_FAILED */ -returnValue Constraints_shift( Constraints* _THIS, - int offset /**< Shift offset within the range [0,n/2] and integer divisor of n. */ - ); - -/** Rotates forward type and status of all constraints by a given - * offset. This offset has to lie within the range [0,n]. - * Example for offset = 2: \n - * rotate( {c1,c2,c3,c4,c5,c6} ) = {c3,c4,c5,c6,c1,c2} - * \return SUCCESSFUL_RETURN \n - RET_INDEX_OUT_OF_BOUNDS \n - RET_ROTATING_FAILED */ -returnValue Constraints_rotate( Constraints* _THIS, - int offset /**< Rotation offset within the range [0,n]. */ - ); - - -/** Prints information on constraints object - * (in particular, lists of inactive and active constraints. - * \return SUCCESSFUL_RETURN \n - RET_INDEXLIST_CORRUPTED */ -returnValue Constraints_print( Constraints* _THIS - ); - - -/** Initially adds all numbers of new (i.e. not yet in the list) bounds to - * to the index set corresponding to the desired status; - * the order depends on the SujectToType of each index. - * \return SUCCESSFUL_RETURN \n - RET_SETUP_CONSTRAINT_FAILED */ -returnValue Constraints_setupAll( Constraints* _THIS, - SubjectToStatus _status /**< Desired initial status for all bounds. */ - ); - - -/** Adds the index of a new constraint to index set. - * \return SUCCESSFUL_RETURN \n - RET_ADDINDEX_FAILED \n - RET_INVALID_ARGUMENTS */ -returnValue Constraints_addIndex( Constraints* _THIS, - Indexlist* const indexlist, /**< Index list to which the new index shall be added. */ - int newnumber, /**< Number of new constraint. */ - SubjectToStatus newstatus /**< Status of new constraint. */ - ); - -/** Removes the index of a constraint from index set. - * \return SUCCESSFUL_RETURN \n - RET_REMOVEINDEX_FAILED \n - RET_INVALID_ARGUMENTS */ -returnValue Constraints_removeIndex( Constraints* _THIS, - Indexlist* const indexlist, /**< Index list from which the new index shall be removed. */ - int removenumber /**< Number of constraint to be removed. */ - ); - -/** Swaps the indices of two constraints or bounds within the index set. - * \return SUCCESSFUL_RETURN \n - RET_SWAPINDEX_FAILED \n - RET_INVALID_ARGUMENTS */ -returnValue Constraints_swapIndex( Constraints* _THIS, - Indexlist* const indexlist, /**< Index list in which the indices shold be swapped. */ - int number1, /**< Number of first constraint. */ - int number2 /**< Number of second constraint. */ - ); - - - -/* - * g e t N u m b e r O f T y p e - */ -static inline int Constraints_getNumberOfType( Constraints* _THIS, SubjectToType _type ) -{ - int i; - int numberOfType = 0; - - if ( _THIS->type != 0 ) - { - for( i=0; i<_THIS->n; ++i ) - if ( _THIS->type[i] == _type ) - ++numberOfType; - } - - return numberOfType; -} - - -/* - * g e t T y p e - */ -static inline SubjectToType Constraints_getType( Constraints* _THIS, int i ) -{ - if ( ( i >= 0 ) && ( i < _THIS->n ) ) - return _THIS->type[i]; - - return ST_UNKNOWN; -} - - -/* - * g e t S t a t u s - */ -static inline SubjectToStatus Constraints_getStatus( Constraints* _THIS, int i ) -{ - if ( ( i >= 0 ) && ( i < _THIS->n ) ) - return _THIS->status[i]; - - return ST_UNDEFINED; -} - - -/* - * s e t T y p e - */ -static inline returnValue Constraints_setType( Constraints* _THIS, int i, SubjectToType value ) -{ - if ( ( i >= 0 ) && ( i < _THIS->n ) ) - { - _THIS->type[i] = value; - return SUCCESSFUL_RETURN; - } - else - return THROWERROR( RET_INDEX_OUT_OF_BOUNDS ); -} - - -/* - * s e t S t a t u s - */ -static inline returnValue Constraints_setStatus( Constraints* _THIS, int i, SubjectToStatus value ) -{ - if ( ( i >= 0 ) && ( i < _THIS->n ) ) - { - _THIS->status[i] = value; - return SUCCESSFUL_RETURN; - } - else - return THROWERROR( RET_INDEX_OUT_OF_BOUNDS ); -} - - -/* - * s e t N o L o w e r - */ -static inline void Constraints_setNoLower( Constraints* _THIS, BooleanType _status ) -{ - _THIS->noLower = _status; -} - - -/* - * s e t N o U p p e r - */ -static inline void Constraints_setNoUpper( Constraints* _THIS, BooleanType _status ) -{ - _THIS->noUpper = _status; -} - - -/* - * h a s N o L o w e r - */ -static inline BooleanType Constraints_hasNoLower( Constraints* _THIS ) -{ - return _THIS->noLower; -} - - -/* - * h a s N o U p p p e r - */ -static inline BooleanType Constraints_hasNoUpper( Constraints* _THIS ) -{ - return _THIS->noUpper; -} - - - -/* - * g e t N C - */ -static inline int Constraints_getNC( Constraints* _THIS ) -{ - return _THIS->n; -} - - -/* - * g e t N E C - */ -static inline int Constraints_getNEC( Constraints* _THIS ) -{ - return Constraints_getNumberOfType( _THIS,ST_EQUALITY ); -} - - -/* - * g e t N I C - */ -static inline int Constraints_getNIC( Constraints* _THIS ) -{ - return Constraints_getNumberOfType( _THIS,ST_BOUNDED ); -} - - -/* - * g e t N U C - */ -static inline int Constraints_getNUC( Constraints* _THIS ) -{ - return Constraints_getNumberOfType( _THIS,ST_UNBOUNDED ); -} - - -/* - * g e t N A C - */ -static inline int Constraints_getNAC( Constraints* _THIS ) -{ - return Indexlist_getLength( _THIS->active ); -} - - -/* - * g e t N I A C - */ -static inline int Constraints_getNIAC( Constraints* _THIS ) -{ - return Indexlist_getLength( _THIS->inactive ); -} - - - -/* - * g e t A c t i v e - */ -static inline Indexlist* Constraints_getActive( Constraints* _THIS ) -{ - return _THIS->active; -} - - -/* - * g e t I n a c t i v e - */ -static inline Indexlist* Constraints_getInactive( Constraints* _THIS ) -{ - return _THIS->inactive; -} - - -END_NAMESPACE_QPOASES - - -#endif /* QPOASES_CONSTRAINTS_H */ - - -/* - * end of file - */ diff --git a/third_party/acados/include/qpOASES_e/Flipper.h b/third_party/acados/include/qpOASES_e/Flipper.h deleted file mode 100644 index 63526a30f368e4..00000000000000 --- a/third_party/acados/include/qpOASES_e/Flipper.h +++ /dev/null @@ -1,129 +0,0 @@ -/* - * This file is part of qpOASES. - * - * qpOASES -- An Implementation of the Online Active Set Strategy. - * Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka, - * Christian Kirches et al. All rights reserved. - * - * qpOASES is free software; you can redistribute it and/or - * modify it under the terms of the GNU Lesser General Public - * License as published by the Free Software Foundation; either - * version 2.1 of the License, or (at your option) any later version. - * - * qpOASES is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. - * See the GNU Lesser General Public License for more details. - * - * You should have received a copy of the GNU Lesser General Public - * License along with qpOASES; if not, write to the Free Software - * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA - * - */ - - -/** - * \file include/qpOASES_e/Flipper.h - * \author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches - * \version 3.1embedded - * \date 2007-2015 - * - * Declaration of the Options class designed to manage user-specified - * options for solving a QProblem. - */ - - -#ifndef QPOASES_FLIPPER_H -#define QPOASES_FLIPPER_H - - -#include -#include - - -BEGIN_NAMESPACE_QPOASES - - -/** - * \brief Auxiliary class for storing a copy of the current matrix factorisations. - * - * This auxiliary class stores a copy of the current matrix factorisations. It - * is used by the classe QProblemB and QProblem in case flipping bounds are enabled. - * - * \author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches - * \version 3.1embedded - * \date 2007-2015 - */ -typedef struct -{ - Bounds *bounds; /**< Data structure for problem's bounds. */ - Constraints *constraints; /**< Data structure for problem's constraints. */ - - real_t *R; /**< Cholesky factor of H (i.e. H = R^T*R). */ - real_t *Q; /**< Orthonormal quadratic matrix, A = [0 T]*Q'. */ - real_t *T; /**< Reverse triangular matrix, A = [0 T]*Q'. */ - - unsigned int nV; /**< Number of variables. */ - unsigned int nC; /**< Number of constraints. */ -} Flipper; - -int Flipper_calculateMemorySize( unsigned int nV, unsigned int nC ); - -char *Flipper_assignMemory( unsigned int nV, unsigned int nC, Flipper **mem, void *raw_memory ); - -Flipper *Flipper_createMemory( unsigned int nV, unsigned int nC ); - -/** Constructor which takes the number of bounds and constraints. */ -void FlipperCON( Flipper* _THIS, - unsigned int _nV, /**< Number of bounds. */ - unsigned int _nC /**< Number of constraints. */ - ); - -/** Copy constructor (deep copy). */ -void FlipperCPY( Flipper* FROM, - Flipper* TO - ); - -/** Initialises object with given number of bounds and constraints. - * \return SUCCESSFUL_RETURN \n - RET_INVALID_ARGUMENTS */ -returnValue Flipper_init( Flipper* _THIS, - unsigned int _nV, /**< Number of bounds. */ - unsigned int _nC /**< Number of constraints. */ - ); - - -/** Copies current values to non-null arguments (assumed to be allocated with consistent size). - * \return SUCCESSFUL_RETURN */ -returnValue Flipper_get( Flipper* _THIS, - Bounds* const _bounds, /**< Pointer to new bounds. */ - real_t* const R, /**< New matrix R. */ - Constraints* const _constraints, /**< Pointer to new constraints. */ - real_t* const _Q, /**< New matrix Q. */ - real_t* const _T /**< New matrix T. */ - ); - -/** Assigns new values to non-null arguments. - * \return SUCCESSFUL_RETURN */ -returnValue Flipper_set( Flipper* _THIS, - const Bounds* const _bounds, /**< Pointer to new bounds. */ - const real_t* const _R, /**< New matrix R. */ - const Constraints* const _constraints, /**< Pointer to new constraints. */ - const real_t* const _Q, /**< New matrix Q. */ - const real_t* const _T /**< New matrix T. */ - ); - -/** Returns dimension of matrix T. - * \return Dimension of matrix T. */ -unsigned int Flipper_getDimT( Flipper* _THIS ); - - -END_NAMESPACE_QPOASES - - -#endif /* QPOASES_FLIPPER_H */ - - -/* - * end of file - */ diff --git a/third_party/acados/include/qpOASES_e/Indexlist.h b/third_party/acados/include/qpOASES_e/Indexlist.h deleted file mode 100644 index 02d259d63d03db..00000000000000 --- a/third_party/acados/include/qpOASES_e/Indexlist.h +++ /dev/null @@ -1,221 +0,0 @@ -/* - * This file is part of qpOASES. - * - * qpOASES -- An Implementation of the Online Active Set Strategy. - * Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka, - * Christian Kirches et al. All rights reserved. - * - * qpOASES is free software; you can redistribute it and/or - * modify it under the terms of the GNU Lesser General Public - * License as published by the Free Software Foundation; either - * version 2.1 of the License, or (at your option) any later version. - * - * qpOASES is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. - * See the GNU Lesser General Public License for more details. - * - * You should have received a copy of the GNU Lesser General Public - * License along with qpOASES; if not, write to the Free Software - * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA - * - */ - - -/** - * \file include/qpOASES_e/Indexlist.h - * \author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches - * \version 3.1embedded - * \date 2007-2015 - * - * Declaration of the Indexlist class designed to manage index lists of - * constraints and bounds within a SubjectTo object. - */ - - -#ifndef QPOASES_INDEXLIST_H -#define QPOASES_INDEXLIST_H - - -#include - - -BEGIN_NAMESPACE_QPOASES - - -/** - * \brief Stores and manages index lists. - * - * This class manages index lists of active/inactive bounds/constraints. - * - * \author Hans Joachim Ferreau - * \version 3.1embedded - * \date 2007-2015 - */ -typedef struct -{ - int *number; /**< Array to store numbers of constraints or bounds. */ - int *iSort; /**< Index list to sort vector \a number */ - - int length; /**< Length of index list. */ - int first; /**< Physical index of first element. */ - int last; /**< Physical index of last element. */ - int lastusedindex; /**< Physical index of last entry in index list. */ - int physicallength; /**< Physical length of index list. */ -} Indexlist; - -int Indexlist_calculateMemorySize( int n); - -char *Indexlist_assignMemory(int n, Indexlist **mem, void *raw_memory); - -Indexlist *Indexlist_createMemory( int n ); - -/** Constructor which takes the desired physical length of the index list. */ -void IndexlistCON( Indexlist* _THIS, - int n /**< Physical length of index list. */ - ); - -/** Copies all members from given rhs object. - * \return SUCCESSFUL_RETURN */ -void IndexlistCPY( Indexlist* FROM, - Indexlist* TO - ); - -/** Initialises index list of desired physical length. - * \return SUCCESSFUL_RETURN \n - RET_INVALID_ARGUMENTS */ -returnValue Indexlist_init( Indexlist* _THIS, - int n /**< Physical length of index list. */ - ); - -/** Creates an array of all numbers within the index set in correct order. - * \return SUCCESSFUL_RETURN \n - RET_INDEXLIST_CORRUPTED */ -returnValue Indexlist_getNumberArray( Indexlist* _THIS, - int** const numberarray /**< Output: Array of numbers (NULL on error). */ - ); - -/** Creates an array of all numbers within the index set in correct order. - * \return SUCCESSFUL_RETURN \n - RET_INDEXLIST_CORRUPTED */ -returnValue Indexlist_getISortArray( Indexlist* _THIS, - int** const iSortArray /**< Output: iSort Array. */ - ); - - -/** Determines the index within the index list at which a given number is stored. - * \return >= 0: Index of given number. \n - -1: Number not found. */ -int Indexlist_getIndex( Indexlist* _THIS, - int givennumber /**< Number whose index shall be determined. */ - ); - -/** Returns the number stored at a given physical index. - * \return >= 0: Number stored at given physical index. \n - -RET_INDEXLIST_OUTOFBOUNDS */ -static inline int Indexlist_getNumber( Indexlist* _THIS, - int physicalindex /**< Physical index of the number to be returned. */ - ); - - -/** Returns the current length of the index list. - * \return Current length of the index list. */ -static inline int Indexlist_getLength( Indexlist* _THIS - ); - -/** Returns last number within the index list. - * \return Last number within the index list. */ -static inline int Indexlist_getLastNumber( Indexlist* _THIS - ); - - -/** Adds number to index list. - * \return SUCCESSFUL_RETURN \n - RET_INDEXLIST_MUST_BE_REORDERD \n - RET_INDEXLIST_EXCEEDS_MAX_LENGTH */ -returnValue Indexlist_addNumber( Indexlist* _THIS, - int addnumber /**< Number to be added. */ - ); - -/** Removes number from index list. - * \return SUCCESSFUL_RETURN */ -returnValue Indexlist_removeNumber( Indexlist* _THIS, - int removenumber /**< Number to be removed. */ - ); - -/** Swaps two numbers within index list. - * \return SUCCESSFUL_RETURN */ -returnValue Indexlist_swapNumbers( Indexlist* _THIS, - int number1, /**< First number for swapping. */ - int number2 /**< Second number for swapping. */ - ); - -/** Determines if a given number is contained in the index set. - * \return BT_TRUE iff number is contain in the index set */ -static inline BooleanType Indexlist_isMember( Indexlist* _THIS, - int _number /**< Number to be tested for membership. */ - ); - - -/** Find first index j between -1 and length in sorted list of indices - * iSort such that numbers[iSort[j]] <= i < numbers[iSort[j+1]]. Uses - * bisection. - * \return j. */ -int Indexlist_findInsert( Indexlist* _THIS, - int i - ); - - - -/* - * g e t N u m b e r - */ -static inline int Indexlist_getNumber( Indexlist* _THIS, int physicalindex ) -{ - /* consistency check */ - if ( ( physicalindex < 0 ) || ( physicalindex > _THIS->length ) ) - return -RET_INDEXLIST_OUTOFBOUNDS; - - return _THIS->number[physicalindex]; -} - - -/* - * g e t L e n g t h - */ -static inline int Indexlist_getLength( Indexlist* _THIS ) -{ - return _THIS->length; -} - - -/* - * g e t L a s t N u m b e r - */ -static inline int Indexlist_getLastNumber( Indexlist* _THIS ) -{ - return _THIS->number[_THIS->length-1]; -} - - -/* - * g e t L a s t N u m b e r - */ -static inline BooleanType Indexlist_isMember( Indexlist* _THIS, int _number ) -{ - if ( Indexlist_getIndex( _THIS,_number ) >= 0 ) - return BT_TRUE; - else - return BT_FALSE; -} - - -END_NAMESPACE_QPOASES - - -#endif /* QPOASES_INDEXLIST_H */ - - -/* - * end of file - */ diff --git a/third_party/acados/include/qpOASES_e/Matrices.h b/third_party/acados/include/qpOASES_e/Matrices.h deleted file mode 100644 index e2a46b3a9daeda..00000000000000 --- a/third_party/acados/include/qpOASES_e/Matrices.h +++ /dev/null @@ -1,287 +0,0 @@ -/* - * This file is part of qpOASES. - * - * qpOASES -- An Implementation of the Online Active Set Strategy. - * Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka, - * Christian Kirches et al. All rights reserved. - * - * qpOASES is free software; you can redistribute it and/or - * modify it under the terms of the GNU Lesser General Public - * License as published by the Free Software Foundation; either - * version 2.1 of the License, or (at your option) any later version. - * - * qpOASES is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. - * See the GNU Lesser General Public License for more details. - * - * You should have received a copy of the GNU Lesser General Public - * License along with qpOASES; if not, write to the Free Software - * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA - * - */ - - -/** - * \file include/qpOASES_e/Matrices.h - * \author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches - * \version 3.1embedded - * \date 2009-2015 - * - * Various matrix classes: Abstract base matrix class, dense and sparse matrices, - * including symmetry exploiting specializations. - */ - - - -#ifndef QPOASES_MATRICES_H -#define QPOASES_MATRICES_H - -#ifdef __USE_SINGLE_PRECISION__ - - // single precision - #define GEMM sgemm_ - #define GEMV sgemv_ -// #define SYR ssyr_ -// #define SYR2 ssyr2_ - #define POTRF spotrf_ - -#else - - // double precision - #define GEMM dgemm_ - #define GEMV dgemv_ -// #define SYR dsyr_ -// #define SYR2 dsyr2_ - #define POTRF dpotrf_ - -#endif /* __USE_SINGLE_PRECISION__ */ - - -#ifdef EXTERNAL_BLAS - // double precision - void dgemm_(char *ta, char *tb, int *m, int *n, int *k, double *alpha, double *A, int *lda, double *B, int ldb, double *beta, double *C, int *ldc); - void dgemv_(char *ta, int *m, int *n, double *alpha, double *A, int *lda, double *x, int *incx, double *beta, double *y, int *incy); - void dpotrf_(char *uplo, int *m, double *A, int *lda, int *info); - // single precision - void sgemm_(char *ta, char *tb, int *m, int *n, int *k, float *alpha, float *A, int *lda, float *B, int ldb, float *beta, float *C, int *ldc); - void sgemv_(char *ta, int *m, int *n, float *alpha, float *A, int *lda, float *x, int *incx, float *beta, float *y, int *incy); - void spotrf_(char *uplo, int *m, float *A, int *lda, int *info); -#else - /** Performs one of the matrix-matrix operation in double precision. */ - void dgemm_ ( const char*, const char*, const unsigned long*, const unsigned long*, const unsigned long*, - const double*, const double*, const unsigned long*, const double*, const unsigned long*, - const double*, double*, const unsigned long* ); - /** Performs one of the matrix-matrix operation in single precision. */ - void sgemm_ ( const char*, const char*, const unsigned long*, const unsigned long*, const unsigned long*, - const float*, const float*, const unsigned long*, const float*, const unsigned long*, - const float*, float*, const unsigned long* ); - - /** Calculates the Cholesky factorization of a real symmetric positive definite matrix in double precision. */ - void dpotrf_ ( const char *, const unsigned long *, double *, const unsigned long *, long * ); - /** Calculates the Cholesky factorization of a real symmetric positive definite matrix in single precision. */ - void spotrf_ ( const char *, const unsigned long *, float *, const unsigned long *, long * ); - -#endif - - /** Performs a symmetric rank 1 operation in double precision. */ -// void dsyr_ ( const char *, const unsigned long *, const double *, const double *, -// const unsigned long *, double *, const unsigned long *); - /** Performs a symmetric rank 1 operation in single precision. */ -// void ssyr_ ( const char *, const unsigned long *, const float *, const float *, -// const unsigned long *, float *, const unsigned long *); - - /** Performs a symmetric rank 2 operation in double precision. */ -// void dsyr2_ ( const char *, const unsigned long *, const double *, const double *, -// const unsigned long *, const double *, const unsigned long *, double *, const unsigned long *); - /** Performs a symmetric rank 2 operation in single precision. */ -// void ssyr2_ ( const char *, const unsigned long *, const float *, const float *, -// const unsigned long *, const float *, const unsigned long *, float *, const unsigned long *); - - -#include - - -BEGIN_NAMESPACE_QPOASES - - -/** - * \brief Interfaces matrix-vector operations tailored to general dense matrices. - * - * Dense matrix class (row major format). - * - * \author Andreas Potschka, Christian Kirches, Hans Joachim Ferreau - * \version 3.1embedded - * \date 2011-2015 - */ -typedef struct -{ - real_t *val; /**< Vector of entries. */ - int nRows; /**< Number of rows. */ - int nCols; /**< Number of columns. */ - int leaDim; /**< Leading dimension. */ -} DenseMatrix; - -int DenseMatrix_calculateMemorySize( int m, int n ); - -char *DenseMatrix_assignMemory( int m, int n, DenseMatrix **mem, void *raw_memory ); - -DenseMatrix *DenseMatrix_createMemory( int m, int n ); - -/** Constructor from vector of values. - * Caution: Data pointer must be valid throughout lifetime - */ -void DenseMatrixCON( DenseMatrix* _THIS, - int m, /**< Number of rows. */ - int n, /**< Number of columns. */ - int lD, /**< Leading dimension. */ - real_t *v /**< Values. */ - ); - -void DenseMatrixCPY( DenseMatrix* FROM, - DenseMatrix* TO - ); - - -/** Frees all internal memory. */ -void DenseMatrix_free( DenseMatrix* _THIS ); - -/** Constructor from vector of values. - * Caution: Data pointer must be valid throughout lifetime - */ -returnValue DenseMatrix_init( DenseMatrix* _THIS, - int m, /**< Number of rows. */ - int n, /**< Number of columns. */ - int lD, /**< Leading dimension. */ - real_t *v /**< Values. */ - ); - - -/** Returns i-th diagonal entry. - * \return i-th diagonal entry */ -real_t DenseMatrix_diag( DenseMatrix* _THIS, - int i /**< Index. */ - ); - -/** Checks whether matrix is square and diagonal. - * \return BT_TRUE iff matrix is square and diagonal; \n - * BT_FALSE otherwise. */ -BooleanType DenseMatrix_isDiag( DenseMatrix* _THIS ); - -/** Get the N-norm of the matrix - * \return N-norm of the matrix - */ -real_t DenseMatrix_getNorm( DenseMatrix* _THIS, - int type /**< Norm type, 1: one-norm, 2: Euclidean norm. */ - ); - -/** Get the N-norm of a row - * \return N-norm of row \a rNum - */ -real_t DenseMatrix_getRowNorm( DenseMatrix* _THIS, - int rNum, /**< Row number. */ - int type /**< Norm type, 1: one-norm, 2: Euclidean norm. */ - ); - -/** Retrieve indexed entries of matrix row multiplied by alpha. - * \return SUCCESSFUL_RETURN */ -returnValue DenseMatrix_getRow( DenseMatrix* _THIS, - int rNum, /**< Row number. */ - const Indexlist* const icols, /**< Index list specifying columns. */ - real_t alpha, /**< Scalar factor. */ - real_t *row /**< Output row vector. */ - ); - -/** Retrieve indexed entries of matrix column multiplied by alpha. - * \return SUCCESSFUL_RETURN */ - returnValue DenseMatrix_getCol( DenseMatrix* _THIS, - int cNum, /**< Column number. */ - const Indexlist* const irows, /**< Index list specifying rows. */ - real_t alpha, /**< Scalar factor. */ - real_t *col /**< Output column vector. */ - ); - -/** Evaluate Y=alpha*A*X + beta*Y. - * \return SUCCESSFUL_RETURN. */ -returnValue DenseMatrix_times( DenseMatrix* _THIS, - int xN, /**< Number of vectors to multiply. */ - real_t alpha, /**< Scalar factor for matrix vector product. */ - const real_t *x, /**< Input vector to be multiplied. */ - int xLD, /**< Leading dimension of input x. */ - real_t beta, /**< Scalar factor for y. */ - real_t *y, /**< Output vector of results. */ - int yLD /**< Leading dimension of output y. */ - ); - -/** Evaluate Y=alpha*A'*X + beta*Y. - * \return SUCCESSFUL_RETURN. */ -returnValue DenseMatrix_transTimes( DenseMatrix* _THIS, - int xN, /**< Number of vectors to multiply. */ - real_t alpha, /**< Scalar factor for matrix vector product. */ - const real_t *x, /**< Input vector to be multiplied. */ - int xLD, /**< Leading dimension of input x. */ - real_t beta, /**< Scalar factor for y. */ - real_t *y, /**< Output vector of results. */ - int yLD /**< Leading dimension of output y. */ - ); - -/** Evaluate matrix vector product with submatrix given by Indexlist. - * \return SUCCESSFUL_RETURN */ - returnValue DenseMatrix_subTimes( DenseMatrix* _THIS, - const Indexlist* const irows, /**< Index list specifying rows. */ - const Indexlist* const icols, /**< Index list specifying columns. */ - int xN, /**< Number of vectors to multiply. */ - real_t alpha, /**< Scalar factor for matrix vector product. */ - const real_t *x, /**< Input vector to be multiplied. */ - int xLD, /**< Leading dimension of input x. */ - real_t beta, /**< Scalar factor for y. */ - real_t *y, /**< Output vector of results. */ - int yLD, /**< Leading dimension of output y. */ - BooleanType yCompr /**< Compressed storage for y. */ - ); - -/** Evaluate matrix transpose vector product. - * \return SUCCESSFUL_RETURN */ -returnValue DenseMatrix_subTransTimes( DenseMatrix* _THIS, - const Indexlist* const irows, /**< Index list specifying rows. */ - const Indexlist* const icols, /**< Index list specifying columns. */ - int xN, /**< Number of vectors to multiply. */ - real_t alpha, /**< Scalar factor for matrix vector product. */ - const real_t *x, /**< Input vector to be multiplied. */ - int xLD, /**< Leading dimension of input x. */ - real_t beta, /**< Scalar factor for y. */ - real_t *y, /**< Output vector of results. */ - int yLD /**< Leading dimension of output y. */ - ); - -/** Adds given offset to diagonal of matrix. - * \return SUCCESSFUL_RETURN \n - RET_NO_DIAGONAL_AVAILABLE */ -returnValue DenseMatrix_addToDiag( DenseMatrix* _THIS, - real_t alpha /**< Diagonal offset. */ - ); - -/** Prints matrix to screen. - * \return SUCCESSFUL_RETURN */ -returnValue DenseMatrix_print( DenseMatrix* _THIS - ); - -static inline real_t* DenseMatrix_getVal( DenseMatrix* _THIS ) { return _THIS->val; } - -/** Compute bilinear form y = x'*H*x using submatrix given by index list. - * \return SUCCESSFUL_RETURN */ -returnValue DenseMatrix_bilinear( DenseMatrix* _THIS, - const Indexlist* const icols, /**< Index list specifying columns of x. */ - int xN, /**< Number of vectors to multiply. */ - const real_t *x, /**< Input vector to be multiplied (uncompressed). */ - int xLD, /**< Leading dimension of input x. */ - real_t *y, /**< Output vector of results (compressed). */ - int yLD /**< Leading dimension of output y. */ - ); - - - -END_NAMESPACE_QPOASES - - -#endif /* QPOASES_MATRICES_H */ diff --git a/third_party/acados/include/qpOASES_e/MessageHandling.h b/third_party/acados/include/qpOASES_e/MessageHandling.h deleted file mode 100644 index fe5524948a8b2c..00000000000000 --- a/third_party/acados/include/qpOASES_e/MessageHandling.h +++ /dev/null @@ -1,544 +0,0 @@ -/* - * This file is part of qpOASES. - * - * qpOASES -- An Implementation of the Online Active Set Strategy. - * Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka, - * Christian Kirches et al. All rights reserved. - * - * qpOASES is free software; you can redistribute it and/or - * modify it under the terms of the GNU Lesser General Public - * License as published by the Free Software Foundation; either - * version 2.1 of the License, or (at your option) any later version. - * - * qpOASES is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. - * See the GNU Lesser General Public License for more details. - * - * You should have received a copy of the GNU Lesser General Public - * License along with qpOASES; if not, write to the Free Software - * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA - * - */ - - -/** - * \file include/qpOASES_e/MessageHandling.h - * \author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches (thanks to Leonard Wirsching) - * \version 3.1embedded - * \date 2007-2015 - * - * Declaration of the MessageHandling class including global return values. - */ - - -#ifndef QPOASES_MESSAGEHANDLING_H -#define QPOASES_MESSAGEHANDLING_H - - -#include -#include -#include -#include - -#include - - -BEGIN_NAMESPACE_QPOASES - - -/** Default file to display messages. */ -#define stdFile stderr - - -/** - * \brief Defines all symbols for global return values. - * - * The enumeration returnValueType defines all symbols for global return values. - * Important: All return values are assumed to be nonnegative! - * - * \author Hans Joachim Ferreau - */ -typedef enum -{ -TERMINAL_LIST_ELEMENT = -1, /**< Terminal list element, internal usage only! */ -/* miscellaneous */ -SUCCESSFUL_RETURN = 0, /**< Successful return. */ -RET_DIV_BY_ZERO, /**< Division by zero. */ -RET_INDEX_OUT_OF_BOUNDS, /**< Index out of bounds. */ -RET_INVALID_ARGUMENTS, /**< At least one of the arguments is invalid. */ -RET_ERROR_UNDEFINED, /**< Error number undefined. */ -RET_WARNING_UNDEFINED, /**< Warning number undefined. */ -RET_INFO_UNDEFINED, /**< Info number undefined. */ -RET_EWI_UNDEFINED, /**< Error/warning/info number undefined. */ -RET_AVAILABLE_WITH_LINUX_ONLY, /**< This function is available under Linux only. */ -RET_UNKNOWN_BUG, /**< The error occurred is not yet known. */ -RET_PRINTLEVEL_CHANGED, /**< Print level changed. (10) */ -RET_NOT_YET_IMPLEMENTED, /**< Requested function is not yet implemented in this version of qpOASES. */ -/* Indexlist */ -RET_INDEXLIST_MUST_BE_REORDERD, /**< Index list has to be reordered. */ -RET_INDEXLIST_EXCEEDS_MAX_LENGTH, /**< Index list exceeds its maximal physical length. */ -RET_INDEXLIST_CORRUPTED, /**< Index list corrupted. */ -RET_INDEXLIST_OUTOFBOUNDS, /**< Physical index is out of bounds. */ -RET_INDEXLIST_ADD_FAILED, /**< Adding indices from another index set failed. */ -RET_INDEXLIST_INTERSECT_FAILED, /**< Intersection with another index set failed. */ -/* SubjectTo / Bounds / Constraints */ -RET_INDEX_ALREADY_OF_DESIRED_STATUS, /**< Index is already of desired status. (18) */ -RET_ADDINDEX_FAILED, /**< Adding index to index set failed. */ -RET_REMOVEINDEX_FAILED, /**< Removing index from index set failed. (20) */ -RET_SWAPINDEX_FAILED, /**< Cannot swap between different indexsets. */ -RET_NOTHING_TO_DO, /**< Nothing to do. */ -RET_SETUP_BOUND_FAILED, /**< Setting up bound index failed. */ -RET_SETUP_CONSTRAINT_FAILED, /**< Setting up constraint index failed. */ -RET_MOVING_BOUND_FAILED, /**< Moving bound between index sets failed. */ -RET_MOVING_CONSTRAINT_FAILED, /**< Moving constraint between index sets failed. */ -RET_SHIFTING_FAILED, /**< Shifting of bounds/constraints failed. */ -RET_ROTATING_FAILED, /**< Rotating of bounds/constraints failed. */ -/* QProblem */ -RET_QPOBJECT_NOT_SETUP, /**< The QP object has not been setup correctly, use another constructor. */ -RET_QP_ALREADY_INITIALISED, /**< QProblem has already been initialised. (30) */ -RET_NO_INIT_WITH_STANDARD_SOLVER, /**< Initialisation via extern QP solver is not yet implemented. */ -RET_RESET_FAILED, /**< Reset failed. */ -RET_INIT_FAILED, /**< Initialisation failed. */ -RET_INIT_FAILED_TQ, /**< Initialisation failed due to TQ factorisation. */ -RET_INIT_FAILED_CHOLESKY, /**< Initialisation failed due to Cholesky decomposition. */ -RET_INIT_FAILED_HOTSTART, /**< Initialisation failed! QP could not be solved! */ -RET_INIT_FAILED_INFEASIBILITY, /**< Initial QP could not be solved due to infeasibility! */ -RET_INIT_FAILED_UNBOUNDEDNESS, /**< Initial QP could not be solved due to unboundedness! */ -RET_INIT_FAILED_REGULARISATION, /**< Initialisation failed as Hessian matrix could not be regularised. */ -RET_INIT_SUCCESSFUL, /**< Initialisation done. (40) */ -RET_OBTAINING_WORKINGSET_FAILED, /**< Failed to obtain working set for auxiliary QP. */ -RET_SETUP_WORKINGSET_FAILED, /**< Failed to setup working set for auxiliary QP. */ -RET_SETUP_AUXILIARYQP_FAILED, /**< Failed to setup auxiliary QP for initialised homotopy. */ -RET_NO_CHOLESKY_WITH_INITIAL_GUESS, /**< Externally computed Cholesky factor cannot be combined with an initial guess. */ -RET_NO_EXTERN_SOLVER, /**< No extern QP solver available. */ -RET_QP_UNBOUNDED, /**< QP is unbounded. */ -RET_QP_INFEASIBLE, /**< QP is infeasible. */ -RET_QP_NOT_SOLVED, /**< Problems occurred while solving QP with standard solver. */ -RET_QP_SOLVED, /**< QP successfully solved. */ -RET_UNABLE_TO_SOLVE_QP, /**< Problems occurred while solving QP. (50) */ -RET_INITIALISATION_STARTED, /**< Starting problem initialisation... */ -RET_HOTSTART_FAILED, /**< Unable to perform homotopy due to internal error. */ -RET_HOTSTART_FAILED_TO_INIT, /**< Unable to initialise problem. */ -RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED, /**< Unable to perform homotopy as previous QP is not solved. */ -RET_ITERATION_STARTED, /**< Iteration... */ -RET_SHIFT_DETERMINATION_FAILED, /**< Determination of shift of the QP data failed. */ -RET_STEPDIRECTION_DETERMINATION_FAILED, /**< Determination of step direction failed. */ -RET_STEPLENGTH_DETERMINATION_FAILED, /**< Determination of step direction failed. */ -RET_OPTIMAL_SOLUTION_FOUND, /**< Optimal solution of neighbouring QP found. */ -RET_HOMOTOPY_STEP_FAILED, /**< Unable to perform homotopy step. (60) */ -RET_HOTSTART_STOPPED_INFEASIBILITY, /**< Premature homotopy termination because QP is infeasible. */ -RET_HOTSTART_STOPPED_UNBOUNDEDNESS, /**< Premature homotopy termination because QP is unbounded. */ -RET_WORKINGSET_UPDATE_FAILED, /**< Unable to update working sets according to initial guesses. */ -RET_MAX_NWSR_REACHED, /**< Maximum number of working set recalculations performed. */ -RET_CONSTRAINTS_NOT_SPECIFIED, /**< Problem does comprise constraints! You also have to specify new constraints' bounds. */ -RET_INVALID_FACTORISATION_FLAG, /**< Invalid factorisation flag. */ -RET_UNABLE_TO_SAVE_QPDATA, /**< Unable to save QP data. */ -RET_STEPDIRECTION_FAILED_TQ, /**< Abnormal termination due to TQ factorisation. */ -RET_STEPDIRECTION_FAILED_CHOLESKY, /**< Abnormal termination due to Cholesky factorisation. */ -RET_CYCLING_DETECTED, /**< Cycling detected. (70) */ -RET_CYCLING_NOT_RESOLVED, /**< Cycling cannot be resolved, QP probably infeasible. */ -RET_CYCLING_RESOLVED, /**< Cycling probably resolved. */ -RET_STEPSIZE, /**< For displaying performed stepsize. */ -RET_STEPSIZE_NONPOSITIVE, /**< For displaying non-positive stepsize. */ -RET_SETUPSUBJECTTOTYPE_FAILED, /**< Setup of SubjectToTypes failed. */ -RET_ADDCONSTRAINT_FAILED, /**< Addition of constraint to working set failed. */ -RET_ADDCONSTRAINT_FAILED_INFEASIBILITY, /**< Addition of constraint to working set failed (due to QP infeasibility). */ -RET_ADDBOUND_FAILED, /**< Addition of bound to working set failed. */ -RET_ADDBOUND_FAILED_INFEASIBILITY, /**< Addition of bound to working set failed (due to QP infeasibility). */ -RET_REMOVECONSTRAINT_FAILED, /**< Removal of constraint from working set failed. (80) */ -RET_REMOVEBOUND_FAILED, /**< Removal of bound from working set failed. */ -RET_REMOVE_FROM_ACTIVESET, /**< Removing from active set... */ -RET_ADD_TO_ACTIVESET, /**< Adding to active set... */ -RET_REMOVE_FROM_ACTIVESET_FAILED, /**< Removing from active set failed. */ -RET_ADD_TO_ACTIVESET_FAILED, /**< Adding to active set failed. */ -RET_CONSTRAINT_ALREADY_ACTIVE, /**< Constraint is already active. */ -RET_ALL_CONSTRAINTS_ACTIVE, /**< All constraints are active, no further constraint can be added. */ -RET_LINEARLY_DEPENDENT, /**< New bound/constraint is linearly dependent. */ -RET_LINEARLY_INDEPENDENT, /**< New bound/constraint is linearly independent. */ -RET_LI_RESOLVED, /**< Linear independence of active constraint matrix successfully resolved. (90) */ -RET_ENSURELI_FAILED, /**< Failed to ensure linear independence of active constraint matrix. */ -RET_ENSURELI_FAILED_TQ, /**< Abnormal termination due to TQ factorisation. */ -RET_ENSURELI_FAILED_NOINDEX, /**< QP is infeasible. */ -RET_ENSURELI_FAILED_CYCLING, /**< QP is infeasible. */ -RET_BOUND_ALREADY_ACTIVE, /**< Bound is already active. */ -RET_ALL_BOUNDS_ACTIVE, /**< All bounds are active, no further bound can be added. */ -RET_CONSTRAINT_NOT_ACTIVE, /**< Constraint is not active. */ -RET_BOUND_NOT_ACTIVE, /**< Bound is not active. */ -RET_HESSIAN_NOT_SPD, /**< Projected Hessian matrix not positive definite. */ -RET_HESSIAN_INDEFINITE, /**< Hessian matrix is indefinite. (100) */ -RET_MATRIX_SHIFT_FAILED, /**< Unable to update matrices or to transform vectors. */ -RET_MATRIX_FACTORISATION_FAILED, /**< Unable to calculate new matrix factorisations. */ -RET_PRINT_ITERATION_FAILED, /**< Unable to print information on current iteration. */ -RET_NO_GLOBAL_MESSAGE_OUTPUTFILE, /**< No global message output file initialised. */ -RET_DISABLECONSTRAINTS_FAILED, /**< Unable to disbable constraints. */ -RET_ENABLECONSTRAINTS_FAILED, /**< Unable to enbable constraints. */ -RET_ALREADY_ENABLED, /**< Bound or constraint is already enabled. */ -RET_ALREADY_DISABLED, /**< Bound or constraint is already disabled. */ -RET_NO_HESSIAN_SPECIFIED, /**< No Hessian matrix has been specified. */ -RET_USING_REGULARISATION, /**< Using regularisation as Hessian matrix is not positive definite. (110) */ -RET_EPS_MUST_BE_POSITVE, /**< Eps for regularisation must be sufficiently positive. */ -RET_REGSTEPS_MUST_BE_POSITVE, /**< Maximum number of regularisation steps must be non-negative. */ -RET_HESSIAN_ALREADY_REGULARISED, /**< Hessian has been already regularised. */ -RET_CANNOT_REGULARISE_IDENTITY, /**< Identity Hessian matrix cannot be regularised. */ -RET_CANNOT_REGULARISE_SPARSE, /**< Sparse matrix cannot be regularised as diagonal entry is missing. */ -RET_NO_REGSTEP_NWSR, /**< No additional regularisation step could be performed due to limits. */ -RET_FEWER_REGSTEPS_NWSR, /**< Fewer additional regularisation steps have been performed due to limits. */ -RET_CHOLESKY_OF_ZERO_HESSIAN, /**< Cholesky decomposition of (unregularised) zero Hessian matrix. */ -RET_ZERO_HESSIAN_ASSUMED, /**< Zero Hessian matrix assumed as null pointer passed without specifying hessianType. */ -RET_CONSTRAINTS_ARE_NOT_SCALED, /**< (no longer in use) (120) */ -RET_INITIAL_BOUNDS_STATUS_NYI, /**< (no longer in use) */ -RET_ERROR_IN_CONSTRAINTPRODUCT, /**< Error in user-defined constraint product function. */ -RET_FIX_BOUNDS_FOR_LP, /**< All initial bounds must be fixed when solving an (unregularised) LP. */ -RET_USE_REGULARISATION_FOR_LP, /**< Set options.enableRegularisation=BT_TRUE for solving LPs. */ -/* SQProblem */ -RET_UPDATEMATRICES_FAILED, /**< Unable to update QP matrices. */ -RET_UPDATEMATRICES_FAILED_AS_QP_NOT_SOLVED, /**< Unable to update matrices as previous QP is not solved. */ -/* Utils */ -RET_UNABLE_TO_OPEN_FILE, /**< Unable to open file. */ -RET_UNABLE_TO_WRITE_FILE, /**< Unable to write into file. */ -RET_UNABLE_TO_READ_FILE, /**< Unable to read from file. */ -RET_FILEDATA_INCONSISTENT, /**< File contains inconsistent data. (130) */ -/* Options */ -RET_OPTIONS_ADJUSTED, /**< Options needed to be adjusted for consistency reasons. */ -/* SolutionAnalysis */ -RET_UNABLE_TO_ANALYSE_QPROBLEM, /**< Unable to analyse (S)QProblem(B) object. */ -/* Benchmark */ -RET_NWSR_SET_TO_ONE, /**< Maximum number of working set changes was set to 1. */ -RET_UNABLE_TO_READ_BENCHMARK, /**< Unable to read benchmark data. */ -RET_BENCHMARK_ABORTED, /**< Benchmark aborted. */ -RET_INITIAL_QP_SOLVED, /**< Initial QP solved. */ -RET_QP_SOLUTION_STARTED, /**< Solving QP... */ -RET_BENCHMARK_SUCCESSFUL, /**< Benchmark terminated successfully. */ -/* Sparse matrices */ -RET_NO_DIAGONAL_AVAILABLE, /**< Sparse matrix does not have entries on full diagonal. */ -RET_DIAGONAL_NOT_INITIALISED, /**< Diagonal data of sparse matrix has not been initialised. (140) */ -/* Dropping of infeasible constraints */ -RET_ENSURELI_DROPPED, /**< Linear independence resolved by dropping blocking constraint. */ -/* Simple exitflags */ -RET_SIMPLE_STATUS_P1, /**< QP problem could not be solved within given number of iterations. */ -RET_SIMPLE_STATUS_P0, /**< QP problem solved. */ -RET_SIMPLE_STATUS_M1, /**< QP problem could not be solved due to an internal error. */ -RET_SIMPLE_STATUS_M2, /**< QP problem is infeasible (and thus could not be solved). */ -RET_SIMPLE_STATUS_M3 /**< QP problem is unbounded (and thus could not be solved). (146) */ -} returnValue; - - -/** - * \brief Data structure for entries in global message list. - * - * Data structure for entries in global message list. - * - * \author Hans Joachim Ferreau - * \version 3.1embedded - * \date 2007-2015 - */ -typedef struct -{ - returnValue key; /**< Global return value. */ - const char* data; /**< Corresponding message. */ - VisibilityStatus globalVisibilityStatus; /**< Determines if message can be printed. - * If this value is set to VS_HIDDEN, no message is printed! */ -} ReturnValueList; - - - -/** - * \brief Handles all kind of error messages, warnings and other information. - * - * This class handles all kinds of messages (errors, warnings, infos) initiated - * by qpOASES modules and stores the corresponding global preferences. - * - * \author Hans Joachim Ferreau (thanks to Leonard Wirsching) - * \version 3.1embedded - * \date 2007-2015 - */ -typedef struct -{ - VisibilityStatus errorVisibility; /**< Error messages visible? */ - VisibilityStatus warningVisibility; /**< Warning messages visible? */ - VisibilityStatus infoVisibility; /**< Info messages visible? */ - - FILE* outputFile; /**< Output file for messages. */ - - int errorCount; /**< Counts number of errors (for nicer output only). */ -} MessageHandling; - - - -/** Constructor which takes the desired output file and desired visibility states. */ -void MessageHandlingCON( MessageHandling* _THIS, - FILE* _outputFile, /**< Output file. */ - VisibilityStatus _errorVisibility, /**< Visibility status for error messages. */ - VisibilityStatus _warningVisibility,/**< Visibility status for warning messages. */ - VisibilityStatus _infoVisibility /**< Visibility status for info messages. */ - ); - -void MessageHandlingCPY( MessageHandling* FROM, - MessageHandling* TO - ); - - -/** Prints an error message(a simplified macro THROWERROR is also provided). \n - * Errors are definied as abnormal events which cause an immediate termination of the current (sub) function. - * Errors of a sub function should be commented by the calling function by means of a warning message - * (if this error does not cause an error of the calling function, either)! - * \return Error number returned by sub function call - */ -returnValue MessageHandling_throwError( MessageHandling* _THIS, - returnValue Enumber, /**< Error number returned by sub function call. */ - const char* additionaltext, /**< Additional error text (0, if none). */ - const char* functionname, /**< Name of function which caused the error. */ - const char* filename, /**< Name of file which caused the error. */ - const unsigned long linenumber, /**< Number of line which caused the error.incompatible binary file */ - VisibilityStatus localVisibilityStatus /**< Determines (locally) if error message can be printed to stderr. - * If GLOBAL visibility status of the message is set to VS_HIDDEN, - * no message is printed, anyway! */ - ); - -/** Prints a warning message (a simplified macro THROWWARNING is also provided). - * Warnings are definied as abnormal events which does NOT cause an immediate termination of the current (sub) function. - * \return Warning number returned by sub function call - */ -returnValue MessageHandling_throwWarning( MessageHandling* _THIS, - returnValue Wnumber, /**< Warning number returned by sub function call. */ - const char* additionaltext, /**< Additional warning text (0, if none). */ - const char* functionname, /**< Name of function which caused the warning. */ - const char* filename, /**< Name of file which caused the warning. */ - const unsigned long linenumber, /**< Number of line which caused the warning. */ - VisibilityStatus localVisibilityStatus /**< Determines (locally) if warning message can be printed to stderr. - * If GLOBAL visibility status of the message is set to VS_HIDDEN, - * no message is printed, anyway! */ - ); - -/** Prints a info message (a simplified macro THROWINFO is also provided). - * \return Info number returned by sub function call - */ -returnValue MessageHandling_throwInfo( MessageHandling* _THIS, - returnValue Inumber, /**< Info number returned by sub function call. */ - const char* additionaltext, /**< Additional warning text (0, if none). */ - const char* functionname, /**< Name of function which submitted the info. */ - const char* filename, /**< Name of file which submitted the info. */ - const unsigned long linenumber, /**< Number of line which submitted the info. */ - VisibilityStatus localVisibilityStatus /**< Determines (locally) if info message can be printed to stderr. - * If GLOBAL visibility status of the message is set to VS_HIDDEN, - * no message is printed, anyway! */ - ); - - -/** Resets all preferences to default values. - * \return SUCCESSFUL_RETURN */ -returnValue MessageHandling_reset( MessageHandling* _THIS ); - - -/** Prints a complete list of all messages to output file. - * \return SUCCESSFUL_RETURN */ -returnValue MessageHandling_listAllMessages( MessageHandling* _THIS ); - - -/** Returns visibility status for error messages. - * \return Visibility status for error messages. */ -static inline VisibilityStatus MessageHandling_getErrorVisibilityStatus( MessageHandling* _THIS ); - -/** Returns visibility status for warning messages. - * \return Visibility status for warning messages. */ -static inline VisibilityStatus MessageHandling_getWarningVisibilityStatus( MessageHandling* _THIS ); - -/** Returns visibility status for info messages. - * \return Visibility status for info messages. */ -static inline VisibilityStatus MessageHandling_getInfoVisibilityStatus( MessageHandling* _THIS ); - -/** Returns pointer to output file. - * \return Pointer to output file. */ -static inline FILE* MessageHandling_getOutputFile( MessageHandling* _THIS ); - -/** Returns error count value. - * \return Error count value. */ -static inline int MessageHandling_getErrorCount( MessageHandling* _THIS ); - - -/** Changes visibility status for error messages. */ -static inline void MessageHandling_setErrorVisibilityStatus( MessageHandling* _THIS, - VisibilityStatus _errorVisibility /**< New visibility status for error messages. */ - ); - -/** Changes visibility status for warning messages. */ -static inline void MessageHandling_setWarningVisibilityStatus( MessageHandling* _THIS, - VisibilityStatus _warningVisibility /**< New visibility status for warning messages. */ - ); - -/** Changes visibility status for info messages. */ -static inline void MessageHandling_setInfoVisibilityStatus( MessageHandling* _THIS, - VisibilityStatus _infoVisibility /**< New visibility status for info messages. */ - ); - -/** Changes output file for messages. */ -static inline void MessageHandling_setOutputFile( MessageHandling* _THIS, - FILE* _outputFile /**< New output file for messages. */ - ); - -/** Changes error count. - * \return SUCCESSFUL_RETURN \n - * RET_INVALID_ARGUMENT */ -static inline returnValue MessageHandling_setErrorCount( MessageHandling* _THIS, - int _errorCount /**< New error count value. */ - ); - -/** Provides message text corresponding to given \a returnValue. - * \return String containing message text. */ -const char* MessageHandling_getErrorCodeMessage( MessageHandling* _THIS, - const returnValue _returnValue - ); - - -returnValue MessageHandling_throwMessage( MessageHandling* _THIS, - returnValue RETnumber, /**< Error/warning/info number returned by sub function call. */ - const char* additionaltext, /**< Additional warning text (0, if none). */ - const char* functionname, /**< Name of function which caused the error/warning/info. */ - const char* filename, /**< Name of file which caused the error/warning/info. */ - const unsigned long linenumber, /**< Number of line which caused the error/warning/info. */ - VisibilityStatus localVisibilityStatus, /**< Determines (locally) if info message can be printed to stderr. - * If GLOBAL visibility status of the message is set to VS_HIDDEN, - * no message is printed, anyway! */ - const char* RETstring /**< Leading string of error/warning/info message. */ - ); - - -#ifndef __FILE__ - /** Ensures that __FILE__ macro is defined. */ - #define __FILE__ 0 -#endif - -#ifndef __LINE__ - /** Ensures that __LINE__ macro is defined. */ - #define __LINE__ 0 -#endif - -/** Define __FUNC__ macro providing current function for debugging. */ -/*#define __FUNC__ 0*/ -#define __FUNC__ ("(no function name provided)") -/*#define __FUNC__ __func__*/ -/*#define __FUNC__ __FUNCTION__*/ - - -/** Short version of throwError with default values, only returnValue is needed */ -#define THROWERROR(retval) ( MessageHandling_throwError( qpOASES_getGlobalMessageHandler(),(retval),0,__FUNC__,__FILE__,__LINE__,VS_VISIBLE) ) - -/** Short version of throwWarning with default values, only returnValue is needed */ -#define THROWWARNING(retval) ( MessageHandling_throwWarning( qpOASES_getGlobalMessageHandler(),(retval),0,__FUNC__,__FILE__,__LINE__,VS_VISIBLE) ) - -/** Short version of throwInfo with default values, only returnValue is needed */ -#define THROWINFO(retval) ( MessageHandling_throwInfo( qpOASES_getGlobalMessageHandler(),(retval),0,__FUNC__,__FILE__,__LINE__,VS_VISIBLE) ) - - -/** Returns a pointer to global message handler. - * \return Pointer to global message handler. - */ -MessageHandling* qpOASES_getGlobalMessageHandler( ); - - -/* - * g e t E r r o r V i s i b i l i t y S t a t u s - */ -static inline VisibilityStatus MessageHandling_getErrorVisibilityStatus( MessageHandling* _THIS ) -{ - return _THIS->errorVisibility; -} - - -/* - * g e t W a r n i n g V i s i b i l i t y S t a t u s - */ -static inline VisibilityStatus MessageHandling_getWarningVisibilityStatus( MessageHandling* _THIS ) -{ - return _THIS->warningVisibility; -} - - -/* - * g e t I n f o V i s i b i l i t y S t a t u s - */ -static inline VisibilityStatus MessageHandling_getInfoVisibilityStatus( MessageHandling* _THIS ) -{ - return _THIS->infoVisibility; -} - - -/* - * g e t O u t p u t F i l e - */ -static inline FILE* MessageHandling_getOutputFile( MessageHandling* _THIS ) -{ - return _THIS->outputFile; -} - - -/* - * g e t E r r o r C o u n t - */ -static inline int MessageHandling_getErrorCount( MessageHandling* _THIS ) -{ - return _THIS->errorCount; -} - - -/* - * s e t E r r o r V i s i b i l i t y S t a t u s - */ -static inline void MessageHandling_setErrorVisibilityStatus( MessageHandling* _THIS, VisibilityStatus _errorVisibility ) -{ - _THIS->errorVisibility = _errorVisibility; -} - - -/* - * s e t W a r n i n g V i s i b i l i t y S t a t u s - */ -static inline void MessageHandling_setWarningVisibilityStatus( MessageHandling* _THIS, VisibilityStatus _warningVisibility ) -{ - _THIS->warningVisibility = _warningVisibility; -} - - -/* - * s e t I n f o V i s i b i l i t y S t a t u s - */ -static inline void MessageHandling_setInfoVisibilityStatus( MessageHandling* _THIS, VisibilityStatus _infoVisibility ) -{ - _THIS->infoVisibility = _infoVisibility; -} - - -/* - * s e t O u t p u t F i l e - */ -static inline void MessageHandling_setOutputFile( MessageHandling* _THIS, FILE* _outputFile ) -{ - _THIS->outputFile = _outputFile; -} - - -/* - * s e t E r r o r C o u n t - */ -static inline returnValue MessageHandling_setErrorCount( MessageHandling* _THIS, int _errorCount ) -{ - if ( _errorCount >= 0 ) - { - _THIS->errorCount = _errorCount; - return SUCCESSFUL_RETURN; - } - else - return RET_INVALID_ARGUMENTS; -} - - -END_NAMESPACE_QPOASES - - -#endif /* QPOASES_MESSAGEHANDLING_H */ - - -/* - * end of file - */ diff --git a/third_party/acados/include/qpOASES_e/Options.h b/third_party/acados/include/qpOASES_e/Options.h deleted file mode 100644 index ca8086d2cc64ed..00000000000000 --- a/third_party/acados/include/qpOASES_e/Options.h +++ /dev/null @@ -1,153 +0,0 @@ -/* - * This file is part of qpOASES. - * - * qpOASES -- An Implementation of the Online Active Set Strategy. - * Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka, - * Christian Kirches et al. All rights reserved. - * - * qpOASES is free software; you can redistribute it and/or - * modify it under the terms of the GNU Lesser General Public - * License as published by the Free Software Foundation; either - * version 2.1 of the License, or (at your option) any later version. - * - * qpOASES is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. - * See the GNU Lesser General Public License for more details. - * - * You should have received a copy of the GNU Lesser General Public - * License along with qpOASES; if not, write to the Free Software - * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA - * - */ - - -/** - * \file include/qpOASES_e/Options.h - * \author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches - * \version 3.1embedded - * \date 2007-2015 - * - * Declaration of the Options class designed to manage user-specified - * options for solving a QProblem. - */ - - -#ifndef QPOASES_OPTIONS_H -#define QPOASES_OPTIONS_H - - -#include - - -BEGIN_NAMESPACE_QPOASES - - -/** - * \brief Manages all user-specified options for solving QPs. - * - * This class manages all user-specified options used for solving - * quadratic programs. - * - * \author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches - * \version 3.1embedded - * \date 2007-2015 - */ -typedef struct -{ - PrintLevel printLevel; /**< Print level. */ - - BooleanType enableRamping; /**< Specifies whether ramping shall be enabled or not. */ - BooleanType enableFarBounds; /**< Specifies whether far bounds shall be used or not. */ - BooleanType enableFlippingBounds; /**< Specifies whether flipping bounds shall be used or not. */ - BooleanType enableRegularisation; /**< Specifies whether Hessian matrix shall be regularised in case semi-definiteness is detected. */ - BooleanType enableFullLITests; /**< Specifies whether condition-hardened LI test shall be used or not. */ - BooleanType enableNZCTests; /**< Specifies whether nonzero curvature tests shall be used. */ - int enableDriftCorrection; /**< Specifies the frequency of drift corrections (0 = off). */ - int enableCholeskyRefactorisation; /**< Specifies the frequency of full refactorisation of proj. Hessian (otherwise updates). */ - BooleanType enableEqualities; /**< Specifies whether equalities shall be always treated as active constraints. */ - - real_t terminationTolerance; /**< Termination tolerance. */ - real_t boundTolerance; /**< Lower/upper (constraints') bound tolerance (an inequality constraint whose lower and upper bounds differ by less is regarded to be an equality constraint). */ - real_t boundRelaxation; /**< Offset for relaxing (constraints') bounds at beginning of an initial homotopy. It is also as initial value for far bounds. */ - real_t epsNum; /**< Numerator tolerance for ratio tests. */ - real_t epsDen; /**< Denominator tolerance for ratio tests. */ - real_t maxPrimalJump; /**< Maximum allowed jump in primal variables in nonzero curvature tests. */ - real_t maxDualJump; /**< Maximum allowed jump in dual variables in linear independence tests. */ - - real_t initialRamping; /**< Start value for Ramping Strategy. */ - real_t finalRamping; /**< Final value for Ramping Strategy. */ - real_t initialFarBounds; /**< Initial size of Far Bounds. */ - real_t growFarBounds; /**< Factor to grow Far Bounds. */ - SubjectToStatus initialStatusBounds; /**< Initial status of bounds at first iteration. */ - real_t epsFlipping; /**< Tolerance of squared Cholesky diagonal factor which triggers flipping bound. */ - int numRegularisationSteps; /**< Maximum number of successive regularisation steps. */ - real_t epsRegularisation; /**< Scaling factor of identity matrix used for Hessian regularisation. */ - int numRefinementSteps; /**< Maximum number of iterative refinement steps. */ - real_t epsIterRef; /**< Early termination tolerance for iterative refinement. */ - real_t epsLITests; /**< Tolerance for linear independence tests. */ - real_t epsNZCTests; /**< Tolerance for nonzero curvature tests. */ - - BooleanType enableDropInfeasibles; /**< ... */ - int dropBoundPriority; /**< ... */ - int dropEqConPriority; /**< ... */ - int dropIneqConPriority; /**< ... */ -} Options; - - -void OptionsCON( Options* _THIS - ); - -/** Copies all members from given rhs object. - * \return SUCCESSFUL_RETURN */ -void OptionsCPY( Options* FROM, - Options* TO - ); - - -/** Sets all options to default values. - * \return SUCCESSFUL_RETURN */ -returnValue Options_setToDefault( Options* _THIS - ); - -/** Sets all options to values resulting in maximum reliabilty. - * \return SUCCESSFUL_RETURN */ -returnValue Options_setToReliable( Options* _THIS - ); - -/** Sets all options to values resulting in minimum solution time. - * \return SUCCESSFUL_RETURN */ -returnValue Options_setToMPC( Options* _THIS - ); - -/** Same as setToMPC( ), for ensuring backwards compatibility. - * \return SUCCESSFUL_RETURN */ -returnValue Options_setToFast( Options* _THIS - ); - - -/** Ensures that all options have consistent values by automatically - * adjusting inconsistent ones. - * Note: This routine cannot (and does not try to) ensure that values - * are set to reasonable values that make the QP solution work! - * \return SUCCESSFUL_RETURN \n - * RET_OPTIONS_ADJUSTED */ -returnValue Options_ensureConsistency( Options* _THIS - ); - - -/** Prints values of all options. - * \return SUCCESSFUL_RETURN */ -returnValue Options_print( Options* _THIS - ); - - -END_NAMESPACE_QPOASES - - -#endif /* QPOASES_OPTIONS_H */ - - -/* - * end of file - */ diff --git a/third_party/acados/include/qpOASES_e/QProblem.h b/third_party/acados/include/qpOASES_e/QProblem.h deleted file mode 100644 index 91a4a6f396720a..00000000000000 --- a/third_party/acados/include/qpOASES_e/QProblem.h +++ /dev/null @@ -1,2369 +0,0 @@ -/* - * This file is part of qpOASES. - * - * qpOASES -- An Implementation of the Online Active Set Strategy. - * Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka, - * Christian Kirches et al. All rights reserved. - * - * qpOASES is free software; you can redistribute it and/or - * modify it under the terms of the GNU Lesser General Public - * License as published by the Free Software Foundation; either - * version 2.1 of the License, or (at your option) any later version. - * - * qpOASES is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. - * See the GNU Lesser General Public License for more details. - * - * You should have received a copy of the GNU Lesser General Public - * License along with qpOASES; if not, write to the Free Software - * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA - * - */ - - -/** - * \file include/qpOASES_e/QProblem.h - * \author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches - * \version 3.1embedded - * \date 2007-2015 - * - * Declaration of the QProblem class which is able to use the newly - * developed online active set strategy for parametric quadratic programming. - */ - - - -#ifndef QPOASES_QPROBLEM_H -#define QPOASES_QPROBLEM_H - - -#include -#include -#include -#include -#include -#include - - -BEGIN_NAMESPACE_QPOASES - -typedef struct { - Bounds *auxiliaryBounds; - Constraints *auxiliaryConstraints; - - real_t *ub_new_far; - real_t *lb_new_far; - real_t *ubA_new_far; - real_t *lbA_new_far; - - real_t *g_new; - real_t *lb_new; - real_t *ub_new; - real_t *lbA_new; - real_t *ubA_new; - - real_t *g_new2; - real_t *lb_new2; - real_t *ub_new2; - real_t *lbA_new2; - real_t *ubA_new2; - - real_t *delta_xFX5; - real_t *delta_xFR5; - real_t *delta_yAC5; - real_t *delta_yFX5; - - real_t *Hx; - - real_t *_H; - - real_t *g_original; - real_t *lb_original; - real_t *ub_original; - real_t *lbA_original; - real_t *ubA_original; - - real_t *delta_xFR; - real_t *delta_xFX; - real_t *delta_yAC; - real_t *delta_yFX; - real_t *delta_g; - real_t *delta_lb; - real_t *delta_ub; - real_t *delta_lbA; - real_t *delta_ubA; - - real_t *gMod; - - real_t *aFR; - real_t *wZ; - - real_t *delta_g2; - real_t *delta_xFX2; - real_t *delta_xFR2; - real_t *delta_yAC2; - real_t *delta_yFX2; - real_t *nul; - real_t *Arow; - - real_t *xiC; - real_t *xiC_TMP; - real_t *xiB; - real_t *Arow2; - real_t *num; - - real_t *w; - real_t *tmp; - - real_t *delta_g3; - real_t *delta_xFX3; - real_t *delta_xFR3; - real_t *delta_yAC3; - real_t *delta_yFX3; - real_t *nul2; - - real_t *xiC2; - real_t *xiC_TMP2; - real_t *xiB2; - real_t *num2; - - real_t *Hz; - real_t *z; - real_t *ZHz; - real_t *r; - - real_t *tmp2; - real_t *Hz2; - real_t *z2; - real_t *r2; - real_t *rhs; - - real_t *delta_xFX4; - real_t *delta_xFR4; - real_t *delta_yAC4; - real_t *delta_yFX4; - real_t *nul3; - real_t *ek; - real_t *x_W; - real_t *As; - real_t *Ax_W; - - real_t *num3; - real_t *den; - real_t *delta_Ax_l; - real_t *delta_Ax_u; - real_t *delta_Ax; - real_t *delta_x; - - real_t *_A; - - real_t *grad; - real_t *AX; -} QProblem_ws; - -int QProblem_ws_calculateMemorySize( unsigned int nV, unsigned int nC ); - -char *QProblem_ws_assignMemory( unsigned int nV, unsigned int nC, QProblem_ws **mem, void *raw_memory ); - -QProblem_ws *QProblem_ws_createMemory( unsigned int nV, unsigned int nC ); - -/** - * \brief Implements the online active set strategy for QPs with general constraints. - * - * A class for setting up and solving quadratic programs. The main feature is - * the possibily to use the newly developed online active set strategy for - * parametric quadratic programming. - * - * \author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches - * \version 3.1embedded - * \date 2007-2015 - */ -typedef struct -{ - QProblem_ws *ws; /**< Workspace */ - Bounds *bounds; /**< Data structure for problem's bounds. */ - Constraints *constraints; /**< Data structure for problem's constraints. */ - Flipper *flipper; /**< Struct for making a temporary copy of the matrix factorisations. */ - - DenseMatrix* H; /**< Hessian matrix pointer. */ - DenseMatrix* A; /**< Constraint matrix pointer. */ - - Options options; /**< Struct containing all user-defined options for solving QPs. */ - TabularOutput tabularOutput; /**< Struct storing information for tabular output (printLevel == PL_TABULAR). */ - - real_t *g; /**< Gradient. */ - - real_t *lb; /**< Lower bound vector (on variables). */ - real_t *ub; /**< Upper bound vector (on variables). */ - real_t *lbA; /**< Lower constraints' bound vector. */ - real_t *ubA; /**< Upper constraints' bound vector. */ - - real_t *R; /**< Cholesky factor of H (i.e. H = R^T*R). */ - - real_t *T; /**< Reverse triangular matrix, A = [0 T]*Q'. */ - real_t *Q; /**< Orthonormal quadratic matrix, A = [0 T]*Q'. */ - - real_t *Ax; /**< Stores the current A*x \n - * (for increased efficiency only). */ - real_t *Ax_l; /**< Stores the current distance to lower constraints' bounds A*x-lbA \n - * (for increased efficiency only). */ - real_t *Ax_u; /**< Stores the current distance to lower constraints' bounds ubA-A*x \n - * (for increased efficiency only). */ - - real_t *x; /**< Primal solution vector. */ - real_t *y; /**< Dual solution vector. */ - - real_t *delta_xFR_TMP; /**< Temporary for determineStepDirection */ - real_t *tempA; /**< Temporary for determineStepDirection. */ - real_t *tempB; /**< Temporary for determineStepDirection. */ - real_t *ZFR_delta_xFRz; /**< Temporary for determineStepDirection. */ - real_t *delta_xFRy; /**< Temporary for determineStepDirection. */ - real_t *delta_xFRz; /**< Temporary for determineStepDirection. */ - real_t *delta_yAC_TMP; /**< Temporary for determineStepDirection. */ - - ConstraintProduct constraintProduct; /**< Pointer to user-defined constraint product function. */ - - real_t tau; /**< Last homotopy step length. */ - real_t regVal; /**< Holds the offset used to regularise Hessian matrix (zero by default). */ - - real_t ramp0; /**< Start value for Ramping Strategy. */ - real_t ramp1; /**< Final value for Ramping Strategy. */ - - QProblemStatus status; /**< Current status of the solution process. */ - HessianType hessianType; /**< Type of Hessian matrix. */ - - BooleanType haveCholesky; /**< Flag indicating whether Cholesky decomposition has already been setup. */ - BooleanType infeasible; /**< QP infeasible? */ - BooleanType unbounded; /**< QP unbounded? */ - - int rampOffset; /**< Offset index for Ramping. */ - unsigned int count; /**< Counts the number of hotstart function calls (internal usage only!). */ - - int sizeT; /**< Matrix T is stored in a (sizeT x sizeT) array. */ -} QProblem; - -int QProblem_calculateMemorySize( unsigned int nV, unsigned int nC ); - -char *QProblem_assignMemory( unsigned int nV, unsigned int nC, QProblem **mem, void *raw_memory ); - -QProblem *QProblem_createMemory( unsigned int nV, unsigned int nC ); - - -/** Constructor which takes the QP dimension and Hessian type - * information. If the Hessian is the zero (i.e. HST_ZERO) or the - * identity matrix (i.e. HST_IDENTITY), respectively, no memory - * is allocated for it and a NULL pointer can be passed for it - * to the init() functions. */ -void QProblemCON( QProblem* _THIS, - int _nV, /**< Number of variables. */ - int _nC, /**< Number of constraints. */ - HessianType _hessianType /**< Type of Hessian matrix. */ - ); - -/** Copies all members from given rhs object. - * \return SUCCESSFUL_RETURN */ -void QProblemCPY( QProblem* FROM, - QProblem* TO - ); - - -/** Clears all data structures of QProblem except for QP data. - * \return SUCCESSFUL_RETURN \n - RET_RESET_FAILED */ -returnValue QProblem_reset( QProblem* _THIS ); - - -/** Initialises a QP problem with given QP data and tries to solve it - * using at most nWSR iterations. - * - * Note: This function internally calls solveInitialQP for initialisation! - * - * \return SUCCESSFUL_RETURN \n - RET_INIT_FAILED \n - RET_INIT_FAILED_CHOLESKY \n - RET_INIT_FAILED_TQ \n - RET_INIT_FAILED_HOTSTART \n - RET_INIT_FAILED_INFEASIBILITY \n - RET_INIT_FAILED_UNBOUNDEDNESS \n - RET_MAX_NWSR_REACHED \n - RET_INVALID_ARGUMENTS */ -returnValue QProblem_initM( QProblem* _THIS, - DenseMatrix *_H, /**< Hessian matrix. */ - const real_t* const _g, /**< Gradient vector. */ - DenseMatrix *_A, /**< Constraint matrix. */ - const real_t* const _lb, /**< Lower bound vector (on variables). \n - If no lower bounds exist, a NULL pointer can be passed. */ - const real_t* const _ub, /**< Upper bound vector (on variables). \n - If no upper bounds exist, a NULL pointer can be passed. */ - const real_t* const _lbA, /**< Lower constraints' bound vector. \n - If no lower constraints' bounds exist, a NULL pointer can be passed. */ - const real_t* const _ubA, /**< Upper constraints' bound vector. \n - If no lower constraints' bounds exist, a NULL pointer can be passed. */ - int* nWSR, /**< Input: Maximum number of working set recalculations when using initial homotopy. - Output: Number of performed working set recalculations. */ - real_t* const cputime /**< Input: Maximum CPU time allowed for QP initialisation. \n - Output: CPU time spent for QP initialisation (if pointer passed). */ - ); - - -/** Initialises a QP problem with given QP data and tries to solve it - * using at most nWSR iterations. - * - * Note: This function internally calls solveInitialQP for initialisation! - * - * \return SUCCESSFUL_RETURN \n - RET_INIT_FAILED \n - RET_INIT_FAILED_CHOLESKY \n - RET_INIT_FAILED_TQ \n - RET_INIT_FAILED_HOTSTART \n - RET_INIT_FAILED_INFEASIBILITY \n - RET_INIT_FAILED_UNBOUNDEDNESS \n - RET_MAX_NWSR_REACHED \n - RET_INVALID_ARGUMENTS */ -returnValue QProblem_init( QProblem* _THIS, - real_t* const _H, /**< Hessian matrix. \n - If Hessian matrix is trivial, a NULL pointer can be passed. */ - const real_t* const _g, /**< Gradient vector. */ - real_t* const _A, /**< Constraint matrix. */ - const real_t* const _lb, /**< Lower bound vector (on variables). \n - If no lower bounds exist, a NULL pointer can be passed. */ - const real_t* const _ub, /**< Upper bound vector (on variables). \n - If no upper bounds exist, a NULL pointer can be passed. */ - const real_t* const _lbA, /**< Lower constraints' bound vector. \n - If no lower constraints' bounds exist, a NULL pointer can be passed. */ - const real_t* const _ubA, /**< Upper constraints' bound vector. \n - If no lower constraints' bounds exist, a NULL pointer can be passed. */ - int* nWSR, /**< Input: Maximum number of working set recalculations when using initial homotopy. - Output: Number of performed working set recalculations. */ - real_t* const cputime /**< Input: Maximum CPU time allowed for QP initialisation. \n - Output: CPU time spent for QP initialisation (if pointer passed). */ - ); - -/** Initialises a QP problem with given QP data to be read from files and tries to solve it - * using at most nWSR iterations. - * - * Note: This function internally calls solveInitialQP for initialisation! - * - * \return SUCCESSFUL_RETURN \n - RET_INIT_FAILED \n - RET_INIT_FAILED_CHOLESKY \n - RET_INIT_FAILED_TQ \n - RET_INIT_FAILED_HOTSTART \n - RET_INIT_FAILED_INFEASIBILITY \n - RET_INIT_FAILED_UNBOUNDEDNESS \n - RET_MAX_NWSR_REACHED \n - RET_UNABLE_TO_READ_FILE */ -returnValue QProblem_initF( QProblem* _THIS, - const char* const H_file, /**< Name of file where Hessian matrix is stored. \n - If Hessian matrix is trivial, a NULL pointer can be passed. */ - const char* const g_file, /**< Name of file where gradient vector is stored. */ - const char* const A_file, /**< Name of file where constraint matrix is stored. */ - const char* const lb_file, /**< Name of file where lower bound vector. \n - If no lower bounds exist, a NULL pointer can be passed. */ - const char* const ub_file, /**< Name of file where upper bound vector. \n - If no upper bounds exist, a NULL pointer can be passed. */ - const char* const lbA_file, /**< Name of file where lower constraints' bound vector. \n - If no lower constraints' bounds exist, a NULL pointer can be passed. */ - const char* const ubA_file, /**< Name of file where upper constraints' bound vector. \n - If no upper constraints' bounds exist, a NULL pointer can be passed. */ - int* nWSR, /**< Input: Maximum number of working set recalculations when using initial homotopy. - Output: Number of performed working set recalculations. */ - real_t* const cputime /**< Input: Maximum CPU time allowed for QP initialisation. \n - Output: CPU time spent for QP initialisation (if pointer passed). */ - ); - -/** Initialises a QP problem with given QP data and tries to solve it - * using at most nWSR iterations. Depending on the parameter constellation it: \n - * 1. 0, 0, 0 : starts with xOpt = 0, yOpt = 0 and gB/gC empty (or all implicit equality bounds), \n - * 2. xOpt, 0, 0 : starts with xOpt, yOpt = 0 and obtain gB/gC by "clipping", \n - * 3. 0, yOpt, 0 : starts with xOpt = 0, yOpt and obtain gB/gC from yOpt != 0, \n - * 4. 0, 0, gB/gC: starts with xOpt = 0, yOpt = 0 and gB/gC, \n - * 5. xOpt, yOpt, 0 : starts with xOpt, yOpt and obtain gB/gC from yOpt != 0, \n - * 6. xOpt, 0, gB/gC: starts with xOpt, yOpt = 0 and gB/gC, \n - * 7. xOpt, yOpt, gB/gC: starts with xOpt, yOpt and gB/gC (assume them to be consistent!) - * - * Note: This function internally calls solveInitialQP for initialisation! - * - * \return SUCCESSFUL_RETURN \n - RET_INIT_FAILED \n - RET_INIT_FAILED_CHOLESKY \n - RET_INIT_FAILED_TQ \n - RET_INIT_FAILED_HOTSTART \n - RET_INIT_FAILED_INFEASIBILITY \n - RET_INIT_FAILED_UNBOUNDEDNESS \n - RET_MAX_NWSR_REACHED \n - RET_INVALID_ARGUMENTS */ -returnValue QProblem_initMW( QProblem* _THIS, - DenseMatrix *_H, /**< Hessian matrix. \n - If Hessian matrix is trivial, a NULL pointer can be passed. */ - const real_t* const _g, /**< Gradient vector. */ - DenseMatrix *_A, /**< Constraint matrix. */ - const real_t* const _lb, /**< Lower bound vector (on variables). \n - If no lower bounds exist, a NULL pointer can be passed. */ - const real_t* const _ub, /**< Upper bound vector (on variables). \n - If no upper bounds exist, a NULL pointer can be passed. */ - const real_t* const _lbA, /**< Lower constraints' bound vector. \n - If no lower constraints' bounds exist, a NULL pointer can be passed. */ - const real_t* const _ubA, /**< Upper constraints' bound vector. \n - If no lower constraints' bounds exist, a NULL pointer can be passed. */ - int* nWSR, /**< Input: Maximum number of working set recalculations when using initial homotopy. - * Output: Number of performed working set recalculations. */ - real_t* const cputime, /**< Input: Maximum CPU time allowed for QP initialisation. \n - Output: CPU time spent for QP initialisation. */ - const real_t* const xOpt, /**< Optimal primal solution vector. \n - (If a null pointer is passed, the old primal solution is kept!) */ - const real_t* const yOpt, /**< Optimal dual solution vector. \n - (If a null pointer is passed, the old dual solution is kept!) */ - Bounds* const guessedBounds, /**< Optimal working set of bounds for solution (xOpt,yOpt). */ - Constraints* const guessedConstraints, /**< Optimal working set of constraints for solution (xOpt,yOpt). */ - const real_t* const _R /**< Pre-computed (upper triangular) Cholesky factor of Hessian matrix. - The Cholesky factor must be stored in a real_t array of size nV*nV - in row-major format. Note: Only used if xOpt/yOpt and gB are NULL! \n - (If a null pointer is passed, Cholesky decomposition is computed internally!) */ - ); - -/** Initialises a QP problem with given QP data and tries to solve it - * using at most nWSR iterations. Depending on the parameter constellation it: \n - * 1. 0, 0, 0 : starts with xOpt = 0, yOpt = 0 and gB/gC empty (or all implicit equality bounds), \n - * 2. xOpt, 0, 0 : starts with xOpt, yOpt = 0 and obtain gB/gC by "clipping", \n - * 3. 0, yOpt, 0 : starts with xOpt = 0, yOpt and obtain gB/gC from yOpt != 0, \n - * 4. 0, 0, gB/gC: starts with xOpt = 0, yOpt = 0 and gB/gC, \n - * 5. xOpt, yOpt, 0 : starts with xOpt, yOpt and obtain gB/gC from yOpt != 0, \n - * 6. xOpt, 0, gB/gC: starts with xOpt, yOpt = 0 and gB/gC, \n - * 7. xOpt, yOpt, gB/gC: starts with xOpt, yOpt and gB/gC (assume them to be consistent!) - * - * Note: This function internally calls solveInitialQP for initialisation! - * - * \return SUCCESSFUL_RETURN \n - RET_INIT_FAILED \n - RET_INIT_FAILED_CHOLESKY \n - RET_INIT_FAILED_TQ \n - RET_INIT_FAILED_HOTSTART \n - RET_INIT_FAILED_INFEASIBILITY \n - RET_INIT_FAILED_UNBOUNDEDNESS \n - RET_MAX_NWSR_REACHED \n - RET_INVALID_ARGUMENTS */ -returnValue QProblem_initW( QProblem* _THIS, - real_t* const _H, /**< Hessian matrix. \n - If Hessian matrix is trivial, a NULL pointer can be passed. */ - const real_t* const _g, /**< Gradient vector. */ - real_t* const _A, /**< Constraint matrix. */ - const real_t* const _lb, /**< Lower bound vector (on variables). \n - If no lower bounds exist, a NULL pointer can be passed. */ - const real_t* const _ub, /**< Upper bound vector (on variables). \n - If no upper bounds exist, a NULL pointer can be passed. */ - const real_t* const _lbA, /**< Lower constraints' bound vector. \n - If no lower constraints' bounds exist, a NULL pointer can be passed. */ - const real_t* const _ubA, /**< Upper constraints' bound vector. \n - If no lower constraints' bounds exist, a NULL pointer can be passed. */ - int* nWSR, /**< Input: Maximum number of working set recalculations when using initial homotopy. - * Output: Number of performed working set recalculations. */ - real_t* const cputime, /**< Input: Maximum CPU time allowed for QP initialisation. \n - Output: CPU time spent for QP initialisation. */ - const real_t* const xOpt, /**< Optimal primal solution vector. \n - (If a null pointer is passed, the old primal solution is kept!) */ - const real_t* const yOpt, /**< Optimal dual solution vector. \n - (If a null pointer is passed, the old dual solution is kept!) */ - Bounds* const guessedBounds, /**< Optimal working set of bounds for solution (xOpt,yOpt). */ - Constraints* const guessedConstraints, /**< Optimal working set of constraints for solution (xOpt,yOpt). */ - const real_t* const _R /**< Pre-computed (upper triangular) Cholesky factor of Hessian matrix. - The Cholesky factor must be stored in a real_t array of size nV*nV - in row-major format. Note: Only used if xOpt/yOpt and gB are NULL! \n - (If a null pointer is passed, Cholesky decomposition is computed internally!) */ - ); - -/** Initialises a QP problem with given QP data to be ream from files and tries to solve it - * using at most nWSR iterations. Depending on the parameter constellation it: \n - * 1. 0, 0, 0 : starts with xOpt = 0, yOpt = 0 and gB/gC empty (or all implicit equality bounds), \n - * 2. xOpt, 0, 0 : starts with xOpt, yOpt = 0 and obtain gB/gC by "clipping", \n - * 3. 0, yOpt, 0 : starts with xOpt = 0, yOpt and obtain gB/gC from yOpt != 0, \n - * 4. 0, 0, gB/gC: starts with xOpt = 0, yOpt = 0 and gB/gC, \n - * 5. xOpt, yOpt, 0 : starts with xOpt, yOpt and obtain gB/gC from yOpt != 0, \n - * 6. xOpt, 0, gB/gC: starts with xOpt, yOpt = 0 and gB/gC, \n - * 7. xOpt, yOpt, gB/gC: starts with xOpt, yOpt and gB/gC (assume them to be consistent!) - * - * Note: This function internally calls solveInitialQP for initialisation! - * - * \return SUCCESSFUL_RETURN \n - RET_INIT_FAILED \n - RET_INIT_FAILED_CHOLESKY \n - RET_INIT_FAILED_TQ \n - RET_INIT_FAILED_HOTSTART \n - RET_INIT_FAILED_INFEASIBILITY \n - RET_INIT_FAILED_UNBOUNDEDNESS \n - RET_MAX_NWSR_REACHED \n - RET_UNABLE_TO_READ_FILE */ -returnValue QProblem_initFW( QProblem* _THIS, - const char* const H_file, /**< Name of file where Hessian matrix is stored. \n - If Hessian matrix is trivial, a NULL pointer can be passed. */ - const char* const g_file, /**< Name of file where gradient vector is stored. */ - const char* const A_file, /**< Name of file where constraint matrix is stored. */ - const char* const lb_file, /**< Name of file where lower bound vector. \n - If no lower bounds exist, a NULL pointer can be passed. */ - const char* const ub_file, /**< Name of file where upper bound vector. \n - If no upper bounds exist, a NULL pointer can be passed. */ - const char* const lbA_file, /**< Name of file where lower constraints' bound vector. \n - If no lower constraints' bounds exist, a NULL pointer can be passed. */ - const char* const ubA_file, /**< Name of file where upper constraints' bound vector. \n - If no upper constraints' bounds exist, a NULL pointer can be passed. */ - int* nWSR, /**< Input: Maximum number of working set recalculations when using initial homotopy. - Output: Number of performed working set recalculations. */ - real_t* const cputime, /**< Input: Maximum CPU time allowed for QP initialisation. \n - Output: CPU time spent for QP initialisation. */ - const real_t* const xOpt, /**< Optimal primal solution vector. \n - (If a null pointer is passed, the old primal solution is kept!) */ - const real_t* const yOpt, /**< Optimal dual solution vector. \n - (If a null pointer is passed, the old dual solution is kept!) */ - Bounds* const guessedBounds, /**< Optimal working set of bounds for solution (xOpt,yOpt). */ - Constraints* const guessedConstraints, /**< Optimal working set of constraints for solution (xOpt,yOpt). */ - const char* const R_file /**< Pre-computed (upper triangular) Cholesky factor of Hessian matrix. - The Cholesky factor must be stored in a real_t array of size nV*nV - in row-major format. Note: Only used if xOpt/yOpt and gB are NULL! \n - (If a null pointer is passed, Cholesky decomposition is computed internally!) */ - ); - -/** Solves an initialised QP sequence using the online active set strategy. - * QP solution is started from previous solution. - * - * Note: This function internally calls solveQP/solveRegularisedQP - * for solving an initialised QP! - * - * \return SUCCESSFUL_RETURN \n - RET_MAX_NWSR_REACHED \n - RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n - RET_HOTSTART_FAILED \n - RET_SHIFT_DETERMINATION_FAILED \n - RET_STEPDIRECTION_DETERMINATION_FAILED \n - RET_STEPLENGTH_DETERMINATION_FAILED \n - RET_HOMOTOPY_STEP_FAILED \n - RET_HOTSTART_STOPPED_INFEASIBILITY \n - RET_HOTSTART_STOPPED_UNBOUNDEDNESS */ -returnValue QProblem_hotstart( QProblem* _THIS, - const real_t* const g_new, /**< Gradient of neighbouring QP to be solved. */ - const real_t* const lb_new, /**< Lower bounds of neighbouring QP to be solved. \n - If no lower bounds exist, a NULL pointer can be passed. */ - const real_t* const ub_new, /**< Upper bounds of neighbouring QP to be solved. \n - If no upper bounds exist, a NULL pointer can be passed. */ - const real_t* const lbA_new, /**< Lower constraints' bounds of neighbouring QP to be solved. \n - If no lower constraints' bounds exist, a NULL pointer can be passed. */ - const real_t* const ubA_new, /**< Upper constraints' bounds of neighbouring QP to be solved. \n - If no upper constraints' bounds exist, a NULL pointer can be passed. */ - int* nWSR, /**< Input: Maximum number of working set recalculations; \n - Output: Number of performed working set recalculations. */ - real_t* const cputime /**< Input: Maximum CPU time allowed for QP solution. \n - Output: CPU time spent for QP solution (or to perform nWSR iterations). */ - ); - -/** Solves an initialised QP sequence using the online active set strategy, - * where QP data is read from files. QP solution is started from previous solution. - * - * Note: This function internally calls solveQP/solveRegularisedQP - * for solving an initialised QP! - * - * \return SUCCESSFUL_RETURN \n - RET_MAX_NWSR_REACHED \n - RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n - RET_HOTSTART_FAILED \n - RET_SHIFT_DETERMINATION_FAILED \n - RET_STEPDIRECTION_DETERMINATION_FAILED \n - RET_STEPLENGTH_DETERMINATION_FAILED \n - RET_HOMOTOPY_STEP_FAILED \n - RET_HOTSTART_STOPPED_INFEASIBILITY \n - RET_HOTSTART_STOPPED_UNBOUNDEDNESS \n - RET_UNABLE_TO_READ_FILE \n - RET_INVALID_ARGUMENTS */ -returnValue QProblem_hotstartF( QProblem* _THIS, - const char* const g_file, /**< Name of file where gradient, of neighbouring QP to be solved, is stored. */ - const char* const lb_file, /**< Name of file where lower bounds, of neighbouring QP to be solved, is stored. \n - If no lower bounds exist, a NULL pointer can be passed. */ - const char* const ub_file, /**< Name of file where upper bounds, of neighbouring QP to be solved, is stored. \n - If no upper bounds exist, a NULL pointer can be passed. */ - const char* const lbA_file, /**< Name of file where lower constraints' bounds, of neighbouring QP to be solved, is stored. \n - If no lower constraints' bounds exist, a NULL pointer can be passed. */ - const char* const ubA_file, /**< Name of file where upper constraints' bounds, of neighbouring QP to be solved, is stored. \n - If no upper constraints' bounds exist, a NULL pointer can be passed. */ - int* nWSR, /**< Input: Maximum number of working set recalculations; \n - Output: Number of performed working set recalculations. */ - real_t* const cputime /**< Input: Maximum CPU time allowed for QP solution. \n - Output: CPU time spent for QP solution (or to perform nWSR iterations). */ - ); - -/** Solves an initialised QP sequence using the online active set strategy. - * By default, QP solution is started from previous solution. If a guess - * for the working set is provided, an initialised homotopy is performed. - * - * Note: This function internally calls solveQP/solveRegularisedQP - * for solving an initialised QP! - * - * \return SUCCESSFUL_RETURN \n - RET_MAX_NWSR_REACHED \n - RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n - RET_HOTSTART_FAILED \n - RET_SHIFT_DETERMINATION_FAILED \n - RET_STEPDIRECTION_DETERMINATION_FAILED \n - RET_STEPLENGTH_DETERMINATION_FAILED \n - RET_HOMOTOPY_STEP_FAILED \n - RET_HOTSTART_STOPPED_INFEASIBILITY \n - RET_HOTSTART_STOPPED_UNBOUNDEDNESS \n - RET_SETUP_AUXILIARYQP_FAILED */ -returnValue QProblem_hotstartW( QProblem* _THIS, - const real_t* const g_new, /**< Gradient of neighbouring QP to be solved. */ - const real_t* const lb_new, /**< Lower bounds of neighbouring QP to be solved. \n - If no lower bounds exist, a NULL pointer can be passed. */ - const real_t* const ub_new, /**< Upper bounds of neighbouring QP to be solved. \n - If no upper bounds exist, a NULL pointer can be passed. */ - const real_t* const lbA_new, /**< Lower constraints' bounds of neighbouring QP to be solved. \n - If no lower constraints' bounds exist, a NULL pointer can be passed. */ - const real_t* const ubA_new, /**< Upper constraints' bounds of neighbouring QP to be solved. \n - If no upper constraints' bounds exist, a NULL pointer can be passed. */ - int* nWSR, /**< Input: Maximum number of working set recalculations; \n - Output: Number of performed working set recalculations. */ - real_t* const cputime, /**< Input: Maximum CPU time allowed for QP solution. \n - Output: CPU time spent for QP solution (or to perform nWSR iterations). */ - Bounds* const guessedBounds, /**< Optimal working set of bounds for solution (xOpt,yOpt). \n - (If a null pointer is passed, the previous working set of bounds is kept!) */ - Constraints* const guessedConstraints /**< Optimal working set of constraints for solution (xOpt,yOpt). \n - (If a null pointer is passed, the previous working set of constraints is kept!) */ - ); - -/** Solves an initialised QP sequence using the online active set strategy, - * where QP data is read from files. - * By default, QP solution is started from previous solution. If a guess - * for the working set is provided, an initialised homotopy is performed. - * - * Note: This function internally calls solveQP/solveRegularisedQP - * for solving an initialised QP! - * - * \return SUCCESSFUL_RETURN \n - RET_MAX_NWSR_REACHED \n - RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n - RET_HOTSTART_FAILED \n - RET_SHIFT_DETERMINATION_FAILED \n - RET_STEPDIRECTION_DETERMINATION_FAILED \n - RET_STEPLENGTH_DETERMINATION_FAILED \n - RET_HOMOTOPY_STEP_FAILED \n - RET_HOTSTART_STOPPED_INFEASIBILITY \n - RET_HOTSTART_STOPPED_UNBOUNDEDNESS \n - RET_SETUP_AUXILIARYQP_FAILED \n - RET_UNABLE_TO_READ_FILE \n - RET_INVALID_ARGUMENTS */ -returnValue QProblem_hotstartFW( QProblem* _THIS, - const char* const g_file, /**< Name of file where gradient, of neighbouring QP to be solved, is stored. */ - const char* const lb_file, /**< Name of file where lower bounds, of neighbouring QP to be solved, is stored. \n - If no lower bounds exist, a NULL pointer can be passed. */ - const char* const ub_file, /**< Name of file where upper bounds, of neighbouring QP to be solved, is stored. \n - If no upper bounds exist, a NULL pointer can be passed. */ - const char* const lbA_file, /**< Name of file where lower constraints' bounds, of neighbouring QP to be solved, is stored. \n - If no lower constraints' bounds exist, a NULL pointer can be passed. */ - const char* const ubA_file, /**< Name of file where upper constraints' bounds, of neighbouring QP to be solved, is stored. \n - If no upper constraints' bounds exist, a NULL pointer can be passed. */ - int* nWSR, /**< Input: Maximum number of working set recalculations; \n - Output: Number of performed working set recalculations. */ - real_t* const cputime, /**< Input: Maximum CPU time allowed for QP solution. \n - Output: CPU time spent for QP solution (or to perform nWSR iterations). */ - Bounds* const guessedBounds, /**< Optimal working set of bounds for solution (xOpt,yOpt). \n - (If a null pointer is passed, the previous working set of bounds is kept!) */ - Constraints* const guessedConstraints /**< Optimal working set of constraints for solution (xOpt,yOpt). \n - (If a null pointer is passed, the previous working set of constraints is kept!) */ - ); - - -/** Solves using the current working set - * \return SUCCESSFUL_RETURN \n - * RET_STEPDIRECTION_FAILED_TQ \n - * RET_STEPDIRECTION_FAILED_CHOLESKY \n - * RET_INVALID_ARGUMENTS */ -returnValue QProblem_solveCurrentEQP ( QProblem* _THIS, - const int n_rhs, /**< Number of consecutive right hand sides */ - const real_t* g_in, /**< Gradient of neighbouring QP to be solved. */ - const real_t* lb_in, /**< Lower bounds of neighbouring QP to be solved. \n - If no lower bounds exist, a NULL pointer can be passed. */ - const real_t* ub_in, /**< Upper bounds of neighbouring QP to be solved. \n - If no upper bounds exist, a NULL pointer can be passed. */ - const real_t* lbA_in, /**< Lower constraints' bounds of neighbouring QP to be solved. \n - If no lower constraints' bounds exist, a NULL pointer can be passed. */ - const real_t* ubA_in, /**< Upper constraints' bounds of neighbouring QP to be solved. \n */ - real_t* x_out, /**< Output: Primal solution */ - real_t* y_out /**< Output: Dual solution */ - ); - - - -/** Returns current constraints object of the QP (deep copy). - * \return SUCCESSFUL_RETURN \n - RET_QPOBJECT_NOT_SETUP */ -static inline returnValue QProblem_getConstraints( QProblem* _THIS, - Constraints* _constraints /** Output: Constraints object. */ - ); - - -/** Returns the number of constraints. - * \return Number of constraints. */ -static inline int QProblem_getNC( QProblem* _THIS ); - -/** Returns the number of (implicitly defined) equality constraints. - * \return Number of (implicitly defined) equality constraints. */ -static inline int QProblem_getNEC( QProblem* _THIS ); - -/** Returns the number of active constraints. - * \return Number of active constraints. */ -static inline int QProblem_getNAC( QProblem* _THIS ); - -/** Returns the number of inactive constraints. - * \return Number of inactive constraints. */ -static inline int QProblem_getNIAC( QProblem* _THIS ); - -/** Returns the dimension of null space. - * \return Dimension of null space. */ -int QProblem_getNZ( QProblem* _THIS ); - - -/** Returns the dual solution vector (deep copy). - * \return SUCCESSFUL_RETURN \n - RET_QP_NOT_SOLVED */ -returnValue QProblem_getDualSolution( QProblem* _THIS, - real_t* const yOpt /**< Output: Dual solution vector (if QP has been solved). */ - ); - - -/** Defines user-defined routine for calculating the constraint product A*x - * \return SUCCESSFUL_RETURN \n */ -returnValue QProblem_setConstraintProduct( QProblem* _THIS, - ConstraintProduct _constraintProduct - ); - - -/** Prints concise list of properties of the current QP. - * \return SUCCESSFUL_RETURN \n */ -returnValue QProblem_printProperties( QProblem* _THIS ); - - - -/** Writes a vector with the state of the working set -* \return SUCCESSFUL_RETURN */ -returnValue QProblem_getWorkingSet( QProblem* _THIS, - real_t* workingSet /** Output: array containing state of the working set. */ - ); - -/** Writes a vector with the state of the working set of bounds - * \return SUCCESSFUL_RETURN \n - * RET_INVALID_ARGUMENTS */ -returnValue QProblem_getWorkingSetBounds( QProblem* _THIS, - real_t* workingSetB /** Output: array containing state of the working set of bounds. */ - ); - -/** Writes a vector with the state of the working set of constraints - * \return SUCCESSFUL_RETURN \n - * RET_INVALID_ARGUMENTS */ -returnValue QProblem_getWorkingSetConstraints( QProblem* _THIS, - real_t* workingSetC /** Output: array containing state of the working set of constraints. */ - ); - - -/** Returns current bounds object of the QP (deep copy). - * \return SUCCESSFUL_RETURN \n - RET_QPOBJECT_NOT_SETUP */ -static inline returnValue QProblem_getBounds( QProblem* _THIS, - Bounds* _bounds /** Output: Bounds object. */ - ); - - -/** Returns the number of variables. - * \return Number of variables. */ -static inline int QProblem_getNV( QProblem* _THIS ); - -/** Returns the number of free variables. - * \return Number of free variables. */ -static inline int QProblem_getNFR( QProblem* _THIS ); - -/** Returns the number of fixed variables. - * \return Number of fixed variables. */ -static inline int QProblem_getNFX( QProblem* _THIS ); - -/** Returns the number of implicitly fixed variables. - * \return Number of implicitly fixed variables. */ -static inline int QProblem_getNFV( QProblem* _THIS ); - - -/** Returns the optimal objective function value. - * \return finite value: Optimal objective function value (QP was solved) \n - +infinity: QP was not yet solved */ -real_t QProblem_getObjVal( QProblem* _THIS ); - -/** Returns the objective function value at an arbitrary point x. - * \return Objective function value at point x */ -real_t QProblem_getObjValX( QProblem* _THIS, - const real_t* const _x /**< Point at which the objective function shall be evaluated. */ - ); - -/** Returns the primal solution vector. - * \return SUCCESSFUL_RETURN \n - RET_QP_NOT_SOLVED */ -returnValue QProblem_getPrimalSolution( QProblem* _THIS, - real_t* const xOpt /**< Output: Primal solution vector (if QP has been solved). */ - ); - - -/** Returns status of the solution process. - * \return Status of solution process. */ -static inline QProblemStatus QProblem_getStatus( QProblem* _THIS ); - - -/** Returns if the QProblem object is initialised. - * \return BT_TRUE: QProblem initialised \n - BT_FALSE: QProblem not initialised */ -static inline BooleanType QProblem_isInitialised( QProblem* _THIS ); - -/** Returns if the QP has been solved. - * \return BT_TRUE: QProblem solved \n - BT_FALSE: QProblem not solved */ -static inline BooleanType QProblem_isSolved( QProblem* _THIS ); - -/** Returns if the QP is infeasible. - * \return BT_TRUE: QP infeasible \n - BT_FALSE: QP feasible (or not known to be infeasible!) */ -static inline BooleanType QProblem_isInfeasible( QProblem* _THIS ); - -/** Returns if the QP is unbounded. - * \return BT_TRUE: QP unbounded \n - BT_FALSE: QP unbounded (or not known to be unbounded!) */ -static inline BooleanType QProblem_isUnbounded( QProblem* _THIS ); - - -/** Returns Hessian type flag (type is not determined due to _THIS call!). - * \return Hessian type. */ -static inline HessianType QProblem_getHessianType( QProblem* _THIS ); - -/** Changes the print level. - * \return SUCCESSFUL_RETURN */ -static inline returnValue QProblem_setHessianType( QProblem* _THIS, - HessianType _hessianType /**< New Hessian type. */ - ); - -/** Returns if the QP has been internally regularised. - * \return BT_TRUE: Hessian is internally regularised for QP solution \n - BT_FALSE: No internal Hessian regularisation is used for QP solution */ -static inline BooleanType QProblem_usingRegularisation( QProblem* _THIS ); - -/** Returns current options struct. - * \return Current options struct. */ -static inline Options QProblem_getOptions( QProblem* _THIS ); - -/** Overrides current options with given ones. - * \return SUCCESSFUL_RETURN */ -static inline returnValue QProblem_setOptions( QProblem* _THIS, - Options _options /**< New options. */ - ); - -/** Returns the print level. - * \return Print level. */ -static inline PrintLevel QProblem_getPrintLevel( QProblem* _THIS ); - -/** Changes the print level. - * \return SUCCESSFUL_RETURN */ -returnValue QProblem_setPrintLevel( QProblem* _THIS, - PrintLevel _printlevel /**< New print level. */ - ); - - -/** Returns the current number of QP problems solved. - * \return Number of QP problems solved. */ -static inline unsigned int QProblem_getCount( QProblem* _THIS ); - -/** Resets QP problem counter (to zero). - * \return SUCCESSFUL_RETURN. */ -static inline returnValue QProblem_resetCounter( QProblem* _THIS ); - - -/** Prints a list of all options and their current values. - * \return SUCCESSFUL_RETURN \n */ -returnValue QProblem_printOptions( QProblem* _THIS ); - - -/** Solves a QProblem whose QP data is assumed to be stored in the member variables. - * A guess for its primal/dual optimal solution vectors and the corresponding - * working sets of bounds and constraints can be provided. - * Note: This function is internally called by all init functions! - * \return SUCCESSFUL_RETURN \n - RET_INIT_FAILED \n - RET_INIT_FAILED_CHOLESKY \n - RET_INIT_FAILED_TQ \n - RET_INIT_FAILED_HOTSTART \n - RET_INIT_FAILED_INFEASIBILITY \n - RET_INIT_FAILED_UNBOUNDEDNESS \n - RET_MAX_NWSR_REACHED */ -returnValue QProblem_solveInitialQP( QProblem* _THIS, - const real_t* const xOpt, /**< Optimal primal solution vector.*/ - const real_t* const yOpt, /**< Optimal dual solution vector. */ - Bounds* const guessedBounds, /**< Optimal working set of bounds for solution (xOpt,yOpt). */ - Constraints* const guessedConstraints, /**< Optimal working set of constraints for solution (xOpt,yOpt). */ - const real_t* const _R, /**< Pre-computed (upper triangular) Cholesky factor of Hessian matrix. */ - int* nWSR, /**< Input: Maximum number of working set recalculations; \n - * Output: Number of performed working set recalculations. */ - real_t* const cputime /**< Input: Maximum CPU time allowed for QP solution. \n - * Output: CPU time spent for QP solution (or to perform nWSR iterations). */ - ); - -/** Solves QProblem using online active set strategy. - * Note: This function is internally called by all hotstart functions! - * \return SUCCESSFUL_RETURN \n - RET_MAX_NWSR_REACHED \n - RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n - RET_HOTSTART_FAILED \n - RET_SHIFT_DETERMINATION_FAILED \n - RET_STEPDIRECTION_DETERMINATION_FAILED \n - RET_STEPLENGTH_DETERMINATION_FAILED \n - RET_HOMOTOPY_STEP_FAILED \n - RET_HOTSTART_STOPPED_INFEASIBILITY \n - RET_HOTSTART_STOPPED_UNBOUNDEDNESS */ -returnValue QProblem_solveQP( QProblem* _THIS, - const real_t* const g_new, /**< Gradient of neighbouring QP to be solved. */ - const real_t* const lb_new, /**< Lower bounds of neighbouring QP to be solved. \n - If no lower bounds exist, a NULL pointer can be passed. */ - const real_t* const ub_new, /**< Upper bounds of neighbouring QP to be solved. \n - If no upper bounds exist, a NULL pointer can be passed. */ - const real_t* const lbA_new, /**< Lower constraints' bounds of neighbouring QP to be solved. \n - If no lower constraints' bounds exist, a NULL pointer can be passed. */ - const real_t* const ubA_new, /**< Upper constraints' bounds of neighbouring QP to be solved. \n - If no upper constraints' bounds exist, a NULL pointer can be passed. */ - int* nWSR, /**< Input: Maximum number of working set recalculations; \n - Output: Number of performed working set recalculations. */ - real_t* const cputime, /**< Input: Maximum CPU time allowed for QP solution. \n - Output: CPU time spent for QP solution (or to perform nWSR iterations). */ - int nWSRperformed, /**< Number of working set recalculations already performed to solve - this QP within previous solveQP() calls. This number is - always zero, except for successive calls from solveRegularisedQP() - or when using the far bound strategy. */ - BooleanType isFirstCall /**< Indicating whether this is the first call for current QP. */ - ); - - -/** Solves QProblem using online active set strategy. - * Note: This function is internally called by all hotstart functions! - * \return SUCCESSFUL_RETURN \n - RET_MAX_NWSR_REACHED \n - RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n - RET_HOTSTART_FAILED \n - RET_SHIFT_DETERMINATION_FAILED \n - RET_STEPDIRECTION_DETERMINATION_FAILED \n - RET_STEPLENGTH_DETERMINATION_FAILED \n - RET_HOMOTOPY_STEP_FAILED \n - RET_HOTSTART_STOPPED_INFEASIBILITY \n - RET_HOTSTART_STOPPED_UNBOUNDEDNESS */ -returnValue QProblem_solveRegularisedQP( QProblem* _THIS, - const real_t* const g_new, /**< Gradient of neighbouring QP to be solved. */ - const real_t* const lb_new, /**< Lower bounds of neighbouring QP to be solved. \n - If no lower bounds exist, a NULL pointer can be passed. */ - const real_t* const ub_new, /**< Upper bounds of neighbouring QP to be solved. \n - If no upper bounds exist, a NULL pointer can be passed. */ - const real_t* const lbA_new, /**< Lower constraints' bounds of neighbouring QP to be solved. \n - If no lower constraints' bounds exist, a NULL pointer can be passed. */ - const real_t* const ubA_new, /**< Upper constraints' bounds of neighbouring QP to be solved. \n - If no upper constraints' bounds exist, a NULL pointer can be passed. */ - int* nWSR, /**< Input: Maximum number of working set recalculations; \n - Output: Number of performed working set recalculations. */ - real_t* const cputime, /**< Input: Maximum CPU time allowed for QP solution. \n - Output: CPU time spent for QP solution (or to perform nWSR iterations). */ - int nWSRperformed, /**< Number of working set recalculations already performed to solve - this QP within previous solveRegularisedQP() calls. This number is - always zero, except for successive calls when using the far bound strategy. */ - BooleanType isFirstCall /**< Indicating whether this is the first call for current QP. */ - ); - - -/** Determines type of existing constraints and bounds (i.e. implicitly fixed, unbounded etc.). - * \return SUCCESSFUL_RETURN \n - RET_SETUPSUBJECTTOTYPE_FAILED */ -returnValue QProblem_setupSubjectToType( QProblem* _THIS ); - -/** Determines type of new constraints and bounds (i.e. implicitly fixed, unbounded etc.). - * \return SUCCESSFUL_RETURN \n - RET_SETUPSUBJECTTOTYPE_FAILED */ -returnValue QProblem_setupSubjectToTypeNew( QProblem* _THIS, - const real_t* const lb_new, /**< New lower bounds. */ - const real_t* const ub_new, /**< New upper bounds. */ - const real_t* const lbA_new, /**< New lower constraints' bounds. */ - const real_t* const ubA_new /**< New upper constraints' bounds. */ - ); - -/** Computes the Cholesky decomposition of the projected Hessian (i.e. R^T*R = Z^T*H*Z). - * Note: If Hessian turns out not to be positive definite, the Hessian type - * is set to HST_SEMIDEF accordingly. - * \return SUCCESSFUL_RETURN \n - * RET_HESSIAN_NOT_SPD \n - * RET_INDEXLIST_CORRUPTED */ -returnValue QProblem_computeProjectedCholesky( QProblem* _THIS ); - -/** Computes initial Cholesky decomposition of the projected Hessian making - * use of the function setupCholeskyDecomposition() or setupCholeskyDecompositionProjected(). - * \return SUCCESSFUL_RETURN \n - * RET_HESSIAN_NOT_SPD \n - * RET_INDEXLIST_CORRUPTED */ -returnValue QProblem_setupInitialCholesky( QProblem* _THIS ); - -/** Initialises TQ factorisation of A (i.e. A*Q = [0 T]) if NO constraint is active. - * \return SUCCESSFUL_RETURN \n - RET_INDEXLIST_CORRUPTED */ -returnValue QProblem_setupTQfactorisation( QProblem* _THIS ); - - -/** Obtains the desired working set for the auxiliary initial QP in - * accordance with the user specifications - * (assumes that member AX has already been initialised!) - * \return SUCCESSFUL_RETURN \n - RET_OBTAINING_WORKINGSET_FAILED \n - RET_INVALID_ARGUMENTS */ -returnValue QProblem_obtainAuxiliaryWorkingSet( QProblem* _THIS, - const real_t* const xOpt, /**< Optimal primal solution vector. - * If a NULL pointer is passed, all entries are assumed to be zero. */ - const real_t* const yOpt, /**< Optimal dual solution vector. - * If a NULL pointer is passed, all entries are assumed to be zero. */ - Bounds* const guessedBounds, /**< Guessed working set of bounds for solution (xOpt,yOpt). */ - Constraints* const guessedConstraints, /**< Guessed working set for solution (xOpt,yOpt). */ - Bounds* auxiliaryBounds, /**< Input: Allocated bound object. \n - * Ouput: Working set of constraints for auxiliary QP. */ - Constraints* auxiliaryConstraints /**< Input: Allocated bound object. \n - * Ouput: Working set for auxiliary QP. */ - ); - -/** Sets up bound and constraints data structures according to auxiliaryBounds/Constraints. - * (If the working set shall be setup afresh, make sure that - * bounds and constraints data structure have been resetted - * and the TQ factorisation has been initialised!) - * \return SUCCESSFUL_RETURN \n - RET_SETUP_WORKINGSET_FAILED \n - RET_INVALID_ARGUMENTS \n - RET_UNKNOWN_BUG */ -returnValue QProblem_setupAuxiliaryWorkingSet( QProblem* _THIS, - Bounds* const auxiliaryBounds, /**< Working set of bounds for auxiliary QP. */ - Constraints* const auxiliaryConstraints, /**< Working set of constraints for auxiliary QP. */ - BooleanType setupAfresh /**< Flag indicating if given working set shall be - * setup afresh or by updating the current one. */ - ); - -/** Sets up the optimal primal/dual solution of the auxiliary initial QP. - * \return SUCCESSFUL_RETURN */ -returnValue QProblem_setupAuxiliaryQPsolution( QProblem* _THIS, - const real_t* const xOpt, /**< Optimal primal solution vector. - * If a NULL pointer is passed, all entries are set to zero. */ - const real_t* const yOpt /**< Optimal dual solution vector. - * If a NULL pointer is passed, all entries are set to zero. */ - ); - -/** Sets up gradient of the auxiliary initial QP for given - * optimal primal/dual solution and given initial working set - * (assumes that members X, Y and BOUNDS, CONSTRAINTS have already been initialised!). - * \return SUCCESSFUL_RETURN */ -returnValue QProblem_setupAuxiliaryQPgradient( QProblem* _THIS ); - -/** Sets up (constraints') bounds of the auxiliary initial QP for given - * optimal primal/dual solution and given initial working set - * (assumes that members X, Y and BOUNDS, CONSTRAINTS have already been initialised!). - * \return SUCCESSFUL_RETURN \n - RET_UNKNOWN_BUG */ -returnValue QProblem_setupAuxiliaryQPbounds( QProblem* _THIS, - Bounds* const auxiliaryBounds, /**< Working set of bounds for auxiliary QP. */ - Constraints* const auxiliaryConstraints, /**< Working set of constraints for auxiliary QP. */ - BooleanType useRelaxation /**< Flag indicating if inactive (constraints') bounds shall be relaxed. */ - ); - - -/** Adds a constraint to active set. - * \return SUCCESSFUL_RETURN \n - RET_ADDCONSTRAINT_FAILED \n - RET_ADDCONSTRAINT_FAILED_INFEASIBILITY \n - RET_ENSURELI_FAILED */ -returnValue QProblem_addConstraint( QProblem* _THIS, - int number, /**< Number of constraint to be added to active set. */ - SubjectToStatus C_status, /**< Status of new active constraint. */ - BooleanType updateCholesky, /**< Flag indicating if Cholesky decomposition shall be updated. */ - BooleanType ensureLI /**< Ensure linear independence by exchange rules by default. */ - ); - -/** Checks if new active constraint to be added is linearly dependent from - * from row of the active constraints matrix. - * \return RET_LINEARLY_DEPENDENT \n - RET_LINEARLY_INDEPENDENT \n - RET_INDEXLIST_CORRUPTED */ -returnValue QProblem_addConstraint_checkLI( QProblem* _THIS, - int number /**< Number of constraint to be added to active set. */ - ); - -/** Ensures linear independence of constraint matrix when a new constraint is added. - * To _THIS end a bound or constraint is removed simultaneously if necessary. - * \return SUCCESSFUL_RETURN \n - RET_LI_RESOLVED \n - RET_ENSURELI_FAILED \n - RET_ENSURELI_FAILED_TQ \n - RET_ENSURELI_FAILED_NOINDEX \n - RET_REMOVE_FROM_ACTIVESET */ -returnValue QProblem_addConstraint_ensureLI( QProblem* _THIS, - int number, /**< Number of constraint to be added to active set. */ - SubjectToStatus C_status /**< Status of new active bound. */ - ); - -/** Adds a bound to active set. - * \return SUCCESSFUL_RETURN \n - RET_ADDBOUND_FAILED \n - RET_ADDBOUND_FAILED_INFEASIBILITY \n - RET_ENSURELI_FAILED */ -returnValue QProblem_addBound( QProblem* _THIS, - int number, /**< Number of bound to be added to active set. */ - SubjectToStatus B_status, /**< Status of new active bound. */ - BooleanType updateCholesky, /**< Flag indicating if Cholesky decomposition shall be updated. */ - BooleanType ensureLI /**< Ensure linear independence by exchange rules by default. */ - ); - -/** Checks if new active bound to be added is linearly dependent from - * from row of the active constraints matrix. - * \return RET_LINEARLY_DEPENDENT \n - RET_LINEARLY_INDEPENDENT */ -returnValue QProblem_addBound_checkLI( QProblem* _THIS, - int number /**< Number of bound to be added to active set. */ - ); - -/** Ensures linear independence of constraint matrix when a new bound is added. - * To _THIS end a bound or constraint is removed simultaneously if necessary. - * \return SUCCESSFUL_RETURN \n - RET_LI_RESOLVED \n - RET_ENSURELI_FAILED \n - RET_ENSURELI_FAILED_TQ \n - RET_ENSURELI_FAILED_NOINDEX \n - RET_REMOVE_FROM_ACTIVESET */ -returnValue QProblem_addBound_ensureLI( QProblem* _THIS, - int number, /**< Number of bound to be added to active set. */ - SubjectToStatus B_status /**< Status of new active bound. */ - ); - -/** Removes a constraint from active set. - * \return SUCCESSFUL_RETURN \n - RET_CONSTRAINT_NOT_ACTIVE \n - RET_REMOVECONSTRAINT_FAILED \n - RET_HESSIAN_NOT_SPD */ -returnValue QProblem_removeConstraint( QProblem* _THIS, - int number, /**< Number of constraint to be removed from active set. */ - BooleanType updateCholesky, /**< Flag indicating if Cholesky decomposition shall be updated. */ - BooleanType allowFlipping, /**< Flag indicating if flipping bounds are allowed. */ - BooleanType ensureNZC /**< Flag indicating if non-zero curvature is ensured by exchange rules. */ - ); - -/** Removes a bounds from active set. - * \return SUCCESSFUL_RETURN \n - RET_BOUND_NOT_ACTIVE \n - RET_HESSIAN_NOT_SPD \n - RET_REMOVEBOUND_FAILED */ -returnValue QProblem_removeBound( QProblem* _THIS, - int number, /**< Number of bound to be removed from active set. */ - BooleanType updateCholesky, /**< Flag indicating if Cholesky decomposition shall be updated. */ - BooleanType allowFlipping, /**< Flag indicating if flipping bounds are allowed. */ - BooleanType ensureNZC /**< Flag indicating if non-zero curvature is ensured by exchange rules. */ - ); - - -/** Performs robustified ratio test yield the maximum possible step length - * along the homotopy path. - * \return SUCCESSFUL_RETURN */ -returnValue QProblem_performPlainRatioTest( QProblem* _THIS, - int nIdx, /**< Number of ratios to be checked. */ - const int* const idxList, /**< Array containing the indices of all ratios to be checked. */ - const real_t* const num, /**< Array containing all numerators for performing the ratio test. */ - const real_t* const den, /**< Array containing all denominators for performing the ratio test. */ - real_t epsNum, /**< Numerator tolerance. */ - real_t epsDen, /**< Denominator tolerance. */ - real_t* t, /**< Output: Maximum possible step length along the homotopy path. */ - int* BC_idx /**< Output: Index of blocking constraint. */ - ); - - -/** Ensure non-zero curvature by primal jump. - * \return SUCCESSFUL_RETURN \n - * RET_HOTSTART_STOPPED_UNBOUNDEDNESS */ -returnValue QProblem_ensureNonzeroCurvature( QProblem* _THIS, - BooleanType removeBoundNotConstraint, /**< SubjectTo to be removed is a bound. */ - int remIdx, /**< Index of bound/constraint to be removed. */ - BooleanType* exchangeHappened, /**< Output: Exchange was necessary to ensure. */ - BooleanType* addBoundNotConstraint, /**< SubjectTo to be added is a bound. */ - int* addIdx, /**< Index of bound/constraint to be added. */ - SubjectToStatus* addStatus /**< Status of bound/constraint to be added. */ - ); - - -/** Solves the system Ta = b or T^Ta = b where T is a reverse upper triangular matrix. - * \return SUCCESSFUL_RETURN \n - RET_DIV_BY_ZERO */ -returnValue QProblem_backsolveT( QProblem* _THIS, - const real_t* const b, /**< Right hand side vector. */ - BooleanType transposed, /**< Indicates if the transposed system shall be solved. */ - real_t* const a /**< Output: Solution vector */ - ); - - -/** Determines step direction of the shift of the QP data. - * \return SUCCESSFUL_RETURN */ -returnValue QProblem_determineDataShift( QProblem* _THIS, - const real_t* const g_new, /**< New gradient vector. */ - const real_t* const lbA_new, /**< New lower constraints' bounds. */ - const real_t* const ubA_new, /**< New upper constraints' bounds. */ - const real_t* const lb_new, /**< New lower bounds. */ - const real_t* const ub_new, /**< New upper bounds. */ - real_t* const delta_g, /**< Output: Step direction of gradient vector. */ - real_t* const delta_lbA, /**< Output: Step direction of lower constraints' bounds. */ - real_t* const delta_ubA, /**< Output: Step direction of upper constraints' bounds. */ - real_t* const delta_lb, /**< Output: Step direction of lower bounds. */ - real_t* const delta_ub, /**< Output: Step direction of upper bounds. */ - BooleanType* Delta_bC_isZero, /**< Output: Indicates if active constraints' bounds are to be shifted. */ - BooleanType* Delta_bB_isZero /**< Output: Indicates if active bounds are to be shifted. */ - ); - -/** Determines step direction of the homotopy path. - * \return SUCCESSFUL_RETURN \n - RET_STEPDIRECTION_FAILED_TQ \n - RET_STEPDIRECTION_FAILED_CHOLESKY */ -returnValue QProblem_determineStepDirection( QProblem* _THIS, - const real_t* const delta_g, /**< Step direction of gradient vector. */ - const real_t* const delta_lbA, /**< Step direction of lower constraints' bounds. */ - const real_t* const delta_ubA, /**< Step direction of upper constraints' bounds. */ - const real_t* const delta_lb, /**< Step direction of lower bounds. */ - const real_t* const delta_ub, /**< Step direction of upper bounds. */ - BooleanType Delta_bC_isZero, /**< Indicates if active constraints' bounds are to be shifted. */ - BooleanType Delta_bB_isZero, /**< Indicates if active bounds are to be shifted. */ - real_t* const delta_xFX, /**< Output: Primal homotopy step direction of fixed variables. */ - real_t* const delta_xFR, /**< Output: Primal homotopy step direction of free variables. */ - real_t* const delta_yAC, /**< Output: Dual homotopy step direction of active constraints' multiplier. */ - real_t* const delta_yFX /**< Output: Dual homotopy step direction of fixed variables' multiplier. */ - ); - -/** Determines the maximum possible step length along the homotopy path - * and performs _THIS step (without changing working set). - * \return SUCCESSFUL_RETURN \n - * RET_ERROR_IN_CONSTRAINTPRODUCT \n - * RET_QP_INFEASIBLE */ -returnValue QProblem_performStep( QProblem* _THIS, - const real_t* const delta_g, /**< Step direction of gradient. */ - const real_t* const delta_lbA, /**< Step direction of lower constraints' bounds. */ - const real_t* const delta_ubA, /**< Step direction of upper constraints' bounds. */ - const real_t* const delta_lb, /**< Step direction of lower bounds. */ - const real_t* const delta_ub, /**< Step direction of upper bounds. */ - const real_t* const delta_xFX, /**< Primal homotopy step direction of fixed variables. */ - const real_t* const delta_xFR, /**< Primal homotopy step direction of free variables. */ - const real_t* const delta_yAC, /**< Dual homotopy step direction of active constraints' multiplier. */ - const real_t* const delta_yFX, /**< Dual homotopy step direction of fixed variables' multiplier. */ - int* BC_idx, /**< Output: Index of blocking constraint. */ - SubjectToStatus* BC_status, /**< Output: Status of blocking constraint. */ - BooleanType* BC_isBound /**< Output: Indicates if blocking constraint is a bound. */ - ); - -/** Updates the active set. - * \return SUCCESSFUL_RETURN \n - RET_REMOVE_FROM_ACTIVESET_FAILED \n - RET_ADD_TO_ACTIVESET_FAILED */ -returnValue QProblem_changeActiveSet( QProblem* _THIS, - int BC_idx, /**< Index of blocking constraint. */ - SubjectToStatus BC_status, /**< Status of blocking constraint. */ - BooleanType BC_isBound /**< Indicates if blocking constraint is a bound. */ - ); - - -/** Compute relative length of homotopy in data space for termination - * criterion. - * \return Relative length in data space. */ -real_t QProblem_getRelativeHomotopyLength( QProblem* _THIS, - const real_t* const g_new, /**< Final gradient. */ - const real_t* const lb_new, /**< Final lower variable bounds. */ - const real_t* const ub_new, /**< Final upper variable bounds. */ - const real_t* const lbA_new, /**< Final lower constraint bounds. */ - const real_t* const ubA_new /**< Final upper constraint bounds. */ - ); - - -/** Ramping Strategy to avoid ties. Modifies homotopy start without - * changing current active set. - * \return SUCCESSFUL_RETURN */ -returnValue QProblem_performRamping( QProblem* _THIS ); - - -/** ... */ -returnValue QProblem_updateFarBounds( QProblem* _THIS, - real_t curFarBound, /**< ... */ - int nRamp, /**< ... */ - const real_t* const lb_new, /**< ... */ - real_t* const lb_new_far, /**< ... */ - const real_t* const ub_new, /**< ... */ - real_t* const ub_new_far, /**< ... */ - const real_t* const lbA_new, /**< ... */ - real_t* const lbA_new_far, /**< ... */ - const real_t* const ubA_new, /**< ... */ - real_t* const ubA_new_far /**< ... */ - ); - -/** ... */ -returnValue QProblemBCPY_updateFarBounds( QProblem* _THIS, - real_t curFarBound, /**< ... */ - int nRamp, /**< ... */ - const real_t* const lb_new, /**< ... */ - real_t* const lb_new_far, /**< ... */ - const real_t* const ub_new, /**< ... */ - real_t* const ub_new_far /**< ... */ - ); - - - -/** Performs robustified ratio test yield the maximum possible step length - * along the homotopy path. - * \return SUCCESSFUL_RETURN */ -returnValue QProblem_performRatioTestC( QProblem* _THIS, - int nIdx, /**< Number of ratios to be checked. */ - const int* const idxList, /**< Array containing the indices of all ratios to be checked. */ - Constraints* const subjectTo, /**< Constraint object corresponding to ratios to be checked. */ - const real_t* const num, /**< Array containing all numerators for performing the ratio test. */ - const real_t* const den, /**< Array containing all denominators for performing the ratio test. */ - real_t epsNum, /**< Numerator tolerance. */ - real_t epsDen, /**< Denominator tolerance. */ - real_t* t, /**< Output: Maximum possible step length along the homotopy path. */ - int* BC_idx /**< Output: Index of blocking constraint. */ - ); - - -/** Drift correction at end of each active set iteration - * \return SUCCESSFUL_RETURN */ -returnValue QProblem_performDriftCorrection( QProblem* _THIS ); - - -/** Updates QP vectors, working sets and internal data structures in order to - start from an optimal solution corresponding to initial guesses of the working - set for bounds and constraints. - * \return SUCCESSFUL_RETURN \n - * RET_SETUP_AUXILIARYQP_FAILED \n - RET_INVALID_ARGUMENTS */ -returnValue QProblem_setupAuxiliaryQP( QProblem* _THIS, - Bounds* const guessedBounds, /**< Initial guess for working set of bounds. */ - Constraints* const guessedConstraints /**< Initial guess for working set of constraints. */ - ); - -/** Determines if it is more efficient to refactorise the matrices when - * hotstarting or not (i.e. better to update the existing factorisations). - * \return BT_TRUE iff matrices shall be refactorised afresh - */ -BooleanType QProblem_shallRefactorise( QProblem* _THIS, - Bounds* const guessedBounds, /**< Guessed new working set of bounds. */ - Constraints* const guessedConstraints /**< Guessed new working set of constraints. */ - ); - -/** Setups internal QP data. - * \return SUCCESSFUL_RETURN \n - RET_INVALID_ARGUMENTS \n - RET_UNKNONW_BUG */ -returnValue QProblem_setupQPdataM( QProblem* _THIS, - DenseMatrix *_H, /**< Hessian matrix. \n - If Hessian matrix is trivial,a NULL pointer can be passed. */ - const real_t* const _g, /**< Gradient vector. */ - DenseMatrix *_A, /**< Constraint matrix. */ - const real_t* const _lb, /**< Lower bound vector (on variables). \n - If no lower bounds exist, a NULL pointer can be passed. */ - const real_t* const _ub, /**< Upper bound vector (on variables). \n - If no upper bounds exist, a NULL pointer can be passed. */ - const real_t* const _lbA, /**< Lower constraints' bound vector. \n - If no lower constraints' bounds exist, a NULL pointer can be passed. */ - const real_t* const _ubA /**< Upper constraints' bound vector. \n - If no lower constraints' bounds exist, a NULL pointer can be passed. */ - ); - - -/** Sets up dense internal QP data. If the current Hessian is trivial - * (i.e. HST_ZERO or HST_IDENTITY) but a non-trivial one is given, - * memory for Hessian is allocated and it is set to the given one. - * \return SUCCESSFUL_RETURN \n - RET_INVALID_ARGUMENTS \n - RET_UNKNONW_BUG */ -returnValue QProblem_setupQPdata( QProblem* _THIS, - real_t* const _H, /**< Hessian matrix. \n - If Hessian matrix is trivial,a NULL pointer can be passed. */ - const real_t* const _g, /**< Gradient vector. */ - real_t* const _A, /**< Constraint matrix. */ - const real_t* const _lb, /**< Lower bound vector (on variables). \n - If no lower bounds exist, a NULL pointer can be passed. */ - const real_t* const _ub, /**< Upper bound vector (on variables). \n - If no upper bounds exist, a NULL pointer can be passed. */ - const real_t* const _lbA, /**< Lower constraints' bound vector. \n - If no lower constraints' bounds exist, a NULL pointer can be passed. */ - const real_t* const _ubA /**< Upper constraints' bound vector. \n - If no lower constraints' bounds exist, a NULL pointer can be passed. */ - ); - -/** Sets up internal QP data by loading it from files. If the current Hessian - * is trivial (i.e. HST_ZERO or HST_IDENTITY) but a non-trivial one is given, - * memory for Hessian is allocated and it is set to the given one. - * \return SUCCESSFUL_RETURN \n - RET_UNABLE_TO_OPEN_FILE \n - RET_UNABLE_TO_READ_FILE \n - RET_INVALID_ARGUMENTS \n - RET_UNKNONW_BUG */ -returnValue QProblem_setupQPdataFromFile( QProblem* _THIS, - const char* const H_file, /**< Name of file where Hessian matrix, of neighbouring QP to be solved, is stored. \n - If Hessian matrix is trivial,a NULL pointer can be passed. */ - const char* const g_file, /**< Name of file where gradient, of neighbouring QP to be solved, is stored. */ - const char* const A_file, /**< Name of file where constraint matrix, of neighbouring QP to be solved, is stored. */ - const char* const lb_file, /**< Name of file where lower bounds, of neighbouring QP to be solved, is stored. \n - If no lower bounds exist, a NULL pointer can be passed. */ - const char* const ub_file, /**< Name of file where upper bounds, of neighbouring QP to be solved, is stored. \n - If no upper bounds exist, a NULL pointer can be passed. */ - const char* const lbA_file, /**< Name of file where lower constraints' bounds, of neighbouring QP to be solved, is stored. \n - If no lower constraints' bounds exist, a NULL pointer can be passed. */ - const char* const ubA_file /**< Name of file where upper constraints' bounds, of neighbouring QP to be solved, is stored. \n - If no upper constraints' bounds exist, a NULL pointer can be passed. */ - ); - -/** Loads new QP vectors from files (internal members are not affected!). - * \return SUCCESSFUL_RETURN \n - RET_UNABLE_TO_OPEN_FILE \n - RET_UNABLE_TO_READ_FILE \n - RET_INVALID_ARGUMENTS */ -returnValue QProblem_loadQPvectorsFromFile( QProblem* _THIS, - const char* const g_file, /**< Name of file where gradient, of neighbouring QP to be solved, is stored. */ - const char* const lb_file, /**< Name of file where lower bounds, of neighbouring QP to be solved, is stored. \n - If no lower bounds exist, a NULL pointer can be passed. */ - const char* const ub_file, /**< Name of file where upper bounds, of neighbouring QP to be solved, is stored. \n - If no upper bounds exist, a NULL pointer can be passed. */ - const char* const lbA_file, /**< Name of file where lower constraints' bounds, of neighbouring QP to be solved, is stored. \n - If no lower constraints' bounds exist, a NULL pointer can be passed. */ - const char* const ubA_file, /**< Name of file where upper constraints' bounds, of neighbouring QP to be solved, is stored. \n - If no upper constraints' bounds exist, a NULL pointer can be passed. */ - real_t* const g_new, /**< Output: Gradient of neighbouring QP to be solved. */ - real_t* const lb_new, /**< Output: Lower bounds of neighbouring QP to be solved */ - real_t* const ub_new, /**< Output: Upper bounds of neighbouring QP to be solved */ - real_t* const lbA_new, /**< Output: Lower constraints' bounds of neighbouring QP to be solved */ - real_t* const ubA_new /**< Output: Upper constraints' bounds of neighbouring QP to be solved */ - ); - - -/** Prints concise information on the current iteration. - * \return SUCCESSFUL_RETURN \n */ -returnValue QProblem_printIteration( QProblem* _THIS, - int iter, /**< Number of current iteration. */ - int BC_idx, /**< Index of blocking constraint. */ - SubjectToStatus BC_status, /**< Status of blocking constraint. */ - BooleanType BC_isBound, /**< Indicates if blocking constraint is a bound. */ - real_t homotopyLength, /**< Current homotopy distance. */ - BooleanType isFirstCall /**< Indicating whether this is the first call for current QP. */ - ); - - -/** Sets constraint matrix of the QP. \n - Note: Also internal vector Ax is recomputed! - * \return SUCCESSFUL_RETURN \n - * RET_INVALID_ARGUMENTS */ -static inline returnValue QProblem_setAM( QProblem* _THIS, - DenseMatrix *A_new /**< New constraint matrix. */ - ); - -/** Sets dense constraint matrix of the QP. \n - Note: Also internal vector Ax is recomputed! - * \return SUCCESSFUL_RETURN \n - * RET_INVALID_ARGUMENTS */ -static inline returnValue QProblem_setA( QProblem* _THIS, - real_t* const A_new /**< New dense constraint matrix (with correct dimension!). */ - ); - - -/** Sets constraints' lower bound vector of the QP. - * \return SUCCESSFUL_RETURN \n - * RET_QPOBJECT_NOT_SETUP */ -static inline returnValue QProblem_setLBA( QProblem* _THIS, - const real_t* const lbA_new /**< New constraints' lower bound vector (with correct dimension!). */ - ); - -/** Changes single entry of lower constraints' bound vector of the QP. - * \return SUCCESSFUL_RETURN \n - * RET_QPOBJECT_NOT_SETUP \n - * RET_INDEX_OUT_OF_BOUNDS */ -static inline returnValue QProblem_setLBAn( QProblem* _THIS, - int number, /**< Number of entry to be changed. */ - real_t value /**< New value for entry of lower constraints' bound vector (with correct dimension!). */ - ); - -/** Sets constraints' upper bound vector of the QP. - * \return SUCCESSFUL_RETURN \n - * RET_QPOBJECT_NOT_SETUP */ -static inline returnValue QProblem_setUBA( QProblem* _THIS, - const real_t* const ubA_new /**< New constraints' upper bound vector (with correct dimension!). */ - ); - -/** Changes single entry of upper constraints' bound vector of the QP. - * \return SUCCESSFUL_RETURN \n - * RET_QPOBJECT_NOT_SETUP \n - * RET_INDEX_OUT_OF_BOUNDS */ -static inline returnValue QProblem_setUBAn( QProblem* _THIS, - int number, /**< Number of entry to be changed. */ - real_t value /**< New value for entry of upper constraints' bound vector (with correct dimension!). */ - ); - - -/** Decides if lower bounds are smaller than upper bounds - * - * \return SUCCESSFUL_RETURN \n - * RET_QP_INFEASIBLE */ -returnValue QProblem_areBoundsConsistent( QProblem* _THIS, - const real_t* const lb, /**< Vector of lower bounds*/ - const real_t* const ub, /**< Vector of upper bounds*/ - const real_t* const lbA, /**< Vector of lower constraints*/ - const real_t* const ubA /**< Vector of upper constraints*/ - ); - - -/** Drops the blocking bound/constraint that led to infeasibility, or finds another - * bound/constraint to drop according to drop priorities. - * \return SUCCESSFUL_RETURN \n - */ -returnValue QProblem_dropInfeasibles ( QProblem* _THIS, - int BC_number, /**< Number of the bound or constraint to be added */ - SubjectToStatus BC_status, /**< New status of the bound or constraint to be added */ - BooleanType BC_isBound, /**< Whether a bound or a constraint is to be added */ - real_t *xiB, - real_t *xiC - ); - - -/** If Hessian type has been set by the user, nothing is done. - * Otherwise the Hessian type is set to HST_IDENTITY, HST_ZERO, or - * HST_POSDEF (default), respectively. - * \return SUCCESSFUL_RETURN \n - RET_HESSIAN_INDEFINITE */ -returnValue QProblem_determineHessianType( QProblem* _THIS ); - -/** Computes the Cholesky decomposition of the (simply projected) Hessian - * (i.e. R^T*R = Z^T*H*Z). It only works in the case where Z is a simple - * projection matrix! - * Note: If Hessian turns out not to be positive definite, the Hessian type - * is set to HST_SEMIDEF accordingly. - * \return SUCCESSFUL_RETURN \n - * RET_HESSIAN_NOT_SPD \n - * RET_INDEXLIST_CORRUPTED */ -returnValue QProblemBCPY_computeCholesky( QProblem* _THIS ); - -/** Obtains the desired working set for the auxiliary initial QP in - * accordance with the user specifications - * \return SUCCESSFUL_RETURN \n - RET_OBTAINING_WORKINGSET_FAILED \n - RET_INVALID_ARGUMENTS */ -returnValue QProblemBCPY_obtainAuxiliaryWorkingSet( QProblem* _THIS, - const real_t* const xOpt, /**< Optimal primal solution vector. - * If a NULL pointer is passed, all entries are assumed to be zero. */ - const real_t* const yOpt, /**< Optimal dual solution vector. - * If a NULL pointer is passed, all entries are assumed to be zero. */ - Bounds* const guessedBounds, /**< Guessed working set for solution (xOpt,yOpt). */ - Bounds* auxiliaryBounds /**< Input: Allocated bound object. \n - * Output: Working set for auxiliary QP. */ - ); - - -/** Solves the system Ra = b or R^Ta = b where R is an upper triangular matrix. - * \return SUCCESSFUL_RETURN \n - RET_DIV_BY_ZERO */ -returnValue QProblem_backsolveR( QProblem* _THIS, - const real_t* const b, /**< Right hand side vector. */ - BooleanType transposed, /**< Indicates if the transposed system shall be solved. */ - real_t* const a /**< Output: Solution vector */ - ); - -/** Solves the system Ra = b or R^Ta = b where R is an upper triangular matrix. \n - * Special variant for the case that _THIS function is called from within "removeBound()". - * \return SUCCESSFUL_RETURN \n - RET_DIV_BY_ZERO */ -returnValue QProblem_backsolveRrem( QProblem* _THIS, - const real_t* const b, /**< Right hand side vector. */ - BooleanType transposed, /**< Indicates if the transposed system shall be solved. */ - BooleanType removingBound, /**< Indicates if function is called from "removeBound()". */ - real_t* const a /**< Output: Solution vector */ - ); - - -/** Determines step direction of the shift of the QP data. - * \return SUCCESSFUL_RETURN */ -returnValue QProblemBCPY_determineDataShift( QProblem* _THIS, - const real_t* const g_new, /**< New gradient vector. */ - const real_t* const lb_new, /**< New lower bounds. */ - const real_t* const ub_new, /**< New upper bounds. */ - real_t* const delta_g, /**< Output: Step direction of gradient vector. */ - real_t* const delta_lb, /**< Output: Step direction of lower bounds. */ - real_t* const delta_ub, /**< Output: Step direction of upper bounds. */ - BooleanType* Delta_bB_isZero /**< Output: Indicates if active bounds are to be shifted. */ - ); - - -/** Sets up internal QP data. - * \return SUCCESSFUL_RETURN \n - RET_INVALID_ARGUMENTS */ -returnValue QProblemBCPY_setupQPdataM( QProblem* _THIS, - DenseMatrix *_H, /**< Hessian matrix.*/ - const real_t* const _g, /**< Gradient vector. */ - const real_t* const _lb, /**< Lower bounds (on variables). \n - If no lower bounds exist, a NULL pointer can be passed. */ - const real_t* const _ub /**< Upper bounds (on variables). \n - If no upper bounds exist, a NULL pointer can be passed. */ - ); - -/** Sets up internal QP data. If the current Hessian is trivial - * (i.e. HST_ZERO or HST_IDENTITY) but a non-trivial one is given, - * memory for Hessian is allocated and it is set to the given one. - * \return SUCCESSFUL_RETURN \n - RET_INVALID_ARGUMENTS \n - RET_NO_HESSIAN_SPECIFIED */ -returnValue QProblemBCPY_setupQPdata( QProblem* _THIS, - real_t* const _H, /**< Hessian matrix. \n - If Hessian matrix is trivial,a NULL pointer can be passed. */ - const real_t* const _g, /**< Gradient vector. */ - const real_t* const _lb, /**< Lower bounds (on variables). \n - If no lower bounds exist, a NULL pointer can be passed. */ - const real_t* const _ub /**< Upper bounds (on variables). \n - If no upper bounds exist, a NULL pointer can be passed. */ - ); - -/** Sets up internal QP data by loading it from files. If the current Hessian - * is trivial (i.e. HST_ZERO or HST_IDENTITY) but a non-trivial one is given, - * memory for Hessian is allocated and it is set to the given one. - * \return SUCCESSFUL_RETURN \n - RET_UNABLE_TO_OPEN_FILE \n - RET_UNABLE_TO_READ_FILE \n - RET_INVALID_ARGUMENTS \n - RET_NO_HESSIAN_SPECIFIED */ -returnValue QProblemBCPY_setupQPdataFromFile( QProblem* _THIS, - const char* const H_file, /**< Name of file where Hessian matrix, of neighbouring QP to be solved, is stored. \n - If Hessian matrix is trivial,a NULL pointer can be passed. */ - const char* const g_file, /**< Name of file where gradient, of neighbouring QP to be solved, is stored. */ - const char* const lb_file, /**< Name of file where lower bounds, of neighbouring QP to be solved, is stored. \n - If no lower bounds exist, a NULL pointer can be passed. */ - const char* const ub_file /**< Name of file where upper bounds, of neighbouring QP to be solved, is stored. \n - If no upper bounds exist, a NULL pointer can be passed. */ - ); - -/** Loads new QP vectors from files (internal members are not affected!). - * \return SUCCESSFUL_RETURN \n - RET_UNABLE_TO_OPEN_FILE \n - RET_UNABLE_TO_READ_FILE \n - RET_INVALID_ARGUMENTS */ -returnValue QProblemBCPY_loadQPvectorsFromFile( QProblem* _THIS, - const char* const g_file, /**< Name of file where gradient, of neighbouring QP to be solved, is stored. */ - const char* const lb_file, /**< Name of file where lower bounds, of neighbouring QP to be solved, is stored. \n - If no lower bounds exist, a NULL pointer can be passed. */ - const char* const ub_file, /**< Name of file where upper bounds, of neighbouring QP to be solved, is stored. \n - If no upper bounds exist, a NULL pointer can be passed. */ - real_t* const g_new, /**< Output: Gradient of neighbouring QP to be solved. */ - real_t* const lb_new, /**< Output: Lower bounds of neighbouring QP to be solved */ - real_t* const ub_new /**< Output: Upper bounds of neighbouring QP to be solved */ - ); - - -/** Sets internal infeasibility flag and throws given error in case the far bound - * strategy is not enabled (as QP might actually not be infeasible in _THIS case). - * \return RET_HOTSTART_STOPPED_INFEASIBILITY \n - RET_ENSURELI_FAILED_CYCLING \n - RET_ENSURELI_FAILED_NOINDEX */ -returnValue QProblem_setInfeasibilityFlag( QProblem* _THIS, - returnValue returnvalue, /**< Returnvalue to be tunneled. */ - BooleanType doThrowError /**< Flag forcing to throw an error. */ - ); - - -/** Determines if next QP iteration can be performed within given CPU time limit. - * \return BT_TRUE: CPU time limit is exceeded, stop QP solution. \n - BT_FALSE: Sufficient CPU time for next QP iteration. */ -BooleanType QProblem_isCPUtimeLimitExceeded( QProblem* _THIS, - const real_t* const cputime, /**< Maximum CPU time allowed for QP solution. */ - real_t starttime, /**< Start time of current QP solution. */ - int nWSR /**< Number of working set recalculations performed so far. */ - ); - - -/** Regularise Hessian matrix by adding a scaled identity matrix to it. - * \return SUCCESSFUL_RETURN \n - RET_HESSIAN_ALREADY_REGULARISED */ -returnValue QProblem_regulariseHessian( QProblem* _THIS ); - - -/** Sets Hessian matrix of the QP. - * \return SUCCESSFUL_RETURN */ -static inline returnValue QProblem_setHM( QProblem* _THIS, - DenseMatrix* H_new /**< New Hessian matrix. */ - ); - -/** Sets dense Hessian matrix of the QP. - * If a null pointer is passed and - * a) hessianType is HST_IDENTITY, nothing is done, - * b) hessianType is not HST_IDENTITY, Hessian matrix is set to zero. - * \return SUCCESSFUL_RETURN */ -static inline returnValue QProblem_setH( QProblem* _THIS, - real_t* const H_new /**< New dense Hessian matrix (with correct dimension!). */ - ); - -/** Changes gradient vector of the QP. - * \return SUCCESSFUL_RETURN \n - * RET_INVALID_ARGUMENTS */ -static inline returnValue QProblem_setG( QProblem* _THIS, - const real_t* const g_new /**< New gradient vector (with correct dimension!). */ - ); - -/** Changes lower bound vector of the QP. - * \return SUCCESSFUL_RETURN \n - * RET_INVALID_ARGUMENTS */ -static inline returnValue QProblem_setLB( QProblem* _THIS, - const real_t* const lb_new /**< New lower bound vector (with correct dimension!). */ - ); - -/** Changes single entry of lower bound vector of the QP. - * \return SUCCESSFUL_RETURN \n - RET_INDEX_OUT_OF_BOUNDS */ -static inline returnValue QProblem_setLBn( QProblem* _THIS, - int number, /**< Number of entry to be changed. */ - real_t value /**< New value for entry of lower bound vector. */ - ); - -/** Changes upper bound vector of the QP. - * \return SUCCESSFUL_RETURN \n - * RET_INVALID_ARGUMENTS */ -static inline returnValue QProblem_setUB( QProblem* _THIS, - const real_t* const ub_new /**< New upper bound vector (with correct dimension!). */ - ); - -/** Changes single entry of upper bound vector of the QP. - * \return SUCCESSFUL_RETURN \n - RET_INDEX_OUT_OF_BOUNDS */ -static inline returnValue QProblem_setUBn( QProblem* _THIS, - int number, /**< Number of entry to be changed. */ - real_t value /**< New value for entry of upper bound vector. */ - ); - - - -/** Compute relative length of homotopy in data space for termination - * criterion. - * \return Relative length in data space. */ -real_t QProblemBCPY_getRelativeHomotopyLength( QProblem* _THIS, - const real_t* const g_new, /**< Final gradient. */ - const real_t* const lb_new, /**< Final lower variable bounds. */ - const real_t* const ub_new /**< Final upper variable bounds. */ - ); - - - -/** Performs robustified ratio test yield the maximum possible step length - * along the homotopy path. - * \return SUCCESSFUL_RETURN */ -returnValue QProblem_performRatioTestB( QProblem* _THIS, - int nIdx, /**< Number of ratios to be checked. */ - const int* const idxList, /**< Array containing the indices of all ratios to be checked. */ - Bounds* const subjectTo, /**< Bound object corresponding to ratios to be checked. */ - const real_t* const num, /**< Array containing all numerators for performing the ratio test. */ - const real_t* const den, /**< Array containing all denominators for performing the ratio test. */ - real_t epsNum, /**< Numerator tolerance. */ - real_t epsDen, /**< Denominator tolerance. */ - real_t* t, /**< Output: Maximum possible step length along the homotopy path. */ - int* BC_idx /**< Output: Index of blocking constraint. */ - ); - -/** Checks whether given ratio is blocking, i.e. limits the maximum step length - * along the homotopy path to a value lower than given one. - * \return SUCCESSFUL_RETURN */ -static inline BooleanType QProblem_isBlocking( QProblem* _THIS, - real_t num, /**< Numerator for performing the ratio test. */ - real_t den, /**< Denominator for performing the ratio test. */ - real_t epsNum, /**< Numerator tolerance. */ - real_t epsDen, /**< Denominator tolerance. */ - real_t* t /**< Input: Current maximum step length along the homotopy path, - * Output: Updated maximum possible step length along the homotopy path. */ - ); - - -/** ... - * \return SUCCESSFUL_RETURN \n - RET_UNABLE_TO_OPEN_FILE */ -returnValue QProblem_writeQpDataIntoMatFile( QProblem* _THIS, - const char* const filename /**< Mat file name. */ - ); - -/** ... -* \return SUCCESSFUL_RETURN \n - RET_UNABLE_TO_OPEN_FILE */ -returnValue QProblem_writeQpWorkspaceIntoMatFile( QProblem* _THIS, - const char* const filename /**< Mat file name. */ - ); - - -/* - * g e t B o u n d s - */ -static inline returnValue QProblem_getBounds( QProblem* _THIS, Bounds* _bounds ) -{ - int nV = QProblem_getNV( _THIS ); - - if ( nV == 0 ) - return THROWERROR( RET_QPOBJECT_NOT_SETUP ); - - _bounds = _THIS->bounds; - - return SUCCESSFUL_RETURN; -} - - -/* - * g e t N V - */ -static inline int QProblem_getNV( QProblem* _THIS ) -{ - return Bounds_getNV( _THIS->bounds ); -} - - -/* - * g e t N F R - */ -static inline int QProblem_getNFR( QProblem* _THIS ) -{ - return Bounds_getNFR( _THIS->bounds ); -} - - -/* - * g e t N F X - */ -static inline int QProblem_getNFX( QProblem* _THIS ) -{ - return Bounds_getNFX( _THIS->bounds ); -} - - -/* - * g e t N F V - */ -static inline int QProblem_getNFV( QProblem* _THIS ) -{ - return Bounds_getNFV( _THIS->bounds ); -} - - -/* - * g e t S t a t u s - */ -static inline QProblemStatus QProblem_getStatus( QProblem* _THIS ) -{ - return _THIS->status; -} - - -/* - * i s I n i t i a l i s e d - */ -static inline BooleanType QProblem_isInitialised( QProblem* _THIS ) -{ - if ( _THIS->status == QPS_NOTINITIALISED ) - return BT_FALSE; - else - return BT_TRUE; -} - - -/* - * i s S o l v e d - */ -static inline BooleanType QProblem_isSolved( QProblem* _THIS ) -{ - if ( _THIS->status == QPS_SOLVED ) - return BT_TRUE; - else - return BT_FALSE; -} - - -/* - * i s I n f e a s i b l e - */ -static inline BooleanType QProblem_isInfeasible( QProblem* _THIS ) -{ - return _THIS->infeasible; -} - - -/* - * i s U n b o u n d e d - */ -static inline BooleanType QProblem_isUnbounded( QProblem* _THIS ) -{ - return _THIS->unbounded; -} - - -/* - * g e t H e s s i a n T y p e - */ -static inline HessianType QProblem_getHessianType( QProblem* _THIS ) -{ - return _THIS->hessianType; -} - - -/* - * s e t H e s s i a n T y p e - */ -static inline returnValue QProblem_setHessianType( QProblem* _THIS, HessianType _hessianType ) -{ - _THIS->hessianType = _hessianType; - return SUCCESSFUL_RETURN; -} - - -/* - * u s i n g R e g u l a r i s a t i o n - */ -static inline BooleanType QProblem_usingRegularisation( QProblem* _THIS ) -{ - if ( _THIS->regVal > QPOASES_ZERO ) - return BT_TRUE; - else - return BT_FALSE; -} - - -/* - * g e t O p t i o n s - */ -static inline Options QProblem_getOptions( QProblem* _THIS ) -{ - return _THIS->options; -} - - -/* - * s e t O p t i o n s - */ -static inline returnValue QProblem_setOptions( QProblem* _THIS, - Options _options - ) -{ - OptionsCPY( &_options,&(_THIS->options) ); - Options_ensureConsistency( &(_THIS->options) ); - - QProblem_setPrintLevel( _THIS,_THIS->options.printLevel ); - - return SUCCESSFUL_RETURN; -} - - -/* - * g e t P r i n t L e v e l - */ -static inline PrintLevel QProblem_getPrintLevel( QProblem* _THIS ) -{ - return _THIS->options.printLevel; -} - - -/* - * g e t C o u n t - */ -static inline unsigned int QProblem_getCount( QProblem* _THIS ) -{ - return _THIS->count; -} - - -/* - * r e s e t C o u n t e r - */ -static inline returnValue QProblem_resetCounter( QProblem* _THIS ) -{ - _THIS->count = 0; - return SUCCESSFUL_RETURN; -} - - - -/***************************************************************************** - * P R O T E C T E D * - *****************************************************************************/ - - -/* - * s e t H - */ -static inline returnValue QProblem_setHM( QProblem* _THIS, DenseMatrix* H_new ) -{ - if ( H_new == 0 ) - return QProblem_setH( _THIS,(real_t*)0 ); - else - return QProblem_setH( _THIS,DenseMatrix_getVal(H_new) ); -} - - -/* - * s e t H - */ -static inline returnValue QProblem_setH( QProblem* _THIS, real_t* const H_new ) -{ - /* if null pointer is passed, Hessian is set to zero matrix - * (or stays identity matrix) */ - if ( H_new == 0 ) - { - if ( _THIS->hessianType == HST_IDENTITY ) - return SUCCESSFUL_RETURN; - - _THIS->hessianType = HST_ZERO; - - _THIS->H = 0; - } - else - { - DenseMatrixCON( _THIS->H,QProblem_getNV( _THIS ),QProblem_getNV( _THIS ),QProblem_getNV( _THIS ),H_new ); - } - - return SUCCESSFUL_RETURN; -} - - -/* - * s e t G - */ -static inline returnValue QProblem_setG( QProblem* _THIS, const real_t* const g_new ) -{ - unsigned int nV = (unsigned int)QProblem_getNV( _THIS ); - - if ( nV == 0 ) - return THROWERROR( RET_QPOBJECT_NOT_SETUP ); - - if ( g_new == 0 ) - return THROWERROR( RET_INVALID_ARGUMENTS ); - - memcpy( _THIS->g,g_new,nV*sizeof(real_t) ); - - return SUCCESSFUL_RETURN; -} - - -/* - * s e t L B - */ -static inline returnValue QProblem_setLB( QProblem* _THIS, const real_t* const lb_new ) -{ - unsigned int i; - unsigned int nV = (unsigned int)QProblem_getNV( _THIS ); - - if ( nV == 0 ) - return THROWERROR( RET_QPOBJECT_NOT_SETUP ); - - if ( lb_new != 0 ) - { - memcpy( _THIS->lb,lb_new,nV*sizeof(real_t) ); - } - else - { - /* if no lower bounds are specified, set them to -infinity */ - for( i=0; ilb[i] = -QPOASES_INFTY; - } - - return SUCCESSFUL_RETURN; -} - - -/* - * s e t L B - */ -static inline returnValue QProblem_setLBn( QProblem* _THIS, int number, real_t value ) -{ - int nV = QProblem_getNV( _THIS ); - - if ( nV == 0 ) - return THROWERROR( RET_QPOBJECT_NOT_SETUP ); - - if ( ( number >= 0 ) && ( number < nV ) ) - { - _THIS->lb[number] = value; - return SUCCESSFUL_RETURN; - } - else - { - return THROWERROR( RET_INDEX_OUT_OF_BOUNDS ); - } -} - - -/* - * s e t U B - */ -static inline returnValue QProblem_setUB( QProblem* _THIS, const real_t* const ub_new ) -{ - unsigned int i; - unsigned int nV = (unsigned int)QProblem_getNV( _THIS ); - - if ( nV == 0 ) - return THROWERROR( RET_QPOBJECT_NOT_SETUP ); - - if ( ub_new != 0 ) - { - memcpy( _THIS->ub,ub_new,nV*sizeof(real_t) ); - } - else - { - /* if no upper bounds are specified, set them to infinity */ - for( i=0; iub[i] = QPOASES_INFTY; - } - - return SUCCESSFUL_RETURN; -} - - -/* - * s e t U B - */ -static inline returnValue QProblem_setUBn( QProblem* _THIS, int number, real_t value ) -{ - int nV = QProblem_getNV( _THIS ); - - if ( nV == 0 ) - return THROWERROR( RET_QPOBJECT_NOT_SETUP ); - - if ( ( number >= 0 ) && ( number < nV ) ) - { - _THIS->ub[number] = value; - - return SUCCESSFUL_RETURN; - } - else - { - return THROWERROR( RET_INDEX_OUT_OF_BOUNDS ); - } -} - - - -/* - * i s B l o c k i n g - */ -static inline BooleanType QProblem_isBlocking( QProblem* _THIS, - real_t num, - real_t den, - real_t epsNum, - real_t epsDen, - real_t* t - ) -{ - if ( ( den >= epsDen ) && ( num >= epsNum ) ) - { - if ( num < (*t)*den ) - return BT_TRUE; - } - - return BT_FALSE; -} - - - -/* - * g e t C o n s t r a i n t s - */ -static inline returnValue QProblem_getConstraints( QProblem* _THIS, Constraints* _constraints ) -{ - int nV = QProblem_getNV( _THIS ); - - if ( nV == 0 ) - return THROWERROR( RET_QPOBJECT_NOT_SETUP ); - - ConstraintsCPY( _THIS->constraints,_constraints ); - - return SUCCESSFUL_RETURN; -} - - - -/* - * g e t N C - */ -static inline int QProblem_getNC( QProblem* _THIS ) -{ - return Constraints_getNC( _THIS->constraints ); -} - - -/* - * g e t N E C - */ -static inline int QProblem_getNEC( QProblem* _THIS ) -{ - return Constraints_getNEC( _THIS->constraints ); -} - - -/* - * g e t N A C - */ -static inline int QProblem_getNAC( QProblem* _THIS ) -{ - return Constraints_getNAC( _THIS->constraints ); -} - - -/* - * g e t N I A C - */ -static inline int QProblem_getNIAC( QProblem* _THIS ) -{ - return Constraints_getNIAC( _THIS->constraints ); -} - - - -/***************************************************************************** - * P R O T E C T E D * - *****************************************************************************/ - - -/* - * s e t A - */ -static inline returnValue QProblem_setAM( QProblem* _THIS, DenseMatrix *A_new ) -{ - if ( A_new == 0 ) - return QProblem_setA( _THIS,(real_t*)0 ); - else - return QProblem_setA( _THIS,DenseMatrix_getVal(A_new) ); -} - - -/* - * s e t A - */ -static inline returnValue QProblem_setA( QProblem* _THIS, real_t* const A_new ) -{ - int j; - int nV = QProblem_getNV( _THIS ); - int nC = QProblem_getNC( _THIS ); - - if ( nV == 0 ) - return THROWERROR( RET_QPOBJECT_NOT_SETUP ); - - if ( A_new == 0 ) - return THROWERROR( RET_INVALID_ARGUMENTS ); - - DenseMatrixCON( _THIS->A,QProblem_getNC( _THIS ),QProblem_getNV( _THIS ),QProblem_getNV( _THIS ),A_new ); - - DenseMatrix_times( _THIS->A,1, 1.0, _THIS->x, nV, 0.0, _THIS->Ax, nC); - - for( j=0; jAx_u[j] = _THIS->ubA[j] - _THIS->Ax[j]; - _THIS->Ax_l[j] = _THIS->Ax[j] - _THIS->lbA[j]; - - /* (ckirches) disable constraints with empty rows */ - if ( qpOASES_isZero( DenseMatrix_getRowNorm( _THIS->A,j,2 ),QPOASES_ZERO ) == BT_TRUE ) - Constraints_setType( _THIS->constraints,j,ST_DISABLED ); - } - - return SUCCESSFUL_RETURN; -} - - -/* - * s e t L B A - */ -static inline returnValue QProblem_setLBA( QProblem* _THIS, const real_t* const lbA_new ) -{ - unsigned int i; - unsigned int nV = (unsigned int)QProblem_getNV( _THIS ); - unsigned int nC = (unsigned int)QProblem_getNC( _THIS ); - - if ( nV == 0 ) - return THROWERROR( RET_QPOBJECT_NOT_SETUP ); - - if ( lbA_new != 0 ) - { - memcpy( _THIS->lbA,lbA_new,nC*sizeof(real_t) ); - } - else - { - /* if no lower constraints' bounds are specified, set them to -infinity */ - for( i=0; ilbA[i] = -QPOASES_INFTY; - } - - return SUCCESSFUL_RETURN; -} - - -/* - * s e t L B A - */ -static inline returnValue QProblem_setLBAn( QProblem* _THIS, int number, real_t value ) -{ - int nV = QProblem_getNV( _THIS ); - int nC = QProblem_getNC( _THIS ); - - if ( nV == 0 ) - return THROWERROR( RET_QPOBJECT_NOT_SETUP ); - - if ( ( number >= 0 ) && ( number < nC ) ) - { - _THIS->lbA[number] = value; - return SUCCESSFUL_RETURN; - } - else - return THROWERROR( RET_INDEX_OUT_OF_BOUNDS ); -} - - -/* - * s e t U B A - */ -static inline returnValue QProblem_setUBA( QProblem* _THIS, const real_t* const ubA_new ) -{ - unsigned int i; - unsigned int nV = (unsigned int)QProblem_getNV( _THIS ); - unsigned int nC = (unsigned int)QProblem_getNC( _THIS ); - - if ( nV == 0 ) - return THROWERROR( RET_QPOBJECT_NOT_SETUP ); - - if ( ubA_new != 0 ) - { - memcpy( _THIS->ubA,ubA_new,nC*sizeof(real_t) ); - } - else - { - /* if no upper constraints' bounds are specified, set them to infinity */ - for( i=0; iubA[i] = QPOASES_INFTY; - } - - return SUCCESSFUL_RETURN; -} - - -/* - * s e t U B A - */ -static inline returnValue QProblem_setUBAn( QProblem* _THIS, int number, real_t value ) -{ - int nV = QProblem_getNV( _THIS ); - int nC = QProblem_getNC( _THIS ); - - if ( nV == 0 ) - return THROWERROR( RET_QPOBJECT_NOT_SETUP ); - - if ( ( number >= 0 ) && ( number < nC ) ) - { - _THIS->ubA[number] = value; - return SUCCESSFUL_RETURN; - } - else - return THROWERROR( RET_INDEX_OUT_OF_BOUNDS ); -} - - -END_NAMESPACE_QPOASES - - -#endif /* QPOASES_QPROBLEM_H */ - - -/* - * end of file - */ diff --git a/third_party/acados/include/qpOASES_e/QProblemB.h b/third_party/acados/include/qpOASES_e/QProblemB.h deleted file mode 100644 index ee5157dda77e8b..00000000000000 --- a/third_party/acados/include/qpOASES_e/QProblemB.h +++ /dev/null @@ -1,1641 +0,0 @@ -/* - * This file is part of qpOASES. - * - * qpOASES -- An Implementation of the Online Active Set Strategy. - * Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka, - * Christian Kirches et al. All rights reserved. - * - * qpOASES is free software; you can redistribute it and/or - * modify it under the terms of the GNU Lesser General Public - * License as published by the Free Software Foundation; either - * version 2.1 of the License, or (at your option) any later version. - * - * qpOASES is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. - * See the GNU Lesser General Public License for more details. - * - * You should have received a copy of the GNU Lesser General Public - * License along with qpOASES; if not, write to the Free Software - * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA - * - */ - - -/** - * \file include/qpOASES_e/QProblemB.h - * \author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches - * \version 3.1embedded - * \date 2007-2015 - * - * Declaration of the QProblemB class which is able to use the newly - * developed online active set strategy for parametric quadratic programming - * for problems with (simple) bounds only. - */ - - - -#ifndef QPOASES_QPROBLEMB_H -#define QPOASES_QPROBLEMB_H - - -#include -#include -#include -#include - - -BEGIN_NAMESPACE_QPOASES - -typedef struct { - Bounds *emptyBounds; - Bounds *auxiliaryBounds; - - real_t *ub_new_far; - real_t *lb_new_far; - - real_t *g_new; - real_t *lb_new; - real_t *ub_new; - - real_t *g_new2; - real_t *lb_new2; - real_t *ub_new2; - - real_t *Hx; - - real_t *_H; - - real_t *g_original; - real_t *lb_original; - real_t *ub_original; - - real_t *delta_xFR; - real_t *delta_xFX; - real_t *delta_yFX; - real_t *delta_g; - real_t *delta_lb; - real_t *delta_ub; - - real_t *gMod; - - real_t *num; - real_t *den; - - real_t *rhs; - real_t *r; -} QProblemB_ws; - -int QProblemB_ws_calculateMemorySize( unsigned int nV ); - -char *QProblemB_ws_assignMemory( unsigned int nV, QProblemB_ws **mem, void *raw_memory ); - -QProblemB_ws *QProblemB_ws_createMemory( unsigned int nV ); - - -/** - * \brief Implements the online active set strategy for box-constrained QPs. - * - * Class for setting up and solving quadratic programs with bounds (= box constraints) only. - * The main feature is the possibility to use the newly developed online active set strategy - * for parametric quadratic programming. - * - * \author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches - * \version 3.1embedded - * \date 2007-2015 - */ -typedef struct -{ - QProblemB_ws *ws; - Bounds *bounds; /**< Data structure for problem's bounds. */ - Flipper *flipper; /**< Struct for making a temporary copy of the matrix factorisations. */ - - DenseMatrix* H; /**< Hessian matrix pointer. */ - - Options options; /**< Struct containing all user-defined options for solving QPs. */ - TabularOutput tabularOutput; /**< Struct storing information for tabular output (printLevel == PL_TABULAR). */ - - real_t *g; /**< Gradient. */ - real_t *lb; /**< Lower bound vector (on variables). */ - real_t *ub; /**< Upper bound vector (on variables). */ - - real_t *R; /**< Cholesky factor of H (i.e. H = R^T*R). */ - - real_t *x; /**< Primal solution vector. */ - real_t *y; /**< Dual solution vector. */ - - real_t *delta_xFR_TMP; /**< Temporary for determineStepDirection */ - - real_t tau; /**< Last homotopy step length. */ - real_t regVal; /**< Holds the offset used to regularise Hessian matrix (zero by default). */ - - real_t ramp0; /**< Start value for Ramping Strategy. */ - real_t ramp1; /**< Final value for Ramping Strategy. */ - - QProblemStatus status; /**< Current status of the solution process. */ - HessianType hessianType; /**< Type of Hessian matrix. */ - - BooleanType haveCholesky; /**< Flag indicating whether Cholesky decomposition has already been setup. */ - BooleanType infeasible; /**< QP infeasible? */ - BooleanType unbounded; /**< QP unbounded? */ - - int rampOffset; /**< Offset index for Ramping. */ - unsigned int count; /**< Counts the number of hotstart function calls (internal usage only!). */ -} QProblemB; - -int QProblemB_calculateMemorySize( unsigned int nV ); - -char *QProblemB_assignMemory( unsigned int nV, QProblemB **mem, void *raw_memory ); - -QProblemB *QProblemB_createMemory( unsigned int nV ); - - -/** Constructor which takes the QP dimension and Hessian type - * information. If the Hessian is the zero (i.e. HST_ZERO) or the - * identity matrix (i.e. HST_IDENTITY), respectively, no memory - * is allocated for it and a NULL pointer can be passed for it - * to the init() functions. */ -void QProblemBCON( QProblemB* _THIS, - int _nV, /**< Number of variables. */ - HessianType _hessianType /**< Type of Hessian matrix. */ - ); - -void QProblemBCPY( QProblemB* FROM, - QProblemB* TO - ); - - -/** Clears all data structures of QProblemB except for QP data. - * \return SUCCESSFUL_RETURN \n - RET_RESET_FAILED */ -returnValue QProblemB_reset( QProblemB* _THIS ); - - -/** Initialises a simply bounded QP problem with given QP data and tries to solve it - * using at most nWSR iterations. - * - * Note: This function internally calls solveInitialQP for initialisation! - * - * \return SUCCESSFUL_RETURN \n - RET_INIT_FAILED \n - RET_INIT_FAILED_CHOLESKY \n - RET_INIT_FAILED_HOTSTART \n - RET_INIT_FAILED_INFEASIBILITY \n - RET_INIT_FAILED_UNBOUNDEDNESS \n - RET_MAX_NWSR_REACHED \n - RET_INVALID_ARGUMENTS */ -returnValue QProblemB_initM( QProblemB* _THIS, - DenseMatrix *_H, /**< Hessian matrix. */ - const real_t* const _g, /**< Gradient vector. */ - const real_t* const _lb, /**< Lower bounds (on variables). \n - If no lower bounds exist, a NULL pointer can be passed. */ - const real_t* const _ub, /**< Upper bounds (on variables). \n - If no upper bounds exist, a NULL pointer can be passed. */ - int* nWSR, /**< Input: Maximum number of working set recalculations when using initial homotopy. \n - Output: Number of performed working set recalculations. */ - real_t* const cputime /**< Input: Maximum CPU time allowed for QP initialisation. \n - Output: CPU time spent for QP initialisation (if pointer passed). */ - ); - -/** Initialises a simply bounded QP problem with given QP data and tries to solve it - * using at most nWSR iterations. - * - * Note: This function internally calls solveInitialQP for initialisation! - * - * \return SUCCESSFUL_RETURN \n - RET_INIT_FAILED \n - RET_INIT_FAILED_CHOLESKY \n - RET_INIT_FAILED_HOTSTART \n - RET_INIT_FAILED_INFEASIBILITY \n - RET_INIT_FAILED_UNBOUNDEDNESS \n - RET_MAX_NWSR_REACHED \n - RET_INVALID_ARGUMENTS */ -returnValue QProblemB_init( QProblemB* _THIS, - real_t* const _H, /**< Hessian matrix. \n - If Hessian matrix is trivial, a NULL pointer can be passed. */ - const real_t* const _g, /**< Gradient vector. */ - const real_t* const _lb, /**< Lower bounds (on variables). \n - If no lower bounds exist, a NULL pointer can be passed. */ - const real_t* const _ub, /**< Upper bounds (on variables). \n - If no upper bounds exist, a NULL pointer can be passed. */ - int* nWSR, /**< Input: Maximum number of working set recalculations when using initial homotopy. \n - Output: Number of performed working set recalculations. */ - real_t* const cputime /**< Input: Maximum CPU time allowed for QP initialisation. \n - Output: CPU time spent for QP initialisation (if pointer passed). */ - ); - -/** Initialises a simply bounded QP problem with given QP data to be read from files and solves it - * using at most nWSR iterations. - * - * Note: This function internally calls solveInitialQP for initialisation! - * - * \return SUCCESSFUL_RETURN \n - RET_INIT_FAILED \n - RET_INIT_FAILED_CHOLESKY \n - RET_INIT_FAILED_HOTSTART \n - RET_INIT_FAILED_INFEASIBILITY \n - RET_INIT_FAILED_UNBOUNDEDNESS \n - RET_MAX_NWSR_REACHED \n - RET_UNABLE_TO_READ_FILE */ -returnValue QProblemB_initF( QProblemB* _THIS, - const char* const H_file, /**< Name of file where Hessian matrix is stored. \n - If Hessian matrix is trivial, a NULL pointer can be passed. */ - const char* const g_file, /**< Name of file where gradient vector is stored. */ - const char* const lb_file, /**< Name of file where lower bound vector. \n - If no lower bounds exist, a NULL pointer can be passed. */ - const char* const ub_file, /**< Name of file where upper bound vector. \n - If no upper bounds exist, a NULL pointer can be passed. */ - int* nWSR, /**< Input: Maximum number of working set recalculations when using initial homotopy. \n - Output: Number of performed working set recalculations. */ - real_t* const cputime /**< Input: Maximum CPU time allowed for QP initialisation. \n - Output: CPU time spent for QP initialisation (if pointer passed). */ - ); - -/** Initialises a simply bounded QP problem with given QP data and tries to solve it - * using at most nWSR iterations. Depending on the parameter constellation it: \n - * 1. 0, 0, 0 : starts with xOpt = 0, yOpt = 0 and gB empty (or all implicit equality bounds), \n - * 2. xOpt, 0, 0 : starts with xOpt, yOpt = 0 and obtain gB by "clipping", \n - * 3. 0, yOpt, 0 : starts with xOpt = 0, yOpt and obtain gB from yOpt != 0, \n - * 4. 0, 0, gB: starts with xOpt = 0, yOpt = 0 and gB, \n - * 5. xOpt, yOpt, 0 : starts with xOpt, yOpt and obtain gB from yOpt != 0, \n - * 6. xOpt, 0, gB: starts with xOpt, yOpt = 0 and gB, \n - * 7. xOpt, yOpt, gB: starts with xOpt, yOpt and gB (assume them to be consistent!) - * - * Note: This function internally calls solveInitialQP for initialisation! - * - * \return SUCCESSFUL_RETURN \n - RET_INIT_FAILED \n - RET_INIT_FAILED_CHOLESKY \n - RET_INIT_FAILED_HOTSTART \n - RET_INIT_FAILED_INFEASIBILITY \n - RET_INIT_FAILED_UNBOUNDEDNESS \n - RET_MAX_NWSR_REACHED \n - RET_INVALID_ARGUMENTS */ -returnValue QProblemB_initMW( QProblemB* _THIS, - DenseMatrix *_H, /**< Hessian matrix. */ - const real_t* const _g, /**< Gradient vector. */ - const real_t* const _lb, /**< Lower bounds (on variables). \n - If no lower bounds exist, a NULL pointer can be passed. */ - const real_t* const _ub, /**< Upper bounds (on variables). \n - If no upper bounds exist, a NULL pointer can be passed. */ - int* nWSR, /**< Input: Maximum number of working set recalculations when using initial homotopy. \n - Output: Number of performed working set recalculations. */ - real_t* const cputime, /**< Input: Maximum CPU time allowed for QP initialisation. \n - Output: CPU time spent for QP initialisation. */ - const real_t* const xOpt, /**< Optimal primal solution vector. A NULL pointer can be passed. \n - (If a null pointer is passed, the old primal solution is kept!) */ - const real_t* const yOpt, /**< Optimal dual solution vector. A NULL pointer can be passed. \n - (If a null pointer is passed, the old dual solution is kept!) */ - Bounds* const guessedBounds, /**< Optimal working set of bounds for solution (xOpt,yOpt). \n - (If a null pointer is passed, all bounds are assumed inactive!) */ - const real_t* const _R /**< Pre-computed (upper triangular) Cholesky factor of Hessian matrix. - The Cholesky factor must be stored in a real_t array of size nV*nV - in row-major format. Note: Only used if xOpt/yOpt and gB are NULL! \n - (If a null pointer is passed, Cholesky decomposition is computed internally!) */ - ); - -/** Initialises a simply bounded QP problem with given QP data and tries to solve it - * using at most nWSR iterations. Depending on the parameter constellation it: \n - * 1. 0, 0, 0 : starts with xOpt = 0, yOpt = 0 and gB empty (or all implicit equality bounds), \n - * 2. xOpt, 0, 0 : starts with xOpt, yOpt = 0 and obtain gB by "clipping", \n - * 3. 0, yOpt, 0 : starts with xOpt = 0, yOpt and obtain gB from yOpt != 0, \n - * 4. 0, 0, gB: starts with xOpt = 0, yOpt = 0 and gB, \n - * 5. xOpt, yOpt, 0 : starts with xOpt, yOpt and obtain gB from yOpt != 0, \n - * 6. xOpt, 0, gB: starts with xOpt, yOpt = 0 and gB, \n - * 7. xOpt, yOpt, gB: starts with xOpt, yOpt and gB (assume them to be consistent!) - * - * Note: This function internally calls solveInitialQP for initialisation! - * - * \return SUCCESSFUL_RETURN \n - RET_INIT_FAILED \n - RET_INIT_FAILED_CHOLESKY \n - RET_INIT_FAILED_HOTSTART \n - RET_INIT_FAILED_INFEASIBILITY \n - RET_INIT_FAILED_UNBOUNDEDNESS \n - RET_MAX_NWSR_REACHED \n - RET_INVALID_ARGUMENTS */ -returnValue QProblemB_initW( QProblemB* _THIS, - real_t* const _H, /**< Hessian matrix. \n - If Hessian matrix is trivial, a NULL pointer can be passed. */ - const real_t* const _g, /**< Gradient vector. */ - const real_t* const _lb, /**< Lower bounds (on variables). \n - If no lower bounds exist, a NULL pointer can be passed. */ - const real_t* const _ub, /**< Upper bounds (on variables). \n - If no upper bounds exist, a NULL pointer can be passed. */ - int* nWSR, /**< Input: Maximum number of working set recalculations when using initial homotopy. \n - Output: Number of performed working set recalculations. */ - real_t* const cputime, /**< Input: Maximum CPU time allowed for QP initialisation. \n - Output: CPU time spent for QP initialisation. */ - const real_t* const xOpt, /**< Optimal primal solution vector. A NULL pointer can be passed. \n - (If a null pointer is passed, the old primal solution is kept!) */ - const real_t* const yOpt, /**< Optimal dual solution vector. A NULL pointer can be passed. \n - (If a null pointer is passed, the old dual solution is kept!) */ - Bounds* const guessedBounds, /**< Optimal working set of bounds for solution (xOpt,yOpt). \n - (If a null pointer is passed, all bounds are assumed inactive!) */ - const real_t* const _R /**< Pre-computed (upper triangular) Cholesky factor of Hessian matrix. - The Cholesky factor must be stored in a real_t array of size nV*nV - in row-major format. Note: Only used if xOpt/yOpt and gB are NULL! \n - (If a null pointer is passed, Cholesky decomposition is computed internally!) */ - ); - -/** Initialises a simply bounded QP problem with given QP data to be read from files and solves it - * using at most nWSR iterations. Depending on the parameter constellation it: \n - * 1. 0, 0, 0 : starts with xOpt = 0, yOpt = 0 and gB empty (or all implicit equality bounds), \n - * 2. xOpt, 0, 0 : starts with xOpt, yOpt = 0 and obtain gB by "clipping", \n - * 3. 0, yOpt, 0 : starts with xOpt = 0, yOpt and obtain gB from yOpt != 0, \n - * 4. 0, 0, gB: starts with xOpt = 0, yOpt = 0 and gB, \n - * 5. xOpt, yOpt, 0 : starts with xOpt, yOpt and obtain gB from yOpt != 0, \n - * 6. xOpt, 0, gB: starts with xOpt, yOpt = 0 and gB, \n - * 7. xOpt, yOpt, gB: starts with xOpt, yOpt and gB (assume them to be consistent!) - * - * Note: This function internally calls solveInitialQP for initialisation! - * - * \return SUCCESSFUL_RETURN \n - RET_INIT_FAILED \n - RET_INIT_FAILED_CHOLESKY \n - RET_INIT_FAILED_HOTSTART \n - RET_INIT_FAILED_INFEASIBILITY \n - RET_INIT_FAILED_UNBOUNDEDNESS \n - RET_MAX_NWSR_REACHED \n - RET_UNABLE_TO_READ_FILE */ -returnValue QProblemB_initFW( QProblemB* _THIS, - const char* const H_file, /**< Name of file where Hessian matrix is stored. \n - If Hessian matrix is trivial, a NULL pointer can be passed. */ - const char* const g_file, /**< Name of file where gradient vector is stored. */ - const char* const lb_file, /**< Name of file where lower bound vector. \n - If no lower bounds exist, a NULL pointer can be passed. */ - const char* const ub_file, /**< Name of file where upper bound vector. \n - If no upper bounds exist, a NULL pointer can be passed. */ - int* nWSR, /**< Input: Maximum number of working set recalculations when using initial homotopy. \n - Output: Number of performed working set recalculations. */ - real_t* const cputime, /**< Input: Maximum CPU time allowed for QP initialisation. \n - Output: CPU time spent for QP initialisation. */ - const real_t* const xOpt, /**< Optimal primal solution vector. A NULL pointer can be passed. \n - (If a null pointer is passed, the old primal solution is kept!) */ - const real_t* const yOpt, /**< Optimal dual solution vector. A NULL pointer can be passed. \n - (If a null pointer is passed, the old dual solution is kept!) */ - Bounds* const guessedBounds, /**< Optimal working set of bounds for solution (xOpt,yOpt). \n - (If a null pointer is passed, all bounds are assumed inactive!) */ - const char* const R_file /**< Name of the file where a pre-computed (upper triangular) Cholesky factor - of the Hessian matrix is stored. \n - (If a null pointer is passed, Cholesky decomposition is computed internally!) */ - ); - - -/** Solves an initialised QP sequence using the online active set strategy. - * By default, QP solution is started from previous solution. - * - * Note: This function internally calls solveQP/solveRegularisedQP - * for solving an initialised QP! - * - * \return SUCCESSFUL_RETURN \n - RET_MAX_NWSR_REACHED \n - RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n - RET_HOTSTART_FAILED \n - RET_SHIFT_DETERMINATION_FAILED \n - RET_STEPDIRECTION_DETERMINATION_FAILED \n - RET_STEPLENGTH_DETERMINATION_FAILED \n - RET_HOMOTOPY_STEP_FAILED \n - RET_HOTSTART_STOPPED_INFEASIBILITY \n - RET_HOTSTART_STOPPED_UNBOUNDEDNESS */ -returnValue QProblemB_hotstart( QProblemB* _THIS, - const real_t* const g_new, /**< Gradient of neighbouring QP to be solved. */ - const real_t* const lb_new, /**< Lower bounds of neighbouring QP to be solved. \n - If no lower bounds exist, a NULL pointer can be passed. */ - const real_t* const ub_new, /**< Upper bounds of neighbouring QP to be solved. \n - If no upper bounds exist, a NULL pointer can be passed. */ - int* nWSR, /**< Input: Maximum number of working set recalculations; \n - Output: Number of performed working set recalculations. */ - real_t* const cputime /**< Input: Maximum CPU time allowed for QP solution. \n - Output: CPU time spent for QP solution (or to perform nWSR iterations). */ - ); - -/** Solves an initialised QP sequence using the online active set strategy, - * where QP data is read from files. QP solution is started from previous solution. - * - * Note: This function internally calls solveQP/solveRegularisedQP - * for solving an initialised QP! - * - * \return SUCCESSFUL_RETURN \n - RET_MAX_NWSR_REACHED \n - RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n - RET_HOTSTART_FAILED \n - RET_SHIFT_DETERMINATION_FAILED \n - RET_STEPDIRECTION_DETERMINATION_FAILED \n - RET_STEPLENGTH_DETERMINATION_FAILED \n - RET_HOMOTOPY_STEP_FAILED \n - RET_HOTSTART_STOPPED_INFEASIBILITY \n - RET_HOTSTART_STOPPED_UNBOUNDEDNESS \n - RET_UNABLE_TO_READ_FILE \n - RET_INVALID_ARGUMENTS */ -returnValue QProblemB_hotstartF( QProblemB* _THIS, - const char* const g_file, /**< Name of file where gradient, of neighbouring QP to be solved, is stored. */ - const char* const lb_file, /**< Name of file where lower bounds, of neighbouring QP to be solved, is stored. \n - If no lower bounds exist, a NULL pointer can be passed. */ - const char* const ub_file, /**< Name of file where upper bounds, of neighbouring QP to be solved, is stored. \n - If no upper bounds exist, a NULL pointer can be passed. */ - int* nWSR, /**< Input: Maximum number of working set recalculations; \n - Output: Number of performed working set recalculations. */ - real_t* const cputime /**< Input: Maximum CPU time allowed for QP solution. \n - Output: CPU time spent for QP solution (or to perform nWSR iterations). */ - ); - -/** Solves an initialised QP sequence using the online active set strategy. - * By default, QP solution is started from previous solution. If a guess - * for the working set is provided, an initialised homotopy is performed. - * - * Note: This function internally calls solveQP/solveRegularisedQP - * for solving an initialised QP! - * - * \return SUCCESSFUL_RETURN \n - RET_MAX_NWSR_REACHED \n - RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n - RET_HOTSTART_FAILED \n - RET_SHIFT_DETERMINATION_FAILED \n - RET_STEPDIRECTION_DETERMINATION_FAILED \n - RET_STEPLENGTH_DETERMINATION_FAILED \n - RET_HOMOTOPY_STEP_FAILED \n - RET_HOTSTART_STOPPED_INFEASIBILITY \n - RET_HOTSTART_STOPPED_UNBOUNDEDNESS \n - RET_SETUP_AUXILIARYQP_FAILED */ -returnValue QProblemB_hotstartW( QProblemB* _THIS, - const real_t* const g_new, /**< Gradient of neighbouring QP to be solved. */ - const real_t* const lb_new, /**< Lower bounds of neighbouring QP to be solved. \n - If no lower bounds exist, a NULL pointer can be passed. */ - const real_t* const ub_new, /**< Upper bounds of neighbouring QP to be solved. \n - If no upper bounds exist, a NULL pointer can be passed. */ - int* nWSR, /**< Input: Maximum number of working set recalculations; \n - Output: Number of performed working set recalculations. */ - real_t* const cputime, /**< Input: Maximum CPU time allowed for QP solution. \n - Output: CPU time spent for QP solution (or to perform nWSR iterations). */ - Bounds* const guessedBounds /**< Optimal working set of bounds for solution (xOpt,yOpt). \n - (If a null pointer is passed, the previous working set is kept!) */ - ); - -/** Solves an initialised QP sequence using the online active set strategy, - * where QP data is read from files. - * By default, QP solution is started from previous solution. If a guess - * for the working set is provided, an initialised homotopy is performed. - * - * Note: This function internally calls solveQP/solveRegularisedQP - * for solving an initialised QP! - * - * \return SUCCESSFUL_RETURN \n - RET_MAX_NWSR_REACHED \n - RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n - RET_HOTSTART_FAILED \n - RET_SHIFT_DETERMINATION_FAILED \n - RET_STEPDIRECTION_DETERMINATION_FAILED \n - RET_STEPLENGTH_DETERMINATION_FAILED \n - RET_HOMOTOPY_STEP_FAILED \n - RET_HOTSTART_STOPPED_INFEASIBILITY \n - RET_HOTSTART_STOPPED_UNBOUNDEDNESS \n - RET_UNABLE_TO_READ_FILE \n - RET_INVALID_ARGUMENTS \n - RET_SETUP_AUXILIARYQP_FAILED */ -returnValue QProblemB_hotstartFW( QProblemB* _THIS, - const char* const g_file, /**< Name of file where gradient, of neighbouring QP to be solved, is stored. */ - const char* const lb_file, /**< Name of file where lower bounds, of neighbouring QP to be solved, is stored. \n - If no lower bounds exist, a NULL pointer can be passed. */ - const char* const ub_file, /**< Name of file where upper bounds, of neighbouring QP to be solved, is stored. \n - If no upper bounds exist, a NULL pointer can be passed. */ - int* nWSR, /**< Input: Maximum number of working set recalculations; \n - Output: Number of performed working set recalculations. */ - real_t* const cputime, /**< Input: Maximum CPU time allowed for QP solution. \n - Output: CPU time spent for QP solution (or to perform nWSR iterations). */ - Bounds* const guessedBounds /**< Optimal working set of bounds for solution (xOpt,yOpt). \n - (If a null pointer is passed, the previous working set is kept!) */ - ); - - -/** Writes a vector with the state of the working set - * \return SUCCESSFUL_RETURN \n - * RET_INVALID_ARGUMENTS */ -returnValue QProblemB_getWorkingSet( QProblemB* _THIS, - real_t* workingSet /** Output: array containing state of the working set. */ - ); - -/** Writes a vector with the state of the working set of bounds - * \return SUCCESSFUL_RETURN \n - * RET_INVALID_ARGUMENTS */ -returnValue QProblemB_getWorkingSetBounds( QProblemB* _THIS, - real_t* workingSetB /** Output: array containing state of the working set of bounds. */ - ); - -/** Writes a vector with the state of the working set of constraints - * \return SUCCESSFUL_RETURN \n - * RET_INVALID_ARGUMENTS */ -returnValue QProblemB_getWorkingSetConstraints( QProblemB* _THIS, - real_t* workingSetC /** Output: array containing state of the working set of constraints. */ - ); - - -/** Returns current bounds object of the QP (deep copy). - * \return SUCCESSFUL_RETURN \n - RET_QPOBJECT_NOT_SETUP */ -static inline returnValue QProblemB_getBounds( QProblemB* _THIS, - Bounds* _bounds /** Output: Bounds object. */ - ); - - -/** Returns the number of variables. - * \return Number of variables. */ -static inline int QProblemB_getNV( QProblemB* _THIS ); - -/** Returns the number of free variables. - * \return Number of free variables. */ -static inline int QProblemB_getNFR( QProblemB* _THIS ); - -/** Returns the number of fixed variables. - * \return Number of fixed variables. */ -static inline int QProblemB_getNFX( QProblemB* _THIS ); - -/** Returns the number of implicitly fixed variables. - * \return Number of implicitly fixed variables. */ -static inline int QProblemB_getNFV( QProblemB* _THIS ); - -/** Returns the dimension of null space. - * \return Dimension of null space. */ -int QProblemB_getNZ( QProblemB* _THIS ); - - -/** Returns the optimal objective function value. - * \return finite value: Optimal objective function value (QP was solved) \n - +infinity: QP was not yet solved */ -real_t QProblemB_getObjVal( QProblemB* _THIS ); - -/** Returns the objective function value at an arbitrary point x. - * \return Objective function value at point x */ -real_t QProblemB_getObjValX( QProblemB* _THIS, - const real_t* const _x /**< Point at which the objective function shall be evaluated. */ - ); - -/** Returns the primal solution vector. - * \return SUCCESSFUL_RETURN \n - RET_QP_NOT_SOLVED */ -returnValue QProblemB_getPrimalSolution( QProblemB* _THIS, - real_t* const xOpt /**< Output: Primal solution vector (if QP has been solved). */ - ); - -/** Returns the dual solution vector. - * \return SUCCESSFUL_RETURN \n - RET_QP_NOT_SOLVED */ -returnValue QProblemB_getDualSolution( QProblemB* _THIS, - real_t* const yOpt /**< Output: Dual solution vector (if QP has been solved). */ - ); - - -/** Returns status of the solution process. - * \return Status of solution process. */ -static inline QProblemStatus QProblemB_getStatus( QProblemB* _THIS ); - - -/** Returns if the QProblem object is initialised. - * \return BT_TRUE: QProblemB initialised \n - BT_FALSE: QProblemB not initialised */ -static inline BooleanType QProblemB_isInitialised( QProblemB* _THIS ); - -/** Returns if the QP has been solved. - * \return BT_TRUE: QProblemB solved \n - BT_FALSE: QProblemB not solved */ -static inline BooleanType QProblemB_isSolved( QProblemB* _THIS ); - -/** Returns if the QP is infeasible. - * \return BT_TRUE: QP infeasible \n - BT_FALSE: QP feasible (or not known to be infeasible!) */ -static inline BooleanType QProblemB_isInfeasible( QProblemB* _THIS ); - -/** Returns if the QP is unbounded. - * \return BT_TRUE: QP unbounded \n - BT_FALSE: QP unbounded (or not known to be unbounded!) */ -static inline BooleanType QProblemB_isUnbounded( QProblemB* _THIS ); - - -/** Returns Hessian type flag (type is not determined due to _THIS call!). - * \return Hessian type. */ -static inline HessianType QProblemB_getHessianType( QProblemB* _THIS ); - -/** Changes the print level. - * \return SUCCESSFUL_RETURN */ -static inline returnValue QProblemB_setHessianType( QProblemB* _THIS, - HessianType _hessianType /**< New Hessian type. */ - ); - -/** Returns if the QP has been internally regularised. - * \return BT_TRUE: Hessian is internally regularised for QP solution \n - BT_FALSE: No internal Hessian regularisation is used for QP solution */ -static inline BooleanType QProblemB_usingRegularisation( QProblemB* _THIS ); - -/** Returns current options struct. - * \return Current options struct. */ -static inline Options QProblemB_getOptions( QProblemB* _THIS ); - -/** Overrides current options with given ones. - * \return SUCCESSFUL_RETURN */ -static inline returnValue QProblemB_setOptions( QProblemB* _THIS, - Options _options /**< New options. */ - ); - -/** Returns the print level. - * \return Print level. */ -static inline PrintLevel QProblemB_getPrintLevel( QProblemB* _THIS ); - -/** Changes the print level. - * \return SUCCESSFUL_RETURN */ -returnValue QProblemB_setPrintLevel( QProblemB* _THIS, - PrintLevel _printlevel /**< New print level. */ - ); - -/** Returns the current number of QP problems solved. - * \return Number of QP problems solved. */ -static inline unsigned int QProblemB_getCount( QProblemB* _THIS ); - -/** Resets QP problem counter (to zero). - * \return SUCCESSFUL_RETURN. */ -static inline returnValue QProblemB_resetCounter( QProblemB* _THIS ); - - -/** Prints concise list of properties of the current QP. - * \return SUCCESSFUL_RETURN \n */ -returnValue QProblemB_printProperties( QProblemB* _THIS ); - -/** Prints a list of all options and their current values. - * \return SUCCESSFUL_RETURN \n */ -returnValue QProblemB_printOptions( QProblemB* _THIS ); - - -/** If Hessian type has been set by the user, nothing is done. - * Otherwise the Hessian type is set to HST_IDENTITY, HST_ZERO, or - * HST_POSDEF (default), respectively. - * \return SUCCESSFUL_RETURN \n - RET_HESSIAN_INDEFINITE */ -returnValue QProblemB_determineHessianType( QProblemB* _THIS ); - -/** Determines type of existing constraints and bounds (i.e. implicitly fixed, unbounded etc.). - * \return SUCCESSFUL_RETURN \n - RET_SETUPSUBJECTTOTYPE_FAILED */ -returnValue QProblemB_setupSubjectToType( QProblemB* _THIS ); - -/** Determines type of new constraints and bounds (i.e. implicitly fixed, unbounded etc.). - * \return SUCCESSFUL_RETURN \n - RET_SETUPSUBJECTTOTYPE_FAILED */ -returnValue QProblemB_setupSubjectToTypeNew( QProblemB* _THIS, - const real_t* const lb_new, /**< New lower bounds. */ - const real_t* const ub_new /**< New upper bounds. */ - ); - -/** Computes the Cholesky decomposition of the (simply projected) Hessian - * (i.e. R^T*R = Z^T*H*Z). It only works in the case where Z is a simple - * projection matrix! - * Note: If Hessian turns out not to be positive definite, the Hessian type - * is set to HST_SEMIDEF accordingly. - * \return SUCCESSFUL_RETURN \n - * RET_HESSIAN_NOT_SPD \n - * RET_INDEXLIST_CORRUPTED */ -returnValue QProblemB_computeCholesky( QProblemB* _THIS ); - -/** Computes initial Cholesky decomposition of the projected Hessian making - * use of the function setupCholeskyDecomposition() or setupCholeskyDecompositionProjected(). - * \return SUCCESSFUL_RETURN \n - * RET_HESSIAN_NOT_SPD \n - * RET_INDEXLIST_CORRUPTED */ -returnValue QProblemB_setupInitialCholesky( QProblemB* _THIS ); - - -/** Obtains the desired working set for the auxiliary initial QP in - * accordance with the user specifications - * \return SUCCESSFUL_RETURN \n - RET_OBTAINING_WORKINGSET_FAILED \n - RET_INVALID_ARGUMENTS */ -returnValue QProblemB_obtainAuxiliaryWorkingSet( QProblemB* _THIS, - const real_t* const xOpt, /**< Optimal primal solution vector. - * If a NULL pointer is passed, all entries are assumed to be zero. */ - const real_t* const yOpt, /**< Optimal dual solution vector. - * If a NULL pointer is passed, all entries are assumed to be zero. */ - Bounds* const guessedBounds, /**< Guessed working set for solution (xOpt,yOpt). */ - Bounds* auxiliaryBounds /**< Input: Allocated bound object. \n - * Ouput: Working set for auxiliary QP. */ - ); - -/** Decides if lower bounds are smaller than upper bounds - * - * \return SUCCESSFUL_RETURN \n - * RET_QP_INFEASIBLE */ -returnValue QProblemB_areBoundsConsistent( QProblemB* _THIS, - const real_t* const lb, /**< Vector of lower bounds*/ - const real_t* const ub /**< Vector of upper bounds*/ - ); - -/** Solves the system Ra = b or R^Ta = b where R is an upper triangular matrix. - * \return SUCCESSFUL_RETURN \n - RET_DIV_BY_ZERO */ -returnValue QProblemB_backsolveR( QProblemB* _THIS, - const real_t* const b, /**< Right hand side vector. */ - BooleanType transposed, /**< Indicates if the transposed system shall be solved. */ - real_t* const a /**< Output: Solution vector */ - ); - -/** Solves the system Ra = b or R^Ta = b where R is an upper triangular matrix. \n - * Special variant for the case that _THIS function is called from within "removeBound()". - * \return SUCCESSFUL_RETURN \n - RET_DIV_BY_ZERO */ -returnValue QProblemB_backsolveRrem( QProblemB* _THIS, - const real_t* const b, /**< Right hand side vector. */ - BooleanType transposed, /**< Indicates if the transposed system shall be solved. */ - BooleanType removingBound, /**< Indicates if function is called from "removeBound()". */ - real_t* const a /**< Output: Solution vector */ - ); - - -/** Determines step direction of the shift of the QP data. - * \return SUCCESSFUL_RETURN */ -returnValue QProblemB_determineDataShift( QProblemB* _THIS, - const real_t* const g_new, /**< New gradient vector. */ - const real_t* const lb_new, /**< New lower bounds. */ - const real_t* const ub_new, /**< New upper bounds. */ - real_t* const delta_g, /**< Output: Step direction of gradient vector. */ - real_t* const delta_lb, /**< Output: Step direction of lower bounds. */ - real_t* const delta_ub, /**< Output: Step direction of upper bounds. */ - BooleanType* Delta_bB_isZero/**< Output: Indicates if active bounds are to be shifted. */ - ); - - -/** Sets up internal QP data. - * \return SUCCESSFUL_RETURN \n - RET_INVALID_ARGUMENTS */ -returnValue QProblemB_setupQPdataM( QProblemB* _THIS, - DenseMatrix *_H, /**< Hessian matrix.*/ - const real_t* const _g, /**< Gradient vector. */ - const real_t* const _lb, /**< Lower bounds (on variables). \n - If no lower bounds exist, a NULL pointer can be passed. */ - const real_t* const _ub /**< Upper bounds (on variables). \n - If no upper bounds exist, a NULL pointer can be passed. */ - ); - -/** Sets up internal QP data. If the current Hessian is trivial - * (i.e. HST_ZERO or HST_IDENTITY) but a non-trivial one is given, - * memory for Hessian is allocated and it is set to the given one. - * \return SUCCESSFUL_RETURN \n - RET_INVALID_ARGUMENTS \n - RET_NO_HESSIAN_SPECIFIED */ -returnValue QProblemB_setupQPdata( QProblemB* _THIS, - real_t* const _H, /**< Hessian matrix. \n - If Hessian matrix is trivial,a NULL pointer can be passed. */ - const real_t* const _g, /**< Gradient vector. */ - const real_t* const _lb, /**< Lower bounds (on variables). \n - If no lower bounds exist, a NULL pointer can be passed. */ - const real_t* const _ub /**< Upper bounds (on variables). \n - If no upper bounds exist, a NULL pointer can be passed. */ - ); - -/** Sets up internal QP data by loading it from files. If the current Hessian - * is trivial (i.e. HST_ZERO or HST_IDENTITY) but a non-trivial one is given, - * memory for Hessian is allocated and it is set to the given one. - * \return SUCCESSFUL_RETURN \n - RET_UNABLE_TO_OPEN_FILE \n - RET_UNABLE_TO_READ_FILE \n - RET_INVALID_ARGUMENTS \n - RET_NO_HESSIAN_SPECIFIED */ -returnValue QProblemB_setupQPdataFromFile( QProblemB* _THIS, - const char* const H_file, /**< Name of file where Hessian matrix, of neighbouring QP to be solved, is stored. \n - If Hessian matrix is trivial,a NULL pointer can be passed. */ - const char* const g_file, /**< Name of file where gradient, of neighbouring QP to be solved, is stored. */ - const char* const lb_file, /**< Name of file where lower bounds, of neighbouring QP to be solved, is stored. \n - If no lower bounds exist, a NULL pointer can be passed. */ - const char* const ub_file /**< Name of file where upper bounds, of neighbouring QP to be solved, is stored. \n - If no upper bounds exist, a NULL pointer can be passed. */ - ); - -/** Loads new QP vectors from files (internal members are not affected!). - * \return SUCCESSFUL_RETURN \n - RET_UNABLE_TO_OPEN_FILE \n - RET_UNABLE_TO_READ_FILE \n - RET_INVALID_ARGUMENTS */ -returnValue QProblemB_loadQPvectorsFromFile( QProblemB* _THIS, - const char* const g_file, /**< Name of file where gradient, of neighbouring QP to be solved, is stored. */ - const char* const lb_file, /**< Name of file where lower bounds, of neighbouring QP to be solved, is stored. \n - If no lower bounds exist, a NULL pointer can be passed. */ - const char* const ub_file, /**< Name of file where upper bounds, of neighbouring QP to be solved, is stored. \n - If no upper bounds exist, a NULL pointer can be passed. */ - real_t* const g_new, /**< Output: Gradient of neighbouring QP to be solved. */ - real_t* const lb_new, /**< Output: Lower bounds of neighbouring QP to be solved */ - real_t* const ub_new /**< Output: Upper bounds of neighbouring QP to be solved */ - ); - - -/** Sets internal infeasibility flag and throws given error in case the far bound - * strategy is not enabled (as QP might actually not be infeasible in _THIS case). - * \return RET_HOTSTART_STOPPED_INFEASIBILITY \n - RET_ENSURELI_FAILED_CYCLING \n - RET_ENSURELI_FAILED_NOINDEX */ -returnValue QProblemB_setInfeasibilityFlag( QProblemB* _THIS, - returnValue returnvalue, /**< Returnvalue to be tunneled. */ - BooleanType doThrowError /**< Flag forcing to throw an error. */ - ); - - -/** Determines if next QP iteration can be performed within given CPU time limit. - * \return BT_TRUE: CPU time limit is exceeded, stop QP solution. \n - BT_FALSE: Sufficient CPU time for next QP iteration. */ -BooleanType QProblemB_isCPUtimeLimitExceeded( QProblemB* _THIS, - const real_t* const cputime, /**< Maximum CPU time allowed for QP solution. */ - real_t starttime, /**< Start time of current QP solution. */ - int nWSR /**< Number of working set recalculations performed so far. */ - ); - - -/** Regularise Hessian matrix by adding a scaled identity matrix to it. - * \return SUCCESSFUL_RETURN \n - RET_HESSIAN_ALREADY_REGULARISED */ -returnValue QProblemB_regulariseHessian( QProblemB* _THIS ); - - -/** Sets Hessian matrix of the QP. - * \return SUCCESSFUL_RETURN */ -static inline returnValue QProblemB_setHM( QProblemB* _THIS, - DenseMatrix* H_new /**< New Hessian matrix. */ - ); - -/** Sets dense Hessian matrix of the QP. - * If a null pointer is passed and - * a) hessianType is HST_IDENTITY, nothing is done, - * b) hessianType is not HST_IDENTITY, Hessian matrix is set to zero. - * \return SUCCESSFUL_RETURN */ -static inline returnValue QProblemB_setH( QProblemB* _THIS, - real_t* const H_new /**< New dense Hessian matrix (with correct dimension!). */ - ); - -/** Changes gradient vector of the QP. - * \return SUCCESSFUL_RETURN \n - * RET_INVALID_ARGUMENTS */ -static inline returnValue QProblemB_setG( QProblemB* _THIS, - const real_t* const g_new /**< New gradient vector (with correct dimension!). */ - ); - -/** Changes lower bound vector of the QP. - * \return SUCCESSFUL_RETURN \n - * RET_QPOBJECT_NOT_SETUP */ -static inline returnValue QProblemB_setLB( QProblemB* _THIS, - const real_t* const lb_new /**< New lower bound vector (with correct dimension!). */ - ); - -/** Changes single entry of lower bound vector of the QP. - * \return SUCCESSFUL_RETURN \n - * RET_QPOBJECT_NOT_SETUP \n - * RET_INDEX_OUT_OF_BOUNDS */ -static inline returnValue QProblemB_setLBn( QProblemB* _THIS, - int number, /**< Number of entry to be changed. */ - real_t value /**< New value for entry of lower bound vector. */ - ); - -/** Changes upper bound vector of the QP. - * \return SUCCESSFUL_RETURN \n - * RET_QPOBJECT_NOT_SETUP */ -static inline returnValue QProblemB_setUB( QProblemB* _THIS, - const real_t* const ub_new /**< New upper bound vector (with correct dimension!). */ - ); - -/** Changes single entry of upper bound vector of the QP. - * \return SUCCESSFUL_RETURN \n - * RET_QPOBJECT_NOT_SETUP \n - * RET_INDEX_OUT_OF_BOUNDS */ -static inline returnValue QProblemB_setUBn( QProblemB* _THIS, - int number, /**< Number of entry to be changed. */ - real_t value /**< New value for entry of upper bound vector. */ - ); - - -/** Computes parameters for the Givens matrix G for which [x,y]*G = [z,0] - * \return SUCCESSFUL_RETURN */ -static inline void QProblemB_computeGivens( real_t xold, /**< Matrix entry to be normalised. */ - real_t yold, /**< Matrix entry to be annihilated. */ - real_t* xnew, /**< Output: Normalised matrix entry. */ - real_t* ynew, /**< Output: Annihilated matrix entry. */ - real_t* c, /**< Output: Cosine entry of Givens matrix. */ - real_t* s /**< Output: Sine entry of Givens matrix. */ - ); - -/** Applies Givens matrix determined by c and s (cf. computeGivens). - * \return SUCCESSFUL_RETURN */ -static inline void QProblemB_applyGivens( real_t c, /**< Cosine entry of Givens matrix. */ - real_t s, /**< Sine entry of Givens matrix. */ - real_t nu, /**< Further factor: s/(1+c). */ - real_t xold, /**< Matrix entry to be transformed corresponding to - * the normalised entry of the original matrix. */ - real_t yold, /**< Matrix entry to be transformed corresponding to - * the annihilated entry of the original matrix. */ - real_t* xnew, /**< Output: Transformed matrix entry corresponding to - * the normalised entry of the original matrix. */ - real_t* ynew /**< Output: Transformed matrix entry corresponding to - * the annihilated entry of the original matrix. */ - ); - - - -/** Compute relative length of homotopy in data space for termination - * criterion. - * \return Relative length in data space. */ -real_t QProblemB_getRelativeHomotopyLength( QProblemB* _THIS, - const real_t* const g_new, /**< Final gradient. */ - const real_t* const lb_new, /**< Final lower variable bounds. */ - const real_t* const ub_new /**< Final upper variable bounds. */ - ); - -/** Ramping Strategy to avoid ties. Modifies homotopy start without - * changing current active set. - * \return SUCCESSFUL_RETURN */ -returnValue QProblemB_performRamping( QProblemB* _THIS ); - - -/** ... */ -returnValue QProblemB_updateFarBounds( QProblemB* _THIS, - real_t curFarBound, /**< ... */ - int nRamp, /**< ... */ - const real_t* const lb_new, /**< ... */ - real_t* const lb_new_far, /**< ... */ - const real_t* const ub_new, /**< ... */ - real_t* const ub_new_far /**< ... */ - ); - - - -/** Performs robustified ratio test yield the maximum possible step length - * along the homotopy path. - * \return SUCCESSFUL_RETURN */ -returnValue QProblemB_performRatioTestB( QProblemB* _THIS, - int nIdx, /**< Number of ratios to be checked. */ - const int* const idxList, /**< Array containing the indices of all ratios to be checked. */ - Bounds* const subjectTo, /**< Bound object corresponding to ratios to be checked. */ - const real_t* const num, /**< Array containing all numerators for performing the ratio test. */ - const real_t* const den, /**< Array containing all denominators for performing the ratio test. */ - real_t epsNum, /**< Numerator tolerance. */ - real_t epsDen, /**< Denominator tolerance. */ - real_t* t, /**< Output: Maximum possible step length along the homotopy path. */ - int* BC_idx /**< Output: Index of blocking constraint. */ - ); - -/** Checks whether given ratio is blocking, i.e. limits the maximum step length - * along the homotopy path to a value lower than given one. - * \return SUCCESSFUL_RETURN */ -static inline BooleanType QProblemB_isBlocking( QProblemB* _THIS, - real_t num, /**< Numerator for performing the ratio test. */ - real_t den, /**< Denominator for performing the ratio test. */ - real_t epsNum, /**< Numerator tolerance. */ - real_t epsDen, /**< Denominator tolerance. */ - real_t* t /**< Input: Current maximum step length along the homotopy path, - * Output: Updated maximum possible step length along the homotopy path. */ - ); - - -/** Solves a QProblemB whose QP data is assumed to be stored in the member variables. - * A guess for its primal/dual optimal solution vectors and the corresponding - * optimal working set can be provided. - * Note: This function is internally called by all init functions! - * \return SUCCESSFUL_RETURN \n - RET_INIT_FAILED \n - RET_INIT_FAILED_CHOLESKY \n - RET_INIT_FAILED_HOTSTART \n - RET_INIT_FAILED_INFEASIBILITY \n - RET_INIT_FAILED_UNBOUNDEDNESS \n - RET_MAX_NWSR_REACHED */ -returnValue QProblemB_solveInitialQP( QProblemB* _THIS, - const real_t* const xOpt, /**< Optimal primal solution vector.*/ - const real_t* const yOpt, /**< Optimal dual solution vector. */ - Bounds* const guessedBounds, /**< Optimal working set of bounds for solution (xOpt,yOpt). */ - const real_t* const _R, /**< Pre-computed (upper triangular) Cholesky factor of Hessian matrix. */ - int* nWSR, /**< Input: Maximum number of working set recalculations; \n - * Output: Number of performed working set recalculations. */ - real_t* const cputime /**< Input: Maximum CPU time allowed for QP solution. \n - * Output: CPU time spent for QP solution (or to perform nWSR iterations). */ - ); - -/** Solves an initialised QProblemB using online active set strategy. - * Note: This function is internally called by all hotstart functions! - * \return SUCCESSFUL_RETURN \n - RET_MAX_NWSR_REACHED \n - RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n - RET_HOTSTART_FAILED \n - RET_SHIFT_DETERMINATION_FAILED \n - RET_STEPDIRECTION_DETERMINATION_FAILED \n - RET_STEPLENGTH_DETERMINATION_FAILED \n - RET_HOMOTOPY_STEP_FAILED \n - RET_HOTSTART_STOPPED_INFEASIBILITY \n - RET_HOTSTART_STOPPED_UNBOUNDEDNESS */ -returnValue QProblemB_solveQP( QProblemB* _THIS, - const real_t* const g_new, /**< Gradient of neighbouring QP to be solved. */ - const real_t* const lb_new, /**< Lower bounds of neighbouring QP to be solved. \n - If no lower bounds exist, a NULL pointer can be passed. */ - const real_t* const ub_new, /**< Upper bounds of neighbouring QP to be solved. \n - If no upper bounds exist, a NULL pointer can be passed. */ - int* nWSR, /**< Input: Maximum number of working set recalculations; \n - Output: Number of performed working set recalculations. */ - real_t* const cputime, /**< Input: Maximum CPU time allowed for QP solution. \n - Output: CPU time spent for QP solution (or to perform nWSR iterations). */ - int nWSRperformed, /**< Number of working set recalculations already performed to solve - this QP within previous solveQP() calls. This number is - always zero, except for successive calls from solveRegularisedQP() - or when using the far bound strategy. */ - BooleanType isFirstCall /**< Indicating whether this is the first call for current QP. */ - ); - - -/** Solves an initialised QProblemB using online active set strategy. - * Note: This function is internally called by all hotstart functions! - * \return SUCCESSFUL_RETURN \n - RET_MAX_NWSR_REACHED \n - RET_HOTSTART_FAILED_AS_QP_NOT_INITIALISED \n - RET_HOTSTART_FAILED \n - RET_SHIFT_DETERMINATION_FAILED \n - RET_STEPDIRECTION_DETERMINATION_FAILED \n - RET_STEPLENGTH_DETERMINATION_FAILED \n - RET_HOMOTOPY_STEP_FAILED \n - RET_HOTSTART_STOPPED_INFEASIBILITY \n - RET_HOTSTART_STOPPED_UNBOUNDEDNESS */ -returnValue QProblemB_solveRegularisedQP( QProblemB* _THIS, - const real_t* const g_new, /**< Gradient of neighbouring QP to be solved. */ - const real_t* const lb_new, /**< Lower bounds of neighbouring QP to be solved. \n - If no lower bounds exist, a NULL pointer can be passed. */ - const real_t* const ub_new, /**< Upper bounds of neighbouring QP to be solved. \n - If no upper bounds exist, a NULL pointer can be passed. */ - int* nWSR, /**< Input: Maximum number of working set recalculations; \n - Output: Number of performed working set recalculations. */ - real_t* const cputime, /**< Input: Maximum CPU time allowed for QP solution. \n - Output: CPU time spent for QP solution (or to perform nWSR iterations). */ - int nWSRperformed, /**< Number of working set recalculations already performed to solve - this QP within previous solveRegularisedQP() calls. This number is - always zero, except for successive calls when using the far bound strategy. */ - BooleanType isFirstCall /**< Indicating whether this is the first call for current QP. */ - ); - - -/** Sets up bound data structure according to auxiliaryBounds. - * (If the working set shall be setup afresh, make sure that - * bounds data structure has been resetted!) - * \return SUCCESSFUL_RETURN \n - RET_SETUP_WORKINGSET_FAILED \n - RET_INVALID_ARGUMENTS \n - RET_UNKNOWN_BUG */ -returnValue QProblemB_setupAuxiliaryWorkingSet( QProblemB* _THIS, - Bounds* const auxiliaryBounds, /**< Working set for auxiliary QP. */ - BooleanType setupAfresh /**< Flag indicating if given working set shall be - * setup afresh or by updating the current one. */ - ); - -/** Sets up the optimal primal/dual solution of the auxiliary initial QP. - * \return SUCCESSFUL_RETURN */ -returnValue QProblemB_setupAuxiliaryQPsolution( QProblemB* _THIS, - const real_t* const xOpt, /**< Optimal primal solution vector. - * If a NULL pointer is passed, all entries are set to zero. */ - const real_t* const yOpt /**< Optimal dual solution vector. - * If a NULL pointer is passed, all entries are set to zero. */ - ); - -/** Sets up gradient of the auxiliary initial QP for given - * optimal primal/dual solution and given initial working set - * (assumes that members X, Y and BOUNDS have already been (ialised!). - * \return SUCCESSFUL_RETURN */ -returnValue QProblemB_setupAuxiliaryQPgradient( QProblemB* _THIS ); - -/** Sets up bounds of the auxiliary initial QP for given - * optimal primal/dual solution and given initial working set - * (assumes that members X, Y and BOUNDS have already been initialised!). - * \return SUCCESSFUL_RETURN \n - RET_UNKNOWN_BUG */ -returnValue QProblemB_setupAuxiliaryQPbounds( QProblemB* _THIS, - BooleanType useRelaxation /**< Flag indicating if inactive bounds shall be relaxed. */ - ); - - -/** Updates QP vectors, working sets and internal data structures in order to - start from an optimal solution corresponding to initial guesses of the working - set for bounds - * \return SUCCESSFUL_RETURN \n - * RET_SETUP_AUXILIARYQP_FAILED */ -returnValue QProblemB_setupAuxiliaryQP( QProblemB* _THIS, - Bounds* const guessedBounds /**< Initial guess for working set of bounds. */ - ); - -/** Determines step direction of the homotopy path. - * \return SUCCESSFUL_RETURN \n - RET_STEPDIRECTION_FAILED_CHOLESKY */ -returnValue QProblemB_determineStepDirection( QProblemB* _THIS, - const real_t* const delta_g, /**< Step direction of gradient vector. */ - const real_t* const delta_lb, /**< Step direction of lower bounds. */ - const real_t* const delta_ub, /**< Step direction of upper bounds. */ - BooleanType Delta_bB_isZero, /**< Indicates if active bounds are to be shifted. */ - real_t* const delta_xFX, /**< Output: Primal homotopy step direction of fixed variables. */ - real_t* const delta_xFR, /**< Output: Primal homotopy step direction of free variables. */ - real_t* const delta_yFX /**< Output: Dual homotopy step direction of fixed variables' multiplier. */ - ); - -/** Determines the maximum possible step length along the homotopy path - * and performs _THIS step (without changing working set). - * \return SUCCESSFUL_RETURN \n - * RET_QP_INFEASIBLE \n - */ -returnValue QProblemB_performStep( QProblemB* _THIS, - const real_t* const delta_g, /**< Step direction of gradient. */ - const real_t* const delta_lb, /**< Step direction of lower bounds. */ - const real_t* const delta_ub, /**< Step direction of upper bounds. */ - const real_t* const delta_xFX, /**< Primal homotopy step direction of fixed variables. */ - const real_t* const delta_xFR, /**< Primal homotopy step direction of free variables. */ - const real_t* const delta_yFX, /**< Dual homotopy step direction of fixed variables' multiplier. */ - int* BC_idx, /**< Output: Index of blocking constraint. */ - SubjectToStatus* BC_status /**< Output: Status of blocking constraint. */ - ); - -/** Updates active set. - * \return SUCCESSFUL_RETURN \n - RET_REMOVE_FROM_ACTIVESET_FAILED \n - RET_ADD_TO_ACTIVESET_FAILED */ -returnValue QProblemB_changeActiveSet( QProblemB* _THIS, - int BC_idx, /**< Index of blocking constraint. */ - SubjectToStatus BC_status /**< Status of blocking constraint. */ - ); - -/** Drift correction at end of each active set iteration - * \return SUCCESSFUL_RETURN */ -returnValue QProblemB_performDriftCorrection( QProblemB* _THIS ); - -/** Determines if it is more efficient to refactorise the matrices when - * hotstarting or not (i.e. better to update the existing factorisations). - * \return BT_TRUE iff matrices shall be refactorised afresh - */ -BooleanType QProblemB_shallRefactorise( QProblemB* _THIS, - Bounds* const guessedBounds /**< Guessed new working set. */ - ); - - -/** Adds a bound to active set (specialised version for the case where no constraints exist). - * \return SUCCESSFUL_RETURN \n - RET_ADDBOUND_FAILED */ -returnValue QProblemB_addBound( QProblemB* _THIS, - int number, /**< Number of bound to be added to active set. */ - SubjectToStatus B_status, /**< Status of new active bound. */ - BooleanType updateCholesky /**< Flag indicating if Cholesky decomposition shall be updated. */ - ); - -/** Removes a bounds from active set (specialised version for the case where no constraints exist). - * \return SUCCESSFUL_RETURN \n - RET_HESSIAN_NOT_SPD \n - RET_REMOVEBOUND_FAILED */ -returnValue QProblemB_removeBound( QProblemB* _THIS, - int number, /**< Number of bound to be removed from active set. */ - BooleanType updateCholesky /**< Flag indicating if Cholesky decomposition shall be updated. */ - ); - - -/** Prints concise information on the current iteration. - * \return SUCCESSFUL_RETURN \n */ -returnValue QProblemB_printIteration( QProblemB* _THIS, - int iter, /**< Number of current iteration. */ - int BC_idx, /**< Index of blocking bound. */ - SubjectToStatus BC_status, /**< Status of blocking bound. */ - real_t homotopyLength, /**< Current homotopy distance. */ - BooleanType isFirstCall /**< Indicating whether this is the first call for current QP. */ - ); - - - -/* - * g e t B o u n d s - */ -static inline returnValue QProblemB_getBounds( QProblemB* _THIS, Bounds* _bounds ) -{ - int nV = QProblemB_getNV( _THIS ); - - if ( nV == 0 ) - return THROWERROR( RET_QPOBJECT_NOT_SETUP ); - - _bounds = _THIS->bounds; - - return SUCCESSFUL_RETURN; -} - - -/* - * g e t N V - */ -static inline int QProblemB_getNV( QProblemB* _THIS ) -{ - return Bounds_getNV( _THIS->bounds ); -} - - -/* - * g e t N F R - */ -static inline int QProblemB_getNFR( QProblemB* _THIS ) -{ - return Bounds_getNFR( _THIS->bounds ); -} - - -/* - * g e t N F X - */ -static inline int QProblemB_getNFX( QProblemB* _THIS ) -{ - return Bounds_getNFX( _THIS->bounds ); -} - - -/* - * g e t N F V - */ -static inline int QProblemB_getNFV( QProblemB* _THIS ) -{ - return Bounds_getNFV( _THIS->bounds ); -} - - -/* - * g e t S t a t u s - */ -static inline QProblemStatus QProblemB_getStatus( QProblemB* _THIS ) -{ - return _THIS->status; -} - - -/* - * i s I n i t i a l i s e d - */ -static inline BooleanType QProblemB_isInitialised( QProblemB* _THIS ) -{ - if ( _THIS->status == QPS_NOTINITIALISED ) - return BT_FALSE; - else - return BT_TRUE; -} - - -/* - * i s S o l v e d - */ -static inline BooleanType QProblemB_isSolved( QProblemB* _THIS ) -{ - if ( _THIS->status == QPS_SOLVED ) - return BT_TRUE; - else - return BT_FALSE; -} - - -/* - * i s I n f e a s i b l e - */ -static inline BooleanType QProblemB_isInfeasible( QProblemB* _THIS ) -{ - return _THIS->infeasible; -} - - -/* - * i s U n b o u n d e d - */ -static inline BooleanType QProblemB_isUnbounded( QProblemB* _THIS ) -{ - return _THIS->unbounded; -} - - -/* - * g e t H e s s i a n T y p e - */ -static inline HessianType QProblemB_getHessianType( QProblemB* _THIS ) -{ - return _THIS->hessianType; -} - - -/* - * s e t H e s s i a n T y p e - */ -static inline returnValue QProblemB_setHessianType( QProblemB* _THIS, HessianType _hessianType ) -{ - _THIS->hessianType = _hessianType; - return SUCCESSFUL_RETURN; -} - - -/* - * u s i n g R e g u l a r i s a t i o n - */ -static inline BooleanType QProblemB_usingRegularisation( QProblemB* _THIS ) -{ - if ( _THIS->regVal > QPOASES_ZERO ) - return BT_TRUE; - else - return BT_FALSE; -} - - -/* - * g e t O p t i o n s - */ -static inline Options QProblemB_getOptions( QProblemB* _THIS ) -{ - return _THIS->options; -} - - -/* - * s e t O p t i o n s - */ -static inline returnValue QProblemB_setOptions( QProblemB* _THIS, - Options _options - ) -{ - OptionsCPY( &_options,&(_THIS->options) ); - Options_ensureConsistency( &(_THIS->options) ); - - QProblemB_setPrintLevel( _THIS,_THIS->options.printLevel ); - - return SUCCESSFUL_RETURN; -} - - -/* - * g e t P r i n t L e v e l - */ -static inline PrintLevel QProblemB_getPrintLevel( QProblemB* _THIS ) -{ - return _THIS->options.printLevel; -} - - - -/* - * g e t C o u n t - */ -static inline unsigned int QProblemB_getCount( QProblemB* _THIS ) -{ - return _THIS->count; -} - - -/* - * r e s e t C o u n t e r - */ -static inline returnValue QProblemB_resetCounter( QProblemB* _THIS ) -{ - _THIS->count = 0; - return SUCCESSFUL_RETURN; -} - - - -/***************************************************************************** - * P R O T E C T E D * - *****************************************************************************/ - - -/* - * s e t H - */ -static inline returnValue QProblemB_setHM( QProblemB* _THIS, DenseMatrix* H_new ) -{ - if ( H_new == 0 ) - return QProblemB_setH( _THIS,(real_t*)0 ); - else - return QProblemB_setH( _THIS,DenseMatrix_getVal(H_new) ); -} - - -/* - * s e t H - */ -static inline returnValue QProblemB_setH( QProblemB* _THIS, real_t* const H_new ) -{ - /* if null pointer is passed, Hessian is set to zero matrix - * (or stays identity matrix) */ - if ( H_new == 0 ) - { - if ( _THIS->hessianType == HST_IDENTITY ) - return SUCCESSFUL_RETURN; - - _THIS->hessianType = HST_ZERO; - - _THIS->H = 0; - } - else - { - DenseMatrixCON( _THIS->H,QProblemB_getNV( _THIS ),QProblemB_getNV( _THIS ),QProblemB_getNV( _THIS ),H_new ); - } - - return SUCCESSFUL_RETURN; -} - - -/* - * s e t G - */ -static inline returnValue QProblemB_setG( QProblemB* _THIS, const real_t* const g_new ) -{ - unsigned int nV = (unsigned int)QProblemB_getNV( _THIS ); - - if ( nV == 0 ) - return THROWERROR( RET_QPOBJECT_NOT_SETUP ); - - if ( g_new == 0 ) - return THROWERROR( RET_INVALID_ARGUMENTS ); - - memcpy( _THIS->g,g_new,nV*sizeof(real_t) ); - - return SUCCESSFUL_RETURN; -} - - -/* - * s e t L B - */ -static inline returnValue QProblemB_setLB( QProblemB* _THIS, const real_t* const lb_new ) -{ - unsigned int i; - unsigned int nV = (unsigned int)QProblemB_getNV( _THIS ); - - if ( nV == 0 ) - return THROWERROR( RET_QPOBJECT_NOT_SETUP ); - - if ( lb_new != 0 ) - { - memcpy( _THIS->lb,lb_new,nV*sizeof(real_t) ); - } - else - { - /* if no lower bounds are specified, set them to -infinity */ - for( i=0; ilb[i] = -QPOASES_INFTY; - } - - return SUCCESSFUL_RETURN; -} - - -/* - * s e t L B - */ -static inline returnValue QProblemB_setLBn( QProblemB* _THIS, int number, real_t value ) -{ - int nV = QProblemB_getNV( _THIS ); - - if ( nV == 0 ) - return THROWERROR( RET_QPOBJECT_NOT_SETUP ); - - if ( ( number >= 0 ) && ( number < nV ) ) - { - _THIS->lb[number] = value; - return SUCCESSFUL_RETURN; - } - else - { - return THROWERROR( RET_INDEX_OUT_OF_BOUNDS ); - } -} - - -/* - * s e t U B - */ -static inline returnValue QProblemB_setUB( QProblemB* _THIS, const real_t* const ub_new ) -{ - unsigned int i; - unsigned int nV = (unsigned int)QProblemB_getNV( _THIS ); - - if ( nV == 0 ) - return THROWERROR( RET_QPOBJECT_NOT_SETUP ); - - if ( ub_new != 0 ) - { - memcpy( _THIS->ub,ub_new,nV*sizeof(real_t) ); - } - else - { - /* if no upper bounds are specified, set them to infinity */ - for( i=0; iub[i] = QPOASES_INFTY; - } - - return SUCCESSFUL_RETURN; -} - - -/* - * s e t U B - */ -static inline returnValue QProblemB_setUBn( QProblemB* _THIS, int number, real_t value ) -{ - int nV = QProblemB_getNV( _THIS ); - - if ( nV == 0 ) - return THROWERROR( RET_QPOBJECT_NOT_SETUP ); - - if ( ( number >= 0 ) && ( number < nV ) ) - { - _THIS->ub[number] = value; - - return SUCCESSFUL_RETURN; - } - else - { - return THROWERROR( RET_INDEX_OUT_OF_BOUNDS ); - } -} - - -/* - * c o m p u t e G i v e n s - */ -static inline void QProblemB_computeGivens( real_t xold, real_t yold, - real_t* xnew, real_t* ynew, real_t* c, real_t* s - ) -{ - real_t t, mu; - - if ( fabs( yold ) <= QPOASES_ZERO ) - { - *c = 1.0; - *s = 0.0; - - *xnew = xold; - *ynew = yold; - } - else - { - mu = fabs( xold ); - if ( fabs( yold ) > mu ) - mu = fabs( yold ); - - t = mu * sqrt( (xold/mu)*(xold/mu) + (yold/mu)*(yold/mu) ); - - if ( xold < 0.0 ) - t = -t; - - *c = xold/t; - *s = yold/t; - *xnew = t; - *ynew = 0.0; - } - - return; -} - - -/* - * a p p l y G i v e n s - */ -static inline void QProblemB_applyGivens( real_t c, real_t s, real_t nu, real_t xold, real_t yold, - real_t* xnew, real_t* ynew - ) -{ - #ifdef __USE_THREE_MULTS_GIVENS__ - - /* Givens plane rotation requiring only three multiplications, - * cf. Hammarling, S.: A note on modifications to the givens plane rotation. - * J. Inst. Maths Applics, 13:215-218, 1974. */ - *xnew = xold*c + yold*s; - *ynew = (*xnew+xold)*nu - yold; - - #else - - /* Usual Givens plane rotation requiring four multiplications. */ - *xnew = c*xold + s*yold; - *ynew = -s*xold + c*yold; - - #endif - - return; -} - - -/* - * i s B l o c k i n g - */ -static inline BooleanType QProblemB_isBlocking( QProblemB* _THIS, - real_t num, - real_t den, - real_t epsNum, - real_t epsDen, - real_t* t - ) -{ - if ( ( den >= epsDen ) && ( num >= epsNum ) ) - { - if ( num < (*t)*den ) - return BT_TRUE; - } - - return BT_FALSE; -} - - -END_NAMESPACE_QPOASES - - -#endif /* QPOASES_QPROBLEMB_H */ - - -/* - * end of file - */ diff --git a/third_party/acados/include/qpOASES_e/Types.h b/third_party/acados/include/qpOASES_e/Types.h deleted file mode 100644 index fc042aed826872..00000000000000 --- a/third_party/acados/include/qpOASES_e/Types.h +++ /dev/null @@ -1,310 +0,0 @@ -/* - * This file is part of qpOASES. - * - * qpOASES -- An Implementation of the Online Active Set Strategy. - * Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka, - * Christian Kirches et al. All rights reserved. - * - * qpOASES is free software; you can redistribute it and/or - * modify it under the terms of the GNU Lesser General Public - * License as published by the Free Software Foundation; either - * version 2.1 of the License, or (at your option) any later version. - * - * qpOASES is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. - * See the GNU Lesser General Public License for more details. - * - * You should have received a copy of the GNU Lesser General Public - * License along with qpOASES; if not, write to the Free Software - * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA - * - */ - - -/** - * \file include/qpOASES_e/Types.h - * \author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches - * \version 3.1embedded - * \date 2007-2015 - * - * Declaration of all non-built-in types (except for classes). - */ - - -#ifndef QPOASES_TYPES_H -#define QPOASES_TYPES_H - -#ifdef USE_ACADOS_TYPES -#include "acados/utils/types.h" -#endif - -/* If your compiler does not support the snprintf() function, - * uncomment the following line and try to compile again. */ -/* #define __NO_SNPRINTF__ */ - - -/* Uncomment the following line for setting the __DSPACE__ flag. */ -/* #define __DSPACE__ */ - -/* Uncomment the following line for setting the __XPCTARGET__ flag. */ -/* #define __XPCTARGET__ */ - - -/* Uncomment the following line for setting the __NO_FMATH__ flag. */ -/* #define __NO_FMATH__ */ - -/* Uncomment the following line to enable debug information. */ -/* #define __DEBUG__ */ - -/* Uncomment the following line to enable suppress any kind of console output. */ -/* #define __SUPPRESSANYOUTPUT__ */ - - -/** Forces to always include all implicitly fixed bounds and all equality constraints - * into the initial working set when setting up an auxiliary QP. */ -#define __ALWAYS_INITIALISE_WITH_ALL_EQUALITIES__ - -/* Uncomment the following line to activate the use of an alternative Givens - * plane rotation requiring only three multiplications. */ -/* #define __USE_THREE_MULTS_GIVENS__ */ - -/* Uncomment the following line to activate the use of single precision arithmetic. */ -/* #define __USE_SINGLE_PRECISION__ */ - -/* The inline keyword is skipped by default as it is not part of the C90 standard. - * However, by uncommenting the following line, use of the inline keyword can be enforced. */ -/* #define __USE_INLINE__ */ - - -/* Work-around for Borland BCC 5.5 compiler. */ -#ifdef __BORLANDC__ -#if __BORLANDC__ < 0x0561 - #define __STDC__ 1 -#endif -#endif - - -/* Work-around for Microsoft compilers. */ -#ifdef _MSC_VER - #define __NO_SNPRINTF__ - #pragma warning( disable : 4061 4100 4250 4514 4996 ) -#endif - - -/* Apply pre-processor settings when using qpOASES within auto-generated code. */ -#ifdef __CODE_GENERATION__ - #define __NO_COPYRIGHT__ - #define __EXTERNAL_DIMENSIONS__ -#endif /* __CODE_GENERATION__ */ - - -/* Avoid using static variables declaration within functions. */ -#ifdef __NO_STATIC__ - #define myStatic -#else - #define myStatic static -#endif /* __NO_STATIC__ */ - - -/* Skip inline keyword if not specified otherwise. */ -#ifndef __USE_INLINE__ - #define inline -#endif - - -/* Avoid any printing on embedded platforms. */ -#if defined(__DSPACE__) || defined(__XPCTARGET__) - #define __SUPPRESSANYOUTPUT__ - #define __NO_SNPRINTF__ -#endif - - -#ifdef __NO_SNPRINTF__ - #if (!defined(_MSC_VER)) || defined(__DSPACE__) || defined(__XPCTARGET__) - /* If snprintf is not available, provide an empty implementation... */ - int snprintf( char* s, size_t n, const char* format, ... ); - #else - /* ... or substitute snprintf by _snprintf for Microsoft compilers. */ - #define snprintf _snprintf - #endif -#endif /* __NO_SNPRINTF__ */ - - -/** Macro for switching on/off the beginning of the qpOASES namespace definition. */ -#define BEGIN_NAMESPACE_QPOASES - -/** Macro for switching on/off the end of the qpOASES namespace definition. */ -#define END_NAMESPACE_QPOASES - -/** Macro for switching on/off the use of the qpOASES namespace. */ -#define USING_NAMESPACE_QPOASES - -/** Macro for switching on/off references to the qpOASES namespace. */ -#define REFER_NAMESPACE_QPOASES /*::*/ - - -/** Macro for accessing the Cholesky factor R. */ -#define RR( I,J ) _THIS->R[(I)+nV*(J)] - -/** Macro for accessing the orthonormal matrix Q of the QT factorisation. */ -#define QQ( I,J ) _THIS->Q[(I)+nV*(J)] - -/** Macro for accessing the triangular matrix T of the QT factorisation. */ -#define TT( I,J ) _THIS->T[(I)*nVC_min+(J)] - - - -BEGIN_NAMESPACE_QPOASES - - -/** Defines real_t for facilitating switching between double and float. */ - -#ifndef USE_ACADOS_TYPES -#ifndef __CODE_GENERATION__ - - #ifdef __USE_SINGLE_PRECISION__ - typedef float real_t; - #else - typedef double real_t; - #endif /* __USE_SINGLE_PRECISION__ */ - -#endif /* __CODE_GENERATION__ */ -#endif /* USE_ACADOS_TYPES */ - -/** Summarises all possible logical values. */ -typedef enum -{ - BT_FALSE = 0, /**< Logical value for "false". */ - BT_TRUE /**< Logical value for "true". */ -} BooleanType; - - -/** Summarises all possible print levels. Print levels are used to describe - * the desired amount of output during runtime of qpOASES. */ -typedef enum -{ - PL_DEBUG_ITER = -2, /**< Full tabular debugging output. */ - PL_TABULAR, /**< Tabular output. */ - PL_NONE, /**< No output. */ - PL_LOW, /**< Print error messages only. */ - PL_MEDIUM, /**< Print error and warning messages as well as concise info messages. */ - PL_HIGH /**< Print all messages with full details. */ -} PrintLevel; - - -/** Defines visibility status of a message. */ -typedef enum -{ - VS_HIDDEN, /**< Message not visible. */ - VS_VISIBLE /**< Message visible. */ -} VisibilityStatus; - - -/** Summarises all possible states of the (S)QProblem(B) object during the -solution process of a QP sequence. */ -typedef enum -{ - QPS_NOTINITIALISED, /**< QProblem object is freshly instantiated or reset. */ - QPS_PREPARINGAUXILIARYQP, /**< An auxiliary problem is currently setup, either at the very beginning - * via an initial homotopy or after changing the QP matrices. */ - QPS_AUXILIARYQPSOLVED, /**< An auxilary problem was solved, either at the very beginning - * via an initial homotopy or after changing the QP matrices. */ - QPS_PERFORMINGHOMOTOPY, /**< A homotopy according to the main idea of the online active - * set strategy is performed. */ - QPS_HOMOTOPYQPSOLVED, /**< An intermediate QP along the homotopy path was solved. */ - QPS_SOLVED /**< The solution of the actual QP was found. */ -} QProblemStatus; - - -/** Summarises all possible types of the QP's Hessian matrix. */ -typedef enum -{ - HST_ZERO, /**< Hessian is zero matrix (i.e. LP formulation). */ - HST_IDENTITY, /**< Hessian is identity matrix. */ - HST_POSDEF, /**< Hessian is (strictly) positive definite. */ - HST_POSDEF_NULLSPACE, /**< Hessian is positive definite on null space of active bounds/constraints. */ - HST_SEMIDEF, /**< Hessian is positive semi-definite. */ - HST_INDEF, /**< Hessian is indefinite. */ - HST_UNKNOWN /**< Hessian type is unknown. */ -} HessianType; - - -/** Summarises all possible types of bounds and constraints. */ -typedef enum -{ - ST_UNBOUNDED, /**< Bound/constraint is unbounded. */ - ST_BOUNDED, /**< Bound/constraint is bounded but not fixed. */ - ST_EQUALITY, /**< Bound/constraint is fixed (implicit equality bound/constraint). */ - ST_DISABLED, /**< Bound/constraint is disabled (i.e. ignored when solving QP). */ - ST_UNKNOWN /**< Type of bound/constraint unknown. */ -} SubjectToType; - - -/** Summarises all possible states of bounds and constraints. */ -typedef enum -{ - ST_LOWER = -1, /**< Bound/constraint is at its lower bound. */ - ST_INACTIVE, /**< Bound/constraint is inactive. */ - ST_UPPER, /**< Bound/constraint is at its upper bound. */ - ST_INFEASIBLE_LOWER, /**< (to be documented) */ - ST_INFEASIBLE_UPPER, /**< (to be documented) */ - ST_UNDEFINED /**< Status of bound/constraint undefined. */ -} SubjectToStatus; - - -/** - * \brief Stores internal information for tabular (debugging) output. - * - * Struct storing internal information for tabular (debugging) output - * when using the (S)QProblem(B) objects. - * - * \author Hans Joachim Ferreau - * \version 3.1embedded - * \date 2013-2015 - */ -typedef struct -{ - int idxAddB; /**< Index of bound that has been added to working set. */ - int idxRemB; /**< Index of bound that has been removed from working set. */ - int idxAddC; /**< Index of constraint that has been added to working set. */ - int idxRemC; /**< Index of constraint that has been removed from working set. */ - int excAddB; /**< Flag indicating whether a bound has been added to working set to keep a regular projected Hessian. */ - int excRemB; /**< Flag indicating whether a bound has been removed from working set to keep a regular projected Hessian. */ - int excAddC; /**< Flag indicating whether a constraint has been added to working set to keep a regular projected Hessian. */ - int excRemC; /**< Flag indicating whether a constraint has been removed from working set to keep a regular projected Hessian. */ -} TabularOutput; - -/** - * \brief Struct containing the variable header for mat file. - * - * Struct storing the header of a variable to be stored in - * Matlab's binary format (using the outdated Level 4 variant - * for simplictiy). - * - * Note, this code snippet has been inspired from the document - * "Matlab(R) MAT-file Format, R2013b" by MathWorks - * - * \author Hans Joachim Ferreau - * \version 3.1embedded - * \date 2013-2015 - */ -typedef struct -{ - long numericFormat; /**< Flag indicating numerical format. */ - long nRows; /**< Number of rows. */ - long nCols; /**< Number of rows. */ - long imaginaryPart; /**< (to be documented) */ - long nCharName; /**< Number of character in name. */ -} MatMatrixHeader; - - -END_NAMESPACE_QPOASES - - -#endif /* QPOASES_TYPES_H */ - - -/* - * end of file - */ diff --git a/third_party/acados/include/qpOASES_e/UnitTesting.h b/third_party/acados/include/qpOASES_e/UnitTesting.h deleted file mode 100644 index dbff201039eb58..00000000000000 --- a/third_party/acados/include/qpOASES_e/UnitTesting.h +++ /dev/null @@ -1,79 +0,0 @@ -/* - * This file is part of qpOASES. - * - * qpOASES -- An Implementation of the Online Active Set Strategy. - * Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka, - * Christian Kirches et al. All rights reserved. - * - * qpOASES is free software; you can redistribute it and/or - * modify it under the terms of the GNU Lesser General Public - * License as published by the Free Software Foundation; either - * version 2.1 of the License, or (at your option) any later version. - * - * qpOASES is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. - * See the GNU Lesser General Public License for more details. - * - * You should have received a copy of the GNU Lesser General Public - * License along with qpOASES; if not, write to the Free Software - * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA - * - */ - - -/** - * \file include/qpOASES_e/UnitTesting.h - * \author Hans Joachim Ferreau - * \version 3.1embedded - * \date 2014-2015 - * - * Definition of auxiliary functions/macros for unit testing. - */ - - -#ifndef QPOASES_UNIT_TESTING_H -#define QPOASES_UNIT_TESTING_H - - -#ifndef TEST_TOL_FACTOR -#define TEST_TOL_FACTOR 1 -#endif - - -/** Return value for tests that passed. */ -#define TEST_PASSED 0 - -/** Return value for tests that failed. */ -#define TEST_FAILED 1 - -/** Return value for tests that could not run due to missing external data. */ -#define TEST_DATA_NOT_FOUND 99 - - -/** Macro verifying that two numerical values are equal in order to pass unit test. */ -#define QPOASES_TEST_FOR_EQUAL( x,y ) if ( REFER_NAMESPACE_QPOASES isEqual( (x),(y) ) == BT_FALSE ) { return TEST_FAILED; } - -/** Macro verifying that two numerical values are close to each other in order to pass unit test. */ -#define QPOASES_TEST_FOR_NEAR( x,y ) if ( REFER_NAMESPACE_QPOASES getAbs((x)-(y)) / REFER_NAMESPACE_QPOASES getMax( 1.0,REFER_NAMESPACE_QPOASES getAbs(x) ) >= 1e-10 ) { return TEST_FAILED; } - -/** Macro verifying that first quantity is lower or equal than second one in order to pass unit test. */ -#define QPOASES_TEST_FOR_TOL( x,tol ) if ( (x) > (tol)*(TEST_TOL_FACTOR) ) { return TEST_FAILED; } - -/** Macro verifying that a logical expression holds in order to pass unit test. */ -#define QPOASES_TEST_FOR_TRUE( x ) if ( (x) == 0 ) { return TEST_FAILED; } - - - -BEGIN_NAMESPACE_QPOASES - - -END_NAMESPACE_QPOASES - - -#endif /* QPOASES_UNIT_TESTING_H */ - - -/* - * end of file - */ diff --git a/third_party/acados/include/qpOASES_e/Utils.h b/third_party/acados/include/qpOASES_e/Utils.h deleted file mode 100644 index 75e45a56a08c55..00000000000000 --- a/third_party/acados/include/qpOASES_e/Utils.h +++ /dev/null @@ -1,500 +0,0 @@ -/* - * This file is part of qpOASES. - * - * qpOASES -- An Implementation of the Online Active Set Strategy. - * Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka, - * Christian Kirches et al. All rights reserved. - * - * qpOASES is free software; you can redistribute it and/or - * modify it under the terms of the GNU Lesser General Public - * License as published by the Free Software Foundation; either - * version 2.1 of the License, or (at your option) any later version. - * - * qpOASES is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. - * See the GNU Lesser General Public License for more details. - * - * You should have received a copy of the GNU Lesser General Public - * License along with qpOASES; if not, write to the Free Software - * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA - * - */ - - -/** - * \file include/qpOASES_e/Utils.h - * \author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches - * \version 3.1embedded - * \date 2007-2015 - * - * Declaration of some utilities for working with the different QProblem classes. - */ - - -#ifndef QPOASES_UTILS_H -#define QPOASES_UTILS_H - -#include - - -BEGIN_NAMESPACE_QPOASES - - -/** Prints a vector. - * \return SUCCESSFUL_RETURN */ -returnValue qpOASES_printV( const real_t* const v, /**< Vector to be printed. */ - int n /**< Length of vector. */ - ); - -/** Prints a permuted vector. - * \return SUCCESSFUL_RETURN */ -returnValue qpOASES_printPV( const real_t* const v, /**< Vector to be printed. */ - int n, /**< Length of vector. */ - const int* const V_idx /**< Pemutation vector. */ - ); - -/** Prints a named vector. - * \return SUCCESSFUL_RETURN */ -returnValue qpOASES_printNV( const real_t* const v, /**< Vector to be printed. */ - int n, /**< Length of vector. */ - const char* name /** Name of vector. */ - ); - -/** Prints a matrix. - * \return SUCCESSFUL_RETURN */ -returnValue qpOASES_printM( const real_t* const M, /**< Matrix to be printed. */ - int nrow, /**< Row number of matrix. */ - int ncol /**< Column number of matrix. */ - ); - -/** Prints a permuted matrix. - * \return SUCCESSFUL_RETURN */ -returnValue qpOASES_printPM( const real_t* const M, /**< Matrix to be printed. */ - int nrow, /**< Row number of matrix. */ - int ncol , /**< Column number of matrix. */ - const int* const ROW_idx, /**< Row pemutation vector. */ - const int* const COL_idx /**< Column pemutation vector. */ - ); - -/** Prints a named matrix. - * \return SUCCESSFUL_RETURN */ -returnValue qpOASES_printNM( const real_t* const M, /**< Matrix to be printed. */ - int nrow, /**< Row number of matrix. */ - int ncol, /**< Column number of matrix. */ - const char* name /** Name of matrix. */ - ); - -/** Prints an index array. - * \return SUCCESSFUL_RETURN */ -returnValue qpOASES_printI( const int* const _index, /**< Index array to be printed. */ - int n /**< Length of index array. */ - ); - -/** Prints a named index array. - * \return SUCCESSFUL_RETURN */ -returnValue qpOASES_printNI( const int* const _index, /**< Index array to be printed. */ - int n, /**< Length of index array. */ - const char* name /**< Name of index array. */ - ); - - -/** Prints a string to desired output target (useful also for MATLAB output!). - * \return SUCCESSFUL_RETURN */ -returnValue qpOASES_myPrintf( const char* s /**< String to be written. */ - ); - - -/** Prints qpOASES copyright notice. - * \return SUCCESSFUL_RETURN */ -returnValue qpOASES_printCopyrightNotice( ); - - -/** Reads a real_t matrix from file. - * \return SUCCESSFUL_RETURN \n - RET_UNABLE_TO_OPEN_FILE \n - RET_UNABLE_TO_READ_FILE */ -returnValue qpOASES_readFromFileM( real_t* data, /**< Matrix to be read from file. */ - int nrow, /**< Row number of matrix. */ - int ncol, /**< Column number of matrix. */ - const char* datafilename /**< Data file name. */ - ); - -/** Reads a real_t vector from file. - * \return SUCCESSFUL_RETURN \n - RET_UNABLE_TO_OPEN_FILE \n - RET_UNABLE_TO_READ_FILE */ -returnValue qpOASES_readFromFileV( real_t* data, /**< Vector to be read from file. */ - int n, /**< Length of vector. */ - const char* datafilename /**< Data file name. */ - ); - -/** Reads an integer (column) vector from file. - * \return SUCCESSFUL_RETURN \n - RET_UNABLE_TO_OPEN_FILE \n - RET_UNABLE_TO_READ_FILE */ -returnValue qpOASES_readFromFileI( int* data, /**< Vector to be read from file. */ - int n, /**< Length of vector. */ - const char* datafilename /**< Data file name. */ - ); - - -/** Writes a real_t matrix into a file. - * \return SUCCESSFUL_RETURN \n - RET_UNABLE_TO_OPEN_FILE */ -returnValue qpOASES_writeIntoFileM( const real_t* const data, /**< Matrix to be written into file. */ - int nrow, /**< Row number of matrix. */ - int ncol, /**< Column number of matrix. */ - const char* datafilename, /**< Data file name. */ - BooleanType append /**< Indicates if data shall be appended if the file already exists (otherwise it is overwritten). */ - ); - -/** Writes a real_t vector into a file. - * \return SUCCESSFUL_RETURN \n - RET_UNABLE_TO_OPEN_FILE */ -returnValue qpOASES_writeIntoFileV( const real_t* const data, /**< Vector to be written into file. */ - int n, /**< Length of vector. */ - const char* datafilename, /**< Data file name. */ - BooleanType append /**< Indicates if data shall be appended if the file already exists (otherwise it is overwritten). */ - ); - -/** Writes an integer (column) vector into a file. - * \return SUCCESSFUL_RETURN \n - RET_UNABLE_TO_OPEN_FILE */ -returnValue qpOASES_writeIntoFileI( const int* const integer, /**< Integer vector to be written into file. */ - int n, /**< Length of vector. */ - const char* datafilename, /**< Data file name. */ - BooleanType append /**< Indicates if integer shall be appended if the file already exists (otherwise it is overwritten). */ - ); - -/** Writes a real_t matrix/vector into a Matlab binary file. - * \return SUCCESSFUL_RETURN \n - RET_INVALID_ARGUMENTS - RET_UNABLE_TO_WRITE_FILE */ -returnValue qpOASES_writeIntoMatFile( FILE* const matFile, /**< Pointer to Matlab binary file. */ - const real_t* const data, /**< Data to be written into file. */ - int nRows, /**< Row number of matrix. */ - int nCols, /**< Column number of matrix. */ - const char* name /**< Matlab name of matrix/vector to be stored. */ - ); - -/** Writes in integer matrix/vector into a Matlab binary file. - * \return SUCCESSFUL_RETURN \n - RET_INVALID_ARGUMENTS - RET_UNABLE_TO_WRITE_FILE */ -returnValue qpOASES_writeIntoMatFileI( FILE* const matFile, /**< Pointer to Matlab binary file. */ - const int* const data, /**< Data to be written into file. */ - int nRows, /**< Row number of matrix. */ - int nCols, /**< Column number of matrix. */ - const char* name /**< Matlab name of matrix/vector to be stored. */ - ); - - -/** Returns the current system time. - * \return current system time */ -real_t qpOASES_getCPUtime( ); - - -/** Returns the N-norm of a vector. - * \return >= 0.0: successful */ -real_t qpOASES_getNorm( const real_t* const v, /**< Vector. */ - int n, /**< Vector's dimension. */ - int type /**< Norm type, 1: one-norm, 2: Euclidean norm. */ - ); - -/** Tests whether two real-valued arguments are (numerically) equal. - * \return BT_TRUE: arguments differ not more than TOL \n - BT_FALSE: arguments differ more than TOL */ -static inline BooleanType qpOASES_isEqual( real_t x, /**< First real number. */ - real_t y, /**< Second real number. */ - real_t TOL /**< Tolerance for comparison. */ - ); - - -/** Tests whether a real-valued argument is (numerically) zero. - * \return BT_TRUE: argument differs from 0.0 not more than TOL \n - BT_FALSE: argument differs from 0.0 more than TOL */ -static inline BooleanType qpOASES_isZero( real_t x, /**< Real number. */ - real_t TOL /**< Tolerance for comparison. */ - ); - - -/** Returns sign of a real-valued argument. - * \return 1.0: argument is non-negative \n - -1.0: argument is negative */ -static inline real_t qpOASES_getSign( real_t arg /**< real-valued argument whose sign is to be determined. */ - ); - - -/** Returns maximum of two integers. - * \return Maximum of two integers */ -static inline int qpOASES_getMaxI( int x, /**< First integer. */ - int y /**< Second integer. */ - ); - - -/** Returns minimum of two integers. - * \return Minimum of two integers */ -static inline int qpOASES_getMinI( int x, /**< First integer. */ - int y /**< Second integer. */ - ); - - -/** Returns maximum of two reals. - * \return Maximum of two reals */ -static inline real_t qpOASES_getMax( real_t x, /**< First real number. */ - real_t y /**< Second real number. */ - ); - - -/** Returns minimum of two reals. - * \return Minimum of two reals */ -static inline real_t qpOASES_getMin( real_t x, /**< First real number. */ - real_t y /**< Second real number. */ - ); - - -/** Returns the absolute value of a real_t-valued argument. - * \return Absolute value of a real_t-valued argument */ -static inline real_t qpOASES_getAbs( real_t x /**< real_t-valued argument. */ - ); - -/** Returns the square-root of a real number. - * \return Square-root of a real number */ -static inline real_t qpOASES_getSqrt( real_t x /**< Non-negative real number. */ - ); - - -/** Computes the maximum violation of the KKT optimality conditions - * of given iterate for given QP data. */ -returnValue qpOASES_getKktViolation( int nV, /**< Number of variables. */ - int nC, /**< Number of constraints. */ - const real_t* const H, /**< Hessian matrix (may be NULL if Hessian is zero or identity matrix). */ - const real_t* const g, /**< Gradient vector. */ - const real_t* const A, /**< Constraint matrix. */ - const real_t* const lb, /**< Lower bound vector (on variables). */ - const real_t* const ub, /**< Upper bound vector (on variables). */ - const real_t* const lbA, /**< Lower constraints' bound vector. */ - const real_t* const ubA, /**< Upper constraints' bound vector. */ - const real_t* const x, /**< Primal trial vector. */ - const real_t* const y, /**< Dual trial vector. */ - real_t* const _stat, /**< Output: maximum value of stationarity condition residual. */ - real_t* const feas, /**< Output: maximum value of primal feasibility violation. */ - real_t* const cmpl /**< Output: maximum value of complementarity residual. */ - ); - -/** Computes the maximum violation of the KKT optimality conditions - * of given iterate for given QP data. */ -returnValue qpOASES_getKktViolationSB( int nV, /**< Number of variables. */ - const real_t* const H, /**< Hessian matrix (may be NULL if Hessian is zero or identity matrix). */ - const real_t* const g, /**< Gradient vector. */ - const real_t* const lb, /**< Lower bound vector (on variables). */ - const real_t* const ub, /**< Upper bound vector (on variables). */ - const real_t* const x, /**< Primal trial vector. */ - const real_t* const y, /**< Dual trial vector. */ - real_t* const _stat, /**< Output: maximum value of stationarity condition residual. */ - real_t* const feas, /**< Output: maximum value of primal feasibility violation. */ - real_t* const cmpl /**< Output: maximum value of complementarity residual. */ - ); - - -/** Writes a value of BooleanType into a string. - * \return SUCCESSFUL_RETURN */ -returnValue qpOASES_convertBooleanTypeToString( BooleanType value, /**< Value to be written. */ - char* const string /**< Input: String of sufficient size, \n - Output: String containing value. */ - ); - -/** Writes a value of SubjectToStatus into a string. - * \return SUCCESSFUL_RETURN */ -returnValue qpOASES_convertSubjectToStatusToString( SubjectToStatus value, /**< Value to be written. */ - char* const string /**< Input: String of sufficient size, \n - Output: String containing value. */ - ); - -/** Writes a value of PrintLevel into a string. - * \return SUCCESSFUL_RETURN */ -returnValue qpOASES_convertPrintLevelToString( PrintLevel value, /**< Value to be written. */ - char* const string /**< Input: String of sufficient size, \n - Output: String containing value. */ - ); - - -/** Converts a returnValue from an QProblem(B) object into a more - * simple status flag. - * - * \return 0: QP problem solved - * 1: QP could not be solved within given number of iterations - * -1: QP could not be solved due to an internal error - * -2: QP is infeasible (and thus could not be solved) - * -3: QP is unbounded (and thus could not be solved) - */ -int qpOASES_getSimpleStatus( returnValue returnvalue, /**< ReturnValue to be analysed. */ - BooleanType doPrintStatus /**< Flag indicating whether simple status shall be printed to screen. */ - ); - -/** Normalises QP constraints. - * \return SUCCESSFUL_RETURN \n - * RET_INVALID_ARGUMENTS */ -returnValue qpOASES_normaliseConstraints( int nV, /**< Number of variables. */ - int nC, /**< Number of constraints. */ - real_t* A, /**< Input: Constraint matrix, \n - Output: Normalised constraint matrix. */ - real_t* lbA, /**< Input: Constraints' lower bound vector, \n - Output: Normalised constraints' lower bound vector. */ - real_t* ubA, /**< Input: Constraints' upper bound vector, \n - Output: Normalised constraints' upper bound vector. */ - int type /**< Norm type, 1: one-norm, 2: Euclidean norm. */ - ); - - -#ifdef __DEBUG__ -/** Writes matrix with given dimension into specified file. */ -void gdb_printmat( const char *fname, /**< File name. */ - real_t *M, /**< Matrix to be written. */ - int n, /**< Number of rows. */ - int m, /**< Number of columns. */ - int ldim /**< Leading dimension. */ - ); -#endif /* __DEBUG__ */ - - -#if defined(__DSPACE__) || defined(__XPCTARGET__) -void __cxa_pure_virtual( void ); -#endif /* __DSPACE__ || __XPCTARGET__*/ - - - -/* - * i s E q u a l - */ -static inline BooleanType qpOASES_isEqual( real_t x, - real_t y, - real_t TOL - ) -{ - if ( qpOASES_getAbs(x-y) <= TOL ) - return BT_TRUE; - else - return BT_FALSE; -} - - -/* - * i s Z e r o - */ -static inline BooleanType qpOASES_isZero( real_t x, - real_t TOL - ) -{ - if ( qpOASES_getAbs(x) <= TOL ) - return BT_TRUE; - else - return BT_FALSE; -} - - -/* - * g e t S i g n - */ -static inline real_t qpOASES_getSign( real_t arg - ) -{ - if ( arg >= 0.0 ) - return 1.0; - else - return -1.0; -} - - - -/* - * g e t M a x - */ -static inline int qpOASES_getMaxI( int x, - int y - ) -{ - return (yx) ? x : y; -} - - -/* - * g e t M a x - */ -static inline real_t qpOASES_getMax( real_t x, - real_t y - ) -{ - #ifdef __NO_FMATH__ - return (yx) ? x : y; - #else - return (y>x) ? x : y; - /*return fmin(x,y); seems to be slower */ - #endif -} - - -/* - * g e t A b s - */ -static inline real_t qpOASES_getAbs( real_t x - ) -{ - #ifdef __NO_FMATH__ - return (x>=0.0) ? x : -x; - #else - return fabs(x); - #endif -} - -/* - * g e t S q r t - */ -static inline real_t qpOASES_getSqrt( real_t x - ) -{ - #ifdef __NO_FMATH__ - return sqrt(x); /* put your custom sqrt-replacement here */ - #else - return sqrt(x); - #endif -} - - -END_NAMESPACE_QPOASES - - -#endif /* QPOASES_UTILS_H */ - - -/* - * end of file - */ diff --git a/third_party/acados/include/qpOASES_e/extras/OQPinterface.h b/third_party/acados/include/qpOASES_e/extras/OQPinterface.h deleted file mode 100644 index da59ea9db6483f..00000000000000 --- a/third_party/acados/include/qpOASES_e/extras/OQPinterface.h +++ /dev/null @@ -1,227 +0,0 @@ -/* - * This file is part of qpOASES. - * - * qpOASES -- An Implementation of the Online Active Set Strategy. - * Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka, - * Christian Kirches et al. All rights reserved. - * - * qpOASES is free software; you can redistribute it and/or - * modify it under the terms of the GNU Lesser General Public - * License as published by the Free Software Foundation; either - * version 2.1 of the License, or (at your option) any later version. - * - * qpOASES is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. - * See the GNU Lesser General Public License for more details. - * - * You should have received a copy of the GNU Lesser General Public - * License along with qpOASES; if not, write to the Free Software - * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA - * - */ - - -/** - * \file include/qpOASES_e/extras/OQPinterface.h - * \author Hans Joachim Ferreau, Andreas Potschka, Christian Kirches - * \version 3.1embedded - * \date 2007-2015 - * - * Declaration of an interface comprising several utility functions - * for solving test problems from the Online QP Benchmark Collection - * (This collection is no longer maintained, see - * http://www.qpOASES.org/onlineQP for a backup). - */ - - -#ifndef QPOASES_OQPINTERFACE_H -#define QPOASES_OQPINTERFACE_H - - -#include -#include - -#include -#include - - -BEGIN_NAMESPACE_QPOASES - -typedef struct { - QProblem *qp; - - DenseMatrix *H; - DenseMatrix *A; - - real_t *x; - real_t *y; -} OQPbenchmark_ws; - -int OQPbenchmark_ws_calculateMemorySize( unsigned int nV, unsigned int nC ); - -char *OQPbenchmark_ws_assignMemory( unsigned int nV, unsigned int nC, OQPbenchmark_ws **mem, void *raw_memory ); - -OQPbenchmark_ws *OQPbenchmark_ws_createMemory( unsigned int nV, unsigned int nC ); - -typedef struct { - QProblemB *qp; - - DenseMatrix *H; - - real_t *x; - real_t *y; -} OQPbenchmarkB_ws; - -int OQPbenchmarkB_ws_calculateMemorySize( unsigned int nV ); - -char *OQPbenchmarkB_ws_assignMemory( unsigned int nV, OQPbenchmarkB_ws **mem, void *raw_memory ); - -OQPbenchmarkB_ws *OQPbenchmarkB_ws_createMemory( unsigned int nV ); - -typedef struct { - OQPbenchmark_ws *qp_ws; - OQPbenchmarkB_ws *qpB_ws; - - real_t *H; - real_t *g; - real_t *A; - real_t *lb; - real_t *ub; - real_t *lbA; - real_t *ubA; -} OQPinterface_ws; - -int OQPinterface_ws_calculateMemorySize( unsigned int nV, unsigned int nC, unsigned int nQP ); - -char *OQPinterface_ws_assignMemory( unsigned int nV, unsigned int nC, unsigned int nQP, OQPinterface_ws **mem, void *raw_memory ); - -OQPinterface_ws *OQPinterface_ws_createMemory( unsigned int nV, unsigned int nC, unsigned int nQP ); - -/** Reads dimensions of an Online QP Benchmark problem from file. - * \return SUCCESSFUL_RETURN \n - RET_UNABLE_TO_READ_FILE \n - RET_FILEDATA_INCONSISTENT */ -returnValue readOQPdimensions( const char* path, /**< Full path of the data files (without trailing slash!). */ - int* nQP, /**< Output: Number of QPs. */ - int* nV, /**< Output: Number of variables. */ - int* nC, /**< Output: Number of constraints. */ - int* nEC /**< Output: Number of equality constraints. */ - ); - -/** Reads data of an Online QP Benchmark problem from file. - * This function allocates the required memory for all data; after successfully calling it, - * you have to free this memory yourself! - * \return SUCCESSFUL_RETURN \n - RET_INVALID_ARGUMENTS \n - RET_UNABLE_TO_READ_FILE \n - RET_FILEDATA_INCONSISTENT */ -returnValue readOQPdata( const char* path, /**< Full path of the data files (without trailing slash!). */ - int* nQP, /**< Output: Number of QPs. */ - int* nV, /**< Output: Number of variables. */ - int* nC, /**< Output: Number of constraints. */ - int* nEC, /**< Output: Number of equality constraints. */ - real_t* H, /**< Output: Hessian matrix. */ - real_t* g, /**< Output: Sequence of gradient vectors. */ - real_t* A, /**< Output: Constraint matrix. */ - real_t* lb, /**< Output: Sequence of lower bound vectors (on variables). */ - real_t* ub, /**< Output: Sequence of upper bound vectors (on variables). */ - real_t* lbA, /**< Output: Sequence of lower constraints' bound vectors. */ - real_t* ubA, /**< Output: Sequence of upper constraints' bound vectors. */ - real_t* xOpt, /**< Output: Sequence of primal solution vectors - * (not read if a null pointer is passed). */ - real_t* yOpt, /**< Output: Sequence of dual solution vectors - * (not read if a null pointer is passed). */ - real_t* objOpt /**< Output: Sequence of optimal objective function values - * (not read if a null pointer is passed). */ - ); - - -/** Solves an Online QP Benchmark problem as specified by the arguments. - * The maximum deviations from the given optimal solution as well as the - * maximum CPU time to solve each QP are determined. - * \return SUCCESSFUL_RETURN \n - RET_BENCHMARK_ABORTED */ -returnValue solveOQPbenchmark( int nQP, /**< Number of QPs. */ - int nV, /**< Number of variables. */ - int nC, /**< Number of constraints. */ - int nEC, /**< Number of equality constraints. */ - real_t* _H, /**< Hessian matrix. */ - const real_t* const g, /**< Sequence of gradient vectors. */ - real_t* _A, /**< Constraint matrix. */ - const real_t* const lb, /**< Sequence of lower bound vectors (on variables). */ - const real_t* const ub, /**< Sequence of upper bound vectors (on variables). */ - const real_t* const lbA, /**< Sequence of lower constraints' bound vectors. */ - const real_t* const ubA, /**< Sequence of upper constraints' bound vectors. */ - BooleanType isSparse, /**< Shall convert matrices to sparse format before solution? */ - BooleanType useHotstarts, /**< Shall QP solution be hotstarted? */ - const Options* options, /**< QP solver options to be used while solving benchmark problems. */ - int maxAllowedNWSR, /**< Maximum number of working set recalculations to be performed. */ - real_t* maxNWSR, /**< Output: Maximum number of performed working set recalculations. */ - real_t* avgNWSR, /**< Output: Average number of performed working set recalculations. */ - real_t* maxCPUtime, /**< Output: Maximum CPU time required for solving each QP. */ - real_t* avgCPUtime, /**< Output: Average CPU time required for solving each QP. */ - real_t* maxStationarity, /**< Output: Maximum residual of stationarity condition. */ - real_t* maxFeasibility, /**< Output: Maximum residual of primal feasibility condition. */ - real_t* maxComplementarity, /**< Output: Maximum residual of complementarity condition. */ - OQPbenchmark_ws *work /**< Workspace. */ - ); - -/** Solves an Online QP Benchmark problem (without constraints) as specified - * by the arguments. The maximum deviations from the given optimal solution - * as well as the maximum CPU time to solve each QP are determined. - * \return SUCCESSFUL_RETURN \n - RET_BENCHMARK_ABORTED */ -returnValue solveOQPbenchmarkB( int nQP, /**< Number of QPs. */ - int nV, /**< Number of variables. */ - real_t* _H, /**< Hessian matrix. */ - const real_t* const g, /**< Sequence of gradient vectors. */ - const real_t* const lb, /**< Sequence of lower bound vectors (on variables). */ - const real_t* const ub, /**< Sequence of upper bound vectors (on variables). */ - BooleanType isSparse, /**< Shall convert matrices to sparse format before solution? */ - BooleanType useHotstarts, /**< Shall QP solution be hotstarted? */ - const Options* options, /**< QP solver options to be used while solving benchmark problems. */ - int maxAllowedNWSR, /**< Maximum number of working set recalculations to be performed. */ - real_t* maxNWSR, /**< Output: Maximum number of performed working set recalculations. */ - real_t* avgNWSR, /**< Output: Average number of performed working set recalculations. */ - real_t* maxCPUtime, /**< Output: Maximum CPU time required for solving each QP. */ - real_t* avgCPUtime, /**< Output: Average CPU time required for solving each QP. */ - real_t* maxStationarity, /**< Output: Maximum residual of stationarity condition. */ - real_t* maxFeasibility, /**< Output: Maximum residual of primal feasibility condition. */ - real_t* maxComplementarity, /**< Output: Maximum residual of complementarity condition. */ - OQPbenchmarkB_ws *work /**< Workspace. */ - ); - - -/** Runs an Online QP Benchmark problem and determines the maximum - * violation of the KKT optimality conditions as well as the - * maximum and average number of iterations and CPU time to solve - * each QP. - * - * \return SUCCESSFUL_RETURN \n - RET_UNABLE_TO_READ_BENCHMARK \n - RET_BENCHMARK_ABORTED */ -returnValue runOQPbenchmark( const char* path, /**< Full path of the benchmark files (without trailing slash!). */ - BooleanType isSparse, /**< Shall convert matrices to sparse format before solution? */ - BooleanType useHotstarts, /**< Shall QP solution be hotstarted? */ - const Options* options, /**< QP solver options to be used while solving benchmark problems. */ - int maxAllowedNWSR, /**< Maximum number of working set recalculations to be performed. */ - real_t* maxNWSR, /**< Output: Maximum number of performed working set recalculations. */ - real_t* avgNWSR, /**< Output: Average number of performed working set recalculations. */ - real_t* maxCPUtime, /**< Output: Maximum CPU time required for solving each QP. */ - real_t* avgCPUtime, /**< Output: Average CPU time required for solving each QP. */ - real_t* maxStationarity, /**< Output: Maximum residual of stationarity condition. */ - real_t* maxFeasibility, /**< Output: Maximum residual of primal feasibility condition. */ - real_t* maxComplementarity, /**< Output: Maximum residual of complementarity condition. */ - OQPinterface_ws* work /**< Workspace. */ - ); - -END_NAMESPACE_QPOASES - - -#endif /* QPOASES_OQPINTERFACE_H */ - - -/* - * end of file - */ diff --git a/third_party/catch2/include/catch2/catch.hpp b/third_party/catch2/include/catch2/catch.hpp deleted file mode 100644 index d2a12427b25819..00000000000000 --- a/third_party/catch2/include/catch2/catch.hpp +++ /dev/null @@ -1,17970 +0,0 @@ -/* - * Catch v2.13.9 - * Generated: 2022-04-12 22:37:23.260201 - * ---------------------------------------------------------- - * This file has been merged from multiple headers. Please don't edit it directly - * Copyright (c) 2022 Two Blue Cubes Ltd. All rights reserved. - * - * Distributed under the Boost Software License, Version 1.0. (See accompanying - * file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt) - */ -#ifndef TWOBLUECUBES_SINGLE_INCLUDE_CATCH_HPP_INCLUDED -#define TWOBLUECUBES_SINGLE_INCLUDE_CATCH_HPP_INCLUDED -// start catch.hpp - - -#define CATCH_VERSION_MAJOR 2 -#define CATCH_VERSION_MINOR 13 -#define CATCH_VERSION_PATCH 9 - -#ifdef __clang__ -# pragma clang system_header -#elif defined __GNUC__ -# pragma GCC system_header -#endif - -// start catch_suppress_warnings.h - -#ifdef __clang__ -# ifdef __ICC // icpc defines the __clang__ macro -# pragma warning(push) -# pragma warning(disable: 161 1682) -# else // __ICC -# pragma clang diagnostic push -# pragma clang diagnostic ignored "-Wpadded" -# pragma clang diagnostic ignored "-Wswitch-enum" -# pragma clang diagnostic ignored "-Wcovered-switch-default" -# endif -#elif defined __GNUC__ - // Because REQUIREs trigger GCC's -Wparentheses, and because still - // supported version of g++ have only buggy support for _Pragmas, - // Wparentheses have to be suppressed globally. -# pragma GCC diagnostic ignored "-Wparentheses" // See #674 for details - -# pragma GCC diagnostic push -# pragma GCC diagnostic ignored "-Wunused-variable" -# pragma GCC diagnostic ignored "-Wpadded" -#endif -// end catch_suppress_warnings.h -#if defined(CATCH_CONFIG_MAIN) || defined(CATCH_CONFIG_RUNNER) -# define CATCH_IMPL -# define CATCH_CONFIG_ALL_PARTS -#endif - -// In the impl file, we want to have access to all parts of the headers -// Can also be used to sanely support PCHs -#if defined(CATCH_CONFIG_ALL_PARTS) -# define CATCH_CONFIG_EXTERNAL_INTERFACES -# if defined(CATCH_CONFIG_DISABLE_MATCHERS) -# undef CATCH_CONFIG_DISABLE_MATCHERS -# endif -# if !defined(CATCH_CONFIG_ENABLE_CHRONO_STRINGMAKER) -# define CATCH_CONFIG_ENABLE_CHRONO_STRINGMAKER -# endif -#endif - -#if !defined(CATCH_CONFIG_IMPL_ONLY) -// start catch_platform.h - -// See e.g.: -// https://opensource.apple.com/source/CarbonHeaders/CarbonHeaders-18.1/TargetConditionals.h.auto.html -#ifdef __APPLE__ -# include -# if (defined(TARGET_OS_OSX) && TARGET_OS_OSX == 1) || \ - (defined(TARGET_OS_MAC) && TARGET_OS_MAC == 1) -# define CATCH_PLATFORM_MAC -# elif (defined(TARGET_OS_IPHONE) && TARGET_OS_IPHONE == 1) -# define CATCH_PLATFORM_IPHONE -# endif - -#elif defined(linux) || defined(__linux) || defined(__linux__) -# define CATCH_PLATFORM_LINUX - -#elif defined(WIN32) || defined(__WIN32__) || defined(_WIN32) || defined(_MSC_VER) || defined(__MINGW32__) -# define CATCH_PLATFORM_WINDOWS -#endif - -// end catch_platform.h - -#ifdef CATCH_IMPL -# ifndef CLARA_CONFIG_MAIN -# define CLARA_CONFIG_MAIN_NOT_DEFINED -# define CLARA_CONFIG_MAIN -# endif -#endif - -// start catch_user_interfaces.h - -namespace Catch { - unsigned int rngSeed(); -} - -// end catch_user_interfaces.h -// start catch_tag_alias_autoregistrar.h - -// start catch_common.h - -// start catch_compiler_capabilities.h - -// Detect a number of compiler features - by compiler -// The following features are defined: -// -// CATCH_CONFIG_COUNTER : is the __COUNTER__ macro supported? -// CATCH_CONFIG_WINDOWS_SEH : is Windows SEH supported? -// CATCH_CONFIG_POSIX_SIGNALS : are POSIX signals supported? -// CATCH_CONFIG_DISABLE_EXCEPTIONS : Are exceptions enabled? -// **************** -// Note to maintainers: if new toggles are added please document them -// in configuration.md, too -// **************** - -// In general each macro has a _NO_ form -// (e.g. CATCH_CONFIG_NO_POSIX_SIGNALS) which disables the feature. -// Many features, at point of detection, define an _INTERNAL_ macro, so they -// can be combined, en-mass, with the _NO_ forms later. - -#ifdef __cplusplus - -# if (__cplusplus >= 201402L) || (defined(_MSVC_LANG) && _MSVC_LANG >= 201402L) -# define CATCH_CPP14_OR_GREATER -# endif - -# if (__cplusplus >= 201703L) || (defined(_MSVC_LANG) && _MSVC_LANG >= 201703L) -# define CATCH_CPP17_OR_GREATER -# endif - -#endif - -// Only GCC compiler should be used in this block, so other compilers trying to -// mask themselves as GCC should be ignored. -#if defined(__GNUC__) && !defined(__clang__) && !defined(__ICC) && !defined(__CUDACC__) && !defined(__LCC__) -# define CATCH_INTERNAL_START_WARNINGS_SUPPRESSION _Pragma( "GCC diagnostic push" ) -# define CATCH_INTERNAL_STOP_WARNINGS_SUPPRESSION _Pragma( "GCC diagnostic pop" ) - -# define CATCH_INTERNAL_IGNORE_BUT_WARN(...) (void)__builtin_constant_p(__VA_ARGS__) - -#endif - -#if defined(__clang__) - -# define CATCH_INTERNAL_START_WARNINGS_SUPPRESSION _Pragma( "clang diagnostic push" ) -# define CATCH_INTERNAL_STOP_WARNINGS_SUPPRESSION _Pragma( "clang diagnostic pop" ) - -// As of this writing, IBM XL's implementation of __builtin_constant_p has a bug -// which results in calls to destructors being emitted for each temporary, -// without a matching initialization. In practice, this can result in something -// like `std::string::~string` being called on an uninitialized value. -// -// For example, this code will likely segfault under IBM XL: -// ``` -// REQUIRE(std::string("12") + "34" == "1234") -// ``` -// -// Therefore, `CATCH_INTERNAL_IGNORE_BUT_WARN` is not implemented. -# if !defined(__ibmxl__) && !defined(__CUDACC__) -# define CATCH_INTERNAL_IGNORE_BUT_WARN(...) (void)__builtin_constant_p(__VA_ARGS__) /* NOLINT(cppcoreguidelines-pro-type-vararg, hicpp-vararg) */ -# endif - -# define CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS \ - _Pragma( "clang diagnostic ignored \"-Wexit-time-destructors\"" ) \ - _Pragma( "clang diagnostic ignored \"-Wglobal-constructors\"") - -# define CATCH_INTERNAL_SUPPRESS_PARENTHESES_WARNINGS \ - _Pragma( "clang diagnostic ignored \"-Wparentheses\"" ) - -# define CATCH_INTERNAL_SUPPRESS_UNUSED_WARNINGS \ - _Pragma( "clang diagnostic ignored \"-Wunused-variable\"" ) - -# define CATCH_INTERNAL_SUPPRESS_ZERO_VARIADIC_WARNINGS \ - _Pragma( "clang diagnostic ignored \"-Wgnu-zero-variadic-macro-arguments\"" ) - -# define CATCH_INTERNAL_SUPPRESS_UNUSED_TEMPLATE_WARNINGS \ - _Pragma( "clang diagnostic ignored \"-Wunused-template\"" ) - -#endif // __clang__ - -//////////////////////////////////////////////////////////////////////////////// -// Assume that non-Windows platforms support posix signals by default -#if !defined(CATCH_PLATFORM_WINDOWS) - #define CATCH_INTERNAL_CONFIG_POSIX_SIGNALS -#endif - -//////////////////////////////////////////////////////////////////////////////// -// We know some environments not to support full POSIX signals -#if defined(__CYGWIN__) || defined(__QNX__) || defined(__EMSCRIPTEN__) || defined(__DJGPP__) - #define CATCH_INTERNAL_CONFIG_NO_POSIX_SIGNALS -#endif - -#ifdef __OS400__ -# define CATCH_INTERNAL_CONFIG_NO_POSIX_SIGNALS -# define CATCH_CONFIG_COLOUR_NONE -#endif - -//////////////////////////////////////////////////////////////////////////////// -// Android somehow still does not support std::to_string -#if defined(__ANDROID__) -# define CATCH_INTERNAL_CONFIG_NO_CPP11_TO_STRING -# define CATCH_INTERNAL_CONFIG_ANDROID_LOGWRITE -#endif - -//////////////////////////////////////////////////////////////////////////////// -// Not all Windows environments support SEH properly -#if defined(__MINGW32__) -# define CATCH_INTERNAL_CONFIG_NO_WINDOWS_SEH -#endif - -//////////////////////////////////////////////////////////////////////////////// -// PS4 -#if defined(__ORBIS__) -# define CATCH_INTERNAL_CONFIG_NO_NEW_CAPTURE -#endif - -//////////////////////////////////////////////////////////////////////////////// -// Cygwin -#ifdef __CYGWIN__ - -// Required for some versions of Cygwin to declare gettimeofday -// see: http://stackoverflow.com/questions/36901803/gettimeofday-not-declared-in-this-scope-cygwin -# define _BSD_SOURCE -// some versions of cygwin (most) do not support std::to_string. Use the libstd check. -// https://gcc.gnu.org/onlinedocs/gcc-4.8.2/libstdc++/api/a01053_source.html line 2812-2813 -# if !((__cplusplus >= 201103L) && defined(_GLIBCXX_USE_C99) \ - && !defined(_GLIBCXX_HAVE_BROKEN_VSWPRINTF)) - -# define CATCH_INTERNAL_CONFIG_NO_CPP11_TO_STRING - -# endif -#endif // __CYGWIN__ - -//////////////////////////////////////////////////////////////////////////////// -// Visual C++ -#if defined(_MSC_VER) - -// Universal Windows platform does not support SEH -// Or console colours (or console at all...) -# if defined(WINAPI_FAMILY) && (WINAPI_FAMILY == WINAPI_FAMILY_APP) -# define CATCH_CONFIG_COLOUR_NONE -# else -# define CATCH_INTERNAL_CONFIG_WINDOWS_SEH -# endif - -# if !defined(__clang__) // Handle Clang masquerading for msvc - -// MSVC traditional preprocessor needs some workaround for __VA_ARGS__ -// _MSVC_TRADITIONAL == 0 means new conformant preprocessor -// _MSVC_TRADITIONAL == 1 means old traditional non-conformant preprocessor -# if !defined(_MSVC_TRADITIONAL) || (defined(_MSVC_TRADITIONAL) && _MSVC_TRADITIONAL) -# define CATCH_INTERNAL_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR -# endif // MSVC_TRADITIONAL - -// Only do this if we're not using clang on Windows, which uses `diagnostic push` & `diagnostic pop` -# define CATCH_INTERNAL_START_WARNINGS_SUPPRESSION __pragma( warning(push) ) -# define CATCH_INTERNAL_STOP_WARNINGS_SUPPRESSION __pragma( warning(pop) ) -# endif // __clang__ - -#endif // _MSC_VER - -#if defined(_REENTRANT) || defined(_MSC_VER) -// Enable async processing, as -pthread is specified or no additional linking is required -# define CATCH_INTERNAL_CONFIG_USE_ASYNC -#endif // _MSC_VER - -//////////////////////////////////////////////////////////////////////////////// -// Check if we are compiled with -fno-exceptions or equivalent -#if defined(__EXCEPTIONS) || defined(__cpp_exceptions) || defined(_CPPUNWIND) -# define CATCH_INTERNAL_CONFIG_EXCEPTIONS_ENABLED -#endif - -//////////////////////////////////////////////////////////////////////////////// -// DJGPP -#ifdef __DJGPP__ -# define CATCH_INTERNAL_CONFIG_NO_WCHAR -#endif // __DJGPP__ - -//////////////////////////////////////////////////////////////////////////////// -// Embarcadero C++Build -#if defined(__BORLANDC__) - #define CATCH_INTERNAL_CONFIG_POLYFILL_ISNAN -#endif - -//////////////////////////////////////////////////////////////////////////////// - -// Use of __COUNTER__ is suppressed during code analysis in -// CLion/AppCode 2017.2.x and former, because __COUNTER__ is not properly -// handled by it. -// Otherwise all supported compilers support COUNTER macro, -// but user still might want to turn it off -#if ( !defined(__JETBRAINS_IDE__) || __JETBRAINS_IDE__ >= 20170300L ) - #define CATCH_INTERNAL_CONFIG_COUNTER -#endif - -//////////////////////////////////////////////////////////////////////////////// - -// RTX is a special version of Windows that is real time. -// This means that it is detected as Windows, but does not provide -// the same set of capabilities as real Windows does. -#if defined(UNDER_RTSS) || defined(RTX64_BUILD) - #define CATCH_INTERNAL_CONFIG_NO_WINDOWS_SEH - #define CATCH_INTERNAL_CONFIG_NO_ASYNC - #define CATCH_CONFIG_COLOUR_NONE -#endif - -#if !defined(_GLIBCXX_USE_C99_MATH_TR1) -#define CATCH_INTERNAL_CONFIG_GLOBAL_NEXTAFTER -#endif - -// Various stdlib support checks that require __has_include -#if defined(__has_include) - // Check if string_view is available and usable - #if __has_include() && defined(CATCH_CPP17_OR_GREATER) - # define CATCH_INTERNAL_CONFIG_CPP17_STRING_VIEW - #endif - - // Check if optional is available and usable - # if __has_include() && defined(CATCH_CPP17_OR_GREATER) - # define CATCH_INTERNAL_CONFIG_CPP17_OPTIONAL - # endif // __has_include() && defined(CATCH_CPP17_OR_GREATER) - - // Check if byte is available and usable - # if __has_include() && defined(CATCH_CPP17_OR_GREATER) - # include - # if defined(__cpp_lib_byte) && (__cpp_lib_byte > 0) - # define CATCH_INTERNAL_CONFIG_CPP17_BYTE - # endif - # endif // __has_include() && defined(CATCH_CPP17_OR_GREATER) - - // Check if variant is available and usable - # if __has_include() && defined(CATCH_CPP17_OR_GREATER) - # if defined(__clang__) && (__clang_major__ < 8) - // work around clang bug with libstdc++ https://bugs.llvm.org/show_bug.cgi?id=31852 - // fix should be in clang 8, workaround in libstdc++ 8.2 - # include - # if defined(__GLIBCXX__) && defined(_GLIBCXX_RELEASE) && (_GLIBCXX_RELEASE < 9) - # define CATCH_CONFIG_NO_CPP17_VARIANT - # else - # define CATCH_INTERNAL_CONFIG_CPP17_VARIANT - # endif // defined(__GLIBCXX__) && defined(_GLIBCXX_RELEASE) && (_GLIBCXX_RELEASE < 9) - # else - # define CATCH_INTERNAL_CONFIG_CPP17_VARIANT - # endif // defined(__clang__) && (__clang_major__ < 8) - # endif // __has_include() && defined(CATCH_CPP17_OR_GREATER) -#endif // defined(__has_include) - -#if defined(CATCH_INTERNAL_CONFIG_COUNTER) && !defined(CATCH_CONFIG_NO_COUNTER) && !defined(CATCH_CONFIG_COUNTER) -# define CATCH_CONFIG_COUNTER -#endif -#if defined(CATCH_INTERNAL_CONFIG_WINDOWS_SEH) && !defined(CATCH_CONFIG_NO_WINDOWS_SEH) && !defined(CATCH_CONFIG_WINDOWS_SEH) && !defined(CATCH_INTERNAL_CONFIG_NO_WINDOWS_SEH) -# define CATCH_CONFIG_WINDOWS_SEH -#endif -// This is set by default, because we assume that unix compilers are posix-signal-compatible by default. -#if defined(CATCH_INTERNAL_CONFIG_POSIX_SIGNALS) && !defined(CATCH_INTERNAL_CONFIG_NO_POSIX_SIGNALS) && !defined(CATCH_CONFIG_NO_POSIX_SIGNALS) && !defined(CATCH_CONFIG_POSIX_SIGNALS) -# define CATCH_CONFIG_POSIX_SIGNALS -#endif -// This is set by default, because we assume that compilers with no wchar_t support are just rare exceptions. -#if !defined(CATCH_INTERNAL_CONFIG_NO_WCHAR) && !defined(CATCH_CONFIG_NO_WCHAR) && !defined(CATCH_CONFIG_WCHAR) -# define CATCH_CONFIG_WCHAR -#endif - -#if !defined(CATCH_INTERNAL_CONFIG_NO_CPP11_TO_STRING) && !defined(CATCH_CONFIG_NO_CPP11_TO_STRING) && !defined(CATCH_CONFIG_CPP11_TO_STRING) -# define CATCH_CONFIG_CPP11_TO_STRING -#endif - -#if defined(CATCH_INTERNAL_CONFIG_CPP17_OPTIONAL) && !defined(CATCH_CONFIG_NO_CPP17_OPTIONAL) && !defined(CATCH_CONFIG_CPP17_OPTIONAL) -# define CATCH_CONFIG_CPP17_OPTIONAL -#endif - -#if defined(CATCH_INTERNAL_CONFIG_CPP17_STRING_VIEW) && !defined(CATCH_CONFIG_NO_CPP17_STRING_VIEW) && !defined(CATCH_CONFIG_CPP17_STRING_VIEW) -# define CATCH_CONFIG_CPP17_STRING_VIEW -#endif - -#if defined(CATCH_INTERNAL_CONFIG_CPP17_VARIANT) && !defined(CATCH_CONFIG_NO_CPP17_VARIANT) && !defined(CATCH_CONFIG_CPP17_VARIANT) -# define CATCH_CONFIG_CPP17_VARIANT -#endif - -#if defined(CATCH_INTERNAL_CONFIG_CPP17_BYTE) && !defined(CATCH_CONFIG_NO_CPP17_BYTE) && !defined(CATCH_CONFIG_CPP17_BYTE) -# define CATCH_CONFIG_CPP17_BYTE -#endif - -#if defined(CATCH_CONFIG_EXPERIMENTAL_REDIRECT) -# define CATCH_INTERNAL_CONFIG_NEW_CAPTURE -#endif - -#if defined(CATCH_INTERNAL_CONFIG_NEW_CAPTURE) && !defined(CATCH_INTERNAL_CONFIG_NO_NEW_CAPTURE) && !defined(CATCH_CONFIG_NO_NEW_CAPTURE) && !defined(CATCH_CONFIG_NEW_CAPTURE) -# define CATCH_CONFIG_NEW_CAPTURE -#endif - -#if !defined(CATCH_INTERNAL_CONFIG_EXCEPTIONS_ENABLED) && !defined(CATCH_CONFIG_DISABLE_EXCEPTIONS) -# define CATCH_CONFIG_DISABLE_EXCEPTIONS -#endif - -#if defined(CATCH_INTERNAL_CONFIG_POLYFILL_ISNAN) && !defined(CATCH_CONFIG_NO_POLYFILL_ISNAN) && !defined(CATCH_CONFIG_POLYFILL_ISNAN) -# define CATCH_CONFIG_POLYFILL_ISNAN -#endif - -#if defined(CATCH_INTERNAL_CONFIG_USE_ASYNC) && !defined(CATCH_INTERNAL_CONFIG_NO_ASYNC) && !defined(CATCH_CONFIG_NO_USE_ASYNC) && !defined(CATCH_CONFIG_USE_ASYNC) -# define CATCH_CONFIG_USE_ASYNC -#endif - -#if defined(CATCH_INTERNAL_CONFIG_ANDROID_LOGWRITE) && !defined(CATCH_CONFIG_NO_ANDROID_LOGWRITE) && !defined(CATCH_CONFIG_ANDROID_LOGWRITE) -# define CATCH_CONFIG_ANDROID_LOGWRITE -#endif - -#if defined(CATCH_INTERNAL_CONFIG_GLOBAL_NEXTAFTER) && !defined(CATCH_CONFIG_NO_GLOBAL_NEXTAFTER) && !defined(CATCH_CONFIG_GLOBAL_NEXTAFTER) -# define CATCH_CONFIG_GLOBAL_NEXTAFTER -#endif - -// Even if we do not think the compiler has that warning, we still have -// to provide a macro that can be used by the code. -#if !defined(CATCH_INTERNAL_START_WARNINGS_SUPPRESSION) -# define CATCH_INTERNAL_START_WARNINGS_SUPPRESSION -#endif -#if !defined(CATCH_INTERNAL_STOP_WARNINGS_SUPPRESSION) -# define CATCH_INTERNAL_STOP_WARNINGS_SUPPRESSION -#endif -#if !defined(CATCH_INTERNAL_SUPPRESS_PARENTHESES_WARNINGS) -# define CATCH_INTERNAL_SUPPRESS_PARENTHESES_WARNINGS -#endif -#if !defined(CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS) -# define CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS -#endif -#if !defined(CATCH_INTERNAL_SUPPRESS_UNUSED_WARNINGS) -# define CATCH_INTERNAL_SUPPRESS_UNUSED_WARNINGS -#endif -#if !defined(CATCH_INTERNAL_SUPPRESS_ZERO_VARIADIC_WARNINGS) -# define CATCH_INTERNAL_SUPPRESS_ZERO_VARIADIC_WARNINGS -#endif - -// The goal of this macro is to avoid evaluation of the arguments, but -// still have the compiler warn on problems inside... -#if !defined(CATCH_INTERNAL_IGNORE_BUT_WARN) -# define CATCH_INTERNAL_IGNORE_BUT_WARN(...) -#endif - -#if defined(__APPLE__) && defined(__apple_build_version__) && (__clang_major__ < 10) -# undef CATCH_INTERNAL_SUPPRESS_UNUSED_TEMPLATE_WARNINGS -#elif defined(__clang__) && (__clang_major__ < 5) -# undef CATCH_INTERNAL_SUPPRESS_UNUSED_TEMPLATE_WARNINGS -#endif - -#if !defined(CATCH_INTERNAL_SUPPRESS_UNUSED_TEMPLATE_WARNINGS) -# define CATCH_INTERNAL_SUPPRESS_UNUSED_TEMPLATE_WARNINGS -#endif - -#if defined(CATCH_CONFIG_DISABLE_EXCEPTIONS) -#define CATCH_TRY if ((true)) -#define CATCH_CATCH_ALL if ((false)) -#define CATCH_CATCH_ANON(type) if ((false)) -#else -#define CATCH_TRY try -#define CATCH_CATCH_ALL catch (...) -#define CATCH_CATCH_ANON(type) catch (type) -#endif - -#if defined(CATCH_INTERNAL_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR) && !defined(CATCH_CONFIG_NO_TRADITIONAL_MSVC_PREPROCESSOR) && !defined(CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR) -#define CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR -#endif - -// end catch_compiler_capabilities.h -#define INTERNAL_CATCH_UNIQUE_NAME_LINE2( name, line ) name##line -#define INTERNAL_CATCH_UNIQUE_NAME_LINE( name, line ) INTERNAL_CATCH_UNIQUE_NAME_LINE2( name, line ) -#ifdef CATCH_CONFIG_COUNTER -# define INTERNAL_CATCH_UNIQUE_NAME( name ) INTERNAL_CATCH_UNIQUE_NAME_LINE( name, __COUNTER__ ) -#else -# define INTERNAL_CATCH_UNIQUE_NAME( name ) INTERNAL_CATCH_UNIQUE_NAME_LINE( name, __LINE__ ) -#endif - -#include -#include -#include - -// We need a dummy global operator<< so we can bring it into Catch namespace later -struct Catch_global_namespace_dummy {}; -std::ostream& operator<<(std::ostream&, Catch_global_namespace_dummy); - -namespace Catch { - - struct CaseSensitive { enum Choice { - Yes, - No - }; }; - - class NonCopyable { - NonCopyable( NonCopyable const& ) = delete; - NonCopyable( NonCopyable && ) = delete; - NonCopyable& operator = ( NonCopyable const& ) = delete; - NonCopyable& operator = ( NonCopyable && ) = delete; - - protected: - NonCopyable(); - virtual ~NonCopyable(); - }; - - struct SourceLineInfo { - - SourceLineInfo() = delete; - SourceLineInfo( char const* _file, std::size_t _line ) noexcept - : file( _file ), - line( _line ) - {} - - SourceLineInfo( SourceLineInfo const& other ) = default; - SourceLineInfo& operator = ( SourceLineInfo const& ) = default; - SourceLineInfo( SourceLineInfo&& ) noexcept = default; - SourceLineInfo& operator = ( SourceLineInfo&& ) noexcept = default; - - bool empty() const noexcept { return file[0] == '\0'; } - bool operator == ( SourceLineInfo const& other ) const noexcept; - bool operator < ( SourceLineInfo const& other ) const noexcept; - - char const* file; - std::size_t line; - }; - - std::ostream& operator << ( std::ostream& os, SourceLineInfo const& info ); - - // Bring in operator<< from global namespace into Catch namespace - // This is necessary because the overload of operator<< above makes - // lookup stop at namespace Catch - using ::operator<<; - - // Use this in variadic streaming macros to allow - // >> +StreamEndStop - // as well as - // >> stuff +StreamEndStop - struct StreamEndStop { - std::string operator+() const; - }; - template - T const& operator + ( T const& value, StreamEndStop ) { - return value; - } -} - -#define CATCH_INTERNAL_LINEINFO \ - ::Catch::SourceLineInfo( __FILE__, static_cast( __LINE__ ) ) - -// end catch_common.h -namespace Catch { - - struct RegistrarForTagAliases { - RegistrarForTagAliases( char const* alias, char const* tag, SourceLineInfo const& lineInfo ); - }; - -} // end namespace Catch - -#define CATCH_REGISTER_TAG_ALIAS( alias, spec ) \ - CATCH_INTERNAL_START_WARNINGS_SUPPRESSION \ - CATCH_INTERNAL_SUPPRESS_GLOBALS_WARNINGS \ - namespace{ Catch::RegistrarForTagAliases INTERNAL_CATCH_UNIQUE_NAME( AutoRegisterTagAlias )( alias, spec, CATCH_INTERNAL_LINEINFO ); } \ - CATCH_INTERNAL_STOP_WARNINGS_SUPPRESSION - -// end catch_tag_alias_autoregistrar.h -// start catch_test_registry.h - -// start catch_interfaces_testcase.h - -#include - -namespace Catch { - - class TestSpec; - - struct ITestInvoker { - virtual void invoke () const = 0; - virtual ~ITestInvoker(); - }; - - class TestCase; - struct IConfig; - - struct ITestCaseRegistry { - virtual ~ITestCaseRegistry(); - virtual std::vector const& getAllTests() const = 0; - virtual std::vector const& getAllTestsSorted( IConfig const& config ) const = 0; - }; - - bool isThrowSafe( TestCase const& testCase, IConfig const& config ); - bool matchTest( TestCase const& testCase, TestSpec const& testSpec, IConfig const& config ); - std::vector filterTests( std::vector const& testCases, TestSpec const& testSpec, IConfig const& config ); - std::vector const& getAllTestCasesSorted( IConfig const& config ); - -} - -// end catch_interfaces_testcase.h -// start catch_stringref.h - -#include -#include -#include -#include - -namespace Catch { - - /// A non-owning string class (similar to the forthcoming std::string_view) - /// Note that, because a StringRef may be a substring of another string, - /// it may not be null terminated. - class StringRef { - public: - using size_type = std::size_t; - using const_iterator = const char*; - - private: - static constexpr char const* const s_empty = ""; - - char const* m_start = s_empty; - size_type m_size = 0; - - public: // construction - constexpr StringRef() noexcept = default; - - StringRef( char const* rawChars ) noexcept; - - constexpr StringRef( char const* rawChars, size_type size ) noexcept - : m_start( rawChars ), - m_size( size ) - {} - - StringRef( std::string const& stdString ) noexcept - : m_start( stdString.c_str() ), - m_size( stdString.size() ) - {} - - explicit operator std::string() const { - return std::string(m_start, m_size); - } - - public: // operators - auto operator == ( StringRef const& other ) const noexcept -> bool; - auto operator != (StringRef const& other) const noexcept -> bool { - return !(*this == other); - } - - auto operator[] ( size_type index ) const noexcept -> char { - assert(index < m_size); - return m_start[index]; - } - - public: // named queries - constexpr auto empty() const noexcept -> bool { - return m_size == 0; - } - constexpr auto size() const noexcept -> size_type { - return m_size; - } - - // Returns the current start pointer. If the StringRef is not - // null-terminated, throws std::domain_exception - auto c_str() const -> char const*; - - public: // substrings and searches - // Returns a substring of [start, start + length). - // If start + length > size(), then the substring is [start, size()). - // If start > size(), then the substring is empty. - auto substr( size_type start, size_type length ) const noexcept -> StringRef; - - // Returns the current start pointer. May not be null-terminated. - auto data() const noexcept -> char const*; - - constexpr auto isNullTerminated() const noexcept -> bool { - return m_start[m_size] == '\0'; - } - - public: // iterators - constexpr const_iterator begin() const { return m_start; } - constexpr const_iterator end() const { return m_start + m_size; } - }; - - auto operator += ( std::string& lhs, StringRef const& sr ) -> std::string&; - auto operator << ( std::ostream& os, StringRef const& sr ) -> std::ostream&; - - constexpr auto operator "" _sr( char const* rawChars, std::size_t size ) noexcept -> StringRef { - return StringRef( rawChars, size ); - } -} // namespace Catch - -constexpr auto operator "" _catch_sr( char const* rawChars, std::size_t size ) noexcept -> Catch::StringRef { - return Catch::StringRef( rawChars, size ); -} - -// end catch_stringref.h -// start catch_preprocessor.hpp - - -#define CATCH_RECURSION_LEVEL0(...) __VA_ARGS__ -#define CATCH_RECURSION_LEVEL1(...) CATCH_RECURSION_LEVEL0(CATCH_RECURSION_LEVEL0(CATCH_RECURSION_LEVEL0(__VA_ARGS__))) -#define CATCH_RECURSION_LEVEL2(...) CATCH_RECURSION_LEVEL1(CATCH_RECURSION_LEVEL1(CATCH_RECURSION_LEVEL1(__VA_ARGS__))) -#define CATCH_RECURSION_LEVEL3(...) CATCH_RECURSION_LEVEL2(CATCH_RECURSION_LEVEL2(CATCH_RECURSION_LEVEL2(__VA_ARGS__))) -#define CATCH_RECURSION_LEVEL4(...) CATCH_RECURSION_LEVEL3(CATCH_RECURSION_LEVEL3(CATCH_RECURSION_LEVEL3(__VA_ARGS__))) -#define CATCH_RECURSION_LEVEL5(...) CATCH_RECURSION_LEVEL4(CATCH_RECURSION_LEVEL4(CATCH_RECURSION_LEVEL4(__VA_ARGS__))) - -#ifdef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR -#define INTERNAL_CATCH_EXPAND_VARGS(...) __VA_ARGS__ -// MSVC needs more evaluations -#define CATCH_RECURSION_LEVEL6(...) CATCH_RECURSION_LEVEL5(CATCH_RECURSION_LEVEL5(CATCH_RECURSION_LEVEL5(__VA_ARGS__))) -#define CATCH_RECURSE(...) CATCH_RECURSION_LEVEL6(CATCH_RECURSION_LEVEL6(__VA_ARGS__)) -#else -#define CATCH_RECURSE(...) CATCH_RECURSION_LEVEL5(__VA_ARGS__) -#endif - -#define CATCH_REC_END(...) -#define CATCH_REC_OUT - -#define CATCH_EMPTY() -#define CATCH_DEFER(id) id CATCH_EMPTY() - -#define CATCH_REC_GET_END2() 0, CATCH_REC_END -#define CATCH_REC_GET_END1(...) CATCH_REC_GET_END2 -#define CATCH_REC_GET_END(...) CATCH_REC_GET_END1 -#define CATCH_REC_NEXT0(test, next, ...) next CATCH_REC_OUT -#define CATCH_REC_NEXT1(test, next) CATCH_DEFER ( CATCH_REC_NEXT0 ) ( test, next, 0) -#define CATCH_REC_NEXT(test, next) CATCH_REC_NEXT1(CATCH_REC_GET_END test, next) - -#define CATCH_REC_LIST0(f, x, peek, ...) , f(x) CATCH_DEFER ( CATCH_REC_NEXT(peek, CATCH_REC_LIST1) ) ( f, peek, __VA_ARGS__ ) -#define CATCH_REC_LIST1(f, x, peek, ...) , f(x) CATCH_DEFER ( CATCH_REC_NEXT(peek, CATCH_REC_LIST0) ) ( f, peek, __VA_ARGS__ ) -#define CATCH_REC_LIST2(f, x, peek, ...) f(x) CATCH_DEFER ( CATCH_REC_NEXT(peek, CATCH_REC_LIST1) ) ( f, peek, __VA_ARGS__ ) - -#define CATCH_REC_LIST0_UD(f, userdata, x, peek, ...) , f(userdata, x) CATCH_DEFER ( CATCH_REC_NEXT(peek, CATCH_REC_LIST1_UD) ) ( f, userdata, peek, __VA_ARGS__ ) -#define CATCH_REC_LIST1_UD(f, userdata, x, peek, ...) , f(userdata, x) CATCH_DEFER ( CATCH_REC_NEXT(peek, CATCH_REC_LIST0_UD) ) ( f, userdata, peek, __VA_ARGS__ ) -#define CATCH_REC_LIST2_UD(f, userdata, x, peek, ...) f(userdata, x) CATCH_DEFER ( CATCH_REC_NEXT(peek, CATCH_REC_LIST1_UD) ) ( f, userdata, peek, __VA_ARGS__ ) - -// Applies the function macro `f` to each of the remaining parameters, inserts commas between the results, -// and passes userdata as the first parameter to each invocation, -// e.g. CATCH_REC_LIST_UD(f, x, a, b, c) evaluates to f(x, a), f(x, b), f(x, c) -#define CATCH_REC_LIST_UD(f, userdata, ...) CATCH_RECURSE(CATCH_REC_LIST2_UD(f, userdata, __VA_ARGS__, ()()(), ()()(), ()()(), 0)) - -#define CATCH_REC_LIST(f, ...) CATCH_RECURSE(CATCH_REC_LIST2(f, __VA_ARGS__, ()()(), ()()(), ()()(), 0)) - -#define INTERNAL_CATCH_EXPAND1(param) INTERNAL_CATCH_EXPAND2(param) -#define INTERNAL_CATCH_EXPAND2(...) INTERNAL_CATCH_NO## __VA_ARGS__ -#define INTERNAL_CATCH_DEF(...) INTERNAL_CATCH_DEF __VA_ARGS__ -#define INTERNAL_CATCH_NOINTERNAL_CATCH_DEF -#define INTERNAL_CATCH_STRINGIZE(...) INTERNAL_CATCH_STRINGIZE2(__VA_ARGS__) -#ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR -#define INTERNAL_CATCH_STRINGIZE2(...) #__VA_ARGS__ -#define INTERNAL_CATCH_STRINGIZE_WITHOUT_PARENS(param) INTERNAL_CATCH_STRINGIZE(INTERNAL_CATCH_REMOVE_PARENS(param)) -#else -// MSVC is adding extra space and needs another indirection to expand INTERNAL_CATCH_NOINTERNAL_CATCH_DEF -#define INTERNAL_CATCH_STRINGIZE2(...) INTERNAL_CATCH_STRINGIZE3(__VA_ARGS__) -#define INTERNAL_CATCH_STRINGIZE3(...) #__VA_ARGS__ -#define INTERNAL_CATCH_STRINGIZE_WITHOUT_PARENS(param) (INTERNAL_CATCH_STRINGIZE(INTERNAL_CATCH_REMOVE_PARENS(param)) + 1) -#endif - -#define INTERNAL_CATCH_MAKE_NAMESPACE2(...) ns_##__VA_ARGS__ -#define INTERNAL_CATCH_MAKE_NAMESPACE(name) INTERNAL_CATCH_MAKE_NAMESPACE2(name) - -#define INTERNAL_CATCH_REMOVE_PARENS(...) INTERNAL_CATCH_EXPAND1(INTERNAL_CATCH_DEF __VA_ARGS__) - -#ifndef CATCH_CONFIG_TRADITIONAL_MSVC_PREPROCESSOR -#define INTERNAL_CATCH_MAKE_TYPE_LIST2(...) decltype(get_wrapper()) -#define INTERNAL_CATCH_MAKE_TYPE_LIST(...) INTERNAL_CATCH_MAKE_TYPE_LIST2(INTERNAL_CATCH_REMOVE_PARENS(__VA_ARGS__)) -#else -#define INTERNAL_CATCH_MAKE_TYPE_LIST2(...) INTERNAL_CATCH_EXPAND_VARGS(decltype(get_wrapper())) -#define INTERNAL_CATCH_MAKE_TYPE_LIST(...) INTERNAL_CATCH_EXPAND_VARGS(INTERNAL_CATCH_MAKE_TYPE_LIST2(INTERNAL_CATCH_REMOVE_PARENS(__VA_ARGS__))) -#endif - -#define INTERNAL_CATCH_MAKE_TYPE_LISTS_FROM_TYPES(...)\ - CATCH_REC_LIST(INTERNAL_CATCH_MAKE_TYPE_LIST,__VA_ARGS__) - -#define INTERNAL_CATCH_REMOVE_PARENS_1_ARG(_0) INTERNAL_CATCH_REMOVE_PARENS(_0) -#define INTERNAL_CATCH_REMOVE_PARENS_2_ARG(_0, _1) INTERNAL_CATCH_REMOVE_PARENS(_0), INTERNAL_CATCH_REMOVE_PARENS_1_ARG(_1) -#define INTERNAL_CATCH_REMOVE_PARENS_3_ARG(_0, _1, _2) INTERNAL_CATCH_REMOVE_PARENS(_0), INTERNAL_CATCH_REMOVE_PARENS_2_ARG(_1, _2) -#define INTERNAL_CATCH_REMOVE_PARENS_4_ARG(_0, _1, _2, _3) INTERNAL_CATCH_REMOVE_PARENS(_0), INTERNAL_CATCH_REMOVE_PARENS_3_ARG(_1, _2, _3) -#define INTERNAL_CATCH_REMOVE_PARENS_5_ARG(_0, _1, _2, _3, _4) INTERNAL_CATCH_REMOVE_PARENS(_0), INTERNAL_CATCH_REMOVE_PARENS_4_ARG(_1, _2, _3, _4) -#define INTERNAL_CATCH_REMOVE_PARENS_6_ARG(_0, _1, _2, _3, _4, _5) INTERNAL_CATCH_REMOVE_PARENS(_0), INTERNAL_CATCH_REMOVE_PARENS_5_ARG(_1, _2, _3, _4, _5) -#define INTERNAL_CATCH_REMOVE_PARENS_7_ARG(_0, _1, _2, _3, _4, _5, _6) INTERNAL_CATCH_REMOVE_PARENS(_0), INTERNAL_CATCH_REMOVE_PARENS_6_ARG(_1, _2, _3, _4, _5, _6) -#define INTERNAL_CATCH_REMOVE_PARENS_8_ARG(_0, _1, _2, _3, _4, _5, _6, _7) INTERNAL_CATCH_REMOVE_PARENS(_0), INTERNAL_CATCH_REMOVE_PARENS_7_ARG(_1, _2, _3, _4, _5, _6, _7) -#define INTERNAL_CATCH_REMOVE_PARENS_9_ARG(_0, _1, _2, _3, _4, _5, _6, _7, _8) INTERNAL_CATCH_REMOVE_PARENS(_0), INTERNAL_CATCH_REMOVE_PARENS_8_ARG(_1, _2, _3, _4, _5, _6, _7, _8) -#define INTERNAL_CATCH_REMOVE_PARENS_10_ARG(_0, _1, _2, _3, _4, _5, _6, _7, _8, _9) INTERNAL_CATCH_REMOVE_PARENS(_0), INTERNAL_CATCH_REMOVE_PARENS_9_ARG(_1, _2, _3, _4, _5, _6, _7, _8, _9) -#define INTERNAL_CATCH_REMOVE_PARENS_11_ARG(_0, _1, _2, _3, _4, _5, _6, _7, _8, _9, _10) INTERNAL_CATCH_REMOVE_PARENS(_0), INTERNAL_CATCH_REMOVE_PARENS_10_ARG(_1, _2, _3, _4, _5, _6, _7, _8, _9, _10) - -#define INTERNAL_CATCH_VA_NARGS_IMPL(_0, _1, _2, _3, _4, _5, _6, _7, _8, _9, _10, N, ...) N - -#define INTERNAL_CATCH_TYPE_GEN\ - template struct TypeList {};\ - template\ - constexpr auto get_wrapper() noexcept -> TypeList { return {}; }\ - template class...> struct TemplateTypeList{};\ - template class...Cs>\ - constexpr auto get_wrapper() noexcept -> TemplateTypeList { return {}; }\ - template\ - struct append;\ - template\ - struct rewrap;\ - template class, typename...>\ - struct create;\ - template class, typename>\ - struct convert;\ - \ - template \ - struct append { using type = T; };\ - template< template class L1, typename...E1, template class L2, typename...E2, typename...Rest>\ - struct append, L2, Rest...> { using type = typename append, Rest...>::type; };\ - template< template class L1, typename...E1, typename...Rest>\ - struct append, TypeList, Rest...> { using type = L1; };\ - \ - template< template class Container, template class List, typename...elems>\ - struct rewrap, List> { using type = TypeList>; };\ - template< template class Container, template class List, class...Elems, typename...Elements>\ - struct rewrap, List, Elements...> { using type = typename append>, typename rewrap, Elements...>::type>::type; };\ - \ - template
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